%參考文獻：Lipschitz非線性系統觀測器設計新方法，馬克茂，馬萍
%1、Lipschitz常數的求解方法??2、非線性觀測器增益的求解
clear
clc

A=[0?1;1?-1];
C=[0?1];
gamma=0.49;?%Lipschitz常數

i=0;
%-----------initial?a?LMI?system------------
setlmis（[]）;
%----------define?variables----------------
%?P?is?a?2?by?2?matrix
P=lmivar（1[2?1]）;
%?W?is?a?2?by?1?matrix
W=lmivar（2[2?1]）;
%?q?is?1?by?1?matrix
q=lmivar（1[1?0]）;

while?1
????P0=P;
????W0=W;
????gamma0=gamma;
????%-----------initial?a?LMI?system------------
????setlmis（[]）;

????%----------define?variables----------------
????%?P?is?a?2?by?2?symmetric?matrix
????P=lmivar（1[2?1]）;
????%?W?is?a?2?by?1?matrix
????W=lmivar（2[2?1]）;
????%?q?is?1?by?1?matrix
????q=lmivar（1[1?0]）;


????%P>0
????lmiterm（[-2?1?1?P]11）;
????lmiterm（[2?1?1?0]0）;
????%
????lmiterm（[1?1?1?P]A‘1‘s‘）;
????%lmiterm（[1?1?1?P]1A）;
????lmiterm（[1?1?1?W]1C‘s‘）;
????%lmiterm（[1?1?1?-W]C‘1）;
????lmiterm（[1?1?1?P]11）;
????lmiterm（[1?1?1?q]1eye（2））;

????%
????lmiterm（[3?1?1?P]gamma^21）;
????lmiterm（[3?1?1?q]-1eye（2））;


????lmis?=?getlmis;

????[tmin?feas]?=?feasp（lmis）;
????P?=?dec2mat（lmis?feas?P）;

????W?=?dec2mat（lmis?feas?W）;

????q?=?dec2mat（lmis?feas?q）;

????if?tmin>0
????????if?i==1
????????????gamma=gamma/2;
????????????continue;
????????else
????????????P=P0;
????????????W=W0;
????????????gamma=gamma0;
????????????break;
????????end
????else
????????Q=-（A‘*P+P*A+C‘*W‘+W*C+P）;
????????gamma=sqrt（min（eig（Q））/max（eig（P）））
????end
????i=i+1;
end
disp（‘反饋增益：‘）
L=inv（P）*W
disp（‘Lipschitz常數：‘）
gamma

?屬性????????????大小?????日期????時間???名稱
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?????文件?????257724??2010-07-20?17:58??Lipschitz非線性系統觀測器設計新方法\Lipschitz非線性系統觀測器設計新方法.pdf

?????文件???????1651??2010-07-22?11:44??Lipschitz非線性系統觀測器設計新方法\lmi1.m

?????文件?????????38??2010-07-22?13:04??Lipschitz非線性系統觀測器設計新方法\說明.txt

?????目錄??????????0??2010-07-22?11:42??Lipschitz非線性系統觀測器設計新方法

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???????????????259413????????????????????4