id	sid	tid	token	lemma	pos
ajst-11776	1	1	academic	academic	ADJ
ajst-11776	1	2	journal	journal	NOUN
ajst-11776	1	3	of	of	ADP
ajst-11776	1	4	science	science	NOUN
ajst-11776	1	5	and	and	CCONJ
ajst-11776	1	6	technology	technology	NOUN
ajst-11776	1	7	issn	issn	NOUN
ajst-11776	1	8	:	:	PUNCT
ajst-11776	1	9	2771	2771	NUM
ajst-11776	1	10	-	-	SYM
ajst-11776	1	11	3032	3032	NUM
ajst-11776	1	12	|	|	NOUN
ajst-11776	1	13	vol	vol	NOUN
ajst-11776	1	14	.	.	PROPN
ajst-11776	2	1	7	7	NUM
ajst-11776	2	2	,	,	PUNCT
ajst-11776	2	3	no	no	INTJ
ajst-11776	2	4	.	.	NOUN
ajst-11776	2	5	2	2	NUM
ajst-11776	2	6	,	,	PUNCT
ajst-11776	2	7	2023	2023	NUM
ajst-11776	2	8	52	52	NUM
ajst-11776	2	9	research	research	NOUN
ajst-11776	2	10	on	on	ADP
ajst-11776	2	11	active	active	ADJ
ajst-11776	2	12	disturbance	disturbance	NOUN
ajst-11776	2	13	rejection	rejection	NOUN
ajst-11776	2	14	control	control	NOUN
ajst-11776	2	15	of	of	ADP
ajst-11776	2	16	brushless	brushless	PROPN
ajst-11776	2	17	dc	dc	PROPN
ajst-11776	2	18	motor	motor	NOUN
ajst-11776	2	19	based	base	VERB
ajst-11776	2	20	on	on	ADP
ajst-11776	2	21	vector	vector	NOUN
ajst-11776	2	22	control	control	PROPN
ajst-11776	2	23	yuxin	yuxin	PROPN
ajst-11776	2	24	wang	wang	PROPN
ajst-11776	2	25	school	school	PROPN
ajst-11776	2	26	of	of	ADP
ajst-11776	2	27	electrical	electrical	ADJ
ajst-11776	2	28	engineering	engineering	NOUN
ajst-11776	2	29	,	,	PUNCT
ajst-11776	2	30	southwest	southwest	PROPN
ajst-11776	2	31	minzu	minzu	PROPN
ajst-11776	2	32	university	university	PROPN
ajst-11776	2	33	,	,	PUNCT
ajst-11776	2	34	chengdu	chengdu	PROPN
ajst-11776	2	35	,	,	PUNCT
ajst-11776	2	36	sichuan	sichuan	PROPN
ajst-11776	2	37	610041	610041	NUM
ajst-11776	2	38	,	,	PUNCT
ajst-11776	2	39	china	china	PROPN
ajst-11776	2	40	abstract	abstract	PROPN
ajst-11776	2	41	:	:	PUNCT
ajst-11776	2	42	a	a	DET
ajst-11776	2	43	active	active	ADJ
ajst-11776	2	44	disturbance	disturbance	NOUN
ajst-11776	2	45	rejection	rejection	NOUN
ajst-11776	2	46	control	control	NOUN
ajst-11776	2	47	strategy	strategy	NOUN
ajst-11776	2	48	based	base	VERB
ajst-11776	2	49	on	on	ADP
ajst-11776	2	50	vector	vector	NOUN
ajst-11776	2	51	control	control	NOUN
ajst-11776	2	52	is	be	AUX
ajst-11776	2	53	proposed	propose	VERB
ajst-11776	2	54	to	to	PART
ajst-11776	2	55	address	address	VERB
ajst-11776	2	56	the	the	DET
ajst-11776	2	57	problems	problem	NOUN
ajst-11776	2	58	of	of	ADP
ajst-11776	2	59	poor	poor	ADJ
ajst-11776	2	60	speed	speed	NOUN
ajst-11776	2	61	overshooting	overshoot	VERB
ajst-11776	2	62	immunity	immunity	NOUN
ajst-11776	2	63	in	in	ADP
ajst-11776	2	64	the	the	DET
ajst-11776	2	65	control	control	NOUN
ajst-11776	2	66	system	system	NOUN
ajst-11776	2	67	of	of	ADP
ajst-11776	2	68	brushless	brushless	PROPN
ajst-11776	2	69	dc	dc	PROPN
ajst-11776	2	70	motor	motor	NOUN
ajst-11776	2	71	.	.	PUNCT
ajst-11776	3	1	the	the	DET
ajst-11776	3	2	motor	motor	PROPN
ajst-11776	3	3	magnetic	magnetic	PROPN
ajst-11776	3	4	chain	chain	NOUN
ajst-11776	3	5	and	and	CCONJ
ajst-11776	3	6	torque	torque	NOUN
ajst-11776	3	7	are	be	AUX
ajst-11776	3	8	decoupled	decouple	VERB
ajst-11776	3	9	by	by	ADP
ajst-11776	3	10	vector	vector	NOUN
ajst-11776	3	11	control	control	NOUN
ajst-11776	3	12	method	method	NOUN
ajst-11776	3	13	to	to	PART
ajst-11776	3	14	simplify	simplify	VERB
ajst-11776	3	15	the	the	DET
ajst-11776	3	16	control	control	NOUN
ajst-11776	3	17	,	,	PUNCT
ajst-11776	3	18	and	and	CCONJ
ajst-11776	3	19	the	the	DET
ajst-11776	3	20	traditional	traditional	ADJ
ajst-11776	3	21	pi	pi	NOUN
ajst-11776	3	22	controller	controller	NOUN
ajst-11776	3	23	in	in	ADP
ajst-11776	3	24	the	the	DET
ajst-11776	3	25	speed	speed	NOUN
ajst-11776	3	26	loop	loop	NOUN
ajst-11776	3	27	is	be	AUX
ajst-11776	3	28	replaced	replace	VERB
ajst-11776	3	29	by	by	ADP
ajst-11776	3	30	a	a	DET
ajst-11776	3	31	active	active	ADJ
ajst-11776	3	32	disturbance	disturbance	NOUN
ajst-11776	3	33	rejection	rejection	NOUN
ajst-11776	3	34	controller	controller	NOUN
ajst-11776	3	35	.	.	PUNCT
ajst-11776	4	1	the	the	DET
ajst-11776	4	2	transition	transition	NOUN
ajst-11776	4	3	process	process	NOUN
ajst-11776	4	4	is	be	AUX
ajst-11776	4	5	arranged	arrange	VERB
ajst-11776	4	6	by	by	ADP
ajst-11776	4	7	tracking	track	VERB
ajst-11776	4	8	differential	differential	NOUN
ajst-11776	4	9	(	(	PUNCT
ajst-11776	4	10	td	td	NOUN
ajst-11776	4	11	)	)	PUNCT
ajst-11776	4	12	to	to	PART
ajst-11776	4	13	smooth	smooth	VERB
ajst-11776	4	14	the	the	DET
ajst-11776	4	15	given	give	VERB
ajst-11776	4	16	speed	speed	NOUN
ajst-11776	4	17	,	,	PUNCT
ajst-11776	4	18	which	which	PRON
ajst-11776	4	19	overcomes	overcome	VERB
ajst-11776	4	20	the	the	DET
ajst-11776	4	21	contradiction	contradiction	NOUN
ajst-11776	4	22	between	between	ADP
ajst-11776	4	23	speed	speed	NOUN
ajst-11776	4	24	overshoot	overshoot	NOUN
ajst-11776	4	25	and	and	CCONJ
ajst-11776	4	26	rapidity	rapidity	NOUN
ajst-11776	4	27	,	,	PUNCT
ajst-11776	4	28	and	and	CCONJ
ajst-11776	4	29	improves	improve	VERB
ajst-11776	4	30	the	the	DET
ajst-11776	4	31	response	response	NOUN
ajst-11776	4	32	capability	capability	NOUN
ajst-11776	4	33	of	of	ADP
ajst-11776	4	34	the	the	DET
ajst-11776	4	35	system	system	NOUN
ajst-11776	4	36	;	;	PUNCT
ajst-11776	4	37	a	a	DET
ajst-11776	4	38	second	second	ADJ
ajst-11776	4	39	-	-	PUNCT
ajst-11776	4	40	order	order	NOUN
ajst-11776	4	41	extended	extend	VERB
ajst-11776	4	42	state	state	NOUN
ajst-11776	4	43	observer	observer	NOUN
ajst-11776	4	44	(	(	PUNCT
ajst-11776	4	45	eso	eso	NOUN
ajst-11776	4	46	)	)	PUNCT
ajst-11776	4	47	is	be	AUX
ajst-11776	4	48	introduced	introduce	VERB
ajst-11776	4	49	,	,	PUNCT
ajst-11776	4	50	which	which	PRON
ajst-11776	4	51	estimates	estimate	VERB
ajst-11776	4	52	and	and	CCONJ
ajst-11776	4	53	compensates	compensate	VERB
ajst-11776	4	54	the	the	DET
ajst-11776	4	55	total	total	ADJ
ajst-11776	4	56	system	system	NOUN
ajst-11776	4	57	disturbance	disturbance	NOUN
ajst-11776	4	58	and	and	CCONJ
ajst-11776	4	59	improves	improve	VERB
ajst-11776	4	60	the	the	DET
ajst-11776	4	61	system	system	NOUN
ajst-11776	4	62	's	's	PART
ajst-11776	4	63	immunity	immunity	NOUN
ajst-11776	4	64	to	to	ADP
ajst-11776	4	65	disturbance	disturbance	NOUN
ajst-11776	4	66	;	;	PUNCT
ajst-11776	4	67	and	and	CCONJ
ajst-11776	4	68	the	the	DET
ajst-11776	4	69	nonlinear	nonlinear	ADJ
ajst-11776	4	70	law	law	NOUN
ajst-11776	4	71	state	state	NOUN
ajst-11776	4	72	error	error	NOUN
ajst-11776	4	73	feedback	feedback	NOUN
ajst-11776	4	74	(	(	PUNCT
ajst-11776	4	75	nlsef	nlsef	NOUN
ajst-11776	4	76	)	)	PUNCT
ajst-11776	4	77	is	be	AUX
ajst-11776	4	78	utilized	utilize	VERB
ajst-11776	4	79	by	by	ADP
ajst-11776	4	80	the	the	PRON
ajst-11776	4	81	through	through	ADP
ajst-11776	4	82	the	the	DET
ajst-11776	4	83	nonlinear	nonlinear	ADJ
ajst-11776	4	84	law	law	NOUN
ajst-11776	4	85	state	state	NOUN
ajst-11776	4	86	error	error	NOUN
ajst-11776	4	87	feedback	feedback	NOUN
ajst-11776	4	88	(	(	PUNCT
ajst-11776	4	89	nlsef	nlsef	NOUN
ajst-11776	4	90	)	)	PUNCT
ajst-11776	4	91	,	,	PUNCT
ajst-11776	4	92	the	the	DET
ajst-11776	4	93	control	control	NOUN
ajst-11776	4	94	accuracy	accuracy	NOUN
ajst-11776	4	95	of	of	ADP
ajst-11776	4	96	the	the	DET
ajst-11776	4	97	system	system	NOUN
ajst-11776	4	98	is	be	AUX
ajst-11776	4	99	improved	improve	VERB
ajst-11776	4	100	by	by	ADP
ajst-11776	4	101	utilizing	utilize	VERB
ajst-11776	4	102	the	the	DET
ajst-11776	4	103	nonlinear	nonlinear	ADJ
ajst-11776	4	104	control	control	NOUN
ajst-11776	4	105	principle	principle	NOUN
ajst-11776	4	106	of	of	ADP
ajst-11776	4	107	"	"	PUNCT
ajst-11776	4	108	large	large	ADJ
ajst-11776	4	109	gain	gain	NOUN
ajst-11776	4	110	with	with	ADP
ajst-11776	4	111	small	small	ADJ
ajst-11776	4	112	error	error	NOUN
ajst-11776	4	113	and	and	CCONJ
ajst-11776	4	114	small	small	ADJ
ajst-11776	4	115	gain	gain	NOUN
ajst-11776	4	116	with	with	ADP
ajst-11776	4	117	large	large	ADJ
ajst-11776	4	118	error	error	NOUN
ajst-11776	4	119	"	"	PUNCT
ajst-11776	4	120	.	.	PUNCT
ajst-11776	5	1	the	the	DET
ajst-11776	5	2	simulation	simulation	NOUN
ajst-11776	5	3	results	result	NOUN
ajst-11776	5	4	show	show	VERB
ajst-11776	5	5	that	that	SCONJ
ajst-11776	5	6	the	the	DET
ajst-11776	5	7	control	control	NOUN
ajst-11776	5	8	strategy	strategy	NOUN
ajst-11776	5	9	proposed	propose	VERB
ajst-11776	5	10	in	in	ADP
ajst-11776	5	11	this	this	DET
ajst-11776	5	12	paper	paper	NOUN
ajst-11776	5	13	is	be	AUX
ajst-11776	5	14	characterized	characterize	VERB
ajst-11776	5	15	by	by	ADP
ajst-11776	5	16	fast	fast	ADJ
ajst-11776	5	17	response	response	NOUN
ajst-11776	5	18	,	,	PUNCT
ajst-11776	5	19	no	no	DET
ajst-11776	5	20	overshooting	overshooting	NOUN
ajst-11776	5	21	,	,	PUNCT
ajst-11776	5	22	strong	strong	ADJ
ajst-11776	5	23	resistance	resistance	NOUN
ajst-11776	5	24	to	to	PART
ajst-11776	5	25	load	load	VERB
ajst-11776	5	26	disturbance	disturbance	NOUN
ajst-11776	5	27	,	,	PUNCT
ajst-11776	5	28	and	and	CCONJ
ajst-11776	5	29	strong	strong	ADJ
ajst-11776	5	30	robustness	robustness	NOUN
ajst-11776	5	31	to	to	ADP
ajst-11776	5	32	changes	change	NOUN
ajst-11776	5	33	in	in	ADP
ajst-11776	5	34	load	load	NOUN
ajst-11776	5	35	and	and	CCONJ
ajst-11776	5	36	speed	speed	NOUN
ajst-11776	5	37	,	,	PUNCT
ajst-11776	5	38	which	which	PRON
ajst-11776	5	39	proves	prove	VERB
ajst-11776	5	40	the	the	DET
ajst-11776	5	41	feasibility	feasibility	NOUN
ajst-11776	5	42	and	and	CCONJ
ajst-11776	5	43	advancement	advancement	NOUN
ajst-11776	5	44	of	of	ADP
ajst-11776	5	45	this	this	DET
ajst-11776	5	46	strategy	strategy	NOUN
ajst-11776	5	47	.	.	PUNCT
ajst-11776	6	1	keywords	keyword	NOUN
ajst-11776	6	2	:	:	PUNCT
ajst-11776	6	3	brushless	brushless	VERB
ajst-11776	6	4	dc	dc	PROPN
ajst-11776	6	5	motor	motor	NOUN
ajst-11776	6	6	,	,	PUNCT
ajst-11776	6	7	active	active	ADJ
ajst-11776	6	8	disturbance	disturbance	NOUN
ajst-11776	6	9	rejection	rejection	NOUN
ajst-11776	6	10	control	control	NOUN
ajst-11776	6	11	,	,	PUNCT
ajst-11776	6	12	vector	vector	NOUN
ajst-11776	6	13	control	control	NOUN
ajst-11776	6	14	,	,	PUNCT
ajst-11776	6	15	speed	speed	NOUN
ajst-11776	6	16	-	-	PUNCT
ajst-11776	6	17	current	current	ADJ
ajst-11776	6	18	double	double	ADJ
ajst-11776	6	19	closed	close	VERB
ajst-11776	6	20	loop	loop	NOUN
ajst-11776	6	21	.	.	PUNCT
ajst-11776	7	1	1	1	X
ajst-11776	7	2	.	.	X
ajst-11776	7	3	introduction	introduction	NOUN
ajst-11776	7	4	as	as	ADP
ajst-11776	7	5	a	a	DET
ajst-11776	7	6	big	big	ADJ
ajst-11776	7	7	country	country	NOUN
ajst-11776	7	8	of	of	ADP
ajst-11776	7	9	rare	rare	ADJ
ajst-11776	7	10	earth	earth	NOUN
ajst-11776	7	11	resources	resource	NOUN
ajst-11776	7	12	,	,	PUNCT
ajst-11776	7	13	with	with	ADP
ajst-11776	7	14	the	the	DET
ajst-11776	7	15	current	current	ADJ
ajst-11776	7	16	continuous	continuous	ADJ
ajst-11776	7	17	development	development	NOUN
ajst-11776	7	18	of	of	ADP
ajst-11776	7	19	power	power	NOUN
ajst-11776	7	20	electronics	electronic	NOUN
ajst-11776	7	21	technology	technology	NOUN
ajst-11776	7	22	,	,	PUNCT
ajst-11776	7	23	computer	computer	NOUN
ajst-11776	7	24	control	control	NOUN
ajst-11776	7	25	technology	technology	NOUN
ajst-11776	7	26	,	,	PUNCT
ajst-11776	7	27	materials	material	NOUN
ajst-11776	7	28	science	science	NOUN
ajst-11776	7	29	and	and	CCONJ
ajst-11776	7	30	other	other	ADJ
ajst-11776	7	31	fields	field	NOUN
ajst-11776	7	32	,	,	PUNCT
ajst-11776	7	33	brushless	brushless	PROPN
ajst-11776	7	34	dc	dc	PROPN
ajst-11776	7	35	motors	motors	PROPN
ajst-11776	7	36	(	(	PUNCT
ajst-11776	7	37	bldcm	bldcm	ADJ
ajst-11776	7	38	)	)	PUNCT
ajst-11776	7	39	,	,	PUNCT
ajst-11776	7	40	which	which	PRON
ajst-11776	7	41	are	be	AUX
ajst-11776	7	42	made	make	VERB
ajst-11776	7	43	of	of	ADP
ajst-11776	7	44	permanent	permanent	ADJ
ajst-11776	7	45	magnet	magnet	NOUN
ajst-11776	7	46	materials	material	NOUN
ajst-11776	7	47	,	,	PUNCT
ajst-11776	7	48	are	be	AUX
ajst-11776	7	49	being	be	AUX
ajst-11776	7	50	more	more	ADV
ajst-11776	7	51	and	and	CCONJ
ajst-11776	7	52	more	more	ADV
ajst-11776	7	53	widely	widely	ADV
ajst-11776	7	54	used	use	VERB
ajst-11776	7	55	in	in	ADP
ajst-11776	7	56	industrial	industrial	ADJ
ajst-11776	7	57	manufacturing	manufacturing	NOUN
ajst-11776	7	58	and	and	CCONJ
ajst-11776	7	59	daily	daily	ADJ
ajst-11776	7	60	life	life	NOUN
ajst-11776	7	61	.	.	PUNCT
ajst-11776	8	1	however	however	ADV
ajst-11776	8	2	,	,	PUNCT
ajst-11776	8	3	bldcm	bldcm	PROPN
ajst-11776	8	4	is	be	AUX
ajst-11776	8	5	a	a	DET
ajst-11776	8	6	complex	complex	ADJ
ajst-11776	8	7	system	system	NOUN
ajst-11776	8	8	with	with	ADP
ajst-11776	8	9	many	many	ADJ
ajst-11776	8	10	internal	internal	ADJ
ajst-11776	8	11	variables	variable	NOUN
ajst-11776	8	12	and	and	CCONJ
ajst-11776	8	13	obvious	obvious	ADJ
ajst-11776	8	14	nonlinear	nonlinear	ADJ
ajst-11776	8	15	characteristics	characteristic	NOUN
ajst-11776	8	16	,	,	PUNCT
ajst-11776	8	17	which	which	PRON
ajst-11776	8	18	makes	make	VERB
ajst-11776	8	19	it	it	PRON
ajst-11776	8	20	difficult	difficult	ADJ
ajst-11776	8	21	to	to	PART
ajst-11776	8	22	establish	establish	VERB
ajst-11776	8	23	a	a	DET
ajst-11776	8	24	high	high	ADJ
ajst-11776	8	25	-	-	PUNCT
ajst-11776	8	26	precision	precision	NOUN
ajst-11776	8	27	dynamic	dynamic	ADJ
ajst-11776	8	28	mathematical	mathematical	ADJ
ajst-11776	8	29	model	model	NOUN
ajst-11776	8	30	for	for	ADP
ajst-11776	8	31	it	it	PRON
ajst-11776	8	32	.	.	PUNCT
ajst-11776	9	1	[	[	X
ajst-11776	9	2	1	1	X
ajst-11776	9	3	]	]	PUNCT
ajst-11776	9	4	it	it	PRON
ajst-11776	9	5	is	be	AUX
ajst-11776	9	6	difficult	difficult	ADJ
ajst-11776	9	7	to	to	PART
ajst-11776	9	8	establish	establish	VERB
ajst-11776	9	9	a	a	DET
ajst-11776	9	10	high	high	ADJ
ajst-11776	9	11	-	-	PUNCT
ajst-11776	9	12	precision	precision	NOUN
ajst-11776	9	13	dynamic	dynamic	ADJ
ajst-11776	9	14	mathematical	mathematical	ADJ
ajst-11776	9	15	model	model	NOUN
ajst-11776	9	16	for	for	ADP
ajst-11776	9	17	it	it	PRON
ajst-11776	9	18	.	.	PUNCT
ajst-11776	10	1	therefore	therefore	ADV
ajst-11776	10	2	,	,	PUNCT
ajst-11776	10	3	in	in	ADP
ajst-11776	10	4	order	order	NOUN
ajst-11776	10	5	to	to	PART
ajst-11776	10	6	meet	meet	VERB
ajst-11776	10	7	the	the	DET
ajst-11776	10	8	demand	demand	NOUN
ajst-11776	10	9	for	for	ADP
ajst-11776	10	10	more	more	ADV
ajst-11776	10	11	accurate	accurate	ADJ
ajst-11776	10	12	control	control	NOUN
ajst-11776	10	13	,	,	PUNCT
ajst-11776	10	14	more	more	ADV
ajst-11776	10	15	advanced	advanced	ADJ
ajst-11776	10	16	motor	motor	NOUN
ajst-11776	10	17	control	control	NOUN
ajst-11776	10	18	strategies	strategy	NOUN
ajst-11776	10	19	are	be	AUX
ajst-11776	10	20	needed	need	VERB
ajst-11776	10	21	.	.	PUNCT
ajst-11776	11	1	the	the	DET
ajst-11776	11	2	traditional	traditional	ADJ
ajst-11776	11	3	pid	pid	NOUN
ajst-11776	11	4	control	control	NOUN
ajst-11776	11	5	algorithm	algorithm	NOUN
ajst-11776	11	6	has	have	AUX
ajst-11776	11	7	become	become	VERB
ajst-11776	11	8	one	one	NUM
ajst-11776	11	9	of	of	ADP
ajst-11776	11	10	the	the	DET
ajst-11776	11	11	most	most	ADV
ajst-11776	11	12	commonly	commonly	ADV
ajst-11776	11	13	used	use	VERB
ajst-11776	11	14	control	control	NOUN
ajst-11776	11	15	algorithms	algorithm	NOUN
ajst-11776	11	16	in	in	ADP
ajst-11776	11	17	the	the	DET
ajst-11776	11	18	field	field	NOUN
ajst-11776	11	19	of	of	ADP
ajst-11776	11	20	motor	motor	NOUN
ajst-11776	11	21	control	control	NOUN
ajst-11776	11	22	due	due	ADP
ajst-11776	11	23	to	to	ADP
ajst-11776	11	24	its	its	PRON
ajst-11776	11	25	simple	simple	ADJ
ajst-11776	11	26	structure	structure	NOUN
ajst-11776	11	27	and	and	CCONJ
ajst-11776	11	28	ease	ease	NOUN
ajst-11776	11	29	of	of	ADP
ajst-11776	11	30	application	application	NOUN
ajst-11776	11	31	in	in	ADP
ajst-11776	11	32	engineering	engineering	NOUN
ajst-11776	11	33	practice	practice	NOUN
ajst-11776	11	34	.	.	PUNCT
ajst-11776	12	1	[	[	X
ajst-11776	12	2	2	2	X
ajst-11776	12	3	]	]	PUNCT
ajst-11776	12	4	however	however	ADV
ajst-11776	12	5	,	,	PUNCT
ajst-11776	12	6	the	the	DET
ajst-11776	12	7	traditional	traditional	ADJ
ajst-11776	12	8	pid	pid	NOUN
ajst-11776	12	9	control	control	NOUN
ajst-11776	12	10	algorithm	algorithm	NOUN
ajst-11776	12	11	has	have	AUX
ajst-11776	12	12	been	be	AUX
ajst-11776	12	13	used	use	VERB
ajst-11776	12	14	as	as	ADP
ajst-11776	12	15	one	one	NUM
ajst-11776	12	16	of	of	ADP
ajst-11776	12	17	the	the	DET
ajst-11776	12	18	most	most	ADV
ajst-11776	12	19	common	common	ADJ
ajst-11776	12	20	control	control	NOUN
ajst-11776	12	21	algorithms	algorithm	NOUN
ajst-11776	12	22	in	in	ADP
ajst-11776	12	23	motor	motor	NOUN
ajst-11776	12	24	control	control	NOUN
ajst-11776	12	25	.	.	PUNCT
ajst-11776	13	1	however	however	ADV
ajst-11776	13	2	,	,	PUNCT
ajst-11776	13	3	the	the	DET
ajst-11776	13	4	traditional	traditional	ADJ
ajst-11776	13	5	pid	pid	NOUN
ajst-11776	13	6	control	control	NOUN
ajst-11776	13	7	algorithm	algorithm	NOUN
ajst-11776	13	8	is	be	AUX
ajst-11776	13	9	mainly	mainly	ADV
ajst-11776	13	10	based	base	VERB
ajst-11776	13	11	on	on	ADP
ajst-11776	13	12	linear	linear	PROPN
ajst-11776	13	13	model	model	NOUN
ajst-11776	13	14	,	,	PUNCT
ajst-11776	13	15	strong	strong	ADJ
ajst-11776	13	16	dependence	dependence	NOUN
ajst-11776	13	17	on	on	ADP
ajst-11776	13	18	parameters	parameter	NOUN
ajst-11776	13	19	,	,	PUNCT
ajst-11776	13	20	and	and	CCONJ
ajst-11776	13	21	poor	poor	ADJ
ajst-11776	13	22	anti	anti	ADJ
ajst-11776	13	23	-	-	ADJ
ajst-11776	13	24	interference	interference	ADJ
ajst-11776	13	25	ability	ability	NOUN
ajst-11776	13	26	,	,	PUNCT
ajst-11776	13	27	and	and	CCONJ
ajst-11776	13	28	can	can	AUX
ajst-11776	13	29	not	not	PART
ajst-11776	13	30	meet	meet	VERB
ajst-11776	13	31	the	the	DET
ajst-11776	13	32	high	high	ADJ
ajst-11776	13	33	precision	precision	NOUN
ajst-11776	13	34	requirements	requirement	NOUN
ajst-11776	13	35	of	of	ADP
ajst-11776	13	36	the	the	DET
ajst-11776	13	37	control	control	NOUN
ajst-11776	13	38	system	system	NOUN
ajst-11776	13	39	.	.	PUNCT
ajst-11776	14	1	[	[	X
ajst-11776	14	2	3	3	X
ajst-11776	14	3	]	]	PUNCT
ajst-11776	14	4	the	the	DET
ajst-11776	14	5	traditional	traditional	ADJ
ajst-11776	14	6	pid	pid	NOUN
ajst-11776	14	7	control	control	NOUN
ajst-11776	14	8	algorithm	algorithm	NOUN
ajst-11776	14	9	is	be	AUX
ajst-11776	14	10	mainly	mainly	ADV
ajst-11776	14	11	based	base	VERB
ajst-11776	14	12	on	on	ADP
ajst-11776	14	13	linear	linear	PROPN
ajst-11776	14	14	model	model	NOUN
ajst-11776	14	15	,	,	PUNCT
ajst-11776	14	16	which	which	PRON
ajst-11776	14	17	has	have	VERB
ajst-11776	14	18	strong	strong	ADJ
ajst-11776	14	19	dependence	dependence	NOUN
ajst-11776	14	20	on	on	ADP
ajst-11776	14	21	parameters	parameter	NOUN
ajst-11776	14	22	and	and	CCONJ
ajst-11776	14	23	poor	poor	ADJ
ajst-11776	14	24	anti	anti	ADJ
ajst-11776	14	25	-	-	ADJ
ajst-11776	14	26	interference	interference	ADJ
ajst-11776	14	27	ability	ability	NOUN
ajst-11776	14	28	,	,	PUNCT
ajst-11776	14	29	and	and	CCONJ
ajst-11776	14	30	can	can	AUX
ajst-11776	14	31	not	not	PART
ajst-11776	14	32	meet	meet	VERB
ajst-11776	14	33	the	the	DET
ajst-11776	14	34	high	high	ADJ
ajst-11776	14	35	precision	precision	NOUN
ajst-11776	14	36	requirements	requirement	NOUN
ajst-11776	14	37	of	of	ADP
ajst-11776	14	38	control	control	NOUN
ajst-11776	14	39	system	system	NOUN
ajst-11776	14	40	.	.	PUNCT
ajst-11776	15	1	therefore	therefore	ADV
ajst-11776	15	2	,	,	PUNCT
ajst-11776	15	3	the	the	DET
ajst-11776	15	4	research	research	NOUN
ajst-11776	15	5	of	of	ADP
ajst-11776	15	6	a	a	DET
ajst-11776	15	7	higher	high	ADJ
ajst-11776	15	8	performance	performance	NOUN
ajst-11776	15	9	brushless	brushless	NOUN
ajst-11776	15	10	dc	dc	PROPN
ajst-11776	15	11	motor	motor	PROPN
ajst-11776	15	12	control	control	NOUN
ajst-11776	15	13	system	system	NOUN
ajst-11776	15	14	has	have	AUX
ajst-11776	15	15	become	become	VERB
ajst-11776	15	16	the	the	DET
ajst-11776	15	17	research	research	NOUN
ajst-11776	15	18	direction	direction	NOUN
ajst-11776	15	19	of	of	ADP
ajst-11776	15	20	many	many	ADJ
ajst-11776	15	21	scholars	scholar	NOUN
ajst-11776	15	22	around	around	ADP
ajst-11776	15	23	the	the	DET
ajst-11776	15	24	world	world	NOUN
ajst-11776	15	25	.	.	PUNCT
ajst-11776	16	1	because	because	SCONJ
ajst-11776	16	2	the	the	DET
ajst-11776	16	3	brushless	brushless	NOUN
ajst-11776	16	4	dc	dc	PROPN
ajst-11776	16	5	motor	motor	PROPN
ajst-11776	16	6	control	control	NOUN
ajst-11776	16	7	system	system	NOUN
ajst-11776	16	8	is	be	AUX
ajst-11776	16	9	a	a	DET
ajst-11776	16	10	multivariable	multivariable	ADJ
ajst-11776	16	11	coupling	couple	VERB
ajst-11776	16	12	system	system	NOUN
ajst-11776	16	13	in	in	ADP
ajst-11776	16	14	the	the	DET
ajst-11776	16	15	three	three	NUM
ajst-11776	16	16	-	-	PUNCT
ajst-11776	16	17	phase	phase	NOUN
ajst-11776	16	18	natural	natural	ADJ
ajst-11776	16	19	coordinate	coordinate	NOUN
ajst-11776	16	20	system	system	NOUN
ajst-11776	16	21	,	,	PUNCT
ajst-11776	16	22	it	it	PRON
ajst-11776	16	23	is	be	AUX
ajst-11776	16	24	difficult	difficult	ADJ
ajst-11776	16	25	to	to	PART
ajst-11776	16	26	control	control	VERB
ajst-11776	16	27	the	the	DET
ajst-11776	16	28	complex	complex	ADJ
ajst-11776	16	29	relationship	relationship	NOUN
ajst-11776	16	30	between	between	ADP
ajst-11776	16	31	the	the	DET
ajst-11776	16	32	magnetic	magnetic	ADJ
ajst-11776	16	33	chain	chain	NOUN
ajst-11776	16	34	and	and	CCONJ
ajst-11776	16	35	the	the	DET
ajst-11776	16	36	torque	torque	NOUN
ajst-11776	16	37	of	of	ADP
ajst-11776	16	38	the	the	DET
ajst-11776	16	39	motor	motor	NOUN
ajst-11776	16	40	.	.	PUNCT
ajst-11776	17	1	[	[	X
ajst-11776	17	2	4	4	X
ajst-11776	17	3	]	]	PUNCT
ajst-11776	17	4	the	the	DET
ajst-11776	17	5	vector	vector	NOUN
ajst-11776	17	6	control	control	NOUN
ajst-11776	17	7	technology	technology	NOUN
ajst-11776	17	8	can	can	AUX
ajst-11776	17	9	combine	combine	VERB
ajst-11776	17	10	the	the	DET
ajst-11776	17	11	magnetic	magnetic	ADJ
ajst-11776	17	12	chain	chain	NOUN
ajst-11776	17	13	and	and	CCONJ
ajst-11776	17	14	torque	torque	NOUN
ajst-11776	17	15	with	with	ADP
ajst-11776	17	16	the	the	DET
ajst-11776	17	17	magnetic	magnetic	ADJ
ajst-11776	17	18	chain	chain	NOUN
ajst-11776	17	19	and	and	CCONJ
ajst-11776	17	20	the	the	DET
ajst-11776	17	21	torque	torque	NOUN
ajst-11776	17	22	.	.	PUNCT
ajst-11776	18	1	vector	vector	NOUN
ajst-11776	18	2	control	control	NOUN
ajst-11776	18	3	technology	technology	NOUN
ajst-11776	18	4	can	can	AUX
ajst-11776	18	5	decouple	decouple	VERB
ajst-11776	18	6	the	the	DET
ajst-11776	18	7	complex	complex	ADJ
ajst-11776	18	8	relationship	relationship	NOUN
ajst-11776	18	9	between	between	ADP
ajst-11776	18	10	magnetic	magnetic	ADJ
ajst-11776	18	11	chain	chain	NOUN
ajst-11776	18	12	and	and	CCONJ
ajst-11776	18	13	torque	torque	NOUN
ajst-11776	18	14	,	,	PUNCT
ajst-11776	18	15	which	which	PRON
ajst-11776	18	16	not	not	PART
ajst-11776	18	17	only	only	ADV
ajst-11776	18	18	makes	make	VERB
ajst-11776	18	19	the	the	DET
ajst-11776	18	20	system	system	NOUN
ajst-11776	18	21	have	have	VERB
ajst-11776	18	22	faster	fast	ADJ
ajst-11776	18	23	response	response	NOUN
ajst-11776	18	24	speed	speed	NOUN
ajst-11776	18	25	,	,	PUNCT
ajst-11776	18	26	but	but	CCONJ
ajst-11776	18	27	also	also	ADV
ajst-11776	18	28	makes	make	VERB
ajst-11776	18	29	the	the	DET
ajst-11776	18	30	control	control	NOUN
ajst-11776	18	31	process	process	NOUN
ajst-11776	18	32	simple	simple	ADJ
ajst-11776	18	33	to	to	ADP
ajst-11776	18	34	a	a	DET
ajst-11776	18	35	certain	certain	ADJ
ajst-11776	18	36	extent	extent	NOUN
ajst-11776	18	37	.	.	PUNCT
ajst-11776	19	1	[	[	X
ajst-11776	19	2	5	5	NUM
ajst-11776	19	3	]	]	PUNCT
ajst-11776	19	4	therefore	therefore	ADV
ajst-11776	19	5	,	,	PUNCT
ajst-11776	19	6	this	this	DET
ajst-11776	19	7	paper	paper	NOUN
ajst-11776	19	8	applies	apply	VERB
ajst-11776	19	9	it	it	PRON
ajst-11776	19	10	to	to	ADP
ajst-11776	19	11	the	the	DET
ajst-11776	19	12	control	control	NOUN
ajst-11776	19	13	of	of	ADP
ajst-11776	19	14	brushless	brushless	PROPN
ajst-11776	19	15	dc	dc	PROPN
ajst-11776	19	16	motor	motor	NOUN
ajst-11776	19	17	system	system	NOUN
ajst-11776	19	18	.	.	PUNCT
ajst-11776	20	1	with	with	ADP
ajst-11776	20	2	the	the	DET
ajst-11776	20	3	research	research	NOUN
ajst-11776	20	4	carried	carry	VERB
ajst-11776	20	5	out	out	ADP
ajst-11776	20	6	in	in	ADP
ajst-11776	20	7	recent	recent	ADJ
ajst-11776	20	8	years	year	NOUN
ajst-11776	20	9	,	,	PUNCT
ajst-11776	20	10	adaptive	adaptive	ADJ
ajst-11776	20	11	control	control	NOUN
ajst-11776	21	1	[	[	X
ajst-11776	21	2	6	6	NUM
ajst-11776	21	3	]	]	PUNCT
ajst-11776	21	4	and	and	CCONJ
ajst-11776	21	5	fuzzy	fuzzy	ADJ
ajst-11776	21	6	control	control	NOUN
ajst-11776	22	1	[	[	X
ajst-11776	22	2	7	7	NUM
ajst-11776	22	3	]	]	PUNCT
ajst-11776	22	4	and	and	CCONJ
ajst-11776	22	5	neural	neural	ADJ
ajst-11776	22	6	network	network	NOUN
ajst-11776	22	7	control	control	NOUN
ajst-11776	22	8	[	[	X
ajst-11776	22	9	8	8	NUM
ajst-11776	22	10	]	]	PUNCT
ajst-11776	22	11	and	and	CCONJ
ajst-11776	22	12	other	other	ADJ
ajst-11776	22	13	theories	theory	NOUN
ajst-11776	22	14	have	have	AUX
ajst-11776	22	15	been	be	AUX
ajst-11776	22	16	fully	fully	ADV
ajst-11776	22	17	developed	develop	VERB
ajst-11776	22	18	.	.	PUNCT
ajst-11776	23	1	however	however	ADV
ajst-11776	23	2	,	,	PUNCT
ajst-11776	23	3	although	although	SCONJ
ajst-11776	23	4	these	these	DET
ajst-11776	23	5	methods	method	NOUN
ajst-11776	23	6	have	have	AUX
ajst-11776	23	7	achieved	achieve	VERB
ajst-11776	23	8	better	well	ADJ
ajst-11776	23	9	control	control	NOUN
ajst-11776	23	10	effects	effect	NOUN
ajst-11776	23	11	in	in	ADP
ajst-11776	23	12	theory	theory	NOUN
ajst-11776	23	13	,	,	PUNCT
ajst-11776	23	14	they	they	PRON
ajst-11776	23	15	are	be	AUX
ajst-11776	23	16	difficult	difficult	ADJ
ajst-11776	23	17	to	to	PART
ajst-11776	23	18	be	be	AUX
ajst-11776	23	19	applied	apply	VERB
ajst-11776	23	20	in	in	ADP
ajst-11776	23	21	practice	practice	NOUN
ajst-11776	23	22	due	due	ADP
ajst-11776	23	23	to	to	ADP
ajst-11776	23	24	the	the	DET
ajst-11776	23	25	complexity	complexity	NOUN
ajst-11776	23	26	of	of	ADP
ajst-11776	23	27	their	their	PRON
ajst-11776	23	28	realization	realization	NOUN
ajst-11776	23	29	.	.	PUNCT
ajst-11776	24	1	active	active	ADJ
ajst-11776	24	2	disturbance	disturbance	NOUN
ajst-11776	24	3	rejection	rejection	NOUN
ajst-11776	24	4	control	control	NOUN
ajst-11776	24	5	(	(	PUNCT
ajst-11776	24	6	adrc	adrc	NOUN
ajst-11776	24	7	)	)	PUNCT
ajst-11776	24	8	is	be	AUX
ajst-11776	24	9	a	a	DET
ajst-11776	24	10	new	new	ADJ
ajst-11776	24	11	type	type	NOUN
ajst-11776	24	12	of	of	ADP
ajst-11776	24	13	nonlinear	nonlinear	ADJ
ajst-11776	24	14	control	control	PROPN
ajst-11776	24	15	theory	theory	NOUN
ajst-11776	24	16	that	that	PRON
ajst-11776	24	17	does	do	AUX
ajst-11776	24	18	not	not	PART
ajst-11776	24	19	depend	depend	VERB
ajst-11776	24	20	on	on	ADP
ajst-11776	24	21	the	the	DET
ajst-11776	24	22	exact	exact	ADJ
ajst-11776	24	23	mathematical	mathematical	ADJ
ajst-11776	24	24	model	model	NOUN
ajst-11776	24	25	of	of	ADP
ajst-11776	24	26	the	the	DET
ajst-11776	24	27	object	object	NOUN
ajst-11776	24	28	,	,	PUNCT
ajst-11776	24	29	proposed	propose	VERB
ajst-11776	24	30	by	by	ADP
ajst-11776	24	31	kyungching	kyungche	VERB
ajst-11776	24	32	han	han	PROPN
ajst-11776	24	33	[	[	X
ajst-11776	24	34	9	9	NUM
ajst-11776	24	35	]	]	X
ajst-11776	24	36	adrc	adrc	PRON
ajst-11776	24	37	is	be	AUX
ajst-11776	24	38	a	a	DET
ajst-11776	24	39	new	new	ADJ
ajst-11776	24	40	nonlinear	nonlinear	ADJ
ajst-11776	24	41	control	control	PROPN
ajst-11776	24	42	theory	theory	NOUN
ajst-11776	24	43	that	that	PRON
ajst-11776	24	44	does	do	AUX
ajst-11776	24	45	not	not	PART
ajst-11776	24	46	depend	depend	VERB
ajst-11776	24	47	on	on	ADP
ajst-11776	24	48	the	the	DET
ajst-11776	24	49	exact	exact	ADJ
ajst-11776	24	50	mathematical	mathematical	ADJ
ajst-11776	24	51	model	model	NOUN
ajst-11776	24	52	of	of	ADP
ajst-11776	24	53	the	the	DET
ajst-11776	24	54	object	object	NOUN
ajst-11776	24	55	.	.	PUNCT
ajst-11776	25	1	many	many	ADJ
ajst-11776	25	2	results	result	NOUN
ajst-11776	25	3	have	have	AUX
ajst-11776	25	4	been	be	AUX
ajst-11776	25	5	achieved	achieve	VERB
ajst-11776	25	6	in	in	ADP
ajst-11776	25	7	the	the	DET
ajst-11776	25	8	application	application	NOUN
ajst-11776	25	9	as	as	ADV
ajst-11776	25	10	well	well	ADV
ajst-11776	25	11	as	as	ADP
ajst-11776	25	12	improvement	improvement	NOUN
ajst-11776	25	13	of	of	ADP
ajst-11776	25	14	the	the	DET
ajst-11776	25	15	active	active	ADJ
ajst-11776	25	16	disturbance	disturbance	NOUN
ajst-11776	25	17	rejection	rejection	NOUN
ajst-11776	25	18	controller	controller	NOUN
ajst-11776	25	19	.	.	PUNCT
ajst-11776	26	1	among	among	ADP
ajst-11776	26	2	them	they	PRON
ajst-11776	26	3	,	,	PUNCT
ajst-11776	26	4	the	the	DET
ajst-11776	26	5	literature	literature	NOUN
ajst-11776	26	6	[	[	X
ajst-11776	26	7	10	10	NUM
ajst-11776	26	8	]	]	PUNCT
ajst-11776	26	9	modelcompensated	modelcompensate	VERB
ajst-11776	26	10	self	self	NOUN
ajst-11776	26	11	-	-	PUNCT
ajst-11776	26	12	oscillatory	oscillatory	ADJ
ajst-11776	26	13	controller	controller	NOUN
ajst-11776	26	14	is	be	AUX
ajst-11776	26	15	used	use	VERB
ajst-11776	26	16	to	to	PART
ajst-11776	26	17	replace	replace	VERB
ajst-11776	26	18	the	the	DET
ajst-11776	26	19	traditional	traditional	ADJ
ajst-11776	26	20	self	self	NOUN
ajst-11776	26	21	-	-	PUNCT
ajst-11776	26	22	oscillatory	oscillatory	ADJ
ajst-11776	26	23	controller	controller	NOUN
ajst-11776	26	24	,	,	PUNCT
ajst-11776	26	25	but	but	CCONJ
ajst-11776	26	26	it	it	PRON
ajst-11776	26	27	is	be	AUX
ajst-11776	26	28	easy	easy	ADJ
ajst-11776	26	29	to	to	PART
ajst-11776	26	30	lead	lead	VERB
ajst-11776	26	31	to	to	ADP
ajst-11776	26	32	the	the	DET
ajst-11776	26	33	saturation	saturation	NOUN
ajst-11776	26	34	of	of	ADP
ajst-11776	26	35	the	the	DET
ajst-11776	26	36	control	control	NOUN
ajst-11776	26	37	volume	volume	NOUN
ajst-11776	26	38	and	and	CCONJ
ajst-11776	26	39	does	do	AUX
ajst-11776	26	40	not	not	PART
ajst-11776	26	41	achieve	achieve	VERB
ajst-11776	26	42	the	the	DET
ajst-11776	26	43	optimal	optimal	ADJ
ajst-11776	26	44	compensation	compensation	NOUN
ajst-11776	26	45	effect	effect	NOUN
ajst-11776	26	46	.	.	PUNCT
ajst-11776	27	1	literature	literature	NOUN
ajst-11776	28	1	[	[	X
ajst-11776	28	2	11	11	NUM
ajst-11776	28	3	]	]	X
ajst-11776	28	4	a	a	DET
ajst-11776	28	5	method	method	NOUN
ajst-11776	28	6	of	of	ADP
ajst-11776	28	7	speed	speed	NOUN
ajst-11776	28	8	-	-	PUNCT
ajst-11776	28	9	loop	loop	NOUN
ajst-11776	28	10	smooth	smooth	ADJ
ajst-11776	28	11	-	-	PUNCT
ajst-11776	28	12	mode	mode	NOUN
ajst-11776	28	13	active	active	ADJ
ajst-11776	28	14	disturbance	disturbance	NOUN
ajst-11776	28	15	rejection	rejection	NOUN
ajst-11776	28	16	control	control	NOUN
ajst-11776	28	17	based	base	VERB
ajst-11776	28	18	on	on	ADP
ajst-11776	28	19	internal	internal	ADJ
ajst-11776	28	20	-	-	PUNCT
ajst-11776	28	21	mode	mode	NOUN
ajst-11776	28	22	observation	observation	NOUN
ajst-11776	28	23	is	be	AUX
ajst-11776	28	24	proposed	propose	VERB
ajst-11776	28	25	to	to	PART
ajst-11776	28	26	improve	improve	VERB
ajst-11776	28	27	the	the	DET
ajst-11776	28	28	problem	problem	NOUN
ajst-11776	28	29	of	of	ADP
ajst-11776	28	30	poor	poor	ADJ
ajst-11776	28	31	speed	speed	NOUN
ajst-11776	28	32	regulation	regulation	NOUN
ajst-11776	28	33	performance	performance	NOUN
ajst-11776	28	34	due	due	ADP
ajst-11776	28	35	to	to	ADP
ajst-11776	28	36	motor	motor	NOUN
ajst-11776	28	37	load	load	NOUN
ajst-11776	28	38	disturbance	disturbance	NOUN
ajst-11776	28	39	.	.	PUNCT
ajst-11776	29	1	literature	literature	NOUN
ajst-11776	29	2	[	[	X
ajst-11776	29	3	12	12	NUM
ajst-11776	29	4	]	]	PUNCT
ajst-11776	29	5	a	a	DET
ajst-11776	29	6	feed	feed	NOUN
ajst-11776	29	7	-	-	PUNCT
ajst-11776	29	8	forward	forward	NOUN
ajst-11776	29	9	compensation	compensation	NOUN
ajst-11776	29	10	based	base	VERB
ajst-11776	29	11	active	active	ADJ
ajst-11776	29	12	disturbance	disturbance	NOUN
ajst-11776	29	13	rejection	rejection	NOUN
ajst-11776	29	14	control	control	NOUN
ajst-11776	29	15	algorithm	algorithm	NOUN
ajst-11776	29	16	is	be	AUX
ajst-11776	29	17	used	use	VERB
ajst-11776	29	18	to	to	PART
ajst-11776	29	19	control	control	VERB
ajst-11776	29	20	a	a	DET
ajst-11776	29	21	brushless	brushless	NOUN
ajst-11776	29	22	dc	dc	PROPN
ajst-11776	29	23	motor	motor	NOUN
ajst-11776	29	24	and	and	CCONJ
ajst-11776	29	25	applied	apply	VERB
ajst-11776	29	26	to	to	ADP
ajst-11776	29	27	an	an	DET
ajst-11776	29	28	electric	electric	ADJ
ajst-11776	29	29	valve	valve	NOUN
ajst-11776	29	30	,	,	PUNCT
ajst-11776	29	31	resulting	result	VERB
ajst-11776	29	32	in	in	ADP
ajst-11776	29	33	a	a	DET
ajst-11776	29	34	significant	significant	ADJ
ajst-11776	29	35	improvement	improvement	NOUN
ajst-11776	29	36	in	in	ADP
ajst-11776	29	37	position	position	NOUN
ajst-11776	29	38	control	control	NOUN
ajst-11776	29	39	accuracy	accuracy	NOUN
ajst-11776	29	40	and	and	CCONJ
ajst-11776	29	41	immunity	immunity	NOUN
ajst-11776	29	42	.	.	PUNCT
ajst-11776	30	1	literature	literature	NOUN
ajst-11776	30	2	.	.	PUNCT
ajst-11776	31	1	[	[	X
ajst-11776	31	2	13	13	NUM
ajst-11776	31	3	]	]	SYM
ajst-11776	31	4	a	a	DET
ajst-11776	31	5	fuzzy	fuzzy	ADJ
ajst-11776	31	6	control	control	NOUN
ajst-11776	31	7	strategy	strategy	NOUN
ajst-11776	31	8	combining	combine	VERB
ajst-11776	31	9	fuzzy	fuzzy	ADJ
ajst-11776	31	10	control	control	NOUN
ajst-11776	31	11	and	and	CCONJ
ajst-11776	31	12	selfresistant	selfresistant	ADJ
ajst-11776	31	13	control	control	NOUN
ajst-11776	31	14	is	be	AUX
ajst-11776	31	15	proposed	propose	VERB
ajst-11776	31	16	to	to	PART
ajst-11776	31	17	control	control	VERB
ajst-11776	31	18	the	the	DET
ajst-11776	31	19	yarn	yarn	NOUN
ajst-11776	31	20	constant	constant	ADJ
ajst-11776	31	21	tension	tension	NOUN
ajst-11776	31	22	of	of	ADP
ajst-11776	31	23	a	a	DET
ajst-11776	31	24	brushless	brushless	NOUN
ajst-11776	31	25	dc	dc	PROPN
ajst-11776	31	26	motor	motor	NOUN
ajst-11776	31	27	,	,	PUNCT
ajst-11776	31	28	which	which	PRON
ajst-11776	31	29	makes	make	VERB
ajst-11776	31	30	the	the	DET
ajst-11776	31	31	fluctuation	fluctuation	NOUN
ajst-11776	31	32	range	range	NOUN
ajst-11776	31	33	of	of	ADP
ajst-11776	31	34	the	the	DET
ajst-11776	31	35	yarn	yarn	NOUN
ajst-11776	31	36	tension	tension	NOUN
ajst-11776	31	37	smaller	small	ADJ
ajst-11776	31	38	and	and	CCONJ
ajst-11776	31	39	the	the	DET
ajst-11776	31	40	response	response	NOUN
ajst-11776	31	41	of	of	ADP
ajst-11776	31	42	the	the	DET
ajst-11776	31	43	system	system	NOUN
ajst-11776	31	44	faster	fast	ADV
ajst-11776	31	45	.	.	PUNCT
ajst-11776	32	1	literature	literature	NOUN
ajst-11776	32	2	[	[	X
ajst-11776	32	3	14	14	NUM
ajst-11776	32	4	]	]	X
ajst-11776	32	5	a	a	DET
ajst-11776	32	6	parameter	parameter	NOUN
ajst-11776	32	7	active	active	ADJ
ajst-11776	32	8	disturbance	disturbance	NOUN
ajst-11776	32	9	rejection	rejection	NOUN
ajst-11776	32	10	control	control	NOUN
ajst-11776	32	11	method	method	NOUN
ajst-11776	32	12	based	base	VERB
ajst-11776	32	13	on	on	ADP
ajst-11776	32	14	the	the	DET
ajst-11776	32	15	improved	improved	ADJ
ajst-11776	32	16	particle	particle	NOUN
ajst-11776	32	17	swarm	swarm	NOUN
ajst-11776	32	18	algorithm	algorithm	NOUN
ajst-11776	32	19	is	be	AUX
ajst-11776	32	20	designed	design	VERB
ajst-11776	32	21	and	and	CCONJ
ajst-11776	32	22	applied	apply	VERB
ajst-11776	32	23	to	to	ADP
ajst-11776	32	24	the	the	DET
ajst-11776	32	25	linear	linear	ADJ
ajst-11776	32	26	active	active	ADJ
ajst-11776	32	27	disturbance	disturbance	NOUN
ajst-11776	32	28	rejection	rejection	NOUN
ajst-11776	32	29	controller	controller	NOUN
ajst-11776	32	30	,	,	PUNCT
ajst-11776	32	31	which	which	PRON
ajst-11776	32	32	greatly	greatly	ADV
ajst-11776	32	33	simplifies	simplify	VERB
ajst-11776	32	34	the	the	DET
ajst-11776	32	35	53	53	NUM
ajst-11776	32	36	steps	step	NOUN
ajst-11776	32	37	of	of	ADP
ajst-11776	32	38	parameter	parameter	NOUN
ajst-11776	32	39	tuning	tuning	NOUN
ajst-11776	32	40	.	.	PUNCT
ajst-11776	33	1	in	in	ADP
ajst-11776	33	2	this	this	DET
ajst-11776	33	3	paper	paper	NOUN
ajst-11776	33	4	,	,	PUNCT
ajst-11776	33	5	for	for	ADP
ajst-11776	33	6	the	the	DET
ajst-11776	33	7	problems	problem	NOUN
ajst-11776	33	8	of	of	ADP
ajst-11776	33	9	poor	poor	ADJ
ajst-11776	33	10	anti	anti	ADJ
ajst-11776	33	11	-	-	ADJ
ajst-11776	33	12	interference	interference	ADJ
ajst-11776	33	13	ability	ability	NOUN
ajst-11776	33	14	,	,	PUNCT
ajst-11776	33	15	speed	speed	NOUN
ajst-11776	33	16	overshooting	overshooting	NOUN
ajst-11776	33	17	and	and	CCONJ
ajst-11776	33	18	large	large	ADJ
ajst-11776	33	19	torque	torque	NOUN
ajst-11776	33	20	fluctuation	fluctuation	NOUN
ajst-11776	33	21	of	of	ADP
ajst-11776	33	22	the	the	DET
ajst-11776	33	23	brushless	brushless	NOUN
ajst-11776	33	24	dc	dc	PROPN
ajst-11776	33	25	motor	motor	NOUN
ajst-11776	33	26	under	under	ADP
ajst-11776	33	27	the	the	DET
ajst-11776	33	28	control	control	NOUN
ajst-11776	33	29	of	of	ADP
ajst-11776	33	30	traditional	traditional	ADJ
ajst-11776	33	31	pid	pid	NOUN
ajst-11776	33	32	algorithm	algorithm	NOUN
ajst-11776	33	33	,	,	PUNCT
ajst-11776	33	34	a	a	DET
ajst-11776	33	35	control	control	NOUN
ajst-11776	33	36	strategy	strategy	NOUN
ajst-11776	33	37	based	base	VERB
ajst-11776	33	38	on	on	ADP
ajst-11776	33	39	active	active	ADJ
ajst-11776	33	40	disturbance	disturbance	NOUN
ajst-11776	33	41	rejection	rejection	NOUN
ajst-11776	33	42	control	control	NOUN
ajst-11776	33	43	is	be	AUX
ajst-11776	33	44	proposed	propose	VERB
ajst-11776	33	45	to	to	PART
ajst-11776	33	46	apply	apply	VERB
ajst-11776	33	47	the	the	DET
ajst-11776	33	48	active	active	ADJ
ajst-11776	33	49	disturbance	disturbance	NOUN
ajst-11776	33	50	rejection	rejection	NOUN
ajst-11776	33	51	controller	controller	NOUN
ajst-11776	33	52	to	to	ADP
ajst-11776	33	53	the	the	DET
ajst-11776	33	54	speed	speed	NOUN
ajst-11776	33	55	loop	loop	NOUN
ajst-11776	33	56	of	of	ADP
ajst-11776	33	57	the	the	DET
ajst-11776	33	58	brushless	brushless	NOUN
ajst-11776	33	59	dc	dc	PROPN
ajst-11776	33	60	motor	motor	NOUN
ajst-11776	33	61	control	control	PROPN
ajst-11776	33	62	system	system	NOUN
ajst-11776	33	63	.	.	PUNCT
ajst-11776	34	1	on	on	ADP
ajst-11776	34	2	the	the	DET
ajst-11776	34	3	basis	basis	NOUN
ajst-11776	34	4	of	of	ADP
ajst-11776	34	5	establishing	establish	VERB
ajst-11776	34	6	a	a	DET
ajst-11776	34	7	mathematical	mathematical	ADJ
ajst-11776	34	8	model	model	NOUN
ajst-11776	34	9	of	of	ADP
ajst-11776	34	10	the	the	DET
ajst-11776	34	11	brushless	brushless	PROPN
ajst-11776	34	12	dc	dc	PROPN
ajst-11776	34	13	motor	motor	NOUN
ajst-11776	34	14	,	,	PUNCT
ajst-11776	34	15	the	the	DET
ajst-11776	34	16	general	general	ADJ
ajst-11776	34	17	derivation	derivation	NOUN
ajst-11776	34	18	process	process	NOUN
ajst-11776	34	19	of	of	ADP
ajst-11776	34	20	the	the	DET
ajst-11776	34	21	speed	speed	NOUN
ajst-11776	34	22	loop	loop	NOUN
ajst-11776	34	23	active	active	ADJ
ajst-11776	34	24	disturbance	disturbance	NOUN
ajst-11776	34	25	rejection	rejection	NOUN
ajst-11776	34	26	controller	controller	NOUN
ajst-11776	34	27	is	be	AUX
ajst-11776	34	28	given	give	VERB
ajst-11776	34	29	.	.	PUNCT
ajst-11776	35	1	the	the	DET
ajst-11776	35	2	performance	performance	NOUN
ajst-11776	35	3	of	of	ADP
ajst-11776	35	4	the	the	DET
ajst-11776	35	5	brushless	brushless	NOUN
ajst-11776	35	6	dc	dc	PROPN
ajst-11776	35	7	motor	motor	NOUN
ajst-11776	35	8	control	control	NOUN
ajst-11776	35	9	system	system	NOUN
ajst-11776	35	10	under	under	ADP
ajst-11776	35	11	the	the	DET
ajst-11776	35	12	active	active	ADJ
ajst-11776	35	13	disturbance	disturbance	NOUN
ajst-11776	35	14	rejection	rejection	NOUN
ajst-11776	35	15	controller	controller	NOUN
ajst-11776	35	16	is	be	AUX
ajst-11776	35	17	investigated	investigate	VERB
ajst-11776	35	18	by	by	ADP
ajst-11776	35	19	modeling	model	VERB
ajst-11776	35	20	simulation	simulation	NOUN
ajst-11776	35	21	in	in	ADP
ajst-11776	35	22	simulink	simulink	PROPN
ajst-11776	35	23	.	.	PUNCT
ajst-11776	36	1	the	the	DET
ajst-11776	36	2	simulation	simulation	NOUN
ajst-11776	36	3	results	result	NOUN
ajst-11776	36	4	show	show	VERB
ajst-11776	36	5	that	that	SCONJ
ajst-11776	36	6	the	the	DET
ajst-11776	36	7	system	system	NOUN
ajst-11776	36	8	performance	performance	NOUN
ajst-11776	36	9	under	under	ADP
ajst-11776	36	10	this	this	DET
ajst-11776	36	11	control	control	NOUN
ajst-11776	36	12	strategy	strategy	NOUN
ajst-11776	36	13	is	be	AUX
ajst-11776	36	14	excellent	excellent	ADJ
ajst-11776	36	15	,	,	PUNCT
ajst-11776	36	16	with	with	ADP
ajst-11776	36	17	fast	fast	ADJ
ajst-11776	36	18	response	response	NOUN
ajst-11776	36	19	,	,	PUNCT
ajst-11776	36	20	no	no	DET
ajst-11776	36	21	overshoot	overshoot	NOUN
ajst-11776	36	22	,	,	PUNCT
ajst-11776	36	23	etc	etc	X
ajst-11776	36	24	.	.	X
ajst-11776	36	25	,	,	PUNCT
ajst-11776	36	26	and	and	CCONJ
ajst-11776	36	27	can	can	AUX
ajst-11776	36	28	effectively	effectively	ADV
ajst-11776	36	29	resist	resist	VERB
ajst-11776	36	30	load	load	NOUN
ajst-11776	36	31	perturbations	perturbation	NOUN
ajst-11776	36	32	and	and	CCONJ
ajst-11776	36	33	is	be	AUX
ajst-11776	36	34	robust	robust	ADJ
ajst-11776	36	35	to	to	PART
ajst-11776	36	36	load	load	VERB
ajst-11776	36	37	variations	variation	NOUN
ajst-11776	36	38	and	and	CCONJ
ajst-11776	36	39	speed	speed	NOUN
ajst-11776	36	40	variations	variation	NOUN
ajst-11776	36	41	.	.	PUNCT
ajst-11776	37	1	this	this	PRON
ajst-11776	37	2	further	far	ADV
ajst-11776	37	3	confirms	confirm	VERB
ajst-11776	37	4	the	the	DET
ajst-11776	37	5	effectiveness	effectiveness	NOUN
ajst-11776	37	6	and	and	CCONJ
ajst-11776	37	7	feasibility	feasibility	NOUN
ajst-11776	37	8	of	of	ADP
ajst-11776	37	9	the	the	DET
ajst-11776	37	10	strategy	strategy	NOUN
ajst-11776	37	11	.	.	PUNCT
ajst-11776	38	1	2	2	X
ajst-11776	38	2	.	.	X
ajst-11776	38	3	mathematical	mathematical	ADJ
ajst-11776	38	4	model	model	NOUN
ajst-11776	38	5	of	of	ADP
ajst-11776	38	6	brushless	brushless	PROPN
ajst-11776	38	7	dc	dc	PROPN
ajst-11776	38	8	motor	motor	PROPN
ajst-11776	38	9	the	the	DET
ajst-11776	38	10	mathematical	mathematical	ADJ
ajst-11776	38	11	model	model	NOUN
ajst-11776	38	12	of	of	ADP
ajst-11776	38	13	the	the	DET
ajst-11776	38	14	motor	motor	NOUN
ajst-11776	38	15	can	can	AUX
ajst-11776	38	16	be	be	AUX
ajst-11776	38	17	represented	represent	VERB
ajst-11776	38	18	as	as	SCONJ
ajst-11776	38	19	follows	follow	VERB
ajst-11776	38	20	in	in	ADP
ajst-11776	38	21	the	the	DET
ajst-11776	38	22	d	d	PROPN
ajst-11776	38	23	-	-	ADJ
ajst-11776	38	24	q	q	ADJ
ajst-11776	38	25	synchronous	synchronous	ADJ
ajst-11776	38	26	rotating	rotating	NOUN
ajst-11776	38	27	coordinate	coordinate	NOUN
ajst-11776	38	28	system	system	NOUN
ajst-11776	38	29	:	:	PUNCT
ajst-11776	38	30	the	the	DET
ajst-11776	38	31	motor	motor	NOUN
ajst-11776	38	32	stator	stator	NOUN
ajst-11776	38	33	voltage	voltage	NOUN
ajst-11776	38	34	equation	equation	NOUN
ajst-11776	38	35	is	be	AUX
ajst-11776	38	36	:	:	PUNCT
ajst-11776	39	1	d	d	PROPN
ajst-11776	39	2	d	d	X
ajst-11776	39	3	s	s	PROPN
ajst-11776	39	4	d	d	X
ajst-11776	39	5	d	d	X
ajst-11776	39	6	e	e	X
ajst-11776	39	7	q	q	AUX
ajst-11776	39	8	q	q	X
ajst-11776	39	9	q	q	X
ajst-11776	39	10	s	s	X
ajst-11776	39	11	q	q	X
ajst-11776	39	12	q	q	X
ajst-11776	39	13	e	e	X
ajst-11776	39	14	d	d	X
ajst-11776	39	15	di	di	X
ajst-11776	39	16	u	u	NOUN
ajst-11776	40	1	r	r	NOUN
ajst-11776	41	1	i	i	NOUN
ajst-11776	41	2	l	l	NOUN
ajst-11776	41	3	dt	dt	X
ajst-11776	41	4	di	di	X
ajst-11776	41	5	u	u	NOUN
ajst-11776	41	6	r	r	NOUN
ajst-11776	41	7	i	i	NOUN
ajst-11776	41	8	l	l	NOUN
ajst-11776	41	9	dt	dt	X
ajst-11776	41	10	(	(	PUNCT
ajst-11776	41	11	1	1	NUM
ajst-11776	41	12	)	)	PUNCT
ajst-11776	41	13	where	where	SCONJ
ajst-11776	41	14	:	:	PUNCT
ajst-11776	41	15	ud	ud	INTJ
ajst-11776	41	16	,	,	PUNCT
ajst-11776	41	17	uq	uq	PROPN
ajst-11776	41	18	are	be	AUX
ajst-11776	41	19	d	d	PROPN
ajst-11776	41	20	,	,	PUNCT
ajst-11776	41	21	q	q	ADJ
ajst-11776	41	22	-	-	PUNCT
ajst-11776	41	23	axis	axis	NOUN
ajst-11776	41	24	voltage	voltage	NOUN
ajst-11776	41	25	;	;	PUNCT
ajst-11776	41	26	i	i	PROPN
ajst-11776	41	27	d	d	PROPN
ajst-11776	41	28	,	,	PUNCT
ajst-11776	41	29	iq	iq	PROPN
ajst-11776	41	30	are	be	AUX
ajst-11776	41	31	d	d	NOUN
ajst-11776	41	32	,	,	PUNCT
ajst-11776	41	33	q	q	ADJ
ajst-11776	41	34	-	-	PUNCT
ajst-11776	41	35	axis	axis	NOUN
ajst-11776	41	36	current	current	NOUN
ajst-11776	41	37	;	;	PUNCT
ajst-11776	41	38	ψd	ψd	ADP
ajst-11776	41	39	,	,	PUNCT
ajst-11776	41	40	ψq	ψq	PROPN
ajst-11776	41	41	are	be	AUX
ajst-11776	41	42	d	d	NOUN
ajst-11776	41	43	,	,	PUNCT
ajst-11776	41	44	q	q	ADJ
ajst-11776	41	45	-	-	PUNCT
ajst-11776	41	46	axis	axis	ADJ
ajst-11776	41	47	magnetic	magnetic	ADJ
ajst-11776	41	48	chain	chain	NOUN
ajst-11776	41	49	;	;	PUNCT
ajst-11776	41	50	ld	ld	PROPN
ajst-11776	41	51	,	,	PUNCT
ajst-11776	41	52	lq	lq	NOUN
ajst-11776	41	53	are	be	AUX
ajst-11776	41	54	d	d	NOUN
ajst-11776	41	55	,	,	PUNCT
ajst-11776	41	56	qaxis	qaxis	ADJ
ajst-11776	41	57	inductance	inductance	NOUN
ajst-11776	41	58	;	;	PUNCT
ajst-11776	41	59	ωe	ωe	ADV
ajst-11776	41	60	is	be	AUX
ajst-11776	41	61	the	the	DET
ajst-11776	41	62	motor	motor	NOUN
ajst-11776	41	63	rotor	rotor	NOUN
ajst-11776	41	64	electric	electric	ADJ
ajst-11776	41	65	angular	angular	ADJ
ajst-11776	41	66	velocity	velocity	NOUN
ajst-11776	41	67	.	.	PUNCT
ajst-11776	42	1	the	the	DET
ajst-11776	42	2	motor	motor	NOUN
ajst-11776	42	3	stator	stator	PROPN
ajst-11776	42	4	magnetic	magnetic	ADJ
ajst-11776	42	5	chain	chain	NOUN
ajst-11776	42	6	equation	equation	NOUN
ajst-11776	42	7	is	be	AUX
ajst-11776	42	8	:	:	PUNCT
ajst-11776	42	9	d	d	X
ajst-11776	42	10	d	d	X
ajst-11776	43	1	d	d	X
ajst-11776	43	2	f	f	X
ajst-11776	43	3	q	q	NOUN
ajst-11776	43	4	q	q	X
ajst-11776	43	5	q	q	X
ajst-11776	43	6	l	l	NOUN
ajst-11776	44	1	i	i	NOUN
ajst-11776	44	2	l	l	NOUN
ajst-11776	45	1	i	i	PRON
ajst-11776	45	2	(	(	PUNCT
ajst-11776	45	3	2	2	NUM
ajst-11776	45	4	)	)	PUNCT
ajst-11776	45	5	where	where	SCONJ
ajst-11776	45	6	:	:	PUNCT
ajst-11776	45	7	ψf	ψf	X
ajst-11776	45	8	is	be	AUX
ajst-11776	45	9	the	the	DET
ajst-11776	45	10	magnetic	magnetic	ADJ
ajst-11776	45	11	chain	chain	NOUN
ajst-11776	45	12	of	of	ADP
ajst-11776	45	13	the	the	DET
ajst-11776	45	14	permanent	permanent	ADJ
ajst-11776	45	15	magnet	magnet	NOUN
ajst-11776	45	16	.	.	PUNCT
ajst-11776	46	1	the	the	DET
ajst-11776	46	2	motor	motor	NOUN
ajst-11776	46	3	torque	torque	NOUN
ajst-11776	46	4	equation	equation	NOUN
ajst-11776	46	5	is	be	AUX
ajst-11776	46	6	:	:	PUNCT
ajst-11776	46	7	n1.5	n1.5	NOUN
ajst-11776	46	8	(	(	PUNCT
ajst-11776	46	9	)	)	PUNCT
ajst-11776	46	10	1.5	1.5	NUM
ajst-11776	46	11	(	(	PUNCT
ajst-11776	46	12	)	)	PUNCT
ajst-11776	46	13	e	e	X
ajst-11776	47	1	d	d	X
ajst-11776	47	2	q	q	X
ajst-11776	47	3	q	q	X
ajst-11776	47	4	d	d	X
ajst-11776	47	5	n	n	NOUN
ajst-11776	47	6	f	f	NOUN
ajst-11776	47	7	q	q	PROPN
ajst-11776	47	8	d	d	X
ajst-11776	47	9	q	q	X
ajst-11776	48	1	d	d	X
ajst-11776	48	2	q	q	PROPN
ajst-11776	48	3	t	t	PROPN
ajst-11776	48	4	p	p	X
ajst-11776	49	1	i	i	PRON
ajst-11776	49	2	i	i	PRON
ajst-11776	50	1	p	p	X
ajst-11776	51	1	i	i	NOUN
ajst-11776	51	2	l	l	NOUN
ajst-11776	51	3	l	l	NOUN
ajst-11776	52	1	i	i	PRON
ajst-11776	52	2	i	i	PRON
ajst-11776	52	3	(	(	PUNCT
ajst-11776	52	4	3	3	NUM
ajst-11776	52	5	)	)	PUNCT
ajst-11776	52	6	where	where	SCONJ
ajst-11776	52	7	:	:	PUNCT
ajst-11776	52	8	te	te	PROPN
ajst-11776	52	9	is	be	AUX
ajst-11776	52	10	the	the	DET
ajst-11776	52	11	electromagnetic	electromagnetic	ADJ
ajst-11776	52	12	torque	torque	NOUN
ajst-11776	52	13	;	;	PUNCT
ajst-11776	52	14	pn	pn	PROPN
ajst-11776	52	15	is	be	AUX
ajst-11776	52	16	the	the	DET
ajst-11776	52	17	number	number	NOUN
ajst-11776	52	18	of	of	ADP
ajst-11776	52	19	motor	motor	NOUN
ajst-11776	52	20	pole	pole	NOUN
ajst-11776	52	21	pairs	pair	NOUN
ajst-11776	52	22	.	.	PUNCT
ajst-11776	53	1	taking	take	VERB
ajst-11776	53	2	the	the	DET
ajst-11776	53	3	brushless	brushless	NOUN
ajst-11776	53	4	dc	dc	PROPN
ajst-11776	53	5	motor	motor	NOUN
ajst-11776	53	6	with	with	ADP
ajst-11776	53	7	surface	surface	NOUN
ajst-11776	53	8	-	-	PUNCT
ajst-11776	53	9	mounted	mount	VERB
ajst-11776	53	10	rotor	rotor	NOUN
ajst-11776	53	11	structure	structure	NOUN
ajst-11776	53	12	as	as	ADP
ajst-11776	53	13	the	the	DET
ajst-11776	53	14	object	object	NOUN
ajst-11776	53	15	of	of	ADP
ajst-11776	53	16	study	study	NOUN
ajst-11776	53	17	,	,	PUNCT
ajst-11776	53	18	there	there	PRON
ajst-11776	53	19	is	be	VERB
ajst-11776	53	20	ld	ld	NOUN
ajst-11776	53	21	=	=	PRON
ajst-11776	53	22	lq	lq	NOUN
ajst-11776	53	23	,	,	PUNCT
ajst-11776	53	24	and	and	CCONJ
ajst-11776	53	25	the	the	DET
ajst-11776	53	26	control	control	NOUN
ajst-11776	53	27	strategy	strategy	NOUN
ajst-11776	53	28	of	of	ADP
ajst-11776	53	29	i	i	PROPN
ajst-11776	53	30	d	d	PROPN
ajst-11776	53	31	=	=	NOUN
ajst-11776	53	32	0	0	NUM
ajst-11776	53	33	is	be	AUX
ajst-11776	53	34	used	use	VERB
ajst-11776	53	35	,	,	PUNCT
ajst-11776	53	36	at	at	ADP
ajst-11776	53	37	this	this	DET
ajst-11776	53	38	time	time	NOUN
ajst-11776	53	39	,	,	PUNCT
ajst-11776	53	40	eq	eq	NOUN
ajst-11776	53	41	.	.	PUNCT
ajst-11776	54	1	(	(	PUNCT
ajst-11776	54	2	3	3	X
ajst-11776	54	3	)	)	PUNCT
ajst-11776	54	4	can	can	AUX
ajst-11776	54	5	be	be	AUX
ajst-11776	54	6	rewritten	rewrite	VERB
ajst-11776	54	7	approximately	approximately	ADV
ajst-11776	54	8	as	as	ADP
ajst-11776	54	9	:	:	PUNCT
ajst-11776	54	10	1.5e	1.5e	NUM
ajst-11776	54	11	n	n	CCONJ
ajst-11776	54	12	f	f	PROPN
ajst-11776	54	13	qt	qt	PROPN
ajst-11776	55	1	p	p	PROPN
ajst-11776	55	2	i	i	PRON
ajst-11776	55	3	(	(	PUNCT
ajst-11776	55	4	4	4	X
ajst-11776	55	5	)	)	PUNCT
ajst-11776	55	6	the	the	DET
ajst-11776	55	7	motor	motor	NOUN
ajst-11776	55	8	equation	equation	NOUN
ajst-11776	55	9	of	of	ADP
ajst-11776	55	10	motion	motion	NOUN
ajst-11776	55	11	is	be	AUX
ajst-11776	55	12	:	:	PUNCT
ajst-11776	55	13	m	m	VERB
ajst-11776	55	14	e	e	X
ajst-11776	55	15	l	l	NOUN
ajst-11776	55	16	m	m	VERB
ajst-11776	55	17	d	d	NOUN
ajst-11776	55	18	t	t	PROPN
ajst-11776	55	19	t	t	PROPN
ajst-11776	55	20	j	j	PROPN
ajst-11776	55	21	b	b	X
ajst-11776	55	22	dt	dt	X
ajst-11776	55	23	(	(	PUNCT
ajst-11776	55	24	5	5	NUM
ajst-11776	55	25	)	)	PUNCT
ajst-11776	55	26	where	where	SCONJ
ajst-11776	55	27	:	:	PUNCT
ajst-11776	55	28	tl	tl	PROPN
ajst-11776	55	29	is	be	AUX
ajst-11776	55	30	the	the	DET
ajst-11776	55	31	load	load	NOUN
ajst-11776	55	32	torque	torque	NOUN
ajst-11776	55	33	;	;	PUNCT
ajst-11776	55	34	j	j	PROPN
ajst-11776	55	35	is	be	AUX
ajst-11776	55	36	the	the	DET
ajst-11776	55	37	rotational	rotational	ADJ
ajst-11776	55	38	inertia	inertia	NOUN
ajst-11776	55	39	;	;	PUNCT
ajst-11776	55	40	b	b	X
ajst-11776	55	41	is	be	AUX
ajst-11776	55	42	the	the	DET
ajst-11776	55	43	viscous	viscous	ADJ
ajst-11776	55	44	coefficient	coefficient	NOUN
ajst-11776	55	45	;	;	PUNCT
ajst-11776	55	46	ωm	ωm	X
ajst-11776	55	47	is	be	AUX
ajst-11776	55	48	the	the	DET
ajst-11776	55	49	mechanical	mechanical	ADJ
ajst-11776	55	50	angular	angular	ADJ
ajst-11776	55	51	velocity	velocity	NOUN
ajst-11776	55	52	.	.	PUNCT
ajst-11776	56	1	3	3	X
ajst-11776	56	2	.	.	X
ajst-11776	56	3	active	active	ADJ
ajst-11776	56	4	disturbance	disturbance	NOUN
ajst-11776	56	5	rejection	rejection	NOUN
ajst-11776	56	6	controller	controller	NOUN
ajst-11776	56	7	design	design	NOUN
ajst-11776	56	8	3.1	3.1	NUM
ajst-11776	56	9	.	.	PUNCT
ajst-11776	57	1	introduction	introduction	NOUN
ajst-11776	57	2	to	to	ADP
ajst-11776	57	3	active	active	ADJ
ajst-11776	57	4	disturbance	disturbance	NOUN
ajst-11776	57	5	rejection	rejection	NOUN
ajst-11776	57	6	control	control	NOUN
ajst-11776	57	7	as	as	ADP
ajst-11776	57	8	a	a	DET
ajst-11776	57	9	kind	kind	NOUN
ajst-11776	57	10	of	of	ADP
ajst-11776	57	11	nonlinear	nonlinear	ADJ
ajst-11776	57	12	control	control	NOUN
ajst-11776	57	13	algorithm	algorithm	PROPN
ajst-11776	57	14	,	,	PUNCT
ajst-11776	57	15	the	the	DET
ajst-11776	57	16	core	core	ADJ
ajst-11776	57	17	idea	idea	NOUN
ajst-11776	57	18	of	of	ADP
ajst-11776	57	19	adrc	adrc	PROPN
ajst-11776	57	20	is	be	AUX
ajst-11776	57	21	to	to	PART
ajst-11776	57	22	avoid	avoid	VERB
ajst-11776	57	23	overshooting	overshoot	VERB
ajst-11776	57	24	by	by	ADP
ajst-11776	57	25	arranging	arrange	VERB
ajst-11776	57	26	the	the	DET
ajst-11776	57	27	transition	transition	NOUN
ajst-11776	57	28	through	through	ADP
ajst-11776	57	29	the	the	DET
ajst-11776	57	30	tracking	tracking	NOUN
ajst-11776	57	31	differentiator	differentiator	NOUN
ajst-11776	57	32	(	(	PUNCT
ajst-11776	57	33	td	td	NOUN
ajst-11776	57	34	)	)	PUNCT
ajst-11776	57	35	,	,	PUNCT
ajst-11776	57	36	to	to	PART
ajst-11776	57	37	compensate	compensate	VERB
ajst-11776	57	38	the	the	DET
ajst-11776	57	39	total	total	ADJ
ajst-11776	57	40	disturbances	disturbance	NOUN
ajst-11776	57	41	inside	inside	ADP
ajst-11776	57	42	and	and	CCONJ
ajst-11776	57	43	outside	outside	ADP
ajst-11776	57	44	the	the	DET
ajst-11776	57	45	system	system	NOUN
ajst-11776	57	46	as	as	ADP
ajst-11776	57	47	the	the	DET
ajst-11776	57	48	state	state	NOUN
ajst-11776	57	49	quantities	quantity	NOUN
ajst-11776	57	50	for	for	ADP
ajst-11776	57	51	the	the	DET
ajst-11776	57	52	observation	observation	NOUN
ajst-11776	57	53	and	and	CCONJ
ajst-11776	57	54	estimation	estimation	NOUN
ajst-11776	57	55	by	by	ADP
ajst-11776	57	56	the	the	DET
ajst-11776	57	57	expansion	expansion	NOUN
ajst-11776	57	58	observer	observer	NOUN
ajst-11776	57	59	(	(	PUNCT
ajst-11776	57	60	eso	eso	NOUN
ajst-11776	57	61	)	)	PUNCT
ajst-11776	57	62	,	,	PUNCT
ajst-11776	57	63	and	and	CCONJ
ajst-11776	57	64	to	to	PART
ajst-11776	57	65	obtain	obtain	VERB
ajst-11776	57	66	the	the	DET
ajst-11776	57	67	final	final	ADJ
ajst-11776	57	68	output	output	NOUN
ajst-11776	57	69	quantity	quantity	NOUN
ajst-11776	57	70	through	through	ADP
ajst-11776	57	71	the	the	DET
ajst-11776	57	72	nonlinear	nonlinear	ADJ
ajst-11776	57	73	feedback	feedback	NOUN
ajst-11776	57	74	law	law	NOUN
ajst-11776	57	75	of	of	ADP
ajst-11776	57	76	nonlinear	nonlinear	ADJ
ajst-11776	57	77	error	error	NOUN
ajst-11776	57	78	(	(	PUNCT
ajst-11776	57	79	nlsef	nlsef	NOUN
ajst-11776	57	80	)	)	PUNCT
ajst-11776	57	81	by	by	ADP
ajst-11776	57	82	nonlinearly	nonlinearly	ADV
ajst-11776	57	83	feeding	feed	VERB
ajst-11776	57	84	back	back	ADP
ajst-11776	57	85	the	the	DET
ajst-11776	57	86	errors	error	NOUN
ajst-11776	57	87	of	of	ADP
ajst-11776	57	88	the	the	DET
ajst-11776	57	89	first	first	ADJ
ajst-11776	57	90	two	two	NUM
ajst-11776	57	91	phases	phase	NOUN
ajst-11776	57	92	.	.	PUNCT
ajst-11776	58	1	the	the	DET
ajst-11776	58	2	structure	structure	NOUN
ajst-11776	58	3	is	be	AUX
ajst-11776	58	4	shown	show	VERB
ajst-11776	58	5	in	in	ADP
ajst-11776	58	6	fig	fig	NOUN
ajst-11776	58	7	.	.	PUNCT
ajst-11776	59	1	1	1	X
ajst-11776	59	2	.	.	X
ajst-11776	59	3	figure	figure	NOUN
ajst-11776	59	4	1	1	NUM
ajst-11776	59	5	.	.	PUNCT
ajst-11776	59	6	block	block	NOUN
ajst-11776	59	7	diagram	diagram	NOUN
ajst-11776	59	8	of	of	ADP
ajst-11776	59	9	adrc	adrc	PROPN
ajst-11776	59	10	structure	structure	NOUN
ajst-11776	59	11	the	the	DET
ajst-11776	59	12	td	td	NOUN
ajst-11776	59	13	module	module	NOUN
ajst-11776	59	14	helps	help	VERB
ajst-11776	59	15	in	in	ADP
ajst-11776	59	16	smoothing	smooth	VERB
ajst-11776	59	17	the	the	DET
ajst-11776	59	18	transition	transition	NOUN
ajst-11776	59	19	of	of	ADP
ajst-11776	59	20	the	the	DET
ajst-11776	59	21	input	input	NOUN
ajst-11776	59	22	signal	signal	NOUN
ajst-11776	59	23	v	v	ADP
ajst-11776	59	24	where	where	SCONJ
ajst-11776	59	25	v1	v1	NOUN
ajst-11776	59	26	is	be	AUX
ajst-11776	59	27	used	use	VERB
ajst-11776	59	28	for	for	ADP
ajst-11776	59	29	fast	fast	ADJ
ajst-11776	59	30	tracking	tracking	NOUN
ajst-11776	59	31	of	of	ADP
ajst-11776	59	32	the	the	DET
ajst-11776	59	33	input	input	NOUN
ajst-11776	59	34	signal	signal	NOUN
ajst-11776	59	35	and	and	CCONJ
ajst-11776	59	36	v2	v2	PROPN
ajst-11776	59	37	is	be	AUX
ajst-11776	59	38	the	the	DET
ajst-11776	59	39	differential	differential	ADJ
ajst-11776	59	40	signal	signal	NOUN
ajst-11776	59	41	of	of	ADP
ajst-11776	59	42	the	the	DET
ajst-11776	59	43	input	input	NOUN
ajst-11776	59	44	signal	signal	NOUN
ajst-11776	59	45	.	.	PUNCT
ajst-11776	60	1	the	the	DET
ajst-11776	60	2	eso	eso	NOUN
ajst-11776	60	3	module	module	NOUN
ajst-11776	60	4	is	be	AUX
ajst-11776	60	5	capable	capable	ADJ
ajst-11776	60	6	of	of	ADP
ajst-11776	60	7	observing	observe	VERB
ajst-11776	60	8	the	the	DET
ajst-11776	60	9	state	state	NOUN
ajst-11776	60	10	variables	variable	NOUN
ajst-11776	60	11	of	of	ADP
ajst-11776	60	12	the	the	DET
ajst-11776	60	13	system	system	NOUN
ajst-11776	60	14	where	where	SCONJ
ajst-11776	60	15	z1	z1	NOUN
ajst-11776	60	16	is	be	AUX
ajst-11776	60	17	the	the	DET
ajst-11776	60	18	tracking	tracking	NOUN
ajst-11776	60	19	signal	signal	NOUN
ajst-11776	60	20	of	of	ADP
ajst-11776	60	21	the	the	DET
ajst-11776	60	22	output	output	NOUN
ajst-11776	60	23	y	y	PROPN
ajst-11776	60	24	,	,	PUNCT
ajst-11776	60	25	z2	z2	PROPN
ajst-11776	60	26	is	be	AUX
ajst-11776	60	27	the	the	DET
ajst-11776	60	28	approximate	approximate	ADJ
ajst-11776	60	29	differential	differential	NOUN
ajst-11776	60	30	of	of	ADP
ajst-11776	60	31	the	the	DET
ajst-11776	60	32	output	output	NOUN
ajst-11776	60	33	y	y	PROPN
ajst-11776	60	34	and	and	CCONJ
ajst-11776	60	35	z3	z3	PROPN
ajst-11776	60	36	is	be	AUX
ajst-11776	60	37	used	use	VERB
ajst-11776	60	38	for	for	ADP
ajst-11776	60	39	observing	observe	VERB
ajst-11776	60	40	the	the	DET
ajst-11776	60	41	total	total	ADJ
ajst-11776	60	42	system	system	NOUN
ajst-11776	60	43	perturbation	perturbation	NOUN
ajst-11776	60	44	.	.	PUNCT
ajst-11776	61	1	the	the	DET
ajst-11776	61	2	error	error	NOUN
ajst-11776	61	3	signals	signal	NOUN
ajst-11776	61	4	e1	e1	NOUN
ajst-11776	61	5	and	and	CCONJ
ajst-11776	61	6	e2	e2	PROPN
ajst-11776	61	7	,	,	PUNCT
ajst-11776	61	8	which	which	PRON
ajst-11776	61	9	are	be	AUX
ajst-11776	61	10	one	one	NUM
ajst-11776	61	11	of	of	ADP
ajst-11776	61	12	the	the	DET
ajst-11776	61	13	input	input	NOUN
ajst-11776	61	14	signals	signal	NOUN
ajst-11776	61	15	to	to	ADP
ajst-11776	61	16	the	the	DET
ajst-11776	61	17	nlsef	nlsef	PROPN
ajst-11776	61	18	module	module	NOUN
ajst-11776	61	19	,	,	PUNCT
ajst-11776	61	20	are	be	AUX
ajst-11776	61	21	obtained	obtain	VERB
ajst-11776	61	22	by	by	ADP
ajst-11776	61	23	differencing	difference	VERB
ajst-11776	61	24	v1	v1	NOUN
ajst-11776	61	25	,	,	PUNCT
ajst-11776	61	26	v2	v2	PROPN
ajst-11776	61	27	and	and	CCONJ
ajst-11776	61	28	z1	z1	PROPN
ajst-11776	61	29	,	,	PUNCT
ajst-11776	61	30	z2	z2	PROPN
ajst-11776	61	31	respectively	respectively	ADV
ajst-11776	61	32	.	.	PUNCT
ajst-11776	62	1	after	after	SCONJ
ajst-11776	62	2	the	the	DET
ajst-11776	62	3	nlsef	nlsef	PROPN
ajst-11776	62	4	has	have	AUX
ajst-11776	62	5	processed	process	VERB
ajst-11776	62	6	the	the	DET
ajst-11776	62	7	input	input	NOUN
ajst-11776	62	8	error	error	NOUN
ajst-11776	62	9	signals	signal	NOUN
ajst-11776	62	10	,	,	PUNCT
ajst-11776	62	11	the	the	DET
ajst-11776	62	12	output	output	NOUN
ajst-11776	62	13	signal	signal	NOUN
ajst-11776	62	14	u0	u0	PROPN
ajst-11776	62	15	is	be	AUX
ajst-11776	62	16	output	output	NOUN
ajst-11776	62	17	and	and	CCONJ
ajst-11776	62	18	the	the	DET
ajst-11776	62	19	system	system	NOUN
ajst-11776	62	20	is	be	AUX
ajst-11776	62	21	converted	convert	VERB
ajst-11776	62	22	to	to	ADP
ajst-11776	62	23	an	an	DET
ajst-11776	62	24	integrator	integrator	NOUN
ajst-11776	62	25	series	series	NOUN
ajst-11776	62	26	system	system	NOUN
ajst-11776	62	27	.	.	PUNCT
ajst-11776	63	1	td	td	PROPN
ajst-11776	63	2	nlsef	nlsef	ADJ
ajst-11776	63	3	plant	plant	NOUN
ajst-11776	63	4	eso	eso	NOUN
ajst-11776	63	5	1	1	NUM
ajst-11776	63	6	/	/	SYM
ajst-11776	63	7	b0	b0	NOUN
ajst-11776	63	8	b0	b0	NOUN
ajst-11776	63	9	v	v	ADP
ajst-11776	63	10	v1	v1	NOUN
ajst-11776	63	11	v2	v2	NOUN
ajst-11776	63	12	e1	e1	NOUN
ajst-11776	63	13	e2	e2	NOUN
ajst-11776	63	14	u0	u0	PROPN
ajst-11776	63	15	u	u	PROPN
ajst-11776	63	16	z3	z3	PROPN
ajst-11776	63	17	z2	z2	PROPN
ajst-11776	63	18	z1	z1	PROPN
ajst-11776	63	19	y	y	PROPN
ajst-11776	63	20	54	54	NUM
ajst-11776	63	21	for	for	ADP
ajst-11776	63	22	a	a	DET
ajst-11776	63	23	typical	typical	ADJ
ajst-11776	63	24	first	first	ADJ
ajst-11776	63	25	-	-	PUNCT
ajst-11776	63	26	order	order	NOUN
ajst-11776	63	27	system	system	NOUN
ajst-11776	63	28	:	:	PUNCT
ajst-11776	63	29	(	(	PUNCT
ajst-11776	63	30	,	,	PUNCT
ajst-11776	63	31	(	(	PUNCT
ajst-11776	63	32	)	)	PUNCT
ajst-11776	63	33	,	,	PUNCT
ajst-11776	63	34	)	)	PUNCT
ajst-11776	64	1	y	y	PROPN
ajst-11776	64	2	f	f	PROPN
ajst-11776	64	3	y	y	PROPN
ajst-11776	64	4	t	t	PROPN
ajst-11776	64	5	t	t	PROPN
ajst-11776	64	6	buy	buy	VERB
ajst-11776	64	7	f	f	PROPN
ajst-11776	64	8	y	y	PROPN
ajst-11776	64	9	(	(	PUNCT
ajst-11776	64	10	,	,	PUNCT
ajst-11776	64	11	f	f	PROPN
ajst-11776	64	12	(	(	PUNCT
ajst-11776	64	13	,	,	PUNCT
ajst-11776	64	14	(	(	PUNCT
ajst-11776	64	15	6	6	NUM
ajst-11776	64	16	)	)	PUNCT
ajst-11776	64	17	where	where	SCONJ
ajst-11776	64	18	ω(t	ω(t	NOUN
ajst-11776	64	19	)	)	PUNCT
ajst-11776	64	20	is	be	AUX
ajst-11776	64	21	the	the	DET
ajst-11776	64	22	value	value	NOUN
ajst-11776	64	23	of	of	ADP
ajst-11776	64	24	external	external	ADJ
ajst-11776	64	25	disturbance	disturbance	NOUN
ajst-11776	64	26	;	;	PUNCT
ajst-11776	64	27	f	f	PROPN
ajst-11776	64	28	is	be	AUX
ajst-11776	64	29	the	the	DET
ajst-11776	64	30	value	value	NOUN
ajst-11776	64	31	of	of	ADP
ajst-11776	64	32	total	total	ADJ
ajst-11776	64	33	disturbance	disturbance	NOUN
ajst-11776	64	34	;	;	PUNCT
ajst-11776	64	35	u	u	NOUN
ajst-11776	64	36	is	be	AUX
ajst-11776	64	37	the	the	DET
ajst-11776	64	38	control	control	NOUN
ajst-11776	64	39	quantity	quantity	NOUN
ajst-11776	64	40	of	of	ADP
ajst-11776	64	41	the	the	DET
ajst-11776	64	42	system	system	NOUN
ajst-11776	64	43	.	.	PUNCT
ajst-11776	65	1	at	at	ADP
ajst-11776	65	2	this	this	DET
ajst-11776	65	3	point	point	NOUN
ajst-11776	65	4	,	,	PUNCT
ajst-11776	65	5	by	by	ADP
ajst-11776	65	6	making	make	VERB
ajst-11776	65	7	y	y	PROPN
ajst-11776	65	8	=	=	NOUN
ajst-11776	65	9	x	x	PROPN
ajst-11776	65	10	,	,	PUNCT
ajst-11776	65	11	the	the	DET
ajst-11776	65	12	state	state	NOUN
ajst-11776	65	13	equation	equation	NOUN
ajst-11776	65	14	of	of	ADP
ajst-11776	65	15	the	the	DET
ajst-11776	65	16	system	system	NOUN
ajst-11776	65	17	can	can	AUX
ajst-11776	65	18	be	be	AUX
ajst-11776	65	19	obtained	obtain	VERB
ajst-11776	65	20	:	:	PUNCT
ajst-11776	65	21	(	(	PUNCT
ajst-11776	65	22	,	,	PUNCT
ajst-11776	65	23	(	(	PUNCT
ajst-11776	65	24	)	)	PUNCT
ajst-11776	65	25	,	,	PUNCT
ajst-11776	65	26	)	)	PUNCT
ajst-11776	66	1	x	x	SYM
ajst-11776	66	2	f	f	NOUN
ajst-11776	66	3	x	x	SYM
ajst-11776	66	4	t	t	PROPN
ajst-11776	66	5	t	t	X
ajst-11776	66	6	bu	bu	VERB
ajst-11776	66	7	y	y	PROPN
ajst-11776	66	8	x	x	PUNCT
ajst-11776	66	9	x	x	PUNCT
ajst-11776	66	10	f	f	X
ajst-11776	66	11	x	x	X
ajst-11776	66	12	(	(	PUNCT
ajst-11776	66	13	,	,	PUNCT
ajst-11776	66	14	f	f	PROPN
ajst-11776	66	15	(	(	PUNCT
ajst-11776	66	16	,	,	PUNCT
ajst-11776	66	17	(	(	PUNCT
ajst-11776	66	18	7	7	X
ajst-11776	66	19	)	)	PUNCT
ajst-11776	66	20	the	the	DET
ajst-11776	66	21	core	core	NOUN
ajst-11776	66	22	of	of	ADP
ajst-11776	66	23	adrc	adrc	PROPN
ajst-11776	66	24	is	be	AUX
ajst-11776	66	25	to	to	PART
ajst-11776	66	26	utilize	utilize	VERB
ajst-11776	66	27	the	the	DET
ajst-11776	66	28	eso	eso	NOUN
ajst-11776	66	29	module	module	NOUN
ajst-11776	66	30	to	to	PART
ajst-11776	66	31	observe	observe	VERB
ajst-11776	66	32	and	and	CCONJ
ajst-11776	66	33	estimate	estimate	VERB
ajst-11776	66	34	the	the	DET
ajst-11776	66	35	total	total	ADJ
ajst-11776	66	36	disturbance	disturbance	NOUN
ajst-11776	66	37	of	of	ADP
ajst-11776	66	38	the	the	DET
ajst-11776	66	39	system	system	NOUN
ajst-11776	66	40	,	,	PUNCT
ajst-11776	66	41	while	while	SCONJ
ajst-11776	66	42	compensating	compensate	VERB
ajst-11776	66	43	for	for	ADP
ajst-11776	66	44	it	it	PRON
ajst-11776	66	45	by	by	ADP
ajst-11776	66	46	using	use	VERB
ajst-11776	66	47	the	the	DET
ajst-11776	66	48	error	error	NOUN
ajst-11776	66	49	feedback	feedback	NOUN
ajst-11776	66	50	control	control	NOUN
ajst-11776	66	51	law	law	NOUN
ajst-11776	66	52	module	module	NOUN
ajst-11776	66	53	to	to	PART
ajst-11776	66	54	turn	turn	VERB
ajst-11776	66	55	the	the	DET
ajst-11776	66	56	system	system	NOUN
ajst-11776	66	57	into	into	ADP
ajst-11776	66	58	a	a	DET
ajst-11776	66	59	standard	standard	ADJ
ajst-11776	66	60	integrator	integrator	NOUN
ajst-11776	66	61	series	series	NOUN
ajst-11776	66	62	type	type	NOUN
ajst-11776	66	63	system	system	NOUN
ajst-11776	66	64	for	for	ADP
ajst-11776	66	65	simplified	simplified	ADJ
ajst-11776	66	66	control	control	NOUN
ajst-11776	66	67	.	.	PUNCT
ajst-11776	67	1	3.2	3.2	NUM
ajst-11776	67	2	.	.	PUNCT
ajst-11776	68	1	speed	speed	NOUN
ajst-11776	68	2	loop	loop	NOUN
ajst-11776	68	3	adrc	adrc	PROPN
ajst-11776	68	4	design	design	NOUN
ajst-11776	68	5	3.2.1	3.2.1	NUM
ajst-11776	68	6	.	.	PUNCT
ajst-11776	69	1	velocity	velocity	NOUN
ajst-11776	69	2	loop	loop	NOUN
ajst-11776	69	3	td	td	NOUN
ajst-11776	69	4	design	design	NOUN
ajst-11776	69	5	arranging	arrange	VERB
ajst-11776	69	6	the	the	DET
ajst-11776	69	7	transition	transition	NOUN
ajst-11776	69	8	process	process	NOUN
ajst-11776	69	9	for	for	ADP
ajst-11776	69	10	the	the	DET
ajst-11776	69	11	input	input	NOUN
ajst-11776	69	12	speed	speed	NOUN
ajst-11776	69	13	signal	signal	NOUN
ajst-11776	69	14	of	of	ADP
ajst-11776	69	15	the	the	DET
ajst-11776	69	16	bldc	bldc	PROPN
ajst-11776	69	17	control	control	PROPN
ajst-11776	69	18	system	system	NOUN
ajst-11776	69	19	,	,	PUNCT
ajst-11776	69	20	the	the	DET
ajst-11776	69	21	following	following	ADJ
ajst-11776	69	22	mathematical	mathematical	ADJ
ajst-11776	69	23	model	model	NOUN
ajst-11776	69	24	is	be	AUX
ajst-11776	69	25	obtained	obtain	VERB
ajst-11776	69	26	[	[	X
ajst-11776	69	27	15	15	NUM
ajst-11776	69	28	]	]	PUNCT
ajst-11776	69	29	:	:	PUNCT
ajst-11776	69	30	1	1	NUM
ajst-11776	69	31	11	11	NUM
ajst-11776	69	32	11	11	NUM
ajst-11776	69	33	1	1	NUM
ajst-11776	69	34	,	,	PUNCT
ajst-11776	69	35	1	1	NUM
ajst-11776	69	36	1	1	NUM
ajst-11776	69	37	*	*	PUNCT
ajst-11776	69	38	(	(	PUNCT
ajst-11776	69	39	,	,	PUNCT
ajst-11776	69	40	)	)	PUNCT
ajst-11776	70	1	e	e	X
ajst-11776	70	2	z	z	PROPN
ajst-11776	70	3	y	y	PROPN
ajst-11776	70	4	z	z	PROPN
ajst-11776	70	5	rfal	rfal	VERB
ajst-11776	70	6	e11z	e11z	PROPN
ajst-11776	70	7	rfal11	rfal11	NOUN
ajst-11776	70	8	(	(	PUNCT
ajst-11776	70	9	8)	8)	NUM
ajst-11776	70	10	the	the	DET
ajst-11776	70	11	fal	fal	PROPN
ajst-11776	70	12	function	function	NOUN
ajst-11776	70	13	in	in	ADP
ajst-11776	70	14	eq	eq	ADP
ajst-11776	70	15	.	.	PUNCT
ajst-11776	71	1	(	(	PUNCT
ajst-11776	71	2	11	11	NUM
ajst-11776	71	3	)	)	PUNCT
ajst-11776	71	4	is	be	AUX
ajst-11776	71	5	defined	define	VERB
ajst-11776	71	6	as	as	SCONJ
ajst-11776	71	7	follows	follow	VERB
ajst-11776	71	8	:	:	PUNCT
ajst-11776	71	9	(	(	PUNCT
ajst-11776	71	10	)	)	PUNCT
ajst-11776	71	11	(	(	PUNCT
ajst-11776	71	12	,	,	PUNCT
ajst-11776	71	13	)	)	PUNCT
ajst-11776	71	14	e	e	NOUN
ajst-11776	71	15	sign	sign	NOUN
ajst-11776	71	16	e	e	PROPN
ajst-11776	71	17	e	e	X
ajst-11776	71	18	fal	fal	X
ajst-11776	71	19	e	e	X
ajst-11776	71	20	e	e	X
ajst-11776	71	21	e	e	X
ajst-11776	71	22	(	(	PUNCT
ajst-11776	71	23	9	9	NUM
ajst-11776	71	24	)	)	PUNCT
ajst-11776	71	25	in	in	ADP
ajst-11776	71	26	this	this	DET
ajst-11776	71	27	equation	equation	NOUN
ajst-11776	71	28	,	,	PUNCT
ajst-11776	71	29	the	the	DET
ajst-11776	71	30	variable	variable	ADJ
ajst-11776	71	31	r	r	NOUN
ajst-11776	71	32	represents	represent	VERB
ajst-11776	71	33	the	the	DET
ajst-11776	71	34	speed	speed	NOUN
ajst-11776	71	35	of	of	ADP
ajst-11776	71	36	the	the	DET
ajst-11776	71	37	control	control	NOUN
ajst-11776	71	38	tracking	tracking	NOUN
ajst-11776	71	39	signal	signal	NOUN
ajst-11776	71	40	,	,	PUNCT
ajst-11776	71	41	which	which	PRON
ajst-11776	71	42	is	be	AUX
ajst-11776	71	43	proportional	proportional	ADJ
ajst-11776	71	44	to	to	ADP
ajst-11776	71	45	the	the	DET
ajst-11776	71	46	tracking	tracking	NOUN
ajst-11776	71	47	speed	speed	NOUN
ajst-11776	71	48	.	.	PUNCT
ajst-11776	72	1	z11	z11	NOUN
ajst-11776	72	2	is	be	AUX
ajst-11776	72	3	the	the	DET
ajst-11776	72	4	speed	speed	NOUN
ajst-11776	72	5	signal	signal	NOUN
ajst-11776	72	6	after	after	ADP
ajst-11776	72	7	smoothing	smooth	VERB
ajst-11776	72	8	transition	transition	NOUN
ajst-11776	72	9	,	,	PUNCT
ajst-11776	72	10	y	y	PROPN
ajst-11776	72	11	*	*	PROPN
ajst-11776	72	12	is	be	AUX
ajst-11776	72	13	the	the	DET
ajst-11776	72	14	given	give	VERB
ajst-11776	72	15	speed	speed	NOUN
ajst-11776	72	16	signal	signal	NOUN
ajst-11776	72	17	,	,	PUNCT
ajst-11776	72	18	and	and	CCONJ
ajst-11776	72	19	δ1	δ1	NOUN
ajst-11776	72	20	is	be	AUX
ajst-11776	72	21	the	the	DET
ajst-11776	72	22	filtering	filter	VERB
ajst-11776	72	23	factor	factor	NOUN
ajst-11776	72	24	,	,	PUNCT
ajst-11776	72	25	α	α	PROPN
ajst-11776	72	26	is	be	AUX
ajst-11776	72	27	usually	usually	ADV
ajst-11776	72	28	taken	take	VERB
ajst-11776	72	29	as	as	ADP
ajst-11776	72	30	0.5	0.5	NUM
ajst-11776	72	31	or	or	CCONJ
ajst-11776	72	32	0.25	0.25	NUM
ajst-11776	72	33	.	.	PUNCT
ajst-11776	73	1	3.2.2	3.2.2	NUM
ajst-11776	73	2	.	.	PUNCT
ajst-11776	74	1	velocity	velocity	NOUN
ajst-11776	74	2	loop	loop	NOUN
ajst-11776	74	3	eso	eso	NOUN
ajst-11776	74	4	design	design	PROPN
ajst-11776	74	5	mathematical	mathematical	ADJ
ajst-11776	74	6	modeling	modeling	NOUN
ajst-11776	74	7	of	of	ADP
ajst-11776	74	8	eso	eso	NOUN
ajst-11776	74	9	for	for	ADP
ajst-11776	74	10	bldc	bldc	PROPN
ajst-11776	74	11	velocity	velocity	NOUN
ajst-11776	74	12	loops	loop	NOUN
ajst-11776	74	13	[	[	X
ajst-11776	74	14	16	16	NUM
ajst-11776	74	15	]	]	PUNCT
ajst-11776	74	16	for	for	ADP
ajst-11776	74	17	:	:	PUNCT
ajst-11776	74	18	2	2	NUM
ajst-11776	74	19	21	21	NUM
ajst-11776	74	20	21	21	NUM
ajst-11776	74	21	22	22	NUM
ajst-11776	74	22	21	21	NUM
ajst-11776	74	23	2	2	NUM
ajst-11776	74	24	2	2	NUM
ajst-11776	74	25	2	2	NUM
ajst-11776	74	26	22	22	NUM
ajst-11776	74	27	22	22	NUM
ajst-11776	74	28	2	2	NUM
ajst-11776	74	29	3	3	NUM
ajst-11776	74	30	2	2	NUM
ajst-11776	74	31	(	(	PUNCT
ajst-11776	74	32	,	,	PUNCT
ajst-11776	74	33	,	,	PUNCT
ajst-11776	74	34	)	)	PUNCT
ajst-11776	74	35	(	(	PUNCT
ajst-11776	74	36	,	,	PUNCT
ajst-11776	74	37	,	,	PUNCT
ajst-11776	74	38	)	)	PUNCT
ajst-11776	75	1	e	e	X
ajst-11776	75	2	z	z	NOUN
ajst-11776	75	3	y	y	PROPN
ajst-11776	75	4	z	z	NOUN
ajst-11776	75	5	z	z	NOUN
ajst-11776	75	6	fal	fal	PROPN
ajst-11776	75	7	e	e	X
ajst-11776	75	8	bu	bu	PROPN
ajst-11776	75	9	z	z	PROPN
ajst-11776	75	10	fal	fal	PROPN
ajst-11776	75	11	e	e	PROPN
ajst-11776	75	12	21	21	NUM
ajst-11776	75	13	22z	22z	NOUN
ajst-11776	75	14	z21	z21	VERB
ajst-11776	75	15	22zz22	22zz22	NUM
ajst-11776	75	16	22	22	NUM
ajst-11776	75	17	22z	22z	NOUN
ajst-11776	75	18	f22	f22	ADJ
ajst-11776	75	19	f22	f22	NOUN
ajst-11776	75	20	(	(	PUNCT
ajst-11776	75	21	10	10	NUM
ajst-11776	75	22	)	)	PUNCT
ajst-11776	75	23	in	in	ADP
ajst-11776	75	24	this	this	DET
ajst-11776	75	25	equation	equation	NOUN
ajst-11776	75	26	,	,	PUNCT
ajst-11776	75	27	z21	z21	NOUN
ajst-11776	75	28	represents	represent	VERB
ajst-11776	75	29	the	the	DET
ajst-11776	75	30	observed	observed	ADJ
ajst-11776	75	31	value	value	NOUN
ajst-11776	75	32	of	of	ADP
ajst-11776	75	33	the	the	DET
ajst-11776	75	34	actual	actual	ADJ
ajst-11776	75	35	output	output	NOUN
ajst-11776	75	36	y	y	PROPN
ajst-11776	75	37	,	,	PUNCT
ajst-11776	75	38	z22	z22	NOUN
ajst-11776	75	39	is	be	AUX
ajst-11776	75	40	an	an	DET
ajst-11776	75	41	estimate	estimate	NOUN
ajst-11776	75	42	of	of	ADP
ajst-11776	75	43	the	the	DET
ajst-11776	75	44	total	total	ADJ
ajst-11776	75	45	system	system	NOUN
ajst-11776	75	46	perturbation	perturbation	NOUN
ajst-11776	75	47	,	,	PUNCT
ajst-11776	75	48	and	and	CCONJ
ajst-11776	75	49	the	the	DET
ajst-11776	75	50	filtering	filter	VERB
ajst-11776	75	51	factor	factor	NOUN
ajst-11776	75	52	δ3	δ3	PROPN
ajst-11776	75	53	.	.	PUNCT
ajst-11776	76	1	the	the	DET
ajst-11776	76	2	parameters	parameter	NOUN
ajst-11776	76	3	to	to	PART
ajst-11776	76	4	be	be	AUX
ajst-11776	76	5	adjusted	adjust	VERB
ajst-11776	76	6	are	be	AUX
ajst-11776	76	7	β21	β21	ADJ
ajst-11776	76	8	and	and	CCONJ
ajst-11776	76	9	β22	β22	NOUN
ajst-11776	76	10	,	,	PUNCT
ajst-11776	76	11	and	and	CCONJ
ajst-11776	76	12	e2	e2	PROPN
ajst-11776	76	13	is	be	AUX
ajst-11776	76	14	the	the	DET
ajst-11776	76	15	value	value	NOUN
ajst-11776	76	16	of	of	ADP
ajst-11776	76	17	the	the	DET
ajst-11776	76	18	error	error	NOUN
ajst-11776	76	19	between	between	ADP
ajst-11776	76	20	the	the	DET
ajst-11776	76	21	observed	observe	VERB
ajst-11776	76	22	value	value	NOUN
ajst-11776	76	23	z21	z21	NOUN
ajst-11776	76	24	and	and	CCONJ
ajst-11776	76	25	the	the	DET
ajst-11776	76	26	actual	actual	ADJ
ajst-11776	76	27	output	output	NOUN
ajst-11776	76	28	signal	signal	NOUN
ajst-11776	76	29	y.	y.	PROPN
ajst-11776	76	30	the	the	DET
ajst-11776	76	31	filtering	filter	VERB
ajst-11776	76	32	factor	factor	NOUN
ajst-11776	76	33	δ	δ	PROPN
ajst-11776	76	34	is	be	AUX
ajst-11776	76	35	a	a	DET
ajst-11776	76	36	parameter	parameter	NOUN
ajst-11776	76	37	of	of	ADP
ajst-11776	76	38	β	β	PROPN
ajst-11776	76	39	and	and	CCONJ
ajst-11776	76	40	β	β	X
ajst-11776	76	41	.	.	PUNCT
ajst-11776	77	1	3.2.3	3.2.3	X
ajst-11776	77	2	.	.	X
ajst-11776	77	3	velocity	velocity	PROPN
ajst-11776	77	4	loop	loop	PROPN
ajst-11776	77	5	nlsef	nlsef	PROPN
ajst-11776	77	6	design	design	VERB
ajst-11776	77	7	the	the	DET
ajst-11776	77	8	nlsef	nlsef	PROPN
ajst-11776	77	9	mathematical	mathematical	ADJ
ajst-11776	77	10	model	model	NOUN
ajst-11776	77	11	of	of	ADP
ajst-11776	77	12	bldc	bldc	PROPN
ajst-11776	77	13	speed	speed	PROPN
ajst-11776	77	14	loop	loop	NOUN
ajst-11776	77	15	is	be	AUX
ajst-11776	77	16	designed	design	VERB
ajst-11776	77	17	as	as	SCONJ
ajst-11776	77	18	follows	follow	VERB
ajst-11776	77	19	:	:	PUNCT
ajst-11776	77	20	3	3	NUM
ajst-11776	77	21	11	11	NUM
ajst-11776	77	22	21	21	NUM
ajst-11776	77	23	0	0	NUM
ajst-11776	77	24	33	33	NUM
ajst-11776	77	25	3	3	NUM
ajst-11776	77	26	4	4	NUM
ajst-11776	77	27	3	3	NUM
ajst-11776	77	28	22	22	NUM
ajst-11776	77	29	0	0	NUM
ajst-11776	77	30	(	(	PUNCT
ajst-11776	77	31	,	,	PUNCT
ajst-11776	77	32	,	,	PUNCT
ajst-11776	77	33	)	)	PUNCT
ajst-11776	77	34	e	e	X
ajst-11776	77	35	z	z	NOUN
ajst-11776	77	36	z	z	NOUN
ajst-11776	77	37	u	u	NOUN
ajst-11776	77	38	fal	fal	X
ajst-11776	77	39	e	e	X
ajst-11776	77	40	zu	zu	NOUN
ajst-11776	77	41	u	u	PROPN
ajst-11776	77	42	b	b	PROPN
ajst-11776	77	43	(	(	PUNCT
ajst-11776	77	44	11	11	NUM
ajst-11776	77	45	)	)	PUNCT
ajst-11776	77	46	in	in	ADP
ajst-11776	77	47	this	this	DET
ajst-11776	77	48	equation	equation	NOUN
ajst-11776	77	49	,	,	PUNCT
ajst-11776	77	50	e3	e3	NOUN
ajst-11776	77	51	represents	represent	VERB
ajst-11776	77	52	the	the	DET
ajst-11776	77	53	error	error	NOUN
ajst-11776	77	54	between	between	ADP
ajst-11776	77	55	the	the	DET
ajst-11776	77	56	velocity	velocity	NOUN
ajst-11776	77	57	signal	signal	NOUN
ajst-11776	77	58	z11	z11	PROPN
ajst-11776	77	59	after	after	ADP
ajst-11776	77	60	arranging	arrange	VERB
ajst-11776	77	61	the	the	DET
ajst-11776	77	62	transition	transition	NOUN
ajst-11776	77	63	process	process	NOUN
ajst-11776	77	64	and	and	CCONJ
ajst-11776	77	65	the	the	DET
ajst-11776	77	66	observed	observe	VERB
ajst-11776	77	67	value	value	NOUN
ajst-11776	77	68	z21	z21	NOUN
ajst-11776	77	69	of	of	ADP
ajst-11776	77	70	the	the	DET
ajst-11776	77	71	actual	actual	ADJ
ajst-11776	77	72	output	output	NOUN
ajst-11776	77	73	y	y	PROPN
ajst-11776	77	74	,	,	PUNCT
ajst-11776	77	75	while	while	SCONJ
ajst-11776	77	76	-z22	-z22	PRON
ajst-11776	77	77	/b	/b	PRON
ajst-11776	77	78	denotes	denote	VERB
ajst-11776	77	79	the	the	DET
ajst-11776	77	80	component	component	NOUN
ajst-11776	77	81	of	of	ADP
ajst-11776	77	82	the	the	DET
ajst-11776	77	83	compensating	compensating	NOUN
ajst-11776	77	84	perturbation	perturbation	NOUN
ajst-11776	77	85	.	.	PUNCT
ajst-11776	78	1	from	from	ADP
ajst-11776	78	2	eqs	eqs	PROPN
ajst-11776	78	3	.	.	PUNCT
ajst-11776	79	1	(	(	PUNCT
ajst-11776	79	2	3	3	X
ajst-11776	79	3	)	)	PUNCT
ajst-11776	79	4	and	and	CCONJ
ajst-11776	79	5	(	(	PUNCT
ajst-11776	79	6	5	5	NUM
ajst-11776	79	7	)	)	PUNCT
ajst-11776	79	8	,	,	PUNCT
ajst-11776	79	9	we	we	PRON
ajst-11776	79	10	have	have	VERB
ajst-11776	79	11	that	that	PRON
ajst-11776	79	12	under	under	ADP
ajst-11776	79	13	the	the	DET
ajst-11776	79	14	control	control	NOUN
ajst-11776	79	15	strategy	strategy	NOUN
ajst-11776	79	16	of	of	ADP
ajst-11776	79	17	i	i	PROPN
ajst-11776	79	18	d	d	PROPN
ajst-11776	79	19	=	=	PROPN
ajst-11776	79	20	0	0	NUM
ajst-11776	79	21	:	:	PUNCT
ajst-11776	79	22	1.5	1.5	NUM
ajst-11776	79	23	1	1	NUM
ajst-11776	79	24	11.5	11.5	NUM
ajst-11776	79	25	(	(	PUNCT
ajst-11776	79	26	)	)	PUNCT
ajst-11776	80	1	n	n	PROPN
ajst-11776	80	2	f	f	NOUN
ajst-11776	80	3	q	q	PUNCT
ajst-11776	80	4	l	l	NOUN
ajst-11776	80	5	mm	mm	INTJ
ajst-11776	81	1	n	n	CCONJ
ajst-11776	81	2	q	q	PROPN
ajst-11776	81	3	f	f	NOUN
ajst-11776	81	4	m	m	VERB
ajst-11776	81	5	l	l	NOUN
ajst-11776	82	1	p	p	X
ajst-11776	83	1	i	i	PRON
ajst-11776	83	2	t	t	X
ajst-11776	83	3	bd	bd	PROPN
ajst-11776	83	4	dt	dt	PROPN
ajst-11776	84	1	j	j	PROPN
ajst-11776	84	2	p	p	X
ajst-11776	85	1	i	i	PROPN
ajst-11776	85	2	b	b	PROPN
ajst-11776	85	3	t	t	PROPN
ajst-11776	85	4	j	j	PROPN
ajst-11776	85	5	j	j	PROPN
ajst-11776	85	6	(	(	PUNCT
ajst-11776	85	7	12	12	NUM
ajst-11776	85	8	)	)	PUNCT
ajst-11776	85	9	from	from	ADP
ajst-11776	85	10	the	the	DET
ajst-11776	85	11	equation	equation	NOUN
ajst-11776	85	12	(	(	PUNCT
ajst-11776	85	13	12	12	NUM
ajst-11776	85	14	)	)	PUNCT
ajst-11776	85	15	it	it	PRON
ajst-11776	85	16	can	can	AUX
ajst-11776	85	17	be	be	AUX
ajst-11776	85	18	seen	see	VERB
ajst-11776	85	19	that	that	SCONJ
ajst-11776	85	20	iq	iq	INTJ
ajst-11776	85	21	,	,	PUNCT
ajst-11776	85	22	tl	tl	PROPN
ajst-11776	85	23	,	,	PUNCT
ajst-11776	85	24	ωe	ωe	ADV
ajst-11776	85	25	and	and	CCONJ
ajst-11776	85	26	other	other	ADJ
ajst-11776	85	27	factors	factor	NOUN
ajst-11776	85	28	have	have	VERB
ajst-11776	85	29	influence	influence	NOUN
ajst-11776	85	30	on	on	ADP
ajst-11776	85	31	the	the	DET
ajst-11776	85	32	motor	motor	NOUN
ajst-11776	85	33	speed	speed	NOUN
ajst-11776	85	34	.	.	PUNCT
ajst-11776	86	1	taking	take	VERB
ajst-11776	86	2	iq	iq	NOUN
ajst-11776	86	3	as	as	SCONJ
ajst-11776	86	4	the	the	DET
ajst-11776	86	5	variable	variable	NOUN
ajst-11776	86	6	to	to	PART
ajst-11776	86	7	be	be	AUX
ajst-11776	86	8	controlled	control	VERB
ajst-11776	86	9	,	,	PUNCT
ajst-11776	86	10	the	the	DET
ajst-11776	86	11	other	other	ADJ
ajst-11776	86	12	factors	factor	NOUN
ajst-11776	86	13	can	can	AUX
ajst-11776	86	14	be	be	AUX
ajst-11776	86	15	regarded	regard	VERB
ajst-11776	86	16	as	as	ADP
ajst-11776	86	17	the	the	DET
ajst-11776	86	18	total	total	ADJ
ajst-11776	86	19	perturbation	perturbation	NOUN
ajst-11776	86	20	,	,	PUNCT
ajst-11776	86	21	then	then	ADV
ajst-11776	86	22	the	the	DET
ajst-11776	86	23	total	total	ADJ
ajst-11776	86	24	perturbation	perturbation	NOUN
ajst-11776	86	25	is	be	AUX
ajst-11776	86	26	:	:	PUNCT
ajst-11776	86	27	1	1	NUM
ajst-11776	86	28	(	(	PUNCT
ajst-11776	86	29	)	)	PUNCT
ajst-11776	86	30	(	(	PUNCT
ajst-11776	86	31	)	)	PUNCT
ajst-11776	86	32	m	m	VERB
ajst-11776	86	33	la	la	PROPN
ajst-11776	86	34	t	t	PROPN
ajst-11776	86	35	b	b	PROPN
ajst-11776	86	36	t	t	PROPN
ajst-11776	86	37	j	j	PROPN
ajst-11776	86	38	(	(	PUNCT
ajst-11776	86	39	13	13	NUM
ajst-11776	86	40	)	)	PUNCT
ajst-11776	86	41	then	then	ADV
ajst-11776	86	42	equation	equation	NOUN
ajst-11776	86	43	(	(	PUNCT
ajst-11776	86	44	6	6	NUM
ajst-11776	86	45	)	)	PUNCT
ajst-11776	86	46	can	can	AUX
ajst-11776	86	47	be	be	AUX
ajst-11776	86	48	rewritten	rewrite	VERB
ajst-11776	86	49	as	as	ADP
ajst-11776	86	50	:	:	PUNCT
ajst-11776	86	51	1	1	NUM
ajst-11776	86	52	1.5	1.5	NUM
ajst-11776	86	53	(	(	PUNCT
ajst-11776	86	54	)	)	PUNCT
ajst-11776	86	55	m	m	VERB
ajst-11776	86	56	n	n	ADP
ajst-11776	86	57	f	f	NOUN
ajst-11776	86	58	q	q	PROPN
ajst-11776	87	1	d	d	X
ajst-11776	87	2	p	p	X
ajst-11776	88	1	i	i	PRON
ajst-11776	88	2	a	a	PROPN
ajst-11776	88	3	t	t	X
ajst-11776	89	1	dt	dt	X
ajst-11776	89	2	j	j	PROPN
ajst-11776	89	3	(	(	PUNCT
ajst-11776	89	4	14	14	NUM
ajst-11776	89	5	)	)	PUNCT
ajst-11776	89	6	according	accord	VERB
ajst-11776	89	7	to	to	ADP
ajst-11776	89	8	section	section	NOUN
ajst-11776	89	9	2.1	2.1	NUM
ajst-11776	89	10	,	,	PUNCT
ajst-11776	89	11	the	the	DET
ajst-11776	89	12	current	current	ADJ
ajst-11776	89	13	iq	iq	NOUN
ajst-11776	89	14	is	be	AUX
ajst-11776	89	15	used	use	VERB
ajst-11776	89	16	as	as	ADP
ajst-11776	89	17	the	the	DET
ajst-11776	89	18	control	control	NOUN
ajst-11776	89	19	quantity	quantity	NOUN
ajst-11776	89	20	and	and	CCONJ
ajst-11776	89	21	the	the	DET
ajst-11776	89	22	given	give	VERB
ajst-11776	89	23	signal	signal	NOUN
ajst-11776	89	24	ωm	ωm	NOUN
ajst-11776	89	25	*	*	PUNCT
ajst-11776	89	26	and	and	CCONJ
ajst-11776	89	27	the	the	DET
ajst-11776	89	28	actual	actual	ADJ
ajst-11776	89	29	rotational	rotational	ADJ
ajst-11776	89	30	speed	speed	NOUN
ajst-11776	89	31	are	be	AUX
ajst-11776	89	32	used	use	VERB
ajst-11776	89	33	as	as	ADP
ajst-11776	89	34	inputs	input	NOUN
ajst-11776	89	35	to	to	ADP
ajst-11776	89	36	the	the	DET
ajst-11776	89	37	adrc	adrc	ADJ
ajst-11776	89	38	controller	controller	NOUN
ajst-11776	89	39	,	,	PUNCT
ajst-11776	89	40	then	then	ADV
ajst-11776	89	41	the	the	DET
ajst-11776	89	42	bldcm	bldcm	ADJ
ajst-11776	89	43	speed	speed	NOUN
ajst-11776	89	44	loop	loop	NOUN
ajst-11776	89	45	can	can	AUX
ajst-11776	89	46	be	be	AUX
ajst-11776	89	47	regarded	regard	VERB
ajst-11776	89	48	as	as	ADP
ajst-11776	89	49	a	a	DET
ajst-11776	89	50	first	first	ADJ
ajst-11776	89	51	-	-	PUNCT
ajst-11776	89	52	order	order	NOUN
ajst-11776	89	53	system	system	NOUN
ajst-11776	89	54	.	.	PUNCT
ajst-11776	90	1	4	4	X
ajst-11776	90	2	.	.	X
ajst-11776	90	3	simulation	simulation	NOUN
ajst-11776	90	4	study	study	NOUN
ajst-11776	90	5	and	and	CCONJ
ajst-11776	90	6	result	result	VERB
ajst-11776	90	7	analysis	analysis	NOUN
ajst-11776	90	8	this	this	DET
ajst-11776	90	9	chapter	chapter	NOUN
ajst-11776	90	10	will	will	AUX
ajst-11776	90	11	compare	compare	VERB
ajst-11776	90	12	the	the	DET
ajst-11776	90	13	performance	performance	NOUN
ajst-11776	90	14	of	of	ADP
ajst-11776	90	15	the	the	DET
ajst-11776	90	16	speed	speed	NOUN
ajst-11776	90	17	loop	loop	NOUN
ajst-11776	90	18	of	of	ADP
ajst-11776	90	19	the	the	DET
ajst-11776	90	20	brushless	brushless	NOUN
ajst-11776	90	21	dc	dc	PROPN
ajst-11776	90	22	motor	motor	NOUN
ajst-11776	90	23	control	control	NOUN
ajst-11776	90	24	system	system	NOUN
ajst-11776	90	25	under	under	ADP
ajst-11776	90	26	the	the	DET
ajst-11776	90	27	selfimmobilizing	selfimmobilize	VERB
ajst-11776	90	28	controller	controller	NOUN
ajst-11776	90	29	and	and	CCONJ
ajst-11776	90	30	the	the	DET
ajst-11776	90	31	pi	pi	NOUN
ajst-11776	90	32	controller	controller	NOUN
ajst-11776	90	33	,	,	PUNCT
ajst-11776	90	34	including	include	VERB
ajst-11776	90	35	motor	motor	NOUN
ajst-11776	90	36	performance	performance	NOUN
ajst-11776	90	37	indexes	index	NOUN
ajst-11776	90	38	such	such	ADJ
ajst-11776	90	39	as	as	ADP
ajst-11776	90	40	rated	rate	VERB
ajst-11776	90	41	speed	speed	NOUN
ajst-11776	90	42	response	response	NOUN
ajst-11776	90	43	,	,	PUNCT
ajst-11776	90	44	loaddisturbed	loaddisturbe	VERB
ajst-11776	90	45	speed	speed	NOUN
ajst-11776	90	46	response	response	NOUN
ajst-11776	90	47	,	,	PUNCT
ajst-11776	90	48	and	and	CCONJ
ajst-11776	90	49	response	response	NOUN
ajst-11776	90	50	robustness	robustness	NOUN
ajst-11776	90	51	under	under	ADP
ajst-11776	90	52	different	different	ADJ
ajst-11776	90	53	speed	speed	NOUN
ajst-11776	90	54	settings	setting	NOUN
ajst-11776	90	55	.	.	PUNCT
ajst-11776	91	1	the	the	DET
ajst-11776	91	2	effectiveness	effectiveness	NOUN
ajst-11776	91	3	and	and	CCONJ
ajst-11776	91	4	feasibility	feasibility	NOUN
ajst-11776	91	5	of	of	ADP
ajst-11776	91	6	the	the	DET
ajst-11776	91	7	self	self	NOUN
ajst-11776	91	8	-	-	PUNCT
ajst-11776	91	9	immobilizing	immobilize	VERB
ajst-11776	91	10	controller	controller	NOUN
ajst-11776	91	11	for	for	ADP
ajst-11776	91	12	improving	improve	VERB
ajst-11776	91	13	the	the	DET
ajst-11776	91	14	performance	performance	NOUN
ajst-11776	91	15	of	of	ADP
ajst-11776	91	16	the	the	DET
ajst-11776	91	17	brushless	brushless	NOUN
ajst-11776	91	18	dc	dc	PROPN
ajst-11776	91	19	motor	motor	PROPN
ajst-11776	91	20	control	control	NOUN
ajst-11776	91	21	system	system	NOUN
ajst-11776	91	22	will	will	AUX
ajst-11776	91	23	be	be	AUX
ajst-11776	91	24	verified	verify	VERB
ajst-11776	91	25	through	through	ADP
ajst-11776	91	26	comparative	comparative	ADJ
ajst-11776	91	27	analysis	analysis	NOUN
ajst-11776	91	28	.	.	PUNCT
ajst-11776	92	1	4.1	4.1	NUM
ajst-11776	92	2	.	.	PUNCT
ajst-11776	92	3	simulink	simulink	NOUN
ajst-11776	92	4	model	model	NOUN
ajst-11776	92	5	construction	construction	NOUN
ajst-11776	92	6	the	the	DET
ajst-11776	92	7	model	model	NOUN
ajst-11776	92	8	is	be	AUX
ajst-11776	92	9	built	build	VERB
ajst-11776	92	10	by	by	ADP
ajst-11776	92	11	matlab	matlab	PROPN
ajst-11776	92	12	/	/	SYM
ajst-11776	92	13	simulink	simulink	NOUN
ajst-11776	92	14	to	to	PART
ajst-11776	92	15	verify	verify	VERB
ajst-11776	92	16	the	the	DET
ajst-11776	92	17	validity	validity	NOUN
ajst-11776	92	18	and	and	CCONJ
ajst-11776	92	19	reliability	reliability	NOUN
ajst-11776	92	20	of	of	ADP
ajst-11776	92	21	the	the	DET
ajst-11776	92	22	self	self	NOUN
ajst-11776	92	23	-	-	PUNCT
ajst-11776	92	24	immunity	immunity	NOUN
ajst-11776	92	25	controller	controller	NOUN
ajst-11776	92	26	.	.	PUNCT
ajst-11776	93	1	the	the	DET
ajst-11776	93	2	basic	basic	ADJ
ajst-11776	93	3	block	block	NOUN
ajst-11776	93	4	diagram	diagram	NOUN
ajst-11776	93	5	is	be	AUX
ajst-11776	93	6	shown	show	VERB
ajst-11776	93	7	in	in	ADP
ajst-11776	93	8	fig	fig	NOUN
ajst-11776	93	9	.	.	PUNCT
ajst-11776	94	1	2	2	NUM
ajst-11776	94	2	and	and	CCONJ
ajst-11776	94	3	fig	fig	NOUN
ajst-11776	94	4	.	.	PUNCT
ajst-11776	95	1	3	3	NUM
ajst-11776	95	2	55	55	NUM
ajst-11776	95	3	figure	figure	NOUN
ajst-11776	95	4	2	2	NUM
ajst-11776	95	5	.	.	PUNCT
ajst-11776	95	6	block	block	NOUN
ajst-11776	95	7	diagram	diagram	NOUN
ajst-11776	95	8	of	of	ADP
ajst-11776	95	9	brushless	brushless	PROPN
ajst-11776	95	10	dc	dc	PROPN
ajst-11776	95	11	motor	motor	PROPN
ajst-11776	95	12	control	control	NOUN
ajst-11776	95	13	system	system	NOUN
ajst-11776	95	14	based	base	VERB
ajst-11776	95	15	on	on	ADP
ajst-11776	95	16	self	self	NOUN
ajst-11776	95	17	-	-	PUNCT
ajst-11776	95	18	immunity	immunity	NOUN
ajst-11776	95	19	control	control	NOUN
ajst-11776	95	20	figure	figure	NOUN
ajst-11776	95	21	3	3	NUM
ajst-11776	95	22	.	.	PUNCT
ajst-11776	95	23	simulation	simulation	NOUN
ajst-11776	95	24	diagram	diagram	NOUN
ajst-11776	95	25	of	of	ADP
ajst-11776	95	26	self	self	NOUN
ajst-11776	95	27	-	-	PUNCT
ajst-11776	95	28	immunity	immunity	NOUN
ajst-11776	95	29	controller	controller	NOUN
ajst-11776	95	30	the	the	DET
ajst-11776	95	31	parameters	parameter	NOUN
ajst-11776	95	32	of	of	ADP
ajst-11776	95	33	the	the	DET
ajst-11776	95	34	brushless	brushless	PROPN
ajst-11776	95	35	dc	dc	PROPN
ajst-11776	95	36	motor	motor	NOUN
ajst-11776	95	37	in	in	ADP
ajst-11776	95	38	the	the	DET
ajst-11776	95	39	simulation	simulation	NOUN
ajst-11776	95	40	are	be	AUX
ajst-11776	95	41	as	as	SCONJ
ajst-11776	95	42	follows	follow	VERB
ajst-11776	95	43	:	:	PUNCT
ajst-11776	95	44	the	the	DET
ajst-11776	95	45	number	number	NOUN
ajst-11776	95	46	of	of	ADP
ajst-11776	95	47	pole	pole	NOUN
ajst-11776	95	48	pairs	pair	NOUN
ajst-11776	95	49	pn	pn	NOUN
ajst-11776	95	50	=	=	NOUN
ajst-11776	95	51	4	4	NUM
ajst-11776	95	52	;	;	PUNCT
ajst-11776	95	53	stator	stator	NOUN
ajst-11776	95	54	inductance	inductance	NOUN
ajst-11776	95	55	ls	ls	PROPN
ajst-11776	95	56	=	=	PROPN
ajst-11776	95	57	8.5	8.5	NUM
ajst-11776	95	58	mh	mh	PROPN
ajst-11776	95	59	,	,	PUNCT
ajst-11776	95	60	stator	stator	NOUN
ajst-11776	95	61	resistance	resistance	NOUN
ajst-11776	95	62	rs	rs	NOUN
ajst-11776	95	63	=	=	SYM
ajst-11776	95	64	0.96	0.96	NUM
ajst-11776	95	65	ω	ω	NOUN
ajst-11776	95	66	,	,	PUNCT
ajst-11776	95	67	permanent	permanent	ADJ
ajst-11776	95	68	magnet	magnet	NOUN
ajst-11776	95	69	chain	chain	NOUN
ajst-11776	95	70	ψf	ψf	NOUN
ajst-11776	95	71	=	=	PUNCT
ajst-11776	95	72	0.183	0.183	NUM
ajst-11776	95	73	wb	wb	NOUN
ajst-11776	95	74	,	,	PUNCT
ajst-11776	95	75	rotational	rotational	ADJ
ajst-11776	95	76	moment	moment	NOUN
ajst-11776	95	77	of	of	ADP
ajst-11776	95	78	inertia	inertia	NOUN
ajst-11776	95	79	j	j	PROPN
ajst-11776	95	80	=	=	SYM
ajst-11776	95	81	0.003	0.003	NUM
ajst-11776	95	82	kgm2	kgm2	ADJ
ajst-11776	95	83	,	,	PUNCT
ajst-11776	95	84	hysteresis	hysteresis	NOUN
ajst-11776	95	85	coefficient	coefficient	NOUN
ajst-11776	95	86	b	b	X
ajst-11776	95	87	=	=	SYM
ajst-11776	95	88	0.008	0.008	NUM
ajst-11776	95	89	n	n	PRON
ajst-11776	95	90	m2	m2	PROPN
ajst-11776	95	91	,	,	PUNCT
ajst-11776	95	92	rated	rate	VERB
ajst-11776	95	93	speed	speed	NOUN
ajst-11776	95	94	of	of	ADP
ajst-11776	95	95	1000	1000	NUM
ajst-11776	95	96	r	r	NOUN
ajst-11776	95	97	/	/	SYM
ajst-11776	95	98	min	min	NOUN
ajst-11776	95	99	,	,	PUNCT
ajst-11776	95	100	and	and	CCONJ
ajst-11776	95	101	rated	rate	VERB
ajst-11776	95	102	voltage	voltage	NOUN
ajst-11776	95	103	of	of	ADP
ajst-11776	95	104	311v	311v	NUM
ajst-11776	95	105	.	.	PUNCT
ajst-11776	96	1	4.2	4.2	NUM
ajst-11776	96	2	.	.	PUNCT
ajst-11776	97	1	simulation	simulation	NOUN
ajst-11776	97	2	results	result	NOUN
ajst-11776	97	3	and	and	CCONJ
ajst-11776	97	4	analysis	analysis	NOUN
ajst-11776	97	5	4.2.1	4.2.1	NUM
ajst-11776	97	6	.	.	PUNCT
ajst-11776	97	7	rated	rate	VERB
ajst-11776	97	8	speed	speed	NOUN
ajst-11776	97	9	response	response	NOUN
ajst-11776	97	10	figure	figure	NOUN
ajst-11776	97	11	4	4	NUM
ajst-11776	97	12	.	.	PUNCT
ajst-11776	97	13	motor	motor	NOUN
ajst-11776	97	14	speed	speed	NOUN
ajst-11776	97	15	response	response	NOUN
ajst-11776	97	16	waveform	waveform	VERB
ajst-11776	97	17	at	at	ADP
ajst-11776	97	18	rated	rate	VERB
ajst-11776	97	19	speed	speed	NOUN
ajst-11776	97	20	a	a	DET
ajst-11776	97	21	comparison	comparison	NOUN
ajst-11776	97	22	of	of	ADP
ajst-11776	97	23	the	the	DET
ajst-11776	97	24	simulated	simulate	VERB
ajst-11776	97	25	waveforms	waveform	NOUN
ajst-11776	97	26	of	of	ADP
ajst-11776	97	27	adrc	adrc	PRON
ajst-11776	97	28	and	and	CCONJ
ajst-11776	97	29	pi	pi	NOUN
ajst-11776	97	30	control	control	NOUN
ajst-11776	97	31	at	at	ADP
ajst-11776	97	32	rated	rate	VERB
ajst-11776	97	33	speed	speed	NOUN
ajst-11776	97	34	is	be	AUX
ajst-11776	97	35	shown	show	VERB
ajst-11776	97	36	in	in	ADP
ajst-11776	97	37	fig	fig	NOUN
ajst-11776	97	38	.	.	PUNCT
ajst-11776	98	1	4	4	X
ajst-11776	98	2	.	.	X
ajst-11776	98	3	at	at	ADP
ajst-11776	98	4	a	a	DET
ajst-11776	98	5	given	give	VERB
ajst-11776	98	6	rated	rate	VERB
ajst-11776	98	7	speed	speed	NOUN
ajst-11776	98	8	of	of	ADP
ajst-11776	98	9	1000	1000	NUM
ajst-11776	98	10	r	r	NOUN
ajst-11776	98	11	/	/	SYM
ajst-11776	98	12	min	min	NOUN
ajst-11776	98	13	,	,	PUNCT
ajst-11776	98	14	the	the	DET
ajst-11776	98	15	adrc	adrc	ADV
ajst-11776	98	16	-	-	PUNCT
ajst-11776	98	17	controlled	control	VERB
ajst-11776	98	18	motor	motor	NOUN
ajst-11776	98	19	reaches	reach	VERB
ajst-11776	98	20	the	the	DET
ajst-11776	98	21	specified	specified	ADJ
ajst-11776	98	22	speed	speed	NOUN
ajst-11776	98	23	in	in	ADP
ajst-11776	98	24	about	about	ADV
ajst-11776	98	25	0.025	0.025	NUM
ajst-11776	98	26	s	s	NOUN
ajst-11776	98	27	with	with	ADP
ajst-11776	98	28	no	no	DET
ajst-11776	98	29	overshoot	overshoot	NOUN
ajst-11776	98	30	.	.	PUNCT
ajst-11776	99	1	while	while	SCONJ
ajst-11776	99	2	the	the	DET
ajst-11776	99	3	motor	motor	NOUN
ajst-11776	99	4	controlled	control	VERB
ajst-11776	99	5	by	by	ADP
ajst-11776	99	6	the	the	DET
ajst-11776	99	7	traditional	traditional	ADJ
ajst-11776	99	8	pi	pi	NOUN
ajst-11776	99	9	controller	controller	NOUN
ajst-11776	99	10	has	have	VERB
ajst-11776	99	11	a	a	DET
ajst-11776	99	12	significant	significant	ADJ
ajst-11776	99	13	overshoot	overshoot	NOUN
ajst-11776	99	14	of	of	ADP
ajst-11776	99	15	17	17	NUM
ajst-11776	99	16	%	%	NOUN
ajst-11776	99	17	although	although	SCONJ
ajst-11776	99	18	the	the	DET
ajst-11776	99	19	start	start	NOUN
ajst-11776	99	20	-	-	PUNCT
ajst-11776	99	21	up	up	NOUN
ajst-11776	99	22	56	56	NUM
ajst-11776	99	23	response	response	NOUN
ajst-11776	99	24	is	be	AUX
ajst-11776	99	25	slightly	slightly	ADV
ajst-11776	99	26	higher	high	ADJ
ajst-11776	99	27	than	than	ADP
ajst-11776	99	28	that	that	PRON
ajst-11776	99	29	of	of	ADP
ajst-11776	99	30	the	the	DET
ajst-11776	99	31	motor	motor	NOUN
ajst-11776	99	32	controlled	control	VERB
ajst-11776	99	33	by	by	ADP
ajst-11776	99	34	the	the	DET
ajst-11776	99	35	adrc	adrc	NOUN
ajst-11776	99	36	,	,	PUNCT
ajst-11776	99	37	this	this	PRON
ajst-11776	99	38	is	be	AUX
ajst-11776	99	39	because	because	SCONJ
ajst-11776	99	40	the	the	DET
ajst-11776	99	41	adrc	adrc	NOUN
ajst-11776	99	42	has	have	AUX
ajst-11776	99	43	set	set	VERB
ajst-11776	99	44	up	up	ADP
ajst-11776	99	45	a	a	DET
ajst-11776	99	46	tracking	track	VERB
ajst-11776	99	47	differentiator	differentiator	NOUN
ajst-11776	99	48	(	(	PUNCT
ajst-11776	99	49	td	td	NOUN
ajst-11776	99	50	)	)	PUNCT
ajst-11776	99	51	to	to	PART
ajst-11776	99	52	arrange	arrange	VERB
ajst-11776	99	53	the	the	DET
ajst-11776	99	54	transition	transition	NOUN
ajst-11776	99	55	process	process	NOUN
ajst-11776	99	56	in	in	ADP
ajst-11776	99	57	order	order	NOUN
ajst-11776	99	58	to	to	PART
ajst-11776	99	59	balance	balance	VERB
ajst-11776	99	60	the	the	DET
ajst-11776	99	61	contradiction	contradiction	NOUN
ajst-11776	99	62	between	between	ADP
ajst-11776	99	63	the	the	DET
ajst-11776	99	64	rapidity	rapidity	NOUN
ajst-11776	99	65	of	of	ADP
ajst-11776	99	66	the	the	DET
ajst-11776	99	67	system	system	NOUN
ajst-11776	99	68	's	's	PART
ajst-11776	99	69	start	start	NOUN
ajst-11776	99	70	-	-	PUNCT
ajst-11776	99	71	up	up	ADP
ajst-11776	99	72	response	response	NOUN
ajst-11776	99	73	and	and	CCONJ
ajst-11776	99	74	the	the	DET
ajst-11776	99	75	overshoot	overshoot	NOUN
ajst-11776	99	76	.	.	PUNCT
ajst-11776	100	1	4.2.2	4.2.2	X
ajst-11776	100	2	.	.	PUNCT
ajst-11776	100	3	resistance	resistance	NOUN
ajst-11776	100	4	to	to	PART
ajst-11776	100	5	load	load	VERB
ajst-11776	100	6	torque	torque	NOUN
ajst-11776	100	7	disturbances	disturbance	NOUN
ajst-11776	100	8	without	without	ADP
ajst-11776	100	9	changing	change	VERB
ajst-11776	100	10	any	any	DET
ajst-11776	100	11	parameter	parameter	NOUN
ajst-11776	100	12	,	,	PUNCT
ajst-11776	100	13	a	a	DET
ajst-11776	100	14	5n	5n	NUM
ajst-11776	100	15	-	-	PUNCT
ajst-11776	100	16	m	m	NOUN
ajst-11776	100	17	load	load	NOUN
ajst-11776	100	18	is	be	AUX
ajst-11776	100	19	added	add	VERB
ajst-11776	100	20	at	at	ADP
ajst-11776	100	21	0.2s	0.2s	PROPN
ajst-11776	100	22	,	,	PUNCT
ajst-11776	100	23	as	as	SCONJ
ajst-11776	100	24	shown	show	VERB
ajst-11776	100	25	in	in	ADP
ajst-11776	100	26	fig	fig	NOUN
ajst-11776	100	27	.	.	PUNCT
ajst-11776	101	1	5	5	NUM
ajst-11776	101	2	,	,	PUNCT
ajst-11776	101	3	the	the	DET
ajst-11776	101	4	amplitude	amplitude	NOUN
ajst-11776	101	5	of	of	ADP
ajst-11776	101	6	speed	speed	NOUN
ajst-11776	101	7	fluctuation	fluctuation	NOUN
ajst-11776	101	8	and	and	CCONJ
ajst-11776	101	9	the	the	DET
ajst-11776	101	10	time	time	NOUN
ajst-11776	101	11	taken	take	VERB
ajst-11776	101	12	to	to	PART
ajst-11776	101	13	recover	recover	VERB
ajst-11776	101	14	to	to	ADP
ajst-11776	101	15	the	the	DET
ajst-11776	101	16	rated	rate	VERB
ajst-11776	101	17	speed	speed	NOUN
ajst-11776	101	18	of	of	ADP
ajst-11776	101	19	the	the	DET
ajst-11776	101	20	motor	motor	NOUN
ajst-11776	101	21	controlled	control	VERB
ajst-11776	101	22	by	by	ADP
ajst-11776	101	23	the	the	DET
ajst-11776	101	24	pi	pi	NOUN
ajst-11776	101	25	controller	controller	NOUN
ajst-11776	101	26	are	be	AUX
ajst-11776	101	27	much	much	ADV
ajst-11776	101	28	larger	large	ADJ
ajst-11776	101	29	than	than	ADP
ajst-11776	101	30	that	that	PRON
ajst-11776	101	31	of	of	ADP
ajst-11776	101	32	the	the	DET
ajst-11776	101	33	motor	motor	NOUN
ajst-11776	101	34	controlled	control	VERB
ajst-11776	101	35	by	by	ADP
ajst-11776	101	36	adrc	adrc	PROPN
ajst-11776	101	37	,	,	PUNCT
ajst-11776	101	38	indicating	indicate	VERB
ajst-11776	101	39	that	that	SCONJ
ajst-11776	101	40	the	the	DET
ajst-11776	101	41	adrc	adrc	PROPN
ajst-11776	101	42	algorithm	algorithm	NOUN
ajst-11776	101	43	has	have	VERB
ajst-11776	101	44	better	well	ADJ
ajst-11776	101	45	anti	anti	ADJ
ajst-11776	101	46	-	-	ADJ
ajst-11776	101	47	interference	interference	ADJ
ajst-11776	101	48	ability	ability	NOUN
ajst-11776	101	49	under	under	ADP
ajst-11776	101	50	loaded	load	VERB
ajst-11776	101	51	conditions	condition	NOUN
ajst-11776	101	52	.	.	PUNCT
ajst-11776	102	1	figure	figure	NOUN
ajst-11776	102	2	5	5	NUM
ajst-11776	102	3	.	.	PUNCT
ajst-11776	103	1	0.2s	0.2	VERB
ajst-11776	103	2	sudden	sudden	ADJ
ajst-11776	103	3	load	load	NOUN
ajst-11776	103	4	motor	motor	NOUN
ajst-11776	103	5	speed	speed	NOUN
ajst-11776	103	6	response	response	NOUN
ajst-11776	103	7	curve	curve	NOUN
ajst-11776	103	8	4.2.3	4.2.3	PROPN
ajst-11776	103	9	.	.	PUNCT
ajst-11776	104	1	speed	speed	NOUN
ajst-11776	104	2	response	response	NOUN
ajst-11776	104	3	at	at	ADP
ajst-11776	104	4	different	different	ADJ
ajst-11776	104	5	speed	speed	NOUN
ajst-11776	104	6	settings	setting	NOUN
ajst-11776	104	7	in	in	ADP
ajst-11776	104	8	order	order	NOUN
ajst-11776	104	9	to	to	PART
ajst-11776	104	10	continue	continue	VERB
ajst-11776	104	11	to	to	PART
ajst-11776	104	12	verify	verify	VERB
ajst-11776	104	13	the	the	DET
ajst-11776	104	14	performance	performance	NOUN
ajst-11776	104	15	of	of	ADP
ajst-11776	104	16	the	the	DET
ajst-11776	104	17	adrc	adrc	ADJ
ajst-11776	104	18	strategy	strategy	NOUN
ajst-11776	104	19	,	,	PUNCT
ajst-11776	104	20	under	under	ADP
ajst-11776	104	21	the	the	DET
ajst-11776	104	22	condition	condition	NOUN
ajst-11776	104	23	of	of	ADP
ajst-11776	104	24	keeping	keep	VERB
ajst-11776	104	25	the	the	DET
ajst-11776	104	26	system	system	NOUN
ajst-11776	104	27	parameters	parameter	NOUN
ajst-11776	104	28	unchanged	unchanged	ADJ
ajst-11776	104	29	,	,	PUNCT
ajst-11776	104	30	the	the	DET
ajst-11776	104	31	rotational	rotational	ADJ
ajst-11776	104	32	speed	speed	NOUN
ajst-11776	104	33	was	be	AUX
ajst-11776	104	34	set	set	VERB
ajst-11776	104	35	to	to	ADP
ajst-11776	104	36	0.8	0.8	NUM
ajst-11776	104	37	times	time	NOUN
ajst-11776	104	38	and	and	CCONJ
ajst-11776	104	39	1.2	1.2	NUM
ajst-11776	104	40	times	time	NOUN
ajst-11776	104	41	the	the	DET
ajst-11776	104	42	rated	rated	ADJ
ajst-11776	104	43	speed	speed	NOUN
ajst-11776	104	44	,	,	PUNCT
ajst-11776	104	45	as	as	ADV
ajst-11776	104	46	well	well	ADV
ajst-11776	104	47	as	as	ADP
ajst-11776	104	48	the	the	DET
ajst-11776	104	49	forward	forward	ADJ
ajst-11776	104	50	and	and	CCONJ
ajst-11776	104	51	reverse	reverse	ADJ
ajst-11776	104	52	rotation	rotation	NOUN
ajst-11776	104	53	,	,	PUNCT
ajst-11776	104	54	acceleration	acceleration	NOUN
ajst-11776	104	55	and	and	CCONJ
ajst-11776	104	56	deceleration	deceleration	NOUN
ajst-11776	104	57	experiments	experiment	NOUN
ajst-11776	104	58	were	be	AUX
ajst-11776	104	59	carried	carry	VERB
ajst-11776	104	60	out	out	ADP
ajst-11776	104	61	at	at	ADP
ajst-11776	104	62	the	the	DET
ajst-11776	104	63	rated	rate	VERB
ajst-11776	104	64	speed	speed	NOUN
ajst-11776	104	65	,	,	PUNCT
ajst-11776	104	66	respectively	respectively	ADV
ajst-11776	104	67	,	,	PUNCT
ajst-11776	104	68	and	and	CCONJ
ajst-11776	104	69	the	the	DET
ajst-11776	104	70	resultant	resultant	NOUN
ajst-11776	104	71	waveform	waveform	VERB
ajst-11776	104	72	graphs	graph	NOUN
ajst-11776	104	73	are	be	AUX
ajst-11776	104	74	shown	show	VERB
ajst-11776	104	75	in	in	ADP
ajst-11776	104	76	figs	fig	NOUN
ajst-11776	104	77	.	.	PUNCT
ajst-11776	105	1	6	6	NUM
ajst-11776	105	2	to	to	PART
ajst-11776	105	3	9	9	NUM
ajst-11776	105	4	.	.	PUNCT
ajst-11776	106	1	figure	figure	NOUN
ajst-11776	106	2	6	6	NUM
ajst-11776	106	3	.	.	PUNCT
ajst-11776	106	4	motor	motor	NOUN
ajst-11776	106	5	speed	speed	NOUN
ajst-11776	106	6	response	response	NOUN
ajst-11776	106	7	for	for	ADP
ajst-11776	106	8	set	set	ADJ
ajst-11776	106	9	value	value	NOUN
ajst-11776	106	10	800r	800r	PROPN
ajst-11776	106	11	/	/	SYM
ajst-11776	106	12	min	min	NOUN
ajst-11776	106	13	figure	figure	NOUN
ajst-11776	106	14	7	7	NUM
ajst-11776	106	15	.	.	PUNCT
ajst-11776	106	16	motor	motor	NOUN
ajst-11776	106	17	speed	speed	NOUN
ajst-11776	106	18	response	response	NOUN
ajst-11776	106	19	for	for	ADP
ajst-11776	106	20	set	set	ADJ
ajst-11776	106	21	value	value	NOUN
ajst-11776	106	22	1200r	1200r	NUM
ajst-11776	106	23	/	/	SYM
ajst-11776	106	24	min	min	NOUN
ajst-11776	106	25	57	57	NUM
ajst-11776	106	26	figure	figure	NOUN
ajst-11776	106	27	8	8	NUM
ajst-11776	106	28	.	.	PUNCT
ajst-11776	106	29	motor	motor	NOUN
ajst-11776	106	30	acceleration	acceleration	NOUN
ajst-11776	106	31	and	and	CCONJ
ajst-11776	106	32	deceleration	deceleration	NOUN
ajst-11776	106	33	speed	speed	NOUN
ajst-11776	106	34	response	response	NOUN
ajst-11776	106	35	figure	figure	NOUN
ajst-11776	106	36	9	9	NUM
ajst-11776	106	37	.	.	PUNCT
ajst-11776	107	1	forward	forward	ADV
ajst-11776	107	2	and	and	CCONJ
ajst-11776	107	3	reverse	reverse	VERB
ajst-11776	107	4	speed	speed	NOUN
ajst-11776	107	5	response	response	NOUN
ajst-11776	107	6	at	at	ADP
ajst-11776	107	7	rated	rate	VERB
ajst-11776	107	8	speed	speed	NOUN
ajst-11776	107	9	the	the	DET
ajst-11776	107	10	above	above	ADJ
ajst-11776	107	11	experimental	experimental	ADJ
ajst-11776	107	12	results	result	NOUN
ajst-11776	107	13	surface	surface	VERB
ajst-11776	107	14	that	that	SCONJ
ajst-11776	107	15	when	when	SCONJ
ajst-11776	107	16	the	the	DET
ajst-11776	107	17	rotational	rotational	ADJ
ajst-11776	107	18	speed	speed	NOUN
ajst-11776	107	19	is	be	AUX
ajst-11776	107	20	0.8	0.8	NUM
ajst-11776	107	21	and	and	CCONJ
ajst-11776	107	22	1.2	1.2	NUM
ajst-11776	107	23	times	time	NOUN
ajst-11776	107	24	of	of	ADP
ajst-11776	107	25	the	the	DET
ajst-11776	107	26	rated	rate	VERB
ajst-11776	107	27	speed	speed	NOUN
ajst-11776	107	28	,	,	PUNCT
ajst-11776	107	29	the	the	DET
ajst-11776	107	30	rotational	rotational	ADJ
ajst-11776	107	31	speed	speed	NOUN
ajst-11776	107	32	waveform	waveform	VERB
ajst-11776	107	33	response	response	NOUN
ajst-11776	107	34	results	result	NOUN
ajst-11776	107	35	in	in	ADP
ajst-11776	107	36	a	a	DET
ajst-11776	107	37	better	well	ADJ
ajst-11776	107	38	control	control	NOUN
ajst-11776	107	39	effect	effect	NOUN
ajst-11776	107	40	compared	compare	VERB
ajst-11776	107	41	to	to	ADP
ajst-11776	107	42	the	the	DET
ajst-11776	107	43	traditional	traditional	ADJ
ajst-11776	107	44	pi	pi	NOUN
ajst-11776	107	45	control	control	NOUN
ajst-11776	107	46	.	.	PUNCT
ajst-11776	108	1	in	in	ADP
ajst-11776	108	2	the	the	DET
ajst-11776	108	3	case	case	NOUN
ajst-11776	108	4	of	of	ADP
ajst-11776	108	5	the	the	DET
ajst-11776	108	6	initial	initial	ADJ
ajst-11776	108	7	speed	speed	NOUN
ajst-11776	108	8	set	set	VERB
ajst-11776	108	9	to	to	ADP
ajst-11776	108	10	600r	600r	NOUN
ajst-11776	108	11	/	/	SYM
ajst-11776	108	12	min	min	NOUN
ajst-11776	108	13	,	,	PUNCT
ajst-11776	108	14	the	the	DET
ajst-11776	108	15	speed	speed	NOUN
ajst-11776	108	16	is	be	AUX
ajst-11776	108	17	increased	increase	VERB
ajst-11776	108	18	to	to	ADP
ajst-11776	108	19	the	the	DET
ajst-11776	108	20	rated	rate	VERB
ajst-11776	108	21	speed	speed	NOUN
ajst-11776	108	22	of	of	ADP
ajst-11776	108	23	1000r	1000r	NUM
ajst-11776	108	24	/	/	SYM
ajst-11776	108	25	min	min	NOUN
ajst-11776	108	26	in	in	ADP
ajst-11776	108	27	0.15s	0.15s	NUM
ajst-11776	108	28	,	,	PUNCT
ajst-11776	108	29	and	and	CCONJ
ajst-11776	108	30	then	then	ADV
ajst-11776	108	31	reduced	reduce	VERB
ajst-11776	108	32	to	to	ADP
ajst-11776	108	33	600r	600r	NOUN
ajst-11776	108	34	/	/	SYM
ajst-11776	108	35	min	min	NOUN
ajst-11776	108	36	in	in	ADP
ajst-11776	108	37	0.35s	0.35s	PROPN
ajst-11776	108	38	,	,	PUNCT
ajst-11776	108	39	the	the	DET
ajst-11776	108	40	experimental	experimental	ADJ
ajst-11776	108	41	results	result	NOUN
ajst-11776	108	42	show	show	VERB
ajst-11776	108	43	that	that	SCONJ
ajst-11776	108	44	the	the	DET
ajst-11776	108	45	system	system	NOUN
ajst-11776	108	46	is	be	AUX
ajst-11776	108	47	fast	fast	ADJ
ajst-11776	108	48	and	and	CCONJ
ajst-11776	108	49	free	free	ADJ
ajst-11776	108	50	of	of	ADP
ajst-11776	108	51	overshooting	overshooting	NOUN
ajst-11776	108	52	,	,	PUNCT
ajst-11776	108	53	and	and	CCONJ
ajst-11776	108	54	has	have	VERB
ajst-11776	108	55	a	a	DET
ajst-11776	108	56	better	well	ADJ
ajst-11776	108	57	control	control	NOUN
ajst-11776	108	58	performance	performance	NOUN
ajst-11776	108	59	compared	compare	VERB
ajst-11776	108	60	with	with	ADP
ajst-11776	108	61	the	the	DET
ajst-11776	108	62	traditional	traditional	ADJ
ajst-11776	108	63	pi	pi	NOUN
ajst-11776	108	64	control	control	NOUN
ajst-11776	108	65	.	.	PUNCT
ajst-11776	109	1	at	at	ADP
ajst-11776	109	2	0.25s	0.25s	NUM
ajst-11776	109	3	,	,	PUNCT
ajst-11776	109	4	the	the	DET
ajst-11776	109	5	speed	speed	NOUN
ajst-11776	109	6	is	be	AUX
ajst-11776	109	7	set	set	VERB
ajst-11776	109	8	to	to	PART
ajst-11776	109	9	-1000r	-1000r	VERB
ajst-11776	109	10	/	/	SYM
ajst-11776	109	11	min	min	NOUN
ajst-11776	109	12	,	,	PUNCT
ajst-11776	109	13	and	and	CCONJ
ajst-11776	109	14	the	the	DET
ajst-11776	109	15	motor	motor	NOUN
ajst-11776	109	16	under	under	ADP
ajst-11776	109	17	adrc	adrc	DET
ajst-11776	109	18	control	control	NOUN
ajst-11776	109	19	is	be	AUX
ajst-11776	109	20	still	still	ADV
ajst-11776	109	21	free	free	ADJ
ajst-11776	109	22	of	of	ADP
ajst-11776	109	23	overshooting	overshoot	VERB
ajst-11776	109	24	and	and	CCONJ
ajst-11776	109	25	has	have	VERB
ajst-11776	109	26	good	good	ADJ
ajst-11776	109	27	rapidity	rapidity	NOUN
ajst-11776	109	28	.	.	PUNCT
ajst-11776	110	1	4.2.4	4.2.4	X
ajst-11776	110	2	.	.	PUNCT
ajst-11776	110	3	comparison	comparison	NOUN
ajst-11776	110	4	of	of	ADP
ajst-11776	110	5	other	other	ADJ
ajst-11776	110	6	indexes	index	NOUN
ajst-11776	110	7	under	under	ADP
ajst-11776	110	8	rated	rate	VERB
ajst-11776	110	9	speed	speed	NOUN
ajst-11776	110	10	with	with	ADP
ajst-11776	110	11	load	load	NOUN
ajst-11776	110	12	the	the	DET
ajst-11776	110	13	simulated	simulate	VERB
ajst-11776	110	14	waveforms	waveform	NOUN
ajst-11776	110	15	of	of	ADP
ajst-11776	110	16	d	d	ADJ
ajst-11776	110	17	-	-	PUNCT
ajst-11776	110	18	axis	axis	ADJ
ajst-11776	110	19	current	current	ADJ
ajst-11776	110	20	,	,	PUNCT
ajst-11776	110	21	torque	torque	NOUN
ajst-11776	110	22	,	,	PUNCT
ajst-11776	110	23	and	and	CCONJ
ajst-11776	110	24	three	three	NUM
ajst-11776	110	25	-	-	PUNCT
ajst-11776	110	26	phase	phase	NOUN
ajst-11776	110	27	current	current	NOUN
ajst-11776	110	28	of	of	ADP
ajst-11776	110	29	a	a	DET
ajst-11776	110	30	brushless	brushless	NOUN
ajst-11776	110	31	dc	dc	PROPN
ajst-11776	110	32	motor	motor	NOUN
ajst-11776	110	33	at	at	ADP
ajst-11776	110	34	rated	rate	VERB
ajst-11776	110	35	speed	speed	NOUN
ajst-11776	110	36	with	with	ADP
ajst-11776	110	37	load	load	NOUN
ajst-11776	110	38	are	be	AUX
ajst-11776	110	39	investigated	investigate	VERB
ajst-11776	110	40	to	to	PART
ajst-11776	110	41	gain	gain	VERB
ajst-11776	110	42	a	a	DET
ajst-11776	110	43	deeper	deep	ADJ
ajst-11776	110	44	understanding	understanding	NOUN
ajst-11776	110	45	of	of	ADP
ajst-11776	110	46	the	the	DET
ajst-11776	110	47	control	control	NOUN
ajst-11776	110	48	performance	performance	NOUN
ajst-11776	110	49	of	of	ADP
ajst-11776	110	50	the	the	DET
ajst-11776	110	51	two	two	NUM
ajst-11776	110	52	controllers	controller	NOUN
ajst-11776	110	53	through	through	ADP
ajst-11776	110	54	comparison	comparison	NOUN
ajst-11776	110	55	.	.	PUNCT
ajst-11776	111	1	58	58	NUM
ajst-11776	111	2	figure	figure	NOUN
ajst-11776	111	3	10	10	NUM
ajst-11776	111	4	.	.	PUNCT
ajst-11776	111	5	comparison	comparison	NOUN
ajst-11776	111	6	of	of	ADP
ajst-11776	111	7	motor	motor	NOUN
ajst-11776	111	8	d	d	ADJ
ajst-11776	111	9	-	-	PUNCT
ajst-11776	111	10	axis	axis	ADJ
ajst-11776	111	11	current	current	ADJ
ajst-11776	111	12	waveforms	waveform	NOUN
ajst-11776	111	13	at	at	ADP
ajst-11776	111	14	rated	rate	VERB
ajst-11776	111	15	speed	speed	NOUN
ajst-11776	111	16	with	with	ADP
ajst-11776	111	17	load	load	NOUN
ajst-11776	111	18	figure	figure	NOUN
ajst-11776	111	19	11	11	NUM
ajst-11776	111	20	.	.	PUNCT
ajst-11776	112	1	comparison	comparison	NOUN
ajst-11776	112	2	of	of	ADP
ajst-11776	112	3	electromagnetic	electromagnetic	ADJ
ajst-11776	112	4	torque	torque	NOUN
ajst-11776	112	5	waveforms	waveform	NOUN
ajst-11776	112	6	of	of	ADP
ajst-11776	112	7	motors	motor	NOUN
ajst-11776	112	8	at	at	ADP
ajst-11776	112	9	rated	rate	VERB
ajst-11776	112	10	speed	speed	NOUN
ajst-11776	112	11	with	with	ADP
ajst-11776	112	12	loads	load	NOUN
ajst-11776	112	13	59	59	NUM
ajst-11776	112	14	figure	figure	NOUN
ajst-11776	112	15	12	12	NUM
ajst-11776	112	16	.	.	PUNCT
ajst-11776	113	1	comparison	comparison	NOUN
ajst-11776	113	2	of	of	ADP
ajst-11776	113	3	three	three	NUM
ajst-11776	113	4	-	-	PUNCT
ajst-11776	113	5	phase	phase	NOUN
ajst-11776	113	6	current	current	ADJ
ajst-11776	113	7	waveforms	waveform	NOUN
ajst-11776	113	8	of	of	ADP
ajst-11776	113	9	motor	motor	NOUN
ajst-11776	113	10	at	at	ADP
ajst-11776	113	11	rated	rate	VERB
ajst-11776	113	12	speed	speed	NOUN
ajst-11776	113	13	with	with	ADP
ajst-11776	113	14	load	load	NOUN
ajst-11776	113	15	fig	fig	NOUN
ajst-11776	113	16	.	.	PUNCT
ajst-11776	114	1	10	10	NUM
ajst-11776	114	2	shows	show	VERB
ajst-11776	114	3	the	the	DET
ajst-11776	114	4	comparison	comparison	NOUN
ajst-11776	114	5	of	of	ADP
ajst-11776	114	6	the	the	DET
ajst-11776	114	7	d	d	ADJ
ajst-11776	114	8	-	-	PUNCT
ajst-11776	114	9	axis	axis	ADJ
ajst-11776	114	10	current	current	ADJ
ajst-11776	114	11	waveforms	waveform	NOUN
ajst-11776	114	12	at	at	ADP
ajst-11776	114	13	the	the	DET
ajst-11776	114	14	rated	rate	VERB
ajst-11776	114	15	speed	speed	NOUN
ajst-11776	114	16	of	of	ADP
ajst-11776	114	17	the	the	DET
ajst-11776	114	18	motor	motor	NOUN
ajst-11776	114	19	with	with	ADP
ajst-11776	114	20	load	load	NOUN
ajst-11776	114	21	,	,	PUNCT
ajst-11776	114	22	through	through	ADP
ajst-11776	114	23	which	which	PRON
ajst-11776	114	24	it	it	PRON
ajst-11776	114	25	can	can	AUX
ajst-11776	114	26	be	be	AUX
ajst-11776	114	27	seen	see	VERB
ajst-11776	114	28	that	that	SCONJ
ajst-11776	114	29	the	the	DET
ajst-11776	114	30	d	d	ADJ
ajst-11776	114	31	-	-	PUNCT
ajst-11776	114	32	axis	axis	ADJ
ajst-11776	114	33	current	current	NOUN
ajst-11776	114	34	under	under	ADP
ajst-11776	114	35	the	the	DET
ajst-11776	114	36	adrc	adrc	ADJ
ajst-11776	114	37	strategy	strategy	NOUN
ajst-11776	114	38	is	be	AUX
ajst-11776	114	39	active	active	ADJ
ajst-11776	114	40	in	in	ADP
ajst-11776	114	41	the	the	DET
ajst-11776	114	42	range	range	NOUN
ajst-11776	114	43	of	of	ADP
ajst-11776	114	44	about	about	ADP
ajst-11776	114	45	[	[	X
ajst-11776	114	46	-2.3,2.1	-2.3,2.1	X
ajst-11776	114	47	]	]	X
ajst-11776	114	48	,	,	PUNCT
ajst-11776	114	49	and	and	CCONJ
ajst-11776	114	50	the	the	DET
ajst-11776	114	51	daxis	daxis	NOUN
ajst-11776	114	52	current	current	NOUN
ajst-11776	114	53	under	under	ADP
ajst-11776	114	54	the	the	DET
ajst-11776	114	55	pi	pi	NOUN
ajst-11776	114	56	strategy	strategy	NOUN
ajst-11776	114	57	is	be	AUX
ajst-11776	114	58	active	active	ADJ
ajst-11776	114	59	in	in	ADP
ajst-11776	114	60	the	the	DET
ajst-11776	114	61	range	range	NOUN
ajst-11776	114	62	of	of	ADP
ajst-11776	114	63	about	about	ADP
ajst-11776	114	64	[	[	X
ajst-11776	114	65	-5.8,6.9	-5.8,6.9	X
ajst-11776	114	66	]	]	PUNCT
ajst-11776	114	67	.	.	PUNCT
ajst-11776	115	1	the	the	DET
ajst-11776	115	2	above	above	ADJ
ajst-11776	115	3	results	result	NOUN
ajst-11776	115	4	indicate	indicate	VERB
ajst-11776	115	5	that	that	SCONJ
ajst-11776	115	6	the	the	DET
ajst-11776	115	7	performance	performance	NOUN
ajst-11776	115	8	of	of	ADP
ajst-11776	115	9	the	the	DET
ajst-11776	115	10	d	d	ADJ
ajst-11776	115	11	-	-	PUNCT
ajst-11776	115	12	axis	axis	ADJ
ajst-11776	115	13	current	current	ADJ
ajst-11776	115	14	loop	loop	NOUN
ajst-11776	115	15	of	of	ADP
ajst-11776	115	16	the	the	DET
ajst-11776	115	17	brushless	brushless	NOUN
ajst-11776	115	18	dc	dc	PROPN
ajst-11776	115	19	motor	motor	NOUN
ajst-11776	115	20	under	under	ADP
ajst-11776	115	21	the	the	DET
ajst-11776	115	22	adrc	adrc	ADJ
ajst-11776	115	23	strategy	strategy	NOUN
ajst-11776	115	24	performs	perform	VERB
ajst-11776	115	25	better	well	ADV
ajst-11776	115	26	as	as	SCONJ
ajst-11776	115	27	compared	compare	VERB
ajst-11776	115	28	to	to	ADP
ajst-11776	115	29	the	the	DET
ajst-11776	115	30	pi	pi	NOUN
ajst-11776	115	31	strategy	strategy	NOUN
ajst-11776	115	32	.	.	PUNCT
ajst-11776	116	1	fig	fig	NOUN
ajst-11776	116	2	.	.	PUNCT
ajst-11776	117	1	11	11	NUM
ajst-11776	117	2	shows	show	VERB
ajst-11776	117	3	the	the	DET
ajst-11776	117	4	comparison	comparison	NOUN
ajst-11776	117	5	of	of	ADP
ajst-11776	117	6	the	the	DET
ajst-11776	117	7	electromagnetic	electromagnetic	ADJ
ajst-11776	117	8	torque	torque	NOUN
ajst-11776	117	9	waveforms	waveform	VERB
ajst-11776	117	10	under	under	ADP
ajst-11776	117	11	the	the	DET
ajst-11776	117	12	rated	rate	VERB
ajst-11776	117	13	speed	speed	NOUN
ajst-11776	117	14	of	of	ADP
ajst-11776	117	15	the	the	DET
ajst-11776	117	16	motor	motor	NOUN
ajst-11776	117	17	with	with	ADP
ajst-11776	117	18	load	load	NOUN
ajst-11776	117	19	,	,	PUNCT
ajst-11776	117	20	and	and	CCONJ
ajst-11776	117	21	it	it	PRON
ajst-11776	117	22	can	can	AUX
ajst-11776	117	23	be	be	AUX
ajst-11776	117	24	seen	see	VERB
ajst-11776	117	25	by	by	ADP
ajst-11776	117	26	comparison	comparison	NOUN
ajst-11776	117	27	that	that	SCONJ
ajst-11776	117	28	the	the	DET
ajst-11776	117	29	starting	start	VERB
ajst-11776	117	30	maximum	maximum	ADJ
ajst-11776	117	31	electromagnetic	electromagnetic	ADJ
ajst-11776	117	32	torque	torque	NOUN
ajst-11776	117	33	of	of	ADP
ajst-11776	117	34	the	the	DET
ajst-11776	117	35	motor	motor	NOUN
ajst-11776	117	36	under	under	ADP
ajst-11776	117	37	the	the	DET
ajst-11776	117	38	adrc	adrc	ADJ
ajst-11776	117	39	strategy	strategy	NOUN
ajst-11776	117	40	is	be	AUX
ajst-11776	117	41	about	about	ADV
ajst-11776	117	42	33	33	NUM
ajst-11776	117	43	n	n	CCONJ
ajst-11776	117	44	-	-	PUNCT
ajst-11776	117	45	m	m	NOUN
ajst-11776	117	46	,	,	PUNCT
ajst-11776	117	47	and	and	CCONJ
ajst-11776	117	48	the	the	DET
ajst-11776	117	49	starting	start	VERB
ajst-11776	117	50	maximum	maximum	ADJ
ajst-11776	117	51	torque	torque	NOUN
ajst-11776	117	52	of	of	ADP
ajst-11776	117	53	the	the	DET
ajst-11776	117	54	motor	motor	NOUN
ajst-11776	117	55	under	under	ADP
ajst-11776	117	56	the	the	DET
ajst-11776	117	57	pi	pi	NOUN
ajst-11776	117	58	strategy	strategy	NOUN
ajst-11776	117	59	is	be	AUX
ajst-11776	117	60	about	about	ADV
ajst-11776	117	61	39	39	NUM
ajst-11776	117	62	n	n	CCONJ
ajst-11776	117	63	-	-	PUNCT
ajst-11776	117	64	m	m	NOUN
ajst-11776	117	65	,	,	PUNCT
ajst-11776	117	66	and	and	CCONJ
ajst-11776	117	67	the	the	DET
ajst-11776	117	68	starting	start	VERB
ajst-11776	117	69	maximum	maximum	ADJ
ajst-11776	117	70	torque	torque	NOUN
ajst-11776	117	71	of	of	ADP
ajst-11776	117	72	the	the	DET
ajst-11776	117	73	motor	motor	NOUN
ajst-11776	117	74	under	under	ADP
ajst-11776	117	75	the	the	DET
ajst-11776	117	76	control	control	NOUN
ajst-11776	117	77	of	of	ADP
ajst-11776	117	78	the	the	DET
ajst-11776	117	79	adrc	adrc	ADJ
ajst-11776	117	80	strategy	strategy	NOUN
ajst-11776	117	81	is	be	AUX
ajst-11776	117	82	smaller	small	ADJ
ajst-11776	117	83	,	,	PUNCT
ajst-11776	117	84	and	and	CCONJ
ajst-11776	117	85	the	the	DET
ajst-11776	117	86	torque	torque	NOUN
ajst-11776	117	87	waveforms	waveform	NOUN
ajst-11776	117	88	are	be	AUX
ajst-11776	117	89	smoother	smooth	ADJ
ajst-11776	117	90	as	as	ADP
ajst-11776	117	91	a	a	DET
ajst-11776	117	92	whole	whole	NOUN
ajst-11776	117	93	,	,	PUNCT
ajst-11776	117	94	which	which	PRON
ajst-11776	117	95	shows	show	VERB
ajst-11776	117	96	a	a	DET
ajst-11776	117	97	better	well	ADJ
ajst-11776	117	98	starting	starting	NOUN
ajst-11776	117	99	performance	performance	NOUN
ajst-11776	117	100	.	.	PUNCT
ajst-11776	118	1	fig	fig	NOUN
ajst-11776	118	2	.	.	PUNCT
ajst-11776	119	1	12	12	NUM
ajst-11776	119	2	shows	show	VERB
ajst-11776	119	3	the	the	DET
ajst-11776	119	4	comparison	comparison	NOUN
ajst-11776	119	5	of	of	ADP
ajst-11776	119	6	the	the	DET
ajst-11776	119	7	three	three	NUM
ajst-11776	119	8	-	-	PUNCT
ajst-11776	119	9	phase	phase	NOUN
ajst-11776	119	10	current	current	ADJ
ajst-11776	119	11	waveforms	waveform	NOUN
ajst-11776	119	12	of	of	ADP
ajst-11776	119	13	the	the	DET
ajst-11776	119	14	motor	motor	NOUN
ajst-11776	119	15	at	at	ADP
ajst-11776	119	16	rated	rate	VERB
ajst-11776	119	17	speed	speed	NOUN
ajst-11776	119	18	with	with	ADP
ajst-11776	119	19	load	load	NOUN
ajst-11776	119	20	.	.	PUNCT
ajst-11776	120	1	it	it	PRON
ajst-11776	120	2	can	can	AUX
ajst-11776	120	3	be	be	AUX
ajst-11776	120	4	seen	see	VERB
ajst-11776	120	5	from	from	ADP
ajst-11776	120	6	the	the	DET
ajst-11776	120	7	comparison	comparison	NOUN
ajst-11776	120	8	that	that	SCONJ
ajst-11776	120	9	the	the	DET
ajst-11776	120	10	three	three	NUM
ajst-11776	120	11	-	-	PUNCT
ajst-11776	120	12	phase	phase	NOUN
ajst-11776	120	13	current	current	ADJ
ajst-11776	120	14	peaks	peak	NOUN
ajst-11776	120	15	of	of	ADP
ajst-11776	120	16	the	the	DET
ajst-11776	120	17	motor	motor	NOUN
ajst-11776	120	18	under	under	ADP
ajst-11776	120	19	the	the	DET
ajst-11776	120	20	adrc	adrc	ADJ
ajst-11776	120	21	strategy	strategy	NOUN
ajst-11776	120	22	are	be	AUX
ajst-11776	120	23	smaller	small	ADJ
ajst-11776	120	24	as	as	ADP
ajst-11776	120	25	compared	compare	VERB
ajst-11776	120	26	to	to	ADP
ajst-11776	120	27	that	that	PRON
ajst-11776	120	28	of	of	ADP
ajst-11776	120	29	the	the	DET
ajst-11776	120	30	pi	pi	NOUN
ajst-11776	120	31	strategy	strategy	NOUN
ajst-11776	120	32	,	,	PUNCT
ajst-11776	120	33	and	and	CCONJ
ajst-11776	120	34	it	it	PRON
ajst-11776	120	35	also	also	ADV
ajst-11776	120	36	shows	show	VERB
ajst-11776	120	37	a	a	DET
ajst-11776	120	38	better	well	ADJ
ajst-11776	120	39	control	control	NOUN
ajst-11776	120	40	performance	performance	NOUN
ajst-11776	120	41	.	.	PUNCT
ajst-11776	121	1	based	base	VERB
ajst-11776	121	2	on	on	ADP
ajst-11776	121	3	the	the	DET
ajst-11776	121	4	comparison	comparison	NOUN
ajst-11776	121	5	of	of	ADP
ajst-11776	121	6	the	the	DET
ajst-11776	121	7	above	above	ADJ
ajst-11776	121	8	simulation	simulation	NOUN
ajst-11776	121	9	waveforms	waveform	VERB
ajst-11776	121	10	,	,	PUNCT
ajst-11776	121	11	the	the	DET
ajst-11776	121	12	vector	vector	NOUN
ajst-11776	121	13	control	control	NOUN
ajst-11776	121	14	-	-	PUNCT
ajst-11776	121	15	based	base	VERB
ajst-11776	121	16	active	active	ADJ
ajst-11776	121	17	disturbance	disturbance	NOUN
ajst-11776	121	18	rejection	rejection	NOUN
ajst-11776	121	19	control	control	NOUN
ajst-11776	121	20	strategy	strategy	NOUN
ajst-11776	121	21	for	for	ADP
ajst-11776	121	22	brushless	brushless	PROPN
ajst-11776	121	23	dc	dc	PROPN
ajst-11776	121	24	motor	motor	NOUN
ajst-11776	121	25	proposed	propose	VERB
ajst-11776	121	26	in	in	ADP
ajst-11776	121	27	this	this	DET
ajst-11776	121	28	paper	paper	NOUN
ajst-11776	121	29	is	be	AUX
ajst-11776	121	30	feasible	feasible	ADJ
ajst-11776	121	31	and	and	CCONJ
ajst-11776	121	32	effective	effective	ADJ
ajst-11776	121	33	,	,	PUNCT
ajst-11776	121	34	balancing	balance	VERB
ajst-11776	121	35	the	the	DET
ajst-11776	121	36	contradiction	contradiction	NOUN
ajst-11776	121	37	between	between	ADP
ajst-11776	121	38	starting	start	VERB
ajst-11776	121	39	rapidity	rapidity	NOUN
ajst-11776	121	40	and	and	CCONJ
ajst-11776	121	41	overshooting	overshooting	NOUN
ajst-11776	121	42	,	,	PUNCT
ajst-11776	121	43	and	and	CCONJ
ajst-11776	121	44	improving	improve	VERB
ajst-11776	121	45	the	the	DET
ajst-11776	121	46	system	system	NOUN
ajst-11776	121	47	's	's	PART
ajst-11776	121	48	immunity	immunity	NOUN
ajst-11776	121	49	to	to	PART
ajst-11776	121	50	interference	interference	VERB
ajst-11776	121	51	,	,	PUNCT
ajst-11776	121	52	while	while	SCONJ
ajst-11776	121	53	possessing	possess	VERB
ajst-11776	121	54	stronger	strong	ADJ
ajst-11776	121	55	robustness	robustness	NOUN
ajst-11776	121	56	.	.	PUNCT
ajst-11776	122	1	5	5	X
ajst-11776	122	2	.	.	X
ajst-11776	122	3	conclusion	conclusion	VERB
ajst-11776	122	4	the	the	DET
ajst-11776	122	5	research	research	NOUN
ajst-11776	122	6	objective	objective	NOUN
ajst-11776	122	7	of	of	ADP
ajst-11776	122	8	this	this	DET
ajst-11776	122	9	paper	paper	NOUN
ajst-11776	122	10	is	be	AUX
ajst-11776	122	11	to	to	PART
ajst-11776	122	12	address	address	VERB
ajst-11776	122	13	the	the	DET
ajst-11776	122	14	problems	problem	NOUN
ajst-11776	122	15	of	of	ADP
ajst-11776	122	16	large	large	ADJ
ajst-11776	122	17	speed	speed	NOUN
ajst-11776	122	18	response	response	NOUN
ajst-11776	122	19	overshoot	overshoot	NOUN
ajst-11776	122	20	and	and	CCONJ
ajst-11776	122	21	poor	poor	ADJ
ajst-11776	122	22	interference	interference	NOUN
ajst-11776	122	23	immunity	immunity	NOUN
ajst-11776	122	24	in	in	ADP
ajst-11776	122	25	the	the	DET
ajst-11776	122	26	traditional	traditional	ADJ
ajst-11776	122	27	pi	pi	NOUN
ajst-11776	122	28	-	-	PUNCT
ajst-11776	122	29	controlled	control	VERB
ajst-11776	122	30	brushless	brushless	NOUN
ajst-11776	122	31	dc	dc	PROPN
ajst-11776	122	32	motor	motor	NOUN
ajst-11776	122	33	system	system	NOUN
ajst-11776	122	34	,	,	PUNCT
ajst-11776	122	35	and	and	CCONJ
ajst-11776	122	36	to	to	PART
ajst-11776	122	37	propose	propose	VERB
ajst-11776	122	38	a	a	DET
ajst-11776	122	39	vector	vector	NOUN
ajst-11776	122	40	controlbased	controlbase	VERB
ajst-11776	122	41	active	active	ADJ
ajst-11776	122	42	disturbance	disturbance	NOUN
ajst-11776	122	43	rejection	rejection	NOUN
ajst-11776	122	44	control	control	NOUN
ajst-11776	122	45	strategy	strategy	NOUN
ajst-11776	122	46	,	,	PUNCT
ajst-11776	122	47	which	which	PRON
ajst-11776	122	48	utilizes	utilize	VERB
ajst-11776	122	49	vector	vector	NOUN
ajst-11776	122	50	control	control	NOUN
ajst-11776	122	51	to	to	PART
ajst-11776	122	52	decouple	decouple	VERB
ajst-11776	122	53	the	the	DET
ajst-11776	122	54	complex	complex	ADJ
ajst-11776	122	55	relationship	relationship	NOUN
ajst-11776	122	56	between	between	ADP
ajst-11776	122	57	the	the	DET
ajst-11776	122	58	magnetic	magnetic	ADJ
ajst-11776	122	59	chain	chain	NOUN
ajst-11776	122	60	and	and	CCONJ
ajst-11776	122	61	torque	torque	NOUN
ajst-11776	122	62	to	to	PART
ajst-11776	122	63	simplify	simplify	VERB
ajst-11776	122	64	the	the	DET
ajst-11776	122	65	control	control	NOUN
ajst-11776	122	66	,	,	PUNCT
ajst-11776	122	67	and	and	CCONJ
ajst-11776	122	68	then	then	ADV
ajst-11776	122	69	introduces	introduce	VERB
ajst-11776	122	70	the	the	DET
ajst-11776	122	71	active	active	ADJ
ajst-11776	122	72	disturbance	disturbance	NOUN
ajst-11776	122	73	rejection	rejection	NOUN
ajst-11776	122	74	controller	controller	NOUN
ajst-11776	122	75	into	into	ADP
ajst-11776	122	76	the	the	DET
ajst-11776	122	77	motor	motor	NOUN
ajst-11776	122	78	speed	speed	NOUN
ajst-11776	122	79	ring	ring	NOUN
ajst-11776	122	80	,	,	PUNCT
ajst-11776	122	81	gives	give	VERB
ajst-11776	122	82	the	the	DET
ajst-11776	122	83	general	general	ADJ
ajst-11776	122	84	design	design	NOUN
ajst-11776	122	85	method	method	NOUN
ajst-11776	122	86	of	of	ADP
ajst-11776	122	87	the	the	DET
ajst-11776	122	88	speed	speed	NOUN
ajst-11776	122	89	ring	ring	NOUN
ajst-11776	122	90	active	active	ADJ
ajst-11776	122	91	disturbance	disturbance	NOUN
ajst-11776	122	92	rejection	rejection	NOUN
ajst-11776	122	93	controller	controller	NOUN
ajst-11776	122	94	,	,	PUNCT
ajst-11776	122	95	and	and	CCONJ
ajst-11776	122	96	comparison	comparison	NOUN
ajst-11776	122	97	is	be	AUX
ajst-11776	122	98	made	make	VERB
ajst-11776	122	99	with	with	ADP
ajst-11776	122	100	the	the	DET
ajst-11776	122	101	traditional	traditional	ADJ
ajst-11776	122	102	pi	pi	NOUN
ajst-11776	122	103	control	control	NOUN
ajst-11776	122	104	strategy	strategy	NOUN
ajst-11776	122	105	.	.	PUNCT
ajst-11776	123	1	the	the	DET
ajst-11776	123	2	results	result	NOUN
ajst-11776	123	3	show	show	VERB
ajst-11776	123	4	that	that	SCONJ
ajst-11776	123	5	the	the	DET
ajst-11776	123	6	control	control	NOUN
ajst-11776	123	7	strategy	strategy	NOUN
ajst-11776	123	8	proposed	propose	VERB
ajst-11776	123	9	in	in	ADP
ajst-11776	123	10	this	this	DET
ajst-11776	123	11	paper	paper	NOUN
ajst-11776	123	12	solves	solve	VERB
ajst-11776	123	13	the	the	DET
ajst-11776	123	14	problem	problem	NOUN
ajst-11776	123	15	of	of	ADP
ajst-11776	123	16	speed	speed	NOUN
ajst-11776	123	17	overshooting	overshooting	NOUN
ajst-11776	123	18	,	,	PUNCT
ajst-11776	123	19	and	and	CCONJ
ajst-11776	123	20	has	have	VERB
ajst-11776	123	21	better	well	ADJ
ajst-11776	123	22	anti	anti	ADJ
ajst-11776	123	23	-	-	ADJ
ajst-11776	123	24	interference	interference	ADJ
ajst-11776	123	25	ability	ability	NOUN
ajst-11776	123	26	and	and	CCONJ
ajst-11776	123	27	improves	improve	VERB
ajst-11776	123	28	the	the	DET
ajst-11776	123	29	robustness	robustness	NOUN
ajst-11776	123	30	of	of	ADP
ajst-11776	123	31	the	the	DET
ajst-11776	123	32	system	system	NOUN
ajst-11776	123	33	,	,	PUNCT
ajst-11776	123	34	which	which	PRON
ajst-11776	123	35	proves	prove	VERB
ajst-11776	123	36	the	the	DET
ajst-11776	123	37	effectiveness	effectiveness	NOUN
ajst-11776	123	38	and	and	CCONJ
ajst-11776	123	39	advancement	advancement	NOUN
ajst-11776	123	40	of	of	ADP
ajst-11776	123	41	the	the	DET
ajst-11776	123	42	system	system	NOUN
ajst-11776	123	43	.	.	PUNCT
ajst-11776	124	1	however	however	ADV
ajst-11776	124	2	,	,	PUNCT
ajst-11776	124	3	this	this	DET
ajst-11776	124	4	strategy	strategy	NOUN
ajst-11776	124	5	still	still	ADV
ajst-11776	124	6	has	have	VERB
ajst-11776	124	7	room	room	NOUN
ajst-11776	124	8	to	to	PART
ajst-11776	124	9	improve	improve	VERB
ajst-11776	124	10	the	the	DET
ajst-11776	124	11	response	response	NOUN
ajst-11776	124	12	performance	performance	NOUN
ajst-11776	124	13	of	of	ADP
ajst-11776	124	14	the	the	DET
ajst-11776	124	15	system	system	NOUN
ajst-11776	124	16	under	under	ADP
ajst-11776	124	17	disturbances	disturbance	NOUN
ajst-11776	124	18	such	such	ADJ
ajst-11776	124	19	as	as	ADP
ajst-11776	124	20	sudden	sudden	ADJ
ajst-11776	124	21	load	load	NOUN
ajst-11776	124	22	change	change	NOUN
ajst-11776	124	23	,	,	PUNCT
ajst-11776	124	24	and	and	CCONJ
ajst-11776	124	25	the	the	DET
ajst-11776	124	26	antidisturbance	antidisturbance	NOUN
ajst-11776	124	27	ability	ability	NOUN
ajst-11776	124	28	needs	need	VERB
ajst-11776	124	29	to	to	PART
ajst-11776	124	30	be	be	AUX
ajst-11776	124	31	strengthened	strengthen	VERB
ajst-11776	124	32	.	.	PUNCT
ajst-11776	125	1	references	reference	NOUN
ajst-11776	125	2	[	[	X
ajst-11776	125	3	1	1	NUM
ajst-11776	125	4	]	]	PUNCT
ajst-11776	125	5	pan	pan	NOUN
ajst-11776	125	6	xiaolei	xiaolei	PROPN
ajst-11776	125	7	,	,	PUNCT
ajst-11776	125	8	zhao	zhao	PROPN
ajst-11776	125	9	chuan	chuan	PROPN
ajst-11776	125	10	,	,	PUNCT
ajst-11776	125	11	lv	lv	PROPN
ajst-11776	125	12	haili	haili	NOUN
ajst-11776	125	13	.	.	PUNCT
ajst-11776	126	1	research	research	NOUN
ajst-11776	126	2	on	on	ADP
ajst-11776	126	3	fuzzy	fuzzy	ADJ
ajst-11776	126	4	adaptive	adaptive	ADJ
ajst-11776	126	5	p1d	p1d	NOUN
ajst-11776	126	6	control	control	NOUN
ajst-11776	126	7	of	of	ADP
ajst-11776	126	8	brushless	brushless	PROPN
ajst-11776	126	9	dc	dc	PROPN
ajst-11776	126	10	motor[j	motor[j	X
ajst-11776	126	11	]	]	PUNCT
ajst-11776	126	12	electromechanical	electromechanical	ADJ
ajst-11776	126	13	t	t	PROPN
ajst-11776	126	14	program	program	NOUN
ajst-11776	126	15	technology	technology	NOUN
ajst-11776	126	16	,	,	PUNCT
ajst-11776	126	17	2016(3):85	2016(3):85	NUM
ajst-11776	126	18	-	-	SYM
ajst-11776	126	19	89	89	NUM
ajst-11776	126	20	.	.	PUNCT
ajst-11776	127	1	[	[	X
ajst-11776	127	2	2	2	X
ajst-11776	127	3	]	]	PUNCT
ajst-11776	127	4	wang	wang	PROPN
ajst-11776	127	5	yang	yang	PROPN
ajst-11776	127	6	,	,	PUNCT
ajst-11776	127	7	ding	ding	PROPN
ajst-11776	127	8	zhigang	zhigang	PROPN
ajst-11776	127	9	,	,	PUNCT
ajst-11776	127	10	zheng	zheng	PROPN
ajst-11776	127	11	shuquan	shuquan	PROPN
ajst-11776	127	12	,	,	PUNCT
ajst-11776	127	13	et	et	PROPN
ajst-11776	127	14	al	al	PROPN
ajst-11776	127	15	.	.	PROPN
ajst-11776	127	16	design	design	NOUN
ajst-11776	127	17	and	and	CCONJ
ajst-11776	127	18	implementation	implementation	NOUN
ajst-11776	127	19	of	of	ADP
ajst-11776	127	20	a	a	DET
ajst-11776	127	21	user	user	NOUN
ajst-11776	127	22	profiling	profile	VERB
ajst-11776	127	23	system[j	system[j	NOUN
ajst-11776	127	24	]	]	PUNCT
ajst-11776	127	25	.	.	PUNCT
ajst-11776	128	1	computer	computer	NOUN
ajst-11776	128	2	application	application	NOUN
ajst-11776	128	3	and	and	CCONJ
ajst-11776	128	4	software,2018,35(3):8	software,2018,35(3):8	PROPN
ajst-11776	128	5	-	-	SYM
ajst-11776	128	6	14	14	NUM
ajst-11776	128	7	.	.	PUNCT
ajst-11776	129	1	60	60	NUM
ajst-11776	130	1	[	[	X
ajst-11776	130	2	3	3	NUM
ajst-11776	130	3	]	]	X
ajst-11776	130	4	chen	chen	PROPN
ajst-11776	131	1	d	d	PROPN
ajst-11776	131	2	,	,	PUNCT
ajst-11776	131	3	zhang	zhang	PROPN
ajst-11776	131	4	q	q	PROPN
ajst-11776	131	5	,	,	PUNCT
ajst-11776	131	6	chen	chen	PROPN
ajst-11776	131	7	g	g	PROPN
ajst-11776	131	8	,	,	PUNCT
ajst-11776	131	9	et	et	PROPN
ajst-11776	131	10	al	al	PROPN
ajst-11776	131	11	.	.	PROPN
ajst-11776	131	12	forum	forum	PROPN
ajst-11776	131	13	user	user	NOUN
ajst-11776	131	14	profiling	profiling	NOUN
ajst-11776	131	15	by	by	ADP
ajst-11776	131	16	incorporating	incorporate	VERB
ajst-11776	131	17	user	user	NOUN
ajst-11776	131	18	behavior	behavior	NOUN
ajst-11776	131	19	and	and	CCONJ
ajst-11776	131	20	social	social	ADJ
ajst-11776	131	21	network	network	NOUN
ajst-11776	131	22	connections	connection	NOUN
ajst-11776	131	23	[	[	X
ajst-11776	131	24	c]/	c]/	NOUN
ajst-11776	131	25	/international	/international	PROPN
ajst-11776	131	26	conference	conference	NOUN
ajst-11776	131	27	on	on	ADP
ajst-11776	131	28	cognitive	cognitive	ADJ
ajst-11776	131	29	computing	computing	NOUN
ajst-11776	131	30	.	.	PUNCT
ajst-11776	132	1	seattle	seattle	NOUN
ajst-11776	132	2	:	:	PUNCT
ajst-11776	132	3	springer,2018:30	springer,2018:30	NOUN
ajst-11776	132	4	-	-	SYM
ajst-11776	132	5	42	42	NUM
ajst-11776	132	6	.	.	PUNCT
ajst-11776	133	1	[	[	X
ajst-11776	133	2	4	4	NUM
ajst-11776	133	3	]	]	X
ajst-11776	133	4	han	han	PROPN
ajst-11776	133	5	,	,	PUNCT
ajst-11776	133	6	song	song	NOUN
ajst-11776	133	7	-	-	PUNCT
ajst-11776	133	8	suan	suan	PROPN
ajst-11776	133	9	.	.	PUNCT
ajst-11776	134	1	research	research	NOUN
ajst-11776	134	2	on	on	ADP
ajst-11776	134	3	position	position	NOUN
ajst-11776	134	4	sensor	sensor	NOUN
ajst-11776	134	5	-	-	PUNCT
ajst-11776	134	6	less	less	ADJ
ajst-11776	134	7	control	control	NOUN
ajst-11776	134	8	strategy	strategy	NOUN
ajst-11776	134	9	of	of	ADP
ajst-11776	134	10	permanent	permanent	ADJ
ajst-11776	134	11	magnet	magnet	NOUN
ajst-11776	134	12	synchronous	synchronous	ADJ
ajst-11776	134	13	motor	motor	NOUN
ajst-11776	134	14	with	with	ADP
ajst-11776	134	15	full	full	ADJ
ajst-11776	134	16	speed	speed	NOUN
ajst-11776	134	17	range[d	range[d	NOUN
ajst-11776	134	18	]	]	PUNCT
ajst-11776	134	19	.	.	PUNCT
ajst-11776	135	1	beijing	beijing	PROPN
ajst-11776	135	2	:	:	PUNCT
ajst-11776	135	3	beijing	beijing	PROPN
ajst-11776	135	4	jiaotong	jiaotong	PROPN
ajst-11776	135	5	university	university	PROPN
ajst-11776	135	6	master	master	NOUN
ajst-11776	135	7	dissertation,2018	dissertation,2018	VERB
ajst-11776	135	8	:	:	PUNCT
ajst-11776	135	9	41	41	NUM
ajst-11776	135	10	-	-	SYM
ajst-11776	135	11	42	42	NUM
ajst-11776	135	12	.	.	PUNCT
ajst-11776	136	1	[	[	X
ajst-11776	136	2	5	5	X
ajst-11776	136	3	]	]	X
ajst-11776	136	4	zhang	zhang	PROPN
ajst-11776	136	5	zhuang	zhuang	PROPN
ajst-11776	136	6	.	.	PUNCT
ajst-11776	136	7	research	research	NOUN
ajst-11776	136	8	and	and	CCONJ
ajst-11776	136	9	implementation	implementation	NOUN
ajst-11776	136	10	of	of	ADP
ajst-11776	136	11	permanent	permanent	ADJ
ajst-11776	136	12	magnet	magnet	NOUN
ajst-11776	136	13	synchronous	synchronous	ADJ
ajst-11776	136	14	motor	motor	NOUN
ajst-11776	136	15	speed	speed	NOUN
ajst-11776	136	16	control	control	NOUN
ajst-11776	136	17	system	system	NOUN
ajst-11776	137	1	[	[	X
ajst-11776	137	2	d	d	X
ajst-11776	137	3	]	]	X
ajst-11776	137	4	.	.	PUNCT
ajst-11776	138	1	chengdu	chengdu	PROPN
ajst-11776	138	2	:	:	PUNCT
ajst-11776	138	3	master	master	NOUN
ajst-11776	138	4	's	's	PART
ajst-11776	138	5	thesis	thesis	NOUN
ajst-11776	138	6	of	of	ADP
ajst-11776	138	7	university	university	NOUN
ajst-11776	138	8	of	of	ADP
ajst-11776	138	9	electronic	electronic	ADJ
ajst-11776	138	10	science	science	NOUN
ajst-11776	138	11	and	and	CCONJ
ajst-11776	138	12	technology,2018	technology,2018	ADP
ajst-11776	138	13	:	:	PUNCT
ajst-11776	138	14	15	15	NUM
ajst-11776	138	15	-	-	SYM
ajst-11776	138	16	17	17	NUM
ajst-11776	138	17	[	[	SYM
ajst-11776	138	18	6	6	NUM
ajst-11776	138	19	]	]	PUNCT
ajst-11776	138	20	song	song	NOUN
ajst-11776	138	21	lijun	lijun	PROPN
ajst-11776	138	22	,	,	PUNCT
ajst-11776	138	23	wang	wang	PROPN
ajst-11776	138	24	yan	yan	PROPN
ajst-11776	138	25	.	.	PUNCT
ajst-11776	139	1	a	a	DET
ajst-11776	139	2	fuzzy	fuzzy	ADJ
ajst-11776	139	3	adaptive	adaptive	ADJ
ajst-11776	139	4	control	control	NOUN
ajst-11776	139	5	method	method	NOUN
ajst-11776	139	6	for	for	ADP
ajst-11776	139	7	brushless	brushless	NOUN
ajst-11776	139	8	dc	dc	PROPN
ajst-11776	139	9	motor[j	motor[j	PROPN
ajst-11776	139	10	]	]	PUNCT
ajst-11776	139	11	.	.	PUNCT
ajst-11776	140	1	manufacturing	manufacture	VERB
ajst-11776	140	2	technology	technology	NOUN
ajst-11776	140	3	and	and	CCONJ
ajst-11776	140	4	machine	machine	NOUN
ajst-11776	140	5	tools	tool	NOUN
ajst-11776	140	6	,	,	PUNCT
ajst-11776	140	7	2022(4):145	2022(4):145	NUM
ajst-11776	140	8	-	-	SYM
ajst-11776	140	9	148	148	NUM
ajst-11776	140	10	.	.	PUNCT
ajst-11776	141	1	doi:10.19287	doi:10.19287	PROPN
ajst-11776	141	2	/	/	PUNCT
ajst-11776	141	3	j.mtmt.10052402.2022.04.023	j.mtmt.10052402.2022.04.023	NOUN
ajst-11776	141	4	.	.	PUNCT
ajst-11776	142	1	[	[	X
ajst-11776	142	2	7	7	X
ajst-11776	142	3	]	]	X
ajst-11776	142	4	liu	liu	PROPN
ajst-11776	142	5	yuhao	yuhao	PROPN
ajst-11776	142	6	,	,	PUNCT
ajst-11776	142	7	liao	liao	PROPN
ajst-11776	142	8	ping	ping	PROPN
ajst-11776	142	9	.	.	PUNCT
ajst-11776	142	10	fuzzy	fuzzy	ADJ
ajst-11776	142	11	control	control	NOUN
ajst-11776	142	12	design	design	NOUN
ajst-11776	142	13	of	of	ADP
ajst-11776	142	14	brushless	brushless	PROPN
ajst-11776	142	15	dc	dc	PROPN
ajst-11776	142	16	motor	motor	NOUN
ajst-11776	142	17	based	base	VERB
ajst-11776	142	18	on	on	ADP
ajst-11776	142	19	mfo	mfo	PROPN
ajst-11776	142	20	algorithm[j	algorithm[j	PROPN
ajst-11776	142	21	]	]	PUNCT
ajst-11776	142	22	.	.	PUNCT
ajst-11776	143	1	instrumentation	instrumentation	NOUN
ajst-11776	143	2	technology	technology	NOUN
ajst-11776	143	3	and	and	CCONJ
ajst-11776	143	4	sensors,2021(4):107	sensors,2021(4):107	PROPN
ajst-11776	143	5	-	-	PUNCT
ajst-11776	143	6	111	111	NUM
ajst-11776	143	7	.	.	PUNCT
ajst-11776	143	8	doi:10.3969	doi:10.3969	NOUN
ajst-11776	143	9	/	/	SYM
ajst-11776	143	10	j.issn.1002	j.issn.1002	NOUN
ajst-11776	143	11	-	-	PUNCT
ajst-11776	143	12	1841.2021.04.023	1841.2021.04.023	NUM
ajst-11776	143	13	.	.	PUNCT
ajst-11776	144	1	[	[	X
ajst-11776	144	2	8	8	NUM
ajst-11776	144	3	]	]	X
ajst-11776	144	4	liu	liu	PROPN
ajst-11776	144	5	yuhao	yuhao	PROPN
ajst-11776	144	6	,	,	PUNCT
ajst-11776	144	7	liao	liao	PROPN
ajst-11776	144	8	ping	ping	PROPN
ajst-11776	144	9	.	.	PUNCT
ajst-11776	144	10	fuzzy	fuzzy	ADJ
ajst-11776	144	11	control	control	NOUN
ajst-11776	144	12	design	design	NOUN
ajst-11776	144	13	of	of	ADP
ajst-11776	144	14	brushless	brushless	PROPN
ajst-11776	144	15	dc	dc	PROPN
ajst-11776	144	16	motor	motor	NOUN
ajst-11776	144	17	based	base	VERB
ajst-11776	144	18	on	on	ADP
ajst-11776	144	19	mfo	mfo	PROPN
ajst-11776	144	20	algorithm[j	algorithm[j	PROPN
ajst-11776	144	21	]	]	PUNCT
ajst-11776	144	22	.	.	PUNCT
ajst-11776	145	1	instrumentation	instrumentation	NOUN
ajst-11776	145	2	technology	technology	NOUN
ajst-11776	145	3	and	and	CCONJ
ajst-11776	145	4	sensors,2021(4):107	sensors,2021(4):107	PROPN
ajst-11776	145	5	-	-	PUNCT
ajst-11776	145	6	111	111	NUM
ajst-11776	145	7	.	.	PUNCT
ajst-11776	145	8	doi:10.3969	doi:10.3969	NOUN
ajst-11776	145	9	/	/	SYM
ajst-11776	145	10	j.issn.1002	j.issn.1002	NOUN
ajst-11776	145	11	-	-	PUNCT
ajst-11776	145	12	1841.2021.04.023	1841.2021.04.023	NUM
ajst-11776	145	13	.	.	PUNCT
ajst-11776	146	1	[	[	X
ajst-11776	146	2	9	9	NUM
ajst-11776	146	3	]	]	SYM
ajst-11776	146	4	han	han	PROPN
ajst-11776	146	5	,	,	PUNCT
ajst-11776	146	6	kyung	kyung	PROPN
ajst-11776	146	7	-	-	PUNCT
ajst-11776	146	8	ching	ching	PROPN
ajst-11776	146	9	.	.	PROPN
ajst-11776	146	10	expanded	expand	VERB
ajst-11776	146	11	state	state	NOUN
ajst-11776	146	12	observer	observer	NOUN
ajst-11776	146	13	for	for	ADP
ajst-11776	146	14	a	a	DET
ajst-11776	146	15	class	class	NOUN
ajst-11776	146	16	of	of	ADP
ajst-11776	146	17	uncertain	uncertain	ADJ
ajst-11776	146	18	objects[j	objects[j	NOUN
ajst-11776	146	19	]	]	PUNCT
ajst-11776	146	20	.	.	PUNCT
ajst-11776	147	1	control	control	NOUN
ajst-11776	147	2	and	and	CCONJ
ajst-11776	147	3	decision	decision	NOUN
ajst-11776	147	4	making,1995	making,1995	ADV
ajst-11776	147	5	,	,	PUNCT
ajst-11776	147	6	(	(	PUNCT
ajst-11776	147	7	1	1	NUM
ajst-11776	147	8	):	):	PUNCT
ajst-11776	147	9	85	85	NUM
ajst-11776	147	10	-	-	SYM
ajst-11776	147	11	88	88	NUM
ajst-11776	147	12	.	.	PUNCT
ajst-11776	148	1	[	[	X
ajst-11776	148	2	10	10	NUM
ajst-11776	148	3	]	]	X
ajst-11776	148	4	zuo	zuo	PROPN
ajst-11776	148	5	yuefei	yuefei	PROPN
ajst-11776	148	6	,	,	PUNCT
ajst-11776	148	7	zhang	zhang	PROPN
ajst-11776	148	8	jie	jie	PROPN
ajst-11776	148	9	,	,	PUNCT
ajst-11776	148	10	liu	liu	PROPN
ajst-11776	148	11	gang	gang	PROPN
ajst-11776	148	12	,	,	PUNCT
ajst-11776	148	13	et	et	PROPN
ajst-11776	148	14	al	al	PROPN
ajst-11776	148	15	.	.	PROPN
ajst-11776	148	16	improved	improve	VERB
ajst-11776	148	17	active	active	ADJ
ajst-11776	148	18	disturbance	disturbance	NOUN
ajst-11776	148	19	rejection	rejection	NOUN
ajst-11776	148	20	controller	controller	NOUN
ajst-11776	148	21	for	for	ADP
ajst-11776	148	22	permanent	permanent	ADJ
ajst-11776	148	23	magnet	magnet	NOUN
ajst-11776	148	24	synchronous	synchronous	ADJ
ajst-11776	148	25	motor	motor	NOUN
ajst-11776	148	26	with	with	ADP
ajst-11776	148	27	time	time	NOUN
ajst-11776	148	28	-	-	PUNCT
ajst-11776	148	29	varying	vary	VERB
ajst-11776	148	30	input	input	NOUN
ajst-11776	149	1	[	[	X
ajst-11776	149	2	j	j	X
ajst-11776	149	3	]	]	X
ajst-11776	149	4	.	.	PUNCT
ajst-11776	150	1	journal	journal	PROPN
ajst-11776	150	2	of	of	ADP
ajst-11776	150	3	electrotechnology	electrotechnology	NOUN
ajst-11776	150	4	,	,	PUNCT
ajst-11776	150	5	2017,32(02):161	2017,32(02):161	NUM
ajst-11776	150	6	-	-	SYM
ajst-11776	150	7	170	170	NUM
ajst-11776	150	8	.	.	PUNCT
ajst-11776	151	1	[	[	X
ajst-11776	151	2	11	11	NUM
ajst-11776	151	3	]	]	X
ajst-11776	151	4	qiao	qiao	PROPN
ajst-11776	151	5	yongming	yongming	PROPN
ajst-11776	151	6	,	,	PUNCT
ajst-11776	151	7	zhang	zhang	PROPN
ajst-11776	151	8	chao	chao	PROPN
ajst-11776	151	9	,	,	PUNCT
ajst-11776	151	10	liu	liu	PROPN
ajst-11776	151	11	jinglin	jinglin	PROPN
ajst-11776	151	12	.	.	PUNCT
ajst-11776	152	1	sliding	slide	VERB
ajst-11776	152	2	mode	mode	NOUN
ajst-11776	152	3	active	active	ADJ
ajst-11776	152	4	disturbance	disturbance	NOUN
ajst-11776	152	5	rejection	rejection	NOUN
ajst-11776	152	6	control	control	NOUN
ajst-11776	152	7	of	of	ADP
ajst-11776	152	8	brushless	brushless	PROPN
ajst-11776	152	9	dc	dc	PROPN
ajst-11776	152	10	motor	motor	NOUN
ajst-11776	152	11	based	base	VERB
ajst-11776	152	12	on	on	ADP
ajst-11776	152	13	internal	internal	ADJ
ajst-11776	152	14	mode	mode	NOUN
ajst-11776	152	15	observation[j	observation[j	PROPN
ajst-11776	152	16	]	]	PUNCT
ajst-11776	152	17	.	.	PUNCT
ajst-11776	153	1	micro	micro	PROPN
ajst-11776	153	2	motor	motor	PROPN
ajst-11776	153	3	,	,	PUNCT
ajst-11776	153	4	2023	2023	NUM
ajst-11776	153	5	,	,	PUNCT
ajst-11776	153	6	56(1):65	56(1):65	NUM
ajst-11776	153	7	-	-	PUNCT
ajst-11776	153	8	69,94	69,94	NOUN
ajst-11776	153	9	.	.	PUNCT
ajst-11776	154	1	[	[	X
ajst-11776	154	2	12	12	NUM
ajst-11776	154	3	]	]	X
ajst-11776	154	4	wang	wang	PROPN
ajst-11776	154	5	shixin	shixin	PROPN
ajst-11776	154	6	,	,	PUNCT
ajst-11776	154	7	yu	yu	PROPN
ajst-11776	154	8	bo	bo	PROPN
ajst-11776	154	9	,	,	PUNCT
ajst-11776	154	10	yu	yu	PROPN
ajst-11776	154	11	yong	yong	PROPN
ajst-11776	154	12	,	,	PUNCT
ajst-11776	154	13	et	et	PROPN
ajst-11776	154	14	al	al	PROPN
ajst-11776	154	15	.	.	PROPN
ajst-11776	154	16	study	study	PROPN
ajst-11776	154	17	on	on	ADP
ajst-11776	154	18	improved	improve	VERB
ajst-11776	154	19	active	active	ADJ
ajst-11776	154	20	disturbance	disturbance	NOUN
ajst-11776	154	21	rejection	rejection	NOUN
ajst-11776	154	22	control	control	NOUN
ajst-11776	154	23	of	of	ADP
ajst-11776	154	24	bldc	bldc	PROPN
ajst-11776	154	25	in	in	ADP
ajst-11776	154	26	electric	electric	PROPN
ajst-11776	154	27	valves[j	valves[j	PROPN
ajst-11776	154	28	]	]	PUNCT
ajst-11776	154	29	.	.	PUNCT
ajst-11776	155	1	electrical	electrical	ADJ
ajst-11776	155	2	drives,2023,53(4):3	drives,2023,53(4):3	NOUN
ajst-11776	155	3	-	-	PUNCT
ajst-11776	155	4	8,83	8,83	NOUN
ajst-11776	155	5	.	.	PUNCT
ajst-11776	156	1	[	[	X
ajst-11776	156	2	13	13	NUM
ajst-11776	156	3	]	]	X
ajst-11776	156	4	wang	wang	PROPN
ajst-11776	156	5	yannian	yannian	PROPN
ajst-11776	156	6	,	,	PUNCT
ajst-11776	156	7	wu	wu	PROPN
ajst-11776	156	8	yang	yang	PROPN
ajst-11776	156	9	,	,	PUNCT
ajst-11776	156	10	lu	lu	PROPN
ajst-11776	156	11	zhifa	zhifa	PROPN
ajst-11776	156	12	,	,	PUNCT
ajst-11776	156	13	et	et	PROPN
ajst-11776	156	14	al	al	PROPN
ajst-11776	156	15	.	.	PROPN
ajst-11776	156	16	research	research	NOUN
ajst-11776	156	17	on	on	ADP
ajst-11776	156	18	constant	constant	ADJ
ajst-11776	156	19	tension	tension	NOUN
ajst-11776	156	20	fuzzy	fuzzy	ADJ
ajst-11776	156	21	adrc	adrc	PROPN
ajst-11776	156	22	control	control	NOUN
ajst-11776	156	23	strategy	strategy	NOUN
ajst-11776	156	24	of	of	ADP
ajst-11776	156	25	yarn	yarn	NOUN
ajst-11776	156	26	conveyor[j	conveyor[j	PROPN
ajst-11776	156	27	]	]	PUNCT
ajst-11776	156	28	.	.	PUNCT
ajst-11776	157	1	overseas	overseas	ADJ
ajst-11776	157	2	electronic	electronic	ADJ
ajst-11776	157	3	measurement	measurement	NOUN
ajst-11776	157	4	technology	technology	NOUN
ajst-11776	157	5	,	,	PUNCT
ajst-11776	157	6	2021	2021	NUM
ajst-11776	157	7	,	,	PUNCT
ajst-11776	157	8	40(8):52	40(8):52	NUM
ajst-11776	157	9	-	-	SYM
ajst-11776	157	10	56	56	NUM
ajst-11776	157	11	.	.	PUNCT
ajst-11776	158	1	[	[	X
ajst-11776	158	2	14	14	NUM
ajst-11776	158	3	]	]	X
ajst-11776	158	4	li	li	PROPN
ajst-11776	158	5	zhen	zhen	PROPN
ajst-11776	158	6	,	,	PUNCT
ajst-11776	158	7	wang	wang	PROPN
ajst-11776	158	8	fan	fan	PROPN
ajst-11776	158	9	,	,	PUNCT
ajst-11776	158	10	wang	wang	PROPN
ajst-11776	158	11	ranjun	ranjun	PROPN
ajst-11776	158	12	,	,	PUNCT
ajst-11776	158	13	et	et	PROPN
ajst-11776	158	14	al	al	PROPN
ajst-11776	158	15	.	.	PROPN
ajst-11776	158	16	parameter	parameter	PROPN
ajst-11776	158	17	selftuning	selftuning	NOUN
ajst-11776	158	18	of	of	ADP
ajst-11776	158	19	self	self	NOUN
ajst-11776	158	20	-	-	PUNCT
ajst-11776	158	21	resistant	resistant	ADJ
ajst-11776	158	22	controller	controller	NOUN
ajst-11776	158	23	for	for	ADP
ajst-11776	158	24	permanent	permanent	ADJ
ajst-11776	158	25	magnet	magnet	NOUN
ajst-11776	158	26	synchronous	synchronous	ADJ
ajst-11776	158	27	motor[j	motor[j	NOUN
ajst-11776	158	28	]	]	PUNCT
ajst-11776	158	29	.	.	PUNCT
ajst-11776	159	1	computerized	computerized	ADJ
ajst-11776	159	2	measurement	measurement	NOUN
ajst-11776	159	3	and	and	CCONJ
ajst-11776	159	4	control	control	NOUN
ajst-11776	159	5	,	,	PUNCT
ajst-11776	159	6	2021	2021	NUM
ajst-11776	159	7	,	,	PUNCT
ajst-11776	159	8	29(05):92	29(05):92	NUM
ajst-11776	159	9	-	-	SYM
ajst-11776	159	10	96	96	NUM
ajst-11776	159	11	.	.	PUNCT
ajst-11776	160	1	[	[	X
ajst-11776	160	2	15	15	NUM
ajst-11776	160	3	]	]	X
ajst-11776	160	4	yang	yang	PROPN
ajst-11776	160	5	he	he	PROPN
ajst-11776	160	6	.	.	PUNCT
ajst-11776	161	1	research	research	NOUN
ajst-11776	161	2	on	on	ADP
ajst-11776	161	3	the	the	DET
ajst-11776	161	4	robustness	robustness	NOUN
ajst-11776	161	5	improvement	improvement	NOUN
ajst-11776	161	6	strategy	strategy	NOUN
ajst-11776	161	7	of	of	ADP
ajst-11776	161	8	permanent	permanent	ADJ
ajst-11776	161	9	magnet	magnet	NOUN
ajst-11776	161	10	synchronous	synchronous	ADJ
ajst-11776	161	11	motor	motor	NOUN
ajst-11776	161	12	based	base	VERB
ajst-11776	161	13	on	on	ADP
ajst-11776	161	14	self	self	NOUN
ajst-11776	161	15	-	-	PUNCT
ajst-11776	161	16	immunity	immunity	NOUN
ajst-11776	161	17	control[d	control[d	NOUN
ajst-11776	161	18	]	]	PUNCT
ajst-11776	161	19	.	.	PUNCT
ajst-11776	162	1	harbin	harbin	PROPN
ajst-11776	162	2	institute	institute	PROPN
ajst-11776	162	3	of	of	ADP
ajst-11776	162	4	technology,2021	technology,2021	NOUN
ajst-11776	162	5	.	.	PUNCT
ajst-11776	163	1	[	[	X
ajst-11776	163	2	16	16	NUM
ajst-11776	163	3	]	]	X
ajst-11776	163	4	zheng	zheng	PROPN
ajst-11776	163	5	zheng	zheng	PROPN
ajst-11776	163	6	,	,	PUNCT
ajst-11776	163	7	zhao	zhao	PROPN
ajst-11776	163	8	laiguo	laiguo	X
ajst-11776	163	9	.	.	PUNCT
ajst-11776	164	1	research	research	NOUN
ajst-11776	164	2	on	on	ADP
ajst-11776	164	3	pmsm	pmsm	NOUN
ajst-11776	164	4	positionless	positionless	ADJ
ajst-11776	164	5	sensor	sensor	NOUN
ajst-11776	164	6	based	base	VERB
ajst-11776	164	7	on	on	ADP
ajst-11776	164	8	adaptive	adaptive	ADJ
ajst-11776	164	9	sliding	slide	VERB
ajst-11776	164	10	mode	mode	NOUN
ajst-11776	164	11	observer[j	observer[j	NOUN
ajst-11776	164	12	]	]	PUNCT
ajst-11776	164	13	.	.	PUNCT
ajst-11776	165	1	journal	journal	PROPN
ajst-11776	165	2	of	of	ADP
ajst-11776	165	3	wuhan	wuhan	PROPN
ajst-11776	165	4	university	university	PROPN
ajst-11776	165	5	(	(	PUNCT
ajst-11776	165	6	engineering	engineer	VERB
ajst-11776	165	7	edition),2022,55(04):387393	edition),2022,55(04):387393	ADJ
ajst-11776	165	8	+	+	NOUN
ajst-11776	165	9	400	400	NUM
ajst-11776	165	10	.	.	PUNCT