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讨论含有参数不确定性系统的鲁棒性能设计问题。首先将该问题转化为一个多项式簇的鲁棒稳定性问题，从而得到鲁棒性能控制器应满足的频域充要条件，然后通过一个双回路控制器的设计将鲁棒镇定和鲁棒性能设计分两步进行，使设计条理化、简单化。
Discuss the robust performance design problem of the system with parameter uncertainty. Firstly, the problem is transformed into the robust stability problem of a polynomial cluster, and then the necessary and sufficient conditions for the robust performance controller to be satisfied in the frequency domain are obtained. Then a robust loop stabilization and robust performance design In two steps, the design of the system, simplistic.