id	sid	tid	token	lemma	pos
ajst-16294	1	1	academic	academic	ADJ
ajst-16294	1	2	journal	journal	NOUN
ajst-16294	1	3	of	of	ADP
ajst-16294	1	4	science	science	NOUN
ajst-16294	1	5	and	and	CCONJ
ajst-16294	1	6	technology	technology	NOUN
ajst-16294	1	7	issn	issn	NOUN
ajst-16294	1	8	:	:	PUNCT
ajst-16294	1	9	2771	2771	NUM
ajst-16294	1	10	-	-	SYM
ajst-16294	1	11	3032	3032	NUM
ajst-16294	1	12	|	|	NOUN
ajst-16294	1	13	vol	vol	NOUN
ajst-16294	1	14	.	.	PROPN
ajst-16294	2	1	9	9	NUM
ajst-16294	2	2	,	,	PUNCT
ajst-16294	2	3	no	no	INTJ
ajst-16294	2	4	.	.	NOUN
ajst-16294	2	5	1	1	NUM
ajst-16294	2	6	,	,	PUNCT
ajst-16294	2	7	2024	2024	NUM
ajst-16294	2	8	59	59	NUM
ajst-16294	2	9	study	study	NOUN
ajst-16294	2	10	of	of	ADP
ajst-16294	2	11	multi‐motor	multi‐motor	NOUN
ajst-16294	2	12	synchronous	synchronous	ADJ
ajst-16294	2	13	operation	operation	NOUN
ajst-16294	2	14	based	base	VERB
ajst-16294	2	15	on	on	ADP
ajst-16294	2	16	sliding	slide	VERB
ajst-16294	2	17	mode	mode	NOUN
ajst-16294	2	18	virtual	virtual	ADJ
ajst-16294	2	19	spindle	spindle	NOUN
ajst-16294	2	20	adjacent	adjacent	ADJ
ajst-16294	2	21	cross‐coupling	cross‐couple	VERB
ajst-16294	2	22	control	control	PROPN
ajst-16294	2	23	rui	rui	PROPN
ajst-16294	2	24	zhang	zhang	PROPN
ajst-16294	2	25	*	*	PROPN
ajst-16294	2	26	,	,	PUNCT
ajst-16294	2	27	yan	yan	PROPN
ajst-16294	2	28	xia	xia	PROPN
ajst-16294	2	29	,	,	PUNCT
ajst-16294	2	30	yang	yang	PROPN
ajst-16294	2	31	chen	chen	PROPN
ajst-16294	2	32	,	,	PUNCT
ajst-16294	2	33	kai	kai	PROPN
ajst-16294	2	34	yang	yang	PROPN
ajst-16294	2	35	,	,	PUNCT
ajst-16294	2	36	huizhu	huizhu	PROPN
ajst-16294	2	37	li	li	PROPN
ajst-16294	2	38	,	,	PUNCT
ajst-16294	2	39	zetao	zetao	PROPN
ajst-16294	2	40	feng	feng	PROPN
ajst-16294	2	41	sichuan	sichuan	PROPN
ajst-16294	2	42	university	university	PROPN
ajst-16294	2	43	of	of	ADP
ajst-16294	2	44	science	science	PROPN
ajst-16294	2	45	&	&	CCONJ
ajst-16294	2	46	engineering	engineering	PROPN
ajst-16294	2	47	,	,	PUNCT
ajst-16294	2	48	school	school	NOUN
ajst-16294	2	49	of	of	ADP
ajst-16294	2	50	automation	automation	NOUN
ajst-16294	2	51	and	and	CCONJ
ajst-16294	2	52	information	information	NOUN
ajst-16294	2	53	engineering	engineering	NOUN
ajst-16294	2	54	,	,	PUNCT
ajst-16294	2	55	yibin	yibin	PROPN
ajst-16294	2	56	,	,	PUNCT
ajst-16294	2	57	643000	643000	NUM
ajst-16294	2	58	,	,	PUNCT
ajst-16294	2	59	china	china	PROPN
ajst-16294	2	60	*	*	PUNCT
ajst-16294	2	61	corresponding	correspond	VERB
ajst-16294	2	62	author	author	NOUN
ajst-16294	2	63	:	:	PUNCT
ajst-16294	2	64	zhang	zhang	PROPN
ajst-16294	2	65	rui	rui	PROPN
ajst-16294	2	66	(	(	PUNCT
ajst-16294	2	67	321081104118@stu.suse.edu.cn	321081104118@stu.suse.edu.cn	NUM
ajst-16294	2	68	)	)	PUNCT
ajst-16294	2	69	abstract	abstract	NOUN
ajst-16294	2	70	:	:	PUNCT
ajst-16294	2	71	aiming	aim	VERB
ajst-16294	2	72	at	at	ADP
ajst-16294	2	73	the	the	DET
ajst-16294	2	74	problems	problem	NOUN
ajst-16294	2	75	of	of	ADP
ajst-16294	2	76	uneven	uneven	ADJ
ajst-16294	2	77	parameter	parameter	NOUN
ajst-16294	2	78	differences	difference	NOUN
ajst-16294	2	79	and	and	CCONJ
ajst-16294	2	80	load	load	VERB
ajst-16294	2	81	torque	torque	NOUN
ajst-16294	2	82	distribution	distribution	NOUN
ajst-16294	2	83	,	,	PUNCT
ajst-16294	2	84	which	which	PRON
ajst-16294	2	85	cause	cause	VERB
ajst-16294	2	86	the	the	DET
ajst-16294	2	87	tracking	tracking	NOUN
ajst-16294	2	88	accuracy	accuracy	NOUN
ajst-16294	2	89	and	and	CCONJ
ajst-16294	2	90	synchronization	synchronization	NOUN
ajst-16294	2	91	performance	performance	NOUN
ajst-16294	2	92	of	of	ADP
ajst-16294	2	93	the	the	DET
ajst-16294	2	94	multi	multi	ADJ
ajst-16294	2	95	-	-	ADJ
ajst-16294	2	96	motor	motor	ADJ
ajst-16294	2	97	control	control	NOUN
ajst-16294	2	98	system	system	NOUN
ajst-16294	2	99	to	to	PART
ajst-16294	2	100	be	be	AUX
ajst-16294	2	101	reduced	reduce	VERB
ajst-16294	2	102	,	,	PUNCT
ajst-16294	2	103	a	a	DET
ajst-16294	2	104	multi	multi	ADJ
ajst-16294	2	105	-	-	ADJ
ajst-16294	2	106	motor	motor	ADJ
ajst-16294	2	107	system	system	NOUN
ajst-16294	2	108	control	control	NOUN
ajst-16294	2	109	strategy	strategy	NOUN
ajst-16294	2	110	with	with	ADP
ajst-16294	2	111	sliding	slide	VERB
ajst-16294	2	112	mode	mode	NOUN
ajst-16294	2	113	virtual	virtual	ADJ
ajst-16294	2	114	spindle	spindle	NOUN
ajst-16294	2	115	adjacent	adjacent	ADJ
ajst-16294	2	116	cross	cross	ADJ
ajst-16294	2	117	-	-	ADJ
ajst-16294	2	118	coupling	coupling	ADJ
ajst-16294	2	119	control	control	NOUN
ajst-16294	2	120	is	be	AUX
ajst-16294	2	121	proposed	propose	VERB
ajst-16294	2	122	.	.	PUNCT
ajst-16294	3	1	first	first	ADV
ajst-16294	3	2	,	,	PUNCT
ajst-16294	3	3	the	the	DET
ajst-16294	3	4	feedback	feedback	NOUN
ajst-16294	3	5	torque	torque	NOUN
ajst-16294	3	6	of	of	ADP
ajst-16294	3	7	each	each	DET
ajst-16294	3	8	motor	motor	NOUN
ajst-16294	3	9	is	be	AUX
ajst-16294	3	10	regulated	regulate	VERB
ajst-16294	3	11	by	by	ADP
ajst-16294	3	12	establishing	establish	VERB
ajst-16294	3	13	a	a	DET
ajst-16294	3	14	virtual	virtual	ADJ
ajst-16294	3	15	spindle	spindle	NOUN
ajst-16294	3	16	to	to	PART
ajst-16294	3	17	improve	improve	VERB
ajst-16294	3	18	the	the	DET
ajst-16294	3	19	coordination	coordination	NOUN
ajst-16294	3	20	of	of	ADP
ajst-16294	3	21	the	the	DET
ajst-16294	3	22	system	system	NOUN
ajst-16294	3	23	.	.	PUNCT
ajst-16294	4	1	secondly	secondly	ADV
ajst-16294	4	2	,	,	PUNCT
ajst-16294	4	3	a	a	DET
ajst-16294	4	4	speed	speed	NOUN
ajst-16294	4	5	compensator	compensator	NOUN
ajst-16294	4	6	is	be	AUX
ajst-16294	4	7	designed	design	VERB
ajst-16294	4	8	to	to	PART
ajst-16294	4	9	couple	couple	VERB
ajst-16294	4	10	each	each	DET
ajst-16294	4	11	motor	motor	NOUN
ajst-16294	4	12	to	to	PART
ajst-16294	4	13	improve	improve	VERB
ajst-16294	4	14	the	the	DET
ajst-16294	4	15	system	system	NOUN
ajst-16294	4	16	synchronization	synchronization	NOUN
ajst-16294	4	17	.	.	PUNCT
ajst-16294	5	1	meanwhile	meanwhile	ADV
ajst-16294	5	2	,	,	PUNCT
ajst-16294	5	3	the	the	DET
ajst-16294	5	4	sliding	slide	VERB
ajst-16294	5	5	mode	mode	NOUN
ajst-16294	5	6	control	control	NOUN
ajst-16294	5	7	strategy	strategy	NOUN
ajst-16294	5	8	is	be	AUX
ajst-16294	5	9	used	use	VERB
ajst-16294	5	10	for	for	ADP
ajst-16294	5	11	the	the	DET
ajst-16294	5	12	control	control	NOUN
ajst-16294	5	13	of	of	ADP
ajst-16294	5	14	a	a	DET
ajst-16294	5	15	single	single	ADJ
ajst-16294	5	16	motor	motor	NOUN
ajst-16294	5	17	.	.	PUNCT
ajst-16294	6	1	the	the	DET
ajst-16294	6	2	robustness	robustness	NOUN
ajst-16294	6	3	and	and	CCONJ
ajst-16294	6	4	tracking	tracking	NOUN
ajst-16294	6	5	accuracy	accuracy	NOUN
ajst-16294	6	6	of	of	ADP
ajst-16294	6	7	the	the	DET
ajst-16294	6	8	system	system	NOUN
ajst-16294	6	9	are	be	AUX
ajst-16294	6	10	tuned	tune	VERB
ajst-16294	6	11	up	up	ADP
ajst-16294	6	12	.	.	PUNCT
ajst-16294	7	1	the	the	DET
ajst-16294	7	2	simulation	simulation	NOUN
ajst-16294	7	3	experiment	experiment	NOUN
ajst-16294	7	4	results	result	NOUN
ajst-16294	7	5	show	show	VERB
ajst-16294	7	6	that	that	SCONJ
ajst-16294	7	7	compared	compare	VERB
ajst-16294	7	8	with	with	ADP
ajst-16294	7	9	the	the	DET
ajst-16294	7	10	sliding	slide	VERB
ajst-16294	7	11	mode	mode	NOUN
ajst-16294	7	12	cross	cross	ADJ
ajst-16294	7	13	-	-	ADJ
ajst-16294	7	14	coupling	coupling	ADJ
ajst-16294	7	15	control	control	NOUN
ajst-16294	7	16	,	,	PUNCT
ajst-16294	7	17	sliding	slide	VERB
ajst-16294	7	18	mode	mode	NOUN
ajst-16294	7	19	adjacent	adjacent	ADJ
ajst-16294	7	20	deviation	deviation	NOUN
ajst-16294	7	21	coupling	couple	VERB
ajst-16294	7	22	control	control	NOUN
ajst-16294	7	23	,	,	PUNCT
ajst-16294	7	24	and	and	CCONJ
ajst-16294	7	25	pi	pi	PROPN
ajst-16294	7	26	virtual	virtual	ADJ
ajst-16294	7	27	spindle	spindle	NOUN
ajst-16294	7	28	-	-	PUNCT
ajst-16294	7	29	adjacent	adjacent	ADJ
ajst-16294	7	30	deviation	deviation	NOUN
ajst-16294	7	31	coupling	couple	VERB
ajst-16294	7	32	control	control	NOUN
ajst-16294	7	33	,	,	PUNCT
ajst-16294	7	34	the	the	DET
ajst-16294	7	35	system	system	NOUN
ajst-16294	7	36	has	have	VERB
ajst-16294	7	37	a	a	DET
ajst-16294	7	38	small	small	ADJ
ajst-16294	7	39	synchronization	synchronization	NOUN
ajst-16294	7	40	error	error	NOUN
ajst-16294	7	41	,	,	PUNCT
ajst-16294	7	42	strong	strong	ADJ
ajst-16294	7	43	anti	anti	ADJ
ajst-16294	7	44	-	-	ADJ
ajst-16294	7	45	interference	interference	ADJ
ajst-16294	7	46	ability	ability	NOUN
ajst-16294	7	47	,	,	PUNCT
ajst-16294	7	48	and	and	CCONJ
ajst-16294	7	49	realizes	realize	VERB
ajst-16294	7	50	high	high	ADJ
ajst-16294	7	51	-	-	PUNCT
ajst-16294	7	52	precision	precision	NOUN
ajst-16294	7	53	coordinated	coordinate	VERB
ajst-16294	7	54	control	control	NOUN
ajst-16294	7	55	of	of	ADP
ajst-16294	7	56	multiple	multiple	ADJ
ajst-16294	7	57	motors	motor	NOUN
ajst-16294	7	58	.	.	PUNCT
ajst-16294	8	1	keywords	keyword	NOUN
ajst-16294	8	2	:	:	PUNCT
ajst-16294	8	3	permanent	permanent	ADJ
ajst-16294	8	4	magnet	magnet	NOUN
ajst-16294	8	5	synchronous	synchronous	ADJ
ajst-16294	8	6	motor	motor	NOUN
ajst-16294	8	7	,	,	PUNCT
ajst-16294	8	8	multi	multi	ADJ
ajst-16294	8	9	-	-	ADJ
ajst-16294	8	10	motor	motor	ADJ
ajst-16294	8	11	control	control	NOUN
ajst-16294	8	12	,	,	PUNCT
ajst-16294	8	13	virtual	virtual	ADJ
ajst-16294	8	14	spindle	spindle	NOUN
ajst-16294	8	15	control	control	NOUN
ajst-16294	8	16	,	,	PUNCT
ajst-16294	8	17	adjacent	adjacent	ADJ
ajst-16294	8	18	deviation	deviation	NOUN
ajst-16294	8	19	coupling	couple	VERB
ajst-16294	8	20	control	control	NOUN
ajst-16294	8	21	,	,	PUNCT
ajst-16294	8	22	sliding	slide	VERB
ajst-16294	8	23	mode	mode	NOUN
ajst-16294	8	24	control	control	NOUN
ajst-16294	8	25	.	.	PUNCT
ajst-16294	9	1	1	1	X
ajst-16294	9	2	.	.	X
ajst-16294	9	3	introduction	introduction	NOUN
ajst-16294	9	4	multi	multi	ADJ
ajst-16294	9	5	-	-	ADJ
ajst-16294	9	6	motor	motor	ADJ
ajst-16294	9	7	synchronous	synchronous	ADJ
ajst-16294	9	8	control	control	NOUN
ajst-16294	9	9	is	be	AUX
ajst-16294	9	10	widely	widely	ADV
ajst-16294	9	11	used	use	VERB
ajst-16294	9	12	in	in	ADP
ajst-16294	9	13	automobiles[1	automobiles[1	PROPN
ajst-16294	9	14	]	]	PUNCT
ajst-16294	9	15	,	,	PUNCT
ajst-16294	9	16	wind	wind	NOUN
ajst-16294	9	17	power	power	NOUN
ajst-16294	9	18	generation[2	generation[2	PROPN
ajst-16294	9	19	]	]	X
ajst-16294	9	20	,	,	PUNCT
ajst-16294	9	21	coal	coal	NOUN
ajst-16294	9	22	mines[3	mines[3	PROPN
ajst-16294	9	23	]	]	PUNCT
ajst-16294	9	24	,	,	PUNCT
ajst-16294	9	25	and	and	CCONJ
ajst-16294	9	26	other	other	ADJ
ajst-16294	9	27	fields	field	NOUN
ajst-16294	9	28	because	because	SCONJ
ajst-16294	9	29	it	it	PRON
ajst-16294	9	30	can	can	AUX
ajst-16294	9	31	provide	provide	VERB
ajst-16294	9	32	a	a	DET
ajst-16294	9	33	larger	large	ADJ
ajst-16294	9	34	load	load	NOUN
ajst-16294	9	35	drive	drive	NOUN
ajst-16294	9	36	and	and	CCONJ
ajst-16294	9	37	flexible	flexible	ADJ
ajst-16294	9	38	motion	motion	NOUN
ajst-16294	9	39	mode	mode	NOUN
ajst-16294	9	40	for	for	ADP
ajst-16294	9	41	the	the	DET
ajst-16294	9	42	system	system	NOUN
ajst-16294	9	43	.	.	PUNCT
ajst-16294	10	1	in	in	ADP
ajst-16294	10	2	practical	practical	ADJ
ajst-16294	10	3	engineering	engineering	NOUN
ajst-16294	10	4	,	,	PUNCT
ajst-16294	10	5	some	some	DET
ajst-16294	10	6	factors	factor	NOUN
ajst-16294	10	7	,	,	PUNCT
ajst-16294	10	8	such	such	ADJ
ajst-16294	10	9	as	as	ADP
ajst-16294	10	10	parameter	parameter	NOUN
ajst-16294	10	11	differences	difference	NOUN
ajst-16294	10	12	in	in	ADP
ajst-16294	10	13	the	the	DET
ajst-16294	10	14	motors	motor	NOUN
ajst-16294	10	15	and	and	CCONJ
ajst-16294	10	16	uneven	uneven	ADJ
ajst-16294	10	17	distribution	distribution	NOUN
ajst-16294	10	18	of	of	ADP
ajst-16294	10	19	torque	torque	NOUN
ajst-16294	10	20	to	to	ADP
ajst-16294	10	21	external	external	ADJ
ajst-16294	10	22	loads	load	NOUN
ajst-16294	10	23	,	,	PUNCT
ajst-16294	10	24	can	can	AUX
ajst-16294	10	25	reduced	reduce	VERB
ajst-16294	10	26	synchronization	synchronization	NOUN
ajst-16294	10	27	of	of	ADP
ajst-16294	10	28	multi	multi	ADJ
ajst-16294	10	29	-	-	ADJ
ajst-16294	10	30	motor	motor	ADJ
ajst-16294	10	31	systems	system	NOUN
ajst-16294	10	32	.	.	PUNCT
ajst-16294	11	1	the	the	DET
ajst-16294	11	2	synchronization	synchronization	NOUN
ajst-16294	11	3	performance	performance	NOUN
ajst-16294	11	4	directly	directly	ADV
ajst-16294	11	5	affects	affect	VERB
ajst-16294	11	6	the	the	DET
ajst-16294	11	7	stability	stability	NOUN
ajst-16294	11	8	and	and	CCONJ
ajst-16294	11	9	control	control	NOUN
ajst-16294	11	10	accuracy	accuracy	NOUN
ajst-16294	11	11	of	of	ADP
ajst-16294	11	12	the	the	DET
ajst-16294	11	13	whole	whole	ADJ
ajst-16294	11	14	system	system	NOUN
ajst-16294	11	15	.	.	PUNCT
ajst-16294	12	1	therefore	therefore	ADV
ajst-16294	12	2	,	,	PUNCT
ajst-16294	12	3	it	it	PRON
ajst-16294	12	4	is	be	AUX
ajst-16294	12	5	of	of	ADP
ajst-16294	12	6	great	great	ADJ
ajst-16294	12	7	significance	significance	NOUN
ajst-16294	12	8	to	to	ADP
ajst-16294	12	9	research	research	NOUN
ajst-16294	12	10	improving	improve	VERB
ajst-16294	12	11	the	the	DET
ajst-16294	12	12	synchronization	synchronization	NOUN
ajst-16294	12	13	of	of	ADP
ajst-16294	12	14	multi	multi	ADJ
ajst-16294	12	15	-	-	ADJ
ajst-16294	12	16	motor	motor	ADJ
ajst-16294	12	17	control	control	NOUN
ajst-16294	12	18	.	.	PUNCT
ajst-16294	13	1	multi	multi	ADJ
ajst-16294	13	2	-	-	ADJ
ajst-16294	13	3	motor	motor	ADJ
ajst-16294	13	4	synchronization	synchronization	NOUN
ajst-16294	13	5	control	control	NOUN
ajst-16294	13	6	mainly	mainly	ADV
ajst-16294	13	7	includes	include	VERB
ajst-16294	13	8	two	two	NUM
ajst-16294	13	9	kinds	kind	NOUN
ajst-16294	13	10	mechanical	mechanical	ADJ
ajst-16294	13	11	synchronization	synchronization	NOUN
ajst-16294	13	12	control	control	NOUN
ajst-16294	13	13	and	and	CCONJ
ajst-16294	13	14	electrical	electrical	ADJ
ajst-16294	13	15	synchronization	synchronization	NOUN
ajst-16294	13	16	control	control	NOUN
ajst-16294	13	17	[	[	X
ajst-16294	13	18	4	4	NUM
ajst-16294	13	19	]	]	PUNCT
ajst-16294	13	20	.	.	PUNCT
ajst-16294	14	1	mechanical	mechanical	ADJ
ajst-16294	14	2	synchronous	synchronous	ADJ
ajst-16294	14	3	control	control	NOUN
ajst-16294	14	4	connects	connect	VERB
ajst-16294	14	5	multiple	multiple	ADJ
ajst-16294	14	6	motors	motor	NOUN
ajst-16294	14	7	through	through	ADP
ajst-16294	14	8	a	a	DET
ajst-16294	14	9	mechanical	mechanical	ADJ
ajst-16294	14	10	master	master	NOUN
ajst-16294	14	11	shaft	shaft	NOUN
ajst-16294	14	12	to	to	PART
ajst-16294	14	13	achieve	achieve	VERB
ajst-16294	14	14	the	the	DET
ajst-16294	14	15	speed	speed	NOUN
ajst-16294	14	16	synchronization	synchronization	NOUN
ajst-16294	14	17	requirements	requirement	NOUN
ajst-16294	14	18	.	.	PUNCT
ajst-16294	15	1	mechanical	mechanical	ADJ
ajst-16294	15	2	synchronization	synchronization	NOUN
ajst-16294	15	3	control	control	NOUN
ajst-16294	15	4	structure	structure	NOUN
ajst-16294	15	5	is	be	AUX
ajst-16294	15	6	simple	simple	ADJ
ajst-16294	15	7	and	and	CCONJ
ajst-16294	15	8	easy	easy	ADJ
ajst-16294	15	9	to	to	PART
ajst-16294	15	10	implement	implement	VERB
ajst-16294	15	11	,	,	PUNCT
ajst-16294	15	12	but	but	CCONJ
ajst-16294	15	13	there	there	PRON
ajst-16294	15	14	are	be	VERB
ajst-16294	15	15	problems	problem	NOUN
ajst-16294	15	16	such	such	ADJ
ajst-16294	15	17	as	as	ADP
ajst-16294	15	18	low	low	ADJ
ajst-16294	15	19	control	control	NOUN
ajst-16294	15	20	accuracy	accuracy	NOUN
ajst-16294	15	21	and	and	CCONJ
ajst-16294	15	22	mechanical	mechanical	ADJ
ajst-16294	15	23	structure	structure	NOUN
ajst-16294	15	24	wear	wear	NOUN
ajst-16294	15	25	.	.	PUNCT
ajst-16294	16	1	to	to	PART
ajst-16294	16	2	solve	solve	VERB
ajst-16294	16	3	the	the	DET
ajst-16294	16	4	problems	problem	NOUN
ajst-16294	16	5	of	of	ADP
ajst-16294	16	6	mechanical	mechanical	ADJ
ajst-16294	16	7	synchronization	synchronization	NOUN
ajst-16294	16	8	control	control	NOUN
ajst-16294	16	9	,	,	PUNCT
ajst-16294	16	10	scholars	scholar	NOUN
ajst-16294	16	11	at	at	ADP
ajst-16294	16	12	home	home	ADV
ajst-16294	16	13	and	and	CCONJ
ajst-16294	16	14	abroad	abroad	ADV
ajst-16294	16	15	have	have	AUX
ajst-16294	16	16	proposed	propose	VERB
ajst-16294	16	17	many	many	ADJ
ajst-16294	16	18	electrical	electrical	ADJ
ajst-16294	16	19	synchronization	synchronization	NOUN
ajst-16294	16	20	control	control	NOUN
ajst-16294	16	21	algorithms	algorithm	NOUN
ajst-16294	16	22	,	,	PUNCT
ajst-16294	16	23	electrical	electrical	ADJ
ajst-16294	16	24	synchronization	synchronization	NOUN
ajst-16294	16	25	control	control	NOUN
ajst-16294	16	26	algorithms	algorithm	NOUN
ajst-16294	16	27	include	include	VERB
ajst-16294	16	28	coupled	couple	VERB
ajst-16294	16	29	control	control	NOUN
ajst-16294	16	30	and	and	CCONJ
ajst-16294	16	31	non	non	ADJ
ajst-16294	16	32	-	-	ADJ
ajst-16294	16	33	coupled	couple	VERB
ajst-16294	16	34	control	control	NOUN
ajst-16294	16	35	.	.	PUNCT
ajst-16294	17	1	uncoupled	uncoupled	ADJ
ajst-16294	17	2	control	control	NOUN
ajst-16294	17	3	mainly	mainly	ADV
ajst-16294	17	4	has	have	VERB
ajst-16294	17	5	master	master	NOUN
ajst-16294	17	6	command	command	NOUN
ajst-16294	17	7	control	control	NOUN
ajst-16294	17	8	and	and	CCONJ
ajst-16294	17	9	master	master	NOUN
ajst-16294	17	10	-	-	PUNCT
ajst-16294	17	11	slave	slave	NOUN
ajst-16294	17	12	control[5	control[5	NOUN
ajst-16294	17	13	]	]	PUNCT
ajst-16294	17	14	.	.	PUNCT
ajst-16294	18	1	the	the	DET
ajst-16294	18	2	master	master	PROPN
ajst-16294	18	3	command	command	NOUN
ajst-16294	18	4	control	control	NOUN
ajst-16294	18	5	structure	structure	NOUN
ajst-16294	18	6	is	be	AUX
ajst-16294	18	7	that	that	SCONJ
ajst-16294	18	8	each	each	DET
ajst-16294	18	9	motor	motor	NOUN
ajst-16294	18	10	shares	share	VERB
ajst-16294	18	11	the	the	DET
ajst-16294	18	12	same	same	ADJ
ajst-16294	18	13	input	input	NOUN
ajst-16294	18	14	signal	signal	NOUN
ajst-16294	18	15	,	,	PUNCT
ajst-16294	18	16	and	and	CCONJ
ajst-16294	18	17	the	the	DET
ajst-16294	18	18	control	control	NOUN
ajst-16294	18	19	system	system	NOUN
ajst-16294	18	20	of	of	ADP
ajst-16294	18	21	each	each	DET
ajst-16294	18	22	motor	motor	NOUN
ajst-16294	18	23	is	be	AUX
ajst-16294	18	24	independent	independent	ADJ
ajst-16294	18	25	of	of	ADP
ajst-16294	18	26	each	each	DET
ajst-16294	18	27	other	other	ADJ
ajst-16294	18	28	.	.	PUNCT
ajst-16294	19	1	the	the	DET
ajst-16294	19	2	master	master	NOUN
ajst-16294	19	3	-	-	PUNCT
ajst-16294	19	4	slave	slave	NOUN
ajst-16294	19	5	control	control	NOUN
ajst-16294	19	6	structure	structure	NOUN
ajst-16294	19	7	is	be	AUX
ajst-16294	19	8	that	that	SCONJ
ajst-16294	19	9	the	the	DET
ajst-16294	19	10	speed	speed	NOUN
ajst-16294	19	11	output	output	NOUN
ajst-16294	19	12	signal	signal	NOUN
ajst-16294	19	13	of	of	ADP
ajst-16294	19	14	the	the	DET
ajst-16294	19	15	master	master	NOUN
ajst-16294	19	16	motor	motor	NOUN
ajst-16294	19	17	is	be	AUX
ajst-16294	19	18	used	use	VERB
ajst-16294	19	19	as	as	ADP
ajst-16294	19	20	the	the	DET
ajst-16294	19	21	input	input	NOUN
ajst-16294	19	22	signal	signal	NOUN
ajst-16294	19	23	of	of	ADP
ajst-16294	19	24	the	the	DET
ajst-16294	19	25	slave	slave	NOUN
ajst-16294	19	26	motor	motor	NOUN
ajst-16294	19	27	,	,	PUNCT
ajst-16294	19	28	and	and	CCONJ
ajst-16294	19	29	the	the	DET
ajst-16294	19	30	slave	slave	NOUN
ajst-16294	19	31	motor	motor	NOUN
ajst-16294	19	32	can	can	AUX
ajst-16294	19	33	be	be	AUX
ajst-16294	19	34	regulated	regulate	VERB
ajst-16294	19	35	based	base	VERB
ajst-16294	19	36	on	on	ADP
ajst-16294	19	37	the	the	DET
ajst-16294	19	38	output	output	NOUN
ajst-16294	19	39	signal	signal	NOUN
ajst-16294	19	40	of	of	ADP
ajst-16294	19	41	the	the	DET
ajst-16294	19	42	master	master	NOUN
ajst-16294	19	43	motor	motor	NOUN
ajst-16294	19	44	[	[	X
ajst-16294	19	45	6	6	NUM
ajst-16294	19	46	]	]	PUNCT
ajst-16294	19	47	.	.	PUNCT
ajst-16294	20	1	when	when	SCONJ
ajst-16294	20	2	the	the	DET
ajst-16294	20	3	load	load	NOUN
ajst-16294	20	4	torque	torque	NOUN
ajst-16294	20	5	is	be	AUX
ajst-16294	20	6	consistent	consistent	ADJ
ajst-16294	20	7	,	,	PUNCT
ajst-16294	20	8	the	the	DET
ajst-16294	20	9	uncoupled	uncoupled	ADJ
ajst-16294	20	10	control	control	NOUN
ajst-16294	20	11	has	have	VERB
ajst-16294	20	12	good	good	ADJ
ajst-16294	20	13	synchronization	synchronization	NOUN
ajst-16294	20	14	[	[	X
ajst-16294	20	15	7	7	NUM
ajst-16294	20	16	]	]	PUNCT
ajst-16294	20	17	.	.	PUNCT
ajst-16294	21	1	since	since	SCONJ
ajst-16294	21	2	there	there	PRON
ajst-16294	21	3	is	be	VERB
ajst-16294	21	4	no	no	DET
ajst-16294	21	5	coupling	coupling	NOUN
ajst-16294	21	6	between	between	ADP
ajst-16294	21	7	the	the	DET
ajst-16294	21	8	motors	motor	NOUN
ajst-16294	21	9	,	,	PUNCT
ajst-16294	21	10	when	when	SCONJ
ajst-16294	21	11	the	the	DET
ajst-16294	21	12	load	load	NOUN
ajst-16294	21	13	torque	torque	NOUN
ajst-16294	21	14	is	be	AUX
ajst-16294	21	15	not	not	PART
ajst-16294	21	16	consistent	consistent	ADJ
ajst-16294	21	17	due	due	ADJ
ajst-16294	21	18	to	to	ADP
ajst-16294	21	19	external	external	ADJ
ajst-16294	21	20	disturbances	disturbance	NOUN
ajst-16294	21	21	,	,	PUNCT
ajst-16294	21	22	it	it	PRON
ajst-16294	21	23	will	will	AUX
ajst-16294	21	24	cause	cause	VERB
ajst-16294	21	25	the	the	DET
ajst-16294	21	26	speed	speed	NOUN
ajst-16294	21	27	between	between	ADP
ajst-16294	21	28	the	the	DET
ajst-16294	21	29	motors	motor	NOUN
ajst-16294	21	30	to	to	PART
ajst-16294	21	31	be	be	AUX
ajst-16294	21	32	inconsistent	inconsistent	ADJ
ajst-16294	21	33	and	and	CCONJ
ajst-16294	21	34	the	the	DET
ajst-16294	21	35	system	system	NOUN
ajst-16294	21	36	will	will	AUX
ajst-16294	21	37	lose	lose	VERB
ajst-16294	21	38	synchronization	synchronization	NOUN
ajst-16294	21	39	.	.	PUNCT
ajst-16294	22	1	the	the	DET
ajst-16294	22	2	main	main	ADJ
ajst-16294	22	3	types	type	NOUN
ajst-16294	22	4	of	of	ADP
ajst-16294	22	5	coupling	couple	VERB
ajst-16294	22	6	control	control	NOUN
ajst-16294	22	7	are	be	AUX
ajst-16294	22	8	virtual	virtual	ADJ
ajst-16294	22	9	spindle	spindle	NOUN
ajst-16294	22	10	control	control	NOUN
ajst-16294	23	1	[	[	X
ajst-16294	23	2	8	8	NUM
ajst-16294	23	3	]	]	PUNCT
ajst-16294	23	4	,	,	PUNCT
ajst-16294	23	5	cross	cross	ADJ
ajst-16294	23	6	-	-	ADJ
ajst-16294	23	7	coupling	coupling	ADJ
ajst-16294	23	8	control	control	NOUN
ajst-16294	24	1	[	[	X
ajst-16294	24	2	9	9	NUM
ajst-16294	24	3	]	]	PUNCT
ajst-16294	24	4	,	,	PUNCT
ajst-16294	24	5	and	and	CCONJ
ajst-16294	24	6	deviation	deviation	NOUN
ajst-16294	24	7	coupling	couple	VERB
ajst-16294	24	8	control	control	NOUN
ajst-16294	25	1	[	[	X
ajst-16294	25	2	10	10	NUM
ajst-16294	25	3	]	]	PUNCT
ajst-16294	25	4	.	.	PUNCT
ajst-16294	26	1	virtual	virtual	ADJ
ajst-16294	26	2	spindle	spindle	NOUN
ajst-16294	26	3	control	control	NOUN
ajst-16294	26	4	makes	make	VERB
ajst-16294	26	5	the	the	DET
ajst-16294	26	6	multi	multi	ADJ
ajst-16294	26	7	-	-	ADJ
ajst-16294	26	8	motor	motor	ADJ
ajst-16294	26	9	system	system	NOUN
ajst-16294	26	10	keep	keep	VERB
ajst-16294	26	11	synchronization	synchronization	NOUN
ajst-16294	26	12	by	by	ADP
ajst-16294	26	13	simulating	simulate	VERB
ajst-16294	26	14	the	the	DET
ajst-16294	26	15	motion	motion	NOUN
ajst-16294	26	16	characteristics	characteristic	NOUN
ajst-16294	26	17	of	of	ADP
ajst-16294	26	18	the	the	DET
ajst-16294	26	19	mechanical	mechanical	ADJ
ajst-16294	26	20	total	total	ADJ
ajst-16294	26	21	axis	axis	NOUN
ajst-16294	27	1	[	[	X
ajst-16294	27	2	11	11	NUM
ajst-16294	27	3	]	]	PUNCT
ajst-16294	27	4	.	.	PUNCT
ajst-16294	28	1	however	however	ADV
ajst-16294	28	2	,	,	PUNCT
ajst-16294	28	3	there	there	PRON
ajst-16294	28	4	is	be	VERB
ajst-16294	28	5	the	the	DET
ajst-16294	28	6	problem	problem	NOUN
ajst-16294	28	7	of	of	ADP
ajst-16294	28	8	time	time	NOUN
ajst-16294	28	9	delay	delay	NOUN
ajst-16294	28	10	of	of	ADP
ajst-16294	28	11	the	the	DET
ajst-16294	28	12	given	give	VERB
ajst-16294	28	13	signal	signal	NOUN
ajst-16294	28	14	and	and	CCONJ
ajst-16294	28	15	the	the	DET
ajst-16294	28	16	system	system	NOUN
ajst-16294	28	17	response	response	NOUN
ajst-16294	28	18	is	be	AUX
ajst-16294	28	19	slow	slow	ADJ
ajst-16294	28	20	.	.	PUNCT
ajst-16294	29	1	meanwhile	meanwhile	ADV
ajst-16294	29	2	,	,	PUNCT
ajst-16294	29	3	because	because	SCONJ
ajst-16294	29	4	there	there	PRON
ajst-16294	29	5	is	be	VERB
ajst-16294	29	6	no	no	DET
ajst-16294	29	7	position	position	NOUN
ajst-16294	29	8	controller	controller	NOUN
ajst-16294	29	9	in	in	ADP
ajst-16294	29	10	the	the	DET
ajst-16294	29	11	virtual	virtual	ADJ
ajst-16294	29	12	total	total	ADJ
ajst-16294	29	13	axis	axis	NOUN
ajst-16294	29	14	control	control	NOUN
ajst-16294	29	15	,	,	PUNCT
ajst-16294	29	16	the	the	DET
ajst-16294	29	17	positional	positional	ADJ
ajst-16294	29	18	synchronization	synchronization	NOUN
ajst-16294	29	19	deviation	deviation	NOUN
ajst-16294	29	20	that	that	PRON
ajst-16294	29	21	exists	exist	VERB
ajst-16294	29	22	between	between	ADP
ajst-16294	29	23	the	the	DET
ajst-16294	29	24	subsystems	subsystem	NOUN
ajst-16294	29	25	can	can	AUX
ajst-16294	29	26	not	not	PART
ajst-16294	29	27	be	be	AUX
ajst-16294	29	28	eliminated	eliminate	VERB
ajst-16294	29	29	during	during	ADP
ajst-16294	29	30	the	the	DET
ajst-16294	29	31	process	process	NOUN
ajst-16294	29	32	of	of	ADP
ajst-16294	29	33	system	system	NOUN
ajst-16294	29	34	startup	startup	NOUN
ajst-16294	29	35	and	and	CCONJ
ajst-16294	29	36	shutdown	shutdown	NOUN
ajst-16294	29	37	or	or	CCONJ
ajst-16294	29	38	when	when	SCONJ
ajst-16294	29	39	there	there	PRON
ajst-16294	29	40	is	be	VERB
ajst-16294	29	41	a	a	DET
ajst-16294	29	42	random	random	ADJ
ajst-16294	29	43	disturbance	disturbance	NOUN
ajst-16294	29	44	.	.	PUNCT
ajst-16294	30	1	cross	cross	ADJ
ajst-16294	30	2	-	-	ADJ
ajst-16294	30	3	coupling	coupling	ADJ
ajst-16294	30	4	control	control	NOUN
ajst-16294	30	5	adds	add	VERB
ajst-16294	30	6	speed	speed	NOUN
ajst-16294	30	7	error	error	NOUN
ajst-16294	30	8	compensation	compensation	NOUN
ajst-16294	30	9	based	base	VERB
ajst-16294	30	10	on	on	ADP
ajst-16294	30	11	parallel	parallel	ADJ
ajst-16294	30	12	control	control	NOUN
ajst-16294	30	13	to	to	PART
ajst-16294	30	14	realize	realize	VERB
ajst-16294	30	15	the	the	DET
ajst-16294	30	16	coupling	coupling	NOUN
ajst-16294	30	17	between	between	ADP
ajst-16294	30	18	motor	motor	NOUN
ajst-16294	30	19	control	control	NOUN
ajst-16294	30	20	systems	system	NOUN
ajst-16294	30	21	[	[	X
ajst-16294	30	22	12	12	NUM
ajst-16294	30	23	]	]	PUNCT
ajst-16294	30	24	,	,	PUNCT
ajst-16294	30	25	but	but	CCONJ
ajst-16294	30	26	the	the	DET
ajst-16294	30	27	cross	cross	ADJ
ajst-16294	30	28	-	-	ADJ
ajst-16294	30	29	coupling	coupling	ADJ
ajst-16294	30	30	control	control	NOUN
ajst-16294	30	31	is	be	AUX
ajst-16294	30	32	only	only	ADV
ajst-16294	30	33	applicable	applicable	ADJ
ajst-16294	30	34	to	to	ADP
ajst-16294	30	35	the	the	DET
ajst-16294	30	36	synchronous	synchronous	ADJ
ajst-16294	30	37	control	control	NOUN
ajst-16294	30	38	system	system	NOUN
ajst-16294	30	39	of	of	ADP
ajst-16294	30	40	two	two	NUM
ajst-16294	30	41	motors	motor	NOUN
ajst-16294	30	42	,	,	PUNCT
ajst-16294	30	43	and	and	CCONJ
ajst-16294	30	44	the	the	DET
ajst-16294	30	45	scope	scope	NOUN
ajst-16294	30	46	of	of	ADP
ajst-16294	30	47	application	application	NOUN
ajst-16294	30	48	has	have	VERB
ajst-16294	30	49	limitations	limitation	NOUN
ajst-16294	30	50	.	.	PUNCT
ajst-16294	31	1	scholars	scholar	NOUN
ajst-16294	31	2	have	have	AUX
ajst-16294	31	3	proposed	propose	VERB
ajst-16294	31	4	deviation	deviation	NOUN
ajst-16294	31	5	coupling	couple	VERB
ajst-16294	31	6	control	control	NOUN
ajst-16294	31	7	[	[	X
ajst-16294	31	8	13	13	NUM
ajst-16294	31	9	]	]	PUNCT
ajst-16294	31	10	by	by	ADP
ajst-16294	31	11	improving	improve	VERB
ajst-16294	31	12	the	the	DET
ajst-16294	31	13	cross	cross	ADJ
ajst-16294	31	14	-	-	ADJ
ajst-16294	31	15	coupling	coupling	ADJ
ajst-16294	31	16	structure	structure	NOUN
ajst-16294	31	17	,	,	PUNCT
ajst-16294	31	18	in	in	ADP
ajst-16294	31	19	which	which	PRON
ajst-16294	31	20	the	the	DET
ajst-16294	31	21	speed	speed	NOUN
ajst-16294	31	22	output	output	NOUN
ajst-16294	31	23	signal	signal	NOUN
ajst-16294	31	24	of	of	ADP
ajst-16294	31	25	each	each	DET
ajst-16294	31	26	motor	motor	NOUN
ajst-16294	31	27	is	be	AUX
ajst-16294	31	28	multiplied	multiply	VERB
ajst-16294	31	29	by	by	ADP
ajst-16294	31	30	an	an	DET
ajst-16294	31	31	appropriate	appropriate	ADJ
ajst-16294	31	32	scale	scale	NOUN
ajst-16294	31	33	factor	factor	NOUN
ajst-16294	31	34	after	after	ADP
ajst-16294	31	35	making	make	VERB
ajst-16294	31	36	a	a	DET
ajst-16294	31	37	difference	difference	NOUN
ajst-16294	31	38	with	with	ADP
ajst-16294	31	39	the	the	DET
ajst-16294	31	40	main	main	ADJ
ajst-16294	31	41	motor	motor	NOUN
ajst-16294	31	42	,	,	PUNCT
ajst-16294	31	43	and	and	CCONJ
ajst-16294	31	44	then	then	ADV
ajst-16294	31	45	used	use	VERB
ajst-16294	31	46	as	as	ADP
ajst-16294	31	47	the	the	DET
ajst-16294	31	48	speed	speed	NOUN
ajst-16294	31	49	compensation	compensation	NOUN
ajst-16294	31	50	of	of	ADP
ajst-16294	31	51	each	each	DET
ajst-16294	31	52	motor	motor	NOUN
ajst-16294	31	53	after	after	ADP
ajst-16294	31	54	summation	summation	NOUN
ajst-16294	31	55	.	.	PUNCT
ajst-16294	32	1	this	this	DET
ajst-16294	32	2	control	control	NOUN
ajst-16294	32	3	algorithm	algorithm	NOUN
ajst-16294	32	4	makes	make	VERB
ajst-16294	32	5	the	the	DET
ajst-16294	32	6	system	system	NOUN
ajst-16294	32	7	coupling	coupling	NOUN
ajst-16294	32	8	degree	degree	NOUN
ajst-16294	32	9	high	high	ADJ
ajst-16294	32	10	,	,	PUNCT
ajst-16294	32	11	any	any	DET
ajst-16294	32	12	motor	motor	NOUN
ajst-16294	32	13	speed	speed	NOUN
ajst-16294	32	14	fluctuation	fluctuation	NOUN
ajst-16294	32	15	can	can	AUX
ajst-16294	32	16	be	be	AUX
ajst-16294	32	17	transmitted	transmit	VERB
ajst-16294	32	18	to	to	ADP
ajst-16294	32	19	other	other	ADJ
ajst-16294	32	20	motors	motor	NOUN
ajst-16294	32	21	so	so	SCONJ
ajst-16294	32	22	that	that	SCONJ
ajst-16294	32	23	the	the	DET
ajst-16294	32	24	synchronization	synchronization	NOUN
ajst-16294	32	25	of	of	ADP
ajst-16294	32	26	the	the	DET
ajst-16294	32	27	multi	multi	ADJ
ajst-16294	32	28	-	-	ADJ
ajst-16294	32	29	motor	motor	ADJ
ajst-16294	32	30	control	control	NOUN
ajst-16294	32	31	system	system	NOUN
ajst-16294	32	32	is	be	AUX
ajst-16294	32	33	improved	improve	VERB
ajst-16294	32	34	.	.	PUNCT
ajst-16294	33	1	as	as	ADP
ajst-16294	33	2	the	the	DET
ajst-16294	33	3	number	number	NOUN
ajst-16294	33	4	of	of	ADP
ajst-16294	33	5	motors	motor	NOUN
ajst-16294	33	6	in	in	ADP
ajst-16294	33	7	the	the	DET
ajst-16294	33	8	system	system	NOUN
ajst-16294	33	9	increases	increase	NOUN
ajst-16294	33	10	,	,	PUNCT
ajst-16294	33	11	the	the	DET
ajst-16294	33	12	speed	speed	NOUN
ajst-16294	33	13	compensation	compensation	NOUN
ajst-16294	33	14	module	module	NOUN
ajst-16294	33	15	also	also	ADV
ajst-16294	33	16	increases	increase	VERB
ajst-16294	33	17	,	,	PUNCT
ajst-16294	33	18	and	and	CCONJ
ajst-16294	33	19	the	the	DET
ajst-16294	33	20	speed	speed	NOUN
ajst-16294	33	21	compensation	compensation	NOUN
ajst-16294	33	22	module	module	NOUN
ajst-16294	33	23	needs	need	VERB
ajst-16294	33	24	to	to	PART
ajst-16294	33	25	consider	consider	VERB
ajst-16294	33	26	the	the	DET
ajst-16294	33	27	speed	speed	NOUN
ajst-16294	33	28	information	information	NOUN
ajst-16294	33	29	of	of	ADP
ajst-16294	33	30	all	all	DET
ajst-16294	33	31	motors	motor	NOUN
ajst-16294	33	32	,	,	PUNCT
ajst-16294	33	33	which	which	PRON
ajst-16294	33	34	makes	make	VERB
ajst-16294	33	35	the	the	DET
ajst-16294	33	36	system	system	NOUN
ajst-16294	33	37	arithmetic	arithmetic	ADJ
ajst-16294	33	38	volume	volume	NOUN
ajst-16294	33	39	increase	increase	NOUN
ajst-16294	33	40	.	.	PUNCT
ajst-16294	34	1	article	article	NOUN
ajst-16294	34	2	[	[	X
ajst-16294	34	3	14	14	NUM
ajst-16294	34	4	]	]	PUNCT
ajst-16294	34	5	presents	present	VERB
ajst-16294	34	6	adjacent	adjacent	ADJ
ajst-16294	34	7	crosscoupling	crosscoupling	NOUN
ajst-16294	34	8	control	control	NOUN
ajst-16294	34	9	decoupling	decouple	VERB
ajst-16294	34	10	by	by	ADP
ajst-16294	34	11	simplifying	simplify	VERB
ajst-16294	34	12	the	the	DET
ajst-16294	34	13	speed	speed	NOUN
ajst-16294	34	14	compensator	compensator	NOUN
ajst-16294	34	15	structure	structure	NOUN
ajst-16294	34	16	on	on	ADP
ajst-16294	34	17	the	the	DET
ajst-16294	34	18	basis	basis	NOUN
ajst-16294	34	19	of	of	ADP
ajst-16294	34	20	deviation	deviation	NOUN
ajst-16294	34	21	coupling	coupling	NOUN
ajst-16294	34	22	.	.	PUNCT
ajst-16294	35	1	adopting	adopt	VERB
ajst-16294	35	2	the	the	DET
ajst-16294	35	3	adjacent	adjacent	ADJ
ajst-16294	35	4	motor	motor	NOUN
ajst-16294	35	5	speed	speed	NOUN
ajst-16294	35	6	as	as	SCONJ
ajst-16294	35	7	the	the	DET
ajst-16294	35	8	compensator	compensator	NOUN
ajst-16294	35	9	input	input	NOUN
ajst-16294	35	10	signal	signal	NOUN
ajst-16294	35	11	reduces	reduce	VERB
ajst-16294	35	12	the	the	DET
ajst-16294	35	13	number	number	NOUN
ajst-16294	35	14	of	of	ADP
ajst-16294	35	15	input	input	NOUN
ajst-16294	35	16	signals	signal	NOUN
ajst-16294	35	17	and	and	CCONJ
ajst-16294	35	18	improves	improve	VERB
ajst-16294	35	19	the	the	DET
ajst-16294	35	20	60	60	NUM
ajst-16294	35	21	operation	operation	NOUN
ajst-16294	35	22	efficiency	efficiency	NOUN
ajst-16294	35	23	of	of	ADP
ajst-16294	35	24	the	the	DET
ajst-16294	35	25	system	system	NOUN
ajst-16294	35	26	.	.	PUNCT
ajst-16294	36	1	therefore	therefore	ADV
ajst-16294	36	2	,	,	PUNCT
ajst-16294	36	3	a	a	DET
ajst-16294	36	4	virtual	virtual	ADJ
ajst-16294	36	5	spindle	spindle	NOUN
ajst-16294	36	6	adjacent	adjacent	ADJ
ajst-16294	36	7	cross	cross	ADJ
ajst-16294	36	8	-	-	ADJ
ajst-16294	36	9	coupling	coupling	ADJ
ajst-16294	36	10	control	control	NOUN
ajst-16294	36	11	structure	structure	NOUN
ajst-16294	36	12	is	be	AUX
ajst-16294	36	13	adopted	adopt	VERB
ajst-16294	36	14	in	in	ADP
ajst-16294	36	15	this	this	DET
ajst-16294	36	16	paper	paper	NOUN
ajst-16294	36	17	.	.	PUNCT
ajst-16294	37	1	the	the	DET
ajst-16294	37	2	torque	torque	NOUN
ajst-16294	37	3	information	information	NOUN
ajst-16294	37	4	of	of	ADP
ajst-16294	37	5	all	all	DET
ajst-16294	37	6	the	the	DET
ajst-16294	37	7	motors	motor	NOUN
ajst-16294	37	8	is	be	AUX
ajst-16294	37	9	fed	feed	VERB
ajst-16294	37	10	back	back	ADV
ajst-16294	37	11	to	to	ADP
ajst-16294	37	12	the	the	DET
ajst-16294	37	13	virtual	virtual	ADJ
ajst-16294	37	14	spindle	spindle	NOUN
ajst-16294	37	15	,	,	PUNCT
ajst-16294	37	16	which	which	PRON
ajst-16294	37	17	is	be	AUX
ajst-16294	37	18	regulated	regulate	VERB
ajst-16294	37	19	through	through	ADP
ajst-16294	37	20	the	the	DET
ajst-16294	37	21	virtual	virtual	ADJ
ajst-16294	37	22	spindle	spindle	NOUN
ajst-16294	37	23	,	,	PUNCT
ajst-16294	37	24	thus	thus	ADV
ajst-16294	37	25	ensuring	ensure	VERB
ajst-16294	37	26	the	the	DET
ajst-16294	37	27	coordinated	coordinated	ADJ
ajst-16294	37	28	operation	operation	NOUN
ajst-16294	37	29	of	of	ADP
ajst-16294	37	30	each	each	DET
ajst-16294	37	31	motor	motor	NOUN
ajst-16294	37	32	.	.	PUNCT
ajst-16294	38	1	each	each	DET
ajst-16294	38	2	motor	motor	NOUN
ajst-16294	38	3	is	be	AUX
ajst-16294	38	4	compensated	compensate	VERB
ajst-16294	38	5	for	for	ADP
ajst-16294	38	6	the	the	DET
ajst-16294	38	7	speed	speed	NOUN
ajst-16294	38	8	error	error	NOUN
ajst-16294	38	9	of	of	ADP
ajst-16294	38	10	each	each	DET
ajst-16294	38	11	motor	motor	NOUN
ajst-16294	38	12	through	through	ADP
ajst-16294	38	13	the	the	DET
ajst-16294	38	14	adjacent	adjacent	ADJ
ajst-16294	38	15	cross	cross	ADJ
ajst-16294	38	16	-	-	ADJ
ajst-16294	38	17	coupling	coupling	ADJ
ajst-16294	38	18	structure	structure	NOUN
ajst-16294	38	19	,	,	PUNCT
ajst-16294	38	20	which	which	PRON
ajst-16294	38	21	improves	improve	VERB
ajst-16294	38	22	the	the	DET
ajst-16294	38	23	system	system	NOUN
ajst-16294	38	24	coupling	coupling	NOUN
ajst-16294	38	25	and	and	CCONJ
ajst-16294	38	26	ensures	ensure	VERB
ajst-16294	38	27	the	the	DET
ajst-16294	38	28	system	system	NOUN
ajst-16294	38	29	synchronization	synchronization	NOUN
ajst-16294	38	30	.	.	PUNCT
ajst-16294	39	1	at	at	ADP
ajst-16294	39	2	the	the	DET
ajst-16294	39	3	same	same	ADJ
ajst-16294	39	4	time	time	NOUN
ajst-16294	39	5	,	,	PUNCT
ajst-16294	39	6	the	the	DET
ajst-16294	39	7	use	use	NOUN
ajst-16294	39	8	of	of	ADP
ajst-16294	39	9	an	an	DET
ajst-16294	39	10	adjacent	adjacent	ADJ
ajst-16294	39	11	cross	cross	ADJ
ajst-16294	39	12	-	-	ADJ
ajst-16294	39	13	coupling	coupling	ADJ
ajst-16294	39	14	control	control	NOUN
ajst-16294	39	15	structure	structure	NOUN
ajst-16294	39	16	simplifies	simplify	VERB
ajst-16294	39	17	the	the	DET
ajst-16294	39	18	compensation	compensation	NOUN
ajst-16294	39	19	structure	structure	NOUN
ajst-16294	39	20	of	of	ADP
ajst-16294	39	21	the	the	DET
ajst-16294	39	22	system	system	NOUN
ajst-16294	39	23	and	and	CCONJ
ajst-16294	39	24	reduces	reduce	VERB
ajst-16294	39	25	the	the	DET
ajst-16294	39	26	system	system	NOUN
ajst-16294	39	27	arithmetic	arithmetic	ADJ
ajst-16294	39	28	.	.	PUNCT
ajst-16294	40	1	on	on	ADP
ajst-16294	40	2	this	this	DET
ajst-16294	40	3	basis	basis	NOUN
ajst-16294	40	4	,	,	PUNCT
ajst-16294	40	5	the	the	DET
ajst-16294	40	6	sliding	slide	VERB
ajst-16294	40	7	mode	mode	NOUN
ajst-16294	40	8	controller	controller	NOUN
ajst-16294	40	9	is	be	AUX
ajst-16294	40	10	designed	design	VERB
ajst-16294	40	11	to	to	PART
ajst-16294	40	12	control	control	VERB
ajst-16294	40	13	a	a	DET
ajst-16294	40	14	single	single	ADJ
ajst-16294	40	15	motor	motor	NOUN
ajst-16294	40	16	,	,	PUNCT
ajst-16294	40	17	which	which	PRON
ajst-16294	40	18	can	can	AUX
ajst-16294	40	19	further	far	ADV
ajst-16294	40	20	reduce	reduce	VERB
ajst-16294	40	21	the	the	DET
ajst-16294	40	22	synchronization	synchronization	NOUN
ajst-16294	40	23	error	error	NOUN
ajst-16294	40	24	of	of	ADP
ajst-16294	40	25	the	the	DET
ajst-16294	40	26	system	system	NOUN
ajst-16294	40	27	and	and	CCONJ
ajst-16294	40	28	improve	improve	VERB
ajst-16294	40	29	the	the	DET
ajst-16294	40	30	coordination	coordination	NOUN
ajst-16294	40	31	and	and	CCONJ
ajst-16294	40	32	control	control	NOUN
ajst-16294	40	33	accuracy	accuracy	NOUN
ajst-16294	40	34	of	of	ADP
ajst-16294	40	35	the	the	DET
ajst-16294	40	36	system	system	NOUN
ajst-16294	40	37	compared	compare	VERB
ajst-16294	40	38	with	with	ADP
ajst-16294	40	39	the	the	DET
ajst-16294	40	40	pi	pi	NOUN
ajst-16294	40	41	controller	controller	NOUN
ajst-16294	40	42	.	.	PUNCT
ajst-16294	41	1	finally	finally	ADV
ajst-16294	41	2	,	,	PUNCT
ajst-16294	41	3	the	the	DET
ajst-16294	41	4	effectiveness	effectiveness	NOUN
ajst-16294	41	5	of	of	ADP
ajst-16294	41	6	the	the	DET
ajst-16294	41	7	control	control	NOUN
ajst-16294	41	8	strategy	strategy	NOUN
ajst-16294	41	9	is	be	AUX
ajst-16294	41	10	verified	verify	VERB
ajst-16294	41	11	by	by	ADP
ajst-16294	41	12	simulation	simulation	NOUN
ajst-16294	41	13	test	test	NOUN
ajst-16294	41	14	results	result	NOUN
ajst-16294	41	15	.	.	PUNCT
ajst-16294	42	1	2	2	X
ajst-16294	42	2	.	.	X
ajst-16294	42	3	design	design	NOUN
ajst-16294	42	4	of	of	ADP
ajst-16294	42	5	synchronous	synchronous	ADJ
ajst-16294	42	6	control	control	NOUN
ajst-16294	42	7	structure	structure	NOUN
ajst-16294	42	8	for	for	ADP
ajst-16294	42	9	multiple	multiple	ADJ
ajst-16294	42	10	permanent	permanent	ADJ
ajst-16294	42	11	magnet	magnet	NOUN
ajst-16294	42	12	synchronous	synchronous	ADJ
ajst-16294	42	13	motors	motor	NOUN
ajst-16294	42	14	2.1	2.1	NUM
ajst-16294	42	15	.	.	PUNCT
ajst-16294	43	1	mathematical	mathematical	ADJ
ajst-16294	43	2	model	model	NOUN
ajst-16294	43	3	of	of	ADP
ajst-16294	43	4	permanent	permanent	ADJ
ajst-16294	43	5	magnet	magnet	NOUN
ajst-16294	43	6	synchronous	synchronous	ADJ
ajst-16294	43	7	motor	motor	NOUN
ajst-16294	43	8	the	the	DET
ajst-16294	43	9	following	follow	VERB
ajst-16294	43	10	assumptions	assumption	NOUN
ajst-16294	43	11	are	be	AUX
ajst-16294	43	12	made	make	VERB
ajst-16294	43	13	when	when	SCONJ
ajst-16294	43	14	establishing	establish	VERB
ajst-16294	43	15	the	the	DET
ajst-16294	43	16	mathematical	mathematical	ADJ
ajst-16294	43	17	model	model	NOUN
ajst-16294	43	18	of	of	ADP
ajst-16294	43	19	a	a	DET
ajst-16294	43	20	permanent	permanent	ADJ
ajst-16294	43	21	magnet	magnet	NOUN
ajst-16294	43	22	synchronous	synchronous	ADJ
ajst-16294	43	23	motor	motor	NOUN
ajst-16294	43	24	:	:	PUNCT
ajst-16294	43	25	(	(	PUNCT
ajst-16294	43	26	1).ignore	1).ignore	NUM
ajst-16294	43	27	space	space	NOUN
ajst-16294	43	28	harmonics	harmonic	NOUN
ajst-16294	43	29	;	;	PUNCT
ajst-16294	43	30	(	(	PUNCT
ajst-16294	43	31	2).neglecting	2).neglecte	VERB
ajst-16294	43	32	core	core	NOUN
ajst-16294	43	33	losses	loss	NOUN
ajst-16294	43	34	;	;	PUNCT
ajst-16294	43	35	(	(	PUNCT
ajst-16294	43	36	3).neglecting	3).neglecte	VERB
ajst-16294	43	37	magnetic	magnetic	ADJ
ajst-16294	43	38	circuit	circuit	NOUN
ajst-16294	43	39	saturation	saturation	NOUN
ajst-16294	43	40	;	;	PUNCT
ajst-16294	43	41	the	the	DET
ajst-16294	43	42	mathematical	mathematical	ADJ
ajst-16294	43	43	model	model	NOUN
ajst-16294	43	44	on	on	ADP
ajst-16294	43	45	the	the	DET
ajst-16294	43	46	two	two	NUM
ajst-16294	43	47	-	-	PUNCT
ajst-16294	43	48	phase	phase	NOUN
ajst-16294	43	49	rotating	rotate	VERB
ajst-16294	43	50	orthogonal	orthogonal	ADJ
ajst-16294	43	51	coordinate	coordinate	NOUN
ajst-16294	43	52	system	system	NOUN
ajst-16294	43	53	d	d	NOUN
ajst-16294	43	54	-	-	PUNCT
ajst-16294	43	55	p	p	NOUN
ajst-16294	43	56	is	be	AUX
ajst-16294	43	57	obtained	obtain	VERB
ajst-16294	43	58	by	by	ADP
ajst-16294	43	59	applying	apply	VERB
ajst-16294	43	60	clark	clark	NOUN
ajst-16294	43	61	's	's	PART
ajst-16294	43	62	transform	transform	NOUN
ajst-16294	43	63	and	and	CCONJ
ajst-16294	43	64	parker	parker	NOUN
ajst-16294	43	65	's	's	PART
ajst-16294	43	66	transform	transform	NOUN
ajst-16294	43	67	to	to	ADP
ajst-16294	43	68	the	the	DET
ajst-16294	43	69	voltages	voltage	NOUN
ajst-16294	43	70	,	,	PUNCT
ajst-16294	43	71	currents	current	NOUN
ajst-16294	43	72	and	and	CCONJ
ajst-16294	43	73	magnetic	magnetic	ADJ
ajst-16294	43	74	chains	chain	NOUN
ajst-16294	43	75	on	on	ADP
ajst-16294	43	76	the	the	DET
ajst-16294	43	77	three	three	NUM
ajst-16294	43	78	-	-	PUNCT
ajst-16294	43	79	phase	phase	NOUN
ajst-16294	43	80	stator	stator	NOUN
ajst-16294	43	81	windings	winding	NOUN
ajst-16294	43	82	of	of	ADP
ajst-16294	43	83	a	a	DET
ajst-16294	43	84	permanent	permanent	ADJ
ajst-16294	43	85	magnet	magnet	NOUN
ajst-16294	43	86	synchronous	synchronous	ADJ
ajst-16294	43	87	motor	motor	NOUN
ajst-16294	43	88	.	.	PUNCT
ajst-16294	44	1	stator	stator	NOUN
ajst-16294	44	2	voltage	voltage	NOUN
ajst-16294	44	3	equation	equation	NOUN
ajst-16294	44	4	:	:	PUNCT
ajst-16294	45	1	d	d	X
ajst-16294	45	2	d	d	X
ajst-16294	45	3	s	s	PROPN
ajst-16294	45	4	d	d	X
ajst-16294	45	5	q	q	X
ajst-16294	45	6	q	q	X
ajst-16294	45	7	q	q	X
ajst-16294	45	8	s	s	X
ajst-16294	45	9	q	q	X
ajst-16294	45	10	d	d	X
ajst-16294	45	11	d	d	X
ajst-16294	45	12	u	u	NOUN
ajst-16294	45	13	r	r	NOUN
ajst-16294	45	14	i	i	PRON
ajst-16294	45	15	dt	dt	X
ajst-16294	46	1	d	d	X
ajst-16294	46	2	u	u	NOUN
ajst-16294	46	3	r	r	NOUN
ajst-16294	47	1	i	i	PRON
ajst-16294	47	2	dt	dt	PROPN
ajst-16294	48	1			NOUN
ajst-16294	49	1			DET
ajst-16294	49	2			NOUN
ajst-16294	49	3			NOUN
ajst-16294	49	4			ADP
ajst-16294	49	5			PROPN
ajst-16294	49	6			ADJ
ajst-16294	49	7			PROPN
ajst-16294	50	1			PROPN
ajst-16294	50	2			NUM
ajst-16294	50	3			PROPN
ajst-16294	50	4			PROPN
ajst-16294	50	5			PROPN
ajst-16294	50	6	(	(	PUNCT
ajst-16294	50	7	1	1	NUM
ajst-16294	50	8	)	)	PUNCT
ajst-16294	50	9	the	the	DET
ajst-16294	50	10	magnetic	magnetic	ADJ
ajst-16294	50	11	chain	chain	NOUN
ajst-16294	50	12	equation	equation	NOUN
ajst-16294	50	13	:	:	PUNCT
ajst-16294	51	1	d	d	X
ajst-16294	51	2	d	d	X
ajst-16294	51	3	q	q	X
ajst-16294	51	4	m	m	VERB
ajst-16294	51	5	q	q	NOUN
ajst-16294	51	6	q	q	X
ajst-16294	51	7	q	q	X
ajst-16294	51	8	l	l	NOUN
ajst-16294	52	1	i	i	PRON
ajst-16294	52	2	l	l	NOUN
ajst-16294	53	1	i	i	PRON
ajst-16294	53	2			VERB
ajst-16294	53	3			NOUN
ajst-16294	53	4			NOUN
ajst-16294	53	5			PROPN
ajst-16294	53	6			PROPN
ajst-16294	53	7			NUM
ajst-16294	53	8			NOUN
ajst-16294	53	9	(	(	PUNCT
ajst-16294	53	10	2	2	X
ajst-16294	53	11	)	)	PUNCT
ajst-16294	53	12	the	the	DET
ajst-16294	53	13	electromagnetic	electromagnetic	ADJ
ajst-16294	53	14	torque	torque	NOUN
ajst-16294	53	15	equation	equation	NOUN
ajst-16294	53	16	:	:	PUNCT
ajst-16294	53	17			PROPN
ajst-16294	53	18	3	3	ADJ
ajst-16294	53	19	2e	2e	NOUN
ajst-16294	53	20	p	p	NOUN
ajst-16294	53	21	m	m	PROPN
ajst-16294	53	22	q	q	NOUN
ajst-16294	54	1	d	d	X
ajst-16294	54	2	q	q	X
ajst-16294	54	3	d	d	X
ajst-16294	54	4	qt	qt	ADP
ajst-16294	54	5	n	n	INTJ
ajst-16294	55	1	i	i	NOUN
ajst-16294	55	2	l	l	NOUN
ajst-16294	55	3	l	l	NOUN
ajst-16294	56	1	i	i	PRON
ajst-16294	56	2	i	i	VERB
ajst-16294	56	3			VERB
ajst-16294	56	4			ADV
ajst-16294	56	5			NOUN
ajst-16294	56	6			PROPN
ajst-16294	56	7	(	(	PUNCT
ajst-16294	56	8	3	3	NUM
ajst-16294	56	9	)	)	PUNCT
ajst-16294	56	10	in	in	ADP
ajst-16294	56	11	this	this	DET
ajst-16294	56	12	paper	paper	NOUN
ajst-16294	56	13	,	,	PUNCT
ajst-16294	56	14	the	the	DET
ajst-16294	56	15	permanent	permanent	ADJ
ajst-16294	56	16	magnet	magnet	NOUN
ajst-16294	56	17	synchronous	synchronous	ADJ
ajst-16294	56	18	motor	motor	NOUN
ajst-16294	56	19	is	be	AUX
ajst-16294	56	20	selected	select	VERB
ajst-16294	56	21	as	as	ADP
ajst-16294	56	22	the	the	DET
ajst-16294	56	23	surface	surface	NOUN
ajst-16294	56	24	-	-	PUNCT
ajst-16294	56	25	mounted	mount	VERB
ajst-16294	56	26	type	type	NOUN
ajst-16294	56	27	,	,	PUNCT
ajst-16294	56	28	whose	whose	DET
ajst-16294	56	29	magnetic	magnetic	ADJ
ajst-16294	56	30	resistance	resistance	NOUN
ajst-16294	56	31	of	of	ADP
ajst-16294	56	32	the	the	DET
ajst-16294	56	33	shaft	shaft	NOUN
ajst-16294	56	34	is	be	AUX
ajst-16294	56	35	equal	equal	ADJ
ajst-16294	56	36	to	to	ADP
ajst-16294	56	37	that	that	PRON
ajst-16294	56	38	of	of	ADP
ajst-16294	56	39	the	the	DET
ajst-16294	56	40	shaft	shaft	NOUN
ajst-16294	56	41	,	,	PUNCT
ajst-16294	56	42	and	and	CCONJ
ajst-16294	56	43	at	at	ADP
ajst-16294	56	44	this	this	DET
ajst-16294	56	45	time	time	NOUN
ajst-16294	56	46	,	,	PUNCT
ajst-16294	56	47	the	the	DET
ajst-16294	56	48	electromagnetic	electromagnetic	ADJ
ajst-16294	56	49	torque	torque	NOUN
ajst-16294	56	50	equation	equation	NOUN
ajst-16294	56	51	is	be	AUX
ajst-16294	56	52	:	:	PUNCT
ajst-16294	56	53	3	3	NUM
ajst-16294	56	54	2e	2e	NOUN
ajst-16294	56	55	p	p	PROPN
ajst-16294	56	56	m	m	PROPN
ajst-16294	56	57	qt	qt	NOUN
ajst-16294	56	58	n	n	PRON
ajst-16294	56	59	i	i	PROPN
ajst-16294	56	60	(	(	PUNCT
ajst-16294	56	61	4	4	NUM
ajst-16294	56	62	)	)	PUNCT
ajst-16294	56	63	equations	equation	NOUN
ajst-16294	56	64	of	of	ADP
ajst-16294	56	65	motion	motion	NOUN
ajst-16294	56	66	:	:	PUNCT
ajst-16294	56	67			NOUN
ajst-16294	56	68	p	p	ADP
ajst-16294	56	69	e	e	PART
ajst-16294	56	70	l	l	PROPN
ajst-16294	56	71	nd	nd	VERB
ajst-16294	56	72	t	t	X
ajst-16294	56	73	t	t	PROPN
ajst-16294	56	74	dt	dt	X
ajst-16294	57	1	j	j	PROPN
ajst-16294	57	2			PROPN
ajst-16294	57	3			PROPN
ajst-16294	57	4			NOUN
ajst-16294	57	5	(	(	PUNCT
ajst-16294	57	6	5	5	NUM
ajst-16294	57	7	)	)	PUNCT
ajst-16294	57	8	in	in	ADP
ajst-16294	57	9	the	the	DET
ajst-16294	57	10	above	above	ADJ
ajst-16294	57	11	equation	equation	NOUN
ajst-16294	57	12	,	,	PUNCT
ajst-16294	57	13	du	du	PROPN
ajst-16294	57	14	,	,	PUNCT
ajst-16294	57	15	qu	qu	PROPN
ajst-16294	57	16	,	,	PUNCT
ajst-16294	57	17	di	di	PROPN
ajst-16294	57	18	,	,	PUNCT
ajst-16294	57	19	qi	qi	PROPN
ajst-16294	57	20	,	,	PUNCT
ajst-16294	57	21	d	d	PROPN
ajst-16294	57	22	,	,	PUNCT
ajst-16294	57	23	q	q	PROPN
ajst-16294	57	24	are	be	AUX
ajst-16294	57	25	the	the	DET
ajst-16294	57	26	stator	stator	NOUN
ajst-16294	57	27	voltage	voltage	NOUN
ajst-16294	57	28	,	,	PUNCT
ajst-16294	57	29	stator	stator	NOUN
ajst-16294	57	30	current	current	NOUN
ajst-16294	57	31	,	,	PUNCT
ajst-16294	57	32	and	and	CCONJ
ajst-16294	57	33	the	the	DET
ajst-16294	57	34	components	component	NOUN
ajst-16294	57	35	of	of	ADP
ajst-16294	57	36	the	the	DET
ajst-16294	57	37	magnetic	magnetic	ADJ
ajst-16294	57	38	chain	chain	NOUN
ajst-16294	57	39	on	on	ADP
ajst-16294	57	40	the	the	DET
ajst-16294	57	41	straight	straight	ADJ
ajst-16294	57	42	and	and	CCONJ
ajst-16294	57	43	intersecting	intersecting	ADJ
ajst-16294	57	44	axes	axis	NOUN
ajst-16294	57	45	;	;	PUNCT
ajst-16294	57	46	sr	sr	PROPN
ajst-16294	57	47	is	be	AUX
ajst-16294	57	48	the	the	DET
ajst-16294	57	49	stator	stator	NOUN
ajst-16294	57	50	resistance	resistance	NOUN
ajst-16294	57	51	;	;	PUNCT
ajst-16294	57	52	dl	dl	PROPN
ajst-16294	57	53	and	and	CCONJ
ajst-16294	57	54	ql	ql	PROPN
ajst-16294	57	55	are	be	AUX
ajst-16294	57	56	the	the	DET
ajst-16294	57	57	synchronous	synchronous	ADJ
ajst-16294	57	58	inductance	inductance	NOUN
ajst-16294	57	59	on	on	ADP
ajst-16294	57	60	the	the	DET
ajst-16294	57	61	straight	straight	ADJ
ajst-16294	57	62	and	and	CCONJ
ajst-16294	57	63	intersecting	intersecting	ADJ
ajst-16294	57	64	axes	axis	NOUN
ajst-16294	57	65	;	;	PUNCT
ajst-16294	57	66	pn	pn	PROPN
ajst-16294	57	67	is	be	AUX
ajst-16294	57	68	the	the	DET
ajst-16294	57	69	number	number	NOUN
ajst-16294	57	70	of	of	ADP
ajst-16294	57	71	pole	pole	NOUN
ajst-16294	57	72	pairs	pair	NOUN
ajst-16294	57	73	of	of	ADP
ajst-16294	57	74	the	the	DET
ajst-16294	57	75	motor	motor	NOUN
ajst-16294	57	76	;	;	PUNCT
ajst-16294	57	77	j	j	PROPN
ajst-16294	57	78	is	be	AUX
ajst-16294	57	79	the	the	DET
ajst-16294	57	80	rotational	rotational	ADJ
ajst-16294	57	81	inertia	inertia	NOUN
ajst-16294	57	82	;	;	PUNCT
ajst-16294	57	83	m	m	PROPN
ajst-16294	57	84	is	be	AUX
ajst-16294	57	85	the	the	DET
ajst-16294	57	86	magnetic	magnetic	ADJ
ajst-16294	57	87	chain	chain	NOUN
ajst-16294	57	88	of	of	ADP
ajst-16294	57	89	the	the	DET
ajst-16294	57	90	permanent	permanent	ADJ
ajst-16294	57	91	magnet	magnet	NOUN
ajst-16294	57	92	;	;	PUNCT
ajst-16294	57	93	and	and	CCONJ
ajst-16294	57	94			PROPN
ajst-16294	57	95	is	be	AUX
ajst-16294	57	96	the	the	DET
ajst-16294	57	97	angular	angular	ADJ
ajst-16294	57	98	velocity	velocity	NOUN
ajst-16294	57	99	of	of	ADP
ajst-16294	57	100	the	the	DET
ajst-16294	57	101	motor	motor	NOUN
ajst-16294	57	102	.	.	PUNCT
ajst-16294	58	1	2.2	2.2	NUM
ajst-16294	58	2	.	.	PUNCT
ajst-16294	58	3	virtual	virtual	ADJ
ajst-16294	58	4	spindle	spindle	NOUN
ajst-16294	58	5	-	-	PUNCT
ajst-16294	58	6	adjacent	adjacent	ADJ
ajst-16294	58	7	cross	cross	ADJ
ajst-16294	58	8	-	-	ADJ
ajst-16294	58	9	coupling	coupling	ADJ
ajst-16294	58	10	coordinated	coordinated	ADJ
ajst-16294	58	11	control	control	NOUN
ajst-16294	58	12	strategy	strategy	NOUN
ajst-16294	58	13	the	the	DET
ajst-16294	58	14	virtual	virtual	ADJ
ajst-16294	58	15	spindle	spindle	NOUN
ajst-16294	58	16	synchronization	synchronization	NOUN
ajst-16294	58	17	control	control	NOUN
ajst-16294	58	18	is	be	AUX
ajst-16294	58	19	developed	develop	VERB
ajst-16294	58	20	from	from	ADP
ajst-16294	58	21	the	the	DET
ajst-16294	58	22	mechanical	mechanical	ADJ
ajst-16294	58	23	synchronization	synchronization	NOUN
ajst-16294	58	24	control	control	NOUN
ajst-16294	58	25	,	,	PUNCT
ajst-16294	58	26	which	which	PRON
ajst-16294	58	27	has	have	VERB
ajst-16294	58	28	the	the	DET
ajst-16294	58	29	physical	physical	ADJ
ajst-16294	58	30	characteristics	characteristic	NOUN
ajst-16294	58	31	of	of	ADP
ajst-16294	58	32	the	the	DET
ajst-16294	58	33	mechanical	mechanical	ADJ
ajst-16294	58	34	spindle	spindle	NOUN
ajst-16294	58	35	,	,	PUNCT
ajst-16294	58	36	and	and	CCONJ
ajst-16294	58	37	at	at	ADP
ajst-16294	58	38	the	the	DET
ajst-16294	58	39	same	same	ADJ
ajst-16294	58	40	time	time	NOUN
ajst-16294	58	41	has	have	VERB
ajst-16294	58	42	the	the	DET
ajst-16294	58	43	disadvantages	disadvantage	NOUN
ajst-16294	58	44	of	of	ADP
ajst-16294	58	45	time	time	NOUN
ajst-16294	58	46	delay	delay	NOUN
ajst-16294	58	47	of	of	ADP
ajst-16294	58	48	the	the	DET
ajst-16294	58	49	given	give	VERB
ajst-16294	58	50	signal	signal	NOUN
ajst-16294	58	51	and	and	CCONJ
ajst-16294	58	52	slow	slow	ADJ
ajst-16294	58	53	system	system	NOUN
ajst-16294	58	54	response	response	NOUN
ajst-16294	58	55	.	.	PUNCT
ajst-16294	59	1	therefore	therefore	ADV
ajst-16294	59	2	,	,	PUNCT
ajst-16294	59	3	the	the	DET
ajst-16294	59	4	virtual	virtual	ADJ
ajst-16294	59	5	spindle	spindle	NOUN
ajst-16294	59	6	control	control	NOUN
ajst-16294	59	7	structure	structure	NOUN
ajst-16294	59	8	combined	combine	VERB
ajst-16294	59	9	with	with	ADP
ajst-16294	59	10	the	the	DET
ajst-16294	59	11	neighboring	neighboring	NOUN
ajst-16294	59	12	cross	cross	NOUN
ajst-16294	59	13	-	-	ADJ
ajst-16294	59	14	coupled	couple	VERB
ajst-16294	59	15	control	control	NOUN
ajst-16294	59	16	structure	structure	NOUN
ajst-16294	59	17	improves	improve	VERB
ajst-16294	59	18	the	the	DET
ajst-16294	59	19	system	system	NOUN
ajst-16294	59	20	response	response	NOUN
ajst-16294	59	21	speed	speed	NOUN
ajst-16294	59	22	,	,	PUNCT
ajst-16294	59	23	and	and	CCONJ
ajst-16294	59	24	to	to	PART
ajst-16294	59	25	compensate	compensate	VERB
ajst-16294	59	26	for	for	ADP
ajst-16294	59	27	the	the	DET
ajst-16294	59	28	speed	speed	NOUN
ajst-16294	59	29	error	error	NOUN
ajst-16294	59	30	of	of	ADP
ajst-16294	59	31	each	each	DET
ajst-16294	59	32	motor	motor	NOUN
ajst-16294	59	33	to	to	PART
ajst-16294	59	34	improve	improve	VERB
ajst-16294	59	35	the	the	DET
ajst-16294	59	36	synchronization	synchronization	NOUN
ajst-16294	59	37	of	of	ADP
ajst-16294	59	38	the	the	DET
ajst-16294	59	39	system	system	NOUN
ajst-16294	59	40	.	.	PUNCT
ajst-16294	60	1	the	the	DET
ajst-16294	60	2	multi	multi	ADJ
ajst-16294	60	3	-	-	ADJ
ajst-16294	60	4	motor	motor	ADJ
ajst-16294	60	5	virtual	virtual	ADJ
ajst-16294	60	6	spindle	spindle	NOUN
ajst-16294	60	7	-	-	PUNCT
ajst-16294	60	8	adjacent	adjacent	ADJ
ajst-16294	60	9	cross	cross	ADJ
ajst-16294	60	10	-	-	ADJ
ajst-16294	60	11	coupling	coupling	ADJ
ajst-16294	60	12	control	control	NOUN
ajst-16294	60	13	structure	structure	NOUN
ajst-16294	60	14	is	be	AUX
ajst-16294	60	15	shown	show	VERB
ajst-16294	60	16	in	in	ADP
ajst-16294	60	17	figure	figure	NOUN
ajst-16294	60	18	1	1	NUM
ajst-16294	60	19	.	.	PUNCT
ajst-16294	61	1			PROPN
ajst-16294	61	2			PROPN
ajst-16294	62	1	1	1	NUM
ajst-16294	62	2	+	+	NUM
ajst-16294	62	3	controller	controller	NOUN
ajst-16294	62	4	4	4	NUM
ajst-16294	62	5	motor	motor	NOUN
ajst-16294	62	6	4	4	NUM
ajst-16294	62	7	4lt	4lt	ADJ
ajst-16294	62	8	+	+	CCONJ
ajst-16294	62	9	+	+	CCONJ
ajst-16294	62	10	speed	speed	NOUN
ajst-16294	62	11	compensator	compensator	NOUN
ajst-16294	62	12	4	4	NUM
ajst-16294	62	13	4	4	NUM
ajst-16294	62	14	1	1	NUM
ajst-16294	62	15	3	3	NUM
ajst-16294	62	16	+	+	CCONJ
ajst-16294	62	17	4	4	NUM
ajst-16294	62	18	controller	controller	NOUN
ajst-16294	62	19	1	1	NUM
ajst-16294	62	20	motor	motor	NOUN
ajst-16294	62	21	1	1	NUM
ajst-16294	62	22	1lt	1lt	NOUN
ajst-16294	63	1	+	+	CCONJ
ajst-16294	63	2	+	+	CCONJ
ajst-16294	63	3	speed	speed	NOUN
ajst-16294	63	4	compensator	compensator	NOUN
ajst-16294	63	5	1	1	NUM
ajst-16294	63	6	2	2	NUM
ajst-16294	63	7	4	4	NOUN
ajst-16294	63	8	+	+	CCONJ
ajst-16294	63	9	1	1	NUM
ajst-16294	63	10	1	1	NUM
ajst-16294	63	11	controller	controller	NOUN
ajst-16294	63	12	2	2	NUM
ajst-16294	63	13	motor	motor	NOUN
ajst-16294	63	14	2	2	NUM
ajst-16294	63	15	2lt	2lt	NOUN
ajst-16294	63	16	+	+	PUNCT
ajst-16294	63	17	+	+	CCONJ
ajst-16294	63	18	speed	speed	NOUN
ajst-16294	63	19	compensator	compensator	NOUN
ajst-16294	63	20	2	2	NUM
ajst-16294	63	21	2	2	NUM
ajst-16294	63	22	3	3	NUM
ajst-16294	63	23	+	+	CCONJ
ajst-16294	63	24	2	2	NUM
ajst-16294	63	25	controller	controller	NOUN
ajst-16294	63	26	3	3	NUM
ajst-16294	63	27	motor	motor	NOUN
ajst-16294	63	28	3	3	NUM
ajst-16294	63	29	3lt	3lt	ADJ
ajst-16294	63	30	+	+	CCONJ
ajst-16294	63	31	+	+	CCONJ
ajst-16294	63	32	speed	speed	NOUN
ajst-16294	63	33	compensator	compensator	NOUN
ajst-16294	63	34	3	3	NUM
ajst-16294	63	35	3	3	NUM
ajst-16294	63	36	4	4	NUM
ajst-16294	63	37	2	2	NUM
ajst-16294	63	38	+	+	CCONJ
ajst-16294	63	39	3	3	NUM
ajst-16294	63	40	virtual	virtual	ADJ
ajst-16294	63	41	spindle	spindle	NOUN
ajst-16294	63	42	controller	controller	NOUN
ajst-16294	63	43	virtual	virtual	ADJ
ajst-16294	63	44	motor	motor	NOUN
ajst-16294	63	45	+	+	CCONJ
ajst-16294	63	46	m	m	NOUN
ajst-16294	63	47	virtual	virtual	ADJ
ajst-16294	63	48	spindle	spindle	NOUN
ajst-16294	63	49	figure	figure	NOUN
ajst-16294	63	50	1	1	NUM
ajst-16294	63	51	.	.	PUNCT
ajst-16294	64	1	the	the	DET
ajst-16294	64	2	multi	multi	ADJ
ajst-16294	64	3	-	-	ADJ
ajst-16294	64	4	motor	motor	ADJ
ajst-16294	64	5	virtual	virtual	ADJ
ajst-16294	64	6	spindle	spindle	NOUN
ajst-16294	64	7	-	-	PUNCT
ajst-16294	64	8	adjacent	adjacent	ADJ
ajst-16294	64	9	cross	cross	ADJ
ajst-16294	64	10	-	-	ADJ
ajst-16294	64	11	coupling	coupling	ADJ
ajst-16294	64	12	control	control	NOUN
ajst-16294	64	13	structure	structure	NOUN
ajst-16294	64	14	when	when	SCONJ
ajst-16294	64	15	the	the	DET
ajst-16294	64	16	system	system	NOUN
ajst-16294	64	17	is	be	AUX
ajst-16294	64	18	running	run	VERB
ajst-16294	64	19	,	,	PUNCT
ajst-16294	64	20	the	the	DET
ajst-16294	64	21	given	give	VERB
ajst-16294	64	22	rotational	rotational	ADJ
ajst-16294	64	23	speed	speed	NOUN
ajst-16294	64	24	signal	signal	NOUN
ajst-16294	64	25	drives	drive	VERB
ajst-16294	64	26	the	the	DET
ajst-16294	64	27	virtual	virtual	ADJ
ajst-16294	64	28	spindle	spindle	NOUN
ajst-16294	64	29	to	to	PART
ajst-16294	64	30	rotate	rotate	VERB
ajst-16294	64	31	,	,	PUNCT
ajst-16294	64	32	which	which	PRON
ajst-16294	64	33	in	in	ADP
ajst-16294	64	34	turn	turn	NOUN
ajst-16294	64	35	drives	drive	VERB
ajst-16294	64	36	the	the	DET
ajst-16294	64	37	slave	slave	NOUN
ajst-16294	64	38	axis	axis	NOUN
ajst-16294	64	39	motors	motor	NOUN
ajst-16294	64	40	to	to	PART
ajst-16294	64	41	rotate	rotate	VERB
ajst-16294	64	42	.	.	PUNCT
ajst-16294	65	1	at	at	ADP
ajst-16294	65	2	this	this	DET
ajst-16294	65	3	time	time	NOUN
ajst-16294	65	4	,	,	PUNCT
ajst-16294	65	5	the	the	DET
ajst-16294	65	6	virtual	virtual	ADJ
ajst-16294	65	7	spindle	spindle	NOUN
ajst-16294	65	8	equation	equation	NOUN
ajst-16294	65	9	of	of	ADP
ajst-16294	65	10	motion	motion	NOUN
ajst-16294	65	11	is	be	AUX
ajst-16294	65	12	:	:	PUNCT
ajst-16294	65	13	m	m	VERB
ajst-16294	65	14	i	i	NOUN
ajst-16294	66	1	d	d	NOUN
ajst-16294	66	2	t	t	PROPN
ajst-16294	66	3	t	t	X
ajst-16294	67	1	j	j	PROPN
ajst-16294	67	2	dt	dt	X
ajst-16294	67	3			PROPN
ajst-16294	67	4			PROPN
ajst-16294	67	5			PROPN
ajst-16294	67	6	(	(	PUNCT
ajst-16294	67	7	6	6	NUM
ajst-16294	67	8	)	)	PUNCT
ajst-16294	67	9	where	where	SCONJ
ajst-16294	67	10	:	:	PUNCT
ajst-16294	67	11	mt	mt	PROPN
ajst-16294	67	12	is	be	AUX
ajst-16294	67	13	the	the	DET
ajst-16294	67	14	output	output	NOUN
ajst-16294	67	15	torque	torque	NOUN
ajst-16294	67	16	of	of	ADP
ajst-16294	67	17	the	the	DET
ajst-16294	67	18	virtual	virtual	ADJ
ajst-16294	67	19	spindle	spindle	NOUN
ajst-16294	67	20	;	;	PUNCT
ajst-16294	67	21	it	it	PRON
ajst-16294	67	22	is	be	AUX
ajst-16294	67	23	the	the	DET
ajst-16294	67	24	feedback	feedback	NOUN
ajst-16294	67	25	torque	torque	NOUN
ajst-16294	67	26	of	of	ADP
ajst-16294	67	27	each	each	DET
ajst-16294	67	28	motor	motor	NOUN
ajst-16294	67	29	;	;	PUNCT
ajst-16294	67	30			X
ajst-16294	67	31	is	be	AUX
ajst-16294	67	32	the	the	DET
ajst-16294	67	33	speed	speed	NOUN
ajst-16294	67	34	of	of	ADP
ajst-16294	67	35	the	the	DET
ajst-16294	67	36	virtual	virtual	ADJ
ajst-16294	67	37	spindle	spindle	NOUN
ajst-16294	67	38	.	.	PUNCT
ajst-16294	68	1	61	61	NUM
ajst-16294	68	2	the	the	DET
ajst-16294	68	3	virtual	virtual	ADJ
ajst-16294	68	4	spindle	spindle	NOUN
ajst-16294	68	5	output	output	NOUN
ajst-16294	68	6	torque	torque	NOUN
ajst-16294	68	7	is	be	AUX
ajst-16294	68	8	related	relate	VERB
ajst-16294	68	9	to	to	ADP
ajst-16294	68	10	the	the	DET
ajst-16294	68	11	motor	motor	NOUN
ajst-16294	68	12	speed	speed	NOUN
ajst-16294	68	13	as	as	ADP
ajst-16294	68	14	:	:	PUNCT
ajst-16294	68	15	(	(	PUNCT
ajst-16294	68	16	)	)	PUNCT
ajst-16294	68	17	m	m	VERB
ajst-16294	68	18	m	m	VERB
ajst-16294	68	19	mt	mt	PROPN
ajst-16294	68	20	k	k	PROPN
ajst-16294	68	21			PUNCT
ajst-16294	68	22			X
ajst-16294	68	23			NOUN
ajst-16294	68	24	(	(	PUNCT
ajst-16294	68	25	7	7	NUM
ajst-16294	68	26	)	)	PUNCT
ajst-16294	68	27	where	where	SCONJ
ajst-16294	68	28	:	:	PUNCT
ajst-16294	68	29			NOUN
ajst-16294	68	30	is	be	AUX
ajst-16294	68	31	the	the	DET
ajst-16294	68	32	given	give	VERB
ajst-16294	68	33	rotational	rotational	ADJ
ajst-16294	68	34	speed	speed	NOUN
ajst-16294	68	35	;	;	PUNCT
ajst-16294	68	36	m	m	NOUN
ajst-16294	68	37	is	be	AUX
ajst-16294	68	38	the	the	DET
ajst-16294	68	39	actual	actual	ADJ
ajst-16294	68	40	rotational	rotational	ADJ
ajst-16294	68	41	speed	speed	NOUN
ajst-16294	68	42	of	of	ADP
ajst-16294	68	43	the	the	DET
ajst-16294	68	44	virtual	virtual	ADJ
ajst-16294	68	45	spindle	spindle	NOUN
ajst-16294	68	46	;	;	PUNCT
ajst-16294	68	47	mk	mk	PROPN
ajst-16294	68	48	is	be	AUX
ajst-16294	68	49	the	the	DET
ajst-16294	68	50	elasticity	elasticity	NOUN
ajst-16294	68	51	coefficient	coefficient	NOUN
ajst-16294	68	52	of	of	ADP
ajst-16294	68	53	the	the	DET
ajst-16294	68	54	virtual	virtual	ADJ
ajst-16294	68	55	spindle	spindle	NOUN
ajst-16294	68	56	.	.	PUNCT
ajst-16294	69	1	2.3	2.3	NUM
ajst-16294	69	2	.	.	PUNCT
ajst-16294	70	1	rotation	rotation	NOUN
ajst-16294	70	2	speed	speed	NOUN
ajst-16294	70	3	compensator	compensator	NOUN
ajst-16294	70	4	design	design	VERB
ajst-16294	70	5	the	the	DET
ajst-16294	70	6	structure	structure	NOUN
ajst-16294	70	7	of	of	ADP
ajst-16294	70	8	the	the	DET
ajst-16294	70	9	adjacent	adjacent	ADJ
ajst-16294	70	10	cross	cross	ADJ
ajst-16294	70	11	-	-	ADJ
ajst-16294	70	12	coupled	couple	VERB
ajst-16294	70	13	control	control	NOUN
ajst-16294	70	14	speed	speed	NOUN
ajst-16294	70	15	compensator	compensator	NOUN
ajst-16294	70	16	is	be	AUX
ajst-16294	70	17	shown	show	VERB
ajst-16294	70	18	in	in	ADP
ajst-16294	70	19	figure	figure	NOUN
ajst-16294	70	20	2	2	NUM
ajst-16294	70	21	.	.	PUNCT
ajst-16294	70	22	considering	consider	VERB
ajst-16294	70	23	all	all	DET
ajst-16294	70	24	single	single	ADJ
ajst-16294	70	25	motors	motor	NOUN
ajst-16294	70	26	as	as	ADP
ajst-16294	70	27	master	master	PROPN
ajst-16294	70	28	motors	motor	NOUN
ajst-16294	70	29	and	and	CCONJ
ajst-16294	70	30	adjacent	adjacent	ADJ
ajst-16294	70	31	motors	motor	NOUN
ajst-16294	70	32	as	as	ADP
ajst-16294	70	33	slave	slave	NOUN
ajst-16294	70	34	motors	motor	NOUN
ajst-16294	70	35	,	,	PUNCT
ajst-16294	70	36	it	it	PRON
ajst-16294	70	37	is	be	AUX
ajst-16294	70	38	only	only	ADV
ajst-16294	70	39	necessary	necessary	ADJ
ajst-16294	70	40	to	to	PART
ajst-16294	70	41	obtain	obtain	VERB
ajst-16294	70	42	the	the	DET
ajst-16294	70	43	speed	speed	NOUN
ajst-16294	70	44	feedback	feedback	NOUN
ajst-16294	70	45	from	from	ADP
ajst-16294	70	46	adjacent	adjacent	ADJ
ajst-16294	70	47	motors	motor	NOUN
ajst-16294	70	48	as	as	ADP
ajst-16294	70	49	input	input	NOUN
ajst-16294	70	50	signals	signal	NOUN
ajst-16294	70	51	,	,	PUNCT
ajst-16294	70	52	make	make	VERB
ajst-16294	70	53	differences	difference	NOUN
ajst-16294	70	54	with	with	ADP
ajst-16294	70	55	the	the	DET
ajst-16294	70	56	master	master	NOUN
ajst-16294	70	57	motor	motor	NOUN
ajst-16294	70	58	respectively	respectively	ADV
ajst-16294	70	59	,	,	PUNCT
ajst-16294	70	60	and	and	CCONJ
ajst-16294	70	61	pass	pass	VERB
ajst-16294	70	62	the	the	DET
ajst-16294	70	63	gain	gain	NOUN
ajst-16294	70	64	parameter	parameter	NOUN
ajst-16294	70	65	k	k	PROPN
ajst-16294	70	66	and	and	CCONJ
ajst-16294	70	67	sum	sum	VERB
ajst-16294	70	68	up	up	ADP
ajst-16294	70	69	as	as	ADP
ajst-16294	70	70	the	the	DET
ajst-16294	70	71	speed	speed	NOUN
ajst-16294	70	72	compensation	compensation	NOUN
ajst-16294	70	73	signal	signal	NOUN
ajst-16294	70	74	of	of	ADP
ajst-16294	70	75	each	each	DET
ajst-16294	70	76	motor	motor	NOUN
ajst-16294	70	77	.	.	PUNCT
ajst-16294	71	1	k1	k1	PROPN
ajst-16294	71	2	k2	k2	PROPN
ajst-16294	71	3	+	+	CCONJ
ajst-16294	71	4	+	+	NUM
ajst-16294	71	5	2	2	NUM
ajst-16294	71	6	4	4	NUM
ajst-16294	71	7	1	1	NUM
ajst-16294	71	8	+	+	CCONJ
ajst-16294	71	9	+	+	NUM
ajst-16294	71	10	figure	figure	NOUN
ajst-16294	71	11	2	2	NUM
ajst-16294	71	12	.	.	PUNCT
ajst-16294	72	1	the	the	DET
ajst-16294	72	2	structure	structure	NOUN
ajst-16294	72	3	of	of	ADP
ajst-16294	72	4	the	the	DET
ajst-16294	72	5	adjacent	adjacent	ADJ
ajst-16294	72	6	cross	cross	ADJ
ajst-16294	72	7	-	-	ADJ
ajst-16294	72	8	coupled	couple	VERB
ajst-16294	72	9	control	control	NOUN
ajst-16294	72	10	speed	speed	NOUN
ajst-16294	72	11	compensator	compensator	NOUN
ajst-16294	72	12	the	the	DET
ajst-16294	72	13	compensation	compensation	NOUN
ajst-16294	72	14	gain	gain	NOUN
ajst-16294	72	15	parameter	parameter	PROPN
ajst-16294	72	16	k	k	PROPN
ajst-16294	72	17	reflects	reflect	VERB
ajst-16294	72	18	the	the	DET
ajst-16294	72	19	coupling	coupling	NOUN
ajst-16294	72	20	degree	degree	NOUN
ajst-16294	72	21	of	of	ADP
ajst-16294	72	22	each	each	DET
ajst-16294	72	23	subsystem	subsystem	NOUN
ajst-16294	72	24	,	,	PUNCT
ajst-16294	72	25	and	and	CCONJ
ajst-16294	72	26	the	the	DET
ajst-16294	72	27	compensation	compensation	NOUN
ajst-16294	72	28	gain	gain	VERB
ajst-16294	72	29	parameter	parameter	NOUN
ajst-16294	73	1	k	k	PROPN
ajst-16294	73	2	should	should	AUX
ajst-16294	73	3	be	be	AUX
ajst-16294	73	4	selected	select	VERB
ajst-16294	73	5	regarding	regard	VERB
ajst-16294	73	6	the	the	DET
ajst-16294	73	7	rotational	rotational	ADJ
ajst-16294	73	8	inertia	inertia	NOUN
ajst-16294	73	9	of	of	ADP
ajst-16294	73	10	each	each	DET
ajst-16294	73	11	slave	slave	NOUN
ajst-16294	73	12	axis	axis	NOUN
ajst-16294	73	13	.	.	PUNCT
ajst-16294	74	1	in	in	ADP
ajst-16294	74	2	this	this	DET
ajst-16294	74	3	paper	paper	NOUN
ajst-16294	74	4	,	,	PUNCT
ajst-16294	74	5	the	the	DET
ajst-16294	74	6	connection	connection	NOUN
ajst-16294	74	7	shaft	shaft	NOUN
ajst-16294	74	8	between	between	ADP
ajst-16294	74	9	the	the	DET
ajst-16294	74	10	motor	motor	NOUN
ajst-16294	74	11	and	and	CCONJ
ajst-16294	74	12	the	the	DET
ajst-16294	74	13	virtual	virtual	ADJ
ajst-16294	74	14	total	total	ADJ
ajst-16294	74	15	axis	axis	NOUN
ajst-16294	74	16	is	be	AUX
ajst-16294	74	17	ignored	ignore	VERB
ajst-16294	74	18	,	,	PUNCT
ajst-16294	74	19	and	and	CCONJ
ajst-16294	74	20	the	the	DET
ajst-16294	74	21	rotational	rotational	ADJ
ajst-16294	74	22	inertia	inertia	NOUN
ajst-16294	74	23	of	of	ADP
ajst-16294	74	24	the	the	DET
ajst-16294	74	25	motor	motor	NOUN
ajst-16294	74	26	can	can	AUX
ajst-16294	74	27	be	be	AUX
ajst-16294	74	28	taken	take	VERB
ajst-16294	74	29	as	as	ADP
ajst-16294	74	30	the	the	DET
ajst-16294	74	31	rotational	rotational	ADJ
ajst-16294	74	32	inertia	inertia	NOUN
ajst-16294	74	33	of	of	ADP
ajst-16294	74	34	the	the	DET
ajst-16294	74	35	slave	slave	NOUN
ajst-16294	74	36	axis	axis	NOUN
ajst-16294	74	37	.	.	PUNCT
ajst-16294	75	1	to	to	PART
ajst-16294	75	2	realize	realize	VERB
ajst-16294	75	3	the	the	DET
ajst-16294	75	4	synchronous	synchronous	ADJ
ajst-16294	75	5	and	and	CCONJ
ajst-16294	75	6	coordinated	coordinated	ADJ
ajst-16294	75	7	response	response	NOUN
ajst-16294	75	8	of	of	ADP
ajst-16294	75	9	each	each	DET
ajst-16294	75	10	motor	motor	NOUN
ajst-16294	75	11	speed	speed	NOUN
ajst-16294	75	12	,	,	PUNCT
ajst-16294	75	13	each	each	DET
ajst-16294	75	14	compensation	compensation	NOUN
ajst-16294	75	15	coefficient	coefficient	NOUN
ajst-16294	75	16	is	be	AUX
ajst-16294	75	17	normalized	normalize	VERB
ajst-16294	75	18	.	.	PUNCT
ajst-16294	76	1	comparing	compare	VERB
ajst-16294	76	2	the	the	DET
ajst-16294	76	3	rotational	rotational	ADJ
ajst-16294	76	4	inertia	inertia	NOUN
ajst-16294	76	5	between	between	ADP
ajst-16294	76	6	the	the	DET
ajst-16294	76	7	main	main	ADJ
ajst-16294	76	8	motor	motor	NOUN
ajst-16294	76	9	and	and	CCONJ
ajst-16294	76	10	the	the	DET
ajst-16294	76	11	neighboring	neighboring	NOUN
ajst-16294	76	12	motors	motor	NOUN
ajst-16294	76	13	,	,	PUNCT
ajst-16294	76	14	the	the	DET
ajst-16294	76	15	maximum	maximum	ADJ
ajst-16294	76	16	value	value	NOUN
ajst-16294	76	17	(	(	PUNCT
ajst-16294	76	18	kj	kj	PROPN
ajst-16294	76	19	)	)	PUNCT
ajst-16294	76	20	is	be	AUX
ajst-16294	76	21	selected	select	VERB
ajst-16294	76	22	as	as	ADP
ajst-16294	76	23	the	the	DET
ajst-16294	76	24	reference	reference	NOUN
ajst-16294	76	25	inertia	inertia	NOUN
ajst-16294	76	26	,	,	PUNCT
ajst-16294	76	27	and	and	CCONJ
ajst-16294	76	28	the	the	DET
ajst-16294	76	29	rotational	rotational	ADJ
ajst-16294	76	30	inertia	inertia	NOUN
ajst-16294	76	31	of	of	ADP
ajst-16294	76	32	the	the	DET
ajst-16294	76	33	remaining	remain	VERB
ajst-16294	76	34	two	two	NUM
ajst-16294	76	35	motors	motor	NOUN
ajst-16294	76	36	is	be	AUX
ajst-16294	76	37	converted	convert	VERB
ajst-16294	76	38	to	to	ADP
ajst-16294	76	39	the	the	DET
ajst-16294	76	40	reference	reference	NOUN
ajst-16294	76	41	inertia	inertia	NOUN
ajst-16294	76	42	for	for	ADP
ajst-16294	76	43	the	the	DET
ajst-16294	76	44	conversion	conversion	NOUN
ajst-16294	76	45	operation	operation	NOUN
ajst-16294	76	46	,	,	PUNCT
ajst-16294	76	47	to	to	PART
ajst-16294	76	48	determine	determine	VERB
ajst-16294	76	49	the	the	DET
ajst-16294	76	50	compensation	compensation	NOUN
ajst-16294	76	51	gain	gain	VERB
ajst-16294	76	52	coefficients	coefficient	NOUN
ajst-16294	76	53	k	k	PROPN
ajst-16294	76	54	of	of	ADP
ajst-16294	76	55	each	each	DET
ajst-16294	76	56	motor	motor	NOUN
ajst-16294	76	57	.	.	PUNCT
ajst-16294	77	1	i	i	PRON
ajst-16294	77	2	i	i	PRON
ajst-16294	78	1	k	k	PROPN
ajst-16294	78	2	j	j	PROPN
ajst-16294	79	1	k	k	PROPN
ajst-16294	79	2	j	j	PROPN
ajst-16294	79	3			PROPN
ajst-16294	79	4	(	(	PUNCT
ajst-16294	79	5	8)	8)	NUM
ajst-16294	79	6	3	3	NUM
ajst-16294	79	7	.	.	PUNCT
ajst-16294	80	1	sliding	slide	VERB
ajst-16294	80	2	mode	mode	NOUN
ajst-16294	80	3	control	control	NOUN
ajst-16294	80	4	strategy	strategy	NOUN
ajst-16294	80	5	for	for	ADP
ajst-16294	80	6	permanent	permanent	ADJ
ajst-16294	80	7	magnet	magnet	NOUN
ajst-16294	80	8	synchronous	synchronous	ADJ
ajst-16294	80	9	motor	motor	NOUN
ajst-16294	80	10	3.1	3.1	NUM
ajst-16294	80	11	.	.	PUNCT
ajst-16294	81	1	the	the	DET
ajst-16294	81	2	quick	quick	ADJ
ajst-16294	81	3	-	-	PUNCT
ajst-16294	81	4	power	power	NOUN
ajst-16294	81	5	reaching	reach	VERB
ajst-16294	81	6	law	law	NOUN
ajst-16294	81	7	mathematical	mathematical	ADJ
ajst-16294	81	8	expression	expression	NOUN
ajst-16294	81	9	for	for	ADP
ajst-16294	81	10	the	the	DET
ajst-16294	81	11	traditional	traditional	ADJ
ajst-16294	81	12	exponential	exponential	ADJ
ajst-16294	81	13	convergence	convergence	NOUN
ajst-16294	81	14	law	law	NOUN
ajst-16294	81	15	:	:	PUNCT
ajst-16294	81	16	sgn	sgn	NOUN
ajst-16294	81	17	(	(	PUNCT
ajst-16294	81	18	)	)	PUNCT
ajst-16294	81	19	s	s	NOUN
ajst-16294	81	20	s	s	X
ajst-16294	81	21	ks	ks	PROPN
ajst-16294	81	22			PROPN
ajst-16294	81	23			PROPN
ajst-16294	81	24	(	(	PUNCT
ajst-16294	81	25	9	9	NUM
ajst-16294	81	26	)	)	PUNCT
ajst-16294	81	27	1	1	NUM
ajst-16294	81	28	,	,	PUNCT
ajst-16294	81	29	0	0	NUM
ajst-16294	81	30	sgn	sgn	NOUN
ajst-16294	81	31	(	(	PUNCT
ajst-16294	81	32	)	)	PUNCT
ajst-16294	81	33	0	0	NUM
ajst-16294	81	34	,	,	PUNCT
ajst-16294	81	35	0	0	NUM
ajst-16294	81	36	1	1	NUM
ajst-16294	81	37	,	,	PUNCT
ajst-16294	81	38	0	0	NUM
ajst-16294	82	1	x	x	SYM
ajst-16294	82	2	x	x	PUNCT
ajst-16294	82	3	x	x	PUNCT
ajst-16294	82	4	x	x	PROPN
ajst-16294	82	5			ADP
ajst-16294	82	6			PROPN
ajst-16294	82	7			PROPN
ajst-16294	82	8			PUNCT
ajst-16294	82	9			PROPN
ajst-16294	82	10	(	(	PUNCT
ajst-16294	82	11	10	10	NUM
ajst-16294	82	12	)	)	PUNCT
ajst-16294	82	13	where	where	SCONJ
ajst-16294	82	14	:	:	PUNCT
ajst-16294	82	15	0	0	NOUN
ajst-16294	82	16			PROPN
ajst-16294	82	17	,	,	PUNCT
ajst-16294	82	18	0k	0k	NOUN
ajst-16294	82	19			INTJ
ajst-16294	82	20	,	,	PUNCT
ajst-16294	82	21	sgn	sgn	NOUN
ajst-16294	82	22	(	(	PUNCT
ajst-16294	82	23	)	)	PUNCT
ajst-16294	82	24	is	be	AUX
ajst-16294	82	25	the	the	DET
ajst-16294	82	26	sign	sign	NOUN
ajst-16294	82	27	function	function	NOUN
ajst-16294	82	28	.	.	PUNCT
ajst-16294	83	1	when	when	SCONJ
ajst-16294	83	2	the	the	DET
ajst-16294	83	3	controlled	control	VERB
ajst-16294	83	4	quantity	quantity	NOUN
ajst-16294	83	5	is	be	AUX
ajst-16294	83	6	far	far	ADV
ajst-16294	83	7	away	away	ADV
ajst-16294	83	8	from	from	ADP
ajst-16294	83	9	the	the	DET
ajst-16294	83	10	sliding	slide	VERB
ajst-16294	83	11	mode	mode	NOUN
ajst-16294	83	12	switching	switch	VERB
ajst-16294	83	13	surface	surface	NOUN
ajst-16294	83	14	(	(	PUNCT
ajst-16294	83	15	s=0	s=0	PROPN
ajst-16294	83	16	)	)	PUNCT
ajst-16294	83	17	,	,	PUNCT
ajst-16294	83	18	the	the	DET
ajst-16294	83	19	traditional	traditional	ADJ
ajst-16294	83	20	exponential	exponential	ADJ
ajst-16294	83	21	reaching	reach	VERB
ajst-16294	83	22	law	law	NOUN
ajst-16294	83	23	adopts	adopt	VERB
ajst-16294	83	24	the	the	DET
ajst-16294	83	25	exponential	exponential	ADJ
ajst-16294	83	26	way	way	NOUN
ajst-16294	83	27	to	to	PART
ajst-16294	83	28	converge	converge	VERB
ajst-16294	83	29	;	;	PUNCT
ajst-16294	83	30	when	when	SCONJ
ajst-16294	83	31	the	the	DET
ajst-16294	83	32	controlled	control	VERB
ajst-16294	83	33	quantity	quantity	NOUN
ajst-16294	83	34	is	be	AUX
ajst-16294	83	35	closer	close	ADJ
ajst-16294	83	36	to	to	ADP
ajst-16294	83	37	the	the	DET
ajst-16294	83	38	sliding	slide	VERB
ajst-16294	83	39	mode	mode	NOUN
ajst-16294	83	40	surface	surface	NOUN
ajst-16294	83	41	,	,	PUNCT
ajst-16294	83	42	the	the	DET
ajst-16294	83	43	traditional	traditional	ADJ
ajst-16294	83	44	exponential	exponential	ADJ
ajst-16294	83	45	reaching	reach	VERB
ajst-16294	83	46	law	law	NOUN
ajst-16294	83	47	adopts	adopt	VERB
ajst-16294	83	48	the	the	DET
ajst-16294	83	49	equal	equal	ADJ
ajst-16294	83	50	speed	speed	NOUN
ajst-16294	83	51	way	way	NOUN
ajst-16294	83	52	to	to	PART
ajst-16294	83	53	converge	converge	VERB
ajst-16294	83	54	.	.	PUNCT
ajst-16294	84	1	slip	slip	NOUN
ajst-16294	84	2	film	film	NOUN
ajst-16294	84	3	gain	gain	NOUN
ajst-16294	84	4			PROPN
ajst-16294	84	5	is	be	AUX
ajst-16294	84	6	too	too	ADV
ajst-16294	84	7	large	large	ADJ
ajst-16294	84	8	or	or	CCONJ
ajst-16294	84	9	too	too	ADV
ajst-16294	84	10	small	small	ADJ
ajst-16294	84	11	,	,	PUNCT
ajst-16294	84	12	making	make	VERB
ajst-16294	84	13	the	the	DET
ajst-16294	84	14	reaching	reach	VERB
ajst-16294	84	15	speed	speed	NOUN
ajst-16294	84	16	faster	fast	ADV
ajst-16294	84	17	or	or	CCONJ
ajst-16294	84	18	slower	slow	ADJ
ajst-16294	84	19	,	,	PUNCT
ajst-16294	84	20	the	the	DET
ajst-16294	84	21	slip	slip	NOUN
ajst-16294	84	22	film	film	NOUN
ajst-16294	84	23	system	system	NOUN
ajst-16294	84	24	regulation	regulation	NOUN
ajst-16294	84	25	process	process	NOUN
ajst-16294	84	26	is	be	AUX
ajst-16294	84	27	unstable	unstable	ADJ
ajst-16294	84	28	,	,	PUNCT
ajst-16294	84	29	causing	cause	VERB
ajst-16294	84	30	the	the	DET
ajst-16294	84	31	speed	speed	NOUN
ajst-16294	84	32	control	control	NOUN
ajst-16294	84	33	system	system	NOUN
ajst-16294	84	34	to	to	PART
ajst-16294	84	35	jitter	jitter	VERB
ajst-16294	84	36	,	,	PUNCT
ajst-16294	84	37	so	so	CCONJ
ajst-16294	84	38	the	the	DET
ajst-16294	84	39	traditional	traditional	ADJ
ajst-16294	84	40	exponential	exponential	ADJ
ajst-16294	84	41	reaching	reach	VERB
ajst-16294	84	42	law	law	NOUN
ajst-16294	84	43	of	of	ADP
ajst-16294	84	44	the	the	DET
ajst-16294	84	45	motion	motion	NOUN
ajst-16294	84	46	performance	performance	NOUN
ajst-16294	84	47	is	be	AUX
ajst-16294	84	48	not	not	PART
ajst-16294	84	49	good	good	ADJ
ajst-16294	84	50	.	.	PUNCT
ajst-16294	85	1	aiming	aim	VERB
ajst-16294	85	2	at	at	ADP
ajst-16294	85	3	the	the	DET
ajst-16294	85	4	shortcomings	shortcoming	NOUN
ajst-16294	85	5	of	of	ADP
ajst-16294	85	6	the	the	DET
ajst-16294	85	7	traditional	traditional	ADJ
ajst-16294	85	8	exponentialreaching	exponentialreaching	NOUN
ajst-16294	85	9	law	law	NOUN
ajst-16294	85	10	,	,	PUNCT
ajst-16294	85	11	the	the	DET
ajst-16294	85	12	double	double	ADJ
ajst-16294	85	13	-	-	PUNCT
ajst-16294	85	14	power	power	NOUN
ajst-16294	85	15	reaching	reach	VERB
ajst-16294	85	16	law	law	NOUN
ajst-16294	85	17	(	(	PUNCT
ajst-16294	85	18	dprl	dprl	ADJ
ajst-16294	85	19	)	)	PUNCT
ajst-16294	85	20	increases	increase	VERB
ajst-16294	85	21	a	a	DET
ajst-16294	85	22	controlling	control	VERB
ajst-16294	85	23	factor	factor	NOUN
ajst-16294	85	24	based	base	VERB
ajst-16294	85	25	on	on	ADP
ajst-16294	85	26	the	the	DET
ajst-16294	85	27	traditional	traditional	ADJ
ajst-16294	85	28	exponential	exponential	NOUN
ajst-16294	85	29	-	-	PUNCT
ajst-16294	85	30	reaching	reach	VERB
ajst-16294	85	31	law	law	NOUN
ajst-16294	85	32	.	.	PUNCT
ajst-16294	86	1	the	the	DET
ajst-16294	86	2	double	double	ADJ
ajst-16294	86	3	-	-	PUNCT
ajst-16294	86	4	power	power	NOUN
ajst-16294	86	5	reaching	reach	VERB
ajst-16294	86	6	law	law	NOUN
ajst-16294	86	7	equation	equation	NOUN
ajst-16294	86	8	is[15	is[15	NOUN
ajst-16294	86	9	]	]	X
ajst-16294	86	10	:	:	PUNCT
ajst-16294	86	11	1	1	NUM
ajst-16294	86	12	2	2	NUM
ajst-16294	86	13	1	1	NUM
ajst-16294	86	14	2sgn	2sgn	NUM
ajst-16294	86	15	(	(	PUNCT
ajst-16294	86	16	)	)	PUNCT
ajst-16294	86	17	sgn	sgn	NOUN
ajst-16294	86	18	(	(	PUNCT
ajst-16294	86	19	)	)	PUNCT
ajst-16294	86	20	w	w	PROPN
ajst-16294	86	21	w	w	PROPN
ajst-16294	86	22	s	s	PROPN
ajst-16294	86	23	k	k	PROPN
ajst-16294	86	24	s	s	X
ajst-16294	86	25	s	s	X
ajst-16294	86	26	k	k	X
ajst-16294	86	27	s	s	PROPN
ajst-16294	86	28	s	s	ADJ
ajst-16294	86	29			PROPN
ajst-16294	86	30			NOUN
ajst-16294	86	31	(	(	PUNCT
ajst-16294	86	32	11	11	NUM
ajst-16294	86	33	)	)	PUNCT
ajst-16294	86	34	where	where	SCONJ
ajst-16294	86	35	:	:	PUNCT
ajst-16294	86	36	0	0	NUM
ajst-16294	86	37	1	1	NUM
ajst-16294	86	38			PROPN
ajst-16294	86	39	.	.	PUNCT
ajst-16294	87	1	compared	compare	VERB
ajst-16294	87	2	with	with	ADP
ajst-16294	87	3	the	the	DET
ajst-16294	87	4	traditional	traditional	ADJ
ajst-16294	87	5	exponential	exponential	ADJ
ajst-16294	87	6	reaching	reach	VERB
ajst-16294	87	7	law	law	NOUN
ajst-16294	87	8	,	,	PUNCT
ajst-16294	87	9	the	the	DET
ajst-16294	87	10	dprl	dprl	NOUN
ajst-16294	87	11	does	do	AUX
ajst-16294	87	12	not	not	PART
ajst-16294	87	13	add	add	VERB
ajst-16294	87	14	new	new	ADJ
ajst-16294	87	15	parameters	parameter	NOUN
ajst-16294	87	16	,	,	PUNCT
ajst-16294	87	17	but	but	CCONJ
ajst-16294	87	18	only	only	ADV
ajst-16294	87	19	further	far	ADV
ajst-16294	87	20	utilizes	utilize	VERB
ajst-16294	87	21	the	the	DET
ajst-16294	87	22	pre	pre	ADJ
ajst-16294	87	23	-	-	ADJ
ajst-16294	87	24	existing	existing	ADJ
ajst-16294	87	25	data	datum	NOUN
ajst-16294	87	26	.	.	PUNCT
ajst-16294	88	1	when	when	SCONJ
ajst-16294	88	2	the	the	DET
ajst-16294	88	3	system	system	NOUN
ajst-16294	88	4	is	be	AUX
ajst-16294	88	5	far	far	ADV
ajst-16294	88	6	away	away	ADV
ajst-16294	88	7	from	from	ADP
ajst-16294	88	8	the	the	DET
ajst-16294	88	9	sliding	slide	VERB
ajst-16294	88	10	mode	mode	NOUN
ajst-16294	88	11	surface	surface	NOUN
ajst-16294	88	12	,	,	PUNCT
ajst-16294	88	13	when	when	SCONJ
ajst-16294	88	14	s	s	X
ajst-16294	88	15			NOUN
ajst-16294	88	16	,	,	PUNCT
ajst-16294	88	17	w	w	PROPN
ajst-16294	88	18	s	s	X
ajst-16294	88	19			NOUN
ajst-16294	88	20	,	,	PUNCT
ajst-16294	88	21	it	it	PRON
ajst-16294	88	22	can	can	AUX
ajst-16294	88	23	accelerate	accelerate	VERB
ajst-16294	88	24	the	the	DET
ajst-16294	88	25	speed	speed	NOUN
ajst-16294	88	26	of	of	ADP
ajst-16294	88	27	the	the	DET
ajst-16294	88	28	control	control	NOUN
ajst-16294	88	29	quantity	quantity	NOUN
ajst-16294	88	30	converging	converge	VERB
ajst-16294	88	31	to	to	ADP
ajst-16294	88	32	the	the	DET
ajst-16294	88	33	sliding	slide	VERB
ajst-16294	88	34	mode	mode	NOUN
ajst-16294	88	35	surface	surface	NOUN
ajst-16294	88	36	,	,	PUNCT
ajst-16294	88	37	so	so	CCONJ
ajst-16294	88	38	the	the	DET
ajst-16294	88	39	reaching	reach	VERB
ajst-16294	88	40	speed	speed	NOUN
ajst-16294	88	41	is	be	AUX
ajst-16294	88	42	much	much	ADV
ajst-16294	88	43	larger	large	ADJ
ajst-16294	88	44	than	than	ADP
ajst-16294	88	45	the	the	DET
ajst-16294	88	46	traditional	traditional	ADJ
ajst-16294	88	47	exponential	exponential	ADJ
ajst-16294	88	48	reaching	reach	VERB
ajst-16294	88	49	law	law	NOUN
ajst-16294	88	50	,	,	PUNCT
ajst-16294	88	51	which	which	PRON
ajst-16294	88	52	improves	improve	VERB
ajst-16294	88	53	the	the	DET
ajst-16294	88	54	response	response	NOUN
ajst-16294	88	55	speed	speed	NOUN
ajst-16294	88	56	of	of	ADP
ajst-16294	88	57	the	the	DET
ajst-16294	88	58	system	system	NOUN
ajst-16294	88	59	.	.	PUNCT
ajst-16294	89	1	when	when	SCONJ
ajst-16294	89	2	the	the	DET
ajst-16294	89	3	system	system	NOUN
ajst-16294	89	4	converges	converge	VERB
ajst-16294	89	5	to	to	ADP
ajst-16294	89	6	the	the	DET
ajst-16294	89	7	sliding	slide	VERB
ajst-16294	89	8	mode	mode	NOUN
ajst-16294	89	9	surface	surface	NOUN
ajst-16294	89	10	,	,	PUNCT
ajst-16294	89	11	the	the	DET
ajst-16294	89	12	qprl	qprl	NOUN
ajst-16294	89	13	will	will	AUX
ajst-16294	89	14	be	be	AUX
ajst-16294	89	15	gradually	gradually	ADV
ajst-16294	89	16	reduced	reduce	VERB
ajst-16294	89	17	as	as	SCONJ
ajst-16294	89	18	the	the	DET
ajst-16294	89	19	system	system	NOUN
ajst-16294	89	20	is	be	AUX
ajst-16294	89	21	converging	converge	VERB
ajst-16294	89	22	,	,	PUNCT
ajst-16294	89	23	0s	0s	NUM
ajst-16294	89	24			NOUN
ajst-16294	89	25	,	,	PUNCT
ajst-16294	90	1	0	0	NUM
ajst-16294	90	2	w	w	NOUN
ajst-16294	90	3	s	s	X
ajst-16294	90	4			NOUN
ajst-16294	90	5	,	,	PUNCT
ajst-16294	90	6	which	which	PRON
ajst-16294	90	7	makes	make	VERB
ajst-16294	90	8	the	the	DET
ajst-16294	90	9	system	system	NOUN
ajst-16294	90	10	reach	reach	VERB
ajst-16294	90	11	the	the	DET
ajst-16294	90	12	sliding	slide	VERB
ajst-16294	90	13	mode	mode	NOUN
ajst-16294	90	14	surface	surface	NOUN
ajst-16294	90	15	of	of	ADP
ajst-16294	90	16	the	the	DET
ajst-16294	90	17	convergence	convergence	NOUN
ajst-16294	90	18	speed	speed	NOUN
ajst-16294	90	19	less	less	ADJ
ajst-16294	90	20	than	than	ADP
ajst-16294	90	21	the	the	DET
ajst-16294	90	22	reaching	reach	VERB
ajst-16294	90	23	speed	speed	NOUN
ajst-16294	90	24	of	of	ADP
ajst-16294	90	25	the	the	DET
ajst-16294	90	26	traditional	traditional	ADJ
ajst-16294	90	27	exponential	exponential	ADJ
ajst-16294	90	28	reaching	reach	VERB
ajst-16294	90	29	law	law	NOUN
ajst-16294	90	30	,	,	PUNCT
ajst-16294	90	31	reducing	reduce	VERB
ajst-16294	90	32	the	the	DET
ajst-16294	90	33	reaching	reach	VERB
ajst-16294	90	34	movement	movement	NOUN
ajst-16294	90	35	through	through	ADP
ajst-16294	90	36	the	the	DET
ajst-16294	90	37	inertia	inertia	NOUN
ajst-16294	90	38	of	of	ADP
ajst-16294	90	39	the	the	DET
ajst-16294	90	40	distance	distance	NOUN
ajst-16294	90	41	of	of	ADP
ajst-16294	90	42	the	the	DET
ajst-16294	90	43	sliding	slide	VERB
ajst-16294	90	44	mode	mode	NOUN
ajst-16294	90	45	surface	surface	NOUN
ajst-16294	90	46	,	,	PUNCT
ajst-16294	90	47	and	and	CCONJ
ajst-16294	90	48	when	when	SCONJ
ajst-16294	90	49	reaching	reach	VERB
ajst-16294	90	50	the	the	DET
ajst-16294	90	51	equilibrium	equilibrium	NOUN
ajst-16294	90	52	state	state	NOUN
ajst-16294	90	53	,	,	PUNCT
ajst-16294	90	54	the	the	DET
ajst-16294	90	55	dprl	dprl	NOUN
ajst-16294	90	56	happens	happen	VERB
ajst-16294	90	57	to	to	PART
ajst-16294	90	58	be	be	AUX
ajst-16294	90	59	zero	zero	NUM
ajst-16294	90	60	,	,	PUNCT
ajst-16294	90	61	to	to	PART
ajst-16294	90	62	realize	realize	VERB
ajst-16294	90	63	the	the	DET
ajst-16294	90	64	sliding	slide	VERB
ajst-16294	90	65	film	film	NOUN
ajst-16294	90	66	variable	variable	ADJ
ajst-16294	90	67	structure	structure	NOUN
ajst-16294	90	68	control	control	NOUN
ajst-16294	90	69	jitter	jitter	NOUN
ajst-16294	90	70	suppression	suppression	NOUN
ajst-16294	90	71	,	,	PUNCT
ajst-16294	90	72	and	and	CCONJ
ajst-16294	90	73	to	to	PART
ajst-16294	90	74	improve	improve	VERB
ajst-16294	90	75	the	the	DET
ajst-16294	90	76	stability	stability	NOUN
ajst-16294	90	77	of	of	ADP
ajst-16294	90	78	the	the	DET
ajst-16294	90	79	system	system	NOUN
ajst-16294	90	80	.	.	PUNCT
ajst-16294	91	1	stability	stability	NOUN
ajst-16294	91	2	of	of	ADP
ajst-16294	91	3	the	the	DET
ajst-16294	91	4	system	system	NOUN
ajst-16294	91	5	.	.	PUNCT
ajst-16294	92	1	3.2	3.2	NUM
ajst-16294	92	2	.	.	PUNCT
ajst-16294	93	1	speed	speed	NOUN
ajst-16294	93	2	sliding	slide	VERB
ajst-16294	93	3	mode	mode	NOUN
ajst-16294	93	4	controller	controller	NOUN
ajst-16294	93	5	design	design	VERB
ajst-16294	93	6	the	the	DET
ajst-16294	93	7	speed	speed	NOUN
ajst-16294	93	8	slip	slip	NOUN
ajst-16294	93	9	film	film	NOUN
ajst-16294	93	10	controller	controller	NOUN
ajst-16294	93	11	requires	require	VERB
ajst-16294	93	12	the	the	DET
ajst-16294	93	13	speed	speed	NOUN
ajst-16294	93	14	error	error	NOUN
ajst-16294	93	15	to	to	PART
ajst-16294	93	16	arrive	arrive	VERB
ajst-16294	93	17	and	and	CCONJ
ajst-16294	93	18	stabilize	stabilize	VERB
ajst-16294	93	19	on	on	ADP
ajst-16294	93	20	the	the	DET
ajst-16294	93	21	slide	slide	NOUN
ajst-16294	93	22	mold	mold	NOUN
ajst-16294	93	23	surface	surface	NOUN
ajst-16294	93	24	in	in	ADP
ajst-16294	93	25	a	a	DET
ajst-16294	93	26	finite	finite	ADJ
ajst-16294	93	27	amount	amount	NOUN
ajst-16294	93	28	of	of	ADP
ajst-16294	93	29	time	time	NOUN
ajst-16294	93	30	.	.	PUNCT
ajst-16294	94	1	the	the	DET
ajst-16294	94	2	speed	speed	NOUN
ajst-16294	94	3	outer	outer	ADJ
ajst-16294	94	4	loop	loop	NOUN
ajst-16294	94	5	slip	slip	NOUN
ajst-16294	94	6	film	film	NOUN
ajst-16294	94	7	controller	controller	NOUN
ajst-16294	94	8	output	output	NOUN
ajst-16294	94	9	control	control	NOUN
ajst-16294	94	10	quantity	quantity	NOUN
ajst-16294	94	11	is	be	AUX
ajst-16294	94	12	qi	qi	PROPN
ajst-16294	94	13			PROPN
ajst-16294	94	14	.	.	PUNCT
ajst-16294	95	1	first	first	ADV
ajst-16294	95	2	,	,	PUNCT
ajst-16294	95	3	define	define	VERB
ajst-16294	95	4	the	the	DET
ajst-16294	95	5	speed	speed	NOUN
ajst-16294	95	6	error	error	NOUN
ajst-16294	95	7	:	:	PUNCT
ajst-16294	95	8	e	e	X
ajst-16294	95	9			X
ajst-16294	95	10			X
ajst-16294	95	11			NOUN
ajst-16294	95	12	(	(	PUNCT
ajst-16294	95	13	12	12	NUM
ajst-16294	95	14	)	)	PUNCT
ajst-16294	95	15	where	where	SCONJ
ajst-16294	95	16	:	:	PUNCT
ajst-16294	95	17			NOUN
ajst-16294	95	18	is	be	AUX
ajst-16294	95	19	the	the	DET
ajst-16294	95	20	given	give	VERB
ajst-16294	95	21	speed	speed	NOUN
ajst-16294	95	22	;	;	PUNCT
ajst-16294	95	23			X
ajst-16294	95	24	is	be	AUX
ajst-16294	95	25	the	the	DET
ajst-16294	95	26	feedback	feedback	NOUN
ajst-16294	95	27	speed	speed	NOUN
ajst-16294	95	28	.	.	PUNCT
ajst-16294	96	1	define	define	VERB
ajst-16294	96	2	the	the	DET
ajst-16294	96	3	speed	speed	NOUN
ajst-16294	96	4	sliding	slide	VERB
ajst-16294	96	5	mode	mode	NOUN
ajst-16294	96	6	surface	surface	NOUN
ajst-16294	96	7	switching	switch	VERB
ajst-16294	96	8	function	function	NOUN
ajst-16294	96	9	:	:	PUNCT
ajst-16294	96	10	s	s	NOUN
ajst-16294	96	11	e	e	X
ajst-16294	97	1			X
ajst-16294	97	2			X
ajst-16294	97	3			X
ajst-16294	97	4			PROPN
ajst-16294	97	5			NOUN
ajst-16294	97	6	(	(	PUNCT
ajst-16294	97	7	13	13	NUM
ajst-16294	97	8	)	)	PUNCT
ajst-16294	97	9	if	if	SCONJ
ajst-16294	97	10	0s	0s	NOUN
ajst-16294	98	1			VERB
ajst-16294	98	2	,	,	PUNCT
ajst-16294	98	3	the	the	DET
ajst-16294	98	4	speed	speed	NOUN
ajst-16294	98	5	slip	slip	NOUN
ajst-16294	98	6	mode	mode	NOUN
ajst-16294	98	7	controller	controller	NOUN
ajst-16294	98	8	can	can	AUX
ajst-16294	98	9	stabilize	stabilize	VERB
ajst-16294	98	10	on	on	ADP
ajst-16294	98	11	the	the	DET
ajst-16294	98	12	slip	slip	NOUN
ajst-16294	98	13	mode	mode	NOUN
ajst-16294	98	14	switching	switch	VERB
ajst-16294	98	15	surface	surface	NOUN
ajst-16294	98	16	the	the	DET
ajst-16294	98	17	motor	motor	NOUN
ajst-16294	98	18	speed	speed	NOUN
ajst-16294	98	19			PROPN
ajst-16294	98	20	can	can	AUX
ajst-16294	98	21	62	62	NUM
ajst-16294	98	22	track	track	VERB
ajst-16294	98	23	a	a	DET
ajst-16294	98	24	given	give	VERB
ajst-16294	98	25	speed	speed	NOUN
ajst-16294	98	26			NOUN
ajst-16294	98	27	.	.	PUNCT
ajst-16294	99	1	differential	differential	ADJ
ajst-16294	99	2	operations	operation	NOUN
ajst-16294	99	3	on	on	ADP
ajst-16294	99	4	the	the	DET
ajst-16294	99	5	rotational	rotational	ADJ
ajst-16294	99	6	speed	speed	NOUN
ajst-16294	99	7	sliding	slide	VERB
ajst-16294	99	8	mode	mode	NOUN
ajst-16294	99	9	switching	switch	VERB
ajst-16294	99	10	surface	surface	NOUN
ajst-16294	99	11	of	of	ADP
ajst-16294	99	12	eq	eq	PROPN
ajst-16294	99	13	.	.	PUNCT
ajst-16294	100	1	(	(	PUNCT
ajst-16294	100	2	13	13	NUM
ajst-16294	100	3	)	)	PUNCT
ajst-16294	100	4	are	be	AUX
ajst-16294	100	5	obtained	obtain	VERB
ajst-16294	100	6	:	:	PUNCT
ajst-16294	100	7	d	d	X
ajst-16294	100	8	d	d	X
ajst-16294	100	9	s	s	X
ajst-16294	100	10	dt	dt	NOUN
ajst-16294	100	11	dt	dt	PROPN
ajst-16294	100	12			X
ajst-16294	100	13			PROPN
ajst-16294	100	14			PROPN
ajst-16294	100	15			PROPN
ajst-16294	100	16	(	(	PUNCT
ajst-16294	100	17	14	14	NUM
ajst-16294	100	18	)	)	PUNCT
ajst-16294	100	19	this	this	PRON
ajst-16294	100	20	is	be	AUX
ajst-16294	100	21	obtained	obtain	VERB
ajst-16294	100	22	from	from	ADP
ajst-16294	100	23	the	the	DET
ajst-16294	100	24	electromagnetic	electromagnetic	ADJ
ajst-16294	100	25	torque	torque	NOUN
ajst-16294	100	26	equation	equation	NOUN
ajst-16294	100	27	(	(	PUNCT
ajst-16294	100	28	4	4	NUM
ajst-16294	100	29	)	)	PUNCT
ajst-16294	100	30	and	and	CCONJ
ajst-16294	100	31	the	the	DET
ajst-16294	100	32	motor	motor	NOUN
ajst-16294	100	33	motion	motion	NOUN
ajst-16294	100	34	equation	equation	NOUN
ajst-16294	100	35	(	(	PUNCT
ajst-16294	100	36	5	5	NUM
ajst-16294	100	37	):	):	PUNCT
ajst-16294	100	38	3	3	NUM
ajst-16294	100	39	2	2	NUM
ajst-16294	100	40	p	p	NOUN
ajst-16294	100	41	p	p	NOUN
ajst-16294	100	42	m	m	PROPN
ajst-16294	100	43	q	q	NOUN
ajst-16294	100	44	l	l	NOUN
ajst-16294	100	45	nd	nd	ADP
ajst-16294	100	46	n	n	NOUN
ajst-16294	100	47	i	i	PRON
ajst-16294	100	48	t	t	X
ajst-16294	100	49	dt	dt	X
ajst-16294	100	50	j	j	PROPN
ajst-16294	100	51			PROPN
ajst-16294	100	52			NOUN
ajst-16294	100	53			NUM
ajst-16294	101	1			PROPN
ajst-16294	101	2			PROPN
ajst-16294	102	1			PROPN
ajst-16294	102	2			NOUN
ajst-16294	102	3	(	(	PUNCT
ajst-16294	102	4	15	15	NUM
ajst-16294	102	5	)	)	PUNCT
ajst-16294	102	6	this	this	PRON
ajst-16294	102	7	can	can	AUX
ajst-16294	102	8	be	be	AUX
ajst-16294	102	9	obtained	obtain	VERB
ajst-16294	102	10	by	by	ADP
ajst-16294	102	11	bringing	bring	VERB
ajst-16294	102	12	equation	equation	NOUN
ajst-16294	102	13	(	(	PUNCT
ajst-16294	102	14	15	15	NUM
ajst-16294	102	15	)	)	PUNCT
ajst-16294	102	16	into	into	ADP
ajst-16294	102	17	equation	equation	NOUN
ajst-16294	102	18	(	(	PUNCT
ajst-16294	102	19	14	14	NUM
ajst-16294	102	20	):	):	SYM
ajst-16294	102	21	3	3	NUM
ajst-16294	102	22	2	2	NUM
ajst-16294	102	23	p	p	NOUN
ajst-16294	102	24	l	l	NOUN
ajst-16294	102	25	p	p	NOUN
ajst-16294	102	26	m	m	PROPN
ajst-16294	102	27	q	q	NOUN
ajst-16294	102	28	n	n	PROPN
ajst-16294	102	29	s	s	PROPN
ajst-16294	102	30	t	t	NOUN
ajst-16294	102	31	n	n	NOUN
ajst-16294	103	1	i	i	PRON
ajst-16294	103	2	j	j	PROPN
ajst-16294	103	3			NOUN
ajst-16294	103	4			PROPN
ajst-16294	103	5			PROPN
ajst-16294	103	6			PROPN
ajst-16294	103	7			ADJ
ajst-16294	103	8			PROPN
ajst-16294	103	9			NOUN
ajst-16294	103	10	(	(	PUNCT
ajst-16294	103	11	16	16	NUM
ajst-16294	103	12	)	)	PUNCT
ajst-16294	103	13	bringing	bring	VERB
ajst-16294	103	14	eq	eq	NOUN
ajst-16294	103	15	.	.	PUNCT
ajst-16294	104	1	(	(	PUNCT
ajst-16294	104	2	16	16	NUM
ajst-16294	104	3	)	)	PUNCT
ajst-16294	104	4	into	into	ADP
ajst-16294	104	5	the	the	DET
ajst-16294	104	6	qprl	qprl	NOUN
ajst-16294	104	7	eq	eq	NOUN
ajst-16294	104	8	.	.	PUNCT
ajst-16294	105	1	(	(	PUNCT
ajst-16294	105	2	11	11	NUM
ajst-16294	105	3	)	)	PUNCT
ajst-16294	105	4	gives	give	VERB
ajst-16294	105	5	:	:	PUNCT
ajst-16294	105	6	1	1	NUM
ajst-16294	105	7	2	2	NUM
ajst-16294	105	8	1	1	NUM
ajst-16294	105	9	2	2	NUM
ajst-16294	105	10	3	3	NUM
ajst-16294	105	11	sgn	sgn	NOUN
ajst-16294	105	12	(	(	PUNCT
ajst-16294	105	13	)	)	PUNCT
ajst-16294	105	14	sgn	sgn	NOUN
ajst-16294	105	15	(	(	PUNCT
ajst-16294	105	16	)	)	PUNCT
ajst-16294	105	17	2	2	NUM
ajst-16294	105	18	w	w	NOUN
ajst-16294	105	19	w	w	PROPN
ajst-16294	105	20	p	p	PROPN
ajst-16294	105	21	l	l	NOUN
ajst-16294	105	22	p	p	NOUN
ajst-16294	105	23	m	m	PROPN
ajst-16294	105	24	q	q	NOUN
ajst-16294	105	25	n	n	ADV
ajst-16294	105	26	k	k	PROPN
ajst-16294	105	27	s	s	X
ajst-16294	105	28	s	s	X
ajst-16294	105	29	k	k	PROPN
ajst-16294	105	30	s	s	PROPN
ajst-16294	105	31	s	s	PROPN
ajst-16294	105	32	t	t	NOUN
ajst-16294	106	1	n	n	NOUN
ajst-16294	107	1	i	i	PRON
ajst-16294	107	2	j	j	PROPN
ajst-16294	108	1			X
ajst-16294	108	2			X
ajst-16294	109	1			X
ajst-16294	109	2			X
ajst-16294	109	3			X
ajst-16294	109	4			X
ajst-16294	109	5			X
ajst-16294	109	6			X
ajst-16294	109	7			NOUN
ajst-16294	109	8			VERB
ajst-16294	109	9			PROPN
ajst-16294	109	10			PROPN
ajst-16294	109	11			PROPN
ajst-16294	109	12			CCONJ
ajst-16294	109	13			PROPN
ajst-16294	109	14			NOUN
ajst-16294	109	15	(	(	PUNCT
ajst-16294	109	16	17	17	NUM
ajst-16294	109	17	)	)	PUNCT
ajst-16294	109	18	the	the	DET
ajst-16294	109	19	speed	speed	NOUN
ajst-16294	109	20	slip	slip	NOUN
ajst-16294	109	21	mode	mode	NOUN
ajst-16294	109	22	controller	controller	NOUN
ajst-16294	109	23	expression	expression	NOUN
ajst-16294	109	24	can	can	AUX
ajst-16294	109	25	be	be	AUX
ajst-16294	109	26	obtained	obtain	VERB
ajst-16294	109	27	from	from	ADP
ajst-16294	109	28	equation	equation	NOUN
ajst-16294	109	29	(	(	PUNCT
ajst-16294	109	30	17	17	NUM
ajst-16294	109	31	):	):	PUNCT
ajst-16294	109	32			NOUN
ajst-16294	109	33	1	1	ADJ
ajst-16294	109	34	2	2	NUM
ajst-16294	109	35	1	1	NUM
ajst-16294	109	36	2	2	NUM
ajst-16294	109	37	2	2	NUM
ajst-16294	109	38	sgn	sgn	NOUN
ajst-16294	109	39	(	(	PUNCT
ajst-16294	109	40	)	)	PUNCT
ajst-16294	109	41	sgn	sgn	NOUN
ajst-16294	109	42	(	(	PUNCT
ajst-16294	109	43	)	)	PUNCT
ajst-16294	109	44	3	3	NUM
ajst-16294	109	45	w	w	PROPN
ajst-16294	109	46	w	w	PROPN
ajst-16294	109	47	q	q	PROPN
ajst-16294	109	48	l	l	NOUN
ajst-16294	109	49	p	p	NOUN
ajst-16294	109	50	m	m	PROPN
ajst-16294	109	51	p	p	X
ajst-16294	109	52	j	j	PROPN
ajst-16294	110	1	i	i	PRON
ajst-16294	110	2	k	k	PROPN
ajst-16294	111	1	s	s	X
ajst-16294	111	2	s	s	AUX
ajst-16294	111	3	k	k	PROPN
ajst-16294	111	4	s	s	PROPN
ajst-16294	111	5	s	s	PROPN
ajst-16294	111	6	t	t	PROPN
ajst-16294	111	7	n	n	ADP
ajst-16294	111	8	n	n	PRON
ajst-16294	111	9			X
ajst-16294	111	10			X
ajst-16294	111	11			X
ajst-16294	111	12			X
ajst-16294	111	13			X
ajst-16294	111	14			X
ajst-16294	111	15			PROPN
ajst-16294	111	16			PROPN
ajst-16294	111	17			PROPN
ajst-16294	111	18			NUM
ajst-16294	111	19			NOUN
ajst-16294	111	20			PROPN
ajst-16294	111	21			ADJ
ajst-16294	111	22			PROPN
ajst-16294	111	23			PROPN
ajst-16294	111	24			NOUN
ajst-16294	111	25			PROPN
ajst-16294	111	26			PROPN
ajst-16294	111	27	(	(	PUNCT
ajst-16294	111	28	18	18	NUM
ajst-16294	111	29	)	)	PUNCT
ajst-16294	111	30	according	accord	VERB
ajst-16294	111	31	to	to	ADP
ajst-16294	111	32	the	the	DET
ajst-16294	111	33	lyapunov	lyapunov	ADJ
ajst-16294	111	34	stability	stability	NOUN
ajst-16294	111	35	principle	principle	NOUN
ajst-16294	111	36	,	,	PUNCT
ajst-16294	111	37	it	it	PRON
ajst-16294	111	38	is	be	AUX
ajst-16294	111	39	known	know	VERB
ajst-16294	111	40	that	that	SCONJ
ajst-16294	111	41	to	to	PART
ajst-16294	111	42	prove	prove	VERB
ajst-16294	111	43	the	the	DET
ajst-16294	111	44	stability	stability	NOUN
ajst-16294	111	45	of	of	ADP
ajst-16294	111	46	the	the	DET
ajst-16294	111	47	rotational	rotational	ADJ
ajst-16294	111	48	speed	speed	NOUN
ajst-16294	111	49	sliding	slide	VERB
ajst-16294	111	50	mode	mode	NOUN
ajst-16294	111	51	controller	controller	NOUN
ajst-16294	111	52	,	,	PUNCT
ajst-16294	111	53	it	it	PRON
ajst-16294	111	54	needs	need	VERB
ajst-16294	111	55	to	to	PART
ajst-16294	111	56	be	be	AUX
ajst-16294	111	57	satisfied	satisfied	ADJ
ajst-16294	111	58	:	:	PUNCT
ajst-16294	111	59	21	21	NUM
ajst-16294	111	60	(	(	PUNCT
ajst-16294	111	61	)	)	PUNCT
ajst-16294	111	62	2	2	NUM
ajst-16294	111	63	(	(	PUNCT
ajst-16294	111	64	)	)	PUNCT
ajst-16294	111	65	0	0	NUM
ajst-16294	112	1	v	v	NOUN
ajst-16294	112	2	x	x	SYM
ajst-16294	112	3	s	s	NOUN
ajst-16294	112	4	v	v	NOUN
ajst-16294	112	5	x	x	SYM
ajst-16294	112	6	ss	ss	NOUN
ajst-16294	112	7			NOUN
ajst-16294	112	8			NOUN
ajst-16294	113	1			NUM
ajst-16294	113	2			NUM
ajst-16294	113	3			NUM
ajst-16294	113	4			PROPN
ajst-16294	113	5			NOUN
ajst-16294	113	6	(	(	PUNCT
ajst-16294	113	7	19	19	NUM
ajst-16294	113	8	)	)	PUNCT
ajst-16294	113	9	associative	associative	ADJ
ajst-16294	113	10	equations	equation	NOUN
ajst-16294	113	11	(	(	PUNCT
ajst-16294	113	12	11	11	NUM
ajst-16294	113	13	)	)	PUNCT
ajst-16294	113	14	,	,	PUNCT
ajst-16294	113	15	(	(	PUNCT
ajst-16294	113	16	13	13	NUM
ajst-16294	113	17	)	)	PUNCT
ajst-16294	113	18	,	,	PUNCT
ajst-16294	113	19	and	and	CCONJ
ajst-16294	113	20	(	(	PUNCT
ajst-16294	113	21	19	19	NUM
ajst-16294	113	22	)	)	PUNCT
ajst-16294	113	23	are	be	AUX
ajst-16294	113	24	used	use	VERB
ajst-16294	113	25	to	to	PART
ajst-16294	113	26	construct	construct	VERB
ajst-16294	113	27	the	the	DET
ajst-16294	113	28	lyapunov	lyapunov	ADJ
ajst-16294	113	29	stabilization	stabilization	NOUN
ajst-16294	113	30	equations	equation	NOUN
ajst-16294	113	31	for	for	ADP
ajst-16294	113	32	the	the	DET
ajst-16294	113	33	rotational	rotational	ADJ
ajst-16294	113	34	speed	speed	NOUN
ajst-16294	113	35	sliding	slide	VERB
ajst-16294	113	36	film	film	NOUN
ajst-16294	113	37	controller	controller	NOUN
ajst-16294	113	38	:	:	PUNCT
ajst-16294	113	39	1	1	NUM
ajst-16294	113	40	2	2	NUM
ajst-16294	113	41	1	1	NUM
ajst-16294	113	42	2	2	NUM
ajst-16294	113	43	sgn	sgn	NOUN
ajst-16294	113	44	(	(	PUNCT
ajst-16294	113	45	)	)	PUNCT
ajst-16294	113	46	(	(	PUNCT
ajst-16294	113	47	)	)	PUNCT
ajst-16294	113	48	sgn	sgn	NOUN
ajst-16294	113	49	(	(	PUNCT
ajst-16294	113	50	)	)	PUNCT
ajst-16294	113	51	(	(	PUNCT
ajst-16294	113	52	)	)	PUNCT
ajst-16294	114	1	w	w	PROPN
ajst-16294	114	2	w	w	PROPN
ajst-16294	114	3	v	v	PROPN
ajst-16294	115	1	k	k	PROPN
ajst-16294	115	2	k	k	X
ajst-16294	115	3			X
ajst-16294	116	1			X
ajst-16294	116	2			X
ajst-16294	116	3			X
ajst-16294	116	4			X
ajst-16294	116	5			X
ajst-16294	116	6			X
ajst-16294	116	7			X
ajst-16294	116	8			X
ajst-16294	116	9			X
ajst-16294	116	10			X
ajst-16294	116	11			X
ajst-16294	116	12			PROPN
ajst-16294	116	13			PROPN
ajst-16294	116	14			PROPN
ajst-16294	116	15			PROPN
ajst-16294	116	16			PROPN
ajst-16294	116	17			PROPN
ajst-16294	116	18			PROPN
ajst-16294	117	1			PROPN
ajst-16294	117	2			PROPN
ajst-16294	117	3			PROPN
ajst-16294	117	4			VERB
ajst-16294	117	5			NOUN
ajst-16294	117	6			VERB
ajst-16294	117	7			PROPN
ajst-16294	117	8			PROPN
ajst-16294	117	9			NOUN
ajst-16294	117	10			VERB
ajst-16294	117	11			NOUN
ajst-16294	117	12			ADJ
ajst-16294	117	13			NOUN
ajst-16294	117	14			NOUN
ajst-16294	117	15	(	(	PUNCT
ajst-16294	117	16	20	20	NUM
ajst-16294	117	17	)	)	PUNCT
ajst-16294	117	18	the	the	DET
ajst-16294	117	19	analysis	analysis	NOUN
ajst-16294	117	20	of	of	ADP
ajst-16294	117	21	eq	eq	PROPN
ajst-16294	117	22	.	.	PUNCT
ajst-16294	118	1	(	(	PUNCT
ajst-16294	118	2	20	20	NUM
ajst-16294	118	3	)	)	PUNCT
ajst-16294	118	4	shows	show	VERB
ajst-16294	118	5	that	that	SCONJ
ajst-16294	118	6	the	the	DET
ajst-16294	118	7	first	first	ADJ
ajst-16294	118	8	terms	term	NOUN
ajst-16294	118	9	sgn	sgn	NOUN
ajst-16294	118	10	(	(	PUNCT
ajst-16294	118	11	)	)	PUNCT
ajst-16294	118	12			PROPN
ajst-16294	118	13			PROPN
ajst-16294	118	14			PROPN
ajst-16294	118	15	and	and	CCONJ
ajst-16294	118	16			PROPN
ajst-16294	118	17			PROPN
ajst-16294	118	18			PROPN
ajst-16294	118	19	have	have	VERB
ajst-16294	118	20	the	the	DET
ajst-16294	118	21	same	same	ADJ
ajst-16294	118	22	positivity	positivity	NOUN
ajst-16294	118	23	,	,	PUNCT
ajst-16294	118	24	so	so	SCONJ
ajst-16294	118	25	it	it	PRON
ajst-16294	118	26	satisfies	satisfy	VERB
ajst-16294	118	27	the	the	DET
ajst-16294	118	28	lyapunov	lyapunov	ADJ
ajst-16294	118	29	stability	stability	NOUN
ajst-16294	118	30	condition	condition	NOUN
ajst-16294	118	31	(	(	PUNCT
ajst-16294	118	32	)	)	PUNCT
ajst-16294	118	33	0v	0v	NOUN
ajst-16294	118	34	x	x	PUNCT
ajst-16294	118	35			NOUN
ajst-16294	118	36	.	.	PUNCT
ajst-16294	119	1	therefore	therefore	ADV
ajst-16294	119	2	,	,	PUNCT
ajst-16294	119	3	the	the	DET
ajst-16294	119	4	designed	design	VERB
ajst-16294	119	5	rotational	rotational	ADJ
ajst-16294	119	6	speed	speed	NOUN
ajst-16294	119	7	sliding	slide	VERB
ajst-16294	119	8	film	film	NOUN
ajst-16294	119	9	controller	controller	NOUN
ajst-16294	119	10	can	can	AUX
ajst-16294	119	11	quickly	quickly	ADV
ajst-16294	119	12	converge	converge	VERB
ajst-16294	119	13	to	to	ADP
ajst-16294	119	14	the	the	DET
ajst-16294	119	15	sliding	slide	VERB
ajst-16294	119	16	mode	mode	NOUN
ajst-16294	119	17	surface	surface	NOUN
ajst-16294	119	18	in	in	ADP
ajst-16294	119	19	a	a	DET
ajst-16294	119	20	finite	finite	ADJ
ajst-16294	119	21	time	time	NOUN
ajst-16294	119	22	,	,	PUNCT
ajst-16294	119	23	and	and	CCONJ
ajst-16294	119	24	the	the	DET
ajst-16294	119	25	sliding	slide	VERB
ajst-16294	119	26	mode	mode	NOUN
ajst-16294	119	27	controller	controller	NOUN
ajst-16294	119	28	is	be	AUX
ajst-16294	119	29	stable	stable	ADJ
ajst-16294	119	30	.	.	PUNCT
ajst-16294	120	1	3.3	3.3	NUM
ajst-16294	120	2	.	.	PUNCT
ajst-16294	121	1	current	current	ADJ
ajst-16294	121	2	sliding	slide	VERB
ajst-16294	121	3	mode	mode	NOUN
ajst-16294	121	4	controller	controller	NOUN
ajst-16294	121	5	design	design	VERB
ajst-16294	121	6	the	the	DET
ajst-16294	121	7	current	current	ADJ
ajst-16294	121	8	equation	equation	NOUN
ajst-16294	121	9	of	of	ADP
ajst-16294	121	10	state	state	NOUN
ajst-16294	121	11	of	of	ADP
ajst-16294	121	12	a	a	DET
ajst-16294	121	13	permanent	permanent	ADJ
ajst-16294	121	14	magnet	magnet	NOUN
ajst-16294	121	15	synchronous	synchronous	ADJ
ajst-16294	121	16	motor	motor	NOUN
ajst-16294	121	17	in	in	ADP
ajst-16294	121	18	a	a	DET
ajst-16294	121	19	two	two	NUM
ajst-16294	121	20	-	-	PUNCT
ajst-16294	121	21	phase	phase	NOUN
ajst-16294	121	22	rotating	rotate	VERB
ajst-16294	121	23	orthogonal	orthogonal	ADJ
ajst-16294	121	24	coordinate	coordinate	NOUN
ajst-16294	121	25	system	system	NOUN
ajst-16294	121	26	(	(	PUNCT
ajst-16294	121	27	d	d	NOUN
ajst-16294	121	28	-	-	PUNCT
ajst-16294	121	29	q	q	NOUN
ajst-16294	121	30	)	)	PUNCT
ajst-16294	121	31	is	be	AUX
ajst-16294	121	32	given	give	VERB
ajst-16294	121	33	by	by	ADP
ajst-16294	121	34	:	:	PUNCT
ajst-16294	121	35	1	1	NUM
ajst-16294	121	36	0	0	NUM
ajst-16294	121	37	1	1	NUM
ajst-16294	121	38	1	1	NUM
ajst-16294	121	39	qsd	qsd	NOUN
ajst-16294	122	1	dd	dd	NOUN
ajst-16294	122	2	dd	dd	PROPN
ajst-16294	122	3	d	d	PROPN
ajst-16294	122	4	mq	mq	PROPN
ajst-16294	123	1	qq	qq	PROPN
ajst-16294	124	1	d	d	X
ajst-16294	124	2	s	s	X
ajst-16294	124	3	q	q	X
ajst-16294	124	4	qq	qq	PROPN
ajst-16294	124	5	q	q	PROPN
ajst-16294	124	6	lrdi	lrdi	PROPN
ajst-16294	124	7	li	li	PROPN
ajst-16294	124	8	ul	ul	PROPN
ajst-16294	124	9	ldt	ldt	PROPN
ajst-16294	125	1	i	i	PRON
ajst-16294	125	2	udi	udi	PROPN
ajst-16294	125	3	l	l	NOUN
ajst-16294	125	4	r	r	NOUN
ajst-16294	125	5	l	l	NOUN
ajst-16294	125	6	ll	ll	AUX
ajst-16294	125	7	ldt	ldt	PROPN
ajst-16294	125	8			PROPN
ajst-16294	125	9			PROPN
ajst-16294	125	10			X
ajst-16294	125	11			PROPN
ajst-16294	125	12			ADJ
ajst-16294	125	13			PROPN
ajst-16294	125	14			PROPN
ajst-16294	125	15			PUNCT
ajst-16294	125	16			PROPN
ajst-16294	125	17			PROPN
ajst-16294	125	18			NOUN
ajst-16294	125	19			NOUN
ajst-16294	125	20			NOUN
ajst-16294	125	21			NOUN
ajst-16294	125	22			NOUN
ajst-16294	126	1			PROPN
ajst-16294	126	2			INTJ
ajst-16294	126	3			PROPN
ajst-16294	126	4			ADJ
ajst-16294	126	5			NOUN
ajst-16294	126	6			PROPN
ajst-16294	126	7			NOUN
ajst-16294	126	8			NOUN
ajst-16294	126	9			NOUN
ajst-16294	126	10			NOUN
ajst-16294	126	11			NUM
ajst-16294	126	12			ADJ
ajst-16294	126	13			PROPN
ajst-16294	126	14			PROPN
ajst-16294	126	15			NOUN
ajst-16294	126	16			NOUN
ajst-16294	126	17			NOUN
ajst-16294	126	18			NOUN
ajst-16294	126	19			NOUN
ajst-16294	127	1			PROPN
ajst-16294	127	2			NOUN
ajst-16294	127	3			NOUN
ajst-16294	127	4			NOUN
ajst-16294	127	5			PROPN
ajst-16294	127	6			NOUN
ajst-16294	127	7			PROPN
ajst-16294	127	8			NOUN
ajst-16294	127	9			NOUN
ajst-16294	127	10			PROPN
ajst-16294	127	11			PROPN
ajst-16294	127	12			NOUN
ajst-16294	127	13			NOUN
ajst-16294	127	14			NOUN
ajst-16294	127	15			NOUN
ajst-16294	127	16			PROPN
ajst-16294	127	17			PROPN
ajst-16294	127	18			NOUN
ajst-16294	127	19			NOUN
ajst-16294	127	20			VERB
ajst-16294	127	21			PROPN
ajst-16294	127	22			PROPN
ajst-16294	127	23	(	(	PUNCT
ajst-16294	127	24	21	21	NUM
ajst-16294	127	25	)	)	PUNCT
ajst-16294	127	26	define	define	VERB
ajst-16294	127	27	the	the	DET
ajst-16294	127	28	current	current	ADJ
ajst-16294	127	29	error	error	NOUN
ajst-16294	127	30	:	:	PUNCT
ajst-16294	128	1	d	d	X
ajst-16294	128	2	q	q	X
ajst-16294	129	1	i	i	NOUN
ajst-16294	129	2	d	d	PROPN
ajst-16294	130	1	d	d	NOUN
ajst-16294	130	2	i	i	PRON
ajst-16294	130	3	q	q	NOUN
ajst-16294	130	4	q	q	X
ajst-16294	131	1	e	e	NOUN
ajst-16294	131	2	i	i	PRON
ajst-16294	131	3	i	i	PRON
ajst-16294	132	1	e	e	VERB
ajst-16294	132	2	i	i	PRON
ajst-16294	133	1	i	i	PROPN
ajst-16294	133	2			PROPN
ajst-16294	134	1			PROPN
ajst-16294	134	2			PROPN
ajst-16294	134	3			INTJ
ajst-16294	134	4			PROPN
ajst-16294	134	5			PROPN
ajst-16294	134	6			ADJ
ajst-16294	134	7			NOUN
ajst-16294	134	8			NOUN
ajst-16294	134	9			NOUN
ajst-16294	134	10			NOUN
ajst-16294	134	11			NOUN
ajst-16294	134	12			VERB
ajst-16294	134	13			PROPN
ajst-16294	134	14			PROPN
ajst-16294	134	15	(	(	PUNCT
ajst-16294	134	16	22	22	NUM
ajst-16294	134	17	)	)	PUNCT
ajst-16294	134	18	where	where	SCONJ
ajst-16294	134	19	:	:	PUNCT
ajst-16294	134	20	di	di	PROPN
ajst-16294	134	21			PROPN
ajst-16294	134	22	is	be	AUX
ajst-16294	134	23	the	the	DET
ajst-16294	134	24	stator	stator	NOUN
ajst-16294	134	25	current	current	NOUN
ajst-16294	134	26	in	in	ADP
ajst-16294	134	27	the	the	DET
ajst-16294	134	28	d	d	NOUN
ajst-16294	134	29	-	-	NOUN
ajst-16294	134	30	axis	axis	ADJ
ajst-16294	134	31	,	,	PUNCT
ajst-16294	134	32	and	and	CCONJ
ajst-16294	134	33	qi	qi	PROPN
ajst-16294	134	34			PROPN
ajst-16294	134	35	is	be	AUX
ajst-16294	134	36	the	the	DET
ajst-16294	134	37	stator	stator	NOUN
ajst-16294	134	38	current	current	NOUN
ajst-16294	134	39	in	in	ADP
ajst-16294	134	40	the	the	DET
ajst-16294	134	41	q	q	NOUN
ajst-16294	134	42	-	-	PUNCT
ajst-16294	134	43	axis	axis	ADJ
ajst-16294	134	44	;	;	PUNCT
ajst-16294	134	45	di	di	NOUN
ajst-16294	134	46	and	and	CCONJ
ajst-16294	134	47	qi	qi	PROPN
ajst-16294	134	48	is	be	AUX
ajst-16294	134	49	the	the	DET
ajst-16294	134	50	feedback	feedback	NOUN
ajst-16294	134	51	current	current	ADJ
ajst-16294	134	52	.	.	PUNCT
ajst-16294	135	1	define	define	VERB
ajst-16294	135	2	the	the	DET
ajst-16294	135	3	current	current	ADJ
ajst-16294	135	4	sliding	slide	VERB
ajst-16294	135	5	mode	mode	NOUN
ajst-16294	135	6	surface	surface	NOUN
ajst-16294	135	7	switching	switch	VERB
ajst-16294	135	8	function	function	NOUN
ajst-16294	135	9	:	:	PUNCT
ajst-16294	136	1	d	d	X
ajst-16294	136	2	q	q	PUNCT
ajst-16294	136	3	i	i	NOUN
ajst-16294	136	4	d	d	PROPN
ajst-16294	136	5	d	d	PROPN
ajst-16294	137	1	d	d	X
ajst-16294	137	2	q	q	X
ajst-16294	138	1	i	i	PRON
ajst-16294	138	2	q	q	NOUN
ajst-16294	138	3	q	q	VERB
ajst-16294	139	1	es	es	VERB
ajst-16294	139	2	i	i	PRON
ajst-16294	140	1	i	i	PRON
ajst-16294	140	2	s	s	VERB
ajst-16294	140	3	s	s	VERB
ajst-16294	140	4	e	e	X
ajst-16294	141	1	i	i	PRON
ajst-16294	141	2	i	i	PROPN
ajst-16294	141	3			PROPN
ajst-16294	142	1			PROPN
ajst-16294	142	2			PROPN
ajst-16294	142	3			INTJ
ajst-16294	142	4			PROPN
ajst-16294	142	5			NOUN
ajst-16294	142	6			VERB
ajst-16294	142	7			NOUN
ajst-16294	142	8			ADJ
ajst-16294	142	9			ADJ
ajst-16294	142	10			NOUN
ajst-16294	142	11			NOUN
ajst-16294	142	12			NOUN
ajst-16294	142	13			NOUN
ajst-16294	142	14			PROPN
ajst-16294	142	15			PROPN
ajst-16294	142	16			PROPN
ajst-16294	142	17			PROPN
ajst-16294	142	18			VERB
ajst-16294	142	19			PROPN
ajst-16294	142	20			PROPN
ajst-16294	142	21	(	(	PUNCT
ajst-16294	142	22	23	23	NUM
ajst-16294	142	23	)	)	PUNCT
ajst-16294	142	24	a	a	DET
ajst-16294	142	25	differential	differential	ADJ
ajst-16294	142	26	operation	operation	NOUN
ajst-16294	142	27	on	on	ADP
ajst-16294	142	28	the	the	DET
ajst-16294	142	29	eq	eq	NOUN
ajst-16294	142	30	.	.	PUNCT
ajst-16294	143	1	(	(	PUNCT
ajst-16294	143	2	23	23	NUM
ajst-16294	143	3	)	)	PUNCT
ajst-16294	143	4	current	current	ADJ
ajst-16294	143	5	synovial	synovial	ADJ
ajst-16294	143	6	section	section	NOUN
ajst-16294	143	7	function	function	NOUN
ajst-16294	143	8	gives	give	VERB
ajst-16294	143	9	:	:	PUNCT
ajst-16294	144	1	d	d	PUNCT
ajst-16294	144	2	d	d	X
ajst-16294	144	3	d	d	X
ajst-16294	144	4	q	q	X
ajst-16294	144	5	q	q	X
ajst-16294	144	6	d	d	X
ajst-16294	144	7	ds	ds	NOUN
ajst-16294	144	8	di	di	X
ajst-16294	144	9	di	di	X
ajst-16294	144	10	dt	dt	X
ajst-16294	144	11	dt	dt	X
ajst-16294	144	12	dt	dt	X
ajst-16294	144	13	ds	ds	PROPN
ajst-16294	144	14	di	di	X
ajst-16294	144	15	di	di	X
ajst-16294	145	1	dt	dt	X
ajst-16294	145	2	dt	dt	X
ajst-16294	145	3	dt	dt	X
ajst-16294	145	4			PROPN
ajst-16294	145	5			PROPN
ajst-16294	146	1			PROPN
ajst-16294	146	2			PROPN
ajst-16294	146	3			NOUN
ajst-16294	146	4			PROPN
ajst-16294	146	5			NOUN
ajst-16294	146	6			PROPN
ajst-16294	146	7			NOUN
ajst-16294	146	8			NOUN
ajst-16294	146	9			NOUN
ajst-16294	146	10			NUM
ajst-16294	146	11			NOUN
ajst-16294	147	1			NOUN
ajst-16294	147	2			NOUN
ajst-16294	147	3			PROPN
ajst-16294	147	4			PROPN
ajst-16294	147	5			PROPN
ajst-16294	147	6			PROPN
ajst-16294	147	7			PROPN
ajst-16294	147	8			PROPN
ajst-16294	147	9	(	(	PUNCT
ajst-16294	147	10	24	24	NUM
ajst-16294	147	11	)	)	PUNCT
ajst-16294	147	12	the	the	DET
ajst-16294	147	13	current	current	ADJ
ajst-16294	147	14	state	state	NOUN
ajst-16294	147	15	of	of	ADP
ajst-16294	147	16	a	a	DET
ajst-16294	147	17	permanent	permanent	ADJ
ajst-16294	147	18	magnet	magnet	NOUN
ajst-16294	147	19	synchronous	synchronous	ADJ
ajst-16294	147	20	motor	motor	NOUN
ajst-16294	147	21	in	in	ADP
ajst-16294	147	22	a	a	DET
ajst-16294	147	23	two	two	NUM
ajst-16294	147	24	-	-	PUNCT
ajst-16294	147	25	phase	phase	NOUN
ajst-16294	147	26	rotating	rotate	VERB
ajst-16294	147	27	orthogonal	orthogonal	ADJ
ajst-16294	147	28	coordinate	coordinate	NOUN
ajst-16294	147	29	system	system	NOUN
ajst-16294	147	30	(	(	PUNCT
ajst-16294	147	31	d	d	NOUN
ajst-16294	147	32	-	-	PUNCT
ajst-16294	147	33	q	q	NOUN
ajst-16294	147	34	)	)	PUNCT
ajst-16294	147	35	is	be	AUX
ajst-16294	147	36	obtained	obtain	VERB
ajst-16294	147	37	from	from	ADP
ajst-16294	147	38	equation	equation	NOUN
ajst-16294	147	39	(	(	PUNCT
ajst-16294	147	40	21	21	NUM
ajst-16294	147	41	)	)	PUNCT
ajst-16294	147	42	and	and	CCONJ
ajst-16294	147	43	equation	equation	NOUN
ajst-16294	147	44	(	(	PUNCT
ajst-16294	147	45	24	24	NUM
ajst-16294	147	46	):	):	PUNCT
ajst-16294	147	47	1	1	NUM
ajst-16294	147	48	0	0	NUM
ajst-16294	147	49	1	1	NUM
ajst-16294	147	50	1	1	NUM
ajst-16294	147	51	qsd	qsd	NOUN
ajst-16294	147	52	dd	dd	NOUN
ajst-16294	147	53	dd	dd	PROPN
ajst-16294	147	54	d	d	PROPN
ajst-16294	147	55	mq	mq	PROPN
ajst-16294	148	1	qq	qq	PROPN
ajst-16294	148	2	d	d	X
ajst-16294	148	3	s	s	X
ajst-16294	148	4	q	q	X
ajst-16294	148	5	qq	qq	PROPN
ajst-16294	148	6	q	q	PROPN
ajst-16294	148	7	lrds	lrds	PROPN
ajst-16294	148	8	li	li	PROPN
ajst-16294	148	9	ul	ul	PROPN
ajst-16294	148	10	ldt	ldt	PROPN
ajst-16294	149	1	i	i	PRON
ajst-16294	149	2	uds	uds	PROPN
ajst-16294	149	3	l	l	NOUN
ajst-16294	149	4	r	r	NOUN
ajst-16294	149	5	l	l	NOUN
ajst-16294	149	6	ll	ll	AUX
ajst-16294	149	7	ldt	ldt	PROPN
ajst-16294	149	8			PROPN
ajst-16294	149	9			PROPN
ajst-16294	149	10			X
ajst-16294	149	11			PROPN
ajst-16294	149	12			ADJ
ajst-16294	149	13			PROPN
ajst-16294	149	14			PROPN
ajst-16294	149	15			PUNCT
ajst-16294	149	16			PROPN
ajst-16294	149	17			PROPN
ajst-16294	149	18			NOUN
ajst-16294	149	19			NOUN
ajst-16294	149	20			NOUN
ajst-16294	149	21			NOUN
ajst-16294	149	22			NOUN
ajst-16294	150	1			PROPN
ajst-16294	150	2			INTJ
ajst-16294	150	3			PROPN
ajst-16294	150	4			ADJ
ajst-16294	150	5			NOUN
ajst-16294	150	6			PROPN
ajst-16294	150	7			NOUN
ajst-16294	150	8			NOUN
ajst-16294	150	9			NOUN
ajst-16294	150	10			NOUN
ajst-16294	150	11			NUM
ajst-16294	150	12			PROPN
ajst-16294	150	13			PROPN
ajst-16294	150	14			PROPN
ajst-16294	150	15			NOUN
ajst-16294	150	16			NOUN
ajst-16294	150	17			NOUN
ajst-16294	150	18			NOUN
ajst-16294	150	19			PROPN
ajst-16294	150	20			NOUN
ajst-16294	150	21			PROPN
ajst-16294	150	22			NOUN
ajst-16294	150	23			VERB
ajst-16294	150	24			PROPN
ajst-16294	150	25			NOUN
ajst-16294	150	26			PROPN
ajst-16294	150	27			NOUN
ajst-16294	150	28			PROPN
ajst-16294	150	29			PROPN
ajst-16294	150	30			NOUN
ajst-16294	150	31			NOUN
ajst-16294	150	32			NOUN
ajst-16294	150	33			NOUN
ajst-16294	150	34			PROPN
ajst-16294	150	35			PROPN
ajst-16294	150	36			NOUN
ajst-16294	150	37			NOUN
ajst-16294	150	38			VERB
ajst-16294	150	39			PROPN
ajst-16294	150	40			PROPN
ajst-16294	150	41	(	(	PUNCT
ajst-16294	150	42	25	25	NUM
ajst-16294	150	43	)	)	PUNCT
ajst-16294	150	44	bringing	bring	VERB
ajst-16294	150	45	eq	eq	NOUN
ajst-16294	150	46	.	.	PUNCT
ajst-16294	151	1	(	(	PUNCT
ajst-16294	151	2	25	25	NUM
ajst-16294	151	3	)	)	PUNCT
ajst-16294	151	4	into	into	ADP
ajst-16294	151	5	the	the	DET
ajst-16294	151	6	fast	fast	ADJ
ajst-16294	151	7	power	power	NOUN
ajst-16294	151	8	exponential	exponential	ADJ
ajst-16294	151	9	convergence	convergence	NOUN
ajst-16294	151	10	law	law	NOUN
ajst-16294	151	11	eq	eq	NOUN
ajst-16294	151	12	.	.	PUNCT
ajst-16294	152	1	(	(	PUNCT
ajst-16294	152	2	11	11	NUM
ajst-16294	152	3	)	)	PUNCT
ajst-16294	152	4	gives	give	VERB
ajst-16294	152	5	:	:	PUNCT
ajst-16294	152	6	1	1	NUM
ajst-16294	152	7	1	1	NUM
ajst-16294	152	8	2	2	NUM
ajst-16294	152	9	1	1	NUM
ajst-16294	152	10	2	2	NUM
ajst-16294	152	11	2	2	NUM
ajst-16294	152	12	1	1	NUM
ajst-16294	152	13	2	2	NUM
ajst-16294	152	14	sgn	sgn	NOUN
ajst-16294	152	15	(	(	PUNCT
ajst-16294	152	16	)	)	PUNCT
ajst-16294	152	17	sgn	sgn	NOUN
ajst-16294	152	18	(	(	PUNCT
ajst-16294	152	19	)	)	PUNCT
ajst-16294	152	20	sgn	sgn	NOUN
ajst-16294	152	21	(	(	PUNCT
ajst-16294	152	22	)	)	PUNCT
ajst-16294	152	23	sgn	sgn	NOUN
ajst-16294	152	24	(	(	PUNCT
ajst-16294	152	25	)	)	PUNCT
ajst-16294	152	26	1	1	NUM
ajst-16294	152	27	0	0	NUM
ajst-16294	152	28	1	1	NUM
ajst-16294	152	29	1	1	NUM
ajst-16294	152	30	w	w	NOUN
ajst-16294	152	31	w	w	PROPN
ajst-16294	152	32	d	d	PROPN
ajst-16294	153	1	d	d	PROPN
ajst-16294	153	2	d	d	PROPN
ajst-16294	154	1	d	d	PROPN
ajst-16294	154	2	d	d	PROPN
ajst-16294	155	1	d	d	PROPN
ajst-16294	155	2	w	w	PROPN
ajst-16294	155	3	w	w	PROPN
ajst-16294	155	4	q	q	PROPN
ajst-16294	155	5	q	q	X
ajst-16294	155	6	q	q	X
ajst-16294	155	7	q	q	X
ajst-16294	155	8	q	q	X
ajst-16294	155	9	q	q	X
ajst-16294	155	10	qs	qs	INTJ
ajst-16294	155	11	dd	dd	VERB
ajst-16294	155	12	dd	dd	NOUN
ajst-16294	155	13	d	d	PROPN
ajst-16294	155	14	mq	mq	PROPN
ajst-16294	155	15	qd	qd	PROPN
ajst-16294	155	16	s	s	PART
ajst-16294	155	17	q	q	X
ajst-16294	155	18	qq	qq	INTJ
ajst-16294	155	19	q	q	PROPN
ajst-16294	156	1	k	k	PROPN
ajst-16294	156	2	s	s	X
ajst-16294	156	3	s	s	X
ajst-16294	156	4	k	k	NOUN
ajst-16294	156	5	s	s	X
ajst-16294	156	6	s	s	X
ajst-16294	156	7	k	k	NOUN
ajst-16294	156	8	s	s	X
ajst-16294	156	9	s	s	X
ajst-16294	156	10	k	k	NOUN
ajst-16294	156	11	s	s	X
ajst-16294	156	12	s	s	X
ajst-16294	156	13	lr	lr	X
ajst-16294	156	14	li	li	PROPN
ajst-16294	156	15	ul	ul	PROPN
ajst-16294	156	16	l	l	NOUN
ajst-16294	157	1	i	i	PRON
ajst-16294	157	2	ul	ul	VERB
ajst-16294	157	3	r	r	NOUN
ajst-16294	157	4	l	l	NOUN
ajst-16294	157	5	ll	ll	AUX
ajst-16294	157	6	l	l	X
ajst-16294	157	7			X
ajst-16294	157	8			PROPN
ajst-16294	157	9			X
ajst-16294	157	10			PROPN
ajst-16294	157	11			PROPN
ajst-16294	157	12			PROPN
ajst-16294	157	13			PROPN
ajst-16294	157	14			NOUN
ajst-16294	157	15			NUM
ajst-16294	157	16			NOUN
ajst-16294	157	17			NOUN
ajst-16294	157	18			NOUN
ajst-16294	157	19			PROPN
ajst-16294	157	20			PROPN
ajst-16294	157	21			ADJ
ajst-16294	157	22			PROPN
ajst-16294	157	23			NOUN
ajst-16294	157	24			X
ajst-16294	157	25			PROPN
ajst-16294	157	26			NOUN
ajst-16294	157	27			NOUN
ajst-16294	157	28			NOUN
ajst-16294	157	29			NOUN
ajst-16294	157	30			NOUN
ajst-16294	157	31			PROPN
ajst-16294	157	32			ADJ
ajst-16294	157	33			NOUN
ajst-16294	157	34			PROPN
ajst-16294	157	35			NOUN
ajst-16294	157	36			NOUN
ajst-16294	157	37			NOUN
ajst-16294	157	38			ADJ
ajst-16294	157	39			ADJ
ajst-16294	157	40			NOUN
ajst-16294	157	41			NOUN
ajst-16294	157	42			NOUN
ajst-16294	157	43			PROPN
ajst-16294	157	44			PROPN
ajst-16294	157	45			NOUN
ajst-16294	157	46			PROPN
ajst-16294	157	47			PROPN
ajst-16294	157	48			NOUN
ajst-16294	157	49			PROPN
ajst-16294	157	50			NOUN
ajst-16294	157	51			PROPN
ajst-16294	157	52			PROPN
ajst-16294	157	53			NOUN
ajst-16294	157	54			NOUN
ajst-16294	157	55			NOUN
ajst-16294	157	56			PROPN
ajst-16294	157	57			NOUN
ajst-16294	157	58			NOUN
ajst-16294	157	59			VERB
ajst-16294	157	60			PROPN
ajst-16294	157	61			PROPN
ajst-16294	157	62	(	(	PUNCT
ajst-16294	157	63	26	26	NUM
ajst-16294	157	64	)	)	PUNCT
ajst-16294	157	65	the	the	DET
ajst-16294	157	66	expression	expression	NOUN
ajst-16294	157	67	for	for	ADP
ajst-16294	157	68	the	the	DET
ajst-16294	157	69	current	current	ADJ
ajst-16294	157	70	slip	slip	NOUN
ajst-16294	157	71	film	film	NOUN
ajst-16294	157	72	controller	controller	NOUN
ajst-16294	157	73	is	be	AUX
ajst-16294	157	74	obtained	obtain	VERB
ajst-16294	157	75	from	from	ADP
ajst-16294	157	76	equation	equation	NOUN
ajst-16294	157	77	(	(	PUNCT
ajst-16294	157	78	26	26	NUM
ajst-16294	157	79	):	):	SYM
ajst-16294	157	80	1	1	NUM
ajst-16294	157	81	1	1	NUM
ajst-16294	157	82	2	2	NUM
ajst-16294	157	83	1	1	NUM
ajst-16294	157	84	2	2	NUM
ajst-16294	157	85	2	2	NUM
ajst-16294	157	86	1	1	NUM
ajst-16294	157	87	2	2	NUM
ajst-16294	157	88	0	0	NUM
ajst-16294	157	89	sgn	sgn	NOUN
ajst-16294	157	90	(	(	PUNCT
ajst-16294	157	91	)	)	PUNCT
ajst-16294	157	92	sgn	sgn	NOUN
ajst-16294	157	93	(	(	PUNCT
ajst-16294	157	94	)	)	PUNCT
ajst-16294	157	95	sgn	sgn	NOUN
ajst-16294	157	96	(	(	PUNCT
ajst-16294	157	97	)	)	PUNCT
ajst-16294	157	98	sgn	sgn	NOUN
ajst-16294	157	99	(	(	PUNCT
ajst-16294	157	100	)	)	PUNCT
ajst-16294	157	101	d	d	NOUN
ajst-16294	157	102	ds	ds	PROPN
ajst-16294	157	103	q	q	NOUN
ajst-16294	157	104	q	q	X
ajst-16294	157	105	qd	qd	ADP
ajst-16294	157	106	s	s	NOUN
ajst-16294	157	107	m	m	PROPN
ajst-16294	157	108	w	w	PROPN
ajst-16294	157	109	w	w	PROPN
ajst-16294	157	110	d	d	PROPN
ajst-16294	157	111	d	d	PROPN
ajst-16294	158	1	d	d	PROPN
ajst-16294	158	2	d	d	X
ajst-16294	158	3	d	d	X
ajst-16294	158	4	dd	dd	PROPN
ajst-16294	158	5	w	w	PROPN
ajst-16294	158	6	w	w	PROPN
ajst-16294	158	7	q	q	PROPN
ajst-16294	158	8	q	q	X
ajst-16294	158	9	q	q	X
ajst-16294	158	10	q	q	X
ajst-16294	158	11	q	q	X
ajst-16294	158	12	q	q	X
ajst-16294	158	13	q	q	X
ajst-16294	158	14	u	u	X
ajst-16294	158	15	ir	ir	PROPN
ajst-16294	158	16	l	l	NOUN
ajst-16294	158	17	u	u	NOUN
ajst-16294	158	18	il	il	PROPN
ajst-16294	158	19	r	r	NOUN
ajst-16294	158	20	k	k	PROPN
ajst-16294	158	21	s	s	X
ajst-16294	158	22	s	s	X
ajst-16294	158	23	k	k	X
ajst-16294	158	24	s	s	X
ajst-16294	158	25	sl	sl	INTJ
ajst-16294	158	26	l	l	NOUN
ajst-16294	158	27	k	k	PROPN
ajst-16294	159	1	s	s	X
ajst-16294	159	2	s	s	X
ajst-16294	159	3	k	k	PROPN
ajst-16294	159	4	s	s	X
ajst-16294	159	5	s	s	X
ajst-16294	159	6			X
ajst-16294	159	7			X
ajst-16294	159	8			PROPN
ajst-16294	159	9			NOUN
ajst-16294	159	10			VERB
ajst-16294	159	11			PROPN
ajst-16294	159	12			PROPN
ajst-16294	159	13			INTJ
ajst-16294	159	14			PROPN
ajst-16294	159	15			NOUN
ajst-16294	159	16			PROPN
ajst-16294	159	17			PROPN
ajst-16294	159	18			NOUN
ajst-16294	159	19			NOUN
ajst-16294	159	20			PROPN
ajst-16294	159	21			NOUN
ajst-16294	159	22			NOUN
ajst-16294	159	23			NOUN
ajst-16294	159	24			NOUN
ajst-16294	159	25			PROPN
ajst-16294	159	26			VERB
ajst-16294	159	27			PROPN
ajst-16294	159	28			PROPN
ajst-16294	159	29			VERB
ajst-16294	159	30			PROPN
ajst-16294	159	31			PROPN
ajst-16294	159	32			PROPN
ajst-16294	159	33			X
ajst-16294	159	34			NOUN
ajst-16294	159	35			NOUN
ajst-16294	159	36			NOUN
ajst-16294	159	37			NOUN
ajst-16294	159	38			NOUN
ajst-16294	159	39			PRON
ajst-16294	159	40			PROPN
ajst-16294	159	41			NOUN
ajst-16294	159	42			PROPN
ajst-16294	159	43	(	(	PUNCT
ajst-16294	159	44	27	27	NUM
ajst-16294	159	45	)	)	PUNCT
ajst-16294	159	46	63	63	NUM
ajst-16294	159	47	prove	prove	VERB
ajst-16294	159	48	the	the	DET
ajst-16294	159	49	stability	stability	NOUN
ajst-16294	159	50	of	of	ADP
ajst-16294	159	51	the	the	DET
ajst-16294	159	52	current	current	ADJ
ajst-16294	159	53	slip	slip	NOUN
ajst-16294	159	54	film	film	NOUN
ajst-16294	159	55	controller	controller	NOUN
ajst-16294	159	56	and	and	CCONJ
ajst-16294	159	57	construct	construct	VERB
ajst-16294	159	58	the	the	DET
ajst-16294	159	59	lyapunov	lyapunov	ADJ
ajst-16294	159	60	function	function	NOUN
ajst-16294	159	61	:	:	PUNCT
ajst-16294	159	62	2	2	NUM
ajst-16294	159	63	2	2	NUM
ajst-16294	159	64	21	21	NUM
ajst-16294	159	65	1	1	NUM
ajst-16294	159	66	(	(	PUNCT
ajst-16294	159	67	)	)	PUNCT
ajst-16294	159	68	2	2	NUM
ajst-16294	159	69	2i	2i	NOUN
ajst-16294	159	70	d	d	NOUN
ajst-16294	159	71	qv	qv	PRON
ajst-16294	159	72	s	s	X
ajst-16294	159	73	s	s	X
ajst-16294	159	74	s	s	NOUN
ajst-16294	159	75			NOUN
ajst-16294	159	76			ADJ
ajst-16294	159	77	(	(	PUNCT
ajst-16294	159	78	28	28	NUM
ajst-16294	159	79	)	)	PUNCT
ajst-16294	159	80	differentiation	differentiation	NOUN
ajst-16294	159	81	of	of	ADP
ajst-16294	159	82	eq	eq	PROPN
ajst-16294	159	83	.	.	PUNCT
ajst-16294	160	1	(	(	PUNCT
ajst-16294	160	2	28	28	NUM
ajst-16294	160	3	)	)	PUNCT
ajst-16294	160	4	yields	yield	NOUN
ajst-16294	160	5	:	:	PUNCT
ajst-16294	161	1	i	i	PROPN
ajst-16294	161	2	d	d	NOUN
ajst-16294	162	1	d	d	X
ajst-16294	162	2	q	q	X
ajst-16294	162	3	qv	qv	X
ajst-16294	162	4	s	s	X
ajst-16294	162	5	s	s	NOUN
ajst-16294	162	6	s	s	NOUN
ajst-16294	162	7	s	s	ADJ
ajst-16294	162	8			NOUN
ajst-16294	162	9			NOUN
ajst-16294	162	10	(	(	PUNCT
ajst-16294	162	11	29	29	NUM
ajst-16294	162	12	)	)	PUNCT
ajst-16294	162	13	associative	associative	ADJ
ajst-16294	162	14	equations	equation	NOUN
ajst-16294	162	15	(	(	PUNCT
ajst-16294	162	16	11	11	NUM
ajst-16294	162	17	)	)	PUNCT
ajst-16294	162	18	,	,	PUNCT
ajst-16294	162	19	(	(	PUNCT
ajst-16294	162	20	19	19	NUM
ajst-16294	162	21	)	)	PUNCT
ajst-16294	162	22	,	,	PUNCT
ajst-16294	162	23	and	and	CCONJ
ajst-16294	162	24	(	(	PUNCT
ajst-16294	162	25	23	23	NUM
ajst-16294	162	26	)	)	PUNCT
ajst-16294	162	27	are	be	AUX
ajst-16294	162	28	used	use	VERB
ajst-16294	162	29	to	to	PART
ajst-16294	162	30	construct	construct	VERB
ajst-16294	162	31	the	the	DET
ajst-16294	162	32	lyapunov	lyapunov	ADJ
ajst-16294	162	33	stabilization	stabilization	NOUN
ajst-16294	162	34	equations	equation	NOUN
ajst-16294	162	35	for	for	ADP
ajst-16294	162	36	the	the	DET
ajst-16294	162	37	current	current	ADJ
ajst-16294	162	38	sliding	slide	VERB
ajst-16294	162	39	film	film	NOUN
ajst-16294	162	40	controller	controller	NOUN
ajst-16294	162	41	:	:	PUNCT
ajst-16294	162	42	1	1	NUM
ajst-16294	162	43	2	2	NUM
ajst-16294	162	44	1	1	NUM
ajst-16294	162	45	2	2	NUM
ajst-16294	162	46	1	1	NUM
ajst-16294	162	47	2	2	NUM
ajst-16294	162	48	1	1	NUM
ajst-16294	162	49	2	2	NUM
ajst-16294	162	50	sgn	sgn	NOUN
ajst-16294	162	51	(	(	PUNCT
ajst-16294	162	52	)	)	PUNCT
ajst-16294	162	53	(	(	PUNCT
ajst-16294	162	54	)	)	PUNCT
ajst-16294	162	55	sgn	sgn	NOUN
ajst-16294	162	56	(	(	PUNCT
ajst-16294	162	57	)	)	PUNCT
ajst-16294	162	58	(	(	PUNCT
ajst-16294	162	59	)	)	PUNCT
ajst-16294	162	60	sgn	sgn	NOUN
ajst-16294	162	61	(	(	PUNCT
ajst-16294	162	62	)	)	PUNCT
ajst-16294	162	63	(	(	PUNCT
ajst-16294	162	64	)	)	PUNCT
ajst-16294	162	65	sgn	sgn	NOUN
ajst-16294	162	66	(	(	PUNCT
ajst-16294	162	67	)	)	PUNCT
ajst-16294	162	68	(	(	PUNCT
ajst-16294	162	69	)	)	PUNCT
ajst-16294	163	1	d	d	X
ajst-16294	163	2	d	d	X
ajst-16294	163	3	q	q	X
ajst-16294	163	4	q	q	X
ajst-16294	163	5	w	w	NOUN
ajst-16294	163	6	i	i	NOUN
ajst-16294	164	1	d	d	PROPN
ajst-16294	164	2	d	d	PROPN
ajst-16294	165	1	d	d	PROPN
ajst-16294	165	2	d	d	PROPN
ajst-16294	165	3	d	d	PROPN
ajst-16294	165	4	d	d	PROPN
ajst-16294	165	5	d	d	PROPN
ajst-16294	165	6	w	w	PROPN
ajst-16294	166	1	d	d	PROPN
ajst-16294	166	2	d	d	PROPN
ajst-16294	167	1	d	d	PROPN
ajst-16294	167	2	d	d	PROPN
ajst-16294	167	3	d	d	PROPN
ajst-16294	167	4	d	d	PROPN
ajst-16294	167	5	d	d	X
ajst-16294	167	6	w	w	PROPN
ajst-16294	167	7	q	q	X
ajst-16294	167	8	q	q	X
ajst-16294	167	9	q	q	X
ajst-16294	167	10	q	q	X
ajst-16294	167	11	q	q	X
ajst-16294	167	12	q	q	X
ajst-16294	167	13	q	q	PROPN
ajst-16294	167	14	w	w	NOUN
ajst-16294	167	15	q	q	X
ajst-16294	167	16	q	q	X
ajst-16294	167	17	q	q	X
ajst-16294	167	18	q	q	X
ajst-16294	167	19	q	q	X
ajst-16294	167	20	q	q	X
ajst-16294	168	1	q	q	X
ajst-16294	168	2	v	v	INTJ
ajst-16294	168	3	k	k	INTJ
ajst-16294	169	1	i	i	PRON
ajst-16294	169	2	i	i	PRON
ajst-16294	170	1	i	i	PRON
ajst-16294	170	2	i	i	PRON
ajst-16294	171	1	i	i	PRON
ajst-16294	172	1	i	i	VERB
ajst-16294	172	2	k	k	VERB
ajst-16294	173	1	i	i	PRON
ajst-16294	173	2	i	i	PRON
ajst-16294	174	1	i	i	PRON
ajst-16294	174	2	i	i	PRON
ajst-16294	175	1	i	i	PRON
ajst-16294	176	1	i	i	VERB
ajst-16294	176	2	k	k	VERB
ajst-16294	177	1	i	i	PRON
ajst-16294	177	2	i	i	PRON
ajst-16294	178	1	i	i	PRON
ajst-16294	178	2	i	i	PRON
ajst-16294	179	1	i	i	PRON
ajst-16294	180	1	i	i	VERB
ajst-16294	180	2	k	k	VERB
ajst-16294	181	1	i	i	PRON
ajst-16294	181	2	i	i	PRON
ajst-16294	182	1	i	i	PRON
ajst-16294	182	2	i	i	PRON
ajst-16294	183	1	i	i	PRON
ajst-16294	184	1	i	i	INTJ
ajst-16294	184	2			PROPN
ajst-16294	185	1			PROPN
ajst-16294	185	2			PROPN
ajst-16294	185	3			PROPN
ajst-16294	185	4			PROPN
ajst-16294	185	5			PROPN
ajst-16294	185	6			PROPN
ajst-16294	185	7			PROPN
ajst-16294	185	8			PROPN
ajst-16294	185	9			PROPN
ajst-16294	185	10			PROPN
ajst-16294	185	11			PROPN
ajst-16294	186	1			PROPN
ajst-16294	186	2			PROPN
ajst-16294	186	3			PROPN
ajst-16294	186	4			PROPN
ajst-16294	186	5			PROPN
ajst-16294	186	6			PROPN
ajst-16294	186	7			PROPN
ajst-16294	186	8			PROPN
ajst-16294	186	9			PROPN
ajst-16294	186	10			PROPN
ajst-16294	186	11			PROPN
ajst-16294	186	12			PROPN
ajst-16294	186	13			PROPN
ajst-16294	186	14			PROPN
ajst-16294	186	15			PROPN
ajst-16294	186	16			PROPN
ajst-16294	186	17			NOUN
ajst-16294	186	18			NOUN
ajst-16294	186	19	(	(	PUNCT
ajst-16294	186	20	30	30	NUM
ajst-16294	186	21	)	)	PUNCT
ajst-16294	186	22	the	the	DET
ajst-16294	186	23	analysis	analysis	NOUN
ajst-16294	186	24	of	of	ADP
ajst-16294	186	25	eq	eq	PROPN
ajst-16294	186	26	.	.	PUNCT
ajst-16294	187	1	(	(	PUNCT
ajst-16294	187	2	20	20	NUM
ajst-16294	187	3	)	)	PUNCT
ajst-16294	187	4	shows	show	VERB
ajst-16294	187	5	that	that	SCONJ
ajst-16294	187	6	the	the	DET
ajst-16294	187	7	first	first	ADJ
ajst-16294	187	8	terms	term	NOUN
ajst-16294	187	9	sgn	sgn	NOUN
ajst-16294	187	10	(	(	PUNCT
ajst-16294	187	11	)	)	PUNCT
ajst-16294	187	12	i	i	PRON
ajst-16294	187	13	i	i	VERB
ajst-16294	187	14			PROPN
ajst-16294	188	1	and	and	CCONJ
ajst-16294	188	2	i	i	PRON
ajst-16294	188	3	i	i	PROPN
ajst-16294	188	4			PROPN
ajst-16294	188	5	have	have	VERB
ajst-16294	188	6	the	the	DET
ajst-16294	188	7	same	same	ADJ
ajst-16294	188	8	positivity	positivity	NOUN
ajst-16294	188	9	,	,	PUNCT
ajst-16294	188	10	so	so	SCONJ
ajst-16294	188	11	it	it	PRON
ajst-16294	188	12	satisfies	satisfy	VERB
ajst-16294	188	13	the	the	DET
ajst-16294	188	14	lyapunov	lyapunov	ADJ
ajst-16294	188	15	stability	stability	NOUN
ajst-16294	188	16	condition	condition	NOUN
ajst-16294	188	17	(	(	PUNCT
ajst-16294	188	18	)	)	PUNCT
ajst-16294	188	19	0v	0v	NOUN
ajst-16294	188	20	x	x	PUNCT
ajst-16294	188	21			NOUN
ajst-16294	188	22	.	.	PUNCT
ajst-16294	189	1	therefore	therefore	ADV
ajst-16294	189	2	,	,	PUNCT
ajst-16294	189	3	the	the	DET
ajst-16294	189	4	designed	design	VERB
ajst-16294	189	5	rotational	rotational	ADJ
ajst-16294	189	6	speed	speed	NOUN
ajst-16294	189	7	sliding	slide	VERB
ajst-16294	189	8	film	film	NOUN
ajst-16294	189	9	controller	controller	NOUN
ajst-16294	189	10	can	can	AUX
ajst-16294	189	11	quickly	quickly	ADV
ajst-16294	189	12	converge	converge	VERB
ajst-16294	189	13	to	to	ADP
ajst-16294	189	14	the	the	DET
ajst-16294	189	15	sliding	slide	VERB
ajst-16294	189	16	mode	mode	NOUN
ajst-16294	189	17	surface	surface	NOUN
ajst-16294	189	18	in	in	ADP
ajst-16294	189	19	a	a	DET
ajst-16294	189	20	finite	finite	ADJ
ajst-16294	189	21	time	time	NOUN
ajst-16294	189	22	,	,	PUNCT
ajst-16294	189	23	and	and	CCONJ
ajst-16294	189	24	the	the	DET
ajst-16294	189	25	sliding	slide	VERB
ajst-16294	189	26	mode	mode	NOUN
ajst-16294	189	27	controller	controller	NOUN
ajst-16294	189	28	is	be	AUX
ajst-16294	189	29	stable	stable	ADJ
ajst-16294	189	30	.	.	PUNCT
ajst-16294	190	1	4	4	X
ajst-16294	190	2	.	.	X
ajst-16294	190	3	simulation	simulation	NOUN
ajst-16294	190	4	experiment	experiment	NOUN
ajst-16294	190	5	and	and	CCONJ
ajst-16294	190	6	analysis	analysis	NOUN
ajst-16294	190	7	to	to	PART
ajst-16294	190	8	verify	verify	VERB
ajst-16294	190	9	the	the	DET
ajst-16294	190	10	synchronization	synchronization	NOUN
ajst-16294	190	11	and	and	CCONJ
ajst-16294	190	12	effectiveness	effectiveness	NOUN
ajst-16294	190	13	of	of	ADP
ajst-16294	190	14	the	the	DET
ajst-16294	190	15	proposed	propose	VERB
ajst-16294	190	16	sliding	slide	VERB
ajst-16294	190	17	mode	mode	PROPN
ajst-16294	190	18	virtual	virtual	ADJ
ajst-16294	190	19	spindle	spindle	NOUN
ajst-16294	190	20	-	-	PUNCT
ajst-16294	190	21	adjacent	adjacent	ADJ
ajst-16294	190	22	crosscoupling	crosscoupling	NOUN
ajst-16294	190	23	control	control	NOUN
ajst-16294	190	24	,	,	PUNCT
ajst-16294	190	25	the	the	DET
ajst-16294	190	26	motor	motor	PROPN
ajst-16294	190	27	control	control	PROPN
ajst-16294	190	28	simulation	simulation	NOUN
ajst-16294	190	29	experiments	experiment	NOUN
ajst-16294	190	30	of	of	ADP
ajst-16294	190	31	pi	pi	NOUN
ajst-16294	190	32	deviation	deviation	NOUN
ajst-16294	190	33	coupling	couple	VERB
ajst-16294	190	34	control	control	NOUN
ajst-16294	190	35	,	,	PUNCT
ajst-16294	190	36	smc	smc	PROPN
ajst-16294	190	37	deviation	deviation	NOUN
ajst-16294	190	38	coupling	couple	VERB
ajst-16294	190	39	control	control	NOUN
ajst-16294	190	40	,	,	PUNCT
ajst-16294	190	41	smc	smc	PROPN
ajst-16294	190	42	adjacent	adjacent	PROPN
ajst-16294	190	43	cross	cross	ADJ
ajst-16294	190	44	-	-	ADJ
ajst-16294	190	45	coupling	coupling	ADJ
ajst-16294	190	46	control	control	NOUN
ajst-16294	190	47	,	,	PUNCT
ajst-16294	190	48	and	and	CCONJ
ajst-16294	190	49	smc	smc	PROPN
ajst-16294	190	50	virtual	virtual	ADJ
ajst-16294	190	51	spindle	spindle	NOUN
ajst-16294	190	52	-	-	PUNCT
ajst-16294	190	53	adjacent	adjacent	ADJ
ajst-16294	190	54	cross	cross	ADJ
ajst-16294	190	55	-	-	ADJ
ajst-16294	190	56	coupling	coupling	ADJ
ajst-16294	190	57	control	control	NOUN
ajst-16294	190	58	are	be	AUX
ajst-16294	190	59	constructed	construct	VERB
ajst-16294	190	60	in	in	ADP
ajst-16294	190	61	the	the	DET
ajst-16294	190	62	matlb	matlb	NOUN
ajst-16294	190	63	/	/	SYM
ajst-16294	190	64	simulink	simulink	NOUN
ajst-16294	190	65	platform	platform	NOUN
ajst-16294	190	66	,	,	PUNCT
ajst-16294	190	67	respectively	respectively	ADV
ajst-16294	190	68	.	.	PUNCT
ajst-16294	191	1	four	four	NUM
ajst-16294	191	2	permanent	permanent	ADJ
ajst-16294	191	3	magnet	magnet	NOUN
ajst-16294	191	4	synchronous	synchronous	ADJ
ajst-16294	191	5	motors	motor	NOUN
ajst-16294	191	6	of	of	ADP
ajst-16294	191	7	the	the	DET
ajst-16294	191	8	same	same	ADJ
ajst-16294	191	9	model	model	NOUN
ajst-16294	191	10	are	be	AUX
ajst-16294	191	11	selected	select	VERB
ajst-16294	191	12	as	as	ADP
ajst-16294	191	13	the	the	DET
ajst-16294	191	14	controlled	control	VERB
ajst-16294	191	15	motors	motor	NOUN
ajst-16294	191	16	,	,	PUNCT
ajst-16294	191	17	and	and	CCONJ
ajst-16294	191	18	their	their	PRON
ajst-16294	191	19	corresponding	correspond	VERB
ajst-16294	191	20	parameters	parameter	NOUN
ajst-16294	191	21	are	be	AUX
ajst-16294	191	22	slightly	slightly	ADV
ajst-16294	191	23	different	different	ADJ
ajst-16294	191	24	considering	consider	VERB
ajst-16294	191	25	the	the	DET
ajst-16294	191	26	actual	actual	ADJ
ajst-16294	191	27	situation	situation	NOUN
ajst-16294	191	28	.	.	PUNCT
ajst-16294	192	1	the	the	DET
ajst-16294	192	2	parameters	parameter	NOUN
ajst-16294	192	3	of	of	ADP
ajst-16294	192	4	the	the	DET
ajst-16294	192	5	four	four	NUM
ajst-16294	192	6	motors	motor	NOUN
ajst-16294	192	7	are	be	AUX
ajst-16294	192	8	shown	show	VERB
ajst-16294	192	9	in	in	ADP
ajst-16294	192	10	table	table	NOUN
ajst-16294	192	11	1	1	NUM
ajst-16294	192	12	.	.	PUNCT
ajst-16294	192	13	table	table	NOUN
ajst-16294	192	14	1	1	NUM
ajst-16294	192	15	.	.	PUNCT
ajst-16294	193	1	the	the	DET
ajst-16294	193	2	parameters	parameter	NOUN
ajst-16294	193	3	of	of	ADP
ajst-16294	193	4	the	the	DET
ajst-16294	193	5	four	four	NUM
ajst-16294	193	6	motors	motor	NOUN
ajst-16294	193	7	stator	stator	NOUN
ajst-16294	193	8	resistance(ω	resistance(ω	PROPN
ajst-16294	193	9	)	)	PUNCT
ajst-16294	193	10	armature	armature	NOUN
ajst-16294	193	11	inductance(h	inductance(h	PROPN
ajst-16294	193	12	)	)	PUNCT
ajst-16294	193	13	flux	flux	PROPN
ajst-16294	193	14	linkage(wb	linkage(wb	PROPN
ajst-16294	193	15	)	)	PUNCT
ajst-16294	193	16	viscous	viscous	ADJ
ajst-16294	193	17	damping(nꞏmꞏs	damping(nꞏmꞏ	NOUN
ajst-16294	193	18	)	)	PUNCT
ajst-16294	193	19	inertia(kgꞏm2	inertia(kgꞏm2	NOUN
ajst-16294	193	20	)	)	PUNCT
ajst-16294	193	21	pole	pole	NOUN
ajst-16294	193	22	pairs	pair	NOUN
ajst-16294	193	23	motor	motor	NOUN
ajst-16294	193	24	1	1	NUM
ajst-16294	193	25	1.5	1.5	NUM
ajst-16294	193	26	0.012468	0.012468	NUM
ajst-16294	193	27	0.175	0.175	NUM
ajst-16294	193	28	0.0003	0.0003	NUM
ajst-16294	193	29	0.000762	0.000762	NUM
ajst-16294	193	30	4	4	NUM
ajst-16294	193	31	motor	motor	NOUN
ajst-16294	193	32	2	2	NUM
ajst-16294	193	33	1.51	1.51	NUM
ajst-16294	193	34	0.012466	0.012466	NUM
ajst-16294	193	35	0.1751	0.1751	NUM
ajst-16294	193	36	0.00031	0.00031	NUM
ajst-16294	193	37	0.000763	0.000763	NUM
ajst-16294	193	38	4	4	NUM
ajst-16294	193	39	motor	motor	NOUN
ajst-16294	193	40	3	3	NUM
ajst-16294	193	41	1.52	1.52	NUM
ajst-16294	193	42	0.012468	0.012468	NUM
ajst-16294	193	43	0.1752	0.1752	NUM
ajst-16294	193	44	0.00032	0.00032	NUM
ajst-16294	193	45	0.000764	0.000764	NUM
ajst-16294	193	46	4	4	NUM
ajst-16294	193	47	motor	motor	NOUN
ajst-16294	193	48	4	4	NUM
ajst-16294	193	49	1.49	1.49	NUM
ajst-16294	193	50	0.012468	0.012468	NUM
ajst-16294	193	51	0.1749	0.1749	NUM
ajst-16294	193	52	0.00033	0.00033	NUM
ajst-16294	193	53	0.000759	0.000759	NUM
ajst-16294	193	54	4	4	NUM
ajst-16294	193	55	in	in	ADP
ajst-16294	193	56	the	the	DET
ajst-16294	193	57	simulation	simulation	NOUN
ajst-16294	193	58	test	test	NOUN
ajst-16294	193	59	,	,	PUNCT
ajst-16294	193	60	the	the	DET
ajst-16294	193	61	given	give	VERB
ajst-16294	193	62	speed	speed	NOUN
ajst-16294	193	63	is	be	AUX
ajst-16294	193	64	500r	500r	NUM
ajst-16294	193	65	/	/	SYM
ajst-16294	193	66	min	min	NOUN
ajst-16294	193	67	and	and	CCONJ
ajst-16294	193	68	the	the	DET
ajst-16294	193	69	load	load	NOUN
ajst-16294	193	70	torque	torque	NOUN
ajst-16294	193	71	is	be	AUX
ajst-16294	193	72	1	1	NUM
ajst-16294	193	73	n·m	n·m	NUM
ajst-16294	193	74	.	.	PUNCT
ajst-16294	194	1	the	the	DET
ajst-16294	194	2	load	load	NOUN
ajst-16294	194	3	torque	torque	NOUN
ajst-16294	194	4	rises	rise	VERB
ajst-16294	194	5	to	to	ADP
ajst-16294	194	6	3	3	NUM
ajst-16294	194	7	n·m	n·m	NOUN
ajst-16294	194	8	in	in	ADP
ajst-16294	194	9	20ms	20ms	ADJ
ajst-16294	194	10	of	of	ADP
ajst-16294	194	11	steady	steady	ADJ
ajst-16294	194	12	-	-	PUNCT
ajst-16294	194	13	state	state	NOUN
ajst-16294	194	14	operation	operation	NOUN
ajst-16294	194	15	and	and	CCONJ
ajst-16294	194	16	decreases	decrease	VERB
ajst-16294	194	17	to	to	ADP
ajst-16294	194	18	2	2	NUM
ajst-16294	194	19	n·m	n·m	NOUN
ajst-16294	194	20	in	in	ADP
ajst-16294	194	21	60ms	60ms	ADJ
ajst-16294	194	22	of	of	ADP
ajst-16294	194	23	steady	steady	ADJ
ajst-16294	194	24	-	-	PUNCT
ajst-16294	194	25	state	state	NOUN
ajst-16294	194	26	operation	operation	NOUN
ajst-16294	194	27	.	.	PUNCT
ajst-16294	195	1	the	the	DET
ajst-16294	195	2	motor	motor	NOUN
ajst-16294	195	3	speed	speed	NOUN
ajst-16294	195	4	under	under	ADP
ajst-16294	195	5	different	different	ADJ
ajst-16294	195	6	control	control	NOUN
ajst-16294	195	7	is	be	AUX
ajst-16294	195	8	shown	show	VERB
ajst-16294	195	9	in	in	ADP
ajst-16294	195	10	figure	figure	NOUN
ajst-16294	195	11	3	3	NUM
ajst-16294	195	12	,	,	PUNCT
ajst-16294	195	13	the	the	DET
ajst-16294	195	14	motor	motor	NOUN
ajst-16294	195	15	speed	speed	NOUN
ajst-16294	195	16	of	of	ADP
ajst-16294	195	17	the	the	DET
ajst-16294	195	18	smc	smc	PROPN
ajst-16294	195	19	control	control	PROPN
ajst-16294	195	20	structure	structure	NOUN
ajst-16294	195	21	enters	enter	VERB
ajst-16294	195	22	the	the	DET
ajst-16294	195	23	steady	steady	ADJ
ajst-16294	195	24	state	state	NOUN
ajst-16294	195	25	in	in	ADP
ajst-16294	195	26	8ms	8ms	ADJ
ajst-16294	195	27	and	and	CCONJ
ajst-16294	195	28	has	have	VERB
ajst-16294	195	29	no	no	DET
ajst-16294	195	30	overshooting	overshooting	NOUN
ajst-16294	195	31	,	,	PUNCT
ajst-16294	195	32	while	while	SCONJ
ajst-16294	195	33	the	the	DET
ajst-16294	195	34	motor	motor	NOUN
ajst-16294	195	35	speed	speed	NOUN
ajst-16294	195	36	of	of	ADP
ajst-16294	195	37	the	the	DET
ajst-16294	195	38	pi	pi	PROPN
ajst-16294	195	39	control	control	NOUN
ajst-16294	195	40	structure	structure	NOUN
ajst-16294	195	41	has	have	VERB
ajst-16294	195	42	overshooting	overshoot	VERB
ajst-16294	195	43	and	and	CCONJ
ajst-16294	195	44	vibration	vibration	NOUN
ajst-16294	195	45	shaking	shake	VERB
ajst-16294	195	46	phenomenon	phenomenon	NOUN
ajst-16294	195	47	,	,	PUNCT
ajst-16294	195	48	and	and	CCONJ
ajst-16294	195	49	the	the	DET
ajst-16294	195	50	steady	steady	ADJ
ajst-16294	195	51	state	state	NOUN
ajst-16294	195	52	adjustment	adjustment	NOUN
ajst-16294	195	53	time	time	NOUN
ajst-16294	195	54	is	be	AUX
ajst-16294	195	55	5ms	5ms	ADJ
ajst-16294	195	56	.	.	PUNCT
ajst-16294	196	1	when	when	SCONJ
ajst-16294	196	2	the	the	DET
ajst-16294	196	3	load	load	NOUN
ajst-16294	196	4	torque	torque	NOUN
ajst-16294	196	5	changes	change	NOUN
ajst-16294	196	6	suddenly	suddenly	ADV
ajst-16294	196	7	,	,	PUNCT
ajst-16294	196	8	the	the	DET
ajst-16294	196	9	speed	speed	NOUN
ajst-16294	196	10	drop	drop	NOUN
ajst-16294	196	11	of	of	ADP
ajst-16294	196	12	the	the	DET
ajst-16294	196	13	smc	smc	PROPN
ajst-16294	196	14	control	control	PROPN
ajst-16294	196	15	system	system	NOUN
ajst-16294	196	16	is	be	AUX
ajst-16294	196	17	smaller	small	ADJ
ajst-16294	196	18	than	than	ADP
ajst-16294	196	19	that	that	PRON
ajst-16294	196	20	of	of	ADP
ajst-16294	196	21	the	the	DET
ajst-16294	196	22	pi	pi	NOUN
ajst-16294	196	23	controller	controller	NOUN
ajst-16294	196	24	,	,	PUNCT
ajst-16294	196	25	and	and	CCONJ
ajst-16294	196	26	it	it	PRON
ajst-16294	196	27	recovers	recover	VERB
ajst-16294	196	28	to	to	ADP
ajst-16294	196	29	the	the	DET
ajst-16294	196	30	steady	steady	ADJ
ajst-16294	196	31	state	state	NOUN
ajst-16294	196	32	quickly	quickly	ADV
ajst-16294	196	33	,	,	PUNCT
ajst-16294	196	34	and	and	CCONJ
ajst-16294	196	35	the	the	DET
ajst-16294	196	36	steady	steady	ADJ
ajst-16294	196	37	state	state	NOUN
ajst-16294	196	38	recovery	recovery	NOUN
ajst-16294	196	39	time	time	NOUN
ajst-16294	196	40	is	be	AUX
ajst-16294	196	41	smaller	small	ADJ
ajst-16294	196	42	than	than	ADP
ajst-16294	196	43	that	that	PRON
ajst-16294	196	44	of	of	ADP
ajst-16294	196	45	the	the	DET
ajst-16294	196	46	pi	pi	PROPN
ajst-16294	196	47	control	control	PROPN
ajst-16294	196	48	.	.	PUNCT
ajst-16294	197	1	the	the	DET
ajst-16294	197	2	smc	smc	PROPN
ajst-16294	197	3	control	control	PROPN
ajst-16294	197	4	system	system	NOUN
ajst-16294	197	5	is	be	AUX
ajst-16294	197	6	more	more	ADV
ajst-16294	197	7	robust	robust	ADJ
ajst-16294	197	8	than	than	ADP
ajst-16294	197	9	the	the	DET
ajst-16294	197	10	pi	pi	PROPN
ajst-16294	197	11	control	control	PROPN
ajst-16294	197	12	.	.	PUNCT
ajst-16294	198	1	the	the	DET
ajst-16294	198	2	smc	smc	PROPN
ajst-16294	198	3	control	control	PROPN
ajst-16294	198	4	system	system	NOUN
ajst-16294	198	5	is	be	AUX
ajst-16294	198	6	more	more	ADV
ajst-16294	198	7	robust	robust	ADJ
ajst-16294	198	8	than	than	ADP
ajst-16294	198	9	the	the	DET
ajst-16294	198	10	pi	pi	PROPN
ajst-16294	198	11	control	control	NOUN
ajst-16294	198	12	,	,	PUNCT
ajst-16294	198	13	improves	improve	VERB
ajst-16294	198	14	the	the	DET
ajst-16294	198	15	anti	anti	ADJ
ajst-16294	198	16	-	-	ADJ
ajst-16294	198	17	interference	interference	ADJ
ajst-16294	198	18	performance	performance	NOUN
ajst-16294	198	19	of	of	ADP
ajst-16294	198	20	the	the	DET
ajst-16294	198	21	system	system	NOUN
ajst-16294	198	22	,	,	PUNCT
ajst-16294	198	23	and	and	CCONJ
ajst-16294	198	24	reduces	reduce	VERB
ajst-16294	198	25	the	the	DET
ajst-16294	198	26	synchronization	synchronization	NOUN
ajst-16294	198	27	error	error	NOUN
ajst-16294	198	28	of	of	ADP
ajst-16294	198	29	multiple	multiple	ADJ
ajst-16294	198	30	motors	motor	NOUN
ajst-16294	198	31	.	.	PUNCT
ajst-16294	199	1	s	s	AUX
ajst-16294	199	2	pe	pe	INTJ
ajst-16294	199	3	ed	ed	NOUN
ajst-16294	199	4	(	(	PUNCT
ajst-16294	199	5	r	r	NOUN
ajst-16294	199	6	/m	/m	PUNCT
ajst-16294	199	7	in	in	ADP
ajst-16294	199	8	)	)	PUNCT
ajst-16294	199	9	time	time	NOUN
ajst-16294	199	10	/	/	SYM
ajst-16294	199	11	ms	ms	PROPN
ajst-16294	199	12	motor	motor	PROPN
ajst-16294	199	13	1	1	NUM
ajst-16294	199	14	motor	motor	NOUN
ajst-16294	199	15	2	2	NUM
ajst-16294	199	16	motor	motor	NOUN
ajst-16294	199	17	3	3	NUM
ajst-16294	199	18	motor	motor	NOUN
ajst-16294	199	19	4	4	NUM
ajst-16294	199	20	0	0	NUM
ajst-16294	199	21	10	10	NUM
ajst-16294	199	22	20	20	NUM
ajst-16294	199	23	30	30	NUM
ajst-16294	199	24	40	40	NUM
ajst-16294	199	25	50	50	NUM
ajst-16294	199	26	60	60	NUM
ajst-16294	199	27	70	70	NUM
ajst-16294	199	28	80	80	NUM
ajst-16294	199	29	90	90	NUM
ajst-16294	199	30	1000	1000	NUM
ajst-16294	199	31	100	100	NUM
ajst-16294	199	32	200	200	NUM
ajst-16294	199	33	300	300	NUM
ajst-16294	199	34	400	400	NUM
ajst-16294	199	35	500	500	NUM
ajst-16294	199	36	(	(	PUNCT
ajst-16294	199	37	c	c	NOUN
ajst-16294	199	38	)	)	PUNCT
ajst-16294	199	39	adjacent	adjacent	ADJ
ajst-16294	199	40	cross	cross	ADJ
ajst-16294	199	41	-	-	ADJ
ajst-16294	199	42	coupled	couple	VERB
ajst-16294	199	43	sliding	slide	VERB
ajst-16294	199	44	mode	mode	NOUN
ajst-16294	199	45	control	control	NOUN
ajst-16294	199	46	s	s	PART
ajst-16294	199	47	pe	pe	INTJ
ajst-16294	199	48	ed	ed	NOUN
ajst-16294	199	49	(	(	PUNCT
ajst-16294	199	50	r	r	NOUN
ajst-16294	199	51	/m	/m	PUNCT
ajst-16294	199	52	in	in	ADP
ajst-16294	199	53	)	)	PUNCT
ajst-16294	199	54	0	0	NUM
ajst-16294	199	55	100	100	NUM
ajst-16294	199	56	200	200	NUM
ajst-16294	199	57	300	300	NUM
ajst-16294	199	58	400	400	NUM
ajst-16294	199	59	500	500	NUM
ajst-16294	199	60	time	time	NOUN
ajst-16294	199	61	/	/	SYM
ajst-16294	199	62	ms	ms	NOUN
ajst-16294	199	63	0	0	NUM
ajst-16294	199	64	10	10	NUM
ajst-16294	199	65	20	20	NUM
ajst-16294	199	66	30	30	NUM
ajst-16294	199	67	40	40	NUM
ajst-16294	199	68	50	50	NUM
ajst-16294	199	69	60	60	NUM
ajst-16294	199	70	70	70	NUM
ajst-16294	199	71	80	80	NUM
ajst-16294	199	72	90	90	NUM
ajst-16294	199	73	100	100	NUM
ajst-16294	199	74	motor	motor	NOUN
ajst-16294	199	75	1	1	NUM
ajst-16294	199	76	motor	motor	NOUN
ajst-16294	199	77	2	2	NUM
ajst-16294	199	78	motor	motor	NOUN
ajst-16294	199	79	3	3	NUM
ajst-16294	199	80	motor	motor	NOUN
ajst-16294	199	81	4	4	NUM
ajst-16294	199	82	(	(	PUNCT
ajst-16294	199	83	d	d	NOUN
ajst-16294	199	84	)	)	PUNCT
ajst-16294	199	85	virtual	virtual	ADJ
ajst-16294	199	86	spindle	spindle	NOUN
ajst-16294	199	87	adjacent	adjacent	ADJ
ajst-16294	199	88	cross	cross	ADJ
ajst-16294	199	89	-	-	ADJ
ajst-16294	199	90	coupled	couple	VERB
ajst-16294	199	91	sliding	slide	VERB
ajst-16294	199	92	mode	mode	NOUN
ajst-16294	199	93	control	control	NOUN
ajst-16294	199	94	s	s	PART
ajst-16294	199	95	pe	pe	INTJ
ajst-16294	199	96	ed	ed	NOUN
ajst-16294	199	97	(	(	PUNCT
ajst-16294	199	98	r	r	NOUN
ajst-16294	199	99	/m	/m	PUNCT
ajst-16294	199	100	in	in	ADP
ajst-16294	199	101	)	)	PUNCT
ajst-16294	199	102	0	0	NUM
ajst-16294	199	103	100	100	NUM
ajst-16294	199	104	200	200	NUM
ajst-16294	199	105	300	300	NUM
ajst-16294	199	106	400	400	NUM
ajst-16294	199	107	500	500	NUM
ajst-16294	199	108	time	time	NOUN
ajst-16294	199	109	/	/	SYM
ajst-16294	199	110	ms	ms	NOUN
ajst-16294	199	111	0	0	NUM
ajst-16294	199	112	10	10	NUM
ajst-16294	199	113	20	20	NUM
ajst-16294	199	114	30	30	NUM
ajst-16294	199	115	40	40	NUM
ajst-16294	199	116	50	50	NUM
ajst-16294	199	117	60	60	NUM
ajst-16294	199	118	70	70	NUM
ajst-16294	199	119	80	80	NUM
ajst-16294	199	120	90	90	NUM
ajst-16294	199	121	100	100	NUM
ajst-16294	199	122	motor	motor	NOUN
ajst-16294	199	123	1	1	NUM
ajst-16294	199	124	motor	motor	NOUN
ajst-16294	199	125	2	2	NUM
ajst-16294	199	126	motor	motor	NOUN
ajst-16294	199	127	3	3	NUM
ajst-16294	199	128	motor	motor	NOUN
ajst-16294	199	129	4	4	NUM
ajst-16294	199	130	(	(	PUNCT
ajst-16294	199	131	a	a	DET
ajst-16294	199	132	)	)	PUNCT
ajst-16294	199	133	deviation	deviation	NOUN
ajst-16294	199	134	-	-	PUNCT
ajst-16294	199	135	coupled	couple	VERB
ajst-16294	199	136	pi	pi	NOUN
ajst-16294	199	137	control	control	PROPN
ajst-16294	199	138	s	s	PART
ajst-16294	199	139	pe	pe	INTJ
ajst-16294	199	140	ed	ed	NOUN
ajst-16294	199	141	(	(	PUNCT
ajst-16294	199	142	r	r	NOUN
ajst-16294	199	143	/m	/m	PUNCT
ajst-16294	199	144	in	in	ADP
ajst-16294	199	145	)	)	PUNCT
ajst-16294	199	146	0	0	NUM
ajst-16294	199	147	100	100	NUM
ajst-16294	199	148	200	200	NUM
ajst-16294	199	149	300	300	NUM
ajst-16294	199	150	400	400	NUM
ajst-16294	199	151	500	500	NUM
ajst-16294	199	152	time	time	NOUN
ajst-16294	199	153	/	/	SYM
ajst-16294	199	154	ms	ms	NOUN
ajst-16294	199	155	0	0	NUM
ajst-16294	199	156	10	10	NUM
ajst-16294	199	157	20	20	NUM
ajst-16294	199	158	30	30	NUM
ajst-16294	199	159	40	40	NUM
ajst-16294	199	160	50	50	NUM
ajst-16294	199	161	60	60	NUM
ajst-16294	199	162	70	70	NUM
ajst-16294	199	163	80	80	NUM
ajst-16294	199	164	90	90	NUM
ajst-16294	199	165	100	100	NUM
ajst-16294	199	166	motor	motor	NOUN
ajst-16294	199	167	1	1	NUM
ajst-16294	199	168	motor	motor	NOUN
ajst-16294	199	169	2	2	NUM
ajst-16294	199	170	motor	motor	NOUN
ajst-16294	199	171	3	3	NUM
ajst-16294	199	172	motor	motor	NOUN
ajst-16294	199	173	4	4	NUM
ajst-16294	199	174	(	(	PUNCT
ajst-16294	199	175	b	b	NOUN
ajst-16294	199	176	)	)	PUNCT
ajst-16294	199	177	deviation	deviation	NOUN
ajst-16294	199	178	-	-	PUNCT
ajst-16294	199	179	coupled	couple	VERB
ajst-16294	199	180	sliding	slide	VERB
ajst-16294	199	181	mode	mode	NOUN
ajst-16294	199	182	control	control	NOUN
ajst-16294	199	183	figure	figure	NOUN
ajst-16294	199	184	3	3	NUM
ajst-16294	199	185	.	.	PUNCT
ajst-16294	200	1	speed	speed	NOUN
ajst-16294	200	2	comparison	comparison	NOUN
ajst-16294	200	3	of	of	ADP
ajst-16294	200	4	motors	motor	NOUN
ajst-16294	200	5	with	with	ADP
ajst-16294	200	6	different	different	ADJ
ajst-16294	200	7	control	control	NOUN
ajst-16294	200	8	methods	method	NOUN
ajst-16294	200	9	the	the	DET
ajst-16294	200	10	different	different	ADJ
ajst-16294	200	11	controls	control	NOUN
ajst-16294	200	12	corresponding	correspond	VERB
ajst-16294	200	13	to	to	ADP
ajst-16294	200	14	the	the	DET
ajst-16294	200	15	motor	motor	NOUN
ajst-16294	200	16	error	error	NOUN
ajst-16294	200	17	are	be	AUX
ajst-16294	200	18	shown	show	VERB
ajst-16294	200	19	in	in	ADP
ajst-16294	200	20	figure	figure	NOUN
ajst-16294	200	21	4	4	NUM
ajst-16294	200	22	,	,	PUNCT
ajst-16294	200	23	comparing	compare	VERB
ajst-16294	200	24	figure	figure	NOUN
ajst-16294	200	25	.	.	PUNCT
ajst-16294	201	1	4-(a	4-(a	NUM
ajst-16294	201	2	)	)	PUNCT
ajst-16294	201	3	,	,	PUNCT
ajst-16294	202	1	4-(b	4-(b	NUM
ajst-16294	202	2	)	)	PUNCT
ajst-16294	202	3	,	,	PUNCT
ajst-16294	202	4	4-(c	4-(c	NUM
ajst-16294	202	5	)	)	PUNCT
ajst-16294	202	6	and	and	CCONJ
ajst-16294	202	7	4(d	4(d	NUM
ajst-16294	202	8	)	)	PUNCT
ajst-16294	202	9	.	.	PUNCT
ajst-16294	203	1	in	in	ADP
ajst-16294	203	2	the	the	DET
ajst-16294	203	3	case	case	NOUN
ajst-16294	203	4	where	where	SCONJ
ajst-16294	203	5	the	the	DET
ajst-16294	203	6	synchronization	synchronization	NOUN
ajst-16294	203	7	error	error	NOUN
ajst-16294	203	8	is	be	AUX
ajst-16294	203	9	always	always	ADV
ajst-16294	203	10	present	present	ADJ
ajst-16294	203	11	,	,	PUNCT
ajst-16294	203	12	the	the	DET
ajst-16294	203	13	pi	pi	NOUN
ajst-16294	203	14	deviation	deviation	NOUN
ajst-16294	203	15	coupling	couple	VERB
ajst-16294	203	16	control	control	NOUN
ajst-16294	203	17	has	have	VERB
ajst-16294	203	18	the	the	DET
ajst-16294	203	19	highest	high	ADJ
ajst-16294	203	20	number	number	NOUN
ajst-16294	203	21	of	of	ADP
ajst-16294	203	22	synchronization	synchronization	NOUN
ajst-16294	203	23	error	error	NOUN
ajst-16294	203	24	oscillations	oscillation	NOUN
ajst-16294	203	25	and	and	CCONJ
ajst-16294	203	26	the	the	DET
ajst-16294	203	27	largest	large	ADJ
ajst-16294	203	28	synchronization	synchronization	NOUN
ajst-16294	203	29	error	error	NOUN
ajst-16294	203	30	.	.	PUNCT
ajst-16294	204	1	the	the	DET
ajst-16294	204	2	smc	smc	PROPN
ajst-16294	204	3	virtual	virtual	PROPN
ajst-16294	204	4	spindle	spindle	NOUN
ajst-16294	204	5	-	-	PUNCT
ajst-16294	204	6	adjacent	adjacent	ADJ
ajst-16294	204	7	cross	cross	ADJ
ajst-16294	204	8	-	-	ADJ
ajst-16294	204	9	coupling	coupling	ADJ
ajst-16294	204	10	control	control	NOUN
ajst-16294	204	11	has	have	VERB
ajst-16294	204	12	the	the	DET
ajst-16294	204	13	smallest	small	ADJ
ajst-16294	204	14	.	.	PUNCT
ajst-16294	205	1	the	the	DET
ajst-16294	205	2	virtual	virtual	PROPN
ajst-16294	205	3	spindleadjacent	spindleadjacent	NOUN
ajst-16294	205	4	cross	cross	ADJ
ajst-16294	205	5	-	-	ADJ
ajst-16294	205	6	coupling	coupling	ADJ
ajst-16294	205	7	control	control	NOUN
ajst-16294	205	8	structure	structure	NOUN
ajst-16294	205	9	is	be	AUX
ajst-16294	205	10	the	the	DET
ajst-16294	205	11	most	most	ADV
ajst-16294	205	12	sensitive	sensitive	ADJ
ajst-16294	205	13	64	64	NUM
ajst-16294	205	14	to	to	ADP
ajst-16294	205	15	inter	inter	ADJ
ajst-16294	205	16	-	-	ADJ
ajst-16294	205	17	motor	motor	ADJ
ajst-16294	205	18	synchronization	synchronization	NOUN
ajst-16294	205	19	error	error	NOUN
ajst-16294	205	20	and	and	CCONJ
ajst-16294	205	21	can	can	AUX
ajst-16294	205	22	adjust	adjust	VERB
ajst-16294	205	23	the	the	DET
ajst-16294	205	24	intermotor	intermotor	NOUN
ajst-16294	205	25	synchronization	synchronization	NOUN
ajst-16294	205	26	error	error	NOUN
ajst-16294	205	27	in	in	ADP
ajst-16294	205	28	time	time	NOUN
ajst-16294	205	29	.	.	PUNCT
ajst-16294	206	1	the	the	DET
ajst-16294	206	2	synchronization	synchronization	NOUN
ajst-16294	206	3	control	control	NOUN
ajst-16294	206	4	effect	effect	NOUN
ajst-16294	206	5	will	will	AUX
ajst-16294	206	6	be	be	AUX
ajst-16294	206	7	compared	compare	VERB
ajst-16294	206	8	to	to	ADP
ajst-16294	206	9	the	the	DET
ajst-16294	206	10	synchronization	synchronization	NOUN
ajst-16294	206	11	error	error	NOUN
ajst-16294	206	12	between	between	ADP
ajst-16294	206	13	motor	motor	NOUN
ajst-16294	206	14	1	1	NUM
ajst-16294	206	15	and	and	CCONJ
ajst-16294	206	16	motor	motor	NOUN
ajst-16294	206	17	2	2	NUM
ajst-16294	206	18	,	,	PUNCT
ajst-16294	206	19	for	for	ADP
ajst-16294	206	20	example	example	NOUN
ajst-16294	206	21	,	,	PUNCT
ajst-16294	206	22	as	as	SCONJ
ajst-16294	206	23	shown	show	VERB
ajst-16294	206	24	in	in	ADP
ajst-16294	206	25	figure	figure	NOUN
ajst-16294	206	26	.	.	PUNCT
ajst-16294	207	1	4-(d	4-(d	X
ajst-16294	207	2	)	)	PUNCT
ajst-16294	207	3	,	,	PUNCT
ajst-16294	207	4	the	the	DET
ajst-16294	207	5	synchronization	synchronization	NOUN
ajst-16294	207	6	error	error	NOUN
ajst-16294	207	7	of	of	ADP
ajst-16294	207	8	the	the	DET
ajst-16294	207	9	virtual	virtual	ADJ
ajst-16294	207	10	spindle	spindle	NOUN
ajst-16294	207	11	-	-	PUNCT
ajst-16294	207	12	adjacent	adjacent	ADJ
ajst-16294	207	13	cross	cross	ADJ
ajst-16294	207	14	-	-	ADJ
ajst-16294	207	15	coupling	coupling	ADJ
ajst-16294	207	16	control	control	NOUN
ajst-16294	207	17	structure	structure	NOUN
ajst-16294	207	18	is	be	AUX
ajst-16294	207	19	in	in	ADP
ajst-16294	207	20	the	the	DET
ajst-16294	207	21	range	range	NOUN
ajst-16294	207	22	of	of	ADP
ajst-16294	207	23	-0.004~0.001	-0.004~0.001	X
ajst-16294	207	24	rpm	rpm	PROPN
ajst-16294	207	25	/	/	SYM
ajst-16294	207	26	min	min	PROPN
ajst-16294	207	27	,	,	PUNCT
ajst-16294	207	28	and	and	CCONJ
ajst-16294	207	29	the	the	DET
ajst-16294	207	30	maximum	maximum	ADJ
ajst-16294	207	31	synchronization	synchronization	NOUN
ajst-16294	207	32	error	error	NOUN
ajst-16294	207	33	is	be	AUX
ajst-16294	207	34	0.004	0.004	NUM
ajst-16294	207	35	rpm	rpm	NOUN
ajst-16294	207	36	/	/	SYM
ajst-16294	207	37	min	min	NOUN
ajst-16294	207	38	and	and	CCONJ
ajst-16294	207	39	tends	tend	VERB
ajst-16294	207	40	to	to	PART
ajst-16294	207	41	be	be	AUX
ajst-16294	207	42	close	close	ADJ
ajst-16294	207	43	to	to	ADP
ajst-16294	207	44	0	0	NUM
ajst-16294	207	45	.	.	PUNCT
ajst-16294	208	1	as	as	SCONJ
ajst-16294	208	2	shown	show	VERB
ajst-16294	208	3	in	in	ADP
ajst-16294	208	4	figure	figure	NOUN
ajst-16294	208	5	4-(c	4-(c	NUM
ajst-16294	208	6	)	)	PUNCT
ajst-16294	208	7	,	,	PUNCT
ajst-16294	208	8	the	the	DET
ajst-16294	208	9	synchronization	synchronization	NOUN
ajst-16294	208	10	error	error	NOUN
ajst-16294	208	11	of	of	ADP
ajst-16294	208	12	the	the	DET
ajst-16294	208	13	adjacent	adjacent	ADJ
ajst-16294	208	14	cross	cross	ADJ
ajst-16294	208	15	-	-	ADJ
ajst-16294	208	16	coupling	coupling	ADJ
ajst-16294	208	17	control	control	NOUN
ajst-16294	208	18	structure	structure	NOUN
ajst-16294	208	19	is	be	AUX
ajst-16294	208	20	in	in	ADP
ajst-16294	208	21	the	the	DET
ajst-16294	208	22	range	range	NOUN
ajst-16294	208	23	of	of	ADP
ajst-16294	208	24	-0.35	-0.35	NUM
ajst-16294	208	25	to	to	PART
ajst-16294	208	26	0.2	0.2	NUM
ajst-16294	208	27	range	range	NOUN
ajst-16294	208	28	.	.	PUNCT
ajst-16294	209	1	from	from	ADP
ajst-16294	209	2	figure	figure	NOUN
ajst-16294	209	3	.	.	PUNCT
ajst-16294	209	4	4-(b	4-(b	NUM
ajst-16294	209	5	)	)	PUNCT
ajst-16294	209	6	,	,	PUNCT
ajst-16294	209	7	the	the	DET
ajst-16294	209	8	synchronization	synchronization	NOUN
ajst-16294	209	9	error	error	NOUN
ajst-16294	209	10	of	of	ADP
ajst-16294	209	11	the	the	DET
ajst-16294	209	12	deviation	deviation	NOUN
ajst-16294	209	13	-	-	PUNCT
ajst-16294	209	14	coupled	couple	VERB
ajst-16294	209	15	control	control	NOUN
ajst-16294	209	16	structure	structure	NOUN
ajst-16294	209	17	varies	vary	VERB
ajst-16294	209	18	in	in	ADP
ajst-16294	209	19	the	the	DET
ajst-16294	209	20	range	range	NOUN
ajst-16294	209	21	of	of	ADP
ajst-16294	209	22	-0.3	-0.3	PROPN
ajst-16294	209	23	to	to	ADP
ajst-16294	209	24	0.3	0.3	NUM
ajst-16294	209	25	.	.	PUNCT
ajst-16294	210	1	comparing	compare	VERB
ajst-16294	210	2	these	these	DET
ajst-16294	210	3	three	three	NUM
ajst-16294	210	4	control	control	NOUN
ajst-16294	210	5	structures	structure	NOUN
ajst-16294	210	6	,	,	PUNCT
ajst-16294	210	7	it	it	PRON
ajst-16294	210	8	can	can	AUX
ajst-16294	210	9	be	be	AUX
ajst-16294	210	10	seen	see	VERB
ajst-16294	210	11	that	that	SCONJ
ajst-16294	210	12	the	the	DET
ajst-16294	210	13	virtual	virtual	ADJ
ajst-16294	210	14	spindleadjacent	spindleadjacent	NOUN
ajst-16294	210	15	cross	cross	ADJ
ajst-16294	210	16	-	-	ADJ
ajst-16294	210	17	coupling	coupling	ADJ
ajst-16294	210	18	control	control	NOUN
ajst-16294	210	19	structure	structure	NOUN
ajst-16294	210	20	has	have	VERB
ajst-16294	210	21	the	the	DET
ajst-16294	210	22	smallest	small	ADJ
ajst-16294	210	23	synchronization	synchronization	NOUN
ajst-16294	210	24	error	error	NOUN
ajst-16294	210	25	,	,	PUNCT
ajst-16294	210	26	and	and	CCONJ
ajst-16294	210	27	the	the	DET
ajst-16294	210	28	synchronization	synchronization	NOUN
ajst-16294	210	29	error	error	NOUN
ajst-16294	210	30	can	can	AUX
ajst-16294	210	31	be	be	AUX
ajst-16294	210	32	precisely	precisely	ADV
ajst-16294	210	33	adjusted	adjust	VERB
ajst-16294	210	34	during	during	ADP
ajst-16294	210	35	the	the	DET
ajst-16294	210	36	motor	motor	NOUN
ajst-16294	210	37	start	start	VERB
ajst-16294	210	38	-	-	PUNCT
ajst-16294	210	39	stop	stop	NOUN
ajst-16294	210	40	phase	phase	NOUN
ajst-16294	210	41	so	so	SCONJ
ajst-16294	210	42	that	that	SCONJ
ajst-16294	210	43	the	the	DET
ajst-16294	210	44	synchronization	synchronization	NOUN
ajst-16294	210	45	error	error	NOUN
ajst-16294	210	46	tends	tend	VERB
ajst-16294	210	47	to	to	ADP
ajst-16294	210	48	zero	zero	NUM
ajst-16294	210	49	.	.	PUNCT
ajst-16294	211	1	(	(	PUNCT
ajst-16294	211	2	c	c	X
ajst-16294	211	3	)	)	PUNCT
ajst-16294	211	4	adjacent	adjacent	ADJ
ajst-16294	211	5	cross	cross	ADJ
ajst-16294	211	6	-	-	ADJ
ajst-16294	211	7	coupled	couple	VERB
ajst-16294	211	8	sliding	slide	VERB
ajst-16294	211	9	mode	mode	NOUN
ajst-16294	211	10	control	control	NOUN
ajst-16294	211	11	(	(	PUNCT
ajst-16294	211	12	d	d	NOUN
ajst-16294	211	13	)	)	PUNCT
ajst-16294	211	14	virtual	virtual	ADJ
ajst-16294	211	15	spindle	spindle	NOUN
ajst-16294	211	16	adjacent	adjacent	ADJ
ajst-16294	211	17	crosscoupled	crosscouple	VERB
ajst-16294	211	18	sliding	slide	VERB
ajst-16294	211	19	mode	mode	NOUN
ajst-16294	211	20	control	control	NOUN
ajst-16294	211	21	(	(	PUNCT
ajst-16294	211	22	a	a	DET
ajst-16294	211	23	)	)	PUNCT
ajst-16294	211	24	deviation	deviation	NOUN
ajst-16294	211	25	-	-	PUNCT
ajst-16294	211	26	coupled	couple	VERB
ajst-16294	211	27	pi	pi	NOUN
ajst-16294	211	28	control	control	NOUN
ajst-16294	211	29	(	(	PUNCT
ajst-16294	211	30	b	b	NOUN
ajst-16294	211	31	)	)	PUNCT
ajst-16294	211	32	deviation	deviation	NOUN
ajst-16294	211	33	-	-	PUNCT
ajst-16294	211	34	coupled	couple	VERB
ajst-16294	211	35	sliding	slide	VERB
ajst-16294	211	36	mode	mode	NOUN
ajst-16294	211	37	control	control	NOUN
ajst-16294	211	38	(	(	PUNCT
ajst-16294	211	39	1	1	NUM
ajst-16294	211	40	)	)	PUNCT
ajst-16294	211	41	difference	difference	NOUN
ajst-16294	211	42	in	in	ADP
ajst-16294	211	43	speed	speed	NOUN
ajst-16294	211	44	between	between	ADP
ajst-16294	211	45	motor	motor	NOUN
ajst-16294	211	46	1	1	NUM
ajst-16294	211	47	and	and	CCONJ
ajst-16294	211	48	motor	motor	NOUN
ajst-16294	211	49	2	2	NUM
ajst-16294	211	50	-2	-2	NOUN
ajst-16294	211	51	-1	-1	NOUN
ajst-16294	211	52	0	0	NUM
ajst-16294	211	53	1	1	NUM
ajst-16294	211	54	2	2	NUM
ajst-16294	211	55	s	s	NOUN
ajst-16294	211	56	pe	pe	PRON
ajst-16294	211	57	ed	ed	NOUN
ajst-16294	211	58	(	(	PUNCT
ajst-16294	211	59	r	r	NOUN
ajst-16294	211	60	/m	/m	PUNCT
ajst-16294	211	61	in	in	ADP
ajst-16294	211	62	)	)	PUNCT
ajst-16294	211	63	time	time	NOUN
ajst-16294	211	64	/	/	SYM
ajst-16294	211	65	ms	ms	NOUN
ajst-16294	211	66	20	20	NUM
ajst-16294	211	67	60	60	NUM
ajst-16294	211	68	100	100	NUM
ajst-16294	211	69	(	(	PUNCT
ajst-16294	211	70	1	1	NUM
ajst-16294	211	71	)	)	PUNCT
ajst-16294	211	72	difference	difference	NOUN
ajst-16294	211	73	in	in	ADP
ajst-16294	211	74	speed	speed	NOUN
ajst-16294	211	75	between	between	ADP
ajst-16294	211	76	motor	motor	NOUN
ajst-16294	211	77	1	1	NUM
ajst-16294	211	78	and	and	CCONJ
ajst-16294	211	79	motor	motor	NOUN
ajst-16294	211	80	2	2	NUM
ajst-16294	211	81	-0.4	-0.4	NUM
ajst-16294	211	82	-0.2	-0.2	PROPN
ajst-16294	211	83	0	0	NUM
ajst-16294	211	84	0.2	0.2	NUM
ajst-16294	211	85	0.4	0.4	NUM
ajst-16294	211	86	s	s	NOUN
ajst-16294	211	87	pe	pe	INTJ
ajst-16294	211	88	ed	ed	NOUN
ajst-16294	211	89	(	(	PUNCT
ajst-16294	211	90	r	r	NOUN
ajst-16294	211	91	/m	/m	PUNCT
ajst-16294	211	92	in	in	ADP
ajst-16294	211	93	)	)	PUNCT
ajst-16294	211	94	time	time	NOUN
ajst-16294	211	95	/	/	SYM
ajst-16294	211	96	ms	ms	NOUN
ajst-16294	211	97	20	20	NUM
ajst-16294	211	98	60	60	NUM
ajst-16294	211	99	100	100	NUM
ajst-16294	211	100	(	(	PUNCT
ajst-16294	211	101	1	1	NUM
ajst-16294	211	102	)	)	PUNCT
ajst-16294	211	103	difference	difference	NOUN
ajst-16294	211	104	in	in	ADP
ajst-16294	211	105	speed	speed	NOUN
ajst-16294	211	106	between	between	ADP
ajst-16294	211	107	motor	motor	NOUN
ajst-16294	211	108	1	1	NUM
ajst-16294	211	109	and	and	CCONJ
ajst-16294	211	110	motor	motor	NOUN
ajst-16294	211	111	2	2	PROPN
ajst-16294	211	112	s	s	PART
ajst-16294	211	113	pe	pe	PRON
ajst-16294	211	114	ed	ed	NOUN
ajst-16294	211	115	(	(	PUNCT
ajst-16294	211	116	r	r	NOUN
ajst-16294	211	117	/m	/m	PUNCT
ajst-16294	211	118	in	in	ADP
ajst-16294	211	119	)	)	PUNCT
ajst-16294	211	120	time	time	NOUN
ajst-16294	211	121	/	/	SYM
ajst-16294	211	122	ms	ms	PROPN
ajst-16294	211	123	-0.3	-0.3	PROPN
ajst-16294	211	124	-0.2	-0.2	PROPN
ajst-16294	211	125	-0.1	-0.1	PROPN
ajst-16294	211	126	0	0	NUM
ajst-16294	211	127	0.1	0.1	NUM
ajst-16294	211	128	0.2	0.2	NUM
ajst-16294	211	129	20	20	NUM
ajst-16294	211	130	60	60	NUM
ajst-16294	211	131	100	100	NUM
ajst-16294	211	132	(	(	PUNCT
ajst-16294	211	133	1	1	NUM
ajst-16294	211	134	)	)	PUNCT
ajst-16294	211	135	difference	difference	NOUN
ajst-16294	211	136	in	in	ADP
ajst-16294	211	137	speed	speed	NOUN
ajst-16294	211	138	between	between	ADP
ajst-16294	211	139	motor	motor	NOUN
ajst-16294	211	140	1	1	NUM
ajst-16294	211	141	and	and	CCONJ
ajst-16294	211	142	motor	motor	NOUN
ajst-16294	211	143	2	2	PROPN
ajst-16294	211	144	s	s	PART
ajst-16294	211	145	pe	pe	PRON
ajst-16294	211	146	ed	ed	NOUN
ajst-16294	211	147	(	(	PUNCT
ajst-16294	211	148	r	r	NOUN
ajst-16294	211	149	/m	/m	PUNCT
ajst-16294	211	150	in	in	ADP
ajst-16294	211	151	)	)	PUNCT
ajst-16294	211	152	time	time	NOUN
ajst-16294	211	153	/	/	SYM
ajst-16294	211	154	ms	ms	NOUN
ajst-16294	211	155	-0.004	-0.004	PUNCT
ajst-16294	211	156	-0.002	-0.002	PUNCT
ajst-16294	211	157	0	0	NUM
ajst-16294	211	158	0.002	0.002	NUM
ajst-16294	211	159	20	20	NUM
ajst-16294	211	160	60	60	NUM
ajst-16294	211	161	100	100	NUM
ajst-16294	211	162	(	(	PUNCT
ajst-16294	211	163	2	2	NUM
ajst-16294	211	164	)	)	PUNCT
ajst-16294	211	165	difference	difference	NOUN
ajst-16294	211	166	in	in	ADP
ajst-16294	211	167	speed	speed	NOUN
ajst-16294	211	168	between	between	ADP
ajst-16294	211	169	motor	motor	NOUN
ajst-16294	211	170	1	1	NUM
ajst-16294	211	171	and	and	CCONJ
ajst-16294	211	172	motor	motor	NOUN
ajst-16294	211	173	3	3	NUM
ajst-16294	211	174	(	(	PUNCT
ajst-16294	211	175	2	2	NUM
ajst-16294	211	176	)	)	PUNCT
ajst-16294	211	177	difference	difference	NOUN
ajst-16294	211	178	in	in	ADP
ajst-16294	211	179	speed	speed	NOUN
ajst-16294	211	180	between	between	ADP
ajst-16294	211	181	motor	motor	NOUN
ajst-16294	211	182	1	1	NUM
ajst-16294	211	183	and	and	CCONJ
ajst-16294	211	184	motor	motor	NOUN
ajst-16294	211	185	3	3	NUM
ajst-16294	211	186	-0.4	-0.4	NOUN
ajst-16294	211	187	0	0	NUM
ajst-16294	211	188	0.4	0.4	NUM
ajst-16294	211	189	0.8	0.8	NUM
ajst-16294	211	190	s	s	NOUN
ajst-16294	211	191	pe	pe	INTJ
ajst-16294	211	192	ed	ed	NOUN
ajst-16294	211	193	(	(	PUNCT
ajst-16294	211	194	r	r	NOUN
ajst-16294	211	195	/m	/m	PUNCT
ajst-16294	211	196	in	in	ADP
ajst-16294	211	197	)	)	PUNCT
ajst-16294	211	198	time	time	NOUN
ajst-16294	211	199	/	/	SYM
ajst-16294	211	200	ms	ms	NOUN
ajst-16294	211	201	20	20	NUM
ajst-16294	211	202	60	60	NUM
ajst-16294	211	203	100	100	NUM
ajst-16294	211	204	(	(	PUNCT
ajst-16294	211	205	2	2	NUM
ajst-16294	211	206	)	)	PUNCT
ajst-16294	211	207	difference	difference	NOUN
ajst-16294	211	208	in	in	ADP
ajst-16294	211	209	speed	speed	NOUN
ajst-16294	211	210	between	between	ADP
ajst-16294	211	211	motor	motor	NOUN
ajst-16294	211	212	1	1	NUM
ajst-16294	211	213	and	and	CCONJ
ajst-16294	211	214	motor	motor	NOUN
ajst-16294	211	215	3	3	PROPN
ajst-16294	211	216	s	s	PART
ajst-16294	211	217	pe	pe	INTJ
ajst-16294	211	218	ed	ed	NOUN
ajst-16294	211	219	(	(	PUNCT
ajst-16294	211	220	r	r	NOUN
ajst-16294	211	221	/m	/m	PUNCT
ajst-16294	211	222	in	in	ADP
ajst-16294	211	223	)	)	PUNCT
ajst-16294	211	224	time	time	NOUN
ajst-16294	211	225	/	/	SYM
ajst-16294	211	226	ms	ms	PROPN
ajst-16294	211	227	-0.4	-0.4	PROPN
ajst-16294	211	228	0	0	NUM
ajst-16294	211	229	0.4	0.4	NUM
ajst-16294	211	230	0.8	0.8	NUM
ajst-16294	211	231	20	20	NUM
ajst-16294	211	232	60	60	NUM
ajst-16294	211	233	100	100	NUM
ajst-16294	211	234	(	(	PUNCT
ajst-16294	211	235	2	2	NUM
ajst-16294	211	236	)	)	PUNCT
ajst-16294	211	237	difference	difference	NOUN
ajst-16294	211	238	in	in	ADP
ajst-16294	211	239	speed	speed	NOUN
ajst-16294	211	240	between	between	ADP
ajst-16294	211	241	motor	motor	NOUN
ajst-16294	211	242	1	1	NUM
ajst-16294	211	243	and	and	CCONJ
ajst-16294	211	244	motor	motor	NOUN
ajst-16294	211	245	3	3	PROPN
ajst-16294	211	246	s	s	PART
ajst-16294	211	247	pe	pe	INTJ
ajst-16294	211	248	ed	ed	NOUN
ajst-16294	211	249	(	(	PUNCT
ajst-16294	211	250	r	r	NOUN
ajst-16294	211	251	/m	/m	PUNCT
ajst-16294	211	252	in	in	ADP
ajst-16294	211	253	)	)	PUNCT
ajst-16294	211	254	time	time	NOUN
ajst-16294	211	255	/	/	SYM
ajst-16294	211	256	ms	ms	NOUN
ajst-16294	211	257	0	0	NUM
ajst-16294	211	258	0.02	0.02	NUM
ajst-16294	211	259	0.04	0.04	NUM
ajst-16294	211	260	0.06	0.06	NUM
ajst-16294	211	261	20	20	NUM
ajst-16294	211	262	60	60	NUM
ajst-16294	211	263	100	100	NUM
ajst-16294	211	264	(	(	PUNCT
ajst-16294	211	265	3	3	NUM
ajst-16294	211	266	)	)	PUNCT
ajst-16294	211	267	difference	difference	NOUN
ajst-16294	211	268	in	in	ADP
ajst-16294	211	269	speed	speed	NOUN
ajst-16294	211	270	between	between	ADP
ajst-16294	211	271	motor	motor	NOUN
ajst-16294	211	272	1	1	NUM
ajst-16294	211	273	and	and	CCONJ
ajst-16294	211	274	motor	motor	NOUN
ajst-16294	211	275	4	4	NUM
ajst-16294	211	276	-4	-4	NOUN
ajst-16294	211	277	-2	-2	NOUN
ajst-16294	211	278	0	0	NUM
ajst-16294	211	279	2	2	NUM
ajst-16294	211	280	4	4	NUM
ajst-16294	211	281	s	s	NOUN
ajst-16294	211	282	pe	pe	INTJ
ajst-16294	211	283	ed	ed	NOUN
ajst-16294	211	284	(	(	PUNCT
ajst-16294	211	285	r	r	NOUN
ajst-16294	211	286	/m	/m	PUNCT
ajst-16294	211	287	in	in	ADP
ajst-16294	211	288	)	)	PUNCT
ajst-16294	211	289	time	time	NOUN
ajst-16294	211	290	/	/	SYM
ajst-16294	211	291	ms	ms	NOUN
ajst-16294	211	292	20	20	NUM
ajst-16294	211	293	60	60	NUM
ajst-16294	211	294	100	100	NUM
ajst-16294	211	295	(	(	PUNCT
ajst-16294	211	296	3	3	NUM
ajst-16294	211	297	)	)	PUNCT
ajst-16294	211	298	difference	difference	NOUN
ajst-16294	211	299	in	in	ADP
ajst-16294	211	300	speed	speed	NOUN
ajst-16294	211	301	between	between	ADP
ajst-16294	211	302	motor	motor	NOUN
ajst-16294	211	303	1	1	NUM
ajst-16294	211	304	and	and	CCONJ
ajst-16294	211	305	motor	motor	NOUN
ajst-16294	211	306	4	4	NUM
ajst-16294	211	307	-1.6	-1.6	PROPN
ajst-16294	211	308	-1.2	-1.2	PROPN
ajst-16294	211	309	-0.8	-0.8	PROPN
ajst-16294	211	310	-0.4	-0.4	NOUN
ajst-16294	211	311	0	0	NUM
ajst-16294	211	312	0.4	0.4	NUM
ajst-16294	211	313	s	s	NOUN
ajst-16294	211	314	pe	pe	INTJ
ajst-16294	211	315	ed	ed	NOUN
ajst-16294	211	316	(	(	PUNCT
ajst-16294	211	317	r	r	NOUN
ajst-16294	211	318	/m	/m	PUNCT
ajst-16294	211	319	in	in	ADP
ajst-16294	211	320	)	)	PUNCT
ajst-16294	211	321	time	time	NOUN
ajst-16294	211	322	/	/	SYM
ajst-16294	211	323	ms	ms	NOUN
ajst-16294	211	324	20	20	NUM
ajst-16294	211	325	60	60	NUM
ajst-16294	211	326	100	100	NUM
ajst-16294	211	327	(	(	PUNCT
ajst-16294	211	328	3	3	NUM
ajst-16294	211	329	)	)	PUNCT
ajst-16294	211	330	difference	difference	NOUN
ajst-16294	211	331	in	in	ADP
ajst-16294	211	332	speed	speed	NOUN
ajst-16294	211	333	between	between	ADP
ajst-16294	211	334	motor	motor	NOUN
ajst-16294	211	335	1	1	NUM
ajst-16294	211	336	and	and	CCONJ
ajst-16294	211	337	motor	motor	NOUN
ajst-16294	211	338	4	4	PROPN
ajst-16294	211	339	s	s	PART
ajst-16294	211	340	pe	pe	INTJ
ajst-16294	211	341	ed	ed	NOUN
ajst-16294	211	342	(	(	PUNCT
ajst-16294	211	343	r	r	NOUN
ajst-16294	211	344	/m	/m	PUNCT
ajst-16294	211	345	in	in	ADP
ajst-16294	211	346	)	)	PUNCT
ajst-16294	211	347	time	time	NOUN
ajst-16294	211	348	/	/	SYM
ajst-16294	211	349	ms	ms	PROPN
ajst-16294	211	350	-1.6	-1.6	PROPN
ajst-16294	211	351	-1.2	-1.2	PROPN
ajst-16294	211	352	-0.8	-0.8	PROPN
ajst-16294	211	353	-0.4	-0.4	NOUN
ajst-16294	211	354	0	0	NUM
ajst-16294	211	355	0.4	0.4	NUM
ajst-16294	211	356	20	20	NUM
ajst-16294	211	357	60	60	NUM
ajst-16294	211	358	100	100	NUM
ajst-16294	211	359	(	(	PUNCT
ajst-16294	211	360	3	3	NUM
ajst-16294	211	361	)	)	PUNCT
ajst-16294	211	362	difference	difference	NOUN
ajst-16294	211	363	in	in	ADP
ajst-16294	211	364	speed	speed	NOUN
ajst-16294	211	365	between	between	ADP
ajst-16294	211	366	motor	motor	NOUN
ajst-16294	211	367	1	1	NUM
ajst-16294	211	368	and	and	CCONJ
ajst-16294	211	369	motor	motor	NOUN
ajst-16294	211	370	4	4	PROPN
ajst-16294	211	371	s	s	PART
ajst-16294	211	372	pe	pe	INTJ
ajst-16294	211	373	ed	ed	NOUN
ajst-16294	211	374	(	(	PUNCT
ajst-16294	211	375	r	r	NOUN
ajst-16294	211	376	/m	/m	PUNCT
ajst-16294	211	377	in	in	ADP
ajst-16294	211	378	)	)	PUNCT
ajst-16294	211	379	time	time	NOUN
ajst-16294	211	380	/	/	SYM
ajst-16294	211	381	ms	ms	NOUN
ajst-16294	211	382	0	0	NUM
ajst-16294	211	383	0.04	0.04	NUM
ajst-16294	211	384	0.08	0.08	NUM
ajst-16294	211	385	0.12	0.12	NUM
ajst-16294	211	386	20	20	NUM
ajst-16294	211	387	60	60	NUM
ajst-16294	211	388	100	100	NUM
ajst-16294	211	389	-4	-4	INTJ
ajst-16294	211	390	-2	-2	NOUN
ajst-16294	211	391	0	0	NUM
ajst-16294	211	392	2	2	NUM
ajst-16294	211	393	s	s	NOUN
ajst-16294	211	394	pe	pe	VERB
ajst-16294	211	395	ed	ed	NOUN
ajst-16294	211	396	(	(	PUNCT
ajst-16294	211	397	r	r	NOUN
ajst-16294	211	398	/m	/m	PUNCT
ajst-16294	211	399	in	in	ADP
ajst-16294	211	400	)	)	PUNCT
ajst-16294	211	401	time	time	NOUN
ajst-16294	211	402	/	/	SYM
ajst-16294	211	403	ms	ms	NOUN
ajst-16294	211	404	20	20	NUM
ajst-16294	211	405	60	60	NUM
ajst-16294	211	406	100	100	NUM
ajst-16294	211	407	figure	figure	NOUN
ajst-16294	211	408	4	4	NUM
ajst-16294	211	409	.	.	NOUN
ajst-16294	211	410	comparison	comparison	NOUN
ajst-16294	211	411	of	of	ADP
ajst-16294	211	412	speed	speed	NOUN
ajst-16294	211	413	errors	error	NOUN
ajst-16294	211	414	of	of	ADP
ajst-16294	211	415	motors	motor	NOUN
ajst-16294	211	416	with	with	ADP
ajst-16294	211	417	different	different	ADJ
ajst-16294	211	418	control	control	NOUN
ajst-16294	211	419	methods	method	NOUN
ajst-16294	211	420	as	as	SCONJ
ajst-16294	211	421	can	can	AUX
ajst-16294	211	422	be	be	AUX
ajst-16294	211	423	seen	see	VERB
ajst-16294	211	424	from	from	ADP
ajst-16294	211	425	figure	figure	NOUN
ajst-16294	211	426	5	5	NUM
ajst-16294	211	427	and	and	CCONJ
ajst-16294	211	428	figure	figure	VERB
ajst-16294	211	429	6	6	NUM
ajst-16294	211	430	,	,	PUNCT
ajst-16294	211	431	when	when	SCONJ
ajst-16294	211	432	the	the	DET
ajst-16294	211	433	external	external	ADJ
ajst-16294	211	434	load	load	NOUN
ajst-16294	211	435	torque	torque	NOUN
ajst-16294	211	436	of	of	ADP
ajst-16294	211	437	the	the	DET
ajst-16294	211	438	system	system	NOUN
ajst-16294	211	439	changes	change	NOUN
ajst-16294	211	440	,	,	PUNCT
ajst-16294	211	441	the	the	DET
ajst-16294	211	442	synchronization	synchronization	NOUN
ajst-16294	211	443	error	error	NOUN
ajst-16294	211	444	of	of	ADP
ajst-16294	211	445	the	the	DET
ajst-16294	211	446	virtual	virtual	ADJ
ajst-16294	211	447	spindle	spindle	NOUN
ajst-16294	211	448	-	-	PUNCT
ajst-16294	211	449	adjacent	adjacent	ADJ
ajst-16294	211	450	crosscoupling	crosscoupling	NOUN
ajst-16294	211	451	control	control	NOUN
ajst-16294	211	452	structure	structure	NOUN
ajst-16294	211	453	is	be	AUX
ajst-16294	211	454	the	the	DET
ajst-16294	211	455	smallest	small	ADJ
ajst-16294	211	456	,	,	PUNCT
ajst-16294	211	457	the	the	DET
ajst-16294	211	458	system	system	NOUN
ajst-16294	211	459	is	be	AUX
ajst-16294	211	460	almost	almost	ADV
ajst-16294	211	461	free	free	ADJ
ajst-16294	211	462	of	of	ADP
ajst-16294	211	463	oscillation	oscillation	NOUN
ajst-16294	211	464	,	,	PUNCT
ajst-16294	211	465	and	and	CCONJ
ajst-16294	211	466	the	the	DET
ajst-16294	211	467	regulation	regulation	NOUN
ajst-16294	211	468	time	time	NOUN
ajst-16294	211	469	is	be	AUX
ajst-16294	211	470	the	the	DET
ajst-16294	211	471	shortest	short	ADJ
ajst-16294	211	472	and	and	CCONJ
ajst-16294	211	473	tends	tend	VERB
ajst-16294	211	474	to	to	PART
ajst-16294	211	475	be	be	AUX
ajst-16294	211	476	0	0	NUM
ajst-16294	211	477	.	.	PUNCT
ajst-16294	212	1	in	in	ADP
ajst-16294	212	2	comparison	comparison	NOUN
ajst-16294	212	3	,	,	PUNCT
ajst-16294	212	4	the	the	DET
ajst-16294	212	5	systems	system	NOUN
ajst-16294	212	6	of	of	ADP
ajst-16294	212	7	the	the	DET
ajst-16294	212	8	adjacent	adjacent	ADJ
ajst-16294	212	9	cross	cross	ADJ
ajst-16294	212	10	-	-	ADJ
ajst-16294	212	11	coupling	coupling	ADJ
ajst-16294	212	12	control	control	NOUN
ajst-16294	212	13	structure	structure	NOUN
ajst-16294	212	14	and	and	CCONJ
ajst-16294	212	15	the	the	DET
ajst-16294	212	16	deviatoric	deviatoric	NOUN
ajst-16294	212	17	coupling	coupling	NOUN
ajst-16294	212	18	control	control	NOUN
ajst-16294	212	19	structure	structure	NOUN
ajst-16294	212	20	are	be	AUX
ajst-16294	212	21	unable	unable	ADJ
ajst-16294	212	22	to	to	PART
ajst-16294	212	23	reduce	reduce	VERB
ajst-16294	212	24	the	the	DET
ajst-16294	212	25	system	system	NOUN
ajst-16294	212	26	jitter	jitter	NOUN
ajst-16294	212	27	vibration	vibration	NOUN
ajst-16294	212	28	and	and	CCONJ
ajst-16294	212	29	exacerbate	exacerbate	VERB
ajst-16294	212	30	the	the	DET
ajst-16294	212	31	phenomenon	phenomenon	NOUN
ajst-16294	212	32	of	of	ADP
ajst-16294	212	33	jitter	jitter	NOUN
ajst-16294	212	34	vibration	vibration	NOUN
ajst-16294	212	35	during	during	ADP
ajst-16294	212	36	the	the	DET
ajst-16294	212	37	regulation	regulation	NOUN
ajst-16294	212	38	of	of	ADP
ajst-16294	212	39	synchronization	synchronization	NOUN
ajst-16294	212	40	error	error	NOUN
ajst-16294	212	41	.	.	PUNCT
ajst-16294	213	1	(	(	PUNCT
ajst-16294	213	2	c	c	X
ajst-16294	213	3	)	)	PUNCT
ajst-16294	213	4	adjacent	adjacent	ADJ
ajst-16294	213	5	cross	cross	ADJ
ajst-16294	213	6	-	-	ADJ
ajst-16294	213	7	coupled	couple	VERB
ajst-16294	213	8	sliding	slide	VERB
ajst-16294	213	9	mode	mode	NOUN
ajst-16294	213	10	control	control	NOUN
ajst-16294	213	11	(	(	PUNCT
ajst-16294	213	12	d	d	NOUN
ajst-16294	213	13	)	)	PUNCT
ajst-16294	213	14	virtual	virtual	ADJ
ajst-16294	213	15	spindle	spindle	NOUN
ajst-16294	213	16	adjacent	adjacent	ADJ
ajst-16294	213	17	crosscoupled	crosscouple	VERB
ajst-16294	213	18	sliding	slide	VERB
ajst-16294	213	19	mode	mode	NOUN
ajst-16294	213	20	control	control	NOUN
ajst-16294	213	21	(	(	PUNCT
ajst-16294	213	22	a	a	PRON
ajst-16294	213	23	)	)	PUNCT
ajst-16294	213	24	deviation	deviation	NOUN
ajst-16294	213	25	-	-	PUNCT
ajst-16294	213	26	coupled	couple	VERB
ajst-16294	213	27	pi	pi	NOUN
ajst-16294	213	28	control	control	NOUN
ajst-16294	213	29	(	(	PUNCT
ajst-16294	213	30	b	b	NOUN
ajst-16294	213	31	)	)	PUNCT
ajst-16294	213	32	deviation	deviation	NOUN
ajst-16294	213	33	-	-	PUNCT
ajst-16294	213	34	coupled	couple	VERB
ajst-16294	213	35	sliding	slide	VERB
ajst-16294	213	36	mode	mode	NOUN
ajst-16294	213	37	control	control	NOUN
ajst-16294	213	38	(	(	PUNCT
ajst-16294	213	39	1	1	NUM
ajst-16294	213	40	)	)	PUNCT
ajst-16294	213	41	difference	difference	NOUN
ajst-16294	213	42	in	in	ADP
ajst-16294	213	43	speed	speed	NOUN
ajst-16294	213	44	between	between	ADP
ajst-16294	213	45	motor	motor	NOUN
ajst-16294	213	46	1	1	NUM
ajst-16294	213	47	and	and	CCONJ
ajst-16294	213	48	motor	motor	NOUN
ajst-16294	213	49	2	2	NUM
ajst-16294	213	50	(	(	PUNCT
ajst-16294	213	51	1	1	NUM
ajst-16294	213	52	)	)	PUNCT
ajst-16294	213	53	difference	difference	NOUN
ajst-16294	213	54	in	in	ADP
ajst-16294	213	55	speed	speed	NOUN
ajst-16294	213	56	between	between	ADP
ajst-16294	213	57	motor	motor	NOUN
ajst-16294	213	58	1	1	NUM
ajst-16294	213	59	and	and	CCONJ
ajst-16294	213	60	motor	motor	NOUN
ajst-16294	213	61	2	2	NUM
ajst-16294	213	62	(	(	PUNCT
ajst-16294	213	63	1	1	NUM
ajst-16294	213	64	)	)	PUNCT
ajst-16294	213	65	difference	difference	NOUN
ajst-16294	213	66	in	in	ADP
ajst-16294	213	67	speed	speed	NOUN
ajst-16294	213	68	between	between	ADP
ajst-16294	213	69	motor	motor	NOUN
ajst-16294	213	70	1	1	NUM
ajst-16294	213	71	and	and	CCONJ
ajst-16294	213	72	motor	motor	NOUN
ajst-16294	213	73	2	2	NUM
ajst-16294	213	74	(	(	PUNCT
ajst-16294	213	75	1	1	NUM
ajst-16294	213	76	)	)	PUNCT
ajst-16294	213	77	difference	difference	NOUN
ajst-16294	213	78	in	in	ADP
ajst-16294	213	79	speed	speed	NOUN
ajst-16294	213	80	between	between	ADP
ajst-16294	213	81	motor	motor	NOUN
ajst-16294	213	82	1	1	NUM
ajst-16294	213	83	and	and	CCONJ
ajst-16294	213	84	motor	motor	NOUN
ajst-16294	213	85	2	2	NUM
ajst-16294	213	86	(	(	PUNCT
ajst-16294	213	87	2	2	NUM
ajst-16294	213	88	)	)	PUNCT
ajst-16294	213	89	difference	difference	NOUN
ajst-16294	213	90	in	in	ADP
ajst-16294	213	91	speed	speed	NOUN
ajst-16294	213	92	between	between	ADP
ajst-16294	213	93	motor	motor	NOUN
ajst-16294	213	94	1	1	NUM
ajst-16294	213	95	and	and	CCONJ
ajst-16294	213	96	motor	motor	NOUN
ajst-16294	213	97	3	3	NUM
ajst-16294	213	98	(	(	PUNCT
ajst-16294	213	99	2	2	NUM
ajst-16294	213	100	)	)	PUNCT
ajst-16294	213	101	difference	difference	NOUN
ajst-16294	213	102	in	in	ADP
ajst-16294	213	103	speed	speed	NOUN
ajst-16294	213	104	between	between	ADP
ajst-16294	213	105	motor	motor	NOUN
ajst-16294	213	106	1	1	NUM
ajst-16294	213	107	and	and	CCONJ
ajst-16294	213	108	motor	motor	NOUN
ajst-16294	213	109	3	3	NUM
ajst-16294	213	110	(	(	PUNCT
ajst-16294	213	111	2	2	NUM
ajst-16294	213	112	)	)	PUNCT
ajst-16294	213	113	difference	difference	NOUN
ajst-16294	213	114	in	in	ADP
ajst-16294	213	115	speed	speed	NOUN
ajst-16294	213	116	between	between	ADP
ajst-16294	213	117	motor	motor	NOUN
ajst-16294	213	118	1	1	NUM
ajst-16294	213	119	and	and	CCONJ
ajst-16294	213	120	motor	motor	NOUN
ajst-16294	213	121	3	3	NUM
ajst-16294	213	122	(	(	PUNCT
ajst-16294	213	123	2	2	NUM
ajst-16294	213	124	)	)	PUNCT
ajst-16294	213	125	difference	difference	NOUN
ajst-16294	213	126	in	in	ADP
ajst-16294	213	127	speed	speed	NOUN
ajst-16294	213	128	between	between	ADP
ajst-16294	213	129	motor	motor	NOUN
ajst-16294	213	130	1	1	NUM
ajst-16294	213	131	and	and	CCONJ
ajst-16294	213	132	motor	motor	NOUN
ajst-16294	213	133	3	3	NUM
ajst-16294	213	134	(	(	PUNCT
ajst-16294	213	135	3	3	NUM
ajst-16294	213	136	)	)	PUNCT
ajst-16294	213	137	difference	difference	NOUN
ajst-16294	213	138	in	in	ADP
ajst-16294	213	139	speed	speed	NOUN
ajst-16294	213	140	between	between	ADP
ajst-16294	213	141	motor	motor	NOUN
ajst-16294	213	142	1	1	NUM
ajst-16294	213	143	and	and	CCONJ
ajst-16294	213	144	motor	motor	NOUN
ajst-16294	213	145	4	4	NUM
ajst-16294	213	146	(	(	PUNCT
ajst-16294	213	147	3	3	NUM
ajst-16294	213	148	)	)	PUNCT
ajst-16294	213	149	difference	difference	NOUN
ajst-16294	213	150	in	in	ADP
ajst-16294	213	151	speed	speed	NOUN
ajst-16294	213	152	between	between	ADP
ajst-16294	213	153	motor	motor	NOUN
ajst-16294	213	154	1	1	NUM
ajst-16294	213	155	and	and	CCONJ
ajst-16294	213	156	motor	motor	NOUN
ajst-16294	213	157	4	4	NUM
ajst-16294	213	158	(	(	PUNCT
ajst-16294	213	159	3	3	NUM
ajst-16294	213	160	)	)	PUNCT
ajst-16294	213	161	difference	difference	NOUN
ajst-16294	213	162	in	in	ADP
ajst-16294	213	163	speed	speed	NOUN
ajst-16294	213	164	between	between	ADP
ajst-16294	213	165	motor	motor	NOUN
ajst-16294	213	166	1	1	NUM
ajst-16294	213	167	and	and	CCONJ
ajst-16294	213	168	motor	motor	NOUN
ajst-16294	213	169	4	4	NUM
ajst-16294	213	170	(	(	PUNCT
ajst-16294	213	171	3	3	NUM
ajst-16294	213	172	)	)	PUNCT
ajst-16294	213	173	difference	difference	NOUN
ajst-16294	213	174	in	in	ADP
ajst-16294	213	175	speed	speed	NOUN
ajst-16294	213	176	between	between	ADP
ajst-16294	213	177	motor	motor	NOUN
ajst-16294	213	178	1	1	NUM
ajst-16294	213	179	and	and	CCONJ
ajst-16294	213	180	motor	motor	NOUN
ajst-16294	213	181	4	4	PROPN
ajst-16294	213	182	s	s	PART
ajst-16294	213	183	pe	pe	INTJ
ajst-16294	213	184	ed	ed	NOUN
ajst-16294	213	185	(	(	PUNCT
ajst-16294	213	186	r	r	NOUN
ajst-16294	213	187	/m	/m	PUNCT
ajst-16294	213	188	in	in	ADP
ajst-16294	213	189	)	)	PUNCT
ajst-16294	213	190	time	time	NOUN
ajst-16294	213	191	/	/	SYM
ajst-16294	213	192	ms	ms	NOUN
ajst-16294	213	193	-0.008	-0.008	PROPN
ajst-16294	213	194	-0.004	-0.004	PUNCT
ajst-16294	213	195	0	0	NUM
ajst-16294	214	1	0.004	0.004	NUM
ajst-16294	214	2	20	20	NUM
ajst-16294	214	3	22	22	NUM
ajst-16294	214	4	24	24	NUM
ajst-16294	214	5	26	26	NUM
ajst-16294	214	6	28	28	NUM
ajst-16294	214	7	30	30	NUM
ajst-16294	214	8	s	s	NOUN
ajst-16294	214	9	pe	pe	INTJ
ajst-16294	214	10	ed	ed	NOUN
ajst-16294	214	11	(	(	PUNCT
ajst-16294	214	12	r	r	NOUN
ajst-16294	214	13	/m	/m	PUNCT
ajst-16294	214	14	in	in	ADP
ajst-16294	214	15	)	)	PUNCT
ajst-16294	214	16	time	time	NOUN
ajst-16294	214	17	/	/	SYM
ajst-16294	214	18	ms	ms	PROPN
ajst-16294	214	19	-0.1	-0.1	PROPN
ajst-16294	214	20	0	0	NUM
ajst-16294	214	21	0.1	0.1	NUM
ajst-16294	214	22	0.2	0.2	NUM
ajst-16294	214	23	20	20	NUM
ajst-16294	214	24	22	22	NUM
ajst-16294	214	25	24	24	NUM
ajst-16294	214	26	26	26	NUM
ajst-16294	214	27	28	28	NUM
ajst-16294	214	28	30	30	NUM
ajst-16294	214	29	s	s	NOUN
ajst-16294	214	30	pe	pe	INTJ
ajst-16294	214	31	ed	ed	NOUN
ajst-16294	214	32	(	(	PUNCT
ajst-16294	214	33	r	r	NOUN
ajst-16294	214	34	/m	/m	PUNCT
ajst-16294	214	35	in	in	ADP
ajst-16294	214	36	)	)	PUNCT
ajst-16294	214	37	time	time	NOUN
ajst-16294	214	38	/	/	SYM
ajst-16294	214	39	ms	ms	NOUN
ajst-16294	214	40	20	20	NUM
ajst-16294	214	41	22	22	NUM
ajst-16294	214	42	24	24	NUM
ajst-16294	214	43	26	26	NUM
ajst-16294	214	44	28	28	NUM
ajst-16294	214	45	30	30	NUM
ajst-16294	214	46	-0.1	-0.1	NOUN
ajst-16294	214	47	0	0	NUM
ajst-16294	214	48	0.1	0.1	NUM
ajst-16294	214	49	0.2	0.2	NUM
ajst-16294	214	50	0.3	0.3	NUM
ajst-16294	214	51	s	s	NOUN
ajst-16294	214	52	pe	pe	INTJ
ajst-16294	214	53	ed	ed	NOUN
ajst-16294	214	54	(	(	PUNCT
ajst-16294	214	55	r	r	NOUN
ajst-16294	214	56	/m	/m	PUNCT
ajst-16294	214	57	in	in	ADP
ajst-16294	214	58	)	)	PUNCT
ajst-16294	214	59	time	time	NOUN
ajst-16294	214	60	/	/	SYM
ajst-16294	214	61	ms	ms	NOUN
ajst-16294	214	62	20	20	NUM
ajst-16294	214	63	20.6	20.6	NUM
ajst-16294	214	64	21.2	21.2	NUM
ajst-16294	214	65	21.8	21.8	NUM
ajst-16294	214	66	-0.004	-0.004	PUNCT
ajst-16294	214	67	-0.002	-0.002	PUNCT
ajst-16294	214	68	0	0	NUM
ajst-16294	214	69	0.002	0.002	NUM
ajst-16294	214	70	0.004	0.004	NUM
ajst-16294	214	71	0.006	0.006	NUM
ajst-16294	214	72	s	s	NOUN
ajst-16294	214	73	pe	pe	INTJ
ajst-16294	214	74	ed	ed	NOUN
ajst-16294	214	75	(	(	PUNCT
ajst-16294	214	76	r	r	NOUN
ajst-16294	214	77	/m	/m	PUNCT
ajst-16294	214	78	in	in	ADP
ajst-16294	214	79	)	)	PUNCT
ajst-16294	214	80	time	time	NOUN
ajst-16294	214	81	/	/	SYM
ajst-16294	214	82	ms	ms	NOUN
ajst-16294	214	83	20	20	NUM
ajst-16294	214	84	20.6	20.6	NUM
ajst-16294	214	85	21.2	21.2	NUM
ajst-16294	214	86	21.8	21.8	NUM
ajst-16294	214	87	-	-	SYM
ajst-16294	214	88	0.04	0.04	NUM
ajst-16294	214	89	0	0	NUM
ajst-16294	214	90	0.04	0.04	NUM
ajst-16294	214	91	0.08	0.08	NUM
ajst-16294	214	92	0.12	0.12	NUM
ajst-16294	214	93	0.16	0.16	NUM
ajst-16294	214	94	s	s	NOUN
ajst-16294	214	95	pe	pe	INTJ
ajst-16294	214	96	ed	ed	NOUN
ajst-16294	214	97	(	(	PUNCT
ajst-16294	214	98	r	r	NOUN
ajst-16294	214	99	/m	/m	PUNCT
ajst-16294	214	100	in	in	ADP
ajst-16294	214	101	)	)	PUNCT
ajst-16294	214	102	time	time	NOUN
ajst-16294	214	103	/	/	SYM
ajst-16294	214	104	ms	ms	NOUN
ajst-16294	214	105	20	20	NUM
ajst-16294	214	106	20.6	20.6	NUM
ajst-16294	214	107	21.2	21.2	NUM
ajst-16294	214	108	21.8	21.8	NUM
ajst-16294	214	109	-	-	SYM
ajst-16294	214	110	0.1	0.1	NUM
ajst-16294	214	111	0	0	NUM
ajst-16294	214	112	0.1	0.1	NUM
ajst-16294	214	113	0.2	0.2	NUM
ajst-16294	214	114	0.3	0.3	NUM
ajst-16294	214	115	s	s	NOUN
ajst-16294	214	116	pe	pe	INTJ
ajst-16294	214	117	ed	ed	NOUN
ajst-16294	214	118	(	(	PUNCT
ajst-16294	214	119	r	r	NOUN
ajst-16294	214	120	/m	/m	PUNCT
ajst-16294	214	121	in	in	ADP
ajst-16294	214	122	)	)	PUNCT
ajst-16294	214	123	time	time	NOUN
ajst-16294	214	124	/	/	SYM
ajst-16294	214	125	ms	ms	PROPN
ajst-16294	214	126	-0.025	-0.025	PROPN
ajst-16294	214	127	-0.02	-0.02	NUM
ajst-16294	214	128	-0.015	-0.015	PROPN
ajst-16294	214	129	-0.01	-0.01	NUM
ajst-16294	214	130	-0.005	-0.005	SYM
ajst-16294	214	131	0	0	NUM
ajst-16294	214	132	0.005	0.005	NUM
ajst-16294	214	133	20	20	NUM
ajst-16294	214	134	20.4	20.4	NUM
ajst-16294	214	135	20.8	20.8	NUM
ajst-16294	214	136	21.2	21.2	NUM
ajst-16294	214	137	s	s	NOUN
ajst-16294	214	138	pe	pe	PRON
ajst-16294	214	139	ed	ed	NOUN
ajst-16294	214	140	(	(	PUNCT
ajst-16294	214	141	r	r	NOUN
ajst-16294	214	142	/m	/m	PUNCT
ajst-16294	214	143	in	in	ADP
ajst-16294	214	144	)	)	PUNCT
ajst-16294	214	145	time	time	NOUN
ajst-16294	214	146	/	/	SYM
ajst-16294	214	147	ms	ms	PROPN
ajst-16294	214	148	-0.02	-0.02	NUM
ajst-16294	214	149	0	0	NUM
ajst-16294	214	150	0.02	0.02	NUM
ajst-16294	214	151	0.04	0.04	NUM
ajst-16294	214	152	0.06	0.06	NUM
ajst-16294	214	153	0.08	0.08	NUM
ajst-16294	214	154	0.1	0.1	NUM
ajst-16294	214	155	0.12	0.12	NUM
ajst-16294	214	156	0.14	0.14	NUM
ajst-16294	214	157	20	20	NUM
ajst-16294	214	158	20.4	20.4	NUM
ajst-16294	214	159	20.8	20.8	NUM
ajst-16294	214	160	21.2	21.2	NUM
ajst-16294	214	161	s	s	NOUN
ajst-16294	214	162	pe	pe	PRON
ajst-16294	214	163	ed	ed	NOUN
ajst-16294	214	164	(	(	PUNCT
ajst-16294	214	165	r	r	NOUN
ajst-16294	214	166	/m	/m	PUNCT
ajst-16294	214	167	in	in	ADP
ajst-16294	214	168	)	)	PUNCT
ajst-16294	214	169	time	time	NOUN
ajst-16294	214	170	/	/	SYM
ajst-16294	214	171	ms	ms	NOUN
ajst-16294	214	172	20	20	NUM
ajst-16294	214	173	20.4	20.4	NUM
ajst-16294	214	174	20.8	20.8	NUM
ajst-16294	214	175	21.2	21.2	NUM
ajst-16294	214	176	-	-	NUM
ajst-16294	214	177	0.05	0.05	NUM
ajst-16294	214	178	0	0	NUM
ajst-16294	214	179	0.05	0.05	NUM
ajst-16294	214	180	0.1	0.1	NUM
ajst-16294	214	181	0.15	0.15	NUM
ajst-16294	214	182	0.2	0.2	NUM
ajst-16294	214	183	0.25	0.25	NUM
ajst-16294	214	184	s	s	NOUN
ajst-16294	214	185	pe	pe	INTJ
ajst-16294	214	186	ed	ed	NOUN
ajst-16294	214	187	(	(	PUNCT
ajst-16294	214	188	r	r	NOUN
ajst-16294	214	189	/m	/m	PUNCT
ajst-16294	214	190	in	in	ADP
ajst-16294	214	191	)	)	PUNCT
ajst-16294	214	192	time	time	NOUN
ajst-16294	214	193	/	/	SYM
ajst-16294	214	194	ms	ms	NOUN
ajst-16294	214	195	20	20	NUM
ajst-16294	214	196	21	21	NUM
ajst-16294	214	197	22	22	NUM
ajst-16294	214	198	23	23	NUM
ajst-16294	214	199	24	24	NUM
ajst-16294	214	200	-0.004	-0.004	PUNCT
ajst-16294	214	201	-0.002	-0.002	PUNCT
ajst-16294	214	202	0	0	NUM
ajst-16294	215	1	0.002	0.002	NUM
ajst-16294	215	2	s	s	PART
ajst-16294	215	3	pe	pe	INTJ
ajst-16294	215	4	ed	ed	NOUN
ajst-16294	215	5	(	(	PUNCT
ajst-16294	215	6	r	r	NOUN
ajst-16294	215	7	/m	/m	PUNCT
ajst-16294	215	8	in	in	ADP
ajst-16294	215	9	)	)	PUNCT
ajst-16294	215	10	time	time	NOUN
ajst-16294	215	11	/	/	SYM
ajst-16294	215	12	ms	ms	NOUN
ajst-16294	215	13	20	20	NUM
ajst-16294	215	14	21	21	NUM
ajst-16294	215	15	22	22	NUM
ajst-16294	215	16	23	23	NUM
ajst-16294	215	17	24	24	NUM
ajst-16294	215	18	0	0	NUM
ajst-16294	215	19	0.02	0.02	NUM
ajst-16294	215	20	0.04	0.04	NUM
ajst-16294	215	21	0.06	0.06	NUM
ajst-16294	215	22	s	s	NOUN
ajst-16294	215	23	pe	pe	INTJ
ajst-16294	215	24	ed	ed	NOUN
ajst-16294	215	25	(	(	PUNCT
ajst-16294	215	26	r	r	NOUN
ajst-16294	215	27	/m	/m	PUNCT
ajst-16294	215	28	in	in	ADP
ajst-16294	215	29	)	)	PUNCT
ajst-16294	215	30	time	time	NOUN
ajst-16294	215	31	/	/	SYM
ajst-16294	215	32	ms	ms	NOUN
ajst-16294	215	33	20	20	NUM
ajst-16294	215	34	21	21	NUM
ajst-16294	215	35	22	22	NUM
ajst-16294	215	36	23	23	NUM
ajst-16294	215	37	24	24	NUM
ajst-16294	215	38	0	0	NUM
ajst-16294	215	39	0.04	0.04	NUM
ajst-16294	215	40	0.08	0.08	NUM
ajst-16294	215	41	0.12	0.12	NUM
ajst-16294	215	42	figure	figure	NOUN
ajst-16294	215	43	5	5	NUM
ajst-16294	215	44	.	.	PUNCT
ajst-16294	215	45	comparison	comparison	NOUN
ajst-16294	215	46	of	of	ADP
ajst-16294	215	47	speed	speed	NOUN
ajst-16294	215	48	errors	error	NOUN
ajst-16294	215	49	of	of	ADP
ajst-16294	215	50	motors	motor	NOUN
ajst-16294	215	51	with	with	ADP
ajst-16294	215	52	different	different	ADJ
ajst-16294	215	53	control	control	NOUN
ajst-16294	215	54	methods	method	NOUN
ajst-16294	215	55	(	(	PUNCT
ajst-16294	215	56	when	when	SCONJ
ajst-16294	215	57	load	load	NOUN
ajst-16294	215	58	torque	torque	NOUN
ajst-16294	215	59	varies	vary	VERB
ajst-16294	215	60	at	at	ADP
ajst-16294	215	61	20ms	20ms	NUM
ajst-16294	215	62	)	)	PUNCT
ajst-16294	215	63	65	65	NUM
ajst-16294	215	64	(	(	PUNCT
ajst-16294	215	65	c	c	NOUN
ajst-16294	215	66	)	)	PUNCT
ajst-16294	215	67	adjacent	adjacent	ADJ
ajst-16294	215	68	cross	cross	ADJ
ajst-16294	215	69	-	-	ADJ
ajst-16294	215	70	coupled	couple	VERB
ajst-16294	215	71	sliding	slide	VERB
ajst-16294	215	72	mode	mode	NOUN
ajst-16294	215	73	control	control	NOUN
ajst-16294	215	74	(	(	PUNCT
ajst-16294	215	75	d	d	NOUN
ajst-16294	215	76	)	)	PUNCT
ajst-16294	215	77	virtual	virtual	ADJ
ajst-16294	215	78	spindle	spindle	NOUN
ajst-16294	215	79	adjacent	adjacent	ADJ
ajst-16294	215	80	crosscoupled	crosscouple	VERB
ajst-16294	215	81	sliding	slide	VERB
ajst-16294	215	82	mode	mode	NOUN
ajst-16294	215	83	control	control	NOUN
ajst-16294	215	84	(	(	PUNCT
ajst-16294	215	85	a	a	PRON
ajst-16294	215	86	)	)	PUNCT
ajst-16294	215	87	deviation	deviation	NOUN
ajst-16294	215	88	-	-	PUNCT
ajst-16294	215	89	coupled	couple	VERB
ajst-16294	215	90	pi	pi	NOUN
ajst-16294	215	91	control	control	NOUN
ajst-16294	215	92	(	(	PUNCT
ajst-16294	215	93	b	b	NOUN
ajst-16294	215	94	)	)	PUNCT
ajst-16294	215	95	deviation	deviation	NOUN
ajst-16294	215	96	-	-	PUNCT
ajst-16294	215	97	coupled	couple	VERB
ajst-16294	215	98	sliding	slide	VERB
ajst-16294	215	99	mode	mode	NOUN
ajst-16294	215	100	control	control	NOUN
ajst-16294	215	101	(	(	PUNCT
ajst-16294	215	102	1	1	NUM
ajst-16294	215	103	)	)	PUNCT
ajst-16294	215	104	difference	difference	NOUN
ajst-16294	215	105	in	in	ADP
ajst-16294	215	106	speed	speed	NOUN
ajst-16294	215	107	between	between	ADP
ajst-16294	215	108	motor	motor	NOUN
ajst-16294	215	109	1	1	NUM
ajst-16294	215	110	and	and	CCONJ
ajst-16294	215	111	motor	motor	NOUN
ajst-16294	215	112	2	2	NUM
ajst-16294	215	113	(	(	PUNCT
ajst-16294	215	114	1	1	NUM
ajst-16294	215	115	)	)	PUNCT
ajst-16294	215	116	difference	difference	NOUN
ajst-16294	215	117	in	in	ADP
ajst-16294	215	118	speed	speed	NOUN
ajst-16294	215	119	between	between	ADP
ajst-16294	215	120	motor	motor	NOUN
ajst-16294	215	121	1	1	NUM
ajst-16294	215	122	and	and	CCONJ
ajst-16294	215	123	motor	motor	NOUN
ajst-16294	215	124	2	2	NUM
ajst-16294	215	125	(	(	PUNCT
ajst-16294	215	126	1	1	NUM
ajst-16294	215	127	)	)	PUNCT
ajst-16294	215	128	difference	difference	NOUN
ajst-16294	215	129	in	in	ADP
ajst-16294	215	130	speed	speed	NOUN
ajst-16294	215	131	between	between	ADP
ajst-16294	215	132	motor	motor	NOUN
ajst-16294	215	133	1	1	NUM
ajst-16294	215	134	and	and	CCONJ
ajst-16294	215	135	motor	motor	NOUN
ajst-16294	215	136	2	2	NUM
ajst-16294	215	137	(	(	PUNCT
ajst-16294	215	138	1	1	NUM
ajst-16294	215	139	)	)	PUNCT
ajst-16294	215	140	difference	difference	NOUN
ajst-16294	215	141	in	in	ADP
ajst-16294	215	142	speed	speed	NOUN
ajst-16294	215	143	between	between	ADP
ajst-16294	215	144	motor	motor	NOUN
ajst-16294	215	145	1	1	NUM
ajst-16294	215	146	and	and	CCONJ
ajst-16294	215	147	motor	motor	NOUN
ajst-16294	215	148	2	2	NUM
ajst-16294	215	149	(	(	PUNCT
ajst-16294	215	150	2	2	NUM
ajst-16294	215	151	)	)	PUNCT
ajst-16294	215	152	difference	difference	NOUN
ajst-16294	215	153	in	in	ADP
ajst-16294	215	154	speed	speed	NOUN
ajst-16294	215	155	between	between	ADP
ajst-16294	215	156	motor	motor	NOUN
ajst-16294	215	157	1	1	NUM
ajst-16294	215	158	and	and	CCONJ
ajst-16294	215	159	motor	motor	NOUN
ajst-16294	215	160	3	3	NUM
ajst-16294	215	161	(	(	PUNCT
ajst-16294	215	162	2	2	NUM
ajst-16294	215	163	)	)	PUNCT
ajst-16294	215	164	difference	difference	NOUN
ajst-16294	215	165	in	in	ADP
ajst-16294	215	166	speed	speed	NOUN
ajst-16294	215	167	between	between	ADP
ajst-16294	215	168	motor	motor	NOUN
ajst-16294	215	169	1	1	NUM
ajst-16294	215	170	and	and	CCONJ
ajst-16294	215	171	motor	motor	NOUN
ajst-16294	215	172	3	3	NUM
ajst-16294	215	173	(	(	PUNCT
ajst-16294	215	174	2	2	NUM
ajst-16294	215	175	)	)	PUNCT
ajst-16294	215	176	difference	difference	NOUN
ajst-16294	215	177	in	in	ADP
ajst-16294	215	178	speed	speed	NOUN
ajst-16294	215	179	between	between	ADP
ajst-16294	215	180	motor	motor	NOUN
ajst-16294	215	181	1	1	NUM
ajst-16294	215	182	and	and	CCONJ
ajst-16294	215	183	motor	motor	NOUN
ajst-16294	215	184	3	3	NUM
ajst-16294	215	185	(	(	PUNCT
ajst-16294	215	186	2	2	NUM
ajst-16294	215	187	)	)	PUNCT
ajst-16294	215	188	difference	difference	NOUN
ajst-16294	215	189	in	in	ADP
ajst-16294	215	190	speed	speed	NOUN
ajst-16294	215	191	between	between	ADP
ajst-16294	215	192	motor	motor	NOUN
ajst-16294	215	193	1	1	NUM
ajst-16294	215	194	and	and	CCONJ
ajst-16294	215	195	motor	motor	NOUN
ajst-16294	215	196	3	3	NUM
ajst-16294	215	197	(	(	PUNCT
ajst-16294	215	198	3	3	NUM
ajst-16294	215	199	)	)	PUNCT
ajst-16294	215	200	difference	difference	NOUN
ajst-16294	215	201	in	in	ADP
ajst-16294	215	202	speed	speed	NOUN
ajst-16294	215	203	between	between	ADP
ajst-16294	215	204	motor	motor	NOUN
ajst-16294	215	205	1	1	NUM
ajst-16294	215	206	and	and	CCONJ
ajst-16294	215	207	motor	motor	NOUN
ajst-16294	215	208	4	4	NUM
ajst-16294	215	209	(	(	PUNCT
ajst-16294	215	210	3	3	NUM
ajst-16294	215	211	)	)	PUNCT
ajst-16294	215	212	difference	difference	NOUN
ajst-16294	215	213	in	in	ADP
ajst-16294	215	214	speed	speed	NOUN
ajst-16294	215	215	between	between	ADP
ajst-16294	215	216	motor	motor	NOUN
ajst-16294	215	217	1	1	NUM
ajst-16294	215	218	and	and	CCONJ
ajst-16294	215	219	motor	motor	NOUN
ajst-16294	215	220	4	4	NUM
ajst-16294	215	221	(	(	PUNCT
ajst-16294	215	222	3	3	NUM
ajst-16294	215	223	)	)	PUNCT
ajst-16294	215	224	difference	difference	NOUN
ajst-16294	215	225	in	in	ADP
ajst-16294	215	226	speed	speed	NOUN
ajst-16294	215	227	between	between	ADP
ajst-16294	215	228	motor	motor	NOUN
ajst-16294	215	229	1	1	NUM
ajst-16294	215	230	and	and	CCONJ
ajst-16294	215	231	motor	motor	NOUN
ajst-16294	215	232	4	4	NUM
ajst-16294	215	233	(	(	PUNCT
ajst-16294	215	234	3	3	NUM
ajst-16294	215	235	)	)	PUNCT
ajst-16294	215	236	difference	difference	NOUN
ajst-16294	215	237	in	in	ADP
ajst-16294	215	238	speed	speed	NOUN
ajst-16294	215	239	between	between	ADP
ajst-16294	215	240	motor	motor	NOUN
ajst-16294	215	241	1	1	NUM
ajst-16294	215	242	and	and	CCONJ
ajst-16294	215	243	motor	motor	NOUN
ajst-16294	215	244	4	4	PROPN
ajst-16294	215	245	s	s	PART
ajst-16294	215	246	pe	pe	INTJ
ajst-16294	215	247	ed	ed	NOUN
ajst-16294	215	248	(	(	PUNCT
ajst-16294	215	249	r	r	NOUN
ajst-16294	215	250	/m	/m	PUNCT
ajst-16294	215	251	in	in	ADP
ajst-16294	215	252	)	)	PUNCT
ajst-16294	215	253	time	time	NOUN
ajst-16294	215	254	/	/	SYM
ajst-16294	215	255	ms	ms	NOUN
ajst-16294	215	256	60	60	NUM
ajst-16294	215	257	62	62	NUM
ajst-16294	215	258	64	64	NUM
ajst-16294	215	259	66	66	NUM
ajst-16294	215	260	68	68	NUM
ajst-16294	215	261	-	-	SYM
ajst-16294	215	262	0.004	0.004	NUM
ajst-16294	215	263	-0.002	-0.002	NOUN
ajst-16294	215	264	0	0	NUM
ajst-16294	215	265	0.002	0.002	NUM
ajst-16294	215	266	0.004	0.004	NUM
ajst-16294	215	267	s	s	NOUN
ajst-16294	215	268	pe	pe	INTJ
ajst-16294	215	269	ed	ed	NOUN
ajst-16294	215	270	(	(	PUNCT
ajst-16294	215	271	r	r	NOUN
ajst-16294	215	272	/m	/m	PUNCT
ajst-16294	215	273	in	in	ADP
ajst-16294	215	274	)	)	PUNCT
ajst-16294	215	275	time	time	NOUN
ajst-16294	215	276	/	/	SYM
ajst-16294	215	277	ms	ms	NOUN
ajst-16294	215	278	60	60	NUM
ajst-16294	215	279	62	62	NUM
ajst-16294	215	280	64	64	NUM
ajst-16294	215	281	66	66	NUM
ajst-16294	215	282	68	68	NUM
ajst-16294	215	283	0.004	0.004	NUM
ajst-16294	215	284	0.008	0.008	NUM
ajst-16294	215	285	0.012	0.012	NUM
ajst-16294	215	286	0.016	0.016	NUM
ajst-16294	215	287	s	s	PART
ajst-16294	215	288	pe	pe	PRON
ajst-16294	215	289	ed	ed	NOUN
ajst-16294	215	290	(	(	PUNCT
ajst-16294	215	291	r	r	NOUN
ajst-16294	215	292	/m	/m	PUNCT
ajst-16294	215	293	in	in	ADP
ajst-16294	215	294	)	)	PUNCT
ajst-16294	215	295	time	time	NOUN
ajst-16294	215	296	/	/	SYM
ajst-16294	215	297	ms	ms	NOUN
ajst-16294	215	298	60	60	NUM
ajst-16294	215	299	62	62	NUM
ajst-16294	215	300	64	64	NUM
ajst-16294	215	301	66	66	NUM
ajst-16294	215	302	680.01	680.01	NUM
ajst-16294	215	303	0.012	0.012	NUM
ajst-16294	215	304	0.014	0.014	NUM
ajst-16294	215	305	0.016	0.016	NUM
ajst-16294	215	306	0.018	0.018	NUM
ajst-16294	215	307	s	s	PART
ajst-16294	215	308	pe	pe	PRON
ajst-16294	215	309	ed	ed	NOUN
ajst-16294	215	310	(	(	PUNCT
ajst-16294	215	311	r	r	NOUN
ajst-16294	215	312	/m	/m	PUNCT
ajst-16294	215	313	in	in	ADP
ajst-16294	215	314	)	)	PUNCT
ajst-16294	215	315	time	time	NOUN
ajst-16294	215	316	/	/	SYM
ajst-16294	215	317	ms	ms	NOUN
ajst-16294	215	318	60	60	NUM
ajst-16294	215	319	61	61	NUM
ajst-16294	215	320	62	62	NUM
ajst-16294	215	321	63	63	NUM
ajst-16294	215	322	-0.004	-0.004	PUNCT
ajst-16294	215	323	-0.002	-0.002	PUNCT
ajst-16294	215	324	0	0	NUM
ajst-16294	215	325	0.002	0.002	NUM
ajst-16294	215	326	0.004	0.004	NUM
ajst-16294	215	327	0.006	0.006	NUM
ajst-16294	215	328	s	s	NOUN
ajst-16294	215	329	pe	pe	INTJ
ajst-16294	215	330	ed	ed	NOUN
ajst-16294	215	331	(	(	PUNCT
ajst-16294	215	332	r	r	NOUN
ajst-16294	215	333	/m	/m	PUNCT
ajst-16294	215	334	in	in	ADP
ajst-16294	215	335	)	)	PUNCT
ajst-16294	215	336	time	time	NOUN
ajst-16294	215	337	/	/	SYM
ajst-16294	215	338	ms	ms	NOUN
ajst-16294	215	339	60	60	NUM
ajst-16294	215	340	61	61	NUM
ajst-16294	215	341	62	62	NUM
ajst-16294	215	342	63	63	NUM
ajst-16294	215	343	-0.004	-0.004	PUNCT
ajst-16294	215	344	-0.002	-0.002	PUNCT
ajst-16294	215	345	0	0	NUM
ajst-16294	215	346	0.002	0.002	NUM
ajst-16294	215	347	0.004	0.004	NUM
ajst-16294	215	348	0.006	0.006	NUM
ajst-16294	215	349	s	s	NOUN
ajst-16294	215	350	pe	pe	INTJ
ajst-16294	215	351	ed	ed	NOUN
ajst-16294	215	352	(	(	PUNCT
ajst-16294	215	353	r	r	NOUN
ajst-16294	215	354	/m	/m	PUNCT
ajst-16294	215	355	in	in	ADP
ajst-16294	215	356	)	)	PUNCT
ajst-16294	215	357	time	time	NOUN
ajst-16294	215	358	/	/	SYM
ajst-16294	215	359	ms	ms	NOUN
ajst-16294	215	360	60	60	NUM
ajst-16294	215	361	61	61	NUM
ajst-16294	215	362	62	62	NUM
ajst-16294	215	363	63	63	NUM
ajst-16294	215	364	-0.004	-0.004	PUNCT
ajst-16294	215	365	-0.002	-0.002	PUNCT
ajst-16294	215	366	0	0	NUM
ajst-16294	215	367	0.002	0.002	NUM
ajst-16294	215	368	0.004	0.004	NUM
ajst-16294	215	369	0.006	0.006	NUM
ajst-16294	215	370	s	s	NOUN
ajst-16294	215	371	pe	pe	INTJ
ajst-16294	215	372	ed	ed	NOUN
ajst-16294	215	373	(	(	PUNCT
ajst-16294	215	374	r	r	NOUN
ajst-16294	215	375	/m	/m	PUNCT
ajst-16294	215	376	in	in	ADP
ajst-16294	215	377	)	)	PUNCT
ajst-16294	215	378	time	time	NOUN
ajst-16294	215	379	/	/	SYM
ajst-16294	215	380	ms	ms	NOUN
ajst-16294	215	381	-0.004	-0.004	PUNCT
ajst-16294	215	382	-0.002	-0.002	PUNCT
ajst-16294	215	383	0	0	NUM
ajst-16294	215	384	0.002	0.002	NUM
ajst-16294	215	385	0.004	0.004	NUM
ajst-16294	215	386	60	60	NUM
ajst-16294	215	387	62	62	NUM
ajst-16294	215	388	64	64	NUM
ajst-16294	215	389	66	66	NUM
ajst-16294	215	390	s	s	NOUN
ajst-16294	215	391	pe	pe	INTJ
ajst-16294	215	392	ed	ed	NOUN
ajst-16294	215	393	(	(	PUNCT
ajst-16294	215	394	r	r	NOUN
ajst-16294	215	395	/m	/m	PUNCT
ajst-16294	215	396	in	in	ADP
ajst-16294	215	397	)	)	PUNCT
ajst-16294	215	398	time	time	NOUN
ajst-16294	215	399	/	/	SYM
ajst-16294	215	400	ms	ms	NOUN
ajst-16294	215	401	-0.004	-0.004	PUNCT
ajst-16294	215	402	0	0	NUM
ajst-16294	216	1	0.004	0.004	NUM
ajst-16294	216	2	0.008	0.008	NUM
ajst-16294	216	3	60	60	NUM
ajst-16294	216	4	62	62	NUM
ajst-16294	216	5	64	64	NUM
ajst-16294	216	6	66	66	NUM
ajst-16294	216	7	s	s	NOUN
ajst-16294	216	8	pe	pe	INTJ
ajst-16294	216	9	ed	ed	NOUN
ajst-16294	216	10	(	(	PUNCT
ajst-16294	216	11	r	r	NOUN
ajst-16294	216	12	/m	/m	PUNCT
ajst-16294	216	13	in	in	ADP
ajst-16294	216	14	)	)	PUNCT
ajst-16294	216	15	time	time	NOUN
ajst-16294	216	16	/	/	SYM
ajst-16294	216	17	ms	ms	NOUN
ajst-16294	216	18	-0.004	-0.004	PUNCT
ajst-16294	216	19	0	0	NUM
ajst-16294	217	1	0.004	0.004	NUM
ajst-16294	217	2	0.008	0.008	NUM
ajst-16294	217	3	60	60	NUM
ajst-16294	217	4	62	62	NUM
ajst-16294	217	5	64	64	NUM
ajst-16294	217	6	66	66	NUM
ajst-16294	217	7	s	s	NOUN
ajst-16294	217	8	pe	pe	INTJ
ajst-16294	217	9	ed	ed	NOUN
ajst-16294	217	10	(	(	PUNCT
ajst-16294	217	11	r	r	NOUN
ajst-16294	217	12	/m	/m	PUNCT
ajst-16294	217	13	in	in	ADP
ajst-16294	217	14	)	)	PUNCT
ajst-16294	217	15	time	time	NOUN
ajst-16294	217	16	/	/	SYM
ajst-16294	217	17	ms	ms	NOUN
ajst-16294	217	18	-0.004	-0.004	PUNCT
ajst-16294	217	19	-0.002	-0.002	PUNCT
ajst-16294	217	20	0	0	NUM
ajst-16294	217	21	0.002	0.002	NUM
ajst-16294	217	22	0.004	0.004	NUM
ajst-16294	217	23	0.006	0.006	NUM
ajst-16294	217	24	60	60	NUM
ajst-16294	217	25	60.4	60.4	NUM
ajst-16294	217	26	60.8	60.8	NUM
ajst-16294	217	27	s	s	NOUN
ajst-16294	217	28	pe	pe	PRON
ajst-16294	217	29	ed	ed	NOUN
ajst-16294	217	30	(	(	PUNCT
ajst-16294	217	31	r	r	NOUN
ajst-16294	217	32	/m	/m	PUNCT
ajst-16294	217	33	in	in	ADP
ajst-16294	217	34	)	)	PUNCT
ajst-16294	217	35	time	time	NOUN
ajst-16294	217	36	/	/	SYM
ajst-16294	217	37	ms	ms	PROPN
ajst-16294	217	38	-0.003	-0.003	PROPN
ajst-16294	217	39	-0.002	-0.002	PUNCT
ajst-16294	217	40	0	0	NUM
ajst-16294	217	41	0.002	0.002	NUM
ajst-16294	217	42	60	60	NUM
ajst-16294	217	43	60.4	60.4	NUM
ajst-16294	217	44	60.8	60.8	NUM
ajst-16294	217	45	s	s	NOUN
ajst-16294	217	46	pe	pe	PRON
ajst-16294	217	47	ed	ed	NOUN
ajst-16294	217	48	(	(	PUNCT
ajst-16294	217	49	r	r	NOUN
ajst-16294	217	50	/m	/m	PUNCT
ajst-16294	217	51	in	in	ADP
ajst-16294	217	52	)	)	PUNCT
ajst-16294	217	53	time	time	NOUN
ajst-16294	217	54	/	/	SYM
ajst-16294	217	55	ms	ms	NOUN
ajst-16294	217	56	-0.004	-0.004	PUNCT
ajst-16294	217	57	-0.002	-0.002	PUNCT
ajst-16294	217	58	0	0	NUM
ajst-16294	217	59	0.002	0.002	NUM
ajst-16294	217	60	0.004	0.004	NUM
ajst-16294	217	61	60	60	NUM
ajst-16294	217	62	60.4	60.4	NUM
ajst-16294	217	63	60.8	60.8	NUM
ajst-16294	217	64	figure	figure	NOUN
ajst-16294	217	65	6	6	NUM
ajst-16294	217	66	.	.	PUNCT
ajst-16294	218	1	comparison	comparison	NOUN
ajst-16294	218	2	of	of	ADP
ajst-16294	218	3	speed	speed	NOUN
ajst-16294	218	4	errors	error	NOUN
ajst-16294	218	5	of	of	ADP
ajst-16294	218	6	motors	motor	NOUN
ajst-16294	218	7	with	with	ADP
ajst-16294	218	8	different	different	ADJ
ajst-16294	218	9	control	control	NOUN
ajst-16294	218	10	methods	method	NOUN
ajst-16294	218	11	(	(	PUNCT
ajst-16294	218	12	when	when	SCONJ
ajst-16294	218	13	load	load	NOUN
ajst-16294	218	14	torque	torque	NOUN
ajst-16294	218	15	varies	vary	VERB
ajst-16294	218	16	at	at	ADP
ajst-16294	218	17	60ms	60ms	ADJ
ajst-16294	218	18	)	)	PUNCT
ajst-16294	218	19	5	5	NUM
ajst-16294	218	20	.	.	PUNCT
ajst-16294	218	21	conclusion	conclusion	NOUN
ajst-16294	218	22	aiming	aim	VERB
ajst-16294	218	23	at	at	ADP
ajst-16294	218	24	the	the	DET
ajst-16294	218	25	shortcomings	shortcoming	NOUN
ajst-16294	218	26	of	of	ADP
ajst-16294	218	27	the	the	DET
ajst-16294	218	28	traditional	traditional	ADJ
ajst-16294	218	29	multi	multi	ADJ
ajst-16294	218	30	-	-	ADJ
ajst-16294	218	31	motor	motor	ADJ
ajst-16294	218	32	synchronous	synchronous	ADJ
ajst-16294	218	33	control	control	NOUN
ajst-16294	218	34	system	system	NOUN
ajst-16294	218	35	,	,	PUNCT
ajst-16294	218	36	such	such	ADJ
ajst-16294	218	37	as	as	ADP
ajst-16294	218	38	synchronization	synchronization	NOUN
ajst-16294	218	39	error	error	NOUN
ajst-16294	218	40	and	and	CCONJ
ajst-16294	218	41	poor	poor	ADJ
ajst-16294	218	42	following	follow	VERB
ajst-16294	218	43	performance	performance	NOUN
ajst-16294	218	44	,	,	PUNCT
ajst-16294	218	45	this	this	DET
ajst-16294	218	46	paper	paper	NOUN
ajst-16294	218	47	adopts	adopt	VERB
ajst-16294	218	48	the	the	DET
ajst-16294	218	49	virtual	virtual	ADJ
ajst-16294	218	50	spindle	spindle	NOUN
ajst-16294	218	51	-	-	PUNCT
ajst-16294	218	52	cross	cross	ADJ
ajst-16294	218	53	-	-	ADJ
ajst-16294	218	54	coupling	coupling	ADJ
ajst-16294	218	55	control	control	NOUN
ajst-16294	218	56	structure	structure	NOUN
ajst-16294	218	57	,	,	PUNCT
ajst-16294	218	58	designs	design	VERB
ajst-16294	218	59	the	the	DET
ajst-16294	218	60	speed	speed	NOUN
ajst-16294	218	61	compensator	compensator	NOUN
ajst-16294	218	62	to	to	PART
ajst-16294	218	63	compensate	compensate	VERB
ajst-16294	218	64	the	the	DET
ajst-16294	218	65	speed	speed	NOUN
ajst-16294	218	66	of	of	ADP
ajst-16294	218	67	each	each	DET
ajst-16294	218	68	motor	motor	NOUN
ajst-16294	218	69	,	,	PUNCT
ajst-16294	218	70	and	and	CCONJ
ajst-16294	218	71	at	at	ADP
ajst-16294	218	72	the	the	DET
ajst-16294	218	73	same	same	ADJ
ajst-16294	218	74	time	time	NOUN
ajst-16294	218	75	applies	apply	VERB
ajst-16294	218	76	the	the	DET
ajst-16294	218	77	sliding	slide	VERB
ajst-16294	218	78	mode	mode	NOUN
ajst-16294	218	79	controller	controller	NOUN
ajst-16294	218	80	to	to	ADP
ajst-16294	218	81	the	the	DET
ajst-16294	218	82	control	control	NOUN
ajst-16294	218	83	of	of	ADP
ajst-16294	218	84	a	a	DET
ajst-16294	218	85	single	single	ADJ
ajst-16294	218	86	motor	motor	NOUN
ajst-16294	218	87	.	.	PUNCT
ajst-16294	219	1	the	the	DET
ajst-16294	219	2	coordinated	coordinate	VERB
ajst-16294	219	3	operation	operation	NOUN
ajst-16294	219	4	system	system	NOUN
ajst-16294	219	5	of	of	ADP
ajst-16294	219	6	four	four	NUM
ajst-16294	219	7	synchronous	synchronous	ADJ
ajst-16294	219	8	motors	motor	NOUN
ajst-16294	219	9	is	be	AUX
ajst-16294	219	10	built	build	VERB
ajst-16294	219	11	by	by	ADP
ajst-16294	219	12	matlab	matlab	PROPN
ajst-16294	219	13	/	/	SYM
ajst-16294	219	14	simulink	simulink	PROPN
ajst-16294	219	15	platform	platform	NOUN
ajst-16294	219	16	,	,	PUNCT
ajst-16294	219	17	and	and	CCONJ
ajst-16294	219	18	the	the	DET
ajst-16294	219	19	simulation	simulation	NOUN
ajst-16294	219	20	results	result	NOUN
ajst-16294	219	21	show	show	VERB
ajst-16294	219	22	that	that	SCONJ
ajst-16294	219	23	the	the	DET
ajst-16294	219	24	sliding	slide	VERB
ajst-16294	219	25	mode	mode	NOUN
ajst-16294	219	26	control	control	NOUN
ajst-16294	219	27	strategy	strategy	NOUN
ajst-16294	219	28	improves	improve	VERB
ajst-16294	219	29	the	the	DET
ajst-16294	219	30	robustness	robustness	NOUN
ajst-16294	219	31	and	and	CCONJ
ajst-16294	219	32	synchronization	synchronization	NOUN
ajst-16294	219	33	of	of	ADP
ajst-16294	219	34	the	the	DET
ajst-16294	219	35	system	system	NOUN
ajst-16294	219	36	to	to	ADP
ajst-16294	219	37	the	the	DET
ajst-16294	219	38	differences	difference	NOUN
ajst-16294	219	39	in	in	ADP
ajst-16294	219	40	the	the	DET
ajst-16294	219	41	motor	motor	NOUN
ajst-16294	219	42	parameters	parameter	NOUN
ajst-16294	219	43	and	and	CCONJ
ajst-16294	219	44	load	load	NOUN
ajst-16294	219	45	changes	change	NOUN
ajst-16294	219	46	.	.	PUNCT
ajst-16294	220	1	compared	compare	VERB
ajst-16294	220	2	with	with	ADP
ajst-16294	220	3	the	the	DET
ajst-16294	220	4	crosscoupled	crosscouple	VERB
ajst-16294	220	5	control	control	NOUN
ajst-16294	220	6	structure	structure	NOUN
ajst-16294	220	7	and	and	CCONJ
ajst-16294	220	8	deviation	deviation	NOUN
ajst-16294	220	9	-	-	PUNCT
ajst-16294	220	10	coupled	couple	VERB
ajst-16294	220	11	control	control	NOUN
ajst-16294	220	12	structure	structure	NOUN
ajst-16294	220	13	,	,	PUNCT
ajst-16294	220	14	the	the	DET
ajst-16294	220	15	virtual	virtual	ADJ
ajst-16294	220	16	spindle	spindle	NOUN
ajst-16294	220	17	-	-	PUNCT
ajst-16294	220	18	cross	cross	NOUN
ajst-16294	220	19	-	-	ADJ
ajst-16294	220	20	coupled	couple	VERB
ajst-16294	220	21	control	control	NOUN
ajst-16294	220	22	structure	structure	NOUN
ajst-16294	220	23	has	have	VERB
ajst-16294	220	24	the	the	DET
ajst-16294	220	25	advantages	advantage	NOUN
ajst-16294	220	26	of	of	ADP
ajst-16294	220	27	small	small	ADJ
ajst-16294	220	28	synchronization	synchronization	NOUN
ajst-16294	220	29	error	error	NOUN
ajst-16294	220	30	and	and	CCONJ
ajst-16294	220	31	good	good	ADJ
ajst-16294	220	32	following	follow	VERB
ajst-16294	220	33	performance	performance	NOUN
ajst-16294	220	34	,	,	PUNCT
ajst-16294	220	35	which	which	PRON
ajst-16294	220	36	reduces	reduce	VERB
ajst-16294	220	37	the	the	DET
ajst-16294	220	38	synchronization	synchronization	NOUN
ajst-16294	220	39	error	error	NOUN
ajst-16294	220	40	due	due	ADP
ajst-16294	220	41	to	to	ADP
ajst-16294	220	42	the	the	DET
ajst-16294	220	43	parameter	parameter	NOUN
ajst-16294	220	44	differences	difference	NOUN
ajst-16294	220	45	and	and	CCONJ
ajst-16294	220	46	makes	make	VERB
ajst-16294	220	47	the	the	DET
ajst-16294	220	48	system	system	NOUN
ajst-16294	220	49	have	have	VERB
ajst-16294	220	50	good	good	ADJ
ajst-16294	220	51	coordinated	coordinate	VERB
ajst-16294	220	52	control	control	NOUN
ajst-16294	220	53	accuracy	accuracy	NOUN
ajst-16294	220	54	.	.	PUNCT
ajst-16294	221	1	references	reference	NOUN
ajst-16294	221	2	[	[	X
ajst-16294	221	3	1	1	NUM
ajst-16294	221	4	]	]	PUNCT
ajst-16294	221	5	wu	wu	PROPN
ajst-16294	221	6	yuhang	yuhang	PROPN
ajst-16294	221	7	,	,	PUNCT
ajst-16294	221	8	xu	xu	PROPN
ajst-16294	221	9	mingzhu	mingzhu	PROPN
ajst-16294	221	10	.	.	PUNCT
ajst-16294	222	1	improve	improve	VERB
ajst-16294	222	2	ring	ring	NOUN
ajst-16294	222	3	coupling	coupling	NOUN
ajst-16294	222	4	for	for	ADP
ajst-16294	222	5	independent	independent	ADJ
ajst-16294	222	6	drive	drive	PROPN
ajst-16294	222	7	electric	electric	ADJ
ajst-16294	222	8	multi	multi	ADJ
ajst-16294	222	9	-	-	ADJ
ajst-16294	222	10	motor	motor	ADJ
ajst-16294	222	11	system[j	system[j	NOUN
ajst-16294	222	12	]	]	PUNCT
ajst-16294	222	13	.	.	PUNCT
ajst-16294	223	1	journal	journal	PROPN
ajst-16294	223	2	of	of	ADP
ajst-16294	223	3	shijiazhuang	shijiazhuang	PROPN
ajst-16294	223	4	tiedao	tiedao	PROPN
ajst-16294	223	5	university	university	PROPN
ajst-16294	223	6	(	(	PUNCT
ajst-16294	223	7	natural	natural	ADJ
ajst-16294	223	8	science	science	NOUN
ajst-16294	223	9	edition	edition	NOUN
ajst-16294	223	10	)	)	PUNCT
ajst-16294	223	11	,	,	PUNCT
ajst-16294	223	12	2023	2023	NUM
ajst-16294	223	13	,	,	PUNCT
ajst-16294	223	14	36(3):112	36(3):112	PROPN
ajst-16294	223	15	-	-	SYM
ajst-16294	223	16	118	118	NUM
ajst-16294	223	17	.	.	PUNCT
ajst-16294	224	1	[	[	X
ajst-16294	224	2	2	2	NUM
ajst-16294	224	3	]	]	X
ajst-16294	224	4	fang	fang	X
ajst-16294	224	5	tao	tao	PROPN
ajst-16294	224	6	,	,	PUNCT
ajst-16294	224	7	gao	gao	PROPN
ajst-16294	224	8	dezong	dezong	PROPN
ajst-16294	224	9	.	.	PUNCT
ajst-16294	225	1	research	research	NOUN
ajst-16294	225	2	on	on	ADP
ajst-16294	225	3	multi	multi	ADJ
ajst-16294	225	4	-	-	ADJ
ajst-16294	225	5	megawatt	megawatt	ADJ
ajst-16294	225	6	direct	direct	ADJ
ajst-16294	225	7	drive	drive	NOUN
ajst-16294	225	8	wind	wind	NOUN
ajst-16294	225	9	power	power	NOUN
ajst-16294	225	10	system	system	NOUN
ajst-16294	225	11	and	and	CCONJ
ajst-16294	225	12	generator	generator	NOUN
ajst-16294	225	13	control[j	control[j	PROPN
ajst-16294	225	14	]	]	PUNCT
ajst-16294	225	15	.	.	PUNCT
ajst-16294	226	1	cfhi	cfhi	ADJ
ajst-16294	226	2	technology	technology	NOUN
ajst-16294	226	3	,	,	PUNCT
ajst-16294	226	4	2013(01):16	2013(01):16	NUM
ajst-16294	226	5	-	-	SYM
ajst-16294	226	6	19	19	NUM
ajst-16294	226	7	.	.	PUNCT
ajst-16294	227	1	[	[	X
ajst-16294	227	2	3	3	X
ajst-16294	227	3	]	]	X
ajst-16294	227	4	yang	yang	PROPN
ajst-16294	227	5	bin	bin	PROPN
ajst-16294	227	6	.	.	PUNCT
ajst-16294	228	1	design	design	NOUN
ajst-16294	228	2	and	and	CCONJ
ajst-16294	228	3	application	application	NOUN
ajst-16294	228	4	of	of	ADP
ajst-16294	228	5	multi	multi	ADJ
ajst-16294	228	6	motor	motor	NOUN
ajst-16294	228	7	intelligent	intelligent	ADJ
ajst-16294	228	8	control	control	NOUN
ajst-16294	228	9	system	system	NOUN
ajst-16294	228	10	for	for	ADP
ajst-16294	228	11	coal	coal	NOUN
ajst-16294	228	12	mine	mine	NOUN
ajst-16294	228	13	belt	belt	NOUN
ajst-16294	228	14	conveyor[j	conveyor[j	PROPN
ajst-16294	228	15	]	]	PUNCT
ajst-16294	228	16	.	.	PUNCT
ajst-16294	229	1	mechanical	mechanical	ADJ
ajst-16294	229	2	management	management	NOUN
ajst-16294	229	3	and	and	CCONJ
ajst-16294	229	4	development	development	NOUN
ajst-16294	229	5	,	,	PUNCT
ajst-16294	229	6	2023	2023	NUM
ajst-16294	229	7	,	,	PUNCT
ajst-16294	229	8	38(05):182	38(05):182	NOUN
ajst-16294	229	9	-	-	X
ajst-16294	229	10	184	184	NUM
ajst-16294	229	11	.	.	PUNCT
ajst-16294	230	1	[	[	X
ajst-16294	230	2	4	4	NUM
ajst-16294	230	3	]	]	X
ajst-16294	230	4	li	li	PROPN
ajst-16294	230	5	dongliang	dongliang	PROPN
ajst-16294	230	6	,	,	PUNCT
ajst-16294	230	7	miao	miao	NOUN
ajst-16294	230	8	zhongcui	zhongcui	NOUN
ajst-16294	230	9	,	,	PUNCT
ajst-16294	230	10	wang	wang	PROPN
ajst-16294	230	11	zhihao	zhihao	PROPN
ajst-16294	230	12	,	,	PUNCT
ajst-16294	230	13	et	et	PROPN
ajst-16294	230	14	al	al	PROPN
ajst-16294	230	15	.	.	PROPN
ajst-16294	231	1	synchronous	synchronous	ADJ
ajst-16294	231	2	flux	flux	NOUN
ajst-16294	231	3	weakening	weaken	VERB
ajst-16294	231	4	control	control	NOUN
ajst-16294	231	5	strategy	strategy	NOUN
ajst-16294	231	6	of	of	ADP
ajst-16294	231	7	multimotorsystem	multimotorsystem	NOUN
ajst-16294	231	8	based	base	VERB
ajst-16294	231	9	on	on	ADP
ajst-16294	231	10	model	model	NOUN
ajst-16294	231	11	prediction[j	prediction[j	PROPN
ajst-16294	231	12	]	]	PUNCT
ajst-16294	231	13	.	.	PUNCT
ajst-16294	232	1	electric	electric	PROPN
ajst-16294	232	2	machines	machines	PROPN
ajst-16294	232	3	&	&	CCONJ
ajst-16294	232	4	control	control	PROPN
ajst-16294	232	5	application	application	NOUN
ajst-16294	232	6	2019,46(11):7	2019,46(11):7	NUM
ajst-16294	232	7	-	-	SYM
ajst-16294	232	8	12	12	NUM
ajst-16294	232	9	.	.	PUNCT
ajst-16294	233	1	[	[	X
ajst-16294	233	2	5	5	X
ajst-16294	233	3	]	]	X
ajst-16294	233	4	xin	xin	PROPN
ajst-16294	233	5	li	li	PROPN
ajst-16294	233	6	,	,	PUNCT
ajst-16294	233	7	wenlin	wenlin	PROPN
ajst-16294	233	8	zhou	zhou	PROPN
ajst-16294	233	9	,	,	PUNCT
ajst-16294	233	10	dan	dan	PROPN
ajst-16294	233	11	jia	jia	PROPN
ajst-16294	233	12	,	,	PUNCT
ajst-16294	233	13	et	et	PROPN
ajst-16294	233	14	al	al	PROPN
ajst-16294	233	15	.	.	PUNCT
ajst-16294	234	1	a	a	DET
ajst-16294	234	2	decoupling	decouple	VERB
ajst-16294	234	3	synchronous	synchronous	ADJ
ajst-16294	234	4	control	control	NOUN
ajst-16294	234	5	method	method	NOUN
ajst-16294	234	6	of	of	ADP
ajst-16294	234	7	two	two	NUM
ajst-16294	234	8	motors	motor	NOUN
ajst-16294	234	9	for	for	ADP
ajst-16294	234	10	large	large	ADJ
ajst-16294	234	11	optical	optical	ADJ
ajst-16294	234	12	telescope[j	telescope[j	NOUN
ajst-16294	234	13	]	]	PUNCT
ajst-16294	234	14	.	.	PUNCT
ajst-16294	235	1	ieee	ieee	NOUN
ajst-16294	235	2	transactions	transaction	NOUN
ajst-16294	235	3	on	on	ADP
ajst-16294	235	4	industrial	industrial	ADJ
ajst-16294	235	5	electronics	electronic	NOUN
ajst-16294	235	6	,	,	PUNCT
ajst-16294	235	7	vol	vol	NOUN
ajst-16294	235	8	.	.	PROPN
ajst-16294	236	1	69	69	NUM
ajst-16294	236	2	,	,	PUNCT
ajst-16294	236	3	no	no	INTJ
ajst-16294	236	4	.	.	NOUN
ajst-16294	236	5	12	12	NUM
ajst-16294	236	6	,	,	PUNCT
ajst-16294	236	7	pp	pp	ADJ
ajst-16294	236	8	.	.	PUNCT
ajst-16294	237	1	13405	13405	NUM
ajst-16294	237	2	-	-	SYM
ajst-16294	237	3	13416	13416	NUM
ajst-16294	237	4	,	,	PUNCT
ajst-16294	237	5	dec	dec	PROPN
ajst-16294	237	6	.	.	PROPN
ajst-16294	237	7	2022	2022	NUM
ajst-16294	237	8	.	.	PUNCT
ajst-16294	238	1	[	[	X
ajst-16294	238	2	6	6	NUM
ajst-16294	238	3	]	]	PUNCT
ajst-16294	238	4	f.	f.	PROPN
ajst-16294	238	5	j.	j.	PROPN
ajst-16294	238	6	torres	torres	PROPN
ajst-16294	238	7	,	,	PUNCT
ajst-16294	238	8	g.	g.	PROPN
ajst-16294	238	9	v.	v.	CCONJ
ajst-16294	238	10	guerrero	guerrero	PROPN
ajst-16294	238	11	,	,	PUNCT
ajst-16294	238	12	c.	c.	PROPN
ajst-16294	238	13	d.	d.	PROPN
ajst-16294	238	14	garcía	garcía	PROPN
ajst-16294	238	15	,	,	PUNCT
ajst-16294	238	16	et	et	PROPN
ajst-16294	238	17	al	al	PROPN
ajst-16294	238	18	.	.	PUNCT
ajst-16294	238	19	master	master	NOUN
ajst-16294	238	20	-	-	PUNCT
ajst-16294	238	21	slave	slave	NOUN
ajst-16294	238	22	synchronization	synchronization	NOUN
ajst-16294	238	23	of	of	ADP
ajst-16294	238	24	robot	robot	NOUN
ajst-16294	238	25	manipulators	manipulator	NOUN
ajst-16294	238	26	driven	drive	VERB
ajst-16294	238	27	by	by	ADP
ajst-16294	238	28	induction	induction	NOUN
ajst-16294	238	29	motors[j	motors[j	PROPN
ajst-16294	238	30	]	]	PUNCT
ajst-16294	238	31	.	.	PUNCT
ajst-16294	239	1	ieee	ieee	PROPN
ajst-16294	239	2	latin	latin	PROPN
ajst-16294	239	3	america	america	PROPN
ajst-16294	239	4	transactions	transactions	PROPN
ajst-16294	239	5	,	,	PUNCT
ajst-16294	239	6	vol	vol	NOUN
ajst-16294	239	7	.	.	PROPN
ajst-16294	240	1	14	14	NUM
ajst-16294	240	2	,	,	PUNCT
ajst-16294	240	3	no	no	INTJ
ajst-16294	240	4	.	.	NOUN
ajst-16294	240	5	9	9	NUM
ajst-16294	240	6	,	,	PUNCT
ajst-16294	240	7	pp	pp	ADJ
ajst-16294	240	8	.	.	PUNCT
ajst-16294	241	1	3986	3986	NUM
ajst-16294	241	2	-	-	SYM
ajst-16294	241	3	3991	3991	NUM
ajst-16294	241	4	,	,	PUNCT
ajst-16294	241	5	spe	spe	PROPN
ajst-16294	241	6	.	.	PROPN
ajst-16294	241	7	2016	2016	NUM
ajst-16294	241	8	.	.	PUNCT
ajst-16294	242	1	[	[	X
ajst-16294	242	2	7	7	X
ajst-16294	242	3	]	]	X
ajst-16294	242	4	dongming	dongme	VERB
ajst-16294	242	5	xiao	xiao	PROPN
ajst-16294	242	6	,	,	PUNCT
ajst-16294	242	7	xuejun	xuejun	PROPN
ajst-16294	242	8	li	li	PROPN
ajst-16294	242	9	,	,	PUNCT
ajst-16294	242	10	kuanfang	kuanfang	PROPN
ajst-16294	242	11	he	he	PRON
ajst-16294	242	12	.	.	PUNCT
ajst-16294	243	1	power	power	NOUN
ajst-16294	243	2	balance	balance	NOUN
ajst-16294	243	3	of	of	ADP
ajst-16294	243	4	starting	starting	NOUN
ajst-16294	243	5	process	process	NOUN
ajst-16294	243	6	for	for	ADP
ajst-16294	243	7	pipe	pipe	NOUN
ajst-16294	243	8	belt	belt	NOUN
ajst-16294	243	9	conveyor	conveyor	NOUN
ajst-16294	243	10	based	base	VERB
ajst-16294	243	11	on	on	ADP
ajst-16294	243	12	masterslave	masterslave	PROPN
ajst-16294	243	13	control[j	control[j	PROPN
ajst-16294	243	14	]	]	PUNCT
ajst-16294	243	15	.	.	PUNCT
ajst-16294	244	1	ieee	ieee	NOUN
ajst-16294	244	2	access	access	NOUN
ajst-16294	244	3	,	,	PUNCT
ajst-16294	244	4	vol	vol	NOUN
ajst-16294	244	5	.	.	PROPN
ajst-16294	244	6	6	6	NUM
ajst-16294	244	7	,	,	PUNCT
ajst-16294	244	8	pp	pp	ADJ
ajst-16294	244	9	.	.	PUNCT
ajst-16294	245	1	16924	16924	NUM
ajst-16294	245	2	-	-	SYM
ajst-16294	245	3	16931	16931	NUM
ajst-16294	245	4	,	,	PUNCT
ajst-16294	245	5	2018	2018	NUM
ajst-16294	245	6	.	.	PUNCT
ajst-16294	246	1	[	[	X
ajst-16294	246	2	8	8	NUM
ajst-16294	246	3	]	]	X
ajst-16294	246	4	xiang	xiang	PROPN
ajst-16294	246	5	gu	gu	PROPN
ajst-16294	246	6	,	,	PUNCT
ajst-16294	246	7	zhaoping	zhaope	VERB
ajst-16294	246	8	du	du	PROPN
ajst-16294	246	9	,	,	PUNCT
ajst-16294	246	10	weiran	weiran	PROPN
ajst-16294	246	11	wang	wang	PROPN
ajst-16294	246	12	,	,	PUNCT
ajst-16294	246	13	et	et	PROPN
ajst-16294	246	14	al	al	PROPN
ajst-16294	246	15	.	.	PUNCT
ajst-16294	246	16	multi	multi	ADJ
ajst-16294	246	17	-	-	ADJ
ajst-16294	246	18	motor	motor	ADJ
ajst-16294	246	19	underwater	underwater	NOUN
ajst-16294	246	20	coordinated	coordinate	VERB
ajst-16294	246	21	control	control	NOUN
ajst-16294	246	22	system	system	NOUN
ajst-16294	246	23	based	base	VERB
ajst-16294	246	24	on	on	ADP
ajst-16294	246	25	virtual	virtual	ADJ
ajst-16294	246	26	spindle[j	spindle[j	NOUN
ajst-16294	246	27	]	]	PUNCT
ajst-16294	246	28	.	.	PUNCT
ajst-16294	247	1	2020	2020	NUM
ajst-16294	248	1	chinese	chinese	ADJ
ajst-16294	248	2	automation	automation	NOUN
ajst-16294	248	3	congress	congress	PROPN
ajst-16294	248	4	(	(	PUNCT
ajst-16294	248	5	cac	cac	PROPN
ajst-16294	248	6	)	)	PUNCT
ajst-16294	248	7	,	,	PUNCT
ajst-16294	248	8	jan	jan	PROPN
ajst-16294	248	9	.	.	PROPN
ajst-16294	248	10	2021	2021	NUM
ajst-16294	248	11	.	.	PUNCT
ajst-16294	249	1	[	[	X
ajst-16294	249	2	9	9	NUM
ajst-16294	249	3	]	]	X
ajst-16294	249	4	zuo	zuo	PROPN
ajst-16294	249	5	ting	ting	PROPN
ajst-16294	249	6	,	,	PUNCT
ajst-16294	249	7	lu	lu	PROPN
ajst-16294	249	8	hong	hong	PROPN
ajst-16294	249	9	,	,	PUNCT
ajst-16294	249	10	fan	fan	PROPN
ajst-16294	249	11	wei	wei	PROPN
ajst-16294	249	12	,	,	PUNCT
ajst-16294	249	13	et	et	PROPN
ajst-16294	249	14	al	al	PROPN
ajst-16294	249	15	.	.	PROPN
ajst-16294	249	16	research	research	NOUN
ajst-16294	249	17	on	on	ADP
ajst-16294	249	18	dual	dual	ADJ
ajst-16294	249	19	drive	drive	NOUN
ajst-16294	249	20	synchronization	synchronization	NOUN
ajst-16294	249	21	performance	performance	NOUN
ajst-16294	249	22	based	base	VERB
ajst-16294	249	23	on	on	ADP
ajst-16294	249	24	virtual	virtual	ADJ
ajst-16294	249	25	shaft	shaft	NOUN
ajst-16294	249	26	control	control	NOUN
ajst-16294	249	27	strategy[j	strategy[j	PROPN
ajst-16294	249	28	]	]	PROPN
ajst-16294	249	29	.	.	PUNCT
ajst-16294	249	30	2017	2017	NUM
ajst-16294	249	31	2nd	2nd	ADJ
ajst-16294	249	32	international	international	ADJ
ajst-16294	249	33	conference	conference	NOUN
ajst-16294	249	34	on	on	ADP
ajst-16294	249	35	robotics	robotic	NOUN
ajst-16294	249	36	and	and	CCONJ
ajst-16294	249	37	automation	automation	NOUN
ajst-16294	249	38	engineering	engineering	NOUN
ajst-16294	249	39	(	(	PUNCT
ajst-16294	249	40	icrae	icrae	NOUN
ajst-16294	249	41	)	)	PUNCT
ajst-16294	249	42	,	,	PUNCT
ajst-16294	249	43	2017	2017	NUM
ajst-16294	249	44	.	.	PUNCT
ajst-16294	250	1	[	[	X
ajst-16294	250	2	10	10	NUM
ajst-16294	250	3	]	]	PUNCT
ajst-16294	250	4	changlin	changlin	PROPN
ajst-16294	250	5	zhu	zhu	PROPN
ajst-16294	250	6	,	,	PUNCT
ajst-16294	250	7	qunzhang	qunzhang	PROPN
ajst-16294	250	8	tu	tu	PROPN
ajst-16294	250	9	,	,	PUNCT
ajst-16294	250	10	chengming	chengme	VERB
ajst-16294	250	11	jiang	jiang	PROPN
ajst-16294	250	12	,	,	PUNCT
ajst-16294	250	13	el	el	PROPN
ajst-16294	250	14	al	al	PROPN
ajst-16294	250	15	.	.	PUNCT
ajst-16294	251	1	a	a	DET
ajst-16294	251	2	cross	cross	NOUN
ajst-16294	251	3	coupling	couple	VERB
ajst-16294	251	4	control	control	NOUN
ajst-16294	251	5	strategy	strategy	NOUN
ajst-16294	251	6	for	for	ADP
ajst-16294	251	7	dual	dual	ADJ
ajst-16294	251	8	-	-	PUNCT
ajst-16294	251	9	motor	motor	NOUN
ajst-16294	251	10	speed	speed	NOUN
ajst-16294	251	11	synchronous	synchronous	ADJ
ajst-16294	251	12	system	system	NOUN
ajst-16294	251	13	based	base	VERB
ajst-16294	251	14	on	on	ADP
ajst-16294	251	15	second	second	ADJ
ajst-16294	251	16	order	order	NOUN
ajst-16294	251	17	global	global	ADJ
ajst-16294	251	18	fast	fast	ADJ
ajst-16294	251	19	terminal	terminal	NOUN
ajst-16294	251	20	sliding	slide	VERB
ajst-16294	251	21	mode	mode	NOUN
ajst-16294	251	22	control[j	control[j	PROPN
ajst-16294	251	23	]	]	PUNCT
ajst-16294	251	24	.	.	PUNCT
ajst-16294	252	1	ieee	ieee	NOUN
ajst-16294	252	2	access	access	NOUN
ajst-16294	252	3	,	,	PUNCT
ajst-16294	252	4	vol	vol	NOUN
ajst-16294	252	5	.	.	PROPN
ajst-16294	252	6	8	8	NUM
ajst-16294	252	7	,	,	PUNCT
ajst-16294	252	8	pp	pp	ADJ
ajst-16294	252	9	.	.	PUNCT
ajst-16294	252	10	217967	217967	NUM
ajst-16294	252	11	-	-	SYM
ajst-16294	252	12	217976	217976	NUM
ajst-16294	252	13	,	,	PUNCT
ajst-16294	252	14	2020	2020	NUM
ajst-16294	252	15	.	.	PUNCT
ajst-16294	253	1	[	[	X
ajst-16294	253	2	11	11	NUM
ajst-16294	253	3	]	]	X
ajst-16294	253	4	zheng	zheng	PROPN
ajst-16294	253	5	li	li	PROPN
ajst-16294	253	6	,	,	PUNCT
ajst-16294	253	7	qingshan	qingshan	PROPN
ajst-16294	253	8	zhang	zhang	PROPN
ajst-16294	253	9	,	,	PUNCT
ajst-16294	253	10	yiding	yiding	PROPN
ajst-16294	253	11	zhu	zhu	PROPN
ajst-16294	253	12	,	,	PUNCT
ajst-16294	253	13	et	et	PROPN
ajst-16294	253	14	al	al	PROPN
ajst-16294	253	15	.	.	PUNCT
ajst-16294	253	16	control	control	PROPN
ajst-16294	253	17	strategy	strategy	NOUN
ajst-16294	253	18	of	of	ADP
ajst-16294	253	19	biaxial	biaxial	ADJ
ajst-16294	253	20	variable	variable	NOUN
ajst-16294	253	21	gain	gain	VERB
ajst-16294	253	22	cross	cross	ADJ
ajst-16294	253	23	-	-	ADJ
ajst-16294	253	24	coupled	couple	VERB
ajst-16294	253	25	permanent	permanent	ADJ
ajst-16294	253	26	magnet	magnet	NOUN
ajst-16294	253	27	synchronous	synchronous	ADJ
ajst-16294	253	28	linear	linear	PROPN
ajst-16294	253	29	motor	motor	NOUN
ajst-16294	253	30	based	base	VERB
ajst-16294	253	31	on	on	ADP
ajst-16294	253	32	mpc	mpc	PROPN
ajst-16294	253	33	-	-	PUNCT
ajst-16294	253	34	mras[j	mras[j	NOUN
ajst-16294	253	35	]	]	PUNCT
ajst-16294	253	36	.	.	PUNCT
ajst-16294	254	1	ieee	ieee	NOUN
ajst-16294	254	2	transactions	transaction	NOUN
ajst-16294	254	3	on	on	ADP
ajst-16294	254	4	industry	industry	NOUN
ajst-16294	254	5	applications	application	NOUN
ajst-16294	254	6	,	,	PUNCT
ajst-16294	254	7	vol	vol	NOUN
ajst-16294	254	8	.	.	PROPN
ajst-16294	255	1	58	58	NUM
ajst-16294	255	2	,	,	PUNCT
ajst-16294	255	3	no	no	INTJ
ajst-16294	255	4	.	.	NOUN
ajst-16294	255	5	4	4	NUM
ajst-16294	255	6	,	,	PUNCT
ajst-16294	255	7	pp	pp	ADJ
ajst-16294	255	8	.	.	PUNCT
ajst-16294	256	1	47334742	47334742	NUM
ajst-16294	256	2	,	,	PUNCT
ajst-16294	256	3	july	july	PROPN
ajst-16294	256	4	.	.	PROPN
ajst-16294	257	1	2022	2022	NUM
ajst-16294	257	2	.	.	PUNCT
ajst-16294	258	1	[	[	X
ajst-16294	258	2	12	12	NUM
ajst-16294	258	3	]	]	X
ajst-16294	258	4	guoliang	guoliang	PROPN
ajst-16294	258	5	zhong	zhong	PROPN
ajst-16294	258	6	,	,	PUNCT
ajst-16294	258	7	zhizhong	zhizhong	PROPN
ajst-16294	258	8	shao	shao	PROPN
ajst-16294	258	9	,	,	PUNCT
ajst-16294	258	10	hua	hua	PROPN
ajst-16294	258	11	deng	deng	PROPN
ajst-16294	258	12	,	,	PUNCT
ajst-16294	258	13	et	et	PROPN
ajst-16294	258	14	al	al	PROPN
ajst-16294	258	15	.	.	PROPN
ajst-16294	258	16	precise	precise	ADJ
ajst-16294	258	17	position	position	NOUN
ajst-16294	258	18	synchronous	synchronous	ADJ
ajst-16294	258	19	control	control	NOUN
ajst-16294	258	20	for	for	ADP
ajst-16294	258	21	multi	multi	ADJ
ajst-16294	258	22	-	-	ADJ
ajst-16294	258	23	axis	axis	ADJ
ajst-16294	258	24	servo	servo	NOUN
ajst-16294	258	25	systems[j	systems[j	PROPN
ajst-16294	258	26	]	]	PUNCT
ajst-16294	258	27	.	.	PUNCT
ajst-16294	259	1	ieee	ieee	NOUN
ajst-16294	259	2	transactions	transaction	NOUN
ajst-16294	259	3	on	on	ADP
ajst-16294	259	4	industrial	industrial	ADJ
ajst-16294	259	5	electronics	electronic	NOUN
ajst-16294	259	6	,	,	PUNCT
ajst-16294	259	7	vol	vol	NOUN
ajst-16294	259	8	.	.	PROPN
ajst-16294	259	9	64	64	NUM
ajst-16294	259	10	,	,	PUNCT
ajst-16294	259	11	no	no	INTJ
ajst-16294	259	12	.	.	NOUN
ajst-16294	259	13	5	5	NUM
ajst-16294	259	14	,	,	PUNCT
ajst-16294	259	15	pp	pp	ADJ
ajst-16294	259	16	.	.	PUNCT
ajst-16294	260	1	3707	3707	NUM
ajst-16294	260	2	-	-	SYM
ajst-16294	260	3	3717	3717	NUM
ajst-16294	260	4	,	,	PUNCT
ajst-16294	260	5	may	may	PROPN
ajst-16294	260	6	.	.	PUNCT
ajst-16294	261	1	2017	2017	NUM
ajst-16294	261	2	.	.	PUNCT
ajst-16294	262	1	[	[	X
ajst-16294	262	2	13	13	NUM
ajst-16294	262	3	]	]	X
ajst-16294	262	4	yanjuan	yanjuan	PROPN
ajst-16294	262	5	wu	wu	PROPN
ajst-16294	262	6	,	,	PUNCT
ajst-16294	262	7	yanbin	yanbin	PROPN
ajst-16294	262	8	cheng	cheng	PROPN
ajst-16294	262	9	,	,	PUNCT
ajst-16294	262	10	yunliang	yunliang	PROPN
ajst-16294	262	11	wang	wang	PROPN
ajst-16294	262	12	.	.	PUNCT
ajst-16294	263	1	research	research	NOUN
ajst-16294	263	2	on	on	ADP
ajst-16294	263	3	a	a	DET
ajst-16294	263	4	multi	multi	ADJ
ajst-16294	263	5	-	-	ADJ
ajst-16294	263	6	motor	motor	ADJ
ajst-16294	263	7	coordinated	coordinate	VERB
ajst-16294	263	8	control	control	NOUN
ajst-16294	263	9	strategy	strategy	NOUN
ajst-16294	263	10	based	base	VERB
ajst-16294	263	11	on	on	ADP
ajst-16294	263	12	fuzzy	fuzzy	ADJ
ajst-16294	263	13	ring	ring	NOUN
ajst-16294	263	14	network	network	NOUN
ajst-16294	263	15	control	control	NOUN
ajst-16294	263	16	.	.	PUNCT
ajst-16294	264	1	ieee	ieee	NOUN
ajst-16294	264	2	access	access	NOUN
ajst-16294	264	3	,	,	PUNCT
ajst-16294	264	4	vol	vol	NOUN
ajst-16294	264	5	.	.	PROPN
ajst-16294	264	6	8	8	NUM
ajst-16294	264	7	,	,	PUNCT
ajst-16294	264	8	pp	pp	ADJ
ajst-16294	264	9	.	.	PUNCT
ajst-16294	265	1	39375	39375	NUM
ajst-16294	265	2	-	-	SYM
ajst-16294	265	3	39388	39388	NUM
ajst-16294	265	4	,	,	PUNCT
ajst-16294	265	5	2020	2020	NUM
ajst-16294	265	6	.	.	PUNCT
ajst-16294	266	1	[	[	X
ajst-16294	266	2	14	14	NUM
ajst-16294	266	3	]	]	X
ajst-16294	266	4	lu	lu	PROPN
ajst-16294	266	5	zi	zi	PROPN
ajst-16294	266	6	-	-	PUNCT
ajst-16294	266	7	shuai	shuai	PROPN
ajst-16294	266	8	,	,	PUNCT
ajst-16294	266	9	cai	cai	PROPN
ajst-16294	266	10	wei	wei	PROPN
ajst-16294	266	11	,	,	PUNCT
ajst-16294	266	12	zhao	zhao	PROPN
ajst-16294	266	13	jingyi	jingyi	PROPN
ajst-16294	266	14	,	,	PUNCT
ajst-16294	266	15	et	et	PROPN
ajst-16294	266	16	al	al	PROPN
ajst-16294	266	17	.	.	PUNCT
ajst-16294	267	1	active	active	ADJ
ajst-16294	267	2	disturbance	disturbance	NOUN
ajst-16294	267	3	rejection	rejection	NOUN
ajst-16294	267	4	control	control	NOUN
ajst-16294	267	5	for	for	ADP
ajst-16294	267	6	adjacent	adjacent	PROPN
ajst-16294	267	7	cross	cross	PROPN
ajst-16294	267	8	coupling	couple	VERB
ajst-16294	267	9	synchronization	synchronization	NOUN
ajst-16294	267	10	of	of	ADP
ajst-16294	267	11	hydraulic	hydraulic	ADJ
ajst-16294	267	12	system	system	NOUN
ajst-16294	267	13	group	group	NOUN
ajst-16294	268	1	[	[	X
ajst-16294	268	2	j	j	X
ajst-16294	268	3	]	]	X
ajst-16294	268	4	.	.	PUNCT
ajst-16294	269	1	chinese	chinese	ADJ
ajst-16294	269	2	hydraulics	hydraulics	PROPN
ajst-16294	269	3	&	&	CCONJ
ajst-16294	269	4	pneumatics	pneumatics	PROPN
ajst-16294	269	5	,	,	PUNCT
ajst-16294	269	6	2020(08	2020(08	NUM
ajst-16294	269	7	):	):	PUNCT
ajst-16294	269	8	29	29	NUM
ajst-16294	269	9	-	-	SYM
ajst-16294	269	10	34	34	NUM
ajst-16294	269	11	.	.	PUNCT
ajst-16294	270	1	[	[	X
ajst-16294	270	2	15	15	NUM
ajst-16294	270	3	]	]	X
ajst-16294	270	4	yang	yang	PROPN
ajst-16294	270	5	guangyu	guangyu	PROPN
ajst-16294	270	6	.	.	PUNCT
ajst-16294	270	7	,	,	PUNCT
ajst-16294	270	8	chen	chen	PROPN
ajst-16294	270	9	siyi	siyi	PROPN
ajst-16294	270	10	.	.	PUNCT
ajst-16294	271	1	piecewise	piecewise	VERB
ajst-16294	271	2	fast	fast	ADJ
ajst-16294	271	3	multi	multi	ADJ
ajst-16294	271	4	-	-	ADJ
ajst-16294	271	5	power	power	ADJ
ajst-16294	271	6	reaching	reach	VERB
ajst-16294	271	7	law	law	NOUN
ajst-16294	271	8	:	:	PUNCT
ajst-16294	271	9	basis	basis	NOUN
ajst-16294	271	10	for	for	ADP
ajst-16294	271	11	sliding	slide	VERB
ajst-16294	271	12	mode	mode	NOUN
ajst-16294	271	13	control	control	NOUN
ajst-16294	271	14	algorithm	algorithm	NOUN
ajst-16294	272	1	[	[	X
ajst-16294	272	2	j	j	X
ajst-16294	272	3	]	]	X
ajst-16294	272	4	.	.	PUNCT
ajst-16294	273	1	measurement	measurement	NOUN
ajst-16294	273	2	and	and	CCONJ
ajst-16294	273	3	control	control	NOUN
ajst-16294	273	4	,	,	PUNCT
ajst-16294	273	5	2020	2020	NUM
ajst-16294	273	6	,	,	PUNCT
ajst-16294	273	7	53(9	53(9	NUM
ajst-16294	273	8	-	-	PUNCT
ajst-16294	273	9	10):1929	10):1929	NUM
ajst-16294	273	10	-	-	PUNCT
ajst-16294	273	11	1942	1942	NUM
ajst-16294	273	12	.	.	PUNCT