Control of Cart-Inverted Pendulum System Using Pole Placement

The Cart Inverted Pendulum system has many real life applications like missile launching,balancing systems like human walking,aircraft landing pad in sea etc.Moreover this is a highly unstable and non-linear system and so designing a controller to bring the system to a stable condition is a challenging task.This thesis includes system and hardware description of Inverted Pendulum System,dynamics of the system and its state space model.In this thesis,pole placement methods like two-loop PID and PID+PI have been implemented for Inverted Pendulum System and this control strategies gives stable responses.With the recent devel-opment of LMIs tool,regional pole placement can achieve the goal as well.A regional pole placement controller is also synthesized, where desired specifications are transformed into LMI regions.In present case,a conical sector in the left half plane is taken and the method is implemented. Lastly,a reduced order controller is also designed and its bode magnitude plot is compared with that of the full order controller.The reduced order simplification method has an almost identical frequency response,showing that it can be utilized as well for stabilizing the CIPS

Multinational enterprises, cross-border acquisitions, and government policy

This paper analyzes the optimality of policy specifications used to regulate the acquisition and operation of local firms by multinational enterprises (MNE). We emphasize the consequence of such regulation on the price of the domestic firm in the market for corporate control. We show that it is optimal to impose ceilings on foreign ownership of domestic firms when the government's objective is to maximize domestic shareholder profits. While the optimal ceiling is high enough for the MNE to gain control of the domestic firm, it nevertheless influences the price that the MNE must pay for the domestic firm's shares to the advantage of the domestic shareholders. Restrictions on transfer pricing are either irrelevant or strictly suboptimal. The consequences of alternative specifications of the government's objective function are also analyzed.Acquisition; Control; Multinational Enterprises; Transfer pricing

Time Evolution of Density Parameters for Matter and Dark Energy and their Interaction Term in Brans-Dicke Gravity

In the framework of Brans-Dicke (BD) theory, the first part of the present study determines the time dependence of BD parameter, energy density and equation of state (EoS) parameter of the cosmic fluid in a universe expanding with acceleration, preceded by a phase of deceleration. For this purpose, a scale factor has been chosen such that the deceleration parameter, obtained from it, shows a signature flip with time. Considering the dark energy to be responsible for the entire pressure, the time evolution of energy parameters for matter and dark energy and the EoS parameter for dark energy have been determined. An effective interaction term, between matter and dark energy, has been proposed and calculated. Its negative value at the present time indicates conversion of matter into dark energy. Using this term, the time dependence of the rates of change of matter and dark energy has been determined. It is found that the nature of dependence of the scalar field upon the scale factor plays a very important role in governing the time evolution of the cosmological quantities studied here. The present study provides us with a simple way to determine the time evolution of dark energy for a homogeneous and isotropic universe of zero spatial curvature, without involving any self-interaction potential or cosmological constant in the formulation.Comment: 22 pages, 16 figures, 2 tables. In the present version we have two models of density parameter calculation. Calculations of time derivatives of densities have been added to the previous version. Four new graphs have been added to the older version. Changes have been made to different sections of this articl

Self-regulation of rat liver GAP junction by phosphorylation

AbstractWe have studied the functioning of rat liver Connexin 32 (Cx32) at the single channel level in presence of ATP. It was observed that ATP regulates the functioning of the channel by running down the junctional conductance. A non-specific exogenous protein phosphatase (alkaline phosphatase) reversed the rundown of junctional activity to its normal functioning state. Autoradiograhic studies demonstrate autophosphorylation of rat liver Cx32. These findings indicate a self-regulatory mechanism of the channel

Estimation of stature from percutaneous length of tibia amongst Bengali population

Background: Stature of an individual can be estimated from long bones as these have a direct correlation to the height of an individual. The standing height is mostly contributed lower limb length. Hence regression equations which are best upon length of lower limb long bones are indicative very much. Secular differences of tibial length could be the reason for need of more accurate equation of stature estimation among Bengali population.Methods: In this present study the maximum percutaneous tibial length and the corresponding standing height of adult 260 male and 210 female Bengali subjects were taken. The data were analyzed by parametric statistics and the regression equations were derived.Results: The mean standing height of subjects was 159.15 cm in males and 157.12 cm. in females. It was determined that percutaneous tibial length and stature were positively correlated; the formulated regression equations were seen to be statistically significant (p <0.05) in both the sexes.Conclusions: The present study revealed that there is high degree of correlation between percutaneous tibial length and standing height of Bengali subjects. Hence applicability of the present equations is critically discussed as these will be very much useful for various practical aspects

Bidirectional motion of filaments: Role of motor proteins and passive cross linkers

In eukaryotic cells, motor proteins (MP) bind to cytoskeletal filaments and move along them in a directed manner generating active stresses. During cell division a spindle structure of overlapping antiparallel microtubules (MT) form whose stability and dynamics under the influence of MPs has been studied extensively. Although passive cross linkers (PCL) were known to provide structural stability to filamentous network, consequences of the interplay between ATP dependent active forces of MPs and passive entropic forces of PCLs on MT overlap remains largely unexplored. Here, we formulate and characterize a model to study this, using linear stability analysis and numerical integration. In presence of PCLs, we find dynamic phase transitions with changing activity exhibiting regimes of stable partial overlap with or without oscillations, instability towards complete overlap, and stable limit cycle oscillations that emerge via a supercritical Hopf bifurcation characterized by an oscillation frequency determined by the MP and PCL parameters. We show that the overlap dynamics and stability depend crucially on whether both the MTs of overlapping pair are movable or one is immobilized, having potential implications for in vivo and in vitro studies.Comment: 13 pages, 9 figure

Comparative Efficacy of an Organic Acid Blend and Bacitracin Methylene Disalicylate as Growth Promoters in Broiler Chickens: Effects on Performance, Gut Histology, and Small Intestinal Milieu

This study evaluated the efficacy of organic acids as a growth promoter for broiler chickens relative to antibiotic growth promoters (AGPs). Broiler chickens were supplemented with graded doses of an organic acid blend (OAB, 1 g and 2 g/kg diet) and bacitracin methylene disalicylate (BMD, 0.5 g and 1 g/kg diet) for 35 days. Supplementation of OAB improved (P < .001) feed conversion ratio (FCR) and increased protein accretion (P < .001). Dietary acidification caused pH of the gizzard to decline linearly (P < .01) with the dose of supplemental OAB. In the lower intestine, pH remained unaffected by dietary treatments. Unlike BMD, supplemental OAB selectively promoted growth of lactobacilli in the small intestine. Moreover, compared to BMD, OAB tended to maintain the villi in the small intestine at a greater height. Although benefits of exceeding the dose of supplemental organic acids more than 1 g/kg diet are not always conspicuous, based on the live weight and feed conversion data, supplementation of 2 g organic acid per kg diet may be recommended for total replacement of AGPs in broiler diet

Time Evolution of Density Parameters for Matter and Dark Energy and their Interaction Term in Brans-Dicke Gravity

In the framework of Brans-Dicke (BD) theory, the first part of the present study determines the time dependence of BD parameter, energy density and equation of state (EoS) parameter of the cosmic fluid in a universe expanding with acceleration, preceded by a phase of deceleration. For this purpose, a scale factor has been chosen such that the deceleration parameter, obtained from it, shows a signature flip with time. Considering the dark energy to be responsible for the entire pressure, the time evolution of energy parameters for matter and dark energy and the EoS parameter for dark energy have been determined. An effective interaction term, between matter and dark energy, has been proposed and calculated. Its negative value at the present time indicates conversion of matter into dark energy. Using this term, the time dependence of the rates of change of matter and dark energy has been determined. It is found that the nature of dependence of the scalar field upon the scale factor plays a very important role in governing the time evolution of the cosmological quantities studied here. The present study provides us with a simple way to determine the time evolution of dark energy for a homogeneous and isotropic universe of zero spatial curvature, without involving any self-interaction potential or cosmological constant in the formulation

Time Evolution of Energy Density, EoS Parameter and the Density Parameters for Matter and Dark Energy in Brans-Dicke Gravity

The present study has been conducted in the framework of Brans-Dicke theory, using FRW metric with flat space, to determine the time dependence of the Brans-Dicke parameter (ω), energy density and the equation of state parameter of the cosmic fluid in an universe expanding with acceleration, following a phase of decelerated expansion. For this purpose, a scale factor has been so chosen that the deceleration parameter, obtained from it, changes its sign from positive to negative as time goes on. Considering the total pressure to be due to the entity named dark energy, the time dependence of energy parameters for matter and dark energy have been determined. Time dependence of the equation of state (EoS) parameter for dark energy has also been studied. Time variations of all these parameters have been shown graphically. It is quite evident from the present study that the dependence of the scalar field upon the scale factor plays a very important role in governing the time evolution of the cosmological quantities mentioned above. This model has an inherent simplicity in the sense that it allows one to determine the time evolution of dark energy without involving any self interaction potential or cosmological constant in the formulation

Time Evolution of Density Parameters for Matter and Dark Energy and their Interaction Term in Brans-Dicke Gravity

In the framework of Brans-Dicke (BD) theory, the present study determines the time dependence of BD parameter, energy density and equation of state (EoS) parameter of the cosmic fluid in a universe expanding with acceleration, preceded by a phase of deceleration. For this purpose, a scale factor has been so chosen for the present model that the deceleration parameter, obtained from it, shows a signature flip with time. Considering the dark energy to be responsible for the entire pressure, the time evolution of energy parameters for matter and dark energy and the EoS parameter for dark energy have been determined. A term, representing interaction between matter and dark energy, has been calculated. Its negative value at the present time indicates conversion of matter into dark energy. It is evident from the present study that the nature of dependence of the scalar field upon the scale factor plays a very important role in governing the time evolution of the cosmological quantities studied here. This model has an inherent simplicity in the sense that it allows one to determine the time evolution of dark energy for a homogeneous and isotropic universe, without involving any self-interaction potential or cosmological constant in the formulation