id	sid	eid	entity	type
ap-8631	1	1	acta polytechnica	PERSON
ap-8631	1	2	63(3):158–170	CARDINAL
ap-8631	1	3	2023	CARDINAL
ap-8631	1	4	2023	CARDINAL
ap-8631	2	1	4.0	CARDINAL
ap-8631	2	2	the czech technical university	ORG
ap-8631	2	3	prague	GPE
ap-8631	2	4	nasir ahmed al-awada,∗	PERSON
ap-8631	2	5	amjad jaleel humaidib	PERSON
ap-8631	2	6	ahmed sabah al-arajic	PERSON
ap-8631	2	7	university of mustansiriyah	ORG
ap-8631	2	8	10001	CARDINAL
ap-8631	2	9	baghdad	GPE
ap-8631	2	10	iraq	GPE
ap-8631	2	11	10066	CARDINAL
ap-8631	2	12	baghdad	GPE
ap-8631	2	13	iraq	GPE
ap-8631	2	14	university of technology	ORG
ap-8631	2	15	10066	CARDINAL
ap-8631	2	16	baghdad	GPE
ap-8631	2	17	iraq	GPE
ap-8631	6	1	one-degree-of-freedom	QUANTITY
ap-8631	8	1	three	CARDINAL
ap-8631	8	2	first	ORDINAL
ap-8631	8	3	fadrc1	PERSON
ap-8631	8	4	second	ORDINAL
ap-8631	8	5	fpd	ORG
ap-8631	8	6	fadrc2	PERSON
ap-8631	8	7	third	ORDINAL
ap-8631	8	8	fadrc3	EVENT
ap-8631	9	1	fadrc3	EVENT
ap-8631	9	2	fadrc1	PERSON
ap-8631	9	3	fadrc2	PERSON
ap-8631	12	1	1	CARDINAL
ap-8631	14	1	1	CARDINAL
ap-8631	16	1	2	CARDINAL
ap-8631	17	1	one	CARDINAL
ap-8631	23	1	6	CARDINAL
ap-8631	24	1	7	CARDINAL
ap-8631	24	2	8	CARDINAL
ap-8631	25	1	recent years	DATE
ap-8631	26	1	9	CARDINAL
ap-8631	28	1	10	CARDINAL
ap-8631	28	2	11	CARDINAL
ap-8631	29	1	12	CARDINAL
ap-8631	30	1	158	CARDINAL
ap-8631	30	2	https://www.cvut.cz/en	DATE
ap-8631	31	1	63	CARDINAL
ap-8631	32	1	3/2023	CARDINAL
ap-8631	32	2	13	CARDINAL
ap-8631	34	1	14	CARDINAL
ap-8631	35	1	15	CARDINAL
ap-8631	36	1	smc	ORG
ap-8631	37	1	one	CARDINAL
ap-8631	38	1	second	ORDINAL
ap-8631	38	2	16	CARDINAL
ap-8631	39	1	smc	ORG
ap-8631	40	1	17	CARDINAL
ap-8631	41	1	smc	ORG
ap-8631	42	1	ga	ORG
ap-8631	43	1	18	CARDINAL
ap-8631	43	2	19	CARDINAL
ap-8631	43	3	grey-wolf	ORG
ap-8631	43	4	20	CARDINAL
ap-8631	43	5	21	CARDINAL
ap-8631	44	1	ga	ORG
ap-8631	45	1	22	CARDINAL
ap-8631	48	1	sc	GPE
ap-8631	49	1	sc	GPE
ap-8631	50	1	smc	ORG
ap-8631	51	1	23	CARDINAL
ap-8631	52	1	24	CARDINAL
ap-8631	52	2	25	CARDINAL
ap-8631	53	1	26	CARDINAL
ap-8631	53	2	27	CARDINAL
ap-8631	55	1	28	CARDINAL
ap-8631	55	2	29	CARDINAL
ap-8631	58	1	34	CARDINAL
ap-8631	60	1	35	CARDINAL
ap-8631	61	1	36–38	CARDINAL
ap-8631	63	1	39	CARDINAL
ap-8631	64	1	40	CARDINAL
ap-8631	66	1	35	CARDINAL
ap-8631	67	1	i.	PERSON
ap-8631	71	1	fadrc3	EVENT
ap-8631	71	2	two	CARDINAL
ap-8631	73	1	section 2	LAW
ap-8631	74	1	section 3	LAW
ap-8631	74	2	section 4	LAW
ap-8631	75	1	section 5	LAW
ap-8631	75	2	2	CARDINAL
ap-8631	76	1	159	CARDINAL
ap-8631	76	2	n. a. al-awad	PERSON
ap-8631	76	3	a. j. humaidi	PERSON
ap-8631	76	4	a. s. al-araji acta	PERSON
ap-8631	76	5	2.1	CARDINAL
ap-8631	80	1	41–43	CARDINAL
ap-8631	80	2	asgnθ̇	DATE
ap-8631	83	1	1	CARDINAL
ap-8631	84	1	τg	ORG
ap-8631	87	1	roughly -45 degrees	QUANTITY
ap-8631	89	1	0 degrees	QUANTITY
ap-8631	90	1	every 4 seconds	TIME
ap-8631	91	1	maxon	ORG
ap-8631	91	2	ec90 brushless dc motors	ORG
ap-8631	94	1	1	CARDINAL
ap-8631	95	1	1	CARDINAL
ap-8631	95	2	41	CARDINAL
ap-8631	96	1	2.2	CARDINAL
ap-8631	97	1	43	CARDINAL
ap-8631	99	1	two	CARDINAL
ap-8631	100	1	2.2.1	CARDINAL
ap-8631	101	1	linear	ORG
ap-8631	101	2	sef	ORG
ap-8631	102	1	1	CARDINAL
ap-8631	104	1	41	CARDINAL
ap-8631	105	1	0.348	CARDINAL
ap-8631	106	1	0.998	CARDINAL
ap-8631	106	2	0.872	CARDINAL
ap-8631	106	3	n·m·s·rad−1	GPE
ap-8631	106	4	3.445	CARDINAL
ap-8631	106	5	1	CARDINAL
ap-8631	107	1	41	CARDINAL
ap-8631	108	1	25	CARDINAL
ap-8631	113	1	2	CARDINAL
ap-8631	113	2	1	CARDINAL
ap-8631	113	3	= f(t	PERSON
ap-8631	113	4	w	ORG
ap-8631	114	1	3	CARDINAL
ap-8631	114	2	w	ORG
ap-8631	117	1	15	CARDINAL
ap-8631	119	1	+ w	GPE
ap-8631	119	2	4	CARDINAL
ap-8631	120	1	4	CARDINAL
ap-8631	120	2	160	CARDINAL
ap-8631	121	1	63	CARDINAL
ap-8631	123	1	3/2023	CARDINAL
ap-8631	125	1	5	CARDINAL
ap-8631	128	1	6	CARDINAL
ap-8631	132	1	xn	ORG
ap-8631	135	1	yn	ORG
ap-8631	136	1	7	CARDINAL
ap-8631	136	2	ˆ̇x =	PERSON
ap-8631	142	1	ŷ	GPE
ap-8631	144	1	9	CARDINAL
ap-8631	148	1	4wc	ORDINAL
ap-8631	148	2	wc	ORG
ap-8631	148	3	3wo	ORDINAL
ap-8631	148	4	3w2	CARDINAL
ap-8631	148	5	w3 o	PERSON
ap-8631	148	6	25	CARDINAL
ap-8631	149	1	second	ORDINAL
ap-8631	149	2	sef	ORG
ap-8631	150	1	linear	ORG
ap-8631	150	2	kpϵ + kdϵ̇	ORG
ap-8631	150	3	− x̂1	PERSON
ap-8631	150	4	10	CARDINAL
ap-8631	150	5	kp	ORG
ap-8631	151	1	wc	ORG
ap-8631	152	1	45	CARDINAL
ap-8631	152	2	kp	ORG
ap-8631	152	3	2ςwc	CARDINAL
ap-8631	153	1	11	CARDINAL
ap-8631	153	2	12	CARDINAL
ap-8631	156	1	13	CARDINAL
ap-8631	157	1	2.2.2	CARDINAL
ap-8631	157	2	three	CARDINAL
ap-8631	157	3	first	ORDINAL
ap-8631	157	4	fadrc1	PERSON
ap-8631	157	5	second	ORDINAL
ap-8631	157	6	farc2	ORG
ap-8631	157	7	third	ORDINAL
ap-8631	157	8	fadrc3	EVENT
ap-8631	157	9	fadrc1	PERSON
ap-8631	157	10	fadrc2	PERSON
ap-8631	158	1	fadrc1	PERSON
ap-8631	158	2	3)-(12	CARDINAL
ap-8631	158	3	linear	ORG
ap-8631	159	1	caputo	PERSON
ap-8631	160	1	46	CARDINAL
ap-8631	160	2	47	DATE
ap-8631	161	1	0	CARDINAL
ap-8631	161	2	14	CARDINAL
ap-8631	161	3	0 to 1	CARDINAL
ap-8631	169	1	− x̂1	PERSON
ap-8631	169	2	15	CARDINAL
ap-8631	170	1	45	CARDINAL
ap-8631	171	1	2	CARDINAL
ap-8631	171	2	fadrc1	PERSON
ap-8631	172	1	161	CARDINAL
ap-8631	172	2	n. a. al-awad	PERSON
ap-8631	172	3	a. j. humaidi	PERSON
ap-8631	172	4	a. s. al-araji acta polytechnica	PERSON
ap-8631	172	5	2	CARDINAL
ap-8631	174	1	un	ORG
ap-8631	177	1	45	CARDINAL
ap-8631	177	2	wc	ORG
ap-8631	177	3	10	CARDINAL
ap-8631	178	1	16	CARDINAL
ap-8631	178	2	0.408 s.	PERSON
ap-8631	178	3	24.5	CARDINAL
ap-8631	180	1	30	CARDINAL
ap-8631	180	2	1.5	CARDINAL
ap-8631	180	3	2	CARDINAL
ap-8631	180	4	2	CARDINAL
ap-8631	180	5	30	CARDINAL
ap-8631	180	6	no_of_param	DATE
ap-8631	180	7	3	CARDINAL
ap-8631	180	8	0.5243	MONEY
ap-8631	180	9	1	CARDINAL
ap-8631	180	10	0.4513	GPE
ap-8631	181	1	fadrc2	PERSON
ap-8631	182	1	17	CARDINAL
ap-8631	182	2	kp	ORG
ap-8631	182	3	11	CARDINAL
ap-8631	183	1	one	CARDINAL
ap-8631	183	2	fadrc2	PERSON
ap-8631	184	1	0.1419	CARDINAL
ap-8631	185	1	3	CARDINAL
ap-8631	185	2	fadrc2	PERSON
ap-8631	186	1	3	CARDINAL
ap-8631	187	1	fadrc2	PERSON
ap-8631	188	1	two	CARDINAL
ap-8631	188	2	fadrc2	PERSON
ap-8631	188	3	fadrc3	WORK_OF_ART
ap-8631	189	1	fadrc1	PERSON
ap-8631	189	2	fadrc2	PERSON
ap-8631	190	1	isu	ORG
ap-8631	192	1	− y)2dt r.m.s.e =	PERSON
ap-8631	192	2	1	CARDINAL
ap-8631	192	3	− y)2	PERSON
ap-8631	192	4	isu = ∫	ORG
ap-8631	192	5	18	CARDINAL
ap-8631	195	1	51	CARDINAL
ap-8631	195	2	52	DATE
ap-8631	196	1	53	CARDINAL
ap-8631	196	2	isu	ORG
ap-8631	197	1	3	CARDINAL
ap-8631	197	2	one	CARDINAL
ap-8631	197	3	162	CARDINAL
ap-8631	198	1	63	CARDINAL
ap-8631	200	1	3/2023	CARDINAL
ap-8631	200	2	54	CARDINAL
ap-8631	202	1	1	CARDINAL
ap-8631	202	2	3	CARDINAL
ap-8631	202	3	zero	CARDINAL
ap-8631	207	1	1	CARDINAL
ap-8631	207	2	2	DATE
ap-8631	207	3	3	DATE
ap-8631	208	1	19	CARDINAL
ap-8631	209	1	7	CARDINAL
ap-8631	209	2	15	CARDINAL
ap-8631	212	1	20	CARDINAL
ap-8631	212	2	20	CARDINAL
ap-8631	213	1	1 0	CARDINAL
ap-8631	213	2	0 1	CARDINAL
ap-8631	213	3	0 1	DATE
ap-8631	214	1	21	CARDINAL
ap-8631	214	2	55	CARDINAL
ap-8631	214	3	q(s	PERSON
ap-8631	216	1	22	CARDINAL
ap-8631	216	2	two	CARDINAL
ap-8631	217	1	half	CARDINAL
ap-8631	218	1	q(s	PERSON
ap-8631	220	1	−wo	PERSON
ap-8631	220	2	half	CARDINAL
ap-8631	222	1	4	CARDINAL
ap-8631	222	2	two	CARDINAL
ap-8631	224	1	0 deg	QUANTITY
ap-8631	226	1	fadrc2	PERSON
ap-8631	226	2	fadrc3	PERSON
ap-8631	226	3	4	CARDINAL
ap-8631	228	1	5	CARDINAL
ap-8631	229	1	fadrc3	ORG
ap-8631	229	2	fradc1	GPE
ap-8631	229	3	fadrc2	PERSON
ap-8631	229	4	2	CARDINAL
ap-8631	229	5	0.0039	CARDINAL
ap-8631	230	1	fadrc2	PERSON
ap-8631	230	2	fadrc3	EVENT
ap-8631	230	3	48 %	PERCENT
ap-8631	231	1	fadrc3	ORG
ap-8631	231	2	fadrc1	PERSON
ap-8631	231	3	fadrc2	PERSON
ap-8631	232	1	6	CARDINAL
ap-8631	232	2	u(t	ORG
ap-8631	233	1	fadrc1	PERSON
ap-8631	233	2	fadrc2	PERSON
ap-8631	233	3	fadrc3	ORG
ap-8631	233	4	108	CARDINAL
ap-8631	233	5	39.63	CARDINAL
ap-8631	233	6	two	CARDINAL
ap-8631	233	7	fpd	ORG
ap-8631	233	8	3	CARDINAL
ap-8631	237	1	0.5 kg	QUANTITY
ap-8631	237	2	2	CARDINAL
ap-8631	237	3	7	CARDINAL
ap-8631	237	4	8	CARDINAL
ap-8631	237	5	fadrc3	ORG
ap-8631	237	6	less than 0.2	CARDINAL
ap-8631	237	7	9	CARDINAL
ap-8631	237	8	fadrc3	ORG
ap-8631	237	9	0.0091	CARDINAL
ap-8631	237	10	fadrc1	PERSON
ap-8631	237	11	fadrc2	PERSON
ap-8631	237	12	4	CARDINAL
ap-8631	237	13	10	CARDINAL
ap-8631	237	14	u(t	ORG
ap-8631	238	1	fadrc1	PERSON
ap-8631	238	2	fadrc2	PERSON
ap-8631	238	3	fadrc3	ORG
ap-8631	238	4	isu	ORG
ap-8631	238	5	115.74	CARDINAL
ap-8631	238	6	46.82	CARDINAL
ap-8631	239	1	5	CARDINAL
ap-8631	240	1	fadrc3	EVENT
ap-8631	240	2	11	CARDINAL
ap-8631	242	1	4	CARDINAL
ap-8631	242	2	5	CARDINAL
ap-8631	243	1	163	CARDINAL
ap-8631	243	2	n. a. al-awad	PERSON
ap-8631	243	3	a. j. humaidi	PERSON
ap-8631	243	4	a. s. al-araji acta polytechnica	PERSON
ap-8631	243	5	4	CARDINAL
ap-8631	245	1	5	CARDINAL
ap-8631	251	1	47.8 13	CARDINAL
ap-8631	251	2	2	CARDINAL
ap-8631	254	1	145.62 34.76	QUANTITY
ap-8631	254	2	120	CARDINAL
ap-8631	254	3	27.22	CARDINAL
ap-8631	254	4	39.63	CARDINAL
ap-8631	254	5	3	CARDINAL
ap-8631	255	1	164	CARDINAL
ap-8631	255	2	63	CARDINAL
ap-8631	256	1	3/2023	CARDINAL
ap-8631	256	2	6	CARDINAL
ap-8631	258	1	7	CARDINAL
ap-8631	259	1	8	CARDINAL
ap-8631	261	1	165	CARDINAL
ap-8631	261	2	n. a. al-awad	PERSON
ap-8631	261	3	a. j. humaidi	PERSON
ap-8631	261	4	a. s. al-araji acta polytechnica	PERSON
ap-8631	261	5	9	CARDINAL
ap-8631	266	1	0.112	CARDINAL
ap-8631	266	2	0.035	CARDINAL
ap-8631	266	3	0.0091	MONEY
ap-8631	266	4	46.37 11 33.5	CARDINAL
ap-8631	266	5	4	CARDINAL
ap-8631	267	1	10	CARDINAL
ap-8631	272	1	157.83	CARDINAL
ap-8631	272	2	127.58	CARDINAL
ap-8631	272	3	115.74 46.82	CARDINAL
ap-8631	272	4	5	CARDINAL
ap-8631	273	1	166	CARDINAL
ap-8631	273	2	63	CARDINAL
ap-8631	274	1	3/2023	CARDINAL
ap-8631	274	2	11	CARDINAL
ap-8631	275	1	fadrc3	EVENT
ap-8631	276	1	5	CARDINAL
ap-8631	277	1	fadrc3	WORK_OF_ART
ap-8631	278	1	fadrc3	EVENT
ap-8631	278	2	second	ORDINAL
ap-8631	278	3	fadrc2	PERSON
ap-8631	284	1	fpd	ORG
ap-8631	286	1	fadrc3	WORK_OF_ART
ap-8631	286	2	fadrc1	PERSON
ap-8631	286	3	fadrc2	PERSON
ap-8631	289	1	fadrc3	EVENT
ap-8631	289	2	fadrc1	PERSON
ap-8631	289	3	fadrc2	PERSON
ap-8631	289	4	isu	ORG
ap-8631	290	1	fadrc3	EVENT
ap-8631	290	2	0.0039	CARDINAL
ap-8631	290	3	0.0091	CARDINAL
ap-8631	291	1	isu	ORG
ap-8631	292	1	fpga	ORG
ap-8631	292	2	56	CARDINAL
ap-8631	293	1	57	CARDINAL
ap-8631	293	2	58	DATE
ap-8631	294	1	59–64	CARDINAL
ap-8631	295	1	1	CARDINAL
ap-8631	295	2	a. m. dollar	PERSON
ap-8631	295	3	h. herr	PERSON
ap-8631	297	1	24(1):144–158, 2008	DATE
ap-8631	298	1	2	CARDINAL
ap-8631	298	2	a. r. manzoori	PERSON
ap-8631	298	3	a. ijspeert	PERSON
ap-8631	298	4	m. bouri	PERSON
ap-8631	300	1	2031	DATE
ap-8631	302	1	3	CARDINAL
ap-8631	302	2	c. carignan	PERSON
ap-8631	302	3	j. tang	PERSON
ap-8631	302	4	s. roderick.	PERSON
ap-8631	304	1	2009	DATE
ap-8631	304	2	3697–3702	CARDINAL
ap-8631	304	3	2009	DATE
ap-8631	305	1	https://doi.org/10.1109/iros.2009.5354834	ORG
ap-8631	306	1	4	CARDINAL
ap-8631	306	2	h. zhang	PERSON
ap-8631	306	3	s. balasubramanian	PERSON
ap-8631	306	4	r. wei	PERSON
ap-8631	306	5	rupert	PERSON
ap-8631	307	1	2010	DATE
ap-8631	307	2	annual	DATE
ap-8631	307	3	3686–3689	CARDINAL
ap-8631	307	4	2010	DATE
ap-8631	309	1	5	CARDINAL
ap-8631	309	2	k. suzuki	PERSON
ap-8631	309	3	y. kawamura	PERSON
ap-8631	309	4	t. hayashi	PERSON
ap-8631	310	1	2005	DATE
ap-8631	310	2	167	CARDINAL
ap-8631	310	3	https://doi.org/10.1109/iros.2009.5354834	GPE
ap-8631	310	4	n. a. al-awad	PERSON
ap-8631	310	5	a. j. humaidi	PERSON
ap-8631	310	6	a. s. al-araji acta polytechnica	PERSON
ap-8631	311	1	3	CARDINAL
ap-8631	312	1	2707–2713.	DATE
ap-8631	313	1	2005	DATE
ap-8631	314	1	6	CARDINAL
ap-8631	314	2	h. kazerooni	PERSON
ap-8631	315	1	racine	ORG
ap-8631	315	2	l. huang	PERSON
ap-8631	315	3	r. steger	PERSON
ap-8631	317	1	2005	DATE
ap-8631	317	2	4353–4360. 2005	DATE
ap-8631	318	1	7	CARDINAL
ap-8631	318	2	h. k. khalil	PERSON
ap-8631	321	1	prentice hall, 2002	ORG
ap-8631	322	1	8	CARDINAL
ap-8631	322	2	m. khamar	PERSON
ap-8631	322	3	m. edrisi	PERSON
ap-8631	324	1	54:121–132	CARDINAL
ap-8631	324	2	2018	DATE
ap-8631	325	1	https	PERSON
ap-8631	326	1	//doi.org/10.1016	PERSON
ap-8631	327	1	9	CARDINAL
ap-8631	328	1	chang	PERSON
ap-8631	329	1	2	CARDINAL
ap-8631	330	1	control engineering practice	ORG
ap-8631	330	2	18(1):13–22, 2010	DATE
ap-8631	331	1	https	PERSON
ap-8631	332	1	//doi.org/10.1016/j.conengprac.2009.08.005	ORG
ap-8631	333	1	10	CARDINAL
ap-8631	333	2	s. m. taslim reza	PERSON
ap-8631	333	3	n. ahmad	PERSON
ap-8631	333	4	i. a. choudhury	PERSON
ap-8631	333	5	r. a. r. ghazilla	PERSON
ap-8631	335	1	14(3):4342– 4363,	DATE
ap-8631	335	2	2014	DATE
ap-8631	337	1	11	CARDINAL
ap-8631	337	2	d. t.	NORP
ap-8631	339	1	ssrg international journal of electrical	ORG
ap-8631	339	2	4(8):13–19	CARDINAL
ap-8631	339	3	2017	DATE
ap-8631	340	1	https	PERSON
ap-8631	340	2	12	CARDINAL
ap-8631	340	3	l. vaca benitez	PERSON
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