this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...

Model-Driven Security (Mds) is a specialized Model-Driven Engineering (Mde) approach for supporting the development of secure systems. Model-Driven Security aims at improving the productivity of the development process and quality of the resulting secure systems, with models as the main artifact. Among the variety of models that have been studied in a Model-Driven Security perspective, one can ...

The most difficult aspect of concurrent discrete-event control is the handling of errors. Most present day languages for concurrent control system specification do not provide adequate mechanisms for exception handling, which is a major limitation on their effectiveness. In this paper, a new mechanism for exception handling in concurrently executing discrete-event control processes is treated, ...