%控制器的設計子程序 
glow=0;ghigh=10;tol=1e-2;
while isempty(K)==1&ghigh<1e6;
[K,CL,gopt]=hinfsyn(Gpsys,1,1,glow,ghigh,tol);
if isempty(K)==1 & ghigh<1e6;
ghigh=ghigh * 10;
tol=ghigh * 1e-3;
end
clear CL ghigh glow tol
end;