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\u0627\u0644\u0645\u062a\u063a\u064a\u0631(TVB)\u0648\u062a\u0642\u0646\u064a\u0629 \u062a\u062d\u062f\u064a\u062b \u0627\u0644\u0642\u0627\u0639\u062f\u0629 \u0627\u0644\u062a\u0643\u064a\u0641\u064a\u0629 \u0627\u0644\u0641\u0648\u0631\u064a\u0629 (OARU) \u0644\u0645\u0646\u062d \u0627\u0644\u0645\u0631\u0627\u0642\u0628 (NHOESO) \u0645\u0646\u0627\u0639\u0629 \u0636\u062f \u062a\u0644\u0643 \u0627\u0644\u0636\u0648\u0636\u0627\u0621.\u00a0 \u0643\u0648\u062d\u062f\u0629 \u0645\u0646\u0641\u0635\u0644\u0629 \u062a\u0645 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0645\u0631\u0627\u0642\u0628 \u062d\u0627\u0644\u0629 \u0627\u0644\u0646\u0638\u0627\u0645 \u0627\u0644\u0645\u0648\u0633\u0639 \u0627\u0644\u062e\u0637\u064a (LESO) \u0643\u062a\u0642\u0646\u064a\u0629 \u0644\u062a\u062d\u0648\u064a\u0644 \u0627\u0644\u0623\u0646\u0638\u0645\u0629 \u0627\u0644\u0644\u0627\u062e\u0637\u064a\u0629 \u0627\u0644\u0649 \u0645\u0643\u0627\u0641\u0626\u0647\u0627 \u0627\u0644\u062e\u0637\u064a \u0648\u0630\u0644\u0643 \u0644\u062a\u062c\u0646\u0628 \u0627\u0644\u062a\u062d\u062f\u064a\u062f\u0627\u062a \u0627\u0644\u0645\u0635\u0627\u062d\u0628\u0629 \u0644\u0644\u062a\u0642\u0646\u064a\u0627\u062a \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a\u0629 \u0648 \u0643\u0645\u0631\u0627\u0642\u0628 \u062d\u0627\u0644\u0629 \u0646\u0638\u0627\u0645 \u0645\u0648\u0633\u0639 \u062e\u0637\u064a \u0645\u062a\u062f\u0627\u062e\u0644 \u0644\u062d\u0644 \u0645\u0634\u0643\u0644\u0629 \u0632\u064a\u0627\u062f\u0629 \u0639\u0631\u0636 \u0627\u0644\u062d\u0632\u0645\u0629 \u0644\u062a\u0642\u0644\u064a\u0644 \u0627\u0644\u0623\u062e\u0637\u0627\u0621 \u0627\u0644\u062a\u062e\u0645\u064a\u0646\u064a\u0629 \u0627\u0644\u0645\u0635\u0627\u062d\u0628\u0629 \u0644\u062d\u0627\u0644\u0629 \u0627\u0644\u0627\u0633\u062a\u0642\u0631\u0627\u0631. \u0648\u062d\u062f\u0629 \u062a\u063a\u0630\u064a\u0629 \u0627\u0644\u062e\u0637\u0627\u0621 \u0627\u0644\u0627\u0633\u062a\u0631\u062c\u0627\u0639\u064a\u0629 \u0627\u0644\u0644\u0627\u062e\u0637\u064a\u0629 \u0627\u0644\u0645\u0637\u0648\u0631\u0629 (INLSEF) \u0627\u0644\u062a\u064a \u062a\u0645 \u0627\u0642\u062a\u0631\u0627\u062d\u0647\u0627 \u0647\u064a \u0639\u0628\u0627\u0631\u0629 \u0639\u0646 \u0646\u0633\u062e\u0629 \u0644\u0623\u062e\u0637\u064a\u0647 \u0645\u0646 \u0627\u0644\u0645\u0633\u064a\u0637\u0631 (PID) \u0648\u0627\u0644\u062a\u064a \u062a\u0633\u062a\u062e\u062f\u0645 \u0644\u0636\u0645\u0627\u0646 \u0627\u0644\u0627\u0633\u062a\u0642\u0631\u0627\u0631\u064a\u0629 \u0644\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u0645\u063a\u0644\u0642\u0629 \u0648\u062a\u0648\u0641\u064a\u0631 \u062f\u0642\u0629 \u0639\u0627\u0644\u064a\u0629 \u0644\u062a\u062a\u0628\u0639 \u0627\u0644\u0625\u0634\u0627\u0631\u0629 \u0627\u0644\u0645\u0631\u062c\u0639\u064a\u0629. \u0634\u0643\u0644\u062a \u0627\u0644\u0648\u062d\u062f\u0627\u062a \u0627\u0644\u062b\u0644\u0627\u062b\u0629 \u0646\u0638\u0627\u0645 \u0633\u064a\u0637\u0631\u0629 \u062c\u062f\u064a\u062f \u0645\u0637\u0648\u0631 IADRC)) \u0648\u0627\u0644\u0630\u064a \u062a\u0645 \u0641\u062d\u0635\u0647 \u0645\u0646 \u062e\u0644\u0627\u0644 \u0639\u0645\u0644\u064a\u0629 \u0645\u062d\u0627\u0643\u0627\u062a \u0644\u0623\u0646\u0638\u0645\u0647 \u0627\u0641\u062a\u0631\u0627\u0636\u064a\u0629 \u0648\u0639\u0645\u0644\u064a\u0629. \u062a\u0645 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u062a\u0642\u0646\u064a\u0629 Lyapunov \u0644\u0644\u062a\u062d\u0642\u0642 \u0645\u0646 \u0627\u0633\u062a\u0642\u0631\u0627\u0631\u064a\u0647 \u0643\u0644 \u0645\u0646 \u0627\u0644\u0648\u062d\u062f\u0627\u062a \u0627\u0644\u0645\u0637\u0648\u0631\u0629 \u0628\u0627\u0644\u0625\u0636\u0627\u0641\u0629 \u0627\u0644\u0649 \u0627\u0644\u062a\u062d\u0642\u0642 \u0645\u0646 \u0627\u0633\u062a\u0642\u0631\u0627\u0631 \u0646\u0638\u0627\u0645 \u0627\u0644\u062d\u0644\u0642\u0629 \u0627\u0644\u0645\u063a\u0644\u0642\u0629.<\/p>\n<p>\u0644\u0644\u062a\u0639\u0627\u0645\u0644 \u0645\u0639 \u0627\u0644\u0623\u0646\u0638\u0645\u0629 \u0645\u062a\u0639\u062f\u062f\u0629 \u0627\u0644\u0627\u062f\u062e\u0627\u0644 \u0648\u0627\u0644\u0625\u062e\u0631\u0627\u062c (MIMO) \u0627\u0644\u062a\u064a \u062a\u062a\u0633\u0627\u0648\u0649 \u0641\u064a\u0647\u0627 \u0639\u062f\u062f \u0627\u0644\u0627\u062f\u062e\u0627\u0644\u0627\u062a \u0648\u0627\u0644\u0627\u062e\u0631\u0627\u062c\u0627\u062a \u062a\u0645 \u062a\u0637\u0648\u064a\u0631 \u0637\u0631\u064a\u0642\u062a\u0627\u0646 \u062c\u062f\u064a\u062f\u062a\u0627\u0646 \u062a\u062f\u0639\u0649 \u0627\u0644\u0637\u0631\u064a\u0642\u062a\u0627\u0646 \u0627\u0644\u0645\u0637\u0648\u0631\u062a\u0627\u0646 \u0628\u0633\u064a\u0637\u0631\u0629 \u0641\u0643 \u0627\u0644\u0627\u0631\u062a\u0628\u0627\u0637 \u0648\u0627\u0644\u0633\u064a\u0637\u0631\u0629 \u0627\u0644\u0644\u0627\u0645\u0631\u0643\u0632\u064a\u0629 \u062d\u064a\u062b \u0627\u062e\u0630 \u0628\u0646\u0638\u0631 \u0627\u0644\u0627\u0639\u062a\u0628\u0627\u0631 \u0627\u0644\u0627\u0631\u062a\u0628\u0627\u0637 \u0627\u0644\u0645\u0648\u062c\u0648\u062f \u0628\u064a\u0646 \u0627\u0644\u0627\u062f\u062e\u0627\u0644\u0627\u062a \u0648\u062d\u0627\u0644\u0627\u062a \u0627\u0644\u0646\u0638\u0627\u0645 \u0628\u0627\u0644\u0625\u0636\u0627\u0641\u0629 \u0627\u0644\u0649 \u0627\u0644\u0627\u0632\u0639\u0627\u062c\u0627\u062a \u0627\u0644\u0639\u0627\u0645\u0629 \u0627\u0644\u0645\u0633\u0644\u0637\u0629 \u0645\u0646 \u062e\u0644\u0627\u0644 \u0642\u0646\u0627\u0629 \u062a\u062e\u062a\u0644\u0641 \u0639\u0646 \u0642\u0646\u0627\u0629 \u0627\u0644\u0627\u062f\u062e\u0627\u0644. \u0637\u0628\u0642\u062a \u0643\u0644 \u0645\u0646 \u0627\u0644\u0637\u0631\u064a\u0642\u062a\u064a\u0646 \u0639\u0644\u0649 \u0646\u0638\u0627\u0645 (MIMO) \u0644\u0627 \u062e\u0637\u064a \u0630\u0648 \u0627\u0631\u062a\u0628\u0627\u0637 \u062f\u0627\u062e\u0644\u064a \u0642\u0648\u064a \u0648\u0639\u062f\u0645 \u062f\u0642\u0629 \u0639\u0627\u0644\u064a\u0629.<\/p>\n<p>\u0641\u064a \u0647\u0630\u0647 \u0627\u0644\u0627\u0637\u0631\u0648\u062d\u0629 \u0646\u0641\u0630\u062a \u0645\u062c\u0645\u0648\u0639\u0629 \u0645\u0646 \u0627\u0644\u0645\u062d\u0627\u0643\u0627\u062a \u0627\u0644\u0631\u0642\u0645\u064a\u0629 \u0644\u0645\u0646\u0638\u0648\u0645\u0629 (IADRC) \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u0629 \u0645\u0646 \u062e\u0644\u0627\u0644 \u062a\u0637\u0628\u064a\u0642\u0647\u0627 \u0639\u0644\u0649 \u0645\u062c\u0645\u0648\u0639\u0629 \u0627\u0644\u0623\u0646\u0638\u0645\u0629 \u0627\u0644\u0644\u0627\u062e\u0637\u064a\u0629 \u0645\u0646 \u0646\u0648\u0639 (SISO) \u00a0\u0648 (MIMO) \u0648\u0645\u0642\u0627\u0631\u0646\u062a\u0647\u0627 \u0645\u0639 \u0627\u0644\u0637\u0631\u064a\u0642\u0629 \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a\u0629 \u062d\u064a\u062b \u062a\u0645\u062a \u0639\u0645\u0644\u064a\u0629 \u0627\u0644\u0645\u062d\u0627\u0643\u0627\u062a \u0628\u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0628\u064a\u0626\u0629 MATLAB\u00ae Simulink\u00ae \u0645\u0639\u062f\u0629 \u0644\u062d\u0627\u0633\u0648\u0628 \u0644\u0647 \u0645\u0639\u0627\u0644\u062c \u0645\u0631\u0643\u0632\u064a \u0645\u0646 \u0646\u0648\u0639 (Core\u2122 i7) \u0648\u0630\u0627\u0643\u0631\u0629 \u0639\u0634\u0648\u0627\u0626\u064a\u0629 \u0633\u0639\u0629 8GB.\u00a0 \u0644\u0644\u062a\u062d\u0642\u0642 \u0645\u0646 \u0641\u0639\u0627\u0644\u064a\u0629 \u0645\u062e\u0637\u0637 (IADRC) \u0627\u0644\u0645\u062d\u0633\u0646 \u0627\u0644\u0644\u0627\u0645\u0631\u0643\u0632\u064a \u0627\u0644\u0645\u0642\u062a\u0631\u062d \u0648\u0645\u0642\u0627\u0631\u0646\u062a\u0647 \u0645\u0639 \u0633\u064a\u0637\u0631\u0629 \u0631\u0641\u0636 \u0627\u0644\u0627\u0632\u0639\u0627\u062c \u0627\u0644\u0641\u0639\u0627\u0644 \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a ((CADRC \u062a\u0645 \u0627\u062e\u062a\u064a\u0627\u0631 \u0631\u0648\u0628\u0648\u062a \u0646\u0642\u0627\u0644 \u0645\u0646 \u0627\u0644\u0646\u0648\u0639 \u0627\u0644\u062a\u0641\u0627\u0636\u0644\u064a (DDMR) \u0643\u0646\u0645\u0648\u0630\u062c \u0639\u0645\u0644\u064a \u0648\u062a\u0646\u0641\u064a\u0630 \u0627\u0644\u0645\u062a\u062d\u0643\u0645\u064a\u0646 \u0628\u0627\u0633\u062a\u062e\u062f\u0627\u0645\u0648\u062d\u062f\u0629 \u0645\u0639\u0627\u0644\u062c \u0645\u0646 \u0646\u0648\u0639(Arduino Due) \u0648\u062a\u0645 \u0627\u0644\u062a\u062d\u0642\u0642 \u0645\u0646 \u0635\u062d\u062a\u0647\u0627 \u0645\u0646 \u062e\u0644\u0627\u0644 \u0625\u0639\u062f\u0627\u062f \u062a\u062c\u0631\u0628\u0629 \u0639\u0645\u0644\u064a\u0629 \u062a\u062a\u0643\u0648\u0646 \u0645\u0646 \u0644\u0648\u062d\u0629 \u062a\u0637\u0648\u064a\u0631 \u0645\u0646 \u0646\u0648\u0639 (LattePanda\u2122) \u0643\u0645\u0648\u0644\u062f \u0633\u0631\u0639\u0629 \u0645\u0631\u062c\u0639\u064a. \u00a0\u062a\u0645 \u062a\u0637\u0628\u064a\u0642 \u0645\u062c\u0645\u0648\u0639\u0629 \u0645\u0646 \u0627\u0644\u062a\u062c\u0627\u0631\u0628 \u062a\u062a\u0636\u0645\u0646 \u0639\u062f\u0645 \u0627\u0644\u062f\u0642\u0629 \u0641\u064a \u0645\u0639\u0627\u0645\u0644\u0627\u062a \u0627\u0644\u0646\u0638\u0627\u0645 \u0628\u0627\u0644\u0625\u0636\u0627\u0641\u0629 \u0627\u0644\u0649 \u0623\u0646\u0648\u0627\u0639 \u0645\u062a\u0639\u062f\u062f\u0629 \u0645\u0646 \u0627\u0644\u0627\u0632\u0639\u0627\u062c\u0627\u062a \u0627\u0644\u062e\u0627\u0631\u062c\u064a\u0629 \u0648\u0623\u0638\u0647\u0631\u062a \u0627\u0644\u0646\u062a\u0627\u0626\u062c \u062a\u0641\u0648\u0642 \u0633\u064a\u0637\u0631\u0629 \u0631\u0641\u0636 \u0627\u0644\u0627\u0632\u0639\u0627\u062c \u0627\u0644\u0641\u0639\u0627\u0644\u0627\u0644\u0645\u062d\u0633\u0646 (IADRC) \u0639\u0644\u0649 \u0633\u064a\u0637\u0631\u0629 \u0631\u0641\u0636 \u0627\u0644\u0627\u0632\u0639\u0627\u062c \u0627\u0644\u0641\u0639\u0627\u0644 \u0627\u0644\u062a\u0642\u0644\u064a\u062f\u064a (CADRC) \u0645\u0646 \u062d\u064a\u062b \u0645\u062a\u0637\u0644\u0628\u0627\u062a \u0627\u0644\u0627\u0633\u062a\u062c\u0627\u0628\u0629 \u0627\u0644\u0632\u0645\u0646\u064a\u0629.<\/p>\n<p>&nbsp;<\/p>\n<p><img fetchpriority=\"high\" decoding=\"async\" class=\"alignnone size-medium wp-image-22208\" src=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2018\/11\/IMG-1a75ef48463f44376b4e02f85ea10e6c-V-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2018\/11\/IMG-1a75ef48463f44376b4e02f85ea10e6c-V-300x225.jpg 300w, https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2018\/11\/IMG-1a75ef48463f44376b4e02f85ea10e6c-V-768x576.jpg 768w, https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2018\/11\/IMG-1a75ef48463f44376b4e02f85ea10e6c-V-1024x768.jpg 1024w, https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2018\/11\/IMG-1a75ef48463f44376b4e02f85ea10e6c-V.jpg 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