A second-order sliding mode control is used for high-order uncertain plants using equivalent control approach to improve the performance of control systems. They combine backstepping with quasi-continuous controller and twisting controllers. This paper considers a two of the most popular controllers that are used to solve the nonlinearities problem which are the backstepping quasi-continuous control (BQCC) and backstepping twisting controllers to control the angular velocity of a hydraulic motor to improve tracking performance and robustness to uncertainties. For the system dynamics, a linear state feedback with suitable high gain was designed as the virtual controller, where steady state error can be made arbitrarily small according to the

This research investigates the meanings and significance of the verse and the concluded educational purports. The expression “And in the heaven is your provision” signifies the deism of Allah. This research introduces the what have been said by Quran Explainers about meaning of Heaven & Provision. It introduces also the meaning of the sentence “which you are promised” and its concluded educational purports. This research discuses the role of educational institutions as well as the family and mosques in connecting Muslims and their children with the promise given by Allah.

Provision is guaranteed for all people if moral and material causes have been considered.

Key Words:

Purports – Educational – Co

Abstract

This research aims to identify the challenges faced by families of children with intellectual disabilities and to identify the impact of the challenges facing them on the mental health of their children with intellectual disabilities. Based on the following questions: What is the nature of the challenges faced by families of children with disabilities and how do these challenges affect the mental health of their children with intellectual disabilities? The study was conducted on a sample of four families of six children with intellectual disabilities, depending on the degree and type of disability. To achieve the study's objectives, the qualitative approach was used, Because of the importance of accessin

يواجه العراق تحديات مائية خطيرة نتيجة التغيرات المناخية، مثل انخفاض معدلات هطول الأمطار، ارتفاع درجات الحرارة، وزيادة معدلات الجفاف والتصحر، فهذه التحديات تتطلب إستراتيجيات فعالة لإدارة الموارد المائية بشكل مستدام، وهو ما يمكن تحقيقه من خلال تبني التطورات التكنولوجية الحديثة في مجال الحوكمة البيئية ، و يركز هذا البحث على دور التحول الرقمي والتقنيات الذكية في تعزيز كفاءة إدارة المياه، إذ يمكن لتطبيقا

The research discusses the obstacles that faced the Iraqi strategic performance in achieving sustainable development after the election of the first Iraqi government in 2005 and the most important strategies to overcome these obstacles.

This study investigates the complex challenges of managing heritage sites in Iraq, focusing on the Prophet Tho Al-Kifl Shrine in Babylon due to its religious, historical, and architectural significance. The site exemplifies critical management issues, including institutional fragmentation, limited technical and financial resources, and insufficient legislative frameworks. Left unaddressed, these challenges threaten the site's material integrity and symbolic identity through uncoordinated interventions and neglect. The research aims to propose a context-sensitive framework for sustainable heritage management by combining theoretical perspectives with practical analysis. Using a case study methodology, the study draws on field observations, h

يحتل النفط مكانة هامة وجوهرية ضمن اقتصاديات العالم، حيث إنه يمثل سلعة استراتيجية عالمية ومادة أولية أساسية في الصناعات الكيميائية والبتروكيميائية، كما أنه متعدد الاستعمالات، سواء في الصناعة أو الزراعة، بالإضافة إلى استعمالاته في الحياة اليومية للإنسان، مما جعله ذا مكانة مهمة ضمن أطر التجارة الدولية وموقع خاص في تشكيل الخريطة الاقتصادية للعالم. وقد جاء هذا البحث ليسلط الضوء على استراتيجيات منظمة الأوبك لض