针对具有质心参数不确定性的Acrobot系统,提出一种全局的鲁棒控制方法.首先,给出系统具有质心参数不确定的系统模型;其次在摇起区,分析系统不确定性条件下的能量变化情况,基于能量不断增加的思想设计出摇起控制器;在平衡区,把系统的不确定性转化为模型状态矩阵的不确定性,引入H∞标准设计方法,得出存在H∞状态反馈控制器的充要条件,通过求解线性矩阵不等式使系统有效地克服不确定性的影响实现二次稳定;最后通过仿真实验验证了所提方法的有效性. Aiming at the Acrobot system with uncertainty of centroid parameters, a global robust control method is proposed. First, the system model with uncertain centroid parameters is given. Secondly, in the swing area, the energy under system uncertainty In the balance area, the uncertainties of the system are transformed into the uncertainty of the model state matrix. The H∞ standard design method is introduced to obtain the existence of the H∞ state feedback The necessary and sufficient conditions of the controller are obtained by solving the linear matrix inequality so that the system can effectively overcome the influence of uncertainty to achieve quadratic stability. Finally, the simulation results show the effectiveness of the proposed method.