Current hot issue of networked control systems(NCSs) remains how to optimize the signal transmission in imperfect links, especially, data missing(between the controller and actuator) is a potential source of poor performance of the control system. Here, stochastic variables satisfying markov jump process are used to describe the fading channel. Considering the uncertainty factor of plant, a pra...

background and purpose: the goal of this study is application of the proportional hazards model (ph) and accelerated failure time model (aft), with consideration weibull distribution, to determine the level of effectiveness of the factors affecting on the level of disease-free survival (dfs) of the patients with breast cancer. materials and methods: based on the retrospective descriptive studie...

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Model-Free Control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in control systems order provide enhanced performance level. The design of MFC based on an ultra-local model, which approximation the dynamics controlled system for short period time. This structure also involves model-based robust control, guarantees accurate tracking closed-loop system. In this p...

ARX models, is a suitable model class for linear control implementations. The parameter estimation problem is convex and easily handed for both SISO and MIMO system in contrast to ARMAX or State Space model. Model predictive control implementations insuring offset-free tracking are discussed and related. Special attention is given to an adaptive disturbance estimation method with time-varying f...

in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...