  HIFOO is a public-domain Matlab package initially designed for Hinfinity
fixed-order controller synthesis, using nonsmooth nonconvex optimization
techniques. It was later on extended to multi-objective synthesis, including
strong and simultaneous stabilization under Hinfinity constraints. In this
paper we describe a further extension of HIFOO to H2 performance criteria,
making it possible to address mixed H2/Hinfinity synthesis. We give
implementation details and report our extensive benchmark results.
