Nonlinear control of Industrial Robot Manipulator for Experimental Research and Education

Nonlinear control of Industrial Robot Manipulator for Experimental

Research and Education

Investor: Iranian Institute of Advance Science and Technology (2010- 2012)

Team Leader: Farzin Piltan WWW.IRANSSP.COM/ENGLISH

Nonlinear control of Industrial Robot Manipulator for Experimental Research and Education

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First Project • Project Title: Nonlinear control of Industrial Robot Manipulator for

Experimental Research and Education

• Investor: Iranian Institute of advanced science and Technology (IRAN SSP), IRAN, 2010-2012 • Collaborate: University Putra Malaysia (UPM), Malaysia

• Supervisor: Dr Nasri. B. Sulaiman (UPM) • Advisor and team leader: Farzin Piltan (IRAN SSP)

Project Research groups: FROM IRAN SSP (IRAN):

• ALI ROSHANZAMIR • FARHAD GOLSHAN • MARZIE ZARE • ALIREZA SALEHI • IMAN NAZARI • MOHSEN ZARE • SAMIRA SOLTANI • SOBHAN SIAMAK • ALI ARIYANFAR • ABBAS ZARE • ALI BADRI • ARASH ZARGARI • MEHDI RASHIDI • MOHAMMAD KESHAVARZ • MOHAMMADALI DIALAME • PAYMAN FERDOSALI • SADEQ ALLAHDADI • ZAHRA TAJPAIKAR • ADEL NOZARI • FARID AGHAYARI • HAJAR NASIRI • MOHAMMAD SHAMSADINI • MOHAMMADREZA RASHIDIAN • ARMAN JAHED


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• BAMDAD BOROOMAND • HOSSEIN REZAIE • JAVAD MEIGOLINEJAD • REZA BAYAT • SALEH MEHRARA • ALI HOSAINPOUR • EBRAHIM MAZLOOMIAN • FATEMEH KHAZAENI • FOROOZAN SHAHRIYARI • MOHAMMADHOSSEIN YARMAHMOODI • MINA MIRZAEI • SARA EMAMZADEH • ZAHRA HIVAND • MOHAMMADJAVAD RAFATI

FROM KYNGPOOK NATIONAL UNIVERSITY (KOREA): • SAMANEH ROOSTA • ATEFEH GAVAHIAN • AMIN JALALI

FROM TAMPARE UNIVERSITY OF TECHNOLOGY (FINLAND): • ALIREZA ZARE

FROM KOREA MARITIME UNIVERSITY (KOREA): • MOHAMMADAMIN BEIRAMI

FROM PUSAN UNIVERSITY (KOREA): • SAJAD RAHMDEL

FROM SWINBURNE UNIVERSITY OF TECHNOLOGY, MELBOURNE, (AUSTRALIA): • MOSTAFA TOHIDIAN


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• Project description:

An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose

manipulator programmable in three or more axes. The field of robotics may be more practically defined

as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior

definition of robot). Typical applications of robots include welding, painting, assembly, pick and place

(such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished

with high endurance, speed, and precision. To have precision type of controller played an important

role. This project focuses on the design, implementation and analysis of a high quality nonlinear

controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design

sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly

known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is

used in many applications; it has two important challenges

1. Chattering phenomenon which it can causes some problems such as saturation and heat the

mechanical parts of robot manipulators or drivers

2. Dependence of the nonlinear dynamic formulation

To solve the first challenge linear function was introduced, because this method could reduce the high frequency

oscillation. To solve the second challenge in this project intelligent methodology is introduced.

• Main Objectives:

1. To modeling the nonlinear sliding mode controller with application to this types of industrial robot

manipulator.

2. To reduce/eliminate a chattering in a position pure sliding mode controller against partly uncertainties.

3. To improve the performance, design and implement intelligent sliding mode controller which is the main

objective in industrial robot manipulator.

4. To improve the system performance in presence of uncertainty, design on-line tuning method with

application to intelligent sliding mode controller

http://en.wikipedia.org/wiki/ISO_8373

http://en.wikipedia.org/wiki/Automation

http://en.wikipedia.org/wiki/Robot

http://en.wikipedia.org/wiki/Manufacturing

http://en.wikipedia.org/wiki/Robot_welding

http://en.wikipedia.org/wiki/Packaging_and_labeling

http://en.wikipedia.org/wiki/Palletizer

http://en.wikipedia.org/wiki/SMT_placement_equipment


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• Contributions:

Sliding mode controller is used to control of highly nonlinear systems especially for robot manipulators. The first

problem of the pure sliding mode controller with switching function was chattering phenomenon in certain and

uncertain systems. In this research the chattering phenomenon problem can be reduced in certain system by using

linear saturation boundary layer function.

The dependence of nonlinear dynamic formulation problem in uncertain system is solved by artificial intelligence

based methodology. To reduce the error performance as well as precision in industrial robot manipulator on-line

tuning methodology is used based on fuzzy logic based tuner. This technique was used to tune the most important

parameter in this research.

• Concrete Value or application of the results:

After doing this project we can improve the performance of this controller’s for industrial robot as follows: • Reduce the chattering phenomenon up to 3%,

• Reduce the overshoot up to 1.7%

• Reduce the rise time up to 1 second

• Reduce the steady state error up to 1𝑒𝑒 − 3

• Published more than 54 journal papers from 2010 to date.

• Background information:

The main question in this research is why control of industrial robot?

According to the International Federation of Robotics (IFR) study World Robotics 2012, there were at least 1,153,000 operational industrial robots by the end of 2011. This number is estimated to reach 1,575,000 by the end of 2015. For the year 2011 the IFR estimates the worldwide sales of industrial robots with US$8.5 billion. Including the cost of software, peripherals and systems engineering, the annual turnover for robot systems is estimated to be US$25.5 billion in 2011.

http://en.wikipedia.org/wiki/International_Federation_of_Robotics


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The Japanese government estimates the industry could surge from about $5.2 billion in 2006 to $26 billion in 2010 and nearly $70 billion by 2025. In 2005, there were over 370,000 operational industrial robots in Japan. A 2007 national technology roadmap by the Trade Ministry calls for 1 million industrial robots to be installed throughout the country by 2025.

Estimated worldwide annual supply of industrial robots (in units):

Year Supply

1998 69,000

1999 79,000

2000 99,000

2001 78,000

2002 69,000

2003 81,000

2004 97,000

2005 120,000

2006 112,000

2007 114,000

2008 113,000

2009 60,000

2010 118,000

2011 166,000

2013 168,000

http://en.wikipedia.org/wiki/Japan


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Controller is a device which can sense information from linear or nonlinear system (e.g., robot

manipulator) to improve the systems performance. The main targets in designing control systems are stability, good

disturbance rejection, and small tracking error. Several industrial robot manipulators are controlled by linear

methodologies (e.g., Proportional-Derivative (PD) controller, Proportional- Integral (PI) controller or Proportional-

Integral-Derivative (PID) controller), but when robot manipulator works with various payloads and/or have

uncertainty (space or surgical robots) in dynamic models linear techniques have limitations. In some applications

(such as aerospace) robot manipulators are used in an unknown and unstructured environment, therefore strong

mathematical tools used in new control methodologies to design nonlinear robust controller with an acceptable

performance (e.g., minimum error, good trajectory, disturbance rejection). Sliding mode controller is an influential

nonlinear controller to certain and uncertain systems which it is based on system’s dynamic model.

Team leader: Farzin Piltan was born on 1975, Shiraz, Iran. In 2004 he is jointed Institute of Advance Science and Technology, Research and Development Center, IRAN SSP. Now he is a dean of Intelligent Control and Robotics Lab. He is led of team (47 researchers) to design and build of nonlinear control of industrial robot manipulator for experimental research and education and published about 54 Papers in this field since 2010 to 2012, team supervisor and leader (9 researchers) to design and implement intelligent tuning the rate of fuel ratio in internal combustion engine for experimental research and education and published about 17 Journal papers since 2011 to 2013, team leader and advisor (34 researchers) of filtering the hand tremors in flexible surgical robot for experimental research and education and published about 31 journal papers in this field since 2012 to date, led of team (21 researchers) to design high precision and fast dynamic controller for multi-degrees of freedom actuator for experimental research and education and published about 7 journal papers in this field since 2013 to date, led of team (22 researchers) to research of full digital control for nonlinear systems (e.g., Industrial Robot Manipulator, IC Engine, Continuum Robot, and Spherical Motor) for experimental research and education and published about 4 journal papers in this field since 2010 to date and finally led of team (more than 130 researchers) to implementation of Project Based-Learning project at IRAN SSP research center for experimental research and education, and published more than 110 journal papers since 2010 to date. In addition to 7 textbooks, Farzin Piltan is the main author of more than 115 scientific papers in refereed journals. He is editorial review board member for ‘international journal of control and automation (IJCA), Australia, ISSN: 2005-4297; ‘International Journal of Intelligent System and Applications (IJISA)’, Hong Kong, ISSN:2074-9058; ‘IAES international journal of robotics and automation, Malaysia, ISSN:2089-4856; ‘International Journal of Reconfigurable and Embedded Systems’, Malaysia, ISSN:2089-4864. His current research interests are nonlinear control, artificial control system and applied to FPGA, robotics and artificial nonlinear control and IC engine modeling and control.

Peer-Reviewed Journal Papers and Book Chapters


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2011

Exhibit 4.1: Farzin Piltan , N. Sulaiman & M. H. Marhaban, “Design On-Line Tuneable Gain Artificial Nonlinear Controller”, Journal of Advance in Computer Research, 2(2): 75-83, 2011.

Address link:

http://jacr.iausari.ac.ir/pdf_2409_6aee626a09bd8504508b93d96afea462.html

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Exhibit 4.2: Farzin Piltan , Alireza Salehi, Amin Jalali, A. Reza Zare , Marzie Zare, Ali Roshanzamir & Farhad Golshan, “Design Sliding Mode Controller for Robot Manipulator with Artificial Tuneable Gain” Canadian journal of Pure and Applied Science,5(2): 1573-1579, 2011.

Address link:

http://research.cs.wisc.eduwww.cjpas.net/Jun-11.pdf#page=115

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Exhibit 4.3: Farzin Piltan , Shahnaz Tayebi Haghighi , A.Reza Zare , Amin Jalali , Ali Roshanzamir , Marzie Zare & Farhad Golshan, “Artificial Control of Nonlinear Second Order Systems Based on AFGSMC”,Australian Journal of Basic and Applied Science,5(6): 509-522, 2011. (ISI, Scopus, SJR=0.13, Q3)

Address link:

http://web.a.ebscohost.com/abstract?direct=true&profile=ehost&scope=site&authtype=crawler&jrnl=19918178&AN=65068884&h=4SR4clJt80OGe2mk%2bJQv%2bgvw0fdE9pX0GLhf6dvNaGeMH0MVRd4Fp2HOn0NwcQuoyh

BOvTpIAXxjva6uBANX1w%3d%3d&crl=c

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Exhibit 4.4: Farzin Piltan, A. R. Salehi & Nasri B Sulaiman,“Design Artificial Robust Control of Second Order

System Based on Adaptive Fuzzy Gain Scheduling”, World Applied Science Journal (WASJ), 13 (5): 1085-1092, 2011. (ISI, Scopus, SJR=0.22, Q2)

Address link:

http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citation_for_view=qFs3XJoAAAAJ:UeHWp8X0CEIC

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Exhibit 4.5: Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samira Soltani & Samaneh Roosta, “Design

Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule Base”, International Journal of Robotic and Automation, 2 (3): 146-156, 2011.

Address link:

http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue3/IJRA-43.pdf

http://jacr.iausari.ac.ir/pdf_2409_6aee626a09bd8504508b93d96afea462.html

http://research.cs.wisc.eduwww.cjpas.net/Jun-11.pdf#page=115

http://web.a.ebscohost.com/abstract?direct=true&profile=ehost&scope=site&authtype=crawler&jrnl=19918178&AN=65068884&h=4SR4clJt80OGe2mk%2bJQv%2bgvw0fdE9pX0GLhf6dvNaGeMH0MVRd4Fp2HOn0NwcQuoyhBOvTpIAXxjva6uBANX1w%3d%3d&crl=c







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Exhibit 4.6: Farzin Piltan , N. Sulaiman, Zahra Tajpaykar, Payman Ferdosali & Mehdi Rashidi, “Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tunable Gain”, International Journal of Robotic and Automation, 2 (3): 205-220, 2011.

Address link:


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Exhibit 4.7: Farzin Piltan, N. Sulaiman, M. H. Marhaban, Adel Nowzary & Mostafa Tohidian, “Design of FPGA-based Sliding Mode Controller for Robot Manipulator”, International Journal of Robotic and Automation, 2 (3): 183-204, 2011.

Address link:


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Exhibit 4.8: Farzin Piltan, N. Sulaiman, Samaneh Roosta, M.H. Marhaban & R. Ramli, “Design a New Sliding Mode Adaptive Hybrid Fuzzy Controller”, Journal of Advanced Science & Engineering Research, 1 (1): 115-123, 2011.

Address link:

http://www.sign-ific-ance.co.uk/dsr/index.php/JASER/article/viewFile/19/40

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Exhibit 4.9: Farzin Piltan, Atefe Gavahian, N. Sulaiman & M. H. Marhaban, “Novel Sliding Mode Controller

for Robot Manipulator using FPGA”, Journal of Advanced Science & Engineering Research, 1 (1): 115-123, 2011.

Address link:

https://www.sign-ific-ance.co.uk/dsr/index.php/JASER/article/viewFile/5/51

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Exhibit 4.10: Farzin Piltan, N. Sulaiman, Payman Ferdosali & Iraj Assadi Talooki, “Design Model Free Fuzzy Sliding Mode Control: Applied to Internal Combustion Engine”, International Journal of Engineering, 5 (4):302-312, 2011.

Address link:

http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume5/Issue4/IJE-303.pdf

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Exhibit 4.11: Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System”, International Journal of Robotics and Automation, 2 (4):245-257, 2011

Address link:




http://www.sign-ific-ance.co.uk/dsr/index.php/JASER/article/viewFile/19/40

https://www.sign-ific-ance.co.uk/dsr/index.php/JASER/article/viewFile/5/51




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Exhibit 4.12: Farzin Piltan, A. Jalali & N. Sulaiman, “Design of PC-Based Sliding Mode Controller

and Normalized Sliding Surface Slope Using PSO Method For Robot Manipulator”, International Journal of Robotics and Automation,2 (4): 298-316, 2011.

Address link:

http://scholar.google.com/citations?view_op=view_citation&continue=/scholar%3Fq%3D%2522Design%2Bof%2BPC-

Based%2BSliding%2BMode%2BController%2Band%2BNormalized%2BSliding%2BSurface%2BSlope%2BUsing%2BPSO%2BMethod%2BFor%2BRobot%2BManipulator%2522%26hl%3Den%26as_sdt%3

D0,5&citilm=1&citation_for_view=qFs3XJoAAAAJ:g3aElNc5_aQC&hl=en&oi=saved

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Exhibit 4.13: Farzin Piltan, Amin Jalali, N. Sulaiman, Atefeh Gavahian & Sobhan Siamak, “Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm”, International Journal of Robotics and Automation, 2 (5): 298-316, 2011.

Address link:


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.14: Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki & Payman Ferdosali, “Control of IC Engine:

Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control”, International Journal of Robotics and Automation, 2 (5):360-380, 2011.

Address link:


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Exhibit 4.15: Farzin Piltan, N. Sulaiman, S.Soltani, M. H. Marhaban & R. Ramli, “An Adaptive Sliding Surface Slope Adjustment in PD Sliding Mode Fuzzy Control For Robot Manipulator”, International Journal of Control and Automation, 4 (3): 65-76, 2011. (Scopus, SJR=0.25, Q3)

Address link:

http://www.sersc.org/journals/IJCA/vol4_no3/5.pdf

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Exhibit 4.16: Farzin Piltan, N. Sulaiman, Mehdi Rashidi, Zahra Tajpaikar & Payman Ferdosali, “Design and Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review”, International Journal of Robotics and Automation, 2 (5):265-282, 2011.

Address link:

http://scholar.google.com/citations?view_op=view_citation&continue=/scholar%3Fq%3D%2522Design%2Bof%2BPC-Based%2BSliding%2BMode%2BController%2Band%2BNormalized%2BSliding%2BSurface%2BSlope%2BUsing%2BPSO%2BMethod%2BFor%2BRobot%2BManipulator%2522%26hl%3Den%26as_sdt%3D0,5&citilm=1&citation_for_view=qFs3XJoAAAAJ:g3aElNc5_aQC&hl=en&oi=saved









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Exhibit 4.17: Farzin Piltan, N. Sulaiman , Arash Zargari, Mohammad Keshavarz & Ali Badri, “Design PID-Like Fuzzy Controller with Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator”, International Journal of Artificial Intelligence and Expert System, 2 (4):184-195, 2011.

Address link:

http://www.cscjournals.org/csc/manuscript/Journals/IJAE/volume2/Issue4/IJAE-75.pdf

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Exhibit 4.18: Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari & Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine and Application to Classical Controller”, International Journal of Robotics and Automation, 2 (5):401-425, 2011.

Address link:


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Exhibit 4.19: Samira Soltani & Farzin Piltan, “Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain”, World Applied Science Journal (WASJ), 14 (9): 1306-1312, 2011. (ISI, Scopus, SJR=0.22, Q2)

Address link:

http://idosi.org/wasj/wasj14(9)11/8.pdf

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Exhibit 4.20: Farzin Piltan, N. Sulaiman & I.AsadiTalooki, “Evolutionary Design on-line Sliding Fuzzy Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine”, International Journal of Engineering Science and Technology, 3 (10):7301-7308, 2011.

Address link:

http://www.ijest.info/docs/IJEST11-03-10-187.pdf

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Exhibit 4.21: Farzin Piltan, Nasri B Sulaiman, Iraj Asadi Talooki & Payman Ferdosali, ”Designing On-Line Tunable Gain Fuzzy Sliding Mode Controller Using Sliding Mode Fuzzy Algorithm: Applied to Internal Combustion Engine” World Applied Science Journal (WASJ), 15 (3): 422-428, 2011. (ISI, Scopus, SJR=0.22, Q2)

Address link:

http://www.idosi.org/wasj/wasj15(3)11/17.pdf

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Exhibit 4.22: Farzin Piltan , A. Zare, Nasri B. Sulaiman, M. H. Marhaban & R. Ramli, “A Model Free Robust Sliding Surface Slope Adjustment in Sliding Mode Control for Robot Manipulator”, World Applied Science Journal (WASJ), 12 (12): 2330-2336, 2011. (ISI, Scopus, SJR=0.22, Q2)




http://idosi.org/wasj/wasj14(9)11/8.pdf

http://www.ijest.info/docs/IJEST11-03-10-187.pdf

http://www.idosi.org/wasj/wasj15(3)11/17.pdf


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Address link: http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citatio

n_for_view=qFs3XJoAAAAJ:2osOgNQ5qMEC

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Exhibit 4.23: Farzin Piltan , A. H. Aryanfar, Nasri B. Sulaiman, M. H. Marhaban & R. Ramli, “Design Adaptive Fuzzy Robust Controllers for Robot Manipulator”, World Applied Science Journal (WASJ), 12 (12): 2317-2329, 2011. (ISI, Scopus, SJR=0.22, Q2)

Address link: http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citatio

n_for_view=qFs3XJoAAAAJ:qjMakFHDy7sC

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Exhibit 4.24: Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi & Zahra Tajpeikar, “Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System”, International Journal of Engineering, 5 (5): 380-398, 2011.

Address link:


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Exhibit 4.25: Farzin Piltan, N. Sulaiman, Hajar Nasiri, Sadeq Allahdadi & Mohammad A. Bairami, “Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method”, International Journal of Engineering, 5 (5): 399-418, 2011.

Address link:


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Exhibit 4.26: Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame & Abbas Zare, “Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy Sliding Mode Control”, International Journal of Artificial Intelligence and Expert System, 2 (5):208-228, 2011.

Address link:


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Exhibit 4.27: Farzin Piltan, N. Sulaiman, Amin Jalali & Koorosh Aslansefat, “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 2 (5):317-343, 2011.

Address link:


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http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citation_for_view=qFs3XJoAAAAJ:2osOgNQ5qMEC

http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citation_for_view=qFs3XJoAAAAJ:2osOgNQ5qMEC

http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citation_for_view=qFs3XJoAAAAJ:qjMakFHDy7sC

http://scholar.google.com/citations?view_op=view_citation&hl=en&user=qFs3XJoAAAAJ&pagesize=100&citation_for_view=qFs3XJoAAAAJ:qjMakFHDy7sC






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Exhibit 4.28: Farzin Piltan, N. Sulaiman, Abbas Zare, Mohammadali Dialame & Sadeq Allahdadi, “Design

Adaptive Fuzzy Inference Sliding Mode Algorithm: Applied to Robot Arm”, International Journal of Robotics and Automation,3 (1):283-297, 2011.

Address link:


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Exhibit 4.29: Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian & Samira Soltani, “Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator”, International Journal of Engineering, 5 (5):419-434, 2011.

Address link:


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Exhibit 4.30: Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak & Iman Nazari, “Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control”, International Journal of Control and Automation, 4 (4):91-110, 2011. (Scopus, SJR=0.25, Q3)

Address link:


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Exhibit 4.31: Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta & Samira Soltani, “On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller Based on Lyaponuv Theory”, International Journal of Robotics and Automation, 2 (5):381-400, 2011.

Address link:


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Exhibit 4.32: Farzin Piltan, N. Sulaiman, Samira Soltani, Samaneh Roosta & Atefeh Gavahian, “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator”, International Journal of Engineering, 5 (5):360-379, 2011.

Address link:


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2012




http://www.cscjournals.org/csc/manuscriptinfo.php?ManuscriptCode=67.68.76.59.39.47.49.104&JCode=IJRA&EJCode=66.67.75.58.105&Volume=2&Issue=5





http://www.cscjournals.org/csc/manuscriptinfo.php?ManuscriptCode=68.69.64.40.46.44.44.103&JCode=IJE&EJCode=70.71.66.101&Volume=5&Issue=5






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Exhibit 4.33: Farzin Piltan, Mohammad A.Bairami, Farid Aghayari & Sadeq Allahdadi, “Design Adaptive

Artificial Inverse Dynamic Controller: Design Sliding Mode Fuzzy Adaptive New Inverse Dynamic Fuzzy Controller”, International Journal of Robotics and Automation, 3(1):13-26, 2012.

Address link:


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Exhibit 4.34: Farzin Piltan, Sadeq Allahdadi, Mohammad A.Bairami & Hajar Nasiri, “Design Auto Adjust

Sliding Surface Slope: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 3 (1):27-44, 2012.

Address link:


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Exhibit 4.35: Farzin Piltan, Mohammadali Dialame, Abbas Zare & Ali Badri, “Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator”, International Journal of Engineering, 6 (1):25-41, 2012.

Address link:


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Exhibit 4.36: Farzin Piltan, Mohammad Keshavarz, Ali Badri & Arash Zargari, “Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Feedback Linearization Fuzzy Controller with Minimum Rule Base Tuning Method”, International Journal of Robotics and Automation, 3 (1):1-12, 2012.

Address link:


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Exhibit 4.37: Farzin Piltan, Farid Aghayari, Mehdi Rashidian & Mohammad Shamsodini, “A New Estimate Sliding Mode Fuzzy Controller for Robotic Manipulator”, International Journal of Robotics and Automation 3 (1):45-60, 2012.

Address link:


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Exhibit 4.38: Farzin Piltan, Iman Nazari, Sobhan Siamak, Payman Ferdosali, “Methodology of FPGA-Based Mathematical error-Based Tuning Sliding Mode Controller”, International Journal of Control and Automation, 5(1), 89-118, 2012. (Scopus, SJR=0.25, Q3)

Address link: http://www.sersc.org/journals/IJCA/vol5_no1/7.pdf








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Exhibit 4.39: Farzin Piltan, Bamdad Boroomand, Arman Jahed & Hossein Rezaie, “Methodology of

Mathematical Error-Based Tuning Sliding Mode Controller”, International Journal of Engineering, 6 (2):96-117, 2012.

Address link:


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Exhibit 4.40: Farzin Piltan, Sara Emamzadeh, Zahra Hivand, Fatemeh Shahriyari & Mina Mirazaei, ”PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses”, International Journal of Robotics and Automation, 3(3):106-150, 2012.

Address link:


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Exhibit 4.41: Farzin Piltan, Ali Hosainpour, Ebrahim Mazlomian, Mohammad Shamsodini, Mohammad H. Yarmahmoudi, ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Robotics and Automation, 3(3):77-105, 2012.

Address link:


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Exhibit 4.42: Farzin Piltan, Reza Bayat, Farid Aghayari, Bamdad Boroomand, “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller”, International Journal of Robotics and Automation, 3(3):151-166, 2012.

Address link:


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Exhibit 4.43: Farzin Piltan, Javad Meigolinedjad, Saleh Mehrara, Sajad Rahmdel, ”Evaluation Performance

of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”, International Journal of Robotics and Automation, 3(3): 192-211, 2012.




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Address link:


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Exhibit 4.44: Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh, “Design Baseline Computed Torque Controller”, International Journal of Engineering, 6(3): 129-141, 2012.

Address link:


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Exhibit 4.45: Farzin Piltan, Sajad Rahmdel, Saleh Mehrara, Reza Bayat, “Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses”, International Journal of Engineering, 6(3): 142-177, 2012.

Address link:


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Exhibit 4.46: Farzin Piltan, Mohammad H. Yarmahmoudi, Mohammad Shamsodini, Ebrahim Mazlomian, Ali Hosainpour, ”PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses”, International Journal of Robotics and Automation, 3(3): 167-191, 2012.

Address link:


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Exhibit 4.47: Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, Arman Jahed, “Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine”, International Journal of Advance Science and Technology, 43:40-22, 2012.

Address link:

http://www.sersc.org/journals/IJAST/vol43/12.pdf

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Exhibit 4.48: Farzin Piltan, Sobhan Siamak, Mohammad A. Bairami and Iman Nazari, ”Gradient Descent Optimal Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Advanced Science and Technology, 45: 73-90, 2012.

Address link:









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Exhibit 4.49: Farzin Piltan, Mohammad R. Rashidian, Mohammad Shamsodini and Sadeq Allahdadi, ” Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2nd Order Nonlinear System”, International Journal of Advanced Science and Technology, 46:39-70, 2012.

Address link:

http://www.sersc.org/journals/IJAST/vol46/4.pdf ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.50: Farzin Piltan, Arman Jahed, Hossein Rezaie and Bamdad Boroomand, ”Methodology of

Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System”, International Journal of Control and Automation, 5(3): 217-236, 2012. (Scopus, SJR=0.25, Q3)

Address link:


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Exhibit 4.51: Farzin Piltan, Reza Bayat, Saleh Mehara and Javad Meigolinedjad, ”GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace”, International Journal of Information Engineering and Electronic Business, 4(5): 17-26, 2012. (DOAJ, DOI: 10.5815)

Address link:

http://www.mecs-press.org/ijieeb/ijieeb-v4-n5/IJIEEB-V4-N5-3.pdf

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Exhibit 4.52: Farzin Piltan, Bamdad Boroomand, Arman Jahed and Hossein Rezaie,”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, 4(11): 40-52 2012. (DOAJ, DOI: 10.5815)

Address link:

http://www.mecs-press.org/ijisa/ijisa-v4-n11/IJISA-V4-N11-5.pdf

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Exhibit 4.53: Farzin Piltan, Saleh Mehrara, Reza Bayat and Sajad Rahmdel,”Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology”, International Journal of Hybrid Information Technology, 5(4):41-54, 2012.

Address link:

http://www.sersc.org/journals/IJHIT/vol5_no4_2012/5.pdf

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Exhibit 4.54: Farzin Piltan, and Nasri b Sulaiman” Review of sliding mode control of robotic manipulator”, World Applied Sciences Journal (WASJ), 2012, 18(12):1855–1869. (ISI, Scopus, SJR=0.22, Q2)

Address link: http://www.idosi.org/wasj/wasj18(12)/19.pdf

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Exhibit 4.55: Farzin Piltan, Shahnaz Tayebi Haghighi” Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots”, IAES International Journal of Robotics and Automation (IJRA), 2012, 1(4):175–189.

Address link: file:///C:/Users/piltan/Downloads/883-4929-1-PB.pdf

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Exhibit 4.56: Farzin Piltan, Mozhdeh Piran, Mehdi Akbari, Mansour Barzegar” Baseline Tuning Methodology Supervisory Sliding Mode Methodology: Applied to IC Engine”, IAES International Journal of Advances in Applied Sciences, 2012, 1(3):116-124.

Address link: file:///C:/Users/piltan/Downloads/1197-4875-1-PB%20(1).pdf

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Exhibit 4.57: AH ARYANFAR, MR KHAMMAR, FARZIN PILTAN” Design a robust self-tuning fuzzy sliding mode control for second order systems”, International Journal of Engineering Sciences Research, 2012, 3(4):711-717.

Address link: http://ijesr.in/wp-content/uploads/2012/07/IJESR-Y12-TJ-H140-Design-a-robust-self-tuning-fuzzy-sliding-mode-

control-for-second-order-systems.pdf ♦♦♦♦♦♦♦♦♦♦

2013 Exhibit 4.58: Farzin Piltan, Mehdi Akbari, Mojdeh Piran , Mansour Bazregar, ”Design Model Free

Switching Gain Scheduling Baseline Controller with Application to Automotive Engine”, International Journal of Information Technology and Computer Science, vol.5, no.1, pp.65-73, 2013.DOI: 10.5815/ijitcs.2013.01.07. (DOAJ, DOI: 10.5815)

Address link:

http://www.mecs-press.org/ijitcs/ijitcs-v5-n1/IJITCS-V5-N1-7.pdf

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Exhibit 4.59: Farzin Piltan, Mojdeh Piran , Mansour Bazregar, Mehdi Akbari, “Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio”, International Journal of Intelligent Systems and Applications, vol.5, no.2, pp.59-70, 2013.DOI: 10.5815/ijisa.2013.02.0. (DOAJ, DOI: 10.5815)

http://iaesjournal.com/online/index.php/IJRA/article/view/883

http://iaesjournal.com/online/index.php/IJRA/article/view/883

http://www.iaesjournal.com/online/index.php/IJAAS/article/view/1197



http://ijesr.in/wp-content/uploads/2012/07/IJESR-Y12-TJ-H140-Design-a-robust-self-tuning-fuzzy-sliding-mode-control-for-second-order-systems.pdf






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Address link:


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Exhibit 4.60: Farzin Piltan, M. Bazregar, M. kamgari, M. Akbari and M. Piran, “Adjust the Fuel Ratio

by High Impact Chattering Free Sliding Methodology with Application to Automotive Engine”, International Journal of Hybrid Information Technology, 6(1), 2013.

Address link:


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Exhibit 4.61: Farzin Piltan, S. Zare , F. ShahryarZadeh, M. Mansoorzadeh, M. kamgari, “Supervised Optimization of Fuel Ratio in IC Engine Based on Design Baseline Computed Fuel Methodology”, International Journal of Information Technology and Computer Science , vol.5, no.4, pp.76-84, 2013.DOI: 10.5815/ijitcs.2013.04.09. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.62: Farzin Piltan, M. Mansoorzadeh, S. Zare, F.Shahryarzadeh, M. Akbari, “Artificial Tune of Fuel Ratio: Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control”, International Journal of Electrical and Computer Engineering, 3(2), 2013.

Address link:

http://iaesjournal.com/online/index.php/IJECE/article/view/2092/pdf

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Exhibit 4.63: M. Bazregar, Farzin Piltan, A. Nabaee and M.M. Ebrahimi, “Parallel Soft Computing Control Optimization Algorithm for Uncertainty Dynamic Systems”, International Journal of Advanced Science and Technology, 51, 2013. (DOAJ, DOI: 10.5815)

Address link:


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http://iaesjournal.com/online/index.php/IJECE/article/view/2092/pdf



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Exhibit 4.64: Farzin Piltan, M.H. Yarmahmoudi, M. Mirzaei, S. Emamzadeh, Z. Hivand, “Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, vol.5, no.5, pp.1-10, 2013.DOI: 10.5815/ijisa.2013.05.01. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.65: Sh. Tayebi Haghighi, S. Soltani, Farzin Piltan, M. kamgari, S. Zare, “Evaluation Performance of IC Engine: Linear Tunable Gain Computed Torque Controller Vs. Sliding Mode Controller”, International Journal of Intelligent Systems and Applications, vol.5, no.6, pp.78-88, 2013.DOI: 10.5815/ijisa.2013.06.10. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.66: Amin Jalali, Farzin Piltan, M. Keshtgar, M. Jalali, “Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, vol.5, no.7, pp.50-56, 2013. DOI: 10.5815/ijisa.2013.07.07. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.67: A. Salehi, Farzin Piltan, M. Mousavi, A. Khajeh, M. R. Rashidian, “Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.1-16, 2013. DOI: 10.5815/ijieeb.2013.01.01. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.68: Farzin Piltan, M.J. Rafaati, F. Khazaeni, A. Hosainpour, S. Soltani, “A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.17-25, 2013. DOI: 10.5815/ijieeb.2013.01.02. (DOAJ, DOI: 10.5815)






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Address link: http://www.mecs-press.org/ijieeb/ijieeb-v5-n1/IJIEEB-V5-N1-2.pdf

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Exhibit 4.69: Amin Jalali, Farzin Piltan, A. Gavahian, M. Jalali, M. Adibi, “Model-Free Adaptive

Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot manipulator”, International Journal of Information Engineering and Electronic Business, vol.5, no.1, pp.68-78, 2013. DOI: 10.5815/ijieeb.2013.01.08. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.70: Farzin Piltan, M.A. Bairami, F. Aghayari, M.R. Rashidian, “Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator”, International Journal of Information Technology and Computer Science, vol.5, no.7, pp.103-114, 2013. DOI: 10.5815/ijitcs.2013.07.12. (DOAJ, DOI: 10.5815)

Address link:


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.71: Farzin Piltan, F. ShahryarZadeh ,M. Mansoorzadeh ,M. kamgari, S. Zare, “Robust

Fuzzy PD Method with Parallel Computed Fuel Ratio Estimation Applied to Automotive Engine“, International Journal of Intelligent Systems and Applications, vol.5, no.8, pp.83-92, 2013. DOI: 10.5815/ijisa.2013.08.10. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.72: Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, vol.5, no.8, pp.123-135, 2013. DOI: 10.5815/ijitcs.2013.08.12. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.73: Farzin Piltan, M. Mansoorzadeh, M. Akbari, S. Zare, F. ShahryarZadeh “Management

of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine“ Global Journal of Biodiversity Science And Management, 3(1), 2013.







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Address link:

http://www.aensiweb.com/GJBSM/2013/1-10.pdf

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Exhibit 4.74: M. M. Ebrahimi, Farzin Piltan, M. Bazregar and A.R. Nabaee, “Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator”, International Journal of Control and Automation, 6(3), 2013. (Scopus, SJR=0.25, Q3)

Address link:


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Exhibit 4.75: Farzin Piltan, A. Badri, J. Meigolinedjad, M. Keshavarz, “Adaptive Artificial Intelligence Based Model Base Controller: Applied to Surgical Endoscopy Telemanipulator”, International Journal of Intelligent Systems and Applications, vol.5, no.9, pp.103-115, 2013. DOI: 10.5815/ijisa.2013.09.12. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.76: O.R. Sadrnia, Farzin Piltan, M. Jafari, M. Eram and M. Shamsodini, “Design PID Estimator Fuzzy plus Backstepping to Control of Uncertain Continuum Robot”, International Journal of Hybrid Information Technology, 6(4), 2013.

Address link:


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Exhibit 4.77: A. Jalali, Farzin Piltan, H. Hashemzadeh, A. Hasiri, M.R Hashemzadeh, “Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System”, International Journal of Intelligent Systems and Applications, vol.5, no.10, pp.93-105, 2013. DOI: 10.5815/ijisa.2013.10.12. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.78: M. Moosavi, M. Eram, A. Khajeh, O. Mahmoudi and Farzin Piltan, “Design New Artificial Intelligence Base Modified PID Hybrid Controller for Highly Nonlinear System”, International Journal of Advanced Science and Technology, 57, 2013.

http://www.aensiweb.com/GJBSM/2013/1-10.pdf






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Address link:


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.79: Farzin Piltan, S. Mehrara, J. Meigolinedjad, R. Bayat, ”Design Serial Fuzzy Variable

Structure Compensator for Linear PD Controller: Applied to Rigid Robot”, International Journal of Information Technology and Computer Science, vol.5, no.11, pp.111-122, 2013. DOI: 10.5815/ijitcs.2013.11.12. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.80: S. Zahmatkesh, Farzin Piltan, K. Heidari, M. Shamsodini, S. Heidari, “Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control”, International Journal of Intelligent Systems and Applications, vol.5, no.11, pp.34-46, 2013. DOI: 10.5815/ijisa.2013.11.04. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.81: S. Heidari, Farzin Piltan, M. Shamsodini, K. Heidari and S. Zahmatkesh, “Design New Nonlinear Controller with Parallel Fuzzy Inference System Compensator to Control of Continuum Robot Manipulator”, International Journal of Control and Automation, 6(4), 2013. (Scopus, SJR=0.25, Q3)

Address link:


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Exhibit 4.82: FarzinPiltan, M. Kamgari, S. Zare, F. ShahryarZadeh, M. Mansoorzadeh, “Design Novel Model Reference Artificial Intelligence Based Methodology to Optimized Fuel Ratio in IC Engine”, International Journal of Information Engineering and Electronic Business, vol.5, no.2, pp.44-51, 2013. DOI: 10.5815/ijieeb.2013.02.07. (DOAJ, DOI: 10.5815)

Address link:


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Exhibit 4.83: Farzin Piltan, Mehdi Eram, Mohammad Taghavi, Omid Reza Sadrnia, Mahdi Jafari, "Nonlinear Fuzzy Model-base Technique to Compensate Highly Nonlinear Continuum Robot Manipulator", International Journal of Intelligent Systems and Applications, vol.5, no.12, pp.135-148, 2013. DOI: 10.5815/ijisa.2013.12.12. (DOAJ, DOI: 10.5815)

Address link: http://www.mecs-press.org/ijisa/ijisa-v5-n12/IJISA-V5-N12-12.pdf

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Exhibit 4.84: Amin Jalali, Farzin Piltan, Mohammadreza Hashemzadeh, Fatemeh BibakVaravi, Hossein

Hashemzadeh, "Design Parallel Linear PD Compensation by Fuzzy Sliding Compensator for Continuum Robot", International Journal of Information Technology and Computer Science, vol.5, no.12, pp.97-112, 2013. DOI: 10.5815/ijitcs.2013.12.12. (DOAJ, DOI: 10.5815)

Address link:

http://www.mecs-press.org/ijitcs/ijitcs-v5-n12/IJITCS-V5-N12-12.pdf ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.85: Farzin Piltan, A. Hosainpour, S. Emamzadeh, I. Nazari, M. Mirzaie, “Design Sliding

Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator”, International Journal of Robotics and Automation, Vol. 2, No. 4, December 2013, pp. 149~162. (DOAJ, DOI: 10.11591)

Address link:

http://iaesjournal.com/online/index.php/IJRA/article/view/2251/pdf

♦♦♦♦♦♦♦♦♦♦ Exhibit 4.86: Farzin Piltan, Mahdi Jafari, Mehdi Eram, Omid Mahmoudi, Omid Reza Sadrnia, "Design

Artificial Intelligence-Based Switching PD plus Gravity for Highly Nonlinear Second Order System", International Journal of Engineering and Manufacturing, vol.3, no.1, pp.38-57, 2013.DOI: 10.5815/ijem.2013.01.04 (DOAJ, DOI: 10.5815)

Address link: http://www.mecs-press.org/ijem/ijem-v3-n1/IJEM-V3-N1-4.pdf

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Exhibit 4.87: Farzin Piltan, Sara Emamzadeh, Sara Heidari, Samaneh Zahmatkesh, Kamran Heidari, "Design Artificial Intelligent Parallel Feedback Linearization of PID Control with Application to Continuum Robot", International Journal of Engineering and Manufacturing, vol.3, no.2, pp.51-72, 2013.DOI: 10.5815/ijem.2013.02.04 (DOAJ, DOI: 10.5815)

Address link: http://www.mecs-press.org/ijem/ijem-v3-n2/IJEM-V3-N2-4.pdf

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Exhibit 4.88: Mohammad Mahdi Ebrahimi, Farzin Piltan, Mansour Bazregar, AliReza Nabaee,"Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot



http://iaesjournal.com/online/index.php/IJRA/article/view/2251/pdf

http://www.mecs-press.org/ijem/ijem-v3-n1/IJEM-V3-N1-4.pdf

http://www.mecs-press.org/ijem/ijem-v3-n2/IJEM-V3-N2-4.pdf


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Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.5, pp.57-69, 2013. DOI: 10.5815/ijieeb.2013.05.08 (DOAJ, DOI: 10.5815)


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Exhibit 4.89: Arman Jahed, Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, "Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", International Journal of Information Engineering and Electronic Business, vol.5, no.3, pp.66-77, 2013. DOI: 10.5815/ijieeb.2013.03.08. (DOAJ, DOI: 10.5815)


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Exhibit 4.90: Mahdi Mirshekaran,Farzin Piltan,Zahra Esmaeili,Tannaz Khajeaian,Meysam Kazeminasab,"Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", International Journal of Modern Education and Computer Science, vol.5, no.10, pp.53-63, 2013.DOI: 10.5815/ijmecs.2013.10.07. (DOAJ, DOI: 10.5815)

Address link: http://www.mecs-press.org/ijmecs/ijmecs-v5-n10/IJMECS-V5-N10-7.pdf

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Exhibit 4.91: Mohammad Shamsodini, Farzin Piltan, Mahdi Jafari, Omid reza Sadrnia, Omid Mahmoudi,"Design Modified Fuzzy Hybrid Technique: Tuning By GDO", International Journal of Modern Education and Computer Science, vol.5, no.8, pp.58-72, 2013.DOI: 10.5815/ijmecs.2013.08.07. (DOAJ, DOI: 10.5815)


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Exhibit 4.92: Kamran Heidari, Farzin Piltan, Samaneh Zahmatkesh, Sara Heidari, Mahdi Jafari,"Design High Efficiency Intelligent Robust Backstepping Controller", International Journal of Information Engineering and Electronic Business, vol.5, no.6, pp.22-32, 2013. DOI: 10.5815/ijieeb.2013.06.03 (DOAJ, DOI: 10.5815)


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2014 Exhibit 4.93: Meysam Kazeminasab, Farzin Piltan, Zahra Esmaeili, Mahdi Mirshekaran, Alireza Salehi,"Design

Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot", IJISA, vol.6, no.1, pp.112-123, 2014. DOI: 10.5815/ijisa.2014.01.12 (DOAJ, DOI: 10.5815)



http://www.mecs-press.org/ijmecs/ijmecs-v5-n10/IJMECS-V5-N10-7.pdf




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Address link:


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.94: Mansour Bazregar, Farzin Piltan, Mehdi Akbari, Mojdeh Piran, "Management of Automotive

Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization", IJITCS, vol.6, no.1, pp.101-107, 2014. DOI: 10.5815/ijitcs.2014.01.12 (DOAJ, DOI: 10.5815)

Address link: http://www.mecs-press.org/ijitcs/ijitcs-v6-n1/IJITCS-V6-N1-12.pdf

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Exhibit 4.95: Mojdeh Piran, Farzin Piltan, Mehdi Akbari, Mansour Bazregar, "Quality Model and Artificial Intelligence Base Fuel Ratio Management with Applications to Automotive Engine", IJISA, vol.6, no.2, pp.76-87, 2014. DOI: 10.5815/ijisa.2014.02.10 (DOAJ, DOI: 10.5815)


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.96: Ali Shahcheraghi, Farzin Piltan, Masoud Mokhtar, Omid Avatefipour, Alireza Khalilian, "Design

a Novel SISO Off-line Tuning of Modified PID Fuzzy Sliding Mode Controller", IJITCS, vol.6, no.2, pp.72-83, 2014. DOI: 10.5815/ijitcs.2014.02.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.97: Omid Avatefipour, Farzin Piltan, Mahmoud Reza Safaei Nasrabad, Ghasem Sahamijoo, Alireza Khalilian,"Design New Robust Self Tuning Fuzzy Backstopping Methodology", IJIEEB, vol.6, no.1, pp.49-61, 2014. DOI: 10.5815/ijieeb.2014.01.06 (DOAJ, DOI: 10.5815)


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Exhibit 4.98: Zahra Esmaieli, Farzin Piltan, Meysam Kazeminasab, Ali Reza Salehi, Mahdi Mirshekaran,"Design Intelligent Robust Back stepping Controller", IJMECS, vol.6, no.1, pp.53-64, 2014.DOI: 10.5815/ijmecs.2014.01.06 (DOAJ, DOI: 10.5815)


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.99: Narges Gholami Mozafari, Farzin Piltan, Mohammad Shamsodini, Azita Yazdanpanah, Ali

Roshanzamir,"On Line Tuning Premise and Consequence FIS Based on Lyaponuv Theory with Application to Continuum Robot", International Journal of Intelligent Systems and Applications, vol.6, no.3, pp.96-110, 2014. DOI: 10.5815/ijisa.2014.03.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.100: Mansour Bazregar, Farzin Piltan, AliReza Nabaee, MohammadMahdi Ebrahimi,"Design Modified Fuzzy PD Gravity Controller with Application to Continuum Robot", International Journal of Information Technology and Computer Science, vol.6, no.3, pp.82-94, 2014. DOI: 10.5815/ijitcs.2014.03.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.101: Arzhang Khajeh, Farzin Piltan, Mohammad Reza Rashidian, Afsaneh Salehi, Ehsan pouladi ,"Design New Intelligent PID like Fuzzy Backstepping Controller ", International Journal of Modern Education and Computer Science, vol.6, no.2, pp.15-26, 2014.DOI: 10.5815/ijmecs.2014.02.03 (DOAJ, DOI: 10.5815)


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Exhibit 4.102: Alireza Salehi, Farzin Piltan, Mahdi Mirshekaran, Meysam Kazeminasab, Zahra Esmaeili,"Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control", International Journal of Information Technology and Computer Science, vol.6, no.4, pp.66-80, 2014. DOI: 10.5815/ijitcs.2014.04.08 (DOAJ, DOI: 10.5815)


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Exhibit 4.103: Iman Nazari, Ali Hosainpour, Farzin Piltan, Sara Emamzadeh, Mina Mirzaie,"Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", International Journal of Intelligent Systems and Applications, vol.6, no.4, pp.63-75, 2014. DOI: 10.5815/ijisa.2014.04.07 (DOAJ, DOI: 10.5815)


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Exhibit 4.104: Mojtaba Yaghoot, Farzin Piltan, Meysam Esmaeili, Mohammad Ali Tayebi, Mahsa Piltan,"Design Intelligent Robust Model-base Sliding Guidance Controller for Spherical Motor", International Journal of Modern Education and Computer Science, vol.6, no.3, pp.61-72, 2014.DOI: 10.5815/ijmecs.2014.03.08. (DOAJ, DOI: 10.5815)


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Exhibit 4.105: Ali Roshanzamir, Farzin Piltan, Narges Gholami mozafari, Azita Yazdanpanah, Marjan Mirshekari, “Design Intelligent Model base Online Tuning Methodology for Nonlinear System“, International Journal of Modern Education and Computer Science, vol.6, no.4, pp.46-56, 2014.DOI: 10.5815/ijmecs.2014.04.07. (DOAJ, DOI: 10.5815)


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Exhibit 4.106: AliReza Nabaee, Farzin Piltan, MohammadMahdi Ebrahimi, Mansour Bazregar, “Design

Intelligent Robust Partly Linear Term SMC for Robot Manipulator Systems“, International Journal of Intelligent Systems and Applications, vol.6, no.6, pp.58-71, 2014. DOI: 10.5815/ijisa.2014.06.07. (DOAJ, DOI: 10.5815)


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Exhibit 4.107: Mohammad shamsodini, Farzin Piltan, Saman Rahbar, Ehsan Pooladi, Hossein

Davarpanah, “Design New PID like Fuzzy CTC Controller: Applied to Spherical Motor”, International Journal of Modern Education and Computer Science, vol.6, no.5, pp.60-68, 2014.DOI: 10.5815/ijmecs.2014.05.08. (DOAJ, DOI: 10.5815)


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Exhibit 4.108: Masoud Mokhtar, Farzin Piltan, Marjan Mirshekari, Alireza Khalilian, Omid Avatefipour,

"Design Minimum Rule-Base Fuzzy Inference Nonlinear Controller for Second Order Nonlinear System", International Journal of Intelligent Systems and Applications, vol.6, no.7, pp.79-88, 2014. DOI: 10.5815/ijisa.2014.07.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.109: Alireza Khalilian, Ghasem Sahamijoo, Omid Avatefipour, Farzin Piltan, Mahmoud Reza Safaei

Nasrabad, "Design High Efficiency-Minimum Rule Base PID Like Fuzzy Computed Torque Controller", of Information Technology and Computer Science, vol.6, no.7, pp.77-87, 2014. DOI: 10.5815/ijitcs.2014.07.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.110: Maryam Rahmani, Farzin Piltan, Farzin Matin, Hamid Cheraghi, Nasim Sobhani," Design Intelligent System Compensator to Computed Torque Control of Spherical Motor", International Journal of Intelligent Systems and Applications, vol.6, no.8, pp.87-96, 2014. DOI: 10.5815/ijisa.2014.08.10 (DOAJ, DOI: 10.5815)


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Exhibit 4.111: Alireza Khalilian, Farzin Piltan, Omid Avatefipour, Mahmoud Reza Safaei Nasrabad, Ghasem

Sahamijoo,"Design New Online Tuning Intelligent Chattering Free Fuzzy Compensator", International Journal of Intelligent Systems and Applications, vol.6, no.9, pp.75-86, 2014. DOI: 10.5815/ijisa.2014.09.10 (DOAJ, DOI: 10.5815)


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.112: Mahsa Piltan, Farzin Piltan, Mojtaba Yaghoot, Saman Rahbar, Mohammad Ali Tayebi,"Design

High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor", International Journal of Information Engineering and Electronic Business, vol.6, no.4, pp.52-62, 2014. DOI: 10.5815/ijieeb.2014.04.08. (DOAJ, DOI: 10.5815)


♦♦♦♦♦♦♦♦♦♦ Exhibit 4.113: Mohammad Ali Tayebi, Farzin Piltan, Mahsa Piltan, Mojtaba Yaghoot, Meysam

Esmaeili,"Design New Intelligent-Base Chattering Free Nonlinear Control of Spherical Motor", International Journal of Intelligent Systems and Applications, vol.6, no.10, pp.55-66, 2014. DOI: 10.5815/ijisa.2014.10.08. (DOAJ, DOI: 10.5815)


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Exhibit 4.114: Azita Yazdanpanah, Farzin Piltan, Ali Roshanzamir, Marjan Mirshekari, Narges Gholami mozafari, “Design PID Baseline Fuzzy Tuning Proportional- Derivative Coefficient Nonlinear Controller with Application to Continuum Robot“, International Journal of Intelligent Systems and Applications, vol.6, no.5, pp.90-100, 2014. DOI: 10.5815/ijisa. 2014.05.10 (DOAJ, DOI: 10.5815).

Address link:

www.mecs-press.org/ijisa/ijisa-v6-n5/IJISA-V6-N5-10.pdf ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.115: Farzin Matin, Farzin Piltan, Hamid Cheraghi, Nasim Sobhani, Maryam Rahmani, “Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor“, International Journal of Information Engineering and Electronic Business, vol.6, no.2, pp.53-63, 2014. DOI: 10.5815/ijieeb. 2014.02.07(DOAJ, DOI: 10.5815).

Address link:

www.mecs-press.org/ijieeb/ijieeb-v6-n2/IJIEEB-V6-N2-7.pdf ♦♦♦♦♦♦♦♦♦♦




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Exhibit 4.116: Ali Barzegar, Farzin Piltan, Mahmood Vosoogh, Abdol Majid Mirshekaran, Alireza Siahbazi, “Design Serial Intelligent Modified Feedback Linearization like Controller with Application to Spherical Motor“, Journal of Information Technology and Computer Science, vol.6, no.5, pp.72-83, 2014. DOI: 10.5815/ijitcs. 2014.05.10 (DOAJ, DOI: 10.5815).

Address link:

www.mecs-press.org/ijitcs/ijitcs-v6-n5/IJITCS-V6-N5-10.pdf ♦♦♦♦♦♦♦♦♦♦

Chapter of Books Exhibit 4.117: 1700 solved problems in Electronics By:F.Piltan & A.Rezaiean;2nd Edition; 2000 ; ISBN:964-

91383-1-5 (In Persian Language). Exhibit 4.118: 1940 notes and tests in Electronics By: F.Piltan & A.Rezaiean ;2005, ISBN :979-64958-811-7

(In Persian Language).

Exhibit 4.119: General Electronic (1) By: F.Piltan ;3rd Edition;2001 ; ISBN:964-6419-92-5 (In Persian Language).

Exhibit 4.120: General Electronic (2) By:F.Piltan ;4th Edition;2002 ; ISBN:964-6419-93-3 (In Persian Language).

Exhibit 4.121: Electronic Guide Line By:F.Piltan & SH.Tayebi ;2007;ISBN:964-8002-6-5 (In Persian Language).

Exhibit 4.122: Electric Circuit Guide Line By: F.Piltan & SH.Tayebi;2007; ISBN:964-8002-67-3 (In Persian

Language). Exhibit 4.123: Principles of Instrumentation By: F.Piltan & A.Rahideh; Under processing (In Persian Language).


Nonlinear control of Industrial Robot Manipulator for Experimental Research and Education

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