H-infinity controller : feedback gain calculation using LMI

I everyone, i try to compute H-infinity feedback gain using LMI and i get that following error :

lhs of LMI #1, block (1,1): incompatible dimensions in A*X*B

I use LMI into level 2 Matlab S-function and the code is given below.

your help will be invaluable. Thanks

function path_following_controller(block)
 
setup(block);
  
function setup(block)

  % number of ports.
  block.NumInputPorts  = 1;
  block.NumOutputPorts = 1;
  
  % port properties.
  block.SetPreCompInpPortInfoToDynamic;
  block.SetPreCompOutPortInfoToDynamic;

  %input port properties.
  block.InputPort(1).DatatypeID  = 0;  % double
  block.InputPort(1).Complexity  = 'Real';
  block.InputPort(1).Dimensions  = 4;
  block.InputPort(1).DirectFeedthrough = false;
  
  %output port properties.
  block.OutputPort(1).DatatypeID  = 0; % double
  block.OutputPort(1).Complexity  = 'Real';
  block.OutputPort(1).Dimensions  = 3;
  
  % continuous states.
  block.NumContStates = 2;

  block.SampleTimes = [0 0];
  
  % Specify the block simStateCompliance. The allowed values are:
   %    'DefaultSimState', < Same SimState as a built-in block

  block.RegBlockMethod('InitializeConditions', @InitializeConditions);
 
 % block.RegBlockMethod('Start', @Start);

  block.RegBlockMethod('Outputs', @Outputs);

  block.RegBlockMethod('Derivatives', @Derivatives);

%endfunction
 


function InitializeConditions(block)

block.ContStates.Data(1) = 0; % ey
block.ContStates.Data(2) = 0;  % delta_psi

%endfunction


function Outputs(block)

de=zeros(2,1); u=zeros(1,4);
for i=1:2
     de(i)=block.ContStates.Data(i);   
end

p = [120;0.5;0.5];
for i=1:4
    if isnan(block.InputPort(1).data(i))
        u(i)=0.000000001;
    elseif block.InputPort(1).data(1:3)==0
        for j=1:3
        u(j)= p(j) ;
        end
    else
        u(i)=block.InputPort(1).data(i);  % création d'un vecteur de taille 4 contenant les entrées i
    end
end

mu = .9; g = 9.8; delta_t = .5;

vx = u(1)
% vy = u(2);
% r = u(3);
% rho = u(4);
 
A = [0 vx;0 0];
B = [vx*delta_t;0];
C = [1 0;0 1];
% w = [vy;rho];

rlim = mu*g/vx;
alpha = rlim^2;
   
gama = 1;

setlmis([])

Q = lmivar(1,[2,1]);
Y = lmivar(1,[2,1]);

lmiterm([1 1 1 Q],A,1,'s');
lmiterm([1 1 1 Y],B,1,'s');
lmiterm([1 1 2 0],1);
lmiterm([1 1 3 Q],1,C');
lmiterm([1 2 1 0],1);
lmiterm([1 2 2 0],-gama^2);
lmiterm([1 3 1 Q],C,1);
lmiterm([1 3 3 0],-1);

lmiterm([2 1 1 0],alpha);
lmiterm([2 1 2 Y],1,1);
lmiterm([2 2 1 Y],1,1);
lmiterm([2 2 2 Q],-1,1);

lmis = getlmis;
[tmin,xfeas] = feasp(lmis);

Q = dec2mat(lmis,xfeas,Q);
Y = dec2mat(lmis,xfeas,Y);

K = Y/Q

% h1 = (vx - vxmin)/vxminxmax;
% h2 = vxmax/vxminxmax;

X = [block.ContStates.Data(1);block.ContStates.Data(2)];

rd = K*X
 
block.OutputPort(1).Data(1)= rd; % desired yaw rate
block.OutputPort(1).Data(1)= block.ContStates.Data(1); % ey
block.OutputPort(1).Data(1)= block.ContStates.Data(2); % delta_phi

   
%endfunction


function Derivatives(block)
mu = .9; g = 9.8; delta_t = .5;

de=zeros(2,1); u=zeros(1,4);
for i=1:2
     de(i)=block.ContStates.Data(i);   
end
     
for i=1:4
    if isnan(block.InputPort(1).data(1))
        u(i)=0.000000001;
    else
        u(i)=block.InputPort(1).data(i);  % création d'un vecteur de taille 4 contenant les entrées i
    end
end
 
vx = u(1);
vy = u(2);
% r = u(3);
rho = u(4);

A = [0 vx;0 0];
B = [vx*delta_t;0];
C = [1 0;0 1];
w = [vy;rho];

rlim = mu*g/vx;
alpha = rlim^2;
   
gama = 1;

setlmis([])

Q = lmivar(1,[2,1]);
Y = lmivar(1,[2,1]);

lmiterm([1 1 1 Q],A,1,'s');
lmiterm([1 1 1 Y],B,1,'s');
lmiterm([1 1 2 0],1);
lmiterm([1 1 3 Q],1,C');
lmiterm([1 2 1 0],1);
lmiterm([1 2 2 0],-gama^2);
lmiterm([1 3 1 Q],C,1);
lmiterm([1 3 3 0],-1);

lmiterm([2 1 1 0],alpha);
lmiterm([2 1 2 Y],1,1);
lmiterm([2 2 1 Y],1,1);
lmiterm([2 2 2 Q],-1,1);

lmis = getlmis;
[tmin,xfeas] = feasp(lmis);

Q = dec2mat(lmis,xfeas,Q);
Y = dec2mat(lmis,xfeas,Y);

K = Y/Q;

vxmin = 100; vxmax = 120;

h1 = (vx - vxmin)/vxmin;
h2 = vxmax/vxmin;

X = [d(1);d(2)];

dX = h1*((A + B*K)*X + w) + h2*((A + B*K)*X + w);
 
block.Derivatives.Data(1) = dX(1);
block.Derivatives.Data(2) = dX(2);

%endfunction