The China-Laos Railway(CLR),connecting two nations,has created a new paradigm for international cooperation on border management.On September 4,2025,China and Laos signed an intergovernmental agreement on"juxtapo...The China-Laos Railway(CLR),connecting two nations,has created a new paradigm for international cooperation on border management.On September 4,2025,China and Laos signed an intergovernmental agreement on"juxtaposed border control"arrangements for the CLR,the first such agreement between China and a neighboring country.展开更多
This study examines the adaptive boundary control problem of flexible marine riser with internal flow coupling.The dynamic model of the flexible marine riser system with internal flow coupling is derived using the Ham...This study examines the adaptive boundary control problem of flexible marine riser with internal flow coupling.The dynamic model of the flexible marine riser system with internal flow coupling is derived using the Hamiltonian principle.An analysis of internal flow’s influence on the vibration characteristics of flexible marine risers is conducted.Then,for the uncertain environmental disturbance,the adaptive fuzzy logic system is introduced to dynamically approximate the boundary disturbance,and a robust adaptive fuzzy boundary control is proposed.The uniform boundedness of the closed-loop system is proved based on Lyapunov theory.The well-posedness of the closed-loop system is proved by operator semigroup theory.The proposed control’s effectiveness is validated through comparison with existing control methods.展开更多
Digital transformation provides enterprises with new development momenta.Understanding the relationship between digital transformation and total factor productivity(TFP)is essential.This study employs a fixedeffect mo...Digital transformation provides enterprises with new development momenta.Understanding the relationship between digital transformation and total factor productivity(TFP)is essential.This study employs a fixedeffect model and selects all Chinese A-share listed companies from 2007 to 2022 as the research sample.Internal control(IC)is introduced as a mechanistic variable.The results indicate that digital transformation significantly promotes both TFP and the effectiveness of IC.Moreover,effective IC plays a significant mediating role in the relationship between digital transformation and TFP.A heterogeneity analysis reveals that,compared to non-state-owned enterprises,state-owned enterprises can improve TFP more rapidly through digital transformation due to their resource advantages and policy support.On the one hand,these findings help enterprises better align their transformation strategies to maximize the benefits of digital transformation.On the other hand,they provide investors with insights into the transformation potential and future growth prospects of these enterprises.展开更多
Under the background of increasingly complex global economic development and financial markets,the legal risks faced by enterprises are increasingly intensified.As an important legal norm to adjust financial activitie...Under the background of increasingly complex global economic development and financial markets,the legal risks faced by enterprises are increasingly intensified.As an important legal norm to adjust financial activities,financial law has put forward higher requirements for the operation and risk management of enterprises.Therefore,the article will start from the concept of internal legal risk prevention and control under the financial perspective,study and analyze the common internal legal risks and the causes of risks,and put forward the specific measures of prevention and control of internal legal risks.展开更多
With the development of modern society,the functions of administrative institutions and public institutions are constantly evolving.Under the background of comprehensively deepening reform,higher requirements are put ...With the development of modern society,the functions of administrative institutions and public institutions are constantly evolving.Under the background of comprehensively deepening reform,higher requirements are put forward for the financial management of administrative institutions and public institutions.The financial management status of administrative institutions and public institutions will directly affect the quality of public services.Therefore,it is necessary to strengthen the internal control of financial management.By leveraging the constraints and supervision mechanisms of internal control,the transparency and credibility of financial management can be effectively enhanced.However,in the actual internal control and financial management of administrative institutions and public institutions,there are still some problems,which make it difficult to improve the level of financial management and affect the sustainable development of administrative institutions and public institutions.By analyzing the internal control and financial management of administrative institutions and public institutions under the new situation,this article proposes plans such as strengthening the construction of professional management teams,deeply using information technology means,and improving the internal control system,effectively enhancing the management efficiency of administrative institutions and public institutions and better adapting to the development of the times.展开更多
This phenomenological qualitative study explored the lived experiences of employees at Maryland's Historically Black Colleges and Universities(HBCUs)concerning internal control systems through the theoretical lens...This phenomenological qualitative study explored the lived experiences of employees at Maryland's Historically Black Colleges and Universities(HBCUs)concerning internal control systems through the theoretical lenses of the COSO framework and employee engagement theory.Using semi-structured interviews with faculty and staff who had worked at the institution for more than three years,the research investigated how employees perceive leadership tone,risk assessment processes,policy implementation,communication channels,and evaluation mechanisms related to internal controls.The study revealed five major themes that characterize employee experiences with internal control systems at this HBCU.Leadership communication was found to be hierarchical but inclusive,though marked by inconsistent communication of ethical values and significant resource constraints affecting implementation.Risk management practices were predominantly reactive rather than proactive,with limited systematic risk assessment processes that focused more on academic risks than operational vulnerabilities.Policy implementation was characterized by unclear separation of duties,substantial workload imbalances,and limited resources that compromised effective control activities.Communication challenges emerged as a critical weakness,with participants describing information sharing as inconsistent,unclear,and selective,compounded by significant technology obstacles in accessing necessary information.The evaluation and improvement processes were found to be limited and primarily driven by external accreditation requirements rather than systematic internal monitoring,resulting in reactive responses to issues rather than proactive enhancement.The findings contribute to the limited research on internal control systems within HBCUs by providing phenomenological insights into how structural constraints including funding limitations,unclear role delineation,and reactive management approaches create barriers to implementing robust internal control systems.Despite institutional commitment to inclusive leadership and student success,the study reveals that addressing these challenges requires not only increased resources but also structural changes to workload distribution,communication practices,and a shift toward more proactive risk management and monitoring procedures.The research provides evidence-based insights for HBCU administrators seeking to strengthen internal control implementation while maintaining institutional mission and cultural values.展开更多
The quality system of any modern pharmaceutical company is the pharmaceutical quality system(PQS),which extends the GMP standards to all stages of the medicinal productslife cycle,from pharmaceutical development to it...The quality system of any modern pharmaceutical company is the pharmaceutical quality system(PQS),which extends the GMP standards to all stages of the medicinal productslife cycle,from pharmaceutical development to its withdrawal from production.The principal difference between PQS and GxP rules from other quality systems is that the medicinal product,its safety and efficacy is put at the forefront.At the same time,PQS implies a process approach to all components that should be aimed at achieving the main goal—ensuring and guaranteeing the quality of the medicinal product for the end user(patient)—and should be based on the quality risk management system.An integral part of PQS,as well as the GxP rules adopted in the European Union and PIC/S,is a process for self-inspections and/or quality audits,which regularly appraises the effectiveness and applicability of the PQS.This publication is dedicated to the definition of self-inspections(internal audits)as one of the PQS’s processes.The article defines the main standard stages and develops a model of a risk-based approach to the self-inspections’planning in relation to processes of the pharmaceutical quality system.展开更多
The start-up current control of the high-speed brushless DC（HS-BLDC） motor is a challenging research topic. To effectively control the start-up current of the sensorless HS-BLDC motor, an adaptive control method is ...The start-up current control of the high-speed brushless DC（HS-BLDC） motor is a challenging research topic. To effectively control the start-up current of the sensorless HS-BLDC motor, an adaptive control method is proposed based on the adaptive neural network（ANN）inverse system and the two degrees of freedom（2-DOF） internal model controller（IMC）. The HS-BLDC motor is identified by the online least squares support vector machine（OLS-SVM） algorithm to regulate the ANN inverse controller parameters in real time. A pseudo linear system is developed by introducing the constructed real-time inverse system into the original HS-BLDC motor system. Based on the characteristics of the pseudo linear system, an extra closed-loop feedback control strategy based on the 2-DOF IMC is proposed to improve the transient response performance and enhance the stability of the control system. The simulation and experimental results show that the proposed control method is effective and perfect start-up current tracking performance is achieved.展开更多
A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced...A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.展开更多
Pyropia haitanensis is an economically important mariculture crop in China and has a high research value for several life phenomena, for example environmental tolerance. To explore the mechanisms underlying these char...Pyropia haitanensis is an economically important mariculture crop in China and has a high research value for several life phenomena, for example environmental tolerance. To explore the mechanisms underlying these characteristics, gene expression has been investigated at the whole transcriptome level. Gene expression studies using quantitative real-time PCR should start by selecting an appropriate internal control gene; therefore, the absolute expression abundance of six housekeeping genes （18S rRNA （18S）, ubiquitin-conju-ating enzyme （UBC）, actin （ACT）, β-tubulin （TUB）, elongation factors 2 （EF2）, and glyceraldehyde-3-phos- phate dehydrogenase （GAPDH） examined by the quantitative real-time PCR in samples corresponding to different strains, life-cycle stages and abiotic stress treatments. Their expression stabilities were assessed by the comparative cycle threshold （Ct） method and by two different software packages： geNorm and NormFinder. The most stable housekeeping gene is UBC and the least stable housekeeping is GADPH. Thus, it is proposed that the most appropriate internal control gene for expression analyses in P. haitanensis is UBC. The results pave the way for further gene expression analyses of different aspects of P. haitanensis biology including different strains, life-history stages and abiotic stress responses.展开更多
Denitrification plays an important role in nitrogen(N) removal in freshwater ecosystems.This internal process regulates the fluctuations of N concentration, especially for lakes with high nutrients concentrations and ...Denitrification plays an important role in nitrogen(N) removal in freshwater ecosystems.This internal process regulates the fluctuations of N concentration, especially for lakes with high nutrients concentrations and long residence time. Lakes in Yunnan plateau(southwestern China) provide typical cases, while studies in this region have been rare.Therefore, we studied denitrification of two lakes(Lake Dianchi in hypereutrophic state and Lake Erhai in mesotrophic) in this region. We used acetylene inhibition technique to quantify potential denitrification rate(PDR) of these lakes in April and August, 2015 and 2016. PDR of the sediments ranged 0–1.21 μmol/(N·m^2·hr), and that of overlying water ranged 0–0.24 μmol/(N·L·hr). Then, we used Least Angle Regression to determine the controlling factors for denitrification. Nutrients controlled PDR from two aspects: providing essential nitrogen sources; and affecting the richness and metabolism of denitrifying bacteria. In April, both aspects limited PDR; while only nitrogen sources limited PDR in August, due to depleted nitrate and enhanced denitrifying bacteria activity. Ammonia was most significant to denitrification, indicating that nitrate from nitrification transported to the bottom of wellmixed lake provide major N source by denitrification. The high PDR and low nitrate concentrate in August were evidence of an enhanced internal N cycling by algal blooms.展开更多
In this paper, an iterative learning control algorithm is proposed for discrete linear time-varying systems to track iterationvarying desired trajectories. A high-order internal model(HOIM) is utilized to describe the...In this paper, an iterative learning control algorithm is proposed for discrete linear time-varying systems to track iterationvarying desired trajectories. A high-order internal model(HOIM) is utilized to describe the variation of desired trajectories in the iteration domain. In the sequel, the HOIM is incorporated into the design of learning gains. The learning convergence in the iteration axis can be guaranteed with rigorous proof. The simulation results with permanent magnet linear motors(PMLM) demonstrate that the proposed HOIM based approach yields good performance and achieves perfect tracking.展开更多
A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept...A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.展开更多
In this paper,a multi-loop internal model control(IMC) scheme in conjunction with feed-forward strategy based on the dynamic partial least squares(DyPLS) framework is proposed.Unlike the traditional methods to decoupl...In this paper,a multi-loop internal model control(IMC) scheme in conjunction with feed-forward strategy based on the dynamic partial least squares(DyPLS) framework is proposed.Unlike the traditional methods to decouple multi-input multi-output(MIMO) systems,the DyPLS framework automatically decomposes the MIMO process into a multi-loop system in the PLS subspace in the modeling stage.The dynamic filters with identical structure are used to build the dynamic PLS model,which retains the orthogonality among the latent variables.To address the model mismatch problem,an off-line least squares method is applied to obtain a set of optimal filter parameters in each latent space.Without losing the merits of model-based control,a simple and easy-tuned IMC structure is readily carried over to the dynamic PLS control framework.In addition,by projecting the measurable disturbance into the latent subspace,a multi-loop feed-forward control is yielded to achieve better performance for disturbance rejection.Simulation results of a distillation column are used to further demonstrate this new strategy outperforms conventional control schemes in servo behavior and disturbance rejection.展开更多
Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee...Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.展开更多
A multi-loop adaptive internal model control (IMC) strategy based on a dynamic partial least squares (PLS) frame-work is proposed to account for plant model errors caused by slow aging,drift in operational conditions,...A multi-loop adaptive internal model control (IMC) strategy based on a dynamic partial least squares (PLS) frame-work is proposed to account for plant model errors caused by slow aging,drift in operational conditions,or environmental changes.Since PLS decomposition structure enables multi-loop controller design within latent spaces,a multivariable adaptive control scheme can be converted easily into several independent univariable control loops in the PLS space.In each latent subspace,once the model error exceeds a specific threshold,online adaptation rules are implemented separately to correct the plant model mismatch via a recursive least squares (RLS) algorithm.Because the IMC extracts the inverse of the minimum part of the internal model as its structure,the IMC controller is self-tuned by explicitly updating the parameters,which are parts of the internal model.Both parameter convergence and system stability are briefly analyzed,and proved to be effective.Finally,the proposed control scheme is tested and evaluated using a widely-used benchmark of a multi-input multi-output (MIMO) system with pure delay.展开更多
Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in orde...Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.展开更多
An adaptive internal mode control is proposed to eliminate effectively periodic disturbance with uncertain frequency caused by input error angle of PIGA （Pendulous Integrating Gyro Accelerometer）. An adaptive algori...An adaptive internal mode control is proposed to eliminate effectively periodic disturbance with uncertain frequency caused by input error angle of PIGA （Pendulous Integrating Gyro Accelerometer）. An adaptive algorithm with periodic disturbance frequency identification on line is applied and the internal model controller parameters are adjusted to eliminate disturbance. Then the convergence of this algorithm and the stability of the system are proved by the averaging method. Simulation results verify the proposed scheme can eliminate periodic disturbance and improve the test precision for PIGA effectively.展开更多
There is a lack of systematic research on the expression of internal control genes used for gene expression normalization in real-time reverse transcription polymerase chain reaction in spinal cord injury research.In ...There is a lack of systematic research on the expression of internal control genes used for gene expression normalization in real-time reverse transcription polymerase chain reaction in spinal cord injury research.In this study,we used rat models of spinal cord hemisection to analyze the expression stability of 13 commonly applied reference genes:Actb,Ankrd27,CypA,Gapdh,Hprt1,Mrpl10,Pgk1,Rictor,Rn18s,Tbp,Ubc,Ubxn11,and Ywhaz.Our results show that the expression of Ankrd27,Ubc,and Tbp were stable after spinal cord injury,while Actb was the most unstable internal control gene.Ankrd27,Ubc,Tbp,and Actb were consequently used to investigate the effects of internal control genes with differing stabilities on the normalization of target gene expression.Target gene expression levels and changes over time were similar when Ankrd27,Ubc,and Tbp were used as internal controls but different when Actb was used as an internal control.We recommend that Ankrd27,Ubc,and Tbp are used as internal control genes for real-time reverse transcription polymerase chain reaction in spinal cord injury research.This study was approved by the Administration Committee of Experimental Animals,Jiangsu Province,China(approval No.20180304-008)on March 4,2018.展开更多
文摘The China-Laos Railway(CLR),connecting two nations,has created a new paradigm for international cooperation on border management.On September 4,2025,China and Laos signed an intergovernmental agreement on"juxtaposed border control"arrangements for the CLR,the first such agreement between China and a neighboring country.
基金financially supported by Sichuan Science and Technology Program(Grant No.2023NSFSC1980).
文摘This study examines the adaptive boundary control problem of flexible marine riser with internal flow coupling.The dynamic model of the flexible marine riser system with internal flow coupling is derived using the Hamiltonian principle.An analysis of internal flow’s influence on the vibration characteristics of flexible marine risers is conducted.Then,for the uncertain environmental disturbance,the adaptive fuzzy logic system is introduced to dynamically approximate the boundary disturbance,and a robust adaptive fuzzy boundary control is proposed.The uniform boundedness of the closed-loop system is proved based on Lyapunov theory.The well-posedness of the closed-loop system is proved by operator semigroup theory.The proposed control’s effectiveness is validated through comparison with existing control methods.
基金supported by Philosophy and Social Sciences Planning Project of Guangdong Province[Grant No.GD24CTS08].
文摘Digital transformation provides enterprises with new development momenta.Understanding the relationship between digital transformation and total factor productivity(TFP)is essential.This study employs a fixedeffect model and selects all Chinese A-share listed companies from 2007 to 2022 as the research sample.Internal control(IC)is introduced as a mechanistic variable.The results indicate that digital transformation significantly promotes both TFP and the effectiveness of IC.Moreover,effective IC plays a significant mediating role in the relationship between digital transformation and TFP.A heterogeneity analysis reveals that,compared to non-state-owned enterprises,state-owned enterprises can improve TFP more rapidly through digital transformation due to their resource advantages and policy support.On the one hand,these findings help enterprises better align their transformation strategies to maximize the benefits of digital transformation.On the other hand,they provide investors with insights into the transformation potential and future growth prospects of these enterprises.
文摘Under the background of increasingly complex global economic development and financial markets,the legal risks faced by enterprises are increasingly intensified.As an important legal norm to adjust financial activities,financial law has put forward higher requirements for the operation and risk management of enterprises.Therefore,the article will start from the concept of internal legal risk prevention and control under the financial perspective,study and analyze the common internal legal risks and the causes of risks,and put forward the specific measures of prevention and control of internal legal risks.
文摘With the development of modern society,the functions of administrative institutions and public institutions are constantly evolving.Under the background of comprehensively deepening reform,higher requirements are put forward for the financial management of administrative institutions and public institutions.The financial management status of administrative institutions and public institutions will directly affect the quality of public services.Therefore,it is necessary to strengthen the internal control of financial management.By leveraging the constraints and supervision mechanisms of internal control,the transparency and credibility of financial management can be effectively enhanced.However,in the actual internal control and financial management of administrative institutions and public institutions,there are still some problems,which make it difficult to improve the level of financial management and affect the sustainable development of administrative institutions and public institutions.By analyzing the internal control and financial management of administrative institutions and public institutions under the new situation,this article proposes plans such as strengthening the construction of professional management teams,deeply using information technology means,and improving the internal control system,effectively enhancing the management efficiency of administrative institutions and public institutions and better adapting to the development of the times.
文摘This phenomenological qualitative study explored the lived experiences of employees at Maryland's Historically Black Colleges and Universities(HBCUs)concerning internal control systems through the theoretical lenses of the COSO framework and employee engagement theory.Using semi-structured interviews with faculty and staff who had worked at the institution for more than three years,the research investigated how employees perceive leadership tone,risk assessment processes,policy implementation,communication channels,and evaluation mechanisms related to internal controls.The study revealed five major themes that characterize employee experiences with internal control systems at this HBCU.Leadership communication was found to be hierarchical but inclusive,though marked by inconsistent communication of ethical values and significant resource constraints affecting implementation.Risk management practices were predominantly reactive rather than proactive,with limited systematic risk assessment processes that focused more on academic risks than operational vulnerabilities.Policy implementation was characterized by unclear separation of duties,substantial workload imbalances,and limited resources that compromised effective control activities.Communication challenges emerged as a critical weakness,with participants describing information sharing as inconsistent,unclear,and selective,compounded by significant technology obstacles in accessing necessary information.The evaluation and improvement processes were found to be limited and primarily driven by external accreditation requirements rather than systematic internal monitoring,resulting in reactive responses to issues rather than proactive enhancement.The findings contribute to the limited research on internal control systems within HBCUs by providing phenomenological insights into how structural constraints including funding limitations,unclear role delineation,and reactive management approaches create barriers to implementing robust internal control systems.Despite institutional commitment to inclusive leadership and student success,the study reveals that addressing these challenges requires not only increased resources but also structural changes to workload distribution,communication practices,and a shift toward more proactive risk management and monitoring procedures.The research provides evidence-based insights for HBCU administrators seeking to strengthen internal control implementation while maintaining institutional mission and cultural values.
文摘The quality system of any modern pharmaceutical company is the pharmaceutical quality system(PQS),which extends the GMP standards to all stages of the medicinal productslife cycle,from pharmaceutical development to its withdrawal from production.The principal difference between PQS and GxP rules from other quality systems is that the medicinal product,its safety and efficacy is put at the forefront.At the same time,PQS implies a process approach to all components that should be aimed at achieving the main goal—ensuring and guaranteeing the quality of the medicinal product for the end user(patient)—and should be based on the quality risk management system.An integral part of PQS,as well as the GxP rules adopted in the European Union and PIC/S,is a process for self-inspections and/or quality audits,which regularly appraises the effectiveness and applicability of the PQS.This publication is dedicated to the definition of self-inspections(internal audits)as one of the PQS’s processes.The article defines the main standard stages and develops a model of a risk-based approach to the self-inspections’planning in relation to processes of the pharmaceutical quality system.
基金co-supported by the National Major Project for the Development and Application of Scientific Instrument Equipment of China (No. 2012YQ040235)
文摘The start-up current control of the high-speed brushless DC（HS-BLDC） motor is a challenging research topic. To effectively control the start-up current of the sensorless HS-BLDC motor, an adaptive control method is proposed based on the adaptive neural network（ANN）inverse system and the two degrees of freedom（2-DOF） internal model controller（IMC）. The HS-BLDC motor is identified by the online least squares support vector machine（OLS-SVM） algorithm to regulate the ANN inverse controller parameters in real time. A pseudo linear system is developed by introducing the constructed real-time inverse system into the original HS-BLDC motor system. Based on the characteristics of the pseudo linear system, an extra closed-loop feedback control strategy based on the 2-DOF IMC is proposed to improve the transient response performance and enhance the stability of the control system. The simulation and experimental results show that the proposed control method is effective and perfect start-up current tracking performance is achieved.
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.N110304008)the National Natural Science Foundation of China(Grant No.61374137)
文摘A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.
基金The National High Technology Research&Development Program of China under contract No.2012AA10A411the National Natural Science Foundation of China under contract Nos 41176151 and 41276177
文摘Pyropia haitanensis is an economically important mariculture crop in China and has a high research value for several life phenomena, for example environmental tolerance. To explore the mechanisms underlying these characteristics, gene expression has been investigated at the whole transcriptome level. Gene expression studies using quantitative real-time PCR should start by selecting an appropriate internal control gene; therefore, the absolute expression abundance of six housekeeping genes （18S rRNA （18S）, ubiquitin-conju-ating enzyme （UBC）, actin （ACT）, β-tubulin （TUB）, elongation factors 2 （EF2）, and glyceraldehyde-3-phos- phate dehydrogenase （GAPDH） examined by the quantitative real-time PCR in samples corresponding to different strains, life-cycle stages and abiotic stress treatments. Their expression stabilities were assessed by the comparative cycle threshold （Ct） method and by two different software packages： geNorm and NormFinder. The most stable housekeeping gene is UBC and the least stable housekeeping is GADPH. Thus, it is proposed that the most appropriate internal control gene for expression analyses in P. haitanensis is UBC. The results pave the way for further gene expression analyses of different aspects of P. haitanensis biology including different strains, life-history stages and abiotic stress responses.
基金supported by the National Basic Research Program (973) of China (No.2015CB458900)the National Natural Science Foundation of China (No.51779002)
文摘Denitrification plays an important role in nitrogen(N) removal in freshwater ecosystems.This internal process regulates the fluctuations of N concentration, especially for lakes with high nutrients concentrations and long residence time. Lakes in Yunnan plateau(southwestern China) provide typical cases, while studies in this region have been rare.Therefore, we studied denitrification of two lakes(Lake Dianchi in hypereutrophic state and Lake Erhai in mesotrophic) in this region. We used acetylene inhibition technique to quantify potential denitrification rate(PDR) of these lakes in April and August, 2015 and 2016. PDR of the sediments ranged 0–1.21 μmol/(N·m^2·hr), and that of overlying water ranged 0–0.24 μmol/(N·L·hr). Then, we used Least Angle Regression to determine the controlling factors for denitrification. Nutrients controlled PDR from two aspects: providing essential nitrogen sources; and affecting the richness and metabolism of denitrifying bacteria. In April, both aspects limited PDR; while only nitrogen sources limited PDR in August, due to depleted nitrate and enhanced denitrifying bacteria activity. Ammonia was most significant to denitrification, indicating that nitrate from nitrification transported to the bottom of wellmixed lake provide major N source by denitrification. The high PDR and low nitrate concentrate in August were evidence of an enhanced internal N cycling by algal blooms.
基金supported by National Basic Research Program of China(973 Program)(No.2012CB316400)National Natural Science Foundation of China(Nos.61171034 and 61273134)
文摘In this paper, an iterative learning control algorithm is proposed for discrete linear time-varying systems to track iterationvarying desired trajectories. A high-order internal model(HOIM) is utilized to describe the variation of desired trajectories in the iteration domain. In the sequel, the HOIM is incorporated into the design of learning gains. The learning convergence in the iteration axis can be guaranteed with rigorous proof. The simulation results with permanent magnet linear motors(PMLM) demonstrate that the proposed HOIM based approach yields good performance and achieves perfect tracking.
基金Project(61273132)supported by the National Natural Foundation of ChinaProject(20110010010)supported by Higher School Specialized Research Fund for the Doctoral Program,China
文摘A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.
基金Supported by the National Natural Science Foundation of China（60574047） the National High Technology Research and Development Program of China（2007AA04Z168 2009AA04Z154） the Research Fund for the Doctoral Program of Higher Education in China（20050335018）
文摘In this paper,a multi-loop internal model control(IMC) scheme in conjunction with feed-forward strategy based on the dynamic partial least squares(DyPLS) framework is proposed.Unlike the traditional methods to decouple multi-input multi-output(MIMO) systems,the DyPLS framework automatically decomposes the MIMO process into a multi-loop system in the PLS subspace in the modeling stage.The dynamic filters with identical structure are used to build the dynamic PLS model,which retains the orthogonality among the latent variables.To address the model mismatch problem,an off-line least squares method is applied to obtain a set of optimal filter parameters in each latent space.Without losing the merits of model-based control,a simple and easy-tuned IMC structure is readily carried over to the dynamic PLS control framework.In addition,by projecting the measurable disturbance into the latent subspace,a multi-loop feed-forward control is yielded to achieve better performance for disturbance rejection.Simulation results of a distillation column are used to further demonstrate this new strategy outperforms conventional control schemes in servo behavior and disturbance rejection.
基金Supported by National Natural Science Foundation of China(Grant No.51375009)PhD Research Foundation of Liaocheng University,China(Grant No.318051523)Tsinghua University Initiative Scientific Research Program,China
文摘Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.
基金Project supported by the National Natural Science Foundation of China (No.60574047)the National High-Tech R & D Program (863)of China (No.2007AA04Z168)the Research Fund for the Doctoral Program of Higher Education of China (No.20050335018)
文摘A multi-loop adaptive internal model control (IMC) strategy based on a dynamic partial least squares (PLS) frame-work is proposed to account for plant model errors caused by slow aging,drift in operational conditions,or environmental changes.Since PLS decomposition structure enables multi-loop controller design within latent spaces,a multivariable adaptive control scheme can be converted easily into several independent univariable control loops in the PLS space.In each latent subspace,once the model error exceeds a specific threshold,online adaptation rules are implemented separately to correct the plant model mismatch via a recursive least squares (RLS) algorithm.Because the IMC extracts the inverse of the minimum part of the internal model as its structure,the IMC controller is self-tuned by explicitly updating the parameters,which are parts of the internal model.Both parameter convergence and system stability are briefly analyzed,and proved to be effective.Finally,the proposed control scheme is tested and evaluated using a widely-used benchmark of a multi-input multi-output (MIMO) system with pure delay.
基金Supported by National Natural Science Foundation of China(Grant Nos.11072106,51375009)
文摘Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.
文摘An adaptive internal mode control is proposed to eliminate effectively periodic disturbance with uncertain frequency caused by input error angle of PIGA （Pendulous Integrating Gyro Accelerometer）. An adaptive algorithm with periodic disturbance frequency identification on line is applied and the internal model controller parameters are adjusted to eliminate disturbance. Then the convergence of this algorithm and the stability of the system are proved by the averaging method. Simulation results verify the proposed scheme can eliminate periodic disturbance and improve the test precision for PIGA effectively.
基金the National Natural Science Foundation of China,No.81901257(to YXW)the Natural Science Foundation of Jiangsu Province of China,No.BK20180951(to YXW)+1 种基金Postgraduate Research and Practice Innovation Program of Jiangsu Province of China,No.KYCX20_2818(to WL)and Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD,to Key Laboratory of Neuroregeneration of Jiangsu and Ministry of Education).
文摘There is a lack of systematic research on the expression of internal control genes used for gene expression normalization in real-time reverse transcription polymerase chain reaction in spinal cord injury research.In this study,we used rat models of spinal cord hemisection to analyze the expression stability of 13 commonly applied reference genes:Actb,Ankrd27,CypA,Gapdh,Hprt1,Mrpl10,Pgk1,Rictor,Rn18s,Tbp,Ubc,Ubxn11,and Ywhaz.Our results show that the expression of Ankrd27,Ubc,and Tbp were stable after spinal cord injury,while Actb was the most unstable internal control gene.Ankrd27,Ubc,Tbp,and Actb were consequently used to investigate the effects of internal control genes with differing stabilities on the normalization of target gene expression.Target gene expression levels and changes over time were similar when Ankrd27,Ubc,and Tbp were used as internal controls but different when Actb was used as an internal control.We recommend that Ankrd27,Ubc,and Tbp are used as internal control genes for real-time reverse transcription polymerase chain reaction in spinal cord injury research.This study was approved by the Administration Committee of Experimental Animals,Jiangsu Province,China(approval No.20180304-008)on March 4,2018.
