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.
This work includes synthesis of some new derivatives of Schiff bases as intermediate compounds. Through the reaction 1,4- phen ylene diamine with different aromatic aldehydes substituted by many different groups in acidic medium and absolute ethanol as a solvent to obtain the Schiff bases (1a-5a). These compounds are reacted with substituted aromatic carboxylic acids and anhydride to give three types of heterocyclic compounds. The first line includes direct reaction with maleic anhydride under certain conditions to give new derivatives of oxazpine(6b-10b). The second line includes reaction of compounds (1a-5a) with 2-mercapto benzoic acid in the presence of triethyl amine as a catalyst and dry benzene as a solvent to give new derivatives
... Show MoreAbstract
The research the impact of the application of some of the production system tools in the specified time, which can be adapted in the service sectors (banking sector) over the improvement and increase the quality of banking services, and highlights the research problem in the low quality of banking services provided to customers because of the reliance on traditional banking systems in the provision of services Because of the lack keep pace with global developments in the banking industry, and the goal of research is to clarify the applicability of the production system in the time specified in the service sector and th
... Show MoreBackground; this study is designed to assess the effect of religious and spiritual beliefs on quality of life among two groups of university students in Iraq and Jordan.
Objective: to examine the psychological impact of religious and spiritual beliefs on quality of life and to implement the Quality of Life- Spiritual Religious and Personal Beliefs(QOL-SRPB)
questionnaire for the first time in both countries .
Method :A convenient sample of advanced medical students from Baghdad college of Medicine in Iraq and College of Medicine in University of Science and Technology in Jordan recruited during April 2008 to complete 200 forms of the Arabic modified version of QOL-SRPB simultaneously.
Results: Analysis of
Abstract. Al-Abbawy DAH, Al-Thahaibawi BMH, Al-Mayaly IKA, Younis KH. 2021. Assessment of some heavy metals in various aquatic plants of Al-Hawizeh Marsh, southern of Iraq. Biodiversitas 22: 338-345. In order to describe the degree of contamination of aquatic environments in Iraq, heavy metals analysis (Fe, Ni, Cr, Cd, Pb, and Zn) was conducted for six aquatic macrophytes from different locations of Al-Hawizeh Marsh in southern Iraq. The six species were Azolla filiculoides (floating plant), Ceratophyllum demersum, Potamogeton pectinatus, Najas marina (submerged plants), Phragmites australis, and Typha domingensis (emergent plants). The results indicate that cadmium, chromium, and iron concentrations in aquatic plants were above the
... Show MoreThe aim of the research is the knowing of the academic Scientific Journals of the colleges of University of Baghdad , through searching in the University of Baghdad website and the websites of colleges and thus studying the presentation of these journals in those website , and this is done by surfing the main pages of the websites for the colleges included in the research , and by analyzing the research made a menu for all the academic Scientific Journals for all institutes of the University of Baghdad , which simplifies the way for the researchers to publish these researches in the specific journals for their specialties .
The Mesopotamian artist conversed the functions of idols with multi-formation, varied pictured and structural significances sign momentum. Each phenomenon had an idol and each event had an idol. So multiplicity contributes in the enrichment of the Mesopotamian thought by the full and comprehensive familiarity of the characterization of the religious space which reached up to realize the start point of creation and formation and specify the concept of unification in such a way that considered as pagan multiplicity and Atheism according to what brought by most of the previous studies.Such a research as ( The Sign Reading of the Structure of Unification in the Civilization of Mesopotamia) aims to clarify this confusion through decoding the
... Show MoreNickel nanoparticles (Ni-nanoparticles) were incorporated as an antecedent utilizing nickel acetate and as a reducing agent, extraction plantApiumgraveolens. The reason fo choosing this plant over many other is because it is easily accessible, carries many antioxidants, non-toxic, and there are no dangerous residues and stabilizing agent at 60℃ under stirrer. The progress of the reaction was monitored by observing a change in color of the obtained solution. The UV–Vis utilized to screen the development of Ni-nanoparticles inside a surface plasmon band (SPB) at 275 nm gives a phantom mark appropriate to the arrangement of nanoparticles. Examining th
... Show MoreThe internationalization of the Libyan crisis and its accompanying militarization of the conflict have played a vital role in hindering to reach a comprehensive political settlement solution in Libya. The increasing international greediness in the Libyan energy resources and the geopolitical importance of the Libyan State led to the involvement of many international and regional powers in this crisis and transformed the Libyan crisis into “proxy war”. Moreover, the Turkish direct military intervention in the Libyan crisis is considered as one of the main constraints facing the international and regional efforts to settle the Libyan crisis as a result of the Turkish insistence on its military existence in Libya to preserve i
... Show MoreAny city that has such a market and is organized, organized and established
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And respect
Freedom of expression
Profile.
Conflict resolution and conflict resolution
Political
Which affected the growth of some markets
And religious th
The search for the return of economic and cultural activity and the emigration of some others
Cultural exchange and trade, which in turn
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We took the problem that we are experiencing
Menia, the holy city of Karbala in the market organization, has suffered from fierce attacks
Economic and heritage
e
As well as tourism and tourism, as it depends on the abundance of visitors, tourists and residents in terms of needs and motivation
Resource
The reduction to pole of the aeromagnetic map of the western desert of Iraq has been used to outline the main basement structural features. Three selected magnetic anomalies are used to determine the depths of their magnetic sources. The estimated depths are obtained by using slope half slope method and have been corrected through the application of a published nomogram. These depths are compared with previous published depth values which provide a new look at the basement of the western desert in addition to the thickness map of the Paleozoic formations. The results shed light on the important of the great depths of the basement structures and in turn the sedimentary cover to be considered for future hydrocarbon exploration