俞力鲁棒控制 218页 求解一个多包模型问题

飞飞edifier

clear all;
close all;
clc;
A1 = [0 -0.7; 1 -0.5];
A2 = [0 -1.3; 1 -0.5];
B = [-0.4545; 0.909];   
C = [0 100];
D = 1;  
L = [0 100];
epsilon = 0;
%%%%%%%%%%%%%%%%%%%%%%%%%%%
setlmis([])
R = lmivar(1,[2 1]);
X = lmivar(1,[2 1]);
M = lmivar(2,[2 2]);
N = lmivar(2,[1 2]);
Z = lmivar(2,[2 1]);
Df = lmivar(1,[1 0]);
rou = lmivar(1,[1 0]);
lmiterm([1 1 1 R],1,A1,'s');
lmiterm([1 1 2 R],1,A1);
lmiterm([1 1 2 X],A1',1);
lmiterm([1 1 2 -Z],C',1);
lmiterm([1 1 2 -M],1,1);
lmiterm([1 1 3 R],1,B);
lmiterm([1 1 4 0],L');
lmiterm([1 1 4 -Df],-C',1);
lmiterm([1 1 4 -N],-1,1);
lmiterm([1 2 2 X],1,A1,'s');
lmiterm([1 2 2 Z],1,C,'s');
lmiterm([1 2 3 X],1,B);
lmiterm([1 2 3 Z],1,D);
lmiterm([1 2 4 0],L');
lmiterm([1 2 4 -Df],-C',1);
lmiterm([1 3 3 0],-1);
lmiterm([1 3 4 -Df],-D',1);
lmiterm([1 4 4 rou],-1,1);
lmiterm([2 1 1 R],1,A2,'s');
lmiterm([2 1 2 R],1,A2);
lmiterm([2 1 2 X],A2',1);
lmiterm([2 1 2 -Z],C',1);
lmiterm([2 1 2 -M],1,1);
lmiterm([2 1 3 R],1,B);
lmiterm([2 1 4 0],L');
lmiterm([2 1 4 -Df],-C',1);
lmiterm([2 1 4 -N],-1,1);
lmiterm([2 2 2 X],1,A2,'s');
lmiterm([2 2 2 Z],1,C,'s');
lmiterm([2 2 3 X],1,B);
lmiterm([2 2 3 Z],1,D);
lmiterm([2 2 4 0],L');
lmiterm([2 2 4 -Df],-C',1);
lmiterm([2 3 3 0],-1);
lmiterm([2 3 4 -Df],-D',1);
lmiterm([2 4 4 rou],-1,1);
lmiterm([3 1 1 R],1,1);
% lmiterm([3 1 1 0],epsilon);
lmiterm([-3 1 1 X],1,1);
LMIs = getlmis;
% decinfo(LMIs,rou);
% nn = decnbr(LMIs);
c = mat2dec(LMIs,0,0,0,0,0,0,1)
options = [1e-5,0,0,0,0]
[copt,xopt] = mincx(LMIs,c,options);
R1 = dec2mat(LMIs,xopt,R);
X1 = dec2mat(LMIs,xopt,X);
M1 = dec2mat(LMIs,xopt,M);
Z1 = dec2mat(LMIs,xopt,Z);
N1 = dec2mat(LMIs,xopt,N);
Af1 = inv(R1-X1)*M1
Bf1 = inv(R1-X1)*Z1
Cf1 = N1
Df1 = dec2mat(LMIs,xopt,Df)

求出的结果和俞力老师给出的不一样，哪位老师给瞅瞅。感谢。