GEROJENE DALAM ADAT PERNIKAHAN SUKU KAILI DITINJAU DARI FIQHI MUNAKAHAT

This study specifically examines the implementation of gerojene in the custom of Kaili tribal marriage in terms of fiqh Munakahat. The problem raised was how to understand and implement gerojene according to the Kaili tribal wedding customary law. This research is based on the views of some cultural experts that tradition can be seen as an act and behavior that prevails in a society, both in the form of habits and rules that are worked on from generation to generation inherited from ancestors since time immemorial. The definition is that if it is associated with the Kaili tribe's marriage customs, namely gerojene, then what is meant is the actions and rules held in a marriage ceremony inherited from ancestors and have been held for a long time until today are still maintained and practiced in traditional wedding ceremonies the Kaili tribe in Central Sulawesi. This research data comes from secondary data in the form of theories quoted from books, research journals, fiqh munakahat, and other writings by quoting directly or indirectly. Primary data or data collected from the field of research. Primary data collection uses two types of methods. First observation. The researcher went to the research location. The location of this study was in two districts and one city. Donggala Regency, Sigi Regency and Palu City. This observation activity is to meet traditional Kaili figures. Both methods are in-depth interviews. This was intended to find out the understanding and implementation of gerojene customs in the Kaili tribe marriage through question and answer. The answers given will clarify the problem under study. Through this research, it is known that there are differences in the understanding and procedure for the implementation of gerojene in the Kaili tribal marriages of the past with the Kaili tribe today. The words gerojene were pronounced by the customary leader as the representative of the bride of the prospective wife. After that the prospective husband answered as his agreement. The end of this pledge of women and men has legitimately become husband and wife. This event must be attended by a mother father or representing men and women and witnessing traditional and family leaders.

Robust Control System Design for a Class of Uncertain Nonlinear Systems

Robust Control System Design for a Class of Uncertain Nonlinear Systems The work presented in this thesis is an endeavor to combine two nonlinear control frameworks in order to utilize the beneficial attributes of adaptive backstepping and sliding mode control or integral sliding mode control techniques. The adaptive backstepping method is capable of eliminating external disturbances and dynamically estimating the unknown parameters. This technique solves the problem of relative degree which is the main drawback of conventional sliding mode control method. It is also globally effective for the stability of the nonlinear control systems. The sliding mode control is another widely used method due to its robustness against matching uncertainties. The robustness of nonlinear system can be enhanced by adding an integral term with the sliding manifold of sliding mode control method. This attribute is achieved by eliminating the reaching phase of sliding mode control which makes it immune against fast parametric variations that occurs during reaching phase. On the basis of this synergy, new strategies have been proposed which are named as Adaptive Backstepping Higher Order Integral Sliding Mode Control (ABHOISMC), and Adaptive Backstepping Integral Sliding Mode Control (ABISMC), and based on our simulation studies, they are found to be more robust against both matching and mismatching uncertainties. During the implementation of newly proposed techniques, it is not necessary to transform the system into triangular form which is generally needed in the conventional backstepping procedure. The first proposed scheme, the ABISMC, is applied to control the parameters of continuous stirred tank regulator plant with its model expressed mathematically in a non-triangular form. The simulation results establish the efficacy of the proposed scheme. As a second example, the ABISMC is also applied for the tracking of the desired output in a field-controlled direct-current motor. The simulation results are found to be very convincing. Finally, the second proposal, the ABHOISMC, is applied on a theoretical plant expressed in a semi-strict feedback form; the resulting simulation findings substantiate our claims.