Design high precision and fast dynamic controller for

Design high precision and fast dynamic controller for multi-degrees of freedom actuator for Experimental Research and Education

Investor: Iranian Institute of Advance Science and Technology (2013- continue)

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

Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education Forth Project

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Project Title: Design high precision and fast dynamic controller for multi-degrees of freedom actuator for Experimental Research and Education

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Investor: Iranian Institute of advanced science and Technology (IRAN SSP), IRAN, 2013 to date

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Collaborate: University Putra Malaysia (UPM), Malaysia

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

Project Research groups: FROM IRAN SSP (IRAN):

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Abdol Majid Mirshekaran Maryam Rahmani Hamid Cheraghi Mojtaba Yaghoot Alireza Siahbazi Ali Barzegar Mahsa Piltan Mohammad Ali Tayebi Mahmood Vosoogh Nasim Sobhani Farzin Matin Saman Rahbar Meysam Esmaieli Hossein Davarpanah MohammadHadi Mazloom Seyed Mohammad Beheshti Amir Sahami MohammadReza Avazpour Hootan Ghiasi

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education Project description:

Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development of unusual, yet high performance actuators that have the potential to realize multi-DOF motion in a single joint. One such actuator is the spherical motor. Compared to conventional robotic manipulators that offer the same motion capabilities, the spherical motor possesses several advantages. Not only can the motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. The spherical motor is much simpler and more compact in design than most multiple single-axis robotic manipulators. The motor is also relatively easy to manufacture. The spherical motor have potential contributions to a wide range of applications such as coordinate measuring, object tracking, material handling, automated assembling, welding, and laser cutting. All these applications require high precision motion and fast dynamic response, which the spherical motor is capable of delivering.

Previous research efforts

on the spherical motor have demonstrated most of these features. These, however, come with a number of challenges. The spherical motor exhibits coupled, nonlinear and very complex dynamics.

The design and

implementation of feedback controllers for the motor are complicated by these dynamics. The controller design is further complicated by the orientation-varying torque generated by the spherical motor. An Important question which comes to mind is that why this proposed methodology should be used when lots of control techniques are accessible to design high precision motion and fast dynamic response? Answering to this question is the main objective in this part. The dynamics of a spherical motor is highly nonlinear, time variant, MIMO, uncertain and there exist strong coupling effects between joints. Spherical motor’s dynamic models through a large number of highly nonlinear parameters generate the problem of computation as a result it is caused to many challenges for real time applications. To eliminate the actual acceleration measurement and also the computation burden as well as have stabile, efficiency and robust controller, base-line sliding mode controller is introduced. Assuming unstructured uncertainties and structure uncertainties can be defined into one term and considered as an uncertainty and external disturbance, the problem of computation

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

burden and large number of parameters can be solved to some extent. Hence conventional switching sliding mode controller is an apparent nominates to design a controller using the bounds of the uncertainties and external disturbance. There are three main issues limiting the applications of conventional sliding mode controller; dynamicbased formulation of conventional control method, computation of the bounds of uncertainties, and high frequency oscillation. The problem in time of system response dynamic formulation of spherical motor is not a simple task and minimum rule-base fuzzy logic theory is used to reduce this challenge. If PID fuzzy logic controller is used, we have limitation in the number of fuzzy rule table. Consequently in this design PID fuzzy is extract by PD fuzzy plus PI fuzzy theory. To have a good design, PID fuzzy logic controller will be work based on PD fuzzy rule table in three parts of fuzzy logic area. Uncertainties are very important challenges and caused to overestimation of the bounds. As this point if 𝑆𝑆 = 𝐾𝐾1 𝑒𝑒 +

𝑒𝑒̇ + 𝐾𝐾2 ∑ 𝑒𝑒 = 0 is chosen as desired sliding surface, if the dynamic of spherical motor is derived to sliding surface and if switching function is used to reduce the challenge of uncertainty then the linearization and decoupling through the use of feedback, not gears, can be realized. Because, when the system dynamic is on the sliding surface and switching function is used the derivative of sliding surface 𝑆𝑆̇ = 𝐾𝐾1 𝑒𝑒̇ + 𝑒𝑒̈ + 𝐾𝐾2 𝑒𝑒 is equal to the zero that is a

decoupled and linearized closed-loop spherical motor dynamics that one expects in computed torque control. Linearization and decoupling by the above method can be obtained in spite of the quality of the spherical motor dynamic model, in contrast to the computed-torque control that requires the exact dynamic model of a system. It is well known fact that if the uncertainties are very good compensate there is no need to use discontinuous part which create the high frequency chattering. To compensate the uncertainties fuzzy logic theory is a good candidate, but design a fuzzy controller with perfect dynamic compensation in presence of uncertainty is very difficult. Therefore, if the uncertainties are estimated and if the estimation results are used by discontinuous feedback control, and if low pass filter is added to this part, high frequency oscillation can be eliminated. Finally, for a linear and partially decoupled dynamics of the robot manipulator, when the result is near to the sliding surface, a linear controller is designed based on the deviation of state trajectories from the sliding surface. The above discussion gives rational for selecting the proposed methodology in this research.

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Main Objectives:

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Modeling and implementation of multi-degrees of freedom actuator

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Select the best nonlinear/linear control methodology to have high precision motion and fast dynamic response

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Eliminate/reduce the high frequency oscillation based on low pass filter and linear PD methodology in high speed switching function

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Reduce the uncertainties limitation with respect to time response

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Improve to system dynamic response based on new intelligent method

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education • Contributions: According to the high frequency challenge, linear boundary layer method based on saturation function is introduced in previous research. In this method the researcher introduced saturation function with small neighborhood of the switching surface in the sliding mode control law instead of the switching (sign) function. Based on above method however the high frequency oscillation may be eliminated by linear boundary layer method but there is lost stability and also increase the error which caused to reduce the precision. In sliding mode controller select the desired sliding surface and 𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔 function play a vital role to fast dynamic

response and if the system dynamic is derived to sliding surface then the linearization and decoupling through the use of feedback, not gears, can be realized but it caused to high frequency oscillation. To reduce/eliminate the high frequency oscillation in presence of switching functions; low pass filter and linear controller are added to discontinuous part of sliding mode controller. Active low pass filter can caused to eliminate filter frequency and linear method is type of stable controller as well as conventional sliding mode controller. In this method the speed of dynamic response is improve as well as eliminate the high frequency oscillation based on switching function, filter and linear method. The nonlinear dynamic formulation problem in highly nonlinear system can be solved by fuzzy logic theorem. In this research time of dynamic response is also important for ours. Therefore design minimum-rule base high precision method is used in this research and to reduce the limitation of uncertainty as well as time response this technique is also used as system tuning. •

Concrete Value or application of the results:

According to this research; • Improve the spherical motor finite formulation to take into account nonlinear effects that result due to saturation in the permanent magnet. • Improve the rate of oscillation from 30% in conventional to 10% in parallel linear and 0.01% in proposed method. • Improve the rate of motion precision up to 40% disturbance from 0.12 inch in conventional to 0.0001562 inch in proposed method. • The rate of energy consumption improves from 8% to 0.88%. • The rate of errors improves about 38%. • Published more than 7 journal papers from 2013 to date.

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education •

Background information:

Spherical motors are finding wide use in a number of Industries (such as surgical instruments robot). In these instruments precision, flexibility and size are very important. Traditional surgical robotic can realize multi-DOF using gear and linkages to connect several single-DOF motors in series and/or parallel and caused to have large in size and mass and also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages and also have limitation in speed and precision motion. To solve these challenges in surgical robot and also for high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator, namely spherical motor. Compared to conventional surgical robot that offers the same motion capabilities, the spherical motor possesses several advantages. Not only can the motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. The spherical motor is much simpler and more compact in design than most multiple single-axis robotic manipulators. The motor is also relatively easy to manufacture. The spherical motor have potential contributions to a wide range of applications such as coordinate measuring, object tracking, material handling, automated assembling, welding, and laser cutting.

All these

applications require high precision motion and fast dynamic response, which the spherical motor is capable of delivering.

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 multidegrees 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

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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 ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦ 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&A N=65068884&h=4SR4clJt80OGe2mk%2bJQv%2bgvw0fdE9pX0GLhf6dvNaGeMH0MVRd4Fp2HOn0NwcQuoyh BOvTpIAXxjva6uBANX1w%3d%3d&crl=c ♦♦♦♦♦♦♦♦♦♦ 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:

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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

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://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue3/IJRA-41.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue3/IJRA-40.pdf ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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 ♦♦♦♦♦♦♦♦♦♦ 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.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue4/IJRA-45.pdf ♦♦♦♦♦♦♦♦♦♦

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%2BPCBased%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 ♦♦♦♦♦♦♦♦♦♦

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): 298316, 2011. Address link: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-52.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-56.pdf

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-50.pdf ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.17:

Farzin Piltan, N. Sulaiman , Arash Zargari, Mohammad Keshavarz & Ali Badri, “Design PIDLike 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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-58.pdf ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.20:

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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.

Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education Address link: http://www.ijest.info/docs/IJEST11-03-10-187.pdf ♦♦♦♦♦♦♦♦♦♦ 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 ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume5/Issue5/IJE-313.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume5/Issue5/IJE-314.pdf

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJAE/volume2/Issue5/IJAE-79.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-54.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-51.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume5/Issue5/IJE-311.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJCA/vol4_no4/7.pdf ♦♦♦♦♦♦♦♦♦♦

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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):381400, 2011.

Address link: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue5/IJRA-57.pdf ♦♦♦♦♦♦♦♦♦♦ 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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume5/Issue5/IJE-311.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue1/IJRA-63.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue1/IJRA-64.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume6/Issue1/IJE-335.pdf

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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/manuscript/Journals/IJRA/volume3/Issue1/IJRA-62.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue1/IJRA-65.pdf ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume6/Issue2/IJE-354.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue3/IJRA-81.pdf ♦♦♦♦♦♦♦♦♦♦

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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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue3/IJRA-80.pdf ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.42: Farzin Piltan, Reza Bayat, Farid Aghayari, Bamdad Boroomand, “Design ErrorBased Linear Model-Free Evaluation Performance Computed Torque Controller”, International Journal of Robotics and Automation, 3(3):151-166, 2012. Address link: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue3/IJRA-83.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue3/IJRA-87.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume6/Issue3/IJE-370.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.cscjournals.org/csc/manuscript/Journals/IJE/volume6/Issue3/IJE-369.pdf ♦♦♦♦♦♦♦♦♦♦

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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: http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume3/Issue3/IJRA-84.pdf ♦♦♦♦♦♦♦♦♦♦ 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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJAST/vol45/6.pdf ♦♦♦♦♦♦♦♦♦♦ 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: http://www.sersc.org/journals/IJCA/vol5_no3/16.pdf ♦♦♦♦♦♦♦♦♦♦

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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 ♦♦♦♦♦♦♦♦♦♦

Exhibit 4.52: Farzin Piltan, Bamdad Boroomand, Arman Jahed and Hossein Rezaie,”PerformanceBased 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 ♦♦♦♦♦♦♦♦♦♦ 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 ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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-modecontrol-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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n2/IJISA-V5-N2-7.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJHIT/vol6_no1_2013/2.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: http://www.mecs-press.org/ijitcs/ijitcs-v5-n4/IJITCS-V5-N4-9.pdf ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJAST/vol51/7.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n5/IJISA-V5-N5-1.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n7/IJISA-V5-N7-7.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijieeb/ijieeb-v5-n1/IJIEEB-V5-N1-1.pdf ♦♦♦♦♦♦♦♦♦♦

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

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: http://www.mecs-press.org/ijieeb/ijieeb-v5-n1/IJIEEB-V5-N1-8.pdf ♦♦♦♦♦♦♦♦♦♦

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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: http://www.mecs-press.org/ijitcs/ijitcs-v5-n7/IJITCS-V5-N7-12.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n8/IJISA-V5-N8-10.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijitcs/ijitcs-v5-n8/IJITCS-V5-N8-12.pdf ♦♦♦♦♦♦♦♦♦♦

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 ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJCA/vol6_no3/2.pdf

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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: http://www.mecs-press.org/ijisa/ijisa-v5-n9/IJISA-V5-N9-12.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJHIT/vol6_no4_2013/4.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n10/IJISA-V5-N10-12.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJAST/vol57/5.pdf ♦♦♦♦♦♦♦♦♦♦

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)

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education Address link: http://www.mecs-press.org/ijitcs/ijitcs-v5-n11/IJITCS-V5-N11-12.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v5-n11/IJISA-V5-N11-4.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.sersc.org/journals/IJCA/vol6_no4/10.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijieeb/ijieeb-v5-n2/IJIEEB-V5-N2-7.pdf ♦♦♦♦♦♦♦♦♦♦

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:

Exhibit 4.87:

♦♦♦♦♦♦♦♦♦♦ 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 ♦♦♦♦♦♦♦♦♦♦ 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 ♦♦♦♦♦♦♦♦♦♦

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 Exhibit 4.89:

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♦♦♦♦♦♦♦♦♦♦ Arman Jahed, Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, "Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator",

Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

International Journal of Information Engineering and Electronic Business, vol.5, no.3, pp.6677, 2013. DOI: 10.5815/ijieeb.2013.03.08. (DOAJ, DOI: 10.5815) Address link: http://www.mecs-press.org/ijieeb/ijieeb-v5-n3/IJIEEB-V5-N3-8.pdf

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

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) Address link: http://www.mecs-press.org/ijmecs/ijmecs-v5-n8/IJMECS-V5-N8-7.pdf

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) Address link: http://www.mecs-press.org/ijieeb/ijieeb-v5-n6/IJIEEB-V5-N6-3.pdf ♦♦♦♦♦♦♦♦♦♦

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: http://www.mecs-press.org/ijisa/ijisa-v6-n1/IJISA-V6-N1-12.pdf ♦♦♦♦♦♦♦♦♦♦

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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

Exhibit 4.95:

Exhibit 4.96:

♦♦♦♦♦♦♦♦♦♦ 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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n2/IJISA-V6-N2-10.pdf ♦♦♦♦♦♦♦♦♦♦ 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) Address link: http://www.mecs-press.org/ijitcs/ijitcs-v6-n2/IJITCS-V6-N2-10.pdf

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) Address link: http://www.mecs-press.org/ijieeb/ijieeb-v6-n1/IJIEEB-V6-N1-6.pdf

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.5364, 2014.DOI: 10.5815/ijmecs.2014.01.06 (DOAJ, DOI: 10.5815)

Exhibit 4.99:

Address link: http://www.mecs-press.org/ijmecs/ijmecs-v6-n1/IJMECS-V6-N1-6.pdf ♦♦♦♦♦♦♦♦♦♦ 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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n3/IJISA-V6-N3-10.pdf ♦♦♦♦♦♦♦♦♦♦

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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) Address link: http://www.mecs-press.org/ijitcs/ijitcs-v6-n3/IJITCS-V6-N3-10.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijmecs/ijmecs-v6-n2/IJMECS-V6-N2-3.pdf

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) Address link: http://www.mecs-press.org/ijitcs/ijitcs-v6-n4/IJITCS-V6-N4-8.pdf

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n4/IJISA-V6-N4-7.pdf

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) Address link: http://www.mecs-press.org/ijmecs/ijmecs-v6-n3/IJMECS-V6-N3-8.pdf ♦♦♦♦♦♦♦♦♦♦

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education

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) Address link: http://www.mecs-press.org/ijmecs/ijmecs-v6-n4/IJMECS-V6-N4-7.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n6/IJISA-V6-N6-7.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijmecs/ijmecs-v6-n5/IJMECS-V6-N5-8.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n7/IJISA-V6-N7-10.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijitcs/ijitcs-v6-n7/IJITCS-V6-N7-10.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n8/IJISA-V6-N8-10.pdf

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n9/IJISA-V6-N9-10.pdf ♦♦♦♦♦♦♦♦♦♦

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.5262, 2014. DOI: 10.5815/ijieeb.2014.04.08. (DOAJ, DOI: 10.5815) Address link: http://www.mecs-press.org/ijieeb/ijieeb-v6-n4/IJIEEB-V6-N4-8.pdf ♦♦♦♦♦♦♦♦♦♦

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) Address link: http://www.mecs-press.org/ijisa/ijisa-v6-n10/IJISA-V6-N10-8.pdf ♦♦♦♦♦♦♦♦♦♦

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:

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Design high precision and fast dynamic controller 2014 for multi-degrees of freedom actuator for Experimental Research and Education 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 ♦♦♦♦♦♦♦♦♦♦

Chapter of Books Exhibit 4.117: Exhibit 4.118: Exhibit 4.119: Exhibit 4.120: Exhibit 4.121:

1700 solved problems in Electronics By:F.Piltan & A.Rezaiean;2nd Edition; 2000 ; ISBN:96491383-1-5 (In Persian Language). 1940 notes and tests in Electronics By: F.Piltan & A.Rezaiean ;2005, ISBN :979-64958-811-7 (In Persian Language). General Electronic (1) By: F.Piltan ;3rd Edition;2001 ; ISBN:964-6419-92-5 Language). General Electronic (2) By:F.Piltan ;4th Edition;2002 ; ISBN:964-6419-93-3 Language). Electronic Guide Line By:F.Piltan & SH.Tayebi ;2007;ISBN:964-8002-6-5 (In Language).

(In Persian (In Persian Persian

Exhibit 4.122:

Electric Circuit Guide Line By: F.Piltan & SH.Tayebi;2007; ISBN:964-8002-67-3 Language).

Exhibit 4.123:

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

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(In Persian