Third, learn the robust control theory and LMI method, then write the control algorithm program with Borland C++, the signal-collecting program, the signal-processing program, the communication program, the drive program .

• 第三，深入学习鲁棒控制理论和LMI算法，并用Borland C++编写误差分离控制算法程序，同时编写信号采集程序，信号处理程序，上位机和下位机通讯程序，数据采集卡驱动程序；