In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations of linear programming based unfalsified controller selection procedure being relatively small. We also present some conclusions resulting from the investigation of the e#27;ect of such elements as manipulator structure complexity, prior knowledge about disturbances, reference trajectory and assigned closed-loop spectrum on unfalsified controller performance and computational complexity.
During the planning and controlling of the construction process, most attention is focu sed on risk analysis, especially in the context of final costs and deadlines of the investment. In this analysis, the primary and most significant concern is the proper identification and quantification of events, which on a certain level of probability may affect the development process. This paper presents the result of a risk analysis for a particular building object, made after completion of the investment and accepting it for use. Knowledge of the planned values and the actual investment process allowed for the identification of the events and their effects that in this case have significantly disrupted the investment process. The limited total cost of the investment project in question had a considerable impact on the progress of the project execution. Despite three transitions of administrative procedures, the opening date of the shopping centre was delayed by only three weeks.