The method sets system disturbance within the feedback gain matrix f, which can be computed by iteration, in order to make the closed loop system optimum.

It is difficult to design the closed loop gain shaping controller when the controlled plant is not a square matrix, because it is involved in the pseudo inverse of matrix.

Then, an algorithm based on iterative linear matrix inequality (ILMI) was proposed to compute the static output feedback gain of continuous uncertain T-S closed-loop fuzzy system.