This paper presents L₁-adaptive controller for controlling uncertain parameters and time-varying unknown parameters to control the position of a DC servomotor. For the purpose of comparison, the effectiveness of L₁-adaptive controller for position control of studied servomotor has been examined and compared with another adaptive controller; Model Reference Adaptive Controller (MRAC). Robustness of both L₁-adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty were studied. Three different types of input signals are taken into account; ramp, step and sinusoidal. The L₁-adaptive controller ensured uniformly bounded

The people of Muhammad (PBUH) do not live in any of this nation and do not settle for them the ones who have ever been given their mercy. They are the basis of religion, and Imad met with them to fulfill the precious and adhere to them, and they have the characteristics of the right of the state and the commandment and heredity

This research contains the investigation of an important book, and I investigated it in my master's thesis, which is a footnote to the sayings of the commentators of the verse Get close to people for which I dealt with the aspects and objections that go to interpretation

رمي البحث الحالي إلى تعرف التربية السياسية عند الرسول محمد (صلى الله عليه وسلم) وتطبيقاتها التربوية، ليكون أسوة ومثالا حيا يقتدي به في العمل السياسي على مختلف الأصعدة، وللعمل على خلق جيل من الشباب قادر على مواجهة الغزو الثقافي الذي قد يسلبهم حقوقهم في بلدهم من غير وعي، وقد تمثلت حدود البحث الحالي بالسنة النبوية في عهد الرسول محمد (صلى الله عليه وسلم) للفترة الزمنية من ولادته الرسول إلى وفاته. ومن أهم نتائج السي

Gross domestic product (GDP) is an important measure of the size of the economy's production. Economists use this term to determine the extent of decline and growth in the economies of countries. It is also used to determine the order of countries and compare them to each other. The research aims at describing and analyzing the GDP during the period from 1980 to 2015 and for the public and private sectors and then forecasting GDP in subsequent years until 2025. To achieve this goal, two methods were used: linear and nonlinear regression. The second method in the time series analysis of the Box-Jenkins models and the using of statistical package (Minitab17), (GRETLW32)) to extract the results, and then comparing the two methods, T

Companies compete greatly with each other today, so they need to focus on innovation to develop their products and make them competitive. Lean product development is the ideal way to develop product, foster innovation, maximize value, and reduce time. Set-Based Concurrent Engineering (SBCE) is an approved lean product improvement mechanism that builds on the creation of a number of alternative designs at the subsystem level. These designs are simultaneously improved and tested, and the weaker choices are removed gradually until the optimum solution is reached finally. SBCE implementations have been extensively performed in the automotive industry and there are a few case studies in the aerospace industry. This research describe the use o

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 b

In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.