Meta-analysis of the efficacy and safety of Huanglian Wendan Decoction alone or combined with western medicine in treating insomnia caused by phlegm-heat internal disturbance

Objective To evaluate the efficacy and safety of Huanglian Wendan Decoction(黄连温胆汤,HLWDD)alone or combined with western medicine in treating insomnia caused by phlegm-heat internal disturbance in recent 10 years.Methods The randomized controlled trials of HLWDD alone or combined with western medicine in treating insomnia caused by phlegm-heat internal disturbance from January 1,2012 to April 1,2022 were searched in China National Knowledge Infrastructure(CNKI),China Science and Technology Journal Database(VIP),Wanfang Database,China BioMedical Literature Database(CBM),PubMed,Web of Science,Embase,and Cochrane Library databases.After being screening,the included literature was analyzed to evaluate the effective rate,Pittsburgh Sleep Quality Index(PSQI)score,traditional Chinese medicine(TCM)syndrome score,and adverse reactions of HLWDD on insomnia caused by phlegm-heat internal disturbance.The subgroup analyzed the effect of HLWDD after different treatment courses,and compared the therapeutic effects of HLWDD alone and HLWDD combined with western medicine.Results Twenty-seven randomized controlled trials were finally included,with a total of 2395 patients.The results of the meta-analysis showed that the curative effect of HLWDD alone or combined with the western medicine group was better than that of the western medicine group[RR=1.14,95%CI(1.06,1.22),P=0.000].The PSQI score[SMD=-0.31,95%CI(-0.42,-0.20),P=0.000],TCM syndrome score[SMD=-0.40,95%CI(-0.67,-0.12),P=0.005],and adverse reaction rate[RR=0.21,95%CI(0.15,0.29),P=0.000]of HLWDD alone or combined with western medicine group were significantly reduced compared with the western medicine group.The subgroup’s analysis showed that the curative effect of HLWDD alone or combined with western medicine group of 4 weeks treatment course was better than that of the western medicine group[RR=1.14,95%CI(1.03,1.26),P<0.05].The TCM syndrome score of HLWDD alone or combined with the western medicine group of 4 weeks treatment course decreased more obviously than that of the western medicine group[SMD=-0.60,95%CI(-0.96,-0.25),P<0.05].There were no significant differences between HLWDD alone or combined with western medicine group and western medicine group with different treatment courses based on PSQI score and adverse reaction rate.Based on the effective rate,the comparison between the HLWDD alone group and the western medicine group[RR=1.09,95%CI(1.00,-1.20)P<0.05],and between the HLWDD combined with western medicine group and the western medicine group[RR=1.15,95%CI(1.03,1.29),P<0.05]was the same.PSQI score[SMD=-0.44,95%CI(-0.59,-0.30),P<0.05]and TCM syndrome score[SMD=-1.10,95%CI(-1.59,-0.61),P<0.05]of HLWDD combined with western medicine group were significantly lower than those of the western medicine group.There were no significant differences of adverse reaction rate between HLWDD alone group[RR=0.08,95%CI(0.04,0.17),P<0.05]and HLWDD combined with western medicine group[RR=0.36,95%CI(0.24,0.53),P<0.05].Conclusion HLWDD alone or combined with western medicine is an effective treatment for insomnia caused by phlegm-heat internal disturbance,which has a high effective rate,significantly reduced PSQI score and TCM syndrome score,and favorable safety.The best course of treatment is 4 weeks.

Design of active disturbance rejection internal model control strategy for SISO system with time delay process

A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.

Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control

Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

Downscaling and Disaggregating NAO-conflict Nexus in Pre-industrial Europe

Recently, the desiccation effect of the North Atlantic Oscillation(NAO) is found to be positively correlated with violent conflict in pre-industrial Europe, with agricultural shrinkage and its subsequent economic shocks to be their causal link. However, it remains unexplored whether the correlation persists if the study period is extended backward in time, a different definition of violent conflict is applied, or the relationship is examined at lower geographic levels. In this study, we based on 835 internal disturbance incidents in Europe during 1049–1800 to conduct long-temporal and multi-scalar examination on the NAO-conflict nexus. ′Time-series′ and ′panel data′ disaggregation approaches, together with Granger Causality, Multiple Regression, and Survival Analyses were applied to verify the nexus quantitatively. Results show that the positive NAO-conflict correlation was significant at the continent and physiographic zone levels. During the positive NAO phases, the annual probability of internal disturbance outbreak increased by 70.0% in the southern Europe and the Mediterranean, a zone most affected by the NAO-induced desiccation effect. Yet, the NAO-conflict correlation was rather inconsistent when it was downscaled to the sub-regional level. Moreover, the NAO-conflict correlation was inflated under the time-series approach, while the panel data approach demonstrated the region-specific nature of the NAO forcing more clearly. The associated implications in examining climate-conflict nexus are discussed. Our findings may be crucial in examining violent conflict in the northwestern Africa, a highly agricultural region affected by the NAO.

Global Disturbance Rejection of Switched Nonlinear Systems with Switched Internal Model

This paper investigates the problem of global disturbance rejection for a class of switched nonlinear systems where the solvability of the disturbance rejection problem for subsystems is not assumed. The disturbances are assumed to be sinusoidal with completely unknown frequencies, phases and amplitudes. First, as an extension of the classic concept of internal model for non-switched systems, a switched internal model is proposed. Second, in order to solve the problem under study, an adaptive control method is established on the basis of the multiple Lyapunov functions method. Also,adaptive state-feedback controllers of subsystems are designed and incorporated with a switching law to asymptotically reject the unknown disturbances. Finally, an example is provided to demonstrate the effectiveness of the proposed design method.

Internal and external disturbances aware motion planning and control for quadrotors

Resilient motion planning and control,without prior knowledge of disturbances,are crucial to ensure the safe and robust flight of quadrotors.The development of a motion planning and control architecture for quadrotors,considering both internal and external disturbances(i.e.,motor damages and suspended payloads),is addressed.Firstly,the authors introduce the use of exponential functions to formulate trajectory planning.This choice is driven by its ability to predict thrust responses with minimal computational overhead.Additionally,a reachability analysis is incorporated for error dynamics resulting from multiple disturbances.This analysis sits at the interface between the planner and controller,contributing to the generation of more robust and safe spatial–temporal trajectories.Lastly,the authors employ a cascade controller,with the assistance of internal and external loop observers,to further enhance resilience and compensate the disturbances.The authors’benchmark experiments demonstrate the effectiveness of the proposed strategy in enhancing flight safety,particularly when confronted with motor damages and payload disturbances.