开卷过程中的速度和张力系统具有时变、强耦合的特点，为了提高系统的控制性能，采用了多变量H-∞鲁棒控制策略。建立了带结构化扰动的系统模型，用结构奇异值方法对控制系统的鲁棒稳定性和鲁棒性能进行了分析。仿真结果表明，所设计的控制器能满足闭环系统稳定性和抗干扰性能要求。

The velocity and tension system in unwinding process has the features of time-varying and strong coupling. To improve its control quality, a multivariable H-∞ control strategy was applied. The system model with structured perturbations was established, the structured singular method was used to analyze the robust stability and robust performance of the system. Simulation results showed that the controller satisfies stability and anti-interference requirements of closed loop system.