Therefore, a design scheme via LMI approach is presented in order to improve the system robustness. By using the LMI approach, the attitude controller design is reduced to a convex optimization problem based on the polytopic system. Since there are some degrees of freedom when solving the LMI, it is available to use this kind of freedom to achieve multi-objective control within this framework.

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Semidefinite programming is a subfield of convex optimization where the underlying variables are semidefinite matrices .

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Based on the idea and technical in the references[16],[17]and[26]as well as the theories of martingale,Brownian motion and stochastical orders,the expectation of present value of annuities with controlled random interests is obtained,and the upper bounds of present value function of discrete stochastic annuities with random interests in sense of convex order are derived,and the numerical characteristics of upper bounds are also obtained,furthermore,the expec

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In this paper,making use of hyperplane method,we improve the proof of the separation theorem;On the other hand,we use a new method of moving neighborhood to simplify the proof for the continuity of a subconvex function defined on a convex in a normed linear space.

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