Research of Full Digital Control for Nonlinear Systems (e.g., Industrial Robot Manipulator, IC...

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

Investor: Iranian Institute of Advance Science and Technology (2011- continue)

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

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

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Forth Project • Project Title: 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

• Investor: Iranian Institute of advanced science and Technology (IRAN SSP), IRAN, 2010 to date

• Collaborate: University Putra Malaysia (UPM), Malaysia • Supervisor: Dr Nasri. B. Sulaiman (UPM) and Dr Mohd Nizar Hamidon (UPM) • Advisor and team leader: Farzin Piltan (IRAN SSP)

Project Research groups: FROM IRAN SSP (IRAN): • Adel Nowzary • Koorosh Aslansefat • Iman Nazari • Sobhan Siamak • Payman Ferdosali • Sara Heidari • Samira Soltani • Kamran Heidari • Mehdi Eram • Omid Mahmoudi • Arzhang Khajeh • MohammadReza Rashidian • Zahra Esmaeili • Omid Avatefipour • Mahmoud Reza Safaei Nasrabad • Mahsa Piltan • Mohammad Ali Tayebi • Maryam Rahmani • Hamid Cheraghi • Meysam Esmaili



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

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

• Project description:

A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands

of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an

FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used

to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some

applications due to their parallel nature and optimality in terms of the number of gates used for a certain process.

Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical

imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware

emulation, radio astronomy, metal detection and a growing range of other areas.

Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production

is small. For these low-volume applications, the premium that companies pay in hardware costs per unit for a

programmable chip is more affordable than the development resources spent on creating an ASIC for a low-volume

application. Today, new cost and performance dynamics have broadened the range of viable applications. An FPGA

chip is programmed by Hardware Description Language (HDL) which contains two types of languages, Very High

Description Language (VHDL) and Verilog. VHDL is one of the powerful programming languages that can be used

to describe the hardware design. VHDL was developed by the Institute of Electrical and Electronics Engineers

(IEEE) in 1987 and Verilog was developed by Gateway Design Automation in 1984. In any application that

requires real time processing, such as real time control applications, parallel Xilinx implementations are needed to

speed up the hardware. This research focuses on FPGA-based nonlinear technique control for nonlinear system.



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FPGAs Xilinx Spartan 3E families are one of the most powerful flexible Hardware Language Description (HDL)

programmable IC’s. To have the high speed processing FPGA based nonlinear controller in Xilinx ISE 9.1 is

designed and implemented. In this project the conventional or intelligent nonlinear controller is implemented in

FPGA to modify the result of industrial robot, IC engine, continuum robot and spherical motor.

Main Objectives: 1. Modeling and implementation of nonlinear system

2. Select the best nonlinear/linear control methodology to have high quality response

3. Design high speed FPGA-based controller and implement it using VHDL/Verilog in FPGA

4. Modify the performance of control technique

5. Research, design, implementation and analysis

• Contributions:

Most of nonlinear controllers need real time mobility operation so one of the most important devices which can be

used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in

a single chip Integrated Circuit (IC). To have higher implementation speed with good performance proposed

nonlinear controller is implemented on Spartan 3E FPGA using Xilinx software to control of nonlinear systems. The

main contributions of this project are:

• Design high speed digital nonlinear dynamical-base controller

• Improve the accuracy by defined 30 bits inputs and 35 bits outputs to increase the quality performance.

• To filter the error new technical method is used based on mathematical functions

• Design new mathematical based LUT to improve the response of nonlinear based functions.

• Defined a new algorithm to improve the speed and accuracy and also reduce the capacity limitation.



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• Concrete Value or application of the results:

According to this research; • Time response is 15.716 𝑛𝑛𝑛𝑛 clock period with 63.29 𝑀𝑀𝑀𝑀𝑀𝑀 of a maximum frequency and 4.407 𝑛𝑛𝑛𝑛 for

minimum input arrival time after clock.

• From investigation and synthesis summary, 30.286 𝑛𝑛𝑛𝑛 for maximum input arrival time after clock with

33.018 𝑀𝑀𝑀𝑀𝑀𝑀 frequencies,

• Reduce the delay: 15.716 𝑛𝑛𝑛𝑛 delays for each controller to 46 logic elements and also the offset before

CLOCK is 55.773 𝑛𝑛𝑛𝑛 for 132 logic gates.

• Reduce the controller computation time up to 30.2 ns

• Published more than 4 journal papers from 2011 to date that according to statistic information from researchgate one of these papers with name “Evolutionary Design of Mathematical tunable FPGA Based MIMO Fuzzy Estimator Sliding Mode Based Lyapunov Algorithm: Applied to Robot Manipulator” has been downloaded more than 3000 times.

• Background information:

Digital control is a branch of control theory that uses digital computers to act as system controllers. Depending on the requirements, a digital control system can take the form of a microcontroller to an ASIC to a standard desktop computer.

Since the creation of the first digital computer in the early 1940s the price of digital computers has dropped considerably, which has made them key pieces to control systems for several reasons:

• Inexpensive: under $5 for many microcontrollers

• Flexible: easy to configure and reconfigure through software

• Scalable: programs can scale to the limits of the memory or storage space without extra cost

• Adaptable: parameters of the program can change with time

• Static operation: digital computers are much less prone to environmental conditions than capacitors, inductors, etc.

One of the important tools to design digital controller is FPGA. Specific applications of FPGAs include digital

signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition,

nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection

and a growing range of other areas.

https://www.researchgate.net/publication/232252151_Evolutionary_Design_of_Mathematical_tunable_FPGA_Based_MIMO_Fuzzy_Estimator_Sliding_Mode_Based_Lyapunov_Algorithm_Applied_to_Robot_Manipulator




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

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

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

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

http://en.wikipedia.org/wiki/Application-specific_integrated_circuit

http://en.wikipedia.org/wiki/Atanasoff%E2%80%93Berry_Computer

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

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



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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

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

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

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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:


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 4.7: 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:


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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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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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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)

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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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 4.27: 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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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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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







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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

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:


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 4.37: 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.

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.






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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








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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

♦♦♦♦♦♦♦♦♦♦ 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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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





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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)

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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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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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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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)


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





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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)

Address link:


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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.

Address link:

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

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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.

Address link:









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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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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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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 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)

Address link: http://www.mecs-press.org/ijieeb/ijieeb-v5-n5/IJIEEB-V5-N5-8.pdf

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





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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)

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)








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♦♦♦♦♦♦♦♦♦♦ 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




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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 ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦






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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).

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