id	sid	tid	token	lemma	pos
ap-1576	1	1	ap-4-12.dvi	ap-4-12.dvi	PROPN
ap-1576	1	2	acta	acta	PROPN
ap-1576	1	3	polytechnica	polytechnica	PROPN
ap-1576	1	4	vol	vol	NOUN
ap-1576	1	5	.	.	PROPN
ap-1576	2	1	52	52	NUM
ap-1576	2	2	no	no	NOUN
ap-1576	2	3	.	.	PUNCT
ap-1576	3	1	4/2012	4/2012	NUM
ap-1576	3	2	a	a	DET
ap-1576	3	3	flexible	flexible	ADJ
ap-1576	3	4	adjustment	adjustment	NOUN
ap-1576	3	5	and	and	CCONJ
ap-1576	3	6	control	control	NOUN
ap-1576	3	7	system	system	NOUN
ap-1576	3	8	for	for	ADP
ap-1576	3	9	hydraulic	hydraulic	ADJ
ap-1576	3	10	machines	machine	NOUN
ap-1576	3	11	daniel	daniel	PROPN
ap-1576	3	12	banyai1	banyai1	PROPN
ap-1576	3	13	,	,	PUNCT
ap-1576	3	14	lucian	lucian	PROPN
ap-1576	3	15	marcu1	marcu1	PROPN
ap-1576	3	16	1technical	1technical	PROPN
ap-1576	3	17	university	university	NOUN
ap-1576	3	18	of	of	ADP
ap-1576	3	19	cluj	cluj	PROPN
ap-1576	3	20	-	-	PUNCT
ap-1576	3	21	napoca	napoca	NOUN
ap-1576	3	22	,	,	PUNCT
ap-1576	3	23	department	department	NOUN
ap-1576	3	24	of	of	ADP
ap-1576	3	25	mechanical	mechanical	ADJ
ap-1576	3	26	engineering	engineering	NOUN
ap-1576	3	27	,	,	PUNCT
ap-1576	3	28	b	b	X
ap-1576	3	29	-	-	PUNCT
ap-1576	3	30	dul	dul	NOUN
ap-1576	3	31	muncii	muncii	PROPN
ap-1576	3	32	,	,	PUNCT
ap-1576	3	33	nr	nr	PROPN
ap-1576	3	34	.	.	PROPN
ap-1576	4	1	103–105	103–105	NUM
ap-1576	4	2	,	,	PUNCT
ap-1576	4	3	cluj	cluj	NOUN
ap-1576	4	4	-	-	PUNCT
ap-1576	4	5	napoca	napoca	NOUN
ap-1576	4	6	,	,	PUNCT
ap-1576	4	7	romania	romania	PROPN
ap-1576	4	8	correspondence	correspondence	NOUN
ap-1576	4	9	to	to	ADP
ap-1576	4	10	:	:	PUNCT
ap-1576	4	11	daniel.banyai@termo.utcluj.ro	daniel.banyai@termo.utcluj.ro	PROPN
ap-1576	4	12	abstract	abstract	ADV
ap-1576	4	13	due	due	ADP
ap-1576	4	14	to	to	ADP
ap-1576	4	15	the	the	DET
ap-1576	4	16	advantages	advantage	NOUN
ap-1576	4	17	of	of	ADP
ap-1576	4	18	hydraulic	hydraulic	ADJ
ap-1576	4	19	systems	system	NOUN
ap-1576	4	20	with	with	ADP
ap-1576	4	21	variable	variable	ADJ
ap-1576	4	22	displacement	displacement	NOUN
ap-1576	4	23	,	,	PUNCT
ap-1576	4	24	it	it	PRON
ap-1576	4	25	was	be	AUX
ap-1576	4	26	necessary	necessary	ADJ
ap-1576	4	27	to	to	PART
ap-1576	4	28	design	design	VERB
ap-1576	4	29	a	a	DET
ap-1576	4	30	control	control	NOUN
ap-1576	4	31	system	system	NOUN
ap-1576	4	32	that	that	PRON
ap-1576	4	33	can	can	AUX
ap-1576	4	34	adjust	adjust	VERB
ap-1576	4	35	the	the	DET
ap-1576	4	36	pressure	pressure	NOUN
ap-1576	4	37	,	,	PUNCT
ap-1576	4	38	flow	flow	NOUN
ap-1576	4	39	,	,	PUNCT
ap-1576	4	40	power	power	NOUN
ap-1576	4	41	or	or	CCONJ
ap-1576	4	42	a	a	DET
ap-1576	4	43	combination	combination	NOUN
ap-1576	4	44	of	of	ADP
ap-1576	4	45	these	these	DET
ap-1576	4	46	features	feature	NOUN
ap-1576	4	47	,	,	PUNCT
ap-1576	4	48	that	that	PRON
ap-1576	4	49	can	can	AUX
ap-1576	4	50	be	be	AUX
ap-1576	4	51	easily	easily	ADV
ap-1576	4	52	integrated	integrate	VERB
ap-1576	4	53	into	into	ADP
ap-1576	4	54	the	the	DET
ap-1576	4	55	pump	pump	NOUN
ap-1576	4	56	body	body	NOUN
ap-1576	4	57	without	without	ADP
ap-1576	4	58	changing	change	VERB
ap-1576	4	59	its	its	PRON
ap-1576	4	60	mechanical	mechanical	ADJ
ap-1576	4	61	construction	construction	NOUN
ap-1576	4	62	.	.	PUNCT
ap-1576	5	1	the	the	DET
ap-1576	5	2	objective	objective	NOUN
ap-1576	5	3	of	of	ADP
ap-1576	5	4	this	this	DET
ap-1576	5	5	work	work	NOUN
ap-1576	5	6	was	be	AUX
ap-1576	5	7	to	to	PART
ap-1576	5	8	study	study	VERB
ap-1576	5	9	the	the	DET
ap-1576	5	10	dynamic	dynamic	ADJ
ap-1576	5	11	behavior	behavior	NOUN
ap-1576	5	12	of	of	ADP
ap-1576	5	13	this	this	DET
ap-1576	5	14	electro	electro	ADJ
ap-1576	5	15	-	-	PUNCT
ap-1576	5	16	hydraulic	hydraulic	NOUN
ap-1576	5	17	control	control	NOUN
ap-1576	5	18	system	system	NOUN
ap-1576	5	19	.	.	PUNCT
ap-1576	6	1	to	to	PART
ap-1576	6	2	achieve	achieve	VERB
ap-1576	6	3	these	these	DET
ap-1576	6	4	objectives	objective	NOUN
ap-1576	6	5	,	,	PUNCT
ap-1576	6	6	first	first	ADV
ap-1576	6	7	the	the	DET
ap-1576	6	8	adjusting	adjust	VERB
ap-1576	6	9	system	system	NOUN
ap-1576	6	10	was	be	AUX
ap-1576	6	11	analyzed	analyze	VERB
ap-1576	6	12	by	by	ADP
ap-1576	6	13	numerical	numerical	ADJ
ap-1576	6	14	simulations	simulation	NOUN
ap-1576	6	15	,	,	PUNCT
ap-1576	6	16	and	and	CCONJ
ap-1576	6	17	then	then	ADV
ap-1576	6	18	a	a	DET
ap-1576	6	19	stand	stand	NOUN
ap-1576	6	20	was	be	AUX
ap-1576	6	21	constructed	construct	VERB
ap-1576	6	22	for	for	ADP
ap-1576	6	23	testing	test	VERB
ap-1576	6	24	the	the	DET
ap-1576	6	25	performance	performance	NOUN
ap-1576	6	26	of	of	ADP
ap-1576	6	27	these	these	DET
ap-1576	6	28	adjustable	adjustable	ADJ
ap-1576	6	29	pumps	pump	NOUN
ap-1576	6	30	.	.	PUNCT
ap-1576	7	1	it	it	PRON
ap-1576	7	2	was	be	AUX
ap-1576	7	3	shown	show	VERB
ap-1576	7	4	that	that	SCONJ
ap-1576	7	5	this	this	DET
ap-1576	7	6	control	control	NOUN
ap-1576	7	7	system	system	NOUN
ap-1576	7	8	is	be	AUX
ap-1576	7	9	superior	superior	ADJ
ap-1576	7	10	to	to	ADP
ap-1576	7	11	existing	exist	VERB
ap-1576	7	12	systems	system	NOUN
ap-1576	7	13	.	.	PUNCT
ap-1576	8	1	keywords	keyword	NOUN
ap-1576	8	2	:	:	PUNCT
ap-1576	8	3	adjustable	adjustable	ADJ
ap-1576	8	4	pump	pump	NOUN
ap-1576	8	5	,	,	PUNCT
ap-1576	8	6	control	control	NOUN
ap-1576	8	7	system	system	NOUN
ap-1576	8	8	,	,	PUNCT
ap-1576	8	9	dynamic	dynamic	ADJ
ap-1576	8	10	behavior	behavior	NOUN
ap-1576	8	11	.	.	PUNCT
ap-1576	9	1	1	1	NUM
ap-1576	9	2	introduction	introduction	NOUN
ap-1576	9	3	this	this	DET
ap-1576	9	4	paper	paper	NOUN
ap-1576	9	5	presents	present	VERB
ap-1576	9	6	a	a	DET
ap-1576	9	7	study	study	NOUN
ap-1576	9	8	of	of	ADP
ap-1576	9	9	high	high	ADJ
ap-1576	9	10	power	power	NOUN
ap-1576	9	11	drives	drive	NOUN
ap-1576	9	12	,	,	PUNCT
ap-1576	9	13	namely	namely	ADV
ap-1576	9	14	hydraulic	hydraulic	ADJ
ap-1576	9	15	systems	system	NOUN
ap-1576	9	16	,	,	PUNCT
ap-1576	9	17	pursuing	pursue	VERB
ap-1576	9	18	a	a	DET
ap-1576	9	19	high	high	ADJ
ap-1576	9	20	degree	degree	NOUN
ap-1576	9	21	of	of	ADP
ap-1576	9	22	automation	automation	NOUN
ap-1576	9	23	,	,	PUNCT
ap-1576	9	24	minimum	minimum	ADJ
ap-1576	9	25	power	power	NOUN
ap-1576	9	26	consumption	consumption	NOUN
ap-1576	9	27	,	,	PUNCT
ap-1576	9	28	adaptability	adaptability	NOUN
ap-1576	9	29	to	to	ADP
ap-1576	9	30	a	a	DET
ap-1576	9	31	large	large	ADJ
ap-1576	9	32	range	range	NOUN
ap-1576	9	33	of	of	ADP
ap-1576	9	34	industrial	industrial	ADJ
ap-1576	9	35	applications	application	NOUN
ap-1576	9	36	and	and	CCONJ
ap-1576	9	37	perturbations	perturbation	NOUN
ap-1576	9	38	.	.	PUNCT
ap-1576	10	1	the	the	DET
ap-1576	10	2	systems	system	NOUN
ap-1576	10	3	should	should	AUX
ap-1576	10	4	be	be	AUX
ap-1576	10	5	flexible	flexible	ADJ
ap-1576	10	6	.	.	PUNCT
ap-1576	11	1	essential	essential	ADJ
ap-1576	11	2	trends	trend	NOUN
ap-1576	11	3	in	in	ADP
ap-1576	11	4	the	the	DET
ap-1576	11	5	construction	construction	NOUN
ap-1576	11	6	of	of	ADP
ap-1576	11	7	presentday	presentday	PROPN
ap-1576	11	8	non	non	ADJ
ap-1576	11	9	-	-	ADJ
ap-1576	11	10	hydraulic	hydraulic	ADJ
ap-1576	11	11	machines	machine	NOUN
ap-1576	11	12	are	be	AUX
ap-1576	11	13	toward	toward	ADP
ap-1576	11	14	flexibility	flexibility	NOUN
ap-1576	11	15	and	and	CCONJ
ap-1576	11	16	automation	automation	NOUN
ap-1576	11	17	.	.	PUNCT
ap-1576	12	1	the	the	DET
ap-1576	12	2	aim	aim	NOUN
ap-1576	12	3	is	be	AUX
ap-1576	12	4	to	to	PART
ap-1576	12	5	increase	increase	VERB
ap-1576	12	6	the	the	DET
ap-1576	12	7	level	level	NOUN
ap-1576	12	8	of	of	ADP
ap-1576	12	9	intelligence	intelligence	NOUN
ap-1576	12	10	of	of	ADP
ap-1576	12	11	the	the	DET
ap-1576	12	12	machines	machine	NOUN
ap-1576	12	13	and	and	CCONJ
ap-1576	12	14	their	their	PRON
ap-1576	12	15	adaptation	adaptation	NOUN
ap-1576	12	16	to	to	ADP
ap-1576	12	17	possible	possible	ADJ
ap-1576	12	18	disturbances	disturbance	NOUN
ap-1576	12	19	.	.	PUNCT
ap-1576	13	1	[	[	X
ap-1576	13	2	2	2	NUM
ap-1576	13	3	]	]	PUNCT
ap-1576	13	4	variable	variable	ADJ
ap-1576	13	5	displacement	displacement	NOUN
ap-1576	13	6	pumps	pump	NOUN
ap-1576	13	7	allow	allow	VERB
ap-1576	13	8	easy	easy	ADJ
ap-1576	13	9	control	control	NOUN
ap-1576	13	10	of	of	ADP
ap-1576	13	11	system	system	NOUN
ap-1576	13	12	parameters	parameter	NOUN
ap-1576	13	13	(	(	PUNCT
ap-1576	13	14	pressure	pressure	NOUN
ap-1576	13	15	,	,	PUNCT
ap-1576	13	16	flow	flow	NOUN
ap-1576	13	17	,	,	PUNCT
ap-1576	13	18	power	power	NOUN
ap-1576	13	19	,	,	PUNCT
ap-1576	13	20	or	or	CCONJ
ap-1576	13	21	combinations	combination	NOUN
ap-1576	13	22	of	of	ADP
ap-1576	13	23	these	these	DET
ap-1576	13	24	parameters	parameter	NOUN
ap-1576	13	25	)	)	PUNCT
ap-1576	13	26	.	.	PUNCT
ap-1576	14	1	their	their	PRON
ap-1576	14	2	technical	technical	ADJ
ap-1576	14	3	characteristics	characteristic	NOUN
ap-1576	14	4	make	make	VERB
ap-1576	14	5	them	they	PRON
ap-1576	14	6	the	the	DET
ap-1576	14	7	best	good	ADJ
ap-1576	14	8	option	option	NOUN
ap-1576	14	9	for	for	ADP
ap-1576	14	10	most	most	ADJ
ap-1576	14	11	applications	application	NOUN
ap-1576	14	12	,	,	PUNCT
ap-1576	14	13	from	from	ADP
ap-1576	14	14	machine	machine	NOUN
ap-1576	14	15	tools	tool	NOUN
ap-1576	14	16	to	to	ADP
ap-1576	14	17	mobile	mobile	ADJ
ap-1576	14	18	devices	device	NOUN
ap-1576	14	19	.	.	PUNCT
ap-1576	15	1	[	[	X
ap-1576	15	2	2	2	NUM
ap-1576	15	3	]	]	PUNCT
ap-1576	15	4	companies	company	NOUN
ap-1576	15	5	with	with	ADP
ap-1576	15	6	a	a	DET
ap-1576	15	7	tradition	tradition	NOUN
ap-1576	15	8	in	in	ADP
ap-1576	15	9	manufacturing	manufacturing	NOUN
ap-1576	15	10	pumps	pump	NOUN
ap-1576	15	11	and	and	CCONJ
ap-1576	15	12	motors	motor	NOUN
ap-1576	15	13	with	with	ADP
ap-1576	15	14	axial	axial	ADJ
ap-1576	15	15	piston	piston	NOUN
ap-1576	15	16	and	and	CCONJ
ap-1576	15	17	variable	variable	ADJ
ap-1576	15	18	displacement	displacement	NOUN
ap-1576	15	19	(	(	PUNCT
ap-1576	15	20	rexroth	rexroth	NOUN
ap-1576	15	21	,	,	PUNCT
ap-1576	15	22	bosch	bosch	PROPN
ap-1576	15	23	,	,	PUNCT
ap-1576	15	24	vickers	vicker	NOUN
ap-1576	15	25	,	,	PUNCT
ap-1576	15	26	parker	parker	PROPN
ap-1576	15	27	)	)	PUNCT
ap-1576	15	28	have	have	AUX
ap-1576	15	29	been	be	AUX
ap-1576	15	30	producing	produce	VERB
ap-1576	15	31	this	this	DET
ap-1576	15	32	type	type	NOUN
ap-1576	15	33	of	of	ADP
ap-1576	15	34	machinery	machinery	NOUN
ap-1576	15	35	for	for	ADP
ap-1576	15	36	highly	highly	ADV
ap-1576	15	37	automated	automate	VERB
ap-1576	15	38	systems	system	NOUN
ap-1576	15	39	since	since	SCONJ
ap-1576	15	40	the	the	DET
ap-1576	15	41	1980	1980	NUM
ap-1576	15	42	,	,	PUNCT
ap-1576	15	43	but	but	CCONJ
ap-1576	15	44	there	there	PRON
ap-1576	15	45	is	be	VERB
ap-1576	15	46	little	little	ADJ
ap-1576	15	47	data	datum	NOUN
ap-1576	15	48	in	in	ADP
ap-1576	15	49	the	the	DET
ap-1576	15	50	literature	literature	NOUN
ap-1576	15	51	on	on	ADP
ap-1576	15	52	constructive	constructive	ADJ
ap-1576	15	53	solutions	solution	NOUN
ap-1576	15	54	.	.	PUNCT
ap-1576	16	1	the	the	DET
ap-1576	16	2	biggest	big	ADJ
ap-1576	16	3	producers	producer	NOUN
ap-1576	16	4	of	of	ADP
ap-1576	16	5	hydraulic	hydraulic	ADJ
ap-1576	16	6	machines	machine	NOUN
ap-1576	16	7	are	be	AUX
ap-1576	16	8	opting	opt	VERB
ap-1576	16	9	for	for	ADP
ap-1576	16	10	mechano	mechano	PROPN
ap-1576	16	11	-	-	PUNCT
ap-1576	16	12	hydraulic	hydraulic	PROPN
ap-1576	16	13	control	control	NOUN
ap-1576	16	14	structures	structure	NOUN
ap-1576	16	15	that	that	PRON
ap-1576	16	16	can	can	AUX
ap-1576	16	17	be	be	AUX
ap-1576	16	18	used	use	VERB
ap-1576	16	19	in	in	ADP
ap-1576	16	20	circuits	circuit	NOUN
ap-1576	16	21	for	for	ADP
ap-1576	16	22	regulating	regulate	VERB
ap-1576	16	23	pressure	pressure	NOUN
ap-1576	16	24	,	,	PUNCT
ap-1576	16	25	flow	flow	NOUN
ap-1576	16	26	and	and	CCONJ
ap-1576	16	27	power	power	NOUN
ap-1576	16	28	independently	independently	ADV
ap-1576	16	29	of	of	ADP
ap-1576	16	30	each	each	DET
ap-1576	16	31	other	other	ADJ
ap-1576	16	32	,	,	PUNCT
ap-1576	16	33	with	with	ADP
ap-1576	16	34	each	each	DET
ap-1576	16	35	control	control	NOUN
ap-1576	16	36	parameter	parameter	NOUN
ap-1576	16	37	requiring	require	VERB
ap-1576	16	38	a	a	DET
ap-1576	16	39	different	different	ADJ
ap-1576	16	40	type	type	NOUN
ap-1576	16	41	of	of	ADP
ap-1576	16	42	constructive	constructive	ADJ
ap-1576	16	43	control	control	NOUN
ap-1576	16	44	structure	structure	NOUN
ap-1576	16	45	[	[	X
ap-1576	16	46	7	7	NUM
ap-1576	16	47	]	]	SYM
ap-1576	16	48	.	.	PUNCT
ap-1576	17	1	2	2	NUM
ap-1576	17	2	system	system	NOUN
ap-1576	17	3	description	description	NOUN
ap-1576	17	4	the	the	DET
ap-1576	17	5	purpose	purpose	NOUN
ap-1576	17	6	of	of	ADP
ap-1576	17	7	this	this	DET
ap-1576	17	8	paper	paper	NOUN
ap-1576	17	9	is	be	AUX
ap-1576	17	10	to	to	PART
ap-1576	17	11	report	report	VERB
ap-1576	17	12	on	on	ADP
ap-1576	17	13	optimizations	optimization	NOUN
ap-1576	17	14	of	of	ADP
ap-1576	17	15	the	the	DET
ap-1576	17	16	adjustment	adjustment	NOUN
ap-1576	17	17	structure	structure	NOUN
ap-1576	17	18	of	of	ADP
ap-1576	17	19	hydraulic	hydraulic	ADJ
ap-1576	17	20	parameters	parameter	NOUN
ap-1576	17	21	,	,	PUNCT
ap-1576	17	22	their	their	PRON
ap-1576	17	23	control	control	NOUN
ap-1576	17	24	in	in	ADP
ap-1576	17	25	the	the	DET
ap-1576	17	26	system	system	NOUN
ap-1576	17	27	to	to	PART
ap-1576	17	28	which	which	PRON
ap-1576	17	29	belong	belong	VERB
ap-1576	17	30	,	,	PUNCT
ap-1576	17	31	and	and	CCONJ
ap-1576	17	32	tests	test	NOUN
ap-1576	17	33	on	on	ADP
ap-1576	17	34	the	the	DET
ap-1576	17	35	assembly	assembly	NOUN
ap-1576	17	36	pump	pump	NOUN
ap-1576	17	37	-	-	PUNCT
ap-1576	17	38	adjustment	adjustment	NOUN
ap-1576	17	39	system	system	NOUN
ap-1576	17	40	.	.	PUNCT
ap-1576	18	1	figure	figure	VERB
ap-1576	18	2	1	1	NUM
ap-1576	18	3	presents	present	VERB
ap-1576	18	4	a	a	DET
ap-1576	18	5	schematic	schematic	ADJ
ap-1576	18	6	diagram	diagram	NOUN
ap-1576	18	7	for	for	ADP
ap-1576	18	8	an	an	DET
ap-1576	18	9	automatic	automatic	ADJ
ap-1576	18	10	control	control	NOUN
ap-1576	18	11	system	system	NOUN
ap-1576	18	12	proposed	propose	VERB
ap-1576	18	13	for	for	ADP
ap-1576	18	14	implementation	implementation	NOUN
ap-1576	18	15	in	in	ADP
ap-1576	18	16	a	a	DET
ap-1576	18	17	research	research	NOUN
ap-1576	18	18	program	program	NOUN
ap-1576	18	19	[	[	X
ap-1576	18	20	1	1	NUM
ap-1576	18	21	,	,	PUNCT
ap-1576	18	22	2	2	NUM
ap-1576	18	23	]	]	PUNCT
ap-1576	18	24	.	.	PUNCT
ap-1576	19	1	the	the	DET
ap-1576	19	2	system	system	NOUN
ap-1576	19	3	contains	contain	VERB
ap-1576	19	4	the	the	DET
ap-1576	19	5	following	follow	VERB
ap-1576	19	6	components	component	NOUN
ap-1576	19	7	:	:	PUNCT
ap-1576	19	8	1	1	NUM
ap-1576	19	9	–	–	PUNCT
ap-1576	19	10	a	a	DET
ap-1576	19	11	variable	variable	ADJ
ap-1576	19	12	displacement	displacement	NOUN
ap-1576	19	13	pump	pump	NOUN
ap-1576	19	14	with	with	ADP
ap-1576	19	15	axial	axial	ADJ
ap-1576	19	16	pistons	piston	NOUN
ap-1576	19	17	;	;	PUNCT
ap-1576	19	18	2	2	NUM
ap-1576	19	19	–	–	PUNCT
ap-1576	19	20	a	a	DET
ap-1576	19	21	linear	linear	ADJ
ap-1576	19	22	hydraulic	hydraulic	ADJ
ap-1576	19	23	motor	motor	NOUN
ap-1576	19	24	for	for	ADP
ap-1576	19	25	changing	change	VERB
ap-1576	19	26	the	the	DET
ap-1576	19	27	angular	angular	ADJ
ap-1576	19	28	position	position	NOUN
ap-1576	19	29	of	of	ADP
ap-1576	19	30	the	the	DET
ap-1576	19	31	piston	piston	NOUN
ap-1576	19	32	block	block	NOUN
ap-1576	19	33	holder	holder	NOUN
ap-1576	19	34	,	,	PUNCT
ap-1576	19	35	in	in	ADP
ap-1576	19	36	order	order	NOUN
ap-1576	19	37	to	to	PART
ap-1576	19	38	modify	modify	VERB
ap-1576	19	39	the	the	DET
ap-1576	19	40	flow	flow	NOUN
ap-1576	19	41	of	of	ADP
ap-1576	19	42	the	the	DET
ap-1576	19	43	pump	pump	NOUN
ap-1576	19	44	;	;	PUNCT
ap-1576	19	45	3	3	NUM
ap-1576	19	46	–	–	PUNCT
ap-1576	19	47	a	a	DET
ap-1576	19	48	proportional	proportional	ADJ
ap-1576	19	49	directional	directional	ADJ
ap-1576	19	50	valve	valve	NOUN
ap-1576	19	51	that	that	PRON
ap-1576	19	52	controls	control	VERB
ap-1576	19	53	the	the	DET
ap-1576	19	54	position	position	NOUN
ap-1576	19	55	of	of	ADP
ap-1576	19	56	the	the	DET
ap-1576	19	57	linear	linear	ADJ
ap-1576	19	58	motor	motor	NOUN
ap-1576	19	59	;	;	PUNCT
ap-1576	19	60	4	4	NUM
ap-1576	19	61	–	–	PUNCT
ap-1576	19	62	pressure	pressure	NOUN
ap-1576	19	63	sensors	sensor	NOUN
ap-1576	19	64	;	;	PUNCT
ap-1576	19	65	5	5	NUM
ap-1576	19	66	–	–	PUNCT
ap-1576	19	67	a	a	DET
ap-1576	19	68	diaphragm	diaphragm	NOUN
ap-1576	19	69	for	for	ADP
ap-1576	19	70	measuring	measure	VERB
ap-1576	19	71	the	the	DET
ap-1576	19	72	flow	flow	NOUN
ap-1576	19	73	rate	rate	NOUN
ap-1576	19	74	of	of	ADP
ap-1576	19	75	the	the	DET
ap-1576	19	76	pump	pump	NOUN
ap-1576	19	77	;	;	PUNCT
ap-1576	19	78	6	6	NUM
ap-1576	19	79	–	–	PUNCT
ap-1576	19	80	electronic	electronic	ADJ
ap-1576	19	81	circuits	circuit	NOUN
ap-1576	19	82	that	that	PRON
ap-1576	19	83	calculate	calculate	VERB
ap-1576	19	84	the	the	DET
ap-1576	19	85	pressure	pressure	NOUN
ap-1576	19	86	drop	drop	NOUN
ap-1576	19	87	on	on	ADP
ap-1576	19	88	the	the	DET
ap-1576	19	89	diaphragm	diaphragm	NOUN
ap-1576	19	90	,	,	PUNCT
ap-1576	19	91	then	then	ADV
ap-1576	19	92	determine	determine	VERB
ap-1576	19	93	the	the	DET
ap-1576	19	94	flow	flow	NOUN
ap-1576	19	95	,	,	PUNCT
ap-1576	19	96	and	and	CCONJ
ap-1576	19	97	then	then	ADV
ap-1576	19	98	the	the	DET
ap-1576	19	99	hydraulic	hydraulic	ADJ
ap-1576	19	100	power	power	NOUN
ap-1576	19	101	generated	generate	VERB
ap-1576	19	102	by	by	ADP
ap-1576	19	103	the	the	DET
ap-1576	19	104	pump	pump	NOUN
ap-1576	19	105	is	be	AUX
ap-1576	19	106	obtained	obtain	VERB
ap-1576	19	107	via	via	ADP
ap-1576	19	108	a	a	DET
ap-1576	19	109	signal	signal	NOUN
ap-1576	19	110	from	from	ADP
ap-1576	19	111	a	a	DET
ap-1576	19	112	pressure	pressure	NOUN
ap-1576	19	113	sensor	sensor	NOUN
ap-1576	19	114	and	and	CCONJ
ap-1576	19	115	the	the	DET
ap-1576	19	116	signal	signal	NOUN
ap-1576	19	117	that	that	PRON
ap-1576	19	118	represents	represent	VERB
ap-1576	19	119	the	the	DET
ap-1576	19	120	flow	flow	NOUN
ap-1576	19	121	;	;	PUNCT
ap-1576	19	122	7	7	NUM
ap-1576	19	123	–	–	PUNCT
ap-1576	19	124	an	an	DET
ap-1576	19	125	electronic	electronic	ADJ
ap-1576	19	126	comparator	comparator	NOUN
ap-1576	19	127	,	,	PUNCT
ap-1576	19	128	designed	design	VERB
ap-1576	19	129	to	to	PART
ap-1576	19	130	find	find	VERB
ap-1576	19	131	the	the	DET
ap-1576	19	132	error	error	NOUN
ap-1576	19	133	between	between	ADP
ap-1576	19	134	the	the	DET
ap-1576	19	135	programmed	program	VERB
ap-1576	19	136	value	value	NOUN
ap-1576	19	137	and	and	CCONJ
ap-1576	19	138	the	the	DET
ap-1576	19	139	actual	actual	ADJ
ap-1576	19	140	value	value	NOUN
ap-1576	19	141	of	of	ADP
ap-1576	19	142	the	the	DET
ap-1576	19	143	adjusted	adjusted	ADJ
ap-1576	19	144	parameter	parameter	NOUN
ap-1576	19	145	(	(	PUNCT
ap-1576	19	146	pressure	pressure	NOUN
ap-1576	19	147	,	,	PUNCT
ap-1576	19	148	flow	flow	NOUN
ap-1576	19	149	,	,	PUNCT
ap-1576	19	150	power	power	NOUN
ap-1576	19	151	)	)	PUNCT
ap-1576	19	152	;	;	PUNCT
ap-1576	19	153	8	8	NUM
ap-1576	19	154	–	–	PUNCT
ap-1576	19	155	an	an	DET
ap-1576	19	156	electronic	electronic	ADJ
ap-1576	19	157	controller	controller	NOUN
ap-1576	19	158	,	,	PUNCT
ap-1576	19	159	used	use	VERB
ap-1576	19	160	to	to	PART
ap-1576	19	161	compensate	compensate	VERB
ap-1576	19	162	the	the	DET
ap-1576	19	163	errors	error	NOUN
ap-1576	19	164	and	and	CCONJ
ap-1576	19	165	give	give	VERB
ap-1576	19	166	the	the	DET
ap-1576	19	167	command	command	NOUN
ap-1576	19	168	signal	signal	NOUN
ap-1576	19	169	for	for	ADP
ap-1576	19	170	the	the	DET
ap-1576	19	171	proportional	proportional	ADJ
ap-1576	19	172	valve	valve	NOUN
ap-1576	19	173	;	;	PUNCT
ap-1576	19	174	9	9	NUM
ap-1576	19	175	–	–	PUNCT
ap-1576	19	176	switches	switch	NOUN
ap-1576	19	177	whose	whose	DET
ap-1576	19	178	state	state	NOUN
ap-1576	19	179	determines	determine	VERB
ap-1576	19	180	the	the	DET
ap-1576	19	181	control	control	NOUN
ap-1576	19	182	structure	structure	NOUN
ap-1576	19	183	;	;	PUNCT
ap-1576	19	184	10	10	NUM
ap-1576	19	185	–	–	PUNCT
ap-1576	19	186	a	a	DET
ap-1576	19	187	fixed	fix	VERB
ap-1576	19	188	displacement	displacement	ADJ
ap-1576	19	189	pump	pump	NOUN
ap-1576	19	190	,	,	PUNCT
ap-1576	19	191	which	which	PRON
ap-1576	19	192	provides	provide	VERB
ap-1576	19	193	the	the	DET
ap-1576	19	194	necessary	necessary	ADJ
ap-1576	19	195	flow	flow	NOUN
ap-1576	19	196	for	for	ADP
ap-1576	19	197	positioning	position	VERB
ap-1576	19	198	the	the	DET
ap-1576	19	199	hydraulic	hydraulic	ADJ
ap-1576	19	200	motor	motor	NOUN
ap-1576	19	201	.	.	PUNCT
ap-1576	20	1	this	this	DET
ap-1576	20	2	flow	flow	NOUN
ap-1576	20	3	can	can	AUX
ap-1576	20	4	be	be	AUX
ap-1576	20	5	taken	take	VERB
ap-1576	20	6	from	from	ADP
ap-1576	20	7	the	the	DET
ap-1576	20	8	flow	flow	NOUN
ap-1576	20	9	of	of	ADP
ap-1576	20	10	the	the	DET
ap-1576	20	11	adjustable	adjustable	ADJ
ap-1576	20	12	pump	pump	NOUN
ap-1576	20	13	,	,	PUNCT
ap-1576	20	14	and	and	CCONJ
ap-1576	20	15	in	in	ADP
ap-1576	20	16	this	this	DET
ap-1576	20	17	case	case	NOUN
ap-1576	20	18	the	the	DET
ap-1576	20	19	auxiliary	auxiliary	ADJ
ap-1576	20	20	pump	pump	NOUN
ap-1576	20	21	is	be	AUX
ap-1576	20	22	no	no	ADV
ap-1576	20	23	longer	long	ADV
ap-1576	20	24	required	require	VERB
ap-1576	20	25	;	;	PUNCT
ap-1576	20	26	11	11	NUM
ap-1576	20	27	–	–	PUNCT
ap-1576	20	28	a	a	DET
ap-1576	20	29	relief	relief	NOUN
ap-1576	20	30	valve	valve	NOUN
ap-1576	20	31	,	,	PUNCT
ap-1576	20	32	which	which	PRON
ap-1576	20	33	protects	protect	VERB
ap-1576	20	34	the	the	DET
ap-1576	20	35	system	system	NOUN
ap-1576	20	36	from	from	ADP
ap-1576	20	37	exceeding	exceed	VERB
ap-1576	20	38	the	the	DET
ap-1576	20	39	permissible	permissible	ADJ
ap-1576	20	40	pressure	pressure	NOUN
ap-1576	20	41	in	in	ADP
ap-1576	20	42	the	the	DET
ap-1576	20	43	hydraulic	hydraulic	ADJ
ap-1576	20	44	components	component	NOUN
ap-1576	20	45	.	.	PUNCT
ap-1576	21	1	thus	thus	ADV
ap-1576	21	2	,	,	PUNCT
ap-1576	21	3	without	without	ADP
ap-1576	21	4	a	a	DET
ap-1576	21	5	change	change	NOUN
ap-1576	21	6	in	in	ADP
ap-1576	21	7	pump	pump	ADJ
ap-1576	21	8	construction	construction	NOUN
ap-1576	21	9	,	,	PUNCT
ap-1576	21	10	this	this	PRON
ap-1576	21	11	can	can	AUX
ap-1576	21	12	be	be	AUX
ap-1576	21	13	integrated	integrate	VERB
ap-1576	21	14	into	into	ADP
ap-1576	21	15	any	any	DET
ap-1576	21	16	control	control	NOUN
ap-1576	21	17	circuit	circuit	NOUN
ap-1576	21	18	for	for	ADP
ap-1576	21	19	adjustable	adjustable	ADJ
ap-1576	21	20	hydraulic	hydraulic	ADJ
ap-1576	21	21	machines	machine	NOUN
ap-1576	21	22	,	,	PUNCT
ap-1576	21	23	by	by	ADP
ap-1576	21	24	simply	simply	ADV
ap-1576	21	25	actuating	actuate	VERB
ap-1576	21	26	an	an	DET
ap-1576	21	27	electrical	electrical	ADJ
ap-1576	21	28	switch	switch	NOUN
ap-1576	21	29	.	.	PUNCT
ap-1576	22	1	16	16	NUM
ap-1576	22	2	acta	acta	PROPN
ap-1576	22	3	polytechnica	polytechnica	PROPN
ap-1576	22	4	vol	vol	NOUN
ap-1576	22	5	.	.	PROPN
ap-1576	23	1	52	52	NUM
ap-1576	23	2	no	no	NOUN
ap-1576	23	3	.	.	PUNCT
ap-1576	24	1	4/2012	4/2012	NUM
ap-1576	24	2	figure	figure	NOUN
ap-1576	24	3	1	1	NUM
ap-1576	24	4	:	:	PUNCT
ap-1576	24	5	electro	electro	ADJ
ap-1576	24	6	-	-	PUNCT
ap-1576	24	7	hydraulic	hydraulic	NOUN
ap-1576	24	8	control	control	NOUN
ap-1576	24	9	system	system	NOUN
ap-1576	24	10	for	for	ADP
ap-1576	24	11	variable	variable	ADJ
ap-1576	24	12	displacement	displacement	NOUN
ap-1576	24	13	machines	machine	NOUN
ap-1576	24	14	the	the	DET
ap-1576	24	15	mathematical	mathematical	ADJ
ap-1576	24	16	model	model	NOUN
ap-1576	24	17	of	of	ADP
ap-1576	24	18	the	the	DET
ap-1576	24	19	control	control	NOUN
ap-1576	24	20	system	system	NOUN
ap-1576	24	21	studied	study	VERB
ap-1576	24	22	in	in	ADP
ap-1576	24	23	this	this	DET
ap-1576	24	24	paper	paper	NOUN
ap-1576	24	25	is	be	AUX
ap-1576	24	26	based	base	VERB
ap-1576	24	27	on	on	ADP
ap-1576	24	28	differential	differential	ADJ
ap-1576	24	29	equations	equation	NOUN
ap-1576	24	30	that	that	PRON
ap-1576	24	31	take	take	VERB
ap-1576	24	32	into	into	ADP
ap-1576	24	33	account	account	NOUN
ap-1576	24	34	nonlinear	nonlinear	ADJ
ap-1576	24	35	influences	influence	NOUN
ap-1576	24	36	such	such	ADJ
ap-1576	24	37	as	as	ADP
ap-1576	24	38	pressure	pressure	NOUN
ap-1576	24	39	and	and	CCONJ
ap-1576	24	40	leakage	leakage	NOUN
ap-1576	24	41	flow	flow	NOUN
ap-1576	24	42	dependence	dependence	NOUN
ap-1576	24	43	,	,	PUNCT
ap-1576	24	44	saturation	saturation	NOUN
ap-1576	24	45	of	of	ADP
ap-1576	24	46	the	the	DET
ap-1576	24	47	flow	flow	NOUN
ap-1576	24	48	,	,	PUNCT
ap-1576	24	49	limiting	limit	VERB
ap-1576	24	50	the	the	DET
ap-1576	24	51	pressure	pressure	NOUN
ap-1576	24	52	,	,	PUNCT
ap-1576	24	53	etc	etc	X
ap-1576	24	54	.	.	X
ap-1576	24	55	,	,	PUNCT
ap-1576	24	56	in	in	ADP
ap-1576	24	57	order	order	NOUN
ap-1576	24	58	to	to	PART
ap-1576	24	59	minimize	minimize	VERB
ap-1576	24	60	the	the	DET
ap-1576	24	61	deviations	deviation	NOUN
ap-1576	24	62	between	between	ADP
ap-1576	24	63	the	the	DET
ap-1576	24	64	behavior	behavior	NOUN
ap-1576	24	65	of	of	ADP
ap-1576	24	66	the	the	DET
ap-1576	24	67	real	real	ADJ
ap-1576	24	68	system	system	NOUN
ap-1576	24	69	and	and	CCONJ
ap-1576	24	70	the	the	DET
ap-1576	24	71	modeled	model	VERB
ap-1576	24	72	system	system	NOUN
ap-1576	24	73	.	.	PUNCT
ap-1576	25	1	the	the	DET
ap-1576	25	2	following	follow	VERB
ap-1576	25	3	differential	differential	ADJ
ap-1576	25	4	equations	equation	NOUN
ap-1576	25	5	are	be	AUX
ap-1576	25	6	used	use	VERB
ap-1576	25	7	to	to	PART
ap-1576	25	8	model	model	VERB
ap-1576	25	9	the	the	DET
ap-1576	25	10	system	system	NOUN
ap-1576	26	1	[	[	X
ap-1576	26	2	6	6	NUM
ap-1576	26	3	]	]	SYM
ap-1576	26	4	:	:	PUNCT
ap-1576	26	5	•	•	NUM
ap-1576	26	6	equations	equation	NOUN
ap-1576	26	7	of	of	ADP
ap-1576	26	8	state	state	NOUN
ap-1576	26	9	(	(	PUNCT
ap-1576	26	10	isothermal	isothermal	ADJ
ap-1576	26	11	transformation	transformation	NOUN
ap-1576	26	12	)	)	PUNCT
ap-1576	26	13	for	for	ADP
ap-1576	26	14	discrete	discrete	ADJ
ap-1576	26	15	volumes	volume	NOUN
ap-1576	26	16	;	;	PUNCT
ap-1576	26	17	(	(	PUNCT
ap-1576	26	18	a	a	X
ap-1576	26	19	)	)	PUNCT
ap-1576	26	20	,	,	PUNCT
ap-1576	26	21	(	(	PUNCT
ap-1576	26	22	b	b	NOUN
ap-1576	26	23	)	)	PUNCT
ap-1576	26	24	;	;	PUNCT
ap-1576	27	1	•	•	NUM
ap-1576	27	2	equation	equation	NOUN
ap-1576	27	3	of	of	ADP
ap-1576	27	4	continuity	continuity	NOUN
ap-1576	27	5	;	;	PUNCT
ap-1576	27	6	(	(	PUNCT
ap-1576	27	7	c	c	NOUN
ap-1576	27	8	)	)	PUNCT
ap-1576	27	9	,	,	PUNCT
ap-1576	27	10	(	(	PUNCT
ap-1576	27	11	d	d	NOUN
ap-1576	27	12	)	)	PUNCT
ap-1576	27	13	;	;	PUNCT
ap-1576	27	14	•	•	NUM
ap-1576	27	15	equations	equation	NOUN
ap-1576	27	16	describing	describe	VERB
ap-1576	27	17	the	the	DET
ap-1576	27	18	behavior	behavior	NOUN
ap-1576	27	19	of	of	ADP
ap-1576	27	20	an	an	DET
ap-1576	27	21	ideal	ideal	ADJ
ap-1576	27	22	proportional	proportional	ADJ
ap-1576	27	23	electromagnet	electromagnet	NOUN
ap-1576	27	24	;	;	PUNCT
ap-1576	27	25	(	(	PUNCT
ap-1576	27	26	e	e	NOUN
ap-1576	27	27	)	)	PUNCT
ap-1576	27	28	;	;	PUNCT
ap-1576	27	29	•	•	NUM
ap-1576	27	30	equations	equation	NOUN
ap-1576	27	31	describing	describe	VERB
ap-1576	27	32	the	the	DET
ap-1576	27	33	behavior	behavior	NOUN
ap-1576	27	34	of	of	ADP
ap-1576	27	35	an	an	DET
ap-1576	27	36	ideal	ideal	ADJ
ap-1576	27	37	controller	controller	NOUN
ap-1576	27	38	;	;	PUNCT
ap-1576	27	39	(	(	PUNCT
ap-1576	27	40	f	f	X
ap-1576	27	41	)	)	PUNCT
ap-1576	27	42	;	;	PUNCT
ap-1576	27	43	•	•	NUM
ap-1576	27	44	mechanical	mechanical	ADJ
ap-1576	27	45	equilibrium	equilibrium	NOUN
ap-1576	27	46	equations	equation	NOUN
ap-1576	27	47	;	;	PUNCT
ap-1576	27	48	(	(	PUNCT
ap-1576	27	49	g	g	NOUN
ap-1576	27	50	)	)	PUNCT
ap-1576	27	51	.	.	PUNCT
ap-1576	28	1	the	the	DET
ap-1576	28	2	general	general	ADJ
ap-1576	28	3	form	form	NOUN
ap-1576	28	4	of	of	ADP
ap-1576	28	5	these	these	DET
ap-1576	28	6	equations	equation	NOUN
ap-1576	28	7	was	be	AUX
ap-1576	28	8	taken	take	VERB
ap-1576	28	9	from	from	ADP
ap-1576	28	10	the	the	DET
ap-1576	28	11	specialized	specialized	ADJ
ap-1576	28	12	literature	literature	NOUN
ap-1576	28	13	[	[	X
ap-1576	28	14	3,6	3,6	NUM
ap-1576	28	15	]	]	PUNCT
ap-1576	28	16	,	,	PUNCT
ap-1576	28	17	and	and	CCONJ
ap-1576	28	18	they	they	PRON
ap-1576	28	19	were	be	AUX
ap-1576	28	20	adapted	adapt	VERB
ap-1576	28	21	to	to	ADP
ap-1576	28	22	the	the	DET
ap-1576	28	23	model	model	NOUN
ap-1576	28	24	investigated	investigate	VERB
ap-1576	28	25	in	in	ADP
ap-1576	28	26	the	the	DET
ap-1576	28	27	paper	paper	NOUN
ap-1576	28	28	,	,	PUNCT
ap-1576	28	29	resulting	result	VERB
ap-1576	28	30	in	in	ADP
ap-1576	28	31	the	the	DET
ap-1576	28	32	system	system	NOUN
ap-1576	28	33	of	of	ADP
ap-1576	28	34	equations	equation	NOUN
ap-1576	28	35	described	describe	VERB
ap-1576	28	36	in	in	ADP
ap-1576	28	37	(	(	PUNCT
ap-1576	28	38	1	1	NUM
ap-1576	28	39	)	)	PUNCT
ap-1576	28	40	,	,	PUNCT
ap-1576	28	41	where	where	SCONJ
ap-1576	28	42	the	the	DET
ap-1576	28	43	notations	notation	NOUN
ap-1576	28	44	have	have	VERB
ap-1576	28	45	the	the	DET
ap-1576	28	46	following	follow	VERB
ap-1576	28	47	meanings	meaning	NOUN
ap-1576	28	48	:	:	PUNCT
ap-1576	28	49	ṗa	ṗa	PROPN
ap-1576	28	50	–	–	PUNCT
ap-1576	28	51	temporal	temporal	ADJ
ap-1576	28	52	derivative	derivative	NOUN
ap-1576	28	53	of	of	ADP
ap-1576	28	54	the	the	DET
ap-1576	28	55	pressure	pressure	NOUN
ap-1576	28	56	function	function	NOUN
ap-1576	28	57	,	,	PUNCT
ap-1576	28	58	pa	pa	PROPN
ap-1576	28	59	,	,	PUNCT
ap-1576	28	60	in	in	ADP
ap-1576	28	61	the	the	DET
ap-1576	28	62	large	large	ADJ
ap-1576	28	63	chamber	chamber	NOUN
ap-1576	28	64	of	of	ADP
ap-1576	28	65	the	the	DET
ap-1576	28	66	linear	linear	PROPN
ap-1576	28	67	hydraulic	hydraulic	ADJ
ap-1576	28	68	motor	motor	NOUN
ap-1576	28	69	;	;	PUNCT
ap-1576	28	70	ṗb	ṗb	PROPN
ap-1576	28	71	–	–	PUNCT
ap-1576	28	72	temporal	temporal	ADJ
ap-1576	28	73	derivative	derivative	NOUN
ap-1576	28	74	of	of	ADP
ap-1576	28	75	the	the	DET
ap-1576	28	76	pressure	pressure	NOUN
ap-1576	28	77	function	function	NOUN
ap-1576	28	78	,	,	PUNCT
ap-1576	28	79	pb	pb	ADP
ap-1576	28	80	,	,	PUNCT
ap-1576	28	81	in	in	ADP
ap-1576	28	82	the	the	DET
ap-1576	28	83	small	small	ADJ
ap-1576	28	84	chamber	chamber	NOUN
ap-1576	28	85	of	of	ADP
ap-1576	28	86	the	the	DET
ap-1576	28	87	linear	linear	PROPN
ap-1576	28	88	hydraulic	hydraulic	ADJ
ap-1576	28	89	motor	motor	NOUN
ap-1576	28	90	;	;	PUNCT
ap-1576	29	1	pa	pa	PROPN
ap-1576	29	2	–	–	PUNCT
ap-1576	29	3	pressure	pressure	NOUN
ap-1576	29	4	in	in	ADP
ap-1576	29	5	the	the	DET
ap-1576	29	6	large	large	ADJ
ap-1576	29	7	chamber	chamber	NOUN
ap-1576	29	8	of	of	ADP
ap-1576	29	9	the	the	DET
ap-1576	29	10	linear	linear	PROPN
ap-1576	29	11	hydraulic	hydraulic	ADJ
ap-1576	29	12	motor	motor	NOUN
ap-1576	29	13	;	;	PUNCT
ap-1576	29	14	pb	pb	X
ap-1576	29	15	–	–	PUNCT
ap-1576	29	16	pressure	pressure	NOUN
ap-1576	29	17	in	in	ADP
ap-1576	29	18	the	the	DET
ap-1576	29	19	small	small	ADJ
ap-1576	29	20	chamber	chamber	NOUN
ap-1576	29	21	of	of	ADP
ap-1576	29	22	the	the	DET
ap-1576	29	23	linear	linear	PROPN
ap-1576	29	24	hydraulic	hydraulic	ADJ
ap-1576	29	25	motor	motor	NOUN
ap-1576	29	26	;	;	PUNCT
ap-1576	29	27	pt	pt	X
ap-1576	29	28	–	–	PUNCT
ap-1576	29	29	tank	tank	NOUN
ap-1576	29	30	pressure	pressure	NOUN
ap-1576	29	31	,	,	PUNCT
ap-1576	29	32	(	(	PUNCT
ap-1576	29	33	pt	pt	X
ap-1576	29	34	=	=	SYM
ap-1576	29	35	0	0	NUM
ap-1576	29	36	)	)	PUNCT
ap-1576	29	37	;	;	PUNCT
ap-1576	29	38	pc	pc	NOUN
ap-1576	29	39	–	–	PUNCT
ap-1576	29	40	pressure	pressure	NOUN
ap-1576	29	41	between	between	ADP
ap-1576	29	42	the	the	DET
ap-1576	29	43	auxiliary	auxiliary	ADJ
ap-1576	29	44	pump	pump	NOUN
ap-1576	29	45	and	and	CCONJ
ap-1576	29	46	the	the	DET
ap-1576	29	47	control	control	NOUN
ap-1576	29	48	valve	valve	NOUN
ap-1576	29	49	;	;	PUNCT
ap-1576	29	50	ps	ps	X
ap-1576	29	51	–	–	PUNCT
ap-1576	29	52	load	load	NOUN
ap-1576	29	53	pressure	pressure	NOUN
ap-1576	29	54	;	;	PUNCT
ap-1576	29	55	eu	eu	PROPN
ap-1576	29	56	–	–	PUNCT
ap-1576	29	57	elasticity	elasticity	NOUN
ap-1576	29	58	modulus	modulus	NOUN
ap-1576	29	59	;	;	PUNCT
ap-1576	29	60	va	va	X
ap-1576	29	61	–	–	PUNCT
ap-1576	29	62	volume	volume	NOUN
ap-1576	29	63	of	of	ADP
ap-1576	29	64	oil	oil	NOUN
ap-1576	29	65	under	under	ADP
ap-1576	29	66	pressure	pressure	NOUN
ap-1576	29	67	pa	pa	PROPN
ap-1576	29	68	;	;	PUNCT
ap-1576	29	69	vb	vb	X
ap-1576	29	70	–	–	PUNCT
ap-1576	29	71	volume	volume	NOUN
ap-1576	29	72	of	of	ADP
ap-1576	29	73	oil	oil	NOUN
ap-1576	29	74	under	under	ADP
ap-1576	29	75	pressure	pressure	NOUN
ap-1576	29	76	pb	pb	ADP
ap-1576	29	77	;	;	PUNCT
ap-1576	29	78	vt	vt	X
ap-1576	29	79	–	–	PUNCT
ap-1576	29	80	(	(	PUNCT
ap-1576	29	81	dead	dead	ADJ
ap-1576	29	82	)	)	PUNCT
ap-1576	29	83	volume	volume	NOUN
ap-1576	29	84	in	in	ADP
ap-1576	29	85	the	the	DET
ap-1576	29	86	supply	supply	NOUN
ap-1576	29	87	circuit	circuit	NOUN
ap-1576	29	88	of	of	ADP
ap-1576	29	89	the	the	DET
ap-1576	29	90	linear	linear	PROPN
ap-1576	29	91	motor	motor	NOUN
ap-1576	29	92	,	,	PUNCT
ap-1576	29	93	(	(	PUNCT
ap-1576	29	94	volume	volume	NOUN
ap-1576	29	95	of	of	ADP
ap-1576	29	96	connecting	connect	VERB
ap-1576	29	97	pipes	pipe	NOUN
ap-1576	29	98	)	)	PUNCT
ap-1576	29	99	;	;	PUNCT
ap-1576	29	100	qa	qa	PROPN
ap-1576	29	101	–	–	PUNCT
ap-1576	29	102	flow	flow	NOUN
ap-1576	29	103	rate	rate	NOUN
ap-1576	29	104	that	that	PRON
ap-1576	29	105	enters	enter	VERB
ap-1576	29	106	or	or	CCONJ
ap-1576	29	107	is	be	AUX
ap-1576	29	108	discharged	discharge	VERB
ap-1576	29	109	from	from	ADP
ap-1576	29	110	the	the	DET
ap-1576	29	111	large	large	ADJ
ap-1576	29	112	chamber	chamber	NOUN
ap-1576	29	113	of	of	ADP
ap-1576	29	114	the	the	DET
ap-1576	29	115	positioning	positioning	NOUN
ap-1576	29	116	hydraulic	hydraulic	ADJ
ap-1576	29	117	motor	motor	NOUN
ap-1576	29	118	;	;	PUNCT
ap-1576	29	119	qb	qb	PROPN
ap-1576	29	120	–	–	PUNCT
ap-1576	29	121	flow	flow	NOUN
ap-1576	29	122	rate	rate	NOUN
ap-1576	29	123	that	that	PRON
ap-1576	29	124	enters	enter	VERB
ap-1576	29	125	or	or	CCONJ
ap-1576	29	126	is	be	AUX
ap-1576	29	127	discharged	discharge	VERB
ap-1576	29	128	from	from	ADP
ap-1576	29	129	the	the	DET
ap-1576	29	130	small	small	ADJ
ap-1576	29	131	chamber	chamber	NOUN
ap-1576	29	132	of	of	ADP
ap-1576	29	133	the	the	DET
ap-1576	29	134	positioning	positioning	NOUN
ap-1576	29	135	hydraulic	hydraulic	ADJ
ap-1576	29	136	motor	motor	NOUN
ap-1576	29	137	;	;	PUNCT
ap-1576	29	138	a	a	DET
ap-1576	29	139	–	–	PUNCT
ap-1576	29	140	piston	piston	NOUN
ap-1576	29	141	area	area	NOUN
ap-1576	29	142	(	(	PUNCT
ap-1576	29	143	rodless	rodless	NOUN
ap-1576	29	144	)	)	PUNCT
ap-1576	29	145	;	;	PUNCT
ap-1576	29	146	xm	xm	PROPN
ap-1576	29	147	–	–	PUNCT
ap-1576	29	148	linear	linear	PROPN
ap-1576	29	149	position	position	NOUN
ap-1576	29	150	of	of	ADP
ap-1576	29	151	the	the	DET
ap-1576	29	152	hydraulic	hydraulic	ADJ
ap-1576	29	153	motor	motor	NOUN
ap-1576	29	154	;	;	PUNCT
ap-1576	29	155	clg	clg	NOUN
ap-1576	29	156	–	–	PUNCT
ap-1576	29	157	leakage	leakage	NOUN
ap-1576	29	158	flow	flow	NOUN
ap-1576	29	159	coefficient	coefficient	NOUN
ap-1576	29	160	dependent	dependent	ADJ
ap-1576	29	161	on	on	ADP
ap-1576	29	162	speed	speed	NOUN
ap-1576	29	163	;	;	PUNCT
ap-1576	29	164	clp	clp	PROPN
ap-1576	29	165	–	–	PUNCT
ap-1576	29	166	leakage	leakage	NOUN
ap-1576	29	167	flow	flow	NOUN
ap-1576	29	168	coefficient	coefficient	NOUN
ap-1576	29	169	dependent	dependent	ADJ
ap-1576	29	170	on	on	ADP
ap-1576	29	171	pressure	pressure	NOUN
ap-1576	29	172	;	;	PUNCT
ap-1576	29	173	α	α	X
ap-1576	29	174	–	–	PUNCT
ap-1576	29	175	piston	piston	NOUN
ap-1576	29	176	surface	surface	NOUN
ap-1576	29	177	ratio	ratio	NOUN
ap-1576	29	178	;	;	PUNCT
ap-1576	29	179	αq	αq	X
ap-1576	29	180	–	–	PUNCT
ap-1576	29	181	flow	flow	NOUN
ap-1576	29	182	rate	rate	NOUN
ap-1576	29	183	coefficient	coefficient	NOUN
ap-1576	29	184	;	;	PUNCT
ap-1576	29	185	dv	dv	PROPN
ap-1576	29	186	–	–	PUNCT
ap-1576	29	187	proportional	proportional	ADJ
ap-1576	29	188	valve	valve	NOUN
ap-1576	29	189	diameter	diameter	NOUN
ap-1576	29	190	;	;	PUNCT
ap-1576	29	191	xv	xv	PROPN
ap-1576	29	192	–	–	PUNCT
ap-1576	29	193	linear	linear	ADJ
ap-1576	29	194	position	position	NOUN
ap-1576	29	195	of	of	ADP
ap-1576	29	196	the	the	DET
ap-1576	29	197	proportional	proportional	ADJ
ap-1576	29	198	valve	valve	NOUN
ap-1576	29	199	;	;	PUNCT
ap-1576	29	200	ρ	ρ	NUM
ap-1576	29	201	–	–	PUNCT
ap-1576	29	202	oil	oil	NOUN
ap-1576	29	203	density	density	NOUN
ap-1576	29	204	;	;	PUNCT
ap-1576	29	205	tv	tv	NOUN
ap-1576	29	206	–	–	PUNCT
ap-1576	29	207	time	time	NOUN
ap-1576	29	208	constant	constant	ADJ
ap-1576	29	209	for	for	ADP
ap-1576	29	210	the	the	DET
ap-1576	29	211	control	control	NOUN
ap-1576	29	212	valve	valve	NOUN
ap-1576	29	213	;	;	PUNCT
ap-1576	29	214	kv	kv	PROPN
ap-1576	29	215	–	–	PUNCT
ap-1576	29	216	gain	gain	NOUN
ap-1576	29	217	of	of	ADP
ap-1576	29	218	the	the	DET
ap-1576	29	219	control	control	NOUN
ap-1576	29	220	valve	valve	NOUN
ap-1576	29	221	;	;	PUNCT
ap-1576	29	222	u	u	X
ap-1576	29	223	–	–	PUNCT
ap-1576	29	224	voltage	voltage	NOUN
ap-1576	29	225	generated	generate	VERB
ap-1576	29	226	by	by	ADP
ap-1576	29	227	the	the	DET
ap-1576	29	228	pid	pid	NOUN
ap-1576	29	229	controller	controller	NOUN
ap-1576	29	230	;	;	PUNCT
ap-1576	29	231	uref	uref	ADJ
ap-1576	29	232	–	–	PUNCT
ap-1576	29	233	command	command	NOUN
ap-1576	29	234	voltage	voltage	NOUN
ap-1576	29	235	(	(	PUNCT
ap-1576	29	236	command	command	NOUN
ap-1576	29	237	value	value	NOUN
ap-1576	29	238	for	for	ADP
ap-1576	29	239	pressure	pressure	NOUN
ap-1576	29	240	,	,	PUNCT
ap-1576	29	241	flow	flow	NOUN
ap-1576	29	242	or	or	CCONJ
ap-1576	29	243	power	power	NOUN
ap-1576	29	244	)	)	PUNCT
ap-1576	29	245	;	;	PUNCT
ap-1576	29	246	ur	ur	INTJ
ap-1576	29	247	–	–	PUNCT
ap-1576	29	248	voltage	voltage	NOUN
ap-1576	29	249	generated	generate	VERB
ap-1576	29	250	by	by	ADP
ap-1576	29	251	the	the	DET
ap-1576	29	252	sensors	sensor	NOUN
ap-1576	29	253	;	;	PUNCT
ap-1576	29	254	kp	kp	PROPN
ap-1576	29	255	–	–	PUNCT
ap-1576	29	256	proportional	proportional	ADJ
ap-1576	29	257	gain	gain	NOUN
ap-1576	29	258	,	,	PUNCT
ap-1576	29	259	a	a	DET
ap-1576	29	260	tuning	tuning	NOUN
ap-1576	29	261	parameter	parameter	NOUN
ap-1576	29	262	of	of	ADP
ap-1576	29	263	the	the	DET
ap-1576	29	264	pid	pid	NOUN
ap-1576	29	265	controller	controller	NOUN
ap-1576	29	266	;	;	PUNCT
ap-1576	29	267	td	td	ADJ
ap-1576	29	268	–	–	PUNCT
ap-1576	29	269	derivative	derivative	ADJ
ap-1576	29	270	gain	gain	NOUN
ap-1576	29	271	,	,	PUNCT
ap-1576	29	272	a	a	DET
ap-1576	29	273	tuning	tuning	NOUN
ap-1576	29	274	parameter	parameter	NOUN
ap-1576	29	275	of	of	ADP
ap-1576	29	276	the	the	DET
ap-1576	29	277	pid	pid	NOUN
ap-1576	29	278	controller	controller	NOUN
ap-1576	29	279	;	;	PUNCT
ap-1576	29	280	ti	ti	X
ap-1576	29	281	–	–	PUNCT
ap-1576	29	282	integral	integral	ADJ
ap-1576	29	283	gain	gain	NOUN
ap-1576	29	284	,	,	PUNCT
ap-1576	29	285	a	a	DET
ap-1576	29	286	tuning	tuning	NOUN
ap-1576	29	287	parameter	parameter	NOUN
ap-1576	29	288	of	of	ADP
ap-1576	29	289	the	the	DET
ap-1576	29	290	pid	pid	NOUN
ap-1576	29	291	controller	controller	NOUN
ap-1576	29	292	;	;	PUNCT
ap-1576	29	293	mp	mp	PROPN
ap-1576	29	294	–	–	PUNCT
ap-1576	29	295	linear	linear	ADJ
ap-1576	29	296	motor	motor	NOUN
ap-1576	29	297	piston	piston	PROPN
ap-1576	29	298	mass	mass	PROPN
ap-1576	29	299	;	;	PUNCT
ap-1576	29	300	fam	fam	NOUN
ap-1576	29	301	–	–	PUNCT
ap-1576	29	302	preload	preload	NOUN
ap-1576	29	303	force	force	NOUN
ap-1576	29	304	of	of	ADP
ap-1576	29	305	the	the	DET
ap-1576	29	306	spring	spring	NOUN
ap-1576	29	307	in	in	ADP
ap-1576	29	308	the	the	DET
ap-1576	29	309	linear	linear	ADJ
ap-1576	29	310	motor	motor	NOUN
ap-1576	29	311	;	;	PUNCT
ap-1576	29	312	km	km	NOUN
ap-1576	29	313	–	–	PUNCT
ap-1576	29	314	spring	spring	NOUN
ap-1576	29	315	stiffness	stiffness	NOUN
ap-1576	29	316	;	;	PUNCT
ap-1576	29	317	c3	c3	NOUN
ap-1576	29	318	;	;	PUNCT
ap-1576	29	319	c4	c4	NOUN
ap-1576	29	320	–	–	PUNCT
ap-1576	29	321	viscous	viscous	ADJ
ap-1576	29	322	damping	damp	VERB
ap-1576	29	323	coefficient	coefficient	NOUN
ap-1576	29	324	;	;	PUNCT
ap-1576	29	325	m	m	X
ap-1576	29	326	–	–	PUNCT
ap-1576	29	327	piston	piston	NOUN
ap-1576	29	328	and	and	CCONJ
ap-1576	29	329	rod	rod	NOUN
ap-1576	29	330	of	of	ADP
ap-1576	29	331	the	the	DET
ap-1576	29	332	reduced	reduce	VERB
ap-1576	29	333	mass	mass	NOUN
ap-1576	29	334	of	of	ADP
ap-1576	29	335	the	the	DET
ap-1576	29	336	variable	variable	ADJ
ap-1576	29	337	pump	pump	NOUN
ap-1576	29	338	;	;	PUNCT
ap-1576	29	339	ω	ω	X
ap-1576	29	340	–	–	PUNCT
ap-1576	29	341	angular	angular	ADJ
ap-1576	29	342	velocity	velocity	NOUN
ap-1576	29	343	of	of	ADP
ap-1576	29	344	the	the	DET
ap-1576	29	345	piston	piston	NOUN
ap-1576	29	346	holder	holder	NOUN
ap-1576	29	347	of	of	ADP
ap-1576	29	348	the	the	DET
ap-1576	29	349	pump	pump	NOUN
ap-1576	29	350	;	;	PUNCT
ap-1576	29	351	r	r	X
ap-1576	29	352	–	–	PUNCT
ap-1576	29	353	placement	placement	NOUN
ap-1576	29	354	radius	radius	NOUN
ap-1576	29	355	of	of	ADP
ap-1576	29	356	the	the	DET
ap-1576	29	357	pump	pump	NOUN
ap-1576	29	358	’s	’s	PART
ap-1576	29	359	pistons	piston	NOUN
ap-1576	29	360	;	;	PUNCT
ap-1576	29	361	a	a	DET
ap-1576	29	362	–	–	PUNCT
ap-1576	29	363	tilting	tilt	VERB
ap-1576	29	364	radius	radius	NOUN
ap-1576	29	365	of	of	ADP
ap-1576	29	366	the	the	DET
ap-1576	29	367	variable	variable	ADJ
ap-1576	29	368	pump	pump	NOUN
ap-1576	29	369	;	;	PUNCT
ap-1576	29	370	d	d	X
ap-1576	29	371	–	–	PUNCT
ap-1576	29	372	diameter	diameter	NOUN
ap-1576	29	373	of	of	ADP
ap-1576	29	374	the	the	DET
ap-1576	29	375	pump	pump	NOUN
ap-1576	29	376	’s	’s	PART
ap-1576	29	377	pistons	piston	NOUN
ap-1576	29	378	.	.	PUNCT
ap-1576	30	1	ṗa	ṗa	PROPN
ap-1576	30	2	=	=	PUNCT
ap-1576	30	3	eu	eu	PROPN
ap-1576	30	4	va	va	PROPN
ap-1576	30	5	+	+	CCONJ
ap-1576	30	6	vt	vt	PROPN
ap-1576	30	7	·	·	PUNCT
ap-1576	31	1	[	[	X
ap-1576	31	2	qa	qa	X
ap-1576	31	3	−a	−a	NOUN
ap-1576	31	4	·	·	PUNCT
ap-1576	31	5	ẋm	ẋm	PROPN
ap-1576	31	6	−	−	PROPN
ap-1576	31	7	clg	clg	X
ap-1576	31	8	·	·	PUNCT
ap-1576	31	9	ẋm	ẋm	PROPN
ap-1576	32	1	+	+	CCONJ
ap-1576	32	2	clp	clp	NOUN
ap-1576	32	3	·	·	PUNCT
ap-1576	32	4	(	(	PUNCT
ap-1576	32	5	pa	pa	PROPN
ap-1576	32	6	−	−	PROPN
ap-1576	32	7	pb	pb	PROPN
ap-1576	32	8	)	)	PUNCT
ap-1576	32	9	]	]	PUNCT
ap-1576	32	10	(	(	PUNCT
ap-1576	32	11	a	a	X
ap-1576	32	12	)	)	PUNCT
ap-1576	32	13	ṗb	ṗb	PROPN
ap-1576	32	14	=	=	SYM
ap-1576	32	15	eu	eu	PROPN
ap-1576	32	16	vb	vb	PROPN
ap-1576	32	17	+	+	CCONJ
ap-1576	32	18	vt	vt	PROPN
ap-1576	32	19	·	·	PUNCT
ap-1576	33	1	[	[	X
ap-1576	33	2	−qb	−qb	NOUN
ap-1576	33	3	+	+	CCONJ
ap-1576	33	4	α	α	X
ap-1576	33	5	·	·	PUNCT
ap-1576	33	6	a	a	DET
ap-1576	33	7	·	·	PUNCT
ap-1576	33	8	ẋm	ẋm	PROPN
ap-1576	33	9	−	−	PROPN
ap-1576	33	10	clg	clg	X
ap-1576	33	11	·	·	PUNCT
ap-1576	33	12	ẋm	ẋm	PROPN
ap-1576	34	1	+	+	CCONJ
ap-1576	34	2	clp	clp	NOUN
ap-1576	34	3	·	·	PUNCT
ap-1576	34	4	(	(	PUNCT
ap-1576	34	5	pa	pa	PROPN
ap-1576	34	6	−	−	PROPN
ap-1576	34	7	pbt	pbt	PROPN
ap-1576	34	8	)	)	PUNCT
ap-1576	34	9	]	]	PUNCT
ap-1576	34	10	(	(	PUNCT
ap-1576	34	11	b	b	X
ap-1576	34	12	)	)	PUNCT
ap-1576	34	13	17	17	NUM
ap-1576	34	14	acta	acta	PROPN
ap-1576	34	15	polytechnica	polytechnica	PROPN
ap-1576	34	16	vol	vol	NOUN
ap-1576	34	17	.	.	PROPN
ap-1576	35	1	52	52	NUM
ap-1576	35	2	no	no	NOUN
ap-1576	35	3	.	.	PUNCT
ap-1576	36	1	4/2012	4/2012	NUM
ap-1576	36	2	qa	qa	NOUN
ap-1576	36	3	=	=	SYM
ap-1576	36	4	⎧⎪⎪⎪⎨	⎧⎪⎪⎪⎨	PROPN
ap-1576	36	5	⎪⎪⎪⎩	⎪⎪⎪⎩	PROPN
ap-1576	36	6	αq	αq	PROPN
ap-1576	36	7	·	·	PUNCT
ap-1576	36	8	dv	dv	X
ap-1576	36	9	·	·	PUNCT
ap-1576	36	10	π	π	X
ap-1576	36	11	·	·	PUNCT
ap-1576	36	12	xv	xv	PROPN
ap-1576	36	13	·	·	PUNCT
ap-1576	36	14	√	√	ADP
ap-1576	36	15	2	2	NUM
ap-1576	36	16	ρ	ρ	NOUN
ap-1576	36	17	·	·	PUNCT
ap-1576	36	18	(	(	PUNCT
ap-1576	36	19	pc	pc	NOUN
ap-1576	36	20	−	−	PROPN
ap-1576	36	21	pa	pa	PROPN
ap-1576	36	22	)	)	PUNCT
ap-1576	36	23	,	,	PUNCT
ap-1576	36	24	xv	xv	PROPN
ap-1576	36	25	≥	≥	NOUN
ap-1576	36	26	0	0	NUM
ap-1576	36	27	αq	αq	PROPN
ap-1576	36	28	·	·	PUNCT
ap-1576	36	29	dv	dv	X
ap-1576	36	30	·	·	PUNCT
ap-1576	36	31	π	π	X
ap-1576	36	32	·	·	PUNCT
ap-1576	36	33	xv	xv	PROPN
ap-1576	36	34	·	·	PUNCT
ap-1576	36	35	√	√	ADP
ap-1576	36	36	2	2	NUM
ap-1576	36	37	ρ	ρ	NOUN
ap-1576	36	38	·	·	PUNCT
ap-1576	36	39	(	(	PUNCT
ap-1576	36	40	pa	pa	PROPN
ap-1576	36	41	−	−	PROPN
ap-1576	36	42	pt	pt	PROPN
ap-1576	36	43	)	)	PUNCT
ap-1576	36	44	,	,	PUNCT
ap-1576	36	45	xv	xv	X
ap-1576	36	46	<	<	X
ap-1576	36	47	0	0	PUNCT
ap-1576	36	48	(	(	PUNCT
ap-1576	36	49	c	c	NOUN
ap-1576	36	50	)	)	PUNCT
ap-1576	36	51	qb	qb	PROPN
ap-1576	36	52	=	=	PUNCT
ap-1576	36	53	⎧⎪⎪⎪⎨	⎧⎪⎪⎪⎨	PROPN
ap-1576	36	54	⎪⎪⎪⎩	⎪⎪⎪⎩	PROPN
ap-1576	36	55	αq	αq	PROPN
ap-1576	36	56	·	·	PUNCT
ap-1576	36	57	dv	dv	X
ap-1576	36	58	·	·	PUNCT
ap-1576	36	59	π	π	X
ap-1576	36	60	·	·	PUNCT
ap-1576	36	61	xv	xv	PROPN
ap-1576	36	62	·	·	PUNCT
ap-1576	36	63	√	√	ADP
ap-1576	36	64	2	2	NUM
ap-1576	36	65	ρ	ρ	NOUN
ap-1576	36	66	·	·	PUNCT
ap-1576	36	67	(	(	PUNCT
ap-1576	36	68	pb	pb	ADP
ap-1576	36	69	−	−	PROPN
ap-1576	36	70	pt	pt	PROPN
ap-1576	36	71	)	)	PUNCT
ap-1576	36	72	,	,	PUNCT
ap-1576	36	73	xv	xv	PROPN
ap-1576	36	74	≥	≥	NOUN
ap-1576	36	75	0	0	NUM
ap-1576	36	76	αq	αq	PROPN
ap-1576	36	77	·	·	PUNCT
ap-1576	36	78	dv	dv	X
ap-1576	36	79	·	·	PUNCT
ap-1576	36	80	π	π	X
ap-1576	36	81	·	·	PUNCT
ap-1576	36	82	xv	xv	PROPN
ap-1576	36	83	·	·	PUNCT
ap-1576	36	84	√	√	ADP
ap-1576	36	85	2	2	NUM
ap-1576	36	86	ρ	ρ	NOUN
ap-1576	36	87	·	·	PUNCT
ap-1576	36	88	(	(	PUNCT
ap-1576	36	89	pc	pc	NOUN
ap-1576	36	90	−	−	NOUN
ap-1576	36	91	pb	pb	NOUN
ap-1576	36	92	)	)	PUNCT
ap-1576	36	93	,	,	PUNCT
ap-1576	36	94	xv	xv	X
ap-1576	36	95	<	<	X
ap-1576	36	96	0	0	PUNCT
ap-1576	36	97	(	(	PUNCT
ap-1576	36	98	d	d	NOUN
ap-1576	36	99	)	)	PUNCT
ap-1576	36	100	(	(	PUNCT
ap-1576	36	101	1	1	X
ap-1576	36	102	)	)	PUNCT
ap-1576	36	103	tv	tv	NOUN
ap-1576	36	104	·	·	PUNCT
ap-1576	36	105	ẋv	ẋv	PROPN
ap-1576	37	1	+	+	CCONJ
ap-1576	37	2	xv	xv	NOUN
ap-1576	37	3	=	=	SYM
ap-1576	37	4	kv	kv	PROPN
ap-1576	37	5	·	·	PUNCT
ap-1576	37	6	u	u	NOUN
ap-1576	37	7	(	(	PUNCT
ap-1576	37	8	e	e	NOUN
ap-1576	37	9	)	)	PUNCT
ap-1576	37	10	u	u	NOUN
ap-1576	37	11	=	=	PUNCT
ap-1576	37	12	kp	kp	X
ap-1576	37	13	·	·	PUNCT
ap-1576	37	14	(	(	PUNCT
ap-1576	37	15	uref	uref	NOUN
ap-1576	37	16	−	−	PROPN
ap-1576	37	17	ur	ur	INTJ
ap-1576	37	18	)	)	PUNCT
ap-1576	37	19	+	+	CCONJ
ap-1576	37	20	td	td	NOUN
ap-1576	37	21	·	·	PUNCT
ap-1576	37	22	(	(	PUNCT
ap-1576	37	23	u̇ref	u̇ref	PROPN
ap-1576	37	24	−	−	PROPN
ap-1576	37	25	u̇r	u̇r	PROPN
ap-1576	37	26	)	)	PUNCT
ap-1576	38	1	+	+	CCONJ
ap-1576	38	2	1	1	NUM
ap-1576	38	3	ti	ti	NOUN
ap-1576	38	4	∫	∫	PROPN
ap-1576	38	5	(	(	PUNCT
ap-1576	38	6	uref	uref	NOUN
ap-1576	38	7	−	−	PROPN
ap-1576	38	8	ur	ur	INTJ
ap-1576	38	9	)	)	PUNCT
ap-1576	38	10	·	·	PUNCT
ap-1576	38	11	dt	dt	X
ap-1576	38	12	(	(	PUNCT
ap-1576	38	13	f	f	X
ap-1576	38	14	)	)	PUNCT
ap-1576	38	15	mp	mp	PROPN
ap-1576	38	16	·	·	PUNCT
ap-1576	38	17	ẍm	ẍm	X
ap-1576	39	1	=	=	PUNCT
ap-1576	39	2	a	a	PRON
ap-1576	39	3	·	·	PUNCT
ap-1576	40	1	pa	pa	NOUN
ap-1576	40	2	−	−	PROPN
ap-1576	40	3	α	α	PROPN
ap-1576	40	4	·	·	PUNCT
ap-1576	40	5	a	a	DET
ap-1576	40	6	·	·	PUNCT
ap-1576	40	7	pb	pb	ADP
ap-1576	40	8	+	+	CCONJ
ap-1576	40	9	fam	fam	NOUN
ap-1576	40	10	+	+	CCONJ
ap-1576	40	11	km	km	PROPN
ap-1576	40	12	·	·	PUNCT
ap-1576	40	13	xm	xm	NUM
ap-1576	40	14	−	−	PROPN
ap-1576	40	15	(	(	PUNCT
ap-1576	40	16	c3	c3	X
ap-1576	40	17	+	+	CCONJ
ap-1576	40	18	c4)ẋm	c4)ẋm	PROPN
ap-1576	40	19	+	+	CCONJ
ap-1576	40	20	m	m	PROPN
ap-1576	40	21	·	·	PUNCT
ap-1576	40	22	ω2	ω2	ADJ
ap-1576	40	23	·	·	PUNCT
ap-1576	40	24	r2	r2	PROPN
ap-1576	40	25	a2	a2	PROPN
ap-1576	40	26	·	·	PUNCT
ap-1576	40	27	xm	xm	PROPN
ap-1576	41	1	−	−	PROPN
ap-1576	41	2	π	π	X
ap-1576	41	3	·	·	PUNCT
ap-1576	41	4	d2	d2	PROPN
ap-1576	41	5	·	·	PUNCT
ap-1576	41	6	r	r	NOUN
ap-1576	41	7	4a	4a	X
ap-1576	41	8	·	·	PUNCT
ap-1576	41	9	ps	ps	INTJ
ap-1576	41	10	(	(	PUNCT
ap-1576	41	11	g	g	NOUN
ap-1576	41	12	)	)	PUNCT
ap-1576	41	13	figure	figure	NOUN
ap-1576	41	14	2	2	NUM
ap-1576	41	15	:	:	PUNCT
ap-1576	41	16	pressure	pressure	NOUN
ap-1576	41	17	control	control	NOUN
ap-1576	41	18	figure	figure	NOUN
ap-1576	41	19	3	3	NUM
ap-1576	41	20	:	:	PUNCT
ap-1576	41	21	flow	flow	NOUN
ap-1576	41	22	control	control	NOUN
ap-1576	41	23	figure	figure	NOUN
ap-1576	41	24	4	4	NUM
ap-1576	41	25	:	:	PUNCT
ap-1576	41	26	power	power	NOUN
ap-1576	41	27	control	control	NOUN
ap-1576	41	28	3	3	NUM
ap-1576	41	29	numerical	numerical	PROPN
ap-1576	41	30	research	research	PROPN
ap-1576	41	31	a	a	DET
ap-1576	41	32	study	study	NOUN
ap-1576	41	33	of	of	ADP
ap-1576	41	34	the	the	DET
ap-1576	41	35	dynamic	dynamic	ADJ
ap-1576	41	36	behavior	behavior	NOUN
ap-1576	41	37	of	of	ADP
ap-1576	41	38	the	the	DET
ap-1576	41	39	electrohydraulic	electrohydraulic	NOUN
ap-1576	41	40	control	control	NOUN
ap-1576	41	41	system	system	NOUN
ap-1576	41	42	for	for	ADP
ap-1576	41	43	adjustable	adjustable	ADJ
ap-1576	41	44	hydraulic	hydraulic	ADJ
ap-1576	41	45	pumps	pump	NOUN
ap-1576	41	46	involves	involve	VERB
ap-1576	41	47	the	the	DET
ap-1576	41	48	use	use	NOUN
ap-1576	41	49	of	of	ADP
ap-1576	41	50	concrete	concrete	ADJ
ap-1576	41	51	values	value	NOUN
ap-1576	41	52	for	for	ADP
ap-1576	41	53	the	the	DET
ap-1576	41	54	physical	physical	ADJ
ap-1576	41	55	and	and	CCONJ
ap-1576	41	56	geometrical	geometrical	ADJ
ap-1576	41	57	sizes	size	NOUN
ap-1576	41	58	involved	involve	VERB
ap-1576	41	59	in	in	ADP
ap-1576	41	60	the	the	DET
ap-1576	41	61	model	model	NOUN
ap-1576	41	62	.	.	PUNCT
ap-1576	42	1	an	an	DET
ap-1576	42	2	f316	f316	ADJ
ap-1576	42	3	-	-	PUNCT
ap-1576	42	4	type	type	NOUN
ap-1576	42	5	axial	axial	ADJ
ap-1576	42	6	piston	piston	NOUN
ap-1576	42	7	pump	pump	NOUN
ap-1576	42	8	with	with	ADP
ap-1576	42	9	variable	variable	ADJ
ap-1576	42	10	displacement	displacement	NOUN
ap-1576	42	11	,	,	PUNCT
ap-1576	42	12	made	make	VERB
ap-1576	42	13	in	in	ADP
ap-1576	42	14	romania	romania	PROPN
ap-1576	42	15	by	by	ADP
ap-1576	42	16	ump	ump	NOUN
ap-1576	42	17	,	,	PUNCT
ap-1576	42	18	was	be	AUX
ap-1576	42	19	chosen	choose	VERB
ap-1576	42	20	[	[	PUNCT
ap-1576	42	21	10	10	NUM
ap-1576	42	22	]	]	PUNCT
ap-1576	42	23	.	.	PUNCT
ap-1576	43	1	the	the	DET
ap-1576	43	2	mathematical	mathematical	ADJ
ap-1576	43	3	model	model	NOUN
ap-1576	43	4	was	be	AUX
ap-1576	43	5	simulated	simulate	VERB
ap-1576	43	6	in	in	ADP
ap-1576	43	7	the	the	DET
ap-1576	43	8	matlab	matlab	PROPN
ap-1576	43	9	simulink	simulink	PROPN
ap-1576	43	10	programming	programming	NOUN
ap-1576	43	11	environment	environment	NOUN
ap-1576	43	12	[	[	X
ap-1576	43	13	11	11	NUM
ap-1576	43	14	]	]	PUNCT
ap-1576	43	15	.	.	PUNCT
ap-1576	44	1	the	the	DET
ap-1576	44	2	pid	pid	NOUN
ap-1576	44	3	controller	controller	NOUN
ap-1576	44	4	was	be	AUX
ap-1576	44	5	tuned	tune	VERB
ap-1576	44	6	using	use	VERB
ap-1576	44	7	the	the	DET
ap-1576	44	8	ziegler	ziegler	PROPN
ap-1576	44	9	-	-	PUNCT
ap-1576	44	10	nichols	nichols	PROPN
ap-1576	44	11	method	method	NOUN
ap-1576	45	1	[	[	X
ap-1576	45	2	13	13	NUM
ap-1576	45	3	]	]	PUNCT
ap-1576	45	4	:	:	PUNCT
ap-1576	45	5	kp	kp	PROPN
ap-1576	45	6	=	=	PUNCT
ap-1576	45	7	0.3	0.3	NUM
ap-1576	45	8	;	;	PUNCT
ap-1576	45	9	1	1	NUM
ap-1576	45	10	/	/	SYM
ap-1576	45	11	ti	ti	NOUN
ap-1576	45	12	=	=	SYM
ap-1576	45	13	10	10	NUM
ap-1576	45	14	;	;	PUNCT
ap-1576	45	15	kd	kd	PROPN
ap-1576	45	16	=	=	PROPN
ap-1576	45	17	0	0	PROPN
ap-1576	45	18	.	.	PUNCT
ap-1576	46	1	the	the	DET
ap-1576	46	2	behavior	behavior	NOUN
ap-1576	46	3	of	of	ADP
ap-1576	46	4	the	the	DET
ap-1576	46	5	system	system	NOUN
ap-1576	46	6	was	be	AUX
ap-1576	46	7	analyzed	analyze	VERB
ap-1576	46	8	,	,	PUNCT
ap-1576	46	9	e.g.	e.g.	ADV
ap-1576	46	10	the	the	DET
ap-1576	46	11	response	response	NOUN
ap-1576	46	12	to	to	ADP
ap-1576	46	13	the	the	DET
ap-1576	46	14	step	step	NOUN
ap-1576	46	15	command	command	NOUN
ap-1576	46	16	for	for	ADP
ap-1576	46	17	pressure	pressure	NOUN
ap-1576	46	18	,	,	PUNCT
ap-1576	46	19	flow	flow	NOUN
ap-1576	46	20	and	and	CCONJ
ap-1576	46	21	power	power	NOUN
ap-1576	46	22	.	.	PUNCT
ap-1576	47	1	when	when	SCONJ
ap-1576	47	2	adjusting	adjust	VERB
ap-1576	47	3	the	the	DET
ap-1576	47	4	pressure	pressure	NOUN
ap-1576	47	5	,	,	PUNCT
ap-1576	47	6	the	the	DET
ap-1576	47	7	control	control	NOUN
ap-1576	47	8	step	step	NOUN
ap-1576	47	9	represents	represent	VERB
ap-1576	47	10	the	the	DET
ap-1576	47	11	input	input	NOUN
ap-1576	47	12	signal	signal	NOUN
ap-1576	47	13	corresponding	correspond	VERB
ap-1576	47	14	to	to	ADP
ap-1576	47	15	the	the	DET
ap-1576	47	16	variation	variation	NOUN
ap-1576	47	17	in	in	ADP
ap-1576	47	18	load	load	NOUN
ap-1576	47	19	pressure	pressure	NOUN
ap-1576	47	20	from	from	ADP
ap-1576	47	21	0	0	NUM
ap-1576	47	22	to	to	ADP
ap-1576	47	23	200	200	NUM
ap-1576	47	24	bar	bar	NOUN
ap-1576	47	25	,	,	PUNCT
ap-1576	47	26	(	(	PUNCT
ap-1576	47	27	figure	figure	NOUN
ap-1576	47	28	2	2	NUM
ap-1576	47	29	)	)	PUNCT
ap-1576	47	30	.	.	PUNCT
ap-1576	48	1	when	when	SCONJ
ap-1576	48	2	setting	set	VERB
ap-1576	48	3	the	the	DET
ap-1576	48	4	flow	flow	NOUN
ap-1576	48	5	,	,	PUNCT
ap-1576	48	6	the	the	DET
ap-1576	48	7	control	control	NOUN
ap-1576	48	8	step	step	NOUN
ap-1576	48	9	representing	represent	VERB
ap-1576	48	10	the	the	DET
ap-1576	48	11	input	input	NOUN
ap-1576	48	12	signal	signal	NOUN
ap-1576	48	13	corresponds	correspond	VERB
ap-1576	48	14	to	to	ADP
ap-1576	48	15	the	the	DET
ap-1576	48	16	variation	variation	NOUN
ap-1576	48	17	in	in	ADP
ap-1576	48	18	flow	flow	NOUN
ap-1576	48	19	from	from	ADP
ap-1576	48	20	0	0	NUM
ap-1576	48	21	to	to	ADP
ap-1576	48	22	30	30	NUM
ap-1576	48	23	l	l	NOUN
ap-1576	48	24	/	/	SYM
ap-1576	48	25	min	min	NOUN
ap-1576	48	26	,	,	PUNCT
ap-1576	48	27	(	(	PUNCT
ap-1576	48	28	figure	figure	NOUN
ap-1576	48	29	3	3	NUM
ap-1576	48	30	)	)	PUNCT
ap-1576	48	31	.	.	PUNCT
ap-1576	49	1	in	in	ADP
ap-1576	49	2	the	the	DET
ap-1576	49	3	version	version	NOUN
ap-1576	49	4	of	of	ADP
ap-1576	49	5	power	power	NOUN
ap-1576	49	6	adjustment	adjustment	NOUN
ap-1576	49	7	the	the	DET
ap-1576	49	8	step	step	NOUN
ap-1576	49	9	control	control	NOUN
ap-1576	49	10	that	that	PRON
ap-1576	49	11	represents	represent	VERB
ap-1576	49	12	the	the	DET
ap-1576	49	13	input	input	NOUN
ap-1576	49	14	signal	signal	NOUN
ap-1576	49	15	corresponds	correspond	VERB
ap-1576	49	16	to	to	ADP
ap-1576	49	17	a	a	DET
ap-1576	49	18	change	change	NOUN
ap-1576	49	19	in	in	ADP
ap-1576	49	20	power	power	NOUN
ap-1576	49	21	from	from	ADP
ap-1576	49	22	0	0	NUM
ap-1576	49	23	to	to	PART
ap-1576	49	24	5	5	NUM
ap-1576	49	25	kw	kw	NOUN
ap-1576	49	26	,	,	PUNCT
ap-1576	49	27	(	(	PUNCT
ap-1576	49	28	figure	figure	NOUN
ap-1576	49	29	4	4	NUM
ap-1576	49	30	)	)	PUNCT
ap-1576	49	31	.	.	PUNCT
ap-1576	50	1	simulations	simulation	NOUN
ap-1576	50	2	indicated	indicate	VERB
ap-1576	50	3	that	that	SCONJ
ap-1576	50	4	the	the	DET
ap-1576	50	5	system	system	NOUN
ap-1576	50	6	can	can	AUX
ap-1576	50	7	be	be	AUX
ap-1576	50	8	controlled	control	VERB
ap-1576	50	9	with	with	ADP
ap-1576	50	10	the	the	DET
ap-1576	50	11	same	same	ADJ
ap-1576	50	12	controller	controller	NOUN
ap-1576	50	13	values	value	NOUN
ap-1576	50	14	for	for	ADP
ap-1576	50	15	any	any	DET
ap-1576	50	16	particularly	particularly	ADV
ap-1576	50	17	control	control	NOUN
ap-1576	50	18	type	type	NOUN
ap-1576	50	19	.	.	PUNCT
ap-1576	51	1	the	the	DET
ap-1576	51	2	dynamic	dynamic	ADJ
ap-1576	51	3	behavior	behavior	NOUN
ap-1576	51	4	of	of	ADP
ap-1576	51	5	the	the	DET
ap-1576	51	6	system	system	NOUN
ap-1576	51	7	is	be	AUX
ap-1576	51	8	strongly	strongly	ADV
ap-1576	51	9	influenced	influence	VERB
ap-1576	51	10	by	by	ADP
ap-1576	51	11	the	the	DET
ap-1576	51	12	proportionality	proportionality	NOUN
ap-1576	51	13	constant	constant	ADJ
ap-1576	51	14	,	,	PUNCT
ap-1576	51	15	kp	kp	PROPN
ap-1576	51	16	,	,	PUNCT
ap-1576	51	17	so	so	SCONJ
ap-1576	51	18	that	that	SCONJ
ap-1576	51	19	the	the	DET
ap-1576	51	20	natural	natural	ADJ
ap-1576	51	21	frequency	frequency	NOUN
ap-1576	51	22	of	of	ADP
ap-1576	51	23	the	the	DET
ap-1576	51	24	system	system	NOUN
ap-1576	51	25	increases	increase	VERB
ap-1576	51	26	with	with	ADP
ap-1576	51	27	this	this	DET
ap-1576	51	28	constant	constant	ADJ
ap-1576	51	29	,	,	PUNCT
ap-1576	51	30	and	and	CCONJ
ap-1576	51	31	the	the	DET
ap-1576	51	32	system	system	NOUN
ap-1576	51	33	is	be	AUX
ap-1576	51	34	damped	damp	VERB
ap-1576	51	35	.	.	PUNCT
ap-1576	52	1	the	the	DET
ap-1576	52	2	integral	integral	ADJ
ap-1576	52	3	constant	constant	ADJ
ap-1576	52	4	,	,	PUNCT
ap-1576	52	5	ti	ti	X
ap-1576	52	6	,	,	PUNCT
ap-1576	52	7	improves	improve	VERB
ap-1576	52	8	the	the	DET
ap-1576	52	9	behavior	behavior	NOUN
ap-1576	52	10	of	of	ADP
ap-1576	52	11	the	the	DET
ap-1576	52	12	steady	steady	ADJ
ap-1576	52	13	state	state	NOUN
ap-1576	52	14	,	,	PUNCT
ap-1576	52	15	canceling	cancel	VERB
ap-1576	52	16	the	the	DET
ap-1576	52	17	stationary	stationary	ADJ
ap-1576	52	18	error	error	NOUN
ap-1576	52	19	.	.	PUNCT
ap-1576	53	1	when	when	SCONJ
ap-1576	53	2	the	the	DET
ap-1576	53	3	value	value	NOUN
ap-1576	53	4	of	of	ADP
ap-1576	53	5	this	this	DET
ap-1576	53	6	constant	constant	NOUN
ap-1576	53	7	is	be	AUX
ap-1576	53	8	increased	increase	VERB
ap-1576	53	9	,	,	PUNCT
ap-1576	53	10	it	it	PRON
ap-1576	53	11	is	be	AUX
ap-1576	53	12	observed	observe	VERB
ap-1576	53	13	that	that	SCONJ
ap-1576	53	14	the	the	DET
ap-1576	53	15	damping	damping	NOUN
ap-1576	53	16	of	of	ADP
ap-1576	53	17	the	the	DET
ap-1576	53	18	system	system	NOUN
ap-1576	53	19	decreases	decrease	VERB
ap-1576	53	20	significantly	significantly	ADV
ap-1576	53	21	,	,	PUNCT
ap-1576	53	22	bringing	bring	VERB
ap-1576	53	23	it	it	PRON
ap-1576	53	24	to	to	ADP
ap-1576	53	25	the	the	DET
ap-1576	53	26	limit	limit	NOUN
ap-1576	53	27	of	of	ADP
ap-1576	53	28	instability	instability	NOUN
ap-1576	53	29	.	.	PUNCT
ap-1576	54	1	having	have	VERB
ap-1576	54	2	a	a	DET
ap-1576	54	3	derivative	derivative	ADJ
ap-1576	54	4	gain	gain	NOUN
ap-1576	54	5	,	,	PUNCT
ap-1576	54	6	kd	kd	X
ap-1576	54	7	,	,	PUNCT
ap-1576	54	8	even	even	ADV
ap-1576	54	9	at	at	ADP
ap-1576	54	10	low	low	ADJ
ap-1576	54	11	levels	level	NOUN
ap-1576	54	12	,	,	PUNCT
ap-1576	54	13	the	the	DET
ap-1576	54	14	damping	damping	NOUN
ap-1576	54	15	of	of	ADP
ap-1576	54	16	the	the	DET
ap-1576	54	17	system	system	NOUN
ap-1576	54	18	decreases	decrease	VERB
ap-1576	54	19	,	,	PUNCT
ap-1576	54	20	bringing	bring	VERB
ap-1576	54	21	it	it	PRON
ap-1576	54	22	to	to	ADP
ap-1576	54	23	the	the	DET
ap-1576	54	24	limit	limit	NOUN
ap-1576	54	25	of	of	ADP
ap-1576	54	26	instability	instability	NOUN
ap-1576	54	27	.	.	PUNCT
ap-1576	55	1	4	4	NUM
ap-1576	55	2	experimental	experimental	ADJ
ap-1576	55	3	research	research	NOUN
ap-1576	55	4	in	in	ADP
ap-1576	55	5	order	order	NOUN
ap-1576	55	6	to	to	PART
ap-1576	55	7	achieve	achieve	VERB
ap-1576	55	8	the	the	DET
ap-1576	55	9	objectives	objective	NOUN
ap-1576	55	10	of	of	ADP
ap-1576	55	11	our	our	PRON
ap-1576	55	12	study	study	NOUN
ap-1576	55	13	,	,	PUNCT
ap-1576	55	14	a	a	DET
ap-1576	55	15	stand	stand	NOUN
ap-1576	55	16	was	be	AUX
ap-1576	55	17	designed	design	VERB
ap-1576	55	18	and	and	CCONJ
ap-1576	55	19	constructed	construct	VERB
ap-1576	55	20	that	that	PRON
ap-1576	55	21	was	be	AUX
ap-1576	55	22	capable	capable	ADJ
ap-1576	55	23	of	of	ADP
ap-1576	55	24	testing	test	VERB
ap-1576	55	25	the	the	DET
ap-1576	55	26	performance	performance	NOUN
ap-1576	55	27	of	of	ADP
ap-1576	55	28	adjustable	adjustable	ADJ
ap-1576	55	29	pumps	pump	NOUN
ap-1576	55	30	working	work	VERB
ap-1576	55	31	under	under	ADP
ap-1576	55	32	pressure	pressure	NOUN
ap-1576	55	33	control	control	NOUN
ap-1576	55	34	,	,	PUNCT
ap-1576	55	35	flow	flow	NOUN
ap-1576	55	36	,	,	PUNCT
ap-1576	55	37	power	power	NOUN
ap-1576	55	38	,	,	PUNCT
ap-1576	55	39	or	or	CCONJ
ap-1576	55	40	a	a	DET
ap-1576	55	41	combination	combination	NOUN
ap-1576	55	42	of	of	ADP
ap-1576	55	43	these	these	DET
ap-1576	55	44	features	feature	NOUN
ap-1576	55	45	.	.	PUNCT
ap-1576	56	1	the	the	DET
ap-1576	56	2	overall	overall	ADJ
ap-1576	56	3	picture	picture	NOUN
ap-1576	56	4	and	and	CCONJ
ap-1576	56	5	a	a	DET
ap-1576	56	6	schematic	schematic	ADJ
ap-1576	56	7	representation	representation	NOUN
ap-1576	56	8	of	of	ADP
ap-1576	56	9	the	the	DET
ap-1576	56	10	experimental	experimental	ADJ
ap-1576	56	11	plant	plant	NOUN
ap-1576	56	12	is	be	AUX
ap-1576	56	13	presented	present	VERB
ap-1576	56	14	in	in	ADP
ap-1576	56	15	figure	figure	NOUN
ap-1576	56	16	5	5	NUM
ap-1576	56	17	.	.	SYM
ap-1576	56	18	18	18	NUM
ap-1576	56	19	acta	acta	PROPN
ap-1576	56	20	polytechnica	polytechnica	PROPN
ap-1576	56	21	vol	vol	NOUN
ap-1576	56	22	.	.	PROPN
ap-1576	57	1	52	52	NUM
ap-1576	57	2	no	no	NOUN
ap-1576	57	3	.	.	PUNCT
ap-1576	58	1	4/2012	4/2012	NUM
ap-1576	58	2	figure	figure	NOUN
ap-1576	58	3	5	5	NUM
ap-1576	58	4	:	:	PUNCT
ap-1576	58	5	the	the	DET
ap-1576	58	6	stand	stand	VERB
ap-1576	58	7	the	the	DET
ap-1576	58	8	main	main	ADJ
ap-1576	58	9	sub	sub	NOUN
ap-1576	58	10	-	-	NOUN
ap-1576	58	11	assemblies	assembly	NOUN
ap-1576	58	12	of	of	ADP
ap-1576	58	13	the	the	DET
ap-1576	58	14	plant	plant	NOUN
ap-1576	58	15	are	be	AUX
ap-1576	58	16	:	:	PUNCT
ap-1576	58	17	1	1	X
ap-1576	58	18	.	.	PUNCT
ap-1576	59	1	the	the	DET
ap-1576	59	2	pump	pump	NOUN
ap-1576	59	3	,	,	PUNCT
ap-1576	59	4	with	with	ADP
ap-1576	59	5	an	an	DET
ap-1576	59	6	electro	electro	ADJ
ap-1576	59	7	-	-	PUNCT
ap-1576	59	8	hydraulic	hydraulic	NOUN
ap-1576	59	9	adjustment	adjustment	NOUN
ap-1576	59	10	system	system	NOUN
ap-1576	59	11	;	;	PUNCT
ap-1576	59	12	2	2	NUM
ap-1576	59	13	[	[	SYM
ap-1576	59	14	8	8	NUM
ap-1576	59	15	]	]	PUNCT
ap-1576	59	16	.	.	PUNCT
ap-1576	60	1	the	the	DET
ap-1576	60	2	hydraulic	hydraulic	ADJ
ap-1576	60	3	energy	energy	NOUN
ap-1576	60	4	source	source	NOUN
ap-1576	60	5	for	for	ADP
ap-1576	60	6	control	control	NOUN
ap-1576	60	7	supply	supply	NOUN
ap-1576	60	8	;	;	PUNCT
ap-1576	60	9	3	3	X
ap-1576	60	10	.	.	X
ap-1576	60	11	a	a	DET
ap-1576	60	12	specific	specific	ADJ
ap-1576	60	13	sensor	sensor	NOUN
ap-1576	60	14	;	;	PUNCT
ap-1576	60	15	4	4	NUM
ap-1576	60	16	[	[	SYM
ap-1576	60	17	5	5	NUM
ap-1576	60	18	,	,	PUNCT
ap-1576	60	19	12	12	NUM
ap-1576	60	20	]	]	PUNCT
ap-1576	60	21	.	.	PUNCT
ap-1576	61	1	the	the	DET
ap-1576	61	2	electricity	electricity	NOUN
ap-1576	61	3	supply	supply	NOUN
ap-1576	61	4	and	and	CCONJ
ap-1576	61	5	control	control	NOUN
ap-1576	61	6	system	system	NOUN
ap-1576	61	7	for	for	ADP
ap-1576	61	8	the	the	DET
ap-1576	61	9	proportional	proportional	ADJ
ap-1576	61	10	distributor	distributor	NOUN
ap-1576	61	11	,	,	PUNCT
ap-1576	61	12	the	the	DET
ap-1576	61	13	sensors	sensor	NOUN
ap-1576	61	14	and	and	CCONJ
ap-1576	61	15	the	the	DET
ap-1576	61	16	distributor	distributor	NOUN
ap-1576	61	17	to	to	PART
ap-1576	61	18	simulate	simulate	VERB
ap-1576	61	19	the	the	DET
ap-1576	61	20	load	load	NOUN
ap-1576	61	21	;	;	PUNCT
ap-1576	61	22	5	5	NUM
ap-1576	61	23	[	[	SYM
ap-1576	61	24	4	4	NUM
ap-1576	61	25	]	]	PUNCT
ap-1576	61	26	.	.	PUNCT
ap-1576	62	1	the	the	DET
ap-1576	62	2	acquisition	acquisition	NOUN
ap-1576	62	3	and	and	CCONJ
ap-1576	62	4	control	control	NOUN
ap-1576	62	5	hardware	hardware	NOUN
ap-1576	62	6	system	system	NOUN
ap-1576	62	7	;	;	PUNCT
ap-1576	62	8	6	6	NUM
ap-1576	62	9	[	[	SYM
ap-1576	62	10	9	9	NUM
ap-1576	62	11	]	]	PUNCT
ap-1576	62	12	.	.	PUNCT
ap-1576	63	1	the	the	DET
ap-1576	63	2	command	command	NOUN
ap-1576	63	3	and	and	CCONJ
ap-1576	63	4	control	control	NOUN
ap-1576	63	5	interface	interface	NOUN
ap-1576	63	6	;	;	PUNCT
ap-1576	63	7	7	7	X
ap-1576	63	8	.	.	X
ap-1576	63	9	the	the	DET
ap-1576	63	10	load	load	NOUN
ap-1576	63	11	simulator	simulator	NOUN
ap-1576	63	12	.	.	PUNCT
ap-1576	64	1	after	after	ADP
ap-1576	64	2	tuning	tune	VERB
ap-1576	64	3	the	the	DET
ap-1576	64	4	controller	controller	NOUN
ap-1576	64	5	,	,	PUNCT
ap-1576	64	6	the	the	DET
ap-1576	64	7	following	follow	VERB
ap-1576	64	8	constants	constant	NOUN
ap-1576	64	9	were	be	AUX
ap-1576	64	10	determined	determine	VERB
ap-1576	64	11	that	that	PRON
ap-1576	64	12	offer	offer	VERB
ap-1576	64	13	good	good	ADJ
ap-1576	64	14	dynamic	dynamic	ADJ
ap-1576	64	15	behavior	behavior	NOUN
ap-1576	64	16	for	for	ADP
ap-1576	64	17	the	the	DET
ap-1576	64	18	system	system	NOUN
ap-1576	64	19	regardless	regardless	ADV
ap-1576	64	20	of	of	ADP
ap-1576	64	21	the	the	DET
ap-1576	64	22	chosen	choose	VERB
ap-1576	64	23	control	control	NOUN
ap-1576	64	24	type	type	NOUN
ap-1576	64	25	:	:	PUNCT
ap-1576	64	26	kp	kp	PROPN
ap-1576	64	27	=	=	PROPN
ap-1576	64	28	0.35	0.35	NUM
ap-1576	64	29	;	;	PUNCT
ap-1576	64	30	1	1	NUM
ap-1576	64	31	/	/	SYM
ap-1576	64	32	ti	ti	NOUN
ap-1576	64	33	=	=	SYM
ap-1576	64	34	12	12	NUM
ap-1576	64	35	;	;	PUNCT
ap-1576	64	36	kd	kd	PROPN
ap-1576	64	37	=	=	SYM
ap-1576	64	38	0	0	PROPN
ap-1576	64	39	,	,	PUNCT
ap-1576	64	40	values	value	VERB
ap-1576	64	41	very	very	ADV
ap-1576	64	42	close	close	ADV
ap-1576	64	43	to	to	ADP
ap-1576	64	44	those	those	PRON
ap-1576	64	45	obtained	obtain	VERB
ap-1576	64	46	in	in	ADP
ap-1576	64	47	the	the	DET
ap-1576	64	48	simulations	simulation	NOUN
ap-1576	64	49	,	,	PUNCT
ap-1576	64	50	which	which	PRON
ap-1576	64	51	validates	validate	VERB
ap-1576	64	52	the	the	DET
ap-1576	64	53	mathematical	mathematical	ADJ
ap-1576	64	54	model	model	NOUN
ap-1576	64	55	.	.	PUNCT
ap-1576	65	1	an	an	DET
ap-1576	65	2	important	important	ADJ
ap-1576	65	3	objective	objective	NOUN
ap-1576	65	4	of	of	ADP
ap-1576	65	5	the	the	DET
ap-1576	65	6	research	research	NOUN
ap-1576	65	7	was	be	AUX
ap-1576	65	8	to	to	PART
ap-1576	65	9	study	study	VERB
ap-1576	65	10	the	the	DET
ap-1576	65	11	behavior	behavior	NOUN
ap-1576	65	12	of	of	ADP
ap-1576	65	13	the	the	DET
ap-1576	65	14	pid	pid	NOUN
ap-1576	65	15	controller	controller	NOUN
ap-1576	65	16	with	with	ADP
ap-1576	65	17	various	various	ADJ
ap-1576	65	18	control	control	NOUN
ap-1576	65	19	structures	structure	NOUN
ap-1576	65	20	.	.	PUNCT
ap-1576	66	1	the	the	DET
ap-1576	66	2	dynamic	dynamic	ADJ
ap-1576	66	3	behavior	behavior	NOUN
ap-1576	66	4	of	of	ADP
ap-1576	66	5	the	the	DET
ap-1576	66	6	control	control	NOUN
ap-1576	66	7	structure	structure	NOUN
ap-1576	66	8	was	be	AUX
ap-1576	66	9	investigated	investigate	VERB
ap-1576	66	10	by	by	ADP
ap-1576	66	11	recording	record	VERB
ap-1576	66	12	the	the	DET
ap-1576	66	13	signal	signal	ADJ
ap-1576	66	14	step	step	NOUN
ap-1576	66	15	response	response	NOUN
ap-1576	66	16	,	,	PUNCT
ap-1576	66	17	which	which	PRON
ap-1576	66	18	gives	give	VERB
ap-1576	66	19	the	the	DET
ap-1576	66	20	command	command	NOUN
ap-1576	66	21	for	for	ADP
ap-1576	66	22	pressure	pressure	NOUN
ap-1576	66	23	,	,	PUNCT
ap-1576	66	24	flow	flow	NOUN
ap-1576	66	25	and	and	CCONJ
ap-1576	66	26	power	power	NOUN
ap-1576	66	27	.	.	PUNCT
ap-1576	67	1	figures	figure	NOUN
ap-1576	67	2	6	6	NUM
ap-1576	67	3	to	to	PART
ap-1576	67	4	8	8	NUM
ap-1576	67	5	present	present	ADJ
ap-1576	67	6	in	in	ADP
ap-1576	67	7	graphical	graphical	ADJ
ap-1576	67	8	form	form	NOUN
ap-1576	67	9	the	the	DET
ap-1576	67	10	data	datum	NOUN
ap-1576	67	11	for	for	ADP
ap-1576	67	12	the	the	DET
ap-1576	67	13	set	set	NOUN
ap-1576	67	14	of	of	ADP
ap-1576	67	15	tests	test	NOUN
ap-1576	67	16	carried	carry	VERB
ap-1576	67	17	out	out	ADP
ap-1576	67	18	on	on	ADP
ap-1576	67	19	the	the	DET
ap-1576	67	20	stand	stand	NOUN
ap-1576	67	21	for	for	ADP
ap-1576	67	22	the	the	DET
ap-1576	67	23	three	three	NUM
ap-1576	67	24	major	major	ADJ
ap-1576	67	25	types	type	NOUN
ap-1576	67	26	of	of	ADP
ap-1576	67	27	control	control	NOUN
ap-1576	67	28	.	.	PUNCT
ap-1576	68	1	figure	figure	VERB
ap-1576	68	2	6	6	NUM
ap-1576	68	3	:	:	PUNCT
ap-1576	68	4	system	system	NOUN
ap-1576	68	5	response	response	NOUN
ap-1576	68	6	to	to	ADP
ap-1576	68	7	a	a	DET
ap-1576	68	8	pressure	pressure	NOUN
ap-1576	68	9	command	command	NOUN
ap-1576	68	10	of	of	ADP
ap-1576	68	11	80	80	NUM
ap-1576	68	12	bar	bar	NOUN
ap-1576	68	13	,	,	PUNCT
ap-1576	68	14	and	and	CCONJ
ap-1576	68	15	20	20	NUM
ap-1576	68	16	bar	bar	NOUN
ap-1576	68	17	figure	figure	NOUN
ap-1576	68	18	7	7	NUM
ap-1576	68	19	:	:	PUNCT
ap-1576	68	20	system	system	NOUN
ap-1576	68	21	response	response	NOUN
ap-1576	68	22	to	to	ADP
ap-1576	68	23	a	a	DET
ap-1576	68	24	flow	flow	NOUN
ap-1576	68	25	command	command	NOUN
ap-1576	68	26	of	of	ADP
ap-1576	68	27	28	28	NUM
ap-1576	68	28	bar	bar	NOUN
ap-1576	68	29	and	and	CCONJ
ap-1576	68	30	12	12	NUM
ap-1576	68	31	lpm	lpm	NOUN
ap-1576	68	32	figure	figure	NOUN
ap-1576	68	33	8	8	NUM
ap-1576	68	34	:	:	PUNCT
ap-1576	68	35	system	system	NOUN
ap-1576	68	36	response	response	NOUN
ap-1576	68	37	to	to	ADP
ap-1576	68	38	a	a	DET
ap-1576	68	39	power	power	NOUN
ap-1576	68	40	command	command	NOUN
ap-1576	68	41	of	of	ADP
ap-1576	68	42	3	3	NUM
ap-1576	68	43	kw	kw	NOUN
ap-1576	68	44	and	and	CCONJ
ap-1576	68	45	0.1	0.1	NUM
ap-1576	68	46	kw	kw	PROPN
ap-1576	68	47	19	19	NUM
ap-1576	68	48	acta	acta	PROPN
ap-1576	68	49	polytechnica	polytechnica	PROPN
ap-1576	68	50	vol	vol	NOUN
ap-1576	68	51	.	.	PROPN
ap-1576	69	1	52	52	NUM
ap-1576	69	2	no	no	NOUN
ap-1576	69	3	.	.	PUNCT
ap-1576	70	1	4/2012	4/2012	NUM
ap-1576	70	2	the	the	DET
ap-1576	70	3	dynamical	dynamical	ADJ
ap-1576	70	4	behavior	behavior	NOUN
ap-1576	70	5	of	of	ADP
ap-1576	70	6	the	the	DET
ap-1576	70	7	system	system	NOUN
ap-1576	70	8	is	be	AUX
ap-1576	70	9	evaluated	evaluate	VERB
ap-1576	70	10	from	from	ADP
ap-1576	70	11	the	the	DET
ap-1576	70	12	time	time	NOUN
ap-1576	70	13	diagrams	diagram	NOUN
ap-1576	70	14	(	(	PUNCT
ap-1576	70	15	simulated	simulated	ADJ
ap-1576	70	16	and	and	CCONJ
ap-1576	70	17	real	real	ADJ
ap-1576	70	18	diagrams	diagram	NOUN
ap-1576	70	19	)	)	PUNCT
ap-1576	70	20	,	,	PUNCT
ap-1576	70	21	taking	take	VERB
ap-1576	70	22	into	into	ADP
ap-1576	70	23	account	account	NOUN
ap-1576	70	24	the	the	DET
ap-1576	70	25	following	follow	VERB
ap-1576	70	26	:	:	PUNCT
ap-1576	70	27	•	•	NUM
ap-1576	70	28	stability	stability	NOUN
ap-1576	70	29	:	:	PUNCT
ap-1576	70	30	the	the	DET
ap-1576	70	31	model	model	NOUN
ap-1576	70	32	and	and	CCONJ
ap-1576	70	33	the	the	DET
ap-1576	70	34	real	real	ADJ
ap-1576	70	35	system	system	NOUN
ap-1576	70	36	are	be	AUX
ap-1576	70	37	well	well	ADV
ap-1576	70	38	damped	damp	VERB
ap-1576	70	39	.	.	PUNCT
ap-1576	71	1	•	•	NUM
ap-1576	71	2	rapidity	rapidity	NOUN
ap-1576	71	3	:	:	PUNCT
ap-1576	71	4	response	response	NOUN
ap-1576	71	5	time	time	NOUN
ap-1576	71	6	:	:	PUNCT
ap-1576	71	7	0.2	0.2	NUM
ap-1576	71	8	seconds	second	NOUN
ap-1576	71	9	for	for	ADP
ap-1576	71	10	the	the	DET
ap-1576	71	11	model	model	NOUN
ap-1576	71	12	and	and	CCONJ
ap-1576	71	13	0.4	0.4	NUM
ap-1576	71	14	seconds	second	NOUN
ap-1576	71	15	for	for	ADP
ap-1576	71	16	the	the	DET
ap-1576	71	17	real	real	ADJ
ap-1576	71	18	system	system	NOUN
ap-1576	71	19	,	,	PUNCT
ap-1576	71	20	difference	difference	NOUN
ap-1576	71	21	is	be	AUX
ap-1576	71	22	caused	cause	VERB
ap-1576	71	23	by	by	ADP
ap-1576	71	24	the	the	DET
ap-1576	71	25	uncertainty	uncertainty	NOUN
ap-1576	71	26	factors	factor	NOUN
ap-1576	71	27	that	that	PRON
ap-1576	71	28	are	be	AUX
ap-1576	71	29	approximated	approximate	VERB
ap-1576	71	30	in	in	ADP
ap-1576	71	31	the	the	DET
ap-1576	71	32	mathematical	mathematical	ADJ
ap-1576	71	33	model	model	NOUN
ap-1576	71	34	.	.	PUNCT
ap-1576	72	1	•	•	NUM
ap-1576	72	2	precision	precision	NOUN
ap-1576	72	3	:	:	PUNCT
ap-1576	72	4	stationary	stationary	ADJ
ap-1576	72	5	error	error	NOUN
ap-1576	72	6	below	below	ADP
ap-1576	72	7	2	2	NUM
ap-1576	72	8	%	%	NOUN
ap-1576	72	9	.	.	PUNCT
ap-1576	73	1	the	the	DET
ap-1576	73	2	control	control	NOUN
ap-1576	73	3	system	system	NOUN
ap-1576	73	4	has	have	VERB
ap-1576	73	5	satisfactory	satisfactory	ADJ
ap-1576	73	6	behavioral	behavioral	ADJ
ap-1576	73	7	skills	skill	NOUN
ap-1576	73	8	for	for	ADP
ap-1576	73	9	any	any	DET
ap-1576	73	10	adjustment	adjustment	NOUN
ap-1576	73	11	structure	structure	NOUN
ap-1576	73	12	.	.	PUNCT
ap-1576	74	1	5	5	NUM
ap-1576	74	2	conclusions	conclusion	NOUN
ap-1576	74	3	an	an	DET
ap-1576	74	4	analysis	analysis	NOUN
ap-1576	74	5	of	of	ADP
ap-1576	74	6	the	the	DET
ap-1576	74	7	results	result	NOUN
ap-1576	74	8	indicates	indicate	VERB
ap-1576	74	9	that	that	SCONJ
ap-1576	74	10	that	that	SCONJ
ap-1576	74	11	there	there	PRON
ap-1576	74	12	are	be	VERB
ap-1576	74	13	no	no	DET
ap-1576	74	14	significant	significant	ADJ
ap-1576	74	15	differences	difference	NOUN
ap-1576	74	16	between	between	ADP
ap-1576	74	17	the	the	DET
ap-1576	74	18	mathematical	mathematical	ADJ
ap-1576	74	19	model	model	NOUN
ap-1576	74	20	and	and	CCONJ
ap-1576	74	21	the	the	DET
ap-1576	74	22	real	real	ADJ
ap-1576	74	23	system	system	NOUN
ap-1576	74	24	,	,	PUNCT
ap-1576	74	25	so	so	CCONJ
ap-1576	74	26	the	the	DET
ap-1576	74	27	model	model	NOUN
ap-1576	74	28	can	can	AUX
ap-1576	74	29	be	be	AUX
ap-1576	74	30	used	use	VERB
ap-1576	74	31	for	for	ADP
ap-1576	74	32	developing	develop	VERB
ap-1576	74	33	new	new	ADJ
ap-1576	74	34	hydraulic	hydraulic	ADJ
ap-1576	74	35	machines	machine	NOUN
ap-1576	74	36	equipped	equip	VERB
ap-1576	74	37	with	with	ADP
ap-1576	74	38	this	this	DET
ap-1576	74	39	kind	kind	NOUN
ap-1576	74	40	of	of	ADP
ap-1576	74	41	command	command	NOUN
ap-1576	74	42	and	and	CCONJ
ap-1576	74	43	control	control	NOUN
ap-1576	74	44	system	system	NOUN
ap-1576	74	45	,	,	PUNCT
ap-1576	74	46	which	which	PRON
ap-1576	74	47	offers	offer	VERB
ap-1576	74	48	the	the	DET
ap-1576	74	49	following	following	ADJ
ap-1576	74	50	advantages	advantage	NOUN
ap-1576	74	51	:	:	PUNCT
ap-1576	74	52	reduced	reduce	VERB
ap-1576	74	53	complexity	complexity	NOUN
ap-1576	74	54	for	for	ADP
ap-1576	74	55	the	the	DET
ap-1576	74	56	circuit	circuit	NOUN
ap-1576	74	57	construction	construction	NOUN
ap-1576	74	58	of	of	ADP
ap-1576	74	59	the	the	DET
ap-1576	74	60	control	control	NOUN
ap-1576	74	61	;	;	PUNCT
ap-1576	74	62	it	it	PRON
ap-1576	74	63	does	do	AUX
ap-1576	74	64	not	not	PART
ap-1576	74	65	involve	involve	VERB
ap-1576	74	66	the	the	DET
ap-1576	74	67	use	use	NOUN
ap-1576	74	68	of	of	ADP
ap-1576	74	69	special	special	ADJ
ap-1576	74	70	expensive	expensive	ADJ
ap-1576	74	71	equipment	equipment	NOUN
ap-1576	74	72	;	;	PUNCT
ap-1576	74	73	the	the	DET
ap-1576	74	74	mechanical	mechanical	ADJ
ap-1576	74	75	structure	structure	NOUN
ap-1576	74	76	of	of	ADP
ap-1576	74	77	the	the	DET
ap-1576	74	78	pump	pump	NOUN
ap-1576	74	79	is	be	AUX
ap-1576	74	80	not	not	PART
ap-1576	74	81	affected	affect	VERB
ap-1576	74	82	when	when	SCONJ
ap-1576	74	83	another	another	DET
ap-1576	74	84	hydraulic	hydraulic	ADJ
ap-1576	74	85	parameter	parameter	NOUN
ap-1576	74	86	needs	need	VERB
ap-1576	74	87	to	to	PART
ap-1576	74	88	be	be	AUX
ap-1576	74	89	controlled	control	VERB
ap-1576	74	90	;	;	PUNCT
ap-1576	74	91	the	the	DET
ap-1576	74	92	control	control	NOUN
ap-1576	74	93	scheme	scheme	NOUN
ap-1576	74	94	is	be	AUX
ap-1576	74	95	integrated	integrate	VERB
ap-1576	74	96	with	with	ADP
ap-1576	74	97	the	the	DET
ap-1576	74	98	piloting	piloting	ADJ
ap-1576	74	99	and	and	CCONJ
ap-1576	74	100	tracking	tracking	NOUN
ap-1576	74	101	mechanism	mechanism	NOUN
ap-1576	74	102	into	into	ADP
ap-1576	74	103	a	a	DET
ap-1576	74	104	compact	compact	ADJ
ap-1576	74	105	smallsize	smallsize	NOUN
ap-1576	74	106	system	system	NOUN
ap-1576	74	107	.	.	PUNCT
ap-1576	75	1	it	it	PRON
ap-1576	75	2	has	have	AUX
ap-1576	75	3	been	be	AUX
ap-1576	75	4	shown	show	VERB
ap-1576	75	5	that	that	SCONJ
ap-1576	75	6	,	,	PUNCT
ap-1576	75	7	unlike	unlike	ADP
ap-1576	75	8	when	when	SCONJ
ap-1576	75	9	using	use	VERB
ap-1576	75	10	conventional	conventional	ADJ
ap-1576	75	11	techniques	technique	NOUN
ap-1576	75	12	,	,	PUNCT
ap-1576	75	13	the	the	DET
ap-1576	75	14	three	three	NUM
ap-1576	75	15	important	important	ADJ
ap-1576	75	16	hydraulic	hydraulic	ADJ
ap-1576	75	17	parameters	parameter	NOUN
ap-1576	75	18	can	can	AUX
ap-1576	75	19	be	be	AUX
ap-1576	75	20	adjusted	adjust	VERB
ap-1576	75	21	with	with	ADP
ap-1576	75	22	the	the	DET
ap-1576	75	23	same	same	ADJ
ap-1576	75	24	pump	pump	NOUN
ap-1576	75	25	,	,	PUNCT
ap-1576	75	26	the	the	DET
ap-1576	75	27	same	same	ADJ
ap-1576	75	28	controller	controller	NOUN
ap-1576	75	29	and	and	CCONJ
ap-1576	75	30	only	only	ADV
ap-1576	75	31	two	two	NUM
ap-1576	75	32	pressure	pressure	NOUN
ap-1576	75	33	sensors	sensor	NOUN
ap-1576	75	34	by	by	ADP
ap-1576	75	35	simple	simple	ADJ
ap-1576	75	36	electrical	electrical	ADJ
ap-1576	75	37	switching	switching	NOUN
ap-1576	75	38	.	.	PUNCT
ap-1576	76	1	axial	axial	ADJ
ap-1576	76	2	piston	piston	NOUN
ap-1576	76	3	machines	machine	NOUN
ap-1576	76	4	with	with	ADP
ap-1576	76	5	variable	variable	ADJ
ap-1576	76	6	displacement	displacement	NOUN
ap-1576	76	7	and	and	CCONJ
ap-1576	76	8	an	an	DET
ap-1576	76	9	electro	electro	ADJ
ap-1576	76	10	-	-	PUNCT
ap-1576	76	11	hydraulic	hydraulic	NOUN
ap-1576	76	12	control	control	NOUN
ap-1576	76	13	system	system	NOUN
ap-1576	76	14	allow	allow	VERB
ap-1576	76	15	complete	complete	ADJ
ap-1576	76	16	automation	automation	NOUN
ap-1576	76	17	,	,	PUNCT
ap-1576	76	18	compatible	compatible	ADJ
ap-1576	76	19	with	with	ADP
ap-1576	76	20	the	the	DET
ap-1576	76	21	operating	operating	NOUN
ap-1576	76	22	cyclograms	cyclogram	NOUN
ap-1576	76	23	of	of	ADP
ap-1576	76	24	complex	complex	ADJ
ap-1576	76	25	equipment	equipment	NOUN
ap-1576	76	26	,	,	PUNCT
ap-1576	76	27	by	by	ADP
ap-1576	76	28	interfacing	interface	VERB
ap-1576	76	29	with	with	ADP
ap-1576	76	30	a	a	DET
ap-1576	76	31	plc	plc	NOUN
ap-1576	76	32	or	or	CCONJ
ap-1576	76	33	a	a	DET
ap-1576	76	34	process	process	NOUN
ap-1576	76	35	computer	computer	NOUN
ap-1576	76	36	.	.	PUNCT
ap-1576	77	1	references	reference	NOUN
ap-1576	77	2	[	[	X
ap-1576	77	3	1	1	NUM
ap-1576	77	4	]	]	PUNCT
ap-1576	77	5	banyai	banyai	NOUN
ap-1576	77	6	,	,	PUNCT
ap-1576	77	7	d.	d.	PROPN
ap-1576	77	8	,	,	PUNCT
ap-1576	77	9	vaida	vaida	PROPN
ap-1576	77	10	,	,	PUNCT
ap-1576	77	11	l.	l.	PROPN
ap-1576	77	12	:	:	PUNCT
ap-1576	77	13	electro	electro	ADJ
ap-1576	77	14	-	-	PUNCT
ap-1576	77	15	hydraulic	hydraulic	NOUN
ap-1576	77	16	control	control	NOUN
ap-1576	77	17	system	system	NOUN
ap-1576	77	18	for	for	ADP
ap-1576	77	19	variable	variable	ADJ
ap-1576	77	20	displacement	displacement	ADJ
ap-1576	77	21	machines	machine	NOUN
ap-1576	77	22	,	,	PUNCT
ap-1576	77	23	12th	12th	ADJ
ap-1576	77	24	international	international	ADJ
ap-1576	77	25	conference	conference	NOUN
ap-1576	77	26	on	on	ADP
ap-1576	77	27	automation	automation	NOUN
ap-1576	77	28	in	in	ADP
ap-1576	77	29	production	production	NOUN
ap-1576	77	30	planning	planning	NOUN
ap-1576	77	31	and	and	CCONJ
ap-1576	77	32	manufacturing	manufacturing	NOUN
ap-1576	77	33	,	,	PUNCT
ap-1576	77	34	p.	p.	NOUN
ap-1576	77	35	50–58	50–58	NUM
ap-1576	77	36	,	,	PUNCT
ap-1576	77	37	zilina	zilina	PROPN
ap-1576	77	38	,	,	PUNCT
ap-1576	77	39	slovakia	slovakia	PROPN
ap-1576	77	40	,	,	PUNCT
ap-1576	77	41	2011	2011	NUM
ap-1576	77	42	.	.	PUNCT
ap-1576	78	1	[	[	X
ap-1576	78	2	2	2	NUM
ap-1576	78	3	]	]	PUNCT
ap-1576	78	4	banyai	banyai	NOUN
ap-1576	78	5	,	,	PUNCT
ap-1576	78	6	d.	d.	PROPN
ap-1576	78	7	:	:	PUNCT
ap-1576	78	8	new	new	ADJ
ap-1576	78	9	methods	method	NOUN
ap-1576	78	10	in	in	ADP
ap-1576	78	11	synthesis	synthesis	NOUN
ap-1576	78	12	of	of	ADP
ap-1576	78	13	hydraulic	hydraulic	ADJ
ap-1576	78	14	machines	machine	NOUN
ap-1576	78	15	with	with	ADP
ap-1576	78	16	variable	variable	ADJ
ap-1576	78	17	displacement	displacement	NOUN
ap-1576	78	18	and	and	CCONJ
ap-1576	78	19	electro	electro	ADJ
ap-1576	78	20	-	-	PUNCT
ap-1576	78	21	hydraulic	hydraulic	NOUN
ap-1576	78	22	adjustment	adjustment	NOUN
ap-1576	78	23	,	,	PUNCT
ap-1576	78	24	phd	phd	NOUN
ap-1576	78	25	thesis	thesis	NOUN
ap-1576	78	26	,	,	PUNCT
ap-1576	78	27	technical	technical	ADJ
ap-1576	78	28	university	university	PROPN
ap-1576	78	29	of	of	ADP
ap-1576	78	30	cluj	cluj	PROPN
ap-1576	78	31	-	-	PUNCT
ap-1576	78	32	napoca	napoca	PROPN
ap-1576	78	33	,	,	PUNCT
ap-1576	78	34	romania	romania	PROPN
ap-1576	78	35	,	,	PUNCT
ap-1576	78	36	2011	2011	NUM
ap-1576	78	37	.	.	PUNCT
ap-1576	79	1	[	[	X
ap-1576	79	2	3	3	X
ap-1576	79	3	]	]	PUNCT
ap-1576	79	4	he	he	PRON
ap-1576	79	5	,	,	PUNCT
ap-1576	79	6	q.	q.	PROPN
ap-1576	79	7	h.	h.	PROPN
ap-1576	79	8	,	,	PUNCT
ap-1576	79	9	hao	hao	PROPN
ap-1576	79	10	,	,	PUNCT
ap-1576	79	11	p.	p.	PROPN
ap-1576	79	12	,	,	PUNCT
ap-1576	79	13	zhang	zhang	PROPN
ap-1576	79	14	,	,	PUNCT
ap-1576	79	15	d.	d.	PROPN
ap-1576	79	16	,	,	PUNCT
ap-1576	79	17	zhang	zhang	PROPN
ap-1576	79	18	,	,	PUNCT
ap-1576	79	19	h.	h.	PROPN
ap-1576	79	20	t.	t.	PROPN
ap-1576	79	21	:	:	PUNCT
ap-1576	79	22	modeling	modeling	NOUN
ap-1576	79	23	and	and	CCONJ
ap-1576	79	24	control	control	NOUN
ap-1576	79	25	of	of	ADP
ap-1576	79	26	hydraulic	hydraulic	ADJ
ap-1576	79	27	excavator	excavator	NOUN
ap-1576	79	28	’s	’s	PART
ap-1576	79	29	arm	arm	NOUN
ap-1576	79	30	,	,	PUNCT
ap-1576	79	31	journal	journal	NOUN
ap-1576	79	32	of	of	ADP
ap-1576	79	33	central	central	PROPN
ap-1576	79	34	south	south	PROPN
ap-1576	79	35	university	university	PROPN
ap-1576	79	36	of	of	ADP
ap-1576	79	37	technology	technology	NOUN
ap-1576	79	38	,	,	PUNCT
ap-1576	79	39	vol	vol	NOUN
ap-1576	79	40	.	.	PROPN
ap-1576	79	41	13	13	NUM
ap-1576	79	42	,	,	PUNCT
ap-1576	79	43	no	no	INTJ
ap-1576	79	44	.	.	NOUN
ap-1576	79	45	4	4	NUM
ap-1576	79	46	,	,	PUNCT
ap-1576	79	47	2006	2006	NUM
ap-1576	79	48	,	,	PUNCT
ap-1576	79	49	p.	p.	NOUN
ap-1576	79	50	422–427	422–427	NUM
ap-1576	79	51	.	.	PUNCT
ap-1576	80	1	[	[	X
ap-1576	80	2	4	4	NUM
ap-1576	80	3	]	]	PUNCT
ap-1576	80	4	năşcuţiu	năşcuţiu	PROPN
ap-1576	80	5	,	,	PUNCT
ap-1576	80	6	l.	l.	PROPN
ap-1576	80	7	,	,	PUNCT
ap-1576	80	8	banyai	banyai	PROPN
ap-1576	80	9	,	,	PUNCT
ap-1576	80	10	d.	d.	PROPN
ap-1576	80	11	,	,	PUNCT
ap-1576	80	12	marcu	marcu	NOUN
ap-1576	80	13	,	,	PUNCT
ap-1576	80	14	i.	i.	PROPN
ap-1576	80	15	l	l	PROPN
ap-1576	80	16	:	:	PUNCT
ap-1576	80	17	control	control	NOUN
ap-1576	80	18	system	system	NOUN
ap-1576	80	19	for	for	ADP
ap-1576	80	20	hydraulic	hydraulic	ADJ
ap-1576	80	21	transmissions	transmission	NOUN
ap-1576	80	22	specific	specific	ADJ
ap-1576	80	23	to	to	ADP
ap-1576	80	24	wind	wind	NOUN
ap-1576	80	25	machines	machine	NOUN
ap-1576	80	26	,	,	PUNCT
ap-1576	80	27	dtmm	dtmm	PROPN
ap-1576	80	28	2010	2010	NUM
ap-1576	80	29	,	,	PUNCT
ap-1576	80	30	buletinul	buletinul	NOUN
ap-1576	80	31	institutului	institutului	PROPN
ap-1576	80	32	politehnic	politehnic	PROPN
ap-1576	80	33	din	din	PROPN
ap-1576	80	34	iaşi	iaşi	PROPN
ap-1576	80	35	,	,	PUNCT
ap-1576	80	36	iaşi	iaşi	NOUN
ap-1576	80	37	,	,	PUNCT
ap-1576	80	38	romania	romania	PROPN
ap-1576	80	39	,	,	PUNCT
ap-1576	80	40	2010	2010	NUM
ap-1576	80	41	.	.	PUNCT
ap-1576	81	1	issn	issn	PROPN
ap-1576	81	2	1244–7863	1244–7863	NUM
ap-1576	81	3	.	.	PUNCT
ap-1576	82	1	[	[	X
ap-1576	82	2	5	5	NUM
ap-1576	82	3	]	]	PUNCT
ap-1576	82	4	năşcuţiu	năşcuţiu	PROPN
ap-1576	82	5	,	,	PUNCT
ap-1576	82	6	l.	l.	PROPN
ap-1576	82	7	,	,	PUNCT
ap-1576	82	8	banyai	banyai	PROPN
ap-1576	82	9	,	,	PUNCT
ap-1576	82	10	d.	d.	PROPN
ap-1576	82	11	,	,	PUNCT
ap-1576	82	12	opruţa	opruţa	PROPN
ap-1576	82	13	,	,	PUNCT
ap-1576	82	14	d.	d.	PROPN
ap-1576	82	15	:	:	PUNCT
ap-1576	82	16	measurement	measurement	NOUN
ap-1576	82	17	of	of	ADP
ap-1576	82	18	hydraulic	hydraulic	ADJ
ap-1576	82	19	parameters	parameter	NOUN
ap-1576	82	20	,	,	PUNCT
ap-1576	82	21	dtmm	dtmm	PROPN
ap-1576	82	22	2010	2010	NUM
ap-1576	82	23	,	,	PUNCT
ap-1576	82	24	buletinul	buletinul	NOUN
ap-1576	82	25	institutului	institutului	PROPN
ap-1576	82	26	politehnic	politehnic	PROPN
ap-1576	82	27	din	din	PROPN
ap-1576	82	28	iaşi	iaşi	PROPN
ap-1576	82	29	,	,	PUNCT
ap-1576	82	30	iaşi	iaşi	NOUN
ap-1576	82	31	,	,	PUNCT
ap-1576	82	32	romania	romania	PROPN
ap-1576	82	33	,	,	PUNCT
ap-1576	82	34	2010	2010	NUM
ap-1576	82	35	.	.	PUNCT
ap-1576	83	1	issn	issn	PROPN
ap-1576	83	2	1244–7863	1244–7863	NUM
ap-1576	83	3	.	.	PUNCT
ap-1576	84	1	[	[	X
ap-1576	84	2	6	6	NUM
ap-1576	84	3	]	]	X
ap-1576	84	4	opruta	opruta	PROPN
ap-1576	84	5	,	,	PUNCT
ap-1576	84	6	d.	d.	PROPN
ap-1576	84	7	,	,	PUNCT
ap-1576	84	8	vaida	vaida	PROPN
ap-1576	84	9	,	,	PUNCT
ap-1576	84	10	l.	l.	PROPN
ap-1576	84	11	:	:	PUNCT
ap-1576	84	12	dinamica	dinamica	PROPN
ap-1576	84	13	fluidelor	fluidelor	PROPN
ap-1576	84	14	,	,	PUNCT
ap-1576	84	15	ed	ed	PROPN
ap-1576	84	16	.	.	PUNCT
ap-1576	84	17	mediamira	mediamira	PROPN
ap-1576	84	18	,	,	PUNCT
ap-1576	84	19	cluj	cluj	NOUN
ap-1576	84	20	-	-	PUNCT
ap-1576	84	21	napoca	napoca	PROPN
ap-1576	84	22	,	,	PUNCT
ap-1576	84	23	romania	romania	PROPN
ap-1576	84	24	,	,	PUNCT
ap-1576	84	25	2004	2004	NUM
ap-1576	84	26	.	.	PUNCT
ap-1576	85	1	isbn	isbn	ADJ
ap-1576	85	2	973	973	NUM
ap-1576	85	3	-	-	PUNCT
ap-1576	85	4	713	713	NUM
ap-1576	85	5	-	-	PUNCT
ap-1576	85	6	044	044	NUM
ap-1576	85	7	-	-	SYM
ap-1576	85	8	8	8	NUM
ap-1576	85	9	.	.	PUNCT
ap-1576	86	1	[	[	X
ap-1576	86	2	7	7	X
ap-1576	86	3	]	]	X
ap-1576	86	4	vaida	vaida	PROPN
ap-1576	86	5	,	,	PUNCT
ap-1576	86	6	l.	l.	PROPN
ap-1576	86	7	:	:	PUNCT
ap-1576	86	8	proportional	proportional	ADJ
ap-1576	86	9	control	control	NOUN
ap-1576	86	10	for	for	ADP
ap-1576	86	11	adjustable	adjustable	ADJ
ap-1576	86	12	pumps	pump	NOUN
ap-1576	86	13	.	.	PUNCT
ap-1576	87	1	phd	phd	NOUN
ap-1576	87	2	thesis	thesis	PROPN
ap-1576	87	3	,	,	PUNCT
ap-1576	87	4	technical	technical	ADJ
ap-1576	87	5	university	university	PROPN
ap-1576	87	6	of	of	ADP
ap-1576	87	7	cluj	cluj	PROPN
ap-1576	87	8	-	-	PUNCT
ap-1576	87	9	napoca	napoca	PROPN
ap-1576	87	10	,	,	PUNCT
ap-1576	87	11	romania	romania	PROPN
ap-1576	87	12	,	,	PUNCT
ap-1576	87	13	1999	1999	NUM
ap-1576	87	14	.	.	PUNCT
ap-1576	88	1	[	[	X
ap-1576	88	2	8	8	NUM
ap-1576	88	3	]	]	PUNCT
ap-1576	88	4	http://www.boschrexroth.com	http://www.boschrexroth.com	X
ap-1576	89	1	[	[	X
ap-1576	89	2	9	9	NUM
ap-1576	89	3	]	]	SYM
ap-1576	89	4	http://www.dspace.de	http://www.dspace.de	NOUN
ap-1576	90	1	[	[	X
ap-1576	90	2	10	10	NUM
ap-1576	90	3	]	]	PUNCT
ap-1576	90	4	http://www.hidraulica-ph.ro	http://www.hidraulica-ph.ro	NOUN
ap-1576	91	1	[	[	X
ap-1576	91	2	11	11	NUM
ap-1576	91	3	]	]	PUNCT
ap-1576	91	4	http://www.mathworks.com	http://www.mathworks.com	X
ap-1576	92	1	[	[	X
ap-1576	92	2	12	12	NUM
ap-1576	92	3	]	]	PUNCT
ap-1576	92	4	http://www.wika.com	http://www.wika.com	X
ap-1576	93	1	[	[	X
ap-1576	93	2	13	13	NUM
ap-1576	93	3	]	]	PUNCT
ap-1576	93	4	the	the	DET
ap-1576	93	5	control	control	NOUN
ap-1576	93	6	handbook	handbook	NOUN
ap-1576	93	7	,	,	PUNCT
ap-1576	93	8	crc	crc	NOUN
ap-1576	93	9	press	press	NOUN
ap-1576	93	10	catalog	catalog	NOUN
ap-1576	93	11	number	number	NOUN
ap-1576	93	12	8570	8570	NUM
ap-1576	93	13	,	,	PUNCT
ap-1576	93	14	1996	1996	NUM
ap-1576	93	15	.	.	PUNCT
ap-1576	94	1	isbn	isbn	ADJ
ap-1576	94	2	0	0	NUM
ap-1576	94	3	-	-	SYM
ap-1576	94	4	8493	8493	NUM
ap-1576	94	5	-	-	PUNCT
ap-1576	94	6	8375	8375	NUM
ap-1576	94	7	.	.	PUNCT
ap-1576	95	1	20	20	NUM