俞立鲁棒控制设计_LMI_系统的鲁棒控制器设计实例_matlab

clc %%%%%%%%%%%%%%%%%%%%求hinf%%%%%%%%%%%%%%%%%%%%%%%俞立线性矩阵不等式LMI解法中的一个算例的程序。请读者 %%%%%%%%%%%%%%%%%%%%自己去查找书中的算例，俞立的书中还有很多好的例子，他的书可供初学者仔细研读，希望大家能从本例中学到知识。。 A=[-0.2 -1;1 0]; B=[1;0]; C=[0 1]; D=[0]; %%%%%%%%%%%%%%%%%%%%m--矩阵A的行数，n--矩阵A的列数 [m,n]=size(A); [m1,n1]=size(B); I=eye(n1);%因为该行为B'P %%%%%%%%%%%%%%%%%%%%%%define variable setlmis([]) p2=lmivar(1,[m 1]) r2=lmivar(1,[1 1]) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% lmiterm([1 1 1 p2],1,A,'s')%%%%%%%%%%5A'p2+p2A lmiterm([1 1 2 p2],1,B) %%%%%%%p2B lmiterm([1 1 3 0],C') %%%%%%%%C' lmiterm([1 2 1 p2],B',1) %%%%%%%5%B'p2 lmiterm([1 2 2 r2],-1,I) %%%%%%%%-r2 lmiterm([1 2 3 0],D') %%%%%%%%D' lmiterm([1 3 1 0],C) %%%%%%%%C lmiterm([1 3 2 0],D) %%%%%%%%D lmiterm([1 3 3 r2],-1,I) %%%%%%%-r2 lmiterm([2 1 1 p2],-1,1) %%%%%%%-p2 lmis2=getlmis c2=mat2dec(lmis2,0,eye(1)); options=[1e-5,0,0,0,0] [copt2,xopt2]=mincx(lmis2,c2,options) % PP2=dec2mat(lmis2,xopt2,p2)