Derinkuyu, K.Pınar, M. Ç.2016-02-082016-02-0820061432-2994http://hdl.handle.net/11693/23749We give a concise review and extension of S-procedure that is an instrumental tool in control theory and robust optimization analysis. We also discuss the approximate S-Lemma as well as its applications in robust optimization.EnglishRobust optimizationS-LemmaS-ProcedureControl theoryArticle10.1007/s00186-006-0070-81432-5217