I. IntroductionThe internal co mbustion (IC) engine is designed to produce power fro m the energy that is contained in its fuel. More specifically, its fuel contains chemical energy and together with air, this mixtu re is burned to output mechanical power. There are various types of fuels which can be used in IC engines namely; petroleum, d iesel, bio-fuels, and hydrogen [1]. Modeling of an entire IC engine is a very impo rtant and complicated process because engines are nonlinear, multi inputs-multi outputs (MIMO) and time variant.Controller design is the main parts in this paper as well as the majo r objectives in the controller design are stability and robustness. One of the significant challenges in control algorith ms is design a linear controller fo r nonlinear systems. When system works with various parameters and hard nonlinearit ies this technique is very useful in order to be implemented easily but it has some limitations such as working near the system operating point [9]. So me of IC engines which work in industrial processes are controlled by linear controllers, but linear controller design for IC engines is extremely difficu lt [1][2][3][4][5][6]. Co mputed torque controller (CTC) is a powerfu l nonlinear controller which it widely used in control of IC engine. It is based on feedback linearization and computes the required arm torques using the nonlinear feedback control law. This controller works very well when all dynamic and physical parameters are known but when the IC engine has variation in dynamic parameters, in this situation the controller has no acceptable performance [7][8][9][10][11][12][13][14]. In practice, most of physical systems (e.g., IC engine) parameters are unknown o r t ime variant, therefore, online tuneable gain co mputed torque controller used to compensate dynamic equation of IC engine [1,6]. Sliding mode controller (SMC) is one of the influential nonlinear controllers in certain and uncertain systems which are used to solved stability and robustness [10]. The main reason for this popularity is the attractive properties which SMCs have, such as good control performance for nonlinear systems, applicability to MIMO systems and well-established design criteria for discrete-time systems. SMC may emp loy unnecessarily large control signals to overcome the parametric uncertainties and difficulty in the calculat ion of what is known as the equivalent control [11][12][13][14][15][16][17]. In various dynamic parameters systems that need to be training online adaptive control methodology is used. Adaptive control methodology can be classified into two main groups, namely, t raditional adaptive method and fuzzy adaptive method [18][19][20][21][22]. Fu zzy adaptive method is used in systems which want to train ing parameters by expert knowledge. Trad itional adaptive method is used in systems which some dynamic parameters are known. In this research in order to solve disturbance rejection and uncertainty dynamic parameter, adaptive method are applied to slid ing mode controller and c...

Abstract-TheTo compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.

The increasing demand for multi-degree-offreedom (DOF) actuators in a number of industries has motivated a flurry of research in the development of non-conventional actuators, spherical motor. This motor is capable of provid ing smooth and isotropic threedimensional motion in a single joint. Not only can the spherical motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. The spherical motor, however, exhib its coupled, nonlinear and very complex dynamics that make the design and implementation of feedback controllers very challenging. The orientationvarying torque generated by the spherical motor also contributes to the challenges in controller design. This paper contributes to the ongoing research effort by exploring alternate methods for nonlinear and robust controlling the motor. The robust sliding mode controller proposed in this paper is used to further demonstrate the appealing features exhibited by the spherical motor. In opposition, sliding mode controller is used in many applications especially to control of highly uncertain systems; it has two significant drawbacks namely; chattering phenomenon and nonlinear equivalent dynamic formu lation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulat ion problem and chattering phenomenon in uncertain system (e.g., spherical motor) can be solved by using artificial intelligence theorem and applied a modified linear controller to switching part of sliding mode controller. Using Lyapunov-type stability arguments, a robust modified linear fuzzy sliding mode controller is designed to achieve this objective. The controller developed in this paper is designed in a robust stabilizing torque is designed for the nominal spherical motor dynamics derived using the constrained Lagrangian formulation. The eventual stability of the controller depends on the torque generating capabilities of the spherical motor.

Design a delay free FPGA-based Proportional-Integral-Derivative (PID)

Abstract

One of the innovations of Islamic Penal Code in 2013 was to accept criminal liability of legal entities. By accepting criminal liability of legal entities, the way to punish them is arisen. As a legal person cannot commit any crime, any punishments are not applicable to them. Accordingly, Article 20 of this Law enumerated a list of penalties applicable to legal persons and it was tried to use penalties in accordance with the legal entities to deal with them. Punishments such as dissolution, confiscation, cash fine, announcement of the judgment, Diyeh, social and economic exclusion; such as a ban on business activities, prohibition of the public invitation to raise capital and ban from drawing business documents listed in Article 20 and Article 14, are a set of punishments which relatively different from usual punishment for individuals. These penalties are relative diversity, but what is objectionable is that the details and conditions of implementation of each of these punishments are not clear. If legislator described the details exactly or provided the condition to require the adoption of The Executive Bylaw of the punishment, it would be better. Given that all the points and issues about penalties for legal persons are not stated in this law as well as ambiguities in the law for a comprehensive definition of legal person, the way to implement main and supplementary punishments, In this study it was tried to evaluate and criticize the legal entities penalties including main and supplementary ones and their grading.

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Control of robotic manipulator is very important in field of robotic, because robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty. Today, robot manipulators used in unknown and unstructured environment which caused to provides sophisticated systems, therefore strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages therefore this research focuses on the design fuzzy sliding mode controller. One of the most important challenging in pure sliding mode controller and sliding mode fuzzy controller is sliding surface slope. This paper focuses on adjusting the sliding surface slope in sliding mode fuzzy controller to have the best performance and reduce the limitation