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本文研究具有多重扇形非线性环节和结构式线性不确定性系统的鲁棒稳定性．给出了检验含参数不确定性和未建模动态的多变量Lurie系统鲁棒绝对稳定的统一判据，并证明了多变量Popov判据和混合产上界均是该判据的特殊形式．基于Rosenbrock优化算法和内点法，本文还给出了计算这一判据的一种凸优化算法．最后用一计算示例表明本文结果还可用于确定含参数不确定性和未建模动态的Lurie系统的H∞性能．
In this paper, we study the robust stability of systems with multiple sectorial non-linear links and structural linear uncertainties. The unified criterion for robust robust stability of multivariable Lurie systems with parametric uncertainties and unmodeled dynamics is given. The multivariate Popov criterion and the mixed upper bound are proved to be special forms of the criterion. Based on the Rosenbrock optimization algorithm and the interior point method, this paper also gives a convex optimization algorithm to calculate this criterion. Finally, a calculation example shows that the results in this paper can also be used to determine the H∞ performance of Lurie systems with parametric uncertainties and unmodeled dynamics.