Recent research suggests that technologically enhanced learning environments (TELEs) represent an opportunity for students to build their ability to self-regulate, and for some, leverage their ability to apply self-regulated learning (SRL) to acquire knowledge. This chapter reviews 55 empirical studies and interprets their findings to answer the following questions: (1) What is the theoretical basis for understanding the possible relations among SRL and TELEs? (2) What types of TELE have been used to study these relations? (3) When participants engage in SRL behaviors in a well-designed TELE, do they show greater learning than their peers who engage in fewer SRL behaviors? (4) How have TELEs been shown to promote SRL tendencies in learners? and (5) How do pre-existing SRL tendencies influence the ways in which learners interact with TELEs? Our review suggests that TELEs can promote SRL and are best used by those who can self-regulate learning. SRL training should occur before the task, or be embedded in the TELE. Knowledge acquisition in TELEs is supported by learner self-regulation and by design features that include immediate and adaptive feedback and tools which support SRL behaviors.

In this work, we study the structure regulator for the perturbations attenuation which is based on the infinite structure regulator. The structure regulator is able to attenuate the perturbations if the transfer function of the departures and perturbations has a numerical value almost equal to zero, and it does not require the perturbations to attenuate them. We apply the structure regulator and the infinite structure regulator to a quadrotor which maintains the horizontal position with respect to the earth for the step and sine perturbations.INDEX TERMS Quadrotor, perturbations attenuation, model, roll and pitch angles. I. INTRODUCTION

Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots.

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