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This paper presents the input-output feedback linearization and decoupling algorithm for control of nonlinear Multi-input Multi-output MIMO systems. The studied analysis was motivated through its application to a robot manipulator with six degrees of freedom. The nonlinear MIMO system was transformed into six independent single-input single-output SISO linear local systems. We added PD linear controller…

We present an inverted pendulum design using readily available V-slot rail components and 3D printing to construct custom parts. To enable the examination of different pendulum characteristics, we constructed three pendulum poles of different lengths. We implemented a brake mechanism to modify sliding friction resistance and built a paddle that can be attached to the…

The efficient processing of database applications on computing systems with multi-tiered persistent storage devices needs specialized algorithms to create optimal persistent storage management plans. A correct allocation and deallocation of multi-tiered persistent storage may significantly improve the overall performance of data processing. This paper describes the new algorithms that create allocation and deallocation plans for…

This article presents a roadmap for distribution grid µPMU hardware and software design consideration and implantation to ensure high performance within limited computational time of sampling frequency 512 samples/cycle. A proposed 12 channels, multi-voltage level µPMU hardware and rules of voltage and current transducer, analog filter, analog-to-digital converter, sampling rate definition, and PCB design and…

This paper details an extension to the SLIP model named spring-loaded inverted pendulum model with swing legs (SLIP-SL). SLIP-SL extends the SLIP model by introducing swing leg dynamics while keeping its passive nature. This way, reference trajectories for the center of mass and swing foot trajectories can be simultaneously obtained which was not possible with…

This paper investigates the trajectory tracking control (TTC) problem of a networked control system (NCS) against a replay-attack. The impact of data packet dropout and communication delay on the wireless network are taken into account. A new mathematical representation of the NCS under network issues (packet dropout, delay, and replay-attack) is proposed, the resulting closed-loop…

This research paper portraits the technique to determine location of submerged nodes with Cayley-Menger determinant and associated problems with non-parallel states. Cayley-Menger determinant is considered to be the usual means to determine the coordinates of the nodes with a single node where the plane of beacon i.e. beacon’s surfing plane and the plane created by…

This paper considers active disturbance rejection control (ADRC) as a new control approach for pH neutralization process. The pH process is challenging to control due to its sensitivity to disturbance, nonlinear dynamics, and time-varying characteristics. Special attention is paid to the impact of disturbances typically exists in the chemical process. First, the pH neutralization process…

The article proposes a Digital Predistortion (DPD) methodology that substantially meliorates the linearity of limited range Mobile Front Haul links for the extant Long-Term Evolution (LTE) and future (5G) networks. Specifically, the DPD is employed to Radio over Fiber links that contrive of Vertical Cavity Surface Emitting Lasers (VCSELs) working at 850 nm. Both, Memory…

Usually, after properly biasing an analog circuit we need to linearize its transistors in order to linearize the entire circuit for performance analysis and design. This linearization is done through modeling of devices, which is becoming more and more complicated as the electronic technology advances. This is not of course a major issue for circuit…