فتح مکہ میں آنحضرت ﷺ کی حربی حکمت عملی

This article encompassed the Holy Prophet's (ﷺ) best war strategy in the conquest of Makkah and its relevance to the Modern society. The purpose of this article was to highlight the war strategy of Holy Prophet (ﷺ) in the conquest of Makkah. His strategy provided the noble example for warfare in modern world. The method used for research was historical. The review of literature revealed that the war, humanity for love the showed (صلى الله عليه وسلم) Muhammad Prophet of strategies concern for the safety of the lives and avoided bloodshed as far as possible. Because of his noble strategies, Makkan tribes surrendered without any resistance in front of the army of Islam. Consequently, (صلى الله عليه وسلم) Prophet Holy the and idolatry from freed became Makkah conquered the last and the most solid stronghold of the enemy. In Modern era, Muslim faced so many war problems. Through the war war the learn can commanders military, (صلى الله عليه وسلم) Prophet Holy of strategies ethics and overcome their problems. It is recommended to Muslim army that they should take guidance from the war strategy of Prophet pressure psychological putting by enemy defeat and (صلى الله عليه وسلم) Muhammad upon them.

Robust Control of Under-Actuated Systems Via Sliding Modes

Underactuated nonlinear systems are always equipped with less number of actua tors than the degree of freedom. This feature offers certain benefits like reduction in weight and minimum energy usage. Majority of the robotic systems (including aerial, underwater and ground robotics) are found to be underactuated in na ture. Therefore, research in such system is still quite demanding and challenging. It is also worthy to mention that the underactuation phenomenon, do not allow the direct design of control input as practiced in fully actuated systems. The two decades have witnessed many control methodologies which include feedback linearization, energy-based, back-stepping, fuzzy logics and sliding mode control. However, majority of these techniques lags behind in the robust stabilization of this class except sliding mode oriented techniques. An extensive simulation study of the underactuated system is carried out in the existing literature while consid ering the examples of translational oscillator with a rotational actuator (TORA), flexible robots, pendulums and surface vessels. In this thesis a simulation as well as experimental study is carried out for a class of underactuated systems. The nonlinear model, of the underactuated systems, is treated generally. The dynamics are either transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable to maintain sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are proved in term of simulation and experimental results of a ball and beam system. In addition, a comparative experimental study is also performed between three generations of sliding mode control, which includes the conventional first order sliding mode control (FOSMC), second order sliding mode (SOSMC), fast terminal sliding mode (FTSMC), and integral sliding mode (ISMC). The comparative study takes into account certain features like tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences and control efforts.