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.
ABSTRACT Background: Tuberculosis is a worldwide infectious disease in spite of advancement in health care system. Tuberculous lymphadenitis is the most prevalent form of extra pulmonary tuberculosis with predilection of cervical lymph nodes. Objectives: To evaluate the reliability of grey scale ultrasonography together with color Doppler in the diagnosis of cervical tuberculous lymph adenitis and evaluation of early therapeutic response. Subjects and methods:From July 2015 to May 2016 in Al-Karama teaching hospital /Kut city- Wasit-Iraq, 25 patients (14 males and 11 females) with ages range from (6-50) years. Ultrasonography examination was done for all patients and grey scale criteria (distribution, size, shape, echogenicity, echogenic hi
... Show MoreA field experiment was carried out during winter season of 2019 at Al-Muradiya research state, Babylon government, Iraq, to study the role of the sprayed types of potassium fertilizer in improving of flag leaf contribution in grain yield of wheat. The layout of the experiment was randomized complete block design in factorial arrangement at three replicates. The experiment included spraying common and nano potassium fertilizer at booting stage, in addition to control treatment (spraying of distilled water) as a first factor, and removal treatments (removal of flag leaf at 10% anthesis stage and nonremoval) as a second factor. The results showed that the spraying of nano potassium fertilizer was significantly superior in the dry matter transp
... Show MoreBackground: The aims of this study is to determine the success of creating an inter implant / inter dental papillae after scalloping the crest of the jaw bones before
placement of dental implant and compare this new technique with other techniques for creation of inter dental/inter implant papillae
MATERIALS AND METHODS: A fifty five dental implantation were carried out for twenty one patients . Two stage dental implantation technique was done for all the
patients .In this new technique scalloping of the bone was carried out before placement of the dental implant .
RESULTS: The results of the present study indicates that the scalloping of the crest bone is consider as a best method for creation of int
The result showed that hot water and ethanol extracts of Nigella sativa contain alkaloids ,saponins, flavonoids,tannins,glycosides,terpins and steroids. Albino mice were administered orally with 0.1 of the extract at dose of 100 mg/kg, body weight the results showed high level of white blood cell ,total and differential count of WBC,phagocytosis index, mitotic index, Arthus and delayed type hypersensitivity. The result, also showed high level of hemoglobin (Hb) and the packed cell volume (PCV) the alcoholic extract has been found more efficient than hot water extract on mice.
The aim of this research is to identify how to employ the social imagination and its representations in the paintings of the students of the Department of Art Education. Students of the Department of Art Education in the light of this tool, and the researcher reached a number of results, the most important of which are:
1. The indicator of the social imagination in the excitement of the artist and the recipient, because the representations are embodied in forms within the painting and close to reality.
2. An artistic sample of the representational imagination and the creative imagination was found to be more than the imaginary imagination.
3. Individual symptoms related to the term.
4. The representations of the socia
The study aims at showing the Importance of the Corporate of Governances to the Activate the quality and integrity of financial reports prepared inside the companies through explaining what they should be obliged to in writing the reports and financial and nonfinancial statements according to the international standards of accounting to be transparent and integral. It also aims at giving the independence that the auditors should enjoy through connecting them to an Auditing Commissions to submit additional services in addition to assessing the instrument of control to evaluate risks, give consultations and the services related to the governance and independence of Supervising Council. &
... Show MoreInterested in this research shed light on the reality of foreign trade to Iraq Who suffers from a marked deterioration due to poor economic diversification of the country And increase the degree of economic exposure , Which creates a state of extreme caution towards the question of accession to the (WTO) , As controls Iraq's foreign trade commodity , a president of one oil As well as the contribution of this item , and by a large formation in GDP , And that such a large and dangerous decline in the degree of economic diversification will create negative effects On overall economic activity components&
... Show MorePetrographic, heavy mineral and clay mineral analyses are carried out for the sandstone and the mudstone units of Injana and Mukdadiya Formations in Zorbatiya area, Wasit Governorate, East of Iraq. The sandstones and the mudstones are nested as repeated fining–upwards successions, representing fluvial deposits. The sandstones of the Mukdadiya Formation is gravelly and on occasions becomes conglomerate. The sandstone of both formations comprises rock fragments, quartz and feldspars. The rock fragments are the dominant component consisting sedimentary, igneous and metamorphic rock fragments, accordingly these sandstone are classified as litharenite. The clay minerals of the mudstone u
... Show MoreAgaricus bisporus is cultivated edible mushroom . This study is made to evaluate the activity of A. bisporus extract on lipid profile in mice treated with peroxide. 40 females albino mice were chosen and divided into 4 groups (ten mice per each group). The first group was treated with normal saline as a control, the second group received 2ml/kg body weight of peroxide , While the third set received 2ml/kg body weight of peroxide plus 25 mg/ml A bisporus .Besides, the last fourth group received 25 mg/ml of A. bisporus. The Results have showed a significant increase (p≤ 0.05) in cholesterol(CH) in group 2 (250.01± 1.05)and group3 (204.25±1.80), while there wa
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