2012
University of Dayton
Electrical and computer department
Nonlinear control system
ABDELBASET ELHANGARI
1011647470
Final project: Designing of Nonlinear Controllers[ ]
[Type the abstract of the document here. The abstract is typically a short summary of the contents of the
document. Type the abstract of the document here. The abstract is typically a short summary of the
contents of the document.]
Contents
1. Experiment #1:.................................................................................................................................... 2
Part A Experiment #1 (Feedback linearization): ................................................................................... 2
Part B of Experiment #1(Sliding Mode Control): .................................................................................. 8
2. Experiment #2:.................................................................................................................................. 12
3. Experiment #3:.................................................................................................................................. 14
Figures:
Figure 1: The System Phase Portrait ............................................................................................................ 4
Figure 2: The System is Open loop Stable .................................................................................................... 5
Figure 3: Regulation of the System States by the Controller ........................................................................ 6
Figure 4: Failure of the Same Controller in the Regulation Process .............................................................. 7
Figure 5: Sliding Mode Control with the Alternative Manifold ................................................................... 10
Figure 6: Sliding Mode Control with the Given Manifold ........................................................................... 11
Figure 7: The Pendulum States Being Regulated near the Zero .................................................................. 13
Figure 8: The phase Portrait of the Open Loop .......................................................................................... 15
Figure 9: Back Stepping Controller Succession........................................................................................... 18
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179239
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179240
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179241
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179242
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file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179244
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179246
1. Experiment #1:
The system is given by
̇
̇
With (.
Integral Backstepping Sliding Mode Control of Chaotic Forced Van Der Pol Osci...ijctcm
ABSTRACT
Forced Van der Pol oscillator exhibits chaotic behaviour and instability under certain parameters and this poses a great threat to the systems where it has been applied hence, the need to develop a control method to stabilize and control chaos in a Forced Van der Pol oscillator so as to avoid damage in the controlled system and also to prevent unmodeled dynamics from being introduced in the system. Sliding Mode control makes use of the regulatory variables derived from the controlled Lyapunov function to bring the new variables to stability. The essence of using Integral Backstepping was to prevent chattering which can occur in the control input and can cause instability to the system by igniting unmodeled dynamics. Simulation was done using MATLAB and the results were provided to show the effectiveness of the proposed control method. Integral Backstepping Sliding Mode control method was effective towards stability and chaos control. It was also robust towards matched and unmatched disturbance.
Linear Control Hard-Disk Read/Write Controller AssignmentIsham Rashik
Classic Hard-Disk Read/Write Head Controller Assignment completed using MATLAB and SIMULINK. To see the diagrams in detail, please download first and zoom it.
Robust Fuzzy Output Feedback Controller for Affine Nonlinear Systems via T–S ...Mostafa Shokrian Zeini
This presentation concerns the design of a robust H_∞ fuzzy output feedback controller for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T–S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H_∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI.
Integral Backstepping Sliding Mode Control of Chaotic Forced Van Der Pol Osci...ijctcm
ABSTRACT
Forced Van der Pol oscillator exhibits chaotic behaviour and instability under certain parameters and this poses a great threat to the systems where it has been applied hence, the need to develop a control method to stabilize and control chaos in a Forced Van der Pol oscillator so as to avoid damage in the controlled system and also to prevent unmodeled dynamics from being introduced in the system. Sliding Mode control makes use of the regulatory variables derived from the controlled Lyapunov function to bring the new variables to stability. The essence of using Integral Backstepping was to prevent chattering which can occur in the control input and can cause instability to the system by igniting unmodeled dynamics. Simulation was done using MATLAB and the results were provided to show the effectiveness of the proposed control method. Integral Backstepping Sliding Mode control method was effective towards stability and chaos control. It was also robust towards matched and unmatched disturbance.
Linear Control Hard-Disk Read/Write Controller AssignmentIsham Rashik
Classic Hard-Disk Read/Write Head Controller Assignment completed using MATLAB and SIMULINK. To see the diagrams in detail, please download first and zoom it.
Robust Fuzzy Output Feedback Controller for Affine Nonlinear Systems via T–S ...Mostafa Shokrian Zeini
This presentation concerns the design of a robust H_∞ fuzzy output feedback controller for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T–S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H_∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The papers for publication in The International Journal of Engineering& Science are selected through rigorous peer reviews to ensure originality, timeliness, relevance, and readability.
The Controller Design For Linear System: A State Space ApproachYang Hong
The controllers have been widely used in many industrial processes. The goal of accomplishing a practical control system design is to meet the functional requirements and achieve a satisfactory system performance. We will introduce the design method of the state feedback controller, the state observer and the servo controller with optimal control law for a linear system in this paper.
The International Journal of Computational Science, Information Technology an...rinzindorjej
The International Journal of Computational Science, Information Technology and Control Engineering (IJCSITCE) is an open access peer-reviewed journal that publishes quality articles which make innovative contributions in all areas of Computational Science, Mathematical Modeling, Information Technology, Networks, Computer Science, Control and Automation Engineering. IJCSITCE is an abstracted and indexed journal that focuses on all technical and practical aspects of Scientific Computing, Modeling and Simulation, Information Technology, Computer Science, Networks and Communication Engineering, Control Theory and Automation. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced techniques in computational science, information technology, computer science, chaos, control theory and automation, and establishing new collaborations in these areas.
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
ANALYSIS AND SLIDING CONTROLLER DESIGN FOR HYBRID SYNCHRONIZATION OF HYPERCHA...IJCSEA Journal
Hybrid synchronization of chaotic systems is a research problem with a goal to synchronize the states of master and slave chaotic systems in a hybrid manner, namely, their even states are completely synchronized (CS) and odd states are anti-synchronized. This paper deals with the research problem of hybrid synchronization of chaotic systems. First, a detailed analysis is made on the qualitative properties of hyperchaotic Yujun system (2010). Then sliding controller has been derived for the hybrid synchronization of identical hyperchaotic Yujun systems, which is based on a general hybrid result derived in this paper.MATLAB simulations have been shown in detail to illustrate the new results derived for the hybrid synchronization of hyperchaotic Yujun systems. The results are proved using Lyapunov stability theory.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
I need a 7 pg research essay on the following Select a real o.docxeugeniadean34240
I need a 7 pg research essay on the following:
Select a real or hypothetical crisis, such as a natural disaster (hurricane, tornado, flooding, or earthquake), a catastrophic building failure, or an act of terrorism.
Discuss resource management based on ethical approaches used during crisis management.
Consider issues such as patient triage or current as well as incoming patients, supply, and personnel availability.
Discuss and develop an authoritative chain of command for crisis management.
Include such responsibilities as Incident Commander, Communications Officer, and other members of the chain of command for the incident.
Discuss the importance and implementation of community communication, involvement, and coordination.
Discuss the necessary policies for personnel management and safety.
Include provisions for lock-down status and family communication abilities.
Outline the steps for supply chain management, both for personnel and the supplies needed to provide care.
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I need a 4-5 APA formatted paper with references that is clearly wri.docxeugeniadean34240
I need a 4-5 APA formatted paper with references that is clearly written and includes the following:
The attendance of an AA meeting. Describe the meeting's atmosphere, the participants and their appearances, details on the group discussion, engagement, timeframe, the pros and cons of the meeting, and other helpful information.
.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The papers for publication in The International Journal of Engineering& Science are selected through rigorous peer reviews to ensure originality, timeliness, relevance, and readability.
The Controller Design For Linear System: A State Space ApproachYang Hong
The controllers have been widely used in many industrial processes. The goal of accomplishing a practical control system design is to meet the functional requirements and achieve a satisfactory system performance. We will introduce the design method of the state feedback controller, the state observer and the servo controller with optimal control law for a linear system in this paper.
The International Journal of Computational Science, Information Technology an...rinzindorjej
The International Journal of Computational Science, Information Technology and Control Engineering (IJCSITCE) is an open access peer-reviewed journal that publishes quality articles which make innovative contributions in all areas of Computational Science, Mathematical Modeling, Information Technology, Networks, Computer Science, Control and Automation Engineering. IJCSITCE is an abstracted and indexed journal that focuses on all technical and practical aspects of Scientific Computing, Modeling and Simulation, Information Technology, Computer Science, Networks and Communication Engineering, Control Theory and Automation. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced techniques in computational science, information technology, computer science, chaos, control theory and automation, and establishing new collaborations in these areas.
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
SLIDING MODE CONTROLLER DESIGN FOR GLOBAL CHAOS SYNCHRONIZATION OF COULLET SY...ijistjournal
This paper derives new results for the design of sliding mode controller for the global chaos synchronization of identical Coullet systems (1981). The synchronizer results derived in this paper for the complete chaos synchronization of identical hyperchaotic systems are established using sliding control theory and Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Coullet systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Coullet systems.
ANALYSIS AND SLIDING CONTROLLER DESIGN FOR HYBRID SYNCHRONIZATION OF HYPERCHA...IJCSEA Journal
Hybrid synchronization of chaotic systems is a research problem with a goal to synchronize the states of master and slave chaotic systems in a hybrid manner, namely, their even states are completely synchronized (CS) and odd states are anti-synchronized. This paper deals with the research problem of hybrid synchronization of chaotic systems. First, a detailed analysis is made on the qualitative properties of hyperchaotic Yujun system (2010). Then sliding controller has been derived for the hybrid synchronization of identical hyperchaotic Yujun systems, which is based on a general hybrid result derived in this paper.MATLAB simulations have been shown in detail to illustrate the new results derived for the hybrid synchronization of hyperchaotic Yujun systems. The results are proved using Lyapunov stability theory.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
I need a 7 pg research essay on the following Select a real o.docxeugeniadean34240
I need a 7 pg research essay on the following:
Select a real or hypothetical crisis, such as a natural disaster (hurricane, tornado, flooding, or earthquake), a catastrophic building failure, or an act of terrorism.
Discuss resource management based on ethical approaches used during crisis management.
Consider issues such as patient triage or current as well as incoming patients, supply, and personnel availability.
Discuss and develop an authoritative chain of command for crisis management.
Include such responsibilities as Incident Commander, Communications Officer, and other members of the chain of command for the incident.
Discuss the importance and implementation of community communication, involvement, and coordination.
Discuss the necessary policies for personnel management and safety.
Include provisions for lock-down status and family communication abilities.
Outline the steps for supply chain management, both for personnel and the supplies needed to provide care.
.
I need a 4-5 APA formatted paper with references that is clearly wri.docxeugeniadean34240
I need a 4-5 APA formatted paper with references that is clearly written and includes the following:
The attendance of an AA meeting. Describe the meeting's atmosphere, the participants and their appearances, details on the group discussion, engagement, timeframe, the pros and cons of the meeting, and other helpful information.
.
I need a 3 page research paper on Title Addictive being youn.docxeugeniadean34240
I need a 3 page research paper on
Title:
Addictive being young and older on Social Media, why activities outdoors can prevent addiction
In the attached zip file, I have provided 10 journals that you need to use for this research paper.
In the word doc, I have shared the topic and sub-topics that you have to use. And it also has guidelines from the teacher for this paper.
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I need a 200-word paper that answers the following questions:D.docxeugeniadean34240
I need a 200-word paper that answers the following questions:
Describe the term Enterprise Architecture (EA), what it means, how it can be used, and the core elements on EA. What are the core elements within EA.?
Now compare EA to Information Systems – are there any similarities, any differences?
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i need a 2 page essay on LA crimes as it pertains to Rape you will h.docxeugeniadean34240
i need a 2 page essay on LA crimes as it pertains to Rape you will have to response to the data regarding observed disparities in offenders vs. incarcertaion of Rape offense in Louisiana. also you will have to included a critical and well reasoned to the incarceration rate in Louisiana as a whole vs. the US.
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I need a 1 page professional bio. My cover letter and resume i.docxeugeniadean34240
I need a 1 page professional bio.
My cover letter and resume is attached.
As an experienced and motivated professional with exceptional leadership and interpersonal abilities, I am prepared to significantly contribute to your organization’s goals in this role.
My background lies in workforce and economic development, managing operations, teams, conflict resolution, and processes to propel revenue increases while realizing enhanced corporate success and productivity. From establishing and implementing visionary business strategies to driving employees to achieve peak performance levels, I excel at directing strategic enhancements to outperform open objectives while communicating openly and effectively with staff and management teams.
Highlights of my experience include the following:
Ø Excelling as the Manager of the workforce development team with the Shelby County Alternative Schools for the past 10 years, federal grant management, identifying employment opportunities for youth and adult offenders, educating and supporting clients through vocational training initiatives, evaluating client work interests and aptitudes, and connecting clients with eligible and appropriate employment programs.
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I need 100 words response for this two discussion forum1 discu.docxeugeniadean34240
I need 100 words response for this two discussion forum
1 discussion
Colin Kaepernick comes to mind as I speak of racial differences, principles and morals. Colin Kaepernick, when he chose to go beyond the usual practice, effectively gave up his dream. Colin Kaepernick, the American football player who started the National Anthem "take knee" campaign against racial violence against African American and other races. Business ethics is the study of what constitutes right or wrong, good or bad human conduct in a business environment. The introduction of universal ethical principles to particular practical problems in the modern environment, such as dishonesty in ads, bullying, etc., is intended to assess what is "valid" behavior; i.e. what is considered appropriate or "right" conduct in line with universal ethical values (Christie et al, 2003).
I served with a social-service organization in 2013. Within this unique setting, I have been forced to interact alongside a variety of communities and faiths. Each of the SNAP entitlements (Food stamps) is dependent on family revenue and wealth. There was, however, a misconception and theory circulated inside the department that African American culture is lazy and that many of them do not want to function and want to rely on the government for assistance. I know that the theory and the story arose from the deep-rooted fear of the Slavery. Under which racial violence persists and so other groups are still competing and killing each other.
At another agency I worked for I worked with youth directly in a foster care setting. I am African American, and the rest of the children I represent are Hispanic / Latino. I note that when I'm out in the city with my Hispanic / Latino clientele, I typically get a number of stares from various cultures. One of my four-year-old children sometimes holds a temper tantrum to get what she needs from her mother. She decided to have one of these tantrums with me when we were in the grocery shop. I dismissed her actions, and there was a Hispanic lady who came up to me with a really unpleasant attitude, telling me to know what I was doing to the girl. I dismissed her and proceeded to focus on the actions of my client. I assume that she just got embroiled in this scenario because I mistreated this Hispanic child in her opinion, even though I gave her my badge for work. Anything I did with the child was in compliance with the Agency's rules and practices, even when I was being confronted by a consumer in the shop. It's really difficult to deal with babies, youth and even the elderly, so you also have to make sure that you perform it according to policies and procedures. Mandatory ethics was enforced to safeguard the employees who work for the specific organization and even the clients. Professionals are required to recognize and live by their Code of Ethics. Practitioners will need to demonstrate awareness regarding the adaptation of their codes to different cultures (Weber 20004).
I need 200 words response for each discussion post.Guided Respon.docxeugeniadean34240
I need 200 words response for each discussion post.
Guided Response: Respond to at least two of your classmates’ postings. Support your initial and subsequent posts by citing at least two scholarly and peer-reviewed sources in addition to the course text. The Scholarly, Peer-Reviewed, and Other Credible Sources (Links to an external site.) table offers additional guidance on appropriate source types.
Forum 1)One psychosocial issue that could cause a serious issue in the school setting to me would be Bullying. Bullying can scare a person’s ability to feel be ant to bully and be mean to someone because they may act different or look different to them, beautiful, safe, and secure about who they are, and be lasting ongoing issue that will last forever by making them feel insecure, and not wanted along while feeling like no one cares about them. Bullying is a form of abuse, aggressiveness, coercion, force. There are other things that bullies do to feel like they are important or better than everyone else, like be dominated, intimidating, or threatening. “Bullying in schools, particularly bias-based bullying, is an important issue for many reasons, but chief among them include evidence that victims being bullied experience both short and long term consequences, including poor school performance, depression, and increased health problems” (Martin, M. E. (2018).
I believe that the services of all three would be required because the bully would be evaluated three different times on his behavior and other things that no one may know about. Each of them has their own specialty that would fit working with the bully and being able to determine what is the issue or problem that makes the bully act out of character the way he or she does.
“An analysis of this phenomenon in schools, according to different authors [1,7.8, reveals that children involved in bullying behavior can play different roles; (a) aggressors/intimidators; (b) victim; (c) aggressors who are also victims and (d) passive observers. These observers are neither directly involved as aggressors nor as victims. As such, they can play a number of different roles: they can defend the victims, thus reducing this type of behavior; they can support the aggressors, actively reinforcing intimidation; children who merely observe are neutral or indifferent”. (www.ncbi.nim.nih.gov) (Links to an external site.) . There should something put into place that will stop individuals with aggressive behavior to stop bullying other individuals who just want to be themselves and live their lives. It leads to most children feeling depressed and wanting to end their lives because of it, and it happens in our society today children ending their lives because they are being targeted by bullies. Rules should also be put into place for the bullies to let them know what will happen if they continue to bully others.
REFERENCES:
Martin, M. E. (2018). Introduction to human services: Through the eyes of practice settings .
I need 3 pages discussion for an intersection (Attached image).docxeugeniadean34240
I need 3 pages discussion for an intersection (Attached image)
North Harbor Drive and Harbor Island Drive intersection, San Diego CA 92111 US
Please address the following:
a. Right of Way Issues
b. Utility Relocation
c. Air Quality Conformity
d. Title VI Considerations
e. Visual / Landscape Considerations
f. Required Permits
g. Stormwater Management
h. Cultural Resources
i. Risk Management Plan
j. Transportation Management Plan (TMP)
k. Transit Services
If you think any other better ideas, please address them as well.
University Level
Please no plagiarism
I also attached an example, you can follow it to get ideas to write about
.
I need 1page write up on Hypothesis & Methods Proposal,Due on .docxeugeniadean34240
I need 1page write up on Hypothesis & Methods Proposal,
Due on 3rd Feb 7PM PST
Please see attached doc for details on title, notes and questions to be answered.
Please cite everything, You might need the previous APA paper (attached image), but not sure. so please review
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I need 2-3 pages written about the sieve of Eratosthenes. Starti.docxeugeniadean34240
I need 2-3 pages written about the sieve of Eratosthenes. Starting from the Eratosthenes-legendre sieve going to Eratosthenes general sieve, while giving some detailed formulas and explanations for each, using some lemma and examples. And finishing with some applications.
The work has to be authentic and original (not copied), with the references stated where its used on the paper and at the end
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I need 120 words for each question. Please ensure to post individual.docxeugeniadean34240
I need 120 words for each question. Please ensure to post individual reference with each question
Unit 1
Q 1;
Identify two organizational structures used in health care. What are the central characteristics of each? To what extent is bureaucracy necessary in health care organizations? Explain.
Q 2;
How does a doctorally prepared nurse work across and between levels of an organization? What are the challenges and/or rewards to be gained? Does one outweigh the other?
Resources
Delmatoff, J., & Lazarus, I. R. (2014). The most effective leadership style for the new landscape of healthcare.
Journal of Healthcare Management, 59
(4), 245-249. URL:
https://lopes.idm.oclc.org/login?url=http://search.ebscohost.com.lopes.idm.oclc.org/login.aspx?direct=true&db=a9h&AN=97206195&site=ehost-live&scope=site
Arbab Kash, B., Spaulding, A., Johnson, C. E., & Gamm, L. (2014). Success factors for strategic change initiatives: A qualitative study of healthcare administrators' perspectives.
Journal of Healthcare Management, 59
(1), 65-81. URL:
https://lopes.idm.oclc.org/login?url=http://search.ebscohost.com.lopes.idm.oclc.org/login.aspx?direct=true&db=a9h&AN=94059299&site=ehost-live&scope=site
Kritsonis, A. (2004/2005). Comparison of change theories.
International Journal of Scholarly Academic Intellectual Diversity, 8
(1) 1-7. URL:
http://qiroadmap.org/?wpfb_dl=12
Suter, E., Goldman, J., Martimianakis, T., Chatalalsingh, C., Dematteo, D. J., & Reeves, S. (2013). The use of systems and organizational theories in the interprofessional field: Findings from a scoping review.
Journal of Interprofessional Care, 27
(1), 57-64. doi:10.3109/13561820.2012.739670 URL:
https://lopes.idm.oclc.org/login?url=http://search.ebscohost.com.lopes.idm.oclc.org/login.aspx?direct=true&db=a9h&AN=84423842&site=ehost-live&scope=site
Narayana, E. A. (1992). Bureaucratization of non-governmental organizations: An analysis of employees' perceptions and attitudes.
Public Administration and Development, 12
(2), 123-137. URL:
https://lopes.idm.oclc.org/login?url=http://search.proquest.com.lopes.idm.oclc.org/docview/194674953?accountid=7374
Klemsdal, L. (2013). From bureaucracy to learning organization: Critical minimum specification design as space for sensemaking.
Systemic Practice & Action Research
,
26
(1), 39-52. doi:10.1007/s11213-012-9267-3 URL:
https://lopes.idm.oclc.org/login?url=http://search.ebscohost.com/login.aspx?direct=true&db=bth&AN=84739308&site=ehost-live&scope=site
Unit 2
Q 1:
What are three payment structures used in the health care industry across the care continuum? How are they similar? How are they different? Is there a single problem that transverses all three of the identified payment structures? Explain.
Q 2:
Identify a significant problem with one of the three payment structures used in the health care industry across the care continuum (from DQ 1) and propose a solution from one of the other two payment structures.
Resources
.
I need 10-12 slides Presentation with detailed speaker notes. Instru.docxeugeniadean34240
I need 10-12 slides Presentation with detailed speaker notes. Instruction is given below. It is a Religion Class. No Plagiarism Please. Due in 24 hours.
Wk 3 - Christianity Presentation
Create
a 10- to 12-slide presentation comparing
2
of the following branches of Christianity:
Catholic
Orthodox
Protestant
Include
a brief history of the 2 religious traditions and a comparison of their approaches to the Bible. Some concepts to include are:
Examples of art
Central symbols of the faith
Rituals and core beliefs
Ethics role in the faith
You might consider visiting one or more of these churches in person or exploring church websites to add to your own experiences.
.
I N N O V A T I O N N E T W O R K , I N C . www.innone.docxeugeniadean34240
I N N O V A T I O N N E T W O R K , I N C .
www.innonet.org • [email protected]
L o g i c M o d e l W o r k b o o k
I N N O V A T I O N N E T W O R K , I N C .
www.innonet.org • [email protected]
L o g i c M o d e l W o r k b o o k
T a b l e o f C o n t e n t s
P a g e
Introduction - How to Use this Workbook .....................................................................2
Before You Begin .................................................................................................................3
Developing a Logic Model .................................................................................................4
Purposes of a Logic Model ............................................................................................... 5
The Logic Model’s Role in Evaluation ............................................................................ 6
Logic Model Components – Step by Step ....................................................................... 6
Problem Statement: What problem does your program address? ......................... 6
Goal: What is the overall purpose of your program? .............................................. 7
Rationale and Assumptions: What are some implicit underlying dynamics? ....8
Resources: What do you have to work with? ......................................................... 9
Activities: What will you do with your resources? ................................................ 11
Outputs: What are the tangible products of your activities? ................................. 13
Outcomes: What changes do you expect to occur as a result of your work?.......... 14
Outcomes Chain ....................................................................................... 16
Outcomes vs. Outputs ............................................................................. 17
Logic Model Review ...........................................................................................................18
Appendix A: Logic Model Template
Appendix B: Worksheet: Developing an Outcomes Chain
Logic Model Workbook
Page 2
I N N O V A T I O N N E T W O R K , I N C .
www.innonet.org • [email protected]
I n t r o d u c t i o n - H o w t o U s e t h i s W o r k b o o k
Welcome to Innovation Network’s Logic Model Workbook. A logic model is a commonly-used
tool to clarify and depict a program within an organization. You may have heard it described as
a logical framework, theory of change, or program matrix—but the purpose is usually the same:
to graphically depict your program, initiative, project or even the sum total of all of your
organization’s work. It also serves as a
foundation for program planning and
evaluation.
This workbook is a do-it-yourself guide to
the concepts and use of the logic model. It
describes the steps necessary for you to
create logic models fo.
I like to tie my learning to Biblical Principles. On Virtuous Le.docxeugeniadean34240
I like to tie my learning to Biblical Principles. On Virtuous Leadership, I think about what leader in the Bible do I know that stands out as a virtuous leader. Although there are many, one that stands out to me is Nehemiah. Nehemiah's brother and others said that they had been to Jerusalem and the Wall has been broken down, and the gates were burned. Nehemiah listened and took this news personally as if he was the wounded party. In other words, it broke his heart to hear this news.
He then took personal responsibility, prayed, and asked God to forgive him and his people for not obeying his commands. Then he took personal action, and at great danger to himself, he appeared before the King sad - remember that no King wants a sad cupbearer. When the King saw how sad Nehemiah was, he asked him why, and Nehemiah explained the state of his city walls and asked permission to go and fix them. He went and fixed the walls. He got involved in the work as a servant leader and getting the people what they needed. They had a city again with walls and a gate, and most importantly, they had protection!
We can see in this story that a servant leader is someone who takes personal responsibility for what has gone wrong and sets out to fix it, but not only does he/she fix the problem, the servant leader gets involved in the work and works alongside his workers to get the job done right. By doing so, the servant leader demonstrates his care for his workers and organization.
Share a story of a servant leader either in the Bible or someone you know.
.
I just want one paragraph.!!C.W.Mills described ‘sociological im.docxeugeniadean34240
I just want one paragraph.!!
C.W.Mills described ‘sociological imagination’ as an ability to understand “the intersection of one's own biography and other biographies with history and the present social structure you find yourself and others in.” In short, it is the ability to understand the private in public terms. Essentially, Mills is describing an ability to discern patterns in social events and view personal experiences in light of those patterns. To highlight that, he uses two terms – “the personal troubles of milieu” and “the public issues of social structure.” ‘Troubles’ happen to us as individuals, and are a private matter of individual choices and biography. ‘Issues’ are public matters that transcend the individual, and have to do with societal structures and processes.
Here is the Question!!!
1- For this discussion, I want you to select one of the following health/medical issues, and offer a thoughtful reflection on it as both a hypothetical ‘personal trouble’ and a ‘public issue.’
- ADHD; obesity; eating disorder; infertility; Alzheimer’s disease; COVID.
.
i just need serious help answering the question. I have answered mos.docxeugeniadean34240
i just need serious help answering the question. I have answered most of them but the following posted questions are giving me problem.
# 1.1
(1 pts.) In the textbook case, what information led Dr. Tobin to conclude that Shaun Boyden's sexual attraction to children was not a passing fancy? '
A) the fact that he reported having the urges since adolescence
B) the fact that his wife was unaware of his problem
C) the fact that he was never caught in the past
D) the fact that he had a relatively normal sexual development
# 1.2
(1 pts.) Charlie has opted to have psychosurgery performed in order to change his pedophilic patterns. Which of the following procedures will Charlie have done?
A) prefrontal lobotomy
B) hypothalamotomy
C) castration
D) vasectomy
# 1.3
(1 pts.) Dr. Walters is instructing Harry to imagine that he has just "flashed" his genitals at an unsuspecting woman on the street. After the woman responds in horror, Harry is to imagine that all of his closest friends jump out of a nearby alley and start laughing at him. Dr. Walters is using the technique known as
A) systematic desensitization.
B) cognitive restructuring.
C) covert conditioning.
D) behavior modification.
# 1.4
(1 pts.) Who is most likely to be the target of a frotteurist's desires?
A) a person from work
B) a life-long friend
C) a shopper at the mall
D) a close relative
# 1.9
(1 pts.) Based on the information presented in the textbook case, Shaun Boyden might be considered a ______ since he had a normal history of sexual development and interests.
A) child rapist
B) preference molester
C) situational molester
D) generalized molester
# 1.12
(1 pts.) Joe becomes sexually aroused when he views sexually explicit photographs. He also gets really turned on when his lover undresses in front of him. Joe's behavior might be described as
A) fetishistic.
B) frotteuristic.
C) voyeuristic.
D) normal.
# 1.21
(1 pts.) John gets nauseous when he thinks about having sexual intercourse and he actively avoids the sexual advances of others. John might be diagnosed as having
A) male erectile disorder.
B) sexual aversion disorder.
C) dyspareunia.
D) inhibited male orgasm disorder.
# 1.27
(1 pts.) Five-year-old Timmy has older sisters who dress him up occasionally and call him "Timbelina" since they really wanted a little sister instead of a little brother. If this pattern continues it is possible that Tim might develop
A) sexual masochism.
B) sexual sadism.
C) pedophilia.
D) transvestic fetishism.
# 1.29
(1 pts.) Carol is extremely interested in sex but does not experience the vaginal changes that ordinarily precede sexual intercourse. Carol may have
A) sexual aversion disorder.
B) hypoactive sexual desire disorder.
C) inhibited female orgasm disorder.
D) female sexual arousal disorder.
# 1.32
(1 pts.) John is in a p.
I Headnotes and indexes are copyrighted and may not be duplica.docxeugeniadean34240
I Headnotes and indexes are copyrighted and may not be duplicated by photocopying, printing.
I or other means without the express permission of the publishers. 1 -800-351-0917
43 Fla. L. Weekly S512 SUPREME COURT OF FLORIDA
Committee later submitted a revised proposal in response to comments. While we
generally approve the Committee's revisions, the revised proposal would have allowed
twenty days[ ratherthan ten, to serve a reply brief. In order to maintain consistency with
otherprovisions in rule 9.146(g)(3)(B), we haverevised the Committee's proposal such
that parties are allowed twenty days to respond after the last initial brief, and ten days
to respond after the last answer brief.
3Wehave revised the Committee's proposal to refer specifically to requirements for
electronic service in Rule ofJudicial Administration 2.516(b).
"See CoastalDev. ofN. Fla.,Inc. v. City ofJacksonville Beach, 788 So. 2d 204,205
footnotes.
(a) Florida Supreme Court.
(111887-present: Fenelonv. State. 594 So. 2d 292 (Fla. 1992).
{211846-1886: Livingston v. L 'Engle, 22 Fla. 427 (1886).
J ±' C-fl&LL/fl 1
n.3(Fla.20CII); Fla. Power &Light Co. v.CityofDania,76l So.2d 1089,1094 (Fla.
2000) ("No statewide criterion exists at this time."); see also Broward Cty. v. G.B. V.
Intern., Ltd.
Anstead,J.)
, 787 So. 2d 838, 849-53 (Fla. 2001) (Pariente, J., dissenting, joined by
(LEWIS, J., concurring in part and dissenting in part.) I dissent
because there is no need to amend the rule with regard to joinder on
appeal. This amendment is likely to generate more confusion than
clarity. I concur with the remainder ofthe amendments.
! * * *
I ■
! ..■■■■
Rules of Appellate Procedure—Amendment—Uniform Citation
System
IN RE: AMENDMENTS TO FLORIDA RULE OF APPELLATE PROCEDURE
9.800. Supreme Court of Florida. Case No. SC17-999. October 25,2018. Original
Proceeding—Florida Rules of Appellate Procedure. Counsel: Courtney Rebecca
Brewer, Ch lir, Appellate CourtRules Committee, Tallahassee, Kristin A. Norse, Past
Chair, App sllate Court Rules Committee, Tampa; and Joshua E. Doyle, Executive
Director, and Heather Savage Telfer, Staff Liaison, The Florida Bar, Tallahassee, for
Petitioner.
(PER CUjRIAM.) This matter is before the Court for consideration of
proposed, amendments to Florida Rule ofAppellate Procedure 9.800
(Uniforn
Fla. Cons t.
TheFlorida Bar's Appellate CourtRules Committee (Committee)
proposes
uniform
proposal
Citation System). We havejurisdiction. See art. V, § 2(a),
amendments to rule 9.800 to substantially update the
citation formats provided in that rule. The Committee's
to amend the rule was first presented to the Court in the
Commirt 5e' s regular-cycle report ofproposed rule amendments in In
re Amendments to the Florida Rules ofAppellate Procedure—2017
Regular-Cycle Report, No. SC17-152 (Fla. report filed Jan. 31,
2017).' The Court, on its own motion, entered an order directing that
the proposed amendments to rule 9.800 be .
Welcome to TechSoup New Member Orientation and Q&A (May 2024).pdfTechSoup
In this webinar you will learn how your organization can access TechSoup's wide variety of product discount and donation programs. From hardware to software, we'll give you a tour of the tools available to help your nonprofit with productivity, collaboration, financial management, donor tracking, security, and more.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
Normal Labour/ Stages of Labour/ Mechanism of LabourWasim Ak
Normal labor is also termed spontaneous labor, defined as the natural physiological process through which the fetus, placenta, and membranes are expelled from the uterus through the birth canal at term (37 to 42 weeks
Model Attribute Check Company Auto PropertyCeline George
In Odoo, the multi-company feature allows you to manage multiple companies within a single Odoo database instance. Each company can have its own configurations while still sharing common resources such as products, customers, and suppliers.
Macroeconomics- Movie Location
This will be used as part of your Personal Professional Portfolio once graded.
Objective:
Prepare a presentation or a paper using research, basic comparative analysis, data organization and application of economic information. You will make an informed assessment of an economic climate outside of the United States to accomplish an entertainment industry objective.
Embracing GenAI - A Strategic ImperativePeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
Biological screening of herbal drugs: Introduction and Need for
Phyto-Pharmacological Screening, New Strategies for evaluating
Natural Products, In vitro evaluation techniques for Antioxidants, Antimicrobial and Anticancer drugs. In vivo evaluation techniques
for Anti-inflammatory, Antiulcer, Anticancer, Wound healing, Antidiabetic, Hepatoprotective, Cardio protective, Diuretics and
Antifertility, Toxicity studies as per OECD guidelines
Safalta Digital marketing institute in Noida, provide complete applications that encompass a huge range of virtual advertising and marketing additives, which includes search engine optimization, virtual communication advertising, pay-per-click on marketing, content material advertising, internet analytics, and greater. These university courses are designed for students who possess a comprehensive understanding of virtual marketing strategies and attributes.Safalta Digital Marketing Institute in Noida is a first choice for young individuals or students who are looking to start their careers in the field of digital advertising. The institute gives specialized courses designed and certification.
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1. 2012
University of Dayton
Electrical and computer department
Nonlinear control system
ABDELBASET ELHANGARI
1011647470
Final project: Designing of Nonlinear Controllers[ ]
[Type the abstract of the document here. The abstract is
typically a short summary of the contents of the
document. Type the abstract of the document here. The abstract
is typically a short summary of the
contents of the document.]
Contents
1. Experiment
#1:..........................................................................................
.......................................... 2
2. ................................................................................... 2
.................................................................................. 8
2. Experiment
#2:........................................................................... ...............
........................................ 12
3. Experiment
#3:..........................................................................................
........................................ 14
Figures:
Figure 1: The System Phase Portrait
...............................................................................................
............. 4
Figure 2: The System is Open loop Stable
............................................................................................. ..
..... 5
Figure 3: Regulation of the System States by the Controller
........................................................................ 6
Figure 4: Failure of the Same Controller in the Regulation
Process .............................................................. 7
Figure 5: Sliding Mode Control with the Alternative Manifold
................................................................... 10
Figure 6: Sliding Mode Control with the Given Manifold
3. ........................................................................... 11
Figure 7: The Pendulum States Being Regulated near the Zero
.................................................................. 13
Figure 8: The phase Portrait of the Open Loop
.......................................................................................... 15
Figure 9: Back Stepping Controller
Succession..............................................................................
............. 18
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179239
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179240
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179241
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179242
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179243
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179244
file:///C:/Users/abdu/Desktop/non_lin_proj%23_Toc343179246
1. Experiment #1:
The system is given by
̇
̇
With ( ) [
] , ( ) [
4. ]; in this experiment we will apply feedback
linearization approach to check the system convergence to zero;
and the second approach
sliding mode control will be applied as well.
I th ect o , we w ll de l w th the y tem’ p r meter , k
ow parameters
̂ and ̂. After that, nominal values will be plugged in for them
to come up with a
diffeomorphism and a controller such that the system converges
to zero. For the last two,
the system parameters will be changed to another nominal
values to check if the controller
still effective with system of not. Now to apply feedback
linearization, we need to find a
diffeomorphism such that the system will be on chain of
integral form.
The diffeomorphism is ( ) which will achieve the next three
conditions.
Conditions:
( )
6. ( , )
( )
[
] [
̂
̂
]
( ̂ )
From condition 1, force
then the condition is satisfied.
From condition 3,
7. ( ̂ ) apply the results from condition 1
( ̂ ), then the conditions ( ) ( ) are achieved.
Now, let’ apply for ( ) [
] [
̂
]
That implies ( ) [
] [
̂
]
Now, let’ find the system in the chain integral form
[
̇
̇
] [
̇
9. ̂ ̂ ̂
̂ ̂
]
Now, we can pick a controller on the form:
( )
( ( ) ), where ( ) ,
( ) ̂ ̂ ̂
̂ ̂ ,
Simulation & results
For simulation:
( ) ( ) ( ̂ ̂) ̂ ̂
̂
Where ̂ , ̂ , ,
10. Figure 1 illustrates the system behavior by the phase portrait
plot. There are saddle points at
( , ), and at ( , ). By analyzing the system we can notes that
there are certain positions if
they were picked as initial conditions the trajectories will go to
zero.
Figure 1: The System Phase Portrait
Saddle points
0 5 10 15 20 25 30 35 40 45 50
12. Regulation to Zero with zero input
x1
x2
From figure 2, the system is open-loop stable. Whereas u=0 the
origin is asymptotically stable.
Where the system has been tested for different initial conditions
which needed to be chosen
carefully such as ( ) and no restriction on ( )
13. Figure 2: The System is Open loop Stable
0 5 10 15 20 25 30 35 40 45 50
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Time
S
y
s
14. te
m
S
ta
te
s
Regulation to Zero with the controller
x1
x2
Figure 3 shows how the states x1, x2 go to zero from different
initial conditions
As it’s shown in Figure 2, the controller has succeeded to
15. linearize the system and drive the
states to zero. We can easily see that the controller made a lot
of changes on the open loop system
such as much less ripple in the states. Whereas, the system’s
parameters a,b have been chosen
| | | | because they are unknown. Now, let’s change
them to other
arbitrary values and check whether the same controller is still
able to achieve the task.
Figure 3, shows the previous mentioned case where
It is clear that
the controller which has been designed for is not
able to regulate the states to
the zero anymore.
Figure 3: Regulation of the System States by the Controller
0 5 10 15 20 25 30 35 40 45 50
-3
-2
-1
17. Figure 4: Failure of the Same Controller in the Regulation
Process
In sliding mode control, we only consider a subsystem form the
original system. Then
18. the subsystem is ̇ , With x2 as the input for it. Pick a
,
where c is the slope of the manifold. Then ̇
that
means ( ) E.S.
The Manifold (alternative):
The manifold dynamics:
̇ ̇ ̇ ̇ co ̇
̇ ( ) ( ) co ( )
̇
co
co c
̇ ̇
̇ (
19. co
co c )
̇ | | | |
| | | |
̇ | |(
)
Now pick | |(
)
Where (
)
The Required Manifold (alternative):
Consider the at the origin s=0 that implies and
now lets check if x2
will work as an input for the subsystem and if it regulates the
states to zero?
20. The subsystem is ̇ to examine the stability of the
origin for this subsystem,
we consider the Lyaponouve candidate as
̇ ̇ ( )
, where it’s known that
0 | | and that leads to
̇ 2
̇ ( )
̇
Since, the Lyaponouve candidate is p.d. , and its derivative ̇
is n.d, that means the origin
is G.A.S. then the given manifold will do the job.
Computing the dynamics:
̇ ̇ ̇
( )
The Lyaponouve of this manifold,
23. | || |
( ⁄ )
Simulation & results:
All the initial conditions are similar to that were used in the
feedback linearization method.
Figure 5 shows that the states of the system being regulated to
the zero with some
ripples after about 8 seconds due to the swithcing between the
controllers.
Figure 5: Sliding Mode Control with the Alternative Manifold
24. figure 6 shows the regulation of the states by the given
manifold. There difference between
the performace of the two controllers. The first was smoother in
the trasition status
compared with the last controller where the transition statuse is
more aggrisive. In the other
hand, by the last controller the states went further without
ripples, around the zero, starts
about 13 seconds
25. 0 5 10 15 20 25 30 35 40 45 50
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
Time
S
y
s
te
m
S
ta
26. te
s
SMC with the Manifold s=3x
1
+x
2
x1
x2
Figure 6: Sliding Mode Control with the Given Manifold
2. Experiment #2:
In this experiment, a simple pendulum is shown Figure 7 which
has the differential equation
on the form:
̈ ̇
( ) ,
where h is the horizontal acceleration, T is the torque (control)
input, l is the lenth of the rod,
m is the mass of the bob and represent the system’s output,
27. which is the angle between the
motion of the rod with vertical axis. T is the torque as the input
for the system Figure 7
shows system.
It’s needed to achieve sliding mode controller to keep the angle
at zero.
With constraints:
, 1.5, and | ( )|
with the gravity g = 9:81.
Derivations:
First the system is needed to be converted to state space
format. By taking and
̇ the system can be written as
[
̇
̇
] {
29. Let’s consider the subsystem ̇ , with as the input and the
manifold will be
at the origin s=0 that implies . Let’s check with the
manifold
dynamics.
̇ ̇ ̇
( )
p ck
( )
Where ( ).
Simulation & results:
Figure 8 illustrates that for different initial conditions the
30. pendulum settled near the vertical
as the states do not totally regulated to zero by this controller.
Figure 7: The Pendulum States Being Regulated near the Zero
0 5 10 15 20 25 30 35 40 45 50
-2.5
-2
-1.5
-1
-0.5
0
32. 3. Experiment #3:
In this experiment, a wing rock phenomenon will be examined
for a delta wings aircraft such as
the concord aircraft. The wing rock is considered a limit cycling
in the roll angle and the roll rate ̇ when
the angles of attack take place in the high performance.
The objective is to stabilize by a back-stepping controller such
the limit cycling is eliminated.
The model is given on the form
̈ ̇ ̇
̇ ̇
Where the system parameters are , ,
and
. And the tunnel experiment parameters and
.
When the angle of attack v=25, the values of the parameters
are given in the following table:
v
33. 25 -0.05686 0.03254 0.07334 -0.3597 1.4681
Steps of derivation:
First, the system is needed to transform into state space
representations. In addition to, the consideration
that is a force applied on the wing by an actuator with linear
dynamics given by ̇
and
is constant, then the system states will be considered as the
follows:
Represents the Roll angle the output of the system,
̇ Represents the Roll velocity,
Represents the force applied.
With these states the system can be now represent on the state
space form
[
̇
̇
̇
35. x
2
Phase Proteriate of the System
Now, let’s check by simulation the system behavior at the open-
loop system by taking the control input as
and the initial conditions are taken as ( ) , ̇ ( )
, ̇
Figure 8 shows the open loop system has a limit cycle when
there is no input controller introduced. So,
system need a controller such that the states go to zero which
means eliminating the limit cycle behavior.
The states start at -4,0,0 as initial conditions, and the simulation
run for a relative long time 1000 second,
then we can observe that the trajectory attracted by the limit
cycle and stuck at there forever.
36. Figure 8: The phase Portrait of the Open Loop
Now, task is to design a controller for this system using back-
stepping that regulates the states to
zero, and then a simulation will be held for the closed loop
system for similar initial conditions above.
Back-Stepping Derivation:
as the system has three states, we need three steps to achieve
the this type of controllers.
Step #1:
Let
̇ ̇ = ( )
̇
Then let’s check the first Lyaponouve candidate:
37. ̇ ̇
Step #2:
̇ ̇ ̇
( ) ̇
(
̇ )
Plug in the value of
̇
+
̇
̇
38. ̇
Then let’s check the second Lyaponouve candidate:
̇ ̇ ̇
Step #3:
Finally choose
̇ ̇ ̇
̇
Pick the controller as (
̇ )
̇
39. Then let’s check the first Lyaponouve candidate:
̇ ̇ ̇ ̇
The system Lyaponouve function is P.d. and derivative of it is
N.d. that implies which
implies that because the system has been
transformed on chain of integral form.
[
̇
̇
̇
] {
̇
̇ ̇
̇ ̇
43. ̇
̇
̇
̇
̇
Simulation & Results:
The system has been simulated with the same initial condition
that been applied in the open loop system.
Figure 9: Back Stepping Controller Succession
44. -4 -3 -2 -1 0 1 2
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
x
1
x
2
Phase Proteriate of the System with Back Stepping Controller
Conclusion:
In this report different types of nonlinear design approaches
have been implemented on different
systems. Each controller has done the task as expected. For each
system, sometimes the parameter of the
45. system are unknown, so then the sliding mode controller is best
because it gives range of permittivity also
for some systems, the initial conditions plays important role in
the designing process according to the
physical system which being under considration
ECE 547 – Nonlinear Systems and Control
Final Project Due: 19-Dec-2014 by 11:55 p.m.
1. Sliding Mode Control Warm-Up
We will work on the system
ẋ1 = x2 + ax1 sin(x1)
ẋ2 = bx1x2 + u (1)
where a and b are unknown constants, but we know that 0 ≤ |a| ≤
2 and 1 ≤ |b| ≤ 3.
(a) Show that this system is state feedback linearizable. Assume
that â = 1 and b̂ = 1.5 are
nominal values of a and b that you will use for your feedback
linearizing controller; furthermore,
assume for now that a = â and b = b̂ . Simulate your controller
by regulating the states to
zero.
(b) Now suppose that a 6= â and b 6= b̂ , and that the real values
of a and b are a = −1, b = 2.
46. Using Matlab, plot the phase portrait of the open-loop system
(1), and identify the regions
where the system exhibits different behaviors.
(c) Explain why it is not possible anymore to use your
controller from (a) when a 6= â and b 6= b̂
and guarantee convergence to zero. In particular pay attention
to the diffeomorphism and
the controller itself. Verify by setting a = −1, b = 2 in your
simulation with the same u and
diffeomorphism you got in (a). Hint: be sure to use â = 1 and b̂
= 1.5 to do your coordinate
transformation and to compute your controller, since you
assume not to know the real values
for control design purposes! At the same time, use the real a =
−1 and b = 2 values in your
simulation.
(d) Instead of feedback linearization, you will now implement a
sliding mode controller. The
approach is to figure out what x2 should be if we considered it
as an input to the ẋ1 equation
so that x1 is driven to zero. Design a linear manifold of the
form s = cx1 + x2 that does the
job by considering what happens when s = 0. Next, analyze the
dynamics of s and determine
a sliding mode controller that drives s to zero (and consequently
x to zero).
(e) Simulate your sliding mode design. Note that if you use the
“sign” function in Matlab, ode45
will take a very long time to run. Instead, it is suggested that
you use the approximation
sgn(y) ≈ sat(y/�), where
sat(y) =
47. 1 if y ≥ 1
y if − 1 < y < 1
−1 if y ≤−1
Tune � to understand the trade-off involved.
2. Sliding Mode Control for the van der Pol Equation
The controlled van der Pol system is given by
ẋ1 = x2
ẋ2 = −ω2x1 + �ω(1 −µ2x21)x2u,
where ω, � and µ are positive constants, and u is the control
input.
(a) Pick values for ω, � and µ, and verify via simulation that
for u = 1 the van der Pol system
exhibits a stable limit cycle outside the surface x21 + x
2
2/ω
2 = 1/µ2, and that for u = −1
there exists an unstable limit cycle outside the same surface.
(b) Define the sliding manifold s = x21 + x
2
2/ω
48. 2 − r2, where r < 1/µ. Show analytically that if
we restrict the motion of the system to the surface s = 0 (that is,
we force s(t) ≡ 0), then
the resulting behavior is that of the linear harmonic oscillator
ẋ1 = x2
ẋ2 = −ω2x1,
which exhibits a sinusoidal oscillation of frequency ω and
amplitude r.
(c) Design a sliding mode controller that drives all trajectories
whose initial condition is within
the region {x ∈ R2 : |x1| < 1/µ} to the manifold s = 0, and then
has the states slide on that
manifold towards the origin. Simulate your controller and verify
that it is able to regulate the
state to zero. Show your plots of x vs time and x2 vs x1 to
demonstrate your design.
3. MIMO Control of a Two-Link Planar Arm
The robot arm in Figure 1 consists of two links. The first one
mounted on a rigid base by means
of a frictionless hinge and the second mounted at the end of link
one. The joint axes z0 and z1 are
normal to the page. We establish the base frame x0y0z0 as the
work space frame, which means
the arm moves within the x−y plane. The inputs to the system
are always the torques τ1 and τ2
applied at the joints.
Figure 1: Two-link planar manipulator.
49. A dynamic model of this system can be derived using
Lagrangian equations and is given by[
H11 H12
H21 H22
][
θ̈1
θ̈2
]
+
[
−hθ̇2 −hθ̇1 −hθ̇2
hθ̇1 0
][
θ̇1
θ̇2
]
+
[
g1
g2
]
=
[
τ1
τ2
]
,
50. where
H11 = I1 + I2 + m1l
2
c1 + m2[l
2
1 + l
2
c2 + 2l1lc2 cos(θ2)],
H22 = I2 + m2l
2
c2,
H12 = H21 = I2 + m2[l
2
c2 + l1lc2 cos(θ2)],
h = m2l1lc2 sin(θ2),
g1 = m1lc1g cos(θ1) + m2g[lc2 cos(θ1 + θ2) + l1 cos(θ1)],
g2 = m2lc2g cos(θ1 + θ2).
In this project, we use the following parameter values: m1 =
1.0kg, mass of link one; m2 = 1.0kg,
mass of link two; l1 = 1.0m, length of link one; l2 = 1.0m,
length of link two; lc1 = 0.5m, distance
from the joint of link one to its center of gravity; lc2g = 0.5m,
distance from the joint of link two
to its center of gravity; I1 = 0.2kgm
2, lengthwise centroidal inertia of link one; I2 = 0.2kgm
51. 2,
lengthwise centroidal inertia of link two; and g = 9.804m/s2,
acceleration of gravity.
2
(a) First, you will do joint space MIMO control of the arm,
where the inputs are the two torques
and the outputs are the joint angles θ1 and θ2. Write a MIMO
state space representation
of the system dynamics. Then design the MIMO state feedback
controllers (τ1 and τ2) for
this system that regulate all the states to zero, and simulate the
closed loop system for the
initial conditions θ1(0) =
π
2
, θ̇1(0) = 0, θ2(0) = −
π
2
, θ̇2(0) = 0. Make sure you tune well
the parameters of controllers, plot your controllers and all the
states versus time, and provide
an interpretation of your plot.
(b) Second, we want to control the end-effector of the arm to
generate a path in x − y plane.
The outputs are the position coordinates x and y (z is always
52. zero) of the end-effector.
One way to approach this problem is to formulate the system
directly into the end-effector
coordinates. Let f : Q → R2 be a smooth and invertible mapping
between the joint vector
Θ = [θ1,θ2]
> ∈ Q and the workspace variables X = [X0,Y0]> ∈ R2. The
space Q is a
suitably chosen range of angles for θ1 and θ2, and X = [X0,Y0]
> is the position of the
end-effector on the (x0 −y0) plane. In other words,
X = f(Θ),
so that the position of the end-effector can be computed from
the two joint angles.
The mapping f is known as the arm’s forward kinematics, and it
can lead us directly into
so-called work space control, which you will perform instead of
joint space control as done in
part (a). There exists a relationship between the vector of linear
velocities of the end-effector
Ẋ and the vector of velocities of joint variables Θ̇, given by Ẋ =
JΘ̇, where J is known as
the Jacobian matrix.
Derive the forward kinematic function f : Q → R2 using
trigonometry, and then show that
the Jacobian is given by
J =
[
53. −l1 sin(θ1) − l2 sin(θ1 + θ2) −l2 sin(θ1 + θ2)
l1 cos(θ1) + l2 cos(θ1 + θ2) l2 cos(θ1 + θ2)
]
.
Next, derive the new MIMO state space representation of the
system dynamics, where now
the state vector is X, instead of Θ. Design the MIMO state
feedback controllers (τ̂1 and τ̂2)
√
2 (m)
y = sin(
πt
30
) (m),
and verify your design with a simulation for the initial
conditions θ1(0) = 0, θ̇1(0) = 0, θ2(0) =
0.2, θ̇2(0) = 0. Plot your control signals and all the states versus
time, and demonstrate an
animation of the arm’s motion (use the example MATLAB code
provided on Isidore).
(c) Finally, consider that normally the two-link arm has two
configurations (i.e., elbow up and
elbow down) for a particular non-singularity position of the
end-effector. However, your
closed-loop system always picks one solution from the two
possible solutions. Why is this?
54. Warning: During your work space MIMO control, there exist
some singularity positions
when θ2 = kπ, where k = 0,±1,±2, · · · . The Jacobian matrix is
not invertible and the
controllers will be infinitely large at such positions. Please
avoid these positions when you
try to test your controllers!
General notes and hints:
• The report to be turned in should be typed. I expect a
professional-looking report, technically
sound and easy to read.
• Provide plots for all simulations that are requested. Make sure
your plots are clear (do not use jpg
files!), with relevant titles and axes labeled, and using a legend
whenever several signals are plotted
together. Any unclear or hard to read plot will cause you to lose
points.
3
• Keep your report succinct and to the point. Proofread it and
spell check it. Poor English in your
report will cause you to lose points.
• Turn in your report via Isidore as a PDF file (no other format
will be accepted), and upload your
code uncompressed.
4
55. The project is to solve the equations in a report with
details with giving plots from Matlab . also I need the Matlab
files that you will use during your solution
so please follow the instructions of the final project
See file final_project.pdf
I attach hear an example (of a different project) about how the
report should to look like & what have to include on it. as
solving each sliding, giving plots as simulation to support the
result, introduction and conclusion of all
the Matlab code have to be in file as part of the solution.
See example.pdf
VERY IMPORTANT
Please notice that problem 3. The distance from the joint of link
two to its center of gravity should be "lc2" not "lc2g", sorry.
Please report your confusion and comment ASAP to Dr. Raul,
so that you could finish your final project smoothly.
I got this massage from the Dr
Thanks.