28. Al-Qasas/The Narratives
I/We begin by the Blessed Name of Allah
The Immensely Merciful to all, The Infinitely Compassionate to everyone.
28:01
a. Ta. Sin. Mim.
28:02
a. These are the Messages of the Clear Book - The Divine Qur’an.
28:03
a. WE are going to recount to you some of the narratives of Moses and Pharaoh truthfully, for a people who believe.
28:04
a. Indeed, Pharaoh exalted himself in the land of Egypt, and
b. divided its citizens into different ethnic and social factions,
c. seeking to oppress one faction among them - Descendants of Jacob – and depriving them of all human rights and civil liberties,
d. and, slaughtering their baby-boys at birth, while sparing their women/baby-girls.
e. He - Pharaoh - was truly of the oppressors and tyrants.
28:05
a. However, WE wanted to empower those very people who were being oppressed in the land
of Egypt – Descendants of Jacob, and
b. to make them the leaders and to make them the inheritors.
28:06
a. And to empower them in the land by giving them political power and religious authority,
b. and to show Pharaoh and Haman and their armies - through them - the very thing that they had dreaded - and trying to prevent.
28:07
a. And so when Moses was born, WE inspired Moses’ mother by saying that:
b. ‘Keep breast feeding him as usual, but when you fear for his life, then put him afloat into the River Nile,
c. and, once you have done so, then do not fear and do not grieve for he will be saved.
d. Surely WE...
This study aims to identify the significance of driver’s socioeconomic demographics (SEDs) in the decision to speed and crash involvement. A questionnaire was designed consisting of a driver’s SEDs, speeding propensity, and crash experience. This questionnaire was conducted with the students and employees of the University of Nizwa and other drivers at the selected locations. A total of 604 usable samples were obtained. Simple frequency distribution and discriminant multivariate analysis were conducted on the driver’s responses. Survey results revealed that about 47.7% of the drivers have experienced a crash. The driver’s gender nationality, profession, age, type of vehicle drive, driving experience, and past crash experience are significant attributes of the driver’s speeding behavior. Ordered probit analysis for speeding behavior and simple probit regression analysis for crash involvement was conducted. The male drivers and those who are under the age of 30 years and have driving experience of more than 3 years have more likelihood to exceed the speed limits than other drivers. Similarly, the driver’s gender, age (≤ 30 years), and those who are employees have a significant correlation with the propensity of crash involvement. Male and young drivers have more likelihood to be involved in a crash.
Model free control methodologies are popular in industry due to their easy implemen- tation. Minor tuning of controller gains yields satisfactory performance from a dy- namical system. The main drawback of the techniques is their lack of robustness. On the other hand, robust control techniques e.g. sliding mode control require mathemati- cal model of the system and their aggressive control effort is the main barrier in their implementation for mechanical systems. The proposed robust smooth control tech- niques with robust state-disturbance observer in the closed loop are the solution to the problem. The proposed state-disturbance observer is model free and relies on input and output of the system only; consequently it estimates states as well as drift term of the system. The estimated drift term is used to cancel out internal and external distur- bances of the system and this cancellation transforms the system into an nth order in- tegrator system. The observed states are used to design any modern or classical state- space control technique e.g. pole placement, Linear Quadratic Regulator (LQR) or Linear Matrix Inequality (LMI) methods etc. The finite time stability analysis of ro- bust state-disturbance observer is given in noisy and noise free environments. In this thesis, two novel control methodologies i.e. robust smooth real twisting second order sliding mode and robust feedback linearization are also proposed. The finite time sta- bility analysis of the robust smooth real twisting control is proven using Lyapunov method along with homogeneity concepts. The stability analyses of overall closed loop systems are given using separation principle. Simulations as well as experimental results with academic bench mark DC motor validate the ideas. The proposed tech- niques are also compared with robust LMI based polytopic controller on an industrial stabilized platform to verify their usage for industry.