id	sid	tid	token	lemma	pos
ajst-29853	1	1	academic	academic	ADJ
ajst-29853	1	2	journal	journal	NOUN
ajst-29853	1	3	of	of	ADP
ajst-29853	1	4	science	science	NOUN
ajst-29853	1	5	and	and	CCONJ
ajst-29853	1	6	technology	technology	NOUN
ajst-29853	1	7	issn	issn	NOUN
ajst-29853	1	8	:	:	PUNCT
ajst-29853	1	9	2771	2771	NUM
ajst-29853	1	10	-	-	SYM
ajst-29853	1	11	3032	3032	NUM
ajst-29853	1	12	|	|	NOUN
ajst-29853	1	13	vol	vol	NOUN
ajst-29853	1	14	.	.	PUNCT
ajst-29853	2	1	14	14	NUM
ajst-29853	2	2	,	,	PUNCT
ajst-29853	2	3	no	no	INTJ
ajst-29853	2	4	.	.	NOUN
ajst-29853	2	5	2	2	NUM
ajst-29853	2	6	,	,	PUNCT
ajst-29853	2	7	2025	2025	NUM
ajst-29853	2	8	34	34	NUM
ajst-29853	2	9	finite‐time	finite‐time	NOUN
ajst-29853	2	10	control	control	NOUN
ajst-29853	2	11	design	design	NOUN
ajst-29853	2	12	of	of	ADP
ajst-29853	2	13	flexible	flexible	ADJ
ajst-29853	2	14	risers	riser	NOUN
ajst-29853	2	15	with	with	ADP
ajst-29853	2	16	input	input	NOUN
ajst-29853	2	17	saturation	saturation	NOUN
ajst-29853	2	18	constraints	constraint	NOUN
ajst-29853	2	19	min	min	PROPN
ajst-29853	2	20	wan	wan	PROPN
ajst-29853	2	21	,	,	PUNCT
ajst-29853	2	22	guangyang	guangyang	PROPN
ajst-29853	2	23	zhou	zhou	PROPN
ajst-29853	2	24	school	school	PROPN
ajst-29853	2	25	of	of	ADP
ajst-29853	2	26	mechatronic	mechatronic	ADJ
ajst-29853	2	27	engineering	engineering	NOUN
ajst-29853	2	28	,	,	PUNCT
ajst-29853	2	29	southwest	southwest	ADJ
ajst-29853	2	30	petroleum	petroleum	PROPN
ajst-29853	2	31	university	university	PROPN
ajst-29853	2	32	,	,	PUNCT
ajst-29853	2	33	chengdu	chengdu	PROPN
ajst-29853	2	34	610500	610500	NUM
ajst-29853	2	35	,	,	PUNCT
ajst-29853	2	36	china	china	PROPN
ajst-29853	2	37	abstract	abstract	NOUN
ajst-29853	2	38	:	:	PUNCT
ajst-29853	2	39	to	to	PART
ajst-29853	2	40	control	control	VERB
ajst-29853	2	41	the	the	DET
ajst-29853	2	42	vibration	vibration	NOUN
ajst-29853	2	43	of	of	ADP
ajst-29853	2	44	flexible	flexible	ADJ
ajst-29853	2	45	riser	riser	NOUN
ajst-29853	2	46	systems	system	NOUN
ajst-29853	2	47	affected	affect	VERB
ajst-29853	2	48	by	by	ADP
ajst-29853	2	49	uncertain	uncertain	ADJ
ajst-29853	2	50	perturbation	perturbation	NOUN
ajst-29853	2	51	,	,	PUNCT
ajst-29853	2	52	this	this	DET
ajst-29853	2	53	paper	paper	NOUN
ajst-29853	2	54	utilizes	utilize	VERB
ajst-29853	2	55	the	the	DET
ajst-29853	2	56	transverse	transverse	ADJ
ajst-29853	2	57	vibration	vibration	NOUN
ajst-29853	2	58	control	control	NOUN
ajst-29853	2	59	equations	equation	NOUN
ajst-29853	2	60	of	of	ADP
ajst-29853	2	61	marine	marine	ADJ
ajst-29853	2	62	flexible	flexible	ADJ
ajst-29853	2	63	risers	riser	NOUN
ajst-29853	2	64	established	establish	VERB
ajst-29853	2	65	based	base	VERB
ajst-29853	2	66	on	on	ADP
ajst-29853	2	67	hamiton	hamiton	PROPN
ajst-29853	2	68	's	's	PART
ajst-29853	2	69	principle	principle	NOUN
ajst-29853	2	70	and	and	CCONJ
ajst-29853	2	71	conducts	conduct	VERB
ajst-29853	2	72	a	a	DET
ajst-29853	2	73	controlled	control	VERB
ajst-29853	2	74	study	study	NOUN
ajst-29853	2	75	by	by	ADP
ajst-29853	2	76	combining	combine	VERB
ajst-29853	2	77	the	the	DET
ajst-29853	2	78	problems	problem	NOUN
ajst-29853	2	79	of	of	ADP
ajst-29853	2	80	input	input	NOUN
ajst-29853	2	81	saturation	saturation	NOUN
ajst-29853	2	82	and	and	CCONJ
ajst-29853	2	83	output	output	NOUN
ajst-29853	2	84	limitation	limitation	NOUN
ajst-29853	2	85	that	that	PRON
ajst-29853	2	86	exists	exist	VERB
ajst-29853	2	87	in	in	ADP
ajst-29853	2	88	the	the	DET
ajst-29853	2	89	practical	practical	ADJ
ajst-29853	2	90	engineering	engineering	NOUN
ajst-29853	2	91	applications	application	NOUN
ajst-29853	2	92	.	.	PUNCT
ajst-29853	3	1	a	a	DET
ajst-29853	3	2	finite	finite	ADJ
ajst-29853	3	3	time	time	NOUN
ajst-29853	3	4	control	control	NOUN
ajst-29853	3	5	algorithm	algorithm	NOUN
ajst-29853	3	6	for	for	ADP
ajst-29853	3	7	flexible	flexible	ADJ
ajst-29853	3	8	risers	riser	NOUN
ajst-29853	3	9	with	with	ADP
ajst-29853	3	10	input	input	NOUN
ajst-29853	3	11	saturation	saturation	NOUN
ajst-29853	3	12	constraints	constraint	NOUN
ajst-29853	3	13	and	and	CCONJ
ajst-29853	3	14	output	output	NOUN
ajst-29853	3	15	constraints	constraint	NOUN
ajst-29853	3	16	is	be	AUX
ajst-29853	3	17	proposed	propose	VERB
ajst-29853	3	18	.	.	PUNCT
ajst-29853	4	1	the	the	DET
ajst-29853	4	2	barrier	barrier	NOUN
ajst-29853	4	3	lyapunov	lyapunov	NOUN
ajst-29853	4	4	function	function	NOUN
ajst-29853	4	5	is	be	AUX
ajst-29853	4	6	used	use	VERB
ajst-29853	4	7	to	to	PART
ajst-29853	4	8	limit	limit	VERB
ajst-29853	4	9	the	the	DET
ajst-29853	4	10	end	end	NOUN
ajst-29853	4	11	of	of	ADP
ajst-29853	4	12	the	the	DET
ajst-29853	4	13	flexible	flexible	ADJ
ajst-29853	4	14	riser	riser	NOUN
ajst-29853	4	15	to	to	ADP
ajst-29853	4	16	a	a	DET
ajst-29853	4	17	given	give	VERB
ajst-29853	4	18	range	range	NOUN
ajst-29853	4	19	,	,	PUNCT
ajst-29853	4	20	and	and	CCONJ
ajst-29853	4	21	the	the	DET
ajst-29853	4	22	hyperbolic	hyperbolic	ADJ
ajst-29853	4	23	tangent	tangent	NOUN
ajst-29853	4	24	function	function	NOUN
ajst-29853	4	25	is	be	AUX
ajst-29853	4	26	introduced	introduce	VERB
ajst-29853	4	27	to	to	PART
ajst-29853	4	28	deal	deal	VERB
ajst-29853	4	29	with	with	ADP
ajst-29853	4	30	the	the	DET
ajst-29853	4	31	saturation	saturation	NOUN
ajst-29853	4	32	nonlinearity	nonlinearity	NOUN
ajst-29853	4	33	.	.	PUNCT
ajst-29853	5	1	the	the	DET
ajst-29853	5	2	stability	stability	NOUN
ajst-29853	5	3	of	of	ADP
ajst-29853	5	4	the	the	DET
ajst-29853	5	5	system	system	NOUN
ajst-29853	5	6	is	be	AUX
ajst-29853	5	7	proved	prove	VERB
ajst-29853	5	8	using	use	VERB
ajst-29853	5	9	the	the	DET
ajst-29853	5	10	lyapunov	lyapunov	ADJ
ajst-29853	5	11	stability	stability	NOUN
ajst-29853	5	12	theory	theory	NOUN
ajst-29853	5	13	.	.	PUNCT
ajst-29853	6	1	finally	finally	ADV
ajst-29853	6	2	,	,	PUNCT
ajst-29853	6	3	the	the	DET
ajst-29853	6	4	superiority	superiority	NOUN
ajst-29853	6	5	of	of	ADP
ajst-29853	6	6	the	the	DET
ajst-29853	6	7	control	control	NOUN
ajst-29853	6	8	algorithm	algorithm	NOUN
ajst-29853	6	9	proposed	propose	VERB
ajst-29853	6	10	in	in	ADP
ajst-29853	6	11	this	this	DET
ajst-29853	6	12	paper	paper	NOUN
ajst-29853	6	13	is	be	AUX
ajst-29853	6	14	illustrated	illustrate	VERB
ajst-29853	6	15	with	with	ADP
ajst-29853	6	16	simulation	simulation	NOUN
ajst-29853	6	17	examples	example	NOUN
ajst-29853	6	18	.	.	PUNCT
ajst-29853	7	1	keywords	keyword	NOUN
ajst-29853	7	2	:	:	PUNCT
ajst-29853	7	3	marine	marine	ADJ
ajst-29853	7	4	flexible	flexible	ADJ
ajst-29853	7	5	risers	riser	NOUN
ajst-29853	7	6	;	;	PUNCT
ajst-29853	7	7	finite	finite	PROPN
ajst-29853	7	8	time	time	NOUN
ajst-29853	7	9	control	control	PROPN
ajst-29853	7	10	;	;	PUNCT
ajst-29853	7	11	output	output	NOUN
ajst-29853	7	12	constraints	constraint	NOUN
ajst-29853	7	13	;	;	PUNCT
ajst-29853	7	14	vibration	vibration	NOUN
ajst-29853	7	15	control	control	NOUN
ajst-29853	7	16	;	;	PUNCT
ajst-29853	7	17	input	input	NOUN
ajst-29853	7	18	saturation	saturation	NOUN
ajst-29853	7	19	constraints	constraint	NOUN
ajst-29853	7	20	.	.	PUNCT
ajst-29853	8	1	1	1	X
ajst-29853	8	2	.	.	X
ajst-29853	8	3	introduction	introduction	NOUN
ajst-29853	8	4	nowadays	nowadays	ADV
ajst-29853	8	5	,	,	PUNCT
ajst-29853	8	6	people	people	NOUN
ajst-29853	8	7	's	's	PART
ajst-29853	8	8	demand	demand	NOUN
ajst-29853	8	9	for	for	ADP
ajst-29853	8	10	energy	energy	NOUN
ajst-29853	8	11	continues	continue	VERB
ajst-29853	8	12	to	to	PART
ajst-29853	8	13	grow	grow	VERB
ajst-29853	8	14	,	,	PUNCT
ajst-29853	8	15	however	however	ADV
ajst-29853	8	16	,	,	PUNCT
ajst-29853	8	17	inland	inland	ADJ
ajst-29853	8	18	oil	oil	NOUN
ajst-29853	8	19	and	and	CCONJ
ajst-29853	8	20	gas	gas	NOUN
ajst-29853	8	21	field	field	NOUN
ajst-29853	8	22	resources	resource	NOUN
ajst-29853	8	23	are	be	AUX
ajst-29853	8	24	increasingly	increasingly	ADV
ajst-29853	8	25	depleted	deplete	VERB
ajst-29853	8	26	,	,	PUNCT
ajst-29853	8	27	the	the	DET
ajst-29853	8	28	difficulty	difficulty	NOUN
ajst-29853	8	29	of	of	ADP
ajst-29853	8	30	exploration	exploration	NOUN
ajst-29853	8	31	is	be	AUX
ajst-29853	8	32	gradually	gradually	ADV
ajst-29853	8	33	increasing	increase	VERB
ajst-29853	8	34	,	,	PUNCT
ajst-29853	8	35	and	and	CCONJ
ajst-29853	8	36	the	the	DET
ajst-29853	8	37	rational	rational	ADJ
ajst-29853	8	38	development	development	NOUN
ajst-29853	8	39	of	of	ADP
ajst-29853	8	40	marine	marine	ADJ
ajst-29853	8	41	oil	oil	NOUN
ajst-29853	8	42	and	and	CCONJ
ajst-29853	8	43	gas	gas	NOUN
ajst-29853	8	44	resources	resource	NOUN
ajst-29853	8	45	has	have	AUX
ajst-29853	8	46	become	become	VERB
ajst-29853	8	47	a	a	DET
ajst-29853	8	48	consensus	consensus	NOUN
ajst-29853	8	49	of	of	ADP
ajst-29853	8	50	the	the	DET
ajst-29853	8	51	world	world	NOUN
ajst-29853	8	52	.	.	PUNCT
ajst-29853	9	1	flexible	flexible	ADJ
ajst-29853	9	2	riser	riser	NOUN
ajst-29853	9	3	is	be	AUX
ajst-29853	9	4	an	an	DET
ajst-29853	9	5	important	important	ADJ
ajst-29853	9	6	part	part	NOUN
ajst-29853	9	7	of	of	ADP
ajst-29853	9	8	the	the	DET
ajst-29853	9	9	marine	marine	ADJ
ajst-29853	9	10	oil	oil	NOUN
ajst-29853	9	11	and	and	CCONJ
ajst-29853	9	12	gas	gas	NOUN
ajst-29853	9	13	extraction	extraction	NOUN
ajst-29853	9	14	and	and	CCONJ
ajst-29853	9	15	transportation	transportation	NOUN
ajst-29853	9	16	system	system	NOUN
ajst-29853	9	17	,	,	PUNCT
ajst-29853	9	18	due	due	ADP
ajst-29853	9	19	to	to	ADP
ajst-29853	9	20	the	the	DET
ajst-29853	9	21	complexity	complexity	NOUN
ajst-29853	9	22	of	of	ADP
ajst-29853	9	23	the	the	DET
ajst-29853	9	24	marine	marine	PROPN
ajst-29853	9	25	environment	environment	NOUN
ajst-29853	9	26	,	,	PUNCT
ajst-29853	9	27	the	the	DET
ajst-29853	9	28	marine	marine	ADJ
ajst-29853	9	29	flexible	flexible	ADJ
ajst-29853	9	30	riser	riser	NOUN
ajst-29853	9	31	in	in	ADP
ajst-29853	9	32	the	the	DET
ajst-29853	9	33	extraction	extraction	NOUN
ajst-29853	9	34	process	process	NOUN
ajst-29853	9	35	is	be	AUX
ajst-29853	9	36	very	very	ADV
ajst-29853	9	37	susceptible	susceptible	ADJ
ajst-29853	9	38	to	to	ADP
ajst-29853	9	39	the	the	DET
ajst-29853	9	40	role	role	NOUN
ajst-29853	9	41	of	of	ADP
ajst-29853	9	42	the	the	DET
ajst-29853	9	43	disturbance	disturbance	NOUN
ajst-29853	9	44	load	load	NOUN
ajst-29853	9	45	and	and	CCONJ
ajst-29853	9	46	thus	thus	ADV
ajst-29853	9	47	mechanical	mechanical	ADJ
ajst-29853	9	48	vibration	vibration	NOUN
ajst-29853	9	49	phenomenon	phenomenon	NOUN
ajst-29853	9	50	.	.	PUNCT
ajst-29853	10	1	moreover	moreover	ADV
ajst-29853	10	2	,	,	PUNCT
ajst-29853	10	3	flexible	flexible	ADJ
ajst-29853	10	4	risers	riser	NOUN
ajst-29853	10	5	often	often	ADV
ajst-29853	10	6	need	need	VERB
ajst-29853	10	7	to	to	PART
ajst-29853	10	8	bear	bear	VERB
ajst-29853	10	9	the	the	DET
ajst-29853	10	10	influence	influence	NOUN
ajst-29853	10	11	of	of	ADP
ajst-29853	10	12	self	self	NOUN
ajst-29853	10	13	-	-	PUNCT
ajst-29853	10	14	weight	weight	NOUN
ajst-29853	10	15	,	,	PUNCT
ajst-29853	10	16	floating	float	VERB
ajst-29853	10	17	body	body	NOUN
ajst-29853	10	18	movement	movement	NOUN
ajst-29853	10	19	,	,	PUNCT
ajst-29853	10	20	and	and	CCONJ
ajst-29853	10	21	ocean	ocean	NOUN
ajst-29853	10	22	power	power	NOUN
ajst-29853	10	23	environment	environment	NOUN
ajst-29853	10	24	factors	factor	NOUN
ajst-29853	10	25	for	for	ADP
ajst-29853	10	26	a	a	DET
ajst-29853	10	27	long	long	ADJ
ajst-29853	10	28	time	time	NOUN
ajst-29853	10	29	during	during	ADP
ajst-29853	10	30	the	the	DET
ajst-29853	10	31	operation	operation	NOUN
ajst-29853	10	32	process	process	NOUN
ajst-29853	10	33	.	.	PUNCT
ajst-29853	11	1	(	(	PUNCT
ajst-29853	11	2	ng	ng	PROPN
ajst-29853	11	3	et	et	PROPN
ajst-29853	11	4	al	al	PROPN
ajst-29853	11	5	.	.	PROPN
ajst-29853	11	6	,	,	PUNCT
ajst-29853	11	7	2024	2024	NUM
ajst-29853	11	8	)	)	PUNCT
ajst-29853	11	9	,	,	PUNCT
ajst-29853	11	10	it	it	PRON
ajst-29853	11	11	will	will	AUX
ajst-29853	11	12	be	be	AUX
ajst-29853	11	13	subjected	subject	VERB
ajst-29853	11	14	to	to	ADP
ajst-29853	11	15	relatively	relatively	ADV
ajst-29853	11	16	large	large	ADJ
ajst-29853	11	17	tensile	tensile	NOUN
ajst-29853	11	18	force	force	NOUN
ajst-29853	11	19	and	and	CCONJ
ajst-29853	11	20	lateral	lateral	ADJ
ajst-29853	11	21	cyclic	cyclic	ADJ
ajst-29853	11	22	reciprocating	reciprocating	NOUN
ajst-29853	11	23	bending	bend	VERB
ajst-29853	11	24	action	action	NOUN
ajst-29853	11	25	.	.	PUNCT
ajst-29853	12	1	the	the	DET
ajst-29853	12	2	fatigue	fatigue	NOUN
ajst-29853	12	3	failure	failure	NOUN
ajst-29853	12	4	of	of	ADP
ajst-29853	12	5	offshore	offshore	ADJ
ajst-29853	12	6	flexible	flexible	ADJ
ajst-29853	12	7	risers	riser	NOUN
ajst-29853	12	8	under	under	ADP
ajst-29853	12	9	this	this	DET
ajst-29853	12	10	working	work	VERB
ajst-29853	12	11	environment	environment	NOUN
ajst-29853	12	12	will	will	AUX
ajst-29853	12	13	not	not	PART
ajst-29853	12	14	only	only	ADV
ajst-29853	12	15	affect	affect	VERB
ajst-29853	12	16	the	the	DET
ajst-29853	12	17	efficiency	efficiency	NOUN
ajst-29853	12	18	and	and	CCONJ
ajst-29853	12	19	performance	performance	NOUN
ajst-29853	12	20	of	of	ADP
ajst-29853	12	21	the	the	DET
ajst-29853	12	22	offshore	offshore	ADJ
ajst-29853	12	23	oil	oil	NOUN
ajst-29853	12	24	and	and	CCONJ
ajst-29853	12	25	gas	gas	NOUN
ajst-29853	12	26	extraction	extraction	NOUN
ajst-29853	12	27	system	system	NOUN
ajst-29853	12	28	and	and	CCONJ
ajst-29853	12	29	reduce	reduce	VERB
ajst-29853	12	30	the	the	DET
ajst-29853	12	31	production	production	NOUN
ajst-29853	12	32	life	life	NOUN
ajst-29853	12	33	but	but	CCONJ
ajst-29853	12	34	also	also	ADV
ajst-29853	12	35	may	may	AUX
ajst-29853	12	36	cause	cause	VERB
ajst-29853	12	37	serious	serious	ADJ
ajst-29853	12	38	safety	safety	NOUN
ajst-29853	12	39	accidents	accident	NOUN
ajst-29853	12	40	.	.	PUNCT
ajst-29853	13	1	therefore	therefore	ADV
ajst-29853	13	2	,	,	PUNCT
ajst-29853	13	3	it	it	PRON
ajst-29853	13	4	is	be	AUX
ajst-29853	13	5	necessary	necessary	ADJ
ajst-29853	13	6	to	to	PART
ajst-29853	13	7	research	research	VERB
ajst-29853	13	8	the	the	DET
ajst-29853	13	9	vibration	vibration	NOUN
ajst-29853	13	10	suppression	suppression	NOUN
ajst-29853	13	11	of	of	ADP
ajst-29853	13	12	marine	marine	ADJ
ajst-29853	13	13	flexible	flexible	ADJ
ajst-29853	13	14	risers	riser	NOUN
ajst-29853	13	15	.	.	PUNCT
ajst-29853	14	1	the	the	DET
ajst-29853	14	2	control	control	NOUN
ajst-29853	14	3	strategy	strategy	NOUN
ajst-29853	14	4	of	of	ADP
ajst-29853	14	5	marine	marine	ADJ
ajst-29853	14	6	flexible	flexible	ADJ
ajst-29853	14	7	risers	riser	NOUN
ajst-29853	14	8	mainly	mainly	ADV
ajst-29853	14	9	includes	include	VERB
ajst-29853	14	10	passive	passive	ADJ
ajst-29853	14	11	control	control	NOUN
ajst-29853	14	12	and	and	CCONJ
ajst-29853	14	13	active	active	ADJ
ajst-29853	14	14	control	control	NOUN
ajst-29853	14	15	.	.	PUNCT
ajst-29853	15	1	passive	passive	ADJ
ajst-29853	15	2	control	control	NOUN
ajst-29853	15	3	is	be	AUX
ajst-29853	15	4	mainly	mainly	ADV
ajst-29853	15	5	achieved	achieve	VERB
ajst-29853	15	6	by	by	ADP
ajst-29853	15	7	improving	improve	VERB
ajst-29853	15	8	the	the	DET
ajst-29853	15	9	linear	linear	ADJ
ajst-29853	15	10	design	design	NOUN
ajst-29853	15	11	of	of	ADP
ajst-29853	15	12	the	the	DET
ajst-29853	15	13	riser	riser	NOUN
ajst-29853	15	14	,	,	PUNCT
ajst-29853	15	15	structural	structural	ADJ
ajst-29853	15	16	stiffness	stiffness	NOUN
ajst-29853	15	17	,	,	PUNCT
ajst-29853	15	18	internal	internal	ADJ
ajst-29853	15	19	fluid	fluid	ADJ
ajst-29853	15	20	velocity	velocity	NOUN
ajst-29853	15	21	,	,	PUNCT
ajst-29853	15	22	top	top	ADJ
ajst-29853	15	23	tension	tension	NOUN
ajst-29853	15	24	,	,	PUNCT
ajst-29853	15	25	and	and	CCONJ
ajst-29853	15	26	structural	structural	ADJ
ajst-29853	15	27	damping	damping	NOUN
ajst-29853	15	28	,	,	PUNCT
ajst-29853	15	29	and	and	CCONJ
ajst-29853	15	30	improving	improve	VERB
ajst-29853	15	31	the	the	DET
ajst-29853	15	32	overall	overall	ADJ
ajst-29853	15	33	structure	structure	NOUN
ajst-29853	15	34	of	of	ADP
ajst-29853	15	35	the	the	DET
ajst-29853	15	36	extraction	extraction	NOUN
ajst-29853	15	37	and	and	CCONJ
ajst-29853	15	38	transportation	transportation	NOUN
ajst-29853	15	39	system	system	NOUN
ajst-29853	15	40	to	to	PART
ajst-29853	15	41	achieve	achieve	VERB
ajst-29853	15	42	the	the	DET
ajst-29853	15	43	purpose	purpose	NOUN
ajst-29853	15	44	of	of	ADP
ajst-29853	15	45	vibration	vibration	NOUN
ajst-29853	15	46	suppression	suppression	NOUN
ajst-29853	15	47	.	.	PUNCT
ajst-29853	16	1	the	the	DET
ajst-29853	16	2	research	research	NOUN
ajst-29853	16	3	on	on	ADP
ajst-29853	16	4	passive	passive	ADJ
ajst-29853	16	5	control	control	NOUN
ajst-29853	16	6	of	of	ADP
ajst-29853	16	7	flexible	flexible	ADJ
ajst-29853	16	8	risers	riser	NOUN
ajst-29853	16	9	at	at	ADP
ajst-29853	16	10	home	home	ADV
ajst-29853	16	11	and	and	CCONJ
ajst-29853	16	12	abroad	abroad	ADV
ajst-29853	16	13	has	have	AUX
ajst-29853	16	14	achieved	achieve	VERB
ajst-29853	16	15	a	a	DET
ajst-29853	16	16	lot	lot	NOUN
ajst-29853	16	17	of	of	ADP
ajst-29853	16	18	results	result	NOUN
ajst-29853	16	19	.	.	PUNCT
ajst-29853	17	1	literature	literature	NOUN
ajst-29853	17	2	(	(	PUNCT
ajst-29853	17	3	feng	feng	PROPN
ajst-29853	17	4	et	et	PROPN
ajst-29853	17	5	al	al	PROPN
ajst-29853	17	6	.	.	PROPN
ajst-29853	17	7	,	,	PUNCT
ajst-29853	17	8	2024	2024	NUM
ajst-29853	17	9	)	)	PUNCT
ajst-29853	17	10	investigated	investigate	VERB
ajst-29853	17	11	the	the	DET
ajst-29853	17	12	effect	effect	NOUN
ajst-29853	17	13	of	of	ADP
ajst-29853	17	14	top	top	ADJ
ajst-29853	17	15	tension	tension	NOUN
ajst-29853	17	16	t	t	NOUN
ajst-29853	17	17	and	and	CCONJ
ajst-29853	17	18	wave	wave	NOUN
ajst-29853	17	19	period	period	NOUN
ajst-29853	17	20	on	on	ADP
ajst-29853	17	21	amplitude	amplitude	NOUN
ajst-29853	17	22	.	.	PUNCT
ajst-29853	18	1	huang	huang	PROPN
ajst-29853	18	2	,	,	PUNCT
ajst-29853	18	3	c	c	PROPN
ajst-29853	18	4	(	(	PUNCT
ajst-29853	18	5	huang	huang	PROPN
ajst-29853	18	6	et	et	PROPN
ajst-29853	18	7	al	al	PROPN
ajst-29853	18	8	.	.	PROPN
ajst-29853	18	9	,	,	PUNCT
ajst-29853	18	10	2024	2024	NUM
ajst-29853	18	11	)	)	PUNCT
ajst-29853	18	12	investigated	investigate	VERB
ajst-29853	18	13	the	the	DET
ajst-29853	18	14	mechanical	mechanical	ADJ
ajst-29853	18	15	behavior	behavior	NOUN
ajst-29853	18	16	of	of	ADP
ajst-29853	18	17	dsrs	dsr	NOUN
ajst-29853	18	18	under	under	ADP
ajst-29853	18	19	different	different	ADJ
ajst-29853	18	20	buoyancy	buoyancy	NOUN
ajst-29853	18	21	module	module	NOUN
ajst-29853	18	22	configurations	configuration	NOUN
ajst-29853	18	23	and	and	CCONJ
ajst-29853	18	24	different	different	ADJ
ajst-29853	18	25	currents	current	NOUN
ajst-29853	18	26	.	.	PUNCT
ajst-29853	19	1	meenakumari	meenakumari	NOUN
ajst-29853	19	2	,	,	PUNCT
ajst-29853	19	3	hnr(meenakumari	hnr(meenakumari	PUNCT
ajst-29853	19	4	et	et	PROPN
ajst-29853	19	5	al	al	PROPN
ajst-29853	19	6	.	.	PROPN
ajst-29853	19	7	,	,	PUNCT
ajst-29853	19	8	2024	2024	NUM
ajst-29853	19	9	)	)	PUNCT
ajst-29853	19	10	studied	study	VERB
ajst-29853	19	11	the	the	DET
ajst-29853	19	12	phenomenon	phenomenon	NOUN
ajst-29853	19	13	of	of	ADP
ajst-29853	19	14	fluid	fluid	ADJ
ajst-29853	19	15	-	-	PUNCT
ajst-29853	19	16	structure	structure	NOUN
ajst-29853	19	17	interaction	interaction	NOUN
ajst-29853	19	18	in	in	ADP
ajst-29853	19	19	conveying	convey	VERB
ajst-29853	19	20	flexible	flexible	ADJ
ajst-29853	19	21	tubes	tube	NOUN
ajst-29853	19	22	.	.	PUNCT
ajst-29853	20	1	experimental	experimental	ADJ
ajst-29853	20	2	results	result	NOUN
ajst-29853	20	3	of	of	ADP
ajst-29853	20	4	vortex	vortex	NOUN
ajst-29853	20	5	-	-	PUNCT
ajst-29853	20	6	excited	excite	VERB
ajst-29853	20	7	vibration	vibration	NOUN
ajst-29853	20	8	of	of	ADP
ajst-29853	20	9	flexible	flexible	ADJ
ajst-29853	20	10	risers	riser	NOUN
ajst-29853	20	11	filled	fill	VERB
ajst-29853	20	12	with	with	ADP
ajst-29853	20	13	water	water	NOUN
ajst-29853	20	14	and	and	CCONJ
ajst-29853	20	15	helium	helium	NOUN
ajst-29853	20	16	as	as	ADP
ajst-29853	20	17	typical	typical	ADJ
ajst-29853	20	18	liquids	liquid	NOUN
ajst-29853	20	19	and	and	CCONJ
ajst-29853	20	20	light	light	ADJ
ajst-29853	20	21	gases	gas	NOUN
ajst-29853	20	22	with	with	ADP
ajst-29853	20	23	different	different	ADJ
ajst-29853	20	24	fluid	fluid	ADJ
ajst-29853	20	25	media	medium	NOUN
ajst-29853	20	26	are	be	AUX
ajst-29853	20	27	presented	present	VERB
ajst-29853	20	28	in	in	ADP
ajst-29853	20	29	the	the	DET
ajst-29853	20	30	literature	literature	NOUN
ajst-29853	20	31	(	(	PUNCT
ajst-29853	20	32	zhu	zhu	X
ajst-29853	20	33	et	et	PROPN
ajst-29853	20	34	al	al	PROPN
ajst-29853	20	35	.	.	PROPN
ajst-29853	20	36	,	,	PUNCT
ajst-29853	20	37	2024).literature	2024).literature	PROPN
ajst-29853	20	38	(	(	PUNCT
ajst-29853	20	39	smith	smith	PROPN
ajst-29853	20	40	,	,	PUNCT
ajst-29853	20	41	2008	2008	NUM
ajst-29853	20	42	)	)	PUNCT
ajst-29853	20	43	demonstrates	demonstrate	VERB
ajst-29853	20	44	recent	recent	ADJ
ajst-29853	20	45	advances	advance	NOUN
ajst-29853	20	46	in	in	ADP
ajst-29853	20	47	the	the	DET
ajst-29853	20	48	design	design	NOUN
ajst-29853	20	49	of	of	ADP
ajst-29853	20	50	flexural	flexural	ADJ
ajst-29853	20	51	reinforcement	reinforcement	NOUN
ajst-29853	20	52	ribs	rib	NOUN
ajst-29853	20	53	.	.	PUNCT
ajst-29853	21	1	yang	yang	PROPN
ajst-29853	21	2	,	,	PUNCT
ajst-29853	21	3	zx	zx	PROPN
ajst-29853	21	4	;	;	PUNCT
ajst-29853	21	5	wang	wang	PROPN
ajst-29853	21	6	,	,	PUNCT
ajst-29853	21	7	lf(yang	lf(yang	PROPN
ajst-29853	21	8	et	et	PROPN
ajst-29853	21	9	al	al	PROPN
ajst-29853	21	10	.	.	PROPN
ajst-29853	21	11	,	,	PUNCT
ajst-29853	21	12	2022	2022	NUM
ajst-29853	21	13	)	)	PUNCT
ajst-29853	21	14	optimized	optimize	VERB
ajst-29853	21	15	design	design	NOUN
ajst-29853	21	16	of	of	ADP
ajst-29853	21	17	flexible	flexible	ADJ
ajst-29853	21	18	risers	riser	NOUN
ajst-29853	21	19	considering	consider	VERB
ajst-29853	21	20	both	both	CCONJ
ajst-29853	21	21	local	local	ADJ
ajst-29853	21	22	cross	cross	NOUN
ajst-29853	21	23	-	-	NOUN
ajst-29853	21	24	section	section	ADJ
ajst-29853	21	25	and	and	CCONJ
ajst-29853	21	26	global	global	ADJ
ajst-29853	21	27	configuration	configuration	NOUN
ajst-29853	21	28	parameters	parameter	NOUN
ajst-29853	21	29	.	.	PUNCT
ajst-29853	22	1	passive	passive	ADJ
ajst-29853	22	2	control	control	NOUN
ajst-29853	22	3	requires	require	VERB
ajst-29853	22	4	no	no	DET
ajst-29853	22	5	external	external	ADJ
ajst-29853	22	6	energy	energy	NOUN
ajst-29853	22	7	in	in	ADP
ajst-29853	22	8	the	the	DET
ajst-29853	22	9	control	control	NOUN
ajst-29853	22	10	process	process	NOUN
ajst-29853	22	11	and	and	CCONJ
ajst-29853	22	12	the	the	DET
ajst-29853	22	13	structure	structure	NOUN
ajst-29853	22	14	is	be	AUX
ajst-29853	22	15	relatively	relatively	ADV
ajst-29853	22	16	simple	simple	ADJ
ajst-29853	22	17	and	and	CCONJ
ajst-29853	22	18	easy	easy	ADJ
ajst-29853	22	19	to	to	PART
ajst-29853	22	20	implement	implement	VERB
ajst-29853	22	21	,	,	PUNCT
ajst-29853	22	22	but	but	CCONJ
ajst-29853	22	23	the	the	DET
ajst-29853	22	24	adaptive	adaptive	ADJ
ajst-29853	22	25	ability	ability	NOUN
ajst-29853	22	26	of	of	ADP
ajst-29853	22	27	passive	passive	ADJ
ajst-29853	22	28	control	control	NOUN
ajst-29853	22	29	is	be	AUX
ajst-29853	22	30	relatively	relatively	ADV
ajst-29853	22	31	poor	poor	ADJ
ajst-29853	22	32	when	when	SCONJ
ajst-29853	22	33	there	there	PRON
ajst-29853	22	34	are	be	VERB
ajst-29853	22	35	changes	change	NOUN
ajst-29853	22	36	in	in	ADP
ajst-29853	22	37	external	external	ADJ
ajst-29853	22	38	disturbances	disturbance	NOUN
ajst-29853	22	39	.	.	PUNCT
ajst-29853	23	1	active	active	ADJ
ajst-29853	23	2	control	control	NOUN
ajst-29853	23	3	,	,	PUNCT
ajst-29853	23	4	on	on	ADP
ajst-29853	23	5	the	the	DET
ajst-29853	23	6	other	other	ADJ
ajst-29853	23	7	hand	hand	NOUN
ajst-29853	23	8	,	,	PUNCT
ajst-29853	23	9	shows	show	VERB
ajst-29853	23	10	a	a	DET
ajst-29853	23	11	good	good	ADJ
ajst-29853	23	12	ability	ability	NOUN
ajst-29853	23	13	to	to	PART
ajst-29853	23	14	deal	deal	VERB
ajst-29853	23	15	with	with	ADP
ajst-29853	23	16	uncertainties	uncertainty	NOUN
ajst-29853	23	17	,	,	PUNCT
ajst-29853	23	18	and	and	CCONJ
ajst-29853	23	19	at	at	ADP
ajst-29853	23	20	the	the	DET
ajst-29853	23	21	same	same	ADJ
ajst-29853	23	22	time	time	NOUN
ajst-29853	23	23	can	can	AUX
ajst-29853	23	24	track	track	VERB
ajst-29853	23	25	and	and	CCONJ
ajst-29853	23	26	regulate	regulate	VERB
ajst-29853	23	27	the	the	DET
ajst-29853	23	28	vibration	vibration	NOUN
ajst-29853	23	29	condition	condition	NOUN
ajst-29853	23	30	well	well	ADV
ajst-29853	23	31	.	.	PUNCT
ajst-29853	24	1	active	active	ADJ
ajst-29853	24	2	control	control	NOUN
ajst-29853	24	3	is	be	AUX
ajst-29853	24	4	mainly	mainly	ADV
ajst-29853	24	5	used	use	VERB
ajst-29853	24	6	to	to	PART
ajst-29853	24	7	inhibit	inhibit	VERB
ajst-29853	24	8	riser	riser	NOUN
ajst-29853	24	9	vibration	vibration	NOUN
ajst-29853	24	10	by	by	ADP
ajst-29853	24	11	controlling	control	VERB
ajst-29853	24	12	the	the	DET
ajst-29853	24	13	displacement	displacement	NOUN
ajst-29853	24	14	of	of	ADP
ajst-29853	24	15	the	the	DET
ajst-29853	24	16	top	top	NOUN
ajst-29853	24	17	of	of	ADP
ajst-29853	24	18	the	the	DET
ajst-29853	24	19	riser	riser	NOUN
ajst-29853	24	20	,	,	PUNCT
ajst-29853	24	21	and	and	CCONJ
ajst-29853	24	22	scholars	scholar	NOUN
ajst-29853	24	23	at	at	ADP
ajst-29853	24	24	home	home	ADV
ajst-29853	24	25	and	and	CCONJ
ajst-29853	24	26	abroad	abroad	ADV
ajst-29853	24	27	have	have	VERB
ajst-29853	24	28	abundant	abundant	ADJ
ajst-29853	24	29	results	result	NOUN
ajst-29853	24	30	in	in	ADP
ajst-29853	24	31	the	the	DET
ajst-29853	24	32	research	research	NOUN
ajst-29853	24	33	of	of	ADP
ajst-29853	24	34	active	active	ADJ
ajst-29853	24	35	control	control	NOUN
ajst-29853	24	36	of	of	ADP
ajst-29853	24	37	flexible	flexible	ADJ
ajst-29853	24	38	risers	riser	NOUN
ajst-29853	24	39	.	.	PUNCT
ajst-29853	25	1	literature	literature	NOUN
ajst-29853	25	2	(	(	PUNCT
ajst-29853	25	3	zhang	zhang	PROPN
ajst-29853	25	4	et	et	PROPN
ajst-29853	25	5	al	al	PROPN
ajst-29853	25	6	.	.	PROPN
ajst-29853	25	7	,	,	PUNCT
ajst-29853	25	8	2024	2024	NUM
ajst-29853	25	9	)	)	PUNCT
ajst-29853	25	10	provides	provide	VERB
ajst-29853	25	11	insights	insight	NOUN
ajst-29853	25	12	into	into	ADP
ajst-29853	25	13	the	the	DET
ajst-29853	25	14	boundary	boundary	ADJ
ajst-29853	25	15	control	control	NOUN
ajst-29853	25	16	problem	problem	NOUN
ajst-29853	25	17	using	use	VERB
ajst-29853	25	18	the	the	DET
ajst-29853	25	19	dynamic	dynamic	ADJ
ajst-29853	25	20	event	event	NOUN
ajst-29853	25	21	triggering	trigger	VERB
ajst-29853	25	22	mechanism	mechanism	NOUN
ajst-29853	25	23	(	(	PUNCT
ajst-29853	25	24	detm).literature	detm).literature	NOUN
ajst-29853	25	25	(	(	PUNCT
ajst-29853	25	26	zhou	zhou	X
ajst-29853	25	27	et	et	PROPN
ajst-29853	25	28	al	al	PROPN
ajst-29853	25	29	.	.	PROPN
ajst-29853	25	30	,	,	PUNCT
ajst-29853	25	31	2024	2024	NUM
ajst-29853	25	32	)	)	PUNCT
ajst-29853	25	33	proposes	propose	VERB
ajst-29853	25	34	an	an	DET
ajst-29853	25	35	observer	observer	NOUN
ajst-29853	25	36	-	-	PUNCT
ajst-29853	25	37	based	base	VERB
ajst-29853	25	38	adaptive	adaptive	ADJ
ajst-29853	25	39	backpropagation	backpropagation	NOUN
ajst-29853	25	40	boundary	boundary	PROPN
ajst-29853	25	41	control	control	NOUN
ajst-29853	25	42	method	method	NOUN
ajst-29853	25	43	,	,	PUNCT
ajst-29853	25	44	the	the	DET
ajst-29853	25	45	algorithm	algorithm	NOUN
ajst-29853	25	46	can	can	AUX
ajst-29853	25	47	make	make	VERB
ajst-29853	25	48	the	the	DET
ajst-29853	25	49	controller	controller	NOUN
ajst-29853	25	50	adapt	adapt	VERB
ajst-29853	25	51	to	to	ADP
ajst-29853	25	52	the	the	DET
ajst-29853	25	53	environment	environment	NOUN
ajst-29853	25	54	and	and	CCONJ
ajst-29853	25	55	improve	improve	VERB
ajst-29853	25	56	the	the	DET
ajst-29853	25	57	control	control	NOUN
ajst-29853	25	58	accuracy	accuracy	NOUN
ajst-29853	25	59	by	by	ADP
ajst-29853	25	60	updating	update	VERB
ajst-29853	25	61	the	the	DET
ajst-29853	25	62	control	control	NOUN
ajst-29853	25	63	law	law	NOUN
ajst-29853	25	64	online	online	ADV
ajst-29853	25	65	with	with	ADP
ajst-29853	25	66	real	real	ADJ
ajst-29853	25	67	-	-	PUNCT
ajst-29853	25	68	time	time	NOUN
ajst-29853	25	69	data	datum	NOUN
ajst-29853	25	70	.	.	PUNCT
ajst-29853	26	1	zhang	zhang	PROPN
ajst-29853	26	2	,	,	PUNCT
ajst-29853	26	3	bl	bl	PROPN
ajst-29853	26	4	;	;	PUNCT
ajst-29853	26	5	sun	sun	NOUN
ajst-29853	26	6	,	,	PUNCT
ajst-29853	26	7	yt(zhang	yt(zhang	PROPN
ajst-29853	26	8	and	and	CCONJ
ajst-29853	26	9	sun	sun	PROPN
ajst-29853	26	10	et	et	PROPN
ajst-29853	26	11	al	al	PROPN
ajst-29853	26	12	.	.	PROPN
ajst-29853	26	13	,	,	PUNCT
ajst-29853	26	14	2024	2024	NUM
ajst-29853	26	15	)	)	PUNCT
ajst-29853	26	16	design	design	NOUN
ajst-29853	26	17	finite	finite	ADJ
ajst-29853	26	18	-	-	PUNCT
ajst-29853	26	19	time	time	NOUN
ajst-29853	26	20	discrete	discrete	ADJ
ajst-29853	26	21	optimal	optimal	ADJ
ajst-29853	26	22	backlash	backlash	NOUN
ajst-29853	26	23	controllers	controller	NOUN
ajst-29853	26	24	with	with	ADP
ajst-29853	26	25	a	a	DET
ajst-29853	26	26	feedforward	feedforward	ADJ
ajst-29853	26	27	compensation	compensation	NOUN
ajst-29853	26	28	mechanism	mechanism	NOUN
ajst-29853	26	29	.	.	PUNCT
ajst-29853	27	1	literature(yu	literature(yu	ADJ
ajst-29853	27	2	and	and	CCONJ
ajst-29853	27	3	chen	chen	PROPN
ajst-29853	27	4	,	,	PUNCT
ajst-29853	27	5	2019a	2019a	NUM
ajst-29853	27	6	)	)	PUNCT
ajst-29853	27	7	uses	use	VERB
ajst-29853	27	8	boundary	boundary	ADJ
ajst-29853	27	9	control	control	NOUN
ajst-29853	27	10	for	for	ADP
ajst-29853	27	11	active	active	ADJ
ajst-29853	27	12	vibration	vibration	NOUN
ajst-29853	27	13	control	control	NOUN
ajst-29853	27	14	of	of	ADP
ajst-29853	27	15	flexible	flexible	ADJ
ajst-29853	27	16	risers	riser	NOUN
ajst-29853	27	17	with	with	ADP
ajst-29853	27	18	variable	variable	ADJ
ajst-29853	27	19	distributed	distribute	VERB
ajst-29853	27	20	loads	load	NOUN
ajst-29853	27	21	.	.	PUNCT
ajst-29853	28	1	many	many	ADJ
ajst-29853	28	2	research	research	NOUN
ajst-29853	28	3	teams(han	teams(han	NOUN
ajst-29853	28	4	et	et	PROPN
ajst-29853	28	5	al	al	PROPN
ajst-29853	28	6	.	.	PROPN
ajst-29853	28	7	,	,	PUNCT
ajst-29853	28	8	2018	2018	NUM
ajst-29853	28	9	;	;	PUNCT
ajst-29853	28	10	seghour	seghour	NOUN
ajst-29853	28	11	et	et	PROPN
ajst-29853	28	12	al	al	PROPN
ajst-29853	28	13	.	.	PROPN
ajst-29853	28	14	,	,	PUNCT
ajst-29853	28	15	2016	2016	NUM
ajst-29853	28	16	;	;	PUNCT
ajst-29853	28	17	berkani	berkani	PROPN
ajst-29853	28	18	et	et	PROPN
ajst-29853	28	19	al	al	PROPN
ajst-29853	28	20	.	.	PROPN
ajst-29853	28	21	,	,	PUNCT
ajst-29853	28	22	2020	2020	NUM
ajst-29853	28	23	;	;	PUNCT
ajst-29853	28	24	seghour	seghour	NOUN
ajst-29853	28	25	et	et	PROPN
ajst-29853	28	26	al	al	PROPN
ajst-29853	28	27	.	.	PROPN
ajst-29853	28	28	,	,	PUNCT
ajst-29853	28	29	2018	2018	NUM
ajst-29853	28	30	;	;	PUNCT
ajst-29853	28	31	yu	yu	PROPN
ajst-29853	28	32	and	and	CCONJ
ajst-29853	28	33	chen	chen	PROPN
ajst-29853	28	34	,	,	PUNCT
ajst-29853	28	35	2019b	2019b	NUM
ajst-29853	28	36	;	;	PUNCT
ajst-29853	28	37	song	song	NOUN
ajst-29853	28	38	et	et	PROPN
ajst-29853	28	39	al	al	PROPN
ajst-29853	28	40	.	.	PROPN
ajst-29853	28	41	,	,	PUNCT
ajst-29853	28	42	2021	2021	NUM
ajst-29853	28	43	)	)	PUNCT
ajst-29853	28	44	have	have	AUX
ajst-29853	28	45	also	also	ADV
ajst-29853	28	46	modeled	model	VERB
ajst-29853	28	47	flexible	flexible	ADJ
ajst-29853	28	48	oil	oil	NOUN
ajst-29853	28	49	risers	riser	NOUN
ajst-29853	28	50	considering	consider	VERB
ajst-29853	28	51	the	the	DET
ajst-29853	28	52	effects	effect	NOUN
ajst-29853	28	53	of	of	ADP
ajst-29853	28	54	time	time	NOUN
ajst-29853	28	55	-	-	PUNCT
ajst-29853	28	56	varying	vary	VERB
ajst-29853	28	57	internal	internal	ADJ
ajst-29853	28	58	flows	flow	NOUN
ajst-29853	28	59	and	and	CCONJ
ajst-29853	28	60	the	the	DET
ajst-29853	28	61	design	design	NOUN
ajst-29853	28	62	of	of	ADP
ajst-29853	28	63	related	related	ADJ
ajst-29853	28	64	controllers	controller	NOUN
ajst-29853	28	65	based	base	VERB
ajst-29853	28	66	on	on	ADP
ajst-29853	28	67	eulerian	eulerian	ADJ
ajst-29853	28	68	bernoulli	bernoulli	PROPN
ajst-29853	28	69	beam	beam	PROPN
ajst-29853	28	70	structures	structure	NOUN
ajst-29853	28	71	.	.	PUNCT
ajst-29853	29	1	in	in	ADP
ajst-29853	29	2	actual	actual	ADJ
ajst-29853	29	3	engineering	engineering	NOUN
ajst-29853	29	4	,	,	PUNCT
ajst-29853	29	5	due	due	ADP
ajst-29853	29	6	to	to	ADP
ajst-29853	29	7	the	the	DET
ajst-29853	29	8	industrial	industrial	ADJ
ajst-29853	29	9	production	production	NOUN
ajst-29853	29	10	environment	environment	NOUN
ajst-29853	29	11	,	,	PUNCT
ajst-29853	29	12	the	the	DET
ajst-29853	29	13	output	output	NOUN
ajst-29853	29	14	drive	drive	NOUN
ajst-29853	29	15	device	device	NOUN
ajst-29853	29	16	structure	structure	NOUN
ajst-29853	29	17	and	and	CCONJ
ajst-29853	29	18	system	system	NOUN
ajst-29853	29	19	safety	safety	NOUN
ajst-29853	29	20	specifications	specification	NOUN
ajst-29853	29	21	and	and	CCONJ
ajst-29853	29	22	other	other	ADJ
ajst-29853	29	23	internal	internal	ADJ
ajst-29853	29	24	and	and	CCONJ
ajst-29853	29	25	external	external	ADJ
ajst-29853	29	26	factors	factor	NOUN
ajst-29853	29	27	,	,	PUNCT
ajst-29853	29	28	the	the	DET
ajst-29853	29	29	output	output	NOUN
ajst-29853	29	30	of	of	ADP
ajst-29853	29	31	the	the	DET
ajst-29853	29	32	system	system	NOUN
ajst-29853	29	33	is	be	AUX
ajst-29853	29	34	often	often	ADV
ajst-29853	29	35	strictly	strictly	ADV
ajst-29853	29	36	limited	limit	VERB
ajst-29853	29	37	to	to	ADP
ajst-29853	29	38	the	the	DET
ajst-29853	29	39	specified	specified	ADJ
ajst-29853	29	40	range	range	NOUN
ajst-29853	29	41	or	or	CCONJ
ajst-29853	29	42	the	the	DET
ajst-29853	29	43	output	output	NOUN
ajst-29853	29	44	overshooting	overshoot	VERB
ajst-29853	29	45	system	system	NOUN
ajst-29853	29	46	must	must	AUX
ajst-29853	29	47	be	be	AUX
ajst-29853	29	48	within	within	ADP
ajst-29853	29	49	the	the	DET
ajst-29853	29	50	specified	specified	ADJ
ajst-29853	29	51	range	range	NOUN
ajst-29853	29	52	to	to	PART
ajst-29853	29	53	ensure	ensure	VERB
ajst-29853	29	54	that	that	SCONJ
ajst-29853	29	55	the	the	DET
ajst-29853	29	56	whole	whole	ADJ
ajst-29853	29	57	system	system	NOUN
ajst-29853	29	58	is	be	AUX
ajst-29853	29	59	safe	safe	ADJ
ajst-29853	29	60	and	and	CCONJ
ajst-29853	29	61	reliable	reliable	ADJ
ajst-29853	29	62	,	,	PUNCT
ajst-29853	29	63	the	the	DET
ajst-29853	29	64	output	output	NOUN
ajst-29853	29	65	constraints	constraint	NOUN
ajst-29853	29	66	are	be	AUX
ajst-29853	29	67	difficult	difficult	ADJ
ajst-29853	29	68	to	to	PART
ajst-29853	29	69	avoid	avoid	VERB
ajst-29853	29	70	.	.	PUNCT
ajst-29853	30	1	if	if	SCONJ
ajst-29853	30	2	the	the	DET
ajst-29853	30	3	output	output	NOUN
ajst-29853	30	4	constraints	constraint	NOUN
ajst-29853	30	5	are	be	AUX
ajst-29853	30	6	not	not	PART
ajst-29853	30	7	taken	take	VERB
ajst-29853	30	8	into	into	ADP
ajst-29853	30	9	account	account	NOUN
ajst-29853	30	10	in	in	ADP
ajst-29853	30	11	the	the	DET
ajst-29853	30	12	controller	controller	NOUN
ajst-29853	30	13	design	design	NOUN
ajst-29853	30	14	,	,	PUNCT
ajst-29853	30	15	the	the	DET
ajst-29853	30	16	control	control	NOUN
ajst-29853	30	17	performance	performance	NOUN
ajst-29853	30	18	will	will	AUX
ajst-29853	30	19	be	be	AUX
ajst-29853	30	20	impaired	impair	VERB
ajst-29853	30	21	and	and	CCONJ
ajst-29853	30	22	even	even	ADV
ajst-29853	30	23	the	the	DET
ajst-29853	30	24	system	system	NOUN
ajst-29853	30	25	stability	stability	NOUN
ajst-29853	30	26	will	will	AUX
ajst-29853	30	27	be	be	AUX
ajst-29853	30	28	destroyed	destroy	VERB
ajst-29853	30	29	.	.	PUNCT
ajst-29853	31	1	currently	currently	ADV
ajst-29853	31	2	,	,	PUNCT
ajst-29853	31	3	the	the	DET
ajst-29853	31	4	proposed	propose	VERB
ajst-29853	31	5	solutions	solution	NOUN
ajst-29853	31	6	for	for	ADP
ajst-29853	31	7	the	the	DET
ajst-29853	31	8	output	output	NOUN
ajst-29853	31	9	constraint	constraint	NOUN
ajst-29853	31	10	problem	problem	NOUN
ajst-29853	31	11	include	include	VERB
ajst-29853	31	12	the	the	DET
ajst-29853	31	13	preset	preset	ADJ
ajst-29853	31	14	performance	performance	NOUN
ajst-29853	31	15	method(song	method(song	PROPN
ajst-29853	31	16	et	et	PROPN
ajst-29853	31	17	al	al	PROPN
ajst-29853	31	18	.	.	PROPN
ajst-29853	31	19	,	,	PUNCT
ajst-29853	31	20	2023)、invariant	2023)、invariant	NUM
ajst-29853	31	21	35	35	NUM
ajst-29853	31	22	set	set	NOUN
ajst-29853	31	23	control	control	NOUN
ajst-29853	31	24	,	,	PUNCT
ajst-29853	31	25	barrier	barrier	NOUN
ajst-29853	31	26	lyapunov	lyapunov	NOUN
ajst-29853	31	27	function	function	NOUN
ajst-29853	31	28	(	(	PUNCT
ajst-29853	31	29	maghenem	maghenem	PROPN
ajst-29853	31	30	and	and	CCONJ
ajst-29853	31	31	sanfelice	sanfelice	NOUN
ajst-29853	31	32	,	,	PUNCT
ajst-29853	31	33	2019	2019	NUM
ajst-29853	31	34	;	;	PUNCT
ajst-29853	31	35	liu	liu	PROPN
ajst-29853	31	36	,	,	PUNCT
ajst-29853	31	37	2022	2022	NUM
ajst-29853	31	38	;	;	PUNCT
ajst-29853	31	39	maghenem	maghenem	PROPN
ajst-29853	31	40	and	and	CCONJ
ajst-29853	31	41	sanfelice	sanfelice	NOUN
ajst-29853	31	42	,	,	PUNCT
ajst-29853	31	43	2023	2023	NUM
ajst-29853	31	44	;	;	PUNCT
ajst-29853	31	45	kabzinski	kabzinski	NOUN
ajst-29853	31	46	et	et	PROPN
ajst-29853	31	47	al	al	PROPN
ajst-29853	31	48	.	.	PROPN
ajst-29853	31	49	,	,	PUNCT
ajst-29853	31	50	2016)、error	2016)、error	NUM
ajst-29853	31	51	transformation	transformation	NOUN
ajst-29853	31	52	,	,	PUNCT
ajst-29853	31	53	and	and	CCONJ
ajst-29853	31	54	model	model	NOUN
ajst-29853	31	55	predictive	predictive	ADJ
ajst-29853	31	56	control	control	NOUN
ajst-29853	31	57	.	.	PUNCT
ajst-29853	32	1	because	because	SCONJ
ajst-29853	32	2	of	of	ADP
ajst-29853	32	3	the	the	DET
ajst-29853	32	4	systematic	systematic	ADJ
ajst-29853	32	5	superiority	superiority	NOUN
ajst-29853	32	6	of	of	ADP
ajst-29853	32	7	the	the	DET
ajst-29853	32	8	barrier	barrier	NOUN
ajst-29853	32	9	lyapunov	lyapunov	NOUN
ajst-29853	32	10	function	function	NOUN
ajst-29853	32	11	(	(	PUNCT
ajst-29853	32	12	blf	blf	PROPN
ajst-29853	32	13	,	,	PUNCT
ajst-29853	32	14	abbreviated	abbreviate	VERB
ajst-29853	32	15	as	as	ADP
ajst-29853	32	16	blf	blf	PROPN
ajst-29853	32	17	)	)	PUNCT
ajst-29853	32	18	in	in	ADP
ajst-29853	32	19	the	the	DET
ajst-29853	32	20	design	design	NOUN
ajst-29853	32	21	process	process	NOUN
ajst-29853	32	22	,	,	PUNCT
ajst-29853	32	23	the	the	DET
ajst-29853	32	24	method	method	NOUN
ajst-29853	32	25	of	of	ADP
ajst-29853	32	26	applying	apply	VERB
ajst-29853	32	27	blf	blf	PROPN
ajst-29853	32	28	to	to	PART
ajst-29853	32	29	control	control	VERB
ajst-29853	32	30	the	the	DET
ajst-29853	32	31	system	system	NOUN
ajst-29853	32	32	to	to	PART
ajst-29853	32	33	design	design	VERB
ajst-29853	32	34	it	it	PRON
ajst-29853	32	35	to	to	PART
ajst-29853	32	36	satisfy	satisfy	VERB
ajst-29853	32	37	the	the	DET
ajst-29853	32	38	output	output	NOUN
ajst-29853	32	39	constraints	constraint	NOUN
ajst-29853	32	40	has	have	AUX
ajst-29853	32	41	been	be	AUX
ajst-29853	32	42	favored	favor	VERB
ajst-29853	32	43	by	by	ADP
ajst-29853	32	44	researchers	researcher	NOUN
ajst-29853	32	45	.	.	PUNCT
ajst-29853	33	1	literature(tee	literature(tee	NOUN
ajst-29853	33	2	et	et	PROPN
ajst-29853	33	3	al	al	PROPN
ajst-29853	33	4	.	.	PROPN
ajst-29853	33	5	,	,	PUNCT
ajst-29853	33	6	2009	2009	NUM
ajst-29853	33	7	;	;	PUNCT
ajst-29853	33	8	deng	deng	PROPN
ajst-29853	33	9	et	et	PROPN
ajst-29853	33	10	al	al	PROPN
ajst-29853	33	11	.	.	PROPN
ajst-29853	33	12	,	,	PUNCT
ajst-29853	33	13	2017	2017	NUM
ajst-29853	33	14	)	)	PUNCT
ajst-29853	33	15	shows	show	VERB
ajst-29853	33	16	that	that	SCONJ
ajst-29853	33	17	the	the	DET
ajst-29853	33	18	barrier	barrier	NOUN
ajst-29853	33	19	lyapunov	lyapunov	NOUN
ajst-29853	33	20	function	function	VERB
ajst-29853	33	21	ensures	ensure	VERB
ajst-29853	33	22	that	that	SCONJ
ajst-29853	33	23	the	the	DET
ajst-29853	33	24	state	state	NOUN
ajst-29853	33	25	constraints	constraint	NOUN
ajst-29853	33	26	are	be	AUX
ajst-29853	33	27	in	in	ADP
ajst-29853	33	28	a	a	DET
ajst-29853	33	29	given	give	VERB
ajst-29853	33	30	region	region	NOUN
ajst-29853	33	31	.	.	PUNCT
ajst-29853	34	1	input	input	NOUN
ajst-29853	34	2	saturation	saturation	NOUN
ajst-29853	34	3	is	be	AUX
ajst-29853	34	4	prevalent	prevalent	ADJ
ajst-29853	34	5	in	in	ADP
ajst-29853	34	6	real	real	ADJ
ajst-29853	34	7	systems	system	NOUN
ajst-29853	34	8	,	,	PUNCT
ajst-29853	34	9	e.g.	e.g.	ADV
ajst-29853	34	10	,	,	PUNCT
ajst-29853	34	11	power	power	NOUN
ajst-29853	34	12	transmission	transmission	NOUN
ajst-29853	34	13	,	,	PUNCT
ajst-29853	34	14	and	and	CCONJ
ajst-29853	34	15	formation	formation	NOUN
ajst-29853	34	16	satellite	satellite	NOUN
ajst-29853	34	17	attitude	attitude	NOUN
ajst-29853	34	18	control(zhang	control(zhang	PROPN
ajst-29853	34	19	and	and	CCONJ
ajst-29853	34	20	liang	liang	PROPN
ajst-29853	34	21	et	et	PROPN
ajst-29853	34	22	al	al	PROPN
ajst-29853	34	23	.	.	PROPN
ajst-29853	34	24	,	,	PUNCT
ajst-29853	35	1	2024),and	2024),and	NUM
ajst-29853	35	2	it	it	PRON
ajst-29853	35	3	should	should	AUX
ajst-29853	35	4	be	be	AUX
ajst-29853	35	5	considered	consider	VERB
ajst-29853	35	6	when	when	SCONJ
ajst-29853	35	7	designing	design	VERB
ajst-29853	35	8	a	a	DET
ajst-29853	35	9	control	control	NOUN
ajst-29853	35	10	system	system	NOUN
ajst-29853	35	11	to	to	PART
ajst-29853	35	12	bind	bind	VERB
ajst-29853	35	13	the	the	DET
ajst-29853	35	14	system	system	NOUN
ajst-29853	35	15	inputs	input	NOUN
ajst-29853	35	16	within	within	ADP
ajst-29853	35	17	reasonable	reasonable	ADJ
ajst-29853	35	18	limits	limit	NOUN
ajst-29853	35	19	.	.	PUNCT
ajst-29853	36	1	due	due	ADP
ajst-29853	36	2	to	to	ADP
ajst-29853	36	3	the	the	DET
ajst-29853	36	4	limitations	limitation	NOUN
ajst-29853	36	5	of	of	ADP
ajst-29853	36	6	the	the	DET
ajst-29853	36	7	actuator	actuator	NOUN
ajst-29853	36	8	’s	’s	PART
ajst-29853	36	9	mechanical	mechanical	ADJ
ajst-29853	36	10	properties	property	NOUN
ajst-29853	36	11	and	and	CCONJ
ajst-29853	36	12	manufacturing	manufacturing	NOUN
ajst-29853	36	13	process	process	NOUN
ajst-29853	36	14	,	,	PUNCT
ajst-29853	36	15	the	the	DET
ajst-29853	36	16	input	input	NOUN
ajst-29853	36	17	of	of	ADP
ajst-29853	36	18	the	the	DET
ajst-29853	36	19	actuator	actuator	NOUN
ajst-29853	36	20	is	be	AUX
ajst-29853	36	21	bounded	bound	VERB
ajst-29853	36	22	.	.	PUNCT
ajst-29853	37	1	when	when	SCONJ
ajst-29853	37	2	the	the	DET
ajst-29853	37	3	control	control	NOUN
ajst-29853	37	4	input	input	NOUN
ajst-29853	37	5	exceeds	exceed	VERB
ajst-29853	37	6	the	the	DET
ajst-29853	37	7	limit	limit	NOUN
ajst-29853	37	8	,	,	PUNCT
ajst-29853	37	9	the	the	DET
ajst-29853	37	10	actuator	actuator	NOUN
ajst-29853	37	11	input	input	NOUN
ajst-29853	37	12	will	will	AUX
ajst-29853	37	13	reach	reach	VERB
ajst-29853	37	14	the	the	DET
ajst-29853	37	15	upper	upper	ADJ
ajst-29853	37	16	limit	limit	NOUN
ajst-29853	37	17	,	,	PUNCT
ajst-29853	37	18	even	even	ADV
ajst-29853	37	19	if	if	SCONJ
ajst-29853	37	20	the	the	DET
ajst-29853	37	21	control	control	NOUN
ajst-29853	37	22	input	input	NOUN
ajst-29853	37	23	continues	continue	VERB
ajst-29853	37	24	to	to	PART
ajst-29853	37	25	increase	increase	VERB
ajst-29853	37	26	the	the	DET
ajst-29853	37	27	input	input	NOUN
ajst-29853	37	28	of	of	ADP
ajst-29853	37	29	the	the	DET
ajst-29853	37	30	actuator	actuator	NOUN
ajst-29853	37	31	will	will	AUX
ajst-29853	37	32	maintain	maintain	VERB
ajst-29853	37	33	the	the	DET
ajst-29853	37	34	upper	upper	ADJ
ajst-29853	37	35	limit	limit	NOUN
ajst-29853	37	36	unchanged	unchanged	ADJ
ajst-29853	37	37	,	,	PUNCT
ajst-29853	37	38	i.e.	i.e.	X
ajst-29853	37	39	,	,	PUNCT
ajst-29853	37	40	entering	enter	VERB
ajst-29853	37	41	the	the	DET
ajst-29853	37	42	saturation	saturation	NOUN
ajst-29853	37	43	state(lin	state(lin	PROPN
ajst-29853	37	44	et	et	PROPN
ajst-29853	37	45	al	al	PROPN
ajst-29853	37	46	.	.	PROPN
ajst-29853	37	47	,	,	PUNCT
ajst-29853	37	48	2012).saturation	2012).saturation	NUM
ajst-29853	37	49	of	of	ADP
ajst-29853	37	50	the	the	DET
ajst-29853	37	51	actuator	actuator	NOUN
ajst-29853	37	52	leads	lead	VERB
ajst-29853	37	53	to	to	ADP
ajst-29853	37	54	the	the	DET
ajst-29853	37	55	problem	problem	NOUN
ajst-29853	37	56	of	of	ADP
ajst-29853	37	57	not	not	PART
ajst-29853	37	58	being	be	AUX
ajst-29853	37	59	able	able	ADJ
ajst-29853	37	60	to	to	PART
ajst-29853	37	61	achieve	achieve	VERB
ajst-29853	37	62	the	the	DET
ajst-29853	37	63	required	require	VERB
ajst-29853	37	64	control	control	NOUN
ajst-29853	37	65	input	input	NOUN
ajst-29853	37	66	in	in	ADP
ajst-29853	37	67	the	the	DET
ajst-29853	37	68	control	control	NOUN
ajst-29853	37	69	objective	objective	NOUN
ajst-29853	37	70	,	,	PUNCT
ajst-29853	37	71	which	which	PRON
ajst-29853	37	72	has	have	VERB
ajst-29853	37	73	an	an	DET
ajst-29853	37	74	impact	impact	NOUN
ajst-29853	37	75	on	on	ADP
ajst-29853	37	76	the	the	DET
ajst-29853	37	77	stabilization	stabilization	NOUN
ajst-29853	37	78	effect	effect	NOUN
ajst-29853	37	79	.	.	PUNCT
ajst-29853	38	1	to	to	PART
ajst-29853	38	2	address	address	VERB
ajst-29853	38	3	the	the	DET
ajst-29853	38	4	input	input	NOUN
ajst-29853	38	5	constraint	constraint	NOUN
ajst-29853	38	6	problem	problem	NOUN
ajst-29853	38	7	,	,	PUNCT
ajst-29853	38	8	literature	literature	NOUN
ajst-29853	38	9	(	(	PUNCT
ajst-29853	38	10	he	he	PRON
ajst-29853	38	11	et	et	PROPN
ajst-29853	38	12	al	al	PROPN
ajst-29853	38	13	.	.	PROPN
ajst-29853	38	14	,	,	PUNCT
ajst-29853	38	15	2016	2016	NUM
ajst-29853	38	16	)	)	PUNCT
ajst-29853	38	17	considers	consider	VERB
ajst-29853	38	18	an	an	DET
ajst-29853	38	19	offshore	offshore	ADJ
ajst-29853	38	20	riser	riser	NOUN
ajst-29853	38	21	model	model	NOUN
ajst-29853	38	22	and	and	CCONJ
ajst-29853	38	23	proposes	propose	VERB
ajst-29853	38	24	a	a	DET
ajst-29853	38	25	boundary	boundary	ADJ
ajst-29853	38	26	vibration	vibration	NOUN
ajst-29853	38	27	control	control	NOUN
ajst-29853	38	28	with	with	ADP
ajst-29853	38	29	input	input	NOUN
ajst-29853	38	30	constraints	constraint	NOUN
ajst-29853	38	31	.	.	PUNCT
ajst-29853	39	1	unlike	unlike	ADP
ajst-29853	39	2	literature(he	literature(he	NOUN
ajst-29853	39	3	et	et	NOUN
ajst-29853	39	4	al	al	PROPN
ajst-29853	39	5	.	.	PROPN
ajst-29853	39	6	,	,	PUNCT
ajst-29853	39	7	2016),literature	2016),literature	NUM
ajst-29853	39	8	(	(	PUNCT
ajst-29853	39	9	ji	ji	PROPN
ajst-29853	39	10	and	and	CCONJ
ajst-29853	39	11	liu	liu	PROPN
ajst-29853	39	12	,	,	PUNCT
ajst-29853	39	13	2018	2018	NUM
ajst-29853	39	14	)	)	PUNCT
ajst-29853	39	15	proposed	propose	VERB
ajst-29853	39	16	a	a	DET
ajst-29853	39	17	boundary	boundary	ADJ
ajst-29853	39	18	vibration	vibration	NOUN
ajst-29853	39	19	control	control	NOUN
ajst-29853	39	20	under	under	ADP
ajst-29853	39	21	input	input	NOUN
ajst-29853	39	22	constraints	constraint	NOUN
ajst-29853	39	23	using	use	VERB
ajst-29853	39	24	a	a	DET
ajst-29853	39	25	hyperbolic	hyperbolic	ADJ
ajst-29853	39	26	tangent	tangent	NOUN
ajst-29853	39	27	function	function	NOUN
ajst-29853	39	28	under	under	ADP
ajst-29853	39	29	a	a	DET
ajst-29853	39	30	flexural	flexural	ADJ
ajst-29853	39	31	satellite	satellite	NOUN
ajst-29853	39	32	system	system	NOUN
ajst-29853	39	33	,	,	PUNCT
ajst-29853	39	34	and	and	CCONJ
ajst-29853	39	35	literature(he	literature(he	VERB
ajst-29853	39	36	et	et	PROPN
ajst-29853	39	37	al	al	PROPN
ajst-29853	39	38	.	.	PROPN
ajst-29853	39	39	,	,	PUNCT
ajst-29853	39	40	2018	2018	NUM
ajst-29853	39	41	)	)	PUNCT
ajst-29853	39	42	proposed	propose	VERB
ajst-29853	39	43	a	a	DET
ajst-29853	39	44	robust	robust	ADJ
ajst-29853	39	45	adaptive	adaptive	ADJ
ajst-29853	39	46	boundary	boundary	ADJ
ajst-29853	39	47	vibration	vibration	NOUN
ajst-29853	39	48	controller	controller	NOUN
ajst-29853	39	49	under	under	ADP
ajst-29853	39	50	input	input	NOUN
ajst-29853	39	51	constraints	constraint	NOUN
ajst-29853	39	52	for	for	ADP
ajst-29853	39	53	the	the	DET
ajst-29853	39	54	euler	euler	PROPN
ajst-29853	39	55	-	-	PUNCT
ajst-29853	39	56	bernoulli	bernoulli	PROPN
ajst-29853	39	57	beam	beam	NOUN
ajst-29853	39	58	system	system	NOUN
ajst-29853	39	59	.	.	PUNCT
ajst-29853	40	1	in	in	ADP
ajst-29853	40	2	previous	previous	ADJ
ajst-29853	40	3	control	control	NOUN
ajst-29853	40	4	schemes	scheme	NOUN
ajst-29853	40	5	for	for	ADP
ajst-29853	40	6	flexible	flexible	ADJ
ajst-29853	40	7	risers	riser	NOUN
ajst-29853	40	8	,	,	PUNCT
ajst-29853	40	9	the	the	DET
ajst-29853	40	10	system	system	NOUN
ajst-29853	40	11	obtains	obtain	VERB
ajst-29853	40	12	asymptotic	asymptotic	ADJ
ajst-29853	40	13	stability	stability	NOUN
ajst-29853	40	14	or	or	CCONJ
ajst-29853	40	15	consistent	consistent	ADJ
ajst-29853	40	16	ultimately	ultimately	ADV
ajst-29853	40	17	bounded	bound	VERB
ajst-29853	40	18	stability	stability	NOUN
ajst-29853	40	19	,	,	PUNCT
ajst-29853	40	20	meaning	mean	VERB
ajst-29853	40	21	that	that	SCONJ
ajst-29853	40	22	the	the	DET
ajst-29853	40	23	error	error	NOUN
ajst-29853	40	24	gradually	gradually	ADV
ajst-29853	40	25	converges	converge	VERB
ajst-29853	40	26	to	to	ADP
ajst-29853	40	27	zero	zero	NUM
ajst-29853	40	28	or	or	CCONJ
ajst-29853	40	29	a	a	DET
ajst-29853	40	30	neighborhood	neighborhood	NOUN
ajst-29853	40	31	of	of	ADP
ajst-29853	40	32	zero	zero	NUM
ajst-29853	40	33	as	as	ADP
ajst-29853	40	34	time	time	NOUN
ajst-29853	40	35	approaches	approach	NOUN
ajst-29853	40	36	infinity	infinity	NOUN
ajst-29853	40	37	.	.	PUNCT
ajst-29853	41	1	(	(	PUNCT
ajst-29853	41	2	fu	fu	NOUN
ajst-29853	41	3	et	et	PROPN
ajst-29853	41	4	al	al	PROPN
ajst-29853	41	5	.	.	PROPN
ajst-29853	41	6	,	,	PUNCT
ajst-29853	41	7	2016	2016	NUM
ajst-29853	41	8	)	)	PUNCT
ajst-29853	41	9	finite	finite	ADJ
ajst-29853	41	10	-	-	PUNCT
ajst-29853	41	11	time	time	NOUN
ajst-29853	41	12	stability	stability	NOUN
ajst-29853	41	13	is	be	AUX
ajst-29853	41	14	more	more	ADV
ajst-29853	41	15	concerned	concerned	ADJ
ajst-29853	41	16	with	with	ADP
ajst-29853	41	17	the	the	DET
ajst-29853	41	18	transient	transient	ADJ
ajst-29853	41	19	behavior	behavior	NOUN
ajst-29853	41	20	of	of	ADP
ajst-29853	41	21	the	the	DET
ajst-29853	41	22	system	system	NOUN
ajst-29853	41	23	response	response	NOUN
ajst-29853	41	24	than	than	ADP
ajst-29853	41	25	asymptotic	asymptotic	ADJ
ajst-29853	41	26	or	or	CCONJ
ajst-29853	41	27	uniformly	uniformly	ADV
ajst-29853	41	28	eventually	eventually	ADV
ajst-29853	41	29	bounded	bound	VERB
ajst-29853	41	30	stability	stability	NOUN
ajst-29853	41	31	.	.	PUNCT
ajst-29853	42	1	(	(	PUNCT
ajst-29853	42	2	zhao	zhao	NOUN
ajst-29853	42	3	et	et	PROPN
ajst-29853	42	4	al	al	PROPN
ajst-29853	42	5	.	.	PROPN
ajst-29853	42	6	,	,	PUNCT
ajst-29853	42	7	2015	2015	NUM
ajst-29853	42	8	)	)	PUNCT
ajst-29853	42	9	finite	finite	ADJ
ajst-29853	42	10	-	-	PUNCT
ajst-29853	42	11	time	time	NOUN
ajst-29853	42	12	stability	stability	NOUN
ajst-29853	42	13	has	have	VERB
ajst-29853	42	14	more	more	ADV
ajst-29853	42	15	practical	practical	ADJ
ajst-29853	42	16	applications	application	NOUN
ajst-29853	42	17	in	in	ADP
ajst-29853	42	18	the	the	DET
ajst-29853	42	19	vibration	vibration	NOUN
ajst-29853	42	20	control	control	NOUN
ajst-29853	42	21	of	of	ADP
ajst-29853	42	22	marine	marine	ADJ
ajst-29853	42	23	flexible	flexible	ADJ
ajst-29853	42	24	risers	riser	NOUN
ajst-29853	42	25	because	because	SCONJ
ajst-29853	42	26	of	of	ADP
ajst-29853	42	27	its	its	PRON
ajst-29853	42	28	fast	fast	ADJ
ajst-29853	42	29	convergence	convergence	NOUN
ajst-29853	42	30	advantage	advantage	NOUN
ajst-29853	42	31	.	.	PUNCT
ajst-29853	43	1	in	in	ADP
ajst-29853	43	2	summary	summary	NOUN
ajst-29853	43	3	,	,	PUNCT
ajst-29853	43	4	a	a	DET
ajst-29853	43	5	finite	finite	ADJ
ajst-29853	43	6	time	time	NOUN
ajst-29853	43	7	control	control	NOUN
ajst-29853	43	8	method	method	NOUN
ajst-29853	43	9	is	be	AUX
ajst-29853	43	10	proposed	propose	VERB
ajst-29853	43	11	in	in	ADP
ajst-29853	43	12	this	this	DET
ajst-29853	43	13	paper	paper	NOUN
ajst-29853	43	14	for	for	ADP
ajst-29853	43	15	faster	fast	ADJ
ajst-29853	43	16	and	and	CCONJ
ajst-29853	43	17	more	more	ADV
ajst-29853	43	18	sensitive	sensitive	ADJ
ajst-29853	43	19	suppression	suppression	NOUN
ajst-29853	43	20	of	of	ADP
ajst-29853	43	21	transverse	transverse	NOUN
ajst-29853	43	22	vibration	vibration	NOUN
ajst-29853	43	23	of	of	ADP
ajst-29853	43	24	flexible	flexible	ADJ
ajst-29853	43	25	risers	riser	NOUN
ajst-29853	43	26	.	.	PUNCT
ajst-29853	44	1	an	an	DET
ajst-29853	44	2	obstacle	obstacle	NOUN
ajst-29853	44	3	lyapunov	lyapunov	NOUN
ajst-29853	44	4	function	function	NOUN
ajst-29853	44	5	is	be	AUX
ajst-29853	44	6	used	use	VERB
ajst-29853	44	7	to	to	PART
ajst-29853	44	8	limit	limit	VERB
ajst-29853	44	9	the	the	DET
ajst-29853	44	10	top	top	NOUN
ajst-29853	44	11	of	of	ADP
ajst-29853	44	12	the	the	DET
ajst-29853	44	13	flexible	flexible	ADJ
ajst-29853	44	14	riser	riser	NOUN
ajst-29853	44	15	to	to	ADP
ajst-29853	44	16	a	a	DET
ajst-29853	44	17	given	give	VERB
ajst-29853	44	18	range	range	NOUN
ajst-29853	44	19	to	to	PART
ajst-29853	44	20	solve	solve	VERB
ajst-29853	44	21	the	the	DET
ajst-29853	44	22	time	time	NOUN
ajst-29853	44	23	-	-	PUNCT
ajst-29853	44	24	varying	vary	VERB
ajst-29853	44	25	constraint	constraint	NOUN
ajst-29853	44	26	space	space	NOUN
ajst-29853	44	27	problem	problem	NOUN
ajst-29853	44	28	.	.	PUNCT
ajst-29853	45	1	the	the	DET
ajst-29853	45	2	input	input	NOUN
ajst-29853	45	3	saturation	saturation	NOUN
ajst-29853	45	4	constraint	constraint	NOUN
ajst-29853	45	5	problem	problem	NOUN
ajst-29853	45	6	is	be	AUX
ajst-29853	45	7	handled	handle	VERB
ajst-29853	45	8	using	use	VERB
ajst-29853	45	9	a	a	DET
ajst-29853	45	10	hyperbolic	hyperbolic	ADJ
ajst-29853	45	11	tangent	tangent	NOUN
ajst-29853	45	12	function	function	NOUN
ajst-29853	45	13	and	and	CCONJ
ajst-29853	45	14	an	an	DET
ajst-29853	45	15	adaptive	adaptive	ADJ
ajst-29853	45	16	term	term	NOUN
ajst-29853	45	17	is	be	AUX
ajst-29853	45	18	added	add	VERB
ajst-29853	45	19	to	to	PART
ajst-29853	45	20	compensate	compensate	VERB
ajst-29853	45	21	for	for	ADP
ajst-29853	45	22	the	the	DET
ajst-29853	45	23	input	input	NOUN
ajst-29853	45	24	saturation	saturation	NOUN
ajst-29853	45	25	constraint	constraint	NOUN
ajst-29853	45	26	error	error	NOUN
ajst-29853	45	27	.	.	PUNCT
ajst-29853	46	1	using	use	VERB
ajst-29853	46	2	lyapunov	lyapunov	ADJ
ajst-29853	46	3	stability	stability	NOUN
ajst-29853	46	4	theory	theory	NOUN
ajst-29853	46	5	,	,	PUNCT
ajst-29853	46	6	it	it	PRON
ajst-29853	46	7	is	be	AUX
ajst-29853	46	8	shown	show	VERB
ajst-29853	46	9	that	that	SCONJ
ajst-29853	46	10	all	all	DET
ajst-29853	46	11	error	error	NOUN
ajst-29853	46	12	signals	signal	NOUN
ajst-29853	46	13	satisfy	satisfy	VERB
ajst-29853	46	14	globally	globally	ADV
ajst-29853	46	15	consistent	consistent	ADJ
ajst-29853	46	16	stability	stability	NOUN
ajst-29853	46	17	.	.	PUNCT
ajst-29853	47	1	comparing	compare	VERB
ajst-29853	47	2	with	with	ADP
ajst-29853	47	3	the	the	DET
ajst-29853	47	4	existing	exist	VERB
ajst-29853	47	5	works	work	NOUN
ajst-29853	47	6	,	,	PUNCT
ajst-29853	47	7	the	the	DET
ajst-29853	47	8	contributions	contribution	NOUN
ajst-29853	47	9	of	of	ADP
ajst-29853	47	10	this	this	DET
ajst-29853	47	11	paper	paper	NOUN
ajst-29853	47	12	are	be	AUX
ajst-29853	47	13	summarized	summarize	VERB
ajst-29853	47	14	as	as	SCONJ
ajst-29853	47	15	follows	follow	VERB
ajst-29853	47	16	.	.	PUNCT
ajst-29853	48	1	1	1	X
ajst-29853	48	2	.	.	X
ajst-29853	48	3	hyperbolic	hyperbolic	ADJ
ajst-29853	48	4	tangent	tangent	NOUN
ajst-29853	48	5	functions	function	NOUN
ajst-29853	48	6	and	and	CCONJ
ajst-29853	48	7	saturation	saturation	NOUN
ajst-29853	48	8	functions	function	NOUN
ajst-29853	48	9	are	be	AUX
ajst-29853	48	10	used	use	VERB
ajst-29853	48	11	to	to	PART
ajst-29853	48	12	tackle	tackle	VERB
ajst-29853	48	13	the	the	DET
ajst-29853	48	14	input	input	NOUN
ajst-29853	48	15	constraint	constraint	NOUN
ajst-29853	48	16	.	.	PUNCT
ajst-29853	49	1	2	2	X
ajst-29853	49	2	.	.	X
ajst-29853	49	3	in	in	ADP
ajst-29853	49	4	order	order	NOUN
ajst-29853	49	5	to	to	PART
ajst-29853	49	6	eliminate	eliminate	VERB
ajst-29853	49	7	the	the	DET
ajst-29853	49	8	error	error	NOUN
ajst-29853	49	9	due	due	ADP
ajst-29853	49	10	to	to	ADP
ajst-29853	49	11	input	input	NOUN
ajst-29853	49	12	saturation	saturation	NOUN
ajst-29853	49	13	and	and	CCONJ
ajst-29853	49	14	to	to	PART
ajst-29853	49	15	cope	cope	VERB
ajst-29853	49	16	with	with	ADP
ajst-29853	49	17	the	the	DET
ajst-29853	49	18	uncertainty	uncertainty	NOUN
ajst-29853	49	19	of	of	ADP
ajst-29853	49	20	the	the	DET
ajst-29853	49	21	error	error	NOUN
ajst-29853	49	22	parameter	parameter	NOUN
ajst-29853	49	23	,	,	PUNCT
ajst-29853	49	24	an	an	DET
ajst-29853	49	25	adaptive	adaptive	ADJ
ajst-29853	49	26	law	law	NOUN
ajst-29853	49	27	is	be	AUX
ajst-29853	49	28	proposed	propose	VERB
ajst-29853	49	29	.	.	PUNCT
ajst-29853	50	1	3	3	X
ajst-29853	50	2	.	.	NUM
ajst-29853	50	3	improved	improve	VERB
ajst-29853	50	4	convergence	convergence	NOUN
ajst-29853	50	5	of	of	ADP
ajst-29853	50	6	vibrations	vibration	NOUN
ajst-29853	50	7	by	by	ADP
ajst-29853	50	8	introducing	introduce	VERB
ajst-29853	50	9	a	a	DET
ajst-29853	50	10	finite	finite	ADJ
ajst-29853	50	11	-	-	PUNCT
ajst-29853	50	12	time	time	NOUN
ajst-29853	50	13	stability	stability	NOUN
ajst-29853	50	14	criterion	criterion	NOUN
ajst-29853	50	15	the	the	DET
ajst-29853	50	16	rest	rest	NOUN
ajst-29853	50	17	of	of	ADP
ajst-29853	50	18	the	the	DET
ajst-29853	50	19	paper	paper	NOUN
ajst-29853	50	20	is	be	AUX
ajst-29853	50	21	organized	organize	VERB
ajst-29853	50	22	into	into	ADP
ajst-29853	50	23	four	four	NUM
ajst-29853	50	24	sections	section	NOUN
ajst-29853	50	25	.	.	PUNCT
ajst-29853	51	1	section	section	NOUN
ajst-29853	51	2	ii	ii	PROPN
ajst-29853	51	3	presents	present	VERB
ajst-29853	51	4	the	the	DET
ajst-29853	51	5	flexible	flexible	ADJ
ajst-29853	51	6	riser	riser	NOUN
ajst-29853	51	7	system	system	NOUN
ajst-29853	51	8	modeling	modeling	NOUN
ajst-29853	51	9	and	and	CCONJ
ajst-29853	51	10	preparatory	preparatory	ADJ
ajst-29853	51	11	knowledge	knowledge	NOUN
ajst-29853	51	12	.	.	PUNCT
ajst-29853	52	1	in	in	ADP
ajst-29853	52	2	section	section	PROPN
ajst-29853	52	3	iii	iii	PROPN
ajst-29853	52	4	,	,	PUNCT
ajst-29853	52	5	the	the	DET
ajst-29853	52	6	main	main	ADJ
ajst-29853	52	7	research	research	NOUN
ajst-29853	52	8	results	result	NOUN
ajst-29853	52	9	are	be	AUX
ajst-29853	52	10	provided	provide	VERB
ajst-29853	52	11	.	.	PUNCT
ajst-29853	53	1	section	section	NOUN
ajst-29853	53	2	iv	iv	NUM
ajst-29853	53	3	shows	show	VERB
ajst-29853	53	4	the	the	DET
ajst-29853	53	5	simulation	simulation	NOUN
ajst-29853	53	6	results	result	NOUN
ajst-29853	53	7	of	of	ADP
ajst-29853	53	8	the	the	DET
ajst-29853	53	9	flexible	flexible	ADJ
ajst-29853	53	10	riser	riser	NOUN
ajst-29853	53	11	system	system	NOUN
ajst-29853	53	12	and	and	CCONJ
ajst-29853	53	13	section	section	NOUN
ajst-29853	53	14	v	v	NOUN
ajst-29853	53	15	draws	draw	VERB
ajst-29853	53	16	the	the	DET
ajst-29853	53	17	conclusions	conclusion	NOUN
ajst-29853	53	18	.	.	PUNCT
ajst-29853	54	1	2	2	X
ajst-29853	54	2	.	.	X
ajst-29853	54	3	problem	problem	NOUN
ajst-29853	54	4	statement	statement	NOUN
ajst-29853	54	5	and	and	CCONJ
ajst-29853	54	6	preliminaries	preliminary	NOUN
ajst-29853	54	7	2.1	2.1	NUM
ajst-29853	54	8	.	.	PUNCT
ajst-29853	54	9	flexible	flexible	ADJ
ajst-29853	54	10	riser	riser	NOUN
ajst-29853	54	11	modeling	model	VERB
ajst-29853	54	12	a	a	DET
ajst-29853	54	13	typical	typical	ADJ
ajst-29853	54	14	marine	marine	ADJ
ajst-29853	54	15	flexible	flexible	ADJ
ajst-29853	54	16	riser	riser	NOUN
ajst-29853	54	17	system	system	NOUN
ajst-29853	54	18	is	be	AUX
ajst-29853	54	19	shown	show	VERB
ajst-29853	54	20	in	in	ADP
ajst-29853	54	21	figure21	figure21	NOUN
ajst-29853	54	22	.	.	PUNCT
ajst-29853	55	1	to	to	PART
ajst-29853	55	2	establish	establish	VERB
ajst-29853	55	3	the	the	DET
ajst-29853	55	4	flexible	flexible	ADJ
ajst-29853	55	5	riser	riser	NOUN
ajst-29853	55	6	model	model	NOUN
ajst-29853	55	7	firstly	firstly	ADV
ajst-29853	55	8	,	,	PUNCT
ajst-29853	55	9	based	base	VERB
ajst-29853	55	10	on	on	ADP
ajst-29853	55	11	the	the	DET
ajst-29853	55	12	kinetic	kinetic	ADJ
ajst-29853	55	13	analysis	analysis	NOUN
ajst-29853	55	14	to	to	PART
ajst-29853	55	15	obtain	obtain	VERB
ajst-29853	55	16	the	the	DET
ajst-29853	55	17	kinetic	kinetic	ADJ
ajst-29853	55	18	energy	energy	NOUN
ajst-29853	55	19	of	of	ADP
ajst-29853	55	20	the	the	DET
ajst-29853	55	21	flexible	flexible	ADJ
ajst-29853	55	22	riser	riser	NOUN
ajst-29853	55	23	system	system	NOUN
ajst-29853	55	24	𝐸	𝐸	NOUN
ajst-29853	55	25	、	、	VERB
ajst-29853	55	26	the	the	DET
ajst-29853	55	27	potential	potential	ADJ
ajst-29853	55	28	energy	energy	NOUN
ajst-29853	55	29	𝐸	𝐸	PROPN
ajst-29853	55	30	、	、	NOUN
ajst-29853	55	31	and	and	CCONJ
ajst-29853	55	32	the	the	DET
ajst-29853	55	33	total	total	ADJ
ajst-29853	55	34	virtual	virtual	ADJ
ajst-29853	55	35	work	work	NOUN
ajst-29853	55	36	done	do	VERB
ajst-29853	55	37	by	by	ADP
ajst-29853	55	38	the	the	DET
ajst-29853	55	39	non	non	ADJ
ajst-29853	55	40	-	-	ADJ
ajst-29853	55	41	conservative	conservative	ADJ
ajst-29853	55	42	force	force	NOUN
ajst-29853	55	43	on	on	ADP
ajst-29853	55	44	the	the	DET
ajst-29853	55	45	marine	marine	ADJ
ajst-29853	55	46	flexible	flexible	ADJ
ajst-29853	55	47	riser	riser	NOUN
ajst-29853	55	48	0w	0w	NOUN
ajst-29853	55	49	;	;	PUNCT
ajst-29853	55	50	furthermore	furthermore	ADV
ajst-29853	55	51	,	,	PUNCT
ajst-29853	55	52	based	base	VERB
ajst-29853	55	53	on	on	ADP
ajst-29853	55	54	hamilton	hamilton	PROPN
ajst-29853	55	55	's	's	PART
ajst-29853	55	56	principle	principle	NOUN
ajst-29853	55	57	(	(	PUNCT
ajst-29853	55	58	𝛿	𝛿	PRON
ajst-29853	55	59	𝐸	𝐸	PROPN
ajst-29853	55	60	𝐸	𝐸	NOUN
ajst-29853	55	61	𝑊	𝑊	NOUN
ajst-29853	55	62	𝑑𝑡	𝑑𝑡	ADP
ajst-29853	55	63	0	0	NUM
ajst-29853	55	64	)	)	PUNCT
ajst-29853	55	65	to	to	PART
ajst-29853	55	66	obtain	obtain	VERB
ajst-29853	55	67	the	the	DET
ajst-29853	55	68	control	control	NOUN
ajst-29853	55	69	equations	equation	NOUN
ajst-29853	55	70	of	of	ADP
ajst-29853	55	71	the	the	DET
ajst-29853	55	72	said	say	VERB
ajst-29853	55	73	flexible	flexible	ADJ
ajst-29853	55	74	riser	riser	NOUN
ajst-29853	55	75	system	system	NOUN
ajst-29853	55	76	as	as	ADP
ajst-29853	55	77	：	：	PUNCT
ajst-29853	55	78	⎩	⎩	NUM
ajst-29853	55	79	⎪	⎪	NOUN
ajst-29853	55	80	⎨	⎨	ADJ
ajst-29853	55	81	⎪	⎪	NOUN
ajst-29853	55	82	⎧	⎧	PROPN
ajst-29853	55	83	𝜌𝑦	𝜌𝑦	PROPN
ajst-29853	55	84	𝑥	𝑥	PROPN
ajst-29853	55	85	,	,	PUNCT
ajst-29853	55	86	𝑡	𝑡	PROPN
ajst-29853	55	87	𝐸𝐼𝑦	𝐸𝐼𝑦	PROPN
ajst-29853	55	88	𝑥	𝑥	NOUN
ajst-29853	55	89	,	,	PUNCT
ajst-29853	55	90	𝑡	𝑡	PROPN
ajst-29853	55	91	𝑇𝑦	𝑇𝑦	PROPN
ajst-29853	55	92	𝑥	𝑥	NOUN
ajst-29853	55	93	,	,	PUNCT
ajst-29853	55	94	𝑡	𝑡	VERB
ajst-29853	55	95	𝑓	𝑓	PRON
ajst-29853	55	96	𝑥	𝑥	PROPN
ajst-29853	55	97	,	,	PUNCT
ajst-29853	55	98	𝑡	𝑡	PROPN
ajst-29853	55	99	𝑐𝑦	𝑐𝑦	VERB
ajst-29853	55	100	𝑥	𝑥	NOUN
ajst-29853	55	101	,	,	PUNCT
ajst-29853	55	102	𝑡	𝑡	PROPN
ajst-29853	55	103	,	,	PUNCT
ajst-29853	55	104	𝑦	𝑦	PROPN
ajst-29853	55	105	𝐿	𝐿	PROPN
ajst-29853	55	106	,	,	PUNCT
ajst-29853	55	107	𝑡	𝑡	DET
ajst-29853	55	108	𝑦	𝑦	NOUN
ajst-29853	55	109	0	0	NUM
ajst-29853	55	110	,	,	PUNCT
ajst-29853	55	111	𝑡	𝑡	DET
ajst-29853	55	112	𝑦	𝑦	NOUN
ajst-29853	55	113	0	0	NUM
ajst-29853	55	114	,	,	PUNCT
ajst-29853	55	115	𝑡	𝑡	PROPN
ajst-29853	55	116	0	0	NUM
ajst-29853	55	117	,	,	PUNCT
ajst-29853	55	118	𝑥	𝑥	PROPN
ajst-29853	55	119	𝑡	𝑡	X
ajst-29853	55	120	𝑥	𝑥	VERB
ajst-29853	55	121	𝑡	𝑡	X
ajst-29853	55	122	𝑦	𝑦	PROPN
ajst-29853	55	123	𝐿	𝐿	PROPN
ajst-29853	55	124	,	,	PUNCT
ajst-29853	55	125	𝑡	𝑡	PROPN
ajst-29853	55	126	,	,	PUNCT
ajst-29853	55	127	𝑥	𝑥	PROPN
ajst-29853	55	128	𝑡	𝑡	PROPN
ajst-29853	55	129	1	1	NUM
ajst-29853	55	130	𝑀	𝑀	PROPN
ajst-29853	55	131	𝐸𝐼𝑦	𝐸𝐼𝑦	PROPN
ajst-29853	55	132	𝐿	𝐿	PROPN
ajst-29853	55	133	,	,	PUNCT
ajst-29853	55	134	𝑡	𝑡	PROPN
ajst-29853	55	135	𝑑	𝑑	PROPN
ajst-29853	55	136	𝑥	𝑥	X
ajst-29853	55	137	𝑡	𝑡	PROPN
ajst-29853	55	138	𝑇𝑦	𝑇𝑦	PROPN
ajst-29853	55	139	𝐿	𝐿	PROPN
ajst-29853	55	140	,	,	PUNCT
ajst-29853	55	141	𝑡	𝑡	PROPN
ajst-29853	55	142	  	  	SPACE
ajst-29853	55	143	1	1	NUM
ajst-29853	55	144	𝑀	𝑀	PROPN
ajst-29853	55	145	𝑢	𝑢	PROPN
ajst-29853	55	146	𝑡	𝑡	PROPN
ajst-29853	55	147	1	1	NUM
ajst-29853	55	148	𝑀	𝑀	PROPN
ajst-29853	55	149	𝑑	𝑑	PROPN
ajst-29853	55	150	𝑡	𝑡	NOUN
ajst-29853	55	151	     	     	SPACE
ajst-29853	55	152	the	the	DET
ajst-29853	55	153	boundary	boundary	ADJ
ajst-29853	55	154	conditions	condition	NOUN
ajst-29853	55	155	stated	state	VERB
ajst-29853	55	156	in	in	ADP
ajst-29853	55	157	eq	eq	ADP
ajst-29853	55	158	:	:	PUNCT
ajst-29853	55	159	𝑦	𝑦	PROPN
ajst-29853	55	160	𝐿	𝐿	PROPN
ajst-29853	55	161	,	,	PUNCT
ajst-29853	55	162	𝑡	𝑡	DET
ajst-29853	55	163	𝑦	𝑦	NOUN
ajst-29853	55	164	0	0	NUM
ajst-29853	55	165	,	,	PUNCT
ajst-29853	55	166	𝑡	𝑡	DET
ajst-29853	55	167	𝑦	𝑦	NOUN
ajst-29853	55	168	0	0	NUM
ajst-29853	55	169	,	,	PUNCT
ajst-29853	55	170	𝑡	𝑡	X
ajst-29853	55	171	0	0	NUM
ajst-29853	55	172	；	；	PROPN
ajst-29853	55	173	𝐸𝐼𝑦	𝐸𝐼𝑦	PROPN
ajst-29853	55	174	𝐿	𝐿	PROPN
ajst-29853	55	175	,	,	PUNCT
ajst-29853	55	176	𝑡	𝑡	PROPN
ajst-29853	55	177	𝑇𝑦	𝑇𝑦	PROPN
ajst-29853	55	178	𝐿	𝐿	PROPN
ajst-29853	55	179	,	,	PUNCT
ajst-29853	55	180	𝑡	𝑡	PROPN
ajst-29853	55	181	𝑑	𝑑	PROPN
ajst-29853	55	182	𝑡	𝑡	PROPN
ajst-29853	55	183	𝑑	𝑑	PROPN
ajst-29853	55	184	𝑦	𝑦	PROPN
ajst-29853	55	185	𝐿	𝐿	PROPN
ajst-29853	55	186	,	,	PUNCT
ajst-29853	55	187	𝑡	𝑡	PROPN
ajst-29853	55	188	𝑀	𝑀	PROPN
ajst-29853	55	189	𝑦	𝑦	PROPN
ajst-29853	55	190	𝐿	𝐿	PROPN
ajst-29853	55	191	,	,	PUNCT
ajst-29853	55	192	𝑡	𝑡	VERB
ajst-29853	55	193	𝑢	𝑢	X
ajst-29853	55	194	𝑡	𝑡	X
ajst-29853	55	195	 	 	SPACE
ajst-29853	55	196	；	；	NOUN
ajst-29853	55	197	in	in	ADP
ajst-29853	55	198	the	the	DET
ajst-29853	55	199	formula	formula	NOUN
ajst-29853	55	200	:	:	PUNCT
ajst-29853	55	201	t	t	PROPN
ajst-29853	55	202	is	be	AUX
ajst-29853	55	203	the	the	DET
ajst-29853	55	204	time	time	NOUN
ajst-29853	55	205	variable	variable	NOUN
ajst-29853	55	206	、	、	NOUN
ajst-29853	55	207	x	x	PUNCT
ajst-29853	55	208	is	be	AUX
ajst-29853	55	209	the	the	DET
ajst-29853	55	210	spatial	spatial	ADJ
ajst-29853	55	211	variable	variable	NOUN
ajst-29853	55	212	,	,	PUNCT
ajst-29853	55	213	l	l	NOUN
ajst-29853	55	214	is	be	AUX
ajst-29853	55	215	the	the	DET
ajst-29853	55	216	length	length	NOUN
ajst-29853	55	217	of	of	ADP
ajst-29853	55	218	the	the	DET
ajst-29853	55	219	riser,𝑦	riser,𝑦	PROPN
ajst-29853	55	220	𝑥	𝑥	PROPN
ajst-29853	55	221	,	,	PUNCT
ajst-29853	55	222	𝑡	𝑡	PROPN
ajst-29853	55	223	is	be	AUX
ajst-29853	55	224	the	the	DET
ajst-29853	55	225	actual	actual	ADJ
ajst-29853	55	226	offset	offset	NOUN
ajst-29853	55	227	of	of	ADP
ajst-29853	55	228	the	the	DET
ajst-29853	55	229	transverse	transverse	NOUN
ajst-29853	55	230	vibration,𝑓	vibration,𝑓	PROPN
ajst-29853	55	231	𝑥	𝑥	PROPN
ajst-29853	55	232	,	,	PUNCT
ajst-29853	55	233	𝑡	𝑡	PROPN
ajst-29853	55	234	is	be	AUX
ajst-29853	55	235	the	the	DET
ajst-29853	55	236	distributed	distribute	VERB
ajst-29853	55	237	current	current	ADJ
ajst-29853	55	238	load	load	NOUN
ajst-29853	55	239	acting	act	VERB
ajst-29853	55	240	on	on	ADP
ajst-29853	55	241	the	the	DET
ajst-29853	55	242	riser	riser	NOUN
ajst-29853	55	243	,	,	PUNCT
ajst-29853	55	244	𝑑	𝑑	PROPN
ajst-29853	55	245	𝑡	𝑡	PROPN
ajst-29853	55	246	is	be	AUX
ajst-29853	55	247	the	the	DET
ajst-29853	55	248	boundary	boundary	ADJ
ajst-29853	55	249	disturbance,𝑀	disturbance,𝑀	NOUN
ajst-29853	55	250	is	be	AUX
ajst-29853	55	251	the	the	DET
ajst-29853	55	252	mass	mass	NOUN
ajst-29853	55	253	of	of	ADP
ajst-29853	55	254	the	the	DET
ajst-29853	55	255	ship,𝜌	ship,𝜌	PROPN
ajst-29853	55	256	is	be	AUX
ajst-29853	55	257	the	the	DET
ajst-29853	55	258	mass	mass	NOUN
ajst-29853	55	259	per	per	ADP
ajst-29853	55	260	unit	unit	NOUN
ajst-29853	55	261	of	of	ADP
ajst-29853	55	262	the	the	DET
ajst-29853	55	263	riser,𝐸𝐼	riser,𝐸𝐼	NOUN
ajst-29853	55	264	is	be	AUX
ajst-29853	55	265	the	the	DET
ajst-29853	55	266	bending	bend	VERB
ajst-29853	55	267	stiffness	stiffness	NOUN
ajst-29853	55	268	of	of	ADP
ajst-29853	55	269	the	the	DET
ajst-29853	55	270	riser,𝑇	riser,𝑇	NOUN
ajst-29853	55	271	is	be	AUX
ajst-29853	55	272	the	the	DET
ajst-29853	55	273	tension	tension	NOUN
ajst-29853	55	274	of	of	ADP
ajst-29853	55	275	the	the	DET
ajst-29853	55	276	riser	riser	NOUN
ajst-29853	55	277	,	,	PUNCT
ajst-29853	55	278	𝑐	𝑐	PROPN
ajst-29853	55	279	is	be	AUX
ajst-29853	55	280	the	the	DET
ajst-29853	55	281	structural	structural	ADJ
ajst-29853	55	282	damping	damp	VERB
ajst-29853	55	283	coefficient	coefficient	NOUN
ajst-29853	55	284	,	,	PUNCT
ajst-29853	55	285	𝑑	𝑑	NOUN
ajst-29853	55	286	is	be	AUX
ajst-29853	55	287	the	the	DET
ajst-29853	55	288	damping	damp	VERB
ajst-29853	55	289	coefficient	coefficient	NOUN
ajst-29853	55	290	of	of	ADP
ajst-29853	55	291	the	the	DET
ajst-29853	55	292	ship	ship	NOUN
ajst-29853	55	293	,	,	PUNCT
ajst-29853	55	294	𝛿	𝛿	PROPN
ajst-29853	55	295	is	be	AUX
ajst-29853	55	296	the	the	DET
ajst-29853	55	297	variational	variational	ADJ
ajst-29853	55	298	operator	operator	NOUN
ajst-29853	55	299	,	,	PUNCT
ajst-29853	55	300	𝑢	𝑢	PROPN
ajst-29853	55	301	𝑡	𝑡	PROPN
ajst-29853	55	302	is	be	AUX
ajst-29853	55	303	the	the	DET
ajst-29853	55	304	boundary	boundary	ADJ
ajst-29853	55	305	control	control	NOUN
ajst-29853	55	306	quantity	quantity	NOUN
ajst-29853	55	307	acting	act	VERB
ajst-29853	55	308	on	on	ADP
ajst-29853	55	309	the	the	DET
ajst-29853	55	310	tip	tip	NOUN
ajst-29853	55	311	of	of	ADP
ajst-29853	55	312	the	the	DET
ajst-29853	55	313	riser	riser	NOUN
ajst-29853	55	314	;	;	PUNCT
ajst-29853	55	315	and	and	CCONJ
ajst-29853	55	316	,	,	PUNCT
ajst-29853	55	317	𝑥	𝑥	PRON
ajst-29853	55	318	、	、	NOUN
ajst-29853	55	319	𝑥	𝑥	X
ajst-29853	55	320	is	be	AUX
ajst-29853	55	321	the	the	DET
ajst-29853	55	322	state	state	NOUN
ajst-29853	55	323	of	of	ADP
ajst-29853	55	324	the	the	DET
ajst-29853	55	325	system	system	NOUN
ajst-29853	55	326	.	.	PUNCT
ajst-29853	56	1	figure	figure	VERB
ajst-29853	56	2	2	2	NUM
ajst-29853	56	3	-	-	SYM
ajst-29853	56	4	1	1	NUM
ajst-29853	56	5	.	.	PUNCT
ajst-29853	56	6	typical	typical	ADJ
ajst-29853	56	7	marine	marine	ADJ
ajst-29853	56	8	flexible	flexible	ADJ
ajst-29853	56	9	riser	riser	NOUN
ajst-29853	56	10	system	system	NOUN
ajst-29853	56	11	2.2	2.2	NUM
ajst-29853	56	12	.	.	PUNCT
ajst-29853	57	1	preparatory	preparatory	ADJ
ajst-29853	57	2	knowledge	knowledge	PROPN
ajst-29853	57	3	lemma	lemma	PROPN
ajst-29853	57	4	1(zuo	1(zuo	NUM
ajst-29853	57	5	et	et	PROPN
ajst-29853	57	6	al	al	PROPN
ajst-29853	57	7	.	.	PROPN
ajst-29853	57	8	,	,	PUNCT
ajst-29853	57	9	2020	2020	NUM
ajst-29853	57	10	)	)	PUNCT
ajst-29853	58	1	𝑥	𝑥	NOUN
ajst-29853	58	2	,	,	PUNCT
ajst-29853	58	3	𝑦	𝑦	NOUN
ajst-29853	58	4	∈	∈	PROPN
ajst-29853	58	5	ℝ	ℝ	PROPN
ajst-29853	58	6	,	,	PUNCT
ajst-29853	58	7	𝜀	𝜀	X
ajst-29853	58	8	0	0	NUM
ajst-29853	58	9	,	,	PUNCT
ajst-29853	58	10	𝑎	𝑎	PROPN
ajst-29853	58	11	1	1	NUM
ajst-29853	58	12	,	,	PUNCT
ajst-29853	58	13	𝑏	𝑏	PROPN
ajst-29853	58	14	1	1	NUM
ajst-29853	58	15	and	and	CCONJ
ajst-29853	58	16	satisfying	satisfy	VERB
ajst-29853	58	17	𝑎	𝑎	DET
ajst-29853	58	18	1	1	NUM
ajst-29853	58	19	𝑏	𝑏	SYM
ajst-29853	58	20	1	1	NUM
ajst-29853	58	21	1	1	NUM
ajst-29853	58	22	the	the	DET
ajst-29853	58	23	following	follow	VERB
ajst-29853	58	24	equation	equation	NOUN
ajst-29853	58	25	exists	exist	VERB
ajst-29853	58	26	𝑥𝑦	𝑥𝑦	NOUN
ajst-29853	58	27	𝜀	𝜀	X
ajst-29853	58	28	𝑎	𝑎	X
ajst-29853	58	29	|𝑥|	|𝑥|	ADJ
ajst-29853	58	30	1	1	NUM
ajst-29853	58	31	𝑏𝜀	𝑏𝜀	ADP
ajst-29853	58	32	|𝑦|	|𝑦|	PROPN
ajst-29853	58	33	36	36	NUM
ajst-29853	58	34	lemma	lemma	PROPN
ajst-29853	58	35	2	2	NUM
ajst-29853	58	36	(	(	PUNCT
ajst-29853	58	37	li	li	PROPN
ajst-29853	58	38	et	et	PROPN
ajst-29853	58	39	al	al	PROPN
ajst-29853	58	40	.	.	PROPN
ajst-29853	58	41	,	,	PUNCT
ajst-29853	58	42	2016	2016	NUM
ajst-29853	58	43	)	)	PUNCT
ajst-29853	58	44	for	for	ADP
ajst-29853	58	45	any	any	DET
ajst-29853	58	46	real	real	ADJ
ajst-29853	58	47	variables𝜔	variables𝜔	NOUN
ajst-29853	58	48	,	,	PUNCT
ajst-29853	58	49	𝜐	𝜐	NOUN
ajst-29853	58	50	and	and	CCONJ
ajst-29853	58	51	constants𝜁	constants𝜁	PROPN
ajst-29853	58	52	0	0	NUM
ajst-29853	58	53	,	,	PUNCT
ajst-29853	58	54	𝜄	𝜄	PROPN
ajst-29853	58	55	0	0	NUM
ajst-29853	58	56	,	,	PUNCT
ajst-29853	58	57	𝛾	𝛾	AUX
ajst-29853	58	58	0,there	0,there	NUM
ajst-29853	58	59	exists	exist	VERB
ajst-29853	58	60	|𝜔|	|𝜔|	NOUN
ajst-29853	58	61	|𝜐|	|𝜐|	PROPN
ajst-29853	58	62	𝜁	𝜁	ADJ
ajst-29853	58	63	𝜁	𝜁	X
ajst-29853	58	64	𝜄	𝜄	PROPN
ajst-29853	58	65	𝛾|𝜔|	𝛾|𝜔|	NOUN
ajst-29853	59	1	𝜄	𝜄	PROPN
ajst-29853	59	2	𝜁	𝜁	X
ajst-29853	59	3	𝜄	𝜄	X
ajst-29853	59	4	𝛾	𝛾	ADP
ajst-29853	59	5	|𝑣|	|𝑣|	PRON
ajst-29853	59	6	lemma	lemma	PROPN
ajst-29853	59	7	3(wang	3(wang	PROPN
ajst-29853	59	8	and	and	CCONJ
ajst-29853	59	9	li	li	PROPN
ajst-29853	59	10	,	,	PUNCT
ajst-29853	59	11	2023	2023	NUM
ajst-29853	59	12	)	)	PUNCT
ajst-29853	59	13	a	a	DET
ajst-29853	59	14	nonlinear	nonlinear	ADJ
ajst-29853	59	15	system	system	NOUN
ajst-29853	59	16	is	be	AUX
ajst-29853	59	17	considered	consider	VERB
ajst-29853	59	18	asθ	asθ	PROPN
ajst-29853	59	19	𝑓	𝑓	PRON
ajst-29853	59	20	θ	θ	PROPN
ajst-29853	59	21	,	,	PUNCT
ajst-29853	59	22	𝐹	𝐹	PROPN
ajst-29853	59	23	,	,	PUNCT
ajst-29853	59	24	for	for	ADP
ajst-29853	59	25	the	the	DET
ajst-29853	59	26	lyapunov	lyapunov	ADJ
ajst-29853	59	27	candidate	candidate	NOUN
ajst-29853	59	28	function	function	NOUN
ajst-29853	59	29	𝑉	𝑉	PROPN
ajst-29853	59	30	θ	θ	PROPN
ajst-29853	59	31	,	,	PUNCT
ajst-29853	59	32	if	if	SCONJ
ajst-29853	59	33	there	there	PRON
ajst-29853	59	34	exist	exist	VERB
ajst-29853	59	35	constants	constant	NOUN
ajst-29853	59	36	𝜅	𝜅	ADP
ajst-29853	59	37	0	0	NUM
ajst-29853	59	38	,	,	PUNCT
ajst-29853	59	39	𝐶	𝐶	PROPN
ajst-29853	59	40	0	0	NUM
ajst-29853	59	41	and	and	CCONJ
ajst-29853	59	42	0	0	NUM
ajst-29853	59	43	ℓ	ℓ	NOUN
ajst-29853	59	44	1,then	1,then	NUM
ajst-29853	59	45	𝑉	𝑉	PROPN
ajst-29853	59	46	θ	θ	PROPN
ajst-29853	59	47	𝜅𝑉ℓ	𝜅𝑉ℓ	PROPN
ajst-29853	59	48	θ	θ	PROPN
ajst-29853	59	49	𝐶	𝐶	PROPN
ajst-29853	59	50	,	,	PUNCT
ajst-29853	59	51	∀𝑡	∀𝑡	PROPN
ajst-29853	59	52	0	0	NUM
ajst-29853	59	53	,	,	PUNCT
ajst-29853	59	54	the	the	DET
ajst-29853	59	55	solution	solution	NOUN
ajst-29853	59	56	of	of	ADP
ajst-29853	59	57	θ	θ	PROPN
ajst-29853	59	58	𝑡	𝑡	VERB
ajst-29853	59	59	to	to	ADP
ajst-29853	59	60	θ	θ	PROPN
ajst-29853	59	61	𝑓	𝑓	PROPN
ajst-29853	59	62	θ	θ	PROPN
ajst-29853	59	63	,	,	PUNCT
ajst-29853	59	64	𝐹	𝐹	PROPN
ajst-29853	59	65	is	be	AUX
ajst-29853	59	66	to	to	PART
ajst-29853	59	67	satisfy	satisfy	VERB
ajst-29853	59	68	semiglobally	semiglobally	ADV
ajst-29853	59	69	uniformly	uniformly	ADV
ajst-29853	59	70	stability	stability	NOUN
ajst-29853	59	71	(	(	PUNCT
ajst-29853	59	72	sgfs	sgfs	PROPN
ajst-29853	59	73	)	)	PUNCT
ajst-29853	59	74	.	.	PUNCT
ajst-29853	60	1	when𝑡	when𝑡	PROPN
ajst-29853	60	2	𝑇∗	𝑇∗	PROPN
ajst-29853	60	3	≜	≜	NOUN
ajst-29853	60	4	𝑉	𝑉	PROPN
ajst-29853	60	5	ℓ	ℓ	PROPN
ajst-29853	60	6	𝛩	𝛩	NOUN
ajst-29853	60	7	ℓ	ℓ	PROPN
ajst-29853	60	8	ℓ	ℓ	PROPN
ajst-29853	60	9	ℓ	ℓ	PROPN
ajst-29853	60	10	satisfies	satisfie	NOUN
ajst-29853	60	11	𝑉	𝑉	PROPN
ajst-29853	60	12	θ	θ	PROPN
ajst-29853	60	13	⩽	⩽	PROPN
ajst-29853	60	14	𝐶	𝐶	PROPN
ajst-29853	60	15	1	1	NUM
ajst-29853	60	16	𝑣	𝑣	PROPN
ajst-29853	60	17	𝜅	𝜅	PROPN
ajst-29853	60	18	ℓ	ℓ	PROPN
ajst-29853	60	19	3	3	NUM
ajst-29853	60	20	.	.	PUNCT
ajst-29853	61	1	control	control	NOUN
ajst-29853	61	2	design	design	PROPN
ajst-29853	61	3	3.1	3.1	NUM
ajst-29853	61	4	.	.	PUNCT
ajst-29853	62	1	control	control	NOUN
ajst-29853	62	2	design	design	NOUN
ajst-29853	62	3	in	in	ADP
ajst-29853	62	4	the	the	DET
ajst-29853	62	5	design	design	NOUN
ajst-29853	62	6	of	of	ADP
ajst-29853	62	7	the	the	DET
ajst-29853	62	8	flexible	flexible	ADJ
ajst-29853	62	9	riser	riser	NOUN
ajst-29853	62	10	boundary	boundary	ADJ
ajst-29853	62	11	controller	controller	NOUN
ajst-29853	62	12	,	,	PUNCT
ajst-29853	62	13	the	the	DET
ajst-29853	62	14	following	follow	VERB
ajst-29853	62	15	nonlinear	nonlinear	ADJ
ajst-29853	62	16	system	system	NOUN
ajst-29853	62	17	is	be	AUX
ajst-29853	62	18	considered	consider	VERB
ajst-29853	62	19	𝑥	𝑥	PART
ajst-29853	62	20	𝑡	𝑡	PROPN
ajst-29853	62	21	𝑤	𝑤	X
ajst-29853	62	22	𝐿	𝐿	PROPN
ajst-29853	62	23	,	,	PUNCT
ajst-29853	62	24	𝑡	𝑡	PROPN
ajst-29853	62	25	,	,	PUNCT
ajst-29853	62	26	𝑥	𝑥	PROPN
ajst-29853	62	27	𝑡	𝑡	X
ajst-29853	62	28	𝑥	𝑥	PROPN
ajst-29853	62	29	𝑡	𝑡	PROPN
ajst-29853	62	30	𝑤	𝑤	SYM
ajst-29853	62	31	𝐿	𝐿	PROPN
ajst-29853	62	32	,	,	PUNCT
ajst-29853	62	33	𝑡	𝑡	PROPN
ajst-29853	62	34	,	,	PUNCT
ajst-29853	62	35	𝑥	𝑥	PROPN
ajst-29853	62	36	𝑡	𝑡	PROPN
ajst-29853	62	37	𝐸𝐼𝑤	𝐸𝐼𝑤	PROPN
ajst-29853	62	38	𝐿	𝐿	PROPN
ajst-29853	62	39	,	,	PUNCT
ajst-29853	62	40	𝑡	𝑡	PROPN
ajst-29853	62	41	𝑑	𝑑	PROPN
ajst-29853	62	42	𝑥	𝑥	X
ajst-29853	62	43	𝑡	𝑡	PROPN
ajst-29853	62	44	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	62	45	𝐿	𝐿	PROPN
ajst-29853	62	46	,	,	PUNCT
ajst-29853	62	47	𝑡	𝑡	X
ajst-29853	62	48	𝑢	𝑢	X
ajst-29853	62	49	𝑡	𝑡	ADP
ajst-29853	62	50	𝑑	𝑑	PROPN
ajst-29853	62	51	𝑡	𝑡	PROPN
ajst-29853	62	52	(	(	PUNCT
ajst-29853	62	53	3.1	3.1	NUM
ajst-29853	62	54	)	)	PUNCT
ajst-29853	62	55	introduction	introduction	NOUN
ajst-29853	62	56	of	of	ADP
ajst-29853	62	57	the	the	DET
ajst-29853	62	58	cotangent	cotangent	NOUN
ajst-29853	62	59	function	function	NOUN
ajst-29853	62	60	type	type	NOUN
ajst-29853	62	61	obstacle	obstacle	NOUN
ajst-29853	62	62	lyapunov	lyapunov	NOUN
ajst-29853	62	63	function	function	VERB
ajst-29853	62	64	𝑉	𝑉	PROPN
ajst-29853	62	65	cot	cot	NOUN
ajst-29853	63	1	𝜋	𝜋	NOUN
ajst-29853	63	2	2	2	NUM
ajst-29853	63	3	1	1	NUM
ajst-29853	63	4	𝑥	𝑥	NOUN
ajst-29853	63	5	,	,	PUNCT
ajst-29853	63	6	1	1	NUM
ajst-29853	63	7	𝑥	𝑥	PROPN
ajst-29853	63	8	1,for∀∣	1,for∀∣	NUM
ajst-29853	63	9	𝑥	𝑥	ADP
ajst-29853	63	10	∣	∣	ADJ
ajst-29853	63	11	1,when	1,when	NUM
ajst-29853	63	12	∣	∣	ADJ
ajst-29853	63	13	𝑥	𝑥	PROPN
ajst-29853	63	14	∣	∣	ADJ
ajst-29853	63	15	→	→	SYM
ajst-29853	63	16	1,𝑉	1,𝑉	PROPN
ajst-29853	63	17	→	→	SYM
ajst-29853	63	18	∞	∞	NUM
ajst-29853	63	19	property1	property1	NOUN
ajst-29853	63	20	:	:	PUNCT
ajst-29853	63	21	when|x|	when|x|	X
ajst-29853	63	22	1,there	1,there	NUM
ajst-29853	63	23	exists	exist	VERB
ajst-29853	63	24	the	the	DET
ajst-29853	63	25	inequality	inequality	NOUN
ajst-29853	63	26	x	x	X
ajst-29853	63	27	cot	cot	NOUN
ajst-29853	64	1	1	1	NUM
ajst-29853	64	2	x	x	SYM
ajst-29853	64	3	πx	πx	X
ajst-29853	64	4	cosec	cosec	ADJ
ajst-29853	64	5	1	1	NUM
ajst-29853	64	6	x	x	SYM
ajst-29853	64	7	(	(	PUNCT
ajst-29853	64	8	3.2	3.2	NUM
ajst-29853	64	9	)	)	PUNCT
ajst-29853	64	10	tracking	tracking	NOUN
ajst-29853	64	11	error	error	NOUN
ajst-29853	64	12	is	be	AUX
ajst-29853	64	13	defined	define	VERB
ajst-29853	64	14	as	as	ADP
ajst-29853	64	15	:	:	PUNCT
ajst-29853	64	16	𝑧	𝑧	PROPN
ajst-29853	64	17	𝑥	𝑥	PRON
ajst-29853	64	18	𝑦	𝑦	SYM
ajst-29853	64	19	(	(	PUNCT
ajst-29853	64	20	3.3	3.3	NUM
ajst-29853	64	21	)	)	PUNCT
ajst-29853	64	22	𝑧	𝑧	PRON
ajst-29853	64	23	𝑥	𝑥	X
ajst-29853	64	24	𝛼	𝛼	X
ajst-29853	64	25	(	(	PUNCT
ajst-29853	64	26	3.4	3.4	NUM
ajst-29853	64	27	)	)	PUNCT
ajst-29853	64	28	where	where	SCONJ
ajst-29853	64	29	z1	z1	PROPN
ajst-29853	64	30	is	be	AUX
ajst-29853	64	31	the	the	DET
ajst-29853	64	32	position	position	NOUN
ajst-29853	64	33	tracking	tracking	NOUN
ajst-29853	64	34	error	error	NOUN
ajst-29853	64	35	z2	z2	NOUN
ajst-29853	64	36	is	be	AUX
ajst-29853	64	37	the	the	DET
ajst-29853	64	38	velocity	velocity	NOUN
ajst-29853	64	39	tracking	tracking	NOUN
ajst-29853	64	40	error	error	NOUN
ajst-29853	64	41	,	,	PUNCT
ajst-29853	64	42	α	α	PROPN
ajst-29853	64	43	is	be	AUX
ajst-29853	64	44	the	the	DET
ajst-29853	64	45	virtual	virtual	ADJ
ajst-29853	64	46	control	control	NOUN
ajst-29853	64	47	,	,	PUNCT
ajst-29853	64	48	and	and	CCONJ
ajst-29853	64	49	yd	yd	NOUN
ajst-29853	64	50	is	be	AUX
ajst-29853	64	51	the	the	DET
ajst-29853	64	52	desired	desire	VERB
ajst-29853	64	53	trajectory	trajectory	NOUN
ajst-29853	64	54	of	of	ADP
ajst-29853	64	55	𝑥	𝑥	PROPN
ajst-29853	64	56	.	.	PUNCT
ajst-29853	65	1	assume	assume	VERB
ajst-29853	65	2	that	that	SCONJ
ajst-29853	65	3	the	the	DET
ajst-29853	65	4	error	error	NOUN
ajst-29853	65	5	𝑧	𝑧	NOUN
ajst-29853	65	6	is	be	AUX
ajst-29853	65	7	within	within	ADP
ajst-29853	65	8	the	the	DET
ajst-29853	65	9	constraint	constraint	NOUN
ajst-29853	65	10	𝑘	𝑘	ADP
ajst-29853	65	11	𝑧	𝑧	NOUN
ajst-29853	65	12	𝑘	𝑘	INTJ
ajst-29853	65	13	where	where	SCONJ
ajst-29853	65	14	𝑘	𝑘	PRON
ajst-29853	65	15	∈	∈	PROPN
ajst-29853	65	16	ℝ	ℝ	PROPN
ajst-29853	65	17	and	and	CCONJ
ajst-29853	65	18	𝑘	𝑘	DET
ajst-29853	65	19	∈	∈	NOUN
ajst-29853	65	20	ℝ	ℝ	PROPN
ajst-29853	65	21	are	be	AUX
ajst-29853	65	22	known	know	VERB
ajst-29853	65	23	timevarying	timevarying	NOUN
ajst-29853	65	24	functions	function	NOUN
ajst-29853	65	25	.	.	PUNCT
ajst-29853	66	1	since	since	SCONJ
ajst-29853	66	2	𝑧	𝑧	PRON
ajst-29853	66	3	𝑥	𝑥	PRON
ajst-29853	66	4	𝑦	𝑦	NOUN
ajst-29853	66	5	,	,	PUNCT
ajst-29853	66	6	there	there	PRON
ajst-29853	66	7	is	be	VERB
ajst-29853	66	8	𝑦	𝑦	PRON
ajst-29853	66	9	𝑘	𝑘	PRON
ajst-29853	66	10	𝑥	𝑥	DET
ajst-29853	66	11	𝑦	𝑦	NOUN
ajst-29853	66	12	𝑘	𝑘	INTJ
ajst-29853	66	13	.let	.let	NOUN
ajst-29853	67	1	𝑞	𝑞	X
ajst-29853	67	2	𝑦	𝑦	PROPN
ajst-29853	67	3	𝑘	𝑘	PROPN
ajst-29853	67	4	and	and	CCONJ
ajst-29853	67	5	𝑞	𝑞	X
ajst-29853	67	6	𝑦	𝑦	X
ajst-29853	67	7	𝑘	𝑘	PROPN
ajst-29853	67	8	.	.	PUNCT
ajst-29853	68	1	for	for	ADP
ajst-29853	68	2	control	control	NOUN
ajst-29853	68	3	design	design	NOUN
ajst-29853	68	4	,	,	PUNCT
ajst-29853	68	5	the	the	DET
ajst-29853	68	6	auxiliary	auxiliary	ADJ
ajst-29853	68	7	variables	variable	NOUN
ajst-29853	68	8	𝜉	𝜉	VERB
ajst-29853	68	9	,	,	PUNCT
ajst-29853	68	10	𝜉	𝜉	INTJ
ajst-29853	68	11	,	,	PUNCT
ajst-29853	68	12	𝜉	𝜉	X
ajst-29853	68	13	,	,	PUNCT
ajst-29853	68	14	𝑖	𝑖	PROPN
ajst-29853	68	15	1	1	NUM
ajst-29853	68	16	,	,	PUNCT
ajst-29853	68	17	.	.	PUNCT
ajst-29853	68	18	.	.	PUNCT
ajst-29853	69	1	.	.	PUNCT
ajst-29853	70	1	,	,	PUNCT
ajst-29853	70	2	𝑛	𝑛	PROPN
ajst-29853	70	3	are	be	AUX
ajst-29853	70	4	designed	design	VERB
ajst-29853	70	5	as	as	ADP
ajst-29853	70	6	𝜉	𝜉	X
ajst-29853	70	7	𝜉	𝜉	ADP
ajst-29853	70	8	𝜉	𝜉	ADP
ajst-29853	70	9	ℎ𝜉	ℎ𝜉	ADP
ajst-29853	70	10	1	1	NUM
ajst-29853	70	11	ℎ	ℎ	PROPN
ajst-29853	70	12	𝜉	𝜉	X
ajst-29853	70	13	(	(	PUNCT
ajst-29853	70	14	3.5	3.5	NUM
ajst-29853	70	15	)	)	PUNCT
ajst-29853	70	16	which	which	PRON
ajst-29853	70	17	ℎ	ℎ	SYM
ajst-29853	70	18	1	1	NUM
ajst-29853	70	19	,	,	PUNCT
ajst-29853	70	20	𝑧	𝑧	PROPN
ajst-29853	70	21	0	0	NUM
ajst-29853	70	22	0	0	NUM
ajst-29853	70	23	,	,	PUNCT
ajst-29853	70	24	others	other	NOUN
ajst-29853	70	25	.	.	PUNCT
ajst-29853	71	1	the	the	DET
ajst-29853	71	2	asymmetric	asymmetric	ADJ
ajst-29853	71	3	obstacle	obstacle	NOUN
ajst-29853	71	4	lyapunov	lyapunov	PROPN
ajst-29853	71	5	function	function	NOUN
ajst-29853	71	6	is	be	AUX
ajst-29853	71	7	constructed	construct	VERB
ajst-29853	71	8	as	as	ADP
ajst-29853	71	9	𝑉	𝑉	PROPN
ajst-29853	71	10	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	71	11	1	1	NUM
ajst-29853	71	12	𝜉	𝜉	NOUN
ajst-29853	71	13	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	71	14	1	1	NUM
ajst-29853	71	15	𝜉	𝜉	NOUN
ajst-29853	71	16	(	(	PUNCT
ajst-29853	71	17	3.6	3.6	NUM
ajst-29853	71	18	)	)	PUNCT
ajst-29853	71	19	derivation	derivation	NOUN
ajst-29853	71	20	of	of	ADP
ajst-29853	71	21	the	the	DET
ajst-29853	71	22	above	above	ADJ
ajst-29853	71	23	equation	equation	NOUN
ajst-29853	71	24	gives	give	VERB
ajst-29853	71	25	𝑉	𝑉	PROPN
ajst-29853	71	26	𝜋𝜉	𝜋𝜉	ADP
ajst-29853	71	27	𝜉	𝜉	NOUN
ajst-29853	71	28	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	29	1	1	NUM
ajst-29853	71	30	𝜉	𝜉	NOUN
ajst-29853	71	31	𝜋𝜉	𝜋𝜉	ADP
ajst-29853	71	32	𝜉	𝜉	X
ajst-29853	71	33	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	34	1	1	NUM
ajst-29853	71	35	𝜉	𝜉	X
ajst-29853	71	36	(	(	PUNCT
ajst-29853	71	37	3.7	3.7	NUM
ajst-29853	71	38	)	)	PUNCT
ajst-29853	71	39	substituting(3.5)with(3.7)yields	substituting(3.5)with(3.7)yield	NOUN
ajst-29853	71	40	𝑉	𝑉	PROPN
ajst-29853	71	41	𝜋𝜉	𝜋𝜉	PRON
ajst-29853	71	42	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	43	1	1	NUM
ajst-29853	71	44	𝜉	𝜉	NOUN
ajst-29853	71	45	𝜋𝜉	𝜋𝜉	ADP
ajst-29853	71	46	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	47	1	1	NUM
ajst-29853	71	48	𝜉	𝜉	NOUN
ajst-29853	71	49	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	50	1	1	NUM
ajst-29853	71	51	𝜉	𝜉	NOUN
ajst-29853	71	52	(	(	PUNCT
ajst-29853	71	53	3.8	3.8	NUM
ajst-29853	71	54	)	)	PUNCT
ajst-29853	71	55	according	accord	VERB
ajst-29853	71	56	to(3.3),(3.4)we	to(3.3),(3.4)we	NOUN
ajst-29853	71	57	can	can	AUX
ajst-29853	71	58	get	get	VERB
ajst-29853	71	59	𝑧	𝑧	PRON
ajst-29853	71	60	𝑥	𝑥	NOUN
ajst-29853	71	61	𝑦	𝑦	NOUN
ajst-29853	71	62	𝑥	𝑥	X
ajst-29853	71	63	𝑦	𝑦	NOUN
ajst-29853	71	64	𝑧	𝑧	X
ajst-29853	71	65	𝛼	𝛼	X
ajst-29853	71	66	𝑦	𝑦	NOUN
ajst-29853	71	67	(	(	PUNCT
ajst-29853	71	68	3.9	3.9	NUM
ajst-29853	71	69	)	)	PUNCT
ajst-29853	71	70	design	design	VERB
ajst-29853	71	71	the	the	DET
ajst-29853	71	72	virtual	virtual	ADJ
ajst-29853	71	73	control	control	NOUN
ajst-29853	71	74	α	α	PROPN
ajst-29853	71	75	as	as	ADP
ajst-29853	71	76	𝛼	𝛼	X
ajst-29853	71	77	𝑘	𝑘	PRON
ajst-29853	71	78	𝑧	𝑧	VERB
ajst-29853	71	79	𝜋𝜉	𝜋𝜉	ADP
ajst-29853	71	80	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	71	81	1	1	NUM
ajst-29853	71	82	𝜉	𝜉	NOUN
ajst-29853	71	83	ℓ	ℓ	PROPN
ajst-29853	71	84	𝑦	𝑦	X
ajst-29853	71	85	𝑘	𝑘	X
ajst-29853	71	86	𝑧	𝑧	PROPN
ajst-29853	71	87	(	(	PUNCT
ajst-29853	71	88	3.10	3.10	NUM
ajst-29853	71	89	)	)	PUNCT
ajst-29853	71	90	where	where	SCONJ
ajst-29853	71	91	ℓ	ℓ	NOUN
ajst-29853	71	92	0	0	NUM
ajst-29853	71	93	ℓ	ℓ	PROPN
ajst-29853	71	94	1	1	NUM
ajst-29853	71	95	,	,	PUNCT
ajst-29853	71	96	k	k	PROPN
ajst-29853	71	97	and	and	CCONJ
ajst-29853	71	98	k1	k1	PROPN
ajst-29853	71	99	are	be	AUX
ajst-29853	71	100	positive	positive	ADJ
ajst-29853	71	101	constants	constant	NOUN
ajst-29853	71	102	.	.	PUNCT
ajst-29853	72	1	bringing(3.10)and(3.9)into(3.8)there	bringing(3.10)and(3.9)into(3.8)there	PROPN
ajst-29853	72	2	are	be	AUX
ajst-29853	72	3	𝑉	𝑉	PROPN
ajst-29853	72	4	𝜋𝜉	𝜋𝜉	NOUN
ajst-29853	72	5	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	72	6	1	1	NUM
ajst-29853	72	7	𝜉	𝜉	NOUN
ajst-29853	72	8	𝑘	𝑘	PROPN
ajst-29853	72	9	ℎ	ℎ	PROPN
ajst-29853	72	10	1	1	NUM
ajst-29853	72	11	ℎ	ℎ	PART
ajst-29853	72	12	𝑘	𝑘	PRON
ajst-29853	72	13	𝜋𝜉	𝜋𝜉	ADP
ajst-29853	72	14	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	72	15	1	1	NUM
ajst-29853	72	16	𝜉	𝜉	NOUN
ajst-29853	72	17	ℓ	ℓ	NOUN
ajst-29853	72	18	𝜉	𝜉	NOUN
ajst-29853	72	19	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	72	20	1	1	NUM
ajst-29853	72	21	𝜉	𝜉	PROPN
ajst-29853	72	22	𝑧	𝑧	PROPN
ajst-29853	72	23	(	(	PUNCT
ajst-29853	72	24	3.11	3.11	NUM
ajst-29853	72	25	)	)	PUNCT
ajst-29853	72	26	where	where	SCONJ
ajst-29853	72	27	the	the	DET
ajst-29853	72	28	parameter	parameter	NOUN
ajst-29853	72	29	k1	k1	PROPN
ajst-29853	72	30	satisfies𝑘	satisfies𝑘	NOUN
ajst-29853	72	31	𝑉	𝑉	PROPN
ajst-29853	72	32	can	can	AUX
ajst-29853	72	33	be	be	AUX
ajst-29853	72	34	concluded	conclude	VERB
ajst-29853	72	35	𝑉	𝑉	PROPN
ajst-29853	72	36	𝑘	𝑘	PRON
ajst-29853	72	37	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	72	38	1	1	NUM
ajst-29853	72	39	𝜉	𝜉	NOUN
ajst-29853	72	40	ℓ	ℓ	NOUN
ajst-29853	72	41	𝜉	𝜉	NOUN
ajst-29853	72	42	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	72	43	1	1	NUM
ajst-29853	72	44	𝜉	𝜉	NOUN
ajst-29853	72	45	𝑧	𝑧	PROPN
ajst-29853	72	46	(	(	PUNCT
ajst-29853	72	47	3.12	3.12	NUM
ajst-29853	72	48	)	)	PUNCT
ajst-29853	72	49	combining	combine	VERB
ajst-29853	72	50	with	with	ADP
ajst-29853	72	51	(	(	PUNCT
ajst-29853	72	52	3.2	3.2	NUM
ajst-29853	72	53	)	)	PUNCT
ajst-29853	72	54	,	,	PUNCT
ajst-29853	72	55	the	the	DET
ajst-29853	72	56	derivative	derivative	NOUN
ajst-29853	72	57	of	of	ADP
ajst-29853	72	58	x2	x2	PROPN
ajst-29853	72	59	can	can	AUX
ajst-29853	72	60	be	be	AUX
ajst-29853	72	61	rewritten	rewrite	VERB
ajst-29853	72	62	as	as	ADP
ajst-29853	72	63	𝑥	𝑥	PROPN
ajst-29853	72	64	𝑡	𝑡	PROPN
ajst-29853	72	65	𝐸𝐼𝑤	𝐸𝐼𝑤	PROPN
ajst-29853	72	66	𝐿	𝐿	PROPN
ajst-29853	72	67	,	,	PUNCT
ajst-29853	72	68	𝑡	𝑡	PROPN
ajst-29853	72	69	𝑑	𝑑	NOUN
ajst-29853	72	70	𝛼	𝛼	ADP
ajst-29853	72	71	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	72	72	𝐿	𝐿	PROPN
ajst-29853	72	73	,	,	PUNCT
ajst-29853	72	74	𝑡	𝑡	X
ajst-29853	72	75	𝑢	𝑢	X
ajst-29853	72	76	𝑡	𝑡	ADP
ajst-29853	72	77	𝑑	𝑑	PROPN
ajst-29853	72	78	𝑡	𝑡	PROPN
ajst-29853	72	79	(	(	PUNCT
ajst-29853	72	80	3.13	3.13	NUM
ajst-29853	72	81	)	)	PUNCT
ajst-29853	72	82	combining	combine	VERB
ajst-29853	72	83	with(3.4),the	with(3.4),the	DET
ajst-29853	72	84	derivative	derivative	NOUN
ajst-29853	72	85	of	of	ADP
ajst-29853	72	86	z2	z2	PROPN
ajst-29853	72	87	can	can	AUX
ajst-29853	72	88	be	be	AUX
ajst-29853	72	89	written	write	VERB
ajst-29853	72	90	as	as	ADP
ajst-29853	72	91	𝑧	𝑧	PROPN
ajst-29853	72	92	𝐸𝐼𝑤	𝐸𝐼𝑤	PROPN
ajst-29853	72	93	𝐿	𝐿	PROPN
ajst-29853	72	94	,	,	PUNCT
ajst-29853	72	95	𝑡	𝑡	PROPN
ajst-29853	72	96	𝑑	𝑑	NOUN
ajst-29853	72	97	𝛼	𝛼	ADP
ajst-29853	72	98	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	72	99	𝐿	𝐿	PROPN
ajst-29853	72	100	,	,	PUNCT
ajst-29853	72	101	𝑡	𝑡	PROPN
ajst-29853	72	102	𝛼𝑀	𝛼𝑀	ADJ
ajst-29853	72	103	𝑢	𝑢	PART
ajst-29853	72	104	𝑡	𝑡	PROPN
ajst-29853	72	105	𝑑	𝑑	PROPN
ajst-29853	72	106	𝑡	𝑡	PROPN
ajst-29853	72	107	(	(	PUNCT
ajst-29853	72	108	3.14	3.14	NUM
ajst-29853	72	109	)	)	PUNCT
ajst-29853	72	110	to	to	PART
ajst-29853	72	111	handle	handle	VERB
ajst-29853	72	112	input	input	NOUN
ajst-29853	72	113	saturation	saturation	NOUN
ajst-29853	72	114	,	,	PUNCT
ajst-29853	72	115	this	this	DET
ajst-29853	72	116	paper	paper	NOUN
ajst-29853	72	117	uses	use	VERB
ajst-29853	72	118	the	the	DET
ajst-29853	72	119	following	follow	VERB
ajst-29853	72	120	design	design	NOUN
ajst-29853	72	121	:	:	PUNCT
ajst-29853	72	122	let	let	VERB
ajst-29853	72	123	𝑢	𝑢	PRON
ajst-29853	72	124	𝑡	𝑡	VERB
ajst-29853	72	125	δ𝑈	δ𝑈	NOUN
ajst-29853	72	126	𝑠	𝑠	ADP
ajst-29853	72	127	𝜇	𝜇	ADP
ajst-29853	72	128	,	,	PUNCT
ajst-29853	72	129	and	and	CCONJ
ajst-29853	72	130	𝑠	𝑠	X
ajst-29853	72	131	𝜇	𝜇	X
ajst-29853	72	132	¯	¯	X
ajst-29853	72	133	arctan	arctan	ADJ
ajst-29853	72	134	¯	¯	PROPN
ajst-29853	72	135	(	(	PUNCT
ajst-29853	72	136	3.15	3.15	NUM
ajst-29853	72	137	)	)	PUNCT
ajst-29853	72	138	37	37	NUM
ajst-29853	72	139	𝑧	𝑧	NOUN
ajst-29853	72	140	can	can	AUX
ajst-29853	72	141	be	be	AUX
ajst-29853	72	142	rewritten	rewrite	VERB
ajst-29853	72	143	as	as	ADP
ajst-29853	72	144	𝑧	𝑧	PROPN
ajst-29853	72	145	𝐸𝐼𝑤	𝐸𝐼𝑤	PROPN
ajst-29853	72	146	𝐿	𝐿	PROPN
ajst-29853	72	147	,	,	PUNCT
ajst-29853	72	148	𝑡	𝑡	PROPN
ajst-29853	72	149	𝑑	𝑑	NOUN
ajst-29853	72	150	𝛼	𝛼	ADP
ajst-29853	72	151	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	72	152	𝐿	𝐿	PROPN
ajst-29853	72	153	,	,	PUNCT
ajst-29853	72	154	𝑡	𝑡	PROPN
ajst-29853	72	155	𝛼𝑀	𝛼𝑀	ADV
ajst-29853	72	156	δ𝑈	δ𝑈	ADJ
ajst-29853	72	157	𝑠	𝑠	ADP
ajst-29853	72	158	𝜇	𝜇	ADP
ajst-29853	72	159	𝑑	𝑑	PROPN
ajst-29853	72	160	𝑡	𝑡	PROPN
ajst-29853	72	161	(	(	PUNCT
ajst-29853	72	162	3.16	3.16	NUM
ajst-29853	72	163	)	)	PUNCT
ajst-29853	72	164	according	accord	VERB
ajst-29853	72	165	to	to	ADP
ajst-29853	72	166	lemma	lemma	PROPN
ajst-29853	72	167	1	1	NUM
ajst-29853	72	168	,	,	PUNCT
ajst-29853	72	169	the	the	DET
ajst-29853	72	170	following	follow	VERB
ajst-29853	72	171	equation	equation	NOUN
ajst-29853	72	172	holds	hold	VERB
ajst-29853	72	173	𝑠	𝑠	PROPN
ajst-29853	72	174	𝜇	𝜇	ADP
ajst-29853	72	175	𝜇	𝜇	ADP
ajst-29853	72	176	𝜓	𝜓	NOUN
ajst-29853	72	177	𝜇	𝜇	X
ajst-29853	72	178	𝜇	𝜇	X
ajst-29853	72	179	(	(	PUNCT
ajst-29853	72	180	3.17	3.17	NUM
ajst-29853	72	181	)	)	PUNCT
ajst-29853	72	182	where	where	SCONJ
ajst-29853	72	183	𝜓	𝜓	PROPN
ajst-29853	72	184	𝜇	𝜇	X
ajst-29853	72	185	𝜋𝜂	𝜋𝜂	ADP
ajst-29853	72	186	𝜇	𝜇	X
ajst-29853	72	187	/	/	SYM
ajst-29853	72	188	2𝜇	2𝜇	NUM
ajst-29853	72	189	¯	¯	PROPN
ajst-29853	72	190	/	/	SYM
ajst-29853	72	191	1	1	NUM
ajst-29853	72	192	𝜋𝜂	𝜋𝜂	ADV
ajst-29853	72	193	𝜇	𝜇	X
ajst-29853	72	194	/	/	SYM
ajst-29853	72	195	2𝜇	2𝜇	NUM
ajst-29853	72	196	¯	¯	PROPN
ajst-29853	72	197	∈	∈	PROPN
ajst-29853	72	198	ℝ	ℝ	PROPN
ajst-29853	72	199	,	,	PUNCT
ajst-29853	72	200	0	0	NUM
ajst-29853	72	201	𝜂	𝜂	NOUN
ajst-29853	72	202	1	1	NUM
ajst-29853	72	203	and	and	CCONJ
ajst-29853	72	204	there	there	PRON
ajst-29853	72	205	are	be	VERB
ajst-29853	72	206	𝜇	𝜇	PRON
ajst-29853	72	207	¯	¯	PROPN
ajst-29853	72	208	𝜇	𝜇	ADP
ajst-29853	72	209	,	,	PUNCT
ajst-29853	72	210	if	if	SCONJ
ajst-29853	72	211	𝜇	𝜇	X
ajst-29853	72	212	𝜇	𝜇	X
ajst-29853	72	213	𝜇	𝜇	X
ajst-29853	72	214	¯	¯	PART
ajst-29853	72	215	𝜇	𝜇	ADP
ajst-29853	72	216	,	,	PUNCT
ajst-29853	72	217	if	if	SCONJ
ajst-29853	72	218	𝜇	𝜇	X
ajst-29853	72	219	𝜇	𝜇	X
ajst-29853	72	220	with	with	ADP
ajst-29853	72	221	the	the	DET
ajst-29853	72	222	symmetric	symmetric	ADJ
ajst-29853	72	223	saturation	saturation	NOUN
ajst-29853	72	224	constraints	constraint	NOUN
ajst-29853	72	225	on	on	ADP
ajst-29853	72	226	the	the	DET
ajst-29853	72	227	inputs	input	NOUN
ajst-29853	72	228	using	use	VERB
ajst-29853	72	229	the	the	DET
ajst-29853	72	230	above	above	ADJ
ajst-29853	72	231	method	method	NOUN
ajst-29853	72	232	,	,	PUNCT
ajst-29853	72	233	the	the	DET
ajst-29853	72	234	resulting	result	VERB
ajst-29853	72	235	error	error	NOUN
ajst-29853	72	236	δ𝑈	δ𝑈	NOUN
ajst-29853	72	237	will	will	AUX
ajst-29853	72	238	be	be	AUX
ajst-29853	72	239	compensated	compensate	VERB
ajst-29853	72	240	by	by	ADP
ajst-29853	72	241	designing	design	VERB
ajst-29853	72	242	the	the	DET
ajst-29853	72	243	adaptive	adaptive	ADJ
ajst-29853	72	244	parameters	parameter	NOUN
ajst-29853	72	245	.	.	PUNCT
ajst-29853	73	1	according	accord	VERB
ajst-29853	73	2	to	to	ADP
ajst-29853	73	3	the	the	DET
ajst-29853	73	4	definition	definition	NOUN
ajst-29853	73	5	and	and	CCONJ
ajst-29853	73	6	treatment	treatment	NOUN
ajst-29853	73	7	of	of	ADP
ajst-29853	73	8	input	input	NOUN
ajst-29853	73	9	saturation	saturation	NOUN
ajst-29853	73	10	,	,	PUNCT
ajst-29853	73	11	it	it	PRON
ajst-29853	73	12	is	be	AUX
ajst-29853	73	13	known	know	VERB
ajst-29853	73	14	that	that	SCONJ
ajst-29853	73	15	δ𝑈	δ𝑈	NOUN
ajst-29853	73	16	is	be	AUX
ajst-29853	73	17	bounded	bound	VERB
ajst-29853	73	18	,	,	PUNCT
ajst-29853	73	19	and	and	CCONJ
ajst-29853	73	20	let	let	VERB
ajst-29853	73	21	𝑃	𝑃	VERB
ajst-29853	73	22	∗	∗	NOUN
ajst-29853	73	23	δ𝑈	δ𝑈	NOUN
ajst-29853	73	24	,	,	PUNCT
ajst-29853	73	25	and	and	CCONJ
ajst-29853	73	26	this	this	DET
ajst-29853	73	27	approximation	approximation	NOUN
ajst-29853	73	28	error	error	NOUN
ajst-29853	73	29	should	should	AUX
ajst-29853	73	30	be	be	AUX
ajst-29853	73	31	compensated	compensate	VERB
ajst-29853	73	32	in	in	ADP
ajst-29853	73	33	order	order	NOUN
ajst-29853	73	34	to	to	PART
ajst-29853	73	35	obtain	obtain	VERB
ajst-29853	73	36	a	a	DET
ajst-29853	73	37	better	well	ADJ
ajst-29853	73	38	control	control	NOUN
ajst-29853	73	39	performance	performance	NOUN
ajst-29853	73	40	.	.	PUNCT
ajst-29853	74	1	to	to	ADP
ajst-29853	74	2	this	this	DET
ajst-29853	74	3	end	end	NOUN
ajst-29853	74	4	,	,	PUNCT
ajst-29853	74	5	the	the	DET
ajst-29853	74	6	update	update	NOUN
ajst-29853	74	7	law	law	NOUN
ajst-29853	74	8	for	for	ADP
ajst-29853	74	9	𝑃	𝑃	NOUN
ajst-29853	74	10	is	be	AUX
ajst-29853	74	11	designed	design	VERB
ajst-29853	74	12	as	as	ADP
ajst-29853	74	13	𝑃	𝑃	PROPN
ajst-29853	74	14	𝑧	𝑧	X
ajst-29853	74	15	𝜎	𝜎	ADJ
ajst-29853	74	16	𝑃	𝑃	NOUN
ajst-29853	74	17	,	,	PUNCT
ajst-29853	74	18	where	where	SCONJ
ajst-29853	74	19	𝑃	𝑃	NOUN
ajst-29853	74	20	∈	∈	NOUN
ajst-29853	74	21	ℝ	ℝ	PROPN
ajst-29853	74	22	denotes	denote	VERB
ajst-29853	74	23	the	the	DET
ajst-29853	74	24	estimated	estimate	VERB
ajst-29853	74	25	value	value	NOUN
ajst-29853	74	26	of	of	ADP
ajst-29853	74	27	𝑃	𝑃	NOUN
ajst-29853	74	28	∗,𝜎	∗,𝜎	NOUN
ajst-29853	74	29	is	be	AUX
ajst-29853	74	30	the	the	DET
ajst-29853	74	31	number	number	NOUN
ajst-29853	74	32	of	of	ADP
ajst-29853	74	33	normal	normal	ADJ
ajst-29853	74	34	,	,	PUNCT
ajst-29853	74	35	and	and	CCONJ
ajst-29853	74	36	𝑃	𝑃	NOUN
ajst-29853	74	37	denotes	denote	VERB
ajst-29853	74	38	the	the	DET
ajst-29853	74	39	estimation	estimation	NOUN
ajst-29853	74	40	error,𝑃	error,𝑃	X
ajst-29853	75	1	𝑃	𝑃	VERB
ajst-29853	75	2	𝑃⋆.	𝑃⋆.	NUM
ajst-29853	75	3	the	the	DET
ajst-29853	75	4	finite	finite	ADJ
ajst-29853	75	5	time	time	NOUN
ajst-29853	75	6	controller	controller	PROPN
ajst-29853	75	7	𝜇	𝜇	X
ajst-29853	75	8	is	be	AUX
ajst-29853	75	9	designed	design	VERB
ajst-29853	75	10	to	to	PART
ajst-29853	75	11	𝜇	𝜇	X
ajst-29853	75	12	𝜇	𝜇	X
ajst-29853	75	13	𝜇	𝜇	X
ajst-29853	75	14	(	(	PUNCT
ajst-29853	75	15	3.18	3.18	NUM
ajst-29853	75	16	)	)	PUNCT
ajst-29853	75	17	𝜇	𝜇	ADP
ajst-29853	75	18	𝐾	𝐾	PROPN
ajst-29853	75	19	𝑧	𝑧	PROPN
ajst-29853	75	20	ℓ	ℓ	PROPN
ajst-29853	75	21	𝑑	𝑑	NOUN
ajst-29853	75	22	𝛼	𝛼	PROPN
ajst-29853	75	23	𝛼𝑀	𝛼𝑀	ADJ
ajst-29853	75	24	𝜋	𝜋	DET
ajst-29853	75	25	2𝑧	2𝑧	NOUN
ajst-29853	75	26	𝜉	𝜉	ADP
ajst-29853	75	27	𝑐𝑠𝑐	𝑐𝑠𝑐	NOUN
ajst-29853	75	28	𝜋	𝜋	NOUN
ajst-29853	75	29	2	2	NUM
ajst-29853	75	30	1	1	NUM
ajst-29853	75	31	𝜉	𝜉	NOUN
ajst-29853	75	32	𝐸𝐼𝑤	𝐸𝐼𝑤	PROPN
ajst-29853	75	33	𝐿	𝐿	PROPN
ajst-29853	75	34	,	,	PUNCT
ajst-29853	75	35	𝑡	𝑡	PROPN
ajst-29853	75	36	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	75	37	𝐿	𝐿	PROPN
ajst-29853	75	38	,	,	PUNCT
ajst-29853	75	39	𝑡	𝑡	VERB
ajst-29853	75	40	𝑑	𝑑	NOUN
ajst-29853	75	41	𝑧	𝑧	X
ajst-29853	75	42	𝑧	𝑧	DET
ajst-29853	75	43	2𝑀	2𝑀	NOUN
ajst-29853	75	44	𝑧	𝑧	X
ajst-29853	75	45	𝑃	𝑃	NOUN
ajst-29853	75	46	𝜇	𝜇	ADP
ajst-29853	75	47	0	0	NUM
ajst-29853	75	48	,	,	PUNCT
ajst-29853	75	49	if	if	SCONJ
ajst-29853	75	50	|𝑧	|𝑧	NOUN
ajst-29853	75	51	|	|	ADV
ajst-29853	75	52	0	0	NUM
ajst-29853	75	53	|𝜇	|𝜇	NOUN
ajst-29853	75	54	|𝑧	|𝑧	NOUN
ajst-29853	75	55	|𝑧	|𝑧	NOUN
ajst-29853	75	56	|	|	ADV
ajst-29853	75	57	1	1	NUM
ajst-29853	75	58	𝜍	𝜍	INTJ
ajst-29853	75	59	,	,	PUNCT
ajst-29853	75	60	if	if	SCONJ
ajst-29853	75	61	|𝑧	|𝑧	NOUN
ajst-29853	75	62	|	|	ADV
ajst-29853	75	63	0	0	NUM
ajst-29853	75	64	where	where	SCONJ
ajst-29853	75	65	𝜓	𝜓	PROPN
ajst-29853	75	66	𝜇	𝜇	X
ajst-29853	75	67	𝜍	𝜍	ADP
ajst-29853	75	68	1	1	NUM
ajst-29853	75	69	.	.	PUNCT
ajst-29853	75	70	construct	construct	VERB
ajst-29853	75	71	the	the	DET
ajst-29853	75	72	lyapunov	lyapunov	ADJ
ajst-29853	75	73	candidate	candidate	NOUN
ajst-29853	75	74	function	function	NOUN
ajst-29853	75	75	as	as	ADP
ajst-29853	75	76	𝑉	𝑉	PROPN
ajst-29853	75	77	𝑉	𝑉	PROPN
ajst-29853	75	78	𝑧	𝑧	PROPN
ajst-29853	75	79	𝑀	𝑀	PROPN
ajst-29853	75	80	𝑃	𝑃	NOUN
ajst-29853	75	81	(	(	PUNCT
ajst-29853	75	82	3.19	3.19	NUM
ajst-29853	75	83	)	)	PUNCT
ajst-29853	75	84	derivation	derivation	NOUN
ajst-29853	75	85	of	of	ADP
ajst-29853	75	86	𝑉	𝑉	PROPN
ajst-29853	75	87	yields	yield	NOUN
ajst-29853	75	88	𝑉	𝑉	PROPN
ajst-29853	75	89	𝑉	𝑉	PROPN
ajst-29853	75	90	𝑑	𝑑	PROPN
ajst-29853	75	91	𝑧	𝑧	PRON
ajst-29853	75	92	𝑃	𝑃	NOUN
ajst-29853	75	93	𝑃	𝑃	NOUN
ajst-29853	76	1	𝑧	𝑧	PRON
ajst-29853	76	2	𝐸𝐼𝑤	𝐸𝐼𝑤	NOUN
ajst-29853	76	3	𝐿	𝐿	PROPN
ajst-29853	76	4	,	,	PUNCT
ajst-29853	76	5	𝑡	𝑡	PROPN
ajst-29853	76	6	𝑑	𝑑	NOUN
ajst-29853	76	7	𝛼	𝛼	ADP
ajst-29853	76	8	𝑇𝑤	𝑇𝑤	PROPN
ajst-29853	76	9	𝐿	𝐿	PROPN
ajst-29853	76	10	,	,	PUNCT
ajst-29853	76	11	𝑡	𝑡	PROPN
ajst-29853	76	12	𝛼𝑀	𝛼𝑀	ADJ
ajst-29853	76	13	𝜇	𝜇	ADP
ajst-29853	76	14	𝜓	𝜓	NOUN
ajst-29853	76	15	𝜇	𝜇	X
ajst-29853	76	16	𝜇	𝜇	ADP
ajst-29853	76	17	δ𝑈	δ𝑈	NOUN
ajst-29853	76	18	𝑑	𝑑	PROPN
ajst-29853	76	19	𝑡	𝑡	PROPN
ajst-29853	76	20	(	(	PUNCT
ajst-29853	76	21	3.20	3.20	NUM
ajst-29853	76	22	)	)	PUNCT
ajst-29853	76	23	substituting(3.12),(3.17)and(3.18)into(3.20)yields	substituting(3.12),(3.17)and(3.18)into(3.20)yield	VERB
ajst-29853	76	24	𝑉	𝑉	PROPN
ajst-29853	76	25	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	76	26	1	1	NUM
ajst-29853	76	27	𝜉	𝜉	NOUN
ajst-29853	76	28	ℓ	ℓ	PROPN
ajst-29853	76	29	𝐾	𝐾	PROPN
ajst-29853	76	30	𝑧	𝑧	PROPN
ajst-29853	76	31	ℓ	ℓ	X
ajst-29853	76	32	𝑧	𝑧	X
ajst-29853	76	33	𝑃	𝑃	NOUN
ajst-29853	76	34	𝑧	𝑧	X
ajst-29853	76	35	𝑃	𝑃	NOUN
ajst-29853	76	36	𝑧	𝑧	PROPN
ajst-29853	76	37	𝜎	𝜎	ADJ
ajst-29853	76	38	𝑃	𝑃	NOUN
ajst-29853	76	39	δ𝑈	δ𝑈	NOUN
ajst-29853	76	40	𝑧	𝑧	DET
ajst-29853	76	41	𝜓	𝜓	NOUN
ajst-29853	76	42	𝜇	𝜇	X
ajst-29853	76	43	𝜇𝑧	𝜇𝑧	ADP
ajst-29853	76	44	𝑧	𝑧	X
ajst-29853	76	45	𝜇	𝜇	X
ajst-29853	76	46	(	(	PUNCT
ajst-29853	76	47	3.21	3.21	NUM
ajst-29853	76	48	)	)	PUNCT
ajst-29853	76	49	the	the	DET
ajst-29853	76	50	following	follow	VERB
ajst-29853	76	51	inequality	inequality	NOUN
ajst-29853	76	52	can	can	AUX
ajst-29853	76	53	be	be	AUX
ajst-29853	76	54	derived	derive	VERB
ajst-29853	76	55	from	from	ADP
ajst-29853	76	56	lemma	lemma	PROPN
ajst-29853	76	57	1	1	NUM
ajst-29853	76	58	𝑃	𝑃	NOUN
ajst-29853	76	59	𝜎	𝜎	NOUN
ajst-29853	76	60	𝑃	𝑃	NOUN
ajst-29853	76	61	𝑃	𝑃	NOUN
ajst-29853	76	62	|𝑃	|𝑃	PUNCT
ajst-29853	76	63	∗|	∗|	NOUN
ajst-29853	76	64	(	(	PUNCT
ajst-29853	76	65	3.22	3.22	NUM
ajst-29853	76	66	)	)	PUNCT
ajst-29853	76	67	since	since	SCONJ
ajst-29853	76	68	𝑃	𝑃	NOUN
ajst-29853	76	69	∗	∗	NOUN
ajst-29853	76	70	δ𝑈	δ𝑈	NOUN
ajst-29853	76	71	,	,	PUNCT
ajst-29853	76	72	𝜓	𝜓	NOUN
ajst-29853	76	73	𝜇	𝜇	X
ajst-29853	76	74	𝜇𝑧	𝜇𝑧	ADP
ajst-29853	76	75	𝑧	𝑧	PRON
ajst-29853	76	76	𝜇	𝜇	ADP
ajst-29853	76	77	0	0	NUM
ajst-29853	76	78	.(3.21)can	.(3.21)can	PUNCT
ajst-29853	76	79	be	be	AUX
ajst-29853	76	80	rewritten	rewrite	VERB
ajst-29853	76	81	as	as	ADP
ajst-29853	76	82	𝑉	𝑉	PROPN
ajst-29853	76	83	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	76	84	1	1	NUM
ajst-29853	76	85	𝜉	𝜉	NOUN
ajst-29853	76	86	ℓ	ℓ	PROPN
ajst-29853	76	87	𝐾	𝐾	PROPN
ajst-29853	76	88	𝑧	𝑧	NOUN
ajst-29853	76	89	ℓ	ℓ	PROPN
ajst-29853	76	90	𝑃	𝑃	NOUN
ajst-29853	76	91	|𝑃	|𝑃	PUNCT
ajst-29853	76	92	∗|	∗|	NOUN
ajst-29853	76	93	(	(	PUNCT
ajst-29853	76	94	3.24	3.24	NUM
ajst-29853	76	95	)	)	PUNCT
ajst-29853	76	96	let	let	VERB
ajst-29853	76	97	𝜔	𝜔	PART
ajst-29853	76	98	1,𝑣	1,𝑣	NUM
ajst-29853	76	99	|𝑃	|𝑃	NOUN
ajst-29853	77	1	|	|	ADV
ajst-29853	77	2	,	,	PUNCT
ajst-29853	77	3	𝜁	𝜁	PROPN
ajst-29853	77	4	1	1	NUM
ajst-29853	77	5	ℓ	ℓ	NUM
ajst-29853	77	6	,	,	PUNCT
ajst-29853	77	7	𝜄	𝜄	PROPN
ajst-29853	77	8	ℓ,𝛾	ℓ,𝛾	NOUN
ajst-29853	77	9	ℓ	ℓ	PROPN
ajst-29853	77	10	ℓ	ℓ	PROPN
ajst-29853	77	11	ℓ	ℓ	PROPN
ajst-29853	77	12	,	,	PUNCT
ajst-29853	77	13	and	and	CCONJ
ajst-29853	77	14	by	by	ADP
ajst-29853	77	15	lemma	lemma	PROPN
ajst-29853	77	16	2	2	NUM
ajst-29853	77	17	the	the	DET
ajst-29853	77	18	following	follow	VERB
ajst-29853	77	19	inequality	inequality	NOUN
ajst-29853	77	20	can	can	AUX
ajst-29853	77	21	be	be	AUX
ajst-29853	77	22	derived	derive	VERB
ajst-29853	77	23	|𝑃	|𝑃	PUNCT
ajst-29853	77	24	|	|	ADV
ajst-29853	77	25	ℓ	ℓ	PROPN
ajst-29853	77	26	1	1	NUM
ajst-29853	77	27	ℓ	ℓ	NOUN
ajst-29853	77	28	𝛾	𝛾	NOUN
ajst-29853	77	29	|𝑃	|𝑃	X
ajst-29853	78	1	|	|	ADV
ajst-29853	78	2	(	(	PUNCT
ajst-29853	78	3	3.25	3.25	NUM
ajst-29853	78	4	)	)	PUNCT
ajst-29853	78	5	substituting(3.25)into(3.24)yields	substituting(3.25)into(3.24)yields	PROPN
ajst-29853	78	6	𝑉	𝑉	PROPN
ajst-29853	78	7	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	78	8	1	1	NUM
ajst-29853	78	9	𝜉	𝜉	NOUN
ajst-29853	78	10	ℓ	ℓ	PROPN
ajst-29853	78	11	𝐾	𝐾	PROPN
ajst-29853	78	12	𝑧	𝑧	PROPN
ajst-29853	78	13	ℓ	ℓ	NOUN
ajst-29853	78	14	|𝑃	|𝑃	PUNCT
ajst-29853	78	15	|	|	ADV
ajst-29853	78	16	ℓ	ℓ	PROPN
ajst-29853	78	17	1	1	NUM
ajst-29853	78	18	ℓ	ℓ	NOUN
ajst-29853	78	19	𝛾	𝛾	NOUN
ajst-29853	78	20	|𝑃	|𝑃	PUNCT
ajst-29853	78	21	∗|	∗|	NOUN
ajst-29853	78	22	⩽	⩽	ADJ
ajst-29853	78	23	𝜅𝑉ℓ	𝜅𝑉ℓ	NOUN
ajst-29853	78	24	𝐶	𝐶	PROPN
ajst-29853	78	25	(	(	PUNCT
ajst-29853	78	26	3.26	3.26	NUM
ajst-29853	78	27	)	)	PUNCT
ajst-29853	78	28	where	where	SCONJ
ajst-29853	78	29	𝜅	𝜅	DET
ajst-29853	78	30	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
ajst-29853	78	31	𝑘	𝑘	PROPN
ajst-29853	78	32	,	,	PUNCT
ajst-29853	78	33	ℓ	ℓ	PROPN
ajst-29853	78	34	  	  	SPACE
ajst-29853	78	35	ℓ	ℓ	PROPN
ajst-29853	78	36	,	,	PUNCT
ajst-29853	78	37	  	  	SPACE
ajst-29853	78	38	𝜎	𝜎	PROPN
ajst-29853	78	39	ℓ	ℓ	PROPN
ajst-29853	78	40	,	,	PUNCT
ajst-29853	78	41	𝐶	𝐶	PROPN
ajst-29853	78	42	1	1	NUM
ajst-29853	78	43	ℓ	ℓ	PROPN
ajst-29853	78	44	𝛾	𝛾	NOUN
ajst-29853	78	45	|𝑃	|𝑃	PUNCT
ajst-29853	78	46	∗|	∗|	NOUN
ajst-29853	78	47	.	.	PUNCT
ajst-29853	79	1	3.2	3.2	NUM
ajst-29853	79	2	.	.	PUNCT
ajst-29853	80	1	stability	stability	NOUN
ajst-29853	80	2	analysis	analysis	NOUN
ajst-29853	80	3	define𝑇∗	define𝑇∗	PROPN
ajst-29853	80	4	ℓ	ℓ	PROPN
ajst-29853	80	5	𝑉	𝑉	PROPN
ajst-29853	80	6	ℓ	ℓ	PROPN
ajst-29853	80	7	θ	θ	NOUN
ajst-29853	80	8	ℓ	ℓ	NOUN
ajst-29853	80	9	ℓ	ℓ	PROPN
ajst-29853	80	10	/ℓ	/ℓ	PUNCT
ajst-29853	80	11	　	　	SPACE
ajst-29853	80	12	,	,	PUNCT
ajst-29853	80	13	where	where	SCONJ
ajst-29853	80	14	θ	θ	PROPN
ajst-29853	80	15	𝑧	𝑧	VERB
ajst-29853	80	16	0	0	NUM
ajst-29853	80	17	,	,	PUNCT
ajst-29853	80	18	𝑧	𝑧	PROPN
ajst-29853	80	19	0	0	NUM
ajst-29853	80	20	,	,	PUNCT
ajst-29853	80	21	𝑃	𝑃	VERB
ajst-29853	80	22	then	then	ADV
ajst-29853	80	23	by	by	ADP
ajst-29853	80	24	lemma	lemma	PROPN
ajst-29853	80	25	3	3	NUM
ajst-29853	80	26	,	,	PUNCT
ajst-29853	80	27	∀𝑡	∀𝑡	PROPN
ajst-29853	80	28	𝑇∗	𝑇∗	NOUN
ajst-29853	80	29	,	,	PUNCT
ajst-29853	80	30	𝑉ℓ	𝑉ℓ	PROPN
ajst-29853	80	31	ℓ	ℓ	PROPN
ajst-29853	80	32	,	,	PUNCT
ajst-29853	80	33	so	so	CCONJ
ajst-29853	80	34	the	the	DET
ajst-29853	80	35	error	error	NOUN
ajst-29853	80	36	signals	signal	VERB
ajst-29853	80	37	𝑧	𝑧	PRON
ajst-29853	80	38	,	,	PUNCT
ajst-29853	80	39	𝑧	𝑧	VERB
ajst-29853	80	40	,	,	PUNCT
ajst-29853	80	41	𝑃	𝑃	NOUN
ajst-29853	80	42	satisfy	satisfy	VERB
ajst-29853	80	43	the	the	DET
ajst-29853	80	44	semi	semi	ADJ
ajst-29853	80	45	-	-	ADJ
ajst-29853	80	46	global	global	ADJ
ajst-29853	80	47	consistent	consistent	ADJ
ajst-29853	80	48	stabilization	stabilization	NOUN
ajst-29853	80	49	by	by	ADP
ajst-29853	80	50	the	the	DET
ajst-29853	80	51	definition	definition	NOUN
ajst-29853	80	52	of	of	ADP
ajst-29853	80	53	𝑉	𝑉	PROPN
ajst-29853	80	54	,	,	PUNCT
ajst-29853	80	55	𝑉	𝑉	PROPN
ajst-29853	80	56	𝑉	𝑉	PROPN
ajst-29853	80	57	ℓ	ℓ	PROPN
ajst-29853	80	58	ℓ	ℓ	PROPN
ajst-29853	80	59	,	,	PUNCT
ajst-29853	80	60	∀𝑡	∀𝑡	PROPN
ajst-29853	80	61	𝑇∗	𝑇∗	NOUN
ajst-29853	80	62	theorem	theorem	VERB
ajst-29853	80	63	1	1	NUM
ajst-29853	80	64	:	:	PUNCT
ajst-29853	80	65	for	for	SCONJ
ajst-29853	80	66	the	the	DET
ajst-29853	80	67	marine	marine	ADJ
ajst-29853	80	68	flexible	flexible	ADJ
ajst-29853	80	69	riser	riser	NOUN
ajst-29853	80	70	controlled	control	VERB
ajst-29853	80	71	by(3.1)and	by(3.1)and	CCONJ
ajst-29853	80	72	the	the	DET
ajst-29853	80	73	controller(3.17)、the	controller(3.17)、the	DET
ajst-29853	80	74	adaptive	adaptive	ADJ
ajst-29853	80	75	law(3.18	law(3.18	NOUN
ajst-29853	80	76	)	)	PUNCT
ajst-29853	80	77	,	,	PUNCT
ajst-29853	80	78	it	it	PRON
ajst-29853	80	79	can	can	AUX
ajst-29853	80	80	be	be	AUX
ajst-29853	80	81	concluded	conclude	VERB
ajst-29853	80	82	that	that	SCONJ
ajst-29853	80	83	all	all	DET
ajst-29853	80	84	the	the	DET
ajst-29853	80	85	error	error	NOUN
ajst-29853	80	86	signals	signal	NOUN
ajst-29853	80	87	satisfy	satisfy	VERB
ajst-29853	80	88	semi	semi	ADJ
ajst-29853	80	89	-	-	ADJ
ajst-29853	80	90	global	global	ADJ
ajst-29853	80	91	consistent	consistent	ADJ
ajst-29853	80	92	stabilization	stabilization	NOUN
ajst-29853	80	93	,	,	PUNCT
ajst-29853	80	94	and	and	CCONJ
ajst-29853	80	95	the	the	DET
ajst-29853	80	96	system	system	NOUN
ajst-29853	80	97	output	output	VERB
ajst-29853	80	98	x1	x1	PROPN
ajst-29853	80	99	converges	converge	VERB
ajst-29853	80	100	in	in	ADP
ajst-29853	80	101	finite	finite	ADJ
ajst-29853	80	102	time	time	NOUN
ajst-29853	80	103	to	to	ADP
ajst-29853	80	104	a	a	DET
ajst-29853	80	105	small	small	ADJ
ajst-29853	80	106	neighborhood	neighborhood	NOUN
ajst-29853	80	107	of	of	ADP
ajst-29853	80	108	the	the	DET
ajst-29853	80	109	desired	desire	VERB
ajst-29853	80	110	trajectory	trajectory	NOUN
ajst-29853	80	111	yd	yd	NOUN
ajst-29853	80	112	without	without	ADP
ajst-29853	80	113	violating	violate	VERB
ajst-29853	80	114	the	the	DET
ajst-29853	80	115	predefined	predefine	VERB
ajst-29853	80	116	constraint	constraint	NOUN
ajst-29853	80	117	region	region	NOUN
ajst-29853	80	118	.	.	PUNCT
ajst-29853	81	1	specific	specific	ADJ
ajst-29853	81	2	convergence	convergence	NOUN
ajst-29853	81	3	results	result	NOUN
ajst-29853	81	4	are	be	AUX
ajst-29853	81	5	given	give	VERB
ajst-29853	81	6	below	below	ADP
ajst-29853	81	7	:	:	PUNCT
ajst-29853	81	8	(	(	PUNCT
ajst-29853	81	9	1	1	X
ajst-29853	81	10	)	)	PUNCT
ajst-29853	81	11	in	in	ADP
ajst-29853	81	12	the	the	DET
ajst-29853	81	13	initial	initial	ADJ
ajst-29853	81	14	value	value	NOUN
ajst-29853	81	15	set	set	VERB
ajst-29853	81	16	within	within	ADP
ajst-29853	81	17	the	the	DET
ajst-29853	81	18	constraint	constraint	NOUN
ajst-29853	81	19	range	range	NOUN
ajst-29853	81	20	𝑘	𝑘	ADP
ajst-29853	81	21	0	0	NUM
ajst-29853	81	22	𝑧	𝑧	NOUN
ajst-29853	81	23	0	0	NUM
ajst-29853	81	24	𝑘	𝑘	NOUN
ajst-29853	81	25	0	0	NUM
ajst-29853	81	26	,	,	PUNCT
ajst-29853	81	27	the	the	DET
ajst-29853	81	28	tracking	tracking	NOUN
ajst-29853	81	29	error	error	NOUN
ajst-29853	81	30	𝑧	𝑧	VERB
ajst-29853	81	31	does	do	AUX
ajst-29853	81	32	not	not	PART
ajst-29853	81	33	violate	violate	VERB
ajst-29853	81	34	the	the	DET
ajst-29853	81	35	specified	specified	ADJ
ajst-29853	81	36	constraint	constraint	NOUN
ajst-29853	81	37	region	region	NOUN
ajst-29853	81	38	,	,	PUNCT
ajst-29853	81	39	i.e.	i.e.	X
ajst-29853	81	40	,	,	PUNCT
ajst-29853	81	41	𝑞	𝑞	X
ajst-29853	81	42	𝑥	𝑥	X
ajst-29853	81	43	𝑞	𝑞	X
ajst-29853	81	44	where	where	SCONJ
ajst-29853	81	45	𝑞	𝑞	X
ajst-29853	81	46	𝑦	𝑦	NOUN
ajst-29853	81	47	𝑘	𝑘	PROPN
ajst-29853	81	48	,	,	PUNCT
ajst-29853	81	49	 	 	SPACE
ajst-29853	81	50	𝑞	𝑞	X
ajst-29853	81	51	𝑦	𝑦	X
ajst-29853	81	52	𝑘	𝑘	PROPN
ajst-29853	81	53	,	,	PUNCT
ajst-29853	81	54	𝑖	𝑖	PROPN
ajst-29853	81	55	1	1	NUM
ajst-29853	81	56	,	,	PUNCT
ajst-29853	81	57	.	.	PUNCT
ajst-29853	81	58	.	.	PUNCT
ajst-29853	81	59	.	.	PUNCT
ajst-29853	82	1	,	,	PUNCT
ajst-29853	82	2	𝑛	𝑛	X
ajst-29853	82	3	(	(	PUNCT
ajst-29853	82	4	2	2	NUM
ajst-29853	82	5	)	)	PUNCT
ajst-29853	82	6	the	the	DET
ajst-29853	82	7	adaptive	adaptive	ADJ
ajst-29853	82	8	estimation	estimation	NOUN
ajst-29853	82	9	error	error	NOUN
ajst-29853	82	10	𝑃	𝑃	NOUN
ajst-29853	82	11	is	be	AUX
ajst-29853	82	12	semi	semi	ADJ
ajst-29853	82	13	-	-	ADJ
ajst-29853	82	14	globally	globally	ADV
ajst-29853	82	15	consistent	consistent	ADJ
ajst-29853	82	16	and	and	CCONJ
ajst-29853	82	17	stable	stable	ADJ
ajst-29853	82	18	and	and	CCONJ
ajst-29853	82	19	satisfies	satisfie	NOUN
ajst-29853	82	20	|𝑃	|𝑃	PUNCT
ajst-29853	82	21	|	|	ADV
ajst-29853	82	22	√ℱ	√ℱ	ADV
ajst-29853	82	23	,	,	PUNCT
ajst-29853	82	24	for	for	ADP
ajst-29853	82	25	𝑡	𝑡	PROPN
ajst-29853	82	26	𝑇∗	𝑇∗	PROPN
ajst-29853	82	27	where	where	SCONJ
ajst-29853	82	28	ℱ	ℱ	PROPN
ajst-29853	82	29	2	2	NUM
ajst-29853	82	30	ℓ	ℓ	NOUN
ajst-29853	82	31	ℓ.	ℓ.	NOUN
ajst-29853	82	32	(	(	PUNCT
ajst-29853	82	33	3)the	3)the	PRON
ajst-29853	82	34	tracking	tracking	NOUN
ajst-29853	82	35	errors	error	NOUN
ajst-29853	82	36	z1	z1	ADJ
ajst-29853	82	37	and	and	CCONJ
ajst-29853	82	38	z2are	z2are	NUM
ajst-29853	82	39	semi	semi	ADJ
ajst-29853	82	40	-	-	ADJ
ajst-29853	82	41	globally	globally	ADV
ajst-29853	82	42	consistent	consistent	ADJ
ajst-29853	82	43	and	and	CCONJ
ajst-29853	82	44	stable	stable	ADJ
ajst-29853	82	45	and	and	CCONJ
ajst-29853	82	46	satisfy	satisfy	VERB
ajst-29853	82	47	𝐶	𝐶	PROPN
ajst-29853	82	48	𝑧	𝑧	PROPN
ajst-29853	82	49	𝐶	𝐶	PROPN
ajst-29853	82	50	,	,	PUNCT
ajst-29853	82	51	where	where	SCONJ
ajst-29853	82	52	𝐶	𝐶	PROPN
ajst-29853	82	53	𝑘	𝑘	ADP
ajst-29853	82	54	𝑄	𝑄	PROPN
ajst-29853	82	55	,	,	PUNCT
ajst-29853	82	56	𝐶	𝐶	PROPN
ajst-29853	82	57	¯	¯	PROPN
ajst-29853	82	58	𝑘	𝑘	DET
ajst-29853	82	59	𝑄	𝑄	PROPN
ajst-29853	82	60	,	,	PUNCT
ajst-29853	82	61	𝑄	𝑄	PROPN
ajst-29853	82	62	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
ajst-29853	82	63	1	1	NUM
ajst-29853	82	64	,	,	PUNCT
ajst-29853	82	65	√ℱ	√ℱ	NOUN
ajst-29853	82	66	,	,	PUNCT
ajst-29853	82	67	for	for	ADP
ajst-29853	82	68	∀𝑡	∀𝑡	PROPN
ajst-29853	82	69	𝑇∗	𝑇∗	PROPN
ajst-29853	82	70	,	,	PUNCT
ajst-29853	82	71	||𝑧	||𝑧	PROPN
ajst-29853	82	72	||	||	PUNCT
ajst-29853	82	73	ℱ	ℱ	PROPN
ajst-29853	82	74	.	.	PUNCT
ajst-29853	83	1	proof	proof	NOUN
ajst-29853	83	2	:	:	PUNCT
ajst-29853	83	3	(	(	PUNCT
ajst-29853	83	4	1	1	X
ajst-29853	83	5	)	)	PUNCT
ajst-29853	83	6	according	accord	VERB
ajst-29853	83	7	to	to	ADP
ajst-29853	83	8	for	for	SCONJ
ajst-29853	83	9	∀𝑡	∀𝑡	NOUN
ajst-29853	83	10	𝑇∗,have	𝑇∗,have	PROPN
ajst-29853	83	11	𝑉	𝑉	PROPN
ajst-29853	83	12	𝑉	𝑉	PROPN
ajst-29853	83	13	ℓ	ℓ	PROPN
ajst-29853	83	14	ℓ	ℓ	PROPN
ajst-29853	83	15	can	can	AUX
ajst-29853	83	16	derived	derive	VERB
ajst-29853	83	17	that	that	SCONJ
ajst-29853	83	18	ℎ	ℎ	PROPN
ajst-29853	83	19	2	2	NUM
ajst-29853	83	20	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	83	21	𝜋	𝜋	NOUN
ajst-29853	83	22	2	2	NUM
ajst-29853	83	23	1	1	NUM
ajst-29853	83	24	𝜉	𝜉	SYM
ajst-29853	83	25	1	1	NUM
ajst-29853	83	26	ℎ	ℎ	SYM
ajst-29853	83	27	2	2	NUM
ajst-29853	83	28	𝑐𝑜𝑡	𝑐𝑜𝑡	NOUN
ajst-29853	83	29	𝜋	𝜋	NOUN
ajst-29853	83	30	2	2	NUM
ajst-29853	83	31	1	1	NUM
ajst-29853	83	32	𝜉	𝜉	X
ajst-29853	83	33	𝐶	𝐶	PROPN
ajst-29853	83	34	1	1	NUM
ajst-29853	83	35	ℓ	ℓ	PROPN
ajst-29853	83	36	𝑣𝜅	𝑣𝜅	ADP
ajst-29853	83	37	ℓ	ℓ	PROPN
ajst-29853	83	38	𝑃	𝑃	PROPN
ajst-29853	83	39	2	2	NUM
ajst-29853	83	40	𝐶	𝐶	PROPN
ajst-29853	83	41	1	1	NUM
ajst-29853	83	42	ℓ	ℓ	PROPN
ajst-29853	83	43	𝑣𝜅	𝑣𝜅	ADP
ajst-29853	83	44	ℓ	ℓ	PROPN
ajst-29853	83	45	𝑧	𝑧	PROPN
ajst-29853	83	46	𝑀	𝑀	PROPN
ajst-29853	83	47	2	2	NUM
ajst-29853	83	48	𝐶	𝐶	PROPN
ajst-29853	83	49	1	1	NUM
ajst-29853	83	50	ℓ	ℓ	PROPN
ajst-29853	83	51	𝑣𝜅	𝑣𝜅	ADP
ajst-29853	83	52	ℓ	ℓ	NOUN
ajst-29853	83	53	case	case	NOUN
ajst-29853	83	54	1	1	NUM
ajst-29853	83	55	:	:	PUNCT
ajst-29853	83	56	if	if	SCONJ
ajst-29853	83	57	𝑧	𝑧	PRON
ajst-29853	83	58	0,ℎ	0,ℎ	NOUN
ajst-29853	83	59	1	1	NUM
ajst-29853	83	60	and	and	CCONJ
ajst-29853	83	61	𝜉	𝜉	NOUN
ajst-29853	83	62	𝜉	𝜉	NOUN
ajst-29853	83	63	,	,	PUNCT
ajst-29853	83	64	then	then	ADV
ajst-29853	83	65	we	we	PRON
ajst-29853	83	66	have	have	VERB
ajst-29853	83	67	38	38	NUM
ajst-29853	83	68	cot	cot	NOUN
ajst-29853	83	69	1	1	NUM
ajst-29853	83	70	𝜉	𝜉	NOUN
ajst-29853	83	71	ℓ	ℓ	NOUN
ajst-29853	83	72	ℓ,and	ℓ,and	NOUN
ajst-29853	83	73	applying	apply	VERB
ajst-29853	83	74	property	property	NOUN
ajst-29853	83	75	1	1	NUM
ajst-29853	83	76	gives	give	VERB
ajst-29853	83	77	𝜉	𝜉	PROPN
ajst-29853	83	78	ℓ	ℓ	NOUN
ajst-29853	83	79	ℓ	ℓ	PROPN
ajst-29853	83	80	,	,	PUNCT
ajst-29853	83	81	and	and	CCONJ
ajst-29853	83	82	hence	hence	ADV
ajst-29853	83	83	there	there	PRON
ajst-29853	83	84	exists	exist	VERB
ajst-29853	83	85	0	0	NUM
ajst-29853	83	86	𝜉	𝜉	SYM
ajst-29853	83	87	2	2	NUM
ajst-29853	83	88	ℓ	ℓ	NOUN
ajst-29853	83	89	ℓ	ℓ	NOUN
ajst-29853	83	90	case	case	NOUN
ajst-29853	83	91	2	2	NUM
ajst-29853	83	92	:	:	PUNCT
ajst-29853	83	93	if	if	SCONJ
ajst-29853	83	94	𝑧	𝑧	PROPN
ajst-29853	83	95	0	0	NUM
ajst-29853	83	96	,	,	PUNCT
ajst-29853	83	97	ℎ	ℎ	X
ajst-29853	83	98	0	0	PUNCT
ajst-29853	84	1	and	and	CCONJ
ajst-29853	84	2	𝜉	𝜉	NOUN
ajst-29853	84	3	𝜉	𝜉	X
ajst-29853	84	4	,	,	PUNCT
ajst-29853	84	5	similarly	similarly	ADV
ajst-29853	84	6	to	to	PART
ajst-29853	84	7	case	case	NOUN
ajst-29853	84	8	1	1	NUM
ajst-29853	84	9	,	,	PUNCT
ajst-29853	84	10	thus	thus	ADV
ajst-29853	84	11	we	we	PRON
ajst-29853	84	12	have	have	VERB
ajst-29853	84	13	0	0	NUM
ajst-29853	84	14	𝜉	𝜉	SYM
ajst-29853	84	15	2	2	NUM
ajst-29853	84	16	𝐶	𝐶	PROPN
ajst-29853	84	17	1	1	NUM
ajst-29853	84	18	ℓ	ℓ	PROPN
ajst-29853	84	19	𝑣𝜅	𝑣𝜅	ADP
ajst-29853	84	20	ℓ	ℓ	PROPN
ajst-29853	84	21	since	since	SCONJ
ajst-29853	84	22	0	0	NUM
ajst-29853	84	23	𝜉	𝜉	SYM
ajst-29853	84	24	1	1	NUM
ajst-29853	84	25	,	,	PUNCT
ajst-29853	84	26	there	there	PRON
ajst-29853	84	27	exists	exist	VERB
ajst-29853	84	28	0	0	NUM
ajst-29853	84	29	𝜉	𝜉	X
ajst-29853	84	30	min	min	NOUN
ajst-29853	84	31	1	1	NUM
ajst-29853	84	32	,	,	PUNCT
ajst-29853	84	33	2	2	NUM
ajst-29853	84	34	ℓ	ℓ	NOUN
ajst-29853	84	35	ℓ	ℓ	PROPN
ajst-29853	84	36	.	.	PUNCT
ajst-29853	85	1	in	in	ADP
ajst-29853	85	2	summary	summary	NOUN
ajst-29853	85	3	,	,	PUNCT
ajst-29853	85	4	it	it	PRON
ajst-29853	85	5	can	can	AUX
ajst-29853	85	6	be	be	AUX
ajst-29853	85	7	shown	show	VERB
ajst-29853	85	8	that	that	SCONJ
ajst-29853	85	9	for	for	ADP
ajst-29853	85	10	∀𝑡	∀𝑡	PROPN
ajst-29853	85	11	𝑇∗	𝑇∗	PROPN
ajst-29853	85	12	,	,	PUNCT
ajst-29853	85	13	𝜉	𝜉	PROPN
ajst-29853	85	14	is	be	AUX
ajst-29853	85	15	semi−globally	semi−globally	ADV
ajst-29853	85	16	consistent	consistent	ADJ
ajst-29853	85	17	and	and	CCONJ
ajst-29853	85	18	stable	stable	ADJ
ajst-29853	85	19	and	and	CCONJ
ajst-29853	85	20	bounded	bound	VERB
ajst-29853	85	21	by	by	ADP
ajst-29853	85	22	min	min	PROPN
ajst-29853	85	23	1	1	NUM
ajst-29853	85	24	,	,	PUNCT
ajst-29853	85	25	2	2	NUM
ajst-29853	85	26	ℓ	ℓ	NOUN
ajst-29853	85	27	ℓ	ℓ	PROPN
ajst-29853	85	28	.	.	PUNCT
ajst-29853	86	1	(	(	PUNCT
ajst-29853	86	2	2	2	X
ajst-29853	86	3	)	)	PUNCT
ajst-29853	86	4	recalling	recall	VERB
ajst-29853	86	5	(	(	PUNCT
ajst-29853	86	6	3.6),𝑉	3.6),𝑉	PROPN
ajst-29853	86	7	is	be	AUX
ajst-29853	86	8	positive	positive	ADJ
ajst-29853	86	9	definite	definite	ADJ
ajst-29853	86	10	when	when	SCONJ
ajst-29853	86	11	𝜉	𝜉	NOUN
ajst-29853	86	12	,	,	PUNCT
ajst-29853	86	13	1	1	NUM
ajst-29853	86	14	or	or	CCONJ
ajst-29853	86	15	𝜉	𝜉	X
ajst-29853	86	16	,	,	PUNCT
ajst-29853	86	17	1,considering	1,considering	NUM
ajst-29853	86	18	𝜉	𝜉	NOUN
ajst-29853	86	19	and	and	CCONJ
ajst-29853	86	20	𝜉	𝜉	X
ajst-29853	86	21	:	:	PUNCT
ajst-29853	86	22	𝑘	𝑘	ADP
ajst-29853	86	23	𝑧	𝑧	ADP
ajst-29853	86	24	𝑘	𝑘	INTJ
ajst-29853	86	25	,	,	PUNCT
ajst-29853	86	26	∀	∀	X
ajst-29853	86	27	𝑡	𝑡	X
ajst-29853	86	28	0	0	NUM
ajst-29853	86	29	since	since	SCONJ
ajst-29853	86	30	𝑧	𝑧	PRON
ajst-29853	86	31	𝑥	𝑥	PRON
ajst-29853	86	32	𝑦	𝑦	NOUN
ajst-29853	86	33	,	,	PUNCT
ajst-29853	86	34	there	there	PRON
ajst-29853	86	35	are	be	VERB
ajst-29853	86	36	𝑦	𝑦	PRON
ajst-29853	86	37	𝑘	𝑘	PRON
ajst-29853	86	38	𝑥	𝑥	PRON
ajst-29853	86	39	𝑦	𝑦	NOUN
ajst-29853	86	40	𝑘	𝑘	NOUN
ajst-29853	86	41	,	,	PUNCT
ajst-29853	86	42	∀	∀	X
ajst-29853	86	43	𝑡	𝑡	X
ajst-29853	86	44	0	0	NUM
ajst-29853	86	45	0	0	NUM
ajst-29853	86	46	𝜉	𝜉	NOUN
ajst-29853	86	47	min	min	NOUN
ajst-29853	86	48	1	1	NUM
ajst-29853	86	49	,	,	PUNCT
ajst-29853	86	50	2	2	NUM
ajst-29853	86	51	𝐶	𝐶	PROPN
ajst-29853	86	52	1	1	NUM
ajst-29853	86	53	ℓ	ℓ	PROPN
ajst-29853	86	54	𝑣𝜅	𝑣𝜅	ADP
ajst-29853	86	55	ℓ	ℓ	PROPN
ajst-29853	86	56	.	.	PUNCT
ajst-29853	87	1	by	by	ADP
ajst-29853	87	2	the	the	DET
ajst-29853	87	3	definitions	definition	NOUN
ajst-29853	87	4	of	of	ADP
ajst-29853	87	5	𝜉	𝜉	X
ajst-29853	87	6	,	,	PUNCT
ajst-29853	87	7	𝜉	𝜉	NOUN
ajst-29853	87	8	and	and	CCONJ
ajst-29853	87	9	𝜉	𝜉	X
ajst-29853	87	10	,	,	PUNCT
ajst-29853	87	11	for	for	ADP
ajst-29853	87	12	∀𝑡	∀𝑡	PROPN
ajst-29853	87	13	𝑇∗	𝑇∗	NOUN
ajst-29853	87	14	there	there	PRON
ajst-29853	87	15	are	be	VERB
ajst-29853	87	16	𝑘	𝑘	DET
ajst-29853	87	17	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
ajst-29853	87	18	1	1	NUM
ajst-29853	87	19	,	,	PUNCT
ajst-29853	87	20	2	2	NUM
ajst-29853	87	21	ℓ	ℓ	NOUN
ajst-29853	87	22	ℓ	ℓ	PROPN
ajst-29853	87	23	𝑧	𝑧	VERB
ajst-29853	87	24	𝑘	𝑘	PRON
ajst-29853	87	25	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
ajst-29853	87	26	1	1	NUM
ajst-29853	87	27	,	,	PUNCT
ajst-29853	87	28	2	2	NUM
ajst-29853	87	29	ℓ	ℓ	NOUN
ajst-29853	87	30	ℓ	ℓ	PROPN
ajst-29853	87	31	according	accord	VERB
ajst-29853	87	32	to	to	ADP
ajst-29853	87	33	theorem	theorem	NOUN
ajst-29853	87	34	1	1	NUM
ajst-29853	87	35	,	,	PUNCT
ajst-29853	87	36	when	when	SCONJ
ajst-29853	87	37	t	t	PROPN
ajst-29853	87	38	t∗	t∗	NOUN
ajst-29853	87	39	,	,	PUNCT
ajst-29853	87	40	there	there	PRON
ajst-29853	87	41	is	be	VERB
ajst-29853	87	42	a	a	DET
ajst-29853	87	43	rapid	rapid	ADJ
ajst-29853	87	44	decrease	decrease	NOUN
ajst-29853	87	45	and	and	CCONJ
ajst-29853	87	46	eventual	eventual	ADJ
ajst-29853	87	47	convergence	convergence	NOUN
ajst-29853	87	48	of	of	ADP
ajst-29853	87	49	z	z	NOUN
ajst-29853	87	50	,	,	PUNCT
ajst-29853	87	51	z	z	NOUN
ajst-29853	87	52	,	,	PUNCT
ajst-29853	87	53	θ	θ	PROPN
ajst-29853	87	54	to	to	ADP
ajst-29853	87	55	their	their	PRON
ajst-29853	87	56	respective	respective	ADJ
ajst-29853	87	57	sets	set	NOUN
ajst-29853	87	58	.	.	PUNCT
ajst-29853	88	1	when	when	SCONJ
ajst-29853	88	2	t	t	PROPN
ajst-29853	88	3	t∗	t∗	NOUN
ajst-29853	88	4	,	,	PUNCT
ajst-29853	88	5	it	it	PRON
ajst-29853	88	6	is	be	AUX
ajst-29853	88	7	shown	show	VERB
ajst-29853	88	8	that	that	SCONJ
ajst-29853	88	9	the	the	DET
ajst-29853	88	10	errors	error	NOUN
ajst-29853	88	11	z	z	NOUN
ajst-29853	88	12	,	,	PUNCT
ajst-29853	88	13	z	z	NOUN
ajst-29853	88	14	,	,	PUNCT
ajst-29853	88	15	p	p	PROPN
ajst-29853	88	16	are	be	AUX
ajst-29853	88	17	bounded	bound	VERB
ajst-29853	88	18	.	.	PUNCT
ajst-29853	89	1	since	since	SCONJ
ajst-29853	89	2	the	the	DET
ajst-29853	89	3	initial	initial	ADJ
ajst-29853	89	4	error	error	NOUN
ajst-29853	89	5	is	be	AUX
ajst-29853	89	6	bounded	bound	VERB
ajst-29853	89	7	,	,	PUNCT
ajst-29853	89	8	z	z	NOUN
ajst-29853	89	9	,	,	PUNCT
ajst-29853	89	10	z	z	NOUN
ajst-29853	89	11	,	,	PUNCT
ajst-29853	89	12	p	p	NOUN
ajst-29853	89	13	is	be	AUX
ajst-29853	89	14	bounded	bound	VERB
ajst-29853	89	15	when	when	SCONJ
ajst-29853	89	16	t	t	PROPN
ajst-29853	89	17	0	0	NUM
ajst-29853	89	18	.since	.since	NOUN
ajst-29853	90	1	y	y	PROPN
ajst-29853	90	2	is	be	AUX
ajst-29853	90	3	bounded	bound	VERB
ajst-29853	90	4	,	,	PUNCT
ajst-29853	90	5	x	x	PRON
ajst-29853	90	6	is	be	AUX
ajst-29853	90	7	also	also	ADV
ajst-29853	90	8	bounded	bound	VERB
ajst-29853	90	9	,	,	PUNCT
ajst-29853	90	10	and	and	CCONJ
ajst-29853	90	11	therefore	therefore	ADV
ajst-29853	90	12	the	the	DET
ajst-29853	90	13	virtual	virtual	ADJ
ajst-29853	90	14	control	control	NOUN
ajst-29853	90	15	α	α	PROPN
ajst-29853	90	16	is	be	AUX
ajst-29853	90	17	bounded	bound	VERB
ajst-29853	90	18	.	.	PUNCT
ajst-29853	91	1	since	since	SCONJ
ajst-29853	91	2	x	x	PROPN
ajst-29853	91	3	z	z	NOUN
ajst-29853	91	4	α	α	NOUN
ajst-29853	91	5	,	,	PUNCT
ajst-29853	91	6	x	x	PUNCT
ajst-29853	91	7	is	be	AUX
ajst-29853	91	8	bounded	bound	VERB
ajst-29853	91	9	.	.	PUNCT
ajst-29853	92	1	notice	notice	NOUN
ajst-29853	92	2	that	that	SCONJ
ajst-29853	92	3	p∗	p∗	PROPN
ajst-29853	92	4	is	be	AUX
ajst-29853	92	5	bounded	bound	VERB
ajst-29853	92	6	,	,	PUNCT
ajst-29853	92	7	hence	hence	ADV
ajst-29853	92	8	p	p	NOUN
ajst-29853	92	9	is	be	AUX
ajst-29853	92	10	bounded	bound	VERB
ajst-29853	92	11	.	.	PUNCT
ajst-29853	93	1	thus	thus	ADV
ajst-29853	93	2	it	it	PRON
ajst-29853	93	3	is	be	AUX
ajst-29853	93	4	learned	learn	VERB
ajst-29853	93	5	that	that	SCONJ
ajst-29853	93	6	μ	μ	PROPN
ajst-29853	93	7	and	and	CCONJ
ajst-29853	93	8	α	α	PROPN
ajst-29853	93	9	are	be	AUX
ajst-29853	93	10	bounded	bound	VERB
ajst-29853	93	11	when	when	SCONJ
ajst-29853	93	12	t	t	PROPN
ajst-29853	93	13	0	0	NUM
ajst-29853	93	14	.	.	PROPN
ajst-29853	93	15	4	4	NUM
ajst-29853	93	16	.	.	NOUN
ajst-29853	93	17	simulations	simulation	NOUN
ajst-29853	93	18	to	to	PART
ajst-29853	93	19	verify	verify	VERB
ajst-29853	93	20	the	the	DET
ajst-29853	93	21	validity	validity	NOUN
ajst-29853	93	22	of	of	ADP
ajst-29853	93	23	the	the	DET
ajst-29853	93	24	boundary	boundary	ADJ
ajst-29853	93	25	control	control	NOUN
ajst-29853	93	26	law	law	NOUN
ajst-29853	93	27	in	in	ADP
ajst-29853	93	28	this	this	DET
ajst-29853	93	29	paper	paper	NOUN
ajst-29853	93	30	,	,	PUNCT
ajst-29853	93	31	the	the	DET
ajst-29853	93	32	vibration	vibration	NOUN
ajst-29853	93	33	of	of	ADP
ajst-29853	93	34	the	the	DET
ajst-29853	93	35	marine	marine	ADJ
ajst-29853	93	36	flexible	flexible	ADJ
ajst-29853	93	37	riser	riser	NOUN
ajst-29853	93	38	system	system	NOUN
ajst-29853	93	39	using	use	VERB
ajst-29853	93	40	the	the	DET
ajst-29853	93	41	finite	finite	ADJ
ajst-29853	93	42	difference	difference	NOUN
ajst-29853	93	43	method	method	NOUN
ajst-29853	93	44	under	under	ADP
ajst-29853	93	45	the	the	DET
ajst-29853	93	46	joint	joint	ADJ
ajst-29853	93	47	action	action	NOUN
ajst-29853	93	48	of	of	ADP
ajst-29853	93	49	distributed	distribute	VERB
ajst-29853	93	50	current	current	ADJ
ajst-29853	93	51	loads	load	NOUN
ajst-29853	93	52	and	and	CCONJ
ajst-29853	93	53	boundary	boundary	ADJ
ajst-29853	93	54	disturbances	disturbance	NOUN
ajst-29853	93	55	in	in	ADP
ajst-29853	93	56	400	400	NUM
ajst-29853	93	57	s	s	NOUN
ajst-29853	93	58	is	be	AUX
ajst-29853	93	59	simulated	simulate	VERB
ajst-29853	93	60	for	for	ADP
ajst-29853	93	61	simulation	simulation	NOUN
ajst-29853	93	62	analysis	analysis	NOUN
ajst-29853	93	63	,	,	PUNCT
ajst-29853	93	64	and	and	CCONJ
ajst-29853	93	65	the	the	DET
ajst-29853	93	66	system	system	NOUN
ajst-29853	93	67	parameters	parameter	NOUN
ajst-29853	93	68	are	be	AUX
ajst-29853	93	69	shown	show	VERB
ajst-29853	93	70	in	in	ADP
ajst-29853	93	71	table	table	NOUN
ajst-29853	93	72	1	1	NUM
ajst-29853	93	73	.	.	PUNCT
ajst-29853	93	74	table	table	NOUN
ajst-29853	93	75	1	1	NUM
ajst-29853	93	76	.	.	PUNCT
ajst-29853	93	77	marine	marine	ADJ
ajst-29853	93	78	flexible	flexible	ADJ
ajst-29853	93	79	riser	riser	NOUN
ajst-29853	93	80	parameters	parameter	NOUN
ajst-29853	93	81	parameters	parameter	NOUN
ajst-29853	93	82	parameter	parameter	NOUN
ajst-29853	93	83	description	description	NOUN
ajst-29853	93	84	value	value	NOUN
ajst-29853	93	85	l	l	NOUN
ajst-29853	93	86	length	length	NOUN
ajst-29853	93	87	of	of	ADP
ajst-29853	93	88	flexible	flexible	ADJ
ajst-29853	93	89	riser	riser	NOUN
ajst-29853	93	90	1000	1000	NUM
ajst-29853	93	91	m	m	NOUN
ajst-29853	93	92	sm	sm	NOUN
ajst-29853	93	93	weight	weight	NOUN
ajst-29853	93	94	of	of	ADP
ajst-29853	93	95	ship	ship	NOUN
ajst-29853	94	1	9.6×106	9.6×106	NOUN
ajst-29853	94	2	kg	kg	NOUN
ajst-29853	94	3	ei	ei	INTJ
ajst-29853	94	4	stiffness	stiffness	NOUN
ajst-29853	94	5	of	of	ADP
ajst-29853	94	6	flexible	flexible	ADJ
ajst-29853	94	7	riser	riser	NOUN
ajst-29853	94	8	1.5×107nm2	1.5×107nm2	NUM
ajst-29853	94	9	d	d	NOUN
ajst-29853	94	10	external	external	ADJ
ajst-29853	94	11	diameter	diameter	NOUN
ajst-29853	94	12	of	of	ADP
ajst-29853	94	13	flexible	flexible	ADJ
ajst-29853	94	14	riser	riser	NOUN
ajst-29853	94	15	152.40	152.40	NUM
ajst-29853	94	16	mm	mm	NOUN
ajst-29853	94	17	sd	sd	NOUN
ajst-29853	94	18	ship	ship	NOUN
ajst-29853	94	19	damping	damp	VERB
ajst-29853	94	20	1×103ns	1×103ns	NUM
ajst-29853	94	21	/	/	SYM
ajst-29853	94	22	m	m	PROPN
ajst-29853	94	23	t	t	NOUN
ajst-29853	94	24	flexible	flexible	ADJ
ajst-29853	94	25	riser	riser	NOUN
ajst-29853	94	26	strain	strain	VERB
ajst-29853	94	27	8.11×107n	8.11×107n	PROPN
ajst-29853	94	28			ADP
ajst-29853	94	29	flexible	flexible	ADJ
ajst-29853	94	30	riser	riser	NOUN
ajst-29853	94	31	unit	unit	NOUN
ajst-29853	94	32	mass	mass	PROPN
ajst-29853	94	33	500kg	500kg	PROPN
ajst-29853	94	34	/	/	SYM
ajst-29853	94	35	m	m	PROPN
ajst-29853	94	36	s	s	NOUN
ajst-29853	94	37	density	density	NOUN
ajst-29853	94	38	of	of	ADP
ajst-29853	94	39	sea	sea	NOUN
ajst-29853	94	40	water	water	NOUN
ajst-29853	94	41	1024.00kg	1024.00kg	NUM
ajst-29853	94	42	/	/	SYM
ajst-29853	94	43	m3	m3	PROPN
ajst-29853	94	44	dc	dc	PROPN
ajst-29853	94	45	drag	drag	PROPN
ajst-29853	94	46	coefficient	coefficient	NOUN
ajst-29853	94	47	1.361	1.361	NUM
ajst-29853	94	48	ts	ts	ADP
ajst-29853	94	49	strouhal	strouhal	NOUN
ajst-29853	94	50	number	number	NOUN
ajst-29853	94	51	0.200	0.200	NUM
ajst-29853	94	52	vf	vf	X
ajst-29853	94	53	shedding	shedding	ADJ
ajst-29853	94	54	frequency	frequency	NOUN
ajst-29853	94	55	2.625	2.625	NUM
ajst-29853	94	56			NOUN
ajst-29853	94	57	phase	phase	NOUN
ajst-29853	94	58	angle	angle	NOUN
ajst-29853	94	59	0.00	0.00	NUM
ajst-29853	94	60	c	c	NOUN
ajst-29853	94	61	damping	damp	VERB
ajst-29853	94	62	of	of	ADP
ajst-29853	94	63	flexible	flexible	ADJ
ajst-29853	94	64	riser	riser	NOUN
ajst-29853	94	65	2.00ns	2.00ns	NUM
ajst-29853	94	66	/	/	SYM
ajst-29853	94	67	m	m	VERB
ajst-29853	94	68	the	the	DET
ajst-29853	94	69	distributed	distribute	VERB
ajst-29853	94	70	interference	interference	NOUN
ajst-29853	94	71	on	on	ADP
ajst-29853	94	72	the	the	DET
ajst-29853	94	73	marine	marine	ADJ
ajst-29853	94	74	flexible	flexible	ADJ
ajst-29853	94	75	riser	riser	NOUN
ajst-29853	94	76	is	be	AUX
ajst-29853	94	77	denoted	denote	VERB
ajst-29853	94	78	as	as	ADP
ajst-29853	94	79	𝑓	𝑓	DET
ajst-29853	94	80	𝑥	𝑥	PROPN
ajst-29853	94	81	,	,	PUNCT
ajst-29853	94	82	𝑡	𝑡	PROPN
ajst-29853	94	83	1	1	NUM
ajst-29853	94	84	2	2	NUM
ajst-29853	94	85	𝜌	𝜌	ADP
ajst-29853	94	86	𝐶	𝐶	PROPN
ajst-29853	94	87	𝑈	𝑈	PROPN
ajst-29853	94	88	𝑥	𝑥	PROPN
ajst-29853	94	89	,	,	PUNCT
ajst-29853	94	90	𝑡	𝑡	PROPN
ajst-29853	94	91	𝐷	𝐷	NOUN
ajst-29853	94	92	𝐴	𝐴	NOUN
ajst-29853	95	1	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
ajst-29853	95	2	4𝜋𝑓	4𝜋𝑓	NOUN
ajst-29853	96	1	𝑡	𝑡	PROPN
ajst-29853	96	2	𝜃	𝜃	NOUN
ajst-29853	96	3	where	where	SCONJ
ajst-29853	96	4	𝜌	𝜌	PRON
ajst-29853	96	5	is	be	AUX
ajst-29853	96	6	the	the	DET
ajst-29853	96	7	seawater	seawater	NOUN
ajst-29853	96	8	density	density	NOUN
ajst-29853	96	9	,	,	PUNCT
ajst-29853	96	10	𝐶	𝐶	PROPN
ajst-29853	96	11	is	be	AUX
ajst-29853	96	12	the	the	DET
ajst-29853	96	13	damping	damp	VERB
ajst-29853	96	14	coefficient,𝐴	coefficient,𝐴	NOUN
ajst-29853	96	15	is	be	AUX
ajst-29853	96	16	the	the	DET
ajst-29853	96	17	fraction	fraction	NOUN
ajst-29853	96	18	of	of	ADP
ajst-29853	96	19	the	the	DET
ajst-29853	96	20	oscillatory	oscillatory	ADJ
ajst-29853	96	21	part	part	NOUN
ajst-29853	96	22	of	of	ADP
ajst-29853	96	23	the	the	DET
ajst-29853	96	24	damping	damping	NOUN
ajst-29853	96	25	,	,	PUNCT
ajst-29853	96	26	usually	usually	ADV
ajst-29853	96	27	20％	20％	NUM
ajst-29853	96	28	of	of	ADP
ajst-29853	96	29	the	the	DET
ajst-29853	96	30	first	first	ADJ
ajst-29853	96	31	term	term	NOUN
ajst-29853	96	32	of	of	ADP
ajst-29853	96	33	𝑓	𝑓	DET
ajst-29853	96	34	𝑥	𝑥	PROPN
ajst-29853	96	35	,	,	PUNCT
ajst-29853	96	36	𝑡	𝑡	PROPN
ajst-29853	96	37	,	,	PUNCT
ajst-29853	96	38	and	and	CCONJ
ajst-29853	96	39	the	the	DET
ajst-29853	96	40	dimensionless	dimensionless	NOUN
ajst-29853	96	41	vortex	vortex	NOUN
ajst-29853	96	42	fall	fall	NOUN
ajst-29853	96	43	-	-	PUNCT
ajst-29853	96	44	off	off	ADP
ajst-29853	96	45	frequency	frequency	NOUN
ajst-29853	96	46	is	be	AUX
ajst-29853	96	47	denoted	denote	VERB
ajst-29853	96	48	by	by	ADP
ajst-29853	96	49	:	:	PUNCT
ajst-29853	96	50	𝑓	𝑓	DET
ajst-29853	96	51	𝑆	𝑆	PROPN
ajst-29853	96	52	𝑈	𝑈	PROPN
ajst-29853	96	53	𝑥	𝑥	PROPN
ajst-29853	96	54	,	,	PUNCT
ajst-29853	96	55	𝑡	𝑡	PROPN
ajst-29853	96	56	𝐷	𝐷	NOUN
ajst-29853	96	57	where	where	SCONJ
ajst-29853	96	58	𝑆	𝑆	PROPN
ajst-29853	96	59	is	be	AUX
ajst-29853	96	60	the	the	DET
ajst-29853	96	61	strouhal	strouhal	NOUN
ajst-29853	96	62	number,𝐷	number,𝐷	NOUN
ajst-29853	96	63	is	be	AUX
ajst-29853	96	64	external	external	ADJ
ajst-29853	96	65	diameter	diameter	NOUN
ajst-29853	96	66	of	of	ADP
ajst-29853	96	67	flexible	flexible	ADJ
ajst-29853	96	68	riser	riser	NOUN
ajst-29853	96	69	.	.	PUNCT
ajst-29853	97	1	the	the	DET
ajst-29853	97	2	sea	sea	NOUN
ajst-29853	97	3	current	current	NOUN
ajst-29853	97	4	can	can	AUX
ajst-29853	97	5	be	be	AUX
ajst-29853	97	6	expressed	express	VERB
ajst-29853	97	7	as	as	ADP
ajst-29853	97	8	:	:	PUNCT
ajst-29853	97	9	𝑈	𝑈	PROPN
ajst-29853	97	10	𝑥	𝑥	PROPN
ajst-29853	97	11	,	,	PUNCT
ajst-29853	97	12	𝑡	𝑡	VERB
ajst-29853	97	13	𝑥	𝑥	NOUN
ajst-29853	97	14	1000	1000	NUM
ajst-29853	97	15	𝑈	𝑈	PROPN
ajst-29853	97	16	𝑡	𝑡	PROPN
ajst-29853	97	17	the	the	DET
ajst-29853	97	18	time	time	NOUN
ajst-29853	97	19	-	-	PUNCT
ajst-29853	97	20	varying	vary	VERB
ajst-29853	97	21	current	current	ADJ
ajst-29853	97	22	𝑈	𝑈	PROPN
ajst-29853	97	23	𝑡	𝑡	PROPN
ajst-29853	97	24	can	can	AUX
ajst-29853	97	25	be	be	AUX
ajst-29853	97	26	expressed	express	VERB
ajst-29853	97	27	as	as	ADP
ajst-29853	97	28	:	:	PUNCT
ajst-29853	97	29	𝑈	𝑈	PROPN
ajst-29853	97	30	𝑡	𝑡	PROPN
ajst-29853	97	31	𝑈	𝑈	PROPN
ajst-29853	97	32	𝑈	𝑈	PROPN
ajst-29853	97	33	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
ajst-29853	97	34	𝑤	𝑤	ADP
ajst-29853	97	35	𝑡	𝑡	PRON
ajst-29853	97	36	where	where	SCONJ
ajst-29853	97	37	1	1	NUM
ajst-29853	97	38	2	2	NUM
ajst-29853	97	39	3	3	NUM
ajst-29853	97	40	4	4	NUM
ajst-29853	97	41	(	(	PUNCT
ajst-29853	97	42	,	,	PUNCT
ajst-29853	97	43	,	,	PUNCT
ajst-29853	97	44	,	,	PUNCT
ajst-29853	97	45	)	)	PUNCT
ajst-29853	98	1	(	(	PUNCT
ajst-29853	98	2	0.867,1.827,iw	0.867,1.827,iw	X
ajst-29853	98	3	w	w	PROPN
ajst-29853	98	4	w	w	PROPN
ajst-29853	98	5	w	w	PROPN
ajst-29853	98	6	w	w	NOUN
ajst-29853	98	7			PROPN
ajst-29853	98	8	2.946,4.282	2.946,4.282	NUM
ajst-29853	98	9	)	)	PUNCT
ajst-29853	98	10	,	,	PUNCT
ajst-29853	98	11	u	u	NOUN
ajst-29853	98	12	2	2	NUM
ajst-29853	98	13	/m	/m	NUM
ajst-29853	98	14	s	s	NOUN
ajst-29853	98	15	is	be	AUX
ajst-29853	98	16	the	the	DET
ajst-29853	98	17	mean	mean	ADJ
ajst-29853	98	18	current	current	ADJ
ajst-29853	98	19	speed	speed	NOUN
ajst-29853	98	20	and	and	CCONJ
ajst-29853	98	21	u	u	NOUN
ajst-29853	99	1	0.2	0.2	PROPN
ajst-29853	99	2			PROPN
ajst-29853	99	3	is	be	AUX
ajst-29853	99	4	the	the	DET
ajst-29853	99	5	amplitude	amplitude	NOUN
ajst-29853	99	6	of	of	ADP
ajst-29853	99	7	the	the	DET
ajst-29853	99	8	oscillatory	oscillatory	ADJ
ajst-29853	99	9	flow	flow	NOUN
ajst-29853	99	10	.	.	PUNCT
ajst-29853	100	1	the	the	DET
ajst-29853	100	2	marine	marine	ADJ
ajst-29853	100	3	flexible	flexible	ADJ
ajst-29853	100	4	riser	riser	NOUN
ajst-29853	100	5	boundary	boundary	ADJ
ajst-29853	100	6	perturbation	perturbation	NOUN
ajst-29853	100	7	is	be	AUX
ajst-29853	100	8	:	:	PUNCT
ajst-29853	100	9	𝑑	𝑑	PROPN
ajst-29853	100	10	𝑡	𝑡	VERB
ajst-29853	100	11	3	3	NUM
ajst-29853	100	12	0.8𝑠𝑖𝑛	0.8𝑠𝑖𝑛	NOUN
ajst-29853	100	13	0.7𝑡	0.7𝑡	NOUN
ajst-29853	100	14	0.2𝑠𝑖𝑛	0.2𝑠𝑖𝑛	NOUN
ajst-29853	100	15	0.5𝑡	0.5𝑡	NUM
ajst-29853	100	16	0.2𝑠𝑖𝑛	0.2𝑠𝑖𝑛	NOUN
ajst-29853	100	17	0.9𝑡	0.9𝑡	NOUN
ajst-29853	100	18	10	10	NUM
ajst-29853	100	19	to	to	PART
ajst-29853	100	20	verify	verify	VERB
ajst-29853	100	21	the	the	DET
ajst-29853	100	22	effectiveness	effectiveness	NOUN
ajst-29853	100	23	of	of	ADP
ajst-29853	100	24	the	the	DET
ajst-29853	100	25	control	control	NOUN
ajst-29853	100	26	algorithm	algorithm	PROPN
ajst-29853	100	27	39	39	NUM
ajst-29853	100	28	proposed	propose	VERB
ajst-29853	100	29	in	in	ADP
ajst-29853	100	30	this	this	DET
ajst-29853	100	31	paper	paper	NOUN
ajst-29853	100	32	,	,	PUNCT
ajst-29853	100	33	three	three	NUM
ajst-29853	100	34	dynamic	dynamic	ADJ
ajst-29853	100	35	response	response	NOUN
ajst-29853	100	36	cases	case	NOUN
ajst-29853	100	37	of	of	ADP
ajst-29853	100	38	the	the	DET
ajst-29853	100	39	riser	riser	NOUN
ajst-29853	100	40	system	system	NOUN
ajst-29853	100	41	are	be	AUX
ajst-29853	100	42	discussed	discuss	VERB
ajst-29853	100	43	and	and	CCONJ
ajst-29853	100	44	analyzed	analyze	VERB
ajst-29853	100	45	.	.	PUNCT
ajst-29853	101	1	1	1	X
ajst-29853	101	2	.	.	X
ajst-29853	101	3	free	free	ADJ
ajst-29853	101	4	vibration	vibration	NOUN
ajst-29853	101	5	of	of	ADP
ajst-29853	101	6	marine	marine	ADJ
ajst-29853	101	7	flexible	flexible	ADJ
ajst-29853	101	8	risers	riser	NOUN
ajst-29853	101	9	the	the	DET
ajst-29853	101	10	free	free	ADJ
ajst-29853	101	11	vibration	vibration	NOUN
ajst-29853	101	12	results	result	NOUN
ajst-29853	101	13	of	of	ADP
ajst-29853	101	14	the	the	DET
ajst-29853	101	15	marine	marine	ADJ
ajst-29853	101	16	flexible	flexible	ADJ
ajst-29853	101	17	riser	riser	NOUN
ajst-29853	101	18	are	be	AUX
ajst-29853	101	19	shown	show	VERB
ajst-29853	101	20	in	in	ADP
ajst-29853	101	21	fig.4	fig.4	PROPN
ajst-29853	101	22	-	-	PUNCT
ajst-29853	101	23	1	1	NUM
ajst-29853	101	24	,	,	PUNCT
ajst-29853	101	25	the	the	DET
ajst-29853	101	26	riser	riser	NOUN
ajst-29853	101	27	periodically	periodically	ADV
ajst-29853	101	28	oscillates	oscillate	VERB
ajst-29853	101	29	due	due	ADP
ajst-29853	101	30	to	to	ADP
ajst-29853	101	31	the	the	DET
ajst-29853	101	32	lack	lack	NOUN
ajst-29853	101	33	of	of	ADP
ajst-29853	101	34	external	external	ADJ
ajst-29853	101	35	force	force	NOUN
ajst-29853	101	36	control	control	NOUN
ajst-29853	101	37	,	,	PUNCT
ajst-29853	101	38	and	and	CCONJ
ajst-29853	101	39	its	its	PRON
ajst-29853	101	40	vibration	vibration	NOUN
ajst-29853	101	41	offset	offset	VERB
ajst-29853	101	42	ranges	range	NOUN
ajst-29853	101	43	from	from	ADP
ajst-29853	101	44	0	0	NUM
ajst-29853	101	45	m	m	NOUN
ajst-29853	101	46	to	to	ADP
ajst-29853	101	47	7	7	NUM
ajst-29853	101	48	m	m	NOUN
ajst-29853	101	49	,	,	PUNCT
ajst-29853	101	50	which	which	PRON
ajst-29853	101	51	has	have	VERB
ajst-29853	101	52	a	a	DET
ajst-29853	101	53	serious	serious	ADJ
ajst-29853	101	54	impact	impact	NOUN
ajst-29853	101	55	on	on	ADP
ajst-29853	101	56	the	the	DET
ajst-29853	101	57	performance	performance	NOUN
ajst-29853	101	58	of	of	ADP
ajst-29853	101	59	the	the	DET
ajst-29853	101	60	marine	marine	ADJ
ajst-29853	101	61	flexible	flexible	ADJ
ajst-29853	101	62	riser	riser	NOUN
ajst-29853	101	63	.	.	PUNCT
ajst-29853	102	1	figure	figure	VERB
ajst-29853	102	2	4	4	NUM
ajst-29853	102	3	-	-	SYM
ajst-29853	102	4	1	1	NUM
ajst-29853	102	5	.	.	PUNCT
ajst-29853	103	1	lateral	lateral	ADJ
ajst-29853	103	2	vibration	vibration	NOUN
ajst-29853	103	3	excursion	excursion	NOUN
ajst-29853	103	4	of	of	ADP
ajst-29853	103	5	the	the	DET
ajst-29853	103	6	riser	riser	NOUN
ajst-29853	103	7	without	without	ADP
ajst-29853	103	8	control	control	NOUN
ajst-29853	103	9	2	2	NUM
ajst-29853	103	10	.	.	PUNCT
ajst-29853	104	1	pid	pid	NOUN
ajst-29853	104	2	control	control	VERB
ajst-29853	104	3	the	the	DET
ajst-29853	104	4	pid	pid	NOUN
ajst-29853	104	5	control	control	NOUN
ajst-29853	104	6	used	use	VERB
ajst-29853	104	7	in	in	ADP
ajst-29853	104	8	this	this	DET
ajst-29853	104	9	paper	paper	NOUN
ajst-29853	104	10	,	,	PUNCT
ajst-29853	104	11	i.e.	i.e.	X
ajst-29853	104	12	,	,	PUNCT
ajst-29853	104	13	𝑈	𝑈	PROPN
ajst-29853	104	14	𝑡	𝑡	PROPN
ajst-29853	104	15	𝑘	𝑘	VERB
ajst-29853	104	16	𝑤	𝑤	SYM
ajst-29853	104	17	𝐿	𝐿	PROPN
ajst-29853	104	18	,	,	PUNCT
ajst-29853	104	19	𝑡	𝑡	X
ajst-29853	104	20	𝑘	𝑘	PROPN
ajst-29853	104	21	𝑤	𝑤	SYM
ajst-29853	104	22	𝐿	𝐿	PROPN
ajst-29853	104	23	,	,	PUNCT
ajst-29853	104	24	𝑡	𝑡	PROPN
ajst-29853	104	25	,	,	PUNCT
ajst-29853	104	26	where	where	SCONJ
ajst-29853	104	27	the	the	DET
ajst-29853	104	28	parameters	parameter	NOUN
ajst-29853	104	29	𝑘	𝑘	X
ajst-29853	104	30	,	,	PUNCT
ajst-29853	104	31	𝑘	𝑘	DET
ajst-29853	104	32	𝑎𝑟𝑒	𝑎𝑟𝑒	NOUN
ajst-29853	104	33	𝑘	𝑘	PRON
ajst-29853	104	34	9	9	NUM
ajst-29853	104	35	10	10	NUM
ajst-29853	104	36	and	and	CCONJ
ajst-29853	104	37	𝑘	𝑘	DET
ajst-29853	104	38	8	8	NUM
ajst-29853	104	39	10	10	NUM
ajst-29853	104	40	,	,	PUNCT
ajst-29853	104	41	and	and	CCONJ
ajst-29853	104	42	the	the	DET
ajst-29853	104	43	transverse	transverse	NOUN
ajst-29853	104	44	vibration	vibration	NOUN
ajst-29853	104	45	offsets	offset	NOUN
ajst-29853	104	46	of	of	ADP
ajst-29853	104	47	the	the	DET
ajst-29853	104	48	oceanic	oceanic	ADJ
ajst-29853	104	49	flexible	flexible	ADJ
ajst-29853	104	50	risers	riser	NOUN
ajst-29853	104	51	are	be	AUX
ajst-29853	104	52	shown	show	VERB
ajst-29853	104	53	in	in	ADP
ajst-29853	104	54	fig	fig	NOUN
ajst-29853	104	55	.	.	PUNCT
ajst-29853	105	1	4	4	NUM
ajst-29853	105	2	-	-	SYM
ajst-29853	105	3	2	2	NUM
ajst-29853	105	4	,	,	PUNCT
ajst-29853	105	5	and	and	CCONJ
ajst-29853	105	6	the	the	DET
ajst-29853	105	7	control	control	NOUN
ajst-29853	105	8	inputs	input	NOUN
ajst-29853	105	9	of	of	ADP
ajst-29853	105	10	the	the	DET
ajst-29853	105	11	pid	pid	NOUN
ajst-29853	105	12	control	control	NOUN
ajst-29853	105	13	are	be	AUX
ajst-29853	105	14	shown	show	VERB
ajst-29853	105	15	in	in	ADP
ajst-29853	105	16	fig	fig	NOUN
ajst-29853	105	17	.	.	PUNCT
ajst-29853	106	1	4	4	NUM
ajst-29853	106	2	-	-	SYM
ajst-29853	106	3	3	3	NUM
ajst-29853	106	4	.	.	PUNCT
ajst-29853	106	5	figure	figure	VERB
ajst-29853	106	6	4	4	NUM
ajst-29853	106	7	-	-	SYM
ajst-29853	106	8	2	2	NUM
ajst-29853	106	9	.	.	PUNCT
ajst-29853	106	10	lateral	lateral	ADJ
ajst-29853	106	11	vibration	vibration	NOUN
ajst-29853	106	12	excursion	excursion	NOUN
ajst-29853	106	13	of	of	ADP
ajst-29853	106	14	the	the	DET
ajst-29853	106	15	riser	riser	NOUN
ajst-29853	106	16	under	under	ADP
ajst-29853	106	17	pid	pid	NOUN
ajst-29853	106	18	control	control	NOUN
ajst-29853	106	19	3	3	NUM
ajst-29853	106	20	.	.	PUNCT
ajst-29853	107	1	with	with	ADP
ajst-29853	107	2	the	the	DET
ajst-29853	107	3	robust	robust	ADJ
ajst-29853	107	4	adaptive	adaptive	ADJ
ajst-29853	107	5	boundary	boundary	ADJ
ajst-29853	107	6	control	control	NOUN
ajst-29853	107	7	for	for	ADP
ajst-29853	107	8	the	the	DET
ajst-29853	107	9	vibration	vibration	NOUN
ajst-29853	107	10	problem	problem	NOUN
ajst-29853	107	11	of	of	ADP
ajst-29853	107	12	marine	marine	ADJ
ajst-29853	107	13	flexible	flexible	ADJ
ajst-29853	107	14	riser	riser	NOUN
ajst-29853	107	15	with	with	ADP
ajst-29853	107	16	input	input	NOUN
ajst-29853	107	17	saturation	saturation	NOUN
ajst-29853	107	18	,	,	PUNCT
ajst-29853	107	19	zhao(zhao	zhao(zhao	PROPN
ajst-29853	107	20	et	et	NOUN
ajst-29853	107	21	al	al	PROPN
ajst-29853	107	22	.	.	PROPN
ajst-29853	107	23	,	,	PUNCT
ajst-29853	107	24	2017	2017	NUM
ajst-29853	107	25	)	)	PUNCT
ajst-29853	107	26	et	et	PROPN
ajst-29853	107	27	al	al	PROPN
ajst-29853	107	28	.	.	PROPN
ajst-29853	107	29	proposed	propose	VERB
ajst-29853	107	30	an	an	DET
ajst-29853	107	31	adaptive	adaptive	ADJ
ajst-29853	107	32	boundary	boundary	ADJ
ajst-29853	107	33	control	control	NOUN
ajst-29853	107	34	method	method	NOUN
ajst-29853	107	35	.	.	PUNCT
ajst-29853	108	1	𝜆	𝜆	PRON
ajst-29853	108	2	𝑘	𝑘	DET
ajst-29853	108	3	𝑥	𝑥	X
ajst-29853	108	4	𝜍	𝜍	X
ajst-29853	108	5	where	where	SCONJ
ajst-29853	108	6	𝑘	𝑘	ADV
ajst-29853	108	7	0	0	NUM
ajst-29853	108	8	and	and	CCONJ
ajst-29853	108	9	𝜍	𝜍	PROPN
ajst-29853	108	10	𝑇𝑧	𝑇𝑧	PROPN
ajst-29853	108	11	𝑙	𝑙	PROPN
ajst-29853	108	12	,	,	PUNCT
ajst-29853	108	13	𝑡	𝑡	PROPN
ajst-29853	108	14	𝐸𝐼𝑧	𝐸𝐼𝑧	ADJ
ajst-29853	108	15	"	"	PUNCT
ajst-29853	108	16	𝑙	𝑙	PROPN
ajst-29853	108	17	,	,	PUNCT
ajst-29853	108	18	𝑡	𝑡	PROPN
ajst-29853	108	19	.	.	PUNCT
ajst-29853	109	1	𝜆	𝜆	PRON
ajst-29853	109	2	𝜍	𝜍	ADP
ajst-29853	109	3	𝑑	𝑑	X
ajst-29853	109	4	𝑧	𝑧	PROPN
ajst-29853	109	5	𝑙	𝑙	PROPN
ajst-29853	109	6	,	,	PUNCT
ajst-29853	109	7	𝑡	𝑡	VERB
ajst-29853	109	8	𝑚𝜆	𝑚𝜆	ADP
ajst-29853	109	9	𝑥	𝑥	X
ajst-29853	109	10	𝑘	𝑘	NOUN
ajst-29853	109	11	𝑥	𝑥	NOUN
ajst-29853	110	1	𝑇𝑧	𝑇𝑧	ADP
ajst-29853	110	2	𝑙	𝑙	PROPN
ajst-29853	110	3	,	,	PUNCT
ajst-29853	110	4	𝑡	𝑡	PROPN
ajst-29853	110	5	𝐸𝐼𝑧	𝐸𝐼𝑧	PROPN
ajst-29853	110	6	𝑙	𝑙	PROPN
ajst-29853	110	7	,	,	PUNCT
ajst-29853	110	8	𝑡	𝑡	PROPN
ajst-29853	110	9	𝑑	𝑑	PROPN
ajst-29853	110	10	𝑧	𝑧	PROPN
ajst-29853	110	11	𝑙	𝑙	NOUN
ajst-29853	110	12	,	,	PUNCT
ajst-29853	110	13	𝑡	𝑡	VERB
ajst-29853	110	14	𝑚𝜆	𝑚𝜆	ADP
ajst-29853	110	15	𝑥	𝑥	X
ajst-29853	110	16	𝑘	𝑘	ADP
ajst-29853	110	17	𝑥	𝑥	INTJ
ajst-29853	110	18	where	where	SCONJ
ajst-29853	110	19	𝑘	𝑘	PRON
ajst-29853	110	20	0	0	NUM
ajst-29853	110	21	.	.	PUNCT
ajst-29853	111	1	𝑢	𝑢	PROPN
ajst-29853	111	2	𝑡	𝑡	PROPN
ajst-29853	111	3	𝑘𝑢	𝑘𝑢	PROPN
ajst-29853	111	4	𝑡	𝑡	X
ajst-29853	111	5	𝜖	𝜖	PROPN
ajst-29853	111	6	𝜖	𝜖	X
ajst-29853	111	7	𝑁	𝑁	PROPN
ajst-29853	111	8	𝜒	𝜒	X
ajst-29853	111	9	𝜖	𝜖	NOUN
ajst-29853	111	10	̅	̅	NOUN
ajst-29853	111	11	𝜖̅	𝜖̅	NOUN
ajst-29853	111	12	𝛼𝑘𝑢	𝛼𝑘𝑢	NOUN
ajst-29853	111	13	1	1	NUM
ajst-29853	111	14	𝑚	𝑚	NOUN
ajst-29853	111	15	𝜇	𝜇	ADP
ajst-29853	111	16	1	1	NUM
ajst-29853	111	17	𝑚	𝑚	NOUN
ajst-29853	111	18	𝑘	𝑘	PRON
ajst-29853	111	19	𝑥	𝑥	NOUN
ajst-29853	111	20	1	1	NUM
ajst-29853	111	21	𝑚	𝑚	NOUN
ajst-29853	111	22	𝑥	𝑥	PRON
ajst-29853	111	23	1	1	NUM
ajst-29853	111	24	2𝑚	2𝑚	NOUN
ajst-29853	111	25	∂𝜆	∂𝜆	PROPN
ajst-29853	112	1	∂𝑧	∂𝑧	NOUN
ajst-29853	113	1	𝑥	𝑥	X
ajst-29853	113	2	𝛼	𝛼	PRON
ajst-29853	113	3	∂𝑢	∂𝑢	PROPN
ajst-29853	113	4	𝑢	𝑢	ADP
ajst-29853	113	5	𝑡	𝑡	PROPN
ajst-29853	113	6	∂𝑢	∂𝑢	PROPN
ajst-29853	113	7	𝑡	𝑡	ADP
ajst-29853	113	8	4	4	NUM
ajst-29853	113	9	𝑒	𝑒	NOUN
ajst-29853	113	10	/	/	SYM
ajst-29853	113	11	𝑒	𝑒	PROPN
ajst-29853	113	12	/	/	SYM
ajst-29853	113	13	0	0	NUM
ajst-29853	113	14	where	where	SCONJ
ajst-29853	113	15	𝑘	𝑘	ADV
ajst-29853	113	16	0	0	PUNCT
ajst-29853	114	1	and	and	CCONJ
ajst-29853	114	2	we	we	PRON
ajst-29853	114	3	define	define	VERB
ajst-29853	114	4	the	the	DET
ajst-29853	114	5	nussbaum	nussbaum	PROPN
ajst-29853	114	6	function	function	NOUN
ajst-29853	114	7	𝑁	𝑁	NOUN
ajst-29853	114	8	𝜒	𝜒	NOUN
ajst-29853	114	9	as	as	ADP
ajst-29853	114	10	𝑁	𝑁	PROPN
ajst-29853	114	11	𝜒	𝜒	X
ajst-29853	114	12	𝜒	𝜒	X
ajst-29853	114	13	cos	cos	ADP
ajst-29853	114	14	𝜒	𝜒	ADP
ajst-29853	114	15	𝜒	𝜒	SYM
ajst-29853	114	16	𝛽	𝛽	NOUN
ajst-29853	114	17	𝑚𝑥	𝑚𝑥	NOUN
ajst-29853	114	18	𝜖	𝜖	X
ajst-29853	114	19	¯	¯	PROPN
ajst-29853	114	20	with	with	ADP
ajst-29853	114	21	βχ	βχ	ADJ
ajst-29853	114	22	 	 	SPACE
ajst-29853	114	23	>	>	PUNCT
ajst-29853	114	24	 	 	SPACE
ajst-29853	114	25	0	0	PUNCT
ajst-29853	115	1	and	and	CCONJ
ajst-29853	115	2	the	the	DET
ajst-29853	115	3	nussbaum	nussbaum	PROPN
ajst-29853	115	4	function	function	NOUN
ajst-29853	115	5	satisfying	satisfy	VERB
ajst-29853	115	6	the	the	DET
ajst-29853	115	7	following	follow	VERB
ajst-29853	115	8	properties	property	NOUN
ajst-29853	115	9	.	.	PUNCT
ajst-29853	116	1	lim	lim	PROPN
ajst-29853	116	2	→	→	SYM
ajst-29853	116	3	sup	sup	PROPN
ajst-29853	116	4	1	1	NUM
ajst-29853	116	5	𝑘	𝑘	PRON
ajst-29853	116	6	𝑁	𝑁	PROPN
ajst-29853	116	7	𝑠	𝑠	NUM
ajst-29853	116	8	𝑑𝑠	𝑑𝑠	NOUN
ajst-29853	116	9	∞	∞	PROPN
ajst-29853	116	10	lim	lim	PROPN
ajst-29853	116	11	→	→	SYM
ajst-29853	116	12	inf	inf	PROPN
ajst-29853	116	13	1	1	NUM
ajst-29853	116	14	𝑘	𝑘	PRON
ajst-29853	116	15	𝑁	𝑁	PROPN
ajst-29853	116	16	𝑠	𝑠	NUM
ajst-29853	116	17	𝑑𝑠	𝑑𝑠	ADP
ajst-29853	116	18	∞	∞	PROPN
ajst-29853	116	19	the	the	DET
ajst-29853	116	20	control	control	NOUN
ajst-29853	116	21	parameters	parameter	NOUN
ajst-29853	116	22	are	be	AUX
ajst-29853	116	23	selected	select	VERB
ajst-29853	116	24	as	as	ADP
ajst-29853	116	25	𝑘	𝑘	PROPN
ajst-29853	116	26	1500	1500	NUM
ajst-29853	116	27	,	,	PUNCT
ajst-29853	116	28	𝑘	𝑘	DET
ajst-29853	116	29	10	10	NUM
ajst-29853	116	30	,	,	PUNCT
ajst-29853	116	31	𝑘	𝑘	DET
ajst-29853	116	32	40,𝑘	40,𝑘	NUM
ajst-29853	116	33	40	40	NUM
ajst-29853	116	34	and	and	CCONJ
ajst-29853	116	35	𝑢	𝑢	PROPN
ajst-29853	116	36	3	3	NUM
ajst-29853	116	37	10	10	NUM
ajst-29853	116	38	.	.	PUNCT
ajst-29853	117	1	using	use	VERB
ajst-29853	117	2	the	the	DET
ajst-29853	117	3	robust	robust	ADJ
ajst-29853	117	4	adaptive	adaptive	ADJ
ajst-29853	117	5	boundary	boundary	ADJ
ajst-29853	117	6	control	control	NOUN
ajst-29853	117	7	,	,	PUNCT
ajst-29853	117	8	the	the	DET
ajst-29853	117	9	riser	riser	NOUN
ajst-29853	117	10	transverse	transverse	NOUN
ajst-29853	117	11	vibration	vibration	NOUN
ajst-29853	117	12	offset	offset	NOUN
ajst-29853	117	13	is	be	AUX
ajst-29853	117	14	shown	show	VERB
ajst-29853	117	15	in	in	ADP
ajst-29853	117	16	figure	figure	NOUN
ajst-29853	117	17	4	4	NUM
ajst-29853	117	18	-	-	SYM
ajst-29853	117	19	4	4	NUM
ajst-29853	117	20	,	,	PUNCT
ajst-29853	117	21	and	and	CCONJ
ajst-29853	117	22	its	its	PRON
ajst-29853	117	23	control	control	NOUN
ajst-29853	117	24	inputs	input	NOUN
ajst-29853	117	25	are	be	AUX
ajst-29853	117	26	shown	show	VERB
ajst-29853	117	27	in	in	ADP
ajst-29853	117	28	figure	figure	NOUN
ajst-29853	117	29	4	4	NUM
ajst-29853	117	30	-	-	SYM
ajst-29853	117	31	5	5	NUM
ajst-29853	117	32	.	.	NUM
ajst-29853	117	33	40	40	NUM
ajst-29853	117	34	figure	figure	NOUN
ajst-29853	117	35	4	4	NUM
ajst-29853	117	36	-	-	SYM
ajst-29853	117	37	3	3	NUM
ajst-29853	117	38	.	.	PUNCT
ajst-29853	117	39	lateral	lateral	ADJ
ajst-29853	117	40	vibration	vibration	NOUN
ajst-29853	117	41	excursion	excursion	NOUN
ajst-29853	117	42	of	of	ADP
ajst-29853	117	43	the	the	DET
ajst-29853	117	44	riser	riser	NOUN
ajst-29853	117	45	under	under	ADP
ajst-29853	117	46	boundary	boundary	ADJ
ajst-29853	117	47	control	control	NOUN
ajst-29853	117	48	figure	figure	NOUN
ajst-29853	117	49	4	4	NUM
ajst-29853	117	50	-	-	SYM
ajst-29853	117	51	4	4	NUM
ajst-29853	117	52	.	.	PUNCT
ajst-29853	117	53	boundary	boundary	ADJ
ajst-29853	117	54	control	control	NOUN
ajst-29853	117	55	inputs	input	VERB
ajst-29853	117	56	4	4	NUM
ajst-29853	117	57	.	.	PUNCT
ajst-29853	118	1	controller	controller	NOUN
ajst-29853	118	2	proposed	propose	VERB
ajst-29853	118	3	in	in	ADP
ajst-29853	118	4	this	this	DET
ajst-29853	118	5	paper	paper	NOUN
ajst-29853	118	6	the	the	DET
ajst-29853	118	7	lateral	lateral	ADJ
ajst-29853	118	8	vibration	vibration	NOUN
ajst-29853	118	9	offset	offset	NOUN
ajst-29853	118	10	of	of	ADP
ajst-29853	118	11	the	the	DET
ajst-29853	118	12	marine	marine	ADJ
ajst-29853	118	13	flexible	flexible	ADJ
ajst-29853	118	14	riser	riser	NOUN
ajst-29853	118	15	under	under	ADP
ajst-29853	118	16	the	the	DET
ajst-29853	118	17	action	action	NOUN
ajst-29853	118	18	of	of	ADP
ajst-29853	118	19	the	the	DET
ajst-29853	118	20	controller	controller	NOUN
ajst-29853	118	21	proposed	propose	VERB
ajst-29853	118	22	in	in	ADP
ajst-29853	118	23	this	this	DET
ajst-29853	118	24	paper	paper	NOUN
ajst-29853	118	25	is	be	AUX
ajst-29853	118	26	shown	show	VERB
ajst-29853	118	27	in	in	ADP
ajst-29853	118	28	fig	fig	NOUN
ajst-29853	118	29	.	.	PUNCT
ajst-29853	119	1	4	4	NUM
ajst-29853	119	2	-	-	SYM
ajst-29853	119	3	6	6	NUM
ajst-29853	119	4	,	,	PUNCT
ajst-29853	119	5	and	and	CCONJ
ajst-29853	119	6	its	its	PRON
ajst-29853	119	7	control	control	NOUN
ajst-29853	119	8	inputs	input	NOUN
ajst-29853	119	9	are	be	AUX
ajst-29853	119	10	shown	show	VERB
ajst-29853	119	11	in	in	ADP
ajst-29853	119	12	fig	fig	NOUN
ajst-29853	119	13	.	.	PUNCT
ajst-29853	120	1	47	47	NUM
ajst-29853	120	2	,	,	PUNCT
ajst-29853	120	3	with	with	ADP
ajst-29853	120	4	the	the	DET
ajst-29853	120	5	control	control	NOUN
ajst-29853	120	6	parameters	parameter	NOUN
ajst-29853	120	7	selected	select	VERB
ajst-29853	120	8	as	as	ADP
ajst-29853	120	9	k=2,k1=1500	k=2,k1=1500	PROPN
ajst-29853	120	10	,	,	PUNCT
ajst-29853	120	11	k2=1000	k2=1000	NOUN
ajst-29853	120	12	and	and	CCONJ
ajst-29853	120	13	ℓ=0.9	ℓ=0.9	NOUN
ajst-29853	120	14	.	.	PUNCT
ajst-29853	121	1	the	the	DET
ajst-29853	121	2	input	input	NOUN
ajst-29853	121	3	saturation	saturation	NOUN
ajst-29853	121	4	constraints	constraint	NOUN
ajst-29853	121	5	are	be	AUX
ajst-29853	121	6	set	set	VERB
ajst-29853	121	7	to	to	PART
ajst-29853	121	8	be	be	AUX
ajst-29853	121	9	3.5	3.5	NUM
ajst-29853	121	10	*	*	NUM
ajst-29853	121	11	105n.the	105n.the	DET
ajst-29853	121	12	initial	initial	ADJ
ajst-29853	121	13	value	value	NOUN
ajst-29853	121	14	of	of	ADP
ajst-29853	121	15	𝑃	𝑃	NOUN
ajst-29853	121	16	is	be	AUX
ajst-29853	121	17	set	set	VERB
ajst-29853	121	18	to	to	PART
ajst-29853	121	19	be	be	AUX
ajst-29853	121	20	0	0	NUM
ajst-29853	121	21	and	and	CCONJ
ajst-29853	121	22	𝜎	𝜎	PRON
ajst-29853	121	23	=	=	NOUN
ajst-29853	121	24	0.1	0.1	NUM
ajst-29853	121	25	.	.	PUNCT
ajst-29853	122	1	figure	figure	VERB
ajst-29853	122	2	4	4	NUM
ajst-29853	122	3	-	-	SYM
ajst-29853	122	4	5	5	NUM
ajst-29853	122	5	.	.	PUNCT
ajst-29853	122	6	lateral	lateral	ADJ
ajst-29853	122	7	vibration	vibration	NOUN
ajst-29853	122	8	deflections	deflection	NOUN
ajst-29853	122	9	of	of	ADP
ajst-29853	122	10	risers	riser	NOUN
ajst-29853	122	11	under	under	ADP
ajst-29853	122	12	proposed	propose	VERB
ajst-29853	122	13	control	control	NOUN
ajst-29853	122	14	figure	figure	NOUN
ajst-29853	122	15	4	4	NUM
ajst-29853	122	16	-	-	SYM
ajst-29853	122	17	6	6	NUM
ajst-29853	122	18	.	.	PUNCT
ajst-29853	122	19	proposed	propose	VERB
ajst-29853	122	20	control	control	NOUN
ajst-29853	122	21	inputs	input	NOUN
ajst-29853	122	22	figure	figure	NOUN
ajst-29853	122	23	4	4	NUM
ajst-29853	122	24	-	-	SYM
ajst-29853	122	25	7	7	NUM
ajst-29853	122	26	.	.	PUNCT
ajst-29853	122	27	comparison	comparison	NOUN
ajst-29853	122	28	of	of	ADP
ajst-29853	122	29	riser	riser	NOUN
ajst-29853	122	30	end	end	VERB
ajst-29853	122	31	vibration	vibration	NOUN
ajst-29853	122	32	offsets	offset	NOUN
ajst-29853	122	33	(	(	PUNCT
ajst-29853	122	34	vs.	vs.	X
ajst-29853	122	35	pid	pid	NOUN
ajst-29853	122	36	,	,	PUNCT
ajst-29853	122	37	input	input	NOUN
ajst-29853	122	38	saturated	saturate	VERB
ajst-29853	122	39	boundary	boundary	ADJ
ajst-29853	122	40	control	control	NOUN
ajst-29853	122	41	and	and	CCONJ
ajst-29853	122	42	uncontrolled	uncontrolled	ADJ
ajst-29853	122	43	)	)	PUNCT
ajst-29853	122	44	as	as	SCONJ
ajst-29853	122	45	can	can	AUX
ajst-29853	122	46	be	be	AUX
ajst-29853	122	47	seen	see	VERB
ajst-29853	122	48	from	from	ADP
ajst-29853	122	49	figures	figure	NOUN
ajst-29853	122	50	4	4	NUM
ajst-29853	122	51	-	-	SYM
ajst-29853	122	52	2	2	NUM
ajst-29853	122	53	,	,	PUNCT
ajst-29853	122	54	4	4	NUM
ajst-29853	122	55	-	-	SYM
ajst-29853	122	56	3	3	NUM
ajst-29853	122	57	,	,	PUNCT
ajst-29853	122	58	and	and	CCONJ
ajst-29853	122	59	4	4	NUM
ajst-29853	122	60	-	-	SYM
ajst-29853	122	61	5	5	NUM
ajst-29853	122	62	,	,	PUNCT
ajst-29853	122	63	the	the	DET
ajst-29853	122	64	pid	pid	NOUN
ajst-29853	122	65	control	control	NOUN
ajst-29853	122	66	,	,	PUNCT
ajst-29853	122	67	adaptive	adaptive	ADJ
ajst-29853	122	68	boundary	boundary	ADJ
ajst-29853	122	69	control	control	NOUN
ajst-29853	122	70	,	,	PUNCT
ajst-29853	122	71	and	and	CCONJ
ajst-29853	122	72	the	the	DET
ajst-29853	122	73	control	control	NOUN
ajst-29853	122	74	method	method	NOUN
ajst-29853	122	75	proposed	propose	VERB
ajst-29853	122	76	in	in	ADP
ajst-29853	122	77	this	this	DET
ajst-29853	122	78	paper	paper	NOUN
ajst-29853	122	79	can	can	AUX
ajst-29853	122	80	effectively	effectively	ADV
ajst-29853	122	81	control	control	VERB
ajst-29853	122	82	the	the	DET
ajst-29853	122	83	riser	riser	NOUN
ajst-29853	122	84	end	end	VERB
ajst-29853	122	85	vibration	vibration	NOUN
ajst-29853	122	86	offset	offset	VERB
ajst-29853	122	87	and	and	CCONJ
ajst-29853	122	88	suppress	suppress	VERB
ajst-29853	122	89	the	the	DET
ajst-29853	122	90	lateral	lateral	ADJ
ajst-29853	122	91	vibration	vibration	NOUN
ajst-29853	122	92	of	of	ADP
ajst-29853	122	93	the	the	DET
ajst-29853	122	94	riser	riser	NOUN
ajst-29853	122	95	.	.	PUNCT
ajst-29853	123	1	the	the	DET
ajst-29853	123	2	control	control	NOUN
ajst-29853	123	3	method	method	NOUN
ajst-29853	123	4	proposed	propose	VERB
ajst-29853	123	5	in	in	ADP
ajst-29853	123	6	this	this	DET
ajst-29853	123	7	paper	paper	NOUN
ajst-29853	123	8	can	can	AUX
ajst-29853	123	9	converge	converge	VERB
ajst-29853	123	10	the	the	DET
ajst-29853	123	11	riser	riser	NOUN
ajst-29853	123	12	end	end	VERB
ajst-29853	123	13	vibration	vibration	NOUN
ajst-29853	123	14	in	in	ADP
ajst-29853	123	15	a	a	DET
ajst-29853	123	16	limited	limited	ADJ
ajst-29853	123	17	time	time	NOUN
ajst-29853	123	18	.	.	PUNCT
ajst-29853	124	1	the	the	DET
ajst-29853	124	2	riser	riser	NOUN
ajst-29853	124	3	end	end	VERB
ajst-29853	124	4	vibration	vibration	NOUN
ajst-29853	124	5	offset	offset	VERB
ajst-29853	124	6	under	under	ADP
ajst-29853	124	7	the	the	DET
ajst-29853	124	8	control	control	NOUN
ajst-29853	124	9	of	of	ADP
ajst-29853	124	10	the	the	DET
ajst-29853	124	11	three	three	NUM
ajst-29853	124	12	methods	method	NOUN
ajst-29853	124	13	is	be	AUX
ajst-29853	124	14	superimposed	superimpose	VERB
ajst-29853	124	15	on	on	ADP
ajst-29853	124	16	a	a	DET
ajst-29853	124	17	graph	graph	NOUN
ajst-29853	124	18	in	in	ADP
ajst-29853	124	19	figure	figure	NOUN
ajst-29853	124	20	4	4	NUM
ajst-29853	124	21	-	-	SYM
ajst-29853	124	22	7	7	NUM
ajst-29853	124	23	,	,	PUNCT
ajst-29853	124	24	which	which	PRON
ajst-29853	124	25	can	can	AUX
ajst-29853	124	26	be	be	AUX
ajst-29853	124	27	more	more	ADV
ajst-29853	124	28	intuitively	intuitively	ADV
ajst-29853	124	29	found	find	VERB
ajst-29853	124	30	that	that	SCONJ
ajst-29853	124	31	the	the	DET
ajst-29853	124	32	riser	riser	NOUN
ajst-29853	124	33	end	end	VERB
ajst-29853	124	34	vibration	vibration	NOUN
ajst-29853	124	35	offset	offset	VERB
ajst-29853	124	36	under	under	ADP
ajst-29853	124	37	the	the	DET
ajst-29853	124	38	control	control	NOUN
ajst-29853	124	39	of	of	ADP
ajst-29853	124	40	the	the	DET
ajst-29853	124	41	control	control	NOUN
ajst-29853	124	42	scheme	scheme	NOUN
ajst-29853	124	43	proposed	propose	VERB
ajst-29853	124	44	in	in	ADP
ajst-29853	124	45	this	this	DET
ajst-29853	124	46	paper	paper	NOUN
ajst-29853	124	47	is	be	AUX
ajst-29853	124	48	lower	low	ADJ
ajst-29853	124	49	than	than	ADP
ajst-29853	124	50	that	that	PRON
ajst-29853	124	51	under	under	ADP
ajst-29853	124	52	the	the	DET
ajst-29853	124	53	pid	pid	NOUN
ajst-29853	124	54	control	control	NOUN
ajst-29853	124	55	and	and	CCONJ
ajst-29853	124	56	boundary	boundary	ADJ
ajst-29853	124	57	control	control	NOUN
ajst-29853	124	58	,	,	PUNCT
ajst-29853	124	59	and	and	CCONJ
ajst-29853	124	60	the	the	DET
ajst-29853	124	61	convergence	convergence	NOUN
ajst-29853	124	62	speed	speed	NOUN
ajst-29853	124	63	is	be	AUX
ajst-29853	124	64	faster	fast	ADJ
ajst-29853	124	65	than	than	ADP
ajst-29853	124	66	that	that	PRON
ajst-29853	124	67	of	of	ADP
ajst-29853	124	68	boundary	boundary	ADJ
ajst-29853	124	69	control	control	NOUN
ajst-29853	124	70	and	and	CCONJ
ajst-29853	124	71	pid	pid	NOUN
ajst-29853	124	72	control	control	NOUN
ajst-29853	124	73	.	.	PUNCT
ajst-29853	125	1	therefore	therefore	ADV
ajst-29853	125	2	,	,	PUNCT
ajst-29853	125	3	the	the	DET
ajst-29853	125	4	control	control	NOUN
ajst-29853	125	5	algorithm	algorithm	NOUN
ajst-29853	125	6	proposed	propose	VERB
ajst-29853	125	7	in	in	ADP
ajst-29853	125	8	this	this	DET
ajst-29853	125	9	paper	paper	NOUN
ajst-29853	125	10	has	have	VERB
ajst-29853	125	11	superiority	superiority	NOUN
ajst-29853	125	12	.	.	PUNCT
ajst-29853	126	1	5	5	X
ajst-29853	126	2	.	.	X
ajst-29853	126	3	conclude	conclude	VERB
ajst-29853	126	4	in	in	ADP
ajst-29853	126	5	this	this	DET
ajst-29853	126	6	paper	paper	NOUN
ajst-29853	126	7	,	,	PUNCT
ajst-29853	126	8	a	a	DET
ajst-29853	126	9	suitable	suitable	ADJ
ajst-29853	126	10	control	control	NOUN
ajst-29853	126	11	strategy	strategy	NOUN
ajst-29853	126	12	is	be	AUX
ajst-29853	126	13	designed	design	VERB
ajst-29853	126	14	for	for	ADP
ajst-29853	126	15	the	the	DET
ajst-29853	126	16	marine	marine	ADJ
ajst-29853	126	17	flexible	flexible	ADJ
ajst-29853	126	18	riser	riser	NOUN
ajst-29853	126	19	tracking	tracking	NOUN
ajst-29853	126	20	control	control	NOUN
ajst-29853	126	21	problem	problem	NOUN
ajst-29853	126	22	affected	affect	VERB
ajst-29853	126	23	by	by	ADP
ajst-29853	126	24	time	time	NOUN
ajst-29853	126	25	-	-	PUNCT
ajst-29853	126	26	varying	vary	VERB
ajst-29853	126	27	output	output	NOUN
ajst-29853	126	28	constraints	constraint	NOUN
ajst-29853	126	29	and	and	CCONJ
ajst-29853	126	30	input	input	NOUN
ajst-29853	126	31	saturation	saturation	NOUN
ajst-29853	126	32	.	.	PUNCT
ajst-29853	127	1	by	by	ADP
ajst-29853	127	2	introducing	introduce	VERB
ajst-29853	127	3	a	a	DET
ajst-29853	127	4	finite	finite	ADJ
ajst-29853	127	5	-	-	PUNCT
ajst-29853	127	6	time	time	NOUN
ajst-29853	127	7	stability	stability	NOUN
ajst-29853	127	8	criterion	criterion	NOUN
ajst-29853	127	9	and	and	CCONJ
ajst-29853	127	10	a	a	DET
ajst-29853	127	11	barrier	barrier	NOUN
ajst-29853	127	12	lyapunov	lyapunov	NOUN
ajst-29853	127	13	function	function	NOUN
ajst-29853	127	14	,	,	PUNCT
ajst-29853	127	15	the	the	DET
ajst-29853	127	16	marine	marine	ADJ
ajst-29853	127	17	flexible	flexible	ADJ
ajst-29853	127	18	riser	riser	NOUN
ajst-29853	127	19	vibration	vibration	NOUN
ajst-29853	127	20	is	be	AUX
ajst-29853	127	21	limited	limit	VERB
ajst-29853	127	22	to	to	ADP
ajst-29853	127	23	a	a	DET
ajst-29853	127	24	specific	specific	ADJ
ajst-29853	127	25	range	range	NOUN
ajst-29853	127	26	,	,	PUNCT
ajst-29853	127	27	and	and	CCONJ
ajst-29853	127	28	the	the	DET
ajst-29853	127	29	convergence	convergence	NOUN
ajst-29853	127	30	rate	rate	NOUN
ajst-29853	127	31	is	be	AUX
ajst-29853	127	32	improved	improve	VERB
ajst-29853	127	33	.	.	PUNCT
ajst-29853	128	1	the	the	DET
ajst-29853	128	2	input	input	NOUN
ajst-29853	128	3	saturation	saturation	NOUN
ajst-29853	128	4	nonlinearity	nonlinearity	NOUN
ajst-29853	128	5	is	be	AUX
ajst-29853	128	6	approximated	approximate	VERB
ajst-29853	128	7	using	use	VERB
ajst-29853	128	8	the	the	DET
ajst-29853	128	9	hyperbolic	hyperbolic	ADJ
ajst-29853	128	10	tangent	tangent	NOUN
ajst-29853	128	11	function	function	NOUN
ajst-29853	128	12	and	and	CCONJ
ajst-29853	128	13	the	the	DET
ajst-29853	128	14	approximation	approximation	NOUN
ajst-29853	128	15	error	error	NOUN
ajst-29853	128	16	is	be	AUX
ajst-29853	128	17	compensated	compensate	VERB
ajst-29853	128	18	by	by	ADP
ajst-29853	128	19	designing	design	VERB
ajst-29853	128	20	adaptive	adaptive	ADJ
ajst-29853	128	21	parameters	parameter	NOUN
ajst-29853	128	22	.	.	PUNCT
ajst-29853	129	1	the	the	DET
ajst-29853	129	2	stability	stability	NOUN
ajst-29853	129	3	of	of	ADP
ajst-29853	129	4	the	the	DET
ajst-29853	129	5	closed	closed	ADJ
ajst-29853	129	6	-	-	PUNCT
ajst-29853	129	7	loop	loop	NOUN
ajst-29853	129	8	system	system	NOUN
ajst-29853	129	9	is	be	AUX
ajst-29853	129	10	demonstrated	demonstrate	VERB
ajst-29853	129	11	by	by	ADP
ajst-29853	129	12	the	the	DET
ajst-29853	129	13	lyapunov	lyapunov	ADJ
ajst-29853	129	14	direct	direct	ADJ
ajst-29853	129	15	method	method	NOUN
ajst-29853	129	16	,	,	PUNCT
ajst-29853	129	17	and	and	CCONJ
ajst-29853	129	18	finally	finally	ADV
ajst-29853	129	19	,	,	PUNCT
ajst-29853	129	20	the	the	DET
ajst-29853	129	21	effectiveness	effectiveness	NOUN
ajst-29853	129	22	of	of	ADP
ajst-29853	129	23	the	the	DET
ajst-29853	129	24	u	u	PROPN
ajst-29853	129	25	(	(	PUNCT
ajst-29853	129	26	t	t	PROPN
ajst-29853	129	27	)	)	PUNCT
ajst-29853	129	28	/n	/n	PUNCT
ajst-29853	130	1	u	u	NOUN
ajst-29853	130	2	(	(	PUNCT
ajst-29853	130	3	t	t	PROPN
ajst-29853	130	4	)	)	PUNCT
ajst-29853	130	5	/n	/n	PUNCT
ajst-29853	130	6	41	41	NUM
ajst-29853	130	7	proposed	propose	VERB
ajst-29853	130	8	controller	controller	NOUN
ajst-29853	130	9	is	be	AUX
ajst-29853	130	10	experimentally	experimentally	ADV
ajst-29853	130	11	verified	verify	VERB
ajst-29853	130	12	by	by	ADP
ajst-29853	130	13	numerical	numerical	ADJ
ajst-29853	130	14	simulation	simulation	PROPN
ajst-29853	130	15	,	,	PUNCT
ajst-29853	130	16	and	and	CCONJ
ajst-29853	130	17	the	the	DET
ajst-29853	130	18	comparison	comparison	NOUN
ajst-29853	130	19	with	with	ADP
ajst-29853	130	20	other	other	ADJ
ajst-29853	130	21	controllers	controller	NOUN
ajst-29853	130	22	reflects	reflect	VERB
ajst-29853	130	23	the	the	DET
ajst-29853	130	24	superiority	superiority	NOUN
ajst-29853	130	25	of	of	ADP
ajst-29853	130	26	the	the	DET
ajst-29853	130	27	controller	controller	NOUN
ajst-29853	130	28	designed	design	VERB
ajst-29853	130	29	in	in	ADP
ajst-29853	130	30	this	this	DET
ajst-29853	130	31	paper	paper	NOUN
ajst-29853	130	32	.	.	PUNCT
ajst-29853	131	1	references	reference	NOUN
ajst-29853	131	2	[	[	X
ajst-29853	131	3	1	1	X
ajst-29853	131	4	]	]	PUNCT
ajst-29853	131	5	ng	ng	PROPN
ajst-29853	131	6	c	c	PROPN
ajst-29853	131	7	w	w	PROPN
ajst-29853	131	8	w	w	PROPN
ajst-29853	131	9	,	,	PUNCT
ajst-29853	131	10	le	le	PROPN
ajst-29853	131	11	y	y	PROPN
ajst-29853	131	12	,	,	PUNCT
ajst-29853	131	13	baghbanrezvan	baghbanrezvan	NOUN
ajst-29853	131	14	s	s	PROPN
ajst-29853	131	15	,	,	PUNCT
ajst-29853	131	16	et	et	PROPN
ajst-29853	131	17	al	al	PROPN
ajst-29853	131	18	.	.	PUNCT
ajst-29853	132	1	a	a	DET
ajst-29853	132	2	novel	novel	ADJ
ajst-29853	132	3	threedimensional	threedimensional	ADJ
ajst-29853	132	4	scr	scr	NOUN
ajst-29853	132	5	motion	motion	NOUN
ajst-29853	132	6	simulator	simulator	NOUN
ajst-29853	132	7	for	for	ADP
ajst-29853	132	8	modelling	model	VERB
ajst-29853	132	9	the	the	DET
ajst-29853	132	10	catenary	catenary	ADJ
ajst-29853	132	11	riser	riser	NOUN
ajst-29853	132	12	-	-	PUNCT
ajst-29853	132	13	seabed	seabed	NOUN
ajst-29853	132	14	interaction	interaction	NOUN
ajst-29853	132	15	in	in	ADP
ajst-29853	132	16	a	a	DET
ajst-29853	132	17	centrifuge[j	centrifuge[j	NOUN
ajst-29853	132	18	]	]	PUNCT
ajst-29853	132	19	.	.	PUNCT
ajst-29853	133	1	canadian	canadian	ADJ
ajst-29853	133	2	geotechnical	geotechnical	ADJ
ajst-29853	133	3	journal	journal	NOUN
ajst-29853	133	4	,	,	PUNCT
ajst-29853	133	5	2024	2024	NUM
ajst-29853	133	6	.	.	PUNCT
ajst-29853	134	1	[	[	X
ajst-29853	134	2	2	2	X
ajst-29853	134	3	]	]	X
ajst-29853	134	4	feng	feng	PROPN
ajst-29853	134	5	y	y	PROPN
ajst-29853	134	6	,	,	PUNCT
ajst-29853	134	7	li	li	PROPN
ajst-29853	134	8	s	s	PROPN
ajst-29853	134	9	,	,	PUNCT
ajst-29853	134	10	chen	chen	PROPN
ajst-29853	134	11	d.	d.	PROPN
ajst-29853	134	12	tensioned	tensione	VERB
ajst-29853	134	13	flexible	flexible	ADJ
ajst-29853	134	14	riser	riser	NOUN
ajst-29853	134	15	vibrations	vibration	NOUN
ajst-29853	134	16	under	under	ADP
ajst-29853	134	17	wave	wave	NOUN
ajst-29853	134	18	excitation	excitation	NOUN
ajst-29853	134	19	,	,	PUNCT
ajst-29853	134	20	an	an	DET
ajst-29853	134	21	investigation	investigation	NOUN
ajst-29853	134	22	on	on	ADP
ajst-29853	134	23	the	the	DET
ajst-29853	134	24	scale	scale	NOUN
ajst-29853	134	25	effect[j	effect[j	NOUN
ajst-29853	134	26	]	]	PUNCT
ajst-29853	134	27	.	.	PUNCT
ajst-29853	135	1	frontiers	frontier	NOUN
ajst-29853	135	2	in	in	ADP
ajst-29853	135	3	marine	marine	ADJ
ajst-29853	135	4	science	science	NOUN
ajst-29853	135	5	,	,	PUNCT
ajst-29853	135	6	2024,11	2024,11	PROPN
ajst-29853	135	7	.	.	PUNCT
ajst-29853	136	1	[	[	X
ajst-29853	136	2	3	3	X
ajst-29853	136	3	]	]	X
ajst-29853	136	4	huang	huang	PROPN
ajst-29853	136	5	c	c	PROPN
ajst-29853	136	6	,	,	PUNCT
ajst-29853	136	7	gu	gu	PROPN
ajst-29853	136	8	j	j	PROPN
ajst-29853	136	9	,	,	PUNCT
ajst-29853	136	10	jia	jia	PROPN
ajst-29853	136	11	j	j	PROPN
ajst-29853	136	12	,	,	PUNCT
ajst-29853	136	13	et	et	PROPN
ajst-29853	136	14	al	al	PROPN
ajst-29853	136	15	.	.	PUNCT
ajst-29853	137	1	feasibility	feasibility	NOUN
ajst-29853	137	2	analysis	analysis	NOUN
ajst-29853	137	3	of	of	ADP
ajst-29853	137	4	deep	deep	ADJ
ajst-29853	137	5	steep	steep	ADJ
ajst-29853	137	6	riser	riser	NOUN
ajst-29853	137	7	based	base	VERB
ajst-29853	137	8	on	on	ADP
ajst-29853	137	9	co	co	ADJ
ajst-29853	137	10	-	-	ADJ
ajst-29853	137	11	rotational	rotational	ADJ
ajst-29853	137	12	coordinate	coordinate	NOUN
ajst-29853	137	13	method[j	method[j	NOUN
ajst-29853	137	14	]	]	PUNCT
ajst-29853	137	15	.	.	PUNCT
ajst-29853	138	1	proceedings	proceeding	NOUN
ajst-29853	138	2	of	of	ADP
ajst-29853	138	3	the	the	DET
ajst-29853	138	4	institution	institution	NOUN
ajst-29853	138	5	of	of	ADP
ajst-29853	138	6	mechanical	mechanical	ADJ
ajst-29853	138	7	engineers	engineer	NOUN
ajst-29853	138	8	part	part	VERB
ajst-29853	138	9	m	m	PROPN
ajst-29853	138	10	-	-	NOUN
ajst-29853	138	11	journal	journal	NOUN
ajst-29853	138	12	of	of	ADP
ajst-29853	138	13	engineering	engineering	NOUN
ajst-29853	138	14	for	for	ADP
ajst-29853	138	15	the	the	DET
ajst-29853	138	16	maritime	maritime	ADJ
ajst-29853	138	17	environment	environment	NOUN
ajst-29853	138	18	,	,	PUNCT
ajst-29853	138	19	2024	2024	NUM
ajst-29853	138	20	.	.	PUNCT
ajst-29853	139	1	[	[	X
ajst-29853	139	2	4	4	NUM
ajst-29853	139	3	]	]	PUNCT
ajst-29853	139	4	meenakumari	meenakumari	ADJ
ajst-29853	139	5	h	h	PROPN
ajst-29853	139	6	n	n	CCONJ
ajst-29853	139	7	r	r	NOUN
ajst-29853	139	8	,	,	PUNCT
ajst-29853	139	9	zanganeh	zanganeh	NOUN
ajst-29853	139	10	h	h	NOUN
ajst-29853	139	11	,	,	PUNCT
ajst-29853	139	12	hossain	hossain	PROPN
ajst-29853	139	13	m.	m.	PROPN
ajst-29853	139	14	effect	effect	NOUN
ajst-29853	139	15	of	of	ADP
ajst-29853	139	16	slug	slug	NOUN
ajst-29853	139	17	characteristics	characteristic	NOUN
ajst-29853	139	18	on	on	ADP
ajst-29853	139	19	the	the	DET
ajst-29853	139	20	nonlinear	nonlinear	ADJ
ajst-29853	139	21	dynamic	dynamic	ADJ
ajst-29853	139	22	response	response	NOUN
ajst-29853	139	23	of	of	ADP
ajst-29853	139	24	a	a	DET
ajst-29853	139	25	long	long	ADJ
ajst-29853	139	26	flexible	flexible	ADJ
ajst-29853	139	27	fluid	fluid	NOUN
ajst-29853	139	28	-	-	PUNCT
ajst-29853	139	29	conveying	convey	VERB
ajst-29853	139	30	cylinder[j	cylinder[j	NOUN
ajst-29853	139	31	]	]	PUNCT
ajst-29853	139	32	.	.	PUNCT
ajst-29853	140	1	applied	apply	VERB
ajst-29853	140	2	ocean	ocean	PROPN
ajst-29853	140	3	research	research	NOUN
ajst-29853	140	4	,	,	PUNCT
ajst-29853	140	5	2024,147	2024,147	NUM
ajst-29853	140	6	.	.	PUNCT
ajst-29853	141	1	[	[	X
ajst-29853	141	2	5	5	NUM
ajst-29853	141	3	]	]	PUNCT
ajst-29853	141	4	zhu	zhu	PROPN
ajst-29853	141	5	h	h	NOUN
ajst-29853	141	6	,	,	PUNCT
ajst-29853	141	7	liu	liu	PROPN
ajst-29853	141	8	w	w	PROPN
ajst-29853	141	9	,	,	PUNCT
ajst-29853	141	10	gao	gao	PROPN
ajst-29853	141	11	y	y	PROPN
ajst-29853	141	12	,	,	PUNCT
ajst-29853	141	13	et	et	PROPN
ajst-29853	141	14	al	al	PROPN
ajst-29853	141	15	.	.	PUNCT
ajst-29853	142	1	experimental	experimental	ADJ
ajst-29853	142	2	investigation	investigation	NOUN
ajst-29853	142	3	on	on	ADP
ajst-29853	142	4	the	the	DET
ajst-29853	142	5	vortex	vortex	NOUN
ajst-29853	142	6	-	-	PUNCT
ajst-29853	142	7	induced	induce	VERB
ajst-29853	142	8	vibration	vibration	NOUN
ajst-29853	142	9	response	response	NOUN
ajst-29853	142	10	of	of	ADP
ajst-29853	142	11	a	a	DET
ajst-29853	142	12	lazy	lazy	ADJ
ajst-29853	142	13	-	-	PUNCT
ajst-29853	142	14	wave	wave	NOUN
ajst-29853	142	15	flexible	flexible	ADJ
ajst-29853	142	16	riser	riser	NOUN
ajst-29853	142	17	filled	fill	VERB
ajst-29853	142	18	with	with	ADP
ajst-29853	142	19	different	different	ADJ
ajst-29853	142	20	fluid	fluid	NOUN
ajst-29853	142	21	media[j	media[j	NOUN
ajst-29853	142	22	]	]	PUNCT
ajst-29853	142	23	.	.	PUNCT
ajst-29853	143	1	physics	physics	PROPN
ajst-29853	143	2	of	of	ADP
ajst-29853	143	3	fluids	fluid	NOUN
ajst-29853	143	4	,	,	PUNCT
ajst-29853	143	5	2024,36(3	2024,36(3	PROPN
ajst-29853	143	6	)	)	PUNCT
ajst-29853	143	7	.	.	PUNCT
ajst-29853	144	1	[	[	X
ajst-29853	144	2	6	6	NUM
ajst-29853	144	3	]	]	X
ajst-29853	144	4	smith	smith	PROPN
ajst-29853	144	5	r.	r.	PROPN
ajst-29853	144	6	bending	bend	VERB
ajst-29853	144	7	stiffeners	stiffener	NOUN
ajst-29853	144	8	for	for	ADP
ajst-29853	144	9	extreme	extreme	ADJ
ajst-29853	144	10	and	and	CCONJ
ajst-29853	144	11	fatigue	fatigue	NOUN
ajst-29853	144	12	loading	loading	NOUN
ajst-29853	144	13	of	of	ADP
ajst-29853	144	14	unbonded	unbonded	ADJ
ajst-29853	144	15	flexible	flexible	ADJ
ajst-29853	144	16	risers[j	risers[j	PROPN
ajst-29853	144	17	]	]	PUNCT
ajst-29853	144	18	.	.	PUNCT
ajst-29853	145	1	proceedings	proceeding	NOUN
ajst-29853	145	2	of	of	ADP
ajst-29853	145	3	the	the	DET
ajst-29853	145	4	27th	27th	ADJ
ajst-29853	145	5	international	international	ADJ
ajst-29853	145	6	conference	conference	NOUN
ajst-29853	145	7	on	on	ADP
ajst-29853	145	8	offshore	offshore	ADJ
ajst-29853	145	9	mechanics	mechanic	NOUN
ajst-29853	145	10	and	and	CCONJ
ajst-29853	145	11	arctic	arctic	PROPN
ajst-29853	145	12	engineering	engineering	NOUN
ajst-29853	145	13	2008	2008	NUM
ajst-29853	145	14	,	,	PUNCT
ajst-29853	145	15	vol	vol	NOUN
ajst-29853	145	16	3	3	NUM
ajst-29853	145	17	,	,	PUNCT
ajst-29853	145	18	2008:405	2008:405	NOUN
ajst-29853	145	19	-	-	SYM
ajst-29853	145	20	413	413	NUM
ajst-29853	145	21	.	.	PUNCT
ajst-29853	146	1	[	[	X
ajst-29853	146	2	7	7	X
ajst-29853	146	3	]	]	X
ajst-29853	146	4	yang	yang	PROPN
ajst-29853	146	5	z	z	PROPN
ajst-29853	146	6	,	,	PUNCT
ajst-29853	146	7	wang	wang	PROPN
ajst-29853	146	8	l	l	PROPN
ajst-29853	146	9	,	,	PUNCT
ajst-29853	146	10	yan	yan	PROPN
ajst-29853	146	11	j	j	PROPN
ajst-29853	146	12	,	,	PUNCT
ajst-29853	146	13	et	et	PROPN
ajst-29853	146	14	al	al	PROPN
ajst-29853	146	15	.	.	PUNCT
ajst-29853	146	16	multi	multi	ADJ
ajst-29853	146	17	-	-	ADJ
ajst-29853	146	18	objective	objective	ADJ
ajst-29853	146	19	collaborative	collaborative	ADJ
ajst-29853	146	20	flexibility	flexibility	NOUN
ajst-29853	146	21	optimization	optimization	NOUN
ajst-29853	146	22	design	design	NOUN
ajst-29853	146	23	of	of	ADP
ajst-29853	146	24	the	the	DET
ajst-29853	146	25	strengthening	strengthen	VERB
ajst-29853	146	26	layer	layer	NOUN
ajst-29853	146	27	of	of	ADP
ajst-29853	146	28	a	a	DET
ajst-29853	146	29	flexible	flexible	ADJ
ajst-29853	146	30	riser	riser	NOUN
ajst-29853	147	1	[	[	X
ajst-29853	147	2	j	j	X
ajst-29853	147	3	]	]	X
ajst-29853	147	4	.	.	PUNCT
ajst-29853	148	1	journal	journal	PROPN
ajst-29853	148	2	of	of	ADP
ajst-29853	148	3	offshore	offshore	ADJ
ajst-29853	148	4	mechanics	mechanic	NOUN
ajst-29853	148	5	and	and	CCONJ
ajst-29853	148	6	arctic	arctic	ADJ
ajst-29853	148	7	engineeringtransactions	engineeringtransaction	NOUN
ajst-29853	148	8	of	of	ADP
ajst-29853	148	9	the	the	DET
ajst-29853	148	10	asme	asme	PROPN
ajst-29853	148	11	,	,	PUNCT
ajst-29853	148	12	2022,144(2	2022,144(2	NUM
ajst-29853	148	13	)	)	PUNCT
ajst-29853	148	14	.	.	PUNCT
ajst-29853	149	1	[	[	X
ajst-29853	149	2	8	8	NUM
ajst-29853	149	3	]	]	X
ajst-29853	149	4	zhang	zhang	PROPN
ajst-29853	149	5	x	x	PROPN
ajst-29853	149	6	,	,	PUNCT
ajst-29853	149	7	xie	xie	PROPN
ajst-29853	149	8	x	x	PROPN
ajst-29853	149	9	,	,	PUNCT
ajst-29853	149	10	park	park	PROPN
ajst-29853	149	11	j	j	PROPN
ajst-29853	149	12	h	h	PROPN
ajst-29853	149	13	,	,	PUNCT
ajst-29853	149	14	et	et	PROPN
ajst-29853	149	15	al	al	PROPN
ajst-29853	149	16	.	.	PROPN
ajst-29853	149	17	integral	integral	ADJ
ajst-29853	149	18	blf	blf	PROPN
ajst-29853	149	19	-	-	PUNCT
ajst-29853	149	20	based	base	VERB
ajst-29853	149	21	adaptive	adaptive	ADJ
ajst-29853	149	22	dynamic	dynamic	ADJ
ajst-29853	149	23	event	event	NOUN
ajst-29853	149	24	-	-	PUNCT
ajst-29853	149	25	triggered	trigger	VERB
ajst-29853	149	26	boundary	boundary	ADJ
ajst-29853	149	27	control	control	NOUN
ajst-29853	149	28	for	for	ADP
ajst-29853	149	29	a	a	DET
ajst-29853	149	30	flexible	flexible	ADJ
ajst-29853	149	31	riser	riser	NOUN
ajst-29853	149	32	system[j	system[j	NOUN
ajst-29853	149	33	]	]	PUNCT
ajst-29853	149	34	.	.	PUNCT
ajst-29853	150	1	ieee	ieee	NOUN
ajst-29853	150	2	transactions	transaction	NOUN
ajst-29853	150	3	on	on	ADP
ajst-29853	150	4	cybernetics	cybernetic	NOUN
ajst-29853	150	5	,	,	PUNCT
ajst-29853	150	6	2024	2024	NUM
ajst-29853	150	7	.	.	PUNCT
ajst-29853	151	1	[	[	X
ajst-29853	151	2	9	9	NUM
ajst-29853	151	3	]	]	X
ajst-29853	151	4	zhou	zhou	PROPN
ajst-29853	151	5	l	l	PROPN
ajst-29853	151	6	,	,	PUNCT
ajst-29853	151	7	wang	wang	PROPN
ajst-29853	151	8	g	g	PROPN
ajst-29853	151	9	,	,	PUNCT
ajst-29853	151	10	wan	wan	PROPN
ajst-29853	151	11	m.	m.	NOUN
ajst-29853	151	12	vibration	vibration	PROPN
ajst-29853	151	13	control	control	NOUN
ajst-29853	151	14	of	of	ADP
ajst-29853	151	15	a	a	DET
ajst-29853	151	16	flexible	flexible	ADJ
ajst-29853	151	17	marine	marine	ADJ
ajst-29853	151	18	riser	riser	NOUN
ajst-29853	151	19	system	system	NOUN
ajst-29853	151	20	subject	subject	ADJ
ajst-29853	151	21	to	to	ADP
ajst-29853	151	22	input	input	NOUN
ajst-29853	151	23	dead	dead	ADJ
ajst-29853	151	24	zone	zone	NOUN
ajst-29853	151	25	and	and	CCONJ
ajst-29853	151	26	extraneous	extraneous	ADJ
ajst-29853	151	27	disturbances	disturbance	NOUN
ajst-29853	151	28	[	[	X
ajst-29853	151	29	j	j	X
ajst-29853	151	30	]	]	X
ajst-29853	151	31	.	.	PUNCT
ajst-29853	152	1	china	china	PROPN
ajst-29853	152	2	ocean	ocean	PROPN
ajst-29853	152	3	engineering	engineering	PROPN
ajst-29853	152	4	,	,	PUNCT
ajst-29853	152	5	2024,38(2):271	2024,38(2):271	NOUN
ajst-29853	152	6	-	-	SYM
ajst-29853	152	7	284	284	NUM
ajst-29853	152	8	.	.	PUNCT
ajst-29853	153	1	[	[	X
ajst-29853	153	2	10	10	NUM
ajst-29853	153	3	]	]	X
ajst-29853	153	4	zhang	zhang	PROPN
ajst-29853	153	5	b	b	PROPN
ajst-29853	153	6	,	,	PUNCT
ajst-29853	153	7	sun	sun	PROPN
ajst-29853	153	8	y	y	PROPN
ajst-29853	153	9	,	,	PUNCT
ajst-29853	153	10	zhao	zhao	PROPN
ajst-29853	153	11	y	y	PROPN
ajst-29853	153	12	,	,	PUNCT
ajst-29853	153	13	et	et	PROPN
ajst-29853	153	14	al	al	PROPN
ajst-29853	153	15	.	.	PROPN
ajst-29853	153	16	discrete	discrete	ADJ
ajst-29853	153	17	recoil	recoil	NOUN
ajst-29853	153	18	control	control	NOUN
ajst-29853	153	19	system	system	NOUN
ajst-29853	153	20	modelling	modelling	NOUN
ajst-29853	153	21	and	and	CCONJ
ajst-29853	153	22	optimal	optimal	ADJ
ajst-29853	153	23	recoil	recoil	NOUN
ajst-29853	153	24	damping	damp	VERB
ajst-29853	153	25	of	of	ADP
ajst-29853	153	26	deepwater	deepwater	NOUN
ajst-29853	153	27	drilling	drilling	NOUN
ajst-29853	153	28	riser	riser	NOUN
ajst-29853	153	29	systems[j	systems[j	PROPN
ajst-29853	153	30	]	]	PUNCT
ajst-29853	153	31	.	.	PUNCT
ajst-29853	154	1	ocean	ocean	PROPN
ajst-29853	154	2	engineering	engineering	PROPN
ajst-29853	154	3	,	,	PUNCT
ajst-29853	154	4	2024,300	2024,300	NUM
ajst-29853	154	5	.	.	PUNCT
ajst-29853	155	1	[	[	X
ajst-29853	155	2	11	11	NUM
ajst-29853	155	3	]	]	X
ajst-29853	155	4	yu	yu	PROPN
ajst-29853	155	5	j	j	PROPN
ajst-29853	155	6	,	,	PUNCT
ajst-29853	155	7	chen	chen	PROPN
ajst-29853	155	8	w.	w.	PROPN
ajst-29853	155	9	active	active	PROPN
ajst-29853	155	10	control	control	NOUN
ajst-29853	155	11	of	of	ADP
ajst-29853	155	12	flexible	flexible	ADJ
ajst-29853	155	13	riser	riser	NOUN
ajst-29853	155	14	vibration	vibration	NOUN
ajst-29853	155	15	by	by	ADP
ajst-29853	155	16	boundary	boundary	ADJ
ajst-29853	155	17	control	control	NOUN
ajst-29853	155	18	based	base	VERB
ajst-29853	155	19	on	on	ADP
ajst-29853	155	20	lqr	lqr	PROPN
ajst-29853	155	21	controller[j	controller[j	PROPN
ajst-29853	155	22	]	]	PUNCT
ajst-29853	155	23	.	.	PUNCT
ajst-29853	156	1	proceedings	proceeding	NOUN
ajst-29853	156	2	of	of	ADP
ajst-29853	156	3	the	the	DET
ajst-29853	156	4	asme	asme	PROPN
ajst-29853	156	5	38th	38th	ADJ
ajst-29853	156	6	international	international	ADJ
ajst-29853	156	7	conference	conference	NOUN
ajst-29853	156	8	on	on	ADP
ajst-29853	156	9	ocean	ocean	NOUN
ajst-29853	156	10	,	,	PUNCT
ajst-29853	156	11	offshore	offshore	ADJ
ajst-29853	156	12	and	and	CCONJ
ajst-29853	156	13	arctic	arctic	PROPN
ajst-29853	156	14	engineering	engineering	NOUN
ajst-29853	156	15	,	,	PUNCT
ajst-29853	156	16	2019	2019	NUM
ajst-29853	156	17	,	,	PUNCT
ajst-29853	156	18	vol	vol	NOUN
ajst-29853	156	19	5a	5a	NUM
ajst-29853	156	20	,	,	PUNCT
ajst-29853	156	21	2019	2019	NUM
ajst-29853	156	22	.	.	PUNCT
ajst-29853	157	1	[	[	X
ajst-29853	157	2	12	12	NUM
ajst-29853	157	3	]	]	X
ajst-29853	157	4	han	han	PROPN
ajst-29853	157	5	d	d	PROPN
ajst-29853	157	6	,	,	PUNCT
ajst-29853	157	7	huang	huang	PROPN
ajst-29853	157	8	l	l	PROPN
ajst-29853	157	9	,	,	PUNCT
ajst-29853	157	10	panagou	panagou	PROPN
ajst-29853	157	11	d.	d.	PROPN
ajst-29853	157	12	approximating	approximate	VERB
ajst-29853	157	13	the	the	DET
ajst-29853	157	14	region	region	NOUN
ajst-29853	157	15	of	of	ADP
ajst-29853	157	16	multi	multi	ADJ
ajst-29853	157	17	-	-	ADJ
ajst-29853	157	18	task	task	ADJ
ajst-29853	157	19	coordination	coordination	NOUN
ajst-29853	157	20	via	via	ADP
ajst-29853	157	21	the	the	DET
ajst-29853	157	22	optimal	optimal	ADJ
ajst-29853	157	23	lyapunov	lyapunov	NOUN
ajst-29853	157	24	-	-	PUNCT
ajst-29853	157	25	like	like	ADJ
ajst-29853	157	26	barrier	barrier	NOUN
ajst-29853	157	27	function[j	function[j	PROPN
ajst-29853	157	28	]	]	PUNCT
ajst-29853	157	29	.	.	PUNCT
ajst-29853	158	1	2018	2018	NUM
ajst-29853	158	2	annual	annual	ADJ
ajst-29853	158	3	american	american	PROPN
ajst-29853	158	4	control	control	PROPN
ajst-29853	158	5	conference	conference	PROPN
ajst-29853	158	6	(	(	PUNCT
ajst-29853	158	7	acc	acc	PROPN
ajst-29853	158	8	)	)	PUNCT
ajst-29853	158	9	,	,	PUNCT
ajst-29853	158	10	2018:5070	2018:5070	X
ajst-29853	158	11	-	-	SYM
ajst-29853	158	12	5075	5075	NUM
ajst-29853	158	13	.	.	PUNCT
ajst-29853	159	1	[	[	X
ajst-29853	159	2	13	13	NUM
ajst-29853	159	3	]	]	PUNCT
ajst-29853	159	4	seghour	seghour	NOUN
ajst-29853	159	5	l	l	PROPN
ajst-29853	159	6	,	,	PUNCT
ajst-29853	159	7	khemmoudj	khemmoudj	PROPN
ajst-29853	159	8	a	a	PRON
ajst-29853	159	9	,	,	PUNCT
ajst-29853	159	10	tatar	tatar	NOUN
ajst-29853	159	11	n	n	PROPN
ajst-29853	159	12	e.	e.	PROPN
ajst-29853	159	13	control	control	PROPN
ajst-29853	159	14	of	of	ADP
ajst-29853	159	15	a	a	DET
ajst-29853	159	16	riser	riser	NOUN
ajst-29853	159	17	through	through	ADP
ajst-29853	159	18	the	the	DET
ajst-29853	159	19	dynamic	dynamic	NOUN
ajst-29853	159	20	of	of	ADP
ajst-29853	159	21	the	the	DET
ajst-29853	159	22	vessel[j	vessel[j	NOUN
ajst-29853	159	23	]	]	PUNCT
ajst-29853	159	24	.	.	PUNCT
ajst-29853	160	1	applicable	applicable	ADJ
ajst-29853	160	2	analysis	analysis	NOUN
ajst-29853	160	3	,	,	PUNCT
ajst-29853	160	4	2016,95(9):1957	2016,95(9):1957	NUM
ajst-29853	160	5	-	-	SYM
ajst-29853	160	6	1973	1973	NUM
ajst-29853	160	7	.	.	PUNCT
ajst-29853	161	1	[	[	X
ajst-29853	161	2	14	14	NUM
ajst-29853	161	3	]	]	PUNCT
ajst-29853	161	4	berkani	berkani	X
ajst-29853	161	5	a	a	PRON
ajst-29853	161	6	,	,	PUNCT
ajst-29853	161	7	tatar	tatar	NOUN
ajst-29853	161	8	n	n	CCONJ
ajst-29853	161	9	,	,	PUNCT
ajst-29853	161	10	seghour	seghour	PROPN
ajst-29853	161	11	l.	l.	PROPN
ajst-29853	161	12	stabilisation	stabilisation	NOUN
ajst-29853	161	13	of	of	ADP
ajst-29853	161	14	a	a	DET
ajst-29853	161	15	viscoelastic	viscoelastic	ADJ
ajst-29853	161	16	flexible	flexible	ADJ
ajst-29853	161	17	marine	marine	ADJ
ajst-29853	161	18	riser	riser	NOUN
ajst-29853	161	19	under	under	ADP
ajst-29853	161	20	unknown	unknown	ADJ
ajst-29853	161	21	spatiotemporally	spatiotemporally	ADV
ajst-29853	161	22	varying	vary	VERB
ajst-29853	161	23	disturbance[j	disturbance[j	NOUN
ajst-29853	161	24	]	]	PUNCT
ajst-29853	161	25	.	.	PUNCT
ajst-29853	162	1	international	international	ADJ
ajst-29853	162	2	journal	journal	PROPN
ajst-29853	162	3	of	of	ADP
ajst-29853	162	4	control	control	PROPN
ajst-29853	162	5	,	,	PUNCT
ajst-29853	162	6	2020,93(7):1547	2020,93(7):1547	NUM
ajst-29853	162	7	-	-	SYM
ajst-29853	162	8	1557	1557	NUM
ajst-29853	162	9	.	.	PUNCT
ajst-29853	163	1	[	[	X
ajst-29853	163	2	15	15	NUM
ajst-29853	163	3	]	]	X
ajst-29853	163	4	seghour	seghour	NOUN
ajst-29853	163	5	l	l	NOUN
ajst-29853	163	6	,	,	PUNCT
ajst-29853	163	7	berkani	berkani	X
ajst-29853	163	8	a	a	PRON
ajst-29853	163	9	,	,	PUNCT
ajst-29853	163	10	tatar	tatar	NOUN
ajst-29853	163	11	n	n	CCONJ
ajst-29853	163	12	,	,	PUNCT
ajst-29853	163	13	et	et	PROPN
ajst-29853	163	14	al	al	PROPN
ajst-29853	163	15	.	.	PROPN
ajst-29853	164	1	vibration	vibration	PROPN
ajst-29853	164	2	control	control	NOUN
ajst-29853	164	3	of	of	ADP
ajst-29853	164	4	a	a	DET
ajst-29853	164	5	viscoelastic	viscoelastic	ADJ
ajst-29853	164	6	flexible	flexible	ADJ
ajst-29853	164	7	marine	marine	ADJ
ajst-29853	164	8	riser	riser	NOUN
ajst-29853	164	9	with	with	ADP
ajst-29853	164	10	vessel	vessel	NOUN
ajst-29853	164	11	dynamics[j	dynamics[j	NOUN
ajst-29853	164	12	]	]	PUNCT
ajst-29853	164	13	.	.	PUNCT
ajst-29853	165	1	mathematical	mathematical	ADJ
ajst-29853	165	2	modelling	modelling	NOUN
ajst-29853	165	3	and	and	CCONJ
ajst-29853	165	4	analysis	analysis	NOUN
ajst-29853	165	5	,	,	PUNCT
ajst-29853	165	6	2018,23(3):433	2018,23(3):433	NUM
ajst-29853	165	7	-	-	SYM
ajst-29853	165	8	452	452	NUM
ajst-29853	165	9	.	.	PUNCT
ajst-29853	166	1	[	[	X
ajst-29853	166	2	16	16	NUM
ajst-29853	166	3	]	]	PUNCT
ajst-29853	166	4	yu	yu	PROPN
ajst-29853	166	5	j	j	PROPN
ajst-29853	166	6	,	,	PUNCT
ajst-29853	166	7	chen	chen	PROPN
ajst-29853	166	8	w.	w.	PROPN
ajst-29853	166	9	active	active	PROPN
ajst-29853	166	10	control	control	NOUN
ajst-29853	166	11	of	of	ADP
ajst-29853	166	12	flexible	flexible	ADJ
ajst-29853	166	13	riser	riser	NOUN
ajst-29853	166	14	vibration	vibration	NOUN
ajst-29853	166	15	by	by	ADP
ajst-29853	166	16	boundary	boundary	ADJ
ajst-29853	166	17	control	control	NOUN
ajst-29853	166	18	based	base	VERB
ajst-29853	166	19	on	on	ADP
ajst-29853	166	20	lqr	lqr	PROPN
ajst-29853	166	21	controller[j	controller[j	PROPN
ajst-29853	166	22	]	]	PUNCT
ajst-29853	166	23	.	.	PUNCT
ajst-29853	167	1	proceedings	proceeding	NOUN
ajst-29853	167	2	of	of	ADP
ajst-29853	167	3	the	the	DET
ajst-29853	167	4	asme	asme	PROPN
ajst-29853	167	5	38th	38th	ADJ
ajst-29853	167	6	international	international	ADJ
ajst-29853	167	7	conference	conference	NOUN
ajst-29853	167	8	on	on	ADP
ajst-29853	167	9	ocean	ocean	NOUN
ajst-29853	167	10	,	,	PUNCT
ajst-29853	167	11	offshore	offshore	ADJ
ajst-29853	167	12	and	and	CCONJ
ajst-29853	167	13	arctic	arctic	PROPN
ajst-29853	167	14	engineering	engineering	NOUN
ajst-29853	167	15	,	,	PUNCT
ajst-29853	167	16	2019	2019	NUM
ajst-29853	167	17	,	,	PUNCT
ajst-29853	167	18	vol	vol	NOUN
ajst-29853	167	19	5a	5a	NUM
ajst-29853	167	20	,	,	PUNCT
ajst-29853	167	21	2019	2019	NUM
ajst-29853	167	22	.	.	PUNCT
ajst-29853	168	1	[	[	X
ajst-29853	168	2	17	17	NUM
ajst-29853	168	3	]	]	PUNCT
ajst-29853	168	4	song	song	PROPN
ajst-29853	168	5	j	j	PROPN
ajst-29853	168	6	,	,	PUNCT
ajst-29853	168	7	chen	chen	PROPN
ajst-29853	168	8	w	w	PROPN
ajst-29853	168	9	,	,	PUNCT
ajst-29853	168	10	guo	guo	PROPN
ajst-29853	168	11	s	s	PROPN
ajst-29853	168	12	,	,	PUNCT
ajst-29853	168	13	et	et	PROPN
ajst-29853	168	14	al	al	PROPN
ajst-29853	168	15	.	.	PROPN
ajst-29853	168	16	lqr	lqr	PROPN
ajst-29853	168	17	control	control	PROPN
ajst-29853	168	18	on	on	ADP
ajst-29853	168	19	multimode	multimode	ADJ
ajst-29853	168	20	vortex	vortex	NOUN
ajst-29853	168	21	-	-	PUNCT
ajst-29853	168	22	induced	induce	VERB
ajst-29853	168	23	vibration	vibration	NOUN
ajst-29853	168	24	of	of	ADP
ajst-29853	168	25	flexible	flexible	ADJ
ajst-29853	168	26	riser	riser	NOUN
ajst-29853	168	27	undergoing	undergo	VERB
ajst-29853	168	28	shear	shear	NOUN
ajst-29853	168	29	flow[j	flow[j	PROPN
ajst-29853	168	30	]	]	PUNCT
ajst-29853	168	31	.	.	PUNCT
ajst-29853	169	1	marine	marine	PROPN
ajst-29853	169	2	structures	structure	NOUN
ajst-29853	169	3	,	,	PUNCT
ajst-29853	169	4	2021,79	2021,79	NUM
ajst-29853	169	5	.	.	PUNCT
ajst-29853	170	1	[	[	X
ajst-29853	170	2	18	18	NUM
ajst-29853	170	3	]	]	PUNCT
ajst-29853	170	4	song	song	NOUN
ajst-29853	170	5	m	m	PROPN
ajst-29853	170	6	,	,	PUNCT
ajst-29853	170	7	zhang	zhang	PROPN
ajst-29853	170	8	f	f	PROPN
ajst-29853	170	9	,	,	PUNCT
ajst-29853	170	10	huang	huang	PROPN
ajst-29853	170	11	b	b	PROPN
ajst-29853	170	12	,	,	PUNCT
ajst-29853	170	13	et	et	PROPN
ajst-29853	170	14	al	al	PROPN
ajst-29853	170	15	.	.	PROPN
ajst-29853	170	16	adaptive	adaptive	ADJ
ajst-29853	170	17	safe	safe	ADJ
ajst-29853	170	18	control	control	NOUN
ajst-29853	170	19	for	for	ADP
ajst-29853	170	20	tethered	tethered	ADJ
ajst-29853	170	21	aircrafts	aircraft	NOUN
ajst-29853	170	22	with	with	ADP
ajst-29853	170	23	input	input	NOUN
ajst-29853	170	24	and	and	CCONJ
ajst-29853	170	25	output	output	NOUN
ajst-29853	170	26	constraints[j	constraints[j	PROPN
ajst-29853	170	27	]	]	PUNCT
ajst-29853	170	28	.	.	PUNCT
ajst-29853	171	1	international	international	ADJ
ajst-29853	171	2	journal	journal	PROPN
ajst-29853	171	3	of	of	ADP
ajst-29853	171	4	robust	robust	ADJ
ajst-29853	171	5	and	and	CCONJ
ajst-29853	171	6	nonlinear	nonlinear	ADJ
ajst-29853	171	7	control	control	NOUN
ajst-29853	171	8	,	,	PUNCT
ajst-29853	171	9	2023,33(17):10716	2023,33(17):10716	NUM
ajst-29853	171	10	-	-	SYM
ajst-29853	171	11	10741	10741	NUM
ajst-29853	171	12	.	.	PUNCT
ajst-29853	172	1	[	[	X
ajst-29853	172	2	19	19	NUM
ajst-29853	172	3	]	]	X
ajst-29853	172	4	maghenem	maghenem	PROPN
ajst-29853	172	5	m	m	PROPN
ajst-29853	172	6	,	,	PUNCT
ajst-29853	172	7	sanfelice	sanfelice	NOUN
ajst-29853	172	8	r	r	NOUN
ajst-29853	172	9	g.	g.	NOUN
ajst-29853	172	10	characterization	characterization	NOUN
ajst-29853	172	11	of	of	ADP
ajst-29853	172	12	safety	safety	NOUN
ajst-29853	172	13	and	and	CCONJ
ajst-29853	172	14	conditional	conditional	ADJ
ajst-29853	172	15	invariance	invariance	NOUN
ajst-29853	172	16	for	for	ADP
ajst-29853	172	17	nonlinear	nonlinear	ADJ
ajst-29853	172	18	systems[j	systems[j	PROPN
ajst-29853	172	19	]	]	PUNCT
ajst-29853	172	20	.	.	PUNCT
ajst-29853	172	21	2019	2019	NUM
ajst-29853	172	22	american	american	PROPN
ajst-29853	172	23	control	control	PROPN
ajst-29853	172	24	conference	conference	PROPN
ajst-29853	172	25	(	(	PUNCT
ajst-29853	172	26	acc	acc	PROPN
ajst-29853	172	27	)	)	PUNCT
ajst-29853	172	28	,	,	PUNCT
ajst-29853	172	29	2019:50395044	2019:50395044	X
ajst-29853	172	30	.	.	PUNCT
ajst-29853	173	1	[	[	X
ajst-29853	173	2	20	20	NUM
ajst-29853	173	3	]	]	X
ajst-29853	173	4	liu	liu	PROPN
ajst-29853	173	5	j.	j.	PROPN
ajst-29853	173	6	converse	converse	PROPN
ajst-29853	173	7	barrier	barrier	NOUN
ajst-29853	173	8	functions	function	NOUN
ajst-29853	173	9	via	via	ADP
ajst-29853	173	10	lyapunov	lyapunov	ADJ
ajst-29853	173	11	functions[j	functions[j	PROPN
ajst-29853	173	12	]	]	PUNCT
ajst-29853	173	13	.	.	PUNCT
ajst-29853	174	1	ieee	ieee	NOUN
ajst-29853	174	2	transactions	transaction	NOUN
ajst-29853	174	3	on	on	ADP
ajst-29853	174	4	automatic	automatic	ADJ
ajst-29853	174	5	control	control	NOUN
ajst-29853	174	6	,	,	PUNCT
ajst-29853	174	7	2022,67(1):497	2022,67(1):497	NUM
ajst-29853	174	8	-	-	SYM
ajst-29853	174	9	503	503	NUM
ajst-29853	174	10	.	.	PUNCT
ajst-29853	175	1	[	[	X
ajst-29853	175	2	21	21	NUM
ajst-29853	175	3	]	]	X
ajst-29853	175	4	maghenem	maghenem	PROPN
ajst-29853	175	5	m	m	PROPN
ajst-29853	175	6	,	,	PUNCT
ajst-29853	175	7	sanfelice	sanfelice	NOUN
ajst-29853	175	8	r	r	NOUN
ajst-29853	175	9	g.	g.	NOUN
ajst-29853	175	10	on	on	ADP
ajst-29853	175	11	the	the	DET
ajst-29853	175	12	converse	converse	NOUN
ajst-29853	175	13	safety	safety	NOUN
ajst-29853	175	14	problem	problem	NOUN
ajst-29853	175	15	for	for	ADP
ajst-29853	175	16	differential	differential	ADJ
ajst-29853	175	17	inclusions	inclusion	NOUN
ajst-29853	175	18	:	:	PUNCT
ajst-29853	175	19	solutions	solution	NOUN
ajst-29853	175	20	,	,	PUNCT
ajst-29853	175	21	regularity	regularity	NOUN
ajst-29853	175	22	,	,	PUNCT
ajst-29853	175	23	and	and	CCONJ
ajst-29853	175	24	timevarying	timevarye	VERB
ajst-29853	175	25	barrier	barrier	NOUN
ajst-29853	175	26	functions[j	functions[j	PROPN
ajst-29853	175	27	]	]	PUNCT
ajst-29853	175	28	.	.	PUNCT
ajst-29853	176	1	ieee	ieee	NOUN
ajst-29853	176	2	transactions	transaction	NOUN
ajst-29853	176	3	on	on	ADP
ajst-29853	176	4	automatic	automatic	ADJ
ajst-29853	176	5	control	control	NOUN
ajst-29853	176	6	,	,	PUNCT
ajst-29853	176	7	2023,68(1):172	2023,68(1):172	NUM
ajst-29853	176	8	-	-	SYM
ajst-29853	176	9	187	187	NUM
ajst-29853	176	10	.	.	PUNCT
ajst-29853	177	1	[	[	X
ajst-29853	177	2	22	22	NUM
ajst-29853	177	3	]	]	PUNCT
ajst-29853	177	4	kabzinski	kabzinski	PROPN
ajst-29853	177	5	j	j	PROPN
ajst-29853	177	6	,	,	PUNCT
ajst-29853	177	7	jastrzebski	jastrzebski	PROPN
ajst-29853	177	8	m	m	PROPN
ajst-29853	177	9	,	,	PUNCT
ajst-29853	177	10	mosiolek	mosiolek	VERB
ajst-29853	177	11	p.	p.	NOUN
ajst-29853	177	12	comparison	comparison	NOUN
ajst-29853	177	13	of	of	ADP
ajst-29853	177	14	various	various	ADJ
ajst-29853	177	15	barrier	barrier	NOUN
ajst-29853	177	16	lyapynov	lyapynov	NOUN
ajst-29853	177	17	functions	function	NOUN
ajst-29853	177	18	for	for	ADP
ajst-29853	177	19	adaptive	adaptive	ADJ
ajst-29853	177	20	control	control	NOUN
ajst-29853	177	21	of	of	ADP
ajst-29853	177	22	nonlinear	nonlinear	ADJ
ajst-29853	177	23	systems[j	systems[j	PROPN
ajst-29853	177	24	]	]	PUNCT
ajst-29853	177	25	.	.	PUNCT
ajst-29853	178	1	2016	2016	NUM
ajst-29853	178	2	21st	21st	ADJ
ajst-29853	178	3	international	international	ADJ
ajst-29853	178	4	conference	conference	NOUN
ajst-29853	178	5	on	on	ADP
ajst-29853	178	6	methods	method	NOUN
ajst-29853	178	7	and	and	CCONJ
ajst-29853	178	8	models	model	NOUN
ajst-29853	178	9	in	in	ADP
ajst-29853	178	10	automation	automation	NOUN
ajst-29853	178	11	and	and	CCONJ
ajst-29853	178	12	robotics	robotic	NOUN
ajst-29853	178	13	(	(	PUNCT
ajst-29853	178	14	mmar	mmar	NOUN
ajst-29853	178	15	)	)	PUNCT
ajst-29853	178	16	,	,	PUNCT
ajst-29853	178	17	2016:10271032	2016:10271032	X
ajst-29853	178	18	.	.	PUNCT
ajst-29853	179	1	[	[	X
ajst-29853	179	2	23	23	NUM
ajst-29853	179	3	]	]	PUNCT
ajst-29853	179	4	tee	tee	NOUN
ajst-29853	179	5	k	k	PROPN
ajst-29853	179	6	p	p	X
ajst-29853	179	7	,	,	PUNCT
ajst-29853	179	8	ge	ge	PROPN
ajst-29853	179	9	s	s	PROPN
ajst-29853	179	10	s	s	PROPN
ajst-29853	179	11	,	,	PUNCT
ajst-29853	179	12	tay	tay	PROPN
ajst-29853	179	13	e	e	PROPN
ajst-29853	179	14	h.	h.	PROPN
ajst-29853	179	15	barrier	barrier	PROPN
ajst-29853	179	16	lyapunov	lyapunov	NOUN
ajst-29853	179	17	functions	function	NOUN
ajst-29853	179	18	for	for	ADP
ajst-29853	179	19	the	the	DET
ajst-29853	179	20	control	control	NOUN
ajst-29853	179	21	of	of	ADP
ajst-29853	179	22	output	output	NOUN
ajst-29853	179	23	-	-	PUNCT
ajst-29853	179	24	constrained	constrain	VERB
ajst-29853	179	25	nonlinear	nonlinear	ADJ
ajst-29853	179	26	systems[j	systems[j	PROPN
ajst-29853	179	27	]	]	PUNCT
ajst-29853	179	28	.	.	PUNCT
ajst-29853	180	1	automatica	automatica	PROPN
ajst-29853	180	2	,	,	PUNCT
ajst-29853	180	3	2009,45(4):918	2009,45(4):918	NOUN
ajst-29853	180	4	-	-	PUNCT
ajst-29853	180	5	927	927	NUM
ajst-29853	180	6	.	.	PUNCT
ajst-29853	181	1	[	[	X
ajst-29853	181	2	24	24	NUM
ajst-29853	181	3	]	]	X
ajst-29853	181	4	deng	deng	PROPN
ajst-29853	181	5	w	w	PROPN
ajst-29853	181	6	,	,	PUNCT
ajst-29853	181	7	yao	yao	PROPN
ajst-29853	181	8	j	j	PROPN
ajst-29853	181	9	,	,	PUNCT
ajst-29853	181	10	ma	ma	PROPN
ajst-29853	181	11	d.	d.	PROPN
ajst-29853	181	12	adaptive	adaptive	PROPN
ajst-29853	181	13	control	control	NOUN
ajst-29853	181	14	of	of	ADP
ajst-29853	181	15	input	input	NOUN
ajst-29853	181	16	delayed	delay	VERB
ajst-29853	181	17	uncertain	uncertain	ADJ
ajst-29853	181	18	nonlinear	nonlinear	ADJ
ajst-29853	181	19	systems	system	NOUN
ajst-29853	181	20	with	with	ADP
ajst-29853	181	21	time	time	NOUN
ajst-29853	181	22	-	-	PUNCT
ajst-29853	181	23	varying	vary	VERB
ajst-29853	181	24	output	output	NOUN
ajst-29853	181	25	constraints[j	constraints[j	PROPN
ajst-29853	181	26	]	]	PUNCT
ajst-29853	181	27	.	.	PUNCT
ajst-29853	182	1	ieee	ieee	NOUN
ajst-29853	182	2	access	access	NOUN
ajst-29853	182	3	,	,	PUNCT
ajst-29853	182	4	2017,5:15271	2017,5:15271	NUM
ajst-29853	182	5	-	-	SYM
ajst-29853	182	6	15282	15282	NUM
ajst-29853	182	7	.	.	PUNCT
ajst-29853	183	1	[	[	X
ajst-29853	183	2	25	25	NUM
ajst-29853	183	3	]	]	X
ajst-29853	183	4	zhang	zhang	PROPN
ajst-29853	183	5	b	b	PROPN
ajst-29853	183	6	,	,	PUNCT
ajst-29853	183	7	liang	liang	PROPN
ajst-29853	183	8	y	y	PROPN
ajst-29853	183	9	,	,	PUNCT
ajst-29853	183	10	rao	rao	PROPN
ajst-29853	183	11	s	s	PROPN
ajst-29853	183	12	,	,	PUNCT
ajst-29853	183	13	et	et	PROPN
ajst-29853	183	14	al	al	PROPN
ajst-29853	183	15	.	.	PROPN
ajst-29853	183	16	rbfnn	rbfnn	PROPN
ajst-29853	183	17	-	-	PUNCT
ajst-29853	183	18	based	base	VERB
ajst-29853	183	19	anti	anti	ADJ
ajst-29853	183	20	-	-	ADJ
ajst-29853	183	21	input	input	ADJ
ajst-29853	183	22	saturation	saturation	NOUN
ajst-29853	183	23	control	control	NOUN
ajst-29853	183	24	for	for	ADP
ajst-29853	183	25	hypersonic	hypersonic	ADJ
ajst-29853	183	26	vehicles[j	vehicles[j	NOUN
ajst-29853	183	27	]	]	PUNCT
ajst-29853	183	28	.	.	PUNCT
ajst-29853	184	1	aerospace	aerospace	PROPN
ajst-29853	184	2	,	,	PUNCT
ajst-29853	184	3	2024,11(2	2024,11(2	PROPN
ajst-29853	184	4	)	)	PUNCT
ajst-29853	184	5	.	.	PUNCT
ajst-29853	185	1	[	[	X
ajst-29853	185	2	26	26	NUM
ajst-29853	185	3	]	]	X
ajst-29853	185	4	lin	lin	PROPN
ajst-29853	185	5	d	d	PROPN
ajst-29853	185	6	,	,	PUNCT
ajst-29853	185	7	wang	wang	PROPN
ajst-29853	185	8	x	x	PROPN
ajst-29853	185	9	,	,	PUNCT
ajst-29853	185	10	yao	yao	PROPN
ajst-29853	185	11	y.	y.	PROPN
ajst-29853	185	12	fuzzy	fuzzy	PROPN
ajst-29853	185	13	neural	neural	ADJ
ajst-29853	185	14	adaptive	adaptive	ADJ
ajst-29853	185	15	tracking	tracking	NOUN
ajst-29853	185	16	control	control	NOUN
ajst-29853	185	17	of	of	ADP
ajst-29853	185	18	unknown	unknown	ADJ
ajst-29853	185	19	chaotic	chaotic	ADJ
ajst-29853	185	20	systems	system	NOUN
ajst-29853	185	21	with	with	ADP
ajst-29853	185	22	input	input	NOUN
ajst-29853	185	23	saturation[j	saturation[j	PROPN
ajst-29853	185	24	]	]	PUNCT
ajst-29853	185	25	.	.	PUNCT
ajst-29853	186	1	nonlinear	nonlinear	ADJ
ajst-29853	186	2	dynamics	dynamic	NOUN
ajst-29853	186	3	,	,	PUNCT
ajst-29853	186	4	2012,67(4):2889	2012,67(4):2889	X
ajst-29853	186	5	-	-	SYM
ajst-29853	186	6	2897	2897	NUM
ajst-29853	186	7	.	.	PUNCT
ajst-29853	187	1	[	[	X
ajst-29853	187	2	27	27	NUM
ajst-29853	187	3	]	]	PUNCT
ajst-29853	187	4	he	he	PRON
ajst-29853	187	5	w	w	PROPN
ajst-29853	187	6	,	,	PUNCT
ajst-29853	187	7	he	he	PRON
ajst-29853	187	8	x	x	PROPN
ajst-29853	187	9	,	,	PUNCT
ajst-29853	187	10	ge	ge	PROPN
ajst-29853	187	11	s	s	PROPN
ajst-29853	187	12	s.	s.	PROPN
ajst-29853	187	13	vibration	vibration	PROPN
ajst-29853	187	14	control	control	NOUN
ajst-29853	187	15	of	of	ADP
ajst-29853	187	16	flexible	flexible	ADJ
ajst-29853	187	17	marine	marine	ADJ
ajst-29853	187	18	riser	riser	NOUN
ajst-29853	187	19	systems	system	NOUN
ajst-29853	187	20	with	with	ADP
ajst-29853	187	21	input	input	NOUN
ajst-29853	187	22	saturation[j	saturation[j	PROPN
ajst-29853	187	23	]	]	PUNCT
ajst-29853	187	24	.	.	PUNCT
ajst-29853	188	1	ieee	ieee	PROPN
ajst-29853	188	2	-	-	PUNCT
ajst-29853	188	3	asme	asme	PROPN
ajst-29853	188	4	transactions	transaction	NOUN
ajst-29853	188	5	on	on	ADP
ajst-29853	188	6	mechatronics	mechatronic	NOUN
ajst-29853	188	7	,	,	PUNCT
ajst-29853	188	8	2016,21(1):254265	2016,21(1):254265	NUM
ajst-29853	188	9	.	.	PUNCT
ajst-29853	189	1	[	[	X
ajst-29853	189	2	28	28	NUM
ajst-29853	189	3	]	]	X
ajst-29853	189	4	ji	ji	PROPN
ajst-29853	189	5	n	n	PROPN
ajst-29853	189	6	,	,	PUNCT
ajst-29853	189	7	liu	liu	PROPN
ajst-29853	189	8	j.	j.	PROPN
ajst-29853	189	9	vibration	vibration	PROPN
ajst-29853	189	10	control	control	NOUN
ajst-29853	189	11	for	for	ADP
ajst-29853	189	12	a	a	DET
ajst-29853	189	13	flexible	flexible	ADJ
ajst-29853	189	14	satellite	satellite	NOUN
ajst-29853	189	15	with	with	ADP
ajst-29853	189	16	input	input	NOUN
ajst-29853	189	17	constraint	constraint	NOUN
ajst-29853	189	18	based	base	VERB
ajst-29853	189	19	on	on	ADP
ajst-29853	189	20	nussbaum	nussbaum	PROPN
ajst-29853	189	21	function	function	NOUN
ajst-29853	189	22	via	via	ADP
ajst-29853	189	23	backstepping	backsteppe	VERB
ajst-29853	189	24	method[j	method[j	NOUN
ajst-29853	189	25	]	]	PUNCT
ajst-29853	189	26	.	.	PUNCT
ajst-29853	190	1	aerospace	aerospace	NOUN
ajst-29853	190	2	science	science	NOUN
ajst-29853	190	3	and	and	CCONJ
ajst-29853	190	4	technology	technology	NOUN
ajst-29853	190	5	,	,	PUNCT
ajst-29853	190	6	2018,77:563	2018,77:563	PROPN
ajst-29853	190	7	-	-	PUNCT
ajst-29853	190	8	572	572	NUM
ajst-29853	190	9	.	.	PUNCT
ajst-29853	191	1	[	[	X
ajst-29853	191	2	29	29	NUM
ajst-29853	191	3	]	]	PUNCT
ajst-29853	191	4	he	he	PRON
ajst-29853	191	5	w	w	PROPN
ajst-29853	191	6	,	,	PUNCT
ajst-29853	191	7	meng	meng	PROPN
ajst-29853	191	8	t	t	PROPN
ajst-29853	191	9	,	,	PUNCT
ajst-29853	191	10	huang	huang	PROPN
ajst-29853	191	11	d	d	PROPN
ajst-29853	191	12	,	,	PUNCT
ajst-29853	191	13	et	et	PROPN
ajst-29853	191	14	al	al	PROPN
ajst-29853	191	15	.	.	PROPN
ajst-29853	192	1	adaptive	adaptive	PROPN
ajst-29853	192	2	boundary	boundary	ADJ
ajst-29853	192	3	iterative	iterative	NOUN
ajst-29853	192	4	learning	learning	NOUN
ajst-29853	192	5	control	control	NOUN
ajst-29853	192	6	for	for	ADP
ajst-29853	192	7	an	an	DET
ajst-29853	192	8	euler	euler	VERB
ajst-29853	192	9	-	-	PUNCT
ajst-29853	192	10	bernoulli	bernoulli	PROPN
ajst-29853	192	11	beam	beam	NOUN
ajst-29853	192	12	system	system	NOUN
ajst-29853	192	13	with	with	ADP
ajst-29853	192	14	input	input	NOUN
ajst-29853	192	15	constraint[j	constraint[j	NOUN
ajst-29853	192	16	]	]	PUNCT
ajst-29853	192	17	.	.	PUNCT
ajst-29853	193	1	ieee	ieee	NOUN
ajst-29853	193	2	transactions	transaction	NOUN
ajst-29853	193	3	on	on	ADP
ajst-29853	193	4	neural	neural	ADJ
ajst-29853	193	5	networks	network	NOUN
ajst-29853	193	6	and	and	CCONJ
ajst-29853	193	7	learning	learning	NOUN
ajst-29853	193	8	systems	system	NOUN
ajst-29853	193	9	,	,	PUNCT
ajst-29853	193	10	2018	2018	NUM
ajst-29853	193	11	,	,	PUNCT
ajst-29853	193	12	29(5	29(5	NUM
ajst-29853	193	13	):	):	PUNCT
ajst-29853	193	14	1539	1539	NUM
ajst-29853	193	15	-	-	SYM
ajst-29853	193	16	1549	1549	NUM
ajst-29853	193	17	.	.	PUNCT
ajst-29853	194	1	[	[	X
ajst-29853	194	2	30	30	NUM
ajst-29853	194	3	]	]	X
ajst-29853	194	4	fu	fu	PROPN
ajst-29853	194	5	j	j	PROPN
ajst-29853	194	6	j	j	PROPN
ajst-29853	194	7	,	,	PUNCT
ajst-29853	194	8	wang	wang	PROPN
ajst-29853	194	9	q	q	PROPN
ajst-29853	194	10	,	,	PUNCT
ajst-29853	194	11	wang	wang	PROPN
ajst-29853	194	12	j	j	PROPN
ajst-29853	194	13	z.	z.	PROPN
ajst-29853	194	14	global	global	PROPN
ajst-29853	194	15	saturated	saturate	VERB
ajst-29853	194	16	finite	finite	ADJ
ajst-29853	194	17	-	-	PUNCT
ajst-29853	194	18	time	time	NOUN
ajst-29853	194	19	consensus	consensus	NOUN
ajst-29853	194	20	tracking	tracking	NOUN
ajst-29853	194	21	for	for	ADP
ajst-29853	194	22	uncertain	uncertain	ADJ
ajst-29853	194	23	second	second	ADJ
ajst-29853	194	24	-	-	PUNCT
ajst-29853	194	25	order	order	NOUN
ajst-29853	194	26	multi	multi	ADJ
ajst-29853	194	27	-	-	ADJ
ajst-29853	194	28	agent	agent	ADJ
ajst-29853	194	29	systems	system	NOUN
ajst-29853	194	30	with	with	ADP
ajst-29853	194	31	directed	direct	VERB
ajst-29853	194	32	communication	communication	NOUN
ajst-29853	194	33	graphs	graph	NOUN
ajst-29853	194	34	[	[	X
ajst-29853	194	35	j	j	X
ajst-29853	194	36	]	]	X
ajst-29853	194	37	.	.	PUNCT
ajst-29853	195	1	proceedings	proceeding	NOUN
ajst-29853	195	2	of	of	ADP
ajst-29853	195	3	the	the	DET
ajst-29853	195	4	35th	35th	ADJ
ajst-29853	195	5	chinese	chinese	ADJ
ajst-29853	195	6	control	control	PROPN
ajst-29853	195	7	conference	conference	PROPN
ajst-29853	195	8	2016	2016	NUM
ajst-29853	195	9	,	,	PUNCT
ajst-29853	195	10	2016:7684	2016:7684	NUM
ajst-29853	195	11	-	-	SYM
ajst-29853	195	12	7689	7689	NUM
ajst-29853	195	13	.	.	PUNCT
ajst-29853	196	1	42	42	NUM
ajst-29853	197	1	[	[	X
ajst-29853	197	2	31	31	NUM
ajst-29853	197	3	]	]	X
ajst-29853	197	4	zhao	zhao	PROPN
ajst-29853	197	5	y	y	PROPN
ajst-29853	197	6	,	,	PUNCT
ajst-29853	197	7	duan	duan	PROPN
ajst-29853	197	8	z	z	PROPN
ajst-29853	197	9	,	,	PUNCT
ajst-29853	197	10	wen	wen	PROPN
ajst-29853	197	11	g.	g.	PROPN
ajst-29853	197	12	finite	finite	PROPN
ajst-29853	197	13	-	-	PUNCT
ajst-29853	197	14	time	time	NOUN
ajst-29853	197	15	consensus	consensus	NOUN
ajst-29853	197	16	for	for	ADP
ajst-29853	197	17	secondorder	secondorder	ADJ
ajst-29853	197	18	multi	multi	ADJ
ajst-29853	197	19	-	-	ADJ
ajst-29853	197	20	agent	agent	ADJ
ajst-29853	197	21	systems	system	NOUN
ajst-29853	197	22	with	with	ADP
ajst-29853	197	23	saturated	saturate	VERB
ajst-29853	197	24	control	control	NOUN
ajst-29853	197	25	protocols[j	protocols[j	PROPN
ajst-29853	197	26	]	]	PUNCT
ajst-29853	197	27	.	.	PUNCT
ajst-29853	198	1	iet	iet	PROPN
ajst-29853	198	2	control	control	PROPN
ajst-29853	198	3	theory	theory	NOUN
ajst-29853	198	4	and	and	CCONJ
ajst-29853	198	5	applications	application	NOUN
ajst-29853	198	6	,	,	PUNCT
ajst-29853	198	7	2015,9(3):312	2015,9(3):312	PROPN
ajst-29853	198	8	-	-	NUM
ajst-29853	198	9	319	319	NUM
ajst-29853	198	10	.	.	PUNCT
ajst-29853	199	1	[	[	X
ajst-29853	199	2	32	32	NUM
ajst-29853	199	3	]	]	PUNCT
ajst-29853	199	4	zuo	zuo	PROPN
ajst-29853	199	5	z	z	PROPN
ajst-29853	199	6	,	,	PUNCT
ajst-29853	199	7	defoort	defoort	NOUN
ajst-29853	199	8	m	m	PROPN
ajst-29853	199	9	,	,	PUNCT
ajst-29853	199	10	tian	tian	PROPN
ajst-29853	199	11	b	b	PROPN
ajst-29853	199	12	,	,	PUNCT
ajst-29853	199	13	et	et	PROPN
ajst-29853	199	14	al	al	PROPN
ajst-29853	199	15	.	.	PROPN
ajst-29853	200	1	distributed	distribute	VERB
ajst-29853	200	2	consensus	consensus	NOUN
ajst-29853	200	3	observer	observer	NOUN
ajst-29853	200	4	for	for	ADP
ajst-29853	200	5	multiagent	multiagent	NOUN
ajst-29853	200	6	systems	system	NOUN
ajst-29853	200	7	with	with	ADP
ajst-29853	200	8	high	high	ADJ
ajst-29853	200	9	-	-	PUNCT
ajst-29853	200	10	order	order	NOUN
ajst-29853	200	11	integrator	integrator	NOUN
ajst-29853	200	12	dynamics[j	dynamics[j	NOUN
ajst-29853	200	13	]	]	PUNCT
ajst-29853	200	14	.	.	PUNCT
ajst-29853	201	1	ieee	ieee	NOUN
ajst-29853	201	2	transactions	transaction	NOUN
ajst-29853	201	3	on	on	ADP
ajst-29853	201	4	automatic	automatic	ADJ
ajst-29853	201	5	control	control	NOUN
ajst-29853	201	6	,	,	PUNCT
ajst-29853	201	7	2020,65(4):1771	2020,65(4):1771	NUM
ajst-29853	201	8	-	-	SYM
ajst-29853	201	9	1778	1778	NUM
ajst-29853	201	10	.	.	PUNCT
ajst-29853	202	1	[	[	X
ajst-29853	202	2	33	33	NUM
ajst-29853	202	3	]	]	X
ajst-29853	202	4	li	li	PROPN
ajst-29853	202	5	z	z	PROPN
ajst-29853	202	6	,	,	PUNCT
ajst-29853	202	7	li	li	PROPN
ajst-29853	202	8	t	t	PROPN
ajst-29853	202	9	,	,	PUNCT
ajst-29853	202	10	feng	feng	PROPN
ajst-29853	202	11	g.	g.	PROPN
ajst-29853	202	12	adaptive	adaptive	PROPN
ajst-29853	202	13	neural	neural	ADJ
ajst-29853	202	14	control	control	NOUN
ajst-29853	202	15	for	for	ADP
ajst-29853	202	16	a	a	DET
ajst-29853	202	17	class	class	NOUN
ajst-29853	202	18	of	of	ADP
ajst-29853	202	19	stochastic	stochastic	ADJ
ajst-29853	202	20	nonlinear	nonlinear	ADJ
ajst-29853	202	21	time	time	NOUN
ajst-29853	202	22	-	-	PUNCT
ajst-29853	202	23	delay	delay	NOUN
ajst-29853	202	24	systems	system	NOUN
ajst-29853	202	25	with	with	ADP
ajst-29853	202	26	unknown	unknown	ADJ
ajst-29853	202	27	dead	dead	ADJ
ajst-29853	202	28	zone	zone	NOUN
ajst-29853	202	29	using	use	VERB
ajst-29853	202	30	dynamic	dynamic	ADJ
ajst-29853	202	31	surface	surface	NOUN
ajst-29853	202	32	technique[j	technique[j	PROPN
ajst-29853	202	33	]	]	PUNCT
ajst-29853	202	34	.	.	PUNCT
ajst-29853	203	1	international	international	ADJ
ajst-29853	203	2	journal	journal	PROPN
ajst-29853	203	3	of	of	ADP
ajst-29853	203	4	robust	robust	ADJ
ajst-29853	203	5	and	and	CCONJ
ajst-29853	203	6	nonlinear	nonlinear	ADJ
ajst-29853	203	7	control	control	NOUN
ajst-29853	203	8	,	,	PUNCT
ajst-29853	203	9	2016,26(4):759	2016,26(4):759	NOUN
ajst-29853	203	10	-	-	PUNCT
ajst-29853	203	11	781	781	NUM
ajst-29853	203	12	.	.	PUNCT
ajst-29853	204	1	[	[	X
ajst-29853	204	2	34	34	NUM
ajst-29853	204	3	]	]	X
ajst-29853	204	4	wang	wang	PROPN
ajst-29853	204	5	m	m	PROPN
ajst-29853	204	6	,	,	PUNCT
ajst-29853	204	7	li	li	PROPN
ajst-29853	204	8	w.	w.	PROPN
ajst-29853	204	9	distributed	distribute	VERB
ajst-29853	204	10	adaptive	adaptive	ADJ
ajst-29853	204	11	control	control	NOUN
ajst-29853	204	12	for	for	ADP
ajst-29853	204	13	nonlinear	nonlinear	ADJ
ajst-29853	204	14	multi	multi	ADJ
ajst-29853	204	15	-	-	ADJ
ajst-29853	204	16	agent	agent	ADJ
ajst-29853	204	17	systems	system	NOUN
ajst-29853	204	18	with	with	ADP
ajst-29853	204	19	nonlinear	nonlinear	PROPN
ajst-29853	204	20	parametric	parametric	PROPN
ajst-29853	204	21	uncertainties[j	uncertainties[j	PROPN
ajst-29853	204	22	]	]	PUNCT
ajst-29853	204	23	.	.	PUNCT
ajst-29853	205	1	mathematical	mathematical	ADJ
ajst-29853	205	2	biosciences	bioscience	NOUN
ajst-29853	205	3	and	and	CCONJ
ajst-29853	205	4	engineering	engineering	NOUN
ajst-29853	205	5	,	,	PUNCT
ajst-29853	205	6	2023,20(7):12908	2023,20(7):12908	NUM
ajst-29853	205	7	-	-	SYM
ajst-29853	205	8	12922	12922	NUM
ajst-29853	205	9	.	.	PUNCT
ajst-29853	206	1	[	[	X
ajst-29853	206	2	35	35	NUM
ajst-29853	206	3	]	]	X
ajst-29853	206	4	zhao	zhao	PROPN
ajst-29853	206	5	z	z	PROPN
ajst-29853	206	6	,	,	PUNCT
ajst-29853	206	7	liu	liu	PROPN
ajst-29853	206	8	z	z	PROPN
ajst-29853	206	9	,	,	PUNCT
ajst-29853	206	10	li	li	PROPN
ajst-29853	206	11	z	z	PROPN
ajst-29853	206	12	,	,	PUNCT
ajst-29853	206	13	et	et	PROPN
ajst-29853	206	14	al	al	PROPN
ajst-29853	206	15	.	.	PUNCT
ajst-29853	206	16	control	control	PROPN
ajst-29853	206	17	design	design	NOUN
ajst-29853	206	18	for	for	ADP
ajst-29853	206	19	a	a	DET
ajst-29853	206	20	vibrating	vibrate	VERB
ajst-29853	206	21	flexible	flexible	ADJ
ajst-29853	206	22	marine	marine	ADJ
ajst-29853	206	23	riser	riser	NOUN
ajst-29853	206	24	system[j	system[j	NOUN
ajst-29853	206	25	]	]	PUNCT
ajst-29853	206	26	.	.	PUNCT
ajst-29853	207	1	journal	journal	PROPN
ajst-29853	207	2	of	of	ADP
ajst-29853	207	3	the	the	DET
ajst-29853	207	4	franklin	franklin	PROPN
ajst-29853	207	5	institute	institute	PROPN
ajst-29853	207	6	-	-	PUNCT
ajst-29853	207	7	engineering	engineering	PROPN
ajst-29853	207	8	and	and	CCONJ
ajst-29853	207	9	applied	apply	VERB
ajst-29853	207	10	mathematics	mathematic	NOUN
ajst-29853	207	11	,	,	PUNCT
ajst-29853	207	12	2017,354(18):8117	2017,354(18):8117	NUM
ajst-29853	207	13	-	-	PUNCT
ajst-29853	207	14	8133	8133	NUM
ajst-29853	207	15	.	.	PUNCT