id	sid	tid	token	lemma	pos
ap-1618	1	1	ap-4-12.dvi	ap-4-12.dvi	PROPN
ap-1618	1	2	acta	acta	PROPN
ap-1618	1	3	polytechnica	polytechnica	PROPN
ap-1618	1	4	vol	vol	NOUN
ap-1618	1	5	.	.	PROPN
ap-1618	2	1	52	52	NUM
ap-1618	2	2	no	no	NOUN
ap-1618	2	3	.	.	PUNCT
ap-1618	3	1	4/2012	4/2012	NUM
ap-1618	3	2	an	an	DET
ap-1618	3	3	application	application	NOUN
ap-1618	3	4	of	of	ADP
ap-1618	3	5	the	the	DET
ap-1618	3	6	individual	individual	ADJ
ap-1618	3	7	channel	channel	NOUN
ap-1618	3	8	analysis	analysis	NOUN
ap-1618	3	9	and	and	CCONJ
ap-1618	3	10	design	design	NOUN
ap-1618	3	11	approach	approach	NOUN
ap-1618	3	12	to	to	ADP
ap-1618	3	13	control	control	NOUN
ap-1618	3	14	of	of	ADP
ap-1618	3	15	a	a	DET
ap-1618	3	16	two	two	NUM
ap-1618	3	17	-	-	PUNCT
ap-1618	3	18	input	input	NOUN
ap-1618	3	19	two	two	NUM
ap-1618	3	20	-	-	PUNCT
ap-1618	3	21	output	output	NOUN
ap-1618	3	22	coupled	couple	VERB
ap-1618	3	23	-	-	PUNCT
ap-1618	3	24	tanks	tank	NOUN
ap-1618	3	25	system	system	NOUN
ap-1618	3	26	david	david	PROPN
ap-1618	3	27	j.	j.	PROPN
ap-1618	3	28	murray	murray	PROPN
ap-1618	3	29	-	-	PUNCT
ap-1618	3	30	smith1	smith1	PROPN
ap-1618	4	1	1school	1school	NUM
ap-1618	4	2	of	of	ADP
ap-1618	4	3	engineering	engineering	PROPN
ap-1618	4	4	,	,	PUNCT
ap-1618	4	5	rankine	rankine	PROPN
ap-1618	4	6	building	building	PROPN
ap-1618	4	7	,	,	PUNCT
ap-1618	4	8	university	university	NOUN
ap-1618	4	9	of	of	ADP
ap-1618	4	10	glasow	glasow	PROPN
ap-1618	4	11	,	,	PUNCT
ap-1618	4	12	glasgow	glasgow	PROPN
ap-1618	4	13	g12	g12	PROPN
ap-1618	4	14	8at	8at	PROPN
ap-1618	4	15	,	,	PUNCT
ap-1618	4	16	scotland	scotland	PROPN
ap-1618	4	17	,	,	PUNCT
ap-1618	4	18	united	united	ADJ
ap-1618	4	19	kingdom	kingdom	PROPN
ap-1618	4	20	correspondence	correspondence	NOUN
ap-1618	4	21	to	to	AUX
ap-1618	4	22	:	:	PUNCT
ap-1618	4	23	david.murray-smith@glasgow.ac.uk	david.murray-smith@glasgow.ac.uk	VERB
ap-1618	4	24	abstract	abstract	ADJ
ap-1618	4	25	frequency	frequency	NOUN
ap-1618	4	26	-	-	PUNCT
ap-1618	4	27	domain	domain	NOUN
ap-1618	4	28	methods	method	NOUN
ap-1618	4	29	have	have	AUX
ap-1618	4	30	provided	provide	VERB
ap-1618	4	31	an	an	DET
ap-1618	4	32	established	establish	VERB
ap-1618	4	33	approach	approach	NOUN
ap-1618	4	34	to	to	ADP
ap-1618	4	35	the	the	DET
ap-1618	4	36	analysis	analysis	NOUN
ap-1618	4	37	and	and	CCONJ
ap-1618	4	38	design	design	NOUN
ap-1618	4	39	of	of	ADP
ap-1618	4	40	single	single	ADJ
ap-1618	4	41	-	-	PUNCT
ap-1618	4	42	loop	loop	NOUN
ap-1618	4	43	feedback	feedback	NOUN
ap-1618	4	44	control	control	NOUN
ap-1618	4	45	systems	system	NOUN
ap-1618	4	46	in	in	ADP
ap-1618	4	47	many	many	ADJ
ap-1618	4	48	application	application	NOUN
ap-1618	4	49	areas	area	NOUN
ap-1618	4	50	for	for	ADP
ap-1618	4	51	many	many	ADJ
ap-1618	4	52	years	year	NOUN
ap-1618	4	53	.	.	PUNCT
ap-1618	5	1	individual	individual	ADJ
ap-1618	5	2	channel	channel	NOUN
ap-1618	5	3	analysis	analysis	NOUN
ap-1618	5	4	and	and	CCONJ
ap-1618	5	5	design	design	NOUN
ap-1618	5	6	(	(	PUNCT
ap-1618	5	7	icad	icad	PROPN
ap-1618	5	8	)	)	PUNCT
ap-1618	5	9	is	be	AUX
ap-1618	5	10	a	a	DET
ap-1618	5	11	more	more	ADV
ap-1618	5	12	recent	recent	ADJ
ap-1618	5	13	development	development	NOUN
ap-1618	5	14	that	that	PRON
ap-1618	5	15	allows	allow	VERB
ap-1618	5	16	neo	neo	NOUN
ap-1618	5	17	-	-	ADJ
ap-1618	5	18	classical	classical	ADJ
ap-1618	5	19	frequency	frequency	NOUN
ap-1618	5	20	-	-	PUNCT
ap-1618	5	21	domain	domain	NOUN
ap-1618	5	22	analysis	analysis	NOUN
ap-1618	5	23	and	and	CCONJ
ap-1618	5	24	design	design	NOUN
ap-1618	5	25	methods	method	NOUN
ap-1618	5	26	to	to	PART
ap-1618	5	27	be	be	AUX
ap-1618	5	28	applied	apply	VERB
ap-1618	5	29	to	to	ADP
ap-1618	5	30	multi	multi	ADJ
ap-1618	5	31	-	-	ADJ
ap-1618	5	32	input	input	ADJ
ap-1618	5	33	multi	multi	ADJ
ap-1618	5	34	-	-	ADJ
ap-1618	5	35	output	output	ADJ
ap-1618	5	36	control	control	NOUN
ap-1618	5	37	problems	problem	NOUN
ap-1618	5	38	.	.	PUNCT
ap-1618	6	1	this	this	DET
ap-1618	6	2	paper	paper	NOUN
ap-1618	6	3	provides	provide	VERB
ap-1618	6	4	a	a	DET
ap-1618	6	5	case	case	NOUN
ap-1618	6	6	study	study	NOUN
ap-1618	6	7	illustrating	illustrate	VERB
ap-1618	6	8	the	the	DET
ap-1618	6	9	use	use	NOUN
ap-1618	6	10	of	of	ADP
ap-1618	6	11	the	the	DET
ap-1618	6	12	icad	icad	PROPN
ap-1618	6	13	methodology	methodology	NOUN
ap-1618	6	14	for	for	ADP
ap-1618	6	15	an	an	DET
ap-1618	6	16	application	application	NOUN
ap-1618	6	17	involving	involve	VERB
ap-1618	6	18	liquid	liquid	ADJ
ap-1618	6	19	-	-	PUNCT
ap-1618	6	20	level	level	NOUN
ap-1618	6	21	control	control	NOUN
ap-1618	6	22	for	for	ADP
ap-1618	6	23	a	a	DET
ap-1618	6	24	system	system	NOUN
ap-1618	6	25	based	base	VERB
ap-1618	6	26	on	on	ADP
ap-1618	6	27	two	two	NUM
ap-1618	6	28	coupled	couple	VERB
ap-1618	6	29	tanks	tank	NOUN
ap-1618	6	30	.	.	PUNCT
ap-1618	7	1	the	the	DET
ap-1618	7	2	complete	complete	ADJ
ap-1618	7	3	nonlinear	nonlinear	ADJ
ap-1618	7	4	dynamic	dynamic	ADJ
ap-1618	7	5	model	model	NOUN
ap-1618	7	6	of	of	ADP
ap-1618	7	7	the	the	DET
ap-1618	7	8	plant	plant	NOUN
ap-1618	7	9	is	be	AUX
ap-1618	7	10	presented	present	VERB
ap-1618	7	11	for	for	ADP
ap-1618	7	12	a	a	DET
ap-1618	7	13	case	case	NOUN
ap-1618	7	14	involving	involve	VERB
ap-1618	7	15	two	two	NUM
ap-1618	7	16	input	input	NOUN
ap-1618	7	17	flows	flow	NOUN
ap-1618	7	18	of	of	ADP
ap-1618	7	19	liquid	liquid	NOUN
ap-1618	7	20	and	and	CCONJ
ap-1618	7	21	two	two	NUM
ap-1618	7	22	output	output	NOUN
ap-1618	7	23	variables	variable	NOUN
ap-1618	7	24	,	,	PUNCT
ap-1618	7	25	which	which	PRON
ap-1618	7	26	are	be	AUX
ap-1618	7	27	the	the	DET
ap-1618	7	28	depths	depth	NOUN
ap-1618	7	29	of	of	ADP
ap-1618	7	30	liquid	liquid	NOUN
ap-1618	7	31	in	in	ADP
ap-1618	7	32	the	the	DET
ap-1618	7	33	two	two	NUM
ap-1618	7	34	tanks	tank	NOUN
ap-1618	7	35	.	.	PUNCT
ap-1618	8	1	linear	linear	ADJ
ap-1618	8	2	continuous	continuous	ADJ
ap-1618	8	3	proportional	proportional	ADJ
ap-1618	8	4	plus	plus	CCONJ
ap-1618	8	5	integral	integral	ADJ
ap-1618	8	6	controllers	controller	NOUN
ap-1618	8	7	are	be	AUX
ap-1618	8	8	designed	design	VERB
ap-1618	8	9	on	on	ADP
ap-1618	8	10	the	the	DET
ap-1618	8	11	basis	basis	NOUN
ap-1618	8	12	of	of	ADP
ap-1618	8	13	linearised	linearise	VERB
ap-1618	8	14	plant	plant	NOUN
ap-1618	8	15	models	model	NOUN
ap-1618	8	16	to	to	PART
ap-1618	8	17	meet	meet	VERB
ap-1618	8	18	a	a	DET
ap-1618	8	19	given	give	VERB
ap-1618	8	20	set	set	NOUN
ap-1618	8	21	of	of	ADP
ap-1618	8	22	performance	performance	NOUN
ap-1618	8	23	specifications	specification	NOUN
ap-1618	8	24	for	for	ADP
ap-1618	8	25	this	this	DET
ap-1618	8	26	two	two	NUM
ap-1618	8	27	-	-	PUNCT
ap-1618	8	28	input	input	NOUN
ap-1618	8	29	two	two	NUM
ap-1618	8	30	-	-	PUNCT
ap-1618	8	31	output	output	NOUN
ap-1618	8	32	multivariable	multivariable	ADJ
ap-1618	8	33	control	control	NOUN
ap-1618	8	34	system	system	NOUN
ap-1618	8	35	and	and	CCONJ
ap-1618	8	36	a	a	DET
ap-1618	8	37	computer	computer	NOUN
ap-1618	8	38	simulation	simulation	NOUN
ap-1618	8	39	of	of	ADP
ap-1618	8	40	the	the	DET
ap-1618	8	41	nonlinear	nonlinear	ADJ
ap-1618	8	42	model	model	NOUN
ap-1618	8	43	and	and	CCONJ
ap-1618	8	44	the	the	DET
ap-1618	8	45	controllers	controller	NOUN
ap-1618	8	46	is	be	AUX
ap-1618	8	47	then	then	ADV
ap-1618	8	48	used	use	VERB
ap-1618	8	49	to	to	PART
ap-1618	8	50	demonstrate	demonstrate	VERB
ap-1618	8	51	that	that	SCONJ
ap-1618	8	52	the	the	DET
ap-1618	8	53	overall	overall	ADJ
ap-1618	8	54	closed	closed	ADJ
ap-1618	8	55	-	-	PUNCT
ap-1618	8	56	loop	loop	NOUN
ap-1618	8	57	performance	performance	NOUN
ap-1618	8	58	meets	meet	VERB
ap-1618	8	59	the	the	DET
ap-1618	8	60	given	give	VERB
ap-1618	8	61	requirements	requirement	NOUN
ap-1618	8	62	.	.	PUNCT
ap-1618	9	1	the	the	DET
ap-1618	9	2	resulting	result	VERB
ap-1618	9	3	system	system	NOUN
ap-1618	9	4	has	have	AUX
ap-1618	9	5	been	be	AUX
ap-1618	9	6	implemented	implement	VERB
ap-1618	9	7	in	in	ADP
ap-1618	9	8	hardware	hardware	NOUN
ap-1618	9	9	and	and	CCONJ
ap-1618	9	10	the	the	DET
ap-1618	9	11	paper	paper	NOUN
ap-1618	9	12	includes	include	VERB
ap-1618	9	13	experimental	experimental	ADJ
ap-1618	9	14	results	result	NOUN
ap-1618	9	15	which	which	PRON
ap-1618	9	16	demonstrate	demonstrate	VERB
ap-1618	9	17	good	good	ADJ
ap-1618	9	18	agreement	agreement	NOUN
ap-1618	9	19	with	with	ADP
ap-1618	9	20	simulation	simulation	NOUN
ap-1618	9	21	predictions	prediction	NOUN
ap-1618	9	22	.	.	PUNCT
ap-1618	10	1	the	the	DET
ap-1618	10	2	performance	performance	NOUN
ap-1618	10	3	is	be	AUX
ap-1618	10	4	satisfactory	satisfactory	ADJ
ap-1618	10	5	in	in	ADP
ap-1618	10	6	terms	term	NOUN
ap-1618	10	7	of	of	ADP
ap-1618	10	8	steady	steady	ADJ
ap-1618	10	9	-	-	PUNCT
ap-1618	10	10	state	state	NOUN
ap-1618	10	11	behaviour	behaviour	NOUN
ap-1618	10	12	,	,	PUNCT
ap-1618	10	13	transient	transient	ADJ
ap-1618	10	14	responses	response	NOUN
ap-1618	10	15	,	,	PUNCT
ap-1618	10	16	interaction	interaction	NOUN
ap-1618	10	17	between	between	ADP
ap-1618	10	18	the	the	DET
ap-1618	10	19	controlled	control	VERB
ap-1618	10	20	variables	variable	NOUN
ap-1618	10	21	,	,	PUNCT
ap-1618	10	22	disturbance	disturbance	NOUN
ap-1618	10	23	rejection	rejection	NOUN
ap-1618	10	24	and	and	CCONJ
ap-1618	10	25	robustness	robustness	NOUN
ap-1618	10	26	to	to	ADP
ap-1618	10	27	changes	change	NOUN
ap-1618	10	28	within	within	ADP
ap-1618	10	29	the	the	DET
ap-1618	10	30	plant	plant	NOUN
ap-1618	10	31	.	.	PUNCT
ap-1618	11	1	further	further	ADJ
ap-1618	11	2	simulation	simulation	NOUN
ap-1618	11	3	results	result	NOUN
ap-1618	11	4	,	,	PUNCT
ap-1618	11	5	some	some	PRON
ap-1618	11	6	of	of	ADP
ap-1618	11	7	which	which	PRON
ap-1618	11	8	involve	involve	VERB
ap-1618	11	9	investigations	investigation	NOUN
ap-1618	11	10	that	that	PRON
ap-1618	11	11	could	could	AUX
ap-1618	11	12	not	not	PART
ap-1618	11	13	be	be	AUX
ap-1618	11	14	carried	carry	VERB
ap-1618	11	15	out	out	ADP
ap-1618	11	16	in	in	ADP
ap-1618	11	17	a	a	DET
ap-1618	11	18	readily	readily	ADV
ap-1618	11	19	repeatable	repeatable	ADJ
ap-1618	11	20	fashion	fashion	NOUN
ap-1618	11	21	by	by	ADP
ap-1618	11	22	experimental	experimental	ADJ
ap-1618	11	23	testing	testing	NOUN
ap-1618	11	24	,	,	PUNCT
ap-1618	11	25	give	give	VERB
ap-1618	11	26	support	support	NOUN
ap-1618	11	27	to	to	ADP
ap-1618	11	28	the	the	DET
ap-1618	11	29	conclusion	conclusion	NOUN
ap-1618	11	30	that	that	SCONJ
ap-1618	11	31	this	this	DET
ap-1618	11	32	neo	neo	ADJ
ap-1618	11	33	-	-	ADJ
ap-1618	11	34	classical	classical	ADJ
ap-1618	11	35	icad	icad	NOUN
ap-1618	11	36	framework	framework	NOUN
ap-1618	11	37	can	can	AUX
ap-1618	11	38	provide	provide	VERB
ap-1618	11	39	additional	additional	ADJ
ap-1618	11	40	insight	insight	NOUN
ap-1618	11	41	within	within	ADP
ap-1618	11	42	the	the	DET
ap-1618	11	43	analysis	analysis	NOUN
ap-1618	11	44	and	and	CCONJ
ap-1618	11	45	design	design	NOUN
ap-1618	11	46	processes	process	NOUN
ap-1618	11	47	for	for	ADP
ap-1618	11	48	multi	multi	ADJ
ap-1618	11	49	-	-	ADJ
ap-1618	11	50	input	input	ADJ
ap-1618	11	51	multi	multi	ADJ
ap-1618	11	52	-	-	ADJ
ap-1618	11	53	output	output	ADJ
ap-1618	11	54	feedback	feedback	NOUN
ap-1618	11	55	control	control	NOUN
ap-1618	11	56	systems	system	NOUN
ap-1618	11	57	.	.	PUNCT
ap-1618	12	1	keywords	keyword	NOUN
ap-1618	12	2	:	:	PUNCT
ap-1618	12	3	multivariable	multivariable	ADJ
ap-1618	12	4	,	,	PUNCT
ap-1618	12	5	feedback	feedback	NOUN
ap-1618	12	6	,	,	PUNCT
ap-1618	12	7	control	control	NOUN
ap-1618	12	8	,	,	PUNCT
ap-1618	12	9	coupled	couple	VERB
ap-1618	12	10	tanks	tank	NOUN
ap-1618	12	11	,	,	PUNCT
ap-1618	12	12	frequency	frequency	NOUN
ap-1618	12	13	domain	domain	NOUN
ap-1618	12	14	,	,	PUNCT
ap-1618	12	15	nonlinear	nonlinear	ADJ
ap-1618	12	16	.	.	NOUN
ap-1618	12	17	1	1	NUM
ap-1618	12	18	introduction	introduction	NOUN
ap-1618	12	19	problems	problem	NOUN
ap-1618	12	20	of	of	ADP
ap-1618	12	21	liquid	liquid	ADJ
ap-1618	12	22	level	level	NOUN
ap-1618	12	23	control	control	NOUN
ap-1618	12	24	arise	arise	VERB
ap-1618	12	25	in	in	ADP
ap-1618	12	26	many	many	ADJ
ap-1618	12	27	industries	industry	NOUN
ap-1618	12	28	.	.	PUNCT
ap-1618	13	1	common	common	ADJ
ap-1618	13	2	examples	example	NOUN
ap-1618	13	3	include	include	VERB
ap-1618	13	4	control	control	NOUN
ap-1618	13	5	of	of	ADP
ap-1618	13	6	levels	level	NOUN
ap-1618	13	7	in	in	ADP
ap-1618	13	8	blending	blend	VERB
ap-1618	13	9	and	and	CCONJ
ap-1618	13	10	reaction	reaction	NOUN
ap-1618	13	11	vessels	vessel	NOUN
ap-1618	13	12	within	within	ADP
ap-1618	13	13	chemical	chemical	NOUN
ap-1618	13	14	processes	process	NOUN
ap-1618	13	15	.	.	PUNCT
ap-1618	14	1	this	this	DET
ap-1618	14	2	paper	paper	NOUN
ap-1618	14	3	describes	describe	VERB
ap-1618	14	4	the	the	DET
ap-1618	14	5	application	application	NOUN
ap-1618	14	6	of	of	ADP
ap-1618	14	7	the	the	DET
ap-1618	14	8	individual	individual	ADJ
ap-1618	14	9	channel	channel	NOUN
ap-1618	14	10	analysis	analysis	NOUN
ap-1618	14	11	and	and	CCONJ
ap-1618	14	12	design	design	NOUN
ap-1618	14	13	(	(	PUNCT
ap-1618	14	14	icad	icad	NOUN
ap-1618	14	15	)	)	PUNCT
ap-1618	14	16	approach	approach	NOUN
ap-1618	14	17	to	to	ADP
ap-1618	14	18	the	the	DET
ap-1618	14	19	development	development	NOUN
ap-1618	14	20	,	,	PUNCT
ap-1618	14	21	implementation	implementation	NOUN
ap-1618	14	22	and	and	CCONJ
ap-1618	14	23	testing	testing	NOUN
ap-1618	14	24	of	of	ADP
ap-1618	14	25	conventional	conventional	ADJ
ap-1618	14	26	diagonal	diagonal	ADJ
ap-1618	14	27	controllers	controller	NOUN
ap-1618	14	28	for	for	ADP
ap-1618	14	29	a	a	DET
ap-1618	14	30	system	system	NOUN
ap-1618	14	31	involving	involve	VERB
ap-1618	14	32	liquid	liquid	ADJ
ap-1618	14	33	levels	level	NOUN
ap-1618	14	34	in	in	ADP
ap-1618	14	35	a	a	DET
ap-1618	14	36	pair	pair	NOUN
ap-1618	14	37	of	of	ADP
ap-1618	14	38	coupled	couple	VERB
ap-1618	14	39	tanks	tank	NOUN
ap-1618	14	40	[	[	X
ap-1618	14	41	1	1	NUM
ap-1618	14	42	]	]	PUNCT
ap-1618	14	43	.	.	PUNCT
ap-1618	15	1	the	the	DET
ap-1618	15	2	objective	objective	NOUN
ap-1618	15	3	of	of	ADP
ap-1618	15	4	the	the	DET
ap-1618	15	5	paper	paper	NOUN
ap-1618	15	6	is	be	AUX
ap-1618	15	7	to	to	PART
ap-1618	15	8	provide	provide	VERB
ap-1618	15	9	a	a	DET
ap-1618	15	10	detailed	detailed	ADJ
ap-1618	15	11	case	case	NOUN
ap-1618	15	12	-	-	PUNCT
ap-1618	15	13	study	study	NOUN
ap-1618	15	14	to	to	PART
ap-1618	15	15	illustrate	illustrate	VERB
ap-1618	15	16	use	use	NOUN
ap-1618	15	17	of	of	ADP
ap-1618	15	18	the	the	DET
ap-1618	15	19	icad	icad	PROPN
ap-1618	15	20	methodology	methodology	NOUN
ap-1618	15	21	and	and	CCONJ
ap-1618	15	22	to	to	PART
ap-1618	15	23	demonstrate	demonstrate	VERB
ap-1618	15	24	some	some	PRON
ap-1618	15	25	of	of	ADP
ap-1618	15	26	the	the	DET
ap-1618	15	27	benefits	benefit	NOUN
ap-1618	15	28	of	of	ADP
ap-1618	15	29	this	this	DET
ap-1618	15	30	neo	neo	ADJ
ap-1618	15	31	-	-	ADJ
ap-1618	15	32	classical	classical	ADJ
ap-1618	15	33	frequency	frequency	NOUN
ap-1618	15	34	-	-	PUNCT
ap-1618	15	35	domain	domain	NOUN
ap-1618	15	36	approach	approach	NOUN
ap-1618	15	37	to	to	ADP
ap-1618	15	38	problems	problem	NOUN
ap-1618	15	39	involving	involve	VERB
ap-1618	15	40	multivariable	multivariable	ADJ
ap-1618	15	41	control	control	NOUN
ap-1618	15	42	.	.	PUNCT
ap-1618	16	1	the	the	DET
ap-1618	16	2	coupled	couple	VERB
ap-1618	16	3	-	-	PUNCT
ap-1618	16	4	tanks	tank	NOUN
ap-1618	16	5	equipment	equipment	NOUN
ap-1618	16	6	around	around	ADP
ap-1618	16	7	which	which	PRON
ap-1618	16	8	the	the	DET
ap-1618	16	9	control	control	NOUN
ap-1618	16	10	system	system	NOUN
ap-1618	16	11	is	be	AUX
ap-1618	16	12	designed	design	VERB
ap-1618	16	13	has	have	VERB
ap-1618	16	14	two	two	NUM
ap-1618	16	15	inputs	input	NOUN
ap-1618	16	16	,	,	PUNCT
ap-1618	16	17	which	which	PRON
ap-1618	16	18	are	be	AUX
ap-1618	16	19	external	external	ADJ
ap-1618	16	20	liquid	liquid	ADJ
ap-1618	16	21	flow	flow	NOUN
ap-1618	16	22	-	-	PUNCT
ap-1618	16	23	rates	rate	NOUN
ap-1618	16	24	into	into	ADP
ap-1618	16	25	each	each	PRON
ap-1618	16	26	of	of	ADP
ap-1618	16	27	the	the	DET
ap-1618	16	28	tanks	tank	NOUN
ap-1618	16	29	.	.	PUNCT
ap-1618	17	1	the	the	DET
ap-1618	17	2	two	two	NUM
ap-1618	17	3	outputs	output	NOUN
ap-1618	17	4	are	be	AUX
ap-1618	17	5	the	the	DET
ap-1618	17	6	resulting	result	VERB
ap-1618	17	7	levels	level	NOUN
ap-1618	17	8	of	of	ADP
ap-1618	17	9	liquid	liquid	NOUN
ap-1618	17	10	in	in	ADP
ap-1618	17	11	the	the	DET
ap-1618	17	12	tanks	tank	NOUN
ap-1618	17	13	.	.	PUNCT
ap-1618	18	1	there	there	PRON
ap-1618	18	2	is	be	VERB
ap-1618	18	3	only	only	ADV
ap-1618	18	4	one	one	NUM
ap-1618	18	5	outflow	outflow	NOUN
ap-1618	18	6	and	and	CCONJ
ap-1618	18	7	this	this	PRON
ap-1618	18	8	is	be	AUX
ap-1618	18	9	from	from	ADP
ap-1618	18	10	the	the	DET
ap-1618	18	11	second	second	ADJ
ap-1618	18	12	tank	tank	NOUN
ap-1618	18	13	.	.	PUNCT
ap-1618	19	1	figure	figure	NOUN
ap-1618	19	2	1	1	NUM
ap-1618	19	3	is	be	AUX
ap-1618	19	4	a	a	DET
ap-1618	19	5	schematic	schematic	ADJ
ap-1618	19	6	diagram	diagram	NOUN
ap-1618	19	7	of	of	ADP
ap-1618	19	8	this	this	DET
ap-1618	19	9	system	system	NOUN
ap-1618	19	10	.	.	PUNCT
ap-1618	20	1	established	establish	VERB
ap-1618	20	2	frequency	frequency	NOUN
ap-1618	20	3	-	-	PUNCT
ap-1618	20	4	domain	domain	NOUN
ap-1618	20	5	methods	method	NOUN
ap-1618	20	6	,	,	PUNCT
ap-1618	20	7	such	such	ADJ
ap-1618	20	8	as	as	ADP
ap-1618	20	9	bode	bode	ADJ
ap-1618	20	10	/	/	SYM
ap-1618	20	11	nyquist	nyquist	NOUN
ap-1618	20	12	analysis	analysis	NOUN
ap-1618	20	13	,	,	PUNCT
ap-1618	20	14	are	be	AUX
ap-1618	20	15	of	of	ADP
ap-1618	20	16	central	central	ADJ
ap-1618	20	17	importance	importance	NOUN
ap-1618	20	18	as	as	ADP
ap-1618	20	19	figure	figure	NOUN
ap-1618	20	20	1	1	NUM
ap-1618	20	21	:	:	PUNCT
ap-1618	20	22	schematic	schematic	ADJ
ap-1618	20	23	diagram	diagram	NOUN
ap-1618	20	24	of	of	ADP
ap-1618	20	25	the	the	DET
ap-1618	20	26	coupled	couple	VERB
ap-1618	20	27	-	-	PUNCT
ap-1618	20	28	tanks	tank	NOUN
ap-1618	20	29	equipment	equipment	NOUN
ap-1618	20	30	a	a	DET
ap-1618	20	31	basis	basis	NOUN
ap-1618	20	32	for	for	ADP
ap-1618	20	33	design	design	NOUN
ap-1618	20	34	tools	tool	NOUN
ap-1618	20	35	for	for	ADP
ap-1618	20	36	single	single	ADJ
ap-1618	20	37	-	-	PUNCT
ap-1618	20	38	input	input	NOUN
ap-1618	20	39	single	single	ADJ
ap-1618	20	40	-	-	PUNCT
ap-1618	20	41	output	output	NOUN
ap-1618	20	42	feedback	feedback	NOUN
ap-1618	20	43	control	control	NOUN
ap-1618	20	44	systems	system	NOUN
ap-1618	20	45	in	in	ADP
ap-1618	20	46	many	many	ADJ
ap-1618	20	47	application	application	NOUN
ap-1618	20	48	areas	area	NOUN
ap-1618	20	49	.	.	PUNCT
ap-1618	21	1	the	the	DET
ap-1618	21	2	success	success	NOUN
ap-1618	21	3	of	of	ADP
ap-1618	21	4	the	the	DET
ap-1618	21	5	frequency	frequency	NOUN
ap-1618	21	6	-	-	PUNCT
ap-1618	21	7	domain	domain	NOUN
ap-1618	21	8	approach	approach	NOUN
ap-1618	21	9	is	be	AUX
ap-1618	21	10	due	due	ADJ
ap-1618	21	11	,	,	PUNCT
ap-1618	21	12	in	in	ADP
ap-1618	21	13	part	part	NOUN
ap-1618	21	14	,	,	PUNCT
ap-1618	21	15	to	to	ADP
ap-1618	21	16	the	the	DET
ap-1618	21	17	graphical	graphical	ADJ
ap-1618	21	18	nature	nature	NOUN
ap-1618	21	19	of	of	ADP
ap-1618	21	20	these	these	DET
ap-1618	21	21	techniques	technique	NOUN
ap-1618	21	22	which	which	PRON
ap-1618	21	23	provides	provide	VERB
ap-1618	21	24	transparency	transparency	NOUN
ap-1618	21	25	and	and	CCONJ
ap-1618	21	26	flexibility	flexibility	NOUN
ap-1618	21	27	in	in	ADP
ap-1618	21	28	satisfying	satisfy	VERB
ap-1618	21	29	design	design	NOUN
ap-1618	21	30	specifications	specification	NOUN
ap-1618	21	31	in	in	ADP
ap-1618	21	32	the	the	DET
ap-1618	21	33	presence	presence	NOUN
ap-1618	21	34	of	of	ADP
ap-1618	21	35	practical	practical	ADJ
ap-1618	21	36	constraints	constraint	NOUN
ap-1618	21	37	.	.	PUNCT
ap-1618	22	1	the	the	DET
ap-1618	22	2	extension	extension	NOUN
ap-1618	22	3	of	of	ADP
ap-1618	22	4	classical	classical	ADJ
ap-1618	22	5	methods	method	NOUN
ap-1618	22	6	of	of	ADP
ap-1618	22	7	analysis	analysis	NOUN
ap-1618	22	8	and	and	CCONJ
ap-1618	22	9	design	design	NOUN
ap-1618	22	10	to	to	ADP
ap-1618	22	11	multivariable	multivariable	ADJ
ap-1618	22	12	systems	system	NOUN
ap-1618	22	13	involv121	involv121	PROPN
ap-1618	22	14	acta	acta	PROPN
ap-1618	22	15	polytechnica	polytechnica	PROPN
ap-1618	22	16	vol	vol	NOUN
ap-1618	22	17	.	.	PUNCT
ap-1618	23	1	52	52	NUM
ap-1618	23	2	no	no	NOUN
ap-1618	23	3	.	.	PUNCT
ap-1618	24	1	4/2012	4/2012	NOUN
ap-1618	24	2	ing	ing	ADJ
ap-1618	24	3	more	more	ADJ
ap-1618	24	4	than	than	ADP
ap-1618	24	5	one	one	NUM
ap-1618	24	6	input	input	NOUN
ap-1618	24	7	and	and	CCONJ
ap-1618	24	8	more	more	ADJ
ap-1618	24	9	than	than	ADP
ap-1618	24	10	one	one	NUM
ap-1618	24	11	output	output	NOUN
ap-1618	24	12	can	can	AUX
ap-1618	24	13	introduce	introduce	VERB
ap-1618	24	14	difficulties	difficulty	NOUN
ap-1618	24	15	.	.	PUNCT
ap-1618	25	1	it	it	PRON
ap-1618	25	2	may	may	AUX
ap-1618	25	3	still	still	ADV
ap-1618	25	4	be	be	AUX
ap-1618	25	5	possible	possible	ADJ
ap-1618	25	6	,	,	PUNCT
ap-1618	25	7	in	in	ADP
ap-1618	25	8	cases	case	NOUN
ap-1618	25	9	where	where	SCONJ
ap-1618	25	10	cross	cross	NOUN
ap-1618	25	11	-	-	ADJ
ap-1618	25	12	coupling	coupling	NOUN
ap-1618	25	13	is	be	AUX
ap-1618	25	14	not	not	PART
ap-1618	25	15	strong	strong	ADJ
ap-1618	25	16	,	,	PUNCT
ap-1618	25	17	to	to	PART
ap-1618	25	18	design	design	VERB
ap-1618	25	19	the	the	DET
ap-1618	25	20	control	control	NOUN
ap-1618	25	21	system	system	NOUN
ap-1618	25	22	using	use	VERB
ap-1618	25	23	approaches	approach	NOUN
ap-1618	25	24	involving	involve	VERB
ap-1618	25	25	one	one	NUM
ap-1618	25	26	loop	loop	NOUN
ap-1618	25	27	at	at	ADP
ap-1618	25	28	a	a	DET
ap-1618	25	29	time	time	NOUN
ap-1618	25	30	.	.	PUNCT
ap-1618	26	1	however	however	ADV
ap-1618	26	2	,	,	PUNCT
ap-1618	26	3	in	in	ADP
ap-1618	26	4	cases	case	NOUN
ap-1618	26	5	where	where	SCONJ
ap-1618	26	6	dynamic	dynamic	ADJ
ap-1618	26	7	interactions	interaction	NOUN
ap-1618	26	8	between	between	ADP
ap-1618	26	9	loops	loop	NOUN
ap-1618	26	10	are	be	AUX
ap-1618	26	11	significant	significant	ADJ
ap-1618	26	12	,	,	PUNCT
ap-1618	26	13	more	more	ADJ
ap-1618	26	14	skill	skill	NOUN
ap-1618	26	15	and	and	CCONJ
ap-1618	26	16	experience	experience	NOUN
ap-1618	26	17	is	be	AUX
ap-1618	26	18	necessary	necessary	ADJ
ap-1618	26	19	in	in	ADP
ap-1618	26	20	order	order	NOUN
ap-1618	26	21	to	to	PART
ap-1618	26	22	produce	produce	VERB
ap-1618	26	23	a	a	DET
ap-1618	26	24	successful	successful	ADJ
ap-1618	26	25	design	design	NOUN
ap-1618	26	26	,	,	PUNCT
ap-1618	26	27	and	and	CCONJ
ap-1618	26	28	a	a	DET
ap-1618	26	29	process	process	NOUN
ap-1618	26	30	of	of	ADP
ap-1618	26	31	tuning	tune	VERB
ap-1618	26	32	using	use	VERB
ap-1618	26	33	trial	trial	NOUN
ap-1618	26	34	-	-	PUNCT
ap-1618	26	35	and	and	CCONJ
ap-1618	26	36	-	-	PUNCT
ap-1618	26	37	error	error	NOUN
ap-1618	26	38	methods	method	NOUN
ap-1618	26	39	may	may	AUX
ap-1618	26	40	be	be	AUX
ap-1618	26	41	needed	need	VERB
ap-1618	26	42	.	.	PUNCT
ap-1618	27	1	the	the	DET
ap-1618	27	2	individual	individual	ADJ
ap-1618	27	3	channel	channel	NOUN
ap-1618	27	4	analysis	analysis	NOUN
ap-1618	27	5	and	and	CCONJ
ap-1618	27	6	design	design	NOUN
ap-1618	27	7	(	(	PUNCT
ap-1618	27	8	icad	icad	ADJ
ap-1618	27	9	)	)	PUNCT
ap-1618	27	10	methodology	methodology	NOUN
ap-1618	27	11	was	be	AUX
ap-1618	27	12	developed	develop	VERB
ap-1618	27	13	in	in	ADP
ap-1618	27	14	the	the	DET
ap-1618	27	15	early	early	ADJ
ap-1618	27	16	1990s	1990	NOUN
ap-1618	27	17	and	and	CCONJ
ap-1618	27	18	allows	allow	VERB
ap-1618	27	19	frequency	frequency	NOUN
ap-1618	27	20	-	-	PUNCT
ap-1618	27	21	domain	domain	NOUN
ap-1618	27	22	methods	method	NOUN
ap-1618	27	23	to	to	PART
ap-1618	27	24	be	be	AUX
ap-1618	27	25	applied	apply	VERB
ap-1618	27	26	to	to	ADP
ap-1618	27	27	the	the	DET
ap-1618	27	28	problems	problem	NOUN
ap-1618	27	29	of	of	ADP
ap-1618	27	30	analysis	analysis	NOUN
ap-1618	27	31	and	and	CCONJ
ap-1618	27	32	design	design	NOUN
ap-1618	27	33	of	of	ADP
ap-1618	27	34	multi	multi	ADJ
ap-1618	27	35	-	-	ADJ
ap-1618	27	36	input	input	ADJ
ap-1618	27	37	multi	multi	ADJ
ap-1618	27	38	-	-	ADJ
ap-1618	27	39	output	output	ADJ
ap-1618	27	40	feedback	feedback	NOUN
ap-1618	27	41	control	control	NOUN
ap-1618	27	42	systems	system	NOUN
ap-1618	27	43	(	(	PUNCT
ap-1618	27	44	see	see	VERB
ap-1618	27	45	,	,	PUNCT
ap-1618	27	46	e.g.	e.g.	ADV
ap-1618	27	47	,	,	PUNCT
ap-1618	27	48	[	[	X
ap-1618	27	49	2–6	2–6	NOUN
ap-1618	27	50	]	]	NOUN
ap-1618	27	51	)	)	PUNCT
ap-1618	27	52	.	.	PUNCT
ap-1618	28	1	this	this	DET
ap-1618	28	2	approach	approach	NOUN
ap-1618	28	3	allows	allow	VERB
ap-1618	28	4	an	an	DET
ap-1618	28	5	m	m	NOUN
ap-1618	28	6	-	-	PUNCT
ap-1618	28	7	input	input	NOUN
ap-1618	28	8	m	m	ADJ
ap-1618	28	9	-	-	ADJ
ap-1618	28	10	output	output	ADJ
ap-1618	28	11	feedback	feedback	NOUN
ap-1618	28	12	control	control	NOUN
ap-1618	28	13	problem	problem	NOUN
ap-1618	28	14	to	to	PART
ap-1618	28	15	be	be	AUX
ap-1618	28	16	split	split	VERB
ap-1618	28	17	into	into	ADP
ap-1618	28	18	m	m	ADJ
ap-1618	28	19	single	single	ADJ
ap-1618	28	20	-	-	PUNCT
ap-1618	28	21	input	input	NOUN
ap-1618	28	22	single	single	ADJ
ap-1618	28	23	-	-	PUNCT
ap-1618	28	24	output	output	NOUN
ap-1618	28	25	problems	problem	NOUN
ap-1618	28	26	without	without	ADP
ap-1618	28	27	loss	loss	NOUN
ap-1618	28	28	of	of	ADP
ap-1618	28	29	structural	structural	ADJ
ap-1618	28	30	information	information	NOUN
ap-1618	28	31	.	.	PUNCT
ap-1618	29	1	each	each	DET
ap-1618	29	2	controlled	control	VERB
ap-1618	29	3	output	output	NOUN
ap-1618	29	4	is	be	AUX
ap-1618	29	5	paired	pair	VERB
ap-1618	29	6	with	with	ADP
ap-1618	29	7	a	a	DET
ap-1618	29	8	specific	specific	ADJ
ap-1618	29	9	reference	reference	NOUN
ap-1618	29	10	input	input	NOUN
ap-1618	29	11	to	to	PART
ap-1618	29	12	form	form	VERB
ap-1618	29	13	what	what	PRON
ap-1618	29	14	is	be	AUX
ap-1618	29	15	termed	term	VERB
ap-1618	29	16	a	a	DET
ap-1618	29	17	“	"	PUNCT
ap-1618	29	18	channel	channel	NOUN
ap-1618	29	19	”	"	PUNCT
ap-1618	29	20	.	.	PUNCT
ap-1618	30	1	the	the	DET
ap-1618	30	2	icad	icad	PROPN
ap-1618	30	3	approach	approach	NOUN
ap-1618	30	4	makes	make	VERB
ap-1618	30	5	direct	direct	ADJ
ap-1618	30	6	use	use	NOUN
ap-1618	30	7	of	of	ADP
ap-1618	30	8	the	the	DET
ap-1618	30	9	customer	customer	NOUN
ap-1618	30	10	performance	performance	NOUN
ap-1618	30	11	specification	specification	NOUN
ap-1618	30	12	for	for	ADP
ap-1618	30	13	different	different	ADJ
ap-1618	30	14	channels	channel	NOUN
ap-1618	30	15	to	to	PART
ap-1618	30	16	provide	provide	VERB
ap-1618	30	17	a	a	DET
ap-1618	30	18	framework	framework	NOUN
ap-1618	30	19	within	within	ADP
ap-1618	30	20	which	which	PRON
ap-1618	30	21	classical	classical	ADJ
ap-1618	30	22	single	single	ADJ
ap-1618	30	23	-	-	PUNCT
ap-1618	30	24	input	input	NOUN
ap-1618	30	25	single	single	ADJ
ap-1618	30	26	-	-	PUNCT
ap-1618	30	27	output	output	NOUN
ap-1618	30	28	control	control	NOUN
ap-1618	30	29	engineering	engineering	NOUN
ap-1618	30	30	concepts	concept	NOUN
ap-1618	30	31	can	can	AUX
ap-1618	30	32	be	be	AUX
ap-1618	30	33	extended	extend	VERB
ap-1618	30	34	to	to	PART
ap-1618	30	35	multiinput	multiinput	VERB
ap-1618	30	36	multi	multi	ADJ
ap-1618	30	37	-	-	ADJ
ap-1618	30	38	output	output	ADJ
ap-1618	30	39	cases	case	NOUN
ap-1618	30	40	involving	involve	VERB
ap-1618	30	41	significant	significant	ADJ
ap-1618	30	42	levels	level	NOUN
ap-1618	30	43	of	of	ADP
ap-1618	30	44	cross	cross	NOUN
ap-1618	30	45	-	-	ADJ
ap-1618	30	46	coupling	coupling	ADJ
ap-1618	30	47	.	.	PUNCT
ap-1618	31	1	traditional	traditional	ADJ
ap-1618	31	2	methods	method	NOUN
ap-1618	31	3	for	for	ADP
ap-1618	31	4	applications	application	NOUN
ap-1618	31	5	involving	involve	VERB
ap-1618	31	6	single	single	ADJ
ap-1618	31	7	-	-	PUNCT
ap-1618	31	8	input	input	NOUN
ap-1618	31	9	single	single	ADJ
ap-1618	31	10	-	-	PUNCT
ap-1618	31	11	output	output	NOUN
ap-1618	31	12	(	(	PUNCT
ap-1618	31	13	siso	siso	NOUN
ap-1618	31	14	)	)	PUNCT
ap-1618	31	15	systems	system	NOUN
ap-1618	31	16	can	can	AUX
ap-1618	31	17	thus	thus	ADV
ap-1618	31	18	be	be	AUX
ap-1618	31	19	applied	apply	VERB
ap-1618	31	20	to	to	ADP
ap-1618	31	21	multi	multi	ADJ
ap-1618	31	22	-	-	ADJ
ap-1618	31	23	input	input	ADJ
ap-1618	31	24	multioutput	multioutput	NOUN
ap-1618	31	25	(	(	PUNCT
ap-1618	31	26	mimo	mimo	PROPN
ap-1618	31	27	)	)	PUNCT
ap-1618	31	28	problems	problem	NOUN
ap-1618	31	29	.	.	PUNCT
ap-1618	32	1	this	this	PRON
ap-1618	32	2	includes	include	VERB
ap-1618	32	3	the	the	DET
ap-1618	32	4	use	use	NOUN
ap-1618	32	5	of	of	ADP
ap-1618	32	6	open	open	ADJ
ap-1618	32	7	-	-	PUNCT
ap-1618	32	8	loop	loop	NOUN
ap-1618	32	9	system	system	NOUN
ap-1618	32	10	information	information	NOUN
ap-1618	32	11	in	in	ADP
ap-1618	32	12	the	the	DET
ap-1618	32	13	form	form	NOUN
ap-1618	32	14	of	of	ADP
ap-1618	32	15	nyquist	nyquist	NOUN
ap-1618	32	16	and	and	CCONJ
ap-1618	32	17	bode	bode	VERB
ap-1618	32	18	plots	plot	NOUN
ap-1618	32	19	for	for	ADP
ap-1618	32	20	system	system	NOUN
ap-1618	32	21	analysis	analysis	NOUN
ap-1618	32	22	and	and	CCONJ
ap-1618	32	23	design	design	NOUN
ap-1618	32	24	,	,	PUNCT
ap-1618	32	25	along	along	ADP
ap-1618	32	26	with	with	ADP
ap-1618	32	27	simple	simple	ADJ
ap-1618	32	28	measures	measure	NOUN
ap-1618	32	29	of	of	ADP
ap-1618	32	30	robustness	robustness	NOUN
ap-1618	32	31	,	,	PUNCT
ap-1618	32	32	such	such	ADJ
ap-1618	32	33	as	as	ADP
ap-1618	32	34	gain	gain	NOUN
ap-1618	32	35	and	and	CCONJ
ap-1618	32	36	phase	phase	NOUN
ap-1618	32	37	margins	margin	NOUN
ap-1618	32	38	.	.	PUNCT
ap-1618	33	1	it	it	PRON
ap-1618	33	2	must	must	AUX
ap-1618	33	3	be	be	AUX
ap-1618	33	4	emphasized	emphasize	VERB
ap-1618	33	5	that	that	SCONJ
ap-1618	33	6	the	the	DET
ap-1618	33	7	icad	icad	PROPN
ap-1618	33	8	approach	approach	NOUN
ap-1618	33	9	is	be	AUX
ap-1618	33	10	not	not	PART
ap-1618	33	11	,	,	PUNCT
ap-1618	33	12	itself	itself	PRON
ap-1618	33	13	,	,	PUNCT
ap-1618	33	14	a	a	DET
ap-1618	33	15	design	design	NOUN
ap-1618	33	16	method	method	NOUN
ap-1618	33	17	but	but	CCONJ
ap-1618	33	18	should	should	AUX
ap-1618	33	19	be	be	AUX
ap-1618	33	20	viewed	view	VERB
ap-1618	33	21	as	as	ADP
ap-1618	33	22	a	a	DET
ap-1618	33	23	framework	framework	NOUN
ap-1618	33	24	through	through	ADP
ap-1618	33	25	which	which	PRON
ap-1618	33	26	useful	useful	ADJ
ap-1618	33	27	insight	insight	NOUN
ap-1618	33	28	may	may	AUX
ap-1618	33	29	be	be	AUX
ap-1618	33	30	gained	gain	VERB
ap-1618	33	31	about	about	ADP
ap-1618	33	32	the	the	DET
ap-1618	33	33	dynamics	dynamic	NOUN
ap-1618	33	34	of	of	ADP
ap-1618	33	35	the	the	DET
ap-1618	33	36	plant	plant	NOUN
ap-1618	33	37	and	and	CCONJ
ap-1618	33	38	the	the	DET
ap-1618	33	39	characteristics	characteristic	NOUN
ap-1618	33	40	of	of	ADP
ap-1618	33	41	the	the	DET
ap-1618	33	42	complete	complete	ADJ
ap-1618	33	43	controlled	control	VERB
ap-1618	33	44	system	system	NOUN
ap-1618	33	45	.	.	PUNCT
ap-1618	34	1	performance	performance	NOUN
ap-1618	34	2	can	can	AUX
ap-1618	34	3	be	be	AUX
ap-1618	34	4	assessed	assess	VERB
ap-1618	34	5	for	for	ADP
ap-1618	34	6	any	any	DET
ap-1618	34	7	chosen	choose	VERB
ap-1618	34	8	form	form	NOUN
ap-1618	34	9	of	of	ADP
ap-1618	34	10	linear	linear	ADJ
ap-1618	34	11	controller	controller	NOUN
ap-1618	34	12	(	(	PUNCT
ap-1618	34	13	which	which	PRON
ap-1618	34	14	may	may	AUX
ap-1618	34	15	be	be	AUX
ap-1618	34	16	designed	design	VERB
ap-1618	34	17	using	use	VERB
ap-1618	34	18	any	any	DET
ap-1618	34	19	suitable	suitable	ADJ
ap-1618	34	20	approach	approach	NOUN
ap-1618	34	21	)	)	PUNCT
ap-1618	34	22	,	,	PUNCT
ap-1618	34	23	and	and	CCONJ
ap-1618	34	24	limitations	limitation	NOUN
ap-1618	34	25	of	of	ADP
ap-1618	34	26	a	a	DET
ap-1618	34	27	design	design	NOUN
ap-1618	34	28	can	can	AUX
ap-1618	34	29	be	be	AUX
ap-1618	34	30	investigated	investigate	VERB
ap-1618	34	31	.	.	PUNCT
ap-1618	35	1	thus	thus	ADV
ap-1618	35	2	,	,	PUNCT
ap-1618	35	3	compared	compare	VERB
ap-1618	35	4	with	with	ADP
ap-1618	35	5	some	some	DET
ap-1618	35	6	other	other	ADJ
ap-1618	35	7	approaches	approach	NOUN
ap-1618	35	8	to	to	ADP
ap-1618	35	9	multivariable	multivariable	ADJ
ap-1618	35	10	control	control	NOUN
ap-1618	35	11	,	,	PUNCT
ap-1618	35	12	it	it	PRON
ap-1618	35	13	can	can	AUX
ap-1618	35	14	be	be	AUX
ap-1618	35	15	based	base	VERB
ap-1618	35	16	on	on	ADP
ap-1618	35	17	traditional	traditional	ADJ
ap-1618	35	18	analysis	analysis	NOUN
ap-1618	35	19	and	and	CCONJ
ap-1618	35	20	design	design	NOUN
ap-1618	35	21	methods	method	NOUN
ap-1618	35	22	familiar	familiar	ADJ
ap-1618	35	23	to	to	ADP
ap-1618	35	24	all	all	DET
ap-1618	35	25	control	control	NOUN
ap-1618	35	26	system	system	NOUN
ap-1618	35	27	designers	designer	NOUN
ap-1618	35	28	.	.	PUNCT
ap-1618	36	1	each	each	DET
ap-1618	36	2	channel	channel	NOUN
ap-1618	36	3	has	have	VERB
ap-1618	36	4	its	its	PRON
ap-1618	36	5	own	own	ADJ
ap-1618	36	6	customer	customer	NOUN
ap-1618	36	7	-	-	PUNCT
ap-1618	36	8	defined	define	VERB
ap-1618	36	9	performance	performance	NOUN
ap-1618	36	10	specifications	specification	NOUN
ap-1618	36	11	and	and	CCONJ
ap-1618	36	12	these	these	PRON
ap-1618	36	13	may	may	AUX
ap-1618	36	14	be	be	AUX
ap-1618	36	15	expressed	express	VERB
ap-1618	36	16	in	in	ADP
ap-1618	36	17	a	a	DET
ap-1618	36	18	simple	simple	ADJ
ap-1618	36	19	way	way	NOUN
ap-1618	36	20	in	in	ADP
ap-1618	36	21	terms	term	NOUN
ap-1618	36	22	of	of	ADP
ap-1618	36	23	siso	siso	NOUN
ap-1618	36	24	requirements	requirement	NOUN
ap-1618	36	25	.	.	PUNCT
ap-1618	37	1	2	2	NUM
ap-1618	37	2	the	the	DET
ap-1618	37	3	coupled	couple	VERB
ap-1618	37	4	-	-	PUNCT
ap-1618	37	5	tanks	tank	NOUN
ap-1618	37	6	system	system	NOUN
ap-1618	37	7	the	the	DET
ap-1618	37	8	two	two	NUM
ap-1618	37	9	-	-	PUNCT
ap-1618	37	10	input	input	NOUN
ap-1618	37	11	coupled	couple	VERB
ap-1618	37	12	-	-	PUNCT
ap-1618	37	13	tanks	tank	NOUN
ap-1618	37	14	laboratory	laboratory	NOUN
ap-1618	37	15	system	system	NOUN
ap-1618	37	16	of	of	ADP
ap-1618	37	17	figure	figure	NOUN
ap-1618	37	18	1	1	NUM
ap-1618	37	19	consists	consist	VERB
ap-1618	37	20	of	of	ADP
ap-1618	37	21	a	a	DET
ap-1618	37	22	container	container	NOUN
ap-1618	37	23	(	(	PUNCT
ap-1618	37	24	of	of	ADP
ap-1618	37	25	volume	volume	NOUN
ap-1618	37	26	6	6	NUM
ap-1618	37	27	liters	liter	NOUN
ap-1618	37	28	)	)	PUNCT
ap-1618	37	29	,	,	PUNCT
ap-1618	37	30	with	with	ADP
ap-1618	37	31	a	a	DET
ap-1618	37	32	central	central	ADJ
ap-1618	37	33	partition	partition	NOUN
ap-1618	37	34	which	which	PRON
ap-1618	37	35	divides	divide	VERB
ap-1618	37	36	it	it	PRON
ap-1618	37	37	into	into	ADP
ap-1618	37	38	two	two	NUM
ap-1618	37	39	separate	separate	ADJ
ap-1618	37	40	tanks	tank	NOUN
ap-1618	37	41	.	.	PUNCT
ap-1618	38	1	coupling	couple	VERB
ap-1618	38	2	between	between	ADP
ap-1618	38	3	these	these	DET
ap-1618	38	4	tanks	tank	NOUN
ap-1618	38	5	is	be	AUX
ap-1618	38	6	provided	provide	VERB
ap-1618	38	7	by	by	ADP
ap-1618	38	8	a	a	DET
ap-1618	38	9	number	number	NOUN
ap-1618	38	10	of	of	ADP
ap-1618	38	11	holes	hole	NOUN
ap-1618	38	12	of	of	ADP
ap-1618	38	13	various	various	ADJ
ap-1618	38	14	diameters	diameter	NOUN
ap-1618	38	15	positioned	position	VERB
ap-1618	38	16	near	near	ADP
ap-1618	38	17	the	the	DET
ap-1618	38	18	base	base	NOUN
ap-1618	38	19	of	of	ADP
ap-1618	38	20	the	the	DET
ap-1618	38	21	partition	partition	NOUN
ap-1618	38	22	.	.	PUNCT
ap-1618	39	1	the	the	DET
ap-1618	39	2	strength	strength	NOUN
ap-1618	39	3	of	of	ADP
ap-1618	39	4	coupling	coupling	NOUN
ap-1618	39	5	may	may	AUX
ap-1618	39	6	be	be	AUX
ap-1618	39	7	adjusted	adjust	VERB
ap-1618	39	8	through	through	ADP
ap-1618	39	9	the	the	DET
ap-1618	39	10	insertion	insertion	NOUN
ap-1618	39	11	of	of	ADP
ap-1618	39	12	plugs	plug	NOUN
ap-1618	39	13	into	into	ADP
ap-1618	39	14	one	one	NUM
ap-1618	39	15	or	or	CCONJ
ap-1618	39	16	more	more	ADJ
ap-1618	39	17	of	of	ADP
ap-1618	39	18	these	these	DET
ap-1618	39	19	holes	hole	NOUN
ap-1618	39	20	.	.	PUNCT
ap-1618	40	1	the	the	DET
ap-1618	40	2	system	system	NOUN
ap-1618	40	3	is	be	AUX
ap-1618	40	4	equipped	equip	VERB
ap-1618	40	5	with	with	ADP
ap-1618	40	6	a	a	DET
ap-1618	40	7	drain	drain	NOUN
ap-1618	40	8	tap	tap	NOUN
ap-1618	40	9	which	which	PRON
ap-1618	40	10	is	be	AUX
ap-1618	40	11	under	under	ADP
ap-1618	40	12	manual	manual	ADJ
ap-1618	40	13	control	control	NOUN
ap-1618	40	14	and	and	CCONJ
ap-1618	40	15	this	this	PRON
ap-1618	40	16	allows	allow	VERB
ap-1618	40	17	the	the	DET
ap-1618	40	18	output	output	NOUN
ap-1618	40	19	flow	flow	NOUN
ap-1618	40	20	rate	rate	NOUN
ap-1618	40	21	from	from	ADP
ap-1618	40	22	one	one	NUM
ap-1618	40	23	of	of	ADP
ap-1618	40	24	the	the	DET
ap-1618	40	25	tanks	tank	NOUN
ap-1618	40	26	to	to	PART
ap-1618	40	27	be	be	AUX
ap-1618	40	28	adjusted	adjust	VERB
ap-1618	40	29	.	.	PUNCT
ap-1618	41	1	both	both	DET
ap-1618	41	2	tanks	tank	NOUN
ap-1618	41	3	have	have	VERB
ap-1618	41	4	inflows	inflow	NOUN
ap-1618	41	5	from	from	ADP
ap-1618	41	6	electrically	electrically	ADV
ap-1618	41	7	driven	drive	VERB
ap-1618	41	8	variable	variable	ADJ
ap-1618	41	9	-	-	PUNCT
ap-1618	41	10	speed	speed	NOUN
ap-1618	41	11	pumps	pump	NOUN
ap-1618	41	12	and	and	CCONJ
ap-1618	41	13	are	be	AUX
ap-1618	41	14	equipped	equip	VERB
ap-1618	41	15	with	with	ADP
ap-1618	41	16	sensors	sensor	NOUN
ap-1618	41	17	that	that	PRON
ap-1618	41	18	can	can	AUX
ap-1618	41	19	detect	detect	VERB
ap-1618	41	20	the	the	DET
ap-1618	41	21	level	level	NOUN
ap-1618	41	22	of	of	ADP
ap-1618	41	23	liquid	liquid	NOUN
ap-1618	41	24	and	and	CCONJ
ap-1618	41	25	provide	provide	VERB
ap-1618	41	26	a	a	DET
ap-1618	41	27	proportional	proportional	ADJ
ap-1618	41	28	electrical	electrical	ADJ
ap-1618	41	29	output	output	NOUN
ap-1618	41	30	voltage	voltage	NOUN
ap-1618	41	31	.	.	PUNCT
ap-1618	42	1	the	the	DET
ap-1618	42	2	hardware	hardware	NOUN
ap-1618	42	3	is	be	AUX
ap-1618	42	4	based	base	VERB
ap-1618	42	5	around	around	ADP
ap-1618	42	6	a	a	DET
ap-1618	42	7	single	single	ADJ
ap-1618	42	8	-	-	PUNCT
ap-1618	42	9	input	input	NOUN
ap-1618	42	10	commercial	commercial	ADJ
ap-1618	42	11	product	product	NOUN
ap-1618	42	12	intended	intend	VERB
ap-1618	42	13	for	for	ADP
ap-1618	42	14	teaching	teaching	NOUN
ap-1618	42	15	applications	application	NOUN
ap-1618	42	16	(	(	PUNCT
ap-1618	42	17	tecquipment	tecquipment	PROPN
ap-1618	42	18	ltd	ltd	PROPN
ap-1618	42	19	)	)	PUNCT
ap-1618	43	1	[	[	X
ap-1618	43	2	1	1	NUM
ap-1618	43	3	]	]	PUNCT
ap-1618	43	4	.	.	PUNCT
ap-1618	44	1	this	this	PRON
ap-1618	44	2	had	have	VERB
ap-1618	44	3	a	a	DET
ap-1618	44	4	flow	flow	NOUN
ap-1618	44	5	input	input	NOUN
ap-1618	44	6	only	only	ADV
ap-1618	44	7	to	to	PART
ap-1618	44	8	tank	tank	VERB
ap-1618	44	9	1	1	NUM
ap-1618	44	10	and	and	CCONJ
ap-1618	44	11	was	be	AUX
ap-1618	44	12	modified	modify	VERB
ap-1618	44	13	at	at	ADP
ap-1618	44	14	the	the	DET
ap-1618	44	15	university	university	NOUN
ap-1618	44	16	of	of	ADP
ap-1618	44	17	glasgow	glasgow	PROPN
ap-1618	44	18	through	through	ADP
ap-1618	44	19	the	the	DET
ap-1618	44	20	addition	addition	NOUN
ap-1618	44	21	of	of	ADP
ap-1618	44	22	the	the	DET
ap-1618	44	23	second	second	ADJ
ap-1618	44	24	pump	pump	NOUN
ap-1618	44	25	to	to	PART
ap-1618	44	26	provide	provide	VERB
ap-1618	44	27	the	the	DET
ap-1618	44	28	inflow	inflow	NOUN
ap-1618	44	29	to	to	PART
ap-1618	44	30	tank	tank	VERB
ap-1618	44	31	2	2	NUM
ap-1618	44	32	.	.	PUNCT
ap-1618	45	1	the	the	DET
ap-1618	45	2	original	original	ADJ
ap-1618	45	3	resistive	resistive	ADJ
ap-1618	45	4	level	level	NOUN
ap-1618	45	5	sensors	sensor	NOUN
ap-1618	45	6	have	have	AUX
ap-1618	45	7	been	be	AUX
ap-1618	45	8	replaced	replace	VERB
ap-1618	45	9	using	use	VERB
ap-1618	45	10	more	more	ADV
ap-1618	45	11	accurate	accurate	ADJ
ap-1618	45	12	differential	differential	ADJ
ap-1618	45	13	-	-	PUNCT
ap-1618	45	14	pressure	pressure	NOUN
ap-1618	45	15	based	base	VERB
ap-1618	45	16	depth	depth	NOUN
ap-1618	45	17	sensors	sensor	NOUN
ap-1618	45	18	.	.	PUNCT
ap-1618	46	1	the	the	DET
ap-1618	46	2	derivation	derivation	NOUN
ap-1618	46	3	of	of	ADP
ap-1618	46	4	a	a	DET
ap-1618	46	5	detailed	detailed	ADJ
ap-1618	46	6	nonlinear	nonlinear	ADJ
ap-1618	46	7	model	model	NOUN
ap-1618	46	8	of	of	ADP
ap-1618	46	9	the	the	DET
ap-1618	46	10	system	system	NOUN
ap-1618	46	11	may	may	AUX
ap-1618	46	12	be	be	AUX
ap-1618	46	13	found	find	VERB
ap-1618	46	14	in	in	ADP
ap-1618	46	15	[	[	X
ap-1618	46	16	7	7	NUM
ap-1618	46	17	]	]	PUNCT
ap-1618	46	18	and	and	CCONJ
ap-1618	46	19	in	in	ADP
ap-1618	46	20	a	a	DET
ap-1618	46	21	more	more	ADV
ap-1618	46	22	recent	recent	ADJ
ap-1618	46	23	conference	conference	NOUN
ap-1618	46	24	paper	paper	NOUN
ap-1618	46	25	[	[	X
ap-1618	46	26	8	8	X
ap-1618	46	27	]	]	PUNCT
ap-1618	46	28	which	which	PRON
ap-1618	46	29	also	also	ADV
ap-1618	46	30	includes	include	VERB
ap-1618	46	31	a	a	DET
ap-1618	46	32	very	very	ADV
ap-1618	46	33	brief	brief	ADJ
ap-1618	46	34	account	account	NOUN
ap-1618	46	35	of	of	ADP
ap-1618	46	36	the	the	DET
ap-1618	46	37	application	application	NOUN
ap-1618	46	38	of	of	ADP
ap-1618	46	39	the	the	DET
ap-1618	46	40	icad	icad	PROPN
ap-1618	46	41	approach	approach	NOUN
ap-1618	46	42	to	to	ADP
ap-1618	46	43	the	the	DET
ap-1618	46	44	design	design	NOUN
ap-1618	46	45	of	of	ADP
ap-1618	46	46	a	a	DET
ap-1618	46	47	control	control	NOUN
ap-1618	46	48	system	system	NOUN
ap-1618	46	49	for	for	ADP
ap-1618	46	50	this	this	DET
ap-1618	46	51	process	process	NOUN
ap-1618	46	52	.	.	PUNCT
ap-1618	47	1	the	the	DET
ap-1618	47	2	model	model	NOUN
ap-1618	47	3	is	be	AUX
ap-1618	47	4	based	base	VERB
ap-1618	47	5	on	on	ADP
ap-1618	47	6	the	the	DET
ap-1618	47	7	application	application	NOUN
ap-1618	47	8	of	of	ADP
ap-1618	47	9	the	the	DET
ap-1618	47	10	principle	principle	NOUN
ap-1618	47	11	of	of	ADP
ap-1618	47	12	conservation	conservation	NOUN
ap-1618	47	13	of	of	ADP
ap-1618	47	14	mass	mass	NOUN
ap-1618	47	15	to	to	ADP
ap-1618	47	16	the	the	DET
ap-1618	47	17	liquid	liquid	NOUN
ap-1618	47	18	within	within	ADP
ap-1618	47	19	each	each	DET
ap-1618	47	20	tank	tank	NOUN
ap-1618	47	21	.	.	PUNCT
ap-1618	48	1	bernoulli	bernoulli	PROPN
ap-1618	48	2	’s	’s	PART
ap-1618	48	3	equations	equation	NOUN
ap-1618	48	4	provide	provide	VERB
ap-1618	48	5	the	the	DET
ap-1618	48	6	basis	basis	NOUN
ap-1618	48	7	for	for	ADP
ap-1618	48	8	determining	determine	VERB
ap-1618	48	9	the	the	DET
ap-1618	48	10	flow	flow	NOUN
ap-1618	48	11	from	from	ADP
ap-1618	48	12	one	one	NUM
ap-1618	48	13	tank	tank	NOUN
ap-1618	48	14	to	to	ADP
ap-1618	48	15	the	the	DET
ap-1618	48	16	other	other	ADJ
ap-1618	48	17	and	and	CCONJ
ap-1618	48	18	from	from	ADP
ap-1618	48	19	the	the	DET
ap-1618	48	20	second	second	ADJ
ap-1618	48	21	tank	tank	NOUN
ap-1618	48	22	to	to	ADP
ap-1618	48	23	the	the	DET
ap-1618	48	24	external	external	ADJ
ap-1618	48	25	environment	environment	NOUN
ap-1618	48	26	.	.	PUNCT
ap-1618	49	1	this	this	PRON
ap-1618	49	2	leads	lead	VERB
ap-1618	49	3	to	to	ADP
ap-1618	49	4	the	the	DET
ap-1618	49	5	following	follow	VERB
ap-1618	49	6	pair	pair	NOUN
ap-1618	49	7	of	of	ADP
ap-1618	49	8	equations	equation	NOUN
ap-1618	49	9	,	,	PUNCT
ap-1618	49	10	involving	involve	VERB
ap-1618	49	11	variables	variable	NOUN
ap-1618	49	12	shown	show	VERB
ap-1618	49	13	in	in	ADP
ap-1618	49	14	figure	figure	NOUN
ap-1618	49	15	1	1	NUM
ap-1618	49	16	:	:	PUNCT
ap-1618	49	17	a1	a1	PROPN
ap-1618	49	18	dh1	dh1	PROPN
ap-1618	49	19	dt	dt	X
ap-1618	49	20	=	=	SYM
ap-1618	49	21	qi1	qi1	PROPN
ap-1618	49	22	−	−	NOUN
ap-1618	49	23	cd1a1	cd1a1	ADV
ap-1618	49	24	√	√	NOUN
ap-1618	49	25	2g(h1	2g(h1	NUM
ap-1618	49	26	−h2	−h2	NOUN
ap-1618	49	27	)	)	PUNCT
ap-1618	49	28	(	(	PUNCT
ap-1618	49	29	1	1	X
ap-1618	49	30	)	)	PUNCT
ap-1618	49	31	a2	a2	PROPN
ap-1618	50	1	dh2	dh2	NOUN
ap-1618	50	2	dt	dt	PROPN
ap-1618	51	1	=	=	PUNCT
ap-1618	51	2	qi2	qi2	ADV
ap-1618	51	3	+	+	CCONJ
ap-1618	51	4	cd1a1	cd1a1	ADJ
ap-1618	51	5	√	√	NOUN
ap-1618	51	6	2g(h1	2g(h1	NUM
ap-1618	51	7	−h2)−	−h2)−	ADJ
ap-1618	51	8	(	(	PUNCT
ap-1618	51	9	2	2	NUM
ap-1618	51	10	)	)	PUNCT
ap-1618	51	11	cd2a2	cd2a2	PROPN
ap-1618	51	12	√	√	NOUN
ap-1618	51	13	2g(h2	2g(h2	NUM
ap-1618	51	14	−h3	−h3	NOUN
ap-1618	51	15	)	)	PUNCT
ap-1618	51	16	these	these	DET
ap-1618	51	17	equations	equation	NOUN
ap-1618	51	18	describe	describe	VERB
ap-1618	51	19	the	the	DET
ap-1618	51	20	dynamics	dynamic	NOUN
ap-1618	51	21	of	of	ADP
ap-1618	51	22	the	the	DET
ap-1618	51	23	coupled	couple	VERB
ap-1618	51	24	tanks	tank	NOUN
ap-1618	51	25	system	system	NOUN
ap-1618	51	26	,	,	PUNCT
ap-1618	51	27	in	in	ADP
ap-1618	51	28	nonlinear	nonlinear	ADJ
ap-1618	51	29	form	form	NOUN
ap-1618	51	30	,	,	PUNCT
ap-1618	51	31	for	for	ADP
ap-1618	51	32	all	all	DET
ap-1618	51	33	cases	case	NOUN
ap-1618	51	34	for	for	ADP
ap-1618	51	35	which	which	PRON
ap-1618	51	36	the	the	DET
ap-1618	51	37	level	level	NOUN
ap-1618	51	38	in	in	ADP
ap-1618	51	39	tank	tank	NOUN
ap-1618	51	40	2	2	NUM
ap-1618	51	41	is	be	AUX
ap-1618	51	42	below	below	ADP
ap-1618	51	43	that	that	PRON
ap-1618	51	44	in	in	ADP
ap-1618	51	45	tank	tank	NOUN
ap-1618	51	46	1	1	NUM
ap-1618	51	47	.	.	PUNCT
ap-1618	52	1	it	it	PRON
ap-1618	52	2	is	be	AUX
ap-1618	52	3	,	,	PUNCT
ap-1618	52	4	of	of	ADP
ap-1618	52	5	course	course	NOUN
ap-1618	52	6	,	,	PUNCT
ap-1618	52	7	possible	possible	ADJ
ap-1618	52	8	to	to	PART
ap-1618	52	9	derive	derive	VERB
ap-1618	52	10	a	a	DET
ap-1618	52	11	similar	similar	ADJ
ap-1618	52	12	set	set	NOUN
ap-1618	52	13	of	of	ADP
ap-1618	52	14	nonlinear	nonlinear	ADJ
ap-1618	52	15	equations	equation	NOUN
ap-1618	52	16	to	to	PART
ap-1618	52	17	describe	describe	VERB
ap-1618	52	18	the	the	DET
ap-1618	52	19	system	system	NOUN
ap-1618	52	20	for	for	ADP
ap-1618	52	21	cases	case	NOUN
ap-1618	52	22	involving	involve	VERB
ap-1618	52	23	a	a	DET
ap-1618	52	24	liquid	liquid	ADJ
ap-1618	52	25	level	level	NOUN
ap-1618	52	26	in	in	ADP
ap-1618	52	27	tank	tank	NOUN
ap-1618	52	28	2	2	NUM
ap-1618	52	29	which	which	PRON
ap-1618	52	30	is	be	AUX
ap-1618	52	31	greater	great	ADJ
ap-1618	52	32	than	than	ADP
ap-1618	52	33	the	the	DET
ap-1618	52	34	level	level	NOUN
ap-1618	52	35	in	in	ADP
ap-1618	52	36	tank	tank	NOUN
ap-1618	52	37	1	1	NUM
ap-1618	52	38	.	.	PUNCT
ap-1618	53	1	parameter	parameter	NOUN
ap-1618	53	2	values	value	NOUN
ap-1618	53	3	for	for	ADP
ap-1618	53	4	the	the	DET
ap-1618	53	5	laboratory	laboratory	NOUN
ap-1618	53	6	system	system	NOUN
ap-1618	53	7	are	be	AUX
ap-1618	53	8	as	as	SCONJ
ap-1618	53	9	follows	follow	VERB
ap-1618	53	10	:	:	PUNCT
ap-1618	53	11	cross	cross	ADJ
ap-1618	53	12	-	-	ADJ
ap-1618	53	13	sectional	sectional	ADJ
ap-1618	53	14	area	area	NOUN
ap-1618	53	15	of	of	ADP
ap-1618	53	16	tanks	tank	NOUN
ap-1618	53	17	,	,	PUNCT
ap-1618	53	18	a1	a1	NOUN
ap-1618	53	19	=	=	SYM
ap-1618	53	20	a2	a2	PROPN
ap-1618	53	21	=	=	NOUN
ap-1618	53	22	9.7	9.7	NUM
ap-1618	53	23	×	×	PROPN
ap-1618	53	24	10−3	10−3	NUM
ap-1618	53	25	m2	m2	PROPN
ap-1618	53	26	.	.	PUNCT
ap-1618	54	1	cross	cross	ADJ
ap-1618	54	2	-	-	ADJ
ap-1618	54	3	sectional	sectional	ADJ
ap-1618	54	4	area	area	NOUN
ap-1618	54	5	of	of	ADP
ap-1618	54	6	the	the	DET
ap-1618	54	7	orifice	orifice	NOUN
ap-1618	54	8	between	between	ADP
ap-1618	54	9	tank	tank	NOUN
ap-1618	54	10	1	1	NUM
ap-1618	54	11	and	and	CCONJ
ap-1618	54	12	tank	tank	NOUN
ap-1618	54	13	2	2	NUM
ap-1618	54	14	,	,	PUNCT
ap-1618	54	15	a1	a1	NOUN
ap-1618	54	16	=	=	SYM
ap-1618	54	17	3.956×	3.956×	NUM
ap-1618	54	18	10−5	10−5	NUM
ap-1618	54	19	m2	m2	PROPN
ap-1618	54	20	.	.	PUNCT
ap-1618	55	1	cross	cross	ADJ
ap-1618	55	2	-	-	ADJ
ap-1618	55	3	sectional	sectional	ADJ
ap-1618	55	4	area	area	NOUN
ap-1618	55	5	of	of	ADP
ap-1618	55	6	the	the	DET
ap-1618	55	7	orifice	orifice	NOUN
ap-1618	55	8	representing	represent	VERB
ap-1618	55	9	the	the	DET
ap-1618	55	10	outlet	outlet	NOUN
ap-1618	55	11	drain	drain	NOUN
ap-1618	55	12	of	of	ADP
ap-1618	55	13	tank	tank	NOUN
ap-1618	55	14	2	2	NUM
ap-1618	55	15	,	,	PUNCT
ap-1618	55	16	a2	a2	PROPN
ap-1618	55	17	=	=	SYM
ap-1618	55	18	3.85×	3.85×	NUM
ap-1618	55	19	10−5	10−5	NUM
ap-1618	55	20	m2	m2	PROPN
ap-1618	55	21	.	.	PUNCT
ap-1618	55	22	height	height	NOUN
ap-1618	55	23	of	of	ADP
ap-1618	55	24	the	the	DET
ap-1618	55	25	outlet	outlet	NOUN
ap-1618	55	26	drain	drain	NOUN
ap-1618	55	27	above	above	ADP
ap-1618	55	28	the	the	DET
ap-1618	55	29	base	base	NOUN
ap-1618	55	30	of	of	ADP
ap-1618	55	31	tank	tank	NOUN
ap-1618	55	32	2	2	NUM
ap-1618	55	33	,	,	PUNCT
ap-1618	55	34	h3	h3	NOUN
ap-1618	55	35	=	=	SYM
ap-1618	55	36	0.03	0.03	NUM
ap-1618	55	37	m.	m.	NOUN
ap-1618	55	38	gravitational	gravitational	PROPN
ap-1618	55	39	constant	constant	ADJ
ap-1618	55	40	,	,	PUNCT
ap-1618	55	41	g	g	PROPN
ap-1618	55	42	=	=	NOUN
ap-1618	55	43	9.81	9.81	NUM
ap-1618	55	44	ms−2	ms−2	NOUN
ap-1618	55	45	.	.	PUNCT
ap-1618	56	1	maximum	maximum	ADJ
ap-1618	56	2	flow	flow	NOUN
ap-1618	56	3	rates	rate	NOUN
ap-1618	56	4	for	for	ADP
ap-1618	56	5	inputs	input	NOUN
ap-1618	56	6	to	to	PART
ap-1618	56	7	tank	tank	VERB
ap-1618	56	8	1	1	NUM
ap-1618	56	9	and	and	CCONJ
ap-1618	56	10	tank	tank	NOUN
ap-1618	56	11	2	2	NUM
ap-1618	56	12	:	:	PUNCT
ap-1618	56	13	qi1max	qi1max	ADV
ap-1618	56	14	=	=	SYM
ap-1618	56	15	qi2max	qi2max	X
ap-1618	56	16	=	=	PUNCT
ap-1618	56	17	5×	5×	PROPN
ap-1618	56	18	10−5	10−5	NUM
ap-1618	56	19	m3	m3	PROPN
ap-1618	56	20	s−1	s−1	PROPN
ap-1618	56	21	.	.	PUNCT
ap-1618	56	22	122	122	NUM
ap-1618	56	23	acta	acta	PROPN
ap-1618	56	24	polytechnica	polytechnica	PROPN
ap-1618	56	25	vol	vol	NOUN
ap-1618	56	26	.	.	PROPN
ap-1618	57	1	52	52	NUM
ap-1618	57	2	no	no	NOUN
ap-1618	57	3	.	.	PUNCT
ap-1618	58	1	4/2012	4/2012	NUM
ap-1618	58	2	the	the	DET
ap-1618	58	3	minimum	minimum	ADJ
ap-1618	58	4	flow	flow	NOUN
ap-1618	58	5	rates	rate	NOUN
ap-1618	58	6	for	for	ADP
ap-1618	58	7	these	these	DET
ap-1618	58	8	inputs	input	NOUN
ap-1618	58	9	are	be	AUX
ap-1618	58	10	zero	zero	NUM
ap-1618	58	11	since	since	SCONJ
ap-1618	58	12	the	the	DET
ap-1618	58	13	pumps	pump	NOUN
ap-1618	58	14	are	be	AUX
ap-1618	58	15	not	not	PART
ap-1618	58	16	reversible	reversible	ADJ
ap-1618	58	17	and	and	CCONJ
ap-1618	58	18	thus	thus	ADV
ap-1618	58	19	negative	negative	ADJ
ap-1618	58	20	inputs	input	NOUN
ap-1618	58	21	are	be	AUX
ap-1618	58	22	not	not	PART
ap-1618	58	23	possible	possible	ADJ
ap-1618	58	24	.	.	PUNCT
ap-1618	59	1	maximum	maximum	ADJ
ap-1618	59	2	levels	level	NOUN
ap-1618	59	3	of	of	ADP
ap-1618	59	4	liquid	liquid	NOUN
ap-1618	59	5	in	in	ADP
ap-1618	59	6	tank	tank	NOUN
ap-1618	59	7	1	1	NUM
ap-1618	59	8	and	and	CCONJ
ap-1618	59	9	tank	tank	NOUN
ap-1618	59	10	2	2	NUM
ap-1618	59	11	:	:	PUNCT
ap-1618	59	12	h1max	h1max	NUM
ap-1618	59	13	=	=	PUNCT
ap-1618	60	1	h2max	h2max	VERB
ap-1618	60	2	=	=	SYM
ap-1618	60	3	0.3	0.3	NUM
ap-1618	60	4	m.	m.	NOUN
ap-1618	60	5	the	the	DET
ap-1618	60	6	minimum	minimum	ADJ
ap-1618	60	7	level	level	NOUN
ap-1618	60	8	possible	possible	ADJ
ap-1618	60	9	in	in	ADP
ap-1618	60	10	each	each	DET
ap-1618	60	11	tank	tank	NOUN
ap-1618	60	12	is	be	AUX
ap-1618	60	13	0.03	0.03	NUM
ap-1618	60	14	m	m	NOUN
ap-1618	60	15	which	which	PRON
ap-1618	60	16	corresponds	correspond	VERB
ap-1618	60	17	to	to	ADP
ap-1618	60	18	the	the	DET
ap-1618	60	19	height	height	NOUN
ap-1618	60	20	of	of	ADP
ap-1618	60	21	the	the	DET
ap-1618	60	22	outlet	outlet	NOUN
ap-1618	60	23	drain	drain	NOUN
ap-1618	60	24	.	.	PUNCT
ap-1618	61	1	values	value	NOUN
ap-1618	61	2	of	of	ADP
ap-1618	61	3	the	the	DET
ap-1618	61	4	discharge	discharge	NOUN
ap-1618	61	5	coefficients	coefficient	NOUN
ap-1618	61	6	cd1	cd1	NOUN
ap-1618	61	7	and	and	CCONJ
ap-1618	61	8	cd2	cd2	PROPN
ap-1618	61	9	have	have	VERB
ap-1618	61	10	to	to	PART
ap-1618	61	11	be	be	AUX
ap-1618	61	12	determined	determine	VERB
ap-1618	61	13	empirically	empirically	ADV
ap-1618	61	14	and	and	CCONJ
ap-1618	61	15	the	the	DET
ap-1618	61	16	values	value	NOUN
ap-1618	61	17	obtained	obtain	VERB
ap-1618	61	18	depend	depend	NOUN
ap-1618	61	19	on	on	ADP
ap-1618	61	20	the	the	DET
ap-1618	61	21	system	system	NOUN
ap-1618	61	22	operating	operating	NOUN
ap-1618	61	23	point	point	NOUN
ap-1618	61	24	.	.	PUNCT
ap-1618	62	1	the	the	DET
ap-1618	62	2	value	value	NOUN
ap-1618	62	3	used	use	VERB
ap-1618	62	4	for	for	ADP
ap-1618	62	5	cd1	cd1	PROPN
ap-1618	62	6	in	in	ADP
ap-1618	62	7	the	the	DET
ap-1618	62	8	design	design	NOUN
ap-1618	62	9	calculations	calculation	NOUN
ap-1618	62	10	was	be	AUX
ap-1618	62	11	0.63	0.63	NUM
ap-1618	62	12	and	and	CCONJ
ap-1618	62	13	the	the	DET
ap-1618	62	14	value	value	NOUN
ap-1618	62	15	used	use	VERB
ap-1618	62	16	for	for	ADP
ap-1618	62	17	cd2	cd2	PROPN
ap-1618	62	18	was	be	AUX
ap-1618	62	19	0.58	0.58	NUM
ap-1618	62	20	.	.	PUNCT
ap-1618	63	1	in	in	ADP
ap-1618	63	2	addition	addition	NOUN
ap-1618	63	3	to	to	ADP
ap-1618	63	4	the	the	DET
ap-1618	63	5	above	above	ADJ
ap-1618	63	6	parameters	parameter	NOUN
ap-1618	63	7	,	,	PUNCT
ap-1618	63	8	electrical	electrical	ADJ
ap-1618	63	9	signals	signal	NOUN
ap-1618	63	10	in	in	ADP
ap-1618	63	11	the	the	DET
ap-1618	63	12	system	system	NOUN
ap-1618	63	13	are	be	AUX
ap-1618	63	14	related	relate	VERB
ap-1618	63	15	to	to	ADP
ap-1618	63	16	the	the	DET
ap-1618	63	17	variables	variable	NOUN
ap-1618	63	18	of	of	ADP
ap-1618	63	19	the	the	DET
ap-1618	63	20	model	model	NOUN
ap-1618	63	21	(	(	PUNCT
ap-1618	63	22	as	as	SCONJ
ap-1618	63	23	described	describe	VERB
ap-1618	63	24	by	by	ADP
ap-1618	63	25	equations	equation	NOUN
ap-1618	63	26	(	(	PUNCT
ap-1618	63	27	1	1	NUM
ap-1618	63	28	)	)	PUNCT
ap-1618	63	29	and	and	CCONJ
ap-1618	63	30	(	(	PUNCT
ap-1618	63	31	2	2	NUM
ap-1618	63	32	)	)	PUNCT
ap-1618	63	33	)	)	PUNCT
ap-1618	63	34	through	through	ADP
ap-1618	63	35	the	the	DET
ap-1618	63	36	following	follow	VERB
ap-1618	63	37	two	two	NUM
ap-1618	63	38	parameters	parameter	NOUN
ap-1618	63	39	:	:	PUNCT
ap-1618	63	40	pump	pump	VERB
ap-1618	63	41	flow	flow	NOUN
ap-1618	63	42	-	-	PUNCT
ap-1618	63	43	rate	rate	NOUN
ap-1618	63	44	calibration	calibration	NOUN
ap-1618	63	45	constant	constant	ADJ
ap-1618	63	46	,	,	PUNCT
ap-1618	63	47	gp	gp	NOUN
ap-1618	64	1	=	=	PUNCT
ap-1618	64	2	7.2×	7.2×	NUM
ap-1618	65	1	10−6	10−6	NUM
ap-1618	65	2	m3s−1v−1	m3s−1v−1	ADJ
ap-1618	65	3	.	.	PUNCT
ap-1618	66	1	liquid	liquid	ADJ
ap-1618	66	2	depth	depth	NOUN
ap-1618	66	3	sensor	sensor	NOUN
ap-1618	66	4	calibration	calibration	NOUN
ap-1618	66	5	constant	constant	ADJ
ap-1618	66	6	,	,	PUNCT
ap-1618	66	7	gd	gd	ADP
ap-1618	66	8	=	=	PROPN
ap-1618	66	9	33.33	33.33	NUM
ap-1618	66	10	vm−1	vm−1	NOUN
ap-1618	66	11	.	.	PUNCT
ap-1618	67	1	it	it	PRON
ap-1618	67	2	should	should	AUX
ap-1618	67	3	be	be	AUX
ap-1618	67	4	noted	note	VERB
ap-1618	67	5	that	that	SCONJ
ap-1618	67	6	no	no	DET
ap-1618	67	7	dynamic	dynamic	ADJ
ap-1618	67	8	representation	representation	NOUN
ap-1618	67	9	is	be	AUX
ap-1618	67	10	included	include	VERB
ap-1618	67	11	for	for	ADP
ap-1618	67	12	the	the	DET
ap-1618	67	13	two	two	NUM
ap-1618	67	14	pumps	pump	NOUN
ap-1618	67	15	and	and	CCONJ
ap-1618	67	16	the	the	DET
ap-1618	67	17	associated	associated	ADJ
ap-1618	67	18	electrical	electrical	ADJ
ap-1618	67	19	drives	drive	NOUN
ap-1618	67	20	as	as	SCONJ
ap-1618	67	21	it	it	PRON
ap-1618	67	22	was	be	AUX
ap-1618	67	23	found	find	VERB
ap-1618	67	24	,	,	PUNCT
ap-1618	67	25	through	through	ADP
ap-1618	67	26	hardware	hardware	NOUN
ap-1618	67	27	testing	testing	NOUN
ap-1618	67	28	,	,	PUNCT
ap-1618	67	29	that	that	SCONJ
ap-1618	67	30	they	they	PRON
ap-1618	67	31	show	show	VERB
ap-1618	67	32	a	a	DET
ap-1618	67	33	very	very	ADV
ap-1618	67	34	fast	fast	ADJ
ap-1618	67	35	response	response	NOUN
ap-1618	67	36	to	to	ADP
ap-1618	67	37	changes	change	NOUN
ap-1618	67	38	of	of	ADP
ap-1618	67	39	electrical	electrical	ADJ
ap-1618	67	40	input	input	NOUN
ap-1618	67	41	compared	compare	VERB
ap-1618	67	42	with	with	ADP
ap-1618	67	43	the	the	DET
ap-1618	67	44	level	level	NOUN
ap-1618	67	45	changes	change	NOUN
ap-1618	67	46	within	within	ADP
ap-1618	67	47	the	the	DET
ap-1618	67	48	tanks	tank	NOUN
ap-1618	67	49	themselves	themselves	PRON
ap-1618	67	50	.	.	PUNCT
ap-1618	68	1	time	time	NOUN
ap-1618	68	2	constants	constant	NOUN
ap-1618	68	3	that	that	PRON
ap-1618	68	4	are	be	AUX
ap-1618	68	5	associated	associate	VERB
ap-1618	68	6	with	with	ADP
ap-1618	68	7	the	the	DET
ap-1618	68	8	pumps	pump	NOUN
ap-1618	68	9	were	be	AUX
ap-1618	68	10	therefore	therefore	ADV
ap-1618	68	11	neglected	neglect	VERB
ap-1618	68	12	for	for	ADP
ap-1618	68	13	the	the	DET
ap-1618	68	14	purposes	purpose	NOUN
ap-1618	68	15	of	of	ADP
ap-1618	68	16	the	the	DET
ap-1618	68	17	control	control	NOUN
ap-1618	68	18	system	system	NOUN
ap-1618	68	19	design	design	NOUN
ap-1618	68	20	.	.	PUNCT
ap-1618	69	1	for	for	ADP
ap-1618	69	2	the	the	DET
ap-1618	69	3	preliminary	preliminary	ADJ
ap-1618	69	4	stages	stage	NOUN
ap-1618	69	5	of	of	ADP
ap-1618	69	6	the	the	DET
ap-1618	69	7	design	design	NOUN
ap-1618	69	8	it	it	PRON
ap-1618	69	9	is	be	AUX
ap-1618	69	10	also	also	ADV
ap-1618	69	11	appropriate	appropriate	ADJ
ap-1618	69	12	to	to	PART
ap-1618	69	13	consider	consider	VERB
ap-1618	69	14	a	a	DET
ap-1618	69	15	linearised	linearised	ADJ
ap-1618	69	16	model	model	NOUN
ap-1618	69	17	,	,	PUNCT
ap-1618	69	18	within	within	ADP
ap-1618	69	19	which	which	PRON
ap-1618	69	20	the	the	DET
ap-1618	69	21	variables	variable	NOUN
ap-1618	69	22	represent	represent	VERB
ap-1618	69	23	small	small	ADJ
ap-1618	69	24	variations	variation	NOUN
ap-1618	69	25	of	of	ADP
ap-1618	69	26	system	system	NOUN
ap-1618	69	27	variables	variable	NOUN
ap-1618	69	28	about	about	ADP
ap-1618	69	29	steady	steady	ADJ
ap-1618	69	30	state	state	NOUN
ap-1618	69	31	values	value	NOUN
ap-1618	69	32	.	.	PUNCT
ap-1618	70	1	h̃1(t	h̃1(t	VERB
ap-1618	70	2	)	)	PUNCT
ap-1618	71	1	=	=	SYM
ap-1618	71	2	h̄1	h̄1	PROPN
ap-1618	71	3	−h1(t	−h1(t	PROPN
ap-1618	71	4	)	)	PUNCT
ap-1618	71	5	(	(	PUNCT
ap-1618	71	6	3	3	X
ap-1618	71	7	)	)	PUNCT
ap-1618	71	8	h̃2(t	h̃2(t	PROPN
ap-1618	71	9	)	)	PUNCT
ap-1618	71	10	=	=	PUNCT
ap-1618	71	11	h̄2	h̄2	X
ap-1618	71	12	−h2(t	−h2(t	PROPN
ap-1618	71	13	)	)	PUNCT
ap-1618	71	14	(	(	PUNCT
ap-1618	71	15	4	4	X
ap-1618	71	16	)	)	PUNCT
ap-1618	71	17	qi1(t	qi1(t	PROPN
ap-1618	71	18	)	)	PUNCT
ap-1618	71	19	=	=	NOUN
ap-1618	71	20	q̄i1	q̄i1	NOUN
ap-1618	71	21	−qi1(t	−qi1(t	VERB
ap-1618	71	22	)	)	PUNCT
ap-1618	71	23	(	(	PUNCT
ap-1618	71	24	5	5	X
ap-1618	71	25	)	)	PUNCT
ap-1618	71	26	qi2(t	qi2(t	PROPN
ap-1618	71	27	)	)	PUNCT
ap-1618	71	28	=	=	SYM
ap-1618	72	1	q̄i2	q̄i2	PROPN
ap-1618	72	2	−qi2(t	−qi2(t	NOUN
ap-1618	72	3	)	)	PUNCT
ap-1618	72	4	(	(	PUNCT
ap-1618	72	5	6	6	NUM
ap-1618	72	6	)	)	PUNCT
ap-1618	72	7	q23(t	q23(t	ADV
ap-1618	72	8	)	)	PUNCT
ap-1618	72	9	=	=	SYM
ap-1618	72	10	q̄23	q̄23	NUM
ap-1618	72	11	−q23(t	−q23(t	PROPN
ap-1618	72	12	)	)	PUNCT
ap-1618	72	13	(	(	PUNCT
ap-1618	72	14	7	7	X
ap-1618	72	15	)	)	PUNCT
ap-1618	72	16	in	in	ADP
ap-1618	72	17	equations	equation	NOUN
ap-1618	72	18	(	(	PUNCT
ap-1618	72	19	3)–(7	3)–(7	NUM
ap-1618	72	20	)	)	PUNCT
ap-1618	72	21	the	the	DET
ap-1618	72	22	variables	variable	NOUN
ap-1618	72	23	that	that	PRON
ap-1618	72	24	have	have	VERB
ap-1618	72	25	a	a	DET
ap-1618	72	26	horizontal	horizontal	ADJ
ap-1618	72	27	bar	bar	NOUN
ap-1618	72	28	above	above	ADP
ap-1618	72	29	them	they	PRON
ap-1618	72	30	denote	denote	VERB
ap-1618	72	31	values	value	NOUN
ap-1618	72	32	at	at	ADP
ap-1618	72	33	the	the	DET
ap-1618	72	34	chosen	choose	VERB
ap-1618	72	35	operating	operating	NOUN
ap-1618	72	36	point	point	NOUN
ap-1618	72	37	,	,	PUNCT
ap-1618	72	38	which	which	PRON
ap-1618	72	39	is	be	AUX
ap-1618	72	40	normally	normally	ADV
ap-1618	72	41	defined	define	VERB
ap-1618	72	42	by	by	ADP
ap-1618	72	43	a	a	DET
ap-1618	72	44	steadystate	steadystate	ADJ
ap-1618	72	45	condition	condition	NOUN
ap-1618	72	46	.	.	PUNCT
ap-1618	73	1	if	if	SCONJ
ap-1618	73	2	equations	equation	NOUN
ap-1618	73	3	(	(	PUNCT
ap-1618	73	4	1	1	NUM
ap-1618	73	5	)	)	PUNCT
ap-1618	73	6	and	and	CCONJ
ap-1618	73	7	(	(	PUNCT
ap-1618	73	8	2	2	X
ap-1618	73	9	)	)	PUNCT
ap-1618	73	10	are	be	AUX
ap-1618	73	11	re	re	VERB
ap-1618	73	12	-	-	VERB
ap-1618	73	13	arranged	arranged	ADJ
ap-1618	73	14	in	in	ADP
ap-1618	73	15	the	the	DET
ap-1618	73	16	standard	standard	ADJ
ap-1618	73	17	state	state	NOUN
ap-1618	73	18	-	-	PUNCT
ap-1618	73	19	space	space	NOUN
ap-1618	73	20	form	form	NOUN
ap-1618	73	21	,	,	PUNCT
ap-1618	73	22	we	we	PRON
ap-1618	73	23	get	get	VERB
ap-1618	73	24	a	a	DET
ap-1618	73	25	pair	pair	NOUN
ap-1618	73	26	of	of	ADP
ap-1618	73	27	nonlinear	nonlinear	ADJ
ap-1618	73	28	equations	equation	NOUN
ap-1618	73	29	:	:	PUNCT
ap-1618	74	1	dh1	dh1	PROPN
ap-1618	74	2	dt	dt	X
ap-1618	75	1	=	=	SYM
ap-1618	75	2	f1(h1	f1(h1	PROPN
ap-1618	75	3	,	,	PUNCT
ap-1618	75	4	h2	h2	PROPN
ap-1618	75	5	,	,	PUNCT
ap-1618	75	6	qi1	qi1	PROPN
ap-1618	75	7	)	)	PUNCT
ap-1618	75	8	(	(	PUNCT
ap-1618	75	9	8)	8)	NUM
ap-1618	75	10	dh2	dh2	NOUN
ap-1618	75	11	dt	dt	X
ap-1618	76	1	=	=	SYM
ap-1618	76	2	f2(h1	f2(h1	PROPN
ap-1618	76	3	,	,	PUNCT
ap-1618	76	4	h2	h2	NOUN
ap-1618	76	5	,	,	PUNCT
ap-1618	76	6	h3	h3	NOUN
ap-1618	76	7	,	,	PUNCT
ap-1618	76	8	qi2	qi2	ADV
ap-1618	76	9	)	)	PUNCT
ap-1618	76	10	(	(	PUNCT
ap-1618	76	11	9	9	NUM
ap-1618	76	12	)	)	PUNCT
ap-1618	76	13	then	then	ADV
ap-1618	76	14	,	,	PUNCT
ap-1618	76	15	since	since	SCONJ
ap-1618	76	16	the	the	DET
ap-1618	76	17	level	level	NOUN
ap-1618	76	18	h3	h3	NOUN
ap-1618	76	19	may	may	AUX
ap-1618	76	20	be	be	AUX
ap-1618	76	21	assumed	assume	VERB
ap-1618	76	22	constant	constant	ADJ
ap-1618	76	23	,	,	PUNCT
ap-1618	76	24	linearisation	linearisation	NOUN
ap-1618	76	25	produces	produce	VERB
ap-1618	76	26	the	the	DET
ap-1618	76	27	standard	standard	ADJ
ap-1618	76	28	linear	linear	ADJ
ap-1618	76	29	state	state	NOUN
ap-1618	76	30	space	space	NOUN
ap-1618	76	31	model:⎡	model:⎡	PROPN
ap-1618	76	32	⎢⎣	⎢⎣	PROPN
ap-1618	76	33	dh̃1	dh̃1	NOUN
ap-1618	76	34	dt	dt	VERB
ap-1618	76	35	dh̃2	dh̃2	ADP
ap-1618	76	36	dt	dt	PUNCT
ap-1618	76	37	⎤	⎤	PROPN
ap-1618	76	38	⎥⎦	⎥⎦	NOUN
ap-1618	76	39	=	=	VERB
ap-1618	76	40	⎡	⎡	NUM
ap-1618	76	41	⎢⎣	⎢⎣	PROPN
ap-1618	76	42	∂f1	∂f1	PROPN
ap-1618	76	43	∂h1	∂h1	PROPN
ap-1618	76	44	∂f1	∂f1	PROPN
ap-1618	76	45	∂h2	∂h2	ADP
ap-1618	76	46	∂f2	∂f2	NOUN
ap-1618	76	47	∂h1	∂h1	PROPN
ap-1618	76	48	∂f2	∂f2	VERB
ap-1618	76	49	∂h2	∂h2	ADP
ap-1618	76	50	⎤	⎤	ADJ
ap-1618	76	51	⎥⎦	⎥⎦	NOUN
ap-1618	76	52	[	[	PUNCT
ap-1618	76	53	h̃1	h̃1	PROPN
ap-1618	76	54	h̃2	h̃2	PROPN
ap-1618	76	55	]	]	PUNCT
ap-1618	76	56	+	+	CCONJ
ap-1618	76	57	(	(	PUNCT
ap-1618	76	58	10	10	NUM
ap-1618	76	59	)	)	PUNCT
ap-1618	76	60	⎡	⎡	VERB
ap-1618	76	61	⎢⎣	⎢⎣	PROPN
ap-1618	76	62	∂f1	∂f1	PROPN
ap-1618	76	63	∂q1	∂q1	VERB
ap-1618	76	64	∂f1	∂f1	PROPN
ap-1618	76	65	∂q2	∂q2	ADJ
ap-1618	76	66	∂f2	∂f2	NOUN
ap-1618	76	67	∂q1	∂q1	VERB
ap-1618	76	68	∂f2	∂f2	NOUN
ap-1618	76	69	∂q2	∂q2	ADJ
ap-1618	76	70	⎤	⎤	NOUN
ap-1618	77	1	⎥⎦	⎥⎦	NOUN
ap-1618	77	2	[	[	PUNCT
ap-1618	77	3	qi1	qi1	NOUN
ap-1618	77	4	qi2	qi2	ADV
ap-1618	77	5	]	]	PUNCT
ap-1618	77	6	in	in	ADP
ap-1618	77	7	equation	equation	NOUN
ap-1618	77	8	(	(	PUNCT
ap-1618	77	9	10	10	NUM
ap-1618	77	10	)	)	PUNCT
ap-1618	77	11	all	all	DET
ap-1618	77	12	the	the	DET
ap-1618	77	13	partial	partial	ADJ
ap-1618	77	14	derivatives	derivative	NOUN
ap-1618	77	15	must	must	AUX
ap-1618	77	16	be	be	AUX
ap-1618	77	17	evaluated	evaluate	VERB
ap-1618	77	18	at	at	ADP
ap-1618	77	19	the	the	DET
ap-1618	77	20	operating	operating	NOUN
ap-1618	77	21	point	point	NOUN
ap-1618	77	22	(	(	PUNCT
ap-1618	77	23	h̄1	h̄1	PROPN
ap-1618	77	24	,	,	PUNCT
ap-1618	77	25	h̄2	h̄2	X
ap-1618	77	26	,	,	PUNCT
ap-1618	77	27	q̄i1	q̄i1	NOUN
ap-1618	77	28	,	,	PUNCT
ap-1618	77	29	q̄i2	q̄i2	PROPN
ap-1618	77	30	)	)	PUNCT
ap-1618	77	31	.	.	PUNCT
ap-1618	78	1	the	the	DET
ap-1618	78	2	resulting	result	VERB
ap-1618	78	3	linearised	linearise	VERB
ap-1618	78	4	equation	equation	NOUN
ap-1618	78	5	,	,	PUNCT
ap-1618	78	6	after	after	ADP
ap-1618	78	7	evaluation	evaluation	NOUN
ap-1618	78	8	of	of	ADP
ap-1618	78	9	the	the	DET
ap-1618	78	10	partial	partial	ADJ
ap-1618	78	11	derivatives	derivative	NOUN
ap-1618	78	12	,	,	PUNCT
ap-1618	78	13	has	have	VERB
ap-1618	78	14	the	the	DET
ap-1618	78	15	form	form	NOUN
ap-1618	78	16	:	:	PUNCT
ap-1618	78	17	[	[	PUNCT
ap-1618	78	18	˙̃h1	˙̃h1	X
ap-1618	78	19	˙̃h2	˙̃h2	PUNCT
ap-1618	78	20	]	]	PUNCT
ap-1618	79	1	=	=	PUNCT
ap-1618	79	2	⎡	⎡	NOUN
ap-1618	79	3	⎢⎣	⎢⎣	ADJ
ap-1618	79	4	−α1	−α1	VERB
ap-1618	79	5	a1	a1	NOUN
ap-1618	79	6	α1	α1	PROPN
ap-1618	79	7	a1	a1	NOUN
ap-1618	79	8	α1	α1	PROPN
ap-1618	79	9	a2	a2	PROPN
ap-1618	79	10	−(α1	−(α1	CCONJ
ap-1618	79	11	+	+	CCONJ
ap-1618	79	12	α2	α2	ADJ
ap-1618	79	13	)	)	PUNCT
ap-1618	79	14	a2	a2	PROPN
ap-1618	79	15	⎤	⎤	NOUN
ap-1618	80	1	⎥⎦	⎥⎦	NOUN
ap-1618	80	2	[	[	PUNCT
ap-1618	80	3	h̃1	h̃1	PROPN
ap-1618	80	4	h̃2	h̃2	PROPN
ap-1618	80	5	]	]	PUNCT
ap-1618	81	1	+	+	CCONJ
ap-1618	81	2	(	(	PUNCT
ap-1618	81	3	11	11	NUM
ap-1618	81	4	)	)	PUNCT
ap-1618	81	5	⎡	⎡	VERB
ap-1618	81	6	⎢⎣	⎢⎣	PROPN
ap-1618	81	7	1	1	NUM
ap-1618	81	8	a1	a1	NOUN
ap-1618	81	9	0	0	NUM
ap-1618	81	10	0	0	NUM
ap-1618	81	11	1	1	NUM
ap-1618	81	12	a2	a2	PROPN
ap-1618	81	13	⎤	⎤	NOUN
ap-1618	81	14	⎥⎦	⎥⎦	NOUN
ap-1618	81	15	[	[	PUNCT
ap-1618	81	16	qi1	qi1	NOUN
ap-1618	81	17	qi2	qi2	ADV
ap-1618	81	18	]	]	PUNCT
ap-1618	81	19	where	where	SCONJ
ap-1618	81	20	α1	α1	PROPN
ap-1618	81	21	=	=	SYM
ap-1618	81	22	cd1a1	cd1a1	X
ap-1618	81	23	2	2	NUM
ap-1618	81	24	√	√	ADP
ap-1618	81	25	2	2	NUM
ap-1618	81	26	g	g	NOUN
ap-1618	81	27	h̄1	h̄1	PROPN
ap-1618	81	28	−	−	PROPN
ap-1618	81	29	h̄2	h̄2	X
ap-1618	81	30	(	(	PUNCT
ap-1618	81	31	12	12	NUM
ap-1618	81	32	)	)	PUNCT
ap-1618	81	33	and	and	CCONJ
ap-1618	81	34	α2	α2	PROPN
ap-1618	81	35	=	=	SYM
ap-1618	81	36	cd2a2	cd2a2	PROPN
ap-1618	81	37	2	2	NUM
ap-1618	81	38	√	√	NUM
ap-1618	81	39	2	2	NUM
ap-1618	81	40	g	g	NOUN
ap-1618	81	41	h̄2	h̄2	X
ap-1618	81	42	−h3	−h3	NOUN
ap-1618	81	43	(	(	PUNCT
ap-1618	81	44	13	13	NUM
ap-1618	81	45	)	)	PUNCT
ap-1618	81	46	the	the	DET
ap-1618	81	47	individual	individual	ADJ
ap-1618	81	48	block	block	NOUN
ap-1618	81	49	transfer	transfer	NOUN
ap-1618	81	50	functions	function	NOUN
ap-1618	81	51	that	that	PRON
ap-1618	81	52	describe	describe	VERB
ap-1618	81	53	the	the	DET
ap-1618	81	54	plant	plant	NOUN
ap-1618	81	55	in	in	ADP
ap-1618	81	56	figure	figure	NOUN
ap-1618	81	57	1	1	NUM
ap-1618	81	58	may	may	AUX
ap-1618	81	59	then	then	ADV
ap-1618	81	60	be	be	AUX
ap-1618	81	61	derived	derive	VERB
ap-1618	81	62	from	from	ADP
ap-1618	81	63	equation	equation	NOUN
ap-1618	81	64	(	(	PUNCT
ap-1618	81	65	11	11	NUM
ap-1618	81	66	)	)	PUNCT
ap-1618	81	67	and	and	CCONJ
ap-1618	81	68	are	be	AUX
ap-1618	81	69	as	as	SCONJ
ap-1618	81	70	follows	follow	VERB
ap-1618	81	71	:	:	PUNCT
ap-1618	81	72	g11(s	g11(	VERB
ap-1618	81	73	)	)	PUNCT
ap-1618	81	74	=	=	SYM
ap-1618	81	75	(	(	PUNCT
ap-1618	81	76	α1+α2	α1+α2	NOUN
ap-1618	81	77	)	)	PUNCT
ap-1618	81	78	α1α2	α1α2	PUNCT
ap-1618	82	1	[	[	PUNCT
ap-1618	82	2	1	1	NUM
ap-1618	82	3	+	+	NUM
ap-1618	82	4	s	s	NOUN
ap-1618	82	5	a2	a2	PROPN
ap-1618	82	6	(	(	PUNCT
ap-1618	82	7	α1+α2	α1+α2	PROPN
ap-1618	82	8	)	)	PUNCT
ap-1618	82	9	]	]	PUNCT
ap-1618	83	1	1	1	NUM
ap-1618	83	2	+	+	CCONJ
ap-1618	83	3	(	(	PUNCT
ap-1618	83	4	a1α1+a1α2+a2α1	a1α1+a1α2+a2α1	NOUN
ap-1618	83	5	)	)	PUNCT
ap-1618	83	6	α1α2	α1α2	PUNCT
ap-1618	83	7	s+	s+	ADV
ap-1618	83	8	a1a2	a1a2	INTJ
ap-1618	83	9	α1α2	α1α2	PUNCT
ap-1618	83	10	s2	s2	NOUN
ap-1618	83	11	(	(	PUNCT
ap-1618	83	12	14	14	NUM
ap-1618	83	13	)	)	PUNCT
ap-1618	83	14	g21(s	g21(s	NOUN
ap-1618	83	15	)	)	PUNCT
ap-1618	83	16	=	=	SYM
ap-1618	83	17	1	1	NUM
ap-1618	83	18	α1	α1	PROPN
ap-1618	83	19	1	1	NUM
ap-1618	83	20	+	+	CCONJ
ap-1618	83	21	(	(	PUNCT
ap-1618	83	22	a1α1+a1α2+a2α1	a1α1+a1α2+a2α1	NOUN
ap-1618	83	23	)	)	PUNCT
ap-1618	83	24	α1α2	α1α2	PUNCT
ap-1618	83	25	s+	s+	ADV
ap-1618	83	26	a1a2	a1a2	INTJ
ap-1618	83	27	α1α2	α1α2	PUNCT
ap-1618	83	28	s2	s2	NOUN
ap-1618	83	29	(	(	PUNCT
ap-1618	83	30	15	15	NUM
ap-1618	83	31	)	)	PUNCT
ap-1618	83	32	g12(s	g12(s	NOUN
ap-1618	83	33	)	)	PUNCT
ap-1618	83	34	=	=	SYM
ap-1618	83	35	1	1	NUM
ap-1618	83	36	α2	α2	ADJ
ap-1618	83	37	1	1	NUM
ap-1618	84	1	+	+	CCONJ
ap-1618	84	2	(	(	PUNCT
ap-1618	84	3	a1α1+a1α2+a2α1	a1α1+a1α2+a2α1	NOUN
ap-1618	84	4	)	)	PUNCT
ap-1618	84	5	α1α2	α1α2	PUNCT
ap-1618	84	6	s+	s+	ADV
ap-1618	84	7	a1a2	a1a2	INTJ
ap-1618	84	8	α1α2	α1α2	PUNCT
ap-1618	84	9	s2	s2	NOUN
ap-1618	84	10	(	(	PUNCT
ap-1618	84	11	16	16	NUM
ap-1618	84	12	)	)	PUNCT
ap-1618	84	13	g22(s	g22(s	NOUN
ap-1618	84	14	)	)	PUNCT
ap-1618	84	15	=	=	SYM
ap-1618	84	16	1	1	NUM
ap-1618	84	17	α2	α2	ADJ
ap-1618	84	18	(	(	PUNCT
ap-1618	84	19	1	1	NUM
ap-1618	84	20	+	+	NUM
ap-1618	84	21	sa1	sa1	PROPN
ap-1618	84	22	α1	α1	PROPN
ap-1618	84	23	)	)	PUNCT
ap-1618	84	24	1	1	NUM
ap-1618	84	25	+	+	CCONJ
ap-1618	84	26	(	(	PUNCT
ap-1618	84	27	a1α1+a1α2+a2α1	a1α1+a1α2+a2α1	NOUN
ap-1618	84	28	)	)	PUNCT
ap-1618	84	29	α1α2	α1α2	PUNCT
ap-1618	84	30	s+	s+	ADV
ap-1618	84	31	a1a2	a1a2	INTJ
ap-1618	84	32	α1α2	α1α2	PUNCT
ap-1618	84	33	s2	s2	NOUN
ap-1618	84	34	(	(	PUNCT
ap-1618	84	35	17	17	NUM
ap-1618	84	36	)	)	PUNCT
ap-1618	84	37	3	3	NUM
ap-1618	84	38	an	an	DET
ap-1618	84	39	outline	outline	NOUN
ap-1618	84	40	of	of	ADP
ap-1618	84	41	the	the	DET
ap-1618	84	42	icad	icad	PROPN
ap-1618	84	43	approach	approach	NOUN
ap-1618	84	44	a	a	DET
ap-1618	84	45	linear	linear	ADJ
ap-1618	84	46	time	time	NOUN
ap-1618	84	47	-	-	PUNCT
ap-1618	84	48	invariant	invariant	ADJ
ap-1618	84	49	mimo	mimo	PROPN
ap-1618	84	50	plant	plant	NOUN
ap-1618	84	51	may	may	AUX
ap-1618	84	52	be	be	AUX
ap-1618	84	53	modelled	model	VERB
ap-1618	84	54	using	use	VERB
ap-1618	84	55	a	a	DET
ap-1618	84	56	transfer	transfer	NOUN
ap-1618	84	57	function	function	NOUN
ap-1618	84	58	matrix	matrix	NOUN
ap-1618	84	59	g.	g.	NOUN
ap-1618	85	1	if	if	SCONJ
ap-1618	85	2	a	a	DET
ap-1618	85	3	control	control	NOUN
ap-1618	85	4	matrix	matrix	NOUN
ap-1618	85	5	k	k	NOUN
ap-1618	85	6	is	be	AUX
ap-1618	85	7	positioned	position	VERB
ap-1618	85	8	in	in	ADP
ap-1618	85	9	the	the	DET
ap-1618	85	10	forward	forward	ADJ
ap-1618	85	11	path	path	NOUN
ap-1618	85	12	in	in	ADP
ap-1618	85	13	cascade	cascade	NOUN
ap-1618	85	14	with	with	ADP
ap-1618	85	15	the	the	DET
ap-1618	85	16	plant	plant	NOUN
ap-1618	85	17	transfer	transfer	NOUN
ap-1618	85	18	function	function	NOUN
ap-1618	85	19	matrix	matrix	NOUN
ap-1618	85	20	g	g	NOUN
ap-1618	85	21	and	and	CCONJ
ap-1618	85	22	immediately	immediately	ADV
ap-1618	85	23	before	before	ADP
ap-1618	85	24	it	it	PRON
ap-1618	85	25	,	,	PUNCT
ap-1618	85	26	a	a	DET
ap-1618	85	27	feedback	feedback	NOUN
ap-1618	85	28	loop	loop	NOUN
ap-1618	85	29	can	can	AUX
ap-1618	85	30	be	be	AUX
ap-1618	85	31	created	create	VERB
ap-1618	85	32	around	around	ADP
ap-1618	85	33	the	the	DET
ap-1618	85	34	combined	combine	VERB
ap-1618	85	35	system	system	NOUN
ap-1618	85	36	described	describe	VERB
ap-1618	85	37	by	by	ADP
ap-1618	85	38	the	the	DET
ap-1618	85	39	product	product	NOUN
ap-1618	85	40	kg	kg	NOUN
ap-1618	85	41	.	.	PUNCT
ap-1618	86	1	the	the	DET
ap-1618	86	2	essential	essential	ADJ
ap-1618	86	3	feature	feature	NOUN
ap-1618	86	4	of	of	ADP
ap-1618	86	5	the	the	DET
ap-1618	86	6	icad	icad	PROPN
ap-1618	86	7	approach	approach	NOUN
ap-1618	86	8	is	be	AUX
ap-1618	86	9	that	that	SCONJ
ap-1618	86	10	loops	loop	NOUN
ap-1618	86	11	are	be	AUX
ap-1618	86	12	considered	consider	VERB
ap-1618	86	13	individually	individually	ADV
ap-1618	86	14	,	,	PUNCT
ap-1618	86	15	by	by	ADP
ap-1618	86	16	opening	open	VERB
ap-1618	86	17	one	one	NUM
ap-1618	86	18	loop	loop	NOUN
ap-1618	86	19	while	while	SCONJ
ap-1618	86	20	all	all	DET
ap-1618	86	21	other	other	ADJ
ap-1618	86	22	loops	loop	NOUN
ap-1618	86	23	remain	remain	VERB
ap-1618	86	24	closed	closed	ADJ
ap-1618	86	25	.	.	PUNCT
ap-1618	87	1	details	detail	NOUN
ap-1618	87	2	of	of	ADP
ap-1618	87	3	the	the	DET
ap-1618	87	4	icad	icad	PROPN
ap-1618	87	5	methodology	methodology	NOUN
ap-1618	87	6	and	and	CCONJ
ap-1618	87	7	applications	application	NOUN
ap-1618	87	8	that	that	PRON
ap-1618	87	9	have	have	AUX
ap-1618	87	10	been	be	AUX
ap-1618	87	11	considered	consider	VERB
ap-1618	87	12	previously	previously	ADV
ap-1618	87	13	may	may	AUX
ap-1618	87	14	be	be	AUX
ap-1618	87	15	found	find	VERB
ap-1618	87	16	in	in	ADP
ap-1618	87	17	papers	paper	NOUN
ap-1618	87	18	by	by	ADP
ap-1618	87	19	leithead	leithead	NOUN
ap-1618	87	20	and	and	CCONJ
ap-1618	87	21	o’reilly	o’reilly	ADV
ap-1618	87	22	(	(	PUNCT
ap-1618	87	23	e.g.	e.g.	ADV
ap-1618	87	24	[	[	X
ap-1618	87	25	2–4	2–4	NUM
ap-1618	87	26	]	]	X
ap-1618	87	27	123	123	NUM
ap-1618	87	28	acta	acta	PROPN
ap-1618	87	29	polytechnica	polytechnica	PROPN
ap-1618	87	30	vol	vol	NOUN
ap-1618	87	31	.	.	PROPN
ap-1618	88	1	52	52	NUM
ap-1618	88	2	no	no	NOUN
ap-1618	88	3	.	.	PUNCT
ap-1618	89	1	4/2012	4/2012	NUM
ap-1618	89	2	and	and	CCONJ
ap-1618	89	3	[	[	X
ap-1618	89	4	5	5	NUM
ap-1618	89	5	]	]	NUM
ap-1618	89	6	)	)	PUNCT
ap-1618	89	7	,	,	PUNCT
ap-1618	89	8	who	who	PRON
ap-1618	89	9	were	be	AUX
ap-1618	89	10	responsible	responsible	ADJ
ap-1618	89	11	for	for	ADP
ap-1618	89	12	the	the	DET
ap-1618	89	13	initial	initial	ADJ
ap-1618	89	14	development	development	NOUN
ap-1618	89	15	of	of	ADP
ap-1618	89	16	the	the	DET
ap-1618	89	17	approach	approach	NOUN
ap-1618	89	18	.	.	PUNCT
ap-1618	90	1	a	a	DET
ap-1618	90	2	bibliography	bibliography	NOUN
ap-1618	90	3	of	of	ADP
ap-1618	90	4	published	publish	VERB
ap-1618	90	5	papers	paper	NOUN
ap-1618	90	6	and	and	CCONJ
ap-1618	90	7	reports	report	NOUN
ap-1618	90	8	relating	relate	VERB
ap-1618	90	9	to	to	ADP
ap-1618	90	10	icad	icad	ADJ
ap-1618	90	11	methods	method	NOUN
ap-1618	90	12	has	have	AUX
ap-1618	90	13	been	be	AUX
ap-1618	90	14	made	make	VERB
ap-1618	90	15	available	available	ADJ
ap-1618	90	16	by	by	ADP
ap-1618	90	17	kocijan	kocijan	NOUN
ap-1618	90	18	[	[	X
ap-1618	90	19	6	6	NUM
ap-1618	90	20	]	]	PUNCT
ap-1618	90	21	.	.	PUNCT
ap-1618	91	1	the	the	DET
ap-1618	91	2	icad	icad	PROPN
ap-1618	91	3	methodology	methodology	NOUN
ap-1618	91	4	allows	allow	VERB
ap-1618	91	5	a	a	DET
ap-1618	91	6	controller	controller	NOUN
ap-1618	91	7	to	to	PART
ap-1618	91	8	be	be	AUX
ap-1618	91	9	assessed	assess	VERB
ap-1618	91	10	in	in	ADP
ap-1618	91	11	a	a	DET
ap-1618	91	12	very	very	ADV
ap-1618	91	13	direct	direct	ADJ
ap-1618	91	14	fashion	fashion	NOUN
ap-1618	91	15	,	,	PUNCT
ap-1618	91	16	for	for	ADP
ap-1618	91	17	a	a	DET
ap-1618	91	18	given	give	VERB
ap-1618	91	19	plant	plant	NOUN
ap-1618	91	20	and	and	CCONJ
ap-1618	91	21	given	give	VERB
ap-1618	91	22	design	design	NOUN
ap-1618	91	23	specifications	specification	NOUN
ap-1618	91	24	,	,	PUNCT
ap-1618	91	25	in	in	ADP
ap-1618	91	26	terms	term	NOUN
ap-1618	91	27	of	of	ADP
ap-1618	91	28	performance	performance	NOUN
ap-1618	91	29	and	and	CCONJ
ap-1618	91	30	in	in	ADP
ap-1618	91	31	terms	term	NOUN
ap-1618	91	32	of	of	ADP
ap-1618	91	33	compromises	compromise	NOUN
ap-1618	91	34	and	and	CCONJ
ap-1618	91	35	possible	possible	ADJ
ap-1618	91	36	trade	trade	NOUN
ap-1618	91	37	-	-	PUNCT
ap-1618	91	38	offs	off	NOUN
ap-1618	91	39	.	.	PUNCT
ap-1618	92	1	the	the	DET
ap-1618	92	2	design	design	NOUN
ap-1618	92	3	goals	goal	NOUN
ap-1618	92	4	typically	typically	ADV
ap-1618	92	5	may	may	AUX
ap-1618	92	6	involve	involve	VERB
ap-1618	92	7	:	:	PUNCT
ap-1618	92	8	1	1	X
ap-1618	92	9	.	.	X
ap-1618	92	10	steady	steady	ADJ
ap-1618	92	11	state	state	NOUN
ap-1618	92	12	response	response	NOUN
ap-1618	92	13	2	2	NUM
ap-1618	92	14	.	.	PUNCT
ap-1618	93	1	transient	transient	ADJ
ap-1618	93	2	response	response	NOUN
ap-1618	93	3	3	3	NUM
ap-1618	93	4	.	.	PUNCT
ap-1618	93	5	disturbance	disturbance	NOUN
ap-1618	93	6	rejection	rejection	NOUN
ap-1618	93	7	4	4	NUM
ap-1618	93	8	.	.	PUNCT
ap-1618	93	9	closed	close	VERB
ap-1618	93	10	-	-	PUNCT
ap-1618	93	11	loop	loop	NOUN
ap-1618	93	12	stability	stability	NOUN
ap-1618	93	13	5	5	NUM
ap-1618	93	14	.	.	PUNCT
ap-1618	94	1	robustness	robustness	NOUN
ap-1618	94	2	to	to	ADP
ap-1618	94	3	changes	change	NOUN
ap-1618	94	4	in	in	ADP
ap-1618	94	5	plant	plant	NOUN
ap-1618	94	6	characteristics	characteristic	NOUN
ap-1618	94	7	6	6	NUM
ap-1618	94	8	.	.	PUNCT
ap-1618	95	1	protection	protection	NOUN
ap-1618	95	2	of	of	ADP
ap-1618	95	3	actuators	actuator	NOUN
ap-1618	95	4	from	from	ADP
ap-1618	95	5	high	high	ADJ
ap-1618	95	6	-	-	PUNCT
ap-1618	95	7	frequency	frequency	NOUN
ap-1618	95	8	signals	signal	NOUN
ap-1618	95	9	that	that	PRON
ap-1618	95	10	might	might	AUX
ap-1618	95	11	lead	lead	VERB
ap-1618	95	12	to	to	ADP
ap-1618	95	13	excessive	excessive	ADJ
ap-1618	95	14	wear	wear	NOUN
ap-1618	95	15	in	in	ADP
ap-1618	95	16	the	the	DET
ap-1618	95	17	icad	icad	PROPN
ap-1618	95	18	approach	approach	NOUN
ap-1618	95	19	the	the	DET
ap-1618	95	20	significance	significance	NOUN
ap-1618	95	21	of	of	ADP
ap-1618	95	22	the	the	DET
ap-1618	95	23	‘	'	PUNCT
ap-1618	95	24	structure	structure	NOUN
ap-1618	95	25	’	'	PUNCT
ap-1618	95	26	of	of	ADP
ap-1618	95	27	the	the	DET
ap-1618	95	28	plant	plant	NOUN
ap-1618	95	29	in	in	ADP
ap-1618	95	30	translating	translate	VERB
ap-1618	95	31	the	the	DET
ap-1618	95	32	given	give	VERB
ap-1618	95	33	mimo	mimo	PROPN
ap-1618	95	34	system	system	NOUN
ap-1618	95	35	into	into	ADP
ap-1618	95	36	the	the	DET
ap-1618	95	37	equivalent	equivalent	ADJ
ap-1618	95	38	set	set	NOUN
ap-1618	95	39	of	of	ADP
ap-1618	95	40	channels	channel	NOUN
ap-1618	95	41	is	be	AUX
ap-1618	95	42	given	give	VERB
ap-1618	95	43	special	special	ADJ
ap-1618	95	44	emphasis	emphasis	NOUN
ap-1618	95	45	[	[	X
ap-1618	95	46	2	2	NUM
ap-1618	95	47	]	]	PUNCT
ap-1618	95	48	.	.	PUNCT
ap-1618	96	1	figure	figure	NOUN
ap-1618	96	2	2	2	NUM
ap-1618	96	3	:	:	PUNCT
ap-1618	96	4	block	block	NOUN
ap-1618	96	5	diagram	diagram	NOUN
ap-1618	96	6	of	of	ADP
ap-1618	96	7	a	a	DET
ap-1618	96	8	general	general	ADJ
ap-1618	96	9	two	two	NUM
ap-1618	96	10	-	-	PUNCT
ap-1618	96	11	input	input	NOUN
ap-1618	96	12	twooutput	twooutput	NOUN
ap-1618	96	13	closed	close	VERB
ap-1618	96	14	-	-	PUNCT
ap-1618	96	15	loop	loop	NOUN
ap-1618	96	16	system	system	NOUN
ap-1618	96	17	of	of	ADP
ap-1618	96	18	the	the	DET
ap-1618	96	19	type	type	NOUN
ap-1618	96	20	being	be	AUX
ap-1618	96	21	considered	consider	VERB
ap-1618	96	22	in	in	ADP
ap-1618	96	23	this	this	DET
ap-1618	96	24	application	application	NOUN
ap-1618	96	25	.	.	PUNCT
ap-1618	97	1	(	(	PUNCT
ap-1618	97	2	adapted	adapt	VERB
ap-1618	97	3	from	from	ADP
ap-1618	97	4	a	a	DET
ap-1618	97	5	diagram	diagram	NOUN
ap-1618	97	6	in	in	ADP
ap-1618	97	7	[	[	X
ap-1618	97	8	2	2	NUM
ap-1618	97	9	]	]	PUNCT
ap-1618	97	10	)	)	PUNCT
ap-1618	97	11	as	as	SCONJ
ap-1618	97	12	is	be	AUX
ap-1618	97	13	clear	clear	ADJ
ap-1618	97	14	from	from	ADP
ap-1618	97	15	the	the	DET
ap-1618	97	16	plant	plant	NOUN
ap-1618	97	17	model	model	NOUN
ap-1618	97	18	,	,	PUNCT
ap-1618	97	19	the	the	DET
ap-1618	97	20	coupledtanks	coupledtank	NOUN
ap-1618	97	21	application	application	NOUN
ap-1618	97	22	described	describe	VERB
ap-1618	97	23	in	in	ADP
ap-1618	97	24	this	this	DET
ap-1618	97	25	paper	paper	NOUN
ap-1618	97	26	involves	involve	VERB
ap-1618	97	27	a	a	DET
ap-1618	97	28	two	two	NUM
ap-1618	97	29	-	-	PUNCT
ap-1618	97	30	input	input	NOUN
ap-1618	97	31	two	two	NUM
ap-1618	97	32	-	-	PUNCT
ap-1618	97	33	output	output	NOUN
ap-1618	97	34	system	system	NOUN
ap-1618	97	35	with	with	ADP
ap-1618	97	36	feedback	feedback	NOUN
ap-1618	97	37	involving	involve	VERB
ap-1618	97	38	two	two	NUM
ap-1618	97	39	channels	channel	NOUN
ap-1618	97	40	.	.	PUNCT
ap-1618	98	1	figure	figure	NOUN
ap-1618	98	2	2	2	NUM
ap-1618	98	3	is	be	AUX
ap-1618	98	4	a	a	DET
ap-1618	98	5	block	block	NOUN
ap-1618	98	6	diagram	diagram	NOUN
ap-1618	98	7	that	that	PRON
ap-1618	98	8	illustrates	illustrate	VERB
ap-1618	98	9	the	the	DET
ap-1618	98	10	type	type	NOUN
ap-1618	98	11	of	of	ADP
ap-1618	98	12	system	system	NOUN
ap-1618	98	13	being	be	AUX
ap-1618	98	14	investigated	investigate	VERB
ap-1618	98	15	.	.	PUNCT
ap-1618	99	1	if	if	SCONJ
ap-1618	99	2	we	we	PRON
ap-1618	99	3	consider	consider	VERB
ap-1618	99	4	the	the	DET
ap-1618	99	5	forward	forward	ADJ
ap-1618	99	6	signal	signal	NOUN
ap-1618	99	7	transmission	transmission	NOUN
ap-1618	99	8	from	from	ADP
ap-1618	99	9	the	the	DET
ap-1618	99	10	reference	reference	NOUN
ap-1618	99	11	signal	signal	NOUN
ap-1618	99	12	r1	r1	PROPN
ap-1618	99	13	to	to	ADP
ap-1618	99	14	the	the	DET
ap-1618	99	15	associated	associated	ADJ
ap-1618	99	16	output	output	NOUN
ap-1618	99	17	y1	y1	NOUN
ap-1618	99	18	,	,	PUNCT
ap-1618	99	19	it	it	PRON
ap-1618	99	20	may	may	AUX
ap-1618	99	21	be	be	AUX
ap-1618	99	22	seen	see	VERB
ap-1618	99	23	that	that	SCONJ
ap-1618	99	24	the	the	DET
ap-1618	99	25	signal	signal	NOUN
ap-1618	99	26	follows	follow	VERB
ap-1618	99	27	two	two	NUM
ap-1618	99	28	pathways	pathway	NOUN
ap-1618	99	29	.	.	PUNCT
ap-1618	100	1	one	one	NUM
ap-1618	100	2	path	path	NOUN
ap-1618	100	3	involves	involve	VERB
ap-1618	100	4	a	a	DET
ap-1618	100	5	direct	direct	ADJ
ap-1618	100	6	link	link	NOUN
ap-1618	100	7	through	through	ADP
ap-1618	100	8	the	the	DET
ap-1618	100	9	block	block	NOUN
ap-1618	100	10	g11	g11	NOUN
ap-1618	100	11	and	and	CCONJ
ap-1618	100	12	the	the	DET
ap-1618	100	13	other	other	ADJ
ap-1618	100	14	is	be	AUX
ap-1618	100	15	through	through	ADP
ap-1618	100	16	the	the	DET
ap-1618	100	17	blocks	block	NOUN
ap-1618	100	18	g21	g21	PROPN
ap-1618	100	19	,	,	PUNCT
ap-1618	100	20	g12	g12	NOUN
ap-1618	100	21	and	and	CCONJ
ap-1618	100	22	a	a	DET
ap-1618	100	23	block	block	NOUN
ap-1618	100	24	involving	involve	VERB
ap-1618	100	25	k2	k2	NOUN
ap-1618	100	26	and	and	CCONJ
ap-1618	100	27	its	its	PRON
ap-1618	100	28	associated	associated	ADJ
ap-1618	100	29	feedback	feedback	NOUN
ap-1618	100	30	loop	loop	NOUN
ap-1618	100	31	through	through	ADP
ap-1618	100	32	g22	g22	NOUN
ap-1618	100	33	.	.	PUNCT
ap-1618	101	1	this	this	PRON
ap-1618	101	2	diagrammay	diagrammay	ADV
ap-1618	101	3	be	be	AUX
ap-1618	101	4	simplified	simplify	VERB
ap-1618	101	5	to	to	PART
ap-1618	101	6	give	give	VERB
ap-1618	101	7	the	the	DET
ap-1618	101	8	structure	structure	NOUN
ap-1618	101	9	shown	show	VERB
ap-1618	101	10	in	in	ADP
ap-1618	101	11	figure	figure	NOUN
ap-1618	101	12	3	3	NUM
ap-1618	101	13	for	for	ADP
ap-1618	101	14	the	the	DET
ap-1618	101	15	channel	channel	NOUN
ap-1618	101	16	c1	c1	PROPN
ap-1618	101	17	.	.	PUNCT
ap-1618	102	1	from	from	ADP
ap-1618	102	2	considerations	consideration	NOUN
ap-1618	102	3	of	of	ADP
ap-1618	102	4	symmetry	symmetry	NOUN
ap-1618	102	5	,	,	PUNCT
ap-1618	102	6	the	the	DET
ap-1618	102	7	channel	channel	NOUN
ap-1618	102	8	c2	c2	PROPN
ap-1618	102	9	may	may	AUX
ap-1618	102	10	be	be	AUX
ap-1618	102	11	handled	handle	VERB
ap-1618	102	12	in	in	ADP
ap-1618	102	13	the	the	DET
ap-1618	102	14	same	same	ADJ
ap-1618	102	15	way	way	NOUN
ap-1618	102	16	to	to	PART
ap-1618	102	17	produce	produce	VERB
ap-1618	102	18	the	the	DET
ap-1618	102	19	simplified	simplified	ADJ
ap-1618	102	20	block	block	NOUN
ap-1618	102	21	diagram	diagram	NOUN
ap-1618	102	22	of	of	ADP
ap-1618	102	23	figure	figure	NOUN
ap-1618	102	24	4	4	NUM
ap-1618	102	25	.	.	PUNCT
ap-1618	102	26	figure	figure	VERB
ap-1618	102	27	3	3	NUM
ap-1618	102	28	:	:	PUNCT
ap-1618	102	29	block	block	NOUN
ap-1618	102	30	diagram	diagram	NOUN
ap-1618	102	31	for	for	ADP
ap-1618	102	32	channel	channel	NOUN
ap-1618	102	33	1	1	NUM
ap-1618	102	34	.	.	PUNCT
ap-1618	103	1	(	(	PUNCT
ap-1618	103	2	adapted	adapt	VERB
ap-1618	103	3	from	from	ADP
ap-1618	103	4	a	a	DET
ap-1618	103	5	diagram	diagram	NOUN
ap-1618	103	6	in	in	ADP
ap-1618	103	7	[	[	X
ap-1618	103	8	2	2	NUM
ap-1618	103	9	]	]	PUNCT
ap-1618	103	10	)	)	PUNCT
ap-1618	103	11	these	these	DET
ap-1618	103	12	block	block	NOUN
ap-1618	103	13	diagrams	diagram	NOUN
ap-1618	103	14	can	can	AUX
ap-1618	103	15	be	be	AUX
ap-1618	103	16	used	use	VERB
ap-1618	103	17	to	to	PART
ap-1618	103	18	show	show	VERB
ap-1618	103	19	that	that	SCONJ
ap-1618	103	20	,	,	PUNCT
ap-1618	103	21	ignoring	ignore	VERB
ap-1618	103	22	the	the	DET
ap-1618	103	23	disturbance	disturbance	NOUN
ap-1618	103	24	signal	signal	NOUN
ap-1618	103	25	,	,	PUNCT
ap-1618	103	26	each	each	DET
ap-1618	103	27	channel	channel	NOUN
ap-1618	103	28	can	can	AUX
ap-1618	103	29	be	be	AUX
ap-1618	103	30	described	describe	VERB
ap-1618	103	31	using	use	VERB
ap-1618	103	32	a	a	DET
ap-1618	103	33	single	single	ADJ
ap-1618	103	34	-	-	PUNCT
ap-1618	103	35	input	input	NOUN
ap-1618	103	36	single	single	ADJ
ap-1618	103	37	-	-	PUNCT
ap-1618	103	38	output	output	NOUN
ap-1618	103	39	transfer	transfer	NOUN
ap-1618	103	40	function	function	NOUN
ap-1618	103	41	:	:	PUNCT
ap-1618	103	42	c1	c1	NOUN
ap-1618	103	43	=	=	PROPN
ap-1618	103	44	k1g11(1−	k1g11(1−	PROPN
ap-1618	103	45	γh2	γh2	PROPN
ap-1618	103	46	)	)	PUNCT
ap-1618	103	47	(	(	PUNCT
ap-1618	103	48	18	18	NUM
ap-1618	103	49	)	)	PUNCT
ap-1618	103	50	and	and	CCONJ
ap-1618	103	51	c2	c2	PROPN
ap-1618	103	52	=	=	SYM
ap-1618	103	53	k2g22(1−	k2g22(1−	PROPN
ap-1618	103	54	γh1	γh1	PROPN
ap-1618	103	55	)	)	PUNCT
ap-1618	103	56	(	(	PUNCT
ap-1618	103	57	19	19	NUM
ap-1618	103	58	)	)	PUNCT
ap-1618	103	59	where	where	SCONJ
ap-1618	103	60	γ	γ	X
ap-1618	103	61	=	=	SYM
ap-1618	103	62	g12g21	g12g21	PROPN
ap-1618	103	63	g11g22	g11g22	NOUN
ap-1618	103	64	(	(	PUNCT
ap-1618	103	65	20	20	NUM
ap-1618	103	66	)	)	PUNCT
ap-1618	103	67	h2	h2	NOUN
ap-1618	103	68	=	=	SYM
ap-1618	103	69	k2g22	k2g22	CCONJ
ap-1618	103	70	1	1	NUM
ap-1618	103	71	+	+	NUM
ap-1618	103	72	k2g22	k2g22	ADJ
ap-1618	103	73	(	(	PUNCT
ap-1618	103	74	21	21	NUM
ap-1618	103	75	)	)	PUNCT
ap-1618	103	76	and	and	CCONJ
ap-1618	103	77	h1	h1	PROPN
ap-1618	103	78	=	=	SYM
ap-1618	103	79	k1g11	k1g11	VERB
ap-1618	103	80	1	1	NUM
ap-1618	103	81	+	+	CCONJ
ap-1618	103	82	k1g11	k1g11	X
ap-1618	103	83	(	(	PUNCT
ap-1618	103	84	22	22	NUM
ap-1618	103	85	)	)	PUNCT
ap-1618	103	86	figure	figure	NOUN
ap-1618	103	87	4	4	NUM
ap-1618	103	88	:	:	PUNCT
ap-1618	103	89	block	block	NOUN
ap-1618	103	90	diagram	diagram	NOUN
ap-1618	103	91	for	for	ADP
ap-1618	103	92	channel	channel	NOUN
ap-1618	103	93	2	2	NUM
ap-1618	103	94	.	.	PUNCT
ap-1618	104	1	(	(	PUNCT
ap-1618	104	2	adapted	adapt	VERB
ap-1618	104	3	from	from	ADP
ap-1618	104	4	a	a	DET
ap-1618	104	5	diagram	diagram	NOUN
ap-1618	104	6	in	in	ADP
ap-1618	104	7	[	[	X
ap-1618	104	8	2	2	NUM
ap-1618	104	9	]	]	PUNCT
ap-1618	104	10	)	)	PUNCT
ap-1618	104	11	in	in	ADP
ap-1618	104	12	equations	equation	NOUN
ap-1618	104	13	(	(	PUNCT
ap-1618	104	14	18)–(22	18)–(22	NUM
ap-1618	104	15	)	)	PUNCT
ap-1618	104	16	and	and	CCONJ
ap-1618	104	17	in	in	ADP
ap-1618	104	18	figures	figure	NOUN
ap-1618	104	19	3	3	NUM
ap-1618	104	20	and	and	CCONJ
ap-1618	104	21	4	4	NUM
ap-1618	104	22	,	,	PUNCT
ap-1618	104	23	the	the	DET
ap-1618	104	24	effects	effect	NOUN
ap-1618	104	25	of	of	ADP
ap-1618	104	26	coupling	coupling	NOUN
ap-1618	104	27	are	be	AUX
ap-1618	104	28	represented	represent	VERB
ap-1618	104	29	as	as	ADP
ap-1618	104	30	additive	additive	ADJ
ap-1618	104	31	disturbance	disturbance	NOUN
ap-1618	104	32	terms	term	NOUN
ap-1618	104	33	at	at	ADP
ap-1618	104	34	the	the	DET
ap-1618	104	35	outputs	output	NOUN
ap-1618	104	36	of	of	ADP
ap-1618	104	37	each	each	DET
ap-1618	104	38	channel	channel	NOUN
ap-1618	104	39	and	and	CCONJ
ap-1618	104	40	this	this	PRON
ap-1618	104	41	does	do	AUX
ap-1618	104	42	not	not	PART
ap-1618	104	43	involve	involve	VERB
ap-1618	104	44	any	any	DET
ap-1618	104	45	loss	loss	NOUN
ap-1618	104	46	of	of	ADP
ap-1618	104	47	information	information	NOUN
ap-1618	104	48	.	.	PUNCT
ap-1618	105	1	however	however	ADV
ap-1618	105	2	,	,	PUNCT
ap-1618	105	3	it	it	PRON
ap-1618	105	4	must	must	AUX
ap-1618	105	5	be	be	AUX
ap-1618	105	6	emphasised	emphasise	VERB
ap-1618	105	7	that	that	SCONJ
ap-1618	105	8	icad	icad	PROPN
ap-1618	105	9	is	be	AUX
ap-1618	105	10	not	not	PART
ap-1618	105	11	a	a	DET
ap-1618	105	12	single	single	ADJ
ap-1618	105	13	-	-	PUNCT
ap-1618	105	14	loop	loop	NOUN
ap-1618	105	15	design	design	NOUN
ap-1618	105	16	method	method	NOUN
ap-1618	105	17	since	since	SCONJ
ap-1618	105	18	loop	loop	NOUN
ap-1618	105	19	interactions	interaction	NOUN
ap-1618	105	20	are	be	AUX
ap-1618	105	21	preserved	preserve	VERB
ap-1618	105	22	.	.	PUNCT
ap-1618	106	1	it	it	PRON
ap-1618	106	2	can	can	AUX
ap-1618	106	3	be	be	AUX
ap-1618	106	4	shown	show	VERB
ap-1618	106	5	(	(	PUNCT
ap-1618	106	6	e.g.	e.g.	ADV
ap-1618	106	7	,	,	PUNCT
ap-1618	106	8	[	[	X
ap-1618	106	9	2	2	NUM
ap-1618	106	10	,	,	PUNCT
ap-1618	106	11	4	4	NUM
ap-1618	106	12	]	]	PUNCT
ap-1618	106	13	)	)	PUNCT
ap-1618	106	14	that	that	SCONJ
ap-1618	106	15	,	,	PUNCT
ap-1618	106	16	for	for	ADP
ap-1618	106	17	robustness	robustness	NOUN
ap-1618	106	18	to	to	PART
ap-1618	106	19	parameter	parameter	VERB
ap-1618	106	20	uncertainties	uncertainty	NOUN
ap-1618	106	21	of	of	ADP
ap-1618	106	22	the	the	DET
ap-1618	106	23	closed	closed	ADJ
ap-1618	106	24	-	-	PUNCT
ap-1618	106	25	loop	loop	NOUN
ap-1618	106	26	system	system	NOUN
ap-1618	106	27	stability	stability	NOUN
ap-1618	106	28	,	,	PUNCT
ap-1618	106	29	the	the	DET
ap-1618	106	30	nyquist	nyquist	NOUN
ap-1618	106	31	plots	plot	NOUN
ap-1618	106	32	of	of	ADP
ap-1618	106	33	(	(	PUNCT
ap-1618	106	34	1−γh1	1−γh1	NUM
ap-1618	106	35	)	)	PUNCT
ap-1618	106	36	and	and	CCONJ
ap-1618	106	37	(	(	PUNCT
ap-1618	106	38	1−γh2	1−γh2	NUM
ap-1618	106	39	)	)	PUNCT
ap-1618	106	40	must	must	AUX
ap-1618	106	41	not	not	PART
ap-1618	106	42	lie	lie	VERB
ap-1618	106	43	close	close	ADV
ap-1618	106	44	to	to	ADP
ap-1618	106	45	the	the	DET
ap-1618	106	46	origin	origin	NOUN
ap-1618	106	47	of	of	ADP
ap-1618	106	48	the	the	DET
ap-1618	106	49	polar	polar	ADJ
ap-1618	106	50	plane	plane	NOUN
ap-1618	106	51	at	at	ADP
ap-1618	106	52	frequencies	frequency	NOUN
ap-1618	106	53	near	near	ADP
ap-1618	106	54	to	to	ADP
ap-1618	106	55	or	or	CCONJ
ap-1618	106	56	below	below	ADP
ap-1618	106	57	the	the	DET
ap-1618	106	58	open	open	ADJ
ap-1618	106	59	-	-	PUNCT
ap-1618	106	60	loop	loop	NOUN
ap-1618	106	61	gain	gain	NOUN
ap-1618	106	62	crossover	crossover	ADP
ap-1618	106	63	frequency	frequency	NOUN
ap-1618	106	64	.	.	PUNCT
ap-1618	107	1	hence	hence	ADV
ap-1618	107	2	,	,	PUNCT
ap-1618	107	3	if	if	SCONJ
ap-1618	107	4	the	the	DET
ap-1618	107	5	corresponding	corresponding	ADJ
ap-1618	107	6	plots	plot	NOUN
ap-1618	107	7	of	of	ADP
ap-1618	107	8	γh1(jω	γh1(jω	ADJ
ap-1618	107	9	)	)	PUNCT
ap-1618	107	10	or	or	CCONJ
ap-1618	107	11	γh2(jω	γh2(jω	NOUN
ap-1618	107	12	)	)	PUNCT
ap-1618	107	13	come	come	VERB
ap-1618	107	14	close	close	ADV
ap-1618	107	15	to	to	ADP
ap-1618	107	16	the	the	DET
ap-1618	107	17	point	point	NOUN
ap-1618	107	18	(	(	PUNCT
ap-1618	107	19	1	1	NUM
ap-1618	107	20	,	,	PUNCT
ap-1618	107	21	0	0	NUM
ap-1618	107	22	)	)	PUNCT
ap-1618	107	23	in	in	ADP
ap-1618	107	24	124	124	NUM
ap-1618	107	25	acta	acta	PROPN
ap-1618	107	26	polytechnica	polytechnica	PROPN
ap-1618	107	27	vol	vol	NOUN
ap-1618	107	28	.	.	PROPN
ap-1618	108	1	52	52	NUM
ap-1618	108	2	no	no	NOUN
ap-1618	108	3	.	.	PUNCT
ap-1618	109	1	4/2012	4/2012	NUM
ap-1618	109	2	the	the	DET
ap-1618	109	3	polar	polar	ADJ
ap-1618	109	4	plane	plane	NOUN
ap-1618	109	5	the	the	DET
ap-1618	109	6	conventional	conventional	ADJ
ap-1618	109	7	siso	siso	NOUN
ap-1618	109	8	gain	gain	VERB
ap-1618	109	9	margins	margin	NOUN
ap-1618	109	10	for	for	ADP
ap-1618	109	11	the	the	DET
ap-1618	109	12	effective	effective	ADJ
ap-1618	109	13	transfer	transfer	NOUN
ap-1618	109	14	functions	function	NOUN
ap-1618	109	15	of	of	ADP
ap-1618	109	16	c1	c1	PROPN
ap-1618	109	17	and	and	CCONJ
ap-1618	109	18	c2	c2	PROPN
ap-1618	109	19	do	do	AUX
ap-1618	109	20	not	not	PART
ap-1618	109	21	provide	provide	VERB
ap-1618	109	22	robust	robust	ADJ
ap-1618	109	23	measures	measure	NOUN
ap-1618	109	24	of	of	ADP
ap-1618	109	25	stability	stability	NOUN
ap-1618	109	26	.	.	PUNCT
ap-1618	110	1	in	in	ADP
ap-1618	110	2	such	such	DET
ap-1618	110	3	a	a	DET
ap-1618	110	4	case	case	NOUN
ap-1618	110	5	it	it	PRON
ap-1618	110	6	may	may	AUX
ap-1618	110	7	not	not	PART
ap-1618	110	8	be	be	AUX
ap-1618	110	9	appropriate	appropriate	ADJ
ap-1618	110	10	to	to	PART
ap-1618	110	11	attempt	attempt	VERB
ap-1618	110	12	to	to	PART
ap-1618	110	13	use	use	VERB
ap-1618	110	14	the	the	DET
ap-1618	110	15	icad	icad	PROPN
ap-1618	110	16	approach	approach	NOUN
ap-1618	110	17	unless	unless	SCONJ
ap-1618	110	18	some	some	DET
ap-1618	110	19	form	form	NOUN
ap-1618	110	20	of	of	ADP
ap-1618	110	21	pre	pre	ADJ
ap-1618	110	22	-	-	NOUN
ap-1618	110	23	compensator	compensator	NOUN
ap-1618	110	24	is	be	AUX
ap-1618	110	25	introduced	introduce	VERB
ap-1618	110	26	to	to	PART
ap-1618	110	27	modify	modify	VERB
ap-1618	110	28	the	the	DET
ap-1618	110	29	plant	plant	NOUN
ap-1618	110	30	characteristics	characteristic	NOUN
ap-1618	110	31	in	in	ADP
ap-1618	110	32	an	an	DET
ap-1618	110	33	appropriate	appropriate	ADJ
ap-1618	110	34	way	way	NOUN
ap-1618	111	1	[	[	X
ap-1618	111	2	5	5	NUM
ap-1618	111	3	]	]	PUNCT
ap-1618	111	4	.	.	PUNCT
ap-1618	112	1	it	it	PRON
ap-1618	112	2	can	can	AUX
ap-1618	112	3	also	also	ADV
ap-1618	112	4	be	be	AUX
ap-1618	112	5	stated	state	VERB
ap-1618	112	6	[	[	X
ap-1618	112	7	4	4	X
ap-1618	112	8	]	]	PUNCT
ap-1618	112	9	that	that	SCONJ
ap-1618	112	10	the	the	DET
ap-1618	112	11	quantities	quantity	NOUN
ap-1618	112	12	h1(jω	h1(jω	NUM
ap-1618	112	13	)	)	PUNCT
ap-1618	112	14	and	and	CCONJ
ap-1618	112	15	h2(jω	h2(jω	NUM
ap-1618	112	16	)	)	PUNCT
ap-1618	112	17	have	have	VERB
ap-1618	112	18	magnitude	magnitude	NOUN
ap-1618	112	19	values	value	NOUN
ap-1618	112	20	that	that	PRON
ap-1618	112	21	are	be	AUX
ap-1618	112	22	generally	generally	ADV
ap-1618	112	23	close	close	ADJ
ap-1618	112	24	to	to	ADP
ap-1618	112	25	one	one	NUM
ap-1618	112	26	below	below	ADP
ap-1618	112	27	the	the	DET
ap-1618	112	28	gain	gain	NOUN
ap-1618	112	29	crossover	crossover	ADP
ap-1618	112	30	frequency	frequency	NOUN
ap-1618	112	31	,	,	PUNCT
ap-1618	112	32	and	and	CCONJ
ap-1618	112	33	the	the	DET
ap-1618	112	34	quantity	quantity	NOUN
ap-1618	112	35	γ(jω	γ(jω	NOUN
ap-1618	112	36	)	)	PUNCT
ap-1618	112	37	,	,	PUNCT
ap-1618	112	38	which	which	PRON
ap-1618	112	39	is	be	AUX
ap-1618	112	40	termed	term	VERB
ap-1618	112	41	the	the	DET
ap-1618	112	42	multivariable	multivariable	ADJ
ap-1618	112	43	structure	structure	NOUN
ap-1618	112	44	function	function	NOUN
ap-1618	112	45	,	,	PUNCT
ap-1618	112	46	provides	provide	VERB
ap-1618	112	47	a	a	DET
ap-1618	112	48	measure	measure	NOUN
ap-1618	112	49	of	of	ADP
ap-1618	112	50	the	the	DET
ap-1618	112	51	strength	strength	NOUN
ap-1618	112	52	of	of	ADP
ap-1618	112	53	any	any	DET
ap-1618	112	54	inter	inter	ADJ
ap-1618	112	55	-	-	ADJ
ap-1618	112	56	loop	loop	ADJ
ap-1618	112	57	coupling	coupling	NOUN
ap-1618	112	58	in	in	ADP
ap-1618	112	59	the	the	DET
ap-1618	112	60	system	system	NOUN
ap-1618	112	61	and	and	CCONJ
ap-1618	112	62	can	can	AUX
ap-1618	112	63	indicate	indicate	VERB
ap-1618	112	64	whether	whether	SCONJ
ap-1618	112	65	or	or	CCONJ
ap-1618	112	66	not	not	PART
ap-1618	112	67	this	this	PRON
ap-1618	112	68	is	be	AUX
ap-1618	112	69	benign	benign	ADJ
ap-1618	112	70	.	.	PUNCT
ap-1618	113	1	for	for	ADP
ap-1618	113	2	the	the	DET
ap-1618	113	3	case	case	NOUN
ap-1618	113	4	of	of	ADP
ap-1618	113	5	a	a	DET
ap-1618	113	6	two	two	NUM
ap-1618	113	7	-	-	PUNCT
ap-1618	113	8	input	input	NOUN
ap-1618	113	9	two	two	NUM
ap-1618	113	10	-	-	PUNCT
ap-1618	113	11	output	output	NOUN
ap-1618	113	12	system	system	NOUN
ap-1618	113	13	there	there	PRON
ap-1618	113	14	is	be	VERB
ap-1618	113	15	only	only	ADV
ap-1618	113	16	one	one	NUM
ap-1618	113	17	multivariable	multivariable	ADJ
ap-1618	113	18	structure	structure	NOUN
ap-1618	113	19	function	function	NOUN
ap-1618	113	20	.	.	PUNCT
ap-1618	114	1	however	however	ADV
ap-1618	114	2	,	,	PUNCT
ap-1618	114	3	in	in	ADP
ap-1618	114	4	general	general	ADJ
ap-1618	114	5	,	,	PUNCT
ap-1618	114	6	for	for	ADP
ap-1618	114	7	systems	system	NOUN
ap-1618	114	8	having	have	VERB
ap-1618	114	9	a	a	DET
ap-1618	114	10	larger	large	ADJ
ap-1618	114	11	number	number	NOUN
ap-1618	114	12	of	of	ADP
ap-1618	114	13	input	input	NOUN
ap-1618	114	14	-	-	PUNCT
ap-1618	114	15	output	output	NOUN
ap-1618	114	16	pairs	pair	NOUN
ap-1618	114	17	there	there	PRON
ap-1618	114	18	will	will	AUX
ap-1618	114	19	be	be	AUX
ap-1618	114	20	more	more	ADJ
ap-1618	114	21	than	than	ADP
ap-1618	114	22	one	one	NUM
ap-1618	114	23	structure	structure	NOUN
ap-1618	114	24	function	function	NOUN
ap-1618	114	25	.	.	PUNCT
ap-1618	115	1	in	in	ADP
ap-1618	115	2	all	all	DET
ap-1618	115	3	cases	case	NOUN
ap-1618	115	4	it	it	PRON
ap-1618	115	5	can	can	AUX
ap-1618	115	6	be	be	AUX
ap-1618	115	7	stated	state	VERB
ap-1618	115	8	that	that	SCONJ
ap-1618	115	9	when	when	SCONJ
ap-1618	115	10	a	a	DET
ap-1618	115	11	multivariable	multivariable	ADJ
ap-1618	115	12	structure	structure	NOUN
ap-1618	115	13	function	function	NOUN
ap-1618	115	14	is	be	AUX
ap-1618	115	15	small	small	ADJ
ap-1618	115	16	the	the	DET
ap-1618	115	17	interaction	interaction	NOUN
ap-1618	115	18	effects	effect	NOUN
ap-1618	115	19	are	be	AUX
ap-1618	115	20	small	small	ADJ
ap-1618	115	21	.	.	PUNCT
ap-1618	116	1	in	in	ADP
ap-1618	116	2	the	the	DET
ap-1618	116	3	two	two	NUM
ap-1618	116	4	-	-	PUNCT
ap-1618	116	5	input	input	NOUN
ap-1618	116	6	two	two	NUM
ap-1618	116	7	-	-	PUNCT
ap-1618	116	8	output	output	NOUN
ap-1618	116	9	case	case	NOUN
ap-1618	116	10	,	,	PUNCT
ap-1618	116	11	if	if	SCONJ
ap-1618	116	12	the	the	DET
ap-1618	116	13	multivariable	multivariable	ADJ
ap-1618	116	14	structure	structure	NOUN
ap-1618	116	15	function	function	NOUN
ap-1618	116	16	is	be	AUX
ap-1618	116	17	small	small	ADJ
ap-1618	116	18	over	over	ADP
ap-1618	116	19	the	the	DET
ap-1618	116	20	complete	complete	ADJ
ap-1618	116	21	frequency	frequency	NOUN
ap-1618	116	22	range	range	NOUN
ap-1618	116	23	of	of	ADP
ap-1618	116	24	interest	interest	NOUN
ap-1618	116	25	,	,	PUNCT
ap-1618	116	26	the	the	DET
ap-1618	116	27	two	two	NUM
ap-1618	116	28	channels	channel	NOUN
ap-1618	116	29	behave	behave	VERB
ap-1618	116	30	,	,	PUNCT
ap-1618	116	31	more	more	ADJ
ap-1618	116	32	or	or	CCONJ
ap-1618	116	33	less	less	ADJ
ap-1618	116	34	,	,	PUNCT
ap-1618	116	35	as	as	ADP
ap-1618	116	36	two	two	NUM
ap-1618	116	37	independent	independent	ADJ
ap-1618	116	38	loops	loop	NOUN
ap-1618	116	39	.	.	PUNCT
ap-1618	117	1	on	on	ADP
ap-1618	117	2	the	the	DET
ap-1618	117	3	other	other	ADJ
ap-1618	117	4	hand	hand	NOUN
ap-1618	117	5	,	,	PUNCT
ap-1618	117	6	if	if	SCONJ
ap-1618	117	7	the	the	DET
ap-1618	117	8	multivariable	multivariable	ADJ
ap-1618	117	9	structure	structure	NOUN
ap-1618	117	10	function	function	NOUN
ap-1618	117	11	is	be	AUX
ap-1618	117	12	shown	show	VERB
ap-1618	117	13	to	to	PART
ap-1618	117	14	have	have	VERB
ap-1618	117	15	a	a	DET
ap-1618	117	16	large	large	ADJ
ap-1618	117	17	magnitude	magnitude	NOUN
ap-1618	117	18	,	,	PUNCT
ap-1618	117	19	at	at	ADP
ap-1618	117	20	a	a	DET
ap-1618	117	21	frequency	frequency	NOUN
ap-1618	117	22	within	within	ADP
ap-1618	117	23	the	the	DET
ap-1618	117	24	range	range	NOUN
ap-1618	117	25	that	that	PRON
ap-1618	117	26	is	be	AUX
ap-1618	117	27	important	important	ADJ
ap-1618	117	28	for	for	SCONJ
ap-1618	117	29	the	the	DET
ap-1618	117	30	application	application	NOUN
ap-1618	117	31	being	be	AUX
ap-1618	117	32	considered	consider	VERB
ap-1618	117	33	,	,	PUNCT
ap-1618	117	34	the	the	DET
ap-1618	117	35	loop	loop	NOUN
ap-1618	117	36	interactions	interaction	NOUN
ap-1618	117	37	become	become	VERB
ap-1618	117	38	significant	significant	ADJ
ap-1618	117	39	[	[	X
ap-1618	117	40	2	2	NUM
ap-1618	117	41	]	]	PUNCT
ap-1618	117	42	.	.	PUNCT
ap-1618	118	1	if	if	SCONJ
ap-1618	118	2	the	the	DET
ap-1618	118	3	multivariable	multivariable	ADJ
ap-1618	118	4	structure	structure	NOUN
ap-1618	118	5	function	function	NOUN
ap-1618	118	6	has	have	VERB
ap-1618	118	7	an	an	DET
ap-1618	118	8	appropriate	appropriate	ADJ
ap-1618	118	9	form	form	NOUN
ap-1618	118	10	,	,	PUNCT
ap-1618	118	11	as	as	SCONJ
ap-1618	118	12	discussed	discuss	VERB
ap-1618	118	13	above	above	ADV
ap-1618	118	14	,	,	PUNCT
ap-1618	118	15	frequency	frequency	NOUN
ap-1618	118	16	response	response	NOUN
ap-1618	118	17	information	information	NOUN
ap-1618	118	18	for	for	ADP
ap-1618	118	19	each	each	DET
ap-1618	118	20	channel	channel	NOUN
ap-1618	118	21	can	can	AUX
ap-1618	118	22	be	be	AUX
ap-1618	118	23	used	use	VERB
ap-1618	118	24	in	in	ADP
ap-1618	118	25	the	the	DET
ap-1618	118	26	analysis	analysis	NOUN
ap-1618	118	27	of	of	ADP
ap-1618	118	28	the	the	DET
ap-1618	118	29	nominal	nominal	ADJ
ap-1618	118	30	system	system	NOUN
ap-1618	118	31	in	in	ADP
ap-1618	118	32	exactly	exactly	ADV
ap-1618	118	33	the	the	DET
ap-1618	118	34	same	same	ADJ
ap-1618	118	35	way	way	NOUN
ap-1618	118	36	as	as	ADP
ap-1618	118	37	for	for	ADP
ap-1618	118	38	the	the	DET
ap-1618	118	39	analysis	analysis	NOUN
ap-1618	118	40	of	of	ADP
ap-1618	118	41	a	a	DET
ap-1618	118	42	conventional	conventional	ADJ
ap-1618	118	43	feedback	feedback	NOUN
ap-1618	118	44	loop	loop	NOUN
ap-1618	118	45	in	in	ADP
ap-1618	118	46	a	a	DET
ap-1618	118	47	siso	siso	NOUN
ap-1618	118	48	control	control	NOUN
ap-1618	118	49	system	system	NOUN
ap-1618	118	50	application	application	NOUN
ap-1618	118	51	.	.	PUNCT
ap-1618	119	1	however	however	ADV
ap-1618	119	2	,	,	PUNCT
ap-1618	119	3	the	the	DET
ap-1618	119	4	multivariable	multivariable	ADJ
ap-1618	119	5	structure	structure	NOUN
ap-1618	119	6	function	function	NOUN
ap-1618	119	7	provides	provide	VERB
ap-1618	119	8	additional	additional	ADJ
ap-1618	119	9	information	information	NOUN
ap-1618	119	10	about	about	ADP
ap-1618	119	11	potential	potential	ADJ
ap-1618	119	12	interactions	interaction	NOUN
ap-1618	119	13	and	and	CCONJ
ap-1618	119	14	the	the	DET
ap-1618	119	15	stability	stability	NOUN
ap-1618	119	16	robustness	robustness	NOUN
ap-1618	119	17	of	of	ADP
ap-1618	119	18	the	the	DET
ap-1618	119	19	closed	closed	ADJ
ap-1618	119	20	-	-	PUNCT
ap-1618	119	21	loop	loop	NOUN
ap-1618	119	22	system	system	NOUN
ap-1618	119	23	.	.	PUNCT
ap-1618	120	1	it	it	PRON
ap-1618	120	2	is	be	AUX
ap-1618	120	3	important	important	ADJ
ap-1618	120	4	to	to	PART
ap-1618	120	5	note	note	VERB
ap-1618	120	6	that	that	SCONJ
ap-1618	120	7	,	,	PUNCT
ap-1618	120	8	for	for	ADP
ap-1618	120	9	successful	successful	ADJ
ap-1618	120	10	application	application	NOUN
ap-1618	120	11	of	of	ADP
ap-1618	120	12	the	the	DET
ap-1618	120	13	icad	icad	PROPN
ap-1618	120	14	approach	approach	NOUN
ap-1618	120	15	to	to	ADP
ap-1618	120	16	a	a	DET
ap-1618	120	17	two	two	NUM
ap-1618	120	18	-	-	PUNCT
ap-1618	120	19	channel	channel	NOUN
ap-1618	120	20	system	system	NOUN
ap-1618	120	21	,	,	PUNCT
ap-1618	120	22	the	the	DET
ap-1618	120	23	closed	closed	ADJ
ap-1618	120	24	-	-	PUNCT
ap-1618	120	25	loop	loop	NOUN
ap-1618	120	26	bandwidth	bandwidth	ADJ
ap-1618	120	27	specification	specification	NOUN
ap-1618	120	28	for	for	ADP
ap-1618	120	29	one	one	NUM
ap-1618	120	30	channel	channel	NOUN
ap-1618	120	31	must	must	AUX
ap-1618	120	32	not	not	PART
ap-1618	120	33	be	be	AUX
ap-1618	120	34	too	too	ADV
ap-1618	120	35	similar	similar	ADJ
ap-1618	120	36	to	to	ADP
ap-1618	120	37	the	the	DET
ap-1618	120	38	equivalent	equivalent	ADJ
ap-1618	120	39	specification	specification	NOUN
ap-1618	120	40	for	for	ADP
ap-1618	120	41	the	the	DET
ap-1618	120	42	second	second	ADJ
ap-1618	120	43	channel	channel	NOUN
ap-1618	120	44	.	.	PUNCT
ap-1618	121	1	if	if	SCONJ
ap-1618	121	2	this	this	PRON
ap-1618	121	3	is	be	AUX
ap-1618	121	4	not	not	PART
ap-1618	121	5	the	the	DET
ap-1618	121	6	case	case	NOUN
ap-1618	121	7	the	the	DET
ap-1618	121	8	problem	problem	NOUN
ap-1618	121	9	of	of	ADP
ap-1618	121	10	the	the	DET
ap-1618	121	11	transfer	transfer	NOUN
ap-1618	121	12	function	function	NOUN
ap-1618	121	13	of	of	ADP
ap-1618	121	14	one	one	NUM
ap-1618	121	15	channel	channel	NOUN
ap-1618	121	16	depending	depend	VERB
ap-1618	121	17	on	on	ADP
ap-1618	121	18	the	the	DET
ap-1618	121	19	controller	controller	NOUN
ap-1618	121	20	of	of	ADP
ap-1618	121	21	the	the	DET
ap-1618	121	22	other	other	ADJ
ap-1618	121	23	channel	channel	NOUN
ap-1618	121	24	becomes	become	VERB
ap-1618	121	25	a	a	DET
ap-1618	121	26	significant	significant	ADJ
ap-1618	121	27	obstacle	obstacle	NOUN
ap-1618	121	28	in	in	ADP
ap-1618	121	29	the	the	DET
ap-1618	121	30	processes	process	NOUN
ap-1618	121	31	of	of	ADP
ap-1618	121	32	analysis	analysis	NOUN
ap-1618	121	33	and	and	CCONJ
ap-1618	121	34	design	design	NOUN
ap-1618	121	35	[	[	X
ap-1618	121	36	2	2	NUM
ap-1618	121	37	]	]	PUNCT
ap-1618	121	38	.	.	PUNCT
ap-1618	122	1	4	4	NUM
ap-1618	122	2	design	design	NOUN
ap-1618	122	3	of	of	ADP
ap-1618	122	4	the	the	DET
ap-1618	122	5	controller	controller	NOUN
ap-1618	122	6	for	for	ADP
ap-1618	122	7	the	the	DET
ap-1618	122	8	coupled	couple	VERB
ap-1618	122	9	-	-	PUNCT
ap-1618	122	10	tanks	tank	NOUN
ap-1618	122	11	system	system	NOUN
ap-1618	122	12	using	use	VERB
ap-1618	122	13	icad	icad	NOUN
ap-1618	122	14	for	for	ADP
ap-1618	122	15	the	the	DET
ap-1618	122	16	coupled	couple	VERB
ap-1618	122	17	-	-	PUNCT
ap-1618	122	18	tanks	tank	NOUN
ap-1618	122	19	system	system	NOUN
ap-1618	122	20	,	,	PUNCT
ap-1618	122	21	it	it	PRON
ap-1618	122	22	may	may	AUX
ap-1618	122	23	be	be	AUX
ap-1618	122	24	shown	show	VERB
ap-1618	122	25	that	that	SCONJ
ap-1618	122	26	the	the	DET
ap-1618	122	27	multivariable	multivariable	ADJ
ap-1618	122	28	structure	structure	NOUN
ap-1618	122	29	function	function	NOUN
ap-1618	122	30	is	be	AUX
ap-1618	122	31	given	give	VERB
ap-1618	122	32	by	by	ADP
ap-1618	122	33	:	:	PUNCT
ap-1618	122	34	γ(s	γ(	NOUN
ap-1618	122	35	)	)	PUNCT
ap-1618	123	1	=	=	PUNCT
ap-1618	123	2	g12g21	g12g21	NOUN
ap-1618	123	3	g11g22	g11g22	NOUN
ap-1618	123	4	=	=	PUNCT
ap-1618	123	5	α2	α2	PROPN
ap-1618	123	6	α1+α2	α1+α2	PROPN
ap-1618	123	7	(	(	PUNCT
ap-1618	123	8	1	1	NUM
ap-1618	123	9	+	+	NUM
ap-1618	123	10	sa1	sa1	PROPN
ap-1618	123	11	α1	α1	PROPN
ap-1618	123	12	)	)	PUNCT
ap-1618	123	13	(	(	PUNCT
ap-1618	123	14	1	1	NUM
ap-1618	123	15	+	+	NUM
ap-1618	123	16	s	s	NOUN
ap-1618	123	17	a2	a2	PROPN
ap-1618	123	18	α1+α2	α1+α2	PROPN
ap-1618	123	19	)	)	PUNCT
ap-1618	123	20	(	(	PUNCT
ap-1618	123	21	23	23	NUM
ap-1618	123	22	)	)	PUNCT
ap-1618	123	23	the	the	DET
ap-1618	123	24	expressions	expression	NOUN
ap-1618	123	25	for	for	ADP
ap-1618	123	26	h1(s	h1(s	NUM
ap-1618	123	27	)	)	PUNCT
ap-1618	123	28	and	and	CCONJ
ap-1618	123	29	h2(s	h2(s	NOUN
ap-1618	123	30	)	)	PUNCT
ap-1618	123	31	for	for	ADP
ap-1618	123	32	this	this	DET
ap-1618	123	33	system	system	NOUN
ap-1618	123	34	may	may	AUX
ap-1618	123	35	also	also	ADV
ap-1618	123	36	be	be	AUX
ap-1618	123	37	derived	derive	VERB
ap-1618	123	38	directly	directly	ADV
ap-1618	123	39	,	,	PUNCT
ap-1618	123	40	from	from	ADP
ap-1618	123	41	equations	equation	NOUN
ap-1618	123	42	(	(	PUNCT
ap-1618	123	43	21	21	NUM
ap-1618	123	44	)	)	PUNCT
ap-1618	123	45	and	and	CCONJ
ap-1618	123	46	(	(	PUNCT
ap-1618	123	47	22	22	NUM
ap-1618	123	48	)	)	PUNCT
ap-1618	123	49	.	.	PUNCT
ap-1618	124	1	4.1	4.1	NUM
ap-1618	124	2	design	design	NOUN
ap-1618	124	3	requirements	requirement	NOUN
ap-1618	124	4	the	the	DET
ap-1618	124	5	specifications	specification	NOUN
ap-1618	124	6	for	for	ADP
ap-1618	124	7	the	the	DET
ap-1618	124	8	closed	closed	ADJ
ap-1618	124	9	-	-	PUNCT
ap-1618	124	10	loop	loop	NOUN
ap-1618	124	11	system	system	NOUN
ap-1618	124	12	were	be	AUX
ap-1618	124	13	based	base	VERB
ap-1618	124	14	on	on	ADP
ap-1618	124	15	equivalent	equivalent	ADJ
ap-1618	124	16	requirements	requirement	NOUN
ap-1618	124	17	for	for	ADP
ap-1618	124	18	a	a	DET
ap-1618	124	19	siso	siso	NOUN
ap-1618	124	20	version	version	NOUN
ap-1618	124	21	of	of	ADP
ap-1618	124	22	the	the	DET
ap-1618	124	23	coupled	couple	VERB
ap-1618	124	24	-	-	PUNCT
ap-1618	124	25	tanks	tank	NOUN
ap-1618	124	26	system	system	NOUN
ap-1618	124	27	,	,	PUNCT
ap-1618	124	28	for	for	ADP
ap-1618	124	29	which	which	PRON
ap-1618	124	30	considerable	considerable	ADJ
ap-1618	124	31	previous	previous	ADJ
ap-1618	124	32	design	design	NOUN
ap-1618	124	33	experience	experience	NOUN
ap-1618	124	34	had	have	AUX
ap-1618	124	35	been	be	AUX
ap-1618	124	36	accumulated	accumulate	VERB
ap-1618	124	37	.	.	PUNCT
ap-1618	125	1	the	the	DET
ap-1618	125	2	requirements	requirement	NOUN
ap-1618	125	3	for	for	ADP
ap-1618	125	4	the	the	DET
ap-1618	125	5	two	two	NUM
ap-1618	125	6	-	-	PUNCT
ap-1618	125	7	input	input	NOUN
ap-1618	125	8	two	two	NUM
ap-1618	125	9	-	-	PUNCT
ap-1618	125	10	output	output	NOUN
ap-1618	125	11	case	case	NOUN
ap-1618	125	12	were	be	AUX
ap-1618	125	13	as	as	SCONJ
ap-1618	125	14	follows	follow	VERB
ap-1618	125	15	:	:	PUNCT
ap-1618	125	16	a	a	X
ap-1618	125	17	)	)	PUNCT
ap-1618	125	18	zero	zero	NUM
ap-1618	125	19	steady	steady	ADJ
ap-1618	125	20	-	-	PUNCT
ap-1618	125	21	state	state	NOUN
ap-1618	125	22	errors	error	NOUN
ap-1618	125	23	in	in	ADP
ap-1618	125	24	the	the	DET
ap-1618	125	25	liquid	liquid	ADJ
ap-1618	125	26	levels	level	NOUN
ap-1618	125	27	in	in	ADP
ap-1618	125	28	both	both	DET
ap-1618	125	29	tanks	tank	NOUN
ap-1618	125	30	.	.	PUNCT
ap-1618	126	1	b	b	X
ap-1618	126	2	)	)	PUNCT
ap-1618	126	3	a	a	DET
ap-1618	126	4	maximum	maximum	ADJ
ap-1618	126	5	overshoot	overshoot	NOUN
ap-1618	126	6	of	of	ADP
ap-1618	126	7	30	30	NUM
ap-1618	126	8	%	%	NOUN
ap-1618	126	9	in	in	ADP
ap-1618	126	10	liquid	liquid	ADJ
ap-1618	126	11	levels	level	NOUN
ap-1618	126	12	.	.	PUNCT
ap-1618	127	1	c	c	X
ap-1618	127	2	)	)	PUNCT
ap-1618	127	3	a	a	DET
ap-1618	127	4	damping	damp	VERB
ap-1618	127	5	factor	factor	NOUN
ap-1618	127	6	of	of	ADP
ap-1618	127	7	at	at	ADV
ap-1618	127	8	least	least	ADV
ap-1618	127	9	0.7	0.7	NUM
ap-1618	127	10	which	which	PRON
ap-1618	127	11	corresponds	correspond	VERB
ap-1618	127	12	,	,	PUNCT
ap-1618	127	13	approximately	approximately	ADV
ap-1618	127	14	,	,	PUNCT
ap-1618	127	15	to	to	ADP
ap-1618	127	16	a	a	DET
ap-1618	127	17	phase	phase	NOUN
ap-1618	127	18	margin	margin	NOUN
ap-1618	127	19	of	of	ADP
ap-1618	127	20	at	at	ADV
ap-1618	127	21	least	least	ADJ
ap-1618	127	22	70	70	NUM
ap-1618	127	23	degrees	degree	NOUN
ap-1618	127	24	for	for	ADP
ap-1618	127	25	both	both	DET
ap-1618	127	26	channels	channel	NOUN
ap-1618	127	27	.	.	PUNCT
ap-1618	128	1	d	d	X
ap-1618	128	2	)	)	PUNCT
ap-1618	128	3	the	the	DET
ap-1618	128	4	gain	gain	NOUN
ap-1618	128	5	cross	cross	ADJ
ap-1618	128	6	-	-	ADJ
ap-1618	128	7	over	over	ADJ
ap-1618	128	8	frequency	frequency	NOUN
ap-1618	128	9	should	should	AUX
ap-1618	128	10	be	be	AUX
ap-1618	128	11	at	at	ADV
ap-1618	128	12	least	least	ADJ
ap-1618	128	13	0.05	0.05	NUM
ap-1618	128	14	rad	rad	NOUN
ap-1618	128	15	/	/	SYM
ap-1618	128	16	s	s	PROPN
ap-1618	128	17	for	for	ADP
ap-1618	128	18	both	both	DET
ap-1618	128	19	channels	channel	NOUN
ap-1618	128	20	.	.	PUNCT
ap-1618	129	1	this	this	DET
ap-1618	129	2	value	value	NOUN
ap-1618	129	3	is	be	AUX
ap-1618	129	4	based	base	VERB
ap-1618	129	5	on	on	ADP
ap-1618	129	6	previous	previous	ADJ
ap-1618	129	7	experience	experience	NOUN
ap-1618	129	8	with	with	ADP
ap-1618	129	9	the	the	DET
ap-1618	129	10	design	design	NOUN
ap-1618	129	11	of	of	ADP
ap-1618	129	12	pid	pid	NOUN
ap-1618	129	13	controllers	controller	NOUN
ap-1618	129	14	for	for	ADP
ap-1618	129	15	the	the	DET
ap-1618	129	16	siso	siso	NOUN
ap-1618	129	17	case	case	NOUN
ap-1618	129	18	for	for	ADP
ap-1618	129	19	control	control	NOUN
ap-1618	129	20	of	of	ADP
ap-1618	129	21	the	the	DET
ap-1618	129	22	liquid	liquid	ADJ
ap-1618	129	23	level	level	NOUN
ap-1618	129	24	in	in	ADP
ap-1618	129	25	tank	tank	NOUN
ap-1618	129	26	2	2	NUM
ap-1618	129	27	(	(	PUNCT
ap-1618	129	28	with	with	ADP
ap-1618	129	29	controlled	control	VERB
ap-1618	129	30	input	input	NOUN
ap-1618	129	31	flow	flow	NOUN
ap-1618	129	32	to	to	PART
ap-1618	129	33	tank	tank	VERB
ap-1618	129	34	1	1	NUM
ap-1618	129	35	only	only	ADV
ap-1618	129	36	)	)	PUNCT
ap-1618	129	37	,	,	PUNCT
ap-1618	129	38	e	e	X
ap-1618	129	39	)	)	PUNCT
ap-1618	129	40	for	for	ADP
ap-1618	129	41	successful	successful	ADJ
ap-1618	129	42	application	application	NOUN
ap-1618	129	43	of	of	ADP
ap-1618	129	44	the	the	DET
ap-1618	129	45	icad	icad	PROPN
ap-1618	129	46	design	design	NOUN
ap-1618	129	47	methodology	methodology	NOUN
ap-1618	129	48	,	,	PUNCT
ap-1618	129	49	it	it	PRON
ap-1618	129	50	is	be	AUX
ap-1618	129	51	important	important	ADJ
ap-1618	129	52	to	to	PART
ap-1618	129	53	ensure	ensure	VERB
ap-1618	129	54	that	that	SCONJ
ap-1618	129	55	the	the	DET
ap-1618	129	56	polar	polar	ADJ
ap-1618	129	57	plots	plot	NOUN
ap-1618	129	58	of	of	ADP
ap-1618	129	59	the	the	DET
ap-1618	129	60	multivariable	multivariable	ADJ
ap-1618	129	61	structure	structure	NOUN
ap-1618	129	62	functions	function	NOUN
ap-1618	129	63	γ(jω	γ(jω	NOUN
ap-1618	129	64	)	)	PUNCT
ap-1618	129	65	,	,	PUNCT
ap-1618	129	66	γh1(jω	γh1(jω	PUNCT
ap-1618	129	67	)	)	PUNCT
ap-1618	129	68	and	and	CCONJ
ap-1618	129	69	γh2(jω	γh2(jω	NOUN
ap-1618	129	70	)	)	PUNCT
ap-1618	129	71	(	(	PUNCT
ap-1618	129	72	in	in	ADP
ap-1618	129	73	terms	term	NOUN
ap-1618	129	74	of	of	ADP
ap-1618	129	75	the	the	DET
ap-1618	129	76	magnitude	magnitude	NOUN
ap-1618	129	77	and	and	CCONJ
ap-1618	129	78	phase	phase	NOUN
ap-1618	129	79	values	value	NOUN
ap-1618	129	80	at	at	ADP
ap-1618	129	81	different	different	ADJ
ap-1618	129	82	frequencies	frequency	NOUN
ap-1618	129	83	over	over	ADP
ap-1618	129	84	the	the	DET
ap-1618	129	85	frequency	frequency	NOUN
ap-1618	129	86	range	range	NOUN
ap-1618	129	87	of	of	ADP
ap-1618	129	88	significance	significance	NOUN
ap-1618	129	89	)	)	PUNCT
ap-1618	129	90	never	never	ADV
ap-1618	129	91	approach	approach	VERB
ap-1618	129	92	the	the	DET
ap-1618	129	93	point	point	NOUN
ap-1618	129	94	(	(	PUNCT
ap-1618	129	95	1	1	NUM
ap-1618	129	96	,	,	PUNCT
ap-1618	129	97	0	0	NUM
ap-1618	129	98	)	)	PUNCT
ap-1618	129	99	.	.	PUNCT
ap-1618	130	1	4.2	4.2	NUM
ap-1618	130	2	an	an	DET
ap-1618	130	3	outline	outline	NOUN
ap-1618	130	4	of	of	ADP
ap-1618	130	5	the	the	DET
ap-1618	130	6	design	design	NOUN
ap-1618	130	7	process	process	NOUN
ap-1618	130	8	the	the	DET
ap-1618	130	9	requirements	requirement	NOUN
ap-1618	130	10	outlined	outline	VERB
ap-1618	130	11	above	above	ADV
ap-1618	130	12	provide	provide	VERB
ap-1618	130	13	a	a	DET
ap-1618	130	14	basis	basis	NOUN
ap-1618	130	15	for	for	ADP
ap-1618	130	16	design	design	NOUN
ap-1618	130	17	using	use	VERB
ap-1618	130	18	the	the	DET
ap-1618	130	19	icadmethodology	icadmethodology	NOUN
ap-1618	130	20	for	for	ADP
ap-1618	130	21	the	the	DET
ap-1618	130	22	linearised	linearise	VERB
ap-1618	130	23	plant	plant	NOUN
ap-1618	130	24	model	model	NOUN
ap-1618	130	25	,	,	PUNCT
ap-1618	130	26	for	for	ADP
ap-1618	130	27	selected	select	VERB
ap-1618	130	28	operating	operating	NOUN
ap-1618	130	29	conditions	condition	NOUN
ap-1618	130	30	.	.	PUNCT
ap-1618	131	1	design	design	NOUN
ap-1618	131	2	,	,	PUNCT
ap-1618	131	3	in	in	ADP
ap-1618	131	4	this	this	DET
ap-1618	131	5	case	case	NOUN
ap-1618	131	6	,	,	PUNCT
ap-1618	131	7	has	have	AUX
ap-1618	131	8	involved	involve	VERB
ap-1618	131	9	the	the	DET
ap-1618	131	10	use	use	NOUN
ap-1618	131	11	of	of	ADP
ap-1618	131	12	matlab	matlab	PROPN
ap-1618	131	13	r	r	PROPN
ap-1618	131	14	©	©	PROPN
ap-1618	131	15	software	software	NOUN
ap-1618	131	16	and	and	CCONJ
ap-1618	131	17	has	have	AUX
ap-1618	131	18	led	lead	VERB
ap-1618	131	19	to	to	ADP
ap-1618	131	20	continuous	continuous	ADJ
ap-1618	131	21	and	and	CCONJ
ap-1618	131	22	digital	digital	ADJ
ap-1618	131	23	controllers	controller	NOUN
ap-1618	131	24	involving	involve	VERB
ap-1618	131	25	proportional	proportional	ADJ
ap-1618	131	26	plus	plus	CCONJ
ap-1618	131	27	integral	integral	ADJ
ap-1618	131	28	controller	controller	NOUN
ap-1618	131	29	structures	structure	NOUN
ap-1618	131	30	for	for	ADP
ap-1618	131	31	each	each	DET
ap-1618	131	32	channel	channel	NOUN
ap-1618	131	33	.	.	PUNCT
ap-1618	132	1	the	the	DET
ap-1618	132	2	design	design	NOUN
ap-1618	132	3	process	process	NOUN
ap-1618	132	4	was	be	AUX
ap-1618	132	5	carried	carry	VERB
ap-1618	132	6	out	out	ADP
ap-1618	132	7	for	for	ADP
ap-1618	132	8	parameter	parameter	NOUN
ap-1618	132	9	values	value	NOUN
ap-1618	132	10	of	of	ADP
ap-1618	132	11	the	the	DET
ap-1618	132	12	linearised	linearise	VERB
ap-1618	132	13	model	model	NOUN
ap-1618	132	14	which	which	PRON
ap-1618	132	15	correspond	correspond	VERB
ap-1618	132	16	to	to	ADP
ap-1618	132	17	an	an	DET
ap-1618	132	18	operating	operating	NOUN
ap-1618	132	19	point	point	NOUN
ap-1618	132	20	in	in	ADP
ap-1618	132	21	the	the	DET
ap-1618	132	22	lower	low	ADJ
ap-1618	132	23	half	half	NOUN
ap-1618	132	24	of	of	ADP
ap-1618	132	25	the	the	DET
ap-1618	132	26	depth	depth	NOUN
ap-1618	132	27	range	range	NOUN
ap-1618	132	28	in	in	ADP
ap-1618	132	29	both	both	DET
ap-1618	132	30	tanks	tank	NOUN
ap-1618	132	31	(	(	PUNCT
ap-1618	132	32	h1	h1	NOUN
ap-1618	132	33	=	=	PUNCT
ap-1618	132	34	0.115	0.115	NUM
ap-1618	132	35	m	m	NOUN
ap-1618	132	36	and	and	CCONJ
ap-1618	132	37	h2	h2	NOUN
ap-1618	132	38	=	=	PROPN
ap-1618	132	39	0.071	0.071	NUM
ap-1618	132	40	m	m	PROPN
ap-1618	132	41	)	)	PUNCT
ap-1618	132	42	.	.	PUNCT
ap-1618	133	1	this	this	PRON
ap-1618	133	2	is	be	AUX
ap-1618	133	3	a	a	DET
ap-1618	133	4	typical	typical	ADJ
ap-1618	133	5	operating	operating	NOUN
ap-1618	133	6	point	point	NOUN
ap-1618	133	7	for	for	ADP
ap-1618	133	8	the	the	DET
ap-1618	133	9	system	system	NOUN
ap-1618	133	10	under	under	ADP
ap-1618	133	11	open	open	ADJ
ap-1618	133	12	-	-	PUNCT
ap-1618	133	13	loop	loop	NOUN
ap-1618	133	14	conditions	condition	NOUN
ap-1618	133	15	.	.	PUNCT
ap-1618	134	1	the	the	DET
ap-1618	134	2	values	value	NOUN
ap-1618	134	3	used	use	VERB
ap-1618	134	4	for	for	ADP
ap-1618	134	5	the	the	DET
ap-1618	134	6	two	two	NUM
ap-1618	134	7	discharge	discharge	NOUN
ap-1618	134	8	coefficients	coefficient	NOUN
ap-1618	134	9	are	be	AUX
ap-1618	134	10	those	those	PRON
ap-1618	134	11	given	give	VERB
ap-1618	134	12	in	in	ADP
ap-1618	134	13	section	section	NOUN
ap-1618	134	14	2	2	NUM
ap-1618	134	15	.	.	PUNCT
ap-1618	135	1	the	the	DET
ap-1618	135	2	first	first	ADJ
ap-1618	135	3	step	step	NOUN
ap-1618	135	4	in	in	ADP
ap-1618	135	5	the	the	DET
ap-1618	135	6	design	design	NOUN
ap-1618	135	7	process	process	NOUN
ap-1618	135	8	involves	involve	VERB
ap-1618	135	9	establishing	establish	VERB
ap-1618	135	10	that	that	SCONJ
ap-1618	135	11	the	the	DET
ap-1618	135	12	gain	gain	NOUN
ap-1618	135	13	cross	cross	VERB
ap-1618	135	14	-	-	ADJ
ap-1618	135	15	over	over	ADP
ap-1618	135	16	frequency	frequency	NOUN
ap-1618	135	17	of	of	ADP
ap-1618	135	18	the	the	DET
ap-1618	135	19	open	open	ADJ
ap-1618	135	20	-	-	PUNCT
ap-1618	135	21	loop	loop	NOUN
ap-1618	135	22	transmittance	transmittance	NOUN
ap-1618	135	23	of	of	ADP
ap-1618	135	24	one	one	NUM
ap-1618	135	25	channel	channel	NOUN
ap-1618	135	26	will	will	AUX
ap-1618	135	27	be	be	AUX
ap-1618	135	28	significantly	significantly	ADV
ap-1618	135	29	different	different	ADJ
ap-1618	135	30	from	from	ADP
ap-1618	135	31	the	the	DET
ap-1618	135	32	gain	gain	NOUN
ap-1618	135	33	cross	cross	ADJ
ap-1618	135	34	-	-	ADJ
ap-1618	135	35	over	over	ADV
ap-1618	135	36	frequency	frequency	NOUN
ap-1618	135	37	125	125	NUM
ap-1618	135	38	acta	acta	PROPN
ap-1618	135	39	polytechnica	polytechnica	PROPN
ap-1618	135	40	vol	vol	NOUN
ap-1618	135	41	.	.	PROPN
ap-1618	136	1	52	52	NUM
ap-1618	136	2	no	no	NOUN
ap-1618	136	3	.	.	PUNCT
ap-1618	137	1	4/2012	4/2012	NUM
ap-1618	137	2	of	of	ADP
ap-1618	137	3	the	the	DET
ap-1618	137	4	other	other	ADJ
ap-1618	137	5	.	.	PUNCT
ap-1618	138	1	in	in	ADP
ap-1618	138	2	this	this	DET
ap-1618	138	3	case	case	NOUN
ap-1618	138	4	it	it	PRON
ap-1618	138	5	was	be	AUX
ap-1618	138	6	decided	decide	VERB
ap-1618	138	7	,	,	PUNCT
ap-1618	138	8	on	on	ADP
ap-1618	138	9	the	the	DET
ap-1618	138	10	basis	basis	NOUN
ap-1618	138	11	of	of	ADP
ap-1618	138	12	physical	physical	ADJ
ap-1618	138	13	reasoning	reasoning	NOUN
ap-1618	138	14	,	,	PUNCT
ap-1618	138	15	that	that	SCONJ
ap-1618	138	16	the	the	DET
ap-1618	138	17	gain	gain	NOUN
ap-1618	138	18	cross	cross	VERB
ap-1618	138	19	-	-	ADJ
ap-1618	138	20	over	over	ADV
ap-1618	138	21	frequency	frequency	NOUN
ap-1618	138	22	of	of	ADP
ap-1618	138	23	channel	channel	NOUN
ap-1618	138	24	1	1	NUM
ap-1618	138	25	should	should	AUX
ap-1618	138	26	be	be	AUX
ap-1618	138	27	higher	high	ADJ
ap-1618	138	28	than	than	ADP
ap-1618	138	29	that	that	PRON
ap-1618	138	30	for	for	ADP
ap-1618	138	31	channel	channel	NOUN
ap-1618	138	32	2	2	NUM
ap-1618	138	33	.	.	PUNCT
ap-1618	138	34	from	from	ADP
ap-1618	138	35	the	the	DET
ap-1618	138	36	design	design	NOUN
ap-1618	138	37	requirements	requirement	NOUN
ap-1618	138	38	,	,	PUNCT
ap-1618	138	39	this	this	DET
ap-1618	138	40	latter	latter	ADJ
ap-1618	138	41	value	value	NOUN
ap-1618	138	42	should	should	AUX
ap-1618	138	43	be	be	AUX
ap-1618	138	44	chosen	choose	VERB
ap-1618	138	45	to	to	PART
ap-1618	138	46	be	be	AUX
ap-1618	138	47	at	at	ADP
ap-1618	138	48	least	least	ADJ
ap-1618	138	49	0.05	0.05	NUM
ap-1618	138	50	rad	rad	NOUN
ap-1618	138	51	/	/	SYM
ap-1618	138	52	s	s	PROPN
ap-1618	138	53	,	,	PUNCT
ap-1618	138	54	so	so	SCONJ
ap-1618	138	55	a	a	DET
ap-1618	138	56	value	value	NOUN
ap-1618	138	57	of	of	ADP
ap-1618	138	58	at	at	ADV
ap-1618	138	59	least	least	ADV
ap-1618	138	60	0.5	0.5	NUM
ap-1618	138	61	rad	rad	NOUN
ap-1618	138	62	/	/	SYM
ap-1618	138	63	s	s	PART
ap-1618	138	64	was	be	AUX
ap-1618	138	65	required	require	VERB
ap-1618	138	66	for	for	ADP
ap-1618	138	67	the	the	DET
ap-1618	138	68	gain	gain	NOUN
ap-1618	138	69	crossover	crossover	ADP
ap-1618	138	70	frequency	frequency	NOUN
ap-1618	138	71	of	of	ADP
ap-1618	138	72	channel	channel	NOUN
ap-1618	138	73	1	1	NUM
ap-1618	138	74	.	.	PUNCT
ap-1618	139	1	the	the	DET
ap-1618	139	2	next	next	ADJ
ap-1618	139	3	step	step	NOUN
ap-1618	139	4	involves	involve	VERB
ap-1618	139	5	evaluation	evaluation	NOUN
ap-1618	139	6	of	of	ADP
ap-1618	139	7	the	the	DET
ap-1618	139	8	magnitude	magnitude	NOUN
ap-1618	139	9	and	and	CCONJ
ap-1618	139	10	phase	phase	NOUN
ap-1618	139	11	of	of	ADP
ap-1618	139	12	the	the	DET
ap-1618	139	13	multivariable	multivariable	ADJ
ap-1618	139	14	structure	structure	NOUN
ap-1618	139	15	function	function	NOUN
ap-1618	139	16	over	over	ADP
ap-1618	139	17	the	the	DET
ap-1618	139	18	range	range	NOUN
ap-1618	139	19	of	of	ADP
ap-1618	139	20	frequencies	frequency	NOUN
ap-1618	139	21	that	that	PRON
ap-1618	139	22	are	be	AUX
ap-1618	139	23	of	of	ADP
ap-1618	139	24	importance	importance	NOUN
ap-1618	139	25	for	for	ADP
ap-1618	139	26	the	the	DET
ap-1618	139	27	intended	intend	VERB
ap-1618	139	28	application	application	NOUN
ap-1618	139	29	.	.	PUNCT
ap-1618	140	1	figure	figure	NOUN
ap-1618	140	2	5	5	NUM
ap-1618	140	3	is	be	AUX
ap-1618	140	4	a	a	DET
ap-1618	140	5	typical	typical	ADJ
ap-1618	140	6	plot	plot	NOUN
ap-1618	140	7	of	of	ADP
ap-1618	140	8	the	the	DET
ap-1618	140	9	multivariable	multivariable	ADJ
ap-1618	140	10	structure	structure	NOUN
ap-1618	140	11	function	function	NOUN
ap-1618	140	12	in	in	ADP
ap-1618	140	13	polar	polar	ADJ
ap-1618	140	14	form	form	NOUN
ap-1618	140	15	showing	show	VERB
ap-1618	140	16	the	the	DET
ap-1618	140	17	magnitude	magnitude	NOUN
ap-1618	140	18	and	and	CCONJ
ap-1618	140	19	phase	phase	NOUN
ap-1618	140	20	of	of	ADP
ap-1618	140	21	γ(jω	γ(jω	NOUN
ap-1618	140	22	)	)	PUNCT
ap-1618	140	23	for	for	ADP
ap-1618	140	24	the	the	DET
ap-1618	140	25	complete	complete	ADJ
ap-1618	140	26	range	range	NOUN
ap-1618	140	27	of	of	ADP
ap-1618	140	28	relevant	relevant	ADJ
ap-1618	140	29	frequencies	frequency	NOUN
ap-1618	140	30	,	,	PUNCT
ap-1618	140	31	and	and	CCONJ
ap-1618	140	32	it	it	PRON
ap-1618	140	33	is	be	AUX
ap-1618	140	34	clear	clear	ADJ
ap-1618	140	35	that	that	SCONJ
ap-1618	140	36	the	the	DET
ap-1618	140	37	resulting	result	VERB
ap-1618	140	38	plot	plot	NOUN
ap-1618	140	39	involves	involve	VERB
ap-1618	140	40	small	small	ADJ
ap-1618	140	41	values	value	NOUN
ap-1618	140	42	of	of	ADP
ap-1618	140	43	magnitude	magnitude	NOUN
ap-1618	140	44	and	and	CCONJ
ap-1618	140	45	does	do	AUX
ap-1618	140	46	not	not	PART
ap-1618	140	47	come	come	VERB
ap-1618	140	48	close	close	ADV
ap-1618	140	49	to	to	ADP
ap-1618	140	50	the	the	DET
ap-1618	140	51	(	(	PUNCT
ap-1618	140	52	1	1	NUM
ap-1618	140	53	,	,	PUNCT
ap-1618	140	54	0	0	NUM
ap-1618	140	55	)	)	PUNCT
ap-1618	140	56	point	point	NOUN
ap-1618	140	57	.	.	PUNCT
ap-1618	141	1	this	this	PRON
ap-1618	141	2	is	be	AUX
ap-1618	141	3	satisfactory	satisfactory	ADJ
ap-1618	141	4	for	for	ADP
ap-1618	141	5	the	the	DET
ap-1618	141	6	operating	operating	NOUN
ap-1618	141	7	point	point	NOUN
ap-1618	141	8	considered	consider	VERB
ap-1618	141	9	but	but	CCONJ
ap-1618	141	10	similar	similar	ADJ
ap-1618	141	11	plots	plot	NOUN
ap-1618	141	12	should	should	AUX
ap-1618	141	13	be	be	AUX
ap-1618	141	14	considered	consider	VERB
ap-1618	141	15	for	for	ADP
ap-1618	141	16	a	a	DET
ap-1618	141	17	range	range	NOUN
ap-1618	141	18	of	of	ADP
ap-1618	141	19	different	different	ADJ
ap-1618	141	20	operating	operating	NOUN
ap-1618	141	21	conditions	condition	NOUN
ap-1618	141	22	.	.	PUNCT
ap-1618	142	1	figure	figure	VERB
ap-1618	142	2	5	5	NUM
ap-1618	142	3	:	:	PUNCT
ap-1618	142	4	plot	plot	NOUN
ap-1618	142	5	of	of	ADP
ap-1618	142	6	the	the	DET
ap-1618	142	7	multivariable	multivariable	ADJ
ap-1618	142	8	structure	structure	NOUN
ap-1618	142	9	function	function	NOUN
ap-1618	142	10	in	in	ADP
ap-1618	142	11	polar	polar	ADJ
ap-1618	142	12	form	form	NOUN
ap-1618	142	13	for	for	ADP
ap-1618	142	14	the	the	DET
ap-1618	142	15	coupled	couple	VERB
ap-1618	142	16	-	-	PUNCT
ap-1618	142	17	tanks	tank	NOUN
ap-1618	142	18	system	system	NOUN
ap-1618	142	19	showing	show	VERB
ap-1618	142	20	the	the	DET
ap-1618	142	21	magnitude	magnitude	NOUN
ap-1618	142	22	and	and	CCONJ
ap-1618	142	23	phase	phase	NOUN
ap-1618	142	24	of	of	ADP
ap-1618	142	25	γ(jω	γ(jω	NOUN
ap-1618	142	26	)	)	PUNCT
ap-1618	142	27	for	for	ADP
ap-1618	142	28	the	the	DET
ap-1618	142	29	complete	complete	ADJ
ap-1618	142	30	range	range	NOUN
ap-1618	142	31	of	of	ADP
ap-1618	142	32	relevant	relevant	ADJ
ap-1618	142	33	frequencies	frequency	NOUN
ap-1618	142	34	for	for	ADP
ap-1618	142	35	one	one	NUM
ap-1618	142	36	operating	operating	NOUN
ap-1618	142	37	point	point	NOUN
ap-1618	142	38	next	next	ADV
ap-1618	142	39	,	,	PUNCT
ap-1618	142	40	it	it	PRON
ap-1618	142	41	is	be	AUX
ap-1618	142	42	necessary	necessary	ADJ
ap-1618	142	43	to	to	PART
ap-1618	142	44	design	design	VERB
ap-1618	142	45	the	the	DET
ap-1618	142	46	controller	controller	NOUN
ap-1618	142	47	k2(s	k2(s	NOUN
ap-1618	142	48	)	)	PUNCT
ap-1618	142	49	since	since	SCONJ
ap-1618	142	50	the	the	DET
ap-1618	142	51	requirements	requirement	NOUN
ap-1618	142	52	in	in	ADP
ap-1618	142	53	terms	term	NOUN
ap-1618	142	54	of	of	ADP
ap-1618	142	55	gain	gain	NOUN
ap-1618	142	56	cross	cross	ADJ
ap-1618	142	57	-	-	ADJ
ap-1618	142	58	over	over	ADJ
ap-1618	142	59	frequency	frequency	NOUN
ap-1618	142	60	for	for	ADP
ap-1618	142	61	channel	channel	NOUN
ap-1618	142	62	2	2	NUM
ap-1618	142	63	are	be	AUX
ap-1618	142	64	less	less	ADV
ap-1618	142	65	demanding	demanding	ADJ
ap-1618	142	66	than	than	ADP
ap-1618	142	67	for	for	ADP
ap-1618	142	68	channel	channel	NOUN
ap-1618	142	69	1	1	NUM
ap-1618	142	70	.	.	PUNCT
ap-1618	143	1	equation	equation	NOUN
ap-1618	143	2	(	(	PUNCT
ap-1618	143	3	19	19	NUM
ap-1618	143	4	)	)	PUNCT
ap-1618	143	5	shows	show	VERB
ap-1618	143	6	that	that	SCONJ
ap-1618	143	7	the	the	DET
ap-1618	143	8	equation	equation	NOUN
ap-1618	143	9	for	for	ADP
ap-1618	143	10	channel	channel	NOUN
ap-1618	143	11	2	2	NUM
ap-1618	143	12	involves	involve	VERB
ap-1618	143	13	the	the	DET
ap-1618	143	14	transfer	transfer	NOUN
ap-1618	143	15	function	function	NOUN
ap-1618	143	16	h1(s	h1(s	NUM
ap-1618	143	17	)	)	PUNCT
ap-1618	143	18	and	and	CCONJ
ap-1618	143	19	the	the	DET
ap-1618	143	20	known	know	VERB
ap-1618	143	21	multivariable	multivariable	ADJ
ap-1618	143	22	structure	structure	NOUN
ap-1618	143	23	function	function	NOUN
ap-1618	143	24	γ(s	γ(s	PROPN
ap-1618	143	25	)	)	PUNCT
ap-1618	143	26	.	.	PUNCT
ap-1618	144	1	the	the	DET
ap-1618	144	2	first	first	ADJ
ap-1618	144	3	step	step	NOUN
ap-1618	144	4	is	be	AUX
ap-1618	144	5	to	to	PART
ap-1618	144	6	assume	assume	VERB
ap-1618	144	7	either	either	CCONJ
ap-1618	144	8	that	that	SCONJ
ap-1618	144	9	h1(s	h1(s	NUM
ap-1618	144	10	)	)	PUNCT
ap-1618	144	11	=	=	SYM
ap-1618	144	12	0	0	NUM
ap-1618	144	13	or	or	CCONJ
ap-1618	144	14	that	that	SCONJ
ap-1618	144	15	h1(s	h1(s	NUM
ap-1618	144	16	)	)	PUNCT
ap-1618	144	17	=	=	SYM
ap-1618	144	18	1	1	NUM
ap-1618	144	19	and	and	CCONJ
ap-1618	144	20	design	design	VERB
ap-1618	144	21	the	the	DET
ap-1618	144	22	controller	controller	NOUN
ap-1618	144	23	k2(s	k2(s	NOUN
ap-1618	144	24	)	)	PUNCT
ap-1618	144	25	initially	initially	ADV
ap-1618	144	26	on	on	ADP
ap-1618	144	27	that	that	DET
ap-1618	144	28	basis	basis	NOUN
ap-1618	144	29	[	[	X
ap-1618	144	30	2	2	NUM
ap-1618	144	31	]	]	PUNCT
ap-1618	144	32	.	.	PUNCT
ap-1618	145	1	in	in	ADP
ap-1618	145	2	this	this	DET
ap-1618	145	3	application	application	NOUN
ap-1618	145	4	it	it	PRON
ap-1618	145	5	was	be	AUX
ap-1618	145	6	assumed	assume	VERB
ap-1618	145	7	that	that	SCONJ
ap-1618	145	8	h1(s	h1(s	NUM
ap-1618	145	9	)	)	PUNCT
ap-1618	145	10	=	=	SYM
ap-1618	145	11	0	0	NUM
ap-1618	145	12	,	,	PUNCT
ap-1618	145	13	but	but	CCONJ
ap-1618	145	14	an	an	DET
ap-1618	145	15	initial	initial	ADJ
ap-1618	145	16	assumption	assumption	NOUN
ap-1618	145	17	that	that	SCONJ
ap-1618	145	18	h1(s	h1(s	NUM
ap-1618	145	19	)	)	PUNCT
ap-1618	145	20	=	=	SYM
ap-1618	145	21	1	1	NUM
ap-1618	145	22	would	would	AUX
ap-1618	145	23	have	have	AUX
ap-1618	145	24	been	be	AUX
ap-1618	145	25	equally	equally	ADV
ap-1618	145	26	appropriate	appropriate	ADJ
ap-1618	145	27	.	.	PUNCT
ap-1618	146	1	the	the	DET
ap-1618	146	2	transfer	transfer	NOUN
ap-1618	146	3	function	function	NOUN
ap-1618	146	4	for	for	ADP
ap-1618	146	5	g22(s	g22(s	NOUN
ap-1618	146	6	)	)	PUNCT
ap-1618	146	7	given	give	VERB
ap-1618	146	8	in	in	ADP
ap-1618	146	9	equation	equation	NOUN
ap-1618	146	10	(	(	PUNCT
ap-1618	146	11	17	17	NUM
ap-1618	146	12	)	)	PUNCT
ap-1618	146	13	has	have	VERB
ap-1618	146	14	a	a	DET
ap-1618	146	15	magnitude	magnitude	NOUN
ap-1618	146	16	at	at	ADP
ap-1618	146	17	low	low	ADJ
ap-1618	146	18	frequencies	frequency	NOUN
ap-1618	146	19	of	of	ADP
ap-1618	146	20	1	1	NUM
ap-1618	146	21	/	/	SYM
ap-1618	146	22	α2	α2	ADJ
ap-1618	146	23	and	and	CCONJ
ap-1618	146	24	at	at	ADP
ap-1618	146	25	high	high	ADJ
ap-1618	146	26	frequencies	frequency	NOUN
ap-1618	146	27	the	the	DET
ap-1618	146	28	magnitude	magnitude	NOUN
ap-1618	146	29	decreases	decrease	VERB
ap-1618	146	30	in	in	ADP
ap-1618	146	31	an	an	DET
ap-1618	146	32	approximately	approximately	ADV
ap-1618	146	33	linear	linear	ADJ
ap-1618	146	34	fashion	fashion	NOUN
ap-1618	146	35	at	at	ADP
ap-1618	146	36	−20	−20	PROPN
ap-1618	146	37	db	db	VERB
ap-1618	146	38	per	per	ADP
ap-1618	146	39	decade	decade	NOUN
ap-1618	146	40	.	.	PUNCT
ap-1618	147	1	in	in	ADP
ap-1618	147	2	order	order	NOUN
ap-1618	147	3	to	to	PART
ap-1618	147	4	meet	meet	VERB
ap-1618	147	5	the	the	DET
ap-1618	147	6	design	design	NOUN
ap-1618	147	7	requirement	requirement	NOUN
ap-1618	147	8	of	of	ADP
ap-1618	147	9	zero	zero	NUM
ap-1618	147	10	steady	steady	ADJ
ap-1618	147	11	-	-	PUNCT
ap-1618	147	12	state	state	NOUN
ap-1618	147	13	closed	close	VERB
ap-1618	147	14	-	-	PUNCT
ap-1618	147	15	loop	loop	NOUN
ap-1618	147	16	error	error	NOUN
ap-1618	147	17	this	this	PRON
ap-1618	147	18	suggests	suggest	VERB
ap-1618	147	19	use	use	NOUN
ap-1618	147	20	of	of	ADP
ap-1618	147	21	a	a	DET
ap-1618	147	22	proportional	proportional	ADJ
ap-1618	147	23	plus	plus	CCONJ
ap-1618	147	24	integral	integral	ADJ
ap-1618	147	25	type	type	NOUN
ap-1618	147	26	of	of	ADP
ap-1618	147	27	controller	controller	NOUN
ap-1618	147	28	of	of	ADP
ap-1618	147	29	the	the	DET
ap-1618	147	30	form	form	NOUN
ap-1618	147	31	:	:	PUNCT
ap-1618	147	32	β1	β1	PROPN
ap-1618	147	33	=	=	SYM
ap-1618	147	34	(	(	PUNCT
ap-1618	147	35	1	1	NUM
ap-1618	147	36	+	+	CCONJ
ap-1618	147	37	β2s	β2	NOUN
ap-1618	147	38	)	)	PUNCT
ap-1618	147	39	s	s	PART
ap-1618	147	40	(	(	PUNCT
ap-1618	147	41	24	24	NUM
ap-1618	147	42	)	)	PUNCT
ap-1618	147	43	where	where	SCONJ
ap-1618	147	44	β1	β1	PROPN
ap-1618	147	45	and	and	CCONJ
ap-1618	147	46	β2	β2	NOUN
ap-1618	147	47	are	be	AUX
ap-1618	147	48	constants	constant	NOUN
ap-1618	147	49	.	.	PUNCT
ap-1618	148	1	this	this	DET
ap-1618	148	2	controller	controller	NOUN
ap-1618	148	3	will	will	AUX
ap-1618	148	4	produce	produce	VERB
ap-1618	148	5	infinite	infinite	ADJ
ap-1618	148	6	gain	gain	NOUN
ap-1618	148	7	at	at	ADP
ap-1618	148	8	zero	zero	NUM
ap-1618	148	9	frequency	frequency	NOUN
ap-1618	148	10	and	and	CCONJ
ap-1618	148	11	thus	thus	ADV
ap-1618	148	12	eliminate	eliminate	VERB
ap-1618	148	13	any	any	DET
ap-1618	148	14	steady	steady	ADJ
ap-1618	148	15	state	state	NOUN
ap-1618	148	16	error	error	NOUN
ap-1618	148	17	in	in	ADP
ap-1618	148	18	the	the	DET
ap-1618	148	19	closed	closed	ADJ
ap-1618	148	20	-	-	PUNCT
ap-1618	148	21	loop	loop	NOUN
ap-1618	148	22	system	system	NOUN
ap-1618	148	23	for	for	ADP
ap-1618	148	24	this	this	DET
ap-1618	148	25	channel	channel	NOUN
ap-1618	148	26	.	.	PUNCT
ap-1618	149	1	the	the	DET
ap-1618	149	2	choice	choice	NOUN
ap-1618	149	3	of	of	ADP
ap-1618	149	4	parameter	parameter	NOUN
ap-1618	149	5	values	value	NOUN
ap-1618	149	6	for	for	ADP
ap-1618	149	7	the	the	DET
ap-1618	149	8	controller	controller	NOUN
ap-1618	149	9	involves	involve	VERB
ap-1618	149	10	,	,	PUNCT
ap-1618	149	11	initially	initially	ADV
ap-1618	149	12	,	,	PUNCT
ap-1618	149	13	the	the	DET
ap-1618	149	14	selection	selection	NOUN
ap-1618	149	15	of	of	ADP
ap-1618	149	16	a	a	DET
ap-1618	149	17	gain	gain	NOUN
ap-1618	149	18	factor	factor	NOUN
ap-1618	149	19	β1	β1	PROPN
ap-1618	149	20	to	to	PART
ap-1618	149	21	give	give	VERB
ap-1618	149	22	a	a	DET
ap-1618	149	23	suitable	suitable	ADJ
ap-1618	149	24	gain	gain	NOUN
ap-1618	149	25	cross	cross	ADJ
ap-1618	149	26	-	-	ADJ
ap-1618	149	27	over	over	ADP
ap-1618	149	28	frequency	frequency	NOUN
ap-1618	149	29	which	which	PRON
ap-1618	149	30	is	be	AUX
ap-1618	149	31	at	at	ADP
ap-1618	149	32	least	least	ADJ
ap-1618	149	33	the	the	DET
ap-1618	149	34	required	required	ADJ
ap-1618	149	35	minimum	minimum	NOUN
ap-1618	149	36	of	of	ADP
ap-1618	149	37	0.05	0.05	NUM
ap-1618	149	38	rad	rad	NOUN
ap-1618	149	39	/	/	SYM
ap-1618	149	40	s.	s.	PROPN
ap-1618	149	41	the	the	DET
ap-1618	149	42	integral	integral	ADJ
ap-1618	149	43	action	action	NOUN
ap-1618	149	44	is	be	AUX
ap-1618	149	45	then	then	ADV
ap-1618	149	46	considered	consider	VERB
ap-1618	149	47	and	and	CCONJ
ap-1618	149	48	the	the	DET
ap-1618	149	49	frequency	frequency	NOUN
ap-1618	149	50	ω	ω	NOUN
ap-1618	149	51	=	=	SYM
ap-1618	149	52	1	1	NUM
ap-1618	149	53	β2	β2	NOUN
ap-1618	149	54	is	be	AUX
ap-1618	149	55	chosen	choose	VERB
ap-1618	149	56	to	to	PART
ap-1618	149	57	be	be	AUX
ap-1618	149	58	sufficiently	sufficiently	ADV
ap-1618	149	59	smaller	small	ADJ
ap-1618	149	60	than	than	ADP
ap-1618	149	61	the	the	DET
ap-1618	149	62	gain	gain	NOUN
ap-1618	149	63	cross	cross	VERB
ap-1618	149	64	-	-	ADJ
ap-1618	149	65	over	over	ADV
ap-1618	149	66	frequency	frequency	NOUN
ap-1618	149	67	to	to	PART
ap-1618	149	68	ensure	ensure	VERB
ap-1618	149	69	that	that	SCONJ
ap-1618	149	70	the	the	DET
ap-1618	149	71	overall	overall	ADJ
ap-1618	149	72	phase	phase	NOUN
ap-1618	149	73	margin	margin	NOUN
ap-1618	149	74	is	be	AUX
ap-1618	149	75	not	not	PART
ap-1618	149	76	influenced	influence	VERB
ap-1618	149	77	to	to	ADP
ap-1618	149	78	any	any	DET
ap-1618	149	79	large	large	ADJ
ap-1618	149	80	extent	extent	NOUN
ap-1618	149	81	.	.	PUNCT
ap-1618	150	1	application	application	NOUN
ap-1618	150	2	of	of	ADP
ap-1618	150	3	this	this	DET
ap-1618	150	4	procedure	procedure	NOUN
ap-1618	150	5	gives	give	VERB
ap-1618	150	6	the	the	DET
ap-1618	150	7	following	follow	VERB
ap-1618	150	8	controller	controller	NOUN
ap-1618	150	9	:	:	PUNCT
ap-1618	150	10	k2(s	k2(s	NOUN
ap-1618	150	11	)	)	PUNCT
ap-1618	150	12	=	=	PUNCT
ap-1618	150	13	0.56	0.56	NUM
ap-1618	150	14	(	(	PUNCT
ap-1618	150	15	1	1	NUM
ap-1618	150	16	+	+	CCONJ
ap-1618	150	17	8.929s	8.929s	NOUN
ap-1618	150	18	)	)	PUNCT
ap-1618	150	19	s	s	PART
ap-1618	150	20	(	(	PUNCT
ap-1618	150	21	25	25	NUM
ap-1618	150	22	)	)	PUNCT
ap-1618	150	23	through	through	ADP
ap-1618	150	24	the	the	DET
ap-1618	150	25	use	use	NOUN
ap-1618	150	26	of	of	ADP
ap-1618	150	27	simulation	simulation	NOUN
ap-1618	150	28	,	,	PUNCT
ap-1618	150	29	closed	closed	ADJ
ap-1618	150	30	-	-	PUNCT
ap-1618	150	31	loop	loop	NOUN
ap-1618	150	32	step	step	NOUN
ap-1618	150	33	responses	response	NOUN
ap-1618	150	34	can	can	AUX
ap-1618	150	35	be	be	AUX
ap-1618	150	36	examined	examine	VERB
ap-1618	150	37	(	(	PUNCT
ap-1618	150	38	usually	usually	ADV
ap-1618	150	39	on	on	ADP
ap-1618	150	40	the	the	DET
ap-1618	150	41	basis	basis	NOUN
ap-1618	150	42	of	of	ADP
ap-1618	150	43	linearised	linearise	VERB
ap-1618	150	44	models	model	NOUN
ap-1618	150	45	)	)	PUNCT
ap-1618	150	46	and	and	CCONJ
ap-1618	150	47	further	further	ADJ
ap-1618	150	48	adjustments	adjustment	NOUN
ap-1618	150	49	can	can	AUX
ap-1618	150	50	be	be	AUX
ap-1618	150	51	made	make	VERB
ap-1618	150	52	in	in	ADP
ap-1618	150	53	the	the	DET
ap-1618	150	54	values	value	NOUN
ap-1618	150	55	for	for	ADP
ap-1618	150	56	these	these	DET
ap-1618	150	57	controller	controller	NOUN
ap-1618	150	58	parameters	parameter	NOUN
ap-1618	150	59	if	if	SCONJ
ap-1618	150	60	this	this	PRON
ap-1618	150	61	is	be	AUX
ap-1618	150	62	judged	judge	VERB
ap-1618	150	63	to	to	PART
ap-1618	150	64	be	be	AUX
ap-1618	150	65	necessary	necessary	ADJ
ap-1618	150	66	.	.	PUNCT
ap-1618	151	1	after	after	ADP
ap-1618	151	2	obtaining	obtain	VERB
ap-1618	151	3	that	that	DET
ap-1618	151	4	first	first	ADJ
ap-1618	151	5	approximation	approximation	NOUN
ap-1618	151	6	to	to	ADP
ap-1618	151	7	k2(s	k2(s	NOUN
ap-1618	151	8	)	)	PUNCT
ap-1618	151	9	an	an	DET
ap-1618	151	10	initial	initial	ADJ
ap-1618	151	11	single	single	ADJ
ap-1618	151	12	-	-	PUNCT
ap-1618	151	13	input	input	NOUN
ap-1618	151	14	single	single	ADJ
ap-1618	151	15	-	-	PUNCT
ap-1618	151	16	output	output	NOUN
ap-1618	151	17	design	design	NOUN
ap-1618	151	18	can	can	AUX
ap-1618	151	19	be	be	AUX
ap-1618	151	20	carried	carry	VERB
ap-1618	151	21	out	out	ADP
ap-1618	151	22	for	for	ADP
ap-1618	151	23	the	the	DET
ap-1618	151	24	controller	controller	NOUN
ap-1618	151	25	k1(s	k1(s	PROPN
ap-1618	151	26	)	)	PUNCT
ap-1618	151	27	on	on	ADP
ap-1618	151	28	the	the	DET
ap-1618	151	29	basis	basis	NOUN
ap-1618	151	30	of	of	ADP
ap-1618	151	31	h2(s	h2(s	PROPN
ap-1618	151	32	)	)	PUNCT
ap-1618	151	33	,	,	PUNCT
ap-1618	151	34	which	which	PRON
ap-1618	151	35	is	be	AUX
ap-1618	151	36	now	now	ADV
ap-1618	151	37	available	available	ADJ
ap-1618	151	38	(	(	PUNCT
ap-1618	151	39	from	from	ADP
ap-1618	151	40	equation	equation	NOUN
ap-1618	151	41	(	(	PUNCT
ap-1618	151	42	21	21	NUM
ap-1618	151	43	)	)	PUNCT
ap-1618	151	44	)	)	PUNCT
ap-1618	151	45	.	.	PUNCT
ap-1618	152	1	the	the	DET
ap-1618	152	2	procedure	procedure	NOUN
ap-1618	152	3	followed	follow	VERB
ap-1618	152	4	is	be	AUX
ap-1618	152	5	essentially	essentially	ADV
ap-1618	152	6	the	the	DET
ap-1618	152	7	same	same	ADJ
ap-1618	152	8	as	as	ADP
ap-1618	152	9	for	for	ADP
ap-1618	152	10	channel	channel	NOUN
ap-1618	152	11	1	1	NUM
ap-1618	152	12	but	but	CCONJ
ap-1618	152	13	with	with	ADP
ap-1618	152	14	the	the	DET
ap-1618	152	15	higher	high	ADJ
ap-1618	152	16	value	value	NOUN
ap-1618	152	17	of	of	ADP
ap-1618	152	18	gain	gain	NOUN
ap-1618	152	19	crossover	crossover	ADP
ap-1618	152	20	frequency	frequency	NOUN
ap-1618	152	21	that	that	PRON
ap-1618	152	22	is	be	AUX
ap-1618	152	23	required	require	VERB
ap-1618	152	24	for	for	ADP
ap-1618	152	25	this	this	DET
ap-1618	152	26	channel	channel	NOUN
ap-1618	152	27	.	.	PUNCT
ap-1618	153	1	the	the	DET
ap-1618	153	2	proportional	proportional	ADJ
ap-1618	153	3	plus	plus	CCONJ
ap-1618	153	4	integral	integral	ADJ
ap-1618	153	5	controller	controller	NOUN
ap-1618	153	6	resulting	result	VERB
ap-1618	153	7	initially	initially	ADV
ap-1618	153	8	from	from	ADP
ap-1618	153	9	this	this	DET
ap-1618	153	10	process	process	NOUN
ap-1618	153	11	has	have	VERB
ap-1618	153	12	the	the	DET
ap-1618	153	13	form	form	NOUN
ap-1618	153	14	:	:	PUNCT
ap-1618	153	15	k1(s	k1(s	NOUN
ap-1618	153	16	)	)	PUNCT
ap-1618	153	17	=	=	NUM
ap-1618	153	18	4.676	4.676	NUM
ap-1618	153	19	(	(	PUNCT
ap-1618	153	20	1	1	NUM
ap-1618	153	21	+	+	NUM
ap-1618	153	22	5.988s	5.988	NOUN
ap-1618	153	23	)	)	PUNCT
ap-1618	153	24	s	s	PART
ap-1618	153	25	(	(	PUNCT
ap-1618	153	26	26	26	NUM
ap-1618	153	27	)	)	PUNCT
ap-1618	153	28	having	having	AUX
ap-1618	153	29	found	find	VERB
ap-1618	153	30	an	an	DET
ap-1618	153	31	initial	initial	ADJ
ap-1618	153	32	k1(s	k1(s	NOUN
ap-1618	153	33	)	)	PUNCT
ap-1618	153	34	,	,	PUNCT
ap-1618	153	35	this	this	DET
ap-1618	153	36	transfer	transfer	NOUN
ap-1618	153	37	function	function	NOUN
ap-1618	153	38	can	can	AUX
ap-1618	153	39	then	then	ADV
ap-1618	153	40	be	be	AUX
ap-1618	153	41	used	use	VERB
ap-1618	153	42	to	to	PART
ap-1618	153	43	determine	determine	VERB
ap-1618	153	44	h1(s	h1(s	NUM
ap-1618	153	45	)	)	PUNCT
ap-1618	153	46	by	by	ADP
ap-1618	153	47	substitution	substitution	NOUN
ap-1618	153	48	into	into	ADP
ap-1618	153	49	equation	equation	NOUN
ap-1618	153	50	(	(	PUNCT
ap-1618	153	51	22	22	NUM
ap-1618	153	52	)	)	PUNCT
ap-1618	153	53	.	.	PUNCT
ap-1618	154	1	the	the	DET
ap-1618	154	2	resulting	result	VERB
ap-1618	154	3	gain	gain	NOUN
ap-1618	154	4	and	and	CCONJ
ap-1618	154	5	phase	phase	NOUN
ap-1618	154	6	margins	margin	NOUN
ap-1618	154	7	must	must	AUX
ap-1618	154	8	then	then	ADV
ap-1618	154	9	be	be	AUX
ap-1618	154	10	checked	check	VERB
ap-1618	154	11	and	and	CCONJ
ap-1618	154	12	adjustments	adjustment	NOUN
ap-1618	154	13	made	make	VERB
ap-1618	154	14	to	to	PART
ap-1618	154	15	k1(s	k1(s	PROPN
ap-1618	154	16	)	)	PUNCT
ap-1618	154	17	,	,	PUNCT
ap-1618	154	18	if	if	SCONJ
ap-1618	154	19	necessary	necessary	ADJ
ap-1618	154	20	.	.	PUNCT
ap-1618	155	1	the	the	DET
ap-1618	155	2	process	process	NOUN
ap-1618	155	3	may	may	AUX
ap-1618	155	4	have	have	VERB
ap-1618	155	5	to	to	PART
ap-1618	155	6	be	be	AUX
ap-1618	155	7	repeated	repeat	VERB
ap-1618	155	8	once	once	ADV
ap-1618	155	9	or	or	CCONJ
ap-1618	155	10	twice	twice	ADV
ap-1618	155	11	.	.	PUNCT
ap-1618	156	1	then	then	ADV
ap-1618	156	2	,	,	PUNCT
ap-1618	156	3	using	use	VERB
ap-1618	156	4	the	the	DET
ap-1618	156	5	revised	revise	VERB
ap-1618	156	6	controller	controller	NOUN
ap-1618	156	7	transfer	transfer	NOUN
ap-1618	156	8	function	function	NOUN
ap-1618	156	9	for	for	ADP
ap-1618	156	10	channel	channel	NOUN
ap-1618	156	11	1	1	NUM
ap-1618	156	12	,	,	PUNCT
ap-1618	156	13	the	the	DET
ap-1618	156	14	design	design	NOUN
ap-1618	156	15	can	can	AUX
ap-1618	156	16	be	be	AUX
ap-1618	156	17	completed	complete	VERB
ap-1618	156	18	for	for	ADP
ap-1618	156	19	channel	channel	NOUN
ap-1618	156	20	2	2	NUM
ap-1618	156	21	using	use	VERB
ap-1618	156	22	a	a	DET
ap-1618	156	23	similar	similar	ADJ
ap-1618	156	24	iterative	iterative	NOUN
ap-1618	156	25	procedure	procedure	NOUN
ap-1618	156	26	.	.	PUNCT
ap-1618	157	1	final	final	ADJ
ap-1618	157	2	checks	check	NOUN
ap-1618	157	3	must	must	AUX
ap-1618	157	4	then	then	ADV
ap-1618	157	5	be	be	AUX
ap-1618	157	6	made	make	VERB
ap-1618	157	7	on	on	ADP
ap-1618	157	8	both	both	DET
ap-1618	157	9	channels	channel	NOUN
ap-1618	157	10	to	to	PART
ap-1618	157	11	compare	compare	VERB
ap-1618	157	12	the	the	DET
ap-1618	157	13	gain	gain	NOUN
ap-1618	157	14	cross	cross	VERB
ap-1618	157	15	-	-	ADJ
ap-1618	157	16	over	over	ADP
ap-1618	157	17	frequencies	frequency	NOUN
ap-1618	157	18	with	with	ADP
ap-1618	157	19	the	the	DET
ap-1618	157	20	design	design	NOUN
ap-1618	157	21	specifications	specification	NOUN
ap-1618	157	22	and	and	CCONJ
ap-1618	157	23	check	check	VERB
ap-1618	157	24	that	that	SCONJ
ap-1618	157	25	the	the	DET
ap-1618	157	26	gain	gain	NOUN
ap-1618	157	27	and	and	CCONJ
ap-1618	157	28	phase	phase	NOUN
ap-1618	157	29	margins	margin	NOUN
ap-1618	157	30	are	be	AUX
ap-1618	157	31	all	all	ADV
ap-1618	157	32	satisfactory	satisfactory	ADJ
ap-1618	157	33	.	.	PUNCT
ap-1618	158	1	this	this	DET
ap-1618	158	2	process	process	NOUN
ap-1618	158	3	also	also	ADV
ap-1618	158	4	involves	involve	VERB
ap-1618	158	5	re	re	NOUN
ap-1618	158	6	-	-	NOUN
ap-1618	158	7	examination	examination	NOUN
ap-1618	158	8	of	of	ADP
ap-1618	158	9	the	the	DET
ap-1618	158	10	nyquist	nyquist	NOUN
ap-1618	158	11	plots	plot	NOUN
ap-1618	158	12	of	of	ADP
ap-1618	158	13	the	the	DET
ap-1618	158	14	multivariable	multivariable	ADJ
ap-1618	158	15	structure	structure	NOUN
ap-1618	158	16	functions	function	NOUN
ap-1618	158	17	γ(jω	γ(jω	NOUN
ap-1618	158	18	)	)	PUNCT
ap-1618	158	19	,	,	PUNCT
ap-1618	158	20	γh1(jω	γh1(jω	PUNCT
ap-1618	158	21	)	)	PUNCT
ap-1618	158	22	and	and	CCONJ
ap-1618	158	23	γh2(jω	γh2(jω	NOUN
ap-1618	158	24	)	)	PUNCT
ap-1618	158	25	to	to	PART
ap-1618	158	26	ensure	ensure	VERB
ap-1618	158	27	that	that	SCONJ
ap-1618	158	28	none	none	NOUN
ap-1618	158	29	of	of	ADP
ap-1618	158	30	them	they	PRON
ap-1618	158	31	approaches	approach	VERB
ap-1618	158	32	the	the	DET
ap-1618	158	33	point	point	NOUN
ap-1618	158	34	(	(	PUNCT
ap-1618	158	35	1	1	NUM
ap-1618	158	36	,	,	PUNCT
ap-1618	158	37	0	0	NUM
ap-1618	158	38	)	)	PUNCT
ap-1618	158	39	and	and	CCONJ
ap-1618	158	40	thus	thus	ADV
ap-1618	158	41	establish	establish	VERB
ap-1618	158	42	that	that	SCONJ
ap-1618	158	43	the	the	DET
ap-1618	158	44	gain	gain	NOUN
ap-1618	158	45	and	and	CCONJ
ap-1618	158	46	phase	phase	NOUN
ap-1618	158	47	margins	margin	NOUN
ap-1618	158	48	are	be	AUX
ap-1618	158	49	valid	valid	ADJ
ap-1618	158	50	measures	measure	NOUN
ap-1618	158	51	of	of	ADP
ap-1618	158	52	robustness	robustness	NOUN
ap-1618	158	53	[	[	X
ap-1618	158	54	2	2	NUM
ap-1618	158	55	]	]	PUNCT
ap-1618	158	56	.	.	PUNCT
ap-1618	159	1	126	126	NUM
ap-1618	159	2	acta	acta	PROPN
ap-1618	159	3	polytechnica	polytechnica	PROPN
ap-1618	159	4	vol	vol	NOUN
ap-1618	159	5	.	.	PROPN
ap-1618	160	1	52	52	NUM
ap-1618	160	2	no	no	NOUN
ap-1618	160	3	.	.	PUNCT
ap-1618	161	1	4/2012	4/2012	NUM
ap-1618	161	2	following	follow	VERB
ap-1618	161	3	the	the	DET
ap-1618	161	4	application	application	NOUN
ap-1618	161	5	of	of	ADP
ap-1618	161	6	the	the	DET
ap-1618	161	7	above	above	ADJ
ap-1618	161	8	procedures	procedure	NOUN
ap-1618	161	9	the	the	DET
ap-1618	161	10	optimised	optimise	VERB
ap-1618	161	11	controller	controller	NOUN
ap-1618	161	12	transfer	transfer	NOUN
ap-1618	161	13	functions	function	NOUN
ap-1618	161	14	were	be	AUX
ap-1618	161	15	as	as	SCONJ
ap-1618	161	16	follows	follow	VERB
ap-1618	161	17	:	:	PUNCT
ap-1618	161	18	k1(s	k1(s	X
ap-1618	161	19	)	)	PUNCT
ap-1618	161	20	=	=	SYM
ap-1618	161	21	5.0	5.0	NUM
ap-1618	161	22	(	(	PUNCT
ap-1618	161	23	1	1	NUM
ap-1618	161	24	+	+	NUM
ap-1618	161	25	6.2s	6.2s	NUM
ap-1618	161	26	)	)	PUNCT
ap-1618	161	27	s	s	PART
ap-1618	161	28	(	(	PUNCT
ap-1618	161	29	27	27	NUM
ap-1618	161	30	)	)	PUNCT
ap-1618	161	31	k2(s	k2(s	NOUN
ap-1618	161	32	)	)	PUNCT
ap-1618	161	33	=	=	NOUN
ap-1618	161	34	0.56	0.56	NUM
ap-1618	161	35	(	(	PUNCT
ap-1618	161	36	1	1	NUM
ap-1618	161	37	+	+	CCONJ
ap-1618	161	38	10.0s	10.0s	NUM
ap-1618	161	39	)	)	PUNCT
ap-1618	161	40	s	s	PART
ap-1618	161	41	(	(	PUNCT
ap-1618	161	42	28	28	NUM
ap-1618	161	43	)	)	PUNCT
ap-1618	161	44	figure	figure	NOUN
ap-1618	161	45	6	6	NUM
ap-1618	161	46	:	:	PUNCT
ap-1618	161	47	bode	bode	VERB
ap-1618	161	48	diagram	diagram	NOUN
ap-1618	161	49	showing	show	VERB
ap-1618	161	50	magnitude	magnitude	NOUN
ap-1618	161	51	(	(	PUNCT
ap-1618	161	52	db	db	NOUN
ap-1618	161	53	)	)	PUNCT
ap-1618	161	54	and	and	CCONJ
ap-1618	161	55	phase	phase	NOUN
ap-1618	161	56	(	(	PUNCT
ap-1618	161	57	deg	deg	PROPN
ap-1618	161	58	)	)	PUNCT
ap-1618	161	59	for	for	ADP
ap-1618	161	60	channel	channel	NOUN
ap-1618	161	61	1	1	NUM
ap-1618	161	62	with	with	ADP
ap-1618	161	63	the	the	DET
ap-1618	161	64	compensation	compensation	NOUN
ap-1618	161	65	provided	provide	VERB
ap-1618	161	66	by	by	ADP
ap-1618	161	67	the	the	DET
ap-1618	161	68	controller	controller	NOUN
ap-1618	161	69	transfer	transfer	NOUN
ap-1618	161	70	function	function	NOUN
ap-1618	161	71	of	of	ADP
ap-1618	161	72	equation	equation	NOUN
ap-1618	161	73	(	(	PUNCT
ap-1618	161	74	27	27	NUM
ap-1618	161	75	)	)	PUNCT
ap-1618	161	76	.	.	PUNCT
ap-1618	162	1	the	the	DET
ap-1618	162	2	gain	gain	NOUN
ap-1618	162	3	cross	cross	VERB
ap-1618	162	4	-	-	ADJ
ap-1618	162	5	over	over	ADJ
ap-1618	162	6	frequency	frequency	NOUN
ap-1618	162	7	is	be	AUX
ap-1618	162	8	indicated	indicate	VERB
ap-1618	162	9	by	by	ADP
ap-1618	162	10	the	the	DET
ap-1618	162	11	vertical	vertical	ADJ
ap-1618	162	12	line	line	NOUN
ap-1618	162	13	at	at	ADP
ap-1618	162	14	frequency	frequency	NOUN
ap-1618	162	15	of	of	ADP
ap-1618	162	16	about	about	ADV
ap-1618	162	17	0.8	0.8	NUM
ap-1618	162	18	rad	rad	NOUN
ap-1618	162	19	/	/	SYM
ap-1618	162	20	s	s	PART
ap-1618	162	21	figure	figure	NOUN
ap-1618	162	22	7	7	NUM
ap-1618	162	23	:	:	PUNCT
ap-1618	162	24	bode	bode	VERB
ap-1618	162	25	diagram	diagram	NOUN
ap-1618	162	26	showing	show	VERB
ap-1618	162	27	magnitude	magnitude	NOUN
ap-1618	162	28	(	(	PUNCT
ap-1618	162	29	db	db	NOUN
ap-1618	162	30	)	)	PUNCT
ap-1618	162	31	and	and	CCONJ
ap-1618	162	32	phase	phase	NOUN
ap-1618	162	33	(	(	PUNCT
ap-1618	162	34	deg	deg	PROPN
ap-1618	162	35	)	)	PUNCT
ap-1618	162	36	for	for	ADP
ap-1618	162	37	channel	channel	NOUN
ap-1618	162	38	2	2	NUM
ap-1618	162	39	with	with	ADP
ap-1618	162	40	the	the	DET
ap-1618	162	41	compensation	compensation	NOUN
ap-1618	162	42	provided	provide	VERB
ap-1618	162	43	by	by	ADP
ap-1618	162	44	the	the	DET
ap-1618	162	45	controller	controller	NOUN
ap-1618	162	46	transfer	transfer	NOUN
ap-1618	162	47	function	function	NOUN
ap-1618	162	48	of	of	ADP
ap-1618	162	49	equation	equation	NOUN
ap-1618	162	50	(	(	PUNCT
ap-1618	162	51	28	28	NUM
ap-1618	162	52	)	)	PUNCT
ap-1618	162	53	.	.	PUNCT
ap-1618	163	1	the	the	DET
ap-1618	163	2	gain	gain	NOUN
ap-1618	163	3	cross	cross	VERB
ap-1618	163	4	-	-	ADJ
ap-1618	163	5	over	over	ADJ
ap-1618	163	6	frequency	frequency	NOUN
ap-1618	163	7	is	be	AUX
ap-1618	163	8	indicated	indicate	VERB
ap-1618	163	9	by	by	ADP
ap-1618	163	10	the	the	DET
ap-1618	163	11	vertical	vertical	ADJ
ap-1618	163	12	line	line	NOUN
ap-1618	163	13	at	at	ADP
ap-1618	163	14	frequency	frequency	NOUN
ap-1618	163	15	of	of	ADP
ap-1618	163	16	about	about	ADV
ap-1618	163	17	0.2	0.2	NUM
ap-1618	163	18	rad	rad	NOUN
ap-1618	163	19	/	/	SYM
ap-1618	163	20	s	s	PART
ap-1618	163	21	figures	figure	NOUN
ap-1618	163	22	6	6	NUM
ap-1618	163	23	and	and	CCONJ
ap-1618	163	24	7	7	NUM
ap-1618	163	25	show	show	VERB
ap-1618	163	26	the	the	DET
ap-1618	163	27	open	open	ADJ
ap-1618	163	28	-	-	PUNCT
ap-1618	163	29	loop	loop	NOUN
ap-1618	163	30	bode	bode	NOUN
ap-1618	163	31	plots	plot	NOUN
ap-1618	163	32	for	for	ADP
ap-1618	163	33	channels	channel	NOUN
ap-1618	163	34	1	1	NUM
ap-1618	163	35	and	and	CCONJ
ap-1618	163	36	2	2	NUM
ap-1618	163	37	,	,	PUNCT
ap-1618	163	38	respectively	respectively	ADV
ap-1618	163	39	,	,	PUNCT
ap-1618	163	40	for	for	ADP
ap-1618	163	41	these	these	DET
ap-1618	163	42	optimised	optimise	VERB
ap-1618	163	43	controllers	controller	NOUN
ap-1618	163	44	.	.	PUNCT
ap-1618	164	1	from	from	ADP
ap-1618	164	2	these	these	DET
ap-1618	164	3	bode	bode	ADJ
ap-1618	164	4	plots	plot	NOUN
ap-1618	164	5	it	it	PRON
ap-1618	164	6	may	may	AUX
ap-1618	164	7	be	be	AUX
ap-1618	164	8	seen	see	VERB
ap-1618	164	9	that	that	SCONJ
ap-1618	164	10	the	the	DET
ap-1618	164	11	gain	gain	NOUN
ap-1618	164	12	crossover	crossover	VERB
ap-1618	164	13	frequencies	frequency	NOUN
ap-1618	164	14	for	for	ADP
ap-1618	164	15	channel	channel	NOUN
ap-1618	164	16	1	1	NUM
ap-1618	164	17	and	and	CCONJ
ap-1618	164	18	channel	channel	PROPN
ap-1618	164	19	2	2	NUM
ap-1618	164	20	are	be	AUX
ap-1618	164	21	approximately	approximately	ADV
ap-1618	164	22	0.8	0.8	NUM
ap-1618	164	23	rad	rad	NOUN
ap-1618	164	24	/	/	SYM
ap-1618	164	25	s	s	X
ap-1618	164	26	and	and	CCONJ
ap-1618	164	27	0.2	0.2	NUM
ap-1618	164	28	rad	rad	PROPN
ap-1618	164	29	/	/	SYM
ap-1618	164	30	s	s	PROPN
ap-1618	164	31	,	,	PUNCT
ap-1618	164	32	respectively	respectively	ADV
ap-1618	164	33	.	.	PUNCT
ap-1618	165	1	the	the	DET
ap-1618	165	2	corresponding	correspond	VERB
ap-1618	165	3	phase	phase	NOUN
ap-1618	165	4	margins	margin	NOUN
ap-1618	165	5	are	be	AUX
ap-1618	165	6	more	more	ADJ
ap-1618	165	7	than	than	ADP
ap-1618	165	8	the	the	DET
ap-1618	165	9	required	require	VERB
ap-1618	165	10	value	value	NOUN
ap-1618	165	11	of	of	ADP
ap-1618	165	12	70	70	NUM
ap-1618	165	13	degrees	degree	NOUN
ap-1618	165	14	,	,	PUNCT
ap-1618	165	15	in	in	ADP
ap-1618	165	16	both	both	DET
ap-1618	165	17	cases	case	NOUN
ap-1618	165	18	.	.	PUNCT
ap-1618	166	1	from	from	ADP
ap-1618	166	2	the	the	DET
ap-1618	166	3	gain	gain	NOUN
ap-1618	166	4	-	-	PUNCT
ap-1618	166	5	crossover	crossover	NOUN
ap-1618	166	6	frequencies	frequency	NOUN
ap-1618	166	7	it	it	PRON
ap-1618	166	8	is	be	AUX
ap-1618	166	9	clear	clear	ADJ
ap-1618	166	10	that	that	SCONJ
ap-1618	166	11	the	the	DET
ap-1618	166	12	speed	speed	NOUN
ap-1618	166	13	of	of	ADP
ap-1618	166	14	response	response	NOUN
ap-1618	166	15	for	for	ADP
ap-1618	166	16	channel	channel	NOUN
ap-1618	166	17	2	2	NUM
ap-1618	166	18	is	be	AUX
ap-1618	166	19	likely	likely	ADJ
ap-1618	166	20	to	to	PART
ap-1618	166	21	be	be	AUX
ap-1618	166	22	about	about	ADV
ap-1618	166	23	four	four	NUM
ap-1618	166	24	times	time	NOUN
ap-1618	166	25	slower	slow	ADJ
ap-1618	166	26	than	than	ADP
ap-1618	166	27	for	for	ADP
ap-1618	166	28	channel	channel	NOUN
ap-1618	166	29	1	1	NUM
ap-1618	166	30	,	,	PUNCT
ap-1618	166	31	which	which	PRON
ap-1618	166	32	is	be	AUX
ap-1618	166	33	consistent	consistent	ADJ
ap-1618	166	34	with	with	ADP
ap-1618	166	35	the	the	DET
ap-1618	166	36	specifications	specification	NOUN
ap-1618	166	37	.	.	PUNCT
ap-1618	167	1	discrete	discrete	ADJ
ap-1618	167	2	equivalents	equivalent	NOUN
ap-1618	167	3	of	of	ADP
ap-1618	167	4	these	these	DET
ap-1618	167	5	continuous	continuous	ADJ
ap-1618	167	6	controllers	controller	NOUN
ap-1618	167	7	have	have	AUX
ap-1618	167	8	been	be	AUX
ap-1618	167	9	found	find	VERB
ap-1618	167	10	and	and	CCONJ
ap-1618	167	11	an	an	DET
ap-1618	167	12	icad	icad	NOUN
ap-1618	167	13	-	-	PUNCT
ap-1618	167	14	based	base	VERB
ap-1618	167	15	control	control	NOUN
ap-1618	167	16	system	system	NOUN
ap-1618	167	17	has	have	AUX
ap-1618	167	18	been	be	AUX
ap-1618	167	19	implemented	implement	VERB
ap-1618	167	20	with	with	ADP
ap-1618	167	21	a	a	DET
ap-1618	167	22	digital	digital	ADJ
ap-1618	167	23	controller	controller	NOUN
ap-1618	167	24	using	use	VERB
ap-1618	167	25	a	a	DET
ap-1618	167	26	general	general	ADJ
ap-1618	167	27	-	-	PUNCT
ap-1618	167	28	purpose	purpose	NOUN
ap-1618	167	29	computer	computer	NOUN
ap-1618	167	30	equipped	equip	VERB
ap-1618	167	31	with	with	ADP
ap-1618	167	32	analogue	analogue	NOUN
ap-1618	167	33	-	-	PUNCT
ap-1618	167	34	to	to	ADP
ap-1618	167	35	-	-	PUNCT
ap-1618	167	36	digital	digital	ADJ
ap-1618	167	37	and	and	CCONJ
ap-1618	167	38	digital	digital	ADJ
ap-1618	167	39	-	-	PUNCT
ap-1618	167	40	to	to	ADP
ap-1618	167	41	-	-	PUNCT
ap-1618	167	42	analogue	analogue	NOUN
ap-1618	167	43	converters	converter	NOUN
ap-1618	167	44	.	.	PUNCT
ap-1618	168	1	however	however	ADV
ap-1618	168	2	,	,	PUNCT
ap-1618	168	3	all	all	DET
ap-1618	168	4	experimental	experimental	ADJ
ap-1618	168	5	results	result	NOUN
ap-1618	168	6	presented	present	VERB
ap-1618	168	7	in	in	ADP
ap-1618	168	8	this	this	DET
ap-1618	168	9	paper	paper	NOUN
ap-1618	168	10	are	be	AUX
ap-1618	168	11	for	for	ADP
ap-1618	168	12	the	the	DET
ap-1618	168	13	continuous	continuous	ADJ
ap-1618	168	14	control	control	NOUN
ap-1618	168	15	case	case	NOUN
ap-1618	168	16	where	where	SCONJ
ap-1618	168	17	the	the	DET
ap-1618	168	18	controllers	controller	NOUN
ap-1618	168	19	have	have	AUX
ap-1618	168	20	been	be	AUX
ap-1618	168	21	implemented	implement	VERB
ap-1618	168	22	using	use	VERB
ap-1618	168	23	a	a	DET
ap-1618	168	24	small	small	ADJ
ap-1618	168	25	general	general	ADJ
ap-1618	168	26	-	-	PUNCT
ap-1618	168	27	purpose	purpose	NOUN
ap-1618	168	28	electronic	electronic	ADJ
ap-1618	168	29	analogue	analogue	NOUN
ap-1618	168	30	computer	computer	NOUN
ap-1618	168	31	equipped	equip	VERB
ap-1618	168	32	with	with	ADP
ap-1618	168	33	comparators	comparator	NOUN
ap-1618	168	34	and	and	CCONJ
ap-1618	168	35	switches	switch	NOUN
ap-1618	168	36	that	that	PRON
ap-1618	168	37	can	can	AUX
ap-1618	168	38	provide	provide	VERB
ap-1618	168	39	limiting	limit	VERB
ap-1618	168	40	integrator	integrator	NOUN
ap-1618	168	41	action	action	NOUN
ap-1618	168	42	,	,	PUNCT
ap-1618	168	43	if	if	SCONJ
ap-1618	168	44	required	require	VERB
ap-1618	168	45	,	,	PUNCT
ap-1618	168	46	to	to	PART
ap-1618	168	47	avoid	avoid	VERB
ap-1618	168	48	integrator	integrator	ADJ
ap-1618	168	49	saturation	saturation	NOUN
ap-1618	168	50	.	.	PUNCT
ap-1618	169	1	for	for	ADP
ap-1618	169	2	purposes	purpose	NOUN
ap-1618	169	3	of	of	ADP
ap-1618	169	4	comparison	comparison	NOUN
ap-1618	169	5	,	,	PUNCT
ap-1618	169	6	proportional	proportional	ADJ
ap-1618	169	7	plus	plus	CCONJ
ap-1618	169	8	integral	integral	ADJ
ap-1618	169	9	controllers	controller	NOUN
ap-1618	169	10	have	have	AUX
ap-1618	169	11	also	also	ADV
ap-1618	169	12	been	be	AUX
ap-1618	169	13	designed	design	VERB
ap-1618	169	14	empirically	empirically	ADV
ap-1618	169	15	using	use	VERB
ap-1618	169	16	the	the	DET
ap-1618	169	17	ziegler	ziegler	PROPN
ap-1618	169	18	-	-	PUNCT
ap-1618	169	19	nichols	nichols	PROPN
ap-1618	169	20	reaction	reaction	PROPN
ap-1618	169	21	curve	curve	NOUN
ap-1618	169	22	method	method	NOUN
ap-1618	169	23	(	(	PUNCT
ap-1618	169	24	see	see	VERB
ap-1618	169	25	,	,	PUNCT
ap-1618	169	26	e.g.	e.g.	ADV
ap-1618	169	27	[	[	X
ap-1618	169	28	13	13	NUM
ap-1618	169	29	]	]	NUM
ap-1618	169	30	)	)	PUNCT
ap-1618	169	31	.	.	PUNCT
ap-1618	170	1	this	this	DET
ap-1618	170	2	well	well	ADV
ap-1618	170	3	-	-	PUNCT
ap-1618	170	4	known	know	VERB
ap-1618	170	5	approach	approach	NOUN
ap-1618	170	6	to	to	ADP
ap-1618	170	7	controller	controller	NOUN
ap-1618	170	8	design	design	NOUN
ap-1618	170	9	is	be	AUX
ap-1618	170	10	based	base	VERB
ap-1618	170	11	on	on	ADP
ap-1618	170	12	measurements	measurement	NOUN
ap-1618	170	13	obtained	obtain	VERB
ap-1618	170	14	from	from	ADP
ap-1618	170	15	simple	simple	ADJ
ap-1618	170	16	open	open	ADJ
ap-1618	170	17	-	-	PUNCT
ap-1618	170	18	loop	loop	NOUN
ap-1618	170	19	tests	test	NOUN
ap-1618	170	20	on	on	ADP
ap-1618	170	21	the	the	DET
ap-1618	170	22	plant	plant	NOUN
ap-1618	170	23	.	.	PUNCT
ap-1618	171	1	application	application	NOUN
ap-1618	171	2	of	of	ADP
ap-1618	171	3	this	this	DET
ap-1618	171	4	approach	approach	NOUN
ap-1618	171	5	gave	give	VERB
ap-1618	171	6	the	the	DET
ap-1618	171	7	following	follow	VERB
ap-1618	171	8	controller	controller	NOUN
ap-1618	171	9	transfer	transfer	NOUN
ap-1618	171	10	functions	function	NOUN
ap-1618	171	11	:	:	PUNCT
ap-1618	171	12	k1(s	k1(s	NOUN
ap-1618	171	13	)	)	PUNCT
ap-1618	171	14	=	=	PUNCT
ap-1618	171	15	6.98	6.98	NUM
ap-1618	171	16	(	(	PUNCT
ap-1618	171	17	1	1	NUM
ap-1618	171	18	+	+	CCONJ
ap-1618	171	19	3.96s	3.96s	NUM
ap-1618	171	20	)	)	PUNCT
ap-1618	171	21	s	s	PART
ap-1618	171	22	(	(	PUNCT
ap-1618	171	23	29	29	NUM
ap-1618	171	24	)	)	PUNCT
ap-1618	171	25	k2(s	k2(s	NOUN
ap-1618	171	26	)	)	PUNCT
ap-1618	171	27	=	=	SYM
ap-1618	171	28	8.9	8.9	NUM
ap-1618	171	29	(	(	PUNCT
ap-1618	171	30	1	1	NUM
ap-1618	171	31	+	+	CCONJ
ap-1618	171	32	3.3s	3.3s	NUM
ap-1618	171	33	)	)	PUNCT
ap-1618	171	34	s	s	PART
ap-1618	171	35	(	(	PUNCT
ap-1618	171	36	30	30	NUM
ap-1618	171	37	)	)	PUNCT
ap-1618	171	38	it	it	PRON
ap-1618	171	39	should	should	AUX
ap-1618	171	40	be	be	AUX
ap-1618	171	41	noted	note	VERB
ap-1618	171	42	that	that	SCONJ
ap-1618	171	43	the	the	DET
ap-1618	171	44	two	two	NUM
ap-1618	171	45	controller	controller	NOUN
ap-1618	171	46	transfer	transfer	NOUN
ap-1618	171	47	functions	function	NOUN
ap-1618	171	48	found	find	VERB
ap-1618	171	49	from	from	ADP
ap-1618	171	50	the	the	DET
ap-1618	171	51	application	application	NOUN
ap-1618	171	52	of	of	ADP
ap-1618	171	53	the	the	DET
ap-1618	171	54	zieglernichols	zieglernichol	NOUN
ap-1618	171	55	approach	approach	NOUN
ap-1618	171	56	(	(	PUNCT
ap-1618	171	57	equations	equation	NOUN
ap-1618	171	58	(	(	PUNCT
ap-1618	171	59	29	29	NUM
ap-1618	171	60	)	)	PUNCT
ap-1618	171	61	and	and	CCONJ
ap-1618	171	62	(	(	PUNCT
ap-1618	171	63	30	30	NUM
ap-1618	171	64	)	)	PUNCT
ap-1618	171	65	)	)	PUNCT
ap-1618	171	66	are	be	AUX
ap-1618	171	67	very	very	ADV
ap-1618	171	68	much	much	ADV
ap-1618	171	69	closer	close	ADJ
ap-1618	171	70	in	in	ADP
ap-1618	171	71	terms	term	NOUN
ap-1618	171	72	of	of	ADP
ap-1618	171	73	parameter	parameter	NOUN
ap-1618	171	74	values	value	NOUN
ap-1618	171	75	than	than	ADP
ap-1618	171	76	the	the	DET
ap-1618	171	77	two	two	NUM
ap-1618	171	78	controllers	controller	NOUN
ap-1618	171	79	found	find	VERB
ap-1618	171	80	using	use	VERB
ap-1618	171	81	the	the	DET
ap-1618	171	82	icad	icad	PROPN
ap-1618	171	83	approach	approach	NOUN
ap-1618	171	84	,	,	PUNCT
ap-1618	171	85	as	as	SCONJ
ap-1618	171	86	given	give	VERB
ap-1618	171	87	in	in	ADP
ap-1618	171	88	equations	equation	NOUN
ap-1618	171	89	(	(	PUNCT
ap-1618	171	90	27	27	NUM
ap-1618	171	91	)	)	PUNCT
ap-1618	171	92	and	and	CCONJ
ap-1618	171	93	(	(	PUNCT
ap-1618	171	94	28	28	NUM
ap-1618	171	95	)	)	PUNCT
ap-1618	171	96	.	.	PUNCT
ap-1618	172	1	this	this	PRON
ap-1618	172	2	is	be	AUX
ap-1618	172	3	because	because	SCONJ
ap-1618	172	4	of	of	ADP
ap-1618	172	5	the	the	DET
ap-1618	172	6	requirement	requirement	NOUN
ap-1618	172	7	within	within	ADP
ap-1618	172	8	the	the	DET
ap-1618	172	9	icad	icad	PROPN
ap-1618	172	10	methodology	methodology	NOUN
ap-1618	172	11	that	that	SCONJ
ap-1618	172	12	the	the	DET
ap-1618	172	13	bandwidth	bandwidth	ADJ
ap-1618	172	14	values	value	NOUN
ap-1618	172	15	for	for	ADP
ap-1618	172	16	the	the	DET
ap-1618	172	17	two	two	NUM
ap-1618	172	18	channels	channel	NOUN
ap-1618	172	19	should	should	AUX
ap-1618	172	20	be	be	AUX
ap-1618	172	21	significantly	significantly	ADV
ap-1618	172	22	different	different	ADJ
ap-1618	172	23	.	.	PUNCT
ap-1618	173	1	5	5	NUM
ap-1618	173	2	results	result	VERB
ap-1618	173	3	extensive	extensive	ADJ
ap-1618	173	4	analysis	analysis	NOUN
ap-1618	173	5	and	and	CCONJ
ap-1618	173	6	simulation	simulation	NOUN
ap-1618	173	7	studies	study	NOUN
ap-1618	173	8	have	have	AUX
ap-1618	173	9	been	be	AUX
ap-1618	173	10	performed	perform	VERB
ap-1618	173	11	using	use	VERB
ap-1618	173	12	matlab	matlab	PROPN
ap-1618	173	13	r	r	NOUN
ap-1618	173	14	©	©	PROPN
ap-1618	173	15	and	and	CCONJ
ap-1618	173	16	simulink	simulink	NOUN
ap-1618	173	17	r	r	AUX
ap-1618	173	18	©	©	NOUN
ap-1618	173	19	to	to	PART
ap-1618	173	20	investigate	investigate	VERB
ap-1618	173	21	the	the	DET
ap-1618	173	22	performance	performance	NOUN
ap-1618	173	23	of	of	ADP
ap-1618	173	24	the	the	DET
ap-1618	173	25	system	system	NOUN
ap-1618	173	26	,	,	PUNCT
ap-1618	173	27	especially	especially	ADV
ap-1618	173	28	in	in	ADP
ap-1618	173	29	terms	term	NOUN
ap-1618	173	30	of	of	ADP
ap-1618	173	31	interactions	interaction	NOUN
ap-1618	173	32	between	between	ADP
ap-1618	173	33	the	the	DET
ap-1618	173	34	two	two	NUM
ap-1618	173	35	channels	channel	NOUN
ap-1618	173	36	and	and	CCONJ
ap-1618	173	37	overall	overall	ADJ
ap-1618	173	38	robustness	robustness	NOUN
ap-1618	173	39	of	of	ADP
ap-1618	173	40	the	the	DET
ap-1618	173	41	control	control	NOUN
ap-1618	173	42	systems	system	NOUN
ap-1618	173	43	.	.	PUNCT
ap-1618	174	1	in	in	ADP
ap-1618	174	2	the	the	DET
ap-1618	174	3	case	case	NOUN
ap-1618	174	4	of	of	ADP
ap-1618	174	5	the	the	DET
ap-1618	174	6	control	control	NOUN
ap-1618	174	7	systems	system	NOUN
ap-1618	174	8	derived	derive	VERB
ap-1618	174	9	using	use	VERB
ap-1618	174	10	the	the	DET
ap-1618	174	11	icad	icad	PROPN
ap-1618	174	12	approach	approach	NOUN
ap-1618	174	13	the	the	DET
ap-1618	174	14	performance	performance	NOUN
ap-1618	174	15	of	of	ADP
ap-1618	174	16	the	the	DET
ap-1618	174	17	controllers	controller	NOUN
ap-1618	174	18	has	have	AUX
ap-1618	174	19	also	also	ADV
ap-1618	174	20	been	be	AUX
ap-1618	174	21	the	the	DET
ap-1618	174	22	subject	subject	NOUN
ap-1618	174	23	of	of	ADP
ap-1618	174	24	detailed	detailed	ADJ
ap-1618	174	25	experimental	experimental	ADJ
ap-1618	174	26	investigation	investigation	NOUN
ap-1618	174	27	in	in	ADP
ap-1618	174	28	the	the	DET
ap-1618	174	29	laboratory	laboratory	NOUN
ap-1618	174	30	using	use	VERB
ap-1618	174	31	the	the	DET
ap-1618	174	32	coupled	couple	VERB
ap-1618	174	33	-	-	PUNCT
ap-1618	174	34	tanks	tank	NOUN
ap-1618	174	35	system	system	NOUN
ap-1618	174	36	hardware	hardware	NOUN
ap-1618	174	37	.	.	PUNCT
ap-1618	175	1	interactions	interaction	NOUN
ap-1618	175	2	between	between	ADP
ap-1618	175	3	the	the	DET
ap-1618	175	4	two	two	NUM
ap-1618	175	5	channels	channel	NOUN
ap-1618	175	6	have	have	AUX
ap-1618	175	7	been	be	AUX
ap-1618	175	8	investigated	investigate	VERB
ap-1618	175	9	both	both	PRON
ap-1618	175	10	by	by	ADP
ap-1618	175	11	experiment	experiment	NOUN
ap-1618	175	12	and	and	CCONJ
ap-1618	175	13	through	through	ADP
ap-1618	175	14	simulation	simulation	NOUN
ap-1618	175	15	.	.	PUNCT
ap-1618	176	1	for	for	ADP
ap-1618	176	2	the	the	DET
ap-1618	176	3	simulation	simulation	NOUN
ap-1618	176	4	studies	study	VERB
ap-1618	176	5	the	the	DET
ap-1618	176	6	full	full	ADJ
ap-1618	176	7	nonlinear	nonlinear	ADJ
ap-1618	176	8	model	model	NOUN
ap-1618	176	9	has	have	AUX
ap-1618	176	10	been	be	AUX
ap-1618	176	11	used	use	VERB
ap-1618	176	12	,	,	PUNCT
ap-1618	176	13	with	with	ADP
ap-1618	176	14	parameter	parameter	NOUN
ap-1618	176	15	values	value	NOUN
ap-1618	176	16	as	as	SCONJ
ap-1618	176	17	given	give	VERB
ap-1618	176	18	in	in	ADP
ap-1618	176	19	section	section	NOUN
ap-1618	176	20	2	2	NUM
ap-1618	176	21	.	.	PUNCT
ap-1618	176	22	127	127	NUM
ap-1618	176	23	acta	acta	PROPN
ap-1618	176	24	polytechnica	polytechnica	PROPN
ap-1618	176	25	vol	vol	NOUN
ap-1618	176	26	.	.	PROPN
ap-1618	177	1	52	52	NUM
ap-1618	177	2	no	no	NOUN
ap-1618	177	3	.	.	PUNCT
ap-1618	178	1	4/2012	4/2012	NUM
ap-1618	178	2	5.1	5.1	NUM
ap-1618	178	3	simulation	simulation	NOUN
ap-1618	178	4	results	result	NOUN
ap-1618	178	5	figure	figure	VERB
ap-1618	178	6	8	8	NUM
ap-1618	178	7	shows	show	VERB
ap-1618	178	8	typical	typical	ADJ
ap-1618	178	9	simulation	simulation	NOUN
ap-1618	178	10	results	result	VERB
ap-1618	178	11	for	for	ADP
ap-1618	178	12	a	a	DET
ap-1618	178	13	test	test	NOUN
ap-1618	178	14	in	in	ADP
ap-1618	178	15	which	which	PRON
ap-1618	178	16	simultaneous	simultaneous	ADJ
ap-1618	178	17	step	step	NOUN
ap-1618	178	18	changes	change	NOUN
ap-1618	178	19	are	be	AUX
ap-1618	178	20	applied	apply	VERB
ap-1618	178	21	to	to	ADP
ap-1618	178	22	the	the	DET
ap-1618	178	23	reference	reference	NOUN
ap-1618	178	24	inputs	input	NOUN
ap-1618	178	25	determining	determine	VERB
ap-1618	178	26	the	the	DET
ap-1618	178	27	required	require	VERB
ap-1618	178	28	levels	level	NOUN
ap-1618	178	29	in	in	ADP
ap-1618	178	30	the	the	DET
ap-1618	178	31	two	two	NUM
ap-1618	178	32	tanks	tank	NOUN
ap-1618	178	33	,	,	PUNCT
ap-1618	178	34	using	use	VERB
ap-1618	178	35	the	the	DET
ap-1618	178	36	continuous	continuous	ADJ
ap-1618	178	37	controllers	controller	NOUN
ap-1618	178	38	of	of	ADP
ap-1618	178	39	equations	equation	NOUN
ap-1618	178	40	(	(	PUNCT
ap-1618	178	41	27	27	NUM
ap-1618	178	42	)	)	PUNCT
ap-1618	178	43	and	and	CCONJ
ap-1618	178	44	(	(	PUNCT
ap-1618	178	45	28	28	NUM
ap-1618	178	46	)	)	PUNCT
ap-1618	178	47	.	.	PUNCT
ap-1618	179	1	the	the	DET
ap-1618	179	2	resulting	result	VERB
ap-1618	179	3	simulated	simulate	VERB
ap-1618	179	4	changes	change	NOUN
ap-1618	179	5	in	in	ADP
ap-1618	179	6	liquid	liquid	ADJ
ap-1618	179	7	levels	level	NOUN
ap-1618	179	8	in	in	ADP
ap-1618	179	9	tanks	tank	NOUN
ap-1618	179	10	1	1	NUM
ap-1618	179	11	and	and	CCONJ
ap-1618	179	12	2	2	NUM
ap-1618	179	13	are	be	AUX
ap-1618	179	14	shown	show	VERB
ap-1618	179	15	by	by	ADP
ap-1618	179	16	the	the	DET
ap-1618	179	17	upper	upper	ADJ
ap-1618	179	18	and	and	CCONJ
ap-1618	179	19	lower	low	ADJ
ap-1618	179	20	traces	trace	NOUN
ap-1618	179	21	respectively	respectively	ADV
ap-1618	179	22	.	.	PUNCT
ap-1618	180	1	in	in	ADP
ap-1618	180	2	the	the	DET
ap-1618	180	3	case	case	NOUN
ap-1618	180	4	of	of	ADP
ap-1618	180	5	channel	channel	NOUN
ap-1618	180	6	1	1	NUM
ap-1618	180	7	the	the	DET
ap-1618	180	8	step	step	NOUN
ap-1618	180	9	change	change	NOUN
ap-1618	180	10	of	of	ADP
ap-1618	180	11	reference	reference	NOUN
ap-1618	180	12	imposed	impose	VERB
ap-1618	180	13	is	be	AUX
ap-1618	180	14	from	from	ADP
ap-1618	180	15	199	199	NUM
ap-1618	180	16	mm	mm	NOUN
ap-1618	180	17	to	to	ADP
ap-1618	180	18	228	228	NUM
ap-1618	180	19	mm	mm	NOUN
ap-1618	180	20	,	,	PUNCT
ap-1618	180	21	while	while	SCONJ
ap-1618	180	22	for	for	ADP
ap-1618	180	23	channel	channel	NOUN
ap-1618	180	24	2	2	NUM
ap-1618	180	25	the	the	DET
ap-1618	180	26	change	change	NOUN
ap-1618	180	27	is	be	AUX
ap-1618	180	28	from	from	ADP
ap-1618	180	29	165	165	NUM
ap-1618	180	30	mm	mm	NOUN
ap-1618	180	31	to	to	ADP
ap-1618	180	32	198	198	NUM
ap-1618	180	33	mm	mm	NOUN
ap-1618	180	34	.	.	PUNCT
ap-1618	181	1	this	this	DET
ap-1618	181	2	test	test	NOUN
ap-1618	181	3	involves	involve	VERB
ap-1618	181	4	input	input	NOUN
ap-1618	181	5	flow	flow	NOUN
ap-1618	181	6	values	value	NOUN
ap-1618	181	7	for	for	ADP
ap-1618	181	8	tank	tank	NOUN
ap-1618	181	9	1	1	NUM
ap-1618	181	10	and	and	CCONJ
ap-1618	181	11	tank	tank	NOUN
ap-1618	181	12	2	2	NUM
ap-1618	181	13	which	which	PRON
ap-1618	181	14	both	both	PRON
ap-1618	181	15	reach	reach	VERB
ap-1618	181	16	their	their	PRON
ap-1618	181	17	upper	upper	ADJ
ap-1618	181	18	limits	limit	NOUN
ap-1618	181	19	for	for	ADP
ap-1618	181	20	this	this	DET
ap-1618	181	21	magnitude	magnitude	NOUN
ap-1618	181	22	of	of	ADP
ap-1618	181	23	demanded	demand	VERB
ap-1618	181	24	level	level	NOUN
ap-1618	181	25	change	change	NOUN
ap-1618	181	26	.	.	PUNCT
ap-1618	182	1	it	it	PRON
ap-1618	182	2	can	can	AUX
ap-1618	182	3	be	be	AUX
ap-1618	182	4	seen	see	VERB
ap-1618	182	5	from	from	ADP
ap-1618	182	6	these	these	DET
ap-1618	182	7	simulation	simulation	NOUN
ap-1618	182	8	results	result	VERB
ap-1618	182	9	that	that	SCONJ
ap-1618	182	10	,	,	PUNCT
ap-1618	182	11	although	although	SCONJ
ap-1618	182	12	the	the	DET
ap-1618	182	13	operating	operating	NOUN
ap-1618	182	14	point	point	NOUN
ap-1618	182	15	considered	consider	VERB
ap-1618	182	16	is	be	AUX
ap-1618	182	17	significantly	significantly	ADV
ap-1618	182	18	different	different	ADJ
ap-1618	182	19	from	from	ADP
ap-1618	182	20	the	the	DET
ap-1618	182	21	design	design	NOUN
ap-1618	182	22	point	point	NOUN
ap-1618	182	23	,	,	PUNCT
ap-1618	182	24	the	the	DET
ap-1618	182	25	design	design	NOUN
ap-1618	182	26	requirements	requirement	NOUN
ap-1618	182	27	have	have	AUX
ap-1618	182	28	been	be	AUX
ap-1618	182	29	satisfied	satisfied	ADJ
ap-1618	182	30	and	and	CCONJ
ap-1618	182	31	also	also	ADV
ap-1618	182	32	that	that	SCONJ
ap-1618	182	33	the	the	DET
ap-1618	182	34	response	response	NOUN
ap-1618	182	35	of	of	ADP
ap-1618	182	36	tank	tank	NOUN
ap-1618	182	37	2	2	NUM
ap-1618	182	38	is	be	AUX
ap-1618	182	39	slower	slow	ADJ
ap-1618	182	40	than	than	ADP
ap-1618	182	41	that	that	PRON
ap-1618	182	42	of	of	ADP
ap-1618	182	43	tank	tank	NOUN
ap-1618	182	44	1	1	NUM
ap-1618	182	45	,	,	PUNCT
ap-1618	182	46	as	as	SCONJ
ap-1618	182	47	expected	expect	VERB
ap-1618	182	48	.	.	PUNCT
ap-1618	183	1	figure	figure	VERB
ap-1618	183	2	8	8	NUM
ap-1618	183	3	:	:	PUNCT
ap-1618	183	4	simulation	simulation	NOUN
ap-1618	183	5	results	result	NOUN
ap-1618	183	6	found	find	VERB
ap-1618	183	7	using	use	VERB
ap-1618	183	8	the	the	DET
ap-1618	183	9	nonlinear	nonlinear	ADJ
ap-1618	183	10	model	model	NOUN
ap-1618	183	11	with	with	ADP
ap-1618	183	12	the	the	DET
ap-1618	183	13	controllers	controller	NOUN
ap-1618	183	14	designed	design	VERB
ap-1618	183	15	using	use	VERB
ap-1618	183	16	the	the	DET
ap-1618	183	17	icad	icad	ADJ
ap-1618	183	18	approach	approach	NOUN
ap-1618	183	19	for	for	ADP
ap-1618	183	20	a	a	DET
ap-1618	183	21	test	test	NOUN
ap-1618	183	22	in	in	ADP
ap-1618	183	23	which	which	PRON
ap-1618	183	24	simultaneous	simultaneous	ADJ
ap-1618	183	25	step	step	NOUN
ap-1618	183	26	changes	change	NOUN
ap-1618	183	27	in	in	ADP
ap-1618	183	28	required	required	ADJ
ap-1618	183	29	levels	level	NOUN
ap-1618	183	30	for	for	ADP
ap-1618	183	31	tank	tank	NOUN
ap-1618	183	32	1	1	NUM
ap-1618	183	33	and	and	CCONJ
ap-1618	183	34	tank	tank	NOUN
ap-1618	183	35	2	2	NUM
ap-1618	183	36	are	be	AUX
ap-1618	183	37	applied	apply	VERB
ap-1618	183	38	at	at	ADP
ap-1618	183	39	time	time	NOUN
ap-1618	183	40	t	t	PROPN
ap-1618	183	41	=	=	SYM
ap-1618	183	42	100	100	NUM
ap-1618	183	43	s.	s.	NOUN
ap-1618	183	44	the	the	DET
ap-1618	183	45	vertical	vertical	ADJ
ap-1618	183	46	axis	axis	NOUN
ap-1618	183	47	represents	represent	VERB
ap-1618	183	48	liquid	liquid	ADJ
ap-1618	183	49	level	level	NOUN
ap-1618	183	50	(	(	PUNCT
ap-1618	183	51	m	m	NOUN
ap-1618	183	52	)	)	PUNCT
ap-1618	183	53	while	while	SCONJ
ap-1618	183	54	the	the	DET
ap-1618	183	55	horizontal	horizontal	ADJ
ap-1618	183	56	axis	axis	NOUN
ap-1618	183	57	represents	represent	VERB
ap-1618	183	58	time	time	NOUN
ap-1618	183	59	(	(	PUNCT
ap-1618	183	60	s	s	NOUN
ap-1618	183	61	)	)	PUNCT
ap-1618	183	62	.	.	PUNCT
ap-1618	184	1	the	the	DET
ap-1618	184	2	level	level	NOUN
ap-1618	184	3	in	in	ADP
ap-1618	184	4	tank	tank	NOUN
ap-1618	184	5	1	1	NUM
ap-1618	184	6	is	be	AUX
ap-1618	184	7	represented	represent	VERB
ap-1618	184	8	by	by	ADP
ap-1618	184	9	the	the	DET
ap-1618	184	10	continuous	continuous	ADJ
ap-1618	184	11	line	line	NOUN
ap-1618	184	12	while	while	SCONJ
ap-1618	184	13	the	the	DET
ap-1618	184	14	dashed	dash	VERB
ap-1618	184	15	line	line	NOUN
ap-1618	184	16	represents	represent	VERB
ap-1618	184	17	the	the	DET
ap-1618	184	18	level	level	NOUN
ap-1618	184	19	in	in	ADP
ap-1618	184	20	tank	tank	NOUN
ap-1618	184	21	2	2	NUM
ap-1618	184	22	investigation	investigation	NOUN
ap-1618	184	23	,	,	PUNCT
ap-1618	184	24	through	through	ADP
ap-1618	184	25	simulation	simulation	NOUN
ap-1618	184	26	,	,	PUNCT
ap-1618	184	27	of	of	ADP
ap-1618	184	28	interactions	interaction	NOUN
ap-1618	184	29	between	between	ADP
ap-1618	184	30	the	the	DET
ap-1618	184	31	two	two	NUM
ap-1618	184	32	channels	channel	NOUN
ap-1618	184	33	have	have	AUX
ap-1618	184	34	involved	involve	VERB
ap-1618	184	35	introducing	introduce	VERB
ap-1618	184	36	a	a	DET
ap-1618	184	37	step	step	NOUN
ap-1618	184	38	change	change	NOUN
ap-1618	184	39	of	of	ADP
ap-1618	184	40	the	the	DET
ap-1618	184	41	desired	desire	VERB
ap-1618	184	42	level	level	NOUN
ap-1618	184	43	in	in	ADP
ap-1618	184	44	one	one	NUM
ap-1618	184	45	channel	channel	NOUN
ap-1618	184	46	while	while	SCONJ
ap-1618	184	47	maintaining	maintain	VERB
ap-1618	184	48	the	the	DET
ap-1618	184	49	original	original	ADJ
ap-1618	184	50	set	set	VERB
ap-1618	184	51	level	level	NOUN
ap-1618	184	52	in	in	ADP
ap-1618	184	53	the	the	DET
ap-1618	184	54	other	other	ADJ
ap-1618	184	55	.	.	PUNCT
ap-1618	185	1	the	the	DET
ap-1618	185	2	upper	upper	ADJ
ap-1618	185	3	set	set	NOUN
ap-1618	185	4	of	of	ADP
ap-1618	185	5	simulation	simulation	NOUN
ap-1618	185	6	results	result	NOUN
ap-1618	185	7	presented	present	VERB
ap-1618	185	8	in	in	ADP
ap-1618	185	9	figure	figure	NOUN
ap-1618	185	10	9a	9a	NOUN
ap-1618	185	11	shows	show	VERB
ap-1618	185	12	the	the	DET
ap-1618	185	13	level	level	NOUN
ap-1618	185	14	of	of	ADP
ap-1618	185	15	liquid	liquid	NOUN
ap-1618	185	16	in	in	ADP
ap-1618	185	17	tank	tank	NOUN
ap-1618	185	18	1	1	NUM
ap-1618	185	19	following	follow	VERB
ap-1618	185	20	the	the	DET
ap-1618	185	21	application	application	NOUN
ap-1618	185	22	of	of	ADP
ap-1618	185	23	a	a	DET
ap-1618	185	24	step	step	NOUN
ap-1618	185	25	change	change	NOUN
ap-1618	185	26	of	of	ADP
ap-1618	185	27	reference	reference	NOUN
ap-1618	185	28	for	for	ADP
ap-1618	185	29	channel	channel	NOUN
ap-1618	185	30	1	1	NUM
ap-1618	185	31	at	at	ADP
ap-1618	185	32	time	time	NOUN
ap-1618	185	33	t	t	NOUN
ap-1618	185	34	=	=	PUNCT
ap-1618	185	35	100	100	NUM
ap-1618	185	36	s	s	NOUN
ap-1618	185	37	,	,	PUNCT
ap-1618	185	38	together	together	ADV
ap-1618	185	39	with	with	ADP
ap-1618	185	40	the	the	DET
ap-1618	185	41	record	record	NOUN
ap-1618	185	42	for	for	ADP
ap-1618	185	43	the	the	DET
ap-1618	185	44	level	level	NOUN
ap-1618	185	45	in	in	ADP
ap-1618	185	46	tank	tank	NOUN
ap-1618	185	47	2	2	NUM
ap-1618	185	48	.	.	PUNCT
ap-1618	186	1	in	in	ADP
ap-1618	186	2	figure	figure	NOUN
ap-1618	186	3	9b	9b	NOUN
ap-1618	186	4	the	the	DET
ap-1618	186	5	lower	low	ADJ
ap-1618	186	6	plot	plot	NOUN
ap-1618	186	7	shows	show	VERB
ap-1618	186	8	the	the	DET
ap-1618	186	9	liquid	liquid	ADJ
ap-1618	186	10	level	level	NOUN
ap-1618	186	11	in	in	ADP
ap-1618	186	12	tank	tank	NOUN
ap-1618	186	13	2	2	NUM
ap-1618	186	14	following	follow	VERB
ap-1618	186	15	the	the	DET
ap-1618	186	16	application	application	NOUN
ap-1618	186	17	,	,	PUNCT
ap-1618	186	18	at	at	ADP
ap-1618	186	19	time	time	NOUN
ap-1618	186	20	t	t	NOUN
ap-1618	186	21	=	=	PUNCT
ap-1618	186	22	100	100	NUM
ap-1618	186	23	s	s	NOUN
ap-1618	186	24	,	,	PUNCT
ap-1618	186	25	of	of	ADP
ap-1618	186	26	a	a	DET
ap-1618	186	27	step	step	NOUN
ap-1618	186	28	change	change	NOUN
ap-1618	186	29	of	of	ADP
ap-1618	186	30	reference	reference	NOUN
ap-1618	186	31	for	for	ADP
ap-1618	186	32	channel	channel	NOUN
ap-1618	186	33	2	2	NUM
ap-1618	186	34	while	while	SCONJ
ap-1618	186	35	the	the	DET
ap-1618	186	36	upper	upper	ADJ
ap-1618	186	37	trace	trace	NOUN
ap-1618	186	38	shows	show	VERB
ap-1618	186	39	the	the	DET
ap-1618	186	40	corresponding	corresponding	ADJ
ap-1618	186	41	level	level	NOUN
ap-1618	186	42	in	in	ADP
ap-1618	186	43	tank	tank	NOUN
ap-1618	186	44	1	1	NUM
ap-1618	186	45	.	.	PUNCT
ap-1618	186	46	a	a	DET
ap-1618	186	47	)	)	PUNCT
ap-1618	186	48	b	b	NOUN
ap-1618	186	49	)	)	PUNCT
ap-1618	186	50	figure	figure	NOUN
ap-1618	186	51	9	9	NUM
ap-1618	186	52	:	:	PUNCT
ap-1618	186	53	a	a	X
ap-1618	186	54	)	)	PUNCT
ap-1618	186	55	simulated	simulated	ADJ
ap-1618	186	56	responses	response	NOUN
ap-1618	186	57	of	of	ADP
ap-1618	186	58	levels	level	NOUN
ap-1618	186	59	(	(	PUNCT
ap-1618	186	60	m	m	NOUN
ap-1618	186	61	)	)	PUNCT
ap-1618	186	62	in	in	ADP
ap-1618	186	63	tank	tank	NOUN
ap-1618	186	64	1	1	NUM
ap-1618	186	65	(	(	PUNCT
ap-1618	186	66	continuous	continuous	ADJ
ap-1618	186	67	line	line	NOUN
ap-1618	186	68	)	)	PUNCT
ap-1618	186	69	and	and	CCONJ
ap-1618	186	70	in	in	ADP
ap-1618	186	71	tank	tank	NOUN
ap-1618	186	72	2	2	NUM
ap-1618	186	73	(	(	PUNCT
ap-1618	186	74	dashed	dash	VERB
ap-1618	186	75	line	line	NOUN
ap-1618	186	76	)	)	PUNCT
ap-1618	186	77	versus	versus	ADP
ap-1618	186	78	time	time	NOUN
ap-1618	186	79	(	(	PUNCT
ap-1618	186	80	s	s	NOUN
ap-1618	186	81	)	)	PUNCT
ap-1618	186	82	when	when	SCONJ
ap-1618	186	83	the	the	DET
ap-1618	186	84	reference	reference	NOUN
ap-1618	186	85	level	level	NOUN
ap-1618	186	86	for	for	ADP
ap-1618	186	87	channel	channel	NOUN
ap-1618	186	88	1	1	NUM
ap-1618	186	89	is	be	AUX
ap-1618	186	90	changed	change	VERB
ap-1618	186	91	.	.	PUNCT
ap-1618	187	1	the	the	DET
ap-1618	187	2	horizontal	horizontal	ADJ
ap-1618	187	3	axis	axis	NOUN
ap-1618	187	4	represents	represent	VERB
ap-1618	187	5	time	time	NOUN
ap-1618	187	6	(	(	PUNCT
ap-1618	187	7	s	s	NOUN
ap-1618	187	8	)	)	PUNCT
ap-1618	187	9	.	.	PUNCT
ap-1618	188	1	this	this	DET
ap-1618	188	2	test	test	NOUN
ap-1618	188	3	involved	involve	VERB
ap-1618	188	4	use	use	NOUN
ap-1618	188	5	of	of	ADP
ap-1618	188	6	the	the	DET
ap-1618	188	7	nonlinear	nonlinear	ADJ
ap-1618	188	8	model	model	NOUN
ap-1618	188	9	with	with	ADP
ap-1618	188	10	controllers	controller	NOUN
ap-1618	188	11	designed	design	VERB
ap-1618	188	12	using	use	VERB
ap-1618	188	13	the	the	DET
ap-1618	188	14	icad	icad	PROPN
ap-1618	188	15	approach	approach	NOUN
ap-1618	188	16	b	b	NOUN
ap-1618	188	17	)	)	PUNCT
ap-1618	188	18	simulated	simulate	VERB
ap-1618	188	19	responses	response	NOUN
ap-1618	188	20	of	of	ADP
ap-1618	188	21	levels	level	NOUN
ap-1618	188	22	(	(	PUNCT
ap-1618	188	23	m	m	NOUN
ap-1618	188	24	)	)	PUNCT
ap-1618	188	25	in	in	ADP
ap-1618	188	26	tank	tank	NOUN
ap-1618	188	27	1	1	NUM
ap-1618	188	28	(	(	PUNCT
ap-1618	188	29	continuous	continuous	ADJ
ap-1618	188	30	line	line	NOUN
ap-1618	188	31	)	)	PUNCT
ap-1618	188	32	and	and	CCONJ
ap-1618	188	33	in	in	ADP
ap-1618	188	34	tank	tank	NOUN
ap-1618	188	35	2	2	NUM
ap-1618	188	36	(	(	PUNCT
ap-1618	188	37	dashed	dash	VERB
ap-1618	188	38	line	line	NOUN
ap-1618	188	39	)	)	PUNCT
ap-1618	188	40	when	when	SCONJ
ap-1618	188	41	the	the	DET
ap-1618	188	42	reference	reference	NOUN
ap-1618	188	43	level	level	NOUN
ap-1618	188	44	for	for	ADP
ap-1618	188	45	channel	channel	NOUN
ap-1618	188	46	2	2	NUM
ap-1618	188	47	is	be	AUX
ap-1618	188	48	changed	change	VERB
ap-1618	188	49	.	.	PUNCT
ap-1618	189	1	this	this	DET
ap-1618	189	2	test	test	NOUN
ap-1618	189	3	involved	involve	VERB
ap-1618	189	4	use	use	NOUN
ap-1618	189	5	of	of	ADP
ap-1618	189	6	the	the	DET
ap-1618	189	7	nonlinear	nonlinear	ADJ
ap-1618	189	8	model	model	NOUN
ap-1618	189	9	with	with	ADP
ap-1618	189	10	controllers	controller	NOUN
ap-1618	189	11	designed	design	VERB
ap-1618	189	12	using	use	VERB
ap-1618	189	13	the	the	DET
ap-1618	189	14	icad	icad	PROPN
ap-1618	189	15	approach	approach	NOUN
ap-1618	189	16	.	.	PUNCT
ap-1618	190	1	the	the	DET
ap-1618	190	2	horizontal	horizontal	ADJ
ap-1618	190	3	axis	axis	NOUN
ap-1618	190	4	represents	represent	VERB
ap-1618	190	5	time	time	NOUN
ap-1618	190	6	(	(	PUNCT
ap-1618	190	7	s	s	X
ap-1618	190	8	)	)	PUNCT
ap-1618	190	9	these	these	DET
ap-1618	190	10	results	result	NOUN
ap-1618	190	11	show	show	VERB
ap-1618	190	12	that	that	SCONJ
ap-1618	190	13	a	a	DET
ap-1618	190	14	transient	transient	ADJ
ap-1618	190	15	disturbance	disturbance	NOUN
ap-1618	190	16	occurs	occur	VERB
ap-1618	190	17	in	in	ADP
ap-1618	190	18	the	the	DET
ap-1618	190	19	level	level	NOUN
ap-1618	190	20	of	of	ADP
ap-1618	190	21	tank	tank	NOUN
ap-1618	190	22	2	2	NUM
ap-1618	190	23	when	when	SCONJ
ap-1618	190	24	the	the	DET
ap-1618	190	25	set	set	ADJ
ap-1618	190	26	level	level	NOUN
ap-1618	190	27	of	of	ADP
ap-1618	190	28	channel	channel	NOUN
ap-1618	190	29	1	1	NUM
ap-1618	190	30	is	be	AUX
ap-1618	190	31	changed	change	VERB
ap-1618	190	32	but	but	CCONJ
ap-1618	190	33	that	that	SCONJ
ap-1618	190	34	a	a	DET
ap-1618	190	35	negligible	negligible	ADJ
ap-1618	190	36	transient	transient	NOUN
ap-1618	190	37	is	be	AUX
ap-1618	190	38	found	find	VERB
ap-1618	190	39	in	in	ADP
ap-1618	190	40	the	the	DET
ap-1618	190	41	level	level	NOUN
ap-1618	190	42	of	of	ADP
ap-1618	190	43	tank	tank	NOUN
ap-1618	190	44	1	1	NUM
ap-1618	190	45	when	when	SCONJ
ap-1618	190	46	the	the	DET
ap-1618	190	47	set	set	ADJ
ap-1618	190	48	level	level	NOUN
ap-1618	190	49	of	of	ADP
ap-1618	190	50	channel	channel	NOUN
ap-1618	190	51	2	2	NUM
ap-1618	190	52	is	be	AUX
ap-1618	190	53	altered	alter	VERB
ap-1618	190	54	by	by	ADP
ap-1618	190	55	a	a	DET
ap-1618	190	56	similar	similar	ADJ
ap-1618	190	57	amount	amount	NOUN
ap-1618	190	58	.	.	PUNCT
ap-1618	191	1	this	this	DET
ap-1618	191	2	difference	difference	NOUN
ap-1618	191	3	is	be	AUX
ap-1618	191	4	due	due	ADJ
ap-1618	191	5	to	to	ADP
ap-1618	191	6	the	the	DET
ap-1618	191	7	different	different	ADJ
ap-1618	191	8	bandwidths	bandwidth	NOUN
ap-1618	191	9	in	in	ADP
ap-1618	191	10	the	the	DET
ap-1618	191	11	two	two	NUM
ap-1618	191	12	channels	channel	NOUN
ap-1618	191	13	.	.	PUNCT
ap-1618	192	1	results	result	NOUN
ap-1618	192	2	of	of	ADP
ap-1618	192	3	an	an	DET
ap-1618	192	4	additional	additional	ADJ
ap-1618	192	5	simulation	simulation	NOUN
ap-1618	192	6	test	test	NOUN
ap-1618	192	7	are	be	AUX
ap-1618	192	8	shown	show	VERB
ap-1618	192	9	in	in	ADP
ap-1618	192	10	figure	figure	NOUN
ap-1618	192	11	10	10	NUM
ap-1618	192	12	.	.	PUNCT
ap-1618	193	1	this	this	PRON
ap-1618	193	2	involves	involve	VERB
ap-1618	193	3	the	the	DET
ap-1618	193	4	simultaneous	simultaneous	ADJ
ap-1618	193	5	application	application	NOUN
ap-1618	193	6	of	of	ADP
ap-1618	193	7	negative	negative	ADJ
ap-1618	193	8	step	step	NOUN
ap-1618	193	9	changes	change	NOUN
ap-1618	193	10	of	of	ADP
ap-1618	193	11	reference	reference	NOUN
ap-1618	193	12	for	for	ADP
ap-1618	193	13	both	both	DET
ap-1618	193	14	channels	channel	NOUN
ap-1618	193	15	at	at	ADP
ap-1618	193	16	time	time	NOUN
ap-1618	193	17	t	t	NOUN
ap-1618	193	18	=	=	SYM
ap-1618	193	19	100	100	NUM
ap-1618	193	20	s.	s.	NOUN
ap-1618	194	1	the	the	PRON
ap-1618	194	2	demanded	demand	VERB
ap-1618	194	3	changes	change	NOUN
ap-1618	194	4	lead	lead	VERB
ap-1618	194	5	,	,	PUNCT
ap-1618	194	6	transiently	transiently	ADV
ap-1618	194	7	,	,	PUNCT
ap-1618	194	8	to	to	ADP
ap-1618	194	9	a	a	DET
ap-1618	194	10	complete	complete	ADJ
ap-1618	194	11	cut	cut	NOUN
ap-1618	194	12	-	-	PUNCT
ap-1618	194	13	off	off	NOUN
ap-1618	194	14	of	of	ADP
ap-1618	194	15	input	input	NOUN
ap-1618	194	16	flow	flow	NOUN
ap-1618	194	17	for	for	ADP
ap-1618	194	18	both	both	DET
ap-1618	194	19	tanks	tank	NOUN
ap-1618	194	20	for	for	ADP
ap-1618	194	21	a	a	DET
ap-1618	194	22	period	period	NOUN
ap-1618	194	23	of	of	ADP
ap-1618	194	24	about	about	ADV
ap-1618	194	25	20	20	NUM
ap-1618	194	26	s	s	NOUN
ap-1618	194	27	at	at	ADP
ap-1618	194	28	the	the	DET
ap-1618	194	29	time	time	NOUN
ap-1618	194	30	when	when	SCONJ
ap-1618	194	31	the	the	DET
ap-1618	194	32	reference	reference	NOUN
ap-1618	194	33	values	value	NOUN
ap-1618	194	34	are	be	AUX
ap-1618	194	35	changed	change	VERB
ap-1618	194	36	,	,	PUNCT
ap-1618	194	37	as	as	SCONJ
ap-1618	194	38	can	can	AUX
ap-1618	194	39	be	be	AUX
ap-1618	194	40	seen	see	VERB
ap-1618	194	41	from	from	ADP
ap-1618	194	42	the	the	DET
ap-1618	194	43	almost	almost	ADV
ap-1618	194	44	straight	straight	ADJ
ap-1618	194	45	-	-	PUNCT
ap-1618	194	46	line	line	NOUN
ap-1618	194	47	form	form	NOUN
ap-1618	194	48	of	of	ADP
ap-1618	194	49	the	the	DET
ap-1618	194	50	negativegoing	negativegoing	ADJ
ap-1618	194	51	responses	response	NOUN
ap-1618	194	52	in	in	ADP
ap-1618	194	53	that	that	DET
ap-1618	194	54	part	part	NOUN
ap-1618	194	55	of	of	ADP
ap-1618	194	56	the	the	DET
ap-1618	194	57	record	record	NOUN
ap-1618	194	58	.	.	PUNCT
ap-1618	195	1	128	128	NUM
ap-1618	195	2	acta	acta	PROPN
ap-1618	195	3	polytechnica	polytechnica	PROPN
ap-1618	195	4	vol	vol	NOUN
ap-1618	195	5	.	.	PROPN
ap-1618	196	1	52	52	NUM
ap-1618	196	2	no	no	NOUN
ap-1618	196	3	.	.	PUNCT
ap-1618	197	1	4/2012	4/2012	NUM
ap-1618	197	2	figure	figure	NOUN
ap-1618	197	3	10	10	NUM
ap-1618	197	4	:	:	PUNCT
ap-1618	197	5	simulation	simulation	NOUN
ap-1618	197	6	results	result	NOUN
ap-1618	197	7	showing	show	VERB
ap-1618	197	8	liquid	liquid	ADJ
ap-1618	197	9	levels	level	NOUN
ap-1618	197	10	(	(	PUNCT
ap-1618	197	11	m	m	NOUN
ap-1618	197	12	)	)	PUNCT
ap-1618	197	13	for	for	ADP
ap-1618	197	14	tank	tank	NOUN
ap-1618	197	15	1	1	NUM
ap-1618	197	16	(	(	PUNCT
ap-1618	197	17	continuous	continuous	ADJ
ap-1618	197	18	line	line	NOUN
ap-1618	197	19	)	)	PUNCT
ap-1618	197	20	and	and	CCONJ
ap-1618	197	21	tank	tank	NOUN
ap-1618	197	22	2	2	NUM
ap-1618	197	23	(	(	PUNCT
ap-1618	197	24	dashed	dash	VERB
ap-1618	197	25	line	line	NOUN
ap-1618	197	26	)	)	PUNCT
ap-1618	197	27	for	for	ADP
ap-1618	197	28	large	large	ADJ
ap-1618	197	29	negative	negative	ADJ
ap-1618	197	30	step	step	NOUN
ap-1618	197	31	changes	change	NOUN
ap-1618	197	32	of	of	ADP
ap-1618	197	33	reference	reference	NOUN
ap-1618	197	34	.	.	PUNCT
ap-1618	198	1	the	the	DET
ap-1618	198	2	horizontal	horizontal	ADJ
ap-1618	198	3	axis	axis	NOUN
ap-1618	198	4	represents	represent	VERB
ap-1618	198	5	time	time	NOUN
ap-1618	198	6	(	(	PUNCT
ap-1618	198	7	s	s	X
ap-1618	198	8	)	)	PUNCT
ap-1618	198	9	the	the	DET
ap-1618	198	10	closed	closed	ADJ
ap-1618	198	11	-	-	PUNCT
ap-1618	198	12	loop	loop	NOUN
ap-1618	198	13	performance	performance	NOUN
ap-1618	198	14	of	of	ADP
ap-1618	198	15	the	the	DET
ap-1618	198	16	system	system	NOUN
ap-1618	198	17	with	with	ADP
ap-1618	198	18	the	the	DET
ap-1618	198	19	proportional	proportional	ADJ
ap-1618	198	20	plus	plus	CCONJ
ap-1618	198	21	integral	integral	ADJ
ap-1618	198	22	controllers	controller	NOUN
ap-1618	198	23	designed	design	VERB
ap-1618	198	24	using	use	VERB
ap-1618	198	25	the	the	DET
ap-1618	198	26	ziegler	ziegler	PROPN
ap-1618	198	27	-	-	PUNCT
ap-1618	198	28	nichols	nichols	PROPN
ap-1618	198	29	reaction	reaction	PROPN
ap-1618	198	30	curve	curve	NOUN
ap-1618	198	31	approach	approach	NOUN
ap-1618	198	32	(	(	PUNCT
ap-1618	198	33	see	see	VERB
ap-1618	198	34	,	,	PUNCT
ap-1618	198	35	e.g.	e.g.	ADV
ap-1618	198	36	[	[	X
ap-1618	198	37	13	13	NUM
ap-1618	198	38	]	]	PUNCT
ap-1618	198	39	)	)	PUNCT
ap-1618	198	40	was	be	AUX
ap-1618	198	41	investigated	investigate	VERB
ap-1618	198	42	through	through	ADP
ap-1618	198	43	simulation	simulation	NOUN
ap-1618	198	44	.	.	PUNCT
ap-1618	199	1	it	it	PRON
ap-1618	199	2	was	be	AUX
ap-1618	199	3	found	find	VERB
ap-1618	199	4	that	that	SCONJ
ap-1618	199	5	for	for	ADP
ap-1618	199	6	small	small	ADJ
ap-1618	199	7	changes	change	NOUN
ap-1618	199	8	of	of	ADP
ap-1618	199	9	the	the	DET
ap-1618	199	10	reference	reference	NOUN
ap-1618	199	11	inputs	input	VERB
ap-1618	199	12	the	the	DET
ap-1618	199	13	two	two	NUM
ap-1618	199	14	-	-	PUNCT
ap-1618	199	15	input	input	NOUN
ap-1618	199	16	two	two	NUM
ap-1618	199	17	-	-	PUNCT
ap-1618	199	18	output	output	NOUN
ap-1618	199	19	system	system	NOUN
ap-1618	199	20	with	with	ADP
ap-1618	199	21	these	these	DET
ap-1618	199	22	controllers	controller	NOUN
ap-1618	199	23	behaved	behave	VERB
ap-1618	199	24	very	very	ADV
ap-1618	199	25	much	much	ADV
ap-1618	199	26	in	in	ADP
ap-1618	199	27	accordance	accordance	NOUN
ap-1618	199	28	with	with	ADP
ap-1618	199	29	expectations	expectation	NOUN
ap-1618	199	30	(	(	PUNCT
ap-1618	199	31	as	as	SCONJ
ap-1618	199	32	shown	show	VERB
ap-1618	199	33	in	in	ADP
ap-1618	199	34	figure	figure	NOUN
ap-1618	199	35	11	11	NUM
ap-1618	199	36	)	)	PUNCT
ap-1618	199	37	.	.	PUNCT
ap-1618	200	1	figure	figure	VERB
ap-1618	200	2	11	11	NUM
ap-1618	200	3	:	:	PUNCT
ap-1618	200	4	simulation	simulation	NOUN
ap-1618	200	5	results	result	NOUN
ap-1618	200	6	found	find	VERB
ap-1618	200	7	using	use	VERB
ap-1618	200	8	the	the	DET
ap-1618	200	9	nonlinear	nonlinear	ADJ
ap-1618	200	10	model	model	NOUN
ap-1618	200	11	with	with	ADP
ap-1618	200	12	controllers	controller	NOUN
ap-1618	200	13	designed	design	VERB
ap-1618	200	14	using	use	VERB
ap-1618	200	15	the	the	DET
ap-1618	200	16	zieglernichols	zieglernichol	NOUN
ap-1618	200	17	approach	approach	VERB
ap-1618	200	18	for	for	ADP
ap-1618	200	19	a	a	DET
ap-1618	200	20	test	test	NOUN
ap-1618	200	21	involving	involve	VERB
ap-1618	200	22	relatively	relatively	ADV
ap-1618	200	23	small	small	ADJ
ap-1618	200	24	changes	change	NOUN
ap-1618	200	25	of	of	ADP
ap-1618	200	26	reference	reference	NOUN
ap-1618	200	27	level	level	NOUN
ap-1618	200	28	.	.	PUNCT
ap-1618	201	1	the	the	DET
ap-1618	201	2	vertical	vertical	ADJ
ap-1618	201	3	axis	axis	NOUN
ap-1618	201	4	represents	represent	VERB
ap-1618	201	5	liquid	liquid	ADJ
ap-1618	201	6	level	level	NOUN
ap-1618	201	7	(	(	PUNCT
ap-1618	201	8	m	m	NOUN
ap-1618	201	9	)	)	PUNCT
ap-1618	201	10	while	while	SCONJ
ap-1618	201	11	the	the	DET
ap-1618	201	12	horizontal	horizontal	ADJ
ap-1618	201	13	axis	axis	NOUN
ap-1618	201	14	represents	represent	VERB
ap-1618	201	15	time	time	NOUN
ap-1618	201	16	(	(	PUNCT
ap-1618	201	17	s	s	NOUN
ap-1618	201	18	)	)	PUNCT
ap-1618	201	19	.	.	PUNCT
ap-1618	202	1	the	the	DET
ap-1618	202	2	level	level	NOUN
ap-1618	202	3	in	in	ADP
ap-1618	202	4	tank	tank	NOUN
ap-1618	202	5	1	1	NUM
ap-1618	202	6	is	be	AUX
ap-1618	202	7	represented	represent	VERB
ap-1618	202	8	by	by	ADP
ap-1618	202	9	the	the	DET
ap-1618	202	10	continuous	continuous	ADJ
ap-1618	202	11	line	line	NOUN
ap-1618	202	12	while	while	SCONJ
ap-1618	202	13	the	the	DET
ap-1618	202	14	dashed	dash	VERB
ap-1618	202	15	line	line	NOUN
ap-1618	202	16	represents	represent	VERB
ap-1618	202	17	the	the	DET
ap-1618	202	18	level	level	NOUN
ap-1618	202	19	in	in	ADP
ap-1618	202	20	tank	tank	NOUN
ap-1618	202	21	2	2	NUM
ap-1618	202	22	for	for	ADP
ap-1618	202	23	large	large	ADJ
ap-1618	202	24	positive	positive	ADJ
ap-1618	202	25	changes	change	NOUN
ap-1618	202	26	of	of	ADP
ap-1618	202	27	reference	reference	NOUN
ap-1618	202	28	(	(	PUNCT
ap-1618	202	29	similar	similar	ADJ
ap-1618	202	30	to	to	ADP
ap-1618	202	31	those	those	PRON
ap-1618	202	32	applied	apply	VERB
ap-1618	202	33	in	in	ADP
ap-1618	202	34	obtaining	obtain	VERB
ap-1618	202	35	the	the	DET
ap-1618	202	36	results	result	NOUN
ap-1618	202	37	shown	show	VERB
ap-1618	202	38	in	in	ADP
ap-1618	202	39	figure	figure	NOUN
ap-1618	202	40	8	8	NUM
ap-1618	202	41	for	for	ADP
ap-1618	202	42	the	the	DET
ap-1618	202	43	icad	icad	PROPN
ap-1618	202	44	design	design	PROPN
ap-1618	202	45	)	)	PUNCT
ap-1618	202	46	the	the	DET
ap-1618	202	47	responses	response	NOUN
ap-1618	202	48	for	for	ADP
ap-1618	202	49	the	the	DET
ap-1618	202	50	control	control	NOUN
ap-1618	202	51	system	system	NOUN
ap-1618	202	52	designed	design	VERB
ap-1618	202	53	using	use	VERB
ap-1618	202	54	the	the	DET
ap-1618	202	55	ziegler	ziegler	PROPN
ap-1618	202	56	-	-	PUNCT
ap-1618	202	57	nichols	nichols	PROPN
ap-1618	202	58	approach	approach	NOUN
ap-1618	202	59	are	be	AUX
ap-1618	202	60	found	find	VERB
ap-1618	202	61	to	to	PART
ap-1618	202	62	be	be	AUX
ap-1618	202	63	much	much	ADV
ap-1618	202	64	more	more	ADV
ap-1618	202	65	oscillatory	oscillatory	ADJ
ap-1618	202	66	,	,	PUNCT
ap-1618	202	67	as	as	SCONJ
ap-1618	202	68	shown	show	VERB
ap-1618	202	69	in	in	ADP
ap-1618	202	70	figure	figure	NOUN
ap-1618	202	71	12	12	NUM
ap-1618	202	72	.	.	PUNCT
ap-1618	203	1	this	this	PRON
ap-1618	203	2	is	be	AUX
ap-1618	203	3	also	also	ADV
ap-1618	203	4	the	the	DET
ap-1618	203	5	case	case	NOUN
ap-1618	203	6	for	for	ADP
ap-1618	203	7	the	the	DET
ap-1618	203	8	transients	transient	NOUN
ap-1618	203	9	found	find	VERB
ap-1618	203	10	for	for	ADP
ap-1618	203	11	large	large	ADJ
ap-1618	203	12	negative	negative	ADJ
ap-1618	203	13	reference	reference	NOUN
ap-1618	203	14	changes	change	NOUN
ap-1618	203	15	,	,	PUNCT
ap-1618	203	16	as	as	SCONJ
ap-1618	203	17	shown	show	VERB
ap-1618	203	18	in	in	ADP
ap-1618	203	19	figure	figure	NOUN
ap-1618	203	20	13	13	NUM
ap-1618	203	21	.	.	PUNCT
ap-1618	204	1	figure	figure	NOUN
ap-1618	204	2	12	12	NUM
ap-1618	204	3	:	:	PUNCT
ap-1618	205	1	simulation	simulation	NOUN
ap-1618	205	2	results	result	NOUN
ap-1618	205	3	found	find	VERB
ap-1618	205	4	using	use	VERB
ap-1618	205	5	the	the	DET
ap-1618	205	6	nonlinear	nonlinear	ADJ
ap-1618	205	7	model	model	NOUN
ap-1618	205	8	with	with	ADP
ap-1618	205	9	controllers	controller	NOUN
ap-1618	205	10	designed	design	VERB
ap-1618	205	11	using	use	VERB
ap-1618	205	12	the	the	DET
ap-1618	205	13	zieglernichols	zieglernichol	NOUN
ap-1618	205	14	approach	approach	VERB
ap-1618	205	15	for	for	ADP
ap-1618	205	16	a	a	DET
ap-1618	205	17	test	test	NOUN
ap-1618	205	18	similar	similar	ADJ
ap-1618	205	19	to	to	ADP
ap-1618	205	20	that	that	PRON
ap-1618	205	21	of	of	ADP
ap-1618	205	22	figure	figure	NOUN
ap-1618	205	23	8	8	NUM
ap-1618	205	24	.	.	PUNCT
ap-1618	206	1	the	the	DET
ap-1618	206	2	vertical	vertical	ADJ
ap-1618	206	3	axis	axis	NOUN
ap-1618	206	4	represents	represent	VERB
ap-1618	206	5	liquid	liquid	ADJ
ap-1618	206	6	level	level	NOUN
ap-1618	206	7	(	(	PUNCT
ap-1618	206	8	m	m	NOUN
ap-1618	206	9	)	)	PUNCT
ap-1618	206	10	while	while	SCONJ
ap-1618	206	11	the	the	DET
ap-1618	206	12	horizontal	horizontal	ADJ
ap-1618	206	13	axis	axis	NOUN
ap-1618	206	14	represents	represent	VERB
ap-1618	206	15	time	time	NOUN
ap-1618	206	16	(	(	PUNCT
ap-1618	206	17	s	s	NOUN
ap-1618	206	18	)	)	PUNCT
ap-1618	206	19	.	.	PUNCT
ap-1618	207	1	the	the	DET
ap-1618	207	2	level	level	NOUN
ap-1618	207	3	in	in	ADP
ap-1618	207	4	tank	tank	NOUN
ap-1618	207	5	1	1	NUM
ap-1618	207	6	is	be	AUX
ap-1618	207	7	represented	represent	VERB
ap-1618	207	8	by	by	ADP
ap-1618	207	9	the	the	DET
ap-1618	207	10	continuous	continuous	ADJ
ap-1618	207	11	line	line	NOUN
ap-1618	207	12	while	while	SCONJ
ap-1618	207	13	the	the	DET
ap-1618	207	14	dashed	dash	VERB
ap-1618	207	15	line	line	NOUN
ap-1618	207	16	represents	represent	VERB
ap-1618	207	17	the	the	DET
ap-1618	207	18	level	level	NOUN
ap-1618	207	19	in	in	ADP
ap-1618	207	20	tank	tank	NOUN
ap-1618	207	21	2	2	NUM
ap-1618	207	22	figure	figure	NOUN
ap-1618	207	23	13	13	NUM
ap-1618	207	24	:	:	PUNCT
ap-1618	207	25	simulation	simulation	NOUN
ap-1618	207	26	results	result	VERB
ap-1618	207	27	for	for	ADP
ap-1618	207	28	the	the	DET
ap-1618	207	29	nonlinear	nonlinear	ADJ
ap-1618	207	30	model	model	NOUN
ap-1618	207	31	with	with	ADP
ap-1618	207	32	controllers	controller	NOUN
ap-1618	207	33	designed	design	VERB
ap-1618	207	34	using	use	VERB
ap-1618	207	35	the	the	DET
ap-1618	207	36	ziegler	ziegler	PROPN
ap-1618	207	37	-	-	PUNCT
ap-1618	207	38	nichols	nichols	PROPN
ap-1618	207	39	approach	approach	NOUN
ap-1618	207	40	for	for	ADP
ap-1618	207	41	a	a	DET
ap-1618	207	42	test	test	NOUN
ap-1618	207	43	involving	involve	VERB
ap-1618	207	44	large	large	ADJ
ap-1618	207	45	negative	negative	ADJ
ap-1618	207	46	step	step	NOUN
ap-1618	207	47	changes	change	NOUN
ap-1618	207	48	of	of	ADP
ap-1618	207	49	reference	reference	NOUN
ap-1618	207	50	.	.	PUNCT
ap-1618	208	1	the	the	DET
ap-1618	208	2	vertical	vertical	ADJ
ap-1618	208	3	axis	axis	NOUN
ap-1618	208	4	represents	represent	VERB
ap-1618	208	5	liquid	liquid	ADJ
ap-1618	208	6	level	level	NOUN
ap-1618	208	7	(	(	PUNCT
ap-1618	208	8	m	m	NOUN
ap-1618	208	9	)	)	PUNCT
ap-1618	208	10	while	while	SCONJ
ap-1618	208	11	the	the	DET
ap-1618	208	12	horizontal	horizontal	ADJ
ap-1618	208	13	axis	axis	NOUN
ap-1618	208	14	represents	represent	VERB
ap-1618	208	15	time	time	NOUN
ap-1618	208	16	(	(	PUNCT
ap-1618	208	17	s	s	NOUN
ap-1618	208	18	)	)	PUNCT
ap-1618	208	19	.	.	PUNCT
ap-1618	209	1	the	the	DET
ap-1618	209	2	level	level	NOUN
ap-1618	209	3	in	in	ADP
ap-1618	209	4	tank	tank	NOUN
ap-1618	209	5	1	1	NUM
ap-1618	209	6	is	be	AUX
ap-1618	209	7	represented	represent	VERB
ap-1618	209	8	by	by	ADP
ap-1618	209	9	the	the	DET
ap-1618	209	10	continuous	continuous	ADJ
ap-1618	209	11	line	line	NOUN
ap-1618	209	12	,	,	PUNCT
ap-1618	209	13	whereas	whereas	SCONJ
ap-1618	209	14	the	the	DET
ap-1618	209	15	dashed	dash	VERB
ap-1618	209	16	line	line	NOUN
ap-1618	209	17	is	be	AUX
ap-1618	209	18	the	the	DET
ap-1618	209	19	level	level	NOUN
ap-1618	209	20	in	in	ADP
ap-1618	209	21	tank	tank	NOUN
ap-1618	209	22	2	2	NUM
ap-1618	209	23	responses	response	NOUN
ap-1618	209	24	found	find	VERB
ap-1618	209	25	for	for	ADP
ap-1618	209	26	simulated	simulated	ADJ
ap-1618	209	27	situations	situation	NOUN
ap-1618	209	28	involving	involve	VERB
ap-1618	209	29	interactions	interaction	NOUN
ap-1618	209	30	between	between	ADP
ap-1618	209	31	the	the	DET
ap-1618	209	32	two	two	NUM
ap-1618	209	33	tanks	tank	NOUN
ap-1618	209	34	were	be	AUX
ap-1618	209	35	also	also	ADV
ap-1618	209	36	more	more	ADV
ap-1618	209	37	oscillatory	oscillatory	ADJ
ap-1618	209	38	in	in	ADP
ap-1618	209	39	nature	nature	NOUN
ap-1618	209	40	and	and	CCONJ
ap-1618	209	41	varied	vary	VERB
ap-1618	209	42	more	more	ADV
ap-1618	209	43	with	with	ADP
ap-1618	209	44	operating	operating	NOUN
ap-1618	209	45	point	point	NOUN
ap-1618	209	46	than	than	ADP
ap-1618	209	47	those	those	PRON
ap-1618	209	48	found	find	VERB
ap-1618	209	49	using	use	VERB
ap-1618	209	50	the	the	DET
ap-1618	209	51	controllers	controller	NOUN
ap-1618	209	52	designed	design	VERB
ap-1618	209	53	using	use	VERB
ap-1618	209	54	the	the	DET
ap-1618	209	55	icad	icad	PROPN
ap-1618	209	56	approach	approach	NOUN
ap-1618	209	57	.	.	PUNCT
ap-1618	210	1	5.2	5.2	NUM
ap-1618	210	2	experimental	experimental	ADJ
ap-1618	210	3	results	result	NOUN
ap-1618	210	4	as	as	SCONJ
ap-1618	210	5	implemented	implement	VERB
ap-1618	210	6	using	use	VERB
ap-1618	210	7	operational	operational	ADJ
ap-1618	210	8	amplifiers	amplifier	NOUN
ap-1618	210	9	and	and	CCONJ
ap-1618	210	10	the	the	DET
ap-1618	210	11	associated	associated	ADJ
ap-1618	210	12	passive	passive	ADJ
ap-1618	210	13	components	component	NOUN
ap-1618	210	14	,	,	PUNCT
ap-1618	210	15	the	the	DET
ap-1618	210	16	two	two	NUM
ap-1618	210	17	controllers	controller	NOUN
ap-1618	210	18	corresponded	correspond	VERB
ap-1618	210	19	to	to	ADP
ap-1618	210	20	the	the	DET
ap-1618	210	21	transfer	transfer	NOUN
ap-1618	210	22	functions	function	NOUN
ap-1618	210	23	(	(	PUNCT
ap-1618	210	24	as	as	SCONJ
ap-1618	210	25	given	give	VERB
ap-1618	210	26	in	in	ADP
ap-1618	210	27	equations	equation	NOUN
ap-1618	210	28	(	(	PUNCT
ap-1618	210	29	27	27	NUM
ap-1618	210	30	)	)	PUNCT
ap-1618	210	31	and	and	CCONJ
ap-1618	210	32	(	(	PUNCT
ap-1618	210	33	28	28	NUM
ap-1618	210	34	)	)	PUNCT
ap-1618	210	35	)	)	PUNCT
ap-1618	210	36	that	that	PRON
ap-1618	210	37	resulted	result	VERB
ap-1618	210	38	from	from	ADP
ap-1618	210	39	the	the	DET
ap-1618	210	40	final	final	ADJ
ap-1618	210	41	optimisation	optimisation	NOUN
ap-1618	210	42	stage	stage	NOUN
ap-1618	210	43	of	of	ADP
ap-1618	210	44	the	the	DET
ap-1618	210	45	design	design	NOUN
ap-1618	210	46	process	process	NOUN
ap-1618	210	47	.	.	PUNCT
ap-1618	211	1	these	these	PRON
ap-1618	211	2	are	be	AUX
ap-1618	211	3	,	,	PUNCT
ap-1618	211	4	of	of	ADP
ap-1618	211	5	course	course	NOUN
ap-1618	211	6	,	,	PUNCT
ap-1618	211	7	also	also	ADV
ap-1618	211	8	the	the	DET
ap-1618	211	9	controller	controller	NOUN
ap-1618	211	10	transfer	transfer	NOUN
ap-1618	211	11	functions	function	NOUN
ap-1618	211	12	used	use	VERB
ap-1618	211	13	in	in	ADP
ap-1618	211	14	the	the	DET
ap-1618	211	15	simulation	simulation	NOUN
ap-1618	211	16	studies	study	NOUN
ap-1618	211	17	discussed	discuss	VERB
ap-1618	211	18	in	in	ADP
ap-1618	211	19	section	section	NOUN
ap-1618	211	20	5.1	5.1	NUM
ap-1618	211	21	.	.	PUNCT
ap-1618	212	1	129	129	NUM
ap-1618	212	2	acta	acta	PROPN
ap-1618	212	3	polytechnica	polytechnica	PROPN
ap-1618	212	4	vol	vol	NOUN
ap-1618	212	5	.	.	PROPN
ap-1618	213	1	52	52	NUM
ap-1618	213	2	no	no	NOUN
ap-1618	213	3	.	.	PUNCT
ap-1618	214	1	4/2012	4/2012	NUM
ap-1618	214	2	experimental	experimental	ADJ
ap-1618	214	3	results	result	NOUN
ap-1618	214	4	for	for	ADP
ap-1618	214	5	the	the	DET
ap-1618	214	6	control	control	NOUN
ap-1618	214	7	system	system	NOUN
ap-1618	214	8	,	,	PUNCT
ap-1618	214	9	when	when	SCONJ
ap-1618	214	10	implemented	implement	VERB
ap-1618	214	11	with	with	ADP
ap-1618	214	12	these	these	DET
ap-1618	214	13	controllers	controller	NOUN
ap-1618	214	14	,	,	PUNCT
ap-1618	214	15	are	be	AUX
ap-1618	214	16	shown	show	VERB
ap-1618	214	17	in	in	ADP
ap-1618	214	18	figure	figure	NOUN
ap-1618	214	19	14	14	NUM
ap-1618	214	20	for	for	ADP
ap-1618	214	21	the	the	DET
ap-1618	214	22	case	case	NOUN
ap-1618	214	23	involving	involve	VERB
ap-1618	214	24	two	two	NUM
ap-1618	214	25	simultaneous	simultaneous	ADJ
ap-1618	214	26	changes	change	NOUN
ap-1618	214	27	of	of	ADP
ap-1618	214	28	reference	reference	NOUN
ap-1618	214	29	.	.	PUNCT
ap-1618	215	1	the	the	DET
ap-1618	215	2	results	result	NOUN
ap-1618	215	3	are	be	AUX
ap-1618	215	4	almost	almost	ADV
ap-1618	215	5	identical	identical	ADJ
ap-1618	215	6	in	in	ADP
ap-1618	215	7	terms	term	NOUN
ap-1618	215	8	of	of	ADP
ap-1618	215	9	steady	steady	ADJ
ap-1618	215	10	state	state	NOUN
ap-1618	215	11	performance	performance	NOUN
ap-1618	215	12	to	to	ADP
ap-1618	215	13	the	the	DET
ap-1618	215	14	simulated	simulate	VERB
ap-1618	215	15	results	result	NOUN
ap-1618	215	16	of	of	ADP
ap-1618	215	17	figure	figure	NOUN
ap-1618	215	18	8	8	NUM
ap-1618	215	19	for	for	ADP
ap-1618	215	20	the	the	DET
ap-1618	215	21	same	same	ADJ
ap-1618	215	22	test	test	NOUN
ap-1618	215	23	conditions	condition	NOUN
ap-1618	215	24	,	,	PUNCT
ap-1618	215	25	and	and	CCONJ
ap-1618	215	26	are	be	AUX
ap-1618	215	27	very	very	ADV
ap-1618	215	28	similar	similar	ADJ
ap-1618	215	29	in	in	ADP
ap-1618	215	30	terms	term	NOUN
ap-1618	215	31	of	of	ADP
ap-1618	215	32	the	the	DET
ap-1618	215	33	settling	settle	VERB
ap-1618	215	34	time	time	NOUN
ap-1618	215	35	of	of	ADP
ap-1618	215	36	the	the	DET
ap-1618	215	37	transients	transient	NOUN
ap-1618	215	38	.	.	PUNCT
ap-1618	216	1	as	as	ADP
ap-1618	216	2	in	in	ADP
ap-1618	216	3	the	the	DET
ap-1618	216	4	simulation	simulation	NOUN
ap-1618	216	5	results	result	NOUN
ap-1618	216	6	,	,	PUNCT
ap-1618	216	7	the	the	DET
ap-1618	216	8	inputs	input	NOUN
ap-1618	216	9	both	both	PRON
ap-1618	216	10	reach	reach	VERB
ap-1618	216	11	their	their	PRON
ap-1618	216	12	limits	limit	NOUN
ap-1618	216	13	during	during	ADP
ap-1618	216	14	the	the	DET
ap-1618	216	15	transients	transient	NOUN
ap-1618	216	16	.	.	PUNCT
ap-1618	217	1	the	the	DET
ap-1618	217	2	main	main	ADJ
ap-1618	217	3	difference	difference	NOUN
ap-1618	217	4	observed	observe	VERB
ap-1618	217	5	between	between	ADP
ap-1618	217	6	the	the	DET
ap-1618	217	7	experimental	experimental	ADJ
ap-1618	217	8	results	result	NOUN
ap-1618	217	9	of	of	ADP
ap-1618	217	10	figure	figure	NOUN
ap-1618	217	11	14	14	NUM
ap-1618	217	12	and	and	CCONJ
ap-1618	217	13	the	the	DET
ap-1618	217	14	simulation	simulation	NOUN
ap-1618	217	15	results	result	NOUN
ap-1618	217	16	of	of	ADP
ap-1618	217	17	figure	figure	NOUN
ap-1618	217	18	8	8	NUM
ap-1618	217	19	is	be	AUX
ap-1618	217	20	that	that	SCONJ
ap-1618	217	21	the	the	DET
ap-1618	217	22	transients	transient	NOUN
ap-1618	217	23	found	find	VERB
ap-1618	217	24	experimentally	experimentally	ADV
ap-1618	217	25	(	(	PUNCT
ap-1618	217	26	especially	especially	ADV
ap-1618	217	27	for	for	ADP
ap-1618	217	28	the	the	DET
ap-1618	217	29	level	level	NOUN
ap-1618	217	30	in	in	ADP
ap-1618	217	31	tank	tank	NOUN
ap-1618	217	32	1	1	NUM
ap-1618	217	33	)	)	PUNCT
ap-1618	217	34	are	be	AUX
ap-1618	217	35	more	more	ADV
ap-1618	217	36	oscillatory	oscillatory	ADJ
ap-1618	217	37	than	than	ADP
ap-1618	217	38	those	those	PRON
ap-1618	217	39	found	find	VERB
ap-1618	217	40	through	through	ADP
ap-1618	217	41	simulation	simulation	NOUN
ap-1618	217	42	.	.	PUNCT
ap-1618	218	1	similar	similar	ADJ
ap-1618	218	2	findings	finding	NOUN
ap-1618	218	3	have	have	AUX
ap-1618	218	4	been	be	AUX
ap-1618	218	5	obtained	obtain	VERB
ap-1618	218	6	for	for	ADP
ap-1618	218	7	equivalent	equivalent	ADJ
ap-1618	218	8	tests	test	NOUN
ap-1618	218	9	at	at	ADP
ap-1618	218	10	other	other	ADJ
ap-1618	218	11	operating	operating	NOUN
ap-1618	218	12	points	point	NOUN
ap-1618	218	13	,	,	PUNCT
ap-1618	218	14	and	and	CCONJ
ap-1618	218	15	this	this	PRON
ap-1618	218	16	suggests	suggest	VERB
ap-1618	218	17	strongly	strongly	ADV
ap-1618	218	18	that	that	SCONJ
ap-1618	218	19	there	there	PRON
ap-1618	218	20	are	be	VERB
ap-1618	218	21	imperfections	imperfection	NOUN
ap-1618	218	22	within	within	ADP
ap-1618	218	23	the	the	DET
ap-1618	218	24	model	model	NOUN
ap-1618	218	25	of	of	ADP
ap-1618	218	26	the	the	DET
ap-1618	218	27	two	two	NUM
ap-1618	218	28	-	-	PUNCT
ap-1618	218	29	tank	tank	NOUN
ap-1618	218	30	system	system	NOUN
ap-1618	218	31	.	.	PUNCT
ap-1618	219	1	exactly	exactly	ADV
ap-1618	219	2	what	what	PRON
ap-1618	219	3	the	the	DET
ap-1618	219	4	modelling	modelling	NOUN
ap-1618	219	5	errors	error	NOUN
ap-1618	219	6	might	might	AUX
ap-1618	219	7	be	be	AUX
ap-1618	219	8	is	be	AUX
ap-1618	219	9	not	not	PART
ap-1618	219	10	,	,	PUNCT
ap-1618	219	11	of	of	ADP
ap-1618	219	12	course	course	NOUN
ap-1618	219	13	,	,	PUNCT
ap-1618	219	14	clear	clear	ADJ
ap-1618	219	15	from	from	ADP
ap-1618	219	16	the	the	DET
ap-1618	219	17	information	information	NOUN
ap-1618	219	18	from	from	ADP
ap-1618	219	19	these	these	DET
ap-1618	219	20	closed	closed	ADJ
ap-1618	219	21	-	-	PUNCT
ap-1618	219	22	loop	loop	NOUN
ap-1618	219	23	system	system	NOUN
ap-1618	219	24	tests	test	NOUN
ap-1618	219	25	alone	alone	ADV
ap-1618	219	26	.	.	PUNCT
ap-1618	220	1	although	although	SCONJ
ap-1618	220	2	the	the	DET
ap-1618	220	3	results	result	NOUN
ap-1618	220	4	shown	show	VERB
ap-1618	220	5	in	in	ADP
ap-1618	220	6	figures	figure	NOUN
ap-1618	220	7	8	8	NUM
ap-1618	220	8	and	and	CCONJ
ap-1618	220	9	14	14	NUM
ap-1618	220	10	are	be	AUX
ap-1618	220	11	for	for	ADP
ap-1618	220	12	one	one	NUM
ap-1618	220	13	specific	specific	ADJ
ap-1618	220	14	operating	operating	NOUN
ap-1618	220	15	condition	condition	NOUN
ap-1618	220	16	,	,	PUNCT
ap-1618	220	17	comparison	comparison	NOUN
ap-1618	220	18	of	of	ADP
ap-1618	220	19	experimental	experimental	ADJ
ap-1618	220	20	and	and	CCONJ
ap-1618	220	21	simulation	simulation	NOUN
ap-1618	220	22	results	result	VERB
ap-1618	220	23	for	for	ADP
ap-1618	220	24	a	a	DET
ap-1618	220	25	range	range	NOUN
ap-1618	220	26	of	of	ADP
ap-1618	220	27	different	different	ADJ
ap-1618	220	28	conditions	condition	NOUN
ap-1618	220	29	has	have	AUX
ap-1618	220	30	shown	show	VERB
ap-1618	220	31	good	good	ADJ
ap-1618	220	32	overall	overall	ADJ
ap-1618	220	33	agreement	agreement	NOUN
ap-1618	220	34	.	.	PUNCT
ap-1618	221	1	figure	figure	VERB
ap-1618	221	2	14	14	NUM
ap-1618	221	3	:	:	PUNCT
ap-1618	221	4	experimental	experimental	ADJ
ap-1618	221	5	results	result	NOUN
ap-1618	221	6	for	for	ADP
ap-1618	221	7	conditions	condition	NOUN
ap-1618	221	8	equivalent	equivalent	ADJ
ap-1618	221	9	to	to	ADP
ap-1618	221	10	those	those	PRON
ap-1618	221	11	of	of	ADP
ap-1618	221	12	the	the	DET
ap-1618	221	13	simulation	simulation	NOUN
ap-1618	221	14	results	result	NOUN
ap-1618	221	15	of	of	ADP
ap-1618	221	16	figure	figure	NOUN
ap-1618	221	17	8	8	NUM
ap-1618	221	18	.	.	PUNCT
ap-1618	222	1	the	the	DET
ap-1618	222	2	continuous	continuous	ADJ
ap-1618	222	3	line	line	NOUN
ap-1618	222	4	shows	show	VERB
ap-1618	222	5	the	the	DET
ap-1618	222	6	measured	measure	VERB
ap-1618	222	7	liquid	liquid	ADJ
ap-1618	222	8	level	level	NOUN
ap-1618	222	9	(	(	PUNCT
ap-1618	222	10	m	m	NOUN
ap-1618	222	11	)	)	PUNCT
ap-1618	222	12	in	in	ADP
ap-1618	222	13	tank	tank	NOUN
ap-1618	222	14	1	1	NUM
ap-1618	222	15	while	while	SCONJ
ap-1618	222	16	the	the	DET
ap-1618	222	17	dashed	dash	VERB
ap-1618	222	18	line	line	NOUN
ap-1618	222	19	shows	show	VERB
ap-1618	222	20	the	the	DET
ap-1618	222	21	measured	measured	ADJ
ap-1618	222	22	level	level	NOUN
ap-1618	222	23	in	in	ADP
ap-1618	222	24	tank	tank	NOUN
ap-1618	222	25	2	2	NUM
ap-1618	222	26	.	.	PUNCT
ap-1618	223	1	the	the	DET
ap-1618	223	2	horizontal	horizontal	ADJ
ap-1618	223	3	axis	axis	NOUN
ap-1618	223	4	represents	represent	VERB
ap-1618	223	5	time	time	NOUN
ap-1618	223	6	(	(	PUNCT
ap-1618	223	7	s	s	X
ap-1618	223	8	)	)	PUNCT
ap-1618	223	9	the	the	DET
ap-1618	223	10	experimental	experimental	ADJ
ap-1618	223	11	investigation	investigation	NOUN
ap-1618	223	12	of	of	ADP
ap-1618	223	13	interactions	interaction	NOUN
ap-1618	223	14	between	between	ADP
ap-1618	223	15	channels	channel	NOUN
ap-1618	223	16	produced	produce	VERB
ap-1618	223	17	results	result	NOUN
ap-1618	223	18	shown	show	VERB
ap-1618	223	19	in	in	ADP
ap-1618	223	20	figures	figure	NOUN
ap-1618	223	21	15a	15a	NOUN
ap-1618	223	22	and	and	CCONJ
ap-1618	223	23	15b	15b	NOUN
ap-1618	223	24	,	,	PUNCT
ap-1618	223	25	which	which	PRON
ap-1618	223	26	can	can	AUX
ap-1618	223	27	be	be	AUX
ap-1618	223	28	seen	see	VERB
ap-1618	223	29	to	to	PART
ap-1618	223	30	correspond	correspond	VERB
ap-1618	223	31	closely	closely	ADV
ap-1618	223	32	to	to	ADP
ap-1618	223	33	the	the	DET
ap-1618	223	34	corresponding	corresponding	ADJ
ap-1618	223	35	simulation	simulation	NOUN
ap-1618	223	36	results	result	NOUN
ap-1618	223	37	shown	show	VERB
ap-1618	223	38	in	in	ADP
ap-1618	223	39	figures	figure	NOUN
ap-1618	223	40	9a	9a	NOUN
ap-1618	223	41	and	and	CCONJ
ap-1618	223	42	9b	9b	NUM
ap-1618	223	43	.	.	PUNCT
ap-1618	224	1	experimental	experimental	ADJ
ap-1618	224	2	results	result	NOUN
ap-1618	224	3	for	for	ADP
ap-1618	224	4	a	a	DET
ap-1618	224	5	test	test	NOUN
ap-1618	224	6	involving	involve	VERB
ap-1618	224	7	simultaneous	simultaneous	ADJ
ap-1618	224	8	large	large	ADJ
ap-1618	224	9	negative	negative	ADJ
ap-1618	224	10	changes	change	NOUN
ap-1618	224	11	of	of	ADP
ap-1618	224	12	reference	reference	NOUN
ap-1618	224	13	value	value	NOUN
ap-1618	224	14	for	for	ADP
ap-1618	224	15	both	both	DET
ap-1618	224	16	channels	channel	NOUN
ap-1618	224	17	simultaneously	simultaneously	ADV
ap-1618	224	18	are	be	AUX
ap-1618	224	19	shown	show	VERB
ap-1618	224	20	in	in	ADP
ap-1618	224	21	figure	figure	NOUN
ap-1618	224	22	16	16	NUM
ap-1618	224	23	.	.	PUNCT
ap-1618	225	1	these	these	DET
ap-1618	225	2	results	result	NOUN
ap-1618	225	3	are	be	AUX
ap-1618	225	4	very	very	ADV
ap-1618	225	5	similar	similar	ADJ
ap-1618	225	6	in	in	ADP
ap-1618	225	7	character	character	NOUN
ap-1618	225	8	to	to	ADP
ap-1618	225	9	the	the	DET
ap-1618	225	10	simulated	simulate	VERB
ap-1618	225	11	results	result	NOUN
ap-1618	225	12	of	of	ADP
ap-1618	225	13	figure	figure	NOUN
ap-1618	225	14	10	10	NUM
ap-1618	225	15	.	.	PUNCT
ap-1618	226	1	as	as	ADP
ap-1618	226	2	in	in	ADP
ap-1618	226	3	the	the	DET
ap-1618	226	4	simulation	simulation	NOUN
ap-1618	226	5	,	,	PUNCT
ap-1618	226	6	the	the	DET
ap-1618	226	7	controlled	control	VERB
ap-1618	226	8	flows	flow	NOUN
ap-1618	226	9	for	for	ADP
ap-1618	226	10	tank	tank	NOUN
ap-1618	226	11	1	1	NUM
ap-1618	226	12	and	and	CCONJ
ap-1618	226	13	tank	tank	NOUN
ap-1618	226	14	2	2	NUM
ap-1618	226	15	reach	reach	VERB
ap-1618	226	16	limiting	limit	VERB
ap-1618	226	17	values	value	NOUN
ap-1618	226	18	(	(	PUNCT
ap-1618	226	19	zero	zero	NUM
ap-1618	226	20	)	)	PUNCT
ap-1618	226	21	during	during	ADP
ap-1618	226	22	the	the	DET
ap-1618	226	23	transient	transient	ADJ
ap-1618	226	24	period	period	NOUN
ap-1618	226	25	.	.	PUNCT
ap-1618	227	1	a	a	DET
ap-1618	227	2	)	)	PUNCT
ap-1618	227	3	b	b	NOUN
ap-1618	227	4	)	)	PUNCT
ap-1618	227	5	figure	figure	NOUN
ap-1618	227	6	15	15	NUM
ap-1618	227	7	:	:	PUNCT
ap-1618	227	8	a	a	X
ap-1618	227	9	)	)	PUNCT
ap-1618	227	10	experimental	experimental	ADJ
ap-1618	227	11	results	result	NOUN
ap-1618	227	12	,	,	PUNCT
ap-1618	227	13	equivalent	equivalent	ADJ
ap-1618	227	14	to	to	ADP
ap-1618	227	15	the	the	DET
ap-1618	227	16	simulation	simulation	NOUN
ap-1618	227	17	results	result	NOUN
ap-1618	227	18	of	of	ADP
ap-1618	227	19	figure	figure	NOUN
ap-1618	227	20	9a	9a	NOUN
ap-1618	227	21	,	,	PUNCT
ap-1618	227	22	involving	involve	VERB
ap-1618	227	23	application	application	NOUN
ap-1618	227	24	of	of	ADP
ap-1618	227	25	a	a	DET
ap-1618	227	26	step	step	NOUN
ap-1618	227	27	change	change	NOUN
ap-1618	227	28	of	of	ADP
ap-1618	227	29	reference	reference	NOUN
ap-1618	227	30	for	for	ADP
ap-1618	227	31	channel	channel	NOUN
ap-1618	227	32	1	1	NUM
ap-1618	227	33	while	while	SCONJ
ap-1618	227	34	the	the	DET
ap-1618	227	35	reference	reference	NOUN
ap-1618	227	36	input	input	NOUN
ap-1618	227	37	for	for	ADP
ap-1618	227	38	channel	channel	NOUN
ap-1618	227	39	2	2	NUM
ap-1618	227	40	is	be	AUX
ap-1618	227	41	held	hold	VERB
ap-1618	227	42	constant	constant	ADJ
ap-1618	227	43	.	.	PUNCT
ap-1618	228	1	the	the	DET
ap-1618	228	2	record	record	NOUN
ap-1618	228	3	for	for	ADP
ap-1618	228	4	liquid	liquid	ADJ
ap-1618	228	5	depth	depth	NOUN
ap-1618	228	6	(	(	PUNCT
ap-1618	228	7	m	m	NOUN
ap-1618	228	8	)	)	PUNCT
ap-1618	228	9	in	in	ADP
ap-1618	228	10	tank	tank	NOUN
ap-1618	228	11	1	1	NUM
ap-1618	228	12	is	be	AUX
ap-1618	228	13	shown	show	VERB
ap-1618	228	14	by	by	ADP
ap-1618	228	15	a	a	DET
ap-1618	228	16	continuous	continuous	ADJ
ap-1618	228	17	line	line	NOUN
ap-1618	228	18	and	and	CCONJ
ap-1618	228	19	for	for	ADP
ap-1618	228	20	tank	tank	NOUN
ap-1618	228	21	2	2	NUM
ap-1618	228	22	by	by	ADP
ap-1618	228	23	the	the	DET
ap-1618	228	24	dashed	dash	VERB
ap-1618	228	25	line	line	NOUN
ap-1618	228	26	.	.	PUNCT
ap-1618	229	1	the	the	DET
ap-1618	229	2	horizontal	horizontal	ADJ
ap-1618	229	3	axis	axis	NOUN
ap-1618	229	4	represents	represent	VERB
ap-1618	229	5	time	time	NOUN
ap-1618	229	6	(	(	PUNCT
ap-1618	229	7	s	s	NOUN
ap-1618	229	8	)	)	PUNCT
ap-1618	229	9	b	b	NOUN
ap-1618	229	10	)	)	PUNCT
ap-1618	229	11	experimental	experimental	ADJ
ap-1618	229	12	results	result	NOUN
ap-1618	229	13	,	,	PUNCT
ap-1618	229	14	equivalent	equivalent	ADJ
ap-1618	229	15	to	to	ADP
ap-1618	229	16	the	the	DET
ap-1618	229	17	simulation	simulation	NOUN
ap-1618	229	18	results	result	NOUN
ap-1618	229	19	of	of	ADP
ap-1618	229	20	figure	figure	NOUN
ap-1618	229	21	9	9	NUM
ap-1618	229	22	,	,	PUNCT
ap-1618	229	23	involving	involve	VERB
ap-1618	229	24	application	application	NOUN
ap-1618	229	25	of	of	ADP
ap-1618	229	26	a	a	DET
ap-1618	229	27	step	step	NOUN
ap-1618	229	28	change	change	NOUN
ap-1618	229	29	of	of	ADP
ap-1618	229	30	reference	reference	NOUN
ap-1618	229	31	for	for	ADP
ap-1618	229	32	channel	channel	NOUN
ap-1618	229	33	2	2	NUM
ap-1618	229	34	while	while	SCONJ
ap-1618	229	35	the	the	DET
ap-1618	229	36	reference	reference	NOUN
ap-1618	229	37	for	for	ADP
ap-1618	229	38	channel	channel	NOUN
ap-1618	229	39	1	1	NUM
ap-1618	229	40	is	be	AUX
ap-1618	229	41	held	hold	VERB
ap-1618	229	42	constant	constant	ADJ
ap-1618	229	43	.	.	PUNCT
ap-1618	230	1	the	the	DET
ap-1618	230	2	record	record	NOUN
ap-1618	230	3	for	for	ADP
ap-1618	230	4	liquid	liquid	ADJ
ap-1618	230	5	depth	depth	NOUN
ap-1618	230	6	(	(	PUNCT
ap-1618	230	7	m	m	NOUN
ap-1618	230	8	)	)	PUNCT
ap-1618	230	9	in	in	ADP
ap-1618	230	10	tank	tank	NOUN
ap-1618	230	11	1	1	NUM
ap-1618	230	12	is	be	AUX
ap-1618	230	13	shown	show	VERB
ap-1618	230	14	by	by	ADP
ap-1618	230	15	a	a	DET
ap-1618	230	16	continuous	continuous	ADJ
ap-1618	230	17	line	line	NOUN
ap-1618	230	18	and	and	CCONJ
ap-1618	230	19	for	for	ADP
ap-1618	230	20	tank	tank	NOUN
ap-1618	230	21	2	2	NUM
ap-1618	230	22	by	by	ADP
ap-1618	230	23	the	the	DET
ap-1618	230	24	dashed	dash	VERB
ap-1618	230	25	line	line	NOUN
ap-1618	230	26	.	.	PUNCT
ap-1618	231	1	the	the	DET
ap-1618	231	2	horizontal	horizontal	ADJ
ap-1618	231	3	axis	axis	NOUN
ap-1618	231	4	represents	represent	VERB
ap-1618	231	5	time	time	NOUN
ap-1618	231	6	(	(	PUNCT
ap-1618	231	7	s	s	NOUN
ap-1618	231	8	)	)	PUNCT
ap-1618	231	9	figure	figure	NOUN
ap-1618	231	10	16	16	NUM
ap-1618	231	11	:	:	PUNCT
ap-1618	231	12	experimental	experimental	ADJ
ap-1618	231	13	results	result	NOUN
ap-1618	231	14	showing	show	VERB
ap-1618	231	15	liquid	liquid	ADJ
ap-1618	231	16	levels	level	NOUN
ap-1618	231	17	(	(	PUNCT
ap-1618	231	18	m	m	NOUN
ap-1618	231	19	)	)	PUNCT
ap-1618	231	20	for	for	ADP
ap-1618	231	21	tank	tank	NOUN
ap-1618	231	22	1	1	NUM
ap-1618	231	23	(	(	PUNCT
ap-1618	231	24	continuous	continuous	ADJ
ap-1618	231	25	line	line	NOUN
ap-1618	231	26	)	)	PUNCT
ap-1618	231	27	and	and	CCONJ
ap-1618	231	28	tank	tank	NOUN
ap-1618	231	29	2	2	NUM
ap-1618	231	30	(	(	PUNCT
ap-1618	231	31	dashed	dash	VERB
ap-1618	231	32	line	line	NOUN
ap-1618	231	33	)	)	PUNCT
ap-1618	231	34	for	for	ADP
ap-1618	231	35	large	large	ADJ
ap-1618	231	36	negative	negative	ADJ
ap-1618	231	37	step	step	NOUN
ap-1618	231	38	changes	change	NOUN
ap-1618	231	39	of	of	ADP
ap-1618	231	40	reference	reference	NOUN
ap-1618	231	41	.	.	PUNCT
ap-1618	232	1	the	the	DET
ap-1618	232	2	horizontal	horizontal	ADJ
ap-1618	232	3	axis	axis	NOUN
ap-1618	232	4	represents	represent	VERB
ap-1618	232	5	time	time	NOUN
ap-1618	232	6	(	(	PUNCT
ap-1618	232	7	s	s	NOUN
ap-1618	232	8	)	)	PUNCT
ap-1618	232	9	130	130	NUM
ap-1618	232	10	acta	acta	PROPN
ap-1618	232	11	polytechnica	polytechnica	PROPN
ap-1618	232	12	vol	vol	NOUN
ap-1618	232	13	.	.	PROPN
ap-1618	233	1	52	52	NUM
ap-1618	233	2	no	no	NOUN
ap-1618	233	3	.	.	PUNCT
ap-1618	234	1	4/2012	4/2012	NUM
ap-1618	234	2	figure	figure	NOUN
ap-1618	234	3	17	17	NUM
ap-1618	234	4	:	:	PUNCT
ap-1618	234	5	experimental	experimental	ADJ
ap-1618	234	6	results	result	NOUN
ap-1618	234	7	for	for	ADP
ap-1618	234	8	a	a	DET
ap-1618	234	9	test	test	NOUN
ap-1618	234	10	involving	involve	VERB
ap-1618	234	11	the	the	DET
ap-1618	234	12	addition	addition	NOUN
ap-1618	234	13	of	of	ADP
ap-1618	234	14	a	a	DET
ap-1618	234	15	small	small	ADJ
ap-1618	234	16	volume	volume	NOUN
ap-1618	234	17	of	of	ADP
ap-1618	234	18	water	water	NOUN
ap-1618	234	19	to	to	PART
ap-1618	234	20	tank	tank	VERB
ap-1618	234	21	1	1	NUM
ap-1618	234	22	(	(	PUNCT
ap-1618	234	23	continuous	continuous	ADJ
ap-1618	234	24	trace	trace	NOUN
ap-1618	234	25	)	)	PUNCT
ap-1618	234	26	and	and	CCONJ
ap-1618	234	27	to	to	PART
ap-1618	234	28	tank	tank	VERB
ap-1618	234	29	2	2	NUM
ap-1618	234	30	(	(	PUNCT
ap-1618	234	31	dashed	dash	VERB
ap-1618	234	32	line	line	NOUN
ap-1618	234	33	)	)	PUNCT
ap-1618	234	34	in	in	ADP
ap-1618	234	35	turn	turn	NOUN
ap-1618	234	36	.	.	PUNCT
ap-1618	235	1	the	the	DET
ap-1618	235	2	horizontal	horizontal	ADJ
ap-1618	235	3	axis	axis	NOUN
ap-1618	235	4	represents	represent	VERB
ap-1618	235	5	time	time	NOUN
ap-1618	235	6	(	(	PUNCT
ap-1618	235	7	s	s	NOUN
ap-1618	235	8	)	)	PUNCT
ap-1618	235	9	a	a	PRON
ap-1618	235	10	)	)	PUNCT
ap-1618	235	11	b	b	NOUN
ap-1618	235	12	)	)	PUNCT
ap-1618	235	13	figure	figure	NOUN
ap-1618	235	14	18	18	NUM
ap-1618	235	15	:	:	PUNCT
ap-1618	235	16	a	a	X
ap-1618	235	17	)	)	PUNCT
ap-1618	235	18	results	result	NOUN
ap-1618	235	19	of	of	ADP
ap-1618	235	20	a	a	DET
ap-1618	235	21	simulated	simulated	ADJ
ap-1618	235	22	test	test	NOUN
ap-1618	235	23	involving	involve	VERB
ap-1618	235	24	the	the	DET
ap-1618	235	25	addition	addition	NOUN
ap-1618	235	26	of	of	ADP
ap-1618	235	27	a	a	DET
ap-1618	235	28	small	small	ADJ
ap-1618	235	29	volume	volume	NOUN
ap-1618	235	30	of	of	ADP
ap-1618	235	31	water	water	NOUN
ap-1618	235	32	to	to	PART
ap-1618	235	33	tank	tank	VERB
ap-1618	235	34	1	1	NUM
ap-1618	235	35	(	(	PUNCT
ap-1618	235	36	continuous	continuous	ADJ
ap-1618	235	37	line	line	NOUN
ap-1618	235	38	)	)	PUNCT
ap-1618	235	39	.	.	PUNCT
ap-1618	236	1	the	the	DET
ap-1618	236	2	level	level	NOUN
ap-1618	236	3	in	in	ADP
ap-1618	236	4	tank	tank	NOUN
ap-1618	236	5	2	2	NUM
ap-1618	236	6	is	be	AUX
ap-1618	236	7	shown	show	VERB
ap-1618	236	8	by	by	ADP
ap-1618	236	9	the	the	DET
ap-1618	236	10	dashed	dash	VERB
ap-1618	236	11	line	line	NOUN
ap-1618	236	12	.	.	PUNCT
ap-1618	237	1	the	the	DET
ap-1618	237	2	horizontal	horizontal	ADJ
ap-1618	237	3	axis	axis	NOUN
ap-1618	237	4	represents	represent	VERB
ap-1618	237	5	time	time	NOUN
ap-1618	237	6	(	(	PUNCT
ap-1618	237	7	s	s	NOUN
ap-1618	237	8	)	)	PUNCT
ap-1618	237	9	b	b	NOUN
ap-1618	237	10	)	)	PUNCT
ap-1618	237	11	results	result	NOUN
ap-1618	237	12	of	of	ADP
ap-1618	237	13	a	a	DET
ap-1618	237	14	simulated	simulated	ADJ
ap-1618	237	15	test	test	NOUN
ap-1618	237	16	involving	involve	VERB
ap-1618	237	17	the	the	DET
ap-1618	237	18	addition	addition	NOUN
ap-1618	237	19	of	of	ADP
ap-1618	237	20	a	a	DET
ap-1618	237	21	small	small	ADJ
ap-1618	237	22	volume	volume	NOUN
ap-1618	237	23	of	of	ADP
ap-1618	237	24	water	water	NOUN
ap-1618	237	25	to	to	PART
ap-1618	237	26	tank	tank	VERB
ap-1618	237	27	2	2	NUM
ap-1618	237	28	(	(	PUNCT
ap-1618	237	29	dashed	dash	VERB
ap-1618	237	30	line	line	NOUN
ap-1618	237	31	)	)	PUNCT
ap-1618	237	32	.	.	PUNCT
ap-1618	238	1	the	the	DET
ap-1618	238	2	level	level	NOUN
ap-1618	238	3	in	in	ADP
ap-1618	238	4	tank	tank	NOUN
ap-1618	238	5	1	1	NUM
ap-1618	238	6	is	be	AUX
ap-1618	238	7	shown	show	VERB
ap-1618	238	8	by	by	ADP
ap-1618	238	9	the	the	DET
ap-1618	238	10	continuous	continuous	ADJ
ap-1618	238	11	line	line	NOUN
ap-1618	238	12	.	.	PUNCT
ap-1618	239	1	the	the	DET
ap-1618	239	2	horizontal	horizontal	ADJ
ap-1618	239	3	axis	axis	NOUN
ap-1618	239	4	represents	represent	VERB
ap-1618	239	5	time	time	NOUN
ap-1618	239	6	(	(	PUNCT
ap-1618	239	7	s	s	X
ap-1618	239	8	)	)	PUNCT
ap-1618	239	9	the	the	DET
ap-1618	239	10	behavior	behavior	NOUN
ap-1618	239	11	of	of	ADP
ap-1618	239	12	the	the	DET
ap-1618	239	13	control	control	NOUN
ap-1618	239	14	system	system	NOUN
ap-1618	239	15	when	when	SCONJ
ap-1618	239	16	subjected	subject	VERB
ap-1618	239	17	to	to	ADP
ap-1618	239	18	external	external	ADJ
ap-1618	239	19	disturbances	disturbance	NOUN
ap-1618	239	20	is	be	AUX
ap-1618	239	21	also	also	ADV
ap-1618	239	22	of	of	ADP
ap-1618	239	23	great	great	ADJ
ap-1618	239	24	practical	practical	ADJ
ap-1618	239	25	importance	importance	NOUN
ap-1618	239	26	.	.	PUNCT
ap-1618	240	1	figure	figure	NOUN
ap-1618	240	2	17	17	NUM
ap-1618	240	3	shows	show	VERB
ap-1618	240	4	some	some	DET
ap-1618	240	5	typical	typical	ADJ
ap-1618	240	6	experimental	experimental	ADJ
ap-1618	240	7	results	result	NOUN
ap-1618	240	8	where	where	SCONJ
ap-1618	240	9	external	external	ADJ
ap-1618	240	10	disturbances	disturbance	NOUN
ap-1618	240	11	have	have	AUX
ap-1618	240	12	been	be	AUX
ap-1618	240	13	introduced	introduce	VERB
ap-1618	240	14	by	by	ADP
ap-1618	240	15	adding	add	VERB
ap-1618	240	16	,	,	PUNCT
ap-1618	240	17	in	in	ADP
ap-1618	240	18	as	as	ADV
ap-1618	240	19	short	short	ADJ
ap-1618	240	20	a	a	DET
ap-1618	240	21	period	period	NOUN
ap-1618	240	22	of	of	ADP
ap-1618	240	23	time	time	NOUN
ap-1618	240	24	as	as	ADP
ap-1618	240	25	possible	possible	ADJ
ap-1618	240	26	,	,	PUNCT
ap-1618	240	27	a	a	DET
ap-1618	240	28	disturbance	disturbance	NOUN
ap-1618	240	29	in	in	ADP
ap-1618	240	30	the	the	DET
ap-1618	240	31	form	form	NOUN
ap-1618	240	32	of	of	ADP
ap-1618	240	33	a	a	DET
ap-1618	240	34	measured	measured	ADJ
ap-1618	240	35	volume	volume	NOUN
ap-1618	240	36	of	of	ADP
ap-1618	240	37	water	water	NOUN
ap-1618	240	38	to	to	ADP
ap-1618	240	39	each	each	PRON
ap-1618	240	40	of	of	ADP
ap-1618	240	41	the	the	DET
ap-1618	240	42	tanks	tank	NOUN
ap-1618	240	43	in	in	ADP
ap-1618	240	44	turn	turn	NOUN
ap-1618	240	45	,	,	PUNCT
ap-1618	240	46	with	with	SCONJ
ap-1618	240	47	feedback	feedback	NOUN
ap-1618	240	48	control	control	NOUN
ap-1618	240	49	loops	loop	NOUN
ap-1618	240	50	applied	apply	VERB
ap-1618	240	51	.	.	PUNCT
ap-1618	241	1	the	the	DET
ap-1618	241	2	upper	upper	ADJ
ap-1618	241	3	plot	plot	NOUN
ap-1618	241	4	shows	show	VERB
ap-1618	241	5	the	the	DET
ap-1618	241	6	level	level	NOUN
ap-1618	241	7	in	in	ADP
ap-1618	241	8	tank	tank	NOUN
ap-1618	241	9	1	1	NUM
ap-1618	241	10	for	for	ADP
ap-1618	241	11	a	a	DET
ap-1618	241	12	reference	reference	NOUN
ap-1618	241	13	input	input	NOUN
ap-1618	241	14	of	of	ADP
ap-1618	241	15	227	227	NUM
ap-1618	241	16	mm	mm	NOUN
ap-1618	241	17	,	,	PUNCT
ap-1618	241	18	while	while	SCONJ
ap-1618	241	19	the	the	DET
ap-1618	241	20	lower	low	ADJ
ap-1618	241	21	plot	plot	NOUN
ap-1618	241	22	shows	show	VERB
ap-1618	241	23	the	the	DET
ap-1618	241	24	level	level	NOUN
ap-1618	241	25	in	in	ADP
ap-1618	241	26	tank	tank	NOUN
ap-1618	241	27	2	2	NUM
ap-1618	241	28	for	for	ADP
ap-1618	241	29	a	a	DET
ap-1618	241	30	reference	reference	NOUN
ap-1618	241	31	input	input	NOUN
ap-1618	241	32	of	of	ADP
ap-1618	241	33	198	198	NUM
ap-1618	241	34	mm	mm	NOUN
ap-1618	241	35	.	.	PUNCT
ap-1618	242	1	the	the	DET
ap-1618	242	2	disturbance	disturbance	NOUN
ap-1618	242	3	inputs	input	NOUN
ap-1618	242	4	are	be	AUX
ap-1618	242	5	applied	apply	VERB
ap-1618	242	6	by	by	ADP
ap-1618	242	7	the	the	DET
ap-1618	242	8	rapid	rapid	ADJ
ap-1618	242	9	addition	addition	NOUN
ap-1618	242	10	of	of	ADP
ap-1618	242	11	water	water	NOUN
ap-1618	242	12	,	,	PUNCT
ap-1618	242	13	from	from	ADP
ap-1618	242	14	a	a	DET
ap-1618	242	15	beaker	beaker	NOUN
ap-1618	242	16	,	,	PUNCT
ap-1618	242	17	to	to	PART
ap-1618	242	18	tank	tank	VERB
ap-1618	242	19	1	1	NUM
ap-1618	242	20	and	and	CCONJ
ap-1618	242	21	addition	addition	NOUN
ap-1618	242	22	of	of	ADP
ap-1618	242	23	a	a	DET
ap-1618	242	24	similar	similar	ADJ
ap-1618	242	25	volume	volume	NOUN
ap-1618	242	26	to	to	PART
ap-1618	242	27	tank	tank	VERB
ap-1618	242	28	2	2	NUM
ap-1618	242	29	at	at	ADP
ap-1618	242	30	about	about	ADP
ap-1618	242	31	time	time	NOUN
ap-1618	242	32	t	t	NOUN
ap-1618	242	33	=	=	SYM
ap-1618	242	34	225	225	NUM
ap-1618	242	35	s.	s.	NOUN
ap-1618	242	36	the	the	DET
ap-1618	242	37	effects	effect	NOUN
ap-1618	242	38	of	of	ADP
ap-1618	242	39	each	each	PRON
ap-1618	242	40	of	of	ADP
ap-1618	242	41	these	these	DET
ap-1618	242	42	disturbances	disturbance	NOUN
ap-1618	242	43	on	on	ADP
ap-1618	242	44	each	each	DET
ap-1618	242	45	channel	channel	NOUN
ap-1618	242	46	are	be	AUX
ap-1618	242	47	clearly	clearly	ADV
ap-1618	242	48	visible	visible	ADJ
ap-1618	242	49	in	in	ADP
ap-1618	242	50	these	these	DET
ap-1618	242	51	records	record	NOUN
ap-1618	242	52	.	.	PUNCT
ap-1618	243	1	the	the	DET
ap-1618	243	2	results	result	NOUN
ap-1618	243	3	show	show	VERB
ap-1618	243	4	the	the	DET
ap-1618	243	5	distinctive	distinctive	ADJ
ap-1618	243	6	actions	action	NOUN
ap-1618	243	7	of	of	ADP
ap-1618	243	8	the	the	DET
ap-1618	243	9	two	two	NUM
ap-1618	243	10	channels	channel	NOUN
ap-1618	243	11	in	in	ADP
ap-1618	243	12	countering	counter	VERB
ap-1618	243	13	the	the	DET
ap-1618	243	14	effects	effect	NOUN
ap-1618	243	15	of	of	ADP
ap-1618	243	16	the	the	DET
ap-1618	243	17	disturbance	disturbance	NOUN
ap-1618	243	18	inputs	input	NOUN
ap-1618	243	19	.	.	PUNCT
ap-1618	244	1	the	the	DET
ap-1618	244	2	levels	level	NOUN
ap-1618	244	3	for	for	ADP
ap-1618	244	4	both	both	DET
ap-1618	244	5	channels	channel	NOUN
ap-1618	244	6	return	return	VERB
ap-1618	244	7	to	to	ADP
ap-1618	244	8	their	their	PRON
ap-1618	244	9	set	set	ADJ
ap-1618	244	10	values	value	NOUN
ap-1618	244	11	after	after	ADP
ap-1618	244	12	the	the	DET
ap-1618	244	13	disturbances	disturbance	NOUN
ap-1618	244	14	,	,	PUNCT
ap-1618	244	15	with	with	ADP
ap-1618	244	16	transients	transient	NOUN
ap-1618	244	17	of	of	ADP
ap-1618	244	18	acceptable	acceptable	ADJ
ap-1618	244	19	magnitude	magnitude	NOUN
ap-1618	244	20	and	and	CCONJ
ap-1618	244	21	duration	duration	NOUN
ap-1618	244	22	.	.	PUNCT
ap-1618	245	1	as	as	ADP
ap-1618	245	2	with	with	ADP
ap-1618	245	3	the	the	DET
ap-1618	245	4	tests	test	NOUN
ap-1618	245	5	involving	involve	VERB
ap-1618	245	6	changes	change	NOUN
ap-1618	245	7	of	of	ADP
ap-1618	245	8	reference	reference	NOUN
ap-1618	245	9	,	,	PUNCT
ap-1618	245	10	it	it	PRON
ap-1618	245	11	is	be	AUX
ap-1618	245	12	clear	clear	ADJ
ap-1618	245	13	(	(	PUNCT
ap-1618	245	14	as	as	SCONJ
ap-1618	245	15	would	would	AUX
ap-1618	245	16	be	be	AUX
ap-1618	245	17	expected	expect	VERB
ap-1618	245	18	)	)	PUNCT
ap-1618	245	19	that	that	SCONJ
ap-1618	245	20	the	the	DET
ap-1618	245	21	speed	speed	NOUN
ap-1618	245	22	of	of	ADP
ap-1618	245	23	response	response	NOUN
ap-1618	245	24	to	to	ADP
ap-1618	245	25	disturbances	disturbance	NOUN
ap-1618	245	26	is	be	AUX
ap-1618	245	27	influenced	influence	VERB
ap-1618	245	28	by	by	ADP
ap-1618	245	29	the	the	DET
ap-1618	245	30	choice	choice	NOUN
ap-1618	245	31	of	of	ADP
ap-1618	245	32	bandwidths	bandwidth	NOUN
ap-1618	245	33	for	for	ADP
ap-1618	245	34	the	the	DET
ap-1618	245	35	two	two	NUM
ap-1618	245	36	channels	channel	NOUN
ap-1618	245	37	.	.	PUNCT
ap-1618	246	1	similar	similar	ADJ
ap-1618	246	2	results	result	NOUN
ap-1618	246	3	have	have	AUX
ap-1618	246	4	been	be	AUX
ap-1618	246	5	obtained	obtain	VERB
ap-1618	246	6	through	through	ADP
ap-1618	246	7	simulation	simulation	NOUN
ap-1618	246	8	,	,	PUNCT
ap-1618	246	9	but	but	CCONJ
ap-1618	246	10	quantitative	quantitative	ADJ
ap-1618	246	11	comparisons	comparison	NOUN
ap-1618	246	12	are	be	AUX
ap-1618	246	13	difficult	difficult	ADJ
ap-1618	246	14	for	for	ADP
ap-1618	246	15	this	this	DET
ap-1618	246	16	type	type	NOUN
ap-1618	246	17	of	of	ADP
ap-1618	246	18	test	test	NOUN
ap-1618	246	19	because	because	SCONJ
ap-1618	246	20	it	it	PRON
ap-1618	246	21	is	be	AUX
ap-1618	246	22	hard	hard	ADJ
ap-1618	246	23	to	to	PART
ap-1618	246	24	reproduce	reproduce	VERB
ap-1618	246	25	the	the	DET
ap-1618	246	26	detailed	detailed	ADJ
ap-1618	246	27	time	time	NOUN
ap-1618	246	28	-	-	PUNCT
ap-1618	246	29	course	course	NOUN
ap-1618	246	30	of	of	ADP
ap-1618	246	31	the	the	DET
ap-1618	246	32	disturbance	disturbance	NOUN
ap-1618	246	33	input	input	NOUN
ap-1618	246	34	within	within	ADP
ap-1618	246	35	the	the	DET
ap-1618	246	36	simulation	simulation	NOUN
ap-1618	246	37	.	.	PUNCT
ap-1618	247	1	figures	figure	NOUN
ap-1618	247	2	18a	18a	NOUN
ap-1618	247	3	and	and	CCONJ
ap-1618	247	4	18b	18b	NUM
ap-1618	247	5	show	show	VERB
ap-1618	247	6	typical	typical	ADJ
ap-1618	247	7	simulation	simulation	NOUN
ap-1618	247	8	results	result	NOUN
ap-1618	247	9	for	for	ADP
ap-1618	247	10	disturbance	disturbance	NOUN
ap-1618	247	11	tests	test	NOUN
ap-1618	247	12	which	which	PRON
ap-1618	247	13	are	be	AUX
ap-1618	247	14	approximately	approximately	ADV
ap-1618	247	15	equivalent	equivalent	ADJ
ap-1618	247	16	to	to	ADP
ap-1618	247	17	the	the	DET
ap-1618	247	18	experiments	experiment	NOUN
ap-1618	247	19	of	of	ADP
ap-1618	247	20	figure	figure	NOUN
ap-1618	247	21	17	17	NUM
ap-1618	247	22	.	.	PUNCT
ap-1618	248	1	the	the	DET
ap-1618	248	2	experimental	experimental	ADJ
ap-1618	248	3	and	and	CCONJ
ap-1618	248	4	simulation	simulation	NOUN
ap-1618	248	5	results	result	NOUN
ap-1618	248	6	are	be	AUX
ap-1618	248	7	seen	see	VERB
ap-1618	248	8	to	to	PART
ap-1618	248	9	be	be	AUX
ap-1618	248	10	qualitatively	qualitatively	ADV
ap-1618	248	11	consistent	consistent	ADJ
ap-1618	248	12	.	.	PUNCT
ap-1618	249	1	5.3	5.3	NUM
ap-1618	249	2	results	result	NOUN
ap-1618	249	3	of	of	ADP
ap-1618	249	4	additional	additional	ADJ
ap-1618	249	5	simulation	simulation	NOUN
ap-1618	249	6	-	-	PUNCT
ap-1618	249	7	based	base	VERB
ap-1618	249	8	investigations	investigation	NOUN
ap-1618	249	9	one	one	NUM
ap-1618	249	10	interesting	interesting	ADJ
ap-1618	249	11	practical	practical	ADJ
ap-1618	249	12	finding	finding	NOUN
ap-1618	249	13	,	,	PUNCT
ap-1618	249	14	which	which	PRON
ap-1618	249	15	has	have	AUX
ap-1618	249	16	been	be	AUX
ap-1618	249	17	fully	fully	ADV
ap-1618	249	18	supported	support	VERB
ap-1618	249	19	by	by	ADP
ap-1618	249	20	simulation	simulation	NOUN
ap-1618	249	21	results	result	NOUN
ap-1618	249	22	,	,	PUNCT
ap-1618	249	23	is	be	AUX
ap-1618	249	24	that	that	DET
ap-1618	249	25	control	control	NOUN
ap-1618	249	26	of	of	ADP
ap-1618	249	27	the	the	DET
ap-1618	249	28	level	level	NOUN
ap-1618	249	29	in	in	ADP
ap-1618	249	30	tank	tank	NOUN
ap-1618	249	31	1	1	NUM
ap-1618	249	32	can	can	AUX
ap-1618	249	33	only	only	ADV
ap-1618	249	34	be	be	AUX
ap-1618	249	35	achieved	achieve	VERB
ap-1618	249	36	for	for	ADP
ap-1618	249	37	conditions	condition	NOUN
ap-1618	249	38	in	in	ADP
ap-1618	249	39	which	which	PRON
ap-1618	249	40	the	the	DET
ap-1618	249	41	demanded	demand	VERB
ap-1618	249	42	level	level	NOUN
ap-1618	249	43	in	in	ADP
ap-1618	249	44	tank	tank	NOUN
ap-1618	249	45	1	1	NUM
ap-1618	249	46	is	be	AUX
ap-1618	249	47	equal	equal	ADJ
ap-1618	249	48	to	to	ADP
ap-1618	249	49	or	or	CCONJ
ap-1618	249	50	greater	great	ADJ
ap-1618	249	51	than	than	ADP
ap-1618	249	52	that	that	PRON
ap-1618	249	53	in	in	ADP
ap-1618	249	54	tank	tank	NOUN
ap-1618	249	55	2	2	NUM
ap-1618	249	56	.	.	PUNCT
ap-1618	250	1	this	this	PRON
ap-1618	250	2	is	be	AUX
ap-1618	250	3	understandable	understandable	ADJ
ap-1618	250	4	in	in	ADP
ap-1618	250	5	terms	term	NOUN
ap-1618	250	6	of	of	ADP
ap-1618	250	7	the	the	DET
ap-1618	250	8	physics	physics	NOUN
ap-1618	250	9	of	of	ADP
ap-1618	250	10	the	the	DET
ap-1618	250	11	system	system	NOUN
ap-1618	250	12	since	since	SCONJ
ap-1618	250	13	tank	tank	NOUN
ap-1618	250	14	1	1	NUM
ap-1618	250	15	has	have	VERB
ap-1618	250	16	only	only	ADV
ap-1618	250	17	one	one	NUM
ap-1618	250	18	outlet	outlet	NOUN
ap-1618	250	19	(	(	PUNCT
ap-1618	250	20	to	to	ADP
ap-1618	250	21	the	the	DET
ap-1618	250	22	second	second	ADJ
ap-1618	250	23	tank	tank	NOUN
ap-1618	250	24	)	)	PUNCT
ap-1618	250	25	,	,	PUNCT
ap-1618	250	26	whereas	whereas	SCONJ
ap-1618	250	27	tank	tank	NOUN
ap-1618	250	28	2	2	NUM
ap-1618	250	29	has	have	VERB
ap-1618	250	30	two	two	NUM
ap-1618	250	31	outlets	outlet	NOUN
ap-1618	250	32	(	(	PUNCT
ap-1618	250	33	one	one	NUM
ap-1618	250	34	to	to	ADP
ap-1618	250	35	the	the	DET
ap-1618	250	36	first	first	ADJ
ap-1618	250	37	tank	tank	NOUN
ap-1618	250	38	and	and	CCONJ
ap-1618	250	39	the	the	DET
ap-1618	250	40	second	second	ADJ
ap-1618	250	41	through	through	ADP
ap-1618	250	42	the	the	DET
ap-1618	250	43	drain	drain	NOUN
ap-1618	250	44	pipe	pipe	NOUN
ap-1618	250	45	)	)	PUNCT
ap-1618	250	46	.	.	PUNCT
ap-1618	251	1	if	if	SCONJ
ap-1618	251	2	the	the	DET
ap-1618	251	3	demanded	demand	VERB
ap-1618	251	4	value	value	NOUN
ap-1618	251	5	of	of	ADP
ap-1618	251	6	h2	h2	NOUN
ap-1618	251	7	is	be	AUX
ap-1618	251	8	greater	great	ADJ
ap-1618	251	9	than	than	ADP
ap-1618	251	10	the	the	DET
ap-1618	251	11	demanded	demand	VERB
ap-1618	251	12	level	level	NOUN
ap-1618	251	13	of	of	ADP
ap-1618	251	14	h1	h1	NOUN
ap-1618	251	15	,	,	PUNCT
ap-1618	251	16	liquid	liquid	NOUN
ap-1618	251	17	will	will	AUX
ap-1618	251	18	flow	flow	VERB
ap-1618	251	19	into	into	ADP
ap-1618	251	20	tank	tank	NOUN
ap-1618	251	21	1	1	NUM
ap-1618	251	22	from	from	ADP
ap-1618	251	23	tank	tank	NOUN
ap-1618	251	24	2	2	NUM
ap-1618	251	25	as	as	ADV
ap-1618	251	26	well	well	ADV
ap-1618	251	27	as	as	ADP
ap-1618	251	28	from	from	ADP
ap-1618	251	29	the	the	DET
ap-1618	251	30	input	input	NOUN
ap-1618	251	31	but	but	CCONJ
ap-1618	251	32	no	no	DET
ap-1618	251	33	liquid	liquid	NOUN
ap-1618	251	34	will	will	AUX
ap-1618	251	35	flow	flow	VERB
ap-1618	251	36	out	out	ADP
ap-1618	251	37	.	.	PUNCT
ap-1618	252	1	since	since	SCONJ
ap-1618	252	2	the	the	DET
ap-1618	252	3	input	input	NOUN
ap-1618	252	4	flow	flow	NOUN
ap-1618	252	5	can	can	AUX
ap-1618	252	6	not	not	PART
ap-1618	252	7	become	become	VERB
ap-1618	252	8	negative	negative	ADJ
ap-1618	252	9	,	,	PUNCT
ap-1618	252	10	satisfactory	satisfactory	ADJ
ap-1618	252	11	control	control	NOUN
ap-1618	252	12	of	of	ADP
ap-1618	252	13	the	the	DET
ap-1618	252	14	level	level	NOUN
ap-1618	252	15	in	in	ADP
ap-1618	252	16	tank	tank	NOUN
ap-1618	252	17	1	1	NUM
ap-1618	252	18	is	be	AUX
ap-1618	252	19	impossible	impossible	ADJ
ap-1618	252	20	in	in	ADP
ap-1618	252	21	these	these	DET
ap-1618	252	22	conditions	condition	NOUN
ap-1618	252	23	.	.	PUNCT
ap-1618	253	1	typical	typical	ADJ
ap-1618	253	2	experimental	experimental	ADJ
ap-1618	253	3	results	result	NOUN
ap-1618	253	4	are	be	AUX
ap-1618	253	5	shown	show	VERB
ap-1618	253	6	in	in	ADP
ap-1618	253	7	figure	figure	NOUN
ap-1618	253	8	19	19	NUM
ap-1618	253	9	and	and	CCONJ
ap-1618	253	10	these	these	DET
ap-1618	253	11	demonstrate	demonstrate	NOUN
ap-1618	253	12	,	,	PUNCT
ap-1618	253	13	in	in	ADP
ap-1618	253	14	this	this	DET
ap-1618	253	15	specific	specific	ADJ
ap-1618	253	16	case	case	NOUN
ap-1618	253	17	,	,	PUNCT
ap-1618	253	18	that	that	SCONJ
ap-1618	253	19	a	a	DET
ap-1618	253	20	demanded	demand	VERB
ap-1618	253	21	level	level	NOUN
ap-1618	253	22	of	of	ADP
ap-1618	253	23	0.105	0.105	NUM
ap-1618	253	24	m	m	NOUN
ap-1618	253	25	in	in	ADP
ap-1618	253	26	tank	tank	NOUN
ap-1618	253	27	1	1	NUM
ap-1618	253	28	can	can	AUX
ap-1618	253	29	not	not	PART
ap-1618	253	30	be	be	AUX
ap-1618	253	31	achieved	achieve	VERB
ap-1618	253	32	in	in	ADP
ap-1618	253	33	combination	combination	NOUN
ap-1618	253	34	with	with	ADP
ap-1618	253	35	a	a	DET
ap-1618	253	36	larger	large	ADJ
ap-1618	253	37	demanded	demand	VERB
ap-1618	253	38	level	level	NOUN
ap-1618	253	39	(	(	PUNCT
ap-1618	253	40	in	in	ADP
ap-1618	253	41	this	this	DET
ap-1618	253	42	case	case	NOUN
ap-1618	253	43	0.131	0.131	NUM
ap-1618	253	44	m	m	NOUN
ap-1618	253	45	)	)	PUNCT
ap-1618	253	46	in	in	ADP
ap-1618	253	47	tank	tank	NOUN
ap-1618	253	48	2	2	NUM
ap-1618	253	49	.	.	PUNCT
ap-1618	254	1	what	what	PRON
ap-1618	254	2	131	131	NUM
ap-1618	254	3	acta	acta	PROPN
ap-1618	254	4	polytechnica	polytechnica	PROPN
ap-1618	254	5	vol	vol	NOUN
ap-1618	254	6	.	.	PROPN
ap-1618	255	1	52	52	NUM
ap-1618	255	2	no	no	NOUN
ap-1618	255	3	.	.	PUNCT
ap-1618	256	1	4/2012	4/2012	NOUN
ap-1618	256	2	happens	happen	VERB
ap-1618	256	3	in	in	ADP
ap-1618	256	4	practice	practice	NOUN
ap-1618	256	5	is	be	AUX
ap-1618	256	6	that	that	SCONJ
ap-1618	256	7	the	the	DET
ap-1618	256	8	final	final	ADJ
ap-1618	256	9	levels	level	NOUN
ap-1618	256	10	in	in	ADP
ap-1618	256	11	both	both	DET
ap-1618	256	12	tanks	tank	NOUN
ap-1618	256	13	become	become	VERB
ap-1618	256	14	equal	equal	ADJ
ap-1618	256	15	to	to	ADP
ap-1618	256	16	the	the	DET
ap-1618	256	17	final	final	ADJ
ap-1618	256	18	demanded	demand	VERB
ap-1618	256	19	level	level	NOUN
ap-1618	256	20	in	in	ADP
ap-1618	256	21	tank	tank	NOUN
ap-1618	256	22	2	2	NUM
ap-1618	256	23	.	.	PUNCT
ap-1618	256	24	figure	figure	NOUN
ap-1618	256	25	20	20	NUM
ap-1618	256	26	shows	show	NOUN
ap-1618	256	27	results	result	NOUN
ap-1618	256	28	obtained	obtain	VERB
ap-1618	256	29	from	from	ADP
ap-1618	256	30	simulation	simulation	NOUN
ap-1618	256	31	for	for	ADP
ap-1618	256	32	a	a	DET
ap-1618	256	33	very	very	ADV
ap-1618	256	34	similar	similar	ADJ
ap-1618	256	35	set	set	NOUN
ap-1618	256	36	of	of	ADP
ap-1618	256	37	conditions	condition	NOUN
ap-1618	256	38	.	.	PUNCT
ap-1618	257	1	simulation	simulation	NOUN
ap-1618	257	2	investigations	investigation	NOUN
ap-1618	257	3	have	have	AUX
ap-1618	257	4	confirmed	confirm	VERB
ap-1618	257	5	that	that	SCONJ
ap-1618	257	6	the	the	DET
ap-1618	257	7	addition	addition	NOUN
ap-1618	257	8	of	of	ADP
ap-1618	257	9	a	a	DET
ap-1618	257	10	drain	drain	NOUN
ap-1618	257	11	pipe	pipe	NOUN
ap-1618	257	12	to	to	ADP
ap-1618	257	13	the	the	DET
ap-1618	257	14	first	first	ADJ
ap-1618	257	15	tank	tank	NOUN
ap-1618	257	16	eliminates	eliminate	VERB
ap-1618	257	17	this	this	DET
ap-1618	257	18	problem	problem	NOUN
ap-1618	257	19	and	and	CCONJ
ap-1618	257	20	would	would	AUX
ap-1618	257	21	allow	allow	VERB
ap-1618	257	22	independent	independent	ADJ
ap-1618	257	23	control	control	NOUN
ap-1618	257	24	of	of	ADP
ap-1618	257	25	the	the	DET
ap-1618	257	26	two	two	NUM
ap-1618	257	27	levels	level	NOUN
ap-1618	257	28	for	for	ADP
ap-1618	257	29	any	any	DET
ap-1618	257	30	combination	combination	NOUN
ap-1618	257	31	of	of	ADP
ap-1618	257	32	reference	reference	NOUN
ap-1618	257	33	values	value	NOUN
ap-1618	257	34	.	.	PUNCT
ap-1618	258	1	figure	figure	VERB
ap-1618	258	2	19	19	NUM
ap-1618	258	3	:	:	PUNCT
ap-1618	258	4	levels	level	NOUN
ap-1618	258	5	(	(	PUNCT
ap-1618	258	6	m	m	NOUN
ap-1618	258	7	)	)	PUNCT
ap-1618	258	8	found	find	VERB
ap-1618	258	9	in	in	ADP
ap-1618	258	10	tank	tank	NOUN
ap-1618	258	11	1	1	NUM
ap-1618	258	12	(	(	PUNCT
ap-1618	258	13	continuous	continuous	ADJ
ap-1618	258	14	line	line	NOUN
ap-1618	258	15	)	)	PUNCT
ap-1618	258	16	and	and	CCONJ
ap-1618	258	17	tank	tank	NOUN
ap-1618	258	18	2	2	NUM
ap-1618	258	19	(	(	PUNCT
ap-1618	258	20	dashed	dash	VERB
ap-1618	258	21	line	line	NOUN
ap-1618	258	22	)	)	PUNCT
ap-1618	258	23	for	for	ADP
ap-1618	258	24	a	a	DET
ap-1618	258	25	demanded	demand	VERB
ap-1618	258	26	change	change	NOUN
ap-1618	258	27	of	of	ADP
ap-1618	258	28	the	the	DET
ap-1618	258	29	reference	reference	NOUN
ap-1618	258	30	for	for	ADP
ap-1618	258	31	channel	channel	NOUN
ap-1618	258	32	1	1	NUM
ap-1618	258	33	from	from	ADP
ap-1618	258	34	0.082	0.082	NUM
ap-1618	258	35	m	m	NOUN
ap-1618	258	36	to	to	ADP
ap-1618	258	37	0.105	0.105	NUM
ap-1618	258	38	m	m	NOUN
ap-1618	258	39	and	and	CCONJ
ap-1618	258	40	for	for	ADP
ap-1618	258	41	channel	channel	NOUN
ap-1618	258	42	2	2	NUM
ap-1618	258	43	from	from	ADP
ap-1618	258	44	0.048	0.048	NUM
ap-1618	258	45	m	m	NOUN
ap-1618	258	46	to	to	ADP
ap-1618	258	47	0.131	0.131	NUM
ap-1618	258	48	m.	m.	NOUN
ap-1618	258	49	the	the	DET
ap-1618	258	50	horizontal	horizontal	ADJ
ap-1618	258	51	axis	axis	NOUN
ap-1618	258	52	represents	represent	VERB
ap-1618	258	53	time	time	NOUN
ap-1618	258	54	(	(	PUNCT
ap-1618	258	55	s	s	NOUN
ap-1618	258	56	)	)	PUNCT
ap-1618	258	57	figure	figure	NOUN
ap-1618	258	58	20	20	NUM
ap-1618	258	59	:	:	PUNCT
ap-1618	258	60	simulated	simulate	VERB
ap-1618	258	61	results	result	NOUN
ap-1618	258	62	for	for	ADP
ap-1618	258	63	a	a	DET
ap-1618	258	64	test	test	NOUN
ap-1618	258	65	which	which	PRON
ap-1618	258	66	involves	involve	VERB
ap-1618	258	67	conditions	condition	NOUN
ap-1618	258	68	which	which	PRON
ap-1618	258	69	are	be	AUX
ap-1618	258	70	very	very	ADV
ap-1618	258	71	similar	similar	ADJ
ap-1618	258	72	to	to	ADP
ap-1618	258	73	those	those	PRON
ap-1618	258	74	of	of	ADP
ap-1618	258	75	the	the	DET
ap-1618	258	76	experiment	experiment	NOUN
ap-1618	258	77	of	of	ADP
ap-1618	258	78	figure	figure	NOUN
ap-1618	258	79	16	16	NUM
ap-1618	258	80	.	.	PUNCT
ap-1618	259	1	in	in	ADP
ap-1618	259	2	this	this	DET
ap-1618	259	3	case	case	NOUN
ap-1618	259	4	,	,	PUNCT
ap-1618	259	5	following	follow	VERB
ap-1618	259	6	the	the	DET
ap-1618	259	7	step	step	NOUN
ap-1618	259	8	changes	change	NOUN
ap-1618	259	9	of	of	ADP
ap-1618	259	10	reference	reference	NOUN
ap-1618	259	11	inputs	input	NOUN
ap-1618	259	12	,	,	PUNCT
ap-1618	259	13	the	the	DET
ap-1618	259	14	demanded	demand	VERB
ap-1618	259	15	level	level	NOUN
ap-1618	259	16	in	in	ADP
ap-1618	259	17	tank	tank	NOUN
ap-1618	259	18	2	2	NUM
ap-1618	259	19	is	be	AUX
ap-1618	259	20	again	again	ADV
ap-1618	259	21	greater	great	ADJ
ap-1618	259	22	(	(	PUNCT
ap-1618	259	23	0.131	0.131	NUM
ap-1618	259	24	m	m	NOUN
ap-1618	259	25	)	)	PUNCT
ap-1618	259	26	than	than	ADP
ap-1618	259	27	the	the	DET
ap-1618	259	28	demanded	demand	VERB
ap-1618	259	29	level	level	NOUN
ap-1618	259	30	in	in	ADP
ap-1618	259	31	tank	tank	NOUN
ap-1618	259	32	1	1	NUM
ap-1618	259	33	(	(	PUNCT
ap-1618	259	34	105	105	NUM
ap-1618	259	35	mm	mm	NOUN
ap-1618	259	36	)	)	PUNCT
ap-1618	259	37	.	.	PUNCT
ap-1618	260	1	here	here	ADV
ap-1618	260	2	the	the	DET
ap-1618	260	3	continuous	continuous	ADJ
ap-1618	260	4	line	line	NOUN
ap-1618	260	5	again	again	ADV
ap-1618	260	6	represents	represent	VERB
ap-1618	260	7	the	the	DET
ap-1618	260	8	liquid	liquid	ADJ
ap-1618	260	9	level	level	NOUN
ap-1618	260	10	in	in	ADP
ap-1618	260	11	tank	tank	NOUN
ap-1618	260	12	1	1	NUM
ap-1618	260	13	and	and	CCONJ
ap-1618	260	14	the	the	DET
ap-1618	260	15	dashed	dash	VERB
ap-1618	260	16	line	line	NOUN
ap-1618	260	17	the	the	DET
ap-1618	260	18	level	level	NOUN
ap-1618	260	19	in	in	ADP
ap-1618	260	20	tank	tank	NOUN
ap-1618	260	21	2	2	NUM
ap-1618	260	22	.	.	PUNCT
ap-1618	261	1	the	the	DET
ap-1618	261	2	horizontal	horizontal	ADJ
ap-1618	261	3	axis	axis	NOUN
ap-1618	261	4	represents	represent	VERB
ap-1618	261	5	time	time	NOUN
ap-1618	261	6	(	(	PUNCT
ap-1618	261	7	s	s	NOUN
ap-1618	261	8	)	)	PUNCT
ap-1618	261	9	another	another	DET
ap-1618	261	10	area	area	NOUN
ap-1618	261	11	for	for	ADP
ap-1618	261	12	further	further	ADJ
ap-1618	261	13	investigation	investigation	NOUN
ap-1618	261	14	through	through	ADP
ap-1618	261	15	simulation	simulation	NOUN
ap-1618	261	16	relates	relate	VERB
ap-1618	261	17	to	to	ADP
ap-1618	261	18	tests	test	NOUN
ap-1618	261	19	of	of	ADP
ap-1618	261	20	robustness	robustness	NOUN
ap-1618	261	21	to	to	ADP
ap-1618	261	22	changes	change	NOUN
ap-1618	261	23	within	within	ADP
ap-1618	261	24	the	the	DET
ap-1618	261	25	plant	plant	NOUN
ap-1618	261	26	.	.	PUNCT
ap-1618	262	1	these	these	PRON
ap-1618	262	2	have	have	AUX
ap-1618	262	3	involved	involve	VERB
ap-1618	262	4	,	,	PUNCT
ap-1618	262	5	for	for	ADP
ap-1618	262	6	example	example	NOUN
ap-1618	262	7	,	,	PUNCT
ap-1618	262	8	the	the	DET
ap-1618	262	9	introduction	introduction	NOUN
ap-1618	262	10	of	of	ADP
ap-1618	262	11	sudden	sudden	ADJ
ap-1618	262	12	changes	change	NOUN
ap-1618	262	13	of	of	ADP
ap-1618	262	14	the	the	DET
ap-1618	262	15	crosssectional	crosssectional	ADJ
ap-1618	262	16	area	area	NOUN
ap-1618	262	17	of	of	ADP
ap-1618	262	18	the	the	DET
ap-1618	262	19	outlet	outlet	NOUN
ap-1618	262	20	drain	drain	PROPN
ap-1618	262	21	orifice	orifice	NOUN
ap-1618	262	22	,	,	PUNCT
ap-1618	262	23	or	or	CCONJ
ap-1618	262	24	of	of	ADP
ap-1618	262	25	the	the	DET
ap-1618	262	26	cross	cross	ADJ
ap-1618	262	27	-	-	ADJ
ap-1618	262	28	sectional	sectional	ADJ
ap-1618	262	29	area	area	NOUN
ap-1618	262	30	of	of	ADP
ap-1618	262	31	the	the	DET
ap-1618	262	32	orifice	orifice	NOUN
ap-1618	262	33	responsible	responsible	ADJ
ap-1618	262	34	for	for	ADP
ap-1618	262	35	the	the	DET
ap-1618	262	36	coupling	coupling	NOUN
ap-1618	262	37	between	between	ADP
ap-1618	262	38	tank	tank	NOUN
ap-1618	262	39	1	1	NUM
ap-1618	262	40	and	and	CCONJ
ap-1618	262	41	tank	tank	NOUN
ap-1618	262	42	2	2	NUM
ap-1618	262	43	.	.	PUNCT
ap-1618	262	44	experimental	experimental	ADJ
ap-1618	262	45	testing	testing	NOUN
ap-1618	262	46	is	be	AUX
ap-1618	262	47	straightforward	straightforward	ADJ
ap-1618	262	48	in	in	ADP
ap-1618	262	49	the	the	DET
ap-1618	262	50	case	case	NOUN
ap-1618	262	51	of	of	ADP
ap-1618	262	52	the	the	DET
ap-1618	262	53	outlet	outlet	NOUN
ap-1618	262	54	from	from	ADP
ap-1618	262	55	tank	tank	NOUN
ap-1618	262	56	2	2	NUM
ap-1618	262	57	,	,	PUNCT
ap-1618	262	58	for	for	ADP
ap-1618	262	59	which	which	PRON
ap-1618	262	60	the	the	DET
ap-1618	262	61	drain	drain	NOUN
ap-1618	262	62	tap	tap	NOUN
ap-1618	262	63	can	can	AUX
ap-1618	262	64	be	be	AUX
ap-1618	262	65	used	use	VERB
ap-1618	262	66	,	,	PUNCT
ap-1618	262	67	but	but	CCONJ
ap-1618	262	68	investigation	investigation	NOUN
ap-1618	262	69	of	of	ADP
ap-1618	262	70	changes	change	NOUN
ap-1618	262	71	of	of	ADP
ap-1618	262	72	the	the	DET
ap-1618	262	73	inter	inter	ADJ
ap-1618	262	74	-	-	ADJ
ap-1618	262	75	tank	tank	ADJ
ap-1618	262	76	orifice	orifice	NOUN
ap-1618	262	77	area	area	NOUN
ap-1618	262	78	presents	present	VERB
ap-1618	262	79	practical	practical	ADJ
ap-1618	262	80	difficulties	difficulty	NOUN
ap-1618	262	81	since	since	SCONJ
ap-1618	262	82	the	the	DET
ap-1618	262	83	variation	variation	NOUN
ap-1618	262	84	of	of	ADP
ap-1618	262	85	cross	cross	ADJ
ap-1618	262	86	-	-	ADJ
ap-1618	262	87	sectional	sectional	ADJ
ap-1618	262	88	area	area	NOUN
ap-1618	262	89	normally	normally	ADV
ap-1618	262	90	requires	require	VERB
ap-1618	262	91	the	the	DET
ap-1618	262	92	removal	removal	NOUN
ap-1618	262	93	or	or	CCONJ
ap-1618	262	94	insertion	insertion	NOUN
ap-1618	262	95	of	of	ADP
ap-1618	262	96	a	a	DET
ap-1618	262	97	rubber	rubber	NOUN
ap-1618	262	98	bung	bung	NOUN
ap-1618	262	99	for	for	ADP
ap-1618	262	100	one	one	NUM
ap-1618	262	101	of	of	ADP
ap-1618	262	102	the	the	DET
ap-1618	262	103	three	three	NUM
ap-1618	262	104	orifices	orifice	NOUN
ap-1618	262	105	in	in	ADP
ap-1618	262	106	the	the	DET
ap-1618	262	107	partition	partition	NOUN
ap-1618	262	108	that	that	PRON
ap-1618	262	109	separates	separate	VERB
ap-1618	262	110	the	the	DET
ap-1618	262	111	two	two	NUM
ap-1618	262	112	tanks	tank	NOUN
ap-1618	262	113	.	.	PUNCT
ap-1618	263	1	even	even	ADV
ap-1618	263	2	partial	partial	ADJ
ap-1618	263	3	closing	closing	NOUN
ap-1618	263	4	and	and	CCONJ
ap-1618	263	5	re	re	NOUN
ap-1618	263	6	-	-	NOUN
ap-1618	263	7	opening	opening	NOUN
ap-1618	263	8	of	of	ADP
ap-1618	263	9	the	the	DET
ap-1618	263	10	outlet	outlet	NOUN
ap-1618	263	11	drain	drain	NOUN
ap-1618	263	12	tap	tap	NOUN
ap-1618	263	13	is	be	AUX
ap-1618	263	14	difficult	difficult	ADJ
ap-1618	263	15	to	to	PART
ap-1618	263	16	achieve	achieve	VERB
ap-1618	263	17	manually	manually	ADV
ap-1618	263	18	in	in	ADP
ap-1618	263	19	a	a	DET
ap-1618	263	20	precise	precise	ADJ
ap-1618	263	21	and	and	CCONJ
ap-1618	263	22	repeatable	repeatable	ADJ
ap-1618	263	23	fashion	fashion	NOUN
ap-1618	263	24	.	.	PUNCT
ap-1618	264	1	simulation	simulation	NOUN
ap-1618	264	2	can	can	AUX
ap-1618	264	3	therefore	therefore	ADV
ap-1618	264	4	be	be	AUX
ap-1618	264	5	used	use	VERB
ap-1618	264	6	to	to	PART
ap-1618	264	7	advantage	advantage	VERB
ap-1618	264	8	to	to	PART
ap-1618	264	9	investigate	investigate	VERB
ap-1618	264	10	the	the	DET
ap-1618	264	11	performance	performance	NOUN
ap-1618	264	12	of	of	ADP
ap-1618	264	13	the	the	DET
ap-1618	264	14	system	system	NOUN
ap-1618	264	15	for	for	ADP
ap-1618	264	16	this	this	DET
ap-1618	264	17	type	type	NOUN
ap-1618	264	18	of	of	ADP
ap-1618	264	19	change	change	NOUN
ap-1618	264	20	.	.	PUNCT
ap-1618	265	1	figure	figure	NOUN
ap-1618	265	2	21	21	NUM
ap-1618	265	3	:	:	PUNCT
ap-1618	265	4	results	result	NOUN
ap-1618	265	5	of	of	ADP
ap-1618	265	6	an	an	DET
ap-1618	265	7	experiment	experiment	NOUN
ap-1618	265	8	involving	involve	VERB
ap-1618	265	9	partial	partial	ADJ
ap-1618	265	10	closure	closure	NOUN
ap-1618	265	11	and	and	CCONJ
ap-1618	265	12	re	re	NOUN
ap-1618	265	13	-	-	NOUN
ap-1618	265	14	opening	opening	NOUN
ap-1618	265	15	of	of	ADP
ap-1618	265	16	the	the	DET
ap-1618	265	17	drain	drain	NOUN
ap-1618	265	18	tap	tap	NOUN
ap-1618	265	19	from	from	ADP
ap-1618	265	20	tank	tank	NOUN
ap-1618	265	21	2	2	NUM
ap-1618	265	22	.	.	PUNCT
ap-1618	266	1	the	the	DET
ap-1618	266	2	action	action	NOUN
ap-1618	266	3	of	of	ADP
ap-1618	266	4	closure	closure	NOUN
ap-1618	266	5	occurs	occur	VERB
ap-1618	266	6	at	at	ADP
ap-1618	266	7	about	about	ADP
ap-1618	266	8	t	t	NOUN
ap-1618	266	9	=	=	SYM
ap-1618	266	10	60	60	NUM
ap-1618	266	11	s	s	NOUN
ap-1618	266	12	and	and	CCONJ
ap-1618	266	13	the	the	DET
ap-1618	266	14	re	re	ADJ
ap-1618	266	15	-	-	NOUN
ap-1618	266	16	opening	opening	ADJ
ap-1618	266	17	takes	take	VERB
ap-1618	266	18	place	place	NOUN
ap-1618	266	19	at	at	ADP
ap-1618	266	20	about	about	ADP
ap-1618	266	21	t	t	NOUN
ap-1618	266	22	=	=	SYM
ap-1618	266	23	150	150	NUM
ap-1618	266	24	s.	s.	NOUN
ap-1618	266	25	the	the	DET
ap-1618	266	26	continuous	continuous	ADJ
ap-1618	266	27	line	line	NOUN
ap-1618	266	28	shows	show	VERB
ap-1618	266	29	the	the	DET
ap-1618	266	30	level	level	NOUN
ap-1618	266	31	(	(	PUNCT
ap-1618	266	32	m	m	NOUN
ap-1618	266	33	)	)	PUNCT
ap-1618	266	34	in	in	ADP
ap-1618	266	35	tank	tank	NOUN
ap-1618	266	36	1	1	NUM
ap-1618	266	37	and	and	CCONJ
ap-1618	266	38	the	the	DET
ap-1618	266	39	dashed	dash	VERB
ap-1618	266	40	line	line	NOUN
ap-1618	266	41	represents	represent	VERB
ap-1618	266	42	the	the	DET
ap-1618	266	43	level	level	NOUN
ap-1618	266	44	(	(	PUNCT
ap-1618	266	45	m	m	NOUN
ap-1618	266	46	)	)	PUNCT
ap-1618	266	47	in	in	ADP
ap-1618	266	48	tank	tank	NOUN
ap-1618	266	49	2	2	NUM
ap-1618	266	50	.	.	PUNCT
ap-1618	267	1	the	the	DET
ap-1618	267	2	horizontal	horizontal	ADJ
ap-1618	267	3	axis	axis	NOUN
ap-1618	267	4	represents	represent	VERB
ap-1618	267	5	time	time	NOUN
ap-1618	267	6	(	(	PUNCT
ap-1618	267	7	s	s	NOUN
ap-1618	267	8	)	)	PUNCT
ap-1618	267	9	figure	figure	NOUN
ap-1618	267	10	22	22	NUM
ap-1618	267	11	:	:	PUNCT
ap-1618	267	12	results	result	VERB
ap-1618	267	13	from	from	ADP
ap-1618	267	14	a	a	DET
ap-1618	267	15	simulation	simulation	NOUN
ap-1618	267	16	involving	involve	VERB
ap-1618	267	17	instantaneous	instantaneous	ADJ
ap-1618	267	18	changes	change	NOUN
ap-1618	267	19	of	of	ADP
ap-1618	267	20	the	the	DET
ap-1618	267	21	cross	cross	ADJ
ap-1618	267	22	-	-	ADJ
ap-1618	267	23	sectional	sectional	ADJ
ap-1618	267	24	area	area	NOUN
ap-1618	267	25	of	of	ADP
ap-1618	267	26	the	the	DET
ap-1618	267	27	orifice	orifice	NOUN
ap-1618	267	28	representing	represent	VERB
ap-1618	267	29	the	the	DET
ap-1618	267	30	drain	drain	NOUN
ap-1618	267	31	tap	tap	NOUN
ap-1618	267	32	from	from	ADP
ap-1618	267	33	tank	tank	NOUN
ap-1618	267	34	2	2	NUM
ap-1618	267	35	.	.	PUNCT
ap-1618	267	36	partial	partial	ADJ
ap-1618	267	37	closure	closure	NOUN
ap-1618	267	38	occurs	occur	VERB
ap-1618	267	39	at	at	ADP
ap-1618	267	40	t	t	NOUN
ap-1618	267	41	=	=	NUM
ap-1618	268	1	100	100	NUM
ap-1618	268	2	s	s	NOUN
ap-1618	268	3	and	and	CCONJ
ap-1618	268	4	the	the	DET
ap-1618	268	5	re	re	ADJ
ap-1618	268	6	-	-	NOUN
ap-1618	268	7	opening	opening	ADJ
ap-1618	268	8	takes	take	VERB
ap-1618	268	9	place	place	NOUN
ap-1618	268	10	at	at	ADP
ap-1618	268	11	t	t	NOUN
ap-1618	268	12	=	=	SYM
ap-1618	268	13	300	300	NUM
ap-1618	268	14	s.	s.	NOUN
ap-1618	268	15	the	the	DET
ap-1618	268	16	continuous	continuous	ADJ
ap-1618	268	17	line	line	NOUN
ap-1618	268	18	shows	show	VERB
ap-1618	268	19	the	the	DET
ap-1618	268	20	level	level	NOUN
ap-1618	268	21	(	(	PUNCT
ap-1618	268	22	m	m	NOUN
ap-1618	268	23	)	)	PUNCT
ap-1618	268	24	in	in	ADP
ap-1618	268	25	tank	tank	NOUN
ap-1618	268	26	1	1	NUM
ap-1618	268	27	and	and	CCONJ
ap-1618	268	28	the	the	DET
ap-1618	268	29	dashed	dash	VERB
ap-1618	268	30	line	line	NOUN
ap-1618	268	31	represents	represent	VERB
ap-1618	268	32	the	the	DET
ap-1618	268	33	level	level	NOUN
ap-1618	268	34	(	(	PUNCT
ap-1618	268	35	m	m	NOUN
ap-1618	268	36	)	)	PUNCT
ap-1618	268	37	in	in	ADP
ap-1618	268	38	tank	tank	NOUN
ap-1618	268	39	2	2	NUM
ap-1618	268	40	132	132	NUM
ap-1618	268	41	acta	acta	PROPN
ap-1618	268	42	polytechnica	polytechnica	PROPN
ap-1618	268	43	vol	vol	NOUN
ap-1618	268	44	.	.	PROPN
ap-1618	269	1	52	52	NUM
ap-1618	269	2	no	no	NOUN
ap-1618	269	3	.	.	PUNCT
ap-1618	270	1	4/2012	4/2012	NOUN
ap-1618	270	2	inevitably	inevitably	ADV
ap-1618	270	3	,	,	PUNCT
ap-1618	270	4	the	the	DET
ap-1618	270	5	results	result	NOUN
ap-1618	270	6	of	of	ADP
ap-1618	270	7	simulation	simulation	NOUN
ap-1618	270	8	tests	test	NOUN
ap-1618	270	9	differ	differ	VERB
ap-1618	270	10	slightly	slightly	ADV
ap-1618	270	11	from	from	ADP
ap-1618	270	12	tests	test	NOUN
ap-1618	270	13	carried	carry	VERB
ap-1618	270	14	out	out	ADP
ap-1618	270	15	on	on	ADP
ap-1618	270	16	the	the	DET
ap-1618	270	17	real	real	ADJ
ap-1618	270	18	system	system	NOUN
ap-1618	270	19	.	.	PUNCT
ap-1618	271	1	typical	typical	ADJ
ap-1618	271	2	experimental	experimental	ADJ
ap-1618	271	3	results	result	NOUN
ap-1618	271	4	showing	show	VERB
ap-1618	271	5	the	the	DET
ap-1618	271	6	effects	effect	NOUN
ap-1618	271	7	of	of	ADP
ap-1618	271	8	changes	change	NOUN
ap-1618	271	9	of	of	ADP
ap-1618	271	10	drain	drain	NOUN
ap-1618	271	11	tap	tap	NOUN
ap-1618	271	12	opening	opening	NOUN
ap-1618	271	13	and	and	CCONJ
ap-1618	271	14	changing	change	VERB
ap-1618	271	15	the	the	DET
ap-1618	271	16	crosssectional	crosssectional	ADJ
ap-1618	271	17	area	area	NOUN
ap-1618	271	18	of	of	ADP
ap-1618	271	19	the	the	DET
ap-1618	271	20	inter	inter	ADJ
ap-1618	271	21	-	-	ADJ
ap-1618	271	22	tank	tank	NOUN
ap-1618	271	23	orifice	orifice	NOUN
ap-1618	271	24	are	be	AUX
ap-1618	271	25	given	give	VERB
ap-1618	271	26	in	in	ADP
ap-1618	271	27	figure	figure	NOUN
ap-1618	271	28	21	21	NUM
ap-1618	271	29	.	.	PUNCT
ap-1618	272	1	results	result	NOUN
ap-1618	272	2	from	from	ADP
ap-1618	272	3	simulation	simulation	NOUN
ap-1618	272	4	,	,	PUNCT
ap-1618	272	5	for	for	ADP
ap-1618	272	6	instantaneous	instantaneous	ADJ
ap-1618	272	7	changes	change	NOUN
ap-1618	272	8	of	of	ADP
ap-1618	272	9	the	the	DET
ap-1618	272	10	cross	cross	ADJ
ap-1618	272	11	-	-	ADJ
ap-1618	272	12	sectional	sectional	ADJ
ap-1618	272	13	area	area	NOUN
ap-1618	272	14	of	of	ADP
ap-1618	272	15	the	the	DET
ap-1618	272	16	orifice	orifice	NOUN
ap-1618	272	17	representing	represent	VERB
ap-1618	272	18	the	the	DET
ap-1618	272	19	drain	drain	NOUN
ap-1618	272	20	-	-	PUNCT
ap-1618	272	21	tap	tap	NOUN
ap-1618	272	22	and	and	CCONJ
ap-1618	272	23	outlet	outlet	NOUN
ap-1618	272	24	pipe	pipe	NOUN
ap-1618	272	25	,	,	PUNCT
ap-1618	272	26	are	be	AUX
ap-1618	272	27	shown	show	VERB
ap-1618	272	28	in	in	ADP
ap-1618	272	29	figure	figure	NOUN
ap-1618	272	30	22	22	NUM
ap-1618	272	31	and	and	CCONJ
ap-1618	272	32	these	these	PRON
ap-1618	272	33	are	be	AUX
ap-1618	272	34	broadly	broadly	ADV
ap-1618	272	35	similar	similar	ADJ
ap-1618	272	36	to	to	ADP
ap-1618	272	37	the	the	DET
ap-1618	272	38	experimental	experimental	ADJ
ap-1618	272	39	findings	finding	NOUN
ap-1618	272	40	of	of	ADP
ap-1618	272	41	figure	figure	NOUN
ap-1618	272	42	21	21	NUM
ap-1618	272	43	.	.	PUNCT
ap-1618	273	1	both	both	CCONJ
ap-1618	273	2	the	the	DET
ap-1618	273	3	simulation	simulation	NOUN
ap-1618	273	4	results	result	NOUN
ap-1618	273	5	and	and	CCONJ
ap-1618	273	6	the	the	DET
ap-1618	273	7	experimental	experimental	ADJ
ap-1618	273	8	findings	finding	NOUN
ap-1618	273	9	confirm	confirm	VERB
ap-1618	273	10	that	that	SCONJ
ap-1618	273	11	the	the	DET
ap-1618	273	12	robustness	robustness	NOUN
ap-1618	273	13	properties	property	NOUN
ap-1618	273	14	of	of	ADP
ap-1618	273	15	the	the	DET
ap-1618	273	16	two	two	NUM
ap-1618	273	17	-	-	PUNCT
ap-1618	273	18	input	input	NOUN
ap-1618	273	19	twooutput	twooutput	NOUN
ap-1618	273	20	control	control	NOUN
ap-1618	273	21	system	system	NOUN
ap-1618	273	22	,	,	PUNCT
ap-1618	273	23	as	as	SCONJ
ap-1618	273	24	displayed	display	VERB
ap-1618	273	25	in	in	ADP
ap-1618	273	26	this	this	DET
ap-1618	273	27	test	test	NOUN
ap-1618	273	28	,	,	PUNCT
ap-1618	273	29	are	be	AUX
ap-1618	273	30	satisfactory	satisfactory	ADJ
ap-1618	273	31	.	.	PUNCT
ap-1618	274	1	transients	transient	NOUN
ap-1618	274	2	for	for	ADP
ap-1618	274	3	tank	tank	NOUN
ap-1618	274	4	2	2	NUM
ap-1618	274	5	are	be	AUX
ap-1618	274	6	significantly	significantly	ADV
ap-1618	274	7	larger	large	ADJ
ap-1618	274	8	than	than	ADP
ap-1618	274	9	for	for	ADP
ap-1618	274	10	tank	tank	NOUN
ap-1618	274	11	1	1	NUM
ap-1618	274	12	as	as	SCONJ
ap-1618	274	13	could	could	AUX
ap-1618	274	14	be	be	AUX
ap-1618	274	15	expected	expect	VERB
ap-1618	274	16	from	from	ADP
ap-1618	274	17	the	the	DET
ap-1618	274	18	bandwidths	bandwidth	NOUN
ap-1618	274	19	of	of	ADP
ap-1618	274	20	the	the	DET
ap-1618	274	21	two	two	NUM
ap-1618	274	22	channels	channel	NOUN
ap-1618	274	23	.	.	PUNCT
ap-1618	275	1	6	6	NUM
ap-1618	275	2	discussion	discussion	NOUN
ap-1618	275	3	and	and	CCONJ
ap-1618	275	4	conclusions	conclusion	NOUN
ap-1618	275	5	the	the	DET
ap-1618	275	6	work	work	NOUN
ap-1618	275	7	reported	report	VERB
ap-1618	275	8	in	in	ADP
ap-1618	275	9	this	this	DET
ap-1618	275	10	paper	paper	NOUN
ap-1618	275	11	illustrates	illustrate	VERB
ap-1618	275	12	the	the	DET
ap-1618	275	13	use	use	NOUN
ap-1618	275	14	of	of	ADP
ap-1618	275	15	the	the	DET
ap-1618	275	16	icad	icad	ADJ
ap-1618	275	17	analysis	analysis	NOUN
ap-1618	275	18	and	and	CCONJ
ap-1618	275	19	design	design	NOUN
ap-1618	275	20	approach	approach	NOUN
ap-1618	275	21	for	for	ADP
ap-1618	275	22	a	a	DET
ap-1618	275	23	practical	practical	ADJ
ap-1618	275	24	application	application	NOUN
ap-1618	275	25	that	that	PRON
ap-1618	275	26	involves	involve	VERB
ap-1618	275	27	significant	significant	ADJ
ap-1618	275	28	nonlinearities	nonlinearitie	NOUN
ap-1618	275	29	in	in	ADP
ap-1618	275	30	terms	term	NOUN
ap-1618	275	31	both	both	PRON
ap-1618	275	32	of	of	ADP
ap-1618	275	33	control	control	NOUN
ap-1618	275	34	input	input	NOUN
ap-1618	275	35	limits	limit	NOUN
ap-1618	275	36	and	and	CCONJ
ap-1618	275	37	inherent	inherent	ADJ
ap-1618	275	38	nonlinearity	nonlinearity	NOUN
ap-1618	275	39	of	of	ADP
ap-1618	275	40	the	the	DET
ap-1618	275	41	plant	plant	NOUN
ap-1618	275	42	model	model	NOUN
ap-1618	275	43	.	.	PUNCT
ap-1618	276	1	analysis	analysis	NOUN
ap-1618	276	2	of	of	ADP
ap-1618	276	3	the	the	DET
ap-1618	276	4	twoinput	twoinput	NOUN
ap-1618	276	5	two	two	NUM
ap-1618	276	6	-	-	PUNCT
ap-1618	276	7	output	output	NOUN
ap-1618	276	8	system	system	NOUN
ap-1618	276	9	within	within	ADP
ap-1618	276	10	the	the	DET
ap-1618	276	11	icad	icad	PROPN
ap-1618	276	12	framework	framework	NOUN
ap-1618	276	13	provides	provide	VERB
ap-1618	276	14	helpful	helpful	ADJ
ap-1618	276	15	insight	insight	NOUN
ap-1618	276	16	which	which	PRON
ap-1618	276	17	can	can	AUX
ap-1618	276	18	be	be	AUX
ap-1618	276	19	used	use	VERB
ap-1618	276	20	in	in	ADP
ap-1618	276	21	the	the	DET
ap-1618	276	22	design	design	NOUN
ap-1618	276	23	and	and	CCONJ
ap-1618	276	24	implementation	implementation	NOUN
ap-1618	276	25	of	of	ADP
ap-1618	276	26	the	the	DET
ap-1618	276	27	control	control	NOUN
ap-1618	276	28	system	system	NOUN
ap-1618	276	29	.	.	PUNCT
ap-1618	277	1	comparisons	comparison	NOUN
ap-1618	277	2	between	between	ADP
ap-1618	277	3	simulation	simulation	NOUN
ap-1618	277	4	and	and	CCONJ
ap-1618	277	5	experimental	experimental	ADJ
ap-1618	277	6	results	result	NOUN
ap-1618	277	7	also	also	ADV
ap-1618	277	8	provide	provide	VERB
ap-1618	277	9	useful	useful	ADJ
ap-1618	277	10	information	information	NOUN
ap-1618	277	11	about	about	ADP
ap-1618	277	12	the	the	DET
ap-1618	277	13	system	system	NOUN
ap-1618	277	14	performance	performance	NOUN
ap-1618	277	15	and	and	CCONJ
ap-1618	277	16	about	about	ADP
ap-1618	277	17	limitations	limitation	NOUN
ap-1618	277	18	of	of	ADP
ap-1618	277	19	the	the	DET
ap-1618	277	20	plant	plant	NOUN
ap-1618	277	21	model	model	NOUN
ap-1618	277	22	.	.	PUNCT
ap-1618	278	1	a	a	DET
ap-1618	278	2	previous	previous	ADJ
ap-1618	278	3	journal	journal	NOUN
ap-1618	278	4	paper	paper	NOUN
ap-1618	278	5	[	[	X
ap-1618	278	6	9	9	NUM
ap-1618	278	7	]	]	PUNCT
ap-1618	278	8	reporting	report	VERB
ap-1618	278	9	the	the	DET
ap-1618	278	10	application	application	NOUN
ap-1618	278	11	of	of	ADP
ap-1618	278	12	the	the	DET
ap-1618	278	13	icad	icad	PROPN
ap-1618	278	14	methodology	methodology	NOUN
ap-1618	278	15	to	to	ADP
ap-1618	278	16	the	the	DET
ap-1618	278	17	same	same	ADJ
ap-1618	278	18	system	system	NOUN
ap-1618	278	19	was	be	AUX
ap-1618	278	20	concerned	concern	VERB
ap-1618	278	21	with	with	ADP
ap-1618	278	22	issues	issue	NOUN
ap-1618	278	23	of	of	ADP
ap-1618	278	24	controller	controller	NOUN
ap-1618	278	25	parameter	parameter	NOUN
ap-1618	278	26	tuning	tuning	NOUN
ap-1618	278	27	and	and	CCONJ
ap-1618	278	28	did	do	AUX
ap-1618	278	29	not	not	PART
ap-1618	278	30	consider	consider	VERB
ap-1618	278	31	the	the	DET
ap-1618	278	32	response	response	NOUN
ap-1618	278	33	to	to	ADP
ap-1618	278	34	disturbances	disturbance	NOUN
ap-1618	278	35	or	or	CCONJ
ap-1618	278	36	address	address	VERB
ap-1618	278	37	robustness	robustness	NOUN
ap-1618	278	38	issues	issue	NOUN
ap-1618	278	39	.	.	PUNCT
ap-1618	279	1	it	it	PRON
ap-1618	279	2	can	can	AUX
ap-1618	279	3	be	be	AUX
ap-1618	279	4	concluded	conclude	VERB
ap-1618	279	5	that	that	SCONJ
ap-1618	279	6	the	the	DET
ap-1618	279	7	coupled	couple	VERB
ap-1618	279	8	tanks	tank	NOUN
ap-1618	279	9	equipment	equipment	NOUN
ap-1618	279	10	provides	provide	VERB
ap-1618	279	11	a	a	DET
ap-1618	279	12	useful	useful	ADJ
ap-1618	279	13	test	test	NOUN
ap-1618	279	14	-	-	PUNCT
ap-1618	279	15	bed	bed	NOUN
ap-1618	279	16	for	for	ADP
ap-1618	279	17	investigation	investigation	NOUN
ap-1618	279	18	of	of	ADP
ap-1618	279	19	issues	issue	NOUN
ap-1618	279	20	of	of	ADP
ap-1618	279	21	nonlinear	nonlinear	ADJ
ap-1618	279	22	system	system	NOUN
ap-1618	279	23	modeling	modeling	NOUN
ap-1618	279	24	,	,	PUNCT
ap-1618	279	25	multivariable	multivariable	ADJ
ap-1618	279	26	control	control	NOUN
ap-1618	279	27	system	system	NOUN
ap-1618	279	28	design	design	NOUN
ap-1618	279	29	and	and	CCONJ
ap-1618	279	30	implementation	implementation	NOUN
ap-1618	279	31	.	.	PUNCT
ap-1618	280	1	the	the	DET
ap-1618	280	2	availability	availability	NOUN
ap-1618	280	3	of	of	ADP
ap-1618	280	4	a	a	DET
ap-1618	280	5	comprehensive	comprehensive	ADJ
ap-1618	280	6	nonlinear	nonlinear	ADJ
ap-1618	280	7	model	model	NOUN
ap-1618	280	8	of	of	ADP
ap-1618	280	9	the	the	DET
ap-1618	280	10	system	system	NOUN
ap-1618	280	11	,	,	PUNCT
ap-1618	280	12	together	together	ADV
ap-1618	280	13	with	with	ADP
ap-1618	280	14	linearised	linearise	VERB
ap-1618	280	15	representations	representation	NOUN
ap-1618	280	16	appropriate	appropriate	ADJ
ap-1618	280	17	for	for	ADP
ap-1618	280	18	control	control	NOUN
ap-1618	280	19	system	system	NOUN
ap-1618	280	20	design	design	NOUN
ap-1618	280	21	,	,	PUNCT
ap-1618	280	22	also	also	ADV
ap-1618	280	23	makes	make	VERB
ap-1618	280	24	this	this	DET
ap-1618	280	25	system	system	NOUN
ap-1618	280	26	suitable	suitable	ADJ
ap-1618	280	27	for	for	ADP
ap-1618	280	28	the	the	DET
ap-1618	280	29	teaching	teaching	NOUN
ap-1618	280	30	of	of	ADP
ap-1618	280	31	practical	practical	ADJ
ap-1618	280	32	aspects	aspect	NOUN
ap-1618	280	33	of	of	ADP
ap-1618	280	34	multi	multi	ADJ
ap-1618	280	35	-	-	ADJ
ap-1618	280	36	input	input	ADJ
ap-1618	280	37	multi	multi	ADJ
ap-1618	280	38	-	-	ADJ
ap-1618	280	39	output	output	ADJ
ap-1618	280	40	control	control	NOUN
ap-1618	280	41	system	system	NOUN
ap-1618	280	42	analysis	analysis	NOUN
ap-1618	280	43	and	and	CCONJ
ap-1618	280	44	design	design	NOUN
ap-1618	280	45	using	use	VERB
ap-1618	280	46	icad	icad	PROPN
ap-1618	280	47	or	or	CCONJ
ap-1618	280	48	other	other	ADJ
ap-1618	280	49	approaches	approach	NOUN
ap-1618	280	50	.	.	PUNCT
ap-1618	281	1	it	it	PRON
ap-1618	281	2	is	be	AUX
ap-1618	281	3	believed	believe	VERB
ap-1618	281	4	that	that	SCONJ
ap-1618	281	5	the	the	DET
ap-1618	281	6	work	work	NOUN
ap-1618	281	7	reported	report	VERB
ap-1618	281	8	in	in	ADP
ap-1618	281	9	this	this	DET
ap-1618	281	10	paper	paper	NOUN
ap-1618	281	11	could	could	AUX
ap-1618	281	12	provide	provide	VERB
ap-1618	281	13	the	the	DET
ap-1618	281	14	basis	basis	NOUN
ap-1618	281	15	for	for	ADP
ap-1618	281	16	a	a	DET
ap-1618	281	17	useful	useful	ADJ
ap-1618	281	18	case	case	NOUN
ap-1618	281	19	-	-	PUNCT
ap-1618	281	20	study	study	NOUN
ap-1618	281	21	(	(	PUNCT
ap-1618	281	22	most	most	ADV
ap-1618	281	23	probably	probably	ADV
ap-1618	281	24	for	for	ADP
ap-1618	281	25	use	use	NOUN
ap-1618	281	26	at	at	ADP
ap-1618	281	27	postgraduate	postgraduate	ADJ
ap-1618	281	28	level	level	NOUN
ap-1618	281	29	)	)	PUNCT
ap-1618	281	30	on	on	ADP
ap-1618	281	31	the	the	DET
ap-1618	281	32	icad	icad	PROPN
ap-1618	281	33	methodology	methodology	NOUN
ap-1618	281	34	.	.	PUNCT
ap-1618	282	1	this	this	PRON
ap-1618	282	2	could	could	AUX
ap-1618	282	3	also	also	ADV
ap-1618	282	4	illustrate	illustrate	VERB
ap-1618	282	5	the	the	DET
ap-1618	282	6	benefits	benefit	NOUN
ap-1618	282	7	of	of	ADP
ap-1618	282	8	bringing	bring	VERB
ap-1618	282	9	together	together	ADV
ap-1618	282	10	simulation	simulation	NOUN
ap-1618	282	11	and	and	CCONJ
ap-1618	282	12	experimental	experimental	ADJ
ap-1618	282	13	testing	testing	NOUN
ap-1618	282	14	within	within	ADP
ap-1618	282	15	the	the	DET
ap-1618	282	16	processes	process	NOUN
ap-1618	282	17	of	of	ADP
ap-1618	282	18	control	control	NOUN
ap-1618	282	19	system	system	NOUN
ap-1618	282	20	design	design	NOUN
ap-1618	282	21	and	and	CCONJ
ap-1618	282	22	implementation	implementation	NOUN
ap-1618	282	23	.	.	PUNCT
ap-1618	283	1	differences	difference	NOUN
ap-1618	283	2	between	between	ADP
ap-1618	283	3	simulation	simulation	NOUN
ap-1618	283	4	results	result	NOUN
ap-1618	283	5	and	and	CCONJ
ap-1618	283	6	experimental	experimental	ADJ
ap-1618	283	7	results	result	NOUN
ap-1618	283	8	are	be	AUX
ap-1618	283	9	believed	believe	VERB
ap-1618	283	10	to	to	PART
ap-1618	283	11	relate	relate	VERB
ap-1618	283	12	mainly	mainly	ADV
ap-1618	283	13	to	to	ADP
ap-1618	283	14	limitations	limitation	NOUN
ap-1618	283	15	in	in	ADP
ap-1618	283	16	the	the	DET
ap-1618	283	17	representation	representation	NOUN
ap-1618	283	18	of	of	ADP
ap-1618	283	19	the	the	DET
ap-1618	283	20	plant	plant	NOUN
ap-1618	283	21	and	and	CCONJ
ap-1618	283	22	especially	especially	ADV
ap-1618	283	23	the	the	DET
ap-1618	283	24	relationship	relationship	NOUN
ap-1618	283	25	used	use	VERB
ap-1618	283	26	to	to	PART
ap-1618	283	27	describe	describe	VERB
ap-1618	283	28	the	the	DET
ap-1618	283	29	output	output	NOUN
ap-1618	283	30	flow	flow	NOUN
ap-1618	283	31	from	from	ADP
ap-1618	283	32	the	the	DET
ap-1618	283	33	second	second	ADJ
ap-1618	283	34	tank	tank	NOUN
ap-1618	283	35	within	within	ADP
ap-1618	283	36	the	the	DET
ap-1618	283	37	nonlinear	nonlinear	ADJ
ap-1618	283	38	model	model	NOUN
ap-1618	283	39	.	.	PUNCT
ap-1618	284	1	this	this	DET
ap-1618	284	2	aspect	aspect	NOUN
ap-1618	284	3	of	of	ADP
ap-1618	284	4	the	the	DET
ap-1618	284	5	coupled	couple	VERB
ap-1618	284	6	-	-	PUNCT
ap-1618	284	7	tanks	tank	NOUN
ap-1618	284	8	system	system	NOUN
ap-1618	284	9	model	model	NOUN
ap-1618	284	10	has	have	AUX
ap-1618	284	11	been	be	AUX
ap-1618	284	12	discussed	discuss	VERB
ap-1618	284	13	in	in	ADP
ap-1618	284	14	previous	previous	ADJ
ap-1618	284	15	model	model	NOUN
ap-1618	284	16	validation	validation	NOUN
ap-1618	284	17	studies	study	NOUN
ap-1618	284	18	for	for	ADP
ap-1618	284	19	this	this	DET
ap-1618	284	20	system	system	NOUN
ap-1618	284	21	(	(	PUNCT
ap-1618	284	22	e.g.	e.g.	ADV
ap-1618	284	23	[	[	X
ap-1618	284	24	7	7	NUM
ap-1618	284	25	,	,	PUNCT
ap-1618	284	26	10	10	NUM
ap-1618	284	27	,	,	PUNCT
ap-1618	284	28	11	11	NUM
ap-1618	284	29	]	]	PUNCT
ap-1618	284	30	)	)	PUNCT
ap-1618	284	31	and	and	CCONJ
ap-1618	284	32	is	be	AUX
ap-1618	284	33	the	the	DET
ap-1618	284	34	subject	subject	NOUN
ap-1618	284	35	of	of	ADP
ap-1618	284	36	ongoing	ongoing	ADJ
ap-1618	284	37	investigations	investigation	NOUN
ap-1618	284	38	.	.	PUNCT
ap-1618	285	1	simulation	simulation	NOUN
ap-1618	285	2	results	result	NOUN
ap-1618	285	3	show	show	VERB
ap-1618	285	4	that	that	SCONJ
ap-1618	285	5	broadly	broadly	ADV
ap-1618	285	6	satisfactorily	satisfactorily	ADV
ap-1618	285	7	results	result	NOUN
ap-1618	285	8	can	can	AUX
ap-1618	285	9	also	also	ADV
ap-1618	285	10	be	be	AUX
ap-1618	285	11	obtained	obtain	VERB
ap-1618	285	12	for	for	ADP
ap-1618	285	13	this	this	DET
ap-1618	285	14	plant	plant	NOUN
ap-1618	285	15	with	with	ADP
ap-1618	285	16	proportional	proportional	ADJ
ap-1618	285	17	plus	plus	CCONJ
ap-1618	285	18	integral	integral	ADJ
ap-1618	285	19	controllers	controller	NOUN
ap-1618	285	20	designed	design	VERB
ap-1618	285	21	empirically	empirically	ADV
ap-1618	285	22	using	use	VERB
ap-1618	285	23	the	the	DET
ap-1618	285	24	ziegler	ziegler	PROPN
ap-1618	285	25	-	-	PUNCT
ap-1618	285	26	nichols	nichols	PROPN
ap-1618	285	27	reaction	reaction	PROPN
ap-1618	285	28	curve	curve	NOUN
ap-1618	285	29	method	method	NOUN
ap-1618	285	30	.	.	PUNCT
ap-1618	286	1	however	however	ADV
ap-1618	286	2	,	,	PUNCT
ap-1618	286	3	results	result	NOUN
ap-1618	286	4	found	find	VERB
ap-1618	286	5	using	use	VERB
ap-1618	286	6	that	that	DET
ap-1618	286	7	approach	approach	NOUN
ap-1618	286	8	have	have	AUX
ap-1618	286	9	given	give	VERB
ap-1618	286	10	responses	response	NOUN
ap-1618	286	11	,	,	PUNCT
ap-1618	286	12	for	for	ADP
ap-1618	286	13	the	the	DET
ap-1618	286	14	types	type	NOUN
ap-1618	286	15	of	of	ADP
ap-1618	286	16	tests	test	NOUN
ap-1618	286	17	described	describe	VERB
ap-1618	286	18	in	in	ADP
ap-1618	286	19	this	this	DET
ap-1618	286	20	paper	paper	NOUN
ap-1618	286	21	,	,	PUNCT
ap-1618	286	22	that	that	PRON
ap-1618	286	23	tend	tend	VERB
ap-1618	286	24	to	to	PART
ap-1618	286	25	be	be	AUX
ap-1618	286	26	more	more	ADV
ap-1618	286	27	oscillatory	oscillatory	ADJ
ap-1618	286	28	than	than	ADP
ap-1618	286	29	those	those	PRON
ap-1618	286	30	found	find	VERB
ap-1618	286	31	using	use	VERB
ap-1618	286	32	the	the	DET
ap-1618	286	33	icad	icad	PROPN
ap-1618	286	34	methodology	methodology	NOUN
ap-1618	286	35	,	,	PUNCT
ap-1618	286	36	and	and	CCONJ
ap-1618	286	37	indicate	indicate	VERB
ap-1618	286	38	some	some	DET
ap-1618	286	39	issues	issue	NOUN
ap-1618	286	40	of	of	ADP
ap-1618	286	41	closed	closed	ADJ
ap-1618	286	42	-	-	PUNCT
ap-1618	286	43	loop	loop	NOUN
ap-1618	286	44	system	system	NOUN
ap-1618	286	45	robustness	robustness	NOUN
ap-1618	286	46	to	to	ADP
ap-1618	286	47	changes	change	NOUN
ap-1618	286	48	of	of	ADP
ap-1618	286	49	operating	operating	NOUN
ap-1618	286	50	point	point	NOUN
ap-1618	286	51	,	,	PUNCT
ap-1618	286	52	variation	variation	NOUN
ap-1618	286	53	of	of	ADP
ap-1618	286	54	the	the	DET
ap-1618	286	55	magnitude	magnitude	NOUN
ap-1618	286	56	of	of	ADP
ap-1618	286	57	reference	reference	NOUN
ap-1618	286	58	changes	change	NOUN
ap-1618	286	59	and	and	CCONJ
ap-1618	286	60	the	the	DET
ap-1618	286	61	magnitude	magnitude	NOUN
ap-1618	286	62	of	of	ADP
ap-1618	286	63	disturbances	disturbance	NOUN
ap-1618	286	64	.	.	PUNCT
ap-1618	287	1	claims	claim	VERB
ap-1618	287	2	that	that	SCONJ
ap-1618	287	3	the	the	DET
ap-1618	287	4	icad	icad	PROPN
ap-1618	287	5	approach	approach	NOUN
ap-1618	287	6	can	can	AUX
ap-1618	287	7	provide	provide	VERB
ap-1618	287	8	enhanced	enhanced	ADJ
ap-1618	287	9	performance	performance	NOUN
ap-1618	287	10	compared	compare	VERB
ap-1618	287	11	with	with	ADP
ap-1618	287	12	other	other	ADJ
ap-1618	287	13	available	available	ADJ
ap-1618	287	14	design	design	NOUN
ap-1618	287	15	methods	method	NOUN
ap-1618	287	16	would	would	AUX
ap-1618	287	17	be	be	AUX
ap-1618	287	18	inappropriate	inappropriate	ADJ
ap-1618	287	19	on	on	ADP
ap-1618	287	20	the	the	DET
ap-1618	287	21	basis	basis	NOUN
ap-1618	287	22	of	of	ADP
ap-1618	287	23	the	the	DET
ap-1618	287	24	limited	limited	ADJ
ap-1618	287	25	results	result	NOUN
ap-1618	287	26	presented	present	VERB
ap-1618	287	27	in	in	ADP
ap-1618	287	28	this	this	DET
ap-1618	287	29	single	single	ADJ
ap-1618	287	30	application	application	NOUN
ap-1618	287	31	.	.	PUNCT
ap-1618	288	1	however	however	ADV
ap-1618	288	2	,	,	PUNCT
ap-1618	288	3	it	it	PRON
ap-1618	288	4	is	be	AUX
ap-1618	288	5	believed	believe	VERB
ap-1618	288	6	that	that	SCONJ
ap-1618	288	7	the	the	DET
ap-1618	288	8	icad	icad	PROPN
ap-1618	288	9	methodology	methodology	NOUN
ap-1618	288	10	brings	bring	VERB
ap-1618	288	11	more	more	ADJ
ap-1618	288	12	physical	physical	ADJ
ap-1618	288	13	insight	insight	NOUN
ap-1618	288	14	to	to	ADP
ap-1618	288	15	the	the	DET
ap-1618	288	16	design	design	NOUN
ap-1618	288	17	process	process	NOUN
ap-1618	288	18	for	for	ADP
ap-1618	288	19	multi	multi	ADJ
ap-1618	288	20	-	-	ADJ
ap-1618	288	21	input	input	ADJ
ap-1618	288	22	multi	multi	ADJ
ap-1618	288	23	-	-	ADJ
ap-1618	288	24	output	output	ADJ
ap-1618	288	25	systems	system	NOUN
ap-1618	288	26	,	,	PUNCT
ap-1618	288	27	and	and	CCONJ
ap-1618	288	28	it	it	PRON
ap-1618	288	29	must	must	AUX
ap-1618	288	30	also	also	ADV
ap-1618	288	31	be	be	AUX
ap-1618	288	32	remembered	remember	VERB
ap-1618	288	33	that	that	SCONJ
ap-1618	288	34	this	this	DET
ap-1618	288	35	approach	approach	NOUN
ap-1618	288	36	is	be	AUX
ap-1618	288	37	not	not	PART
ap-1618	288	38	restricted	restrict	VERB
ap-1618	288	39	to	to	ADP
ap-1618	288	40	one	one	NUM
ap-1618	288	41	single	single	ADJ
ap-1618	288	42	form	form	NOUN
ap-1618	288	43	of	of	ADP
ap-1618	288	44	controller	controller	NOUN
ap-1618	288	45	.	.	PUNCT
ap-1618	289	1	acknowledgement	acknowledgement	NOUN
ap-1618	289	2	this	this	DET
ap-1618	289	3	paper	paper	NOUN
ap-1618	289	4	is	be	AUX
ap-1618	289	5	a	a	DET
ap-1618	289	6	modified	modified	ADJ
ap-1618	289	7	and	and	CCONJ
ap-1618	289	8	extended	extended	ADJ
ap-1618	289	9	version	version	NOUN
ap-1618	289	10	of	of	ADP
ap-1618	289	11	a	a	DET
ap-1618	289	12	paper	paper	NOUN
ap-1618	289	13	[	[	X
ap-1618	289	14	8	8	NUM
ap-1618	289	15	]	]	PUNCT
ap-1618	289	16	presented	present	VERB
ap-1618	289	17	at	at	ADP
ap-1618	289	18	eurosim	eurosim	PROPN
ap-1618	289	19	2010	2010	NUM
ap-1618	289	20	(	(	PUNCT
ap-1618	289	21	the	the	DET
ap-1618	289	22	7th	7th	ADJ
ap-1618	289	23	eurosim	eurosim	PROPN
ap-1618	289	24	congress	congress	PROPN
ap-1618	289	25	on	on	ADP
ap-1618	289	26	modelling	modelling	NOUN
ap-1618	289	27	and	and	CCONJ
ap-1618	289	28	simulation	simulation	NOUN
ap-1618	289	29	)	)	PUNCT
ap-1618	289	30	,	,	PUNCT
ap-1618	289	31	which	which	PRON
ap-1618	289	32	was	be	AUX
ap-1618	289	33	organized	organize	VERB
ap-1618	289	34	by	by	ADP
ap-1618	289	35	staff	staff	NOUN
ap-1618	289	36	of	of	ADP
ap-1618	289	37	the	the	DET
ap-1618	289	38	department	department	NOUN
ap-1618	289	39	of	of	ADP
ap-1618	289	40	computer	computer	NOUN
ap-1618	289	41	science	science	NOUN
ap-1618	289	42	and	and	CCONJ
ap-1618	289	43	engineering	engineering	NOUN
ap-1618	289	44	,	,	PUNCT
ap-1618	289	45	czech	czech	PROPN
ap-1618	289	46	technical	technical	PROPN
ap-1618	289	47	university	university	PROPN
ap-1618	289	48	in	in	ADP
ap-1618	289	49	prague	prague	PROPN
ap-1618	289	50	(	(	PUNCT
ap-1618	289	51	ctu	ctu	PROPN
ap-1618	289	52	)	)	PUNCT
ap-1618	289	53	.	.	PUNCT
ap-1618	290	1	the	the	DET
ap-1618	290	2	congress	congress	PROPN
ap-1618	290	3	took	take	VERB
ap-1618	290	4	place	place	NOUN
ap-1618	290	5	in	in	ADP
ap-1618	290	6	prague	prague	NOUN
ap-1618	290	7	during	during	ADP
ap-1618	290	8	the	the	DET
ap-1618	290	9	period	period	NOUN
ap-1618	290	10	6	6	NUM
ap-1618	290	11	-	-	SYM
ap-1618	290	12	10	10	NUM
ap-1618	290	13	september	september	PROPN
ap-1618	290	14	,	,	PUNCT
ap-1618	290	15	2010	2010	NUM
ap-1618	290	16	.	.	PUNCT
ap-1618	291	1	the	the	DET
ap-1618	291	2	author	author	NOUN
ap-1618	291	3	must	must	AUX
ap-1618	291	4	thank	thank	VERB
ap-1618	291	5	jin	jin	PROPN
ap-1618	291	6	lin	lin	PROPN
ap-1618	291	7	chiang	chiang	PROPN
ap-1618	291	8	who	who	PRON
ap-1618	291	9	,	,	PUNCT
ap-1618	291	10	during	during	ADP
ap-1618	291	11	undergraduate	undergraduate	ADJ
ap-1618	291	12	project	project	NOUN
ap-1618	291	13	work	work	NOUN
ap-1618	291	14	at	at	ADP
ap-1618	291	15	the	the	DET
ap-1618	291	16	university	university	NOUN
ap-1618	291	17	of	of	ADP
ap-1618	291	18	glasgow	glasgow	PROPN
ap-1618	291	19	[	[	X
ap-1618	291	20	12	12	NUM
ap-1618	291	21	]	]	PUNCT
ap-1618	291	22	,	,	PUNCT
ap-1618	291	23	carried	carry	VERB
ap-1618	291	24	out	out	ADP
ap-1618	291	25	experiments	experiment	NOUN
ap-1618	291	26	from	from	ADP
ap-1618	291	27	which	which	PRON
ap-1618	291	28	some	some	PRON
ap-1618	291	29	of	of	ADP
ap-1618	291	30	the	the	DET
ap-1618	291	31	results	result	NOUN
ap-1618	291	32	in	in	ADP
ap-1618	291	33	this	this	DET
ap-1618	291	34	paper	paper	NOUN
ap-1618	291	35	have	have	AUX
ap-1618	291	36	been	be	AUX
ap-1618	291	37	derived	derive	VERB
ap-1618	291	38	.	.	PUNCT
ap-1618	292	1	the	the	DET
ap-1618	292	2	author	author	NOUN
ap-1618	292	3	also	also	ADV
ap-1618	292	4	wishes	wish	VERB
ap-1618	292	5	to	to	PART
ap-1618	292	6	thank	thank	VERB
ap-1618	292	7	professor	professor	PROPN
ap-1618	292	8	john	john	PROPN
ap-1618	292	9	o’reilly	o’reilly	ADV
ap-1618	292	10	of	of	ADP
ap-1618	292	11	the	the	DET
ap-1618	292	12	university	university	NOUN
ap-1618	292	13	of	of	ADP
ap-1618	292	14	glasgow	glasgow	PROPN
ap-1618	292	15	for	for	ADP
ap-1618	292	16	many	many	ADJ
ap-1618	292	17	valuable	valuable	ADJ
ap-1618	292	18	discussions	discussion	NOUN
ap-1618	292	19	about	about	ADP
ap-1618	292	20	icad	icad	ADJ
ap-1618	292	21	methods	method	NOUN
ap-1618	292	22	.	.	PUNCT
ap-1618	293	1	references	reference	NOUN
ap-1618	293	2	[	[	X
ap-1618	293	3	1	1	NUM
ap-1618	293	4	]	]	PUNCT
ap-1618	293	5	wellstead	wellstead	NOUN
ap-1618	293	6	,	,	PUNCT
ap-1618	293	7	p.	p.	PROPN
ap-1618	293	8	e.	e.	PROPN
ap-1618	293	9	:	:	PUNCT
ap-1618	293	10	coupled	couple	VERB
ap-1618	293	11	tanks	tank	NOUN
ap-1618	293	12	apparatus	apparatus	NOUN
ap-1618	293	13	:	:	PUNCT
ap-1618	293	14	manual	manual	NOUN
ap-1618	293	15	.	.	PUNCT
ap-1618	294	1	tecquipment	tecquipment	PROPN
ap-1618	294	2	ltd	ltd	PROPN
ap-1618	294	3	.	.	PROPN
ap-1618	294	4	,	,	PUNCT
ap-1618	294	5	uk	uk	PROPN
ap-1618	294	6	,	,	PUNCT
ap-1618	294	7	1981	1981	NUM
ap-1618	294	8	.	.	PUNCT
ap-1618	295	1	[	[	X
ap-1618	295	2	2	2	NUM
ap-1618	295	3	]	]	PUNCT
ap-1618	295	4	o’reilly	o’reilly	ADV
ap-1618	295	5	,	,	PUNCT
ap-1618	295	6	j.	j.	PROPN
ap-1618	295	7	,	,	PUNCT
ap-1618	295	8	leithead	leithead	PROPN
ap-1618	295	9	,	,	PUNCT
ap-1618	295	10	w.	w.	PROPN
ap-1618	295	11	e.	e.	PROPN
ap-1618	295	12	:	:	PUNCT
ap-1618	295	13	multivariable	multivariable	ADJ
ap-1618	295	14	control	control	NOUN
ap-1618	295	15	by	by	ADP
ap-1618	295	16	‘	'	PUNCT
ap-1618	295	17	individual	individual	ADJ
ap-1618	295	18	channel	channel	NOUN
ap-1618	295	19	design	design	NOUN
ap-1618	295	20	’	'	PUNCT
ap-1618	295	21	.	.	PUNCT
ap-1618	296	1	international	international	ADJ
ap-1618	296	2	journal	journal	PROPN
ap-1618	296	3	of	of	ADP
ap-1618	296	4	control	control	NOUN
ap-1618	296	5	,	,	PUNCT
ap-1618	296	6	54	54	NUM
ap-1618	296	7	,	,	PUNCT
ap-1618	296	8	1991	1991	NUM
ap-1618	296	9	,	,	PUNCT
ap-1618	296	10	p.	p.	NOUN
ap-1618	296	11	1–46	1–46	PROPN
ap-1618	296	12	.	.	PUNCT
ap-1618	297	1	[	[	X
ap-1618	297	2	3	3	X
ap-1618	297	3	]	]	X
ap-1618	297	4	leithead	leithead	ADV
ap-1618	297	5	,	,	PUNCT
ap-1618	297	6	w.	w.	PROPN
ap-1618	297	7	e.	e.	PROPN
ap-1618	297	8	,	,	PUNCT
ap-1618	297	9	o’reilly	o’reilly	ADV
ap-1618	297	10	,	,	PUNCT
ap-1618	297	11	j.	j.	PROPN
ap-1618	297	12	:	:	PUNCT
ap-1618	297	13	performance	performance	NOUN
ap-1618	297	14	issues	issue	NOUN
ap-1618	297	15	in	in	ADP
ap-1618	297	16	the	the	DET
ap-1618	297	17	individual	individual	ADJ
ap-1618	297	18	channel	channel	NOUN
ap-1618	297	19	design	design	NOUN
ap-1618	297	20	of	of	ADP
ap-1618	297	21	2	2	NUM
ap-1618	297	22	-	-	PUNCT
ap-1618	297	23	input	input	NOUN
ap-1618	297	24	2	2	NUM
ap-1618	297	25	-	-	PUNCT
ap-1618	297	26	output	output	NOUN
ap-1618	297	27	systems	system	NOUN
ap-1618	297	28	.	.	PUNCT
ap-1618	298	1	1	1	X
ap-1618	298	2	.	.	PUNCT
ap-1618	298	3	structural	structural	ADJ
ap-1618	298	4	issues	issue	NOUN
ap-1618	298	5	.	.	PUNCT
ap-1618	299	1	international	international	ADJ
ap-1618	299	2	journal	journal	PROPN
ap-1618	299	3	of	of	ADP
ap-1618	299	4	control	control	NOUN
ap-1618	299	5	,	,	PUNCT
ap-1618	299	6	54	54	NUM
ap-1618	299	7	,	,	PUNCT
ap-1618	299	8	1991	1991	NUM
ap-1618	299	9	,	,	PUNCT
ap-1618	299	10	p.	p.	NOUN
ap-1618	299	11	47–82	47–82	NUM
ap-1618	299	12	.	.	PUNCT
ap-1618	300	1	133	133	NUM
ap-1618	300	2	acta	acta	PROPN
ap-1618	300	3	polytechnica	polytechnica	PROPN
ap-1618	300	4	vol	vol	NOUN
ap-1618	300	5	.	.	PROPN
ap-1618	301	1	52	52	NUM
ap-1618	301	2	no	no	NOUN
ap-1618	301	3	.	.	PUNCT
ap-1618	302	1	4/2012	4/2012	NUM
ap-1618	303	1	[	[	NOUN
ap-1618	303	2	4	4	NUM
ap-1618	303	3	]	]	X
ap-1618	303	4	leithead	leithead	ADV
ap-1618	303	5	,	,	PUNCT
ap-1618	303	6	w.	w.	PROPN
ap-1618	303	7	e.	e.	PROPN
ap-1618	303	8	,	,	PUNCT
ap-1618	303	9	o’reilly	o’reilly	ADV
ap-1618	303	10	,	,	PUNCT
ap-1618	303	11	j.	j.	PROPN
ap-1618	303	12	:	:	PUNCT
ap-1618	303	13	performance	performance	NOUN
ap-1618	303	14	issues	issue	NOUN
ap-1618	303	15	in	in	ADP
ap-1618	303	16	the	the	DET
ap-1618	303	17	individual	individual	ADJ
ap-1618	303	18	channel	channel	NOUN
ap-1618	303	19	design	design	NOUN
ap-1618	303	20	of	of	ADP
ap-1618	303	21	2	2	NUM
ap-1618	303	22	-	-	PUNCT
ap-1618	303	23	input	input	NOUN
ap-1618	303	24	2	2	NUM
ap-1618	303	25	-	-	PUNCT
ap-1618	303	26	output	output	NOUN
ap-1618	303	27	systems	system	NOUN
ap-1618	303	28	2	2	NUM
ap-1618	303	29	.	.	PUNCT
ap-1618	303	30	robustness	robustness	NOUN
ap-1618	303	31	issues	issue	NOUN
ap-1618	303	32	.	.	PUNCT
ap-1618	304	1	international	international	ADJ
ap-1618	304	2	journal	journal	PROPN
ap-1618	304	3	of	of	ADP
ap-1618	304	4	control	control	NOUN
ap-1618	304	5	,	,	PUNCT
ap-1618	304	6	55	55	NUM
ap-1618	304	7	,	,	PUNCT
ap-1618	304	8	1992	1992	NUM
ap-1618	304	9	,	,	PUNCT
ap-1618	304	10	p.	p.	NOUN
ap-1618	304	11	3–47	3–47	PROPN
ap-1618	304	12	.	.	PUNCT
ap-1618	305	1	[	[	X
ap-1618	305	2	5	5	NUM
ap-1618	305	3	]	]	PUNCT
ap-1618	305	4	o’reilly	o’reilly	ADV
ap-1618	305	5	,	,	PUNCT
ap-1618	305	6	j.	j.	PROPN
ap-1618	305	7	,	,	PUNCT
ap-1618	305	8	leithead	leithead	PROPN
ap-1618	305	9	,	,	PUNCT
ap-1618	305	10	w.	w.	PROPN
ap-1618	305	11	e.	e.	PROPN
ap-1618	305	12	:	:	PUNCT
ap-1618	305	13	frequency	frequency	NOUN
ap-1618	305	14	-	-	PUNCT
ap-1618	305	15	domain	domain	NOUN
ap-1618	305	16	approaches	approach	NOUN
ap-1618	305	17	to	to	ADP
ap-1618	305	18	multivariable	multivariable	ADJ
ap-1618	305	19	feedback	feedback	NOUN
ap-1618	305	20	control	control	NOUN
ap-1618	305	21	system	system	NOUN
ap-1618	305	22	design	design	NOUN
ap-1618	305	23	:	:	PUNCT
ap-1618	305	24	an	an	DET
ap-1618	305	25	assessment	assessment	NOUN
ap-1618	305	26	by	by	ADP
ap-1618	305	27	individual	individual	ADJ
ap-1618	305	28	channel	channel	NOUN
ap-1618	305	29	design	design	NOUN
ap-1618	305	30	for	for	ADP
ap-1618	305	31	2	2	NUM
ap-1618	305	32	-	-	PUNCT
ap-1618	305	33	input	input	NOUN
ap-1618	305	34	2	2	NUM
ap-1618	305	35	-	-	PUNCT
ap-1618	305	36	output	output	NOUN
ap-1618	305	37	systems	system	NOUN
ap-1618	305	38	.	.	PUNCT
ap-1618	306	1	control	control	NOUN
ap-1618	306	2	theory	theory	NOUN
ap-1618	306	3	and	and	CCONJ
ap-1618	306	4	advanced	advanced	ADJ
ap-1618	306	5	technology	technology	NOUN
ap-1618	306	6	,	,	PUNCT
ap-1618	306	7	10	10	NUM
ap-1618	306	8	,	,	PUNCT
ap-1618	306	9	1995	1995	NUM
ap-1618	306	10	,	,	PUNCT
ap-1618	306	11	p.	p.	NOUN
ap-1618	306	12	1	1	NUM
ap-1618	306	13	913–1940	913–1940	NUM
ap-1618	306	14	.	.	PUNCT
ap-1618	307	1	[	[	X
ap-1618	307	2	6	6	NUM
ap-1618	307	3	]	]	PUNCT
ap-1618	307	4	kocijan	kocijan	NOUN
ap-1618	307	5	,	,	PUNCT
ap-1618	307	6	j.	j.	PROPN
ap-1618	307	7	:	:	PUNCT
ap-1618	307	8	bibliography	bibliography	NOUN
ap-1618	307	9	on	on	ADP
ap-1618	307	10	individual	individual	ADJ
ap-1618	307	11	channel	channel	NOUN
ap-1618	307	12	analysis	analysis	NOUN
ap-1618	307	13	and	and	CCONJ
ap-1618	307	14	design	design	NOUN
ap-1618	307	15	framework	framework	NOUN
ap-1618	307	16	.	.	PUNCT
ap-1618	308	1	http://dsc.ijs.si/jus.kocijan/icad	http://dsc.ijs.si/jus.kocijan/icad	X
ap-1618	308	2	.	.	PUNCT
ap-1618	309	1	(	(	PUNCT
ap-1618	309	2	accessed	access	VERB
ap-1618	309	3	successfully	successfully	ADV
ap-1618	309	4	1	1	NUM
ap-1618	309	5	.	.	NOUN
ap-1618	309	6	11	11	NUM
ap-1618	309	7	.	.	NOUN
ap-1618	309	8	2011	2011	NUM
ap-1618	309	9	)	)	PUNCT
ap-1618	309	10	.	.	PUNCT
ap-1618	310	1	[	[	X
ap-1618	310	2	7	7	NUM
ap-1618	310	3	]	]	X
ap-1618	310	4	gong	gong	NOUN
ap-1618	310	5	,	,	PUNCT
ap-1618	310	6	m.	m.	NOUN
ap-1618	310	7	,	,	PUNCT
ap-1618	310	8	murray	murray	PROPN
ap-1618	310	9	-	-	PUNCT
ap-1618	310	10	smith	smith	PROPN
ap-1618	310	11	,	,	PUNCT
ap-1618	310	12	d.	d.	PROPN
ap-1618	310	13	j	j	PROPN
ap-1618	310	14	:	:	PUNCT
ap-1618	310	15	a	a	DET
ap-1618	310	16	practical	practical	ADJ
ap-1618	310	17	exercise	exercise	NOUN
ap-1618	310	18	in	in	ADP
ap-1618	310	19	simulation	simulation	NOUN
ap-1618	310	20	model	model	NOUN
ap-1618	310	21	validation	validation	NOUN
ap-1618	310	22	,	,	PUNCT
ap-1618	310	23	mathematical	mathematical	ADJ
ap-1618	310	24	and	and	CCONJ
ap-1618	310	25	computer	computer	NOUN
ap-1618	310	26	modelling	modelling	NOUN
ap-1618	310	27	of	of	ADP
ap-1618	310	28	dynamical	dynamical	ADJ
ap-1618	310	29	systems	system	NOUN
ap-1618	310	30	,	,	PUNCT
ap-1618	310	31	4	4	NUM
ap-1618	310	32	,	,	PUNCT
ap-1618	310	33	1998	1998	NUM
ap-1618	310	34	,	,	PUNCT
ap-1618	310	35	p.	p.	NOUN
ap-1618	310	36	100–117	100–117	NUM
ap-1618	310	37	.	.	PUNCT
ap-1618	311	1	[	[	X
ap-1618	311	2	8	8	NUM
ap-1618	311	3	]	]	X
ap-1618	311	4	murray	murray	PROPN
ap-1618	311	5	-	-	PUNCT
ap-1618	311	6	smith	smith	PROPN
ap-1618	311	7	,	,	PUNCT
ap-1618	311	8	d.	d.	PROPN
ap-1618	311	9	j.	j.	PROPN
ap-1618	311	10	:	:	PUNCT
ap-1618	311	11	the	the	DET
ap-1618	311	12	individual	individual	ADJ
ap-1618	311	13	channel	channel	NOUN
ap-1618	311	14	analysis	analysis	NOUN
ap-1618	311	15	and	and	CCONJ
ap-1618	311	16	design	design	NOUN
ap-1618	311	17	method	method	NOUN
ap-1618	311	18	applied	apply	VERB
ap-1618	311	19	to	to	ADP
ap-1618	311	20	control	control	NOUN
ap-1618	311	21	of	of	ADP
ap-1618	311	22	a	a	DET
ap-1618	311	23	coupled	couple	VERB
ap-1618	311	24	-	-	PUNCT
ap-1618	311	25	tanks	tank	NOUN
ap-1618	311	26	system	system	NOUN
ap-1618	311	27	:	:	PUNCT
ap-1618	311	28	simulation	simulation	NOUN
ap-1618	311	29	and	and	CCONJ
ap-1618	311	30	experimental	experimental	ADJ
ap-1618	311	31	results	result	NOUN
ap-1618	311	32	.	.	PUNCT
ap-1618	312	1	in	in	ADP
ap-1618	312	2	“	"	PUNCT
ap-1618	312	3	proceedings	proceeding	NOUN
ap-1618	312	4	of	of	ADP
ap-1618	312	5	the	the	DET
ap-1618	312	6	7th	7th	ADJ
ap-1618	312	7	eurosim	eurosim	PROPN
ap-1618	312	8	congress	congress	PROPN
ap-1618	312	9	on	on	ADP
ap-1618	312	10	modelling	modelling	NOUN
ap-1618	312	11	and	and	CCONJ
ap-1618	312	12	simulation	simulation	NOUN
ap-1618	312	13	.	.	PUNCT
ap-1618	313	1	(	(	PUNCT
ap-1618	313	2	editors	editor	NOUN
ap-1618	313	3	:	:	PUNCT
ap-1618	313	4	m.	m.	NOUN
ap-1618	313	5	šnorek	šnorek	PROPN
ap-1618	313	6	,	,	PUNCT
ap-1618	313	7	z.	z.	PROPN
ap-1618	313	8	buk	buk	PROPN
ap-1618	313	9	,	,	PUNCT
ap-1618	313	10	,	,	PUNCT
ap-1618	313	11	m.	m.	NOUN
ap-1618	313	12	čepek	čepek	PROPN
ap-1618	313	13	,	,	PUNCT
ap-1618	313	14	and	and	CCONJ
ap-1618	313	15	j.	j.	PROPN
ap-1618	313	16	drchal	drchal	PROPN
ap-1618	313	17	)	)	PUNCT
ap-1618	313	18	,	,	PUNCT
ap-1618	313	19	prague	prague	NOUN
ap-1618	313	20	:	:	PUNCT
ap-1618	313	21	department	department	NOUN
ap-1618	313	22	of	of	ADP
ap-1618	313	23	computer	computer	NOUN
ap-1618	313	24	science	science	NOUN
ap-1618	313	25	and	and	CCONJ
ap-1618	313	26	engineering	engineering	NOUN
ap-1618	313	27	,	,	PUNCT
ap-1618	313	28	czech	czech	PROPN
ap-1618	313	29	technical	technical	PROPN
ap-1618	313	30	university	university	PROPN
ap-1618	313	31	in	in	ADP
ap-1618	313	32	prague	prague	PROPN
ap-1618	313	33	(	(	PUNCT
ap-1618	313	34	ctu	ctu	PROPN
ap-1618	313	35	)	)	PUNCT
ap-1618	313	36	,	,	PUNCT
ap-1618	313	37	2010	2010	NUM
ap-1618	313	38	.	.	PUNCT
ap-1618	314	1	(	(	PUNCT
ap-1618	314	2	isbn	isbn	ADJ
ap-1618	314	3	9788001045893	9788001045893	NUM
ap-1618	314	4	)	)	PUNCT
ap-1618	314	5	.	.	PUNCT
ap-1618	315	1	[	[	X
ap-1618	315	2	9	9	NUM
ap-1618	315	3	]	]	X
ap-1618	315	4	murray	murray	PROPN
ap-1618	315	5	-	-	PUNCT
ap-1618	315	6	smith	smith	PROPN
ap-1618	315	7	,	,	PUNCT
ap-1618	315	8	d.	d.	PROPN
ap-1618	315	9	j.	j.	PROPN
ap-1618	315	10	,	,	PUNCT
ap-1618	315	11	kocijan	kocijan	PROPN
ap-1618	315	12	,	,	PUNCT
ap-1618	315	13	j.	j.	PROPN
ap-1618	315	14	,	,	PUNCT
ap-1618	315	15	gong	gong	PROPN
ap-1618	315	16	,	,	PUNCT
ap-1618	315	17	m.	m.	NOUN
ap-1618	315	18	:	:	PUNCT
ap-1618	315	19	a	a	DET
ap-1618	315	20	signal	signal	ADJ
ap-1618	315	21	convolution	convolution	NOUN
ap-1618	315	22	method	method	NOUN
ap-1618	315	23	for	for	ADP
ap-1618	315	24	estimation	estimation	NOUN
ap-1618	315	25	of	of	ADP
ap-1618	315	26	controller	controller	NOUN
ap-1618	315	27	parameter	parameter	NOUN
ap-1618	315	28	sensitivity	sensitivity	NOUN
ap-1618	315	29	functions	function	NOUN
ap-1618	315	30	for	for	ADP
ap-1618	315	31	tuning	tuning	NOUN
ap-1618	315	32	of	of	ADP
ap-1618	315	33	feedback	feedback	NOUN
ap-1618	315	34	control	control	NOUN
ap-1618	315	35	systems	system	NOUN
ap-1618	315	36	by	by	ADP
ap-1618	315	37	an	an	DET
ap-1618	315	38	iterative	iterative	NOUN
ap-1618	315	39	process	process	NOUN
ap-1618	315	40	.	.	PUNCT
ap-1618	316	1	control	control	PROPN
ap-1618	316	2	eng	eng	PROPN
ap-1618	316	3	.	.	PROPN
ap-1618	316	4	practice	practice	PROPN
ap-1618	316	5	,	,	PUNCT
ap-1618	316	6	11	11	NUM
ap-1618	316	7	,	,	PUNCT
ap-1618	316	8	2003	2003	NUM
ap-1618	316	9	,	,	PUNCT
ap-1618	316	10	p.	p.	NOUN
ap-1618	316	11	1	1	NUM
ap-1618	316	12	087–1	087–1	NUM
ap-1618	316	13	094	094	NUM
ap-1618	316	14	.	.	PUNCT
ap-1618	317	1	[	[	X
ap-1618	317	2	10	10	NUM
ap-1618	317	3	]	]	X
ap-1618	317	4	tan	tan	PROPN
ap-1618	317	5	,	,	PUNCT
ap-1618	317	6	k.	k.	PROPN
ap-1618	317	7	c.	c.	PROPN
ap-1618	317	8	,	,	PUNCT
ap-1618	317	9	li	li	PROPN
ap-1618	317	10	,	,	PUNCT
ap-1618	317	11	y.	y.	PROPN
ap-1618	317	12	,	,	PUNCT
ap-1618	317	13	murray	murray	PROPN
ap-1618	317	14	-	-	PUNCT
ap-1618	317	15	smith	smith	PROPN
ap-1618	317	16	,	,	PUNCT
ap-1618	317	17	d.	d.	PROPN
ap-1618	317	18	j.	j.	PROPN
ap-1618	317	19	,	,	PUNCT
ap-1618	317	20	sharman	sharman	PROPN
ap-1618	317	21	,	,	PUNCT
ap-1618	317	22	k.	k.	PROPN
ap-1618	317	23	c.	c.	PROPN
ap-1618	317	24	:	:	PUNCT
ap-1618	317	25	system	system	NOUN
ap-1618	317	26	identification	identification	NOUN
ap-1618	317	27	and	and	CCONJ
ap-1618	317	28	linearisation	linearisation	NOUN
ap-1618	317	29	using	use	VERB
ap-1618	317	30	genetic	genetic	ADJ
ap-1618	317	31	algorithms	algorithm	NOUN
ap-1618	317	32	with	with	ADP
ap-1618	317	33	simulated	simulate	VERB
ap-1618	317	34	annealing	annealing	NOUN
ap-1618	317	35	.	.	PUNCT
ap-1618	318	1	in	in	ADP
ap-1618	318	2	proc	proc	PROPN
ap-1618	318	3	.	.	PUNCT
ap-1618	319	1	conf	conf	NOUN
ap-1618	319	2	.	.	PUNCT
ap-1618	320	1	on	on	ADP
ap-1618	320	2	genetic	genetic	ADJ
ap-1618	320	3	algorithms	algorithm	NOUN
ap-1618	320	4	in	in	ADP
ap-1618	320	5	eng	eng	PROPN
ap-1618	320	6	.	.	PUNCT
ap-1618	320	7	syst	syst	PROPN
ap-1618	320	8	.	.	PUNCT
ap-1618	320	9	:	:	PUNCT
ap-1618	321	1	innovations	innovation	NOUN
ap-1618	321	2	and	and	CCONJ
ap-1618	321	3	applications	application	NOUN
ap-1618	321	4	,	,	PUNCT
ap-1618	321	5	12–14	12–14	NUM
ap-1618	321	6	september	september	PROPN
ap-1618	321	7	1995	1995	NUM
ap-1618	321	8	,	,	PUNCT
ap-1618	321	9	(	(	PUNCT
ap-1618	321	10	iee	iee	PROPN
ap-1618	321	11	conference	conference	NOUN
ap-1618	321	12	publication	publication	NOUN
ap-1618	321	13	no	no	INTJ
ap-1618	321	14	.	.	PROPN
ap-1618	321	15	414	414	NUM
ap-1618	321	16	)	)	PUNCT
ap-1618	321	17	,	,	PUNCT
ap-1618	321	18	london	london	PROPN
ap-1618	321	19	:	:	PUNCT
ap-1618	321	20	iee	iee	PROPN
ap-1618	321	21	,	,	PUNCT
ap-1618	321	22	1995	1995	NUM
ap-1618	321	23	,	,	PUNCT
ap-1618	321	24	p.	p.	NOUN
ap-1618	321	25	164–189	164–189	NUM
ap-1618	321	26	.	.	PUNCT
ap-1618	322	1	[	[	X
ap-1618	322	2	11	11	NUM
ap-1618	322	3	]	]	X
ap-1618	322	4	gray	gray	ADJ
ap-1618	322	5	,	,	PUNCT
ap-1618	322	6	g.	g.	PROPN
ap-1618	322	7	j.	j.	PROPN
ap-1618	322	8	,	,	PUNCT
ap-1618	322	9	murray	murray	PROPN
ap-1618	322	10	-	-	PUNCT
ap-1618	322	11	smith	smith	PROPN
ap-1618	322	12	,	,	PUNCT
ap-1618	322	13	d.	d.	PROPN
ap-1618	322	14	j.	j.	PROPN
ap-1618	322	15	,	,	PUNCT
ap-1618	322	16	li	li	PROPN
ap-1618	322	17	,	,	PUNCT
ap-1618	322	18	y.	y.	PROPN
ap-1618	322	19	,	,	PUNCT
ap-1618	322	20	sharman	sharman	PROPN
ap-1618	322	21	,	,	PUNCT
ap-1618	322	22	k.	k.	PROPN
ap-1618	322	23	c.	c.	PROPN
ap-1618	322	24	,	,	PUNCT
ap-1618	322	25	weinbrenner	weinbrenner	NOUN
ap-1618	322	26	,	,	PUNCT
ap-1618	322	27	t.	t.	PROPN
ap-1618	322	28	:	:	PUNCT
ap-1618	322	29	nonlinear	nonlinear	ADJ
ap-1618	322	30	model	model	NOUN
ap-1618	322	31	structure	structure	NOUN
ap-1618	322	32	identification	identification	NOUN
ap-1618	322	33	using	use	VERB
ap-1618	322	34	genetic	genetic	ADJ
ap-1618	322	35	programming	programming	NOUN
ap-1618	322	36	,	,	PUNCT
ap-1618	322	37	control	control	PROPN
ap-1618	322	38	eng	eng	PROPN
ap-1618	322	39	.	.	PROPN
ap-1618	322	40	practice	practice	PROPN
ap-1618	322	41	,	,	PUNCT
ap-1618	322	42	6	6	NUM
ap-1618	322	43	,	,	PUNCT
ap-1618	322	44	1998	1998	NUM
ap-1618	322	45	,	,	PUNCT
ap-1618	322	46	p.	p.	NOUN
ap-1618	322	47	1	1	NUM
ap-1618	322	48	341–1	341–1	NUM
ap-1618	322	49	352	352	NUM
ap-1618	322	50	.	.	PUNCT
ap-1618	323	1	[	[	X
ap-1618	323	2	12	12	NUM
ap-1618	323	3	]	]	X
ap-1618	323	4	chiang	chiang	PROPN
ap-1618	323	5	,	,	PUNCT
ap-1618	323	6	j.	j.	PROPN
ap-1618	323	7	l.	l.	PROPN
ap-1618	323	8	:	:	PUNCT
ap-1618	323	9	control	control	NOUN
ap-1618	323	10	system	system	NOUN
ap-1618	323	11	for	for	ADP
ap-1618	323	12	a	a	DET
ap-1618	323	13	two	two	NUM
ap-1618	323	14	-	-	PUNCT
ap-1618	323	15	input	input	NOUN
ap-1618	323	16	two	two	NUM
ap-1618	323	17	-	-	PUNCT
ap-1618	323	18	output	output	NOUN
ap-1618	323	19	liquid	liquid	ADJ
ap-1618	323	20	level	level	NOUN
ap-1618	323	21	system	system	NOUN
ap-1618	323	22	.	.	PUNCT
ap-1618	324	1	project	project	NOUN
ap-1618	324	2	report	report	NOUN
ap-1618	324	3	94	94	NUM
ap-1618	324	4	-	-	SYM
ap-1618	324	5	179	179	NUM
ap-1618	324	6	,	,	PUNCT
ap-1618	324	7	university	university	NOUN
ap-1618	324	8	of	of	ADP
ap-1618	324	9	glasgow	glasgow	PROPN
ap-1618	324	10	,	,	PUNCT
ap-1618	324	11	department	department	NOUN
ap-1618	324	12	of	of	ADP
ap-1618	324	13	electronics	electronic	NOUN
ap-1618	324	14	and	and	CCONJ
ap-1618	324	15	electrical	electrical	ADJ
ap-1618	324	16	engineering	engineering	NOUN
ap-1618	324	17	,	,	PUNCT
ap-1618	324	18	1994	1994	NUM
ap-1618	324	19	.	.	PUNCT
ap-1618	325	1	[	[	X
ap-1618	325	2	13	13	NUM
ap-1618	325	3	]	]	PUNCT
ap-1618	325	4	golten	golten	PROPN
ap-1618	325	5	,	,	PUNCT
ap-1618	325	6	j.	j.	PROPN
ap-1618	325	7	,	,	PUNCT
ap-1618	325	8	verwer	verwer	PROPN
ap-1618	325	9	,	,	PUNCT
ap-1618	325	10	a.	a.	NOUN
ap-1618	325	11	:	:	PUNCT
ap-1618	325	12	control	control	NOUN
ap-1618	325	13	system	system	NOUN
ap-1618	325	14	design	design	NOUN
ap-1618	325	15	and	and	CCONJ
ap-1618	325	16	simulation	simulation	NOUN
ap-1618	325	17	,	,	PUNCT
ap-1618	325	18	mcgraw	mcgraw	PROPN
ap-1618	325	19	-	-	PUNCT
ap-1618	325	20	hill	hill	PROPN
ap-1618	325	21	,	,	PUNCT
ap-1618	325	22	london	london	PROPN
ap-1618	325	23	,	,	PUNCT
ap-1618	325	24	1991	1991	NUM
ap-1618	325	25	.	.	PUNCT
ap-1618	326	1	134	134	NUM