id	sid	tid	token	lemma	pos
ap-1656	1	1	acta	acta	PROPN
ap-1656	1	2	polytechnica	polytechnica	PROPN
ap-1656	1	3	vol	vol	NOUN
ap-1656	1	4	.	.	PROPN
ap-1656	2	1	52	52	NUM
ap-1656	2	2	no	no	NOUN
ap-1656	2	3	.	.	PUNCT
ap-1656	3	1	5/2012	5/2012	NUM
ap-1656	3	2	research	research	NOUN
ap-1656	3	3	trends	trend	NOUN
ap-1656	3	4	for	for	ADP
ap-1656	3	5	pid	pid	NOUN
ap-1656	3	6	controllers	controller	NOUN
ap-1656	3	7	antonio	antonio	PROPN
ap-1656	3	8	visioli	visioli	PROPN
ap-1656	3	9	university	university	PROPN
ap-1656	3	10	of	of	ADP
ap-1656	3	11	brescia	brescia	PROPN
ap-1656	3	12	,	,	PUNCT
ap-1656	3	13	via	via	ADP
ap-1656	3	14	branze	branze	PROPN
ap-1656	3	15	38	38	NUM
ap-1656	3	16	,	,	PUNCT
ap-1656	3	17	i-25123	i-25123	PROPN
ap-1656	3	18	brescia	brescia	PROPN
ap-1656	3	19	,	,	PUNCT
ap-1656	3	20	italy	italy	PROPN
ap-1656	3	21	corresponding	corresponding	PROPN
ap-1656	3	22	author	author	NOUN
ap-1656	3	23	:	:	PUNCT
ap-1656	3	24	antonio.visioli@ing.unibs.it	antonio.visioli@ing.unibs.it	NUM
ap-1656	3	25	abstract	abstract	ADJ
ap-1656	3	26	this	this	DET
ap-1656	3	27	paper	paper	NOUN
ap-1656	3	28	analyses	analyse	VERB
ap-1656	3	29	the	the	DET
ap-1656	3	30	most	most	ADV
ap-1656	3	31	significant	significant	ADJ
ap-1656	3	32	issues	issue	NOUN
ap-1656	3	33	that	that	PRON
ap-1656	3	34	have	have	AUX
ap-1656	3	35	been	be	AUX
ap-1656	3	36	recently	recently	ADV
ap-1656	3	37	been	be	AUX
ap-1656	3	38	addressed	address	VERB
ap-1656	3	39	by	by	ADP
ap-1656	3	40	researchers	researcher	NOUN
ap-1656	3	41	in	in	ADP
ap-1656	3	42	the	the	DET
ap-1656	3	43	field	field	NOUN
ap-1656	3	44	of	of	ADP
ap-1656	3	45	proportional	proportional	ADJ
ap-1656	3	46	-	-	PUNCT
ap-1656	3	47	integral	integral	ADJ
ap-1656	3	48	-	-	PUNCT
ap-1656	3	49	derivative	derivative	ADJ
ap-1656	3	50	(	(	PUNCT
ap-1656	3	51	pid	pid	NOUN
ap-1656	3	52	)	)	PUNCT
ap-1656	3	53	controllers	controller	NOUN
ap-1656	3	54	.	.	PUNCT
ap-1656	4	1	in	in	ADP
ap-1656	4	2	particular	particular	ADJ
ap-1656	4	3	,	,	PUNCT
ap-1656	4	4	the	the	DET
ap-1656	4	5	most	most	ADV
ap-1656	4	6	recent	recent	ADJ
ap-1656	4	7	techniques	technique	NOUN
ap-1656	4	8	proposed	propose	VERB
ap-1656	4	9	for	for	ADP
ap-1656	4	10	tuning	tune	VERB
ap-1656	4	11	and	and	CCONJ
ap-1656	4	12	designing	design	VERB
ap-1656	4	13	pid	pid	NOUN
ap-1656	4	14	-	-	PUNCT
ap-1656	4	15	based	base	VERB
ap-1656	4	16	control	control	NOUN
ap-1656	4	17	structures	structure	NOUN
ap-1656	4	18	are	be	AUX
ap-1656	4	19	briefly	briefly	ADV
ap-1656	4	20	reviewed	review	VERB
ap-1656	4	21	,	,	PUNCT
ap-1656	4	22	together	together	ADV
ap-1656	4	23	with	with	ADP
ap-1656	4	24	methods	method	NOUN
ap-1656	4	25	for	for	ADP
ap-1656	4	26	assessing	assess	VERB
ap-1656	4	27	their	their	PRON
ap-1656	4	28	performance	performance	NOUN
ap-1656	4	29	.	.	PUNCT
ap-1656	5	1	finally	finally	ADV
ap-1656	5	2	,	,	PUNCT
ap-1656	5	3	fractional	fractional	ADJ
ap-1656	5	4	-	-	PUNCT
ap-1656	5	5	order	order	NOUN
ap-1656	5	6	and	and	CCONJ
ap-1656	5	7	event	event	NOUN
ap-1656	5	8	-	-	PUNCT
ap-1656	5	9	based	base	VERB
ap-1656	5	10	pid	pid	NOUN
ap-1656	5	11	controllers	controller	NOUN
ap-1656	5	12	are	be	AUX
ap-1656	5	13	presented	present	VERB
ap-1656	5	14	among	among	ADP
ap-1656	5	15	the	the	DET
ap-1656	5	16	most	most	ADV
ap-1656	5	17	significant	significant	ADJ
ap-1656	5	18	developments	development	NOUN
ap-1656	5	19	in	in	ADP
ap-1656	5	20	the	the	DET
ap-1656	5	21	field	field	NOUN
ap-1656	5	22	.	.	PUNCT
ap-1656	6	1	keywords	keyword	NOUN
ap-1656	6	2	:	:	PUNCT
ap-1656	6	3	pid	pid	NOUN
ap-1656	6	4	controllers	controller	NOUN
ap-1656	6	5	,	,	PUNCT
ap-1656	6	6	design	design	NOUN
ap-1656	6	7	,	,	PUNCT
ap-1656	6	8	tuning	tuning	NOUN
ap-1656	6	9	,	,	PUNCT
ap-1656	6	10	control	control	NOUN
ap-1656	6	11	structures	structure	NOUN
ap-1656	6	12	.	.	PUNCT
ap-1656	7	1	1	1	NUM
ap-1656	7	2	introduction	introduction	NOUN
ap-1656	7	3	despite	despite	SCONJ
ap-1656	7	4	the	the	DET
ap-1656	7	5	new	new	ADJ
ap-1656	7	6	results	result	NOUN
ap-1656	7	7	in	in	ADP
ap-1656	7	8	control	control	NOUN
ap-1656	7	9	theory	theory	NOUN
ap-1656	7	10	that	that	PRON
ap-1656	7	11	have	have	AUX
ap-1656	7	12	been	be	AUX
ap-1656	7	13	achieved	achieve	VERB
ap-1656	7	14	by	by	ADP
ap-1656	7	15	researchers	researcher	NOUN
ap-1656	7	16	year	year	NOUN
ap-1656	7	17	-	-	PUNCT
ap-1656	7	18	by	by	ADP
ap-1656	7	19	-	-	PUNCT
ap-1656	7	20	year	year	NOUN
ap-1656	7	21	all	all	ADV
ap-1656	7	22	over	over	ADP
ap-1656	7	23	the	the	DET
ap-1656	7	24	world	world	NOUN
ap-1656	7	25	,	,	PUNCT
ap-1656	7	26	proportional	proportional	ADJ
ap-1656	7	27	-	-	PUNCT
ap-1656	7	28	integral	integral	ADJ
ap-1656	7	29	-	-	PUNCT
ap-1656	7	30	derivative	derivative	ADJ
ap-1656	7	31	(	(	PUNCT
ap-1656	7	32	pid	pid	NOUN
ap-1656	7	33	)	)	PUNCT
ap-1656	7	34	controllers	controller	NOUN
ap-1656	7	35	are	be	AUX
ap-1656	7	36	still	still	ADV
ap-1656	7	37	the	the	DET
ap-1656	7	38	most	most	ADV
ap-1656	7	39	widely	widely	ADV
ap-1656	7	40	-	-	PUNCT
ap-1656	7	41	used	use	VERB
ap-1656	7	42	controllers	controller	NOUN
ap-1656	7	43	in	in	ADP
ap-1656	7	44	industry	industry	NOUN
ap-1656	7	45	.	.	PUNCT
ap-1656	8	1	this	this	PRON
ap-1656	8	2	is	be	AUX
ap-1656	8	3	because	because	SCONJ
ap-1656	8	4	it	it	PRON
ap-1656	8	5	is	be	AUX
ap-1656	8	6	really	really	ADV
ap-1656	8	7	very	very	ADV
ap-1656	8	8	difficult	difficult	ADJ
ap-1656	8	9	to	to	PART
ap-1656	8	10	improve	improve	VERB
ap-1656	8	11	their	their	PRON
ap-1656	8	12	cost	cost	NOUN
ap-1656	8	13	/	/	SYM
ap-1656	8	14	benefit	benefit	NOUN
ap-1656	8	15	ratio	ratio	NOUN
ap-1656	8	16	,	,	PUNCT
ap-1656	8	17	which	which	PRON
ap-1656	8	18	is	be	AUX
ap-1656	8	19	obviously	obviously	ADV
ap-1656	8	20	a	a	DET
ap-1656	8	21	major	major	ADJ
ap-1656	8	22	concern	concern	NOUN
ap-1656	8	23	in	in	ADP
ap-1656	8	24	industry	industry	NOUN
ap-1656	8	25	.	.	PUNCT
ap-1656	9	1	pid	pid	NOUN
ap-1656	9	2	controllers	controller	NOUN
ap-1656	9	3	are	be	AUX
ap-1656	9	4	still	still	ADV
ap-1656	9	5	a	a	DET
ap-1656	9	6	very	very	ADV
ap-1656	9	7	active	active	ADJ
ap-1656	9	8	field	field	NOUN
ap-1656	9	9	of	of	ADP
ap-1656	9	10	research	research	NOUN
ap-1656	9	11	,	,	PUNCT
ap-1656	9	12	because	because	SCONJ
ap-1656	9	13	it	it	PRON
ap-1656	9	14	is	be	AUX
ap-1656	9	15	recognized	recognize	VERB
ap-1656	9	16	that	that	SCONJ
ap-1656	9	17	they	they	PRON
ap-1656	9	18	are	be	AUX
ap-1656	9	19	often	often	ADV
ap-1656	9	20	poorly	poorly	ADV
ap-1656	9	21	tuned	tune	VERB
ap-1656	9	22	in	in	ADP
ap-1656	9	23	industrial	industrial	ADJ
ap-1656	9	24	applications	application	NOUN
ap-1656	9	25	,	,	PUNCT
ap-1656	9	26	and	and	CCONJ
ap-1656	9	27	the	the	DET
ap-1656	9	28	performance	performance	NOUN
ap-1656	9	29	that	that	PRON
ap-1656	9	30	is	be	AUX
ap-1656	9	31	achieved	achieve	VERB
ap-1656	9	32	can	can	AUX
ap-1656	9	33	be	be	AUX
ap-1656	9	34	improved	improve	VERB
ap-1656	9	35	many	many	ADJ
ap-1656	9	36	times	time	NOUN
ap-1656	9	37	by	by	ADP
ap-1656	9	38	using	use	VERB
ap-1656	9	39	a	a	DET
ap-1656	9	40	more	more	ADV
ap-1656	9	41	effective	effective	ADJ
ap-1656	9	42	design	design	NOUN
ap-1656	9	43	technique	technique	NOUN
ap-1656	9	44	for	for	ADP
ap-1656	9	45	the	the	DET
ap-1656	9	46	pid	pid	NOUN
ap-1656	9	47	-	-	PUNCT
ap-1656	9	48	based	base	VERB
ap-1656	9	49	control	control	NOUN
ap-1656	9	50	system	system	NOUN
ap-1656	9	51	.	.	PUNCT
ap-1656	10	1	a	a	DET
ap-1656	10	2	great	great	ADJ
ap-1656	10	3	impulse	impulse	NOUN
ap-1656	10	4	for	for	ADP
ap-1656	10	5	research	research	NOUN
ap-1656	10	6	on	on	ADP
ap-1656	10	7	pid	pid	NOUN
ap-1656	10	8	controllers	controller	NOUN
ap-1656	10	9	was	be	AUX
ap-1656	10	10	provided	provide	VERB
ap-1656	10	11	by	by	ADP
ap-1656	10	12	a	a	DET
ap-1656	10	13	workshop	workshop	NOUN
ap-1656	10	14	dedicated	dedicate	VERB
ap-1656	10	15	to	to	ADP
ap-1656	10	16	them	they	PRON
ap-1656	10	17	organized	organize	VERB
ap-1656	10	18	in	in	ADP
ap-1656	10	19	terrassa	terrassa	PROPN
ap-1656	10	20	(	(	PUNCT
ap-1656	10	21	spain	spain	PROPN
ap-1656	10	22	)	)	PUNCT
ap-1656	10	23	in	in	ADP
ap-1656	10	24	2000	2000	NUM
ap-1656	10	25	,	,	PUNCT
ap-1656	10	26	sponsored	sponsor	VERB
ap-1656	10	27	by	by	ADP
ap-1656	10	28	the	the	DET
ap-1656	10	29	international	international	PROPN
ap-1656	10	30	federation	federation	PROPN
ap-1656	10	31	of	of	ADP
ap-1656	10	32	automatic	automatic	ADJ
ap-1656	10	33	control	control	NOUN
ap-1656	10	34	(	(	PUNCT
ap-1656	10	35	ifac	ifac	NOUN
ap-1656	10	36	)	)	PUNCT
ap-1656	10	37	.	.	PUNCT
ap-1656	11	1	the	the	DET
ap-1656	11	2	success	success	NOUN
ap-1656	11	3	of	of	ADP
ap-1656	11	4	the	the	DET
ap-1656	11	5	meeting	meeting	NOUN
ap-1656	11	6	is	be	AUX
ap-1656	11	7	witnessed	witness	VERB
ap-1656	11	8	not	not	PART
ap-1656	11	9	only	only	ADV
ap-1656	11	10	by	by	ADP
ap-1656	11	11	the	the	DET
ap-1656	11	12	number	number	NOUN
ap-1656	11	13	of	of	ADP
ap-1656	11	14	participants	participant	NOUN
ap-1656	11	15	but	but	CCONJ
ap-1656	11	16	also	also	ADV
ap-1656	11	17	by	by	ADP
ap-1656	11	18	the	the	DET
ap-1656	11	19	large	large	ADJ
ap-1656	11	20	number	number	NOUN
ap-1656	11	21	of	of	ADP
ap-1656	11	22	papers	paper	NOUN
ap-1656	11	23	and	and	CCONJ
ap-1656	11	24	books	book	NOUN
ap-1656	11	25	published	publish	VERB
ap-1656	11	26	in	in	ADP
ap-1656	11	27	the	the	DET
ap-1656	11	28	last	last	ADJ
ap-1656	11	29	ten	ten	NUM
ap-1656	11	30	years	year	NOUN
ap-1656	11	31	specifically	specifically	ADV
ap-1656	11	32	on	on	ADP
ap-1656	11	33	this	this	DET
ap-1656	11	34	topic	topic	NOUN
ap-1656	11	35	(	(	PUNCT
ap-1656	11	36	see	see	VERB
ap-1656	11	37	,	,	PUNCT
ap-1656	11	38	e.g.	e.g.	ADV
ap-1656	11	39	[	[	X
ap-1656	11	40	3	3	NUM
ap-1656	11	41	,	,	PUNCT
ap-1656	11	42	15	15	NUM
ap-1656	11	43	,	,	PUNCT
ap-1656	11	44	23	23	NUM
ap-1656	11	45	,	,	PUNCT
ap-1656	11	46	45	45	NUM
ap-1656	11	47	,	,	PUNCT
ap-1656	11	48	46	46	NUM
ap-1656	11	49	,	,	PUNCT
ap-1656	11	50	52	52	NUM
ap-1656	11	51	,	,	PUNCT
ap-1656	11	52	55	55	NUM
ap-1656	11	53	]	]	PUNCT
ap-1656	11	54	)	)	PUNCT
ap-1656	11	55	.	.	PUNCT
ap-1656	12	1	in	in	ADP
ap-1656	12	2	order	order	NOUN
ap-1656	12	3	to	to	PART
ap-1656	12	4	further	far	ADV
ap-1656	12	5	outline	outline	VERB
ap-1656	12	6	the	the	DET
ap-1656	12	7	current	current	ADJ
ap-1656	12	8	state	state	NOUN
ap-1656	12	9	-	-	PUNCT
ap-1656	12	10	of	of	ADP
ap-1656	12	11	-	-	PUNCT
ap-1656	12	12	the	the	DET
ap-1656	12	13	-	-	PUNCT
ap-1656	12	14	art	art	NOUN
ap-1656	12	15	and	and	CCONJ
ap-1656	12	16	the	the	DET
ap-1656	12	17	future	future	ADJ
ap-1656	12	18	perspectives	perspective	NOUN
ap-1656	12	19	from	from	ADP
ap-1656	12	20	an	an	DET
ap-1656	12	21	academic	academic	ADJ
ap-1656	12	22	and	and	CCONJ
ap-1656	12	23	also	also	ADV
ap-1656	12	24	from	from	ADP
ap-1656	12	25	an	an	DET
ap-1656	12	26	industrial	industrial	ADJ
ap-1656	12	27	viewpoint	viewpoint	NOUN
ap-1656	12	28	,	,	PUNCT
ap-1656	12	29	another	another	DET
ap-1656	12	30	ifac	ifac	NOUN
ap-1656	12	31	conference	conference	NOUN
ap-1656	12	32	dedicated	dedicate	VERB
ap-1656	12	33	to	to	ADP
ap-1656	12	34	pid	pid	NOUN
ap-1656	12	35	controllers	controller	NOUN
ap-1656	12	36	was	be	AUX
ap-1656	12	37	held	hold	VERB
ap-1656	12	38	in	in	ADP
ap-1656	12	39	brescia	brescia	PROPN
ap-1656	12	40	(	(	PUNCT
ap-1656	12	41	italy	italy	PROPN
ap-1656	12	42	)	)	PUNCT
ap-1656	12	43	in	in	ADP
ap-1656	12	44	march	march	PROPN
ap-1656	12	45	2012	2012	NUM
ap-1656	12	46	.	.	PUNCT
ap-1656	13	1	this	this	DET
ap-1656	13	2	paper	paper	NOUN
ap-1656	13	3	describes	describe	VERB
ap-1656	13	4	many	many	ADJ
ap-1656	13	5	significant	significant	ADJ
ap-1656	13	6	results	result	NOUN
ap-1656	13	7	achieved	achieve	VERB
ap-1656	13	8	recently	recently	ADV
ap-1656	13	9	in	in	ADP
ap-1656	13	10	the	the	DET
ap-1656	13	11	field	field	NOUN
ap-1656	13	12	of	of	ADP
ap-1656	13	13	pid	pid	NOUN
ap-1656	13	14	controllers	controller	NOUN
ap-1656	13	15	,	,	PUNCT
ap-1656	13	16	and	and	CCONJ
ap-1656	13	17	reviews	review	NOUN
ap-1656	13	18	in	in	ADP
ap-1656	13	19	particular	particular	ADJ
ap-1656	13	20	those	those	PRON
ap-1656	13	21	related	relate	VERB
ap-1656	13	22	to	to	ADP
ap-1656	13	23	tuning	tune	VERB
ap-1656	13	24	and	and	CCONJ
ap-1656	13	25	designing	design	VERB
ap-1656	13	26	pid	pid	NOUN
ap-1656	13	27	-	-	PUNCT
ap-1656	13	28	based	base	VERB
ap-1656	13	29	control	control	NOUN
ap-1656	13	30	structures	structure	NOUN
ap-1656	13	31	,	,	PUNCT
ap-1656	13	32	determining	determine	VERB
ap-1656	13	33	the	the	DET
ap-1656	13	34	stabilizing	stabilize	VERB
ap-1656	13	35	region	region	NOUN
ap-1656	13	36	of	of	ADP
ap-1656	13	37	the	the	DET
ap-1656	13	38	pid	pid	NOUN
ap-1656	13	39	parameters	parameter	NOUN
ap-1656	13	40	,	,	PUNCT
ap-1656	13	41	and	and	CCONJ
ap-1656	13	42	performance	performance	NOUN
ap-1656	13	43	assessment	assessment	NOUN
ap-1656	13	44	issues	issue	NOUN
ap-1656	13	45	.	.	PUNCT
ap-1656	14	1	finally	finally	ADV
ap-1656	14	2	,	,	PUNCT
ap-1656	14	3	new	new	ADJ
ap-1656	14	4	control	control	NOUN
ap-1656	14	5	concepts	concept	NOUN
ap-1656	14	6	applied	apply	VERB
ap-1656	14	7	to	to	ADP
ap-1656	14	8	pid	pid	NOUN
ap-1656	14	9	controllers	controller	NOUN
ap-1656	14	10	,	,	PUNCT
ap-1656	14	11	namely	namely	ADV
ap-1656	14	12	fractional	fractional	ADJ
ap-1656	14	13	and	and	CCONJ
ap-1656	14	14	event	event	NOUN
ap-1656	14	15	-	-	PUNCT
ap-1656	14	16	based	base	VERB
ap-1656	14	17	pid	pid	NOUN
ap-1656	14	18	controllers	controller	NOUN
ap-1656	14	19	,	,	PUNCT
ap-1656	14	20	will	will	AUX
ap-1656	14	21	be	be	AUX
ap-1656	14	22	highlighted	highlight	VERB
ap-1656	14	23	.	.	PUNCT
ap-1656	15	1	2	2	NUM
ap-1656	15	2	generalities	generality	NOUN
ap-1656	15	3	a	a	DET
ap-1656	15	4	pid	pid	NOUN
ap-1656	15	5	controller	controller	NOUN
ap-1656	15	6	is	be	AUX
ap-1656	15	7	typically	typically	ADV
ap-1656	15	8	employed	employ	VERB
ap-1656	15	9	in	in	ADP
ap-1656	15	10	a	a	DET
ap-1656	15	11	unity	unity	NOUN
ap-1656	15	12	-	-	PUNCT
ap-1656	15	13	feedback	feedback	NOUN
ap-1656	15	14	control	control	NOUN
ap-1656	15	15	system	system	NOUN
ap-1656	15	16	like	like	ADP
ap-1656	15	17	that	that	PRON
ap-1656	15	18	shown	show	VERB
ap-1656	15	19	in	in	ADP
ap-1656	15	20	figure	figure	NOUN
ap-1656	15	21	1	1	NUM
ap-1656	15	22	,	,	PUNCT
ap-1656	15	23	where	where	SCONJ
ap-1656	15	24	p	p	NOUN
ap-1656	15	25	is	be	AUX
ap-1656	15	26	the	the	DET
ap-1656	15	27	process	process	NOUN
ap-1656	15	28	,	,	PUNCT
ap-1656	15	29	y	y	PROPN
ap-1656	15	30	is	be	AUX
ap-1656	15	31	the	the	DET
ap-1656	15	32	process	process	NOUN
ap-1656	15	33	variable	variable	NOUN
ap-1656	15	34	,	,	PUNCT
ap-1656	15	35	r	r	NOUN
ap-1656	15	36	is	be	AUX
ap-1656	15	37	the	the	DET
ap-1656	15	38	set	set	VERB
ap-1656	15	39	-	-	PUNCT
ap-1656	15	40	point	point	NOUN
ap-1656	15	41	signal	signal	NOUN
ap-1656	15	42	and	and	CCONJ
ap-1656	15	43	d	d	NOUN
ap-1656	15	44	is	be	AUX
ap-1656	15	45	the	the	DET
ap-1656	15	46	load	load	NOUN
ap-1656	15	47	disturbance	disturbance	NOUN
ap-1656	15	48	.	.	PUNCT
ap-1656	16	1	in	in	ADP
ap-1656	16	2	its	its	PRON
ap-1656	16	3	basic	basic	ADJ
ap-1656	16	4	form	form	NOUN
ap-1656	16	5	,	,	PUNCT
ap-1656	16	6	the	the	DET
ap-1656	16	7	pid	pid	NOUN
ap-1656	16	8	controller	controller	NOUN
ap-1656	16	9	can	can	AUX
ap-1656	16	10	be	be	AUX
ap-1656	16	11	described	describe	VERB
ap-1656	16	12	by	by	ADP
ap-1656	16	13	the	the	DET
ap-1656	16	14	following	follow	VERB
ap-1656	16	15	transfer	transfer	NOUN
ap-1656	16	16	function	function	NOUN
ap-1656	16	17	c(s	c(	VERB
ap-1656	16	18	)	)	PUNCT
ap-1656	16	19	=	=	SYM
ap-1656	16	20	kp	kp	NOUN
ap-1656	16	21	(	(	PUNCT
ap-1656	16	22	1	1	NUM
ap-1656	16	23	+	+	SYM
ap-1656	16	24	1	1	NUM
ap-1656	16	25	tis	tis	PROPN
ap-1656	16	26	+	+	CCONJ
ap-1656	16	27	tds	tds	ADJ
ap-1656	16	28	)	)	PUNCT
ap-1656	16	29	,	,	PUNCT
ap-1656	16	30	(	(	PUNCT
ap-1656	16	31	1	1	X
ap-1656	16	32	)	)	PUNCT
ap-1656	16	33	where	where	SCONJ
ap-1656	16	34	kp	kp	PROPN
ap-1656	16	35	is	be	AUX
ap-1656	16	36	the	the	DET
ap-1656	16	37	proportional	proportional	ADJ
ap-1656	16	38	gain	gain	NOUN
ap-1656	16	39	,	,	PUNCT
ap-1656	16	40	ti	ti	PROPN
ap-1656	16	41	is	be	AUX
ap-1656	16	42	the	the	DET
ap-1656	16	43	integral	integral	ADJ
ap-1656	16	44	time	time	NOUN
ap-1656	16	45	constant	constant	ADJ
ap-1656	16	46	and	and	CCONJ
ap-1656	16	47	td	td	NOUN
ap-1656	16	48	is	be	AUX
ap-1656	16	49	the	the	DET
ap-1656	16	50	derivative	derivative	ADJ
ap-1656	16	51	time	time	NOUN
ap-1656	16	52	constant	constant	ADJ
ap-1656	16	53	.	.	PUNCT
ap-1656	17	1	expression	expression	NOUN
ap-1656	17	2	(	(	PUNCT
ap-1656	17	3	1	1	X
ap-1656	17	4	)	)	PUNCT
ap-1656	17	5	is	be	AUX
ap-1656	17	6	usually	usually	ADV
ap-1656	17	7	known	know	VERB
ap-1656	17	8	as	as	ADP
ap-1656	17	9	the	the	DET
ap-1656	17	10	ideal	ideal	ADJ
ap-1656	17	11	form	form	NOUN
ap-1656	17	12	.	.	PUNCT
ap-1656	18	1	other	other	ADJ
ap-1656	18	2	forms	form	NOUN
ap-1656	18	3	(	(	PUNCT
ap-1656	18	4	usually	usually	ADV
ap-1656	18	5	called	call	VERB
ap-1656	18	6	series	series	NOUN
ap-1656	18	7	and	and	CCONJ
ap-1656	18	8	parallel	parallel	ADJ
ap-1656	18	9	forms	form	NOUN
ap-1656	18	10	)	)	PUNCT
ap-1656	18	11	can	can	AUX
ap-1656	18	12	also	also	ADV
ap-1656	18	13	be	be	AUX
ap-1656	18	14	employed	employ	VERB
ap-1656	18	15	[	[	X
ap-1656	18	16	3	3	NUM
ap-1656	18	17	]	]	PUNCT
ap-1656	18	18	.	.	PUNCT
ap-1656	19	1	in	in	SCONJ
ap-1656	19	2	order	order	NOUN
ap-1656	19	3	to	to	PART
ap-1656	19	4	be	be	AUX
ap-1656	19	5	effectively	effectively	ADV
ap-1656	19	6	employed	employ	VERB
ap-1656	19	7	in	in	ADP
ap-1656	19	8	practical	practical	ADJ
ap-1656	19	9	cases	case	NOUN
ap-1656	19	10	,	,	PUNCT
ap-1656	19	11	additional	additional	ADJ
ap-1656	19	12	functionalities	functionality	NOUN
ap-1656	19	13	also	also	ADV
ap-1656	19	14	have	have	VERB
ap-1656	19	15	to	to	PART
ap-1656	19	16	be	be	AUX
ap-1656	19	17	implemented	implement	VERB
ap-1656	19	18	.	.	PUNCT
ap-1656	20	1	the	the	DET
ap-1656	20	2	most	most	ADV
ap-1656	20	3	important	important	ADJ
ap-1656	20	4	functionalities	functionality	NOUN
ap-1656	20	5	can	can	AUX
ap-1656	20	6	be	be	AUX
ap-1656	20	7	summarized	summarize	VERB
ap-1656	20	8	as	as	SCONJ
ap-1656	20	9	follows	follow	VERB
ap-1656	20	10	(	(	PUNCT
ap-1656	20	11	details	detail	NOUN
ap-1656	20	12	can	can	AUX
ap-1656	20	13	be	be	AUX
ap-1656	20	14	found	find	VERB
ap-1656	20	15	in	in	ADP
ap-1656	20	16	[	[	X
ap-1656	20	17	52	52	NUM
ap-1656	20	18	]	]	NUM
ap-1656	20	19	)	)	PUNCT
ap-1656	20	20	.	.	PUNCT
ap-1656	21	1	•	•	NUM
ap-1656	21	2	the	the	DET
ap-1656	21	3	derivative	derivative	ADJ
ap-1656	21	4	action	action	NOUN
ap-1656	21	5	has	have	VERB
ap-1656	21	6	to	to	PART
ap-1656	21	7	be	be	AUX
ap-1656	21	8	filtered	filter	VERB
ap-1656	21	9	in	in	ADP
ap-1656	21	10	order	order	NOUN
ap-1656	21	11	to	to	PART
ap-1656	21	12	make	make	VERB
ap-1656	21	13	the	the	DET
ap-1656	21	14	controller	controller	NOUN
ap-1656	21	15	proper	proper	ADJ
ap-1656	21	16	and	and	CCONJ
ap-1656	21	17	to	to	PART
ap-1656	21	18	filter	filter	VERB
ap-1656	21	19	the	the	DET
ap-1656	21	20	(	(	PUNCT
ap-1656	21	21	high	high	ADJ
ap-1656	21	22	frequency	frequency	NOUN
ap-1656	21	23	)	)	PUNCT
ap-1656	21	24	measurement	measurement	NOUN
ap-1656	21	25	noise	noise	NOUN
ap-1656	21	26	;	;	PUNCT
ap-1656	21	27	in	in	ADP
ap-1656	21	28	addition	addition	NOUN
ap-1656	21	29	,	,	PUNCT
ap-1656	21	30	the	the	DET
ap-1656	21	31	derivative	derivative	ADJ
ap-1656	21	32	action	action	NOUN
ap-1656	21	33	is	be	AUX
ap-1656	21	34	often	often	ADV
ap-1656	21	35	applied	apply	VERB
ap-1656	21	36	directly	directly	ADV
ap-1656	21	37	to	to	ADP
ap-1656	21	38	the	the	DET
ap-1656	21	39	process	process	NOUN
ap-1656	21	40	variable	variable	NOUN
ap-1656	21	41	instead	instead	ADV
ap-1656	21	42	of	of	ADP
ap-1656	21	43	to	to	ADP
ap-1656	21	44	the	the	DET
ap-1656	21	45	control	control	NOUN
ap-1656	21	46	error	error	NOUN
ap-1656	21	47	in	in	ADP
ap-1656	21	48	order	order	NOUN
ap-1656	21	49	to	to	PART
ap-1656	21	50	avoid	avoid	VERB
ap-1656	21	51	the	the	DET
ap-1656	21	52	so	so	ADV
ap-1656	21	53	-	-	PUNCT
ap-1656	21	54	called	call	VERB
ap-1656	21	55	derivative	derivative	ADJ
ap-1656	21	56	kick	kick	NOUN
ap-1656	21	57	when	when	SCONJ
ap-1656	21	58	a	a	DET
ap-1656	21	59	step	step	NOUN
ap-1656	21	60	signal	signal	NOUN
ap-1656	21	61	is	be	AUX
ap-1656	21	62	applied	apply	VERB
ap-1656	21	63	to	to	ADP
ap-1656	21	64	the	the	DET
ap-1656	21	65	set	set	NOUN
ap-1656	21	66	-	-	PUNCT
ap-1656	21	67	point	point	NOUN
ap-1656	21	68	.	.	PUNCT
ap-1656	22	1	the	the	DET
ap-1656	22	2	derivative	derivative	ADJ
ap-1656	22	3	filter	filter	NOUN
ap-1656	22	4	has	have	VERB
ap-1656	22	5	to	to	PART
ap-1656	22	6	be	be	AUX
ap-1656	22	7	taken	take	VERB
ap-1656	22	8	into	into	ADP
ap-1656	22	9	consideration	consideration	NOUN
ap-1656	22	10	in	in	ADP
ap-1656	22	11	the	the	DET
ap-1656	22	12	overall	overall	ADJ
ap-1656	22	13	design	design	NOUN
ap-1656	22	14	of	of	ADP
ap-1656	22	15	the	the	DET
ap-1656	22	16	controller	controller	NOUN
ap-1656	22	17	[	[	X
ap-1656	22	18	13	13	NUM
ap-1656	22	19	,	,	PUNCT
ap-1656	22	20	17	17	NUM
ap-1656	22	21	]	]	PUNCT
ap-1656	22	22	.	.	PUNCT
ap-1656	23	1	•	•	NUM
ap-1656	23	2	the	the	DET
ap-1656	23	3	set	set	NOUN
ap-1656	23	4	-	-	PUNCT
ap-1656	23	5	point	point	NOUN
ap-1656	23	6	value	value	NOUN
ap-1656	23	7	for	for	ADP
ap-1656	23	8	the	the	DET
ap-1656	23	9	proportional	proportional	ADJ
ap-1656	23	10	action	action	NOUN
ap-1656	23	11	can	can	AUX
ap-1656	23	12	be	be	AUX
ap-1656	23	13	weighted	weight	VERB
ap-1656	23	14	in	in	ADP
ap-1656	23	15	order	order	NOUN
ap-1656	23	16	to	to	PART
ap-1656	23	17	obtain	obtain	VERB
ap-1656	23	18	a	a	DET
ap-1656	23	19	two	two	NUM
ap-1656	23	20	-	-	PUNCT
ap-1656	23	21	degreeof	degreeof	ADJ
ap-1656	23	22	-	-	PUNCT
ap-1656	23	23	freedom	freedom	NOUN
ap-1656	23	24	controller	controller	NOUN
ap-1656	23	25	,	,	PUNCT
ap-1656	23	26	i.e.	i.e.	X
ap-1656	23	27	in	in	ADP
ap-1656	23	28	order	order	NOUN
ap-1656	23	29	to	to	PART
ap-1656	23	30	reduce	reduce	VERB
ap-1656	23	31	the	the	DET
ap-1656	23	32	overshoot	overshoot	NOUN
ap-1656	23	33	in	in	ADP
ap-1656	23	34	the	the	DET
ap-1656	23	35	set	set	NOUN
ap-1656	23	36	-	-	PUNCT
ap-1656	23	37	point	point	NOUN
ap-1656	23	38	step	step	NOUN
ap-1656	23	39	response	response	NOUN
ap-1656	23	40	when	when	SCONJ
ap-1656	23	41	the	the	DET
ap-1656	23	42	controller	controller	NOUN
ap-1656	23	43	is	be	AUX
ap-1656	23	44	tuned	tune	VERB
ap-1656	23	45	in	in	ADP
ap-1656	23	46	order	order	NOUN
ap-1656	23	47	to	to	PART
ap-1656	23	48	increase	increase	VERB
ap-1656	23	49	the	the	DET
ap-1656	23	50	bandwidth	bandwidth	NOUN
ap-1656	23	51	of	of	ADP
ap-1656	23	52	the	the	DET
ap-1656	23	53	system	system	NOUN
ap-1656	23	54	with	with	ADP
ap-1656	23	55	the	the	DET
ap-1656	23	56	aim	aim	NOUN
ap-1656	23	57	of	of	ADP
ap-1656	23	58	increasing	increase	VERB
ap-1656	23	59	the	the	DET
ap-1656	23	60	load	load	NOUN
ap-1656	23	61	disturbance	disturbance	NOUN
ap-1656	23	62	rejection	rejection	NOUN
ap-1656	23	63	performance	performance	NOUN
ap-1656	23	64	.	.	PUNCT
ap-1656	24	1	in	in	ADP
ap-1656	24	2	this	this	DET
ap-1656	24	3	case	case	NOUN
ap-1656	24	4	a	a	DET
ap-1656	24	5	suitable	suitable	ADJ
ap-1656	24	6	choice	choice	NOUN
ap-1656	24	7	of	of	ADP
ap-1656	24	8	the	the	DET
ap-1656	24	9	value	value	NOUN
ap-1656	24	10	of	of	ADP
ap-1656	24	11	the	the	DET
ap-1656	24	12	set	set	NOUN
ap-1656	24	13	-	-	PUNCT
ap-1656	24	14	point	point	NOUN
ap-1656	24	15	weight	weight	NOUN
ap-1656	24	16	(	(	PUNCT
ap-1656	24	17	or	or	CCONJ
ap-1656	24	18	the	the	DET
ap-1656	24	19	application	application	NOUN
ap-1656	24	20	of	of	ADP
ap-1656	24	21	a	a	DET
ap-1656	24	22	more	more	ADV
ap-1656	24	23	sophisticated	sophisticated	ADJ
ap-1656	24	24	techniques	technique	NOUN
ap-1656	24	25	[	[	X
ap-1656	24	26	47	47	NUM
ap-1656	24	27	]	]	PUNCT
ap-1656	24	28	)	)	PUNCT
ap-1656	24	29	can	can	AUX
ap-1656	24	30	yield	yield	VERB
ap-1656	24	31	a	a	DET
ap-1656	24	32	significant	significant	ADJ
ap-1656	24	33	increment	increment	NOUN
ap-1656	24	34	of	of	ADP
ap-1656	24	35	the	the	DET
ap-1656	24	36	control	control	NOUN
ap-1656	24	37	performance	performance	NOUN
ap-1656	24	38	.	.	PUNCT
ap-1656	25	1	•	•	NUM
ap-1656	25	2	suitable	suitable	ADJ
ap-1656	25	3	techniques	technique	NOUN
ap-1656	25	4	(	(	PUNCT
ap-1656	25	5	see	see	VERB
ap-1656	25	6	,	,	PUNCT
ap-1656	26	1	e.g.	e.g.	ADV
ap-1656	26	2	[	[	X
ap-1656	26	3	48	48	NUM
ap-1656	26	4	]	]	PUNCT
ap-1656	26	5	)	)	PUNCT
ap-1656	26	6	should	should	AUX
ap-1656	26	7	be	be	AUX
ap-1656	26	8	implemented	implement	VERB
ap-1656	26	9	properly	properly	ADV
ap-1656	26	10	in	in	ADP
ap-1656	26	11	order	order	NOUN
ap-1656	26	12	to	to	PART
ap-1656	26	13	avoid	avoid	VERB
ap-1656	26	14	the	the	DET
ap-1656	26	15	windup	windup	ADJ
ap-1656	26	16	effect	effect	NOUN
ap-1656	26	17	144	144	NUM
ap-1656	26	18	acta	acta	PROPN
ap-1656	26	19	polytechnica	polytechnica	PROPN
ap-1656	26	20	vol	vol	NOUN
ap-1656	26	21	.	.	PUNCT
ap-1656	27	1	52	52	NUM
ap-1656	27	2	no	no	NOUN
ap-1656	27	3	.	.	PUNCT
ap-1656	28	1	5/2012	5/2012	NUM
ap-1656	28	2	e	e	NOUN
ap-1656	28	3	r	r	NOUN
ap-1656	28	4	u	u	X
ap-1656	28	5	y	y	PROPN
ap-1656	28	6	d	d	X
ap-1656	28	7	c(s	c(s	X
ap-1656	28	8	)	)	PUNCT
ap-1656	28	9	p(s	p(s	NOUN
ap-1656	28	10	)	)	PUNCT
ap-1656	28	11	figure	figure	NOUN
ap-1656	28	12	1	1	NUM
ap-1656	28	13	:	:	PUNCT
ap-1656	28	14	the	the	DET
ap-1656	28	15	unity	unity	NOUN
ap-1656	28	16	feedback	feedback	NOUN
ap-1656	28	17	control	control	NOUN
ap-1656	28	18	scheme	scheme	NOUN
ap-1656	28	19	.	.	PUNCT
ap-1656	29	1	of	of	ADP
ap-1656	29	2	the	the	DET
ap-1656	29	3	integral	integral	ADJ
ap-1656	29	4	action	action	NOUN
ap-1656	29	5	which	which	PRON
ap-1656	29	6	has	have	VERB
ap-1656	29	7	a	a	DET
ap-1656	29	8	detrimental	detrimental	ADJ
ap-1656	29	9	effect	effect	NOUN
ap-1656	29	10	when	when	SCONJ
ap-1656	29	11	large	large	ADJ
ap-1656	29	12	set	set	NOUN
ap-1656	29	13	-	-	PUNCT
ap-1656	29	14	point	point	NOUN
ap-1656	29	15	changes	change	NOUN
ap-1656	29	16	are	be	AUX
ap-1656	29	17	applied	apply	VERB
ap-1656	29	18	.	.	PUNCT
ap-1656	30	1	3	3	NUM
ap-1656	30	2	tuning	tuning	NOUN
ap-1656	30	3	and	and	CCONJ
ap-1656	30	4	automatic	automatic	ADJ
ap-1656	30	5	tuning	tuning	NOUN
ap-1656	30	6	techniques	technique	NOUN
ap-1656	30	7	many	many	ADJ
ap-1656	30	8	tuning	tune	VERB
ap-1656	30	9	rules	rule	NOUN
ap-1656	30	10	for	for	ADP
ap-1656	30	11	pid	pid	NOUN
ap-1656	30	12	controllers	controller	NOUN
ap-1656	30	13	have	have	AUX
ap-1656	30	14	been	be	AUX
ap-1656	30	15	proposed	propose	VERB
ap-1656	30	16	in	in	ADP
ap-1656	30	17	the	the	DET
ap-1656	30	18	last	last	ADJ
ap-1656	30	19	century	century	NOUN
ap-1656	31	1	[	[	X
ap-1656	31	2	23	23	NUM
ap-1656	31	3	]	]	PUNCT
ap-1656	31	4	,	,	PUNCT
ap-1656	31	5	and	and	CCONJ
ap-1656	31	6	new	new	ADJ
ap-1656	31	7	rules	rule	NOUN
ap-1656	31	8	have	have	AUX
ap-1656	31	9	also	also	ADV
ap-1656	31	10	been	be	AUX
ap-1656	31	11	proposed	propose	VERB
ap-1656	31	12	recently	recently	ADV
ap-1656	31	13	(	(	PUNCT
ap-1656	31	14	for	for	ADP
ap-1656	31	15	self	self	NOUN
ap-1656	31	16	-	-	PUNCT
ap-1656	31	17	regulating	regulate	VERB
ap-1656	31	18	,	,	PUNCT
ap-1656	31	19	integral	integral	ADJ
ap-1656	31	20	and	and	CCONJ
ap-1656	31	21	unstable	unstable	ADJ
ap-1656	31	22	processes	process	NOUN
ap-1656	31	23	)	)	PUNCT
ap-1656	31	24	.	.	PUNCT
ap-1656	32	1	among	among	ADP
ap-1656	32	2	these	these	DET
ap-1656	32	3	new	new	ADJ
ap-1656	32	4	rules	rule	NOUN
ap-1656	32	5	,	,	PUNCT
ap-1656	32	6	it	it	PRON
ap-1656	32	7	is	be	AUX
ap-1656	32	8	worth	worth	ADJ
ap-1656	32	9	mentioning	mention	VERB
ap-1656	32	10	the	the	DET
ap-1656	32	11	simc	simc	NOUN
ap-1656	32	12	tuning	tune	VERB
ap-1656	32	13	rules	rule	NOUN
ap-1656	32	14	[	[	X
ap-1656	32	15	9	9	NUM
ap-1656	32	16	,	,	PUNCT
ap-1656	32	17	34	34	NUM
ap-1656	32	18	]	]	PUNCT
ap-1656	32	19	which	which	PRON
ap-1656	32	20	have	have	AUX
ap-1656	32	21	been	be	AUX
ap-1656	32	22	proven	prove	VERB
ap-1656	32	23	to	to	PART
ap-1656	32	24	provide	provide	VERB
ap-1656	32	25	very	very	ADV
ap-1656	32	26	good	good	ADJ
ap-1656	32	27	results	result	NOUN
ap-1656	32	28	despite	despite	SCONJ
ap-1656	32	29	their	their	PRON
ap-1656	32	30	simplicity	simplicity	NOUN
ap-1656	32	31	,	,	PUNCT
ap-1656	32	32	and	and	CCONJ
ap-1656	32	33	the	the	DET
ap-1656	32	34	amigo	amigo	NOUN
ap-1656	32	35	tuning	tuning	NOUN
ap-1656	32	36	rules	rule	NOUN
ap-1656	32	37	,	,	PUNCT
ap-1656	32	38	which	which	PRON
ap-1656	32	39	are	be	AUX
ap-1656	32	40	capable	capable	ADJ
ap-1656	32	41	of	of	ADP
ap-1656	32	42	giving	give	VERB
ap-1656	32	43	high	high	ADJ
ap-1656	32	44	performance	performance	NOUN
ap-1656	32	45	for	for	ADP
ap-1656	32	46	a	a	DET
ap-1656	32	47	wide	wide	ADJ
ap-1656	32	48	range	range	NOUN
ap-1656	32	49	of	of	ADP
ap-1656	32	50	processes	process	NOUN
ap-1656	32	51	[	[	X
ap-1656	32	52	2	2	NUM
ap-1656	32	53	]	]	PUNCT
ap-1656	32	54	.	.	PUNCT
ap-1656	33	1	when	when	SCONJ
ap-1656	33	2	a	a	DET
ap-1656	33	3	new	new	ADJ
ap-1656	33	4	technique	technique	NOUN
ap-1656	33	5	is	be	AUX
ap-1656	33	6	investigated	investigate	VERB
ap-1656	33	7	,	,	PUNCT
ap-1656	33	8	the	the	DET
ap-1656	33	9	following	follow	VERB
ap-1656	33	10	points	point	NOUN
ap-1656	33	11	should	should	AUX
ap-1656	33	12	be	be	AUX
ap-1656	33	13	considered	consider	VERB
ap-1656	33	14	.	.	PUNCT
ap-1656	34	1	first	first	ADV
ap-1656	34	2	,	,	PUNCT
ap-1656	34	3	the	the	DET
ap-1656	34	4	parameters	parameter	NOUN
ap-1656	34	5	related	relate	VERB
ap-1656	34	6	to	to	ADP
ap-1656	34	7	the	the	DET
ap-1656	34	8	additional	additional	ADJ
ap-1656	34	9	functionalities	functionality	NOUN
ap-1656	34	10	mentioned	mention	VERB
ap-1656	34	11	in	in	ADP
ap-1656	34	12	section	section	NOUN
ap-1656	34	13	2	2	NUM
ap-1656	34	14	should	should	AUX
ap-1656	34	15	be	be	AUX
ap-1656	34	16	explicitly	explicitly	ADV
ap-1656	34	17	taken	take	VERB
ap-1656	34	18	into	into	ADP
ap-1656	34	19	account	account	NOUN
ap-1656	34	20	.	.	PUNCT
ap-1656	35	1	other	other	ADJ
ap-1656	35	2	important	important	ADJ
ap-1656	35	3	issues	issue	NOUN
ap-1656	35	4	,	,	PUNCT
ap-1656	35	5	e.g.	e.g.	ADV
ap-1656	35	6	the	the	DET
ap-1656	35	7	robustness	robustness	NOUN
ap-1656	35	8	of	of	ADP
ap-1656	35	9	the	the	DET
ap-1656	35	10	controller	controller	NOUN
ap-1656	35	11	to	to	ADP
ap-1656	35	12	modelling	model	VERB
ap-1656	35	13	uncertainties	uncertainty	NOUN
ap-1656	35	14	,	,	PUNCT
ap-1656	35	15	should	should	AUX
ap-1656	35	16	also	also	ADV
ap-1656	35	17	be	be	AUX
ap-1656	35	18	considered	consider	VERB
ap-1656	35	19	[	[	X
ap-1656	35	20	43	43	NUM
ap-1656	35	21	]	]	PUNCT
ap-1656	35	22	.	.	PUNCT
ap-1656	36	1	finally	finally	ADV
ap-1656	36	2	,	,	PUNCT
ap-1656	36	3	the	the	DET
ap-1656	36	4	availability	availability	NOUN
ap-1656	36	5	of	of	ADP
ap-1656	36	6	more	more	ADJ
ap-1656	36	7	and	and	CCONJ
ap-1656	36	8	more	more	ADV
ap-1656	36	9	advanced	advanced	ADJ
ap-1656	36	10	identification	identification	NOUN
ap-1656	36	11	techniques	technique	NOUN
ap-1656	36	12	calls	call	VERB
ap-1656	36	13	for	for	ADP
ap-1656	36	14	procedures	procedure	NOUN
ap-1656	36	15	to	to	PART
ap-1656	36	16	select	select	VERB
ap-1656	36	17	the	the	DET
ap-1656	36	18	most	most	ADV
ap-1656	36	19	suitable	suitable	ADJ
ap-1656	36	20	identification	identification	NOUN
ap-1656	36	21	strategy	strategy	NOUN
ap-1656	36	22	for	for	ADP
ap-1656	36	23	a	a	DET
ap-1656	36	24	given	give	VERB
ap-1656	36	25	application	application	NOUN
ap-1656	36	26	and	and	CCONJ
ap-1656	36	27	for	for	ADP
ap-1656	36	28	a	a	DET
ap-1656	36	29	general	general	ADJ
ap-1656	36	30	model	model	NOUN
ap-1656	36	31	-	-	PUNCT
ap-1656	36	32	based	base	VERB
ap-1656	36	33	design	design	NOUN
ap-1656	36	34	strategy	strategy	NOUN
ap-1656	36	35	[	[	X
ap-1656	36	36	8	8	NUM
ap-1656	36	37	,	,	PUNCT
ap-1656	36	38	18	18	NUM
ap-1656	36	39	]	]	PUNCT
ap-1656	36	40	.	.	PUNCT
ap-1656	37	1	this	this	PRON
ap-1656	37	2	is	be	AUX
ap-1656	37	3	clearly	clearly	ADV
ap-1656	37	4	more	more	ADV
ap-1656	37	5	relevant	relevant	ADJ
ap-1656	37	6	when	when	SCONJ
ap-1656	37	7	automatic	automatic	ADJ
ap-1656	37	8	tuning	tuning	NOUN
ap-1656	37	9	techniques	technique	NOUN
ap-1656	37	10	are	be	AUX
ap-1656	37	11	implemented	implement	VERB
ap-1656	37	12	.	.	PUNCT
ap-1656	38	1	obviously	obviously	ADV
ap-1656	38	2	,	,	PUNCT
ap-1656	38	3	each	each	DET
ap-1656	38	4	design	design	NOUN
ap-1656	38	5	methodology	methodology	NOUN
ap-1656	38	6	should	should	AUX
ap-1656	38	7	yield	yield	VERB
ap-1656	38	8	an	an	DET
ap-1656	38	9	optimal	optimal	ADJ
ap-1656	38	10	pid	pid	NOUN
ap-1656	38	11	controller	controller	NOUN
ap-1656	38	12	,	,	PUNCT
ap-1656	38	13	i.e.	i.e.	X
ap-1656	38	14	it	it	PRON
ap-1656	38	15	should	should	AUX
ap-1656	38	16	minimize	minimize	VERB
ap-1656	38	17	some	some	DET
ap-1656	38	18	significant	significant	ADJ
ap-1656	38	19	performance	performance	NOUN
ap-1656	38	20	index	index	NOUN
ap-1656	38	21	(	(	PUNCT
ap-1656	38	22	e.g.	e.g.	ADV
ap-1656	38	23	the	the	DET
ap-1656	38	24	integrated	integrate	VERB
ap-1656	38	25	absolute	absolute	ADJ
ap-1656	38	26	error	error	NOUN
ap-1656	38	27	when	when	SCONJ
ap-1656	38	28	a	a	DET
ap-1656	38	29	set	set	NOUN
ap-1656	38	30	-	-	PUNCT
ap-1656	38	31	point	point	NOUN
ap-1656	38	32	or	or	CCONJ
ap-1656	38	33	load	load	VERB
ap-1656	38	34	disturbance	disturbance	NOUN
ap-1656	38	35	step	step	NOUN
ap-1656	38	36	signal	signal	NOUN
ap-1656	38	37	is	be	AUX
ap-1656	38	38	applied	apply	VERB
ap-1656	38	39	)	)	PUNCT
ap-1656	38	40	subject	subject	ADJ
ap-1656	38	41	to	to	ADP
ap-1656	38	42	constraints	constraint	NOUN
ap-1656	38	43	usually	usually	ADV
ap-1656	38	44	represented	represent	VERB
ap-1656	38	45	by	by	ADP
ap-1656	38	46	the	the	DET
ap-1656	38	47	robustness	robustness	NOUN
ap-1656	38	48	of	of	ADP
ap-1656	38	49	the	the	DET
ap-1656	38	50	control	control	NOUN
ap-1656	38	51	system	system	NOUN
ap-1656	38	52	of	of	ADP
ap-1656	38	53	the	the	DET
ap-1656	38	54	control	control	NOUN
ap-1656	38	55	effort	effort	NOUN
ap-1656	38	56	.	.	PUNCT
ap-1656	39	1	4	4	NUM
ap-1656	39	2	pid	pid	NOUN
ap-1656	39	3	-	-	PUNCT
ap-1656	39	4	based	base	VERB
ap-1656	39	5	control	control	NOUN
ap-1656	39	6	structures	structure	VERB
ap-1656	39	7	many	many	ADJ
ap-1656	39	8	different	different	ADJ
ap-1656	39	9	pid	pid	NOUN
ap-1656	39	10	-	-	PUNCT
ap-1656	39	11	based	base	VERB
ap-1656	39	12	control	control	NOUN
ap-1656	39	13	structures	structure	NOUN
ap-1656	39	14	have	have	AUX
ap-1656	39	15	been	be	AUX
ap-1656	39	16	considered	consider	VERB
ap-1656	39	17	as	as	ADP
ap-1656	39	18	an	an	DET
ap-1656	39	19	effective	effective	ADJ
ap-1656	39	20	means	mean	NOUN
ap-1656	39	21	for	for	ADP
ap-1656	39	22	obtaining	obtain	VERB
ap-1656	39	23	high	high	ADJ
ap-1656	39	24	performance	performance	NOUN
ap-1656	39	25	while	while	SCONJ
ap-1656	39	26	retaining	retain	VERB
ap-1656	39	27	simple	simple	ADJ
ap-1656	39	28	implementation	implementation	NOUN
ap-1656	39	29	of	of	ADP
ap-1656	39	30	the	the	DET
ap-1656	39	31	control	control	NOUN
ap-1656	39	32	system	system	NOUN
ap-1656	39	33	.	.	PUNCT
ap-1656	40	1	in	in	ADP
ap-1656	40	2	this	this	DET
ap-1656	40	3	context	context	NOUN
ap-1656	40	4	it	it	PRON
ap-1656	40	5	is	be	AUX
ap-1656	40	6	worth	worth	ADJ
ap-1656	40	7	highlighting	highlight	VERB
ap-1656	40	8	(	(	PUNCT
ap-1656	40	9	in	in	ADP
ap-1656	40	10	addition	addition	NOUN
ap-1656	40	11	to	to	ADP
ap-1656	40	12	the	the	DET
ap-1656	40	13	above	above	ADV
ap-1656	40	14	-	-	PUNCT
ap-1656	40	15	mentioned	mention	VERB
ap-1656	40	16	decoupling	decoupling	NOUN
ap-1656	40	17	strategies	strategy	NOUN
ap-1656	40	18	)	)	PUNCT
ap-1656	40	19	structures	structure	NOUN
ap-1656	40	20	and	and	CCONJ
ap-1656	40	21	tuning	tune	VERB
ap-1656	40	22	techniques	technique	NOUN
ap-1656	40	23	for	for	ADP
ap-1656	40	24	dead	dead	ADJ
ap-1656	40	25	time	time	NOUN
ap-1656	40	26	compensation	compensation	NOUN
ap-1656	40	27	schemes	scheme	NOUN
ap-1656	40	28	[	[	X
ap-1656	40	29	22	22	NUM
ap-1656	40	30	]	]	PUNCT
ap-1656	40	31	,	,	PUNCT
ap-1656	40	32	for	for	ADP
ap-1656	40	33	cascade	cascade	NOUN
ap-1656	40	34	[	[	X
ap-1656	40	35	41	41	NUM
ap-1656	40	36	]	]	PUNCT
ap-1656	40	37	and	and	CCONJ
ap-1656	40	38	ratio	ratio	NOUN
ap-1656	40	39	control	control	NOUN
ap-1656	40	40	systems	system	NOUN
ap-1656	40	41	[	[	X
ap-1656	40	42	50	50	NUM
ap-1656	40	43	,	,	PUNCT
ap-1656	40	44	51	51	NUM
ap-1656	40	45	]	]	PUNCT
ap-1656	40	46	and	and	CCONJ
ap-1656	40	47	methods	method	NOUN
ap-1656	40	48	for	for	ADP
ap-1656	40	49	designing	design	VERB
ap-1656	40	50	feedforward	feedforward	NOUN
ap-1656	40	51	control	control	NOUN
ap-1656	40	52	actions	action	NOUN
ap-1656	40	53	(	(	PUNCT
ap-1656	40	54	both	both	PRON
ap-1656	40	55	for	for	ADP
ap-1656	40	56	the	the	DET
ap-1656	40	57	set	set	NOUN
ap-1656	40	58	-	-	PUNCT
ap-1656	40	59	point	point	NOUN
ap-1656	40	60	following	follow	VERB
ap-1656	40	61	task	task	NOUN
ap-1656	40	62	[	[	X
ap-1656	40	63	28	28	NUM
ap-1656	40	64	,	,	PUNCT
ap-1656	40	65	49	49	NUM
ap-1656	40	66	,	,	PUNCT
ap-1656	40	67	53	53	NUM
ap-1656	40	68	]	]	PUNCT
ap-1656	40	69	and	and	CCONJ
ap-1656	40	70	for	for	ADP
ap-1656	40	71	the	the	DET
ap-1656	40	72	load	load	NOUN
ap-1656	40	73	disturbance	disturbance	NOUN
ap-1656	40	74	rejection	rejection	NOUN
ap-1656	40	75	task	task	NOUN
ap-1656	40	76	[	[	X
ap-1656	40	77	11	11	NUM
ap-1656	40	78	,	,	PUNCT
ap-1656	40	79	27	27	NUM
ap-1656	40	80	,	,	PUNCT
ap-1656	40	81	44	44	NUM
ap-1656	40	82	]	]	PUNCT
ap-1656	40	83	)	)	PUNCT
ap-1656	40	84	.	.	PUNCT
ap-1656	41	1	it	it	PRON
ap-1656	41	2	should	should	AUX
ap-1656	41	3	be	be	AUX
ap-1656	41	4	stressed	stress	VERB
ap-1656	41	5	that	that	SCONJ
ap-1656	41	6	the	the	DET
ap-1656	41	7	challenging	challenging	ADJ
ap-1656	41	8	issue	issue	NOUN
ap-1656	41	9	in	in	ADP
ap-1656	41	10	a	a	DET
ap-1656	41	11	pid	pid	NOUN
ap-1656	41	12	-	-	PUNCT
ap-1656	41	13	based	base	VERB
ap-1656	41	14	control	control	NOUN
ap-1656	41	15	system	system	NOUN
ap-1656	41	16	is	be	AUX
ap-1656	41	17	to	to	PART
ap-1656	41	18	achieve	achieve	VERB
ap-1656	41	19	a	a	DET
ap-1656	41	20	suitable	suitable	ADJ
ap-1656	41	21	combination	combination	NOUN
ap-1656	41	22	of	of	ADP
ap-1656	41	23	the	the	DET
ap-1656	41	24	block	block	NOUN
ap-1656	41	25	scheme	scheme	NOUN
ap-1656	41	26	design	design	NOUN
ap-1656	41	27	and	and	CCONJ
ap-1656	41	28	the	the	DET
ap-1656	41	29	tuning	tuning	NOUN
ap-1656	41	30	of	of	ADP
ap-1656	41	31	the	the	DET
ap-1656	41	32	controller	controller	NOUN
ap-1656	41	33	parameters	parameter	NOUN
ap-1656	41	34	.	.	PUNCT
ap-1656	42	1	5	5	NUM
ap-1656	42	2	pid	pid	NOUN
ap-1656	42	3	control	control	NOUN
ap-1656	42	4	for	for	ADP
ap-1656	42	5	mimo	mimo	PROPN
ap-1656	42	6	processes	process	NOUN
ap-1656	42	7	as	as	SCONJ
ap-1656	42	8	it	it	PRON
ap-1656	42	9	is	be	AUX
ap-1656	42	10	recognized	recognize	VERB
ap-1656	42	11	that	that	SCONJ
ap-1656	42	12	many	many	ADJ
ap-1656	42	13	processes	process	NOUN
ap-1656	42	14	are	be	AUX
ap-1656	42	15	multivariable	multivariable	ADJ
ap-1656	42	16	by	by	ADP
ap-1656	42	17	their	their	PRON
ap-1656	42	18	nature	nature	NOUN
ap-1656	42	19	,	,	PUNCT
ap-1656	42	20	the	the	DET
ap-1656	42	21	design	design	NOUN
ap-1656	42	22	of	of	ADP
ap-1656	42	23	pid	pid	NOUN
ap-1656	42	24	controllers	controller	NOUN
ap-1656	42	25	for	for	ADP
ap-1656	42	26	application	application	NOUN
ap-1656	42	27	in	in	ADP
ap-1656	42	28	multi	multi	ADJ
ap-1656	42	29	-	-	ADJ
ap-1656	42	30	input	input	ADJ
ap-1656	42	31	-	-	PUNCT
ap-1656	42	32	multi	multi	NOUN
ap-1656	42	33	-	-	ADJ
ap-1656	42	34	output	output	ADJ
ap-1656	42	35	(	(	PUNCT
ap-1656	42	36	mimo	mimo	PROPN
ap-1656	42	37	)	)	PUNCT
ap-1656	42	38	systems	system	NOUN
ap-1656	42	39	is	be	AUX
ap-1656	42	40	also	also	ADV
ap-1656	42	41	a	a	DET
ap-1656	42	42	very	very	ADV
ap-1656	42	43	interesting	interesting	ADJ
ap-1656	42	44	and	and	CCONJ
ap-1656	42	45	relevant	relevant	ADJ
ap-1656	42	46	topic	topic	NOUN
ap-1656	42	47	.	.	PUNCT
ap-1656	43	1	in	in	ADP
ap-1656	43	2	particular	particular	ADJ
ap-1656	43	3	,	,	PUNCT
ap-1656	43	4	the	the	DET
ap-1656	43	5	tuning	tuning	NOUN
ap-1656	43	6	of	of	ADP
ap-1656	43	7	decentralized	decentralized	ADJ
ap-1656	43	8	or	or	CCONJ
ap-1656	43	9	multivariable	multivariable	ADJ
ap-1656	43	10	pid	pid	NOUN
ap-1656	43	11	controllers	controller	NOUN
ap-1656	43	12	poses	pose	VERB
ap-1656	43	13	new	new	ADJ
ap-1656	43	14	challenges	challenge	NOUN
ap-1656	43	15	to	to	PART
ap-1656	43	16	be	be	AUX
ap-1656	43	17	solved	solve	VERB
ap-1656	43	18	because	because	SCONJ
ap-1656	43	19	of	of	ADP
ap-1656	43	20	the	the	DET
ap-1656	43	21	coupling	coupling	NOUN
ap-1656	43	22	effects	effect	NOUN
ap-1656	43	23	in	in	ADP
ap-1656	43	24	the	the	DET
ap-1656	43	25	process	process	NOUN
ap-1656	43	26	[	[	X
ap-1656	43	27	35	35	NUM
ap-1656	43	28	,	,	PUNCT
ap-1656	43	29	54	54	NUM
ap-1656	43	30	]	]	PUNCT
ap-1656	43	31	.	.	PUNCT
ap-1656	44	1	further	far	ADV
ap-1656	44	2	,	,	PUNCT
ap-1656	44	3	effective	effective	ADJ
ap-1656	44	4	decoupling	decoupling	NOUN
ap-1656	44	5	strategies	strategy	NOUN
ap-1656	44	6	are	be	AUX
ap-1656	44	7	needed	need	VERB
ap-1656	44	8	where	where	SCONJ
ap-1656	44	9	the	the	DET
ap-1656	44	10	best	good	ADJ
ap-1656	44	11	trade	trade	NOUN
ap-1656	44	12	-	-	PUNCT
ap-1656	44	13	off	off	NOUN
ap-1656	44	14	between	between	ADP
ap-1656	44	15	ease	ease	NOUN
ap-1656	44	16	of	of	ADP
ap-1656	44	17	implementation	implementation	NOUN
ap-1656	44	18	and	and	CCONJ
ap-1656	44	19	obtained	obtain	VERB
ap-1656	44	20	performance	performance	NOUN
ap-1656	44	21	is	be	AUX
ap-1656	44	22	achieved	achieve	VERB
ap-1656	44	23	[	[	X
ap-1656	44	24	7	7	NUM
ap-1656	44	25	,	,	PUNCT
ap-1656	44	26	19	19	NUM
ap-1656	44	27	,	,	PUNCT
ap-1656	44	28	21	21	NUM
ap-1656	44	29	,	,	PUNCT
ap-1656	44	30	29	29	NUM
ap-1656	44	31	]	]	PUNCT
ap-1656	44	32	.	.	PUNCT
ap-1656	45	1	6	6	NUM
ap-1656	45	2	stabilizing	stabilizing	NOUN
ap-1656	45	3	pid	pid	NOUN
ap-1656	45	4	controllers	controller	NOUN
ap-1656	45	5	great	great	ADJ
ap-1656	45	6	advances	advance	NOUN
ap-1656	45	7	have	have	AUX
ap-1656	45	8	been	be	AUX
ap-1656	45	9	made	make	VERB
ap-1656	45	10	in	in	ADP
ap-1656	45	11	recent	recent	ADJ
ap-1656	45	12	years	year	NOUN
ap-1656	45	13	on	on	ADP
ap-1656	45	14	the	the	DET
ap-1656	45	15	more	more	ADV
ap-1656	45	16	theoretical	theoretical	ADJ
ap-1656	45	17	issue	issue	NOUN
ap-1656	45	18	of	of	ADP
ap-1656	45	19	determining	determine	VERB
ap-1656	45	20	the	the	DET
ap-1656	45	21	complete	complete	ADJ
ap-1656	45	22	set	set	NOUN
ap-1656	45	23	of	of	ADP
ap-1656	45	24	stabilizing	stabilize	VERB
ap-1656	45	25	pid	pid	NOUN
ap-1656	45	26	controllers	controller	NOUN
ap-1656	45	27	for	for	ADP
ap-1656	45	28	a	a	DET
ap-1656	45	29	given	give	VERB
ap-1656	45	30	process	process	NOUN
ap-1656	45	31	[	[	X
ap-1656	45	32	33	33	NUM
ap-1656	45	33	]	]	PUNCT
ap-1656	45	34	.	.	PUNCT
ap-1656	46	1	for	for	ADP
ap-1656	46	2	example	example	NOUN
ap-1656	46	3	,	,	PUNCT
ap-1656	46	4	if	if	SCONJ
ap-1656	46	5	a	a	DET
ap-1656	46	6	first	first	ADJ
ap-1656	46	7	-	-	PUNCT
ap-1656	46	8	order	order	NOUN
ap-1656	46	9	-	-	PUNCT
ap-1656	46	10	plus	plus	CCONJ
ap-1656	46	11	-	-	PUNCT
ap-1656	46	12	dead	dead	ADJ
ap-1656	46	13	-	-	PUNCT
ap-1656	46	14	time	time	NOUN
ap-1656	46	15	(	(	PUNCT
ap-1656	46	16	fopdt	fopdt	ADJ
ap-1656	46	17	)	)	PUNCT
ap-1656	46	18	process	process	NOUN
ap-1656	46	19	p	p	X
ap-1656	46	20	(	(	PUNCT
ap-1656	46	21	s	s	NOUN
ap-1656	46	22	)	)	PUNCT
ap-1656	46	23	=	=	SYM
ap-1656	46	24	k	k	PROPN
ap-1656	46	25	ts+	ts+	NOUN
ap-1656	46	26	1	1	NUM
ap-1656	46	27	e−ls	e−ls	ADV
ap-1656	46	28	(	(	PUNCT
ap-1656	46	29	2	2	X
ap-1656	46	30	)	)	PUNCT
ap-1656	46	31	is	be	AUX
ap-1656	46	32	considered	consider	VERB
ap-1656	46	33	,	,	PUNCT
ap-1656	46	34	the	the	DET
ap-1656	46	35	stabilizing	stabilize	VERB
ap-1656	46	36	pid	pid	NOUN
ap-1656	46	37	parameters	parameter	NOUN
ap-1656	46	38	can	can	AUX
ap-1656	46	39	be	be	AUX
ap-1656	46	40	computed	compute	VERB
ap-1656	46	41	by	by	ADP
ap-1656	46	42	solving	solve	VERB
ap-1656	46	43	fairly	fairly	ADV
ap-1656	46	44	simple	simple	ADJ
ap-1656	46	45	equations	equation	NOUN
ap-1656	46	46	(	(	PUNCT
ap-1656	46	47	numerically	numerically	ADV
ap-1656	46	48	)	)	PUNCT
ap-1656	47	1	[	[	X
ap-1656	47	2	32	32	NUM
ap-1656	47	3	]	]	PUNCT
ap-1656	47	4	.	.	PUNCT
ap-1656	48	1	similar	similar	ADJ
ap-1656	48	2	procedures	procedure	NOUN
ap-1656	48	3	can	can	AUX
ap-1656	48	4	also	also	ADV
ap-1656	48	5	be	be	AUX
ap-1656	48	6	employed	employ	VERB
ap-1656	48	7	for	for	ADP
ap-1656	48	8	integral	integral	ADJ
ap-1656	48	9	processes	process	NOUN
ap-1656	48	10	[	[	X
ap-1656	48	11	25	25	NUM
ap-1656	48	12	]	]	PUNCT
ap-1656	48	13	.	.	PUNCT
ap-1656	49	1	it	it	PRON
ap-1656	49	2	should	should	AUX
ap-1656	49	3	be	be	AUX
ap-1656	49	4	stressed	stress	VERB
ap-1656	49	5	that	that	SCONJ
ap-1656	49	6	knowledge	knowledge	NOUN
ap-1656	49	7	of	of	ADP
ap-1656	49	8	the	the	DET
ap-1656	49	9	set	set	NOUN
ap-1656	49	10	of	of	ADP
ap-1656	49	11	stabilizing	stabilize	VERB
ap-1656	49	12	controllers	controller	NOUN
ap-1656	49	13	provides	provide	VERB
ap-1656	49	14	information	information	NOUN
ap-1656	49	15	related	relate	VERB
ap-1656	49	16	to	to	ADP
ap-1656	49	17	the	the	DET
ap-1656	49	18	robustness	robustness	NOUN
ap-1656	49	19	and/or	and/or	CCONJ
ap-1656	49	20	fragility	fragility	NOUN
ap-1656	49	21	of	of	ADP
ap-1656	49	22	the	the	DET
ap-1656	49	23	controller	controller	NOUN
ap-1656	49	24	,	,	PUNCT
ap-1656	49	25	and	and	CCONJ
ap-1656	49	26	can	can	AUX
ap-1656	49	27	also	also	ADV
ap-1656	49	28	be	be	AUX
ap-1656	49	29	employed	employ	VERB
ap-1656	49	30	for	for	ADP
ap-1656	49	31	implementing	implement	VERB
ap-1656	49	32	advanced	advanced	ADJ
ap-1656	49	33	tuning	tuning	NOUN
ap-1656	49	34	techniques	technique	NOUN
ap-1656	49	35	.	.	PUNCT
ap-1656	50	1	7	7	NUM
ap-1656	50	2	performance	performance	NOUN
ap-1656	50	3	assessment	assessment	NOUN
ap-1656	50	4	and	and	CCONJ
ap-1656	50	5	retuning	retune	VERB
ap-1656	50	6	in	in	ADP
ap-1656	50	7	many	many	ADJ
ap-1656	50	8	practical	practical	ADJ
ap-1656	50	9	cases	case	NOUN
ap-1656	50	10	,	,	PUNCT
ap-1656	50	11	pid	pid	PRON
ap-1656	50	12	controllers	controller	NOUN
ap-1656	50	13	are	be	AUX
ap-1656	50	14	poorly	poorly	ADV
ap-1656	50	15	tuned	tune	VERB
ap-1656	50	16	because	because	SCONJ
ap-1656	50	17	of	of	ADP
ap-1656	50	18	lack	lack	NOUN
ap-1656	50	19	of	of	ADP
ap-1656	50	20	time	time	NOUN
ap-1656	50	21	and	and	CCONJ
ap-1656	50	22	lack	lack	NOUN
ap-1656	50	23	of	of	ADP
ap-1656	50	24	skill	skill	NOUN
ap-1656	50	25	of	of	ADP
ap-1656	50	26	the	the	DET
ap-1656	50	27	operator	operator	NOUN
ap-1656	50	28	.	.	PUNCT
ap-1656	51	1	as	as	SCONJ
ap-1656	51	2	there	there	PRON
ap-1656	51	3	are	be	VERB
ap-1656	51	4	hundreds	hundred	NOUN
ap-1656	51	5	of	of	ADP
ap-1656	51	6	control	control	NOUN
ap-1656	51	7	loops	loop	NOUN
ap-1656	51	8	in	in	ADP
ap-1656	51	9	large	large	ADJ
ap-1656	51	10	plants	plant	NOUN
ap-1656	51	11	,	,	PUNCT
ap-1656	51	12	it	it	PRON
ap-1656	51	13	is	be	AUX
ap-1656	51	14	almost	almost	ADV
ap-1656	51	15	impossible	impossible	ADJ
ap-1656	51	16	for	for	SCONJ
ap-1656	51	17	operators	operator	NOUN
ap-1656	51	18	to	to	PART
ap-1656	51	19	monitor	monitor	VERB
ap-1656	51	20	each	each	PRON
ap-1656	51	21	of	of	ADP
ap-1656	51	22	them	they	PRON
ap-1656	51	23	manually	manually	ADV
ap-1656	51	24	.	.	PUNCT
ap-1656	52	1	it	it	PRON
ap-1656	52	2	is	be	AUX
ap-1656	52	3	therefore	therefore	ADV
ap-1656	52	4	important	important	ADJ
ap-1656	52	5	to	to	PART
ap-1656	52	6	have	have	VERB
ap-1656	52	7	automatic	automatic	ADJ
ap-1656	52	8	tools	tool	NOUN
ap-1656	52	9	that	that	PRON
ap-1656	52	10	are	be	AUX
ap-1656	52	11	first	first	ADV
ap-1656	52	12	able	able	ADJ
ap-1656	52	13	to	to	PART
ap-1656	52	14	assess	assess	VERB
ap-1656	52	15	the	the	DET
ap-1656	52	16	performance	performance	NOUN
ap-1656	52	17	of	of	ADP
ap-1656	52	18	a	a	DET
ap-1656	52	19	control	control	NOUN
ap-1656	52	20	system	system	NOUN
ap-1656	52	21	and	and	CCONJ
ap-1656	52	22	,	,	PUNCT
ap-1656	52	23	in	in	ADP
ap-1656	52	24	the	the	DET
ap-1656	52	25	event	event	NOUN
ap-1656	52	26	that	that	SCONJ
ap-1656	52	27	it	it	PRON
ap-1656	52	28	is	be	AUX
ap-1656	52	29	not	not	PART
ap-1656	52	30	satisfactory	satisfactory	ADJ
ap-1656	52	31	,	,	PUNCT
ap-1656	52	32	to	to	PART
ap-1656	52	33	suggest	suggest	VERB
ap-1656	52	34	a	a	DET
ap-1656	52	35	way	way	NOUN
ap-1656	52	36	to	to	PART
ap-1656	52	37	solve	solve	VERB
ap-1656	52	38	the	the	DET
ap-1656	52	39	problem	problem	NOUN
ap-1656	52	40	(	(	PUNCT
ap-1656	52	41	for	for	ADP
ap-1656	52	42	example	example	NOUN
ap-1656	52	43	,	,	PUNCT
ap-1656	52	44	if	if	SCONJ
ap-1656	52	45	bad	bad	ADJ
ap-1656	52	46	controller	controller	NOUN
ap-1656	52	47	tuning	tuning	NOUN
ap-1656	52	48	is	be	AUX
ap-1656	52	49	detected	detect	VERB
ap-1656	52	50	,	,	PUNCT
ap-1656	52	51	new	new	ADJ
ap-1656	52	52	appropriate	appropriate	ADJ
ap-1656	52	53	controller	controller	NOUN
ap-1656	52	54	parameter	parameter	NOUN
ap-1656	52	55	values	value	NOUN
ap-1656	52	56	are	be	AUX
ap-1656	52	57	determined	determine	VERB
ap-1656	52	58	)	)	PUNCT
ap-1656	52	59	.	.	PUNCT
ap-1656	53	1	many	many	ADJ
ap-1656	53	2	performance	performance	NOUN
ap-1656	53	3	assessment	assessment	NOUN
ap-1656	53	4	methodologies	methodology	NOUN
ap-1656	53	5	have	have	AUX
ap-1656	53	6	been	be	AUX
ap-1656	53	7	proposed	propose	VERB
ap-1656	53	8	in	in	ADP
ap-1656	53	9	the	the	DET
ap-1656	53	10	literature	literature	NOUN
ap-1656	53	11	and	and	CCONJ
ap-1656	53	12	have	have	AUX
ap-1656	53	13	been	be	AUX
ap-1656	53	14	applied	apply	VERB
ap-1656	53	15	successfully	successfully	ADV
ap-1656	53	16	in	in	ADP
ap-1656	53	17	industrial	industrial	ADJ
ap-1656	53	18	settings	setting	NOUN
ap-1656	53	19	[	[	X
ap-1656	53	20	14	14	NUM
ap-1656	53	21	]	]	PUNCT
ap-1656	53	22	.	.	PUNCT
ap-1656	54	1	they	they	PRON
ap-1656	54	2	are	be	AUX
ap-1656	54	3	generally	generally	ADV
ap-1656	54	4	divided	divide	VERB
ap-1656	54	5	in	in	ADP
ap-1656	54	6	two	two	NUM
ap-1656	54	7	categories	category	NOUN
ap-1656	54	8	stochastic	stochastic	ADJ
ap-1656	54	9	performance	performance	NOUN
ap-1656	54	10	monitoring	monitoring	NOUN
ap-1656	54	11	in	in	ADP
ap-1656	54	12	which	which	PRON
ap-1656	54	13	the	the	DET
ap-1656	54	14	ability	ability	NOUN
ap-1656	54	15	of	of	ADP
ap-1656	54	16	the	the	DET
ap-1656	54	17	control	control	NOUN
ap-1656	54	18	145	145	NUM
ap-1656	54	19	acta	acta	PROPN
ap-1656	54	20	polytechnica	polytechnica	PROPN
ap-1656	54	21	vol	vol	NOUN
ap-1656	54	22	.	.	PUNCT
ap-1656	55	1	52	52	NUM
ap-1656	55	2	no	no	NOUN
ap-1656	55	3	.	.	PUNCT
ap-1656	56	1	5/2012	5/2012	NUM
ap-1656	56	2	system	system	NOUN
ap-1656	56	3	to	to	PART
ap-1656	56	4	cope	cope	VERB
ap-1656	56	5	with	with	ADP
ap-1656	56	6	stochastic	stochastic	ADJ
ap-1656	56	7	disturbances	disturbance	NOUN
ap-1656	56	8	is	be	AUX
ap-1656	56	9	of	of	ADP
ap-1656	56	10	main	main	ADJ
ap-1656	56	11	concern	concern	NOUN
ap-1656	56	12	(	(	PUNCT
ap-1656	56	13	works	work	NOUN
ap-1656	56	14	that	that	PRON
ap-1656	56	15	fall	fall	VERB
ap-1656	56	16	into	into	ADP
ap-1656	56	17	this	this	DET
ap-1656	56	18	class	class	NOUN
ap-1656	56	19	mainly	mainly	ADV
ap-1656	56	20	rely	rely	VERB
ap-1656	56	21	on	on	ADP
ap-1656	56	22	the	the	DET
ap-1656	56	23	concept	concept	NOUN
ap-1656	56	24	of	of	ADP
ap-1656	56	25	minimum	minimum	ADJ
ap-1656	56	26	variance	variance	NOUN
ap-1656	56	27	control	control	NOUN
ap-1656	56	28	)	)	PUNCT
ap-1656	56	29	,	,	PUNCT
ap-1656	56	30	and	and	CCONJ
ap-1656	56	31	deterministic	deterministic	ADJ
ap-1656	56	32	performance	performance	NOUN
ap-1656	56	33	monitoring	monitoring	NOUN
ap-1656	56	34	in	in	ADP
ap-1656	56	35	which	which	PRON
ap-1656	56	36	performances	performance	NOUN
ap-1656	56	37	related	relate	VERB
ap-1656	56	38	to	to	ADP
ap-1656	56	39	more	more	ADV
ap-1656	56	40	traditional	traditional	ADJ
ap-1656	56	41	design	design	NOUN
ap-1656	56	42	specifications	specification	NOUN
ap-1656	56	43	,	,	PUNCT
ap-1656	56	44	e.g.	e.g.	ADV
ap-1656	56	45	set	set	VERB
ap-1656	56	46	-	-	PUNCT
ap-1656	56	47	point	point	NOUN
ap-1656	56	48	and	and	CCONJ
ap-1656	56	49	load	load	NOUN
ap-1656	56	50	rejection	rejection	NOUN
ap-1656	56	51	disturbance	disturbance	NOUN
ap-1656	56	52	step	step	NOUN
ap-1656	56	53	response	response	NOUN
ap-1656	56	54	parameters	parameter	NOUN
ap-1656	56	55	,	,	PUNCT
ap-1656	56	56	are	be	AUX
ap-1656	56	57	taken	take	VERB
ap-1656	56	58	into	into	ADP
ap-1656	56	59	account	account	NOUN
ap-1656	56	60	.	.	PUNCT
ap-1656	57	1	restricting	restrict	VERB
ap-1656	57	2	the	the	DET
ap-1656	57	3	analysis	analysis	NOUN
ap-1656	57	4	to	to	ADP
ap-1656	57	5	the	the	DET
ap-1656	57	6	tuning	tuning	NOUN
ap-1656	57	7	assessment	assessment	NOUN
ap-1656	57	8	of	of	ADP
ap-1656	57	9	pid	pid	NOUN
ap-1656	57	10	controllers	controller	NOUN
ap-1656	57	11	,	,	PUNCT
ap-1656	57	12	methods	method	NOUN
ap-1656	57	13	for	for	ADP
ap-1656	57	14	determining	determine	VERB
ap-1656	57	15	the	the	DET
ap-1656	57	16	minimum	minimum	ADJ
ap-1656	57	17	variance	variance	NOUN
ap-1656	57	18	pid	pid	NOUN
ap-1656	57	19	controller	controller	NOUN
ap-1656	57	20	have	have	AUX
ap-1656	57	21	been	be	AUX
ap-1656	57	22	proposed	propose	VERB
ap-1656	57	23	in	in	ADP
ap-1656	57	24	[	[	X
ap-1656	57	25	16	16	NUM
ap-1656	57	26	,	,	PUNCT
ap-1656	57	27	42	42	NUM
ap-1656	57	28	]	]	PUNCT
ap-1656	57	29	.	.	PUNCT
ap-1656	58	1	regarding	regard	VERB
ap-1656	58	2	deterministic	deterministic	ADJ
ap-1656	58	3	performance	performance	NOUN
ap-1656	58	4	monitoring	monitoring	NOUN
ap-1656	58	5	,	,	PUNCT
ap-1656	58	6	a	a	DET
ap-1656	58	7	practical	practical	ADJ
ap-1656	58	8	approach	approach	NOUN
ap-1656	58	9	has	have	AUX
ap-1656	58	10	been	be	AUX
ap-1656	58	11	proposed	propose	VERB
ap-1656	58	12	in	in	ADP
ap-1656	58	13	[	[	X
ap-1656	58	14	38	38	NUM
ap-1656	58	15	,	,	PUNCT
ap-1656	58	16	39	39	NUM
ap-1656	58	17	,	,	PUNCT
ap-1656	58	18	40	40	NUM
ap-1656	58	19	]	]	PUNCT
ap-1656	58	20	.	.	PUNCT
ap-1656	59	1	it	it	PRON
ap-1656	59	2	is	be	AUX
ap-1656	59	3	based	base	VERB
ap-1656	59	4	on	on	ADP
ap-1656	59	5	a	a	DET
ap-1656	59	6	process	process	NOUN
ap-1656	59	7	parameter	parameter	NOUN
ap-1656	59	8	estimation	estimation	NOUN
ap-1656	59	9	procedure	procedure	NOUN
ap-1656	59	10	which	which	PRON
ap-1656	59	11	uses	use	VERB
ap-1656	59	12	the	the	DET
ap-1656	59	13	set	set	NOUN
ap-1656	59	14	-	-	PUNCT
ap-1656	59	15	point	point	NOUN
ap-1656	59	16	step	step	NOUN
ap-1656	59	17	response	response	NOUN
ap-1656	59	18	(	(	PUNCT
ap-1656	59	19	i.e.	i.e.	X
ap-1656	59	20	routine	routine	ADJ
ap-1656	59	21	operation	operation	NOUN
ap-1656	59	22	data	datum	NOUN
ap-1656	59	23	)	)	PUNCT
ap-1656	59	24	.	.	PUNCT
ap-1656	60	1	its	its	PRON
ap-1656	60	2	rationale	rationale	NOUN
ap-1656	60	3	relies	rely	VERB
ap-1656	60	4	in	in	ADP
ap-1656	60	5	the	the	DET
ap-1656	60	6	so	so	ADV
ap-1656	60	7	-	-	PUNCT
ap-1656	60	8	called	call	VERB
ap-1656	60	9	“	"	PUNCT
ap-1656	60	10	half	half	ADJ
ap-1656	60	11	rule	rule	NOUN
ap-1656	60	12	”	"	PUNCT
ap-1656	60	13	,	,	PUNCT
ap-1656	60	14	which	which	PRON
ap-1656	60	15	states	state	VERB
ap-1656	60	16	that	that	SCONJ
ap-1656	60	17	the	the	DET
ap-1656	60	18	largest	large	ADJ
ap-1656	60	19	neglected	neglect	VERB
ap-1656	60	20	(	(	PUNCT
ap-1656	60	21	denominator	denominator	NOUN
ap-1656	60	22	)	)	PUNCT
ap-1656	60	23	time	time	NOUN
ap-1656	60	24	constant	constant	ADJ
ap-1656	60	25	is	be	AUX
ap-1656	60	26	distributed	distribute	VERB
ap-1656	60	27	evenly	evenly	ADV
ap-1656	60	28	to	to	ADP
ap-1656	60	29	the	the	DET
ap-1656	60	30	effective	effective	ADJ
ap-1656	60	31	dead	dead	ADJ
ap-1656	60	32	time	time	NOUN
ap-1656	60	33	and	and	CCONJ
ap-1656	60	34	the	the	DET
ap-1656	60	35	smallest	small	ADJ
ap-1656	60	36	retained	retain	VERB
ap-1656	60	37	time	time	NOUN
ap-1656	60	38	constant	constant	ADJ
ap-1656	60	39	.	.	PUNCT
ap-1656	61	1	then	then	ADV
ap-1656	61	2	,	,	PUNCT
ap-1656	61	3	the	the	DET
ap-1656	61	4	performance	performance	NOUN
ap-1656	61	5	that	that	PRON
ap-1656	61	6	is	be	AUX
ap-1656	61	7	obtained	obtain	VERB
ap-1656	61	8	is	be	AUX
ap-1656	61	9	evaluated	evaluate	VERB
ap-1656	61	10	by	by	ADP
ap-1656	61	11	comparing	compare	VERB
ap-1656	61	12	the	the	DET
ap-1656	61	13	integrated	integrate	VERB
ap-1656	61	14	absolute	absolute	ADJ
ap-1656	61	15	error	error	NOUN
ap-1656	61	16	with	with	ADP
ap-1656	61	17	the	the	DET
ap-1656	61	18	error	error	NOUN
ap-1656	61	19	that	that	PRON
ap-1656	61	20	would	would	AUX
ap-1656	61	21	have	have	AUX
ap-1656	61	22	been	be	AUX
ap-1656	61	23	obtained	obtain	VERB
ap-1656	61	24	by	by	ADP
ap-1656	61	25	applying	apply	VERB
ap-1656	61	26	the	the	DET
ap-1656	61	27	simc	simc	NOUN
ap-1656	61	28	tuning	tune	VERB
ap-1656	61	29	rule	rule	NOUN
ap-1656	61	30	,	,	PUNCT
ap-1656	61	31	which	which	PRON
ap-1656	61	32	is	be	AUX
ap-1656	61	33	considered	consider	VERB
ap-1656	61	34	as	as	ADP
ap-1656	61	35	a	a	DET
ap-1656	61	36	benchmark	benchmark	NOUN
ap-1656	61	37	,	,	PUNCT
ap-1656	61	38	i.e.	i.e.	X
ap-1656	61	39	iae	iae	NOUN
ap-1656	61	40	=	=	SYM
ap-1656	61	41	2al	2al	NOUN
ap-1656	61	42	,	,	PUNCT
ap-1656	61	43	(	(	PUNCT
ap-1656	61	44	3	3	X
ap-1656	61	45	)	)	PUNCT
ap-1656	61	46	where	where	SCONJ
ap-1656	61	47	a	a	PRON
ap-1656	61	48	is	be	AUX
ap-1656	61	49	the	the	DET
ap-1656	61	50	amplitude	amplitude	NOUN
ap-1656	61	51	of	of	ADP
ap-1656	61	52	the	the	DET
ap-1656	61	53	set	set	NOUN
ap-1656	61	54	-	-	PUNCT
ap-1656	61	55	point	point	NOUN
ap-1656	61	56	step	step	NOUN
ap-1656	61	57	signal	signal	NOUN
ap-1656	61	58	.	.	PUNCT
ap-1656	62	1	in	in	ADP
ap-1656	62	2	particular	particular	ADJ
ap-1656	62	3	,	,	PUNCT
ap-1656	62	4	for	for	ADP
ap-1656	62	5	a	a	DET
ap-1656	62	6	fopdt	fopdt	ADJ
ap-1656	62	7	process	process	NOUN
ap-1656	62	8	(	(	PUNCT
ap-1656	62	9	2	2	NUM
ap-1656	62	10	)	)	PUNCT
ap-1656	62	11	,	,	PUNCT
ap-1656	62	12	the	the	DET
ap-1656	62	13	gain	gain	NOUN
ap-1656	62	14	is	be	AUX
ap-1656	62	15	estimated	estimate	VERB
ap-1656	62	16	as	as	ADP
ap-1656	62	17	k	k	PROPN
ap-1656	62	18	=	=	PROPN
ap-1656	62	19	a	a	DET
ap-1656	62	20	ti	ti	X
ap-1656	62	21	kp	kp	PROPN
ap-1656	62	22	∫∞	∫∞	NOUN
ap-1656	62	23	0	0	PUNCT
ap-1656	63	1	e(t)dt	e(t)dt	NUM
ap-1656	63	2	.	.	PUNCT
ap-1656	64	1	(	(	PUNCT
ap-1656	64	2	4	4	NUM
ap-1656	64	3	)	)	PUNCT
ap-1656	64	4	then	then	ADV
ap-1656	64	5	,	,	PUNCT
ap-1656	64	6	the	the	DET
ap-1656	64	7	sum	sum	NOUN
ap-1656	64	8	of	of	ADP
ap-1656	64	9	the	the	DET
ap-1656	64	10	time	time	NOUN
ap-1656	64	11	constant	constant	ADJ
ap-1656	64	12	and	and	CCONJ
ap-1656	64	13	the	the	DET
ap-1656	64	14	dead	dead	ADJ
ap-1656	64	15	time	time	NOUN
ap-1656	64	16	can	can	AUX
ap-1656	64	17	be	be	AUX
ap-1656	64	18	determined	determine	VERB
ap-1656	64	19	as	as	ADP
ap-1656	64	20	l+	l+	X
ap-1656	64	21	t	t	NOUN
ap-1656	64	22	=	=	PUNCT
ap-1656	65	1	limt→+∞	limt→+∞	PROPN
ap-1656	65	2	∫	∫	PROPN
ap-1656	65	3	t	t	PROPN
ap-1656	65	4	0	0	NUM
ap-1656	65	5	eu(v)dv	eu(v)dv	NOUN
ap-1656	65	6	a	a	DET
ap-1656	65	7	(	(	PUNCT
ap-1656	65	8	5	5	NUM
ap-1656	65	9	)	)	PUNCT
ap-1656	65	10	where	where	SCONJ
ap-1656	65	11	eu(t	eu(t	PUNCT
ap-1656	65	12	)	)	PUNCT
ap-1656	65	13	=	=	SYM
ap-1656	66	1	ku(t)−	ku(t)−	PROPN
ap-1656	66	2	y(t	y(t	PROPN
ap-1656	66	3	)	)	PUNCT
ap-1656	66	4	.	.	PUNCT
ap-1656	67	1	(	(	PUNCT
ap-1656	67	2	6	6	NUM
ap-1656	67	3	)	)	PUNCT
ap-1656	67	4	because	because	SCONJ
ap-1656	67	5	the	the	DET
ap-1656	67	6	apparent	apparent	ADJ
ap-1656	67	7	dead	dead	ADJ
ap-1656	67	8	time	time	NOUN
ap-1656	67	9	l	l	NOUN
ap-1656	67	10	can	can	AUX
ap-1656	67	11	be	be	AUX
ap-1656	67	12	determined	determine	VERB
ap-1656	67	13	by	by	ADP
ap-1656	67	14	considering	consider	VERB
ap-1656	67	15	the	the	DET
ap-1656	67	16	time	time	NOUN
ap-1656	67	17	interval	interval	NOUN
ap-1656	67	18	from	from	ADP
ap-1656	67	19	the	the	DET
ap-1656	67	20	application	application	NOUN
ap-1656	67	21	of	of	ADP
ap-1656	67	22	the	the	DET
ap-1656	67	23	step	step	NOUN
ap-1656	67	24	signal	signal	NOUN
ap-1656	67	25	to	to	ADP
ap-1656	67	26	the	the	DET
ap-1656	67	27	set	set	NOUN
ap-1656	67	28	-	-	PUNCT
ap-1656	67	29	point	point	NOUN
ap-1656	67	30	and	and	CCONJ
ap-1656	67	31	the	the	DET
ap-1656	67	32	time	time	NOUN
ap-1656	67	33	instant	instant	ADJ
ap-1656	67	34	when	when	SCONJ
ap-1656	67	35	the	the	DET
ap-1656	67	36	process	process	NOUN
ap-1656	67	37	output	output	NOUN
ap-1656	67	38	attains	attain	NOUN
ap-1656	67	39	2	2	NUM
ap-1656	67	40	%	%	NOUN
ap-1656	67	41	of	of	ADP
ap-1656	67	42	the	the	DET
ap-1656	67	43	new	new	ADJ
ap-1656	67	44	set	set	NOUN
ap-1656	67	45	-	-	PUNCT
ap-1656	67	46	point	point	NOUN
ap-1656	67	47	value	value	NOUN
ap-1656	67	48	a	a	DET
ap-1656	67	49	(	(	PUNCT
ap-1656	67	50	a	a	DET
ap-1656	67	51	suitable	suitable	ADJ
ap-1656	67	52	noise	noise	NOUN
ap-1656	67	53	band	band	NOUN
ap-1656	67	54	can	can	AUX
ap-1656	67	55	be	be	AUX
ap-1656	67	56	employed	employ	VERB
ap-1656	67	57	in	in	ADP
ap-1656	67	58	practical	practical	ADJ
ap-1656	67	59	cases	case	NOUN
ap-1656	67	60	to	to	PART
ap-1656	67	61	cope	cope	VERB
ap-1656	67	62	with	with	ADP
ap-1656	67	63	measurement	measurement	NOUN
ap-1656	67	64	noise	noise	NOUN
ap-1656	67	65	)	)	PUNCT
ap-1656	67	66	,	,	PUNCT
ap-1656	67	67	the	the	DET
ap-1656	67	68	value	value	NOUN
ap-1656	67	69	of	of	ADP
ap-1656	67	70	t	t	NOUN
ap-1656	67	71	can	can	AUX
ap-1656	67	72	easily	easily	ADV
ap-1656	67	73	be	be	AUX
ap-1656	67	74	determined	determine	VERB
ap-1656	67	75	from	from	ADP
ap-1656	67	76	5	5	NUM
ap-1656	67	77	.	.	PUNCT
ap-1656	68	1	with	with	ADP
ap-1656	68	2	knowledge	knowledge	NOUN
ap-1656	68	3	of	of	ADP
ap-1656	68	4	the	the	DET
ap-1656	68	5	process	process	NOUN
ap-1656	68	6	parameters	parameter	NOUN
ap-1656	68	7	,	,	PUNCT
ap-1656	68	8	the	the	DET
ap-1656	68	9	performance	performance	NOUN
ap-1656	68	10	can	can	AUX
ap-1656	68	11	be	be	AUX
ap-1656	68	12	assessed	assess	VERB
ap-1656	68	13	by	by	ADP
ap-1656	68	14	considering	consider	VERB
ap-1656	68	15	the	the	DET
ap-1656	68	16	following	follow	VERB
ap-1656	68	17	performance	performance	NOUN
ap-1656	68	18	index	index	NOUN
ap-1656	68	19	(	(	PUNCT
ap-1656	68	20	see	see	VERB
ap-1656	68	21	(	(	PUNCT
ap-1656	68	22	3	3	NUM
ap-1656	68	23	)	)	PUNCT
ap-1656	68	24	)	)	PUNCT
ap-1656	69	1	j	j	PROPN
ap-1656	69	2	=	=	SYM
ap-1656	69	3	2al∫∞	2al∫∞	NUM
ap-1656	69	4	0	0	NUM
ap-1656	69	5	|e(t)|dt	|e(t)|dt	NOUN
ap-1656	69	6	,	,	PUNCT
ap-1656	69	7	(	(	PUNCT
ap-1656	69	8	7	7	NUM
ap-1656	69	9	)	)	PUNCT
ap-1656	69	10	and	and	CCONJ
ap-1656	69	11	,	,	PUNCT
ap-1656	69	12	in	in	ADP
ap-1656	69	13	the	the	DET
ap-1656	69	14	event	event	NOUN
ap-1656	69	15	that	that	SCONJ
ap-1656	69	16	the	the	DET
ap-1656	69	17	performance	performance	NOUN
ap-1656	69	18	is	be	AUX
ap-1656	69	19	not	not	PART
ap-1656	69	20	satisfactory	satisfactory	ADJ
ap-1656	69	21	(	(	PUNCT
ap-1656	69	22	in	in	ADP
ap-1656	69	23	principle	principle	NOUN
ap-1656	69	24	,	,	PUNCT
ap-1656	69	25	it	it	PRON
ap-1656	69	26	should	should	AUX
ap-1656	69	27	be	be	AUX
ap-1656	69	28	j	j	NOUN
ap-1656	69	29	=	=	SYM
ap-1656	69	30	1	1	NUM
ap-1656	69	31	,	,	PUNCT
ap-1656	69	32	but	but	CCONJ
ap-1656	69	33	from	from	ADP
ap-1656	69	34	a	a	DET
ap-1656	69	35	practical	practical	ADJ
ap-1656	69	36	point	point	NOUN
ap-1656	69	37	of	of	ADP
ap-1656	69	38	view	view	NOUN
ap-1656	69	39	j	j	PROPN
ap-1656	69	40	>	>	X
ap-1656	69	41	0.6	0.6	NUM
ap-1656	69	42	can	can	AUX
ap-1656	69	43	be	be	AUX
ap-1656	69	44	considered	consider	VERB
ap-1656	69	45	as	as	ADP
ap-1656	69	46	acceptable	acceptable	ADJ
ap-1656	69	47	)	)	PUNCT
ap-1656	69	48	,	,	PUNCT
ap-1656	69	49	the	the	DET
ap-1656	69	50	pid	pid	NOUN
ap-1656	69	51	controller	controller	NOUN
ap-1656	69	52	can	can	AUX
ap-1656	69	53	be	be	AUX
ap-1656	69	54	retuned	retune	VERB
ap-1656	69	55	by	by	ADP
ap-1656	69	56	applying	apply	VERB
ap-1656	69	57	the	the	DET
ap-1656	69	58	simc	simc	NOUN
ap-1656	69	59	tuning	tune	VERB
ap-1656	69	60	rule	rule	NOUN
ap-1656	69	61	(	(	PUNCT
ap-1656	69	62	or	or	CCONJ
ap-1656	69	63	some	some	DET
ap-1656	69	64	other	other	ADJ
ap-1656	69	65	suitable	suitable	ADJ
ap-1656	69	66	rule	rule	NOUN
ap-1656	69	67	)	)	PUNCT
ap-1656	69	68	.	.	PUNCT
ap-1656	70	1	for	for	ADP
ap-1656	70	2	an	an	DET
ap-1656	70	3	integral	integral	ADJ
ap-1656	70	4	processes	process	NOUN
ap-1656	70	5	,	,	PUNCT
ap-1656	70	6	the	the	DET
ap-1656	70	7	procedure	procedure	NOUN
ap-1656	70	8	is	be	AUX
ap-1656	70	9	similar	similar	ADJ
ap-1656	70	10	.	.	PUNCT
ap-1656	71	1	the	the	DET
ap-1656	71	2	process	process	NOUN
ap-1656	71	3	model	model	NOUN
ap-1656	71	4	is	be	AUX
ap-1656	71	5	p	p	X
ap-1656	71	6	(	(	PUNCT
ap-1656	71	7	s	s	NOUN
ap-1656	71	8	)	)	PUNCT
ap-1656	71	9	=	=	SYM
ap-1656	71	10	k	k	PROPN
ap-1656	71	11	s(ts+	s(ts+	PROPN
ap-1656	71	12	1	1	NUM
ap-1656	71	13	)	)	PUNCT
ap-1656	71	14	e−ls	e−ls	NOUN
ap-1656	71	15	(	(	PUNCT
ap-1656	71	16	8)	8)	NUM
ap-1656	71	17	and	and	CCONJ
ap-1656	71	18	the	the	DET
ap-1656	71	19	sum	sum	NOUN
ap-1656	71	20	of	of	ADP
ap-1656	71	21	the	the	DET
ap-1656	71	22	lags	lag	NOUN
ap-1656	71	23	and	and	CCONJ
ap-1656	71	24	of	of	ADP
ap-1656	71	25	the	the	DET
ap-1656	71	26	dead	dead	ADJ
ap-1656	71	27	time	time	NOUN
ap-1656	71	28	of	of	ADP
ap-1656	71	29	the	the	DET
ap-1656	71	30	process	process	NOUN
ap-1656	71	31	can	can	AUX
ap-1656	71	32	be	be	AUX
ap-1656	71	33	determined	determine	VERB
ap-1656	71	34	as	as	ADP
ap-1656	71	35	l+	l+	X
ap-1656	71	36	t	t	NOUN
ap-1656	71	37	=	=	PUNCT
ap-1656	72	1	limt→+∞	limt→+∞	PROPN
ap-1656	72	2	∫	∫	PROPN
ap-1656	72	3	t	t	PROPN
ap-1656	72	4	0	0	NUM
ap-1656	72	5	eu(v)dv	eu(v)dv	NOUN
ap-1656	72	6	a	a	PRON
ap-1656	72	7	,	,	PUNCT
ap-1656	72	8	(	(	PUNCT
ap-1656	72	9	9	9	NUM
ap-1656	72	10	)	)	PUNCT
ap-1656	72	11	where	where	SCONJ
ap-1656	72	12	eu(t	eu(t	PUNCT
ap-1656	72	13	)	)	PUNCT
ap-1656	72	14	:	:	PUNCT
ap-1656	73	1	=	=	SYM
ap-1656	73	2	k	k	X
ap-1656	73	3	∫	∫	PROPN
ap-1656	73	4	t	t	PROPN
ap-1656	73	5	0	0	NUM
ap-1656	74	1	u(v)dv	u(v)dv	NOUN
ap-1656	74	2	−	−	PROPN
ap-1656	74	3	y(t	y(t	PROPN
ap-1656	74	4	)	)	PUNCT
ap-1656	74	5	(	(	PUNCT
ap-1656	74	6	10	10	NUM
ap-1656	74	7	)	)	PUNCT
ap-1656	74	8	the	the	DET
ap-1656	74	9	process	process	NOUN
ap-1656	74	10	gain	gain	NOUN
ap-1656	74	11	k	k	PROPN
ap-1656	74	12	can	can	AUX
ap-1656	74	13	be	be	AUX
ap-1656	74	14	determined	determine	VERB
ap-1656	74	15	as	as	ADP
ap-1656	74	16	k	k	NOUN
ap-1656	74	17	=	=	PROPN
ap-1656	74	18	a	a	DET
ap-1656	74	19	ti	ti	X
ap-1656	74	20	kp	kp	PROPN
ap-1656	74	21	∫∞	∫∞	NOUN
ap-1656	74	22	0	0	NUM
ap-1656	75	1	∫	∫	PROPN
ap-1656	75	2	t	t	PROPN
ap-1656	75	3	0	0	NUM
ap-1656	76	1	e(v)dvdt	e(v)dvdt	PROPN
ap-1656	76	2	.	.	PUNCT
ap-1656	77	1	(	(	PUNCT
ap-1656	77	2	11	11	NUM
ap-1656	77	3	)	)	PUNCT
ap-1656	77	4	if	if	SCONJ
ap-1656	77	5	the	the	DET
ap-1656	77	6	set	set	NOUN
ap-1656	77	7	-	-	PUNCT
ap-1656	77	8	point	point	NOUN
ap-1656	77	9	following	follow	VERB
ap-1656	77	10	task	task	NOUN
ap-1656	77	11	is	be	AUX
ap-1656	77	12	of	of	ADP
ap-1656	77	13	concern	concern	NOUN
ap-1656	77	14	and	and	CCONJ
ap-1656	77	15	a	a	DET
ap-1656	77	16	pid	pid	NOUN
ap-1656	77	17	controller	controller	NOUN
ap-1656	77	18	is	be	AUX
ap-1656	77	19	employed	employ	VERB
ap-1656	77	20	,	,	PUNCT
ap-1656	77	21	the	the	DET
ap-1656	77	22	performance	performance	NOUN
ap-1656	77	23	index	index	NOUN
ap-1656	77	24	becomes	become	VERB
ap-1656	77	25	j	j	PROPN
ap-1656	77	26	=	=	SYM
ap-1656	77	27	3.45al∫∞	3.45al∫∞	NUM
ap-1656	77	28	0	0	NUM
ap-1656	77	29	|e(t)|dt	|e(t)|dt	PROPN
ap-1656	77	30	.	.	PUNCT
ap-1656	78	1	(	(	PUNCT
ap-1656	78	2	12	12	NUM
ap-1656	78	3	)	)	PUNCT
ap-1656	78	4	it	it	PRON
ap-1656	78	5	is	be	AUX
ap-1656	78	6	worth	worth	ADJ
ap-1656	78	7	noting	note	VERB
ap-1656	78	8	that	that	SCONJ
ap-1656	78	9	this	this	DET
ap-1656	78	10	methodology	methodology	NOUN
ap-1656	78	11	can	can	AUX
ap-1656	78	12	also	also	ADV
ap-1656	78	13	be	be	AUX
ap-1656	78	14	applied	apply	VERB
ap-1656	78	15	,	,	PUNCT
ap-1656	78	16	with	with	ADP
ap-1656	78	17	appropriate	appropriate	ADJ
ap-1656	78	18	modifications	modification	NOUN
ap-1656	78	19	,	,	PUNCT
ap-1656	78	20	when	when	SCONJ
ap-1656	78	21	a	a	DET
ap-1656	78	22	load	load	NOUN
ap-1656	78	23	disturbance	disturbance	NOUN
ap-1656	78	24	step	step	NOUN
ap-1656	78	25	response	response	NOUN
ap-1656	78	26	is	be	AUX
ap-1656	78	27	available	available	ADJ
ap-1656	78	28	.	.	PUNCT
ap-1656	79	1	8	8	NUM
ap-1656	79	2	fractional	fractional	ADJ
ap-1656	79	3	-	-	PUNCT
ap-1656	79	4	order	order	NOUN
ap-1656	79	5	pid	pid	NOUN
ap-1656	79	6	controllers	controller	NOUN
ap-1656	79	7	a	a	DET
ap-1656	79	8	topic	topic	NOUN
ap-1656	79	9	which	which	PRON
ap-1656	79	10	continues	continue	VERB
ap-1656	79	11	to	to	PART
ap-1656	79	12	be	be	AUX
ap-1656	79	13	the	the	DET
ap-1656	79	14	subject	subject	NOUN
ap-1656	79	15	of	of	ADP
ap-1656	79	16	many	many	ADJ
ap-1656	79	17	investigations	investigation	NOUN
ap-1656	79	18	is	be	AUX
ap-1656	79	19	fractional	fractional	ADJ
ap-1656	79	20	-	-	PUNCT
ap-1656	79	21	order	order	NOUN
ap-1656	79	22	pid	pid	NOUN
ap-1656	79	23	(	(	PUNCT
ap-1656	79	24	fopid	fopid	NOUN
ap-1656	79	25	)	)	PUNCT
ap-1656	79	26	controllers	controller	NOUN
ap-1656	79	27	,	,	PUNCT
ap-1656	79	28	which	which	PRON
ap-1656	79	29	can	can	AUX
ap-1656	79	30	be	be	AUX
ap-1656	79	31	considered	consider	VERB
ap-1656	79	32	a	a	DET
ap-1656	79	33	generalization	generalization	NOUN
ap-1656	79	34	of	of	ADP
ap-1656	79	35	standard	standard	ADJ
ap-1656	79	36	integer	integer	NOUN
ap-1656	79	37	-	-	PUNCT
ap-1656	79	38	order	order	NOUN
ap-1656	79	39	pid	pid	NOUN
ap-1656	79	40	controllers	controller	NOUN
ap-1656	79	41	,	,	PUNCT
ap-1656	79	42	where	where	SCONJ
ap-1656	79	43	the	the	DET
ap-1656	79	44	orders	order	NOUN
ap-1656	79	45	of	of	ADP
ap-1656	79	46	integration	integration	NOUN
ap-1656	79	47	and	and	CCONJ
ap-1656	79	48	differentiation	differentiation	NOUN
ap-1656	79	49	are	be	AUX
ap-1656	79	50	not	not	PART
ap-1656	79	51	necessary	necessary	ADJ
ap-1656	79	52	integer	integer	NOUN
ap-1656	79	53	[	[	X
ap-1656	79	54	20	20	NUM
ap-1656	79	55	,	,	PUNCT
ap-1656	79	56	36	36	NUM
ap-1656	79	57	]	]	PUNCT
ap-1656	79	58	.	.	PUNCT
ap-1656	80	1	the	the	DET
ap-1656	80	2	typical	typical	ADJ
ap-1656	80	3	formulation	formulation	NOUN
ap-1656	80	4	of	of	ADP
ap-1656	80	5	a	a	DET
ap-1656	80	6	fopid	fopid	NOUN
ap-1656	80	7	controller	controller	NOUN
ap-1656	80	8	is	be	AUX
ap-1656	80	9	c(s	c(	VERB
ap-1656	80	10	)	)	PUNCT
ap-1656	80	11	=	=	SYM
ap-1656	80	12	kp	kp	NOUN
ap-1656	80	13	(	(	PUNCT
ap-1656	80	14	1	1	NUM
ap-1656	80	15	+	+	SYM
ap-1656	80	16	1	1	NUM
ap-1656	80	17	tisλ	tisλ	NOUN
ap-1656	80	18	+	+	CCONJ
ap-1656	80	19	tds	tds	ADJ
ap-1656	80	20	µ	µ	X
ap-1656	80	21	)	)	PUNCT
ap-1656	80	22	,	,	PUNCT
ap-1656	80	23	(	(	PUNCT
ap-1656	80	24	13	13	NUM
ap-1656	80	25	)	)	PUNCT
ap-1656	80	26	where	where	SCONJ
ap-1656	80	27	λ	λ	NOUN
ap-1656	80	28	and	and	CCONJ
ap-1656	80	29	µ	µ	X
ap-1656	80	30	are	be	AUX
ap-1656	80	31	the	the	DET
ap-1656	80	32	noninteger	noninteger	NOUN
ap-1656	80	33	orders	order	NOUN
ap-1656	80	34	of	of	ADP
ap-1656	80	35	the	the	DET
ap-1656	80	36	integral	integral	ADJ
ap-1656	80	37	and	and	CCONJ
ap-1656	80	38	derivative	derivative	ADJ
ap-1656	80	39	terms	term	NOUN
ap-1656	80	40	respectively	respectively	ADV
ap-1656	80	41	.	.	PUNCT
ap-1656	81	1	an	an	DET
ap-1656	81	2	alternative	alternative	ADJ
ap-1656	81	3	form	form	NOUN
ap-1656	81	4	(	(	PUNCT
ap-1656	81	5	which	which	PRON
ap-1656	81	6	includes	include	VERB
ap-1656	81	7	the	the	DET
ap-1656	81	8	filter	filter	NOUN
ap-1656	81	9	of	of	ADP
ap-1656	81	10	the	the	DET
ap-1656	81	11	derivative	derivative	ADJ
ap-1656	81	12	term	term	NOUN
ap-1656	81	13	)	)	PUNCT
ap-1656	81	14	is	be	AUX
ap-1656	81	15	c(s	c(	NOUN
ap-1656	81	16	)	)	PUNCT
ap-1656	81	17	=	=	SYM
ap-1656	81	18	kp	kp	PROPN
ap-1656	81	19	tis	tis	PROPN
ap-1656	81	20	λ	λ	PROPN
ap-1656	81	21	+	+	CCONJ
ap-1656	81	22	1	1	NUM
ap-1656	81	23	tisλ	tisλ	NOUN
ap-1656	81	24	tds	tds	ADJ
ap-1656	82	1	µ	µ	X
ap-1656	82	2	+	+	CCONJ
ap-1656	82	3	1	1	NUM
ap-1656	82	4	td	td	NOUN
ap-1656	82	5	n	n	NOUN
ap-1656	82	6	s+	s+	ADV
ap-1656	82	7	1	1	NUM
ap-1656	82	8	.	.	PUNCT
ap-1656	83	1	(	(	PUNCT
ap-1656	83	2	14	14	NUM
ap-1656	83	3	)	)	PUNCT
ap-1656	83	4	fopid	fopid	NOUN
ap-1656	83	5	controllers	controller	NOUN
ap-1656	83	6	have	have	VERB
ap-1656	83	7	the	the	DET
ap-1656	83	8	great	great	ADJ
ap-1656	83	9	advantages	advantage	NOUN
ap-1656	83	10	of	of	ADP
ap-1656	83	11	providing	provide	VERB
ap-1656	83	12	more	more	ADJ
ap-1656	83	13	flexibility	flexibility	NOUN
ap-1656	83	14	in	in	ADP
ap-1656	83	15	their	their	PRON
ap-1656	83	16	design	design	NOUN
ap-1656	83	17	,	,	PUNCT
ap-1656	83	18	as	as	SCONJ
ap-1656	83	19	the	the	DET
ap-1656	83	20	user	user	NOUN
ap-1656	83	21	can	can	AUX
ap-1656	83	22	also	also	ADV
ap-1656	83	23	tune	tune	VERB
ap-1656	83	24	also	also	ADV
ap-1656	83	25	the	the	DET
ap-1656	83	26	order	order	NOUN
ap-1656	83	27	of	of	ADP
ap-1656	83	28	integration	integration	NOUN
ap-1656	83	29	and	and	CCONJ
ap-1656	83	30	differentiation	differentiation	NOUN
ap-1656	83	31	in	in	ADP
ap-1656	83	32	addition	addition	NOUN
ap-1656	83	33	to	to	ADP
ap-1656	83	34	the	the	DET
ap-1656	83	35	proportional	proportional	ADJ
ap-1656	83	36	gain	gain	NOUN
ap-1656	83	37	and	and	CCONJ
ap-1656	83	38	the	the	DET
ap-1656	83	39	integral	integral	ADJ
ap-1656	83	40	and	and	CCONJ
ap-1656	83	41	derivative	derivative	ADJ
ap-1656	83	42	time	time	NOUN
ap-1656	83	43	constants	constant	NOUN
ap-1656	83	44	.	.	PUNCT
ap-1656	84	1	this	this	PRON
ap-1656	84	2	implies	imply	VERB
ap-1656	84	3	that	that	SCONJ
ap-1656	84	4	the	the	DET
ap-1656	84	5	frequency	frequency	NOUN
ap-1656	84	6	response	response	NOUN
ap-1656	84	7	of	of	ADP
ap-1656	84	8	the	the	DET
ap-1656	84	9	open	open	ADJ
ap-1656	84	10	-	-	PUNCT
ap-1656	84	11	loop	loop	NOUN
ap-1656	84	12	system	system	NOUN
ap-1656	84	13	can	can	AUX
ap-1656	84	14	be	be	AUX
ap-1656	84	15	shaped	shape	VERB
ap-1656	84	16	with	with	ADP
ap-1656	84	17	more	more	ADJ
ap-1656	84	18	degrees	degree	NOUN
ap-1656	84	19	-	-	PUNCT
ap-1656	84	20	of	of	ADP
ap-1656	84	21	-	-	PUNCT
ap-1656	84	22	freedom	freedom	NOUN
ap-1656	84	23	,	,	PUNCT
ap-1656	84	24	thus	thus	ADV
ap-1656	84	25	allowing	allow	VERB
ap-1656	84	26	the	the	DET
ap-1656	84	27	user	user	NOUN
ap-1656	84	28	to	to	PART
ap-1656	84	29	meet	meet	VERB
ap-1656	84	30	more	more	ADJ
ap-1656	84	31	control	control	NOUN
ap-1656	84	32	requirements	requirement	NOUN
ap-1656	84	33	.	.	PUNCT
ap-1656	85	1	for	for	ADP
ap-1656	85	2	example	example	NOUN
ap-1656	85	3	,	,	PUNCT
ap-1656	85	4	the	the	DET
ap-1656	85	5	iso	iso	NOUN
ap-1656	85	6	-	-	PUNCT
ap-1656	85	7	damping	damp	VERB
ap-1656	85	8	property	property	NOUN
ap-1656	85	9	can	can	AUX
ap-1656	85	10	be	be	AUX
ap-1656	85	11	pursued	pursue	VERB
ap-1656	85	12	,	,	PUNCT
ap-1656	85	13	namely	namely	ADV
ap-1656	85	14	the	the	DET
ap-1656	85	15	146	146	NUM
ap-1656	85	16	acta	acta	PROPN
ap-1656	85	17	polytechnica	polytechnica	PROPN
ap-1656	85	18	vol	vol	NOUN
ap-1656	85	19	.	.	PUNCT
ap-1656	86	1	52	52	NUM
ap-1656	86	2	no	no	NOUN
ap-1656	86	3	.	.	PUNCT
ap-1656	87	1	5/2012	5/2012	NUM
ap-1656	87	2	capability	capability	NOUN
ap-1656	87	3	of	of	ADP
ap-1656	87	4	the	the	DET
ap-1656	87	5	control	control	NOUN
ap-1656	87	6	system	system	NOUN
ap-1656	87	7	to	to	PART
ap-1656	87	8	achieve	achieve	VERB
ap-1656	87	9	the	the	DET
ap-1656	87	10	same	same	ADJ
ap-1656	87	11	phase	phase	NOUN
ap-1656	87	12	margin	margin	NOUN
ap-1656	87	13	(	(	PUNCT
ap-1656	87	14	i.e.that	i.e.that	ADV
ap-1656	87	15	is	be	AUX
ap-1656	87	16	,	,	PUNCT
ap-1656	87	17	the	the	DET
ap-1656	87	18	same	same	ADJ
ap-1656	87	19	overshoot	overshoot	NOUN
ap-1656	87	20	in	in	ADP
ap-1656	87	21	the	the	DET
ap-1656	87	22	set	set	NOUN
ap-1656	87	23	-	-	PUNCT
ap-1656	87	24	point	point	NOUN
ap-1656	87	25	step	step	NOUN
ap-1656	87	26	response	response	NOUN
ap-1656	87	27	)	)	PUNCT
ap-1656	87	28	independently	independently	ADV
ap-1656	87	29	from	from	ADP
ap-1656	87	30	(	(	PUNCT
ap-1656	87	31	moderate	moderate	ADJ
ap-1656	87	32	)	)	PUNCT
ap-1656	87	33	variations	variation	NOUN
ap-1656	87	34	of	of	ADP
ap-1656	87	35	the	the	DET
ap-1656	87	36	process	process	NOUN
ap-1656	87	37	gain	gain	VERB
ap-1656	87	38	[	[	X
ap-1656	87	39	4	4	NUM
ap-1656	87	40	]	]	PUNCT
ap-1656	87	41	.	.	PUNCT
ap-1656	88	1	further	far	ADV
ap-1656	88	2	,	,	PUNCT
ap-1656	88	3	the	the	DET
ap-1656	88	4	minimum	minimum	NOUN
ap-1656	88	5	integrated	integrate	VERB
ap-1656	88	6	absolute	absolute	ADJ
ap-1656	88	7	error	error	NOUN
ap-1656	88	8	when	when	SCONJ
ap-1656	88	9	a	a	DET
ap-1656	88	10	step	step	NOUN
ap-1656	88	11	signal	signal	NOUN
ap-1656	88	12	is	be	AUX
ap-1656	88	13	applied	apply	VERB
ap-1656	88	14	to	to	ADP
ap-1656	88	15	the	the	DET
ap-1656	88	16	set	set	NOUN
ap-1656	88	17	-	-	PUNCT
ap-1656	88	18	point	point	NOUN
ap-1656	88	19	or	or	CCONJ
ap-1656	88	20	to	to	ADP
ap-1656	88	21	the	the	DET
ap-1656	88	22	load	load	NOUN
ap-1656	88	23	disturbance	disturbance	NOUN
ap-1656	88	24	can	can	AUX
ap-1656	88	25	be	be	AUX
ap-1656	88	26	decreased	decrease	VERB
ap-1656	88	27	with	with	ADP
ap-1656	88	28	respect	respect	NOUN
ap-1656	88	29	to	to	ADP
ap-1656	88	30	standard	standard	ADJ
ap-1656	88	31	pid	pid	NOUN
ap-1656	88	32	controllers	controller	NOUN
ap-1656	88	33	[	[	X
ap-1656	88	34	24	24	NUM
ap-1656	88	35	,	,	PUNCT
ap-1656	88	36	26	26	NUM
ap-1656	88	37	]	]	PUNCT
ap-1656	88	38	.	.	PUNCT
ap-1656	89	1	however	however	ADV
ap-1656	89	2	,	,	PUNCT
ap-1656	89	3	fopid	fopid	NOUN
ap-1656	89	4	controllers	controller	NOUN
ap-1656	89	5	are	be	AUX
ap-1656	89	6	more	more	ADV
ap-1656	89	7	difficult	difficult	ADJ
ap-1656	89	8	to	to	PART
ap-1656	89	9	implement	implement	VERB
ap-1656	89	10	(	(	PUNCT
ap-1656	89	11	the	the	DET
ap-1656	89	12	fractional	fractional	ADJ
ap-1656	89	13	controller	controller	NOUN
ap-1656	89	14	has	have	VERB
ap-1656	89	15	to	to	PART
ap-1656	89	16	be	be	AUX
ap-1656	89	17	approximated	approximate	VERB
ap-1656	89	18	by	by	ADP
ap-1656	89	19	a	a	DET
ap-1656	89	20	usually	usually	ADV
ap-1656	89	21	high	high	ADJ
ap-1656	89	22	-	-	PUNCT
ap-1656	89	23	order	order	NOUN
ap-1656	89	24	integer	integer	NOUN
ap-1656	89	25	-	-	PUNCT
ap-1656	89	26	order	order	NOUN
ap-1656	89	27	controller	controller	NOUN
ap-1656	89	28	)	)	PUNCT
ap-1656	89	29	and	and	CCONJ
ap-1656	89	30	,	,	PUNCT
ap-1656	89	31	in	in	ADP
ap-1656	89	32	spite	spite	NOUN
ap-1656	89	33	of	of	ADP
ap-1656	89	34	the	the	DET
ap-1656	89	35	theoretical	theoretical	ADJ
ap-1656	89	36	results	result	NOUN
ap-1656	89	37	that	that	PRON
ap-1656	89	38	have	have	AUX
ap-1656	89	39	been	be	AUX
ap-1656	89	40	recently	recently	ADV
ap-1656	89	41	achieved	achieve	VERB
ap-1656	89	42	,	,	PUNCT
ap-1656	89	43	there	there	PRON
ap-1656	89	44	is	be	VERB
ap-1656	89	45	still	still	ADV
ap-1656	89	46	much	much	ADJ
ap-1656	89	47	work	work	NOUN
ap-1656	89	48	to	to	PART
ap-1656	89	49	be	be	AUX
ap-1656	89	50	done	do	VERB
ap-1656	89	51	before	before	SCONJ
ap-1656	89	52	they	they	PRON
ap-1656	89	53	are	be	AUX
ap-1656	89	54	ready	ready	ADJ
ap-1656	89	55	for	for	ADP
ap-1656	89	56	widespread	widespread	ADJ
ap-1656	89	57	use	use	NOUN
ap-1656	89	58	in	in	ADP
ap-1656	89	59	industrial	industrial	ADJ
ap-1656	89	60	settings	setting	NOUN
ap-1656	89	61	.	.	PUNCT
ap-1656	90	1	in	in	ADP
ap-1656	90	2	particular	particular	ADJ
ap-1656	90	3	,	,	PUNCT
ap-1656	90	4	the	the	DET
ap-1656	90	5	effectiveness	effectiveness	NOUN
ap-1656	90	6	of	of	ADP
ap-1656	90	7	the	the	DET
ap-1656	90	8	tuning	tuning	NOUN
ap-1656	90	9	rules	rule	NOUN
ap-1656	90	10	that	that	PRON
ap-1656	90	11	have	have	AUX
ap-1656	90	12	been	be	AUX
ap-1656	90	13	devised	devise	VERB
ap-1656	90	14	needs	need	NOUN
ap-1656	90	15	to	to	PART
ap-1656	90	16	be	be	AUX
ap-1656	90	17	fully	fully	ADV
ap-1656	90	18	demonstrated	demonstrate	VERB
ap-1656	90	19	and	and	CCONJ
ap-1656	90	20	the	the	DET
ap-1656	90	21	substitution	substitution	NOUN
ap-1656	90	22	of	of	ADP
ap-1656	90	23	classical	classical	ADJ
ap-1656	90	24	pid	pid	NOUN
ap-1656	90	25	controllers	controller	NOUN
ap-1656	90	26	with	with	ADP
ap-1656	90	27	fopid	fopid	NOUN
ap-1656	90	28	controllers	controller	NOUN
ap-1656	90	29	in	in	ADP
ap-1656	90	30	control	control	NOUN
ap-1656	90	31	structures	structure	NOUN
ap-1656	90	32	(	(	PUNCT
ap-1656	90	33	see	see	VERB
ap-1656	90	34	section	section	NOUN
ap-1656	90	35	4	4	NUM
ap-1656	90	36	)	)	PUNCT
ap-1656	90	37	still	still	ADV
ap-1656	90	38	has	have	VERB
ap-1656	90	39	to	to	PART
ap-1656	90	40	be	be	AUX
ap-1656	90	41	addressed	address	VERB
ap-1656	90	42	,	,	PUNCT
ap-1656	90	43	as	as	SCONJ
ap-1656	90	44	has	have	VERB
ap-1656	90	45	the	the	DET
ap-1656	90	46	presence	presence	NOUN
ap-1656	90	47	of	of	ADP
ap-1656	90	48	the	the	DET
ap-1656	90	49	additional	additional	ADJ
ap-1656	90	50	functionalities	functionality	NOUN
ap-1656	90	51	mentioned	mention	VERB
ap-1656	90	52	above	above	ADV
ap-1656	90	53	(	(	PUNCT
ap-1656	90	54	e.g.	e.g.	ADV
ap-1656	90	55	set	set	VERB
ap-1656	90	56	-	-	PUNCT
ap-1656	90	57	point	point	NOUN
ap-1656	90	58	weight	weight	NOUN
ap-1656	90	59	,	,	PUNCT
ap-1656	90	60	anti	anti	ADJ
ap-1656	90	61	-	-	ADJ
ap-1656	90	62	windup	windup	ADJ
ap-1656	90	63	,	,	PUNCT
ap-1656	90	64	feedforward	feedforward	NOUN
ap-1656	90	65	action	action	NOUN
ap-1656	90	66	,	,	PUNCT
ap-1656	90	67	etc	etc	X
ap-1656	90	68	.	.	X
ap-1656	90	69	)	)	PUNCT
ap-1656	90	70	which	which	PRON
ap-1656	90	71	makes	make	VERB
ap-1656	90	72	standard	standard	ADJ
ap-1656	90	73	industrial	industrial	ADJ
ap-1656	90	74	controllers	controller	NOUN
ap-1656	90	75	successful	successful	ADJ
ap-1656	90	76	in	in	ADP
ap-1656	90	77	practical	practical	ADJ
ap-1656	90	78	applications	application	NOUN
ap-1656	90	79	.	.	PUNCT
ap-1656	91	1	9	9	NUM
ap-1656	91	2	event	event	NOUN
ap-1656	91	3	-	-	PUNCT
ap-1656	91	4	based	base	VERB
ap-1656	91	5	pid	pid	NOUN
ap-1656	91	6	controllers	controller	NOUN
ap-1656	91	7	the	the	DET
ap-1656	91	8	recent	recent	ADJ
ap-1656	91	9	introduction	introduction	NOUN
ap-1656	91	10	of	of	ADP
ap-1656	91	11	wireless	wireless	ADJ
ap-1656	91	12	transmitters	transmitter	NOUN
ap-1656	91	13	and	and	CCONJ
ap-1656	91	14	wireless	wireless	ADJ
ap-1656	91	15	actuators	actuator	NOUN
ap-1656	91	16	in	in	ADP
ap-1656	91	17	the	the	DET
ap-1656	91	18	process	process	NOUN
ap-1656	91	19	industry	industry	NOUN
ap-1656	91	20	has	have	AUX
ap-1656	91	21	motivated	motivate	VERB
ap-1656	91	22	new	new	ADJ
ap-1656	91	23	interest	interest	NOUN
ap-1656	91	24	in	in	ADP
ap-1656	91	25	pid	pid	NOUN
ap-1656	91	26	modifications	modification	NOUN
ap-1656	91	27	that	that	PRON
ap-1656	91	28	allow	allow	VERB
ap-1656	91	29	effective	effective	ADJ
ap-1656	91	30	control	control	NOUN
ap-1656	91	31	using	use	VERB
ap-1656	91	32	nonperiodic	nonperiodic	ADJ
ap-1656	91	33	information	information	NOUN
ap-1656	91	34	updates	update	NOUN
ap-1656	91	35	.	.	PUNCT
ap-1656	92	1	indeed	indeed	ADV
ap-1656	92	2	,	,	PUNCT
ap-1656	92	3	the	the	DET
ap-1656	92	4	underlying	underlying	ADJ
ap-1656	92	5	assumption	assumption	NOUN
ap-1656	92	6	in	in	ADP
ap-1656	92	7	process	process	NOUN
ap-1656	92	8	control	control	NOUN
ap-1656	92	9	has	have	AUX
ap-1656	92	10	always	always	ADV
ap-1656	92	11	been	be	AUX
ap-1656	92	12	that	that	PRON
ap-1656	92	13	control	control	NOUN
ap-1656	92	14	is	be	AUX
ap-1656	92	15	executed	execute	VERB
ap-1656	92	16	on	on	ADP
ap-1656	92	17	a	a	DET
ap-1656	92	18	periodic	periodic	ADJ
ap-1656	92	19	basis	basis	NOUN
ap-1656	92	20	,	,	PUNCT
ap-1656	92	21	and	and	CCONJ
ap-1656	92	22	that	that	SCONJ
ap-1656	92	23	a	a	DET
ap-1656	92	24	new	new	ADJ
ap-1656	92	25	measurement	measurement	NOUN
ap-1656	92	26	value	value	NOUN
ap-1656	92	27	is	be	AUX
ap-1656	92	28	available	available	ADJ
ap-1656	92	29	each	each	DET
ap-1656	92	30	execution	execution	NOUN
ap-1656	92	31	.	.	PUNCT
ap-1656	93	1	however	however	ADV
ap-1656	93	2	,	,	PUNCT
ap-1656	93	3	it	it	PRON
ap-1656	93	4	is	be	AUX
ap-1656	93	5	well	well	ADV
ap-1656	93	6	known	know	VERB
ap-1656	93	7	that	that	SCONJ
ap-1656	93	8	in	in	ADP
ap-1656	93	9	some	some	DET
ap-1656	93	10	processes	process	NOUN
ap-1656	93	11	a	a	DET
ap-1656	93	12	small	small	ADJ
ap-1656	93	13	stationary	stationary	ADJ
ap-1656	93	14	control	control	NOUN
ap-1656	93	15	error	error	NOUN
ap-1656	93	16	or	or	CCONJ
ap-1656	93	17	smooth	smooth	ADJ
ap-1656	93	18	oscillations	oscillation	NOUN
ap-1656	93	19	of	of	ADP
ap-1656	93	20	the	the	DET
ap-1656	93	21	process	process	NOUN
ap-1656	93	22	output	output	NOUN
ap-1656	93	23	around	around	ADP
ap-1656	93	24	the	the	DET
ap-1656	93	25	set	set	NOUN
ap-1656	93	26	-	-	PUNCT
ap-1656	93	27	point	point	NOUN
ap-1656	93	28	may	may	AUX
ap-1656	93	29	not	not	PART
ap-1656	93	30	constitute	constitute	VERB
ap-1656	93	31	hard	hard	ADJ
ap-1656	93	32	design	design	NOUN
ap-1656	93	33	constraints	constraint	NOUN
ap-1656	93	34	,	,	PUNCT
ap-1656	93	35	but	but	CCONJ
ap-1656	93	36	a	a	DET
ap-1656	93	37	reduction	reduction	NOUN
ap-1656	93	38	in	in	ADP
ap-1656	93	39	the	the	DET
ap-1656	93	40	information	information	NOUN
ap-1656	93	41	exchanged	exchange	VERB
ap-1656	93	42	between	between	ADP
ap-1656	93	43	the	the	DET
ap-1656	93	44	agents	agent	NOUN
ap-1656	93	45	that	that	PRON
ap-1656	93	46	take	take	VERB
ap-1656	93	47	part	part	NOUN
ap-1656	93	48	in	in	ADP
ap-1656	93	49	the	the	DET
ap-1656	93	50	control	control	NOUN
ap-1656	93	51	loop	loop	PROPN
ap-1656	93	52	(	(	PUNCT
ap-1656	93	53	sensors	sensor	NOUN
ap-1656	93	54	,	,	PUNCT
ap-1656	93	55	controllers	controller	NOUN
ap-1656	93	56	,	,	PUNCT
ap-1656	93	57	actuators	actuator	NOUN
ap-1656	93	58	)	)	PUNCT
ap-1656	93	59	can	can	AUX
ap-1656	93	60	be	be	AUX
ap-1656	93	61	one	one	NUM
ap-1656	93	62	of	of	ADP
ap-1656	93	63	the	the	DET
ap-1656	93	64	tightest	tight	ADJ
ap-1656	93	65	requirements	requirement	NOUN
ap-1656	93	66	.	.	PUNCT
ap-1656	94	1	in	in	ADP
ap-1656	94	2	fact	fact	NOUN
ap-1656	94	3	,	,	PUNCT
ap-1656	94	4	when	when	SCONJ
ap-1656	94	5	wireless	wireless	ADJ
ap-1656	94	6	sensors	sensor	NOUN
ap-1656	94	7	and	and	CCONJ
ap-1656	94	8	actuators	actuator	NOUN
ap-1656	94	9	are	be	AUX
ap-1656	94	10	involved	involve	VERB
ap-1656	94	11	,	,	PUNCT
ap-1656	94	12	reduction	reduction	NOUN
ap-1656	94	13	of	of	ADP
ap-1656	94	14	the	the	DET
ap-1656	94	15	information	information	NOUN
ap-1656	94	16	flow	flow	NOUN
ap-1656	94	17	implies	imply	VERB
ap-1656	94	18	a	a	DET
ap-1656	94	19	decrement	decrement	NOUN
ap-1656	94	20	of	of	ADP
ap-1656	94	21	computing	compute	VERB
ap-1656	94	22	operations	operation	NOUN
ap-1656	94	23	and	and	CCONJ
ap-1656	94	24	transmissions	transmission	NOUN
ap-1656	94	25	,	,	PUNCT
ap-1656	94	26	and	and	CCONJ
ap-1656	94	27	thus	thus	ADV
ap-1656	94	28	longer	long	ADJ
ap-1656	94	29	lifetime	lifetime	NOUN
ap-1656	94	30	of	of	ADP
ap-1656	94	31	batteries	battery	NOUN
ap-1656	94	32	.	.	PUNCT
ap-1656	95	1	with	with	ADP
ap-1656	95	2	these	these	DET
ap-1656	95	3	demands	demand	NOUN
ap-1656	95	4	,	,	PUNCT
ap-1656	95	5	one	one	NUM
ap-1656	95	6	of	of	ADP
ap-1656	95	7	the	the	DET
ap-1656	95	8	most	most	ADV
ap-1656	95	9	convenient	convenient	ADJ
ap-1656	95	10	strategies	strategy	NOUN
ap-1656	95	11	is	be	AUX
ap-1656	95	12	to	to	PART
ap-1656	95	13	use	use	VERB
ap-1656	95	14	event	event	NOUN
ap-1656	95	15	-	-	PUNCT
ap-1656	95	16	based	base	VERB
ap-1656	95	17	sampling	sampling	NOUN
ap-1656	95	18	and	and	CCONJ
ap-1656	95	19	control	control	NOUN
ap-1656	95	20	approaches	approach	NOUN
ap-1656	95	21	.	.	PUNCT
ap-1656	96	1	in	in	ADP
ap-1656	96	2	particular	particular	ADJ
ap-1656	96	3	,	,	PUNCT
ap-1656	96	4	in	in	ADP
ap-1656	96	5	order	order	NOUN
ap-1656	96	6	to	to	PART
ap-1656	96	7	minimize	minimize	VERB
ap-1656	96	8	power	power	NOUN
ap-1656	96	9	consumption	consumption	NOUN
ap-1656	96	10	,	,	PUNCT
ap-1656	96	11	a	a	DET
ap-1656	96	12	wireless	wireless	ADJ
ap-1656	96	13	transmitter	transmitter	NOUN
ap-1656	96	14	may	may	AUX
ap-1656	96	15	transmit	transmit	VERB
ap-1656	96	16	a	a	DET
ap-1656	96	17	new	new	ADJ
ap-1656	96	18	measurement	measurement	NOUN
ap-1656	96	19	only	only	ADV
ap-1656	96	20	if	if	SCONJ
ap-1656	96	21	the	the	DET
ap-1656	96	22	measurement	measurement	NOUN
ap-1656	96	23	has	have	AUX
ap-1656	96	24	changed	change	VERB
ap-1656	96	25	by	by	ADP
ap-1656	96	26	a	a	DET
ap-1656	96	27	significant	significant	ADJ
ap-1656	96	28	amount	amount	NOUN
ap-1656	96	29	or	or	CCONJ
ap-1656	96	30	,	,	PUNCT
ap-1656	96	31	in	in	ADP
ap-1656	96	32	general	general	ADJ
ap-1656	96	33	,	,	PUNCT
ap-1656	96	34	when	when	SCONJ
ap-1656	96	35	a	a	DET
ap-1656	96	36	logical	logical	ADJ
ap-1656	96	37	condition	condition	NOUN
ap-1656	96	38	becomes	become	VERB
ap-1656	96	39	true	true	ADJ
ap-1656	96	40	.	.	PUNCT
ap-1656	97	1	in	in	ADP
ap-1656	97	2	the	the	DET
ap-1656	97	3	process	process	NOUN
ap-1656	97	4	control	control	NOUN
ap-1656	97	5	field	field	NOUN
ap-1656	97	6	,	,	PUNCT
ap-1656	97	7	the	the	DET
ap-1656	97	8	logical	logical	ADJ
ap-1656	97	9	condition	condition	NOUN
ap-1656	97	10	is	be	AUX
ap-1656	97	11	usually	usually	ADV
ap-1656	97	12	a	a	DET
ap-1656	97	13	composition	composition	NOUN
ap-1656	97	14	of	of	ADP
ap-1656	97	15	boolean	boolean	ADJ
ap-1656	97	16	operations	operation	NOUN
ap-1656	97	17	,	,	PUNCT
ap-1656	97	18	where	where	SCONJ
ap-1656	97	19	the	the	DET
ap-1656	97	20	variables	variable	NOUN
ap-1656	97	21	are	be	AUX
ap-1656	97	22	the	the	DET
ap-1656	97	23	signals	signal	NOUN
ap-1656	97	24	(	(	PUNCT
ap-1656	97	25	or	or	CCONJ
ap-1656	97	26	a	a	DET
ap-1656	97	27	function	function	NOUN
ap-1656	97	28	of	of	ADP
ap-1656	97	29	them	they	PRON
ap-1656	97	30	such	such	ADJ
ap-1656	97	31	as	as	ADP
ap-1656	97	32	an	an	DET
ap-1656	97	33	estimation	estimation	NOUN
ap-1656	97	34	,	,	PUNCT
ap-1656	97	35	the	the	DET
ap-1656	97	36	derivative	derivative	NOUN
ap-1656	97	37	,	,	PUNCT
ap-1656	97	38	the	the	DET
ap-1656	97	39	integration	integration	NOUN
ap-1656	97	40	,	,	PUNCT
ap-1656	97	41	etc	etc	X
ap-1656	97	42	.	.	X
ap-1656	97	43	)	)	PUNCT
ap-1656	97	44	that	that	SCONJ
ap-1656	97	45	the	the	DET
ap-1656	97	46	sensor	sensor	NOUN
ap-1656	97	47	receives	receive	VERB
ap-1656	97	48	from	from	ADP
ap-1656	97	49	the	the	DET
ap-1656	97	50	process	process	NOUN
ap-1656	97	51	or	or	CCONJ
ap-1656	97	52	the	the	DET
ap-1656	97	53	control	control	NOUN
ap-1656	97	54	action	action	NOUN
ap-1656	97	55	produced	produce	VERB
ap-1656	97	56	by	by	ADP
ap-1656	97	57	a	a	DET
ap-1656	97	58	controller	controller	NOUN
ap-1656	97	59	[	[	X
ap-1656	97	60	1	1	NUM
ap-1656	97	61	,	,	PUNCT
ap-1656	97	62	31	31	NUM
ap-1656	97	63	,	,	PUNCT
ap-1656	97	64	37	37	NUM
ap-1656	97	65	]	]	PUNCT
ap-1656	97	66	.	.	PUNCT
ap-1656	98	1	in	in	ADP
ap-1656	98	2	general	general	ADJ
ap-1656	98	3	,	,	PUNCT
ap-1656	98	4	in	in	ADP
ap-1656	98	5	event	event	NOUN
ap-1656	98	6	-	-	PUNCT
ap-1656	98	7	based	base	VERB
ap-1656	98	8	control	control	NOUN
ap-1656	98	9	strategies	strategy	NOUN
ap-1656	98	10	,	,	PUNCT
ap-1656	98	11	the	the	DET
ap-1656	98	12	controller	controller	NOUN
ap-1656	98	13	can	can	AUX
ap-1656	98	14	be	be	AUX
ap-1656	98	15	divided	divide	VERB
ap-1656	98	16	into	into	ADP
ap-1656	98	17	four	four	NUM
ap-1656	98	18	logical	logical	ADJ
ap-1656	98	19	blocks	block	NOUN
ap-1656	98	20	as	as	SCONJ
ap-1656	98	21	shown	show	VERB
ap-1656	98	22	in	in	ADP
ap-1656	98	23	figure	figure	NOUN
ap-1656	98	24	2	2	NUM
ap-1656	98	25	:	:	PUNCT
ap-1656	98	26	the	the	DET
ap-1656	98	27	sensor	sensor	NOUN
ap-1656	98	28	unit	unit	NOUN
ap-1656	98	29	(	(	PUNCT
ap-1656	98	30	su	su	PROPN
ap-1656	98	31	)	)	PUNCT
ap-1656	98	32	,	,	PUNCT
ap-1656	98	33	the	the	DET
ap-1656	98	34	control	control	NOUN
ap-1656	98	35	unit	unit	NOUN
ap-1656	98	36	(	(	PUNCT
ap-1656	98	37	cu	cu	PROPN
ap-1656	98	38	)	)	PUNCT
ap-1656	98	39	,	,	PUNCT
ap-1656	98	40	the	the	DET
ap-1656	98	41	actuator	actuator	NOUN
ap-1656	98	42	unit	unit	NOUN
ap-1656	98	43	(	(	PUNCT
ap-1656	98	44	au	au	PROPN
ap-1656	98	45	)	)	PUNCT
ap-1656	98	46	and	and	CCONJ
ap-1656	98	47	a	a	DET
ap-1656	98	48	governor	governor	NOUN
ap-1656	98	49	(	(	PUNCT
ap-1656	98	50	g	g	NOUN
ap-1656	98	51	)	)	PUNCT
ap-1656	98	52	.	.	PUNCT
ap-1656	99	1	the	the	DET
ap-1656	99	2	units	unit	NOUN
ap-1656	99	3	and	and	CCONJ
ap-1656	99	4	their	their	PRON
ap-1656	99	5	tasks	task	NOUN
ap-1656	99	6	can	can	AUX
ap-1656	99	7	be	be	AUX
ap-1656	99	8	described	describe	VERB
ap-1656	99	9	as	as	SCONJ
ap-1656	99	10	follows	follow	VERB
ap-1656	99	11	:	:	PUNCT
ap-1656	99	12	•	•	SCONJ
ap-1656	99	13	the	the	DET
ap-1656	99	14	sensor	sensor	NOUN
ap-1656	99	15	unit	unit	NOUN
ap-1656	99	16	is	be	AUX
ap-1656	99	17	composed	compose	VERB
ap-1656	99	18	of	of	ADP
ap-1656	99	19	the	the	DET
ap-1656	99	20	sensor	sensor	NOUN
ap-1656	99	21	and	and	CCONJ
ap-1656	99	22	its	its	PRON
ap-1656	99	23	on	on	ADP
ap-1656	99	24	-	-	PUNCT
ap-1656	99	25	board	board	NOUN
ap-1656	99	26	intelligence	intelligence	NOUN
ap-1656	99	27	.	.	PUNCT
ap-1656	100	1	its	its	PRON
ap-1656	100	2	task	task	NOUN
ap-1656	100	3	is	be	AUX
ap-1656	100	4	to	to	PART
ap-1656	100	5	measure	measure	VERB
ap-1656	100	6	the	the	DET
ap-1656	100	7	process	process	NOUN
ap-1656	100	8	output	output	NOUN
ap-1656	100	9	and	and	CCONJ
ap-1656	100	10	to	to	PART
ap-1656	100	11	calculate	calculate	VERB
ap-1656	100	12	the	the	DET
ap-1656	100	13	error	error	NOUN
ap-1656	100	14	between	between	ADP
ap-1656	100	15	the	the	DET
ap-1656	100	16	measured	measured	ADJ
ap-1656	100	17	signal	signal	NOUN
ap-1656	100	18	and	and	CCONJ
ap-1656	100	19	a	a	DET
ap-1656	100	20	constant	constant	ADJ
ap-1656	100	21	set	set	NOUN
ap-1656	100	22	-	-	PUNCT
ap-1656	100	23	point	point	NOUN
ap-1656	100	24	value	value	NOUN
ap-1656	100	25	received	receive	VERB
ap-1656	100	26	from	from	ADP
ap-1656	100	27	the	the	DET
ap-1656	100	28	governor	governor	NOUN
ap-1656	100	29	.	.	PUNCT
ap-1656	101	1	•	•	NUM
ap-1656	101	2	the	the	DET
ap-1656	101	3	control	control	NOUN
ap-1656	101	4	unit	unit	NOUN
ap-1656	101	5	implements	implement	VERB
ap-1656	101	6	the	the	DET
ap-1656	101	7	control	control	NOUN
ap-1656	101	8	algorithm	algorithm	NOUN
ap-1656	101	9	,	,	PUNCT
ap-1656	101	10	which	which	PRON
ap-1656	101	11	determines	determine	VERB
ap-1656	101	12	the	the	DET
ap-1656	101	13	control	control	NOUN
ap-1656	101	14	action	action	NOUN
ap-1656	101	15	by	by	ADP
ap-1656	101	16	taking	take	VERB
ap-1656	101	17	into	into	ADP
ap-1656	101	18	account	account	NOUN
ap-1656	101	19	the	the	DET
ap-1656	101	20	last	last	ADJ
ap-1656	101	21	received	receive	VERB
ap-1656	101	22	sampled	sample	VERB
ap-1656	101	23	error	error	NOUN
ap-1656	101	24	and	and	CCONJ
ap-1656	101	25	sends	send	VERB
ap-1656	101	26	it	it	PRON
ap-1656	101	27	to	to	ADP
ap-1656	101	28	the	the	DET
ap-1656	101	29	actuator	actuator	NOUN
ap-1656	101	30	unit	unit	NOUN
ap-1656	101	31	.	.	PUNCT
ap-1656	102	1	•	•	NUM
ap-1656	102	2	the	the	DET
ap-1656	102	3	actuator	actuator	NOUN
ap-1656	102	4	unit	unit	NOUN
ap-1656	102	5	receives	receive	VERB
ap-1656	102	6	the	the	DET
ap-1656	102	7	control	control	NOUN
ap-1656	102	8	action	action	NOUN
ap-1656	102	9	signal	signal	NOUN
ap-1656	102	10	from	from	ADP
ap-1656	102	11	the	the	DET
ap-1656	102	12	control	control	NOUN
ap-1656	102	13	unit	unit	NOUN
ap-1656	102	14	and	and	CCONJ
ap-1656	102	15	applies	apply	VERB
ap-1656	102	16	it	it	PRON
ap-1656	102	17	to	to	ADP
ap-1656	102	18	the	the	DET
ap-1656	102	19	actuator	actuator	NOUN
ap-1656	102	20	.	.	PUNCT
ap-1656	103	1	the	the	DET
ap-1656	103	2	governor	governor	NOUN
ap-1656	103	3	,	,	PUNCT
ap-1656	103	4	which	which	PRON
ap-1656	103	5	,	,	PUNCT
ap-1656	103	6	in	in	ADP
ap-1656	103	7	practice	practice	NOUN
ap-1656	103	8	,	,	PUNCT
ap-1656	103	9	can	can	AUX
ap-1656	103	10	be	be	AUX
ap-1656	103	11	implemented	implement	VERB
ap-1656	103	12	together	together	ADV
ap-1656	103	13	with	with	ADP
ap-1656	103	14	one	one	NUM
ap-1656	103	15	of	of	ADP
ap-1656	103	16	the	the	DET
ap-1656	103	17	previous	previous	ADJ
ap-1656	103	18	two	two	NUM
ap-1656	103	19	blocks	block	NOUN
ap-1656	103	20	,	,	PUNCT
ap-1656	103	21	receives	receive	VERB
ap-1656	103	22	the	the	DET
ap-1656	103	23	desired	desire	VERB
ap-1656	103	24	set	set	NOUN
ap-1656	103	25	-	-	PUNCT
ap-1656	103	26	point	point	NOUN
ap-1656	103	27	value	value	NOUN
ap-1656	103	28	from	from	ADP
ap-1656	103	29	a	a	DET
ap-1656	103	30	user	user	NOUN
ap-1656	103	31	interface	interface	NOUN
ap-1656	103	32	or	or	CCONJ
ap-1656	103	33	from	from	ADP
ap-1656	103	34	a	a	DET
ap-1656	103	35	hierarchically	hierarchically	ADV
ap-1656	103	36	higher	high	ADJ
ap-1656	103	37	controller	controller	NOUN
ap-1656	103	38	,	,	PUNCT
ap-1656	103	39	and	and	CCONJ
ap-1656	103	40	sends	send	VERB
ap-1656	103	41	it	it	PRON
ap-1656	103	42	to	to	ADP
ap-1656	103	43	the	the	DET
ap-1656	103	44	sensor	sensor	NOUN
ap-1656	103	45	unit	unit	NOUN
ap-1656	103	46	.	.	PUNCT
ap-1656	104	1	these	these	DET
ap-1656	104	2	blocks	block	NOUN
ap-1656	104	3	can	can	AUX
ap-1656	104	4	be	be	AUX
ap-1656	104	5	implemented	implement	VERB
ap-1656	104	6	in	in	ADP
ap-1656	104	7	a	a	DET
ap-1656	104	8	unique	unique	ADJ
ap-1656	104	9	machine	machine	NOUN
ap-1656	104	10	or	or	CCONJ
ap-1656	104	11	in	in	ADP
ap-1656	104	12	two	two	NUM
ap-1656	104	13	or	or	CCONJ
ap-1656	104	14	more	more	ADJ
ap-1656	104	15	physical	physical	ADJ
ap-1656	104	16	entities	entity	NOUN
ap-1656	104	17	.	.	PUNCT
ap-1656	105	1	in	in	ADP
ap-1656	105	2	this	this	DET
ap-1656	105	3	last	last	ADJ
ap-1656	105	4	case	case	NOUN
ap-1656	105	5	,	,	PUNCT
ap-1656	105	6	the	the	DET
ap-1656	105	7	data	data	NOUN
ap-1656	105	8	has	have	VERB
ap-1656	105	9	to	to	PART
ap-1656	105	10	be	be	AUX
ap-1656	105	11	sent	send	VERB
ap-1656	105	12	from	from	ADP
ap-1656	105	13	one	one	NUM
ap-1656	105	14	to	to	ADP
ap-1656	105	15	each	each	PRON
ap-1656	105	16	of	of	ADP
ap-1656	105	17	the	the	DET
ap-1656	105	18	others	other	NOUN
ap-1656	105	19	in	in	ADP
ap-1656	105	20	a	a	DET
ap-1656	105	21	network	network	NOUN
ap-1656	105	22	.	.	PUNCT
ap-1656	106	1	it	it	PRON
ap-1656	106	2	is	be	AUX
ap-1656	106	3	clear	clear	ADJ
ap-1656	106	4	that	that	SCONJ
ap-1656	106	5	communication	communication	NOUN
ap-1656	106	6	between	between	ADP
ap-1656	106	7	two	two	NUM
ap-1656	106	8	entities	entity	NOUN
ap-1656	106	9	implies	imply	VERB
ap-1656	106	10	more	more	ADJ
ap-1656	106	11	effort	effort	NOUN
ap-1656	106	12	than	than	ADP
ap-1656	106	13	exchanging	exchange	VERB
ap-1656	106	14	the	the	DET
ap-1656	106	15	data	datum	NOUN
ap-1656	106	16	into	into	ADP
ap-1656	106	17	a	a	DET
ap-1656	106	18	single	single	ADJ
ap-1656	106	19	machine	machine	NOUN
ap-1656	106	20	,	,	PUNCT
ap-1656	106	21	especially	especially	ADV
ap-1656	106	22	when	when	SCONJ
ap-1656	106	23	they	they	PRON
ap-1656	106	24	are	be	AUX
ap-1656	106	25	battery	battery	NOUN
ap-1656	106	26	-	-	PUNCT
ap-1656	106	27	powered	power	VERB
ap-1656	106	28	.	.	PUNCT
ap-1656	107	1	for	for	ADP
ap-1656	107	2	this	this	DET
ap-1656	107	3	reason	reason	NOUN
ap-1656	107	4	,	,	PUNCT
ap-1656	107	5	it	it	PRON
ap-1656	107	6	is	be	AUX
ap-1656	107	7	recommended	recommend	VERB
ap-1656	107	8	to	to	PART
ap-1656	107	9	use	use	VERB
ap-1656	107	10	event	event	NOUN
ap-1656	107	11	-	-	PUNCT
ap-1656	107	12	triggered	trigger	VERB
ap-1656	107	13	data	datum	NOUN
ap-1656	107	14	exchanging	exchange	VERB
ap-1656	107	15	for	for	ADP
ap-1656	107	16	all	all	DET
ap-1656	107	17	the	the	DET
ap-1656	107	18	signals	signal	NOUN
ap-1656	107	19	sent	send	VERB
ap-1656	107	20	between	between	ADP
ap-1656	107	21	two	two	NUM
ap-1656	107	22	machines	machine	NOUN
ap-1656	107	23	and	and	CCONJ
ap-1656	107	24	normal	normal	ADJ
ap-1656	107	25	time	time	NOUN
ap-1656	107	26	-	-	PUNCT
ap-1656	107	27	driven	drive	VERB
ap-1656	107	28	sampling	sampling	NOUN
ap-1656	107	29	for	for	ADP
ap-1656	107	30	the	the	DET
ap-1656	107	31	data	datum	NOUN
ap-1656	107	32	elaborated	elaborate	VERB
ap-1656	107	33	by	by	ADP
ap-1656	107	34	a	a	DET
ap-1656	107	35	unique	unique	ADJ
ap-1656	107	36	machine	machine	NOUN
ap-1656	107	37	.	.	PUNCT
ap-1656	108	1	this	this	PRON
ap-1656	108	2	implies	imply	VERB
ap-1656	108	3	that	that	SCONJ
ap-1656	108	4	the	the	DET
ap-1656	108	5	control	control	NOUN
ap-1656	108	6	system	system	NOUN
ap-1656	108	7	has	have	VERB
ap-1656	108	8	to	to	PART
ap-1656	108	9	be	be	AUX
ap-1656	108	10	designed	design	VERB
ap-1656	108	11	to	to	PART
ap-1656	108	12	deal	deal	VERB
ap-1656	108	13	effectively	effectively	ADV
ap-1656	108	14	with	with	ADP
ap-1656	108	15	an	an	DET
ap-1656	108	16	asynchronous	asynchronous	ADJ
ap-1656	108	17	sampling	sampling	NOUN
ap-1656	108	18	rate	rate	NOUN
ap-1656	108	19	,	,	PUNCT
ap-1656	108	20	and	and	CCONJ
ap-1656	108	21	this	this	PRON
ap-1656	108	22	opens	open	VERB
ap-1656	108	23	new	new	ADJ
ap-1656	108	24	challenges	challenge	NOUN
ap-1656	108	25	both	both	CCONJ
ap-1656	108	26	from	from	ADP
ap-1656	108	27	a	a	DET
ap-1656	108	28	theoretical	theoretical	ADJ
ap-1656	108	29	viewpoint	viewpoint	NOUN
ap-1656	108	30	and	and	CCONJ
ap-1656	108	31	from	from	ADP
ap-1656	108	32	a	a	DET
ap-1656	108	33	practical	practical	ADJ
ap-1656	108	34	viewpoint	viewpoint	NOUN
ap-1656	108	35	,	,	PUNCT
ap-1656	108	36	as	as	SCONJ
ap-1656	108	37	the	the	DET
ap-1656	108	38	timing	timing	NOUN
ap-1656	108	39	of	of	ADP
ap-1656	108	40	the	the	DET
ap-1656	108	41	events	event	NOUN
ap-1656	108	42	influences	influence	VERB
ap-1656	108	43	the	the	DET
ap-1656	108	44	system	system	NOUN
ap-1656	108	45	performance	performance	NOUN
ap-1656	108	46	and	and	CCONJ
ap-1656	108	47	limit	limit	NOUN
ap-1656	108	48	cycles	cycle	NOUN
ap-1656	108	49	may	may	AUX
ap-1656	108	50	arise	arise	VERB
ap-1656	108	51	.	.	PUNCT
ap-1656	109	1	further	far	ADV
ap-1656	109	2	,	,	PUNCT
ap-1656	109	3	in	in	ADP
ap-1656	109	4	addition	addition	NOUN
ap-1656	109	5	to	to	ADP
ap-1656	109	6	the	the	DET
ap-1656	109	7	pid	pid	NOUN
ap-1656	109	8	gains	gain	NOUN
ap-1656	109	9	,	,	PUNCT
ap-1656	109	10	there	there	PRON
ap-1656	109	11	are	be	VERB
ap-1656	109	12	in	in	ADP
ap-1656	109	13	general	general	ADJ
ap-1656	109	14	other	other	ADJ
ap-1656	109	15	parameters	parameter	NOUN
ap-1656	109	16	(	(	PUNCT
ap-1656	109	17	threshold	threshold	NOUN
ap-1656	109	18	values	value	NOUN
ap-1656	109	19	)	)	PUNCT
ap-1656	109	20	employed	employ	VERB
ap-1656	109	21	in	in	ADP
ap-1656	109	22	the	the	DET
ap-1656	109	23	control	control	NOUN
ap-1656	109	24	algorithm	algorithm	NOUN
ap-1656	109	25	that	that	PRON
ap-1656	109	26	have	have	VERB
ap-1656	109	27	to	to	PART
ap-1656	109	28	be	be	AUX
ap-1656	109	29	tuned	tune	VERB
ap-1656	109	30	,	,	PUNCT
ap-1656	109	31	thus	thus	ADV
ap-1656	109	32	making	make	VERB
ap-1656	109	33	the	the	DET
ap-1656	109	34	overall	overall	ADJ
ap-1656	109	35	control	control	NOUN
ap-1656	109	36	design	design	VERB
ap-1656	109	37	more	more	ADV
ap-1656	109	38	complex	complex	ADJ
ap-1656	109	39	.	.	PUNCT
ap-1656	110	1	for	for	ADP
ap-1656	110	2	reasons	reason	NOUN
ap-1656	110	3	such	such	ADJ
ap-1656	110	4	as	as	ADP
ap-1656	110	5	these	these	PRON
ap-1656	110	6	,	,	PUNCT
ap-1656	110	7	in	in	ADP
ap-1656	110	8	recent	recent	ADJ
ap-1656	110	9	years	year	NOUN
ap-1656	110	10	event	event	NOUN
ap-1656	110	11	-	-	PUNCT
ap-1656	110	12	based	base	VERB
ap-1656	110	13	sampling	sampling	NOUN
ap-1656	110	14	and	and	CCONJ
ap-1656	110	15	control	control	NOUN
ap-1656	110	16	techniques	technique	NOUN
ap-1656	110	17	have	have	AUX
ap-1656	110	18	received	receive	VERB
ap-1656	110	19	special	special	ADJ
ap-1656	110	20	attention	attention	NOUN
ap-1656	110	21	from	from	ADP
ap-1656	110	22	several	several	ADJ
ap-1656	110	23	research	research	NOUN
ap-1656	110	24	groups	group	NOUN
ap-1656	110	25	,	,	PUNCT
ap-1656	110	26	and	and	CCONJ
ap-1656	110	27	various	various	ADJ
ap-1656	110	28	effective	effective	ADJ
ap-1656	110	29	methodologies	methodology	NOUN
ap-1656	110	30	have	have	AUX
ap-1656	110	31	been	be	AUX
ap-1656	110	32	proposed	propose	VERB
ap-1656	110	33	.	.	PUNCT
ap-1656	111	1	among	among	ADP
ap-1656	111	2	the	the	DET
ap-1656	111	3	various	various	ADJ
ap-1656	111	4	solutions	solution	NOUN
ap-1656	111	5	,	,	PUNCT
ap-1656	111	6	it	it	PRON
ap-1656	111	7	is	be	AUX
ap-1656	111	8	worth	worth	ADJ
ap-1656	111	9	mentioning	mention	VERB
ap-1656	111	10	the	the	DET
ap-1656	111	11	pidplus	pidplus	ADJ
ap-1656	111	12	technique	technique	NOUN
ap-1656	111	13	,	,	PUNCT
ap-1656	111	14	which	which	PRON
ap-1656	111	15	has	have	AUX
ap-1656	111	16	already	already	ADV
ap-1656	111	17	been	be	AUX
ap-1656	111	18	applied	apply	VERB
ap-1656	111	19	successfully	successfully	ADV
ap-1656	111	20	in	in	ADP
ap-1656	111	21	industry	industry	NOUN
ap-1656	111	22	[	[	X
ap-1656	111	23	6	6	NUM
ap-1656	111	24	]	]	PUNCT
ap-1656	111	25	.	.	PUNCT
ap-1656	112	1	it	it	PRON
ap-1656	112	2	involves	involve	VERB
ap-1656	112	3	restructuring	restructure	VERB
ap-1656	112	4	the	the	DET
ap-1656	112	5	pid	pid	NOUN
ap-1656	112	6	controller	controller	NOUN
ap-1656	112	7	to	to	PART
ap-1656	112	8	reflect	reflect	VERB
ap-1656	112	9	the	the	DET
ap-1656	112	10	reset	reset	NOUN
ap-1656	112	11	contribution	contribution	NOUN
ap-1656	112	12	for	for	ADP
ap-1656	112	13	the	the	DET
ap-1656	112	14	expected	expect	VERB
ap-1656	112	15	process	process	NOUN
ap-1656	112	16	response	response	NOUN
ap-1656	112	17	since	since	SCONJ
ap-1656	112	18	the	the	DET
ap-1656	112	19	last	last	ADJ
ap-1656	112	20	measurement	measurement	NOUN
ap-1656	112	21	update	update	NOUN
ap-1656	112	22	.	.	PUNCT
ap-1656	113	1	the	the	DET
ap-1656	113	2	so	so	ADV
ap-1656	113	3	-	-	PUNCT
ap-1656	113	4	called	call	VERB
ap-1656	113	5	symmetric	symmetric	ADJ
ap-1656	113	6	send	send	VERB
ap-1656	113	7	-	-	PUNCT
ap-1656	113	8	on	on	ADP
ap-1656	113	9	-	-	PUNCT
ap-1656	113	10	delta	delta	NOUN
ap-1656	113	11	(	(	PUNCT
ap-1656	113	12	ssod	ssod	NOUN
ap-1656	113	13	)	)	PUNCT
ap-1656	113	14	pi	pi	NOUN
ap-1656	113	15	controller	controller	NOUN
ap-1656	113	16	has	have	AUX
ap-1656	113	17	recently	recently	ADV
ap-1656	113	18	been	be	AUX
ap-1656	113	19	presented	present	VERB
ap-1656	113	20	[	[	X
ap-1656	113	21	5	5	NUM
ap-1656	113	22	]	]	PUNCT
ap-1656	113	23	.	.	PUNCT
ap-1656	114	1	the	the	DET
ap-1656	114	2	approach	approach	NOUN
ap-1656	114	3	that	that	PRON
ap-1656	114	4	is	be	AUX
ap-1656	114	5	employed	employ	VERB
ap-1656	114	6	is	be	AUX
ap-1656	114	7	based	base	VERB
ap-1656	114	8	on	on	ADP
ap-1656	114	9	quantization	quantization	NOUN
ap-1656	114	10	of	of	ADP
ap-1656	114	11	the	the	DET
ap-1656	114	12	sampled	sample	VERB
ap-1656	114	13	signal	signal	NOUN
ap-1656	114	14	by	by	ADP
ap-1656	114	15	a	a	DET
ap-1656	114	16	quantity	quantity	NOUN
ap-1656	114	17	multiple	multiple	NOUN
ap-1656	114	18	of	of	ADP
ap-1656	114	19	a	a	DET
ap-1656	114	20	given	give	VERB
ap-1656	114	21	parameter	parameter	NOUN
ap-1656	114	22	∆	∆	PROPN
ap-1656	114	23	,	,	PUNCT
ap-1656	114	24	so	so	SCONJ
ap-1656	114	25	that	that	SCONJ
ap-1656	114	26	the	the	DET
ap-1656	114	27	relationship	relationship	NOUN
ap-1656	114	28	between	between	ADP
ap-1656	114	29	the	the	DET
ap-1656	114	30	input	input	NOUN
ap-1656	114	31	and	and	CCONJ
ap-1656	114	32	output	output	NOUN
ap-1656	114	33	of	of	ADP
ap-1656	114	34	the	the	DET
ap-1656	114	35	event	event	NOUN
ap-1656	114	36	-	-	PUNCT
ap-1656	114	37	generator	generator	NOUN
ap-1656	114	38	block	block	NOUN
ap-1656	114	39	is	be	AUX
ap-1656	114	40	symmetric	symmetric	ADJ
ap-1656	114	41	with	with	ADP
ap-1656	114	42	respect	respect	NOUN
ap-1656	114	43	to	to	ADP
ap-1656	114	44	the	the	DET
ap-1656	114	45	origin	origin	NOUN
ap-1656	114	46	.	.	PUNCT
ap-1656	115	1	in	in	ADP
ap-1656	115	2	this	this	DET
ap-1656	115	3	context	context	NOUN
ap-1656	115	4	,	,	PUNCT
ap-1656	115	5	necessary	necessary	ADJ
ap-1656	115	6	and	and	CCONJ
ap-1656	115	7	sufficient	sufficient	ADJ
ap-1656	115	8	conditions	condition	NOUN
ap-1656	115	9	on	on	ADP
ap-1656	115	10	the	the	DET
ap-1656	115	11	controller	controller	NOUN
ap-1656	115	12	parameters	parameter	NOUN
ap-1656	115	13	for	for	ADP
ap-1656	115	14	the	the	DET
ap-1656	115	15	existence	existence	NOUN
ap-1656	115	16	of	of	ADP
ap-1656	115	17	equilibrium	equilibrium	NOUN
ap-1656	115	18	points	point	NOUN
ap-1656	115	19	without	without	ADP
ap-1656	115	20	limit	limit	NOUN
ap-1656	115	21	cycles	cycle	NOUN
ap-1656	115	22	147	147	NUM
ap-1656	115	23	acta	acta	PROPN
ap-1656	115	24	polytechnica	polytechnica	PROPN
ap-1656	115	25	vol	vol	NOUN
ap-1656	115	26	.	.	PUNCT
ap-1656	116	1	52	52	NUM
ap-1656	116	2	no	no	NOUN
ap-1656	116	3	.	.	PUNCT
ap-1656	117	1	5/2012	5/2012	NUM
ap-1656	117	2	cusu	cusu	NOUN
ap-1656	117	3	au	au	PROPN
ap-1656	117	4	g	g	PROPN
ap-1656	117	5	plant	plant	NOUN
ap-1656	117	6	figure	figure	NOUN
ap-1656	117	7	2	2	NUM
ap-1656	117	8	:	:	PUNCT
ap-1656	117	9	scheme	scheme	NOUN
ap-1656	117	10	of	of	ADP
ap-1656	117	11	a	a	DET
ap-1656	117	12	generic	generic	ADJ
ap-1656	117	13	event	event	NOUN
ap-1656	117	14	based	base	VERB
ap-1656	117	15	control	control	NOUN
ap-1656	117	16	strategy	strategy	NOUN
ap-1656	117	17	.	.	PUNCT
ap-1656	118	1	the	the	DET
ap-1656	118	2	dashed	dash	VERB
ap-1656	118	3	arrows	arrow	NOUN
ap-1656	118	4	indicate	indicate	VERB
ap-1656	118	5	the	the	DET
ap-1656	118	6	possibility	possibility	NOUN
ap-1656	118	7	of	of	ADP
ap-1656	118	8	event	event	NOUN
ap-1656	118	9	-	-	PUNCT
ap-1656	118	10	triggered	trigger	VERB
ap-1656	118	11	data	data	NOUN
ap-1656	118	12	transmission	transmission	NOUN
ap-1656	118	13	.	.	PUNCT
ap-1656	119	1	can	can	AUX
ap-1656	119	2	be	be	AUX
ap-1656	119	3	determined	determine	VERB
ap-1656	119	4	,	,	PUNCT
ap-1656	119	5	and	and	CCONJ
ap-1656	119	6	this	this	PRON
ap-1656	119	7	can	can	AUX
ap-1656	119	8	be	be	AUX
ap-1656	119	9	exploited	exploit	VERB
ap-1656	119	10	to	to	PART
ap-1656	119	11	devise	devise	VERB
ap-1656	119	12	effective	effective	ADJ
ap-1656	119	13	tuning	tuning	NOUN
ap-1656	119	14	rules	rule	NOUN
ap-1656	119	15	.	.	PUNCT
ap-1656	120	1	it	it	PRON
ap-1656	120	2	is	be	AUX
ap-1656	120	3	also	also	ADV
ap-1656	120	4	shown	show	VERB
ap-1656	120	5	that	that	SCONJ
ap-1656	120	6	the	the	DET
ap-1656	120	7	choice	choice	NOUN
ap-1656	120	8	of	of	ADP
ap-1656	120	9	parameter	parameter	NOUN
ap-1656	120	10	∆	∆	PROPN
ap-1656	120	11	does	do	AUX
ap-1656	120	12	not	not	PART
ap-1656	120	13	influence	influence	VERB
ap-1656	120	14	the	the	DET
ap-1656	120	15	stability	stability	NOUN
ap-1656	120	16	of	of	ADP
ap-1656	120	17	the	the	DET
ap-1656	120	18	system	system	NOUN
ap-1656	120	19	,	,	PUNCT
ap-1656	120	20	and	and	CCONJ
ap-1656	120	21	it	it	PRON
ap-1656	120	22	can	can	AUX
ap-1656	120	23	therefore	therefore	ADV
ap-1656	120	24	be	be	AUX
ap-1656	120	25	selected	select	VERB
ap-1656	120	26	just	just	ADV
ap-1656	120	27	in	in	ADP
ap-1656	120	28	order	order	NOUN
ap-1656	120	29	to	to	PART
ap-1656	120	30	handle	handle	VERB
ap-1656	120	31	the	the	DET
ap-1656	120	32	trade	trade	NOUN
ap-1656	120	33	-	-	PUNCT
ap-1656	120	34	off	off	NOUN
ap-1656	120	35	between	between	ADP
ap-1656	120	36	reducing	reduce	VERB
ap-1656	120	37	the	the	DET
ap-1656	120	38	desired	desire	VERB
ap-1656	120	39	number	number	NOUN
ap-1656	120	40	of	of	ADP
ap-1656	120	41	events	event	NOUN
ap-1656	120	42	and	and	CCONJ
ap-1656	120	43	reducing	reduce	VERB
ap-1656	120	44	the	the	DET
ap-1656	120	45	steady	steady	ADJ
ap-1656	120	46	-	-	PUNCT
ap-1656	120	47	state	state	NOUN
ap-1656	120	48	error	error	NOUN
ap-1656	120	49	.	.	PUNCT
ap-1656	121	1	10	10	NUM
ap-1656	121	2	cacsd	cacsd	NOUN
ap-1656	121	3	tools	tool	NOUN
ap-1656	121	4	the	the	DET
ap-1656	121	5	availability	availability	NOUN
ap-1656	121	6	of	of	ADP
ap-1656	121	7	more	more	ADJ
ap-1656	121	8	and	and	CCONJ
ap-1656	121	9	more	more	ADV
ap-1656	121	10	sophisticated	sophisticated	ADJ
ap-1656	121	11	and	and	CCONJ
ap-1656	121	12	high	high	ADJ
ap-1656	121	13	performance	performance	NOUN
ap-1656	121	14	software	software	NOUN
ap-1656	121	15	tools	tool	NOUN
ap-1656	121	16	has	have	AUX
ap-1656	121	17	favored	favor	VERB
ap-1656	121	18	the	the	DET
ap-1656	121	19	realization	realization	NOUN
ap-1656	121	20	of	of	ADP
ap-1656	121	21	more	more	ADJ
ap-1656	121	22	and	and	CCONJ
ap-1656	121	23	more	more	ADV
ap-1656	121	24	effective	effective	ADJ
ap-1656	121	25	computed	compute	VERB
ap-1656	121	26	aided	aid	VERB
ap-1656	121	27	control	control	NOUN
ap-1656	121	28	system	system	NOUN
ap-1656	121	29	design	design	NOUN
ap-1656	121	30	(	(	PUNCT
ap-1656	121	31	cacsd	cacsd	NOUN
ap-1656	121	32	)	)	PUNCT
ap-1656	121	33	tools	tool	NOUN
ap-1656	121	34	specifically	specifically	ADV
ap-1656	121	35	designed	design	VERB
ap-1656	121	36	for	for	ADP
ap-1656	121	37	pid	pid	NOUN
ap-1656	121	38	-	-	PUNCT
ap-1656	121	39	based	base	VERB
ap-1656	121	40	control	control	NOUN
ap-1656	121	41	systems	system	NOUN
ap-1656	121	42	[	[	X
ap-1656	121	43	10	10	NUM
ap-1656	121	44	,	,	PUNCT
ap-1656	121	45	12	12	NUM
ap-1656	121	46	,	,	PUNCT
ap-1656	121	47	30	30	NUM
ap-1656	121	48	]	]	PUNCT
ap-1656	121	49	.	.	PUNCT
ap-1656	122	1	cacsd	cacsd	NOUN
ap-1656	122	2	tools	tool	NOUN
ap-1656	122	3	surely	surely	ADV
ap-1656	122	4	contributes	contribute	VERB
ap-1656	122	5	to	to	ADP
ap-1656	122	6	the	the	DET
ap-1656	122	7	rapid	rapid	ADJ
ap-1656	122	8	dissemination	dissemination	NOUN
ap-1656	122	9	of	of	ADP
ap-1656	122	10	new	new	ADJ
ap-1656	122	11	methodologies	methodology	NOUN
ap-1656	122	12	through	through	ADP
ap-1656	122	13	researchers	researcher	NOUN
ap-1656	122	14	and	and	CCONJ
ap-1656	122	15	,	,	PUNCT
ap-1656	122	16	most	most	ADJ
ap-1656	122	17	of	of	ADP
ap-1656	122	18	all	all	PRON
ap-1656	122	19	,	,	PUNCT
ap-1656	122	20	makes	make	VERB
ap-1656	122	21	their	their	PRON
ap-1656	122	22	applicability	applicability	NOUN
ap-1656	122	23	much	much	ADV
ap-1656	122	24	easier	easy	ADJ
ap-1656	122	25	in	in	ADP
ap-1656	122	26	industry	industry	NOUN
ap-1656	122	27	,	,	PUNCT
ap-1656	122	28	as	as	SCONJ
ap-1656	122	29	theoretical	theoretical	ADJ
ap-1656	122	30	issues	issue	NOUN
ap-1656	122	31	can	can	AUX
ap-1656	122	32	be	be	AUX
ap-1656	122	33	made	make	VERB
ap-1656	122	34	transparent	transparent	ADJ
ap-1656	122	35	to	to	ADP
ap-1656	122	36	the	the	DET
ap-1656	122	37	user	user	NOUN
ap-1656	122	38	.	.	PUNCT
ap-1656	123	1	moreover	moreover	ADV
ap-1656	123	2	,	,	PUNCT
ap-1656	123	3	the	the	DET
ap-1656	123	4	user	user	NOUN
ap-1656	123	5	can	can	AUX
ap-1656	123	6	often	often	ADV
ap-1656	123	7	better	well	ADV
ap-1656	123	8	understand	understand	VERB
ap-1656	123	9	the	the	DET
ap-1656	123	10	design	design	NOUN
ap-1656	123	11	procedure	procedure	NOUN
ap-1656	123	12	and	and	CCONJ
ap-1656	123	13	the	the	DET
ap-1656	123	14	physical	physical	ADJ
ap-1656	123	15	meaning	meaning	NOUN
ap-1656	123	16	of	of	ADP
ap-1656	123	17	the	the	DET
ap-1656	123	18	design	design	NOUN
ap-1656	123	19	parameters	parameter	NOUN
ap-1656	123	20	.	.	PUNCT
ap-1656	124	1	it	it	PRON
ap-1656	124	2	is	be	AUX
ap-1656	124	3	therefore	therefore	ADV
ap-1656	124	4	recognized	recognize	VERB
ap-1656	124	5	that	that	SCONJ
ap-1656	124	6	each	each	DET
ap-1656	124	7	new	new	ADJ
ap-1656	124	8	proposed	propose	VERB
ap-1656	124	9	design	design	NOUN
ap-1656	124	10	methodology	methodology	NOUN
ap-1656	124	11	should	should	AUX
ap-1656	124	12	also	also	ADV
ap-1656	124	13	be	be	AUX
ap-1656	124	14	made	make	VERB
ap-1656	124	15	available	available	ADJ
ap-1656	124	16	in	in	ADP
ap-1656	124	17	a	a	DET
ap-1656	124	18	suitable	suitable	ADJ
ap-1656	124	19	software	software	NOUN
ap-1656	124	20	tool	tool	NOUN
ap-1656	124	21	.	.	PUNCT
ap-1656	125	1	11	11	NUM
ap-1656	125	2	conclusions	conclusion	NOUN
ap-1656	125	3	despite	despite	SCONJ
ap-1656	125	4	the	the	DET
ap-1656	125	5	long	long	ADJ
ap-1656	125	6	history	history	NOUN
ap-1656	125	7	of	of	ADP
ap-1656	125	8	pid	pid	NOUN
ap-1656	125	9	controller	controller	NOUN
ap-1656	125	10	research	research	NOUN
ap-1656	125	11	and	and	CCONJ
ap-1656	125	12	application	application	NOUN
ap-1656	125	13	,	,	PUNCT
ap-1656	125	14	there	there	PRON
ap-1656	125	15	are	be	VERB
ap-1656	125	16	still	still	ADV
ap-1656	125	17	many	many	ADJ
ap-1656	125	18	open	open	ADJ
ap-1656	125	19	issues	issue	NOUN
ap-1656	125	20	and	and	CCONJ
ap-1656	125	21	challenges	challenge	NOUN
ap-1656	125	22	related	relate	VERB
ap-1656	125	23	to	to	ADP
ap-1656	125	24	many	many	ADJ
ap-1656	125	25	different	different	ADJ
ap-1656	125	26	aspects	aspect	NOUN
ap-1656	125	27	of	of	ADP
ap-1656	125	28	the	the	DET
ap-1656	125	29	overall	overall	ADJ
ap-1656	125	30	industrial	industrial	ADJ
ap-1656	125	31	control	control	NOUN
ap-1656	125	32	system	system	NOUN
ap-1656	125	33	design	design	NOUN
ap-1656	125	34	.	.	PUNCT
ap-1656	126	1	indeed	indeed	ADV
ap-1656	126	2	,	,	PUNCT
ap-1656	126	3	the	the	DET
ap-1656	126	4	need	need	NOUN
ap-1656	126	5	to	to	PART
ap-1656	126	6	keep	keep	VERB
ap-1656	126	7	improving	improve	VERB
ap-1656	126	8	the	the	DET
ap-1656	126	9	performance	performance	NOUN
ap-1656	126	10	of	of	ADP
ap-1656	126	11	control	control	NOUN
ap-1656	126	12	systems	system	NOUN
ap-1656	126	13	while	while	SCONJ
ap-1656	126	14	keeping	keep	VERB
ap-1656	126	15	them	they	PRON
ap-1656	126	16	as	as	ADV
ap-1656	126	17	simple	simple	ADJ
ap-1656	126	18	as	as	ADP
ap-1656	126	19	possible	possible	ADJ
ap-1656	126	20	,	,	PUNCT
ap-1656	126	21	together	together	ADV
ap-1656	126	22	with	with	ADP
ap-1656	126	23	the	the	DET
ap-1656	126	24	need	need	NOUN
ap-1656	126	25	to	to	PART
ap-1656	126	26	satisfy	satisfy	VERB
ap-1656	126	27	technological	technological	ADJ
ap-1656	126	28	requirements	requirement	NOUN
ap-1656	126	29	,	,	PUNCT
ap-1656	126	30	calls	call	VERB
ap-1656	126	31	for	for	ADP
ap-1656	126	32	new	new	ADJ
ap-1656	126	33	methodologies	methodology	NOUN
ap-1656	126	34	to	to	PART
ap-1656	126	35	be	be	AUX
ap-1656	126	36	applied	apply	VERB
ap-1656	126	37	in	in	ADP
ap-1656	126	38	this	this	DET
ap-1656	126	39	field	field	NOUN
ap-1656	126	40	.	.	PUNCT
ap-1656	127	1	a	a	DET
ap-1656	127	2	(	(	PUNCT
ap-1656	127	3	surely	surely	ADV
ap-1656	127	4	not	not	PART
ap-1656	127	5	exhaustive	exhaustive	ADJ
ap-1656	127	6	)	)	PUNCT
ap-1656	127	7	selection	selection	NOUN
ap-1656	127	8	of	of	ADP
ap-1656	127	9	relevant	relevant	ADJ
ap-1656	127	10	topics	topic	NOUN
ap-1656	127	11	that	that	PRON
ap-1656	127	12	are	be	AUX
ap-1656	127	13	currently	currently	ADV
ap-1656	127	14	the	the	DET
ap-1656	127	15	subject	subject	NOUN
ap-1656	127	16	of	of	ADP
ap-1656	127	17	investigation	investigation	NOUN
ap-1656	127	18	has	have	AUX
ap-1656	127	19	been	be	AUX
ap-1656	127	20	presented	present	VERB
ap-1656	127	21	here	here	ADV
ap-1656	127	22	,	,	PUNCT
ap-1656	127	23	highlighting	highlight	VERB
ap-1656	127	24	in	in	ADP
ap-1656	127	25	particular	particular	ADJ
ap-1656	127	26	the	the	DET
ap-1656	127	27	requirements	requirement	NOUN
ap-1656	127	28	that	that	SCONJ
ap-1656	127	29	newly	newly	ADV
ap-1656	127	30	-	-	PUNCT
ap-1656	127	31	devised	devise	VERB
ap-1656	127	32	methodologies	methodology	NOUN
ap-1656	127	33	should	should	AUX
ap-1656	127	34	satisfy	satisfy	VERB
ap-1656	127	35	.	.	PUNCT
ap-1656	128	1	acknowledgements	acknowledgement	NOUN
ap-1656	128	2	the	the	DET
ap-1656	128	3	author	author	NOUN
ap-1656	128	4	thanks	thanks	PROPN
ap-1656	128	5	manuel	manuel	PROPN
ap-1656	128	6	beschi	beschi	PROPN
ap-1656	128	7	,	,	PUNCT
ap-1656	128	8	jesús	jesús	PROPN
ap-1656	128	9	chacón	chacón	PROPN
ap-1656	128	10	,	,	PUNCT
ap-1656	128	11	sebastián	sebastián	NOUN
ap-1656	128	12	dormido	dormido	NOUN
ap-1656	128	13	,	,	PUNCT
ap-1656	128	14	fabrizio	fabrizio	NOUN
ap-1656	128	15	padula	padula	NOUN
ap-1656	128	16	,	,	PUNCT
ap-1656	128	17	aurelio	aurelio	NOUN
ap-1656	128	18	piazzi	piazzi	NOUN
ap-1656	128	19	,	,	PUNCT
ap-1656	128	20	josé	josé	PROPN
ap-1656	128	21	sánchez	sánchez	PROPN
ap-1656	128	22	and	and	CCONJ
ap-1656	128	23	massimiliano	massimiliano	PROPN
ap-1656	128	24	veronesi	veronesi	NOUN
ap-1656	128	25	for	for	ADP
ap-1656	128	26	collaborating	collaborate	VERB
ap-1656	128	27	with	with	ADP
ap-1656	128	28	him	he	PRON
ap-1656	128	29	in	in	ADP
ap-1656	128	30	various	various	ADJ
ap-1656	128	31	research	research	NOUN
ap-1656	128	32	fields	field	NOUN
ap-1656	128	33	on	on	ADP
ap-1656	128	34	pid	pid	NOUN
ap-1656	128	35	controllers	controller	NOUN
ap-1656	128	36	.	.	PUNCT
ap-1656	129	1	references	reference	NOUN
ap-1656	129	2	[	[	X
ap-1656	129	3	1	1	NUM
ap-1656	129	4	]	]	X
ap-1656	129	5	k.e	k.e	PROPN
ap-1656	129	6	.	.	PROPN
ap-1656	129	7	årzèn	årzèn	PROPN
ap-1656	129	8	.	.	PUNCT
ap-1656	130	1	a	a	DET
ap-1656	130	2	simple	simple	ADJ
ap-1656	130	3	event	event	NOUN
ap-1656	130	4	-	-	PUNCT
ap-1656	130	5	based	base	VERB
ap-1656	130	6	pid	pid	NOUN
ap-1656	130	7	controller	controller	NOUN
ap-1656	130	8	.	.	PUNCT
ap-1656	131	1	in	in	ADP
ap-1656	131	2	proceedings	proceeding	NOUN
ap-1656	131	3	of	of	ADP
ap-1656	131	4	14th	14th	ADJ
ap-1656	131	5	world	world	NOUN
ap-1656	131	6	congress	congress	PROPN
ap-1656	131	7	of	of	ADP
ap-1656	131	8	ifac	ifac	NOUN
ap-1656	131	9	.	.	PUNCT
ap-1656	132	1	bejining	bejining	NOUN
ap-1656	132	2	,	,	PUNCT
ap-1656	132	3	china	china	PROPN
ap-1656	132	4	,	,	PUNCT
ap-1656	132	5	1999	1999	NUM
ap-1656	132	6	.	.	PUNCT
ap-1656	133	1	[	[	X
ap-1656	133	2	2	2	NUM
ap-1656	133	3	]	]	PUNCT
ap-1656	133	4	k.	k.	PROPN
ap-1656	133	5	j.	j.	PROPN
ap-1656	133	6	åström	åström	PROPN
ap-1656	133	7	,	,	PUNCT
ap-1656	133	8	t.	t.	NOUN
ap-1656	133	9	hägglund	hägglund	NOUN
ap-1656	133	10	.	.	PUNCT
ap-1656	134	1	revisiting	revisit	VERB
ap-1656	134	2	the	the	DET
ap-1656	134	3	ziegler	ziegler	PROPN
ap-1656	134	4	–	–	PUNCT
ap-1656	134	5	nichols	nichols	PROPN
ap-1656	134	6	step	step	NOUN
ap-1656	134	7	response	response	NOUN
ap-1656	134	8	method	method	NOUN
ap-1656	134	9	for	for	ADP
ap-1656	134	10	pid	pid	NOUN
ap-1656	134	11	control	control	PROPN
ap-1656	134	12	.	.	PUNCT
ap-1656	135	1	journal	journal	PROPN
ap-1656	135	2	of	of	ADP
ap-1656	135	3	process	process	NOUN
ap-1656	135	4	control	control	PROPN
ap-1656	135	5	14:635–650	14:635–650	PROPN
ap-1656	135	6	,	,	PUNCT
ap-1656	135	7	2004	2004	NUM
ap-1656	135	8	.	.	PUNCT
ap-1656	136	1	[	[	X
ap-1656	136	2	3	3	X
ap-1656	136	3	]	]	PUNCT
ap-1656	136	4	k.	k.	PROPN
ap-1656	136	5	j.	j.	PROPN
ap-1656	136	6	åström	åström	PROPN
ap-1656	136	7	,	,	PUNCT
ap-1656	136	8	t.	t.	NOUN
ap-1656	136	9	hägglund	hägglund	PROPN
ap-1656	136	10	.	.	PUNCT
ap-1656	137	1	advanced	advanced	ADJ
ap-1656	137	2	pid	pid	PROPN
ap-1656	137	3	control	control	NOUN
ap-1656	137	4	.	.	PUNCT
ap-1656	138	1	isa	isa	PROPN
ap-1656	138	2	press	press	PROPN
ap-1656	138	3	,	,	PUNCT
ap-1656	138	4	research	research	NOUN
ap-1656	138	5	triangle	triangle	NOUN
ap-1656	138	6	park	park	NOUN
ap-1656	138	7	,	,	PUNCT
ap-1656	138	8	usa	usa	PROPN
ap-1656	138	9	,	,	PUNCT
ap-1656	138	10	2006	2006	NUM
ap-1656	138	11	.	.	PUNCT
ap-1656	139	1	[	[	X
ap-1656	139	2	4	4	X
ap-1656	139	3	]	]	PUNCT
ap-1656	139	4	r.	r.	PROPN
ap-1656	139	5	s.	s.	PROPN
ap-1656	139	6	barbosa	barbosa	PROPN
ap-1656	139	7	,	,	PUNCT
ap-1656	139	8	j.	j.	PROPN
ap-1656	139	9	a.	a.	PROPN
ap-1656	139	10	tenreiro	tenreiro	PROPN
ap-1656	139	11	machado	machado	PROPN
ap-1656	139	12	,	,	PUNCT
ap-1656	139	13	i.	i.	PROPN
ap-1656	139	14	m.	m.	PROPN
ap-1656	139	15	ferreira	ferreira	PROPN
ap-1656	139	16	.	.	PUNCT
ap-1656	140	1	tuning	tuning	NOUN
ap-1656	140	2	of	of	ADP
ap-1656	140	3	pid	pid	NOUN
ap-1656	140	4	controllers	controller	NOUN
ap-1656	140	5	based	base	VERB
ap-1656	140	6	on	on	ADP
ap-1656	140	7	bode	bode	PROPN
ap-1656	140	8	’s	’s	PART
ap-1656	140	9	ideal	ideal	ADJ
ap-1656	140	10	transfer	transfer	NOUN
ap-1656	140	11	function	function	NOUN
ap-1656	140	12	.	.	PUNCT
ap-1656	141	1	nonlinear	nonlinear	ADJ
ap-1656	141	2	dynamics	dynamic	NOUN
ap-1656	141	3	38:305–321	38:305–321	NUM
ap-1656	141	4	,	,	PUNCT
ap-1656	141	5	2004	2004	NUM
ap-1656	141	6	.	.	PUNCT
ap-1656	142	1	[	[	X
ap-1656	142	2	5	5	NUM
ap-1656	142	3	]	]	PUNCT
ap-1656	142	4	m.	m.	NOUN
ap-1656	142	5	beschi	beschi	PROPN
ap-1656	142	6	,	,	PUNCT
ap-1656	142	7	s.	s.	PROPN
ap-1656	142	8	dormido	dormido	PROPN
ap-1656	142	9	,	,	PUNCT
ap-1656	142	10	j.	j.	PROPN
ap-1656	142	11	sanchez	sanchez	PROPN
ap-1656	142	12	,	,	PUNCT
ap-1656	142	13	a.	a.	PROPN
ap-1656	142	14	visioli	visioli	PROPN
ap-1656	142	15	.	.	PUNCT
ap-1656	143	1	characterization	characterization	NOUN
ap-1656	143	2	of	of	ADP
ap-1656	143	3	symmetric	symmetric	ADJ
ap-1656	143	4	send	send	VERB
ap-1656	143	5	-	-	PUNCT
ap-1656	143	6	on	on	ADP
ap-1656	143	7	-	-	PUNCT
ap-1656	143	8	delta	delta	NOUN
ap-1656	143	9	pi	pi	NOUN
ap-1656	143	10	controllers	controller	NOUN
ap-1656	143	11	.	.	PUNCT
ap-1656	144	1	journal	journal	PROPN
ap-1656	144	2	of	of	ADP
ap-1656	144	3	process	process	NOUN
ap-1656	144	4	control	control	NOUN
ap-1656	144	5	,	,	PUNCT
ap-1656	144	6	2012	2012	NUM
ap-1656	144	7	.	.	PUNCT
ap-1656	145	1	[	[	X
ap-1656	145	2	6	6	NUM
ap-1656	145	3	]	]	PUNCT
ap-1656	145	4	t.	t.	PROPN
ap-1656	145	5	l.	l.	PROPN
ap-1656	145	6	blevins	blevins	PROPN
ap-1656	145	7	.	.	PUNCT
ap-1656	146	1	pid	pid	NOUN
ap-1656	146	2	advances	advance	VERB
ap-1656	146	3	in	in	ADP
ap-1656	146	4	industrial	industrial	ADJ
ap-1656	146	5	control	control	NOUN
ap-1656	146	6	.	.	PUNCT
ap-1656	147	1	in	in	ADP
ap-1656	147	2	proceedings	proceeding	NOUN
ap-1656	147	3	ifac	ifac	VERB
ap-1656	147	4	conference	conference	NOUN
ap-1656	147	5	on	on	ADP
ap-1656	147	6	advances	advance	NOUN
ap-1656	147	7	in	in	ADP
ap-1656	147	8	pid	pid	NOUN
ap-1656	147	9	control	control	NOUN
ap-1656	147	10	.	.	PUNCT
ap-1656	148	1	brescia	brescia	PROPN
ap-1656	148	2	,	,	PUNCT
ap-1656	148	3	i	i	PRON
ap-1656	148	4	,	,	PUNCT
ap-1656	148	5	2012	2012	NUM
ap-1656	148	6	.	.	PUNCT
ap-1656	149	1	[	[	X
ap-1656	149	2	7	7	X
ap-1656	149	3	]	]	X
ap-1656	149	4	j.	j.	PROPN
ap-1656	149	5	garrido	garrido	PROPN
ap-1656	149	6	,	,	PUNCT
ap-1656	149	7	f.	f.	PROPN
ap-1656	149	8	vázquez	vázquez	PROPN
ap-1656	149	9	,	,	PUNCT
ap-1656	149	10	f.	f.	PROPN
ap-1656	149	11	morilla	morilla	PROPN
ap-1656	149	12	.	.	PUNCT
ap-1656	150	1	centralized	centralized	ADJ
ap-1656	150	2	multivariable	multivariable	ADJ
ap-1656	150	3	control	control	NOUN
ap-1656	150	4	by	by	ADP
ap-1656	150	5	simplified	simplified	ADJ
ap-1656	150	6	decoupling	decoupling	NOUN
ap-1656	150	7	.	.	PUNCT
ap-1656	151	1	journal	journal	PROPN
ap-1656	151	2	of	of	ADP
ap-1656	151	3	process	process	NOUN
ap-1656	151	4	control	control	VERB
ap-1656	151	5	22:1044–1062	22:1044–1062	NUM
ap-1656	151	6	,	,	PUNCT
ap-1656	151	7	2012	2012	NUM
ap-1656	151	8	.	.	PUNCT
ap-1656	152	1	[	[	X
ap-1656	152	2	8	8	NUM
ap-1656	152	3	]	]	X
ap-1656	152	4	e.	e.	PROPN
ap-1656	152	5	grassi	grassi	PROPN
ap-1656	152	6	,	,	PUNCT
ap-1656	152	7	k.	k.	PROPN
ap-1656	152	8	tsakalis	tsakalis	PROPN
ap-1656	152	9	.	.	PUNCT
ap-1656	153	1	pid	pid	NOUN
ap-1656	153	2	controller	controller	NOUN
ap-1656	153	3	tuning	tune	VERB
ap-1656	153	4	by	by	ADP
ap-1656	153	5	frequency	frequency	NOUN
ap-1656	153	6	loop	loop	NOUN
ap-1656	153	7	-	-	PUNCT
ap-1656	153	8	shaping	shaping	NOUN
ap-1656	153	9	:	:	PUNCT
ap-1656	153	10	application	application	NOUN
ap-1656	153	11	to	to	ADP
ap-1656	153	12	diffusion	diffusion	NOUN
ap-1656	153	13	furnace	furnace	NOUN
ap-1656	153	14	temperature	temperature	NOUN
ap-1656	153	15	control	control	NOUN
ap-1656	153	16	.	.	PUNCT
ap-1656	154	1	ieee	ieee	NOUN
ap-1656	154	2	transactions	transaction	NOUN
ap-1656	154	3	on	on	ADP
ap-1656	154	4	control	control	NOUN
ap-1656	154	5	systems	system	NOUN
ap-1656	154	6	technologies	technology	NOUN
ap-1656	154	7	8:842–847	8:842–847	NOUN
ap-1656	154	8	,	,	PUNCT
ap-1656	154	9	2000	2000	NUM
ap-1656	154	10	.	.	PUNCT
ap-1656	155	1	[	[	X
ap-1656	155	2	9	9	NUM
ap-1656	155	3	]	]	PUNCT
ap-1656	155	4	c.	c.	PROPN
ap-1656	155	5	grimholt	grimholt	PROPN
ap-1656	155	6	,	,	PUNCT
ap-1656	155	7	s.	s.	PROPN
ap-1656	155	8	skogestad	skogestad	PROPN
ap-1656	155	9	.	.	PUNCT
ap-1656	155	10	optimal	optimal	ADJ
ap-1656	155	11	pi	pi	NOUN
ap-1656	155	12	-	-	PUNCT
ap-1656	155	13	control	control	NOUN
ap-1656	155	14	and	and	CCONJ
ap-1656	155	15	verification	verification	NOUN
ap-1656	155	16	of	of	ADP
ap-1656	155	17	the	the	DET
ap-1656	155	18	simc	simc	NOUN
ap-1656	155	19	tuning	tune	VERB
ap-1656	155	20	rule	rule	NOUN
ap-1656	155	21	.	.	PUNCT
ap-1656	156	1	in	in	ADP
ap-1656	156	2	proceedings	proceeding	NOUN
ap-1656	156	3	ifac	ifac	VERB
ap-1656	156	4	conference	conference	NOUN
ap-1656	156	5	on	on	ADP
ap-1656	156	6	advances	advance	NOUN
ap-1656	156	7	in	in	ADP
ap-1656	156	8	pid	pid	NOUN
ap-1656	156	9	control	control	NOUN
ap-1656	156	10	.	.	PUNCT
ap-1656	157	1	brescia	brescia	PROPN
ap-1656	157	2	,	,	PUNCT
ap-1656	157	3	i	i	PRON
ap-1656	157	4	,	,	PUNCT
ap-1656	157	5	2012	2012	NUM
ap-1656	157	6	.	.	PUNCT
ap-1656	158	1	[	[	X
ap-1656	158	2	10	10	NUM
ap-1656	158	3	]	]	X
ap-1656	158	4	j.	j.	PROPN
ap-1656	158	5	l.	l.	PROPN
ap-1656	158	6	guzman	guzman	PROPN
ap-1656	158	7	,	,	PUNCT
ap-1656	158	8	k.	k.	PROPN
ap-1656	158	9	j.	j.	PROPN
ap-1656	158	10	åström	åström	PROPN
ap-1656	158	11	,	,	PUNCT
ap-1656	158	12	s.	s.	PROPN
ap-1656	158	13	dormido	dormido	PROPN
ap-1656	158	14	,	,	PUNCT
ap-1656	158	15	et	et	PROPN
ap-1656	158	16	al	al	PROPN
ap-1656	158	17	.	.	PROPN
ap-1656	158	18	interactive	interactive	ADJ
ap-1656	158	19	learning	learning	NOUN
ap-1656	158	20	modules	module	NOUN
ap-1656	158	21	for	for	ADP
ap-1656	158	22	pid	pid	NOUN
ap-1656	158	23	control	control	NOUN
ap-1656	158	24	.	.	PUNCT
ap-1656	159	1	ieee	ieee	PROPN
ap-1656	159	2	control	control	PROPN
ap-1656	159	3	systems	systems	PROPN
ap-1656	159	4	magazine	magazine	NOUN
ap-1656	159	5	28:118–134	28:118–134	NUM
ap-1656	159	6	,	,	PUNCT
ap-1656	159	7	2008	2008	NUM
ap-1656	159	8	.	.	PUNCT
ap-1656	160	1	[	[	X
ap-1656	160	2	11	11	NUM
ap-1656	160	3	]	]	PUNCT
ap-1656	160	4	j.	j.	PROPN
ap-1656	160	5	l.	l.	PROPN
ap-1656	160	6	guzmán	guzmán	PROPN
ap-1656	160	7	,	,	PUNCT
ap-1656	160	8	t.	t.	NOUN
ap-1656	160	9	hägglund	hägglund	NOUN
ap-1656	160	10	.	.	PUNCT
ap-1656	161	1	simple	simple	ADJ
ap-1656	161	2	tuning	tuning	NOUN
ap-1656	161	3	rules	rule	NOUN
ap-1656	161	4	for	for	ADP
ap-1656	161	5	feedforward	feedforward	NOUN
ap-1656	161	6	compensators	compensator	NOUN
ap-1656	161	7	.	.	PUNCT
ap-1656	162	1	journal	journal	PROPN
ap-1656	162	2	of	of	ADP
ap-1656	162	3	process	process	NOUN
ap-1656	162	4	control	control	VERB
ap-1656	162	5	21:92–102	21:92–102	NUM
ap-1656	162	6	,	,	PUNCT
ap-1656	162	7	2011	2011	NUM
ap-1656	162	8	.	.	PUNCT
ap-1656	163	1	148	148	NUM
ap-1656	163	2	acta	acta	PROPN
ap-1656	163	3	polytechnica	polytechnica	PROPN
ap-1656	163	4	vol	vol	NOUN
ap-1656	163	5	.	.	PUNCT
ap-1656	164	1	52	52	NUM
ap-1656	164	2	no	no	NOUN
ap-1656	164	3	.	.	PUNCT
ap-1656	165	1	5/2012	5/2012	NUM
ap-1656	166	1	[	[	X
ap-1656	166	2	12	12	NUM
ap-1656	166	3	]	]	PUNCT
ap-1656	166	4	j.	j.	PROPN
ap-1656	166	5	l.	l.	PROPN
ap-1656	166	6	guzmán	guzmán	PROPN
ap-1656	166	7	,	,	PUNCT
ap-1656	166	8	p.	p.	NOUN
ap-1656	166	9	garcía	garcía	NOUN
ap-1656	166	10	,	,	PUNCT
ap-1656	166	11	t.	t.	PROPN
ap-1656	166	12	hägglund	hägglund	PROPN
ap-1656	166	13	,	,	PUNCT
ap-1656	166	14	et	et	PROPN
ap-1656	166	15	al	al	PROPN
ap-1656	166	16	.	.	PROPN
ap-1656	166	17	interactive	interactive	ADJ
ap-1656	166	18	tool	tool	NOUN
ap-1656	166	19	for	for	ADP
ap-1656	166	20	analysis	analysis	NOUN
ap-1656	166	21	of	of	ADP
ap-1656	166	22	time	time	NOUN
ap-1656	166	23	-	-	PUNCT
ap-1656	166	24	delay	delay	NOUN
ap-1656	166	25	systems	system	NOUN
ap-1656	166	26	with	with	ADP
ap-1656	166	27	dead	dead	ADJ
ap-1656	166	28	-	-	PUNCT
ap-1656	166	29	time	time	NOUN
ap-1656	166	30	compensators	compensator	NOUN
ap-1656	166	31	.	.	PUNCT
ap-1656	167	1	control	control	NOUN
ap-1656	167	2	engineering	engineering	NOUN
ap-1656	167	3	practice	practice	NOUN
ap-1656	167	4	16:824–835	16:824–835	PROPN
ap-1656	167	5	,	,	PUNCT
ap-1656	167	6	2008	2008	NUM
ap-1656	167	7	.	.	PUNCT
ap-1656	168	1	[	[	X
ap-1656	168	2	13	13	NUM
ap-1656	168	3	]	]	PUNCT
ap-1656	168	4	t.	t.	NOUN
ap-1656	168	5	hägglund	hägglund	PROPN
ap-1656	168	6	.	.	PUNCT
ap-1656	168	7	signal	signal	NOUN
ap-1656	168	8	filtering	filter	VERB
ap-1656	168	9	in	in	ADP
ap-1656	168	10	pid	pid	NOUN
ap-1656	168	11	control	control	NOUN
ap-1656	168	12	.	.	PUNCT
ap-1656	169	1	in	in	ADP
ap-1656	169	2	proceedings	proceeding	NOUN
ap-1656	169	3	ifac	ifac	VERB
ap-1656	169	4	conference	conference	NOUN
ap-1656	169	5	on	on	ADP
ap-1656	169	6	advances	advance	NOUN
ap-1656	169	7	in	in	ADP
ap-1656	169	8	pid	pid	NOUN
ap-1656	169	9	control	control	NOUN
ap-1656	169	10	.	.	PUNCT
ap-1656	170	1	brescia	brescia	PROPN
ap-1656	170	2	,	,	PUNCT
ap-1656	170	3	i	i	PRON
ap-1656	170	4	,	,	PUNCT
ap-1656	170	5	2012	2012	NUM
ap-1656	170	6	.	.	PUNCT
ap-1656	171	1	[	[	X
ap-1656	171	2	14	14	NUM
ap-1656	171	3	]	]	X
ap-1656	171	4	m.	m.	NOUN
ap-1656	171	5	jelali	jelali	PROPN
ap-1656	171	6	.	.	PUNCT
ap-1656	172	1	an	an	DET
ap-1656	172	2	overview	overview	NOUN
ap-1656	172	3	of	of	ADP
ap-1656	172	4	control	control	NOUN
ap-1656	172	5	performance	performance	NOUN
ap-1656	172	6	assessment	assessment	NOUN
ap-1656	172	7	technology	technology	NOUN
ap-1656	172	8	and	and	CCONJ
ap-1656	172	9	industrial	industrial	ADJ
ap-1656	172	10	applications	application	NOUN
ap-1656	172	11	.	.	PUNCT
ap-1656	173	1	control	control	NOUN
ap-1656	173	2	engineering	engineering	NOUN
ap-1656	173	3	practice	practice	NOUN
ap-1656	173	4	14:441–466	14:441–466	NUM
ap-1656	173	5	,	,	PUNCT
ap-1656	173	6	2006	2006	NUM
ap-1656	173	7	.	.	PUNCT
ap-1656	174	1	[	[	X
ap-1656	174	2	15	15	NUM
ap-1656	174	3	]	]	X
ap-1656	174	4	m.	m.	NOUN
ap-1656	174	5	a.	a.	PROPN
ap-1656	174	6	johnson	johnson	PROPN
ap-1656	174	7	,	,	PUNCT
ap-1656	174	8	m.	m.	PROPN
ap-1656	174	9	h.	h.	PROPN
ap-1656	174	10	moradi	moradi	PROPN
ap-1656	174	11	(	(	PUNCT
ap-1656	174	12	eds	ed	NOUN
ap-1656	174	13	.	.	PUNCT
ap-1656	174	14	)	)	PUNCT
ap-1656	174	15	.	.	PUNCT
ap-1656	175	1	pid	pid	NOUN
ap-1656	175	2	control	control	VERB
ap-1656	175	3	new	new	ADJ
ap-1656	175	4	identification	identification	NOUN
ap-1656	175	5	and	and	CCONJ
ap-1656	175	6	design	design	NOUN
ap-1656	175	7	methods	method	NOUN
ap-1656	175	8	.	.	PUNCT
ap-1656	176	1	springer	springer	PROPN
ap-1656	176	2	,	,	PUNCT
ap-1656	176	3	london	london	PROPN
ap-1656	176	4	,	,	PUNCT
ap-1656	176	5	uk	uk	PROPN
ap-1656	176	6	,	,	PUNCT
ap-1656	176	7	2005	2005	NUM
ap-1656	176	8	.	.	PUNCT
ap-1656	177	1	[	[	X
ap-1656	177	2	16	16	NUM
ap-1656	177	3	]	]	PUNCT
ap-1656	177	4	b.-s	b.-	NOUN
ap-1656	177	5	.	.	PUNCT
ap-1656	178	1	ko	ko	PROPN
ap-1656	178	2	,	,	PUNCT
ap-1656	178	3	t.	t.	PROPN
ap-1656	178	4	f.	f.	PROPN
ap-1656	178	5	edgar	edgar	PROPN
ap-1656	178	6	.	.	PUNCT
ap-1656	179	1	pid	pid	PROPN
ap-1656	179	2	control	control	NOUN
ap-1656	179	3	performance	performance	NOUN
ap-1656	179	4	assessment	assessment	NOUN
ap-1656	179	5	:	:	PUNCT
ap-1656	179	6	the	the	DET
ap-1656	179	7	single	single	ADJ
ap-1656	179	8	-	-	PUNCT
ap-1656	179	9	loop	loop	NOUN
ap-1656	179	10	case	case	NOUN
ap-1656	179	11	.	.	PUNCT
ap-1656	180	1	aiche	aiche	PROPN
ap-1656	180	2	journal	journal	PROPN
ap-1656	180	3	50:1211–1218	50:1211–1218	PROPN
ap-1656	180	4	,	,	PUNCT
ap-1656	180	5	2004	2004	NUM
ap-1656	180	6	.	.	PUNCT
ap-1656	181	1	[	[	X
ap-1656	181	2	17	17	NUM
ap-1656	181	3	]	]	PUNCT
ap-1656	181	4	a.	a.	NOUN
ap-1656	181	5	leva	leva	PROPN
ap-1656	181	6	,	,	PUNCT
ap-1656	181	7	m.	m.	NOUN
ap-1656	181	8	maggio	maggio	PROPN
ap-1656	181	9	.	.	PUNCT
ap-1656	182	1	a	a	DET
ap-1656	182	2	systematic	systematic	ADJ
ap-1656	182	3	way	way	NOUN
ap-1656	182	4	to	to	PART
ap-1656	182	5	extend	extend	VERB
ap-1656	182	6	ideal	ideal	ADJ
ap-1656	182	7	pid	pid	NOUN
ap-1656	182	8	tuning	tune	VERB
ap-1656	182	9	rules	rule	NOUN
ap-1656	182	10	to	to	ADP
ap-1656	182	11	the	the	DET
ap-1656	182	12	real	real	ADJ
ap-1656	182	13	structure	structure	NOUN
ap-1656	182	14	.	.	PUNCT
ap-1656	183	1	journal	journal	PROPN
ap-1656	183	2	of	of	ADP
ap-1656	183	3	process	process	NOUN
ap-1656	183	4	control	control	NOUN
ap-1656	183	5	21:130–136	21:130–136	NUM
ap-1656	183	6	,	,	PUNCT
ap-1656	183	7	2011	2011	NUM
ap-1656	183	8	.	.	PUNCT
ap-1656	184	1	[	[	X
ap-1656	184	2	18	18	NUM
ap-1656	184	3	]	]	PUNCT
ap-1656	184	4	a.	a.	NOUN
ap-1656	184	5	leva	leva	PROPN
ap-1656	184	6	,	,	PUNCT
ap-1656	184	7	s.	s.	PROPN
ap-1656	184	8	negro	negro	PROPN
ap-1656	184	9	,	,	PUNCT
ap-1656	184	10	a.	a.	PROPN
ap-1656	184	11	v.	v.	PROPN
ap-1656	184	12	papadopoulos	papadopoulos	PROPN
ap-1656	184	13	.	.	PUNCT
ap-1656	185	1	pi	pi	PROPN
ap-1656	185	2	/	/	SYM
ap-1656	185	3	pid	pid	NOUN
ap-1656	185	4	autotuning	autotune	VERB
ap-1656	185	5	with	with	ADP
ap-1656	185	6	contextual	contextual	ADJ
ap-1656	185	7	model	model	NOUN
ap-1656	185	8	parametrisation	parametrisation	PROPN
ap-1656	185	9	.	.	PUNCT
ap-1656	186	1	journal	journal	PROPN
ap-1656	186	2	of	of	ADP
ap-1656	186	3	process	process	NOUN
ap-1656	186	4	control	control	NOUN
ap-1656	186	5	20:452–463	20:452–463	PROPN
ap-1656	186	6	,	,	PUNCT
ap-1656	186	7	2010	2010	NUM
ap-1656	186	8	.	.	PUNCT
ap-1656	187	1	[	[	X
ap-1656	187	2	19	19	NUM
ap-1656	187	3	]	]	PUNCT
ap-1656	187	4	t.	t.	PROPN
ap-1656	187	5	liu	liu	PROPN
ap-1656	187	6	,	,	PUNCT
ap-1656	187	7	w.	w.	PROPN
ap-1656	187	8	zhang	zhang	PROPN
ap-1656	187	9	,	,	PUNCT
ap-1656	187	10	f.	f.	PROPN
ap-1656	187	11	gao	gao	PROPN
ap-1656	187	12	.	.	PUNCT
ap-1656	188	1	analytical	analytical	ADJ
ap-1656	188	2	decoupling	decoupling	NOUN
ap-1656	188	3	control	control	NOUN
ap-1656	188	4	strategy	strategy	NOUN
ap-1656	188	5	using	use	VERB
ap-1656	188	6	a	a	DET
ap-1656	188	7	unity	unity	NOUN
ap-1656	188	8	feedback	feedback	NOUN
ap-1656	188	9	control	control	NOUN
ap-1656	188	10	structure	structure	NOUN
ap-1656	188	11	for	for	ADP
ap-1656	188	12	mimo	mimo	PROPN
ap-1656	188	13	processes	process	NOUN
ap-1656	188	14	with	with	ADP
ap-1656	188	15	time	time	NOUN
ap-1656	188	16	delays	delay	NOUN
ap-1656	188	17	.	.	PUNCT
ap-1656	189	1	journal	journal	PROPN
ap-1656	189	2	of	of	ADP
ap-1656	189	3	process	process	NOUN
ap-1656	189	4	control	control	NOUN
ap-1656	189	5	17:173–186	17:173–186	PROPN
ap-1656	189	6	,	,	PUNCT
ap-1656	189	7	2007	2007	NUM
ap-1656	189	8	.	.	PUNCT
ap-1656	190	1	[	[	X
ap-1656	190	2	20	20	NUM
ap-1656	190	3	]	]	X
ap-1656	190	4	c.	c.	PROPN
ap-1656	190	5	a.	a.	PROPN
ap-1656	190	6	monje	monje	PROPN
ap-1656	190	7	,	,	PUNCT
ap-1656	190	8	b.	b.	PROPN
ap-1656	190	9	m.	m.	PROPN
ap-1656	190	10	vinagre	vinagre	PROPN
ap-1656	190	11	,	,	PUNCT
ap-1656	190	12	v.	v.	ADP
ap-1656	190	13	feliu	feliu	ADJ
ap-1656	190	14	,	,	PUNCT
ap-1656	190	15	y.	y.	PROPN
ap-1656	190	16	q.	q.	PROPN
ap-1656	190	17	chen	chen	PROPN
ap-1656	190	18	.	.	PUNCT
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ap-1656	191	2	and	and	CCONJ
ap-1656	191	3	auto	auto	NOUN
ap-1656	191	4	-	-	PUNCT
ap-1656	191	5	tuning	tuning	NOUN
ap-1656	191	6	of	of	ADP
ap-1656	191	7	fractional	fractional	ADJ
ap-1656	191	8	order	order	NOUN
ap-1656	191	9	controllers	controller	NOUN
ap-1656	191	10	for	for	ADP
ap-1656	191	11	industry	industry	NOUN
ap-1656	191	12	applications	application	NOUN
ap-1656	191	13	.	.	PUNCT
ap-1656	192	1	control	control	NOUN
ap-1656	192	2	engineering	engineering	NOUN
ap-1656	192	3	practice	practice	NOUN
ap-1656	192	4	16:798–812	16:798–812	NOUN
ap-1656	192	5	,	,	PUNCT
ap-1656	192	6	2008	2008	NUM
ap-1656	192	7	.	.	PUNCT
ap-1656	193	1	[	[	X
ap-1656	193	2	21	21	NUM
ap-1656	193	3	]	]	X
ap-1656	193	4	p.	p.	NOUN
ap-1656	193	5	nordfeldti	nordfeldti	PROPN
ap-1656	193	6	,	,	PUNCT
ap-1656	193	7	t.	t.	PROPN
ap-1656	193	8	hägglund	hägglund	PROPN
ap-1656	193	9	.	.	PUNCT
ap-1656	194	1	decoupler	decoupler	PROPN
ap-1656	194	2	and	and	CCONJ
ap-1656	194	3	pid	pid	NOUN
ap-1656	194	4	controller	controller	NOUN
ap-1656	194	5	design	design	NOUN
ap-1656	194	6	of	of	ADP
ap-1656	194	7	tito	tito	PROPN
ap-1656	194	8	systems	systems	PROPN
ap-1656	194	9	.	.	PUNCT
ap-1656	195	1	journal	journal	PROPN
ap-1656	195	2	of	of	ADP
ap-1656	195	3	process	process	NOUN
ap-1656	195	4	control	control	NOUN
ap-1656	195	5	16:923–936	16:923–936	NUM
ap-1656	195	6	,	,	PUNCT
ap-1656	195	7	2006	2006	NUM
ap-1656	195	8	.	.	PUNCT
ap-1656	196	1	[	[	X
ap-1656	196	2	22	22	NUM
ap-1656	196	3	]	]	PUNCT
ap-1656	196	4	j.	j.	PROPN
ap-1656	196	5	e.	e.	PROPN
ap-1656	196	6	normey	normey	PROPN
ap-1656	196	7	-	-	PUNCT
ap-1656	196	8	rico	rico	PROPN
ap-1656	196	9	,	,	PUNCT
ap-1656	196	10	e.	e.	PROPN
ap-1656	196	11	f.	f.	PROPN
ap-1656	196	12	camacho	camacho	PROPN
ap-1656	196	13	.	.	PUNCT
ap-1656	197	1	dead	dead	ADJ
ap-1656	197	2	-	-	PUNCT
ap-1656	197	3	time	time	NOUN
ap-1656	197	4	compensators	compensator	NOUN
ap-1656	197	5	:	:	PUNCT
ap-1656	197	6	a	a	DET
ap-1656	197	7	survey	survey	NOUN
ap-1656	197	8	.	.	PUNCT
ap-1656	198	1	control	control	NOUN
ap-1656	198	2	engineering	engineering	NOUN
ap-1656	198	3	practice	practice	NOUN
ap-1656	198	4	16:407–428	16:407–428	NUM
ap-1656	198	5	,	,	PUNCT
ap-1656	198	6	2008	2008	NUM
ap-1656	198	7	.	.	PUNCT
ap-1656	199	1	[	[	X
ap-1656	199	2	23	23	NUM
ap-1656	199	3	]	]	PUNCT
ap-1656	199	4	a.	a.	NOUN
ap-1656	199	5	o’dwyer	o’dwyer	PROPN
ap-1656	199	6	.	.	PUNCT
ap-1656	200	1	handbook	handbook	NOUN
ap-1656	200	2	of	of	ADP
ap-1656	200	3	pi	pi	NOUN
ap-1656	200	4	and	and	CCONJ
ap-1656	200	5	pid	pid	NOUN
ap-1656	200	6	tuning	tuning	NOUN
ap-1656	200	7	rules	rule	NOUN
ap-1656	200	8	.	.	PUNCT
ap-1656	201	1	imperial	imperial	ADJ
ap-1656	201	2	college	college	NOUN
ap-1656	201	3	press	press	NOUN
ap-1656	201	4	,	,	PUNCT
ap-1656	201	5	2006	2006	NUM
ap-1656	201	6	.	.	PUNCT
ap-1656	202	1	[	[	X
ap-1656	202	2	24	24	NUM
ap-1656	202	3	]	]	PUNCT
ap-1656	202	4	f.	f.	PROPN
ap-1656	202	5	padula	padula	PROPN
ap-1656	202	6	,	,	PUNCT
ap-1656	202	7	a.	a.	NOUN
ap-1656	202	8	visioli	visioli	PROPN
ap-1656	202	9	.	.	PUNCT
ap-1656	203	1	tuning	tune	VERB
ap-1656	203	2	rules	rule	NOUN
ap-1656	203	3	for	for	ADP
ap-1656	203	4	optimal	optimal	ADJ
ap-1656	203	5	pid	pid	NOUN
ap-1656	203	6	and	and	CCONJ
ap-1656	203	7	fractional	fractional	ADJ
ap-1656	203	8	-	-	PUNCT
ap-1656	203	9	order	order	NOUN
ap-1656	203	10	pid	pid	NOUN
ap-1656	203	11	controllers	controller	NOUN
ap-1656	203	12	.	.	PUNCT
ap-1656	204	1	journal	journal	PROPN
ap-1656	204	2	of	of	ADP
ap-1656	204	3	process	process	NOUN
ap-1656	204	4	control	control	NOUN
ap-1656	204	5	21:69–81	21:69–81	NUM
ap-1656	204	6	,	,	PUNCT
ap-1656	204	7	2011	2011	NUM
ap-1656	204	8	.	.	PUNCT
ap-1656	205	1	[	[	X
ap-1656	205	2	25	25	NUM
ap-1656	205	3	]	]	PUNCT
ap-1656	205	4	f.	f.	PROPN
ap-1656	205	5	padula	padula	PROPN
ap-1656	205	6	,	,	PUNCT
ap-1656	205	7	a.	a.	NOUN
ap-1656	205	8	visioli	visioli	PROPN
ap-1656	205	9	.	.	PUNCT
ap-1656	206	1	on	on	ADP
ap-1656	206	2	the	the	DET
ap-1656	206	3	stabilizing	stabilize	VERB
ap-1656	206	4	pid	pid	NOUN
ap-1656	206	5	controllers	controller	NOUN
ap-1656	206	6	for	for	ADP
ap-1656	206	7	integral	integral	ADJ
ap-1656	206	8	processes	process	NOUN
ap-1656	206	9	.	.	PUNCT
ap-1656	207	1	ieee	ieee	NOUN
ap-1656	207	2	transactions	transaction	NOUN
ap-1656	207	3	on	on	ADP
ap-1656	207	4	automatic	automatic	ADJ
ap-1656	207	5	control	control	NOUN
ap-1656	207	6	57:494–499	57:494–499	NUM
ap-1656	207	7	,	,	PUNCT
ap-1656	207	8	2012	2012	NUM
ap-1656	207	9	.	.	PUNCT
ap-1656	208	1	[	[	X
ap-1656	208	2	26	26	NUM
ap-1656	208	3	]	]	X
ap-1656	208	4	f.	f.	PROPN
ap-1656	208	5	padula	padula	PROPN
ap-1656	208	6	,	,	PUNCT
ap-1656	208	7	a.	a.	NOUN
ap-1656	208	8	visioli	visioli	PROPN
ap-1656	208	9	.	.	PUNCT
ap-1656	209	1	optimal	optimal	ADJ
ap-1656	209	2	tuning	tuning	NOUN
ap-1656	209	3	rules	rule	NOUN
ap-1656	209	4	for	for	ADP
ap-1656	209	5	proportional	proportional	ADJ
ap-1656	209	6	-	-	PUNCT
ap-1656	209	7	integral	integral	ADJ
ap-1656	209	8	-	-	PUNCT
ap-1656	209	9	derivative	derivative	ADJ
ap-1656	209	10	and	and	CCONJ
ap-1656	209	11	fractionalorder	fractionalorder	ADJ
ap-1656	209	12	proportional	proportional	ADJ
ap-1656	209	13	-	-	PUNCT
ap-1656	209	14	integral	integral	ADJ
ap-1656	209	15	-	-	PUNCT
ap-1656	209	16	derivative	derivative	ADJ
ap-1656	209	17	controllers	controller	NOUN
ap-1656	209	18	for	for	ADP
ap-1656	209	19	integral	integral	ADJ
ap-1656	209	20	and	and	CCONJ
ap-1656	209	21	unstable	unstable	ADJ
ap-1656	209	22	processes	process	NOUN
ap-1656	209	23	.	.	PUNCT
ap-1656	210	1	iet	iet	PROPN
ap-1656	210	2	control	control	PROPN
ap-1656	210	3	theory	theory	NOUN
ap-1656	210	4	and	and	CCONJ
ap-1656	210	5	applications	application	NOUN
ap-1656	210	6	6:776–786	6:776–786	NUM
ap-1656	210	7	,	,	PUNCT
ap-1656	210	8	2012	2012	NUM
ap-1656	210	9	.	.	PUNCT
ap-1656	211	1	[	[	X
ap-1656	211	2	27	27	NUM
ap-1656	211	3	]	]	PUNCT
ap-1656	211	4	m.	m.	NOUN
ap-1656	211	5	petersson	petersson	PROPN
ap-1656	211	6	,	,	PUNCT
ap-1656	211	7	k.e	k.e	PROPN
ap-1656	211	8	.	.	PROPN
ap-1656	212	1	årzèn	årzèn	PROPN
ap-1656	212	2	,	,	PUNCT
ap-1656	212	3	t.	t.	PROPN
ap-1656	212	4	hägglund	hägglund	PROPN
ap-1656	212	5	.	.	PUNCT
ap-1656	213	1	a	a	DET
ap-1656	213	2	comparison	comparison	NOUN
ap-1656	213	3	of	of	ADP
ap-1656	213	4	two	two	NUM
ap-1656	213	5	feedforward	feedforward	NOUN
ap-1656	213	6	control	control	NOUN
ap-1656	213	7	structure	structure	NOUN
ap-1656	213	8	assessment	assessment	NOUN
ap-1656	213	9	methods	method	NOUN
ap-1656	213	10	.	.	PUNCT
ap-1656	214	1	international	international	ADJ
ap-1656	214	2	journal	journal	NOUN
ap-1656	214	3	of	of	ADP
ap-1656	214	4	adaptive	adaptive	ADJ
ap-1656	214	5	control	control	NOUN
ap-1656	214	6	and	and	CCONJ
ap-1656	214	7	signal	signal	VERB
ap-1656	214	8	processing	processing	NOUN
ap-1656	214	9	17:609–624	17:609–624	PROPN
ap-1656	214	10	,	,	PUNCT
ap-1656	214	11	2003	2003	NUM
ap-1656	214	12	.	.	PUNCT
ap-1656	215	1	[	[	X
ap-1656	215	2	28	28	NUM
ap-1656	215	3	]	]	PUNCT
ap-1656	215	4	a.	a.	NOUN
ap-1656	215	5	piazzi	piazzi	NOUN
ap-1656	215	6	,	,	PUNCT
ap-1656	215	7	a.	a.	NOUN
ap-1656	215	8	visioli	visioli	PROPN
ap-1656	215	9	.	.	PUNCT
ap-1656	216	1	a	a	DET
ap-1656	216	2	noncausal	noncausal	ADJ
ap-1656	216	3	approach	approach	NOUN
ap-1656	216	4	for	for	ADP
ap-1656	216	5	pid	pid	NOUN
ap-1656	216	6	control	control	PROPN
ap-1656	216	7	.	.	PUNCT
ap-1656	217	1	journal	journal	PROPN
ap-1656	217	2	of	of	ADP
ap-1656	217	3	process	process	NOUN
ap-1656	217	4	control	control	NOUN
ap-1656	217	5	16:831–843	16:831–843	PROPN
ap-1656	217	6	,	,	PUNCT
ap-1656	217	7	2006	2006	NUM
ap-1656	217	8	.	.	PUNCT
ap-1656	218	1	[	[	X
ap-1656	218	2	29	29	NUM
ap-1656	218	3	]	]	X
ap-1656	218	4	s.	s.	PROPN
ap-1656	218	5	piccagli	piccagli	PROPN
ap-1656	218	6	,	,	PUNCT
ap-1656	218	7	a.	a.	PROPN
ap-1656	218	8	visioli	visioli	PROPN
ap-1656	218	9	.	.	PUNCT
ap-1656	219	1	an	an	DET
ap-1656	219	2	optimal	optimal	ADJ
ap-1656	219	3	feedforward	feedforward	NOUN
ap-1656	219	4	control	control	NOUN
ap-1656	219	5	design	design	NOUN
ap-1656	219	6	for	for	ADP
ap-1656	219	7	the	the	DET
ap-1656	219	8	set	set	NOUN
ap-1656	219	9	-	-	PUNCT
ap-1656	219	10	point	point	NOUN
ap-1656	219	11	following	following	NOUN
ap-1656	219	12	of	of	ADP
ap-1656	219	13	mimo	mimo	PROPN
ap-1656	219	14	processes	process	NOUN
ap-1656	219	15	.	.	PUNCT
ap-1656	220	1	journal	journal	PROPN
ap-1656	220	2	of	of	ADP
ap-1656	220	3	process	process	NOUN
ap-1656	220	4	control	control	PROPN
ap-1656	220	5	19:978–984	19:978–984	PROPN
ap-1656	220	6	,	,	PUNCT
ap-1656	220	7	2009	2009	NUM
ap-1656	220	8	.	.	PUNCT
ap-1656	221	1	[	[	X
ap-1656	221	2	30	30	NUM
ap-1656	221	3	]	]	SYM
ap-1656	221	4	pid	pid	NOUN
ap-1656	221	5	controller	controller	NOUN
ap-1656	221	6	laboratory	laboratory	NOUN
ap-1656	221	7	,	,	PUNCT
ap-1656	221	8	www.pidlab.com	www.pidlab.com	PROPN
ap-1656	221	9	.	.	PUNCT
ap-1656	222	1	http	http	PROPN
ap-1656	222	2	:	:	PUNCT
ap-1656	222	3	//www.pidlab.com	//www.pidlab.com	PUNCT
ap-1656	222	4	.	.	PUNCT
ap-1656	223	1	[	[	X
ap-1656	223	2	31	31	NUM
ap-1656	223	3	]	]	PUNCT
ap-1656	223	4	j.	j.	PROPN
ap-1656	223	5	sánchez	sánchez	PROPN
ap-1656	223	6	,	,	PUNCT
ap-1656	223	7	a.	a.	PROPN
ap-1656	223	8	visioli	visioli	PROPN
ap-1656	223	9	,	,	PUNCT
ap-1656	223	10	s.	s.	PROPN
ap-1656	223	11	dormido	dormido	PROPN
ap-1656	223	12	.	.	PUNCT
ap-1656	224	1	a	a	DET
ap-1656	224	2	two	two	NUM
ap-1656	224	3	-	-	PUNCT
ap-1656	224	4	degree	degree	NOUN
ap-1656	224	5	-	-	PUNCT
ap-1656	224	6	offreedom	offreedom	ADJ
ap-1656	224	7	pi	pi	NOUN
ap-1656	224	8	controller	controller	NOUN
ap-1656	224	9	based	base	VERB
ap-1656	224	10	on	on	ADP
ap-1656	224	11	events	event	NOUN
ap-1656	224	12	.	.	PUNCT
ap-1656	225	1	journal	journal	NOUN
ap-1656	225	2	of	of	ADP
ap-1656	225	3	process	process	NOUN
ap-1656	225	4	control	control	VERB
ap-1656	225	5	21:639–651	21:639–651	NUM
ap-1656	225	6	,	,	PUNCT
ap-1656	225	7	2011	2011	NUM
ap-1656	225	8	.	.	PUNCT
ap-1656	226	1	[	[	X
ap-1656	226	2	32	32	NUM
ap-1656	226	3	]	]	PUNCT
ap-1656	226	4	g.	g.	PROPN
ap-1656	226	5	j.	j.	PROPN
ap-1656	226	6	silva	silva	PROPN
ap-1656	226	7	,	,	PUNCT
ap-1656	226	8	a.	a.	PROPN
ap-1656	226	9	datta	datta	PROPN
ap-1656	226	10	,	,	PUNCT
ap-1656	226	11	s.	s.	PROPN
ap-1656	226	12	p.	p.	PROPN
ap-1656	226	13	bhattacharyya	bhattacharyya	PROPN
ap-1656	226	14	.	.	PUNCT
ap-1656	227	1	new	new	ADJ
ap-1656	227	2	results	result	NOUN
ap-1656	227	3	on	on	ADP
ap-1656	227	4	the	the	DET
ap-1656	227	5	synthesis	synthesis	NOUN
ap-1656	227	6	of	of	ADP
ap-1656	227	7	pid	pid	NOUN
ap-1656	227	8	controllers	controller	NOUN
ap-1656	227	9	.	.	PUNCT
ap-1656	228	1	ieee	ieee	NOUN
ap-1656	228	2	transactions	transaction	NOUN
ap-1656	228	3	on	on	ADP
ap-1656	228	4	automatic	automatic	ADJ
ap-1656	228	5	control	control	NOUN
ap-1656	228	6	47:241–252	47:241–252	PROPN
ap-1656	228	7	,	,	PUNCT
ap-1656	228	8	2002	2002	NUM
ap-1656	228	9	.	.	PUNCT
ap-1656	229	1	[	[	X
ap-1656	229	2	33	33	NUM
ap-1656	229	3	]	]	PUNCT
ap-1656	229	4	g.	g.	PROPN
ap-1656	229	5	j.	j.	PROPN
ap-1656	229	6	silva	silva	PROPN
ap-1656	229	7	,	,	PUNCT
ap-1656	229	8	a.	a.	PROPN
ap-1656	229	9	datta	datta	PROPN
ap-1656	229	10	,	,	PUNCT
ap-1656	229	11	s.	s.	PROPN
ap-1656	229	12	p.	p.	PROPN
ap-1656	229	13	bhattacharyya	bhattacharyya	PROPN
ap-1656	229	14	.	.	PUNCT
ap-1656	230	1	pid	pid	NOUN
ap-1656	230	2	controllers	controller	NOUN
ap-1656	230	3	for	for	ADP
ap-1656	230	4	time	time	NOUN
ap-1656	230	5	-	-	PUNCT
ap-1656	230	6	delay	delay	NOUN
ap-1656	230	7	systems	system	NOUN
ap-1656	230	8	.	.	PUNCT
ap-1656	231	1	birkhauser	birkhauser	PROPN
ap-1656	231	2	,	,	PUNCT
ap-1656	231	3	boston	boston	PROPN
ap-1656	231	4	,	,	PUNCT
ap-1656	231	5	usa	usa	PROPN
ap-1656	231	6	,	,	PUNCT
ap-1656	231	7	2005	2005	NUM
ap-1656	231	8	.	.	PUNCT
ap-1656	232	1	[	[	X
ap-1656	232	2	34	34	NUM
ap-1656	232	3	]	]	X
ap-1656	232	4	s.	s.	PROPN
ap-1656	232	5	skogestad	skogestad	PROPN
ap-1656	232	6	.	.	PUNCT
ap-1656	233	1	simple	simple	ADJ
ap-1656	233	2	analytic	analytic	ADJ
ap-1656	233	3	rules	rule	NOUN
ap-1656	233	4	for	for	ADP
ap-1656	233	5	model	model	NOUN
ap-1656	233	6	reduction	reduction	NOUN
ap-1656	233	7	and	and	CCONJ
ap-1656	233	8	pid	pid	NOUN
ap-1656	233	9	controller	controller	NOUN
ap-1656	233	10	tuning	tune	VERB
ap-1656	233	11	.	.	PUNCT
ap-1656	234	1	journal	journal	PROPN
ap-1656	234	2	of	of	ADP
ap-1656	234	3	process	process	NOUN
ap-1656	234	4	control	control	NOUN
ap-1656	234	5	13:291–309	13:291–309	NUM
ap-1656	234	6	,	,	PUNCT
ap-1656	234	7	2003	2003	NUM
ap-1656	234	8	.	.	PUNCT
ap-1656	235	1	[	[	X
ap-1656	235	2	35	35	NUM
ap-1656	235	3	]	]	X
ap-1656	235	4	s.	s.	PROPN
ap-1656	235	5	tavakoli	tavakoli	PROPN
ap-1656	235	6	,	,	PUNCT
ap-1656	235	7	i.	i.	PROPN
ap-1656	235	8	griffin	griffin	PROPN
ap-1656	235	9	,	,	PUNCT
ap-1656	235	10	p.	p.	PROPN
ap-1656	235	11	j.	j.	PROPN
ap-1656	235	12	fleming	fleming	PROPN
ap-1656	235	13	.	.	PUNCT
ap-1656	236	1	tuning	tuning	NOUN
ap-1656	236	2	of	of	ADP
ap-1656	236	3	decentralized	decentralized	ADJ
ap-1656	236	4	pi	pi	NOUN
ap-1656	236	5	(	(	PUNCT
ap-1656	236	6	pid	pid	NOUN
ap-1656	236	7	)	)	PUNCT
ap-1656	236	8	controllers	controller	NOUN
ap-1656	236	9	for	for	ADP
ap-1656	236	10	tito	tito	PROPN
ap-1656	236	11	processes	process	NOUN
ap-1656	236	12	.	.	PUNCT
ap-1656	237	1	control	control	NOUN
ap-1656	237	2	engineering	engineering	NOUN
ap-1656	237	3	practice	practice	NOUN
ap-1656	237	4	14:1069	14:1069	NOUN
ap-1656	237	5	–	–	PUNCT
ap-1656	237	6	1080	1080	NUM
ap-1656	237	7	,	,	PUNCT
ap-1656	237	8	2006	2006	NUM
ap-1656	237	9	.	.	PUNCT
ap-1656	238	1	[	[	X
ap-1656	238	2	36	36	NUM
ap-1656	238	3	]	]	X
ap-1656	238	4	d.	d.	PROPN
ap-1656	238	5	valerio	valerio	PROPN
ap-1656	238	6	,	,	PUNCT
ap-1656	238	7	j.	j.	PROPN
ap-1656	238	8	sa	sa	PROPN
ap-1656	238	9	da	da	PROPN
ap-1656	238	10	costa	costa	PROPN
ap-1656	238	11	.	.	PUNCT
ap-1656	239	1	introduction	introduction	NOUN
ap-1656	239	2	to	to	ADP
ap-1656	239	3	the	the	DET
ap-1656	239	4	single	single	ADJ
ap-1656	239	5	-	-	PUNCT
ap-1656	239	6	input	input	NOUN
ap-1656	239	7	,	,	PUNCT
ap-1656	239	8	single	single	ADJ
ap-1656	239	9	-	-	PUNCT
ap-1656	239	10	output	output	NOUN
ap-1656	239	11	fractional	fractional	ADJ
ap-1656	239	12	control	control	NOUN
ap-1656	239	13	.	.	PUNCT
ap-1656	240	1	iet	iet	PROPN
ap-1656	240	2	control	control	PROPN
ap-1656	240	3	theory	theory	NOUN
ap-1656	240	4	and	and	CCONJ
ap-1656	240	5	applications	application	NOUN
ap-1656	240	6	pp	pp	ADJ
ap-1656	240	7	.	.	PUNCT
ap-1656	241	1	1033–1057	1033–1057	NUM
ap-1656	241	2	,	,	PUNCT
ap-1656	241	3	2011	2011	NUM
ap-1656	241	4	.	.	PUNCT
ap-1656	242	1	[	[	X
ap-1656	242	2	37	37	NUM
ap-1656	242	3	]	]	PUNCT
ap-1656	242	4	v.	v.	CCONJ
ap-1656	242	5	vasyutynskyy	vasyutynskyy	NOUN
ap-1656	242	6	,	,	PUNCT
ap-1656	242	7	k.	k.	PROPN
ap-1656	242	8	kabitzsh	kabitzsh	PROPN
ap-1656	242	9	.	.	PUNCT
ap-1656	243	1	event	event	NOUN
ap-1656	243	2	-	-	PUNCT
ap-1656	243	3	based	base	VERB
ap-1656	243	4	control	control	NOUN
ap-1656	243	5	:	:	PUNCT
ap-1656	243	6	overview	overview	NOUN
ap-1656	243	7	and	and	CCONJ
ap-1656	243	8	generic	generic	ADJ
ap-1656	243	9	model	model	NOUN
ap-1656	243	10	.	.	PUNCT
ap-1656	244	1	in	in	ADP
ap-1656	244	2	proceedings	proceeding	NOUN
ap-1656	244	3	of	of	ADP
ap-1656	244	4	8th	8th	ADJ
ap-1656	244	5	ieee	ieee	NOUN
ap-1656	244	6	international	international	ADJ
ap-1656	244	7	workshop	workshop	NOUN
ap-1656	244	8	on	on	ADP
ap-1656	244	9	factory	factory	NOUN
ap-1656	244	10	communication	communication	NOUN
ap-1656	244	11	systems	system	NOUN
ap-1656	244	12	.	.	PUNCT
ap-1656	245	1	2010	2010	NUM
ap-1656	245	2	.	.	PUNCT
ap-1656	246	1	[	[	X
ap-1656	246	2	38	38	NUM
ap-1656	246	3	]	]	PUNCT
ap-1656	246	4	m.	m.	NOUN
ap-1656	246	5	veronesi	veronesi	NOUN
ap-1656	246	6	,	,	PUNCT
ap-1656	246	7	a.	a.	PROPN
ap-1656	246	8	visioli	visioli	PROPN
ap-1656	246	9	.	.	PUNCT
ap-1656	247	1	performance	performance	NOUN
ap-1656	247	2	assessment	assessment	NOUN
ap-1656	247	3	and	and	CCONJ
ap-1656	247	4	retuning	retuning	NOUN
ap-1656	247	5	of	of	ADP
ap-1656	247	6	pid	pid	NOUN
ap-1656	247	7	controllers	controller	NOUN
ap-1656	247	8	.	.	PUNCT
ap-1656	248	1	industrial	industrial	ADJ
ap-1656	248	2	and	and	CCONJ
ap-1656	248	3	engineering	engineer	VERB
ap-1656	248	4	chemistry	chemistry	NOUN
ap-1656	248	5	research	research	NOUN
ap-1656	248	6	48:2616–2623	48:2616–2623	NUM
ap-1656	248	7	,	,	PUNCT
ap-1656	248	8	2009	2009	NUM
ap-1656	248	9	.	.	PUNCT
ap-1656	249	1	[	[	X
ap-1656	249	2	39	39	NUM
ap-1656	249	3	]	]	PUNCT
ap-1656	249	4	m.	m.	NOUN
ap-1656	249	5	veronesi	veronesi	NOUN
ap-1656	249	6	,	,	PUNCT
ap-1656	249	7	a.	a.	PROPN
ap-1656	249	8	visioli	visioli	PROPN
ap-1656	249	9	.	.	PUNCT
ap-1656	250	1	an	an	DET
ap-1656	250	2	industrial	industrial	ADJ
ap-1656	250	3	application	application	NOUN
ap-1656	250	4	of	of	ADP
ap-1656	250	5	a	a	DET
ap-1656	250	6	performance	performance	NOUN
ap-1656	250	7	assessment	assessment	NOUN
ap-1656	250	8	and	and	CCONJ
ap-1656	250	9	retuning	retune	VERB
ap-1656	250	10	technique	technique	NOUN
ap-1656	250	11	for	for	ADP
ap-1656	250	12	pi	pi	NOUN
ap-1656	250	13	controllers	controller	NOUN
ap-1656	250	14	.	.	PUNCT
ap-1656	251	1	isa	isa	NOUN
ap-1656	251	2	transactions	transaction	NOUN
ap-1656	251	3	49:244–248	49:244–248	PROPN
ap-1656	251	4	,	,	PUNCT
ap-1656	251	5	2010	2010	NUM
ap-1656	251	6	.	.	PUNCT
ap-1656	252	1	[	[	X
ap-1656	252	2	40	40	NUM
ap-1656	252	3	]	]	PUNCT
ap-1656	252	4	m.	m.	NOUN
ap-1656	252	5	veronesi	veronesi	NOUN
ap-1656	252	6	,	,	PUNCT
ap-1656	252	7	a.	a.	PROPN
ap-1656	252	8	visioli	visioli	PROPN
ap-1656	252	9	.	.	PUNCT
ap-1656	253	1	performance	performance	NOUN
ap-1656	253	2	assessment	assessment	NOUN
ap-1656	253	3	and	and	CCONJ
ap-1656	253	4	retuning	retuning	NOUN
ap-1656	253	5	of	of	ADP
ap-1656	253	6	pid	pid	NOUN
ap-1656	253	7	controllers	controller	NOUN
ap-1656	253	8	for	for	ADP
ap-1656	253	9	integral	integral	ADJ
ap-1656	253	10	processes	process	NOUN
ap-1656	253	11	.	.	PUNCT
ap-1656	254	1	journal	journal	PROPN
ap-1656	254	2	of	of	ADP
ap-1656	254	3	process	process	NOUN
ap-1656	254	4	control	control	NOUN
ap-1656	254	5	20:261–269	20:261–269	NUM
ap-1656	254	6	,	,	PUNCT
ap-1656	254	7	2010	2010	NUM
ap-1656	254	8	.	.	PUNCT
ap-1656	255	1	149	149	NUM
ap-1656	255	2	acta	acta	PROPN
ap-1656	255	3	polytechnica	polytechnica	PROPN
ap-1656	255	4	vol	vol	NOUN
ap-1656	255	5	.	.	PUNCT
ap-1656	256	1	52	52	NUM
ap-1656	256	2	no	no	NOUN
ap-1656	256	3	.	.	PUNCT
ap-1656	257	1	5/2012	5/2012	NUM
ap-1656	258	1	[	[	X
ap-1656	258	2	41	41	NUM
ap-1656	258	3	]	]	PUNCT
ap-1656	258	4	m.	m.	NOUN
ap-1656	258	5	veronesi	veronesi	NOUN
ap-1656	258	6	,	,	PUNCT
ap-1656	258	7	a.	a.	PROPN
ap-1656	258	8	visioli	visioli	PROPN
ap-1656	258	9	.	.	PUNCT
ap-1656	259	1	a	a	DET
ap-1656	259	2	simultaneous	simultaneous	ADJ
ap-1656	259	3	closed	close	VERB
ap-1656	259	4	-	-	PUNCT
ap-1656	259	5	loop	loop	NOUN
ap-1656	259	6	automatic	automatic	ADJ
ap-1656	259	7	tuning	tuning	NOUN
ap-1656	259	8	method	method	NOUN
ap-1656	259	9	for	for	ADP
ap-1656	259	10	cascade	cascade	NOUN
ap-1656	259	11	controllers	controller	NOUN
ap-1656	259	12	.	.	PUNCT
ap-1656	260	1	iet	iet	PROPN
ap-1656	260	2	control	control	PROPN
ap-1656	260	3	theory	theory	NOUN
ap-1656	260	4	and	and	CCONJ
ap-1656	260	5	applications	application	NOUN
ap-1656	260	6	5:263–270	5:263–270	NUM
ap-1656	260	7	,	,	PUNCT
ap-1656	260	8	2011	2011	NUM
ap-1656	260	9	.	.	PUNCT
ap-1656	261	1	[	[	X
ap-1656	261	2	42	42	NUM
ap-1656	261	3	]	]	PUNCT
ap-1656	261	4	m.	m.	NOUN
ap-1656	261	5	veronesi	veronesi	NOUN
ap-1656	261	6	,	,	PUNCT
ap-1656	261	7	a.	a.	PROPN
ap-1656	261	8	visioli	visioli	PROPN
ap-1656	261	9	.	.	PUNCT
ap-1656	262	1	global	global	ADJ
ap-1656	262	2	minimum	minimum	ADJ
ap-1656	262	3	-	-	PUNCT
ap-1656	262	4	variance	variance	NOUN
ap-1656	262	5	pid	pid	NOUN
ap-1656	262	6	control	control	NOUN
ap-1656	262	7	.	.	PUNCT
ap-1656	263	1	in	in	ADP
ap-1656	263	2	proceedings	proceeding	NOUN
ap-1656	263	3	ifac	ifac	VERB
ap-1656	263	4	world	world	PROPN
ap-1656	263	5	congress	congress	PROPN
ap-1656	263	6	,	,	PUNCT
ap-1656	263	7	pp	pp	X
ap-1656	263	8	.	.	PUNCT
ap-1656	264	1	7891–7896	7891–7896	X
ap-1656	264	2	.	.	PUNCT
ap-1656	265	1	milan	milan	PROPN
ap-1656	265	2	,	,	PUNCT
ap-1656	265	3	i	i	PROPN
ap-1656	265	4	,	,	PUNCT
ap-1656	265	5	2012	2012	NUM
ap-1656	265	6	.	.	PUNCT
ap-1656	266	1	[	[	X
ap-1656	266	2	43	43	NUM
ap-1656	266	3	]	]	PUNCT
ap-1656	266	4	r.	r.	PROPN
ap-1656	266	5	vilanova	vilanova	PROPN
ap-1656	266	6	.	.	PUNCT
ap-1656	267	1	imc	imc	PROPN
ap-1656	267	2	based	base	VERB
ap-1656	267	3	robust	robust	ADJ
ap-1656	267	4	pid	pid	NOUN
ap-1656	267	5	design	design	NOUN
ap-1656	267	6	:	:	PUNCT
ap-1656	267	7	tuning	tune	VERB
ap-1656	267	8	guidelines	guideline	NOUN
ap-1656	267	9	and	and	CCONJ
ap-1656	267	10	automatic	automatic	ADJ
ap-1656	267	11	tuning	tuning	NOUN
ap-1656	267	12	.	.	PUNCT
ap-1656	268	1	journal	journal	PROPN
ap-1656	268	2	of	of	ADP
ap-1656	268	3	process	process	NOUN
ap-1656	268	4	control	control	NOUN
ap-1656	268	5	18:61–70	18:61–70	PROPN
ap-1656	268	6	,	,	PUNCT
ap-1656	268	7	2008	2008	NUM
ap-1656	268	8	.	.	PUNCT
ap-1656	269	1	[	[	X
ap-1656	269	2	44	44	NUM
ap-1656	269	3	]	]	PUNCT
ap-1656	269	4	r.	r.	PROPN
ap-1656	269	5	vilanova	vilanova	PROPN
ap-1656	269	6	,	,	PUNCT
ap-1656	269	7	o.	o.	PROPN
ap-1656	269	8	arrieta	arrieta	PROPN
ap-1656	269	9	,	,	PUNCT
ap-1656	269	10	p.	p.	PROPN
ap-1656	269	11	ponsa	ponsa	PROPN
ap-1656	269	12	.	.	PUNCT
ap-1656	270	1	imc	imc	PROPN
ap-1656	270	2	based	base	VERB
ap-1656	270	3	feedforward	feedforward	NOUN
ap-1656	270	4	controller	controller	NOUN
ap-1656	270	5	framework	framework	NOUN
ap-1656	270	6	for	for	ADP
ap-1656	270	7	disturbance	disturbance	NOUN
ap-1656	270	8	attenuation	attenuation	NOUN
ap-1656	270	9	on	on	ADP
ap-1656	270	10	uncertain	uncertain	ADJ
ap-1656	270	11	systems	system	NOUN
ap-1656	270	12	.	.	PUNCT
ap-1656	271	1	isa	isa	NOUN
ap-1656	271	2	transactions	transaction	NOUN
ap-1656	271	3	48:439–448	48:439–448	NUM
ap-1656	271	4	,	,	PUNCT
ap-1656	271	5	2009	2009	NUM
ap-1656	271	6	.	.	PUNCT
ap-1656	272	1	[	[	X
ap-1656	272	2	45	45	NUM
ap-1656	272	3	]	]	PUNCT
ap-1656	272	4	r.	r.	PROPN
ap-1656	272	5	vilanova	vilanova	PROPN
ap-1656	272	6	,	,	PUNCT
ap-1656	272	7	a.	a.	PROPN
ap-1656	272	8	visioli	visioli	PROPN
ap-1656	272	9	(	(	PUNCT
ap-1656	272	10	eds	ed	NOUN
ap-1656	272	11	.	.	PUNCT
ap-1656	272	12	)	)	PUNCT
ap-1656	272	13	.	.	PUNCT
ap-1656	273	1	pid	pid	NOUN
ap-1656	273	2	control	control	NOUN
ap-1656	273	3	in	in	ADP
ap-1656	273	4	the	the	DET
ap-1656	273	5	third	third	ADJ
ap-1656	273	6	millennium	millennium	NOUN
ap-1656	273	7	:	:	PUNCT
ap-1656	273	8	lessons	lesson	NOUN
ap-1656	273	9	learned	learn	VERB
ap-1656	273	10	and	and	CCONJ
ap-1656	273	11	new	new	ADJ
ap-1656	273	12	approaches	approach	NOUN
ap-1656	273	13	.	.	PUNCT
ap-1656	274	1	springer	springer	NOUN
ap-1656	274	2	,	,	PUNCT
ap-1656	274	3	london	london	PROPN
ap-1656	274	4	,	,	PUNCT
ap-1656	274	5	uk	uk	PROPN
ap-1656	274	6	,	,	PUNCT
ap-1656	274	7	2012	2012	NUM
ap-1656	274	8	.	.	PUNCT
ap-1656	275	1	[	[	X
ap-1656	275	2	46	46	NUM
ap-1656	275	3	]	]	PUNCT
ap-1656	275	4	a.	a.	NOUN
ap-1656	275	5	visiol	visiol	NOUN
ap-1656	275	6	,	,	PUNCT
ap-1656	275	7	q.-c	q.-c	PROPN
ap-1656	275	8	.	.	PUNCT
ap-1656	276	1	zhong	zhong	PROPN
ap-1656	276	2	.	.	PUNCT
ap-1656	276	3	control	control	NOUN
ap-1656	276	4	of	of	ADP
ap-1656	276	5	integral	integral	ADJ
ap-1656	276	6	processes	process	NOUN
ap-1656	276	7	with	with	ADP
ap-1656	276	8	dead	dead	ADJ
ap-1656	276	9	time	time	NOUN
ap-1656	276	10	.	.	PUNCT
ap-1656	277	1	springer	springer	NOUN
ap-1656	277	2	,	,	PUNCT
ap-1656	277	3	london	london	PROPN
ap-1656	277	4	,	,	PUNCT
ap-1656	277	5	uk	uk	PROPN
ap-1656	277	6	,	,	PUNCT
ap-1656	277	7	2010	2010	NUM
ap-1656	277	8	.	.	PUNCT
ap-1656	278	1	[	[	X
ap-1656	278	2	47	47	NUM
ap-1656	278	3	]	]	PUNCT
ap-1656	278	4	a.	a.	NOUN
ap-1656	278	5	visioli	visioli	PROPN
ap-1656	278	6	.	.	PUNCT
ap-1656	279	1	fuzzy	fuzzy	ADJ
ap-1656	279	2	logic	logic	NOUN
ap-1656	279	3	based	base	VERB
ap-1656	279	4	set	set	NOUN
ap-1656	279	5	-	-	PUNCT
ap-1656	279	6	point	point	NOUN
ap-1656	279	7	weight	weight	NOUN
ap-1656	279	8	tuning	tuning	NOUN
ap-1656	279	9	of	of	ADP
ap-1656	279	10	pid	pid	NOUN
ap-1656	279	11	controllers	controller	NOUN
ap-1656	279	12	.	.	PUNCT
ap-1656	280	1	ieee	ieee	NOUN
ap-1656	280	2	transactions	transaction	NOUN
ap-1656	280	3	on	on	ADP
ap-1656	280	4	systems	system	NOUN
ap-1656	280	5	,	,	PUNCT
ap-1656	280	6	man	man	NOUN
ap-1656	280	7	,	,	PUNCT
ap-1656	280	8	and	and	CCONJ
ap-1656	280	9	cybernetics	cybernetic	NOUN
ap-1656	280	10	part	part	VERB
ap-1656	280	11	a	a	DET
ap-1656	280	12	29:587–592	29:587–592	NUM
ap-1656	280	13	,	,	PUNCT
ap-1656	280	14	1999	1999	NUM
ap-1656	280	15	.	.	PUNCT
ap-1656	281	1	[	[	X
ap-1656	281	2	48	48	NUM
ap-1656	281	3	]	]	PUNCT
ap-1656	281	4	a.	a.	NOUN
ap-1656	281	5	visioli	visioli	PROPN
ap-1656	281	6	.	.	PUNCT
ap-1656	282	1	modified	modify	VERB
ap-1656	282	2	anti	anti	ADJ
ap-1656	282	3	-	-	ADJ
ap-1656	282	4	windup	windup	ADJ
ap-1656	282	5	scheme	scheme	NOUN
ap-1656	282	6	for	for	ADP
ap-1656	282	7	pid	pid	NOUN
ap-1656	282	8	controllers	controller	NOUN
ap-1656	282	9	.	.	PUNCT
ap-1656	283	1	iee	iee	PROPN
ap-1656	283	2	proceedings	proceedings	PROPN
ap-1656	283	3	control	control	VERB
ap-1656	283	4	theory	theory	NOUN
ap-1656	283	5	and	and	CCONJ
ap-1656	283	6	applications	application	NOUN
ap-1656	283	7	150(1):49–54	150(1):49–54	NUM
ap-1656	283	8	,	,	PUNCT
ap-1656	283	9	2003	2003	NUM
ap-1656	283	10	.	.	PUNCT
ap-1656	284	1	[	[	X
ap-1656	284	2	49	49	NUM
ap-1656	284	3	]	]	PUNCT
ap-1656	284	4	a.	a.	NOUN
ap-1656	284	5	visioli	visioli	PROPN
ap-1656	284	6	.	.	PUNCT
ap-1656	285	1	a	a	DET
ap-1656	285	2	new	new	ADJ
ap-1656	285	3	design	design	NOUN
ap-1656	285	4	for	for	ADP
ap-1656	285	5	a	a	DET
ap-1656	285	6	pid	pid	NOUN
ap-1656	285	7	plus	plus	CCONJ
ap-1656	285	8	feedforward	feedforward	NOUN
ap-1656	285	9	controller	controller	NOUN
ap-1656	285	10	.	.	PUNCT
ap-1656	286	1	journal	journal	PROPN
ap-1656	286	2	of	of	ADP
ap-1656	286	3	process	process	NOUN
ap-1656	286	4	control	control	NOUN
ap-1656	286	5	14:455–461	14:455–461	PROPN
ap-1656	286	6	,	,	PUNCT
ap-1656	286	7	2004	2004	NUM
ap-1656	286	8	.	.	PUNCT
ap-1656	287	1	[	[	X
ap-1656	287	2	50	50	NUM
ap-1656	287	3	]	]	PUNCT
ap-1656	287	4	a.	a.	NOUN
ap-1656	287	5	visioli	visioli	PROPN
ap-1656	287	6	.	.	PUNCT
ap-1656	288	1	design	design	NOUN
ap-1656	288	2	and	and	CCONJ
ap-1656	288	3	tuning	tuning	NOUN
ap-1656	288	4	of	of	ADP
ap-1656	288	5	a	a	DET
ap-1656	288	6	ratio	ratio	NOUN
ap-1656	288	7	controller	controller	NOUN
ap-1656	288	8	.	.	PUNCT
ap-1656	289	1	control	control	NOUN
ap-1656	289	2	engineering	engineering	NOUN
ap-1656	289	3	practice	practice	NOUN
ap-1656	289	4	13:485–497	13:485–497	NUM
ap-1656	289	5	,	,	PUNCT
ap-1656	289	6	2005	2005	NUM
ap-1656	289	7	.	.	PUNCT
ap-1656	290	1	[	[	X
ap-1656	290	2	51	51	NUM
ap-1656	290	3	]	]	PUNCT
ap-1656	290	4	a.	a.	NOUN
ap-1656	290	5	visioli	visioli	PROPN
ap-1656	290	6	.	.	PUNCT
ap-1656	291	1	a	a	DET
ap-1656	291	2	new	new	ADJ
ap-1656	291	3	ratio	ratio	NOUN
ap-1656	291	4	control	control	NOUN
ap-1656	291	5	architecture	architecture	NOUN
ap-1656	291	6	.	.	PUNCT
ap-1656	292	1	industrial	industrial	ADJ
ap-1656	292	2	and	and	CCONJ
ap-1656	292	3	engineering	engineer	VERB
ap-1656	292	4	chemistry	chemistry	NOUN
ap-1656	292	5	research	research	NOUN
ap-1656	292	6	44:4617–4624	44:4617–4624	NUM
ap-1656	292	7	,	,	PUNCT
ap-1656	292	8	2005	2005	NUM
ap-1656	292	9	.	.	PUNCT
ap-1656	293	1	[	[	X
ap-1656	293	2	52	52	NUM
ap-1656	293	3	]	]	PUNCT
ap-1656	293	4	a.	a.	NOUN
ap-1656	293	5	visioli	visioli	PROPN
ap-1656	293	6	.	.	PUNCT
ap-1656	294	1	practical	practical	ADJ
ap-1656	294	2	pid	pid	NOUN
ap-1656	294	3	control	control	NOUN
ap-1656	294	4	.	.	PUNCT
ap-1656	295	1	springer	springer	PROPN
ap-1656	295	2	,	,	PUNCT
ap-1656	295	3	london	london	PROPN
ap-1656	295	4	,	,	PUNCT
ap-1656	295	5	uk	uk	PROPN
ap-1656	295	6	,	,	PUNCT
ap-1656	295	7	2006	2006	NUM
ap-1656	295	8	.	.	PUNCT
ap-1656	296	1	[	[	X
ap-1656	296	2	53	53	NUM
ap-1656	296	3	]	]	PUNCT
ap-1656	296	4	a.	a.	NOUN
ap-1656	296	5	visioli	visioli	PROPN
ap-1656	296	6	,	,	PUNCT
ap-1656	296	7	a.	a.	NOUN
ap-1656	296	8	piazzi	piazzi	NOUN
ap-1656	296	9	.	.	PUNCT
ap-1656	297	1	improving	improve	VERB
ap-1656	297	2	set	set	NOUN
ap-1656	297	3	-	-	PUNCT
ap-1656	297	4	point	point	NOUN
ap-1656	297	5	following	follow	VERB
ap-1656	297	6	performance	performance	NOUN
ap-1656	297	7	of	of	ADP
ap-1656	297	8	industrial	industrial	ADJ
ap-1656	297	9	controllers	controller	NOUN
ap-1656	297	10	with	with	ADP
ap-1656	297	11	a	a	DET
ap-1656	297	12	fast	fast	ADJ
ap-1656	297	13	dynamic	dynamic	ADJ
ap-1656	297	14	inversion	inversion	NOUN
ap-1656	297	15	algorithm	algorithm	NOUN
ap-1656	297	16	.	.	PUNCT
ap-1656	298	1	industrial	industrial	ADJ
ap-1656	298	2	and	and	CCONJ
ap-1656	298	3	engineering	engineer	VERB
ap-1656	298	4	chemistry	chemistry	NOUN
ap-1656	298	5	research	research	NOUN
ap-1656	298	6	42:1357–1362	42:1357–1362	NUM
ap-1656	298	7	,	,	PUNCT
ap-1656	298	8	2003	2003	NUM
ap-1656	298	9	.	.	PUNCT
ap-1656	299	1	[	[	X
ap-1656	299	2	54	54	NUM
ap-1656	299	3	]	]	PUNCT
ap-1656	299	4	q.-g	q.-g	PROPN
ap-1656	299	5	.	.	PUNCT
ap-1656	300	1	wang	wang	PROPN
ap-1656	300	2	,	,	PUNCT
ap-1656	300	3	z.	z.	PROPN
ap-1656	300	4	ye	ye	PROPN
ap-1656	300	5	,	,	PUNCT
ap-1656	300	6	w.	w.	PROPN
ap-1656	300	7	j.	j.	PROPN
ap-1656	300	8	cai	cai	PROPN
ap-1656	300	9	,	,	PUNCT
ap-1656	300	10	c.	c.	PROPN
ap-1656	300	11	c.	c.	PROPN
ap-1656	300	12	hang	hang	PROPN
ap-1656	300	13	.	.	PUNCT
ap-1656	301	1	pid	pid	PROPN
ap-1656	301	2	control	control	NOUN
ap-1656	301	3	for	for	ADP
ap-1656	301	4	multivariable	multivariable	ADJ
ap-1656	301	5	processes	process	NOUN
ap-1656	301	6	.	.	PUNCT
ap-1656	302	1	springer	springer	PROPN
ap-1656	302	2	,	,	PUNCT
ap-1656	302	3	london	london	PROPN
ap-1656	302	4	,	,	PUNCT
ap-1656	302	5	uk	uk	PROPN
ap-1656	302	6	,	,	PUNCT
ap-1656	302	7	2008	2008	NUM
ap-1656	302	8	.	.	PUNCT
ap-1656	303	1	[	[	X
ap-1656	303	2	55	55	NUM
ap-1656	303	3	]	]	PUNCT
ap-1656	303	4	c.	c.	PROPN
ap-1656	303	5	c.	c.	PROPN
ap-1656	303	6	yu	yu	PROPN
ap-1656	303	7	.	.	PUNCT
ap-1656	304	1	autotuning	autotune	VERB
ap-1656	304	2	of	of	ADP
ap-1656	304	3	pid	pid	NOUN
ap-1656	304	4	controllers	controller	NOUN
ap-1656	304	5	:	:	PUNCT
ap-1656	304	6	a	a	DET
ap-1656	304	7	relay	relay	NOUN
ap-1656	304	8	feedback	feedback	NOUN
ap-1656	304	9	approach	approach	NOUN
ap-1656	304	10	.	.	PUNCT
ap-1656	305	1	springer	springer	NOUN
ap-1656	305	2	,	,	PUNCT
ap-1656	305	3	london	london	PROPN
ap-1656	305	4	,	,	PUNCT
ap-1656	305	5	uk	uk	PROPN
ap-1656	305	6	,	,	PUNCT
ap-1656	305	7	2007	2007	NUM
ap-1656	305	8	.	.	PUNCT
ap-1656	306	1	150	150	NUM