id	sid	eid	entity	type
ap-796	1	1	1	CARDINAL
ap-796	3	1	first	ORDINAL
ap-796	6	1	1960	DATE
ap-796	7	1	2	CARDINAL
ap-796	10	1	the last twenty years	DATE
ap-796	11	1	one	CARDINAL
ap-796	15	1	the early 1980’s	DATE
ap-796	15	2	singh	GPE
ap-796	15	3	siljak	ORG
ap-796	16	1	4	CARDINAL
ap-796	19	1	2.3	CARDINAL
ap-796	22	1	6	CARDINAL
ap-796	22	2	2	CARDINAL
ap-796	22	3	two	CARDINAL
ap-796	23	1	first	ORDINAL
ap-796	26	1	second	ORDINAL
ap-796	27	1	lq	PRODUCT
ap-796	28	1	two	CARDINAL
ap-796	29	1	first	ORDINAL
ap-796	33	1	1	CARDINAL
ap-796	34	1	4	CARDINAL
ap-796	38	1	czech	NORP
ap-796	38	2	15	CARDINAL
ap-796	38	3	czech	NORP
ap-796	39	1	46	CARDINAL
ap-796	40	1	two	CARDINAL
ap-796	41	1	one	CARDINAL
ap-796	41	2	second	ORDINAL
ap-796	46	1	1	CARDINAL
ap-796	48	1	one	CARDINAL
ap-796	50	1	3	CARDINAL
ap-796	54	1	u(t	ORG
ap-796	57	1	5	CARDINAL
ap-796	59	1	x0	ORG
ap-796	60	1	first	ORDINAL
ap-796	60	2	x0	ORG
ap-796	62	1	2	CARDINAL
ap-796	62	2	x0	ORG
ap-796	62	3	the lagrange functional l	ORG
ap-796	65	1	lagrange	GPE
ap-796	66	1	dxf	ORG
ap-796	66	2	u t	FAC
ap-796	66	3	tx	ORG
ap-796	68	1	2	CARDINAL
ap-796	72	1	1	CARDINAL
ap-796	73	1	k 1)tv	ORG
ap-796	75	1	2	CARDINAL
ap-796	76	1	3	CARDINAL
ap-796	80	1	5	CARDINAL
ap-796	81	1	4	CARDINAL
ap-796	82	1	first	ORDINAL
ap-796	94	1	1	CARDINAL
ap-796	94	2	7	CARDINAL
ap-796	94	3	lq	PRODUCT
ap-796	95	1	opti16	ORG
ap-796	95	2	czech	NORP
ap-796	95	3	acta polytechnica vol	PERSON
ap-796	96	1	46	CARDINAL
ap-796	97	1	1/2006	CARDINAL
ap-796	97	2	czech technical university	ORG
ap-796	97	3	prague	GPE
ap-796	107	1	ri	GPE
ap-796	108	1	1	CARDINAL
ap-796	115	1	1	CARDINAL
ap-796	131	1	lq	PRODUCT
ap-796	136	1	algebraic riccati	PERSON
ap-796	136	2	0 1	CARDINAL
ap-796	146	1	5	CARDINAL
ap-796	148	1	first	ORDINAL
ap-796	148	2	w	GPE
ap-796	154	1	w	PERSON
ap-796	154	2	t w	ORG
ap-796	154	3	w	ORG
ap-796	154	4	t w	ORG
ap-796	154	5	t w	GPE
ap-796	154	6	u u r u u	ORG
ap-796	154	7	w	GPE
ap-796	154	8	t w	GPE
ap-796	154	9	2 2	CARDINAL
ap-796	154	10	2 2	DATE
ap-796	155	1	u ru tul w	ORG
ap-796	155	2	t w	ORG
ap-796	155	3	tll	PERSON
ap-796	157	1	6	CARDINAL
ap-796	160	1	2.1	CARDINAL
ap-796	160	2	3	CARDINAL
ap-796	162	1	two	CARDINAL
ap-796	163	1	6 one	CARDINAL
ap-796	164	1	2	CARDINAL
ap-796	165	1	first	ORDINAL
ap-796	165	2	two	CARDINAL
ap-796	165	3	2	CARDINAL
ap-796	165	4	czech	NORP
ap-796	165	5	17	CARDINAL
ap-796	165	6	czech	NORP
ap-796	166	1	46	CARDINAL
ap-796	167	1	two	CARDINAL
ap-796	168	1	xx10 and xx20	PRODUCT
ap-796	172	1	xx10	PRODUCT
ap-796	173	1	1(th	DATE
ap-796	175	1	second	ORDINAL
ap-796	180	1	1(0	CARDINAL
ap-796	180	2	1(0	CARDINAL
ap-796	181	1	0	CARDINAL
ap-796	184	1	x1time	GPE
ap-796	190	1	1	CARDINAL
ap-796	190	2	1	CARDINAL
ap-796	194	1	two	CARDINAL
ap-796	197	1	2	CARDINAL
ap-796	197	2	gain1	ORG
ap-796	199	1	1	CARDINAL
ap-796	199	2	7	CARDINAL
ap-796	200	1	1 2 1001	DATE
ap-796	201	1	j. j	PERSON
ap-796	202	1	2 1 2 3	DATE
ap-796	203	1	0.2	CARDINAL
ap-796	207	1	4	CARDINAL
ap-796	207	2	cos5	ORG
ap-796	208	1	18	CARDINAL
ap-796	208	2	czech	NORP
ap-796	208	3	acta polytechnica vol	PERSON
ap-796	209	1	46	CARDINAL
ap-796	210	1	1/2006	CARDINAL
ap-796	210	2	czech technical university	ORG
ap-796	210	3	prague	GPE
ap-796	211	1	2	CARDINAL
ap-796	213	1	zero	CARDINAL
ap-796	213	2	3	CARDINAL
ap-796	215	1	3a	CARDINAL
ap-796	218	1	3b	CARDINAL
ap-796	219	1	two	CARDINAL
ap-796	221	1	4a	CARDINAL
ap-796	222	1	4b	CARDINAL
ap-796	224	1	5a	CARDINAL
ap-796	224	2	5b	CARDINAL
ap-796	226	1	1	CARDINAL
ap-796	228	1	6	CARDINAL
ap-796	232	1	czech	NORP
ap-796	232	2	19	CARDINAL
ap-796	232	3	czech	NORP
ap-796	233	1	46	CARDINAL
ap-796	239	1	10	CARDINAL
ap-796	240	1	06 0	DATE
ap-796	244	1	0.5 1 1.5 2	QUANTITY
ap-796	244	2	0.5 1 1.5 2 2.5	QUANTITY
ap-796	245	1	3	CARDINAL
ap-796	246	1	4	CARDINAL
ap-796	246	2	7	CARDINAL
ap-796	246	3	1000	CARDINAL
ap-796	256	1	8	CARDINAL
ap-796	257	1	2.1	CARDINAL
ap-796	259	1	j04/98:212300013	PERSON
ap-796	259	2	the czech technical university	ORG
ap-796	259	3	prague	GPE
ap-796	259	4	the ministry of education	ORG
ap-796	259	5	the czech republic	GPE
ap-796	259	6	the czech republic	GPE
ap-796	260	1	1	CARDINAL
ap-796	260	2	bertsekas	NORP
ap-796	261	1	belmont	GPE
ap-796	261	2	athena scientific	ORG
ap-796	261	3	1995	DATE
ap-796	262	1	2	CARDINAL
ap-796	262	2	bryson	ORG
ap-796	262	3	a. e.	PERSON
ap-796	262	4	ho	PERSON
ap-796	263	1	new york	GPE
ap-796	263	2	j. wiley	PERSON
ap-796	263	3	1975	DATE
ap-796	264	1	3	CARDINAL
ap-796	264	2	stockholm	GPE
ap-796	264	3	comsol ab	PERSON
ap-796	264	4	2000	DATE
ap-796	264	5	4	CARDINAL
ap-796	264	6	m.:	PERSON
ap-796	265	1	new jersey	GPE
ap-796	265	2	prentice hall, 1997	ORG
ap-796	266	1	5	CARDINAL
ap-796	266	2	j. m.:	PERSON
ap-796	267	1	harlow	PERSON
ap-796	267	2	prentice hall, 2002	ORG
ap-796	268	1	6	CARDINAL
ap-796	269	1	m. h. hamza	PERSON
ap-796	269	2	anaheim	GPE
ap-796	269	3	543–547	CARDINAL
ap-796	270	1	7	CARDINAL
ap-796	270	2	singh	GPE
ap-796	270	3	m. g.:	PERSON
ap-796	271	1	amsterdam	GPE
ap-796	271	2	north holland	GPE
ap-796	271	3	1981	DATE
ap-796	272	1	8	CARDINAL
ap-796	272	2	l.	GPE
ap-796	272	3	titli	GPE
ap-796	272	4	a.	PERSON
ap-796	272	5	a.:	PERSON
ap-796	273	1	berlin	GPE
ap-796	273	2	springer, 1989	ORG
ap-796	274	1	9	CARDINAL
ap-796	274	2	t. l.	PERSON
ap-796	274	3	grantham	PERSON
ap-796	275	1	new york	GPE
ap-796	275	2	j. wiley	PERSON
ap-796	275	3	1997	DATE
ap-796	277	1	branislav rehák	PERSON
ap-796	277	2	+420 2	CARDINAL
ap-796	277	3	864	CARDINAL
ap-796	278	1	czech technical university	ORG
ap-796	278	2	2 166 27	CARDINAL
ap-796	278	3	6	CARDINAL
ap-796	278	4	czech	NORP
ap-796	278	5	20	CARDINAL
ap-796	278	6	czech	NORP
ap-796	278	7	acta polytechnica vol	PERSON
ap-796	279	1	46	CARDINAL
ap-796	280	1	1/2006	CARDINAL
ap-796	280	2	czech technical university	ORG
ap-796	280	3	0.5 1 1.5 2	QUANTITY
ap-796	280	4	-1 -0.5 0	ORG
ap-796	280	5	0.5 1 1.5	QUANTITY
ap-796	281	1	5	CARDINAL
ap-796	282	1	6	CARDINAL