Design of Nonlinear State Feedback Control Law for Inertia Wheel Pendulum Sys...Shubhobrata Rudra
This document describes a block backstepping control approach for stabilizing an inertia wheel pendulum system with 2 degrees of freedom and 1 control input. It presents the system model, defines new control variables using block backstepping, derives the control law, and shows simulation results demonstrating stabilization. The control law relies on invertibility of the system and asymptotically stabilizes the equilibrium. The approach can be extended to other underactuated systems and generalized to higher-order systems.
Stabilization of TORA System: A Backstepping Based Hierarchical Sliding Mode ...Shubhobrata Rudra
This document summarizes a hierarchical sliding mode control approach for stabilizing the TORA (Translational Oscillator Rotational Actuator) system. It presents adaptive backstepping sliding mode control to define control inputs for the translational and rotational motions. A coupling law is then introduced to account for the interaction between the two motions. Simulation results validate the control approach for stabilizing the underactuated TORA system in the presence of disturbances.
Design of Nonlinear State Feedback Control Law for Rotating Pendulum System: ...Shubhobrata Rudra
This document presents a block backstepping control approach for stabilizing a rotating pendulum system. It begins with an overview of the rotating pendulum dynamics and standard state space model. It then introduces the block backstepping control method, defining new control variables and their dynamics. This allows designing stabilizing functions and deriving the required control input to realize the desired closed loop dynamics. Simulation results demonstrate the control law stabilizes both the shaft position and pendulum position. The approach can be extended to other underactuated mechanical systems and generalized for higher degree of freedom systems.
Design of Nonlinear State Feedback Control Law for Underactuated TORA System:...Shubhobrata Rudra
This document summarizes a research paper that proposes a block backstepping control approach for stabilizing an underactuated TORA (two-degree-of-freedom oscillating rotor) system with one control input and two degrees of freedom. The control law is developed by defining new error variables using the block backstepping method and ensuring their dynamics are asymptotically stable. Simulation results demonstrate the control law can stabilize the TORA system states to the origin. The proposed approach can be generalized for other underactuated mechanical systems and provides more flexibility than previous backstepping control laws.
1. The document discusses concepts related to electrostatics including electric charges, Coulomb's law, and the forces between charged particles.
2. Coulomb's law states that the electrostatic force of attraction or repulsion between two point charges is directly proportional to the product of the charges and inversely proportional to the square of the distance between them.
3. Examples are given to demonstrate how to calculate the electrostatic force between two charges using Coulomb's law.
The document describes processes in VHDL. It defines a process as a concurrent statement that contains sequential logic. Processes run in parallel and can be conditioned by a sensitivity list or wait statement. Local variables retain their values between executions. It provides an example of a process with a sensitivity list and one with a wait statement. It also summarizes the general structure of a VHDL program and describes different types of process control including if-then-else, case statements, and decoders. Additional topics covered include flip-flops, counters, and finite state machines.
1) Linear and angular motion are related through the concepts of velocity and acceleration. Velocity is the rate of change of position and acceleration is the rate of change of velocity. These relationships apply to both linear and angular motion.
2) The moment of inertia of an object depends on its mass and how widely its mass is distributed. It is a measure of an object's resistance to changes in its rotation. Torque is the rotational equivalent of force and causes an object to begin rotating, speed up, slow down or change its axis of rotation.
3) Calculating moment of inertia involves integrating the mass elements of an object over its volume or area. Common formulas are used to calculate the moment of inertia of basic shapes like
This document describes several Verilog modules:
1) An 8-bit register with synchronous reset that uses a clock signal to load data or reset the register to 0.
2) An N-bit register with asynchronous reset that can asynchronously reset or synchronously load data.
3) A shift register example that can clear, load, or shift data left on each clock cycle based on control signals.
Design of Nonlinear State Feedback Control Law for Inertia Wheel Pendulum Sys...Shubhobrata Rudra
This document describes a block backstepping control approach for stabilizing an inertia wheel pendulum system with 2 degrees of freedom and 1 control input. It presents the system model, defines new control variables using block backstepping, derives the control law, and shows simulation results demonstrating stabilization. The control law relies on invertibility of the system and asymptotically stabilizes the equilibrium. The approach can be extended to other underactuated systems and generalized to higher-order systems.
Stabilization of TORA System: A Backstepping Based Hierarchical Sliding Mode ...Shubhobrata Rudra
This document summarizes a hierarchical sliding mode control approach for stabilizing the TORA (Translational Oscillator Rotational Actuator) system. It presents adaptive backstepping sliding mode control to define control inputs for the translational and rotational motions. A coupling law is then introduced to account for the interaction between the two motions. Simulation results validate the control approach for stabilizing the underactuated TORA system in the presence of disturbances.
Design of Nonlinear State Feedback Control Law for Rotating Pendulum System: ...Shubhobrata Rudra
This document presents a block backstepping control approach for stabilizing a rotating pendulum system. It begins with an overview of the rotating pendulum dynamics and standard state space model. It then introduces the block backstepping control method, defining new control variables and their dynamics. This allows designing stabilizing functions and deriving the required control input to realize the desired closed loop dynamics. Simulation results demonstrate the control law stabilizes both the shaft position and pendulum position. The approach can be extended to other underactuated mechanical systems and generalized for higher degree of freedom systems.
Design of Nonlinear State Feedback Control Law for Underactuated TORA System:...Shubhobrata Rudra
This document summarizes a research paper that proposes a block backstepping control approach for stabilizing an underactuated TORA (two-degree-of-freedom oscillating rotor) system with one control input and two degrees of freedom. The control law is developed by defining new error variables using the block backstepping method and ensuring their dynamics are asymptotically stable. Simulation results demonstrate the control law can stabilize the TORA system states to the origin. The proposed approach can be generalized for other underactuated mechanical systems and provides more flexibility than previous backstepping control laws.
1. The document discusses concepts related to electrostatics including electric charges, Coulomb's law, and the forces between charged particles.
2. Coulomb's law states that the electrostatic force of attraction or repulsion between two point charges is directly proportional to the product of the charges and inversely proportional to the square of the distance between them.
3. Examples are given to demonstrate how to calculate the electrostatic force between two charges using Coulomb's law.
The document describes processes in VHDL. It defines a process as a concurrent statement that contains sequential logic. Processes run in parallel and can be conditioned by a sensitivity list or wait statement. Local variables retain their values between executions. It provides an example of a process with a sensitivity list and one with a wait statement. It also summarizes the general structure of a VHDL program and describes different types of process control including if-then-else, case statements, and decoders. Additional topics covered include flip-flops, counters, and finite state machines.
1) Linear and angular motion are related through the concepts of velocity and acceleration. Velocity is the rate of change of position and acceleration is the rate of change of velocity. These relationships apply to both linear and angular motion.
2) The moment of inertia of an object depends on its mass and how widely its mass is distributed. It is a measure of an object's resistance to changes in its rotation. Torque is the rotational equivalent of force and causes an object to begin rotating, speed up, slow down or change its axis of rotation.
3) Calculating moment of inertia involves integrating the mass elements of an object over its volume or area. Common formulas are used to calculate the moment of inertia of basic shapes like
This document describes several Verilog modules:
1) An 8-bit register with synchronous reset that uses a clock signal to load data or reset the register to 0.
2) An N-bit register with asynchronous reset that can asynchronously reset or synchronously load data.
3) A shift register example that can clear, load, or shift data left on each clock cycle based on control signals.
The document discusses several topics related to digital logic design including:
1. Designing a synchronous counter circuit using a 7-segment display.
2. Using a frequency divider to generate clock signals for updating the counter and display.
3. Implementing a timer delay circuit using a counter and DIP switches to set the maximum value.
4. Designing a PLC counter circuit with an LED display to count input pulses from a switch.
The Ring programming language version 1.5.2 book - Part 153 of 181Mahmoud Samir Fayed
The document contains function signatures for OpenGL graphics library functions. There are over 100 functions listed, including functions for drawing, textures, shaders, buffers and more. The functions take parameters like enums and pointers to control graphics processing and rendering.
The Ring programming language version 1.5.2 book - Part 144 of 181Mahmoud Samir Fayed
This document lists over 100 OpenGL functions for operations like mapping grids, setting materials, matrix manipulation, texture coordinate specification, raster positioning, and more. It provides documentation for OpenGL release 1.5.2.
The Ring programming language version 1.5.3 book - Part 161 of 194Mahmoud Samir Fayed
This document contains summaries of OpenGL functions for drawing, rendering, and manipulating graphics. It lists over 150 functions and their parameters, including functions for drawing primitives, setting material properties, texture mapping, lighting, blending, and more. The functions allow control over graphics processing and shading at a low level.
The Ring programming language version 1.7 book - Part 187 of 196Mahmoud Samir Fayed
This document contains a list of over 200 OpenGL API functions and their documentation. It includes functions for drawing, textures, shaders, buffers and more. Each function is listed along with its parameters and return type. The document provides a comprehensive reference to the OpenGL API.
The Ring programming language version 1.5.1 book - Part 157 of 180 Mahmoud Samir Fayed
This document lists over 100 OpenGL functions for querying and retrieving information about the current OpenGL state, including functions for getting parameter values, error codes, texture properties, and more. The functions allow reading data like material properties, texture properties, light values, and pixel values from the OpenGL pipeline.
Robust adaptive integral backstepping control and its implementation onShubhobrata Rudra
The document presents a robust adaptive integral backstepping control scheme for motion control systems. It describes the state model of the system and control objective of tracking a reference signal. An integral backstepping control design is developed using error variables and a control Lyapunov function. An adaptation scheme estimates parameter variations using a parameter update law. To improve robustness, a continuous switching function is used to prevent abnormal variation of the adaptation rates. Simulation results show the proposed robust adaptive controller has better tracking performance and reduces parameter estimation error compared to a standard adaptive controller.
1) Schrödinger's equation for electrons and Maxwell's equations for photons describe wave-like behavior and have similar forms.
2) Both equations can be used to model reflection and transmission of waves at interfaces between different media, analogous to electrons encountering energy barriers or photons encountering changes in refractive index.
3) Simple examples like particles or light in a 1D box show that both systems exhibit quantization of energy levels and discrete frequencies according to the boundary conditions.
This document discusses sequential circuits and finite state machines. It covers representing and analyzing state through equations, tables and diagrams. State can be stored in flip flops and circuits analyzed by deriving the state transition and output functions. There are two types of state machines - Mealy machines have outputs dependent on inputs and state, while Moore machines only depend on state.
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document discusses Infinite Impulse Response (IIR) filters. IIR filters are more computationally efficient than FIR filters as they require fewer coefficients due to using feedback. The document covers IIR filter concepts, properties, design procedures including specification, coefficient calculation, structure selection, and implementation. It also provides examples of coefficient calculation methods like pole-zero placement and the bilinear transform method for converting analog filters to digital IIR filters.
Comparison Of Dengue Cases Between Chosen District In Selangor By Using Fouri...Mohd Paub
compare dengue cases in shah alam, gombak and klang which recorded highest dengue cases every year by refer to trend, harmonic function and graph plotted on Maple.
The document summarizes key concepts about magnetostatic fields and forces on current-carrying conductors and charges in magnetic fields. It describes the Lorentz force equation and explains that the net force on a closed current loop in a uniform magnetic field is zero. It also provides formulas to calculate the magnetic field and force between two parallel current-carrying conductors or between two filamentary current elements. Sample problems demonstrate applying these concepts to calculate forces in various conductor configurations.
The document discusses power system protection. It defines the objectives of power system protection as detecting and isolating faults instantaneously while minimizing the number of circuits isolated and restoring the system quickly. It also discusses criteria for proper protection systems, including reliability, selectivity, speed of operation, and discrimination. Detection methods like current transformers and potential transformers are explained. Common protection relays like electromagnetic attraction, balance beam, and electromagnetic induction types are also summarized.
The document proposes a novel governor controller for a hydro-power plant. It presents simulation results comparing the performance of a PI controller, PID controller, and the proposed controller. The proposed controller had better performance measures like gain margin, phase margin, settling time, overshoot, and bandwidth compared to the PI and PID controllers across different hydraulic turbine models, demonstrating its effectiveness.
This document discusses finite state machines (FSMs) and provides several examples of FSM applications and designs, including:
1. Designing an FSM to control traffic lights at an intersection with cars and pedestrians. The FSM uses states like Red, Yellow, Green to safely coordinate the lights.
2. Other examples of simple FSMs include light switches, watches, vending machines, and computer interfaces. Arithmetic operations like addition can also be performed using FSMs for fixed-size binary numbers.
3. The document discusses various FSM models like deterministic finite automata (DFAs), non-deterministic finite automata (NFAs), and transducers. It provides definitions and explains how these models accept
The document discusses phase-locked loops (PLLs), including what they are, how they are modeled and operate, properties of PLLs, and applications. A PLL is a negative feedback system that automatically adjusts the frequency and phase of a control signal to match a reference signal. It consists of a phase detector, loop filter, and voltage-controlled oscillator. The document provides examples of modeling and simulating a PLL using Simulink. It also summarizes tests of a PLL design under different conditions and discusses other applications of PLLs beyond frequency demodulation.
This document discusses sequential circuits and flip flops. It explains that flip flops can store data on the rising or falling edge of a trigger signal, unlike latches which store data based on trigger levels. Different types of flip flops like D, J-K, and T flip flops are described along with their characteristics. Asynchronous inputs allow flip flops to be preset or cleared independently of the clock. Multiple flip flops can be used together to store parallel data, forming the basis of computer memory.
The document discusses the phenomenon of interference of light. It explains the conditions required for interference, including coherent sources, monochromatic light, and a constant path difference. It describes several classic interference experiments, including Young's double slit experiment, Fresnel's bi-prism, Newton's rings, and Michelson's interferometer. It discusses how interference patterns are used to determine properties like wavelength and refractive index.
This document introduces flip-flops, an important building block for sequential circuits. It defines the basic SR latch and investigates its properties. It then introduces clocks and shows how they can synchronize latches to create gated latches. Finally, it develops a more stable clocking technique called dynamic clocks to create flip-flops. The document discusses the unstable behavior of SR latches if inputs change simultaneously and how gated latches and flip-flops avoid this issue. It provides examples of gated SR latches, gated D latches, and positive edge-triggered D flip-flops.
The document discusses several topics related to digital logic design including:
1. Designing a synchronous counter circuit using a 7-segment display.
2. Using a frequency divider to generate clock signals for updating the counter and display.
3. Implementing a timer delay circuit using a counter and DIP switches to set the maximum value.
4. Designing a PLC counter circuit with an LED display to count input pulses from a switch.
The Ring programming language version 1.5.2 book - Part 153 of 181Mahmoud Samir Fayed
The document contains function signatures for OpenGL graphics library functions. There are over 100 functions listed, including functions for drawing, textures, shaders, buffers and more. The functions take parameters like enums and pointers to control graphics processing and rendering.
The Ring programming language version 1.5.2 book - Part 144 of 181Mahmoud Samir Fayed
This document lists over 100 OpenGL functions for operations like mapping grids, setting materials, matrix manipulation, texture coordinate specification, raster positioning, and more. It provides documentation for OpenGL release 1.5.2.
The Ring programming language version 1.5.3 book - Part 161 of 194Mahmoud Samir Fayed
This document contains summaries of OpenGL functions for drawing, rendering, and manipulating graphics. It lists over 150 functions and their parameters, including functions for drawing primitives, setting material properties, texture mapping, lighting, blending, and more. The functions allow control over graphics processing and shading at a low level.
The Ring programming language version 1.7 book - Part 187 of 196Mahmoud Samir Fayed
This document contains a list of over 200 OpenGL API functions and their documentation. It includes functions for drawing, textures, shaders, buffers and more. Each function is listed along with its parameters and return type. The document provides a comprehensive reference to the OpenGL API.
The Ring programming language version 1.5.1 book - Part 157 of 180 Mahmoud Samir Fayed
This document lists over 100 OpenGL functions for querying and retrieving information about the current OpenGL state, including functions for getting parameter values, error codes, texture properties, and more. The functions allow reading data like material properties, texture properties, light values, and pixel values from the OpenGL pipeline.
Robust adaptive integral backstepping control and its implementation onShubhobrata Rudra
The document presents a robust adaptive integral backstepping control scheme for motion control systems. It describes the state model of the system and control objective of tracking a reference signal. An integral backstepping control design is developed using error variables and a control Lyapunov function. An adaptation scheme estimates parameter variations using a parameter update law. To improve robustness, a continuous switching function is used to prevent abnormal variation of the adaptation rates. Simulation results show the proposed robust adaptive controller has better tracking performance and reduces parameter estimation error compared to a standard adaptive controller.
1) Schrödinger's equation for electrons and Maxwell's equations for photons describe wave-like behavior and have similar forms.
2) Both equations can be used to model reflection and transmission of waves at interfaces between different media, analogous to electrons encountering energy barriers or photons encountering changes in refractive index.
3) Simple examples like particles or light in a 1D box show that both systems exhibit quantization of energy levels and discrete frequencies according to the boundary conditions.
This document discusses sequential circuits and finite state machines. It covers representing and analyzing state through equations, tables and diagrams. State can be stored in flip flops and circuits analyzed by deriving the state transition and output functions. There are two types of state machines - Mealy machines have outputs dependent on inputs and state, while Moore machines only depend on state.
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document provides an overview of electrostatics and electric fields. It discusses frictional electricity, properties of electric charges, Coulomb's law, units of charge, and continuous charge distributions. It also covers electric fields, electric field intensity due to point charges, the superposition principle, electric field lines, electric dipoles, and properties of electric field lines. The key topics covered in 3 sentences or less are: Electrostatic forces arise from the transfer of electrons when two materials are rubbed together. Coulomb's law describes the electrostatic force between point charges, which depends on the product of the charges and inversely on the square of the distance between them. Electric field lines represent the direction and strength of the electric field and eman
This document discusses Infinite Impulse Response (IIR) filters. IIR filters are more computationally efficient than FIR filters as they require fewer coefficients due to using feedback. The document covers IIR filter concepts, properties, design procedures including specification, coefficient calculation, structure selection, and implementation. It also provides examples of coefficient calculation methods like pole-zero placement and the bilinear transform method for converting analog filters to digital IIR filters.
Comparison Of Dengue Cases Between Chosen District In Selangor By Using Fouri...Mohd Paub
compare dengue cases in shah alam, gombak and klang which recorded highest dengue cases every year by refer to trend, harmonic function and graph plotted on Maple.
The document summarizes key concepts about magnetostatic fields and forces on current-carrying conductors and charges in magnetic fields. It describes the Lorentz force equation and explains that the net force on a closed current loop in a uniform magnetic field is zero. It also provides formulas to calculate the magnetic field and force between two parallel current-carrying conductors or between two filamentary current elements. Sample problems demonstrate applying these concepts to calculate forces in various conductor configurations.
The document discusses power system protection. It defines the objectives of power system protection as detecting and isolating faults instantaneously while minimizing the number of circuits isolated and restoring the system quickly. It also discusses criteria for proper protection systems, including reliability, selectivity, speed of operation, and discrimination. Detection methods like current transformers and potential transformers are explained. Common protection relays like electromagnetic attraction, balance beam, and electromagnetic induction types are also summarized.
The document proposes a novel governor controller for a hydro-power plant. It presents simulation results comparing the performance of a PI controller, PID controller, and the proposed controller. The proposed controller had better performance measures like gain margin, phase margin, settling time, overshoot, and bandwidth compared to the PI and PID controllers across different hydraulic turbine models, demonstrating its effectiveness.
This document discusses finite state machines (FSMs) and provides several examples of FSM applications and designs, including:
1. Designing an FSM to control traffic lights at an intersection with cars and pedestrians. The FSM uses states like Red, Yellow, Green to safely coordinate the lights.
2. Other examples of simple FSMs include light switches, watches, vending machines, and computer interfaces. Arithmetic operations like addition can also be performed using FSMs for fixed-size binary numbers.
3. The document discusses various FSM models like deterministic finite automata (DFAs), non-deterministic finite automata (NFAs), and transducers. It provides definitions and explains how these models accept
The document discusses phase-locked loops (PLLs), including what they are, how they are modeled and operate, properties of PLLs, and applications. A PLL is a negative feedback system that automatically adjusts the frequency and phase of a control signal to match a reference signal. It consists of a phase detector, loop filter, and voltage-controlled oscillator. The document provides examples of modeling and simulating a PLL using Simulink. It also summarizes tests of a PLL design under different conditions and discusses other applications of PLLs beyond frequency demodulation.
This document discusses sequential circuits and flip flops. It explains that flip flops can store data on the rising or falling edge of a trigger signal, unlike latches which store data based on trigger levels. Different types of flip flops like D, J-K, and T flip flops are described along with their characteristics. Asynchronous inputs allow flip flops to be preset or cleared independently of the clock. Multiple flip flops can be used together to store parallel data, forming the basis of computer memory.
The document discusses the phenomenon of interference of light. It explains the conditions required for interference, including coherent sources, monochromatic light, and a constant path difference. It describes several classic interference experiments, including Young's double slit experiment, Fresnel's bi-prism, Newton's rings, and Michelson's interferometer. It discusses how interference patterns are used to determine properties like wavelength and refractive index.
This document introduces flip-flops, an important building block for sequential circuits. It defines the basic SR latch and investigates its properties. It then introduces clocks and shows how they can synchronize latches to create gated latches. Finally, it develops a more stable clocking technique called dynamic clocks to create flip-flops. The document discusses the unstable behavior of SR latches if inputs change simultaneously and how gated latches and flip-flops avoid this issue. It provides examples of gated SR latches, gated D latches, and positive edge-triggered D flip-flops.
This lecture discusses properties of digital filters. It defines FIR and IIR filters and relates their power responses to pole-zero diagrams. A 2nd-order resonance's bandwidth is related to pole positions. Bandwidth expansion transforms filters by moving poles inward. Reversing coefficients conjugates a filter's frequency response. Expressions are derived for logarithmic frequency responses and their averages.
This document provides an overview of flip-flops, which are digital circuits that function as memory elements. It describes the objectives and specific learning outcomes of understanding various types of flip-flops including JK, D, and T flip-flops. The key aspects covered include their symbols, truth tables, logic circuits, and applications in digital systems. Edge-triggered and level-triggered operations are also compared.
11 x1 t08 03 angle between two lines (2012)Nigel Simmons
The document discusses how to find the acute angle between two lines with given slopes. It provides the formula tan(α) = (m1 - m2) / (1 + m1m2) where m1 and m2 are the slopes of the two lines, and works through several examples applying the formula to find the acute angle between lines with given slope equations.
11X1 T07 03 angle between two lines (2011)Nigel Simmons
The document shows how to find the acute angle between two lines given their slopes. It provides examples that demonstrate using the formula tan(α) = (m1 - m2) / (1 + m1m2) to calculate the angle. For lines with slopes m1 and m2, this formula can be used to find the acute angle between them.
Similar to Stabilization of Furuta Pendulum: A Backstepping Based Hierarchical Sliding Mode Approach with Disturbance Estimation (20)
Building RAG with self-deployed Milvus vector database and Snowpark Container...Zilliz
This talk will give hands-on advice on building RAG applications with an open-source Milvus database deployed as a docker container. We will also introduce the integration of Milvus with Snowpark Container Services.
Climate Impact of Software Testing at Nordic Testing DaysKari Kakkonen
My slides at Nordic Testing Days 6.6.2024
Climate impact / sustainability of software testing discussed on the talk. ICT and testing must carry their part of global responsibility to help with the climat warming. We can minimize the carbon footprint but we can also have a carbon handprint, a positive impact on the climate. Quality characteristics can be added with sustainability, and then measured continuously. Test environments can be used less, and in smaller scale and on demand. Test techniques can be used in optimizing or minimizing number of tests. Test automation can be used to speed up testing.
Introducing Milvus Lite: Easy-to-Install, Easy-to-Use vector database for you...Zilliz
Join us to introduce Milvus Lite, a vector database that can run on notebooks and laptops, share the same API with Milvus, and integrate with every popular GenAI framework. This webinar is perfect for developers seeking easy-to-use, well-integrated vector databases for their GenAI apps.
Enchancing adoption of Open Source Libraries. A case study on Albumentations.AIVladimir Iglovikov, Ph.D.
Presented by Vladimir Iglovikov:
- https://www.linkedin.com/in/iglovikov/
- https://x.com/viglovikov
- https://www.instagram.com/ternaus/
This presentation delves into the journey of Albumentations.ai, a highly successful open-source library for data augmentation.
Created out of a necessity for superior performance in Kaggle competitions, Albumentations has grown to become a widely used tool among data scientists and machine learning practitioners.
This case study covers various aspects, including:
People: The contributors and community that have supported Albumentations.
Metrics: The success indicators such as downloads, daily active users, GitHub stars, and financial contributions.
Challenges: The hurdles in monetizing open-source projects and measuring user engagement.
Development Practices: Best practices for creating, maintaining, and scaling open-source libraries, including code hygiene, CI/CD, and fast iteration.
Community Building: Strategies for making adoption easy, iterating quickly, and fostering a vibrant, engaged community.
Marketing: Both online and offline marketing tactics, focusing on real, impactful interactions and collaborations.
Mental Health: Maintaining balance and not feeling pressured by user demands.
Key insights include the importance of automation, making the adoption process seamless, and leveraging offline interactions for marketing. The presentation also emphasizes the need for continuous small improvements and building a friendly, inclusive community that contributes to the project's growth.
Vladimir Iglovikov brings his extensive experience as a Kaggle Grandmaster, ex-Staff ML Engineer at Lyft, sharing valuable lessons and practical advice for anyone looking to enhance the adoption of their open-source projects.
Explore more about Albumentations and join the community at:
GitHub: https://github.com/albumentations-team/albumentations
Website: https://albumentations.ai/
LinkedIn: https://www.linkedin.com/company/100504475
Twitter: https://x.com/albumentations
Sudheer Mechineni, Head of Application Frameworks, Standard Chartered Bank
Discover how Standard Chartered Bank harnessed the power of Neo4j to transform complex data access challenges into a dynamic, scalable graph database solution. This keynote will cover their journey from initial adoption to deploying a fully automated, enterprise-grade causal cluster, highlighting key strategies for modelling organisational changes and ensuring robust disaster recovery. Learn how these innovations have not only enhanced Standard Chartered Bank’s data infrastructure but also positioned them as pioneers in the banking sector’s adoption of graph technology.
Unlocking Productivity: Leveraging the Potential of Copilot in Microsoft 365, a presentation by Christoforos Vlachos, Senior Solutions Manager – Modern Workplace, Uni Systems
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
In the rapidly evolving landscape of technologies, XML continues to play a vital role in structuring, storing, and transporting data across diverse systems. The recent advancements in artificial intelligence (AI) present new methodologies for enhancing XML development workflows, introducing efficiency, automation, and intelligent capabilities. This presentation will outline the scope and perspective of utilizing AI in XML development. The potential benefits and the possible pitfalls will be highlighted, providing a balanced view of the subject.
We will explore the capabilities of AI in understanding XML markup languages and autonomously creating structured XML content. Additionally, we will examine the capacity of AI to enrich plain text with appropriate XML markup. Practical examples and methodological guidelines will be provided to elucidate how AI can be effectively prompted to interpret and generate accurate XML markup.
Further emphasis will be placed on the role of AI in developing XSLT, or schemas such as XSD and Schematron. We will address the techniques and strategies adopted to create prompts for generating code, explaining code, or refactoring the code, and the results achieved.
The discussion will extend to how AI can be used to transform XML content. In particular, the focus will be on the use of AI XPath extension functions in XSLT, Schematron, Schematron Quick Fixes, or for XML content refactoring.
The presentation aims to deliver a comprehensive overview of AI usage in XML development, providing attendees with the necessary knowledge to make informed decisions. Whether you’re at the early stages of adopting AI or considering integrating it in advanced XML development, this presentation will cover all levels of expertise.
By highlighting the potential advantages and challenges of integrating AI with XML development tools and languages, the presentation seeks to inspire thoughtful conversation around the future of XML development. We’ll not only delve into the technical aspects of AI-powered XML development but also discuss practical implications and possible future directions.
UiPath Test Automation using UiPath Test Suite series, part 6DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 6. In this session, we will cover Test Automation with generative AI and Open AI.
UiPath Test Automation with generative AI and Open AI webinar offers an in-depth exploration of leveraging cutting-edge technologies for test automation within the UiPath platform. Attendees will delve into the integration of generative AI, a test automation solution, with Open AI advanced natural language processing capabilities.
Throughout the session, participants will discover how this synergy empowers testers to automate repetitive tasks, enhance testing accuracy, and expedite the software testing life cycle. Topics covered include the seamless integration process, practical use cases, and the benefits of harnessing AI-driven automation for UiPath testing initiatives. By attending this webinar, testers, and automation professionals can gain valuable insights into harnessing the power of AI to optimize their test automation workflows within the UiPath ecosystem, ultimately driving efficiency and quality in software development processes.
What will you get from this session?
1. Insights into integrating generative AI.
2. Understanding how this integration enhances test automation within the UiPath platform
3. Practical demonstrations
4. Exploration of real-world use cases illustrating the benefits of AI-driven test automation for UiPath
Topics covered:
What is generative AI
Test Automation with generative AI and Open AI.
UiPath integration with generative AI
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
For the full video of this presentation, please visit: https://www.edge-ai-vision.com/2024/06/building-and-scaling-ai-applications-with-the-nx-ai-manager-a-presentation-from-network-optix/
Robin van Emden, Senior Director of Data Science at Network Optix, presents the “Building and Scaling AI Applications with the Nx AI Manager,” tutorial at the May 2024 Embedded Vision Summit.
In this presentation, van Emden covers the basics of scaling edge AI solutions using the Nx tool kit. He emphasizes the process of developing AI models and deploying them globally. He also showcases the conversion of AI models and the creation of effective edge AI pipelines, with a focus on pre-processing, model conversion, selecting the appropriate inference engine for the target hardware and post-processing.
van Emden shows how Nx can simplify the developer’s life and facilitate a rapid transition from concept to production-ready applications.He provides valuable insights into developing scalable and efficient edge AI solutions, with a strong focus on practical implementation.
Unlock the Future of Search with MongoDB Atlas_ Vector Search Unleashed.pdfMalak Abu Hammad
Discover how MongoDB Atlas and vector search technology can revolutionize your application's search capabilities. This comprehensive presentation covers:
* What is Vector Search?
* Importance and benefits of vector search
* Practical use cases across various industries
* Step-by-step implementation guide
* Live demos with code snippets
* Enhancing LLM capabilities with vector search
* Best practices and optimization strategies
Perfect for developers, AI enthusiasts, and tech leaders. Learn how to leverage MongoDB Atlas to deliver highly relevant, context-aware search results, transforming your data retrieval process. Stay ahead in tech innovation and maximize the potential of your applications.
#MongoDB #VectorSearch #AI #SemanticSearch #TechInnovation #DataScience #LLM #MachineLearning #SearchTechnology
Maruthi Prithivirajan, Head of ASEAN & IN Solution Architecture, Neo4j
Get an inside look at the latest Neo4j innovations that enable relationship-driven intelligence at scale. Learn more about the newest cloud integrations and product enhancements that make Neo4j an essential choice for developers building apps with interconnected data and generative AI.
GraphSummit Singapore | The Future of Agility: Supercharging Digital Transfor...Neo4j
Leonard Jayamohan, Partner & Generative AI Lead, Deloitte
This keynote will reveal how Deloitte leverages Neo4j’s graph power for groundbreaking digital twin solutions, achieving a staggering 100x performance boost. Discover the essential role knowledge graphs play in successful generative AI implementations. Plus, get an exclusive look at an innovative Neo4j + Generative AI solution Deloitte is developing in-house.
GraphSummit Singapore | The Art of the Possible with Graph - Q2 2024Neo4j
Neha Bajwa, Vice President of Product Marketing, Neo4j
Join us as we explore breakthrough innovations enabled by interconnected data and AI. Discover firsthand how organizations use relationships in data to uncover contextual insights and solve our most pressing challenges – from optimizing supply chains, detecting fraud, and improving customer experiences to accelerating drug discoveries.
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
In his public lecture, Christian Timmerer provides insights into the fascinating history of video streaming, starting from its humble beginnings before YouTube to the groundbreaking technologies that now dominate platforms like Netflix and ORF ON. Timmerer also presents provocative contributions of his own that have significantly influenced the industry. He concludes by looking at future challenges and invites the audience to join in a discussion.
Stabilization of Furuta Pendulum: A Backstepping Based Hierarchical Sliding Mode Approach with Disturbance Estimation
1. Stabilization of Furuta Pendulum: A Backstepping
Based Hierarchical Sliding Mode Approach with
Disturbance Estimation
by
Shubhobrata Rudra
Inspire Research Fellow
Electrical Engineering Department
Jadavpur University
Kolkata
2. Content
A Few Words on Rotating Pendulum
Adaptive Backstepping Sliding Mode Control
Hierarchical Sliding Mode Control
Control Law for Rotating Pendulum
Simulation Results
Conclusions
3. A Few Words on Rotating Pendulum
φ
u
Degree of Freedom: 2
θ No of Control Input: 1
State Model of Rotating Pendulum System
q1 p1
q1=θ
2
p1 k 2 tan q 2 k 3 sin q 2 p 1
k 1 u / cos q 2 q2=φ
q2 p2
p2 u
4. Contd.
Standard State Model of Underactuated System
x1 x2
x2 f1 X b1 X u d1 t
x3 x4
x4 f2 X b2 X u d2 t
x1 , x2 , x , x4
3
2
f1 X k 2 tan q 2 k 3 sin q 2 p1
f2 X 0
g1 X k 1 sec q 2
g2 X 1
5. Adaptive Backstepping Sliding Mode Control
Define 1st Error variable & its dynamic as:
e1 x1 x1d &
e1 x 2
x1d
Stabilizing Function:
1
c1 e1 1 1
Control Lyapunov Function (CLF) and its derivative
1 2 1 2
V1 1
e1
2 2
Define 2nd error variable e2 and its derivative as:
e2 x2
x1 d and
e2 f1 X b1 X u d1 t 1 d
x 1
1
Define first-layer sliding surface s1 and new CLF as
1
s1 e
1 1
e2 and V2 V1
2
s1
2
6. Contd.
Derivative of CLF:
V2
2
e1 e 2 c1 e1 s1 1
e2 c1 e1 1 1
f1 X b1 X u d1 t 1 d
x 1
Control Input:
1
u1 b1 X 1
e2 c1 e1 1 1
f1 X d 1 M tanh s1 1 d
x 1 h1 s1 1
tanh s1
Augmented Lyapunov Function:
1 2
V3 V2 d 1M
and d 1 M d1M d 1M
2 1
Adaptation Law:
d1M s
1 1
7. Hierarchical Sliding Mode Control
Control Inputs:
1
u1 b1 X 1
e2 c1 e1 1 1
f1 X d 1 M tanh s1 1 d
x 1 h1 s1 1
tanh s1
1
u2 b2 X 1
e4 c 2 e3 2 2
f2 X d 2 M tanh s 2 2 d
x 2 h2 s 2 2
tanh s 2
Adaptation Laws: d1M s
1 1 and d 2M 2
s2
Composite control law: u u1 u2 u sw
Define 2nd Layer sliding surface: S s
1 1 2
s2
b X u2 b2 X u1 tanh( S ) K .S
Coupling Law: u sw
1 1 2
b
1 1
X 2
b2 X
b X u1 b2 X u 2 tanh( S ) KS
Composite Control Law: u
1 1 2
b
1 1
X 2
b2 X
8. Control Law for Rotating Pendulum System .
Expression of Control Input for Translational Motion
1
u1 b1 X 1
e2 c1 e1 1 1
f1 X d 1M 1 d
x 1 h1 s1 1
tanh s1
Expression of Control Input for Rotational Motion
1
u2 b2 X 2
e4 c 2 e3 2 2
f2 X d 2M 3 d
x 2 h2 s 2 2
tanh s 2
Coupling Control Law:
b1 X u 2 b2 X u1 tanh( S ) K .S
u sw
b1 X b2 X
Composite Control Law: k1
u1 u2 tanh( S ) K .S
cos q 2
u
k1
1
cos q 2
13. Conclusions
Another new method of addressing the stabilization problem for
underactuated system.
Can easily be extended to address the stabilization problem of other two
degree of freedom underactuated mechanical systems.
Chattering problem can be reduced with the introduction of second
order sliding mode control.
Proposed algorithm is applicable for only two-degree of freedom single
input systems, research can be pursued to make the control algorithm
more generalized such that it will able to address the control problem of
any arbitrary underactuated system.
14. Reference
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(Italy) August 28 - September 2, 2011.
Hera, P.M., Shiriaev, A.S., Freidovich, L.B., and Mettin, U. ‘Orbital Stabilization of a Pre-
planned Periodic Motion to Swing up the Furuta Pendulum: Theory and Experiments’, in
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12–17 May, IEEE Press, Kobe, Japan, pp. 2971–2976, 2009.
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F. J. Lin, P. H. Shen, and S. P. Hsu, “Adaptive backstepping sliding mode control for linear
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194, 2002.
S. Sankaranarayanan and F. Khorrami, “Adaptive variable structure control and applications to
friction compensation,” in Proc. IEEE CDC Conf. Rec., 1997, pp. 4159–4164.
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cranes,” Acta Automatica Sinica, vol. 30, no. 5, pp. 784–788, 2004.
H. H. Lee, Y. Liang, and S. Del, “A sliding-mode antiswing trajectory control for overhead