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运用Ｄｏｙｌｅ的结构奇异值理论，提出了不确定系统解耦控制器设计方法．该方法在保证闭环系统稳定性和动态性能前提下，使解耦控制器对范数约束的不确定系统作最大限度地解耦．仿真表明，这种鲁棒解耦控制器效果良好．
Using Doyle ’s structure singular value theory, the design method of uncertain system decoupling controller is proposed. The proposed method decouples the controller to maximize the decoupling of the norm-constrained uncertain system while ensuring the stability and dynamic performance of the closed-loop system. Simulation shows that the robust decoupling controller works well.