matlab 有约束最小化,求解带等式约束和最小化目标的LMI

按照公式写的LMi不能求解，解出来的全部都是NaN;

如果论文中求解出的值gamma1=0.267;gamma2=0.2281;gamma3=1.8e-4;beta=3.99;但还是出现  info: 'Infeasible problem (SDPT3-4)'

求大佬帮忙看一下是我写的LMI中的F和solvesdp有错；还是需要yalmip其他的工具才能解LMI(我用的是sdpt3)

程序：

clc

clear all

close all

A=[-0.439 0;

1 -4.195];

Bu=[0.002864;0];

C=[0 1];

% A=[-4.6340 -1.8416;

%     1.0 0];

Bu=[1;0];

C=[0 0.002864];

Bf=[0;0];

Bd=[0.2;0.5];

Dd=0.1;

Df=1;

lambda1=4;

lambda2=2;

lambda3=2;

rho1=1;

rho2=1;

rho3=1;

rho4=1;

theta=0.05;

gamma1=0.267;

gamma2=0.2281;

gamma3=1.8e-4;

beta=3.99;

% gamma1=sdpvar(1);

% gamma2=sdpvar(1);

% gamma3=sdpvar(1);

% beta=sdpvar(1);

M1=sdpvar(1,2,'full');%,'full'

M2=sdpvar(2,1,'full');

X1=sdpvar(2,2,'full');

X2=sdpvar(2,2,'full');

Xhat2=sdpvar(1);

P11=sdpvar(4,4,'symmetric');

P12=sdpvar(4,4,'symmetric');

P13=sdpvar(4,4,'symmetric');

P21=sdpvar(4,4,'symmetric');

P22=sdpvar(4,4,'symmetric');

P23=sdpvar(4,4,'symmetric');

P31=sdpvar(4,4,'symmetric');

P32=sdpv