In this paper, a new method of eightdirection searching is used to continuously produce such circular arcs,and with the constraint of step direction,the angular points can be avoided.

We focus our attention on using backstepping and control Lypunov Function(CLE)techniques to design and adaptive controller of full state feedback for certain cascade nonlinear systems achieving ainput-to-state stability with respect to unknown bounded disturbance.

Theory and structure design of two-ways step running complete fluidic sprinkler of PXSB type;