状态反馈Hinf控制器设计时，求r最小值为甚么总是负的？？
本帖最后由 圣徒 于 2011-1-22 10:21 编辑>> setlmis([]);%初始化LMI
>> X=lmivar(1,);
>> W=lmivar(2,);
>> q=lmivar(1,);
>> lmiterm(,A,1,'s');%添加内因子
>> lmiterm(,B2,1,'s');%添加内因子
>> lmiterm(,B1);
>> lmiterm(,1,C1');
>> lmiterm(,1,D);
>> lmiterm(,-1);
>> lmiterm(,0);
>> lmiterm(,-q);
>> lmiterm([-2 1 1 X],1,1);
>> lmisys=getlmis;
>> c=mat2dec(lmisys,zeros(4),,1)
c =
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
>> =mincx(lmisys,c)
Solver for linear objective minimization under LMI constraints
Iterations : Best objective value so far
1
2
3
4
5
6
7 -4.769352e+008
8 -9.482209e+008
9 -9.482209e+008
10 -9.772119e+008
11 -9.772119e+008
12 -9.825143e+008
13 -9.825143e+008
*** new lower bound: -1.083984e+009
14 -9.914010e+008
*** new lower bound: -1.034580e+009
15 -9.934978e+008
*** new lower bound: -1.021295e+009
16 -9.951168e+008
*** new lower bound: -1.013824e+009
17 -9.964304e+008
*** new lower bound: -1.009358e+009
18 -9.971183e+008
*** new lower bound: -1.006591e+009
Result:feasible solution of required accuracy
best objective value: -9.971183e+008
guaranteed relative accuracy: 9.50e-003
f-radius saturation:99.981% of R = 1.00e+009
copt =
-9.9712e+008
xopt =
1.0e+008 *
0.0000
-0.0000
0.0000
-0.0000
0.0000
0.0000
0.0000
-0.0000
-0.0000
0.0006
0.3517
-0.0023
-0.0257
-0.6429
-9.9712参数如下
A =
1.0e+003 *
0 0 0.0010 -0.0010
0 0 0 0.0010
-0.0563 0 -0.0031 0.0031
0.4500 -5.0000 0.0250 -0.0253
B1 =
0
-1.0000
0
0.2500
B2 =
0
0
0.0031
-0.0250
C1 =
-56.2500 0 -3.1250 3.1250
D =
0.0031
回复 1 # 圣徒 的帖子
得到的解吓人啊!copt不应该是正的吗？？？
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