In this paper, an adaptive active disturbance rejection control is newly designed for precise angular steering position tracking of the uncertain and nonlinear SBW system with time delay communications. The proposed adaptive active disturbance rejection control comprises the following two elements: (1) An adaptive extended state observer and (2) an adaptive state error feedback controller. The adaptive extended state observer with adaptive gains is employed for estimating the unmeasured velocity, acceleration, and compound disturbance which consists of system parameter uncertainties, nonlinearities, exterior disturbances, and time delay in which the observer gains are dynamically adjusted based on the estimation error to enhance est

The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external disturbances. To mitigate those issues, a new robust fixed-time sliding mode control (FxTSMC) is proposed by using a fixed-time sliding mode observer (FxTSMO) for the trajectory tracking problem of the FJR attached to the drones system. First, the underactuated FJR is comprehensively modeled and converted to a canonical model by employing two state transformations for ease of the control design. Then, based on the availability of the measured states, a cascaded FxTSMO (CFxTSMO) is constructed to estim

The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter var

a simple accurate and sensitive spectrophotometric method for the determination of promethazine HCI has been developed the method is based on the oxidative coupling reaction of promethazine

A simple, rapid and sensitive spectrophotometirc method for the determination of trace amounts of promethazine hydrochloride in the aqueous solution is described. The method is based on the complexation of promethazine hydrochloride with In (III) in the presence of sodium hydroxide to form an soluble product with maximum absorption at 304nm. Beer’s law is obeyed over the concentration range of (2- 20μg/ml) with molar absorptivity of (1.92× 103 L.mol-1 .cm -1 ). The optimum conditions for all development are described and the proposed method has been successfully applied for the determination of promethazine hydrochloride in bulk drug.

Amiodarone hydrochloride (AH) has been determined spectrophotometrically Using methyl orange (MO).  In our previous researches MO was used for determination of Mexiletine Hydrochloride [1]. The method based on complexation between MO and AH.  After shaking and diluting the complex solution with D.W, the pH was adjusted with NaOH and HCl to pH 3. The colored complex formed between AH and the reagent were transferred into separating funnels and extracted using 5.5ml CH2Cl2 and were shaken for (5 minutes).  The extracted organic layer was used for preparation of the calibration curves for spectrophotometric measurements of AH at 434nm.  The blanks were carried out in exactly the same way throughout the whole procedure.&n

Spectrophotometric  methods  were  developed   for    the determination of rantidine-HCl in pharmaceutical tablets. These methods were based on the reaction of DDQ and p-chloranil with rantidine-HCl, resulting in the formation of an orange-red and purple colored products which are quantified spectrophotometrically at 460 and 540nm in DDQ and p-chloranil, respectively. A graph of absorbance versus concentration show that Beer’s law is obeyed in a concentration ranges of 20-160 and (30-120)g/ml with molar absorptivities of 2.631 x 103 and 1.052 x 103l .mol-1-cm-1 for DDQ and  p-chloranil, respectively. The optimum conditions for  color development  are described and 

  A simple, accurate and precise spectrophotometric method has been proposed for the determination of Mefenamic acid(MA) in dosage forms. Proposed  method based on the reaction of cited drug with 1,2-Naphthoquinone-4-Sulfonic sodium (NQS). The optimum experimental condition have been studied. Beer's Law is obeyed in the concentration range 0.5-10.0 µg/mL at 450nm with detection limit of 0.189µg/mL.  Effect of pH, reaction time, and volume of NQS on the determination of Mefenamic acid, have been examined. The proposed method has been successfully applied for the determination of  Mefenamic acid in pharmaceutical preparations.
 

ABSTRACT

The research focuses on the key issue concerning the use of the best ways to test the financial stability in the banking sector, considering that financial stability cannot be achieved unless  the financial sector in general and the banking sector  in particular are able to perform its key role in addressing the economic and social development requirements, under the laws and regulations that control  banking sector , as the only way that increases its ability to deal with any risks or negative effects experienced by banks and other financial institutions. The research goal is  to evaluate the stability of the banking system in Iraq, through the use of a set of econometrics an

The research aims to measure the net nominal protection coefficients for the products table eggs and poultry meat and the extent of its impact on domestic production volume for the period of 1990- 2013 has been the use of mathematical formulas simplified in the calculation of the transaction process with a view to the extent of support and protection offered by the state pricing policy for products Resources Sector Animal in Iraq and reach search Highlights and most important, there are volatile price state policy with regard to eggs and poultry meat, as it ranged net nominal protection coefficients between the larger and less than the right one, which means that values are unstable to support local producers or consumers, and can be The