急！求助LMI求解，鲁棒控制

poyu2156

clc
clear all;
k1=13100;m1=504.5;m2=62;cs=400;k2=252000;    %初始参数
M=[m1,0;0,m2]  %系统参数的输入被动悬架模型质量参数矩阵   
C=[cs,-cs;-cs,cs]  %被动悬架模型阻尼参数矩阵
K=[k1,-k1;-k1,k1+k2] %被动悬架模型弹性系数参数矩阵
A01=[0,0;0,0];A02=[1,0;0,1];A03=-inv(M)*K;A04=-inv(M)*C;A0=[A01,A02;A03,A04]  %A0
F11=[0,0;0,0];F12=[0,0;0,0];F21=-inv(M);F22=-inv(M);F1=[F11,F12;F21,F22]   %F1
Bu=[1;-1]
Bw=[0;252000]
B11=[0;0];B12=[inv(M)*Bw];B1=[B11;B12]
B21=[0;0];B22=[inv(M)*Bu];B2=[B21;B22]
C1=[-k1/m1,k1/m1,-cs/m1,cs/m1;1,-1,0,0;0,1,0,0]
D11=[0;0;-1];D12=[1/m1;0;0]
%u1=[3000,0,0,0;0,3000,0,0;0,0,3000,0;0,0,0,3000];
%u2=[-3000,0,0,0;0,-3000,0,0;0,0,-3000,0;0,0,0,-3000];
u1=200;u2=-100;
U01=u1+u2
U02=u1-u2
Vk=0.1
Vc=0.1
%W1=[0.1,0,0,0;0,0.1,0,0;0,0,0.1,0;0,0,0,0.1]
W10=Vk*K;W11=[0,0;0,0];W12=[0,0;0,0];W13=Vc*C;
W1=[W10,W11;W12,W13]
%LMI求解
setlmis([])
m=0.1
%m=lmivar(1,[1,1])
n=0.01
%n=lmivar(1,[1,1])
d1=1000
%d1=lmivar(1,[1,1])
Q1=lmivar(1,[4,1])
R1=lmivar(2,[1,4])
%定义LMI中的3个变量
lmiterm([1,1,1,Q1],A0,1,'s')
lmiterm([1,1,1,R1],0.5*B2*U01,1,'s')
%lmiterm([1,1,1,R1],B2,1,'s')
lmiterm([1,1,2,0],F1)
lmiterm([1,1,3,0],B2)
lmiterm([1,1,4,0],B1)
lmiterm([1,1,5,-Q1],1,C1')
lmiterm([1,1,5,-R1],1,0.5*D12'*U01)
%lmiterm([1,5,1,R1],D12,1)
lmiterm([1,1,6,-Q1],1,m*W1')
lmiterm([1,1,7,-R1],1,0.5*n*U02)
%lmiterm([1,7,1,R1],n,1)
lmiterm([1,2,2,0],-m*m)
lmiterm([1,3,3,0],-n*n)
lmiterm([1,4,4,0],-d1*d1)
%lmiterm([1,4,4,d1],-1,1)
lmiterm([1,3,5,0],D12')
lmiterm([1,4,5,0],D11')
lmiterm([1,5,5,0],-1)
lmiterm([1,6,6,0],-1)
lmiterm([1,7,7,0],-1)
lmiterm([-2,1,1,Q1],1,1)
lmis=getlmis
[tmin,xfeas]=feasp(lmis)
%c=mat2dec(lmis,zeros(4,4),zeros(1,1),zeros(1,1),zeros(4,1),eye(1))
%[copt,xopt]=mincx(lmis,c)
PP1=dec2mat(lmis,xfeas,Q1)
PP2=dec2mat(lmis,xfeas,R1)
%PP3=dec2mat(lmis,xfeas,d1)
%PP4=dec2mat(lmis,xfeas,m)
%PP5=dec2mat(lmis,xfeas,n)
L=PP2*inv(PP1)
P=inv(PP1)
tmin

问题，tmin应该小于0，但是怎么调整参数m,n,d都得不到

明天就要验收，急求高手帮忙