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In this paper, a novel disturbance-observer-based approximate dynamic inversion (ADI) approach is developed for pure-feedback nonaffine-in-control nonlinear systems (PFNNSs) in the presence of both high-order mismatched disturbances and actuator saturation. Finite-time disturbance observers (FTDOs) are utilized to estimate the disturbances and their derivatives. Then, we rebuild the system with the outputs of FTDOs. Thereafter, ADI is employed to derive the desired virtual and actual control of the nominal system, where no disturbances and saturation are presented. Furthermore, an augmented intermediate subsystem is constructed for the reduced slow subsystem to compensate for the difference between inputs with and without saturation by approximating its inversion. The stability of the closed-loop system is studied using Tikhonov's theorem. The proposed method is applied to a numerical example and a one-link robotic system with a brush DC motor. The simulation results demonstrate the validity of the presented approach. INDEX TERMS High-order mismatched disturbances, actuator saturation, finite-time disturbance observer, approximate dynamic inversion, singular perturbation theory.

Summary In this paper, a novel redesign method is developed for a class of disturbance‐rejection algorithms so that they can be applied to pure‐feedback nonaffine‐in‐control nonlinear systems with matched and mismatched disturbances. First, a series of augmented dynamical equations, which evolve faster than the original system, are constructed to establish a boundary‐layer subsystem to derive the virtual and actual inputs for the nominal system. Then, the composite interconnected system is studied in the standard singular perturbed form. In the slow timescale, the reduced slow subsystem (RSS) is transformed into the chain of integrators form in the error coordinate, for which the existing antidisturbance methods can be employed. The tracking performance of the closed‐loop system is approximated by RSS under singular perturbation theory. The proposed redesign method is adopted to three existing disturbance‐rejection algorithms for a pure‐feedback nonaffine‐in‐control numerical example in the presence of matched and mismatched disturbances. The effectiveness is demonstrated by simulation experimental results.

The converter steel slag chemical and mineral components in China’s main steel plants have been analysed in the present paper. The electronic microscope, energy spectrum analysis, X-ray diffraction analysis confirmed the main mineral compositions in the converter slag. Converter slag of different components were grounded to obtain a powder with specific surface area over 400m2/kg, making them to take place some part of the cement in the concrete as the admixture and carry out the standard tests. The results indicate that the converter slag can be used as cementitious materials for construction. Furthermore, physical mechanic and durability tests on the concrete that certain amount of cement be substituted by converter steel slag powder from different steel plants are carried out, the results show that the concrete with partial substitution of steel slag powder has the advantages of higher later period strength, better frost resistance, good wear resistance and lower hydration heat, etc. This study can be used as the technical basis for “Steel Slag Powder Used For Cement And Concrete”, “Steel Slag Portland Cement”, “Low Heat Portland Steel Slag Cement”, “Steel Slag Road Cement” in China, as well as a driving force to the works of steel slag utilization with high-value addition, circular economy, energy conservation and discharge reduction in the iron and steel industry

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With the rapid development of synthetic biology, a variety of biopolymers can be obtained by recombinant microorganisms. Polyhydroxyalkanoates (PHA) is one of the most popular one with promising material properties, such as biodegradability and biocompatibility against the petrol-based plastics. This study reviews the recent studies focusing on the microbial synthesis of PHA, including chassis engineering, pathways engineering for various substrates utilization and PHA monomer synthesis, and PHA synthase modification. In particular, advances in metabolic engineering of dominant workhorses, for example Halomonas, Ralstonia eutropha, Escherichia coli and Pseudomonas, with outstanding PHA accumulation capability, were summarized and discussed, providing a full landscape of diverse PHA biosynthesis. Meanwhile, we also introduced the recent efforts focusing on structural analysis and mutagenesis of PHA synthase, which significantly determines the polymerization activity of varied monomer structures and PHA molecular weight. Besides, perspectives and solutions were thus proposed for achieving scale-up PHA of low cost with customized material property in the coming future.

There are abundant granite reserves in China, but the adhesion between granite and asphalt is poor, and there are problems such as insufficient water stability, which seriously restrict the application and promotion of granite in asphalt pavement. In order to improve the adhesion between granite and asphalt, as well as the water stability of asphalt mixture, amines and polymers were selected as anti-stripping agents. First, silane coupling agent modified asphalt (SCAMA), rock asphalt modified asphalt (RMA), SBS modified asphalt (SBS), and double rock composite modified asphalt (SCA&RMA) were produced; the modification effect of different anti-stripping modified asphalts was evaluated. Then, the adhesion of different types of asphalts and granite aggregates before and after aging was evaluated by time-delayed water immersion method. Finally, AC-10 and AC-16 granite–asphalt mixtures were designed, through indoor performance test and 1/3 scale accelerated loading test, evaluating the improvement effect of granite–asphalt mixture on pavement performance. The results show that the asphalt modified by amine or organic polymers anti-stripping agent could significantly improve the adhesion between granite and asphalt. The Hamburg wheel-tracking test failed to fully reflect the whole process of high-temperature rutting failure. When evaluating the high-temperature performance and water stability of asphalt mixtures, it is recommended that the evaluation method should cover the whole failure stage of asphalt mixtures; considering the coupling effect of water and high temperature, the order of water stability of granite–asphalt mixture is proposed as follows: SCA&RMA > RMA > SBS > SCAMA > 70-A, and SCA&RMA has the best modification effect.