These are the algorithms employed in the example. They were tested on Matlab 2015b running on Windows 10.
Dependencies: Yalmip and mosek
To execute, run file LMIOptimisation.m
[SM16] H. Stein Shiromoto and I. R. Manchester, "Decentralized Nonlinear Feedback Design with Separable Control Contraction Metrics", Proceedings of the 55th Conference on Decision and Control, Las Vegas, NV, US, 2016