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Stability analysis for time delay control of nonlinear systems in discrete-time domain with a standard discretisation method

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Control Theory and Technology 2020年第1期18卷 92-106页

作者： Jinoh LEE Gustavo A.MEDRANO-CERDA Je Hyung JUNG Advanced Robotics Istituto Italian.di TecnologiaVia Morego 30Genoa16163Italy Tecnalia Research and Innovation Mikeletegi Pasealekua1-3E-20009Donostia-San SebastianSpain

This paper provides stability analysis results for discretised time delay control(TDC)as implemented in a sampled data system with the standard form of zero-order *** first substantiate stability issues in discrete-time TDC using an example and propose sufficient stability criteria in the sense of *** parameters significantly affecting the overall system stability are the sampling period,the desired trajectory and the selection of the reference model dynamics.

关键词： Time delay control(TDC) discretisation stability analysis zero-order hold

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A STUDY OF ELECTROCHEMICAL REDUCTION OF SAFRANINE T AND THE ELECTROGENERATED FREE RADICAL TRACING BY ESR

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Science China Chemistry 1990年第12期33卷 1409-1417页

作者：彭美蓉胡志彬 Department of Chemistry Beijing Normal University Beijing 100875 PRC

A study of the electrochemical reduction behavior of safranine T by means of electrochemical methods coupled with ESR (electron spin resonance) is presented. Through an 'in situ' tracing of the 1-electron reduction intermediate—free radical, the structure of the free radical has been deduced. During the electrochemical reduction the free radical went through a post-electrolysis chemical decay including parallel steps of zero and first order reactions. This fact gives further support and experimental ascertainment of the viewpoint that some electrode processes are clearly related to the enzymatic catalyses^([1]). In accordance with the chemical behavior of safranine T free radicals at various concentrations and at different potentials the authors have advanced a scheme of reaction mechanism and evaluated the kinetic parameters of the reation steps by simulating the experimental curves.

关键词： safranine T radical tracing by ESR zero-order decay

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Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Discrete Mechanics and Nonlinear Optimization

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International Journal of Modern Nonlinear Theory and Application 2015年第3期4卷 179-189页

作者： Tatsuya Kai Department of Applied Electronics Faculty of Industrial Science and Technology Tokyo University of Science Tokyo Japan

This paper considers an obstacle avoidance control problem for the compass-type biped robot, especially circular obstacles are dealt with. First, a sufficient condition such that the swing leg does not collide the circular obstacle is derived. Next, an optimal control problem for the discrete compass-type robot is formulated and a solving method of the problem by the sequential quadratic programming is presented in order to calculate a discrete control input. Then, a transformation method that converts a discrete control input into a continuous zero-order hold input via discrete Lagrange-d’ Alembert principle is explained. From the results of numerical simulations, it turns out that obstacle avoidance control for the continuous compass-type robot can be achieved by the proposed method.

关键词： Discrete Mechanics Compass-Type Biped Robot Obstacle Avoidance Control Nonlinear Optimization zero-order Hold Input

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Application of D-Optimal Study Design with Contour Surface Response for Designing Sustained Release Gliclazide Matrix Tablets

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Pharmacology & Pharmacy 2014年第7期5卷 620-635页

作者： Chien Nguyen John Mark Christensen Thuy Nguyen Department of Pharmaceutical Sciences College of Pharmacy Oregon State University Corvallis USA National Institute of Pharmaceutical Technology Hanoi University of Pharmacy Hanoi Vietnam

An optimized formulation of a sustained release tablet of Gliclazide was developed. The use of Doptimal design with a polynomial statistical model to analyze dissolution data reduced the number of laboratory tests required to obtain an optimal dosage form. The final formulation contained 22 mg of Methocel®E15LV, 16.5 mg Methocel®E15 and 10.0 mg of Dibasic Calcium Phosphate per 30 mg Gliclazide sustained release tablet. Dissolution studies performed on tablets from 5000 tablet test batches released greater than 90 percent of loaded drug in eight hours. Drug release from the optimized tablets followed a pattern more closely similar to zero-order than other mechanisms of drug release tested. Storage of tablets in accelerated and ambient conditions for 6 and 12 months respectively did not alter any of the physico-chemical properties, drug release or the drug release rate compared to initial observations and dissolution data of the prepared tablets. The addition of potassium phosphate and monosodium phosphate to the tablet reduced the effect pH has on Gliclazide dissolution compared to the commercially available product.

关键词： Gliclazide Sustained Release D-Optimal zero-order Response Surface Modified Release

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