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根据闭环极点的渐近性质，在考虑了L2有界不确定性对系统闭环极点的最坏影响下利用复s平面与复ω平面之间的Mobins变换，给出满足闭环主导极点圆域约束的状态加权阵Q的选取过程，实现保证一定稳定格度并具有主导极点与非主导极点分布的鲁棒性优化设计。仿真算例表明了设计的有效性。
According to the asymptotic property of the closed-loop pole, using the Mobins transformation between the complex s-plane and the complex ω-plane under the worst influence of closed-loop pole of L2, State weight matrix Q selection process, to achieve a certain degree of stability to ensure a stable and with the dominant pole and non-dominant pole distribution of robust optimization design. The simulation example shows the effectiveness of the design.