Sharif Digital Repository

In the literature of motor behavior, rapid and harmonious human movements and adaptation to limb dynamics are described with reference to internal models. Concepts of internal models in neuroscience cognitive sciences and computational modeling have been investigated and their structure and performance have been evaluated by behavioral, neurophysiological and medical imaging data. The purpose of the theory of internal models is to explain the mechanism of human movement. Based on this theory, the central nervous system uses internal models to predict and adjust movements and reduce uncertainty. Uncertainty refers to the unknown dynamics of the system due to the lack of access to accurate... 

Identifying fractional systems and designing controllers for these systems is one of the leading challenges due to their limitations. Systems can have constraints on output, input, and states. These constraints make it difficult to design a controller. In this project, controller design methods for fractional-order systems with output constraints are investigated. A controller is designed for a strict feedback nonlinear system with unknown dynamics subject to asymmetric and variable output constraints, unknown direction of the controller, and unmeasurable states. To design the controller, the direct and backstepping technique is used and the Lyapunov barrier function is applied for the first... 

Due to the presence of a random variable in the process dynamics or due to the presence of measurement noise, many processes have stochastic in nature. Behaviors of these processes are different from the deterministic processes and therefore their controllers are also different. The aim of this research is to design adaptive controller for stochastic processes with a non-strict feedback structure and in the presence of input constraints. Also, the considered system has other limitations such as the unmeasured states, actuator failure, unknown dynamics and fixed time stability is desired. The input limitation can be caused by the limitation of the final control element, because the input...