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Nadeem Qaiser,Naeem Iqbal,Amir Hussain,Naeem Qaiser 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.5
This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.
Idrees, Muhammad,Batool, Saima,Ullah, Hidayat,Hussain, Qaiser,Al-Wabel, Mohammad I.,Ahmad, Mahtab,Hussain, Amjad,Riaz, Muhammad,Ok, Yong Sik,Kong, Jie Elsevier 2018 Journal of molecular liquids Vol.266 No.-
<P><B>Abstract</B></P> <P>In the present investigation, poultry manure and farmyard manure-derived biochars were applied as cost-effective adsorbents for manganese (Mn) removal from aqueous media. Effects of functional parameters such as solution pH, contact time, temperature and concentration on the Mn removal efficiency of biochars were evaluated. Poultry manure-derived biochar exhibited greater adsorption efficiency than farmyard manure-derived biochar due to its porosity and surface functionality. The maximum adsorption was achieved at pH 6, temperature 298 K and contact time of 3 h. The adsorption isotherm data was well fitted to the Freundlich model indicating multilayer adsorption onto heterogeneous surfaces of the biochars. Thermodynamics calculations affirmed that Mn adsorption onto biochars was spontaneous and exothermic process governed by hydrogen bonding type of electrostatic interaction. Post-adsorption spectroscopic analysis of Mn-loaded biochars evidenced the binding of Mn with active surface functionalities of biochars.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Biochar, a by-product of pyrolysis, was prepared as a low cost adsorbent precursor. </LI> <LI> Effect of derived biochars on Manganese removal efficiency was investigated. </LI> <LI> FBC and PBC characteristics were analyzed. </LI> <LI> Langmuir and Freundlich models were used for equilibrium modeling. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>