A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in [1-9]. In this paper, we will describe one matching condition and an approach for finding all control laws that fit the condition. After an analysis of the resulting control laws for linear systems, we will present...

the aim of this research work was to investigate on the ball filling estimation of miduk semi-autogenous (sag) mill via an utilized method. miduk copper concentrator is located in kerman province, iran, and its size reduction stage includes one gyratory crusher which feeds one sag mill (9.75 dia.(m)*3.88 length(m)) following two parallel ball mills (5dia.(m)*7lenght(m)). after sag mill, a tromm...

This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is found explicitly. Copyright c © 2000 IFAC

In this paper, we study the regulation problem for the ball and beam system. Since the system does not have well deened relative degree, exact input-output lin-earization method may fail. The approximate lineariza-tion approach can only be used in a limited region. By representing the system as a fuzzy dynamic model, we give a global control law which is the weighted average of two local stabil...

We use a method of integration by composition to solve the diierential equations of the ball and beam together with the equations of its nonlinear controller based on constructive Lyapunov techniques.

This paper mainly investigates the control for the ball and beam system. Combined with the conventional dynamic surface control, an adaptive fuzzy scheme is proposed for the equilibrium balance of the ball. First, with the proper defined tracking errors of state variables, an integrating of tracking errors is considered as the fuzzy input. The parameters of fuzzy controller can be optimized by ...

Purpose: This study investigates the effect of two different attachment size in the single implant retained over denture on the muscle activity. Materials and Methods: Twenty completely edentulous patients were selected for the study with normal ridge size and divided into two groups. In all patients single implant was placed at the area of midline after cone beam taken. Three months later low ...