mixsyn-error: Output argument "r12" (and maybe others) not assigned during call to "hinf_st"

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Frederik Rentzsch
Hey, I would like to solve the inverted pendulum control problem with the mixsyn-function but unfortunately I can't make it work.
The error says: Output argument "r12" (and maybe others) not assigned during call to "hinf_st"
Here is my code:
M = .5; m = 0.2; b = 0.1; I = 0.006; g = 9.8; l = 0.3;
p = I*(M+m)+M*m*l^2; %denominator for the A and B matrices
A = [0 1 0 0;
0 -(I+m*l^2)*b/p (m^2*g*l^2)/p 0;
0 0 0 1;
0 -(m*l*b)/p m*g*l*(M+m)/p 0];
B = [ 0;
(I+m*l^2)/p;
0;
m*l/p];
C = [1 0 0 0;
0 0 1 0];
D = [0;
0];
states = {'x' 'x_dot' 'phi' 'phi_dot'};
inputs = {'u'};
outputs = {'x'; 'phi'};
sys_ss = ss(A,B,C,D,'statename',states,'inputname',inputs,'outputname',outputs);
G = tf(minreal(sys_ss));
M = 2; wB1 = 6; wB2 = 12; A = 1e-3;
s = tf('s');
wp1 = (s/M+wB1)/(s+wB1*A);
wp2 = (s/M+wB2)/(s+wB2*A);
wP = [wp1 0; 0 wp2];
wU = 1;
[K,CL,GAM,INFO] = mixsyn(G,wP,wU,[]);
any ideas?

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