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Go to Editorial ManagerA new robust control algorithm is proposed for a class of nonlinear systems represented by a Single Link Manipulator (SLM) system. This algorithm is based on new techniques and methods in order to obtain a controller for the SLM system. First of all, the system is simplified using Variable Transformation Technique (VTT) in order to fit the analysis procedure. Then, a new idea of designing a model reference for the multiple states (n=4) system is presented to correspond the control design. Next, the Lyapunov Stability Analysis (LSA) is used to figure out a proper controller that can compensate the stability and the performance of the SLM system. After that, the Most Valuable Player Algorithm (MVPA) is applied to find the optimal parameters of the proposed controller to accomplish the optimum performance improvement. Finally, it can be concluded that the proposed control algorithm has improved the stability and the performance of the SLM system. In addition, the simulation results show the remarkable effects of the proposed nonlinear controller on the SLM system.
Diabetes is one of the most critical diseases in the world which requires measuring the concentration of glucose also the injection of insulin to control the glucose rate in the body. The proposed controller is applied to the Bergman’s three-state minimal patient model, where the model is considered certain but with unknown meal. In the present work, a nonlinear controller is designed to control the concentration of glucose based on the Backstepping approached with a sliding mode for observing the disturbance meal. So will have estimated the meal and have canceled the effect that the glucose concentration has regulating to the basal level._x000D_ The effectiveness of the proposed controller, which represent the insulin dose, is proved via simulating the Bergman’s model with designed controller via MATLAB Simulink software. The result clarify the ability and the robustness of the proposed controller.