基于线性矩阵不等式的鲁棒控制

% H Infinity Controller Design based on LMI for Single Link Inverted Pendulum clear all; close all; M=4025; A=[-1.2645 -0.3521355;0.20754 -0.0678]; B2=[5.000;0.010]; B1=[-10.000;-0.100]; C1=[1/(10^9) 0; 0 1;