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Design an Integral Sliding Mode Controller for a Nonlinear System
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The goal of this paper is to design a robust controller for controlling a pendulum
system. The control of nonlinear systems is a common problem that is facing the researchers in control systems design. The Sliding Mode Controller (SMC) is the best solution for controlling a nonlinear system. The classical SMC consists from two phases. The first phase is the reaching phase and the second is the sliding phase. The SMC suffers from the chattering phenomenon which is considered as a severe problem and undesirable property. It is a zigzag motion along the switching surface. In this paper, the chattering is reduced by using a saturation function instead of sign function. In spite of SMC is a good method for controlling a nonlinear system but it still suffers from long settling time which is considered as undesired property. The Integral Sliding Mode controller (ISMC) can be used to reduce the settling time. Also, the ISMC is a good method for controlling a nonlinear systems. ISMC is simple, has a high performance and can be considered as an effective and powerful technique. In ISMC method, the reaching phaseis eliminated which considered a main part in designing classical SMC. The important property of the ISMC as well as the Classical Sliding Mode Controller (CSMC),is the ability to make the systems asymptotically stable. The pendulum system was used for testing the CSMC and ISMC. The results obtained from the simulation showed the advantages of using the ISMC when comparied with the CSMC. Finally, MATLAB software package was adopted in this paper.

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Publication Date
Sat Jun 04 2022
Journal Name
Journal Of Inorganic And Organometallic Polymers And Materials
Improving the Mechanical Properties, Roughness, Thermal Stability, and Contact Angle of the Acrylic Polymer by Graphene and Carbon Fiber Doping for Waterproof Coatings
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Publication Date
Thu Feb 03 2022
Journal Name
Biologia
Developing multiplex PCR for the rapid and simultaneous detection of Staphylococcus aureus, Pseudomonas aeruginosa and Klebsiella pneumoniae associated with sheep respiratory tract infections
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Respiratory tract infections in sheep are among the important health problems that affect all sheep ages around the world. Nine bacterial isolates obtained from sheep with respiratory tract infections were selected to be used in the current study. The isolates included 3 Staphylococcus aureus, 4 Klebsiella pneumoniae, and 2 Pseudomonas aeruginosa. Following the primers design by the Primer3Plus software tool and optimization of the conventional polymerase chain reaction (PCR), the primers were validated for their use in the multiplex PCR experiments. The MFEprimer program was used to check the suitability of the primer set combinations for multiplex PCR. The MFEprimer software was successful in designing the multiplex-PCR experiments and de

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Publication Date
Sat Feb 01 2025
Journal Name
Chemistryselect
Synthesis of Polypyrrole‐Graphene Oxide (PPy/GO) from Deep Eutectic Solvent and Its Characterization for Determination of Metronidazole Pharmaceutical Substance Using Spectrofluorometric Technique
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Abstract<p> A polypyrrole‐graphene oxide (PPy/GO) nanocomposite was made chemically using a polymerization method in deep eutectic solvents made up of choline chloride and propionic acid in a 1:2 molar ratio. The purpose of this study is to examine the feasibility and efficacy of PPy/GO nanocomposite in the detection of metronidazole in pharmaceutical formulations utilizing spectrofluorometric techniques. Characterization of the synthesized PPy/GO nanocomposite was conducted using several methods such as transmission electron microscopy (TEM), scanning electron microscopy (SEM), Fourier‐transform infrared spectroscopy (FTIR), thermal gravimetric analysis (TGA), and X</p> ... Show More
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Publication Date
Tue Jul 28 2026
Journal Name
Aip Conference Proceedings
Synthesis and identification of some AzO dyes derived from metoclopramide and study of effect as corrosion inhibitors for carbon steel in HCl solution
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In this present research, new derivatives were designed from metoclopramide skeleton and after studying the effect of these materials as corrosion inhibitors for the carbon steel 45 in HCl solution. Metoclopramide as the starting compound was diazotized with sodium nitrate and concentrated HCl in below 5 oC to afford diazonium salt that coupled in a basic medium with active compounds like 1-Nitrose-2-naphthol and 2-Nitrose-1-naphthol to afforded azo compounds M1 and M2 respectively. The newly designed compounds identify their structure by distinct spectral techniques involving FTIR and 1H-NMR. Also several of its physical properties were determined. These compounds were studied as corrosion inhibitors in an acidic medium at different t

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Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Physics And Chemistry Of Solids
Performance enhancement of PEO: LiDFOB based nanocomposite solid polymer electrolytes via incorporation of POSS-PEG13.3 hybrid nanoparticles for solid-state Li-ion batteries
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The addition of organic-inorganic hybrid nanoparticles presents a promising avenue for enhancing both the ionic conductivity at room temperature and the mechanical resilience of solid polymer electrolytes (SPEs). In this study, a novel nanocomposite solid polymer electrolytes (NSPEs) based on poly(ethylene oxide)-lithium difluoro(oxalato)borate (PEO20-LiDFOB) incorporating polyhedral oligomeric silsesquioxane-poly(ethylene glycol) (POSS-PEG(13.3)) hybrid nanoparticles were developed. And also reported the effect of POSS-PEG(13.3) hybrid nanoparticles on the structural, thermal, electrical, mechanical, and electrochemical properties of the (PEO20-LiDFOB) SPE. X-ray diffraction (XRD), differential scanning calorimetry analysis (DSC) and polar

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Publication Date
Sun Sep 07 2014
Journal Name
Baghdad Science Journal
Comparison the effectiveness of using a magnetic field to control theColi phages isolated from rivulet water with water-treatment using magnetic field added iron filings
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The present study aimed to use the magnetic field and nanotechnology in the field of water purification, which slots offering high efficiency to the possibility of removing biological contaminants such as viruses and bacteria rather than the use of chemical and physical transactions such as chlorine and bromine, and ultraviolet light and boiling and sedimentation and distillation, ozone and others that have a direct negative impact on human safety and the environment. Where they were investigating the presence in water samples under study Coli phages using Single agar layer method and then treated samples positive for phages to three types of magnetic field fixed as follows (North Pole - South Pole - Bipolar) and compare the re

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Publication Date
Mon Oct 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
A comparative study of the role of monetary policies in achieving economic growth in some oil and non-oil countries during the period 1990-2017
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The research problem was to identify the impact of monetary policies on economic growth in the oil and non-oil countries. The researcher chose the Republic of Iraq as an example for the oil countries and the Arab Republic of Egypt as an example for the non-oil countries to hold a comparison on the impact of monetary policies.

The research found that the monetary policies and their tools in the Iraqi economy affect the rate of GDP growth by 73%, which shows the strong impact of monetary policies on the economic growth in the Iraqi economy as an example of an oil state. GDP growth rate of 61%, indicating the impact of monetary policies on economic growth in the

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Publication Date
Thu Sep 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
Leadership ethics and transformational leadership to develop perceptions of organizational work supportA survey of a sample of the staff of the Ministry of Water Resources
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The aim of organizational contemporary is development man power active, in spit-of there are littlie resources. But in the Iraqi environment there are too much resources with performance inhabiting. specially in the ministry of water resources (sample of this research), about dryness and lower levels of rivers. There for this study have some important variable, it is ethical leadership & transformational leadership as (independent variable), and Perceived organizational support(dependent variable). Over here to invest with authority on the problem of research, is weakness harmony between employed perception and the pattern of leadership. We find decline in of reaction of organ compound between the variable to weaken high perf

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Publication Date
Sun Nov 27 2022
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The IMPACT of SOCIAL ACCOUNTING on The AUDITOR’S REPORT ACCORDING to INTOSAI STANDARDS: A STUDY OF EMPLOYEES' PERCEPTIONS FEDERAL BOARD of SUPERVISORY AUDIT IN IRAQ
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This research investigates the importance of social accounting and the auditor’s report. It basically checks if there is an impact of social accounting on the auditor’s report at the availability the INTOSAI standards No. (1700 and 1706). The study recruited 105 employees of the Federal Financial Supervision Office in Iraq. Data were collected using questionnaire. The questionnaire validity and reliability were checked to assure the truthfulness of the findings. The study found a positive correlation and a statistically significant effect between the accounting for social responsibility and the auditor’s report. It is necessarily recommended for the auditor and the bodies working in the Board of Supreme Audit to ensure the inclusio

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Publication Date
Wed Dec 01 2021
Journal Name
International Medical Journal
Effect of Accelerated Canine Retraction by Vitamin D3 Local Administration on Apical Root Resorption, Alveolar Bone Integrity, and Chair-side Time: A Prospective Clinical Study.
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Objectives: To evaluate the effect of vitamin D3 local injections on apical root resorption, alveolar bone integrity, and chair-side time following three and six months of canine retraction. Subjects and Methods: Seventeen adult patients (18-35 years old) of class I and II malocclusions were recruited, who required bilateral maxillary 1st premolars extraction before starting maxillary canines retraction. The experimental side received 25 pg dose of vitamin D3 injected locally into the distal periodontal sulcus of the canine (before force application) every three weeks, while the control side received retraction force only. Periapical radiographic evaluation was conducted after 3 and 6 months of the start of canines' retraction. Results: At

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