从代数Riccati不等式 (ARI)设计H∞ 控制问题出发 ,通过选取参数矩阵M和N ,对鲁棒H∞ 估计器的代数Riccati不等式进行简化 .再根据Schur补公式 ,导出用线性矩阵不等式设计鲁棒H∞ 估计器的定理 .例子说明设计的估计器具有很好的鲁棒性 Starting from the algebraic Riccati inequality (ARI) design H∞control problem, the algebraic Riccati inequality of the robust H∞ estimator is simplified by selecting the parameter matrices M and N. Then the robust matrix design method is derived by using the linear matrix inequality H∞ estimator theorem. The example shows that the estimator designed has good robustness