Addition is the key operation in digital systems, and floating-point adder (FPA) is frequently used for real number addition because floating-point representation provides a large dynamic range. Most of the existing FPA designs are synchronous and their activities are coordinated by clock signal(s). However, technology scaling has imposed several challenges like clock skew, clock distribution, etc., on synchronous design due to presence of clock signal(s). Asynchronous design is an alternate approach to eliminate these challenges imposed by the clock, as it replaces the global clock with handshaking signals and utilizes a communication protocol to indicate the completion of activities. Bundled data and dual-rail coding are the most common communication protocols used in asynchronous design. All existing asynchronous floating-point adder (AFPA) designs utilize dual-rail coding for completion detection, as it allows the circuit to acknowledge as soon as the computation is done; while bundled data and synchronous designs utilizing single-rail encoding will have to wait for the worst-case delay irrespective of the actual completion time. This paper reviews all the existing AFPA designs and examines the effects of the selected communication protocol on its performance. It also discusses the probable outcome of AFPA designed using protocols other than dual-rail coding.
In this paper a novel robust fractional model predictive controller is designed for under-actuated robotic system. The considered under-actuated robotic system is an inverted pendulum on a cart system with two degree of freedom and a control input. The system is modeled to its fractional equivalent model and approximated from the Oustaloup-Recursive-Approximation. From the approximated model a best model is chosen and fractional model predictive controller is designed. Robustness of the fractional model predictive controller is checked to the variations of the system parameters of inverted pendulum on a cart system.
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