In this article, a continuous terminal sliding mode control algorithm is proposed for servo motor systems. A novel full-order terminal sliding mode surface is proposed based on the bilimit homogeneous property, such that the sliding motion is finite-time stable independent of the system’s initial condition. A new continuous terminal sliding mode control algorithm is proposed to guarantee that the system states reach the sliding surface in finitetime. Not only the robustness is guaranteed by the proposed controller but also the continuity makes the control algorithm more suitable for the servo mechanical systems. Finally, a numerical example is presented to depict the advantages of the proposed control algorithm. An application in the rotary servo system is done to validate the effectiveness of the proposed control strategy.
The contribution rate of tax revenues in the federal budget is very small compared to the rate of contribution of oil revenues and this leads to negative repercussions on the Iraqi economy and the budget becomes a prisoner of high and low oil prices, and this is a problem that needs to be studied to know the extent of the impact of economic and political decisions on the size of tax revenue and The research goal is determined in studying the effect of amending the Unified Law No (26) of 2019 on the size of annual tax revenues . &
... Show MoreThe aim of the research is to identify to what extent to which Malcolm Baldrige standards of total quality are applied in the after-sales services of a private sector company for electrical appliances, from the point of view of administrative leaders, in it. To achieve this aim a questionnaire has been used to measure the degree of application of Malcolm’s seven criteria for total quality, namely: (leadership, strategic planning, focus on the customer, measurement and analysis and knowledge management, focus in human resource and operation management and results of the company’s management), the research found that the company achieved a good level of the standard from the de
... Show MorePiled raft is commonly used as foundation for high rise buildings. The design concept of piled raft foundation is to minimize the number of piles, and to utilize the entire bearing capacity. High axial stresses are therefore, concentrated at the region of connection between the piles and raft. Recently, an alternative technique is proposed to disconnect the piles from the raft in a so called unconnected piled raft (UCPR) foundation, in which a compacted soil layer (cushion) beneath the raft, is usually introduced. The piles of the new system are considered as reinforcement members for the subsoil rather than as structural members. In the current study, the behavior of unconnected piled rafts systems has been studie
... Show MoreThe importance of topology as a tool in preference theory is what motivates this study in which we characterize topologies generating by digraphs. In this paper, we generalized the notions of rough set concepts using two topological structures generated by out (resp. in)-degree sets of vertices on general digraph. New types of topological rough sets are initiated and studied using new types of topological sets. Some properties of topological rough approximations are studied by many propositions.
In this paper we introduce the basic of definitions of groups for geometric figures; we describe some of geometric figures by using the properties of groups. The classification of some geometric figures by using the properties of some algebraic structures.
The research is concerned with the problems of knowledge purification of kindergarten children by verifying its aims, identifying of knowledge purification among the first level of kindergarten children and the second level of kindergarten children, and the differences between the males and females in the variable of knowledge purification. The research community included the children in the state and private kindergartens in Baghdad governorate, on its two sides, Karkh and Rusafa, for the six districts for the academic year 2022-2023. After making the knowledge purification test according to the scientific steps of test constructions, the test has been presented to a group of experts specialized in the field of kindergarten to ascertain
... Show MoreThe researcher found that neglecting our Arab Islamic heritage and bragging about what the West came in the field of education and psychology is common in our curriculum
So the researcher found it necessary to identify the thought of our media Arab Muslims like Ibn Al-Jawzi being a remarkable figure in the world of human thought therefore, the researcher in this research decided to identify his educational and psychological ideas and psychological emotions in his mind and methods of control and characteristics of the human soul and methods of development of the Muslim character by following the descriptive analytical approach.
Shoot tip of Actinidia chinensis plant were excised and sterilized with mercuric chloride (Hgcl2) at concentration 0.1% for 5 min, then cultured on MS medium supplemented with benzeladinine BA at concentration (0.0,0.5,1.0,2.0,2.5) mg/l in multiplication stage Moreover, indole butyric acid IBA at concentration (0.0, 0.5,1.0,2.0,4.0) mg/l and (0.0,0.5,1.0,2.0) mg/l on solid and liquid solution media respectively in rooting stage were studied. All experiments have done under controlled conditions (25 ±2) Cº and 1000Lux light intensity for 16 hrs / day. Results revealed that supplementing the media with BA at concentrations 2.0 and2.5 mg/l was superior to give highest rate of shoot and number of leaves reached 5.8 /explant and 6.0 l
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