This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem.  The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.

Quranic readings at Imam Razi In his explanation (Unseen keys)

البنية الاقتصادية الاجتماعية للادارة الجديدة في الولايات المتحدة الامريكية

The research aimed at measuring the degree to which the accept their class environment in governmental & civil Kindergartens &  it also aimed at knowing the differences between the dimensions of the measurement & the differences according to the kindergarten & class variables .

The researcher made a measurement for the class environment & it included five dimensions & the answering choices were three ( to a big extent , to some extent and no ) and after making sure that the measurement is usable , the researcher applied it on the sample which consisted of ( 212 )male & female children through the estimated answers of the teacher & the result was that there was an accep

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Bekanntlich hat jede Sprache ihre eigenen charakteristischen Besonderheiten. Davon ausgehend gibt es auch gewisse Unterschiede zwischen dem Arabischen und dem Deutschen. Zu den wichtigsten Gebieten der deutschen Grammatik gehören die zusammengesetzten Sätze, vor allem Satzgefüge mit den über- und untergeordneten Sätzen. Dazu gehören auch die Äquivalente der Nebensätze, besonders die Infinitiv- und Partizipialkonstruktionen.

Die vorliegende Recherche hat eine der grammatischen Strukturen des Arabischen und des Deutschen nämlich die dass-Sätze und Infintivsätze mit zu und deren Wiedergabemöglichkeiten in den beiden Sprachen zum Inhalt, weil die Infinitivsätze mit zu den Deutschlernenden beson

  Assyrian merchants established in the second millennium BC Assyrian commercial settlements in Anatolia, and these settlements had a great cultural value

    There was a huge role in the history of a muslim woman and several books have mentioned that politically or in religion and even scientifically and socially which leaded a lot of women to look up to           these women who helped in keeping the religion just in the right form for other generations

It sheds light on the cultural dimension in the decentralized administration experience in Iraq as evaluation tool by adding a new dimension in studying decentralization in addition to the administrative, political and legal dimensions .The proposal of study is that without the civil political culture ,the administrative decentralization in Iraq which remains weak and it may be imposed to a set of problems. - The study includes an introduction, conclusion and a set of political and cultural issues , its components and it may have the political analysis of this culture and its role in determining the movement of the administrative decentralized movement in Iraq post 2003.