In this research, several adaptive fractional order PID control tuning methods are proposed for fractional order linear and nonlinear systems. First, an indirect self-tuning regulator is presented for linear fractional order systems. In this method, parameters of the system are determined by identification methods, and the controller gains are updated online based on pole placement method using Sequential Quadratic Programming (SQP) algorithm. In the next section, an automatic tuning method of fractional order PID controllers is developed for a class of linear fractional order systems using model reference adaptive control techniques. Then, a robust adaptive fractional order PID controller design motivated from the sliding mode control techniques is proposed for a class of fractional order nonlinear systems. In the next section, an adaptive FOPID controller is used to synchronize two fractional chaotic systems. Finally, a direct self-tuning fractional order PID control is proposed for a class of fractional order nonlinear systems based on the Lyapunov approach.

In this research, a new controller is developed for Hexaglide CNC machines. The main purpose of this research is the development of a software which converts standard G-Code to Hexaglide G-Code using inverse kinematics. In order to do so, the geometric parameters of Hexaglide mechanism are obtained. Subsequently, the equation of inverse kinematics of Hexaglide mechanism and Jacobian matrix are derived. The Jacobian matrix is used For G-Code conversion. Finally, the proposed controller is implemented on a Hexaglide CNC to demonstrate the great performance of the method.

Industrial press units are divided into two primary groups, single-action and double-action. A single-action press unit has a mechanism that guides drawing slide. A double-action press unit has a blank holder mechanism as well. A double-action press die has more weight and is more expensive than a single-action one. For the following reasons, single action die, uses for double action press that blank holder mechanism is not in use in this situation and unit changes to single action. The conclusion of this work is the dynamics and stress analysis of the later state. In this work, for a kinematics analysis, a mathematical model of the mechanism is presented. Later, a dynamics analysis of the double-action mechanism with a standard die and with a small die of a single-action state is provided. This work is concluded by the stress analysis of the two states. Conclusions yield that the use of a single-action die for a double-action press increases the force and stress in the ram mechanism joints. Thus this usage in the double-action press increases the failure chance in the press mechanism.

In this research, the main goal was developing a program for simulation of the GLONASS System. In the first section of this program, the position, velocity and acceleration of satellites are calculated at each time instance. In addition, by choosing location of any arbitrary point on the earth, the satellites, the mentioned point is in the visibility of which, are determined. Afterwards, the effects of atmospherics on the satellites signal is studied and the signals attenuation is calculated. Finally, numerical simulation results are compared with STK software simulation results using the SDP4 algorithm. The presented program uses High Precision Orbit Propagator (HPOP) algorithm and is written in C++. Additionally, a graphical user interface (GUI) is developed using C#.