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本文对结构参数不确定线性定常多变量系统的鲁棒Ｈ∞状态反馈设计问题进行了研究，给出了系统鲁棒稳定和干扰衰减的条件，及相应的鲁棒Ｈ∞状态反馈设计方法，并用这种方法设计了一个倒立摆平衡控制器．仿真结果表明，与ＬＱ设计方法相比，按本文所提出的设计方法得到的控制器具有鲁棒稳定能力强、闭环动态性能良好等优点．
In this paper, the robust H∞ state feedback design for a class of uncertain linear stationary multivariable systems with structural parameters is studied. The conditions of robust stability and disturbance attenuation of the system and the corresponding robust H∞ state feedback design methods are given. This method designed an inverted pendulum balance controller. The simulation results show that compared with the LQ design method, the controller obtained by the design method proposed in this paper has the advantages of strong robustness and good closed-loop dynamic performance.