Dynamic output feedback sliding mode control for uncertain linear systems

In this paper, a class of uncertain linear systems with unmatched disturbances is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is designed which is dependent on the system output, observed state, and estimated uncertain parameters. A linear coordinate transformation is introduced so that the stability analysis of the reduced-order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the considered system state to reach the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example for a high incidence research model (HIRM) aircraft is used to demonstrate the effectiveness of the proposed method

Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum

In this paper, a class of nonlinear systems is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is proposed which is a function of the measured system output and an estimated state. A linear coordinate transformation is introduced so that the stability analysis of the reduced order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the system states to the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example is used to demonstrate the effectiveness of the proposed method and the method is successfully applied to an inverted pendulum

Consensus Control for a Class of Linear Multiagent Systems using a Distributed Integral Sliding Mode Strategy

In this paper, a consensus framework is proposed for a class of linear multiagent systems subject to matched and unmatched uncertainties in an undirected topology. A linear coordinate transformation is derived so that the consensus protocol design can be conveniently performed. The distributed consensus protocol is developed by using an integral sliding mode strategy. Consensus is achieved asymptotically and all subsystem states are bounded. By using an integral sliding mode control, the subsystems lie on the sliding surface from the initial time, which avoids any sensitivity to uncertainties during the reaching phase. By use of an appropriate projection matrix, the size of the equivalent control required to maintain sliding is reduced which reduces the conservatism of the design. MATLAB simulations validate the effectiveness and superiority of the proposed method

Workplace violence in Queensland, Australia: the results of a comparative study

[Abstract]: This paper presents the results on workplace violence from a larger study undertaken in 2004. Comparison is made with the results of a similar study undertaken in 2001. The study involved the random sampling of 3000 nurses from the Queensland Nurses’ Union’s membership in the public (acute hospital and community nursing), private (acute hospital and domiciliary nursing) and aged care sectors (both public and private aged care facilities). The self-reported results suggest an increase in workplace violence in all three sectors. Whilst there are differences in the sources of workplace violence across the sectors, the major causes of workplace violence are: clients/patients, visitors/relatives, other nurses, nursing management and medical practitioners. Associations were also found between workplace violence and gender, the designation of the nurse, hours of employment, the age of the nurse, morale and perceptions of workplace safety. Whilst the majority of nurses reported that policies were in place for the management of workplace violence, these policies were not always adequate

Can translocated native fishes retain their trophic niche when confronted with a resident invasive?

Diet interactions between native and non-native fishes may influence the establishment of native species within their historical range (i.e., reintroduction). Therefore, we illustrated the food web structure of and followed the transition of the federally endangered humpback chub Gila cypha into a novel food web following translocation and determined the potential for a non-native species, rainbow trout Oncorhynchus mykiss, to influence translocation success. Humpback chub and rainbow trout used resources high in the food web and assimilated similar proportions of native fishes, suggesting non-native rainbow trout may occupy an ecological role similar to humpback chub. Subsequently, humpback chub may be well suited to colonise tributaries because of their ability to consume resources high in the food web. Additionally, diet partitioning may occur between all members of the fish community as indicated by separation in trophic niche space and little trophic overlap; although all species, particularly bluehead sucker Catostomus discobolus, used a broad range of food resources. Rainbow trout stomach content analysis corroborated stable isotope analysis and suggested rainbow trout diet consisted of aquatic and terrestrial macroinvertebrates, while larger rainbow trout (\u3e120 mm total length) consumed a greater proportion of fish (incidence of piscivory = 5.3%). Trophic interactions may reveal an underutilized niche space or biotic resistance to the establishment of translocated native fishes. Continued translocation of humpback chub into tributaries appears to be one option for conservation. However, successful establishment of humpback chub may depend on continued removal of non-native trout, increasing availability of diet sources at higher trophic levels

Unique metabolites protect earthworms against plant polyphenols

All higher plants produce polyphenols, for defence against above-ground herbivory. These polyphenols also influence the soil micro- and macro-fauna that break down plant leaf litter. Polyphenols therefore indirectly affect the fluxes of soil nutrients and, ultimately, carbon turnover and ecosystem functioning in soils. It is unknown how earthworms, the major component of animal biomass in many soils, cope with high-polyphenol diets. Here, we show that earthworms possess a class of unique surface-active metabolites in their gut, which we term ‘drilodefensins’. These compounds counteract the inhibitory effects of polyphenols on earthworm gut enzymes, and high-polyphenol diets increase drilodefensin concentrations in both laboratory and field populations. This shows that drilodefensins protect earthworms from the harmful effects of ingested polyphenols. We have identified the key mechanism for adaptation to a dietary challenge in an animal group that has a major role in organic matter recycling in soils worldwide

Is tagging with visual implant elastomer a reliable technique for marking earthworms?

Visual implant elastomer (VIE) has recently been employed to investigate different aspects of earthworm ecology. However, a number of fundamental questions relating to the detection and positioning of the tag, its persistence and potential effects on earthworms remain unknown. Seven earthworm species belonging to three ecological groupings, with different pigmentation and burrowing behaviour, were tagged using different coloured VIE. External inspection after two days, one week and 1, 10 and 27 months were followed by preservation, dissection and internal inspection. Tags could be seen in living specimens to 27 months, and dissection revealed that in most cases they were lodged in the coelomic cavity, held in place by septa. However, over longer time periods (more than two years), the chlorogogenous tissue tended to bind to the tags and made external observation increasingly difficult. Migration of the VIE material towards the posterior of the earthworm and potential loss of the tag were only observed on rare occasions, and a recovery rate in excess of 98% was recorded. By introducing a reasonable amount of VIE into segments, just after the clitellum, this technique can become a valuable tool in earthworm ecology and life history studies, particularly in short-medium term laboratory and field experiments

Model-free Adaptive Sliding Mode Control for Continuous Stirred Tank Reactor

The continuous stirred tank reactor (CSTR) is representative of a typical class of chemical equipment, where the dynamics is strongly nonlinear. Two difficult issues in control of a CSTR are the difficulty of accurate modeling and the suppression of external disturbances. Driven by these challenging issues and demanding expectations around performance levels, this paper proposes a control solution based on the model-free data-driven linearization method and sliding mode control. After giving the corresponding stability proof, the effectiveness of the method is validated by MATLAB simulation. Experimental results are also presented to further test the proposed method

Ionic Tuning of Cobaltites at the Nanoscale

Control of materials through custom design of ionic distributions represents a powerful new approach to develop future technologies ranging from spintronic logic and memory devices to energy storage. Perovskites have shown particular promise for ionic devices due to their high ion mobility and sensitivity to chemical stoichiometry. In this work, we demonstrate a solid-state approach to control of ionic distributions in (La,Sr)CoO$_{3}$ thin films. Depositing a Gd capping layer on the perovskite film, oxygen is controllably extracted from the structure, up-to 0.5 O/u.c. throughout the entire 36 nm thickness. Commensurate with the oxygen extraction, the Co valence state and saturation magnetization show a smooth continuous variation. In contrast, magnetoresistance measurements show no-change in the magnetic anisotropy and a rapid increase in the resistivity over the same range of oxygen stoichiometry. These results suggest significant phase separation, with metallic ferromagnetic regions and oxygen-deficient, insulating, non-ferromagnetic regions, forming percolated networks. Indeed, X-ray diffraction identifies oxygen-vacancy ordering, including transformation to a brownmillerite crystal structure. The unexpected transformation to the brownmillerite phase at ambient temperature is further confirmed by high-resolution scanning transmission electron microscopy which shows significant structural - and correspondingly chemical - phase separation. This work demonstrates room-temperature ionic control of magnetism, electrical resistivity, and crystalline structure in a 36 nm thick film, presenting new opportunities for ionic devices that leverage multiple material functionalities