急！求助LMI求解，鲁棒控制
clcclear all;
k1=13100;m1=504.5;m2=62;cs=400;k2=252000; %初始参数
M=%系统参数的输入被动悬架模型质量参数矩阵
C=%被动悬架模型阻尼参数矩阵
K= %被动悬架模型弹性系数参数矩阵
A01=;A02=;A03=-inv(M)*K;A04=-inv(M)*C;A0=%A0
F11=;F12=;F21=-inv(M);F22=-inv(M);F1= %F1
Bu=
Bw=
B11=;B12=;B1=
B21=;B22=;B2=
C1=[-k1/m1,k1/m1,-cs/m1,cs/m1;1,-1,0,0;0,1,0,0]
D11=;D12=
%u1=;
%u2=[-3000,0,0,0;0,-3000,0,0;0,0,-3000,0;0,0,0,-3000];
u1=200;u2=-100;
U01=u1+u2
U02=u1-u2
Vk=0.1
Vc=0.1
%W1=
W10=Vk*K;W11=;W12=;W13=Vc*C;
W1=
%LMI求解
setlmis([])
m=0.1
%m=lmivar(1,)
n=0.01
%n=lmivar(1,)
d1=1000
%d1=lmivar(1,)
Q1=lmivar(1,)
R1=lmivar(2,)
%定义LMI中的3个变量
lmiterm(,A0,1,'s')
lmiterm(,0.5*B2*U01,1,'s')
%lmiterm(,B2,1,'s')
lmiterm(,F1)
lmiterm(,B2)
lmiterm(,B1)
lmiterm(,1,C1')
lmiterm(,1,0.5*D12'*U01)
%lmiterm(,D12,1)
lmiterm(,1,m*W1')
lmiterm(,1,0.5*n*U02)
%lmiterm(,n,1)
lmiterm(,-m*m)
lmiterm(,-n*n)
lmiterm(,-d1*d1)
%lmiterm(,-1,1)
lmiterm(,D12')
lmiterm(,D11')
lmiterm(,-1)
lmiterm(,-1)
lmiterm(,-1)
lmiterm([-2,1,1,Q1],1,1)
lmis=getlmis
=feasp(lmis)
%c=mat2dec(lmis,zeros(4,4),zeros(1,1),zeros(1,1),zeros(4,1),eye(1))
%=mincx(lmis,c)
PP1=dec2mat(lmis,xfeas,Q1)
PP2=dec2mat(lmis,xfeas,R1)
%PP3=dec2mat(lmis,xfeas,d1)
%PP4=dec2mat(lmis,xfeas,m)
%PP5=dec2mat(lmis,xfeas,n)
L=PP2*inv(PP1)
P=inv(PP1)
tmin
问题，tmin应该小于0，但是怎么调整参数m,n,d都得不到
明天就要验收，急求高手帮忙
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