代码如下:参数可以自己改变
A=[1 0.1;0.1 0.8];
B=[0.2 0;0.1 -0.1];
C=[-0.41 0.1;0 -0.1];
% CC=C'*C;
D=[0 0;1 0.1];
E1=[0.1 0;0.1 0.1];
E2=[0 0;-0.1 0];
% W=[1;1];
d=0;
T=0.05;
G=ss(A,B,C,d);
Gd=c2d(G,T)
Ad=[1.051 0.00523;0.00523 1.041];
Bd=[0.01027 -1.288e-05; 0.005127 -0.005101];
Gd=c2d(G,T/2)
B0=[0.005066 -3.172e-06; 0.002532 -0.002525];
B1=Bd-B0;
H=Bd*inv(B);
H2=B0*inv(B);
H1=B1*inv(B);
HD=H*D;
H1D=H1*D;
H2D=H2*D;
setlmis([])
a1=lmivar(1,[1 1]);
a2=lmivar(1,[1 1]);
a3=lmivar(1,[1 1]);
a4=lmivar(1,[1 1]);
a5=lmivar(1,[1 1]);
b=lmivar(1,[1 1]);
P=lm