, Set the size of the chain of integrators n

, Fix a negative value for ? 1

, Fix positive values for and ? (a possible initial value is 0.5 for both)

, Calculate the vectors ¯ z i,j using

, Fix positive values for ?, ?, ? 1 , ? 2 , ? < ? (possible starting values are given in the examples)

, Verify the feasibility of the system of inequalities

, If unfeasible, reduce the value of or modify the value of ? and repeat from step 3. If feasible, the value of |? 1 | might be increased in step 2 until a desired value of T max is obtained without loosing feasibility (recall that in practice, this value might be conservative)

, From the obtained matrices X and Y , calculate P , a, m and M as described in Theorem 6

, Note that the parameters that influence directly the settling-time are ? 1 , ? 2 , ? 1 , ? 2 , ? and ?. The parameters and ? modify the bounds of the inequality (16c), so that its manipulation may relax the feasibility conditions of

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