q**Details of*** D-K ***Iterations:
**

(i) Fix
an initial estimate of the scaling matrix *D**w* Î* **D** *point-wise across frequency.

(ii) Find
scalar transfer functions *d**i**(s), d**i**-1**(s)* Î* ***RH**¥ for *i *=1,…, (*F*-1) such that |*d**i*(jw)|» *d**i**w* .

(iii) Let *D(s)=*diag(*d**1**(s)*I, …, *d**F-1**(s)*I, I). Construct a state space
model for system

•

(iv)
Solve an **H**¥ optimization problem to minimize

over all
stabilizing *K’s*. Denote the minimizing controller
by