یہ زخم اپنے دل کا تو سِل بھی سکتا تھا
تُو کن اگر جو کہتا وہ مل بھی سکتا تھا
پژمردہ سا یہ غنچہ ہم دل ہیں جس کو کہتے
گر ساتھ وہ جو چلتا تو کھل بھی سکتا تھا
In this paper, the question of the participation of the resident Muslim in the foreign countries in politics and its rulings and the statement of some issues that are presented to the Muslim, such as: to elect, run or participate in political parties and other issues related to this topic. And also, tried to study the views of the scholars, and presented them and their attitudes, evidence in them, compared with them. The modern world has witnessed phenomena, which is not hidden to every sane person, which was, the Muslim participation in the political activities in the non-Muslim countries. The importance of this research paper is clear because it reveals the meaning of the political concept in the Holy Quran and prophetic tradition, which made the researcher in the attempt to legalize the matter in this regard and to summarize the statements of ancient and contemporary scholars based on their arguments and evidences. The study concluded That the participation in politics activities non-Muslims societies does not fall within the scope of the doctrine originally, since no one doubts in the doctrine of Muslims that it is not permissible to resort to the tyrant and not to judge except with Allah almighty revealed rules and regulations, and when this doctrine disappears or enter doubt of any act of apostasy and disbelief, which is not satisfied by any sound Muslim at this very moment that falls into haram category. At the end conclusion is drawn from variant views of the scholars, and the main findings and recommendations have been given.
In this thesis, the problem of output feedback stabilization and regulation for a class of underactuated benchmark nonlinear systems is considered. The proposed method utilizes an extended high gain observer (EHGO)-based sliding mode control (SMC) technique to control a class of nonlinear systems which may have unstable zero dynamics. Starting with Lagrangian model of the system and using a suitable coordinate transformation, a generalized normal form representation is derived which decouples the system into its internal and external dynamics. The internal dynamics is utilized to derive an auxiliary system and the full-order EHGO thus obtained is used for estimation of derivative(s) of the system output that are further used in design of an output feedback control law. It is shown that the proposed output feedback controller stabilizes the system and convergence of estimated states is demonstrated with suitable selection of observer parameters. The proposed stabilizing control scheme is applied to two of the benchmark nonlinear systems, namely Inertia Wheel Pendulum (IWP), and Translational Oscillator with Rotational Actuator (TORA), in order to demonstrate the effectiveness of the technique by simulation. The technique is extended to further solve for the servomechanism (output regulation) problem for the class of under actuated non-minimum phase nonlinear systems under consideration. Towards this end, the control design is modified to include a ‘conditional servo compensator’ in order to track reference signals as well as reject disturbances while achieving stabilization and steady-state accuracy with a desired transient performance. The conditional servo compensator is utilized to regulate the controllable states by using SMC while neglectvi ing the internal states initially. The uncontrollable states of the system are estimated using an EHGO and the error signal is then used to synthesize a control input to stabilize the internal states by incorporating it in the sliding surface of the SMC design. The proposed control scheme is then applied to the Translational Oscillator with Rotational Actuator (TORA) system to validate the efficacy of the technique.