【摘要】 本文讨论在极点配置的约束下，使［Ｐ］和［Ｖ］·［Ｖ－１］（条件数）极小化的问题，其中Ｐ是（Ａ＋ＢＦ）＇Ｐ＋Ｐ（Ａ＋ＢＦ）＝－２Ｉｎ的工定解，Ｖ是Ａ＋ＢＦ的特征向量矩阵．两种指标都反映了系统鲁棒稳定的程度．通过定义一矩阵函数并引入新的自由变量Ｕ，可放松极点配置的约束，并能系统的推导［Ｐ］／Ｕ及（［Ｖ］·［Ｖ－１］）／Ｕ，从而将鲁棒设计转化为无约束的梯度法寻优，实例说明，本文设计方法的效果很好．更多还原

【Abstract】 This paper suggest a method to minimize [p] and [V] [V-1] under the constraint of pole assignment.where P is the selution to (A+BF)’ P+P(A+BF)=-2In,and V is the eigenvector matrix of A+B F.These two indices reflect the robustness of a system.By defining a matrix function and introducing a free matrix U, the pole assignment constraint is relaxed,and the gradient -2[p] / U and -2 [V] -2[V-1] / U are obtained.Thus.robust design can be achieved by gradient method. Examples show that this method is very effective.更多还原