محمد واحدی

Standard PID controllers are one of the most desirable controllers for industrial automation and the most widely used control in feedback systems. However, linear controllers have limitations that represent tation controllers can be used to overcome these limitations. In this paper, a robust reset control based on optimal output feedback to control a robot with two degrees of freedom. In general, the behavior of reset controllers is similar to that of linear controllers, in other words, they are easy to implement. In this regard, in this paper, by introducing a special combination control called robust reset output feedback control, the disadvantages of the linear controller are eliminated and its main purpose is to reduce overexposure and increase the response speed and better stability of the controlled system. Therefore, this paper introduces a systematic method for reset optimal output feedback controller. To do this, an optimal output feedback controller is first designed without the reset action, so that the poles of the closed-loop system are located in a predefined area. This area is selected to ensure the stability of the exponential and the arrival time of the closed loop in a finite time. Then, the reset value at reset times is designed to minimize a cost-effective function for better performance. In this paper, for the first time, the reset value is specified only with the system output information and then the stability of the system will be guaranteed. The robot used in this article is a practical and industrial example that has two arms and two joints with separate control capability. The position and behavior of the arms based on the governing equations and mathematical relations indicate its direct effect on each other. Finally, to prove the proposed design, numerical simulation will be performed using Matlab software and a comparison between the proposed controller and a similar controller will be performed.

This paper constructs a new complex hyper-chaotic system with attractive coexisting dynamic behaviors. We analyze the hyper-chaotic attractors, equilibrium points, Poincaré maps, Kaplan-York dimension, and Lyapunov exponent behaviors. The characteristics of hyper-chaotic systems include higher complexity, higher parametric resistance and sensitivity to very small changes in initial conditions. We prove that the introduced hyper–chaotic system is much more complex than the similar hyper-chaotic systems, that can suitable for use in encryption and secure communication. Next, the work describes a fast terminal sliding mode controller scheme for the fast synchronization and stability of the new complex hyper–chaotic system. It is shown that by applying uncertainty to the system, both steps of the sliding mode control have finite-time convergence properties. Next, a comparison will be made between a newly designed controller and a similar. Finally, using the MATLAB simulation, the results are confirmed for the new system. The results shown that the new hyper-chaotic system with many adsorbents is much more complex than similar systems, and the proposed controller has a faster convergence response than the similar controller.