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This paper presents adaptive time-delay control (TDC) with a supervising switching technique (SST) for controlling robot manipulators. Two adaptive techniques are used to enhance the TDC. The control gain of TDC is adaptively tuned using a class of Nussbaum functions. With Nussbaum functions, compared with conventional TDC using a constant gain, the proposed control using Nussbaum functions can deal with inertia parameter variations due to the movement of a robot manipulator. The SST is used to deal with discontinuous disturbances. The proposed control is model-free, highly accurate, robust and adaptive. [ABSTRACT FROM AUTHOR]

Recurring land price inflation in Korea is one of the most worrisome policy issues. It frustrates people's aspirations of home-ownership, aggravates income/wealth disparities, raises business costs and requires higher costs for government of land acquisition for infrastructure. Any effort to combat this problem must consider whether this land price inflation reflects a change in fundamentals or is led by speculative bubbles. An econometric test concludes that land markets in Korea have partly been driven by speculative bubbles. Then this paper argues that bubbles are cyclically formed and are persistent due to structural differences in the rate of return between land and financial assets, which are enforced by the centrally administered economic order. Thus, to reduce the bubble element in Korean land prices, fundamental reform is necessary towards a genuine market economy. This includes financial liberalisation and land tax reform to decrease speculative demand, and reform of land-use control to increase the supply of urban land. [ABSTRACT FROM PUBLISHER]