After seeing your reply, I wrote the MATLAB code as below to solve equation 14.
--
A=[0 1 0 0;
-48.6 -1.25 12.15 0;
0 0 0 40;
0.195 0 -0.0488 0];
C=[1 0 0 0;
0 1 0 0];
kf=0.333;
Y = sdpvar(4,2);
alpha = sdpvar(1);
P=sdpvar(4,4,'symmetric');
LMI =[A'*P-C'*Y'+P*A-Y*C+alpha*kf^2*eye(4,4) P;
P -alpha*eye(4,4)];
F=[P>0, LMI<0];
L=inv(P)*Y;
--
When F=[~~] is executed, the following error message appears:
'Strict inequalities are not supported. A non-strict has been added instead'