* 17 pages, 7th IFAC Conference on Analysis and Design of Hybrid
Systems (submitted). arXiv admin note: text overlap with arXiv:2011.04112 Access Paper or Ask Questions
* Contains a new convex relaxation for the main optimization problem
that is computationally inexpensive and performs well in simulation. The new
relaxation uses a common Lyapunov function formulation for the mixed
H2/H-infinity synthesis problem. We added new section on computational
methods and new numerical experiments incorporating this technique. We also
corrected typos and added references Access Paper or Ask Questions