The Backstepping Sliding Mode Control is a control technique used for controlling nonlinear systems. In this paper, the performance of the backstepping sliding mode controller schemes for the angular velocity control for a rotary actuator of an angular velocity control system that utilizes a novel hydraulic flow control method called inlet throttling was investigated. For the angular velocity dynamic, a linear state feedback with suitable high gain is designed as the virtual controller, where steady state error can be made arbitrarily small according to the gain value. A time varying sliding variable is then selected based on the designed virtual controller. The resulting control design is robust, and the maximum error of the angular velocity with respect to the desired value is derived via Lyapunov Function where its value can be controlled via suitable selections of the control parameters. The simulation results have been obtained based on the MATLAB software tools, which are system transient response, the performance and the robustness of the proposed control in forcing the angular velocity to track the reference value in spite of the uncertainty and disturbances in the system parameters were studied. The SMC is a more comprehensive solution for ensuring the best robustness of stability and performance for the model. The simulation results were generated using MATLAB software tools., which are system transient response, the proposed control performance and the robustness in forcing the angular velocity to track the reference value (100-2000 RPM) in spite of the uncertainty (+10%) and disturbances (5-30 N.m) in the system parameters are studied. © 2025 Department of Agribusiness, Universitas Muhammadiyah Yogyakarta. All rights reserved.
Cataract is an opacity in the normally transparent focusing lens of the eye which leads to blindness. The aim of current study is to investigate the possible protective and therapeutic effects of aqueous extract of Foeniculum vulgare seed eye drops (0.5%) against selenite induced cataract in rabbits. Aqueous extract of Foeniculum vulgare seed prepared then formulated as eye drops. Sodium selenite used to induce cataract in rabbits' right eye by single intravitreal injection. Thirty-six rabbits included in the study and divided into three equal groups (12 rabbits in each group): healthy control group, Cataract-Induced group and group treated by Foeniculum vulgare seed extract eye drops. Parameters include the score of lens opacity which was
... Show MoreSixty albino female mice were used in this experiment to study the possible effect of the crude alcoholic extract of the celery leaves on their fertility. These animals were randomly and equally divided into three experimental groups (20 females/group). The first and second groups were orally given a daily dose of 500 and 1000 mg/kg body weight, respectively, of the crude alcoholic extract, while the third group (control) was similarly treated, at the same time, with 0.1 ml/gm body weight of physiological saline for comparison. The treatment, however, lasted for 25 consecutive days. On day 26, after treatment was stopped, the life body weight of all animals was recorded before sacrificing the animals. Thereafter blood
... Show MoreThe importance of Baghdad city as the capital of Iraq and the center of the attention of delegations because of its long history is essential to preserve its environment. This is achieved through the integrated management of municipal solid waste since this is only possible by knowing the quantities produced by the population on a daily basis. This study focused to predicate the amount of municipal solid waste generated in Karkh and Rusafa separately, in addition to the quantity produced in Baghdad, using IBM SPSS 23 software. Results that showed the average generation rates of domestic solid waste in Rusafa side was higher than that of Al-Karkh side because Rusafa side has higher population density than Al-Karkh side. T
... Show MoreEpithelial‐mesenchymal transition (
In this work, metal oxide nanostructures, mainly copper oxide (CuO), nickel oxide (NiO), titanium dioxide (TiO2), and multilayer structure, were synthesized by the DC reactive magnetron sputtering technique. The effect of deposition time on the spectroscopic characteristics, as well as on the nanoparticle size, was determined. A long deposition time allows more metal atoms sputtered from the target to bond to oxygen atoms and form CuO, NiO, or TiO2 molecules deposited as thin films on glass substrates. The structural characteristics of the final samples showed high structural purity as no other compounds than CuO, NiO, and TiO2 were found in the final samples. Also, the prepared multilayer structures did not show new compounds other than th
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The complete genome sequence of bacteriophage VPUSM 8 against O1 El Tor Inaba
In the present work, heterojunction diode detectors will be prepared using germanium wafers as a substrate material and 200 nm tin sulfide thickness will be evaporated by using thermal evaporation method as thin film on the substrate. Nd:YAG laser (λ=532 nm) with different energy densities (5.66 J/cm2 and 11.32 J/cm2) is used to diffuse the SnS inside the surface of the germanium samples with 10 laser shots in different environments (vacuum and distilled water). I-V characteristics in the dark illumination, C-V characteristics, transmission measurements, spectral responsivity and quantum efficiency were investigated at 300K. The C-V measurements have shown that the heterojunction were of abrupt type and the maximum value of build-in pot
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