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.

Desde la Salamanca de doradas piedras que tantas veces cantara, don Miguel de Unamuno dio a la literatura y al pensamiento españoles unas obras que, a pesar de muchos pesares, perdura viva, como viva fue su agónica existencia.  

   El bilbaíno Miguel de Unamuno (1864-1936) es autor de al menos, doce obras teatrales. Su costumbre de mezclar géneros literarios, sin distinguir claramente el drama de la novela dialogada, le llevó a preferir el teatro leído. De ahí que sus estrenos fuesen, frecuentemente, muy posteriores a las ediciones impresas.

Abstract:

   The Bilbao Miguel de Unamuno (1864-1936) is the author of at least twelve plays. His habit of mixing genres,

The fashion accused important optical avenge with the rest of visual elements
, That style of fashion design stir up beautiful feelings by using fashion forming
that is suitable with the nature of designable treatments to other elements .
The fashions contains the nature of relation ships of educational address and
the kind of beliefs , So the visual beauty is limited for those relation which are the
designer fashion tried to redesign and set them anew . so as to goes with beautifully
with the last visual for fashions.

ملامح من فكرة القانون الطبيعي في حضارة العراق القديم

إدارة المخاطر في الوحدات الإقتصادية الصناعية بإستعمال مخطط باريتو

تم ت داول مصطلح الأزمة ا دلولية في السياسية ا دلولية خال القرن التاسع عش ر لتحدي دا ملدة الانتقالية بين السلم والحرب سواء أ دت الأزمة إلى نشوب صراع مسلح أم مت ت ت سويتها بالطرق السلمية، وتع دالأزمة ا دلولية مرحلة مت هيدية ل لحرب وهي ا رملحلة التي يسعى فيها أ طرا فالأزمة إلى إبعاد احتمالية نشوء أ و اندلاع الحرب، فالأزمة ه ي مدة حرجة ومرحلة خطيرة بين وقتي السلم والحرب، إن العلاقات ا دلولية تكاد ت عيشأ زمات متلاحقة ع

This study deals with the region of the Babylon governorate in Iraq during the Proto-Literate and Early Dynastic periods. It is the region of the well- known ancient capital Babylon. The earlier period includes Late Uruk, Jamdat nasr, and the first epoch of the Early Dynastic period. The latter includes the second and third epochs of the Early Dynastic period. The both periods had lasted more than one thousand years (3500-2334 BC

الحركات الاسلامية في ظل الوضع الدولي الجديد

The issue of volunteerism is one of the most important issues that have become prominent in social sciences and contemporary social thought, especially as a result of the transformations and changes that the world undergoes today. The voluntary sector has become the concern of all societies and governments for its development and service to society and various sectors. The practice of women is prominent in the work of volunteerism after 2003 in Iraq, but its work face a number of obstacles and hindrance. The problem of research is the obstacles of women's work in non-governmental organizations. The research aims to identify the nature and characteristics of volunteer work of Iraqi women.        &nb

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