id	sid	tid	token	lemma	pos
ajst-9865	1	1	academic	academic	ADJ
ajst-9865	1	2	journal	journal	NOUN
ajst-9865	1	3	of	of	ADP
ajst-9865	1	4	science	science	NOUN
ajst-9865	1	5	and	and	CCONJ
ajst-9865	1	6	technology	technology	NOUN
ajst-9865	1	7	issn	issn	NOUN
ajst-9865	1	8	:	:	PUNCT
ajst-9865	1	9	2771	2771	NUM
ajst-9865	1	10	-	-	SYM
ajst-9865	1	11	3032	3032	NUM
ajst-9865	1	12	|	|	NOUN
ajst-9865	1	13	vol	vol	NOUN
ajst-9865	1	14	.	.	PROPN
ajst-9865	2	1	6	6	NUM
ajst-9865	2	2	,	,	PUNCT
ajst-9865	2	3	no	no	INTJ
ajst-9865	2	4	.	.	NOUN
ajst-9865	2	5	2	2	NUM
ajst-9865	2	6	,	,	PUNCT
ajst-9865	2	7	2023	2023	NUM
ajst-9865	2	8	137	137	NUM
ajst-9865	2	9	tracking	tracking	NOUN
ajst-9865	2	10	control	control	NOUN
ajst-9865	2	11	of	of	ADP
ajst-9865	2	12	wheeled	wheel	VERB
ajst-9865	2	13	mobile	mobile	NOUN
ajst-9865	2	14	robot	robot	NOUN
ajst-9865	2	15	based	base	VERB
ajst-9865	2	16	on	on	ADP
ajst-9865	2	17	mmpc	mmpc	PROPN
ajst-9865	2	18	jiabao	jiabao	PROPN
ajst-9865	2	19	xu1	xu1	PROPN
ajst-9865	2	20	,	,	PUNCT
ajst-9865	2	21	2	2	NUM
ajst-9865	2	22	,	,	PUNCT
ajst-9865	2	23	*	*	PUNCT
ajst-9865	2	24	,	,	PUNCT
ajst-9865	2	25	guoliang	guoliang	PROPN
ajst-9865	2	26	zhang1	zhang1	PROPN
ajst-9865	2	27	,	,	PUNCT
ajst-9865	2	28	2	2	NUM
ajst-9865	2	29	1	1	NUM
ajst-9865	2	30	school	school	NOUN
ajst-9865	2	31	of	of	ADP
ajst-9865	2	32	automation	automation	NOUN
ajst-9865	2	33	and	and	CCONJ
ajst-9865	2	34	information	information	NOUN
ajst-9865	2	35	engineering	engineering	NOUN
ajst-9865	2	36	,	,	PUNCT
ajst-9865	2	37	sichuan	sichuan	PROPN
ajst-9865	2	38	university	university	PROPN
ajst-9865	2	39	of	of	ADP
ajst-9865	2	40	science	science	PROPN
ajst-9865	2	41	&	&	CCONJ
ajst-9865	2	42	engineering	engineering	PROPN
ajst-9865	2	43	,	,	PUNCT
ajst-9865	2	44	yibin	yibin	PROPN
ajst-9865	2	45	644000	644000	NUM
ajst-9865	2	46	,	,	PUNCT
ajst-9865	2	47	china	china	PROPN
ajst-9865	2	48	2	2	NUM
ajst-9865	2	49	artificial	artificial	ADJ
ajst-9865	2	50	intelligence	intelligence	NOUN
ajst-9865	2	51	key	key	NOUN
ajst-9865	2	52	laboratory	laboratory	NOUN
ajst-9865	2	53	of	of	ADP
ajst-9865	2	54	sichuan	sichuan	PROPN
ajst-9865	2	55	province	province	PROPN
ajst-9865	2	56	,	,	PUNCT
ajst-9865	2	57	yibin	yibin	PROPN
ajst-9865	2	58	644000	644000	NUM
ajst-9865	2	59	,	,	PUNCT
ajst-9865	2	60	china	china	PROPN
ajst-9865	2	61	*	*	PUNCT
ajst-9865	2	62	corresponding	correspond	VERB
ajst-9865	2	63	author	author	NOUN
ajst-9865	2	64	:	:	PUNCT
ajst-9865	2	65	jiabao	jiabao	PROPN
ajst-9865	2	66	xu	xu	PROPN
ajst-9865	2	67	(	(	PUNCT
ajst-9865	2	68	email	email	NOUN
ajst-9865	2	69	:	:	PUNCT
ajst-9865	2	70	1248217710@qq.com	1248217710@qq.com	NUM
ajst-9865	2	71	)	)	PUNCT
ajst-9865	2	72	abstract	abstract	NOUN
ajst-9865	2	73	:	:	PUNCT
ajst-9865	2	74	in	in	ADP
ajst-9865	2	75	order	order	NOUN
ajst-9865	2	76	to	to	PART
ajst-9865	2	77	solve	solve	VERB
ajst-9865	2	78	the	the	DET
ajst-9865	2	79	problems	problem	NOUN
ajst-9865	2	80	of	of	ADP
ajst-9865	2	81	low	low	ADJ
ajst-9865	2	82	tracking	tracking	NOUN
ajst-9865	2	83	accuracy	accuracy	NOUN
ajst-9865	2	84	and	and	CCONJ
ajst-9865	2	85	large	large	ADJ
ajst-9865	2	86	steady	steady	ADJ
ajst-9865	2	87	-	-	PUNCT
ajst-9865	2	88	state	state	NOUN
ajst-9865	2	89	error	error	NOUN
ajst-9865	2	90	in	in	ADP
ajst-9865	2	91	track	track	NOUN
ajst-9865	2	92	tracking	tracking	NOUN
ajst-9865	2	93	of	of	ADP
ajst-9865	2	94	wheeled	wheeled	ADJ
ajst-9865	2	95	mobile	mobile	ADJ
ajst-9865	2	96	robots	robot	NOUN
ajst-9865	2	97	,	,	PUNCT
ajst-9865	2	98	a	a	DET
ajst-9865	2	99	mpc	mpc	NOUN
ajst-9865	2	100	control	control	NOUN
ajst-9865	2	101	scheme	scheme	NOUN
ajst-9865	2	102	combining	combine	VERB
ajst-9865	2	103	feedforward	feedforward	NOUN
ajst-9865	2	104	and	and	CCONJ
ajst-9865	2	105	feedback	feedback	NOUN
ajst-9865	2	106	control	control	NOUN
ajst-9865	2	107	is	be	AUX
ajst-9865	2	108	designed	design	VERB
ajst-9865	2	109	on	on	ADP
ajst-9865	2	110	the	the	DET
ajst-9865	2	111	basis	basis	NOUN
ajst-9865	2	112	of	of	ADP
ajst-9865	2	113	traditional	traditional	ADJ
ajst-9865	2	114	model	model	NOUN
ajst-9865	2	115	predictive	predictive	PROPN
ajst-9865	2	116	control	control	PROPN
ajst-9865	2	117	(	(	PUNCT
ajst-9865	2	118	tmpc	tmpc	PROPN
ajst-9865	2	119	)	)	PUNCT
ajst-9865	2	120	.	.	PUNCT
ajst-9865	3	1	first	first	ADV
ajst-9865	3	2	,	,	PUNCT
ajst-9865	3	3	when	when	SCONJ
ajst-9865	3	4	establishing	establish	VERB
ajst-9865	3	5	the	the	DET
ajst-9865	3	6	wmr	wmr	PROPN
ajst-9865	3	7	kinematic	kinematic	PROPN
ajst-9865	3	8	error	error	NOUN
ajst-9865	3	9	model	model	NOUN
ajst-9865	3	10	,	,	PUNCT
ajst-9865	3	11	the	the	DET
ajst-9865	3	12	linearization	linearization	NOUN
ajst-9865	3	13	error	error	NOUN
ajst-9865	3	14	is	be	AUX
ajst-9865	3	15	retained	retain	VERB
ajst-9865	3	16	,	,	PUNCT
ajst-9865	3	17	and	and	CCONJ
ajst-9865	3	18	the	the	DET
ajst-9865	3	19	control	control	NOUN
ajst-9865	3	20	input	input	NOUN
ajst-9865	3	21	and	and	CCONJ
ajst-9865	3	22	incremental	incremental	ADJ
ajst-9865	3	23	constraints	constraint	NOUN
ajst-9865	3	24	are	be	AUX
ajst-9865	3	25	considered	consider	VERB
ajst-9865	3	26	.	.	PUNCT
ajst-9865	4	1	secondly	secondly	ADV
ajst-9865	4	2	,	,	PUNCT
ajst-9865	4	3	a	a	DET
ajst-9865	4	4	feedforward	feedforward	ADJ
ajst-9865	4	5	controller	controller	NOUN
ajst-9865	4	6	is	be	AUX
ajst-9865	4	7	designed	design	VERB
ajst-9865	4	8	for	for	ADP
ajst-9865	4	9	a	a	DET
ajst-9865	4	10	given	give	VERB
ajst-9865	4	11	desired	desire	VERB
ajst-9865	4	12	trajectory	trajectory	NOUN
ajst-9865	4	13	of	of	ADP
ajst-9865	4	14	wheeled	wheel	VERB
ajst-9865	4	15	mobile	mobile	ADJ
ajst-9865	4	16	robot	robot	NOUN
ajst-9865	4	17	;	;	PUNCT
ajst-9865	4	18	at	at	ADP
ajst-9865	4	19	the	the	DET
ajst-9865	4	20	same	same	ADJ
ajst-9865	4	21	time	time	NOUN
ajst-9865	4	22	,	,	PUNCT
ajst-9865	4	23	the	the	DET
ajst-9865	4	24	multi	multi	PROPN
ajst-9865	4	25	constraint	constraint	PROPN
ajst-9865	4	26	model	model	NOUN
ajst-9865	4	27	predictive	predictive	PROPN
ajst-9865	4	28	control	control	PROPN
ajst-9865	4	29	(	(	PUNCT
ajst-9865	4	30	mmpc	mmpc	PROPN
ajst-9865	4	31	)	)	PUNCT
ajst-9865	4	32	strategy	strategy	NOUN
ajst-9865	4	33	with	with	ADP
ajst-9865	4	34	speed	speed	NOUN
ajst-9865	4	35	optimization	optimization	NOUN
ajst-9865	4	36	is	be	AUX
ajst-9865	4	37	added	add	VERB
ajst-9865	4	38	to	to	PART
ajst-9865	4	39	design	design	VERB
ajst-9865	4	40	the	the	DET
ajst-9865	4	41	feedback	feedback	NOUN
ajst-9865	4	42	controller	controller	NOUN
ajst-9865	4	43	.	.	PUNCT
ajst-9865	5	1	then	then	ADV
ajst-9865	5	2	,	,	PUNCT
ajst-9865	5	3	the	the	DET
ajst-9865	5	4	stability	stability	NOUN
ajst-9865	5	5	of	of	ADP
ajst-9865	5	6	the	the	DET
ajst-9865	5	7	designed	design	VERB
ajst-9865	5	8	mmpc	mmpc	NOUN
ajst-9865	5	9	controller	controller	NOUN
ajst-9865	5	10	is	be	AUX
ajst-9865	5	11	analyzed	analyze	VERB
ajst-9865	5	12	based	base	VERB
ajst-9865	5	13	on	on	ADP
ajst-9865	5	14	lyapunov	lyapunov	PROPN
ajst-9865	5	15	theory	theory	NOUN
ajst-9865	5	16	.	.	PUNCT
ajst-9865	6	1	finally	finally	ADV
ajst-9865	6	2	,	,	PUNCT
ajst-9865	6	3	mmpc	mmpc	PROPN
ajst-9865	6	4	control	control	NOUN
ajst-9865	6	5	scheme	scheme	NOUN
ajst-9865	6	6	is	be	AUX
ajst-9865	6	7	compared	compare	VERB
ajst-9865	6	8	with	with	ADP
ajst-9865	6	9	tmpc	tmpc	PROPN
ajst-9865	6	10	control	control	PROPN
ajst-9865	6	11	scheme	scheme	NOUN
ajst-9865	6	12	and	and	CCONJ
ajst-9865	6	13	pid	pid	NOUN
ajst-9865	6	14	control	control	NOUN
ajst-9865	6	15	scheme	scheme	NOUN
ajst-9865	6	16	.	.	PUNCT
ajst-9865	7	1	the	the	DET
ajst-9865	7	2	results	result	NOUN
ajst-9865	7	3	show	show	VERB
ajst-9865	7	4	that	that	SCONJ
ajst-9865	7	5	compared	compare	VERB
ajst-9865	7	6	with	with	ADP
ajst-9865	7	7	tmpc	tmpc	PROPN
ajst-9865	7	8	control	control	PROPN
ajst-9865	7	9	scheme	scheme	PROPN
ajst-9865	7	10	,	,	PUNCT
ajst-9865	7	11	mmpc	mmpc	PROPN
ajst-9865	7	12	control	control	NOUN
ajst-9865	7	13	scheme	scheme	NOUN
ajst-9865	7	14	reduces	reduce	VERB
ajst-9865	7	15	the	the	DET
ajst-9865	7	16	lateral	lateral	ADJ
ajst-9865	7	17	error	error	NOUN
ajst-9865	7	18	by	by	ADP
ajst-9865	7	19	17.87	17.87	NUM
ajst-9865	7	20	%	%	NOUN
ajst-9865	7	21	,	,	PUNCT
ajst-9865	7	22	the	the	DET
ajst-9865	7	23	longitudinal	longitudinal	ADJ
ajst-9865	7	24	error	error	NOUN
ajst-9865	7	25	by	by	ADP
ajst-9865	7	26	17.12	17.12	NUM
ajst-9865	7	27	%	%	NOUN
ajst-9865	7	28	,	,	PUNCT
ajst-9865	7	29	and	and	CCONJ
ajst-9865	7	30	the	the	DET
ajst-9865	7	31	heading	head	VERB
ajst-9865	7	32	angle	angle	NOUN
ajst-9865	7	33	error	error	NOUN
ajst-9865	7	34	by	by	ADP
ajst-9865	7	35	9.81	9.81	NUM
ajst-9865	7	36	%	%	NOUN
ajst-9865	7	37	;	;	PUNCT
ajst-9865	7	38	compared	compare	VERB
ajst-9865	7	39	with	with	ADP
ajst-9865	7	40	the	the	DET
ajst-9865	7	41	pid	pid	NOUN
ajst-9865	7	42	control	control	NOUN
ajst-9865	7	43	scheme	scheme	NOUN
ajst-9865	7	44	,	,	PUNCT
ajst-9865	7	45	the	the	DET
ajst-9865	7	46	lateral	lateral	ADJ
ajst-9865	7	47	error	error	NOUN
ajst-9865	7	48	is	be	AUX
ajst-9865	7	49	reduced	reduce	VERB
ajst-9865	7	50	by	by	ADP
ajst-9865	7	51	20.82	20.82	NUM
ajst-9865	7	52	%	%	NOUN
ajst-9865	7	53	,	,	PUNCT
ajst-9865	7	54	the	the	DET
ajst-9865	7	55	longitudinal	longitudinal	ADJ
ajst-9865	7	56	error	error	NOUN
ajst-9865	7	57	is	be	AUX
ajst-9865	7	58	reduced	reduce	VERB
ajst-9865	7	59	by	by	ADP
ajst-9865	7	60	23.26	23.26	NUM
ajst-9865	7	61	%	%	NOUN
ajst-9865	7	62	,	,	PUNCT
ajst-9865	7	63	and	and	CCONJ
ajst-9865	7	64	the	the	DET
ajst-9865	7	65	heading	head	VERB
ajst-9865	7	66	angle	angle	NOUN
ajst-9865	7	67	error	error	NOUN
ajst-9865	7	68	is	be	AUX
ajst-9865	7	69	reduced	reduce	VERB
ajst-9865	7	70	by	by	ADP
ajst-9865	7	71	5.87	5.87	NUM
ajst-9865	7	72	%	%	NOUN
ajst-9865	7	73	.	.	PUNCT
ajst-9865	8	1	keywords	keyword	NOUN
ajst-9865	8	2	:	:	PUNCT
ajst-9865	8	3	multi	multi	PROPN
ajst-9865	8	4	constraint	constraint	PROPN
ajst-9865	8	5	model	model	PROPN
ajst-9865	8	6	predictive	predictive	PROPN
ajst-9865	8	7	control	control	PROPN
ajst-9865	8	8	,	,	PUNCT
ajst-9865	8	9	wheeled	wheel	VERB
ajst-9865	8	10	mobile	mobile	ADJ
ajst-9865	8	11	robot	robot	NOUN
ajst-9865	8	12	,	,	PUNCT
ajst-9865	8	13	track	track	NOUN
ajst-9865	8	14	tracking	tracking	NOUN
ajst-9865	8	15	,	,	PUNCT
ajst-9865	8	16	stability	stability	NOUN
ajst-9865	8	17	.	.	PUNCT
ajst-9865	9	1	1	1	X
ajst-9865	9	2	.	.	X
ajst-9865	9	3	introduction	introduction	NOUN
ajst-9865	9	4	in	in	ADP
ajst-9865	9	5	recent	recent	ADJ
ajst-9865	9	6	years	year	NOUN
ajst-9865	9	7	,	,	PUNCT
ajst-9865	9	8	the	the	DET
ajst-9865	9	9	wide	wide	ADJ
ajst-9865	9	10	application	application	NOUN
ajst-9865	9	11	of	of	ADP
ajst-9865	9	12	wheeled	wheel	VERB
ajst-9865	9	13	mobile	mobile	ADJ
ajst-9865	9	14	robots	robot	NOUN
ajst-9865	9	15	in	in	ADP
ajst-9865	9	16	various	various	ADJ
ajst-9865	9	17	fields	field	NOUN
ajst-9865	9	18	has	have	AUX
ajst-9865	9	19	attracted	attract	VERB
ajst-9865	9	20	great	great	ADJ
ajst-9865	9	21	attention	attention	NOUN
ajst-9865	9	22	of	of	ADP
ajst-9865	9	23	scholars	scholar	NOUN
ajst-9865	9	24	[	[	X
ajst-9865	9	25	1	1	NUM
ajst-9865	9	26	-	-	SYM
ajst-9865	9	27	2	2	NUM
ajst-9865	9	28	]	]	PUNCT
ajst-9865	9	29	.	.	PUNCT
ajst-9865	10	1	the	the	DET
ajst-9865	10	2	wmr	wmr	PROPN
ajst-9865	10	3	control	control	PROPN
ajst-9865	10	4	tasks	task	NOUN
ajst-9865	10	5	are	be	AUX
ajst-9865	10	6	mainly	mainly	ADV
ajst-9865	10	7	divided	divide	VERB
ajst-9865	10	8	into	into	ADP
ajst-9865	10	9	path	path	NOUN
ajst-9865	10	10	planning	planning	NOUN
ajst-9865	10	11	[	[	X
ajst-9865	10	12	3	3	NUM
ajst-9865	10	13	]	]	PUNCT
ajst-9865	10	14	and	and	CCONJ
ajst-9865	10	15	trajectory	trajectory	NOUN
ajst-9865	10	16	tracking	tracking	NOUN
ajst-9865	10	17	.	.	PUNCT
ajst-9865	11	1	in	in	ADP
ajst-9865	11	2	order	order	NOUN
ajst-9865	11	3	to	to	PART
ajst-9865	11	4	realize	realize	VERB
ajst-9865	11	5	wmr	wmr	PROPN
ajst-9865	11	6	trajectory	trajectory	NOUN
ajst-9865	11	7	tracking	tracking	NOUN
ajst-9865	11	8	,	,	PUNCT
ajst-9865	11	9	many	many	ADJ
ajst-9865	11	10	scholars	scholar	NOUN
ajst-9865	11	11	have	have	AUX
ajst-9865	11	12	proposed	propose	VERB
ajst-9865	11	13	different	different	ADJ
ajst-9865	11	14	control	control	NOUN
ajst-9865	11	15	methods	method	NOUN
ajst-9865	11	16	.	.	PUNCT
ajst-9865	12	1	literature	literature	NOUN
ajst-9865	13	1	[	[	X
ajst-9865	13	2	4	4	X
ajst-9865	13	3	]	]	PUNCT
ajst-9865	13	4	designed	design	VERB
ajst-9865	13	5	a	a	DET
ajst-9865	13	6	synovial	synovial	ADJ
ajst-9865	13	7	film	film	NOUN
ajst-9865	13	8	controller	controller	NOUN
ajst-9865	13	9	based	base	VERB
ajst-9865	13	10	on	on	ADP
ajst-9865	13	11	the	the	DET
ajst-9865	13	12	wmr	wmr	PROPN
ajst-9865	13	13	kinematics	kinematic	NOUN
ajst-9865	13	14	model	model	NOUN
ajst-9865	13	15	,	,	PUNCT
ajst-9865	13	16	even	even	ADV
ajst-9865	13	17	if	if	SCONJ
ajst-9865	13	18	the	the	DET
ajst-9865	13	19	wmr	wmr	PROPN
ajst-9865	13	20	has	have	VERB
ajst-9865	13	21	a	a	DET
ajst-9865	13	22	large	large	ADJ
ajst-9865	13	23	initial	initial	ADJ
ajst-9865	13	24	error	error	NOUN
ajst-9865	13	25	in	in	ADP
ajst-9865	13	26	the	the	DET
ajst-9865	13	27	control	control	NOUN
ajst-9865	13	28	,	,	PUNCT
ajst-9865	13	29	it	it	PRON
ajst-9865	13	30	can	can	AUX
ajst-9865	13	31	get	get	VERB
ajst-9865	13	32	better	well	ADJ
ajst-9865	13	33	control	control	NOUN
ajst-9865	13	34	.	.	PUNCT
ajst-9865	14	1	literature	literature	NOUN
ajst-9865	14	2	[	[	X
ajst-9865	14	3	5	5	NUM
ajst-9865	14	4	]	]	PUNCT
ajst-9865	14	5	considered	consider	VERB
ajst-9865	14	6	wmr	wmr	PROPN
ajst-9865	14	7	parameters	parameter	NOUN
ajst-9865	14	8	and	and	CCONJ
ajst-9865	14	9	non	non	NOUN
ajst-9865	14	10	-	-	NOUN
ajst-9865	14	11	parameters	parameter	NOUN
ajst-9865	14	12	two	two	NUM
ajst-9865	14	13	kinds	kind	NOUN
ajst-9865	14	14	of	of	ADP
ajst-9865	14	15	uncertainty	uncertainty	NOUN
ajst-9865	14	16	,	,	PUNCT
ajst-9865	14	17	combined	combine	VERB
ajst-9865	14	18	with	with	ADP
ajst-9865	14	19	adaptive	adaptive	ADJ
ajst-9865	14	20	control	control	NOUN
ajst-9865	14	21	and	and	CCONJ
ajst-9865	14	22	neural	neural	ADJ
ajst-9865	14	23	network	network	NOUN
ajst-9865	14	24	methods	method	NOUN
ajst-9865	14	25	,	,	PUNCT
ajst-9865	14	26	to	to	PART
ajst-9865	14	27	solve	solve	VERB
ajst-9865	14	28	the	the	DET
ajst-9865	14	29	mobile	mobile	ADJ
ajst-9865	14	30	robot	robot	NOUN
ajst-9865	14	31	center	center	NOUN
ajst-9865	14	32	of	of	ADP
ajst-9865	14	33	gravity	gravity	NOUN
ajst-9865	14	34	offset	offset	NOUN
ajst-9865	14	35	,	,	PUNCT
ajst-9865	14	36	model	model	NOUN
ajst-9865	14	37	uncertainty	uncertainty	NOUN
ajst-9865	14	38	and	and	CCONJ
ajst-9865	14	39	other	other	ADJ
ajst-9865	14	40	factors	factor	NOUN
ajst-9865	14	41	.	.	PUNCT
ajst-9865	15	1	literature	literature	NOUN
ajst-9865	16	1	[	[	X
ajst-9865	16	2	6	6	NUM
ajst-9865	16	3	]	]	PUNCT
ajst-9865	16	4	studied	study	VERB
ajst-9865	16	5	the	the	DET
ajst-9865	16	6	trajectory	trajectory	NOUN
ajst-9865	16	7	tracking	tracking	NOUN
ajst-9865	16	8	control	control	NOUN
ajst-9865	16	9	of	of	ADP
ajst-9865	16	10	wmr	wmr	PROPN
ajst-9865	16	11	on	on	ADP
ajst-9865	16	12	uneven	uneven	ADJ
ajst-9865	16	13	ground	ground	NOUN
ajst-9865	16	14	,	,	PUNCT
ajst-9865	16	15	and	and	CCONJ
ajst-9865	16	16	designed	design	VERB
ajst-9865	16	17	a	a	DET
ajst-9865	16	18	double	double	ADJ
ajst-9865	16	19	closed	closed	ADJ
ajst-9865	16	20	-	-	PUNCT
ajst-9865	16	21	loop	loop	NOUN
ajst-9865	16	22	strategy	strategy	NOUN
ajst-9865	16	23	;	;	PUNCT
ajst-9865	16	24	the	the	DET
ajst-9865	16	25	external	external	ADJ
ajst-9865	16	26	disturbance	disturbance	NOUN
ajst-9865	16	27	was	be	AUX
ajst-9865	16	28	estimated	estimate	VERB
ajst-9865	16	29	by	by	ADP
ajst-9865	16	30	the	the	DET
ajst-9865	16	31	inner	inner	ADJ
ajst-9865	16	32	loop	loop	NOUN
ajst-9865	16	33	,	,	PUNCT
ajst-9865	16	34	and	and	CCONJ
ajst-9865	16	35	the	the	DET
ajst-9865	16	36	expected	expect	VERB
ajst-9865	16	37	speed	speed	NOUN
ajst-9865	16	38	was	be	AUX
ajst-9865	16	39	output	output	NOUN
ajst-9865	16	40	by	by	ADP
ajst-9865	16	41	the	the	DET
ajst-9865	16	42	outer	outer	ADJ
ajst-9865	16	43	loop	loop	NOUN
ajst-9865	16	44	,	,	PUNCT
ajst-9865	16	45	which	which	PRON
ajst-9865	16	46	realized	realize	VERB
ajst-9865	16	47	the	the	DET
ajst-9865	16	48	smooth	smooth	ADJ
ajst-9865	16	49	turning	turning	NOUN
ajst-9865	16	50	of	of	ADP
ajst-9865	16	51	wmr	wmr	PROPN
ajst-9865	16	52	.	.	PUNCT
ajst-9865	17	1	literature	literature	PROPN
ajst-9865	18	1	[	[	X
ajst-9865	18	2	7	7	X
ajst-9865	18	3	]	]	PUNCT
ajst-9865	18	4	uses	use	VERB
ajst-9865	18	5	the	the	DET
ajst-9865	18	6	enhanced	enhanced	ADJ
ajst-9865	18	7	variable	variable	ADJ
ajst-9865	18	8	structure	structure	NOUN
ajst-9865	18	9	based	base	VERB
ajst-9865	18	10	on	on	ADP
ajst-9865	18	11	the	the	DET
ajst-9865	18	12	synovium	synovium	NOUN
ajst-9865	18	13	to	to	PART
ajst-9865	18	14	track	track	VERB
ajst-9865	18	15	the	the	DET
ajst-9865	18	16	trajectory	trajectory	NOUN
ajst-9865	18	17	of	of	ADP
ajst-9865	18	18	wmr	wmr	PROPN
ajst-9865	18	19	,	,	PUNCT
ajst-9865	18	20	which	which	PRON
ajst-9865	18	21	improves	improve	VERB
ajst-9865	18	22	the	the	DET
ajst-9865	18	23	robot	robot	NOUN
ajst-9865	18	24	's	's	PART
ajst-9865	18	25	control	control	NOUN
ajst-9865	18	26	ability	ability	NOUN
ajst-9865	18	27	,	,	PUNCT
ajst-9865	18	28	reduces	reduce	VERB
ajst-9865	18	29	the	the	DET
ajst-9865	18	30	attitude	attitude	NOUN
ajst-9865	18	31	error	error	NOUN
ajst-9865	18	32	,	,	PUNCT
ajst-9865	18	33	and	and	CCONJ
ajst-9865	18	34	the	the	DET
ajst-9865	18	35	linear	linear	ADJ
ajst-9865	18	36	velocity	velocity	NOUN
ajst-9865	18	37	and	and	CCONJ
ajst-9865	18	38	angular	angular	ADJ
ajst-9865	18	39	velocity	velocity	NOUN
ajst-9865	18	40	are	be	AUX
ajst-9865	18	41	controllable	controllable	ADJ
ajst-9865	18	42	.	.	PUNCT
ajst-9865	19	1	since	since	SCONJ
ajst-9865	19	2	wmr	wmr	PROPN
ajst-9865	19	3	is	be	AUX
ajst-9865	19	4	a	a	DET
ajst-9865	19	5	non	non	ADJ
ajst-9865	19	6	-	-	NOUN
ajst-9865	19	7	integrity	integrity	ADJ
ajst-9865	19	8	constrained	constrain	VERB
ajst-9865	19	9	system	system	NOUN
ajst-9865	19	10	,	,	PUNCT
ajst-9865	19	11	model	model	NOUN
ajst-9865	19	12	predictive	predictive	ADJ
ajst-9865	19	13	control	control	NOUN
ajst-9865	19	14	has	have	VERB
ajst-9865	19	15	a	a	DET
ajst-9865	19	16	feed	feed	NOUN
ajst-9865	19	17	-	-	PUNCT
ajst-9865	19	18	forward	forward	ADJ
ajst-9865	19	19	-	-	PUNCT
ajst-9865	19	20	feedback	feedback	NOUN
ajst-9865	19	21	structure	structure	NOUN
ajst-9865	19	22	,	,	PUNCT
ajst-9865	19	23	which	which	PRON
ajst-9865	19	24	can	can	AUX
ajst-9865	19	25	handle	handle	VERB
ajst-9865	19	26	nonlinear	nonlinear	ADJ
ajst-9865	19	27	input	input	NOUN
ajst-9865	19	28	-	-	PUNCT
ajst-9865	19	29	output	output	NOUN
ajst-9865	19	30	systems	system	NOUN
ajst-9865	19	31	with	with	ADP
ajst-9865	19	32	constraints	constraint	NOUN
ajst-9865	19	33	[	[	X
ajst-9865	19	34	8	8	NUM
ajst-9865	19	35	-	-	SYM
ajst-9865	19	36	9	9	NUM
ajst-9865	19	37	]	]	PUNCT
ajst-9865	19	38	.	.	PUNCT
ajst-9865	20	1	literature	literature	NOUN
ajst-9865	21	1	[	[	X
ajst-9865	21	2	10	10	NUM
ajst-9865	21	3	]	]	PUNCT
ajst-9865	21	4	proposes	propose	VERB
ajst-9865	21	5	an	an	DET
ajst-9865	21	6	mpc	mpc	NOUN
ajst-9865	21	7	control	control	NOUN
ajst-9865	21	8	scheme	scheme	NOUN
ajst-9865	21	9	for	for	ADP
ajst-9865	21	10	nonholonomic	nonholonomic	ADJ
ajst-9865	21	11	constrained	constrain	VERB
ajst-9865	21	12	wmr	wmr	PROPN
ajst-9865	21	13	,	,	PUNCT
ajst-9865	21	14	and	and	CCONJ
ajst-9865	21	15	solves	solve	VERB
ajst-9865	21	16	linear	linear	VERB
ajst-9865	21	17	mpc	mpc	NOUN
ajst-9865	21	18	by	by	ADP
ajst-9865	21	19	using	use	VERB
ajst-9865	21	20	quadratic	quadratic	ADJ
ajst-9865	21	21	programming	programming	NOUN
ajst-9865	21	22	for	for	ADP
ajst-9865	21	23	continuous	continuous	ADJ
ajst-9865	21	24	linearization	linearization	NOUN
ajst-9865	21	25	of	of	ADP
ajst-9865	21	26	the	the	DET
ajst-9865	21	27	wmr	wmr	PROPN
ajst-9865	21	28	error	error	NOUN
ajst-9865	21	29	model	model	NOUN
ajst-9865	21	30	.	.	PUNCT
ajst-9865	22	1	literature	literature	NOUN
ajst-9865	23	1	[	[	X
ajst-9865	23	2	11	11	NUM
ajst-9865	23	3	]	]	PUNCT
ajst-9865	23	4	developed	develop	VERB
ajst-9865	23	5	a	a	DET
ajst-9865	23	6	robust	robust	ADJ
ajst-9865	23	7	predictive	predictive	ADJ
ajst-9865	23	8	control	control	NOUN
ajst-9865	23	9	based	base	VERB
ajst-9865	23	10	on	on	ADP
ajst-9865	23	11	neural	neural	ADJ
ajst-9865	23	12	network	network	NOUN
ajst-9865	23	13	optimization	optimization	NOUN
ajst-9865	23	14	to	to	PART
ajst-9865	23	15	stabilize	stabilize	VERB
ajst-9865	23	16	wmr	wmr	PROPN
ajst-9865	23	17	.	.	PUNCT
ajst-9865	24	1	experiments	experiment	NOUN
ajst-9865	24	2	under	under	ADP
ajst-9865	24	3	various	various	ADJ
ajst-9865	24	4	dynamic	dynamic	ADJ
ajst-9865	24	5	conditions	condition	NOUN
ajst-9865	24	6	proved	prove	VERB
ajst-9865	24	7	that	that	SCONJ
ajst-9865	24	8	the	the	DET
ajst-9865	24	9	proposed	propose	VERB
ajst-9865	24	10	scheme	scheme	NOUN
ajst-9865	24	11	can	can	AUX
ajst-9865	24	12	improve	improve	VERB
ajst-9865	24	13	the	the	DET
ajst-9865	24	14	computational	computational	ADJ
ajst-9865	24	15	efficiency	efficiency	NOUN
ajst-9865	24	16	of	of	ADP
ajst-9865	24	17	mpc	mpc	PROPN
ajst-9865	24	18	.	.	PUNCT
ajst-9865	24	19	literature	literature	PROPN
ajst-9865	25	1	[	[	X
ajst-9865	25	2	12	12	NUM
ajst-9865	25	3	]	]	PUNCT
ajst-9865	25	4	realized	realize	VERB
ajst-9865	25	5	the	the	DET
ajst-9865	25	6	local	local	ADJ
ajst-9865	25	7	path	path	NOUN
ajst-9865	25	8	tracking	tracking	NOUN
ajst-9865	25	9	of	of	ADP
ajst-9865	25	10	the	the	DET
ajst-9865	25	11	robot	robot	NOUN
ajst-9865	25	12	based	base	VERB
ajst-9865	25	13	on	on	ADP
ajst-9865	25	14	the	the	DET
ajst-9865	25	15	control	control	NOUN
ajst-9865	25	16	scheme	scheme	NOUN
ajst-9865	25	17	combining	combine	VERB
ajst-9865	25	18	pid	pid	NOUN
ajst-9865	25	19	control	control	NOUN
ajst-9865	25	20	and	and	CCONJ
ajst-9865	25	21	mpc	mpc	PROPN
ajst-9865	25	22	.	.	PROPN
ajst-9865	25	23	based	base	VERB
ajst-9865	25	24	on	on	ADP
ajst-9865	25	25	the	the	DET
ajst-9865	25	26	above	above	ADJ
ajst-9865	25	27	analysis	analysis	NOUN
ajst-9865	25	28	,	,	PUNCT
ajst-9865	25	29	when	when	SCONJ
ajst-9865	25	30	the	the	DET
ajst-9865	25	31	traditional	traditional	ADJ
ajst-9865	25	32	model	model	NOUN
ajst-9865	25	33	predictive	predictive	PROPN
ajst-9865	25	34	control	control	NOUN
ajst-9865	25	35	scheme	scheme	NOUN
ajst-9865	25	36	is	be	AUX
ajst-9865	25	37	applied	apply	VERB
ajst-9865	25	38	to	to	ADP
ajst-9865	25	39	wmr	wmr	PROPN
ajst-9865	25	40	trajectory	trajectory	NOUN
ajst-9865	25	41	tracking	tracking	NOUN
ajst-9865	25	42	,	,	PUNCT
ajst-9865	25	43	there	there	PRON
ajst-9865	25	44	will	will	AUX
ajst-9865	25	45	still	still	ADV
ajst-9865	25	46	be	be	AUX
ajst-9865	25	47	problems	problem	NOUN
ajst-9865	25	48	of	of	ADP
ajst-9865	25	49	low	low	ADJ
ajst-9865	25	50	tracking	tracking	NOUN
ajst-9865	25	51	accuracy	accuracy	NOUN
ajst-9865	25	52	and	and	CCONJ
ajst-9865	25	53	large	large	ADJ
ajst-9865	25	54	steady	steady	ADJ
ajst-9865	25	55	-	-	PUNCT
ajst-9865	25	56	state	state	NOUN
ajst-9865	25	57	error	error	NOUN
ajst-9865	25	58	.	.	PUNCT
ajst-9865	26	1	on	on	ADP
ajst-9865	26	2	the	the	DET
ajst-9865	26	3	one	one	NUM
ajst-9865	26	4	hand	hand	NOUN
ajst-9865	26	5	,	,	PUNCT
ajst-9865	26	6	these	these	DET
ajst-9865	26	7	tmpcbased	tmpcbase	VERB
ajst-9865	26	8	control	control	NOUN
ajst-9865	26	9	schemes	scheme	NOUN
ajst-9865	26	10	do	do	AUX
ajst-9865	26	11	not	not	PART
ajst-9865	26	12	consider	consider	VERB
ajst-9865	26	13	the	the	DET
ajst-9865	26	14	error	error	NOUN
ajst-9865	26	15	caused	cause	VERB
ajst-9865	26	16	by	by	ADP
ajst-9865	26	17	the	the	DET
ajst-9865	26	18	control	control	NOUN
ajst-9865	26	19	increment	increment	NOUN
ajst-9865	26	20	limit	limit	NOUN
ajst-9865	26	21	and	and	CCONJ
ajst-9865	26	22	linearization	linearization	NOUN
ajst-9865	26	23	,	,	PUNCT
ajst-9865	26	24	so	so	CCONJ
ajst-9865	26	25	the	the	DET
ajst-9865	26	26	controller	controller	NOUN
ajst-9865	26	27	is	be	AUX
ajst-9865	26	28	designed	design	VERB
ajst-9865	26	29	through	through	ADP
ajst-9865	26	30	the	the	DET
ajst-9865	26	31	control	control	NOUN
ajst-9865	26	32	increment	increment	NOUN
ajst-9865	26	33	of	of	ADP
ajst-9865	26	34	wmr	wmr	PROPN
ajst-9865	26	35	,	,	PUNCT
ajst-9865	26	36	so	so	SCONJ
ajst-9865	26	37	as	as	SCONJ
ajst-9865	26	38	to	to	PART
ajst-9865	26	39	improve	improve	VERB
ajst-9865	26	40	the	the	DET
ajst-9865	26	41	wmr	wmr	PROPN
ajst-9865	26	42	trajectory	trajectory	NOUN
ajst-9865	26	43	tracking	tracking	NOUN
ajst-9865	26	44	accuracy	accuracy	NOUN
ajst-9865	26	45	.	.	PUNCT
ajst-9865	27	1	on	on	ADP
ajst-9865	27	2	the	the	DET
ajst-9865	27	3	other	other	ADJ
ajst-9865	27	4	hand	hand	NOUN
ajst-9865	27	5	,	,	PUNCT
ajst-9865	27	6	in	in	ADP
ajst-9865	27	7	wmr	wmr	PROPN
ajst-9865	27	8	,	,	PUNCT
ajst-9865	27	9	the	the	DET
ajst-9865	27	10	control	control	NOUN
ajst-9865	27	11	quantity	quantity	NOUN
ajst-9865	27	12	also	also	ADV
ajst-9865	27	13	has	have	VERB
ajst-9865	27	14	value	value	NOUN
ajst-9865	27	15	constraints	constraint	NOUN
ajst-9865	27	16	in	in	ADP
ajst-9865	27	17	the	the	DET
ajst-9865	27	18	time	time	NOUN
ajst-9865	27	19	domain	domain	NOUN
ajst-9865	27	20	,	,	PUNCT
ajst-9865	27	21	such	such	ADJ
ajst-9865	27	22	as	as	ADP
ajst-9865	27	23	speed	speed	NOUN
ajst-9865	27	24	constraints	constraint	NOUN
ajst-9865	27	25	,	,	PUNCT
ajst-9865	27	26	etc	etc	X
ajst-9865	27	27	.	.	X
ajst-9865	28	1	these	these	DET
ajst-9865	28	2	constraints	constraint	NOUN
ajst-9865	28	3	are	be	AUX
ajst-9865	28	4	unavoidable	unavoidable	ADJ
ajst-9865	28	5	,	,	PUNCT
ajst-9865	28	6	so	so	ADV
ajst-9865	28	7	designing	design	VERB
ajst-9865	28	8	a	a	DET
ajst-9865	28	9	multi	multi	ADJ
ajst-9865	28	10	-	-	ADJ
ajst-9865	28	11	constraint	constraint	ADJ
ajst-9865	28	12	mpc	mpc	NOUN
ajst-9865	28	13	controller	controller	NOUN
ajst-9865	28	14	is	be	AUX
ajst-9865	28	15	a	a	DET
ajst-9865	28	16	problem	problem	NOUN
ajst-9865	28	17	worth	worth	ADJ
ajst-9865	28	18	studying	study	VERB
ajst-9865	28	19	.	.	PUNCT
ajst-9865	29	1	considering	consider	VERB
ajst-9865	29	2	the	the	DET
ajst-9865	29	3	above	above	ADJ
ajst-9865	29	4	problems	problem	NOUN
ajst-9865	29	5	,	,	PUNCT
ajst-9865	29	6	this	this	DET
ajst-9865	29	7	paper	paper	NOUN
ajst-9865	29	8	proposes	propose	VERB
ajst-9865	29	9	a	a	DET
ajst-9865	29	10	multi	multi	ADJ
ajst-9865	29	11	-	-	ADJ
ajst-9865	29	12	constraint	constraint	ADJ
ajst-9865	29	13	model	model	NOUN
ajst-9865	29	14	predictive	predictive	PROPN
ajst-9865	29	15	control	control	PROPN
ajst-9865	29	16	scheme	scheme	NOUN
ajst-9865	29	17	with	with	ADP
ajst-9865	29	18	a	a	DET
ajst-9865	29	19	combination	combination	NOUN
ajst-9865	29	20	of	of	ADP
ajst-9865	29	21	feedforward	feedforward	NOUN
ajst-9865	29	22	and	and	CCONJ
ajst-9865	29	23	feedback	feedback	NOUN
ajst-9865	29	24	control	control	NOUN
ajst-9865	29	25	on	on	ADP
ajst-9865	29	26	the	the	DET
ajst-9865	29	27	basis	basis	NOUN
ajst-9865	29	28	of	of	ADP
ajst-9865	29	29	traditional	traditional	ADJ
ajst-9865	29	30	model	model	NOUN
ajst-9865	29	31	predictive	predictive	PROPN
ajst-9865	29	32	control	control	NOUN
ajst-9865	29	33	.	.	PUNCT
ajst-9865	30	1	first	first	ADV
ajst-9865	30	2	,	,	PUNCT
ajst-9865	30	3	the	the	DET
ajst-9865	30	4	kinematic	kinematic	ADJ
ajst-9865	30	5	error	error	NOUN
ajst-9865	30	6	model	model	NOUN
ajst-9865	30	7	of	of	ADP
ajst-9865	30	8	wmr	wmr	PROPN
ajst-9865	30	9	is	be	AUX
ajst-9865	30	10	linearized	linearized	ADJ
ajst-9865	30	11	and	and	CCONJ
ajst-9865	30	12	high	high	ADJ
ajst-9865	30	13	-	-	PUNCT
ajst-9865	30	14	order	order	NOUN
ajst-9865	30	15	items	item	NOUN
ajst-9865	30	16	are	be	AUX
ajst-9865	30	17	retained	retain	VERB
ajst-9865	30	18	,	,	PUNCT
ajst-9865	30	19	while	while	SCONJ
ajst-9865	30	20	considering	consider	VERB
ajst-9865	30	21	the	the	DET
ajst-9865	30	22	wmr	wmr	PROPN
ajst-9865	30	23	control	control	PROPN
ajst-9865	30	24	input	input	NOUN
ajst-9865	30	25	and	and	CCONJ
ajst-9865	30	26	its	its	PRON
ajst-9865	30	27	incremental	incremental	ADJ
ajst-9865	30	28	constraints	constraint	NOUN
ajst-9865	30	29	;	;	PUNCT
ajst-9865	30	30	second	second	X
ajst-9865	30	31	,	,	PUNCT
ajst-9865	30	32	the	the	DET
ajst-9865	30	33	feedforward	feedforward	ADJ
ajst-9865	30	34	controller	controller	NOUN
ajst-9865	30	35	is	be	AUX
ajst-9865	30	36	designed	design	VERB
ajst-9865	30	37	by	by	ADP
ajst-9865	30	38	calculating	calculate	VERB
ajst-9865	30	39	the	the	DET
ajst-9865	30	40	reference	reference	NOUN
ajst-9865	30	41	control	control	NOUN
ajst-9865	30	42	input	input	NOUN
ajst-9865	30	43	through	through	ADP
ajst-9865	30	44	the	the	DET
ajst-9865	30	45	expected	expect	VERB
ajst-9865	30	46	trajectory	trajectory	NOUN
ajst-9865	30	47	;	;	PUNCT
ajst-9865	30	48	then	then	ADV
ajst-9865	30	49	,	,	PUNCT
ajst-9865	30	50	in	in	ADP
ajst-9865	30	51	the	the	DET
ajst-9865	30	52	feedback	feedback	NOUN
ajst-9865	30	53	the	the	DET
ajst-9865	30	54	speed	speed	NOUN
ajst-9865	30	55	optimization	optimization	NOUN
ajst-9865	30	56	strategy	strategy	NOUN
ajst-9865	30	57	is	be	AUX
ajst-9865	30	58	added	add	VERB
ajst-9865	30	59	to	to	ADP
ajst-9865	30	60	the	the	DET
ajst-9865	30	61	control	control	NOUN
ajst-9865	30	62	,	,	PUNCT
ajst-9865	30	63	the	the	DET
ajst-9865	30	64	control	control	NOUN
ajst-9865	30	65	incremental	incremental	ADJ
ajst-9865	30	66	state	state	NOUN
ajst-9865	30	67	space	space	NOUN
ajst-9865	30	68	equation	equation	NOUN
ajst-9865	30	69	is	be	AUX
ajst-9865	30	70	used	use	VERB
ajst-9865	30	71	as	as	ADP
ajst-9865	30	72	the	the	DET
ajst-9865	30	73	prediction	prediction	NOUN
ajst-9865	30	74	model	model	NOUN
ajst-9865	30	75	,	,	PUNCT
ajst-9865	30	76	the	the	DET
ajst-9865	30	77	objective	objective	ADJ
ajst-9865	30	78	function	function	NOUN
ajst-9865	30	79	is	be	AUX
ajst-9865	30	80	designed	design	VERB
ajst-9865	30	81	under	under	ADP
ajst-9865	30	82	multiple	multiple	ADJ
ajst-9865	30	83	constraints	constraint	NOUN
ajst-9865	30	84	,	,	PUNCT
ajst-9865	30	85	and	and	CCONJ
ajst-9865	30	86	the	the	DET
ajst-9865	30	87	constraint	constraint	NOUN
ajst-9865	30	88	optimization	optimization	NOUN
ajst-9865	30	89	problem	problem	NOUN
ajst-9865	30	90	in	in	ADP
ajst-9865	30	91	the	the	DET
ajst-9865	30	92	finite	finite	ADJ
ajst-9865	30	93	time	time	NOUN
ajst-9865	30	94	domain	domain	NOUN
ajst-9865	30	95	is	be	AUX
ajst-9865	30	96	defined	define	VERB
ajst-9865	30	97	to	to	PART
ajst-9865	30	98	obtain	obtain	VERB
ajst-9865	30	99	the	the	DET
ajst-9865	30	100	mmpc	mmpc	NOUN
ajst-9865	30	101	trajectory	trajectory	NOUN
ajst-9865	30	102	tracking	tracking	NOUN
ajst-9865	30	103	controller	controller	NOUN
ajst-9865	30	104	;	;	PUNCT
ajst-9865	30	105	then	then	ADV
ajst-9865	30	106	,	,	PUNCT
ajst-9865	30	107	the	the	DET
ajst-9865	30	108	designed	design	VERB
ajst-9865	30	109	mmpc	mmpc	NOUN
ajst-9865	30	110	control	control	NOUN
ajst-9865	30	111	finally	finally	ADV
ajst-9865	30	112	,	,	PUNCT
ajst-9865	30	113	the	the	DET
ajst-9865	30	114	simulation	simulation	NOUN
ajst-9865	30	115	and	and	CCONJ
ajst-9865	30	116	physical	physical	ADJ
ajst-9865	30	117	experiments	experiment	NOUN
ajst-9865	30	118	verify	verify	VERB
ajst-9865	30	119	that	that	SCONJ
ajst-9865	30	120	the	the	DET
ajst-9865	30	121	mmpc	mmpc	PROPN
ajst-9865	30	122	control	control	PROPN
ajst-9865	30	123	scheme	scheme	NOUN
ajst-9865	30	124	has	have	VERB
ajst-9865	30	125	better	well	ADJ
ajst-9865	30	126	performance	performance	NOUN
ajst-9865	30	127	than	than	ADP
ajst-9865	30	128	the	the	DET
ajst-9865	30	129	tmpc	tmpc	PROPN
ajst-9865	30	130	control	control	PROPN
ajst-9865	30	131	scheme	scheme	NOUN
ajst-9865	30	132	and	and	CCONJ
ajst-9865	30	133	the	the	DET
ajst-9865	30	134	pid	pid	NOUN
ajst-9865	30	135	control	control	NOUN
ajst-9865	30	136	scheme	scheme	NOUN
ajst-9865	30	137	in	in	ADP
ajst-9865	30	138	trajectory	trajectory	NOUN
ajst-9865	30	139	tracking	tracking	NOUN
ajst-9865	30	140	.	.	PUNCT
ajst-9865	31	1	2	2	X
ajst-9865	31	2	.	.	X
ajst-9865	31	3	problem	problem	NOUN
ajst-9865	31	4	description	description	PROPN
ajst-9865	31	5	wmr	wmr	PROPN
ajst-9865	31	6	is	be	AUX
ajst-9865	31	7	a	a	DET
ajst-9865	31	8	typical	typical	ADJ
ajst-9865	31	9	underactuated	underactuated	ADJ
ajst-9865	31	10	system	system	NOUN
ajst-9865	31	11	with	with	ADP
ajst-9865	31	12	nonintegrity	nonintegrity	NOUN
ajst-9865	31	13	constraints	constraint	NOUN
ajst-9865	31	14	.	.	PUNCT
ajst-9865	32	1	the	the	DET
ajst-9865	32	2	kinematics	kinematics	NOUN
ajst-9865	32	3	model	model	NOUN
ajst-9865	32	4	of	of	ADP
ajst-9865	32	5	the	the	DET
ajst-9865	32	6	wheeled	wheel	VERB
ajst-9865	32	7	mobile	mobile	ADJ
ajst-9865	32	8	robot	robot	NOUN
ajst-9865	32	9	is	be	AUX
ajst-9865	32	10	shown	show	VERB
ajst-9865	32	11	in	in	ADP
ajst-9865	32	12	figure	figure	NOUN
ajst-9865	32	13	1	1	NUM
ajst-9865	32	14	.	.	NOUN
ajst-9865	32	15	138	138	NUM
ajst-9865	32	16	figure	figure	NOUN
ajst-9865	32	17	1	1	NUM
ajst-9865	32	18	.	.	PUNCT
ajst-9865	33	1	wmr	wmr	PROPN
ajst-9865	33	2	kinematic	kinematic	PROPN
ajst-9865	33	3	model	model	NOUN
ajst-9865	33	4	in	in	ADP
ajst-9865	33	5	figure	figure	NOUN
ajst-9865	33	6	1	1	NUM
ajst-9865	33	7	,	,	PUNCT
ajst-9865	33	8	there	there	PRON
ajst-9865	33	9	are	be	VERB
ajst-9865	33	10	two	two	NUM
ajst-9865	33	11	cartesian	cartesian	ADJ
ajst-9865	33	12	coordinate	coordinate	NOUN
ajst-9865	33	13	systems	system	NOUN
ajst-9865	33	14	,	,	PUNCT
ajst-9865	33	15	{	{	PUNCT
ajst-9865	33	16	,	,	PUNCT
ajst-9865	33	17	,	,	PUNCT
ajst-9865	33	18	}	}	PUNCT
ajst-9865	33	19	x	x	X
ajst-9865	33	20	o	o	NOUN
ajst-9865	33	21	y	y	PROPN
ajst-9865	33	22	is	be	AUX
ajst-9865	33	23	the	the	DET
ajst-9865	33	24	global	global	ADJ
ajst-9865	33	25	coordinate	coordinate	NOUN
ajst-9865	33	26	system	system	NOUN
ajst-9865	33	27	fixed	fix	VERB
ajst-9865	33	28	on	on	ADP
ajst-9865	33	29	the	the	DET
ajst-9865	33	30	ground	ground	NOUN
ajst-9865	33	31	and	and	CCONJ
ajst-9865	33	32	{	{	PUNCT
ajst-9865	33	33	,	,	PUNCT
ajst-9865	33	34	,	,	PUNCT
ajst-9865	33	35	}	}	PUNCT
ajst-9865	33	36	x	x	X
ajst-9865	33	37	o	o	NOUN
ajst-9865	33	38	y	y	PROPN
ajst-9865	33	39	is	be	AUX
ajst-9865	33	40	the	the	DET
ajst-9865	33	41	local	local	ADJ
ajst-9865	33	42	coordinate	coordinate	NOUN
ajst-9865	33	43	system	system	NOUN
ajst-9865	33	44	on	on	ADP
ajst-9865	33	45	the	the	DET
ajst-9865	33	46	wheeled	wheel	VERB
ajst-9865	33	47	mobile	mobile	ADJ
ajst-9865	33	48	robot	robot	NOUN
ajst-9865	33	49	.	.	PUNCT
ajst-9865	34	1	is	be	AUX
ajst-9865	34	2	the	the	DET
ajst-9865	34	3	angle	angle	NOUN
ajst-9865	34	4	between	between	ADP
ajst-9865	34	5	the	the	DET
ajst-9865	34	6	forward	forward	ADJ
ajst-9865	34	7	direction	direction	NOUN
ajst-9865	34	8	and	and	CCONJ
ajst-9865	34	9	x	x	NOUN
ajst-9865	34	10	,	,	PUNCT
ajst-9865	34	11	and	and	CCONJ
ajst-9865	34	12	,	,	PUNCT
ajst-9865	34	13	v	v	NOUN
ajst-9865	34	14	are	be	AUX
ajst-9865	34	15	the	the	DET
ajst-9865	34	16	translational	translational	ADJ
ajst-9865	34	17	and	and	CCONJ
ajst-9865	34	18	rotational	rotational	ADJ
ajst-9865	34	19	velocities	velocity	NOUN
ajst-9865	34	20	of	of	ADP
ajst-9865	34	21	the	the	DET
ajst-9865	34	22	wmr	wmr	PROPN
ajst-9865	34	23	respectively	respectively	ADV
ajst-9865	34	24	.	.	PUNCT
ajst-9865	35	1	it	it	PRON
ajst-9865	35	2	is	be	AUX
ajst-9865	35	3	assumed	assume	VERB
ajst-9865	35	4	that	that	SCONJ
ajst-9865	35	5	the	the	DET
ajst-9865	35	6	wheel	wheel	NOUN
ajst-9865	35	7	is	be	AUX
ajst-9865	35	8	in	in	ADP
ajst-9865	35	9	a	a	DET
ajst-9865	35	10	pure	pure	ADJ
ajst-9865	35	11	rolling	rolling	ADJ
ajst-9865	35	12	motion	motion	NOUN
ajst-9865	35	13	without	without	ADP
ajst-9865	35	14	sliding	slide	VERB
ajst-9865	35	15	in	in	ADP
ajst-9865	35	16	the	the	DET
ajst-9865	35	17	plane	plane	NOUN
ajst-9865	35	18	.	.	PUNCT
ajst-9865	36	1	at	at	ADP
ajst-9865	36	2	the	the	DET
ajst-9865	36	3	instant	instant	NOUN
ajst-9865	36	4	of	of	ADP
ajst-9865	36	5	motion	motion	NOUN
ajst-9865	36	6	,	,	PUNCT
ajst-9865	36	7	the	the	DET
ajst-9865	36	8	velocity	velocity	NOUN
ajst-9865	36	9	of	of	ADP
ajst-9865	36	10	the	the	DET
ajst-9865	36	11	wmr	wmr	PROPN
ajst-9865	36	12	is	be	AUX
ajst-9865	36	13	directed	direct	VERB
ajst-9865	36	14	towards	towards	ADP
ajst-9865	36	15	the	the	DET
ajst-9865	36	16	main	main	ADJ
ajst-9865	36	17	axis	axis	NOUN
ajst-9865	36	18	of	of	ADP
ajst-9865	36	19	the	the	DET
ajst-9865	36	20	robot	robot	NOUN
ajst-9865	36	21	.	.	PUNCT
ajst-9865	37	1	the	the	DET
ajst-9865	37	2	slave	slave	NOUN
ajst-9865	37	3	wheel	wheel	NOUN
ajst-9865	37	4	acts	act	VERB
ajst-9865	37	5	as	as	ADP
ajst-9865	37	6	a	a	DET
ajst-9865	37	7	support	support	NOUN
ajst-9865	37	8	during	during	ADP
ajst-9865	37	9	the	the	DET
ajst-9865	37	10	motion	motion	NOUN
ajst-9865	37	11	and	and	CCONJ
ajst-9865	37	12	its	its	PRON
ajst-9865	37	13	influence	influence	NOUN
ajst-9865	37	14	can	can	AUX
ajst-9865	37	15	be	be	AUX
ajst-9865	37	16	neglected	neglect	VERB
ajst-9865	37	17	.	.	PUNCT
ajst-9865	38	1	from	from	ADP
ajst-9865	38	2	the	the	DET
ajst-9865	38	3	non	non	ADJ
ajst-9865	38	4	-	-	ADJ
ajst-9865	38	5	completeness	completeness	ADJ
ajst-9865	38	6	constraint	constraint	NOUN
ajst-9865	38	7	of	of	ADP
ajst-9865	38	8	the	the	DET
ajst-9865	38	9	(	(	PUNCT
ajst-9865	38	10	)	)	PUNCT
ajst-9865	38	11	sin	sin	NOUN
ajst-9865	38	12	(	(	PUNCT
ajst-9865	38	13	)	)	PUNCT
ajst-9865	38	14	(	(	PUNCT
ajst-9865	38	15	)	)	PUNCT
ajst-9865	38	16	cos	cos	PROPN
ajst-9865	38	17	(	(	PUNCT
ajst-9865	38	18	)	)	PUNCT
ajst-9865	38	19	0x	0x	NOUN
ajst-9865	38	20	t	t	PROPN
ajst-9865	38	21	t	t	PROPN
ajst-9865	38	22	y	y	PROPN
ajst-9865	38	23	t	t	PROPN
ajst-9865	38	24	t	t	PROPN
ajst-9865	38	25	(	(	PUNCT
ajst-9865	38	26	)	)	PUNCT
ajst-9865	38	27	sin	sin	NOUN
ajst-9865	38	28	(	(	PUNCT
ajst-9865	38	29	)	)	PUNCT
ajst-9865	38	30	(	(	PUNCT
ajst-9865	38	31	)	)	PUNCT
ajst-9865	38	32	cos	cos	PROPN
ajst-9865	38	33	(	(	PUNCT
ajst-9865	38	34	)	)	PUNCT
ajst-9865	38	35	0x	0x	NOUN
ajst-9865	38	36	t	t	PROPN
ajst-9865	38	37	t	t	PROPN
ajst-9865	38	38	y	y	PROPN
ajst-9865	38	39	t	t	PROPN
ajst-9865	38	40	t	t	PROPN
ajst-9865	38	41	(	(	PUNCT
ajst-9865	38	42	)	)	PUNCT
ajst-9865	38	43	sin	sin	NOUN
ajst-9865	38	44	(	(	PUNCT
ajst-9865	38	45	)	)	PUNCT
ajst-9865	38	46	(	(	PUNCT
ajst-9865	38	47	)	)	PUNCT
ajst-9865	38	48	cos	cos	PROPN
ajst-9865	38	49	(	(	PUNCT
ajst-9865	38	50	)	)	PUNCT
ajst-9865	38	51	sin	sin	NOUN
ajst-9865	38	52	(	(	PUNCT
ajst-9865	38	53	)	)	PUNCT
ajst-9865	38	54	(	(	PUNCT
ajst-9865	38	55	)	)	PUNCT
ajst-9865	38	56	cos	cos	X
ajst-9865	38	57	(	(	PUNCT
ajst-9865	38	58	(	(	PUNCT
ajst-9865	38	59	)	)	PUNCT
ajst-9865	38	60	(	(	PUNCT
ajst-9865	38	61	)	)	PUNCT
ajst-9865	38	62	(	(	PUNCT
ajst-9865	38	63	(	(	PUNCT
ajst-9865	38	64	)	)	PUNCT
ajst-9865	38	65	(	(	PUNCT
ajst-9865	38	66	)	)	PUNCT
ajst-9865	38	67	(	(	PUNCT
ajst-9865	38	68	)	)	PUNCT
ajst-9865	38	69	(	(	PUNCT
ajst-9865	38	70	)	)	PUNCT
ajst-9865	38	71	cos	cos	NOUN
ajst-9865	38	72	)	)	PUNCT
ajst-9865	38	73	os	os	NOUN
ajst-9865	38	74	)	)	PUNCT
ajst-9865	38	75	(	(	PUNCT
ajst-9865	38	76	(	(	PUNCT
ajst-9865	38	77	)	)	PUNCT
ajst-9865	38	78	cos	cos	PROPN
ajst-9865	38	79	,	,	PUNCT
ajst-9865	38	80	the	the	DET
ajst-9865	38	81	kinematic	kinematic	ADJ
ajst-9865	38	82	equation	equation	NOUN
ajst-9865	38	83	can	can	AUX
ajst-9865	38	84	be	be	AUX
ajst-9865	38	85	obtained	obtain	VERB
ajst-9865	38	86	as	as	SCONJ
ajst-9865	38	87	follows	follow	VERB
ajst-9865	38	88	cos	cos	PROPN
ajst-9865	38	89	(	(	PUNCT
ajst-9865	38	90	)	)	PUNCT
ajst-9865	38	91	0	0	NUM
ajst-9865	39	1	(	(	PUNCT
ajst-9865	39	2	)	)	PUNCT
ajst-9865	39	3	(	(	PUNCT
ajst-9865	39	4	(	(	PUNCT
ajst-9865	39	5	)	)	PUNCT
ajst-9865	39	6	,	,	PUNCT
ajst-9865	39	7	(	(	PUNCT
ajst-9865	39	8	)	)	PUNCT
ajst-9865	39	9	)	)	PUNCT
ajst-9865	39	10	(	(	PUNCT
ajst-9865	39	11	)	)	PUNCT
ajst-9865	39	12	sin	sin	NOUN
ajst-9865	39	13	(	(	PUNCT
ajst-9865	39	14	)	)	PUNCT
ajst-9865	39	15	0	0	NUM
ajst-9865	39	16	0	0	NUM
ajst-9865	39	17	1	1	NUM
ajst-9865	39	18	t	t	NOUN
ajst-9865	39	19	t	t	X
ajst-9865	39	20	f	f	PROPN
ajst-9865	39	21	t	t	PROPN
ajst-9865	39	22	u	u	PROPN
ajst-9865	39	23	t	t	PROPN
ajst-9865	39	24	u	u	X
ajst-9865	39	25	tt	tt	PROPN
ajst-9865	39	26	(	(	PUNCT
ajst-9865	39	27	)	)	PUNCT
ajst-9865	39	28	(	(	PUNCT
ajst-9865	39	29	)	)	PUNCT
ajst-9865	39	30	(	(	PUNCT
ajst-9865	39	31	)	)	PUNCT
ajst-9865	39	32	(	(	PUNCT
ajst-9865	39	33	f	f	X
ajst-9865	39	34	)	)	PUNCT
ajst-9865	39	35	(	(	PUNCT
ajst-9865	39	36	)	)	PUNCT
ajst-9865	39	37	(	(	PUNCT
ajst-9865	39	38	(	(	PUNCT
ajst-9865	39	39	1	1	X
ajst-9865	39	40	)	)	PUNCT
ajst-9865	39	41	in	in	ADP
ajst-9865	39	42	equation	equation	NOUN
ajst-9865	39	43	(	(	PUNCT
ajst-9865	39	44	1	1	NUM
ajst-9865	39	45	)	)	PUNCT
ajst-9865	39	46	,	,	PUNCT
ajst-9865	39	47	(	(	PUNCT
ajst-9865	39	48	)	)	PUNCT
ajst-9865	39	49	[	[	PUNCT
ajst-9865	39	50	(	(	PUNCT
ajst-9865	39	51	)	)	PUNCT
ajst-9865	39	52	(	(	PUNCT
ajst-9865	39	53	)	)	PUNCT
ajst-9865	39	54	(	(	PUNCT
ajst-9865	39	55	)	)	PUNCT
ajst-9865	39	56	]	]	X
ajst-9865	39	57	tt	tt	X
ajst-9865	39	58	x	x	SYM
ajst-9865	39	59	t	t	PROPN
ajst-9865	39	60	y	y	PROPN
ajst-9865	39	61	t	t	PROPN
ajst-9865	39	62	t	t	PROPN
ajst-9865	39	63	represents	represent	VERB
ajst-9865	39	64	the	the	DET
ajst-9865	39	65	position	position	NOUN
ajst-9865	39	66	and	and	CCONJ
ajst-9865	39	67	orientation	orientation	NOUN
ajst-9865	39	68	of	of	ADP
ajst-9865	39	69	the	the	DET
ajst-9865	39	70	wmr	wmr	PROPN
ajst-9865	39	71	in	in	ADP
ajst-9865	39	72	the	the	DET
ajst-9865	39	73	global	global	ADJ
ajst-9865	39	74	coordinate	coordinate	NOUN
ajst-9865	39	75	system	system	NOUN
ajst-9865	39	76	{	{	PUNCT
ajst-9865	39	77	,	,	PUNCT
ajst-9865	39	78	,	,	PUNCT
ajst-9865	39	79	}	}	PUNCT
ajst-9865	39	80	x	x	X
ajst-9865	39	81	o	o	X
ajst-9865	39	82	y	y	PROPN
ajst-9865	39	83	and	and	CCONJ
ajst-9865	39	84	(	(	PUNCT
ajst-9865	39	85	)	)	PUNCT
ajst-9865	39	86	(	(	PUNCT
ajst-9865	39	87	)	)	PUNCT
ajst-9865	39	88	(	(	PUNCT
ajst-9865	39	89	)	)	PUNCT
ajst-9865	39	90	tt	tt	PROPN
ajst-9865	39	91	v	v	ADP
ajst-9865	39	92	t	t	PROPN
ajst-9865	39	93	tu	tu	PROPN
ajst-9865	39	94	represents	represent	VERB
ajst-9865	39	95	the	the	DET
ajst-9865	39	96	control	control	NOUN
ajst-9865	39	97	input	input	NOUN
ajst-9865	39	98	vector	vector	NOUN
ajst-9865	39	99	where	where	SCONJ
ajst-9865	39	100	the	the	DET
ajst-9865	39	101	linear	linear	ADJ
ajst-9865	39	102	velocity	velocity	NOUN
ajst-9865	39	103	is	be	AUX
ajst-9865	39	104	(	(	PUNCT
ajst-9865	39	105	)	)	PUNCT
ajst-9865	39	106	v	v	NOUN
ajst-9865	39	107	t	t	NOUN
ajst-9865	39	108	velocity	velocity	NOUN
ajst-9865	39	109	is	be	AUX
ajst-9865	39	110	(	(	PUNCT
ajst-9865	39	111	)	)	PUNCT
ajst-9865	39	112	t	t	PROPN
ajst-9865	39	113	a	a	DET
ajst-9865	39	114	state	state	NOUN
ajst-9865	39	115	tracking	tracking	NOUN
ajst-9865	39	116	error	error	NOUN
ajst-9865	39	117	vector	vector	NOUN
ajst-9865	39	118	(	(	PUNCT
ajst-9865	39	119	)	)	PUNCT
ajst-9865	39	120	[	[	PUNCT
ajst-9865	39	121	(	(	PUNCT
ajst-9865	39	122	)	)	PUNCT
ajst-9865	39	123	(	(	PUNCT
ajst-9865	39	124	)	)	PUNCT
ajst-9865	39	125	(	(	PUNCT
ajst-9865	39	126	)	)	PUNCT
ajst-9865	39	127	]	]	X
ajst-9865	39	128	te	te	X
ajst-9865	39	129	e	e	X
ajst-9865	39	130	e	e	X
ajst-9865	39	131	et	et	PROPN
ajst-9865	39	132	x	x	PROPN
ajst-9865	39	133	t	t	PROPN
ajst-9865	39	134	y	y	PROPN
ajst-9865	39	135	t	t	PROPN
ajst-9865	39	136	t	t	PROPN
ajst-9865	39	137	is	be	AUX
ajst-9865	39	138	defined	define	VERB
ajst-9865	39	139	in	in	ADP
ajst-9865	39	140	the	the	DET
ajst-9865	39	141	local	local	ADJ
ajst-9865	39	142	coordinate	coordinate	NOUN
ajst-9865	39	143	system	system	NOUN
ajst-9865	39	144	{	{	PUNCT
ajst-9865	39	145	,	,	PUNCT
ajst-9865	39	146	,	,	PUNCT
ajst-9865	39	147	}	}	PUNCT
ajst-9865	39	148	x	x	PUNCT
ajst-9865	39	149	o	o	X
ajst-9865	39	150	y	y	NOUN
ajst-9865	39	151	which	which	PRON
ajst-9865	39	152	is	be	AUX
ajst-9865	39	153	expanded	expand	VERB
ajst-9865	39	154	in	in	ADP
ajst-9865	39	155	a	a	DET
ajst-9865	39	156	taylor	taylor	PROPN
ajst-9865	39	157	series	series	NOUN
ajst-9865	39	158	at	at	ADP
ajst-9865	39	159	the	the	DET
ajst-9865	39	160	reference	reference	NOUN
ajst-9865	39	161	trajectory	trajectory	NOUN
ajst-9865	39	162	point	point	NOUN
ajst-9865	39	163	(	(	PUNCT
ajst-9865	39	164	(	(	PUNCT
ajst-9865	39	165	)	)	PUNCT
ajst-9865	39	166	,	,	PUNCT
ajst-9865	39	167	(	(	PUNCT
ajst-9865	39	168	)	)	PUNCT
ajst-9865	39	169	)	)	PUNCT
ajst-9865	40	1	r	r	NOUN
ajst-9865	40	2	rt	rt	PROPN
ajst-9865	40	3	tu	tu	PROPN
ajst-9865	40	4	to	to	PART
ajst-9865	40	5	obtain	obtain	VERB
ajst-9865	40	6	a	a	DET
ajst-9865	40	7	wheeled	wheel	VERB
ajst-9865	40	8	mobile	mobile	ADJ
ajst-9865	40	9	robot	robot	NOUN
ajst-9865	40	10	error	error	NOUN
ajst-9865	40	11	model	model	NOUN
ajst-9865	40	12	,	,	PUNCT
ajst-9865	40	13	which	which	PRON
ajst-9865	40	14	is	be	AUX
ajst-9865	40	15	represented	represent	VERB
ajst-9865	40	16	as	as	SCONJ
ajst-9865	40	17	follows	follow	VERB
ajst-9865	40	18	0	0	NUM
ajst-9865	40	19	0	0	NUM
ajst-9865	40	20	sin	sin	NOUN
ajst-9865	40	21	(	(	PUNCT
ajst-9865	40	22	)	)	PUNCT
ajst-9865	40	23	(	(	PUNCT
ajst-9865	40	24	)	)	PUNCT
ajst-9865	40	25	(	(	PUNCT
ajst-9865	40	26	)	)	PUNCT
ajst-9865	40	27	(	(	PUNCT
ajst-9865	40	28	)	)	PUNCT
ajst-9865	40	29	0	0	SYM
ajst-9865	40	30	0	0	X
ajst-9865	41	1	cos	cos	PROPN
ajst-9865	41	2	(	(	PUNCT
ajst-9865	41	3	)	)	PUNCT
ajst-9865	41	4	(	(	PUNCT
ajst-9865	41	5	)	)	PUNCT
ajst-9865	41	6	(	(	PUNCT
ajst-9865	41	7	)	)	PUNCT
ajst-9865	41	8	0	0	NUM
ajst-9865	41	9	0	0	NUM
ajst-9865	41	10	1	1	NUM
ajst-9865	41	11	(	(	PUNCT
ajst-9865	41	12	)	)	PUNCT
ajst-9865	41	13	(	(	PUNCT
ajst-9865	41	14	)	)	PUNCT
ajst-9865	41	15	cos	cos	PROPN
ajst-9865	41	16	(	(	PUNCT
ajst-9865	41	17	)	)	PUNCT
ajst-9865	41	18	0	0	NUM
ajst-9865	41	19	(	(	PUNCT
ajst-9865	41	20	)	)	PUNCT
ajst-9865	41	21	(	(	PUNCT
ajst-9865	41	22	)	)	PUNCT
ajst-9865	41	23	sin	sin	NOUN
ajst-9865	41	24	(	(	PUNCT
ajst-9865	41	25	)	)	PUNCT
ajst-9865	41	26	0	0	NUM
ajst-9865	41	27	(	(	PUNCT
ajst-9865	41	28	)	)	PUNCT
ajst-9865	41	29	(	(	PUNCT
ajst-9865	41	30	)	)	PUNCT
ajst-9865	41	31	(	(	PUNCT
ajst-9865	41	32	)	)	PUNCT
ajst-9865	41	33	0	0	NUM
ajst-9865	42	1	1	1	NUM
ajst-9865	42	2	r	r	NOUN
ajst-9865	42	3	r	r	NOUN
ajst-9865	42	4	r	r	NOUN
ajst-9865	42	5	e	e	NOUN
ajst-9865	42	6	r	r	NOUN
ajst-9865	42	7	r	r	NOUN
ajst-9865	42	8	r	r	NOUN
ajst-9865	42	9	r	r	NOUN
ajst-9865	42	10	r	r	NOUN
ajst-9865	42	11	r	r	NOUN
ajst-9865	42	12	r	r	NOUN
ajst-9865	42	13	r	r	NOUN
ajst-9865	42	14	v	v	ADP
ajst-9865	42	15	t	t	NOUN
ajst-9865	42	16	x	x	SYM
ajst-9865	42	17	t	t	PROPN
ajst-9865	42	18	x	x	SYM
ajst-9865	42	19	t	t	PROPN
ajst-9865	42	20	t	t	PROPN
ajst-9865	42	21	v	v	ADP
ajst-9865	42	22	t	t	PROPN
ajst-9865	42	23	y	y	PROPN
ajst-9865	42	24	t	t	PROPN
ajst-9865	42	25	y	y	PROPN
ajst-9865	43	1	t	t	PROPN
ajst-9865	43	2	t	t	PROPN
ajst-9865	43	3	t	t	PROPN
ajst-9865	43	4	t	t	PROPN
ajst-9865	43	5	v	v	ADP
ajst-9865	43	6	t	t	PROPN
ajst-9865	43	7	v	v	NOUN
ajst-9865	43	8	t	t	PROPN
ajst-9865	43	9	t	t	PROPN
ajst-9865	43	10	t	t	PROPN
ajst-9865	43	11	t	t	PROPN
ajst-9865	43	12	t	t	PROPN
ajst-9865	43	13	(	(	PUNCT
ajst-9865	43	14	)	)	PUNCT
ajst-9865	43	15	e	e	NOUN
ajst-9865	43	16	(	(	PUNCT
ajst-9865	43	17	)	)	PUNCT
ajst-9865	43	18	)	)	PUNCT
ajst-9865	43	19	000000	000000	NUM
ajst-9865	44	1	d	d	X
ajst-9865	44	2	(	(	PUNCT
ajst-9865	44	3	2	2	NUM
ajst-9865	44	4	)	)	PUNCT
ajst-9865	44	5	in	in	ADP
ajst-9865	44	6	equation	equation	NOUN
ajst-9865	44	7	(	(	PUNCT
ajst-9865	44	8	2	2	NUM
ajst-9865	44	9	)	)	PUNCT
ajst-9865	44	10	,	,	PUNCT
ajst-9865	44	11	(	(	PUNCT
ajst-9865	44	12	)	)	PUNCT
ajst-9865	44	13	td	td	NOUN
ajst-9865	44	14	is	be	AUX
ajst-9865	44	15	the	the	DET
ajst-9865	44	16	higher	high	ADJ
ajst-9865	44	17	order	order	NOUN
ajst-9865	44	18	term	term	NOUN
ajst-9865	44	19	of	of	ADP
ajst-9865	44	20	the	the	DET
ajst-9865	44	21	taylor	taylor	PROPN
ajst-9865	44	22	expansion	expansion	NOUN
ajst-9865	44	23	of	of	ADP
ajst-9865	44	24	(	(	PUNCT
ajst-9865	44	25	)	)	PUNCT
ajst-9865	44	26	e	e	PROPN
ajst-9865	44	27	t	t	PROPN
ajst-9865	44	28	(	(	PUNCT
ajst-9865	44	29	)	)	PUNCT
ajst-9865	44	30	e	e	NOUN
ajst-9865	44	31	considering	consider	VERB
ajst-9865	44	32	the	the	DET
ajst-9865	44	33	operational	operational	ADJ
ajst-9865	44	34	safety	safety	NOUN
ajst-9865	44	35	of	of	ADP
ajst-9865	44	36	the	the	DET
ajst-9865	44	37	wheeled	wheel	VERB
ajst-9865	44	38	mobile	mobile	ADJ
ajst-9865	44	39	robot	robot	NOUN
ajst-9865	44	40	,	,	PUNCT
ajst-9865	44	41	both	both	PRON
ajst-9865	44	42	need	need	VERB
ajst-9865	44	43	to	to	PART
ajst-9865	44	44	keep	keep	VERB
ajst-9865	44	45	v	v	NOUN
ajst-9865	44	46	and	and	CCONJ
ajst-9865	44	47	within	within	ADP
ajst-9865	44	48	a	a	DET
ajst-9865	44	49	certain	certain	ADJ
ajst-9865	44	50	range	range	NOUN
ajst-9865	44	51	,	,	PUNCT
ajst-9865	44	52	with	with	ADP
ajst-9865	44	53	the	the	DET
ajst-9865	44	54	following	follow	VERB
ajst-9865	44	55	constraints	constraint	NOUN
ajst-9865	44	56	on	on	ADP
ajst-9865	44	57	the	the	DET
ajst-9865	44	58	controller	controller	NOUN
ajst-9865	44	59	:	:	PUNCT
ajst-9865	45	1	min	min	PROPN
ajst-9865	45	2	max	max	PROPN
ajst-9865	45	3	min	min	PROPN
ajst-9865	45	4	max	max	PROPN
ajst-9865	45	5	min	min	PROPN
ajst-9865	45	6	max	max	PROPN
ajst-9865	45	7	min	min	PROPN
ajst-9865	45	8	max	max	PROPN
ajst-9865	45	9	v	v	PROPN
ajst-9865	45	10	v	v	PROPN
ajst-9865	45	11	v	v	NUM
ajst-9865	45	12	v	v	ADP
ajst-9865	45	13	v	v	NOUN
ajst-9865	45	14	v	v	NOUN
ajst-9865	45	15	(	(	PUNCT
ajst-9865	45	16	3	3	NUM
ajst-9865	45	17	)	)	PUNCT
ajst-9865	45	18	the	the	DET
ajst-9865	45	19	maximum	maximum	ADJ
ajst-9865	45	20	linear	linear	ADJ
ajst-9865	45	21	and	and	CCONJ
ajst-9865	45	22	angular	angular	ADJ
ajst-9865	45	23	velocities	velocity	NOUN
ajst-9865	45	24	are	be	AUX
ajst-9865	45	25	maxv	maxv	NOUN
ajst-9865	45	26	and	and	CCONJ
ajst-9865	45	27	max	max	PROPN
ajst-9865	45	28	,	,	PUNCT
ajst-9865	45	29	respectively	respectively	ADV
ajst-9865	45	30	,	,	PUNCT
ajst-9865	45	31	and	and	CCONJ
ajst-9865	45	32	the	the	DET
ajst-9865	45	33	minimum	minimum	ADJ
ajst-9865	45	34	linear	linear	NOUN
ajst-9865	45	35	and	and	CCONJ
ajst-9865	45	36	angular	angular	ADJ
ajst-9865	45	37	velocities	velocity	NOUN
ajst-9865	45	38	are	be	AUX
ajst-9865	45	39	minv	minv	ADJ
ajst-9865	45	40	and	and	CCONJ
ajst-9865	45	41	min	min	NOUN
ajst-9865	45	42	respectively	respectively	ADV
ajst-9865	45	43	.	.	PUNCT
ajst-9865	46	1	for	for	ADP
ajst-9865	46	2	each	each	DET
ajst-9865	46	3	control	control	NOUN
ajst-9865	46	4	cycle	cycle	NOUN
ajst-9865	46	5	,	,	PUNCT
ajst-9865	46	6	there	there	PRON
ajst-9865	46	7	are	be	VERB
ajst-9865	46	8	constraints	constraint	NOUN
ajst-9865	46	9	on	on	ADP
ajst-9865	46	10	the	the	DET
ajst-9865	46	11	linear	linear	ADJ
ajst-9865	46	12	velocity	velocity	NOUN
ajst-9865	46	13	increment	increment	NOUN
ajst-9865	46	14	v	v	NOUN
ajst-9865	46	15	and	and	CCONJ
ajst-9865	46	16	the	the	DET
ajst-9865	46	17	angular	angular	ADJ
ajst-9865	46	18	velocity	velocity	NOUN
ajst-9865	46	19	increment	increment	VERB
ajst-9865	46	20	the	the	DET
ajst-9865	46	21	trajectory	trajectory	NOUN
ajst-9865	46	22	tracking	tracking	NOUN
ajst-9865	46	23	problem	problem	NOUN
ajst-9865	46	24	studied	study	VERB
ajst-9865	46	25	in	in	ADP
ajst-9865	46	26	this	this	DET
ajst-9865	46	27	paper	paper	NOUN
ajst-9865	46	28	is	be	AUX
ajst-9865	46	29	described	describe	VERB
ajst-9865	46	30	as	as	ADP
ajst-9865	46	31	follows	follow	VERB
ajst-9865	46	32	:	:	PUNCT
ajst-9865	46	33	design	design	VERB
ajst-9865	46	34	the	the	DET
ajst-9865	46	35	controller	controller	NOUN
ajst-9865	46	36	to	to	PART
ajst-9865	46	37	output	output	VERB
ajst-9865	46	38	suitable	suitable	ADJ
ajst-9865	46	39	v	v	NOUN
ajst-9865	46	40	and	and	CCONJ
ajst-9865	46	41	such	such	ADJ
ajst-9865	46	42	that	that	SCONJ
ajst-9865	46	43	the	the	DET
ajst-9865	46	44	tracking	tracking	NOUN
ajst-9865	46	45	error	error	NOUN
ajst-9865	46	46	of	of	ADP
ajst-9865	46	47	the	the	DET
ajst-9865	46	48	wheeled	wheel	VERB
ajst-9865	46	49	mobile	mobile	ADJ
ajst-9865	46	50	robot	robot	NOUN
ajst-9865	46	51	converges	converge	VERB
ajst-9865	46	52	asymptotically	asymptotically	ADV
ajst-9865	46	53	,	,	PUNCT
ajst-9865	46	54	which	which	PRON
ajst-9865	46	55	can	can	AUX
ajst-9865	46	56	be	be	AUX
ajst-9865	46	57	expressed	express	VERB
ajst-9865	46	58	as	as	ADP
ajst-9865	46	59	the	the	DET
ajst-9865	46	60	asymptotic	asymptotic	ADJ
ajst-9865	46	61	convergence	convergence	NOUN
ajst-9865	46	62	of	of	ADP
ajst-9865	46	63	the	the	DET
ajst-9865	46	64	modes	mode	NOUN
ajst-9865	46	65	of	of	ADP
ajst-9865	46	66	[	[	PUNCT
ajst-9865	46	67	,	,	PUNCT
ajst-9865	46	68	,	,	PUNCT
ajst-9865	46	69	]	]	X
ajst-9865	46	70	te	te	ADP
ajst-9865	46	71	e	e	X
ajst-9865	46	72	ex	ex	PRON
ajst-9865	46	73	y	y	PROPN
ajst-9865	46	74	to	to	ADP
ajst-9865	46	75	zero	zero	NUM
ajst-9865	46	76	[	[	X
ajst-9865	46	77	14	14	NUM
ajst-9865	46	78	]	]	PUNCT
ajst-9865	46	79	i.e.	i.e.	X
ajst-9865	46	80	lim	lim	PROPN
ajst-9865	46	81	[	[	PUNCT
ajst-9865	46	82	,	,	PUNCT
ajst-9865	46	83	,	,	PUNCT
ajst-9865	46	84	]	]	PUNCT
ajst-9865	46	85	0	0	NUM
ajst-9865	46	86	t	t	NOUN
ajst-9865	46	87	t	t	X
ajst-9865	46	88	e	e	X
ajst-9865	46	89	e	e	X
ajst-9865	46	90	ex	ex	X
ajst-9865	46	91	y	y	PROPN
ajst-9865	46	92	3	3	NUM
ajst-9865	46	93	.	.	PUNCT
ajst-9865	46	94	control	control	NOUN
ajst-9865	46	95	scheme	scheme	PROPN
ajst-9865	46	96	design	design	NOUN
ajst-9865	46	97	3.1	3.1	NUM
ajst-9865	46	98	.	.	PUNCT
ajst-9865	46	99	general	general	ADJ
ajst-9865	46	100	design	design	NOUN
ajst-9865	46	101	of	of	ADP
ajst-9865	46	102	the	the	DET
ajst-9865	46	103	control	control	NOUN
ajst-9865	46	104	scheme	scheme	NOUN
ajst-9865	46	105	the	the	DET
ajst-9865	46	106	overall	overall	ADJ
ajst-9865	46	107	design	design	NOUN
ajst-9865	46	108	of	of	ADP
ajst-9865	46	109	the	the	DET
ajst-9865	46	110	control	control	NOUN
ajst-9865	46	111	scheme	scheme	NOUN
ajst-9865	46	112	is	be	AUX
ajst-9865	46	113	shown	show	VERB
ajst-9865	46	114	in	in	ADP
ajst-9865	46	115	figure	figure	NOUN
ajst-9865	46	116	2	2	NUM
ajst-9865	46	117	:	:	PUNCT
ajst-9865	46	118	figure	figure	NOUN
ajst-9865	46	119	2	2	NUM
ajst-9865	46	120	.	.	PUNCT
ajst-9865	46	121	system	system	NOUN
ajst-9865	46	122	control	control	PROPN
ajst-9865	46	123	block	block	PROPN
ajst-9865	46	124	diagram	diagram	NOUN
ajst-9865	46	125	the	the	DET
ajst-9865	46	126	control	control	NOUN
ajst-9865	46	127	input	input	NOUN
ajst-9865	46	128	acting	act	VERB
ajst-9865	46	129	on	on	ADP
ajst-9865	46	130	the	the	DET
ajst-9865	46	131	wmr	wmr	PROPN
ajst-9865	46	132	system	system	NOUN
ajst-9865	46	133	is	be	AUX
ajst-9865	46	134	(	(	PUNCT
ajst-9865	46	135	)	)	PUNCT
ajst-9865	46	136	tu	tu	PROPN
ajst-9865	46	137	and	and	CCONJ
ajst-9865	46	138	is	be	AUX
ajst-9865	46	139	expressed	express	VERB
ajst-9865	46	140	as	as	ADP
ajst-9865	46	141	(	(	PUNCT
ajst-9865	46	142	)	)	PUNCT
ajst-9865	46	143	(	(	PUNCT
ajst-9865	46	144	)	)	PUNCT
ajst-9865	46	145	(	(	PUNCT
ajst-9865	46	146	)	)	PUNCT
ajst-9865	46	147	rt	rt	PROPN
ajst-9865	46	148	t	t	PROPN
ajst-9865	46	149	tu	tu	PROPN
ajst-9865	46	150	u	u	PROPN
ajst-9865	46	151	u	u	PROPN
ajst-9865	46	152	(	(	PUNCT
ajst-9865	46	153	)	)	PUNCT
ajst-9865	46	154	(	(	PUNCT
ajst-9865	46	155	(	(	PUNCT
ajst-9865	46	156	4	4	NUM
ajst-9865	46	157	)	)	PUNCT
ajst-9865	46	158	(	(	PUNCT
ajst-9865	46	159	)	)	PUNCT
ajst-9865	46	160	r	r	NOUN
ajst-9865	46	161	tu	tu	PROPN
ajst-9865	46	162	and	and	CCONJ
ajst-9865	46	163	(	(	PUNCT
ajst-9865	46	164	)	)	PUNCT
ajst-9865	46	165	tu	tu	PROPN
ajst-9865	46	166	(	(	PUNCT
ajst-9865	46	167	)	)	PUNCT
ajst-9865	46	168	u	u	NOUN
ajst-9865	46	169	are	be	AUX
ajst-9865	46	170	the	the	DET
ajst-9865	46	171	feed	feed	NOUN
ajst-9865	46	172	-	-	PUNCT
ajst-9865	46	173	forward	forward	NOUN
ajst-9865	46	174	control	control	NOUN
ajst-9865	46	175	output	output	NOUN
ajst-9865	46	176	and	and	CCONJ
ajst-9865	46	177	the	the	DET
ajst-9865	46	178	feedback	feedback	NOUN
ajst-9865	46	179	control	control	NOUN
ajst-9865	46	180	output	output	NOUN
ajst-9865	46	181	at	at	ADP
ajst-9865	46	182	t	t	NOUN
ajst-9865	46	183	respectively	respectively	ADV
ajst-9865	46	184	.	.	PUNCT
ajst-9865	47	1	the	the	DET
ajst-9865	47	2	feed	feed	NOUN
ajst-9865	47	3	-	-	PUNCT
ajst-9865	47	4	forward	forward	NOUN
ajst-9865	47	5	controller	controller	NOUN
ajst-9865	47	6	uses	use	VERB
ajst-9865	47	7	the	the	DET
ajst-9865	47	8	desired	desire	VERB
ajst-9865	47	9	trajectory	trajectory	NOUN
ajst-9865	47	10	at	at	ADP
ajst-9865	47	11	the	the	DET
ajst-9865	47	12	current	current	ADJ
ajst-9865	47	13	moment	moment	NOUN
ajst-9865	47	14	to	to	PART
ajst-9865	47	15	calculate	calculate	VERB
ajst-9865	47	16	the	the	DET
ajst-9865	47	17	reference	reference	NOUN
ajst-9865	47	18	control	control	NOUN
ajst-9865	47	19	input	input	NOUN
ajst-9865	47	20	.	.	PUNCT
ajst-9865	48	1	the	the	DET
ajst-9865	48	2	feedback	feedback	NOUN
ajst-9865	48	3	controller	controller	NOUN
ajst-9865	48	4	first	first	ADV
ajst-9865	48	5	optimizes	optimize	VERB
ajst-9865	48	6	the	the	DET
ajst-9865	48	7	reference	reference	NOUN
ajst-9865	48	8	speed	speed	NOUN
ajst-9865	48	9	from	from	ADP
ajst-9865	48	10	the	the	DET
ajst-9865	48	11	previous	previous	ADJ
ajst-9865	48	12	moment	moment	NOUN
ajst-9865	48	13	and	and	CCONJ
ajst-9865	48	14	then	then	ADV
ajst-9865	48	15	predicts	predict	VERB
ajst-9865	48	16	the	the	DET
ajst-9865	48	17	control	control	NOUN
ajst-9865	48	18	input	input	NOUN
ajst-9865	48	19	for	for	ADP
ajst-9865	48	20	the	the	DET
ajst-9865	48	21	current	current	ADJ
ajst-9865	48	22	moment	moment	NOUN
ajst-9865	48	23	via	via	ADP
ajst-9865	48	24	the	the	DET
ajst-9865	48	25	mmpc	mmpc	PROPN
ajst-9865	48	26	controller	controller	NOUN
ajst-9865	48	27	.	.	PUNCT
ajst-9865	49	1	finally	finally	ADV
ajst-9865	49	2	the	the	DET
ajst-9865	49	3	system	system	NOUN
ajst-9865	49	4	applies	apply	VERB
ajst-9865	49	5	the	the	DET
ajst-9865	49	6	results	result	NOUN
ajst-9865	49	7	of	of	ADP
ajst-9865	49	8	the	the	DET
ajst-9865	49	9	two	two	NUM
ajst-9865	49	10	controllers	controller	NOUN
ajst-9865	49	11	together	together	ADV
ajst-9865	49	12	to	to	ADP
ajst-9865	49	13	the	the	DET
ajst-9865	49	14	wmr	wmr	NOUN
ajst-9865	49	15	,	,	PUNCT
ajst-9865	49	16	thus	thus	ADV
ajst-9865	49	17	completing	complete	VERB
ajst-9865	49	18	the	the	DET
ajst-9865	49	19	trajectory	trajectory	NOUN
ajst-9865	49	20	tracking	tracking	NOUN
ajst-9865	49	21	control	control	NOUN
ajst-9865	49	22	.	.	PUNCT
ajst-9865	50	1	3.2	3.2	NUM
ajst-9865	50	2	.	.	PUNCT
ajst-9865	51	1	feedforward	feedforward	ADJ
ajst-9865	51	2	controller	controller	NOUN
ajst-9865	51	3	design	design	NOUN
ajst-9865	51	4	for	for	ADP
ajst-9865	51	5	a	a	DET
ajst-9865	51	6	given	give	VERB
ajst-9865	51	7	reference	reference	NOUN
ajst-9865	51	8	trajectory	trajectory	NOUN
ajst-9865	51	9	(	(	PUNCT
ajst-9865	51	10	(	(	PUNCT
ajst-9865	51	11	)	)	PUNCT
ajst-9865	51	12	,	,	PUNCT
ajst-9865	51	13	(	(	PUNCT
ajst-9865	51	14	)	)	PUNCT
ajst-9865	51	15	)	)	PUNCT
ajst-9865	52	1	r	r	NOUN
ajst-9865	52	2	rx	rx	VERB
ajst-9865	52	3	t	t	PROPN
ajst-9865	52	4	y	y	PROPN
ajst-9865	52	5	t	t	PROPN
ajst-9865	52	6	,	,	PUNCT
ajst-9865	52	7	the	the	DET
ajst-9865	52	8	feedforward	feedforward	NOUN
ajst-9865	52	9	control	control	NOUN
ajst-9865	52	10	input	input	NOUN
ajst-9865	52	11	is	be	AUX
ajst-9865	52	12	(	(	PUNCT
ajst-9865	52	13	)	)	PUNCT
ajst-9865	52	14	[	[	PUNCT
ajst-9865	52	15	(	(	PUNCT
ajst-9865	52	16	)	)	PUNCT
ajst-9865	52	17	,	,	PUNCT
ajst-9865	52	18	(	(	PUNCT
ajst-9865	52	19	)	)	PUNCT
ajst-9865	52	20	]	]	X
ajst-9865	52	21	tr	tr	VERB
ajst-9865	52	22	r	r	PROPN
ajst-9865	52	23	rt	rt	PROPN
ajst-9865	52	24	v	v	INTJ
ajst-9865	52	25	t	t	X
ajst-9865	52	26	tu	tu	PROPN
ajst-9865	52	27	when	when	SCONJ
ajst-9865	52	28	the	the	DET
ajst-9865	52	29	wheeled	wheel	VERB
ajst-9865	52	30	mobile	mobile	ADJ
ajst-9865	52	31	robot	robot	NOUN
ajst-9865	52	32	is	be	AUX
ajst-9865	52	33	tracking	track	VERB
ajst-9865	52	34	the	the	DET
ajst-9865	52	35	reference	reference	NOUN
ajst-9865	52	36	trajectory	trajectory	NOUN
ajst-9865	52	37	,	,	PUNCT
ajst-9865	52	38	the	the	DET
ajst-9865	52	39	linear	linear	ADJ
ajst-9865	52	40	velocity	velocity	NOUN
ajst-9865	52	41	(	(	PUNCT
ajst-9865	52	42	)	)	PUNCT
ajst-9865	52	43	rv	rv	PROPN
ajst-9865	52	44	t	t	PROPN
ajst-9865	52	45	is	be	AUX
ajst-9865	52	46	calculated	calculate	VERB
ajst-9865	52	47	as	as	SCONJ
ajst-9865	52	48	follows	follow	VERB
ajst-9865	52	49	2	2	NUM
ajst-9865	52	50	2	2	NUM
ajst-9865	52	51	(	(	PUNCT
ajst-9865	52	52	(	(	PUNCT
ajst-9865	52	53	)	)	PUNCT
ajst-9865	52	54	(	(	PUNCT
ajst-9865	52	55	1	1	NUM
ajst-9865	52	56	)	)	PUNCT
ajst-9865	52	57	)	)	PUNCT
ajst-9865	52	58	(	(	PUNCT
ajst-9865	52	59	(	(	PUNCT
ajst-9865	52	60	)	)	PUNCT
ajst-9865	52	61	(	(	PUNCT
ajst-9865	52	62	1	1	NUM
ajst-9865	52	63	)	)	PUNCT
ajst-9865	52	64	)	)	PUNCT
ajst-9865	52	65	(	(	PUNCT
ajst-9865	52	66	)	)	PUNCT
ajst-9865	53	1	r	r	NOUN
ajst-9865	53	2	r	r	NOUN
ajst-9865	53	3	r	r	NOUN
ajst-9865	53	4	r	r	NOUN
ajst-9865	53	5	r	r	NOUN
ajst-9865	53	6	x	x	SYM
ajst-9865	53	7	t	t	NOUN
ajst-9865	53	8	x	x	SYM
ajst-9865	53	9	t	t	PROPN
ajst-9865	53	10	y	y	PROPN
ajst-9865	53	11	t	t	PROPN
ajst-9865	53	12	y	y	PROPN
ajst-9865	53	13	t	t	PROPN
ajst-9865	53	14	v	v	NUM
ajst-9865	53	15	t	t	PROPN
ajst-9865	53	16	t	t	PROPN
ajst-9865	53	17	(	(	PUNCT
ajst-9865	53	18	5	5	NUM
ajst-9865	53	19	)	)	PUNCT
ajst-9865	53	20	the	the	DET
ajst-9865	53	21	linear	linear	ADJ
ajst-9865	53	22	velocity	velocity	NOUN
ajst-9865	53	23	is	be	AUX
ajst-9865	53	24	positive	positive	ADJ
ajst-9865	53	25	when	when	SCONJ
ajst-9865	53	26	the	the	DET
ajst-9865	53	27	robot	robot	NOUN
ajst-9865	53	28	is	be	AUX
ajst-9865	53	29	moving	move	VERB
ajst-9865	53	30	in	in	ADP
ajst-9865	53	31	the	the	DET
ajst-9865	53	32	positive	positive	ADJ
ajst-9865	53	33	direction	direction	NOUN
ajst-9865	53	34	of	of	ADP
ajst-9865	53	35	the	the	DET
ajst-9865	53	36	trajectory	trajectory	NOUN
ajst-9865	53	37	and	and	CCONJ
ajst-9865	53	38	negative	negative	ADJ
ajst-9865	53	39	vice	vice	NOUN
ajst-9865	53	40	versa	versa	ADV
ajst-9865	53	41	.	.	PUNCT
ajst-9865	54	1	the	the	DET
ajst-9865	54	2	heading	head	VERB
ajst-9865	54	3	angle	angle	NOUN
ajst-9865	54	4	at	at	ADP
ajst-9865	54	5	each	each	DET
ajst-9865	54	6	moment	moment	NOUN
ajst-9865	54	7	on	on	ADP
ajst-9865	54	8	the	the	DET
ajst-9865	54	9	reference	reference	NOUN
ajst-9865	54	10	trajectory	trajectory	NOUN
ajst-9865	54	11	is	be	AUX
ajst-9865	54	12	139	139	NUM
ajst-9865	54	13	(	(	PUNCT
ajst-9865	54	14	)	)	PUNCT
ajst-9865	54	15	(	(	PUNCT
ajst-9865	54	16	1	1	NUM
ajst-9865	54	17	)	)	PUNCT
ajst-9865	54	18	(	(	PUNCT
ajst-9865	54	19	)	)	PUNCT
ajst-9865	54	20	arctan	arctan	PROPN
ajst-9865	54	21	(	(	PUNCT
ajst-9865	54	22	)	)	PUNCT
ajst-9865	54	23	(	(	PUNCT
ajst-9865	54	24	1	1	X
ajst-9865	54	25	)	)	PUNCT
ajst-9865	54	26	r	r	NOUN
ajst-9865	54	27	r	r	NOUN
ajst-9865	54	28	r	r	NOUN
ajst-9865	54	29	r	r	NOUN
ajst-9865	54	30	r	r	NOUN
ajst-9865	54	31	y	y	NOUN
ajst-9865	54	32	t	t	PROPN
ajst-9865	54	33	y	y	PROPN
ajst-9865	54	34	tt	tt	PROPN
ajst-9865	54	35	x	x	SYM
ajst-9865	54	36	t	t	PROPN
ajst-9865	54	37	x	x	SYM
ajst-9865	54	38	t	t	PROPN
ajst-9865	54	39	(	(	PUNCT
ajst-9865	54	40	6	6	NUM
ajst-9865	54	41	)	)	PUNCT
ajst-9865	54	42	in	in	ADP
ajst-9865	54	43	equation	equation	NOUN
ajst-9865	54	44	(	(	PUNCT
ajst-9865	54	45	6	6	NUM
ajst-9865	54	46	)	)	PUNCT
ajst-9865	54	47	,	,	PUNCT
ajst-9865	54	48	is	be	AUX
ajst-9865	54	49	the	the	DET
ajst-9865	54	50	reference	reference	NOUN
ajst-9865	54	51	direction	direction	NOUN
ajst-9865	54	52	,	,	PUNCT
ajst-9865	54	53	0	0	NUM
ajst-9865	54	54	represents	represent	VERB
ajst-9865	54	55	the	the	DET
ajst-9865	54	56	positive	positive	ADJ
ajst-9865	54	57	direction	direction	NOUN
ajst-9865	54	58	along	along	ADP
ajst-9865	54	59	the	the	DET
ajst-9865	54	60	reference	reference	NOUN
ajst-9865	54	61	trajectory	trajectory	NOUN
ajst-9865	54	62	and	and	CCONJ
ajst-9865	54	63	1	1	NUM
ajst-9865	54	64	represents	represent	VERB
ajst-9865	54	65	the	the	DET
ajst-9865	54	66	reverse	reverse	ADJ
ajst-9865	54	67	direction	direction	NOUN
ajst-9865	54	68	along	along	ADP
ajst-9865	54	69	the	the	DET
ajst-9865	54	70	reference	reference	NOUN
ajst-9865	54	71	.	.	PUNCT
ajst-9865	55	1	the	the	DET
ajst-9865	55	2	angular	angular	ADJ
ajst-9865	55	3	velocity	velocity	NOUN
ajst-9865	55	4	is	be	AUX
ajst-9865	55	5	calculated	calculate	VERB
ajst-9865	55	6	as	as	SCONJ
ajst-9865	55	7	follows	follow	VERB
ajst-9865	55	8	:	:	PUNCT
ajst-9865	55	9	(	(	PUNCT
ajst-9865	55	10	)	)	PUNCT
ajst-9865	55	11	(	(	PUNCT
ajst-9865	55	12	1	1	NUM
ajst-9865	55	13	)	)	PUNCT
ajst-9865	55	14	(	(	PUNCT
ajst-9865	55	15	)	)	PUNCT
ajst-9865	55	16	r	r	NOUN
ajst-9865	55	17	r	r	NOUN
ajst-9865	55	18	r	r	NOUN
ajst-9865	55	19	t	t	X
ajst-9865	55	20	tt	tt	X
ajst-9865	55	21	t	t	PROPN
ajst-9865	55	22	(	(	PUNCT
ajst-9865	55	23	7	7	X
ajst-9865	55	24	)	)	PUNCT
ajst-9865	55	25	the	the	DET
ajst-9865	55	26	feedforward	feedforward	PROPN
ajst-9865	55	27	control	control	NOUN
ajst-9865	55	28	law	law	NOUN
ajst-9865	55	29	(	(	PUNCT
ajst-9865	55	30	)	)	PUNCT
ajst-9865	55	31	r	r	NOUN
ajst-9865	55	32	tu	tu	PROPN
ajst-9865	55	33	can	can	AUX
ajst-9865	55	34	be	be	AUX
ajst-9865	55	35	obtained	obtain	VERB
ajst-9865	55	36	by	by	ADP
ajst-9865	55	37	deriving	derive	VERB
ajst-9865	55	38	the	the	DET
ajst-9865	55	39	control	control	NOUN
ajst-9865	55	40	input	input	NOUN
ajst-9865	55	41	(	(	PUNCT
ajst-9865	55	42	)	)	PUNCT
ajst-9865	55	43	,	,	PUNCT
ajst-9865	55	44	(	(	PUNCT
ajst-9865	55	45	)	)	PUNCT
ajst-9865	55	46	r	r	NOUN
ajst-9865	55	47	rv	rv	PROPN
ajst-9865	55	48	t	t	PROPN
ajst-9865	55	49	t	t	PROPN
ajst-9865	55	50	3.3	3.3	NUM
ajst-9865	55	51	.	.	PUNCT
ajst-9865	56	1	speed	speed	NOUN
ajst-9865	56	2	optimization	optimization	NOUN
ajst-9865	56	3	strategy	strategy	NOUN
ajst-9865	56	4	design	design	NOUN
ajst-9865	56	5	variations	variation	NOUN
ajst-9865	56	6	in	in	ADP
ajst-9865	56	7	speed	speed	NOUN
ajst-9865	56	8	during	during	ADP
ajst-9865	56	9	the	the	DET
ajst-9865	56	10	operation	operation	NOUN
ajst-9865	56	11	of	of	ADP
ajst-9865	56	12	a	a	DET
ajst-9865	56	13	wheeled	wheel	VERB
ajst-9865	56	14	robot	robot	NOUN
ajst-9865	56	15	affect	affect	VERB
ajst-9865	56	16	the	the	DET
ajst-9865	56	17	lateral	lateral	ADJ
ajst-9865	56	18	error	error	NOUN
ajst-9865	56	19	.	.	PUNCT
ajst-9865	57	1	in	in	ADP
ajst-9865	57	2	order	order	NOUN
ajst-9865	57	3	to	to	PART
ajst-9865	57	4	make	make	VERB
ajst-9865	57	5	the	the	DET
ajst-9865	57	6	error	error	NOUN
ajst-9865	57	7	between	between	ADP
ajst-9865	57	8	the	the	DET
ajst-9865	57	9	actual	actual	ADJ
ajst-9865	57	10	trajectory	trajectory	NOUN
ajst-9865	57	11	and	and	CCONJ
ajst-9865	57	12	the	the	DET
ajst-9865	57	13	reference	reference	NOUN
ajst-9865	57	14	trajectory	trajectory	NOUN
ajst-9865	57	15	during	during	ADP
ajst-9865	57	16	the	the	DET
ajst-9865	57	17	trajectory	trajectory	NOUN
ajst-9865	57	18	tracking	tracking	NOUN
ajst-9865	57	19	of	of	ADP
ajst-9865	57	20	the	the	DET
ajst-9865	57	21	wmr	wmr	PROPN
ajst-9865	57	22	smaller	small	ADJ
ajst-9865	57	23	,	,	PUNCT
ajst-9865	57	24	specifically	specifically	ADV
ajst-9865	57	25	in	in	ADP
ajst-9865	57	26	the	the	DET
ajst-9865	57	27	case	case	NOUN
ajst-9865	57	28	of	of	ADP
ajst-9865	57	29	possible	possible	ADJ
ajst-9865	57	30	large	large	ADJ
ajst-9865	57	31	deviations	deviation	NOUN
ajst-9865	57	32	at	at	ADP
ajst-9865	57	33	turns	turn	NOUN
ajst-9865	57	34	,	,	PUNCT
ajst-9865	57	35	the	the	DET
ajst-9865	57	36	speed	speed	NOUN
ajst-9865	57	37	is	be	AUX
ajst-9865	57	38	optimally	optimally	ADV
ajst-9865	57	39	adjusted	adjust	VERB
ajst-9865	57	40	.	.	PUNCT
ajst-9865	58	1	the	the	DET
ajst-9865	58	2	velocity	velocity	NOUN
ajst-9865	58	3	optimization	optimization	NOUN
ajst-9865	58	4	strategy	strategy	NOUN
ajst-9865	58	5	consists	consist	VERB
ajst-9865	58	6	of	of	ADP
ajst-9865	58	7	two	two	NUM
ajst-9865	58	8	main	main	ADJ
ajst-9865	58	9	aspects	aspect	NOUN
ajst-9865	58	10	,	,	PUNCT
ajst-9865	58	11	on	on	ADP
ajst-9865	58	12	the	the	DET
ajst-9865	58	13	one	one	NUM
ajst-9865	58	14	hand	hand	NOUN
ajst-9865	58	15	,	,	PUNCT
ajst-9865	58	16	the	the	DET
ajst-9865	58	17	system	system	NOUN
ajst-9865	58	18	calculates	calculate	VERB
ajst-9865	58	19	the	the	DET
ajst-9865	58	20	curvature	curvature	NOUN
ajst-9865	58	21	of	of	ADP
ajst-9865	58	22	the	the	DET
ajst-9865	58	23	wmr	wmr	PROPN
ajst-9865	58	24	trajectory	trajectory	NOUN
ajst-9865	58	25	at	at	ADP
ajst-9865	58	26	the	the	DET
ajst-9865	58	27	next	next	ADJ
ajst-9865	58	28	moment	moment	NOUN
ajst-9865	58	29	based	base	VERB
ajst-9865	58	30	on	on	ADP
ajst-9865	58	31	the	the	DET
ajst-9865	58	32	current	current	ADJ
ajst-9865	58	33	reference	reference	NOUN
ajst-9865	58	34	trajectory	trajectory	NOUN
ajst-9865	58	35	,	,	PUNCT
ajst-9865	58	36	as	as	SCONJ
ajst-9865	58	37	shown	show	VERB
ajst-9865	58	38	in	in	ADP
ajst-9865	58	39	figure	figure	NOUN
ajst-9865	58	40	3	3	NUM
ajst-9865	58	41	.	.	PUNCT
ajst-9865	59	1	on	on	ADP
ajst-9865	59	2	the	the	DET
ajst-9865	59	3	other	other	ADJ
ajst-9865	59	4	hand	hand	NOUN
ajst-9865	59	5	,	,	PUNCT
ajst-9865	59	6	is	be	AUX
ajst-9865	59	7	the	the	DET
ajst-9865	59	8	design	design	NOUN
ajst-9865	59	9	of	of	ADP
ajst-9865	59	10	a	a	DET
ajst-9865	59	11	function	function	NOUN
ajst-9865	59	12	between	between	ADP
ajst-9865	59	13	the	the	DET
ajst-9865	59	14	reference	reference	NOUN
ajst-9865	59	15	velocity	velocity	NOUN
ajst-9865	59	16	and	and	CCONJ
ajst-9865	59	17	the	the	DET
ajst-9865	59	18	curvature	curvature	NOUN
ajst-9865	59	19	of	of	ADP
ajst-9865	59	20	the	the	DET
ajst-9865	59	21	trajectory	trajectory	NOUN
ajst-9865	59	22	.	.	PUNCT
ajst-9865	60	1	m	m	VERB
ajst-9865	60	2	n	n	ADV
ajst-9865	60	3	1	1	NUM
ajst-9865	60	4	2	2	NUM
ajst-9865	60	5	3	3	NUM
ajst-9865	60	6	4	4	NUM
ajst-9865	60	7	5	5	NUM
ajst-9865	61	1	i	i	PRON
ajst-9865	61	2	a	a	DET
ajst-9865	61	3	aa	aa	NOUN
ajst-9865	61	4	(	(	PUNCT
ajst-9865	61	5	)	)	PUNCT
ajst-9865	61	6	x	x	SYM
ajst-9865	61	7	,	,	PUNCT
ajst-9865	61	8	y	y	PROPN
ajst-9865	61	9	b	b	PROPN
ajst-9865	61	10	bb	bb	PROPN
ajst-9865	61	11	(	(	PUNCT
ajst-9865	61	12	)	)	PUNCT
ajst-9865	61	13	x	x	SYM
ajst-9865	61	14	,	,	PUNCT
ajst-9865	61	15	y	y	PROPN
ajst-9865	61	16	c	c	NOUN
ajst-9865	61	17	o	o	NOUN
ajst-9865	61	18	figure	figure	NOUN
ajst-9865	61	19	3	3	NUM
ajst-9865	61	20	.	.	PUNCT
ajst-9865	62	1	curve	curve	NOUN
ajst-9865	62	2	curvature	curvature	NOUN
ajst-9865	62	3	diagram	diagram	NOUN
ajst-9865	62	4	in	in	ADP
ajst-9865	62	5	figure	figure	NOUN
ajst-9865	62	6	3	3	NUM
ajst-9865	62	7	,	,	PUNCT
ajst-9865	62	8	o	o	PROPN
ajst-9865	62	9	is	be	AUX
ajst-9865	62	10	the	the	DET
ajst-9865	62	11	center	center	ADJ
ajst-9865	62	12	point	point	NOUN
ajst-9865	62	13	of	of	ADP
ajst-9865	62	14	the	the	DET
ajst-9865	62	15	curve	curve	NOUN
ajst-9865	62	16	.	.	PUNCT
ajst-9865	63	1	using	use	VERB
ajst-9865	63	2	the	the	DET
ajst-9865	63	3	point	point	NOUN
ajst-9865	63	4	m	m	NOUN
ajst-9865	63	5	as	as	ADP
ajst-9865	63	6	an	an	DET
ajst-9865	63	7	example	example	NOUN
ajst-9865	63	8	,	,	PUNCT
ajst-9865	63	9	the	the	DET
ajst-9865	63	10	formula	formula	NOUN
ajst-9865	63	11	for	for	ADP
ajst-9865	63	12	calculating	calculate	VERB
ajst-9865	63	13	its	its	PRON
ajst-9865	63	14	angle	angle	NOUN
ajst-9865	63	15	2	2	NUM
ajst-9865	63	16	is	be	AUX
ajst-9865	63	17	as	as	SCONJ
ajst-9865	63	18	follows	follow	VERB
ajst-9865	63	19	:	:	PUNCT
ajst-9865	63	20	1	1	NUM
ajst-9865	63	21	m	m	NOUN
ajst-9865	63	22	a	a	DET
ajst-9865	63	23	b	b	NOUN
ajst-9865	63	24	m	m	VERB
ajst-9865	63	25	m	m	VERB
ajst-9865	63	26	a	a	DET
ajst-9865	63	27	b	b	NOUN
ajst-9865	63	28	m	m	ADJ
ajst-9865	63	29	2	2	NUM
ajst-9865	63	30	2	2	NUM
ajst-9865	63	31	2	2	NUM
ajst-9865	63	32	2	2	NUM
ajst-9865	63	33	2	2	NUM
ajst-9865	63	34	m	m	NOUN
ajst-9865	63	35	a	a	DET
ajst-9865	63	36	m	m	NOUN
ajst-9865	63	37	a	a	DET
ajst-9865	63	38	b	b	NOUN
ajst-9865	63	39	m	m	VERB
ajst-9865	63	40	b	b	NOUN
ajst-9865	63	41	m	m	VERB
ajst-9865	63	42	(	(	PUNCT
ajst-9865	63	43	)	)	PUNCT
ajst-9865	63	44	(	(	PUNCT
ajst-9865	63	45	)	)	PUNCT
ajst-9865	63	46	(	(	PUNCT
ajst-9865	63	47	)	)	PUNCT
ajst-9865	63	48	(	(	PUNCT
ajst-9865	63	49	)	)	PUNCT
ajst-9865	63	50	cos	cos	PROPN
ajst-9865	63	51	(	(	PUNCT
ajst-9865	63	52	)	)	PUNCT
ajst-9865	63	53	(	(	PUNCT
ajst-9865	63	54	)	)	PUNCT
ajst-9865	63	55	(	(	PUNCT
ajst-9865	63	56	)	)	PUNCT
ajst-9865	63	57	(	(	PUNCT
ajst-9865	63	58	)	)	PUNCT
ajst-9865	63	59	x	x	PUNCT
ajst-9865	64	1	x	x	PUNCT
ajst-9865	64	2	x	x	PUNCT
ajst-9865	64	3	x	x	PUNCT
ajst-9865	64	4	y	y	VERB
ajst-9865	64	5	y	y	PROPN
ajst-9865	64	6	y	y	PROPN
ajst-9865	64	7	y	y	PROPN
ajst-9865	64	8	x	x	PUNCT
ajst-9865	64	9	x	x	VERB
ajst-9865	64	10	y	y	NOUN
ajst-9865	64	11	y	y	NOUN
ajst-9865	64	12	x	x	PUNCT
ajst-9865	64	13	x	x	VERB
ajst-9865	64	14	y	y	PROPN
ajst-9865	64	15	y	y	PROPN
ajst-9865	64	16	(	(	PUNCT
ajst-9865	64	17	8)	8)	NUM
ajst-9865	64	18	if	if	SCONJ
ajst-9865	64	19	the	the	DET
ajst-9865	64	20	calculated	calculate	VERB
ajst-9865	64	21	angle	angle	NOUN
ajst-9865	64	22	2	2	NUM
ajst-9865	64	23	is	be	AUX
ajst-9865	64	24	greater	great	ADJ
ajst-9865	64	25	than	than	ADP
ajst-9865	64	26	the	the	DET
ajst-9865	64	27	set	set	ADJ
ajst-9865	64	28	standard	standard	ADJ
ajst-9865	64	29	angle	angle	NOUN
ajst-9865	64	30	0	0	NUM
ajst-9865	64	31	,	,	PUNCT
ajst-9865	64	32	then	then	ADV
ajst-9865	64	33	point	point	VERB
ajst-9865	64	34	a	a	PRON
ajst-9865	64	35	is	be	AUX
ajst-9865	64	36	determined	determine	VERB
ajst-9865	64	37	to	to	PART
ajst-9865	64	38	be	be	AUX
ajst-9865	64	39	the	the	DET
ajst-9865	64	40	starting	starting	NOUN
ajst-9865	64	41	point	point	NOUN
ajst-9865	64	42	of	of	ADP
ajst-9865	64	43	the	the	DET
ajst-9865	64	44	curve	curve	NOUN
ajst-9865	64	45	,	,	PUNCT
ajst-9865	64	46	and	and	CCONJ
ajst-9865	64	47	a	a	DET
ajst-9865	64	48	new	new	ADJ
ajst-9865	64	49	path	path	NOUN
ajst-9865	64	50	point	point	NOUN
ajst-9865	64	51	m	m	VERB
ajst-9865	64	52	is	be	AUX
ajst-9865	64	53	selected	select	VERB
ajst-9865	64	54	as	as	ADP
ajst-9865	64	55	the	the	DET
ajst-9865	64	56	starting	starting	NOUN
ajst-9865	64	57	point	point	NOUN
ajst-9865	64	58	and	and	CCONJ
ajst-9865	64	59	again	again	ADV
ajst-9865	64	60	determined	determine	VERB
ajst-9865	64	61	according	accord	VERB
ajst-9865	64	62	to	to	ADP
ajst-9865	64	63	equation	equation	NOUN
ajst-9865	64	64	(	(	PUNCT
ajst-9865	64	65	8)	8)	NUM
ajst-9865	64	66	until	until	SCONJ
ajst-9865	64	67	the	the	DET
ajst-9865	64	68	calculated	calculate	VERB
ajst-9865	64	69	angle	angle	NOUN
ajst-9865	64	70	appears	appear	VERB
ajst-9865	64	71	to	to	PART
ajst-9865	64	72	be	be	AUX
ajst-9865	64	73	less	less	ADJ
ajst-9865	64	74	than	than	ADP
ajst-9865	64	75	the	the	DET
ajst-9865	64	76	standard	standard	ADJ
ajst-9865	64	77	angle	angle	NOUN
ajst-9865	64	78	.	.	PUNCT
ajst-9865	65	1	the	the	DET
ajst-9865	65	2	radius	radius	NOUN
ajst-9865	65	3	of	of	ADP
ajst-9865	65	4	curvature	curvature	NOUN
ajst-9865	65	5	of	of	ADP
ajst-9865	65	6	the	the	DET
ajst-9865	65	7	curve	curve	NOUN
ajst-9865	65	8	is	be	AUX
ajst-9865	65	9	solved	solve	VERB
ajst-9865	65	10	by	by	ADP
ajst-9865	65	11	calculating	calculate	VERB
ajst-9865	65	12	the	the	DET
ajst-9865	65	13	coordinates	coordinate	NOUN
ajst-9865	65	14	of	of	ADP
ajst-9865	65	15	the	the	DET
ajst-9865	65	16	start	start	NOUN
ajst-9865	65	17	and	and	CCONJ
ajst-9865	65	18	end	end	VERB
ajst-9865	65	19	points	point	NOUN
ajst-9865	65	20	of	of	ADP
ajst-9865	65	21	the	the	DET
ajst-9865	65	22	curve	curve	NOUN
ajst-9865	65	23	cr	cr	ADP
ajst-9865	65	24	2	2	NUM
ajst-9865	65	25	2	2	NUM
ajst-9865	65	26	m	m	NOUN
ajst-9865	65	27	o	o	NOUN
ajst-9865	65	28	m	m	VERB
ajst-9865	65	29	o	o	NOUN
ajst-9865	65	30	(	(	PUNCT
ajst-9865	65	31	)	)	PUNCT
ajst-9865	65	32	(	(	PUNCT
ajst-9865	65	33	)	)	PUNCT
ajst-9865	65	34	cr	cr	NOUN
ajst-9865	65	35	x	x	SYM
ajst-9865	65	36	x	x	SYM
ajst-9865	65	37	y	y	PROPN
ajst-9865	65	38	y	y	PROPN
ajst-9865	65	39	(	(	PUNCT
ajst-9865	65	40	9	9	X
ajst-9865	65	41	)	)	PUNCT
ajst-9865	65	42	the	the	DET
ajst-9865	65	43	chord	chord	ADJ
ajst-9865	65	44	length	length	NOUN
ajst-9865	65	45	of	of	ADP
ajst-9865	65	46	the	the	DET
ajst-9865	65	47	curve	curve	NOUN
ajst-9865	65	48	ci	ci	PROPN
ajst-9865	65	49	is	be	AUX
ajst-9865	65	50	2	2	NUM
ajst-9865	65	51	2	2	NUM
ajst-9865	65	52	m	m	NOUN
ajst-9865	65	53	n	n	PRON
ajst-9865	65	54	m	m	VERB
ajst-9865	65	55	n	n	CCONJ
ajst-9865	65	56	(	(	PUNCT
ajst-9865	65	57	)	)	PUNCT
ajst-9865	65	58	(	(	PUNCT
ajst-9865	65	59	)	)	PUNCT
ajst-9865	65	60	ci	ci	NOUN
ajst-9865	65	61	x	x	PUNCT
ajst-9865	65	62	x	x	PUNCT
ajst-9865	65	63	y	y	PROPN
ajst-9865	65	64	y	y	PROPN
ajst-9865	65	65	(	(	PUNCT
ajst-9865	65	66	10	10	NUM
ajst-9865	65	67	)	)	PUNCT
ajst-9865	65	68	corresponding	correspond	VERB
ajst-9865	65	69	central	central	ADJ
ajst-9865	65	70	angle	angle	NOUN
ajst-9865	65	71	of	of	ADP
ajst-9865	65	72	the	the	DET
ajst-9865	65	73	curve	curve	NOUN
ajst-9865	65	74	c	c	PROPN
ajst-9865	65	75	12sin	12sin	NOUN
ajst-9865	65	76	2	2	NUM
ajst-9865	65	77	c	c	NOUN
ajst-9865	65	78	c	c	NOUN
ajst-9865	65	79	c	c	NOUN
ajst-9865	65	80	r	r	NOUN
ajst-9865	65	81	i	i	PRON
ajst-9865	65	82	(	(	PUNCT
ajst-9865	65	83	11	11	NUM
ajst-9865	65	84	)	)	PUNCT
ajst-9865	65	85	the	the	DET
ajst-9865	65	86	final	final	ADJ
ajst-9865	65	87	calculated	calculate	VERB
ajst-9865	65	88	curvature	curvature	NOUN
ajst-9865	65	89	of	of	ADP
ajst-9865	65	90	the	the	DET
ajst-9865	65	91	curve	curve	NOUN
ajst-9865	65	92	k	k	PROPN
ajst-9865	65	93	is	be	AUX
ajst-9865	65	94	:	:	PUNCT
ajst-9865	66	1	c	c	PROPN
ajst-9865	66	2	c	c	PROPN
ajst-9865	66	3	k	k	PROPN
ajst-9865	66	4	l	l	PROPN
ajst-9865	66	5	(	(	PUNCT
ajst-9865	66	6	12	12	NUM
ajst-9865	66	7	)	)	PUNCT
ajst-9865	66	8	in	in	ADP
ajst-9865	66	9	equation	equation	NOUN
ajst-9865	66	10	(	(	PUNCT
ajst-9865	66	11	12	12	NUM
ajst-9865	66	12	)	)	PUNCT
ajst-9865	66	13	,	,	PUNCT
ajst-9865	66	14	cl	cl	NOUN
ajst-9865	66	15	is	be	AUX
ajst-9865	66	16	the	the	DET
ajst-9865	66	17	length	length	NOUN
ajst-9865	66	18	of	of	ADP
ajst-9865	66	19	the	the	DET
ajst-9865	66	20	curved	curved	ADJ
ajst-9865	66	21	arc	arc	NOUN
ajst-9865	66	22	,	,	PUNCT
ajst-9865	66	23	and	and	CCONJ
ajst-9865	66	24	considering	consider	VERB
ajst-9865	66	25	the	the	DET
ajst-9865	66	26	wmr	wmr	PROPN
ajst-9865	66	27	in	in	ADP
ajst-9865	66	28	a	a	DET
ajst-9865	66	29	two	two	NUM
ajst-9865	66	30	-	-	PUNCT
ajst-9865	66	31	dimensional	dimensional	ADJ
ajst-9865	66	32	plane	plane	NOUN
ajst-9865	66	33	,	,	PUNCT
ajst-9865	66	34	the	the	DET
ajst-9865	66	35	speed	speed	NOUN
ajst-9865	66	36	of	of	ADP
ajst-9865	66	37	the	the	DET
ajst-9865	66	38	mobile	mobile	NOUN
ajst-9865	66	39	robot	robot	NOUN
ajst-9865	66	40	needs	need	VERB
ajst-9865	66	41	to	to	PART
ajst-9865	66	42	be	be	AUX
ajst-9865	66	43	limited	limit	VERB
ajst-9865	66	44	.	.	PUNCT
ajst-9865	67	1	depending	depend	VERB
ajst-9865	67	2	on	on	ADP
ajst-9865	67	3	the	the	DET
ajst-9865	67	4	curvature	curvature	NOUN
ajst-9865	67	5	of	of	ADP
ajst-9865	67	6	the	the	DET
ajst-9865	67	7	trajectory	trajectory	NOUN
ajst-9865	67	8	the	the	DET
ajst-9865	67	9	wmr	wmr	PROPN
ajst-9865	67	10	runs	run	VERB
ajst-9865	67	11	on	on	ADP
ajst-9865	67	12	,	,	PUNCT
ajst-9865	67	13	its	its	PRON
ajst-9865	67	14	speed	speed	NOUN
ajst-9865	67	15	(	(	PUNCT
ajst-9865	67	16	)	)	PUNCT
ajst-9865	67	17	v	v	NOUN
ajst-9865	67	18	t	t	PROPN
ajst-9865	67	19	(	(	PUNCT
ajst-9865	67	20	)	)	PUNCT
ajst-9865	67	21	v	v	NOUN
ajst-9865	67	22	(	(	PUNCT
ajst-9865	67	23	is	be	AUX
ajst-9865	67	24	set	set	VERB
ajst-9865	67	25	to	to	PART
ajst-9865	67	26	(	(	PUNCT
ajst-9865	67	27	)	)	PUNCT
ajst-9865	67	28	(	(	PUNCT
ajst-9865	67	29	)	)	PUNCT
ajst-9865	67	30	rv	rv	PROPN
ajst-9865	68	1	t	t	PROPN
ajst-9865	68	2	v	v	NUM
ajst-9865	68	3	t	t	X
ajst-9865	69	1	k	k	PROPN
ajst-9865	69	2	(	(	PUNCT
ajst-9865	69	3	(	(	PUNCT
ajst-9865	69	4	)	)	PUNCT
ajst-9865	69	5	rv	rv	PROPN
ajst-9865	69	6	(	(	PUNCT
ajst-9865	69	7	rv	rv	PROPN
ajst-9865	69	8	(	(	PUNCT
ajst-9865	69	9	k	k	X
ajst-9865	69	10	(	(	PUNCT
ajst-9865	69	11	13	13	NUM
ajst-9865	69	12	)	)	PUNCT
ajst-9865	69	13	3.4	3.4	NUM
ajst-9865	69	14	.	.	PUNCT
ajst-9865	70	1	mmpc	mmpc	PROPN
ajst-9865	70	2	controller	controller	NOUN
ajst-9865	70	3	design	design	NOUN
ajst-9865	70	4	for	for	ADP
ajst-9865	70	5	the	the	DET
ajst-9865	70	6	feedback	feedback	NOUN
ajst-9865	70	7	controller	controller	NOUN
ajst-9865	70	8	,	,	PUNCT
ajst-9865	70	9	the	the	DET
ajst-9865	70	10	multi	multi	ADJ
ajst-9865	70	11	-	-	ADJ
ajst-9865	70	12	constraint	constraint	ADJ
ajst-9865	70	13	model	model	NOUN
ajst-9865	70	14	predictive	predictive	PROPN
ajst-9865	70	15	control	control	NOUN
ajst-9865	70	16	strategy	strategy	NOUN
ajst-9865	70	17	is	be	AUX
ajst-9865	70	18	designed	design	VERB
ajst-9865	70	19	by	by	ADP
ajst-9865	70	20	taking	take	VERB
ajst-9865	70	21	the	the	DET
ajst-9865	70	22	sampling	sampling	NOUN
ajst-9865	70	23	time	time	NOUN
ajst-9865	70	24	t	t	PROPN
ajst-9865	70	25	,	,	PUNCT
ajst-9865	70	26	approximating	approximate	VERB
ajst-9865	70	27	the	the	DET
ajst-9865	70	28	discretization	discretization	NOUN
ajst-9865	70	29	of	of	ADP
ajst-9865	70	30	equation	equation	NOUN
ajst-9865	70	31	(	(	PUNCT
ajst-9865	70	32	2	2	X
ajst-9865	70	33	)	)	PUNCT
ajst-9865	70	34	using	use	VERB
ajst-9865	70	35	the	the	DET
ajst-9865	70	36	first	first	ADJ
ajst-9865	70	37	-	-	PUNCT
ajst-9865	70	38	order	order	NOUN
ajst-9865	70	39	difference	difference	NOUN
ajst-9865	70	40	quotient	quotient	NOUN
ajst-9865	70	41	method	method	NOUN
ajst-9865	70	42	,	,	PUNCT
ajst-9865	70	43	and	and	CCONJ
ajst-9865	70	44	obtaining	obtain	VERB
ajst-9865	70	45	the	the	DET
ajst-9865	70	46	expressions	expression	NOUN
ajst-9865	70	47	for	for	ADP
ajst-9865	70	48	the	the	DET
ajst-9865	70	49	rewritten	rewrite	VERB
ajst-9865	70	50	discrete	discrete	ADJ
ajst-9865	70	51	state	state	NOUN
ajst-9865	70	52	space	space	NOUN
ajst-9865	70	53	and	and	CCONJ
ajst-9865	70	54	output	output	NOUN
ajst-9865	70	55	(	(	PUNCT
ajst-9865	70	56	)	)	PUNCT
ajst-9865	70	57	y	y	PROPN
ajst-9865	70	58	k	k	PROPN
ajst-9865	70	59	as	as	SCONJ
ajst-9865	70	60	follows	follow	VERB
ajst-9865	70	61	:	:	PUNCT
ajst-9865	70	62	(	(	PUNCT
ajst-9865	70	63	1	1	X
ajst-9865	70	64	)	)	PUNCT
ajst-9865	70	65	(	(	PUNCT
ajst-9865	70	66	)	)	PUNCT
ajst-9865	70	67	(	(	PUNCT
ajst-9865	70	68	)	)	PUNCT
ajst-9865	70	69	(	(	PUNCT
ajst-9865	70	70	)	)	PUNCT
ajst-9865	70	71	(	(	PUNCT
ajst-9865	70	72	)	)	PUNCT
ajst-9865	70	73	(	(	PUNCT
ajst-9865	70	74	)	)	PUNCT
ajst-9865	71	1	e	e	X
ajst-9865	71	2	e	e	X
ajst-9865	71	3	e	e	X
ajst-9865	71	4	k	k	PROPN
ajst-9865	71	5	a	a	PRON
ajst-9865	71	6	k	k	PROPN
ajst-9865	71	7	b	b	PROPN
ajst-9865	72	1	k	k	PROPN
ajst-9865	73	1	k	k	PROPN
ajst-9865	74	1	k	k	PROPN
ajst-9865	74	2	c	c	PROPN
ajst-9865	74	3	k	k	PROPN
ajst-9865	74	4	u	u	PROPN
ajst-9865	74	5	d	d	X
ajst-9865	74	6	y	y	PROPN
ajst-9865	74	7	(	(	PUNCT
ajst-9865	74	8	)	)	PUNCT
ajst-9865	74	9	(	(	PUNCT
ajst-9865	74	10	(	(	PUNCT
ajst-9865	74	11	)	)	PUNCT
ajst-9865	74	12	(	(	PUNCT
ajst-9865	74	13	)	)	PUNCT
ajst-9865	74	14	(	(	PUNCT
ajst-9865	74	15	(	(	PUNCT
ajst-9865	74	16	)	)	PUNCT
ajst-9865	74	17	(	(	PUNCT
ajst-9865	74	18	)	)	PUNCT
ajst-9865	74	19	(	(	PUNCT
ajst-9865	74	20	)	)	PUNCT
ajst-9865	74	21	(	(	PUNCT
ajst-9865	74	22	)	)	PUNCT
ajst-9865	74	23	(	(	PUNCT
ajst-9865	74	24	)	)	PUNCT
ajst-9865	74	25	(	(	PUNCT
ajst-9865	74	26	14	14	NUM
ajst-9865	74	27	)	)	PUNCT
ajst-9865	74	28	in	in	ADP
ajst-9865	74	29	equation	equation	NOUN
ajst-9865	74	30	(	(	PUNCT
ajst-9865	74	31	14	14	NUM
ajst-9865	74	32	)	)	PUNCT
ajst-9865	74	33	(	(	PUNCT
ajst-9865	74	34	)	)	PUNCT
ajst-9865	74	35	e	e	X
ajst-9865	74	36	k	k	PROPN
ajst-9865	74	37	is	be	AUX
ajst-9865	74	38	a	a	DET
ajst-9865	74	39	state	state	NOUN
ajst-9865	74	40	variable	variable	NOUN
ajst-9865	74	41	,	,	PUNCT
ajst-9865	74	42	(	(	PUNCT
ajst-9865	74	43	)	)	PUNCT
ajst-9865	74	44	ku	ku	PROPN
ajst-9865	74	45	(	(	PUNCT
ajst-9865	74	46	)	)	PUNCT
ajst-9865	74	47	u	u	NOUN
ajst-9865	74	48	is	be	AUX
ajst-9865	74	49	a	a	DET
ajst-9865	74	50	control	control	NOUN
ajst-9865	74	51	input	input	NOUN
ajst-9865	74	52	variable	variable	NOUN
ajst-9865	74	53	,	,	PUNCT
ajst-9865	74	54	(	(	PUNCT
ajst-9865	74	55	)	)	PUNCT
ajst-9865	74	56	ky	ky	PROPN
ajst-9865	74	57	is	be	AUX
ajst-9865	74	58	a	a	DET
ajst-9865	74	59	control	control	NOUN
ajst-9865	74	60	output	output	NOUN
ajst-9865	74	61	variable	variable	NOUN
ajst-9865	74	62	,	,	PUNCT
ajst-9865	74	63	(	(	PUNCT
ajst-9865	74	64	)	)	PUNCT
ajst-9865	74	65	kd	kd	PROPN
ajst-9865	74	66	is	be	AUX
ajst-9865	74	67	a	a	DET
ajst-9865	74	68	measurable	measurable	ADJ
ajst-9865	74	69	error	error	NOUN
ajst-9865	74	70	variable	variable	NOUN
ajst-9865	74	71	,	,	PUNCT
ajst-9865	74	72	and	and	CCONJ
ajst-9865	74	73	1	1	NUM
ajst-9865	74	74	0	0	NUM
ajst-9865	74	75	sin	sin	NOUN
ajst-9865	74	76	1	1	NUM
ajst-9865	74	77	0	0	X
ajst-9865	74	78	0cos	0co	NOUN
ajst-9865	74	79	0	0	NUM
ajst-9865	74	80	0	0	NUM
ajst-9865	74	81	1	1	NUM
ajst-9865	74	82	cos	co	NOUN
ajst-9865	74	83	,	,	PUNCT
ajst-9865	74	84	,	,	PUNCT
ajst-9865	74	85	0	0	NUM
ajst-9865	74	86	1	1	NUM
ajst-9865	74	87	0sin	0sin	NOUN
ajst-9865	74	88	0	0	NUM
ajst-9865	74	89	0	0	NUM
ajst-9865	74	90	0	0	NUM
ajst-9865	74	91	1	1	NUM
ajst-9865	74	92	0	0	NUM
ajst-9865	74	93	0	0	NUM
ajst-9865	74	94	10	10	NUM
ajst-9865	74	95	r	r	NOUN
ajst-9865	74	96	r	r	NOUN
ajst-9865	74	97	r	r	NOUN
ajst-9865	74	98	r	r	NOUN
ajst-9865	74	99	r	r	NOUN
ajst-9865	74	100	r	r	NOUN
ajst-9865	74	101	v	v	NOUN
ajst-9865	74	102	t	t	X
ajst-9865	74	103	t	t	NOUN
ajst-9865	74	104	v	v	ADP
ajst-9865	74	105	t	t	PROPN
ajst-9865	74	106	t	t	PROPN
ajst-9865	74	107	t	t	PROPN
ajst-9865	74	108	a	a	DET
ajst-9865	74	109	b	b	PROPN
ajst-9865	74	110	c	c	X
ajst-9865	74	111	(	(	PUNCT
ajst-9865	74	112	15	15	NUM
ajst-9865	74	113	)	)	PUNCT
ajst-9865	74	114	it	it	PRON
ajst-9865	74	115	is	be	AUX
ajst-9865	74	116	assumed	assume	VERB
ajst-9865	74	117	that	that	SCONJ
ajst-9865	74	118	the	the	DET
ajst-9865	74	119	system	system	NOUN
ajst-9865	74	120	state	state	NOUN
ajst-9865	74	121	variables	variable	NOUN
ajst-9865	74	122	are	be	AUX
ajst-9865	74	123	fully	fully	ADV
ajst-9865	74	124	measurable	measurable	ADJ
ajst-9865	74	125	and	and	CCONJ
ajst-9865	74	126	that	that	SCONJ
ajst-9865	74	127	the	the	DET
ajst-9865	74	128	system	system	NOUN
ajst-9865	74	129	output	output	NOUN
ajst-9865	74	130	is	be	AUX
ajst-9865	74	131	fully	fully	ADV
ajst-9865	74	132	controllable	controllable	ADJ
ajst-9865	74	133	.	.	PUNCT
ajst-9865	75	1	to	to	PART
ajst-9865	75	2	eliminate	eliminate	VERB
ajst-9865	75	3	static	static	ADJ
ajst-9865	75	4	errors	error	NOUN
ajst-9865	75	5	,	,	PUNCT
ajst-9865	75	6	the	the	DET
ajst-9865	75	7	following	follow	VERB
ajst-9865	75	8	incremental	incremental	ADJ
ajst-9865	75	9	variables	variable	NOUN
ajst-9865	75	10	are	be	AUX
ajst-9865	75	11	defined	define	VERB
ajst-9865	75	12	for	for	ADP
ajst-9865	75	13	equation	equation	NOUN
ajst-9865	75	14	(	(	PUNCT
ajst-9865	75	15	8)	8)	NUM
ajst-9865	75	16	:	:	PUNCT
ajst-9865	75	17	(	(	PUNCT
ajst-9865	75	18	)	)	PUNCT
ajst-9865	75	19	(	(	PUNCT
ajst-9865	76	1	)	)	PUNCT
ajst-9865	76	2	(	(	PUNCT
ajst-9865	76	3	1	1	X
ajst-9865	76	4	)	)	PUNCT
ajst-9865	76	5	(	(	PUNCT
ajst-9865	76	6	)	)	PUNCT
ajst-9865	76	7	(	(	PUNCT
ajst-9865	76	8	)	)	PUNCT
ajst-9865	76	9	(	(	PUNCT
ajst-9865	76	10	1	1	X
ajst-9865	76	11	)	)	PUNCT
ajst-9865	76	12	(	(	PUNCT
ajst-9865	76	13	)	)	PUNCT
ajst-9865	76	14	(	(	PUNCT
ajst-9865	76	15	)	)	PUNCT
ajst-9865	76	16	(	(	PUNCT
ajst-9865	76	17	1	1	X
ajst-9865	76	18	)	)	PUNCT
ajst-9865	76	19	e	e	NOUN
ajst-9865	76	20	e	e	X
ajst-9865	76	21	ek	ek	PROPN
ajst-9865	77	1	k	k	PROPN
ajst-9865	77	2	k	k	PROPN
ajst-9865	78	1	k	k	PROPN
ajst-9865	78	2	k	k	PROPN
ajst-9865	78	3	k	k	PROPN
ajst-9865	78	4	k	k	PROPN
ajst-9865	78	5	k	k	PROPN
ajst-9865	78	6	k	k	X
ajst-9865	78	7	u	u	X
ajst-9865	78	8	u	u	X
ajst-9865	78	9	u	u	NOUN
ajst-9865	78	10	d	d	PROPN
ajst-9865	78	11	d	d	PROPN
ajst-9865	78	12	d	d	PROPN
ajst-9865	78	13	(	(	PUNCT
ajst-9865	78	14	)	)	PUNCT
ajst-9865	78	15	(	(	PUNCT
ajst-9865	78	16	)	)	PUNCT
ajst-9865	78	17	(	(	PUNCT
ajst-9865	78	18	1	1	NUM
ajst-9865	78	19	)	)	PUNCT
ajst-9865	78	20	)	)	PUNCT
ajst-9865	78	21	(	(	PUNCT
ajst-9865	78	22	)	)	PUNCT
ajst-9865	78	23	(	(	PUNCT
ajst-9865	78	24	)	)	PUNCT
ajst-9865	78	25	(	(	PUNCT
ajst-9865	78	26	)	)	PUNCT
ajst-9865	78	27	(	(	PUNCT
ajst-9865	78	28	(	(	PUNCT
ajst-9865	78	29	)	)	PUNCT
ajst-9865	78	30	(	(	PUNCT
ajst-9865	78	31	)	)	PUNCT
ajst-9865	78	32	(	(	PUNCT
ajst-9865	78	33	)	)	PUNCT
ajst-9865	78	34	(	(	PUNCT
ajst-9865	78	35	)	)	PUNCT
ajst-9865	78	36	(	(	PUNCT
ajst-9865	78	37	u	u	NOUN
ajst-9865	78	38	(	(	PUNCT
ajst-9865	78	39	)	)	PUNCT
ajst-9865	78	40	(	(	PUNCT
ajst-9865	78	41	)	)	PUNCT
ajst-9865	78	42	(	(	PUNCT
ajst-9865	78	43	)	)	PUNCT
ajst-9865	78	44	)	)	PUNCT
ajst-9865	78	45	(	(	PUNCT
ajst-9865	78	46	)	)	PUNCT
ajst-9865	78	47	)	)	PUNCT
ajst-9865	78	48	(	(	PUNCT
ajst-9865	78	49	(	(	PUNCT
ajst-9865	78	50	)	)	PUNCT
ajst-9865	78	51	(	(	PUNCT
ajst-9865	78	52	)	)	PUNCT
ajst-9865	78	53	(	(	PUNCT
ajst-9865	78	54	)	)	PUNCT
ajst-9865	78	55	)	)	PUNCT
ajst-9865	78	56	(	(	PUNCT
ajst-9865	78	57	(	(	PUNCT
ajst-9865	78	58	)	)	PUNCT
ajst-9865	78	59	(	(	PUNCT
ajst-9865	78	60	)	)	PUNCT
ajst-9865	78	61	(	(	PUNCT
ajst-9865	78	62	16	16	NUM
ajst-9865	78	63	)	)	PUNCT
ajst-9865	78	64	140	140	NUM
ajst-9865	78	65	where	where	SCONJ
ajst-9865	78	66	e	e	NOUN
ajst-9865	78	67	is	be	AUX
ajst-9865	78	68	the	the	DET
ajst-9865	78	69	state	state	NOUN
ajst-9865	78	70	increment	increment	NOUN
ajst-9865	78	71	and	and	CCONJ
ajst-9865	78	72	uu	uu	ADJ
ajst-9865	78	73	is	be	AUX
ajst-9865	78	74	the	the	DET
ajst-9865	78	75	control	control	NOUN
ajst-9865	78	76	increment	increment	NOUN
ajst-9865	78	77	.	.	PUNCT
ajst-9865	79	1	bringing	bring	VERB
ajst-9865	79	2	equation	equation	NOUN
ajst-9865	79	3	(	(	PUNCT
ajst-9865	79	4	16	16	NUM
ajst-9865	79	5	)	)	PUNCT
ajst-9865	79	6	into	into	ADP
ajst-9865	79	7	equation	equation	NOUN
ajst-9865	79	8	(	(	PUNCT
ajst-9865	79	9	14	14	NUM
ajst-9865	79	10	)	)	PUNCT
ajst-9865	79	11	,	,	PUNCT
ajst-9865	79	12	the	the	DET
ajst-9865	79	13	incremental	incremental	ADJ
ajst-9865	79	14	model	model	NOUN
ajst-9865	79	15	is	be	AUX
ajst-9865	79	16	obtained	obtain	VERB
ajst-9865	79	17	as	as	ADP
ajst-9865	79	18	(	(	PUNCT
ajst-9865	79	19	1	1	NUM
ajst-9865	79	20	)	)	PUNCT
ajst-9865	79	21	(	(	PUNCT
ajst-9865	79	22	)	)	PUNCT
ajst-9865	79	23	(	(	PUNCT
ajst-9865	79	24	)	)	PUNCT
ajst-9865	79	25	(	(	PUNCT
ajst-9865	79	26	1	1	X
ajst-9865	79	27	)	)	PUNCT
ajst-9865	79	28	(	(	PUNCT
ajst-9865	79	29	)	)	PUNCT
ajst-9865	79	30	(	(	PUNCT
ajst-9865	79	31	)	)	PUNCT
ajst-9865	79	32	(	(	PUNCT
ajst-9865	79	33	)	)	PUNCT
ajst-9865	79	34	(	(	PUNCT
ajst-9865	79	35	)	)	PUNCT
ajst-9865	79	36	e	e	X
ajst-9865	79	37	e	e	X
ajst-9865	79	38	ek	ek	PROPN
ajst-9865	79	39	k	k	PROPN
ajst-9865	79	40	k	k	PROPN
ajst-9865	80	1	k	k	PROPN
ajst-9865	81	1	k	k	PROPN
ajst-9865	81	2	k	k	PROPN
ajst-9865	82	1	k	k	X
ajst-9865	83	1	a	a	PRON
ajst-9865	83	2	i	i	PRON
ajst-9865	83	3	a	a	DET
ajst-9865	83	4	b	b	X
ajst-9865	83	5	u	u	X
ajst-9865	83	6	d	d	X
ajst-9865	83	7	y	y	PROPN
ajst-9865	83	8	c	c	PROPN
ajst-9865	83	9	(	(	PUNCT
ajst-9865	83	10	)	)	PUNCT
ajst-9865	83	11	(	(	PUNCT
ajst-9865	83	12	(	(	PUNCT
ajst-9865	83	13	)	)	PUNCT
ajst-9865	83	14	(	(	PUNCT
ajst-9865	83	15	(	(	PUNCT
ajst-9865	83	16	)	)	PUNCT
ajst-9865	83	17	(	(	PUNCT
ajst-9865	83	18	)	)	PUNCT
ajst-9865	83	19	(	(	PUNCT
ajst-9865	83	20	)	)	PUNCT
ajst-9865	83	21	(	(	PUNCT
ajst-9865	83	22	)	)	PUNCT
ajst-9865	83	23	(	(	PUNCT
ajst-9865	83	24	)	)	PUNCT
ajst-9865	83	25	(	(	PUNCT
ajst-9865	83	26	17	17	NUM
ajst-9865	83	27	)	)	PUNCT
ajst-9865	83	28	in	in	ADP
ajst-9865	83	29	equation	equation	NOUN
ajst-9865	83	30	(	(	PUNCT
ajst-9865	83	31	17	17	NUM
ajst-9865	83	32	)	)	PUNCT
ajst-9865	83	33	,	,	PUNCT
ajst-9865	83	34	i	i	PRON
ajst-9865	83	35	is	be	AUX
ajst-9865	83	36	the	the	DET
ajst-9865	83	37	unit	unit	NOUN
ajst-9865	83	38	matrix	matrix	NOUN
ajst-9865	83	39	.	.	PUNCT
ajst-9865	84	1	to	to	PART
ajst-9865	84	2	design	design	VERB
ajst-9865	84	3	the	the	DET
ajst-9865	84	4	mmpc	mmpc	NOUN
ajst-9865	84	5	controller	controller	NOUN
ajst-9865	84	6	,	,	PUNCT
ajst-9865	84	7	the	the	DET
ajst-9865	84	8	future	future	ADJ
ajst-9865	84	9	dynamics	dynamic	NOUN
ajst-9865	84	10	of	of	ADP
ajst-9865	84	11	the	the	DET
ajst-9865	84	12	system	system	NOUN
ajst-9865	84	13	is	be	AUX
ajst-9865	84	14	first	first	ADV
ajst-9865	84	15	predicted	predict	VERB
ajst-9865	84	16	based	base	VERB
ajst-9865	84	17	on	on	ADP
ajst-9865	84	18	model	model	NOUN
ajst-9865	84	19	(	(	PUNCT
ajst-9865	84	20	11	11	NUM
ajst-9865	84	21	)	)	PUNCT
ajst-9865	84	22	using	use	VERB
ajst-9865	84	23	the	the	DET
ajst-9865	84	24	latest	late	ADJ
ajst-9865	84	25	value	value	NOUN
ajst-9865	84	26	of	of	ADP
ajst-9865	84	27	(	(	PUNCT
ajst-9865	84	28	)	)	PUNCT
ajst-9865	84	29	e	e	X
ajst-9865	84	30	k	k	PROPN
ajst-9865	84	31	as	as	ADP
ajst-9865	84	32	the	the	DET
ajst-9865	84	33	initial	initial	ADJ
ajst-9865	84	34	condition	condition	NOUN
ajst-9865	84	35	.	.	PUNCT
ajst-9865	85	1	set	set	VERB
ajst-9865	85	2	the	the	DET
ajst-9865	85	3	prediction	prediction	NOUN
ajst-9865	85	4	time	time	NOUN
ajst-9865	85	5	domain	domain	NOUN
ajst-9865	85	6	to	to	ADP
ajst-9865	85	7	p	p	NOUN
ajst-9865	85	8	,	,	PUNCT
ajst-9865	85	9	the	the	DET
ajst-9865	85	10	control	control	NOUN
ajst-9865	85	11	time	time	NOUN
ajst-9865	85	12	domain	domain	NOUN
ajst-9865	85	13	to	to	ADP
ajst-9865	85	14	m	m	PROPN
ajst-9865	85	15	and	and	CCONJ
ajst-9865	85	16	m	m	PROPN
ajst-9865	85	17	p	p	NOUN
ajst-9865	85	18	.	.	PUNCT
ajst-9865	86	1	to	to	PART
ajst-9865	86	2	calculate	calculate	VERB
ajst-9865	86	3	the	the	DET
ajst-9865	86	4	prediction	prediction	NOUN
ajst-9865	86	5	equations	equation	NOUN
ajst-9865	86	6	for	for	ADP
ajst-9865	86	7	the	the	DET
ajst-9865	86	8	mmpc	mmpc	PROPN
ajst-9865	86	9	,	,	PUNCT
ajst-9865	86	10	assume	assume	VERB
ajst-9865	86	11	that	that	SCONJ
ajst-9865	86	12	the	the	DET
ajst-9865	86	13	control	control	NOUN
ajst-9865	86	14	quantities	quantity	NOUN
ajst-9865	86	15	in	in	ADP
ajst-9865	86	16	the	the	DET
ajst-9865	86	17	control	control	NOUN
ajst-9865	86	18	time	time	NOUN
ajst-9865	86	19	domain	domain	NOUN
ajst-9865	86	20	are	be	AUX
ajst-9865	86	21	constant	constant	ADJ
ajst-9865	86	22	.	.	PUNCT
ajst-9865	87	1	for	for	ADP
ajst-9865	87	2	the	the	DET
ajst-9865	87	3	current	current	ADJ
ajst-9865	87	4	moment	moment	NOUN
ajst-9865	87	5	k	k	PROPN
ajst-9865	87	6	define	define	VERB
ajst-9865	87	7	the	the	DET
ajst-9865	87	8	p	p	NOUN
ajst-9865	87	9	step	step	NOUN
ajst-9865	87	10	predicted	predict	VERB
ajst-9865	87	11	control	control	NOUN
ajst-9865	87	12	output	output	NOUN
ajst-9865	87	13	quantities	quantity	NOUN
ajst-9865	87	14	as	as	SCONJ
ajst-9865	87	15	follows	follow	VERB
ajst-9865	87	16	:	:	PUNCT
ajst-9865	87	17	1	1	NUM
ajst-9865	87	18	(	(	PUNCT
ajst-9865	87	19	1|	1|	NUM
ajst-9865	87	20	)	)	PUNCT
ajst-9865	88	1	[	[	PUNCT
ajst-9865	88	2	(	(	PUNCT
ajst-9865	88	3	1|	1|	NUM
ajst-9865	88	4	)	)	PUNCT
ajst-9865	88	5	(	(	PUNCT
ajst-9865	88	6	|	|	ADV
ajst-9865	88	7	)	)	PUNCT
ajst-9865	88	8	]	]	PUNCT
ajst-9865	88	9	tp	tp	PART
ajst-9865	88	10	pk	pk	PROPN
ajst-9865	88	11	k	k	PROPN
ajst-9865	88	12	k	k	PROPN
ajst-9865	89	1	k	k	PROPN
ajst-9865	89	2	k	k	PROPN
ajst-9865	90	1	p	p	PROPN
ajst-9865	90	2	ky	ky	PROPN
ajst-9865	90	3	y	y	PROPN
ajst-9865	90	4	y	y	PROPN
ajst-9865	90	5	(	(	PUNCT
ajst-9865	90	6	(	(	PUNCT
ajst-9865	90	7	(	(	PUNCT
ajst-9865	90	8	(	(	PUNCT
ajst-9865	90	9	(	(	PUNCT
ajst-9865	90	10	18	18	NUM
ajst-9865	90	11	)	)	PUNCT
ajst-9865	90	12	(	(	PUNCT
ajst-9865	90	13	)	)	PUNCT
ajst-9865	90	14	ku	ku	PROPN
ajst-9865	90	15	is	be	AUX
ajst-9865	90	16	a	a	DET
ajst-9865	90	17	sequence	sequence	NOUN
ajst-9865	90	18	of	of	ADP
ajst-9865	90	19	control	control	NOUN
ajst-9865	90	20	quantity	quantity	NOUN
ajst-9865	90	21	increments	increment	NOUN
ajst-9865	90	22	as	as	ADP
ajst-9865	90	23	independent	independent	ADJ
ajst-9865	90	24	variables	variable	NOUN
ajst-9865	90	25	in	in	ADP
ajst-9865	90	26	a	a	DET
ajst-9865	90	27	constrained	constrain	VERB
ajst-9865	90	28	optimization	optimization	NOUN
ajst-9865	90	29	problem	problem	NOUN
ajst-9865	90	30	defined	define	VERB
ajst-9865	90	31	as	as	ADP
ajst-9865	90	32	1	1	NUM
ajst-9865	90	33	(	(	PUNCT
ajst-9865	90	34	)	)	PUNCT
ajst-9865	90	35	[	[	PUNCT
ajst-9865	90	36	(	(	PUNCT
ajst-9865	90	37	)	)	PUNCT
ajst-9865	90	38	(	(	PUNCT
ajst-9865	90	39	1)]tmk	1)]tmk	NUM
ajst-9865	90	40	k	k	PROPN
ajst-9865	90	41	k	k	PROPN
ajst-9865	90	42	mu	mu	PROPN
ajst-9865	90	43	u	u	PROPN
ajst-9865	90	44	u	u	PROPN
ajst-9865	90	45	(	(	PUNCT
ajst-9865	90	46	)	)	PUNCT
ajst-9865	90	47	(	(	PUNCT
ajst-9865	90	48	1)]tm	1)]tm	NUM
ajst-9865	90	49	(	(	PUNCT
ajst-9865	90	50	)	)	PUNCT
ajst-9865	90	51	(	(	PUNCT
ajst-9865	90	52	)	)	PUNCT
ajst-9865	90	53	(	(	PUNCT
ajst-9865	90	54	(	(	PUNCT
ajst-9865	90	55	)	)	PUNCT
ajst-9865	90	56	(	(	PUNCT
ajst-9865	90	57	)	)	PUNCT
ajst-9865	90	58	(	(	PUNCT
ajst-9865	90	59	(	(	PUNCT
ajst-9865	90	60	)	)	PUNCT
ajst-9865	90	61	(	(	PUNCT
ajst-9865	90	62	)	)	PUNCT
ajst-9865	90	63	(	(	PUNCT
ajst-9865	90	64	)	)	PUNCT
ajst-9865	90	65	(	(	PUNCT
ajst-9865	90	66	(	(	PUNCT
ajst-9865	90	67	(	(	PUNCT
ajst-9865	90	68	(	(	PUNCT
ajst-9865	90	69	19	19	NUM
ajst-9865	90	70	)	)	PUNCT
ajst-9865	90	71	the	the	DET
ajst-9865	90	72	number	number	NOUN
ajst-9865	90	73	of	of	ADP
ajst-9865	90	74	vectors	vector	NOUN
ajst-9865	90	75	in	in	ADP
ajst-9865	90	76	the	the	DET
ajst-9865	90	77	matrix	matrix	NOUN
ajst-9865	90	78	is	be	AUX
ajst-9865	90	79	indicated	indicate	VERB
ajst-9865	90	80	under	under	ADP
ajst-9865	90	81	the	the	DET
ajst-9865	90	82	matrix	matrix	NOUN
ajst-9865	90	83	in	in	ADP
ajst-9865	90	84	eqs	eqs	PROPN
ajst-9865	90	85	.	.	PUNCT
ajst-9865	91	1	(	(	PUNCT
ajst-9865	91	2	18	18	NUM
ajst-9865	91	3	)	)	PUNCT
ajst-9865	91	4	and	and	CCONJ
ajst-9865	91	5	(	(	PUNCT
ajst-9865	91	6	19	19	NUM
ajst-9865	91	7	)	)	PUNCT
ajst-9865	91	8	and	and	CCONJ
ajst-9865	91	9	is	be	AUX
ajst-9865	91	10	not	not	PART
ajst-9865	91	11	necessarily	necessarily	ADV
ajst-9865	91	12	the	the	DET
ajst-9865	91	13	dimension	dimension	NOUN
ajst-9865	91	14	of	of	ADP
ajst-9865	91	15	the	the	DET
ajst-9865	91	16	matrix	matrix	NOUN
ajst-9865	91	17	.	.	PUNCT
ajst-9865	92	1	the	the	DET
ajst-9865	92	2	output	output	NOUN
ajst-9865	92	3	predicted	predict	VERB
ajst-9865	92	4	for	for	ADP
ajst-9865	92	5	the	the	DET
ajst-9865	92	6	next	next	ADJ
ajst-9865	92	7	p	p	ADJ
ajst-9865	92	8	steps	step	NOUN
ajst-9865	92	9	of	of	ADP
ajst-9865	92	10	the	the	DET
ajst-9865	92	11	system	system	NOUN
ajst-9865	92	12	can	can	AUX
ajst-9865	92	13	be	be	AUX
ajst-9865	92	14	calculated	calculate	VERB
ajst-9865	92	15	from	from	ADP
ajst-9865	92	16	the	the	DET
ajst-9865	92	17	following	follow	VERB
ajst-9865	92	18	prediction	prediction	NOUN
ajst-9865	92	19	equation	equation	NOUN
ajst-9865	92	20	:	:	PUNCT
ajst-9865	92	21	1	1	NUM
ajst-9865	92	22	2	2	NUM
ajst-9865	92	23	(	(	PUNCT
ajst-9865	92	24	1|	1|	NUM
ajst-9865	92	25	)	)	PUNCT
ajst-9865	92	26	(	(	PUNCT
ajst-9865	92	27	)	)	PUNCT
ajst-9865	92	28	(	(	PUNCT
ajst-9865	92	29	1	1	X
ajst-9865	92	30	)	)	PUNCT
ajst-9865	92	31	(	(	PUNCT
ajst-9865	92	32	)	)	PUNCT
ajst-9865	92	33	(	(	PUNCT
ajst-9865	92	34	)	)	PUNCT
ajst-9865	92	35	p	p	X
ajst-9865	92	36	x	x	X
ajst-9865	92	37	x	x	PUNCT
ajst-9865	92	38	u	u	NOUN
ajst-9865	93	1	dk	dk	NOUN
ajst-9865	93	2	k	k	NOUN
ajst-9865	93	3	x	x	PUNCT
ajst-9865	93	4	k	k	NOUN
ajst-9865	93	5	x	x	X
ajst-9865	93	6	k	k	PROPN
ajst-9865	93	7	k	k	PROPN
ajst-9865	93	8	ky	ky	PROPN
ajst-9865	93	9	s	s	PROPN
ajst-9865	93	10	s	s	X
ajst-9865	93	11	s	s	X
ajst-9865	93	12	u	u	NOUN
ajst-9865	93	13	s	s	PROPN
ajst-9865	93	14	d	d	X
ajst-9865	93	15	(	(	PUNCT
ajst-9865	93	16	20	20	NUM
ajst-9865	93	17	)	)	PUNCT
ajst-9865	93	18	in	in	ADP
ajst-9865	93	19	equation	equation	NOUN
ajst-9865	93	20	(	(	PUNCT
ajst-9865	93	21	20	20	NUM
ajst-9865	93	22	)	)	PUNCT
ajst-9865	93	23	,	,	PUNCT
ajst-9865	93	24	2	2	NUM
ajst-9865	93	25	2	2	NUM
ajst-9865	93	26	2	2	NUM
ajst-9865	93	27	1	1	NUM
ajst-9865	93	28	0	0	NUM
ajst-9865	93	29	1	1	NUM
ajst-9865	93	30	1	1	NUM
ajst-9865	93	31	1	1	NUM
ajst-9865	93	32	2	2	NUM
ajst-9865	93	33	1	1	NUM
ajst-9865	93	34	0	0	NUM
ajst-9865	93	35	1	1	NUM
ajst-9865	93	36	1	1	NUM
ajst-9865	93	37	(	(	PUNCT
ajst-9865	93	38	)	)	PUNCT
ajst-9865	93	39	,	,	PUNCT
ajst-9865	93	40	,	,	PUNCT
ajst-9865	93	41	c	c	NOUN
ajst-9865	93	42	c	c	NOUN
ajst-9865	94	1	c	c	NOUN
ajst-9865	94	2	i	i	PRON
ajst-9865	95	1	i	i	INTJ
ajst-9865	95	2	i	i	INTJ
ajst-9865	96	1	c	c	VERB
ajst-9865	97	1	c	c	NOUN
ajst-9865	97	2	c	c	NOUN
ajst-9865	98	1	i	i	PRON
ajst-9865	98	2	i	i	PRON
ajst-9865	98	3	i	i	VERB
ajst-9865	98	4	x	x	VERB
ajst-9865	98	5	x	x	PUNCT
ajst-9865	99	1	d	d	X
ajst-9865	99	2	p	p	X
ajst-9865	100	1	p	p	X
ajst-9865	100	2	p	p	X
ajst-9865	101	1	i	i	PRON
ajst-9865	101	2	i	i	PRON
ajst-9865	102	1	i	i	INTJ
ajst-9865	102	2	c	c	VERB
ajst-9865	103	1	c	c	NOUN
ajst-9865	103	2	c	c	NOUN
ajst-9865	104	1	i	i	PRON
ajst-9865	104	2	i	i	PRON
ajst-9865	104	3	i	i	PRON
ajst-9865	105	1	a	a	X
ajst-9865	105	2	c	c	NOUN
ajst-9865	106	1	a	a	PRON
ajst-9865	107	1	i	i	NOUN
ajst-9865	107	2	c	c	VERB
ajst-9865	107	3	a	a	DET
ajst-9865	107	4	c	c	NOUN
ajst-9865	107	5	c	c	PROPN
ajst-9865	107	6	a	a	DET
ajst-9865	107	7	c	c	NOUN
ajst-9865	107	8	a	a	DET
ajst-9865	107	9	c	c	NOUN
ajst-9865	107	10	s	s	NOUN
ajst-9865	107	11	s	s	NOUN
ajst-9865	107	12	s	s	X
ajst-9865	107	13	c	c	NOUN
ajst-9865	107	14	a	a	DET
ajst-9865	107	15	c	c	NOUN
ajst-9865	107	16	a	a	DET
ajst-9865	107	17	c	c	NOUN
ajst-9865	107	18	a	a	DET
ajst-9865	107	19	ddx	ddx	X
ajst-9865	107	20	dx2	dx2	PROPN
ajst-9865	107	21	,	,	PUNCT
ajst-9865	107	22	2	2	NUM
ajst-9865	107	23	d22	d22	NOUN
ajst-9865	107	24	,	,	PUNCT
ajst-9865	107	25	22	22	NUM
ajst-9865	107	26	,	,	PUNCT
ajst-9865	107	27	2	2	NUM
ajst-9865	107	28	1	1	NUM
ajst-9865	107	29	2	2	NUM
ajst-9865	107	30	1	1	NUM
ajst-9865	107	31	1	1	NUM
ajst-9865	107	32	1	1	NUM
ajst-9865	107	33	2	2	NUM
ajst-9865	107	34	1	1	NUM
ajst-9865	107	35	1	1	NUM
ajst-9865	107	36	1	1	NUM
ajst-9865	107	37	0	0	NUM
ajst-9865	107	38	0	0	NUM
ajst-9865	107	39	(	(	PUNCT
ajst-9865	107	40	)	)	PUNCT
ajst-9865	107	41	0	0	NUM
ajst-9865	108	1	(	(	PUNCT
ajst-9865	108	2	)	)	PUNCT
ajst-9865	108	3	(	(	PUNCT
ajst-9865	108	4	)	)	PUNCT
ajst-9865	108	5	(	(	PUNCT
ajst-9865	108	6	)	)	PUNCT
ajst-9865	108	7	(	(	PUNCT
ajst-9865	108	8	)	)	PUNCT
ajst-9865	108	9	(	(	PUNCT
ajst-9865	108	10	)	)	PUNCT
ajst-9865	108	11	c	c	NOUN
ajst-9865	108	12	c	c	X
ajst-9865	108	13	c	c	X
ajst-9865	108	14	m	m	VERB
ajst-9865	108	15	m	m	VERB
ajst-9865	108	16	i	i	INTJ
ajst-9865	108	17	i	i	INTJ
ajst-9865	108	18	c	c	VERB
ajst-9865	108	19	c	c	NOUN
ajst-9865	108	20	cu	cu	NOUN
ajst-9865	109	1	i	i	PRON
ajst-9865	110	1	i	i	PRON
ajst-9865	111	1	p	p	VERB
ajst-9865	112	1	p	p	X
ajst-9865	113	1	p	p	X
ajst-9865	114	1	m	m	VERB
ajst-9865	115	1	i	i	PRON
ajst-9865	116	1	i	i	INTJ
ajst-9865	117	1	i	i	INTJ
ajst-9865	117	2	c	c	VERB
ajst-9865	118	1	c	c	NOUN
ajst-9865	118	2	c	c	NOUN
ajst-9865	119	1	i	i	PRON
ajst-9865	119	2	i	i	INTJ
ajst-9865	120	1	i	i	VERB
ajst-9865	120	2	c	c	VERB
ajst-9865	121	1	b	b	PROPN
ajst-9865	121	2	c	c	PROPN
ajst-9865	121	3	a	a	PRON
ajst-9865	121	4	i	i	NOUN
ajst-9865	121	5	b	b	PROPN
ajst-9865	121	6	c	c	NOUN
ajst-9865	121	7	b	b	PROPN
ajst-9865	121	8	c	c	PROPN
ajst-9865	121	9	a	a	DET
ajst-9865	121	10	b	b	NOUN
ajst-9865	121	11	c	c	NOUN
ajst-9865	121	12	a	a	DET
ajst-9865	121	13	b	b	NOUN
ajst-9865	121	14	c	c	NOUN
ajst-9865	121	15	bs	bs	NOUN
ajst-9865	121	16	c	c	PROPN
ajst-9865	121	17	a	a	DET
ajst-9865	121	18	b	b	X
ajst-9865	121	19	c	c	PROPN
ajst-9865	121	20	a	a	DET
ajst-9865	121	21	b	b	NOUN
ajst-9865	121	22	c	c	NOUN
ajst-9865	121	23	a	a	DET
ajst-9865	121	24	b	b	NOUN
ajst-9865	121	25	p	p	X
ajst-9865	121	26	(	(	PUNCT
ajst-9865	121	27	(	(	PUNCT
ajst-9865	121	28	c	c	X
ajst-9865	121	29	(	(	PUNCT
ajst-9865	121	30	(	(	PUNCT
ajst-9865	121	31	(	(	PUNCT
ajst-9865	121	32	(	(	PUNCT
ajst-9865	121	33	(	(	PUNCT
ajst-9865	121	34	further	far	ADV
ajst-9865	121	35	,	,	PUNCT
ajst-9865	121	36	the	the	DET
ajst-9865	121	37	magnitude	magnitude	NOUN
ajst-9865	121	38	of	of	ADP
ajst-9865	121	39	the	the	DET
ajst-9865	121	40	control	control	NOUN
ajst-9865	121	41	movements	movement	NOUN
ajst-9865	121	42	of	of	ADP
ajst-9865	121	43	our	our	PRON
ajst-9865	121	44	wheeled	wheel	VERB
ajst-9865	121	45	mobile	mobile	ADJ
ajst-9865	121	46	robot	robot	NOUN
ajst-9865	121	47	must	must	AUX
ajst-9865	121	48	not	not	PART
ajst-9865	121	49	be	be	AUX
ajst-9865	121	50	too	too	ADV
ajst-9865	121	51	large	large	ADJ
ajst-9865	121	52	,	,	PUNCT
ajst-9865	121	53	for	for	ADP
ajst-9865	121	54	defining	define	VERB
ajst-9865	121	55	the	the	DET
ajst-9865	121	56	following	follow	VERB
ajst-9865	121	57	objective	objective	ADJ
ajst-9865	121	58	function	function	NOUN
ajst-9865	121	59	as	as	ADP
ajst-9865	121	60	2	2	NUM
ajst-9865	121	61	2	2	NUM
ajst-9865	121	62	(	(	PUNCT
ajst-9865	121	63	(	(	PUNCT
ajst-9865	121	64	1|	1|	NUM
ajst-9865	121	65	)	)	PUNCT
ajst-9865	121	66	)	)	PUNCT
ajst-9865	122	1	(	(	PUNCT
ajst-9865	122	2	1	1	X
ajst-9865	122	3	)	)	PUNCT
ajst-9865	122	4	(	(	PUNCT
ajst-9865	122	5	)	)	PUNCT
ajst-9865	122	6	y	y	PROPN
ajst-9865	122	7	p	p	PROPN
ajst-9865	122	8	uk	uk	PROPN
ajst-9865	122	9	k	k	PROPN
ajst-9865	122	10	k	k	PROPN
ajst-9865	122	11	kj	kj	PROPN
ajst-9865	122	12	y	y	PROPN
ajst-9865	122	13	r	r	PROPN
ajst-9865	122	14	u	u	NOUN
ajst-9865	122	15	(	(	PUNCT
ajst-9865	122	16	21	21	NUM
ajst-9865	122	17	)	)	PUNCT
ajst-9865	122	18	in	in	ADP
ajst-9865	122	19	equation	equation	NOUN
ajst-9865	122	20	(	(	PUNCT
ajst-9865	122	21	21	21	NUM
ajst-9865	122	22	)	)	PUNCT
ajst-9865	122	23	,	,	PUNCT
ajst-9865	122	24	y	y	PROPN
ajst-9865	122	25	and	and	CCONJ
ajst-9865	122	26	u	u	NOUN
ajst-9865	122	27	are	be	AUX
ajst-9865	122	28	the	the	DET
ajst-9865	122	29	weighting	weighting	NOUN
ajst-9865	122	30	matrices	matrix	NOUN
ajst-9865	122	31	at	at	ADP
ajst-9865	122	32	the	the	DET
ajst-9865	122	33	current	current	ADJ
ajst-9865	122	34	prediction	prediction	NOUN
ajst-9865	122	35	moment	moment	NOUN
ajst-9865	122	36	and	and	CCONJ
ajst-9865	122	37	the	the	DET
ajst-9865	122	38	reference	reference	NOUN
ajst-9865	122	39	trajectory	trajectory	NOUN
ajst-9865	122	40	sequence	sequence	NOUN
ajst-9865	122	41	input	input	NOUN
ajst-9865	122	42	is	be	AUX
ajst-9865	122	43	1	1	NUM
ajst-9865	122	44	(	(	PUNCT
ajst-9865	122	45	1	1	NUM
ajst-9865	122	46	)	)	PUNCT
ajst-9865	123	1	(	(	PUNCT
ajst-9865	123	2	1	1	X
ajst-9865	123	3	)	)	PUNCT
ajst-9865	123	4	(	(	PUNCT
ajst-9865	123	5	2	2	NUM
ajst-9865	123	6	)	)	PUNCT
ajst-9865	123	7	(	(	PUNCT
ajst-9865	123	8	)	)	PUNCT
ajst-9865	123	9	tpk	tpk	PROPN
ajst-9865	123	10	k	k	PROPN
ajst-9865	123	11	k	k	PROPN
ajst-9865	123	12	k	k	PROPN
ajst-9865	124	1	pr	pr	NOUN
ajst-9865	124	2	r	r	NOUN
ajst-9865	124	3	r	r	NOUN
ajst-9865	124	4	r	r	NOUN
ajst-9865	124	5	(	(	PUNCT
ajst-9865	124	6	(	(	PUNCT
ajst-9865	124	7	(	(	PUNCT
ajst-9865	124	8	22	22	NUM
ajst-9865	124	9	)	)	PUNCT
ajst-9865	124	10	due	due	ADP
ajst-9865	124	11	to	to	ADP
ajst-9865	124	12	the	the	DET
ajst-9865	124	13	presence	presence	NOUN
ajst-9865	124	14	of	of	ADP
ajst-9865	124	15	constraints	constraint	NOUN
ajst-9865	124	16	,	,	PUNCT
ajst-9865	124	17	the	the	DET
ajst-9865	124	18	mmpc	mmpc	NOUN
ajst-9865	124	19	optimization	optimization	NOUN
ajst-9865	124	20	problem	problem	NOUN
ajst-9865	124	21	is	be	AUX
ajst-9865	124	22	solved	solve	VERB
ajst-9865	124	23	by	by	ADP
ajst-9865	124	24	numerical	numerical	ADJ
ajst-9865	124	25	methods	method	NOUN
ajst-9865	124	26	.	.	PUNCT
ajst-9865	125	1	since	since	SCONJ
ajst-9865	125	2	the	the	DET
ajst-9865	125	3	objective	objective	ADJ
ajst-9865	125	4	function	function	NOUN
ajst-9865	125	5	is	be	AUX
ajst-9865	125	6	quadratic	quadratic	ADJ
ajst-9865	125	7	,	,	PUNCT
ajst-9865	125	8	the	the	DET
ajst-9865	125	9	constrained	constrain	VERB
ajst-9865	125	10	optimization	optimization	NOUN
ajst-9865	125	11	problem	problem	NOUN
ajst-9865	125	12	is	be	AUX
ajst-9865	125	13	converted	convert	VERB
ajst-9865	125	14	to	to	ADP
ajst-9865	125	15	a	a	DET
ajst-9865	125	16	quadratic	quadratic	ADJ
ajst-9865	125	17	programming	programming	NOUN
ajst-9865	125	18	problem	problem	NOUN
ajst-9865	125	19	,	,	PUNCT
ajst-9865	125	20	defined	define	VERB
ajst-9865	125	21	1	1	NUM
ajst-9865	125	22	2	2	NUM
ajst-9865	125	23	(	(	PUNCT
ajst-9865	125	24	1	1	NUM
ajst-9865	125	25	)	)	PUNCT
ajst-9865	125	26	(	(	PUNCT
ajst-9865	125	27	1	1	X
ajst-9865	125	28	)	)	PUNCT
ajst-9865	125	29	(	(	PUNCT
ajst-9865	125	30	)	)	PUNCT
ajst-9865	125	31	(	(	PUNCT
ajst-9865	125	32	1	1	X
ajst-9865	125	33	)	)	PUNCT
ajst-9865	125	34	(	(	PUNCT
ajst-9865	125	35	)	)	PUNCT
ajst-9865	126	1	p	p	X
ajst-9865	126	2	x	x	PUNCT
ajst-9865	126	3	x	x	PUNCT
ajst-9865	126	4	dk	dk	X
ajst-9865	126	5	k	k	NOUN
ajst-9865	126	6	x	x	PUNCT
ajst-9865	126	7	k	k	PROPN
ajst-9865	126	8	k	k	PROPN
ajst-9865	126	9	ke	ke	NOUN
ajst-9865	126	10	r	r	NOUN
ajst-9865	126	11	s	s	NOUN
ajst-9865	126	12	s	s	NOUN
ajst-9865	126	13	s	s	X
ajst-9865	126	14	d	d	X
ajst-9865	126	15	(	(	PUNCT
ajst-9865	126	16	23	23	NUM
ajst-9865	126	17	)	)	PUNCT
ajst-9865	126	18	bringing	bring	VERB
ajst-9865	126	19	the	the	DET
ajst-9865	126	20	prediction	prediction	NOUN
ajst-9865	126	21	equation	equation	NOUN
ajst-9865	126	22	(	(	PUNCT
ajst-9865	126	23	20	20	NUM
ajst-9865	126	24	)	)	PUNCT
ajst-9865	126	25	into	into	ADP
ajst-9865	126	26	the	the	DET
ajst-9865	126	27	objective	objective	ADJ
ajst-9865	126	28	function	function	NOUN
ajst-9865	126	29	(	(	PUNCT
ajst-9865	126	30	21	21	NUM
ajst-9865	126	31	)	)	PUNCT
ajst-9865	126	32	,	,	PUNCT
ajst-9865	126	33	the	the	DET
ajst-9865	126	34	objective	objective	ADJ
ajst-9865	126	35	function	function	NOUN
ajst-9865	126	36	becomes	become	VERB
ajst-9865	126	37	2	2	NUM
ajst-9865	126	38	2	2	NUM
ajst-9865	126	39	(	(	PUNCT
ajst-9865	126	40	(	(	PUNCT
ajst-9865	126	41	)	)	PUNCT
ajst-9865	126	42	)	)	PUNCT
ajst-9865	127	1	(	(	PUNCT
ajst-9865	127	2	1	1	X
ajst-9865	127	3	)	)	PUNCT
ajst-9865	127	4	(	(	PUNCT
ajst-9865	127	5	)	)	PUNCT
ajst-9865	127	6	(	(	PUNCT
ajst-9865	127	7	)	)	PUNCT
ajst-9865	127	8	(	(	PUNCT
ajst-9865	127	9	)	)	PUNCT
ajst-9865	127	10	(	(	PUNCT
ajst-9865	127	11	)	)	PUNCT
ajst-9865	127	12	(	(	PUNCT
ajst-9865	127	13	)	)	PUNCT
ajst-9865	127	14	2	2	NUM
ajst-9865	127	15	(	(	PUNCT
ajst-9865	127	16	1	1	NUM
ajst-9865	127	17	)	)	PUNCT
ajst-9865	127	18	(	(	PUNCT
ajst-9865	127	19	)	)	PUNCT
ajst-9865	127	20	(	(	PUNCT
ajst-9865	127	21	1	1	X
ajst-9865	127	22	)	)	PUNCT
ajst-9865	127	23	(	(	PUNCT
ajst-9865	127	24	1	1	X
ajst-9865	127	25	)	)	PUNCT
ajst-9865	127	26	k	k	NOUN
ajst-9865	127	27	y	y	PUNCT
ajst-9865	127	28	u	u	PROPN
ajst-9865	127	29	u	u	NOUN
ajst-9865	127	30	t	t	PROPN
ajst-9865	127	31	t	t	PROPN
ajst-9865	127	32	t	t	PROPN
ajst-9865	127	33	t	t	PROPN
ajst-9865	127	34	t	t	PROPN
ajst-9865	127	35	u	u	X
ajst-9865	127	36	y	y	PROPN
ajst-9865	127	37	y	y	PROPN
ajst-9865	127	38	u	u	PROPN
ajst-9865	127	39	u	u	VERB
ajst-9865	127	40	u	u	NOUN
ajst-9865	127	41	t	t	NOUN
ajst-9865	127	42	t	t	PROPN
ajst-9865	127	43	t	t	PROPN
ajst-9865	127	44	t	t	PROPN
ajst-9865	127	45	y	y	PROPN
ajst-9865	127	46	y	y	PROPN
ajst-9865	127	47	y	y	PROPN
ajst-9865	128	1	y	y	PROPN
ajst-9865	128	2	k	k	PROPN
ajst-9865	129	1	k	k	PROPN
ajst-9865	130	1	k	k	PROPN
ajst-9865	130	2	k	k	PROPN
ajst-9865	131	1	k	k	PROPN
ajst-9865	131	2	k	k	PROPN
ajst-9865	132	1	k	k	PROPN
ajst-9865	133	1	k	k	PROPN
ajst-9865	134	1	k	k	PROPN
ajst-9865	135	1	k	k	PROPN
ajst-9865	136	1	k	k	PROPN
ajst-9865	136	2	j	j	PROPN
ajst-9865	136	3	s	s	PART
ajst-9865	136	4	u	u	X
ajst-9865	136	5	e	e	X
ajst-9865	136	6	u	u	NOUN
ajst-9865	136	7	u	u	NOUN
ajst-9865	136	8	s	s	PROPN
ajst-9865	136	9	s	s	X
ajst-9865	136	10	u	u	NOUN
ajst-9865	136	11	u	u	X
ajst-9865	136	12	u	u	NOUN
ajst-9865	136	13	e	e	X
ajst-9865	136	14	u	u	NOUN
ajst-9865	136	15	e	e	X
ajst-9865	136	16	e	e	X
ajst-9865	136	17	(	(	PUNCT
ajst-9865	136	18	24	24	NUM
ajst-9865	136	19	)	)	PUNCT
ajst-9865	136	20	in	in	ADP
ajst-9865	136	21	equation	equation	NOUN
ajst-9865	136	22	(	(	PUNCT
ajst-9865	136	23	24	24	NUM
ajst-9865	136	24	)	)	PUNCT
ajst-9865	136	25	,	,	PUNCT
ajst-9865	136	26	(	(	PUNCT
ajst-9865	136	27	1	1	X
ajst-9865	136	28	)	)	PUNCT
ajst-9865	136	29	(	(	PUNCT
ajst-9865	136	30	1)t	1)t	PROPN
ajst-9865	136	31	t	t	PROPN
ajst-9865	136	32	y	y	PROPN
ajst-9865	136	33	yk	yk	PROPN
ajst-9865	136	34	ke	ke	PROPN
ajst-9865	136	35	e	e	PROPN
ajst-9865	136	36	is	be	AUX
ajst-9865	136	37	not	not	PART
ajst-9865	136	38	related	relate	VERB
ajst-9865	136	39	to	to	ADP
ajst-9865	136	40	the	the	DET
ajst-9865	136	41	control	control	NOUN
ajst-9865	136	42	increment	increment	NOUN
ajst-9865	136	43	sequence	sequence	NOUN
ajst-9865	136	44	(	(	PUNCT
ajst-9865	136	45	)	)	PUNCT
ajst-9865	136	46	ku	ku	PROPN
ajst-9865	136	47	,	,	PUNCT
ajst-9865	136	48	so	so	ADV
ajst-9865	136	49	the	the	DET
ajst-9865	136	50	objective	objective	ADJ
ajst-9865	136	51	function	function	NOUN
ajst-9865	136	52	is	be	AUX
ajst-9865	136	53	transformed	transform	VERB
ajst-9865	136	54	into	into	ADP
ajst-9865	136	55	the	the	DET
ajst-9865	136	56	following	follow	VERB
ajst-9865	136	57	form	form	NOUN
ajst-9865	136	58	min	min	PROPN
ajst-9865	136	59	max	max	PROPN
ajst-9865	136	60	min	min	PROPN
ajst-9865	136	61	max	max	PROPN
ajst-9865	136	62	min	min	PROPN
ajst-9865	136	63	(	(	PUNCT
ajst-9865	136	64	)	)	PUNCT
ajst-9865	136	65	(	(	PUNCT
ajst-9865	136	66	)	)	PUNCT
ajst-9865	136	67	(	(	PUNCT
ajst-9865	136	68	1	1	X
ajst-9865	136	69	)	)	PUNCT
ajst-9865	136	70	(	(	PUNCT
ajst-9865	136	71	)	)	PUNCT
ajst-9865	136	72	.	.	PUNCT
ajst-9865	137	1	.	.	PUNCT
ajst-9865	138	1	(	(	PUNCT
ajst-9865	138	2	)	)	PUNCT
ajst-9865	138	3	(	(	PUNCT
ajst-9865	138	4	)	)	PUNCT
ajst-9865	138	5	(	(	PUNCT
ajst-9865	138	6	)	)	PUNCT
ajst-9865	138	7	(	(	PUNCT
ajst-9865	138	8	)	)	PUNCT
ajst-9865	138	9	t	t	NOUN
ajst-9865	138	10	t	t	PROPN
ajst-9865	138	11	ku	ku	PROPN
ajst-9865	139	1	i	i	INTJ
ajst-9865	139	2	k	k	PROPN
ajst-9865	140	1	k	k	PROPN
ajst-9865	141	1	k	k	PROPN
ajst-9865	141	2	k	k	PROPN
ajst-9865	141	3	s	s	PROPN
ajst-9865	142	1	t	t	X
ajst-9865	142	2	k	k	PROPN
ajst-9865	143	1	k	k	PROPN
ajst-9865	143	2	k	k	PROPN
ajst-9865	144	1	k	k	PROPN
ajst-9865	144	2	j	j	PROPN
ajst-9865	144	3	u	u	INTJ
ajst-9865	144	4	h	h	NOUN
ajst-9865	144	5	u	u	NOUN
ajst-9865	144	6	g	g	PROPN
ajst-9865	144	7	u	u	X
ajst-9865	144	8	u	u	X
ajst-9865	144	9	u	u	X
ajst-9865	144	10	u	u	NOUN
ajst-9865	144	11	u	u	NOUN
ajst-9865	144	12	a	a	DET
ajst-9865	144	13	u	u	X
ajst-9865	144	14	u	u	X
ajst-9865	144	15	u	u	NOUN
ajst-9865	144	16	(	(	PUNCT
ajst-9865	144	17	25	25	NUM
ajst-9865	144	18	)	)	PUNCT
ajst-9865	144	19	where	where	SCONJ
ajst-9865	144	20	t	t	PROPN
ajst-9865	144	21	t	t	PROPN
ajst-9865	144	22	t	t	PROPN
ajst-9865	144	23	u	u	X
ajst-9865	144	24	y	y	PROPN
ajst-9865	144	25	y	y	PROPN
ajst-9865	144	26	u	u	NOUN
ajst-9865	144	27	u	u	VERB
ajst-9865	144	28	uh	uh	INTJ
ajst-9865	144	29	s	s	X
ajst-9865	144	30	s	s	X
ajst-9865	144	31	(	(	PUNCT
ajst-9865	144	32	1	1	NUM
ajst-9865	144	33	)	)	SYM
ajst-9865	144	34	2	2	NUM
ajst-9865	144	35	(	(	PUNCT
ajst-9865	144	36	1)t	1)t	PROPN
ajst-9865	144	37	t	t	PROPN
ajst-9865	144	38	u	u	NOUN
ajst-9865	144	39	y	y	PROPN
ajst-9865	144	40	y	y	PROPN
ajst-9865	144	41	pk	pk	NOUN
ajst-9865	144	42	kg	kg	X
ajst-9865	144	43	s	s	PROPN
ajst-9865	144	44	e	e	NOUN
ajst-9865	144	45	since	since	SCONJ
ajst-9865	144	46	0h	0h	PROPN
ajst-9865	144	47	,	,	PUNCT
ajst-9865	144	48	the	the	DET
ajst-9865	144	49	quadratic	quadratic	ADJ
ajst-9865	144	50	programming	programming	NOUN
ajst-9865	144	51	problem	problem	NOUN
ajst-9865	144	52	is	be	AUX
ajst-9865	144	53	solvable	solvable	ADJ
ajst-9865	144	54	for	for	ADP
ajst-9865	144	55	any	any	DET
ajst-9865	144	56	weighting	weighting	NOUN
ajst-9865	144	57	matrices	matrix	NOUN
ajst-9865	144	58	y	y	PROPN
ajst-9865	144	59	u	u	PROPN
ajst-9865	144	60	.	.	PUNCT
ajst-9865	145	1	the	the	DET
ajst-9865	145	2	control	control	NOUN
ajst-9865	145	3	input	input	NOUN
ajst-9865	145	4	increment	increment	NOUN
ajst-9865	145	5	for	for	ADP
ajst-9865	145	6	solving	solving	NOUN
ajst-9865	145	7	is	be	AUX
ajst-9865	145	8	denoted	denote	VERB
ajst-9865	145	9	as	as	ADP
ajst-9865	145	10	*	*	PUNCT
ajst-9865	145	11	*	*	PUNCT
ajst-9865	145	12	*	*	PUNCT
ajst-9865	145	13	1	1	NUM
ajst-9865	145	14	(	(	PUNCT
ajst-9865	145	15	)	)	PUNCT
ajst-9865	145	16	[	[	PUNCT
ajst-9865	145	17	(	(	PUNCT
ajst-9865	145	18	)	)	PUNCT
ajst-9865	145	19	(	(	PUNCT
ajst-9865	145	20	1)]tmk	1)]tmk	NUM
ajst-9865	145	21	k	k	PROPN
ajst-9865	145	22	k	k	PROPN
ajst-9865	145	23	mu	mu	PROPN
ajst-9865	145	24	u	u	PROPN
ajst-9865	145	25	u	u	PROPN
ajst-9865	145	26	(	(	PUNCT
ajst-9865	145	27	(	(	PUNCT
ajst-9865	145	28	*	*	PUNCT
ajst-9865	145	29	(	(	PUNCT
ajst-9865	145	30	*	*	PUNCT
ajst-9865	145	31	(	(	PUNCT
ajst-9865	145	32	*	*	PUNCT
ajst-9865	145	33	(	(	PUNCT
ajst-9865	145	34	26	26	NUM
ajst-9865	145	35	)	)	PUNCT
ajst-9865	146	1	so	so	ADV
ajst-9865	146	2	*	*	PUNCT
ajst-9865	146	3	(	(	PUNCT
ajst-9865	146	4	)	)	PUNCT
ajst-9865	146	5	ku	ku	PROPN
ajst-9865	146	6	is	be	AUX
ajst-9865	146	7	a	a	DET
ajst-9865	146	8	non	non	ADJ
ajst-9865	146	9	-	-	ADJ
ajst-9865	146	10	linear	linear	ADJ
ajst-9865	146	11	function	function	NOUN
ajst-9865	146	12	of	of	ADP
ajst-9865	146	13	the	the	DET
ajst-9865	146	14	state	state	NOUN
ajst-9865	146	15	quantity	quantity	NOUN
ajst-9865	146	16	(	(	PUNCT
ajst-9865	146	17	)	)	PUNCT
ajst-9865	146	18	e	e	X
ajst-9865	146	19	k	k	PROPN
ajst-9865	146	20	in	in	ADP
ajst-9865	146	21	the	the	DET
ajst-9865	146	22	control	control	NOUN
ajst-9865	146	23	time	time	NOUN
ajst-9865	146	24	domain	domain	NOUN
ajst-9865	146	25	and	and	CCONJ
ajst-9865	146	26	in	in	ADP
ajst-9865	146	27	the	the	DET
ajst-9865	146	28	prediction	prediction	NOUN
ajst-9865	146	29	time	time	NOUN
ajst-9865	146	30	domain	domain	NOUN
ajst-9865	146	31	.	.	PUNCT
ajst-9865	147	1	the	the	DET
ajst-9865	147	2	first	first	ADJ
ajst-9865	147	3	element	element	NOUN
ajst-9865	147	4	of	of	ADP
ajst-9865	147	5	the	the	DET
ajst-9865	147	6	resulting	result	VERB
ajst-9865	147	7	control	control	NOUN
ajst-9865	147	8	sequence	sequence	NOUN
ajst-9865	147	9	is	be	AUX
ajst-9865	147	10	generally	generally	ADV
ajst-9865	147	11	applied	apply	VERB
ajst-9865	147	12	to	to	ADP
ajst-9865	147	13	the	the	DET
ajst-9865	147	14	wheeled	wheel	VERB
ajst-9865	147	15	mobile	mobile	ADJ
ajst-9865	147	16	robot	robot	NOUN
ajst-9865	147	17	system	system	NOUN
ajst-9865	147	18	.	.	PUNCT
ajst-9865	148	1	that	that	PRON
ajst-9865	148	2	is	be	AUX
ajst-9865	148	3	*	*	PUNCT
ajst-9865	148	4	(	(	PUNCT
ajst-9865	148	5	)	)	PUNCT
ajst-9865	148	6	(	(	PUNCT
ajst-9865	148	7	1	1	X
ajst-9865	148	8	)	)	PUNCT
ajst-9865	148	9	(	(	PUNCT
ajst-9865	148	10	)	)	PUNCT
ajst-9865	148	11	k	k	PROPN
ajst-9865	148	12	k	k	PROPN
ajst-9865	148	13	ku	ku	PROPN
ajst-9865	148	14	u	u	PROPN
ajst-9865	148	15	u	u	PROPN
ajst-9865	148	16	(	(	PUNCT
ajst-9865	148	17	)	)	PUNCT
ajst-9865	148	18	(	(	PUNCT
ajst-9865	148	19	)	)	PUNCT
ajst-9865	148	20	(	(	PUNCT
ajst-9865	148	21	)	)	PUNCT
ajst-9865	148	22	(	(	PUNCT
ajst-9865	148	23	1	1	NUM
ajst-9865	148	24	)	)	PUNCT
ajst-9865	148	25	)	)	PUNCT
ajst-9865	148	26	(	(	PUNCT
ajst-9865	148	27	1	1	NUM
ajst-9865	148	28	)	)	PUNCT
ajst-9865	148	29	)	)	PUNCT
ajst-9865	149	1	(	(	PUNCT
ajst-9865	149	2	(	(	PUNCT
ajst-9865	149	3	1)u	1)u	NOUN
ajst-9865	149	4	(	(	PUNCT
ajst-9865	149	5	)	)	PUNCT
ajst-9865	149	6	(	(	PUNCT
ajst-9865	149	7	1	1	NUM
ajst-9865	149	8	)	)	PUNCT
ajst-9865	149	9	)	)	PUNCT
ajst-9865	149	10	(	(	PUNCT
ajst-9865	149	11	1	1	NUM
ajst-9865	149	12	)	)	PUNCT
ajst-9865	149	13	)	)	PUNCT
ajst-9865	149	14	(	(	PUNCT
ajst-9865	149	15	(	(	PUNCT
ajst-9865	149	16	1	1	X
ajst-9865	149	17	)	)	PUNCT
ajst-9865	149	18	(	(	PUNCT
ajst-9865	149	19	1	1	NUM
ajst-9865	149	20	)	)	PUNCT
ajst-9865	149	21	(	(	PUNCT
ajst-9865	149	22	27	27	NUM
ajst-9865	149	23	)	)	PUNCT
ajst-9865	149	24	at	at	ADP
ajst-9865	149	25	the	the	DET
ajst-9865	149	26	next	next	ADJ
ajst-9865	149	27	moment	moment	NOUN
ajst-9865	149	28	,	,	PUNCT
ajst-9865	149	29	after	after	ADP
ajst-9865	149	30	entering	enter	VERB
ajst-9865	149	31	the	the	DET
ajst-9865	149	32	control	control	NOUN
ajst-9865	149	33	cycle	cycle	NOUN
ajst-9865	149	34	,	,	PUNCT
ajst-9865	149	35	the	the	DET
ajst-9865	149	36	new	new	ADJ
ajst-9865	149	37	state	state	NOUN
ajst-9865	149	38	quantities	quantity	NOUN
ajst-9865	149	39	are	be	AUX
ajst-9865	149	40	brought	bring	VERB
ajst-9865	149	41	into	into	ADP
ajst-9865	149	42	the	the	DET
ajst-9865	149	43	multi	multi	ADJ
ajst-9865	149	44	-	-	ADJ
ajst-9865	149	45	constraint	constraint	ADJ
ajst-9865	149	46	optimization	optimization	NOUN
ajst-9865	149	47	problem	problem	NOUN
ajst-9865	149	48	,	,	PUNCT
ajst-9865	149	49	i.e.	i.e.	X
ajst-9865	149	50	equation	equation	NOUN
ajst-9865	149	51	(	(	PUNCT
ajst-9865	149	52	19	19	NUM
ajst-9865	149	53	)	)	PUNCT
ajst-9865	149	54	,	,	PUNCT
ajst-9865	149	55	and	and	CCONJ
ajst-9865	149	56	solved	solve	VERB
ajst-9865	149	57	again	again	ADV
ajst-9865	149	58	.	.	PUNCT
ajst-9865	150	1	the	the	DET
ajst-9865	150	2	closed	close	VERB
ajst-9865	150	3	-	-	PUNCT
ajst-9865	150	4	loop	loop	NOUN
ajst-9865	150	5	control	control	NOUN
ajst-9865	150	6	law	law	NOUN
ajst-9865	150	7	of	of	ADP
ajst-9865	150	8	the	the	DET
ajst-9865	150	9	mmpc	mmpc	NOUN
ajst-9865	150	10	is	be	AUX
ajst-9865	150	11	therefore	therefore	ADV
ajst-9865	150	12	defined	define	VERB
ajst-9865	150	13	as	as	ADP
ajst-9865	150	14	*	*	NOUN
ajst-9865	150	15	(	(	PUNCT
ajst-9865	150	16	)	)	PUNCT
ajst-9865	151	1	[	[	PUNCT
ajst-9865	151	2	0	0	NUM
ajst-9865	151	3	0	0	NUM
ajst-9865	151	4	]	]	X
ajst-9865	151	5	(	(	PUNCT
ajst-9865	151	6	)	)	PUNCT
ajst-9865	151	7	n	n	CCONJ
ajst-9865	151	8	nk	nk	INTJ
ajst-9865	152	1	i	i	PRON
ajst-9865	152	2	ku	ku	PROPN
ajst-9865	152	3	u]0]0]0]0	u]0]0]0]0	PROPN
ajst-9865	152	4	]	]	X
ajst-9865	152	5	(	(	PUNCT
ajst-9865	152	6	28	28	NUM
ajst-9865	152	7	)	)	PUNCT
ajst-9865	152	8	141	141	NUM
ajst-9865	152	9	3.5	3.5	NUM
ajst-9865	152	10	.	.	PUNCT
ajst-9865	153	1	mmpc	mmpc	PROPN
ajst-9865	153	2	controller	controller	PROPN
ajst-9865	153	3	stability	stability	NOUN
ajst-9865	153	4	analysis	analysis	NOUN
ajst-9865	153	5	for	for	ADP
ajst-9865	153	6	the	the	DET
ajst-9865	153	7	purpose	purpose	NOUN
ajst-9865	153	8	of	of	ADP
ajst-9865	153	9	discussing	discuss	VERB
ajst-9865	153	10	the	the	DET
ajst-9865	153	11	nominal	nominal	ADJ
ajst-9865	153	12	stability	stability	NOUN
ajst-9865	153	13	of	of	ADP
ajst-9865	153	14	the	the	DET
ajst-9865	153	15	mmpc	mmpc	NOUN
ajst-9865	153	16	closed	close	VERB
ajst-9865	153	17	-	-	PUNCT
ajst-9865	153	18	loop	loop	NOUN
ajst-9865	153	19	system	system	NOUN
ajst-9865	153	20	,	,	PUNCT
ajst-9865	153	21	it	it	PRON
ajst-9865	153	22	is	be	AUX
ajst-9865	153	23	assumed	assume	VERB
ajst-9865	153	24	that	that	SCONJ
ajst-9865	153	25	(	(	PUNCT
ajst-9865	153	26	)	)	PUNCT
ajst-9865	153	27	0kr	0kr	VERB
ajst-9865	153	28	the	the	DET
ajst-9865	153	29	system	system	NOUN
ajst-9865	153	30	states	state	NOUN
ajst-9865	153	31	are	be	AUX
ajst-9865	153	32	all	all	ADV
ajst-9865	153	33	measurable	measurable	ADJ
ajst-9865	153	34	,	,	PUNCT
ajst-9865	153	35	i.e.	i.e.	X
ajst-9865	153	36	only	only	ADV
ajst-9865	153	37	the	the	DET
ajst-9865	153	38	case	case	NOUN
ajst-9865	153	39	of	of	ADP
ajst-9865	153	40	state	state	NOUN
ajst-9865	153	41	feedback	feedback	NOUN
ajst-9865	153	42	is	be	AUX
ajst-9865	153	43	considered	consider	VERB
ajst-9865	153	44	.	.	PUNCT
ajst-9865	154	1	in	in	ADP
ajst-9865	154	2	mmpc	mmpc	PROPN
ajst-9865	154	3	,	,	PUNCT
ajst-9865	154	4	the	the	DET
ajst-9865	154	5	time	time	NOUN
ajst-9865	154	6	k	k	PROPN
ajst-9865	154	7	converges	converge	VERB
ajst-9865	154	8	to	to	ADP
ajst-9865	154	9	after	after	ADP
ajst-9865	154	10	each	each	DET
ajst-9865	154	11	moment	moment	NOUN
ajst-9865	154	12	of	of	ADP
ajst-9865	154	13	optimization	optimization	NOUN
ajst-9865	154	14	,	,	PUNCT
ajst-9865	154	15	but	but	CCONJ
ajst-9865	154	16	when	when	SCONJ
ajst-9865	154	17	analysis	analysis	NOUN
ajst-9865	154	18	the	the	DET
ajst-9865	154	19	stability	stability	NOUN
ajst-9865	154	20	of	of	ADP
ajst-9865	154	21	the	the	DET
ajst-9865	154	22	mmpc	mmpc	NOUN
ajst-9865	154	23	closed	close	VERB
ajst-9865	154	24	-	-	PUNCT
ajst-9865	154	25	loop	loop	NOUN
ajst-9865	154	26	system	system	NOUN
ajst-9865	154	27	,	,	PUNCT
ajst-9865	154	28	the	the	DET
ajst-9865	154	29	value	value	NOUN
ajst-9865	154	30	solved	solve	VERB
ajst-9865	154	31	for	for	ADP
ajst-9865	154	32	the	the	DET
ajst-9865	154	33	optimization	optimization	NOUN
ajst-9865	154	34	problem	problem	NOUN
ajst-9865	154	35	in	in	ADP
ajst-9865	154	36	each	each	DET
ajst-9865	154	37	state	state	NOUN
ajst-9865	154	38	does	do	AUX
ajst-9865	154	39	not	not	PART
ajst-9865	154	40	guarantee	guarantee	VERB
ajst-9865	154	41	the	the	DET
ajst-9865	154	42	stability	stability	NOUN
ajst-9865	154	43	of	of	ADP
ajst-9865	154	44	the	the	DET
ajst-9865	154	45	closed	closed	ADJ
ajst-9865	154	46	-	-	PUNCT
ajst-9865	154	47	loop	loop	NOUN
ajst-9865	154	48	system	system	NOUN
ajst-9865	154	49	.	.	PUNCT
ajst-9865	155	1	from	from	ADP
ajst-9865	155	2	the	the	DET
ajst-9865	155	3	lyapunov	lyapunov	ADJ
ajst-9865	155	4	definition	definition	NOUN
ajst-9865	155	5	of	of	ADP
ajst-9865	155	6	stability	stability	NOUN
ajst-9865	155	7	[	[	X
ajst-9865	155	8	15	15	NUM
ajst-9865	155	9	]	]	PUNCT
ajst-9865	155	10	,	,	PUNCT
ajst-9865	155	11	the	the	DET
ajst-9865	155	12	stability	stability	NOUN
ajst-9865	155	13	of	of	ADP
ajst-9865	155	14	the	the	DET
ajst-9865	155	15	system	system	NOUN
ajst-9865	155	16	is	be	AUX
ajst-9865	155	17	a	a	DET
ajst-9865	155	18	concept	concept	NOUN
ajst-9865	155	19	that	that	PRON
ajst-9865	155	20	tends	tend	VERB
ajst-9865	155	21	to	to	PART
ajst-9865	155	22	infinity	infinity	VERB
ajst-9865	155	23	in	in	ADP
ajst-9865	155	24	time	time	NOUN
ajst-9865	155	25	,	,	PUNCT
ajst-9865	155	26	so	so	ADV
ajst-9865	155	27	the	the	DET
ajst-9865	155	28	stability	stability	NOUN
ajst-9865	155	29	of	of	ADP
ajst-9865	155	30	the	the	DET
ajst-9865	155	31	mmpc	mmpc	NOUN
ajst-9865	155	32	is	be	AUX
ajst-9865	155	33	assumed	assume	VERB
ajst-9865	155	34	to	to	PART
ajst-9865	155	35	be	be	AUX
ajst-9865	155	36	in	in	ADP
ajst-9865	155	37	the	the	DET
ajst-9865	155	38	infinite	infinite	ADJ
ajst-9865	155	39	prediction	prediction	NOUN
ajst-9865	155	40	time	time	NOUN
ajst-9865	155	41	domain	domain	NOUN
ajst-9865	155	42	and	and	CCONJ
ajst-9865	155	43	infinite	infinite	ADJ
ajst-9865	155	44	control	control	NOUN
ajst-9865	155	45	time	time	NOUN
ajst-9865	155	46	domain	domain	NOUN
ajst-9865	155	47	,	,	PUNCT
ajst-9865	155	48	i.e.	i.e.	X
ajst-9865	155	49	the	the	DET
ajst-9865	155	50	stability	stability	NOUN
ajst-9865	155	51	of	of	ADP
ajst-9865	155	52	the	the	DET
ajst-9865	155	53	mmpc	mmpc	NOUN
ajst-9865	155	54	is	be	AUX
ajst-9865	155	55	discussed	discuss	VERB
ajst-9865	155	56	for	for	ADP
ajst-9865	155	57	the	the	DET
ajst-9865	155	58	case	case	NOUN
ajst-9865	155	59	of	of	ADP
ajst-9865	155	60	p	p	PROPN
ajst-9865	155	61	m	m	NOUN
ajst-9865	155	62	theorem	theorem	ADJ
ajst-9865	155	63	1	1	NUM
ajst-9865	155	64	consider	consider	VERB
ajst-9865	155	65	the	the	DET
ajst-9865	155	66	system	system	NOUN
ajst-9865	155	67	model	model	NOUN
ajst-9865	155	68	(	(	PUNCT
ajst-9865	155	69	17	17	NUM
ajst-9865	155	70	)	)	PUNCT
ajst-9865	155	71	if	if	SCONJ
ajst-9865	155	72	there	there	PRON
ajst-9865	155	73	exists	exist	VERB
ajst-9865	155	74	a	a	DET
ajst-9865	155	75	positive	positive	ADJ
ajst-9865	155	76	definite	definite	ADJ
ajst-9865	155	77	bounded	bounded	ADJ
ajst-9865	155	78	objective	objective	ADJ
ajst-9865	155	79	function	function	NOUN
ajst-9865	155	80	kj	kj	PROPN
ajst-9865	155	81	satisfying	satisfying	PROPN
ajst-9865	155	82	:	:	PUNCT
ajst-9865	155	83	(	(	PUNCT
ajst-9865	155	84	1	1	X
ajst-9865	155	85	)	)	PUNCT
ajst-9865	155	86	0	0	NUM
ajst-9865	155	87	0j	0j	NOUN
ajst-9865	155	88	and	and	CCONJ
ajst-9865	155	89	for	for	ADP
ajst-9865	155	90	any	any	DET
ajst-9865	155	91	0k	0k	NOUN
ajst-9865	155	92	exists	exist	VERB
ajst-9865	155	93	0kj	0kj	NOUN
ajst-9865	155	94	(	(	PUNCT
ajst-9865	155	95	2	2	X
ajst-9865	155	96	)	)	PUNCT
ajst-9865	156	1	the	the	PRON
ajst-9865	156	2	near	near	ADP
ajst-9865	156	3	the	the	DET
ajst-9865	156	4	equilibrium	equilibrium	NOUN
ajst-9865	156	5	point	point	NOUN
ajst-9865	156	6	(	(	PUNCT
ajst-9865	156	7	0	0	NUM
ajst-9865	156	8	)	)	PUNCT
ajst-9865	156	9	0	0	NUM
ajst-9865	157	1	kj	kj	PROPN
ajst-9865	157	2	is	be	AUX
ajst-9865	157	3	continuous	continuous	ADJ
ajst-9865	157	4	,	,	PUNCT
ajst-9865	157	5	(	(	PUNCT
ajst-9865	157	6	3	3	NUM
ajst-9865	157	7	)	)	PUNCT
ajst-9865	157	8	)	)	PUNCT
ajst-9865	157	9	along	along	ADP
ajst-9865	157	10	the	the	DET
ajst-9865	157	11	trajectory	trajectory	NOUN
ajst-9865	157	12	of	of	ADP
ajst-9865	157	13	the	the	DET
ajst-9865	157	14	system	system	NOUN
ajst-9865	157	15	,	,	PUNCT
ajst-9865	157	16	there	there	PRON
ajst-9865	157	17	are	be	VERB
ajst-9865	157	18	1	1	NUM
ajst-9865	157	19	||	||	NOUN
ajst-9865	157	20	(	(	PUNCT
ajst-9865	157	21	)	)	PUNCT
ajst-9865	157	22	||k	||k	PROPN
ajst-9865	157	23	k	k	PROPN
ajst-9865	157	24	kj	kj	PROPN
ajst-9865	157	25	j	j	PROPN
ajst-9865	157	26	(	(	PUNCT
ajst-9865	157	27	29	29	NUM
ajst-9865	157	28	)	)	PUNCT
ajst-9865	157	29	where	where	SCONJ
ajst-9865	157	30	is	be	AUX
ajst-9865	157	31	a	a	DET
ajst-9865	157	32	function	function	NOUN
ajst-9865	157	33	the	the	DET
ajst-9865	157	34	system	system	NOUN
ajst-9865	157	35	is	be	AUX
ajst-9865	157	36	progressively	progressively	ADV
ajst-9865	157	37	stable	stable	ADJ
ajst-9865	157	38	.	.	PUNCT
ajst-9865	158	1	proof	proof	NOUN
ajst-9865	158	2	:	:	PUNCT
ajst-9865	158	3	suppose	suppose	VERB
ajst-9865	158	4	that	that	SCONJ
ajst-9865	158	5	the	the	DET
ajst-9865	158	6	infinite	infinite	ADJ
ajst-9865	158	7	time	time	NOUN
ajst-9865	158	8	domain	domain	NOUN
ajst-9865	158	9	constrained	constrain	VERB
ajst-9865	158	10	optimization	optimization	NOUN
ajst-9865	158	11	problem	problem	NOUN
ajst-9865	158	12	at	at	ADP
ajst-9865	158	13	k	k	PROPN
ajst-9865	158	14	has	have	VERB
ajst-9865	158	15	a	a	DET
ajst-9865	158	16	solution	solution	NOUN
ajst-9865	158	17	whose	whose	DET
ajst-9865	158	18	value	value	NOUN
ajst-9865	158	19	satisfies	satisfy	VERB
ajst-9865	158	20	the	the	DET
ajst-9865	158	21	control	control	NOUN
ajst-9865	158	22	increment	increment	NOUN
ajst-9865	158	23	constraint	constraint	NOUN
ajst-9865	158	24	and	and	CCONJ
ajst-9865	158	25	the	the	DET
ajst-9865	158	26	control	control	NOUN
ajst-9865	158	27	quantity	quantity	NOUN
ajst-9865	158	28	constraint	constraint	VERB
ajst-9865	158	29	such	such	ADJ
ajst-9865	158	30	that	that	SCONJ
ajst-9865	158	31	the	the	DET
ajst-9865	158	32	optimized	optimize	VERB
ajst-9865	158	33	value	value	NOUN
ajst-9865	158	34	12	12	NUM
ajst-9865	158	35	2	2	NUM
ajst-9865	158	36	0	0	NUM
ajst-9865	158	37	0	0	NUM
ajst-9865	159	1	(	(	PUNCT
ajst-9865	159	2	|	|	ADV
ajst-9865	159	3	)	)	PUNCT
ajst-9865	159	4	(	(	PUNCT
ajst-9865	159	5	)	)	PUNCT
ajst-9865	160	1	p	p	NOUN
ajst-9865	160	2	m	m	PROPN
ajst-9865	160	3	k	k	X
ajst-9865	160	4	p	p	NOUN
ajst-9865	160	5	rq	rq	INTJ
ajst-9865	161	1	i	i	PRON
ajst-9865	162	1	i	i	PRON
ajst-9865	162	2	k	k	VERB
ajst-9865	163	1	i	i	PRON
ajst-9865	163	2	k	k	PROPN
ajst-9865	164	1	k	k	INTJ
ajst-9865	164	2	ij	ij	INTJ
ajst-9865	164	3	y	y	PROPN
ajst-9865	164	4	u	u	PROPN
ajst-9865	164	5	(	(	PUNCT
ajst-9865	164	6	30	30	NUM
ajst-9865	164	7	)	)	PUNCT
ajst-9865	164	8	is	be	AUX
ajst-9865	164	9	bounded	bound	VERB
ajst-9865	164	10	,	,	PUNCT
ajst-9865	164	11	in	in	ADP
ajst-9865	164	12	equation	equation	NOUN
ajst-9865	164	13	(	(	PUNCT
ajst-9865	164	14	26	26	NUM
ajst-9865	164	15	)	)	PUNCT
ajst-9865	164	16	,	,	PUNCT
ajst-9865	164	17	q	q	PROPN
ajst-9865	164	18	is	be	AUX
ajst-9865	164	19	a	a	DET
ajst-9865	164	20	weighting	weighting	NOUN
ajst-9865	164	21	on	on	ADP
ajst-9865	164	22	the	the	DET
ajst-9865	164	23	control	control	NOUN
ajst-9865	164	24	output	output	NOUN
ajst-9865	164	25	error	error	NOUN
ajst-9865	164	26	and	and	CCONJ
ajst-9865	164	27	r	r	NOUN
ajst-9865	164	28	is	be	AUX
ajst-9865	164	29	a	a	DET
ajst-9865	164	30	weighting	weighting	NOUN
ajst-9865	164	31	on	on	ADP
ajst-9865	164	32	the	the	DET
ajst-9865	164	33	control	control	NOUN
ajst-9865	164	34	increment	increment	NOUN
ajst-9865	164	35	,	,	PUNCT
ajst-9865	164	36	compared	compare	VERB
ajst-9865	164	37	to	to	ADP
ajst-9865	164	38	the	the	DET
ajst-9865	164	39	objective	objective	ADJ
ajst-9865	164	40	function	function	NOUN
ajst-9865	164	41	equation	equation	NOUN
ajst-9865	164	42	(	(	PUNCT
ajst-9865	164	43	21	21	NUM
ajst-9865	164	44	)	)	PUNCT
ajst-9865	164	45	with	with	ADP
ajst-9865	164	46	,	,	PUNCT
ajst-9865	164	47	t	t	PROPN
ajst-9865	164	48	t	t	PROPN
ajst-9865	164	49	y	y	PROPN
ajst-9865	164	50	y	y	PROPN
ajst-9865	164	51	u	u	INTJ
ajst-9865	164	52	uq	uq	NOUN
ajst-9865	164	53	r	r	NOUN
ajst-9865	164	54	the	the	DET
ajst-9865	164	55	sequence	sequence	NOUN
ajst-9865	164	56	of	of	ADP
ajst-9865	164	57	control	control	NOUN
ajst-9865	164	58	increments	increment	NOUN
ajst-9865	164	59	at	at	ADP
ajst-9865	164	60	1k	1k	NUM
ajst-9865	164	61	is	be	AUX
ajst-9865	164	62	(	(	PUNCT
ajst-9865	164	63	1)ku	1)ku	PROPN
ajst-9865	164	64	,	,	PUNCT
ajst-9865	164	65	which	which	PRON
ajst-9865	164	66	is	be	AUX
ajst-9865	164	67	the	the	DET
ajst-9865	164	68	vector	vector	NOUN
ajst-9865	164	69	corresponding	correspond	VERB
ajst-9865	164	70	to	to	ADP
ajst-9865	164	71	the	the	DET
ajst-9865	164	72	infinite	infinite	ADJ
ajst-9865	164	73	time	time	NOUN
ajst-9865	164	74	domain	domain	NOUN
ajst-9865	164	75	interval	interval	NOUN
ajst-9865	164	76	[	[	PUNCT
ajst-9865	164	77	1	1	NUM
ajst-9865	164	78	,	,	PUNCT
ajst-9865	164	79	]	]	X
ajst-9865	164	80	k	k	X
ajst-9865	164	81	starting	start	VERB
ajst-9865	164	82	at	at	ADP
ajst-9865	164	83	1k	1k	NUM
ajst-9865	164	84	for	for	ADP
ajst-9865	164	85	the	the	DET
ajst-9865	164	86	optimal	optimal	ADJ
ajst-9865	164	87	solution	solution	NOUN
ajst-9865	164	88	at	at	ADP
ajst-9865	164	89	k	k	PROPN
ajst-9865	164	90	and	and	CCONJ
ajst-9865	164	91	the	the	DET
ajst-9865	164	92	objective	objective	ADJ
ajst-9865	164	93	function	function	NOUN
ajst-9865	164	94	value	value	NOUN
ajst-9865	164	95	is	be	AUX
ajst-9865	164	96	calculated	calculate	VERB
ajst-9865	164	97	as	as	ADP
ajst-9865	164	98	:	:	PUNCT
ajst-9865	164	99	2	2	NUM
ajst-9865	164	100	2	2	NUM
ajst-9865	164	101	1	1	NUM
ajst-9865	164	102	0	0	NUM
ajst-9865	164	103	0	0	NUM
ajst-9865	164	104	22	22	NUM
ajst-9865	164	105	(	(	PUNCT
ajst-9865	164	106	1	1	NUM
ajst-9865	164	107	|	|	ADV
ajst-9865	164	108	1	1	NUM
ajst-9865	164	109	)	)	PUNCT
ajst-9865	164	110	(	(	PUNCT
ajst-9865	164	111	1	1	X
ajst-9865	164	112	)	)	PUNCT
ajst-9865	164	113	||	||	NOUN
ajst-9865	165	1	(	(	PUNCT
ajst-9865	165	2	)	)	PUNCT
ajst-9865	165	3	||	||	NOUN
ajst-9865	166	1	(	(	PUNCT
ajst-9865	166	2	)	)	PUNCT
ajst-9865	166	3	k	k	X
ajst-9865	167	1	p	p	NOUN
ajst-9865	167	2	rq	rq	INTJ
ajst-9865	167	3	i	i	PRON
ajst-9865	168	1	i	i	PRON
ajst-9865	168	2	k	k	NOUN
ajst-9865	169	1	q	q	PUNCT
ajst-9865	170	1	r	r	NOUN
ajst-9865	171	1	k	k	NOUN
ajst-9865	172	1	i	i	PRON
ajst-9865	172	2	k	k	PROPN
ajst-9865	173	1	k	k	PROPN
ajst-9865	174	1	i	i	PRON
ajst-9865	174	2	k	k	PROPN
ajst-9865	175	1	k	k	PROPN
ajst-9865	175	2	j	j	PROPN
ajst-9865	175	3	y	y	PROPN
ajst-9865	175	4	u	u	PROPN
ajst-9865	175	5	j	j	PROPN
ajst-9865	175	6	c	c	PROPN
ajst-9865	175	7	u	u	PROPN
ajst-9865	175	8	(	(	PUNCT
ajst-9865	175	9	31	31	NUM
ajst-9865	175	10	)	)	PUNCT
ajst-9865	175	11	similarly	similarly	ADV
ajst-9865	175	12	1kj	1kj	PROPN
ajst-9865	175	13	is	be	AUX
ajst-9865	175	14	bounded	bound	VERB
ajst-9865	175	15	.	.	PUNCT
ajst-9865	176	1	the	the	DET
ajst-9865	176	2	control	control	NOUN
ajst-9865	176	3	sequence	sequence	NOUN
ajst-9865	176	4	at	at	ADP
ajst-9865	176	5	1k	1k	NUM
ajst-9865	176	6	is	be	AUX
ajst-9865	176	7	chosen	choose	VERB
ajst-9865	176	8	to	to	PART
ajst-9865	176	9	be	be	AUX
ajst-9865	176	10	a	a	DET
ajst-9865	176	11	feasible	feasible	ADJ
ajst-9865	176	12	solution	solution	NOUN
ajst-9865	176	13	to	to	ADP
ajst-9865	176	14	the	the	DET
ajst-9865	176	15	infinite	infinite	ADJ
ajst-9865	176	16	time	time	NOUN
ajst-9865	176	17	domain	domain	NOUN
ajst-9865	176	18	constrained	constrain	VERB
ajst-9865	176	19	optimization	optimization	NOUN
ajst-9865	176	20	problem	problem	NOUN
ajst-9865	176	21	.	.	PUNCT
ajst-9865	177	1	it	it	PRON
ajst-9865	177	2	is	be	AUX
ajst-9865	177	3	also	also	ADV
ajst-9865	177	4	deduced	deduce	VERB
ajst-9865	177	5	that	that	SCONJ
ajst-9865	177	6	2	2	NUM
ajst-9865	177	7	1	1	NUM
ajst-9865	177	8	||	||	NOUN
ajst-9865	178	1	(	(	PUNCT
ajst-9865	178	2	)	)	PUNCT
ajst-9865	178	3	||k	||k	PROPN
ajst-9865	178	4	k	k	PROPN
ajst-9865	178	5	qkj	qkj	PROPN
ajst-9865	178	6	j	j	PROPN
ajst-9865	178	7	c	c	PROPN
ajst-9865	178	8	(	(	PUNCT
ajst-9865	178	9	32	32	NUM
ajst-9865	178	10	)	)	PUNCT
ajst-9865	178	11	when	when	SCONJ
ajst-9865	178	12	is	be	AUX
ajst-9865	178	13	(	(	PUNCT
ajst-9865	178	14	0	0	NUM
ajst-9865	178	15	)	)	PUNCT
ajst-9865	178	16	0	0	NUM
ajst-9865	179	1	(	(	PUNCT
ajst-9865	179	2	)	)	PUNCT
ajst-9865	179	3	0ku	0ku	NOUN
ajst-9865	179	4	then	then	ADV
ajst-9865	179	5	ku	ku	PROPN
ajst-9865	179	6	is	be	AUX
ajst-9865	179	7	a	a	DET
ajst-9865	179	8	feasible	feasible	ADJ
ajst-9865	179	9	solution	solution	NOUN
ajst-9865	179	10	to	to	ADP
ajst-9865	179	11	the	the	DET
ajst-9865	179	12	optimization	optimization	NOUN
ajst-9865	179	13	problem	problem	NOUN
ajst-9865	179	14	,	,	PUNCT
ajst-9865	179	15	corresponding	correspond	VERB
ajst-9865	179	16	to	to	ADP
ajst-9865	179	17	0j	0j	NOUN
ajst-9865	179	18	.	.	PUNCT
ajst-9865	180	1	from	from	ADP
ajst-9865	180	2	equation	equation	NOUN
ajst-9865	180	3	(	(	PUNCT
ajst-9865	180	4	28	28	NUM
ajst-9865	180	5	)	)	PUNCT
ajst-9865	180	6	,	,	PUNCT
ajst-9865	180	7	we	we	PRON
ajst-9865	180	8	know	know	VERB
ajst-9865	180	9	that	that	SCONJ
ajst-9865	180	10	for	for	ADP
ajst-9865	180	11	any	any	DET
ajst-9865	180	12	0k	0k	NOUN
ajst-9865	180	13	we	we	PRON
ajst-9865	180	14	have	have	VERB
ajst-9865	180	15	0kj	0kj	ADJ
ajst-9865	180	16	equation	equation	NOUN
ajst-9865	180	17	(	(	PUNCT
ajst-9865	180	18	29	29	NUM
ajst-9865	180	19	)	)	PUNCT
ajst-9865	180	20	shows	show	VERB
ajst-9865	180	21	that	that	SCONJ
ajst-9865	180	22	kj	kj	PROPN
ajst-9865	180	23	is	be	AUX
ajst-9865	180	24	monotonically	monotonically	ADV
ajst-9865	180	25	decreasing	decrease	VERB
ajst-9865	180	26	and	and	CCONJ
ajst-9865	180	27	has	have	VERB
ajst-9865	180	28	a	a	DET
ajst-9865	180	29	minimum	minimum	NOUN
ajst-9865	180	30	at	at	ADP
ajst-9865	180	31	(	(	PUNCT
ajst-9865	180	32	0	0	NUM
ajst-9865	180	33	)	)	PUNCT
ajst-9865	180	34	0	0	PUNCT
ajst-9865	181	1	and	and	CCONJ
ajst-9865	181	2	is	be	AUX
ajst-9865	181	3	continuous	continuous	ADJ
ajst-9865	181	4	,	,	PUNCT
ajst-9865	181	5	which	which	PRON
ajst-9865	181	6	proves	prove	VERB
ajst-9865	181	7	theorem	theorem	ADJ
ajst-9865	181	8	1	1	NUM
ajst-9865	181	9	.	.	PUNCT
ajst-9865	182	1	in	in	ADP
ajst-9865	182	2	summary	summary	NOUN
ajst-9865	182	3	,	,	PUNCT
ajst-9865	182	4	the	the	DET
ajst-9865	182	5	objective	objective	ADJ
ajst-9865	182	6	function	function	NOUN
ajst-9865	182	7	of	of	ADP
ajst-9865	182	8	the	the	DET
ajst-9865	182	9	mmpc	mmpc	NOUN
ajst-9865	182	10	kj	kj	PROPN
ajst-9865	182	11	is	be	AUX
ajst-9865	182	12	a	a	DET
ajst-9865	182	13	lyapunov	lyapunov	ADJ
ajst-9865	182	14	function	function	NOUN
ajst-9865	182	15	of	of	ADP
ajst-9865	182	16	the	the	DET
ajst-9865	182	17	wmr	wmr	PROPN
ajst-9865	182	18	system	system	NOUN
ajst-9865	182	19	and	and	CCONJ
ajst-9865	182	20	the	the	DET
ajst-9865	182	21	wmr	wmr	PROPN
ajst-9865	182	22	system	system	NOUN
ajst-9865	182	23	model	model	NOUN
ajst-9865	182	24	(	(	PUNCT
ajst-9865	182	25	11	11	NUM
ajst-9865	182	26	)	)	PUNCT
ajst-9865	182	27	is	be	AUX
ajst-9865	182	28	nominally	nominally	ADV
ajst-9865	182	29	asymptotically	asymptotically	ADV
ajst-9865	182	30	stable	stable	ADJ
ajst-9865	182	31	.	.	PUNCT
ajst-9865	183	1	4	4	X
ajst-9865	183	2	.	.	X
ajst-9865	183	3	experimental	experimental	ADJ
ajst-9865	183	4	analysis	analysis	NOUN
ajst-9865	183	5	of	of	ADP
ajst-9865	183	6	the	the	DET
ajst-9865	183	7	system	system	NOUN
ajst-9865	183	8	the	the	DET
ajst-9865	183	9	wmr	wmr	PROPN
ajst-9865	183	10	was	be	AUX
ajst-9865	183	11	simulated	simulate	VERB
ajst-9865	183	12	by	by	ADP
ajst-9865	183	13	matlab	matlab	PROPN
ajst-9865	183	14	and	and	CCONJ
ajst-9865	183	15	the	the	DET
ajst-9865	183	16	mmpc	mmpc	NOUN
ajst-9865	183	17	controller	controller	NOUN
ajst-9865	183	18	module	module	NOUN
ajst-9865	183	19	with	with	ADP
ajst-9865	183	20	feedforward	feedforward	NOUN
ajst-9865	183	21	control	control	NOUN
ajst-9865	183	22	was	be	AUX
ajst-9865	183	23	built	build	VERB
ajst-9865	183	24	in	in	ADP
ajst-9865	183	25	simulink	simulink	NOUN
ajst-9865	183	26	for	for	ADP
ajst-9865	183	27	simulation	simulation	NOUN
ajst-9865	183	28	experiments	experiment	NOUN
ajst-9865	183	29	.	.	PUNCT
ajst-9865	184	1	the	the	DET
ajst-9865	184	2	hardware	hardware	NOUN
ajst-9865	184	3	processor	processor	NOUN
ajst-9865	184	4	for	for	ADP
ajst-9865	184	5	the	the	DET
ajst-9865	184	6	simulation	simulation	NOUN
ajst-9865	184	7	experiments	experiment	NOUN
ajst-9865	184	8	is	be	AUX
ajst-9865	184	9	an	an	DET
ajst-9865	184	10	amd	amd	ADJ
ajst-9865	184	11	ryzen7	ryzen7	NOUN
ajst-9865	184	12	4800u	4800u	NOUN
ajst-9865	184	13	and	and	CCONJ
ajst-9865	184	14	the	the	DET
ajst-9865	184	15	software	software	NOUN
ajst-9865	184	16	platform	platform	NOUN
ajst-9865	184	17	is	be	AUX
ajst-9865	184	18	matlab	matlab	PROPN
ajst-9865	184	19	2018a	2018a	NUM
ajst-9865	184	20	.	.	PUNCT
ajst-9865	185	1	simulation	simulation	NOUN
ajst-9865	185	2	experiments	experiment	NOUN
ajst-9865	185	3	are	be	AUX
ajst-9865	185	4	carried	carry	VERB
ajst-9865	185	5	out	out	ADP
ajst-9865	185	6	under	under	ADP
ajst-9865	185	7	circular	circular	ADJ
ajst-9865	185	8	trajectory	trajectory	NOUN
ajst-9865	185	9	tracking	tracking	NOUN
ajst-9865	185	10	and	and	CCONJ
ajst-9865	185	11	compared	compare	VERB
ajst-9865	185	12	using	use	VERB
ajst-9865	185	13	tmpc	tmpc	PROPN
ajst-9865	185	14	and	and	CCONJ
ajst-9865	185	15	positional	positional	ADJ
ajst-9865	185	16	pid	pid	NOUN
ajst-9865	185	17	algorithms	algorithm	NOUN
ajst-9865	185	18	.	.	PUNCT
ajst-9865	186	1	the	the	DET
ajst-9865	186	2	error	error	NOUN
ajst-9865	186	3	maxima	maxima	NOUN
ajst-9865	186	4	and	and	CCONJ
ajst-9865	186	5	variance	variance	NOUN
ajst-9865	186	6	values	value	NOUN
ajst-9865	186	7	of	of	ADP
ajst-9865	186	8	each	each	DET
ajst-9865	186	9	index	index	NOUN
ajst-9865	186	10	are	be	AUX
ajst-9865	186	11	used	use	VERB
ajst-9865	186	12	as	as	ADP
ajst-9865	186	13	the	the	DET
ajst-9865	186	14	judging	judging	NOUN
ajst-9865	186	15	criteria	criterion	NOUN
ajst-9865	186	16	for	for	ADP
ajst-9865	186	17	trajectory	trajectory	NOUN
ajst-9865	186	18	tracking	tracking	NOUN
ajst-9865	186	19	,	,	PUNCT
ajst-9865	186	20	and	and	CCONJ
ajst-9865	186	21	the	the	DET
ajst-9865	186	22	trajectory	trajectory	NOUN
ajst-9865	186	23	tracking	tracking	NOUN
ajst-9865	186	24	effects	effect	NOUN
ajst-9865	186	25	of	of	ADP
ajst-9865	186	26	the	the	DET
ajst-9865	186	27	three	three	NUM
ajst-9865	186	28	control	control	NOUN
ajst-9865	186	29	schemes	scheme	NOUN
ajst-9865	186	30	,	,	PUNCT
ajst-9865	186	31	mmpc	mmpc	PROPN
ajst-9865	186	32	,	,	PUNCT
ajst-9865	186	33	tmpc	tmpc	PROPN
ajst-9865	186	34	and	and	CCONJ
ajst-9865	186	35	pid	pid	NOUN
ajst-9865	186	36	,	,	PUNCT
ajst-9865	186	37	are	be	AUX
ajst-9865	186	38	compared	compare	VERB
ajst-9865	186	39	.	.	PUNCT
ajst-9865	187	1	taking	take	VERB
ajst-9865	187	2	the	the	DET
ajst-9865	187	3	lateral	lateral	ADJ
ajst-9865	187	4	displacement	displacement	NOUN
ajst-9865	187	5	error	error	NOUN
ajst-9865	187	6	as	as	ADP
ajst-9865	187	7	an	an	DET
ajst-9865	187	8	example	example	NOUN
ajst-9865	187	9	,	,	PUNCT
ajst-9865	187	10	the	the	DET
ajst-9865	187	11	positional	positional	ADJ
ajst-9865	187	12	pid	pid	NOUN
ajst-9865	187	13	controller	controller	NOUN
ajst-9865	187	14	is	be	AUX
ajst-9865	187	15	shown	show	VERB
ajst-9865	187	16	in	in	ADP
ajst-9865	187	17	equation	equation	NOUN
ajst-9865	187	18	(	(	PUNCT
ajst-9865	187	19	33	33	NUM
ajst-9865	187	20	):	):	SYM
ajst-9865	187	21	1	1	NUM
ajst-9865	187	22	(	(	PUNCT
ajst-9865	187	23	)	)	PUNCT
ajst-9865	187	24	(	(	PUNCT
ajst-9865	187	25	(	(	PUNCT
ajst-9865	187	26	)	)	PUNCT
ajst-9865	187	27	)	)	PUNCT
ajst-9865	188	1	(	(	PUNCT
ajst-9865	188	2	)	)	PUNCT
ajst-9865	188	3	(	(	PUNCT
ajst-9865	188	4	(	(	PUNCT
ajst-9865	188	5	)	)	PUNCT
ajst-9865	188	6	(	(	PUNCT
ajst-9865	188	7	1	1	NUM
ajst-9865	188	8	)	)	PUNCT
ajst-9865	188	9	)	)	PUNCT
ajst-9865	189	1	k	k	X
ajst-9865	190	1	p	p	X
ajst-9865	190	2	i	i	NOUN
ajst-9865	191	1	d	d	X
ajst-9865	191	2	j	j	PROPN
ajst-9865	191	3	k	k	PROPN
ajst-9865	191	4	k	k	PROPN
ajst-9865	191	5	e	e	PROPN
ajst-9865	191	6	k	k	PROPN
ajst-9865	191	7	k	k	PROPN
ajst-9865	191	8	e	e	PROPN
ajst-9865	191	9	j	j	PROPN
ajst-9865	191	10	k	k	PROPN
ajst-9865	191	11	e	e	PROPN
ajst-9865	191	12	k	k	PROPN
ajst-9865	191	13	e	e	PROPN
ajst-9865	191	14	k	k	X
ajst-9865	191	15	(	(	PUNCT
ajst-9865	191	16	33	33	NUM
ajst-9865	191	17	)	)	PUNCT
ajst-9865	192	1	where	where	SCONJ
ajst-9865	192	2	*	*	NOUN
ajst-9865	192	3	(	(	PUNCT
ajst-9865	192	4	)	)	PUNCT
ajst-9865	192	5	(	(	PUNCT
ajst-9865	192	6	)	)	PUNCT
ajst-9865	192	7	(	(	PUNCT
ajst-9865	192	8	)	)	PUNCT
ajst-9865	192	9	e	e	X
ajst-9865	192	10	k	k	NOUN
ajst-9865	192	11	x	x	SYM
ajst-9865	192	12	k	k	NOUN
ajst-9865	192	13	x	x	X
ajst-9865	192	14	k	k	PROPN
ajst-9865	192	15	is	be	AUX
ajst-9865	192	16	the	the	DET
ajst-9865	192	17	transverse	transverse	NOUN
ajst-9865	192	18	error	error	NOUN
ajst-9865	192	19	p	p	X
ajst-9865	192	20	ik	ik	PROPN
ajst-9865	192	21	k	k	PROPN
ajst-9865	192	22	dk	dk	PROPN
ajst-9865	192	23	are	be	AUX
ajst-9865	192	24	the	the	DET
ajst-9865	192	25	proportional	proportional	ADJ
ajst-9865	192	26	,	,	PUNCT
ajst-9865	192	27	integral	integral	ADJ
ajst-9865	192	28	and	and	CCONJ
ajst-9865	192	29	differential	differential	ADJ
ajst-9865	192	30	parameters	parameter	NOUN
ajst-9865	192	31	respectively	respectively	ADV
ajst-9865	192	32	.	.	PUNCT
ajst-9865	193	1	in	in	ADP
ajst-9865	193	2	order	order	NOUN
ajst-9865	193	3	to	to	PART
ajst-9865	193	4	make	make	VERB
ajst-9865	193	5	the	the	DET
ajst-9865	193	6	system	system	NOUN
ajst-9865	193	7	control	control	NOUN
ajst-9865	193	8	effect	effect	NOUN
ajst-9865	193	9	optimal	optimal	ADJ
ajst-9865	193	10	,	,	PUNCT
ajst-9865	193	11	it	it	PRON
ajst-9865	193	12	is	be	AUX
ajst-9865	193	13	necessary	necessary	ADJ
ajst-9865	193	14	to	to	PART
ajst-9865	193	15	optimize	optimize	VERB
ajst-9865	193	16	the	the	DET
ajst-9865	193	17	multi	multi	ADJ
ajst-9865	193	18	-	-	ADJ
ajst-9865	193	19	constraint	constraint	ADJ
ajst-9865	193	20	model	model	NOUN
ajst-9865	193	21	prediction	prediction	NOUN
ajst-9865	193	22	control	control	NOUN
ajst-9865	193	23	parameters	parameter	NOUN
ajst-9865	193	24	,	,	PUNCT
ajst-9865	193	25	after	after	ADP
ajst-9865	193	26	repeated	repeat	VERB
ajst-9865	193	27	debugging	debugging	NOUN
ajst-9865	193	28	,	,	PUNCT
ajst-9865	193	29	a	a	DET
ajst-9865	193	30	set	set	NOUN
ajst-9865	193	31	of	of	ADP
ajst-9865	193	32	better	well	ADJ
ajst-9865	193	33	parameters	parameter	NOUN
ajst-9865	193	34	of	of	ADP
ajst-9865	193	35	the	the	DET
ajst-9865	193	36	positional	positional	ADJ
ajst-9865	193	37	pid	pid	NOUN
ajst-9865	193	38	control	control	NOUN
ajst-9865	193	39	scheme	scheme	NOUN
ajst-9865	193	40	0.9pk	0.9pk	PROPN
ajst-9865	193	41	0.01ik	0.01ik	NOUN
ajst-9865	193	42	0.45dk	0.45dk	ADJ
ajst-9865	193	43	,	,	PUNCT
ajst-9865	193	44	and	and	CCONJ
ajst-9865	193	45	also	also	ADV
ajst-9865	193	46	obtain	obtain	VERB
ajst-9865	193	47	the	the	DET
ajst-9865	193	48	system	system	NOUN
ajst-9865	193	49	simulation	simulation	NOUN
ajst-9865	193	50	parameters	parameter	NOUN
ajst-9865	193	51	of	of	ADP
ajst-9865	193	52	mmpc	mmpc	PROPN
ajst-9865	193	53	as	as	SCONJ
ajst-9865	193	54	shown	show	VERB
ajst-9865	193	55	in	in	ADP
ajst-9865	193	56	table	table	NOUN
ajst-9865	193	57	1	1	NUM
ajst-9865	193	58	:	:	PUNCT
ajst-9865	193	59	table	table	NOUN
ajst-9865	193	60	1	1	NUM
ajst-9865	193	61	.	.	PUNCT
ajst-9865	194	1	parameter	parameter	PROPN
ajst-9865	194	2	comparison	comparison	NOUN
ajst-9865	194	3	data	datum	NOUN
ajst-9865	194	4	parameters	parameter	NOUN
ajst-9865	194	5	mmpc	mmpc	PROPN
ajst-9865	194	6	tmpc	tmpc	PROPN
ajst-9865	194	7	pid	pid	PROPN
ajst-9865	194	8	control	control	PROPN
ajst-9865	194	9	time	time	PROPN
ajst-9865	194	10	domain	domain	PROPN
ajst-9865	194	11	m	m	VERB
ajst-9865	194	12	60	60	NUM
ajst-9865	194	13	60	60	NUM
ajst-9865	194	14	predicted	predict	VERB
ajst-9865	194	15	time	time	NOUN
ajst-9865	194	16	domain	domain	NOUN
ajst-9865	194	17	p	p	NOUN
ajst-9865	194	18	30	30	NUM
ajst-9865	194	19	30	30	NUM
ajst-9865	194	20	status	status	NOUN
ajst-9865	194	21	quantity	quantity	NOUN
ajst-9865	194	22	3	3	NUM
ajst-9865	194	23	3	3	NUM
ajst-9865	194	24	3	3	NUM
ajst-9865	194	25	control	control	NOUN
ajst-9865	194	26	volume	volume	NOUN
ajst-9865	194	27	u	u	NOUN
ajst-9865	194	28	2	2	NUM
ajst-9865	194	29	2	2	NUM
ajst-9865	194	30	2	2	NUM
ajst-9865	194	31	relaxation	relaxation	NOUN
ajst-9865	194	32	factor	factor	NOUN
ajst-9865	194	33	weights	weight	VERB
ajst-9865	194	34	10	10	NUM
ajst-9865	194	35	10	10	NUM
ajst-9865	194	36	error	error	NOUN
ajst-9865	194	37	weights	weight	VERB
ajst-9865	194	38	y	y	PROPN
ajst-9865	194	39	10	10	NUM
ajst-9865	194	40	(	(	PUNCT
ajst-9865	194	41	3	3	NUM
ajst-9865	194	42	)	)	PUNCT
ajst-9865	194	43	peye	peye	NOUN
ajst-9865	194	44	n	n	ADP
ajst-9865	194	45	10	10	NUM
ajst-9865	194	46	(	(	PUNCT
ajst-9865	194	47	3	3	NUM
ajst-9865	194	48	)	)	PUNCT
ajst-9865	194	49	peye	peye	NOUN
ajst-9865	194	50	n	n	NOUN
ajst-9865	194	51	control	control	NOUN
ajst-9865	194	52	of	of	ADP
ajst-9865	194	53	incremental	incremental	ADJ
ajst-9865	194	54	weights	weight	NOUN
ajst-9865	194	55	u	u	NOUN
ajst-9865	194	56	(	(	PUNCT
ajst-9865	194	57	2	2	NUM
ajst-9865	194	58	)	)	PUNCT
ajst-9865	194	59	ceye	ceye	NOUN
ajst-9865	194	60	n	n	CCONJ
ajst-9865	194	61	(	(	PUNCT
ajst-9865	194	62	2	2	X
ajst-9865	194	63	)	)	PUNCT
ajst-9865	194	64	ceye	ceye	NOUN
ajst-9865	194	65	n	n	ADP
ajst-9865	194	66	4.1	4.1	NUM
ajst-9865	194	67	.	.	PUNCT
ajst-9865	195	1	simulation	simulation	NOUN
ajst-9865	195	2	of	of	ADP
ajst-9865	195	3	circular	circular	ADJ
ajst-9865	195	4	trajectory	trajectory	NOUN
ajst-9865	195	5	tracking	track	VERB
ajst-9865	195	6	a	a	DET
ajst-9865	195	7	circular	circular	ADJ
ajst-9865	195	8	trajectory	trajectory	NOUN
ajst-9865	195	9	is	be	AUX
ajst-9865	195	10	given	give	VERB
ajst-9865	195	11	as	as	SCONJ
ajst-9865	195	12	follows	follow	VERB
ajst-9865	195	13	:	:	PUNCT
ajst-9865	195	14	(	(	PUNCT
ajst-9865	195	15	)	)	PUNCT
ajst-9865	195	16	1.25sin(0.2	1.25sin(0.2	NUM
ajst-9865	195	17	)	)	PUNCT
ajst-9865	195	18	,	,	PUNCT
ajst-9865	195	19	(	(	PUNCT
ajst-9865	195	20	)	)	PUNCT
ajst-9865	195	21	1.75	1.75	NUM
ajst-9865	195	22	1.25cos(0.2	1.25cos(0.2	NUM
ajst-9865	195	23	)	)	PUNCT
ajst-9865	195	24	r	r	NOUN
ajst-9865	195	25	rx	rx	VERB
ajst-9865	195	26	t	t	PROPN
ajst-9865	195	27	t	t	PROPN
ajst-9865	195	28	y	y	PROPN
ajst-9865	195	29	t	t	PROPN
ajst-9865	195	30	t	t	PROPN
ajst-9865	195	31	(	(	PUNCT
ajst-9865	195	32	34	34	NUM
ajst-9865	195	33	)	)	PUNCT
ajst-9865	195	34	in	in	ADP
ajst-9865	195	35	equation	equation	NOUN
ajst-9865	195	36	(	(	PUNCT
ajst-9865	195	37	34	34	NUM
ajst-9865	195	38	)	)	PUNCT
ajst-9865	195	39	,	,	PUNCT
ajst-9865	196	1	[	[	X
ajst-9865	196	2	0,50]t	0,50]t	X
ajst-9865	196	3	the	the	DET
ajst-9865	196	4	constraints	constraint	NOUN
ajst-9865	196	5	for	for	ADP
ajst-9865	196	6	the	the	DET
ajst-9865	196	7	linear	linear	ADJ
ajst-9865	196	8	142	142	NUM
ajst-9865	196	9	velocity	velocity	NOUN
ajst-9865	196	10	v	v	NOUN
ajst-9865	196	11	and	and	CCONJ
ajst-9865	196	12	angular	angular	ADJ
ajst-9865	196	13	velocity	velocity	NOUN
ajst-9865	196	14	are	be	AUX
ajst-9865	196	15	|	|	ADV
ajst-9865	196	16	|	|	ADV
ajst-9865	196	17	1	1	NUM
ajst-9865	196	18	/v	/v	SYM
ajst-9865	196	19	m	m	NOUN
ajst-9865	196	20	s	s	PART
ajst-9865	197	1	and	and	CCONJ
ajst-9865	197	2	|	|	ADV
ajst-9865	197	3	|	|	ADV
ajst-9865	197	4	0.2	0.2	NUM
ajst-9865	197	5	/rad	/rad	SYM
ajst-9865	197	6	s	s	PART
ajst-9865	197	7	mmpc	mmpc	NOUN
ajst-9865	197	8	respectively	respectively	ADV
ajst-9865	197	9	,	,	PUNCT
ajst-9865	197	10	and	and	CCONJ
ajst-9865	197	11	the	the	DET
ajst-9865	197	12	incremental	incremental	ADJ
ajst-9865	197	13	constraints	constraint	NOUN
ajst-9865	197	14	for	for	ADP
ajst-9865	197	15	the	the	DET
ajst-9865	197	16	mmpc	mmpc	PROPN
ajst-9865	197	17	control	control	PROPN
ajst-9865	197	18	scheme	scheme	NOUN
ajst-9865	197	19	are	be	AUX
ajst-9865	197	20	|	|	ADV
ajst-9865	197	21	|	|	ADV
ajst-9865	197	22	0.02	0.02	NUM
ajst-9865	197	23	/v	/v	NOUN
ajst-9865	198	1	m	m	NOUN
ajst-9865	198	2	s	s	PART
ajst-9865	199	1	and	and	CCONJ
ajst-9865	199	2	|	|	ADV
ajst-9865	199	3	|	|	ADV
ajst-9865	199	4	0.02	0.02	NUM
ajst-9865	199	5	/rad	/rad	SYM
ajst-9865	199	6	s	s	PART
ajst-9865	199	7	.	.	PUNCT
ajst-9865	200	1	during	during	ADP
ajst-9865	200	2	the	the	DET
ajst-9865	200	3	simulation	simulation	NOUN
ajst-9865	200	4	,	,	PUNCT
ajst-9865	200	5	the	the	DET
ajst-9865	200	6	initial	initial	ADJ
ajst-9865	200	7	starting	starting	NOUN
ajst-9865	200	8	point	point	NOUN
ajst-9865	200	9	of	of	ADP
ajst-9865	200	10	the	the	DET
ajst-9865	200	11	desired	desire	VERB
ajst-9865	200	12	trajectory	trajectory	NOUN
ajst-9865	200	13	of	of	ADP
ajst-9865	200	14	the	the	DET
ajst-9865	200	15	wmr	wmr	PROPN
ajst-9865	200	16	is	be	AUX
ajst-9865	200	17	(	(	PUNCT
ajst-9865	200	18	,	,	PUNCT
ajst-9865	200	19	,	,	PUNCT
ajst-9865	200	20	)	)	PUNCT
ajst-9865	200	21	(	(	PUNCT
ajst-9865	200	22	0,0.5,0)r	0,0.5,0)r	VERB
ajst-9865	200	23	r	r	AUX
ajst-9865	200	24	rx	rx	VERB
ajst-9865	200	25	y	y	PROPN
ajst-9865	200	26	and	and	CCONJ
ajst-9865	200	27	the	the	DET
ajst-9865	200	28	initial	initial	ADJ
ajst-9865	200	29	error	error	NOUN
ajst-9865	200	30	between	between	ADP
ajst-9865	200	31	the	the	DET
ajst-9865	200	32	actual	actual	ADJ
ajst-9865	200	33	trajectory	trajectory	NOUN
ajst-9865	200	34	starting	starting	NOUN
ajst-9865	200	35	point	point	NOUN
ajst-9865	200	36	and	and	CCONJ
ajst-9865	200	37	the	the	DET
ajst-9865	200	38	desired	desire	VERB
ajst-9865	200	39	trajectory	trajectory	NOUN
ajst-9865	200	40	starting	starting	NOUN
ajst-9865	200	41	point	point	NOUN
ajst-9865	200	42	is	be	AUX
ajst-9865	200	43	set	set	VERB
ajst-9865	200	44	as	as	ADP
ajst-9865	200	45	the	the	DET
ajst-9865	200	46	initial	initial	ADJ
ajst-9865	200	47	error	error	NOUN
ajst-9865	200	48	,	,	PUNCT
ajst-9865	200	49	the	the	DET
ajst-9865	200	50	initial	initial	ADJ
ajst-9865	200	51	starting	starting	NOUN
ajst-9865	200	52	point	point	NOUN
ajst-9865	200	53	of	of	ADP
ajst-9865	200	54	the	the	DET
ajst-9865	200	55	actual	actual	ADJ
ajst-9865	200	56	trajectory	trajectory	NOUN
ajst-9865	200	57	is	be	AUX
ajst-9865	200	58	set	set	VERB
ajst-9865	200	59	as	as	ADP
ajst-9865	200	60	(	(	PUNCT
ajst-9865	200	61	,	,	PUNCT
ajst-9865	200	62	,	,	PUNCT
ajst-9865	200	63	)	)	PUNCT
ajst-9865	201	1	(	(	PUNCT
ajst-9865	201	2	0.5,0.5,0)x	0.5,0.5,0)x	NUM
ajst-9865	201	3	y	y	PROPN
ajst-9865	201	4	,	,	PUNCT
ajst-9865	201	5	and	and	CCONJ
ajst-9865	201	6	the	the	DET
ajst-9865	201	7	running	running	ADJ
ajst-9865	201	8	time	time	NOUN
ajst-9865	201	9	is	be	AUX
ajst-9865	201	10	t	t	PROPN
ajst-9865	201	11	50s	50	NOUN
ajst-9865	201	12	the	the	DET
ajst-9865	201	13	simulation	simulation	NOUN
ajst-9865	201	14	results	result	NOUN
ajst-9865	201	15	are	be	AUX
ajst-9865	201	16	shown	show	VERB
ajst-9865	201	17	in	in	ADP
ajst-9865	201	18	figure	figure	NOUN
ajst-9865	201	19	4	4	NUM
ajst-9865	201	20	.	.	PUNCT
ajst-9865	201	21	figure	figure	VERB
ajst-9865	201	22	4	4	NUM
ajst-9865	201	23	.	.	PUNCT
ajst-9865	201	24	simulation	simulation	NOUN
ajst-9865	201	25	diagram	diagram	PROPN
ajst-9865	201	26	of	of	ADP
ajst-9865	201	27	circular	circular	ADJ
ajst-9865	201	28	trajectory	trajectory	NOUN
ajst-9865	201	29	tracking	tracking	NOUN
ajst-9865	201	30	it	it	PRON
ajst-9865	201	31	can	can	AUX
ajst-9865	201	32	be	be	AUX
ajst-9865	201	33	seen	see	VERB
ajst-9865	201	34	in	in	ADP
ajst-9865	201	35	figure	figure	NOUN
ajst-9865	201	36	4	4	NUM
ajst-9865	201	37	that	that	SCONJ
ajst-9865	201	38	the	the	DET
ajst-9865	201	39	mmpc	mmpc	PROPN
ajst-9865	201	40	control	control	PROPN
ajst-9865	201	41	scheme	scheme	NOUN
ajst-9865	201	42	,	,	PUNCT
ajst-9865	201	43	the	the	DET
ajst-9865	201	44	tmpc	tmpc	PROPN
ajst-9865	201	45	control	control	PROPN
ajst-9865	201	46	scheme	scheme	NOUN
ajst-9865	201	47	and	and	CCONJ
ajst-9865	201	48	the	the	DET
ajst-9865	201	49	pid	pid	NOUN
ajst-9865	201	50	control	control	NOUN
ajst-9865	201	51	scheme	scheme	NOUN
ajst-9865	201	52	are	be	AUX
ajst-9865	201	53	all	all	ADV
ajst-9865	201	54	able	able	ADJ
ajst-9865	201	55	to	to	PART
ajst-9865	201	56	achieve	achieve	VERB
ajst-9865	201	57	trajectory	trajectory	NOUN
ajst-9865	201	58	tracking	tracking	NOUN
ajst-9865	201	59	.	.	PUNCT
ajst-9865	202	1	it	it	PRON
ajst-9865	202	2	can	can	AUX
ajst-9865	202	3	also	also	ADV
ajst-9865	202	4	be	be	AUX
ajst-9865	202	5	seen	see	VERB
ajst-9865	202	6	from	from	ADP
ajst-9865	202	7	figure	figure	NOUN
ajst-9865	202	8	4	4	NUM
ajst-9865	202	9	that	that	SCONJ
ajst-9865	202	10	the	the	DET
ajst-9865	202	11	mmpc	mmpc	NOUN
ajst-9865	202	12	has	have	VERB
ajst-9865	202	13	the	the	DET
ajst-9865	202	14	best	good	ADJ
ajst-9865	202	15	tracking	tracking	NOUN
ajst-9865	202	16	effect	effect	NOUN
ajst-9865	202	17	with	with	ADP
ajst-9865	202	18	the	the	DET
ajst-9865	202	19	presence	presence	NOUN
ajst-9865	202	20	of	of	ADP
ajst-9865	202	21	initial	initial	ADJ
ajst-9865	202	22	position	position	NOUN
ajst-9865	202	23	error	error	NOUN
ajst-9865	202	24	,	,	PUNCT
ajst-9865	202	25	the	the	DET
ajst-9865	202	26	tmpc	tmpc	NOUN
ajst-9865	202	27	has	have	VERB
ajst-9865	202	28	the	the	DET
ajst-9865	202	29	second	second	ADJ
ajst-9865	202	30	best	good	ADJ
ajst-9865	202	31	effect	effect	NOUN
ajst-9865	202	32	and	and	CCONJ
ajst-9865	202	33	the	the	DET
ajst-9865	202	34	pid	pid	NOUN
ajst-9865	202	35	has	have	VERB
ajst-9865	202	36	a	a	DET
ajst-9865	202	37	relatively	relatively	ADV
ajst-9865	202	38	large	large	ADJ
ajst-9865	202	39	tracking	tracking	NOUN
ajst-9865	202	40	error	error	NOUN
ajst-9865	202	41	.	.	PUNCT
ajst-9865	203	1	the	the	DET
ajst-9865	203	2	variation	variation	NOUN
ajst-9865	203	3	of	of	ADP
ajst-9865	203	4	tracking	tracking	NOUN
ajst-9865	203	5	error	error	NOUN
ajst-9865	203	6	for	for	ADP
ajst-9865	203	7	the	the	DET
ajst-9865	203	8	three	three	NUM
ajst-9865	203	9	control	control	NOUN
ajst-9865	203	10	schemes	scheme	NOUN
ajst-9865	203	11	is	be	AUX
ajst-9865	203	12	shown	show	VERB
ajst-9865	203	13	in	in	ADP
ajst-9865	203	14	figure	figure	NOUN
ajst-9865	203	15	5(a	5(a	NUM
ajst-9865	203	16	-	-	PUNCT
ajst-9865	203	17	c	c	NOUN
ajst-9865	203	18	)	)	PUNCT
ajst-9865	203	19	.	.	PUNCT
ajst-9865	204	1	(	(	PUNCT
ajst-9865	204	2	a	a	X
ajst-9865	204	3	)	)	PUNCT
ajst-9865	204	4	lateral	lateral	ADJ
ajst-9865	204	5	displacement	displacement	ADJ
ajst-9865	204	6	trajectory	trajectory	NOUN
ajst-9865	204	7	tracking	tracking	NOUN
ajst-9865	204	8	error	error	NOUN
ajst-9865	204	9	(	(	PUNCT
ajst-9865	204	10	b	b	NOUN
ajst-9865	204	11	)	)	PUNCT
ajst-9865	204	12	longitudinal	longitudinal	ADJ
ajst-9865	204	13	displacement	displacement	ADJ
ajst-9865	204	14	trajectory	trajectory	NOUN
ajst-9865	204	15	tracking	tracking	NOUN
ajst-9865	204	16	error	error	NOUN
ajst-9865	204	17	(	(	PUNCT
ajst-9865	204	18	c	c	NOUN
ajst-9865	204	19	)	)	PUNCT
ajst-9865	204	20	heading	head	VERB
ajst-9865	204	21	angle	angle	NOUN
ajst-9865	204	22	trajectory	trajectory	NOUN
ajst-9865	204	23	tracking	tracking	NOUN
ajst-9865	204	24	error	error	NOUN
ajst-9865	204	25	figure	figure	NOUN
ajst-9865	204	26	5	5	NUM
ajst-9865	204	27	.	.	PUNCT
ajst-9865	204	28	simulation	simulation	NOUN
ajst-9865	204	29	diagram	diagram	PROPN
ajst-9865	204	30	of	of	ADP
ajst-9865	204	31	circular	circular	ADJ
ajst-9865	204	32	trajectory	trajectory	NOUN
ajst-9865	204	33	tracking	tracking	NOUN
ajst-9865	204	34	error	error	NOUN
ajst-9865	204	35	143	143	NUM
ajst-9865	204	36	figures	figure	NOUN
ajst-9865	204	37	5(a	5(a	NUM
ajst-9865	204	38	-	-	PUNCT
ajst-9865	204	39	c	c	NOUN
ajst-9865	204	40	)	)	PUNCT
ajst-9865	204	41	show	show	VERB
ajst-9865	204	42	the	the	DET
ajst-9865	204	43	tracking	tracking	NOUN
ajst-9865	204	44	error	error	NOUN
ajst-9865	204	45	simulation	simulation	NOUN
ajst-9865	204	46	,	,	PUNCT
ajst-9865	204	47	where	where	SCONJ
ajst-9865	204	48	wmr	wmr	PROPN
ajst-9865	204	49	converges	converge	VERB
ajst-9865	204	50	to	to	ADP
ajst-9865	204	51	zero	zero	NUM
ajst-9865	204	52	faster	fast	ADV
ajst-9865	204	53	than	than	ADP
ajst-9865	204	54	tmpc	tmpc	NOUN
ajst-9865	204	55	and	and	CCONJ
ajst-9865	204	56	pid	pid	NOUN
ajst-9865	204	57	under	under	ADP
ajst-9865	204	58	the	the	DET
ajst-9865	204	59	mmpc	mmpc	PROPN
ajst-9865	204	60	control	control	PROPN
ajst-9865	204	61	scheme	scheme	NOUN
ajst-9865	204	62	.	.	PUNCT
ajst-9865	205	1	the	the	DET
ajst-9865	205	2	regulation	regulation	NOUN
ajst-9865	205	3	time	time	NOUN
ajst-9865	205	4	to	to	PART
ajst-9865	205	5	track	track	VERB
ajst-9865	205	6	to	to	ADP
ajst-9865	205	7	the	the	DET
ajst-9865	205	8	desired	desire	VERB
ajst-9865	205	9	trajectory	trajectory	NOUN
ajst-9865	205	10	is	be	AUX
ajst-9865	205	11	20	20	NUM
ajst-9865	205	12	t	t	NOUN
ajst-9865	205	13	s	s	NOUN
ajst-9865	205	14	in	in	ADP
ajst-9865	205	15	the	the	DET
ajst-9865	205	16	mmpc	mmpc	NOUN
ajst-9865	205	17	and	and	CCONJ
ajst-9865	205	18	26	26	NUM
ajst-9865	205	19	t	t	NOUN
ajst-9865	205	20	s	s	X
ajst-9865	205	21	in	in	ADP
ajst-9865	205	22	the	the	DET
ajst-9865	205	23	tmpc	tmpc	PROPN
ajst-9865	205	24	control	control	PROPN
ajst-9865	205	25	scheme	scheme	PROPN
ajst-9865	205	26	,	,	PUNCT
ajst-9865	205	27	while	while	SCONJ
ajst-9865	205	28	wmr	wmr	PROPN
ajst-9865	205	29	has	have	VERB
ajst-9865	205	30	the	the	DET
ajst-9865	205	31	longest	long	ADJ
ajst-9865	205	32	regulation	regulation	NOUN
ajst-9865	205	33	time	time	NOUN
ajst-9865	205	34	using	use	VERB
ajst-9865	205	35	the	the	DET
ajst-9865	205	36	pid	pid	NOUN
ajst-9865	205	37	control	control	NOUN
ajst-9865	205	38	scheme	scheme	NOUN
ajst-9865	205	39	at	at	ADP
ajst-9865	205	40	31	31	NUM
ajst-9865	205	41	t	t	NOUN
ajst-9865	205	42	s	s	PART
ajst-9865	205	43	.	.	PUNCT
ajst-9865	206	1	this	this	PRON
ajst-9865	206	2	is	be	AUX
ajst-9865	206	3	due	due	ADJ
ajst-9865	206	4	to	to	ADP
ajst-9865	206	5	the	the	DET
ajst-9865	206	6	mmpc	mmpc	PROPN
ajst-9865	206	7	control	control	PROPN
ajst-9865	206	8	scheme	scheme	NOUN
ajst-9865	206	9	with	with	ADP
ajst-9865	206	10	feed	feed	NOUN
ajst-9865	206	11	-	-	PUNCT
ajst-9865	206	12	forward	forward	NOUN
ajst-9865	206	13	control	control	NOUN
ajst-9865	206	14	,	,	PUNCT
ajst-9865	206	15	which	which	PRON
ajst-9865	206	16	responds	respond	VERB
ajst-9865	206	17	faster	fast	ADV
ajst-9865	206	18	to	to	ADP
ajst-9865	206	19	the	the	DET
ajst-9865	206	20	steering	steering	NOUN
ajst-9865	206	21	process	process	NOUN
ajst-9865	206	22	when	when	SCONJ
ajst-9865	206	23	there	there	PRON
ajst-9865	206	24	is	be	VERB
ajst-9865	206	25	an	an	DET
ajst-9865	206	26	initial	initial	ADJ
ajst-9865	206	27	error	error	NOUN
ajst-9865	206	28	,	,	PUNCT
ajst-9865	206	29	improving	improve	VERB
ajst-9865	206	30	the	the	DET
ajst-9865	206	31	trajectory	trajectory	NOUN
ajst-9865	206	32	tracking	tracking	NOUN
ajst-9865	206	33	accuracy	accuracy	NOUN
ajst-9865	206	34	of	of	ADP
ajst-9865	206	35	the	the	DET
ajst-9865	206	36	wmr	wmr	PROPN
ajst-9865	206	37	.	.	PUNCT
ajst-9865	207	1	after	after	ADP
ajst-9865	207	2	31s	31s	NUM
ajst-9865	207	3	,	,	PUNCT
ajst-9865	207	4	the	the	DET
ajst-9865	207	5	wmr	wmr	PROPN
ajst-9865	207	6	maintains	maintain	VERB
ajst-9865	207	7	good	good	ADJ
ajst-9865	207	8	tracking	tracking	NOUN
ajst-9865	207	9	performance	performance	NOUN
ajst-9865	207	10	for	for	ADP
ajst-9865	207	11	all	all	DET
ajst-9865	207	12	three	three	NUM
ajst-9865	207	13	control	control	NOUN
ajst-9865	207	14	schemes	scheme	NOUN
ajst-9865	207	15	.	.	PUNCT
ajst-9865	208	1	table	table	NOUN
ajst-9865	208	2	2	2	NUM
ajst-9865	208	3	.	.	PUNCT
ajst-9865	208	4	comparison	comparison	NOUN
ajst-9865	208	5	of	of	ADP
ajst-9865	208	6	circular	circular	ADJ
ajst-9865	208	7	track	track	NOUN
ajst-9865	208	8	simulation	simulation	NOUN
ajst-9865	208	9	performance	performance	NOUN
ajst-9865	208	10	indicators	indicator	NOUN
ajst-9865	208	11	mmpc	mmpc	PROPN
ajst-9865	208	12	tmpc	tmpc	PROPN
ajst-9865	209	1	pid	pid	PROPN
ajst-9865	209	2	lateral	lateral	ADJ
ajst-9865	209	3	error	error	NOUN
ajst-9865	209	4	maximum	maximum	NOUN
ajst-9865	209	5	values	value	NOUN
ajst-9865	209	6	0.065	0.065	NUM
ajst-9865	209	7	0.13	0.13	NUM
ajst-9865	209	8	0.167	0.167	NUM
ajst-9865	209	9	variance	variance	NOUN
ajst-9865	209	10	values	value	NOUN
ajst-9865	209	11	0.15	0.15	NUM
ajst-9865	209	12	0.16	0.16	NUM
ajst-9865	209	13	0.163	0.163	NUM
ajst-9865	209	14	longitudinal	longitudinal	ADJ
ajst-9865	209	15	error	error	NOUN
ajst-9865	209	16	maximum	maximum	ADJ
ajst-9865	209	17	values	value	NOUN
ajst-9865	209	18	0.22	0.22	NUM
ajst-9865	209	19	0.271	0.271	NUM
ajst-9865	209	20	0.29	0.29	NUM
ajst-9865	209	21	variance	variance	NOUN
ajst-9865	209	22	values	value	NOUN
ajst-9865	209	23	0.07	0.07	NUM
ajst-9865	209	24	0.089	0.089	NUM
ajst-9865	209	25	0.102	0.102	NUM
ajst-9865	209	26	heading	head	VERB
ajst-9865	209	27	angle	angle	NOUN
ajst-9865	209	28	error	error	NOUN
ajst-9865	209	29	maximum	maximum	ADJ
ajst-9865	209	30	values	value	NOUN
ajst-9865	209	31	0.29	0.29	NUM
ajst-9865	209	32	0.33	0.33	NUM
ajst-9865	209	33	0.349	0.349	NUM
ajst-9865	209	34	variance	variance	NOUN
ajst-9865	209	35	values	value	VERB
ajst-9865	209	36	0.097	0.097	NUM
ajst-9865	209	37	0.106	0.106	NUM
ajst-9865	209	38	0.111	0.111	NUM
ajst-9865	209	39	table	table	NOUN
ajst-9865	209	40	2	2	NUM
ajst-9865	209	41	shows	show	VERB
ajst-9865	209	42	comparative	comparative	ADJ
ajst-9865	209	43	performance	performance	NOUN
ajst-9865	209	44	data	datum	NOUN
ajst-9865	209	45	for	for	ADP
ajst-9865	209	46	the	the	DET
ajst-9865	209	47	circular	circular	ADJ
ajst-9865	209	48	trajectory	trajectory	NOUN
ajst-9865	209	49	simulation	simulation	NOUN
ajst-9865	209	50	tracking	tracking	NOUN
ajst-9865	209	51	.	.	PUNCT
ajst-9865	210	1	it	it	PRON
ajst-9865	210	2	can	can	AUX
ajst-9865	210	3	be	be	AUX
ajst-9865	210	4	seen	see	VERB
ajst-9865	210	5	that	that	SCONJ
ajst-9865	210	6	mmpc	mmpc	PROPN
ajst-9865	210	7	has	have	VERB
ajst-9865	210	8	the	the	DET
ajst-9865	210	9	smallest	small	ADJ
ajst-9865	210	10	of	of	ADP
ajst-9865	210	11	all	all	DET
ajst-9865	210	12	three	three	NUM
ajst-9865	210	13	performance	performance	NOUN
ajst-9865	210	14	metrics	metric	NOUN
ajst-9865	210	15	compared	compare	VERB
ajst-9865	210	16	to	to	ADP
ajst-9865	210	17	the	the	DET
ajst-9865	210	18	three	three	NUM
ajst-9865	210	19	control	control	NOUN
ajst-9865	210	20	schemes	scheme	NOUN
ajst-9865	210	21	.	.	PUNCT
ajst-9865	211	1	in	in	ADP
ajst-9865	211	2	terms	term	NOUN
ajst-9865	211	3	of	of	ADP
ajst-9865	211	4	lateral	lateral	ADJ
ajst-9865	211	5	error	error	NOUN
ajst-9865	211	6	,	,	PUNCT
ajst-9865	211	7	the	the	DET
ajst-9865	211	8	maximum	maximum	ADJ
ajst-9865	211	9	error	error	NOUN
ajst-9865	211	10	value	value	NOUN
ajst-9865	211	11	for	for	ADP
ajst-9865	211	12	mmpc	mmpc	NOUN
ajst-9865	211	13	is	be	AUX
ajst-9865	211	14	0.065	0.065	NUM
ajst-9865	211	15	m	m	NOUN
ajst-9865	211	16	,	,	PUNCT
ajst-9865	211	17	while	while	SCONJ
ajst-9865	211	18	the	the	DET
ajst-9865	211	19	maximum	maximum	ADJ
ajst-9865	211	20	error	error	NOUN
ajst-9865	211	21	for	for	ADP
ajst-9865	211	22	tmpc	tmpc	NOUN
ajst-9865	211	23	and	and	CCONJ
ajst-9865	211	24	pid	pid	NOUN
ajst-9865	211	25	is	be	AUX
ajst-9865	211	26	0.13	0.13	NUM
ajst-9865	211	27	m	m	NOUN
ajst-9865	211	28	and	and	CCONJ
ajst-9865	211	29	0.167	0.167	NUM
ajst-9865	211	30	m	m	NOUN
ajst-9865	211	31	respectively	respectively	ADV
ajst-9865	211	32	.	.	PUNCT
ajst-9865	212	1	the	the	DET
ajst-9865	212	2	calculation	calculation	NOUN
ajst-9865	212	3	shows	show	VERB
ajst-9865	212	4	that	that	SCONJ
ajst-9865	212	5	the	the	DET
ajst-9865	212	6	mmpc	mmpc	PROPN
ajst-9865	212	7	control	control	PROPN
ajst-9865	212	8	scheme	scheme	NOUN
ajst-9865	212	9	reduces	reduce	VERB
ajst-9865	212	10	lateral	lateral	ADJ
ajst-9865	212	11	error	error	NOUN
ajst-9865	212	12	by	by	ADP
ajst-9865	212	13	17.96	17.96	NUM
ajst-9865	212	14	%	%	NOUN
ajst-9865	212	15	,	,	PUNCT
ajst-9865	212	16	longitudinal	longitudinal	ADJ
ajst-9865	212	17	error	error	NOUN
ajst-9865	212	18	by	by	ADP
ajst-9865	212	19	6.53	6.53	NUM
ajst-9865	212	20	%	%	NOUN
ajst-9865	212	21	and	and	CCONJ
ajst-9865	212	22	heading	head	VERB
ajst-9865	212	23	angle	angle	NOUN
ajst-9865	212	24	error	error	NOUN
ajst-9865	212	25	by	by	ADP
ajst-9865	212	26	4.13	4.13	NUM
ajst-9865	212	27	%	%	NOUN
ajst-9865	212	28	compared	compare	VERB
ajst-9865	212	29	to	to	ADP
ajst-9865	212	30	the	the	DET
ajst-9865	212	31	tmpc	tmpc	PROPN
ajst-9865	212	32	scheme	scheme	NOUN
ajst-9865	212	33	.	.	PUNCT
ajst-9865	213	1	compared	compare	VERB
ajst-9865	213	2	to	to	ADP
ajst-9865	213	3	the	the	DET
ajst-9865	213	4	pid	pid	NOUN
ajst-9865	213	5	control	control	NOUN
ajst-9865	213	6	scheme	scheme	NOUN
ajst-9865	213	7	,	,	PUNCT
ajst-9865	213	8	the	the	DET
ajst-9865	213	9	lateral	lateral	ADJ
ajst-9865	213	10	error	error	NOUN
ajst-9865	213	11	is	be	AUX
ajst-9865	213	12	reduced	reduce	VERB
ajst-9865	213	13	by	by	ADP
ajst-9865	213	14	28.18	28.18	NUM
ajst-9865	213	15	%	%	NOUN
ajst-9865	213	16	,	,	PUNCT
ajst-9865	213	17	the	the	DET
ajst-9865	213	18	longitudinal	longitudinal	ADJ
ajst-9865	213	19	error	error	NOUN
ajst-9865	213	20	by	by	ADP
ajst-9865	213	21	8.94	8.94	NUM
ajst-9865	213	22	%	%	NOUN
ajst-9865	213	23	and	and	CCONJ
ajst-9865	213	24	the	the	DET
ajst-9865	213	25	heading	head	VERB
ajst-9865	213	26	angle	angle	NOUN
ajst-9865	213	27	error	error	NOUN
ajst-9865	213	28	by	by	ADP
ajst-9865	213	29	6.09	6.09	NUM
ajst-9865	213	30	%	%	NOUN
ajst-9865	213	31	.	.	PUNCT
ajst-9865	214	1	this	this	PRON
ajst-9865	214	2	indicates	indicate	VERB
ajst-9865	214	3	that	that	SCONJ
ajst-9865	214	4	the	the	DET
ajst-9865	214	5	mmpc	mmpc	PROPN
ajst-9865	214	6	control	control	PROPN
ajst-9865	214	7	scheme	scheme	NOUN
ajst-9865	214	8	is	be	AUX
ajst-9865	214	9	superior	superior	ADJ
ajst-9865	214	10	to	to	ADP
ajst-9865	214	11	the	the	DET
ajst-9865	214	12	tmpc	tmpc	NOUN
ajst-9865	214	13	and	and	CCONJ
ajst-9865	214	14	pid	pid	NOUN
ajst-9865	214	15	control	control	NOUN
ajst-9865	214	16	schemes	scheme	NOUN
ajst-9865	214	17	.	.	PUNCT
ajst-9865	215	1	figure	figure	VERB
ajst-9865	215	2	6	6	NUM
ajst-9865	215	3	.	.	PUNCT
ajst-9865	216	1	control	control	VERB
ajst-9865	216	2	incremental	incremental	ADJ
ajst-9865	216	3	change	change	NOUN
ajst-9865	216	4	of	of	ADP
ajst-9865	216	5	mmpc	mmpc	PROPN
ajst-9865	216	6	figure	figure	NOUN
ajst-9865	216	7	6	6	NUM
ajst-9865	216	8	shows	show	VERB
ajst-9865	216	9	the	the	DET
ajst-9865	216	10	mmpc	mmpc	PROPN
ajst-9865	216	11	control	control	NOUN
ajst-9865	216	12	increment	increment	NOUN
ajst-9865	216	13	variation	variation	NOUN
ajst-9865	216	14	and	and	CCONJ
ajst-9865	216	15	it	it	PRON
ajst-9865	216	16	can	can	AUX
ajst-9865	216	17	be	be	AUX
ajst-9865	216	18	seen	see	VERB
ajst-9865	216	19	that	that	SCONJ
ajst-9865	216	20	both	both	CCONJ
ajst-9865	216	21	the	the	DET
ajst-9865	216	22	linear	linear	ADJ
ajst-9865	216	23	velocity	velocity	NOUN
ajst-9865	216	24	increment	increment	NOUN
ajst-9865	216	25	v	v	NOUN
ajst-9865	216	26	and	and	CCONJ
ajst-9865	216	27	the	the	DET
ajst-9865	216	28	angular	angular	ADJ
ajst-9865	216	29	velocity	velocity	NOUN
ajst-9865	216	30	increment	increment	NOUN
ajst-9865	216	31	satisfy	satisfy	VERB
ajst-9865	216	32	the	the	DET
ajst-9865	216	33	input	input	NOUN
ajst-9865	216	34	constraints	constraint	NOUN
ajst-9865	216	35	.	.	PUNCT
ajst-9865	217	1	with	with	ADP
ajst-9865	217	2	the	the	DET
ajst-9865	217	3	velocity	velocity	NOUN
ajst-9865	217	4	optimisation	optimisation	NOUN
ajst-9865	217	5	strategy	strategy	NOUN
ajst-9865	217	6	,	,	PUNCT
ajst-9865	217	7	the	the	DET
ajst-9865	217	8	velocity	velocity	NOUN
ajst-9865	217	9	of	of	ADP
ajst-9865	217	10	the	the	DET
ajst-9865	217	11	wmr	wmr	PROPN
ajst-9865	217	12	stably	stably	ADV
ajst-9865	217	13	stays	stay	VERB
ajst-9865	217	14	within	within	ADP
ajst-9865	217	15	the	the	DET
ajst-9865	217	16	constraint	constraint	NOUN
ajst-9865	217	17	.	.	PUNCT
ajst-9865	218	1	the	the	DET
ajst-9865	218	2	simulation	simulation	NOUN
ajst-9865	218	3	results	result	NOUN
ajst-9865	218	4	verify	verify	VERB
ajst-9865	218	5	the	the	DET
ajst-9865	218	6	effectiveness	effectiveness	NOUN
ajst-9865	218	7	of	of	ADP
ajst-9865	218	8	the	the	DET
ajst-9865	218	9	velocity	velocity	NOUN
ajst-9865	218	10	optimisation	optimisation	NOUN
ajst-9865	218	11	strategy	strategy	NOUN
ajst-9865	218	12	.	.	PUNCT
ajst-9865	219	1	4.2	4.2	NUM
ajst-9865	219	2	.	.	PUNCT
ajst-9865	219	3	circular	circular	ADJ
ajst-9865	219	4	trajectory	trajectory	NOUN
ajst-9865	219	5	tracking	track	VERB
ajst-9865	219	6	experiment	experiment	NOUN
ajst-9865	219	7	figure	figure	NOUN
ajst-9865	219	8	7	7	NUM
ajst-9865	219	9	.	.	PUNCT
ajst-9865	219	10	eaibot	eaibot	NOUN
ajst-9865	219	11	mobile	mobile	ADJ
ajst-9865	219	12	platform	platform	NOUN
ajst-9865	219	13	figure	figure	NOUN
ajst-9865	219	14	7	7	NUM
ajst-9865	219	15	shows	show	VERB
ajst-9865	219	16	the	the	DET
ajst-9865	219	17	eaibot	eaibot	NOUN
ajst-9865	219	18	mobile	mobile	ADJ
ajst-9865	219	19	platform	platform	NOUN
ajst-9865	219	20	.	.	PUNCT
ajst-9865	220	1	in	in	ADP
ajst-9865	220	2	order	order	NOUN
ajst-9865	220	3	to	to	PART
ajst-9865	220	4	verify	verify	VERB
ajst-9865	220	5	the	the	DET
ajst-9865	220	6	robustness	robustness	NOUN
ajst-9865	220	7	and	and	CCONJ
ajst-9865	220	8	feasibility	feasibility	NOUN
ajst-9865	220	9	of	of	ADP
ajst-9865	220	10	the	the	DET
ajst-9865	220	11	control	control	NOUN
ajst-9865	220	12	scheme	scheme	NOUN
ajst-9865	220	13	designed	design	VERB
ajst-9865	220	14	in	in	ADP
ajst-9865	220	15	this	this	DET
ajst-9865	220	16	paper	paper	NOUN
ajst-9865	220	17	in	in	ADP
ajst-9865	220	18	a	a	DET
ajst-9865	220	19	real	real	ADJ
ajst-9865	220	20	environment	environment	NOUN
ajst-9865	220	21	,	,	PUNCT
ajst-9865	220	22	physical	physical	ADJ
ajst-9865	220	23	experiments	experiment	NOUN
ajst-9865	220	24	are	be	AUX
ajst-9865	220	25	carried	carry	VERB
ajst-9865	220	26	out	out	ADP
ajst-9865	220	27	using	use	VERB
ajst-9865	220	28	this	this	DET
ajst-9865	220	29	mobile	mobile	ADJ
ajst-9865	220	30	platform	platform	NOUN
ajst-9865	220	31	.	.	PUNCT
ajst-9865	221	1	to	to	PART
ajst-9865	221	2	record	record	VERB
ajst-9865	221	3	the	the	DET
ajst-9865	221	4	trajectory	trajectory	NOUN
ajst-9865	221	5	tracking	track	VERB
ajst-9865	221	6	data	datum	NOUN
ajst-9865	221	7	,	,	PUNCT
ajst-9865	221	8	a	a	DET
ajst-9865	221	9	model	model	NOUN
ajst-9865	221	10	was	be	AUX
ajst-9865	221	11	built	build	VERB
ajst-9865	221	12	using	use	VERB
ajst-9865	221	13	simulink	simulink	NOUN
ajst-9865	221	14	in	in	ADP
ajst-9865	221	15	conjunction	conjunction	NOUN
ajst-9865	221	16	with	with	ADP
ajst-9865	221	17	ros	ros	PROPN
ajst-9865	221	18	as	as	SCONJ
ajst-9865	221	19	shown	show	VERB
ajst-9865	221	20	in	in	ADP
ajst-9865	221	21	figure	figure	NOUN
ajst-9865	221	22	8	8	NUM
ajst-9865	221	23	.	.	PUNCT
ajst-9865	222	1	figure	figure	NOUN
ajst-9865	222	2	8	8	NUM
ajst-9865	222	3	.	.	PUNCT
ajst-9865	223	1	simulink	simulink	PROPN
ajst-9865	223	2	and	and	CCONJ
ajst-9865	223	3	ros	ros	PROPN
ajst-9865	223	4	joint	joint	PROPN
ajst-9865	223	5	simulation	simulation	PROPN
ajst-9865	223	6	the	the	DET
ajst-9865	223	7	mpc	mpc	PROPN
ajst-9865	223	8	control	control	PROPN
ajst-9865	223	9	scheme	scheme	NOUN
ajst-9865	223	10	and	and	CCONJ
ajst-9865	223	11	the	the	DET
ajst-9865	223	12	pid	pid	NOUN
ajst-9865	223	13	control	control	NOUN
ajst-9865	223	14	scheme	scheme	NOUN
ajst-9865	223	15	are	be	AUX
ajst-9865	223	16	still	still	ADV
ajst-9865	223	17	chosen	choose	VERB
ajst-9865	223	18	for	for	ADP
ajst-9865	223	19	comparison	comparison	NOUN
ajst-9865	223	20	.	.	PUNCT
ajst-9865	224	1	the	the	DET
ajst-9865	224	2	algorithm	algorithm	NOUN
ajst-9865	224	3	parameters	parameter	NOUN
ajst-9865	224	4	are	be	AUX
ajst-9865	224	5	the	the	DET
ajst-9865	224	6	same	same	ADJ
ajst-9865	224	7	as	as	ADP
ajst-9865	224	8	in	in	ADP
ajst-9865	224	9	table	table	NOUN
ajst-9865	224	10	1	1	NUM
ajst-9865	224	11	.	.	PUNCT
ajst-9865	225	1	the	the	DET
ajst-9865	225	2	constraints	constraint	NOUN
ajst-9865	225	3	for	for	ADP
ajst-9865	225	4	the	the	DET
ajst-9865	225	5	linear	linear	ADJ
ajst-9865	225	6	velocity	velocity	NOUN
ajst-9865	225	7	v	v	NOUN
ajst-9865	225	8	and	and	CCONJ
ajst-9865	225	9	the	the	DET
ajst-9865	225	10	angular	angular	ADJ
ajst-9865	225	11	velocity	velocity	NOUN
ajst-9865	225	12	are	be	AUX
ajst-9865	225	13	|	|	ADV
ajst-9865	225	14	|	|	ADV
ajst-9865	225	15	1	1	NUM
ajst-9865	225	16	/v	/v	SYM
ajst-9865	225	17	m	m	NOUN
ajst-9865	225	18	s	s	PART
ajst-9865	226	1	and	and	CCONJ
ajst-9865	226	2	|	|	ADV
ajst-9865	226	3	|	|	ADV
ajst-9865	226	4	0.2	0.2	NUM
ajst-9865	226	5	/rad	/rad	SYM
ajst-9865	226	6	s	s	PART
ajst-9865	226	7	respectively	respectively	ADV
ajst-9865	226	8	.	.	PUNCT
ajst-9865	227	1	the	the	DET
ajst-9865	227	2	control	control	NOUN
ajst-9865	227	3	increment	increment	NOUN
ajst-9865	227	4	constraints	constraint	NOUN
ajst-9865	227	5	are	be	AUX
ajst-9865	227	6	|	|	ADV
ajst-9865	227	7	|	|	ADV
ajst-9865	227	8	0.1	0.1	NUM
ajst-9865	227	9	/v	/v	NOUN
ajst-9865	228	1	m	m	NOUN
ajst-9865	228	2	s	s	PART
ajst-9865	229	1	and	and	CCONJ
ajst-9865	229	2	|	|	ADV
ajst-9865	229	3	|	|	ADV
ajst-9865	229	4	0.1	0.1	NUM
ajst-9865	229	5	/rad	/rad	SYM
ajst-9865	229	6	s	s	X
ajst-9865	229	7	.without	.without	PUNCT
ajst-9865	229	8	affecting	affect	VERB
ajst-9865	229	9	the	the	DET
ajst-9865	229	10	experimental	experimental	ADJ
ajst-9865	229	11	results	result	NOUN
ajst-9865	229	12	,	,	PUNCT
ajst-9865	229	13	the	the	DET
ajst-9865	229	14	initial	initial	ADJ
ajst-9865	229	15	starting	starting	NOUN
ajst-9865	229	16	point	point	NOUN
ajst-9865	229	17	of	of	ADP
ajst-9865	229	18	the	the	DET
ajst-9865	229	19	desired	desire	VERB
ajst-9865	229	20	trajectory	trajectory	NOUN
ajst-9865	229	21	of	of	ADP
ajst-9865	229	22	the	the	DET
ajst-9865	229	23	wmr	wmr	PROPN
ajst-9865	229	24	was	be	AUX
ajst-9865	229	25	set	set	VERB
ajst-9865	229	26	to	to	ADP
ajst-9865	229	27	(	(	PUNCT
ajst-9865	229	28	,	,	PUNCT
ajst-9865	229	29	,	,	PUNCT
ajst-9865	229	30	)	)	PUNCT
ajst-9865	229	31	(	(	PUNCT
ajst-9865	229	32	0.85,0.8,0)r	0.85,0.8,0)r	X
ajst-9865	229	33	r	r	NOUN
ajst-9865	229	34	rx	rx	VERB
ajst-9865	229	35	y	y	PRON
ajst-9865	229	36	to	to	PART
ajst-9865	229	37	track	track	VERB
ajst-9865	229	38	a	a	DET
ajst-9865	229	39	circular	circular	ADJ
ajst-9865	229	40	trajectory	trajectory	NOUN
ajst-9865	229	41	and	and	CCONJ
ajst-9865	229	42	compare	compare	VERB
ajst-9865	229	43	the	the	DET
ajst-9865	229	44	performance	performance	NOUN
ajst-9865	229	45	of	of	ADP
ajst-9865	229	46	the	the	DET
ajst-9865	229	47	three	three	NUM
ajst-9865	229	48	control	control	NOUN
ajst-9865	229	49	schemes	scheme	NOUN
ajst-9865	229	50	.	.	PUNCT
ajst-9865	230	1	figure	figure	NOUN
ajst-9865	230	2	9	9	NUM
ajst-9865	230	3	.	.	PUNCT
ajst-9865	230	4	effect	effect	NOUN
ajst-9865	230	5	picture	picture	NOUN
ajst-9865	230	6	of	of	ADP
ajst-9865	230	7	circular	circular	ADJ
ajst-9865	230	8	trajectory	trajectory	NOUN
ajst-9865	230	9	tracking	tracking	NOUN
ajst-9865	230	10	figure	figure	NOUN
ajst-9865	230	11	9	9	NUM
ajst-9865	230	12	shows	show	VERB
ajst-9865	230	13	the	the	DET
ajst-9865	230	14	effect	effect	NOUN
ajst-9865	230	15	of	of	ADP
ajst-9865	230	16	circular	circular	ADJ
ajst-9865	230	17	trajectory	trajectory	NOUN
ajst-9865	230	18	tracking	tracking	NOUN
ajst-9865	230	19	.	.	PUNCT
ajst-9865	231	1	under	under	ADP
ajst-9865	231	2	the	the	DET
ajst-9865	231	3	physical	physical	ADJ
ajst-9865	231	4	experiment	experiment	NOUN
ajst-9865	231	5	,	,	PUNCT
ajst-9865	231	6	the	the	DET
ajst-9865	231	7	mmpc	mmpc	PROPN
ajst-9865	231	8	control	control	PROPN
ajst-9865	231	9	scheme	scheme	NOUN
ajst-9865	231	10	can	can	AUX
ajst-9865	231	11	complete	complete	VERB
ajst-9865	231	12	the	the	DET
ajst-9865	231	13	trajectory	trajectory	NOUN
ajst-9865	231	14	tracking	track	VERB
ajst-9865	231	15	experiment	experiment	NOUN
ajst-9865	231	16	better	well	ADV
ajst-9865	231	17	and	and	CCONJ
ajst-9865	231	18	the	the	DET
ajst-9865	231	19	tracking	tracking	NOUN
ajst-9865	231	20	performance	performance	NOUN
ajst-9865	231	21	of	of	ADP
ajst-9865	231	22	the	the	DET
ajst-9865	231	23	system	system	NOUN
ajst-9865	231	24	is	be	AUX
ajst-9865	231	25	good	good	ADJ
ajst-9865	231	26	,	,	PUNCT
ajst-9865	231	27	while	while	SCONJ
ajst-9865	231	28	the	the	DET
ajst-9865	231	29	mpc	mpc	PROPN
ajst-9865	231	30	144	144	NUM
ajst-9865	231	31	control	control	NOUN
ajst-9865	231	32	scheme	scheme	NOUN
ajst-9865	231	33	and	and	CCONJ
ajst-9865	231	34	the	the	DET
ajst-9865	231	35	pid	pid	NOUN
ajst-9865	231	36	control	control	NOUN
ajst-9865	231	37	scheme	scheme	NOUN
ajst-9865	231	38	both	both	PRON
ajst-9865	231	39	show	show	VERB
ajst-9865	231	40	different	different	ADJ
ajst-9865	231	41	degrees	degree	NOUN
ajst-9865	231	42	of	of	ADP
ajst-9865	231	43	deviation	deviation	NOUN
ajst-9865	231	44	during	during	ADP
ajst-9865	231	45	the	the	DET
ajst-9865	231	46	tracking	tracking	NOUN
ajst-9865	231	47	trajectory	trajectory	NOUN
ajst-9865	231	48	.	.	PUNCT
ajst-9865	232	1	(	(	PUNCT
ajst-9865	232	2	a	a	X
ajst-9865	232	3	)	)	PUNCT
ajst-9865	232	4	lateral	lateral	ADJ
ajst-9865	232	5	displacement	displacement	ADJ
ajst-9865	232	6	trajectory	trajectory	NOUN
ajst-9865	232	7	tracking	tracking	NOUN
ajst-9865	232	8	error	error	NOUN
ajst-9865	232	9	(	(	PUNCT
ajst-9865	232	10	b	b	NOUN
ajst-9865	232	11	)	)	PUNCT
ajst-9865	232	12	longitudinal	longitudinal	ADJ
ajst-9865	232	13	displacement	displacement	ADJ
ajst-9865	232	14	trajectory	trajectory	NOUN
ajst-9865	232	15	tracking	tracking	NOUN
ajst-9865	232	16	error	error	NOUN
ajst-9865	232	17	(	(	PUNCT
ajst-9865	232	18	c	c	NOUN
ajst-9865	232	19	)	)	PUNCT
ajst-9865	232	20	heading	head	VERB
ajst-9865	232	21	angle	angle	NOUN
ajst-9865	232	22	trajectory	trajectory	NOUN
ajst-9865	232	23	tracking	tracking	NOUN
ajst-9865	232	24	error	error	NOUN
ajst-9865	232	25	figure	figure	NOUN
ajst-9865	232	26	10	10	NUM
ajst-9865	232	27	.	.	PUNCT
ajst-9865	233	1	rendering	render	VERB
ajst-9865	233	2	of	of	ADP
ajst-9865	233	3	circular	circular	ADJ
ajst-9865	233	4	track	track	NOUN
ajst-9865	233	5	tracking	tracking	NOUN
ajst-9865	233	6	error	error	NOUN
ajst-9865	233	7	figure	figure	NOUN
ajst-9865	233	8	10(a	10(a	NUM
ajst-9865	233	9	-	-	PUNCT
ajst-9865	233	10	c	c	NOUN
ajst-9865	233	11	)	)	PUNCT
ajst-9865	233	12	shows	show	VERB
ajst-9865	233	13	the	the	DET
ajst-9865	233	14	circular	circular	ADJ
ajst-9865	233	15	trajectory	trajectory	NOUN
ajst-9865	233	16	tracking	tracking	NOUN
ajst-9865	233	17	error	error	NOUN
ajst-9865	233	18	diagram	diagram	NOUN
ajst-9865	233	19	.	.	PUNCT
ajst-9865	234	1	during	during	ADP
ajst-9865	234	2	the	the	DET
ajst-9865	234	3	trajectory	trajectory	NOUN
ajst-9865	234	4	tracking	tracking	NOUN
ajst-9865	234	5	process	process	NOUN
ajst-9865	234	6	,	,	PUNCT
ajst-9865	234	7	its	its	PRON
ajst-9865	234	8	tracking	tracking	NOUN
ajst-9865	234	9	effect	effect	NOUN
ajst-9865	234	10	has	have	VERB
ajst-9865	234	11	a	a	DET
ajst-9865	234	12	certain	certain	ADJ
ajst-9865	234	13	bias	bias	NOUN
ajst-9865	234	14	,	,	PUNCT
ajst-9865	234	15	taking	take	VERB
ajst-9865	234	16	into	into	ADP
ajst-9865	234	17	account	account	NOUN
ajst-9865	234	18	two	two	NUM
ajst-9865	234	19	main	main	ADJ
ajst-9865	234	20	factors	factor	NOUN
ajst-9865	234	21	:	:	PUNCT
ajst-9865	234	22	(	(	PUNCT
ajst-9865	234	23	1	1	X
ajst-9865	234	24	)	)	PUNCT
ajst-9865	234	25	factors	factor	NOUN
ajst-9865	234	26	of	of	ADP
ajst-9865	234	27	the	the	DET
ajst-9865	234	28	experimental	experimental	ADJ
ajst-9865	234	29	site	site	NOUN
ajst-9865	234	30	,	,	PUNCT
ajst-9865	234	31	such	such	ADJ
ajst-9865	234	32	as	as	ADP
ajst-9865	234	33	the	the	DET
ajst-9865	234	34	coefficient	coefficient	NOUN
ajst-9865	234	35	of	of	ADP
ajst-9865	234	36	friction	friction	NOUN
ajst-9865	234	37	and	and	CCONJ
ajst-9865	234	38	flatness	flatness	NOUN
ajst-9865	234	39	of	of	ADP
ajst-9865	234	40	the	the	DET
ajst-9865	234	41	ground	ground	NOUN
ajst-9865	234	42	causing	cause	VERB
ajst-9865	234	43	the	the	DET
ajst-9865	234	44	robot	robot	NOUN
ajst-9865	234	45	tyres	tyre	NOUN
ajst-9865	234	46	to	to	PART
ajst-9865	234	47	slip	slip	VERB
ajst-9865	234	48	sideways	sideways	ADV
ajst-9865	234	49	or	or	CCONJ
ajst-9865	234	50	create	create	VERB
ajst-9865	234	51	a	a	DET
ajst-9865	234	52	gap	gap	NOUN
ajst-9865	234	53	with	with	ADP
ajst-9865	234	54	the	the	DET
ajst-9865	234	55	ground	ground	NOUN
ajst-9865	234	56	.	.	PUNCT
ajst-9865	235	1	(	(	PUNCT
ajst-9865	235	2	2	2	X
ajst-9865	235	3	)	)	PUNCT
ajst-9865	235	4	insufficient	insufficient	ADJ
ajst-9865	235	5	accuracy	accuracy	NOUN
ajst-9865	235	6	of	of	ADP
ajst-9865	235	7	the	the	DET
ajst-9865	235	8	eaibot	eaibot	NOUN
ajst-9865	235	9	moving	move	VERB
ajst-9865	235	10	platform	platform	NOUN
ajst-9865	235	11	sensors	sensor	NOUN
ajst-9865	235	12	,	,	PUNCT
ajst-9865	235	13	resulting	result	VERB
ajst-9865	235	14	in	in	ADP
ajst-9865	235	15	deviations	deviation	NOUN
ajst-9865	235	16	in	in	ADP
ajst-9865	235	17	the	the	DET
ajst-9865	235	18	calculation	calculation	NOUN
ajst-9865	235	19	of	of	ADP
ajst-9865	235	20	both	both	CCONJ
ajst-9865	235	21	linear	linear	ADJ
ajst-9865	235	22	and	and	CCONJ
ajst-9865	235	23	angular	angular	ADJ
ajst-9865	235	24	velocities	velocity	NOUN
ajst-9865	235	25	at	at	ADP
ajst-9865	235	26	the	the	DET
ajst-9865	235	27	previous	previous	ADJ
ajst-9865	235	28	moment	moment	NOUN
ajst-9865	235	29	.	.	PUNCT
ajst-9865	236	1	as	as	ADP
ajst-9865	236	2	a	a	DET
ajst-9865	236	3	result	result	NOUN
ajst-9865	236	4	of	of	ADP
ajst-9865	236	5	these	these	DET
ajst-9865	236	6	two	two	NUM
ajst-9865	236	7	main	main	ADJ
ajst-9865	236	8	factors	factor	NOUN
ajst-9865	236	9	,	,	PUNCT
ajst-9865	236	10	the	the	DET
ajst-9865	236	11	tracking	tracking	NOUN
ajst-9865	236	12	error	error	NOUN
ajst-9865	236	13	of	of	ADP
ajst-9865	236	14	the	the	DET
ajst-9865	236	15	robot	robot	NOUN
ajst-9865	236	16	does	do	AUX
ajst-9865	236	17	not	not	PART
ajst-9865	236	18	tend	tend	VERB
ajst-9865	236	19	to	to	PART
ajst-9865	236	20	be	be	AUX
ajst-9865	236	21	zero	zero	NUM
ajst-9865	236	22	,	,	PUNCT
ajst-9865	236	23	but	but	CCONJ
ajst-9865	236	24	the	the	DET
ajst-9865	236	25	overall	overall	ADJ
ajst-9865	236	26	trend	trend	NOUN
ajst-9865	236	27	is	be	AUX
ajst-9865	236	28	as	as	SCONJ
ajst-9865	236	29	expected	expect	VERB
ajst-9865	236	30	,	,	PUNCT
ajst-9865	236	31	i.e.	i.e.	X
ajst-9865	236	32	the	the	DET
ajst-9865	236	33	results	result	NOUN
ajst-9865	236	34	are	be	AUX
ajst-9865	236	35	similar	similar	ADJ
ajst-9865	236	36	to	to	ADP
ajst-9865	236	37	those	those	PRON
ajst-9865	236	38	of	of	ADP
ajst-9865	236	39	the	the	DET
ajst-9865	236	40	simulation	simulation	NOUN
ajst-9865	236	41	.	.	PUNCT
ajst-9865	237	1	it	it	PRON
ajst-9865	237	2	can	can	AUX
ajst-9865	237	3	be	be	AUX
ajst-9865	237	4	seen	see	VERB
ajst-9865	237	5	that	that	SCONJ
ajst-9865	237	6	the	the	DET
ajst-9865	237	7	mmpc	mmpc	PROPN
ajst-9865	237	8	control	control	PROPN
ajst-9865	237	9	scheme	scheme	NOUN
ajst-9865	237	10	has	have	AUX
ajst-9865	237	11	improved	improve	VERB
ajst-9865	237	12	tracking	tracking	NOUN
ajst-9865	237	13	accuracy	accuracy	NOUN
ajst-9865	237	14	and	and	CCONJ
ajst-9865	237	15	reduced	reduce	VERB
ajst-9865	237	16	steady	steady	ADJ
ajst-9865	237	17	-	-	PUNCT
ajst-9865	237	18	state	state	NOUN
ajst-9865	237	19	error	error	NOUN
ajst-9865	237	20	compared	compare	VERB
ajst-9865	237	21	to	to	ADP
ajst-9865	237	22	the	the	DET
ajst-9865	237	23	tmpc	tmpc	NOUN
ajst-9865	237	24	and	and	CCONJ
ajst-9865	237	25	pid	pid	NOUN
ajst-9865	237	26	control	control	NOUN
ajst-9865	237	27	schemes	scheme	NOUN
ajst-9865	237	28	table	table	NOUN
ajst-9865	237	29	2	2	NUM
ajst-9865	237	30	.	.	PUNCT
ajst-9865	237	31	comparison	comparison	NOUN
ajst-9865	237	32	of	of	ADP
ajst-9865	237	33	circular	circular	ADJ
ajst-9865	237	34	track	track	NOUN
ajst-9865	237	35	performance	performance	NOUN
ajst-9865	237	36	performance	performance	NOUN
ajst-9865	237	37	indicators	indicator	NOUN
ajst-9865	237	38	mmpc	mmpc	PROPN
ajst-9865	237	39	tmpc	tmpc	PROPN
ajst-9865	237	40	pid	pid	PROPN
ajst-9865	237	41	lateral	lateral	ADJ
ajst-9865	237	42	error	error	NOUN
ajst-9865	237	43	maximum	maximum	ADJ
ajst-9865	237	44	values	value	NOUN
ajst-9865	237	45	0.025	0.025	NUM
ajst-9865	237	46	0.047	0.047	NUM
ajst-9865	237	47	0.051	0.051	NUM
ajst-9865	237	48	variance	variance	NOUN
ajst-9865	237	49	values	value	NOUN
ajst-9865	237	50	0.013	0.013	NUM
ajst-9865	237	51	0.027	0.027	NUM
ajst-9865	237	52	0.033	0.033	NUM
ajst-9865	237	53	longitudinal	longitudinal	ADJ
ajst-9865	237	54	error	error	NOUN
ajst-9865	237	55	maximum	maximum	ADJ
ajst-9865	237	56	values	value	NOUN
ajst-9865	237	57	0.026	0.026	NUM
ajst-9865	237	58	0.051	0.051	NUM
ajst-9865	237	59	0.069	0.069	NUM
ajst-9865	237	60	variance	variance	NOUN
ajst-9865	237	61	values	value	NOUN
ajst-9865	237	62	0.014	0.014	NUM
ajst-9865	237	63	0.02	0.02	NUM
ajst-9865	237	64	0.033	0.033	NUM
ajst-9865	237	65	heading	head	VERB
ajst-9865	237	66	angle	angle	NOUN
ajst-9865	237	67	error	error	NOUN
ajst-9865	237	68	maximum	maximum	ADJ
ajst-9865	237	69	values	value	NOUN
ajst-9865	237	70	0.043	0.043	NUM
ajst-9865	237	71	0.058	0.058	NUM
ajst-9865	237	72	0.052	0.052	NUM
ajst-9865	237	73	variance	variance	NOUN
ajst-9865	237	74	values	value	NOUN
ajst-9865	237	75	0.024	0.024	NUM
ajst-9865	237	76	0.027	0.027	NUM
ajst-9865	237	77	0.029	0.029	NUM
ajst-9865	237	78	table	table	NOUN
ajst-9865	237	79	3	3	NUM
ajst-9865	237	80	shows	show	VERB
ajst-9865	237	81	the	the	DET
ajst-9865	237	82	comparative	comparative	ADJ
ajst-9865	237	83	data	datum	NOUN
ajst-9865	237	84	of	of	ADP
ajst-9865	237	85	the	the	DET
ajst-9865	237	86	circular	circular	ADJ
ajst-9865	237	87	trajectory	trajectory	NOUN
ajst-9865	237	88	tracking	tracking	NOUN
ajst-9865	237	89	performance	performance	NOUN
ajst-9865	237	90	in	in	ADP
ajst-9865	237	91	the	the	DET
ajst-9865	237	92	physical	physical	ADJ
ajst-9865	237	93	experimental	experimental	ADJ
ajst-9865	237	94	environment	environment	NOUN
ajst-9865	237	95	.	.	PUNCT
ajst-9865	238	1	in	in	ADP
ajst-9865	238	2	terms	term	NOUN
ajst-9865	238	3	of	of	ADP
ajst-9865	238	4	longitudinal	longitudinal	ADJ
ajst-9865	238	5	error	error	NOUN
ajst-9865	238	6	,	,	PUNCT
ajst-9865	238	7	the	the	DET
ajst-9865	238	8	mmpc	mmpc	NOUN
ajst-9865	238	9	has	have	VERB
ajst-9865	238	10	a	a	DET
ajst-9865	238	11	maximum	maximum	ADJ
ajst-9865	238	12	error	error	NOUN
ajst-9865	238	13	value	value	NOUN
ajst-9865	238	14	of	of	ADP
ajst-9865	238	15	0.026	0.026	NUM
ajst-9865	238	16	m	m	NOUN
ajst-9865	238	17	,	,	PUNCT
ajst-9865	238	18	while	while	SCONJ
ajst-9865	238	19	the	the	DET
ajst-9865	238	20	tmpc	tmpc	NOUN
ajst-9865	238	21	and	and	CCONJ
ajst-9865	238	22	pid	pid	NOUN
ajst-9865	238	23	have	have	VERB
ajst-9865	238	24	a	a	DET
ajst-9865	238	25	maximum	maximum	ADJ
ajst-9865	238	26	error	error	NOUN
ajst-9865	238	27	of	of	ADP
ajst-9865	238	28	0.051	0.051	NUM
ajst-9865	238	29	m	m	NOUN
ajst-9865	238	30	and	and	CCONJ
ajst-9865	238	31	0.069	0.069	NUM
ajst-9865	238	32	m	m	NOUN
ajst-9865	238	33	respectively	respectively	ADV
ajst-9865	238	34	.	.	PUNCT
ajst-9865	239	1	the	the	DET
ajst-9865	239	2	calculation	calculation	NOUN
ajst-9865	239	3	shows	show	VERB
ajst-9865	239	4	that	that	SCONJ
ajst-9865	239	5	the	the	DET
ajst-9865	239	6	mmpc	mmpc	PROPN
ajst-9865	239	7	control	control	PROPN
ajst-9865	239	8	scheme	scheme	NOUN
ajst-9865	239	9	reduces	reduce	VERB
ajst-9865	239	10	the	the	DET
ajst-9865	239	11	lateral	lateral	ADJ
ajst-9865	239	12	error	error	NOUN
ajst-9865	239	13	by	by	ADP
ajst-9865	239	14	17.87	17.87	NUM
ajst-9865	239	15	%	%	NOUN
ajst-9865	239	16	,	,	PUNCT
ajst-9865	239	17	the	the	DET
ajst-9865	239	18	longitudinal	longitudinal	ADJ
ajst-9865	239	19	error	error	NOUN
ajst-9865	239	20	by	by	ADP
ajst-9865	239	21	17.12	17.12	NUM
ajst-9865	239	22	%	%	NOUN
ajst-9865	239	23	and	and	CCONJ
ajst-9865	239	24	the	the	DET
ajst-9865	239	25	heading	head	VERB
ajst-9865	239	26	angle	angle	NOUN
ajst-9865	239	27	error	error	NOUN
ajst-9865	239	28	by	by	ADP
ajst-9865	239	29	9.81	9.81	NUM
ajst-9865	239	30	%	%	NOUN
ajst-9865	239	31	compared	compare	VERB
ajst-9865	239	32	to	to	ADP
ajst-9865	239	33	145	145	NUM
ajst-9865	239	34	the	the	DET
ajst-9865	239	35	tmpc	tmpc	PROPN
ajst-9865	239	36	scheme	scheme	PROPN
ajst-9865	239	37	.	.	PUNCT
ajst-9865	240	1	compared	compare	VERB
ajst-9865	240	2	to	to	ADP
ajst-9865	240	3	the	the	DET
ajst-9865	240	4	pid	pid	NOUN
ajst-9865	240	5	control	control	NOUN
ajst-9865	240	6	scheme	scheme	NOUN
ajst-9865	240	7	,	,	PUNCT
ajst-9865	240	8	the	the	DET
ajst-9865	240	9	lateral	lateral	ADJ
ajst-9865	240	10	error	error	NOUN
ajst-9865	240	11	is	be	AUX
ajst-9865	240	12	reduced	reduce	VERB
ajst-9865	240	13	by	by	ADP
ajst-9865	240	14	20.82	20.82	NUM
ajst-9865	240	15	%	%	NOUN
ajst-9865	240	16	,	,	PUNCT
ajst-9865	240	17	the	the	DET
ajst-9865	240	18	longitudinal	longitudinal	ADJ
ajst-9865	240	19	9	9	NUM
ajst-9865	240	20	error	error	NOUN
ajst-9865	240	21	is	be	AUX
ajst-9865	240	22	reduced	reduce	VERB
ajst-9865	240	23	by	by	ADP
ajst-9865	240	24	23.26	23.26	NUM
ajst-9865	240	25	%	%	NOUN
ajst-9865	240	26	and	and	CCONJ
ajst-9865	240	27	the	the	DET
ajst-9865	240	28	heading	head	VERB
ajst-9865	240	29	angle	angle	NOUN
ajst-9865	240	30	error	error	NOUN
ajst-9865	240	31	is	be	AUX
ajst-9865	240	32	reduced	reduce	VERB
ajst-9865	240	33	by	by	ADP
ajst-9865	240	34	5.87	5.87	NUM
ajst-9865	240	35	%	%	NOUN
ajst-9865	240	36	.	.	PUNCT
ajst-9865	241	1	figure	figure	NOUN
ajst-9865	241	2	11	11	NUM
ajst-9865	241	3	shows	show	VERB
ajst-9865	241	4	the	the	DET
ajst-9865	241	5	variation	variation	NOUN
ajst-9865	241	6	of	of	ADP
ajst-9865	241	7	the	the	DET
ajst-9865	241	8	mmpc	mmpc	PROPN
ajst-9865	241	9	control	control	NOUN
ajst-9865	241	10	increments	increment	NOUN
ajst-9865	241	11	.	.	PUNCT
ajst-9865	242	1	even	even	ADV
ajst-9865	242	2	in	in	ADP
ajst-9865	242	3	the	the	DET
ajst-9865	242	4	real	real	ADJ
ajst-9865	242	5	scenario	scenario	NOUN
ajst-9865	242	6	,	,	PUNCT
ajst-9865	242	7	with	with	ADP
ajst-9865	242	8	the	the	DET
ajst-9865	242	9	velocity	velocity	NOUN
ajst-9865	242	10	optimization	optimization	NOUN
ajst-9865	242	11	strategy	strategy	NOUN
ajst-9865	242	12	,	,	PUNCT
ajst-9865	242	13	both	both	CCONJ
ajst-9865	242	14	the	the	DET
ajst-9865	242	15	linear	linear	ADJ
ajst-9865	242	16	velocity	velocity	NOUN
ajst-9865	242	17	increments	increment	VERB
ajst-9865	242	18	v	v	ADP
ajst-9865	242	19	and	and	CCONJ
ajst-9865	242	20	the	the	DET
ajst-9865	242	21	angular	angular	ADJ
ajst-9865	242	22	velocity	velocity	NOUN
ajst-9865	242	23	increments	increment	NOUN
ajst-9865	242	24	satisfy	satisfy	VERB
ajst-9865	242	25	the	the	DET
ajst-9865	242	26	input	input	NOUN
ajst-9865	242	27	constraints	constraint	NOUN
ajst-9865	242	28	.	.	PUNCT
ajst-9865	243	1	in	in	ADP
ajst-9865	243	2	summary	summary	NOUN
ajst-9865	243	3	,	,	PUNCT
ajst-9865	243	4	both	both	CCONJ
ajst-9865	243	5	the	the	DET
ajst-9865	243	6	simulation	simulation	NOUN
ajst-9865	243	7	and	and	CCONJ
ajst-9865	243	8	physical	physical	ADJ
ajst-9865	243	9	experiments	experiment	NOUN
ajst-9865	243	10	validate	validate	VERB
ajst-9865	243	11	the	the	DET
ajst-9865	243	12	effectiveness	effectiveness	NOUN
ajst-9865	243	13	and	and	CCONJ
ajst-9865	243	14	robustness	robustness	NOUN
ajst-9865	243	15	of	of	ADP
ajst-9865	243	16	the	the	DET
ajst-9865	243	17	mmpc	mmpc	PROPN
ajst-9865	243	18	control	control	PROPN
ajst-9865	243	19	scheme	scheme	PROPN
ajst-9865	243	20	.	.	PUNCT
ajst-9865	244	1	figure	figure	NOUN
ajst-9865	244	2	11	11	NUM
ajst-9865	244	3	.	.	PUNCT
ajst-9865	245	1	control	control	VERB
ajst-9865	245	2	incremental	incremental	ADJ
ajst-9865	245	3	change	change	NOUN
ajst-9865	245	4	of	of	ADP
ajst-9865	245	5	mmpc	mmpc	PROPN
ajst-9865	245	6	5	5	NUM
ajst-9865	245	7	.	.	PUNCT
ajst-9865	245	8	conclusion	conclusion	NOUN
ajst-9865	245	9	to	to	PART
ajst-9865	245	10	address	address	VERB
ajst-9865	245	11	the	the	DET
ajst-9865	245	12	problems	problem	NOUN
ajst-9865	245	13	of	of	ADP
ajst-9865	245	14	low	low	ADJ
ajst-9865	245	15	wmr	wmr	PROPN
ajst-9865	245	16	tracking	tracking	NOUN
ajst-9865	245	17	accuracy	accuracy	NOUN
ajst-9865	245	18	and	and	CCONJ
ajst-9865	245	19	large	large	ADJ
ajst-9865	245	20	steady	steady	ADJ
ajst-9865	245	21	-	-	PUNCT
ajst-9865	245	22	state	state	NOUN
ajst-9865	245	23	error	error	NOUN
ajst-9865	245	24	,	,	PUNCT
ajst-9865	245	25	this	this	DET
ajst-9865	245	26	paper	paper	NOUN
ajst-9865	245	27	designs	design	VERB
ajst-9865	245	28	a	a	DET
ajst-9865	245	29	mmpc	mmpc	NOUN
ajst-9865	245	30	control	control	NOUN
ajst-9865	245	31	scheme	scheme	NOUN
ajst-9865	245	32	combining	combine	VERB
ajst-9865	245	33	feedforward	feedforward	NOUN
ajst-9865	245	34	control	control	NOUN
ajst-9865	245	35	and	and	CCONJ
ajst-9865	245	36	feedback	feedback	NOUN
ajst-9865	245	37	control	control	NOUN
ajst-9865	245	38	.	.	PUNCT
ajst-9865	246	1	firstly	firstly	ADV
ajst-9865	246	2	,	,	PUNCT
ajst-9865	246	3	the	the	DET
ajst-9865	246	4	wmr	wmr	PROPN
ajst-9865	246	5	kinematic	kinematic	PROPN
ajst-9865	246	6	model	model	NOUN
ajst-9865	246	7	is	be	AUX
ajst-9865	246	8	established	establish	VERB
ajst-9865	246	9	considering	consider	VERB
ajst-9865	246	10	the	the	DET
ajst-9865	246	11	control	control	NOUN
ajst-9865	246	12	increment	increment	NOUN
ajst-9865	246	13	constraint	constraint	NOUN
ajst-9865	246	14	and	and	CCONJ
ajst-9865	246	15	the	the	DET
ajst-9865	246	16	error	error	NOUN
ajst-9865	246	17	caused	cause	VERB
ajst-9865	246	18	by	by	ADP
ajst-9865	246	19	the	the	DET
ajst-9865	246	20	retained	retain	VERB
ajst-9865	246	21	linearization	linearization	NOUN
ajst-9865	246	22	.	.	PUNCT
ajst-9865	247	1	then	then	ADV
ajst-9865	247	2	,	,	PUNCT
ajst-9865	247	3	the	the	DET
ajst-9865	247	4	mmpc	mmpc	NOUN
ajst-9865	247	5	feedback	feedback	NOUN
ajst-9865	247	6	controller	controller	NOUN
ajst-9865	247	7	with	with	ADP
ajst-9865	247	8	feedforward	feedforward	NOUN
ajst-9865	247	9	controller	controller	NOUN
ajst-9865	247	10	is	be	AUX
ajst-9865	247	11	designed	design	VERB
ajst-9865	247	12	with	with	ADP
ajst-9865	247	13	the	the	DET
ajst-9865	247	14	addition	addition	NOUN
ajst-9865	247	15	of	of	ADP
ajst-9865	247	16	mmpc	mmpc	NOUN
ajst-9865	247	17	with	with	ADP
ajst-9865	247	18	speed	speed	NOUN
ajst-9865	247	19	optimization	optimization	NOUN
ajst-9865	247	20	strategy	strategy	NOUN
ajst-9865	247	21	,	,	PUNCT
ajst-9865	247	22	and	and	CCONJ
ajst-9865	247	23	the	the	DET
ajst-9865	247	24	stability	stability	NOUN
ajst-9865	247	25	of	of	ADP
ajst-9865	247	26	the	the	DET
ajst-9865	247	27	mmpc	mmpc	NOUN
ajst-9865	247	28	controller	controller	NOUN
ajst-9865	247	29	is	be	AUX
ajst-9865	247	30	demonstrated	demonstrate	VERB
ajst-9865	247	31	using	use	VERB
ajst-9865	247	32	lyapunov	lyapunov	ADJ
ajst-9865	247	33	theory	theory	NOUN
ajst-9865	247	34	.	.	PUNCT
ajst-9865	248	1	finally	finally	ADV
ajst-9865	248	2	,	,	PUNCT
ajst-9865	248	3	the	the	DET
ajst-9865	248	4	feasibility	feasibility	NOUN
ajst-9865	248	5	of	of	ADP
ajst-9865	248	6	the	the	DET
ajst-9865	248	7	control	control	NOUN
ajst-9865	248	8	scheme	scheme	NOUN
ajst-9865	248	9	designed	design	VERB
ajst-9865	248	10	in	in	ADP
ajst-9865	248	11	this	this	DET
ajst-9865	248	12	paper	paper	NOUN
ajst-9865	248	13	is	be	AUX
ajst-9865	248	14	verified	verify	VERB
ajst-9865	248	15	through	through	ADP
ajst-9865	248	16	simulation	simulation	NOUN
ajst-9865	248	17	experiments	experiment	NOUN
ajst-9865	248	18	and	and	CCONJ
ajst-9865	248	19	physical	physical	ADJ
ajst-9865	248	20	experiments	experiment	NOUN
ajst-9865	248	21	.	.	PUNCT
ajst-9865	249	1	the	the	DET
ajst-9865	249	2	results	result	NOUN
ajst-9865	249	3	show	show	VERB
ajst-9865	249	4	that	that	SCONJ
ajst-9865	249	5	the	the	DET
ajst-9865	249	6	mmpc	mmpc	PROPN
ajst-9865	249	7	control	control	PROPN
ajst-9865	249	8	scheme	scheme	NOUN
ajst-9865	249	9	based	base	VERB
ajst-9865	249	10	on	on	ADP
ajst-9865	249	11	the	the	DET
ajst-9865	249	12	combination	combination	NOUN
ajst-9865	249	13	of	of	ADP
ajst-9865	249	14	feedforward	feedforward	NOUN
ajst-9865	249	15	control	control	NOUN
ajst-9865	249	16	and	and	CCONJ
ajst-9865	249	17	feedback	feedback	NOUN
ajst-9865	249	18	control	control	NOUN
ajst-9865	249	19	is	be	AUX
ajst-9865	249	20	better	well	ADJ
ajst-9865	249	21	than	than	ADP
ajst-9865	249	22	the	the	DET
ajst-9865	249	23	tmpc	tmpc	PROPN
ajst-9865	249	24	control	control	PROPN
ajst-9865	249	25	scheme	scheme	NOUN
ajst-9865	249	26	and	and	CCONJ
ajst-9865	249	27	the	the	DET
ajst-9865	249	28	pid	pid	NOUN
ajst-9865	249	29	control	control	NOUN
ajst-9865	249	30	scheme	scheme	NOUN
ajst-9865	249	31	in	in	ADP
ajst-9865	249	32	terms	term	NOUN
ajst-9865	249	33	of	of	ADP
ajst-9865	249	34	tracking	tracking	NOUN
ajst-9865	249	35	accuracy	accuracy	NOUN
ajst-9865	249	36	and	and	CCONJ
ajst-9865	249	37	tracking	tracking	NOUN
ajst-9865	249	38	error	error	NOUN
ajst-9865	249	39	.	.	PUNCT
ajst-9865	250	1	in	in	ADP
ajst-9865	250	2	future	future	ADJ
ajst-9865	250	3	research	research	NOUN
ajst-9865	250	4	,	,	PUNCT
ajst-9865	250	5	we	we	PRON
ajst-9865	250	6	will	will	AUX
ajst-9865	250	7	consider	consider	VERB
ajst-9865	250	8	improving	improve	VERB
ajst-9865	250	9	the	the	DET
ajst-9865	250	10	real	real	ADJ
ajst-9865	250	11	-	-	PUNCT
ajst-9865	250	12	time	time	NOUN
ajst-9865	250	13	performance	performance	NOUN
ajst-9865	250	14	of	of	ADP
ajst-9865	250	15	the	the	DET
ajst-9865	250	16	algorithm	algorithm	NOUN
ajst-9865	250	17	,	,	PUNCT
ajst-9865	250	18	using	use	VERB
ajst-9865	250	19	the	the	DET
ajst-9865	250	20	wmr	wmr	PROPN
ajst-9865	250	21	dynamics	dynamic	NOUN
ajst-9865	250	22	model	model	NOUN
ajst-9865	250	23	,	,	PUNCT
ajst-9865	250	24	etc	etc	X
ajst-9865	250	25	.	.	X
ajst-9865	251	1	on	on	ADP
ajst-9865	251	2	this	this	DET
ajst-9865	251	3	basis	basis	NOUN
ajst-9865	251	4	,	,	PUNCT
ajst-9865	251	5	we	we	PRON
ajst-9865	251	6	will	will	AUX
ajst-9865	251	7	further	far	ADV
ajst-9865	251	8	improve	improve	VERB
ajst-9865	251	9	the	the	DET
ajst-9865	251	10	control	control	NOUN
ajst-9865	251	11	scheme	scheme	NOUN
ajst-9865	251	12	proposed	propose	VERB
ajst-9865	251	13	in	in	ADP
ajst-9865	251	14	this	this	DET
ajst-9865	251	15	paper	paper	NOUN
ajst-9865	251	16	in	in	ADP
ajst-9865	251	17	order	order	NOUN
ajst-9865	251	18	to	to	PART
ajst-9865	251	19	improve	improve	VERB
ajst-9865	251	20	the	the	DET
ajst-9865	251	21	trajectory	trajectory	NOUN
ajst-9865	251	22	tracking	tracking	NOUN
ajst-9865	251	23	control	control	NOUN
ajst-9865	251	24	performance	performance	NOUN
ajst-9865	251	25	.	.	PUNCT
ajst-9865	252	1	references	reference	NOUN
ajst-9865	252	2	[	[	X
ajst-9865	252	3	1	1	NUM
ajst-9865	252	4	]	]	PUNCT
ajst-9865	252	5	li	li	PROPN
ajst-9865	252	6	yichun	yichun	PROPN
ajst-9865	252	7	,	,	PUNCT
ajst-9865	252	8	wang	wang	PROPN
ajst-9865	252	9	junwei	junwei	PROPN
ajst-9865	252	10	,	,	PUNCT
ajst-9865	252	11	yu	yu	PROPN
ajst-9865	252	12	xinhai	xinhai	PROPN
ajst-9865	252	13	,	,	PUNCT
ajst-9865	252	14	wen	wen	PROPN
ajst-9865	252	15	rong	rong	PROPN
ajst-9865	252	16	,	,	PUNCT
ajst-9865	252	17	et	et	PROPN
ajst-9865	252	18	al	al	PROPN
ajst-9865	252	19	.	.	PROPN
ajst-9865	252	20	research	research	NOUN
ajst-9865	252	21	on	on	ADP
ajst-9865	252	22	trajectory	trajectory	NOUN
ajst-9865	252	23	tracking	tracking	NOUN
ajst-9865	252	24	control	control	NOUN
ajst-9865	252	25	in	in	ADP
ajst-9865	252	26	mobile	mobile	ADJ
ajst-9865	252	27	robot	robot	NOUN
ajst-9865	252	28	modeling	modeling	NOUN
ajst-9865	252	29	and	and	CCONJ
ajst-9865	252	30	unmodeled	unmodeled	ADJ
ajst-9865	252	31	disturbance	disturbance	NOUN
ajst-9865	252	32	environment	environment	NOUN
ajst-9865	253	1	[	[	X
ajst-9865	253	2	j	j	X
ajst-9865	253	3	]	]	X
ajst-9865	253	4	.	.	PUNCT
ajst-9865	253	5	machine	machine	NOUN
ajst-9865	253	6	tool	tool	PROPN
ajst-9865	253	7	&	&	CCONJ
ajst-9865	253	8	hydraulics	hydraulic	NOUN
ajst-9865	253	9	,	,	PUNCT
ajst-9865	253	10	2021	2021	NUM
ajst-9865	253	11	,	,	PUNCT
ajst-9865	253	12	49(9	49(9	NUM
ajst-9865	253	13	):	):	PUNCT
ajst-9865	253	14	21	21	NUM
ajst-9865	253	15	-	-	SYM
ajst-9865	253	16	27	27	NUM
ajst-9865	253	17	.	.	PUNCT
ajst-9865	254	1	[	[	X
ajst-9865	254	2	2	2	NUM
ajst-9865	254	3	]	]	X
ajst-9865	254	4	lin	lin	PROPN
ajst-9865	254	5	yifan	yifan	PROPN
ajst-9865	254	6	,	,	PUNCT
ajst-9865	254	7	chen	chen	PROPN
ajst-9865	254	8	yangjie	yangjie	PROPN
ajst-9865	254	9	,	,	PUNCT
ajst-9865	254	10	he	he	PRON
ajst-9865	254	11	bingwei	bingwei	NOUN
ajst-9865	254	12	,	,	PUNCT
ajst-9865	254	13	et	et	PROPN
ajst-9865	254	14	al	al	PROPN
ajst-9865	254	15	.	.	PUNCT
ajst-9865	255	1	non	non	ADJ
ajst-9865	255	2	-	-	ADJ
ajst-9865	255	3	collision	collision	ADJ
ajst-9865	255	4	checking	check	VERB
ajst-9865	255	5	rrt	rrt	NOUN
ajst-9865	255	6	*	*	NOUN
ajst-9865	255	7	algorithm	algorithm	NOUN
ajst-9865	255	8	for	for	ADP
ajst-9865	255	9	mobile	mobile	NOUN
ajst-9865	255	10	robot	robot	NOUN
ajst-9865	255	11	motion	motion	NOUN
ajst-9865	255	12	planning	planning	NOUN
ajst-9865	255	13	.	.	PUNCT
ajst-9865	256	1	[	[	X
ajst-9865	256	2	j	j	X
ajst-9865	256	3	]	]	X
ajst-9865	256	4	chinese	chinese	ADJ
ajst-9865	256	5	journal	journal	PROPN
ajst-9865	256	6	of	of	ADP
ajst-9865	256	7	scientific	scientific	ADJ
ajst-9865	256	8	instrument	instrument	NOUN
ajst-9865	256	9	.	.	PUNCT
ajst-9865	257	1	2020	2020	NUM
ajst-9865	257	2	,	,	PUNCT
ajst-9865	257	3	41(10	41(10	NUM
ajst-9865	257	4	):	):	PUNCT
ajst-9865	257	5	257267	257267	NUM
ajst-9865	257	6	.	.	PUNCT
ajst-9865	258	1	[	[	X
ajst-9865	258	2	3	3	NUM
ajst-9865	258	3	]	]	PUNCT
ajst-9865	258	4	xu	xu	PROPN
ajst-9865	259	1	yuqiong	yuqiong	PROPN
ajst-9865	259	2	,	,	PUNCT
ajst-9865	259	3	lou	lou	PROPN
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ajst-9865	259	5	,	,	PUNCT
ajst-9865	259	6	li	li	PROPN
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ajst-9865	259	8	,	,	PUNCT
ajst-9865	259	9	et	et	PROPN
ajst-9865	259	10	al	al	PROPN
ajst-9865	259	11	.	.	PROPN
ajst-9865	259	12	path	path	PROPN
ajst-9865	259	13	planning	planning	PROPN
ajst-9865	259	14	of	of	ADP
ajst-9865	259	15	mobile	mobile	NOUN
ajst-9865	259	16	robot	robot	NOUN
ajst-9865	259	17	based	base	VERB
ajst-9865	259	18	on	on	ADP
ajst-9865	259	19	improved	improve	VERB
ajst-9865	259	20	adaptive	adaptive	ADJ
ajst-9865	259	21	ant	ant	ADJ
ajst-9865	259	22	colony	colony	NOUN
ajst-9865	259	23	algorithm.[j	algorithm.[j	PROPN
ajst-9865	259	24	]	]	PUNCT
ajst-9865	259	25	journal	journal	NOUN
ajst-9865	259	26	of	of	ADP
ajst-9865	259	27	electronic	electronic	ADJ
ajst-9865	259	28	measurement	measurement	NOUN
ajst-9865	259	29	and	and	CCONJ
ajst-9865	259	30	instrumentation	instrumentation	NOUN
ajst-9865	259	31	,	,	PUNCT
ajst-9865	259	32	2019	2019	NUM
ajst-9865	259	33	,	,	PUNCT
ajst-9865	259	34	33(10	33(10	NUM
ajst-9865	259	35	):	):	PUNCT
ajst-9865	259	36	89	89	NUM
ajst-9865	259	37	-	-	SYM
ajst-9865	259	38	95	95	NUM
ajst-9865	259	39	.	.	PUNCT
ajst-9865	260	1	[	[	X
ajst-9865	260	2	4	4	X
ajst-9865	260	3	]	]	X
ajst-9865	260	4	chwa	chwa	PROPN
ajst-9865	260	5	d.	d.	PROPN
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ajst-9865	260	8	mode	mode	NOUN
ajst-9865	260	9	tracking	tracking	NOUN
ajst-9865	260	10	control	control	NOUN
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ajst-9865	260	12	nonholonomic	nonholonomic	ADJ
ajst-9865	260	13	wheeled	wheel	VERB
ajst-9865	260	14	mobile	mobile	ADJ
ajst-9865	260	15	robots	robot	NOUN
ajst-9865	260	16	in	in	ADP
ajst-9865	260	17	polar	polar	ADJ
ajst-9865	260	18	coordinates[j	coordinates[j	NOUN
ajst-9865	260	19	]	]	PUNCT
ajst-9865	260	20	.	.	PUNCT
ajst-9865	261	1	ieee	ieee	NOUN
ajst-9865	261	2	transactions	transaction	NOUN
ajst-9865	261	3	on	on	ADP
ajst-9865	261	4	control	control	NOUN
ajst-9865	261	5	systems	system	NOUN
ajst-9865	261	6	technology	technology	NOUN
ajst-9865	261	7	,	,	PUNCT
ajst-9865	261	8	2004	2004	NUM
ajst-9865	261	9	,	,	PUNCT
ajst-9865	261	10	12	12	NUM
ajst-9865	261	11	(	(	PUNCT
ajst-9865	261	12	4	4	NUM
ajst-9865	261	13	):	):	PUNCT
ajst-9865	261	14	637	637	NUM
ajst-9865	261	15	-	-	SYM
ajst-9865	261	16	644	644	NUM
ajst-9865	261	17	.	.	PUNCT
ajst-9865	262	1	[	[	X
ajst-9865	262	2	5	5	NUM
ajst-9865	262	3	]	]	X
ajst-9865	262	4	tinh	tinh	NOUN
ajst-9865	262	5	n	n	SYM
ajst-9865	262	6	,	,	PUNCT
ajst-9865	262	7	linh	linh	PROPN
ajst-9865	262	8	l	l	PROPN
ajst-9865	262	9	e.	e.	PROPN
ajst-9865	262	10	neural	neural	PROPN
ajst-9865	262	11	network	network	NOUN
ajst-9865	262	12	-	-	PUNCT
ajst-9865	262	13	based	base	VERB
ajst-9865	262	14	adaptive	adaptive	ADJ
ajst-9865	262	15	tracking	tracking	NOUN
ajst-9865	262	16	control	control	NOUN
ajst-9865	262	17	for	for	ADP
ajst-9865	262	18	a	a	DET
ajst-9865	262	19	nonholonomic	nonholonomic	ADJ
ajst-9865	262	20	wheeled	wheel	VERB
ajst-9865	262	21	mobile	mobile	ADJ
ajst-9865	262	22	robot	robot	NOUN
ajst-9865	262	23	with	with	ADP
ajst-9865	262	24	unknown	unknown	ADJ
ajst-9865	262	25	wheel	wheel	NOUN
ajst-9865	262	26	slips	slip	NOUN
ajst-9865	262	27	,	,	PUNCT
ajst-9865	262	28	model	model	NOUN
ajst-9865	262	29	uncertainties	uncertainty	NOUN
ajst-9865	262	30	,	,	PUNCT
ajst-9865	262	31	and	and	CCONJ
ajst-9865	262	32	unknown	unknown	ADJ
ajst-9865	262	33	bounded	bounded	ADJ
ajst-9865	262	34	disturbances[j	disturbances[j	PROPN
ajst-9865	262	35	]	]	PUNCT
ajst-9865	262	36	.	.	PUNCT
ajst-9865	263	1	turkish	turkish	ADJ
ajst-9865	263	2	journal	journal	NOUN
ajst-9865	263	3	of	of	ADP
ajst-9865	263	4	electrical	electrical	ADJ
ajst-9865	263	5	engineering	engineering	NOUN
ajst-9865	263	6	and	and	CCONJ
ajst-9865	263	7	computer	computer	NOUN
ajst-9865	263	8	sciences	science	NOUN
ajst-9865	263	9	,	,	PUNCT
ajst-9865	263	10	2018	2018	NUM
ajst-9865	263	11	,	,	PUNCT
ajst-9865	263	12	26(1):378	26(1):378	NUM
ajst-9865	263	13	-	-	PUNCT
ajst-9865	263	14	392	392	NUM
ajst-9865	263	15	.	.	PUNCT
ajst-9865	264	1	[	[	X
ajst-9865	264	2	6	6	NUM
ajst-9865	264	3	]	]	PUNCT
ajst-9865	264	4	yang	yang	PROPN
ajst-9865	264	5	h	h	PROPN
ajst-9865	264	6	,	,	PUNCT
ajst-9865	264	7	wang	wang	PROPN
ajst-9865	264	8	s	s	PROPN
ajst-9865	264	9	,	,	PUNCT
ajst-9865	264	10	zuo	zuo	PROPN
ajst-9865	264	11	z	z	PROPN
ajst-9865	264	12	,	,	PUNCT
ajst-9865	264	13	et	et	PROPN
ajst-9865	264	14	al	al	PROPN
ajst-9865	264	15	.	.	PUNCT
ajst-9865	264	16	trajectory	trajectory	NOUN
ajst-9865	264	17	tracking	tracking	NOUN
ajst-9865	264	18	for	for	ADP
ajst-9865	264	19	a	a	DET
ajst-9865	264	20	wheeled	wheel	VERB
ajst-9865	264	21	mobile	mobile	ADJ
ajst-9865	264	22	robot	robot	NOUN
ajst-9865	264	23	with	with	ADP
ajst-9865	264	24	an	an	DET
ajst-9865	264	25	omnidirectional	omnidirectional	ADJ
ajst-9865	264	26	wheel	wheel	NOUN
ajst-9865	264	27	on	on	ADP
ajst-9865	264	28	uneven	uneven	ADJ
ajst-9865	264	29	ground[j	ground[j	NOUN
ajst-9865	264	30	]	]	PUNCT
ajst-9865	264	31	.	.	PUNCT
ajst-9865	265	1	iet	iet	PROPN
ajst-9865	265	2	control	control	PROPN
ajst-9865	265	3	theory	theory	NOUN
ajst-9865	265	4	and	and	CCONJ
ajst-9865	265	5	applications	application	NOUN
ajst-9865	265	6	,	,	PUNCT
ajst-9865	265	7	2020	2020	NUM
ajst-9865	265	8	,	,	PUNCT
ajst-9865	265	9	14(7	14(7	NUM
ajst-9865	265	10	):	):	PUNCT
ajst-9865	265	11	921	921	NUM
ajst-9865	265	12	-	-	SYM
ajst-9865	265	13	929	929	NUM
ajst-9865	265	14	.	.	PUNCT
ajst-9865	266	1	[	[	X
ajst-9865	266	2	7	7	X
ajst-9865	266	3	]	]	X
ajst-9865	266	4	hua	hua	PROPN
ajst-9865	267	1	c	c	X
ajst-9865	267	2	,	,	PUNCT
ajst-9865	267	3	singh	singh	PROPN
ajst-9865	267	4	b	b	PROPN
ajst-9865	267	5	k.	k.	PROPN
ajst-9865	267	6	nonholonomic	nonholonomic	PROPN
ajst-9865	267	7	wheeled	wheel	VERB
ajst-9865	267	8	mobile	mobile	PROPN
ajst-9865	267	9	robot	robot	NOUN
ajst-9865	267	10	trajectory	trajectory	NOUN
ajst-9865	267	11	tracking	tracking	NOUN
ajst-9865	267	12	control	control	NOUN
ajst-9865	267	13	based	base	VERB
ajst-9865	267	14	on	on	ADP
ajst-9865	267	15	improved	improved	ADJ
ajst-9865	267	16	sliding	slide	VERB
ajst-9865	267	17	mode	mode	NOUN
ajst-9865	267	18	variable	variable	ADJ
ajst-9865	267	19	structure[j	structure[j	NOUN
ajst-9865	267	20	]	]	PUNCT
ajst-9865	267	21	.	.	PUNCT
ajst-9865	268	1	wireless	wireless	ADJ
ajst-9865	268	2	communications	communication	NOUN
ajst-9865	268	3	and	and	CCONJ
ajst-9865	268	4	mobile	mobile	NOUN
ajst-9865	268	5	computing	computing	NOUN
ajst-9865	268	6	,	,	PUNCT
ajst-9865	268	7	2021	2021	NUM
ajst-9865	268	8	,	,	PUNCT
ajst-9865	268	9	2021(10):1	2021(10):1	NUM
ajst-9865	268	10	-	-	SYM
ajst-9865	268	11	9	9	NUM
ajst-9865	268	12	.	.	PUNCT
ajst-9865	269	1	[	[	X
ajst-9865	269	2	8	8	NUM
ajst-9865	269	3	]	]	X
ajst-9865	269	4	yue	yue	PROPN
ajst-9865	269	5	m	m	PROPN
ajst-9865	269	6	,	,	PUNCT
ajst-9865	269	7	an	an	DET
ajst-9865	269	8	c	c	NOUN
ajst-9865	269	9	,	,	PUNCT
ajst-9865	269	10	ding	ding	NOUN
ajst-9865	269	11	l	l	NOUN
ajst-9865	269	12	,	,	PUNCT
ajst-9865	269	13	et	et	PROPN
ajst-9865	269	14	al	al	PROPN
ajst-9865	269	15	.	.	PUNCT
ajst-9865	270	1	a	a	DET
ajst-9865	270	2	mpc	mpc	NOUN
ajst-9865	270	3	motion	motion	NOUN
ajst-9865	270	4	planning	planning	NOUN
ajst-9865	270	5	-	-	PUNCT
ajst-9865	270	6	based	base	VERB
ajst-9865	270	7	sliding	slide	VERB
ajst-9865	270	8	mode	mode	NOUN
ajst-9865	270	9	control	control	NOUN
ajst-9865	270	10	for	for	ADP
ajst-9865	270	11	underactuated	underactuated	ADJ
ajst-9865	270	12	wps	wps	PROPN
ajst-9865	270	13	vehicle	vehicle	NOUN
ajst-9865	270	14	via	via	ADP
ajst-9865	270	15	olfati	olfati	PROPN
ajst-9865	270	16	transformation[j	transformation[j	PROPN
ajst-9865	270	17	]	]	PUNCT
ajst-9865	270	18	.	.	PUNCT
ajst-9865	271	1	iet	iet	PROPN
ajst-9865	271	2	control	control	PROPN
ajst-9865	271	3	theory	theory	PROPN
ajst-9865	271	4	&	&	CCONJ
ajst-9865	271	5	applications	application	NOUN
ajst-9865	271	6	,	,	PUNCT
ajst-9865	271	7	2017	2017	NUM
ajst-9865	271	8	,	,	PUNCT
ajst-9865	271	9	12(4):495	12(4):495	NUM
ajst-9865	271	10	-	-	SYM
ajst-9865	271	11	503	503	NUM
ajst-9865	271	12	.	.	PUNCT
ajst-9865	272	1	[	[	X
ajst-9865	272	2	9	9	NUM
ajst-9865	272	3	]	]	X
ajst-9865	272	4	sun	sun	PROPN
ajst-9865	272	5	z	z	PROPN
ajst-9865	272	6	,	,	PUNCT
ajst-9865	272	7	dai	dai	PROPN
ajst-9865	272	8	l	l	PROPN
ajst-9865	272	9	,	,	PUNCT
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ajst-9865	272	11	y	y	PROPN
ajst-9865	272	12	,	,	PUNCT
ajst-9865	272	13	et	et	PROPN
ajst-9865	272	14	al	al	PROPN
ajst-9865	272	15	.	.	PROPN
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ajst-9865	272	17	-	-	PUNCT
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ajst-9865	272	19	model	model	NOUN
ajst-9865	272	20	predictive	predictive	ADJ
ajst-9865	272	21	tracking	tracking	NOUN
ajst-9865	272	22	control	control	NOUN
ajst-9865	272	23	of	of	ADP
ajst-9865	272	24	nonholonomic	nonholonomic	ADJ
ajst-9865	272	25	systems	system	NOUN
ajst-9865	272	26	with	with	ADP
ajst-9865	272	27	coupled	couple	VERB
ajst-9865	272	28	input	input	NOUN
ajst-9865	272	29	constraint	constraint	NOUN
ajst-9865	272	30	and	and	CCONJ
ajst-9865	272	31	bounded	bound	VERB
ajst-9865	272	32	disturbances[j	disturbances[j	PROPN
ajst-9865	272	33	]	]	PUNCT
ajst-9865	272	34	.	.	PUNCT
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ajst-9865	273	2	transactions	transaction	NOUN
ajst-9865	273	3	on	on	ADP
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ajst-9865	273	5	control	control	NOUN
ajst-9865	273	6	,	,	PUNCT
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ajst-9865	273	8	-	-	SYM
ajst-9865	273	9	615	615	NUM
ajst-9865	273	10	..	..	PUNCT
ajst-9865	274	1	[	[	X
ajst-9865	274	2	10	10	NUM
ajst-9865	274	3	]	]	X
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ajst-9865	274	5	h	h	PROPN
ajst-9865	274	6	,	,	PUNCT
ajst-9865	274	7	zhang	zhang	PROPN
ajst-9865	274	8	g	g	PROPN
ajst-9865	274	9	m	m	PROPN
ajst-9865	274	10	,	,	PUNCT
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ajst-9865	274	12	h	h	PROPN
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ajst-9865	274	14	trajectory	trajectory	PROPN
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ajst-9865	274	16	algorithm	algorithm	NOUN
ajst-9865	274	17	based	base	VERB
ajst-9865	274	18	on	on	ADP
ajst-9865	274	19	model	model	PROPN
ajst-9865	274	20	predictive	predictive	PROPN
ajst-9865	274	21	control[j	control[j	PROPN
ajst-9865	274	22	]	]	PUNCT
ajst-9865	274	23	.	.	PUNCT
ajst-9865	275	1	control	control	PROPN
ajst-9865	275	2	engineering	engineering	PROPN
ajst-9865	275	3	of	of	ADP
ajst-9865	275	4	china	china	PROPN
ajst-9865	275	5	,	,	PUNCT
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ajst-9865	275	7	-	-	PUNCT
ajst-9865	275	8	65	65	NUM
ajst-9865	275	9	.	.	PUNCT
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ajst-9865	276	2	11	11	NUM
ajst-9865	276	3	]	]	X
ajst-9865	276	4	xiao	xiao	PROPN
ajst-9865	276	5	h	h	PROPN
ajst-9865	276	6	,	,	PUNCT
ajst-9865	276	7	li	li	PROPN
ajst-9865	276	8	z	z	PROPN
ajst-9865	276	9	,	,	PUNCT
ajst-9865	276	10	yang	yang	PROPN
ajst-9865	276	11	c	c	PROPN
ajst-9865	276	12	,	,	PUNCT
ajst-9865	276	13	et	et	PROPN
ajst-9865	276	14	al	al	PROPN
ajst-9865	276	15	.	.	PUNCT
ajst-9865	276	16	robust	robust	ADJ
ajst-9865	276	17	stabilization	stabilization	NOUN
ajst-9865	276	18	of	of	ADP
ajst-9865	276	19	a	a	DET
ajst-9865	276	20	wheeled	wheel	VERB
ajst-9865	276	21	mobile	mobile	ADJ
ajst-9865	276	22	robot	robot	NOUN
ajst-9865	276	23	using	use	VERB
ajst-9865	276	24	model	model	NOUN
ajst-9865	276	25	predictive	predictive	PROPN
ajst-9865	276	26	control	control	NOUN
ajst-9865	276	27	based	base	VERB
ajst-9865	276	28	on	on	ADP
ajst-9865	276	29	neurodynamics	neurodynamic	NOUN
ajst-9865	276	30	optimization	optimization	NOUN
ajst-9865	276	31	[	[	X
ajst-9865	276	32	j	j	X
ajst-9865	276	33	]	]	X
ajst-9865	276	34	.	.	PUNCT
ajst-9865	277	1	ieee	ieee	NOUN
ajst-9865	277	2	transactions	transaction	NOUN
ajst-9865	277	3	on	on	ADP
ajst-9865	277	4	industrial	industrial	ADJ
ajst-9865	277	5	electronics	electronic	NOUN
ajst-9865	277	6	,	,	PUNCT
ajst-9865	277	7	2016	2016	NUM
ajst-9865	277	8	,	,	PUNCT
ajst-9865	277	9	64(1	64(1	NUM
ajst-9865	277	10	):	):	PUNCT
ajst-9865	277	11	505	505	NUM
ajst-9865	277	12	-	-	SYM
ajst-9865	277	13	516	516	NUM
ajst-9865	277	14	.	.	PUNCT
ajst-9865	278	1	[	[	X
ajst-9865	278	2	12	12	NUM
ajst-9865	278	3	]	]	X
ajst-9865	278	4	pacheco	pacheco	PROPN
ajst-9865	278	5	l	l	PROPN
ajst-9865	278	6	,	,	PUNCT
ajst-9865	278	7	luo	luo	PROPN
ajst-9865	278	8	n.	n.	PROPN
ajst-9865	278	9	testing	testing	NOUN
ajst-9865	278	10	pid	pid	NOUN
ajst-9865	278	11	and	and	CCONJ
ajst-9865	278	12	mpc	mpc	NOUN
ajst-9865	278	13	performance	performance	NOUN
ajst-9865	278	14	for	for	ADP
ajst-9865	278	15	mobile	mobile	ADJ
ajst-9865	278	16	robot	robot	NOUN
ajst-9865	278	17	local	local	ADJ
ajst-9865	278	18	path	path	NOUN
ajst-9865	278	19	-	-	PUNCT
ajst-9865	278	20	following[j	following[j	NOUN
ajst-9865	278	21	]	]	PUNCT
ajst-9865	278	22	.	.	PUNCT
ajst-9865	279	1	international	international	ADJ
ajst-9865	279	2	journal	journal	PROPN
ajst-9865	279	3	of	of	ADP
ajst-9865	279	4	advanced	advanced	ADJ
ajst-9865	279	5	robotic	robotic	ADJ
ajst-9865	279	6	systems	system	NOUN
ajst-9865	279	7	,	,	PUNCT
ajst-9865	279	8	2015	2015	NUM
ajst-9865	279	9	,	,	PUNCT
ajst-9865	279	10	12(11	12(11	NUM
ajst-9865	279	11	):	):	PUNCT
ajst-9865	279	12	155	155	NUM
ajst-9865	279	13	-	-	SYM
ajst-9865	279	14	168	168	NUM
ajst-9865	279	15	.	.	PUNCT
ajst-9865	280	1	[	[	X
ajst-9865	280	2	13	13	NUM
ajst-9865	280	3	]	]	X
ajst-9865	280	4	pepy	pepy	NOUN
ajst-9865	280	5	r	r	NOUN
ajst-9865	280	6	,	,	PUNCT
ajst-9865	280	7	lambert	lambert	PROPN
ajst-9865	280	8	a	a	PRON
ajst-9865	280	9	,	,	PUNCT
ajst-9865	280	10	mounier	mounier	NOUN
ajst-9865	280	11	h.	h.	NOUN
ajst-9865	280	12	reducing	reduce	VERB
ajst-9865	280	13	navigation	navigation	NOUN
ajst-9865	280	14	errors	error	NOUN
ajst-9865	280	15	by	by	ADP
ajst-9865	280	16	planning	plan	VERB
ajst-9865	280	17	with	with	ADP
ajst-9865	280	18	realistic	realistic	ADJ
ajst-9865	280	19	vehicle	vehicle	NOUN
ajst-9865	280	20	model[c	model[c	PROPN
ajst-9865	280	21	]	]	PUNCT
ajst-9865	280	22	.	.	PUNCT
ajst-9865	281	1	ieee	ieee	NOUN
ajst-9865	281	2	intelligent	intelligent	ADJ
ajst-9865	281	3	vehicles	vehicle	NOUN
ajst-9865	281	4	symposium	symposium	NOUN
ajst-9865	281	5	,	,	PUNCT
ajst-9865	281	6	2006:300	2006:300	NUM
ajst-9865	281	7	-	-	SYM
ajst-9865	281	8	307	307	NUM
ajst-9865	281	9	.	.	PUNCT
ajst-9865	282	1	[	[	X
ajst-9865	282	2	14	14	NUM
ajst-9865	282	3	]	]	X
ajst-9865	282	4	sun	sun	PROPN
ajst-9865	282	5	z	z	PROPN
ajst-9865	282	6	t	t	PROPN
ajst-9865	282	7	,	,	PUNCT
ajst-9865	282	8	bai	bai	PROPN
ajst-9865	282	9	j	j	PROPN
ajst-9865	282	10	j	j	PROPN
ajst-9865	282	11	,	,	PUNCT
ajst-9865	282	12	chen	chen	PROPN
ajst-9865	282	13	b	b	PROPN
ajst-9865	282	14	x	x	PROPN
ajst-9865	282	15	,	,	PUNCT
ajst-9865	282	16	et	et	PROPN
ajst-9865	282	17	al	al	PROPN
ajst-9865	282	18	.	.	PROPN
ajst-9865	283	1	adaptive	adaptive	PROPN
ajst-9865	283	2	trajectory	trajectory	NOUN
ajst-9865	283	3	tracking	tracking	NOUN
ajst-9865	283	4	control	control	NOUN
ajst-9865	283	5	for	for	ADP
ajst-9865	283	6	wheeled	wheel	VERB
ajst-9865	283	7	mobile	mobile	NOUN
ajst-9865	283	8	robots[j	robots[j	PROPN
ajst-9865	283	9	]	]	PUNCT
ajst-9865	283	10	.	.	PUNCT
ajst-9865	284	1	control	control	PROPN
ajst-9865	284	2	engineering	engineering	PROPN
ajst-9865	284	3	of	of	ADP
ajst-9865	284	4	china	china	PROPN
ajst-9865	284	5	,	,	PUNCT
ajst-9865	284	6	2021,28(12):2420	2021,28(12):2420	NUM
ajst-9865	284	7	-	-	SYM
ajst-9865	284	8	2425	2425	NUM
ajst-9865	284	9	.	.	PUNCT
ajst-9865	285	1	[	[	X
ajst-9865	285	2	15	15	NUM
ajst-9865	285	3	]	]	X
ajst-9865	285	4	ma	ma	PROPN
ajst-9865	285	5	c	c	PROPN
ajst-9865	285	6	zhang	zhang	PROPN
ajst-9865	285	7	x	x	PUNCT
ajst-9865	285	8	k	k	PROPN
ajst-9865	285	9	yang	yang	PROPN
ajst-9865	285	10	g	g	PROPN
ajst-9865	285	11	p.	p.	PROPN
ajst-9865	285	12	improved	improve	VERB
ajst-9865	285	13	nonlinear	nonlinear	ADJ
ajst-9865	285	14	control	control	NOUN
ajst-9865	285	15	for	for	ADP
ajst-9865	285	16	ship	ship	NOUN
ajst-9865	285	17	course	course	NOUN
ajst-9865	285	18	-	-	PUNCT
ajst-9865	285	19	keeping	keeping	NOUN
ajst-9865	285	20	based	base	VERB
ajst-9865	285	21	on	on	ADP
ajst-9865	285	22	lyapunov	lyapunov	ADJ
ajst-9865	285	23	stability	stability	NOUN
ajst-9865	286	1	[	[	X
ajst-9865	286	2	j	j	X
ajst-9865	286	3	]	]	X
ajst-9865	286	4	.	.	PUNCT
ajst-9865	287	1	chinese	chinese	ADJ
ajst-9865	287	2	journal	journal	PROPN
ajst-9865	287	3	of	of	ADP
ajst-9865	287	4	ship	ship	NOUN
ajst-9865	287	5	research	research	NOUN
ajst-9865	287	6	,	,	PUNCT
ajst-9865	287	7	2019	2019	NUM
ajst-9865	287	8	,	,	PUNCT
ajst-9865	287	9	14(1)150	14(1)150	NUM
ajst-9865	287	10	-	-	SYM
ajst-9865	287	11	155	155	NUM
ajst-9865	287	12	,	,	PUNCT
ajst-9865	287	13	161	161	NUM
ajst-9865	287	14	.	.	PUNCT