The static output-feedback problem has attracted the attention of many in the past ,  and . The main advantage of the static output-feedback is the simplicity of its implementation and the ability it provides for designing controllers of prescribed structure such as PI and PID. An algorithm has been presented recently by , which under some assumptions, is found to converge in stationary infinite horizon examples without uncertainty. A sufficient condition for the existence of a solution to a special case of the static output-feedback problem has been obtained in . This condition is, in some cases, quite conservative.