采用线性矩阵不等式方法，将问题转化为一个线性凸优化算法。

The problem is reduced to a linear convex optimization algorithm via LMI approach.

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引入凸优化算法，求解使闭环系统渐近稳定且性能指标上界最小的最优控制器参数。

The convex optimization algorithm was used to get the minima upper bound of performance cost and parameter of optimal minimax controller.

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采用线性矩阵不等式技术，将问题转化为一线性凸优化算法，可得问题的全局最优解。

Using the linear matrix inequality (LMI) technique, the problem is converted into a linear convex optimization algorithm so that a global optimization solution is obtained. Finally.

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