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本文研究了设计多变量鲁棒控制系统的正规矩阵方法，证明了正规传递函数矩阵是Ｈ∞范数最优的一个充分条件，从而表明，正规矩阵方法可以达到与Ｈ∞方法同样好的鲁棒性．在此基础上，提出一种正规矩阵参数优化设计方法，该方法既保证了系统的鲁棒性又可兼顾系统的动静态性能，同时所得到的控制器比较简单．
In this paper, we study the normal matrix method for designing multivariable robust control systems and prove that the normal transfer function matrix is a sufficient condition for the H∞ norm to be the optimal, which shows that the normal matrix method can achieve the same good robustness as the H∞ method Sex. On this basis, a method of optimal design of normal matrix parameters is proposed, which not only ensures the robustness of the system but also takes into account the dynamic and static performance of the system. At the same time, the obtained controller is simpler.