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In this paper, a new approach has been presented for dynamic control of active suspension vehicle system subject to the road disturbances. The active suspension system (ASS) which has been considered in this paper is operated by a hydraulic actuator. The input of this hydraulic actuator is a servo valve. In the other word, both mechanical equation of system (related to hydraulic actuator) and its electrical equation (related to servo valve) are considered. Therefore, the equations are complicated and only the input current of servo valve is accessible as the input control signal. The proposed approach is based on dynamic sliding mode control (DSMC).In DSMC chattering is removed due to the integrator which is placed before the input control signal of the plant. However, in DSMC the augmented system (the system plus the integrator) is one dimension bigger than the actual system and then, control of the plant is more complicated. But, its advantage is that the input control signal is obtained from a dynamic system or a low pass filter, while the robust performance (invariance property) of the system is reserved even in the presence of disturbance. Another advantage of proposed approach is that the desired output force of the hydraulic actuator is obtained by the controller.

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To investigate the response of soil microbial populations to different doses of glyphosate and sulfosulfuron, a factorial experiment based on a complete block design was conducted at Shiraz University, Iran. The factors included different herbicides and dose rates (glyphosate at 0, 540, 1,080, and 4,320 g ae ha^-1 and sulfosulfuron at 0, 12.5, 25, and 50 g ai ha^-1), and time of measurements (4, 15, 45, and 65 days after herbicides spray). Microbial respiration, microbial biomass carbon, metabolic quotient, dehydrogenase activity, and aerobic heterotrophic bacteria were measured in soil samples. The results showed that microbial respiration, microbial biomass carbon and metabolic quotient were highest for glyphosate 1,080 g ae ha^-1 at 4 days after herbicide application. Dehydrogenase activity had a decreasing trend in all herbicide treatments in comparison with the control treatment in all measuring times, except 4 days after spraying. There was no significant difference in dehydrogenase activity between herbicide treatments. The effect of sulfosulfuron on microbial respiration and metabolic quotient was not significant, whereas time and its interaction with herbicide dose rate affected these two variables significantly. Generally, all the measured indices for sulfosulfuron and glyphosate treatments decreased with time after herbicide application. Sulfosulfuron at 50 g ha-1 and glyphosate at 4,320 g ha-1 had the lowest amounts of aerobic heterotrophic bacteria after 65 days, decreased by 23.7 and 50%, respectively compared with the control. Our results demonstrate that the effects of herbicides on soil microbial communities are strongly related to the herbicide dose and the time after herbicide spray. In conclusions, the herbicides at doses more than the recommended doses showed inhibitory effects on soil microbial communities in the alkaline soil, where the inhibitory effect was more at 4,320 g ae ha^-1 glyphosate.