# LMI, Control system, Robust Control Adaptive Controller
**URL:** https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626
**Category:** Performance
**Tags:** question
**Created:** [August 1, 2021, 11:16am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626 "2021-08-01T11:16:56Z")
**Posts on this page:** 14
**Page:** 1
### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 1, 2021, 11:16am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/1 "2021-08-01T11:16:56Z")
Piecewise gain-scheduled L2 control
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### Author:  [@baggepinnen](https://discourse.julialang.org/u/baggepinnen)
#### Post date: [August 1, 2021, 2:51pm UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/2 "2021-08-01T14:51:10Z")
Is this a question?
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### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 1, 2021, 11:26pm UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/3 "2021-08-01T23:26:22Z")
yeah please, actually i am unable to write the code in Matlab Some equation
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### Author:  [@zdenek\_hurak](https://discourse.julialang.org/u/zdenek_hurak)
#### Post date: [August 2, 2021, 12:11am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/4 "2021-08-02T00:11:18Z")
And?
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### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 2, 2021, 12:22am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/5 "2021-08-02T00:22:58Z")
i want correct it
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### Author:  [@zdenek\_hurak](https://discourse.julialang.org/u/zdenek_hurak)
#### Post date: [August 2, 2021, 12:26am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/6 "2021-08-02T00:26:24Z")
[Make it easier to help you](https://discourse.julialang.org/t/please-read-make-it-easier-to-help-you/14757).
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### Author:  [@ufechner7](https://discourse.julialang.org/u/ufechner7)
#### Post date: [August 2, 2021, 12:31am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/7 "2021-08-02T00:31:33Z")
To summerize: Please explain in detail:
1. Which problem are you trying to solve?
2. Which code did you write that does not work as expected?
Please post a complete, executable example.
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### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 2, 2021, 1:12am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/8 "2021-08-02T01:12:39Z")
here is my problem hope you can understand it very well
(Attachment Problems.docx is missing)
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### Author:  [@ufechner7](https://discourse.julialang.org/u/ufechner7)
#### Post date: [August 2, 2021, 2:07am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/9 "2021-08-02T02:07:47Z")
I guess discourse removed your attachment. Can you describe in your own words which problem you are trying to solve and post the code you wrote to solve it?
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### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 19, 2021, 8:41am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/10 "2021-08-19T08:41:55Z")
Please help me to solve this LMI system. Actually, I obtained result which is not correct. I am ok with numerator but I want five denominators.
Thank an Advance.
Here is LMI code
clc, clear all
G1 = 0.058;
G2 = 0.47;
thau2 = 3.4;
thau = 28.6;
T = 11.7;
G3 = 0.105;
b11 = -G1;
b12 = G2/thau2;
A=[0 0 0 0 -G1;0 -thau2^-1 0 0 b12; 0 0 -2_thau 1 G3; 0 0 -thau^-2-4_(pi)^2\*T^-2 0 0; 0 0 0 0 -1]
B1=[b11, -b12, 0, 0, 0]‘;
B2=[0, 0, 0, 0, 1]’;
B11 = [B1 B2];
B12 = [B1];
B21 = B2;
B22 = 2\*B2;
C=[ones(1, 3) 0 0];
C1=C;C2=C;
setlmis()
X1=lmivar(1,[5 1])
X2=X1;
X3=X1;
X4=X1;
L=lmivar(2,[1 5])
g=lmivar(1,[1 1])
lmiterm([-1,1,1,X1],1,1)
lmiterm([-1,1,2,g],1,1)
% first LMI
lmiterm([2,1,1,X1],A,1,‘s’)
lmiterm([2 1 1 L],B21,1,‘s’)
lmiterm([2,1,2,0],B11)
lmiterm([2,1,3,X1],1,C’)
lmiterm([2,2,2,0],-eye(2))
lmiterm([2,2,3,0],zeros(2,1))
lmiterm([2,3,3,g],-1,-eye(1))
%Second LMI
lmiterm([3,1,1,X2],A,1,‘s’)
lmiterm([3,1,1 L],B22,1,‘s’)
lmiterm([3,1,2,0],B11)
lmiterm([3,1,3,X2],1,C’)
lmiterm([3,2,2,0],-1)
lmiterm([3,2,3,0],0)
lmiterm([3,3,3,g],-1,eye(1))
%thrid LMI
lmiterm([4,1,1,X3],A,1,‘s’)
lmiterm([4,1,1,L],B21,1,‘s’)
lmiterm([4,1,2,0],B12)
lmiterm([4,1,3,X3],1,C’)
lmiterm([4,2,2,0],-1)
lmiterm([4,2,3,0],0)
lmiterm([4,3,3,g],-1,eye(1))
%fourth LMI
lmiterm([5,1,1,X4],A,1,‘s’)
lmiterm([5,1,1,L],B22,1,‘s’)
lmiterm([5,1,2,0],B12)
lmiterm([5,1,3,X4],1,C’)
lmiterm([5,2,2,0],-1)
lmiterm([5,2,3,0],0)
lmiterm([5,3,3,g],-1,eye(1))
lmis=getlmis
[tmin,xfeas] = feasp(lmis);
X1= dec2mat(lmis,xfeas,X1)
g = dec2mat(lmis,xfeas,g)
L = dec2mat(lmis,xfeas,L)
K =L\*inv(X1)
syms s
tf(K,C1)
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### Author:  [@zdenek\_hurak](https://discourse.julialang.org/u/zdenek_hurak)
#### Post date: [August 19, 2021, 8:57am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/11 "2021-08-19T08:57:32Z")
> [@LMI, Control system, Robust Control Adaptive Controller](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/6):
>
> [Make it easier to help you](https://discourse.julialang.org/t/please-read-make-it-easier-to-help-you/14757).
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### Author:  [@Asifalimaitlo\_Asifal](https://discourse.julialang.org/u/Asifalimaitlo_Asifal)
#### Post date: [August 19, 2021, 9:09am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/12 "2021-08-19T09:09:50Z")
How could i please guide me. i am little confused.
your help will be highly appreciated.
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### Author:  [@zdenek\_hurak](https://discourse.julialang.org/u/zdenek_hurak)
#### Post date: [August 19, 2021, 9:30am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/13 "2021-08-19T09:30:58Z")
Just read it. In particular the item 2.
By the way, this is a forum about Julia. Not Matlab. If you just need to correct your Matlab code, which seems to be your goal, this is not the right place.
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### Author:  [@ufechner7](https://discourse.julialang.org/u/ufechner7)
#### Post date: [August 19, 2021, 9:31am UTC](https://discourse.julialang.org/t/lmi-control-system-robust-control-adaptive-controller/65626/14 "2021-08-19T09:31:23Z")
This is looking like Matlab code, not like Julia code. We can help you with debugging Julia code, but first you have to write some Julia code yourself.
And if you post code, please put it in triple backticks, ``` before and after you code…