To include SDP constraint, I needed to the following change, which is basically:
- constructing matrix via
vcatandhcat - appropriate clarification of matrix dimension (not
\epsilon * Ibutepsilonfor this case)
tmp = vcat(hcat((A*P + P*A' + b*y' + y*b' + ϵ*D*P*D' + μ*P), y), hcat(y', -ϵ))
prob = minimize(
-eigmin(P),
isposdef(-tmp),
)
Note: this “seems” to be solved but the values are different from the reported ones in the reference.