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SUMMARY Sliding mode control (SMC) is known to be robust with respect to matched uncertainties. However, it does not guarantee stability of systems with mismatched uncertainties. In this paper, we propose a new method to design a sliding surface for linear systems with mismatched uncertainties. The proposed sliding surface provides a new stability criterion(More)
Polymer-supported pentaethylene glycols (PSpentaEG) as promising catalysts for nucleophilic fluorination with alkali metal fluoride (MF) could significantly enhance the nucleophilicity of MF and provide simple purification and recycling in the reaction. Furthermore, by their synergistic effect, the combination of PSpentaEG and a tert-alcohol media system(More)
A golf-related ACL injury can be linked with excessive golf play or practice because such over-use by repetitive golf swing motions can increase damage accumulation to the ACL bundles. In this study, joint angular rotations, forces, and moments, as well as the forces and strains on the ACL of the target-side knee joint, were investigated for ten(More)
[Me(2)Si(Cp(Me(2)))(2)]W(H)Cl is obtained via reaction of WCl(6) with a mixture of [Me(2)Si(Cp(Me(2)))(2)]Li(2) and NaBH(4), from which the dichloride [Me(2)Si(Cp(Me(2)))(2)]WCl(2) is obtained via treatment with CHCl(3). [Me(2)Si(Cp(Me(2)))(2)]WCl(2) provides a means to access other ansa tungstenocene compounds, such as [Me(2)Si(Cp(Me(2)))(2)]WH(2),(More)
Sliding mode control (SMC) is an effective method of controlling systems with uncertainties which satisfy the so-called matching condition. However, how to effectively handle mismatched uncertainties of systems is still an ongoing research issue in SMC. Several methods have been proposed to design a stable sliding surface even if mismatched uncertainties(More)
Herein, we report the promising use of n-oligoethylene glycols (oligoEGs) as mutifunctional promoters for nucleophilic-substitution reactions employing alkali metal salts. Among the various oligoEGs tested, pentaethylene glycol (pentaEG) had the most efficient catalytic activity. In particular, when compared with other nucleophiles examined, a fluorine(More)
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