id	sid	tid	token	lemma	pos
ajst-10166	1	1	academic	academic	ADJ
ajst-10166	1	2	journal	journal	NOUN
ajst-10166	1	3	of	of	ADP
ajst-10166	1	4	science	science	NOUN
ajst-10166	1	5	and	and	CCONJ
ajst-10166	1	6	technology	technology	NOUN
ajst-10166	1	7	issn	issn	NOUN
ajst-10166	1	8	:	:	PUNCT
ajst-10166	1	9	2771	2771	NUM
ajst-10166	1	10	-	-	SYM
ajst-10166	1	11	3032	3032	NUM
ajst-10166	1	12	|	|	NOUN
ajst-10166	1	13	vol	vol	NOUN
ajst-10166	1	14	.	.	PROPN
ajst-10166	2	1	6	6	NUM
ajst-10166	2	2	,	,	PUNCT
ajst-10166	2	3	no	no	INTJ
ajst-10166	2	4	.	.	NOUN
ajst-10166	2	5	3	3	NUM
ajst-10166	2	6	,	,	PUNCT
ajst-10166	2	7	2023	2023	NUM
ajst-10166	2	8	26	26	NUM
ajst-10166	2	9	optimization	optimization	NOUN
ajst-10166	2	10	of	of	ADP
ajst-10166	2	11	landing	landing	NOUN
ajst-10166	2	12	attitude	attitude	NOUN
ajst-10166	2	13	stability	stability	NOUN
ajst-10166	2	14	for	for	ADP
ajst-10166	2	15	quadrotor	quadrotor	NOUN
ajst-10166	2	16	drones	drone	NOUN
ajst-10166	2	17	yang	yang	PROPN
ajst-10166	2	18	xiao1	xiao1	PROPN
ajst-10166	2	19	,	,	PUNCT
ajst-10166	2	20	a	a	DET
ajst-10166	2	21	1china	1china	NUM
ajst-10166	2	22	university	university	NOUN
ajst-10166	2	23	of	of	ADP
ajst-10166	2	24	geosciences	geoscience	NOUN
ajst-10166	2	25	,	,	PUNCT
ajst-10166	2	26	wuhan	wuhan	PROPN
ajst-10166	2	27	,	,	PUNCT
ajst-10166	2	28	hubei	hubei	PROPN
ajst-10166	2	29	,	,	PUNCT
ajst-10166	2	30	430074	430074	NUM
ajst-10166	2	31	,	,	PUNCT
ajst-10166	2	32	china	china	PROPN
ajst-10166	2	33	a20171000715xy@gmail.com	a20171000715xy@gmail.com	PROPN
ajst-10166	2	34	abstract	abstract	NOUN
ajst-10166	2	35	:	:	PUNCT
ajst-10166	2	36	during	during	ADP
ajst-10166	2	37	the	the	DET
ajst-10166	2	38	regular	regular	ADJ
ajst-10166	2	39	landing	landing	NOUN
ajst-10166	2	40	process	process	NOUN
ajst-10166	2	41	of	of	ADP
ajst-10166	2	42	drones	drone	NOUN
ajst-10166	2	43	,	,	PUNCT
ajst-10166	2	44	they	they	PRON
ajst-10166	2	45	are	be	AUX
ajst-10166	2	46	often	often	ADV
ajst-10166	2	47	susceptible	susceptible	ADJ
ajst-10166	2	48	to	to	ADP
ajst-10166	2	49	the	the	DET
ajst-10166	2	50	impact	impact	NOUN
ajst-10166	2	51	of	of	ADP
ajst-10166	2	52	ground	ground	NOUN
ajst-10166	2	53	effect	effect	NOUN
ajst-10166	2	54	and	and	CCONJ
ajst-10166	2	55	wind	wind	NOUN
ajst-10166	2	56	disturbances	disturbance	NOUN
ajst-10166	2	57	,	,	PUNCT
ajst-10166	2	58	which	which	PRON
ajst-10166	2	59	results	result	VERB
ajst-10166	2	60	in	in	ADP
ajst-10166	2	61	an	an	DET
ajst-10166	2	62	inability	inability	NOUN
ajst-10166	2	63	to	to	PART
ajst-10166	2	64	maintain	maintain	VERB
ajst-10166	2	65	parallelism	parallelism	NOUN
ajst-10166	2	66	with	with	ADP
ajst-10166	2	67	the	the	DET
ajst-10166	2	68	ground	ground	NOUN
ajst-10166	2	69	.	.	PUNCT
ajst-10166	3	1	drones	drone	NOUN
ajst-10166	3	2	are	be	AUX
ajst-10166	3	3	subjected	subject	VERB
ajst-10166	3	4	to	to	ADP
ajst-10166	3	5	various	various	ADJ
ajst-10166	3	6	types	type	NOUN
ajst-10166	3	7	of	of	ADP
ajst-10166	3	8	wind	wind	NOUN
ajst-10166	3	9	disturbances	disturbance	NOUN
ajst-10166	3	10	during	during	ADP
ajst-10166	3	11	landing	landing	NOUN
ajst-10166	3	12	.	.	PUNCT
ajst-10166	4	1	therefore	therefore	ADV
ajst-10166	4	2	,	,	PUNCT
ajst-10166	4	3	this	this	DET
ajst-10166	4	4	study	study	NOUN
ajst-10166	4	5	aims	aim	VERB
ajst-10166	4	6	to	to	PART
ajst-10166	4	7	analyze	analyze	VERB
ajst-10166	4	8	and	and	CCONJ
ajst-10166	4	9	model	model	VERB
ajst-10166	4	10	the	the	DET
ajst-10166	4	11	varying	vary	VERB
ajst-10166	4	12	characteristics	characteristic	NOUN
ajst-10166	4	13	of	of	ADP
ajst-10166	4	14	wind	wind	NOUN
ajst-10166	4	15	speed	speed	NOUN
ajst-10166	4	16	under	under	ADP
ajst-10166	4	17	natural	natural	ADJ
ajst-10166	4	18	conditions	condition	NOUN
ajst-10166	4	19	and	and	CCONJ
ajst-10166	4	20	introduce	introduce	VERB
ajst-10166	4	21	it	it	PRON
ajst-10166	4	22	as	as	ADP
ajst-10166	4	23	environmental	environmental	ADJ
ajst-10166	4	24	noise	noise	NOUN
ajst-10166	4	25	into	into	ADP
ajst-10166	4	26	the	the	DET
ajst-10166	4	27	system	system	NOUN
ajst-10166	4	28	to	to	PART
ajst-10166	4	29	evaluate	evaluate	VERB
ajst-10166	4	30	the	the	DET
ajst-10166	4	31	performance	performance	NOUN
ajst-10166	4	32	of	of	ADP
ajst-10166	4	33	the	the	DET
ajst-10166	4	34	control	control	NOUN
ajst-10166	4	35	algorithm	algorithm	NOUN
ajst-10166	4	36	.	.	PUNCT
ajst-10166	5	1	the	the	DET
ajst-10166	5	2	goal	goal	NOUN
ajst-10166	5	3	of	of	ADP
ajst-10166	5	4	this	this	DET
ajst-10166	5	5	research	research	NOUN
ajst-10166	5	6	is	be	AUX
ajst-10166	5	7	to	to	PART
ajst-10166	5	8	mitigate	mitigate	VERB
ajst-10166	5	9	the	the	DET
ajst-10166	5	10	impact	impact	NOUN
ajst-10166	5	11	of	of	ADP
ajst-10166	5	12	wind	wind	NOUN
ajst-10166	5	13	disturbances	disturbance	NOUN
ajst-10166	5	14	,	,	PUNCT
ajst-10166	5	15	such	such	ADJ
ajst-10166	5	16	as	as	ADP
ajst-10166	5	17	oscillations	oscillation	NOUN
ajst-10166	5	18	during	during	ADP
ajst-10166	5	19	the	the	DET
ajst-10166	5	20	landing	landing	NOUN
ajst-10166	5	21	process	process	NOUN
ajst-10166	5	22	.	.	PUNCT
ajst-10166	6	1	by	by	ADP
ajst-10166	6	2	maintaining	maintain	VERB
ajst-10166	6	3	the	the	DET
ajst-10166	6	4	pitch	pitch	NOUN
ajst-10166	6	5	angle	angle	NOUN
ajst-10166	6	6	within	within	ADP
ajst-10166	6	7	20	20	NUM
ajst-10166	6	8	%	%	NOUN
ajst-10166	6	9	,	,	PUNCT
ajst-10166	6	10	we	we	PRON
ajst-10166	6	11	can	can	AUX
ajst-10166	6	12	ensure	ensure	VERB
ajst-10166	6	13	the	the	DET
ajst-10166	6	14	drone	drone	NOUN
ajst-10166	6	15	lands	land	VERB
ajst-10166	6	16	quickly	quickly	ADV
ajst-10166	6	17	and	and	CCONJ
ajst-10166	6	18	accurately	accurately	ADV
ajst-10166	6	19	.	.	PUNCT
ajst-10166	7	1	in	in	ADP
ajst-10166	7	2	terms	term	NOUN
ajst-10166	7	3	of	of	ADP
ajst-10166	7	4	algorithm	algorithm	NOUN
ajst-10166	7	5	,	,	PUNCT
ajst-10166	7	6	this	this	DET
ajst-10166	7	7	research	research	NOUN
ajst-10166	7	8	improves	improve	VERB
ajst-10166	7	9	upon	upon	SCONJ
ajst-10166	7	10	the	the	DET
ajst-10166	7	11	existing	exist	VERB
ajst-10166	7	12	pid	pid	NOUN
ajst-10166	7	13	(	(	PUNCT
ajst-10166	7	14	proportional	proportional	ADJ
ajst-10166	7	15	-	-	PUNCT
ajst-10166	7	16	integral	integral	ADJ
ajst-10166	7	17	-	-	PUNCT
ajst-10166	7	18	derivative	derivative	ADJ
ajst-10166	7	19	)	)	PUNCT
ajst-10166	7	20	algorithm	algorithm	NOUN
ajst-10166	7	21	control	control	NOUN
ajst-10166	7	22	for	for	ADP
ajst-10166	7	23	landing	landing	NOUN
ajst-10166	7	24	,	,	PUNCT
ajst-10166	7	25	and	and	CCONJ
ajst-10166	7	26	adopts	adopt	VERB
ajst-10166	7	27	a	a	DET
ajst-10166	7	28	modified	modify	VERB
ajst-10166	7	29	fuzzy	fuzzy	ADJ
ajst-10166	7	30	pid	pid	NOUN
ajst-10166	7	31	algorithm	algorithm	NOUN
ajst-10166	7	32	,	,	PUNCT
ajst-10166	7	33	which	which	PRON
ajst-10166	7	34	can	can	AUX
ajst-10166	7	35	effectively	effectively	ADV
ajst-10166	7	36	enhance	enhance	VERB
ajst-10166	7	37	the	the	DET
ajst-10166	7	38	control	control	NOUN
ajst-10166	7	39	performance	performance	NOUN
ajst-10166	7	40	and	and	CCONJ
ajst-10166	7	41	response	response	NOUN
ajst-10166	7	42	time	time	NOUN
ajst-10166	7	43	of	of	ADP
ajst-10166	7	44	the	the	DET
ajst-10166	7	45	drone	drone	NOUN
ajst-10166	7	46	.	.	PUNCT
ajst-10166	8	1	keywords	keyword	NOUN
ajst-10166	8	2	:	:	PUNCT
ajst-10166	8	3	quadrotor	quadrotor	NOUN
ajst-10166	8	4	drone	drone	NOUN
ajst-10166	8	5	,	,	PUNCT
ajst-10166	8	6	attitude	attitude	NOUN
ajst-10166	8	7	control	control	NOUN
ajst-10166	8	8	,	,	PUNCT
ajst-10166	8	9	fuzzy	fuzzy	ADJ
ajst-10166	8	10	pid	pid	NOUN
ajst-10166	8	11	algorithm	algorithm	NOUN
ajst-10166	8	12	.	.	PUNCT
ajst-10166	9	1	1	1	X
ajst-10166	9	2	.	.	X
ajst-10166	9	3	introduction	introduction	NOUN
ajst-10166	9	4	with	with	ADP
ajst-10166	9	5	the	the	DET
ajst-10166	9	6	continuous	continuous	ADJ
ajst-10166	9	7	development	development	NOUN
ajst-10166	9	8	of	of	ADP
ajst-10166	9	9	drone	drone	NOUN
ajst-10166	9	10	technology	technology	NOUN
ajst-10166	9	11	,	,	PUNCT
ajst-10166	9	12	the	the	DET
ajst-10166	9	13	pivotal	pivotal	ADJ
ajst-10166	9	14	role	role	NOUN
ajst-10166	9	15	of	of	ADP
ajst-10166	9	16	quadcopters	quadcopter	NOUN
ajst-10166	9	17	in	in	ADP
ajst-10166	9	18	various	various	ADJ
ajst-10166	9	19	fields	field	NOUN
ajst-10166	9	20	is	be	AUX
ajst-10166	9	21	increasingly	increasingly	ADV
ajst-10166	9	22	being	be	AUX
ajst-10166	9	23	underscored	underscore	VERB
ajst-10166	9	24	.	.	PUNCT
ajst-10166	10	1	quadcopters	quadcopter	NOUN
ajst-10166	10	2	,	,	PUNCT
ajst-10166	10	3	when	when	SCONJ
ajst-10166	10	4	contrasted	contrast	VERB
ajst-10166	10	5	with	with	ADP
ajst-10166	10	6	traditional	traditional	ADJ
ajst-10166	10	7	drones	drone	NOUN
ajst-10166	10	8	,	,	PUNCT
ajst-10166	10	9	are	be	AUX
ajst-10166	10	10	found	find	VERB
ajst-10166	10	11	to	to	PART
ajst-10166	10	12	possess	possess	VERB
ajst-10166	10	13	advantages	advantage	NOUN
ajst-10166	10	14	such	such	ADJ
ajst-10166	10	15	as	as	ADP
ajst-10166	10	16	convenient	convenient	ADJ
ajst-10166	10	17	takeoff	takeoff	NOUN
ajst-10166	10	18	and	and	CCONJ
ajst-10166	10	19	landing	landing	NOUN
ajst-10166	10	20	,	,	PUNCT
ajst-10166	10	21	easy	easy	ADJ
ajst-10166	10	22	portability	portability	NOUN
ajst-10166	10	23	,	,	PUNCT
ajst-10166	10	24	and	and	CCONJ
ajst-10166	10	25	low	low	ADJ
ajst-10166	10	26	cost	cost	NOUN
ajst-10166	10	27	.	.	PUNCT
ajst-10166	11	1	these	these	DET
ajst-10166	11	2	merits	merit	NOUN
ajst-10166	11	3	contribute	contribute	VERB
ajst-10166	11	4	to	to	ADP
ajst-10166	11	5	their	their	PRON
ajst-10166	11	6	widespread	widespread	ADJ
ajst-10166	11	7	application	application	NOUN
ajst-10166	11	8	in	in	ADP
ajst-10166	11	9	both	both	CCONJ
ajst-10166	11	10	industrial	industrial	ADJ
ajst-10166	11	11	and	and	CCONJ
ajst-10166	11	12	everyday	everyday	ADJ
ajst-10166	11	13	contexts	contexts	NOUN
ajst-10166	11	14	.	.	PUNCT
ajst-10166	12	1	nonetheless	nonetheless	ADV
ajst-10166	12	2	,	,	PUNCT
ajst-10166	12	3	due	due	ADP
ajst-10166	12	4	to	to	ADP
ajst-10166	12	5	the	the	DET
ajst-10166	12	6	complexity	complexity	NOUN
ajst-10166	12	7	of	of	ADP
ajst-10166	12	8	the	the	DET
ajst-10166	12	9	environments	environment	NOUN
ajst-10166	12	10	wherein	wherein	SCONJ
ajst-10166	12	11	drones	drone	NOUN
ajst-10166	12	12	are	be	AUX
ajst-10166	12	13	operational	operational	ADJ
ajst-10166	12	14	,	,	PUNCT
ajst-10166	12	15	several	several	ADJ
ajst-10166	12	16	factors	factor	NOUN
ajst-10166	12	17	,	,	PUNCT
ajst-10166	12	18	including	include	VERB
ajst-10166	12	19	wind	wind	NOUN
ajst-10166	12	20	disturbance	disturbance	NOUN
ajst-10166	12	21	,	,	PUNCT
ajst-10166	12	22	narrow	narrow	ADJ
ajst-10166	12	23	terrains	terrain	NOUN
ajst-10166	12	24	,	,	PUNCT
ajst-10166	12	25	and	and	CCONJ
ajst-10166	12	26	ground	ground	NOUN
ajst-10166	12	27	effects	effect	NOUN
ajst-10166	12	28	,	,	PUNCT
ajst-10166	12	29	may	may	AUX
ajst-10166	12	30	pose	pose	VERB
ajst-10166	12	31	challenges	challenge	NOUN
ajst-10166	12	32	to	to	ADP
ajst-10166	12	33	their	their	PRON
ajst-10166	12	34	operation	operation	NOUN
ajst-10166	12	35	.	.	PUNCT
ajst-10166	13	1	of	of	ADP
ajst-10166	13	2	particular	particular	ADJ
ajst-10166	13	3	importance	importance	NOUN
ajst-10166	13	4	is	be	AUX
ajst-10166	13	5	maintaining	maintain	VERB
ajst-10166	13	6	a	a	DET
ajst-10166	13	7	stable	stable	ADJ
ajst-10166	13	8	posture	posture	NOUN
ajst-10166	13	9	during	during	ADP
ajst-10166	13	10	the	the	DET
ajst-10166	13	11	landing	landing	NOUN
ajst-10166	13	12	process	process	NOUN
ajst-10166	13	13	.	.	PUNCT
ajst-10166	14	1	the	the	DET
ajst-10166	14	2	parallelism	parallelism	NOUN
ajst-10166	14	3	of	of	ADP
ajst-10166	14	4	the	the	DET
ajst-10166	14	5	drone	drone	NOUN
ajst-10166	14	6	's	's	PART
ajst-10166	14	7	body	body	NOUN
ajst-10166	14	8	to	to	ADP
ajst-10166	14	9	the	the	DET
ajst-10166	14	10	ground	ground	NOUN
ajst-10166	14	11	during	during	ADP
ajst-10166	14	12	landing	landing	NOUN
ajst-10166	14	13	is	be	AUX
ajst-10166	14	14	of	of	ADP
ajst-10166	14	15	paramount	paramount	ADJ
ajst-10166	14	16	concern	concern	NOUN
ajst-10166	14	17	,	,	PUNCT
ajst-10166	14	18	as	as	SCONJ
ajst-10166	14	19	any	any	DET
ajst-10166	14	20	significant	significant	ADJ
ajst-10166	14	21	deviation	deviation	NOUN
ajst-10166	14	22	can	can	AUX
ajst-10166	14	23	lead	lead	VERB
ajst-10166	14	24	to	to	ADP
ajst-10166	14	25	damage	damage	NOUN
ajst-10166	14	26	and	and	CCONJ
ajst-10166	14	27	property	property	NOUN
ajst-10166	14	28	loss	loss	NOUN
ajst-10166	14	29	.	.	PUNCT
ajst-10166	15	1	consequently	consequently	ADV
ajst-10166	15	2	,	,	PUNCT
ajst-10166	15	3	the	the	DET
ajst-10166	15	4	issue	issue	NOUN
ajst-10166	15	5	of	of	ADP
ajst-10166	15	6	maintaining	maintain	VERB
ajst-10166	15	7	a	a	DET
ajst-10166	15	8	stable	stable	ADJ
ajst-10166	15	9	posture	posture	NOUN
ajst-10166	15	10	during	during	ADP
ajst-10166	15	11	the	the	DET
ajst-10166	15	12	landing	landing	NOUN
ajst-10166	15	13	process	process	NOUN
ajst-10166	15	14	has	have	AUX
ajst-10166	15	15	emerged	emerge	VERB
ajst-10166	15	16	as	as	ADP
ajst-10166	15	17	a	a	DET
ajst-10166	15	18	critical	critical	ADJ
ajst-10166	15	19	area	area	NOUN
ajst-10166	15	20	of	of	ADP
ajst-10166	15	21	research	research	NOUN
ajst-10166	15	22	.	.	PUNCT
ajst-10166	16	1	many	many	ADJ
ajst-10166	16	2	intelligent	intelligent	ADJ
ajst-10166	16	3	control	control	NOUN
ajst-10166	16	4	algorithms	algorithm	NOUN
ajst-10166	16	5	for	for	ADP
ajst-10166	16	6	the	the	DET
ajst-10166	16	7	posture	posture	NOUN
ajst-10166	16	8	control	control	NOUN
ajst-10166	16	9	of	of	ADP
ajst-10166	16	10	drones	drone	NOUN
ajst-10166	16	11	,	,	PUNCT
ajst-10166	16	12	such	such	ADJ
ajst-10166	16	13	as	as	ADP
ajst-10166	16	14	fuzzy	fuzzy	ADJ
ajst-10166	16	15	control	control	NOUN
ajst-10166	16	16	[	[	X
ajst-10166	16	17	1	1	NUM
ajst-10166	16	18	]	]	PUNCT
ajst-10166	16	19	,	,	PUNCT
ajst-10166	16	20	backstepping	backsteppe	VERB
ajst-10166	16	21	[	[	X
ajst-10166	16	22	2	2	NUM
ajst-10166	16	23	]	]	PUNCT
ajst-10166	16	24	,	,	PUNCT
ajst-10166	16	25	and	and	CCONJ
ajst-10166	16	26	sliding	slide	VERB
ajst-10166	16	27	mode	mode	NOUN
ajst-10166	16	28	control	control	NOUN
ajst-10166	17	1	[	[	X
ajst-10166	17	2	3	3	NUM
ajst-10166	17	3	]	]	PUNCT
ajst-10166	17	4	,	,	PUNCT
ajst-10166	17	5	have	have	AUX
ajst-10166	17	6	been	be	AUX
ajst-10166	17	7	proposed	propose	VERB
ajst-10166	17	8	by	by	ADP
ajst-10166	17	9	researchers	researcher	NOUN
ajst-10166	17	10	.	.	PUNCT
ajst-10166	18	1	nevertheless	nevertheless	ADV
ajst-10166	18	2	,	,	PUNCT
ajst-10166	18	3	the	the	DET
ajst-10166	18	4	complex	complex	ADJ
ajst-10166	18	5	floating	floating	ADJ
ajst-10166	18	6	-	-	PUNCT
ajst-10166	18	7	point	point	NOUN
ajst-10166	18	8	computations	computation	NOUN
ajst-10166	18	9	and	and	CCONJ
ajst-10166	18	10	matrix	matrix	NOUN
ajst-10166	18	11	operations	operation	NOUN
ajst-10166	18	12	required	require	VERB
ajst-10166	18	13	by	by	ADP
ajst-10166	18	14	these	these	DET
ajst-10166	18	15	intelligent	intelligent	ADJ
ajst-10166	18	16	algorithms	algorithm	NOUN
ajst-10166	18	17	prove	prove	VERB
ajst-10166	18	18	burdensome	burdensome	ADJ
ajst-10166	18	19	for	for	ADP
ajst-10166	18	20	the	the	DET
ajst-10166	18	21	microcomputers	microcomputer	NOUN
ajst-10166	18	22	onboard	onboard	ADP
ajst-10166	18	23	most	most	ADJ
ajst-10166	18	24	drones	drone	NOUN
ajst-10166	18	25	,	,	PUNCT
ajst-10166	18	26	thus	thus	ADV
ajst-10166	18	27	making	make	VERB
ajst-10166	18	28	it	it	PRON
ajst-10166	18	29	difficult	difficult	ADJ
ajst-10166	18	30	to	to	PART
ajst-10166	18	31	meet	meet	VERB
ajst-10166	18	32	the	the	DET
ajst-10166	18	33	real	real	ADJ
ajst-10166	18	34	-	-	PUNCT
ajst-10166	18	35	time	time	NOUN
ajst-10166	18	36	flight	flight	NOUN
ajst-10166	18	37	attitude	attitude	NOUN
ajst-10166	18	38	control	control	NOUN
ajst-10166	18	39	requirements	requirement	NOUN
ajst-10166	18	40	.	.	PUNCT
ajst-10166	19	1	additionally	additionally	ADV
ajst-10166	19	2	,	,	PUNCT
ajst-10166	19	3	when	when	SCONJ
ajst-10166	19	4	applied	apply	VERB
ajst-10166	19	5	to	to	PART
ajst-10166	19	6	control	control	VERB
ajst-10166	19	7	nonlinear	nonlinear	ADJ
ajst-10166	19	8	systems	system	NOUN
ajst-10166	19	9	,	,	PUNCT
ajst-10166	19	10	the	the	DET
ajst-10166	19	11	accuracy	accuracy	NOUN
ajst-10166	19	12	and	and	CCONJ
ajst-10166	19	13	anti	anti	ADJ
ajst-10166	19	14	-	-	ADJ
ajst-10166	19	15	interference	interference	ADJ
ajst-10166	19	16	capability	capability	NOUN
ajst-10166	19	17	of	of	ADP
ajst-10166	19	18	pid	pid	NOUN
ajst-10166	19	19	control	control	NOUN
ajst-10166	19	20	can	can	AUX
ajst-10166	19	21	not	not	PART
ajst-10166	19	22	be	be	AUX
ajst-10166	19	23	guaranteed	guarantee	VERB
ajst-10166	19	24	[	[	PUNCT
ajst-10166	19	25	4,5	4,5	NUM
ajst-10166	19	26	]	]	PUNCT
ajst-10166	19	27	.	.	PUNCT
ajst-10166	20	1	this	this	DET
ajst-10166	20	2	limitation	limitation	NOUN
ajst-10166	20	3	arises	arise	VERB
ajst-10166	20	4	from	from	ADP
ajst-10166	20	5	the	the	DET
ajst-10166	20	6	fact	fact	NOUN
ajst-10166	20	7	that	that	SCONJ
ajst-10166	20	8	the	the	DET
ajst-10166	20	9	control	control	NOUN
ajst-10166	20	10	effect	effect	NOUN
ajst-10166	20	11	of	of	ADP
ajst-10166	20	12	the	the	DET
ajst-10166	20	13	pid	pid	NOUN
ajst-10166	20	14	controller	controller	NOUN
ajst-10166	20	15	is	be	AUX
ajst-10166	20	16	determined	determine	VERB
ajst-10166	20	17	by	by	ADP
ajst-10166	20	18	the	the	DET
ajst-10166	20	19	proportional	proportional	ADJ
ajst-10166	20	20	,	,	PUNCT
ajst-10166	20	21	integral	integral	ADJ
ajst-10166	20	22	,	,	PUNCT
ajst-10166	20	23	and	and	CCONJ
ajst-10166	20	24	derivative	derivative	ADJ
ajst-10166	20	25	factors	factor	NOUN
ajst-10166	20	26	of	of	ADP
ajst-10166	20	27	the	the	DET
ajst-10166	20	28	deviation	deviation	NOUN
ajst-10166	20	29	,	,	PUNCT
ajst-10166	20	30	making	make	VERB
ajst-10166	20	31	it	it	PRON
ajst-10166	20	32	ill	ill	ADV
ajst-10166	20	33	-	-	PUNCT
ajst-10166	20	34	suited	suit	VERB
ajst-10166	20	35	for	for	ADP
ajst-10166	20	36	complex	complex	ADJ
ajst-10166	20	37	control	control	NOUN
ajst-10166	20	38	objects	object	NOUN
ajst-10166	20	39	and	and	CCONJ
ajst-10166	20	40	harsh	harsh	ADJ
ajst-10166	20	41	environments	environment	NOUN
ajst-10166	20	42	.	.	PUNCT
ajst-10166	21	1	an	an	DET
ajst-10166	21	2	advanced	advanced	ADJ
ajst-10166	21	3	pid	pid	NOUN
ajst-10166	21	4	algorithm	algorithm	NOUN
ajst-10166	21	5	with	with	ADP
ajst-10166	21	6	the	the	DET
ajst-10166	21	7	ability	ability	NOUN
ajst-10166	21	8	to	to	PART
ajst-10166	21	9	automatically	automatically	ADV
ajst-10166	21	10	adjust	adjust	VERB
ajst-10166	21	11	parameters	parameter	NOUN
ajst-10166	21	12	is	be	AUX
ajst-10166	21	13	needed	need	VERB
ajst-10166	21	14	to	to	PART
ajst-10166	21	15	enable	enable	VERB
ajst-10166	21	16	swift	swift	ADJ
ajst-10166	21	17	adaptation	adaptation	NOUN
ajst-10166	21	18	of	of	ADP
ajst-10166	21	19	the	the	DET
ajst-10166	21	20	drone	drone	NOUN
ajst-10166	21	21	to	to	ADP
ajst-10166	21	22	the	the	DET
ajst-10166	21	23	environment	environment	NOUN
ajst-10166	21	24	.	.	PUNCT
ajst-10166	22	1	in	in	ADP
ajst-10166	22	2	light	light	NOUN
ajst-10166	22	3	of	of	ADP
ajst-10166	22	4	the	the	DET
ajst-10166	22	5	above	above	ADV
ajst-10166	22	6	-	-	PUNCT
ajst-10166	22	7	stated	state	VERB
ajst-10166	22	8	challenges	challenge	NOUN
ajst-10166	22	9	,	,	PUNCT
ajst-10166	22	10	a	a	DET
ajst-10166	22	11	fuzzy	fuzzy	ADJ
ajst-10166	22	12	pid	pid	NOUN
ajst-10166	22	13	control	control	NOUN
ajst-10166	22	14	method	method	NOUN
ajst-10166	22	15	is	be	AUX
ajst-10166	22	16	utilized	utilize	VERB
ajst-10166	22	17	to	to	PART
ajst-10166	22	18	design	design	VERB
ajst-10166	22	19	the	the	DET
ajst-10166	22	20	controller	controller	NOUN
ajst-10166	22	21	in	in	ADP
ajst-10166	22	22	this	this	DET
ajst-10166	22	23	paper	paper	NOUN
ajst-10166	22	24	.	.	PUNCT
ajst-10166	23	1	the	the	DET
ajst-10166	23	2	effectiveness	effectiveness	NOUN
ajst-10166	23	3	of	of	ADP
ajst-10166	23	4	this	this	DET
ajst-10166	23	5	approach	approach	NOUN
ajst-10166	23	6	is	be	AUX
ajst-10166	23	7	verified	verify	VERB
ajst-10166	23	8	through	through	ADP
ajst-10166	23	9	matlab	matlab	PROPN
ajst-10166	23	10	simulation	simulation	NOUN
ajst-10166	23	11	.	.	PUNCT
ajst-10166	24	1	2	2	X
ajst-10166	24	2	.	.	X
ajst-10166	24	3	principles	principle	NOUN
ajst-10166	24	4	of	of	ADP
ajst-10166	24	5	drone	drone	NOUN
ajst-10166	24	6	mathematical	mathematical	ADJ
ajst-10166	24	7	modeling	model	VERB
ajst-10166	24	8	2.1	2.1	NUM
ajst-10166	24	9	.	.	PUNCT
ajst-10166	24	10	kinematics	kinematic	NOUN
ajst-10166	24	11	and	and	CCONJ
ajst-10166	24	12	mathematical	mathematical	ADJ
ajst-10166	24	13	modeling	modeling	NOUN
ajst-10166	24	14	of	of	ADP
ajst-10166	24	15	drones	drone	NOUN
ajst-10166	24	16	an	an	DET
ajst-10166	24	17	“	"	PUNCT
ajst-10166	24	18	x”-structured	x”-structure	VERB
ajst-10166	24	19	drone	drone	NOUN
ajst-10166	24	20	is	be	AUX
ajst-10166	24	21	selected	select	VERB
ajst-10166	24	22	as	as	ADP
ajst-10166	24	23	the	the	DET
ajst-10166	24	24	research	research	NOUN
ajst-10166	24	25	object	object	NOUN
ajst-10166	24	26	,	,	PUNCT
ajst-10166	24	27	and	and	CCONJ
ajst-10166	24	28	an	an	DET
ajst-10166	24	29	inertial	inertial	ADJ
ajst-10166	24	30	coordinate	coordinate	NOUN
ajst-10166	24	31	system	system	NOUN
ajst-10166	24	32	‘	'	PUNCT
ajst-10166	24	33	i	i	NOUN
ajst-10166	24	34	’	'	PUNCT
ajst-10166	24	35	and	and	CCONJ
ajst-10166	24	36	a	a	DET
ajst-10166	24	37	body	body	NOUN
ajst-10166	24	38	coordinate	coordinate	NOUN
ajst-10166	24	39	system	system	NOUN
ajst-10166	24	40	‘	'	PUNCT
ajst-10166	24	41	b	b	X
ajst-10166	24	42	’	'	PUNCT
ajst-10166	24	43	are	be	AUX
ajst-10166	24	44	established	establish	VERB
ajst-10166	24	45	,	,	PUNCT
ajst-10166	24	46	as	as	SCONJ
ajst-10166	24	47	shown	show	VERB
ajst-10166	24	48	in	in	ADP
ajst-10166	24	49	figure	figure	NOUN
ajst-10166	24	50	1	1	NUM
ajst-10166	24	51	.	.	PUNCT
ajst-10166	25	1	the	the	DET
ajst-10166	25	2	x	x	NOUN
ajst-10166	25	3	-	-	NOUN
ajst-10166	25	4	axis	axis	NOUN
ajst-10166	25	5	of	of	ADP
ajst-10166	25	6	the	the	DET
ajst-10166	25	7	inertial	inertial	ADJ
ajst-10166	25	8	coordinate	coordinate	NOUN
ajst-10166	25	9	system	system	NOUN
ajst-10166	25	10	points	point	VERB
ajst-10166	25	11	east	east	PROPN
ajst-10166	25	12	,	,	PUNCT
ajst-10166	25	13	the	the	DET
ajst-10166	25	14	y	y	NOUN
ajst-10166	25	15	-	-	PUNCT
ajst-10166	25	16	axis	axis	NOUN
ajst-10166	25	17	points	point	NOUN
ajst-10166	25	18	north	north	NOUN
ajst-10166	25	19	,	,	PUNCT
ajst-10166	25	20	and	and	CCONJ
ajst-10166	25	21	the	the	DET
ajst-10166	25	22	z	z	NOUN
ajst-10166	25	23	-	-	PUNCT
ajst-10166	25	24	axis	axis	NOUN
ajst-10166	25	25	is	be	AUX
ajst-10166	25	26	perpendicular	perpendicular	ADJ
ajst-10166	25	27	to	to	ADP
ajst-10166	25	28	the	the	DET
ajst-10166	25	29	xoy	xoy	NOUN
ajst-10166	25	30	plane	plane	NOUN
ajst-10166	25	31	,	,	PUNCT
ajst-10166	25	32	pointing	point	VERB
ajst-10166	25	33	upwards	upwards	ADV
ajst-10166	25	34	(	(	PUNCT
ajst-10166	25	35	away	away	ADV
ajst-10166	25	36	from	from	ADP
ajst-10166	25	37	the	the	DET
ajst-10166	25	38	earth	earth	NOUN
ajst-10166	25	39	’s	’s	PART
ajst-10166	25	40	center	center	NOUN
ajst-10166	25	41	)	)	PUNCT
ajst-10166	25	42	.	.	PUNCT
ajst-10166	26	1	figure	figure	NOUN
ajst-10166	26	2	1	1	NUM
ajst-10166	26	3	.	.	PUNCT
ajst-10166	26	4	structural	structural	ADJ
ajst-10166	26	5	diagram	diagram	NOUN
ajst-10166	26	6	there	there	PRON
ajst-10166	26	7	is	be	VERB
ajst-10166	26	8	the	the	DET
ajst-10166	26	9	following	follow	VERB
ajst-10166	26	10	transformation	transformation	NOUN
ajst-10166	26	11	relationship	relationship	NOUN
ajst-10166	26	12	between	between	ADP
ajst-10166	26	13	the	the	DET
ajst-10166	26	14	inertial	inertial	ADJ
ajst-10166	26	15	coordinate	coordinate	NOUN
ajst-10166	26	16	system	system	NOUN
ajst-10166	26	17	‘	'	PUNCT
ajst-10166	26	18	i	i	NOUN
ajst-10166	26	19	’	'	PUNCT
ajst-10166	26	20	and	and	CCONJ
ajst-10166	26	21	the	the	DET
ajst-10166	26	22	body	body	NOUN
ajst-10166	26	23	coordinate	coordinate	NOUN
ajst-10166	26	24	system	system	NOUN
ajst-10166	26	25	‘	'	PUNCT
ajst-10166	26	26	b	b	NOUN
ajst-10166	26	27	’	'	PUNCT
ajst-10166	26	28	:	:	PUNCT
ajst-10166	26	29	r	r	NOUN
ajst-10166	26	30	r	r	NOUN
ajst-10166	26	31	ψ	ψ	NOUN
ajst-10166	26	32	,	,	PUNCT
ajst-10166	26	33	θ	θ	PROPN
ajst-10166	26	34	,	,	PUNCT
ajst-10166	26	35	φ	φ	PROPN
ajst-10166	26	36	𝑐	𝑐	PROPN
ajst-10166	26	37	𝑐	𝑐	VERB
ajst-10166	26	38	𝑠	𝑠	INTJ
ajst-10166	26	39	𝑠	𝑠	INTJ
ajst-10166	26	40	𝑐	𝑐	PROPN
ajst-10166	26	41	𝑐	𝑐	X
ajst-10166	26	42	𝑐	𝑐	VERB
ajst-10166	26	43	𝑐	𝑐	VERB
ajst-10166	26	44	𝑠	𝑠	INTJ
ajst-10166	26	45	𝑐	𝑐	NOUN
ajst-10166	26	46	𝑠	𝑠	INTJ
ajst-10166	26	47	𝑠	𝑠	INTJ
ajst-10166	26	48	𝑐	𝑐	INTJ
ajst-10166	26	49	𝑠	𝑠	INTJ
ajst-10166	26	50	𝑠	𝑠	INTJ
ajst-10166	26	51	𝑠	𝑠	INTJ
ajst-10166	26	52	𝑐	𝑐	PROPN
ajst-10166	26	53	𝑐	𝑐	X
ajst-10166	26	54	𝑐	𝑐	VERB
ajst-10166	26	55	𝑐	𝑐	VERB
ajst-10166	26	56	𝑠	𝑠	INTJ
ajst-10166	26	57	𝑐	𝑐	INTJ
ajst-10166	26	58	𝑠	𝑠	INTJ
ajst-10166	26	59	𝑐	𝑐	INTJ
ajst-10166	26	60	𝑠	𝑠	INTJ
ajst-10166	26	61	𝑠	𝑠	INTJ
ajst-10166	26	62	𝑐	𝑐	PROPN
ajst-10166	26	63	𝑐	𝑐	PROPN
ajst-10166	26	64	𝑐	𝑐	PROPN
ajst-10166	26	65	1	1	NUM
ajst-10166	26	66	assuming	assume	VERB
ajst-10166	26	67	that	that	SCONJ
ajst-10166	26	68	the	the	DET
ajst-10166	26	69	propeller	propeller	NOUN
ajst-10166	26	70	flapping	flap	VERB
ajst-10166	26	71	characteristics	characteristic	NOUN
ajst-10166	26	72	are	be	AUX
ajst-10166	26	73	disregarded	disregarded	ADJ
ajst-10166	26	74	,	,	PUNCT
ajst-10166	26	75	the	the	DET
ajst-10166	26	76	quadrotor	quadrotor	NOUN
ajst-10166	26	77	drone	drone	NOUN
ajst-10166	26	78	can	can	AUX
ajst-10166	26	79	be	be	AUX
ajst-10166	26	80	considered	consider	VERB
ajst-10166	26	81	a	a	DET
ajst-10166	26	82	uniformly	uniformly	ADV
ajst-10166	26	83	symmetrical	symmetrical	ADJ
ajst-10166	26	84	rigid	rigid	ADJ
ajst-10166	26	85	body	body	NOUN
ajst-10166	26	86	.	.	PUNCT
ajst-10166	27	1	by	by	ADP
ajst-10166	27	2	applying	apply	VERB
ajst-10166	27	3	newton	newton	PROPN
ajst-10166	27	4	’s	’s	PART
ajst-10166	27	5	27	27	NUM
ajst-10166	27	6	second	second	ADJ
ajst-10166	27	7	law	law	NOUN
ajst-10166	27	8	,	,	PUNCT
ajst-10166	27	9	one	one	PRON
ajst-10166	27	10	can	can	AUX
ajst-10166	27	11	derive	derive	VERB
ajst-10166	27	12	the	the	DET
ajst-10166	27	13	translational	translational	ADJ
ajst-10166	27	14	motion	motion	NOUN
ajst-10166	27	15	equation	equation	NOUN
ajst-10166	27	16	for	for	ADP
ajst-10166	27	17	the	the	DET
ajst-10166	27	18	quadrotor	quadrotor	NOUN
ajst-10166	27	19	drone	drone	NOUN
ajst-10166	27	20	:	:	PUNCT
ajst-10166	27	21	m	m	PROPN
ajst-10166	27	22	x	x	VERB
ajst-10166	27	23	y	y	NOUN
ajst-10166	27	24	z	z	NOUN
ajst-10166	27	25	r	r	NOUN
ajst-10166	27	26	0	0	NUM
ajst-10166	27	27	0	0	NUM
ajst-10166	27	28	∑	∑	PUNCT
ajst-10166	27	29	kkω	kkω	NOUN
ajst-10166	27	30	r	r	NOUN
ajst-10166	27	31	γ	γ	NOUN
ajst-10166	27	32	r	r	NOUN
ajst-10166	27	33	v	v	NUM
ajst-10166	27	34	0	0	NUM
ajst-10166	27	35	0	0	NUM
ajst-10166	27	36	mg	mg	PROPN
ajst-10166	27	37	2	2	NUM
ajst-10166	27	38	‘	'	PUNCT
ajst-10166	27	39	m	m	NOUN
ajst-10166	27	40	’	'	PUNCT
ajst-10166	27	41	denotes	denote	VERB
ajst-10166	27	42	the	the	DET
ajst-10166	27	43	drone	drone	NOUN
ajst-10166	27	44	’s	’s	PART
ajst-10166	27	45	mass	mass	NOUN
ajst-10166	27	46	while	while	SCONJ
ajst-10166	27	47	∑	∑	PUNCT
ajst-10166	27	48	kkω	kkω	NOUN
ajst-10166	27	49	symbolizes	symbolize	VERB
ajst-10166	27	50	the	the	DET
ajst-10166	27	51	thrust	thrust	NOUN
ajst-10166	27	52	furnished	furnish	VERB
ajst-10166	27	53	by	by	ADP
ajst-10166	27	54	the	the	DET
ajst-10166	27	55	propeller	propeller	NOUN
ajst-10166	27	56	.	.	PUNCT
ajst-10166	28	1	γ_t	γ_t	PUNCT
ajst-10166	28	2	is	be	AUX
ajst-10166	28	3	the	the	DET
ajst-10166	28	4	translational	translational	ADJ
ajst-10166	28	5	air	air	NOUN
ajst-10166	28	6	drag	drag	PROPN
ajst-10166	28	7	coefficient	coefficient	NOUN
ajst-10166	28	8	,	,	PUNCT
ajst-10166	28	9	and	and	CCONJ
ajst-10166	28	10	r(γ_t	r(γ_t	NOUN
ajst-10166	28	11	(	(	PUNCT
ajst-10166	28	12	r^t	r^t	ADJ
ajst-10166	28	13	v^i	v^i	NOUN
ajst-10166	28	14	)	)	PUNCT
ajst-10166	28	15	)	)	PUNCT
ajst-10166	28	16	characterizes	characterize	VERB
ajst-10166	28	17	the	the	DET
ajst-10166	28	18	translational	translational	ADJ
ajst-10166	28	19	air	air	NOUN
ajst-10166	28	20	drag	drag	NOUN
ajst-10166	28	21	as	as	SCONJ
ajst-10166	28	22	observed	observe	VERB
ajst-10166	28	23	in	in	ADP
ajst-10166	28	24	the	the	DET
ajst-10166	28	25	inertial	inertial	ADJ
ajst-10166	28	26	coordinate	coordinate	NOUN
ajst-10166	28	27	system	system	NOUN
ajst-10166	28	28	.	.	PUNCT
ajst-10166	29	1	the	the	DET
ajst-10166	29	2	collective	collective	ADJ
ajst-10166	29	3	external	external	ADJ
ajst-10166	29	4	torque	torque	NOUN
ajst-10166	29	5	exerted	exert	VERB
ajst-10166	29	6	on	on	ADP
ajst-10166	29	7	the	the	DET
ajst-10166	29	8	quadrotor	quadrotor	NOUN
ajst-10166	29	9	drone	drone	NOUN
ajst-10166	29	10	is	be	AUX
ajst-10166	29	11	represented	represent	VERB
ajst-10166	29	12	as	as	SCONJ
ajst-10166	29	13	follows	follow	VERB
ajst-10166	29	14	:	:	PUNCT
ajst-10166	29	15	∑	∑	PUNCT
ajst-10166	29	16	𝑀	𝑀	PROPN
ajst-10166	29	17	𝛾	𝛾	AUX
ajst-10166	29	18	𝛺	𝛺	VERB
ajst-10166	29	19	𝛼𝑘𝑈	𝛼𝑘𝑈	PROPN
ajst-10166	29	20	𝛼𝑘𝑈	𝛼𝑘𝑈	PROPN
ajst-10166	29	21	𝛼𝑈	𝛼𝑈	NOUN
ajst-10166	29	22	𝛾	𝛾	AUX
ajst-10166	29	23	𝛺	𝛺	ADJ
ajst-10166	29	24	𝛼𝑘	𝛼𝑘	NOUN
ajst-10166	29	25	𝜔	𝜔	ADP
ajst-10166	30	1	𝜔	𝜔	NOUN
ajst-10166	30	2	𝜔	𝜔	PART
ajst-10166	30	3	𝜔	𝜔	PRON
ajst-10166	30	4	𝛼𝑘	𝛼𝑘	NOUN
ajst-10166	30	5	𝜔	𝜔	NOUN
ajst-10166	30	6	𝜔	𝜔	NOUN
ajst-10166	30	7	𝜔	𝜔	PART
ajst-10166	30	8	𝜔	𝜔	DET
ajst-10166	30	9	𝛼	𝛼	NOUN
ajst-10166	30	10	𝜔	𝜔	NOUN
ajst-10166	30	11	𝜔	𝜔	PART
ajst-10166	30	12	𝜔	𝜔	PART
ajst-10166	30	13	𝜔	𝜔	SYM
ajst-10166	30	14	3	3	NUM
ajst-10166	30	15	within	within	ADP
ajst-10166	30	16	this	this	DET
ajst-10166	30	17	context	context	NOUN
ajst-10166	31	1	,	,	PUNCT
ajst-10166	31	2	γ	γ	PROPN
ajst-10166	31	3	signifies	signify	VERB
ajst-10166	31	4	the	the	DET
ajst-10166	31	5	rotational	rotational	ADJ
ajst-10166	31	6	air	air	NOUN
ajst-10166	31	7	drag	drag	PROPN
ajst-10166	31	8	coefficient	coefficient	NOUN
ajst-10166	31	9	,	,	PUNCT
ajst-10166	31	10	and	and	CCONJ
ajst-10166	31	11	represents	represent	VERB
ajst-10166	31	12	the	the	DET
ajst-10166	31	13	angular	angular	ADJ
ajst-10166	31	14	velocity	velocity	NOUN
ajst-10166	31	15	in	in	ADP
ajst-10166	31	16	the	the	DET
ajst-10166	31	17	body	body	NOUN
ajst-10166	31	18	coordinate	coordinate	NOUN
ajst-10166	31	19	system	system	NOUN
ajst-10166	31	20	.	.	PUNCT
ajst-10166	32	1	in	in	ADP
ajst-10166	32	2	the	the	DET
ajst-10166	32	3	inertial	inertial	ADJ
ajst-10166	32	4	coordinate	coordinate	NOUN
ajst-10166	32	5	system	system	NOUN
ajst-10166	32	6	,	,	PUNCT
ajst-10166	32	7	euler	euler	VERB
ajst-10166	32	8	’s	’s	PART
ajst-10166	32	9	angular	angular	ADJ
ajst-10166	32	10	velocity	velocity	NOUN
ajst-10166	32	11	can	can	AUX
ajst-10166	32	12	be	be	AUX
ajst-10166	32	13	expressed	express	VERB
ajst-10166	32	14	as	as	ADP
ajst-10166	32	15	ω	ω	NUM
ajst-10166	32	16	φθψ	φθψ	NOUN
ajst-10166	32	17	.	.	PUNCT
ajst-10166	33	1	a	a	DET
ajst-10166	33	2	certain	certain	ADJ
ajst-10166	33	3	relationship	relationship	NOUN
ajst-10166	33	4	is	be	AUX
ajst-10166	33	5	established	establish	VERB
ajst-10166	33	6	between	between	ADP
ajst-10166	33	7	euler	euler	NOUN
ajst-10166	33	8	angles	angle	NOUN
ajst-10166	33	9	and	and	CCONJ
ajst-10166	33	10	the	the	DET
ajst-10166	33	11	body	body	NOUN
ajst-10166	33	12	angular	angular	ADJ
ajst-10166	33	13	velocity	velocity	NOUN
ajst-10166	33	14	,	,	PUNCT
ajst-10166	33	15	which	which	PRON
ajst-10166	33	16	is	be	AUX
ajst-10166	33	17	presented	present	VERB
ajst-10166	33	18	below	below	ADP
ajst-10166	33	19	:	:	PUNCT
ajst-10166	33	20	𝑝	𝑝	NOUN
ajst-10166	33	21	𝑞	𝑞	X
ajst-10166	33	22	𝑟	𝑟	X
ajst-10166	33	23	𝜑	𝜑	NOUN
ajst-10166	33	24	𝜓𝑠𝑖𝑛𝜃	𝜓𝑠𝑖𝑛𝜃	ADV
ajst-10166	33	25	𝜃𝑐𝑜𝑠𝜑	𝜃𝑐𝑜𝑠𝜑	PROPN
ajst-10166	33	26	𝜓𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜃	𝜓𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜃	PROPN
ajst-10166	33	27	𝜃𝑠𝑖𝑛𝜑	𝜃𝑠𝑖𝑛𝜑	PROPN
ajst-10166	33	28	𝜓𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃	𝜓𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃	PROPN
ajst-10166	33	29	4	4	NUM
ajst-10166	33	30	summarizing	summarize	VERB
ajst-10166	33	31	the	the	DET
ajst-10166	33	32	above	above	ADJ
ajst-10166	33	33	equation	equation	NOUN
ajst-10166	33	34	yields	yield	NOUN
ajst-10166	33	35	⎩	⎩	NUM
ajst-10166	33	36	⎪	⎪	NOUN
ajst-10166	33	37	⎪	⎪	NOUN
ajst-10166	33	38	⎪	⎪	NOUN
ajst-10166	33	39	⎪	⎪	NOUN
ajst-10166	33	40	⎪	⎪	NOUN
ajst-10166	33	41	⎪	⎪	NOUN
ajst-10166	33	42	⎪	⎪	NOUN
ajst-10166	33	43	⎨	⎨	PROPN
ajst-10166	33	44	⎪	⎪	NOUN
ajst-10166	33	45	⎪	⎪	NOUN
ajst-10166	33	46	⎪	⎪	NOUN
ajst-10166	33	47	⎪	⎪	NOUN
ajst-10166	33	48	⎪	⎪	NOUN
ajst-10166	33	49	⎪	⎪	NOUN
ajst-10166	33	50	⎪	⎪	NOUN
ajst-10166	33	51	⎧	⎧	PROPN
ajst-10166	33	52	𝑥	𝑥	PROPN
ajst-10166	33	53	𝐶	𝐶	PROPN
ajst-10166	33	54	𝐶	𝐶	PROPN
ajst-10166	33	55	𝐶	𝐶	PROPN
ajst-10166	33	56	𝑆	𝑆	PROPN
ajst-10166	33	57	𝑆	𝑆	PROPN
ajst-10166	33	58	∑	∑	PUNCT
ajst-10166	33	59	𝑘𝜔	𝑘𝜔	VERB
ajst-10166	33	60	𝛾	𝛾	AUX
ajst-10166	33	61	𝑅	𝑅	PROPN
ajst-10166	33	62	𝑣	𝑣	PROPN
ajst-10166	33	63	𝑦	𝑦	PROPN
ajst-10166	33	64	𝐶	𝐶	PROPN
ajst-10166	33	65	𝐶	𝐶	PROPN
ajst-10166	33	66	𝐶	𝐶	PROPN
ajst-10166	33	67	𝐶	𝐶	PROPN
ajst-10166	33	68	𝐶	𝐶	PROPN
ajst-10166	33	69	∑	∑	PUNCT
ajst-10166	33	70	𝑘𝜔	𝑘𝜔	VERB
ajst-10166	33	71	𝛾	𝛾	PROPN
ajst-10166	33	72	𝑅	𝑅	PROPN
ajst-10166	33	73	𝑣	𝑣	PROPN
ajst-10166	33	74	𝑧	𝑧	VERB
ajst-10166	33	75	∑	∑	VERB
ajst-10166	33	76	𝑘𝜔	𝑘𝜔	NOUN
ajst-10166	33	77	𝛾	𝛾	PROPN
ajst-10166	33	78	𝑅	𝑅	PROPN
ajst-10166	33	79	𝑣	𝑣	PROPN
ajst-10166	33	80	𝑔	𝑔	PROPN
ajst-10166	33	81	𝑝	𝑝	PROPN
ajst-10166	33	82	𝜑	𝜑	PROPN
ajst-10166	33	83	𝜓𝑠𝑖𝑛𝜃	𝜓𝑠𝑖𝑛𝜃	ADV
ajst-10166	33	84	𝑞	𝑞	X
ajst-10166	33	85	𝜃𝑐𝑜𝑠𝜑	𝜃𝑐𝑜𝑠𝜑	ADJ
ajst-10166	33	86	𝜓𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜃	𝜓𝑠𝑖𝑛𝜑𝑐𝑜𝑠𝜃	NOUN
ajst-10166	33	87	𝑟	𝑟	PRON
ajst-10166	33	88	𝜃𝑠𝑖𝑛𝜑	𝜃𝑠𝑖𝑛𝜑	PROPN
ajst-10166	33	89	𝜓𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃	𝜓𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃	PROPN
ajst-10166	33	90	𝑝	𝑝	PROPN
ajst-10166	33	91	𝑞𝑟	𝑞𝑟	PROPN
ajst-10166	33	92	𝑈	𝑈	PROPN
ajst-10166	33	93	𝑝	𝑝	PROPN
ajst-10166	33	94	𝑞𝑈	𝑞𝑈	PROPN
ajst-10166	33	95	𝑞	𝑞	X
ajst-10166	33	96	𝑝𝑟	𝑝𝑟	PROPN
ajst-10166	33	97	𝑈	𝑈	PROPN
ajst-10166	33	98	𝑞	𝑞	PROPN
ajst-10166	33	99	𝑝𝑈	𝑝𝑈	NOUN
ajst-10166	33	100	𝑟	𝑟	NOUN
ajst-10166	33	101	𝑝𝑞	𝑝𝑞	VERB
ajst-10166	33	102	𝑈	𝑈	PROPN
ajst-10166	33	103	𝑟	𝑟	NOUN
ajst-10166	33	104	5	5	NUM
ajst-10166	33	105	3	3	NUM
ajst-10166	33	106	.	.	PUNCT
ajst-10166	33	107	model	model	NOUN
ajst-10166	33	108	and	and	CCONJ
ajst-10166	33	109	design	design	NOUN
ajst-10166	33	110	requirements	requirement	NOUN
ajst-10166	33	111	of	of	ADP
ajst-10166	33	112	this	this	DET
ajst-10166	33	113	study	study	NOUN
ajst-10166	33	114	the	the	DET
ajst-10166	33	115	state	state	NOUN
ajst-10166	33	116	equation	equation	NOUN
ajst-10166	33	117	of	of	ADP
ajst-10166	33	118	a	a	DET
ajst-10166	33	119	certain	certain	ADJ
ajst-10166	33	120	aircraft	aircraft	NOUN
ajst-10166	33	121	’s	’s	PART
ajst-10166	33	122	longitudinal	longitudinal	ADJ
ajst-10166	33	123	shortperiod	shortperiod	NOUN
ajst-10166	33	124	motion	motion	NOUN
ajst-10166	33	125	is	be	AUX
ajst-10166	33	126	as	as	SCONJ
ajst-10166	33	127	follows	follow	VERB
ajst-10166	33	128	:	:	PUNCT
ajst-10166	33	129	𝑋	𝑋	PROPN
ajst-10166	33	130	𝐴𝑋	𝐴𝑋	PROPN
ajst-10166	33	131	𝐵𝑈	𝐵𝑈	PROPN
ajst-10166	33	132	𝑌	𝑌	PROPN
ajst-10166	33	133	𝐶𝑋	𝐶𝑋	NOUN
ajst-10166	33	134	(	(	PUNCT
ajst-10166	33	135	6	6	NUM
ajst-10166	33	136	)	)	PUNCT
ajst-10166	33	137	here，𝑋	here，𝑋	PROPN
ajst-10166	33	138	𝛼	𝛼	X
ajst-10166	33	139	𝑞	𝑞	X
ajst-10166	33	140	𝜃	𝜃	PROPN
ajst-10166	33	141	，	，	PROPN
ajst-10166	33	142	𝑌	𝑌	PROPN
ajst-10166	33	143	𝛼	𝛼	PROPN
ajst-10166	33	144	𝑞	𝑞	X
ajst-10166	33	145	𝜃	𝜃	X
ajst-10166	33	146	，	，	PROPN
ajst-10166	33	147	𝑈	𝑈	PROPN
ajst-10166	33	148	𝛿	𝛿	ADJ
ajst-10166	33	149	；	；	NOUN
ajst-10166	33	150	α	α	PROPN
ajst-10166	33	151	represents	represent	VERB
ajst-10166	33	152	the	the	DET
ajst-10166	33	153	angle	angle	NOUN
ajst-10166	33	154	of	of	ADP
ajst-10166	33	155	attack	attack	NOUN
ajst-10166	33	156	,	,	PUNCT
ajst-10166	33	157	q	q	PUNCT
ajst-10166	33	158	represents	represent	VERB
ajst-10166	33	159	the	the	DET
ajst-10166	33	160	pitch	pitch	NOUN
ajst-10166	33	161	rate	rate	NOUN
ajst-10166	33	162	,	,	PUNCT
ajst-10166	33	163	θ	θ	PROPN
ajst-10166	33	164	represents	represent	VERB
ajst-10166	33	165	the	the	DET
ajst-10166	33	166	pitch	pitch	PROPN
ajst-10166	33	167	angle	angle	NOUN
ajst-10166	33	168	,	,	PUNCT
ajst-10166	33	169	𝛿	𝛿	PROPN
ajst-10166	33	170	represents	represent	VERB
ajst-10166	33	171	the	the	DET
ajst-10166	33	172	elevator	elevator	NOUN
ajst-10166	33	173	deflection	deflection	NOUN
ajst-10166	33	174	angle.the	angle.the	DET
ajst-10166	33	175	state	state	NOUN
ajst-10166	33	176	parameter	parameter	NOUN
ajst-10166	33	177	matrix	matrix	NOUN
ajst-10166	33	178	of	of	ADP
ajst-10166	33	179	the	the	DET
ajst-10166	33	180	aircraft	aircraft	NOUN
ajst-10166	33	181	in	in	ADP
ajst-10166	33	182	a	a	DET
ajst-10166	33	183	certain	certain	ADJ
ajst-10166	33	184	state	state	NOUN
ajst-10166	33	185	is	be	AUX
ajst-10166	33	186	:	:	PUNCT
ajst-10166	33	187	𝐴	𝐴	PROPN
ajst-10166	33	188	-0.56989	-0.56989	VERB
ajst-10166	33	189	1	1	NUM
ajst-10166	33	190	0	0	NUM
ajst-10166	33	191	-2.49155	-2.49155	NOUN
ajst-10166	33	192	-1.14357	-1.14357	NOUN
ajst-10166	33	193	0	0	NUM
ajst-10166	34	1	0	0	NUM
ajst-10166	34	2	1	1	NUM
ajst-10166	34	3	0	0	NUM
ajst-10166	34	4	，	，	PROPN
ajst-10166	34	5	𝐵	𝐵	NOUN
ajst-10166	34	6	-0.0293	-0.0293	NOUN
ajst-10166	34	7	2.2683	2.2683	NUM
ajst-10166	34	8	0	0	NUM
ajst-10166	34	9	，	，	PROPN
ajst-10166	34	10	𝐶	𝐶	PROPN
ajst-10166	34	11	1	1	NUM
ajst-10166	34	12	0	0	NUM
ajst-10166	34	13	0	0	NUM
ajst-10166	34	14	0	0	NUM
ajst-10166	34	15	1	1	NUM
ajst-10166	34	16	0	0	NUM
ajst-10166	34	17	0	0	NUM
ajst-10166	34	18	0	0	NUM
ajst-10166	34	19	1	1	NUM
ajst-10166	34	20	(	(	PUNCT
ajst-10166	34	21	7	7	X
ajst-10166	34	22	)	)	PUNCT
ajst-10166	34	23	utilizing	utilize	VERB
ajst-10166	34	24	a	a	DET
ajst-10166	34	25	fuzzy	fuzzy	ADJ
ajst-10166	34	26	pid	pid	NOUN
ajst-10166	34	27	controller	controller	NOUN
ajst-10166	34	28	,	,	PUNCT
ajst-10166	34	29	a	a	DET
ajst-10166	34	30	sophisticated	sophisticated	ADJ
ajst-10166	34	31	closedloop	closedloop	NOUN
ajst-10166	34	32	flight	flight	NOUN
ajst-10166	34	33	control	control	NOUN
ajst-10166	34	34	system	system	NOUN
ajst-10166	34	35	is	be	AUX
ajst-10166	34	36	designed	design	VERB
ajst-10166	34	37	to	to	PART
ajst-10166	34	38	efficiently	efficiently	ADV
ajst-10166	34	39	track	track	VERB
ajst-10166	34	40	and	and	CCONJ
ajst-10166	34	41	maintain	maintain	VERB
ajst-10166	34	42	the	the	DET
ajst-10166	34	43	pitch	pitch	NOUN
ajst-10166	34	44	attitude	attitude	NOUN
ajst-10166	34	45	.	.	PUNCT
ajst-10166	35	1	following	follow	VERB
ajst-10166	35	2	this	this	PRON
ajst-10166	35	3	,	,	PUNCT
ajst-10166	35	4	an	an	DET
ajst-10166	35	5	exhaustive	exhaustive	ADJ
ajst-10166	35	6	analysis	analysis	NOUN
ajst-10166	35	7	is	be	AUX
ajst-10166	35	8	conducted	conduct	VERB
ajst-10166	35	9	on	on	ADP
ajst-10166	35	10	the	the	DET
ajst-10166	35	11	design	design	NOUN
ajst-10166	35	12	results	result	NOUN
ajst-10166	35	13	,	,	PUNCT
ajst-10166	35	14	which	which	PRON
ajst-10166	35	15	includes	include	VERB
ajst-10166	35	16	computations	computation	NOUN
ajst-10166	35	17	for	for	ADP
ajst-10166	35	18	the	the	DET
ajst-10166	35	19	overshoot	overshoot	NOUN
ajst-10166	35	20	and	and	CCONJ
ajst-10166	35	21	adjustment	adjustment	NOUN
ajst-10166	35	22	time	time	NOUN
ajst-10166	35	23	related	relate	VERB
ajst-10166	35	24	to	to	ADP
ajst-10166	35	25	the	the	DET
ajst-10166	35	26	pitch	pitch	NOUN
ajst-10166	35	27	angle	angle	NOUN
ajst-10166	35	28	.	.	PUNCT
ajst-10166	36	1	(	(	PUNCT
ajst-10166	36	2	1	1	X
ajst-10166	36	3	)	)	PUNCT
ajst-10166	36	4	identification	identification	NOUN
ajst-10166	36	5	of	of	ADP
ajst-10166	36	6	model	model	NOUN
ajst-10166	36	7	parameters	parameter	NOUN
ajst-10166	36	8	pertinent	pertinent	ADJ
ajst-10166	36	9	to	to	ADP
ajst-10166	36	10	the	the	DET
ajst-10166	36	11	drone	drone	NOUN
ajst-10166	36	12	.	.	PUNCT
ajst-10166	37	1	(	(	PUNCT
ajst-10166	37	2	2	2	X
ajst-10166	37	3	)	)	PUNCT
ajst-10166	37	4	formulation	formulation	NOUN
ajst-10166	37	5	of	of	ADP
ajst-10166	37	6	the	the	DET
ajst-10166	37	7	fuzzy	fuzzy	ADJ
ajst-10166	37	8	control	control	NOUN
ajst-10166	37	9	rules	rule	NOUN
ajst-10166	37	10	.	.	PUNCT
ajst-10166	38	1	(	(	PUNCT
ajst-10166	38	2	3	3	X
ajst-10166	38	3	)	)	PUNCT
ajst-10166	38	4	construction	construction	NOUN
ajst-10166	38	5	and	and	CCONJ
ajst-10166	38	6	debugging	debugging	NOUN
ajst-10166	38	7	of	of	ADP
ajst-10166	38	8	a	a	DET
ajst-10166	38	9	simulation	simulation	NOUN
ajst-10166	38	10	program	program	NOUN
ajst-10166	38	11	,	,	PUNCT
ajst-10166	38	12	grounded	ground	VERB
ajst-10166	38	13	on	on	ADP
ajst-10166	38	14	the	the	DET
ajst-10166	38	15	tuning	tuning	NOUN
ajst-10166	38	16	principle	principle	NOUN
ajst-10166	38	17	,	,	PUNCT
ajst-10166	38	18	utilizing	utilize	VERB
ajst-10166	38	19	matlab	matlab	PROPN
ajst-10166	38	20	.	.	PUNCT
ajst-10166	39	1	(	(	PUNCT
ajst-10166	39	2	4	4	X
ajst-10166	39	3	)	)	PUNCT
ajst-10166	39	4	implementation	implementation	NOUN
ajst-10166	39	5	of	of	ADP
ajst-10166	39	6	the	the	DET
ajst-10166	39	7	program	program	NOUN
ajst-10166	39	8	,	,	PUNCT
ajst-10166	39	9	utilizing	utilize	VERB
ajst-10166	39	10	a	a	DET
ajst-10166	39	11	step	step	NOUN
ajst-10166	39	12	signal	signal	NOUN
ajst-10166	39	13	as	as	ADP
ajst-10166	39	14	the	the	DET
ajst-10166	39	15	input	input	NOUN
ajst-10166	39	16	,	,	PUNCT
ajst-10166	39	17	followed	follow	VERB
ajst-10166	39	18	by	by	ADP
ajst-10166	39	19	the	the	DET
ajst-10166	39	20	recording	recording	NOUN
ajst-10166	39	21	of	of	ADP
ajst-10166	39	22	the	the	DET
ajst-10166	39	23	associated	associated	ADJ
ajst-10166	39	24	simulation	simulation	NOUN
ajst-10166	39	25	data	datum	NOUN
ajst-10166	39	26	and	and	CCONJ
ajst-10166	39	27	curves	curve	NOUN
ajst-10166	39	28	.	.	PUNCT
ajst-10166	40	1	(	(	PUNCT
ajst-10166	40	2	5	5	X
ajst-10166	40	3	)	)	PUNCT
ajst-10166	40	4	iterative	iterative	NOUN
ajst-10166	40	5	process	process	NOUN
ajst-10166	40	6	of	of	ADP
ajst-10166	40	7	modifying	modify	VERB
ajst-10166	40	8	the	the	DET
ajst-10166	40	9	fuzzy	fuzzy	ADJ
ajst-10166	40	10	control	control	NOUN
ajst-10166	40	11	rules	rule	NOUN
ajst-10166	40	12	and	and	CCONJ
ajst-10166	40	13	repeating	repeat	VERB
ajst-10166	40	14	step	step	NOUN
ajst-10166	40	15	4	4	NUM
ajst-10166	40	16	.	.	PUNCT
ajst-10166	41	1	(	(	PUNCT
ajst-10166	41	2	6	6	NUM
ajst-10166	41	3	)	)	PUNCT
ajst-10166	41	4	detailed	detailed	ADJ
ajst-10166	41	5	analysis	analysis	NOUN
ajst-10166	41	6	of	of	ADP
ajst-10166	41	7	the	the	DET
ajst-10166	41	8	data	datum	NOUN
ajst-10166	41	9	and	and	CCONJ
ajst-10166	41	10	control	control	NOUN
ajst-10166	41	11	curves	curve	NOUN
ajst-10166	41	12	.	.	PUNCT
ajst-10166	42	1	4	4	X
ajst-10166	42	2	.	.	X
ajst-10166	42	3	fuzzy	fuzzy	ADJ
ajst-10166	42	4	control	control	NOUN
ajst-10166	42	5	design	design	NOUN
ajst-10166	42	6	process	process	NOUN
ajst-10166	42	7	4.1	4.1	NUM
ajst-10166	42	8	.	.	PUNCT
ajst-10166	43	1	fuzzy	fuzzy	ADJ
ajst-10166	43	2	pid	pid	NOUN
ajst-10166	43	3	:	:	PUNCT
ajst-10166	43	4	an	an	DET
ajst-10166	43	5	overview	overview	NOUN
ajst-10166	43	6	fuzzy	fuzzy	ADJ
ajst-10166	43	7	pid	pid	NOUN
ajst-10166	43	8	controllers	controller	NOUN
ajst-10166	43	9	may	may	AUX
ajst-10166	43	10	exist	exist	VERB
ajst-10166	43	11	in	in	ADP
ajst-10166	43	12	a	a	DET
ajst-10166	43	13	variety	variety	NOUN
ajst-10166	43	14	of	of	ADP
ajst-10166	43	15	structural	structural	ADJ
ajst-10166	43	16	forms	form	NOUN
ajst-10166	43	17	;	;	PUNCT
ajst-10166	43	18	however	however	ADV
ajst-10166	43	19	,	,	PUNCT
ajst-10166	43	20	their	their	PRON
ajst-10166	43	21	operational	operational	ADJ
ajst-10166	43	22	principles	principle	NOUN
ajst-10166	43	23	exhibit	exhibit	VERB
ajst-10166	43	24	essential	essential	ADJ
ajst-10166	43	25	uniformity	uniformity	NOUN
ajst-10166	43	26	.	.	PUNCT
ajst-10166	44	1	they	they	PRON
ajst-10166	44	2	draw	draw	VERB
ajst-10166	44	3	upon	upon	SCONJ
ajst-10166	44	4	the	the	DET
ajst-10166	44	5	foundational	foundational	ADJ
ajst-10166	44	6	principles	principle	NOUN
ajst-10166	44	7	and	and	CCONJ
ajst-10166	44	8	methodologies	methodology	NOUN
ajst-10166	44	9	of	of	ADP
ajst-10166	44	10	fuzzy	fuzzy	ADJ
ajst-10166	44	11	mathematics	mathematic	NOUN
ajst-10166	44	12	,	,	PUNCT
ajst-10166	44	13	encapsulating	encapsulate	VERB
ajst-10166	44	14	the	the	DET
ajst-10166	44	15	conditions	condition	NOUN
ajst-10166	44	16	and	and	CCONJ
ajst-10166	44	17	operations	operation	NOUN
ajst-10166	44	18	of	of	ADP
ajst-10166	44	19	rules	rule	NOUN
ajst-10166	44	20	in	in	ADP
ajst-10166	44	21	the	the	DET
ajst-10166	44	22	form	form	NOUN
ajst-10166	44	23	of	of	ADP
ajst-10166	44	24	fuzzy	fuzzy	ADJ
ajst-10166	44	25	sets	set	NOUN
ajst-10166	44	26	.	.	PUNCT
ajst-10166	45	1	these	these	DET
ajst-10166	45	2	fuzzy	fuzzy	ADJ
ajst-10166	45	3	control	control	NOUN
ajst-10166	45	4	rules	rule	NOUN
ajst-10166	45	5	,	,	PUNCT
ajst-10166	45	6	along	along	ADP
ajst-10166	45	7	with	with	ADP
ajst-10166	45	8	other	other	ADJ
ajst-10166	45	9	pertinent	pertinent	ADJ
ajst-10166	45	10	information	information	NOUN
ajst-10166	45	11	,	,	PUNCT
ajst-10166	45	12	are	be	AUX
ajst-10166	45	13	archived	archive	VERB
ajst-10166	45	14	in	in	ADP
ajst-10166	45	15	the	the	DET
ajst-10166	45	16	knowledge	knowledge	NOUN
ajst-10166	45	17	database	database	NOUN
ajst-10166	45	18	of	of	ADP
ajst-10166	45	19	the	the	DET
ajst-10166	45	20	computer	computer	NOUN
ajst-10166	45	21	.	.	PUNCT
ajst-10166	46	1	subsequently	subsequently	ADV
ajst-10166	46	2	,	,	PUNCT
ajst-10166	46	3	the	the	DET
ajst-10166	46	4	computer	computer	NOUN
ajst-10166	46	5	employs	employ	VERB
ajst-10166	46	6	fuzzy	fuzzy	ADJ
ajst-10166	46	7	reasoning	reasoning	NOUN
ajst-10166	46	8	,	,	PUNCT
ajst-10166	46	9	based	base	VERB
ajst-10166	46	10	on	on	ADP
ajst-10166	46	11	the	the	DET
ajst-10166	46	12	real	real	ADJ
ajst-10166	46	13	-	-	PUNCT
ajst-10166	46	14	time	time	NOUN
ajst-10166	46	15	responses	response	NOUN
ajst-10166	46	16	of	of	ADP
ajst-10166	46	17	the	the	DET
ajst-10166	46	18	system	system	NOUN
ajst-10166	46	19	,	,	PUNCT
ajst-10166	46	20	to	to	PART
ajst-10166	46	21	achieve	achieve	VERB
ajst-10166	46	22	an	an	DET
ajst-10166	46	23	optimal	optimal	ADJ
ajst-10166	46	24	adjustment	adjustment	NOUN
ajst-10166	46	25	of	of	ADP
ajst-10166	46	26	pid	pid	NOUN
ajst-10166	46	27	parameters	parameter	NOUN
ajst-10166	46	28	[	[	X
ajst-10166	46	29	6	6	NUM
ajst-10166	46	30	]	]	PUNCT
ajst-10166	46	31	.	.	PUNCT
ajst-10166	47	1	the	the	DET
ajst-10166	47	2	adaptive	adaptive	ADJ
ajst-10166	47	3	fuzzy	fuzzy	ADJ
ajst-10166	47	4	pid	pid	NOUN
ajst-10166	47	5	controller	controller	NOUN
ajst-10166	47	6	uses	use	VERB
ajst-10166	47	7	the	the	DET
ajst-10166	47	8	error	error	NOUN
ajst-10166	47	9	𝑒	𝑒	NOUN
ajst-10166	47	10	and	and	CCONJ
ajst-10166	47	11	error	error	NOUN
ajst-10166	47	12	𝑒𝑐	𝑒𝑐	NOUN
ajst-10166	47	13	change	change	NOUN
ajst-10166	47	14	as	as	ADP
ajst-10166	47	15	its	its	PRON
ajst-10166	47	16	inputs	input	NOUN
ajst-10166	47	17	,	,	PUNCT
ajst-10166	47	18	thereby	thereby	ADV
ajst-10166	47	19	meeting	meet	VERB
ajst-10166	47	20	the	the	DET
ajst-10166	47	21	demands	demand	NOUN
ajst-10166	47	22	for	for	ADP
ajst-10166	47	23	self	self	NOUN
ajst-10166	47	24	-	-	PUNCT
ajst-10166	47	25	tuning	tuning	NOUN
ajst-10166	48	1	𝑒	𝑒	PROPN
ajst-10166	48	2	𝑒𝑐	𝑒𝑐	NOUN
ajst-10166	48	3	of	of	ADP
ajst-10166	48	4	pid	pid	NOUN
ajst-10166	48	5	parameters	parameter	NOUN
ajst-10166	48	6	at	at	ADP
ajst-10166	48	7	varying	vary	VERB
ajst-10166	48	8	time	time	NOUN
ajst-10166	48	9	points	point	NOUN
ajst-10166	48	10	.	.	PUNCT
ajst-10166	49	1	the	the	DET
ajst-10166	49	2	incorporation	incorporation	NOUN
ajst-10166	49	3	of	of	ADP
ajst-10166	49	4	fuzzy	fuzzy	ADJ
ajst-10166	49	5	control	control	NOUN
ajst-10166	49	6	rules	rule	NOUN
ajst-10166	49	7	for	for	ADP
ajst-10166	49	8	online	online	ADJ
ajst-10166	49	9	modifications	modification	NOUN
ajst-10166	49	10	of	of	ADP
ajst-10166	49	11	pid	pid	NOUN
ajst-10166	49	12	parameters	parameter	NOUN
ajst-10166	49	13	results	result	VERB
ajst-10166	49	14	in	in	ADP
ajst-10166	49	15	the	the	DET
ajst-10166	49	16	formation	formation	NOUN
ajst-10166	49	17	of	of	ADP
ajst-10166	49	18	an	an	DET
ajst-10166	49	19	adaptive	adaptive	ADJ
ajst-10166	49	20	fuzzy	fuzzy	ADJ
ajst-10166	49	21	pid	pid	NOUN
ajst-10166	49	22	controller	controller	NOUN
ajst-10166	49	23	.	.	PUNCT
ajst-10166	50	1	4.2	4.2	NUM
ajst-10166	50	2	.	.	PUNCT
ajst-10166	51	1	principle	principle	NOUN
ajst-10166	51	2	of	of	ADP
ajst-10166	51	3	control	control	NOUN
ajst-10166	51	4	the	the	DET
ajst-10166	51	5	calibration	calibration	NOUN
ajst-10166	51	6	of	of	ADP
ajst-10166	51	7	proportional	proportional	ADJ
ajst-10166	51	8	integral	integral	ADJ
ajst-10166	51	9	derivative	derivative	ADJ
ajst-10166	51	10	(	(	PUNCT
ajst-10166	51	11	pid	pid	NOUN
ajst-10166	51	12	)	)	PUNCT
ajst-10166	51	13	parameters	parameter	NOUN
ajst-10166	51	14	necessitates	necessitate	VERB
ajst-10166	51	15	a	a	DET
ajst-10166	51	16	nuanced	nuanced	ADJ
ajst-10166	51	17	understanding	understanding	NOUN
ajst-10166	51	18	of	of	ADP
ajst-10166	51	19	the	the	DET
ajst-10166	51	20	functional	functional	ADJ
ajst-10166	51	21	roles	role	NOUN
ajst-10166	51	22	and	and	CCONJ
ajst-10166	51	23	interconnected	interconnected	ADJ
ajst-10166	51	24	dynamics	dynamic	NOUN
ajst-10166	51	25	of	of	ADP
ajst-10166	51	26	these	these	DET
ajst-10166	51	27	parameters	parameter	NOUN
ajst-10166	51	28	at	at	ADP
ajst-10166	51	29	different	different	ADJ
ajst-10166	51	30	instances	instance	NOUN
ajst-10166	51	31	.	.	PUNCT
ajst-10166	52	1	the	the	DET
ajst-10166	52	2	mechanism	mechanism	NOUN
ajst-10166	52	3	underpinning	underpin	VERB
ajst-10166	52	4	the	the	DET
ajst-10166	52	5	fuzzy	fuzzy	ADJ
ajst-10166	52	6	self	self	NOUN
ajst-10166	52	7	-	-	PUNCT
ajst-10166	52	8	tuning	tune	VERB
ajst-10166	52	9	pid	pid	NOUN
ajst-10166	52	10	is	be	AUX
ajst-10166	52	11	essentially	essentially	ADV
ajst-10166	52	12	built	build	VERB
ajst-10166	52	13	upon	upon	SCONJ
ajst-10166	52	14	the	the	DET
ajst-10166	52	15	pid	pid	NOUN
ajst-10166	52	16	control	control	NOUN
ajst-10166	52	17	algorithm	algorithm	PROPN
ajst-10166	52	18	.	.	PUNCT
ajst-10166	53	1	this	this	DET
ajst-10166	53	2	method	method	NOUN
ajst-10166	53	3	calculates	calculate	VERB
ajst-10166	53	4	the	the	DET
ajst-10166	53	5	present	present	ADJ
ajst-10166	53	6	system	system	NOUN
ajst-10166	53	7	error	error	NOUN
ajst-10166	53	8	and	and	CCONJ
ajst-10166	53	9	the	the	DET
ajst-10166	53	10	rate	rate	NOUN
ajst-10166	53	11	of	of	ADP
ajst-10166	53	12	error	error	NOUN
ajst-10166	53	13	change	change	NOUN
ajst-10166	53	14	,	,	PUNCT
ajst-10166	53	15	applies	apply	VERB
ajst-10166	53	16	fuzzy	fuzzy	ADJ
ajst-10166	53	17	rules	rule	NOUN
ajst-10166	53	18	for	for	ADP
ajst-10166	53	19	the	the	DET
ajst-10166	53	20	purpose	purpose	NOUN
ajst-10166	53	21	of	of	ADP
ajst-10166	53	22	fuzzy	fuzzy	ADJ
ajst-10166	53	23	inference	inference	NOUN
ajst-10166	53	24	,	,	PUNCT
ajst-10166	53	25	and	and	CCONJ
ajst-10166	53	26	subsequently	subsequently	ADV
ajst-10166	53	27	modifies	modify	VERB
ajst-10166	53	28	parameters	parameter	NOUN
ajst-10166	53	29	through	through	ADP
ajst-10166	53	30	referring	refer	VERB
ajst-10166	53	31	to	to	ADP
ajst-10166	53	32	the	the	DET
ajst-10166	53	33	fuzzy	fuzzy	ADJ
ajst-10166	53	34	matrix	matrix	NOUN
ajst-10166	53	35	table	table	NOUN
ajst-10166	53	36	.	.	PUNCT
ajst-10166	54	1	28	28	NUM
ajst-10166	54	2	at	at	ADP
ajst-10166	54	3	its	its	PRON
ajst-10166	54	4	core	core	NOUN
ajst-10166	54	5	,	,	PUNCT
ajst-10166	54	6	the	the	DET
ajst-10166	54	7	design	design	NOUN
ajst-10166	54	8	of	of	ADP
ajst-10166	54	9	fuzzy	fuzzy	ADJ
ajst-10166	54	10	control	control	NOUN
ajst-10166	54	11	seeks	seek	VERB
ajst-10166	54	12	to	to	PART
ajst-10166	54	13	encapsulate	encapsulate	VERB
ajst-10166	54	14	the	the	DET
ajst-10166	54	15	technical	technical	ADJ
ajst-10166	54	16	expertise	expertise	NOUN
ajst-10166	54	17	and	and	CCONJ
ajst-10166	54	18	practical	practical	ADJ
ajst-10166	54	19	hands	hand	NOUN
ajst-10166	54	20	-	-	PUNCT
ajst-10166	54	21	on	on	ADP
ajst-10166	54	22	experience	experience	NOUN
ajst-10166	54	23	of	of	ADP
ajst-10166	54	24	engineering	engineering	NOUN
ajst-10166	54	25	professionals	professional	NOUN
ajst-10166	54	26	.	.	PUNCT
ajst-10166	55	1	the	the	DET
ajst-10166	55	2	goal	goal	NOUN
ajst-10166	55	3	is	be	AUX
ajst-10166	55	4	to	to	PART
ajst-10166	55	5	establish	establish	VERB
ajst-10166	55	6	an	an	DET
ajst-10166	55	7	appropriate	appropriate	ADJ
ajst-10166	55	8	fuzzy	fuzzy	ADJ
ajst-10166	55	9	rule	rule	NOUN
ajst-10166	55	10	table	table	NOUN
ajst-10166	55	11	,	,	PUNCT
ajst-10166	55	12	and	and	CCONJ
ajst-10166	55	13	to	to	PART
ajst-10166	55	14	create	create	VERB
ajst-10166	55	15	a	a	DET
ajst-10166	55	16	system	system	NOUN
ajst-10166	55	17	of	of	ADP
ajst-10166	55	18	fuzzy	fuzzy	ADJ
ajst-10166	55	19	control	control	NOUN
ajst-10166	55	20	that	that	PRON
ajst-10166	55	21	separately	separately	ADV
ajst-10166	55	22	adjusts	adjust	VERB
ajst-10166	55	23	the	the	DET
ajst-10166	55	24	three	three	NUM
ajst-10166	55	25	parameters	parameter	NOUN
ajst-10166	55	26	𝑘	𝑘	PRON
ajst-10166	55	27	、	、	NOUN
ajst-10166	55	28	𝑘	𝑘	DET
ajst-10166	55	29	、	、	NOUN
ajst-10166	55	30	𝑘	𝑘	NOUN
ajst-10166	55	31	and	and	CCONJ
ajst-10166	55	32	based	base	VERB
ajst-10166	55	33	on	on	ADP
ajst-10166	55	34	experiential	experiential	ADJ
ajst-10166	55	35	knowledge	knowledge	NOUN
ajst-10166	55	36	.	.	PUNCT
ajst-10166	56	1	the	the	DET
ajst-10166	56	2	spectrum	spectrum	NOUN
ajst-10166	56	3	of	of	ADP
ajst-10166	56	4	system	system	NOUN
ajst-10166	56	5	error	error	NOUN
ajst-10166	56	6	𝑒	𝑒	NOUN
ajst-10166	56	7	and	and	CCONJ
ajst-10166	56	8	rate	rate	NOUN
ajst-10166	56	9	of	of	ADP
ajst-10166	56	10	error	error	NOUN
ajst-10166	56	11	𝑒𝑐	𝑒𝑐	NOUN
ajst-10166	56	12	change	change	NOUN
ajst-10166	56	13	is	be	AUX
ajst-10166	56	14	delineated	delineate	VERB
ajst-10166	56	15	as	as	ADP
ajst-10166	56	16	the	the	DET
ajst-10166	56	17	discourse	discourse	NOUN
ajst-10166	56	18	domain	domain	NOUN
ajst-10166	56	19	on	on	ADP
ajst-10166	56	20	the	the	DET
ajst-10166	56	21	fuzzy	fuzzy	ADJ
ajst-10166	56	22	set	set	VERB
ajst-10166	56	23	𝑒	𝑒	PROPN
ajst-10166	56	24	,	,	PUNCT
ajst-10166	56	25	𝑒𝑐	𝑒𝑐	PROPN
ajst-10166	56	26	5	5	NUM
ajst-10166	56	27	,	,	PUNCT
ajst-10166	56	28	4	4	NUM
ajst-10166	56	29	,	,	PUNCT
ajst-10166	56	30	3	3	NUM
ajst-10166	56	31	,	,	PUNCT
ajst-10166	56	32	2	2	NUM
ajst-10166	56	33	,	,	PUNCT
ajst-10166	56	34	1,0,1,2,3,4,5	1,0,1,2,3,4,5	NUM
ajst-10166	56	35	(	(	PUNCT
ajst-10166	56	36	8)	8)	NUM
ajst-10166	56	37	its	its	PRON
ajst-10166	56	38	fuzzy	fuzzy	ADJ
ajst-10166	56	39	subset	subset	NOUN
ajst-10166	56	40	is𝑒	is𝑒	PROPN
ajst-10166	56	41	,	,	PUNCT
ajst-10166	56	42	𝑒𝑐	𝑒𝑐	ADJ
ajst-10166	56	43	𝑁𝐵	𝑁𝐵	PROPN
ajst-10166	56	44	,	,	PUNCT
ajst-10166	56	45	𝑁𝑀	𝑁𝑀	PROPN
ajst-10166	56	46	,	,	PUNCT
ajst-10166	56	47	𝑁𝑆	𝑁𝑆	PROPN
ajst-10166	56	48	,	,	PUNCT
ajst-10166	56	49	𝑍𝑂	𝑍𝑂	PROPN
ajst-10166	56	50	,	,	PUNCT
ajst-10166	56	51	𝑃𝑆	𝑃𝑆	PROPN
ajst-10166	56	52	,	,	PUNCT
ajst-10166	56	53	𝑃𝑀	𝑃𝑀	PROPN
ajst-10166	56	54	,	,	PUNCT
ajst-10166	56	55	𝑃𝐵	𝑃𝐵	PROPN
ajst-10166	56	56	，	，	PUNCT
ajst-10166	56	57	with	with	ADP
ajst-10166	56	58	elements	element	NOUN
ajst-10166	56	59	of	of	ADP
ajst-10166	56	60	the	the	DET
ajst-10166	56	61	subset	subset	NOUN
ajst-10166	56	62	respectively	respectively	ADV
ajst-10166	56	63	symbolizing	symbolize	VERB
ajst-10166	56	64	negative	negative	ADJ
ajst-10166	56	65	large	large	ADJ
ajst-10166	56	66	,	,	PUNCT
ajst-10166	56	67	negative	negative	ADJ
ajst-10166	56	68	medium	medium	ADJ
ajst-10166	56	69	,	,	PUNCT
ajst-10166	56	70	negative	negative	ADJ
ajst-10166	56	71	small	small	ADJ
ajst-10166	56	72	,	,	PUNCT
ajst-10166	56	73	zero	zero	NUM
ajst-10166	56	74	,	,	PUNCT
ajst-10166	56	75	positive	positive	ADJ
ajst-10166	56	76	small	small	ADJ
ajst-10166	56	77	,	,	PUNCT
ajst-10166	56	78	positive	positive	ADJ
ajst-10166	56	79	medium	medium	NOUN
ajst-10166	56	80	,	,	PUNCT
ajst-10166	56	81	and	and	CCONJ
ajst-10166	56	82	positive	positive	ADJ
ajst-10166	56	83	large	large	ADJ
ajst-10166	56	84	.	.	PUNCT
ajst-10166	57	1	under	under	ADP
ajst-10166	57	2	the	the	DET
ajst-10166	57	3	assumption	assumption	NOUN
ajst-10166	57	4	that	that	PRON
ajst-10166	57	5	𝑒	𝑒	PROPN
ajst-10166	57	6	、	、	NOUN
ajst-10166	57	7	𝑒𝑐	𝑒𝑐	PROPN
ajst-10166	57	8	and	and	CCONJ
ajst-10166	57	9	𝑘	𝑘	DET
ajst-10166	57	10	、	、	NOUN
ajst-10166	57	11	𝑘	𝑘	ADP
ajst-10166	57	12	、	、	NOUN
ajst-10166	57	13	𝑘	𝑘	NOUN
ajst-10166	57	14	all	all	DET
ajst-10166	57	15	abide	abide	NOUN
ajst-10166	57	16	by	by	ADP
ajst-10166	57	17	the	the	DET
ajst-10166	57	18	normal	normal	ADJ
ajst-10166	57	19	distribution	distribution	NOUN
ajst-10166	57	20	,	,	PUNCT
ajst-10166	57	21	the	the	DET
ajst-10166	57	22	degree	degree	NOUN
ajst-10166	57	23	of	of	ADP
ajst-10166	57	24	membership	membership	NOUN
ajst-10166	57	25	for	for	ADP
ajst-10166	57	26	each	each	DET
ajst-10166	57	27	fuzzy	fuzzy	ADJ
ajst-10166	57	28	subset	subset	NOUN
ajst-10166	57	29	can	can	AUX
ajst-10166	57	30	be	be	AUX
ajst-10166	57	31	determined	determine	VERB
ajst-10166	57	32	.	.	PUNCT
ajst-10166	58	1	based	base	VERB
ajst-10166	58	2	on	on	ADP
ajst-10166	58	3	the	the	DET
ajst-10166	58	4	membership	membership	NOUN
ajst-10166	58	5	value	value	NOUN
ajst-10166	58	6	table	table	NOUN
ajst-10166	58	7	of	of	ADP
ajst-10166	58	8	each	each	DET
ajst-10166	58	9	fuzzy	fuzzy	ADJ
ajst-10166	58	10	subset	subset	NOUN
ajst-10166	58	11	and	and	CCONJ
ajst-10166	58	12	the	the	DET
ajst-10166	58	13	fuzzy	fuzzy	ADJ
ajst-10166	58	14	adjustment	adjustment	NOUN
ajst-10166	58	15	rule	rule	NOUN
ajst-10166	58	16	model	model	NOUN
ajst-10166	58	17	for	for	ADP
ajst-10166	58	18	each	each	DET
ajst-10166	58	19	parameter	parameter	NOUN
ajst-10166	58	20	,	,	PUNCT
ajst-10166	58	21	a	a	DET
ajst-10166	58	22	pid	pid	NOUN
ajst-10166	58	23	parameter	parameter	NOUN
ajst-10166	58	24	fuzzy	fuzzy	ADJ
ajst-10166	58	25	adjustment	adjustment	NOUN
ajst-10166	58	26	matrix	matrix	NOUN
ajst-10166	58	27	table	table	NOUN
ajst-10166	58	28	is	be	AUX
ajst-10166	58	29	designed	design	VERB
ajst-10166	58	30	through	through	ADP
ajst-10166	58	31	fuzzy	fuzzy	ADJ
ajst-10166	58	32	synthesis	synthesis	NOUN
ajst-10166	58	33	inference	inference	NOUN
ajst-10166	58	34	.	.	PUNCT
ajst-10166	59	1	this	this	DET
ajst-10166	59	2	table	table	NOUN
ajst-10166	59	3	is	be	AUX
ajst-10166	59	4	subsequently	subsequently	ADV
ajst-10166	59	5	employed	employ	VERB
ajst-10166	59	6	to	to	PART
ajst-10166	59	7	identify	identify	VERB
ajst-10166	59	8	the	the	DET
ajst-10166	59	9	revised	revise	VERB
ajst-10166	59	10	parameter	parameter	NOUN
ajst-10166	59	11	and	and	CCONJ
ajst-10166	59	12	perform	perform	VERB
ajst-10166	59	13	computations	computation	NOUN
ajst-10166	59	14	using	use	VERB
ajst-10166	59	15	the	the	DET
ajst-10166	59	16	subsequent	subsequent	ADJ
ajst-10166	59	17	formula	formula	NOUN
ajst-10166	59	18	.	.	PUNCT
ajst-10166	60	1	𝑘	𝑘	PRON
ajst-10166	60	2	𝑘	𝑘	DET
ajst-10166	60	3	′	′	NOUN
ajst-10166	60	4	𝑒	𝑒	ADP
ajst-10166	60	5	,	,	PUNCT
ajst-10166	60	6	𝑒𝑐	𝑒𝑐	ADP
ajst-10166	60	7	𝑘	𝑘	PRON
ajst-10166	60	8	𝑘	𝑘	INTJ
ajst-10166	60	9	′	′	NOUN
ajst-10166	61	1	𝛥𝑘	𝛥𝑘	NUM
ajst-10166	61	2	𝑘	𝑘	INTJ
ajst-10166	61	3	𝑘	𝑘	DET
ajst-10166	61	4	′	′	NOUN
ajst-10166	61	5	𝑒	𝑒	ADP
ajst-10166	61	6	,	,	PUNCT
ajst-10166	61	7	𝑒𝑐	𝑒𝑐	ADP
ajst-10166	61	8	𝑘	𝑘	PRON
ajst-10166	61	9	𝑘	𝑘	INTJ
ajst-10166	61	10	′	′	NOUN
ajst-10166	62	1	𝛥𝑘	𝛥𝑘	NUM
ajst-10166	62	2	𝑘	𝑘	INTJ
ajst-10166	62	3	𝑘	𝑘	DET
ajst-10166	62	4	′	′	NOUN
ajst-10166	62	5	𝑒	𝑒	ADP
ajst-10166	62	6	,	,	PUNCT
ajst-10166	62	7	𝑒𝑐	𝑒𝑐	ADP
ajst-10166	62	8	𝑘	𝑘	PRON
ajst-10166	62	9	𝑘	𝑘	DET
ajst-10166	62	10	′	′	NOUN
ajst-10166	63	1	𝛥𝑘	𝛥𝑘	NOUN
ajst-10166	63	2	(	(	PUNCT
ajst-10166	63	3	9	9	NUM
ajst-10166	63	4	)	)	PUNCT
ajst-10166	63	5	in	in	ADP
ajst-10166	63	6	this	this	DET
ajst-10166	63	7	formulation	formulation	NOUN
ajst-10166	63	8	,	,	PUNCT
ajst-10166	63	9	the	the	DET
ajst-10166	63	10	parameters	parameter	NOUN
ajst-10166	63	11	𝑘	𝑘	ADP
ajst-10166	63	12	、	、	NOUN
ajst-10166	63	13	𝑘	𝑘	DET
ajst-10166	63	14	、	、	NOUN
ajst-10166	63	15	𝑘	𝑘	PROPN
ajst-10166	63	16	denote	denote	NOUN
ajst-10166	63	17	those	those	PRON
ajst-10166	63	18	specific	specific	ADJ
ajst-10166	63	19	to	to	ADP
ajst-10166	63	20	the	the	DET
ajst-10166	63	21	proportional	proportional	ADJ
ajst-10166	63	22	integral	integral	ADJ
ajst-10166	63	23	derivative	derivative	ADJ
ajst-10166	63	24	(	(	PUNCT
ajst-10166	63	25	pid	pid	NOUN
ajst-10166	63	26	)	)	PUNCT
ajst-10166	63	27	controller	controller	NOUN
ajst-10166	63	28	,	,	PUNCT
ajst-10166	63	29	while	while	SCONJ
ajst-10166	63	30	𝑘	𝑘	PRON
ajst-10166	63	31	′	′	NOUN
ajst-10166	63	32	、	、	NOUN
ajst-10166	63	33	𝑘	𝑘	DET
ajst-10166	63	34	′	′	NOUN
ajst-10166	63	35	、	、	NOUN
ajst-10166	64	1	𝑘	𝑘	NOUN
ajst-10166	64	2	′	′	NOUN
ajst-10166	64	3	represents	represent	VERB
ajst-10166	64	4	the	the	DET
ajst-10166	64	5	initial	initial	ADJ
ajst-10166	64	6	parameters	parameter	NOUN
ajst-10166	64	7	of	of	ADP
ajst-10166	64	8	𝑘	𝑘	DET
ajst-10166	64	9	、	、	NOUN
ajst-10166	64	10	𝑘	𝑘	ADP
ajst-10166	64	11	、	、	NOUN
ajst-10166	64	12	𝑘	𝑘	PROPN
ajst-10166	64	13	,	,	PUNCT
ajst-10166	64	14	procured	procure	VERB
ajst-10166	64	15	via	via	ADP
ajst-10166	64	16	conventional	conventional	ADJ
ajst-10166	64	17	methodologies	methodology	NOUN
ajst-10166	64	18	.	.	PUNCT
ajst-10166	65	1	during	during	ADP
ajst-10166	65	2	the	the	DET
ajst-10166	65	3	process	process	NOUN
ajst-10166	65	4	of	of	ADP
ajst-10166	65	5	online	online	ADJ
ajst-10166	65	6	operation	operation	NOUN
ajst-10166	65	7	,	,	PUNCT
ajst-10166	65	8	the	the	DET
ajst-10166	65	9	microcomputer	microcomputer	NOUN
ajst-10166	65	10	measurement	measurement	NOUN
ajst-10166	65	11	and	and	CCONJ
ajst-10166	65	12	control	control	NOUN
ajst-10166	65	13	system	system	NOUN
ajst-10166	65	14	perpetually	perpetually	ADV
ajst-10166	65	15	surveils	surveil	VERB
ajst-10166	65	16	the	the	DET
ajst-10166	65	17	output	output	NOUN
ajst-10166	65	18	response	response	NOUN
ajst-10166	65	19	value	value	NOUN
ajst-10166	65	20	of	of	ADP
ajst-10166	65	21	the	the	DET
ajst-10166	65	22	system	system	NOUN
ajst-10166	65	23	,	,	PUNCT
ajst-10166	65	24	executing	execute	VERB
ajst-10166	65	25	real	real	ADJ
ajst-10166	65	26	-	-	PUNCT
ajst-10166	65	27	time	time	NOUN
ajst-10166	65	28	calculations	calculation	NOUN
ajst-10166	65	29	of	of	ADP
ajst-10166	65	30	both	both	DET
ajst-10166	65	31	deviation	deviation	NOUN
ajst-10166	65	32	and	and	CCONJ
ajst-10166	65	33	the	the	DET
ajst-10166	65	34	rate	rate	NOUN
ajst-10166	65	35	of	of	ADP
ajst-10166	65	36	change	change	NOUN
ajst-10166	65	37	in	in	ADP
ajst-10166	65	38	deviation	deviation	NOUN
ajst-10166	65	39	.	.	PUNCT
ajst-10166	66	1	subsequently	subsequently	ADV
ajst-10166	66	2	,	,	PUNCT
ajst-10166	66	3	these	these	DET
ajst-10166	66	4	values	value	NOUN
ajst-10166	66	5	are	be	AUX
ajst-10166	66	6	subjected	subject	VERB
ajst-10166	66	7	to	to	ADP
ajst-10166	66	8	a	a	DET
ajst-10166	66	9	process	process	NOUN
ajst-10166	66	10	of	of	ADP
ajst-10166	66	11	fuzzification	fuzzification	NOUN
ajst-10166	66	12	to	to	PART
ajst-10166	66	13	derive	derive	VERB
ajst-10166	66	14	𝑒、𝑒𝑐.	𝑒、𝑒𝑐.	PROPN
ajst-10166	66	15	by	by	ADP
ajst-10166	66	16	consulting	consult	VERB
ajst-10166	66	17	the	the	DET
ajst-10166	66	18	fuzzy	fuzzy	ADJ
ajst-10166	66	19	adjustment	adjustment	NOUN
ajst-10166	66	20	matrix	matrix	NOUN
ajst-10166	66	21	,	,	PUNCT
ajst-10166	66	22	the	the	DET
ajst-10166	66	23	adjustment	adjustment	NOUN
ajst-10166	66	24	magnitudes	magnitude	VERB
ajst-10166	66	25	for	for	ADP
ajst-10166	66	26	the	the	DET
ajst-10166	66	27	three	three	NUM
ajst-10166	66	28	parameters	parameter	NOUN
ajst-10166	66	29	𝑘	𝑘	PRON
ajst-10166	66	30	、	、	NOUN
ajst-10166	66	31	𝑘	𝑘	PRON
ajst-10166	66	32	、	、	NOUN
ajst-10166	66	33	𝑘	𝑘	PRON
ajst-10166	66	34	can	can	AUX
ajst-10166	66	35	be	be	AUX
ajst-10166	66	36	ascertained	ascertain	VERB
ajst-10166	66	37	,	,	PUNCT
ajst-10166	66	38	thereby	thereby	ADV
ajst-10166	66	39	concluding	conclude	VERB
ajst-10166	66	40	the	the	DET
ajst-10166	66	41	tuning	tuning	NOUN
ajst-10166	66	42	process	process	NOUN
ajst-10166	66	43	.	.	PUNCT
ajst-10166	67	1	on	on	ADP
ajst-10166	67	2	the	the	DET
ajst-10166	67	3	control	control	NOUN
ajst-10166	67	4	surface	surface	NOUN
ajst-10166	67	5	,	,	PUNCT
ajst-10166	67	6	check	check	VERB
ajst-10166	67	7	whether	whether	SCONJ
ajst-10166	67	8	the	the	DET
ajst-10166	67	9	expected	expect	VERB
ajst-10166	67	10	value	value	NOUN
ajst-10166	67	11	is	be	AUX
ajst-10166	67	12	close	close	ADJ
ajst-10166	67	13	to	to	ADP
ajst-10166	67	14	the	the	DET
ajst-10166	67	15	center	center	NOUN
ajst-10166	67	16	of	of	ADP
ajst-10166	67	17	the	the	DET
ajst-10166	67	18	fuzzy	fuzzy	ADJ
ajst-10166	67	19	control	control	NOUN
ajst-10166	67	20	output	output	NOUN
ajst-10166	67	21	conclusion	conclusion	NOUN
ajst-10166	67	22	space	space	NOUN
ajst-10166	67	23	.	.	PUNCT
ajst-10166	68	1	if	if	SCONJ
ajst-10166	68	2	it	it	PRON
ajst-10166	68	3	exceeds	exceed	VERB
ajst-10166	68	4	20	20	NUM
ajst-10166	68	5	%	%	NOUN
ajst-10166	68	6	,	,	PUNCT
ajst-10166	68	7	it	it	PRON
ajst-10166	68	8	is	be	AUX
ajst-10166	68	9	necessary	necessary	ADJ
ajst-10166	68	10	to	to	PART
ajst-10166	68	11	readjust	readjust	VERB
ajst-10166	68	12	the	the	DET
ajst-10166	68	13	rules	rule	NOUN
ajst-10166	68	14	,	,	PUNCT
ajst-10166	68	15	membership	membership	NOUN
ajst-10166	68	16	functions	function	NOUN
ajst-10166	68	17	,	,	PUNCT
ajst-10166	68	18	or	or	CCONJ
ajst-10166	68	19	fuzzy	fuzzy	ADJ
ajst-10166	68	20	operations	operation	NOUN
ajst-10166	68	21	to	to	PART
ajst-10166	68	22	optimize	optimize	VERB
ajst-10166	68	23	the	the	DET
ajst-10166	68	24	fuzzy	fuzzy	ADJ
ajst-10166	68	25	controller	controller	NOUN
ajst-10166	68	26	.	.	PUNCT
ajst-10166	69	1	5	5	X
ajst-10166	69	2	.	.	X
ajst-10166	69	3	simulink	simulink	PROPN
ajst-10166	69	4	simulation	simulation	PROPN
ajst-10166	69	5	design	design	VERB
ajst-10166	69	6	5.1	5.1	NUM
ajst-10166	69	7	.	.	PUNCT
ajst-10166	70	1	simulation	simulation	NOUN
ajst-10166	70	2	design	design	NOUN
ajst-10166	70	3	figure	figure	NOUN
ajst-10166	70	4	2	2	NUM
ajst-10166	70	5	.	.	PUNCT
ajst-10166	70	6	simulation	simulation	NOUN
ajst-10166	70	7	structure	structure	NOUN
ajst-10166	70	8	diagram	diagram	NOUN
ajst-10166	70	9	of	of	ADP
ajst-10166	70	10	the	the	DET
ajst-10166	70	11	control	control	NOUN
ajst-10166	70	12	system	system	NOUN
ajst-10166	70	13	figure	figure	NOUN
ajst-10166	70	14	3	3	NUM
ajst-10166	70	15	.	.	PUNCT
ajst-10166	70	16	subsystem	subsystem	NOUN
ajst-10166	70	17	structure	structure	NOUN
ajst-10166	70	18	diagram	diagram	NOUN
ajst-10166	70	19	of	of	ADP
ajst-10166	70	20	the	the	DET
ajst-10166	70	21	fuzzy	fuzzy	ADJ
ajst-10166	70	22	controller	controller	NOUN
ajst-10166	70	23	29	29	NUM
ajst-10166	70	24	in	in	ADP
ajst-10166	70	25	this	this	DET
ajst-10166	70	26	diagram	diagram	NOUN
ajst-10166	70	27	,	,	PUNCT
ajst-10166	70	28	the	the	DET
ajst-10166	70	29	internal	internal	ADJ
ajst-10166	70	30	structure	structure	NOUN
ajst-10166	70	31	of	of	ADP
ajst-10166	70	32	the	the	DET
ajst-10166	70	33	fuzzy	fuzzy	ADJ
ajst-10166	70	34	control	control	NOUN
ajst-10166	70	35	subsystem	subsystem	NOUN
ajst-10166	70	36	"	"	PUNCT
ajst-10166	70	37	fuzzy	fuzzy	ADJ
ajst-10166	70	38	"	"	PUNCT
ajst-10166	70	39	is	be	AUX
ajst-10166	70	40	shown	show	VERB
ajst-10166	70	41	in	in	ADP
ajst-10166	70	42	figure	figure	NOUN
ajst-10166	70	43	3	3	NUM
ajst-10166	70	44	[	[	X
ajst-10166	70	45	7,8].the	7,8].the	DET
ajst-10166	70	46	input	input	NOUN
ajst-10166	70	47	signal	signal	NOUN
ajst-10166	70	48	is	be	AUX
ajst-10166	70	49	a	a	DET
ajst-10166	70	50	step	step	NOUN
ajst-10166	70	51	signal	signal	NOUN
ajst-10166	70	52	:	:	PUNCT
ajst-10166	70	53	r=10	r=10	PROPN
ajst-10166	70	54	rad	rad	NOUN
ajst-10166	70	55	.	.	PROPN
ajst-10166	70	56	5.2	5.2	NUM
ajst-10166	70	57	.	.	PUNCT
ajst-10166	71	1	simulation	simulation	NOUN
ajst-10166	71	2	results	result	NOUN
ajst-10166	71	3	and	and	CCONJ
ajst-10166	71	4	analysis	analysis	NOUN
ajst-10166	71	5	the	the	DET
ajst-10166	71	6	overshoot	overshoot	NOUN
ajst-10166	71	7	of	of	ADP
ajst-10166	71	8	the	the	DET
ajst-10166	71	9	pitch	pitch	NOUN
ajst-10166	71	10	angle	angle	NOUN
ajst-10166	71	11	x	x	PUNCT
ajst-10166	71	12	is	be	AUX
ajst-10166	71	13	13.9%,the	13.9%,the	DET
ajst-10166	71	14	adjustment	adjustment	NOUN
ajst-10166	71	15	time	time	NOUN
ajst-10166	71	16	ts	ts	ADP
ajst-10166	71	17	is	be	AUX
ajst-10166	71	18	1.04s	1.04s	NUM
ajst-10166	71	19	,	,	PUNCT
ajst-10166	71	20	the	the	DET
ajst-10166	71	21	values	value	NOUN
ajst-10166	71	22	of	of	ADP
ajst-10166	71	23	kp、ki、kd	kp、ki、kd	PROPN
ajst-10166	71	24	are	be	AUX
ajst-10166	71	25	13	13	NUM
ajst-10166	71	26	,	,	PUNCT
ajst-10166	71	27	5	5	NUM
ajst-10166	71	28	,	,	PUNCT
ajst-10166	71	29	and	and	CCONJ
ajst-10166	71	30	2.29	2.29	NUM
ajst-10166	71	31	respectively	respectively	ADV
ajst-10166	71	32	figure	figure	NOUN
ajst-10166	71	33	4	4	NUM
ajst-10166	71	34	.	.	PUNCT
ajst-10166	71	35	given	give	VERB
ajst-10166	71	36	and	and	CCONJ
ajst-10166	71	37	output	output	NOUN
ajst-10166	71	38	response	response	NOUN
ajst-10166	71	39	curve	curve	NOUN
ajst-10166	71	40	of	of	ADP
ajst-10166	71	41	pitch	pitch	NOUN
ajst-10166	71	42	angle	angle	NOUN
ajst-10166	71	43	x	x	PUNCT
ajst-10166	71	44	figure	figure	NOUN
ajst-10166	71	45	5	5	NUM
ajst-10166	71	46	.	.	PUNCT
ajst-10166	71	47	response	response	NOUN
ajst-10166	71	48	curve	curve	NOUN
ajst-10166	71	49	of	of	ADP
ajst-10166	71	50	the	the	DET
ajst-10166	71	51	pitch	pitch	NOUN
ajst-10166	71	52	rate	rate	NOUN
ajst-10166	71	53	q	q	PROPN
ajst-10166	71	54	6	6	NUM
ajst-10166	71	55	.	.	PUNCT
ajst-10166	71	56	conclusion	conclusion	NOUN
ajst-10166	71	57	the	the	DET
ajst-10166	71	58	settling	settling	NOUN
ajst-10166	71	59	time	time	NOUN
ajst-10166	71	60	and	and	CCONJ
ajst-10166	71	61	overshoot	overshoot	NOUN
ajst-10166	71	62	of	of	ADP
ajst-10166	71	63	the	the	DET
ajst-10166	71	64	unit	unit	NOUN
ajst-10166	71	65	step	step	NOUN
ajst-10166	71	66	response	response	NOUN
ajst-10166	71	67	for	for	ADP
ajst-10166	71	68	pitch	pitch	NOUN
ajst-10166	71	69	angle	angle	NOUN
ajst-10166	71	70	have	have	AUX
ajst-10166	71	71	been	be	AUX
ajst-10166	71	72	markedly	markedly	ADV
ajst-10166	71	73	reduced	reduce	VERB
ajst-10166	71	74	,	,	PUNCT
ajst-10166	71	75	resulting	result	VERB
ajst-10166	71	76	in	in	ADP
ajst-10166	71	77	a	a	DET
ajst-10166	71	78	transition	transition	NOUN
ajst-10166	71	79	process	process	NOUN
ajst-10166	71	80	that	that	PRON
ajst-10166	71	81	is	be	AUX
ajst-10166	71	82	substantially	substantially	ADV
ajst-10166	71	83	smoother	smooth	ADJ
ajst-10166	71	84	.	.	PUNCT
ajst-10166	72	1	the	the	DET
ajst-10166	72	2	peak	peak	NOUN
ajst-10166	72	3	value	value	NOUN
ajst-10166	72	4	of	of	ADP
ajst-10166	72	5	the	the	DET
ajst-10166	72	6	pitch	pitch	NOUN
ajst-10166	72	7	rate	rate	NOUN
ajst-10166	72	8	has	have	AUX
ajst-10166	72	9	also	also	ADV
ajst-10166	72	10	seen	see	VERB
ajst-10166	72	11	a	a	DET
ajst-10166	72	12	decrement	decrement	ADJ
ajst-10166	72	13	,	,	PUNCT
ajst-10166	72	14	which	which	PRON
ajst-10166	72	15	has	have	AUX
ajst-10166	72	16	invariably	invariably	ADV
ajst-10166	72	17	improved	improve	VERB
ajst-10166	72	18	the	the	DET
ajst-10166	72	19	aircraft	aircraft	NOUN
ajst-10166	72	20	's	's	PART
ajst-10166	72	21	performance	performance	NOUN
ajst-10166	72	22	.	.	PUNCT
ajst-10166	73	1	throughout	throughout	ADP
ajst-10166	73	2	its	its	PRON
ajst-10166	73	3	operation	operation	NOUN
ajst-10166	73	4	,	,	PUNCT
ajst-10166	73	5	the	the	DET
ajst-10166	73	6	fuzzy	fuzzy	ADJ
ajst-10166	73	7	pid	pid	NOUN
ajst-10166	73	8	parameters	parameter	NOUN
ajst-10166	73	9	are	be	AUX
ajst-10166	73	10	adjusted	adjust	VERB
ajst-10166	73	11	online	online	ADV
ajst-10166	73	12	autonomously	autonomously	ADV
ajst-10166	73	13	and	and	CCONJ
ajst-10166	73	14	continuously	continuously	ADV
ajst-10166	73	15	.	.	PUNCT
ajst-10166	74	1	the	the	DET
ajst-10166	74	2	impact	impact	NOUN
ajst-10166	74	3	of	of	ADP
ajst-10166	74	4	fuzzy	fuzzy	ADJ
ajst-10166	74	5	rules	rule	NOUN
ajst-10166	74	6	on	on	ADP
ajst-10166	74	7	the	the	DET
ajst-10166	74	8	system	system	NOUN
ajst-10166	74	9	is	be	AUX
ajst-10166	74	10	profound	profound	ADJ
ajst-10166	74	11	;	;	PUNCT
ajst-10166	74	12	aptly	aptly	ADV
ajst-10166	74	13	selected	select	VERB
ajst-10166	74	14	fuzzy	fuzzy	ADJ
ajst-10166	74	15	rules	rule	NOUN
ajst-10166	74	16	can	can	AUX
ajst-10166	74	17	yield	yield	VERB
ajst-10166	74	18	desirable	desirable	ADJ
ajst-10166	74	19	dynamic	dynamic	ADJ
ajst-10166	74	20	properties	property	NOUN
ajst-10166	74	21	.	.	PUNCT
ajst-10166	75	1	the	the	DET
ajst-10166	75	2	development	development	NOUN
ajst-10166	75	3	of	of	ADP
ajst-10166	75	4	these	these	DET
ajst-10166	75	5	fuzzy	fuzzy	ADJ
ajst-10166	75	6	rules	rule	NOUN
ajst-10166	75	7	is	be	AUX
ajst-10166	75	8	predicated	predicate	VERB
ajst-10166	75	9	on	on	ADP
ajst-10166	75	10	established	establish	VERB
ajst-10166	75	11	engineering	engineering	NOUN
ajst-10166	75	12	experience	experience	NOUN
ajst-10166	75	13	.	.	PUNCT
ajst-10166	76	1	the	the	DET
ajst-10166	76	2	fuzzy	fuzzy	ADJ
ajst-10166	76	3	pid	pid	NOUN
ajst-10166	76	4	control	control	NOUN
ajst-10166	76	5	methodology	methodology	NOUN
ajst-10166	76	6	is	be	AUX
ajst-10166	76	7	particularly	particularly	ADV
ajst-10166	76	8	suitable	suitable	ADJ
ajst-10166	76	9	for	for	ADP
ajst-10166	76	10	nonlinear	nonlinear	ADJ
ajst-10166	76	11	systems	system	NOUN
ajst-10166	76	12	,	,	PUNCT
ajst-10166	76	13	distinguished	distinguish	VERB
ajst-10166	76	14	by	by	ADP
ajst-10166	76	15	its	its	PRON
ajst-10166	76	16	convenient	convenient	ADJ
ajst-10166	76	17	operation	operation	NOUN
ajst-10166	76	18	,	,	PUNCT
ajst-10166	76	19	adjustable	adjustable	ADJ
ajst-10166	76	20	parameters	parameter	NOUN
ajst-10166	76	21	,	,	PUNCT
ajst-10166	76	22	and	and	CCONJ
ajst-10166	76	23	high	high	ADJ
ajst-10166	76	24	practical	practical	ADJ
ajst-10166	76	25	utility	utility	NOUN
ajst-10166	76	26	.	.	PUNCT
ajst-10166	77	1	it	it	PRON
ajst-10166	77	2	also	also	ADV
ajst-10166	77	3	demonstrates	demonstrate	VERB
ajst-10166	77	4	remarkable	remarkable	ADJ
ajst-10166	77	5	performance	performance	NOUN
ajst-10166	77	6	in	in	ADP
ajst-10166	77	7	terms	term	NOUN
ajst-10166	77	8	of	of	ADP
ajst-10166	77	9	interference	interference	NOUN
ajst-10166	77	10	rejection	rejection	NOUN
ajst-10166	77	11	,	,	PUNCT
ajst-10166	77	12	boasting	boast	VERB
ajst-10166	77	13	a	a	DET
ajst-10166	77	14	robust	robust	ADJ
ajst-10166	77	15	capability	capability	NOUN
ajst-10166	77	16	for	for	ADP
ajst-10166	77	17	online	online	ADJ
ajst-10166	77	18	self	self	NOUN
ajst-10166	77	19	-	-	PUNCT
ajst-10166	77	20	adjustment	adjustment	NOUN
ajst-10166	77	21	of	of	ADP
ajst-10166	77	22	parameters	parameter	NOUN
ajst-10166	77	23	.	.	PUNCT
ajst-10166	78	1	it	it	PRON
ajst-10166	78	2	showcases	showcase	VERB
ajst-10166	78	3	effectiveness	effectiveness	NOUN
ajst-10166	78	4	against	against	ADP
ajst-10166	78	5	ongoing	ongoing	ADJ
ajst-10166	78	6	interference	interference	NOUN
ajst-10166	78	7	and	and	CCONJ
ajst-10166	78	8	noise	noise	NOUN
ajst-10166	78	9	,	,	PUNCT
ajst-10166	78	10	which	which	PRON
ajst-10166	78	11	thereby	thereby	ADV
ajst-10166	78	12	enhances	enhance	VERB
ajst-10166	78	13	the	the	DET
ajst-10166	78	14	overall	overall	ADJ
ajst-10166	78	15	quality	quality	NOUN
ajst-10166	78	16	of	of	ADP
ajst-10166	78	17	the	the	DET
ajst-10166	78	18	control	control	NOUN
ajst-10166	78	19	system	system	NOUN
ajst-10166	78	20	.	.	PUNCT
ajst-10166	79	1	it	it	PRON
ajst-10166	79	2	exhibits	exhibit	VERB
ajst-10166	79	3	pronounced	pronounce	VERB
ajst-10166	79	4	adaptive	adaptive	ADJ
ajst-10166	79	5	capacity	capacity	NOUN
ajst-10166	79	6	and	and	CCONJ
ajst-10166	79	7	robustness	robustness	NOUN
ajst-10166	79	8	,	,	PUNCT
ajst-10166	79	9	further	far	ADV
ajst-10166	79	10	highlighting	highlight	VERB
ajst-10166	79	11	its	its	PRON
ajst-10166	79	12	strength	strength	NOUN
ajst-10166	79	13	in	in	ADP
ajst-10166	79	14	control	control	NOUN
ajst-10166	79	15	applications	application	NOUN
ajst-10166	79	16	.	.	PUNCT
ajst-10166	80	1	references	reference	NOUN
ajst-10166	80	2	[	[	X
ajst-10166	80	3	1	1	X
ajst-10166	80	4	]	]	X
ajst-10166	80	5	sheikhpour	sheikhpour	NOUN
ajst-10166	80	6	s	s	PROPN
ajst-10166	80	7	,	,	PUNCT
ajst-10166	80	8	shouraki	shouraki	ADV
ajst-10166	80	9	s.	s.	PROPN
ajst-10166	80	10	(	(	PUNCT
ajst-10166	80	11	2013	2013	NUM
ajst-10166	80	12	)	)	PUNCT
ajst-10166	80	13	a	a	DET
ajst-10166	80	14	model	model	NOUN
ajst-10166	80	15	—	—	PUNCT
ajst-10166	80	16	based	base	VERB
ajst-10166	80	17	fuzzy	fuzzy	ADJ
ajst-10166	80	18	controller	controller	NOUN
ajst-10166	80	19	using	use	VERB
ajst-10166	80	20	the	the	DET
ajst-10166	80	21	parellel	parellel	ADJ
ajst-10166	80	22	distributed	distribute	VERB
ajst-10166	80	23	compensation	compensation	NOUN
ajst-10166	80	24	method	method	NOUN
ajst-10166	80	25	for	for	ADP
ajst-10166	80	26	quadrotor	quadrotor	NOUN
ajst-10166	80	27	attitude	attitude	NOUN
ajst-10166	80	28	stabilization	stabilization	NOUN
ajst-10166	80	29	.	.	PUNCT
ajst-10166	81	1	the	the	DET
ajst-10166	81	2	21st	21st	ADJ
ajst-10166	81	3	iranian	iranian	ADJ
ajst-10166	81	4	conference	conference	NOUN
ajst-10166	81	5	on	on	ADP
ajst-10166	81	6	electrical	electrical	ADJ
ajst-10166	81	7	engineering	engineering	NOUN
ajst-10166	81	8	(	(	PUNCT
ajst-10166	81	9	icee	icee	NOUN
ajst-10166	81	10	)	)	PUNCT
ajst-10166	81	11	.	.	PUNCT
ajst-10166	82	1	1—6	1—6	NUM
ajst-10166	82	2	.	.	PUNCT
ajst-10166	83	1	[	[	X
ajst-10166	83	2	2	2	NUM
ajst-10166	83	3	]	]	X
ajst-10166	83	4	zhao	zhao	PROPN
ajst-10166	83	5	yuanwei	yuanwei	PROPN
ajst-10166	83	6	,	,	PUNCT
ajst-10166	83	7	lu	lu	PROPN
ajst-10166	83	8	jingchao	jingchao	PROPN
ajst-10166	83	9	.	.	PUNCT
ajst-10166	84	1	(	(	PUNCT
ajst-10166	84	2	2013	2013	NUM
ajst-10166	84	3	)	)	PUNCT
ajst-10166	84	4	modeling	modeling	NOUN
ajst-10166	84	5	and	and	CCONJ
ajst-10166	84	6	control	control	NOUN
ajst-10166	84	7	of	of	ADP
ajst-10166	84	8	quadrotor	quadrotor	NOUN
ajst-10166	84	9	aircraft	aircraft	NOUN
ajst-10166	84	10	based	base	VERB
ajst-10166	84	11	on	on	ADP
ajst-10166	84	12	reverse	reverse	ADJ
ajst-10166	84	13	step	step	NOUN
ajst-10166	84	14	method	method	NOUN
ajst-10166	84	15	.	.	PUNCT
ajst-10166	85	1	science	science	NOUN
ajst-10166	85	2	,	,	PUNCT
ajst-10166	85	3	technology	technology	NOUN
ajst-10166	85	4	and	and	CCONJ
ajst-10166	85	5	engineering	engineering	NOUN
ajst-10166	85	6	,	,	PUNCT
ajst-10166	85	7	34:10425—10430	34:10425—10430	PROPN
ajst-10166	85	8	.	.	PUNCT
ajst-10166	86	1	[	[	X
ajst-10166	86	2	3	3	X
ajst-10166	86	3	]	]	X
ajst-10166	86	4	zhang	zhang	PROPN
ajst-10166	86	5	ximing	ximing	PROPN
ajst-10166	86	6	,	,	PUNCT
ajst-10166	86	7	qu	qu	PROPN
ajst-10166	86	8	shiru	shiru	PROPN
ajst-10166	86	9	,	,	PUNCT
ajst-10166	86	10	ma	ma	PROPN
ajst-10166	86	11	zhiqiang	zhiqiang	PROPN
ajst-10166	86	12	.	.	PUNCT
ajst-10166	87	1	(	(	PUNCT
ajst-10166	87	2	2014	2014	NUM
ajst-10166	87	3	)	)	PUNCT
ajst-10166	87	4	design	design	NOUN
ajst-10166	87	5	and	and	CCONJ
ajst-10166	87	6	simulation	simulation	NOUN
ajst-10166	87	7	of	of	ADP
ajst-10166	87	8	fuzzy	fuzzy	ADJ
ajst-10166	87	9	sliding	slide	VERB
ajst-10166	87	10	mode	mode	NOUN
ajst-10166	87	11	controller	controller	NOUN
ajst-10166	87	12	for	for	ADP
ajst-10166	87	13	quadrotor	quadrotor	NOUN
ajst-10166	87	14	aircraft．flight	aircraft．flight	PROPN
ajst-10166	87	15	mechanics	mechanic	NOUN
ajst-10166	87	16	,	,	PUNCT
ajst-10166	87	17	5:427—431	5:427—431	NOUN
ajst-10166	87	18	.	.	PUNCT
ajst-10166	88	1	[	[	X
ajst-10166	88	2	4	4	X
ajst-10166	88	3	]	]	PUNCT
ajst-10166	88	4	salih	salih	PROPN
ajst-10166	88	5	a	a	DET
ajst-10166	88	6	l.	l.	PROPN
ajst-10166	88	7	moghawemim	moghawemim	PROPN
ajst-10166	88	8	,	,	PUNCT
ajst-10166	88	9	mohamed	mohamed	PROPN
ajst-10166	88	10	h	h	PROPN
ajst-10166	88	11	a	a	DET
ajst-10166	88	12	f	f	X
ajst-10166	88	13	,	,	PUNCT
ajst-10166	88	14	et	et	NOUN
ajst-10166	88	15	a1	a1	PROPN
ajst-10166	88	16	.	.	PUNCT
ajst-10166	89	1	(	(	PUNCT
ajst-10166	89	2	2010	2010	NUM
ajst-10166	89	3	)	)	PUNCT
ajst-10166	89	4	modeling	modeling	NOUN
ajst-10166	89	5	and	and	CCONJ
ajst-10166	89	6	pid	pid	NOUN
ajst-10166	89	7	control	control	NOUN
ajst-10166	89	8	design	design	NOUN
ajst-10166	89	9	for	for	ADP
ajst-10166	89	10	quadrotor	quadrotor	PROPN
ajst-10166	89	11	unnamed	unnamed	ADJ
ajst-10166	89	12	air	air	NOUN
ajst-10166	89	13	vehicle	vehicle	NOUN
ajst-10166	89	14	.	.	PUNCT
ajst-10166	90	1	the	the	DET
ajst-10166	90	2	ieee	ieee	PROPN
ajst-10166	90	3	international	international	PROPN
ajst-10166	90	4	conference	conference	NOUN
ajst-10166	90	5	on	on	ADP
ajst-10166	90	6	automation	automation	NOUN
ajst-10166	90	7	quality	quality	NOUN
ajst-10166	90	8	and	and	CCONJ
ajst-10166	90	9	testing	testing	NOUN
ajst-10166	90	10	robotics	robotic	NOUN
ajst-10166	90	11	(	(	PUNCT
ajst-10166	90	12	aqtr	aqtr	NOUN
ajst-10166	90	13	)	)	PUNCT
ajst-10166	90	14	.	.	PUNCT
ajst-10166	91	1	[	[	X
ajst-10166	91	2	5	5	X
ajst-10166	91	3	]	]	PUNCT
ajst-10166	91	4	pang	pang	NOUN
ajst-10166	91	5	y	y	PROPN
ajst-10166	91	6	p.	p.	PROPN
ajst-10166	91	7	(	(	PUNCT
ajst-10166	91	8	2011	2011	NUM
ajst-10166	91	9	)	)	PUNCT
ajst-10166	91	10	design	design	NOUN
ajst-10166	91	11	of	of	ADP
ajst-10166	91	12	quadrotor	quadrotor	NOUN
ajst-10166	91	13	and	and	CCONJ
ajst-10166	91	14	research	research	NOUN
ajst-10166	91	15	of	of	ADP
ajst-10166	91	16	stability	stability	NOUN
ajst-10166	91	17	control	control	NOUN
ajst-10166	91	18	.	.	PUNCT
ajst-10166	92	1	university	university	NOUN
ajst-10166	92	2	of	of	ADP
ajst-10166	92	3	science	science	NOUN
ajst-10166	92	4	and	and	CCONJ
ajst-10166	92	5	technology	technology	NOUN
ajst-10166	92	6	of	of	ADP
ajst-10166	92	7	china	china	PROPN
ajst-10166	92	8	,	,	PUNCT
ajst-10166	92	9	beijing	beijing	PROPN
ajst-10166	92	10	.	.	PUNCT
ajst-10166	93	1	[	[	X
ajst-10166	93	2	6	6	NUM
ajst-10166	93	3	]	]	PUNCT
ajst-10166	93	4	liu	liu	PROPN
ajst-10166	93	5	jinkun	jinkun	PROPN
ajst-10166	93	6	.	.	PUNCT
ajst-10166	94	1	(	(	PUNCT
ajst-10166	94	2	2004	2004	NUM
ajst-10166	94	3	)	)	PUNCT
ajst-10166	94	4	advanced	advanced	ADJ
ajst-10166	94	5	pid	pid	NOUN
ajst-10166	94	6	control	control	NOUN
ajst-10166	94	7	matlab	matlab	PROPN
ajst-10166	94	8	simulation	simulation	PROPN
ajst-10166	94	9	.	.	PUNCT
ajst-10166	95	1	publishing	publish	VERB
ajst-10166	95	2	house	house	PROPN
ajst-10166	95	3	of	of	ADP
ajst-10166	95	4	electronics	electronic	NOUN
ajst-10166	95	5	industry	industry	NOUN
ajst-10166	95	6	,	,	PUNCT
ajst-10166	95	7	beijing	beijing	PROPN
ajst-10166	95	8	.	.	PUNCT
ajst-10166	96	1	[	[	X
ajst-10166	96	2	7	7	X
ajst-10166	96	3	]	]	PART
ajst-10166	96	4	gu	gu	NOUN
ajst-10166	96	5	shengjie	shengjie	PROPN
ajst-10166	96	6	,	,	PUNCT
ajst-10166	96	7	liu	liu	PROPN
ajst-10166	96	8	chunjuan	chunjuan	PROPN
ajst-10166	96	9	.	.	PUNCT
ajst-10166	97	1	(	(	PUNCT
ajst-10166	97	2	2004	2004	NUM
ajst-10166	97	3	)	)	PUNCT
ajst-10166	97	4	nonlinear	nonlinear	ADJ
ajst-10166	97	5	system	system	NOUN
ajst-10166	97	6	simulation	simulation	NOUN
ajst-10166	97	7	based	base	VERB
ajst-10166	97	8	on	on	ADP
ajst-10166	97	9	fuzzy	fuzzy	ADJ
ajst-10166	97	10	self	self	NOUN
ajst-10166	97	11	-	-	PUNCT
ajst-10166	97	12	tuning	tune	VERB
ajst-10166	97	13	pid	pid	NOUN
ajst-10166	97	14	controller	controller	NOUN
ajst-10166	97	15	.	.	PUNCT
ajst-10166	98	1	journal	journal	PROPN
ajst-10166	98	2	of	of	ADP
ajst-10166	98	3	lanzhou	lanzhou	PROPN
ajst-10166	98	4	jiaotong	jiaotong	PROPN
ajst-10166	98	5	university	university	PROPN
ajst-10166	98	6	,	,	PUNCT
ajst-10166	98	7	vol	vol	NOUN
ajst-10166	98	8	23	23	NUM
ajst-10166	98	9	no.3	no.3	NOUN
ajst-10166	98	10	[	[	X
ajst-10166	98	11	8	8	NUM
ajst-10166	98	12	]	]	X
ajst-10166	98	13	xiao	xiao	PROPN
ajst-10166	98	14	qijun	qijun	PROPN
ajst-10166	98	15	,	,	PUNCT
ajst-10166	98	16	li	li	PROPN
ajst-10166	98	17	shengyong	shengyong	PROPN
ajst-10166	98	18	.	.	PUNCT
ajst-10166	99	1	(	(	PUNCT
ajst-10166	99	2	2005	2005	NUM
ajst-10166	99	3	)	)	PUNCT
ajst-10166	99	4	fuzzy	fuzzy	ADJ
ajst-10166	99	5	self	self	NOUN
ajst-10166	99	6	-	-	PUNCT
ajst-10166	99	7	tuning	tune	VERB
ajst-10166	99	8	pid	pid	NOUN
ajst-10166	99	9	controller	controller	NOUN
ajst-10166	99	10	design	design	NOUN
ajst-10166	99	11	and	and	CCONJ
ajst-10166	99	12	matlab	matlab	PROPN
ajst-10166	99	13	simulation	simulation	NOUN
ajst-10166	99	14	analysis	analysis	NOUN
ajst-10166	99	15	.	.	PUNCT
ajst-10166	100	1	computer	computer	NOUN
ajst-10166	100	2	simulation	simulation	NOUN
ajst-10166	100	3	.	.	PUNCT
ajst-10166	101	1	vol	vol	NOUN
ajst-10166	101	2	22	22	NUM
ajst-10166	101	3	no.9	no.9	PROPN
ajst-10166	101	4	.	.	PUNCT