Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

The transient flow analyzing by the frequency domain method (FDM) is computationally much faster than the method of characteristic (MOC) in the time domain. FDM needs no discretization in time and space, but requires the linearization of governing equations and boundary conditions. Hence, the FDM is only valid for small perturbations in which the system’s hydraulics is almost linear. In this st...

in this paper, the reduced dierential transform method is investigated fora nonlinear partial dierential equation modeling nematic liquid crystals, itis called the hunter-saxton equation. the main advantage of this methodis that it can be applied directly to nonlinear dierential equations withoutrequiring linearization, discretization, or perturbation. it is a semi analytical-numerical metho...

in this paper, we apply the laplace decomposition method to obtain a series solutions of the burgers-huxley and burgers-fisher equations. the technique is based on the application of laplace transform to nonlinear partial differential equations. the method does not need linearization, weak nonlinearity assumptions or perturbation theory and the nonlinear terms can be easily handled by using the...

Arguments about correctness of a concurrent data structure are typically carried out by using the notion of linearizability and specifying the linearization points of the data structure’s procedures. Such arguments are often cumbersome as the linearization points’ position in time can be dynamic (depend on the interference, run-time values and events from the past, or even future), non-local (a...