function Ai = ex_estab_c_OP06a_ex2(rho)
%function Ai = ex_estab_c_OP06a_ex2(rho)
% Continuous-time uncertain system used for robust stability evaluation purposes. This systems was
% used in (Oliveira & Peres, SCL 2006), Example 2.

if nargin == 0
    rho = 3.551;
end

A0 = [-2 1 -1;
    2.5 -3 0.5;
    -1 1 -3.5];

A1 = [-0.7 -0.5 -2;
    -0.8 0 0;
    1.5 2 2.4];

A2 = [0.7 0.5 2;
    0.8 0 0;
    -1.5 -2 -2.4];

Ai = [];

A1 = A0 + rho*A1;
A2 = A0 + rho*A2;
Ai = [A1 A2];
