This paper presents a state observer design for a class of MTMO nonlinear systems that has a block triangular structure. For this, the extension of the existing design for SISO triangular systems to MIMO cases is provided. Since the gain of the proposed observer. depends on a nonlinear part as well as a linear one of a system, it improves the transient performance of the high gain ob-server. Also, by using a generalized similarity transformation for the error dynamics, it is shown that order some boundedness condi-tion, the proposed observer guarantees the global exponential convergence of the estimation error. Finally, we will give a simulation example to show the validity of our design methodology.

In this note, we suggest a new matching condition and extend the stability analysis to the ultimate boundness of state $\chi$(t) for uncertain input-delay systems, using a sliding control with delay compensation.

This paper is concerned with H$_{\infty}$ controller design methods for descriptor systems with and without time-varying delays in state and control input. The sufficient condition for the existence of an H$_{\infty}$ controller and the controller design method are presented by linear matrix inequality (LMI), singular value decomposition, Schur complements, and changes of variables. Since the obtained sufficient condition can be changed to an LMI form by proper manipulations, all solutions including controller gain can be obtained at the same time. Moreover, it is shown that robust H$_{\infty}$ controller design problem for parameter uncertain descriptor systems with time-varying delays in state and control input can be solvable using the proposed method.

Unknown inputs observer(UIO) which is achieved by the coordinate transformation method has the differential of system outputs in the observer and the equation for unknown inputs estimation. Generally, the differential of system outputs in the observer can be eliminated by defining a new variable. But it brings about the partition of the observer into two subsystems and need of an additional differential of system outputs still remained to estimate the unknown inputs. Therefore, the block pulse function expansions and its differential operation which is a newly derived in this paper are presented to alleviate such problems from an algebraic form.

A practical issue is studied to improve the performance of a new energy based method of achieving stable, high performance haptic interface control. The issue is related to resetting the amount of energy accumulated in the Passivity Observer for faster operation. A heuristic method is derived and experimentally tested for the resetting and it is shown to help the PC to operate sooner when the system gets active. Experimental results are presented for the “Excalibur” haptic device.

The paper presents a single constraint equation of the direct kinematic solution of 6-dof (Stewart-Gough) platforms. Many research works have presented a single polynomial of the direct kinematics for several 6-dof platforms. However, the formulation of the polynomial has potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots. This results in heavy computational burden and time-consuming task. Thus, to overcome these problems, we use a new formulation approach, called the Tetrahedron Approach, to easily derive a single constraint equation, not a polynomial one, of the direct kinematics and use two well-known numerical iterative methods to find the solution of the single constraint equation. Their performance and characteristics are investigated through a series of simulation.

In this paper, a counting algorithm hybridized with an adaptive automatic thresholding method based on Otsu's method and the algorithm that elongates markers obtained by the well-known watershed algorithm is proposed to enhance the exactness of the microcell counting in microscopic images. The proposed counting algorithm can be stated as follows. The transformed full image captured by CCD camera set up at microscope is divided into cropped images of m$\times$n blocks with an appropriate size. The thresholding value of the cropped image is obtained by Otsu's method and the image is transformed into binary image. The microbial cell images below prespecified pixels are regarded as noise and are removed in tile binary image. The smoothing procedure is done by the area opening and the morphological filter. Watershed algorithm and the elongating marker algorithm are applied. By repeating the above stated procedure for m$\times$n blocks, the m$\times$n segmented images are obtained. A superposed image with the size of 640$\times$480 pixels as same as original image is obtained from the m$\times$n segmented block images. By labeling the superposed image, the counting result on the image of microbial cells is achieved. To prove the effectiveness of the proposed mettled in counting the microbial cell on the image, we used Acinetobacter sp., a kind of ammonia-oxidizing bacteria, and compared the proposed method with the global Otsu's method the traditional watershed algorithm based on global thresholding value and human visual method. The result counted by the proposed method shows more approximated result to the human visual counting method than the result counted by any other method.

In this paper, we present a new approach to autopilot design for skid-to-turn missiles which may have severe aerodynamic cross-couplings and nonlinearities with angle of attack. The model of missile motion is derived in the maneuver plane and, based on that model, pitch, yaw, and roll autopilot are designed. They are composed of a nonlinear term which compensates for the aerodynamic couplings and nonlinearities and a linear controller driven by the measured outputs of missile accelerations and angular rates. Besides the outputs, further information such as Mach number, dynamic pressure, total angle of attack, and bank angle is required. With the proposed autopilot and simple estimators of bank angle and total angle of attack, it is shown by computer simulations that the induced moments and some aerodynamic nonlinearities are properly compensated and that the performance is superior to that of the conventional ones.

Multi-valued decision making for transitional stochastic events was newly derived based on conditional probability of knowledge database which included experts'knowledge and experience. The proposed multi-valued decision making was successfully adopted to the determination of the five levels of the vigilance of a subject during the EEG (electroencephalogram) recording; awake stage (stage W), and sleep stages (stage REM (rapid eye movement), stage 1, stage 2, stage $\sfrac{3}{4}$). Innovative feature of the proposed method is that the algorithm of decision making can be constructed only by use of the knowledge database, inspected by experts. The proposed multi-valued decision making with a mathematical background of the probability can also be applicable widely, in industries and in other medical fields for purposes of the multi-valued decision making.

This paper proposed a modified observer based on Busawon's high gain observer using an appropriate time depended function, which can be chosen to make each estimated state converge faster to its real value. The stability of the modified observer is proved by using Lyapunov function. The modified nonlinear observer is applied to estimate the states in stirred tank bioreactor: out-put substrate concentration, output biomass concentration and the specific growth rate of the process. The convergences of the modified observer and Busawon's observer are compared trough simulation results. As the results, the modified observer converges faster to its real value than the well-known Busawon's observer.