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In this paper, based on adaptive dynamic programming (ADP) with concurrent learning, the problem of optimal guaranteed cost tracking is studied for a class of uncertain continuous-time nonlinear systems. First, the original uncertain system and a reference system are combined into an augmented uncertain system, and the performance index is transformed into the corresponding augmented form. Afterwards, the solution of the optimal control problem consisting of the nominal augmented system with the modified performance index is proven to be the optimal guaranteed cost tracking control law of the original uncertain system. Moreover, a concurrent learning tuning algorithm based on ADP is presented to approximate the solution of corresponding Hamilton-Jacobi-Bellman (HJB) equation, which relaxes the condition of persistent excitation (PE). A neural network-based approximate optimal guaranteed cost tracking design is developed not only to ensure tracking error convergence to zero for all admissible uncertainties but also to achieve the minimal guaranteed cost. Finally, two simulation examples are considered to verify the effectiveness of the theoretical results.


Conventional controllers are required to be tuned by adjusting its controller gains to obtain acceptable control performances. Similarly, a fuzzy logic controller needs to be tuned until a satisfactory control performance is achieved. A fuzzy logic controller can be tuned by modifying its fuzzy control rules, membership functions, and scaling gains. In this paper, elements of some of the membership functions are chosen as the tuning parameter. While a similar approach is undertaken in [10, 11], asymptotic stability is not achieved therein. In this work, the tuning parameter of the proposed fuzzy logic controller is adapted for asymptotic stability. The contribution of this research is the development of an asymptotically stable fuzzy logic controller that is robust against model uncertainties and a disturbance input whose measurements are not available.


The knowledge base comprises a database that provides necessary definitions to ensure a proper functioning of the controller and a rule base that contains a set of fuzzy control rules [21]. A fuzzy control rule provides a convenient way to represent control goals and policies of field experts and has the following form:


where xi and ufl are linguistic variables representing ith input of the controller and fuzzy logic control input, respectively, Aij and Bj are linguistic values of the linguistic variables xi and ufl, respectively, and M is the number of fuzzy control rules.


As a result, the state 
x
(t) of control system (3) is guaranteed to asymptotically decay to a small neighbourhood of the origin if dynamic feedback controller (21) that consists of dynamic fuzzy logic controller (20) and feedback law (24) or (28) is implemented. Since the controller relies only on the nominal functions f0 and g0 and estimates the uncertain and unknown variables by processing the system state, it is a robust controller.


Many of the existing self-adaptive traffic control systems use the traffic model to predict the evolution of the network traffic flow under the condition of limited traffic flow data and then use the comprehensive index method to optimize the signal timing parameters. Therefore, volume prediction is an essential part. Associated with the prediction are two aspects: resolution and accuracy. It is imperative to study the relationship and tradeoff between the control strategy, prediction resolution, and its associated error, which are crucial to the development of self-adaptive traffic control systems. In a word, it is the inevitable option to study the theory and method of urban road traffic adaptive control in the future traffic data-rich environment.


Traffic congestion i

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Kamu masih suka bingung apakah grammar-mu sudah benar atau belum? Takut membuat kesalahan dalam grammar ataupun spelling? Tenang civitas INSTIKI, sekarang kamu dapat mengantisipasi kesalahan-kesalahan itu dengan mudah. Empat aplikasi atau situs ini bisa membantumu mengecek grammar sekaligus mengasah kemampuan menulis berbahasa Inggrismu!


Grammarly adalah salah satu tools cek grammar online terbaik. Telah dipakai hampir 20 juta pengguna internet, Grammarly bisa diinstal secara mudah dan gratis. Kamu dapat meningkatkan kemampuan writing yang dilengkapi dengan fasilitas spell check, grammar check, punctuation check, dan masih banyak lagi hanya melalui satu aplikasi yang bernama Grammarly ini.


Berikutnya adalah Quillbot yang memiliki beragam fitur gratis untuk memudahkanmu dalam menulis menggunakan bahasa Inggris. Kelebihan yang dimiliki Quillbot, seperti grammar checker, parafrase, merangkum, sampai membuat sitasi.


AI Grammar Checker for English adalah aplikasi grammar checker berbasis mobile. Fitur unggulan dari aplikasi ini yakni text scanner yang memungkinkan kamu dapat identifikasi teks dari gambar tanpa perlu mengetik secara manual. Aplikasi ini bisa menjadi pilihan yang tepat untuk dapat meningkatkan kemampuan grammar kamu. Selain mengoreksi tulisan secara otomatis, terdapat pula penjelasan lengkap dari kesalahan grammar pada tulisanmu.
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El control de ingresos y gastos nos permite saber 
en qué situación financiera se encuentra nuestro negocio
. Así podemos clasificar la naturaleza de estos movimientos, una información que nos da las claves de la rentabilidad de la empresa. Para poder saber si somos rentables, es vital tener al día el control de ingresos y gastos.



Esto se convertirá en la columna vertebral de tu negocio
,ya que te permitirá conocer los gastos e ingresos de tu emprendimiento. Gracias a esta información, sabrás cómo optimizar tareas y procesos que hagan rendir tu restaurante al máximo.


Knorr® Professional quiere ayudarte a cumplir con el mayor objetivo de tu negocio: ser rentable. Descarga su herramienta de receta estándar para reducir costos, vender al precio correcto y aumentar tus ganancias.


Fijar los precios del restaurante en función del coste de los alimentos es una sencilla manera de controlar los gastos en todo momento evitando que se disparen. En este caso es determinante crear un 
precio base para cada artículo
 de acuerdo a un porcentaje del coste de los alimentos.


Primero debemos elegir el 
margen del beneficio bruto ideal
. Por ejemplo, si en un plato tenemos un beneficio bruto del 40%, significa que ganamos 40 céntimos de euro por dicho plato. El resto del coste se destina a comprar la materia prima y a incluir otros gastos del restaurante indirectos como la luz, mano de obra, etc.





La ingeniería de menú es otra técnica muy extendida entre los restauradores, cuyo objetivo es animar al cliente de forma subconsciente para que los alimentos y productos más rentables de nuestro restaurante. Para llevar a cabo esta estrategia debemos tener muy claro cuál es el coste y margen exacto que nos deja cada plato.


En este artículo, se presentan diversas 
estrategias utilizadas por gerentes de grandes cadenas de restaurantes
 para ayudar a los propietarios a reconocer y reducir los costos de alimentos y bebidas de su negocio. Usándolas de manera regular, estas estrategias lo ayudarán a reconocer y reducir el costo total de alimentos y bebidas de su negocio.


La formación previa puede ser efectiva para controlar los costos mediante 
el uso de bolsas de porciones y una báscula
 para prepesar el producto antes de almacenar la línea de cocción.


Construya un horario que se ajuste a las necesidades de su trabajador y reduzca los costos de las horas extras usando a master scheduler. Cuando los gerentes de los restaurantes a cargo de la programación tengan todas las herramientas necesarias para programar eficientemente, la programación tomará menos tiempo y costará menos en general.


Como propietario de un restaurante, es importante entender y controlar los costos fijos y variables para poder mantener una operación rentable. En este artículo, discutiremos los diferentes tipos de costos fijos y variables y cómo pueden afectar la rentabilidad de su negocio.


Para controlar los costos fijos y variables, es importante tener un buen control de inventario. Debe saber cuánto stock tiene disponible en todo momento y cuánto stock necesita pedir. Si tiene demasiado stock, puede terminar perdiendo dinero en costos fijos como el alquiler y los salarios. Si no tiene suficiente inventario, puede terminar perdiendo ventas.


¡No busques más! Si eres dueño de un restaurante de comida rápida y necesitas llevar un control de tus costos, esta plantilla de Excel es justo lo que necesitas. Con ella, podrás calcular el costo de venta de tus productos, determinar precios de venta y establecer un costo promedio por plato. ¡No pierdas más tiempo haciendo cálculos manualmente! Descarga la plantilla gratis y potencia tu negocio. Además, recuerda que esta herramienta se actualiza constantemen

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Please email us at 
books@harrisonmusic.com with Gospel Piano For Beginners in the subject, to receive your FREE mp3 audio recordings of all the music examples in this book! Most of the audio recordings feature a rhythm section on the left channel, and the piano on the right channel. To play along with the band, turn down the right channel to eliminate the recorded piano. To hear the piano part for reference, turn down the left channel to eliminate the rhythm section. 

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RT 71 Kelurahan Kenali Besar Kecamatan Alam Barajo Kota Jambi merupakan salah satu daerah yang tingkat pravelensi hipertensi yang cukup tinggi dari data yang diperoleh dari Puskesmas Kenali Besar. Kementrian Kesehatan juga mengupayakan mengajak masyarakat untuk memanfaatkan tanaman obat herbal, obat tradisional, dan obat herbal terstandar dalam upaya pengendalian penyakit. Kegiatan Pengabdian Masyarakat dilaksanakan dengan sosialisasi terhadap masyarakat RT.71 Kelurahan Kenali Besar Kecamatan Alam Barajo Kota Jambi, pada kegiatan yang dilakukan ini memiliki tujuan untuk meningkatkan pemahaman dan pengetahuan masyarakat terkait Pemanfaatan Tanaman Herbal Untuk Pengobatan Hipertensi. Kegiatan pengabdian masyarakat ini dilakukan dengan survey ke tiap rumah warga, pembagian leaflet hipertensi, pemaparan materi terkait hipertensi dan materi tanaman herbal yang disertai demonstrasi produk, pengukuran tekanan darah dan cek gula darah gratis. Hasil dari pengabdian yaitu meningkatnya pengetahuan yang didapat terkait pemanfaatan tanaman herbal untuk hipertensi , dari hasil kuesioner yang sudah dibagikan didapatkan nilai rata-rata pretest untuk sosialisasi pemanfaatan tanaman herbal untuk pengobatan hipertensi sebesar 109,47 dan post-test sebesar 144,73.


Biasanya dalam leaflet ini akan di beritahukan atau di infokan kepada pembaca tentang, apa itu hipertensi, tanda tanda dan gejala hipertensi, faktor pemuci dan penyebab hipertensi, klasifikasi hipertensi, komplikasi hipertensi dan makanan yang boleh di makan oleh penderita hipertensi dan lain lainnya.
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A complete file of all 301 digital issues is available for purchase from Lybrary.com. Also, the collection is available for browsing with your subscription to Genii Magazine or Ask Alexander.Shop on Lybrary.comThe publication lives on in the annual convention that bears its name, MAGIC Live! The event was originally produced in 2001 to celebrate the 10th Anniversary of MAGIC Magazine, bringing the pages of the magazine to life.


Today, the same team that published the most prestigious magic magazine continues to produce the most prestigious convention, attracting over 1,600 magicians each year.Explore MAGIC LiveMAGIC Magazine
702-798-0099 ext. 110
help@magicmagazine.com



MAGIC, The Magazine for Magicians
, is an independent magazine is based in Las Vegas, Nevada. A creation of Stan Allen, it debuted in September of 1991, with its first issue featuring Lance Burton on the cover.


My guess is that there is some issue with the advertisements in the old issues that require their removal. This was a problem that TSR had when they released the old Dragon magazines on CD ROM back in the day. I even went so far as to compare the issue I just purchased, Dungeon 139, to a scanned version on Archive.org. Sure enough, several advertisements had been removed from the version that I just downloaded. I hope if this is the case that Paizo has a plan to update these old issues and make them available for PDF purchase again. I know that's a lot of effort on their part but there is some really excellent content in those old issues.


Yep. Paizo converted what they could before the license agreement expired (and were allowed to continue distributing those that theyd got to) but they didnt get to the end of the run.The last few Dungeon magazines were never available as pdfs, sadly.


Meet Catnip, a magazine for a unique breed of cat people. This 216-page collectible publication from the makers of Broccoli paws at the paradoxes of a creature that embodies playfulness and repose, wildness and domesticity, the every day and the absurd. With catlike curiosity and feline flair, we go to the kittiest corners of the world to scratch the surface of cat culture and uncover the many reasons why cats enchant us.


Broccoli is a publisher of unusual delights. We create artful magazines, books, and an array of creative products designed to spark curiosity. We are an independent, women-led brand that launched in 2017 with our flagship magazine Broccoli, which has expanded into a multifaceted universe including events, newsletters, podcasts, books, magazines, and a growing line of playful merchandise.





Paul Romhany started VANISH in 2011 and is considered the most cutting edge magazine for magicians in the world. Each issue contains magic tricks, reviews, essays, feature stories and more. Each issue is approx 100 pages or more.


M-U-M began in 1911. Between 1927 and 1951 it was published as a special section of other magicians' magazines (The Sphinx from 1927-1941, and 1947-1951; Genii from 1941-1947). It became a standalone magazine again in 1951. No issue or contribution copyright renewals were found for this serial. (More details) It is still published today.


Check out our collection of 75+ current and past issues of Make: magazine as well as over 100 Make: book titles, rich with new ideas for projects, technology and electronics, programming, 3D Printing, drones and flight, Maker profiles, general DIY know-how, robots and even Maker Magic!


Hello, nice to meet you. I am a 55 yr old woman, who suffers from depression and anxiety. I came upon your magazine ad while browsing Facebook. In a whim, I ordered Issue 27 after falling in love with the graphics on your website. I wanted to share the ultimate peace and serenity I feel after reading half of the magazine already.


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O Teu Corpo Diz Ama Te Pdfl

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Most corporate records contain crucial information about your business and its operations. This begins during the formation process with your articles of incorporation and continues with tax returns, corporate bylaws, meeting minutes, ledgers, and so much more.


Aside from your legal obligation to maintain corporate records, good corporate record keeping offers practical value for any operation. For example, corporate records can help you track and monitor the trajectory of your business year over year. You can refer to tax returns in the past to help you with tax returns in the future.


The list goes on and on, and the records vary for each one. For example, a lender or vendor may want to see records related to your sales history, while a mediator handling a shareholder dispute would need corporate bylaws and meeting minutes.


Again, this is not a full list. Your corporation might need to maintain some additional records based on specific situations. In other cases, your corporation may not need to maintain everything listed above.


The secretary of an organization is typically the one responsible for meeting minutes, meeting attendance tracking, meeting actions, and corporate resolutions. Then they can distribute the files to an attorney, important members, and shareholders.
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Freezing rain is a meteorological event that occurs during the winter months in parts of the United States and southern Canada. Freezing rain poses a serious threat to surface transportation and electric power transmission (e.g., Martner et al. 1993; Bendel and Paton 1981; Regan 1998). The synoptic conditions that produce freezing rain have been studied previously and are fairly well understood (e.g., Bernstein et al. 1998; Cortinas 2000). Freezing rain usually results from a layer of warm (T > 0°C) air overriding a shallow layer of cold (T 
400 m, the supercooled drops may refreeze to become ice pellets (Zerr 1997; Cortinas 2000).


The data used in this research were collected during the STORM-FEST field project (Szoke et al. 1994). This project was coordinated and funded by several agencies. The field project focused on studying the dynamics and structure of fronts associated with winter storms and the resulting precipitation over the central United States. STORM-FEST was operational from 1 February through 15 March 1992. The study area of STORM-FEST covered several states in the central United States with most of the focus on Kansas, Missouri and Oklahoma. This study area can be seen in Fig. 1. Many facilities were used in the STORM-FEST domain including five research aircraft, six Doppler radars complementing eight National Weather Service (NWS) radars, numerous surface observing networks, as well as supplemental rawinsondes and rawinsonde sites. This extensive observing network provided an unparalleled dataset for mesoscale phenomena occurring in this region during winter storm events. A 4-h timeline of the data systems used in this case study is shown in Fig. 3. The Wyoming King Air landed at 0709 UTC and, therefore, does not appear in Fig. 3.
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Terdapat beragam susunan, isi dan tidak ditemukan salinan yang berusia lebih tua daripada abad ke-18. Dibuat sebagai karya sastra bertema sejarah yang berbentuk tembang. Sebagai babad dengan pusat zaman kerajaan Mataram, naskah ini tidak pernah lepas dalam setiap kajian mengenai hal hal yang terjadi di tanah Jawa.


Buku ini menghadirkan kajian menyeluruh tentang Babad Tanah Jawi: dari silsilah raja-raja Jawa dengan menarik silsilah hingga ke Nabi Adam hingga penelitian tentang candi-candi peninggalan kerajaan (orang) Jawa kuno yang tersebar di seluruh tanah Jawa. Kelengkapan dan kekayaan data dalam buku ini didukung oleh sumber-sumber orisinil dan ilmiah (bukan fiksi sejarah) yang secara umum telah diakui kebenarannya. Sehingga buku ini niscaya akan sangat berguna untuk melengkapi penelitian-penelitian sebelumnya yang telah ada, dan karenanya pantas disebut sebagai sebagai Babon Babad Tanah Jawi edisi lengkap.


Buku ini juga menghadirkan metode yang berbeda dengan buku-buku babad tanah Jawi lainnya, seperti karya Carik Braja, Adilangu II, maupun W.A. Olthof, yang berbentuk cerita fiksi sejarah. Semua bagian dalam buku ini bersandar pada prinsip-prinsip penelitian ilmiah, dengan harapan akan mampu memberikan cakrawala pengetahuan yang lebih argumentatif dan bisa dipertanggungjawabkan.


Meskipun demikian, siapapun yang tertarik untuk memahami babad tanah jawi harus bekerja keras menafsirkan setiap data yang dituliskan. Mengapa? Sebab, seperti babad lainnya, selain menggunakan bahasa Jawa kuno, juga mengandung cukup banyak mitos.


Banyaknya campuran mitos dalam babad tanah jawi telah menyedot perhatian banyak ahli sejarah. Misalnya H.J. de Graaf, menurutnya sesuatu yang tertulis dalam babad tanah jawi dapat dipercaya, khususnya cerita tentang peristiwa tahun 1600 sampai pada abad ke-18. Namun, untuk cerita selepas era itu, de Graaf tidak berani menyebutnya sebagai data sejarah karena terlalu sarat campuran mitologi, kosmologi dan dongeng. (hlm. 35)


Lain halnya dengan Meinsma, seorang ahli sejarah peminat babad tanah jawi. Ia justru menerbitkan karyanya dalam bentuk prosa. Meinsma mendasarkan karyanya pada babad yang ditulis oleh Carik Braja. Karya Meinsma inilah yang banyak beredar hingga kini yang telah diterbitkan berpuluh-puluh jilid babad tanah jawi dalam bentuk aslinya. Dikatakann asli karena babad tersebut dalam bentuk tembang dan tulisan jawa. (hlm. 38)


Buku ini mampu menghadirkan metode yang berbeda dengan buku-buku babad tanah jawi lainnya, seperti karya Carik Braja, Adilangu II, maupun W.A. Olthof, yang berbentuk cerita fiksi sejarah. Semua bagian dalam buku ini bersandar pada prinsip-prinsip penelitian ilmiah, dengan harapan akan mampu memberikan cakrawala pengetahuan yang lebih argumentatif dan bisa dipertanggungjawabkan.


Karya Abimanyu ini, jelas memberikan sumbangan tersendiri bagi penikmat sejarah, terutama yang ingin tahu kejayaan peradaban nusantara di masa silam. Menariknya penulis ini mampu mnyajikan kajian menyeluruh tentang babad tanah jawi dari silsilah raja-raja jawa sampai ke Nabi Adam. Serta meneliti tentang candi-candi peninggalan kerajaan jawa kuno yang tersebar di seluruh tanah jawa.





Kelengkapan dan kekayaan data dalam buku ini didukung oleh sumber-sumber orisinil dan ilmiah (bukan fiksi sejarah) yang secara umum telah diakui kebenarannya. Sehingga buku ini niscaya akan sangat berguna untuk melengkapi penelitian-penelitian sebelumnya yang telah ada. Dan karenanya pantas disebut sebagai babon babad tanah jawi terlengkap.


Kitab babad ini merupakan karya sastra sejarah yang berbentuk tembang Jawa. Sebagai babad/babon/buku besar dengan pusat kerajaan zaman Mataram, buku babad karya Carik Braja ini tidak pernah lepas dalam setiap kajian mengenai hal hal yang terjadi di tanah Jawa. Siapa pun yang tertarik untuk memahami Babad Tahah Jawi ini harus beke

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Końcowa ścieżka analizy doprowadziła go do ustanowienia systematycznego podejścia do polityki gospodarczej jako dyscypliny do pewnego stopnia autonomicznej w stosunku do reszty nauk ekonomicznych, poprzez badanie różnych potrzeb uzdrowienia niedoskonałości rynku, jak również kierunków i projektu polityka publiczna[8].
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spine x zolt x WOOK - WILD WEST (prod. oskxr, spine)

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