id	sid	tid	token	lemma	pos
ap-2449	1	1	acta	acta	PROPN
ap-2449	1	2	polytechnica	polytechnica	PROPN
ap-2449	1	3	doi:10.14311	doi:10.14311	PROPN
ap-2449	1	4	/	/	SYM
ap-2449	1	5	ap.2018.58.0271	ap.2018.58.0271	PROPN
ap-2449	1	6	acta	acta	PROPN
ap-2449	1	7	polytechnica	polytechnica	PROPN
ap-2449	1	8	58(5):271–278	58(5):271–278	PROPN
ap-2449	1	9	,	,	PUNCT
ap-2449	1	10	2018	2018	NUM
ap-2449	1	11	©	©	PROPN
ap-2449	1	12	czech	czech	PROPN
ap-2449	1	13	technical	technical	PROPN
ap-2449	1	14	university	university	PROPN
ap-2449	1	15	in	in	ADP
ap-2449	1	16	prague	prague	PROPN
ap-2449	1	17	,	,	PUNCT
ap-2449	1	18	2018	2018	NUM
ap-2449	1	19	available	available	ADJ
ap-2449	1	20	online	online	ADV
ap-2449	1	21	at	at	ADP
ap-2449	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2449	1	23	intelligent	intelligent	ADJ
ap-2449	1	24	controller	controller	NOUN
ap-2449	1	25	for	for	ADP
ap-2449	1	26	tracking	track	VERB
ap-2449	1	27	a	a	DET
ap-2449	1	28	14	14	NUM
ap-2449	1	29	-	-	PUNCT
ap-2449	1	30	inch	inch	NOUN
ap-2449	1	31	celestron	celestron	NOUN
ap-2449	1	32	telescope	telescope	PROPN
ap-2449	1	33	abdel	abdel	PROPN
ap-2449	1	34	-	-	PUNCT
ap-2449	1	35	fattah	fattah	PROPN
ap-2449	1	36	attiaa	attiaa	PROPN
ap-2449	1	37	,	,	PUNCT
ap-2449	1	38	b	b	PROPN
ap-2449	1	39	a	a	DET
ap-2449	1	40	kafrelsheikh	kafrelsheikh	PROPN
ap-2449	1	41	university	university	NOUN
ap-2449	1	42	,	,	PUNCT
ap-2449	1	43	faculty	faculty	NOUN
ap-2449	1	44	of	of	ADP
ap-2449	1	45	engineering	engineering	NOUN
ap-2449	1	46	,	,	PUNCT
ap-2449	1	47	department	department	NOUN
ap-2449	1	48	of	of	ADP
ap-2449	1	49	electrical	electrical	ADJ
ap-2449	1	50	engineering	engineering	NOUN
ap-2449	1	51	,	,	PUNCT
ap-2449	1	52	p.o	p.o	PROPN
ap-2449	1	53	.	.	PROPN
ap-2449	1	54	33516	33516	NUM
ap-2449	1	55	kafrelsheikh	kafrelsheikh	PROPN
ap-2449	1	56	,	,	PUNCT
ap-2449	1	57	egypt	egypt	PROPN
ap-2449	1	58	b	b	PROPN
ap-2449	1	59	intelligent	intelligent	ADJ
ap-2449	1	60	system	system	NOUN
ap-2449	1	61	research	research	NOUN
ap-2449	1	62	group	group	NOUN
ap-2449	1	63	(	(	PUNCT
ap-2449	1	64	isrg	isrg	NOUN
ap-2449	1	65	)	)	PUNCT
ap-2449	1	66	,	,	PUNCT
ap-2449	1	67	kafrelsheikh	kafrelsheikh	PROPN
ap-2449	1	68	university	university	PROPN
ap-2449	1	69	,	,	PUNCT
ap-2449	1	70	kafrelsheikh	kafrelsheikh	PROPN
ap-2449	1	71	,	,	PUNCT
ap-2449	1	72	egypt	egypt	PROPN
ap-2449	1	73	correspondence	correspondence	NOUN
ap-2449	1	74	:	:	PUNCT
ap-2449	1	75	aheliel@eng.kfs.edu.eg	aheliel@eng.kfs.edu.eg	NOUN
ap-2449	1	76	abstract	abstract	NOUN
ap-2449	1	77	.	.	PUNCT
ap-2449	2	1	the	the	DET
ap-2449	2	2	paper	paper	NOUN
ap-2449	2	3	proposes	propose	VERB
ap-2449	2	4	a	a	DET
ap-2449	2	5	design	design	NOUN
ap-2449	2	6	of	of	ADP
ap-2449	2	7	two	two	NUM
ap-2449	2	8	fuzzy	fuzzy	ADJ
ap-2449	2	9	and	and	CCONJ
ap-2449	2	10	proportional	proportional	ADJ
ap-2449	2	11	-	-	PUNCT
ap-2449	2	12	integral	integral	ADJ
ap-2449	2	13	-	-	PUNCT
ap-2449	2	14	derivative	derivative	ADJ
ap-2449	2	15	(	(	PUNCT
ap-2449	2	16	pid	pid	NOUN
ap-2449	2	17	)	)	PUNCT
ap-2449	2	18	controllers	controller	NOUN
ap-2449	2	19	for	for	ADP
ap-2449	2	20	a	a	DET
ap-2449	2	21	position	position	NOUN
ap-2449	2	22	tracking	tracking	NOUN
ap-2449	2	23	of	of	ADP
ap-2449	2	24	the	the	DET
ap-2449	2	25	14′′	14′′	PROPN
ap-2449	2	26	celestron	celestron	PROPN
ap-2449	2	27	telescope	telescope	NOUN
ap-2449	2	28	.	.	PUNCT
ap-2449	3	1	the	the	DET
ap-2449	3	2	position	position	NOUN
ap-2449	3	3	responses	response	NOUN
ap-2449	3	4	;	;	PUNCT
ap-2449	3	5	right	right	ADJ
ap-2449	3	6	ascension	ascension	NOUN
ap-2449	3	7	and	and	CCONJ
ap-2449	3	8	declination	declination	NOUN
ap-2449	3	9	in	in	ADP
ap-2449	3	10	such	such	DET
ap-2449	3	11	a	a	DET
ap-2449	3	12	way	way	NOUN
ap-2449	3	13	that	that	PRON
ap-2449	3	14	it	it	PRON
ap-2449	3	15	minimizes	minimize	VERB
ap-2449	3	16	the	the	DET
ap-2449	3	17	integral	integral	ADJ
ap-2449	3	18	absolute	absolute	ADJ
ap-2449	3	19	error	error	NOUN
ap-2449	3	20	(	(	PUNCT
ap-2449	3	21	itae	itae	NOUN
ap-2449	3	22	)	)	PUNCT
ap-2449	3	23	using	use	VERB
ap-2449	3	24	a	a	DET
ap-2449	3	25	modified	modify	VERB
ap-2449	3	26	particle	particle	NOUN
ap-2449	3	27	swarm	swarm	NOUN
ap-2449	3	28	optimization	optimization	NOUN
ap-2449	3	29	(	(	PUNCT
ap-2449	3	30	mpso	mpso	NOUN
ap-2449	3	31	)	)	PUNCT
ap-2449	3	32	.	.	PUNCT
ap-2449	4	1	based	base	VERB
ap-2449	4	2	on	on	ADP
ap-2449	4	3	the	the	DET
ap-2449	4	4	structure	structure	NOUN
ap-2449	4	5	of	of	ADP
ap-2449	4	6	the	the	DET
ap-2449	4	7	mpso	mpso	NOUN
ap-2449	4	8	,	,	PUNCT
ap-2449	4	9	the	the	DET
ap-2449	4	10	accelerated	accelerate	VERB
ap-2449	4	11	coefficients	coefficient	NOUN
ap-2449	4	12	of	of	ADP
ap-2449	4	13	the	the	DET
ap-2449	4	14	particle	particle	NOUN
ap-2449	4	15	swarm	swarm	NOUN
ap-2449	4	16	optimization	optimization	NOUN
ap-2449	4	17	are	be	AUX
ap-2449	4	18	adapted	adapt	VERB
ap-2449	4	19	dynamically	dynamically	ADV
ap-2449	4	20	by	by	ADP
ap-2449	4	21	minimizing	minimize	VERB
ap-2449	4	22	the	the	DET
ap-2449	4	23	system	system	NOUN
ap-2449	4	24	error	error	NOUN
ap-2449	4	25	with	with	ADP
ap-2449	4	26	the	the	DET
ap-2449	4	27	iteration	iteration	NOUN
ap-2449	4	28	index	index	NOUN
ap-2449	4	29	.	.	PUNCT
ap-2449	5	1	the	the	DET
ap-2449	5	2	adaptive	adaptive	ADJ
ap-2449	5	3	control	control	NOUN
ap-2449	5	4	tool	tool	NOUN
ap-2449	5	5	combines	combine	VERB
ap-2449	5	6	the	the	DET
ap-2449	5	7	fuzzy	fuzzy	ADJ
ap-2449	5	8	controller	controller	NOUN
ap-2449	5	9	and	and	CCONJ
ap-2449	5	10	mpso	mpso	NOUN
ap-2449	5	11	to	to	PART
ap-2449	5	12	produce	produce	VERB
ap-2449	5	13	a	a	DET
ap-2449	5	14	powerful	powerful	ADJ
ap-2449	5	15	controller	controller	NOUN
ap-2449	5	16	in	in	ADP
ap-2449	5	17	the	the	DET
ap-2449	5	18	system	system	NOUN
ap-2449	5	19	(	(	PUNCT
ap-2449	5	20	flc	flc	PROPN
ap-2449	5	21	-	-	NOUN
ap-2449	5	22	pso	pso	NOUN
ap-2449	5	23	)	)	PUNCT
ap-2449	5	24	.	.	PUNCT
ap-2449	6	1	the	the	DET
ap-2449	6	2	parameters	parameter	NOUN
ap-2449	6	3	of	of	ADP
ap-2449	6	4	membership	membership	NOUN
ap-2449	6	5	functions	function	NOUN
ap-2449	6	6	and	and	CCONJ
ap-2449	6	7	the	the	DET
ap-2449	6	8	pid	pid	NOUN
ap-2449	6	9	gains	gain	NOUN
ap-2449	6	10	are	be	AUX
ap-2449	6	11	tuned	tune	VERB
ap-2449	6	12	simultaneously	simultaneously	ADV
ap-2449	6	13	based	base	VERB
ap-2449	6	14	on	on	ADP
ap-2449	6	15	the	the	DET
ap-2449	6	16	mpso	mpso	NOUN
ap-2449	6	17	,	,	PUNCT
ap-2449	6	18	which	which	PRON
ap-2449	6	19	is	be	AUX
ap-2449	6	20	an	an	DET
ap-2449	6	21	efficient	efficient	ADJ
ap-2449	6	22	and	and	CCONJ
ap-2449	6	23	simple	simple	ADJ
ap-2449	6	24	tool	tool	NOUN
ap-2449	6	25	for	for	ADP
ap-2449	6	26	the	the	DET
ap-2449	6	27	multidimensional	multidimensional	ADJ
ap-2449	6	28	problem	problem	NOUN
ap-2449	6	29	.	.	PUNCT
ap-2449	7	1	the	the	DET
ap-2449	7	2	simulation	simulation	NOUN
ap-2449	7	3	results	result	VERB
ap-2449	7	4	for	for	SCONJ
ap-2449	7	5	both	both	DET
ap-2449	7	6	controllers	controller	NOUN
ap-2449	7	7	are	be	AUX
ap-2449	7	8	analyzed	analyze	VERB
ap-2449	7	9	and	and	CCONJ
ap-2449	7	10	compared	compare	VERB
ap-2449	7	11	on	on	ADP
ap-2449	7	12	a	a	DET
ap-2449	7	13	basis	basis	NOUN
ap-2449	7	14	of	of	ADP
ap-2449	7	15	the	the	DET
ap-2449	7	16	time	time	NOUN
ap-2449	7	17	response	response	NOUN
ap-2449	7	18	specifications	specification	NOUN
ap-2449	7	19	.	.	PUNCT
ap-2449	8	1	keywords	keyword	NOUN
ap-2449	8	2	:	:	PUNCT
ap-2449	8	3	static	static	ADJ
ap-2449	8	4	fuzzy	fuzzy	ADJ
ap-2449	8	5	controller	controller	NOUN
ap-2449	8	6	;	;	PUNCT
ap-2449	8	7	adaptive	adaptive	ADJ
ap-2449	8	8	fuzzy	fuzzy	ADJ
ap-2449	8	9	controller	controller	NOUN
ap-2449	8	10	;	;	PUNCT
ap-2449	8	11	improved	improve	VERB
ap-2449	8	12	particle	particle	NOUN
ap-2449	8	13	swarm	swarm	NOUN
ap-2449	8	14	algorithm	algorithm	NOUN
ap-2449	8	15	.	.	PUNCT
ap-2449	9	1	1	1	X
ap-2449	9	2	.	.	X
ap-2449	9	3	introduction	introduction	NOUN
ap-2449	9	4	at	at	ADP
ap-2449	9	5	present	present	ADJ
ap-2449	9	6	,	,	PUNCT
ap-2449	9	7	there	there	PRON
ap-2449	9	8	are	be	VERB
ap-2449	9	9	many	many	ADJ
ap-2449	9	10	evolutionary	evolutionary	ADJ
ap-2449	9	11	computation	computation	NOUN
ap-2449	9	12	algorithms	algorithm	NOUN
ap-2449	9	13	.	.	PUNCT
ap-2449	10	1	particle	particle	NOUN
ap-2449	10	2	swarm	swarm	NOUN
ap-2449	10	3	optimization	optimization	NOUN
ap-2449	10	4	(	(	PUNCT
ap-2449	10	5	pso	pso	NOUN
ap-2449	10	6	)	)	PUNCT
ap-2449	10	7	is	be	AUX
ap-2449	10	8	one	one	NUM
ap-2449	10	9	of	of	ADP
ap-2449	10	10	them	they	PRON
ap-2449	10	11	.	.	PUNCT
ap-2449	11	1	the	the	DET
ap-2449	11	2	pso	pso	NOUN
ap-2449	11	3	has	have	VERB
ap-2449	11	4	many	many	ADJ
ap-2449	11	5	advantages	advantage	NOUN
ap-2449	11	6	,	,	PUNCT
ap-2449	11	7	such	such	ADJ
ap-2449	11	8	as	as	ADP
ap-2449	11	9	simplicity	simplicity	NOUN
ap-2449	11	10	to	to	PART
ap-2449	11	11	implement	implement	VERB
ap-2449	11	12	and	and	CCONJ
ap-2449	11	13	fast	fast	ADJ
ap-2449	11	14	convergence	convergence	NOUN
ap-2449	11	15	as	as	ADP
ap-2449	11	16	in	in	ADP
ap-2449	11	17	van	van	PROPN
ap-2449	11	18	den	den	PROPN
ap-2449	11	19	bergh	bergh	PROPN
ap-2449	11	20	,	,	PUNCT
ap-2449	11	21	frans	fran	NOUN
ap-2449	11	22	[	[	X
ap-2449	11	23	1	1	NUM
ap-2449	11	24	]	]	PUNCT
ap-2449	11	25	.	.	PUNCT
ap-2449	12	1	despite	despite	SCONJ
ap-2449	12	2	the	the	DET
ap-2449	12	3	above	above	ADJ
ap-2449	12	4	advantages	advantage	NOUN
ap-2449	12	5	,	,	PUNCT
ap-2449	12	6	the	the	DET
ap-2449	12	7	standard	standard	ADJ
ap-2449	12	8	pso	pso	NOUN
ap-2449	12	9	algorithm	algorithm	NOUN
ap-2449	12	10	provides	provide	VERB
ap-2449	12	11	local	local	ADJ
ap-2449	12	12	solutions	solution	NOUN
ap-2449	12	13	easily	easily	ADV
ap-2449	12	14	when	when	SCONJ
ap-2449	12	15	solving	solve	VERB
ap-2449	12	16	complex	complex	ADJ
ap-2449	12	17	optimization	optimization	NOUN
ap-2449	12	18	issues	issue	NOUN
ap-2449	12	19	.	.	PUNCT
ap-2449	13	1	recently	recently	ADV
ap-2449	13	2	,	,	PUNCT
ap-2449	13	3	many	many	ADJ
ap-2449	13	4	articles	article	NOUN
ap-2449	13	5	are	be	AUX
ap-2449	13	6	being	be	AUX
ap-2449	13	7	presented	present	VERB
ap-2449	13	8	to	to	PART
ap-2449	13	9	overcome	overcome	VERB
ap-2449	13	10	this	this	DET
ap-2449	13	11	weakness	weakness	NOUN
ap-2449	13	12	and	and	CCONJ
ap-2449	13	13	improve	improve	VERB
ap-2449	13	14	the	the	DET
ap-2449	13	15	pso	pso	NOUN
ap-2449	13	16	standard	standard	ADJ
ap-2449	13	17	performance	performance	NOUN
ap-2449	13	18	.	.	PUNCT
ap-2449	14	1	adaptive	adaptive	ADJ
ap-2449	14	2	pso	pso	NOUN
ap-2449	14	3	by	by	ADP
ap-2449	14	4	xie	xie	PROPN
ap-2449	14	5	,	,	PUNCT
ap-2449	14	6	zhang	zhang	PROPN
ap-2449	14	7	,	,	PUNCT
ap-2449	14	8	and	and	CCONJ
ap-2449	14	9	yang	yang	PROPN
ap-2449	15	1	[	[	X
ap-2449	15	2	2	2	NUM
ap-2449	15	3	]	]	PUNCT
ap-2449	15	4	,	,	PUNCT
ap-2449	15	5	fully	fully	ADV
ap-2449	15	6	informed	informed	ADJ
ap-2449	15	7	pso	pso	NOUN
ap-2449	15	8	by	by	ADP
ap-2449	15	9	mendes	mende	NOUN
ap-2449	15	10	,	,	PUNCT
ap-2449	15	11	kennedy	kennedy	PROPN
ap-2449	15	12	,	,	PUNCT
ap-2449	15	13	and	and	CCONJ
ap-2449	15	14	neves	neve	NOUN
ap-2449	15	15	[	[	X
ap-2449	15	16	3	3	NUM
ap-2449	15	17	]	]	PUNCT
ap-2449	15	18	,	,	PUNCT
ap-2449	15	19	pso	pso	NOUN
ap-2449	15	20	with	with	ADP
ap-2449	15	21	disturbance	disturbance	NOUN
ap-2449	15	22	term	term	NOUN
ap-2449	15	23	by	by	ADP
ap-2449	15	24	qingyuan	qingyuan	PROPN
ap-2449	15	25	,	,	PUNCT
ap-2449	15	26	and	and	CCONJ
ap-2449	15	27	han	han	PROPN
ap-2449	16	1	[	[	X
ap-2449	16	2	4	4	NUM
ap-2449	16	3	]	]	PUNCT
ap-2449	16	4	.	.	PUNCT
ap-2449	17	1	moreover	moreover	ADV
ap-2449	17	2	,	,	PUNCT
ap-2449	17	3	the	the	DET
ap-2449	17	4	performance	performance	NOUN
ap-2449	17	5	of	of	ADP
ap-2449	17	6	the	the	DET
ap-2449	17	7	particle	particle	NOUN
ap-2449	17	8	swarm	swarm	NOUN
ap-2449	17	9	optimization	optimization	NOUN
ap-2449	17	10	is	be	AUX
ap-2449	17	11	slower	slow	ADJ
ap-2449	17	12	,	,	PUNCT
ap-2449	17	13	as	as	ADP
ap-2449	17	14	search	search	NOUN
ap-2449	17	15	space	space	NOUN
ap-2449	17	16	dimensionality	dimensionality	NOUN
ap-2449	17	17	increases	increase	NOUN
ap-2449	17	18	.	.	PUNCT
ap-2449	18	1	recently	recently	ADV
ap-2449	18	2	,	,	PUNCT
ap-2449	18	3	many	many	ADJ
ap-2449	18	4	articles	article	NOUN
ap-2449	18	5	covered	cover	VERB
ap-2449	18	6	optimization	optimization	NOUN
ap-2449	18	7	approaches	approach	NOUN
ap-2449	18	8	for	for	ADP
ap-2449	18	9	tuning	tune	VERB
ap-2449	18	10	methods	method	NOUN
ap-2449	18	11	[	[	X
ap-2449	18	12	5	5	NUM
ap-2449	18	13	]	]	PUNCT
ap-2449	18	14	.	.	PUNCT
ap-2449	19	1	in	in	ADP
ap-2449	19	2	the	the	DET
ap-2449	19	3	articles	article	NOUN
ap-2449	19	4	,	,	PUNCT
ap-2449	19	5	the	the	DET
ap-2449	19	6	particle	particle	NOUN
ap-2449	19	7	swarm	swarm	NOUN
ap-2449	19	8	optimization	optimization	NOUN
ap-2449	19	9	(	(	PUNCT
ap-2449	19	10	pso	pso	NOUN
ap-2449	19	11	)	)	PUNCT
ap-2449	19	12	and	and	CCONJ
ap-2449	19	13	genetic	genetic	ADJ
ap-2449	19	14	algorithm	algorithm	NOUN
ap-2449	19	15	(	(	PUNCT
ap-2449	19	16	ga	ga	NOUN
ap-2449	19	17	)	)	PUNCT
ap-2449	19	18	are	be	AUX
ap-2449	19	19	used	use	VERB
ap-2449	19	20	to	to	PART
ap-2449	19	21	improve	improve	VERB
ap-2449	19	22	the	the	DET
ap-2449	19	23	input	input	NOUN
ap-2449	19	24	/	/	SYM
ap-2449	19	25	output	output	NOUN
ap-2449	19	26	membership	membership	NOUN
ap-2449	19	27	functions	function	NOUN
ap-2449	19	28	(	(	PUNCT
ap-2449	19	29	mfs	mfs	PROPN
ap-2449	19	30	)	)	PUNCT
ap-2449	19	31	.	.	PUNCT
ap-2449	20	1	the	the	DET
ap-2449	20	2	pso	pso	NOUN
ap-2449	20	3	is	be	AUX
ap-2449	20	4	simple	simple	ADJ
ap-2449	20	5	to	to	PART
ap-2449	20	6	implement	implement	VERB
ap-2449	20	7	and	and	CCONJ
ap-2449	20	8	faster	fast	ADJ
ap-2449	20	9	than	than	ADP
ap-2449	20	10	the	the	DET
ap-2449	20	11	ga	ga	PROPN
ap-2449	20	12	for	for	ADP
ap-2449	20	13	tuning	tune	VERB
ap-2449	20	14	the	the	DET
ap-2449	20	15	mfs	mfs	PROPN
ap-2449	20	16	,	,	PUNCT
ap-2449	20	17	which	which	PRON
ap-2449	20	18	will	will	AUX
ap-2449	20	19	enhance	enhance	VERB
ap-2449	20	20	the	the	DET
ap-2449	20	21	performance	performance	NOUN
ap-2449	20	22	of	of	ADP
ap-2449	20	23	the	the	DET
ap-2449	20	24	fuzzy	fuzzy	ADJ
ap-2449	20	25	controllers	controller	NOUN
ap-2449	20	26	[	[	X
ap-2449	20	27	5	5	NUM
ap-2449	20	28	]	]	PUNCT
ap-2449	20	29	.	.	PUNCT
ap-2449	21	1	authors	author	NOUN
ap-2449	21	2	of	of	ADP
ap-2449	21	3	[	[	X
ap-2449	21	4	6–11	6–11	NOUN
ap-2449	21	5	]	]	PUNCT
ap-2449	21	6	tried	try	VERB
ap-2449	21	7	to	to	PART
ap-2449	21	8	improve	improve	VERB
ap-2449	21	9	different	different	ADJ
ap-2449	21	10	optimization	optimization	NOUN
ap-2449	21	11	methods	method	NOUN
ap-2449	21	12	for	for	ADP
ap-2449	21	13	tuning	tune	VERB
ap-2449	21	14	the	the	DET
ap-2449	21	15	mfs	mfs	NOUN
ap-2449	21	16	of	of	ADP
ap-2449	21	17	flcs	flcs	NOUN
ap-2449	21	18	and	and	CCONJ
ap-2449	21	19	coefficient	coefficient	NOUN
ap-2449	21	20	of	of	ADP
ap-2449	21	21	linear	linear	PROPN
ap-2449	21	22	controllers	controller	NOUN
ap-2449	21	23	to	to	PART
ap-2449	21	24	make	make	VERB
ap-2449	21	25	it	it	PRON
ap-2449	21	26	faster	fast	ADJ
ap-2449	21	27	and	and	CCONJ
ap-2449	21	28	more	more	ADV
ap-2449	21	29	reliable	reliable	ADJ
ap-2449	21	30	for	for	ADP
ap-2449	21	31	real	real	ADJ
ap-2449	21	32	applications	application	NOUN
ap-2449	21	33	.	.	PUNCT
ap-2449	22	1	nowadays	nowadays	ADV
ap-2449	22	2	,	,	PUNCT
ap-2449	22	3	other	other	ADJ
ap-2449	22	4	methods	method	NOUN
ap-2449	22	5	are	be	AUX
ap-2449	22	6	used	use	VERB
ap-2449	22	7	to	to	PART
ap-2449	22	8	enhance	enhance	VERB
ap-2449	22	9	the	the	DET
ap-2449	22	10	performance	performance	NOUN
ap-2449	22	11	of	of	ADP
ap-2449	22	12	the	the	DET
ap-2449	22	13	traditional	traditional	ADJ
ap-2449	22	14	controllers	controller	NOUN
ap-2449	22	15	such	such	ADJ
ap-2449	22	16	as	as	ADP
ap-2449	22	17	the	the	DET
ap-2449	22	18	fractional	fractional	ADJ
ap-2449	22	19	order	order	NOUN
ap-2449	22	20	systems	system	NOUN
ap-2449	22	21	[	[	X
ap-2449	22	22	19	19	NUM
ap-2449	22	23	,	,	PUNCT
ap-2449	22	24	20	20	NUM
ap-2449	22	25	]	]	PUNCT
ap-2449	22	26	.	.	PUNCT
ap-2449	23	1	the	the	DET
ap-2449	23	2	pointing	pointing	NOUN
ap-2449	23	3	,	,	PUNCT
ap-2449	23	4	tracking	tracking	NOUN
ap-2449	23	5	and	and	CCONJ
ap-2449	23	6	imaging	imaging	NOUN
ap-2449	23	7	of	of	ADP
ap-2449	23	8	a	a	DET
ap-2449	23	9	modern	modern	ADJ
ap-2449	23	10	telescope	telescope	NOUN
ap-2449	23	11	are	be	AUX
ap-2449	23	12	a	a	DET
ap-2449	23	13	very	very	ADV
ap-2449	23	14	important	important	ADJ
ap-2449	23	15	processes	process	NOUN
ap-2449	23	16	.	.	PUNCT
ap-2449	24	1	the	the	DET
ap-2449	24	2	driving	drive	VERB
ap-2449	24	3	system	system	NOUN
ap-2449	24	4	of	of	ADP
ap-2449	24	5	the	the	DET
ap-2449	24	6	telescope	telescope	NOUN
ap-2449	24	7	depends	depend	VERB
ap-2449	24	8	on	on	ADP
ap-2449	24	9	two	two	NUM
ap-2449	24	10	dc	dc	PROPN
ap-2449	24	11	motors	motor	NOUN
ap-2449	24	12	working	work	VERB
ap-2449	24	13	together	together	ADV
ap-2449	24	14	to	to	PART
ap-2449	24	15	track	track	VERB
ap-2449	24	16	a	a	DET
ap-2449	24	17	predefined	predefine	VERB
ap-2449	24	18	position	position	NOUN
ap-2449	24	19	.	.	PUNCT
ap-2449	25	1	the	the	DET
ap-2449	25	2	mechanisms	mechanism	NOUN
ap-2449	25	3	to	to	PART
ap-2449	25	4	be	be	AUX
ap-2449	25	5	controlled	control	VERB
ap-2449	25	6	are	be	AUX
ap-2449	25	7	,	,	PUNCT
ap-2449	25	8	therefore	therefore	ADV
ap-2449	25	9	,	,	PUNCT
ap-2449	25	10	the	the	DET
ap-2449	25	11	right	right	ADJ
ap-2449	25	12	ascension	ascension	NOUN
ap-2449	25	13	(	(	PUNCT
ap-2449	25	14	ra	ra	NOUN
ap-2449	25	15	)	)	PUNCT
ap-2449	25	16	and	and	CCONJ
ap-2449	25	17	declination	declination	NOUN
ap-2449	25	18	(	(	PUNCT
ap-2449	25	19	dec	dec	PROPN
ap-2449	25	20	)	)	PUNCT
ap-2449	25	21	drives	drive	NOUN
ap-2449	25	22	.	.	PUNCT
ap-2449	26	1	therefore	therefore	ADV
ap-2449	26	2	,	,	PUNCT
ap-2449	26	3	the	the	DET
ap-2449	26	4	precise	precise	ADJ
ap-2449	26	5	control	control	NOUN
ap-2449	26	6	system	system	NOUN
ap-2449	26	7	is	be	AUX
ap-2449	26	8	needed	need	VERB
ap-2449	26	9	to	to	PART
ap-2449	26	10	solve	solve	VERB
ap-2449	26	11	such	such	ADJ
ap-2449	26	12	problem	problem	NOUN
ap-2449	26	13	[	[	X
ap-2449	26	14	1	1	NUM
ap-2449	26	15	]	]	PUNCT
ap-2449	26	16	.	.	PUNCT
ap-2449	27	1	the	the	DET
ap-2449	27	2	purpose	purpose	NOUN
ap-2449	27	3	of	of	ADP
ap-2449	27	4	this	this	DET
ap-2449	27	5	research	research	NOUN
ap-2449	27	6	is	be	AUX
ap-2449	27	7	to	to	PART
ap-2449	27	8	describe	describe	VERB
ap-2449	27	9	and	and	CCONJ
ap-2449	27	10	implement	implement	VERB
ap-2449	27	11	the	the	DET
ap-2449	27	12	algorithms	algorithm	NOUN
ap-2449	27	13	used	use	VERB
ap-2449	27	14	in	in	ADP
ap-2449	27	15	the	the	DET
ap-2449	27	16	control	control	NOUN
ap-2449	27	17	system	system	NOUN
ap-2449	27	18	for	for	ADP
ap-2449	27	19	the	the	DET
ap-2449	27	20	celestron	celestron	PROPN
ap-2449	27	21	telescope	telescope	NOUN
ap-2449	27	22	.	.	PUNCT
ap-2449	28	1	these	these	DET
ap-2449	28	2	control	control	NOUN
ap-2449	28	3	algorithms	algorithm	NOUN
ap-2449	28	4	must	must	AUX
ap-2449	28	5	be	be	AUX
ap-2449	28	6	robust	robust	ADJ
ap-2449	28	7	,	,	PUNCT
ap-2449	28	8	accurate	accurate	ADJ
ap-2449	28	9	and	and	CCONJ
ap-2449	28	10	easy	easy	ADJ
ap-2449	28	11	to	to	PART
ap-2449	28	12	implement	implement	VERB
ap-2449	28	13	.	.	PUNCT
ap-2449	29	1	this	this	DET
ap-2449	29	2	research	research	NOUN
ap-2449	29	3	study	study	NOUN
ap-2449	29	4	will	will	AUX
ap-2449	29	5	introduce	introduce	VERB
ap-2449	29	6	a	a	DET
ap-2449	29	7	new	new	ADJ
ap-2449	29	8	modification	modification	NOUN
ap-2449	29	9	to	to	ADP
ap-2449	29	10	the	the	DET
ap-2449	29	11	original	original	ADJ
ap-2449	29	12	pso	pso	NOUN
ap-2449	29	13	to	to	PART
ap-2449	29	14	improve	improve	VERB
ap-2449	29	15	the	the	DET
ap-2449	29	16	global	global	ADJ
ap-2449	29	17	performance	performance	NOUN
ap-2449	29	18	of	of	ADP
ap-2449	29	19	the	the	DET
ap-2449	29	20	basic	basic	ADJ
ap-2449	29	21	pso	pso	NOUN
ap-2449	29	22	.	.	PUNCT
ap-2449	30	1	in	in	ADP
ap-2449	30	2	this	this	DET
ap-2449	30	3	research	research	NOUN
ap-2449	30	4	,	,	PUNCT
ap-2449	30	5	two	two	NUM
ap-2449	30	6	fuzzy	fuzzy	ADJ
ap-2449	30	7	controllers	controller	NOUN
ap-2449	30	8	and	and	CCONJ
ap-2449	30	9	a	a	DET
ap-2449	30	10	classical	classical	ADJ
ap-2449	30	11	tuned	tune	VERB
ap-2449	30	12	pid	pid	NOUN
ap-2449	30	13	controller	controller	NOUN
ap-2449	30	14	were	be	AUX
ap-2449	30	15	proposed	propose	VERB
ap-2449	30	16	to	to	PART
ap-2449	30	17	control	control	VERB
ap-2449	30	18	the	the	DET
ap-2449	30	19	electric	electric	ADJ
ap-2449	30	20	motor	motor	NOUN
ap-2449	30	21	driving	drive	VERB
ap-2449	30	22	the	the	DET
ap-2449	30	23	celestron	celestron	PROPN
ap-2449	30	24	telescope	telescope	NOUN
ap-2449	30	25	.	.	PUNCT
ap-2449	31	1	the	the	DET
ap-2449	31	2	classical	classical	ADJ
ap-2449	31	3	fuzzy	fuzzy	ADJ
ap-2449	31	4	controller	controller	NOUN
ap-2449	31	5	has	have	VERB
ap-2449	31	6	a	a	DET
ap-2449	31	7	fixed	fix	VERB
ap-2449	31	8	fuzzy	fuzzy	ADJ
ap-2449	31	9	rule	rule	NOUN
ap-2449	31	10	.	.	PUNCT
ap-2449	32	1	it	it	PRON
ap-2449	32	2	is	be	AUX
ap-2449	32	3	like	like	ADP
ap-2449	32	4	the	the	DET
ap-2449	32	5	one	one	NOUN
ap-2449	32	6	proposed	propose	VERB
ap-2449	32	7	in	in	ADP
ap-2449	32	8	a	a	DET
ap-2449	32	9	previous	previous	ADJ
ap-2449	32	10	work	work	NOUN
ap-2449	32	11	[	[	X
ap-2449	32	12	12	12	NUM
ap-2449	32	13	,	,	PUNCT
ap-2449	32	14	14	14	NUM
ap-2449	32	15	]	]	PUNCT
ap-2449	32	16	.	.	PUNCT
ap-2449	33	1	the	the	DET
ap-2449	33	2	proposed	propose	VERB
ap-2449	33	3	fuzzy	fuzzy	ADJ
ap-2449	33	4	controller	controller	NOUN
ap-2449	33	5	uses	use	VERB
ap-2449	33	6	an	an	DET
ap-2449	33	7	improved	improved	ADJ
ap-2449	33	8	pso	pso	NOUN
ap-2449	33	9	algorithm	algorithm	NOUN
ap-2449	33	10	to	to	PART
ap-2449	33	11	dynamically	dynamically	ADV
ap-2449	33	12	change	change	VERB
ap-2449	33	13	rules	rule	NOUN
ap-2449	33	14	for	for	ADP
ap-2449	33	15	a	a	DET
ap-2449	33	16	better	well	ADJ
ap-2449	33	17	stability	stability	NOUN
ap-2449	33	18	,	,	PUNCT
ap-2449	33	19	settling	settle	VERB
ap-2449	33	20	time	time	NOUN
ap-2449	33	21	,	,	PUNCT
ap-2449	33	22	rise	rise	VERB
ap-2449	33	23	time	time	NOUN
ap-2449	33	24	,	,	PUNCT
ap-2449	33	25	maximum	maximum	ADJ
ap-2449	33	26	overshoot	overshoot	NOUN
ap-2449	33	27	and	and	CCONJ
ap-2449	33	28	integral	integral	ADJ
ap-2449	33	29	absolute	absolute	ADJ
ap-2449	33	30	error	error	NOUN
ap-2449	33	31	.	.	PUNCT
ap-2449	34	1	in	in	ADP
ap-2449	34	2	this	this	DET
ap-2449	34	3	paper	paper	NOUN
ap-2449	34	4	,	,	PUNCT
ap-2449	34	5	the	the	DET
ap-2449	34	6	performance	performance	NOUN
ap-2449	34	7	of	of	ADP
ap-2449	34	8	the	the	DET
ap-2449	34	9	pid	pid	NOUN
ap-2449	34	10	tuning	tune	VERB
ap-2449	34	11	algorithms	algorithm	NOUN
ap-2449	34	12	is	be	AUX
ap-2449	34	13	analyzed	analyze	VERB
ap-2449	34	14	and	and	CCONJ
ap-2449	34	15	compared	compare	VERB
ap-2449	34	16	to	to	ADP
ap-2449	34	17	both	both	DET
ap-2449	34	18	fixed	fix	VERB
ap-2449	34	19	and	and	CCONJ
ap-2449	34	20	adaptive	adaptive	ADJ
ap-2449	34	21	fuzzy	fuzzy	ADJ
ap-2449	34	22	logic	logic	NOUN
ap-2449	34	23	controllers	controller	NOUN
ap-2449	34	24	based	base	VERB
ap-2449	34	25	on	on	ADP
ap-2449	34	26	time	time	NOUN
ap-2449	34	27	response	response	NOUN
ap-2449	34	28	specifications	specification	NOUN
ap-2449	34	29	.	.	PUNCT
ap-2449	35	1	the	the	DET
ap-2449	35	2	remainder	remainder	NOUN
ap-2449	35	3	of	of	ADP
ap-2449	35	4	the	the	DET
ap-2449	35	5	article	article	NOUN
ap-2449	35	6	is	be	AUX
ap-2449	35	7	organized	organize	VERB
ap-2449	35	8	as	as	SCONJ
ap-2449	35	9	follows	follow	VERB
ap-2449	35	10	.	.	PUNCT
ap-2449	36	1	section	section	NOUN
ap-2449	36	2	2	2	NUM
ap-2449	36	3	provides	provide	VERB
ap-2449	36	4	the	the	DET
ap-2449	36	5	14′′	14′′	PROPN
ap-2449	36	6	celestron	celestron	NOUN
ap-2449	36	7	telescope	telescope	NOUN
ap-2449	36	8	model	model	NOUN
ap-2449	36	9	.	.	PUNCT
ap-2449	37	1	the	the	DET
ap-2449	37	2	pid	pid	NOUN
ap-2449	37	3	controller	controller	NOUN
ap-2449	37	4	is	be	AUX
ap-2449	37	5	provided	provide	VERB
ap-2449	37	6	in	in	ADP
ap-2449	37	7	section	section	NOUN
ap-2449	37	8	3	3	NUM
ap-2449	37	9	.	.	PUNCT
ap-2449	37	10	static	static	ADJ
ap-2449	37	11	fuzzy	fuzzy	ADJ
ap-2449	37	12	controller	controller	NOUN
ap-2449	37	13	components	component	NOUN
ap-2449	37	14	are	be	AUX
ap-2449	37	15	introduced	introduce	VERB
ap-2449	37	16	and	and	CCONJ
ap-2449	37	17	discussed	discuss	VERB
ap-2449	37	18	in	in	ADP
ap-2449	37	19	section	section	NOUN
ap-2449	37	20	4	4	NUM
ap-2449	37	21	.	.	PUNCT
ap-2449	37	22	section	section	NOUN
ap-2449	37	23	5	5	NUM
ap-2449	37	24	proposed	propose	VERB
ap-2449	37	25	an	an	DET
ap-2449	37	26	improved	improved	ADJ
ap-2449	37	27	particle	particle	NOUN
ap-2449	37	28	swarm	swarm	NOUN
ap-2449	37	29	optimization	optimization	NOUN
ap-2449	37	30	algorithm	algorithm	NOUN
ap-2449	37	31	.	.	PUNCT
ap-2449	38	1	the	the	DET
ap-2449	38	2	enhanced	enhanced	ADJ
ap-2449	38	3	pso	pso	NOUN
ap-2449	38	4	algorithm	algorithm	NOUN
ap-2449	38	5	was	be	AUX
ap-2449	38	6	tested	test	VERB
ap-2449	38	7	for	for	ADP
ap-2449	38	8	adjusting	adjust	VERB
ap-2449	38	9	fuzzy	fuzzy	ADJ
ap-2449	38	10	logic	logic	NOUN
ap-2449	38	11	controllers	controller	NOUN
ap-2449	38	12	described	describe	VERB
ap-2449	38	13	in	in	ADP
ap-2449	38	14	section	section	NOUN
ap-2449	38	15	6	6	NUM
ap-2449	38	16	.	.	PUNCT
ap-2449	39	1	section	section	NOUN
ap-2449	39	2	7	7	NUM
ap-2449	39	3	illustrates	illustrate	VERB
ap-2449	39	4	the	the	DET
ap-2449	39	5	results	result	NOUN
ap-2449	39	6	and	and	CCONJ
ap-2449	39	7	conclusions	conclusion	NOUN
ap-2449	39	8	of	of	ADP
ap-2449	39	9	the	the	DET
ap-2449	39	10	proposed	propose	VERB
ap-2449	39	11	control	control	NOUN
ap-2449	39	12	techniques	technique	NOUN
ap-2449	39	13	.	.	PUNCT
ap-2449	40	1	a	a	DET
ap-2449	40	2	conclusion	conclusion	NOUN
ap-2449	40	3	and	and	CCONJ
ap-2449	40	4	extensions	extension	NOUN
ap-2449	40	5	are	be	AUX
ap-2449	40	6	addressed	address	VERB
ap-2449	40	7	in	in	ADP
ap-2449	40	8	the	the	DET
ap-2449	40	9	last	last	ADJ
ap-2449	40	10	section	section	NOUN
ap-2449	40	11	.	.	PUNCT
ap-2449	41	1	271	271	NUM
ap-2449	41	2	http://dx.doi.org/10.14311/ap.2018.58.0271	http://dx.doi.org/10.14311/ap.2018.58.0271	X
ap-2449	41	3	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2449	41	4	abdel	abdel	NOUN
ap-2449	41	5	-	-	PUNCT
ap-2449	41	6	fattah	fattah	PROPN
ap-2449	41	7	attia	attia	PROPN
ap-2449	41	8	acta	acta	PROPN
ap-2449	41	9	polytechnica	polytechnica	PROPN
ap-2449	41	10	figure	figure	NOUN
ap-2449	41	11	1	1	NUM
ap-2449	41	12	.	.	PUNCT
ap-2449	42	1	the	the	DET
ap-2449	42	2	14′′	14′′	PROPN
ap-2449	42	3	celestron	celestron	NOUN
ap-2449	42	4	telescope	telescope	NOUN
ap-2449	42	5	[	[	X
ap-2449	42	6	15	15	NUM
ap-2449	42	7	]	]	PUNCT
ap-2449	42	8	.	.	PUNCT
ap-2449	43	1	2	2	X
ap-2449	43	2	.	.	X
ap-2449	43	3	mathematical	mathematical	ADJ
ap-2449	43	4	description	description	NOUN
ap-2449	43	5	of	of	ADP
ap-2449	43	6	the	the	DET
ap-2449	43	7	telescope	telescope	NOUN
ap-2449	43	8	model	model	NOUN
ap-2449	43	9	the	the	DET
ap-2449	43	10	14′′	14′′	PROPN
ap-2449	43	11	celestron	celestron	NOUN
ap-2449	43	12	telescope	telescope	NOUN
ap-2449	43	13	is	be	AUX
ap-2449	43	14	shown	show	VERB
ap-2449	43	15	in	in	ADP
ap-2449	43	16	figure	figure	NOUN
ap-2449	43	17	1	1	NUM
ap-2449	44	1	[	[	X
ap-2449	44	2	15	15	NUM
ap-2449	44	3	]	]	PUNCT
ap-2449	44	4	.	.	PUNCT
ap-2449	45	1	the	the	DET
ap-2449	45	2	right	right	ADJ
ap-2449	45	3	ascension	ascension	NOUN
ap-2449	45	4	(	(	PUNCT
ap-2449	45	5	ra	ra	NOUN
ap-2449	45	6	)	)	PUNCT
ap-2449	45	7	coordinates	coordinate	NOUN
ap-2449	45	8	and	and	CCONJ
ap-2449	45	9	the	the	DET
ap-2449	45	10	declination	declination	NOUN
ap-2449	45	11	(	(	PUNCT
ap-2449	45	12	dec	dec	PROPN
ap-2449	45	13	)	)	PUNCT
ap-2449	45	14	have	have	VERB
ap-2449	45	15	two	two	NUM
ap-2449	45	16	motor	motor	NOUN
ap-2449	45	17	drives	drive	NOUN
ap-2449	45	18	of	of	ADP
ap-2449	45	19	the	the	DET
ap-2449	45	20	telescope	telescope	NOUN
ap-2449	45	21	movements	movement	NOUN
ap-2449	45	22	on	on	ADP
ap-2449	45	23	both	both	DET
ap-2449	45	24	sides	side	NOUN
ap-2449	45	25	[	[	X
ap-2449	45	26	15	15	NUM
ap-2449	45	27	]	]	PUNCT
ap-2449	45	28	.	.	PUNCT
ap-2449	46	1	the	the	DET
ap-2449	46	2	nonlinear	nonlinear	ADJ
ap-2449	46	3	differential	differential	ADJ
ap-2449	46	4	equations	equation	NOUN
ap-2449	46	5	of	of	ADP
ap-2449	46	6	the	the	DET
ap-2449	46	7	celestron	celestron	PROPN
ap-2449	46	8	telescope	telescope	NOUN
ap-2449	46	9	model	model	NOUN
ap-2449	46	10	are	be	AUX
ap-2449	46	11	expressed	express	VERB
ap-2449	46	12	mathematically	mathematically	ADV
ap-2449	46	13	as	as	SCONJ
ap-2449	46	14	follows	follow	VERB
ap-2449	46	15	:	:	PUNCT
ap-2449	46	16	m(θ)θ̈	m(θ)θ̈	NOUN
ap-2449	46	17	+	+	CCONJ
ap-2449	46	18	c(θ	c(θ	PROPN
ap-2449	46	19	,	,	PUNCT
ap-2449	46	20	θ̇	θ̇	ADJ
ap-2449	46	21	)	)	PUNCT
ap-2449	47	1	+	+	NOUN
ap-2449	47	2	g(θ	g(θ	NOUN
ap-2449	47	3	)	)	PUNCT
ap-2449	47	4	=	=	SYM
ap-2449	47	5	τ	τ	PROPN
ap-2449	47	6	,	,	PUNCT
ap-2449	47	7	(	(	PUNCT
ap-2449	47	8	1	1	X
ap-2449	47	9	)	)	PUNCT
ap-2449	47	10	m(θ)θ̈	m(θ)θ̈	NOUN
ap-2449	47	11	+	+	NOUN
ap-2449	47	12	n(θ	n(θ	NOUN
ap-2449	47	13	,	,	PUNCT
ap-2449	47	14	θ̇	θ̇	ADJ
ap-2449	47	15	)	)	PUNCT
ap-2449	47	16	+	+	CCONJ
ap-2449	47	17	τd	τd	ADP
ap-2449	47	18	=	=	SYM
ap-2449	47	19	τ	τ	PROPN
ap-2449	47	20	,	,	PUNCT
ap-2449	47	21	(	(	PUNCT
ap-2449	47	22	2	2	NUM
ap-2449	47	23	)	)	PUNCT
ap-2449	47	24	where	where	SCONJ
ap-2449	47	25	:	:	PUNCT
ap-2449	47	26	θ	θ	PROPN
ap-2449	47	27	is	be	AUX
ap-2449	47	28	the	the	DET
ap-2449	47	29	joint	joint	ADJ
ap-2449	47	30	angular	angular	ADJ
ap-2449	47	31	position	position	NOUN
ap-2449	47	32	,	,	PUNCT
ap-2449	47	33	θ̇	θ̇	PROPN
ap-2449	47	34	is	be	AUX
ap-2449	47	35	velocity	velocity	NOUN
ap-2449	47	36	and	and	CCONJ
ap-2449	47	37	θ̈	θ̈	NOUN
ap-2449	47	38	is	be	AUX
ap-2449	47	39	the	the	DET
ap-2449	47	40	acceleration	acceleration	NOUN
ap-2449	47	41	term	term	NOUN
ap-2449	47	42	.	.	PUNCT
ap-2449	48	1	each	each	DET
ap-2449	48	2	one	one	NOUN
ap-2449	48	3	can	can	AUX
ap-2449	48	4	be	be	AUX
ap-2449	48	5	represented	represent	VERB
ap-2449	48	6	as	as	SCONJ
ap-2449	48	7	follows	follow	VERB
ap-2449	48	8	:	:	PUNCT
ap-2449	48	9	θ	θ	X
ap-2449	48	10	=	=	PUNCT
ap-2449	48	11	[	[	PUNCT
ap-2449	48	12	θ1	θ1	PROPN
ap-2449	48	13	θ2	θ2	PROPN
ap-2449	48	14	]	]	PUNCT
ap-2449	48	15	,	,	PUNCT
ap-2449	48	16	θ̇	θ̇	X
ap-2449	48	17	=	=	SYM
ap-2449	48	18	[	[	PUNCT
ap-2449	48	19	θ̇1	θ̇1	PROPN
ap-2449	48	20	θ̇2	θ̇2	PROPN
ap-2449	48	21	]	]	PUNCT
ap-2449	48	22	,	,	PUNCT
ap-2449	48	23	and	and	CCONJ
ap-2449	48	24	θ̈	θ̈	NOUN
ap-2449	48	25	=	=	SYM
ap-2449	48	26	[	[	PUNCT
ap-2449	48	27	θ̈1	θ̈1	VERB
ap-2449	48	28	θ̈2	θ̈2	NOUN
ap-2449	48	29	]	]	PUNCT
ap-2449	48	30	the	the	DET
ap-2449	48	31	unknown	unknown	ADJ
ap-2449	48	32	dynamics	dynamic	NOUN
ap-2449	48	33	are	be	AUX
ap-2449	48	34	represented	represent	VERB
ap-2449	48	35	by	by	ADP
ap-2449	48	36	a	a	DET
ap-2449	48	37	constant	constant	ADJ
ap-2449	48	38	disturbance	disturbance	NOUN
ap-2449	48	39	;	;	PUNCT
ap-2449	49	1	τd	τd	X
ap-2449	49	2	.	.	PUNCT
ap-2449	50	1	the	the	DET
ap-2449	50	2	input	input	NOUN
ap-2449	50	3	torques	torque	NOUN
ap-2449	50	4	τ1	τ1	NOUN
ap-2449	50	5	and	and	CCONJ
ap-2449	50	6	τ2	τ2	NOUN
ap-2449	50	7	control	control	NOUN
ap-2449	50	8	the	the	DET
ap-2449	50	9	outputs	output	NOUN
ap-2449	50	10	θ1	θ1	PROPN
ap-2449	50	11	and	and	CCONJ
ap-2449	50	12	θ2	θ2	PROPN
ap-2449	50	13	for	for	ADP
ap-2449	50	14	a	a	DET
ap-2449	50	15	coupled	couple	VERB
ap-2449	50	16	telescope	telescope	NOUN
ap-2449	50	17	model	model	NOUN
ap-2449	51	1	.	.	PUNCT
ap-2449	52	1	it	it	PRON
ap-2449	52	2	is	be	AUX
ap-2449	52	3	required	require	VERB
ap-2449	52	4	to	to	PART
ap-2449	52	5	introduce	introduce	VERB
ap-2449	52	6	a	a	DET
ap-2449	52	7	compensator	compensator	NOUN
ap-2449	52	8	to	to	PART
ap-2449	52	9	decouple	decouple	VERB
ap-2449	52	10	this	this	DET
ap-2449	52	11	model	model	NOUN
ap-2449	52	12	.	.	PUNCT
ap-2449	53	1	thus	thus	ADV
ap-2449	53	2	,	,	PUNCT
ap-2449	53	3	the	the	DET
ap-2449	53	4	decoupled	decouple	VERB
ap-2449	53	5	system	system	NOUN
ap-2449	53	6	consists	consist	VERB
ap-2449	53	7	of	of	ADP
ap-2449	53	8	independent	independent	ADJ
ap-2449	53	9	variable	variable	ADJ
ap-2449	53	10	systems	system	NOUN
ap-2449	53	11	.	.	PUNCT
ap-2449	54	1	the	the	DET
ap-2449	54	2	telescope	telescope	NOUN
ap-2449	54	3	model	model	NOUN
ap-2449	54	4	compensator	compensator	NOUN
ap-2449	54	5	represents	represent	VERB
ap-2449	54	6	a	a	DET
ap-2449	54	7	linear	linear	ADJ
ap-2449	54	8	system	system	NOUN
ap-2449	54	9	,	,	PUNCT
ap-2449	54	10	which	which	PRON
ap-2449	54	11	allows	allow	VERB
ap-2449	54	12	using	use	VERB
ap-2449	54	13	the	the	DET
ap-2449	54	14	linear	linear	ADJ
ap-2449	54	15	pid	pid	NOUN
ap-2449	54	16	controller	controller	NOUN
ap-2449	54	17	to	to	PART
ap-2449	54	18	control	control	VERB
ap-2449	54	19	[	[	X
ap-2449	54	20	13	13	NUM
ap-2449	54	21	]	]	PUNCT
ap-2449	54	22	.	.	PUNCT
ap-2449	55	1	the	the	DET
ap-2449	55	2	nonlinear	nonlinear	ADJ
ap-2449	55	3	model	model	NOUN
ap-2449	55	4	consists	consist	VERB
ap-2449	55	5	of	of	ADP
ap-2449	55	6	a	a	DET
ap-2449	55	7	compensator	compensator	NOUN
ap-2449	55	8	plus	plus	CCONJ
ap-2449	55	9	two	two	NUM
ap-2449	55	10	parallel	parallel	ADJ
ap-2449	55	11	pid	pid	NOUN
ap-2449	55	12	controllers	controller	NOUN
ap-2449	55	13	.	.	PUNCT
ap-2449	56	1	the	the	DET
ap-2449	56	2	controller	controller	NOUN
ap-2449	56	3	is	be	AUX
ap-2449	56	4	a	a	DET
ap-2449	56	5	pidpso	pidpso	ADJ
ap-2449	56	6	hybrid	hybrid	ADJ
ap-2449	56	7	controller	controller	NOUN
ap-2449	56	8	for	for	ADP
ap-2449	56	9	driving	drive	VERB
ap-2449	56	10	the	the	DET
ap-2449	56	11	dc	dc	PROPN
ap-2449	56	12	motor	motor	NOUN
ap-2449	56	13	.	.	PUNCT
ap-2449	57	1	the	the	DET
ap-2449	57	2	controller	controller	NOUN
ap-2449	57	3	consists	consist	VERB
ap-2449	57	4	of	of	ADP
ap-2449	57	5	a	a	DET
ap-2449	57	6	state	state	NOUN
ap-2449	57	7	feedback	feedback	NOUN
ap-2449	57	8	compensator	compensator	NOUN
ap-2449	57	9	and	and	CCONJ
ap-2449	57	10	a	a	DET
ap-2449	57	11	process	process	NOUN
ap-2449	57	12	with	with	ADP
ap-2449	57	13	a	a	DET
ap-2449	57	14	state	state	NOUN
ap-2449	57	15	vector	vector	NOUN
ap-2449	57	16	.	.	PUNCT
ap-2449	58	1	3	3	X
ap-2449	58	2	.	.	X
ap-2449	58	3	pid	pid	NOUN
ap-2449	58	4	controller	controller	NOUN
ap-2449	58	5	the	the	DET
ap-2449	58	6	position	position	NOUN
ap-2449	58	7	errors	error	NOUN
ap-2449	58	8	of	of	ADP
ap-2449	58	9	each	each	DET
ap-2449	58	10	arm	arm	NOUN
ap-2449	58	11	are	be	AUX
ap-2449	58	12	measured	measure	VERB
ap-2449	58	13	.	.	PUNCT
ap-2449	59	1	the	the	DET
ap-2449	59	2	joint	joint	ADJ
ap-2449	59	3	velocities	velocity	NOUN
ap-2449	59	4	measurements	measurement	NOUN
ap-2449	59	5	are	be	AUX
ap-2449	59	6	then	then	ADV
ap-2449	59	7	estimated	estimate	VERB
ap-2449	59	8	.	.	PUNCT
ap-2449	60	1	depending	depend	VERB
ap-2449	60	2	on	on	ADP
ap-2449	60	3	the	the	DET
ap-2449	60	4	position	position	NOUN
ap-2449	60	5	errors	error	NOUN
ap-2449	60	6	and	and	CCONJ
ap-2449	60	7	shared	shared	ADJ
ap-2449	60	8	speeds	speed	NOUN
ap-2449	60	9	,	,	PUNCT
ap-2449	60	10	the	the	DET
ap-2449	60	11	pid	pid	NOUN
ap-2449	60	12	controllers	controller	NOUN
ap-2449	60	13	are	be	AUX
ap-2449	60	14	defined	define	VERB
ap-2449	60	15	by	by	ADP
ap-2449	60	16	using	use	VERB
ap-2449	60	17	an	an	DET
ap-2449	60	18	additional	additional	ADJ
ap-2449	60	19	control	control	NOUN
ap-2449	60	20	signal	signal	NOUN
ap-2449	60	21	u.	u.	VERB
ap-2449	60	22	the	the	DET
ap-2449	60	23	output	output	NOUN
ap-2449	60	24	of	of	ADP
ap-2449	60	25	the	the	DET
ap-2449	60	26	pid	pid	NOUN
ap-2449	60	27	controller	controller	NOUN
ap-2449	60	28	is	be	AUX
ap-2449	60	29	described	describe	VERB
ap-2449	60	30	as	as	ADP
ap-2449	60	31	[	[	X
ap-2449	60	32	13	13	NUM
ap-2449	60	33	]	]	SYM
ap-2449	60	34	u	u	NOUN
ap-2449	60	35	=	=	NOUN
ap-2449	60	36	−kpeθ	−kpeθ	NOUN
ap-2449	60	37	−	−	PROPN
ap-2449	60	38	kdeθ	kdeθ	NOUN
ap-2449	61	1	−	−	PROPN
ap-2449	62	1	kiε	kiε	PROPN
ap-2449	62	2	.	.	PUNCT
ap-2449	63	1	(	(	PUNCT
ap-2449	63	2	3	3	X
ap-2449	63	3	)	)	PUNCT
ap-2449	63	4	the	the	DET
ap-2449	63	5	total	total	ADJ
ap-2449	63	6	input	input	NOUN
ap-2449	63	7	of	of	ADP
ap-2449	63	8	the	the	DET
ap-2449	63	9	non	non	ADJ
ap-2449	63	10	-	-	ADJ
ap-2449	63	11	linear	linear	ADJ
ap-2449	63	12	model	model	NOUN
ap-2449	63	13	is	be	AUX
ap-2449	63	14	described	describe	VERB
ap-2449	63	15	as	as	ADP
ap-2449	63	16	τ	τ	PROPN
ap-2449	63	17	=	=	SYM
ap-2449	63	18	m(θ)(kpeθ	m(θ)(kpeθ	NOUN
ap-2449	63	19	+	+	CCONJ
ap-2449	63	20	kdėθ	kdėθ	PROPN
ap-2449	63	21	+	+	CCONJ
ap-2449	63	22	kiε	kiε	ADV
ap-2449	63	23	)	)	PUNCT
ap-2449	64	1	+	+	NOUN
ap-2449	64	2	n(θ	n(θ	NOUN
ap-2449	64	3	,	,	PUNCT
ap-2449	64	4	θ̇	θ̇	NOUN
ap-2449	64	5	)	)	PUNCT
ap-2449	64	6	,	,	PUNCT
ap-2449	64	7	(	(	PUNCT
ap-2449	64	8	4	4	X
ap-2449	64	9	)	)	PUNCT
ap-2449	64	10	ėθ1	ėθ1	NOUN
ap-2449	64	11	eθ1	eθ1	NOUN
ap-2449	64	12	nl	nl	PROPN
ap-2449	64	13	ns	ns	PROPN
ap-2449	64	14	z	z	PROPN
ap-2449	64	15	ps	ps	NOUN
ap-2449	64	16	pl	pl	PROPN
ap-2449	64	17	nl	nl	PROPN
ap-2449	64	18	nl	nl	PROPN
ap-2449	64	19	nl	nl	PROPN
ap-2449	64	20	nl	nl	PROPN
ap-2449	64	21	ns	ns	PROPN
ap-2449	64	22	z	z	PROPN
ap-2449	64	23	ns	ns	NUM
ap-2449	64	24	nl	nl	PROPN
ap-2449	64	25	nl	nl	PROPN
ap-2449	64	26	ns	ns	PROPN
ap-2449	64	27	z	z	PROPN
ap-2449	64	28	ps	ps	PROPN
ap-2449	64	29	z	z	PROPN
ap-2449	64	30	nl	nl	PROPN
ap-2449	64	31	ns	ns	PROPN
ap-2449	64	32	z	z	PROPN
ap-2449	64	33	ps	ps	NOUN
ap-2449	64	34	pl	pl	X
ap-2449	64	35	ps	ps	PROPN
ap-2449	64	36	ns	ns	PROPN
ap-2449	64	37	z	z	PROPN
ap-2449	64	38	ps	ps	NOUN
ap-2449	64	39	pl	pl	X
ap-2449	64	40	pl	pl	X
ap-2449	64	41	table	table	NOUN
ap-2449	64	42	1	1	NUM
ap-2449	64	43	.	.	PUNCT
ap-2449	64	44	look	look	VERB
ap-2449	64	45	-	-	PUNCT
ap-2449	64	46	up	up	ADP
ap-2449	64	47	table	table	NOUN
ap-2449	64	48	for	for	ADP
ap-2449	64	49	fuzzy	fuzzy	ADJ
ap-2449	64	50	rules	rule	NOUN
ap-2449	64	51	.	.	PUNCT
ap-2449	65	1	where	where	SCONJ
ap-2449	65	2	ε(t	ε(t	NOUN
ap-2449	65	3	)	)	PUNCT
ap-2449	65	4	is	be	AUX
ap-2449	65	5	the	the	DET
ap-2449	65	6	integral	integral	ADJ
ap-2449	65	7	of	of	ADP
ap-2449	65	8	the	the	DET
ap-2449	65	9	control	control	NOUN
ap-2449	65	10	error	error	NOUN
ap-2449	65	11	e(t	e(t	NOUN
ap-2449	65	12	)	)	PUNCT
ap-2449	65	13	.	.	PUNCT
ap-2449	66	1	the	the	DET
ap-2449	66	2	controller	controller	NOUN
ap-2449	66	3	parameters	parameter	NOUN
ap-2449	66	4	are	be	AUX
ap-2449	66	5	proportional	proportional	ADJ
ap-2449	66	6	gain	gain	NOUN
ap-2449	66	7	kp	kp	NOUN
ap-2449	66	8	,	,	PUNCT
ap-2449	66	9	integral	integral	ADJ
ap-2449	66	10	gain	gain	NOUN
ap-2449	66	11	ki	ki	PROPN
ap-2449	66	12	,	,	PUNCT
ap-2449	66	13	and	and	CCONJ
ap-2449	66	14	derivative	derivative	ADJ
ap-2449	66	15	gain	gain	NOUN
ap-2449	66	16	kd	kd	PROPN
ap-2449	66	17	.	.	PUNCT
ap-2449	67	1	the	the	DET
ap-2449	67	2	position	position	NOUN
ap-2449	67	3	error	error	NOUN
ap-2449	67	4	eθ	eθ	NOUN
ap-2449	67	5	is	be	AUX
ap-2449	67	6	the	the	DET
ap-2449	67	7	difference	difference	NOUN
ap-2449	67	8	between	between	ADP
ap-2449	67	9	the	the	DET
ap-2449	67	10	required	require	VERB
ap-2449	67	11	angle	angle	NOUN
ap-2449	67	12	(	(	PUNCT
ap-2449	67	13	θd	θd	NOUN
ap-2449	67	14	)	)	PUNCT
ap-2449	67	15	and	and	CCONJ
ap-2449	67	16	the	the	DET
ap-2449	67	17	final	final	ADJ
ap-2449	67	18	position	position	NOUN
ap-2449	67	19	angle	angle	NOUN
ap-2449	67	20	(	(	PUNCT
ap-2449	67	21	θ	θ	NOUN
ap-2449	67	22	)	)	PUNCT
ap-2449	67	23	of	of	ADP
ap-2449	67	24	the	the	DET
ap-2449	67	25	telescope	telescope	NOUN
ap-2449	67	26	in	in	ADP
ap-2449	67	27	a	a	DET
ap-2449	67	28	given	give	VERB
ap-2449	67	29	direction	direction	NOUN
ap-2449	67	30	for	for	ADP
ap-2449	67	31	the	the	DET
ap-2449	67	32	right	right	ADJ
ap-2449	67	33	ascension	ascension	NOUN
ap-2449	67	34	or	or	CCONJ
ap-2449	67	35	declination	declination	NOUN
ap-2449	67	36	positions	position	NOUN
ap-2449	67	37	.	.	PUNCT
ap-2449	68	1	enhanced	enhance	VERB
ap-2449	68	2	gains	gain	NOUN
ap-2449	68	3	from	from	ADP
ap-2449	68	4	the	the	DET
ap-2449	68	5	pid	pid	NOUN
ap-2449	68	6	controllers	controller	NOUN
ap-2449	68	7	[	[	X
ap-2449	68	8	kp1	kp1	PROPN
ap-2449	68	9	,	,	PUNCT
ap-2449	68	10	kd1	kd1	PROPN
ap-2449	68	11	,	,	PUNCT
ap-2449	68	12	ki1	ki1	PROPN
ap-2449	68	13	,	,	PUNCT
ap-2449	68	14	kp2	kp2	PROPN
ap-2449	68	15	,	,	PUNCT
ap-2449	68	16	kd2	kd2	PROPN
ap-2449	68	17	,	,	PUNCT
ap-2449	68	18	ki2]t	ki2]t	PROPN
ap-2449	68	19	are	be	AUX
ap-2449	68	20	then	then	ADV
ap-2449	68	21	determined	determine	VERB
ap-2449	68	22	by	by	ADP
ap-2449	68	23	using	use	VERB
ap-2449	68	24	the	the	DET
ap-2449	68	25	modified	modify	VERB
ap-2449	68	26	pso	pso	NOUN
ap-2449	68	27	algorithm	algorithm	NOUN
ap-2449	68	28	.	.	PUNCT
ap-2449	69	1	figure	figure	NOUN
ap-2449	69	2	2	2	NUM
ap-2449	69	3	shows	show	VERB
ap-2449	69	4	the	the	DET
ap-2449	69	5	pid	pid	NOUN
ap-2449	69	6	controllers	controller	NOUN
ap-2449	69	7	for	for	ADP
ap-2449	69	8	the	the	DET
ap-2449	69	9	decoupled	decouple	VERB
ap-2449	69	10	telescope	telescope	NOUN
ap-2449	69	11	model	model	NOUN
ap-2449	69	12	.	.	PUNCT
ap-2449	70	1	the	the	DET
ap-2449	70	2	coefficients	coefficient	NOUN
ap-2449	70	3	kp1	kp1	PROPN
ap-2449	70	4	,	,	PUNCT
ap-2449	70	5	ki1	ki1	PROPN
ap-2449	70	6	,	,	PUNCT
ap-2449	70	7	kd1	kd1	PROPN
ap-2449	70	8	,	,	PUNCT
ap-2449	70	9	kp2	kp2	PROPN
ap-2449	70	10	,	,	PUNCT
ap-2449	70	11	ki2	ki2	PROPN
ap-2449	70	12	and	and	CCONJ
ap-2449	70	13	kd2	kd2	PROPN
ap-2449	70	14	are	be	AUX
ap-2449	70	15	the	the	DET
ap-2449	70	16	core	core	ADJ
ap-2449	70	17	parameters	parameter	NOUN
ap-2449	70	18	in	in	ADP
ap-2449	70	19	the	the	DET
ap-2449	70	20	pid	pid	NOUN
ap-2449	70	21	controllers	controller	NOUN
ap-2449	70	22	for	for	ADP
ap-2449	70	23	both	both	CCONJ
ap-2449	70	24	the	the	DET
ap-2449	70	25	ra	ra	PROPN
ap-2449	70	26	and	and	CCONJ
ap-2449	70	27	dec	dec	PROPN
ap-2449	70	28	axis	axis	NOUN
ap-2449	70	29	.	.	PUNCT
ap-2449	71	1	the	the	DET
ap-2449	71	2	mpso	mpso	ADJ
ap-2449	71	3	algorithm	algorithm	NOUN
ap-2449	71	4	will	will	AUX
ap-2449	71	5	be	be	AUX
ap-2449	71	6	used	use	VERB
ap-2449	71	7	to	to	PART
ap-2449	71	8	select	select	VERB
ap-2449	71	9	the	the	DET
ap-2449	71	10	optimal	optimal	ADJ
ap-2449	71	11	efficiency	efficiency	NOUN
ap-2449	71	12	factor	factor	NOUN
ap-2449	71	13	to	to	PART
ap-2449	71	14	make	make	VERB
ap-2449	71	15	the	the	DET
ap-2449	71	16	output	output	NOUN
ap-2449	71	17	values	value	NOUN
ap-2449	71	18	meet	meet	VERB
ap-2449	71	19	the	the	DET
ap-2449	71	20	required	require	VERB
ap-2449	71	21	control	control	NOUN
ap-2449	71	22	specification	specification	NOUN
ap-2449	71	23	.	.	PUNCT
ap-2449	72	1	4	4	X
ap-2449	72	2	.	.	X
ap-2449	72	3	fuzzy	fuzzy	ADJ
ap-2449	72	4	logic	logic	NOUN
ap-2449	72	5	controller	controller	NOUN
ap-2449	72	6	(	(	PUNCT
ap-2449	72	7	flc	flc	PROPN
ap-2449	72	8	)	)	PUNCT
ap-2449	72	9	the	the	DET
ap-2449	72	10	main	main	ADJ
ap-2449	72	11	components	component	NOUN
ap-2449	72	12	of	of	ADP
ap-2449	72	13	the	the	DET
ap-2449	72	14	static	static	ADJ
ap-2449	72	15	fuzzy	fuzzy	ADJ
ap-2449	72	16	controller	controller	NOUN
ap-2449	72	17	with	with	ADP
ap-2449	72	18	a	a	DET
ap-2449	72	19	fixed	fix	VERB
ap-2449	72	20	membership	membership	NOUN
ap-2449	72	21	functions	function	NOUN
ap-2449	72	22	(	(	PUNCT
ap-2449	72	23	sflc	sflc	ADJ
ap-2449	72	24	)	)	PUNCT
ap-2449	72	25	consists	consist	VERB
ap-2449	72	26	of	of	ADP
ap-2449	72	27	four	four	NUM
ap-2449	72	28	components	component	NOUN
ap-2449	72	29	:	:	PUNCT
ap-2449	73	1	[	[	X
ap-2449	73	2	6	6	NUM
ap-2449	73	3	,	,	PUNCT
ap-2449	73	4	14	14	NUM
ap-2449	73	5	]	]	PUNCT
ap-2449	73	6	.	.	PUNCT
ap-2449	74	1	figure	figure	NOUN
ap-2449	74	2	3	3	NUM
ap-2449	74	3	shows	show	VERB
ap-2449	74	4	the	the	DET
ap-2449	74	5	flc	flc	PROPN
ap-2449	74	6	controllers	controller	NOUN
ap-2449	74	7	for	for	ADP
ap-2449	74	8	the	the	DET
ap-2449	74	9	telescope	telescope	NOUN
ap-2449	74	10	model	model	NOUN
ap-2449	74	11	.	.	PUNCT
ap-2449	75	1	(	(	PUNCT
ap-2449	75	2	1	1	NUM
ap-2449	75	3	.	.	PUNCT
ap-2449	75	4	)	)	PUNCT
ap-2449	75	5	fuzzification	fuzzification	NOUN
ap-2449	75	6	interface	interface	NOUN
ap-2449	75	7	.	.	PUNCT
ap-2449	76	1	the	the	DET
ap-2449	76	2	global	global	ADJ
ap-2449	76	3	input	input	NOUN
ap-2449	76	4	variables	variable	NOUN
ap-2449	76	5	of	of	ADP
ap-2449	76	6	the	the	DET
ap-2449	76	7	sflc	sflc	ADJ
ap-2449	76	8	controllers	controller	NOUN
ap-2449	76	9	are	be	AUX
ap-2449	76	10	the	the	DET
ap-2449	76	11	position	position	NOUN
ap-2449	76	12	deviation	deviation	NOUN
ap-2449	76	13	error	error	NOUN
ap-2449	76	14	eθ	eθ	NOUN
ap-2449	76	15	and	and	CCONJ
ap-2449	76	16	its	its	PRON
ap-2449	76	17	rate	rate	NOUN
ap-2449	76	18	of	of	ADP
ap-2449	76	19	change	change	NOUN
ap-2449	76	20	ėθ	ėθ	ADJ
ap-2449	76	21	.	.	PUNCT
ap-2449	77	1	τ1	τ1	NOUN
ap-2449	77	2	is	be	AUX
ap-2449	77	3	the	the	DET
ap-2449	77	4	output	output	NOUN
ap-2449	77	5	variable	variable	NOUN
ap-2449	77	6	.	.	PUNCT
ap-2449	78	1	five	five	NUM
ap-2449	78	2	fixed	fix	VERB
ap-2449	78	3	fuzzy	fuzzy	ADJ
ap-2449	78	4	sets	set	NOUN
ap-2449	78	5	(	(	PUNCT
ap-2449	78	6	ffs	ff	NOUN
ap-2449	78	7	)	)	PUNCT
ap-2449	78	8	are	be	AUX
ap-2449	78	9	designed	design	VERB
ap-2449	78	10	for	for	ADP
ap-2449	78	11	each	each	DET
ap-2449	78	12	input	input	NOUN
ap-2449	78	13	and	and	CCONJ
ap-2449	78	14	output	output	NOUN
ap-2449	78	15	variables	variable	NOUN
ap-2449	78	16	of	of	ADP
ap-2449	78	17	the	the	DET
ap-2449	78	18	sflc	sflc	NOUN
ap-2449	78	19	.	.	PUNCT
ap-2449	79	1	the	the	DET
ap-2449	79	2	fuzzy	fuzzy	ADJ
ap-2449	79	3	input	input	NOUN
ap-2449	79	4	vector	vector	NOUN
ap-2449	79	5	of	of	ADP
ap-2449	79	6	each	each	DET
ap-2449	79	7	flc	flc	NOUN
ap-2449	79	8	-	-	NOUN
ap-2449	79	9	pso	pso	NOUN
ap-2449	79	10	for	for	ADP
ap-2449	79	11	input	input	NOUN
ap-2449	79	12	/	/	SYM
ap-2449	79	13	output	output	NOUN
ap-2449	79	14	variables	variable	NOUN
ap-2449	79	15	consists	consist	VERB
ap-2449	79	16	of	of	ADP
ap-2449	79	17	the	the	DET
ap-2449	79	18	previous	previous	ADJ
ap-2449	79	19	variables	variable	NOUN
ap-2449	79	20	used	use	VERB
ap-2449	79	21	in	in	ADP
ap-2449	79	22	the	the	DET
ap-2449	79	23	sflc	sflc	NOUN
ap-2449	79	24	with	with	ADP
ap-2449	79	25	five	five	NUM
ap-2449	79	26	linguistic	linguistic	ADJ
ap-2449	79	27	variables	variable	NOUN
ap-2449	79	28	using	use	VERB
ap-2449	79	29	adaptive	adaptive	ADJ
ap-2449	79	30	fuzzy	fuzzy	ADJ
ap-2449	79	31	sets	set	NOUN
ap-2449	79	32	(	(	PUNCT
ap-2449	79	33	afs	afs	NOUN
ap-2449	79	34	)	)	PUNCT
ap-2449	79	35	.	.	PUNCT
ap-2449	80	1	in	in	ADP
ap-2449	80	2	figure	figure	NOUN
ap-2449	80	3	4	4	NUM
ap-2449	80	4	,	,	PUNCT
ap-2449	80	5	the	the	DET
ap-2449	80	6	solid	solid	ADJ
ap-2449	80	7	lines	line	NOUN
ap-2449	80	8	represent	represent	VERB
ap-2449	80	9	the	the	DET
ap-2449	80	10	fixed	fix	VERB
ap-2449	80	11	fuzzy	fuzzy	ADJ
ap-2449	80	12	sets	set	NOUN
ap-2449	80	13	of	of	ADP
ap-2449	80	14	the	the	DET
ap-2449	80	15	sflc	sflc	NOUN
ap-2449	80	16	.	.	PUNCT
ap-2449	81	1	while	while	SCONJ
ap-2449	81	2	the	the	DET
ap-2449	81	3	dashed	dash	VERB
ap-2449	81	4	lines	line	NOUN
ap-2449	81	5	represent	represent	VERB
ap-2449	81	6	the	the	DET
ap-2449	81	7	adaptive	adaptive	ADJ
ap-2449	81	8	fuzzy	fuzzy	ADJ
ap-2449	81	9	sets	set	NOUN
ap-2449	81	10	of	of	ADP
ap-2449	81	11	the	the	DET
ap-2449	81	12	flc	flc	PROPN
ap-2449	81	13	-	-	NOUN
ap-2449	81	14	pso	pso	NOUN
ap-2449	81	15	.	.	PUNCT
ap-2449	82	1	(	(	PUNCT
ap-2449	82	2	2	2	NUM
ap-2449	82	3	.	.	NUM
ap-2449	82	4	)	)	PUNCT
ap-2449	82	5	data	datum	NOUN
ap-2449	82	6	base	base	NOUN
ap-2449	82	7	.	.	PUNCT
ap-2449	83	1	the	the	DET
ap-2449	83	2	database	database	NOUN
ap-2449	83	3	has	have	VERB
ap-2449	83	4	the	the	DET
ap-2449	83	5	definitions	definition	NOUN
ap-2449	83	6	of	of	ADP
ap-2449	83	7	the	the	DET
ap-2449	83	8	mfs	mfs	NOUN
ap-2449	83	9	defined	define	VERB
ap-2449	83	10	for	for	ADP
ap-2449	83	11	every	every	DET
ap-2449	83	12	fuzzy	fuzzy	ADJ
ap-2449	83	13	control	control	NOUN
ap-2449	83	14	variable	variable	NOUN
ap-2449	83	15	.	.	PUNCT
ap-2449	84	1	the	the	DET
ap-2449	84	2	linguistic	linguistic	ADJ
ap-2449	84	3	variables	variable	NOUN
ap-2449	84	4	such	such	ADJ
ap-2449	84	5	as	as	ADP
ap-2449	84	6	the	the	DET
ap-2449	84	7	pl	pl	X
ap-2449	84	8	(	(	PUNCT
ap-2449	84	9	positive	positive	ADJ
ap-2449	84	10	large	large	ADJ
ap-2449	84	11	)	)	PUNCT
ap-2449	84	12	,	,	PUNCT
ap-2449	84	13	ps	ps	INTJ
ap-2449	84	14	(	(	PUNCT
ap-2449	84	15	positive	positive	ADJ
ap-2449	84	16	small	small	NOUN
ap-2449	84	17	)	)	PUNCT
ap-2449	84	18	,	,	PUNCT
ap-2449	84	19	z	z	PROPN
ap-2449	84	20	(	(	PUNCT
ap-2449	84	21	zero	zero	NUM
ap-2449	84	22	)	)	PUNCT
ap-2449	84	23	,	,	PUNCT
ap-2449	84	24	ns	ns	NUM
ap-2449	84	25	(	(	PUNCT
ap-2449	84	26	negative	negative	ADJ
ap-2449	84	27	small	small	ADJ
ap-2449	84	28	)	)	PUNCT
ap-2449	84	29	and	and	CCONJ
ap-2449	84	30	nl	nl	PROPN
ap-2449	84	31	(	(	PUNCT
ap-2449	84	32	negative	negative	ADJ
ap-2449	84	33	large	large	ADJ
ap-2449	84	34	)	)	PUNCT
ap-2449	84	35	are	be	AUX
ap-2449	84	36	shown	show	VERB
ap-2449	84	37	in	in	ADP
ap-2449	84	38	figure	figure	NOUN
ap-2449	84	39	4	4	NUM
ap-2449	84	40	and	and	CCONJ
ap-2449	84	41	indicated	indicate	VERB
ap-2449	84	42	in	in	ADP
ap-2449	84	43	table	table	NOUN
ap-2449	84	44	1	1	NUM
ap-2449	84	45	.	.	PUNCT
ap-2449	85	1	(	(	PUNCT
ap-2449	85	2	3	3	NUM
ap-2449	85	3	.	.	PUNCT
ap-2449	85	4	)	)	PUNCT
ap-2449	86	1	the	the	DET
ap-2449	86	2	inference	inference	NOUN
ap-2449	86	3	system	system	NOUN
ap-2449	86	4	.	.	PUNCT
ap-2449	87	1	there	there	PRON
ap-2449	87	2	are	be	VERB
ap-2449	87	3	25	25	NUM
ap-2449	87	4	rules	rule	NOUN
ap-2449	87	5	constructed	construct	VERB
ap-2449	87	6	based	base	VERB
ap-2449	87	7	on	on	ADP
ap-2449	87	8	five	five	NUM
ap-2449	87	9	gaussian	gaussian	ADJ
ap-2449	87	10	mfs	mfs	NOUN
ap-2449	87	11	groups	group	NOUN
ap-2449	87	12	selected	select	VERB
ap-2449	87	13	for	for	ADP
ap-2449	87	14	i	i	PRON
ap-2449	87	15	/	/	SYM
ap-2449	87	16	o	o	NOUN
ap-2449	87	17	variables	variable	NOUN
ap-2449	87	18	in	in	ADP
ap-2449	87	19	the	the	DET
ap-2449	87	20	fuzzy	fuzzy	ADJ
ap-2449	87	21	control	control	NOUN
ap-2449	87	22	unit	unit	NOUN
ap-2449	87	23	.	.	PUNCT
ap-2449	88	1	these	these	DET
ap-2449	88	2	fuzzy	fuzzy	ADJ
ap-2449	88	3	rules	rule	NOUN
ap-2449	88	4	define	define	VERB
ap-2449	88	5	control	control	NOUN
ap-2449	88	6	objectives	objective	NOUN
ap-2449	88	7	using	use	VERB
ap-2449	88	8	fuzzy	fuzzy	ADJ
ap-2449	88	9	terms	term	NOUN
ap-2449	88	10	as	as	SCONJ
ap-2449	88	11	shown	show	VERB
ap-2449	88	12	in	in	ADP
ap-2449	88	13	table	table	NOUN
ap-2449	88	14	1	1	NUM
ap-2449	88	15	.	.	PUNCT
ap-2449	89	1	(	(	PUNCT
ap-2449	89	2	4	4	NUM
ap-2449	89	3	.	.	PUNCT
ap-2449	89	4	)	)	PUNCT
ap-2449	89	5	defuzzification	defuzzification	NOUN
ap-2449	89	6	stage	stage	NOUN
ap-2449	89	7	.	.	PUNCT
ap-2449	90	1	the	the	DET
ap-2449	90	2	center	center	ADJ
ap-2449	90	3	average	average	ADJ
ap-2449	90	4	defuzzifier	defuzzifier	NOUN
ap-2449	90	5	is	be	AUX
ap-2449	90	6	used	use	VERB
ap-2449	90	7	to	to	PART
ap-2449	90	8	compute	compute	VERB
ap-2449	90	9	the	the	DET
ap-2449	90	10	fuzzy	fuzzy	ADJ
ap-2449	90	11	output	output	NOUN
ap-2449	90	12	,	,	PUNCT
ap-2449	90	13	which	which	PRON
ap-2449	90	14	represents	represent	VERB
ap-2449	90	15	the	the	DET
ap-2449	90	16	defuzzification	defuzzification	NOUN
ap-2449	90	17	stage	stage	NOUN
ap-2449	91	1	[	[	X
ap-2449	91	2	6–8	6–8	X
ap-2449	91	3	]	]	X
ap-2449	91	4	.	.	PUNCT
ap-2449	92	1	272	272	NUM
ap-2449	92	2	vol	vol	NOUN
ap-2449	92	3	.	.	PUNCT
ap-2449	93	1	58	58	NUM
ap-2449	93	2	no	no	INTJ
ap-2449	93	3	.	.	PUNCT
ap-2449	94	1	5/2018	5/2018	NUM
ap-2449	94	2	intelligent	intelligent	ADJ
ap-2449	94	3	controller	controller	NOUN
ap-2449	94	4	for	for	ADP
ap-2449	94	5	tracking	track	VERB
ap-2449	94	6	a	a	DET
ap-2449	94	7	14	14	NUM
ap-2449	94	8	-	-	PUNCT
ap-2449	94	9	inch	inch	NOUN
ap-2449	94	10	celestron	celestron	NOUN
ap-2449	94	11	telescope	telescope	NOUN
ap-2449	94	12	figure	figure	NOUN
ap-2449	94	13	2	2	NUM
ap-2449	94	14	.	.	PUNCT
ap-2449	94	15	pid	pid	NOUN
ap-2449	94	16	controllers	controller	NOUN
ap-2449	94	17	for	for	ADP
ap-2449	94	18	the	the	DET
ap-2449	94	19	decoupled	decouple	VERB
ap-2449	94	20	telescope	telescope	NOUN
ap-2449	94	21	model	model	NOUN
ap-2449	94	22	.	.	PUNCT
ap-2449	95	1	figure	figure	NOUN
ap-2449	95	2	3	3	NUM
ap-2449	95	3	.	.	PUNCT
ap-2449	96	1	flc	flc	PROPN
ap-2449	96	2	controllers	controller	NOUN
ap-2449	96	3	for	for	ADP
ap-2449	96	4	the	the	DET
ap-2449	96	5	nonlinear	nonlinear	ADJ
ap-2449	96	6	telescope	telescope	NOUN
ap-2449	96	7	model	model	NOUN
ap-2449	96	8	.	.	PUNCT
ap-2449	97	1	5	5	NUM
ap-2449	97	2	.	.	NUM
ap-2449	97	3	proposed	propose	VERB
ap-2449	97	4	improved	improve	VERB
ap-2449	97	5	particle	particle	NOUN
ap-2449	97	6	swarm	swarm	NOUN
ap-2449	97	7	optimization	optimization	NOUN
ap-2449	97	8	algorithm	algorithm	NOUN
ap-2449	97	9	(	(	PUNCT
ap-2449	97	10	mpso	mpso	NOUN
ap-2449	97	11	)	)	PUNCT
ap-2449	97	12	in	in	ADP
ap-2449	97	13	particle	particle	NOUN
ap-2449	97	14	swarm	swarm	NOUN
ap-2449	97	15	optimization	optimization	NOUN
ap-2449	97	16	(	(	PUNCT
ap-2449	97	17	pso	pso	NOUN
ap-2449	97	18	)	)	PUNCT
ap-2449	97	19	,	,	PUNCT
ap-2449	97	20	at	at	ADP
ap-2449	97	21	the	the	DET
ap-2449	97	22	beginning	beginning	NOUN
ap-2449	97	23	of	of	ADP
ap-2449	97	24	the	the	DET
ap-2449	97	25	iterations	iteration	NOUN
ap-2449	97	26	,	,	PUNCT
ap-2449	97	27	the	the	DET
ap-2449	97	28	particles	particle	NOUN
ap-2449	97	29	are	be	AUX
ap-2449	97	30	randomly	randomly	ADV
ap-2449	97	31	distributed	distribute	VERB
ap-2449	97	32	.	.	PUNCT
ap-2449	98	1	the	the	DET
ap-2449	98	2	best	good	ADJ
ap-2449	98	3	solutions	solution	NOUN
ap-2449	98	4	are	be	AUX
ap-2449	98	5	scattered	scatter	VERB
ap-2449	98	6	in	in	ADP
ap-2449	98	7	the	the	DET
ap-2449	98	8	search	search	NOUN
ap-2449	98	9	space	space	NOUN
ap-2449	98	10	.	.	PUNCT
ap-2449	99	1	the	the	DET
ap-2449	99	2	variety	variety	NOUN
ap-2449	99	3	of	of	ADP
ap-2449	99	4	acceleration	acceleration	NOUN
ap-2449	99	5	parameters	parameter	NOUN
ap-2449	99	6	in	in	ADP
ap-2449	99	7	the	the	DET
ap-2449	99	8	pso	pso	NOUN
ap-2449	99	9	provides	provide	VERB
ap-2449	99	10	faster	fast	ADJ
ap-2449	99	11	convergence	convergence	NOUN
ap-2449	99	12	than	than	ADP
ap-2449	99	13	fixed	fix	VERB
ap-2449	99	14	coefficients	coefficient	NOUN
ap-2449	99	15	.	.	PUNCT
ap-2449	100	1	starting	start	VERB
ap-2449	100	2	the	the	DET
ap-2449	100	3	acceleration	acceleration	NOUN
ap-2449	100	4	parameter	parameter	PROPN
ap-2449	100	5	c1	c1	PROPN
ap-2449	100	6	at	at	ADP
ap-2449	100	7	a	a	DET
ap-2449	100	8	high	high	ADJ
ap-2449	100	9	value	value	NOUN
ap-2449	100	10	will	will	AUX
ap-2449	100	11	create	create	VERB
ap-2449	100	12	the	the	DET
ap-2449	100	13	best	good	ADJ
ap-2449	100	14	solutions	solution	NOUN
ap-2449	100	15	through	through	ADP
ap-2449	100	16	the	the	DET
ap-2449	100	17	iterations	iteration	NOUN
ap-2449	100	18	.	.	PUNCT
ap-2449	101	1	this	this	PRON
ap-2449	101	2	means	mean	VERB
ap-2449	101	3	that	that	SCONJ
ap-2449	101	4	the	the	DET
ap-2449	101	5	population	population	NOUN
ap-2449	101	6	converges	converge	VERB
ap-2449	101	7	to	to	ADP
ap-2449	101	8	a	a	DET
ap-2449	101	9	smaller	small	ADJ
ap-2449	101	10	subset	subset	NOUN
ap-2449	101	11	of	of	ADP
ap-2449	101	12	the	the	DET
ap-2449	101	13	search	search	NOUN
ap-2449	101	14	area	area	NOUN
ap-2449	101	15	,	,	PUNCT
ap-2449	101	16	and	and	CCONJ
ap-2449	101	17	the	the	DET
ap-2449	101	18	value	value	NOUN
ap-2449	101	19	of	of	ADP
ap-2449	101	20	c1	c1	PROPN
ap-2449	101	21	will	will	AUX
ap-2449	101	22	greatly	greatly	ADV
ap-2449	101	23	decrease	decrease	VERB
ap-2449	101	24	with	with	ADP
ap-2449	101	25	the	the	DET
ap-2449	101	26	iteration	iteration	NOUN
ap-2449	101	27	index	index	NOUN
ap-2449	101	28	:	:	PUNCT
ap-2449	101	29	c1	c1	PROPN
ap-2449	101	30	=	=	SYM
ap-2449	101	31	c1ie	c1ie	PROPN
ap-2449	101	32	−t	−t	NOUN
ap-2449	101	33	/	/	SYM
ap-2449	101	34	tmax	tmax	ADV
ap-2449	101	35	−	−	NOUN
ap-2449	101	36	c1f	c1f	NOUN
ap-2449	101	37	,	,	PUNCT
ap-2449	101	38	(	(	PUNCT
ap-2449	101	39	5	5	NUM
ap-2449	101	40	)	)	PUNCT
ap-2449	101	41	where	where	SCONJ
ap-2449	101	42	t	t	PROPN
ap-2449	101	43	is	be	AUX
ap-2449	101	44	the	the	DET
ap-2449	101	45	current	current	ADJ
ap-2449	101	46	iteration	iteration	NOUN
ap-2449	101	47	index	index	NOUN
ap-2449	101	48	,	,	PUNCT
ap-2449	101	49	and	and	CCONJ
ap-2449	101	50	tmax	tmax	ADV
ap-2449	101	51	is	be	AUX
ap-2449	101	52	the	the	DET
ap-2449	101	53	maximum	maximum	ADJ
ap-2449	101	54	number	number	NOUN
ap-2449	101	55	of	of	ADP
ap-2449	101	56	iterations	iteration	NOUN
ap-2449	101	57	.	.	PUNCT
ap-2449	102	1	in	in	ADP
ap-2449	102	2	the	the	DET
ap-2449	102	3	early	early	ADJ
ap-2449	102	4	iterations	iteration	NOUN
ap-2449	102	5	,	,	PUNCT
ap-2449	102	6	particle	particle	NOUN
ap-2449	102	7	members	member	NOUN
ap-2449	102	8	are	be	AUX
ap-2449	102	9	very	very	ADV
ap-2449	102	10	random	random	ADJ
ap-2449	102	11	.	.	PUNCT
ap-2449	103	1	the	the	DET
ap-2449	103	2	acceleration	acceleration	NOUN
ap-2449	103	3	parameter	parameter	PROPN
ap-2449	103	4	c2	c2	PROPN
ap-2449	103	5	increases	increase	VERB
ap-2449	103	6	significantly	significantly	ADV
ap-2449	103	7	with	with	ADP
ap-2449	103	8	the	the	DET
ap-2449	103	9	iteration	iteration	NOUN
ap-2449	103	10	index	index	NOUN
ap-2449	103	11	to	to	PART
ap-2449	103	12	exploit	exploit	VERB
ap-2449	103	13	the	the	DET
ap-2449	103	14	enhanced	enhanced	ADJ
ap-2449	103	15	pso	pso	NOUN
ap-2449	103	16	in	in	ADP
ap-2449	103	17	the	the	DET
ap-2449	103	18	zone	zone	NOUN
ap-2449	103	19	created	create	VERB
ap-2449	103	20	by	by	ADP
ap-2449	103	21	the	the	DET
ap-2449	103	22	best	good	ADJ
ap-2449	103	23	current	current	ADJ
ap-2449	103	24	solutions	solution	NOUN
ap-2449	103	25	:	:	PUNCT
ap-2449	103	26	c2	c2	PROPN
ap-2449	103	27	=	=	SYM
ap-2449	103	28	c2ie	c2ie	PUNCT
ap-2449	103	29	t	t	PROPN
ap-2449	103	30	/	/	SYM
ap-2449	103	31	tmax	tmax	PROPN
ap-2449	103	32	.	.	PUNCT
ap-2449	104	1	(	(	PUNCT
ap-2449	104	2	6	6	X
ap-2449	104	3	)	)	PUNCT
ap-2449	104	4	the	the	DET
ap-2449	104	5	dynamic	dynamic	ADJ
ap-2449	104	6	operator	operator	NOUN
ap-2449	104	7	’s	’s	PART
ap-2449	104	8	idea	idea	NOUN
ap-2449	104	9	was	be	AUX
ap-2449	104	10	discussed	discuss	VERB
ap-2449	104	11	and	and	CCONJ
ap-2449	104	12	explained	explain	VERB
ap-2449	104	13	previously	previously	ADV
ap-2449	104	14	in	in	ADP
ap-2449	104	15	[	[	X
ap-2449	104	16	17	17	NUM
ap-2449	104	17	,	,	PUNCT
ap-2449	104	18	18	18	NUM
ap-2449	104	19	]	]	PUNCT
ap-2449	104	20	.	.	PUNCT
ap-2449	105	1	273	273	NUM
ap-2449	105	2	abdel	abdel	NOUN
ap-2449	105	3	-	-	PUNCT
ap-2449	105	4	fattah	fattah	PROPN
ap-2449	105	5	attia	attia	PROPN
ap-2449	105	6	acta	acta	PROPN
ap-2449	105	7	polytechnica	polytechnica	PROPN
ap-2449	105	8	figure	figure	NOUN
ap-2449	105	9	4	4	NUM
ap-2449	105	10	.	.	PUNCT
ap-2449	106	1	(	(	PUNCT
ap-2449	106	2	a	a	X
ap-2449	106	3	)	)	PUNCT
ap-2449	106	4	membership	membership	NOUN
ap-2449	106	5	functions	function	NOUN
ap-2449	106	6	(	(	PUNCT
ap-2449	106	7	mfs	mfs	PROPN
ap-2449	106	8	)	)	PUNCT
ap-2449	106	9	of	of	ADP
ap-2449	106	10	position	position	NOUN
ap-2449	106	11	error	error	NOUN
ap-2449	106	12	for	for	ADP
ap-2449	106	13	sflc	sflc	NOUN
ap-2449	106	14	and	and	CCONJ
ap-2449	106	15	flc	flc	PROPN
ap-2449	106	16	-	-	ADJ
ap-2449	106	17	pso	pso	NOUN
ap-2449	106	18	controllers	controller	NOUN
ap-2449	106	19	.	.	PUNCT
ap-2449	107	1	(	(	PUNCT
ap-2449	107	2	b	b	X
ap-2449	107	3	)	)	PUNCT
ap-2449	107	4	mfs	mfs	NOUN
ap-2449	107	5	of	of	ADP
ap-2449	107	6	rate	rate	NOUN
ap-2449	107	7	of	of	ADP
ap-2449	107	8	error	error	NOUN
ap-2449	107	9	for	for	ADP
ap-2449	107	10	sflc	sflc	NOUN
ap-2449	107	11	and	and	CCONJ
ap-2449	107	12	flc	flc	PROPN
ap-2449	107	13	-	-	ADJ
ap-2449	107	14	pso	pso	NOUN
ap-2449	107	15	controllers	controller	NOUN
ap-2449	107	16	.	.	PUNCT
ap-2449	108	1	(	(	PUNCT
ap-2449	108	2	c	c	X
ap-2449	108	3	)	)	PUNCT
ap-2449	108	4	mfs	mfs	NOUN
ap-2449	108	5	of	of	ADP
ap-2449	108	6	control	control	NOUN
ap-2449	108	7	action	action	NOUN
ap-2449	108	8	for	for	ADP
ap-2449	108	9	sflc	sflc	PROPN
ap-2449	108	10	and	and	CCONJ
ap-2449	108	11	flc	flc	PROPN
ap-2449	108	12	-	-	ADJ
ap-2449	108	13	pso	pso	NOUN
ap-2449	108	14	controllers	controller	NOUN
ap-2449	108	15	.	.	PUNCT
ap-2449	109	1	(	(	PUNCT
ap-2449	109	2	d	d	X
ap-2449	109	3	)	)	PUNCT
ap-2449	109	4	the	the	DET
ap-2449	109	5	output	output	NOUN
ap-2449	109	6	surfaces	surface	NOUN
ap-2449	109	7	viewer	viewer	VERB
ap-2449	109	8	of	of	ADP
ap-2449	109	9	ra	ra	PROPN
ap-2449	109	10	&	&	CCONJ
ap-2449	109	11	dec	dec	PROPN
ap-2449	109	12	sflc	sflc	PROPN
ap-2449	109	13	controller	controller	NOUN
ap-2449	109	14	.	.	PUNCT
ap-2449	110	1	figure	figure	NOUN
ap-2449	110	2	5	5	NUM
ap-2449	110	3	.	.	PUNCT
ap-2449	111	1	flowchart	flowchart	NOUN
ap-2449	111	2	for	for	ADP
ap-2449	111	3	improved	improved	ADJ
ap-2449	111	4	parameters	parameter	NOUN
ap-2449	111	5	for	for	ADP
ap-2449	111	6	membership	membership	NOUN
ap-2449	111	7	functions	function	NOUN
ap-2449	111	8	for	for	ADP
ap-2449	111	9	flc	flc	PROPN
ap-2449	111	10	-	-	ADJ
ap-2449	111	11	pso	pso	NOUN
ap-2449	111	12	controllers	controller	NOUN
ap-2449	111	13	.	.	PUNCT
ap-2449	112	1	274	274	NUM
ap-2449	112	2	vol	vol	NOUN
ap-2449	112	3	.	.	PUNCT
ap-2449	112	4	58	58	NUM
ap-2449	112	5	no	no	NOUN
ap-2449	112	6	.	.	PUNCT
ap-2449	113	1	5/2018	5/2018	NUM
ap-2449	113	2	intelligent	intelligent	ADJ
ap-2449	113	3	controller	controller	NOUN
ap-2449	113	4	for	for	ADP
ap-2449	113	5	tracking	track	VERB
ap-2449	113	6	a	a	DET
ap-2449	113	7	14	14	NUM
ap-2449	113	8	-	-	PUNCT
ap-2449	113	9	inch	inch	NOUN
ap-2449	113	10	celestron	celestron	NOUN
ap-2449	113	11	telescope	telescope	NOUN
ap-2449	113	12	eθ1	eθ1	PROPN
ap-2449	113	13	ėθ1	ėθ1	PROPN
ap-2449	113	14	torque	torque	NOUN
ap-2449	113	15	1	1	NUM
ap-2449	113	16	;	;	PUNCT
ap-2449	113	17	τ1	τ1	NOUN
ap-2449	113	18	parameters	parameter	NOUN
ap-2449	113	19	c1	c1	PROPN
ap-2449	113	20	,	,	PUNCT
ap-2449	113	21	σ1	σ1	PROPN
ap-2449	113	22	,	,	PUNCT
ap-2449	113	23	.	.	PUNCT
ap-2449	113	24	.	.	PUNCT
ap-2449	114	1	.	.	PUNCT
ap-2449	115	1	,	,	PUNCT
ap-2449	115	2	c5	c5	PROPN
ap-2449	115	3	,	,	PUNCT
ap-2449	115	4	σ5	σ5	PROPN
ap-2449	115	5	c1	c1	PROPN
ap-2449	115	6	,	,	PUNCT
ap-2449	115	7	σ1	σ1	PROPN
ap-2449	115	8	,	,	PUNCT
ap-2449	115	9	.	.	PUNCT
ap-2449	115	10	.	.	PUNCT
ap-2449	115	11	.	.	PUNCT
ap-2449	116	1	,	,	PUNCT
ap-2449	116	2	c5	c5	PROPN
ap-2449	116	3	,	,	PUNCT
ap-2449	116	4	σ5	σ5	PROPN
ap-2449	116	5	c1	c1	PROPN
ap-2449	116	6	,	,	PUNCT
ap-2449	116	7	σ1	σ1	PROPN
ap-2449	116	8	,	,	PUNCT
ap-2449	116	9	.	.	PUNCT
ap-2449	116	10	.	.	PUNCT
ap-2449	116	11	.	.	PUNCT
ap-2449	117	1	,	,	PUNCT
ap-2449	117	2	c5	c5	PROPN
ap-2449	117	3	,	,	PUNCT
ap-2449	117	4	σ5	σ5	PROPN
ap-2449	117	5	30	30	NUM
ap-2449	117	6	2×	2×	NUM
ap-2449	117	7	5	5	NUM
ap-2449	117	8	2×	2×	NUM
ap-2449	117	9	5	5	NUM
ap-2449	117	10	2×	2×	NUM
ap-2449	117	11	5	5	NUM
ap-2449	117	12	table	table	NOUN
ap-2449	117	13	2	2	NUM
ap-2449	117	14	.	.	PUNCT
ap-2449	117	15	optimized	optimize	VERB
ap-2449	117	16	parameters	parameter	NOUN
ap-2449	117	17	of	of	ADP
ap-2449	117	18	flc	flc	PROPN
ap-2449	117	19	-	-	NOUN
ap-2449	117	20	pso	pso	NOUN
ap-2449	117	21	for	for	ADP
ap-2449	117	22	ra	ra	PROPN
ap-2449	117	23	axis	axis	NOUN
ap-2449	117	24	.	.	PUNCT
ap-2449	117	25	eθ2	eθ2	VERB
ap-2449	118	1	ėθ2	ėθ2	ADJ
ap-2449	118	2	torque	torque	NOUN
ap-2449	118	3	2	2	NUM
ap-2449	118	4	;	;	PUNCT
ap-2449	118	5	τ2	τ2	NOUN
ap-2449	118	6	parameters	parameter	NOUN
ap-2449	118	7	c1	c1	PROPN
ap-2449	118	8	,	,	PUNCT
ap-2449	118	9	σ1	σ1	PROPN
ap-2449	118	10	,	,	PUNCT
ap-2449	118	11	.	.	PUNCT
ap-2449	118	12	.	.	PUNCT
ap-2449	118	13	.	.	PUNCT
ap-2449	119	1	,	,	PUNCT
ap-2449	119	2	c5	c5	PROPN
ap-2449	119	3	,	,	PUNCT
ap-2449	119	4	σ5	σ5	PROPN
ap-2449	119	5	c1	c1	PROPN
ap-2449	119	6	,	,	PUNCT
ap-2449	119	7	σ1	σ1	PROPN
ap-2449	119	8	,	,	PUNCT
ap-2449	119	9	.	.	PUNCT
ap-2449	119	10	.	.	PUNCT
ap-2449	119	11	.	.	PUNCT
ap-2449	120	1	,	,	PUNCT
ap-2449	120	2	c5	c5	PROPN
ap-2449	120	3	,	,	PUNCT
ap-2449	120	4	σ5	σ5	PROPN
ap-2449	120	5	c1	c1	PROPN
ap-2449	120	6	,	,	PUNCT
ap-2449	120	7	σ1	σ1	PROPN
ap-2449	120	8	,	,	PUNCT
ap-2449	120	9	.	.	PUNCT
ap-2449	120	10	.	.	PUNCT
ap-2449	120	11	.	.	PUNCT
ap-2449	121	1	,	,	PUNCT
ap-2449	121	2	c5	c5	PROPN
ap-2449	121	3	,	,	PUNCT
ap-2449	121	4	σ5	σ5	PROPN
ap-2449	121	5	30	30	NUM
ap-2449	121	6	2×	2×	NUM
ap-2449	121	7	5	5	NUM
ap-2449	121	8	2×	2×	NUM
ap-2449	121	9	5	5	NUM
ap-2449	121	10	2×	2×	NUM
ap-2449	121	11	5	5	NUM
ap-2449	121	12	table	table	NOUN
ap-2449	121	13	3	3	NUM
ap-2449	121	14	.	.	PUNCT
ap-2449	121	15	optimized	optimize	VERB
ap-2449	121	16	parameters	parameter	NOUN
ap-2449	121	17	of	of	ADP
ap-2449	121	18	flc	flc	PROPN
ap-2449	121	19	-	-	NOUN
ap-2449	121	20	pso	pso	NOUN
ap-2449	121	21	for	for	ADP
ap-2449	121	22	dec	dec	PROPN
ap-2449	121	23	axis	axis	NOUN
ap-2449	121	24	.	.	PUNCT
ap-2449	122	1	6	6	X
ap-2449	122	2	.	.	X
ap-2449	122	3	adaptive	adaptive	ADJ
ap-2449	122	4	fuzzy	fuzzy	ADJ
ap-2449	122	5	controllers	controller	NOUN
ap-2449	122	6	using	use	VERB
ap-2449	122	7	modified	modified	ADJ
ap-2449	122	8	pso	pso	NOUN
ap-2449	122	9	this	this	DET
ap-2449	122	10	section	section	NOUN
ap-2449	122	11	provides	provide	VERB
ap-2449	122	12	a	a	DET
ap-2449	122	13	brief	brief	ADJ
ap-2449	122	14	overview	overview	NOUN
ap-2449	122	15	of	of	ADP
ap-2449	122	16	the	the	DET
ap-2449	122	17	modified	modify	VERB
ap-2449	122	18	pso	pso	NOUN
ap-2449	122	19	control	control	NOUN
ap-2449	122	20	design	design	NOUN
ap-2449	122	21	and	and	CCONJ
ap-2449	122	22	fuzzy	fuzzy	ADJ
ap-2449	122	23	logic	logic	NOUN
ap-2449	122	24	controllers	controller	NOUN
ap-2449	122	25	.	.	PUNCT
ap-2449	123	1	the	the	DET
ap-2449	123	2	flc	flc	PROPN
ap-2449	123	3	-	-	NOUN
ap-2449	123	4	pso	pso	NOUN
ap-2449	123	5	,	,	PUNCT
ap-2449	123	6	using	use	VERB
ap-2449	123	7	an	an	DET
ap-2449	123	8	adaptive	adaptive	ADJ
ap-2449	123	9	afs	afs	NOUN
ap-2449	123	10	based	base	VERB
ap-2449	123	11	on	on	ADP
ap-2449	123	12	the	the	DET
ap-2449	123	13	pso	pso	NOUN
ap-2449	123	14	,	,	PUNCT
ap-2449	123	15	has	have	VERB
ap-2449	123	16	the	the	DET
ap-2449	123	17	same	same	ADJ
ap-2449	123	18	inputs	input	NOUN
ap-2449	123	19	and	and	CCONJ
ap-2449	123	20	outputs	output	NOUN
ap-2449	123	21	as	as	ADP
ap-2449	123	22	the	the	DET
ap-2449	123	23	sflc	sflc	NOUN
ap-2449	123	24	.	.	PUNCT
ap-2449	124	1	there	there	PRON
ap-2449	124	2	are	be	VERB
ap-2449	124	3	25	25	NUM
ap-2449	124	4	rules	rule	NOUN
ap-2449	124	5	for	for	ADP
ap-2449	124	6	flc	flc	PROPN
ap-2449	124	7	-	-	NOUN
ap-2449	124	8	pso	pso	NOUN
ap-2449	124	9	and	and	CCONJ
ap-2449	124	10	sflc	sflc	VERB
ap-2449	124	11	controllers	controller	NOUN
ap-2449	124	12	.	.	PUNCT
ap-2449	125	1	the	the	DET
ap-2449	125	2	rules	rule	NOUN
ap-2449	125	3	can	can	AUX
ap-2449	125	4	be	be	AUX
ap-2449	125	5	expressed	express	VERB
ap-2449	125	6	as	as	SCONJ
ap-2449	125	7	follows	follow	VERB
ap-2449	125	8	:	:	PUNCT
ap-2449	125	9	if	if	SCONJ
ap-2449	125	10	eθ	eθ	PROPN
ap-2449	125	11	is	be	AUX
ap-2449	125	12	ns	ns	ADJ
ap-2449	125	13	and	and	CCONJ
ap-2449	125	14	ėθ	ėθ	ADJ
ap-2449	125	15	is	be	AUX
ap-2449	125	16	z	z	PUNCT
ap-2449	125	17	then	then	ADV
ap-2449	125	18	τ	τ	PROPN
ap-2449	125	19	is	be	AUX
ap-2449	125	20	ns	ns	ADJ
ap-2449	125	21	.	.	PUNCT
ap-2449	126	1	there	there	PRON
ap-2449	126	2	are	be	VERB
ap-2449	126	3	30	30	NUM
ap-2449	126	4	parameters	parameter	NOUN
ap-2449	126	5	to	to	PART
ap-2449	126	6	be	be	AUX
ap-2449	126	7	optimized	optimize	VERB
ap-2449	126	8	for	for	ADP
ap-2449	126	9	each	each	DET
ap-2449	126	10	flc	flc	PROPN
ap-2449	126	11	-	-	ADJ
ap-2449	126	12	pso	pso	NOUN
ap-2449	126	13	controller	controller	NOUN
ap-2449	126	14	based	base	VERB
ap-2449	126	15	on	on	ADP
ap-2449	126	16	their	their	PRON
ap-2449	126	17	limitations	limitation	NOUN
ap-2449	126	18	,	,	PUNCT
ap-2449	126	19	to	to	PART
ap-2449	126	20	form	form	VERB
ap-2449	126	21	a	a	DET
ap-2449	126	22	set	set	NOUN
ap-2449	126	23	of	of	ADP
ap-2449	126	24	n	n	CCONJ
ap-2449	126	25	-	-	PUNCT
ap-2449	126	26	particles	particle	NOUN
ap-2449	126	27	.	.	PUNCT
ap-2449	127	1	the	the	DET
ap-2449	127	2	membership	membership	NOUN
ap-2449	127	3	functions	function	NOUN
ap-2449	127	4	(	(	PUNCT
ap-2449	127	5	mfs	mfs	PROPN
ap-2449	127	6	)	)	PUNCT
ap-2449	127	7	of	of	ADP
ap-2449	127	8	the	the	DET
ap-2449	127	9	flc	flc	PROPN
ap-2449	127	10	-	-	ADJ
ap-2449	127	11	pso	pso	NOUN
ap-2449	127	12	controller	controller	NOUN
ap-2449	127	13	are	be	AUX
ap-2449	127	14	represented	represent	VERB
ap-2449	127	15	by	by	ADP
ap-2449	127	16	the	the	DET
ap-2449	127	17	dotted	dotted	ADJ
ap-2449	127	18	lines	line	NOUN
ap-2449	127	19	shown	show	VERB
ap-2449	127	20	in	in	ADP
ap-2449	127	21	figure	figure	NOUN
ap-2449	127	22	3	3	NUM
ap-2449	127	23	.	.	PUNCT
ap-2449	127	24	tables	table	NOUN
ap-2449	127	25	2	2	NUM
ap-2449	127	26	and	and	CCONJ
ap-2449	127	27	3	3	NUM
ap-2449	127	28	show	show	VERB
ap-2449	127	29	the	the	DET
ap-2449	127	30	mfs	mfs	NOUN
ap-2449	127	31	of	of	ADP
ap-2449	127	32	the	the	DET
ap-2449	127	33	flc	flc	PROPN
ap-2449	127	34	-	-	ADJ
ap-2449	127	35	pso	pso	NOUN
ap-2449	127	36	controller	controller	NOUN
ap-2449	127	37	for	for	ADP
ap-2449	127	38	the	the	DET
ap-2449	127	39	ra	ra	PROPN
ap-2449	127	40	and	and	CCONJ
ap-2449	127	41	dec	dec	PROPN
ap-2449	127	42	axis	axis	NOUN
ap-2449	127	43	,	,	PUNCT
ap-2449	127	44	respectively	respectively	ADV
ap-2449	127	45	.	.	PUNCT
ap-2449	128	1	these	these	DET
ap-2449	128	2	60	60	NUM
ap-2449	128	3	parameters	parameter	NOUN
ap-2449	128	4	will	will	AUX
ap-2449	128	5	be	be	AUX
ap-2449	128	6	optimized	optimize	VERB
ap-2449	128	7	using	use	VERB
ap-2449	128	8	the	the	DET
ap-2449	128	9	mpso	mpso	NOUN
ap-2449	128	10	.	.	PUNCT
ap-2449	129	1	the	the	DET
ap-2449	129	2	flow	flow	NOUN
ap-2449	129	3	chart	chart	NOUN
ap-2449	129	4	explains	explain	VERB
ap-2449	129	5	the	the	DET
ap-2449	129	6	sequence	sequence	NOUN
ap-2449	129	7	of	of	ADP
ap-2449	129	8	steps	step	NOUN
ap-2449	129	9	to	to	PART
ap-2449	129	10	be	be	AUX
ap-2449	129	11	carried	carry	VERB
ap-2449	129	12	out	out	ADP
ap-2449	129	13	in	in	ADP
ap-2449	129	14	the	the	DET
ap-2449	129	15	pso	pso	NOUN
ap-2449	129	16	algorithm	algorithm	NOUN
ap-2449	129	17	.	.	PUNCT
ap-2449	130	1	figure	figure	NOUN
ap-2449	130	2	5	5	NUM
ap-2449	130	3	illustrates	illustrate	VERB
ap-2449	130	4	the	the	DET
ap-2449	130	5	flowchart	flowchart	NOUN
ap-2449	130	6	of	of	ADP
ap-2449	130	7	the	the	DET
ap-2449	130	8	improved	improved	ADJ
ap-2449	130	9	parameters	parameter	NOUN
ap-2449	130	10	for	for	ADP
ap-2449	130	11	membership	membership	NOUN
ap-2449	130	12	functions	function	NOUN
ap-2449	130	13	of	of	ADP
ap-2449	130	14	flc	flc	PROPN
ap-2449	130	15	-	-	ADJ
ap-2449	130	16	pso	pso	NOUN
ap-2449	130	17	controllers	controller	NOUN
ap-2449	130	18	for	for	ADP
ap-2449	130	19	ra	ra	PROPN
ap-2449	130	20	and	and	CCONJ
ap-2449	130	21	dec	dec	PROPN
ap-2449	130	22	axis	axis	NOUN
ap-2449	130	23	drives	drive	NOUN
ap-2449	130	24	.	.	PUNCT
ap-2449	131	1	the	the	DET
ap-2449	131	2	following	follow	VERB
ap-2449	131	3	steps	step	NOUN
ap-2449	131	4	explained	explain	VERB
ap-2449	131	5	details	detail	NOUN
ap-2449	131	6	of	of	ADP
ap-2449	131	7	optimizing	optimize	VERB
ap-2449	131	8	mfs	mfs	NOUN
ap-2449	131	9	parameters	parameter	NOUN
ap-2449	131	10	of	of	ADP
ap-2449	131	11	the	the	DET
ap-2449	131	12	fuzzy	fuzzy	ADJ
ap-2449	131	13	controllers	controller	NOUN
ap-2449	131	14	:	:	PUNCT
ap-2449	131	15	(	(	PUNCT
ap-2449	131	16	1	1	NUM
ap-2449	131	17	.	.	PUNCT
ap-2449	131	18	)	)	PUNCT
ap-2449	131	19	initialization	initialization	NOUN
ap-2449	131	20	.	.	PUNCT
ap-2449	132	1	initially	initially	ADV
ap-2449	132	2	,	,	PUNCT
ap-2449	132	3	the	the	DET
ap-2449	132	4	controllers	controller	NOUN
ap-2449	132	5	work	work	VERB
ap-2449	132	6	with	with	ADP
ap-2449	132	7	the	the	DET
ap-2449	132	8	parameters	parameter	NOUN
ap-2449	132	9	of	of	ADP
ap-2449	132	10	static	static	ADJ
ap-2449	132	11	fuzzy	fuzzy	ADJ
ap-2449	132	12	controllers	controller	NOUN
ap-2449	132	13	.	.	PUNCT
ap-2449	133	1	the	the	DET
ap-2449	133	2	acceptable	acceptable	ADJ
ap-2449	133	3	constraints	constraint	NOUN
ap-2449	133	4	for	for	ADP
ap-2449	133	5	each	each	DET
ap-2449	133	6	gaussian	gaussian	NOUN
ap-2449	133	7	mf	mf	NOUN
ap-2449	133	8	parameters	parameter	NOUN
ap-2449	133	9	center	center	PROPN
ap-2449	133	10	parameter	parameter	NOUN
ap-2449	133	11	(	(	PUNCT
ap-2449	133	12	∆c	∆c	NOUN
ap-2449	133	13	=	=	PUNCT
ap-2449	134	1	[	[	X
ap-2449	134	2	cmin	cmin	NOUN
ap-2449	134	3	,	,	PUNCT
ap-2449	134	4	cmax	cmax	NOUN
ap-2449	134	5	]	]	PUNCT
ap-2449	134	6	,	,	PUNCT
ap-2449	134	7	and	and	CCONJ
ap-2449	134	8	width	width	ADJ
ap-2449	134	9	parameter	parameter	NOUN
ap-2449	134	10	∆σ	∆σ	PROPN
ap-2449	134	11	=	=	PUNCT
ap-2449	135	1	[	[	X
ap-2449	135	2	σmin	σmin	X
ap-2449	135	3	,	,	PUNCT
ap-2449	135	4	σmax	σmax	NOUN
ap-2449	135	5	]	]	PUNCT
ap-2449	135	6	)	)	PUNCT
ap-2449	135	7	.	.	PUNCT
ap-2449	136	1	acceptable	acceptable	ADJ
ap-2449	136	2	restrictions	restriction	NOUN
ap-2449	136	3	are	be	AUX
ap-2449	136	4	determined	determine	VERB
ap-2449	136	5	using	use	VERB
ap-2449	136	6	the	the	DET
ap-2449	136	7	2nd	2nd	ADJ
ap-2449	136	8	order	order	NOUN
ap-2449	136	9	fuzzy	fuzzy	ADJ
ap-2449	136	10	sets	set	NOUN
ap-2449	136	11	method	method	NOUN
ap-2449	136	12	explained	explain	VERB
ap-2449	136	13	in	in	ADP
ap-2449	136	14	[	[	X
ap-2449	136	15	17	17	NUM
ap-2449	136	16	]	]	PUNCT
ap-2449	136	17	.	.	PUNCT
ap-2449	137	1	the	the	DET
ap-2449	137	2	whole	whole	ADJ
ap-2449	137	3	system	system	NOUN
ap-2449	137	4	operation	operation	NOUN
ap-2449	137	5	is	be	AUX
ap-2449	137	6	defined	define	VERB
ap-2449	137	7	based	base	VERB
ap-2449	137	8	on	on	ADP
ap-2449	137	9	traditional	traditional	ADJ
ap-2449	137	10	fuzzy	fuzzy	ADJ
ap-2449	137	11	controllers	controller	NOUN
ap-2449	137	12	(	(	PUNCT
ap-2449	137	13	sflcs	sflcs	NOUN
ap-2449	137	14	)	)	PUNCT
ap-2449	137	15	and	and	CCONJ
ap-2449	137	16	pso	pso	NOUN
ap-2449	137	17	parameters	parameter	NOUN
ap-2449	137	18	in	in	ADP
ap-2449	137	19	table	table	NOUN
ap-2449	137	20	4	4	NUM
ap-2449	137	21	.	.	PUNCT
ap-2449	138	1	(	(	PUNCT
ap-2449	138	2	2	2	NUM
ap-2449	138	3	.	.	PUNCT
ap-2449	138	4	)	)	PUNCT
ap-2449	138	5	generation	generation	NOUN
ap-2449	138	6	.	.	PUNCT
ap-2449	139	1	generate	generate	VERB
ap-2449	139	2	n	n	PRON
ap-2449	139	3	particles	particle	NOUN
ap-2449	139	4	randomly	randomly	ADV
ap-2449	139	5	within	within	ADP
ap-2449	139	6	the	the	DET
ap-2449	139	7	acceptable	acceptable	ADJ
ap-2449	139	8	limits	limit	NOUN
ap-2449	139	9	stating	state	VERB
ap-2449	139	10	at	at	ADP
ap-2449	139	11	time	time	NOUN
ap-2449	139	12	counter	counter	PROPN
ap-2449	139	13	t	t	PROPN
ap-2449	139	14	=	=	SYM
ap-2449	139	15	0	0	PROPN
ap-2449	139	16	,	,	PUNCT
ap-2449	139	17	{	{	PUNCT
ap-2449	139	18	xj(0	xj(0	PROPN
ap-2449	139	19	)	)	PUNCT
ap-2449	139	20	,	,	PUNCT
ap-2449	139	21	j	j	PROPN
ap-2449	139	22	=	=	SYM
ap-2449	139	23	1	1	NUM
ap-2449	139	24	,	,	PUNCT
ap-2449	139	25	.	.	PUNCT
ap-2449	139	26	.	.	PUNCT
ap-2449	140	1	.	.	PUNCT
ap-2449	140	2	,	,	PUNCT
ap-2449	141	1	n	n	CCONJ
ap-2449	141	2	}	}	PUNCT
ap-2449	141	3	,	,	PUNCT
ap-2449	141	4	and	and	CCONJ
ap-2449	141	5	velocity	velocity	NOUN
ap-2449	141	6	{	{	PUNCT
ap-2449	141	7	vj(0	vj(0	PROPN
ap-2449	141	8	)	)	PUNCT
ap-2449	141	9	,	,	PUNCT
ap-2449	142	1	j	j	PROPN
ap-2449	142	2	=	=	SYM
ap-2449	142	3	1	1	NUM
ap-2449	142	4	,	,	PUNCT
ap-2449	142	5	.	.	PUNCT
ap-2449	142	6	.	.	PUNCT
ap-2449	143	1	.	.	PUNCT
ap-2449	143	2	,	,	PUNCT
ap-2449	143	3	n	n	CCONJ
ap-2449	143	4	}	}	PUNCT
ap-2449	143	5	.	.	PUNCT
ap-2449	144	1	(	(	PUNCT
ap-2449	144	2	3	3	NUM
ap-2449	144	3	.	.	PUNCT
ap-2449	144	4	)	)	PUNCT
ap-2449	144	5	objective	objective	ADJ
ap-2449	144	6	function	function	NOUN
ap-2449	144	7	evaluation	evaluation	NOUN
ap-2449	144	8	determine	determine	VERB
ap-2449	144	9	the	the	DET
ap-2449	144	10	fitness	fitness	NOUN
ap-2449	144	11	function	function	NOUN
ap-2449	144	12	f	f	PROPN
ap-2449	144	13	for	for	ADP
ap-2449	144	14	each	each	DET
ap-2449	144	15	particle	particle	NOUN
ap-2449	144	16	in	in	ADP
ap-2449	144	17	the	the	DET
ap-2449	144	18	initial	initial	ADJ
ap-2449	144	19	population	population	NOUN
ap-2449	144	20	.	.	PUNCT
ap-2449	145	1	the	the	DET
ap-2449	145	2	parameters	parameter	NOUN
ap-2449	145	3	of	of	ADP
ap-2449	145	4	fuzzy	fuzzy	ADJ
ap-2449	145	5	sets	set	NOUN
ap-2449	145	6	(	(	PUNCT
ap-2449	145	7	vector	vector	NOUN
ap-2449	145	8	x	x	NOUN
ap-2449	145	9	)	)	PUNCT
ap-2449	145	10	are	be	AUX
ap-2449	145	11	used	use	VERB
ap-2449	145	12	to	to	PART
ap-2449	145	13	create	create	VERB
ap-2449	145	14	flc	flc	PROPN
ap-2449	145	15	-	-	ADJ
ap-2449	145	16	pso	pso	NOUN
ap-2449	145	17	controllers	controller	NOUN
ap-2449	145	18	for	for	ADP
ap-2449	145	19	the	the	DET
ap-2449	145	20	ra	ra	PROPN
ap-2449	145	21	axis	axis	NOUN
ap-2449	145	22	and	and	CCONJ
ap-2449	145	23	the	the	DET
ap-2449	145	24	dec	dec	PROPN
ap-2449	145	25	axis	axis	NOUN
ap-2449	145	26	.	.	PUNCT
ap-2449	146	1	the	the	DET
ap-2449	146	2	best	good	ADJ
ap-2449	146	3	initial	initial	ADJ
ap-2449	146	4	individuals	individual	NOUN
ap-2449	146	5	are	be	AUX
ap-2449	146	6	achieved	achieve	VERB
ap-2449	146	7	among	among	ADP
ap-2449	146	8	the	the	DET
ap-2449	146	9	population	population	NOUN
ap-2449	146	10	.	.	PUNCT
ap-2449	147	1	in	in	ADP
ap-2449	147	2	this	this	DET
ap-2449	147	3	article	article	NOUN
ap-2449	147	4	,	,	PUNCT
ap-2449	147	5	particles	particle	NOUN
ap-2449	147	6	number	number	NOUN
ap-2449	147	7	(	(	PUNCT
ap-2449	147	8	swarm	swarm	NOUN
ap-2449	147	9	size	size	NOUN
ap-2449	147	10	)	)	PUNCT
ap-2449	147	11	n	n	CCONJ
ap-2449	147	12	50	50	NUM
ap-2449	147	13	inertia	inertia	NOUN
ap-2449	147	14	weight	weight	NOUN
ap-2449	147	15	(	(	PUNCT
ap-2449	147	16	initial	initial	ADJ
ap-2449	147	17	value	value	NOUN
ap-2449	147	18	)	)	PUNCT
ap-2449	147	19	wmax	wmax	VERB
ap-2449	147	20	0.9	0.9	NUM
ap-2449	147	21	inertia	inertia	NOUN
ap-2449	147	22	weight	weight	NOUN
ap-2449	147	23	(	(	PUNCT
ap-2449	147	24	final	final	ADJ
ap-2449	147	25	value	value	NOUN
ap-2449	147	26	)	)	PUNCT
ap-2449	147	27	wmin	wmin	VERB
ap-2449	147	28	0.25	0.25	NUM
ap-2449	147	29	maximum	maximum	ADJ
ap-2449	147	30	number	number	NOUN
ap-2449	147	31	of	of	ADP
ap-2449	147	32	iterations	iteration	NOUN
ap-2449	147	33	tmax	tmax	ADP
ap-2449	147	34	40	40	NUM
ap-2449	147	35	acceleration	acceleration	NOUN
ap-2449	147	36	param	param	NOUN
ap-2449	147	37	.	.	PROPN
ap-2449	148	1	1	1	NUM
ap-2449	148	2	(	(	PUNCT
ap-2449	148	3	initial	initial	ADJ
ap-2449	148	4	value	value	NOUN
ap-2449	148	5	)	)	PUNCT
ap-2449	148	6	c1i	c1i	CCONJ
ap-2449	148	7	2	2	NUM
ap-2449	148	8	acceleration	acceleration	NOUN
ap-2449	148	9	param	param	NOUN
ap-2449	148	10	.	.	PROPN
ap-2449	149	1	2	2	NUM
ap-2449	149	2	(	(	PUNCT
ap-2449	149	3	initial	initial	ADJ
ap-2449	149	4	value	value	NOUN
ap-2449	149	5	)	)	PUNCT
ap-2449	149	6	c2i	c2i	PROPN
ap-2449	149	7	0.5	0.5	NUM
ap-2449	149	8	acceleration	acceleration	NOUN
ap-2449	149	9	param	param	NOUN
ap-2449	149	10	.	.	PROPN
ap-2449	150	1	1	1	NUM
ap-2449	150	2	(	(	PUNCT
ap-2449	150	3	final	final	ADJ
ap-2449	150	4	value	value	NOUN
ap-2449	150	5	)	)	PUNCT
ap-2449	150	6	c1f	c1f	VERB
ap-2449	150	7	0.5	0.5	NUM
ap-2449	150	8	acceleration	acceleration	NOUN
ap-2449	150	9	param	param	NOUN
ap-2449	150	10	.	.	PROPN
ap-2449	151	1	2	2	NUM
ap-2449	151	2	(	(	PUNCT
ap-2449	151	3	final	final	ADJ
ap-2449	151	4	value	value	NOUN
ap-2449	151	5	)	)	PUNCT
ap-2449	151	6	c2f	c2f	NOUN
ap-2449	151	7	2	2	NUM
ap-2449	151	8	maximum	maximum	ADJ
ap-2449	151	9	velocity	velocity	NOUN
ap-2449	151	10	v1max	v1max	PROPN
ap-2449	151	11	2.0	2.0	NUM
ap-2449	151	12	minimum	minimum	ADJ
ap-2449	151	13	velocity	velocity	NOUN
ap-2449	151	14	v1min	v1min	NOUN
ap-2449	151	15	−1.5	−1.5	PROPN
ap-2449	151	16	table	table	NOUN
ap-2449	151	17	4	4	NUM
ap-2449	151	18	.	.	PUNCT
ap-2449	151	19	pso	pso	NOUN
ap-2449	151	20	parameters	parameter	NOUN
ap-2449	151	21	.	.	PUNCT
ap-2449	152	1	integrated	integrate	VERB
ap-2449	152	2	time	time	NOUN
ap-2449	152	3	and	and	CCONJ
ap-2449	152	4	absolute	absolute	ADJ
ap-2449	152	5	error	error	NOUN
ap-2449	152	6	(	(	PUNCT
ap-2449	152	7	itae	itae	PROPN
ap-2449	152	8	)	)	PUNCT
ap-2449	152	9	is	be	AUX
ap-2449	152	10	used	use	VERB
ap-2449	152	11	as	as	ADP
ap-2449	152	12	an	an	DET
ap-2449	152	13	objective	objective	ADJ
ap-2449	152	14	function	function	NOUN
ap-2449	152	15	f	f	PROPN
ap-2449	153	1	=	=	SYM
ap-2449	153	2	∫	∫	PROPN
ap-2449	153	3	∞	∞	PROPN
ap-2449	153	4	0	0	NUM
ap-2449	153	5	t|e(t)|dt	t|e(t)|dt	NUM
ap-2449	153	6	,	,	PUNCT
ap-2449	153	7	(	(	PUNCT
ap-2449	153	8	7	7	X
ap-2449	153	9	)	)	PUNCT
ap-2449	153	10	where	where	SCONJ
ap-2449	153	11	e(t	e(t	NOUN
ap-2449	153	12	)	)	PUNCT
ap-2449	153	13	is	be	AUX
ap-2449	153	14	the	the	DET
ap-2449	153	15	position	position	NOUN
ap-2449	153	16	error	error	NOUN
ap-2449	153	17	in	in	ADP
ap-2449	153	18	the	the	DET
ap-2449	153	19	ra	ra	PROPN
ap-2449	153	20	and	and	CCONJ
ap-2449	153	21	dec	dec	PROPN
ap-2449	153	22	positions	position	NOUN
ap-2449	153	23	for	for	ADP
ap-2449	153	24	each	each	DET
ap-2449	153	25	flc	flc	PROPN
ap-2449	153	26	-	-	ADJ
ap-2449	153	27	pso	pso	NOUN
ap-2449	153	28	controller	controller	NOUN
ap-2449	153	29	such	such	ADJ
ap-2449	153	30	as	as	SCONJ
ap-2449	153	31	shown	show	VERB
ap-2449	153	32	in	in	ADP
ap-2449	153	33	figure	figure	NOUN
ap-2449	153	34	3	3	NUM
ap-2449	153	35	.	.	PUNCT
ap-2449	154	1	(	(	PUNCT
ap-2449	154	2	4	4	NUM
ap-2449	154	3	.	.	PUNCT
ap-2449	154	4	)	)	PUNCT
ap-2449	154	5	set	set	VERB
ap-2449	154	6	t	t	NOUN
ap-2449	154	7	=	=	PUNCT
ap-2449	154	8	t+	t+	NOUN
ap-2449	154	9	1	1	NUM
ap-2449	154	10	.	.	PUNCT
ap-2449	155	1	(	(	PUNCT
ap-2449	155	2	5	5	NUM
ap-2449	155	3	.	.	PUNCT
ap-2449	155	4	)	)	PUNCT
ap-2449	155	5	wight	wight	NOUN
ap-2449	155	6	updating	updating	NOUN
ap-2449	155	7	.	.	PUNCT
ap-2449	156	1	the	the	DET
ap-2449	156	2	new	new	ADJ
ap-2449	156	3	inertia	inertia	NOUN
ap-2449	156	4	weight	weight	NOUN
ap-2449	156	5	w(t	w(t	PROPN
ap-2449	156	6	)	)	PUNCT
ap-2449	156	7	will	will	AUX
ap-2449	156	8	be	be	AUX
ap-2449	156	9	w(t	w(t	PROPN
ap-2449	156	10	)	)	PUNCT
ap-2449	157	1	=	=	PRON
ap-2449	157	2	wmax	wmax	VERB
ap-2449	158	1	+	+	CCONJ
ap-2449	158	2	tmax	tmax	ADP
ap-2449	158	3	−	−	PROPN
ap-2449	158	4	t	t	NOUN
ap-2449	158	5	tmax	tmax	NOUN
ap-2449	158	6	(	(	PUNCT
ap-2449	158	7	wmax	wmax	PROPN
ap-2449	158	8	−	−	PROPN
ap-2449	158	9	wmin	wmin	NOUN
ap-2449	158	10	)	)	PUNCT
ap-2449	158	11	.	.	PUNCT
ap-2449	159	1	(	(	PUNCT
ap-2449	159	2	8)	8)	NUM
ap-2449	159	3	(	(	PUNCT
ap-2449	159	4	6	6	NUM
ap-2449	159	5	.	.	PUNCT
ap-2449	159	6	)	)	PUNCT
ap-2449	159	7	velocity	velocity	NOUN
ap-2449	159	8	updating	updating	NOUN
ap-2449	159	9	.	.	PUNCT
ap-2449	160	1	based	base	VERB
ap-2449	160	2	on	on	ADP
ap-2449	160	3	the	the	DET
ap-2449	160	4	global	global	ADJ
ap-2449	160	5	best	good	ADJ
ap-2449	160	6	and	and	CCONJ
ap-2449	160	7	individual	individual	ADJ
ap-2449	160	8	best	good	ADJ
ap-2449	160	9	of	of	ADP
ap-2449	160	10	each	each	DET
ap-2449	160	11	particle	particle	NOUN
ap-2449	160	12	,	,	PUNCT
ap-2449	160	13	the	the	DET
ap-2449	160	14	jth	jth	PROPN
ap-2449	160	15	particle	particle	NOUN
ap-2449	160	16	velocity	velocity	NOUN
ap-2449	160	17	is	be	AUX
ap-2449	160	18	updated	update	VERB
ap-2449	160	19	:	:	PUNCT
ap-2449	160	20	vj(t	vj(t	X
ap-2449	160	21	)	)	PUNCT
ap-2449	161	1	=	=	SYM
ap-2449	161	2	w(t)vj(t−1)+c1r1	w(t)vj(t−1)+c1r1	PROPN
ap-2449	161	3	(	(	PUNCT
ap-2449	161	4	x∗j	x∗j	PROPN
ap-2449	161	5	(	(	PUNCT
ap-2449	161	6	t−1)−xj(t−1	t−1)−xj(t−1	NUM
ap-2449	161	7	)	)	PUNCT
ap-2449	161	8	)	)	PUNCT
ap-2449	162	1	+	+	CCONJ
ap-2449	162	2	c2r2	c2r2	X
ap-2449	162	3	(	(	PUNCT
ap-2449	162	4	x∗∗j	x∗∗j	PROPN
ap-2449	162	5	(	(	PUNCT
ap-2449	162	6	t−	t−	PROPN
ap-2449	162	7	1)−	1)−	PROPN
ap-2449	162	8	xj(t−	xj(t−	PROPN
ap-2449	162	9	1	1	NUM
ap-2449	162	10	)	)	PUNCT
ap-2449	162	11	)	)	PUNCT
ap-2449	162	12	,	,	PUNCT
ap-2449	162	13	(	(	PUNCT
ap-2449	162	14	9	9	X
ap-2449	162	15	)	)	PUNCT
ap-2449	162	16	where	where	SCONJ
ap-2449	162	17	r1	r1	PROPN
ap-2449	162	18	and	and	CCONJ
ap-2449	162	19	r2	r2	PROPN
ap-2449	162	20	are	be	AUX
ap-2449	162	21	random	random	ADJ
ap-2449	162	22	numbers	number	NOUN
ap-2449	162	23	in	in	ADP
ap-2449	162	24	[	[	X
ap-2449	162	25	0	0	NUM
ap-2449	162	26	,	,	PUNCT
ap-2449	162	27	1	1	NUM
ap-2449	162	28	]	]	PUNCT
ap-2449	162	29	,	,	PUNCT
ap-2449	162	30	c1	c1	PROPN
ap-2449	162	31	and	and	CCONJ
ap-2449	162	32	c2	c2	PROPN
ap-2449	162	33	are	be	AUX
ap-2449	162	34	the	the	DET
ap-2449	162	35	acceleration	acceleration	NOUN
ap-2449	162	36	parameters	parameter	NOUN
ap-2449	162	37	varying	vary	VERB
ap-2449	162	38	with	with	ADP
ap-2449	162	39	the	the	DET
ap-2449	162	40	iteration	iteration	NOUN
ap-2449	162	41	index	index	NOUN
ap-2449	162	42	based	base	VERB
ap-2449	162	43	on	on	ADP
ap-2449	162	44	the	the	DET
ap-2449	162	45	pso	pso	NOUN
ap-2449	162	46	improvements	improvement	NOUN
ap-2449	162	47	described	describe	VERB
ap-2449	162	48	in	in	ADP
ap-2449	162	49	(	(	PUNCT
ap-2449	162	50	5	5	NUM
ap-2449	162	51	)	)	PUNCT
ap-2449	162	52	and	and	CCONJ
ap-2449	162	53	(	(	PUNCT
ap-2449	162	54	6	6	NUM
ap-2449	162	55	)	)	PUNCT
ap-2449	162	56	.	.	PUNCT
ap-2449	163	1	(	(	PUNCT
ap-2449	163	2	7	7	NUM
ap-2449	163	3	.	.	PUNCT
ap-2449	163	4	)	)	PUNCT
ap-2449	163	5	position	position	NOUN
ap-2449	163	6	updating	updating	NOUN
ap-2449	163	7	.	.	PUNCT
ap-2449	164	1	updated	update	VERB
ap-2449	164	2	velocities	velocity	NOUN
ap-2449	164	3	will	will	AUX
ap-2449	164	4	change	change	VERB
ap-2449	164	5	each	each	DET
ap-2449	164	6	particle	particle	NOUN
ap-2449	164	7	to	to	ADP
ap-2449	164	8	its	its	PRON
ap-2449	164	9	position	position	NOUN
ap-2449	164	10	:	:	PUNCT
ap-2449	164	11	xj(t	xj(t	NUM
ap-2449	164	12	)	)	PUNCT
ap-2449	165	1	=	=	PUNCT
ap-2449	165	2	xj(t−	xj(t−	PROPN
ap-2449	166	1	1	1	X
ap-2449	166	2	)	)	PUNCT
ap-2449	166	3	+	+	NUM
ap-2449	167	1	vj(t	vj(t	NUM
ap-2449	167	2	)	)	PUNCT
ap-2449	167	3	.	.	PUNCT
ap-2449	168	1	(	(	PUNCT
ap-2449	168	2	10	10	NUM
ap-2449	168	3	)	)	PUNCT
ap-2449	168	4	275	275	NUM
ap-2449	168	5	abdel	abdel	NOUN
ap-2449	168	6	-	-	PUNCT
ap-2449	168	7	fattah	fattah	PROPN
ap-2449	168	8	attia	attia	PROPN
ap-2449	168	9	acta	acta	PROPN
ap-2449	168	10	polytechnica	polytechnica	PROPN
ap-2449	168	11	figure	figure	NOUN
ap-2449	168	12	6	6	NUM
ap-2449	168	13	.	.	PUNCT
ap-2449	168	14	convergence	convergence	NOUN
ap-2449	168	15	properties	property	NOUN
ap-2449	168	16	of	of	ADP
ap-2449	168	17	the	the	DET
ap-2449	168	18	proposed	propose	VERB
ap-2449	168	19	mpso	mpso	ADJ
ap-2449	168	20	algorithm	algorithm	NOUN
ap-2449	168	21	:	:	PUNCT
ap-2449	168	22	itae	itae	PROPN
ap-2449	168	23	criterion	criterion	NOUN
ap-2449	168	24	case	case	NOUN
ap-2449	168	25	.	.	PUNCT
ap-2449	169	1	transient	transient	ADJ
ap-2449	169	2	response	response	NOUN
ap-2449	169	3	flc	flc	PROPN
ap-2449	169	4	-	-	NOUN
ap-2449	169	5	pso	pso	NOUN
ap-2449	169	6	sflc	sflc	VERB
ap-2449	169	7	pid	pid	ADJ
ap-2449	169	8	-	-	ADJ
ap-2449	169	9	pso	pso	ADJ
ap-2449	169	10	classical	classical	ADJ
ap-2449	169	11	pid	pid	NOUN
ap-2449	169	12	characteristics	characteristic	NOUN
ap-2449	169	13	ra	ra	PROPN
ap-2449	169	14	dec	dec	PROPN
ap-2449	169	15	ra	ra	PROPN
ap-2449	170	1	dec	dec	PROPN
ap-2449	170	2	ra	ra	PROPN
ap-2449	170	3	dec	dec	PROPN
ap-2449	170	4	ra	ra	PROPN
ap-2449	170	5	dec	dec	PROPN
ap-2449	170	6	rise	rise	NOUN
ap-2449	170	7	time	time	NOUN
ap-2449	170	8	(	(	PUNCT
ap-2449	170	9	sec	sec	PROPN
ap-2449	170	10	)	)	PUNCT
ap-2449	170	11	0.3355	0.3355	NUM
ap-2449	170	12	0.33	0.33	NUM
ap-2449	170	13	0.439	0.439	NUM
ap-2449	170	14	0.395	0.395	NUM
ap-2449	170	15	0.0625	0.0625	NUM
ap-2449	170	16	0.061	0.061	NUM
ap-2449	170	17	0.9755	0.9755	NUM
ap-2449	170	18	0.98	0.98	NUM
ap-2449	170	19	settling	settling	NOUN
ap-2449	170	20	time	time	NOUN
ap-2449	170	21	(	(	PUNCT
ap-2449	170	22	sec	sec	PROPN
ap-2449	170	23	)	)	PUNCT
ap-2449	170	24	0.75	0.75	NUM
ap-2449	170	25	0.6	0.6	NUM
ap-2449	170	26	0.9	0.9	NUM
ap-2449	170	27	0.65	0.65	NUM
ap-2449	170	28	0.4	0.4	NUM
ap-2449	170	29	0.35	0.35	NUM
ap-2449	170	30	2.6	2.6	NUM
ap-2449	170	31	2.25	2.25	NUM
ap-2449	170	32	peak	peak	NOUN
ap-2449	170	33	time	time	NOUN
ap-2449	170	34	(	(	PUNCT
ap-2449	170	35	sec	sec	PROPN
ap-2449	170	36	)	)	PUNCT
ap-2449	170	37	–	–	PUNCT
ap-2449	170	38	–	–	PUNCT
ap-2449	170	39	–	–	PUNCT
ap-2449	170	40	–	–	PUNCT
ap-2449	170	41	0.11	0.11	NUM
ap-2449	170	42	0.103	0.103	NUM
ap-2449	170	43	–	–	PUNCT
ap-2449	170	44	–	–	PUNCT
ap-2449	170	45	maximum	maximum	ADJ
ap-2449	170	46	overshoot	overshoot	NOUN
ap-2449	170	47	0	0	NUM
ap-2449	170	48	0	0	NUM
ap-2449	170	49	0	0	NUM
ap-2449	170	50	0	0	NUM
ap-2449	170	51	22.2	22.2	NUM
ap-2449	170	52	%	%	NOUN
ap-2449	170	53	20.0	20.0	NUM
ap-2449	170	54	%	%	NOUN
ap-2449	170	55	0	0	SYM
ap-2449	170	56	0	0	NUM
ap-2449	170	57	table	table	NOUN
ap-2449	170	58	5	5	NUM
ap-2449	170	59	.	.	PUNCT
ap-2449	171	1	transient	transient	ADJ
ap-2449	171	2	response	response	NOUN
ap-2449	171	3	characteristics	characteristic	NOUN
ap-2449	171	4	for	for	ADP
ap-2449	171	5	ra	ra	PROPN
ap-2449	171	6	&	&	CCONJ
ap-2449	171	7	dec	dec	PROPN
ap-2449	171	8	axis	axis	PROPN
ap-2449	171	9	controllers	controller	NOUN
ap-2449	171	10	’	'	PUNCT
ap-2449	171	11	schemes	scheme	NOUN
ap-2449	171	12	.	.	PUNCT
ap-2449	172	1	(	(	PUNCT
ap-2449	172	2	8	8	NUM
ap-2449	172	3	.	.	PUNCT
ap-2449	172	4	)	)	PUNCT
ap-2449	173	1	best	good	ADJ
ap-2449	173	2	individual	individual	ADJ
ap-2449	173	3	update	update	NOUN
ap-2449	173	4	.	.	PUNCT
ap-2449	174	1	evaluate	evaluate	VERB
ap-2449	174	2	each	each	DET
ap-2449	174	3	object	object	NOUN
ap-2449	174	4	according	accord	VERB
ap-2449	174	5	to	to	ADP
ap-2449	174	6	the	the	DET
ap-2449	174	7	updated	update	VERB
ap-2449	174	8	location	location	NOUN
ap-2449	174	9	using	use	VERB
ap-2449	174	10	the	the	DET
ap-2449	174	11	objective	objective	ADJ
ap-2449	174	12	function	function	NOUN
ap-2449	174	13	in	in	ADP
ap-2449	174	14	(	(	PUNCT
ap-2449	174	15	7	7	NUM
ap-2449	174	16	)	)	PUNCT
ap-2449	174	17	.	.	PUNCT
ap-2449	175	1	if	if	SCONJ
ap-2449	175	2	fj	fj	PROPN
ap-2449	175	3	<	<	X
ap-2449	175	4	f∗j	f∗j	PROPN
ap-2449	175	5	,	,	PUNCT
ap-2449	175	6	j	j	PROPN
ap-2449	175	7	=	=	SYM
ap-2449	175	8	1	1	NUM
ap-2449	175	9	,	,	PUNCT
ap-2449	175	10	.	.	PUNCT
ap-2449	175	11	.	.	PUNCT
ap-2449	176	1	.	.	PUNCT
ap-2449	177	1	,	,	PUNCT
ap-2449	178	1	n	n	CCONJ
ap-2449	178	2	,	,	PUNCT
ap-2449	178	3	then	then	ADV
ap-2449	178	4	update	update	VERB
ap-2449	178	5	individual	individual	ADJ
ap-2449	178	6	best	good	ADJ
ap-2449	178	7	as	as	ADP
ap-2449	178	8	x∗j	x∗j	PROPN
ap-2449	178	9	(	(	PUNCT
ap-2449	178	10	t	t	PROPN
ap-2449	178	11	)	)	PUNCT
ap-2449	178	12	=	=	SYM
ap-2449	178	13	xj(t	xj(t	PUNCT
ap-2449	178	14	)	)	PUNCT
ap-2449	178	15	and	and	CCONJ
ap-2449	178	16	f∗j	f∗j	NUM
ap-2449	178	17	=	=	SYM
ap-2449	178	18	fj	fj	PROPN
ap-2449	178	19	and	and	CCONJ
ap-2449	178	20	go	go	VERB
ap-2449	178	21	to	to	PART
ap-2449	178	22	step	step	VERB
ap-2449	178	23	9	9	NUM
ap-2449	178	24	;	;	PUNCT
ap-2449	178	25	else	else	ADV
ap-2449	178	26	go	go	VERB
ap-2449	178	27	to	to	PART
ap-2449	178	28	step	step	VERB
ap-2449	178	29	9	9	NUM
ap-2449	178	30	.	.	PUNCT
ap-2449	179	1	(	(	PUNCT
ap-2449	179	2	9	9	NUM
ap-2449	179	3	.	.	PUNCT
ap-2449	179	4	)	)	PUNCT
ap-2449	180	1	global	global	ADJ
ap-2449	180	2	best	good	ADJ
ap-2449	180	3	updating	updating	NOUN
ap-2449	180	4	.	.	PUNCT
ap-2449	181	1	looks	look	VERB
ap-2449	181	2	for	for	ADP
ap-2449	181	3	the	the	DET
ap-2449	181	4	minimum	minimum	ADJ
ap-2449	181	5	value	value	NOUN
ap-2449	181	6	of	of	ADP
ap-2449	181	7	fmin	fmin	NOUN
ap-2449	181	8	around	around	ADP
ap-2449	181	9	f∗	f∗	NOUN
ap-2449	181	10	,	,	PUNCT
ap-2449	181	11	where	where	SCONJ
ap-2449	181	12	min	min	NOUN
ap-2449	181	13	is	be	AUX
ap-2449	181	14	the	the	DET
ap-2449	181	15	index	index	NOUN
ap-2449	181	16	of	of	ADP
ap-2449	181	17	the	the	DET
ap-2449	181	18	particle	particle	NOUN
ap-2449	181	19	with	with	ADP
ap-2449	181	20	minimum	minimum	ADJ
ap-2449	181	21	objective	objective	ADJ
ap-2449	181	22	function	function	NOUN
ap-2449	181	23	,	,	PUNCT
ap-2449	181	24	i.e.	i.e.	X
ap-2449	181	25	,	,	PUNCT
ap-2449	181	26	min	min	PROPN
ap-2449	181	27	∈	∈	PROPN
ap-2449	181	28	{	{	PUNCT
ap-2449	181	29	1	1	NUM
ap-2449	181	30	,	,	PUNCT
ap-2449	181	31	.	.	PUNCT
ap-2449	181	32	.	.	PUNCT
ap-2449	182	1	.	.	PUNCT
ap-2449	183	1	,	,	PUNCT
ap-2449	183	2	n	n	CCONJ
ap-2449	183	3	}	}	PUNCT
ap-2449	183	4	if	if	SCONJ
ap-2449	183	5	fmin	fmin	NOUN
ap-2449	183	6	<	<	X
ap-2449	183	7	f∗∗	f∗∗	X
ap-2449	183	8	,	,	PUNCT
ap-2449	183	9	then	then	ADV
ap-2449	183	10	update	update	VERB
ap-2449	183	11	the	the	DET
ap-2449	183	12	globally	globally	ADV
ap-2449	183	13	best	good	ADJ
ap-2449	183	14	as	as	ADP
ap-2449	183	15	x∗∗(t	x∗∗(t	NOUN
ap-2449	183	16	)	)	PUNCT
ap-2449	183	17	=	=	SYM
ap-2449	183	18	xmin(t	xmin(t	PROPN
ap-2449	183	19	)	)	PUNCT
ap-2449	183	20	and	and	CCONJ
ap-2449	183	21	f∗∗(t	f∗∗(t	PROPN
ap-2449	183	22	)	)	PUNCT
ap-2449	183	23	=	=	SYM
ap-2449	183	24	fmin(t	fmin(t	NOUN
ap-2449	183	25	)	)	PUNCT
ap-2449	183	26	and	and	CCONJ
ap-2449	183	27	go	go	VERB
ap-2449	183	28	to	to	PART
ap-2449	183	29	step	step	VERB
ap-2449	183	30	10	10	NUM
ap-2449	183	31	;	;	PUNCT
ap-2449	183	32	else	else	ADV
ap-2449	183	33	go	go	VERB
ap-2449	183	34	to	to	PART
ap-2449	183	35	step	step	VERB
ap-2449	183	36	10	10	NUM
ap-2449	183	37	.	.	PUNCT
ap-2449	184	1	(	(	PUNCT
ap-2449	184	2	10	10	NUM
ap-2449	184	3	.	.	PUNCT
ap-2449	184	4	)	)	PUNCT
ap-2449	184	5	stopping	stop	VERB
ap-2449	184	6	criteria	criterion	NOUN
ap-2449	184	7	.	.	PUNCT
ap-2449	185	1	the	the	DET
ap-2449	185	2	particle	particle	NOUN
ap-2449	185	3	swarm	swarm	NOUN
ap-2449	185	4	is	be	AUX
ap-2449	185	5	repeated	repeat	VERB
ap-2449	185	6	until	until	SCONJ
ap-2449	185	7	it	it	PRON
ap-2449	185	8	reaches	reach	VERB
ap-2449	185	9	the	the	DET
ap-2449	185	10	stop	stop	NOUN
ap-2449	185	11	criterion	criterion	NOUN
ap-2449	185	12	or	or	CCONJ
ap-2449	185	13	reaches	reach	VERB
ap-2449	185	14	the	the	DET
ap-2449	185	15	maximum	maximum	ADJ
ap-2449	185	16	iterations	iteration	NOUN
ap-2449	185	17	.	.	PUNCT
ap-2449	186	1	7	7	X
ap-2449	186	2	.	.	NOUN
ap-2449	186	3	results	result	NOUN
ap-2449	186	4	and	and	CCONJ
ap-2449	186	5	discussions	discussion	NOUN
ap-2449	186	6	the	the	DET
ap-2449	186	7	efficiency	efficiency	NOUN
ap-2449	186	8	of	of	ADP
ap-2449	186	9	the	the	DET
ap-2449	186	10	proposed	propose	VERB
ap-2449	186	11	control	control	NOUN
ap-2449	186	12	schemes	scheme	NOUN
ap-2449	186	13	are	be	AUX
ap-2449	186	14	validated	validate	VERB
ap-2449	186	15	with	with	ADP
ap-2449	186	16	different	different	ADJ
ap-2449	186	17	simulation	simulation	NOUN
ap-2449	186	18	computations	computation	NOUN
ap-2449	186	19	performed	perform	VERB
ap-2449	186	20	.	.	PUNCT
ap-2449	187	1	figure	figure	NOUN
ap-2449	187	2	6	6	NUM
ap-2449	187	3	illustrates	illustrate	VERB
ap-2449	187	4	the	the	DET
ap-2449	187	5	fitness	fitness	NOUN
ap-2449	187	6	curve	curve	NOUN
ap-2449	187	7	for	for	ADP
ap-2449	187	8	the	the	DET
ap-2449	187	9	pid	pid	NOUN
ap-2449	187	10	-	-	NOUN
ap-2449	187	11	pso	pso	NOUN
ap-2449	187	12	and	and	CCONJ
ap-2449	187	13	flc	flc	PROPN
ap-2449	187	14	-	-	ADJ
ap-2449	187	15	pso	pso	NOUN
ap-2449	187	16	controllers	controller	NOUN
ap-2449	187	17	.	.	PUNCT
ap-2449	188	1	the	the	DET
ap-2449	188	2	pid	pid	ADJ
ap-2449	188	3	-	-	PUNCT
ap-2449	188	4	pso	pso	NOUN
ap-2449	188	5	fitness	fitness	NOUN
ap-2449	188	6	curve	curve	NOUN
ap-2449	188	7	is	be	AUX
ap-2449	188	8	faster	fast	ADJ
ap-2449	188	9	than	than	ADP
ap-2449	188	10	the	the	DET
ap-2449	188	11	fitness	fitness	NOUN
ap-2449	188	12	curve	curve	NOUN
ap-2449	188	13	of	of	ADP
ap-2449	188	14	the	the	DET
ap-2449	188	15	flc	flc	PROPN
ap-2449	188	16	-	-	PUNCT
ap-2449	188	17	pso	pso	NOUN
ap-2449	188	18	controllers	controller	NOUN
ap-2449	188	19	.	.	PUNCT
ap-2449	189	1	the	the	DET
ap-2449	189	2	optimized	optimize	VERB
ap-2449	189	3	gaussian	gaussian	ADJ
ap-2449	189	4	fuzzy	fuzzy	ADJ
ap-2449	189	5	sets	set	NOUN
ap-2449	189	6	for	for	ADP
ap-2449	189	7	the	the	DET
ap-2449	189	8	flc	flc	PROPN
ap-2449	189	9	-	-	ADJ
ap-2449	189	10	pso	pso	NOUN
ap-2449	189	11	controllers	controller	NOUN
ap-2449	189	12	are	be	AUX
ap-2449	189	13	shown	show	VERB
ap-2449	189	14	in	in	ADP
ap-2449	189	15	figure	figure	NOUN
ap-2449	189	16	3	3	NUM
ap-2449	189	17	as	as	ADP
ap-2449	189	18	dashed	dash	VERB
ap-2449	189	19	lines	line	NOUN
ap-2449	189	20	.	.	PUNCT
ap-2449	190	1	the	the	DET
ap-2449	190	2	optimized	optimize	VERB
ap-2449	190	3	pid	pid	NOUN
ap-2449	190	4	coefficients	coefficient	NOUN
ap-2449	190	5	are	be	AUX
ap-2449	190	6	shown	show	VERB
ap-2449	190	7	in	in	ADP
ap-2449	190	8	table	table	NOUN
ap-2449	190	9	5	5	NUM
ap-2449	190	10	.	.	PUNCT
ap-2449	191	1	the	the	DET
ap-2449	191	2	results	result	NOUN
ap-2449	191	3	of	of	ADP
ap-2449	191	4	position	position	NOUN
ap-2449	191	5	responses	response	NOUN
ap-2449	191	6	and	and	CCONJ
ap-2449	191	7	velocity	velocity	NOUN
ap-2449	191	8	responses	response	NOUN
ap-2449	191	9	for	for	ADP
ap-2449	191	10	ra	ra	PROPN
ap-2449	191	11	&	&	CCONJ
ap-2449	191	12	dec	dec	PROPN
ap-2449	191	13	coordinates	coordinate	NOUN
ap-2449	191	14	are	be	AUX
ap-2449	191	15	shown	show	VERB
ap-2449	191	16	in	in	ADP
ap-2449	191	17	figures	figure	NOUN
ap-2449	191	18	7	7	NUM
ap-2449	191	19	and	and	CCONJ
ap-2449	191	20	8	8	NUM
ap-2449	191	21	.	.	PUNCT
ap-2449	192	1	after	after	ADP
ap-2449	192	2	defining	define	VERB
ap-2449	192	3	the	the	DET
ap-2449	192	4	control	control	NOUN
ap-2449	192	5	parameters	parameter	NOUN
ap-2449	192	6	,	,	PUNCT
ap-2449	192	7	such	such	ADJ
ap-2449	192	8	as	as	ADP
ap-2449	192	9	stability	stability	NOUN
ap-2449	192	10	,	,	PUNCT
ap-2449	192	11	settling	settle	VERB
ap-2449	192	12	time	time	NOUN
ap-2449	192	13	,	,	PUNCT
ap-2449	192	14	overshoot	overshoot	NOUN
ap-2449	192	15	,	,	PUNCT
ap-2449	192	16	fitness	fitness	NOUN
ap-2449	192	17	value	value	NOUN
ap-2449	192	18	,	,	PUNCT
ap-2449	192	19	convergence	convergence	NOUN
ap-2449	192	20	iteration	iteration	NOUN
ap-2449	192	21	,	,	PUNCT
ap-2449	192	22	running	run	VERB
ap-2449	192	23	time	time	NOUN
ap-2449	192	24	and	and	CCONJ
ap-2449	192	25	the	the	DET
ap-2449	192	26	pid	pid	NOUN
ap-2449	192	27	parameters	parameter	NOUN
ap-2449	192	28	for	for	ADP
ap-2449	192	29	mpso	mpso	ADJ
ap-2449	192	30	optimization	optimization	NOUN
ap-2449	192	31	method	method	NOUN
ap-2449	192	32	,	,	PUNCT
ap-2449	192	33	they	they	PRON
ap-2449	192	34	were	be	AUX
ap-2449	192	35	illustrated	illustrate	VERB
ap-2449	192	36	in	in	ADP
ap-2449	192	37	figure	figure	NOUN
ap-2449	192	38	7	7	NUM
ap-2449	192	39	.	.	PUNCT
ap-2449	193	1	the	the	DET
ap-2449	193	2	proposed	propose	VERB
ap-2449	193	3	flc	flc	PROPN
ap-2449	193	4	-	-	ADJ
ap-2449	193	5	pso	pso	NOUN
ap-2449	193	6	controllers	controller	NOUN
ap-2449	193	7	provide	provide	VERB
ap-2449	193	8	a	a	DET
ap-2449	193	9	better	well	ADJ
ap-2449	193	10	dynamic	dynamic	ADJ
ap-2449	193	11	response	response	NOUN
ap-2449	193	12	compared	compare	VERB
ap-2449	193	13	to	to	ADP
ap-2449	193	14	the	the	DET
ap-2449	193	15	pid	pid	ADJ
ap-2449	193	16	-	-	PUNCT
ap-2449	193	17	pso	pso	NOUN
ap-2449	193	18	controllers	controller	NOUN
ap-2449	193	19	.	.	PUNCT
ap-2449	194	1	table	table	NOUN
ap-2449	194	2	5	5	NUM
ap-2449	194	3	shows	show	VERB
ap-2449	194	4	the	the	DET
ap-2449	194	5	comparisons	comparison	NOUN
ap-2449	194	6	of	of	ADP
ap-2449	194	7	the	the	DET
ap-2449	194	8	control	control	NOUN
ap-2449	194	9	specification	specification	NOUN
ap-2449	194	10	for	for	ADP
ap-2449	194	11	the	the	DET
ap-2449	194	12	flc	flc	PROPN
ap-2449	194	13	-	-	NOUN
ap-2449	194	14	pso	pso	NOUN
ap-2449	194	15	,	,	PUNCT
ap-2449	194	16	sflc	sflc	VERB
ap-2449	194	17	,	,	PUNCT
ap-2449	194	18	pid	pid	NOUN
ap-2449	194	19	-	-	ADJ
ap-2449	194	20	pso	pso	ADJ
ap-2449	194	21	and	and	CCONJ
ap-2449	194	22	classical	classical	ADJ
ap-2449	194	23	controllers	controller	NOUN
ap-2449	194	24	.	.	PUNCT
ap-2449	195	1	the	the	DET
ap-2449	195	2	results	result	NOUN
ap-2449	195	3	shown	show	VERB
ap-2449	195	4	in	in	ADP
ap-2449	195	5	table	table	NOUN
ap-2449	195	6	5	5	NUM
ap-2449	195	7	and	and	CCONJ
ap-2449	195	8	figure	figure	VERB
ap-2449	195	9	7	7	NUM
ap-2449	195	10	show	show	NOUN
ap-2449	195	11	that	that	SCONJ
ap-2449	195	12	the	the	DET
ap-2449	195	13	system	system	NOUN
ap-2449	195	14	with	with	ADP
ap-2449	195	15	the	the	DET
ap-2449	195	16	static	static	ADJ
ap-2449	195	17	fuzzy	fuzzy	ADJ
ap-2449	195	18	controller	controller	NOUN
ap-2449	195	19	(	(	PUNCT
ap-2449	195	20	sflc	sflc	PROPN
ap-2449	195	21	)	)	PUNCT
ap-2449	195	22	increased	increase	VERB
ap-2449	195	23	by	by	ADP
ap-2449	195	24	0.439	0.439	NUM
ap-2449	195	25	seconds	second	NOUN
ap-2449	195	26	and	and	CCONJ
ap-2449	195	27	0.395	0.395	NUM
ap-2449	195	28	seconds	second	NOUN
ap-2449	195	29	in	in	ADP
ap-2449	195	30	response	response	NOUN
ap-2449	195	31	to	to	ADP
ap-2449	195	32	changes	change	NOUN
ap-2449	195	33	in	in	ADP
ap-2449	195	34	the	the	DET
ap-2449	195	35	ra	ra	PROPN
ap-2449	195	36	and	and	CCONJ
ap-2449	195	37	dec	dec	PROPN
ap-2449	195	38	positions	position	NOUN
ap-2449	195	39	,	,	PUNCT
ap-2449	195	40	respectively	respectively	ADV
ap-2449	195	41	.	.	PUNCT
ap-2449	196	1	when	when	SCONJ
ap-2449	196	2	using	use	VERB
ap-2449	196	3	the	the	DET
ap-2449	196	4	flc	flc	ADJ
ap-2449	196	5	-	-	ADJ
ap-2449	196	6	pso	pso	NOUN
ap-2449	196	7	controllers	controller	NOUN
ap-2449	196	8	for	for	ADP
ap-2449	196	9	the	the	DET
ap-2449	196	10	telescope	telescope	NOUN
ap-2449	196	11	movements	movement	NOUN
ap-2449	196	12	,	,	PUNCT
ap-2449	196	13	the	the	DET
ap-2449	196	14	rise	rise	NOUN
ap-2449	196	15	and	and	CCONJ
ap-2449	196	16	settling	settling	NOUN
ap-2449	196	17	time	time	NOUN
ap-2449	196	18	are	be	AUX
ap-2449	196	19	0.3355	0.3355	NUM
ap-2449	196	20	sec	sec	PROPN
ap-2449	196	21	and	and	CCONJ
ap-2449	196	22	0.33	0.33	NUM
ap-2449	196	23	sec	sec	PROPN
ap-2449	196	24	respectively	respectively	ADV
ap-2449	196	25	,	,	PUNCT
ap-2449	196	26	which	which	PRON
ap-2449	196	27	is	be	AUX
ap-2449	196	28	much	much	ADV
ap-2449	196	29	better	well	ADJ
ap-2449	196	30	than	than	ADP
ap-2449	196	31	using	use	VERB
ap-2449	196	32	the	the	DET
ap-2449	196	33	sflc	sflc	NOUN
ap-2449	196	34	,	,	PUNCT
ap-2449	196	35	as	as	SCONJ
ap-2449	196	36	shown	show	VERB
ap-2449	196	37	in	in	ADP
ap-2449	196	38	figure	figure	NOUN
ap-2449	196	39	7	7	NUM
ap-2449	196	40	and	and	CCONJ
ap-2449	196	41	table	table	NOUN
ap-2449	196	42	5	5	NUM
ap-2449	196	43	.	.	PUNCT
ap-2449	197	1	the	the	DET
ap-2449	197	2	rise	rise	NOUN
ap-2449	197	3	times	time	NOUN
ap-2449	197	4	for	for	ADP
ap-2449	197	5	the	the	DET
ap-2449	197	6	system	system	NOUN
ap-2449	197	7	using	use	VERB
ap-2449	197	8	classical	classical	ADJ
ap-2449	197	9	pid	pid	NOUN
ap-2449	197	10	and	and	CCONJ
ap-2449	197	11	pid	pid	ADJ
ap-2449	197	12	-	-	ADJ
ap-2449	197	13	pso	pso	NOUN
ap-2449	197	14	controllers	controller	NOUN
ap-2449	197	15	are	be	AUX
ap-2449	197	16	0.9755	0.9755	NUM
ap-2449	197	17	sec	sec	PROPN
ap-2449	197	18	,	,	PUNCT
ap-2449	197	19	0.98	0.98	NUM
ap-2449	197	20	sec	sec	PROPN
ap-2449	197	21	for	for	ADP
ap-2449	197	22	the	the	DET
ap-2449	197	23	ra	ra	PROPN
ap-2449	197	24	responses	response	NOUN
ap-2449	197	25	and	and	CCONJ
ap-2449	197	26	0.0625	0.0625	NUM
ap-2449	197	27	sec	sec	PROPN
ap-2449	197	28	,	,	PUNCT
ap-2449	197	29	0.0.061	0.0.061	PROPN
ap-2449	197	30	sec	sec	PROPN
ap-2449	197	31	for	for	ADP
ap-2449	197	32	the	the	DET
ap-2449	197	33	dec	dec	PROPN
ap-2449	197	34	responses	response	NOUN
ap-2449	197	35	.	.	PUNCT
ap-2449	198	1	both	both	CCONJ
ap-2449	198	2	the	the	DET
ap-2449	198	3	sflc	sflc	PROPN
ap-2449	198	4	and	and	CCONJ
ap-2449	198	5	flc	flc	PROPN
ap-2449	198	6	-	-	ADJ
ap-2449	198	7	pso	pso	NOUN
ap-2449	198	8	controllers	controller	NOUN
ap-2449	198	9	suppress	suppress	VERB
ap-2449	198	10	and	and	CCONJ
ap-2449	198	11	eliminate	eliminate	VERB
ap-2449	198	12	the	the	DET
ap-2449	198	13	overshoot	overshoot	ADJ
ap-2449	198	14	response	response	NOUN
ap-2449	198	15	with	with	ADP
ap-2449	198	16	an	an	DET
ap-2449	198	17	acceptable	acceptable	ADJ
ap-2449	198	18	rise	rise	NOUN
ap-2449	198	19	time	time	NOUN
ap-2449	198	20	as	as	SCONJ
ap-2449	198	21	shown	show	VERB
ap-2449	198	22	in	in	ADP
ap-2449	198	23	figure	figure	NOUN
ap-2449	198	24	7	7	NUM
ap-2449	198	25	and	and	CCONJ
ap-2449	198	26	table	table	NOUN
ap-2449	198	27	5	5	NUM
ap-2449	198	28	.	.	PUNCT
ap-2449	199	1	because	because	SCONJ
ap-2449	199	2	of	of	ADP
ap-2449	199	3	using	use	VERB
ap-2449	199	4	a	a	DET
ap-2449	199	5	fixed	fix	VERB
ap-2449	199	6	ccd	ccd	NOUN
ap-2449	199	7	camera	camera	NOUN
ap-2449	199	8	on	on	ADP
ap-2449	199	9	the	the	DET
ap-2449	199	10	telescope	telescope	NOUN
ap-2449	199	11	during	during	ADP
ap-2449	199	12	the	the	DET
ap-2449	199	13	tracking	tracking	NOUN
ap-2449	199	14	of	of	ADP
ap-2449	199	15	a	a	DET
ap-2449	199	16	sky	sky	NOUN
ap-2449	199	17	object	object	NOUN
ap-2449	199	18	,	,	PUNCT
ap-2449	199	19	it	it	PRON
ap-2449	199	20	is	be	AUX
ap-2449	199	21	an	an	DET
ap-2449	199	22	impermissible	impermissible	ADJ
ap-2449	199	23	response	response	NOUN
ap-2449	199	24	overshoot	overshoot	NOUN
ap-2449	199	25	.	.	PUNCT
ap-2449	200	1	based	base	VERB
ap-2449	200	2	on	on	ADP
ap-2449	200	3	the	the	DET
ap-2449	200	4	mpso	mpso	ADJ
ap-2449	200	5	algorithm	algorithm	NOUN
ap-2449	200	6	,	,	PUNCT
ap-2449	200	7	different	different	ADJ
ap-2449	200	8	sets	set	NOUN
ap-2449	200	9	of	of	ADP
ap-2449	200	10	gains	gain	NOUN
ap-2449	200	11	have	have	AUX
ap-2449	200	12	been	be	AUX
ap-2449	200	13	experienced	experience	VERB
ap-2449	200	14	in	in	ADP
ap-2449	200	15	the	the	DET
ap-2449	200	16	case	case	NOUN
ap-2449	200	17	of	of	ADP
ap-2449	200	18	the	the	DET
ap-2449	200	19	pid	pid	NOUN
ap-2449	200	20	controllers	controller	NOUN
ap-2449	200	21	to	to	PART
ap-2449	200	22	control	control	VERB
ap-2449	200	23	specifications	specification	NOUN
ap-2449	200	24	.	.	PUNCT
ap-2449	201	1	we	we	PRON
ap-2449	201	2	have	have	AUX
ap-2449	201	3	seen	see	VERB
ap-2449	201	4	that	that	SCONJ
ap-2449	201	5	if	if	SCONJ
ap-2449	201	6	pid	pid	NOUN
ap-2449	201	7	gains	gain	NOUN
ap-2449	201	8	are	be	AUX
ap-2449	201	9	increased	increase	VERB
ap-2449	201	10	to	to	PART
ap-2449	201	11	improve	improve	VERB
ap-2449	201	12	the	the	DET
ap-2449	201	13	rise	rise	NOUN
ap-2449	201	14	time	time	NOUN
ap-2449	201	15	,	,	PUNCT
ap-2449	201	16	there	there	PRON
ap-2449	201	17	will	will	AUX
ap-2449	201	18	be	be	AUX
ap-2449	201	19	an	an	DET
ap-2449	201	20	inherent	inherent	ADJ
ap-2449	201	21	tendency	tendency	NOUN
ap-2449	201	22	for	for	ADP
ap-2449	201	23	the	the	DET
ap-2449	201	24	overshoot	overshoot	NOUN
ap-2449	201	25	response	response	NOUN
ap-2449	201	26	.	.	PUNCT
ap-2449	202	1	this	this	PRON
ap-2449	202	2	is	be	AUX
ap-2449	202	3	impermissible	impermissible	ADJ
ap-2449	202	4	in	in	ADP
ap-2449	202	5	the	the	DET
ap-2449	202	6	case	case	NOUN
ap-2449	202	7	of	of	ADP
ap-2449	202	8	telescopes	telescope	NOUN
ap-2449	202	9	with	with	ADP
ap-2449	202	10	a	a	DET
ap-2449	202	11	fixed	fix	VERB
ap-2449	202	12	ccd	ccd	NOUN
ap-2449	202	13	camera	camera	NOUN
ap-2449	202	14	.	.	PUNCT
ap-2449	203	1	these	these	DET
ap-2449	203	2	requirements	requirement	NOUN
ap-2449	203	3	are	be	AUX
ap-2449	203	4	achieved	achieve	VERB
ap-2449	203	5	for	for	ADP
ap-2449	203	6	the	the	DET
ap-2449	203	7	telescope	telescope	NOUN
ap-2449	203	8	movements	movement	NOUN
ap-2449	203	9	based	base	VERB
ap-2449	203	10	on	on	ADP
ap-2449	203	11	the	the	DET
ap-2449	203	12	flc	flc	PROPN
ap-2449	203	13	-	-	NOUN
ap-2449	203	14	pso	pso	NOUN
ap-2449	203	15	and	and	CCONJ
ap-2449	203	16	sflc	sflc	VERB
ap-2449	203	17	controllers	controller	NOUN
ap-2449	203	18	for	for	ADP
ap-2449	203	19	the	the	DET
ap-2449	203	20	ra	ra	PROPN
ap-2449	203	21	and	and	CCONJ
ap-2449	203	22	dec	dec	PROPN
ap-2449	203	23	positions	position	NOUN
ap-2449	203	24	.	.	PUNCT
ap-2449	204	1	figure	figure	VERB
ap-2449	204	2	7	7	NUM
ap-2449	204	3	shows	show	VERB
ap-2449	204	4	the	the	DET
ap-2449	204	5	improved	improved	ADJ
ap-2449	204	6	rise	rise	NOUN
ap-2449	204	7	,	,	PUNCT
ap-2449	204	8	settling	settle	VERB
ap-2449	204	9	times	time	NOUN
ap-2449	204	10	and	and	CCONJ
ap-2449	204	11	stability	stability	NOUN
ap-2449	204	12	periods	period	NOUN
ap-2449	204	13	and	and	CCONJ
ap-2449	204	14	increased	increase	VERB
ap-2449	204	15	overshoot	overshoot	NOUN
ap-2449	204	16	responses	response	NOUN
ap-2449	204	17	to	to	ADP
ap-2449	204	18	the	the	DET
ap-2449	204	19	pid	pid	ADJ
ap-2449	204	20	-	-	PUNCT
ap-2449	204	21	pso	pso	NOUN
ap-2449	204	22	controllers	controller	NOUN
ap-2449	204	23	.	.	PUNCT
ap-2449	205	1	therefore	therefore	ADV
ap-2449	205	2	,	,	PUNCT
ap-2449	205	3	the	the	DET
ap-2449	205	4	276	276	NUM
ap-2449	205	5	vol	vol	NOUN
ap-2449	205	6	.	.	PUNCT
ap-2449	206	1	58	58	NUM
ap-2449	206	2	no	no	INTJ
ap-2449	206	3	.	.	PUNCT
ap-2449	207	1	5/2018	5/2018	NUM
ap-2449	207	2	intelligent	intelligent	ADJ
ap-2449	207	3	controller	controller	NOUN
ap-2449	207	4	for	for	ADP
ap-2449	207	5	tracking	track	VERB
ap-2449	207	6	a	a	DET
ap-2449	207	7	14	14	NUM
ap-2449	207	8	-	-	PUNCT
ap-2449	207	9	inch	inch	NOUN
ap-2449	207	10	celestron	celestron	NOUN
ap-2449	207	11	telescope	telescope	NOUN
ap-2449	207	12	figure	figure	NOUN
ap-2449	207	13	7	7	NUM
ap-2449	207	14	.	.	PUNCT
ap-2449	208	1	position	position	NOUN
ap-2449	208	2	responses	response	NOUN
ap-2449	208	3	:	:	PUNCT
ap-2449	208	4	(	(	PUNCT
ap-2449	208	5	a	a	X
ap-2449	208	6	)	)	PUNCT
ap-2449	208	7	ra	ra	NOUN
ap-2449	208	8	axis	axis	NOUN
ap-2449	208	9	and	and	CCONJ
ap-2449	208	10	(	(	PUNCT
ap-2449	208	11	b	b	NOUN
ap-2449	208	12	)	)	PUNCT
ap-2449	208	13	dec	dec	PROPN
ap-2449	208	14	axis	axis	NOUN
ap-2449	208	15	.	.	PUNCT
ap-2449	209	1	figure	figure	NOUN
ap-2449	209	2	8	8	NUM
ap-2449	209	3	.	.	PUNCT
ap-2449	210	1	velocity	velocity	NOUN
ap-2449	210	2	responses	response	NOUN
ap-2449	210	3	:	:	PUNCT
ap-2449	210	4	(	(	PUNCT
ap-2449	210	5	a	a	X
ap-2449	210	6	)	)	PUNCT
ap-2449	210	7	ra	ra	NOUN
ap-2449	210	8	axis	axis	NOUN
ap-2449	210	9	and	and	CCONJ
ap-2449	210	10	(	(	PUNCT
ap-2449	210	11	b	b	NOUN
ap-2449	210	12	)	)	PUNCT
ap-2449	210	13	dec	dec	PROPN
ap-2449	210	14	axis	axis	NOUN
ap-2449	210	15	.	.	PUNCT
ap-2449	211	1	application	application	NOUN
ap-2449	211	2	of	of	ADP
ap-2449	211	3	the	the	DET
ap-2449	211	4	flc	flc	PROPN
ap-2449	211	5	-	-	ADJ
ap-2449	211	6	pso	pso	NOUN
ap-2449	211	7	controller	controller	NOUN
ap-2449	211	8	improves	improve	VERB
ap-2449	211	9	the	the	DET
ap-2449	211	10	dynamic	dynamic	ADJ
ap-2449	211	11	response	response	NOUN
ap-2449	211	12	of	of	ADP
ap-2449	211	13	the	the	DET
ap-2449	211	14	overall	overall	ADJ
ap-2449	211	15	system	system	NOUN
ap-2449	211	16	of	of	ADP
ap-2449	211	17	the	the	DET
ap-2449	211	18	astronomical	astronomical	ADJ
ap-2449	211	19	telescope	telescope	NOUN
ap-2449	211	20	.	.	PUNCT
ap-2449	212	1	although	although	SCONJ
ap-2449	212	2	the	the	DET
ap-2449	212	3	pid	pid	ADJ
ap-2449	212	4	-	-	ADJ
ap-2449	212	5	pso	pso	NOUN
ap-2449	212	6	controller	controller	NOUN
ap-2449	212	7	shows	show	VERB
ap-2449	212	8	the	the	DET
ap-2449	212	9	fastest	fast	ADJ
ap-2449	212	10	rising	rise	VERB
ap-2449	212	11	and	and	CCONJ
ap-2449	212	12	settling	settling	NOUN
ap-2449	212	13	times	time	NOUN
ap-2449	212	14	compared	compare	VERB
ap-2449	212	15	to	to	ADP
ap-2449	212	16	the	the	DET
ap-2449	212	17	flc	flc	PROPN
ap-2449	212	18	-	-	PUNCT
ap-2449	212	19	pso	pso	NOUN
ap-2449	212	20	controller	controller	NOUN
ap-2449	212	21	,	,	PUNCT
ap-2449	212	22	the	the	DET
ap-2449	212	23	flc	flc	PROPN
ap-2449	212	24	-	-	ADJ
ap-2449	212	25	pso	pso	NOUN
ap-2449	212	26	controller	controller	NOUN
ap-2449	212	27	suppresses	suppress	VERB
ap-2449	212	28	excess	excess	ADJ
ap-2449	212	29	responses	response	NOUN
ap-2449	212	30	with	with	ADP
ap-2449	212	31	the	the	DET
ap-2449	212	32	best	good	ADJ
ap-2449	212	33	coefficient	coefficient	NOUN
ap-2449	212	34	of	of	ADP
ap-2449	212	35	the	the	DET
ap-2449	212	36	damping	damp	VERB
ap-2449	212	37	factor	factor	NOUN
ap-2449	212	38	.	.	PUNCT
ap-2449	213	1	the	the	DET
ap-2449	213	2	error	error	NOUN
ap-2449	213	3	values	value	NOUN
ap-2449	213	4	for	for	ADP
ap-2449	213	5	speed	speed	NOUN
ap-2449	213	6	and	and	CCONJ
ap-2449	213	7	position	position	NOUN
ap-2449	213	8	become	become	VERB
ap-2449	213	9	zero	zero	NUM
ap-2449	213	10	when	when	SCONJ
ap-2449	213	11	the	the	DET
ap-2449	213	12	system	system	NOUN
ap-2449	213	13	reaches	reach	VERB
ap-2449	213	14	the	the	DET
ap-2449	213	15	required	require	VERB
ap-2449	213	16	references	reference	NOUN
ap-2449	213	17	for	for	ADP
ap-2449	213	18	the	the	DET
ap-2449	213	19	ra	ra	PROPN
ap-2449	213	20	and	and	CCONJ
ap-2449	213	21	dec	dec	PROPN
ap-2449	213	22	respectively	respectively	ADV
ap-2449	213	23	,	,	PUNCT
ap-2449	213	24	as	as	SCONJ
ap-2449	213	25	shown	show	VERB
ap-2449	213	26	in	in	ADP
ap-2449	213	27	figure	figure	NOUN
ap-2449	213	28	8	8	NUM
ap-2449	213	29	.	.	PUNCT
ap-2449	214	1	the	the	DET
ap-2449	214	2	results	result	NOUN
ap-2449	214	3	confirmed	confirm	VERB
ap-2449	214	4	that	that	SCONJ
ap-2449	214	5	the	the	DET
ap-2449	214	6	mpso	mpso	ADJ
ap-2449	214	7	algorithm	algorithm	NOUN
ap-2449	214	8	performed	perform	VERB
ap-2449	214	9	effectively	effectively	ADV
ap-2449	214	10	to	to	PART
ap-2449	214	11	improve	improve	VERB
ap-2449	214	12	the	the	DET
ap-2449	214	13	flc	flc	PROPN
ap-2449	214	14	-	-	NOUN
ap-2449	214	15	pso	pso	NOUN
ap-2449	214	16	,	,	PUNCT
ap-2449	214	17	pid	pid	ADJ
ap-2449	214	18	-	-	PUNCT
ap-2449	214	19	pso	pso	NOUN
ap-2449	214	20	performance	performance	NOUN
ap-2449	214	21	compared	compare	VERB
ap-2449	214	22	with	with	ADP
ap-2449	214	23	the	the	DET
ap-2449	214	24	sflc	sflc	ADJ
ap-2449	214	25	and	and	CCONJ
ap-2449	214	26	classical	classical	ADJ
ap-2449	214	27	pid	pid	NOUN
ap-2449	214	28	controllers	controller	NOUN
ap-2449	214	29	for	for	ADP
ap-2449	214	30	the	the	DET
ap-2449	214	31	ra	ra	PROPN
ap-2449	214	32	and	and	CCONJ
ap-2449	214	33	dec	dec	PROPN
ap-2449	214	34	axis	axis	NOUN
ap-2449	214	35	of	of	ADP
ap-2449	214	36	the	the	DET
ap-2449	214	37	celestron	celestron	PROPN
ap-2449	214	38	telescope	telescope	NOUN
ap-2449	214	39	.	.	PUNCT
ap-2449	215	1	277	277	NUM
ap-2449	215	2	abdel	abdel	PROPN
ap-2449	215	3	-	-	PUNCT
ap-2449	215	4	fattah	fattah	PROPN
ap-2449	215	5	attia	attia	PROPN
ap-2449	215	6	acta	acta	PROPN
ap-2449	215	7	polytechnica	polytechnica	PROPN
ap-2449	215	8	8	8	NUM
ap-2449	215	9	.	.	PUNCT
ap-2449	216	1	conclusions	conclusion	NOUN
ap-2449	216	2	in	in	ADP
ap-2449	216	3	this	this	DET
ap-2449	216	4	paper	paper	NOUN
ap-2449	216	5	,	,	PUNCT
ap-2449	216	6	dynamic	dynamic	ADJ
ap-2449	216	7	acceleration	acceleration	NOUN
ap-2449	216	8	parameters	parameter	NOUN
ap-2449	216	9	were	be	AUX
ap-2449	216	10	introduced	introduce	VERB
ap-2449	216	11	for	for	ADP
ap-2449	216	12	the	the	DET
ap-2449	216	13	pso	pso	NOUN
ap-2449	216	14	algorithm	algorithm	NOUN
ap-2449	216	15	.	.	PUNCT
ap-2449	217	1	this	this	DET
ap-2449	217	2	optimization	optimization	NOUN
ap-2449	217	3	of	of	ADP
ap-2449	217	4	the	the	DET
ap-2449	217	5	pso	pso	NOUN
ap-2449	217	6	routing	routing	NOUN
ap-2449	217	7	is	be	AUX
ap-2449	217	8	optimized	optimize	VERB
ap-2449	217	9	for	for	ADP
ap-2449	217	10	a	a	DET
ap-2449	217	11	global	global	ADJ
ap-2449	217	12	search	search	NOUN
ap-2449	217	13	.	.	PUNCT
ap-2449	218	1	acceleration	acceleration	NOUN
ap-2449	218	2	parameters	parameter	NOUN
ap-2449	218	3	speed	speed	VERB
ap-2449	218	4	up	up	ADP
ap-2449	218	5	the	the	DET
ap-2449	218	6	pso	pso	NOUN
ap-2449	218	7	approach	approach	NOUN
ap-2449	218	8	and	and	CCONJ
ap-2449	218	9	prevent	prevent	VERB
ap-2449	218	10	the	the	DET
ap-2449	218	11	pso	pso	NOUN
ap-2449	218	12	from	from	ADP
ap-2449	218	13	stumbling	stumble	VERB
ap-2449	218	14	at	at	ADP
ap-2449	218	15	a	a	DET
ap-2449	218	16	locally	locally	ADV
ap-2449	218	17	optimized	optimize	VERB
ap-2449	218	18	level	level	NOUN
ap-2449	218	19	.	.	PUNCT
ap-2449	219	1	the	the	DET
ap-2449	219	2	flc	flc	PROPN
ap-2449	219	3	-	-	ADJ
ap-2449	219	4	pso	pso	ADJ
ap-2449	219	5	membership	membership	NOUN
ap-2449	219	6	function	function	NOUN
ap-2449	219	7	parameters	parameter	NOUN
ap-2449	219	8	are	be	AUX
ap-2449	219	9	automatically	automatically	ADV
ap-2449	219	10	updated	update	VERB
ap-2449	219	11	based	base	VERB
ap-2449	219	12	on	on	ADP
ap-2449	219	13	the	the	DET
ap-2449	219	14	mpso	mpso	NOUN
ap-2449	219	15	.	.	PUNCT
ap-2449	220	1	the	the	DET
ap-2449	220	2	proposed	propose	VERB
ap-2449	220	3	adaptive	adaptive	ADJ
ap-2449	220	4	flc	flc	PROPN
ap-2449	220	5	-	-	PUNCT
ap-2449	220	6	pso	pso	NOUN
ap-2449	220	7	controller	controller	NOUN
ap-2449	220	8	,	,	PUNCT
ap-2449	220	9	tuned	tune	VERB
ap-2449	220	10	by	by	ADP
ap-2449	220	11	the	the	DET
ap-2449	220	12	mpso	mpso	NOUN
ap-2449	220	13	,	,	PUNCT
ap-2449	220	14	improves	improve	VERB
ap-2449	220	15	the	the	DET
ap-2449	220	16	stability	stability	NOUN
ap-2449	220	17	and	and	CCONJ
ap-2449	220	18	settling	settle	VERB
ap-2449	220	19	time	time	NOUN
ap-2449	220	20	and	and	CCONJ
ap-2449	220	21	reduces	reduce	VERB
ap-2449	220	22	the	the	DET
ap-2449	220	23	damping	damp	VERB
ap-2449	220	24	factor	factor	NOUN
ap-2449	220	25	of	of	ADP
ap-2449	220	26	the	the	DET
ap-2449	220	27	celestron	celestron	PROPN
ap-2449	220	28	telescope	telescope	PROPN
ap-2449	220	29	model	model	PROPN
ap-2449	220	30	.	.	PUNCT
ap-2449	221	1	results	result	NOUN
ap-2449	221	2	include	include	VERB
ap-2449	221	3	the	the	DET
ap-2449	221	4	superior	superior	ADJ
ap-2449	221	5	flc	flc	PROPN
ap-2449	221	6	-	-	NOUN
ap-2449	221	7	pso	pso	NOUN
ap-2449	221	8	compared	compare	VERB
ap-2449	221	9	with	with	ADP
ap-2449	221	10	sflc	sflc	ADP
ap-2449	221	11	and	and	CCONJ
ap-2449	221	12	classical	classical	ADJ
ap-2449	221	13	pid	pid	NOUN
ap-2449	221	14	controllers	controller	NOUN
ap-2449	221	15	even	even	ADV
ap-2449	221	16	when	when	SCONJ
ap-2449	221	17	the	the	DET
ap-2449	221	18	pid	pid	NOUN
ap-2449	221	19	is	be	AUX
ap-2449	221	20	optimized	optimize	VERB
ap-2449	221	21	for	for	ADP
ap-2449	221	22	the	the	DET
ap-2449	221	23	performance	performance	NOUN
ap-2449	221	24	of	of	ADP
ap-2449	221	25	the	the	DET
ap-2449	221	26	ra	ra	PROPN
ap-2449	221	27	and	and	CCONJ
ap-2449	221	28	dec	dec	PROPN
ap-2449	221	29	axis	axis	NOUN
ap-2449	221	30	of	of	ADP
ap-2449	221	31	the	the	DET
ap-2449	221	32	celestron	celestron	PROPN
ap-2449	221	33	telescope	telescope	NOUN
ap-2449	221	34	.	.	PUNCT
ap-2449	222	1	references	reference	NOUN
ap-2449	222	2	[	[	X
ap-2449	222	3	1	1	NUM
ap-2449	222	4	]	]	PUNCT
ap-2449	222	5	van	van	PROPN
ap-2449	222	6	den	den	PROPN
ap-2449	222	7	bergh	bergh	PROPN
ap-2449	222	8	,	,	PUNCT
ap-2449	222	9	frans	fran	NOUN
ap-2449	222	10	.	.	PUNCT
ap-2449	223	1	“	"	PUNCT
ap-2449	223	2	an	an	DET
ap-2449	223	3	analysis	analysis	NOUN
ap-2449	223	4	of	of	ADP
ap-2449	223	5	particle	particle	NOUN
ap-2449	223	6	swarm	swarm	NOUN
ap-2449	223	7	optimizers	optimizer	NOUN
ap-2449	223	8	(	(	PUNCT
ap-2449	223	9	pso	pso	NOUN
ap-2449	223	10	)	)	PUNCT
ap-2449	223	11	.	.	PUNCT
ap-2449	223	12	”	"	PUNCT
ap-2449	224	1	pretoria	pretoria	PROPN
ap-2449	224	2	,	,	PUNCT
ap-2449	224	3	university	university	PROPN
ap-2449	224	4	of	of	ADP
ap-2449	224	5	pretoria	pretoria	PROPN
ap-2449	224	6	(	(	PUNCT
ap-2449	224	7	2001	2001	NUM
ap-2449	224	8	):	):	PUNCT
ap-2449	224	9	78	78	NUM
ap-2449	224	10	-	-	SYM
ap-2449	224	11	85	85	NUM
ap-2449	224	12	.	.	PUNCT
ap-2449	225	1	[	[	X
ap-2449	225	2	2	2	NUM
ap-2449	225	3	]	]	X
ap-2449	225	4	xie	xie	PROPN
ap-2449	225	5	,	,	PUNCT
ap-2449	225	6	x.-f	x.-f	PROPN
ap-2449	225	7	.	.	PUNCT
ap-2449	225	8	,	,	PUNCT
ap-2449	225	9	zhang	zhang	PROPN
ap-2449	225	10	,	,	PUNCT
ap-2449	225	11	w.-j	w.-j	PROPN
ap-2449	225	12	.	.	PROPN
ap-2449	226	1	and	and	CCONJ
ap-2449	226	2	yang	yang	PROPN
ap-2449	226	3	,	,	PUNCT
ap-2449	226	4	z.-l	z.-l	PROPN
ap-2449	226	5	.	.	PUNCT
ap-2449	226	6	,	,	PUNCT
ap-2449	226	7	(	(	PUNCT
ap-2449	226	8	2002	2002	NUM
ap-2449	226	9	)	)	PUNCT
ap-2449	226	10	,	,	PUNCT
ap-2449	226	11	“	"	PUNCT
ap-2449	226	12	adaptive	adaptive	ADJ
ap-2449	226	13	particle	particle	NOUN
ap-2449	226	14	swarm	swarm	NOUN
ap-2449	226	15	optimization	optimization	NOUN
ap-2449	226	16	on	on	ADP
ap-2449	226	17	individual	individual	ADJ
ap-2449	226	18	level	level	NOUN
ap-2449	226	19	”	"	PUNCT
ap-2449	226	20	,	,	PUNCT
ap-2449	226	21	int	int	NOUN
ap-2449	226	22	.	.	PUNCT
ap-2449	226	23	conf	conf	PROPN
ap-2449	226	24	.	.	PUNCT
ap-2449	227	1	on	on	ADP
ap-2449	227	2	signal	signal	ADJ
ap-2449	227	3	processing	processing	NOUN
ap-2449	227	4	(	(	PUNCT
ap-2449	227	5	icsp	icsp	ADJ
ap-2449	227	6	)	)	PUNCT
ap-2449	227	7	,	,	PUNCT
ap-2449	227	8	pp	pp	ADP
ap-2449	227	9	:	:	PUNCT
ap-2449	227	10	1215	1215	NUM
ap-2449	227	11	-	-	SYM
ap-2449	227	12	1218	1218	NUM
ap-2449	227	13	[	[	X
ap-2449	227	14	3	3	NUM
ap-2449	227	15	]	]	PUNCT
ap-2449	227	16	mendes	mende	NOUN
ap-2449	227	17	,	,	PUNCT
ap-2449	227	18	r.	r.	PROPN
ap-2449	227	19	,	,	PUNCT
ap-2449	227	20	kennedy	kennedy	PROPN
ap-2449	227	21	,	,	PUNCT
ap-2449	227	22	j.	j.	PROPN
ap-2449	227	23	,	,	PUNCT
ap-2449	227	24	and	and	CCONJ
ap-2449	227	25	neves	neve	NOUN
ap-2449	227	26	,	,	PUNCT
ap-2449	227	27	j.	j.	PROPN
ap-2449	227	28	,	,	PUNCT
ap-2449	227	29	(	(	PUNCT
ap-2449	227	30	2004	2004	NUM
ap-2449	227	31	)	)	PUNCT
ap-2449	227	32	“	"	PUNCT
ap-2449	227	33	the	the	DET
ap-2449	227	34	fully	fully	ADV
ap-2449	227	35	informed	informed	ADJ
ap-2449	227	36	particle	particle	NOUN
ap-2449	227	37	swarm	swarm	NOUN
ap-2449	227	38	:	:	PUNCT
ap-2449	227	39	simpler	simple	ADJ
ap-2449	227	40	,	,	PUNCT
ap-2449	227	41	maybe	maybe	ADV
ap-2449	227	42	better	well	ADJ
ap-2449	227	43	,	,	PUNCT
ap-2449	227	44	”	"	PUNCT
ap-2449	227	45	ieee	ieee	NOUN
ap-2449	227	46	trans	tran	NOUN
ap-2449	227	47	.	.	PUNCT
ap-2449	228	1	on	on	ADP
ap-2449	228	2	evolutionary	evolutionary	ADJ
ap-2449	228	3	comput	comput	NOUN
ap-2449	228	4	.	.	PUNCT
ap-2449	228	5	,	,	PUNCT
ap-2449	228	6	vol	vol	NOUN
ap-2449	228	7	.	.	NOUN
ap-2449	228	8	8	8	NUM
ap-2449	228	9	(	(	PUNCT
ap-2449	228	10	3	3	NUM
ap-2449	228	11	)	)	PUNCT
ap-2449	228	12	,	,	PUNCT
ap-2449	228	13	pp	pp	ADP
ap-2449	228	14	.	.	PUNCT
ap-2449	229	1	204–210	204–210	NUM
ap-2449	229	2	.	.	PUNCT
ap-2449	230	1	[	[	X
ap-2449	230	2	4	4	X
ap-2449	230	3	]	]	PUNCT
ap-2449	230	4	he	he	PRON
ap-2449	230	5	,	,	PUNCT
ap-2449	230	6	q.	q.	PROPN
ap-2449	230	7	and	and	CCONJ
ap-2449	230	8	c.	c.	PROPN
ap-2449	230	9	han	han	PROPN
ap-2449	230	10	,	,	PUNCT
ap-2449	230	11	2006	2006	NUM
ap-2449	230	12	.	.	PUNCT
ap-2449	231	1	an	an	DET
ap-2449	231	2	improved	improve	VERB
ap-2449	231	3	particle	particle	NOUN
ap-2449	231	4	swarm	swarm	NOUN
ap-2449	231	5	optimization	optimization	NOUN
ap-2449	231	6	algorithm	algorithm	NOUN
ap-2449	231	7	with	with	ADP
ap-2449	231	8	disturbance	disturbance	NOUN
ap-2449	231	9	term	term	NOUN
ap-2449	231	10	.	.	PUNCT
ap-2449	232	1	comput	comput	NOUN
ap-2449	232	2	.	.	PUNCT
ap-2449	233	1	intell	intell	PROPN
ap-2449	233	2	.	.	PUNCT
ap-2449	234	1	bioinfo	bioinfo	PROPN
ap-2449	234	2	.	.	PUNCT
ap-2449	234	3	,	,	PUNCT
ap-2449	234	4	4115	4115	NUM
ap-2449	234	5	:	:	PUNCT
ap-2449	234	6	100	100	NUM
ap-2449	234	7	-	-	SYM
ap-2449	234	8	108	108	NUM
ap-2449	234	9	.	.	PUNCT
ap-2449	235	1	[	[	X
ap-2449	235	2	5	5	NUM
ap-2449	235	3	]	]	X
ap-2449	235	4	fereidouni	fereidouni	PROPN
ap-2449	235	5	,	,	PUNCT
ap-2449	235	6	alireza	alireza	PROPN
ap-2449	235	7	,	,	PUNCT
ap-2449	235	8	mohammad	mohammad	PROPN
ap-2449	235	9	as	as	ADP
ap-2449	235	10	masoum	masoum	NOUN
ap-2449	235	11	,	,	PUNCT
ap-2449	235	12	and	and	CCONJ
ap-2449	235	13	moayed	moaye	VERB
ap-2449	235	14	moghbel	moghbel	NOUN
ap-2449	235	15	.	.	PUNCT
ap-2449	236	1	“	"	PUNCT
ap-2449	236	2	a	a	DET
ap-2449	236	3	new	new	ADJ
ap-2449	236	4	adaptive	adaptive	ADJ
ap-2449	236	5	configuration	configuration	NOUN
ap-2449	236	6	of	of	ADP
ap-2449	236	7	pid	pid	NOUN
ap-2449	236	8	type	type	NOUN
ap-2449	236	9	fuzzy	fuzzy	ADJ
ap-2449	236	10	logic	logic	NOUN
ap-2449	236	11	controller	controller	NOUN
ap-2449	236	12	.	.	PUNCT
ap-2449	236	13	”	"	PUNCT
ap-2449	237	1	isa	isa	NOUN
ap-2449	237	2	transactions	transaction	NOUN
ap-2449	237	3	56	56	NUM
ap-2449	237	4	(	(	PUNCT
ap-2449	237	5	2015	2015	NUM
ap-2449	237	6	):	):	PUNCT
ap-2449	237	7	222	222	NUM
ap-2449	237	8	-	-	SYM
ap-2449	237	9	240	240	NUM
ap-2449	237	10	.	.	PUNCT
ap-2449	238	1	[	[	X
ap-2449	238	2	6	6	NUM
ap-2449	238	3	]	]	X
ap-2449	238	4	gharghory	gharghory	ADJ
ap-2449	238	5	,	,	PUNCT
ap-2449	238	6	sawsan	sawsan	ADJ
ap-2449	238	7	,	,	PUNCT
ap-2449	238	8	and	and	CCONJ
ap-2449	238	9	hanan	hanan	PROPN
ap-2449	238	10	kamal	kamal	PROPN
ap-2449	238	11	.	.	PUNCT
ap-2449	239	1	“	"	PUNCT
ap-2449	239	2	modified	modify	VERB
ap-2449	239	3	pso	pso	NOUN
ap-2449	239	4	for	for	ADP
ap-2449	239	5	optimal	optimal	ADJ
ap-2449	239	6	tuning	tuning	NOUN
ap-2449	239	7	of	of	ADP
ap-2449	239	8	fuzzy	fuzzy	ADJ
ap-2449	239	9	pid	pid	NOUN
ap-2449	239	10	controller	controller	NOUN
ap-2449	239	11	.	.	PUNCT
ap-2449	239	12	”	"	PUNCT
ap-2449	240	1	ijcsi	ijcsi	PROPN
ap-2449	240	2	international	international	ADJ
ap-2449	240	3	journal	journal	NOUN
ap-2449	240	4	of	of	ADP
ap-2449	240	5	computer	computer	NOUN
ap-2449	240	6	science	science	NOUN
ap-2449	240	7	issues	issue	NOUN
ap-2449	240	8	10.2	10.2	NUM
ap-2449	240	9	(	(	PUNCT
ap-2449	240	10	2013	2013	NUM
ap-2449	240	11	):	):	PUNCT
ap-2449	240	12	462	462	NUM
ap-2449	240	13	-	-	NOUN
ap-2449	240	14	471	471	NUM
ap-2449	240	15	.	.	PUNCT
ap-2449	241	1	[	[	X
ap-2449	241	2	7	7	X
ap-2449	241	3	]	]	X
ap-2449	241	4	abdo	abdo	PROPN
ap-2449	241	5	mm	mm	PROPN
ap-2449	241	6	,	,	PUNCT
ap-2449	241	7	vali	vali	PROPN
ap-2449	241	8	ar	ar	PROPN
ap-2449	241	9	,	,	PUNCT
ap-2449	241	10	toloei	toloei	PROPN
ap-2449	241	11	ar	ar	PROPN
ap-2449	241	12	,	,	PUNCT
ap-2449	241	13	arvan	arvan	PROPN
ap-2449	241	14	mr	mr	PROPN
ap-2449	241	15	.	.	PROPN
ap-2449	241	16	stabilization	stabilization	PROPN
ap-2449	241	17	loop	loop	NOUN
ap-2449	241	18	of	of	ADP
ap-2449	241	19	a	a	DET
ap-2449	241	20	two	two	NUM
ap-2449	241	21	axes	axis	NOUN
ap-2449	241	22	gimbal	gimbal	ADJ
ap-2449	241	23	system	system	NOUN
ap-2449	241	24	using	use	VERB
ap-2449	241	25	self	self	NOUN
ap-2449	241	26	-	-	PUNCT
ap-2449	241	27	tuning	tune	VERB
ap-2449	241	28	pid	pid	NOUN
ap-2449	241	29	type	type	NOUN
ap-2449	241	30	fuzzy	fuzzy	ADJ
ap-2449	241	31	controller	controller	NOUN
ap-2449	241	32	.	.	PUNCT
ap-2449	242	1	isa	isa	VERB
ap-2449	242	2	trans	trans	PROPN
ap-2449	242	3	2014	2014	NUM
ap-2449	242	4	;	;	PUNCT
ap-2449	242	5	53:591–602	53:591–602	NUM
ap-2449	242	6	.	.	PUNCT
ap-2449	243	1	[	[	X
ap-2449	243	2	8	8	NUM
ap-2449	243	3	]	]	X
ap-2449	243	4	cheng	cheng	PROPN
ap-2449	243	5	,	,	PUNCT
ap-2449	243	6	p.	p.	PROPN
ap-2449	243	7	c.	c.	PROPN
ap-2449	243	8	,	,	PUNCT
ap-2449	243	9	peng	peng	PROPN
ap-2449	243	10	,	,	PUNCT
ap-2449	243	11	b.	b.	PROPN
ap-2449	243	12	r.	r.	PROPN
ap-2449	243	13	,	,	PUNCT
ap-2449	243	14	liu	liu	PROPN
ap-2449	243	15	,	,	PUNCT
ap-2449	243	16	y.	y.	PROPN
ap-2449	243	17	h.	h.	PROPN
ap-2449	243	18	,	,	PUNCT
ap-2449	243	19	cheng	cheng	PROPN
ap-2449	243	20	,	,	PUNCT
ap-2449	243	21	y.	y.	PROPN
ap-2449	243	22	s.	s.	PROPN
ap-2449	243	23	,	,	PUNCT
ap-2449	243	24	huang	huang	PROPN
ap-2449	243	25	,	,	PUNCT
ap-2449	243	26	j.	j.	PROPN
ap-2449	243	27	w.	w.	PROPN
ap-2449	243	28	(	(	PUNCT
ap-2449	243	29	2015	2015	NUM
ap-2449	243	30	)	)	PUNCT
ap-2449	243	31	.	.	PUNCT
ap-2449	244	1	optimization	optimization	NOUN
ap-2449	244	2	of	of	ADP
ap-2449	244	3	a	a	DET
ap-2449	244	4	fuzzy	fuzzy	ADJ
ap-2449	244	5	-	-	PUNCT
ap-2449	244	6	logiccontrol	logiccontrol	NOUN
ap-2449	244	7	-	-	PUNCT
ap-2449	244	8	based	base	VERB
ap-2449	244	9	mppt	mppt	NOUN
ap-2449	244	10	algorithm	algorithm	NOUN
ap-2449	244	11	using	use	VERB
ap-2449	244	12	the	the	DET
ap-2449	244	13	particle	particle	NOUN
ap-2449	244	14	swarm	swarm	NOUN
ap-2449	244	15	optimization	optimization	NOUN
ap-2449	244	16	technique	technique	NOUN
ap-2449	244	17	.	.	PUNCT
ap-2449	245	1	energies	energy	NOUN
ap-2449	245	2	,	,	PUNCT
ap-2449	245	3	8(6	8(6	NUM
ap-2449	245	4	)	)	PUNCT
ap-2449	245	5	,	,	PUNCT
ap-2449	245	6	5338	5338	NUM
ap-2449	245	7	-	-	SYM
ap-2449	245	8	5360	5360	NUM
ap-2449	245	9	.	.	PUNCT
ap-2449	246	1	[	[	X
ap-2449	246	2	9	9	NUM
ap-2449	246	3	]	]	PUNCT
ap-2449	246	4	vlachogiannis	vlachogiannis	NOUN
ap-2449	246	5	jg	jg	PROPN
ap-2449	246	6	,	,	PUNCT
ap-2449	246	7	lee	lee	PROPN
ap-2449	246	8	ky	ky	PROPN
ap-2449	246	9	.	.	PROPN
ap-2449	246	10	contribution	contribution	NOUN
ap-2449	246	11	of	of	ADP
ap-2449	246	12	generation	generation	NOUN
ap-2449	246	13	to	to	ADP
ap-2449	246	14	transmission	transmission	NOUN
ap-2449	246	15	system	system	NOUN
ap-2449	246	16	using	use	VERB
ap-2449	246	17	parallel	parallel	ADJ
ap-2449	246	18	vector	vector	NOUN
ap-2449	246	19	evaluated	evaluate	VERB
ap-2449	246	20	particle	particle	NOUN
ap-2449	246	21	swarm	swarm	NOUN
ap-2449	246	22	optimization	optimization	NOUN
ap-2449	246	23	.	.	PUNCT
ap-2449	247	1	ieee	ieee	PROPN
ap-2449	247	2	trans	trans	PROPN
ap-2449	247	3	power	power	PROPN
ap-2449	247	4	syst	syst	PROPN
ap-2449	247	5	1765–1774;205(4):20	1765–1774;205(4):20	NUM
ap-2449	247	6	.	.	PUNCT
ap-2449	248	1	[	[	X
ap-2449	248	2	10	10	NUM
ap-2449	248	3	]	]	X
ap-2449	248	4	ghosh	ghosh	PROPN
ap-2449	248	5	,	,	PUNCT
ap-2449	248	6	s.	s.	PROPN
ap-2449	248	7	;	;	PUNCT
ap-2449	248	8	kundu	kundu	NOUN
ap-2449	248	9	,	,	PUNCT
ap-2449	248	10	d.	d.	PROPN
ap-2449	248	11	;	;	PUNCT
ap-2449	248	12	suresh	suresh	PROPN
ap-2449	248	13	,	,	PUNCT
ap-2449	248	14	k.	k.	PROPN
ap-2449	248	15	;	;	PUNCT
ap-2449	248	16	das	das	PROPN
ap-2449	248	17	,	,	PUNCT
ap-2449	248	18	s.	s.	PROPN
ap-2449	248	19	;	;	PUNCT
ap-2449	248	20	abraham	abraham	PROPN
ap-2449	248	21	,	,	PUNCT
ap-2449	248	22	a.	a.	NOUN
ap-2449	248	23	;	;	PUNCT
ap-2449	248	24	panigrahi	panigrahi	NOUN
ap-2449	248	25	,	,	PUNCT
ap-2449	248	26	b.k	b.k	PROPN
ap-2449	248	27	.	.	PROPN
ap-2449	248	28	;	;	PUNCT
ap-2449	248	29	snasel	snasel	NOUN
ap-2449	248	30	,	,	PUNCT
ap-2449	248	31	v.;on	v.;on	NOUN
ap-2449	248	32	some	some	DET
ap-2449	248	33	properties	property	NOUN
ap-2449	248	34	of	of	ADP
ap-2449	248	35	the	the	DET
ap-2449	248	36	lbest	lb	ADJ
ap-2449	248	37	topology	topology	NOUN
ap-2449	248	38	in	in	ADP
ap-2449	248	39	particle	particle	NOUN
ap-2449	248	40	swarm	swarm	NOUN
ap-2449	248	41	optimization	optimization	NOUN
ap-2449	248	42	.	.	PUNCT
ap-2449	249	1	proceedings	proceeding	NOUN
ap-2449	249	2	of	of	ADP
ap-2449	249	3	ninth	ninth	ADJ
ap-2449	249	4	international	international	ADJ
ap-2449	249	5	conference	conference	NOUN
ap-2449	249	6	on	on	ADP
ap-2449	249	7	hybrid	hybrid	ADJ
ap-2449	249	8	intelligent	intelligent	ADJ
ap-2449	249	9	systems	system	NOUN
ap-2449	249	10	,	,	PUNCT
ap-2449	249	11	ieee	ieee	NOUN
ap-2449	249	12	computer	computer	NOUN
ap-2449	249	13	society	society	PROPN
ap-2449	249	14	press	press	NOUN
ap-2449	249	15	.	.	PUNCT
ap-2449	250	1	2009	2009	NUM
ap-2449	250	2	page(s):370	page(s):370	NOUN
ap-2449	250	3	–	–	PUNCT
ap-2449	250	4	375	375	NUM
ap-2449	251	1	[	[	SYM
ap-2449	251	2	11	11	NUM
ap-2449	251	3	]	]	X
ap-2449	251	4	chopra	chopra	PROPN
ap-2449	251	5	s	s	PROPN
ap-2449	251	6	,	,	PUNCT
ap-2449	251	7	mitra	mitra	PROPN
ap-2449	251	8	r	r	PROPN
ap-2449	251	9	,	,	PUNCT
ap-2449	251	10	kumar	kumar	PROPN
ap-2449	251	11	v.	v.	ADP
ap-2449	251	12	auto	auto	NOUN
ap-2449	251	13	tuning	tuning	NOUN
ap-2449	251	14	of	of	ADP
ap-2449	251	15	fuzzy	fuzzy	ADJ
ap-2449	251	16	pi	pi	NOUN
ap-2449	251	17	type	type	NOUN
ap-2449	251	18	controller	controller	NOUN
ap-2449	251	19	using	use	VERB
ap-2449	251	20	fuzzy	fuzzy	ADJ
ap-2449	251	21	logic	logic	NOUN
ap-2449	251	22	.	.	PUNCT
ap-2449	252	1	int	int	NOUN
ap-2449	252	2	j	j	PROPN
ap-2449	252	3	comput	comput	NOUN
ap-2449	252	4	cogn	cogn	VERB
ap-2449	252	5	2008	2008	NUM
ap-2449	252	6	;	;	PUNCT
ap-2449	252	7	6:12–8	6:12–8	NUM
ap-2449	252	8	.	.	PUNCT
ap-2449	253	1	[	[	X
ap-2449	253	2	12	12	NUM
ap-2449	253	3	]	]	PUNCT
ap-2449	253	4	hussein	hussein	PROPN
ap-2449	253	5	f.	f.	PROPN
ap-2449	253	6	soliman	soliman	PROPN
ap-2449	253	7	,	,	PUNCT
ap-2449	253	8	abdel	abdel	PROPN
ap-2449	253	9	-	-	PUNCT
ap-2449	253	10	fattah	fattah	PROPN
ap-2449	253	11	a.	a.	NOUN
ap-2449	253	12	attia	attia	PROPN
ap-2449	253	13	,	,	PUNCT
ap-2449	253	14	mohammed	mohammed	PROPN
ap-2449	253	15	a.	a.	PROPN
ap-2449	253	16	l.	l.	PROPN
ap-2449	253	17	badr	badr	PROPN
ap-2449	253	18	,	,	PUNCT
ap-2449	253	19	anas	anas	PROPN
ap-2449	253	20	m.	m.	PROPN
ap-2449	253	21	osman	osman	PROPN
ap-2449	253	22	and	and	CCONJ
ap-2449	253	23	abdul	abdul	PROPN
ap-2449	253	24	a.	a.	PROPN
ap-2449	253	25	i.	i.	PROPN
ap-2449	253	26	gamaleldin	gamaleldin	VERB
ap-2449	253	27	,	,	PUNCT
ap-2449	253	28	“	"	PUNCT
ap-2449	253	29	fuzzy	fuzzy	ADJ
ap-2449	253	30	logic	logic	NOUN
ap-2449	253	31	controller	controller	NOUN
ap-2449	253	32	for	for	ADP
ap-2449	253	33	the	the	DET
ap-2449	253	34	electric	electric	ADJ
ap-2449	253	35	motor	motor	NOUN
ap-2449	253	36	driving	drive	VERB
ap-2449	253	37	the	the	DET
ap-2449	253	38	astronomical	astronomical	ADJ
ap-2449	253	39	telescope	telescope	NOUN
ap-2449	253	40	”	"	PUNCT
ap-2449	253	41	,	,	PUNCT
ap-2449	253	42	proc	proc	NOUN
ap-2449	253	43	.	.	PUNCT
ap-2449	254	1	spie	spie	ADJ
ap-2449	254	2	3351	3351	NUM
ap-2449	254	3	,	,	PUNCT
ap-2449	254	4	415	415	NUM
ap-2449	254	5	(	(	PUNCT
ap-2449	254	6	1998	1998	NUM
ap-2449	254	7	)	)	PUNCT
ap-2449	254	8	;	;	PUNCT
ap-2449	255	1	doi:10.1117/12.308827	doi:10.1117/12.308827	PROPN
ap-2449	255	2	[	[	X
ap-2449	255	3	13	13	NUM
ap-2449	255	4	]	]	PUNCT
ap-2449	255	5	attia	attia	NOUN
ap-2449	255	6	a.-f	a.-f	PROPN
ap-2449	255	7	.	.	PUNCT
ap-2449	256	1	hierarchical	hierarchical	ADJ
ap-2449	256	2	fuzzy	fuzzy	ADJ
ap-2449	256	3	controllers	controller	NOUN
ap-2449	256	4	for	for	ADP
ap-2449	256	5	an	an	DET
ap-2449	256	6	astronomical	astronomical	ADJ
ap-2449	256	7	telescope	telescope	NOUN
ap-2449	256	8	tracking	tracking	NOUN
ap-2449	256	9	(	(	PUNCT
ap-2449	256	10	2009	2009	NUM
ap-2449	256	11	)	)	PUNCT
ap-2449	256	12	applied	apply	VERB
ap-2449	256	13	soft	soft	ADJ
ap-2449	256	14	computing	computing	NOUN
ap-2449	256	15	journal	journal	NOUN
ap-2449	256	16	,	,	PUNCT
ap-2449	256	17	9	9	NUM
ap-2449	256	18	(	(	PUNCT
ap-2449	256	19	1	1	NUM
ap-2449	256	20	)	)	PUNCT
ap-2449	256	21	,	,	PUNCT
ap-2449	256	22	pp	pp	PROPN
ap-2449	256	23	.	.	PUNCT
ap-2449	257	1	135	135	NUM
ap-2449	257	2	-	-	SYM
ap-2449	257	3	141	141	NUM
ap-2449	257	4	.	.	PUNCT
ap-2449	258	1	[	[	X
ap-2449	258	2	14	14	NUM
ap-2449	258	3	]	]	X
ap-2449	258	4	attia	attia	PROPN
ap-2449	258	5	,	,	PUNCT
ap-2449	258	6	abdel	abdel	NOUN
ap-2449	258	7	-	-	PUNCT
ap-2449	258	8	fattah	fattah	PROPN
ap-2449	258	9	,	,	PUNCT
ap-2449	258	10	jan	jan	PROPN
ap-2449	258	11	j.	j.	PROPN
ap-2449	258	12	,	,	PUNCT
ap-2449	258	13	p.	p.	PROPN
ap-2449	258	14	horáček	horáček	PROPN
ap-2449	258	15	,	,	PUNCT
ap-2449	258	16	and	and	CCONJ
ap-2449	258	17	f.	f.	PROPN
ap-2449	258	18	soliman	soliman	PROPN
ap-2449	258	19	,	,	PUNCT
ap-2449	258	20	“	"	PUNCT
ap-2449	258	21	fuzzy	fuzzy	ADJ
ap-2449	258	22	control	control	NOUN
ap-2449	258	23	for	for	ADP
ap-2449	258	24	astronomical	astronomical	ADJ
ap-2449	258	25	telescope	telescope	NOUN
ap-2449	258	26	tracking	tracking	NOUN
ap-2449	258	27	”	"	PUNCT
ap-2449	258	28	,	,	PUNCT
ap-2449	258	29	16th	16th	ADJ
ap-2449	258	30	international	international	ADJ
ap-2449	258	31	conference	conference	NOUN
ap-2449	258	32	on	on	ADP
ap-2449	258	33	production	production	NOUN
ap-2449	258	34	research	research	NOUN
ap-2449	258	35	,	,	PUNCT
ap-2449	258	36	prague	prague	PROPN
ap-2449	258	37	,	,	PUNCT
ap-2449	258	38	czech	czech	PROPN
ap-2449	258	39	republic	republic	NOUN
ap-2449	258	40	,	,	PUNCT
ap-2449	258	41	2001	2001	NUM
ap-2449	258	42	.	.	PUNCT
ap-2449	259	1	[	[	X
ap-2449	259	2	15	15	NUM
ap-2449	259	3	]	]	X
ap-2449	259	4	celestron	celestron	NOUN
ap-2449	259	5	11/14	11/14	NUM
ap-2449	259	6	operating	operating	NOUN
ap-2449	259	7	manual	manual	NOUN
ap-2449	259	8	.	.	PUNCT
ap-2449	260	1	celestron	celestron	PROPN
ap-2449	260	2	international	international	PROPN
ap-2449	260	3	co.	co.	PROPN
ap-2449	261	1	pp	pp	X
ap-2449	261	2	.	.	PUNCT
ap-2449	262	1	1	1	NUM
ap-2449	262	2	-	-	SYM
ap-2449	262	3	26	26	NUM
ap-2449	262	4	,	,	PUNCT
ap-2449	262	5	1992	1992	NUM
ap-2449	262	6	.	.	PUNCT
ap-2449	263	1	[	[	X
ap-2449	263	2	16	16	NUM
ap-2449	263	3	]	]	X
ap-2449	263	4	tang	tang	PROPN
ap-2449	263	5	,	,	PUNCT
ap-2449	263	6	k.s	k.s	PROPN
ap-2449	263	7	,	,	PUNCT
ap-2449	263	8	man	man	NOUN
ap-2449	263	9	,	,	PUNCT
ap-2449	263	10	k.f	k.f	PROPN
ap-2449	263	11	.	.	PROPN
ap-2449	263	12	,	,	PUNCT
ap-2449	263	13	chen	chen	PROPN
ap-2449	263	14	,	,	PUNCT
ap-2449	263	15	g.	g.	PROPN
ap-2449	263	16	and	and	CCONJ
ap-2449	263	17	kwong	kwong	PROPN
ap-2449	263	18	,	,	PUNCT
ap-2449	263	19	s.	s.	PROPN
ap-2449	263	20	,	,	PUNCT
ap-2449	263	21	“	"	PUNCT
ap-2449	263	22	an	an	DET
ap-2449	263	23	optimal	optimal	ADJ
ap-2449	263	24	fuzzy	fuzzy	ADJ
ap-2449	263	25	pid	pid	NOUN
ap-2449	263	26	controller	controller	NOUN
ap-2449	263	27	”	"	PUNCT
ap-2449	263	28	,	,	PUNCT
ap-2449	263	29	ieee	ieee	NOUN
ap-2449	263	30	transactions	transaction	NOUN
ap-2449	263	31	on	on	ADP
ap-2449	263	32	industrial	industrial	ADJ
ap-2449	263	33	electronics	electronic	NOUN
ap-2449	263	34	,	,	PUNCT
ap-2449	263	35	48	48	NUM
ap-2449	263	36	,	,	PUNCT
ap-2449	263	37	no	no	INTJ
ap-2449	263	38	.	.	NOUN
ap-2449	263	39	4	4	NUM
ap-2449	263	40	,	,	PUNCT
ap-2449	263	41	pp	pp	ADJ
ap-2449	263	42	.	.	PUNCT
ap-2449	264	1	757	757	PROPN
ap-2449	264	2	-	-	SYM
ap-2449	264	3	765	765	NUM
ap-2449	264	4	,	,	PUNCT
ap-2449	264	5	2001	2001	NUM
ap-2449	264	6	.	.	PUNCT
ap-2449	265	1	[	[	X
ap-2449	265	2	17	17	NUM
ap-2449	265	3	]	]	X
ap-2449	265	4	attia	attia	PROPN
ap-2449	265	5	,	,	PUNCT
ap-2449	265	6	abdel	abdel	NOUN
ap-2449	265	7	-	-	PUNCT
ap-2449	265	8	fattah	fattah	PROPN
ap-2449	265	9	,	,	PUNCT
ap-2449	265	10	and	and	CCONJ
ap-2449	265	11	p.	p.	PROPN
ap-2449	265	12	horáček	horáček	PROPN
ap-2449	265	13	.	.	PUNCT
ap-2449	266	1	“	"	PUNCT
ap-2449	266	2	modeling	model	VERB
ap-2449	266	3	nonlinear	nonlinear	ADJ
ap-2449	266	4	systems	system	NOUN
ap-2449	266	5	by	by	ADP
ap-2449	266	6	a	a	DET
ap-2449	266	7	fuzzy	fuzzy	ADJ
ap-2449	266	8	logic	logic	NOUN
ap-2449	266	9	neural	neural	ADJ
ap-2449	266	10	network	network	NOUN
ap-2449	266	11	using	use	VERB
ap-2449	266	12	genetic	genetic	ADJ
ap-2449	266	13	algorithms	algorithm	NOUN
ap-2449	266	14	.	.	PUNCT
ap-2449	266	15	”	"	PUNCT
ap-2449	267	1	acta	acta	PROPN
ap-2449	267	2	polytechnica	polytechnica	PROPN
ap-2449	267	3	41	41	NUM
ap-2449	267	4	,	,	PUNCT
ap-2449	267	5	no	no	INTJ
ap-2449	267	6	.	.	NOUN
ap-2449	267	7	6	6	NUM
ap-2449	267	8	(	(	PUNCT
ap-2449	267	9	2001	2001	NUM
ap-2449	267	10	)	)	PUNCT
ap-2449	267	11	.	.	PUNCT
ap-2449	268	1	[	[	X
ap-2449	268	2	18	18	NUM
ap-2449	268	3	]	]	SYM
ap-2449	268	4	attia	attia	PROPN
ap-2449	268	5	,	,	PUNCT
ap-2449	268	6	abdel	abdel	NOUN
ap-2449	268	7	-	-	PUNCT
ap-2449	268	8	fattah	fattah	PROPN
ap-2449	268	9	,	,	PUNCT
ap-2449	268	10	genetic	genetic	ADJ
ap-2449	268	11	algorithms	algorithm	NOUN
ap-2449	268	12	for	for	ADP
ap-2449	268	13	optimizing	optimize	VERB
ap-2449	268	14	fuzzy	fuzzy	ADJ
ap-2449	268	15	and	and	CCONJ
ap-2449	268	16	neuro	neuro	NOUN
ap-2449	268	17	-	-	PUNCT
ap-2449	268	18	fuzzy	fuzzy	ADJ
ap-2449	268	19	systems	system	NOUN
ap-2449	268	20	.	.	PUNCT
ap-2449	269	1	p.	p.	NOUN
ap-2449	269	2	107	107	NUM
ap-2449	269	3	,	,	PUNCT
ap-2449	269	4	cvut	cvut	PROPN
ap-2449	269	5	praha	praha	PROPN
ap-2449	269	6	,	,	PUNCT
ap-2449	269	7	(	(	PUNCT
ap-2449	269	8	czech	czech	PROPN
ap-2449	269	9	republic	republic	NOUN
ap-2449	269	10	)	)	PUNCT
ap-2449	269	11	,	,	PUNCT
ap-2449	269	12	2002	2002	NUM
ap-2449	269	13	.	.	PUNCT
ap-2449	270	1	[	[	X
ap-2449	270	2	19	19	NUM
ap-2449	270	3	]	]	PUNCT
ap-2449	270	4	padula	padula	NOUN
ap-2449	270	5	,	,	PUNCT
ap-2449	270	6	f.	f.	PROPN
ap-2449	270	7	,	,	PUNCT
ap-2449	270	8	visioli	visioli	PROPN
ap-2449	270	9	,	,	PUNCT
ap-2449	270	10	a.	a.	NOUN
ap-2449	270	11	(	(	PUNCT
ap-2449	270	12	2011	2011	NUM
ap-2449	270	13	)	)	PUNCT
ap-2449	270	14	.	.	PUNCT
ap-2449	271	1	tuning	tune	VERB
ap-2449	271	2	rules	rule	NOUN
ap-2449	271	3	for	for	ADP
ap-2449	271	4	optimal	optimal	ADJ
ap-2449	271	5	pid	pid	NOUN
ap-2449	271	6	and	and	CCONJ
ap-2449	271	7	fractional	fractional	ADJ
ap-2449	271	8	-	-	PUNCT
ap-2449	271	9	order	order	NOUN
ap-2449	271	10	pid	pid	NOUN
ap-2449	271	11	controllers	controller	NOUN
ap-2449	271	12	.	.	PUNCT
ap-2449	272	1	journal	journal	PROPN
ap-2449	272	2	of	of	ADP
ap-2449	272	3	process	process	NOUN
ap-2449	272	4	control	control	NOUN
ap-2449	272	5	,	,	PUNCT
ap-2449	272	6	21(1	21(1	NUM
ap-2449	272	7	)	)	PUNCT
ap-2449	272	8	,	,	PUNCT
ap-2449	272	9	69	69	NUM
ap-2449	272	10	-	-	SYM
ap-2449	272	11	81	81	NUM
ap-2449	272	12	.	.	PUNCT
ap-2449	273	1	[	[	X
ap-2449	273	2	20	20	NUM
ap-2449	273	3	]	]	X
ap-2449	273	4	luo	luo	PROPN
ap-2449	273	5	,	,	PUNCT
ap-2449	273	6	y.	y.	PROPN
ap-2449	273	7	,	,	PUNCT
ap-2449	273	8	chen	chen	PROPN
ap-2449	273	9	,	,	PUNCT
ap-2449	273	10	y.	y.	PROPN
ap-2449	273	11	q.	q.	PROPN
ap-2449	273	12	,	,	PUNCT
ap-2449	273	13	wang	wang	PROPN
ap-2449	273	14	,	,	PUNCT
ap-2449	273	15	c.	c.	PROPN
ap-2449	273	16	y.	y.	PROPN
ap-2449	273	17	,	,	PUNCT
ap-2449	273	18	pi	pi	PROPN
ap-2449	273	19	,	,	PUNCT
ap-2449	273	20	y.	y.	PROPN
ap-2449	273	21	g.	g.	PROPN
ap-2449	273	22	(	(	PUNCT
ap-2449	273	23	2010	2010	NUM
ap-2449	273	24	)	)	PUNCT
ap-2449	273	25	.	.	PUNCT
ap-2449	274	1	tuning	tune	VERB
ap-2449	274	2	fractional	fractional	ADJ
ap-2449	274	3	order	order	NOUN
ap-2449	274	4	proportional	proportional	ADJ
ap-2449	274	5	integral	integral	ADJ
ap-2449	274	6	controllers	controller	NOUN
ap-2449	274	7	for	for	ADP
ap-2449	274	8	fractional	fractional	ADJ
ap-2449	274	9	order	order	NOUN
ap-2449	274	10	systems	system	NOUN
ap-2449	274	11	.	.	PUNCT
ap-2449	275	1	journal	journal	PROPN
ap-2449	275	2	of	of	ADP
ap-2449	275	3	process	process	NOUN
ap-2449	275	4	control	control	NOUN
ap-2449	275	5	,	,	PUNCT
ap-2449	275	6	20(7	20(7	NUM
ap-2449	275	7	)	)	PUNCT
ap-2449	275	8	,	,	PUNCT
ap-2449	275	9	823	823	NUM
ap-2449	275	10	-	-	SYM
ap-2449	275	11	831	831	NUM
ap-2449	275	12	.	.	PUNCT
ap-2449	276	1	278	278	NUM
ap-2449	276	2	http://dx.doi.org/10.1117/12.308827	http://dx.doi.org/10.1117/12.308827	PUNCT
ap-2449	276	3	acta	acta	PROPN
ap-2449	276	4	polytechnica	polytechnica	PROPN
ap-2449	276	5	58(5):271–278	58(5):271–278	PROPN
ap-2449	276	6	,	,	PUNCT
ap-2449	276	7	2018	2018	NUM
ap-2449	276	8	1	1	NUM
ap-2449	276	9	introduction	introduction	NOUN
ap-2449	276	10	2	2	NUM
ap-2449	276	11	mathematical	mathematical	ADJ
ap-2449	276	12	description	description	NOUN
ap-2449	276	13	of	of	ADP
ap-2449	276	14	the	the	DET
ap-2449	276	15	telescope	telescope	NOUN
ap-2449	276	16	model	model	NOUN
ap-2449	276	17	3	3	NUM
ap-2449	276	18	pid	pid	NOUN
ap-2449	276	19	controller	controller	NOUN
ap-2449	276	20	4	4	NUM
ap-2449	276	21	fuzzy	fuzzy	ADJ
ap-2449	276	22	logic	logic	NOUN
ap-2449	276	23	controller	controller	NOUN
ap-2449	276	24	(	(	PUNCT
ap-2449	276	25	flc	flc	PROPN
ap-2449	276	26	)	)	PUNCT
ap-2449	276	27	5	5	NUM
ap-2449	276	28	proposed	propose	VERB
ap-2449	276	29	improved	improve	VERB
ap-2449	276	30	particle	particle	NOUN
ap-2449	276	31	swarm	swarm	NOUN
ap-2449	276	32	optimization	optimization	NOUN
ap-2449	276	33	algorithm	algorithm	NOUN
ap-2449	276	34	(	(	PUNCT
ap-2449	276	35	mpso	mpso	NOUN
ap-2449	276	36	)	)	PUNCT
ap-2449	276	37	6	6	NUM
ap-2449	276	38	adaptive	adaptive	ADJ
ap-2449	276	39	fuzzy	fuzzy	ADJ
ap-2449	276	40	controllers	controller	NOUN
ap-2449	276	41	using	use	VERB
ap-2449	276	42	modified	modified	ADJ
ap-2449	276	43	pso	pso	NOUN
ap-2449	276	44	7	7	NUM
ap-2449	276	45	results	result	NOUN
ap-2449	276	46	and	and	CCONJ
ap-2449	276	47	discussions	discussion	NOUN
ap-2449	276	48	8	8	NUM
ap-2449	276	49	conclusions	conclusion	NOUN
ap-2449	276	50	references	reference	NOUN