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Nonsmooth variational analysis and computational methods are powerful tools that can be effectively applied to find local minimizers of nonconvex optimization problems arising in fixed-order controller design. We support this claim by applying nonsmooth analysis and methods to a challenging "Belgian chocolate" stabilization problem posed in 1994: find a stable, minimum phase, rational controller that stabilizes a specified second-order plant. Although easily stated, this particular problemdoi:10.1109/tac.2006.884944 fatcat:akxutzgwmbcv5edb2o5y3paaau