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📁 国外专家做的求解LMI鲁棒控制的工具箱,可以相对高效的解决LMI问题
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              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Description</th>
            </tr>
            <tr>
              <td class="tabxpl">clean is used to remove base matrices in an
              <a href="reference.htm#sdpvar">sdpvar</a> object that are small (mainly 
              used together with <a href="reference.htm#solvesos">solvesos</a>)</td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Examples</th>
            </tr>
            <tr>
              <td class="tabxpl"><p>Removing nuisance variables</p><table cellpadding="10" width="100%">
                <tr>
                  <td class="xmpcode">
                  <pre>x1 = sdpvar(n,1);
x2 = sdpvar(n,1);
x = x1+1e-8*x2;
y = clean(x,1e-6);
sdisplay(y)
<font color="#000000">ans
    &#39;x1&#39;</font></pre>
                  </td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Related commands</th>
            </tr>
            <tr>
              <td class="tabxpl"><a href="reference.htm#sos">sos</a>,
              <a href="reference.htm#sdpvar">sdpvar</a></td>
            </tr>
          </table>
          </td>
        </tr>
      </table>
      <p>&nbsp;</p>
      <table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933" id="table19">
        <tr>
          <td class="tableheader">
          <p class="tableheader"><a name="coefficients">COEFFICIENTS</a></p>
          </td>
        </tr>
        <tr>
          <td>
          <table cellspacing="0" cellpadding="4" width="100%" border="0" id="table20">
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Syntax<p>&nbsp;</p>
              </th>
              <td class="code" valign="top" nowrap width="100%"><code>[c,v] = 
				coefficients(p,x)</code></td>
            </tr>
            <tr>
              <td class="tabxpl">
              <table border="0" id="table21">
                <tr>
                  <td>
                  <p align="right"><font face="Courier New">c</font><font face="Courier New" size="2">:</font></p>
                  </td>
                  <td>Coefficients (sdpvar object)</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">v:</font></p>
                  </td>
                  <td>Monomials (sdpvar object)</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">p:</font></p>
                  </td>
                  <td>Polynomials (sdpvar object)</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New">x</font><font face="Courier New" size="2">:</font></p>
                  </td>
                  <td>Variables (sdpvar object)</td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Description</th>
            </tr>
            <tr>
              <td class="tabxpl">coefficients is used to extract the 
				coefficients of a polynomials.</td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Examples</th>
            </tr>
            <tr>
              <td class="tabxpl">Define a polynomial in variables <b>x</b> and
				<b>y</b>, with coefficients parameterized by <b>s</b> and <b>t</b>.<table cellpadding="10" width="100%" id="table22">
                <tr>
                  <td class="xmpcode">
                  <pre>sdpvar x y s t
p = x^2+x*y*(s+t)+s^2+t^2;</pre>
                  </td>
                </tr>
              </table>
              <p>The coefficients are easily recovered</p>
				<table cellpadding="10" width="100%" id="table23">
                <tr>
                  <td class="xmpcode">
                  <pre>c = coefficients(p,[x y]);
sdisplay(c)

<font color="#000000">ans = 
    's^2+t^2'
    's+t'
    '1'</font></pre>
                  </td>
                </tr>
              </table>
              <p>By adding a second output, the monomial basis is returned also.</p>
				<table cellpadding="10" width="100%" id="table24">
                <tr>
                  <td class="xmpcode">
                  <pre>[c,v] = coefficients(p,[x y]);
sdisplay([c v])

<font color="#000000">ans = 
    's^2+t^2'    '1'  
    's+t'        'xy' 
    '1'          'x^2'</font></pre>
					<pre>p-c'*v

<font color="#000000">ans =
     0</font></pre>
                  </td>
                </tr>
              </table>
              <p>Of-course, we might just as well consider this to be a 
				polynomial in <b>s</b> and <b>t</b> with coefficients 
				parameterized by <b>x</b> and 
				<b>y</b>.<table cellpadding="10" width="100%" id="table25">
                <tr>
                  <td class="xmpcode">
                  <pre>[c,v] = coefficients(p,[s t]);
sdisplay([c v])

<font color="#000000">ans = 
    'x^2'    '1'  
    'xy'     't'  
    '1'      't^2'
    'xy'     's'  
    '1'      's^2'</font></pre>
                  </td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Related commands</th>
            </tr>
            <tr>
              <td class="tabxpl"><a href="reference.htm#sdpvar">sdpvar</a></td>
            </tr>
          </table>
          </td>
        </tr>
      </table>
      <p>&nbsp;</p>
      <table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
        <tr>
          <td class="tableheader">
          <p class="tableheader"><a name="cone">CONE</a></p>
          </td>
        </tr>
        <tr>
          <td>
          <table cellspacing="0" cellpadding="4" width="100%" border="0">
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">&nbsp;<p>&nbsp;</p>
              </th>
              <td class="code" valign="top" nowrap width="100%"><code>c = cone(x,y)</code></td>
            </tr>
            <tr>
              <td class="tabxpl">
              <table border="0">
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">c:</font></p>
                  </td>
                  <td>sdpvar object (only useful in set object)</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">x:</font></p>
                  </td>
                  <td>sdpvar object (vector)</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">y:</font></p>
                  </td>
                  <td>sdpvar object (scalar)</td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Description</th>
            </tr>
            <tr>
              <td class="tabxpl">cone is used to define the constraints <b>
              <font face="Tahoma">||x||</font>&#8804;<font face="Tahoma">y</font></b></td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Examples</th>
            </tr>
            <tr>
              <td class="tabxpl"><p>Constraining the Euclidean norm of a vector to 
              be less than 1 is done with</p><table cellpadding="10" width="100%">
                <tr>
                  <td class="xmpcode">
                  <pre>x = sdpvar(n,1);
F = set(cone(x,1));</pre>
                  </td>
                </tr>
              </table>
              <p>Of-course, arbitrary complicated constructs are possible, such 
              as constraining the norm of the diagonal to be less than the sum of 
              the off-diagonal terms in a matrix! </p>
              <table cellpadding="10" width="100%">
                <tr>
                  <td class="xmpcode">
                  <pre>x = sdpvar(n,n);
F = set(cone(diag(x),sum(sum(x-diag(diag(x))))))</pre>
                  </td>
                </tr>
              </table>
              <p>An alternative is to use the nonlinear norm operator instead 
              (see the examples on <a href="extoperators.htm">nonlinear 
              operators</a> for details)</p>
              <table cellpadding="10" width="100%">
                <tr>
                  <td class="xmpcode">
                  <pre>x = sdpvar(n,n);
F = set(norm(diag(x)) &lt; sum(sum(x-diag(diag(x)))))</pre>
                  </td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Related commands</th>
            </tr>
            <tr>
              <td class="tabxpl"><a href="reference.htm#rcone">rcone</a>,
              <a href="#set">set</a>, <a href="reference.htm#sdpvar">sdpvar</a></td>
            </tr>
          </table>
          </td>
        </tr>
      </table>
      <p>&nbsp;</p>
      <table border="1" cellpadding="0" cellspacing="0" style="border-collapse: collapse" width="100%" bordercolor="#FF9933">
        <tr>
          <td class="tableheader">
          <p class="tableheader"><a name="cut">CUT</a></p>
          </td>
        </tr>
        <tr>
          <td>
          <table cellspacing="0" cellpadding="4" width="100%" border="0">
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Syntax<p>&nbsp;</p>
              </th>
              <td class="code" valign="top" nowrap width="100%"><code>F = cut(X,&#39;tag&#39;)</code></td>
            </tr>
            <tr>
              <td class="tabxpl">
              <table border="0">
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">F:</font></p>
                  </td>
                  <td>set object</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">X:</font></p>
                  </td>
                  <td>sdpvar or constraint object, or string</td>
                </tr>
                <tr>
                  <td>
                  <p align="right"><font face="Courier New" size="2">&#39;tag&#39;:</font></p>
                  </td>
                  <td>char</td>
                </tr>
              </table>
              </td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Description</th>
            </tr>
            <tr>
              <td class="tabxpl">cut is used to define user-specified cuts for the 
              global BMI solver.</td>
            </tr>
            <tr>
              <th class="doc" valign="top" nowrap align="left" bgcolor="#eeeeee" rowspan="2">
              Example</th>
            </tr>
            <tr>
              <td class="tabxpl"><p>The result from this command is nothing but a
              <a href="#set">set</a> object.</p>
              <table cellpadding="10" width="100%">
                <tr>
                  <td class="xmpcode">
                  <pre>P = sdpvar(2,2); 
F = cut((P-eye(2))*(P-eye(2))&gt;0);
<font color="#000000">+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

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