how to use h2syn or hinfsyn ?

Hello i am new in controls and i want to use robust control command to evaluate uncertainties... i have added uncertainty in my internal model but i am not getting how to use h2syn or hinfsyn command to design control

my code ************************************

 %*********** merging of actuating and plant model eq(8)and(9)************

 A = [Ac Bc*Ctilta; zeros(14,6) Atilta];

 B = [Bc*Dtilta;Btilta];

 C = [Cc Dc*Ctilta];

 D = 0 ;

 %******internal model with uncertainty**********

w = [2*pi*100 2*pi*200];

m = length(w);

Aik = zeros(2,2,m);

Bik = zeros(2,1,m);

Cik = zeros(1,2,m);

for i = 1:m

Aik(:,:,i) = [0 1; -w(i)^2 0];

Bik(:,:,i) = [0 w(i)^2];

Cik(:,:,i) = [1 0];

end

j1 = 2 ;

j1 =ureal('j1',2,'Range',[1.2 2.8]); % uncertainty +- 0.8

elta = [0 j1;0 0];

Aip = zeros(2,2,m);

Aip = Aik + elta ; % adding unceratinty in internal model matrices

Ai = [];

X = [];

for ii = 1:m

if (ii+1 <= m)  

    if (ii-1)*2 <= 0

      Ai = [Ai; X Aip(:,:,ii) Bik(:,:,ii)*Cik(:,:,ii+1) zeros(2,2*m-4-(ii-1)*2)];

    elseif (2*m-4-(ii-1)*2) <=0  

      Ai = [Ai; zeros(2,(ii-1)*2) Aip(:,:,ii) Bik(:,:,ii)*Cik(:,:,ii+1) X];

    else

      Ai = [Ai; zeros(2,(ii-1)*2) Aip(:,:,ii) Bik(:,:,ii)*Cik(:,:,ii+1) zeros(2*m-4-(ii-1)*2)];

    end

else

    Ai = [Ai; zeros(2,(ii-1)*2) Aip(:,:,ii)];

end

end

Bi = [zeros(2*m-2,1); Bik(:,:,m)];

Ci = [Cik(:,:,1) zeros(1,2*m-2)];

%************ merging of actauating plant model***********%%%%

Aaug = [A B*Ci;zeros(4,20) Ai];

Baug = [B ; zeros(4,1)];

Caug = [C zeros(1,4)];

Gaug = [Gtilta;zeros(10,1)];

%********************************

i want to use h2syn cor hinfsyn command for this to design control and i have read the details but i am not getting how to use this ..