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Robust Continuous Sliding Mode Controller for Uncertain Canonical Brunovsky Systems Using Reduced Order Extended State Observer
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A reduced-order extended state observer (RESO) based a continuous sliding mode control (SMC) is proposed in this paper for the tracking problem of high order Brunovsky systems with the existence of external perturbations and system uncertainties. For this purpose, a composite control is constituted by two consecutive steps. First, the reduced-order ESO (RESO) technique is designed to estimate unknown system states and total disturbance without estimating an available state. Second, the continuous SMC law is designed based on the estimations supplied by the RESO estimator in order to govern the nominal system part. More importantly, the robustness performance is well achieved by compensating not only the lumped disturbance, but also its estimation error. Finally, the tracking performance is examined by carrying out several simulations on robotic systems with compliant actuators as an application example of the high order systems. In addition, the comparative study is conducted between the proposed SMC method with RESO and a feedback linearization control (FLC) with a full-order ESO to confirm the estimation and tracking performance of the proposed scheme.

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Publication Date
Mon Jun 19 2017
Journal Name
Arabian Journal For Science And Engineering
A New Method to Tune a Fractional-Order PID Controller for a Twin Rotor Aerodynamic System
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Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
On The Static Reliability Of Binary-State And Multi-State K-Out-Of-N:G Systems
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The k-out-of-n:G (or k/n:G) system structure is a very popular of redundancy in
fault-tolerant systems, with wide applications in so many fields. This paper presents
two states of multi-state k/n:G systems. The first part, we present the definition that
introduced by Al-Neweihi et al [1], where the values are the same with respect
to all system states and we show that there exists an alternative equivalent definition
to Al-Neweihi's definition. In the second part of this paper we give more general
definition proposed by Huang et al [2], where it allows different values with
respect to different system states and we provide there exists an equivalent definition
to Huang's definition when the values are increasing.

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Publication Date
Thu Oct 18 2018
Journal Name
Proceedings Of The Future Technologies Conference (ftc) 2018
Using Mouse Dynamics for Continuous User Authentication
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Publication Date
Thu Jan 01 2004
Journal Name
Journal Of Engineering
FUZZY CONTROLLERS F'OR SINGLE POINT CONTROLLER-I (SPC-l) SYSTEMS
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FUZZY CONTROLLERS F'OR SINGLE POINT CONTROLLER-I (SPC-l) SYSTEMS

Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Stability for the Systems of Ordinary Differential Equations with Caputo Fractional Order Derivatives
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     Fractional calculus has paid much attention in recent years, because it plays an essential role in many fields of science and  engineering, where the study of stability theory of fractional differential equations emerges to be very important. In this paper, the stability of fractional order ordinary differential equations will be studied and introduced the backstepping method. The Lyapunov function  is easily found by this method. This method also gives a guarantee of stable solutions for the fractional order differential equations. Furthermore it gives asymptotically stable.

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Green Synthesis of Reduced Graphene Oxide Using Ascorbic Acid
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A green and low-cost method was used to prepare graphene oxide (GO) and reduced graphene oxide (rGO) by chemical exfoliation of graphite powder by modified Hummers method, followed by reduction using ascorbic acid. X-ray diffractometry (XRD) and field emission scanning electron microscopy (FE-SEM) were used to analyze the structure and morphology of the synthesized materials. Fourier transform infrared spectroscopy (FTIR) and ultraviolet-visible spectroscopy were used to identify the formation of the GO and rGO

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Publication Date
Sun Aug 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Edge Detection Using Circular Sliding Window
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    In this paper, we devoted to use circular shape sliding block, in image edge determination. The circular blocks have symmetrical properties in all directions for the mask points around the central mask point. Therefore, the introduced method is efficient to be use in detecting image edges, in all directions curved edges, and lines. The results exhibit a very good performance in detecting image edges, comparing with other edge detectors results.

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Publication Date
Sun Dec 05 2010
Journal Name
Baghdad Science Journal
Stability of Nonlinear Systems of Fractional Order Differential Equations
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In this paper, a sufficient condition for stability of a system of nonlinear multi-fractional order differential equations on a finite time interval with an illustrative example, has been presented to demonstrate our result. Also, an idea to extend our result on such system on an infinite time interval is suggested.

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Publication Date
Sun Feb 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
The use of modern management accounting systems for continuous improve the performance of Jordanian Industrial Companies
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        The intensification of competition among all companies and at different levels has become necessary for every company need to continue to improve its performance in order to be able to face the competition and stay in the market. To achieve this, we must rely on the company's accounting information more accurate and appropriate and provided in a timely manner, for the purpose of use in planning and decision making.

So there must be information systems that help the administration to continuous development and improvement of the performance of companies in general, and this is what you need Jordanian companies, especially after the accession of Jordan to the field

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Publication Date
Sun Jan 10 2016
Journal Name
British Journal Of Applied Science & Technology
Robust Watermarking for Video Using Modulation Technique on RGB Domain
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In this paper, a robust invisible watermarking system for digital video encoded by MPEG-4 is presented. The proposed scheme provides watermark hidden by embedding a secret message (watermark) in the sprite area allocated in reference frame (I-frame). The proposed system consists of two main units: (i) Embedding unit and (ii) Extraction unit. In the embedding unit, the system allocates the sprite blocks using motion compensation information. The allocated sprite area in each I–frame is used as hosting area for embedding watermark data. In the extraction unit, the system extracts the watermark data in order to check authentication and ownership of the video. The watermark data embedding method is Blocks average modulation applied on RGB dom

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