针对摆式列车数学模型的不确定性及倾摆控制系统设计的多目标要求 ,对摆式列车模拟试验装置的辨识数学模型分别用H∞ 方法和 μ方法设计三个鲁棒控制器 .同时探讨了在跟踪问题的鲁棒控制设计中加权函数选择的一般性原则 .仿真结果表明 ,鲁棒控制的H∞ 方法和 μ方法在处理具有各种不确定性的系统设计中均有良好的效果 ,但 μ方法在摄动下的干扰抑制性能比H∞ 方法更具鲁棒性 Aiming at the uncertainty of the mathematical models of tilting trains and the multi-objective requirements of tilting control system design, three robust controllers are designed respectively using the H∞ method and the μ method for the identification mathematical model of the tilting train simulation device. The general principle of weight function selection in robust control design of tracking problem is given.The simulation results show that the H∞ method and the μ method of robust control have good effect in the system design with various uncertainties, However, the interference suppression performance of the μ method under perturbation is more robust than the H∞ method