clear?all;
close?all;
%F為反饋矩陣。F=Y*Q^（-1）.

A1=[1?0.1;0?0.99];
A2=[1?0.1;0?0];
B=[0;0.0787];
C=[1?0];
Q1=eye（2）;??%狀態加權系數
R1=0.01;???????%輸入加權系數
lu=0.5;?????%輸入限值
lx=0.1;?????%狀態限值

alfa=1;?????%可調系數
beta=1;
r=0.95;?????%衰減率

x1=zeros（151）;
x2=zeros（151）;
u=zeros（151）;?u（1）=-0.5;
x1（1）=0.05;
x2（1）=0;



for?k=1:50
????X=[x1（k）;x2（k）];
????
????setlmis（[]）
????Y=lmivar（2[1?2]）;
????Q=lmivar（1[2?1]）;
????lamd=lmivar（1[1?1]）;
????
????%1st?LMI?X*Q^（-1）*X‘>=0
?????lmiterm（[-1?1?1?0]1）;
?????lmiterm（[-1?2?1?0]X）;
?????lmiterm（[-1?2?2?Q]11）;
????
????%2nd?LMI?輸入約束
????lmiterm（[-2?1?1?0]lu*lu）;
????lmiterm（[-2?1?2?Y]11）;
????lmiterm（[-2?2?2?Q]11）;
????
????%3rd?LMI?輸出約束1
????lmiterm（[-3?1?1?Q]11）;
????lmiterm（[-3?2?1?Q]A11）;
????lmiterm（[-3?2?1?Y]B1）;
????lmiterm（[-3?2?2?0]lx*lx）;
????
????%4th?LMI?輸出約束2
????lmiterm（[-4?1?1?Q]11）;
????lmiterm（[-4?2?1?Q]A21）;
????lmiterm（[-4?2?1?Y]B1）;
????lmiterm（[-4?2?2?0]lx*lx）