robust design.m

俞立鲁棒控制设计

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)