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The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional-integral-derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

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Abstract.A 915 MHz printed radio-frequency-identification (RFID) antennas with the characteristics of good gain and omnidirectional beam wave is constructed and evaluated in this study. The objective is to find out their best reading rates for providing effective wireless communications among RFID antenna during the library book inventory process. And an optimal library inventory system which is based on electromagnetic identification (EMID) technology is proposed, which is constructed to find the optimal tag location for a book, test the tag readability for bookshelves, and connect a couple of multi-layer bookshelves with multiplexers and updat the tag reading status in the database of the computer terminal. The fabricated antenna reader and the proposed system are embedded into different locations of bookshelves and tested at the library of Cheng Shiu University in Taiwan. According to the experimental results, the designed prototype of the antenna reader has the characteristics of the directional radiation pattern, good gain, simple shape, low cost and is easy to be integrated into the bookshelf. And the designed library inventory system can authenticate the location of a book automatically . They can benefit administrating librarians with the capabilities of decreasing the library inventory processing time and reducing the possibility of the books being misplaced.