对给定的系统实施基于内模原理的H无穷控制。并绘制阶跃响应图与bode图。同时加入了一定范围内的参数扰动，参数扰动时，系统同样可以稳定。-The implementation of H control based on the internal model principle of the given system. And draw the step response diagram and bode. At the same time, parameters are added to a certain range, and the system can be stable when the parameters are disturbed.