This paper proposes a novel finite-time generalized proportional integral observer (FTGPIO) based a sliding mode control (SMC) scheme for the tracking control problem of high order uncertain systems subject to fast time-varying disturbances. For this purpose, the construction of the controller consists of two consecutive steps. First, the novel FTGPIO is designed to observe unmeasurable plant dynamics states and disturbance with its higher time derivatives in finite time rather than infinite time as in the standard GPIO. In the FTGPO estimator, the finite time convergence rate of estimations is well achieved, whereas the convergence rate of estimations by classical GPIO is asymptotic and slow. Secondly, on the basis of the finite and fast estimations, the SMC scheme is constructed in order to compensate estimation errors in both states and disturbance. Finally, the tracking efficiency is verified by carrying out many simulations on the application example of flexible joint robot (FJR). Besides, comparing the proposed method with the standard GPIO based SMC method is performed.
Background: Many drug and non drug approaches are utilized for the treatment of dyslipidemia; flavonoids, the major constituents of silymarin, have been proved to
positively modify lipoproteins in experimentally – induced dyslipidemia.
Objective: This study was designed to evaluate the effect of silymarin, when used alone or in combination with other hypolipidemic agents, on the lipid profile in
dyslipidemic patients.
Patients and Methods: Fifty seven patients with dyslipidaemia of various etiologies are involved in this clinical trial. They are randomized into three groups treated with
either 400mg / day silymarin (gr. A) or 20 mg / day lovastatin (gr. B) or a combination of 200 mg/day si
200 samples collected Adrar of patients with urinary tract infection were investigating the types of bacteria most local isolates showed high resistance to antibiotics penicillin c ??????? Amoxicillin Beracelin
Objectives: a study of surgical procedures used in the management of sciatic n injury & acomparism between them including comparism with other universal studies.
Patients and methods: 62 patients collected from the neuro-surgical unit in the specialized surgical hospital from Jan-2004 till October 2007, all patients studied thoroughly regarding age, Gender, type of injury, time of injury & outcome.
Results: 85% of our patients were ♂, 45% were in the age of 21-30 years, most injured by bullet or shells, the delay in surgery was mostly 1-3m, the repair is by direct suture 45%, 29% release of adhesions 16%, excision of neuroma & suturing, 9.6% by nerve graft, the direct suturing carried the 
The main objective of this work is to generalize the concept of fuzzy algebra by introducing the notion of fuzzy algebra. Characterization and examples of the proposed generalization are presented, as well as several different properties of fuzzy algebra are proven. Furthermore, the relationship between fuzzy algebra and fuzzy algebra is studied, where it is shown that the fuzzy algebra is a generalization of fuzzy algebra too. In addition, the notion of restriction, as an important property in the study of measure theory, is studied as well. Many properties of restriction of a nonempty family of fuzzy subsets of fuzzy power set are investigated and it is shown that the restriction of fuzzy algebra is fuzzy algebra too.
Objective(s): The present study describes the quality of life (QOL) among adolescents with age of (12-22) year old and identifies factors that may be associated with it. Methodology: A cross-sectional design is carried throughout to evaluate adolescents' quality of life in Hilla City for the period of September 2nd 2016 to November 6th 2016. The present study is conducted in different settings that include schools and colleges in Hilla City. A non-probability "purposive" sample of (144) participant is selected and comprised of (50%) males and (50%) females. An instrument is constructed for the intent of the st
Picasso ceramics represented illuminated sign in ceramic art and excelled in accord ceramic art dimension aesthetically, and put it in a new prospects, despite the simplicity of the forms turn into a magical images and multiple interpretations.
So the search deliberately to choose purposive (37) samples divided into four groups, as follows: -
A flat shapes / palets or saucers / the vases /modified vases .
benefiting from indicators were spawned from literature ,to analyzing samples within the totals for the identification systems act forming art work`s:-
(1)Picasso's ceramic work product of a deliberate process represented a capacity of technical experience, and formal
(2)The system configuration in the ceramic art works c
in this paper the second order neutral differential equations are incestigated are were we give some new suffucient conditions for all nonoscillatory
The aim of this study was to study chemical constituents of aerial parts of Cardaria draba since no phytochemical investigation had been studied before in Iraq. Aerial parts of Cardaria draba were defatted by maceration in hexane for 72 h. The defatted plant materials were extracted using Soxhlet apparatus, the aqueous Methanol 90% as a solvent extraction for 18 h, and fractionated with petroleum ether- chloroform (CHCl3)- ethylacetate- and n-butanol respectivly. The ethyl acetate, n-butanol, and n-butanol after hydrolysis fractions were investigated by high performance liquid chromatography (HPLC) and thin-layer chromatography (TLC) for its phenolic acid and flavonoid contents. Flavono
... Show MoreThis research deals with the study of types of parallelism in contemporary Arabic poetry and took the hair Mahmoud Darwish, a model for the study has been the goal of research to clarify the term parallelism and the statement of the most important types, said evidence of that in the poetry of Mahmoud Darwish
This study focuses for improving the increase the solubility of fiber cellulose in sodium hydroxide solution in concentrations ranging from (4- 12%), from one point of view and from other point of view in (sodium hydroxide and urea) solution concentration (6% NaOH + 4% urea), under low temperature (- 15, - 20 Co) , depending on the principle of reducing the degree of polymerization for fiber cellulose, which is represented in our tests cotton linter who its represent (Whatman filter paper, Grade 1), some samples subjected to chemical pretreatment as simulation the method of decomposition of cellulosic materials by white or brown fungi that grow on trees, this method involves the use of
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