该程序算法用于求解以矩阵不等式形式表示的控制器问题，锥补线性化算法（CCLA）可以对非线性矩阵不等式作线性化处理，再利用Matlab中工具求解线性矩阵不等式（LMI），即可求得控制器增益参数。-The program　algorithm is used for solving the controller problem expressed in the form of　matrix inequalities. The cone complementarity linearization algorithm (CCLA) can　linear process the non-linear matrix inequalities, then use the Matlab tools for solving linear matrix inequalities (LMI), you can obtain the controller gain parameters.