3 sampled-data control of nonlinear systems

This chapter provides some of the main ideas resulting from recent developments in sampled-data control of nonlinear systems. We have tried to bring the basic parts of the new developments within the comfortable grasp of graduate students. Instead of presenting the more general results that are available in the literature, we opted to present their less general versions that are easier to understand and whose proofs are easier to follow. We note that some of the proofs we present have not appeared in the literature in this simplified form. Hence, we believe that this chapter will serve as an important reference for students and researchers that are willing to learn about this area of research

A note on input-to-state stabilization for nonlinear sampled-data systems

We provide a framework for the design of stabilizing controllers via approximate discrete-time models for sampled-data nonlinear systems with disturbances. In particular, we present sufficient conditions under which a discrete-time controller that input-to-state stabilizes an approximate discrete-time model of a nonlinear plant with disturbances would also input-to-state stabilize (in an appropriate sense) the exact discrete-time plant model

Women in the Second Egyptian Parliament Post the Arab Spring: Do They Think They Stand a Chance?

Egyptian women were very active on the streets during the 25 January Revolution, both in the demonstrations and in the subsequent elections, showing very high rates of participation as voters, yet surprisingly, very low rates of representation in the 2012 parliament. The current study seeks to explore different views, expectations and perceptions of Egyptian women regarding women’s role in the forthcoming 2013 parliamentary elections, and to identify what alternative measures are needed to strengthen women’s representation in parliament, both quantitatively and qualitatively. The methodology utilized relied on a literature review in addition to a quantitative and qualitative analysis of the results of a on-line and an off-line survey instrument implemented on a purposive proportional sample of 244 women of different political affiliations, educational levels, economic classes, age groups, and covering those working outside the home, and those who are not. Among the main findings of the study were that women do not automatically vote for other women, that the perception of women MPs performance by other women is mostly negative, whether before or after the Revolution and that women think women MPs are better capable of representing their needs. The names of other women MPs remembered had nothing to do with their political or parliamentary performance. The main perceived barriers to winning seats in parliament were the dominant societal culture, the lack of women qualifications, and the dominance of the Islamists rule. In general, the study concluded that Egyptian women lack confidence in their own abilities as parliamentarians and do not think they stand a good chance in the next 2013 elections

ANALISIS SISTEM PEMBERIAN PEMBIAYAAN EMAS PADA PT BANK BNI SYARIAH CABANG PEKANBARU

Tujuan dari penelitian ini adalah untuk mengetahui bagaimana sistempemberian pembiayaan emas antara nasabah dengan bank yang diterapkan oleh PT. Bank BNI Syariah Cabang Pekanbaru. Penelitian ini dilakukan pada PT. Bank BNI Syariah Cabang Pekanbarudengan metode wawancara langsung dengan Customer Service, dokumentasi datayang diperoleh dari pihak intern bank dan studi pustaka dengan mengumpulkan data dari perpustakaan yang diambil dari literatur-literatur bantuan studi sertasumber lain yang berhubungan dengan judul penelitian. Hasil penelitian ini menunjukkan bahwa hukum pembelian emas secaratangguh berdasarkan prinsip islam adalah boleh, (mubah ja’iz) selama emas tidak menjadi alat tukar yang resmi (uang). Prinsip (akad) yang digunakan dalampembiayaan emas adalah memakai prinsip murabahah. Besarnya angsuran yang dibayarkan nasabah kepada bank tergantung pada keuntungan dan dilihat darijangka waktu angsuran. Sementara itu, masih terdapat perbedaan antara prinsipislam dan praktek yang dilakukan PT. Bank BNI Syariah Cabang Pekanbaru.Prinsip syariah menyatakan bahwa nasabah seharusnya membayarkan seluruhpembiayaan baru kemudian emas akan diterima nasabah atau barang yang dijadikan jaminan adalah barang berharga lainnya, sedangkan pada prakteknya jika nasabah melakukan penunggakan pembayaran, maka pihak bank akan mendatangi nasabah untuk menanyakan kenapa terjadi penunggakan. Jika nasabah tidak mampu lagi membayar angsuran emas tersebut maka pihak BankBNI Syariah akan mengambil keputusan untuk menjual kembali emas tersebut untuk pembayaran sisa angsuran Kata kunci : Sistem Pembiayaan Emas, Akad Murabaha

Pengaruh intensitas penggunaan fresto learning dan kemandirian siswa terhadap hasil belajar PAI kelas XI busana SMKN 6 Semarang

Skripsi ini membahas tentang pengaruh intensitas pengaruh penggunaan fresto learning dan kemandirian siswa terhadap hasil belajar PAI kelas XI busana SMKN 6 Semarang. Tujuan penelitian ini yaitu untuk mencari: (1) pengaruh intensitas penggunaan fresto learning (X1) terhadap hasil belajar PAI (Y), (2) pengaruh kemandirian belajar (X2) terhadap hasil belajar PAI (Y) dan (3) pengaruh intensitas penggunaan fresto learning (X1) dan kemandirian belajar (X2) terhadap hasil belajar PAI (Y) siswa kelas XI Busana di SMKN 6 Semarang. Penelitian ini termasuk penelitian deskriptif dengan pendekatan kuantitatif yang menggunakan analisis regresi sederhana dan berganda dalam pengujian hipotesisnya. Teknik penentuan sampel menggunakan sampel jenuh atau populasi dengan 100 responden dari jurusan kelas XI Busana di SMK Negeri 6 Semarang. Sedangkan pengumpulan data menggunakan metode angket dan dokumentasi nilai PAS semester ganjil . Hasil dari penelitian ini menunjukkan bahwa: (1) terdapat pengaruh yang signifikan antara intesitas penggunaan fresto learning (X1) terhadap hasil belajar PAI (Y) pada siswa kelas XI Busana SMKN 6 Semarang dengan perolehan nilai thitung yang lebih besar dari tabel yaitu 6, 144 ≥ 1.98447 dan nilai R2 sebesar 0,278, (2) terdapat pengaruh yang signifikan antara kemandirian belajar (X2) terhadap hasil belajar PAI (Y) pada siswa kelas XI Busana SMKN 6 Semarang dengan perolehan nilai thitung yang lebih besar dari tabel yaitu 5,943 ≥ 1.98447 dan nilai R2 sebesar 0,265, (3) terdapat pengaruh yang signifikan antara intensitas penggunaan fresto learning (X1) dan kemandirian belajar (X2) terhadap hasil belajar PAI (Y) pada siswa kelas XI Busana SMKN 6 Semarang dengan perolehan Fhitung lebih besar dari Ftabel yaitu 21,808 ≥ 3,090 dan nilai R2 sebesar 0,296 Dapat disimpulkan dari hasil penelitian bahwa intensitas penggunaan fresto learning dan kemandirian belajar PAI memberi pengaruh yang tergolong rendah dengan nilai R2 0,296 atau 29,6 % untuk hasil belajar PAI kelas XI busana SMKN 6 Semarang. Untuk itu perlu perhatian baik dari sekolah, guru dan siswa memanfaatkan dan mengaplikasikan media fresto learning dan meningkatkan kemandirian belajar siswa untuk meningkatkan hasil belajar pendidikan agama islam

Mechanical design of an affordable adaptive gravity balanced orthosis for upper limb stroke rehabilitation

In this paper, a novel design of a non-powered orthosis for upper limb stroke rehabilitation is reported. Its design exploits the gravity balancing theory. Designed for home-based use, it is the first affordable, passive design to incorporate an assistive level that can be adaptively varied within a closed-loop control scheme. This allows the device to be integrated with a dual robotic and electrical stimulation control scheme, to thereby enable full exploitation of the motor relearning principles which underpin both robotic therapy and Functional Electrical Stimulation (FES) based stroke rehabilitation. This embeds the potential for more effective treatment. The article focuses on the mechanical design of the non-powered orthosis, providing detailed design, dynamic analysis and evaluation. Publisher statement: “This is an Accepted Manuscript of an article published by Taylor & Francis in Mechanics Based Design of Structures and Machines on 14 June 2015, available online: http://www.tandfonline.com/10.1080/15397734.2015.1054513

Group and total dissipativity and stability of multi-equilibria hybrid automata

Complex systems, which consist of different interdependent and interlocking subsystems, typically have multiple equilibrium points associated with different set points of each operation mode. These systems are usually interpreted as switched systems, or in general, as hybrid systems. Surprisingly, the consideration of multiple equilibria is not common in hybrid systems’ literature, being typically focused on the study of stability and dissipativity properties for switched systems whose subsystems share the same equilibrium point. This paper will expand the discussion to the case of having multiple co-existing equilibrium points for hybrid systems modelled as hybrid automata, which are more general than switched systems. A classification of equilibria for hybrid automata is offered, and some stability related properties are shown for them. Moreover, some dissipativity-related properties are studied. The chief idea of our approach is to identify stable and dissipative components as group of discrete locations within the hybrid automaton. Two examples are used to illustrate our conclusions

Repetitive control of electrical stimulation for tremor suppression

Tremor is a rapid uncontrollable back-and-forth movement of a body part often seen in patients with neurological conditions such as Multiple Sclerosis (MS) and Parkinson’s disease. This debilitating oscillation can be suppressed by applying functional electrical stimulation (FES) within a closedloop control system. However current implementations use classical control methods and have proved capable of only limited performance. This paper develops a novel application of repetitive control (RC) that exploits the capability of learning from experience to enable complete suppression of the tremor. The proposed control structure is applied to suppress tremor at the wrist via FES regulated co-contraction of wrist extensors/flexors. Experimental evaluation is performed using a validated wristrig and results are compared against classical feedback control designs to establish the efficacy of the approach

System identification for FES-based tremor suppression

Tremor is an involuntary motion which is a common complication of Parkinson's disease and Multiple Sclerosis. A promising treatment is to artificially contract the muscle through application of induced electrical stimulation. However, existing controllers have either provided only modest levels of suppression or have been applied only in simulation. To enable more advanced, model-based control schemes, an accurate model of the relevant limb dynamics is required, together with identification procedures that are suitable for clinical application. This paper proposes such a solution, explicitly addressing limitations of existing methodologies. These include model structures that (i) neglect critical features, and (ii) restrict the range of admissible control schemes, together with identification procedures that (iii) employ stimulation inputs that are uncomfortable for patients, (iv) are overly complex and time-consuming for clinical use, and (v) cannot be automated. Experimental results confirm the efficacy of the proposed identification procedures, and show that high levels of accuracy can be achieved in a short identification time using test procedures that are suitable for future transference to the clinical domain