meco-group/sshinfcd ? reverse-engineered prompt

Build me a MATLAB package for state space H infinity controller design for LTI systems, with D stability constraints and support for multi objective tuning. I want to be able to define a plant and input and output weighting filters, set which performance channels are minimized and which ones are hard constrained, then call one main solver function to synthesize the controller.

Please include a simple example script that shows how to set up the plant, filters, specifications, and run the design, plus a clear result object with the controller and basic performance info. The code should work with MATLAB and use an external SDP solver through either the built in robust control tools, YALMIP, or CVX if available.

Keep it practical and easy to use, with sensible defaults, comments, and a short README style explanation of how to get started. If needed, look up current MATLAB docs online so the syntax is correct.