This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches...

<p><span lang="EN-US">An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with problems. plays an essential role rehabilitation aid patients, it help them improve their physical condition. This paper proposes hybrid controller regulating robot-assisted that uses proportional integral derivative (PID) com...

The boiler drum process is a nonlinear, complex and multivariable process which includes significant time delay. Therefore, the control on the water level in the drum is not easy and ideal. The first objective of this paper is to model the drum water level referring to 210 MW power unit for Nassiriyah thermal power plant. The second objective is to study the water level controller operation wit...

Gas turbines are increasingly spread throughout the world to provide mechanical and electrical power in consumer and industrial sections. To ensure an accurate control process temperature of gas turbine with no extortionary operator involvement, a proper controller is required. Load frequency control of gas turbine is also regulates the power flow between different areas while holding the frequ...

Educational issues of Proportional, Integral (PI) and Proportional, Integral, and Derivative (PID) type controller design in undergraduate course on control, graduate course on control, advanced control topics are discussed. The main attention is devoted to multi-time-scale control systems where PI PID type controllers designed for nonlinear systems in the presence of plant parameter variations...

The objective of this work is to develop deep theoretical methods that are based on the solution of the integral boundary layer equations for investigating film cooling in liquid rocket engine. The integral model assumes that heat is transferred from hot free stream gas to the liquid film both by convection and radiation. The mass is transferred to the free srteam gas by the well-known blowing ...