id	sid	tid	token	lemma	pos
ajst-18585	1	1	academic	academic	ADJ
ajst-18585	1	2	journal	journal	NOUN
ajst-18585	1	3	of	of	ADP
ajst-18585	1	4	science	science	NOUN
ajst-18585	1	5	and	and	CCONJ
ajst-18585	1	6	technology	technology	NOUN
ajst-18585	1	7	issn	issn	NOUN
ajst-18585	1	8	:	:	PUNCT
ajst-18585	1	9	2771	2771	NUM
ajst-18585	1	10	-	-	SYM
ajst-18585	1	11	3032	3032	NUM
ajst-18585	1	12	|	|	NOUN
ajst-18585	1	13	vol	vol	NOUN
ajst-18585	1	14	.	.	PROPN
ajst-18585	2	1	9	9	NUM
ajst-18585	2	2	,	,	PUNCT
ajst-18585	2	3	no	no	INTJ
ajst-18585	2	4	.	.	NOUN
ajst-18585	2	5	3	3	NUM
ajst-18585	2	6	,	,	PUNCT
ajst-18585	2	7	2024	2024	NUM
ajst-18585	2	8	274	274	NUM
ajst-18585	2	9	research	research	NOUN
ajst-18585	2	10	on	on	ADP
ajst-18585	2	11	the	the	DET
ajst-18585	2	12	driving	driving	NOUN
ajst-18585	2	13	and	and	CCONJ
ajst-18585	2	14	control	control	NOUN
ajst-18585	2	15	of	of	ADP
ajst-18585	2	16	an	an	DET
ajst-18585	2	17	intelligent	intelligent	ADJ
ajst-18585	2	18	book	book	NOUN
ajst-18585	2	19	robot	robot	NOUN
ajst-18585	2	20	xingyu	xingyu	PROPN
ajst-18585	2	21	wang	wang	PROPN
ajst-18585	2	22	college	college	PROPN
ajst-18585	2	23	of	of	ADP
ajst-18585	2	24	electrical	electrical	ADJ
ajst-18585	2	25	engineering	engineering	NOUN
ajst-18585	2	26	,	,	PUNCT
ajst-18585	2	27	southwest	southwest	PROPN
ajst-18585	2	28	minzu	minzu	PROPN
ajst-18585	2	29	university	university	PROPN
ajst-18585	2	30	,	,	PUNCT
ajst-18585	2	31	chengdu	chengdu	PROPN
ajst-18585	2	32	,	,	PUNCT
ajst-18585	2	33	sichuan	sichuan	PROPN
ajst-18585	2	34	610225	610225	NUM
ajst-18585	2	35	,	,	PUNCT
ajst-18585	2	36	china	china	PROPN
ajst-18585	2	37	abstract	abstract	NOUN
ajst-18585	2	38	:	:	PUNCT
ajst-18585	2	39	based	base	VERB
ajst-18585	2	40	on	on	ADP
ajst-18585	2	41	the	the	DET
ajst-18585	2	42	theoretical	theoretical	ADJ
ajst-18585	2	43	foundation	foundation	NOUN
ajst-18585	2	44	provided	provide	VERB
ajst-18585	2	45	by	by	ADP
ajst-18585	2	46	kinematic	kinematic	ADJ
ajst-18585	2	47	simulations	simulation	NOUN
ajst-18585	2	48	under	under	ADP
ajst-18585	2	49	various	various	ADJ
ajst-18585	2	50	parameter	parameter	NOUN
ajst-18585	2	51	conditions	condition	NOUN
ajst-18585	2	52	using	use	VERB
ajst-18585	2	53	adams	adam	NOUN
ajst-18585	2	54	for	for	ADP
ajst-18585	2	55	robots	robot	NOUN
ajst-18585	2	56	'	'	PART
ajst-18585	2	57	control	control	NOUN
ajst-18585	2	58	,	,	PUNCT
ajst-18585	2	59	this	this	DET
ajst-18585	2	60	paper	paper	NOUN
ajst-18585	2	61	designs	design	VERB
ajst-18585	2	62	a	a	DET
ajst-18585	2	63	dual	dual	ADV
ajst-18585	2	64	-	-	PUNCT
ajst-18585	2	65	closed	close	VERB
ajst-18585	2	66	-	-	PUNCT
ajst-18585	2	67	loop	loop	NOUN
ajst-18585	2	68	drive	drive	NOUN
ajst-18585	2	69	control	control	NOUN
ajst-18585	2	70	system	system	NOUN
ajst-18585	2	71	for	for	ADP
ajst-18585	2	72	the	the	DET
ajst-18585	2	73	robot	robot	NOUN
ajst-18585	2	74	.	.	PUNCT
ajst-18585	3	1	it	it	PRON
ajst-18585	3	2	constructs	construct	VERB
ajst-18585	3	3	the	the	DET
ajst-18585	3	4	drive	drive	NOUN
ajst-18585	3	5	speed	speed	NOUN
ajst-18585	3	6	control	control	NOUN
ajst-18585	3	7	hardware	hardware	NOUN
ajst-18585	3	8	circuit	circuit	NOUN
ajst-18585	3	9	and	and	CCONJ
ajst-18585	3	10	simulates	simulate	VERB
ajst-18585	3	11	the	the	DET
ajst-18585	3	12	step	step	NOUN
ajst-18585	3	13	response	response	NOUN
ajst-18585	3	14	of	of	ADP
ajst-18585	3	15	positional	positional	ADJ
ajst-18585	3	16	pid	pid	NOUN
ajst-18585	3	17	,	,	PUNCT
ajst-18585	3	18	incremental	incremental	ADJ
ajst-18585	3	19	pid	pid	NOUN
ajst-18585	3	20	,	,	PUNCT
ajst-18585	3	21	and	and	CCONJ
ajst-18585	3	22	fuzzy	fuzzy	ADJ
ajst-18585	3	23	pid	pid	NOUN
ajst-18585	3	24	in	in	ADP
ajst-18585	3	25	simulink	simulink	PROPN
ajst-18585	3	26	.	.	PUNCT
ajst-18585	4	1	positional	positional	ADJ
ajst-18585	4	2	pid	pid	NOUN
ajst-18585	4	3	is	be	AUX
ajst-18585	4	4	selected	select	VERB
ajst-18585	4	5	as	as	ADP
ajst-18585	4	6	the	the	DET
ajst-18585	4	7	velocity	velocity	NOUN
ajst-18585	4	8	control	control	NOUN
ajst-18585	4	9	algorithm	algorithm	NOUN
ajst-18585	4	10	due	due	ADP
ajst-18585	4	11	to	to	ADP
ajst-18585	4	12	its	its	PRON
ajst-18585	4	13	fast	fast	ADJ
ajst-18585	4	14	response	response	NOUN
ajst-18585	4	15	characteristics	characteristic	NOUN
ajst-18585	4	16	and	and	CCONJ
ajst-18585	4	17	ease	ease	NOUN
ajst-18585	4	18	of	of	ADP
ajst-18585	4	19	implementation	implementation	NOUN
ajst-18585	4	20	.	.	PUNCT
ajst-18585	5	1	the	the	DET
ajst-18585	5	2	drive	drive	ADJ
ajst-18585	5	3	circuit	circuit	NOUN
ajst-18585	5	4	and	and	CCONJ
ajst-18585	5	5	control	control	NOUN
ajst-18585	5	6	algorithm	algorithm	NOUN
ajst-18585	5	7	are	be	AUX
ajst-18585	5	8	jointly	jointly	ADV
ajst-18585	5	9	simulated	simulate	VERB
ajst-18585	5	10	using	use	VERB
ajst-18585	5	11	proteus	proteus	NOUN
ajst-18585	5	12	to	to	PART
ajst-18585	5	13	verify	verify	VERB
ajst-18585	5	14	the	the	DET
ajst-18585	5	15	speed	speed	NOUN
ajst-18585	5	16	control	control	NOUN
ajst-18585	5	17	effect	effect	NOUN
ajst-18585	5	18	of	of	ADP
ajst-18585	5	19	the	the	DET
ajst-18585	5	20	robot	robot	NOUN
ajst-18585	5	21	's	's	PART
ajst-18585	5	22	drive	drive	NOUN
ajst-18585	5	23	.	.	PUNCT
ajst-18585	6	1	keywords	keyword	NOUN
ajst-18585	6	2	:	:	PUNCT
ajst-18585	6	3	robot	robot	NOUN
ajst-18585	6	4	,	,	PUNCT
ajst-18585	6	5	pid	pid	NOUN
ajst-18585	6	6	,	,	PUNCT
ajst-18585	6	7	driving	driving	NOUN
ajst-18585	6	8	and	and	CCONJ
ajst-18585	6	9	control	control	NOUN
ajst-18585	6	10	,	,	PUNCT
ajst-18585	6	11	simulink	simulink	PROPN
ajst-18585	6	12	simulation	simulation	NOUN
ajst-18585	6	13	.	.	PUNCT
ajst-18585	7	1	1	1	NUM
ajst-18585	7	2	.	.	X
ajst-18585	7	3	introduction	introduction	NOUN
ajst-18585	7	4	in	in	ADP
ajst-18585	7	5	china	china	PROPN
ajst-18585	7	6	,	,	PUNCT
ajst-18585	7	7	the	the	DET
ajst-18585	7	8	construction	construction	NOUN
ajst-18585	7	9	process	process	NOUN
ajst-18585	7	10	of	of	ADP
ajst-18585	7	11	smart	smart	ADJ
ajst-18585	7	12	libraries	library	NOUN
ajst-18585	7	13	has	have	AUX
ajst-18585	7	14	already	already	ADV
ajst-18585	7	15	been	be	AUX
ajst-18585	7	16	initiated	initiate	VERB
ajst-18585	7	17	.	.	PUNCT
ajst-18585	8	1	in	in	ADP
ajst-18585	8	2	2016	2016	NUM
ajst-18585	8	3	,	,	PUNCT
ajst-18585	8	4	the	the	DET
ajst-18585	8	5	national	national	ADJ
ajst-18585	8	6	development	development	PROPN
ajst-18585	8	7	and	and	CCONJ
ajst-18585	8	8	reform	reform	NOUN
ajst-18585	8	9	commission	commission	PROPN
ajst-18585	8	10	issued	issue	VERB
ajst-18585	8	11	the	the	DET
ajst-18585	8	12	notice	notice	NOUN
ajst-18585	8	13	'	'	PUNCT
ajst-18585	8	14	on	on	ADP
ajst-18585	8	15	organizing	organize	VERB
ajst-18585	8	16	and	and	CCONJ
ajst-18585	8	17	promoting	promote	VERB
ajst-18585	8	18	the	the	DET
ajst-18585	8	19	practical	practical	ADJ
ajst-18585	8	20	evaluation	evaluation	NOUN
ajst-18585	8	21	of	of	ADP
ajst-18585	8	22	new	new	ADJ
ajst-18585	8	23	smart	smart	ADJ
ajst-18585	8	24	city	city	NOUN
ajst-18585	8	25	development	development	NOUN
ajst-18585	8	26	to	to	PART
ajst-18585	8	27	facilitate	facilitate	VERB
ajst-18585	8	28	healthy	healthy	ADJ
ajst-18585	8	29	and	and	CCONJ
ajst-18585	8	30	rapid	rapid	ADJ
ajst-18585	8	31	development	development	NOUN
ajst-18585	8	32	of	of	ADP
ajst-18585	8	33	new	new	ADJ
ajst-18585	8	34	smart	smart	ADJ
ajst-18585	8	35	cities	city	NOUN
ajst-18585	8	36	'	'	PART
ajst-18585	9	1	[	[	X
ajst-18585	9	2	1	1	NUM
ajst-18585	9	3	]	]	PUNCT
ajst-18585	9	4	.	.	PUNCT
ajst-18585	10	1	the	the	DET
ajst-18585	10	2	'	'	PUNCT
ajst-18585	10	3	thirteenth	thirteenth	ADJ
ajst-18585	10	4	five	five	NUM
ajst-18585	10	5	-	-	PUNCT
ajst-18585	10	6	year	year	NOUN
ajst-18585	10	7	plan	plan	NOUN
ajst-18585	10	8	for	for	ADP
ajst-18585	10	9	education	education	NOUN
ajst-18585	10	10	informatization	informatization	NOUN
ajst-18585	10	11	'	'	PUNCT
ajst-18585	10	12	formulated	formulate	VERB
ajst-18585	10	13	by	by	ADP
ajst-18585	10	14	the	the	DET
ajst-18585	10	15	ministry	ministry	PROPN
ajst-18585	10	16	of	of	ADP
ajst-18585	10	17	education	education	NOUN
ajst-18585	10	18	in	in	ADP
ajst-18585	10	19	2017	2017	NUM
ajst-18585	10	20	sets	set	VERB
ajst-18585	10	21	the	the	DET
ajst-18585	10	22	goal	goal	NOUN
ajst-18585	10	23	for	for	ADP
ajst-18585	10	24	higher	high	ADJ
ajst-18585	10	25	education	education	NOUN
ajst-18585	10	26	institutions	institution	NOUN
ajst-18585	10	27	to	to	PART
ajst-18585	10	28	achieve	achieve	VERB
ajst-18585	10	29	basic	basic	ADJ
ajst-18585	10	30	completion	completion	NOUN
ajst-18585	10	31	of	of	ADP
ajst-18585	10	32	smart	smart	ADJ
ajst-18585	10	33	campus	campus	NOUN
ajst-18585	10	34	construction	construction	NOUN
ajst-18585	10	35	by	by	ADP
ajst-18585	10	36	the	the	DET
ajst-18585	10	37	end	end	NOUN
ajst-18585	10	38	of	of	ADP
ajst-18585	10	39	2020	2020	NUM
ajst-18585	10	40	[	[	X
ajst-18585	10	41	2	2	NUM
ajst-18585	10	42	]	]	PUNCT
ajst-18585	10	43	.	.	PUNCT
ajst-18585	11	1	as	as	ADP
ajst-18585	11	2	of	of	ADP
ajst-18585	11	3	2023	2023	NUM
ajst-18585	11	4	,	,	PUNCT
ajst-18585	11	5	the	the	DET
ajst-18585	11	6	total	total	ADJ
ajst-18585	11	7	number	number	NOUN
ajst-18585	11	8	of	of	ADP
ajst-18585	11	9	universities	university	NOUN
ajst-18585	11	10	and	and	CCONJ
ajst-18585	11	11	public	public	ADJ
ajst-18585	11	12	libraries	library	NOUN
ajst-18585	11	13	in	in	ADP
ajst-18585	11	14	china	china	PROPN
ajst-18585	11	15	has	have	AUX
ajst-18585	11	16	exceeded	exceed	VERB
ajst-18585	11	17	6,000	6,000	NUM
ajst-18585	11	18	.	.	PUNCT
ajst-18585	12	1	according	accord	VERB
ajst-18585	12	2	to	to	ADP
ajst-18585	12	3	incomplete	incomplete	ADJ
ajst-18585	12	4	statistics	statistic	NOUN
ajst-18585	12	5	,	,	PUNCT
ajst-18585	12	6	each	each	DET
ajst-18585	12	7	library	library	NOUN
ajst-18585	12	8	holds	hold	VERB
ajst-18585	12	9	from	from	ADP
ajst-18585	12	10	several	several	ADJ
ajst-18585	12	11	hundred	hundred	NUM
ajst-18585	12	12	thousand	thousand	NUM
ajst-18585	12	13	to	to	ADP
ajst-18585	12	14	over	over	ADP
ajst-18585	12	15	a	a	DET
ajst-18585	12	16	million	million	NUM
ajst-18585	12	17	physical	physical	ADJ
ajst-18585	12	18	books	book	NOUN
ajst-18585	12	19	,	,	PUNCT
ajst-18585	12	20	and	and	CCONJ
ajst-18585	12	21	these	these	DET
ajst-18585	12	22	collections	collection	NOUN
ajst-18585	12	23	are	be	AUX
ajst-18585	12	24	continuously	continuously	ADV
ajst-18585	12	25	expanding	expand	VERB
ajst-18585	12	26	[	[	X
ajst-18585	12	27	3	3	NUM
ajst-18585	12	28	-	-	SYM
ajst-18585	12	29	4	4	NUM
ajst-18585	12	30	]	]	PUNCT
ajst-18585	12	31	.	.	PUNCT
ajst-18585	13	1	therefore	therefore	ADV
ajst-18585	13	2	,	,	PUNCT
ajst-18585	13	3	the	the	DET
ajst-18585	13	4	imperative	imperative	NOUN
ajst-18585	13	5	for	for	ADP
ajst-18585	13	6	intelligent	intelligent	ADJ
ajst-18585	13	7	and	and	CCONJ
ajst-18585	13	8	informatized	informatized	ADJ
ajst-18585	13	9	development	development	NOUN
ajst-18585	13	10	of	of	ADP
ajst-18585	13	11	libraries	library	NOUN
ajst-18585	13	12	is	be	AUX
ajst-18585	13	13	evident	evident	ADJ
ajst-18585	13	14	.	.	PUNCT
ajst-18585	14	1	the	the	DET
ajst-18585	14	2	trend	trend	NOUN
ajst-18585	14	3	of	of	ADP
ajst-18585	14	4	using	use	VERB
ajst-18585	14	5	robots	robot	NOUN
ajst-18585	14	6	to	to	PART
ajst-18585	14	7	replace	replace	VERB
ajst-18585	14	8	library	library	ADJ
ajst-18585	14	9	personnel	personnel	NOUN
ajst-18585	14	10	for	for	ADP
ajst-18585	14	11	the	the	DET
ajst-18585	14	12	tedious	tedious	ADJ
ajst-18585	14	13	tasks	task	NOUN
ajst-18585	14	14	of	of	ADP
ajst-18585	14	15	book	book	NOUN
ajst-18585	14	16	organization	organization	NOUN
ajst-18585	14	17	is	be	AUX
ajst-18585	14	18	emerging	emerge	VERB
ajst-18585	14	19	as	as	ADP
ajst-18585	14	20	a	a	DET
ajst-18585	14	21	future	future	ADJ
ajst-18585	14	22	direction	direction	NOUN
ajst-18585	14	23	for	for	ADP
ajst-18585	14	24	library	library	ADJ
ajst-18585	14	25	development	development	NOUN
ajst-18585	14	26	.	.	PUNCT
ajst-18585	15	1	this	this	DET
ajst-18585	15	2	paper	paper	NOUN
ajst-18585	15	3	investigates	investigate	VERB
ajst-18585	15	4	the	the	DET
ajst-18585	15	5	driving	driving	NOUN
ajst-18585	15	6	and	and	CCONJ
ajst-18585	15	7	control	control	NOUN
ajst-18585	15	8	of	of	ADP
ajst-18585	15	9	an	an	DET
ajst-18585	15	10	intelligent	intelligent	ADJ
ajst-18585	15	11	book	book	NOUN
ajst-18585	15	12	robot	robot	NOUN
ajst-18585	15	13	,	,	PUNCT
ajst-18585	15	14	which	which	PRON
ajst-18585	15	15	holds	hold	VERB
ajst-18585	15	16	practical	practical	ADJ
ajst-18585	15	17	significance	significance	NOUN
ajst-18585	15	18	for	for	ADP
ajst-18585	15	19	the	the	DET
ajst-18585	15	20	intelligent	intelligent	ADJ
ajst-18585	15	21	construction	construction	NOUN
ajst-18585	15	22	of	of	ADP
ajst-18585	15	23	libraries	library	NOUN
ajst-18585	15	24	.	.	PUNCT
ajst-18585	16	1	the	the	DET
ajst-18585	16	2	paper	paper	NOUN
ajst-18585	16	3	designs	design	VERB
ajst-18585	16	4	a	a	DET
ajst-18585	16	5	dual	dual	ADV
ajst-18585	16	6	-	-	PUNCT
ajst-18585	16	7	closed	close	VERB
ajst-18585	16	8	-	-	PUNCT
ajst-18585	16	9	loop	loop	NOUN
ajst-18585	16	10	drive	drive	NOUN
ajst-18585	16	11	control	control	NOUN
ajst-18585	16	12	system	system	NOUN
ajst-18585	16	13	for	for	ADP
ajst-18585	16	14	the	the	DET
ajst-18585	16	15	robot	robot	NOUN
ajst-18585	16	16	,	,	PUNCT
ajst-18585	16	17	constructs	construct	VERB
ajst-18585	16	18	a	a	DET
ajst-18585	16	19	drive	drive	NOUN
ajst-18585	16	20	speed	speed	NOUN
ajst-18585	16	21	regulation	regulation	NOUN
ajst-18585	16	22	hardware	hardware	NOUN
ajst-18585	16	23	circuit	circuit	NOUN
ajst-18585	16	24	,	,	PUNCT
ajst-18585	16	25	and	and	CCONJ
ajst-18585	16	26	conducts	conduct	VERB
ajst-18585	16	27	simulation	simulation	NOUN
ajst-18585	16	28	analyses	analysis	NOUN
ajst-18585	16	29	on	on	ADP
ajst-18585	16	30	traditional	traditional	ADJ
ajst-18585	16	31	digital	digital	ADJ
ajst-18585	16	32	pid	pid	NOUN
ajst-18585	16	33	and	and	CCONJ
ajst-18585	16	34	fuzzy	fuzzy	ADJ
ajst-18585	16	35	pid	pid	NOUN
ajst-18585	16	36	using	use	VERB
ajst-18585	16	37	the	the	DET
ajst-18585	16	38	simulink	simulink	NOUN
ajst-18585	16	39	module	module	NOUN
ajst-18585	16	40	in	in	ADP
ajst-18585	16	41	matlab	matlab	PROPN
ajst-18585	16	42	.	.	PUNCT
ajst-18585	17	1	positional	positional	ADJ
ajst-18585	17	2	pid	pid	NOUN
ajst-18585	17	3	,	,	PUNCT
ajst-18585	17	4	characterized	characterize	VERB
ajst-18585	17	5	by	by	ADP
ajst-18585	17	6	favorable	favorable	ADJ
ajst-18585	17	7	response	response	NOUN
ajst-18585	17	8	characteristics	characteristic	NOUN
ajst-18585	17	9	and	and	CCONJ
ajst-18585	17	10	ease	ease	NOUN
ajst-18585	17	11	of	of	ADP
ajst-18585	17	12	implementation	implementation	NOUN
ajst-18585	17	13	,	,	PUNCT
ajst-18585	17	14	is	be	AUX
ajst-18585	17	15	selected	select	VERB
ajst-18585	17	16	as	as	ADP
ajst-18585	17	17	the	the	DET
ajst-18585	17	18	speed	speed	NOUN
ajst-18585	17	19	control	control	NOUN
ajst-18585	17	20	algorithm	algorithm	NOUN
ajst-18585	17	21	.	.	PUNCT
ajst-18585	18	1	the	the	DET
ajst-18585	18	2	results	result	NOUN
ajst-18585	18	3	indicate	indicate	VERB
ajst-18585	18	4	that	that	SCONJ
ajst-18585	18	5	the	the	DET
ajst-18585	18	6	overshoot	overshoot	NOUN
ajst-18585	18	7	of	of	ADP
ajst-18585	18	8	speed	speed	NOUN
ajst-18585	18	9	adjustment	adjustment	NOUN
ajst-18585	18	10	is	be	AUX
ajst-18585	18	11	7	7	NUM
ajst-18585	18	12	%	%	NOUN
ajst-18585	18	13	,	,	PUNCT
ajst-18585	18	14	the	the	DET
ajst-18585	18	15	adjustment	adjustment	NOUN
ajst-18585	18	16	time	time	NOUN
ajst-18585	18	17	is	be	AUX
ajst-18585	18	18	2.5	2.5	NUM
ajst-18585	18	19	ms	ms	NOUN
ajst-18585	18	20	,	,	PUNCT
ajst-18585	18	21	and	and	CCONJ
ajst-18585	18	22	the	the	DET
ajst-18585	18	23	steady	steady	ADJ
ajst-18585	18	24	-	-	PUNCT
ajst-18585	18	25	state	state	NOUN
ajst-18585	18	26	error	error	NOUN
ajst-18585	18	27	is	be	AUX
ajst-18585	18	28	0	0	NUM
ajst-18585	18	29	,	,	PUNCT
ajst-18585	18	30	meeting	meet	VERB
ajst-18585	18	31	the	the	DET
ajst-18585	18	32	requirements	requirement	NOUN
ajst-18585	18	33	for	for	ADP
ajst-18585	18	34	intelligent	intelligent	ADJ
ajst-18585	18	35	control	control	NOUN
ajst-18585	18	36	of	of	ADP
ajst-18585	18	37	motor	motor	NOUN
ajst-18585	18	38	speed	speed	NOUN
ajst-18585	18	39	.	.	PUNCT
ajst-18585	19	1	2	2	X
ajst-18585	19	2	.	.	X
ajst-18585	19	3	research	research	NOUN
ajst-18585	19	4	on	on	ADP
ajst-18585	19	5	the	the	DET
ajst-18585	19	6	driving	driving	NOUN
ajst-18585	19	7	and	and	CCONJ
ajst-18585	19	8	control	control	NOUN
ajst-18585	19	9	of	of	ADP
ajst-18585	19	10	robot	robot	NOUN
ajst-18585	19	11	2.1	2.1	NUM
ajst-18585	19	12	.	.	PUNCT
ajst-18585	20	1	transfer	transfer	NOUN
ajst-18585	20	2	function	function	NOUN
ajst-18585	20	3	of	of	ADP
ajst-18585	20	4	the	the	DET
ajst-18585	20	5	dc	dc	PROPN
ajst-18585	20	6	motor	motor	NOUN
ajst-18585	20	7	system	system	NOUN
ajst-18585	20	8	when	when	SCONJ
ajst-18585	20	9	an	an	DET
ajst-18585	20	10	electric	electric	ADJ
ajst-18585	20	11	motor	motor	NOUN
ajst-18585	20	12	is	be	AUX
ajst-18585	20	13	used	use	VERB
ajst-18585	20	14	within	within	ADP
ajst-18585	20	15	a	a	DET
ajst-18585	20	16	rapidly	rapidly	ADV
ajst-18585	20	17	changing	change	VERB
ajst-18585	20	18	operational	operational	ADJ
ajst-18585	20	19	range	range	NOUN
ajst-18585	20	20	,	,	PUNCT
ajst-18585	20	21	its	its	PRON
ajst-18585	20	22	dynamic	dynamic	ADJ
ajst-18585	20	23	performance	performance	NOUN
ajst-18585	20	24	can	can	AUX
ajst-18585	20	25	be	be	AUX
ajst-18585	20	26	assessed	assess	VERB
ajst-18585	20	27	using	use	VERB
ajst-18585	20	28	a	a	DET
ajst-18585	20	29	transfer	transfer	NOUN
ajst-18585	20	30	function	function	NOUN
ajst-18585	20	31	.	.	PUNCT
ajst-18585	21	1	the	the	DET
ajst-18585	21	2	term	term	NOUN
ajst-18585	21	3	'	'	PUNCT
ajst-18585	21	4	transfer	transfer	NOUN
ajst-18585	21	5	function	function	NOUN
ajst-18585	21	6	'	'	PUNCT
ajst-18585	21	7	refers	refer	VERB
ajst-18585	21	8	to	to	ADP
ajst-18585	21	9	the	the	DET
ajst-18585	21	10	ratio	ratio	NOUN
ajst-18585	21	11	of	of	ADP
ajst-18585	21	12	the	the	DET
ajst-18585	21	13	laplace	laplace	NOUN
ajst-18585	21	14	transforms	transform	VERB
ajst-18585	21	15	of	of	ADP
ajst-18585	21	16	the	the	DET
ajst-18585	21	17	output	output	NOUN
ajst-18585	21	18	and	and	CCONJ
ajst-18585	21	19	input	input	NOUN
ajst-18585	21	20	signals	signal	NOUN
ajst-18585	21	21	of	of	ADP
ajst-18585	21	22	the	the	DET
ajst-18585	21	23	electric	electric	ADJ
ajst-18585	21	24	motor	motor	NOUN
ajst-18585	21	25	.	.	PUNCT
ajst-18585	22	1	figure	figure	NOUN
ajst-18585	22	2	1	1	NUM
ajst-18585	22	3	.	.	PUNCT
ajst-18585	23	1	laplace	laplace	NOUN
ajst-18585	23	2	transform	transform	NOUN
ajst-18585	23	3	of	of	ADP
ajst-18585	23	4	the	the	DET
ajst-18585	23	5	electric	electric	ADJ
ajst-18585	23	6	motor	motor	NOUN
ajst-18585	23	7	based	base	VERB
ajst-18585	23	8	on	on	ADP
ajst-18585	23	9	fig	fig	NOUN
ajst-18585	23	10	.	.	PUNCT
ajst-18585	24	1	1	1	NUM
ajst-18585	24	2	,	,	PUNCT
ajst-18585	24	3	it	it	PRON
ajst-18585	24	4	can	can	AUX
ajst-18585	24	5	be	be	AUX
ajst-18585	24	6	observed	observe	VERB
ajst-18585	24	7	that	that	SCONJ
ajst-18585	24	8	by	by	ADP
ajst-18585	24	9	applying	apply	VERB
ajst-18585	24	10	a	a	DET
ajst-18585	24	11	laplace	laplace	NOUN
ajst-18585	24	12	transform	transform	NOUN
ajst-18585	24	13	to	to	ADP
ajst-18585	24	14	the	the	DET
ajst-18585	24	15	signal	signal	NOUN
ajst-18585	24	16	,	,	PUNCT
ajst-18585	24	17	i.e.	i.e.	X
ajst-18585	24	18	,	,	PUNCT
ajst-18585	24	19	transforming	transform	VERB
ajst-18585	24	20	the	the	DET
ajst-18585	24	21	function	function	NOUN
ajst-18585	24	22	of	of	ADP
ajst-18585	24	23	time	time	NOUN
ajst-18585	24	24	'	'	PUNCT
ajst-18585	24	25	t	t	NOUN
ajst-18585	24	26	'	'	PUNCT
ajst-18585	24	27	into	into	ADP
ajst-18585	24	28	a	a	DET
ajst-18585	24	29	function	function	NOUN
ajst-18585	24	30	with	with	ADP
ajst-18585	24	31	's	'	NOUN
ajst-18585	24	32	'	'	PUNCT
ajst-18585	24	33	as	as	ADP
ajst-18585	24	34	a	a	DET
ajst-18585	24	35	variable	variable	NOUN
ajst-18585	24	36	,	,	PUNCT
ajst-18585	24	37	the	the	DET
ajst-18585	24	38	transfer	transfer	NOUN
ajst-18585	24	39	function	function	NOUN
ajst-18585	24	40	of	of	ADP
ajst-18585	24	41	the	the	DET
ajst-18585	24	42	electric	electric	ADJ
ajst-18585	24	43	motor	motor	NOUN
ajst-18585	24	44	is	be	AUX
ajst-18585	24	45	defined	define	VERB
ajst-18585	24	46	as	as	SCONJ
ajst-18585	24	47	follows	follow	VERB
ajst-18585	24	48	:	:	PUNCT
ajst-18585	24	49	(	(	PUNCT
ajst-18585	24	50	1	1	X
ajst-18585	24	51	)	)	PUNCT
ajst-18585	24	52	figure	figure	NOUN
ajst-18585	24	53	2	2	NUM
ajst-18585	24	54	.	.	PUNCT
ajst-18585	24	55	equivalent	equivalent	ADJ
ajst-18585	24	56	circuit	circuit	NOUN
ajst-18585	24	57	of	of	ADP
ajst-18585	24	58	the	the	DET
ajst-18585	24	59	armature	armature	NOUN
ajst-18585	24	60	winding	wind	VERB
ajst-18585	24	61	the	the	DET
ajst-18585	24	62	principles	principle	NOUN
ajst-18585	24	63	of	of	ADP
ajst-18585	24	64	the	the	DET
ajst-18585	24	65	armature	armature	NOUN
ajst-18585	24	66	winding	wind	VERB
ajst-18585	24	67	equivalent	equivalent	ADJ
ajst-18585	24	68	circuit	circuit	NOUN
ajst-18585	24	69	in	in	ADP
ajst-18585	24	70	the	the	DET
ajst-18585	24	71	above	above	ADJ
ajst-18585	24	72	fig	fig	NOUN
ajst-18585	24	73	.	.	PUNCT
ajst-18585	25	1	2	2	NUM
ajst-18585	25	2	lead	lead	NOUN
ajst-18585	25	3	to	to	ADP
ajst-18585	25	4	the	the	DET
ajst-18585	25	5	following	follow	VERB
ajst-18585	25	6	formula	formula	NOUN
ajst-18585	25	7	.	.	PUNCT
ajst-18585	26	1	(	(	PUNCT
ajst-18585	26	2	1	1	X
ajst-18585	26	3	)	)	PUNCT
ajst-18585	26	4	voltage	voltage	NOUN
ajst-18585	26	5	balance	balance	NOUN
ajst-18585	26	6	equation	equation	NOUN
ajst-18585	26	7	(	(	PUNCT
ajst-18585	26	8	i.e.	i.e.	X
ajst-18585	26	9	,	,	PUNCT
ajst-18585	26	10	describing	describe	VERB
ajst-18585	26	11	the	the	DET
ajst-18585	26	12	electrical	electrical	ADJ
ajst-18585	26	13	portion	portion	NOUN
ajst-18585	26	14	of	of	ADP
ajst-18585	26	15	the	the	DET
ajst-18585	26	16	model	model	NOUN
ajst-18585	26	17	):	):	PUNCT
ajst-18585	26	18	275	275	NUM
ajst-18585	26	19	(	(	PUNCT
ajst-18585	26	20	2	2	NUM
ajst-18585	26	21	)	)	PUNCT
ajst-18585	26	22	in	in	ADP
ajst-18585	26	23	eq	eq	ADP
ajst-18585	26	24	.	.	PUNCT
ajst-18585	27	1	(	(	PUNCT
ajst-18585	27	2	2	2	NUM
ajst-18585	27	3	)	)	PUNCT
ajst-18585	27	4	,	,	PUNCT
ajst-18585	27	5	represents	represent	VERB
ajst-18585	27	6	the	the	DET
ajst-18585	27	7	armature	armature	NOUN
ajst-18585	27	8	voltage	voltage	NOUN
ajst-18585	27	9	,	,	PUNCT
ajst-18585	27	10	is	be	AUX
ajst-18585	27	11	the	the	DET
ajst-18585	27	12	armature	armature	NOUN
ajst-18585	27	13	resistance	resistance	NOUN
ajst-18585	27	14	,	,	PUNCT
ajst-18585	27	15	is	be	AUX
ajst-18585	27	16	the	the	DET
ajst-18585	27	17	armature	armature	NOUN
ajst-18585	27	18	current	current	NOUN
ajst-18585	27	19	,	,	PUNCT
ajst-18585	27	20	is	be	AUX
ajst-18585	27	21	the	the	DET
ajst-18585	27	22	armature	armature	NOUN
ajst-18585	27	23	inductance	inductance	NOUN
ajst-18585	27	24	,	,	PUNCT
ajst-18585	27	25	and	and	CCONJ
ajst-18585	27	26	is	be	AUX
ajst-18585	27	27	the	the	DET
ajst-18585	27	28	back	back	ADJ
ajst-18585	27	29	electromotive	electromotive	ADJ
ajst-18585	27	30	force	force	NOUN
ajst-18585	27	31	.	.	PUNCT
ajst-18585	28	1	(	(	PUNCT
ajst-18585	28	2	2	2	X
ajst-18585	28	3	)	)	PUNCT
ajst-18585	28	4	torque	torque	NOUN
ajst-18585	28	5	balance	balance	NOUN
ajst-18585	28	6	equation	equation	NOUN
ajst-18585	28	7	(	(	PUNCT
ajst-18585	28	8	i.e.	i.e.	X
ajst-18585	28	9	,	,	PUNCT
ajst-18585	28	10	describing	describe	VERB
ajst-18585	28	11	the	the	DET
ajst-18585	28	12	mechanical	mechanical	ADJ
ajst-18585	28	13	portion	portion	NOUN
ajst-18585	28	14	of	of	ADP
ajst-18585	28	15	the	the	DET
ajst-18585	28	16	model	model	NOUN
ajst-18585	28	17	):	):	PUNCT
ajst-18585	28	18	(	(	PUNCT
ajst-18585	28	19	3	3	X
ajst-18585	28	20	)	)	PUNCT
ajst-18585	28	21	in	in	ADP
ajst-18585	28	22	eq	eq	ADP
ajst-18585	28	23	.	.	PUNCT
ajst-18585	28	24	(	(	PUNCT
ajst-18585	28	25	3	3	NUM
ajst-18585	28	26	)	)	PUNCT
ajst-18585	28	27	,	,	PUNCT
ajst-18585	28	28	represents	represent	VERB
ajst-18585	28	29	the	the	DET
ajst-18585	28	30	motor	motor	NOUN
ajst-18585	28	31	output	output	NOUN
ajst-18585	28	32	torque	torque	NOUN
ajst-18585	28	33	,	,	PUNCT
ajst-18585	28	34	is	be	AUX
ajst-18585	28	35	the	the	DET
ajst-18585	28	36	angular	angular	ADJ
ajst-18585	28	37	displacement	displacement	NOUN
ajst-18585	28	38	of	of	ADP
ajst-18585	28	39	the	the	DET
ajst-18585	28	40	motor	motor	NOUN
ajst-18585	28	41	shaft	shaft	NOUN
ajst-18585	28	42	,	,	PUNCT
ajst-18585	28	43	is	be	AUX
ajst-18585	28	44	the	the	DET
ajst-18585	28	45	equivalent	equivalent	ADJ
ajst-18585	28	46	moment	moment	NOUN
ajst-18585	28	47	of	of	ADP
ajst-18585	28	48	inertia	inertia	NOUN
ajst-18585	28	49	,	,	PUNCT
ajst-18585	28	50	and	and	CCONJ
ajst-18585	28	51	is	be	AUX
ajst-18585	28	52	the	the	DET
ajst-18585	28	53	equivalent	equivalent	ADJ
ajst-18585	28	54	friction	friction	NOUN
ajst-18585	28	55	coefficient	coefficient	NOUN
ajst-18585	28	56	.	.	PUNCT
ajst-18585	29	1	(	(	PUNCT
ajst-18585	29	2	3	3	X
ajst-18585	29	3	)	)	PUNCT
ajst-18585	29	4	coupling	couple	VERB
ajst-18585	29	5	relationship	relationship	NOUN
ajst-18585	29	6	:	:	PUNCT
ajst-18585	29	7	the	the	DET
ajst-18585	29	8	coupling	coupling	NOUN
ajst-18585	29	9	between	between	ADP
ajst-18585	29	10	the	the	DET
ajst-18585	29	11	mechanical	mechanical	ADJ
ajst-18585	29	12	and	and	CCONJ
ajst-18585	29	13	electrical	electrical	ADJ
ajst-18585	29	14	components	component	NOUN
ajst-18585	29	15	involves	involve	VERB
ajst-18585	29	16	two	two	NUM
ajst-18585	29	17	aspects	aspect	NOUN
ajst-18585	29	18	:	:	PUNCT
ajst-18585	29	19	the	the	DET
ajst-18585	29	20	electrical	electrical	ADJ
ajst-18585	29	21	influence	influence	NOUN
ajst-18585	29	22	on	on	ADP
ajst-18585	29	23	the	the	DET
ajst-18585	29	24	mechanical	mechanical	ADJ
ajst-18585	29	25	part	part	NOUN
ajst-18585	29	26	,	,	PUNCT
ajst-18585	29	27	manifested	manifest	VERB
ajst-18585	29	28	in	in	ADP
ajst-18585	29	29	the	the	DET
ajst-18585	29	30	linear	linear	ADJ
ajst-18585	29	31	variation	variation	NOUN
ajst-18585	29	32	of	of	ADP
ajst-18585	29	33	torque	torque	NOUN
ajst-18585	29	34	on	on	ADP
ajst-18585	29	35	the	the	DET
ajst-18585	29	36	motor	motor	NOUN
ajst-18585	29	37	shaft	shaft	NOUN
ajst-18585	29	38	with	with	ADP
ajst-18585	29	39	the	the	DET
ajst-18585	29	40	armature	armature	NOUN
ajst-18585	29	41	current	current	NOUN
ajst-18585	29	42	;	;	PUNCT
ajst-18585	29	43	and	and	CCONJ
ajst-18585	29	44	the	the	DET
ajst-18585	29	45	mechanical	mechanical	ADJ
ajst-18585	29	46	influence	influence	NOUN
ajst-18585	29	47	on	on	ADP
ajst-18585	29	48	the	the	DET
ajst-18585	29	49	electrical	electrical	ADJ
ajst-18585	29	50	part	part	NOUN
ajst-18585	29	51	,	,	PUNCT
ajst-18585	29	52	manifested	manifest	VERB
ajst-18585	29	53	in	in	ADP
ajst-18585	29	54	the	the	DET
ajst-18585	29	55	proportionality	proportionality	NOUN
ajst-18585	29	56	between	between	ADP
ajst-18585	29	57	the	the	DET
ajst-18585	29	58	back	back	ADJ
ajst-18585	29	59	electromotive	electromotive	ADJ
ajst-18585	29	60	force	force	NOUN
ajst-18585	29	61	of	of	ADP
ajst-18585	29	62	the	the	DET
ajst-18585	29	63	motor	motor	NOUN
ajst-18585	29	64	and	and	CCONJ
ajst-18585	29	65	its	its	PRON
ajst-18585	29	66	angular	angular	ADJ
ajst-18585	29	67	velocity	velocity	NOUN
ajst-18585	29	68	.	.	PUNCT
ajst-18585	30	1	(	(	PUNCT
ajst-18585	30	2	4	4	NUM
ajst-18585	30	3	)	)	PUNCT
ajst-18585	30	4	(	(	PUNCT
ajst-18585	30	5	5	5	NUM
ajst-18585	30	6	)	)	PUNCT
ajst-18585	30	7	in	in	ADP
ajst-18585	30	8	eq	eq	ADP
ajst-18585	30	9	.	.	PUNCT
ajst-18585	31	1	(	(	PUNCT
ajst-18585	31	2	4	4	NUM
ajst-18585	31	3	)	)	PUNCT
ajst-18585	31	4	,	,	PUNCT
ajst-18585	31	5	eq	eq	NOUN
ajst-18585	31	6	.	.	PUNCT
ajst-18585	32	1	(	(	PUNCT
ajst-18585	32	2	5	5	NUM
ajst-18585	32	3	)	)	PUNCT
ajst-18585	32	4	,	,	PUNCT
ajst-18585	32	5	represents	represent	VERB
ajst-18585	32	6	the	the	DET
ajst-18585	32	7	motor	motor	NOUN
ajst-18585	32	8	current	current	ADJ
ajst-18585	32	9	-	-	PUNCT
ajst-18585	32	10	torque	torque	NOUN
ajst-18585	32	11	constant	constant	NOUN
ajst-18585	32	12	,	,	PUNCT
ajst-18585	32	13	and	and	CCONJ
ajst-18585	32	14	is	be	AUX
ajst-18585	32	15	the	the	DET
ajst-18585	32	16	back	back	ADJ
ajst-18585	32	17	electromotive	electromotive	ADJ
ajst-18585	32	18	force	force	NOUN
ajst-18585	32	19	coefficient	coefficient	NOUN
ajst-18585	32	20	.	.	PUNCT
ajst-18585	33	1	by	by	ADP
ajst-18585	33	2	simultaneously	simultaneously	ADV
ajst-18585	33	3	applying	apply	VERB
ajst-18585	33	4	a	a	DET
ajst-18585	33	5	laplace	laplace	NOUN
ajst-18585	33	6	transform	transform	NOUN
ajst-18585	33	7	to	to	ADP
ajst-18585	33	8	both	both	DET
ajst-18585	33	9	sides	side	NOUN
ajst-18585	33	10	of	of	ADP
ajst-18585	33	11	eq	eq	PROPN
ajst-18585	33	12	.	.	PUNCT
ajst-18585	34	1	(	(	PUNCT
ajst-18585	34	2	3	3	X
ajst-18585	34	3	)	)	PUNCT
ajst-18585	34	4	to	to	ADP
ajst-18585	34	5	eq	eq	NOUN
ajst-18585	34	6	.	.	PUNCT
ajst-18585	35	1	(	(	PUNCT
ajst-18585	35	2	5	5	NUM
ajst-18585	35	3	)	)	PUNCT
ajst-18585	35	4	and	and	CCONJ
ajst-18585	35	5	combining	combine	VERB
ajst-18585	35	6	them	they	PRON
ajst-18585	35	7	,	,	PUNCT
ajst-18585	35	8	the	the	DET
ajst-18585	35	9	transfer	transfer	NOUN
ajst-18585	35	10	function	function	NOUN
ajst-18585	35	11	from	from	ADP
ajst-18585	35	12	armature	armature	NOUN
ajst-18585	35	13	voltage	voltage	NOUN
ajst-18585	35	14	to	to	ADP
ajst-18585	35	15	motor	motor	NOUN
ajst-18585	35	16	shaft	shaft	NOUN
ajst-18585	35	17	angular	angular	ADJ
ajst-18585	35	18	displacement	displacement	NOUN
ajst-18585	35	19	is	be	AUX
ajst-18585	35	20	obtained	obtain	VERB
ajst-18585	35	21	as	as	ADP
ajst-18585	35	22	:	:	PUNCT
ajst-18585	35	23	(	(	PUNCT
ajst-18585	35	24	6	6	NUM
ajst-18585	35	25	)	)	PUNCT
ajst-18585	35	26	similarly	similarly	ADV
ajst-18585	35	27	,	,	PUNCT
ajst-18585	35	28	it	it	PRON
ajst-18585	35	29	can	can	AUX
ajst-18585	35	30	be	be	AUX
ajst-18585	35	31	derived	derive	VERB
ajst-18585	35	32	that	that	SCONJ
ajst-18585	35	33	the	the	DET
ajst-18585	35	34	transfer	transfer	NOUN
ajst-18585	35	35	function	function	NOUN
ajst-18585	35	36	of	of	ADP
ajst-18585	35	37	motor	motor	NOUN
ajst-18585	35	38	speed	speed	NOUN
ajst-18585	35	39	relative	relative	ADJ
ajst-18585	35	40	to	to	ADP
ajst-18585	35	41	input	input	NOUN
ajst-18585	35	42	voltage	voltage	NOUN
ajst-18585	35	43	is	be	AUX
ajst-18585	35	44	:	:	PUNCT
ajst-18585	35	45	(	(	PUNCT
ajst-18585	35	46	7	7	X
ajst-18585	35	47	)	)	PUNCT
ajst-18585	35	48	in	in	ADP
ajst-18585	35	49	eq	eq	ADP
ajst-18585	35	50	.	.	PUNCT
ajst-18585	36	1	(	(	PUNCT
ajst-18585	36	2	7	7	NUM
ajst-18585	36	3	)	)	PUNCT
ajst-18585	36	4	,	,	PUNCT
ajst-18585	36	5	is	be	AUX
ajst-18585	36	6	the	the	DET
ajst-18585	36	7	mechanical	mechanical	ADJ
ajst-18585	36	8	time	time	NOUN
ajst-18585	36	9	constant	constant	ADJ
ajst-18585	36	10	,	,	PUNCT
ajst-18585	36	11	is	be	AUX
ajst-18585	36	12	the	the	DET
ajst-18585	36	13	electrical	electrical	ADJ
ajst-18585	36	14	time	time	NOUN
ajst-18585	36	15	constant	constant	ADJ
ajst-18585	36	16	,	,	PUNCT
ajst-18585	36	17	and	and	CCONJ
ajst-18585	36	18	is	be	AUX
ajst-18585	36	19	the	the	DET
ajst-18585	36	20	motor	motor	NOUN
ajst-18585	36	21	electromotive	electromotive	ADJ
ajst-18585	36	22	force	force	NOUN
ajst-18585	36	23	coefficient	coefficient	PROPN
ajst-18585	36	24	.	.	PUNCT
ajst-18585	37	1	based	base	VERB
ajst-18585	37	2	on	on	ADP
ajst-18585	37	3	the	the	DET
ajst-18585	37	4	derived	derive	VERB
ajst-18585	37	5	mathematical	mathematical	ADJ
ajst-18585	37	6	model	model	NOUN
ajst-18585	37	7	and	and	CCONJ
ajst-18585	37	8	referencing	reference	VERB
ajst-18585	37	9	engineering	engineering	NOUN
ajst-18585	37	10	empirical	empirical	ADJ
ajst-18585	37	11	formulas	formula	NOUN
ajst-18585	37	12	[	[	X
ajst-18585	37	13	5	5	NUM
ajst-18585	37	14	-	-	SYM
ajst-18585	37	15	6	6	NUM
ajst-18585	37	16	]	]	PUNCT
ajst-18585	37	17	,	,	PUNCT
ajst-18585	37	18	the	the	DET
ajst-18585	37	19	transfer	transfer	NOUN
ajst-18585	37	20	function	function	NOUN
ajst-18585	37	21	of	of	ADP
ajst-18585	37	22	the	the	DET
ajst-18585	37	23	dc	dc	PROPN
ajst-18585	37	24	motor	motor	NOUN
ajst-18585	37	25	can	can	AUX
ajst-18585	37	26	be	be	AUX
ajst-18585	37	27	estimated	estimate	VERB
ajst-18585	37	28	.	.	PUNCT
ajst-18585	38	1	furthermore	furthermore	ADV
ajst-18585	38	2	,	,	PUNCT
ajst-18585	38	3	the	the	DET
ajst-18585	38	4	motor	motor	NOUN
ajst-18585	38	5	parameters	parameter	NOUN
ajst-18585	38	6	for	for	ADP
ajst-18585	38	7	the	the	DET
ajst-18585	38	8	dc	dc	PROPN
ajst-18585	38	9	geared	gear	VERB
ajst-18585	38	10	motor	motor	PROPN
ajst-18585	38	11	mg513	mg513	PROPN
ajst-18585	38	12	are	be	AUX
ajst-18585	38	13	provided	provide	VERB
ajst-18585	38	14	in	in	ADP
ajst-18585	38	15	table	table	NOUN
ajst-18585	38	16	1	1	NUM
ajst-18585	38	17	.	.	PUNCT
ajst-18585	39	1	it	it	PRON
ajst-18585	39	2	is	be	AUX
ajst-18585	39	3	noteworthy	noteworthy	ADJ
ajst-18585	39	4	that	that	SCONJ
ajst-18585	39	5	the	the	DET
ajst-18585	39	6	motor	motor	NOUN
ajst-18585	39	7	model	model	NOUN
ajst-18585	39	8	'	'	PUNCT
ajst-18585	39	9	mg	mg	NOUN
ajst-18585	39	10	'	'	PUNCT
ajst-18585	39	11	represents	represent	VERB
ajst-18585	39	12	the	the	DET
ajst-18585	39	13	dc	dc	PROPN
ajst-18585	39	14	brushed	brush	VERB
ajst-18585	39	15	motor	motor	NOUN
ajst-18585	39	16	series	series	NOUN
ajst-18585	39	17	,	,	PUNCT
ajst-18585	39	18	'	'	PUNCT
ajst-18585	39	19	513	513	NUM
ajst-18585	39	20	'	'	PUNCT
ajst-18585	39	21	is	be	AUX
ajst-18585	39	22	the	the	DET
ajst-18585	39	23	motor	motor	NOUN
ajst-18585	39	24	model	model	NOUN
ajst-18585	39	25	,	,	PUNCT
ajst-18585	39	26	and	and	CCONJ
ajst-18585	39	27	'	'	PUNCT
ajst-18585	39	28	p30	p30	NOUN
ajst-18585	39	29	'	'	PUNCT
ajst-18585	39	30	indicates	indicate	VERB
ajst-18585	39	31	a	a	DET
ajst-18585	39	32	gear	gear	NOUN
ajst-18585	39	33	ratio	ratio	NOUN
ajst-18585	39	34	of	of	ADP
ajst-18585	39	35	1:30	1:30	NUM
ajst-18585	39	36	.	.	PUNCT
ajst-18585	39	37	table	table	NOUN
ajst-18585	39	38	1	1	NUM
ajst-18585	39	39	.	.	PUNCT
ajst-18585	40	1	dc	dc	PROPN
ajst-18585	40	2	geared	gear	VERB
ajst-18585	40	3	motor	motor	PROPN
ajst-18585	40	4	mg513	mg513	PROPN
ajst-18585	40	5	specifications	specification	NOUN
ajst-18585	40	6	motor	motor	NOUN
ajst-18585	40	7	type	type	NOUN
ajst-18585	40	8	rated	rate	VERB
ajst-18585	40	9	voltage	voltage	NOUN
ajst-18585	40	10	(	(	PUNCT
ajst-18585	40	11	v	v	NOUN
ajst-18585	40	12	)	)	PUNCT
ajst-18585	40	13	rated	rate	VERB
ajst-18585	40	14	current	current	ADJ
ajst-18585	40	15	(	(	PUNCT
ajst-18585	40	16	a	a	NOUN
ajst-18585	40	17	)	)	PUNCT
ajst-18585	40	18	lock	lock	NOUN
ajst-18585	40	19	-	-	PUNCT
ajst-18585	40	20	rotor	rotor	NOUN
ajst-18585	40	21	current	current	NOUN
ajst-18585	40	22	(	(	PUNCT
ajst-18585	40	23	a	a	NOUN
ajst-18585	40	24	)	)	PUNCT
ajst-18585	40	25	no	no	DET
ajst-18585	40	26	-	-	PUNCT
ajst-18585	40	27	load	load	NOUN
ajst-18585	40	28	speed	speed	NOUN
ajst-18585	40	29	(	(	PUNCT
ajst-18585	40	30	rpm	rpm	PROPN
ajst-18585	40	31	)	)	PUNCT
ajst-18585	40	32	rated	rate	VERB
ajst-18585	40	33	speed	speed	NOUN
ajst-18585	40	34	(	(	PUNCT
ajst-18585	40	35	rpm	rpm	PROPN
ajst-18585	40	36	)	)	PUNCT
ajst-18585	40	37	rated	rate	VERB
ajst-18585	40	38	torque	torque	NOUN
ajst-18585	40	39	(	(	PUNCT
ajst-18585	40	40	kg.cm	kg.cm	PROPN
ajst-18585	40	41	)	)	PUNCT
ajst-18585	40	42	no	no	DET
ajst-18585	40	43	-	-	PUNCT
ajst-18585	40	44	load	load	NOUN
ajst-18585	40	45	torque	torque	NOUN
ajst-18585	40	46	(	(	PUNCT
ajst-18585	40	47	kg.cm	kg.cm	PROPN
ajst-18585	40	48	)	)	PUNCT
ajst-18585	40	49	mg513p10	mg513p10	PROPN
ajst-18585	40	50	12	12	NUM
ajst-18585	40	51	0.36	0.36	NUM
ajst-18585	40	52	3.2	3.2	NUM
ajst-18585	40	53	1100±132	1100±132	NUM
ajst-18585	40	54	850±102	850±102	NUM
ajst-18585	40	55	0.5	0.5	NUM
ajst-18585	40	56	1.9	1.9	NUM
ajst-18585	40	57	mg513p20	mg513p20	NOUN
ajst-18585	40	58	12	12	NUM
ajst-18585	40	59	0.36	0.36	NUM
ajst-18585	40	60	3.2	3.2	NUM
ajst-18585	40	61	549±40	549±40	NUM
ajst-18585	40	62	439±32	439±32	NUM
ajst-18585	40	63	0.66	0.66	NUM
ajst-18585	40	64	3.8	3.8	NUM
ajst-18585	40	65	mg513p30	mg513p30	NOUN
ajst-18585	40	66	12	12	NUM
ajst-18585	40	67	0.36	0.36	NUM
ajst-18585	40	68	3.2	3.2	NUM
ajst-18585	40	69	366±26	366±26	NUM
ajst-18585	40	70	293±21	293±21	NUM
ajst-18585	40	71	1	1	NUM
ajst-18585	40	72	4.5	4.5	NUM
ajst-18585	40	73	mg513p60	mg513p60	NOUN
ajst-18585	40	74	12	12	NUM
ajst-18585	40	75	0.36	0.36	NUM
ajst-18585	40	76	3.2	3.2	NUM
ajst-18585	40	77	183±13	183±13	NUM
ajst-18585	40	78	146±10	146±10	NUM
ajst-18585	40	79	2	2	NUM
ajst-18585	40	80	9	9	NUM
ajst-18585	40	81	therefore	therefore	ADV
ajst-18585	40	82	,	,	PUNCT
ajst-18585	40	83	by	by	ADP
ajst-18585	40	84	substituting	substitute	VERB
ajst-18585	40	85	the	the	DET
ajst-18585	40	86	parameter	parameter	NOUN
ajst-18585	40	87	values	value	NOUN
ajst-18585	40	88	of	of	ADP
ajst-18585	40	89	the	the	DET
ajst-18585	40	90	selected	select	VERB
ajst-18585	40	91	motor	motor	NOUN
ajst-18585	40	92	mg513p30	mg513p30	NOUN
ajst-18585	40	93	,	,	PUNCT
ajst-18585	40	94	an	an	DET
ajst-18585	40	95	approximate	approximate	ADJ
ajst-18585	40	96	transfer	transfer	NOUN
ajst-18585	40	97	function	function	NOUN
ajst-18585	40	98	for	for	ADP
ajst-18585	40	99	motor	motor	NOUN
ajst-18585	40	100	speed	speed	NOUN
ajst-18585	40	101	relative	relative	ADJ
ajst-18585	40	102	to	to	ADP
ajst-18585	40	103	input	input	NOUN
ajst-18585	40	104	voltage	voltage	NOUN
ajst-18585	40	105	can	can	AUX
ajst-18585	40	106	be	be	AUX
ajst-18585	40	107	obtained	obtain	VERB
ajst-18585	40	108	as	as	ADP
ajst-18585	40	109	:	:	PUNCT
ajst-18585	40	110	(	(	PUNCT
ajst-18585	40	111	8)	8)	NUM
ajst-18585	40	112	2.2	2.2	NUM
ajst-18585	40	113	.	.	PUNCT
ajst-18585	41	1	pid	pid	NOUN
ajst-18585	41	2	control	control	NOUN
ajst-18585	41	3	algorithm	algorithm	PROPN
ajst-18585	41	4	2.2.1	2.2.1	NUM
ajst-18585	41	5	.	.	PUNCT
ajst-18585	42	1	pid	pid	NOUN
ajst-18585	42	2	control	control	NOUN
ajst-18585	42	3	principles	principle	VERB
ajst-18585	42	4	the	the	DET
ajst-18585	42	5	pid	pid	NOUN
ajst-18585	42	6	control	control	NOUN
ajst-18585	42	7	,	,	PUNCT
ajst-18585	42	8	from	from	ADP
ajst-18585	42	9	its	its	PRON
ajst-18585	42	10	establishment	establishment	NOUN
ajst-18585	42	11	to	to	ADP
ajst-18585	42	12	development	development	NOUN
ajst-18585	42	13	,	,	PUNCT
ajst-18585	42	14	has	have	AUX
ajst-18585	42	15	become	become	VERB
ajst-18585	42	16	highly	highly	ADV
ajst-18585	42	17	mature	mature	ADJ
ajst-18585	42	18	and	and	CCONJ
ajst-18585	42	19	is	be	AUX
ajst-18585	42	20	characterized	characterize	VERB
ajst-18585	42	21	by	by	ADP
ajst-18585	42	22	its	its	PRON
ajst-18585	42	23	simplicity	simplicity	NOUN
ajst-18585	42	24	,	,	PUNCT
ajst-18585	42	25	ease	ease	NOUN
ajst-18585	42	26	of	of	ADP
ajst-18585	42	27	understanding	understanding	NOUN
ajst-18585	42	28	,	,	PUNCT
ajst-18585	42	29	independence	independence	NOUN
ajst-18585	42	30	from	from	ADP
ajst-18585	42	31	the	the	DET
ajst-18585	42	32	need	need	NOUN
ajst-18585	42	33	for	for	ADP
ajst-18585	42	34	mathematical	mathematical	ADJ
ajst-18585	42	35	modeling	modeling	NOUN
ajst-18585	42	36	,	,	PUNCT
ajst-18585	42	37	and	and	CCONJ
ajst-18585	42	38	strong	strong	ADJ
ajst-18585	42	39	robustness	robustness	NOUN
ajst-18585	43	1	[	[	X
ajst-18585	43	2	7	7	NUM
ajst-18585	43	3	]	]	PUNCT
ajst-18585	43	4	.	.	PUNCT
ajst-18585	44	1	as	as	ADP
ajst-18585	44	2	a	a	DET
ajst-18585	44	3	result	result	NOUN
ajst-18585	44	4	,	,	PUNCT
ajst-18585	44	5	it	it	PRON
ajst-18585	44	6	has	have	AUX
ajst-18585	44	7	found	find	VERB
ajst-18585	44	8	widespread	widespread	ADJ
ajst-18585	44	9	applications	application	NOUN
ajst-18585	44	10	,	,	PUNCT
ajst-18585	44	11	and	and	CCONJ
ajst-18585	44	12	the	the	DET
ajst-18585	44	13	classic	classic	ADJ
ajst-18585	44	14	control	control	NOUN
ajst-18585	44	15	structure	structure	NOUN
ajst-18585	44	16	is	be	AUX
ajst-18585	44	17	illustrated	illustrate	VERB
ajst-18585	44	18	in	in	ADP
ajst-18585	44	19	the	the	DET
ajst-18585	44	20	following	follow	VERB
ajst-18585	44	21	figure	figure	NOUN
ajst-18585	44	22	.	.	PUNCT
ajst-18585	45	1	figure	figure	VERB
ajst-18585	45	2	3	3	NUM
ajst-18585	45	3	.	.	PUNCT
ajst-18585	45	4	typical	typical	ADJ
ajst-18585	45	5	structure	structure	NOUN
ajst-18585	45	6	of	of	ADP
ajst-18585	45	7	pid	pid	NOUN
ajst-18585	45	8	control	control	NOUN
ajst-18585	45	9	as	as	SCONJ
ajst-18585	45	10	indicated	indicate	VERB
ajst-18585	45	11	in	in	ADP
ajst-18585	45	12	the	the	DET
ajst-18585	45	13	above	above	ADJ
ajst-18585	45	14	fig	fig	NOUN
ajst-18585	45	15	.	.	PUNCT
ajst-18585	46	1	3	3	NUM
ajst-18585	46	2	,	,	PUNCT
ajst-18585	46	3	the	the	DET
ajst-18585	46	4	differential	differential	ADJ
ajst-18585	46	5	equation	equation	NOUN
ajst-18585	46	6	representation	representation	NOUN
ajst-18585	46	7	of	of	ADP
ajst-18585	46	8	the	the	DET
ajst-18585	46	9	analog	analog	NOUN
ajst-18585	46	10	signal	signal	NOUN
ajst-18585	46	11	pid	pid	NOUN
ajst-18585	46	12	is	be	AUX
ajst-18585	46	13	:	:	PUNCT
ajst-18585	46	14	(	(	PUNCT
ajst-18585	46	15	9	9	X
ajst-18585	46	16	)	)	PUNCT
ajst-18585	46	17	in	in	ADP
ajst-18585	46	18	eq	eq	ADP
ajst-18585	46	19	.	.	PUNCT
ajst-18585	47	1	(	(	PUNCT
ajst-18585	47	2	9	9	NUM
ajst-18585	47	3	)	)	PUNCT
ajst-18585	47	4	,	,	PUNCT
ajst-18585	47	5	represents	represent	VERB
ajst-18585	47	6	the	the	DET
ajst-18585	47	7	difference	difference	NOUN
ajst-18585	47	8	between	between	ADP
ajst-18585	47	9	the	the	DET
ajst-18585	47	10	setpoint	setpoint	NOUN
ajst-18585	47	11	and	and	CCONJ
ajst-18585	47	12	the	the	DET
ajst-18585	47	13	actual	actual	ADJ
ajst-18585	47	14	value	value	NOUN
ajst-18585	47	15	,	,	PUNCT
ajst-18585	47	16	is	be	AUX
ajst-18585	47	17	the	the	DET
ajst-18585	47	18	setpoint	setpoint	NOUN
ajst-18585	47	19	,	,	PUNCT
ajst-18585	47	20	is	be	AUX
ajst-18585	47	21	276	276	NUM
ajst-18585	47	22	the	the	DET
ajst-18585	47	23	actual	actual	ADJ
ajst-18585	47	24	value	value	NOUN
ajst-18585	47	25	,	,	PUNCT
ajst-18585	47	26	is	be	AUX
ajst-18585	47	27	the	the	DET
ajst-18585	47	28	control	control	NOUN
ajst-18585	47	29	signal	signal	NOUN
ajst-18585	47	30	directly	directly	ADV
ajst-18585	47	31	affecting	affect	VERB
ajst-18585	47	32	the	the	DET
ajst-18585	47	33	controlled	control	VERB
ajst-18585	47	34	object	object	NOUN
ajst-18585	47	35	,	,	PUNCT
ajst-18585	47	36	is	be	AUX
ajst-18585	47	37	the	the	DET
ajst-18585	47	38	proportional	proportional	ADJ
ajst-18585	47	39	gain	gain	NOUN
ajst-18585	47	40	,	,	PUNCT
ajst-18585	47	41	represents	represent	VERB
ajst-18585	47	42	the	the	DET
ajst-18585	47	43	ratio	ratio	NOUN
ajst-18585	47	44	of	of	ADP
ajst-18585	47	45	the	the	DET
ajst-18585	47	46	integral	integral	ADJ
ajst-18585	47	47	gain	gain	NOUN
ajst-18585	47	48	to	to	ADP
ajst-18585	47	49	the	the	DET
ajst-18585	47	50	integral	integral	ADJ
ajst-18585	47	51	time	time	NOUN
ajst-18585	47	52	,	,	PUNCT
ajst-18585	47	53	defined	define	VERB
ajst-18585	47	54	as	as	ADP
ajst-18585	47	55	the	the	DET
ajst-18585	47	56	integral	integral	ADJ
ajst-18585	47	57	gain	gain	NOUN
ajst-18585	47	58	,	,	PUNCT
ajst-18585	47	59	represents	represent	VERB
ajst-18585	47	60	the	the	DET
ajst-18585	47	61	product	product	NOUN
ajst-18585	47	62	of	of	ADP
ajst-18585	47	63	the	the	DET
ajst-18585	47	64	proportional	proportional	ADJ
ajst-18585	47	65	gain	gain	NOUN
ajst-18585	47	66	and	and	CCONJ
ajst-18585	47	67	the	the	DET
ajst-18585	47	68	derivative	derivative	ADJ
ajst-18585	47	69	time	time	NOUN
ajst-18585	47	70	,	,	PUNCT
ajst-18585	47	71	defined	define	VERB
ajst-18585	47	72	as	as	ADP
ajst-18585	47	73	the	the	DET
ajst-18585	47	74	derivative	derivative	ADJ
ajst-18585	47	75	time	time	NOUN
ajst-18585	47	76	.	.	PUNCT
ajst-18585	48	1	the	the	DET
ajst-18585	48	2	main	main	ADJ
ajst-18585	48	3	functions	function	NOUN
ajst-18585	48	4	of	of	ADP
ajst-18585	48	5	each	each	DET
ajst-18585	48	6	component	component	NOUN
ajst-18585	48	7	are	be	AUX
ajst-18585	48	8	as	as	SCONJ
ajst-18585	48	9	follows	follow	VERB
ajst-18585	48	10	:	:	PUNCT
ajst-18585	48	11	the	the	DET
ajst-18585	48	12	proportional	proportional	ADJ
ajst-18585	48	13	component	component	NOUN
ajst-18585	48	14	provides	provide	VERB
ajst-18585	48	15	a	a	DET
ajst-18585	48	16	rapid	rapid	ADJ
ajst-18585	48	17	response	response	NOUN
ajst-18585	48	18	to	to	ADP
ajst-18585	48	19	the	the	DET
ajst-18585	48	20	current	current	ADJ
ajst-18585	48	21	error	error	NOUN
ajst-18585	48	22	value	value	NOUN
ajst-18585	48	23	.	.	PUNCT
ajst-18585	49	1	in	in	ADP
ajst-18585	49	2	general	general	ADJ
ajst-18585	49	3	,	,	PUNCT
ajst-18585	49	4	a	a	DET
ajst-18585	49	5	larger	large	ADJ
ajst-18585	49	6	value	value	NOUN
ajst-18585	49	7	of	of	ADP
ajst-18585	49	8	leads	lead	NOUN
ajst-18585	49	9	to	to	PART
ajst-18585	49	10	steeper	steep	ADJ
ajst-18585	49	11	control	control	NOUN
ajst-18585	49	12	,	,	PUNCT
ajst-18585	49	13	but	but	CCONJ
ajst-18585	49	14	it	it	PRON
ajst-18585	49	15	should	should	AUX
ajst-18585	49	16	not	not	PART
ajst-18585	49	17	be	be	AUX
ajst-18585	49	18	excessively	excessively	ADV
ajst-18585	49	19	large	large	ADJ
ajst-18585	49	20	,	,	PUNCT
ajst-18585	49	21	as	as	SCONJ
ajst-18585	49	22	it	it	PRON
ajst-18585	49	23	may	may	AUX
ajst-18585	49	24	cause	cause	VERB
ajst-18585	49	25	the	the	DET
ajst-18585	49	26	controlled	control	VERB
ajst-18585	49	27	object	object	NOUN
ajst-18585	49	28	to	to	PART
ajst-18585	49	29	oscillate	oscillate	VERB
ajst-18585	49	30	above	above	ADP
ajst-18585	49	31	and	and	CCONJ
ajst-18585	49	32	below	below	ADP
ajst-18585	49	33	the	the	DET
ajst-18585	49	34	setpoint	setpoint	NOUN
ajst-18585	49	35	.	.	PUNCT
ajst-18585	50	1	it	it	PRON
ajst-18585	50	2	should	should	AUX
ajst-18585	50	3	also	also	ADV
ajst-18585	50	4	not	not	PART
ajst-18585	50	5	be	be	AUX
ajst-18585	50	6	too	too	ADV
ajst-18585	50	7	small	small	ADJ
ajst-18585	50	8	,	,	PUNCT
ajst-18585	50	9	as	as	SCONJ
ajst-18585	50	10	it	it	PRON
ajst-18585	50	11	may	may	AUX
ajst-18585	50	12	result	result	VERB
ajst-18585	50	13	in	in	ADP
ajst-18585	50	14	the	the	DET
ajst-18585	50	15	controlled	control	VERB
ajst-18585	50	16	object	object	NOUN
ajst-18585	50	17	never	never	ADV
ajst-18585	50	18	reaching	reach	VERB
ajst-18585	50	19	the	the	DET
ajst-18585	50	20	setpoint	setpoint	NOUN
ajst-18585	50	21	and	and	CCONJ
ajst-18585	50	22	stabilizing	stabilizing	NOUN
ajst-18585	50	23	.	.	PUNCT
ajst-18585	51	1	the	the	DET
ajst-18585	51	2	integral	integral	ADJ
ajst-18585	51	3	component	component	NOUN
ajst-18585	51	4	considers	consider	VERB
ajst-18585	51	5	the	the	DET
ajst-18585	51	6	influence	influence	NOUN
ajst-18585	51	7	of	of	ADP
ajst-18585	51	8	historical	historical	ADJ
ajst-18585	51	9	errors	error	NOUN
ajst-18585	51	10	on	on	ADP
ajst-18585	51	11	the	the	DET
ajst-18585	51	12	controlled	control	VERB
ajst-18585	51	13	object	object	NOUN
ajst-18585	51	14	,	,	PUNCT
ajst-18585	51	15	aiming	aim	VERB
ajst-18585	51	16	to	to	PART
ajst-18585	51	17	eliminate	eliminate	VERB
ajst-18585	51	18	steady	steady	ADJ
ajst-18585	51	19	-	-	PUNCT
ajst-18585	51	20	state	state	NOUN
ajst-18585	51	21	errors	error	NOUN
ajst-18585	51	22	between	between	ADP
ajst-18585	51	23	the	the	DET
ajst-18585	51	24	setpoint	setpoint	NOUN
ajst-18585	51	25	and	and	CCONJ
ajst-18585	51	26	the	the	DET
ajst-18585	51	27	actual	actual	ADJ
ajst-18585	51	28	value	value	NOUN
ajst-18585	51	29	.	.	PUNCT
ajst-18585	52	1	however	however	ADV
ajst-18585	52	2	,	,	PUNCT
ajst-18585	52	3	it	it	PRON
ajst-18585	52	4	may	may	AUX
ajst-18585	52	5	counteract	counteract	VERB
ajst-18585	52	6	the	the	DET
ajst-18585	52	7	control	control	NOUN
ajst-18585	52	8	effectiveness	effectiveness	NOUN
ajst-18585	52	9	of	of	ADP
ajst-18585	52	10	the	the	DET
ajst-18585	52	11	proportional	proportional	ADJ
ajst-18585	52	12	component	component	NOUN
ajst-18585	52	13	and	and	CCONJ
ajst-18585	52	14	slow	slow	VERB
ajst-18585	52	15	down	down	ADP
ajst-18585	52	16	the	the	DET
ajst-18585	52	17	response	response	NOUN
ajst-18585	52	18	speed	speed	NOUN
ajst-18585	52	19	of	of	ADP
ajst-18585	52	20	the	the	DET
ajst-18585	52	21	controlled	control	VERB
ajst-18585	52	22	object	object	NOUN
ajst-18585	52	23	.	.	PUNCT
ajst-18585	53	1	the	the	DET
ajst-18585	53	2	derivative	derivative	ADJ
ajst-18585	53	3	component	component	NOUN
ajst-18585	53	4	takes	take	VERB
ajst-18585	53	5	into	into	ADP
ajst-18585	53	6	account	account	NOUN
ajst-18585	53	7	the	the	DET
ajst-18585	53	8	future	future	ADJ
ajst-18585	53	9	trend	trend	NOUN
ajst-18585	53	10	of	of	ADP
ajst-18585	53	11	error	error	NOUN
ajst-18585	53	12	changes	change	NOUN
ajst-18585	53	13	,	,	PUNCT
ajst-18585	53	14	with	with	ADP
ajst-18585	53	15	a	a	DET
ajst-18585	53	16	stronger	strong	ADJ
ajst-18585	53	17	effect	effect	NOUN
ajst-18585	53	18	when	when	SCONJ
ajst-18585	53	19	the	the	DET
ajst-18585	53	20	error	error	NOUN
ajst-18585	53	21	change	change	NOUN
ajst-18585	53	22	is	be	AUX
ajst-18585	53	23	larger	large	ADJ
ajst-18585	53	24	.	.	PUNCT
ajst-18585	54	1	it	it	PRON
ajst-18585	54	2	helps	help	VERB
ajst-18585	54	3	eliminate	eliminate	VERB
ajst-18585	54	4	oscillations	oscillation	NOUN
ajst-18585	54	5	in	in	ADP
ajst-18585	54	6	the	the	DET
ajst-18585	54	7	controlled	control	VERB
ajst-18585	54	8	object	object	NOUN
ajst-18585	54	9	but	but	CCONJ
ajst-18585	54	10	is	be	AUX
ajst-18585	54	11	susceptible	susceptible	ADJ
ajst-18585	54	12	to	to	PART
ajst-18585	54	13	interference	interference	VERB
ajst-18585	54	14	from	from	ADP
ajst-18585	54	15	noise	noise	NOUN
ajst-18585	54	16	signals	signal	NOUN
ajst-18585	54	17	.	.	PUNCT
ajst-18585	55	1	the	the	DET
ajst-18585	55	2	adjustment	adjustment	NOUN
ajst-18585	55	3	effects	effect	NOUN
ajst-18585	55	4	of	of	ADP
ajst-18585	55	5	the	the	DET
ajst-18585	55	6	above	above	ADJ
ajst-18585	55	7	three	three	NUM
ajst-18585	55	8	components	component	NOUN
ajst-18585	55	9	are	be	AUX
ajst-18585	55	10	conflicting	conflict	VERB
ajst-18585	55	11	,	,	PUNCT
ajst-18585	55	12	and	and	CCONJ
ajst-18585	55	13	therefore	therefore	ADV
ajst-18585	55	14	,	,	PUNCT
ajst-18585	55	15	it	it	PRON
ajst-18585	55	16	is	be	AUX
ajst-18585	55	17	necessary	necessary	ADJ
ajst-18585	55	18	to	to	PART
ajst-18585	55	19	rationally	rationally	ADV
ajst-18585	55	20	tune	tune	VERB
ajst-18585	55	21	the	the	DET
ajst-18585	55	22	parameters	parameter	NOUN
ajst-18585	55	23	of	of	ADP
ajst-18585	55	24	pid	pid	NOUN
ajst-18585	55	25	based	base	VERB
ajst-18585	55	26	on	on	ADP
ajst-18585	55	27	the	the	DET
ajst-18585	55	28	actual	actual	ADJ
ajst-18585	55	29	application	application	NOUN
ajst-18585	55	30	to	to	PART
ajst-18585	55	31	achieve	achieve	VERB
ajst-18585	55	32	control	control	NOUN
ajst-18585	55	33	with	with	ADP
ajst-18585	55	34	rapid	rapid	ADJ
ajst-18585	55	35	response	response	NOUN
ajst-18585	55	36	,	,	PUNCT
ajst-18585	55	37	low	low	ADJ
ajst-18585	55	38	steady	steady	ADJ
ajst-18585	55	39	-	-	PUNCT
ajst-18585	55	40	state	state	NOUN
ajst-18585	55	41	error	error	NOUN
ajst-18585	55	42	,	,	PUNCT
ajst-18585	55	43	and	and	CCONJ
ajst-18585	55	44	minimal	minimal	ADJ
ajst-18585	55	45	overshoot	overshoot	NOUN
ajst-18585	55	46	.	.	PUNCT
ajst-18585	56	1	with	with	ADP
ajst-18585	56	2	the	the	DET
ajst-18585	56	3	advent	advent	NOUN
ajst-18585	56	4	of	of	ADP
ajst-18585	56	5	computers	computer	NOUN
ajst-18585	56	6	,	,	PUNCT
ajst-18585	56	7	the	the	DET
ajst-18585	56	8	principles	principle	NOUN
ajst-18585	56	9	of	of	ADP
ajst-18585	56	10	analog	analog	NOUN
ajst-18585	56	11	pid	pid	NOUN
ajst-18585	56	12	control	control	NOUN
ajst-18585	56	13	have	have	AUX
ajst-18585	56	14	gradually	gradually	ADV
ajst-18585	56	15	gained	gain	VERB
ajst-18585	56	16	widespread	widespread	ADJ
ajst-18585	56	17	application	application	NOUN
ajst-18585	56	18	.	.	PUNCT
ajst-18585	57	1	based	base	VERB
ajst-18585	57	2	on	on	ADP
ajst-18585	57	3	the	the	DET
ajst-18585	57	4	computer	computer	NOUN
ajst-18585	57	5	's	's	PART
ajst-18585	57	6	continuous	continuous	ADJ
ajst-18585	57	7	sampling	sampling	NOUN
ajst-18585	57	8	mechanism	mechanism	NOUN
ajst-18585	57	9	,	,	PUNCT
ajst-18585	57	10	various	various	ADJ
ajst-18585	57	11	digital	digital	ADJ
ajst-18585	57	12	pid	pid	NOUN
ajst-18585	57	13	control	control	NOUN
ajst-18585	57	14	methods	method	NOUN
ajst-18585	57	15	have	have	AUX
ajst-18585	57	16	evolved	evolve	VERB
ajst-18585	57	17	.	.	PUNCT
ajst-18585	58	1	the	the	DET
ajst-18585	58	2	following	follow	VERB
ajst-18585	58	3	sections	section	NOUN
ajst-18585	58	4	introduce	introduce	VERB
ajst-18585	58	5	the	the	DET
ajst-18585	58	6	control	control	NOUN
ajst-18585	58	7	principles	principle	NOUN
ajst-18585	58	8	of	of	ADP
ajst-18585	58	9	traditional	traditional	ADJ
ajst-18585	58	10	digital	digital	ADJ
ajst-18585	58	11	pid	pid	NOUN
ajst-18585	58	12	and	and	CCONJ
ajst-18585	58	13	fuzzy	fuzzy	ADJ
ajst-18585	58	14	pid	pid	NOUN
ajst-18585	58	15	,	,	PUNCT
ajst-18585	58	16	respectively	respectively	ADV
ajst-18585	58	17	.	.	PUNCT
ajst-18585	59	1	2.2.2	2.2.2	X
ajst-18585	59	2	.	.	PUNCT
ajst-18585	59	3	traditional	traditional	ADJ
ajst-18585	59	4	digital	digital	ADJ
ajst-18585	59	5	pid	pid	NOUN
ajst-18585	59	6	control	control	NOUN
ajst-18585	59	7	due	due	ADP
ajst-18585	59	8	to	to	ADP
ajst-18585	59	9	the	the	DET
ajst-18585	59	10	inability	inability	NOUN
ajst-18585	59	11	of	of	ADP
ajst-18585	59	12	digital	digital	ADJ
ajst-18585	59	13	signals	signal	NOUN
ajst-18585	59	14	to	to	PART
ajst-18585	59	15	provide	provide	VERB
ajst-18585	59	16	continuous	continuous	ADJ
ajst-18585	59	17	output	output	NOUN
ajst-18585	59	18	like	like	ADP
ajst-18585	59	19	analog	analog	NOUN
ajst-18585	59	20	signals	signal	NOUN
ajst-18585	59	21	,	,	PUNCT
ajst-18585	59	22	it	it	PRON
ajst-18585	59	23	is	be	AUX
ajst-18585	59	24	necessary	necessary	ADJ
ajst-18585	59	25	to	to	PART
ajst-18585	59	26	make	make	VERB
ajst-18585	59	27	an	an	DET
ajst-18585	59	28	approximation	approximation	NOUN
ajst-18585	59	29	for	for	ADP
ajst-18585	59	30	the	the	DET
ajst-18585	59	31	integral	integral	ADJ
ajst-18585	59	32	and	and	CCONJ
ajst-18585	59	33	derivative	derivative	ADJ
ajst-18585	59	34	components	component	NOUN
ajst-18585	59	35	for	for	ADP
ajst-18585	59	36	their	their	PRON
ajst-18585	59	37	utilization	utilization	NOUN
ajst-18585	59	38	.	.	PUNCT
ajst-18585	60	1	typically	typically	ADV
ajst-18585	60	2	,	,	PUNCT
ajst-18585	60	3	the	the	DET
ajst-18585	60	4	following	follow	VERB
ajst-18585	60	5	discretization	discretization	NOUN
ajst-18585	60	6	process	process	NOUN
ajst-18585	60	7	is	be	AUX
ajst-18585	60	8	employed	employ	VERB
ajst-18585	60	9	.	.	PUNCT
ajst-18585	61	1	with	with	ADP
ajst-18585	61	2	a	a	DET
ajst-18585	61	3	computer	computer	NOUN
ajst-18585	61	4	sampling	sample	VERB
ajst-18585	61	5	period	period	NOUN
ajst-18585	61	6	of	of	ADP
ajst-18585	61	7	and	and	CCONJ
ajst-18585	61	8	the	the	DET
ajst-18585	61	9	sequence	sequence	NOUN
ajst-18585	61	10	value	value	NOUN
ajst-18585	61	11	of	of	ADP
ajst-18585	61	12	the	the	DET
ajst-18585	61	13	acquired	acquire	VERB
ajst-18585	61	14	signal	signal	NOUN
ajst-18585	61	15	as	as	ADP
ajst-18585	61	16	,	,	PUNCT
ajst-18585	61	17	the	the	DET
ajst-18585	61	18	discrete	discrete	ADJ
ajst-18585	61	19	relationships	relationship	NOUN
ajst-18585	61	20	for	for	ADP
ajst-18585	61	21	the	the	DET
ajst-18585	61	22	various	various	ADJ
ajst-18585	61	23	physical	physical	ADJ
ajst-18585	61	24	quantities	quantity	NOUN
ajst-18585	61	25	in	in	ADP
ajst-18585	61	26	the	the	DET
ajst-18585	61	27	analog	analog	NOUN
ajst-18585	61	28	pid	pid	NOUN
ajst-18585	61	29	are	be	AUX
ajst-18585	61	30	:	:	PUNCT
ajst-18585	61	31	(	(	PUNCT
ajst-18585	61	32	10	10	NUM
ajst-18585	61	33	)	)	PUNCT
ajst-18585	61	34	the	the	DET
ajst-18585	61	35	final	final	ADJ
ajst-18585	61	36	expression	expression	NOUN
ajst-18585	61	37	for	for	ADP
ajst-18585	61	38	the	the	DET
ajst-18585	61	39	discrete	discrete	ADJ
ajst-18585	61	40	digital	digital	ADJ
ajst-18585	61	41	pid	pid	NOUN
ajst-18585	61	42	is	be	AUX
ajst-18585	61	43	:	:	PUNCT
ajst-18585	61	44	(	(	PUNCT
ajst-18585	61	45	11	11	NUM
ajst-18585	61	46	)	)	PUNCT
ajst-18585	61	47	in	in	ADP
ajst-18585	61	48	eq	eq	ADP
ajst-18585	61	49	.	.	PUNCT
ajst-18585	62	1	(	(	PUNCT
ajst-18585	62	2	11	11	NUM
ajst-18585	62	3	)	)	PUNCT
ajst-18585	62	4	,	,	PUNCT
ajst-18585	62	5	represents	represent	VERB
ajst-18585	62	6	the	the	DET
ajst-18585	62	7	sequence	sequence	NOUN
ajst-18585	62	8	value	value	NOUN
ajst-18585	62	9	of	of	ADP
ajst-18585	62	10	the	the	DET
ajst-18585	62	11	acquired	acquire	VERB
ajst-18585	62	12	signal	signal	NOUN
ajst-18585	62	13	(	(	PUNCT
ajst-18585	62	14	k=0,1,2	k=0,1,2	PROPN
ajst-18585	62	15	…	…	NUM
ajst-18585	62	16	)	)	PUNCT
ajst-18585	62	17	,	,	PUNCT
ajst-18585	62	18	denotes	denote	VERB
ajst-18585	62	19	the	the	DET
ajst-18585	62	20	output	output	NOUN
ajst-18585	62	21	value	value	NOUN
ajst-18585	62	22	of	of	ADP
ajst-18585	62	23	the	the	DET
ajst-18585	62	24	control	control	NOUN
ajst-18585	62	25	signal	signal	NOUN
ajst-18585	62	26	at	at	ADP
ajst-18585	62	27	the	the	DET
ajst-18585	62	28	k	k	PROPN
ajst-18585	62	29	times	times	PROPN
ajst-18585	62	30	sampling	sampling	NOUN
ajst-18585	62	31	,	,	PUNCT
ajst-18585	62	32	is	be	AUX
ajst-18585	62	33	the	the	DET
ajst-18585	62	34	deviation	deviation	NOUN
ajst-18585	62	35	value	value	NOUN
ajst-18585	62	36	at	at	ADP
ajst-18585	62	37	the	the	DET
ajst-18585	62	38	k	k	PROPN
ajst-18585	62	39	times	times	PROPN
ajst-18585	62	40	sampling	sample	VERB
ajst-18585	62	41	,	,	PUNCT
ajst-18585	62	42	represents	represent	VERB
ajst-18585	62	43	the	the	DET
ajst-18585	62	44	initial	initial	ADJ
ajst-18585	62	45	value	value	NOUN
ajst-18585	62	46	of	of	ADP
ajst-18585	62	47	the	the	DET
ajst-18585	62	48	control	control	NOUN
ajst-18585	62	49	signal	signal	NOUN
ajst-18585	62	50	at	at	ADP
ajst-18585	62	51	the	the	DET
ajst-18585	62	52	beginning	beginning	NOUN
ajst-18585	62	53	of	of	ADP
ajst-18585	62	54	control	control	NOUN
ajst-18585	62	55	.	.	PUNCT
ajst-18585	63	1	in	in	ADP
ajst-18585	63	2	principle	principle	NOUN
ajst-18585	63	3	,	,	PUNCT
ajst-18585	63	4	as	as	ADV
ajst-18585	63	5	long	long	ADV
ajst-18585	63	6	as	as	SCONJ
ajst-18585	63	7	the	the	DET
ajst-18585	63	8	sampling	sampling	NOUN
ajst-18585	63	9	period	period	NOUN
ajst-18585	63	10	is	be	AUX
ajst-18585	63	11	small	small	ADJ
ajst-18585	63	12	enough	enough	ADV
ajst-18585	63	13	,	,	PUNCT
ajst-18585	63	14	the	the	DET
ajst-18585	63	15	control	control	NOUN
ajst-18585	63	16	effect	effect	NOUN
ajst-18585	63	17	obtained	obtain	VERB
ajst-18585	63	18	should	should	AUX
ajst-18585	63	19	closely	closely	ADV
ajst-18585	63	20	match	match	VERB
ajst-18585	63	21	that	that	PRON
ajst-18585	63	22	of	of	ADP
ajst-18585	63	23	analog	analog	PROPN
ajst-18585	63	24	pid	pid	PROPN
ajst-18585	63	25	,	,	PUNCT
ajst-18585	63	26	resulting	result	VERB
ajst-18585	63	27	in	in	ADP
ajst-18585	63	28	sufficiently	sufficiently	ADV
ajst-18585	63	29	accurate	accurate	ADJ
ajst-18585	63	30	control	control	NOUN
ajst-18585	63	31	outcomes	outcome	NOUN
ajst-18585	63	32	.	.	PUNCT
ajst-18585	64	1	the	the	DET
ajst-18585	64	2	control	control	NOUN
ajst-18585	64	3	methods	method	NOUN
ajst-18585	64	4	mentioned	mention	VERB
ajst-18585	64	5	above	above	ADV
ajst-18585	64	6	are	be	AUX
ajst-18585	64	7	based	base	VERB
ajst-18585	64	8	on	on	ADP
ajst-18585	64	9	positional	positional	ADJ
ajst-18585	64	10	pid	pid	NOUN
ajst-18585	64	11	,	,	PUNCT
ajst-18585	64	12	meaning	mean	VERB
ajst-18585	64	13	the	the	DET
ajst-18585	64	14	control	control	NOUN
ajst-18585	64	15	is	be	AUX
ajst-18585	64	16	applied	apply	VERB
ajst-18585	64	17	directly	directly	ADV
ajst-18585	64	18	to	to	ADP
ajst-18585	64	19	the	the	DET
ajst-18585	64	20	numerical	numerical	ADJ
ajst-18585	64	21	values	value	NOUN
ajst-18585	64	22	of	of	ADP
ajst-18585	64	23	physical	physical	ADJ
ajst-18585	64	24	quantities	quantity	NOUN
ajst-18585	64	25	that	that	PRON
ajst-18585	64	26	induce	induce	VERB
ajst-18585	64	27	changes	change	NOUN
ajst-18585	64	28	in	in	ADP
ajst-18585	64	29	the	the	DET
ajst-18585	64	30	controlled	control	VERB
ajst-18585	64	31	object	object	NOUN
ajst-18585	64	32	.	.	PUNCT
ajst-18585	65	1	however	however	ADV
ajst-18585	65	2	,	,	PUNCT
ajst-18585	65	3	if	if	SCONJ
ajst-18585	65	4	this	this	DET
ajst-18585	65	5	control	control	NOUN
ajst-18585	65	6	method	method	NOUN
ajst-18585	65	7	fails	fail	VERB
ajst-18585	65	8	,	,	PUNCT
ajst-18585	65	9	there	there	PRON
ajst-18585	65	10	is	be	VERB
ajst-18585	65	11	an	an	DET
ajst-18585	65	12	immediate	immediate	ADJ
ajst-18585	65	13	risk	risk	NOUN
ajst-18585	65	14	of	of	ADP
ajst-18585	65	15	system	system	NOUN
ajst-18585	65	16	imbalance	imbalance	NOUN
ajst-18585	65	17	,	,	PUNCT
ajst-18585	65	18	potentially	potentially	ADV
ajst-18585	65	19	leading	lead	VERB
ajst-18585	65	20	to	to	ADP
ajst-18585	65	21	engineering	engineering	NOUN
ajst-18585	65	22	accidents	accident	NOUN
ajst-18585	65	23	.	.	PUNCT
ajst-18585	66	1	therefore	therefore	ADV
ajst-18585	66	2	,	,	PUNCT
ajst-18585	66	3	there	there	PRON
ajst-18585	66	4	is	be	VERB
ajst-18585	66	5	also	also	ADV
ajst-18585	66	6	the	the	DET
ajst-18585	66	7	control	control	NOUN
ajst-18585	66	8	method	method	NOUN
ajst-18585	66	9	of	of	ADP
ajst-18585	66	10	incremental	incremental	ADJ
ajst-18585	66	11	pid	pid	NOUN
ajst-18585	66	12	,	,	PUNCT
ajst-18585	66	13	which	which	PRON
ajst-18585	66	14	controls	control	VERB
ajst-18585	66	15	the	the	DET
ajst-18585	66	16	increment	increment	NOUN
ajst-18585	66	17	of	of	ADP
ajst-18585	66	18	the	the	DET
ajst-18585	66	19	numerical	numerical	ADJ
ajst-18585	66	20	values	value	NOUN
ajst-18585	66	21	of	of	ADP
ajst-18585	66	22	physical	physical	ADJ
ajst-18585	66	23	quantities	quantity	NOUN
ajst-18585	66	24	that	that	PRON
ajst-18585	66	25	directly	directly	ADV
ajst-18585	66	26	cause	cause	VERB
ajst-18585	66	27	changes	change	NOUN
ajst-18585	66	28	in	in	ADP
ajst-18585	66	29	the	the	DET
ajst-18585	66	30	controlled	control	VERB
ajst-18585	66	31	object	object	NOUN
ajst-18585	66	32	.	.	PUNCT
ajst-18585	67	1	by	by	ADP
ajst-18585	67	2	recursively	recursively	ADV
ajst-18585	67	3	applying	apply	VERB
ajst-18585	67	4	eq	eq	ADP
ajst-18585	67	5	.	.	PUNCT
ajst-18585	68	1	(	(	PUNCT
ajst-18585	68	2	11	11	NUM
ajst-18585	68	3	)	)	PUNCT
ajst-18585	68	4	and	and	CCONJ
ajst-18585	68	5	combining	combine	VERB
ajst-18585	68	6	,	,	PUNCT
ajst-18585	68	7	we	we	PRON
ajst-18585	68	8	can	can	AUX
ajst-18585	68	9	obtain	obtain	VERB
ajst-18585	68	10	:	:	PUNCT
ajst-18585	68	11	(	(	PUNCT
ajst-18585	68	12	12	12	NUM
ajst-18585	68	13	)	)	PUNCT
ajst-18585	68	14	in	in	ADP
ajst-18585	68	15	eq	eq	ADP
ajst-18585	68	16	.	.	PUNCT
ajst-18585	69	1	(	(	PUNCT
ajst-18585	69	2	12	12	NUM
ajst-18585	69	3	)	)	PUNCT
ajst-18585	69	4	,	,	PUNCT
ajst-18585	69	5	,	,	PUNCT
ajst-18585	69	6	.	.	PUNCT
ajst-18585	70	1	since	since	SCONJ
ajst-18585	70	2	incremental	incremental	ADJ
ajst-18585	70	3	pid	pid	NOUN
ajst-18585	70	4	controls	control	VERB
ajst-18585	70	5	only	only	ADV
ajst-18585	70	6	the	the	DET
ajst-18585	70	7	increment	increment	NOUN
ajst-18585	70	8	of	of	ADP
ajst-18585	70	9	relevant	relevant	ADJ
ajst-18585	70	10	quantities	quantity	NOUN
ajst-18585	70	11	,	,	PUNCT
ajst-18585	70	12	it	it	PRON
ajst-18585	70	13	reduces	reduce	VERB
ajst-18585	70	14	the	the	DET
ajst-18585	70	15	impact	impact	NOUN
ajst-18585	70	16	scope	scope	NOUN
ajst-18585	70	17	in	in	ADP
ajst-18585	70	18	case	case	NOUN
ajst-18585	70	19	of	of	ADP
ajst-18585	70	20	system	system	NOUN
ajst-18585	70	21	control	control	NOUN
ajst-18585	70	22	failure	failure	NOUN
ajst-18585	70	23	.	.	PUNCT
ajst-18585	71	1	additionally	additionally	ADV
ajst-18585	71	2	,	,	PUNCT
ajst-18585	71	3	as	as	SCONJ
ajst-18585	71	4	is	be	AUX
ajst-18585	71	5	only	only	ADV
ajst-18585	71	6	related	relate	VERB
ajst-18585	71	7	to	to	ADP
ajst-18585	71	8	the	the	DET
ajst-18585	71	9	deviations	deviation	NOUN
ajst-18585	71	10	from	from	ADP
ajst-18585	71	11	the	the	DET
ajst-18585	71	12	most	most	ADV
ajst-18585	71	13	recent	recent	ADJ
ajst-18585	71	14	three	three	NUM
ajst-18585	71	15	samplings	sampling	NOUN
ajst-18585	71	16	,	,	PUNCT
ajst-18585	71	17	less	less	ADJ
ajst-18585	71	18	data	datum	NOUN
ajst-18585	71	19	is	be	AUX
ajst-18585	71	20	required	require	VERB
ajst-18585	71	21	,	,	PUNCT
ajst-18585	71	22	leading	lead	VERB
ajst-18585	71	23	to	to	ADP
ajst-18585	71	24	relatively	relatively	ADV
ajst-18585	71	25	lower	low	ADJ
ajst-18585	71	26	hardware	hardware	NOUN
ajst-18585	71	27	requirements	requirement	NOUN
ajst-18585	71	28	.	.	PUNCT
ajst-18585	72	1	2.3	2.3	NUM
ajst-18585	72	2	.	.	PUNCT
ajst-18585	72	3	fuzzy	fuzzy	ADJ
ajst-18585	72	4	pid	pid	NOUN
ajst-18585	72	5	control	control	NOUN
ajst-18585	72	6	algorithm	algorithm	PROPN
ajst-18585	72	7	2.3.1	2.3.1	NUM
ajst-18585	72	8	.	.	PUNCT
ajst-18585	72	9	fuzzy	fuzzy	ADJ
ajst-18585	72	10	pid	pid	NOUN
ajst-18585	72	11	control	control	NOUN
ajst-18585	72	12	principles	principle	NOUN
ajst-18585	72	13	figure	figure	VERB
ajst-18585	72	14	4	4	NUM
ajst-18585	72	15	.	.	NOUN
ajst-18585	72	16	fuzzy	fuzzy	ADJ
ajst-18585	72	17	pid	pid	NOUN
ajst-18585	72	18	control	control	NOUN
ajst-18585	72	19	structure	structure	NOUN
ajst-18585	72	20	as	as	SCONJ
ajst-18585	72	21	shown	show	VERB
ajst-18585	72	22	in	in	ADP
ajst-18585	72	23	fig	fig	NOUN
ajst-18585	72	24	.	.	PUNCT
ajst-18585	73	1	4	4	NUM
ajst-18585	73	2	,	,	PUNCT
ajst-18585	73	3	the	the	DET
ajst-18585	73	4	structure	structure	NOUN
ajst-18585	73	5	of	of	ADP
ajst-18585	73	6	the	the	DET
ajst-18585	73	7	fuzzy	fuzzy	ADJ
ajst-18585	73	8	pid	pid	NOUN
ajst-18585	73	9	control	control	NOUN
ajst-18585	73	10	involves	involve	VERB
ajst-18585	73	11	,	,	PUNCT
ajst-18585	73	12	representing	represent	VERB
ajst-18585	73	13	the	the	DET
ajst-18585	73	14	real	real	ADJ
ajst-18585	73	15	-	-	PUNCT
ajst-18585	73	16	time	time	NOUN
ajst-18585	73	17	deviation	deviation	NOUN
ajst-18585	73	18	between	between	ADP
ajst-18585	73	19	the	the	DET
ajst-18585	73	20	setpoint	setpoint	NOUN
ajst-18585	73	21	and	and	CCONJ
ajst-18585	73	22	the	the	DET
ajst-18585	73	23	actual	actual	ADJ
ajst-18585	73	24	value	value	NOUN
ajst-18585	73	25	,	,	PUNCT
ajst-18585	73	26	and	and	CCONJ
ajst-18585	73	27	,	,	PUNCT
ajst-18585	73	28	the	the	DET
ajst-18585	73	29	real	real	ADJ
ajst-18585	73	30	-	-	PUNCT
ajst-18585	73	31	time	time	NOUN
ajst-18585	73	32	rate	rate	NOUN
ajst-18585	73	33	of	of	ADP
ajst-18585	73	34	change	change	NOUN
ajst-18585	73	35	of	of	ADP
ajst-18585	73	36	the	the	DET
ajst-18585	73	37	deviation	deviation	NOUN
ajst-18585	73	38	.	.	PUNCT
ajst-18585	74	1	the	the	DET
ajst-18585	74	2	fuzzy	fuzzy	ADJ
ajst-18585	74	3	controller	controller	NOUN
ajst-18585	74	4	takes	take	VERB
ajst-18585	74	5	these	these	DET
ajst-18585	74	6	two	two	NUM
ajst-18585	74	7	signals	signal	NOUN
ajst-18585	74	8	as	as	ADP
ajst-18585	74	9	inputs	input	NOUN
ajst-18585	74	10	and	and	CCONJ
ajst-18585	74	11	,	,	PUNCT
ajst-18585	74	12	through	through	ADP
ajst-18585	74	13	a	a	DET
ajst-18585	74	14	series	series	NOUN
ajst-18585	74	15	of	of	ADP
ajst-18585	74	16	internal	internal	ADJ
ajst-18585	74	17	fuzzy	fuzzy	ADJ
ajst-18585	74	18	rules	rule	NOUN
ajst-18585	74	19	,	,	PUNCT
ajst-18585	74	20	outputs	output	VERB
ajst-18585	74	21	three	three	NUM
ajst-18585	74	22	increments	increment	NOUN
ajst-18585	74	23	for	for	ADP
ajst-18585	74	24	the	the	DET
ajst-18585	74	25	parameters	parameter	NOUN
ajst-18585	74	26	of	of	ADP
ajst-18585	74	27	the	the	DET
ajst-18585	74	28	traditional	traditional	ADJ
ajst-18585	74	29	pid	pid	NOUN
ajst-18585	74	30	controller	controller	NOUN
ajst-18585	74	31	.	.	PUNCT
ajst-18585	75	1	this	this	PRON
ajst-18585	75	2	enables	enable	VERB
ajst-18585	75	3	real	real	ADJ
ajst-18585	75	4	-	-	PUNCT
ajst-18585	75	5	time	time	NOUN
ajst-18585	75	6	corrections	correction	NOUN
ajst-18585	75	7	,	,	PUNCT
ajst-18585	75	8	leading	lead	VERB
ajst-18585	75	9	to	to	ADP
ajst-18585	75	10	enhanced	enhanced	ADJ
ajst-18585	75	11	system	system	NOUN
ajst-18585	75	12	stability	stability	NOUN
ajst-18585	75	13	.	.	PUNCT
ajst-18585	76	1	2.3.2	2.3.2	X
ajst-18585	76	2	.	.	X
ajst-18585	76	3	fuzzy	fuzzy	ADJ
ajst-18585	76	4	controller	controller	NOUN
ajst-18585	76	5	277	277	NUM
ajst-18585	76	6	figure	figure	NOUN
ajst-18585	76	7	5	5	NUM
ajst-18585	76	8	.	.	PUNCT
ajst-18585	76	9	internal	internal	ADJ
ajst-18585	76	10	structure	structure	NOUN
ajst-18585	76	11	of	of	ADP
ajst-18585	76	12	the	the	DET
ajst-18585	76	13	fuzzy	fuzzy	ADJ
ajst-18585	76	14	controller	controller	NOUN
ajst-18585	76	15	in	in	ADP
ajst-18585	76	16	fig	fig	NOUN
ajst-18585	76	17	.	.	PUNCT
ajst-18585	77	1	5	5	NUM
ajst-18585	77	2	,	,	PUNCT
ajst-18585	77	3	the	the	DET
ajst-18585	77	4	internal	internal	ADJ
ajst-18585	77	5	structure	structure	NOUN
ajst-18585	77	6	of	of	ADP
ajst-18585	77	7	the	the	DET
ajst-18585	77	8	fuzzy	fuzzy	ADJ
ajst-18585	77	9	controller	controller	NOUN
ajst-18585	77	10	is	be	AUX
ajst-18585	77	11	depicted	depict	VERB
ajst-18585	77	12	.	.	PUNCT
ajst-18585	78	1	typically	typically	ADV
ajst-18585	78	2	,	,	PUNCT
ajst-18585	78	3	the	the	DET
ajst-18585	78	4	input	input	NOUN
ajst-18585	78	5	consists	consist	VERB
ajst-18585	78	6	of	of	ADP
ajst-18585	78	7	one	one	NUM
ajst-18585	78	8	or	or	CCONJ
ajst-18585	78	9	more	more	ADV
ajst-18585	78	10	explicit	explicit	ADJ
ajst-18585	78	11	physical	physical	ADJ
ajst-18585	78	12	quantities	quantity	NOUN
ajst-18585	78	13	.	.	PUNCT
ajst-18585	79	1	in	in	ADP
ajst-18585	79	2	this	this	DET
ajst-18585	79	3	design	design	NOUN
ajst-18585	79	4	,	,	PUNCT
ajst-18585	79	5	the	the	DET
ajst-18585	79	6	inputs	input	NOUN
ajst-18585	79	7	are	be	AUX
ajst-18585	79	8	and	and	CCONJ
ajst-18585	79	9	.	.	PUNCT
ajst-18585	80	1	when	when	SCONJ
ajst-18585	80	2	utilizing	utilize	VERB
ajst-18585	80	3	a	a	DET
ajst-18585	80	4	fuzzy	fuzzy	ADJ
ajst-18585	80	5	controller	controller	NOUN
ajst-18585	80	6	,	,	PUNCT
ajst-18585	80	7	the	the	DET
ajst-18585	80	8	first	first	ADJ
ajst-18585	80	9	step	step	NOUN
ajst-18585	80	10	is	be	AUX
ajst-18585	80	11	to	to	PART
ajst-18585	80	12	perform	perform	VERB
ajst-18585	80	13	fuzzy	fuzzy	ADJ
ajst-18585	80	14	quantization	quantization	NOUN
ajst-18585	80	15	on	on	ADP
ajst-18585	80	16	the	the	DET
ajst-18585	80	17	inputs	input	NOUN
ajst-18585	80	18	,	,	PUNCT
ajst-18585	80	19	obtaining	obtain	VERB
ajst-18585	80	20	the	the	DET
ajst-18585	80	21	corresponding	corresponding	ADJ
ajst-18585	80	22	fuzzy	fuzzy	ADJ
ajst-18585	80	23	vectors	vector	NOUN
ajst-18585	80	24	.	.	PUNCT
ajst-18585	81	1	subsequently	subsequently	ADV
ajst-18585	81	2	,	,	PUNCT
ajst-18585	81	3	based	base	VERB
ajst-18585	81	4	on	on	ADP
ajst-18585	81	5	an	an	DET
ajst-18585	81	6	extensive	extensive	ADJ
ajst-18585	81	7	set	set	NOUN
ajst-18585	81	8	of	of	ADP
ajst-18585	81	9	human	human	ADJ
ajst-18585	81	10	knowledge	knowledge	NOUN
ajst-18585	81	11	rules	rule	NOUN
ajst-18585	81	12	,	,	PUNCT
ajst-18585	81	13	fuzzy	fuzzy	ADJ
ajst-18585	81	14	reasoning	reasoning	NOUN
ajst-18585	81	15	is	be	AUX
ajst-18585	81	16	applied	apply	VERB
ajst-18585	81	17	to	to	PART
ajst-18585	81	18	derive	derive	VERB
ajst-18585	81	19	the	the	DET
ajst-18585	81	20	fuzzy	fuzzy	ADJ
ajst-18585	81	21	set	set	NOUN
ajst-18585	81	22	for	for	ADP
ajst-18585	81	23	the	the	DET
ajst-18585	81	24	output	output	NOUN
ajst-18585	81	25	.	.	PUNCT
ajst-18585	82	1	finally	finally	ADV
ajst-18585	82	2	,	,	PUNCT
ajst-18585	82	3	a	a	DET
ajst-18585	82	4	defuzzification	defuzzification	NOUN
ajst-18585	82	5	process	process	NOUN
ajst-18585	82	6	is	be	AUX
ajst-18585	82	7	employed	employ	VERB
ajst-18585	82	8	to	to	PART
ajst-18585	82	9	obtain	obtain	VERB
ajst-18585	82	10	the	the	DET
ajst-18585	82	11	actual	actual	ADJ
ajst-18585	82	12	output	output	NOUN
ajst-18585	82	13	value	value	NOUN
ajst-18585	82	14	of	of	ADP
ajst-18585	82	15	the	the	DET
ajst-18585	82	16	fuzzy	fuzzy	ADJ
ajst-18585	82	17	control	control	NOUN
ajst-18585	82	18	[	[	X
ajst-18585	82	19	8	8	NUM
ajst-18585	82	20	]	]	PUNCT
ajst-18585	82	21	.	.	PUNCT
ajst-18585	83	1	2.3.3	2.3.3	NUM
ajst-18585	83	2	.	.	PUNCT
ajst-18585	83	3	fuzzifications	fuzzification	NOUN
ajst-18585	83	4	process	process	NOUN
ajst-18585	83	5	fuzzification	fuzzification	NOUN
ajst-18585	83	6	is	be	AUX
ajst-18585	83	7	the	the	DET
ajst-18585	83	8	process	process	NOUN
ajst-18585	83	9	of	of	ADP
ajst-18585	83	10	transforming	transform	VERB
ajst-18585	83	11	precise	precise	ADJ
ajst-18585	83	12	physical	physical	ADJ
ajst-18585	83	13	quantities	quantity	NOUN
ajst-18585	83	14	with	with	ADP
ajst-18585	83	15	actual	actual	ADJ
ajst-18585	83	16	meanings	meaning	NOUN
ajst-18585	83	17	into	into	ADP
ajst-18585	83	18	fuzzy	fuzzy	ADJ
ajst-18585	83	19	vectors	vector	NOUN
ajst-18585	83	20	with	with	ADP
ajst-18585	83	21	membership	membership	NOUN
ajst-18585	83	22	degrees	degree	NOUN
ajst-18585	83	23	between	between	ADP
ajst-18585	83	24	0	0	NUM
ajst-18585	83	25	and	and	CCONJ
ajst-18585	83	26	1	1	NUM
ajst-18585	83	27	on	on	ADP
ajst-18585	83	28	a	a	DET
ajst-18585	83	29	certain	certain	ADJ
ajst-18585	83	30	fuzzy	fuzzy	ADJ
ajst-18585	83	31	set	set	NOUN
ajst-18585	83	32	.	.	PUNCT
ajst-18585	84	1	the	the	DET
ajst-18585	84	2	choice	choice	NOUN
ajst-18585	84	3	of	of	ADP
ajst-18585	84	4	the	the	DET
ajst-18585	84	5	membership	membership	NOUN
ajst-18585	84	6	function	function	NOUN
ajst-18585	84	7	will	will	AUX
ajst-18585	84	8	determine	determine	VERB
ajst-18585	84	9	the	the	DET
ajst-18585	84	10	resulting	result	VERB
ajst-18585	84	11	vector	vector	NOUN
ajst-18585	84	12	in	in	ADP
ajst-18585	84	13	which	which	PRON
ajst-18585	84	14	fuzzy	fuzzy	ADJ
ajst-18585	84	15	space	space	NOUN
ajst-18585	84	16	.	.	PUNCT
ajst-18585	85	1	commonly	commonly	ADV
ajst-18585	85	2	used	use	VERB
ajst-18585	85	3	membership	membership	NOUN
ajst-18585	85	4	functions	function	NOUN
ajst-18585	85	5	include	include	VERB
ajst-18585	85	6	triangular	triangular	NOUN
ajst-18585	85	7	membership	membership	NOUN
ajst-18585	85	8	function	function	NOUN
ajst-18585	85	9	(	(	PUNCT
ajst-18585	85	10	trimf	trimf	PROPN
ajst-18585	85	11	)	)	PUNCT
ajst-18585	85	12	,	,	PUNCT
ajst-18585	85	13	trapezoidal	trapezoidal	ADJ
ajst-18585	85	14	membership	membership	NOUN
ajst-18585	85	15	function	function	NOUN
ajst-18585	85	16	(	(	PUNCT
ajst-18585	85	17	trapmf	trapmf	NOUN
ajst-18585	85	18	)	)	PUNCT
ajst-18585	85	19	,	,	PUNCT
ajst-18585	85	20	gaussian	gaussian	ADJ
ajst-18585	85	21	membership	membership	NOUN
ajst-18585	85	22	function	function	NOUN
ajst-18585	85	23	(	(	PUNCT
ajst-18585	85	24	gaussmf	gaussmf	PROPN
ajst-18585	85	25	)	)	PUNCT
ajst-18585	85	26	,	,	PUNCT
ajst-18585	85	27	generalized	generalize	VERB
ajst-18585	85	28	bellshaped	bellshape	VERB
ajst-18585	85	29	membership	membership	NOUN
ajst-18585	85	30	function	function	NOUN
ajst-18585	85	31	(	(	PUNCT
ajst-18585	85	32	gbellmf	gbellmf	NOUN
ajst-18585	85	33	)	)	PUNCT
ajst-18585	85	34	,	,	PUNCT
ajst-18585	85	35	etc	etc	X
ajst-18585	85	36	.	.	X
ajst-18585	86	1	in	in	ADP
ajst-18585	86	2	this	this	DET
ajst-18585	86	3	paper	paper	NOUN
ajst-18585	86	4	,	,	PUNCT
ajst-18585	86	5	the	the	DET
ajst-18585	86	6	gaussmf	gaussmf	NOUN
ajst-18585	86	7	-	-	PUNCT
ajst-18585	86	8	type	type	NOUN
ajst-18585	86	9	membership	membership	NOUN
ajst-18585	86	10	function	function	NOUN
ajst-18585	86	11	is	be	AUX
ajst-18585	86	12	chosen	choose	VERB
ajst-18585	86	13	for	for	ADP
ajst-18585	86	14	precise	precise	ADJ
ajst-18585	86	15	fuzzy	fuzzy	ADJ
ajst-18585	86	16	quantization	quantization	NOUN
ajst-18585	86	17	.	.	PUNCT
ajst-18585	87	1	as	as	SCONJ
ajst-18585	87	2	shown	show	VERB
ajst-18585	87	3	in	in	ADP
ajst-18585	87	4	fig	fig	NOUN
ajst-18585	87	5	.	.	PUNCT
ajst-18585	88	1	6	6	NUM
ajst-18585	88	2	,	,	PUNCT
ajst-18585	88	3	it	it	PRON
ajst-18585	88	4	illustrates	illustrate	VERB
ajst-18585	88	5	the	the	DET
ajst-18585	88	6	membership	membership	NOUN
ajst-18585	88	7	function	function	NOUN
ajst-18585	88	8	corresponding	correspond	VERB
ajst-18585	88	9	to	to	AUX
ajst-18585	88	10	used	use	VERB
ajst-18585	88	11	in	in	ADP
ajst-18585	88	12	this	this	DET
ajst-18585	88	13	study	study	NOUN
ajst-18585	88	14	.	.	PUNCT
ajst-18585	89	1	figure	figure	NOUN
ajst-18585	89	2	6	6	NUM
ajst-18585	89	3	.	.	PUNCT
ajst-18585	89	4	membership	membership	NOUN
ajst-18585	89	5	function	function	NOUN
ajst-18585	89	6	graph	graph	NOUN
ajst-18585	89	7	of	of	ADP
ajst-18585	89	8	2.3.4	2.3.4	NUM
ajst-18585	89	9	.	.	PUNCT
ajst-18585	90	1	fuzzy	fuzzy	ADJ
ajst-18585	90	2	inference	inference	NOUN
ajst-18585	90	3	fuzzy	fuzzy	ADJ
ajst-18585	90	4	inference	inference	NOUN
ajst-18585	90	5	relies	rely	VERB
ajst-18585	90	6	on	on	ADP
ajst-18585	90	7	a	a	DET
ajst-18585	90	8	set	set	NOUN
ajst-18585	90	9	of	of	ADP
ajst-18585	90	10	fuzzy	fuzzy	ADJ
ajst-18585	90	11	control	control	NOUN
ajst-18585	90	12	rules	rule	NOUN
ajst-18585	90	13	,	,	PUNCT
ajst-18585	90	14	where	where	SCONJ
ajst-18585	90	15	the	the	DET
ajst-18585	90	16	rules	rule	NOUN
ajst-18585	90	17	essentially	essentially	ADV
ajst-18585	90	18	take	take	VERB
ajst-18585	90	19	the	the	DET
ajst-18585	90	20	form	form	NOUN
ajst-18585	90	21	of	of	ADP
ajst-18585	90	22	numerous	numerous	ADJ
ajst-18585	90	23	'	'	PUNCT
ajst-18585	90	24	if	if	SCONJ
ajst-18585	90	25	-	-	PUNCT
ajst-18585	90	26	then	then	ADV
ajst-18585	90	27	'	'	PUNCT
ajst-18585	90	28	statements	statement	NOUN
ajst-18585	90	29	,	,	PUNCT
ajst-18585	90	30	expressing	express	VERB
ajst-18585	90	31	statements	statement	NOUN
ajst-18585	90	32	based	base	VERB
ajst-18585	90	33	on	on	ADP
ajst-18585	90	34	human	human	ADJ
ajst-18585	90	35	knowledge	knowledge	NOUN
ajst-18585	90	36	and	and	CCONJ
ajst-18585	90	37	expert	expert	NOUN
ajst-18585	90	38	experience	experience	NOUN
ajst-18585	90	39	.	.	PUNCT
ajst-18585	91	1	an	an	DET
ajst-18585	91	2	example	example	NOUN
ajst-18585	91	3	rule	rule	NOUN
ajst-18585	91	4	from	from	ADP
ajst-18585	91	5	the	the	DET
ajst-18585	91	6	ruleset	ruleset	NOUN
ajst-18585	91	7	in	in	ADP
ajst-18585	91	8	this	this	DET
ajst-18585	91	9	paper	paper	NOUN
ajst-18585	91	10	is	be	AUX
ajst-18585	91	11	:	:	PUNCT
ajst-18585	91	12	the	the	DET
ajst-18585	91	13	corresponding	corresponding	ADJ
ajst-18585	91	14	physical	physical	ADJ
ajst-18585	91	15	interpretation	interpretation	NOUN
ajst-18585	91	16	is	be	AUX
ajst-18585	91	17	that	that	SCONJ
ajst-18585	91	18	if	if	SCONJ
ajst-18585	91	19	the	the	DET
ajst-18585	91	20	error	error	NOUN
ajst-18585	91	21	is	be	AUX
ajst-18585	91	22	significantly	significantly	ADV
ajst-18585	91	23	negative	negative	ADJ
ajst-18585	91	24	and	and	CCONJ
ajst-18585	91	25	the	the	DET
ajst-18585	91	26	rate	rate	NOUN
ajst-18585	91	27	of	of	ADP
ajst-18585	91	28	change	change	NOUN
ajst-18585	91	29	of	of	ADP
ajst-18585	91	30	the	the	DET
ajst-18585	91	31	error	error	NOUN
ajst-18585	91	32	is	be	AUX
ajst-18585	91	33	significantly	significantly	ADV
ajst-18585	91	34	positive	positive	ADJ
ajst-18585	91	35	,	,	PUNCT
ajst-18585	91	36	the	the	DET
ajst-18585	91	37	three	three	NUM
ajst-18585	91	38	adjustment	adjustment	NOUN
ajst-18585	91	39	quantities	quantity	NOUN
ajst-18585	91	40	correspondingly	correspondingly	ADV
ajst-18585	91	41	are	be	AUX
ajst-18585	91	42	zero	zero	NUM
ajst-18585	91	43	,	,	PUNCT
ajst-18585	91	44	zero	zero	NUM
ajst-18585	91	45	,	,	PUNCT
ajst-18585	91	46	and	and	CCONJ
ajst-18585	91	47	significantly	significantly	ADV
ajst-18585	91	48	positive	positive	ADJ
ajst-18585	91	49	.	.	PUNCT
ajst-18585	92	1	it	it	PRON
ajst-18585	92	2	is	be	AUX
ajst-18585	92	3	important	important	ADJ
ajst-18585	92	4	to	to	PART
ajst-18585	92	5	note	note	VERB
ajst-18585	92	6	that	that	SCONJ
ajst-18585	92	7	before	before	ADP
ajst-18585	92	8	performing	perform	VERB
ajst-18585	92	9	inference	inference	NOUN
ajst-18585	92	10	,	,	PUNCT
ajst-18585	92	11	the	the	DET
ajst-18585	92	12	determined	determined	ADJ
ajst-18585	92	13	physical	physical	ADJ
ajst-18585	92	14	quantities	quantity	NOUN
ajst-18585	92	15	must	must	AUX
ajst-18585	92	16	be	be	AUX
ajst-18585	92	17	normalized	normalize	VERB
ajst-18585	92	18	to	to	ADP
ajst-18585	92	19	a	a	DET
ajst-18585	92	20	predefined	predefine	VERB
ajst-18585	92	21	domain	domain	NOUN
ajst-18585	92	22	.	.	PUNCT
ajst-18585	93	1	according	accord	VERB
ajst-18585	93	2	to	to	ADP
ajst-18585	93	3	engineering	engineering	NOUN
ajst-18585	93	4	experience	experience	NOUN
ajst-18585	93	5	[	[	X
ajst-18585	93	6	8	8	NUM
ajst-18585	93	7	-	-	SYM
ajst-18585	93	8	9	9	NUM
ajst-18585	93	9	]	]	PUNCT
ajst-18585	93	10	,	,	PUNCT
ajst-18585	93	11	employing	employ	VERB
ajst-18585	93	12	empirical	empirical	ADJ
ajst-18585	93	13	induction	induction	NOUN
ajst-18585	93	14	to	to	PART
ajst-18585	93	15	obtain	obtain	VERB
ajst-18585	93	16	fuzzy	fuzzy	ADJ
ajst-18585	93	17	control	control	NOUN
ajst-18585	93	18	rules	rule	NOUN
ajst-18585	93	19	,	,	PUNCT
ajst-18585	93	20	the	the	DET
ajst-18585	93	21	correction	correction	NOUN
ajst-18585	93	22	rules	rule	VERB
ajst-18585	93	23	for	for	ADP
ajst-18585	93	24	the	the	DET
ajst-18585	93	25	three	three	NUM
ajst-18585	93	26	pid	pid	NOUN
ajst-18585	93	27	parameters	parameter	NOUN
ajst-18585	93	28	correspond	correspond	VERB
ajst-18585	93	29	to	to	ADP
ajst-18585	93	30	the	the	DET
ajst-18585	93	31	following	follow	VERB
ajst-18585	93	32	table	table	NOUN
ajst-18585	93	33	of	of	ADP
ajst-18585	93	34	fuzzy	fuzzy	ADJ
ajst-18585	93	35	control	control	NOUN
ajst-18585	93	36	rules	rule	NOUN
ajst-18585	93	37	.	.	PUNCT
ajst-18585	94	1	table	table	NOUN
ajst-18585	94	2	2	2	NUM
ajst-18585	94	3	.	.	PUNCT
ajst-18585	94	4	fuzzy	fuzzy	ADJ
ajst-18585	94	5	control	control	NOUN
ajst-18585	94	6	rule	rule	NOUN
ajst-18585	94	7	for	for	ADP
ajst-18585	94	8	ec	ec	PROPN
ajst-18585	94	9	e	e	PROPN
ajst-18585	94	10	nb	nb	PROPN
ajst-18585	94	11	nm	nm	INTJ
ajst-18585	94	12	ns	ns	PROPN
ajst-18585	94	13	z0	z0	PROPN
ajst-18585	94	14	ps	ps	PROPN
ajst-18585	94	15	pm	pm	NOUN
ajst-18585	94	16	pb	pb	INTJ
ajst-18585	94	17	nb	nb	INTJ
ajst-18585	94	18	pb	pb	X
ajst-18585	94	19	pb	pb	ADP
ajst-18585	94	20	pm	pm	VERB
ajst-18585	94	21	pm	pm	NOUN
ajst-18585	94	22	ps	ps	PROPN
ajst-18585	94	23	z0	z0	PROPN
ajst-18585	94	24	z0	z0	PROPN
ajst-18585	94	25	nm	nm	NOUN
ajst-18585	94	26	pb	pb	ADP
ajst-18585	94	27	pb	pb	ADP
ajst-18585	94	28	pm	pm	NOUN
ajst-18585	95	1	ps	ps	PROPN
ajst-18585	95	2	ps	ps	PROPN
ajst-18585	95	3	z0	z0	PROPN
ajst-18585	95	4	ns	ns	INTJ
ajst-18585	95	5	ns	ns	PROPN
ajst-18585	95	6	pm	pm	NOUN
ajst-18585	95	7	pm	pm	NOUN
ajst-18585	95	8	pm	pm	NOUN
ajst-18585	95	9	ps	ps	PROPN
ajst-18585	95	10	z0	z0	PROPN
ajst-18585	95	11	ns	ns	INTJ
ajst-18585	95	12	ns	ns	PROPN
ajst-18585	95	13	z0	z0	PROPN
ajst-18585	95	14	pm	pm	NOUN
ajst-18585	95	15	pm	pm	NOUN
ajst-18585	95	16	ps	ps	PROPN
ajst-18585	95	17	z0	z0	PROPN
ajst-18585	95	18	ns	ns	PROPN
ajst-18585	95	19	nm	nm	PROPN
ajst-18585	95	20	nm	nm	ADJ
ajst-18585	95	21	ps	ps	NOUN
ajst-18585	95	22	ps	ps	PROPN
ajst-18585	95	23	ps	ps	PROPN
ajst-18585	95	24	z0	z0	PROPN
ajst-18585	95	25	ns	ns	INTJ
ajst-18585	95	26	ns	ns	PROPN
ajst-18585	95	27	nm	nm	PROPN
ajst-18585	95	28	nm	nm	ADJ
ajst-18585	95	29	pm	pm	NOUN
ajst-18585	96	1	ps	ps	PROPN
ajst-18585	96	2	z0	z0	PROPN
ajst-18585	96	3	nm	nm	PROPN
ajst-18585	96	4	nm	nm	PROPN
ajst-18585	96	5	nm	nm	VERB
ajst-18585	96	6	nm	nm	ADV
ajst-18585	96	7	nb	nb	INTJ
ajst-18585	96	8	pb	pb	ADP
ajst-18585	96	9	z0	z0	PROPN
ajst-18585	96	10	z0	z0	PROPN
ajst-18585	96	11	nm	nm	PROPN
ajst-18585	96	12	nm	nm	PROPN
ajst-18585	96	13	nm	nm	ADJ
ajst-18585	96	14	nb	nb	PROPN
ajst-18585	96	15	nb	nb	PROPN
ajst-18585	96	16	table	table	PROPN
ajst-18585	96	17	3	3	NUM
ajst-18585	96	18	.	.	PUNCT
ajst-18585	96	19	fuzzy	fuzzy	ADJ
ajst-18585	96	20	control	control	NOUN
ajst-18585	96	21	rule	rule	NOUN
ajst-18585	96	22	for	for	ADP
ajst-18585	96	23	ec	ec	PROPN
ajst-18585	96	24	e	e	PROPN
ajst-18585	96	25	nb	nb	PROPN
ajst-18585	96	26	nm	nm	INTJ
ajst-18585	96	27	ns	ns	PROPN
ajst-18585	96	28	z0	z0	PROPN
ajst-18585	96	29	ps	ps	PROPN
ajst-18585	96	30	pm	pm	NOUN
ajst-18585	96	31	pb	pb	ADP
ajst-18585	96	32	nb	nb	INTJ
ajst-18585	96	33	nb	nb	PROPN
ajst-18585	96	34	nb	nb	PROPN
ajst-18585	96	35	nm	nm	PROPN
ajst-18585	96	36	nm	nm	ADJ
ajst-18585	97	1	ns	ns	ADJ
ajst-18585	97	2	z0	z0	PROPN
ajst-18585	97	3	z0	z0	PROPN
ajst-18585	97	4	nm	nm	INTJ
ajst-18585	97	5	nb	nb	NOUN
ajst-18585	97	6	nb	nb	INTJ
ajst-18585	97	7	nm	nm	INTJ
ajst-18585	97	8	ns	ns	PROPN
ajst-18585	97	9	ns	ns	PROPN
ajst-18585	97	10	z0	z0	PROPN
ajst-18585	97	11	z0	z0	PROPN
ajst-18585	97	12	ns	ns	PROPN
ajst-18585	97	13	nb	nb	PROPN
ajst-18585	97	14	nm	nm	ADJ
ajst-18585	97	15	ns	ns	PROPN
ajst-18585	97	16	ns	ns	PROPN
ajst-18585	97	17	z0	z0	PROPN
ajst-18585	97	18	ps	ps	PROPN
ajst-18585	97	19	ps	ps	PROPN
ajst-18585	97	20	z0	z0	PROPN
ajst-18585	97	21	nm	nm	PROPN
ajst-18585	97	22	nm	nm	ADJ
ajst-18585	97	23	ns	ns	INTJ
ajst-18585	97	24	z0	z0	PROPN
ajst-18585	97	25	ps	ps	PROPN
ajst-18585	97	26	pm	pm	NOUN
ajst-18585	97	27	pm	pm	NOUN
ajst-18585	97	28	ps	ps	PROPN
ajst-18585	97	29	nm	nm	ADV
ajst-18585	97	30	ns	ns	PROPN
ajst-18585	97	31	z0	z0	PROPN
ajst-18585	97	32	ps	ps	PROPN
ajst-18585	97	33	ps	ps	PROPN
ajst-18585	97	34	pm	pm	NOUN
ajst-18585	97	35	pb	pb	ADP
ajst-18585	97	36	pm	pm	NOUN
ajst-18585	97	37	z0	z0	PROPN
ajst-18585	97	38	z0	z0	PROPN
ajst-18585	97	39	ps	ps	PROPN
ajst-18585	97	40	ps	ps	PROPN
ajst-18585	97	41	pm	pm	NOUN
ajst-18585	97	42	pb	pb	X
ajst-18585	97	43	pb	pb	X
ajst-18585	97	44	pb	pb	ADP
ajst-18585	97	45	z0	z0	PROPN
ajst-18585	97	46	z0	z0	PROPN
ajst-18585	97	47	ps	ps	PROPN
ajst-18585	97	48	pm	pm	NOUN
ajst-18585	97	49	pm	pm	VERB
ajst-18585	97	50	pb	pb	ADP
ajst-18585	97	51	pb	pb	ADP
ajst-18585	97	52	278	278	NUM
ajst-18585	97	53	table	table	NOUN
ajst-18585	97	54	4	4	NUM
ajst-18585	97	55	.	.	PUNCT
ajst-18585	97	56	fuzzy	fuzzy	ADJ
ajst-18585	97	57	control	control	NOUN
ajst-18585	97	58	rule	rule	NOUN
ajst-18585	97	59	for	for	ADP
ajst-18585	97	60	ec	ec	PROPN
ajst-18585	97	61	e	e	PROPN
ajst-18585	97	62	nb	nb	PROPN
ajst-18585	97	63	nm	nm	INTJ
ajst-18585	97	64	ns	ns	PROPN
ajst-18585	97	65	z0	z0	PROPN
ajst-18585	97	66	ps	ps	PROPN
ajst-18585	97	67	pm	pm	NOUN
ajst-18585	97	68	pb	pb	ADP
ajst-18585	97	69	nb	nb	INTJ
ajst-18585	97	70	ps	ps	PROPN
ajst-18585	98	1	ns	ns	INTJ
ajst-18585	99	1	pm	pm	PROPN
ajst-18585	100	1	nb	nb	INTJ
ajst-18585	100	2	nb	nb	PROPN
ajst-18585	100	3	nm	nm	INTJ
ajst-18585	100	4	ps	ps	VERB
ajst-18585	100	5	nm	nm	ADV
ajst-18585	100	6	ps	ps	INTJ
ajst-18585	100	7	ns	ns	PROPN
ajst-18585	100	8	nb	nb	PROPN
ajst-18585	100	9	nm	nm	PROPN
ajst-18585	100	10	nm	nm	ADJ
ajst-18585	100	11	ns	ns	INTJ
ajst-18585	100	12	z0	z0	PROPN
ajst-18585	100	13	ns	ns	INTJ
ajst-18585	100	14	z0	z0	PROPN
ajst-18585	100	15	ns	ns	PROPN
ajst-18585	100	16	nm	nm	PROPN
ajst-18585	100	17	nm	nm	ADJ
ajst-18585	100	18	ns	ns	INTJ
ajst-18585	100	19	ns	ns	ADJ
ajst-18585	100	20	z0	z0	PROPN
ajst-18585	100	21	z0	z0	PROPN
ajst-18585	100	22	z0	z0	PROPN
ajst-18585	100	23	ns	ns	NUM
ajst-18585	100	24	ns	ns	NUM
ajst-18585	100	25	ns	ns	NUM
ajst-18585	100	26	ns	ns	NUM
ajst-18585	100	27	ns	ns	PROPN
ajst-18585	100	28	z0	z0	PROPN
ajst-18585	100	29	ps	ps	PROPN
ajst-18585	100	30	z0	z0	PROPN
ajst-18585	100	31	z0	z0	PROPN
ajst-18585	100	32	z0	z0	PROPN
ajst-18585	100	33	z0	z0	PROPN
ajst-18585	100	34	z0	z0	PROPN
ajst-18585	100	35	z0	z0	PROPN
ajst-18585	100	36	z0	z0	PROPN
ajst-18585	100	37	pm	pm	NOUN
ajst-18585	100	38	pb	pb	ADP
ajst-18585	100	39	ns	ns	NUM
ajst-18585	100	40	ps	ps	PROPN
ajst-18585	100	41	ps	ps	NOUN
ajst-18585	100	42	ps	ps	PROPN
ajst-18585	100	43	ps	ps	NOUN
ajst-18585	100	44	pb	pb	X
ajst-18585	100	45	pb	pb	X
ajst-18585	100	46	pb	pb	ADP
ajst-18585	100	47	pm	pm	VERB
ajst-18585	100	48	pm	pm	NOUN
ajst-18585	100	49	ps	ps	PROPN
ajst-18585	100	50	ps	ps	NOUN
ajst-18585	100	51	ps	ps	NOUN
ajst-18585	100	52	pb	pb	ADP
ajst-18585	100	53	from	from	ADP
ajst-18585	100	54	table	table	NOUN
ajst-18585	100	55	2	2	NUM
ajst-18585	100	56	to	to	ADP
ajst-18585	100	57	table	table	NOUN
ajst-18585	100	58	3	3	NUM
ajst-18585	100	59	,	,	PUNCT
ajst-18585	100	60	it	it	PRON
ajst-18585	100	61	is	be	AUX
ajst-18585	100	62	evident	evident	ADJ
ajst-18585	100	63	that	that	SCONJ
ajst-18585	100	64	for	for	ADP
ajst-18585	100	65	any	any	DET
ajst-18585	100	66	input	input	NOUN
ajst-18585	100	67	pair	pair	NOUN
ajst-18585	100	68	of	of	ADP
ajst-18585	100	69	e	e	PROPN
ajst-18585	100	70	and	and	CCONJ
ajst-18585	100	71	ec	ec	PROPN
ajst-18585	100	72	,	,	PUNCT
ajst-18585	100	73	a	a	DET
ajst-18585	100	74	7x7	7x7	NUM
ajst-18585	100	75	membership	membership	NOUN
ajst-18585	100	76	matrix	matrix	NOUN
ajst-18585	100	77	will	will	AUX
ajst-18585	100	78	be	be	AUX
ajst-18585	100	79	generated	generate	VERB
ajst-18585	100	80	.	.	PUNCT
ajst-18585	101	1	therefore	therefore	ADV
ajst-18585	101	2	,	,	PUNCT
ajst-18585	101	3	we	we	PRON
ajst-18585	101	4	only	only	ADV
ajst-18585	101	5	need	need	VERB
ajst-18585	101	6	49	49	NUM
ajst-18585	101	7	fuzzy	fuzzy	ADJ
ajst-18585	101	8	statements	statement	NOUN
ajst-18585	101	9	to	to	PART
ajst-18585	101	10	fully	fully	ADV
ajst-18585	101	11	describe	describe	VERB
ajst-18585	101	12	the	the	DET
ajst-18585	101	13	fuzzy	fuzzy	ADJ
ajst-18585	101	14	control	control	NOUN
ajst-18585	101	15	rules	rule	NOUN
ajst-18585	101	16	for	for	ADP
ajst-18585	101	17	the	the	DET
ajst-18585	101	18	three	three	NUM
ajst-18585	101	19	tables	table	NOUN
ajst-18585	101	20	.	.	PUNCT
ajst-18585	102	1	corresponding	correspond	VERB
ajst-18585	102	2	memberships	membership	NOUN
ajst-18585	102	3	and	and	CCONJ
ajst-18585	102	4	fuzzy	fuzzy	ADJ
ajst-18585	102	5	meanings	meaning	NOUN
ajst-18585	102	6	together	together	ADV
ajst-18585	102	7	constitute	constitute	VERB
ajst-18585	102	8	the	the	DET
ajst-18585	102	9	final	final	ADJ
ajst-18585	102	10	fuzzy	fuzzy	ADJ
ajst-18585	102	11	set	set	NOUN
ajst-18585	102	12	.	.	PUNCT
ajst-18585	103	1	summing	sum	VERB
ajst-18585	103	2	the	the	DET
ajst-18585	103	3	memberships	membership	NOUN
ajst-18585	103	4	with	with	ADP
ajst-18585	103	5	the	the	DET
ajst-18585	103	6	same	same	ADJ
ajst-18585	103	7	fuzzy	fuzzy	ADJ
ajst-18585	103	8	meaning	meaning	NOUN
ajst-18585	103	9	yields	yield	VERB
ajst-18585	103	10	the	the	DET
ajst-18585	103	11	final	final	ADJ
ajst-18585	103	12	fuzzy	fuzzy	ADJ
ajst-18585	103	13	vector	vector	NOUN
ajst-18585	103	14	.	.	PUNCT
ajst-18585	104	1	2.3.5	2.3.5	NUM
ajst-18585	104	2	.	.	PUNCT
ajst-18585	104	3	defuzzification	defuzzification	NOUN
ajst-18585	104	4	after	after	ADP
ajst-18585	104	5	fuzzy	fuzzy	ADJ
ajst-18585	104	6	inference	inference	NOUN
ajst-18585	104	7	,	,	PUNCT
ajst-18585	104	8	the	the	DET
ajst-18585	104	9	result	result	NOUN
ajst-18585	104	10	is	be	AUX
ajst-18585	104	11	still	still	ADV
ajst-18585	104	12	a	a	DET
ajst-18585	104	13	fuzzy	fuzzy	ADJ
ajst-18585	104	14	vector	vector	NOUN
ajst-18585	104	15	,	,	PUNCT
ajst-18585	104	16	and	and	CCONJ
ajst-18585	104	17	therefore	therefore	ADV
ajst-18585	104	18	,	,	PUNCT
ajst-18585	104	19	a	a	DET
ajst-18585	104	20	conversion	conversion	NOUN
ajst-18585	104	21	is	be	AUX
ajst-18585	104	22	required	require	VERB
ajst-18585	104	23	to	to	PART
ajst-18585	104	24	obtain	obtain	VERB
ajst-18585	104	25	a	a	DET
ajst-18585	104	26	precise	precise	ADJ
ajst-18585	104	27	value	value	NOUN
ajst-18585	104	28	that	that	PRON
ajst-18585	104	29	can	can	AUX
ajst-18585	104	30	directly	directly	ADV
ajst-18585	104	31	affect	affect	VERB
ajst-18585	104	32	the	the	DET
ajst-18585	104	33	controlled	control	VERB
ajst-18585	104	34	object	object	NOUN
ajst-18585	104	35	.	.	PUNCT
ajst-18585	105	1	this	this	DET
ajst-18585	105	2	process	process	NOUN
ajst-18585	105	3	is	be	AUX
ajst-18585	105	4	called	call	VERB
ajst-18585	105	5	defuzzification	defuzzification	NOUN
ajst-18585	105	6	and	and	CCONJ
ajst-18585	105	7	can	can	AUX
ajst-18585	105	8	be	be	AUX
ajst-18585	105	9	understood	understand	VERB
ajst-18585	105	10	as	as	ADP
ajst-18585	105	11	the	the	DET
ajst-18585	105	12	inverse	inverse	NOUN
ajst-18585	105	13	process	process	NOUN
ajst-18585	105	14	of	of	ADP
ajst-18585	105	15	fuzzification	fuzzification	NOUN
ajst-18585	105	16	.	.	PUNCT
ajst-18585	106	1	to	to	PART
ajst-18585	106	2	achieve	achieve	VERB
ajst-18585	106	3	this	this	PRON
ajst-18585	106	4	,	,	PUNCT
ajst-18585	106	5	it	it	PRON
ajst-18585	106	6	is	be	AUX
ajst-18585	106	7	necessary	necessary	ADJ
ajst-18585	106	8	to	to	PART
ajst-18585	106	9	define	define	VERB
ajst-18585	106	10	basic	basic	ADJ
ajst-18585	106	11	domains	domain	NOUN
ajst-18585	106	12	and	and	CCONJ
ajst-18585	106	13	fuzzy	fuzzy	ADJ
ajst-18585	106	14	sets	set	NOUN
ajst-18585	106	15	for	for	ADP
ajst-18585	106	16	the	the	DET
ajst-18585	106	17	output	output	NOUN
ajst-18585	106	18	variable	variable	NOUN
ajst-18585	106	19	.	.	PUNCT
ajst-18585	107	1	in	in	ADP
ajst-18585	107	2	this	this	DET
ajst-18585	107	3	paper	paper	NOUN
ajst-18585	107	4	,	,	PUNCT
ajst-18585	107	5	the	the	DET
ajst-18585	107	6	centroid	centroid	NOUN
ajst-18585	107	7	method	method	NOUN
ajst-18585	107	8	is	be	AUX
ajst-18585	107	9	used	use	VERB
ajst-18585	107	10	for	for	ADP
ajst-18585	107	11	defuzzification	defuzzification	NOUN
ajst-18585	107	12	,	,	PUNCT
ajst-18585	107	13	and	and	CCONJ
ajst-18585	107	14	its	its	PRON
ajst-18585	107	15	calculation	calculation	NOUN
ajst-18585	107	16	formula	formula	NOUN
ajst-18585	107	17	can	can	AUX
ajst-18585	107	18	be	be	AUX
ajst-18585	107	19	expressed	express	VERB
ajst-18585	107	20	as	as	ADP
ajst-18585	107	21	:	:	PUNCT
ajst-18585	107	22	(	(	PUNCT
ajst-18585	107	23	13	13	NUM
ajst-18585	107	24	)	)	PUNCT
ajst-18585	107	25	in	in	ADP
ajst-18585	107	26	eq	eq	ADP
ajst-18585	107	27	.	.	PUNCT
ajst-18585	108	1	(	(	PUNCT
ajst-18585	108	2	13	13	NUM
ajst-18585	108	3	)	)	PUNCT
ajst-18585	108	4	,	,	PUNCT
ajst-18585	108	5	represents	represent	VERB
ajst-18585	108	6	the	the	DET
ajst-18585	108	7	precise	precise	ADJ
ajst-18585	108	8	value	value	NOUN
ajst-18585	108	9	after	after	ADP
ajst-18585	108	10	defuzzification	defuzzification	NOUN
ajst-18585	108	11	,	,	PUNCT
ajst-18585	108	12	denotes	denote	VERB
ajst-18585	108	13	the	the	DET
ajst-18585	108	14	values	value	NOUN
ajst-18585	108	15	corresponding	correspond	VERB
ajst-18585	108	16	to	to	ADP
ajst-18585	108	17	the	the	DET
ajst-18585	108	18	seven	seven	NUM
ajst-18585	108	19	fuzzy	fuzzy	ADJ
ajst-18585	108	20	meanings	meaning	NOUN
ajst-18585	108	21	in	in	ADP
ajst-18585	108	22	the	the	DET
ajst-18585	108	23	control	control	NOUN
ajst-18585	108	24	variable	variable	ADJ
ajst-18585	108	25	domain	domain	NOUN
ajst-18585	108	26	(	(	PUNCT
ajst-18585	108	27	i.e.	i.e.	X
ajst-18585	108	28	,	,	PUNCT
ajst-18585	108	29	the	the	DET
ajst-18585	108	30	values	value	NOUN
ajst-18585	108	31	corresponding	correspond	VERB
ajst-18585	108	32	to	to	ADP
ajst-18585	108	33	the	the	DET
ajst-18585	108	34	seven	seven	NUM
ajst-18585	108	35	meanings	meaning	NOUN
ajst-18585	108	36	in	in	ADP
ajst-18585	108	37	the	the	DET
ajst-18585	108	38	output	output	NOUN
ajst-18585	108	39	variable	variable	NOUN
ajst-18585	108	40	)	)	PUNCT
ajst-18585	108	41	,	,	PUNCT
ajst-18585	108	42	is	be	AUX
ajst-18585	108	43	the	the	DET
ajst-18585	108	44	membership	membership	NOUN
ajst-18585	108	45	degree	degree	NOUN
ajst-18585	108	46	of	of	ADP
ajst-18585	108	47	.	.	PUNCT
ajst-18585	109	1	3	3	X
ajst-18585	109	2	.	.	X
ajst-18585	109	3	simulation	simulation	NOUN
ajst-18585	109	4	analysis	analysis	NOUN
ajst-18585	109	5	of	of	ADP
ajst-18585	109	6	motor	motor	NOUN
ajst-18585	109	7	response	response	NOUN
ajst-18585	109	8	using	use	VERB
ajst-18585	109	9	simulink	simulink	PROPN
ajst-18585	109	10	3.1	3.1	NUM
ajst-18585	109	11	.	.	PUNCT
ajst-18585	110	1	traditional	traditional	ADJ
ajst-18585	110	2	digital	digital	ADJ
ajst-18585	110	3	pid	pid	NOUN
ajst-18585	110	4	model	model	NOUN
ajst-18585	110	5	construction	construction	NOUN
ajst-18585	110	6	figure	figure	NOUN
ajst-18585	110	7	7	7	NUM
ajst-18585	110	8	.	.	PUNCT
ajst-18585	110	9	simulink	simulink	NOUN
ajst-18585	110	10	models	model	NOUN
ajst-18585	110	11	of	of	ADP
ajst-18585	110	12	position	position	NOUN
ajst-18585	110	13	and	and	CCONJ
ajst-18585	110	14	incremental	incremental	ADJ
ajst-18585	110	15	pid	pid	NOUN
ajst-18585	110	16	control	control	NOUN
ajst-18585	110	17	based	base	VERB
ajst-18585	110	18	on	on	ADP
ajst-18585	110	19	the	the	DET
ajst-18585	110	20	principles	principle	NOUN
ajst-18585	110	21	of	of	ADP
ajst-18585	110	22	traditional	traditional	ADJ
ajst-18585	110	23	digital	digital	ADJ
ajst-18585	110	24	pid	pid	PROPN
ajst-18585	110	25	,	,	PUNCT
ajst-18585	110	26	a	a	DET
ajst-18585	110	27	simulation	simulation	NOUN
ajst-18585	110	28	model	model	NOUN
ajst-18585	110	29	was	be	AUX
ajst-18585	110	30	constructed	construct	VERB
ajst-18585	110	31	in	in	ADP
ajst-18585	110	32	the	the	DET
ajst-18585	110	33	simulink	simulink	NOUN
ajst-18585	110	34	module	module	NOUN
ajst-18585	110	35	of	of	ADP
ajst-18585	110	36	matlab	matlab	PROPN
ajst-18585	110	37	,	,	PUNCT
ajst-18585	110	38	as	as	SCONJ
ajst-18585	110	39	shown	show	VERB
ajst-18585	110	40	in	in	ADP
ajst-18585	110	41	the	the	DET
ajst-18585	110	42	simulation	simulation	NOUN
ajst-18585	110	43	model	model	NOUN
ajst-18585	110	44	depicted	depict	VERB
ajst-18585	110	45	in	in	ADP
ajst-18585	110	46	fig	fig	NOUN
ajst-18585	110	47	.	.	PUNCT
ajst-18585	111	1	7	7	X
ajst-18585	111	2	.	.	PUNCT
ajst-18585	111	3	various	various	ADJ
ajst-18585	111	4	modules	module	NOUN
ajst-18585	111	5	,	,	PUNCT
ajst-18585	111	6	including	include	VERB
ajst-18585	111	7	gain	gain	NOUN
ajst-18585	111	8	,	,	PUNCT
ajst-18585	111	9	step	step	NOUN
ajst-18585	111	10	signal	signal	NOUN
ajst-18585	111	11	,	,	PUNCT
ajst-18585	111	12	delay	delay	NOUN
ajst-18585	111	13	,	,	PUNCT
ajst-18585	111	14	transfer	transfer	NOUN
ajst-18585	111	15	function	function	NOUN
ajst-18585	111	16	,	,	PUNCT
ajst-18585	111	17	and	and	CCONJ
ajst-18585	111	18	oscilloscope	oscilloscope	NOUN
ajst-18585	111	19	,	,	PUNCT
ajst-18585	111	20	were	be	AUX
ajst-18585	111	21	utilized	utilize	VERB
ajst-18585	111	22	in	in	ADP
ajst-18585	111	23	the	the	DET
ajst-18585	111	24	construction	construction	NOUN
ajst-18585	111	25	.	.	PUNCT
ajst-18585	112	1	3.2	3.2	NUM
ajst-18585	112	2	.	.	X
ajst-18585	112	3	fuzzy	fuzzy	ADJ
ajst-18585	112	4	pid	pid	NOUN
ajst-18585	112	5	model	model	NOUN
ajst-18585	112	6	construction	construction	NOUN
ajst-18585	112	7	firstly	firstly	ADV
ajst-18585	112	8	,	,	PUNCT
ajst-18585	112	9	it	it	PRON
ajst-18585	112	10	is	be	AUX
ajst-18585	112	11	necessary	necessary	ADJ
ajst-18585	112	12	to	to	PART
ajst-18585	112	13	define	define	VERB
ajst-18585	112	14	the	the	DET
ajst-18585	112	15	fuzzy	fuzzy	ADJ
ajst-18585	112	16	controller	controller	NOUN
ajst-18585	112	17	based	base	VERB
ajst-18585	112	18	on	on	ADP
ajst-18585	112	19	the	the	DET
ajst-18585	112	20	workflow	workflow	NOUN
ajst-18585	112	21	of	of	ADP
ajst-18585	112	22	fuzzy	fuzzy	ADJ
ajst-18585	112	23	pid	pid	NOUN
ajst-18585	112	24	.	.	PUNCT
ajst-18585	113	1	in	in	ADP
ajst-18585	113	2	matlab	matlab	PROPN
ajst-18585	113	3	,	,	PUNCT
ajst-18585	113	4	the	the	DET
ajst-18585	113	5	fuzzy	fuzzy	ADJ
ajst-18585	113	6	logic	logic	NOUN
ajst-18585	113	7	designer	designer	NOUN
ajst-18585	113	8	can	can	AUX
ajst-18585	113	9	be	be	AUX
ajst-18585	113	10	opened	open	VERB
ajst-18585	113	11	by	by	ADP
ajst-18585	113	12	using	use	VERB
ajst-18585	113	13	the	the	DET
ajst-18585	113	14	'	'	PUNCT
ajst-18585	113	15	fuzzy	fuzzy	ADJ
ajst-18585	113	16	'	'	PUNCT
ajst-18585	113	17	command	command	NOUN
ajst-18585	113	18	.	.	PUNCT
ajst-18585	114	1	the	the	DET
ajst-18585	114	2	design	design	NOUN
ajst-18585	114	3	of	of	ADP
ajst-18585	114	4	the	the	DET
ajst-18585	114	5	fuzzy	fuzzy	ADJ
ajst-18585	114	6	controller	controller	NOUN
ajst-18585	114	7	mainly	mainly	ADV
ajst-18585	114	8	includes	include	VERB
ajst-18585	114	9	two	two	NUM
ajst-18585	114	10	parts	part	NOUN
ajst-18585	114	11	:	:	PUNCT
ajst-18585	114	12	the	the	DET
ajst-18585	114	13	selection	selection	NOUN
ajst-18585	114	14	of	of	ADP
ajst-18585	114	15	membership	membership	NOUN
ajst-18585	114	16	functions	function	NOUN
ajst-18585	114	17	for	for	ADP
ajst-18585	114	18	input	input	NOUN
ajst-18585	114	19	and	and	CCONJ
ajst-18585	114	20	output	output	NOUN
ajst-18585	114	21	variables	variable	NOUN
ajst-18585	114	22	,	,	PUNCT
ajst-18585	114	23	determination	determination	NOUN
ajst-18585	114	24	of	of	ADP
ajst-18585	114	25	the	the	DET
ajst-18585	114	26	domain	domain	NOUN
ajst-18585	114	27	values	value	NOUN
ajst-18585	114	28	,	,	PUNCT
ajst-18585	114	29	and	and	CCONJ
ajst-18585	114	30	the	the	DET
ajst-18585	114	31	addition	addition	NOUN
ajst-18585	114	32	of	of	ADP
ajst-18585	114	33	fuzzy	fuzzy	ADJ
ajst-18585	114	34	rules	rule	NOUN
ajst-18585	114	35	.	.	PUNCT
ajst-18585	115	1	the	the	DET
ajst-18585	115	2	first	first	ADJ
ajst-18585	115	3	step	step	NOUN
ajst-18585	115	4	involves	involve	VERB
ajst-18585	115	5	establishing	establish	VERB
ajst-18585	115	6	a	a	DET
ajst-18585	115	7	two	two	NUM
ajst-18585	115	8	-	-	PUNCT
ajst-18585	115	9	dimensional	dimensional	ADJ
ajst-18585	115	10	fuzzy	fuzzy	ADJ
ajst-18585	115	11	control	control	NOUN
ajst-18585	115	12	structure	structure	NOUN
ajst-18585	115	13	as	as	SCONJ
ajst-18585	115	14	shown	show	VERB
ajst-18585	115	15	in	in	ADP
ajst-18585	115	16	fig	fig	NOUN
ajst-18585	115	17	.	.	PUNCT
ajst-18585	116	1	8	8	X
ajst-18585	116	2	.	.	PUNCT
ajst-18585	117	1	then	then	ADV
ajst-18585	117	2	,	,	PUNCT
ajst-18585	117	3	define	define	VERB
ajst-18585	117	4	the	the	DET
ajst-18585	117	5	domain	domain	NOUN
ajst-18585	117	6	values	value	NOUN
ajst-18585	117	7	for	for	ADP
ajst-18585	117	8	both	both	DET
ajst-18585	117	9	input	input	NOUN
ajst-18585	117	10	and	and	CCONJ
ajst-18585	117	11	output	output	NOUN
ajst-18585	117	12	variables	variable	NOUN
ajst-18585	117	13	as	as	ADP
ajst-18585	117	14	{	{	PUNCT
ajst-18585	117	15	-1	-1	ADJ
ajst-18585	117	16	,	,	PUNCT
ajst-18585	117	17	-2/3	-2/3	PROPN
ajst-18585	117	18	,	,	PUNCT
ajst-18585	117	19	279	279	NUM
ajst-18585	117	20	-1/3	-1/3	NOUN
ajst-18585	117	21	,	,	PUNCT
ajst-18585	117	22	0	0	NUM
ajst-18585	117	23	,	,	PUNCT
ajst-18585	117	24	1/3	1/3	NUM
ajst-18585	117	25	,	,	PUNCT
ajst-18585	117	26	2/3	2/3	NUM
ajst-18585	117	27	,	,	PUNCT
ajst-18585	117	28	1	1	NUM
ajst-18585	117	29	}	}	PUNCT
ajst-18585	117	30	.	.	PUNCT
ajst-18585	118	1	for	for	ADP
ajst-18585	118	2	two	two	NUM
ajst-18585	118	3	input	input	NOUN
ajst-18585	118	4	variables	variable	NOUN
ajst-18585	118	5	,	,	PUNCT
ajst-18585	118	6	use	use	VERB
ajst-18585	118	7	the	the	DET
ajst-18585	118	8	gaussmf	gaussmf	PROPN
ajst-18585	118	9	gaussian	gaussian	PROPN
ajst-18585	118	10	membership	membership	NOUN
ajst-18585	118	11	function	function	NOUN
ajst-18585	118	12	,	,	PUNCT
ajst-18585	118	13	and	and	CCONJ
ajst-18585	118	14	for	for	ADP
ajst-18585	118	15	three	three	NUM
ajst-18585	118	16	output	output	NOUN
ajst-18585	118	17	variables	variable	NOUN
ajst-18585	118	18	,	,	PUNCT
ajst-18585	118	19	use	use	VERB
ajst-18585	118	20	the	the	DET
ajst-18585	118	21	trimf	trimf	NOUN
ajst-18585	118	22	triangular	triangular	NOUN
ajst-18585	118	23	membership	membership	NOUN
ajst-18585	118	24	function	function	NOUN
ajst-18585	118	25	.	.	PUNCT
ajst-18585	119	1	in	in	ADP
ajst-18585	119	2	the	the	DET
ajst-18585	119	3	second	second	ADJ
ajst-18585	119	4	step	step	NOUN
ajst-18585	119	5	,	,	PUNCT
ajst-18585	119	6	add	add	VERB
ajst-18585	119	7	corresponding	corresponding	ADJ
ajst-18585	119	8	fuzzy	fuzzy	ADJ
ajst-18585	119	9	relationships	relationship	NOUN
ajst-18585	119	10	according	accord	VERB
ajst-18585	119	11	to	to	ADP
ajst-18585	119	12	the	the	DET
ajst-18585	119	13	control	control	NOUN
ajst-18585	119	14	rule	rule	NOUN
ajst-18585	119	15	tables	table	NOUN
ajst-18585	119	16	provided	provide	VERB
ajst-18585	119	17	in	in	ADP
ajst-18585	119	18	table	table	NOUN
ajst-18585	119	19	2	2	NUM
ajst-18585	119	20	to	to	ADP
ajst-18585	119	21	table	table	VERB
ajst-18585	119	22	4	4	NUM
ajst-18585	119	23	.	.	PUNCT
ajst-18585	120	1	a	a	DET
ajst-18585	120	2	total	total	NOUN
ajst-18585	120	3	of	of	ADP
ajst-18585	120	4	49	49	NUM
ajst-18585	120	5	rules	rule	NOUN
ajst-18585	120	6	needs	need	VERB
ajst-18585	120	7	to	to	PART
ajst-18585	120	8	be	be	AUX
ajst-18585	120	9	added	add	VERB
ajst-18585	120	10	,	,	PUNCT
ajst-18585	120	11	as	as	SCONJ
ajst-18585	120	12	shown	show	VERB
ajst-18585	120	13	in	in	ADP
ajst-18585	120	14	the	the	DET
ajst-18585	120	15	fuzzy	fuzzy	ADJ
ajst-18585	120	16	rule	rule	NOUN
ajst-18585	120	17	inference	inference	NOUN
ajst-18585	120	18	result	result	NOUN
ajst-18585	120	19	in	in	ADP
ajst-18585	120	20	fig	fig	NOUN
ajst-18585	120	21	.	.	PUNCT
ajst-18585	121	1	9	9	X
ajst-18585	121	2	.	.	PUNCT
ajst-18585	121	3	subsequently	subsequently	ADV
ajst-18585	121	4	,	,	PUNCT
ajst-18585	121	5	export	export	NOUN
ajst-18585	121	6	and	and	CCONJ
ajst-18585	121	7	generate	generate	VERB
ajst-18585	121	8	the	the	DET
ajst-18585	121	9	fuzzy	fuzzy	ADJ
ajst-18585	121	10	control	control	NOUN
ajst-18585	121	11	structure	structure	NOUN
ajst-18585	121	12	file	file	NOUN
ajst-18585	121	13	with	with	ADP
ajst-18585	121	14	the	the	DET
ajst-18585	121	15	.fis	.fis	PROPN
ajst-18585	121	16	suffix	suffix	PROPN
ajst-18585	121	17	.	.	PUNCT
ajst-18585	122	1	finally	finally	ADV
ajst-18585	122	2	,	,	PUNCT
ajst-18585	122	3	observe	observe	VERB
ajst-18585	122	4	the	the	DET
ajst-18585	122	5	geometric	geometric	ADJ
ajst-18585	122	6	shapes	shape	NOUN
ajst-18585	122	7	corresponding	correspond	VERB
ajst-18585	122	8	to	to	ADP
ajst-18585	122	9	each	each	DET
ajst-18585	122	10	rule	rule	NOUN
ajst-18585	122	11	in	in	ADP
ajst-18585	122	12	the	the	DET
ajst-18585	122	13	observer	observer	NOUN
ajst-18585	122	14	,	,	PUNCT
ajst-18585	122	15	as	as	SCONJ
ajst-18585	122	16	illustrated	illustrate	VERB
ajst-18585	122	17	in	in	ADP
ajst-18585	122	18	the	the	DET
ajst-18585	122	19	following	follow	VERB
ajst-18585	122	20	figure	figure	NOUN
ajst-18585	122	21	.	.	PUNCT
ajst-18585	123	1	figure	figure	VERB
ajst-18585	123	2	8	8	NUM
ajst-18585	123	3	.	.	PUNCT
ajst-18585	124	1	two	two	NUM
ajst-18585	124	2	-	-	PUNCT
ajst-18585	124	3	dimensional	dimensional	ADJ
ajst-18585	124	4	fuzzy	fuzzy	ADJ
ajst-18585	124	5	control	control	NOUN
ajst-18585	124	6	structure	structure	NOUN
ajst-18585	124	7	figure	figure	NOUN
ajst-18585	124	8	9	9	NUM
ajst-18585	124	9	.	.	PUNCT
ajst-18585	125	1	inference	inference	NOUN
ajst-18585	125	2	results	result	NOUN
ajst-18585	125	3	of	of	ADP
ajst-18585	125	4	fuzzy	fuzzy	ADJ
ajst-18585	125	5	rules	rule	NOUN
ajst-18585	125	6	figure	figure	VERB
ajst-18585	125	7	10	10	NUM
ajst-18585	125	8	.	.	PUNCT
ajst-18585	126	1	fuzzy	fuzzy	ADJ
ajst-18585	126	2	relationships	relationship	NOUN
ajst-18585	126	3	between	between	ADP
ajst-18585	126	4	input	input	NOUN
ajst-18585	126	5	variables	variable	NOUN
ajst-18585	126	6	and	and	CCONJ
ajst-18585	126	7	280	280	NUM
ajst-18585	126	8	figure	figure	NOUN
ajst-18585	126	9	11	11	NUM
ajst-18585	126	10	.	.	PUNCT
ajst-18585	127	1	fuzzy	fuzzy	ADJ
ajst-18585	127	2	relationships	relationship	NOUN
ajst-18585	127	3	between	between	ADP
ajst-18585	127	4	input	input	NOUN
ajst-18585	127	5	variables	variable	NOUN
ajst-18585	127	6	and	and	CCONJ
ajst-18585	127	7	figure	figure	VERB
ajst-18585	127	8	12	12	NUM
ajst-18585	127	9	.	.	PUNCT
ajst-18585	128	1	fuzzy	fuzzy	ADJ
ajst-18585	128	2	relationships	relationship	NOUN
ajst-18585	128	3	between	between	ADP
ajst-18585	128	4	input	input	NOUN
ajst-18585	128	5	variables	variable	NOUN
ajst-18585	128	6	and	and	CCONJ
ajst-18585	128	7	similar	similar	ADJ
ajst-18585	128	8	to	to	ADP
ajst-18585	128	9	the	the	DET
ajst-18585	128	10	traditional	traditional	ADJ
ajst-18585	128	11	digital	digital	ADJ
ajst-18585	128	12	pid	pid	NOUN
ajst-18585	128	13	model	model	NOUN
ajst-18585	128	14	,	,	PUNCT
ajst-18585	128	15	a	a	DET
ajst-18585	128	16	fuzzy	fuzzy	ADJ
ajst-18585	128	17	pid	pid	NOUN
ajst-18585	128	18	simulation	simulation	NOUN
ajst-18585	128	19	model	model	NOUN
ajst-18585	128	20	was	be	AUX
ajst-18585	128	21	constructed	construct	VERB
ajst-18585	128	22	in	in	ADP
ajst-18585	128	23	simulink	simulink	NOUN
ajst-18585	128	24	by	by	ADP
ajst-18585	128	25	invoking	invoke	VERB
ajst-18585	128	26	modules	module	NOUN
ajst-18585	128	27	such	such	ADJ
ajst-18585	128	28	as	as	ADP
ajst-18585	128	29	fuzzy	fuzzy	ADJ
ajst-18585	128	30	logic	logic	NOUN
ajst-18585	128	31	controller	controller	NOUN
ajst-18585	128	32	,	,	PUNCT
ajst-18585	128	33	zero	zero	NUM
ajst-18585	128	34	-	-	PUNCT
ajst-18585	128	35	order	order	NOUN
ajst-18585	128	36	holder	holder	NOUN
ajst-18585	128	37	,	,	PUNCT
ajst-18585	128	38	numeric	numeric	ADJ
ajst-18585	128	39	compute	compute	NOUN
ajst-18585	128	40	,	,	PUNCT
ajst-18585	128	41	constant	constant	ADJ
ajst-18585	128	42	,	,	PUNCT
ajst-18585	128	43	integrator	integrator	NOUN
ajst-18585	128	44	,	,	PUNCT
ajst-18585	128	45	and	and	CCONJ
ajst-18585	128	46	derivative	derivative	NOUN
ajst-18585	128	47	,	,	PUNCT
ajst-18585	128	48	according	accord	VERB
ajst-18585	128	49	to	to	ADP
ajst-18585	128	50	the	the	DET
ajst-18585	128	51	corresponding	corresponding	ADJ
ajst-18585	128	52	principles	principle	NOUN
ajst-18585	128	53	.	.	PUNCT
ajst-18585	129	1	the	the	DET
ajst-18585	129	2	resulting	result	VERB
ajst-18585	129	3	simulation	simulation	NOUN
ajst-18585	129	4	model	model	NOUN
ajst-18585	129	5	is	be	AUX
ajst-18585	129	6	shown	show	VERB
ajst-18585	129	7	in	in	ADP
ajst-18585	129	8	fig	fig	NOUN
ajst-18585	129	9	.	.	PUNCT
ajst-18585	130	1	13	13	NUM
ajst-18585	130	2	.	.	X
ajst-18585	130	3	figure	figure	NOUN
ajst-18585	130	4	13	13	NUM
ajst-18585	130	5	.	.	PUNCT
ajst-18585	131	1	simulink	simulink	PROPN
ajst-18585	131	2	model	model	NOUN
ajst-18585	131	3	of	of	ADP
ajst-18585	131	4	fuzzy	fuzzy	ADJ
ajst-18585	131	5	pid	pid	NOUN
ajst-18585	131	6	control	control	NOUN
ajst-18585	131	7	3.3	3.3	NUM
ajst-18585	131	8	.	.	PUNCT
ajst-18585	132	1	pid	pid	NOUN
ajst-18585	132	2	tuning	tuning	NOUN
ajst-18585	132	3	and	and	CCONJ
ajst-18585	132	4	simulation	simulation	NOUN
ajst-18585	132	5	with	with	ADP
ajst-18585	132	6	a	a	DET
ajst-18585	132	7	step	step	NOUN
ajst-18585	132	8	value	value	NOUN
ajst-18585	132	9	set	set	VERB
ajst-18585	132	10	to	to	ADP
ajst-18585	132	11	1	1	NUM
ajst-18585	132	12	and	and	CCONJ
ajst-18585	132	13	a	a	DET
ajst-18585	132	14	simulation	simulation	NOUN
ajst-18585	132	15	time	time	NOUN
ajst-18585	132	16	of	of	ADP
ajst-18585	132	17	0.02s	0.02	NOUN
ajst-18585	132	18	,	,	PUNCT
ajst-18585	132	19	,	,	PUNCT
ajst-18585	132	20	,	,	PUNCT
ajst-18585	132	21	,	,	PUNCT
ajst-18585	132	22	the	the	DET
ajst-18585	132	23	simulation	simulation	NOUN
ajst-18585	132	24	curves	curve	VERB
ajst-18585	132	25	for	for	ADP
ajst-18585	132	26	the	the	DET
ajst-18585	132	27	position	position	NOUN
ajst-18585	132	28	-	-	PUNCT
ajst-18585	132	29	based	base	VERB
ajst-18585	132	30	pid	pid	NOUN
ajst-18585	132	31	are	be	AUX
ajst-18585	132	32	as	as	SCONJ
ajst-18585	132	33	shown	show	VERB
ajst-18585	132	34	in	in	ADP
ajst-18585	132	35	fig	fig	NOUN
ajst-18585	132	36	.	.	PUNCT
ajst-18585	133	1	14	14	NUM
ajst-18585	133	2	.	.	PUNCT
ajst-18585	134	1	performance	performance	NOUN
ajst-18585	134	2	metrics	metric	NOUN
ajst-18585	134	3	were	be	AUX
ajst-18585	134	4	measured	measure	VERB
ajst-18585	134	5	in	in	ADP
ajst-18585	134	6	the	the	DET
ajst-18585	134	7	scope	scope	NOUN
ajst-18585	134	8	module	module	NOUN
ajst-18585	134	9	,	,	PUNCT
ajst-18585	134	10	resulting	result	VERB
ajst-18585	134	11	in	in	ADP
ajst-18585	134	12	an	an	DET
ajst-18585	134	13	adjustment	adjustment	NOUN
ajst-18585	134	14	time	time	NOUN
ajst-18585	134	15	of	of	ADP
ajst-18585	134	16	2.5ms	2.5ms	NUM
ajst-18585	134	17	,	,	PUNCT
ajst-18585	134	18	a	a	DET
ajst-18585	134	19	steady	steady	ADJ
ajst-18585	134	20	-	-	PUNCT
ajst-18585	134	21	state	state	NOUN
ajst-18585	134	22	error	error	NOUN
ajst-18585	134	23	of	of	ADP
ajst-18585	134	24	0	0	NUM
ajst-18585	134	25	,	,	PUNCT
ajst-18585	134	26	and	and	CCONJ
ajst-18585	134	27	an	an	DET
ajst-18585	134	28	overshoot	overshoot	NOUN
ajst-18585	134	29	of	of	ADP
ajst-18585	134	30	7	7	NUM
ajst-18585	134	31	%	%	NOUN
ajst-18585	134	32	.	.	PUNCT
ajst-18585	135	1	281	281	NUM
ajst-18585	135	2	figure	figure	NOUN
ajst-18585	135	3	14	14	NUM
ajst-18585	135	4	.	.	PUNCT
ajst-18585	136	1	simulation	simulation	NOUN
ajst-18585	136	2	results	result	NOUN
ajst-18585	136	3	of	of	ADP
ajst-18585	136	4	position	position	NOUN
ajst-18585	136	5	pid	pid	NOUN
ajst-18585	136	6	similarly	similarly	ADV
ajst-18585	136	7	,	,	PUNCT
ajst-18585	136	8	with	with	SCONJ
ajst-18585	136	9	the	the	DET
ajst-18585	136	10	simulation	simulation	NOUN
ajst-18585	136	11	parameters	parameter	NOUN
ajst-18585	136	12	set	set	VERB
ajst-18585	136	13	,	,	PUNCT
ajst-18585	136	14	,	,	PUNCT
ajst-18585	136	15	,	,	PUNCT
ajst-18585	136	16	the	the	DET
ajst-18585	136	17	simulation	simulation	NOUN
ajst-18585	136	18	results	result	VERB
ajst-18585	136	19	for	for	ADP
ajst-18585	136	20	the	the	DET
ajst-18585	136	21	incremental	incremental	ADJ
ajst-18585	136	22	pid	pid	NOUN
ajst-18585	136	23	are	be	AUX
ajst-18585	136	24	shown	show	VERB
ajst-18585	136	25	in	in	ADP
ajst-18585	136	26	fig	fig	NOUN
ajst-18585	136	27	.	.	PUNCT
ajst-18585	137	1	15	15	NUM
ajst-18585	137	2	.	.	PUNCT
ajst-18585	138	1	the	the	DET
ajst-18585	138	2	overshoot	overshoot	NOUN
ajst-18585	138	3	is	be	AUX
ajst-18585	138	4	18	18	NUM
ajst-18585	138	5	%	%	NOUN
ajst-18585	138	6	,	,	PUNCT
ajst-18585	138	7	the	the	DET
ajst-18585	138	8	adjustment	adjustment	NOUN
ajst-18585	138	9	time	time	NOUN
ajst-18585	138	10	is	be	AUX
ajst-18585	138	11	12.5ms	12.5ms	NUM
ajst-18585	138	12	,	,	PUNCT
ajst-18585	138	13	and	and	CCONJ
ajst-18585	138	14	the	the	DET
ajst-18585	138	15	steady	steady	ADJ
ajst-18585	138	16	-	-	PUNCT
ajst-18585	138	17	state	state	NOUN
ajst-18585	138	18	error	error	NOUN
ajst-18585	138	19	is	be	AUX
ajst-18585	138	20	0	0	NUM
ajst-18585	138	21	.	.	PUNCT
ajst-18585	139	1	figure	figure	NOUN
ajst-18585	139	2	15	15	NUM
ajst-18585	139	3	.	.	PUNCT
ajst-18585	140	1	simulation	simulation	NOUN
ajst-18585	140	2	results	result	NOUN
ajst-18585	140	3	of	of	ADP
ajst-18585	140	4	incremental	incremental	ADJ
ajst-18585	140	5	pid	pid	NOUN
ajst-18585	140	6	the	the	DET
ajst-18585	140	7	fuzzy	fuzzy	ADJ
ajst-18585	140	8	pid	pid	NOUN
ajst-18585	140	9	performs	perform	VERB
ajst-18585	140	10	real	real	ADJ
ajst-18585	140	11	-	-	PUNCT
ajst-18585	140	12	time	time	NOUN
ajst-18585	140	13	corrections	correction	NOUN
ajst-18585	140	14	on	on	ADP
ajst-18585	140	15	the	the	DET
ajst-18585	140	16	traditional	traditional	ADJ
ajst-18585	140	17	pid	pid	NOUN
ajst-18585	140	18	through	through	ADP
ajst-18585	140	19	fuzzy	fuzzy	ADJ
ajst-18585	140	20	control	control	NOUN
ajst-18585	140	21	rules	rule	NOUN
ajst-18585	140	22	.	.	PUNCT
ajst-18585	141	1	to	to	PART
ajst-18585	141	2	accelerate	accelerate	VERB
ajst-18585	141	3	the	the	DET
ajst-18585	141	4	simulation	simulation	NOUN
ajst-18585	141	5	speed	speed	NOUN
ajst-18585	141	6	,	,	PUNCT
ajst-18585	141	7	a	a	DET
ajst-18585	141	8	zero	zero	NUM
ajst-18585	141	9	-	-	PUNCT
ajst-18585	141	10	order	order	NOUN
ajst-18585	141	11	holder	holder	NOUN
ajst-18585	141	12	is	be	AUX
ajst-18585	141	13	added	add	VERB
ajst-18585	141	14	before	before	ADP
ajst-18585	141	15	the	the	DET
ajst-18585	141	16	fuzzy	fuzzy	ADJ
ajst-18585	141	17	controller	controller	NOUN
ajst-18585	141	18	,	,	PUNCT
ajst-18585	141	19	,	,	PUNCT
ajst-18585	141	20	,	,	PUNCT
ajst-18585	141	21	are	be	AUX
ajst-18585	141	22	set	set	VERB
ajst-18585	141	23	to	to	ADP
ajst-18585	141	24	-4	-4	PROPN
ajst-18585	141	25	,	,	PUNCT
ajst-18585	141	26	0.1	0.1	NUM
ajst-18585	141	27	,	,	PUNCT
ajst-18585	141	28	and	and	CCONJ
ajst-18585	141	29	0.05	0.05	NUM
ajst-18585	141	30	,	,	PUNCT
ajst-18585	141	31	respectively	respectively	ADV
ajst-18585	141	32	.	.	PUNCT
ajst-18585	142	1	the	the	DET
ajst-18585	142	2	response	response	NOUN
ajst-18585	142	3	curve	curve	NOUN
ajst-18585	142	4	is	be	AUX
ajst-18585	142	5	obtained	obtain	VERB
ajst-18585	142	6	as	as	SCONJ
ajst-18585	142	7	shown	show	VERB
ajst-18585	142	8	in	in	ADP
ajst-18585	142	9	fig	fig	NOUN
ajst-18585	142	10	.	.	PUNCT
ajst-18585	143	1	16	16	NUM
ajst-18585	143	2	.	.	PUNCT
ajst-18585	144	1	figure	figure	NOUN
ajst-18585	144	2	16	16	NUM
ajst-18585	144	3	.	.	PUNCT
ajst-18585	145	1	simulation	simulation	NOUN
ajst-18585	145	2	results	result	NOUN
ajst-18585	145	3	of	of	ADP
ajst-18585	145	4	fuzzy	fuzzy	ADJ
ajst-18585	145	5	pid	pid	NOUN
ajst-18585	145	6	from	from	ADP
ajst-18585	145	7	the	the	DET
ajst-18585	145	8	simulation	simulation	NOUN
ajst-18585	145	9	curve	curve	NOUN
ajst-18585	145	10	of	of	ADP
ajst-18585	145	11	the	the	DET
ajst-18585	145	12	fuzzy	fuzzy	ADJ
ajst-18585	145	13	pid	pid	NOUN
ajst-18585	145	14	in	in	ADP
ajst-18585	145	15	fig	fig	NOUN
ajst-18585	145	16	.	.	PUNCT
ajst-18585	146	1	16	16	NUM
ajst-18585	146	2	,	,	PUNCT
ajst-18585	146	3	it	it	PRON
ajst-18585	146	4	can	can	AUX
ajst-18585	146	5	be	be	AUX
ajst-18585	146	6	observed	observe	VERB
ajst-18585	146	7	that	that	SCONJ
ajst-18585	146	8	the	the	DET
ajst-18585	146	9	overshoot	overshoot	NOUN
ajst-18585	146	10	is	be	AUX
ajst-18585	146	11	8	8	NUM
ajst-18585	146	12	%	%	NOUN
ajst-18585	146	13	,	,	PUNCT
ajst-18585	146	14	the	the	DET
ajst-18585	146	15	adjustment	adjustment	NOUN
ajst-18585	146	16	time	time	NOUN
ajst-18585	146	17	is	be	AUX
ajst-18585	146	18	2.3ms	2.3ms	NUM
ajst-18585	146	19	,	,	PUNCT
ajst-18585	146	20	and	and	CCONJ
ajst-18585	146	21	the	the	DET
ajst-18585	146	22	steady	steady	ADJ
ajst-18585	146	23	-	-	PUNCT
ajst-18585	146	24	state	state	NOUN
ajst-18585	146	25	error	error	NOUN
ajst-18585	146	26	is	be	AUX
ajst-18585	146	27	0	0	NUM
ajst-18585	146	28	.	.	PUNCT
ajst-18585	147	1	in	in	ADP
ajst-18585	147	2	order	order	NOUN
ajst-18585	147	3	to	to	PART
ajst-18585	147	4	compare	compare	VERB
ajst-18585	147	5	the	the	DET
ajst-18585	147	6	advantages	advantage	NOUN
ajst-18585	147	7	and	and	CCONJ
ajst-18585	147	8	disadvantages	disadvantage	NOUN
ajst-18585	147	9	between	between	ADP
ajst-18585	147	10	traditional	traditional	ADJ
ajst-18585	147	11	pid	pid	NOUN
ajst-18585	147	12	and	and	CCONJ
ajst-18585	147	13	fuzzy	fuzzy	ADJ
ajst-18585	147	14	pid	pid	NOUN
ajst-18585	147	15	control	control	NOUN
ajst-18585	147	16	under	under	ADP
ajst-18585	147	17	the	the	DET
ajst-18585	147	18	same	same	ADJ
ajst-18585	147	19	conditions	condition	NOUN
ajst-18585	147	20	,	,	PUNCT
ajst-18585	147	21	parameters	parameter	NOUN
ajst-18585	147	22	,	,	PUNCT
ajst-18585	147	23	,	,	PUNCT
ajst-18585	147	24	are	be	AUX
ajst-18585	147	25	set	set	VERB
ajst-18585	147	26	to	to	ADP
ajst-18585	147	27	the	the	DET
ajst-18585	147	28	same	same	ADJ
ajst-18585	147	29	values	value	NOUN
ajst-18585	147	30	for	for	ADP
ajst-18585	147	31	both	both	DET
ajst-18585	147	32	controllers	controller	NOUN
ajst-18585	147	33	.	.	PUNCT
ajst-18585	148	1	they	they	PRON
ajst-18585	148	2	are	be	AUX
ajst-18585	148	3	then	then	ADV
ajst-18585	148	4	placed	place	VERB
ajst-18585	148	5	in	in	ADP
ajst-18585	148	6	the	the	DET
ajst-18585	148	7	same	same	ADJ
ajst-18585	148	8	scope	scope	NOUN
ajst-18585	148	9	for	for	ADP
ajst-18585	148	10	observation	observation	NOUN
ajst-18585	148	11	,	,	PUNCT
ajst-18585	148	12	and	and	CCONJ
ajst-18585	148	13	the	the	DET
ajst-18585	148	14	output	output	NOUN
ajst-18585	148	15	response	response	NOUN
ajst-18585	148	16	curves	curve	NOUN
ajst-18585	148	17	are	be	AUX
ajst-18585	148	18	shown	show	VERB
ajst-18585	148	19	in	in	ADP
ajst-18585	148	20	fig	fig	NOUN
ajst-18585	148	21	.	.	PUNCT
ajst-18585	149	1	17	17	NUM
ajst-18585	149	2	.	.	PUNCT
ajst-18585	150	1	the	the	DET
ajst-18585	150	2	simulation	simulation	NOUN
ajst-18585	150	3	performance	performance	NOUN
ajst-18585	150	4	parameters	parameter	NOUN
ajst-18585	150	5	are	be	AUX
ajst-18585	150	6	summarized	summarize	VERB
ajst-18585	150	7	in	in	ADP
ajst-18585	150	8	table	table	NOUN
ajst-18585	150	9	5	5	NUM
ajst-18585	150	10	.	.	PUNCT
ajst-18585	151	1	figure	figure	NOUN
ajst-18585	151	2	17	17	NUM
ajst-18585	151	3	.	.	PUNCT
ajst-18585	152	1	simulation	simulation	NOUN
ajst-18585	152	2	results	result	NOUN
ajst-18585	152	3	of	of	ADP
ajst-18585	152	4	traditional	traditional	ADJ
ajst-18585	152	5	pid	pid	NOUN
ajst-18585	152	6	and	and	CCONJ
ajst-18585	152	7	fuzzy	fuzzy	ADJ
ajst-18585	152	8	pid	pid	NOUN
ajst-18585	152	9	table	table	NOUN
ajst-18585	152	10	5	5	NUM
ajst-18585	152	11	.	.	PUNCT
ajst-18585	152	12	performance	performance	NOUN
ajst-18585	152	13	metrics	metric	NOUN
ajst-18585	152	14	for	for	ADP
ajst-18585	152	15	traditional	traditional	ADJ
ajst-18585	152	16	pid	pid	NOUN
ajst-18585	152	17	and	and	CCONJ
ajst-18585	152	18	fuzzy	fuzzy	ADJ
ajst-18585	152	19	pid	pid	NOUN
ajst-18585	152	20	controller	controller	NOUN
ajst-18585	152	21	overshoot	overshoot	NOUN
ajst-18585	152	22	(	(	PUNCT
ajst-18585	152	23	%	%	INTJ
ajst-18585	152	24	)	)	PUNCT
ajst-18585	152	25	stabilization	stabilization	NOUN
ajst-18585	152	26	time	time	NOUN
ajst-18585	152	27	(	(	PUNCT
ajst-18585	152	28	ms	ms	NOUN
ajst-18585	152	29	)	)	PUNCT
ajst-18585	152	30	steady	steady	ADJ
ajst-18585	152	31	-	-	PUNCT
ajst-18585	152	32	state	state	NOUN
ajst-18585	152	33	error	error	NOUN
ajst-18585	152	34	traditional	traditional	ADJ
ajst-18585	152	35	pid	pid	NOUN
ajst-18585	152	36	7.8	7.8	NUM
ajst-18585	152	37	2.5	2.5	NUM
ajst-18585	152	38	0	0	NUM
ajst-18585	152	39	fuzzy	fuzzy	ADJ
ajst-18585	152	40	pid	pid	NOUN
ajst-18585	152	41	2.3	2.3	NUM
ajst-18585	152	42	3.0	3.0	NUM
ajst-18585	152	43	0	0	NUM
ajst-18585	152	44	from	from	ADP
ajst-18585	152	45	fig	fig	NOUN
ajst-18585	152	46	.	.	PUNCT
ajst-18585	153	1	17	17	NUM
ajst-18585	153	2	and	and	CCONJ
ajst-18585	153	3	table	table	NOUN
ajst-18585	153	4	5	5	NUM
ajst-18585	153	5	,	,	PUNCT
ajst-18585	153	6	it	it	PRON
ajst-18585	153	7	can	can	AUX
ajst-18585	153	8	be	be	AUX
ajst-18585	153	9	observed	observe	VERB
ajst-18585	153	10	that	that	SCONJ
ajst-18585	153	11	fuzzy	fuzzy	ADJ
ajst-18585	153	12	pid	pid	NOUN
ajst-18585	153	13	,	,	PUNCT
ajst-18585	153	14	while	while	SCONJ
ajst-18585	153	15	ensuring	ensure	VERB
ajst-18585	153	16	response	response	NOUN
ajst-18585	153	17	speed	speed	NOUN
ajst-18585	153	18	,	,	PUNCT
ajst-18585	153	19	reduces	reduce	VERB
ajst-18585	153	20	the	the	DET
ajst-18585	153	21	overshoot	overshoot	NOUN
ajst-18585	153	22	of	of	ADP
ajst-18585	153	23	the	the	DET
ajst-18585	153	24	motor	motor	NOUN
ajst-18585	153	25	response	response	NOUN
ajst-18585	153	26	,	,	PUNCT
ajst-18585	153	27	shortens	shorten	VERB
ajst-18585	153	28	the	the	DET
ajst-18585	153	29	system	system	NOUN
ajst-18585	153	30	's	's	PART
ajst-18585	153	31	stabilization	stabilization	NOUN
ajst-18585	153	32	time	time	NOUN
ajst-18585	153	33	,	,	PUNCT
ajst-18585	153	34	and	and	CCONJ
ajst-18585	153	35	provides	provide	VERB
ajst-18585	153	36	a	a	DET
ajst-18585	153	37	smoother	smooth	ADJ
ajst-18585	153	38	output	output	NOUN
ajst-18585	153	39	response	response	NOUN
ajst-18585	153	40	curve	curve	NOUN
ajst-18585	153	41	,	,	PUNCT
ajst-18585	153	42	demonstrating	demonstrate	VERB
ajst-18585	153	43	more	more	ADV
ajst-18585	153	44	stable	stable	ADJ
ajst-18585	153	45	control	control	NOUN
ajst-18585	153	46	characteristics	characteristic	NOUN
ajst-18585	153	47	.	.	PUNCT
ajst-18585	154	1	4	4	X
ajst-18585	154	2	.	.	X
ajst-18585	154	3	conclusion	conclusion	NOUN
ajst-18585	154	4	this	this	DET
ajst-18585	154	5	paper	paper	NOUN
ajst-18585	154	6	mainly	mainly	ADV
ajst-18585	154	7	introduces	introduce	VERB
ajst-18585	154	8	the	the	DET
ajst-18585	154	9	drive	drive	NOUN
ajst-18585	154	10	and	and	CCONJ
ajst-18585	154	11	control	control	NOUN
ajst-18585	154	12	of	of	ADP
ajst-18585	154	13	a	a	DET
ajst-18585	154	14	robot	robot	NOUN
ajst-18585	154	15	omnidirectional	omnidirectional	ADJ
ajst-18585	154	16	mobile	mobile	ADJ
ajst-18585	154	17	platform	platform	NOUN
ajst-18585	154	18	.	.	PUNCT
ajst-18585	155	1	through	through	ADP
ajst-18585	155	2	the	the	DET
ajst-18585	155	3	analysis	analysis	NOUN
ajst-18585	155	4	of	of	ADP
ajst-18585	155	5	the	the	DET
ajst-18585	155	6	motor	motor	NOUN
ajst-18585	155	7	's	's	PART
ajst-18585	155	8	equivalent	equivalent	ADJ
ajst-18585	155	9	circuit	circuit	NOUN
ajst-18585	155	10	,	,	PUNCT
ajst-18585	155	11	the	the	DET
ajst-18585	155	12	system	system	NOUN
ajst-18585	155	13	transfer	transfer	NOUN
ajst-18585	155	14	function	function	NOUN
ajst-18585	155	15	of	of	ADP
ajst-18585	155	16	the	the	DET
ajst-18585	155	17	dc	dc	PROPN
ajst-18585	155	18	motor	motor	NOUN
ajst-18585	155	19	is	be	AUX
ajst-18585	155	20	derived	derive	VERB
ajst-18585	155	21	in	in	ADP
ajst-18585	155	22	detail	detail	NOUN
ajst-18585	155	23	.	.	PUNCT
ajst-18585	156	1	after	after	ADP
ajst-18585	156	2	substituting	substitute	VERB
ajst-18585	156	3	the	the	DET
ajst-18585	156	4	motor	motor	NOUN
ajst-18585	156	5	parameters	parameter	NOUN
ajst-18585	156	6	,	,	PUNCT
ajst-18585	156	7	the	the	DET
ajst-18585	156	8	mathematical	mathematical	ADJ
ajst-18585	156	9	model	model	NOUN
ajst-18585	156	10	of	of	ADP
ajst-18585	156	11	the	the	DET
ajst-18585	156	12	motor	motor	NOUN
ajst-18585	156	13	's	's	PART
ajst-18585	156	14	speed	speed	NOUN
ajst-18585	156	15	relative	relative	ADJ
ajst-18585	156	16	to	to	ADP
ajst-18585	156	17	the	the	DET
ajst-18585	156	18	armature	armature	NOUN
ajst-18585	156	19	voltage	voltage	NOUN
ajst-18585	156	20	is	be	AUX
ajst-18585	156	21	obtained	obtain	VERB
ajst-18585	156	22	,	,	PUNCT
ajst-18585	156	23	laying	lay	VERB
ajst-18585	156	24	the	the	DET
ajst-18585	156	25	groundwork	groundwork	NOUN
ajst-18585	156	26	for	for	ADP
ajst-18585	156	27	later	later	ADJ
ajst-18585	156	28	matlab	matlab	PROPN
ajst-18585	156	29	simulation	simulation	PROPN
ajst-18585	156	30	.	.	PUNCT
ajst-18585	157	1	then	then	ADV
ajst-18585	157	2	,	,	PUNCT
ajst-18585	157	3	based	base	VERB
ajst-18585	157	4	on	on	ADP
ajst-18585	157	5	the	the	DET
ajst-18585	157	6	principles	principle	NOUN
ajst-18585	157	7	of	of	ADP
ajst-18585	157	8	traditional	traditional	ADJ
ajst-18585	157	9	pid	pid	NOUN
ajst-18585	157	10	and	and	CCONJ
ajst-18585	157	11	fuzzy	fuzzy	ADJ
ajst-18585	157	12	pid	pid	NOUN
ajst-18585	157	13	,	,	PUNCT
ajst-18585	157	14	corresponding	corresponding	ADJ
ajst-18585	157	15	controllers	controller	NOUN
ajst-18585	157	16	are	be	AUX
ajst-18585	157	17	designed	design	VERB
ajst-18585	157	18	.	.	PUNCT
ajst-18585	158	1	simulations	simulation	NOUN
ajst-18585	158	2	are	be	AUX
ajst-18585	158	3	conducted	conduct	VERB
ajst-18585	158	4	using	use	VERB
ajst-18585	158	5	simulink	simulink	NOUN
ajst-18585	158	6	for	for	ADP
ajst-18585	158	7	various	various	ADJ
ajst-18585	158	8	pid	pid	NOUN
ajst-18585	158	9	controllers	controller	NOUN
ajst-18585	158	10	,	,	PUNCT
ajst-18585	158	11	and	and	CCONJ
ajst-18585	158	12	comparative	comparative	ADJ
ajst-18585	158	13	analysis	analysis	NOUN
ajst-18585	158	14	reveals	reveal	VERB
ajst-18585	158	15	that	that	SCONJ
ajst-18585	158	16	fuzzy	fuzzy	ADJ
ajst-18585	158	17	pid	pid	NOUN
ajst-18585	158	18	exhibits	exhibit	VERB
ajst-18585	158	19	superior	superior	ADJ
ajst-18585	158	20	control	control	NOUN
ajst-18585	158	21	characteristics	characteristic	NOUN
ajst-18585	158	22	compared	compare	VERB
ajst-18585	158	23	to	to	ADP
ajst-18585	158	24	traditional	traditional	ADJ
ajst-18585	158	25	pid	pid	PROPN
ajst-18585	158	26	.	.	PROPN
ajst-18585	158	27	acknowledgment	acknowledgment	NOUN
ajst-18585	158	28	this	this	DET
ajst-18585	158	29	project	project	NOUN
ajst-18585	158	30	is	be	AUX
ajst-18585	158	31	supported	support	VERB
ajst-18585	158	32	by	by	ADP
ajst-18585	158	33	the	the	DET
ajst-18585	158	34	graduate	graduate	PROPN
ajst-18585	158	35	innovative	innovative	ADJ
ajst-18585	158	36	research	research	NOUN
ajst-18585	158	37	project	project	NOUN
ajst-18585	158	38	of	of	ADP
ajst-18585	158	39	southwest	southwest	PROPN
ajst-18585	158	40	minzu	minzu	PROPN
ajst-18585	158	41	university	university	PROPN
ajst-18585	158	42	(	(	PUNCT
ajst-18585	158	43	project	project	NOUN
ajst-18585	158	44	no	no	INTJ
ajst-18585	158	45	.	.	PUNCT
ajst-18585	159	1	zy2022650	zy2022650	PROPN
ajst-18585	159	2	)	)	PUNCT
ajst-18585	159	3	.	.	PUNCT
ajst-18585	160	1	282	282	NUM
ajst-18585	160	2	references	reference	NOUN
ajst-18585	160	3	[	[	X
ajst-18585	160	4	1	1	NUM
ajst-18585	160	5	]	]	PUNCT
ajst-18585	160	6	liu	liu	PROPN
ajst-18585	160	7	t.l	t.l	PROPN
ajst-18585	160	8	.	.	PROPN
ajst-18585	160	9	,	,	PUNCT
ajst-18585	160	10	zhang	zhang	PROPN
ajst-18585	160	11	h.w	h.w	PROPN
ajst-18585	160	12	.	.	PROPN
ajst-18585	160	13	,	,	PUNCT
ajst-18585	160	14	zhao	zhao	PROPN
ajst-18585	160	15	j.h	j.h	PROPN
ajst-18585	160	16	.	.	PROPN
ajst-18585	160	17	,	,	PUNCT
ajst-18585	160	18	et	et	PROPN
ajst-18585	160	19	al	al	PROPN
ajst-18585	160	20	.	.	PUNCT
ajst-18585	161	1	"	"	PUNCT
ajst-18585	161	2	interpretation	interpretation	NOUN
ajst-18585	161	3	of	of	ADP
ajst-18585	161	4	the	the	DET
ajst-18585	161	5	guidelines	guideline	NOUN
ajst-18585	161	6	for	for	ADP
ajst-18585	161	7	the	the	DET
ajst-18585	161	8	application	application	NOUN
ajst-18585	161	9	of	of	ADP
ajst-18585	161	10	e	e	NOUN
ajst-18585	161	11	-	-	NOUN
ajst-18585	161	12	valuation	valuation	NOUN
ajst-18585	161	13	indicators	indicator	NOUN
ajst-18585	161	14	and	and	CCONJ
ajst-18585	161	15	standards	standard	NOUN
ajst-18585	161	16	system	system	NOUN
ajst-18585	161	17	for	for	ADP
ajst-18585	161	18	national	national	ADJ
ajst-18585	161	19	new	new	ADJ
ajst-18585	161	20	smart	smart	ADJ
ajst-18585	161	21	city	city	NOUN
ajst-18585	161	22	"	"	PUNCT
ajst-18585	162	1	[	[	X
ajst-18585	162	2	j	j	X
ajst-18585	162	3	]	]	X
ajst-18585	162	4	.	.	PUNCT
ajst-18585	163	1	information	information	NOUN
ajst-18585	163	2	techn	techn	VERB
ajst-18585	163	3	-	-	PUNCT
ajst-18585	163	4	ology	ology	NOUN
ajst-18585	163	5	and	and	CCONJ
ajst-18585	163	6	standardization	standardization	NOUN
ajst-18585	163	7	,	,	PUNCT
ajst-18585	163	8	2017(10):1720	2017(10):1720	NUM
ajst-18585	163	9	+	+	NOUN
ajst-18585	163	10	29	29	NUM
ajst-18585	163	11	.	.	PUNCT
ajst-18585	164	1	[	[	X
ajst-18585	164	2	2	2	X
ajst-18585	164	3	]	]	PUNCT
ajst-18585	164	4	zhai	zhai	PROPN
ajst-18585	164	5	x.s	x.s	PROPN
ajst-18585	164	6	.	.	PROPN
ajst-18585	164	7	,	,	PUNCT
ajst-18585	164	8	shi	shi	PROPN
ajst-18585	164	9	c.c	c.c	PROPN
ajst-18585	164	10	.	.	PUNCT
ajst-18585	164	11	"	"	PUNCT
ajst-18585	164	12	implementation	implementation	NOUN
ajst-18585	164	13	status	status	NOUN
ajst-18585	164	14	,	,	PUNCT
ajst-18585	164	15	challenges	challenge	NOUN
ajst-18585	164	16	,	,	PUNCT
ajst-18585	164	17	and	and	CCONJ
ajst-18585	164	18	prospects	prospect	NOUN
ajst-18585	164	19	of	of	ADP
ajst-18585	164	20	the	the	DET
ajst-18585	164	21	ten	ten	NUM
ajst-18585	164	22	-	-	PUNCT
ajst-18585	164	23	year	year	NOUN
ajst-18585	164	24	develop	develop	NOUN
ajst-18585	164	25	-	-	PUNCT
ajst-18585	164	26	ment	ment	NOUN
ajst-18585	164	27	plan	plan	NOUN
ajst-18585	164	28	for	for	ADP
ajst-18585	164	29	educational	educational	ADJ
ajst-18585	164	30	informatization	informatization	NOUN
ajst-18585	164	31	(	(	PUNCT
ajst-18585	164	32	2011	2011	NUM
ajst-18585	164	33	-	-	SYM
ajst-18585	164	34	2020	2020	NUM
ajst-18585	164	35	)	)	PUNCT
ajst-18585	164	36	"	"	PUNCT
ajst-18585	165	1	[	[	X
ajst-18585	165	2	j	j	X
ajst-18585	165	3	]	]	X
ajst-18585	165	4	.	.	PUNCT
ajst-18585	166	1	modern	modern	ADJ
ajst-18585	166	2	educational	educational	ADJ
ajst-18585	166	3	technology	technology	NOUN
ajst-18585	166	4	,	,	PUNCT
ajst-18585	166	5	2020	2020	NUM
ajst-18585	166	6	,	,	PUNCT
ajst-18585	166	7	30(12):20	30(12):20	NUM
ajst-18585	166	8	-	-	SYM
ajst-18585	166	9	27	27	NUM
ajst-18585	166	10	.	.	PUNCT
ajst-18585	167	1	[	[	X
ajst-18585	167	2	3	3	X
ajst-18585	167	3	]	]	X
ajst-18585	167	4	wu	wu	PROPN
ajst-18585	167	5	h.h	h.h	PROPN
ajst-18585	167	6	.	.	PROPN
ajst-18585	167	7	,	,	PUNCT
ajst-18585	167	8	wang	wang	PROPN
ajst-18585	167	9	b.	b.	PROPN
ajst-18585	168	1	"	"	PUNCT
ajst-18585	168	2	basic	basic	ADJ
ajst-18585	168	3	statistical	statistical	ADJ
ajst-18585	168	4	data	datum	NOUN
ajst-18585	168	5	report	report	NOUN
ajst-18585	168	6	on	on	ADP
ajst-18585	168	7	chinese	chinese	ADJ
ajst-18585	168	8	university	university	NOUN
ajst-18585	168	9	libraries	library	NOUN
ajst-18585	168	10	in	in	ADP
ajst-18585	168	11	2020	2020	NUM
ajst-18585	168	12	"	"	PUNCT
ajst-18585	169	1	[	[	X
ajst-18585	169	2	j	j	X
ajst-18585	169	3	]	]	X
ajst-18585	169	4	.	.	PUNCT
ajst-18585	170	1	j	j	PROPN
ajst-18585	170	2	-	-	NOUN
ajst-18585	170	3	ournal	ournal	NOUN
ajst-18585	170	4	of	of	ADP
ajst-18585	170	5	university	university	NOUN
ajst-18585	170	6	libraries	library	NOUN
ajst-18585	170	7	,	,	PUNCT
ajst-18585	170	8	2021	2021	NUM
ajst-18585	170	9	,	,	PUNCT
ajst-18585	170	10	39(04):5	39(04):5	NOUN
ajst-18585	170	11	-	-	SYM
ajst-18585	170	12	11	11	NUM
ajst-18585	170	13	.	.	PUNCT
ajst-18585	171	1	[	[	X
ajst-18585	171	2	4	4	NUM
ajst-18585	171	3	]	]	X
ajst-18585	171	4	chinese	chinese	PROPN
ajst-18585	171	5	library	library	PROPN
ajst-18585	171	6	association	association	PROPN
ajst-18585	171	7	,	,	PUNCT
ajst-18585	171	8	national	national	PROPN
ajst-18585	171	9	library	library	NOUN
ajst-18585	171	10	of	of	ADP
ajst-18585	171	11	china	china	PROPN
ajst-18585	171	12	.	.	PUNCT
ajst-18585	172	1	"	"	PUNCT
ajst-18585	172	2	china	china	PROPN
ajst-18585	172	3	library	library	PROPN
ajst-18585	172	4	yearbook	yearbook	VERB
ajst-18585	172	5	2020	2020	NUM
ajst-18585	172	6	"	"	PUNCT
ajst-18585	173	1	[	[	X
ajst-18585	173	2	m	m	X
ajst-18585	173	3	]	]	X
ajst-18585	173	4	.	.	PUNCT
ajst-18585	174	1	b	b	X
ajst-18585	174	2	-	-	PUNCT
ajst-18585	174	3	eijing	eije	VERB
ajst-18585	174	4	:	:	PUNCT
ajst-18585	174	5	national	national	PROPN
ajst-18585	174	6	library	library	PROPN
ajst-18585	174	7	press	press	NOUN
ajst-18585	174	8	,	,	PUNCT
ajst-18585	174	9	2021:45	2021:45	ADV
ajst-18585	174	10	.	.	PUNCT
ajst-18585	175	1	[	[	X
ajst-18585	175	2	5	5	X
ajst-18585	175	3	]	]	X
ajst-18585	175	4	liu	liu	PROPN
ajst-18585	175	5	s.	s.	PROPN
ajst-18585	175	6	et	et	PROPN
ajst-18585	175	7	al	al	PROPN
ajst-18585	175	8	.	.	PUNCT
ajst-18585	176	1	"	"	PUNCT
ajst-18585	176	2	modern	modern	ADJ
ajst-18585	176	3	servo	servo	NOUN
ajst-18585	176	4	system	system	NOUN
ajst-18585	176	5	design	design	NOUN
ajst-18585	176	6	"	"	PUNCT
ajst-18585	176	7	[	[	X
ajst-18585	176	8	m	m	X
ajst-18585	176	9	]	]	X
ajst-18585	176	10	.	.	PUNCT
ajst-18585	177	1	harbin	harbin	PROPN
ajst-18585	177	2	:	:	PUNCT
ajst-18585	177	3	harbin	harbin	PROPN
ajst-18585	177	4	engineering	engineering	PROPN
ajst-18585	177	5	university	university	PROPN
ajst-18585	177	6	press	press	NOUN
ajst-18585	177	7	,	,	PUNCT
ajst-18585	177	8	2001:357	2001:357	NUM
ajst-18585	177	9	.	.	PUNCT
ajst-18585	178	1	[	[	X
ajst-18585	178	2	6	6	NUM
ajst-18585	178	3	]	]	PUNCT
ajst-18585	178	4	zhang	zhang	PROPN
ajst-18585	178	5	l.s	l.s	PROPN
ajst-18585	178	6	.	.	PROPN
ajst-18585	178	7	,	,	PUNCT
ajst-18585	178	8	hu	hu	PROPN
ajst-18585	179	1	y.d	y.d	PROPN
ajst-18585	179	2	.	.	PROPN
ajst-18585	179	3	,	,	PUNCT
ajst-18585	179	4	xu	xu	PROPN
ajst-18585	180	1	l.x	l.x	PROPN
ajst-18585	180	2	.	.	PROPN
ajst-18585	180	3	,	,	PUNCT
ajst-18585	180	4	eds	eds	PROPN
ajst-18585	180	5	.	.	PUNCT
ajst-18585	181	1	"	"	PUNCT
ajst-18585	181	2	principles	principle	NOUN
ajst-18585	181	3	and	and	CCONJ
ajst-18585	181	4	design	design	NOUN
ajst-18585	181	5	of	of	ADP
ajst-18585	181	6	servo	servo	NOUN
ajst-18585	181	7	systems	system	NOUN
ajst-18585	181	8	,	,	PUNCT
ajst-18585	181	9	3rd	3rd	ADJ
ajst-18585	181	10	edition	edition	NOUN
ajst-18585	181	11	"	"	PUNCT
ajst-18585	182	1	[	[	X
ajst-18585	182	2	m	m	X
ajst-18585	182	3	]	]	X
ajst-18585	182	4	.	.	PUNCT
ajst-18585	183	1	beijing	beijing	PROPN
ajst-18585	183	2	:	:	PUNCT
ajst-18585	183	3	beijing	beijing	PROPN
ajst-18585	183	4	institute	institute	PROPN
ajst-18585	183	5	of	of	ADP
ajst-18585	183	6	technology	technology	PROPN
ajst-18585	183	7	press	press	NOUN
ajst-18585	183	8	,	,	PUNCT
ajst-18585	183	9	2006:230	2006:230	INTJ
ajst-18585	183	10	.	.	PUNCT
ajst-18585	184	1	[	[	X
ajst-18585	184	2	7	7	X
ajst-18585	184	3	]	]	X
ajst-18585	184	4	liu	liu	PROPN
ajst-18585	184	5	y.	y.	PROPN
ajst-18585	184	6	,	,	PUNCT
ajst-18585	184	7	xia	xia	PROPN
ajst-18585	184	8	r.q	r.q	PROPN
ajst-18585	184	9	.	.	PROPN
ajst-18585	184	10	,	,	PUNCT
ajst-18585	184	11	lu	lu	PROPN
ajst-18585	184	12	y.	y.	NOUN
ajst-18585	184	13	"	"	PUNCT
ajst-18585	184	14	research	research	NOUN
ajst-18585	184	15	on	on	ADP
ajst-18585	184	16	composite	composite	ADJ
ajst-18585	184	17	pid	pid	NOUN
ajst-18585	184	18	controller	controller	NOUN
ajst-18585	184	19	applied	apply	VERB
ajst-18585	184	20	to	to	ADP
ajst-18585	184	21	precision	precision	NOUN
ajst-18585	184	22	beam	beam	NOUN
ajst-18585	184	23	poin	poin	NOUN
ajst-18585	184	24	-	-	PUNCT
ajst-18585	184	25	ting	ting	NOUN
ajst-18585	184	26	system	system	NOUN
ajst-18585	184	27	"	"	PUNCT
ajst-18585	185	1	[	[	X
ajst-18585	185	2	j	j	X
ajst-18585	185	3	]	]	X
ajst-18585	185	4	.	.	PUNCT
ajst-18585	186	1	laser	laser	NOUN
ajst-18585	186	2	technology	technology	PROPN
ajst-18585	186	3	,	,	PUNCT
ajst-18585	186	4	2018,42(06):868	2018,42(06):868	PROPN
ajst-18585	186	5	-	-	PUNCT
ajst-18585	186	6	872	872	NUM
ajst-18585	186	7	.	.	PUNCT
ajst-18585	187	1	[	[	X
ajst-18585	187	2	8	8	NUM
ajst-18585	187	3	]	]	X
ajst-18585	187	4	zhang	zhang	PROPN
ajst-18585	187	5	z.d	z.d	PROPN
ajst-18585	187	6	.	.	PROPN
ajst-18585	187	7	,	,	PUNCT
ajst-18585	187	8	xu	xu	PROPN
ajst-18585	188	1	x.l	x.l	PROPN
ajst-18585	188	2	.	.	PROPN
ajst-18585	188	3	,	,	PUNCT
ajst-18585	188	4	yang	yang	PROPN
ajst-18585	188	5	y.	y.	PROPN
ajst-18585	188	6	,	,	PUNCT
ajst-18585	188	7	et	et	PROPN
ajst-18585	188	8	al	al	PROPN
ajst-18585	188	9	.	.	PUNCT
ajst-18585	189	1	"	"	PUNCT
ajst-18585	189	2	design	design	NOUN
ajst-18585	189	3	of	of	ADP
ajst-18585	189	4	hydraulic	hydraulic	ADJ
ajst-18585	189	5	cylinder	cylinder	NOUN
ajst-18585	189	6	test	test	NOUN
ajst-18585	189	7	bench	bench	NOUN
ajst-18585	189	8	loading	loading	NOUN
ajst-18585	189	9	system	system	NOUN
ajst-18585	189	10	based	base	VERB
ajst-18585	189	11	on	on	ADP
ajst-18585	189	12	fuzzy	fuzzy	ADJ
ajst-18585	189	13	pid	pid	NOUN
ajst-18585	189	14	control	control	NOUN
ajst-18585	189	15	strategy	strategy	NOUN
ajst-18585	189	16	"	"	PUNCT
ajst-18585	190	1	[	[	X
ajst-18585	190	2	j	j	X
ajst-18585	190	3	]	]	X
ajst-18585	190	4	.	.	PUNCT
ajst-18585	191	1	journal	journal	PROPN
ajst-18585	191	2	of	of	ADP
ajst-18585	191	3	nanjing	nanjing	PROPN
ajst-18585	191	4	university	university	PROPN
ajst-18585	191	5	of	of	ADP
ajst-18585	191	6	science	science	NOUN
ajst-18585	191	7	and	and	CCONJ
ajst-18585	191	8	technology	technology	NOUN
ajst-18585	191	9	,	,	PUNCT
ajst-18585	191	10	2019,43(01):78	2019,43(01):78	NOUN
ajst-18585	191	11	-	-	SYM
ajst-18585	191	12	85	85	NUM
ajst-18585	191	13	.	.	PUNCT
ajst-18585	192	1	[	[	X
ajst-18585	192	2	9	9	NUM
ajst-18585	192	3	]	]	X
ajst-18585	192	4	lu	lu	PROPN
ajst-18585	192	5	g.m	g.m	PROPN
ajst-18585	192	6	.	.	PUNCT
ajst-18585	193	1	"	"	PUNCT
ajst-18585	193	2	research	research	NOUN
ajst-18585	193	3	on	on	ADP
ajst-18585	193	4	temperature	temperature	NOUN
ajst-18585	193	5	control	control	NOUN
ajst-18585	193	6	system	system	NOUN
ajst-18585	193	7	of	of	ADP
ajst-18585	193	8	electric	electric	ADJ
ajst-18585	193	9	boiler	boiler	NOUN
ajst-18585	193	10	based	base	VERB
ajst-18585	193	11	on	on	ADP
ajst-18585	193	12	fuzzy	fuzzy	ADJ
ajst-18585	193	13	pid	pid	NOUN
ajst-18585	193	14	cont	cont	NOUN
ajst-18585	193	15	-	-	PUNCT
ajst-18585	193	16	rol	rol	NOUN
ajst-18585	193	17	"	"	PUNCT
ajst-18585	194	1	[	[	X
ajst-18585	194	2	d	d	X
ajst-18585	194	3	]	]	X
ajst-18585	194	4	.	.	PUNCT
ajst-18585	195	1	harbin	harbin	PROPN
ajst-18585	195	2	university	university	PROPN
ajst-18585	195	3	of	of	ADP
ajst-18585	195	4	science	science	NOUN
ajst-18585	195	5	and	and	CCONJ
ajst-18585	195	6	technology	technology	NOUN
ajst-18585	195	7	,	,	PUNCT
ajst-18585	195	8	2008	2008	NUM
ajst-18585	195	9	.	.	PUNCT