id	sid	tid	token	lemma	pos
ajst-14309	1	1	academic	academic	ADJ
ajst-14309	1	2	journal	journal	NOUN
ajst-14309	1	3	of	of	ADP
ajst-14309	1	4	science	science	NOUN
ajst-14309	1	5	and	and	CCONJ
ajst-14309	1	6	technology	technology	NOUN
ajst-14309	1	7	issn	issn	NOUN
ajst-14309	1	8	:	:	PUNCT
ajst-14309	1	9	2771	2771	NUM
ajst-14309	1	10	-	-	SYM
ajst-14309	1	11	3032	3032	NUM
ajst-14309	1	12	|	|	NOUN
ajst-14309	1	13	vol	vol	NOUN
ajst-14309	1	14	.	.	PROPN
ajst-14309	1	15	8	8	NUM
ajst-14309	1	16	,	,	PUNCT
ajst-14309	1	17	no	no	INTJ
ajst-14309	1	18	.	.	NOUN
ajst-14309	1	19	1	1	NUM
ajst-14309	1	20	,	,	PUNCT
ajst-14309	1	21	2023	2023	NUM
ajst-14309	1	22	192	192	NUM
ajst-14309	1	23	research	research	NOUN
ajst-14309	1	24	on	on	ADP
ajst-14309	1	25	steering	steer	VERB
ajst-14309	1	26	balance	balance	NOUN
ajst-14309	1	27	control	control	NOUN
ajst-14309	1	28	of	of	ADP
ajst-14309	1	29	two‐wheeled	two‐wheele	VERB
ajst-14309	1	30	vehicles	vehicle	NOUN
ajst-14309	1	31	under	under	ADP
ajst-14309	1	32	large	large	ADJ
ajst-14309	1	33	time	time	NOUN
ajst-14309	1	34	delay	delay	PROPN
ajst-14309	1	35	jingyi	jingyi	PROPN
ajst-14309	1	36	wang	wang	PROPN
ajst-14309	1	37	,	,	PUNCT
ajst-14309	1	38	yuanhong	yuanhong	PROPN
ajst-14309	1	39	dan	dan	PROPN
ajst-14309	1	40	and	and	CCONJ
ajst-14309	1	41	runshan	runshan	PROPN
ajst-14309	1	42	peng	peng	PROPN
ajst-14309	1	43	school	school	PROPN
ajst-14309	1	44	of	of	ADP
ajst-14309	1	45	vehicle	vehicle	NOUN
ajst-14309	1	46	engineering	engineering	PROPN
ajst-14309	1	47	chongqing	chongqing	PROPN
ajst-14309	1	48	university	university	PROPN
ajst-14309	1	49	of	of	ADP
ajst-14309	1	50	technology	technology	NOUN
ajst-14309	1	51	,	,	PUNCT
ajst-14309	1	52	chongqing	chongqe	VERB
ajst-14309	1	53	400054	400054	NUM
ajst-14309	1	54	,	,	PUNCT
ajst-14309	1	55	china	china	PROPN
ajst-14309	1	56	abstract	abstract	ADJ
ajst-14309	1	57	:	:	PUNCT
ajst-14309	1	58	time	time	NOUN
ajst-14309	1	59	lag	lag	NOUN
ajst-14309	1	60	is	be	AUX
ajst-14309	1	61	very	very	ADV
ajst-14309	1	62	common	common	ADJ
ajst-14309	1	63	in	in	ADP
ajst-14309	1	64	real	real	ADJ
ajst-14309	1	65	control	control	NOUN
ajst-14309	1	66	systems	system	NOUN
ajst-14309	1	67	and	and	CCONJ
ajst-14309	1	68	is	be	AUX
ajst-14309	1	69	more	more	ADV
ajst-14309	1	70	important	important	ADJ
ajst-14309	1	71	in	in	ADP
ajst-14309	1	72	driverless	driverless	ADJ
ajst-14309	1	73	intelligent	intelligent	ADJ
ajst-14309	1	74	single	single	ADJ
ajst-14309	1	75	rutted	rutted	ADJ
ajst-14309	1	76	twowheeled	twowheele	VERB
ajst-14309	1	77	vehicles	vehicle	NOUN
ajst-14309	1	78	.	.	PUNCT
ajst-14309	2	1	time	time	NOUN
ajst-14309	2	2	lag	lag	PROPN
ajst-14309	2	3	can	can	AUX
ajst-14309	2	4	lead	lead	VERB
ajst-14309	2	5	to	to	ADP
ajst-14309	2	6	slower	slow	ADJ
ajst-14309	2	7	response	response	NOUN
ajst-14309	2	8	of	of	ADP
ajst-14309	2	9	the	the	DET
ajst-14309	2	10	control	control	NOUN
ajst-14309	2	11	system	system	NOUN
ajst-14309	2	12	to	to	ADP
ajst-14309	2	13	external	external	ADJ
ajst-14309	2	14	changes	change	NOUN
ajst-14309	2	15	,	,	PUNCT
ajst-14309	2	16	which	which	PRON
ajst-14309	2	17	can	can	AUX
ajst-14309	2	18	reduce	reduce	VERB
ajst-14309	2	19	the	the	DET
ajst-14309	2	20	stability	stability	NOUN
ajst-14309	2	21	or	or	CCONJ
ajst-14309	2	22	even	even	ADV
ajst-14309	2	23	imbalance	imbalance	NOUN
ajst-14309	2	24	of	of	ADP
ajst-14309	2	25	the	the	DET
ajst-14309	2	26	vehicle	vehicle	NOUN
ajst-14309	2	27	.	.	PUNCT
ajst-14309	3	1	traditional	traditional	ADJ
ajst-14309	3	2	control	control	NOUN
ajst-14309	3	3	methods	method	NOUN
ajst-14309	3	4	may	may	AUX
ajst-14309	3	5	not	not	PART
ajst-14309	3	6	be	be	AUX
ajst-14309	3	7	directly	directly	ADV
ajst-14309	3	8	applicable	applicable	ADJ
ajst-14309	3	9	to	to	ADP
ajst-14309	3	10	systems	system	NOUN
ajst-14309	3	11	with	with	ADP
ajst-14309	3	12	time	time	NOUN
ajst-14309	3	13	lag	lag	NOUN
ajst-14309	3	14	,	,	PUNCT
ajst-14309	3	15	so	so	ADV
ajst-14309	3	16	special	special	ADJ
ajst-14309	3	17	control	control	NOUN
ajst-14309	3	18	strategies	strategy	NOUN
ajst-14309	3	19	are	be	AUX
ajst-14309	3	20	needed	need	VERB
ajst-14309	3	21	to	to	PART
ajst-14309	3	22	deal	deal	VERB
ajst-14309	3	23	with	with	ADP
ajst-14309	3	24	the	the	DET
ajst-14309	3	25	effects	effect	NOUN
ajst-14309	3	26	of	of	ADP
ajst-14309	3	27	time	time	NOUN
ajst-14309	3	28	lag	lag	NOUN
ajst-14309	3	29	.	.	PUNCT
ajst-14309	4	1	in	in	ADP
ajst-14309	4	2	this	this	DET
ajst-14309	4	3	paper	paper	NOUN
ajst-14309	4	4	,	,	PUNCT
ajst-14309	4	5	we	we	PRON
ajst-14309	4	6	build	build	VERB
ajst-14309	4	7	a	a	DET
ajst-14309	4	8	non	non	ADJ
ajst-14309	4	9	-	-	ADJ
ajst-14309	4	10	time	time	NOUN
ajst-14309	4	11	-	-	PUNCT
ajst-14309	4	12	lagged	lag	VERB
ajst-14309	4	13	steering	steering	NOUN
ajst-14309	4	14	balance	balance	NOUN
ajst-14309	4	15	controller	controller	NOUN
ajst-14309	4	16	by	by	ADP
ajst-14309	4	17	analysing	analyse	VERB
ajst-14309	4	18	the	the	DET
ajst-14309	4	19	dynamics	dynamic	NOUN
ajst-14309	4	20	model	model	NOUN
ajst-14309	4	21	of	of	ADP
ajst-14309	4	22	an	an	DET
ajst-14309	4	23	unmanned	unmanned	ADJ
ajst-14309	4	24	intelligent	intelligent	ADJ
ajst-14309	4	25	single	single	ADJ
ajst-14309	4	26	rutted	rutted	ADJ
ajst-14309	4	27	two	two	NUM
ajst-14309	4	28	-	-	PUNCT
ajst-14309	4	29	wheeled	wheel	VERB
ajst-14309	4	30	vehicle	vehicle	NOUN
ajst-14309	4	31	,	,	PUNCT
ajst-14309	4	32	and	and	CCONJ
ajst-14309	4	33	then	then	ADV
ajst-14309	4	34	control	control	VERB
ajst-14309	4	35	the	the	DET
ajst-14309	4	36	time	time	NOUN
ajst-14309	4	37	lag	lag	VERB
ajst-14309	4	38	by	by	ADP
ajst-14309	4	39	using	use	VERB
ajst-14309	4	40	the	the	DET
ajst-14309	4	41	improved	improved	ADJ
ajst-14309	4	42	smith	smith	NOUN
ajst-14309	4	43	predictor	predictor	NOUN
ajst-14309	4	44	,	,	PUNCT
ajst-14309	4	45	and	and	CCONJ
ajst-14309	4	46	finally	finally	ADV
ajst-14309	4	47	verify	verify	VERB
ajst-14309	4	48	the	the	DET
ajst-14309	4	49	steering	steering	NOUN
ajst-14309	4	50	balance	balance	NOUN
ajst-14309	4	51	of	of	ADP
ajst-14309	4	52	the	the	DET
ajst-14309	4	53	method	method	NOUN
ajst-14309	4	54	under	under	ADP
ajst-14309	4	55	large	large	ADJ
ajst-14309	4	56	time	time	NOUN
ajst-14309	4	57	lag	lag	NOUN
ajst-14309	4	58	by	by	ADP
ajst-14309	4	59	matlab	matlab	PROPN
ajst-14309	4	60	simulation	simulation	NOUN
ajst-14309	4	61	.	.	PUNCT
ajst-14309	5	1	keywords	keyword	NOUN
ajst-14309	5	2	:	:	PUNCT
ajst-14309	5	3	steering	steer	VERB
ajst-14309	5	4	balance	balance	NOUN
ajst-14309	5	5	;	;	PUNCT
ajst-14309	5	6	improved	improved	ADJ
ajst-14309	5	7	smith	smith	PROPN
ajst-14309	5	8	;	;	PUNCT
ajst-14309	5	9	time	time	NOUN
ajst-14309	5	10	-	-	PUNCT
ajst-14309	5	11	delay	delay	NOUN
ajst-14309	5	12	control	control	NOUN
ajst-14309	5	13	;	;	PUNCT
ajst-14309	5	14	single	single	ADJ
ajst-14309	5	15	rutted	rut	VERB
ajst-14309	5	16	two	two	NUM
ajst-14309	5	17	-	-	PUNCT
ajst-14309	5	18	wheeler	wheeler	NOUN
ajst-14309	5	19	.	.	PUNCT
ajst-14309	6	1	1	1	X
ajst-14309	6	2	.	.	X
ajst-14309	6	3	introduction	introduction	NOUN
ajst-14309	6	4	autonomous	autonomous	ADJ
ajst-14309	6	5	driving	driving	NOUN
ajst-14309	6	6	will	will	AUX
ajst-14309	6	7	be	be	AUX
ajst-14309	6	8	a	a	DET
ajst-14309	6	9	trend	trend	NOUN
ajst-14309	6	10	in	in	ADP
ajst-14309	6	11	the	the	DET
ajst-14309	6	12	future	future	NOUN
ajst-14309	6	13	of	of	ADP
ajst-14309	6	14	driving	drive	VERB
ajst-14309	6	15	and	and	CCONJ
ajst-14309	6	16	is	be	AUX
ajst-14309	6	17	what	what	PRON
ajst-14309	6	18	we	we	PRON
ajst-14309	6	19	have	have	AUX
ajst-14309	6	20	been	be	AUX
ajst-14309	6	21	working	work	VERB
ajst-14309	6	22	towards	towards	ADP
ajst-14309	6	23	now	now	ADV
ajst-14309	6	24	.	.	PUNCT
ajst-14309	7	1	compared	compare	VERB
ajst-14309	7	2	with	with	ADP
ajst-14309	7	3	driverless	driverless	NOUN
ajst-14309	7	4	cars	car	NOUN
ajst-14309	7	5	,	,	PUNCT
ajst-14309	7	6	two	two	NUM
ajst-14309	7	7	-	-	PUNCT
ajst-14309	7	8	wheelers	wheeler	NOUN
ajst-14309	7	9	are	be	AUX
ajst-14309	7	10	more	more	ADV
ajst-14309	7	11	flexible	flexible	ADJ
ajst-14309	7	12	,	,	PUNCT
ajst-14309	7	13	and	and	CCONJ
ajst-14309	7	14	can	can	AUX
ajst-14309	7	15	carry	carry	VERB
ajst-14309	7	16	out	out	ADP
ajst-14309	7	17	transport	transport	NOUN
ajst-14309	7	18	,	,	PUNCT
ajst-14309	7	19	reconnaissance	reconnaissance	NOUN
ajst-14309	7	20	and	and	CCONJ
ajst-14309	7	21	other	other	ADJ
ajst-14309	7	22	work	work	NOUN
ajst-14309	7	23	through	through	ADP
ajst-14309	7	24	narrow	narrow	ADJ
ajst-14309	7	25	spaces	space	NOUN
ajst-14309	7	26	such	such	ADJ
ajst-14309	7	27	as	as	ADP
ajst-14309	7	28	alleyways	alleyway	NOUN
ajst-14309	7	29	.	.	PUNCT
ajst-14309	8	1	and	and	CCONJ
ajst-14309	8	2	the	the	DET
ajst-14309	8	3	first	first	ADJ
ajst-14309	8	4	and	and	CCONJ
ajst-14309	8	5	foremost	foremost	ADJ
ajst-14309	8	6	groundwork	groundwork	VERB
ajst-14309	8	7	for	for	ADP
ajst-14309	8	8	intelligent	intelligent	ADJ
ajst-14309	8	9	driving	driving	NOUN
ajst-14309	8	10	of	of	ADP
ajst-14309	8	11	two	two	NUM
ajst-14309	8	12	-	-	PUNCT
ajst-14309	8	13	wheeled	wheel	VERB
ajst-14309	8	14	vehicles	vehicle	NOUN
ajst-14309	8	15	is	be	AUX
ajst-14309	8	16	the	the	DET
ajst-14309	8	17	balance	balance	NOUN
ajst-14309	8	18	problem	problem	NOUN
ajst-14309	8	19	.	.	PUNCT
ajst-14309	9	1	in	in	ADP
ajst-14309	9	2	fact	fact	NOUN
ajst-14309	9	3	,	,	PUNCT
ajst-14309	9	4	the	the	DET
ajst-14309	9	5	current	current	ADJ
ajst-14309	9	6	balance	balance	NOUN
ajst-14309	9	7	control	control	NOUN
ajst-14309	9	8	methods	method	NOUN
ajst-14309	9	9	are	be	AUX
ajst-14309	9	10	roughly	roughly	ADV
ajst-14309	9	11	divided	divide	VERB
ajst-14309	9	12	into	into	ADP
ajst-14309	9	13	two	two	NUM
ajst-14309	9	14	categories	category	NOUN
ajst-14309	9	15	,	,	PUNCT
ajst-14309	9	16	steering	steer	VERB
ajst-14309	9	17	balance	balance	NOUN
ajst-14309	9	18	[	[	X
ajst-14309	9	19	1	1	NUM
ajst-14309	9	20	-	-	SYM
ajst-14309	9	21	2	2	NUM
ajst-14309	9	22	]	]	PUNCT
ajst-14309	9	23	and	and	CCONJ
ajst-14309	9	24	gyroscope	gyroscope	PROPN
ajst-14309	9	25	balance	balance	NOUN
ajst-14309	9	26	.	.	PUNCT
ajst-14309	10	1	gyroscope	gyroscope	NOUN
ajst-14309	10	2	balance	balance	NOUN
ajst-14309	10	3	has	have	VERB
ajst-14309	10	4	the	the	DET
ajst-14309	10	5	characteristics	characteristic	NOUN
ajst-14309	10	6	of	of	ADP
ajst-14309	10	7	strong	strong	ADJ
ajst-14309	10	8	anti	anti	ADJ
ajst-14309	10	9	-	-	ADJ
ajst-14309	10	10	interference	interference	NOUN
ajst-14309	10	11	and	and	CCONJ
ajst-14309	10	12	strong	strong	ADJ
ajst-14309	10	13	stability	stability	NOUN
ajst-14309	10	14	.	.	PUNCT
ajst-14309	11	1	however	however	ADV
ajst-14309	11	2	,	,	PUNCT
ajst-14309	11	3	according	accord	VERB
ajst-14309	11	4	to	to	ADP
ajst-14309	11	5	the	the	DET
ajst-14309	11	6	current	current	ADJ
ajst-14309	11	7	research	research	NOUN
ajst-14309	11	8	status	status	NOUN
ajst-14309	11	9	,	,	PUNCT
ajst-14309	11	10	there	there	PRON
ajst-14309	11	11	is	be	VERB
ajst-14309	11	12	no	no	DET
ajst-14309	11	13	latest	late	ADJ
ajst-14309	11	14	research	research	NOUN
ajst-14309	11	15	result	result	NOUN
ajst-14309	11	16	that	that	PRON
ajst-14309	11	17	can	can	AUX
ajst-14309	11	18	solve	solve	VERB
ajst-14309	11	19	the	the	DET
ajst-14309	11	20	large	large	ADJ
ajst-14309	11	21	angle	angle	NOUN
ajst-14309	11	22	steering	steering	NOUN
ajst-14309	11	23	problem	problem	NOUN
ajst-14309	11	24	of	of	ADP
ajst-14309	11	25	gyrobalance	gyrobalance	NOUN
ajst-14309	11	26	.	.	PUNCT
ajst-14309	12	1	the	the	DET
ajst-14309	12	2	steering	steering	NOUN
ajst-14309	12	3	balance	balance	NOUN
ajst-14309	12	4	is	be	AUX
ajst-14309	12	5	not	not	PART
ajst-14309	12	6	such	such	DET
ajst-14309	12	7	a	a	DET
ajst-14309	12	8	problem	problem	NOUN
ajst-14309	12	9	,	,	PUNCT
ajst-14309	12	10	compared	compare	VERB
ajst-14309	12	11	with	with	ADP
ajst-14309	12	12	the	the	DET
ajst-14309	12	13	gyro	gyro	NOUN
ajst-14309	12	14	balance	balance	NOUN
ajst-14309	12	15	,	,	PUNCT
ajst-14309	12	16	the	the	DET
ajst-14309	12	17	steering	steering	NOUN
ajst-14309	12	18	balance	balance	NOUN
ajst-14309	12	19	is	be	AUX
ajst-14309	12	20	more	more	ADV
ajst-14309	12	21	flexible	flexible	ADJ
ajst-14309	12	22	,	,	PUNCT
ajst-14309	12	23	and	and	CCONJ
ajst-14309	12	24	can	can	AUX
ajst-14309	12	25	fully	fully	ADV
ajst-14309	12	26	play	play	VERB
ajst-14309	12	27	the	the	DET
ajst-14309	12	28	mobility	mobility	NOUN
ajst-14309	12	29	and	and	CCONJ
ajst-14309	12	30	flexibility	flexibility	NOUN
ajst-14309	12	31	of	of	ADP
ajst-14309	12	32	the	the	DET
ajst-14309	12	33	two	two	NUM
ajst-14309	12	34	-	-	PUNCT
ajst-14309	12	35	wheeled	wheel	VERB
ajst-14309	12	36	vehicle	vehicle	NOUN
ajst-14309	12	37	.	.	PUNCT
ajst-14309	13	1	as	as	SCONJ
ajst-14309	13	2	we	we	PRON
ajst-14309	13	3	all	all	PRON
ajst-14309	13	4	know	know	VERB
ajst-14309	13	5	,	,	PUNCT
ajst-14309	13	6	steering	steering	NOUN
ajst-14309	13	7	balance	balance	NOUN
ajst-14309	13	8	depends	depend	VERB
ajst-14309	13	9	on	on	ADP
ajst-14309	13	10	the	the	DET
ajst-14309	13	11	reflection	reflection	NOUN
ajst-14309	13	12	speed	speed	NOUN
ajst-14309	13	13	of	of	ADP
ajst-14309	13	14	the	the	DET
ajst-14309	13	15	steering	steering	NOUN
ajst-14309	13	16	mechanism	mechanism	NOUN
ajst-14309	13	17	,	,	PUNCT
ajst-14309	13	18	in	in	ADP
ajst-14309	13	19	high	high	ADJ
ajst-14309	13	20	speed	speed	NOUN
ajst-14309	13	21	or	or	CCONJ
ajst-14309	13	22	complex	complex	ADJ
ajst-14309	13	23	road	road	NOUN
ajst-14309	13	24	surface	surface	NOUN
ajst-14309	13	25	,	,	PUNCT
ajst-14309	13	26	the	the	DET
ajst-14309	13	27	negative	negative	ADJ
ajst-14309	13	28	impact	impact	NOUN
ajst-14309	13	29	of	of	ADP
ajst-14309	13	30	the	the	DET
ajst-14309	13	31	time	time	NOUN
ajst-14309	13	32	lag	lag	NOUN
ajst-14309	13	33	of	of	ADP
ajst-14309	13	34	the	the	DET
ajst-14309	13	35	steering	steering	NOUN
ajst-14309	13	36	mechanism	mechanism	NOUN
ajst-14309	13	37	will	will	AUX
ajst-14309	13	38	be	be	AUX
ajst-14309	13	39	doubled	double	VERB
ajst-14309	13	40	with	with	ADP
ajst-14309	13	41	the	the	DET
ajst-14309	13	42	speed	speed	NOUN
ajst-14309	13	43	and	and	CCONJ
ajst-14309	13	44	complexity	complexity	NOUN
ajst-14309	13	45	of	of	ADP
ajst-14309	13	46	the	the	DET
ajst-14309	13	47	road	road	NOUN
ajst-14309	13	48	surface	surface	NOUN
ajst-14309	13	49	,	,	PUNCT
ajst-14309	13	50	and	and	CCONJ
ajst-14309	13	51	may	may	AUX
ajst-14309	13	52	even	even	ADV
ajst-14309	13	53	lead	lead	VERB
ajst-14309	13	54	to	to	ADP
ajst-14309	13	55	the	the	DET
ajst-14309	13	56	loss	loss	NOUN
ajst-14309	13	57	of	of	ADP
ajst-14309	13	58	control	control	NOUN
ajst-14309	13	59	of	of	ADP
ajst-14309	13	60	the	the	DET
ajst-14309	13	61	vehicle	vehicle	NOUN
ajst-14309	13	62	body	body	NOUN
ajst-14309	13	63	and	and	CCONJ
ajst-14309	13	64	destruction	destruction	NOUN
ajst-14309	13	65	.	.	PUNCT
ajst-14309	14	1	there	there	PRON
ajst-14309	14	2	are	be	VERB
ajst-14309	14	3	fewer	few	ADJ
ajst-14309	14	4	studies	study	NOUN
ajst-14309	14	5	on	on	ADP
ajst-14309	14	6	the	the	DET
ajst-14309	14	7	control	control	NOUN
ajst-14309	14	8	of	of	ADP
ajst-14309	14	9	time	time	NOUN
ajst-14309	14	10	lag	lag	NOUN
ajst-14309	14	11	systems	system	NOUN
ajst-14309	14	12	for	for	ADP
ajst-14309	14	13	single	single	ADJ
ajst-14309	14	14	rutted	rutted	ADJ
ajst-14309	14	15	two	two	NUM
ajst-14309	14	16	-	-	PUNCT
ajst-14309	14	17	wheeled	wheel	VERB
ajst-14309	14	18	vehicles	vehicle	NOUN
ajst-14309	14	19	,	,	PUNCT
ajst-14309	14	20	but	but	CCONJ
ajst-14309	14	21	the	the	DET
ajst-14309	14	22	phenomenon	phenomenon	NOUN
ajst-14309	14	23	of	of	ADP
ajst-14309	14	24	time	time	NOUN
ajst-14309	14	25	lag	lag	NOUN
ajst-14309	14	26	in	in	ADP
ajst-14309	14	27	control	control	NOUN
ajst-14309	14	28	exists	exist	VERB
ajst-14309	14	29	in	in	ADP
ajst-14309	14	30	various	various	ADJ
ajst-14309	14	31	fields	field	NOUN
ajst-14309	14	32	of	of	ADP
ajst-14309	14	33	application	application	NOUN
ajst-14309	14	34	,	,	PUNCT
ajst-14309	14	35	where	where	SCONJ
ajst-14309	14	36	transmission	transmission	NOUN
ajst-14309	14	37	delays	delay	NOUN
ajst-14309	14	38	may	may	AUX
ajst-14309	14	39	occur	occur	VERB
ajst-14309	14	40	when	when	SCONJ
ajst-14309	14	41	signals	signal	NOUN
ajst-14309	14	42	are	be	AUX
ajst-14309	14	43	transmitted	transmit	VERB
ajst-14309	14	44	from	from	ADP
ajst-14309	14	45	one	one	NUM
ajst-14309	14	46	place	place	NOUN
ajst-14309	14	47	to	to	ADP
ajst-14309	14	48	another	another	PRON
ajst-14309	14	49	.	.	PUNCT
ajst-14309	15	1	sensors	sensor	NOUN
ajst-14309	15	2	are	be	AUX
ajst-14309	15	3	used	use	VERB
ajst-14309	15	4	to	to	PART
ajst-14309	15	5	sense	sense	VERB
ajst-14309	15	6	the	the	DET
ajst-14309	15	7	environment	environment	NOUN
ajst-14309	15	8	or	or	CCONJ
ajst-14309	15	9	acquire	acquire	VERB
ajst-14309	15	10	input	input	NOUN
ajst-14309	15	11	signals	signal	NOUN
ajst-14309	15	12	.	.	PUNCT
ajst-14309	16	1	however	however	ADV
ajst-14309	16	2	,	,	PUNCT
ajst-14309	16	3	the	the	DET
ajst-14309	16	4	sensors	sensor	NOUN
ajst-14309	16	5	themselves	themselves	PRON
ajst-14309	16	6	may	may	AUX
ajst-14309	16	7	have	have	VERB
ajst-14309	16	8	response	response	NOUN
ajst-14309	16	9	delays	delay	NOUN
ajst-14309	16	10	.	.	PUNCT
ajst-14309	17	1	classic	classic	ADJ
ajst-14309	17	2	examples	example	NOUN
ajst-14309	17	3	are	be	AUX
ajst-14309	17	4	heating	heat	VERB
ajst-14309	17	5	of	of	ADP
ajst-14309	17	6	extruded	extrude	VERB
ajst-14309	17	7	plastics	plastic	NOUN
ajst-14309	17	8	in	in	ADP
ajst-14309	17	9	an	an	DET
ajst-14309	17	10	extruder	extruder	NOUN
ajst-14309	17	11	,	,	PUNCT
ajst-14309	17	12	temperature	temperature	NOUN
ajst-14309	17	13	control	control	NOUN
ajst-14309	17	14	in	in	ADP
ajst-14309	17	15	a	a	DET
ajst-14309	17	16	boiler	boiler	NOUN
ajst-14309	17	17	room	room	NOUN
ajst-14309	17	18	,	,	PUNCT
ajst-14309	17	19	process	process	NOUN
ajst-14309	17	20	control	control	NOUN
ajst-14309	17	21	of	of	ADP
ajst-14309	17	22	chemical	chemical	ADJ
ajst-14309	17	23	reactions	reaction	NOUN
ajst-14309	17	24	in	in	ADP
ajst-14309	17	25	a	a	DET
ajst-14309	17	26	chemical	chemical	NOUN
ajst-14309	17	27	plant	plant	NOUN
ajst-14309	17	28	,	,	PUNCT
ajst-14309	17	29	and	and	CCONJ
ajst-14309	17	30	so	so	ADV
ajst-14309	17	31	on	on	ADV
ajst-14309	17	32	.	.	PUNCT
ajst-14309	18	1	consider	consider	VERB
ajst-14309	18	2	a	a	DET
ajst-14309	18	3	system	system	NOUN
ajst-14309	18	4	with	with	ADP
ajst-14309	18	5	a	a	DET
ajst-14309	18	6	time	time	NOUN
ajst-14309	18	7	lag	lag	NOUN
ajst-14309	18	8	where	where	SCONJ
ajst-14309	18	9	the	the	DET
ajst-14309	18	10	time	time	NOUN
ajst-14309	18	11	lag	lag	NOUN
ajst-14309	18	12	is	be	AUX
ajst-14309	18	13			NOUN
ajst-14309	18	14	.	.	PUNCT
ajst-14309	19	1	the	the	DET
ajst-14309	19	2	transfer	transfer	NOUN
ajst-14309	19	3	function	function	NOUN
ajst-14309	19	4	(	(	PUNCT
ajst-14309	19	5	)	)	PUNCT
ajst-14309	19	6	g	g	NOUN
ajst-14309	19	7	s	s	ADP
ajst-14309	19	8	can	can	AUX
ajst-14309	19	9	represent	represent	VERB
ajst-14309	19	10	the	the	DET
ajst-14309	19	11	effect	effect	NOUN
ajst-14309	19	12	of	of	ADP
ajst-14309	19	13	time	time	NOUN
ajst-14309	19	14	lag	lag	VERB
ajst-14309	19	15	by	by	ADP
ajst-14309	19	16	introducing	introduce	VERB
ajst-14309	19	17	an	an	DET
ajst-14309	19	18	additional	additional	ADJ
ajst-14309	19	19	factor	factor	NOUN
ajst-14309	19	20	se	se	X
ajst-14309	19	21			NUM
ajst-14309	19	22	for	for	ADP
ajst-14309	19	23	the	the	DET
ajst-14309	19	24	analysis	analysis	NOUN
ajst-14309	19	25	and	and	CCONJ
ajst-14309	19	26	design	design	NOUN
ajst-14309	19	27	of	of	ADP
ajst-14309	19	28	control	control	NOUN
ajst-14309	19	29	systems	system	NOUN
ajst-14309	19	30	,	,	PUNCT
ajst-14309	19	31	the	the	DET
ajst-14309	19	32	time	time	NOUN
ajst-14309	19	33	lag	lag	NOUN
ajst-14309	19	34	transfer	transfer	NOUN
ajst-14309	19	35	function	function	NOUN
ajst-14309	19	36	can	can	AUX
ajst-14309	19	37	be	be	AUX
ajst-14309	19	38	used	use	VERB
ajst-14309	19	39	to	to	PART
ajst-14309	19	40	analyse	analyse	VERB
ajst-14309	19	41	the	the	DET
ajst-14309	19	42	stability	stability	NOUN
ajst-14309	19	43	,	,	PUNCT
ajst-14309	19	44	frequency	frequency	NOUN
ajst-14309	19	45	response	response	NOUN
ajst-14309	19	46	and	and	CCONJ
ajst-14309	19	47	control	control	NOUN
ajst-14309	19	48	performance	performance	NOUN
ajst-14309	19	49	of	of	ADP
ajst-14309	19	50	the	the	DET
ajst-14309	19	51	system	system	NOUN
ajst-14309	19	52	.	.	PUNCT
ajst-14309	20	1	however	however	ADV
ajst-14309	20	2	,	,	PUNCT
ajst-14309	20	3	the	the	DET
ajst-14309	20	4	presence	presence	NOUN
ajst-14309	20	5	of	of	ADP
ajst-14309	20	6	time	time	NOUN
ajst-14309	20	7	lag	lag	NOUN
ajst-14309	20	8	makes	make	VERB
ajst-14309	20	9	the	the	DET
ajst-14309	20	10	poles	pole	NOUN
ajst-14309	20	11	of	of	ADP
ajst-14309	20	12	the	the	DET
ajst-14309	20	13	controlled	control	VERB
ajst-14309	20	14	system	system	NOUN
ajst-14309	20	15	to	to	PART
ajst-14309	20	16	be	be	AUX
ajst-14309	20	17	in	in	ADP
ajst-14309	20	18	the	the	DET
ajst-14309	20	19	right	right	ADJ
ajst-14309	20	20	half	half	ADJ
ajst-14309	20	21	plane	plane	NOUN
ajst-14309	20	22	of	of	ADP
ajst-14309	20	23	the	the	DET
ajst-14309	20	24	complex	complex	ADJ
ajst-14309	20	25	plane	plane	NOUN
ajst-14309	20	26	,	,	PUNCT
ajst-14309	20	27	which	which	PRON
ajst-14309	20	28	leads	lead	VERB
ajst-14309	20	29	to	to	ADP
ajst-14309	20	30	system	system	NOUN
ajst-14309	20	31	divergence	divergence	NOUN
ajst-14309	20	32	and	and	CCONJ
ajst-14309	20	33	loss	loss	NOUN
ajst-14309	20	34	of	of	ADP
ajst-14309	20	35	control	control	NOUN
ajst-14309	20	36	.	.	PUNCT
ajst-14309	21	1	smith	smith	PROPN
ajst-14309	21	2	prognostic	prognostic	PROPN
ajst-14309	21	3	control	control	PROPN
ajst-14309	21	4	is	be	AUX
ajst-14309	21	5	widely	widely	ADV
ajst-14309	21	6	used	use	VERB
ajst-14309	21	7	in	in	ADP
ajst-14309	21	8	time	time	NOUN
ajst-14309	21	9	-	-	PUNCT
ajst-14309	21	10	lag	lag	NOUN
ajst-14309	21	11	systems	system	NOUN
ajst-14309	21	12	,	,	PUNCT
ajst-14309	21	13	and	and	CCONJ
ajst-14309	21	14	its	its	PRON
ajst-14309	21	15	principle	principle	NOUN
ajst-14309	21	16	is	be	AUX
ajst-14309	21	17	mainly	mainly	ADV
ajst-14309	21	18	to	to	PART
ajst-14309	21	19	eliminate	eliminate	VERB
ajst-14309	21	20	the	the	DET
ajst-14309	21	21	feedback	feedback	NOUN
ajst-14309	21	22	path	path	NOUN
ajst-14309	21	23	time	time	NOUN
ajst-14309	21	24	lag	lag	VERB
ajst-14309	21	25	and	and	CCONJ
ajst-14309	21	26	reduce	reduce	VERB
ajst-14309	21	27	the	the	DET
ajst-14309	21	28	negative	negative	ADJ
ajst-14309	21	29	effects	effect	NOUN
ajst-14309	21	30	of	of	ADP
ajst-14309	21	31	the	the	DET
ajst-14309	21	32	time	time	NOUN
ajst-14309	21	33	lag	lag	VERB
ajst-14309	21	34	on	on	ADP
ajst-14309	21	35	the	the	DET
ajst-14309	21	36	whole	whole	ADJ
ajst-14309	21	37	system	system	NOUN
ajst-14309	21	38	,	,	PUNCT
ajst-14309	21	39	such	such	ADJ
ajst-14309	21	40	as	as	ADP
ajst-14309	21	41	oscillation	oscillation	NOUN
ajst-14309	21	42	and	and	CCONJ
ajst-14309	21	43	divergence	divergence	NOUN
ajst-14309	21	44	.	.	PUNCT
ajst-14309	22	1	however	however	ADV
ajst-14309	22	2	,	,	PUNCT
ajst-14309	22	3	in	in	ADP
ajst-14309	22	4	actual	actual	ADJ
ajst-14309	22	5	time	time	NOUN
ajst-14309	22	6	-	-	PUNCT
ajst-14309	22	7	lag	lag	NOUN
ajst-14309	22	8	systems	system	NOUN
ajst-14309	22	9	,	,	PUNCT
ajst-14309	22	10	the	the	DET
ajst-14309	22	11	condition	condition	NOUN
ajst-14309	22	12	that	that	SCONJ
ajst-14309	22	13	traditional	traditional	ADJ
ajst-14309	22	14	smith	smith	PROPN
ajst-14309	22	15	control	control	PROPN
ajst-14309	22	16	requires	require	VERB
ajst-14309	22	17	an	an	DET
ajst-14309	22	18	accurate	accurate	ADJ
ajst-14309	22	19	model	model	NOUN
ajst-14309	22	20	is	be	AUX
ajst-14309	22	21	not	not	PART
ajst-14309	22	22	always	always	ADV
ajst-14309	22	23	achievable	achievable	ADJ
ajst-14309	22	24	.	.	PUNCT
ajst-14309	23	1	the	the	DET
ajst-14309	23	2	index	index	NOUN
ajst-14309	23	3	for	for	ADP
ajst-14309	23	4	dealing	deal	VERB
ajst-14309	23	5	with	with	ADP
ajst-14309	23	6	time	time	NOUN
ajst-14309	23	7	lag	lag	NOUN
ajst-14309	23	8	decreases	decrease	NOUN
ajst-14309	23	9	with	with	ADP
ajst-14309	23	10	the	the	DET
ajst-14309	23	11	external	external	ADJ
ajst-14309	23	12	disturbance	disturbance	NOUN
ajst-14309	23	13	or	or	CCONJ
ajst-14309	23	14	the	the	DET
ajst-14309	23	15	error	error	NOUN
ajst-14309	23	16	of	of	ADP
ajst-14309	23	17	building	build	VERB
ajst-14309	23	18	the	the	DET
ajst-14309	23	19	model	model	NOUN
ajst-14309	23	20	itself	itself	PRON
ajst-14309	23	21	,	,	PUNCT
ajst-14309	23	22	which	which	PRON
ajst-14309	23	23	in	in	ADP
ajst-14309	23	24	turn	turn	NOUN
ajst-14309	23	25	generates	generate	VERB
ajst-14309	23	26	some	some	DET
ajst-14309	23	27	methods	method	NOUN
ajst-14309	23	28	to	to	PART
ajst-14309	23	29	improve	improve	VERB
ajst-14309	23	30	the	the	DET
ajst-14309	23	31	smith	smith	PROPN
ajst-14309	23	32	control	control	PROPN
ajst-14309	23	33	,	,	PUNCT
ajst-14309	23	34	such	such	ADJ
ajst-14309	23	35	as	as	ADP
ajst-14309	23	36	anti	anti	ADJ
ajst-14309	23	37	-	-	ADJ
ajst-14309	23	38	interference	interference	ADJ
ajst-14309	23	39	type	type	NOUN
ajst-14309	23	40	,	,	PUNCT
ajst-14309	23	41	filtering	filtering	NOUN
ajst-14309	23	42	type	type	NOUN
ajst-14309	23	43	,	,	PUNCT
ajst-14309	23	44	adaptive	adaptive	ADJ
ajst-14309	23	45	type	type	NOUN
ajst-14309	23	46	,	,	PUNCT
ajst-14309	23	47	and	and	CCONJ
ajst-14309	23	48	so	so	ADV
ajst-14309	23	49	on	on	ADV
ajst-14309	23	50	.	.	PUNCT
ajst-14309	24	1	by	by	ADP
ajst-14309	24	2	combining	combine	VERB
ajst-14309	24	3	with	with	ADP
ajst-14309	24	4	the	the	DET
ajst-14309	24	5	grey	grey	ADJ
ajst-14309	24	6	wolf	wolf	PROPN
ajst-14309	24	7	algorithm	algorithm	PROPN
ajst-14309	24	8	,	,	PUNCT
ajst-14309	24	9	it	it	PRON
ajst-14309	24	10	is	be	AUX
ajst-14309	24	11	proposed	propose	VERB
ajst-14309	24	12	to	to	PART
ajst-14309	24	13	improve	improve	VERB
ajst-14309	24	14	the	the	DET
ajst-14309	24	15	smith	smith	PROPN
ajst-14309	24	16	predictor	predictor	NOUN
ajst-14309	24	17	to	to	PART
ajst-14309	24	18	make	make	VERB
ajst-14309	24	19	the	the	DET
ajst-14309	24	20	antidisturbance	antidisturbance	NOUN
ajst-14309	24	21	enhancement	enhancement	NOUN
ajst-14309	24	22	[	[	X
ajst-14309	24	23	3	3	NUM
ajst-14309	24	24	]	]	PUNCT
ajst-14309	24	25	.	.	PUNCT
ajst-14309	25	1	feedforward	feedforward	NOUN
ajst-14309	25	2	and	and	CCONJ
ajst-14309	25	3	feedback	feedback	NOUN
ajst-14309	25	4	controllers	controller	NOUN
ajst-14309	25	5	are	be	AUX
ajst-14309	25	6	designed	design	VERB
ajst-14309	25	7	to	to	PART
ajst-14309	25	8	improve	improve	VERB
ajst-14309	25	9	the	the	DET
ajst-14309	25	10	tracking	tracking	NOUN
ajst-14309	25	11	expectation	expectation	NOUN
ajst-14309	25	12	without	without	ADP
ajst-14309	25	13	overshooting	overshoot	VERB
ajst-14309	25	14	as	as	ADV
ajst-14309	25	15	well	well	ADV
ajst-14309	25	16	as	as	ADP
ajst-14309	25	17	eliminating	eliminate	VERB
ajst-14309	25	18	unwanted	unwanted	ADJ
ajst-14309	25	19	disturbances	disturbance	NOUN
ajst-14309	25	20	[	[	X
ajst-14309	25	21	4	4	NUM
ajst-14309	25	22	]	]	PUNCT
ajst-14309	25	23	.	.	PUNCT
ajst-14309	26	1	the	the	DET
ajst-14309	26	2	adding	add	VERB
ajst-14309	26	3	controllers	controller	NOUN
ajst-14309	26	4	and	and	CCONJ
ajst-14309	26	5	filters	filter	NOUN
ajst-14309	26	6	to	to	ADP
ajst-14309	26	7	the	the	DET
ajst-14309	26	8	feedback	feedback	NOUN
ajst-14309	26	9	path	path	NOUN
ajst-14309	26	10	is	be	AUX
ajst-14309	26	11	used	use	VERB
ajst-14309	26	12	to	to	PART
ajst-14309	26	13	improve	improve	VERB
ajst-14309	26	14	model	model	NOUN
ajst-14309	26	15	parameter	parameter	NOUN
ajst-14309	26	16	mismatch	mismatch	NOUN
ajst-14309	26	17	[	[	X
ajst-14309	26	18	5	5	NUM
ajst-14309	26	19	]	]	PUNCT
ajst-14309	26	20	.	.	PUNCT
ajst-14309	27	1	fuzzy	fuzzy	ADJ
ajst-14309	27	2	pid	pid	NOUN
ajst-14309	27	3	with	with	ADP
ajst-14309	27	4	smith	smith	PROPN
ajst-14309	27	5	's	's	PART
ajst-14309	27	6	using	use	VERB
ajst-14309	27	7	fuzzy	fuzzy	ADJ
ajst-14309	27	8	pid	pid	NOUN
ajst-14309	27	9	in	in	ADP
ajst-14309	27	10	combination	combination	NOUN
ajst-14309	27	11	with	with	ADP
ajst-14309	27	12	smith	smith	NOUN
ajst-14309	27	13	predictors	predictor	NOUN
ajst-14309	27	14	to	to	PART
ajst-14309	27	15	increase	increase	VERB
ajst-14309	27	16	the	the	DET
ajst-14309	27	17	adaptivity	adaptivity	NOUN
ajst-14309	27	18	and	and	CCONJ
ajst-14309	27	19	robustness	robustness	NOUN
ajst-14309	27	20	of	of	ADP
ajst-14309	27	21	the	the	DET
ajst-14309	27	22	control	control	NOUN
ajst-14309	27	23	system[6	system[6	NOUN
ajst-14309	27	24	]	]	X
ajst-14309	27	25	.the	.the	PUNCT
ajst-14309	28	1	eha	eha	PROPN
ajst-14309	28	2	is	be	AUX
ajst-14309	28	3	optimised	optimise	VERB
ajst-14309	28	4	according	accord	VERB
ajst-14309	28	5	to	to	ADP
ajst-14309	28	6	a	a	DET
ajst-14309	28	7	genetic	genetic	ADJ
ajst-14309	28	8	algorithm	algorithm	NOUN
ajst-14309	28	9	to	to	PART
ajst-14309	28	10	obtain	obtain	VERB
ajst-14309	28	11	the	the	DET
ajst-14309	28	12	eha	eha	NOUN
ajst-14309	28	13	.	.	PUNCT
ajst-14309	29	1	the	the	DET
ajst-14309	29	2	optimal	optimal	ADJ
ajst-14309	29	3	time	time	NOUN
ajst-14309	29	4	lag	lag	VERB
ajst-14309	29	5	feedback	feedback	NOUN
ajst-14309	29	6	coefficients	coefficient	NOUN
ajst-14309	29	7	and	and	CCONJ
ajst-14309	29	8	time	time	NOUN
ajst-14309	29	9	lags	lag	NOUN
ajst-14309	29	10	of	of	ADP
ajst-14309	29	11	the	the	DET
ajst-14309	29	12	eha	eha	NOUN
ajst-14309	29	13	suspension	suspension	NOUN
ajst-14309	29	14	system	system	NOUN
ajst-14309	29	15	are	be	AUX
ajst-14309	29	16	obtained	obtain	VERB
ajst-14309	29	17	by	by	ADP
ajst-14309	29	18	genetic	genetic	ADJ
ajst-14309	29	19	algorithm	algorithm	NOUN
ajst-14309	29	20	optimisation	optimisation	NOUN
ajst-14309	29	21	,	,	PUNCT
ajst-14309	29	22	which	which	PRON
ajst-14309	29	23	is	be	AUX
ajst-14309	29	24	used	use	VERB
ajst-14309	29	25	as	as	ADP
ajst-14309	29	26	the	the	DET
ajst-14309	29	27	optimal	optimal	ADJ
ajst-14309	29	28	time	time	NOUN
ajst-14309	29	29	lag	lag	NOUN
ajst-14309	29	30	feedback	feedback	NOUN
ajst-14309	29	31	model	model	NOUN
ajst-14309	29	32	to	to	PART
ajst-14309	29	33	design	design	VERB
ajst-14309	29	34	the	the	DET
ajst-14309	29	35	adaptive	adaptive	ADJ
ajst-14309	29	36	smith	smith	PROPN
ajst-14309	29	37	feedback	feedback	PROPN
ajst-14309	29	38	time	time	PROPN
ajst-14309	29	39	lag	lag	NOUN
ajst-14309	29	40	control	control	NOUN
ajst-14309	29	41	strategy[7].the	strategy[7].the	PROPN
ajst-14309	29	42	adaptive	adaptive	PROPN
ajst-14309	29	43	smith	smith	PROPN
ajst-14309	29	44	feedback	feedback	PROPN
ajst-14309	29	45	time	time	PROPN
ajst-14309	29	46	lag	lag	NOUN
ajst-14309	29	47	control	control	NOUN
ajst-14309	29	48	strategy	strategy	NOUN
ajst-14309	29	49	is	be	AUX
ajst-14309	29	50	designed	design	VERB
ajst-14309	29	51	using	use	VERB
ajst-14309	29	52	the	the	DET
ajst-14309	29	53	optimal	optimal	ADJ
ajst-14309	29	54	time	time	NOUN
ajst-14309	29	55	lag	lag	NOUN
ajst-14309	29	56	feedback	feedback	NOUN
ajst-14309	29	57	model	model	NOUN
ajst-14309	29	58	.	.	PUNCT
ajst-14309	30	1	the	the	DET
ajst-14309	30	2	smith	smith	PROPN
ajst-14309	30	3	predictor	predictor	PROPN
ajst-14309	30	4	is	be	AUX
ajst-14309	30	5	improved	improve	VERB
ajst-14309	30	6	to	to	PART
ajst-14309	30	7	eliminate	eliminate	VERB
ajst-14309	30	8	the	the	DET
ajst-14309	30	9	dead	dead	ADJ
ajst-14309	30	10	time	time	NOUN
ajst-14309	30	11	and	and	CCONJ
ajst-14309	30	12	prevent	prevent	VERB
ajst-14309	30	13	overshoot	overshoot	NOUN
ajst-14309	30	14	[	[	X
ajst-14309	30	15	8	8	NUM
ajst-14309	30	16	,	,	PUNCT
ajst-14309	30	17	9	9	NUM
ajst-14309	30	18	]	]	PUNCT
ajst-14309	30	19	.	.	PUNCT
ajst-14309	31	1	the	the	DET
ajst-14309	31	2	pd	pd	PROPN
ajst-14309	31	3	is	be	AUX
ajst-14309	31	4	combined	combine	VERB
ajst-14309	31	5	with	with	ADP
ajst-14309	31	6	smith	smith	PROPN
ajst-14309	31	7	to	to	PART
ajst-14309	31	8	design	design	VERB
ajst-14309	31	9	an	an	DET
ajst-14309	31	10	adaptive	adaptive	ADJ
ajst-14309	31	11	smith	smith	NOUN
ajst-14309	31	12	feedback	feedback	NOUN
ajst-14309	31	13	time	time	PROPN
ajst-14309	31	14	lag	lag	NOUN
ajst-14309	31	15	control	control	NOUN
ajst-14309	31	16	strategy	strategy	NOUN
ajst-14309	31	17	.	.	PUNCT
ajst-14309	32	1	the	the	DET
ajst-14309	32	2	feedforward	feedforward	NOUN
ajst-14309	32	3	and	and	CCONJ
ajst-14309	32	4	feedback	feedback	NOUN
ajst-14309	32	5	paths	path	NOUN
ajst-14309	32	6	are	be	AUX
ajst-14309	32	7	controlled	control	VERB
ajst-14309	32	8	using	use	VERB
ajst-14309	32	9	a	a	DET
ajst-14309	32	10	combination	combination	NOUN
ajst-14309	32	11	of	of	ADP
ajst-14309	32	12	pd	pd	PROPN
ajst-14309	32	13	and	and	CCONJ
ajst-14309	32	14	smith	smith	PROPN
ajst-14309	32	15	,	,	PUNCT
ajst-14309	32	16	which	which	PRON
ajst-14309	32	17	improves	improve	VERB
ajst-14309	32	18	the	the	DET
ajst-14309	32	19	response	response	NOUN
ajst-14309	32	20	time	time	NOUN
ajst-14309	32	21	and	and	CCONJ
ajst-14309	32	22	ensures	ensure	VERB
ajst-14309	32	23	a	a	DET
ajst-14309	32	24	robust	robust	ADJ
ajst-14309	32	25	closed	closed	ADJ
ajst-14309	32	26	-	-	PUNCT
ajst-14309	32	27	loop	loop	NOUN
ajst-14309	32	28	performance	performance	NOUN
ajst-14309	32	29	[	[	X
ajst-14309	32	30	10	10	NUM
ajst-14309	32	31	]	]	PUNCT
ajst-14309	32	32	.	.	PUNCT
ajst-14309	33	1	in	in	ADP
ajst-14309	33	2	this	this	DET
ajst-14309	33	3	paper	paper	NOUN
ajst-14309	33	4	,	,	PUNCT
ajst-14309	33	5	a	a	DET
ajst-14309	33	6	conventional	conventional	ADJ
ajst-14309	33	7	controller	controller	NOUN
ajst-14309	33	8	is	be	AUX
ajst-14309	33	9	designed	design	VERB
ajst-14309	33	10	by	by	ADP
ajst-14309	33	11	analysing	analyse	VERB
ajst-14309	33	12	a	a	DET
ajst-14309	33	13	second	second	ADJ
ajst-14309	33	14	-	-	PUNCT
ajst-14309	33	15	order	order	NOUN
ajst-14309	33	16	nonlinear	nonlinear	ADJ
ajst-14309	33	17	single	single	ADJ
ajst-14309	33	18	rutted	rutted	ADJ
ajst-14309	33	19	two	two	NUM
ajst-14309	33	20	-	-	PUNCT
ajst-14309	33	21	wheeler	wheeler	NOUN
ajst-14309	33	22	dynamics	dynamic	NOUN
ajst-14309	33	23	model	model	NOUN
ajst-14309	33	24	,	,	PUNCT
ajst-14309	33	25	which	which	PRON
ajst-14309	33	26	is	be	AUX
ajst-14309	33	27	then	then	ADV
ajst-14309	33	28	improved	improve	VERB
ajst-14309	33	29	to	to	ADP
ajst-14309	33	30	a	a	DET
ajst-14309	33	31	steering	steering	NOUN
ajst-14309	33	32	balance	balance	NOUN
ajst-14309	33	33	controller	controller	NOUN
ajst-14309	33	34	under	under	ADP
ajst-14309	33	35	large	large	ADJ
ajst-14309	33	36	time	time	NOUN
ajst-14309	33	37	lag	lag	NOUN
ajst-14309	33	38	conditions	condition	NOUN
ajst-14309	33	39	by	by	ADP
ajst-14309	33	40	using	use	VERB
ajst-14309	33	41	a	a	DET
ajst-14309	33	42	filter	filter	NOUN
ajst-14309	33	43	in	in	ADP
ajst-14309	33	44	combination	combination	NOUN
ajst-14309	33	45	with	with	ADP
ajst-14309	33	46	smith	smith	PROPN
ajst-14309	33	47	's	's	PART
ajst-14309	33	48	method	method	NOUN
ajst-14309	33	49	.	.	PUNCT
ajst-14309	34	1	in	in	ADP
ajst-14309	34	2	section	section	PROPN
ajst-14309	34	3	ii	ii	PROPN
ajst-14309	34	4	of	of	ADP
ajst-14309	34	5	this	this	DET
ajst-14309	34	6	paper	paper	NOUN
ajst-14309	34	7	,	,	PUNCT
ajst-14309	34	8	we	we	PRON
ajst-14309	34	9	describe	describe	VERB
ajst-14309	34	10	in	in	ADP
ajst-14309	34	11	detail	detail	NOUN
ajst-14309	34	12	the	the	DET
ajst-14309	34	13	modelling	modelling	NOUN
ajst-14309	34	14	process	process	NOUN
ajst-14309	34	15	of	of	ADP
ajst-14309	34	16	the	the	DET
ajst-14309	34	17	self	self	NOUN
ajst-14309	34	18	-	-	PUNCT
ajst-14309	34	19	balancing	balance	VERB
ajst-14309	34	20	single	single	ADJ
ajst-14309	34	21	rutted	rut	VERB
ajst-14309	34	22	two	two	NUM
ajst-14309	34	23	193	193	NUM
ajst-14309	34	24	wheeler	wheeler	NOUN
ajst-14309	34	25	.	.	PUNCT
ajst-14309	35	1	section	section	NOUN
ajst-14309	35	2	iii	iii	NOUN
ajst-14309	35	3	designs	design	VERB
ajst-14309	35	4	the	the	DET
ajst-14309	35	5	steering	steering	NOUN
ajst-14309	35	6	balance	balance	NOUN
ajst-14309	35	7	controller	controller	NOUN
ajst-14309	35	8	for	for	ADP
ajst-14309	35	9	the	the	DET
ajst-14309	35	10	non	non	ADJ
ajst-14309	35	11	-	-	ADJ
ajst-14309	35	12	time	time	ADJ
ajst-14309	35	13	-	-	PUNCT
ajst-14309	35	14	lag	lag	NOUN
ajst-14309	35	15	system	system	NOUN
ajst-14309	35	16	.	.	PUNCT
ajst-14309	36	1	section	section	NOUN
ajst-14309	36	2	iv	iv	NUM
ajst-14309	36	3	designs	design	VERB
ajst-14309	36	4	the	the	DET
ajst-14309	36	5	steering	steering	NOUN
ajst-14309	36	6	balance	balance	NOUN
ajst-14309	36	7	controller	controller	NOUN
ajst-14309	36	8	for	for	ADP
ajst-14309	36	9	the	the	DET
ajst-14309	36	10	time	time	NOUN
ajst-14309	36	11	-	-	PUNCT
ajst-14309	36	12	lag	lag	NOUN
ajst-14309	36	13	model	model	NOUN
ajst-14309	36	14	in	in	ADP
ajst-14309	36	15	conjunction	conjunction	NOUN
ajst-14309	36	16	with	with	ADP
ajst-14309	36	17	the	the	DET
ajst-14309	36	18	improved	improve	VERB
ajst-14309	36	19	smith	smith	PROPN
ajst-14309	36	20	predictor	predictor	NOUN
ajst-14309	36	21	.	.	PUNCT
ajst-14309	37	1	section	section	NOUN
ajst-14309	37	2	v	v	PROPN
ajst-14309	37	3	will	will	AUX
ajst-14309	37	4	verify	verify	VERB
ajst-14309	37	5	the	the	DET
ajst-14309	37	6	effectiveness	effectiveness	NOUN
ajst-14309	37	7	and	and	CCONJ
ajst-14309	37	8	performance	performance	NOUN
ajst-14309	37	9	advantages	advantage	NOUN
ajst-14309	37	10	of	of	ADP
ajst-14309	37	11	the	the	DET
ajst-14309	37	12	proposed	propose	VERB
ajst-14309	37	13	method	method	NOUN
ajst-14309	37	14	through	through	ADP
ajst-14309	37	15	matlab	matlab	PROPN
ajst-14309	37	16	simulation	simulation	NOUN
ajst-14309	37	17	experiments	experiment	NOUN
ajst-14309	37	18	.	.	PUNCT
ajst-14309	38	1	finally	finally	ADV
ajst-14309	38	2	,	,	PUNCT
ajst-14309	38	3	section	section	NOUN
ajst-14309	38	4	vi	vi	PROPN
ajst-14309	38	5	concludes	conclude	VERB
ajst-14309	38	6	and	and	CCONJ
ajst-14309	38	7	outlooks	outlook	NOUN
ajst-14309	38	8	the	the	DET
ajst-14309	38	9	whole	whole	ADJ
ajst-14309	38	10	study	study	NOUN
ajst-14309	38	11	.	.	PUNCT
ajst-14309	39	1	2	2	X
ajst-14309	39	2	.	.	X
ajst-14309	39	3	two	two	NUM
ajst-14309	39	4	-	-	PUNCT
ajst-14309	39	5	wheeled	wheel	VERB
ajst-14309	39	6	vehicle	vehicle	NOUN
ajst-14309	39	7	dynamics	dynamic	NOUN
ajst-14309	39	8	modelling	model	VERB
ajst-14309	39	9	2.1	2.1	NUM
ajst-14309	39	10	.	.	PUNCT
ajst-14309	40	1	modelling	model	VERB
ajst-14309	40	2	two	two	NUM
ajst-14309	40	3	-	-	PUNCT
ajst-14309	40	4	wheeled	wheel	VERB
ajst-14309	40	5	vehicles	vehicle	NOUN
ajst-14309	40	6	the	the	DET
ajst-14309	40	7	information	information	NOUN
ajst-14309	40	8	about	about	ADP
ajst-14309	40	9	the	the	DET
ajst-14309	40	10	parameters	parameter	NOUN
ajst-14309	40	11	such	such	ADJ
ajst-14309	40	12	as	as	ADP
ajst-14309	40	13	mass	mass	NOUN
ajst-14309	40	14	,	,	PUNCT
ajst-14309	40	15	centre	centre	NOUN
ajst-14309	40	16	of	of	ADP
ajst-14309	40	17	mass	mass	ADJ
ajst-14309	40	18	height	height	NOUN
ajst-14309	40	19	,	,	PUNCT
ajst-14309	40	20	wheel	wheel	NOUN
ajst-14309	40	21	radius	radius	NOUN
ajst-14309	40	22	etc	etc	X
ajst-14309	40	23	.	.	X
ajst-14309	40	24	as	as	SCONJ
ajst-14309	40	25	shown	show	VERB
ajst-14309	40	26	in	in	ADP
ajst-14309	40	27	the	the	DET
ajst-14309	40	28	later	later	ADJ
ajst-14309	40	29	chapters	chapter	NOUN
ajst-14309	40	30	are	be	AUX
ajst-14309	40	31	selected	select	VERB
ajst-14309	40	32	for	for	ADP
ajst-14309	40	33	this	this	DET
ajst-14309	40	34	study	study	NOUN
ajst-14309	40	35	for	for	ADP
ajst-14309	40	36	the	the	DET
ajst-14309	40	37	two	two	NUM
ajst-14309	40	38	wheelers	wheeler	NOUN
ajst-14309	40	39	.	.	PUNCT
ajst-14309	41	1	are	be	AUX
ajst-14309	41	2	shown	show	VERB
ajst-14309	41	3	in	in	ADP
ajst-14309	41	4	table	table	NOUN
ajst-14309	41	5	1	1	NUM
ajst-14309	41	6	below	below	ADV
ajst-14309	41	7	.	.	PUNCT
ajst-14309	42	1	all	all	DET
ajst-14309	42	2	the	the	DET
ajst-14309	42	3	data	datum	NOUN
ajst-14309	42	4	in	in	ADP
ajst-14309	42	5	this	this	DET
ajst-14309	42	6	section	section	NOUN
ajst-14309	42	7	is	be	AUX
ajst-14309	42	8	collected	collect	VERB
ajst-14309	42	9	through	through	ADP
ajst-14309	42	10	an	an	DET
ajst-14309	42	11	actual	actual	ADJ
ajst-14309	42	12	two	two	NUM
ajst-14309	42	13	-	-	PUNCT
ajst-14309	42	14	wheeler	wheeler	NOUN
ajst-14309	42	15	platform	platform	NOUN
ajst-14309	42	16	.	.	PUNCT
ajst-14309	43	1	table	table	NOUN
ajst-14309	43	2	1	1	NUM
ajst-14309	43	3	.	.	PUNCT
ajst-14309	44	1	parameters	parameter	NOUN
ajst-14309	44	2	of	of	ADP
ajst-14309	44	3	two	two	NUM
ajst-14309	44	4	-	-	PUNCT
ajst-14309	44	5	wheeled	wheel	VERB
ajst-14309	44	6	vehicles	vehicle	NOUN
ajst-14309	44	7	parameter	parameter	PROPN
ajst-14309	44	8	name	name	NOUN
ajst-14309	44	9	notation	notation	PROPN
ajst-14309	44	10	magnitude	magnitude	NOUN
ajst-14309	44	11	unit	unit	NOUN
ajst-14309	44	12	total	total	ADJ
ajst-14309	44	13	mass	mass	PROPN
ajst-14309	44	14	m	m	VERB
ajst-14309	44	15	256	256	NUM
ajst-14309	44	16	kg	kg	NOUN
ajst-14309	44	17	wheelbases	wheelbase	VERB
ajst-14309	44	18	l	l	PROPN
ajst-14309	44	19	1.6	1.6	NUM
ajst-14309	44	20	m	m	NOUN
ajst-14309	44	21	distance	distance	NOUN
ajst-14309	44	22	from	from	ADP
ajst-14309	44	23	the	the	DET
ajst-14309	44	24	centre	centre	NOUN
ajst-14309	44	25	of	of	ADP
ajst-14309	44	26	mass	mass	NOUN
ajst-14309	44	27	to	to	ADP
ajst-14309	44	28	the	the	DET
ajst-14309	44	29	rear	rear	ADJ
ajst-14309	44	30	axle	axle	NOUN
ajst-14309	44	31	rl	rl	ADP
ajst-14309	44	32	0.625	0.625	NUM
ajst-14309	44	33	m	m	NOUN
ajst-14309	44	34	centre	centre	NOUN
ajst-14309	44	35	of	of	ADP
ajst-14309	44	36	gravity	gravity	NOUN
ajst-14309	44	37	h	h	NOUN
ajst-14309	44	38	0.46	0.46	NUM
ajst-14309	44	39	m	m	NOUN
ajst-14309	44	40	moment	moment	NOUN
ajst-14309	44	41	of	of	ADP
ajst-14309	44	42	inertia	inertia	NOUN
ajst-14309	44	43	around	around	ADP
ajst-14309	44	44	the	the	DET
ajst-14309	44	45	cross	cross	NOUN
ajst-14309	44	46	roller	roller	NOUN
ajst-14309	44	47	i	i	PRON
ajst-14309	44	48	35	35	NUM
ajst-14309	44	49	2	2	NUM
ajst-14309	44	50	kg	kg	NOUN
ajst-14309	44	51	m	m	NOUN
ajst-14309	44	52	angle	angle	NOUN
ajst-14309	44	53	between	between	ADP
ajst-14309	44	54	the	the	DET
ajst-14309	44	55	front	front	ADJ
ajst-14309	44	56	fork	fork	NOUN
ajst-14309	44	57	and	and	CCONJ
ajst-14309	44	58	the	the	DET
ajst-14309	44	59	normal	normal	ADJ
ajst-14309	44	60	plane	plane	NOUN
ajst-14309	44	61	of	of	ADP
ajst-14309	44	62	the	the	DET
ajst-14309	44	63	front	front	ADJ
ajst-14309	44	64	wheel	wheel	NOUN
ajst-14309	44	65	axis	axis	NOUN
ajst-14309	44	66	r	r	NOUN
ajst-14309	44	67	29.3	29.3	NUM
ajst-14309	44	68	。	。	NUM
ajst-14309	44	69	fork	fork	NOUN
ajst-14309	44	70	offset	offset	VERB
ajst-14309	44	71	distance	distance	NOUN
ajst-14309	44	72	1d	1d	NUM
ajst-14309	44	73	0.025	0.025	NUM
ajst-14309	44	74	m	m	PROPN
ajst-14309	44	75	front	front	ADJ
ajst-14309	44	76	steering	steering	NOUN
ajst-14309	44	77	mass	mass	NOUN
ajst-14309	44	78	fm	fm	PROPN
ajst-14309	44	79	30	30	NUM
ajst-14309	44	80	kg	kg	NOUN
ajst-14309	44	81	front	front	ADJ
ajst-14309	44	82	steering	steering	NOUN
ajst-14309	44	83	centre	centre	NOUN
ajst-14309	44	84	of	of	ADP
ajst-14309	44	85	mass	mass	ADJ
ajst-14309	44	86	height	height	NOUN
ajst-14309	44	87	fh	fh	PROPN
ajst-14309	44	88	0.540	0.540	NUM
ajst-14309	44	89	m	m	NOUN
ajst-14309	44	90	front	front	ADJ
ajst-14309	44	91	steering	steering	NOUN
ajst-14309	44	92	centre	centre	NOUN
ajst-14309	44	93	of	of	ADP
ajst-14309	44	94	gravity	gravity	NOUN
ajst-14309	44	95	to	to	ADP
ajst-14309	44	96	steering	steer	VERB
ajst-14309	44	97	axis	axis	ADJ
ajst-14309	44	98	distance	distance	NOUN
ajst-14309	44	99	fd	fd	VERB
ajst-14309	44	100	0.02	0.02	NUM
ajst-14309	44	101	m	m	NOUN
ajst-14309	44	102	front	front	ADJ
ajst-14309	44	103	wheel	wheel	NOUN
ajst-14309	44	104	rolling	rolling	NOUN
ajst-14309	44	105	radius	radius	NOUN
ajst-14309	44	106	fr	fr	PROPN
ajst-14309	44	107	0.28	0.28	NUM
ajst-14309	44	108	m	m	NOUN
ajst-14309	44	109	rear	rear	ADJ
ajst-14309	44	110	wheel	wheel	NOUN
ajst-14309	44	111	rolling	rolling	NOUN
ajst-14309	44	112	radius	radius	NOUN
ajst-14309	44	113	rr	rr	PROPN
ajst-14309	44	114	0.29	0.29	NUM
ajst-14309	44	115	m	m	PROPN
ajst-14309	44	116	gravitational	gravitational	ADJ
ajst-14309	44	117	acceleration	acceleration	NOUN
ajst-14309	44	118	g	g	PROPN
ajst-14309	44	119	9.8	9.8	NUM
ajst-14309	44	120	2	2	NUM
ajst-14309	44	121	/	/	SYM
ajst-14309	44	122	m	m	NOUN
ajst-14309	44	123	s	s	NOUN
ajst-14309	44	124	roll	roll	NOUN
ajst-14309	44	125	angle	angle	NOUN
ajst-14309	44	126	/	/	SYM
ajst-14309	44	127	roll	roll	NOUN
ajst-14309	44	128	angle	angle	NOUN
ajst-14309	44	129			PROPN
ajst-14309	44	130	°	°	ADP
ajst-14309	45	1	steering	steer	VERB
ajst-14309	45	2	angle	angle	NOUN
ajst-14309	45	3			PROPN
ajst-14309	45	4	°	°	PROPN
ajst-14309	45	5	motion	motion	NOUN
ajst-14309	45	6	steering	steering	NOUN
ajst-14309	45	7	angle	angle	NOUN
ajst-14309	45	8	r	r	NOUN
ajst-14309	45	9	°	°	PART
ajst-14309	45	10	front	front	ADJ
ajst-14309	45	11	wheel	wheel	NOUN
ajst-14309	45	12	speed	speed	NOUN
ajst-14309	45	13	fv	fv	PROPN
ajst-14309	45	14	/m	/m	X
ajst-14309	45	15	s	s	PART
ajst-14309	45	16	rear	rear	ADJ
ajst-14309	45	17	wheel	wheel	NOUN
ajst-14309	45	18	speed	speed	NOUN
ajst-14309	45	19	rv	rv	PROPN
ajst-14309	45	20	/m	/m	PUNCT
ajst-14309	45	21	s	s	PROPN
ajst-14309	45	22	radius	radius	NOUN
ajst-14309	45	23	of	of	ADP
ajst-14309	45	24	rotation	rotation	NOUN
ajst-14309	45	25	of	of	ADP
ajst-14309	45	26	the	the	DET
ajst-14309	45	27	front	front	ADJ
ajst-14309	45	28	wheel	wheel	NOUN
ajst-14309	45	29	around	around	ADP
ajst-14309	45	30	the	the	DET
ajst-14309	45	31	instantaneous	instantaneous	ADJ
ajst-14309	45	32	centre	centre	NOUN
ajst-14309	45	33	fr	fr	PROPN
ajst-14309	45	34	m	m	PROPN
ajst-14309	45	35	radius	radius	NOUN
ajst-14309	45	36	of	of	ADP
ajst-14309	45	37	rotation	rotation	NOUN
ajst-14309	45	38	of	of	ADP
ajst-14309	45	39	the	the	DET
ajst-14309	45	40	rear	rear	ADJ
ajst-14309	45	41	wheel	wheel	NOUN
ajst-14309	45	42	around	around	ADP
ajst-14309	45	43	the	the	DET
ajst-14309	45	44	instantaneous	instantaneous	ADJ
ajst-14309	45	45	centre	centre	NOUN
ajst-14309	45	46	rr	rr	PROPN
ajst-14309	45	47	m	m	PROPN
ajst-14309	45	48	centrifugal	centrifugal	ADJ
ajst-14309	45	49	acceleration	acceleration	NOUN
ajst-14309	45	50	of	of	ADP
ajst-14309	45	51	the	the	DET
ajst-14309	45	52	front	front	ADJ
ajst-14309	45	53	wheel	wheel	NOUN
ajst-14309	45	54	around	around	ADP
ajst-14309	45	55	the	the	DET
ajst-14309	45	56	instantaneous	instantaneous	ADJ
ajst-14309	45	57	centre	centre	NOUN
ajst-14309	45	58	cfa	cfa	PROPN
ajst-14309	45	59	2	2	NUM
ajst-14309	45	60	/	/	SYM
ajst-14309	45	61	m	m	NOUN
ajst-14309	45	62	s	s	NOUN
ajst-14309	45	63	centrifugal	centrifugal	ADJ
ajst-14309	45	64	acceleration	acceleration	NOUN
ajst-14309	45	65	of	of	ADP
ajst-14309	45	66	the	the	DET
ajst-14309	45	67	rear	rear	ADJ
ajst-14309	45	68	wheel	wheel	NOUN
ajst-14309	45	69	around	around	ADP
ajst-14309	45	70	the	the	DET
ajst-14309	45	71	instantaneous	instantaneous	ADJ
ajst-14309	45	72	centre	centre	NOUN
ajst-14309	45	73	cra	cra	PROPN
ajst-14309	45	74	2	2	NUM
ajst-14309	45	75	/	/	SYM
ajst-14309	45	76	m	m	VERB
ajst-14309	45	77	s	s	NOUN
ajst-14309	45	78	a	a	DET
ajst-14309	45	79	conventional	conventional	ADJ
ajst-14309	45	80	two	two	NUM
ajst-14309	45	81	-	-	PUNCT
ajst-14309	45	82	wheeler	wheeler	NOUN
ajst-14309	45	83	is	be	AUX
ajst-14309	45	84	a	a	DET
ajst-14309	45	85	vehicle	vehicle	NOUN
ajst-14309	45	86	structure	structure	NOUN
ajst-14309	45	87	in	in	ADP
ajst-14309	45	88	which	which	PRON
ajst-14309	45	89	the	the	DET
ajst-14309	45	90	front	front	ADJ
ajst-14309	45	91	wheels	wheel	NOUN
ajst-14309	45	92	control	control	VERB
ajst-14309	45	93	the	the	DET
ajst-14309	45	94	steering	steering	NOUN
ajst-14309	45	95	and	and	CCONJ
ajst-14309	45	96	the	the	DET
ajst-14309	45	97	rear	rear	ADJ
ajst-14309	45	98	wheels	wheel	NOUN
ajst-14309	45	99	act	act	VERB
ajst-14309	45	100	as	as	ADP
ajst-14309	45	101	the	the	DET
ajst-14309	45	102	drive	drive	NOUN
ajst-14309	45	103	.	.	PUNCT
ajst-14309	46	1	in	in	ADP
ajst-14309	46	2	this	this	DET
ajst-14309	46	3	model	model	NOUN
ajst-14309	46	4	it	it	PRON
ajst-14309	46	5	is	be	AUX
ajst-14309	46	6	assumed	assume	VERB
ajst-14309	46	7	that	that	SCONJ
ajst-14309	46	8	the	the	DET
ajst-14309	46	9	front	front	ADJ
ajst-14309	46	10	and	and	CCONJ
ajst-14309	46	11	rear	rear	ADJ
ajst-14309	46	12	wheels	wheel	NOUN
ajst-14309	46	13	are	be	AUX
ajst-14309	46	14	in	in	ADP
ajst-14309	46	15	contact	contact	NOUN
ajst-14309	46	16	with	with	ADP
ajst-14309	46	17	the	the	DET
ajst-14309	46	18	ground	ground	NOUN
ajst-14309	46	19	as	as	ADP
ajst-14309	46	20	a	a	DET
ajst-14309	46	21	single	single	ADJ
ajst-14309	46	22	point	point	NOUN
ajst-14309	46	23	and	and	CCONJ
ajst-14309	46	24	that	that	SCONJ
ajst-14309	46	25	the	the	DET
ajst-14309	46	26	wheels	wheel	NOUN
ajst-14309	46	27	do	do	AUX
ajst-14309	46	28	not	not	PART
ajst-14309	46	29	slip	slip	VERB
ajst-14309	46	30	sideways	sideways	ADV
ajst-14309	46	31	and	and	CCONJ
ajst-14309	46	32	that	that	SCONJ
ajst-14309	46	33	all	all	DET
ajst-14309	46	34	angles	angle	NOUN
ajst-14309	46	35	are	be	AUX
ajst-14309	46	36	small	small	ADJ
ajst-14309	46	37	.	.	PUNCT
ajst-14309	47	1	the	the	DET
ajst-14309	47	2	ground	ground	NOUN
ajst-14309	47	3	coordinate	coordinate	NOUN
ajst-14309	47	4	system	system	NOUN
ajst-14309	47	5	o	o	NOUN
ajst-14309	47	6	-	-	NOUN
ajst-14309	47	7	xyz	xyz	PROPN
ajst-14309	47	8	is	be	AUX
ajst-14309	47	9	established	establish	VERB
ajst-14309	47	10	and	and	CCONJ
ajst-14309	47	11	the	the	DET
ajst-14309	47	12	direction	direction	NOUN
ajst-14309	47	13	of	of	ADP
ajst-14309	47	14	the	the	DET
ajst-14309	47	15	arrows	arrow	NOUN
ajst-14309	47	16	on	on	ADP
ajst-14309	47	17	the	the	DET
ajst-14309	47	18	schematic	schematic	ADJ
ajst-14309	47	19	indicates	indicate	VERB
ajst-14309	47	20	the	the	DET
ajst-14309	47	21	positive	positive	ADJ
ajst-14309	47	22	direction	direction	NOUN
ajst-14309	47	23	of	of	ADP
ajst-14309	47	24	these	these	DET
ajst-14309	47	25	angles	angle	NOUN
ajst-14309	47	26	.	.	PUNCT
ajst-14309	48	1	points	point	NOUN
ajst-14309	48	2	p1	p1	PROPN
ajst-14309	48	3	and	and	CCONJ
ajst-14309	48	4	p2	p2	PROPN
ajst-14309	48	5	are	be	AUX
ajst-14309	48	6	the	the	DET
ajst-14309	48	7	contact	contact	NOUN
ajst-14309	48	8	points	point	NOUN
ajst-14309	48	9	between	between	ADP
ajst-14309	48	10	the	the	DET
ajst-14309	48	11	centre	centre	NOUN
ajst-14309	48	12	of	of	ADP
ajst-14309	48	13	the	the	DET
ajst-14309	48	14	front	front	ADJ
ajst-14309	48	15	wheel	wheel	NOUN
ajst-14309	48	16	and	and	CCONJ
ajst-14309	48	17	the	the	DET
ajst-14309	48	18	centre	centre	NOUN
ajst-14309	48	19	of	of	ADP
ajst-14309	48	20	the	the	DET
ajst-14309	48	21	rear	rear	ADJ
ajst-14309	48	22	wheel	wheel	NOUN
ajst-14309	48	23	and	and	CCONJ
ajst-14309	48	24	the	the	DET
ajst-14309	48	25	ground	ground	NOUN
ajst-14309	48	26	,	,	PUNCT
ajst-14309	48	27	respectively	respectively	ADV
ajst-14309	48	28	,	,	PUNCT
ajst-14309	48	29	and	and	CCONJ
ajst-14309	48	30	contact	contact	NOUN
ajst-14309	48	31	point	point	NOUN
ajst-14309	48	32	p3	p3	PROPN
ajst-14309	48	33	is	be	AUX
ajst-14309	48	34	the	the	DET
ajst-14309	48	35	point	point	NOUN
ajst-14309	48	36	where	where	SCONJ
ajst-14309	48	37	the	the	DET
ajst-14309	48	38	extension	extension	NOUN
ajst-14309	48	39	of	of	ADP
ajst-14309	48	40	the	the	DET
ajst-14309	48	41	fork	fork	NOUN
ajst-14309	48	42	steering	steering	NOUN
ajst-14309	48	43	intersects	intersect	VERB
ajst-14309	48	44	the	the	DET
ajst-14309	48	45	ground	ground	NOUN
ajst-14309	48	46	.	.	PUNCT
ajst-14309	49	1	as	as	SCONJ
ajst-14309	49	2	shown	show	VERB
ajst-14309	49	3	in	in	ADP
ajst-14309	49	4	fig	fig	NOUN
ajst-14309	49	5	.	.	PUNCT
ajst-14309	50	1	1	1	NUM
ajst-14309	50	2	,	,	PUNCT
ajst-14309	50	3	the	the	DET
ajst-14309	50	4	roll	roll	NOUN
ajst-14309	50	5	angle	angle	NOUN
ajst-14309	50	6	and	and	CCONJ
ajst-14309	50	7	steering	steering	NOUN
ajst-14309	50	8	angle	angle	NOUN
ajst-14309	50	9	are	be	AUX
ajst-14309	50	10	generated	generate	VERB
ajst-14309	50	11	by	by	ADP
ajst-14309	50	12	the	the	DET
ajst-14309	50	13	turning	turning	NOUN
ajst-14309	50	14	of	of	ADP
ajst-14309	50	15	the	the	DET
ajst-14309	50	16	vehicle	vehicle	NOUN
ajst-14309	50	17	body	body	NOUN
ajst-14309	50	18	,	,	PUNCT
ajst-14309	50	19	as	as	ADV
ajst-14309	50	20	well	well	ADV
ajst-14309	50	21	as	as	ADP
ajst-14309	50	22	by	by	ADP
ajst-14309	50	23	the	the	DET
ajst-14309	50	24	ground	ground	NOUN
ajst-14309	50	25	road	road	NOUN
ajst-14309	50	26	conditions	condition	NOUN
ajst-14309	50	27	and	and	CCONJ
ajst-14309	50	28	other	other	ADJ
ajst-14309	50	29	conditions	condition	NOUN
ajst-14309	50	30	.	.	PUNCT
ajst-14309	51	1	l	l	NOUN
ajst-14309	51	2	λ	λ	PROPN
ajst-14309	51	3	h	h	NOUN
ajst-14309	51	4	1p2p	1p2p	NUM
ajst-14309	52	1	x	x	PUNCT
ajst-14309	52	2	y	y	NOUN
ajst-14309	52	3	z	z	NOUN
ajst-14309	52	4	o	o	X
ajst-14309	52	5	rl	rl	ADP
ajst-14309	52	6			NUM
ajst-14309	52	7	g	g	ADP
ajst-14309	52	8	3p	3p	NUM
ajst-14309	52	9	figure	figure	NOUN
ajst-14309	52	10	1	1	NUM
ajst-14309	52	11	.	.	PUNCT
ajst-14309	52	12	side	side	ADJ
ajst-14309	52	13	view	view	NOUN
ajst-14309	52	14	of	of	ADP
ajst-14309	52	15	a	a	DET
ajst-14309	52	16	two	two	NUM
ajst-14309	52	17	-	-	PUNCT
ajst-14309	52	18	wheeled	wheel	VERB
ajst-14309	52	19	vehicle	vehicle	NOUN
ajst-14309	52	20	since	since	SCONJ
ajst-14309	52	21	the	the	DET
ajst-14309	52	22	fork	fork	NOUN
ajst-14309	52	23	swivel	swivel	NOUN
ajst-14309	52	24	does	do	AUX
ajst-14309	52	25	not	not	PART
ajst-14309	52	26	pass	pass	VERB
ajst-14309	52	27	through	through	ADP
ajst-14309	52	28	the	the	DET
ajst-14309	52	29	centre	centre	NOUN
ajst-14309	52	30	of	of	ADP
ajst-14309	52	31	194	194	NUM
ajst-14309	52	32	the	the	DET
ajst-14309	52	33	front	front	ADJ
ajst-14309	52	34	wheel	wheel	NOUN
ajst-14309	52	35	,	,	PUNCT
ajst-14309	52	36	it	it	PRON
ajst-14309	52	37	generates	generate	VERB
ajst-14309	52	38	a	a	DET
ajst-14309	52	39	transverse	transverse	NOUN
ajst-14309	52	40	roll	roll	NOUN
ajst-14309	52	41	moment	moment	NOUN
ajst-14309	52	42	when	when	SCONJ
ajst-14309	52	43	steering	steering	NOUN
ajst-14309	52	44	,	,	PUNCT
ajst-14309	52	45	as	as	SCONJ
ajst-14309	52	46	shown	show	VERB
ajst-14309	52	47	in	in	ADP
ajst-14309	52	48	fig	fig	NOUN
ajst-14309	52	49	.	.	PUNCT
ajst-14309	53	1	2	2	NUM
ajst-14309	53	2	.	.	X
ajst-14309	53	3	when	when	SCONJ
ajst-14309	53	4	the	the	DET
ajst-14309	53	5	tyre	tyre	PROPN
ajst-14309	53	6	rotates	rotate	VERB
ajst-14309	53	7	around	around	ADP
ajst-14309	53	8	the	the	DET
ajst-14309	53	9	steering	steering	NOUN
ajst-14309	53	10	axis	axis	NOUN
ajst-14309	53	11	during	during	ADP
ajst-14309	53	12	steering	steering	NOUN
ajst-14309	53	13	,	,	PUNCT
ajst-14309	53	14	the	the	DET
ajst-14309	53	15	handlebar	handlebar	NOUN
ajst-14309	53	16	's	's	PART
ajst-14309	53	17	point	point	NOUN
ajst-14309	53	18	of	of	ADP
ajst-14309	53	19	contact	contact	NOUN
ajst-14309	53	20	with	with	ADP
ajst-14309	53	21	the	the	DET
ajst-14309	53	22	ground	ground	NOUN
ajst-14309	53	23	,	,	PUNCT
ajst-14309	53	24	p1	p1	NOUN
ajst-14309	53	25	,	,	PUNCT
ajst-14309	53	26	moves	move	NOUN
ajst-14309	53	27	and	and	CCONJ
ajst-14309	53	28	generates	generate	VERB
ajst-14309	53	29	a	a	DET
ajst-14309	53	30	moment	moment	NOUN
ajst-14309	53	31	in	in	ADP
ajst-14309	53	32	the	the	DET
ajst-14309	53	33	direction	direction	NOUN
ajst-14309	53	34	of	of	ADP
ajst-14309	53	35	the	the	DET
ajst-14309	53	36	transverse	transverse	NOUN
ajst-14309	53	37	roll	roll	NOUN
ajst-14309	53	38	,	,	PUNCT
ajst-14309	53	39	which	which	PRON
ajst-14309	53	40	is	be	AUX
ajst-14309	53	41	in	in	ADP
ajst-14309	53	42	the	the	DET
ajst-14309	53	43	same	same	ADJ
ajst-14309	53	44	direction	direction	NOUN
ajst-14309	53	45	as	as	ADP
ajst-14309	53	46	the	the	DET
ajst-14309	53	47	gravitational	gravitational	ADJ
ajst-14309	53	48	moment	moment	NOUN
ajst-14309	53	49	.	.	PUNCT
ajst-14309	54	1	λ	λ	X
ajst-14309	54	2	1p	1p	VERB
ajst-14309	54	3			NUM
ajst-14309	54	4	3p	3p	NUM
ajst-14309	54	5	figure	figure	NOUN
ajst-14309	54	6	2	2	NUM
ajst-14309	54	7	.	.	NOUN
ajst-14309	54	8	front	front	ADJ
ajst-14309	54	9	steering	steering	NOUN
ajst-14309	54	10	system	system	NOUN
ajst-14309	54	11	structure	structure	NOUN
ajst-14309	54	12	in	in	ADP
ajst-14309	54	13	this	this	DET
ajst-14309	54	14	paper	paper	NOUN
ajst-14309	54	15	,	,	PUNCT
ajst-14309	54	16	the	the	DET
ajst-14309	54	17	moment	moment	NOUN
ajst-14309	54	18	force	force	VERB
ajst-14309	54	19	analysis	analysis	NOUN
ajst-14309	54	20	and	and	CCONJ
ajst-14309	54	21	dynamic	dynamic	ADJ
ajst-14309	54	22	modelling	modelling	NOUN
ajst-14309	54	23	of	of	ADP
ajst-14309	54	24	a	a	DET
ajst-14309	54	25	single	single	ADJ
ajst-14309	54	26	rutted	rutted	ADJ
ajst-14309	54	27	two	two	NUM
ajst-14309	54	28	-	-	PUNCT
ajst-14309	54	29	wheeled	wheel	VERB
ajst-14309	54	30	vehicle	vehicle	NOUN
ajst-14309	54	31	is	be	AUX
ajst-14309	54	32	carried	carry	VERB
ajst-14309	54	33	out	out	ADP
ajst-14309	54	34	by	by	ADP
ajst-14309	54	35	the	the	DET
ajst-14309	54	36	newton	newton	PROPN
ajst-14309	54	37	-	-	PUNCT
ajst-14309	54	38	euler	euler	NOUN
ajst-14309	54	39	method	method	NOUN
ajst-14309	54	40	,	,	PUNCT
ajst-14309	54	41	and	and	CCONJ
ajst-14309	54	42	the	the	DET
ajst-14309	54	43	following	follow	VERB
ajst-14309	54	44	equation	equation	NOUN
ajst-14309	54	45	for	for	ADP
ajst-14309	54	46	the	the	DET
ajst-14309	54	47	total	total	ADJ
ajst-14309	54	48	moment	moment	NOUN
ajst-14309	54	49	of	of	ADP
ajst-14309	54	50	the	the	DET
ajst-14309	54	51	two	two	NUM
ajst-14309	54	52	-	-	PUNCT
ajst-14309	54	53	wheeled	wheel	VERB
ajst-14309	54	54	vehicle	vehicle	NOUN
ajst-14309	54	55	around	around	ADP
ajst-14309	54	56	the	the	DET
ajst-14309	54	57	x	x	NOUN
ajst-14309	54	58	-	-	NOUN
ajst-14309	54	59	axis	axis	NOUN
ajst-14309	54	60	is	be	AUX
ajst-14309	54	61	obtained	obtain	VERB
ajst-14309	54	62	:	:	PUNCT
ajst-14309	54	63	all	all	DET
ajst-14309	54	64	g	g	PROPN
ajst-14309	54	65	steeringm	steeringm	PROPN
ajst-14309	54	66	m	m	PRON
ajst-14309	54	67	m	m	NOUN
ajst-14309	54	68			PUNCT
ajst-14309	54	69	(	(	PUNCT
ajst-14309	54	70	1	1	X
ajst-14309	54	71	)	)	PUNCT
ajst-14309	54	72	the	the	DET
ajst-14309	54	73	moment	moment	NOUN
ajst-14309	54	74	of	of	ADP
ajst-14309	54	75	inertia	inertia	NOUN
ajst-14309	54	76	with	with	ADP
ajst-14309	54	77	respect	respect	NOUN
ajst-14309	54	78	to	to	PART
ajst-14309	54	79	point	point	NOUN
ajst-14309	54	80	o	o	NOUN
ajst-14309	54	81	is	be	AUX
ajst-14309	54	82	obtained	obtain	VERB
ajst-14309	54	83	from	from	ADP
ajst-14309	54	84	newton	newton	PROPN
ajst-14309	54	85	's	's	PART
ajst-14309	54	86	second	second	ADJ
ajst-14309	54	87	law	law	NOUN
ajst-14309	54	88	:	:	PUNCT
ajst-14309	54	89			NOUN
ajst-14309	54	90			PUNCT
ajst-14309	54	91	..	..	PUNCT
ajst-14309	54	92	2	2	NUM
ajst-14309	54	93	all	all	PRON
ajst-14309	54	94	om	om	VERB
ajst-14309	55	1	i	i	PRON
ajst-14309	55	2	mh	mh	PROPN
ajst-14309	55	3			PROPN
ajst-14309	55	4			PROPN
ajst-14309	55	5	(	(	PUNCT
ajst-14309	55	6	2	2	X
ajst-14309	55	7	)	)	PUNCT
ajst-14309	55	8	when	when	SCONJ
ajst-14309	55	9	the	the	DET
ajst-14309	55	10	vehicle	vehicle	NOUN
ajst-14309	55	11	body	body	NOUN
ajst-14309	55	12	is	be	AUX
ajst-14309	55	13	tilted	tilt	VERB
ajst-14309	55	14	,	,	PUNCT
ajst-14309	55	15	the	the	DET
ajst-14309	55	16	change	change	NOUN
ajst-14309	55	17	in	in	ADP
ajst-14309	55	18	the	the	DET
ajst-14309	55	19	cross	cross	ADJ
ajst-14309	55	20	-	-	ADJ
ajst-14309	55	21	roll	roll	ADJ
ajst-14309	55	22	angle	angle	NOUN
ajst-14309	55	23	generates	generate	VERB
ajst-14309	55	24	a	a	DET
ajst-14309	55	25	gravitational	gravitational	ADJ
ajst-14309	55	26	moment	moment	NOUN
ajst-14309	55	27	:	:	PUNCT
ajst-14309	55	28	singm	singm	PROPN
ajst-14309	55	29	mgh	mgh	PROPN
ajst-14309	55	30			PROPN
ajst-14309	55	31	(	(	PUNCT
ajst-14309	55	32	3	3	X
ajst-14309	55	33	)	)	PUNCT
ajst-14309	55	34	the	the	DET
ajst-14309	55	35	vehicle	vehicle	NOUN
ajst-14309	55	36	body	body	NOUN
ajst-14309	55	37	generates	generate	VERB
ajst-14309	55	38	centrifugal	centrifugal	ADJ
ajst-14309	55	39	acceleration	acceleration	NOUN
ajst-14309	55	40	and	and	CCONJ
ajst-14309	55	41	hence	hence	ADV
ajst-14309	55	42	centrifugal	centrifugal	ADJ
ajst-14309	55	43	moments	moment	NOUN
ajst-14309	55	44	due	due	ADP
ajst-14309	55	45	to	to	ADP
ajst-14309	55	46	cornering	corner	VERB
ajst-14309	55	47	:	:	PUNCT
ajst-14309	55	48	21	21	NUM
ajst-14309	55	49	tan	tan	NOUN
ajst-14309	55	50	cossteering	cossteere	VERB
ajst-14309	55	51	r	r	PROPN
ajst-14309	55	52	rm	rm	NOUN
ajst-14309	55	53	mv	mv	PROPN
ajst-14309	55	54	h	h	PROPN
ajst-14309	56	1	l	l	PROPN
ajst-14309	56	2			NUM
ajst-14309	56	3			PROPN
ajst-14309	56	4	(	(	PUNCT
ajst-14309	56	5	4	4	NUM
ajst-14309	56	6	)	)	PUNCT
ajst-14309	56	7	the	the	DET
ajst-14309	56	8	cross	cross	ADJ
ajst-14309	56	9	-	-	ADJ
ajst-14309	56	10	roll	roll	ADJ
ajst-14309	56	11	moment	moment	NOUN
ajst-14309	56	12	generated	generate	VERB
ajst-14309	56	13	by	by	ADP
ajst-14309	56	14	the	the	DET
ajst-14309	56	15	fork	fork	NOUN
ajst-14309	56	16	pivot	pivot	NOUN
ajst-14309	56	17	not	not	PART
ajst-14309	56	18	passing	pass	VERB
ajst-14309	56	19	through	through	ADP
ajst-14309	56	20	the	the	DET
ajst-14309	56	21	centre	centre	NOUN
ajst-14309	56	22	of	of	ADP
ajst-14309	56	23	the	the	DET
ajst-14309	56	24	front	front	ADJ
ajst-14309	56	25	wheel	wheel	NOUN
ajst-14309	56	26	:	:	PUNCT
ajst-14309	56	27	1	1	NUM
ajst-14309	56	28	r	r	NOUN
ajst-14309	56	29	f	f	NOUN
ajst-14309	56	30	r	r	NOUN
ajst-14309	56	31	l	l	NOUN
ajst-14309	56	32	m	m	VERB
ajst-14309	56	33	mg	mg	PROPN
ajst-14309	56	34	d	d	PROPN
ajst-14309	56	35	l	l	NOUN
ajst-14309	56	36			NOUN
ajst-14309	56	37	(	(	PUNCT
ajst-14309	56	38	5	5	NUM
ajst-14309	56	39	)	)	PUNCT
ajst-14309	56	40	then	then	ADV
ajst-14309	56	41	the	the	DET
ajst-14309	56	42	total	total	ADJ
ajst-14309	56	43	moment	moment	NOUN
ajst-14309	56	44	equation	equation	NOUN
ajst-14309	56	45	:	:	PUNCT
ajst-14309	56	46			PROPN
ajst-14309	56	47			PUNCT
ajst-14309	56	48	..	..	PUNCT
ajst-14309	56	49	2	2	NUM
ajst-14309	56	50	2	2	NUM
ajst-14309	56	51	1	1	NUM
ajst-14309	56	52	1	1	NUM
ajst-14309	56	53	sin	sin	NOUN
ajst-14309	56	54	tan	tan	NOUN
ajst-14309	56	55	cos	cos	NOUN
ajst-14309	56	56	r	r	NOUN
ajst-14309	56	57	o	o	NOUN
ajst-14309	56	58	r	r	NOUN
ajst-14309	56	59	r	r	NOUN
ajst-14309	56	60	r	r	NOUN
ajst-14309	56	61	l	l	NOUN
ajst-14309	57	1	i	i	NOUN
ajst-14309	57	2	mh	mh	PROPN
ajst-14309	57	3	mgh	mgh	NOUN
ajst-14309	57	4	mv	mv	PROPN
ajst-14309	57	5	h	h	PROPN
ajst-14309	58	1	mg	mg	PROPN
ajst-14309	59	1	d	d	X
ajst-14309	59	2	l	l	NOUN
ajst-14309	59	3	l	l	X
ajst-14309	59	4			X
ajst-14309	60	1			X
ajst-14309	61	1			NUM
ajst-14309	61	2			PROPN
ajst-14309	61	3			NUM
ajst-14309	61	4			PROPN
ajst-14309	61	5			PROPN
ajst-14309	61	6			X
ajst-14309	61	7	(	(	PUNCT
ajst-14309	61	8	6	6	NUM
ajst-14309	61	9	)	)	PUNCT
ajst-14309	61	10	3	3	NUM
ajst-14309	61	11	.	.	PUNCT
ajst-14309	61	12	pid	pid	NOUN
ajst-14309	61	13	controller	controller	NOUN
ajst-14309	61	14	design	design	NOUN
ajst-14309	61	15	design	design	NOUN
ajst-14309	61	16	a	a	DET
ajst-14309	61	17	traditional	traditional	ADJ
ajst-14309	61	18	pid	pid	NOUN
ajst-14309	61	19	controller	controller	NOUN
ajst-14309	61	20	,	,	PUNCT
ajst-14309	61	21	two	two	NUM
ajst-14309	61	22	-	-	PUNCT
ajst-14309	61	23	wheeled	wheel	VERB
ajst-14309	61	24	vehicle	vehicle	NOUN
ajst-14309	61	25	desired	desire	VERB
ajst-14309	61	26	tilt	tilt	NOUN
ajst-14309	61	27	angle	angle	NOUN
ajst-14309	61	28	as	as	ADP
ajst-14309	61	29	the	the	DET
ajst-14309	61	30	target	target	NOUN
ajst-14309	61	31	value	value	NOUN
ajst-14309	61	32	set	set	VERB
ajst-14309	61	33	by	by	ADP
ajst-14309	61	34	the	the	DET
ajst-14309	61	35	control	control	NOUN
ajst-14309	61	36	system	system	NOUN
ajst-14309	61	37	,	,	PUNCT
ajst-14309	61	38	the	the	DET
ajst-14309	61	39	actual	actual	ADJ
ajst-14309	61	40	vehicle	vehicle	NOUN
ajst-14309	61	41	state	state	NOUN
ajst-14309	61	42	information	information	NOUN
ajst-14309	61	43	obtained	obtain	VERB
ajst-14309	61	44	through	through	ADP
ajst-14309	61	45	the	the	DET
ajst-14309	61	46	sensor	sensor	NOUN
ajst-14309	61	47	as	as	ADP
ajst-14309	61	48	the	the	DET
ajst-14309	61	49	system	system	NOUN
ajst-14309	61	50	model	model	NOUN
ajst-14309	61	51	state	state	NOUN
ajst-14309	61	52	feedback	feedback	NOUN
ajst-14309	61	53	,	,	PUNCT
ajst-14309	61	54	the	the	DET
ajst-14309	61	55	control	control	NOUN
ajst-14309	61	56	quantity	quantity	NOUN
ajst-14309	61	57	is	be	AUX
ajst-14309	61	58	the	the	DET
ajst-14309	61	59	steering	steering	NOUN
ajst-14309	61	60	angle	angle	NOUN
ajst-14309	61	61	,	,	PUNCT
ajst-14309	61	62	design	design	VERB
ajst-14309	61	63	the	the	DET
ajst-14309	61	64	following	follow	VERB
ajst-14309	61	65	steering	steer	VERB
ajst-14309	61	66	balance	balance	NOUN
ajst-14309	61	67	controller	controller	NOUN
ajst-14309	61	68	to	to	PART
ajst-14309	61	69	achieve	achieve	VERB
ajst-14309	61	70	steering	steering	NOUN
ajst-14309	61	71	balance	balance	NOUN
ajst-14309	61	72	.	.	PUNCT
ajst-14309	62	1	the	the	DET
ajst-14309	62	2	error	error	NOUN
ajst-14309	62	3	between	between	ADP
ajst-14309	62	4	the	the	DET
ajst-14309	62	5	roll	roll	NOUN
ajst-14309	62	6	angle	angle	NOUN
ajst-14309	62	7	feedback	feedback	NOUN
ajst-14309	62	8	and	and	CCONJ
ajst-14309	62	9	the	the	DET
ajst-14309	62	10	target	target	NOUN
ajst-14309	62	11	roll	roll	NOUN
ajst-14309	62	12	angle	angle	NOUN
ajst-14309	62	13	is	be	AUX
ajst-14309	62	14	adjusted	adjust	VERB
ajst-14309	62	15	by	by	ADP
ajst-14309	62	16	the	the	DET
ajst-14309	62	17	pid	pid	NOUN
ajst-14309	62	18	controller	controller	NOUN
ajst-14309	62	19	,	,	PUNCT
ajst-14309	62	20	at	at	ADP
ajst-14309	62	21	this	this	DET
ajst-14309	62	22	time	time	NOUN
ajst-14309	62	23	the	the	DET
ajst-14309	62	24	controller	controller	NOUN
ajst-14309	62	25	is	be	AUX
ajst-14309	62	26	.	.	PUNCT
ajst-14309	63	1	p	p	X
ajst-14309	64	1	i	i	PRON
ajst-14309	64	2	du	du	PROPN
ajst-14309	64	3	k	k	PROPN
ajst-14309	64	4	e	e	PROPN
ajst-14309	64	5	k	k	PROPN
ajst-14309	64	6	edt	edt	PROPN
ajst-14309	65	1	k	k	PROPN
ajst-14309	65	2	e	e	PROPN
ajst-14309	65	3			X
ajst-14309	65	4			NUM
ajst-14309	65	5	(	(	PUNCT
ajst-14309	65	6	7	7	NUM
ajst-14309	65	7	)	)	PUNCT
ajst-14309	65	8	where	where	SCONJ
ajst-14309	65	9	,	,	PUNCT
ajst-14309	65	10	e	e	X
ajst-14309	65	11	is	be	AUX
ajst-14309	65	12	the	the	DET
ajst-14309	65	13	roll	roll	NOUN
ajst-14309	65	14	angle	angle	NOUN
ajst-14309	65	15	error	error	NOUN
ajst-14309	65	16	,	,	PUNCT
ajst-14309	65	17	argt	argt	NOUN
ajst-14309	65	18	ete	ete	PROPN
ajst-14309	65	19			PROPN
ajst-14309	65	20			PROPN
ajst-14309	65	21			PROPN
ajst-14309	65	22	,	,	PUNCT
ajst-14309	65	23	argt	argt	NOUN
ajst-14309	65	24	et	et	NOUN
ajst-14309	65	25	is	be	AUX
ajst-14309	65	26	the	the	DET
ajst-14309	65	27	desired	desire	VERB
ajst-14309	65	28	roll	roll	NOUN
ajst-14309	65	29	angle	angle	NOUN
ajst-14309	65	30	,	,	PUNCT
ajst-14309	65	31	u	u	NOUN
ajst-14309	65	32	is	be	AUX
ajst-14309	65	33	the	the	DET
ajst-14309	65	34	control	control	NOUN
ajst-14309	65	35	quantity	quantity	NOUN
ajst-14309	65	36	output	output	NOUN
ajst-14309	65	37	to	to	ADP
ajst-14309	65	38	the	the	DET
ajst-14309	65	39	steering	steering	NOUN
ajst-14309	65	40	mechanism	mechanism	NOUN
ajst-14309	65	41	by	by	ADP
ajst-14309	65	42	the	the	DET
ajst-14309	65	43	controller	controller	NOUN
ajst-14309	65	44	,	,	PUNCT
ajst-14309	65	45	pk	pk	PROPN
ajst-14309	65	46	ik	ik	X
ajst-14309	65	47	dk	dk	PROPN
ajst-14309	65	48	is	be	AUX
ajst-14309	65	49	the	the	DET
ajst-14309	65	50	proportional	proportional	ADJ
ajst-14309	65	51	,	,	PUNCT
ajst-14309	65	52	integral	integral	ADJ
ajst-14309	65	53	and	and	CCONJ
ajst-14309	65	54	differential	differential	ADJ
ajst-14309	65	55	link	link	NOUN
ajst-14309	65	56	.	.	PUNCT
ajst-14309	66	1	4	4	X
ajst-14309	66	2	.	.	NUM
ajst-14309	66	3	improved	improve	VERB
ajst-14309	66	4	smith	smith	PROPN
ajst-14309	66	5	predictive	predictive	PROPN
ajst-14309	66	6	compensation	compensation	PROPN
ajst-14309	66	7	control	control	VERB
ajst-14309	66	8	the	the	DET
ajst-14309	66	9	smith	smith	PROPN
ajst-14309	66	10	's	's	PART
ajst-14309	66	11	prognostic	prognostic	ADJ
ajst-14309	66	12	control	control	NOUN
ajst-14309	66	13	algorithm	algorithm	PROPN
ajst-14309	66	14	proposes	propose	VERB
ajst-14309	66	15	a	a	DET
ajst-14309	66	16	solution	solution	NOUN
ajst-14309	66	17	to	to	ADP
ajst-14309	66	18	the	the	DET
ajst-14309	66	19	problem	problem	NOUN
ajst-14309	66	20	of	of	ADP
ajst-14309	66	21	a	a	DET
ajst-14309	66	22	closed	closed	ADJ
ajst-14309	66	23	-	-	PUNCT
ajst-14309	66	24	loop	loop	NOUN
ajst-14309	66	25	time	time	NOUN
ajst-14309	66	26	-	-	PUNCT
ajst-14309	66	27	lag	lag	NOUN
ajst-14309	66	28	system	system	NOUN
ajst-14309	66	29	by	by	ADP
ajst-14309	66	30	compensating	compensate	VERB
ajst-14309	66	31	a	a	DET
ajst-14309	66	32	prognostic	prognostic	ADJ
ajst-14309	66	33	model	model	NOUN
ajst-14309	66	34	in	in	ADP
ajst-14309	66	35	parallel	parallel	NOUN
ajst-14309	66	36	to	to	PART
ajst-14309	66	37	eliminate	eliminate	VERB
ajst-14309	66	38	the	the	DET
ajst-14309	66	39	effect	effect	NOUN
ajst-14309	66	40	of	of	ADP
ajst-14309	66	41	time	time	NOUN
ajst-14309	66	42	lag	lag	VERB
ajst-14309	66	43	on	on	ADP
ajst-14309	66	44	the	the	DET
ajst-14309	66	45	regulation	regulation	NOUN
ajst-14309	66	46	process	process	NOUN
ajst-14309	66	47	.	.	PUNCT
ajst-14309	67	1	however	however	ADV
ajst-14309	67	2	,	,	PUNCT
ajst-14309	67	3	in	in	ADP
ajst-14309	67	4	practice	practice	NOUN
ajst-14309	67	5	,	,	PUNCT
ajst-14309	67	6	the	the	DET
ajst-14309	67	7	system	system	NOUN
ajst-14309	67	8	model	model	NOUN
ajst-14309	67	9	is	be	AUX
ajst-14309	67	10	often	often	ADV
ajst-14309	67	11	affected	affect	VERB
ajst-14309	67	12	by	by	ADP
ajst-14309	67	13	factors	factor	NOUN
ajst-14309	67	14	such	such	ADJ
ajst-14309	67	15	as	as	ADP
ajst-14309	67	16	parameter	parameter	NOUN
ajst-14309	67	17	uncertainty	uncertainty	NOUN
ajst-14309	67	18	,	,	PUNCT
ajst-14309	67	19	external	external	ADJ
ajst-14309	67	20	disturbances	disturbance	NOUN
ajst-14309	67	21	and	and	CCONJ
ajst-14309	67	22	measurement	measurement	NOUN
ajst-14309	67	23	noise	noise	NOUN
ajst-14309	67	24	,	,	PUNCT
ajst-14309	67	25	leading	lead	VERB
ajst-14309	67	26	to	to	ADP
ajst-14309	67	27	discrepancies	discrepancy	NOUN
ajst-14309	67	28	between	between	ADP
ajst-14309	67	29	the	the	DET
ajst-14309	67	30	predictive	predictive	ADJ
ajst-14309	67	31	model	model	NOUN
ajst-14309	67	32	and	and	CCONJ
ajst-14309	67	33	the	the	DET
ajst-14309	67	34	true	true	ADJ
ajst-14309	67	35	model	model	NOUN
ajst-14309	67	36	.	.	PUNCT
ajst-14309	68	1	such	such	ADJ
ajst-14309	68	2	model	model	NOUN
ajst-14309	68	3	errors	error	NOUN
ajst-14309	68	4	may	may	AUX
ajst-14309	68	5	lead	lead	VERB
ajst-14309	68	6	to	to	ADP
ajst-14309	68	7	fluctuations	fluctuation	NOUN
ajst-14309	68	8	or	or	CCONJ
ajst-14309	68	9	instability	instability	NOUN
ajst-14309	68	10	in	in	ADP
ajst-14309	68	11	the	the	DET
ajst-14309	68	12	output	output	NOUN
ajst-14309	68	13	of	of	ADP
ajst-14309	68	14	the	the	DET
ajst-14309	68	15	predictor	predictor	NOUN
ajst-14309	68	16	.	.	PUNCT
ajst-14309	69	1	in	in	ADP
ajst-14309	69	2	order	order	NOUN
ajst-14309	69	3	to	to	PART
ajst-14309	69	4	solve	solve	VERB
ajst-14309	69	5	this	this	DET
ajst-14309	69	6	problem	problem	NOUN
ajst-14309	69	7	,	,	PUNCT
ajst-14309	69	8	this	this	DET
ajst-14309	69	9	paper	paper	NOUN
ajst-14309	69	10	uses	use	VERB
ajst-14309	69	11	a	a	DET
ajst-14309	69	12	filter	filter	NOUN
ajst-14309	69	13	in	in	ADP
ajst-14309	69	14	combination	combination	NOUN
ajst-14309	69	15	with	with	ADP
ajst-14309	69	16	the	the	DET
ajst-14309	69	17	smith	smith	PROPN
ajst-14309	69	18	predictor	predictor	NOUN
ajst-14309	69	19	to	to	PART
ajst-14309	69	20	regulate	regulate	VERB
ajst-14309	69	21	the	the	DET
ajst-14309	69	22	mismatch	mismatch	NOUN
ajst-14309	69	23	between	between	ADP
ajst-14309	69	24	the	the	DET
ajst-14309	69	25	reference	reference	NOUN
ajst-14309	69	26	model	model	NOUN
ajst-14309	69	27	and	and	CCONJ
ajst-14309	69	28	the	the	DET
ajst-14309	69	29	real	real	ADJ
ajst-14309	69	30	model	model	NOUN
ajst-14309	69	31	.	.	PUNCT
ajst-14309	70	1	the	the	DET
ajst-14309	70	2	control	control	PROPN
ajst-14309	70	3	block	block	NOUN
ajst-14309	70	4	diagram	diagram	NOUN
ajst-14309	70	5	of	of	ADP
ajst-14309	70	6	the	the	DET
ajst-14309	70	7	smith	smith	NOUN
ajst-14309	70	8	system	system	NOUN
ajst-14309	70	9	is	be	AUX
ajst-14309	70	10	shown	show	VERB
ajst-14309	70	11	in	in	ADP
ajst-14309	70	12	fig	fig	NOUN
ajst-14309	70	13	.	.	PUNCT
ajst-14309	71	1	3	3	X
ajst-14309	71	2	.	.	NUM
ajst-14309	71	3	gc(s	gc(s	NUM
ajst-14309	71	4	)	)	PUNCT
ajst-14309	71	5	gc(s	gc(s	X
ajst-14309	71	6	)	)	PUNCT
ajst-14309	71	7	g0	g0	PROPN
ajst-14309	71	8	g0	g0	PROPN
ajst-14309	71	9	gp(s	gp(s	PROPN
ajst-14309	71	10	)	)	PUNCT
ajst-14309	71	11	gm0(s	gm0(s	PROPN
ajst-14309	71	12	)	)	PUNCT
ajst-14309	71	13	gmp(s	gmp(s	NOUN
ajst-14309	71	14	)	)	PUNCT
ajst-14309	71	15	r(s	r(s	PROPN
ajst-14309	71	16	)	)	PUNCT
ajst-14309	71	17	uc(s	uc(s	PUNCT
ajst-14309	71	18	)	)	PUNCT
ajst-14309	71	19	y(s	y(s	PROPN
ajst-14309	71	20	)	)	PUNCT
ajst-14309	71	21	ymp(s	ymp(s	PROPN
ajst-14309	71	22	)	)	PUNCT
ajst-14309	71	23	ym(s	ym(s	NOUN
ajst-14309	71	24	)	)	PUNCT
ajst-14309	72	1	+	+	CCONJ
ajst-14309	73	1	+	+	PUNCT
ajst-14309	73	2	+	+	PUNCT
ajst-14309	73	3	‐	‐	NOUN
ajst-14309	73	4	‐	‐	ADV
ajst-14309	73	5	+	+	CCONJ
ajst-14309	73	6	f(s	f(	NOUN
ajst-14309	73	7	)	)	PUNCT
ajst-14309	73	8	figure	figure	VERB
ajst-14309	73	9	3	3	NUM
ajst-14309	73	10	.	.	PUNCT
ajst-14309	73	11	smith	smith	PROPN
ajst-14309	73	12	control	control	PROPN
ajst-14309	73	13	block	block	PROPN
ajst-14309	73	14	diagram	diagram	PROPN
ajst-14309	73	15	195	195	NUM
ajst-14309	73	16	where	where	SCONJ
ajst-14309	73	17	(	(	PUNCT
ajst-14309	73	18	)	)	PUNCT
ajst-14309	73	19	cg	cg	NOUN
ajst-14309	74	1	s	s	NOUN
ajst-14309	74	2	is	be	AUX
ajst-14309	74	3	the	the	DET
ajst-14309	74	4	controller	controller	NOUN
ajst-14309	74	5	,	,	PUNCT
ajst-14309	74	6	(	(	PUNCT
ajst-14309	74	7	)	)	PUNCT
ajst-14309	74	8	pg	pg	PROPN
ajst-14309	74	9	s	s	X
ajst-14309	74	10	is	be	AUX
ajst-14309	74	11	the	the	DET
ajst-14309	74	12	generalised	generalise	VERB
ajst-14309	74	13	controlled	control	VERB
ajst-14309	74	14	object	object	NOUN
ajst-14309	74	15	and	and	CCONJ
ajst-14309	74	16	(	(	PUNCT
ajst-14309	74	17	)	)	PUNCT
ajst-14309	74	18	(	(	PUNCT
ajst-14309	74	19	)	)	PUNCT
ajst-14309	74	20	s	s	X
ajst-14309	74	21	mp	mp	NOUN
ajst-14309	74	22	mg	mg	PROPN
ajst-14309	74	23	s	s	PROPN
ajst-14309	74	24	g	g	PROPN
ajst-14309	74	25	s	s	PART
ajst-14309	74	26	e	e	PROPN
ajst-14309	74	27	.	.	PUNCT
ajst-14309	75	1	the	the	DET
ajst-14309	75	2	closed	close	VERB
ajst-14309	75	3	-	-	PUNCT
ajst-14309	75	4	loop	loop	NOUN
ajst-14309	75	5	transfer	transfer	NOUN
ajst-14309	75	6	function	function	NOUN
ajst-14309	75	7	of	of	ADP
ajst-14309	75	8	the	the	DET
ajst-14309	75	9	control	control	NOUN
ajst-14309	75	10	system	system	NOUN
ajst-14309	75	11	is	be	AUX
ajst-14309	75	12	:	:	PUNCT
ajst-14309	75	13	(	(	PUNCT
ajst-14309	75	14	)	)	PUNCT
ajst-14309	75	15	(	(	PUNCT
ajst-14309	75	16	)	)	PUNCT
ajst-14309	75	17	(	(	PUNCT
ajst-14309	75	18	)	)	PUNCT
ajst-14309	75	19	(	(	PUNCT
ajst-14309	75	20	)	)	PUNCT
ajst-14309	75	21	1	1	NUM
ajst-14309	75	22	(	(	PUNCT
ajst-14309	75	23	)	)	PUNCT
ajst-14309	75	24	(	(	PUNCT
ajst-14309	75	25	)	)	PUNCT
ajst-14309	75	26	(	(	PUNCT
ajst-14309	75	27	)	)	PUNCT
ajst-14309	75	28	(	(	PUNCT
ajst-14309	75	29	(	(	PUNCT
ajst-14309	75	30	)	)	PUNCT
ajst-14309	75	31	(	(	PUNCT
ajst-14309	75	32	)	)	PUNCT
ajst-14309	75	33	)	)	PUNCT
ajst-14309	76	1	(	(	PUNCT
ajst-14309	76	2	)	)	PUNCT
ajst-14309	76	3	s	s	AUX
ajst-14309	76	4	c	c	NOUN
ajst-14309	76	5	p	p	X
ajst-14309	76	6	s	s	X
ajst-14309	76	7	s	s	X
ajst-14309	76	8	c	c	NOUN
ajst-14309	76	9	m	m	NOUN
ajst-14309	76	10	c	c	NOUN
ajst-14309	76	11	p	p	NOUN
ajst-14309	76	12	m	m	PROPN
ajst-14309	76	13	g	g	NOUN
ajst-14309	76	14	s	s	PROPN
ajst-14309	76	15	g	g	NOUN
ajst-14309	76	16	s	s	PART
ajst-14309	76	17	ey	ey	PRON
ajst-14309	76	18	s	s	NOUN
ajst-14309	76	19	r	r	NOUN
ajst-14309	76	20	s	s	PROPN
ajst-14309	76	21	g	g	NOUN
ajst-14309	76	22	s	s	PROPN
ajst-14309	76	23	g	g	PROPN
ajst-14309	76	24	s	s	PROPN
ajst-14309	76	25	g	g	PROPN
ajst-14309	76	26	s	s	PROPN
ajst-14309	76	27	g	g	NOUN
ajst-14309	76	28	s	s	ADP
ajst-14309	76	29	e	e	NOUN
ajst-14309	76	30	g	g	NOUN
ajst-14309	76	31	s	s	PROPN
ajst-14309	76	32	e	e	X
ajst-14309	76	33	f	f	PROPN
ajst-14309	76	34	s	s	PART
ajst-14309	76	35			NOUN
ajst-14309	76	36			NOUN
ajst-14309	76	37			NOUN
ajst-14309	76	38			PROPN
ajst-14309	76	39			PROPN
ajst-14309	76	40			PROPN
ajst-14309	76	41			PUNCT
ajst-14309	76	42			ADJ
ajst-14309	76	43			X
ajst-14309	76	44	(	(	PUNCT
ajst-14309	76	45	8)	8)	NUM
ajst-14309	76	46	(	(	PUNCT
ajst-14309	76	47	)	)	PUNCT
ajst-14309	76	48	f	f	PROPN
ajst-14309	76	49	s	s	VERB
ajst-14309	76	50	can	can	AUX
ajst-14309	76	51	be	be	AUX
ajst-14309	76	52	regarded	regard	VERB
ajst-14309	76	53	as	as	ADP
ajst-14309	76	54	a	a	DET
ajst-14309	76	55	low	low	ADJ
ajst-14309	76	56	-	-	PUNCT
ajst-14309	76	57	pass	pass	NOUN
ajst-14309	76	58	filter	filter	NOUN
ajst-14309	76	59	,	,	PUNCT
ajst-14309	76	60	which	which	PRON
ajst-14309	76	61	has	have	VERB
ajst-14309	76	62	a	a	DET
ajst-14309	76	63	buffering	buffering	NOUN
ajst-14309	76	64	effect	effect	NOUN
ajst-14309	76	65	on	on	ADP
ajst-14309	76	66	the	the	DET
ajst-14309	76	67	mismatched	mismatch	VERB
ajst-14309	76	68	prediction	prediction	NOUN
ajst-14309	76	69	model	model	NOUN
ajst-14309	76	70	.	.	PUNCT
ajst-14309	77	1	the	the	DET
ajst-14309	77	2	error	error	NOUN
ajst-14309	77	3	between	between	ADP
ajst-14309	77	4	the	the	DET
ajst-14309	77	5	actual	actual	ADJ
ajst-14309	77	6	output	output	NOUN
ajst-14309	77	7	of	of	ADP
ajst-14309	77	8	the	the	DET
ajst-14309	77	9	control	control	NOUN
ajst-14309	77	10	system	system	NOUN
ajst-14309	77	11	and	and	CCONJ
ajst-14309	77	12	the	the	DET
ajst-14309	77	13	output	output	NOUN
ajst-14309	77	14	of	of	ADP
ajst-14309	77	15	the	the	DET
ajst-14309	77	16	predictor	predictor	NOUN
ajst-14309	77	17	is	be	AUX
ajst-14309	77	18	buffered	buffer	VERB
ajst-14309	77	19	by	by	ADP
ajst-14309	77	20	the	the	DET
ajst-14309	77	21	inertial	inertial	ADJ
ajst-14309	77	22	link	link	NOUN
ajst-14309	77	23	and	and	CCONJ
ajst-14309	77	24	input	input	NOUN
ajst-14309	77	25	to	to	ADP
ajst-14309	77	26	the	the	DET
ajst-14309	77	27	controller	controller	NOUN
ajst-14309	77	28	,	,	PUNCT
ajst-14309	77	29	which	which	PRON
ajst-14309	77	30	reduces	reduce	VERB
ajst-14309	77	31	the	the	DET
ajst-14309	77	32	effect	effect	NOUN
ajst-14309	77	33	of	of	ADP
ajst-14309	77	34	the	the	DET
ajst-14309	77	35	mismatched	mismatch	VERB
ajst-14309	77	36	prediction	prediction	NOUN
ajst-14309	77	37	model	model	NOUN
ajst-14309	77	38	on	on	ADP
ajst-14309	77	39	the	the	DET
ajst-14309	77	40	stability	stability	NOUN
ajst-14309	77	41	of	of	ADP
ajst-14309	77	42	the	the	DET
ajst-14309	77	43	system	system	NOUN
ajst-14309	77	44	.	.	PUNCT
ajst-14309	78	1	5	5	X
ajst-14309	78	2	.	.	X
ajst-14309	78	3	system	system	NOUN
ajst-14309	78	4	simulation	simulation	NOUN
ajst-14309	78	5	and	and	CCONJ
ajst-14309	78	6	result	result	VERB
ajst-14309	78	7	analysis	analysis	NOUN
ajst-14309	78	8	5.1	5.1	NUM
ajst-14309	78	9	.	.	PUNCT
ajst-14309	79	1	simulation	simulation	NOUN
ajst-14309	79	2	parameters	parameter	NOUN
ajst-14309	79	3	in	in	ADP
ajst-14309	79	4	order	order	NOUN
ajst-14309	79	5	to	to	PART
ajst-14309	79	6	analyse	analyse	VERB
ajst-14309	79	7	the	the	DET
ajst-14309	79	8	stability	stability	NOUN
ajst-14309	79	9	of	of	ADP
ajst-14309	79	10	the	the	DET
ajst-14309	79	11	self	self	NOUN
ajst-14309	79	12	-	-	PUNCT
ajst-14309	79	13	balancing	balance	VERB
ajst-14309	79	14	motorbike	motorbike	NOUN
ajst-14309	79	15	,	,	PUNCT
ajst-14309	79	16	the	the	DET
ajst-14309	79	17	roll	roll	NOUN
ajst-14309	79	18	dynamics	dynamic	NOUN
ajst-14309	79	19	model	model	NOUN
ajst-14309	79	20	obtained	obtain	VERB
ajst-14309	79	21	from	from	ADP
ajst-14309	79	22	eq	eq	PROPN
ajst-14309	79	23	.	.	PUNCT
ajst-14309	80	1	(	(	PUNCT
ajst-14309	80	2	6	6	NUM
ajst-14309	80	3	)	)	PUNCT
ajst-14309	80	4	is	be	AUX
ajst-14309	80	5	linearised	linearise	VERB
ajst-14309	80	6	by	by	ADP
ajst-14309	80	7	a	a	DET
ajst-14309	80	8	taylor	taylor	PROPN
ajst-14309	80	9	series	series	PROPN
ajst-14309	80	10	expansion	expansion	NOUN
ajst-14309	80	11	near	near	ADP
ajst-14309	80	12	the	the	DET
ajst-14309	80	13	equilibrium	equilibrium	NOUN
ajst-14309	80	14	point	point	NOUN
ajst-14309	80	15	,	,	PUNCT
ajst-14309	80	16	which	which	PRON
ajst-14309	80	17	can	can	AUX
ajst-14309	80	18	be	be	AUX
ajst-14309	80	19	approximated	approximate	VERB
ajst-14309	80	20	by	by	ADP
ajst-14309	80	21	sin	sin	PROPN
ajst-14309	80	22			PROPN
ajst-14309	80	23	,	,	PUNCT
ajst-14309	80	24	,	,	PUNCT
ajst-14309	80	25	and	and	CCONJ
ajst-14309	80	26	cos	cos	ADP
ajst-14309	80	27	1	1	PROPN
ajst-14309	80	28			PROPN
ajst-14309	80	29	tan	tan	PROPN
ajst-14309	80	30			NOUN
ajst-14309	80	31	since	since	SCONJ
ajst-14309	80	32	the	the	DET
ajst-14309	80	33	roll	roll	NOUN
ajst-14309	80	34	angle	angle	PROPN
ajst-14309	80	35	and	and	CCONJ
ajst-14309	80	36	steering	steering	NOUN
ajst-14309	80	37	angle	angle	NOUN
ajst-14309	80	38	of	of	ADP
ajst-14309	80	39	the	the	DET
ajst-14309	80	40	vehicle	vehicle	NOUN
ajst-14309	80	41	are	be	AUX
ajst-14309	80	42	relatively	relatively	ADV
ajst-14309	80	43	small	small	ADJ
ajst-14309	80	44	at	at	ADP
ajst-14309	80	45	this	this	DET
ajst-14309	80	46	point	point	NOUN
ajst-14309	80	47	.	.	PUNCT
ajst-14309	81	1	the	the	DET
ajst-14309	81	2	single	single	ADJ
ajst-14309	81	3	rutted	rut	VERB
ajst-14309	81	4	two	two	NUM
ajst-14309	81	5	-	-	PUNCT
ajst-14309	81	6	wheeler	wheeler	NOUN
ajst-14309	81	7	transfer	transfer	NOUN
ajst-14309	81	8	function	function	NOUN
ajst-14309	81	9	can	can	AUX
ajst-14309	81	10	be	be	AUX
ajst-14309	81	11	obtained	obtain	VERB
ajst-14309	81	12	by	by	ADP
ajst-14309	81	13	laplace	laplace	NOUN
ajst-14309	81	14	transform	transform	NOUN
ajst-14309	81	15	,	,	PUNCT
ajst-14309	81	16	taking	take	VERB
ajst-14309	81	17	the	the	DET
ajst-14309	81	18	steering	steering	NOUN
ajst-14309	81	19	angle	angle	NOUN
ajst-14309	81	20	as	as	ADP
ajst-14309	81	21	the	the	DET
ajst-14309	81	22	input	input	NOUN
ajst-14309	81	23	to	to	ADP
ajst-14309	81	24	the	the	DET
ajst-14309	81	25	system	system	NOUN
ajst-14309	81	26	and	and	CCONJ
ajst-14309	81	27	the	the	DET
ajst-14309	81	28	roll	roll	NOUN
ajst-14309	81	29	angle	angle	NOUN
ajst-14309	81	30	as	as	ADP
ajst-14309	81	31	the	the	DET
ajst-14309	81	32	output	output	NOUN
ajst-14309	81	33	of	of	ADP
ajst-14309	81	34	the	the	DET
ajst-14309	81	35	system	system	NOUN
ajst-14309	81	36	,	,	PUNCT
ajst-14309	81	37	and	and	CCONJ
ajst-14309	81	38	its	its	PRON
ajst-14309	81	39	mathematical	mathematical	ADJ
ajst-14309	81	40	model	model	NOUN
ajst-14309	81	41	is	be	AUX
ajst-14309	81	42	represented	represent	VERB
ajst-14309	81	43	as	as	ADP
ajst-14309	81	44	:	:	SYM
ajst-14309	81	45	2	2	NUM
ajst-14309	81	46	12	12	NUM
ajst-14309	81	47	2	2	NUM
ajst-14309	81	48	(	(	PUNCT
ajst-14309	81	49	)	)	PUNCT
ajst-14309	81	50	1	1	NUM
ajst-14309	81	51	1	1	NUM
ajst-14309	81	52	(	(	PUNCT
ajst-14309	81	53	)	)	PUNCT
ajst-14309	81	54	cos	cos	PROPN
ajst-14309	81	55	(	(	PUNCT
ajst-14309	81	56	)	)	PUNCT
ajst-14309	81	57	(	(	PUNCT
ajst-14309	81	58	)	)	PUNCT
ajst-14309	82	1	r	r	NOUN
ajst-14309	82	2	o	o	NOUN
ajst-14309	83	1	ls	ls	INTJ
ajst-14309	83	2	g	g	PROPN
ajst-14309	83	3	s	s	PART
ajst-14309	83	4	mv	mv	PROPN
ajst-14309	83	5	h	h	NOUN
ajst-14309	83	6	mg	mg	PROPN
ajst-14309	84	1	d	d	PROPN
ajst-14309	84	2	s	s	VERB
ajst-14309	85	1	i	i	INTJ
ajst-14309	85	2	mh	mh	PROPN
ajst-14309	85	3	s	s	PROPN
ajst-14309	85	4	mgh	mgh	PROPN
ajst-14309	85	5	l	l	PROPN
ajst-14309	85	6	l	l	X
ajst-14309	85	7			PROPN
ajst-14309	85	8			ADJ
ajst-14309	85	9			PROPN
ajst-14309	85	10			NOUN
ajst-14309	85	11			NOUN
ajst-14309	86	1			PROPN
ajst-14309	86	2			PROPN
ajst-14309	86	3			NOUN
ajst-14309	86	4			PUNCT
ajst-14309	86	5			PROPN
ajst-14309	86	6			PROPN
ajst-14309	86	7			NOUN
ajst-14309	86	8	(	(	PUNCT
ajst-14309	86	9	9	9	NUM
ajst-14309	86	10	)	)	PUNCT
ajst-14309	86	11	according	accord	VERB
ajst-14309	86	12	to	to	ADP
ajst-14309	86	13	the	the	DET
ajst-14309	86	14	terminal	terminal	ADJ
ajst-14309	86	15	value	value	NOUN
ajst-14309	86	16	theorem	theorem	VERB
ajst-14309	86	17	one	one	PRON
ajst-14309	86	18	can	can	AUX
ajst-14309	86	19	get	get	VERB
ajst-14309	86	20	its	its	PRON
ajst-14309	86	21	steady	steady	ADJ
ajst-14309	86	22	state	state	NOUN
ajst-14309	86	23	value	value	NOUN
ajst-14309	86	24	when	when	SCONJ
ajst-14309	86	25	s→0	s→0	PROPN
ajst-14309	86	26	2	2	NUM
ajst-14309	86	27	0	0	NUM
ajst-14309	86	28	1	1	NUM
ajst-14309	86	29	0	0	NUM
ajst-14309	86	30	0	0	NUM
ajst-14309	86	31	0	0	PUNCT
ajst-14309	86	32	cos	cos	PROPN
ajst-14309	86	33	lim	lim	PROPN
ajst-14309	86	34	(	(	PUNCT
ajst-14309	86	35	)	)	PUNCT
ajst-14309	86	36	r	r	NOUN
ajst-14309	86	37	s	s	PROPN
ajst-14309	86	38	v	v	NUM
ajst-14309	86	39	h	h	NOUN
ajst-14309	86	40	gl	gl	PROPN
ajst-14309	87	1	d	d	PROPN
ajst-14309	87	2	k	k	PROPN
ajst-14309	87	3	g	g	PROPN
ajst-14309	87	4	s	s	PROPN
ajst-14309	87	5	ghl	ghl	NOUN
ajst-14309	87	6			PROPN
ajst-14309	87	7			ADJ
ajst-14309	87	8			NUM
ajst-14309	87	9			NOUN
ajst-14309	87	10			VERB
ajst-14309	87	11			NUM
ajst-14309	87	12			PRON
ajst-14309	87	13			NOUN
ajst-14309	87	14	(	(	PUNCT
ajst-14309	87	15	10	10	NUM
ajst-14309	87	16	)	)	PUNCT
ajst-14309	87	17	if	if	SCONJ
ajst-14309	87	18	the	the	DET
ajst-14309	87	19	forward	forward	ADJ
ajst-14309	87	20	speed	speed	NOUN
ajst-14309	87	21	v	v	NOUN
ajst-14309	87	22	is	be	AUX
ajst-14309	87	23	constant	constant	ADJ
ajst-14309	87	24	,	,	PUNCT
ajst-14309	87	25	then	then	ADV
ajst-14309	87	26	0k	0k	NOUN
ajst-14309	87	27	is	be	AUX
ajst-14309	87	28	also	also	ADV
ajst-14309	87	29	constant	constant	ADJ
ajst-14309	87	30	.	.	PUNCT
ajst-14309	88	1	the	the	DET
ajst-14309	88	2	steering	steering	NOUN
ajst-14309	88	3	control	control	NOUN
ajst-14309	88	4	method	method	NOUN
ajst-14309	88	5	only	only	ADV
ajst-14309	88	6	complies	complie	NOUN
ajst-14309	88	7	with	with	ADP
ajst-14309	88	8	the	the	DET
ajst-14309	88	9	physical	physical	ADJ
ajst-14309	88	10	property	property	NOUN
ajst-14309	88	11	that	that	PRON
ajst-14309	88	12	the	the	DET
ajst-14309	88	13	centrifugal	centrifugal	ADJ
ajst-14309	88	14	and	and	CCONJ
ajst-14309	88	15	gravitational	gravitational	ADJ
ajst-14309	88	16	moments	moment	NOUN
ajst-14309	88	17	of	of	ADP
ajst-14309	88	18	the	the	DET
ajst-14309	88	19	vehicle	vehicle	NOUN
ajst-14309	88	20	are	be	AUX
ajst-14309	88	21	in	in	ADP
ajst-14309	88	22	opposite	opposite	ADJ
ajst-14309	88	23	directions	direction	NOUN
ajst-14309	88	24	if	if	SCONJ
ajst-14309	88	25	0	0	NUM
ajst-14309	88	26	0k	0k	NOUN
ajst-14309	88	27			INTJ
ajst-14309	88	28	is	be	AUX
ajst-14309	88	29	satisfied	satisfied	ADJ
ajst-14309	88	30	,	,	PUNCT
ajst-14309	88	31	which	which	PRON
ajst-14309	88	32	means	mean	VERB
ajst-14309	88	33	that	that	SCONJ
ajst-14309	88	34	the	the	DET
ajst-14309	88	35	forward	forward	ADJ
ajst-14309	88	36	speed	speed	NOUN
ajst-14309	88	37	v	v	NOUN
ajst-14309	88	38	should	should	AUX
ajst-14309	88	39	be	be	AUX
ajst-14309	88	40	satisfied	satisfied	ADJ
ajst-14309	88	41	:	:	PUNCT
ajst-14309	88	42	1	1	NUM
ajst-14309	88	43	cos	cos	PROPN
ajst-14309	88	44	rgl	rgl	PROPN
ajst-14309	88	45	d	d	PROPN
ajst-14309	88	46	v	v	NUM
ajst-14309	88	47	h	h	PROPN
ajst-14309	88	48			ADJ
ajst-14309	88	49			X
ajst-14309	88	50	(	(	PUNCT
ajst-14309	88	51	11	11	NUM
ajst-14309	88	52	)	)	PUNCT
ajst-14309	88	53	in	in	ADP
ajst-14309	88	54	order	order	NOUN
ajst-14309	88	55	to	to	PART
ajst-14309	88	56	achieve	achieve	VERB
ajst-14309	88	57	a	a	DET
ajst-14309	88	58	stable	stable	ADJ
ajst-14309	88	59	turn	turn	NOUN
ajst-14309	88	60	,	,	PUNCT
ajst-14309	88	61	the	the	DET
ajst-14309	88	62	speed	speed	NOUN
ajst-14309	88	63	should	should	AUX
ajst-14309	88	64	be	be	AUX
ajst-14309	88	65	made	make	VERB
ajst-14309	88	66	as	as	ADV
ajst-14309	88	67	large	large	ADJ
ajst-14309	88	68	as	as	ADP
ajst-14309	88	69	possible	possible	ADJ
ajst-14309	88	70	above	above	ADP
ajst-14309	88	71	this	this	DET
ajst-14309	88	72	critical	critical	ADJ
ajst-14309	88	73	value	value	NOUN
ajst-14309	88	74	,	,	PUNCT
ajst-14309	88	75	substituting	substitute	VERB
ajst-14309	88	76	the	the	DET
ajst-14309	88	77	parameter	parameter	NOUN
ajst-14309	88	78	values	value	NOUN
ajst-14309	88	79	,	,	PUNCT
ajst-14309	88	80	the	the	DET
ajst-14309	88	81	steering	steering	NOUN
ajst-14309	88	82	control	control	NOUN
ajst-14309	88	83	should	should	AUX
ajst-14309	88	84	be	be	AUX
ajst-14309	88	85	balanced	balance	VERB
ajst-14309	88	86	and	and	CCONJ
ajst-14309	88	87	the	the	DET
ajst-14309	88	88	speed	speed	NOUN
ajst-14309	88	89	0.64	0.64	NUM
ajst-14309	88	90	/v	/v	NOUN
ajst-14309	88	91	m	m	NOUN
ajst-14309	88	92	s	s	ADJ
ajst-14309	88	93	.	.	PUNCT
ajst-14309	89	1	5.2	5.2	NUM
ajst-14309	89	2	.	.	PUNCT
ajst-14309	90	1	simulation	simulation	NOUN
ajst-14309	90	2	results	result	VERB
ajst-14309	90	3	for	for	ADP
ajst-14309	90	4	numerical	numerical	ADJ
ajst-14309	90	5	simulation	simulation	PROPN
ajst-14309	90	6	,	,	PUNCT
ajst-14309	90	7	pid	pid	NOUN
ajst-14309	90	8	controller	controller	NOUN
ajst-14309	90	9	,	,	PUNCT
ajst-14309	90	10	pid	pid	NOUN
ajst-14309	90	11	combined	combine	VERB
ajst-14309	90	12	with	with	ADP
ajst-14309	90	13	smith	smith	PROPN
ajst-14309	90	14	predictive	predictive	PROPN
ajst-14309	90	15	control	control	PROPN
ajst-14309	90	16	are	be	AUX
ajst-14309	90	17	designed	design	VERB
ajst-14309	90	18	and	and	CCONJ
ajst-14309	90	19	second	second	ADJ
ajst-14309	90	20	order	order	NOUN
ajst-14309	90	21	two	two	NUM
ajst-14309	90	22	-	-	PUNCT
ajst-14309	90	23	wheeler	wheeler	NOUN
ajst-14309	90	24	system	system	NOUN
ajst-14309	90	25	model	model	NOUN
ajst-14309	90	26	is	be	AUX
ajst-14309	90	27	loaded	load	VERB
ajst-14309	90	28	in	in	ADP
ajst-14309	90	29	the	the	DET
ajst-14309	90	30	simulation	simulation	NOUN
ajst-14309	90	31	environment	environment	NOUN
ajst-14309	90	32	respectively	respectively	ADV
ajst-14309	90	33	.	.	PUNCT
ajst-14309	91	1	then	then	ADV
ajst-14309	91	2	,	,	PUNCT
ajst-14309	91	3	comparisons	comparison	NOUN
ajst-14309	91	4	are	be	AUX
ajst-14309	91	5	made	make	VERB
ajst-14309	91	6	by	by	ADP
ajst-14309	91	7	setting	set	VERB
ajst-14309	91	8	the	the	DET
ajst-14309	91	9	same	same	ADJ
ajst-14309	91	10	working	working	NOUN
ajst-14309	91	11	conditions	condition	NOUN
ajst-14309	91	12	and	and	CCONJ
ajst-14309	91	13	reference	reference	NOUN
ajst-14309	91	14	signals	signal	NOUN
ajst-14309	91	15	.	.	PUNCT
ajst-14309	92	1	the	the	DET
ajst-14309	92	2	initial	initial	ADJ
ajst-14309	92	3	parameter	parameter	NOUN
ajst-14309	92	4	vehicle	vehicle	NOUN
ajst-14309	92	5	speed	speed	NOUN
ajst-14309	92	6	is	be	AUX
ajst-14309	92	7	1	1	NUM
ajst-14309	92	8	m/s	m/s	NUM
ajst-14309	92	9	when	when	SCONJ
ajst-14309	92	10	the	the	DET
ajst-14309	92	11	initial	initial	ADJ
ajst-14309	92	12	state	state	PROPN
ajst-14309	92	13	cross	cross	PROPN
ajst-14309	92	14	roll	roll	NOUN
ajst-14309	92	15	angle	angle	NOUN
ajst-14309	92	16	is	be	AUX
ajst-14309	92	17	2	2	NUM
ajst-14309	92	18	degrees	degree	NOUN
ajst-14309	92	19	,	,	PUNCT
ajst-14309	92	20	and	and	CCONJ
ajst-14309	92	21	the	the	DET
ajst-14309	92	22	expectation	expectation	NOUN
ajst-14309	92	23	is	be	AUX
ajst-14309	92	24	to	to	PART
ajst-14309	92	25	reach	reach	VERB
ajst-14309	92	26	0	0	NUM
ajst-14309	92	27	degrees	degree	NOUN
ajst-14309	92	28	.	.	PUNCT
ajst-14309	93	1	figure	figure	NOUN
ajst-14309	93	2	4	4	NUM
ajst-14309	93	3	shows	show	VERB
ajst-14309	93	4	that	that	SCONJ
ajst-14309	93	5	the	the	DET
ajst-14309	93	6	conventional	conventional	ADJ
ajst-14309	93	7	pid	pid	NOUN
ajst-14309	93	8	feedback	feedback	NOUN
ajst-14309	93	9	steering	steering	NOUN
ajst-14309	93	10	balance	balance	NOUN
ajst-14309	93	11	control	control	NOUN
ajst-14309	93	12	system	system	NOUN
ajst-14309	93	13	in	in	ADP
ajst-14309	93	14	the	the	DET
ajst-14309	93	15	process	process	NOUN
ajst-14309	93	16	of	of	ADP
ajst-14309	93	17	adjusting	adjust	VERB
ajst-14309	93	18	the	the	DET
ajst-14309	93	19	steering	steering	NOUN
ajst-14309	93	20	angle	angle	NOUN
ajst-14309	93	21	to	to	PART
ajst-14309	93	22	reach	reach	VERB
ajst-14309	93	23	the	the	DET
ajst-14309	93	24	desired	desire	VERB
ajst-14309	93	25	equilibrium	equilibrium	NOUN
ajst-14309	93	26	point	point	NOUN
ajst-14309	93	27	,	,	PUNCT
ajst-14309	93	28	due	due	ADP
ajst-14309	93	29	to	to	ADP
ajst-14309	93	30	the	the	DET
ajst-14309	93	31	pure	pure	ADJ
ajst-14309	93	32	time	time	NOUN
ajst-14309	93	33	delay	delay	NOUN
ajst-14309	93	34	characteristics	characteristic	NOUN
ajst-14309	93	35	are	be	AUX
ajst-14309	93	36	not	not	PART
ajst-14309	93	37	compensated	compensate	VERB
ajst-14309	93	38	for	for	ADP
ajst-14309	93	39	,	,	PUNCT
ajst-14309	93	40	the	the	DET
ajst-14309	93	41	roll	roll	NOUN
ajst-14309	93	42	angle	angle	NOUN
ajst-14309	93	43	in	in	ADP
ajst-14309	93	44	about	about	ADV
ajst-14309	93	45	6s	6s	NUM
ajst-14309	93	46	before	before	ADP
ajst-14309	93	47	reaching	reach	VERB
ajst-14309	93	48	the	the	DET
ajst-14309	93	49	equilibrium	equilibrium	NOUN
ajst-14309	93	50	,	,	PUNCT
ajst-14309	93	51	the	the	DET
ajst-14309	93	52	curve	curve	NOUN
ajst-14309	93	53	there	there	PRON
ajst-14309	93	54	is	be	VERB
ajst-14309	93	55	an	an	DET
ajst-14309	93	56	obvious	obvious	ADJ
ajst-14309	93	57	oscillation	oscillation	NOUN
ajst-14309	93	58	.	.	PUNCT
ajst-14309	94	1	the	the	DET
ajst-14309	94	2	conventional	conventional	ADJ
ajst-14309	94	3	smith	smith	PROPN
ajst-14309	94	4	feedback	feedback	NOUN
ajst-14309	94	5	steering	steering	NOUN
ajst-14309	94	6	balance	balance	NOUN
ajst-14309	94	7	control	control	NOUN
ajst-14309	94	8	system	system	NOUN
ajst-14309	94	9	can	can	AUX
ajst-14309	94	10	compensate	compensate	VERB
ajst-14309	94	11	for	for	ADP
ajst-14309	94	12	the	the	DET
ajst-14309	94	13	pure	pure	ADJ
ajst-14309	94	14	time	time	NOUN
ajst-14309	94	15	delay	delay	NOUN
ajst-14309	94	16	characteristic	characteristic	ADJ
ajst-14309	94	17	in	in	ADP
ajst-14309	94	18	the	the	DET
ajst-14309	94	19	rolling	rolling	ADJ
ajst-14309	94	20	process	process	NOUN
ajst-14309	94	21	,	,	PUNCT
ajst-14309	94	22	and	and	CCONJ
ajst-14309	94	23	in	in	ADP
ajst-14309	94	24	the	the	DET
ajst-14309	94	25	ideal	ideal	ADJ
ajst-14309	94	26	state	state	NOUN
ajst-14309	94	27	,	,	PUNCT
ajst-14309	94	28	the	the	DET
ajst-14309	94	29	reference	reference	NOUN
ajst-14309	94	30	model	model	NOUN
ajst-14309	94	31	and	and	CCONJ
ajst-14309	94	32	the	the	DET
ajst-14309	94	33	actual	actual	ADJ
ajst-14309	94	34	model	model	NOUN
ajst-14309	94	35	error	error	NOUN
ajst-14309	94	36	is	be	AUX
ajst-14309	94	37	0	0	NUM
ajst-14309	94	38	,	,	PUNCT
ajst-14309	94	39	to	to	PART
ajst-14309	94	40	reduce	reduce	VERB
ajst-14309	94	41	the	the	DET
ajst-14309	94	42	oscillation	oscillation	NOUN
ajst-14309	94	43	of	of	ADP
ajst-14309	94	44	the	the	DET
ajst-14309	94	45	curve	curve	NOUN
ajst-14309	94	46	,	,	PUNCT
ajst-14309	94	47	and	and	CCONJ
ajst-14309	94	48	the	the	DET
ajst-14309	94	49	desired	desire	VERB
ajst-14309	94	50	roll	roll	NOUN
ajst-14309	94	51	angle	angle	NOUN
ajst-14309	94	52	is	be	AUX
ajst-14309	94	53	reached	reach	VERB
ajst-14309	94	54	after	after	SCONJ
ajst-14309	94	55	5	5	NUM
ajst-14309	94	56	s.	s.	PROPN
ajst-14309	94	57	the	the	DET
ajst-14309	94	58	conventional	conventional	ADJ
ajst-14309	94	59	smith	smith	PROPN
ajst-14309	94	60	feedback	feedback	NOUN
ajst-14309	94	61	steering	steering	NOUN
ajst-14309	94	62	balance	balance	NOUN
ajst-14309	94	63	control	control	NOUN
ajst-14309	94	64	system	system	NOUN
ajst-14309	94	65	can	can	AUX
ajst-14309	94	66	compensate	compensate	VERB
ajst-14309	94	67	for	for	ADP
ajst-14309	94	68	the	the	DET
ajst-14309	94	69	pure	pure	ADJ
ajst-14309	94	70	time	time	NOUN
ajst-14309	94	71	delay	delay	NOUN
ajst-14309	94	72	characteristic	characteristic	ADJ
ajst-14309	94	73	in	in	ADP
ajst-14309	94	74	the	the	DET
ajst-14309	94	75	rolling	rolling	ADJ
ajst-14309	94	76	process	process	NOUN
ajst-14309	94	77	.	.	PUNCT
ajst-14309	95	1	in	in	ADP
ajst-14309	95	2	the	the	DET
ajst-14309	95	3	previous	previous	ADJ
ajst-14309	95	4	scenario	scenario	NOUN
ajst-14309	95	5	,	,	PUNCT
ajst-14309	95	6	when	when	SCONJ
ajst-14309	95	7	the	the	DET
ajst-14309	95	8	time	time	NOUN
ajst-14309	95	9	lag	lag	NOUN
ajst-14309	95	10	of	of	ADP
ajst-14309	95	11	the	the	DET
ajst-14309	95	12	system	system	NOUN
ajst-14309	95	13	is	be	AUX
ajst-14309	95	14	0.025	0.025	NUM
ajst-14309	95	15	sec	sec	PROPN
ajst-14309	95	16	,	,	PUNCT
ajst-14309	95	17	the	the	DET
ajst-14309	95	18	effect	effect	NOUN
ajst-14309	95	19	of	of	ADP
ajst-14309	95	20	time	time	NOUN
ajst-14309	95	21	lag	lag	VERB
ajst-14309	95	22	on	on	ADP
ajst-14309	95	23	pid	pid	NOUN
ajst-14309	95	24	control	control	NOUN
ajst-14309	95	25	is	be	AUX
ajst-14309	95	26	relatively	relatively	ADV
ajst-14309	95	27	limited	limited	ADJ
ajst-14309	95	28	.	.	PUNCT
ajst-14309	96	1	however	however	ADV
ajst-14309	96	2	,	,	PUNCT
ajst-14309	96	3	when	when	SCONJ
ajst-14309	96	4	the	the	DET
ajst-14309	96	5	time	time	NOUN
ajst-14309	96	6	lag	lag	NOUN
ajst-14309	96	7	of	of	ADP
ajst-14309	96	8	the	the	DET
ajst-14309	96	9	system	system	NOUN
ajst-14309	96	10	increases	increase	VERB
ajst-14309	96	11	to	to	ADP
ajst-14309	96	12	0.18	0.18	NUM
ajst-14309	96	13	s	s	NOUN
ajst-14309	96	14	,	,	PUNCT
ajst-14309	96	15	the	the	DET
ajst-14309	96	16	traditional	traditional	ADJ
ajst-14309	96	17	pid	pid	NOUN
ajst-14309	96	18	control	control	NOUN
ajst-14309	96	19	strategy	strategy	NOUN
ajst-14309	96	20	can	can	AUX
ajst-14309	96	21	not	not	PART
ajst-14309	96	22	achieve	achieve	VERB
ajst-14309	96	23	stable	stable	ADJ
ajst-14309	96	24	convergence	convergence	NOUN
ajst-14309	96	25	of	of	ADP
ajst-14309	96	26	the	the	DET
ajst-14309	96	27	system	system	NOUN
ajst-14309	96	28	,	,	PUNCT
ajst-14309	96	29	as	as	SCONJ
ajst-14309	96	30	shown	show	VERB
ajst-14309	96	31	in	in	ADP
ajst-14309	96	32	fig	fig	NOUN
ajst-14309	96	33	.	.	PUNCT
ajst-14309	97	1	5	5	X
ajst-14309	97	2	.	.	X
ajst-14309	97	3	in	in	ADP
ajst-14309	97	4	this	this	DET
ajst-14309	97	5	case	case	NOUN
ajst-14309	97	6	,	,	PUNCT
ajst-14309	97	7	the	the	DET
ajst-14309	97	8	control	control	NOUN
ajst-14309	97	9	strategy	strategy	NOUN
ajst-14309	97	10	presented	present	VERB
ajst-14309	97	11	in	in	ADP
ajst-14309	97	12	this	this	DET
ajst-14309	97	13	paper	paper	NOUN
ajst-14309	97	14	will	will	AUX
ajst-14309	97	15	have	have	VERB
ajst-14309	97	16	more	more	ADJ
ajst-14309	97	17	significant	significant	ADJ
ajst-14309	97	18	advantages	advantage	NOUN
ajst-14309	97	19	and	and	CCONJ
ajst-14309	97	20	can	can	AUX
ajst-14309	97	21	cope	cope	VERB
ajst-14309	97	22	with	with	ADP
ajst-14309	97	23	the	the	DET
ajst-14309	97	24	effect	effect	NOUN
ajst-14309	97	25	of	of	ADP
ajst-14309	97	26	large	large	ADJ
ajst-14309	97	27	time	time	NOUN
ajst-14309	97	28	lag	lag	VERB
ajst-14309	97	29	on	on	ADP
ajst-14309	97	30	the	the	DET
ajst-14309	97	31	system	system	NOUN
ajst-14309	97	32	performance	performance	NOUN
ajst-14309	97	33	more	more	ADV
ajst-14309	97	34	effectively	effectively	ADV
ajst-14309	97	35	.	.	PUNCT
ajst-14309	98	1	figure	figure	VERB
ajst-14309	98	2	4	4	NUM
ajst-14309	98	3	.	.	PUNCT
ajst-14309	99	1	pid	pid	PROPN
ajst-14309	99	2	,	,	PUNCT
ajst-14309	99	3	smith	smith	PROPN
ajst-14309	99	4	control	control	NOUN
ajst-14309	99	5	strategies	strategy	NOUN
ajst-14309	99	6	under	under	ADP
ajst-14309	99	7	time	time	NOUN
ajst-14309	99	8	delay	delay	NOUN
ajst-14309	99	9	condition	condition	NOUN
ajst-14309	99	10	of	of	ADP
ajst-14309	99	11	0.025s	0.025s	NUM
ajst-14309	99	12	respectively	respectively	ADV
ajst-14309	99	13	196	196	NUM
ajst-14309	99	14	figure	figure	NOUN
ajst-14309	99	15	5	5	NUM
ajst-14309	99	16	.	.	PUNCT
ajst-14309	100	1	pid	pid	PROPN
ajst-14309	100	2	,	,	PUNCT
ajst-14309	100	3	smith	smith	PROPN
ajst-14309	100	4	control	control	NOUN
ajst-14309	100	5	strategies	strategy	NOUN
ajst-14309	100	6	under	under	ADP
ajst-14309	100	7	time	time	NOUN
ajst-14309	100	8	delay	delay	NOUN
ajst-14309	100	9	condition	condition	NOUN
ajst-14309	100	10	of	of	ADP
ajst-14309	100	11	0.18s	0.18s	NUM
ajst-14309	100	12	respectively	respectively	ADV
ajst-14309	100	13	6	6	NUM
ajst-14309	100	14	.	.	PUNCT
ajst-14309	101	1	summary	summary	NOUN
ajst-14309	101	2	in	in	ADP
ajst-14309	101	3	the	the	DET
ajst-14309	101	4	study	study	NOUN
ajst-14309	101	5	of	of	ADP
ajst-14309	101	6	this	this	DET
ajst-14309	101	7	paper	paper	NOUN
ajst-14309	101	8	,	,	PUNCT
ajst-14309	101	9	simulation	simulation	NOUN
ajst-14309	101	10	experiments	experiment	NOUN
ajst-14309	101	11	are	be	AUX
ajst-14309	101	12	used	use	VERB
ajst-14309	101	13	to	to	PART
ajst-14309	101	14	further	far	ADV
ajst-14309	101	15	verify	verify	VERB
ajst-14309	101	16	the	the	DET
ajst-14309	101	17	effectiveness	effectiveness	NOUN
ajst-14309	101	18	of	of	ADP
ajst-14309	101	19	the	the	DET
ajst-14309	101	20	filter	filter	NOUN
ajst-14309	101	21	combined	combine	VERB
ajst-14309	101	22	with	with	ADP
ajst-14309	101	23	the	the	DET
ajst-14309	101	24	smith	smith	PROPN
ajst-14309	101	25	predictor	predictor	NOUN
ajst-14309	101	26	in	in	ADP
ajst-14309	101	27	solving	solve	VERB
ajst-14309	101	28	the	the	DET
ajst-14309	101	29	two	two	NUM
ajst-14309	101	30	-	-	PUNCT
ajst-14309	101	31	wheeled	wheel	VERB
ajst-14309	101	32	vehicle	vehicle	NOUN
ajst-14309	101	33	time	time	NOUN
ajst-14309	101	34	lag	lag	NOUN
ajst-14309	101	35	problem	problem	NOUN
ajst-14309	101	36	.	.	PUNCT
ajst-14309	102	1	through	through	ADP
ajst-14309	102	2	the	the	DET
ajst-14309	102	3	reasonable	reasonable	ADJ
ajst-14309	102	4	design	design	NOUN
ajst-14309	102	5	of	of	ADP
ajst-14309	102	6	the	the	DET
ajst-14309	102	7	control	control	NOUN
ajst-14309	102	8	strategy	strategy	NOUN
ajst-14309	102	9	,	,	PUNCT
ajst-14309	102	10	the	the	DET
ajst-14309	102	11	effect	effect	NOUN
ajst-14309	102	12	of	of	ADP
ajst-14309	102	13	large	large	ADJ
ajst-14309	102	14	time	time	NOUN
ajst-14309	102	15	lag	lag	VERB
ajst-14309	102	16	on	on	ADP
ajst-14309	102	17	the	the	DET
ajst-14309	102	18	system	system	NOUN
ajst-14309	102	19	performance	performance	NOUN
ajst-14309	102	20	is	be	AUX
ajst-14309	102	21	successfully	successfully	ADV
ajst-14309	102	22	mitigated	mitigate	VERB
ajst-14309	102	23	,	,	PUNCT
ajst-14309	102	24	resulting	result	VERB
ajst-14309	102	25	in	in	ADP
ajst-14309	102	26	a	a	DET
ajst-14309	102	27	significant	significant	ADJ
ajst-14309	102	28	improvement	improvement	NOUN
ajst-14309	102	29	in	in	ADP
ajst-14309	102	30	the	the	DET
ajst-14309	102	31	steering	steering	NOUN
ajst-14309	102	32	balance	balance	NOUN
ajst-14309	102	33	of	of	ADP
ajst-14309	102	34	the	the	DET
ajst-14309	102	35	twowheeled	twowheele	VERB
ajst-14309	102	36	vehicle	vehicle	NOUN
ajst-14309	102	37	.	.	PUNCT
ajst-14309	103	1	however	however	ADV
ajst-14309	103	2	,	,	PUNCT
ajst-14309	103	3	it	it	PRON
ajst-14309	103	4	is	be	AUX
ajst-14309	103	5	worth	worth	ADJ
ajst-14309	103	6	pointing	point	VERB
ajst-14309	103	7	out	out	ADP
ajst-14309	103	8	that	that	SCONJ
ajst-14309	103	9	,	,	PUNCT
ajst-14309	103	10	in	in	ADP
ajst-14309	103	11	terms	term	NOUN
ajst-14309	103	12	of	of	ADP
ajst-14309	103	13	the	the	DET
ajst-14309	103	14	steering	steering	NOUN
ajst-14309	103	15	balance	balance	NOUN
ajst-14309	103	16	algorithm	algorithm	NOUN
ajst-14309	103	17	,	,	PUNCT
ajst-14309	103	18	although	although	SCONJ
ajst-14309	103	19	a	a	DET
ajst-14309	103	20	certain	certain	ADJ
ajst-14309	103	21	effect	effect	NOUN
ajst-14309	103	22	has	have	AUX
ajst-14309	103	23	been	be	AUX
ajst-14309	103	24	achieved	achieve	VERB
ajst-14309	103	25	,	,	PUNCT
ajst-14309	103	26	there	there	PRON
ajst-14309	103	27	is	be	VERB
ajst-14309	103	28	still	still	ADV
ajst-14309	103	29	room	room	NOUN
ajst-14309	103	30	for	for	ADP
ajst-14309	103	31	further	further	ADJ
ajst-14309	103	32	improvement	improvement	NOUN
ajst-14309	103	33	.	.	PUNCT
ajst-14309	104	1	when	when	SCONJ
ajst-14309	104	2	facing	face	VERB
ajst-14309	104	3	nonlinear	nonlinear	ADJ
ajst-14309	104	4	second	second	ADJ
ajst-14309	104	5	-	-	PUNCT
ajst-14309	104	6	order	order	NOUN
ajst-14309	104	7	systems	system	NOUN
ajst-14309	104	8	,	,	PUNCT
ajst-14309	104	9	we	we	PRON
ajst-14309	104	10	can	can	AUX
ajst-14309	104	11	consider	consider	VERB
ajst-14309	104	12	more	more	ADJ
ajst-14309	104	13	complex	complex	ADJ
ajst-14309	104	14	control	control	NOUN
ajst-14309	104	15	strategies	strategy	NOUN
ajst-14309	104	16	and	and	CCONJ
ajst-14309	104	17	algorithms	algorithm	NOUN
ajst-14309	104	18	to	to	PART
ajst-14309	104	19	better	well	ADV
ajst-14309	104	20	adapt	adapt	VERB
ajst-14309	104	21	to	to	ADP
ajst-14309	104	22	the	the	DET
ajst-14309	104	23	complex	complex	ADJ
ajst-14309	104	24	characteristics	characteristic	NOUN
ajst-14309	104	25	of	of	ADP
ajst-14309	104	26	real	real	ADJ
ajst-14309	104	27	systems	system	NOUN
ajst-14309	104	28	.	.	PUNCT
ajst-14309	105	1	in	in	ADP
ajst-14309	105	2	summary	summary	NOUN
ajst-14309	105	3	,	,	PUNCT
ajst-14309	105	4	this	this	DET
ajst-14309	105	5	study	study	NOUN
ajst-14309	105	6	provides	provide	VERB
ajst-14309	105	7	a	a	DET
ajst-14309	105	8	useful	useful	ADJ
ajst-14309	105	9	exploration	exploration	NOUN
ajst-14309	105	10	and	and	CCONJ
ajst-14309	105	11	experimental	experimental	ADJ
ajst-14309	105	12	basis	basis	NOUN
ajst-14309	105	13	for	for	ADP
ajst-14309	105	14	the	the	DET
ajst-14309	105	15	steering	steering	NOUN
ajst-14309	105	16	balance	balance	NOUN
ajst-14309	105	17	control	control	NOUN
ajst-14309	105	18	of	of	ADP
ajst-14309	105	19	twowheeled	twowheele	VERB
ajst-14309	105	20	vehicles	vehicle	NOUN
ajst-14309	105	21	,	,	PUNCT
ajst-14309	105	22	however	however	ADV
ajst-14309	105	23	,	,	PUNCT
ajst-14309	105	24	there	there	PRON
ajst-14309	105	25	are	be	VERB
ajst-14309	105	26	still	still	ADV
ajst-14309	105	27	some	some	DET
ajst-14309	105	28	challenges	challenge	NOUN
ajst-14309	105	29	and	and	CCONJ
ajst-14309	105	30	directions	direction	NOUN
ajst-14309	105	31	that	that	PRON
ajst-14309	105	32	need	need	VERB
ajst-14309	105	33	further	far	ADV
ajst-14309	105	34	in	in	ADP
ajst-14309	105	35	-	-	PUNCT
ajst-14309	105	36	depth	depth	NOUN
ajst-14309	105	37	research	research	NOUN
ajst-14309	105	38	.	.	PUNCT
ajst-14309	106	1	it	it	PRON
ajst-14309	106	2	is	be	AUX
ajst-14309	106	3	believed	believe	VERB
ajst-14309	106	4	that	that	SCONJ
ajst-14309	106	5	with	with	ADP
ajst-14309	106	6	the	the	DET
ajst-14309	106	7	continuous	continuous	ADJ
ajst-14309	106	8	progress	progress	NOUN
ajst-14309	106	9	of	of	ADP
ajst-14309	106	10	technology	technology	NOUN
ajst-14309	106	11	and	and	CCONJ
ajst-14309	106	12	the	the	DET
ajst-14309	106	13	continuous	continuous	ADJ
ajst-14309	106	14	improvement	improvement	NOUN
ajst-14309	106	15	of	of	ADP
ajst-14309	106	16	theory	theory	NOUN
ajst-14309	106	17	,	,	PUNCT
ajst-14309	106	18	these	these	DET
ajst-14309	106	19	problems	problem	NOUN
ajst-14309	106	20	will	will	AUX
ajst-14309	106	21	be	be	AUX
ajst-14309	106	22	better	well	ADV
ajst-14309	106	23	solved	solve	VERB
ajst-14309	106	24	,	,	PUNCT
ajst-14309	106	25	and	and	CCONJ
ajst-14309	106	26	a	a	DET
ajst-14309	106	27	solid	solid	ADJ
ajst-14309	106	28	foundation	foundation	NOUN
ajst-14309	106	29	will	will	AUX
ajst-14309	106	30	be	be	AUX
ajst-14309	106	31	laid	lay	VERB
ajst-14309	106	32	for	for	ADP
ajst-14309	106	33	the	the	DET
ajst-14309	106	34	realisation	realisation	NOUN
ajst-14309	106	35	of	of	ADP
ajst-14309	106	36	a	a	DET
ajst-14309	106	37	safer	safe	ADJ
ajst-14309	106	38	,	,	PUNCT
ajst-14309	106	39	stable	stable	ADJ
ajst-14309	106	40	and	and	CCONJ
ajst-14309	106	41	efficient	efficient	ADJ
ajst-14309	106	42	vehicle	vehicle	NOUN
ajst-14309	106	43	control	control	NOUN
ajst-14309	106	44	system	system	NOUN
ajst-14309	106	45	.	.	PUNCT
ajst-14309	107	1	references	reference	NOUN
ajst-14309	107	2	[	[	X
ajst-14309	107	3	1	1	NUM
ajst-14309	107	4	]	]	PUNCT
ajst-14309	107	5	singhania	singhania	NOUN
ajst-14309	107	6	,	,	PUNCT
ajst-14309	107	7	sharad	sharad	PROPN
ajst-14309	107	8	,	,	PUNCT
ajst-14309	107	9	ichiro	ichiro	PROPN
ajst-14309	107	10	kageyama	kageyama	PROPN
ajst-14309	107	11	,	,	PUNCT
ajst-14309	107	12	venkata	venkata	PROPN
ajst-14309	107	13	m	m	PROPN
ajst-14309	107	14	karanam	karanam	PROPN
ajst-14309	107	15	.	.	PUNCT
ajst-14309	108	1	study	study	VERB
ajst-14309	108	2	on	on	ADP
ajst-14309	108	3	low	low	ADJ
ajst-14309	108	4	-	-	PUNCT
ajst-14309	108	5	speed	speed	NOUN
ajst-14309	108	6	stability	stability	NOUN
ajst-14309	108	7	of	of	ADP
ajst-14309	108	8	a	a	DET
ajst-14309	108	9	motorcycle.applied	motorcycle.applied	ADJ
ajst-14309	108	10	sciences.vol.9(2019)no.11,2278	sciences.vol.9(2019)no.11,2278	NOUN
ajst-14309	108	11	.	.	PUNCT
ajst-14309	109	1	[	[	X
ajst-14309	109	2	2	2	NUM
ajst-14309	109	3	]	]	PUNCT
ajst-14309	109	4	dissertation	dissertation	NOUN
ajst-14309	109	5	category:(ziad	category:(ziad	NOUN
ajst-14309	109	6	fawaz	fawaz	NOUN
ajst-14309	109	7	:	:	PUNCT
ajst-14309	109	8	design	design	NOUN
ajst-14309	109	9	and	and	CCONJ
ajst-14309	109	10	control	control	NOUN
ajst-14309	109	11	of	of	ADP
ajst-14309	109	12	a	a	DET
ajst-14309	109	13	self	self	NOUN
ajst-14309	109	14	-	-	PUNCT
ajst-14309	109	15	balancing	balance	VERB
ajst-14309	109	16	bicycle	bicycle	NOUN
ajst-14309	109	17	using	use	VERB
ajst-14309	109	18	an	an	DET
ajst-14309	109	19	electric	electric	ADJ
ajst-14309	109	20	linear	linear	PROPN
ajst-14309	109	21	actuator	actuator	NOUN
ajst-14309	109	22	(	(	PUNCT
ajst-14309	109	23	master	master	NOUN
ajst-14309	109	24	of	of	ADP
ajst-14309	109	25	science	science	NOUN
ajst-14309	109	26	in	in	ADP
ajst-14309	109	27	engineering	engineering	NOUN
ajst-14309	109	28	,	,	PUNCT
ajst-14309	109	29	the	the	DET
ajst-14309	109	30	university	university	PROPN
ajst-14309	109	31	of	of	ADP
ajst-14309	109	32	michigan	michigan	PROPN
ajst-14309	109	33	-	-	PUNCT
ajst-14309	109	34	dearborn	dearborn	PROPN
ajst-14309	109	35	,	,	PUNCT
ajst-14309	109	36	america	america	PROPN
ajst-14309	109	37	2019	2019	NUM
ajst-14309	109	38	)	)	PUNCT
ajst-14309	110	1	[	[	X
ajst-14309	110	2	3	3	X
ajst-14309	110	3	]	]	X
ajst-14309	110	4	roy	roy	PROPN
ajst-14309	110	5	n	n	CCONJ
ajst-14309	110	6	,	,	PUNCT
ajst-14309	110	7	sengupta	sengupta	NOUN
ajst-14309	110	8	a	a	PRON
ajst-14309	110	9	,	,	PUNCT
ajst-14309	110	10	sutradhar	sutradhar	ADJ
ajst-14309	110	11	a.	a.	NOUN
ajst-14309	110	12	evolutionary	evolutionary	PROPN
ajst-14309	110	13	smith	smith	PROPN
ajst-14309	110	14	predictor	predictor	PROPN
ajst-14309	110	15	for	for	ADP
ajst-14309	110	16	control	control	NOUN
ajst-14309	110	17	of	of	ADP
ajst-14309	110	18	time	time	NOUN
ajst-14309	110	19	-	-	PUNCT
ajst-14309	110	20	delay	delay	NOUN
ajst-14309	110	21	systems.advances	systems.advance	NOUN
ajst-14309	110	22	in	in	ADP
ajst-14309	110	23	intelligent	intelligent	ADJ
ajst-14309	110	24	systems	system	NOUN
ajst-14309	110	25	and	and	CCONJ
ajst-14309	110	26	computing.vol	computing.vol	NOUN
ajst-14309	110	27	.	.	NOUN
ajst-14309	111	1	749	749	NUM
ajst-14309	111	2	(	(	PUNCT
ajst-14309	111	3	2019),p	2019),p	NUM
ajst-14309	111	4	.	.	PUNCT
ajst-14309	111	5	339	339	NUM
ajst-14309	111	6	-	-	SYM
ajst-14309	111	7	349	349	NUM
ajst-14309	111	8	.	.	PUNCT
ajst-14309	112	1	[	[	X
ajst-14309	112	2	4	4	NUM
ajst-14309	112	3	]	]	X
ajst-14309	112	4	karan	karan	PROPN
ajst-14309	112	5	,	,	PUNCT
ajst-14309	112	6	s	s	PROPN
ajst-14309	112	7	,	,	PUNCT
ajst-14309	112	8	dey	dey	PROPN
ajst-14309	112	9	,	,	PUNCT
ajst-14309	112	10	c.	c.	PROPN
ajst-14309	112	11	improved	improve	VERB
ajst-14309	112	12	disturbance	disturbance	NOUN
ajst-14309	112	13	rejection	rejection	NOUN
ajst-14309	112	14	with	with	ADP
ajst-14309	112	15	modified	modify	VERB
ajst-14309	112	16	smith	smith	PROPN
ajst-14309	112	17	predictor	predictor	NOUN
ajst-14309	112	18	for	for	ADP
ajst-14309	112	19	integrating	integrate	VERB
ajst-14309	112	20	foptd	foptd	NUM
ajst-14309	112	21	processes	process	NOUN
ajst-14309	112	22	.	.	PUNCT
ajst-14309	113	1	sn	sn	PROPN
ajst-14309	113	2	appl	appl	PROPN
ajst-14309	113	3	.	.	PUNCT
ajst-14309	114	1	sci	sci	PROPN
ajst-14309	114	2	.	.	PUNCT
ajst-14309	114	3	vol	vol	NOUN
ajst-14309	114	4	.	.	PUNCT
ajst-14309	114	5	1(2019),1168	1(2019),1168	PROPN
ajst-14309	114	6	.	.	PUNCT
ajst-14309	115	1	[	[	X
ajst-14309	115	2	5	5	NUM
ajst-14309	115	3	]	]	PUNCT
ajst-14309	115	4	karan	karan	PROPN
ajst-14309	115	5	,	,	PUNCT
ajst-14309	115	6	s	s	PROPN
ajst-14309	115	7	,	,	PUNCT
ajst-14309	115	8	dey	dey	PROPN
ajst-14309	115	9	,	,	PUNCT
ajst-14309	115	10	c.	c.	PROPN
ajst-14309	115	11	set	set	PROPN
ajst-14309	115	12	point	point	NOUN
ajst-14309	115	13	weighted	weight	VERB
ajst-14309	115	14	modified	modify	VERB
ajst-14309	115	15	smith	smith	PROPN
ajst-14309	115	16	predictor	predictor	PROPN
ajst-14309	115	17	for	for	ADP
ajst-14309	115	18	delay	delay	NOUN
ajst-14309	115	19	dominated	dominate	VERB
ajst-14309	115	20	integrating	integrate	VERB
ajst-14309	115	21	processes.2019	processes.2019	PROPN
ajst-14309	115	22	devices	device	NOUN
ajst-14309	115	23	for	for	ADP
ajst-14309	115	24	integrated	integrated	ADJ
ajst-14309	115	25	circuit	circuit	NOUN
ajst-14309	115	26	(	(	PUNCT
ajst-14309	115	27	devic	devic	ADJ
ajst-14309	115	28	)	)	PUNCT
ajst-14309	115	29	.	.	PUNCT
ajst-14309	116	1	kalyani	kalyani	PROPN
ajst-14309	116	2	,	,	PUNCT
ajst-14309	116	3	india	india	PROPN
ajst-14309	116	4	,	,	PUNCT
ajst-14309	116	5	2019	2019	NUM
ajst-14309	116	6	,	,	PUNCT
ajst-14309	116	7	p.	p.	NOUN
ajst-14309	116	8	172	172	NUM
ajst-14309	116	9	-	-	SYM
ajst-14309	116	10	176	176	NUM
ajst-14309	116	11	[	[	X
ajst-14309	116	12	6	6	NUM
ajst-14309	116	13	]	]	PUNCT
ajst-14309	116	14	k.	k.	PROPN
ajst-14309	116	15	pan	pan	PROPN
ajst-14309	116	16	,	,	PUNCT
ajst-14309	116	17	t.	t.	PROPN
ajst-14309	116	18	zhang	zhang	PROPN
ajst-14309	116	19	,	,	PUNCT
ajst-14309	116	20	q.	q.	PROPN
ajst-14309	116	21	yang	yang	PROPN
ajst-14309	116	22	.	.	PUNCT
ajst-14309	117	1	fuzzy	fuzzy	ADJ
ajst-14309	117	2	pid	pid	NOUN
ajst-14309	117	3	combined	combine	VERB
ajst-14309	117	4	with	with	ADP
ajst-14309	117	5	smith	smith	PROPN
ajst-14309	117	6	predictor	predictor	PROPN
ajst-14309	117	7	control	control	NOUN
ajst-14309	117	8	of	of	ADP
ajst-14309	117	9	gshp	gshp	NOUN
ajst-14309	117	10	terminal	terminal	ADJ
ajst-14309	117	11	fan	fan	NOUN
ajst-14309	117	12	system	system	NOUN
ajst-14309	117	13	.	.	PUNCT
ajst-14309	118	1	2020	2020	NUM
ajst-14309	118	2	7th	7th	ADJ
ajst-14309	118	3	international	international	ADJ
ajst-14309	118	4	conference	conference	NOUN
ajst-14309	118	5	on	on	ADP
ajst-14309	118	6	information	information	NOUN
ajst-14309	118	7	,	,	PUNCT
ajst-14309	118	8	cybernetics	cybernetic	NOUN
ajst-14309	118	9	,	,	PUNCT
ajst-14309	118	10	and	and	CCONJ
ajst-14309	118	11	computational	computational	ADJ
ajst-14309	118	12	social	social	ADJ
ajst-14309	118	13	systems	system	NOUN
ajst-14309	118	14	(	(	PUNCT
ajst-14309	118	15	iccss	iccss	PROPN
ajst-14309	118	16	)	)	PUNCT
ajst-14309	118	17	,	,	PUNCT
ajst-14309	118	18	guangzhou	guangzhou	PROPN
ajst-14309	118	19	,	,	PUNCT
ajst-14309	118	20	china	china	PROPN
ajst-14309	118	21	,	,	PUNCT
ajst-14309	118	22	2020	2020	NUM
ajst-14309	118	23	,	,	PUNCT
ajst-14309	118	24	p.	p.	NOUN
ajst-14309	118	25	31	31	NUM
ajst-14309	118	26	-	-	SYM
ajst-14309	118	27	35	35	NUM
ajst-14309	118	28	.	.	PUNCT
ajst-14309	119	1	cybernetics	cybernetic	NOUN
ajst-14309	119	2	,	,	PUNCT
ajst-14309	119	3	and	and	CCONJ
ajst-14309	119	4	computational	computational	ADJ
ajst-14309	119	5	social	social	ADJ
ajst-14309	119	6	systems	system	NOUN
ajst-14309	119	7	(	(	PUNCT
ajst-14309	119	8	iccss	iccss	PROPN
ajst-14309	119	9	)	)	PUNCT
ajst-14309	119	10	,	,	PUNCT
ajst-14309	119	11	guangzhou	guangzhou	PROPN
ajst-14309	119	12	,	,	PUNCT
ajst-14309	119	13	china	china	PROPN
ajst-14309	119	14	,	,	PUNCT
ajst-14309	119	15	2020	2020	NUM
ajst-14309	119	16	,	,	PUNCT
ajst-14309	119	17	p.	p.	NOUN
ajst-14309	119	18	31	31	NUM
ajst-14309	119	19	-	-	SYM
ajst-14309	119	20	36	36	NUM
ajst-14309	119	21	.	.	PUNCT
ajst-14309	120	1	[	[	X
ajst-14309	120	2	7	7	X
ajst-14309	120	3	]	]	X
ajst-14309	120	4	kou	kou	PROPN
ajst-14309	120	5	farong	farong	PROPN
ajst-14309	120	6	,	,	PUNCT
ajst-14309	120	7	zhang	zhang	PROPN
ajst-14309	120	8	hai	hai	PROPN
ajst-14309	120	9	-	-	PUNCT
ajst-14309	120	10	liang	liang	PROPN
ajst-14309	120	11	,	,	PUNCT
ajst-14309	120	12	xu	xu	PROPN
ajst-14309	120	13	jia	jia	PROPN
ajst-14309	120	14	-	-	PROPN
ajst-14309	120	15	nan	nan	PROPN
ajst-14309	120	16	et	et	PROPN
ajst-14309	120	17	al	al	PROPN
ajst-14309	120	18	.	.	PROPN
ajst-14309	121	1	adaptive	adaptive	PROPN
ajst-14309	121	2	smith	smith	PROPN
ajst-14309	121	3	feedback	feedback	PROPN
ajst-14309	121	4	time	time	NOUN
ajst-14309	121	5	-	-	PUNCT
ajst-14309	121	6	lag	lag	NOUN
ajst-14309	121	7	control	control	NOUN
ajst-14309	121	8	of	of	ADP
ajst-14309	121	9	electrostatichydraulic	electrostatichydraulic	ADJ
ajst-14309	121	10	active	active	ADJ
ajst-14309	121	11	suspension	suspension	NOUN
ajst-14309	121	12	.	.	PUNCT
ajst-14309	122	1	vibration	vibration	NOUN
ajst-14309	122	2	.	.	PUNCT
ajst-14309	123	1	test	test	NOUN
ajst-14309	123	2	and	and	CCONJ
ajst-14309	123	3	diagnosis.vol.42(2022	diagnosis.vol.42(2022	PROPN
ajst-14309	123	4	)	)	PUNCT
ajst-14309	123	5	no.5	no.5	PROPN
ajst-14309	123	6	,	,	PUNCT
ajst-14309	123	7	p.864	p.864	X
ajst-14309	123	8	-	-	SYM
ajst-14309	123	9	870	870	NUM
ajst-14309	123	10	.	.	PUNCT
ajst-14309	124	1	[	[	X
ajst-14309	124	2	8	8	NUM
ajst-14309	124	3	]	]	X
ajst-14309	124	4	sarathyadav	sarathyadav	PROPN
ajst-14309	124	5	,	,	PUNCT
ajst-14309	124	6	e.	e.	PROPN
ajst-14309	124	7	,	,	PUNCT
ajst-14309	124	8	indiran	indiran	NOUN
ajst-14309	124	9	,	,	PUNCT
ajst-14309	124	10	t.	t.	NOUN
ajst-14309	124	11	comparative	comparative	ADJ
ajst-14309	124	12	approach	approach	NOUN
ajst-14309	124	13	toward	toward	ADP
ajst-14309	124	14	modified	modify	VERB
ajst-14309	124	15	smith	smith	PROPN
ajst-14309	124	16	predictor	predictor	NOUN
ajst-14309	124	17	and	and	CCONJ
ajst-14309	124	18	back	back	ADJ
ajst-14309	124	19	calculation	calculation	NOUN
ajst-14309	124	20	design	design	NOUN
ajst-14309	124	21	for	for	ADP
ajst-14309	124	22	conical	conical	NOUN
ajst-14309	124	23	tank	tank	NOUN
ajst-14309	124	24	level	level	NOUN
ajst-14309	124	25	process	process	NOUN
ajst-14309	124	26	control	control	NOUN
ajst-14309	124	27	.	.	PUNCT
ajst-14309	125	1	in	in	ADP
ajst-14309	125	2	:	:	PUNCT
ajst-14309	125	3	bajpai	bajpai	PROPN
ajst-14309	125	4	,	,	PUNCT
ajst-14309	125	5	r.p	r.p	PROPN
ajst-14309	125	6	.	.	PROPN
ajst-14309	125	7	,	,	PUNCT
ajst-14309	125	8	chandrasekhar	chandrasekhar	PROPN
ajst-14309	125	9	,	,	PUNCT
ajst-14309	125	10	u.	u.	PROPN
ajst-14309	125	11	(	(	PUNCT
ajst-14309	125	12	eds	eds	PROPN
ajst-14309	125	13	)	)	PUNCT
ajst-14309	125	14	innovative	innovative	ADJ
ajst-14309	125	15	design	design	NOUN
ajst-14309	125	16	and	and	CCONJ
ajst-14309	125	17	development	development	NOUN
ajst-14309	125	18	practices	practice	NOUN
ajst-14309	125	19	in	in	ADP
ajst-14309	125	20	aerospace	aerospace	NOUN
ajst-14309	125	21	and	and	CCONJ
ajst-14309	125	22	automotive	automotive	ADJ
ajst-14309	125	23	engineering	engineering	NOUN
ajst-14309	125	24	,	,	PUNCT
ajst-14309	125	25	lecture	lecture	NOUN
ajst-14309	125	26	notes	note	NOUN
ajst-14309	125	27	in	in	ADP
ajst-14309	125	28	mechanical	mechanical	ADJ
ajst-14309	125	29	engineering	engineering	NOUN
ajst-14309	125	30	,	,	PUNCT
ajst-14309	125	31	2017	2017	NUM
ajst-14309	125	32	,	,	PUNCT
ajst-14309	125	33	p.569	p.569	X
ajst-14309	125	34	-	-	PUNCT
ajst-14309	125	35	577	577	NUM
ajst-14309	125	36	.	.	PUNCT
ajst-14309	126	1	[	[	X
ajst-14309	126	2	9	9	NUM
ajst-14309	126	3	]	]	PUNCT
ajst-14309	126	4	s.	s.	PROPN
ajst-14309	126	5	karan	karan	PROPN
ajst-14309	126	6	,	,	PUNCT
ajst-14309	126	7	c.	c.	PROPN
ajst-14309	126	8	dey	dey	PROPN
ajst-14309	126	9	.	.	PROPN
ajst-14309	126	10	enhanced	enhance	VERB
ajst-14309	126	11	modified	modify	VERB
ajst-14309	126	12	smith	smith	PROPN
ajst-14309	126	13	predictor	predictor	PROPN
ajst-14309	126	14	for	for	ADP
ajst-14309	126	15	delay	delay	NOUN
ajst-14309	126	16	dominated	dominate	VERB
ajst-14309	126	17	unstable	unstable	ADJ
ajst-14309	126	18	processes	process	NOUN
ajst-14309	126	19	.	.	PUNCT
ajst-14309	127	1	2018	2018	NUM
ajst-14309	127	2	ieee	ieee	NOUN
ajst-14309	127	3	electron	electron	NOUN
ajst-14309	127	4	devices	devices	PROPN
ajst-14309	127	5	kolkata	kolkata	PROPN
ajst-14309	127	6	conference	conference	PROPN
ajst-14309	127	7	(	(	PUNCT
ajst-14309	127	8	edkcon	edkcon	NOUN
ajst-14309	127	9	)	)	PUNCT
ajst-14309	127	10	.	.	PUNCT
ajst-14309	128	1	kolkata	kolkata	PROPN
ajst-14309	128	2	,	,	PUNCT
ajst-14309	128	3	india	india	PROPN
ajst-14309	128	4	,	,	PUNCT
ajst-14309	128	5	2018	2018	NUM
ajst-14309	128	6	,	,	PUNCT
ajst-14309	128	7	p.	p.	NOUN
ajst-14309	128	8	193	193	NUM
ajst-14309	128	9	-	-	SYM
ajst-14309	128	10	197	197	NUM
ajst-14309	128	11	[	[	SYM
ajst-14309	128	12	10	10	NUM
ajst-14309	128	13	]	]	PUNCT
ajst-14309	128	14	karan	karan	PROPN
ajst-14309	128	15	,	,	PUNCT
ajst-14309	128	16	s	s	PROPN
ajst-14309	128	17	,	,	PUNCT
ajst-14309	128	18	dey	dey	PROPN
ajst-14309	128	19	,	,	PUNCT
ajst-14309	128	20	c.	c.	PROPN
ajst-14309	128	21	(	(	PUNCT
ajst-14309	128	22	2020	2020	NUM
ajst-14309	128	23	)	)	PUNCT
ajst-14309	128	24	modified	modify	VERB
ajst-14309	128	25	smith	smith	PROPN
ajst-14309	128	26	predictor	predictor	PROPN
ajst-14309	128	27	based	base	VERB
ajst-14309	128	28	all	all	DET
ajst-14309	128	29	proportional	proportional	ADJ
ajst-14309	128	30	derivative	derivative	ADJ
ajst-14309	128	31	control	control	NOUN
ajst-14309	128	32	for	for	ADP
ajst-14309	128	33	second	second	ADJ
ajst-14309	128	34	order	order	NOUN
ajst-14309	128	35	delay	delay	NOUN
ajst-14309	128	36	dominated	dominate	VERB
ajst-14309	128	37	integrating	integrating	NOUN
ajst-14309	128	38	processes	process	NOUN
ajst-14309	128	39	.	.	PUNCT
ajst-14309	129	1	asia	asia	PROPN
ajst-14309	129	2	-	-	PUNCT
ajst-14309	129	3	pacific	pacific	PROPN
ajst-14309	129	4	journal	journal	PROPN
ajst-14309	129	5	of	of	ADP
ajst-14309	129	6	chemical	chemical	PROPN
ajst-14309	129	7	engineering	engineering	NOUN
ajst-14309	129	8	.	.	PUNCT
ajst-14309	130	1	vol.16(2020	vol.16(2020	NOUN
ajst-14309	130	2	)	)	PUNCT
ajst-14309	130	3	no.2,2591	no.2,2591	PROPN
ajst-14309	130	4	.	.	PUNCT