id	sid	tid	token	lemma	pos
ap-258	1	1	ap01_45.vp	ap01_45.vp	PROPN
ap-258	1	2	1	1	NUM
ap-258	1	3	introduction	introduction	NOUN
ap-258	1	4	control	control	NOUN
ap-258	1	5	problems	problem	NOUN
ap-258	1	6	of	of	ADP
ap-258	1	7	time	time	NOUN
ap-258	1	8	delay	delay	NOUN
ap-258	1	9	systems	system	NOUN
ap-258	1	10	have	have	AUX
ap-258	1	11	been	be	AUX
ap-258	1	12	solved	solve	VERB
ap-258	1	13	since	since	SCONJ
ap-258	1	14	the	the	DET
ap-258	1	15	very	very	ADJ
ap-258	1	16	beginning	beginning	NOUN
ap-258	1	17	of	of	ADP
ap-258	1	18	modern	modern	ADJ
ap-258	1	19	control	control	NOUN
ap-258	1	20	theory	theory	NOUN
ap-258	1	21	.	.	PUNCT
ap-258	2	1	the	the	DET
ap-258	2	2	well	well	ADV
ap-258	2	3	-	-	PUNCT
ap-258	2	4	known	know	VERB
ap-258	2	5	idea	idea	NOUN
ap-258	2	6	of	of	ADP
ap-258	2	7	compensating	compensate	VERB
ap-258	2	8	input	input	NOUN
ap-258	2	9	delay	delay	NOUN
ap-258	2	10	by	by	ADP
ap-258	2	11	means	mean	NOUN
ap-258	2	12	of	of	ADP
ap-258	2	13	a	a	DET
ap-258	2	14	special	special	ADJ
ap-258	2	15	control	control	NOUN
ap-258	2	16	loop	loop	NOUN
ap-258	2	17	arrangement	arrangement	NOUN
ap-258	2	18	was	be	AUX
ap-258	2	19	introduced	introduce	VERB
ap-258	2	20	by	by	ADP
ap-258	2	21	smith	smith	PROPN
ap-258	3	1	[	[	X
ap-258	3	2	1	1	NUM
ap-258	3	3	]	]	PUNCT
ap-258	3	4	.	.	PUNCT
ap-258	4	1	in	in	ADP
ap-258	4	2	fact	fact	NOUN
ap-258	4	3	the	the	DET
ap-258	4	4	idea	idea	NOUN
ap-258	4	5	of	of	ADP
ap-258	4	6	the	the	DET
ap-258	4	7	single	single	ADJ
ap-258	4	8	input	input	NOUN
ap-258	4	9	delay	delay	NOUN
ap-258	4	10	in	in	ADP
ap-258	4	11	the	the	DET
ap-258	4	12	plant	plant	NOUN
ap-258	4	13	model	model	NOUN
ap-258	4	14	is	be	AUX
ap-258	4	15	also	also	ADV
ap-258	4	16	considered	consider	VERB
ap-258	4	17	in	in	ADP
ap-258	4	18	the	the	DET
ap-258	4	19	ziegler	ziegler	PROPN
ap-258	4	20	and	and	CCONJ
ap-258	4	21	nichols	nichols	PROPN
ap-258	4	22	method	method	NOUN
ap-258	4	23	of	of	ADP
ap-258	4	24	controller	controller	NOUN
ap-258	4	25	setting	set	VERB
ap-258	4	26	.	.	PUNCT
ap-258	5	1	series	series	PROPN
ap-258	5	2	linkage	linkage	NOUN
ap-258	5	3	of	of	ADP
ap-258	5	4	the	the	DET
ap-258	5	5	delay	delay	NOUN
ap-258	5	6	and	and	CCONJ
ap-258	5	7	other	other	ADJ
ap-258	5	8	parts	part	NOUN
ap-258	5	9	of	of	ADP
ap-258	5	10	the	the	DET
ap-258	5	11	model	model	NOUN
ap-258	5	12	is	be	AUX
ap-258	5	13	often	often	ADV
ap-258	5	14	used	use	VERB
ap-258	5	15	in	in	ADP
ap-258	5	16	control	control	NOUN
ap-258	5	17	engineering	engineering	NOUN
ap-258	5	18	for	for	ADP
ap-258	5	19	describing	describing	NOUN
ap-258	5	20	of	of	ADP
ap-258	5	21	systems	system	NOUN
ap-258	5	22	with	with	ADP
ap-258	5	23	a	a	DET
ap-258	5	24	significant	significant	ADJ
ap-258	5	25	dead	dead	ADJ
ap-258	5	26	time	time	NOUN
ap-258	5	27	.	.	PUNCT
ap-258	6	1	a	a	DET
ap-258	6	2	conventionally	conventionally	ADV
ap-258	6	3	applied	apply	VERB
ap-258	6	4	model	model	NOUN
ap-258	6	5	for	for	ADP
ap-258	6	6	such	such	ADJ
ap-258	6	7	systems	system	NOUN
ap-258	6	8	is	be	AUX
ap-258	6	9	assumed	assume	VERB
ap-258	6	10	with	with	ADP
ap-258	6	11	the	the	DET
ap-258	6	12	following	follow	VERB
ap-258	6	13	transfer	transfer	NOUN
ap-258	6	14	function	function	NOUN
ap-258	6	15	�	�	PROPN
ap-258	6	16	�	�	PROPN
ap-258	6	17	�	�	PROPN
ap-258	6	18	�	�	PROPN
ap-258	6	19	�	�	PROPN
ap-258	6	20	�	�	PROPN
ap-258	6	21	g	g	PROPN
ap-258	6	22	s	s	PART
ap-258	6	23	k	k	PROPN
ap-258	6	24	s	s	PROPN
ap-258	6	25	ts	ts	ADP
ap-258	6	26	n	n	CCONJ
ap-258	6	27	�	�	PROPN
ap-258	6	28	�	�	PROPN
ap-258	6	29	�	�	PROPN
ap-258	6	30	exp	exp	X
ap-258	6	31	�	�	PROPN
ap-258	6	32	1	1	NUM
ap-258	6	33	(	(	PUNCT
ap-258	6	34	1	1	NUM
ap-258	6	35	)	)	PUNCT
ap-258	6	36	where	where	SCONJ
ap-258	6	37	n	n	NOUN
ap-258	6	38	=	=	SYM
ap-258	6	39	1	1	NUM
ap-258	6	40	,	,	PUNCT
ap-258	6	41	2	2	NUM
ap-258	6	42	,	,	PUNCT
ap-258	6	43	…	…	PUNCT
ap-258	6	44	is	be	AUX
ap-258	6	45	the	the	DET
ap-258	6	46	order	order	NOUN
ap-258	6	47	of	of	ADP
ap-258	6	48	the	the	DET
ap-258	6	49	model	model	NOUN
ap-258	6	50	,	,	PUNCT
ap-258	6	51	k	k	PROPN
ap-258	6	52	is	be	AUX
ap-258	6	53	steady	steady	ADJ
ap-258	6	54	state	state	NOUN
ap-258	6	55	gain	gain	NOUN
ap-258	6	56	,	,	PUNCT
ap-258	6	57	t	t	PROPN
ap-258	6	58	is	be	AUX
ap-258	6	59	time	time	NOUN
ap-258	6	60	constant	constant	ADJ
ap-258	6	61	and	and	CCONJ
ap-258	6	62	t	t	PROPN
ap-258	6	63	is	be	AUX
ap-258	6	64	input	input	NOUN
ap-258	6	65	time	time	NOUN
ap-258	6	66	delay	delay	NOUN
ap-258	6	67	.	.	PUNCT
ap-258	7	1	the	the	DET
ap-258	7	2	first	first	ADJ
ap-258	7	3	order	order	NOUN
ap-258	7	4	model	model	NOUN
ap-258	7	5	n	n	NOUN
ap-258	7	6	=	=	SYM
ap-258	7	7	1	1	NUM
ap-258	7	8	is	be	AUX
ap-258	7	9	often	often	ADV
ap-258	7	10	used	use	VERB
ap-258	7	11	in	in	ADP
ap-258	7	12	practice	practice	NOUN
ap-258	7	13	.	.	PUNCT
ap-258	8	1	three	three	NUM
ap-258	8	2	parameters	parameter	NOUN
ap-258	8	3	k	k	PROPN
ap-258	8	4	,	,	PUNCT
ap-258	8	5	t	t	PROPN
ap-258	8	6	and	and	CCONJ
ap-258	8	7	�	�	PROPN
ap-258	8	8	can	can	AUX
ap-258	8	9	be	be	AUX
ap-258	8	10	estimated	estimate	VERB
ap-258	8	11	for	for	ADP
ap-258	8	12	example	example	NOUN
ap-258	8	13	from	from	ADP
ap-258	8	14	the	the	DET
ap-258	8	15	step	step	NOUN
ap-258	8	16	response	response	NOUN
ap-258	8	17	of	of	ADP
ap-258	8	18	the	the	DET
ap-258	8	19	system	system	NOUN
ap-258	8	20	(	(	PUNCT
ap-258	8	21	see	see	VERB
ap-258	8	22	figure	figure	NOUN
ap-258	8	23	3	3	NUM
ap-258	8	24	)	)	PUNCT
ap-258	8	25	.	.	PUNCT
ap-258	9	1	it	it	PRON
ap-258	9	2	should	should	AUX
ap-258	9	3	be	be	AUX
ap-258	9	4	noted	note	VERB
ap-258	9	5	that	that	SCONJ
ap-258	9	6	the	the	DET
ap-258	9	7	model	model	NOUN
ap-258	9	8	obtained	obtain	VERB
ap-258	9	9	in	in	ADP
ap-258	9	10	this	this	DET
ap-258	9	11	way	way	NOUN
ap-258	9	12	often	often	ADV
ap-258	9	13	truly	truly	ADV
ap-258	9	14	describes	describe	VERB
ap-258	9	15	only	only	ADV
ap-258	9	16	the	the	DET
ap-258	9	17	transient	transient	ADJ
ap-258	9	18	behaviour	behaviour	NOUN
ap-258	9	19	of	of	ADP
ap-258	9	20	the	the	DET
ap-258	9	21	system	system	NOUN
ap-258	9	22	.	.	PUNCT
ap-258	10	1	this	this	PRON
ap-258	10	2	results	result	VERB
ap-258	10	3	from	from	ADP
ap-258	10	4	the	the	DET
ap-258	10	5	fact	fact	NOUN
ap-258	10	6	that	that	SCONJ
ap-258	10	7	most	most	ADJ
ap-258	10	8	real	real	ADJ
ap-258	10	9	systems	system	NOUN
ap-258	10	10	have	have	AUX
ap-258	10	11	more	more	ADV
ap-258	10	12	complicated	complicated	ADJ
ap-258	10	13	dynamic	dynamic	ADJ
ap-258	10	14	behaviour	behaviour	NOUN
ap-258	10	15	,	,	PUNCT
ap-258	10	16	which	which	PRON
ap-258	10	17	can	can	AUX
ap-258	10	18	be	be	AUX
ap-258	10	19	only	only	ADV
ap-258	10	20	very	very	ADV
ap-258	10	21	roughly	roughly	ADV
ap-258	10	22	described	describe	VERB
ap-258	10	23	by	by	ADP
ap-258	10	24	the	the	DET
ap-258	10	25	first	first	ADJ
ap-258	10	26	order	order	NOUN
ap-258	10	27	model	model	NOUN
ap-258	10	28	with	with	ADP
ap-258	10	29	only	only	ADJ
ap-258	10	30	input	input	NOUN
ap-258	10	31	time	time	NOUN
ap-258	10	32	delay	delay	NOUN
ap-258	10	33	.	.	PUNCT
ap-258	11	1	discrepancies	discrepancy	NOUN
ap-258	11	2	between	between	ADP
ap-258	11	3	the	the	DET
ap-258	11	4	transient	transient	ADJ
ap-258	11	5	and	and	CCONJ
ap-258	11	6	frequency	frequency	NOUN
ap-258	11	7	responses	response	NOUN
ap-258	11	8	of	of	ADP
ap-258	11	9	the	the	DET
ap-258	11	10	model	model	NOUN
ap-258	11	11	and	and	CCONJ
ap-258	11	12	the	the	DET
ap-258	11	13	real	real	ADJ
ap-258	11	14	system	system	NOUN
ap-258	11	15	often	often	ADV
ap-258	11	16	occur	occur	VERB
ap-258	11	17	if	if	SCONJ
ap-258	11	18	the	the	DET
ap-258	11	19	first	first	ADJ
ap-258	11	20	order	order	NOUN
ap-258	11	21	model	model	NOUN
ap-258	11	22	is	be	AUX
ap-258	11	23	used	use	VERB
ap-258	11	24	.	.	PUNCT
ap-258	12	1	the	the	DET
ap-258	12	2	use	use	NOUN
ap-258	12	3	of	of	ADP
ap-258	12	4	a	a	DET
ap-258	12	5	higher	high	ADJ
ap-258	12	6	order	order	NOUN
ap-258	12	7	model	model	NOUN
ap-258	12	8	(	(	PUNCT
ap-258	12	9	n	n	CCONJ
ap-258	12	10	>	>	SYM
ap-258	12	11	1	1	NUM
ap-258	12	12	)	)	PUNCT
ap-258	12	13	can	can	AUX
ap-258	12	14	reduce	reduce	VERB
ap-258	12	15	these	these	DET
ap-258	12	16	discrepancies	discrepancy	NOUN
ap-258	12	17	,	,	PUNCT
ap-258	12	18	but	but	CCONJ
ap-258	12	19	it	it	PRON
ap-258	12	20	causes	cause	VERB
ap-258	12	21	increasing	increase	VERB
ap-258	12	22	complexity	complexity	NOUN
ap-258	12	23	of	of	ADP
ap-258	12	24	the	the	DET
ap-258	12	25	model	model	NOUN
ap-258	12	26	structure	structure	NOUN
ap-258	12	27	.	.	PUNCT
ap-258	13	1	on	on	ADP
ap-258	13	2	the	the	DET
ap-258	13	3	other	other	ADJ
ap-258	13	4	hand	hand	NOUN
ap-258	13	5	,	,	PUNCT
ap-258	13	6	the	the	DET
ap-258	13	7	first	first	ADJ
ap-258	13	8	order	order	NOUN
ap-258	13	9	model	model	NOUN
ap-258	13	10	is	be	AUX
ap-258	13	11	advantageous	advantageous	ADJ
ap-258	13	12	if	if	SCONJ
ap-258	13	13	the	the	DET
ap-258	13	14	model	model	NOUN
ap-258	13	15	-	-	PUNCT
ap-258	13	16	based	base	VERB
ap-258	13	17	control	control	NOUN
ap-258	13	18	strategy	strategy	NOUN
ap-258	13	19	is	be	AUX
ap-258	13	20	to	to	PART
ap-258	13	21	be	be	AUX
ap-258	13	22	applied	apply	VERB
ap-258	13	23	.	.	PUNCT
ap-258	14	1	the	the	DET
ap-258	14	2	low	low	ADJ
ap-258	14	3	order	order	NOUN
ap-258	14	4	of	of	ADP
ap-258	14	5	the	the	DET
ap-258	14	6	model	model	NOUN
ap-258	14	7	brings	bring	VERB
ap-258	14	8	about	about	ADP
ap-258	14	9	the	the	DET
ap-258	14	10	low	low	ADJ
ap-258	14	11	order	order	NOUN
ap-258	14	12	of	of	ADP
ap-258	14	13	the	the	DET
ap-258	14	14	final	final	ADJ
ap-258	14	15	controller	controller	NOUN
ap-258	14	16	model	model	NOUN
ap-258	14	17	desirable	desirable	ADJ
ap-258	14	18	for	for	ADP
ap-258	14	19	its	its	PRON
ap-258	14	20	implementation	implementation	NOUN
ap-258	14	21	.	.	PUNCT
ap-258	15	1	2	2	NUM
ap-258	15	2	first	first	ADJ
ap-258	15	3	order	order	NOUN
ap-258	15	4	model	model	NOUN
ap-258	15	5	with	with	ADP
ap-258	15	6	time	time	NOUN
ap-258	15	7	delays	delay	NOUN
ap-258	15	8	instead	instead	ADV
ap-258	15	9	of	of	ADP
ap-258	15	10	the	the	DET
ap-258	15	11	standard	standard	ADJ
ap-258	15	12	approximation	approximation	NOUN
ap-258	15	13	(	(	PUNCT
ap-258	15	14	1	1	X
ap-258	15	15	)	)	PUNCT
ap-258	15	16	let	let	VERB
ap-258	15	17	us	we	PRON
ap-258	15	18	assume	assume	VERB
ap-258	15	19	an	an	DET
ap-258	15	20	alternative	alternative	ADJ
ap-258	15	21	model	model	NOUN
ap-258	15	22	of	of	ADP
ap-258	15	23	the	the	DET
ap-258	15	24	system	system	NOUN
ap-258	15	25	�	�	PROPN
ap-258	15	26	�	�	PROPN
ap-258	15	27	�	�	PROPN
ap-258	15	28	�	�	PROPN
ap-258	15	29	�	�	PROPN
ap-258	15	30	�	�	PROPN
ap-258	16	1	g	g	PROPN
ap-258	16	2	s	s	PART
ap-258	16	3	k	k	NOUN
ap-258	16	4	s	s	X
ap-258	16	5	ts	ts	ADP
ap-258	16	6	s	s	PROPN
ap-258	16	7	�	�	PROPN
ap-258	16	8	�	�	PROPN
ap-258	16	9	�	�	PROPN
ap-258	16	10	�	�	PROPN
ap-258	16	11	exp	exp	NOUN
ap-258	16	12	exp	exp	NOUN
ap-258	16	13	�	�	PROPN
ap-258	16	14	�	�	PROPN
ap-258	16	15	(	(	PUNCT
ap-258	16	16	2	2	NUM
ap-258	16	17	)	)	PUNCT
ap-258	16	18	corresponding	correspond	VERB
ap-258	16	19	to	to	ADP
ap-258	16	20	the	the	DET
ap-258	16	21	delayed	delay	VERB
ap-258	16	22	differential	differential	ADJ
ap-258	16	23	equation	equation	NOUN
ap-258	16	24	�	�	PROPN
ap-258	16	25	�	�	PROPN
ap-258	16	26	�	�	PROPN
ap-258	16	27	�	�	PROPN
ap-258	16	28	�	�	PROPN
ap-258	16	29	�	�	PROPN
ap-258	16	30	ty	ty	NOUN
ap-258	16	31	t	t	PROPN
ap-258	16	32	y	y	PROPN
ap-258	16	33	t	t	PROPN
ap-258	16	34	ku	ku	PROPN
ap-258	16	35	t	t	PROPN
ap-258	16	36	�	�	PROPN
ap-258	16	37	�	�	PROPN
ap-258	16	38	�	�	PROPN
ap-258	16	39	�	�	PROPN
ap-258	16	40	�	�	PROPN
ap-258	16	41	�	�	PROPN
ap-258	16	42	�	�	PROPN
ap-258	16	43	(	(	PUNCT
ap-258	16	44	3	3	NUM
ap-258	16	45	)	)	PUNCT
ap-258	16	46	where	where	SCONJ
ap-258	16	47	u	u	NOUN
ap-258	16	48	and	and	CCONJ
ap-258	16	49	y	y	PROPN
ap-258	16	50	are	be	AUX
ap-258	16	51	system	system	NOUN
ap-258	16	52	input	input	NOUN
ap-258	16	53	and	and	CCONJ
ap-258	16	54	system	system	NOUN
ap-258	16	55	output	output	NOUN
ap-258	16	56	respectively	respectively	ADV
ap-258	16	57	,	,	PUNCT
ap-258	16	58	t	t	PROPN
ap-258	16	59	is	be	AUX
ap-258	16	60	time	time	NOUN
ap-258	16	61	,	,	PUNCT
ap-258	16	62	k	k	PROPN
ap-258	16	63	is	be	AUX
ap-258	16	64	steady	steady	ADJ
ap-258	16	65	state	state	NOUN
ap-258	16	66	gain	gain	NOUN
ap-258	16	67	,	,	PUNCT
ap-258	16	68	t	t	PROPN
ap-258	16	69	is	be	AUX
ap-258	16	70	time	time	NOUN
ap-258	16	71	constant	constant	ADJ
ap-258	16	72	,	,	PUNCT
ap-258	16	73	�	�	PROPN
ap-258	16	74	is	be	AUX
ap-258	16	75	input	input	NOUN
ap-258	16	76	time	time	NOUN
ap-258	16	77	delay	delay	NOUN
ap-258	16	78	and	and	CCONJ
ap-258	16	79	�	�	PROPN
ap-258	16	80	is	be	AUX
ap-258	16	81	state	state	NOUN
ap-258	16	82	delay	delay	NOUN
ap-258	16	83	.	.	PUNCT
ap-258	17	1	in	in	ADP
ap-258	17	2	effect	effect	NOUN
ap-258	17	3	,	,	PUNCT
ap-258	17	4	state	state	NOUN
ap-258	17	5	delay	delay	NOUN
ap-258	17	6	�	�	PROPN
ap-258	17	7	plays	play	VERB
ap-258	17	8	an	an	DET
ap-258	17	9	analogous	analogous	ADJ
ap-258	17	10	role	role	NOUN
ap-258	17	11	as	as	ADP
ap-258	17	12	the	the	DET
ap-258	17	13	n	n	CCONJ
ap-258	17	14	-	-	PUNCT
ap-258	17	15	th	th	VERB
ap-258	17	16	power	power	NOUN
ap-258	17	17	in	in	ADP
ap-258	17	18	the	the	DET
ap-258	17	19	denominator	denominator	NOUN
ap-258	17	20	of	of	ADP
ap-258	17	21	(	(	PUNCT
ap-258	17	22	1	1	NUM
ap-258	17	23	)	)	PUNCT
ap-258	17	24	.	.	PUNCT
ap-258	18	1	in	in	ADP
ap-258	18	2	combination	combination	NOUN
ap-258	18	3	with	with	ADP
ap-258	18	4	the	the	DET
ap-258	18	5	input	input	NOUN
ap-258	18	6	delay	delay	NOUN
ap-258	18	7	it	it	PRON
ap-258	18	8	allows	allow	VERB
ap-258	18	9	(	(	PUNCT
ap-258	18	10	1	1	NUM
ap-258	18	11	)	)	PUNCT
ap-258	18	12	dynamics	dynamic	NOUN
ap-258	18	13	to	to	PART
ap-258	18	14	be	be	AUX
ap-258	18	15	described	describe	VERB
ap-258	18	16	by	by	ADP
ap-258	18	17	means	mean	NOUN
ap-258	18	18	of	of	ADP
ap-258	18	19	model	model	NOUN
ap-258	18	20	(	(	PUNCT
ap-258	18	21	2	2	NUM
ap-258	18	22	)	)	PUNCT
ap-258	18	23	.	.	PUNCT
ap-258	19	1	for	for	ADP
ap-258	19	2	the	the	DET
ap-258	19	3	sake	sake	NOUN
ap-258	19	4	of	of	ADP
ap-258	19	5	model	model	NOUN
ap-258	19	6	(	(	PUNCT
ap-258	19	7	2	2	NUM
ap-258	19	8	)	)	PUNCT
ap-258	19	9	generalisation	generalisation	NOUN
ap-258	19	10	it	it	PRON
ap-258	19	11	is	be	AUX
ap-258	19	12	useful	useful	ADJ
ap-258	19	13	to	to	PART
ap-258	19	14	introduce	introduce	VERB
ap-258	19	15	a	a	DET
ap-258	19	16	reference	reference	NOUN
ap-258	19	17	model	model	NOUN
ap-258	19	18	with	with	ADP
ap-258	19	19	the	the	DET
ap-258	19	20	following	following	ADJ
ap-258	19	21	relative	relative	ADJ
ap-258	19	22	parameters	parameter	NOUN
ap-258	19	23	:	:	PUNCT
ap-258	19	24	k	k	X
ap-258	19	25	=	=	SYM
ap-258	19	26	1	1	NUM
ap-258	19	27	,	,	PUNCT
ap-258	19	28	t	t	NOUN
ap-258	19	29	=	=	SYM
ap-258	19	30	1	1	NUM
ap-258	19	31	,	,	PUNCT
ap-258	19	32	�	�	PROPN
ap-258	19	33	*	*	SYM
ap-258	19	34	=	=	SYM
ap-258	19	35	�	�	PROPN
ap-258	19	36	/t	/t	SYM
ap-258	19	37	,	,	PUNCT
ap-258	19	38	�	�	PROPN
ap-258	19	39	*	*	SYM
ap-258	19	40	=	=	SYM
ap-258	19	41	�	�	PROPN
ap-258	19	42	/t	/t	SYM
ap-258	19	43	and	and	CCONJ
ap-258	19	44	t	t	PROPN
ap-258	19	45	*	*	PUNCT
ap-258	19	46	=	=	PROPN
ap-258	19	47	t	t	PROPN
ap-258	19	48	/	/	SYM
ap-258	19	49	t.	t.	NOUN
ap-258	19	50	the	the	DET
ap-258	19	51	dynamic	dynamic	ADJ
ap-258	19	52	properties	property	NOUN
ap-258	19	53	of	of	ADP
ap-258	19	54	the	the	DET
ap-258	19	55	linear	linear	ADJ
ap-258	19	56	model	model	NOUN
ap-258	19	57	can	can	AUX
ap-258	19	58	be	be	AUX
ap-258	19	59	determined	determine	VERB
ap-258	19	60	by	by	ADP
ap-258	19	61	the	the	DET
ap-258	19	62	solutions	solution	NOUN
ap-258	19	63	of	of	ADP
ap-258	19	64	its	its	PRON
ap-258	19	65	characteristic	characteristic	ADJ
ap-258	19	66	equation	equation	NOUN
ap-258	19	67	,	,	PUNCT
ap-258	19	68	i.e.	i.e.	X
ap-258	19	69	the	the	DET
ap-258	19	70	system	system	NOUN
ap-258	19	71	poles	pole	NOUN
ap-258	19	72	.	.	PUNCT
ap-258	20	1	the	the	DET
ap-258	20	2	structure	structure	NOUN
ap-258	20	3	of	of	ADP
ap-258	20	4	the	the	DET
ap-258	20	5	characteristic	characteristic	ADJ
ap-258	20	6	equation	equation	NOUN
ap-258	20	7	of	of	ADP
ap-258	20	8	model	model	NOUN
ap-258	20	9	(	(	PUNCT
ap-258	20	10	2	2	NUM
ap-258	20	11	)	)	PUNCT
ap-258	20	12	is	be	AUX
ap-258	20	13	very	very	ADV
ap-258	20	14	simple	simple	ADJ
ap-258	20	15	�	�	PROPN
ap-258	20	16	�	�	PROPN
ap-258	20	17	�	�	PROPN
ap-258	20	18	�	�	PROPN
ap-258	20	19	m	m	PROPN
ap-258	20	20	s	s	PART
ap-258	20	21	s	s	X
ap-258	20	22	s	s	PROPN
ap-258	20	23	�	�	PROPN
ap-258	20	24	�	�	PROPN
ap-258	20	25	�	�	PROPN
ap-258	20	26	�	�	PROPN
ap-258	20	27	exp	exp	NOUN
ap-258	20	28	*	*	PROPN
ap-258	20	29	�	�	PROPN
ap-258	20	30	0	0	PUNCT
ap-258	20	31	(	(	PUNCT
ap-258	20	32	4	4	NUM
ap-258	20	33	)	)	PUNCT
ap-258	20	34	but	but	CCONJ
ap-258	20	35	it	it	PRON
ap-258	20	36	is	be	AUX
ap-258	20	37	not	not	PART
ap-258	20	38	easy	easy	ADJ
ap-258	20	39	to	to	PART
ap-258	20	40	find	find	VERB
ap-258	20	41	a	a	DET
ap-258	20	42	sufficient	sufficient	ADJ
ap-258	20	43	set	set	NOUN
ap-258	20	44	of	of	ADP
ap-258	20	45	solutions	solution	NOUN
ap-258	20	46	.	.	PUNCT
ap-258	21	1	because	because	SCONJ
ap-258	21	2	of	of	ADP
ap-258	21	3	the	the	DET
ap-258	21	4	presence	presence	NOUN
ap-258	21	5	of	of	ADP
ap-258	21	6	the	the	DET
ap-258	21	7	exponential	exponential	ADJ
ap-258	21	8	term	term	NOUN
ap-258	21	9	,	,	PUNCT
ap-258	21	10	equation	equation	NOUN
ap-258	21	11	(	(	PUNCT
ap-258	21	12	4	4	NUM
ap-258	21	13	)	)	PUNCT
ap-258	21	14	is	be	AUX
ap-258	21	15	not	not	PART
ap-258	21	16	algebraic	algebraic	ADJ
ap-258	21	17	but	but	CCONJ
ap-258	21	18	transcendental	transcendental	ADJ
ap-258	21	19	and	and	CCONJ
ap-258	21	20	therefore	therefore	ADV
ap-258	21	21	it	it	PRON
ap-258	21	22	has	have	VERB
ap-258	21	23	infinitely	infinitely	ADV
ap-258	21	24	many	many	ADJ
ap-258	21	25	poles	pole	NOUN
ap-258	21	26	.	.	PUNCT
ap-258	22	1	on	on	ADP
ap-258	22	2	the	the	DET
ap-258	22	3	other	other	ADJ
ap-258	22	4	hand	hand	NOUN
ap-258	22	5	,	,	PUNCT
ap-258	22	6	only	only	ADV
ap-258	22	7	a	a	DET
ap-258	22	8	few	few	ADJ
ap-258	22	9	of	of	ADP
ap-258	22	10	this	this	DET
ap-258	22	11	set	set	NOUN
ap-258	22	12	of	of	ADP
ap-258	22	13	poles	pole	NOUN
ap-258	22	14	have	have	VERB
ap-258	22	15	a	a	DET
ap-258	22	16	significant	significant	ADJ
ap-258	22	17	influence	influence	NOUN
ap-258	22	18	on	on	ADP
ap-258	22	19	the	the	DET
ap-258	22	20	system	system	NOUN
ap-258	22	21	behaviour	behaviour	NOUN
ap-258	22	22	[	[	X
ap-258	22	23	2	2	NUM
ap-258	22	24	]	]	PUNCT
ap-258	22	25	.	.	PUNCT
ap-258	23	1	the	the	DET
ap-258	23	2	distance	distance	NOUN
ap-258	23	3	between	between	ADP
ap-258	23	4	the	the	DET
ap-258	23	5	appropriate	appropriate	ADJ
ap-258	23	6	pole	pole	NOUN
ap-258	23	7	and	and	CCONJ
ap-258	23	8	the	the	DET
ap-258	23	9	origin	origin	NOUN
ap-258	23	10	of	of	ADP
ap-258	23	11	complex	complex	ADJ
ap-258	23	12	plane	plane	NOUN
ap-258	23	13	determines	determine	VERB
ap-258	23	14	the	the	DET
ap-258	23	15	pole	pole	NOUN
ap-258	23	16	significance	significance	NOUN
ap-258	23	17	.	.	PUNCT
ap-258	24	1	the	the	DET
ap-258	24	2	more	more	ADV
ap-258	24	3	distant	distant	ADJ
ap-258	24	4	the	the	DET
ap-258	24	5	pole	pole	NOUN
ap-258	24	6	,	,	PUNCT
ap-258	24	7	the	the	DET
ap-258	24	8	less	less	ADV
ap-258	24	9	significant	significant	ADJ
ap-258	24	10	.	.	PUNCT
ap-258	25	1	poles	pole	NOUN
ap-258	25	2	may	may	AUX
ap-258	25	3	be	be	AUX
ap-258	25	4	either	either	CCONJ
ap-258	25	5	real	real	ADJ
ap-258	25	6	or	or	CCONJ
ap-258	25	7	complex	complex	ADJ
ap-258	25	8	conjugate	conjugate	NOUN
ap-258	25	9	.	.	PUNCT
ap-258	26	1	real	real	ADJ
ap-258	26	2	poles	pole	NOUN
ap-258	26	3	represent	represent	VERB
ap-258	26	4	damped	damped	NOUN
ap-258	26	5	modes	mode	NOUN
ap-258	26	6	,	,	PUNCT
ap-258	26	7	while	while	SCONJ
ap-258	26	8	complex	complex	ADJ
ap-258	26	9	poles	pole	NOUN
ap-258	26	10	s	s	PART
ap-258	26	11	=	=	SYM
ap-258	26	12	�	�	PROPN
ap-258	26	13	�	�	PROPN
ap-258	26	14	j	j	PROPN
ap-258	26	15	�	�	PROPN
ap-258	26	16	represent	represent	VERB
ap-258	26	17	oscillatory	oscillatory	ADJ
ap-258	26	18	modes	mode	NOUN
ap-258	26	19	of	of	ADP
ap-258	26	20	the	the	DET
ap-258	26	21	system	system	NOUN
ap-258	26	22	dynamics	dynamic	NOUN
ap-258	26	23	.	.	PUNCT
ap-258	27	1	the	the	DET
ap-258	27	2	ratio	ratio	NOUN
ap-258	27	3	between	between	ADP
ap-258	27	4	the	the	DET
ap-258	27	5	real	real	ADJ
ap-258	27	6	and	and	CCONJ
ap-258	27	7	imaginary	imaginary	ADJ
ap-258	27	8	part	part	NOUN
ap-258	27	9	of	of	ADP
ap-258	27	10	a	a	DET
ap-258	27	11	complex	complex	ADJ
ap-258	27	12	pole	pole	NOUN
ap-258	27	13	is	be	AUX
ap-258	27	14	known	know	VERB
ap-258	27	15	as	as	ADP
ap-258	27	16	relative	relative	ADJ
ap-258	27	17	damping	damp	VERB
ap-258	27	18	�	�	PROPN
ap-258	27	19	�	�	PROPN
ap-258	27	20	�	�	PROPN
ap-258	27	21	�	�	PROPN
ap-258	27	22	.	.	PUNCT
ap-258	28	1	the	the	DET
ap-258	28	2	location	location	NOUN
ap-258	28	3	of	of	ADP
ap-258	28	4	the	the	DET
ap-258	28	5	poles	pole	NOUN
ap-258	28	6	is	be	AUX
ap-258	28	7	dependent	dependent	ADJ
ap-258	28	8	on	on	ADP
ap-258	28	9	the	the	DET
ap-258	28	10	model	model	NOUN
ap-258	28	11	parameters	parameter	NOUN
ap-258	28	12	.	.	PUNCT
ap-258	29	1	the	the	DET
ap-258	29	2	trajectories	trajectory	NOUN
ap-258	29	3	of	of	ADP
ap-258	29	4	the	the	DET
ap-258	29	5	poles	pole	NOUN
ap-258	29	6	with	with	ADP
ap-258	29	7	respect	respect	NOUN
ap-258	29	8	to	to	ADP
ap-258	29	9	the	the	DET
ap-258	29	10	value	value	NOUN
ap-258	29	11	of	of	ADP
ap-258	29	12	state	state	NOUN
ap-258	29	13	delay	delay	PROPN
ap-258	29	14	�	�	PROPN
ap-258	29	15	*	*	NOUN
ap-258	29	16	are	be	AUX
ap-258	29	17	depicted	depict	VERB
ap-258	29	18	in	in	ADP
ap-258	29	19	figure	figure	NOUN
ap-258	29	20	1	1	NUM
ap-258	29	21	.	.	PUNCT
ap-258	30	1	as	as	SCONJ
ap-258	30	2	can	can	AUX
ap-258	30	3	be	be	AUX
ap-258	30	4	seen	see	VERB
ap-258	30	5	,	,	PUNCT
ap-258	30	6	if	if	SCONJ
ap-258	30	7	�	�	NOUN
ap-258	30	8	*	*	PUNCT
ap-258	30	9	=	=	SYM
ap-258	30	10	0	0	NUM
ap-258	30	11	system	system	NOUN
ap-258	30	12	(	(	PUNCT
ap-258	30	13	2	2	X
ap-258	30	14	)	)	PUNCT
ap-258	30	15	has	have	VERB
ap-258	30	16	only	only	ADV
ap-258	30	17	one	one	NUM
ap-258	30	18	real	real	ADJ
ap-258	30	19	pole	pole	NOUN
ap-258	30	20	in	in	ADP
ap-258	30	21	the	the	DET
ap-258	30	22	selected	select	VERB
ap-258	30	23	region	region	NOUN
ap-258	30	24	.	.	PUNCT
ap-258	31	1	this	this	DET
ap-258	31	2	real	real	ADJ
ap-258	31	3	pole	pole	NOUN
ap-258	31	4	denoted	denote	VERB
ap-258	31	5	as	as	ADP
ap-258	31	6	s1	s1	PROPN
ap-258	31	7	moves	move	NOUN
ap-258	31	8	to	to	ADP
ap-258	31	9	the	the	DET
ap-258	31	10	left	left	NOUN
ap-258	31	11	with	with	ADP
ap-258	31	12	increasing	increase	VERB
ap-258	31	13	value	value	NOUN
ap-258	31	14	of	of	ADP
ap-258	31	15	�	�	PROPN
ap-258	31	16	*	*	NUM
ap-258	31	17	.	.	PUNCT
ap-258	32	1	it	it	PRON
ap-258	32	2	should	should	AUX
ap-258	32	3	be	be	AUX
ap-258	32	4	recalled	recall	VERB
ap-258	32	5	that	that	SCONJ
ap-258	32	6	since	since	SCONJ
ap-258	32	7	�	�	PROPN
ap-258	32	8	*	*	SYM
ap-258	32	9	�	�	PROPN
ap-258	32	10	0	0	NUM
ap-258	32	11	equation	equation	NOUN
ap-258	32	12	(	(	PUNCT
ap-258	32	13	4	4	X
ap-258	32	14	)	)	PUNCT
ap-258	32	15	is	be	AUX
ap-258	32	16	transcendental	transcendental	ADJ
ap-258	32	17	,	,	PUNCT
ap-258	32	18	with	with	ADP
ap-258	32	19	infinitely	infinitely	ADV
ap-258	32	20	many	many	ADJ
ap-258	32	21	solutions	solution	NOUN
ap-258	32	22	.	.	PUNCT
ap-258	33	1	another	another	DET
ap-258	33	2	real	real	ADJ
ap-258	33	3	pole	pole	NOUN
ap-258	33	4	emerges	emerge	VERB
ap-258	33	5	in	in	ADP
ap-258	33	6	the	the	DET
ap-258	33	7	left	left	ADJ
ap-258	33	8	part	part	NOUN
ap-258	33	9	of	of	ADP
ap-258	33	10	figure	figure	NOUN
ap-258	33	11	1	1	NUM
ap-258	34	1	and	and	CCONJ
ap-258	34	2	it	it	PRON
ap-258	34	3	moves	move	VERB
ap-258	34	4	to	to	ADP
ap-258	34	5	the	the	DET
ap-258	34	6	right	right	NOUN
ap-258	34	7	as	as	ADP
ap-258	34	8	�	�	NOUN
ap-258	34	9	*	*	NOUN
ap-258	34	10	increases	increase	NOUN
ap-258	34	11	.	.	PUNCT
ap-258	35	1	the	the	DET
ap-258	35	2	case	case	NOUN
ap-258	35	3	of	of	ADP
ap-258	35	4	double	double	ADJ
ap-258	35	5	pole	pole	NOUN
ap-258	35	6	s1	s1	NOUN
ap-258	35	7	,	,	PUNCT
ap-258	35	8	2	2	NUM
ap-258	35	9	occurs	occur	VERB
ap-258	35	10	with	with	ADP
ap-258	35	11	�	�	PROPN
ap-258	35	12	*	*	SYM
ap-258	35	13	=	=	SYM
ap-258	35	14	exp	exp	NOUN
ap-258	35	15	(	(	PUNCT
ap-258	35	16	1	1	NUM
ap-258	35	17	)	)	PUNCT
ap-258	35	18	.	.	PUNCT
ap-258	36	1	it	it	PRON
ap-258	36	2	is	be	AUX
ap-258	36	3	the	the	DET
ap-258	36	4	highest	high	ADJ
ap-258	36	5	value	value	NOUN
ap-258	36	6	of	of	ADP
ap-258	36	7	�	�	PROPN
ap-258	36	8	*	*	VERB
ap-258	36	9	for	for	ADP
ap-258	36	10	which	which	DET
ap-258	36	11	equation	equation	NOUN
ap-258	36	12	(	(	PUNCT
ap-258	36	13	4	4	X
ap-258	36	14	)	)	PUNCT
ap-258	36	15	has	have	VERB
ap-258	36	16	real	real	ADJ
ap-258	36	17	solutions	solution	NOUN
ap-258	36	18	.	.	PUNCT
ap-258	37	1	for	for	ADP
ap-258	37	2	higher	high	ADJ
ap-258	37	3	�	�	PROPN
ap-258	37	4	*	*	VERB
ap-258	37	5	the	the	DET
ap-258	37	6	poles	pole	NOUN
ap-258	37	7	acta	acta	PROPN
ap-258	37	8	polytechnica	polytechnica	PROPN
ap-258	37	9	vol	vol	NOUN
ap-258	37	10	.	.	PUNCT
ap-258	38	1	41	41	NUM
ap-258	38	2	no	no	NOUN
ap-258	38	3	.	.	PUNCT
ap-258	39	1	4–5/2001	4–5/2001	NUM
ap-258	39	2	49	49	NUM
ap-258	39	3	control	control	NOUN
ap-258	39	4	system	system	NOUN
ap-258	39	5	design	design	NOUN
ap-258	39	6	based	base	VERB
ap-258	39	7	on	on	ADP
ap-258	39	8	a	a	DET
ap-258	39	9	universal	universal	ADJ
ap-258	39	10	first	first	ADJ
ap-258	39	11	order	order	NOUN
ap-258	39	12	model	model	NOUN
ap-258	39	13	with	with	ADP
ap-258	39	14	time	time	NOUN
ap-258	39	15	delays	delay	NOUN
ap-258	39	16	t.	t.	PROPN
ap-258	39	17	vyhlídal	vyhlídal	NOUN
ap-258	39	18	,	,	PUNCT
ap-258	39	19	p.	p.	NOUN
ap-258	39	20	zítek	zítek	NOUN
ap-258	40	1	an	an	DET
ap-258	40	2	original	original	ADJ
ap-258	40	3	modelling	modelling	NOUN
ap-258	40	4	approach	approach	NOUN
ap-258	40	5	for	for	ADP
ap-258	40	6	siso	siso	NOUN
ap-258	40	7	systems	system	NOUN
ap-258	40	8	is	be	AUX
ap-258	40	9	presented	present	VERB
ap-258	40	10	,	,	PUNCT
ap-258	40	11	based	base	VERB
ap-258	40	12	on	on	ADP
ap-258	40	13	a	a	DET
ap-258	40	14	first	first	ADJ
ap-258	40	15	order	order	NOUN
ap-258	40	16	model	model	NOUN
ap-258	40	17	with	with	ADP
ap-258	40	18	more	more	ADJ
ap-258	40	19	than	than	ADP
ap-258	40	20	one	one	NUM
ap-258	40	21	delay	delay	NOUN
ap-258	40	22	in	in	ADP
ap-258	40	23	its	its	PRON
ap-258	40	24	structure	structure	NOUN
ap-258	40	25	.	.	PUNCT
ap-258	41	1	by	by	ADP
ap-258	41	2	means	mean	NOUN
ap-258	41	3	of	of	ADP
ap-258	41	4	this	this	DET
ap-258	41	5	model	model	NOUN
ap-258	41	6	it	it	PRON
ap-258	41	7	is	be	AUX
ap-258	41	8	possible	possible	ADJ
ap-258	41	9	truly	truly	ADV
ap-258	41	10	to	to	PART
ap-258	41	11	hit	hit	VERB
ap-258	41	12	off	off	ADP
ap-258	41	13	the	the	DET
ap-258	41	14	properties	property	NOUN
ap-258	41	15	of	of	ADP
ap-258	41	16	systems	system	NOUN
ap-258	41	17	which	which	PRON
ap-258	41	18	are	be	AUX
ap-258	41	19	conventionally	conventionally	ADV
ap-258	41	20	described	describe	VERB
ap-258	41	21	by	by	ADP
ap-258	41	22	higher	high	ADJ
ap-258	41	23	order	order	NOUN
ap-258	41	24	models	model	NOUN
ap-258	41	25	.	.	PUNCT
ap-258	42	1	the	the	DET
ap-258	42	2	identification	identification	NOUN
ap-258	42	3	method	method	NOUN
ap-258	42	4	making	make	VERB
ap-258	42	5	use	use	NOUN
ap-258	42	6	of	of	ADP
ap-258	42	7	a	a	DET
ap-258	42	8	relay	relay	NOUN
ap-258	42	9	feedback	feedback	NOUN
ap-258	42	10	test	test	NOUN
ap-258	42	11	combined	combine	VERB
ap-258	42	12	with	with	ADP
ap-258	42	13	transient	transient	ADJ
ap-258	42	14	responses	response	NOUN
ap-258	42	15	of	of	ADP
ap-258	42	16	the	the	DET
ap-258	42	17	system	system	NOUN
ap-258	42	18	has	have	AUX
ap-258	42	19	proved	prove	VERB
ap-258	42	20	to	to	PART
ap-258	42	21	be	be	AUX
ap-258	42	22	suitable	suitable	ADJ
ap-258	42	23	for	for	ADP
ap-258	42	24	assessing	assess	VERB
ap-258	42	25	the	the	DET
ap-258	42	26	model	model	NOUN
ap-258	42	27	parameters	parameter	NOUN
ap-258	42	28	.	.	PUNCT
ap-258	43	1	with	with	ADP
ap-258	43	2	respect	respect	NOUN
ap-258	43	3	to	to	ADP
ap-258	43	4	its	its	PRON
ap-258	43	5	plain	plain	ADJ
ap-258	43	6	structure	structure	NOUN
ap-258	43	7	the	the	DET
ap-258	43	8	model	model	NOUN
ap-258	43	9	is	be	AUX
ap-258	43	10	well	well	ADV
ap-258	43	11	suited	suited	ADJ
ap-258	43	12	to	to	PART
ap-258	43	13	be	be	AUX
ap-258	43	14	applied	apply	VERB
ap-258	43	15	in	in	ADP
ap-258	43	16	the	the	DET
ap-258	43	17	framework	framework	NOUN
ap-258	43	18	of	of	ADP
ap-258	43	19	an	an	DET
ap-258	43	20	internal	internal	ADJ
ap-258	43	21	model	model	NOUN
ap-258	43	22	control	control	PROPN
ap-258	43	23	scheme	scheme	PROPN
ap-258	43	24	(	(	PUNCT
ap-258	43	25	imc	imc	PROPN
ap-258	43	26	)	)	PUNCT
ap-258	43	27	.	.	PUNCT
ap-258	44	1	the	the	DET
ap-258	44	2	resultant	resultant	NOUN
ap-258	44	3	control	control	NOUN
ap-258	44	4	algorithm	algorithm	NOUN
ap-258	44	5	with	with	ADP
ap-258	44	6	only	only	ADV
ap-258	44	7	one	one	NUM
ap-258	44	8	optional	optional	ADJ
ap-258	44	9	parameter	parameter	NOUN
ap-258	44	10	is	be	AUX
ap-258	44	11	very	very	ADV
ap-258	44	12	simple	simple	ADJ
ap-258	44	13	and	and	CCONJ
ap-258	44	14	can	can	AUX
ap-258	44	15	easily	easily	ADV
ap-258	44	16	be	be	AUX
ap-258	44	17	implemented	implement	VERB
ap-258	44	18	,	,	PUNCT
ap-258	44	19	for	for	ADP
ap-258	44	20	example	example	NOUN
ap-258	44	21	by	by	ADP
ap-258	44	22	means	mean	NOUN
ap-258	44	23	of	of	ADP
ap-258	44	24	a	a	DET
ap-258	44	25	programmable	programmable	ADJ
ap-258	44	26	controller	controller	NOUN
ap-258	44	27	(	(	PUNCT
ap-258	44	28	plc	plc	PROPN
ap-258	44	29	)	)	PUNCT
ap-258	44	30	.	.	PUNCT
ap-258	45	1	keywords	keyword	NOUN
ap-258	45	2	:	:	PUNCT
ap-258	45	3	time	time	NOUN
ap-258	45	4	delay	delay	NOUN
ap-258	45	5	system	system	NOUN
ap-258	45	6	,	,	PUNCT
ap-258	45	7	internal	internal	ADJ
ap-258	45	8	model	model	NOUN
ap-258	45	9	control	control	NOUN
ap-258	45	10	,	,	PUNCT
ap-258	45	11	system	system	NOUN
ap-258	45	12	eigenvalues	eigenvalue	NOUN
ap-258	45	13	,	,	PUNCT
ap-258	45	14	control	control	NOUN
ap-258	45	15	parameter	parameter	NOUN
ap-258	45	16	setting	setting	NOUN
ap-258	45	17	.	.	PUNCT
ap-258	46	1	are	be	AUX
ap-258	46	2	complex	complex	ADJ
ap-258	46	3	conjugate	conjugate	NOUN
ap-258	46	4	only	only	ADV
ap-258	46	5	.	.	PUNCT
ap-258	47	1	it	it	PRON
ap-258	47	2	is	be	AUX
ap-258	47	3	apparent	apparent	ADJ
ap-258	47	4	from	from	ADP
ap-258	47	5	figure	figure	NOUN
ap-258	47	6	1	1	NUM
ap-258	47	7	that	that	SCONJ
ap-258	47	8	the	the	DET
ap-258	47	9	couple	couple	NOUN
ap-258	47	10	s1	s1	NOUN
ap-258	47	11	,	,	PUNCT
ap-258	47	12	2	2	NUM
ap-258	47	13	is	be	AUX
ap-258	47	14	always	always	ADV
ap-258	47	15	the	the	DET
ap-258	47	16	nearest	near	ADJ
ap-258	47	17	one	one	NUM
ap-258	47	18	to	to	ADP
ap-258	47	19	the	the	DET
ap-258	47	20	origin	origin	NOUN
ap-258	47	21	of	of	ADP
ap-258	47	22	the	the	DET
ap-258	47	23	complex	complex	ADJ
ap-258	47	24	plane	plane	NOUN
ap-258	47	25	.	.	PUNCT
ap-258	48	1	this	this	PRON
ap-258	48	2	determines	determine	VERB
ap-258	48	3	its	its	PRON
ap-258	48	4	dominant	dominant	ADJ
ap-258	48	5	influence	influence	NOUN
ap-258	48	6	in	in	ADP
ap-258	48	7	the	the	DET
ap-258	48	8	system	system	NOUN
ap-258	48	9	dynamics	dynamic	NOUN
ap-258	48	10	.	.	PUNCT
ap-258	49	1	common	common	ADJ
ap-258	49	2	intersection	intersection	NOUN
ap-258	49	3	points	point	NOUN
ap-258	49	4	of	of	ADP
ap-258	49	5	all	all	DET
ap-258	49	6	the	the	DET
ap-258	49	7	pole	pole	NOUN
ap-258	49	8	trajectories	trajectory	NOUN
ap-258	49	9	are	be	AUX
ap-258	49	10	im(m(s	im(m(s	ADV
ap-258	49	11	)	)	PUNCT
ap-258	49	12	)	)	PUNCT
ap-258	50	1	=	=	PUNCT
ap-258	50	2	�	�	PROPN
ap-258	50	3	1	1	NUM
ap-258	50	4	and	and	CCONJ
ap-258	50	5	re(m(s	re(m(s	NUM
ap-258	50	6	)	)	PUNCT
ap-258	50	7	)	)	PUNCT
ap-258	51	1	=	=	SYM
ap-258	51	2	0	0	PUNCT
ap-258	51	3	(	(	PUNCT
ap-258	51	4	marshal	marshal	NOUN
ap-258	51	5	et	et	PROPN
ap-258	51	6	al	al	PROPN
ap-258	52	1	[	[	X
ap-258	52	2	3	3	NUM
ap-258	52	3	]	]	PUNCT
ap-258	52	4	)	)	PUNCT
ap-258	52	5	.	.	PUNCT
ap-258	53	1	the	the	DET
ap-258	53	2	dominant	dominant	ADJ
ap-258	53	3	couple	couple	NOUN
ap-258	53	4	reaches	reach	VERB
ap-258	53	5	this	this	DET
ap-258	53	6	point	point	NOUN
ap-258	53	7	for	for	ADP
ap-258	53	8	�	�	NOUN
ap-258	53	9	*	*	PUNCT
ap-258	53	10	=	=	PUNCT
ap-258	53	11	/2	/2	PROPN
ap-258	53	12	.	.	PUNCT
ap-258	54	1	this	this	PRON
ap-258	54	2	is	be	AUX
ap-258	54	3	the	the	DET
ap-258	54	4	ultimate	ultimate	ADJ
ap-258	54	5	value	value	NOUN
ap-258	54	6	for	for	ADP
ap-258	54	7	which	which	DET
ap-258	54	8	model	model	NOUN
ap-258	54	9	(	(	PUNCT
ap-258	54	10	2	2	X
ap-258	54	11	)	)	PUNCT
ap-258	54	12	is	be	AUX
ap-258	54	13	stable	stable	ADJ
ap-258	54	14	.	.	PUNCT
ap-258	55	1	for	for	ADP
ap-258	55	2	values	value	NOUN
ap-258	55	3	of	of	ADP
ap-258	55	4	�	�	NOUN
ap-258	55	5	*	*	PUNCT
ap-258	55	6	>	>	PUNCT
ap-258	55	7	/2	/2	PROPN
ap-258	55	8	,	,	PUNCT
ap-258	55	9	the	the	DET
ap-258	55	10	dominant	dominant	ADJ
ap-258	55	11	couple	couple	NOUN
ap-258	55	12	of	of	ADP
ap-258	55	13	poles	pole	NOUN
ap-258	55	14	enters	enter	VERB
ap-258	55	15	the	the	DET
ap-258	55	16	right	right	ADJ
ap-258	55	17	half	half	NOUN
ap-258	55	18	of	of	ADP
ap-258	55	19	the	the	DET
ap-258	55	20	complex	complex	ADJ
ap-258	55	21	plane	plane	NOUN
ap-258	55	22	,	,	PUNCT
ap-258	55	23	which	which	PRON
ap-258	55	24	indicates	indicate	VERB
ap-258	55	25	loss	loss	NOUN
ap-258	55	26	of	of	ADP
ap-258	55	27	stability	stability	NOUN
ap-258	55	28	.	.	PUNCT
ap-258	56	1	the	the	DET
ap-258	56	2	significance	significance	NOUN
ap-258	56	3	of	of	ADP
ap-258	56	4	�	�	PROPN
ap-258	56	5	*	*	PROPN
ap-258	56	6	is	be	AUX
ap-258	56	7	also	also	ADV
ap-258	56	8	demonstrated	demonstrate	VERB
ap-258	56	9	in	in	ADP
ap-258	56	10	the	the	DET
ap-258	56	11	step	step	NOUN
ap-258	56	12	responses	response	NOUN
ap-258	56	13	of	of	ADP
ap-258	56	14	model	model	NOUN
ap-258	56	15	(	(	PUNCT
ap-258	56	16	2	2	NUM
ap-258	56	17	)	)	PUNCT
ap-258	56	18	(	(	PUNCT
ap-258	56	19	see	see	VERB
ap-258	56	20	figure	figure	NOUN
ap-258	56	21	2	2	NUM
ap-258	56	22	)	)	PUNCT
ap-258	56	23	.	.	PUNCT
ap-258	57	1	the	the	DET
ap-258	57	2	relationship	relationship	NOUN
ap-258	57	3	between	between	ADP
ap-258	57	4	the	the	DET
ap-258	57	5	position	position	NOUN
ap-258	57	6	of	of	ADP
ap-258	57	7	dominant	dominant	ADJ
ap-258	57	8	poles	pole	NOUN
ap-258	57	9	s1	s1	NOUN
ap-258	57	10	,	,	PUNCT
ap-258	57	11	2	2	NUM
ap-258	57	12	and	and	CCONJ
ap-258	57	13	appropriate	appropriate	ADJ
ap-258	57	14	responses	response	NOUN
ap-258	57	15	is	be	AUX
ap-258	57	16	apparent	apparent	ADJ
ap-258	57	17	.	.	PUNCT
ap-258	58	1	the	the	DET
ap-258	58	2	smaller	small	ADJ
ap-258	58	3	the	the	DET
ap-258	58	4	value	value	NOUN
ap-258	58	5	of	of	ADP
ap-258	58	6	the	the	DET
ap-258	58	7	relative	relative	ADJ
ap-258	58	8	damping	damp	VERB
ap-258	58	9	�	�	PROPN
ap-258	58	10	�	�	PROPN
ap-258	58	11	�	�	PROPN
ap-258	58	12	�	�	PROPN
ap-258	58	13	of	of	ADP
ap-258	58	14	the	the	DET
ap-258	58	15	dominant	dominant	ADJ
ap-258	58	16	poles	pole	NOUN
ap-258	58	17	,	,	PUNCT
ap-258	58	18	the	the	DET
ap-258	58	19	more	more	ADV
ap-258	58	20	oscillatory	oscillatory	ADJ
ap-258	58	21	the	the	DET
ap-258	58	22	step	step	NOUN
ap-258	58	23	response	response	NOUN
ap-258	58	24	.	.	PUNCT
ap-258	59	1	there	there	PRON
ap-258	59	2	is	be	VERB
ap-258	59	3	a	a	DET
ap-258	59	4	class	class	NOUN
ap-258	59	5	of	of	ADP
ap-258	59	6	systems	system	NOUN
ap-258	59	7	for	for	ADP
ap-258	59	8	which	which	PRON
ap-258	59	9	not	not	PART
ap-258	59	10	only	only	ADV
ap-258	59	11	distribution	distribution	NOUN
ap-258	59	12	of	of	ADP
ap-258	59	13	poles	pole	NOUN
ap-258	59	14	but	but	CCONJ
ap-258	59	15	also	also	ADV
ap-258	59	16	distribution	distribution	NOUN
ap-258	59	17	of	of	ADP
ap-258	59	18	zeros	zero	NOUN
ap-258	59	19	is	be	AUX
ap-258	59	20	important	important	ADJ
ap-258	59	21	.	.	PUNCT
ap-258	60	1	these	these	DET
ap-258	60	2	systems	system	NOUN
ap-258	60	3	can	can	AUX
ap-258	60	4	not	not	PART
ap-258	60	5	be	be	AUX
ap-258	60	6	truly	truly	ADV
ap-258	60	7	describesd	describesd	NOUN
ap-258	60	8	by	by	ADP
ap-258	60	9	models	model	NOUN
ap-258	60	10	(	(	PUNCT
ap-258	60	11	1	1	NUM
ap-258	60	12	)	)	PUNCT
ap-258	60	13	or	or	CCONJ
ap-258	60	14	(	(	PUNCT
ap-258	60	15	2	2	NUM
ap-258	60	16	)	)	PUNCT
ap-258	60	17	.	.	PUNCT
ap-258	61	1	the	the	DET
ap-258	61	2	general	general	ADJ
ap-258	61	3	differential	differential	ADJ
ap-258	61	4	equation	equation	NOUN
ap-258	61	5	with	with	ADP
ap-258	61	6	derivations	derivation	NOUN
ap-258	61	7	on	on	ADP
ap-258	61	8	both	both	DET
ap-258	61	9	sides	side	NOUN
ap-258	61	10	is	be	AUX
ap-258	61	11	usually	usually	ADV
ap-258	61	12	used	use	VERB
ap-258	61	13	for	for	ADP
ap-258	61	14	describing	describe	VERB
ap-258	61	15	such	such	ADJ
ap-258	61	16	systems	system	NOUN
ap-258	61	17	.	.	PUNCT
ap-258	62	1	zeros	zero	NOUN
ap-258	62	2	can	can	AUX
ap-258	62	3	be	be	AUX
ap-258	62	4	added	add	VERB
ap-258	62	5	to	to	ADP
ap-258	62	6	the	the	DET
ap-258	62	7	first	first	ADJ
ap-258	62	8	order	order	NOUN
ap-258	62	9	model	model	NOUN
ap-258	62	10	(	(	PUNCT
ap-258	62	11	2	2	NUM
ap-258	62	12	)	)	PUNCT
ap-258	62	13	by	by	ADP
ap-258	62	14	means	mean	NOUN
ap-258	62	15	of	of	ADP
ap-258	62	16	enlargement	enlargement	NOUN
ap-258	62	17	of	of	ADP
ap-258	62	18	the	the	DET
ap-258	62	19	numerator	numerator	NOUN
ap-258	62	20	by	by	ADP
ap-258	62	21	the	the	DET
ap-258	62	22	term	term	NOUN
ap-258	62	23	ps	ps	PROPN
ap-258	62	24	+	+	CCONJ
ap-258	62	25	exp	exp	PROPN
ap-258	62	26	(	(	PUNCT
ap-258	62	27	s	s	PROPN
ap-258	62	28	�	�	NOUN
ap-258	62	29	)	)	PUNCT
ap-258	62	30	.	.	PUNCT
ap-258	63	1	�	�	PROPN
ap-258	63	2	�	�	PROPN
ap-258	63	3	�	�	PROPN
ap-258	63	4	�	�	PROPN
ap-258	63	5	�	�	PROPN
ap-258	63	6	�	�	PROPN
ap-258	63	7	�	�	PROPN
ap-258	63	8	�	�	PROPN
ap-258	63	9	�	�	PROPN
ap-258	63	10	g	g	PROPN
ap-258	63	11	s	s	PART
ap-258	63	12	ps	ps	PROPN
ap-258	63	13	s	s	PART
ap-258	63	14	k	k	NOUN
ap-258	63	15	s	s	X
ap-258	63	16	ts	ts	ADP
ap-258	63	17	s	s	PROPN
ap-258	63	18	�	�	PROPN
ap-258	63	19	�	�	PROPN
ap-258	63	20	�	�	PROPN
ap-258	63	21	�	�	PROPN
ap-258	63	22	�	�	PROPN
ap-258	63	23	�	�	PROPN
ap-258	63	24	exp	exp	NOUN
ap-258	63	25	exp	exp	NOUN
ap-258	63	26	exp	exp	NOUN
ap-258	63	27	�	�	PROPN
ap-258	63	28	�	�	PROPN
ap-258	63	29	�	�	PROPN
ap-258	63	30	.	.	PUNCT
ap-258	64	1	(	(	PUNCT
ap-258	64	2	5	5	NUM
ap-258	64	3	)	)	PUNCT
ap-258	64	4	time	time	NOUN
ap-258	64	5	constant	constant	ADJ
ap-258	64	6	p	p	NOUN
ap-258	64	7	and	and	CCONJ
ap-258	64	8	time	time	NOUN
ap-258	64	9	delay	delay	NOUN
ap-258	64	10	�	�	PROPN
ap-258	64	11	play	play	VERB
ap-258	64	12	an	an	DET
ap-258	64	13	analogous	analogous	ADJ
ap-258	64	14	role	role	NOUN
ap-258	64	15	in	in	ADP
ap-258	64	16	the	the	DET
ap-258	64	17	numerator	numerator	NOUN
ap-258	64	18	to	to	ADP
ap-258	64	19	parameters	parameter	NOUN
ap-258	64	20	t	t	PROPN
ap-258	64	21	and	and	CCONJ
ap-258	64	22	�	�	PROPN
ap-258	64	23	in	in	ADP
ap-258	64	24	the	the	DET
ap-258	64	25	denominator	denominator	NOUN
ap-258	64	26	.	.	PUNCT
ap-258	65	1	the	the	DET
ap-258	65	2	ratio	ratio	NOUN
ap-258	65	3	�	�	PROPN
ap-258	65	4	*	*	PUNCT
ap-258	65	5	=	=	SYM
ap-258	65	6	�	�	PROPN
ap-258	65	7	/	/	SYM
ap-258	65	8	p	p	NOUN
ap-258	65	9	determines	determine	VERB
ap-258	65	10	the	the	DET
ap-258	65	11	system	system	NOUN
ap-258	65	12	zeros	zero	NOUN
ap-258	65	13	distribution	distribution	NOUN
ap-258	65	14	,	,	PUNCT
ap-258	65	15	in	in	ADP
ap-258	65	16	accordance	accordance	NOUN
ap-258	65	17	with	with	ADP
ap-258	65	18	figure	figure	NOUN
ap-258	65	19	1	1	NUM
ap-258	65	20	.	.	SYM
ap-258	65	21	3	3	NUM
ap-258	65	22	identification	identification	NOUN
ap-258	65	23	of	of	ADP
ap-258	65	24	the	the	DET
ap-258	65	25	system	system	NOUN
ap-258	65	26	parameters	parameter	NOUN
ap-258	65	27	the	the	DET
ap-258	65	28	step	step	NOUN
ap-258	65	29	response	response	NOUN
ap-258	65	30	is	be	AUX
ap-258	65	31	often	often	ADV
ap-258	65	32	used	use	VERB
ap-258	65	33	for	for	ADP
ap-258	65	34	a	a	DET
ap-258	65	35	first	first	ADJ
ap-258	65	36	estimation	estimation	NOUN
ap-258	65	37	of	of	ADP
ap-258	65	38	system	system	NOUN
ap-258	65	39	properties	property	NOUN
ap-258	65	40	.	.	PUNCT
ap-258	66	1	it	it	PRON
ap-258	66	2	is	be	AUX
ap-258	66	3	customary	customary	ADJ
ap-258	66	4	and	and	CCONJ
ap-258	66	5	a	a	DET
ap-258	66	6	relatively	relatively	ADV
ap-258	66	7	easy	easy	ADJ
ap-258	66	8	matter	matter	NOUN
ap-258	66	9	to	to	PART
ap-258	66	10	assess	assess	VERB
ap-258	66	11	the	the	DET
ap-258	66	12	input	input	NOUN
ap-258	66	13	time	time	NOUN
ap-258	66	14	delay	delay	NOUN
ap-258	66	15	,	,	PUNCT
ap-258	66	16	time	time	NOUN
ap-258	66	17	constant	constant	ADJ
ap-258	66	18	and	and	CCONJ
ap-258	66	19	steady	steady	ADJ
ap-258	66	20	state	state	NOUN
ap-258	66	21	gain	gain	NOUN
ap-258	66	22	.	.	PUNCT
ap-258	67	1	these	these	DET
ap-258	67	2	parameters	parameter	NOUN
ap-258	67	3	are	be	AUX
ap-258	67	4	sufficient	sufficient	ADJ
ap-258	67	5	for	for	ADP
ap-258	67	6	the	the	DET
ap-258	67	7	system	system	NOUN
ap-258	67	8	representation	representation	NOUN
ap-258	67	9	by	by	ADP
ap-258	67	10	means	mean	NOUN
ap-258	67	11	of	of	ADP
ap-258	67	12	model	model	NOUN
ap-258	67	13	(	(	PUNCT
ap-258	67	14	1	1	NUM
ap-258	67	15	)	)	PUNCT
ap-258	67	16	if	if	SCONJ
ap-258	67	17	n	n	NOUN
ap-258	67	18	=	=	SYM
ap-258	67	19	1	1	X
ap-258	67	20	.	.	PUNCT
ap-258	68	1	the	the	DET
ap-258	68	2	steady	steady	ADJ
ap-258	68	3	state	state	NOUN
ap-258	68	4	gain	gain	NOUN
ap-258	68	5	is	be	AUX
ap-258	68	6	simply	simply	ADV
ap-258	68	7	given	give	VERB
ap-258	68	8	by	by	ADP
ap-258	68	9	k	k	PROPN
ap-258	68	10	=	=	SYM
ap-258	68	11	�	�	PROPN
ap-258	68	12	y/	y/	NOUN
ap-258	68	13	�	�	NOUN
ap-258	68	14	u.	u.	VERB
ap-258	68	15	the	the	DET
ap-258	68	16	tangent	tangent	NOUN
ap-258	68	17	in	in	ADP
ap-258	68	18	the	the	DET
ap-258	68	19	inflexion	inflexion	NOUN
ap-258	68	20	point	point	NOUN
ap-258	68	21	of	of	ADP
ap-258	68	22	the	the	DET
ap-258	68	23	step	step	NOUN
ap-258	68	24	response	response	NOUN
ap-258	68	25	assesses	assess	VERB
ap-258	68	26	parameters	parameter	NOUN
ap-258	68	27	t	t	PROPN
ap-258	68	28	and	and	CCONJ
ap-258	68	29	�	�	PROPN
ap-258	68	30	.	.	PUNCT
ap-258	69	1	as	as	SCONJ
ap-258	69	2	is	be	AUX
ap-258	69	3	shown	show	VERB
ap-258	69	4	in	in	ADP
ap-258	69	5	figure	figure	NOUN
ap-258	69	6	3	3	NUM
ap-258	69	7	these	these	DET
ap-258	69	8	parameters	parameter	NOUN
ap-258	69	9	can	can	AUX
ap-258	69	10	be	be	AUX
ap-258	69	11	read	read	VERB
ap-258	69	12	from	from	ADP
ap-258	69	13	the	the	DET
ap-258	69	14	time	time	NOUN
ap-258	69	15	axis	axis	NOUN
ap-258	69	16	of	of	ADP
ap-258	69	17	the	the	DET
ap-258	69	18	step	step	NOUN
ap-258	69	19	response	response	NOUN
ap-258	69	20	.	.	PUNCT
ap-258	70	1	if	if	SCONJ
ap-258	70	2	the	the	DET
ap-258	70	3	model	model	NOUN
ap-258	70	4	with	with	ADP
ap-258	70	5	two	two	NUM
ap-258	70	6	delays	delay	NOUN
ap-258	70	7	(	(	PUNCT
ap-258	70	8	2	2	NUM
ap-258	70	9	)	)	PUNCT
ap-258	70	10	is	be	AUX
ap-258	70	11	used	use	VERB
ap-258	70	12	,	,	PUNCT
ap-258	70	13	its	its	PRON
ap-258	70	14	parameters	parameter	NOUN
ap-258	70	15	can	can	AUX
ap-258	70	16	also	also	ADV
ap-258	70	17	be	be	AUX
ap-258	70	18	estimated	estimate	VERB
ap-258	70	19	from	from	ADP
ap-258	70	20	the	the	DET
ap-258	70	21	step	step	NOUN
ap-258	70	22	response	response	NOUN
ap-258	70	23	.	.	PUNCT
ap-258	71	1	the	the	DET
ap-258	71	2	tangent	tangent	NOUN
ap-258	71	3	in	in	ADP
ap-258	71	4	the	the	DET
ap-258	71	5	inflection	inflection	NOUN
ap-258	71	6	point	point	NOUN
ap-258	71	7	of	of	ADP
ap-258	71	8	the	the	DET
ap-258	71	9	step	step	NOUN
ap-258	71	10	response	response	NOUN
ap-258	71	11	also	also	ADV
ap-258	71	12	assesses	assess	VERB
ap-258	71	13	t	t	PROPN
ap-258	71	14	and	and	CCONJ
ap-258	71	15	�	�	PROPN
ap-258	71	16	.	.	PUNCT
ap-258	72	1	the	the	DET
ap-258	72	2	remaining	remain	VERB
ap-258	72	3	parameter	parameter	NOUN
ap-258	72	4	�	�	PROPN
ap-258	72	5	influences	influence	VERB
ap-258	72	6	the	the	DET
ap-258	72	7	position	position	NOUN
ap-258	72	8	of	of	ADP
ap-258	72	9	the	the	DET
ap-258	72	10	inflection	inflection	NOUN
ap-258	72	11	point	point	NOUN
ap-258	72	12	of	of	ADP
ap-258	72	13	the	the	DET
ap-258	72	14	step	step	NOUN
ap-258	72	15	response	response	NOUN
ap-258	72	16	.	.	PUNCT
ap-258	73	1	it	it	PRON
ap-258	73	2	is	be	AUX
ap-258	73	3	usually	usually	ADV
ap-258	73	4	a	a	DET
ap-258	73	5	relatively	relatively	ADV
ap-258	73	6	easy	easy	ADJ
ap-258	73	7	task	task	NOUN
ap-258	73	8	to	to	PART
ap-258	73	9	find	find	VERB
ap-258	73	10	the	the	DET
ap-258	73	11	tangent	tangent	NOUN
ap-258	73	12	in	in	ADP
ap-258	73	13	the	the	DET
ap-258	73	14	inflexion	inflexion	NOUN
ap-258	73	15	point	point	NOUN
ap-258	73	16	,	,	PUNCT
ap-258	73	17	but	but	CCONJ
ap-258	73	18	it	it	PRON
ap-258	73	19	is	be	AUX
ap-258	73	20	rather	rather	ADV
ap-258	73	21	complicated	complicated	ADJ
ap-258	73	22	to	to	PART
ap-258	73	23	find	find	VERB
ap-258	73	24	the	the	DET
ap-258	73	25	exact	exact	ADJ
ap-258	73	26	position	position	NOUN
ap-258	73	27	of	of	ADP
ap-258	73	28	this	this	DET
ap-258	73	29	point	point	NOUN
ap-258	73	30	,	,	PUNCT
ap-258	73	31	especially	especially	ADV
ap-258	73	32	if	if	SCONJ
ap-258	73	33	the	the	DET
ap-258	73	34	response	response	NOUN
ap-258	73	35	is	be	AUX
ap-258	73	36	influenced	influence	VERB
ap-258	73	37	by	by	ADP
ap-258	73	38	the	the	DET
ap-258	73	39	measurement	measurement	NOUN
ap-258	73	40	or	or	CCONJ
ap-258	73	41	the	the	DET
ap-258	73	42	system	system	NOUN
ap-258	73	43	noise	noise	NOUN
ap-258	73	44	.	.	PUNCT
ap-258	74	1	acta	acta	PROPN
ap-258	74	2	polytechnica	polytechnica	PROPN
ap-258	74	3	vol	vol	NOUN
ap-258	74	4	.	.	PUNCT
ap-258	75	1	41	41	NUM
ap-258	75	2	no	no	NOUN
ap-258	75	3	.	.	PUNCT
ap-258	76	1	4–5/2001	4–5/2001	NUM
ap-258	76	2	50	50	NUM
ap-258	76	3	fig	fig	NOUN
ap-258	76	4	.	.	PUNCT
ap-258	77	1	1	1	NUM
ap-258	77	2	:	:	PUNCT
ap-258	77	3	pole	pole	NOUN
ap-258	77	4	trajectories	trajectory	NOUN
ap-258	77	5	with	with	ADP
ap-258	77	6	respect	respect	NOUN
ap-258	77	7	to	to	ADP
ap-258	77	8	�	�	PROPN
ap-258	77	9	*	*	PUNCT
ap-258	77	10	;	;	PUNCT
ap-258	77	11	0	0	NUM
ap-258	77	12	2	2	NUM
ap-258	77	13	fig	fig	NOUN
ap-258	77	14	.	.	PUNCT
ap-258	78	1	2	2	NUM
ap-258	78	2	:	:	PUNCT
ap-258	78	3	step	step	NOUN
ap-258	78	4	responses	response	NOUN
ap-258	78	5	of	of	ADP
ap-258	78	6	model	model	NOUN
ap-258	78	7	(	(	PUNCT
ap-258	78	8	2	2	NUM
ap-258	78	9	)	)	PUNCT
ap-258	78	10	with	with	ADP
ap-258	78	11	respect	respect	NOUN
ap-258	78	12	to	to	ADP
ap-258	78	13	�	�	PROPN
ap-258	78	14	*	*	PUNCT
ap-258	78	15	;	;	PUNCT
ap-258	78	16	0	0	NUM
ap-258	78	17	2	2	NUM
ap-258	78	18	fig	fig	NOUN
ap-258	78	19	.	.	PUNCT
ap-258	79	1	3	3	NUM
ap-258	79	2	:	:	PUNCT
ap-258	79	3	step	step	NOUN
ap-258	79	4	response	response	NOUN
ap-258	79	5	fig	fig	NOUN
ap-258	79	6	.	.	PUNCT
ap-258	80	1	4	4	NUM
ap-258	80	2	:	:	PUNCT
ap-258	80	3	oscillating	oscillate	VERB
ap-258	80	4	motion	motion	NOUN
ap-258	80	5	of	of	ADP
ap-258	80	6	relay	relay	NOUN
ap-258	80	7	feedback	feedback	VERB
ap-258	80	8	an	an	DET
ap-258	80	9	identification	identification	NOUN
ap-258	80	10	method	method	NOUN
ap-258	80	11	based	base	VERB
ap-258	80	12	on	on	ADP
ap-258	80	13	the	the	DET
ap-258	80	14	relay	relay	NOUN
ap-258	80	15	feedback	feedback	NOUN
ap-258	80	16	test	test	NOUN
ap-258	80	17	(	(	PUNCT
ap-258	80	18	astrom	astrom	PROPN
ap-258	80	19	,	,	PUNCT
ap-258	80	20	hagglund	hagglund	VERB
ap-258	81	1	[	[	X
ap-258	81	2	4	4	NUM
ap-258	81	3	]	]	PUNCT
ap-258	81	4	)	)	PUNCT
ap-258	81	5	is	be	AUX
ap-258	81	6	suggested	suggest	VERB
ap-258	81	7	in	in	ADP
ap-258	81	8	order	order	NOUN
ap-258	81	9	to	to	PART
ap-258	81	10	find	find	VERB
ap-258	81	11	the	the	DET
ap-258	81	12	value	value	NOUN
ap-258	81	13	of	of	ADP
ap-258	81	14	parameter	parameter	PROPN
ap-258	81	15	�	�	PROPN
ap-258	81	16	.	.	PUNCT
ap-258	82	1	the	the	DET
ap-258	82	2	relay	relay	NOUN
ap-258	82	3	is	be	AUX
ap-258	82	4	usually	usually	ADV
ap-258	82	5	used	use	VERB
ap-258	82	6	for	for	ADP
ap-258	82	7	providing	provide	VERB
ap-258	82	8	on	on	ADP
ap-258	82	9	-	-	PUNCT
ap-258	82	10	off	off	ADP
ap-258	82	11	control	control	NOUN
ap-258	82	12	of	of	ADP
ap-258	82	13	the	the	DET
ap-258	82	14	system	system	NOUN
ap-258	82	15	.	.	PUNCT
ap-258	83	1	for	for	ADP
ap-258	83	2	a	a	DET
ap-258	83	3	large	large	ADJ
ap-258	83	4	class	class	NOUN
ap-258	83	5	of	of	ADP
ap-258	83	6	systems	system	NOUN
ap-258	83	7	,	,	PUNCT
ap-258	83	8	relay	relay	NOUN
ap-258	83	9	feedback	feedback	NOUN
ap-258	83	10	gives	give	VERB
ap-258	83	11	an	an	DET
ap-258	83	12	oscillating	oscillate	VERB
ap-258	83	13	motion	motion	NOUN
ap-258	83	14	(	(	PUNCT
ap-258	83	15	see	see	VERB
ap-258	83	16	figure	figure	NOUN
ap-258	83	17	4	4	NUM
ap-258	83	18	)	)	PUNCT
ap-258	83	19	,	,	PUNCT
ap-258	83	20	the	the	DET
ap-258	83	21	frequency	frequency	NOUN
ap-258	83	22	of	of	ADP
ap-258	83	23	which	which	PRON
ap-258	83	24	is	be	AUX
ap-258	83	25	close	close	ADJ
ap-258	83	26	to	to	ADP
ap-258	83	27	the	the	DET
ap-258	83	28	system	system	NOUN
ap-258	83	29	ultimate	ultimate	ADJ
ap-258	83	30	frequency	frequency	NOUN
ap-258	83	31	�	�	PROPN
ap-258	83	32	u.	u.	VERB
ap-258	83	33	the	the	DET
ap-258	83	34	system	system	NOUN
ap-258	83	35	ultimate	ultimate	ADJ
ap-258	83	36	gain	gain	NOUN
ap-258	83	37	is	be	AUX
ap-258	83	38	approximately	approximately	ADV
ap-258	83	39	given	give	VERB
ap-258	83	40	by	by	ADP
ap-258	83	41	astrom	astrom	NOUN
ap-258	83	42	and	and	CCONJ
ap-258	83	43	hagglund	hagglund	NOUN
ap-258	83	44	as	as	ADP
ap-258	83	45	k	k	PROPN
ap-258	83	46	u	u	PROPN
ap-258	83	47	yu	yu	PROPN
ap-258	83	48	a	a	DET
ap-258	83	49	a	a	DET
ap-258	83	50	�	�	PROPN
ap-258	83	51	4	4	NUM
ap-258	83	52	(	(	PUNCT
ap-258	83	53	6	6	NUM
ap-258	83	54	)	)	PUNCT
ap-258	83	55	where	where	SCONJ
ap-258	83	56	ua	ua	PROPN
ap-258	83	57	a	a	DET
ap-258	83	58	ya	ya	PROPN
ap-258	83	59	are	be	AUX
ap-258	83	60	the	the	DET
ap-258	83	61	amplitudes	amplitude	NOUN
ap-258	83	62	of	of	ADP
ap-258	83	63	the	the	DET
ap-258	83	64	relay	relay	NOUN
ap-258	83	65	and	and	CCONJ
ap-258	83	66	system	system	NOUN
ap-258	83	67	output	output	NOUN
ap-258	83	68	,	,	PUNCT
ap-258	83	69	respectively	respectively	ADV
ap-258	83	70	.	.	PUNCT
ap-258	84	1	the	the	DET
ap-258	84	2	point	point	NOUN
ap-258	84	3	of	of	ADP
ap-258	84	4	the	the	DET
ap-258	84	5	system	system	NOUN
ap-258	84	6	frequency	frequency	NOUN
ap-258	84	7	response	response	NOUN
ap-258	84	8	with	with	ADP
ap-258	84	9	argument	argument	NOUN
ap-258	84	10	(	(	PUNCT
ap-258	84	11	�	�	PROPN
ap-258	84	12	)	)	PUNCT
ap-258	84	13	=	=	PRON
ap-258	84	14	is	be	AUX
ap-258	84	15	described	describe	VERB
ap-258	84	16	by	by	ADP
ap-258	84	17	the	the	DET
ap-258	84	18	above	above	ADJ
ap-258	84	19	ultimate	ultimate	ADJ
ap-258	84	20	parameters	parameter	NOUN
ap-258	84	21	.	.	PUNCT
ap-258	85	1	on	on	ADP
ap-258	85	2	the	the	DET
ap-258	85	3	basis	basis	NOUN
ap-258	85	4	of	of	ADP
ap-258	85	5	this	this	DET
ap-258	85	6	point	point	NOUN
ap-258	85	7	two	two	NUM
ap-258	85	8	parameters	parameter	NOUN
ap-258	85	9	of	of	ADP
ap-258	85	10	the	the	DET
ap-258	85	11	model	model	NOUN
ap-258	85	12	can	can	AUX
ap-258	85	13	be	be	AUX
ap-258	85	14	calculated	calculate	VERB
ap-258	85	15	.	.	PUNCT
ap-258	86	1	�	�	PROPN
ap-258	86	2	�	�	PROPN
ap-258	86	3	�	�	PROPN
ap-258	86	4	�	�	PROPN
ap-258	86	5	�	�	PROPN
ap-258	86	6	�	�	PROPN
ap-258	86	7	re	re	ADP
ap-258	86	8	,	,	PUNCT
ap-258	86	9	,	,	PUNCT
ap-258	86	10	i	i	PRON
ap-258	86	11	m	m	VERB
ap-258	86	12	,	,	PUNCT
ap-258	86	13	,	,	PUNCT
ap-258	86	14	.	.	PUNCT
ap-258	87	1	g	g	PROPN
ap-258	87	2	j	j	PROPN
ap-258	87	3	t	t	PROPN
ap-258	88	1	k	k	PROPN
ap-258	88	2	g	g	PROPN
ap-258	88	3	j	j	PROPN
ap-258	88	4	t	t	PROPN
ap-258	88	5	u	u	X
ap-258	88	6	u	u	PROPN
ap-258	88	7	u	u	PROPN
ap-258	88	8	�	�	PROPN
ap-258	88	9	�	�	PROPN
ap-258	88	10	�	�	PROPN
ap-258	88	11	�	�	PROPN
ap-258	88	12	�	�	PROPN
ap-258	88	13	�	�	PROPN
ap-258	88	14	�	�	PROPN
ap-258	88	15	1	1	NUM
ap-258	88	16	0	0	NUM
ap-258	88	17	(	(	PUNCT
ap-258	88	18	7	7	NUM
ap-258	88	19	)	)	PUNCT
ap-258	88	20	as	as	SCONJ
ap-258	88	21	was	be	AUX
ap-258	88	22	shown	show	VERB
ap-258	88	23	in	in	ADP
ap-258	88	24	section	section	NOUN
ap-258	88	25	two	two	NUM
ap-258	88	26	,	,	PUNCT
ap-258	88	27	parameters	parameter	NOUN
ap-258	88	28	�	�	PROPN
ap-258	88	29	and	and	CCONJ
ap-258	88	30	t	t	PROPN
ap-258	88	31	determine	determine	VERB
ap-258	88	32	the	the	DET
ap-258	88	33	dynamic	dynamic	ADJ
ap-258	88	34	features	feature	NOUN
ap-258	88	35	of	of	ADP
ap-258	88	36	the	the	DET
ap-258	88	37	system	system	NOUN
ap-258	88	38	.	.	PUNCT
ap-258	89	1	therefore	therefore	ADV
ap-258	89	2	,	,	PUNCT
ap-258	89	3	it	it	PRON
ap-258	89	4	is	be	AUX
ap-258	89	5	advantageous	advantageous	ADJ
ap-258	89	6	to	to	PART
ap-258	89	7	assess	assess	VERB
ap-258	89	8	these	these	DET
ap-258	89	9	two	two	NUM
ap-258	89	10	parameters	parameter	NOUN
ap-258	89	11	on	on	ADP
ap-258	89	12	the	the	DET
ap-258	89	13	basis	basis	NOUN
ap-258	89	14	of	of	ADP
ap-258	89	15	the	the	DET
ap-258	89	16	same	same	ADJ
ap-258	89	17	identification	identification	NOUN
ap-258	89	18	method	method	NOUN
ap-258	89	19	.	.	PUNCT
ap-258	90	1	for	for	ADP
ap-258	90	2	this	this	DET
ap-258	90	3	reason	reason	NOUN
ap-258	90	4	it	it	PRON
ap-258	90	5	is	be	AUX
ap-258	90	6	suggested	suggest	VERB
ap-258	90	7	that	that	SCONJ
ap-258	90	8	t	t	PROPN
ap-258	90	9	be	be	AUX
ap-258	90	10	assessed	assess	VERB
ap-258	90	11	together	together	ADV
ap-258	90	12	with	with	ADP
ap-258	90	13	�	�	PROPN
ap-258	90	14	on	on	ADP
ap-258	90	15	the	the	DET
ap-258	90	16	basis	basis	NOUN
ap-258	90	17	of	of	ADP
ap-258	90	18	the	the	DET
ap-258	90	19	relay	relay	NOUN
ap-258	90	20	feedback	feedback	NOUN
ap-258	90	21	test	test	NOUN
ap-258	90	22	.	.	PUNCT
ap-258	91	1	simplifying	simplify	VERB
ap-258	91	2	(	(	PUNCT
ap-258	91	3	7	7	X
ap-258	91	4	)	)	PUNCT
ap-258	91	5	the	the	DET
ap-258	91	6	following	follow	VERB
ap-258	91	7	expressions	expression	NOUN
ap-258	91	8	are	be	AUX
ap-258	91	9	obtained	obtain	VERB
ap-258	91	10	�	�	PROPN
ap-258	91	11	�	�	PROPN
ap-258	91	12	�	�	PROPN
ap-258	91	13	�	�	PROPN
ap-258	91	14	�	�	PROPN
ap-258	91	15	�	�	PROPN
ap-258	91	16	�	�	PROPN
ap-258	91	17	�	�	PROPN
ap-258	91	18	�	�	PROPN
ap-258	91	19	�	�	PROPN
ap-258	91	20	arccos	arccos	PROPN
ap-258	91	21	coskku	coskku	NOUN
ap-258	91	22	u	u	PROPN
ap-258	91	23	u	u	PROPN
ap-258	91	24	(	(	PUNCT
ap-258	91	25	8)	8)	NUM
ap-258	91	26	�	�	PROPN
ap-258	91	27	�	�	PROPN
ap-258	91	28	�	�	PROPN
ap-258	91	29	�	�	PROPN
ap-258	91	30	�	�	PROPN
ap-258	91	31	�	�	PROPN
ap-258	91	32	t	t	PROPN
ap-258	91	33	u	u	X
ap-258	91	34	u	u	PROPN
ap-258	91	35	u	u	X
ap-258	91	36	u	u	NOUN
ap-258	91	37	�	�	PROPN
ap-258	91	38	�	�	PROPN
ap-258	91	39	sin	sin	PROPN
ap-258	91	40	tan	tan	PROPN
ap-258	91	41	cos	cos	PROPN
ap-258	91	42	�	�	PROPN
ap-258	91	43	�	�	PROPN
ap-258	91	44	�	�	PROPN
ap-258	91	45	�	�	PROPN
ap-258	91	46	�	�	PROPN
ap-258	91	47	�	�	PROPN
ap-258	91	48	�	�	PROPN
ap-258	91	49	.	.	PUNCT
ap-258	92	1	(	(	PUNCT
ap-258	92	2	9	9	X
ap-258	92	3	)	)	PUNCT
ap-258	92	4	identification	identification	NOUN
ap-258	92	5	of	of	ADP
ap-258	92	6	the	the	DET
ap-258	92	7	parameters	parameter	NOUN
ap-258	92	8	of	of	ADP
ap-258	92	9	model	model	NOUN
ap-258	92	10	(	(	PUNCT
ap-258	92	11	5	5	NUM
ap-258	92	12	)	)	PUNCT
ap-258	92	13	is	be	AUX
ap-258	92	14	more	more	ADV
ap-258	92	15	difficult	difficult	ADJ
ap-258	92	16	,	,	PUNCT
ap-258	92	17	because	because	SCONJ
ap-258	92	18	it	it	PRON
ap-258	92	19	contains	contain	VERB
ap-258	92	20	two	two	NUM
ap-258	92	21	additional	additional	ADJ
ap-258	92	22	parameters	parameter	NOUN
ap-258	92	23	.	.	PUNCT
ap-258	93	1	the	the	DET
ap-258	93	2	possible	possible	ADJ
ap-258	93	3	solution	solution	NOUN
ap-258	93	4	of	of	ADP
ap-258	93	5	the	the	DET
ap-258	93	6	identification	identification	NOUN
ap-258	93	7	is	be	AUX
ap-258	93	8	to	to	PART
ap-258	93	9	find	find	VERB
ap-258	93	10	more	more	ADJ
ap-258	93	11	points	point	NOUN
ap-258	93	12	of	of	ADP
ap-258	93	13	the	the	DET
ap-258	93	14	frequency	frequency	NOUN
ap-258	93	15	response	response	NOUN
ap-258	93	16	and	and	CCONJ
ap-258	93	17	solve	solve	VERB
ap-258	93	18	the	the	DET
ap-258	93	19	set	set	NOUN
ap-258	93	20	of	of	ADP
ap-258	93	21	equations	equation	NOUN
ap-258	93	22	numerically	numerically	ADV
ap-258	93	23	,	,	PUNCT
ap-258	93	24	by	by	ADP
ap-258	93	25	analogy	analogy	NOUN
ap-258	93	26	with	with	ADP
ap-258	93	27	(	(	PUNCT
ap-258	93	28	7	7	NUM
ap-258	93	29	)	)	PUNCT
ap-258	93	30	.	.	PUNCT
ap-258	94	1	4	4	NUM
ap-258	94	2	application	application	NOUN
ap-258	94	3	to	to	ADP
ap-258	94	4	internal	internal	ADJ
ap-258	94	5	model	model	NOUN
ap-258	94	6	control	control	NOUN
ap-258	94	7	as	as	SCONJ
ap-258	94	8	has	have	AUX
ap-258	94	9	been	be	AUX
ap-258	94	10	shown	show	VERB
ap-258	94	11	in	in	ADP
ap-258	94	12	[	[	X
ap-258	94	13	5	5	NUM
ap-258	94	14	]	]	PUNCT
ap-258	94	15	and	and	CCONJ
ap-258	95	1	[	[	X
ap-258	95	2	6	6	NUM
ap-258	95	3	]	]	PUNCT
ap-258	95	4	the	the	DET
ap-258	95	5	conventional	conventional	ADJ
ap-258	95	6	internal	internal	ADJ
ap-258	95	7	model	model	NOUN
ap-258	95	8	control	control	PROPN
ap-258	95	9	(	(	PUNCT
ap-258	95	10	imc	imc	PROPN
ap-258	95	11	)	)	PUNCT
ap-258	95	12	design	design	NOUN
ap-258	95	13	of	of	ADP
ap-258	95	14	the	the	DET
ap-258	95	15	controller	controller	NOUN
ap-258	95	16	(	(	PUNCT
ap-258	95	17	morari	morari	ADJ
ap-258	95	18	,	,	PUNCT
ap-258	95	19	zafiriou	zafiriou	NOUN
ap-258	95	20	[	[	X
ap-258	95	21	7	7	NUM
ap-258	95	22	]	]	PUNCT
ap-258	95	23	)	)	PUNCT
ap-258	95	24	can	can	AUX
ap-258	95	25	be	be	AUX
ap-258	95	26	extended	extend	VERB
ap-258	95	27	to	to	ADP
ap-258	95	28	a	a	DET
ap-258	95	29	broad	broad	ADJ
ap-258	95	30	class	class	NOUN
ap-258	95	31	of	of	ADP
ap-258	95	32	time	time	NOUN
ap-258	95	33	delay	delay	NOUN
ap-258	95	34	systems	system	NOUN
ap-258	95	35	.	.	PUNCT
ap-258	96	1	with	with	ADP
ap-258	96	2	respect	respect	NOUN
ap-258	96	3	to	to	ADP
ap-258	96	4	preceding	precede	VERB
ap-258	96	5	parts	part	NOUN
ap-258	96	6	of	of	ADP
ap-258	96	7	this	this	DET
ap-258	96	8	paper	paper	NOUN
ap-258	96	9	,	,	PUNCT
ap-258	96	10	first	first	ADJ
ap-258	96	11	order	order	NOUN
ap-258	96	12	models	model	NOUN
ap-258	96	13	with	with	ADP
ap-258	96	14	time	time	NOUN
ap-258	96	15	delays	delay	NOUN
ap-258	96	16	(	(	PUNCT
ap-258	96	17	2	2	NUM
ap-258	96	18	)	)	PUNCT
ap-258	96	19	and	and	CCONJ
ap-258	96	20	(	(	PUNCT
ap-258	96	21	5	5	X
ap-258	96	22	)	)	PUNCT
ap-258	96	23	are	be	AUX
ap-258	96	24	able	able	ADJ
ap-258	96	25	to	to	PART
ap-258	96	26	describe	describe	VERB
ap-258	96	27	a	a	DET
ap-258	96	28	large	large	ADJ
ap-258	96	29	class	class	NOUN
ap-258	96	30	of	of	ADP
ap-258	96	31	systems	system	NOUN
ap-258	96	32	.	.	PUNCT
ap-258	97	1	this	this	PRON
ap-258	97	2	is	be	AUX
ap-258	97	3	the	the	DET
ap-258	97	4	main	main	ADJ
ap-258	97	5	reason	reason	NOUN
ap-258	97	6	why	why	SCONJ
ap-258	97	7	these	these	DET
ap-258	97	8	models	model	NOUN
ap-258	97	9	are	be	AUX
ap-258	97	10	suitable	suitable	ADJ
ap-258	97	11	for	for	ADP
ap-258	97	12	application	application	NOUN
ap-258	97	13	to	to	ADP
ap-258	97	14	imc	imc	PROPN
ap-258	97	15	.	.	PUNCT
ap-258	98	1	controller	controller	PROPN
ap-258	98	2	r(s	r(s	PROPN
ap-258	98	3	)	)	PUNCT
ap-258	98	4	for	for	ADP
ap-258	98	5	model	model	NOUN
ap-258	98	6	(	(	PUNCT
ap-258	98	7	2	2	NUM
ap-258	98	8	)	)	PUNCT
ap-258	98	9	is	be	AUX
ap-258	98	10	according	accord	VERB
ap-258	98	11	to	to	ADP
ap-258	98	12	the	the	DET
ap-258	98	13	imc	imc	PROPN
ap-258	98	14	design	design	PROPN
ap-258	98	15	�	�	PROPN
ap-258	98	16	�	�	PROPN
ap-258	98	17	�	�	PROPN
ap-258	98	18	�	�	PROPN
ap-258	98	19	�	�	PROPN
ap-258	98	20	�	�	PROPN
ap-258	98	21	r	r	NOUN
ap-258	98	22	s	s	X
ap-258	98	23	ts	ts	ADP
ap-258	98	24	s	s	X
ap-258	98	25	k	k	PROPN
ap-258	98	26	fs	fs	PROPN
ap-258	98	27	�	�	PROPN
ap-258	98	28	�	�	PROPN
ap-258	98	29	�	�	PROPN
ap-258	98	30	�	�	PROPN
ap-258	98	31	exp	exp	X
ap-258	98	32	�	�	PROPN
ap-258	98	33	1	1	NUM
ap-258	98	34	(	(	PUNCT
ap-258	98	35	10	10	NUM
ap-258	98	36	)	)	PUNCT
ap-258	98	37	where	where	SCONJ
ap-258	98	38	t	t	PROPN
ap-258	98	39	,	,	PUNCT
ap-258	98	40	�	�	PROPN
ap-258	98	41	and	and	CCONJ
ap-258	98	42	k	k	PROPN
ap-258	98	43	are	be	AUX
ap-258	98	44	parameters	parameter	NOUN
ap-258	98	45	of	of	ADP
ap-258	98	46	the	the	DET
ap-258	98	47	model	model	NOUN
ap-258	98	48	.	.	PUNCT
ap-258	99	1	the	the	DET
ap-258	99	2	filter	filter	NOUN
ap-258	99	3	1/(fs+1	1/(fs+1	NUM
ap-258	99	4	)	)	PUNCT
ap-258	99	5	,	,	PUNCT
ap-258	99	6	where	where	SCONJ
ap-258	99	7	f	f	PROPN
ap-258	99	8	is	be	AUX
ap-258	99	9	a	a	DET
ap-258	99	10	time	time	NOUN
ap-258	99	11	constant	constant	ADJ
ap-258	99	12	,	,	PUNCT
ap-258	99	13	ensures	ensure	VERB
ap-258	99	14	the	the	DET
ap-258	99	15	feasibility	feasibility	NOUN
ap-258	99	16	of	of	ADP
ap-258	99	17	the	the	DET
ap-258	99	18	controller	controller	NOUN
ap-258	99	19	.	.	PUNCT
ap-258	100	1	the	the	DET
ap-258	100	2	inner	inner	ADJ
ap-258	100	3	loop	loop	NOUN
ap-258	100	4	with	with	ADP
ap-258	100	5	controller	controller	NOUN
ap-258	100	6	r	r	NOUN
ap-258	100	7	and	and	CCONJ
ap-258	100	8	model	model	NOUN
ap-258	100	9	of	of	ADP
ap-258	100	10	the	the	DET
ap-258	100	11	system	system	NOUN
ap-258	100	12	g	g	NOUN
ap-258	100	13	can	can	AUX
ap-258	100	14	be	be	AUX
ap-258	100	15	described	describe	VERB
ap-258	100	16	by	by	ADP
ap-258	100	17	the	the	DET
ap-258	100	18	transfer	transfer	NOUN
ap-258	100	19	function	function	NOUN
ap-258	100	20	�	�	PROPN
ap-258	100	21	�	�	PROPN
ap-258	100	22	�	�	PROPN
ap-258	100	23	�	�	PROPN
ap-258	100	24	�	�	PROPN
ap-258	100	25	�	�	PROPN
ap-258	100	26	�	�	PROPN
ap-258	100	27	�	�	PROPN
ap-258	100	28	�	�	PROPN
ap-258	100	29	�	�	PROPN
ap-258	100	30	�	�	PROPN
ap-258	100	31	�	�	PROPN
ap-258	100	32	�	�	PROPN
ap-258	100	33	�	�	PROPN
ap-258	100	34	c	c	NOUN
ap-258	100	35	s	s	PART
ap-258	100	36	r	r	NOUN
ap-258	100	37	s	s	NOUN
ap-258	100	38	r	r	NOUN
ap-258	100	39	s	s	PROPN
ap-258	100	40	g	g	NOUN
ap-258	100	41	s	s	PART
ap-258	100	42	ts	ts	X
ap-258	100	43	s	s	X
ap-258	100	44	k	k	X
ap-258	100	45	fs	fs	ADP
ap-258	100	46	s	s	PROPN
ap-258	100	47	�	�	PROPN
ap-258	100	48	�	�	PROPN
ap-258	100	49	�	�	PROPN
ap-258	100	50	�	�	PROPN
ap-258	100	51	�	�	PROPN
ap-258	100	52	�	�	PROPN
ap-258	100	53	�	�	PROPN
ap-258	100	54	�	�	PROPN
ap-258	100	55	1	1	NUM
ap-258	100	56	1	1	NUM
ap-258	100	57	exp	exp	NOUN
ap-258	100	58	exp	exp	NOUN
ap-258	100	59	�	�	PROPN
ap-258	100	60	�	�	PROPN
ap-258	100	61	.	.	PUNCT
ap-258	101	1	(	(	PUNCT
ap-258	101	2	11	11	NUM
ap-258	101	3	)	)	PUNCT
ap-258	101	4	the	the	DET
ap-258	101	5	control	control	NOUN
ap-258	101	6	feedback	feedback	NOUN
ap-258	101	7	arrangement	arrangement	NOUN
ap-258	101	8	with	with	ADP
ap-258	101	9	controller	controller	NOUN
ap-258	101	10	c	c	PROPN
ap-258	101	11	acquires	acquire	VERB
ap-258	101	12	a	a	DET
ap-258	101	13	conventional	conventional	ADJ
ap-258	101	14	structure	structure	NOUN
ap-258	101	15	.	.	PUNCT
ap-258	102	1	if	if	SCONJ
ap-258	102	2	model	model	NOUN
ap-258	102	3	(	(	PUNCT
ap-258	102	4	5	5	NUM
ap-258	102	5	)	)	PUNCT
ap-258	102	6	is	be	AUX
ap-258	102	7	used	use	VERB
ap-258	102	8	,	,	PUNCT
ap-258	102	9	the	the	DET
ap-258	102	10	analogous	analogous	ADJ
ap-258	102	11	controller	controller	NOUN
ap-258	102	12	results	result	VERB
ap-258	102	13	�	�	PROPN
ap-258	102	14	�	�	PROPN
ap-258	102	15	�	�	PROPN
ap-258	102	16	�	�	PROPN
ap-258	102	17	�	�	PROPN
ap-258	102	18	�	�	PROPN
ap-258	102	19	�	�	PROPN
ap-258	102	20	�	�	PROPN
ap-258	102	21	�	�	PROPN
ap-258	102	22	�	�	PROPN
ap-258	102	23	�	�	PROPN
ap-258	102	24	c	c	PROPN
ap-258	102	25	s	s	PART
ap-258	102	26	ts	ts	NOUN
ap-258	102	27	s	s	X
ap-258	102	28	k	k	PROPN
ap-258	102	29	ps	ps	PROPN
ap-258	102	30	s	s	PART
ap-258	102	31	fs	fs	ADP
ap-258	102	32	s	s	PROPN
ap-258	102	33	�	�	PROPN
ap-258	102	34	�	�	PROPN
ap-258	102	35	�	�	PROPN
ap-258	102	36	�	�	PROPN
ap-258	102	37	�	�	PROPN
ap-258	102	38	�	�	PROPN
ap-258	102	39	�	�	PROPN
ap-258	102	40	�	�	PROPN
ap-258	102	41	exp	exp	NOUN
ap-258	102	42	exp	exp	NOUN
ap-258	102	43	exp	exp	NOUN
ap-258	102	44	�	�	PROPN
ap-258	102	45	�	�	PROPN
ap-258	102	46	�	�	PROPN
ap-258	102	47	1	1	NUM
ap-258	102	48	.	.	PUNCT
ap-258	103	1	(	(	PUNCT
ap-258	103	2	12	12	NUM
ap-258	103	3	)	)	PUNCT
ap-258	103	4	applying	apply	VERB
ap-258	103	5	controller	controller	NOUN
ap-258	103	6	(	(	PUNCT
ap-258	103	7	11	11	NUM
ap-258	103	8	)	)	PUNCT
ap-258	103	9	to	to	PART
ap-258	103	10	model	model	VERB
ap-258	103	11	(	(	PUNCT
ap-258	103	12	2	2	NUM
ap-258	103	13	)	)	PUNCT
ap-258	103	14	or	or	CCONJ
ap-258	103	15	controller	controller	NOUN
ap-258	103	16	(	(	PUNCT
ap-258	103	17	12	12	NUM
ap-258	103	18	)	)	PUNCT
ap-258	103	19	to	to	PART
ap-258	103	20	model	model	VERB
ap-258	103	21	(	(	PUNCT
ap-258	103	22	5	5	NUM
ap-258	103	23	)	)	PUNCT
ap-258	103	24	,	,	PUNCT
ap-258	103	25	a	a	DET
ap-258	103	26	feedback	feedback	NOUN
ap-258	103	27	loop	loop	NOUN
ap-258	103	28	of	of	ADP
ap-258	103	29	quite	quite	ADV
ap-258	103	30	simple	simple	ADJ
ap-258	103	31	and	and	CCONJ
ap-258	103	32	favourable	favourable	ADJ
ap-258	103	33	dynamics	dynamic	NOUN
ap-258	103	34	is	be	AUX
ap-258	103	35	obtained	obtain	VERB
ap-258	103	36	.	.	PUNCT
ap-258	104	1	�	�	PROPN
ap-258	104	2	�	�	PROPN
ap-258	104	3	�	�	PROPN
ap-258	104	4	�	�	PROPN
ap-258	104	5	�	�	PROPN
ap-258	104	6	�	�	PROPN
ap-258	104	7	�	�	PROPN
ap-258	104	8	�	�	PROPN
ap-258	104	9	�	�	PROPN
ap-258	104	10	�	�	PROPN
ap-258	104	11	�	�	PROPN
ap-258	104	12	�	�	PROPN
ap-258	104	13	g	g	PROPN
ap-258	104	14	s	s	PROPN
ap-258	104	15	c	c	NOUN
ap-258	104	16	s	s	NOUN
ap-258	104	17	g	g	NOUN
ap-258	104	18	s	s	ADP
ap-258	104	19	c	c	NOUN
ap-258	104	20	s	s	NOUN
ap-258	104	21	g	g	NOUN
ap-258	104	22	s	s	PROPN
ap-258	104	23	s	s	NOUN
ap-258	104	24	fswy	fswy	PROPN
ap-258	104	25	�	�	PROPN
ap-258	104	26	�	�	PROPN
ap-258	104	27	�	�	PROPN
ap-258	104	28	�	�	PROPN
ap-258	104	29	�	�	PROPN
ap-258	104	30	1	1	NUM
ap-258	104	31	1	1	NUM
ap-258	104	32	exp	exp	NOUN
ap-258	104	33	�	�	PROPN
ap-258	104	34	.	.	PUNCT
ap-258	105	1	(	(	PUNCT
ap-258	105	2	13	13	NUM
ap-258	105	3	)	)	PUNCT
ap-258	105	4	if	if	SCONJ
ap-258	105	5	the	the	DET
ap-258	105	6	real	real	ADJ
ap-258	105	7	system	system	NOUN
ap-258	105	8	properties	property	NOUN
ap-258	105	9	agree	agree	VERB
ap-258	105	10	with	with	ADP
ap-258	105	11	models	model	NOUN
ap-258	105	12	(	(	PUNCT
ap-258	105	13	2	2	NUM
ap-258	105	14	)	)	PUNCT
ap-258	105	15	or	or	CCONJ
ap-258	105	16	(	(	PUNCT
ap-258	105	17	5	5	X
ap-258	105	18	)	)	PUNCT
ap-258	105	19	the	the	DET
ap-258	105	20	control	control	NOUN
ap-258	105	21	loop	loop	NOUN
ap-258	105	22	is	be	AUX
ap-258	105	23	not	not	PART
ap-258	105	24	only	only	ADV
ap-258	105	25	always	always	ADV
ap-258	105	26	stable	stable	ADJ
ap-258	105	27	,	,	PUNCT
ap-258	105	28	but	but	CCONJ
ap-258	105	29	moreover	moreover	ADV
ap-258	105	30	its	its	PRON
ap-258	105	31	transients	transient	NOUN
ap-258	105	32	are	be	AUX
ap-258	105	33	without	without	ADP
ap-258	105	34	overshoot	overshoot	NOUN
ap-258	105	35	,	,	PUNCT
ap-258	105	36	given	give	VERB
ap-258	105	37	by	by	ADP
ap-258	105	38	the	the	DET
ap-258	105	39	only	only	ADJ
ap-258	105	40	pole	pole	NOUN
ap-258	105	41	s	s	PART
ap-258	105	42	=	=	ADJ
ap-258	105	43	1	1	NUM
ap-258	105	44	/	/	SYM
ap-258	105	45	f.	f.	PROPN
ap-258	105	46	the	the	DET
ap-258	105	47	imc	imc	PROPN
ap-258	105	48	controller	controller	NOUN
ap-258	105	49	compensates	compensate	VERB
ap-258	105	50	most	most	ADJ
ap-258	105	51	of	of	ADP
ap-258	105	52	the	the	DET
ap-258	105	53	undesirable	undesirable	ADJ
ap-258	105	54	effects	effect	NOUN
ap-258	105	55	of	of	ADP
ap-258	105	56	delays	delay	NOUN
ap-258	105	57	in	in	ADP
ap-258	105	58	the	the	DET
ap-258	105	59	system	system	NOUN
ap-258	105	60	response	response	NOUN
ap-258	105	61	.	.	PUNCT
ap-258	106	1	in	in	ADP
ap-258	106	2	spite	spite	NOUN
ap-258	106	3	of	of	ADP
ap-258	106	4	encountering	encounter	VERB
ap-258	106	5	result	result	NOUN
ap-258	106	6	(	(	PUNCT
ap-258	106	7	13	13	NUM
ap-258	106	8	)	)	PUNCT
ap-258	106	9	,	,	PUNCT
ap-258	106	10	it	it	PRON
ap-258	106	11	should	should	AUX
ap-258	106	12	be	be	AUX
ap-258	106	13	noted	note	VERB
ap-258	106	14	that	that	SCONJ
ap-258	106	15	an	an	DET
ap-258	106	16	exact	exact	ADJ
ap-258	106	17	agreement	agreement	NOUN
ap-258	106	18	between	between	ADP
ap-258	106	19	the	the	DET
ap-258	106	20	real	real	ADJ
ap-258	106	21	system	system	NOUN
ap-258	106	22	and	and	CCONJ
ap-258	106	23	its	its	PRON
ap-258	106	24	model	model	NOUN
ap-258	106	25	(	(	PUNCT
ap-258	106	26	2	2	NUM
ap-258	106	27	)	)	PUNCT
ap-258	106	28	or	or	CCONJ
ap-258	106	29	(	(	PUNCT
ap-258	106	30	5	5	X
ap-258	106	31	)	)	PUNCT
ap-258	106	32	can	can	AUX
ap-258	106	33	not	not	PART
ap-258	106	34	be	be	AUX
ap-258	106	35	achieved	achieve	VERB
ap-258	106	36	.	.	PUNCT
ap-258	107	1	for	for	ADP
ap-258	107	2	this	this	DET
ap-258	107	3	case	case	NOUN
ap-258	107	4	,	,	PUNCT
ap-258	107	5	parameter	parameter	PROPN
ap-258	107	6	f	f	PROPN
ap-258	107	7	affects	affect	VERB
ap-258	107	8	not	not	PART
ap-258	107	9	only	only	ADV
ap-258	107	10	the	the	DET
ap-258	107	11	speed	speed	NOUN
ap-258	107	12	but	but	CCONJ
ap-258	107	13	also	also	ADV
ap-258	107	14	the	the	DET
ap-258	107	15	robustness	robustness	NOUN
ap-258	107	16	of	of	ADP
ap-258	107	17	the	the	DET
ap-258	107	18	closed	closed	ADJ
ap-258	107	19	loop	loop	NOUN
ap-258	107	20	.	.	PUNCT
ap-258	108	1	5	5	NUM
ap-258	108	2	example	example	NOUN
ap-258	108	3	1	1	NUM
ap-258	108	4	–	–	PUNCT
ap-258	108	5	ball	ball	NOUN
ap-258	108	6	levitation	levitation	NOUN
ap-258	108	7	an	an	DET
ap-258	108	8	application	application	NOUN
ap-258	108	9	of	of	ADP
ap-258	108	10	the	the	DET
ap-258	108	11	designed	design	VERB
ap-258	108	12	control	control	NOUN
ap-258	108	13	method	method	NOUN
ap-258	108	14	is	be	AUX
ap-258	108	15	demonstrated	demonstrate	VERB
ap-258	108	16	on	on	ADP
ap-258	108	17	a	a	DET
ap-258	108	18	simple	simple	ADJ
ap-258	108	19	laboratory	laboratory	NOUN
ap-258	108	20	system	system	NOUN
ap-258	108	21	–	–	PUNCT
ap-258	108	22	ball	ball	NOUN
ap-258	108	23	levitation	levitation	NOUN
ap-258	108	24	(	(	PUNCT
ap-258	108	25	see	see	VERB
ap-258	108	26	figure	figure	NOUN
ap-258	108	27	5	5	NUM
ap-258	108	28	)	)	PUNCT
ap-258	108	29	.	.	PUNCT
ap-258	109	1	the	the	DET
ap-258	109	2	actuator	actuator	NOUN
ap-258	109	3	of	of	ADP
ap-258	109	4	the	the	DET
ap-258	109	5	system	system	NOUN
ap-258	109	6	is	be	AUX
ap-258	109	7	a	a	DET
ap-258	109	8	pump	pump	NOUN
ap-258	109	9	.	.	PUNCT
ap-258	110	1	the	the	DET
ap-258	110	2	pump	pump	NOUN
ap-258	110	3	supplies	supply	VERB
ap-258	110	4	a	a	DET
ap-258	110	5	jet	jet	NOUN
ap-258	110	6	with	with	ADP
ap-258	110	7	an	an	DET
ap-258	110	8	appropriate	appropriate	ADJ
ap-258	110	9	amount	amount	NOUN
ap-258	110	10	of	of	ADP
ap-258	110	11	water	water	NOUN
ap-258	110	12	,	,	PUNCT
ap-258	110	13	so	so	SCONJ
ap-258	110	14	that	that	SCONJ
ap-258	110	15	the	the	DET
ap-258	110	16	ball	ball	NOUN
ap-258	110	17	,	,	PUNCT
ap-258	110	18	which	which	PRON
ap-258	110	19	is	be	AUX
ap-258	110	20	raised	raise	VERB
ap-258	110	21	by	by	ADP
ap-258	110	22	the	the	DET
ap-258	110	23	water	water	NOUN
ap-258	110	24	flow	flow	NOUN
ap-258	110	25	,	,	PUNCT
ap-258	110	26	is	be	AUX
ap-258	110	27	maintained	maintain	VERB
ap-258	110	28	in	in	ADP
ap-258	110	29	the	the	DET
ap-258	110	30	desired	desire	VERB
ap-258	110	31	horizontal	horizontal	ADJ
ap-258	110	32	position	position	NOUN
ap-258	110	33	.	.	PUNCT
ap-258	111	1	the	the	DET
ap-258	111	2	position	position	NOUN
ap-258	111	3	is	be	AUX
ap-258	111	4	sensed	sense	VERB
ap-258	111	5	by	by	ADP
ap-258	111	6	an	an	DET
ap-258	111	7	ultrasound	ultrasound	NOUN
ap-258	111	8	sensor	sensor	NOUN
ap-258	111	9	.	.	PUNCT
ap-258	112	1	the	the	DET
ap-258	112	2	controller	controller	NOUN
ap-258	112	3	(	(	PUNCT
ap-258	112	4	11	11	NUM
ap-258	112	5	)	)	PUNCT
ap-258	112	6	generates	generate	VERB
ap-258	112	7	the	the	DET
ap-258	112	8	actuating	actuate	VERB
ap-258	112	9	signal	signal	NOUN
ap-258	112	10	u	u	NOUN
ap-258	112	11	assigning	assign	VERB
ap-258	112	12	the	the	DET
ap-258	112	13	pump	pump	NOUN
ap-258	112	14	performance	performance	NOUN
ap-258	112	15	–	–	PUNCT
ap-258	112	16	the	the	DET
ap-258	112	17	amount	amount	NOUN
ap-258	112	18	of	of	ADP
ap-258	112	19	water	water	NOUN
ap-258	112	20	drawn	draw	VERB
ap-258	112	21	through	through	ADP
ap-258	112	22	the	the	DET
ap-258	112	23	jet	jet	NOUN
ap-258	112	24	.	.	PUNCT
ap-258	113	1	steady	steady	ADJ
ap-258	113	2	state	state	NOUN
ap-258	113	3	gain	gain	NOUN
ap-258	113	4	k	k	X
ap-258	114	1	=	=	PUNCT
ap-258	114	2	62.5	62.5	NUM
ap-258	114	3	and	and	CCONJ
ap-258	114	4	input	input	NOUN
ap-258	114	5	time	time	NOUN
ap-258	114	6	delay	delay	NOUN
ap-258	114	7	�	�	PROPN
ap-258	115	1	=	=	PUNCT
ap-258	115	2	0.7	0.7	NUM
ap-258	115	3	s	s	NOUN
ap-258	115	4	were	be	AUX
ap-258	115	5	estimated	estimate	VERB
ap-258	115	6	from	from	ADP
ap-258	115	7	the	the	DET
ap-258	115	8	step	step	NOUN
ap-258	115	9	response	response	NOUN
ap-258	115	10	of	of	ADP
ap-258	115	11	the	the	DET
ap-258	115	12	system	system	NOUN
ap-258	115	13	that	that	PRON
ap-258	115	14	is	be	AUX
ap-258	115	15	shown	show	VERB
ap-258	115	16	in	in	ADP
ap-258	115	17	figure	figure	NOUN
ap-258	115	18	6	6	NUM
ap-258	115	19	.	.	PUNCT
ap-258	116	1	the	the	DET
ap-258	116	2	relay	relay	NOUN
ap-258	116	3	feedback	feedback	NOUN
ap-258	116	4	experiment	experiment	NOUN
ap-258	116	5	was	be	AUX
ap-258	116	6	performed	perform	VERB
ap-258	116	7	and	and	CCONJ
ap-258	116	8	the	the	DET
ap-258	116	9	following	follow	VERB
ap-258	116	10	ultimate	ultimate	ADJ
ap-258	116	11	parameters	parameter	NOUN
ap-258	116	12	were	be	AUX
ap-258	116	13	found	find	VERB
ap-258	116	14	:	:	PUNCT
ap-258	116	15	�	�	PROPN
ap-258	116	16	u	u	NOUN
ap-258	116	17	=	=	NUM
ap-258	116	18	3.5	3.5	NUM
ap-258	116	19	s	s	NOUN
ap-258	116	20	1	1	NUM
ap-258	116	21	,	,	PUNCT
ap-258	116	22	ku	ku	PROPN
ap-258	116	23	=	=	PROPN
ap-258	116	24	0.02	0.02	NUM
ap-258	116	25	.	.	PUNCT
ap-258	117	1	parameters	parameter	NOUN
ap-258	117	2	t	t	NOUN
ap-258	117	3	=	=	PUNCT
ap-258	117	4	0.31	0.31	NUM
ap-258	117	5	s	s	NOUN
ap-258	117	6	and	and	CCONJ
ap-258	117	7	�	�	PROPN
ap-258	117	8	=	=	NOUN
ap-258	117	9	0.08	0.08	NUM
ap-258	117	10	s	s	NOUN
ap-258	117	11	were	be	AUX
ap-258	117	12	calculated	calculate	VERB
ap-258	117	13	from	from	ADP
ap-258	117	14	equations	equation	NOUN
ap-258	117	15	(	(	PUNCT
ap-258	117	16	8)	8)	NUM
ap-258	117	17	and	and	CCONJ
ap-258	117	18	(	(	PUNCT
ap-258	117	19	9	9	NUM
ap-258	117	20	)	)	PUNCT
ap-258	117	21	.	.	PUNCT
ap-258	118	1	the	the	DET
ap-258	118	2	simulated	simulate	VERB
ap-258	118	3	step	step	NOUN
ap-258	118	4	response	response	NOUN
ap-258	118	5	with	with	ADP
ap-258	118	6	assessed	assessed	ADJ
ap-258	118	7	parameters	parameter	NOUN
ap-258	118	8	is	be	AUX
ap-258	118	9	shown	show	VERB
ap-258	118	10	in	in	ADP
ap-258	118	11	figure	figure	NOUN
ap-258	118	12	6	6	NUM
ap-258	118	13	.	.	PUNCT
ap-258	119	1	it	it	PRON
ap-258	119	2	is	be	AUX
ap-258	119	3	apparent	apparent	ADJ
ap-258	119	4	that	that	SCONJ
ap-258	119	5	model	model	NOUN
ap-258	119	6	(	(	PUNCT
ap-258	119	7	2	2	NUM
ap-258	119	8	)	)	PUNCT
ap-258	119	9	with	with	ADP
ap-258	119	10	identified	identify	VERB
ap-258	119	11	parameters	parameter	NOUN
ap-258	119	12	describes	describe	VERB
ap-258	119	13	the	the	DET
ap-258	119	14	system	system	NOUN
ap-258	119	15	dynamics	dynamic	NOUN
ap-258	119	16	very	very	ADV
ap-258	119	17	well	well	ADV
ap-258	119	18	.	.	PUNCT
ap-258	120	1	because	because	SCONJ
ap-258	120	2	of	of	ADP
ap-258	120	3	the	the	DET
ap-258	120	4	higher	high	ADJ
ap-258	120	5	value	value	NOUN
ap-258	120	6	of	of	ADP
ap-258	120	7	the	the	DET
ap-258	120	8	ratio	ratio	NOUN
ap-258	120	9	�	�	PROPN
ap-258	120	10	/t	/t	PUNCT
ap-258	120	11	and	and	CCONJ
ap-258	120	12	because	because	SCONJ
ap-258	120	13	of	of	ADP
ap-258	120	14	the	the	DET
ap-258	120	15	presence	presence	NOUN
ap-258	120	16	of	of	ADP
ap-258	120	17	a	a	DET
ap-258	120	18	distinct	distinct	ADJ
ap-258	120	19	noise	noise	NOUN
ap-258	120	20	,	,	PUNCT
ap-258	120	21	a	a	DET
ap-258	120	22	rather	rather	ADV
ap-258	120	23	higher	high	ADJ
ap-258	120	24	value	value	NOUN
ap-258	120	25	of	of	ADP
ap-258	120	26	the	the	DET
ap-258	120	27	time	time	NOUN
ap-258	120	28	constant	constant	ADJ
ap-258	120	29	of	of	ADP
ap-258	120	30	the	the	DET
ap-258	120	31	filter	filter	NOUN
ap-258	120	32	f	f	NOUN
ap-258	120	33	=	=	SYM
ap-258	120	34	1	1	NUM
ap-258	120	35	s	s	NOUN
ap-258	120	36	was	be	AUX
ap-258	120	37	chosen	choose	VERB
ap-258	120	38	.	.	PUNCT
ap-258	121	1	the	the	DET
ap-258	121	2	change	change	NOUN
ap-258	121	3	of	of	ADP
ap-258	121	4	desired	desire	VERB
ap-258	121	5	position	position	NOUN
ap-258	121	6	of	of	ADP
ap-258	121	7	the	the	DET
ap-258	121	8	ball	ball	NOUN
ap-258	121	9	from	from	ADP
ap-258	121	10	w	w	PROPN
ap-258	121	11	=	=	SYM
ap-258	121	12	70	70	NUM
ap-258	121	13	mm	mm	INTJ
ap-258	121	14	to	to	ADP
ap-258	121	15	w	w	NOUN
ap-258	121	16	=	=	SYM
ap-258	121	17	120	120	NUM
ap-258	121	18	mm	mm	NOUN
ap-258	121	19	,	,	PUNCT
ap-258	121	20	shown	show	VERB
ap-258	121	21	in	in	ADP
ap-258	121	22	figure	figure	NOUN
ap-258	121	23	7	7	NUM
ap-258	121	24	,	,	PUNCT
ap-258	121	25	shows	show	VERB
ap-258	121	26	a	a	DET
ap-258	121	27	good	good	ADJ
ap-258	121	28	control	control	NOUN
ap-258	121	29	response	response	NOUN
ap-258	121	30	.	.	PUNCT
ap-258	122	1	©	©	PROPN
ap-258	122	2	czech	czech	PROPN
ap-258	122	3	technical	technical	PROPN
ap-258	122	4	university	university	PROPN
ap-258	122	5	publishing	publishing	NOUN
ap-258	122	6	house	house	NOUN
ap-258	122	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-258	122	8	51	51	NUM
ap-258	122	9	acta	acta	PROPN
ap-258	122	10	polytechnica	polytechnica	PROPN
ap-258	122	11	vol	vol	NOUN
ap-258	122	12	.	.	PUNCT
ap-258	123	1	41	41	NUM
ap-258	123	2	no	no	NOUN
ap-258	123	3	.	.	PUNCT
ap-258	124	1	4–5/2001	4–5/2001	NUM
ap-258	124	2	fig	fig	NOUN
ap-258	124	3	.	.	PUNCT
ap-258	125	1	5	5	NUM
ap-258	125	2	:	:	PUNCT
ap-258	125	3	laboratory	laboratory	NOUN
ap-258	125	4	system	system	NOUN
ap-258	125	5	–	–	PUNCT
ap-258	125	6	ball	ball	NOUN
ap-258	125	7	levitation	levitation	NOUN
ap-258	125	8	6	6	NUM
ap-258	125	9	example	example	NOUN
ap-258	125	10	2	2	NUM
ap-258	125	11	–	–	PUNCT
ap-258	125	12	pitch	pitch	NOUN
ap-258	125	13	attitude	attitude	NOUN
ap-258	125	14	controller	controller	NOUN
ap-258	125	15	the	the	DET
ap-258	125	16	substitution	substitution	NOUN
ap-258	125	17	of	of	ADP
ap-258	125	18	the	the	DET
ap-258	125	19	higher	high	ADJ
ap-258	125	20	order	order	NOUN
ap-258	125	21	model	model	NOUN
ap-258	125	22	by	by	ADP
ap-258	125	23	model	model	NOUN
ap-258	125	24	(	(	PUNCT
ap-258	125	25	5	5	NUM
ap-258	125	26	)	)	PUNCT
ap-258	125	27	and	and	CCONJ
ap-258	125	28	its	its	PRON
ap-258	125	29	implementation	implementation	NOUN
ap-258	125	30	to	to	ADP
ap-258	125	31	imc	imc	PROPN
ap-258	125	32	is	be	AUX
ap-258	125	33	illustrated	illustrate	VERB
ap-258	125	34	through	through	ADP
ap-258	125	35	application	application	NOUN
ap-258	125	36	to	to	ADP
ap-258	125	37	the	the	DET
ap-258	125	38	pitch	pitch	NOUN
ap-258	125	39	attitude	attitude	NOUN
ap-258	125	40	controller	controller	NOUN
ap-258	125	41	of	of	ADP
ap-258	125	42	an	an	DET
ap-258	125	43	aircraft	aircraft	NOUN
ap-258	125	44	.	.	PUNCT
ap-258	126	1	the	the	DET
ap-258	126	2	transfer	transfer	NOUN
ap-258	126	3	function	function	NOUN
ap-258	126	4	(	(	PUNCT
ap-258	126	5	14	14	NUM
ap-258	126	6	)	)	PUNCT
ap-258	126	7	(	(	PUNCT
ap-258	126	8	etkin	etkin	NOUN
ap-258	126	9	and	and	CCONJ
ap-258	126	10	reid	reid	PROPN
ap-258	126	11	[	[	X
ap-258	126	12	8	8	NUM
ap-258	126	13	]	]	PUNCT
ap-258	126	14	)	)	PUNCT
ap-258	126	15	describes	describe	VERB
ap-258	126	16	the	the	DET
ap-258	126	17	dynamic	dynamic	ADJ
ap-258	126	18	relationship	relationship	NOUN
ap-258	126	19	between	between	ADP
ap-258	126	20	the	the	DET
ap-258	126	21	rudder	rudder	NOUN
ap-258	126	22	angle	angle	NOUN
ap-258	126	23	�	�	PROPN
ap-258	126	24	e	e	PROPN
ap-258	126	25	and	and	CCONJ
ap-258	126	26	the	the	DET
ap-258	126	27	pitch	pitch	PROPN
ap-258	126	28	angle	angle	PROPN
ap-258	126	29	�	�	PROPN
ap-258	126	30	(	(	PUNCT
ap-258	126	31	see	see	VERB
ap-258	126	32	figure	figure	NOUN
ap-258	126	33	8)	8)	NUM
ap-258	126	34	.	.	PUNCT
ap-258	127	1	details	detail	NOUN
ap-258	127	2	of	of	ADP
ap-258	127	3	the	the	DET
ap-258	127	4	investigated	investigated	ADJ
ap-258	127	5	plane	plane	NOUN
ap-258	127	6	,	,	PUNCT
ap-258	127	7	a	a	DET
ap-258	127	8	boeing	boeing	PROPN
ap-258	127	9	747	747	PROPN
ap-258	127	10	-	-	SYM
ap-258	127	11	100	100	NUM
ap-258	127	12	,	,	PUNCT
ap-258	127	13	as	as	ADV
ap-258	127	14	well	well	ADV
ap-258	127	15	as	as	ADP
ap-258	127	16	the	the	DET
ap-258	127	17	methodology	methodology	NOUN
ap-258	127	18	used	use	VERB
ap-258	127	19	to	to	PART
ap-258	127	20	obtain	obtain	VERB
ap-258	127	21	model	model	NOUN
ap-258	127	22	(	(	PUNCT
ap-258	127	23	14	14	NUM
ap-258	127	24	)	)	PUNCT
ap-258	127	25	can	can	AUX
ap-258	127	26	be	be	AUX
ap-258	127	27	found	find	VERB
ap-258	127	28	in	in	ADP
ap-258	127	29	the	the	DET
ap-258	127	30	mentioned	mention	VERB
ap-258	127	31	literature	literature	NOUN
ap-258	127	32	.	.	PUNCT
ap-258	128	1	the	the	DET
ap-258	128	2	pitch	pitch	NOUN
ap-258	128	3	angle	angle	NOUN
ap-258	128	4	is	be	AUX
ap-258	128	5	defined	define	VERB
ap-258	128	6	as	as	ADP
ap-258	128	7	the	the	DET
ap-258	128	8	angle	angle	NOUN
ap-258	128	9	between	between	ADP
ap-258	128	10	the	the	DET
ap-258	128	11	plane	plane	NOUN
ap-258	128	12	axes	axis	NOUN
ap-258	128	13	x	x	PUNCT
ap-258	128	14	and	and	CCONJ
ap-258	128	15	the	the	DET
ap-258	128	16	earth	earth	NOUN
ap-258	128	17	fixed	fix	VERB
ap-258	128	18	axis	axis	PROPN
ap-258	128	19	xe	xe	PROPN
ap-258	128	20	.	.	PUNCT
ap-258	129	1	this	this	DET
ap-258	129	2	angle	angle	NOUN
ap-258	129	3	is	be	AUX
ap-258	129	4	readily	readily	ADV
ap-258	129	5	available	available	ADJ
ap-258	129	6	from	from	ADP
ap-258	129	7	either	either	CCONJ
ap-258	129	8	the	the	DET
ap-258	129	9	real	real	ADJ
ap-258	129	10	horizon	horizon	NOUN
ap-258	129	11	(	(	PUNCT
ap-258	129	12	pilot	pilot	NOUN
ap-258	129	13	)	)	PUNCT
ap-258	129	14	or	or	CCONJ
ap-258	129	15	the	the	DET
ap-258	129	16	vertical	vertical	ADJ
ap-258	129	17	gyro	gyro	NOUN
ap-258	129	18	(	(	PUNCT
ap-258	129	19	auto	auto	NOUN
ap-258	129	20	-	-	PUNCT
ap-258	129	21	pilot	pilot	NOUN
ap-258	129	22	)	)	PUNCT
ap-258	129	23	.	.	PUNCT
ap-258	130	1	it	it	PRON
ap-258	130	2	should	should	AUX
ap-258	130	3	be	be	AUX
ap-258	130	4	noted	note	VERB
ap-258	130	5	that	that	SCONJ
ap-258	130	6	linear	linear	ADJ
ap-258	130	7	model	model	NOUN
ap-258	130	8	expressed	express	VERB
ap-258	130	9	by	by	ADP
ap-258	130	10	the	the	DET
ap-258	130	11	transfer	transfer	NOUN
ap-258	130	12	function	function	NOUN
ap-258	130	13	�	�	PROPN
ap-258	130	14	�	�	PROPN
ap-258	130	15	�	�	PROPN
ap-258	130	16	�	�	PROPN
ap-258	130	17	�	�	PROPN
ap-258	130	18	�	�	PROPN
ap-258	130	19	�	�	PROPN
ap-258	130	20	�	�	PROPN
ap-258	130	21	g	g	PROPN
ap-258	130	22	s	s	PART
ap-258	130	23	n	n	PRON
ap-258	130	24	s	s	NOUN
ap-258	130	25	m	m	NOUN
ap-258	130	26	s	s	PROPN
ap-258	130	27	b	b	PROPN
ap-258	130	28	s	s	PROPN
ap-258	130	29	b	b	PROPN
ap-258	130	30	s	s	PROPN
ap-258	130	31	b	b	X
ap-258	130	32	s	s	X
ap-258	130	33	a	a	DET
ap-258	130	34	s	s	NOUN
ap-258	130	35	a	a	DET
ap-258	130	36	s	s	NOUN
ap-258	130	37	a	a	DET
ap-258	130	38	s	s	X
ap-258	130	39	ae	ae	PROPN
ap-258	130	40	�	�	PROPN
ap-258	130	41	�	�	PROPN
ap-258	130	42	,	,	PUNCT
ap-258	130	43	�	�	PROPN
ap-258	130	44	�	�	PROPN
ap-258	130	45	�	�	PROPN
ap-258	130	46	�	�	PROPN
ap-258	130	47	�	�	PROPN
ap-258	130	48	�	�	PROPN
ap-258	130	49	�	�	PROPN
ap-258	130	50	�	�	PROPN
ap-258	130	51	�	�	PROPN
ap-258	130	52	2	2	NUM
ap-258	130	53	2	2	NUM
ap-258	130	54	1	1	NUM
ap-258	130	55	0	0	NUM
ap-258	130	56	4	4	NUM
ap-258	130	57	3	3	NUM
ap-258	130	58	3	3	NUM
ap-258	130	59	2	2	NUM
ap-258	130	60	2	2	NUM
ap-258	130	61	1	1	NUM
ap-258	130	62	0	0	NUM
ap-258	130	63	(	(	PUNCT
ap-258	130	64	14	14	NUM
ap-258	130	65	)	)	PUNCT
ap-258	130	66	with	with	ADP
ap-258	130	67	parameters	parameter	NOUN
ap-258	130	68	b0	b0	NOUN
ap-258	130	69	=	=	SYM
ap-258	130	70	0.003873	0.003873	NUM
ap-258	130	71	,	,	PUNCT
ap-258	130	72	b1	b1	NOUN
ap-258	130	73	=	=	SYM
ap-258	130	74	0.3545	0.3545	NUM
ap-258	130	75	,	,	PUNCT
ap-258	130	76	b2	b2	NOUN
ap-258	130	77	=	=	PUNCT
ap-258	130	78	1.158	1.158	NUM
ap-258	130	79	,	,	PUNCT
ap-258	130	80	a0	a0	PROPN
ap-258	130	81	=	=	SYM
ap-258	130	82	4.19588	4.19588	NUM
ap-258	130	83	�	�	SYM
ap-258	130	84	10	10	NUM
ap-258	130	85	�	�	NOUN
ap-258	130	86	3	3	NUM
ap-258	130	87	,	,	PUNCT
ap-258	130	88	a1	a1	NOUN
ap-258	130	89	=	=	SYM
ap-258	130	90	9.463025	9.463025	NUM
ap-258	130	91	�	�	PROPN
ap-258	130	92	10	10	NUM
ap-258	130	93	�	�	NOUN
ap-258	130	94	3	3	NUM
ap-258	130	95	,	,	PUNCT
ap-258	130	96	a2	a2	PROPN
ap-258	130	97	=	=	PUNCT
ap-258	130	98	0.935494	0.935494	NUM
ap-258	130	99	,	,	PUNCT
ap-258	130	100	a3	a3	NOUN
ap-258	130	101	=	=	NOUN
ap-258	130	102	0.750468	0.750468	NUM
ap-258	130	103	is	be	AUX
ap-258	130	104	supposed	suppose	VERB
ap-258	130	105	truly	truly	ADV
ap-258	130	106	to	to	PART
ap-258	130	107	describe	describe	VERB
ap-258	130	108	the	the	DET
ap-258	130	109	dynamic	dynamic	ADJ
ap-258	130	110	relation	relation	NOUN
ap-258	130	111	between	between	ADP
ap-258	130	112	�	�	PROPN
ap-258	130	113	e	e	PROPN
ap-258	130	114	and	and	CCONJ
ap-258	130	115	�	�	PROPN
ap-258	130	116	only	only	ADV
ap-258	130	117	for	for	ADP
ap-258	130	118	small	small	ADJ
ap-258	130	119	departures	departure	NOUN
ap-258	130	120	from	from	ADP
ap-258	130	121	the	the	DET
ap-258	130	122	reference	reference	NOUN
ap-258	130	123	position	position	NOUN
ap-258	130	124	.	.	PUNCT
ap-258	131	1	let	let	VERB
ap-258	131	2	us	we	PRON
ap-258	131	3	turn	turn	VERB
ap-258	131	4	our	our	PRON
ap-258	131	5	attention	attention	NOUN
ap-258	131	6	to	to	ADP
ap-258	131	7	an	an	DET
ap-258	131	8	investigation	investigation	NOUN
ap-258	131	9	of	of	ADP
ap-258	131	10	the	the	DET
ap-258	131	11	dynamic	dynamic	ADJ
ap-258	131	12	properties	property	NOUN
ap-258	131	13	of	of	ADP
ap-258	131	14	model	model	NOUN
ap-258	131	15	(	(	PUNCT
ap-258	131	16	14	14	NUM
ap-258	131	17	)	)	PUNCT
ap-258	131	18	.	.	PUNCT
ap-258	132	1	the	the	DET
ap-258	132	2	system	system	NOUN
ap-258	132	3	has	have	VERB
ap-258	132	4	two	two	NUM
ap-258	132	5	zeros	zero	NOUN
ap-258	132	6	and	and	CCONJ
ap-258	132	7	four	four	NUM
ap-258	132	8	poles	pole	NOUN
ap-258	132	9	.	.	PUNCT
ap-258	133	1	zeros	zero	NOUN
ap-258	133	2	p1	p1	PROPN
ap-258	133	3	=	=	SYM
ap-258	133	4	�	�	PROPN
ap-258	133	5	0.0113	0.0113	NUM
ap-258	133	6	s	s	PROPN
ap-258	133	7	�	�	PROPN
ap-258	133	8	1	1	NUM
ap-258	133	9	and	and	CCONJ
ap-258	133	10	p2	p2	PROPN
ap-258	133	11	=	=	SYM
ap-258	133	12	�	�	PROPN
ap-258	133	13	0.2948	0.2948	NUM
ap-258	133	14	s	s	NUM
ap-258	133	15	�	�	NOUN
ap-258	133	16	1	1	NUM
ap-258	133	17	were	be	AUX
ap-258	133	18	found	find	VERB
ap-258	133	19	directly	directly	ADV
ap-258	133	20	as	as	ADP
ap-258	133	21	two	two	NUM
ap-258	133	22	solutions	solution	NOUN
ap-258	133	23	of	of	ADP
ap-258	133	24	the	the	DET
ap-258	133	25	equation	equation	NOUN
ap-258	133	26	n(s	n(s	NOUN
ap-258	133	27	)	)	PUNCT
ap-258	133	28	=	=	SYM
ap-258	133	29	0	0	NUM
ap-258	133	30	,	,	PUNCT
ap-258	133	31	while	while	SCONJ
ap-258	133	32	the	the	DET
ap-258	133	33	system	system	NOUN
ap-258	133	34	poles	pole	VERB
ap-258	133	35	s1	s1	NOUN
ap-258	133	36	,	,	PUNCT
ap-258	133	37	2	2	NUM
ap-258	133	38	=	=	SYM
ap-258	133	39	�	�	PROPN
ap-258	133	40	0.0034	0.0034	NUM
ap-258	133	41	�	�	PROPN
ap-258	133	42	j0.0650	j0.0650	PROPN
ap-258	133	43	s	s	PROPN
ap-258	133	44	�	�	PROPN
ap-258	133	45	1	1	NUM
ap-258	133	46	and	and	CCONJ
ap-258	133	47	s3	s3	PROPN
ap-258	133	48	,	,	PUNCT
ap-258	133	49	4	4	NUM
ap-258	133	50	=	=	SYM
ap-258	133	51	�	�	PROPN
ap-258	133	52	0.37	0.37	NUM
ap-258	133	53	�	�	PROPN
ap-258	133	54	j0.8875	j0.8875	PROPN
ap-258	133	55	s	s	PROPN
ap-258	133	56	�	�	PROPN
ap-258	133	57	1	1	NUM
ap-258	133	58	result	result	NOUN
ap-258	133	59	from	from	ADP
ap-258	133	60	numeric	numeric	ADJ
ap-258	133	61	calculation	calculation	NOUN
ap-258	133	62	of	of	ADP
ap-258	133	63	the	the	DET
ap-258	133	64	equation	equation	NOUN
ap-258	133	65	m(s	m(s	PROPN
ap-258	133	66	)	)	PUNCT
ap-258	133	67	=	=	SYM
ap-258	134	1	0	0	X
ap-258	134	2	.	.	PUNCT
ap-258	135	1	the	the	DET
ap-258	135	2	numerator	numerator	NOUN
ap-258	135	3	of	of	ADP
ap-258	135	4	the	the	DET
ap-258	135	5	alternative	alternative	ADJ
ap-258	135	6	model	model	NOUN
ap-258	135	7	(	(	PUNCT
ap-258	135	8	5	5	NUM
ap-258	135	9	)	)	PUNCT
ap-258	135	10	,	,	PUNCT
ap-258	135	11	namely	namely	ADV
ap-258	135	12	parameters	parameter	NOUN
ap-258	135	13	p	p	NOUN
ap-258	135	14	and	and	CCONJ
ap-258	135	15	�	�	PROPN
ap-258	135	16	,	,	PUNCT
ap-258	135	17	can	can	AUX
ap-258	135	18	be	be	AUX
ap-258	135	19	assigned	assign	VERB
ap-258	135	20	on	on	ADP
ap-258	135	21	the	the	DET
ap-258	135	22	basis	basis	NOUN
ap-258	135	23	of	of	ADP
ap-258	135	24	found	find	VERB
ap-258	135	25	zeros	zero	NOUN
ap-258	135	26	p1	p1	PROPN
ap-258	135	27	and	and	CCONJ
ap-258	135	28	p2	p2	PROPN
ap-258	135	29	from	from	ADP
ap-258	135	30	the	the	DET
ap-258	135	31	equation	equation	NOUN
ap-258	135	32	ps	ps	PROPN
ap-258	135	33	+	+	CCONJ
ap-258	135	34	exp(	exp(	PROPN
ap-258	135	35	�	�	PROPN
ap-258	135	36	s	s	NOUN
ap-258	135	37	�	�	NOUN
ap-258	135	38	)	)	PUNCT
ap-258	135	39	=	=	SYM
ap-258	136	1	0	0	X
ap-258	136	2	.	.	PUNCT
ap-258	137	1	the	the	DET
ap-258	137	2	same	same	ADJ
ap-258	137	3	distribution	distribution	NOUN
ap-258	137	4	of	of	ADP
ap-258	137	5	dominant	dominant	ADJ
ap-258	137	6	zeros	zero	NOUN
ap-258	137	7	appears	appear	VERB
ap-258	137	8	if	if	SCONJ
ap-258	137	9	p	p	AUX
ap-258	137	10	=	=	PUNCT
ap-258	137	11	101	101	NUM
ap-258	137	12	s	s	NOUN
ap-258	137	13	and	and	CCONJ
ap-258	137	14	�	�	PROPN
ap-258	137	15	=	=	SYM
ap-258	137	16	11.51	11.51	NUM
ap-258	137	17	s.	s.	PROPN
ap-258	137	18	the	the	DET
ap-258	137	19	steady	steady	ADJ
ap-258	137	20	state	state	NOUN
ap-258	137	21	gain	gain	NOUN
ap-258	137	22	k	k	PROPN
ap-258	137	23	=	=	SYM
ap-258	137	24	�	�	PROPN
ap-258	137	25	0.92305	0.92305	NUM
ap-258	137	26	is	be	AUX
ap-258	137	27	obtained	obtain	VERB
ap-258	137	28	from	from	ADP
ap-258	137	29	(	(	PUNCT
ap-258	137	30	14	14	NUM
ap-258	137	31	)	)	PUNCT
ap-258	137	32	if	if	SCONJ
ap-258	137	33	s	s	PART
ap-258	137	34	=	=	NOUN
ap-258	137	35	0	0	NUM
ap-258	137	36	s.	s.	PROPN
ap-258	137	37	if	if	SCONJ
ap-258	137	38	the	the	DET
ap-258	137	39	dominant	dominant	ADJ
ap-258	137	40	couple	couple	NOUN
ap-258	137	41	of	of	ADP
ap-258	137	42	the	the	DET
ap-258	137	43	model	model	NOUN
ap-258	137	44	(	(	PUNCT
ap-258	137	45	14	14	NUM
ap-258	137	46	)	)	PUNCT
ap-258	137	47	sf1	sf1	PROPN
ap-258	137	48	,	,	PUNCT
ap-258	137	49	2	2	NUM
ap-258	137	50	=	=	SYM
ap-258	137	51	�	�	PROPN
ap-258	137	52	0.0034	0.0034	NUM
ap-258	137	53	�	�	PROPN
ap-258	137	54	j0.0650	j0.0650	PROPN
ap-258	137	55	s	s	PROPN
ap-258	137	56	�	�	PROPN
ap-258	137	57	1	1	NUM
ap-258	137	58	is	be	AUX
ap-258	137	59	prescribed	prescribe	VERB
ap-258	137	60	for	for	ADP
ap-258	137	61	model	model	NOUN
ap-258	137	62	(	(	PUNCT
ap-258	137	63	5	5	NUM
ap-258	137	64	)	)	PUNCT
ap-258	137	65	,	,	PUNCT
ap-258	137	66	the	the	DET
ap-258	137	67	parameters	parameter	NOUN
ap-258	137	68	t	t	X
ap-258	137	69	=	=	PUNCT
ap-258	137	70	16.64	16.64	NUM
ap-258	137	71	s	s	NOUN
ap-258	137	72	and	and	CCONJ
ap-258	137	73	�	�	PROPN
ap-258	137	74	=	=	PUNCT
ap-258	137	75	23.4	23.4	NUM
ap-258	137	76	s	s	NOUN
ap-258	137	77	result	result	NOUN
ap-258	137	78	.	.	PUNCT
ap-258	138	1	another	another	DET
ap-258	138	2	couple	couple	NOUN
ap-258	138	3	sf3	sf3	PROPN
ap-258	138	4	,	,	PUNCT
ap-258	138	5	4	4	NUM
ap-258	138	6	=	=	SYM
ap-258	138	7	�	�	PROPN
ap-258	138	8	0.0734	0.0734	NUM
ap-258	138	9	�	�	PROPN
ap-258	138	10	j0.3260	j0.3260	PROPN
ap-258	138	11	s	s	PROPN
ap-258	138	12	�	�	PROPN
ap-258	138	13	1	1	NUM
ap-258	138	14	appears	appear	VERB
ap-258	138	15	near	near	ADV
ap-258	138	16	to	to	ADP
ap-258	138	17	the	the	DET
ap-258	138	18	imaginary	imaginary	ADJ
ap-258	138	19	axis	axis	NOUN
ap-258	138	20	.	.	PUNCT
ap-258	139	1	this	this	DET
ap-258	139	2	couple	couple	NOUN
ap-258	139	3	is	be	AUX
ap-258	139	4	closer	close	ADJ
ap-258	139	5	to	to	ADP
ap-258	139	6	the	the	DET
ap-258	139	7	origin	origin	NOUN
ap-258	139	8	of	of	ADP
ap-258	139	9	the	the	DET
ap-258	139	10	complex	complex	ADJ
ap-258	139	11	domain	domain	NOUN
ap-258	139	12	than	than	ADP
ap-258	139	13	couple	couple	NOUN
ap-258	139	14	s3	s3	PROPN
ap-258	139	15	,	,	PUNCT
ap-258	139	16	4	4	NUM
ap-258	139	17	of	of	ADP
ap-258	139	18	model	model	NOUN
ap-258	139	19	(	(	PUNCT
ap-258	139	20	14	14	NUM
ap-258	139	21	)	)	PUNCT
ap-258	139	22	.	.	PUNCT
ap-258	140	1	this	this	PRON
ap-258	140	2	causes	cause	VERB
ap-258	140	3	a	a	DET
ap-258	140	4	certain	certain	ADJ
ap-258	140	5	phase	phase	NOUN
ap-258	140	6	shift	shift	NOUN
ap-258	140	7	between	between	ADP
ap-258	140	8	the	the	DET
ap-258	140	9	responses	response	NOUN
ap-258	140	10	of	of	ADP
ap-258	140	11	the	the	DET
ap-258	140	12	models	model	NOUN
ap-258	140	13	.	.	PUNCT
ap-258	141	1	better	well	ADJ
ap-258	141	2	agreement	agreement	NOUN
ap-258	141	3	of	of	ADP
ap-258	141	4	model	model	NOUN
ap-258	141	5	(	(	PUNCT
ap-258	141	6	14	14	NUM
ap-258	141	7	)	)	PUNCT
ap-258	141	8	and	and	CCONJ
ap-258	141	9	model	model	NOUN
ap-258	141	10	(	(	PUNCT
ap-258	141	11	5	5	NUM
ap-258	141	12	)	)	PUNCT
ap-258	141	13	is	be	AUX
ap-258	141	14	achieved	achieve	VERB
ap-258	141	15	if	if	SCONJ
ap-258	141	16	parameters	parameter	NOUN
ap-258	141	17	t	t	NOUN
ap-258	141	18	=	=	SYM
ap-258	141	19	16.1	16.1	NUM
ap-258	141	20	s	s	NOUN
ap-258	141	21	and	and	CCONJ
ap-258	141	22	�	�	PROPN
ap-258	141	23	=	=	SYM
ap-258	141	24	22.61	22.61	NUM
ap-258	141	25	s	s	NOUN
ap-258	141	26	are	be	AUX
ap-258	141	27	used	use	VERB
ap-258	141	28	.	.	PUNCT
ap-258	142	1	model	model	NOUN
ap-258	142	2	(	(	PUNCT
ap-258	142	3	5	5	NUM
ap-258	142	4	)	)	PUNCT
ap-258	142	5	then	then	ADV
ap-258	142	6	has	have	VERB
ap-258	142	7	dominant	dominant	ADJ
ap-258	142	8	poles	pole	NOUN
ap-258	142	9	sf1	sf1	PROPN
ap-258	142	10	,	,	PUNCT
ap-258	142	11	2=	2=	NUM
ap-258	142	12	�	�	PROPN
ap-258	142	13	0.0035	0.0035	NUM
ap-258	142	14	�	�	PROPN
ap-258	142	15	j0.0671	j0.0671	PROPN
ap-258	142	16	s	s	PROPN
ap-258	142	17	�	�	PROPN
ap-258	142	18	1	1	NUM
ap-258	142	19	and	and	CCONJ
ap-258	142	20	sf3	sf3	PROPN
ap-258	142	21	,	,	PUNCT
ap-258	142	22	4	4	NUM
ap-258	142	23	=	=	SYM
ap-258	142	24	�	�	PROPN
ap-258	142	25	0.0758	0.0758	NUM
ap-258	142	26	�	�	PROPN
ap-258	142	27	j0.3371	j0.3371	PROPN
ap-258	142	28	s	s	PROPN
ap-258	142	29	�	�	PROPN
ap-258	142	30	1	1	NUM
ap-258	142	31	.	.	PUNCT
ap-258	142	32	by	by	ADP
ap-258	142	33	means	mean	NOUN
ap-258	142	34	of	of	ADP
ap-258	142	35	the	the	DET
ap-258	142	36	last	last	ADJ
ap-258	142	37	parameter	parameter	NOUN
ap-258	142	38	=	=	NOUN
ap-258	142	39	5	5	NUM
ap-258	142	40	s	s	PART
ap-258	142	41	the	the	DET
ap-258	142	42	phase	phase	NOUN
ap-258	142	43	shift	shift	NOUN
ap-258	142	44	is	be	AUX
ap-258	142	45	completely	completely	ADV
ap-258	142	46	removed	remove	VERB
ap-258	142	47	.	.	PUNCT
ap-258	143	1	step	step	NOUN
ap-258	143	2	responses	response	NOUN
ap-258	143	3	and	and	CCONJ
ap-258	143	4	bode	bode	VERB
ap-258	143	5	diagrams	diagram	NOUN
ap-258	143	6	of	of	ADP
ap-258	143	7	model	model	NOUN
ap-258	143	8	(	(	PUNCT
ap-258	143	9	14	14	NUM
ap-258	143	10	)	)	PUNCT
ap-258	143	11	and	and	CCONJ
ap-258	143	12	its	its	PRON
ap-258	143	13	approximation	approximation	NOUN
ap-258	143	14	(	(	PUNCT
ap-258	143	15	5	5	NUM
ap-258	143	16	)	)	PUNCT
ap-258	143	17	are	be	AUX
ap-258	143	18	shown	show	VERB
ap-258	143	19	in	in	ADP
ap-258	143	20	figure	figure	NOUN
ap-258	143	21	9	9	NUM
ap-258	143	22	and	and	CCONJ
ap-258	143	23	figure	figure	VERB
ap-258	143	24	10	10	NUM
ap-258	143	25	,	,	PUNCT
ap-258	143	26	respectively	respectively	ADV
ap-258	143	27	.	.	PUNCT
ap-258	144	1	apparent	apparent	ADJ
ap-258	144	2	discrepancies	discrepancy	NOUN
ap-258	144	3	in	in	ADP
ap-258	144	4	the	the	DET
ap-258	144	5	beginning	beginning	NOUN
ap-258	144	6	of	of	ADP
ap-258	144	7	the	the	DET
ap-258	144	8	step	step	NOUN
ap-258	144	9	responses	response	NOUN
ap-258	144	10	are	be	AUX
ap-258	144	11	caused	cause	VERB
ap-258	144	12	by	by	ADP
ap-258	144	13	the	the	DET
ap-258	144	14	same	same	ADJ
ap-258	144	15	order	order	NOUN
ap-258	144	16	of	of	ADP
ap-258	144	17	the	the	DET
ap-258	144	18	numerator	numerator	NOUN
ap-258	144	19	and	and	CCONJ
ap-258	144	20	the	the	DET
ap-258	144	21	denominator	denominator	NOUN
ap-258	144	22	of	of	ADP
ap-258	144	23	model	model	NOUN
ap-258	144	24	(	(	PUNCT
ap-258	144	25	5	5	NUM
ap-258	144	26	)	)	PUNCT
ap-258	144	27	.	.	PUNCT
ap-258	145	1	this	this	DET
ap-258	145	2	discontinuity	discontinuity	NOUN
ap-258	145	3	is	be	AUX
ap-258	145	4	a	a	DET
ap-258	145	5	feature	feature	NOUN
ap-258	145	6	of	of	ADP
ap-258	145	7	model	model	NOUN
ap-258	145	8	(	(	PUNCT
ap-258	145	9	5	5	NUM
ap-258	145	10	)	)	PUNCT
ap-258	145	11	and	and	CCONJ
ap-258	145	12	can	can	AUX
ap-258	145	13	not	not	PART
ap-258	145	14	be	be	AUX
ap-258	145	15	removed	remove	VERB
ap-258	145	16	by	by	ADP
ap-258	145	17	the	the	DET
ap-258	145	18	choice	choice	NOUN
ap-258	145	19	of	of	ADP
ap-258	145	20	different	different	ADJ
ap-258	145	21	parameters	parameter	NOUN
ap-258	145	22	.	.	PUNCT
ap-258	146	1	on	on	ADP
ap-258	146	2	the	the	DET
ap-258	146	3	other	other	ADJ
ap-258	146	4	hand	hand	NOUN
ap-258	146	5	,	,	PUNCT
ap-258	146	6	the	the	DET
ap-258	146	7	step	step	NOUN
ap-258	146	8	responses	response	NOUN
ap-258	146	9	are	be	AUX
ap-258	146	10	nearly	nearly	ADV
ap-258	146	11	overlapping	overlap	VERB
ap-258	146	12	since	since	SCONJ
ap-258	146	13	they	they	PRON
ap-258	146	14	reach	reach	VERB
ap-258	146	15	their	their	PRON
ap-258	146	16	first	first	ADJ
ap-258	146	17	minimum	minimum	NOUN
ap-258	146	18	.	.	PUNCT
ap-258	147	1	the	the	DET
ap-258	147	2	bode	bode	ADJ
ap-258	147	3	diagrams	diagram	NOUN
ap-258	147	4	in	in	ADP
ap-258	147	5	figure	figure	NOUN
ap-258	147	6	10	10	NUM
ap-258	147	7	show	show	NOUN
ap-258	147	8	excellent	excellent	ADJ
ap-258	147	9	agreement	agreement	NOUN
ap-258	147	10	for	for	ADP
ap-258	147	11	frequencies	frequency	NOUN
ap-258	147	12	acta	acta	PROPN
ap-258	147	13	polytechnica	polytechnica	PROPN
ap-258	147	14	vol	vol	NOUN
ap-258	147	15	.	.	PUNCT
ap-258	148	1	41	41	NUM
ap-258	148	2	no	no	NOUN
ap-258	148	3	.	.	PUNCT
ap-258	149	1	4–5/2001	4–5/2001	NUM
ap-258	149	2	52	52	NUM
ap-258	149	3	fig	fig	NOUN
ap-258	149	4	.	.	PUNCT
ap-258	150	1	6	6	NUM
ap-258	150	2	:	:	PUNCT
ap-258	150	3	step	step	NOUN
ap-258	150	4	responses	response	NOUN
ap-258	150	5	of	of	ADP
ap-258	150	6	the	the	DET
ap-258	150	7	system	system	NOUN
ap-258	150	8	and	and	CCONJ
ap-258	150	9	its	its	PRON
ap-258	150	10	model	model	NOUN
ap-258	150	11	fig	fig	NOUN
ap-258	150	12	.	.	PUNCT
ap-258	151	1	7	7	NUM
ap-258	151	2	:	:	PUNCT
ap-258	151	3	set	set	VERB
ap-258	151	4	-	-	PUNCT
ap-258	151	5	point	point	NOUN
ap-258	151	6	response	response	NOUN
ap-258	151	7	of	of	ADP
ap-258	151	8	the	the	DET
ap-258	151	9	closed	closed	ADJ
ap-258	151	10	loop	loop	NOUN
ap-258	151	11	e	e	NOUN
ap-258	151	12	x	x	SYM
ap-258	151	13	x	x	X
ap-258	151	14	e	e	X
ap-258	151	15	fig	fig	NOUN
ap-258	151	16	.	.	PUNCT
ap-258	152	1	8	8	NUM
ap-258	152	2	:	:	PUNCT
ap-258	152	3	definition	definition	NOUN
ap-258	152	4	of	of	ADP
ap-258	152	5	pitch	pitch	PROPN
ap-258	152	6	angle	angle	NOUN
ap-258	152	7	�	�	PROPN
ap-258	152	8	and	and	CCONJ
ap-258	152	9	rudder	rudder	NOUN
ap-258	152	10	angle	angle	NOUN
ap-258	152	11	�	�	PROPN
ap-258	152	12	e	e	NOUN
ap-258	152	13	in	in	ADP
ap-258	152	14	the	the	DET
ap-258	152	15	motion	motion	NOUN
ap-258	152	16	of	of	ADP
ap-258	152	17	the	the	DET
ap-258	152	18	plane	plane	NOUN
ap-258	152	19	fig	fig	NOUN
ap-258	152	20	.	.	PUNCT
ap-258	153	1	9	9	NUM
ap-258	153	2	:	:	PUNCT
ap-258	153	3	step	step	NOUN
ap-258	153	4	responses	response	NOUN
ap-258	153	5	of	of	ADP
ap-258	153	6	model	model	NOUN
ap-258	153	7	(	(	PUNCT
ap-258	153	8	14	14	NUM
ap-258	153	9	)	)	PUNCT
ap-258	153	10	and	and	CCONJ
ap-258	153	11	its	its	PRON
ap-258	153	12	substitution	substitution	NOUN
ap-258	153	13	(	(	PUNCT
ap-258	153	14	5	5	NUM
ap-258	153	15	)	)	PUNCT
ap-258	153	16	fig	fig	NOUN
ap-258	153	17	.	.	PUNCT
ap-258	154	1	10	10	NUM
ap-258	154	2	:	:	PUNCT
ap-258	154	3	bode	bode	VERB
ap-258	154	4	diagrams	diagram	NOUN
ap-258	154	5	of	of	ADP
ap-258	154	6	model	model	NOUN
ap-258	154	7	(	(	PUNCT
ap-258	154	8	14	14	NUM
ap-258	154	9	)	)	PUNCT
ap-258	154	10	and	and	CCONJ
ap-258	154	11	its	its	PRON
ap-258	154	12	substitution	substitution	NOUN
ap-258	154	13	(	(	PUNCT
ap-258	154	14	5	5	NUM
ap-258	154	15	)	)	PUNCT
ap-258	154	16	�	�	PROPN
ap-258	154	17	<	<	X
ap-258	154	18	10	10	NUM
ap-258	154	19	1	1	NUM
ap-258	154	20	s	s	NOUN
ap-258	154	21	1	1	NUM
ap-258	154	22	.	.	PUNCT
ap-258	155	1	model	model	NOUN
ap-258	155	2	(	(	PUNCT
ap-258	155	3	5	5	NUM
ap-258	155	4	)	)	PUNCT
ap-258	155	5	can	can	AUX
ap-258	155	6	be	be	AUX
ap-258	155	7	considered	consider	VERB
ap-258	155	8	as	as	ADP
ap-258	155	9	a	a	DET
ap-258	155	10	good	good	ADJ
ap-258	155	11	approximation	approximation	NOUN
ap-258	155	12	of	of	ADP
ap-258	155	13	model	model	NOUN
ap-258	155	14	(	(	PUNCT
ap-258	155	15	14	14	NUM
ap-258	155	16	)	)	PUNCT
ap-258	155	17	for	for	ADP
ap-258	155	18	lower	low	ADJ
ap-258	155	19	frequencies	frequency	NOUN
ap-258	155	20	.	.	PUNCT
ap-258	156	1	the	the	DET
ap-258	156	2	distinctive	distinctive	ADJ
ap-258	156	3	discrepancies	discrepancy	NOUN
ap-258	156	4	of	of	ADP
ap-258	156	5	the	the	DET
ap-258	156	6	responses	response	NOUN
ap-258	156	7	after	after	SCONJ
ap-258	156	8	they	they	PRON
ap-258	156	9	reach	reach	VERB
ap-258	156	10	the	the	DET
ap-258	156	11	mentioned	mention	VERB
ap-258	156	12	boundary	boundary	ADJ
ap-258	156	13	value	value	NOUN
ap-258	156	14	of	of	ADP
ap-258	156	15	the	the	DET
ap-258	156	16	frequency	frequency	NOUN
ap-258	156	17	indicate	indicate	VERB
ap-258	156	18	that	that	DET
ap-258	156	19	model	model	NOUN
ap-258	156	20	(	(	PUNCT
ap-258	156	21	5	5	NUM
ap-258	156	22	)	)	PUNCT
ap-258	156	23	can	can	AUX
ap-258	156	24	not	not	PART
ap-258	156	25	be	be	AUX
ap-258	156	26	used	use	VERB
ap-258	156	27	for	for	ADP
ap-258	156	28	approximation	approximation	NOUN
ap-258	156	29	of	of	ADP
ap-258	156	30	model	model	NOUN
ap-258	156	31	(	(	PUNCT
ap-258	156	32	14	14	NUM
ap-258	156	33	)	)	PUNCT
ap-258	156	34	in	in	ADP
ap-258	156	35	the	the	DET
ap-258	156	36	higher	high	ADJ
ap-258	156	37	frequency	frequency	NOUN
ap-258	156	38	range	range	NOUN
ap-258	156	39	.	.	PUNCT
ap-258	157	1	a	a	DET
ap-258	157	2	different	different	ADJ
ap-258	157	3	set	set	NOUN
ap-258	157	4	of	of	ADP
ap-258	157	5	parameters	parameter	NOUN
ap-258	157	6	of	of	ADP
ap-258	157	7	model	model	NOUN
ap-258	157	8	(	(	PUNCT
ap-258	157	9	5	5	NUM
ap-258	157	10	)	)	PUNCT
ap-258	157	11	must	must	AUX
ap-258	157	12	be	be	AUX
ap-258	157	13	used	use	VERB
ap-258	157	14	if	if	SCONJ
ap-258	157	15	substitution	substitution	NOUN
ap-258	157	16	of	of	ADP
ap-258	157	17	model	model	NOUN
ap-258	157	18	(	(	PUNCT
ap-258	157	19	14	14	NUM
ap-258	157	20	)	)	PUNCT
ap-258	157	21	in	in	ADP
ap-258	157	22	the	the	DET
ap-258	157	23	higher	high	ADJ
ap-258	157	24	frequency	frequency	NOUN
ap-258	157	25	range	range	NOUN
ap-258	157	26	is	be	AUX
ap-258	157	27	needed	need	VERB
ap-258	157	28	.	.	PUNCT
ap-258	158	1	the	the	DET
ap-258	158	2	assessed	assessed	ADJ
ap-258	158	3	parameters	parameter	NOUN
ap-258	158	4	of	of	ADP
ap-258	158	5	model	model	NOUN
ap-258	158	6	(	(	PUNCT
ap-258	158	7	5	5	NUM
ap-258	158	8	)	)	PUNCT
ap-258	158	9	were	be	AUX
ap-258	158	10	used	use	VERB
ap-258	158	11	for	for	ADP
ap-258	158	12	controller	controller	NOUN
ap-258	158	13	(	(	PUNCT
ap-258	158	14	12	12	NUM
ap-258	158	15	)	)	PUNCT
ap-258	158	16	.	.	PUNCT
ap-258	159	1	model	model	NOUN
ap-258	159	2	(	(	PUNCT
ap-258	159	3	14	14	NUM
ap-258	159	4	)	)	PUNCT
ap-258	159	5	was	be	AUX
ap-258	159	6	used	use	VERB
ap-258	159	7	as	as	ADP
ap-258	159	8	a	a	DET
ap-258	159	9	controlled	control	VERB
ap-258	159	10	system	system	NOUN
ap-258	159	11	in	in	ADP
ap-258	159	12	the	the	DET
ap-258	159	13	closed	closed	ADJ
ap-258	159	14	loop	loop	NOUN
ap-258	159	15	.	.	PUNCT
ap-258	160	1	the	the	DET
ap-258	160	2	optional	optional	ADJ
ap-258	160	3	parameter	parameter	NOUN
ap-258	160	4	of	of	ADP
ap-258	160	5	the	the	DET
ap-258	160	6	controller	controller	NOUN
ap-258	160	7	f	f	NOUN
ap-258	160	8	=	=	SYM
ap-258	160	9	8	8	NUM
ap-258	160	10	s	s	NOUN
ap-258	160	11	ensures	ensure	VERB
ap-258	160	12	good	good	ADJ
ap-258	160	13	control	control	NOUN
ap-258	160	14	responses	response	NOUN
ap-258	160	15	,	,	PUNCT
ap-258	160	16	which	which	PRON
ap-258	160	17	are	be	AUX
ap-258	160	18	shown	show	VERB
ap-258	160	19	in	in	ADP
ap-258	160	20	figure	figure	NOUN
ap-258	160	21	11	11	NUM
ap-258	160	22	,	,	PUNCT
ap-258	160	23	as	as	ADV
ap-258	160	24	well	well	ADV
ap-258	160	25	as	as	ADP
ap-258	160	26	sufficient	sufficient	ADJ
ap-258	160	27	robustness	robustness	NOUN
ap-258	160	28	of	of	ADP
ap-258	160	29	the	the	DET
ap-258	160	30	closed	closed	ADJ
ap-258	160	31	loop	loop	NOUN
ap-258	160	32	.	.	PUNCT
ap-258	161	1	7	7	NUM
ap-258	161	2	conclusions	conclusion	NOUN
ap-258	161	3	the	the	DET
ap-258	161	4	presented	present	VERB
ap-258	161	5	first	first	ADJ
ap-258	161	6	order	order	NOUN
ap-258	161	7	model	model	NOUN
ap-258	161	8	with	with	ADP
ap-258	161	9	input	input	NOUN
ap-258	161	10	and	and	CCONJ
ap-258	161	11	state	state	NOUN
ap-258	161	12	delay	delay	NOUN
ap-258	161	13	or	or	CCONJ
ap-258	161	14	with	with	ADP
ap-258	161	15	another	another	DET
ap-258	161	16	delay	delay	NOUN
ap-258	161	17	in	in	ADP
ap-258	161	18	the	the	DET
ap-258	161	19	model	model	NOUN
ap-258	161	20	input	input	NOUN
ap-258	161	21	section	section	NOUN
ap-258	161	22	proves	prove	VERB
ap-258	161	23	to	to	PART
ap-258	161	24	have	have	VERB
ap-258	161	25	the	the	DET
ap-258	161	26	ability	ability	NOUN
ap-258	161	27	to	to	PART
ap-258	161	28	describe	describe	VERB
ap-258	161	29	systems	system	NOUN
ap-258	161	30	with	with	ADP
ap-258	161	31	delay	delay	NOUN
ap-258	161	32	dynamics	dynamic	NOUN
ap-258	161	33	.	.	PUNCT
ap-258	162	1	in	in	ADP
ap-258	162	2	spite	spite	NOUN
ap-258	162	3	of	of	ADP
ap-258	162	4	its	its	PRON
ap-258	162	5	first	first	ADJ
ap-258	162	6	order	order	NOUN
ap-258	162	7	,	,	PUNCT
ap-258	162	8	it	it	PRON
ap-258	162	9	can	can	AUX
ap-258	162	10	be	be	AUX
ap-258	162	11	used	use	VERB
ap-258	162	12	for	for	ADP
ap-258	162	13	describing	describe	VERB
ap-258	162	14	systems	system	NOUN
ap-258	162	15	conventionally	conventionally	ADV
ap-258	162	16	described	describe	VERB
ap-258	162	17	by	by	ADP
ap-258	162	18	a	a	DET
ap-258	162	19	higher	high	ADJ
ap-258	162	20	order	order	NOUN
ap-258	162	21	model	model	NOUN
ap-258	162	22	.	.	PUNCT
ap-258	163	1	the	the	DET
ap-258	163	2	model	model	NOUN
ap-258	163	3	is	be	AUX
ap-258	163	4	appropriate	appropriate	ADJ
ap-258	163	5	for	for	ADP
ap-258	163	6	describing	describe	VERB
ap-258	163	7	both	both	CCONJ
ap-258	163	8	non	non	ADJ
ap-258	163	9	-	-	ADJ
ap-258	163	10	oscillatory	oscillatory	ADJ
ap-258	163	11	and	and	CCONJ
ap-258	163	12	oscillatory	oscillatory	ADJ
ap-258	163	13	systems	system	NOUN
ap-258	163	14	with	with	ADP
ap-258	163	15	arbitrary	arbitrary	ADJ
ap-258	163	16	dead	dead	ADJ
ap-258	163	17	time	time	NOUN
ap-258	163	18	.	.	PUNCT
ap-258	164	1	the	the	DET
ap-258	164	2	well	well	ADV
ap-258	164	3	-	-	PUNCT
ap-258	164	4	known	know	VERB
ap-258	164	5	method	method	NOUN
ap-258	164	6	based	base	VERB
ap-258	164	7	on	on	ADP
ap-258	164	8	a	a	DET
ap-258	164	9	closed	closed	ADJ
ap-258	164	10	loop	loop	NOUN
ap-258	164	11	with	with	ADP
ap-258	164	12	a	a	DET
ap-258	164	13	relay	relay	NOUN
ap-258	164	14	in	in	ADP
ap-258	164	15	combination	combination	NOUN
ap-258	164	16	with	with	ADP
ap-258	164	17	a	a	DET
ap-258	164	18	step	step	NOUN
ap-258	164	19	response	response	NOUN
ap-258	164	20	may	may	AUX
ap-258	164	21	be	be	AUX
ap-258	164	22	used	use	VERB
ap-258	164	23	for	for	ADP
ap-258	164	24	assessing	assess	VERB
ap-258	164	25	the	the	DET
ap-258	164	26	model	model	NOUN
ap-258	164	27	parameters	parameter	NOUN
ap-258	164	28	.	.	PUNCT
ap-258	165	1	with	with	ADP
ap-258	165	2	respect	respect	NOUN
ap-258	165	3	to	to	ADP
ap-258	165	4	its	its	PRON
ap-258	165	5	plain	plain	ADJ
ap-258	165	6	structure	structure	NOUN
ap-258	165	7	,	,	PUNCT
ap-258	165	8	the	the	DET
ap-258	165	9	model	model	NOUN
ap-258	165	10	is	be	AUX
ap-258	165	11	well	well	ADV
ap-258	165	12	suited	suited	ADJ
ap-258	165	13	to	to	PART
ap-258	165	14	be	be	AUX
ap-258	165	15	applied	apply	VERB
ap-258	165	16	in	in	ADP
ap-258	165	17	the	the	DET
ap-258	165	18	framework	framework	NOUN
ap-258	165	19	of	of	ADP
ap-258	165	20	the	the	DET
ap-258	165	21	internal	internal	ADJ
ap-258	165	22	model	model	PROPN
ap-258	165	23	control	control	PROPN
ap-258	165	24	scheme	scheme	PROPN
ap-258	165	25	(	(	PUNCT
ap-258	165	26	imc	imc	PROPN
ap-258	165	27	)	)	PUNCT
ap-258	165	28	.	.	PUNCT
ap-258	166	1	it	it	PRON
ap-258	166	2	should	should	AUX
ap-258	166	3	be	be	AUX
ap-258	166	4	noted	note	VERB
ap-258	166	5	that	that	SCONJ
ap-258	166	6	the	the	DET
ap-258	166	7	good	good	ADJ
ap-258	166	8	features	feature	NOUN
ap-258	166	9	of	of	ADP
ap-258	166	10	the	the	DET
ap-258	166	11	designed	design	VERB
ap-258	166	12	control	control	NOUN
ap-258	166	13	method	method	NOUN
ap-258	166	14	depend	depend	VERB
ap-258	166	15	greatly	greatly	ADV
ap-258	166	16	on	on	ADP
ap-258	166	17	the	the	DET
ap-258	166	18	agreement	agreement	NOUN
ap-258	166	19	of	of	ADP
ap-258	166	20	the	the	DET
ap-258	166	21	model	model	NOUN
ap-258	166	22	and	and	CCONJ
ap-258	166	23	the	the	DET
ap-258	166	24	system	system	NOUN
ap-258	166	25	dynamics	dynamic	NOUN
ap-258	166	26	.	.	PUNCT
ap-258	167	1	this	this	DET
ap-258	167	2	agreement	agreement	NOUN
ap-258	167	3	is	be	AUX
ap-258	167	4	easy	easy	ADJ
ap-258	167	5	to	to	PART
ap-258	167	6	obtain	obtain	VERB
ap-258	167	7	for	for	ADP
ap-258	167	8	industrial	industrial	ADJ
ap-258	167	9	or	or	CCONJ
ap-258	167	10	laboratory	laboratory	NOUN
ap-258	167	11	systems	system	NOUN
ap-258	167	12	with	with	ADP
ap-258	167	13	simple	simple	ADJ
ap-258	167	14	and	and	CCONJ
ap-258	167	15	time	time	NOUN
ap-258	167	16	-	-	PUNCT
ap-258	167	17	invariant	invariant	ADJ
ap-258	167	18	dynamics	dynamic	NOUN
ap-258	167	19	.	.	PUNCT
ap-258	168	1	the	the	DET
ap-258	168	2	presented	present	VERB
ap-258	168	3	control	control	NOUN
ap-258	168	4	of	of	ADP
ap-258	168	5	ball	ball	NOUN
ap-258	168	6	levitation	levitation	NOUN
ap-258	168	7	is	be	AUX
ap-258	168	8	a	a	DET
ap-258	168	9	typical	typical	ADJ
ap-258	168	10	example	example	NOUN
ap-258	168	11	of	of	ADP
ap-258	168	12	such	such	DET
ap-258	168	13	a	a	DET
ap-258	168	14	system	system	NOUN
ap-258	168	15	.	.	PUNCT
ap-258	169	1	on	on	ADP
ap-258	169	2	the	the	DET
ap-258	169	3	other	other	ADJ
ap-258	169	4	hand	hand	NOUN
ap-258	169	5	,	,	PUNCT
ap-258	169	6	real	real	ADJ
ap-258	169	7	systems	system	NOUN
ap-258	169	8	like	like	ADP
ap-258	169	9	the	the	DET
ap-258	169	10	presented	present	VERB
ap-258	169	11	pitch	pitch	NOUN
ap-258	169	12	attitude	attitude	NOUN
ap-258	169	13	control	control	NOUN
ap-258	169	14	of	of	ADP
ap-258	169	15	a	a	DET
ap-258	169	16	plane	plane	NOUN
ap-258	169	17	are	be	AUX
ap-258	169	18	mostly	mostly	ADV
ap-258	169	19	non	non	ADJ
ap-258	169	20	-	-	ADJ
ap-258	169	21	linear	linear	ADJ
ap-258	169	22	with	with	ADP
ap-258	169	23	time	time	NOUN
ap-258	169	24	-	-	PUNCT
ap-258	169	25	variant	variant	NOUN
ap-258	169	26	dynamics	dynamic	NOUN
ap-258	169	27	.	.	PUNCT
ap-258	170	1	this	this	DET
ap-258	170	2	fact	fact	NOUN
ap-258	170	3	should	should	AUX
ap-258	170	4	be	be	AUX
ap-258	170	5	taken	take	VERB
ap-258	170	6	into	into	ADP
ap-258	170	7	account	account	NOUN
ap-258	170	8	in	in	ADP
ap-258	170	9	controller	controller	NOUN
ap-258	170	10	implementation	implementation	NOUN
ap-258	170	11	.	.	PUNCT
ap-258	171	1	the	the	DET
ap-258	171	2	problem	problem	NOUN
ap-258	171	3	of	of	ADP
ap-258	171	4	system	system	NOUN
ap-258	171	5	non	non	NOUN
ap-258	171	6	-	-	ADJ
ap-258	171	7	linearity	linearity	ADJ
ap-258	171	8	can	can	AUX
ap-258	171	9	then	then	ADV
ap-258	171	10	be	be	AUX
ap-258	171	11	solved	solve	VERB
ap-258	171	12	by	by	ADP
ap-258	171	13	means	mean	NOUN
ap-258	171	14	of	of	ADP
ap-258	171	15	linearization	linearization	NOUN
ap-258	171	16	and	and	CCONJ
ap-258	171	17	by	by	ADP
ap-258	171	18	varying	vary	VERB
ap-258	171	19	set	set	NOUN
ap-258	171	20	of	of	ADP
ap-258	171	21	imc	imc	PROPN
ap-258	171	22	controller	controller	NOUN
ap-258	171	23	parameters	parameter	NOUN
ap-258	171	24	for	for	ADP
ap-258	171	25	each	each	DET
ap-258	171	26	operational	operational	ADJ
ap-258	171	27	state	state	NOUN
ap-258	171	28	of	of	ADP
ap-258	171	29	the	the	DET
ap-258	171	30	system	system	NOUN
ap-258	171	31	.	.	PUNCT
ap-258	172	1	as	as	SCONJ
ap-258	172	2	regards	regard	VERB
ap-258	172	3	implementation	implementation	NOUN
ap-258	172	4	,	,	PUNCT
ap-258	172	5	the	the	DET
ap-258	172	6	control	control	NOUN
ap-258	172	7	algorithm	algorithm	NOUN
ap-258	172	8	can	can	AUX
ap-258	172	9	be	be	AUX
ap-258	172	10	easily	easily	ADV
ap-258	172	11	implemented	implement	VERB
ap-258	172	12	on	on	ADP
ap-258	172	13	plc	plc	PROPN
ap-258	172	14	.	.	PUNCT
ap-258	173	1	the	the	DET
ap-258	173	2	authors	author	NOUN
ap-258	173	3	implemented	implement	VERB
ap-258	173	4	the	the	DET
ap-258	173	5	presented	present	VERB
ap-258	173	6	imc	imc	NOUN
ap-258	173	7	controller	controller	NOUN
ap-258	173	8	on	on	ADP
ap-258	173	9	the	the	DET
ap-258	173	10	plc	plc	PROPN
ap-258	173	11	produced	produce	VERB
ap-258	173	12	by	by	ADP
ap-258	173	13	the	the	DET
ap-258	173	14	control	control	NOUN
ap-258	173	15	technology	technology	PROPN
ap-258	173	16	production	production	NOUN
ap-258	173	17	company	company	NOUN
ap-258	173	18	teco	teco	PROPN
ap-258	173	19	kolín	kolín	PROPN
ap-258	173	20	.	.	PUNCT
ap-258	174	1	acknowledgement	acknowledgement	NOUN
ap-258	174	2	this	this	DET
ap-258	174	3	research	research	NOUN
ap-258	174	4	was	be	AUX
ap-258	174	5	supported	support	VERB
ap-258	174	6	by	by	ADP
ap-258	174	7	the	the	DET
ap-258	174	8	ministry	ministry	PROPN
ap-258	174	9	of	of	ADP
ap-258	174	10	education	education	NOUN
ap-258	174	11	of	of	ADP
ap-258	174	12	the	the	DET
ap-258	174	13	czech	czech	PROPN
ap-258	174	14	republic	republic	NOUN
ap-258	174	15	under	under	ADP
ap-258	174	16	project	project	NOUN
ap-258	174	17	ln00b096	ln00b096	NOUN
ap-258	174	18	,	,	PUNCT
ap-258	174	19	and	and	CCONJ
ap-258	174	20	by	by	ADP
ap-258	174	21	the	the	DET
ap-258	174	22	university	university	PROPN
ap-258	174	23	of	of	ADP
ap-258	174	24	glasgow	glasgow	PROPN
ap-258	174	25	,	,	PUNCT
ap-258	174	26	department	department	NOUN
ap-258	174	27	of	of	ADP
ap-258	174	28	aerospace	aerospace	PROPN
ap-258	174	29	engineering	engineering	NOUN
ap-258	174	30	.	.	PUNCT
ap-258	175	1	references	reference	NOUN
ap-258	175	2	[	[	X
ap-258	175	3	1	1	NUM
ap-258	175	4	]	]	X
ap-258	175	5	smith	smith	PROPN
ap-258	175	6	,	,	PUNCT
ap-258	175	7	o.	o.	PROPN
ap-258	175	8	j.	j.	PROPN
ap-258	175	9	m.	m.	PROPN
ap-258	175	10	:	:	PUNCT
ap-258	175	11	closer	close	ADJ
ap-258	175	12	control	control	NOUN
ap-258	175	13	of	of	ADP
ap-258	175	14	loops	loop	NOUN
ap-258	175	15	with	with	ADP
ap-258	175	16	dead	dead	ADJ
ap-258	175	17	time	time	NOUN
ap-258	175	18	.	.	PUNCT
ap-258	176	1	chem	chem	NOUN
ap-258	176	2	.	.	PUNCT
ap-258	177	1	eng	eng	PROPN
ap-258	177	2	.	.	PROPN
ap-258	177	3	prog	prog	PROPN
ap-258	177	4	.	.	PROPN
ap-258	178	1	,	,	PUNCT
ap-258	178	2	1957	1957	NUM
ap-258	178	3	,	,	PUNCT
ap-258	178	4	53	53	NUM
ap-258	178	5	(	(	PUNCT
ap-258	178	6	5	5	NUM
ap-258	178	7	)	)	PUNCT
ap-258	178	8	,	,	PUNCT
ap-258	178	9	pp	pp	ADP
ap-258	178	10	.	.	PUNCT
ap-258	179	1	217–219	217–219	NUM
ap-258	179	2	[	[	SYM
ap-258	179	3	2	2	NUM
ap-258	179	4	]	]	X
ap-258	179	5	gorecki	gorecki	NOUN
ap-258	179	6	,	,	PUNCT
ap-258	179	7	h.	h.	PROPN
ap-258	179	8	,	,	PUNCT
ap-258	179	9	fuksa	fuksa	NOUN
ap-258	179	10	,	,	PUNCT
ap-258	179	11	p.	p.	PROPN
ap-258	179	12	,	,	PUNCT
ap-258	179	13	grabowski	grabowski	PROPN
ap-258	179	14	,	,	PUNCT
ap-258	179	15	p.	p.	PROPN
ap-258	179	16	,	,	PUNCT
ap-258	179	17	korytowski	korytowski	PROPN
ap-258	179	18	,	,	PUNCT
ap-258	179	19	a.	a.	NOUN
ap-258	179	20	:	:	PUNCT
ap-258	179	21	analysis	analysis	NOUN
ap-258	179	22	and	and	CCONJ
ap-258	179	23	synthesis	synthesis	NOUN
ap-258	179	24	of	of	ADP
ap-258	179	25	time	time	NOUN
ap-258	179	26	delay	delay	NOUN
ap-258	179	27	systems	system	NOUN
ap-258	179	28	.	.	PUNCT
ap-258	180	1	pwn	pwn	NOUN
ap-258	180	2	-	-	PUNCT
ap-258	180	3	polish	polish	ADJ
ap-258	180	4	scientific	scientific	ADJ
ap-258	180	5	publishers	publisher	NOUN
ap-258	180	6	,	,	PUNCT
ap-258	180	7	warszawa	warszawa	PROPN
ap-258	180	8	,	,	PUNCT
ap-258	180	9	1989	1989	NUM
ap-258	180	10	[	[	X
ap-258	180	11	3	3	NUM
ap-258	180	12	]	]	SYM
ap-258	180	13	marshal	marshal	NOUN
ap-258	180	14	,	,	PUNCT
ap-258	180	15	j.	j.	PROPN
ap-258	180	16	e.	e.	PROPN
ap-258	180	17	,	,	PUNCT
ap-258	180	18	gorecki	gorecki	PROPN
ap-258	180	19	,	,	PUNCT
ap-258	180	20	h.	h.	PROPN
ap-258	180	21	,	,	PUNCT
ap-258	180	22	walton	walton	PROPN
ap-258	180	23	,	,	PUNCT
ap-258	180	24	k.	k.	PROPN
ap-258	180	25	,	,	PUNCT
ap-258	180	26	koritowski	koritowski	PROPN
ap-258	180	27	,	,	PUNCT
ap-258	180	28	a.	a.	NOUN
ap-258	180	29	:	:	PUNCT
ap-258	180	30	time	time	NOUN
ap-258	180	31	-	-	PUNCT
ap-258	180	32	delay	delay	NOUN
ap-258	180	33	systems	system	NOUN
ap-258	180	34	,	,	PUNCT
ap-258	180	35	stability	stability	NOUN
ap-258	180	36	and	and	CCONJ
ap-258	180	37	performance	performance	NOUN
ap-258	180	38	criteria	criterion	NOUN
ap-258	180	39	with	with	ADP
ap-258	180	40	applications	application	NOUN
ap-258	180	41	.	.	PUNCT
ap-258	181	1	ellis	ellis	PROPN
ap-258	181	2	horwood	horwood	PROPN
ap-258	181	3	limited	limited	PROPN
ap-258	181	4	,	,	PUNCT
ap-258	181	5	chichester	chichester	PROPN
ap-258	181	6	,	,	PUNCT
ap-258	181	7	1992	1992	NUM
ap-258	181	8	[	[	X
ap-258	181	9	4	4	NUM
ap-258	181	10	]	]	X
ap-258	181	11	astrom	astrom	NOUN
ap-258	181	12	,	,	PUNCT
ap-258	181	13	k.	k.	PROPN
ap-258	181	14	j.	j.	PROPN
ap-258	181	15	,	,	PUNCT
ap-258	181	16	hagglund	hagglund	PROPN
ap-258	181	17	,	,	PUNCT
ap-258	181	18	t.	t.	PROPN
ap-258	181	19	:	:	PUNCT
ap-258	181	20	automatic	automatic	ADJ
ap-258	181	21	tuning	tuning	NOUN
ap-258	181	22	of	of	ADP
ap-258	181	23	simple	simple	ADJ
ap-258	181	24	regulators	regulator	NOUN
ap-258	181	25	with	with	ADP
ap-258	181	26	specifications	specification	NOUN
ap-258	181	27	on	on	ADP
ap-258	181	28	phase	phase	NOUN
ap-258	181	29	and	and	CCONJ
ap-258	181	30	amplitude	amplitude	NOUN
ap-258	181	31	margins	margin	NOUN
ap-258	181	32	.	.	PUNCT
ap-258	182	1	automatica	automatica	PROPN
ap-258	182	2	20/1984	20/1984	PROPN
ap-258	182	3	,	,	PUNCT
ap-258	182	4	pp	pp	ADP
ap-258	182	5	.	.	PUNCT
ap-258	183	1	645–651	645–651	NUM
ap-258	183	2	[	[	X
ap-258	183	3	5	5	NUM
ap-258	183	4	]	]	PUNCT
ap-258	183	5	zítek	zítek	NOUN
ap-258	183	6	,	,	PUNCT
ap-258	183	7	p.	p.	NOUN
ap-258	183	8	:	:	PUNCT
ap-258	183	9	time	time	NOUN
ap-258	183	10	delay	delay	PROPN
ap-258	183	11	control	control	NOUN
ap-258	183	12	system	system	NOUN
ap-258	183	13	design	design	NOUN
ap-258	183	14	using	use	VERB
ap-258	183	15	functional	functional	ADJ
ap-258	183	16	state	state	NOUN
ap-258	183	17	models	model	NOUN
ap-258	183	18	.	.	PUNCT
ap-258	184	1	ctu	ctu	PROPN
ap-258	184	2	reports	report	NOUN
ap-258	184	3	no	no	INTJ
ap-258	184	4	.	.	PUNCT
ap-258	185	1	1/1998	1/1998	NUM
ap-258	185	2	,	,	PUNCT
ap-258	185	3	ctu	ctu	NOUN
ap-258	185	4	prague	prague	NOUN
ap-258	185	5	,	,	PUNCT
ap-258	185	6	p.	p.	NOUN
ap-258	185	7	93	93	NUM
ap-258	186	1	[	[	X
ap-258	186	2	6	6	NUM
ap-258	186	3	]	]	PUNCT
ap-258	186	4	zítek	zítek	NOUN
ap-258	186	5	,	,	PUNCT
ap-258	186	6	p.	p.	NOUN
ap-258	186	7	,	,	PUNCT
ap-258	186	8	hlava	hlava	PROPN
ap-258	186	9	,	,	PUNCT
ap-258	186	10	j.	j.	PROPN
ap-258	186	11	:	:	PUNCT
ap-258	186	12	anisochronic	anisochronic	PROPN
ap-258	186	13	internal	internal	ADJ
ap-258	186	14	model	model	NOUN
ap-258	186	15	control	control	NOUN
ap-258	186	16	of	of	ADP
ap-258	186	17	time	time	NOUN
ap-258	186	18	delay	delay	NOUN
ap-258	186	19	systems	system	NOUN
ap-258	186	20	.	.	PUNCT
ap-258	187	1	control	control	NOUN
ap-258	187	2	engineering	engineering	NOUN
ap-258	187	3	practice	practice	NOUN
ap-258	187	4	9	9	NUM
ap-258	187	5	,	,	PUNCT
ap-258	187	6	no	no	INTJ
ap-258	187	7	.	.	PUNCT
ap-258	188	1	5/2001	5/2001	NUM
ap-258	188	2	,	,	PUNCT
ap-258	188	3	pp	pp	ADV
ap-258	188	4	.	.	PUNCT
ap-258	189	1	501–516	501–516	NUM
ap-258	189	2	[	[	X
ap-258	189	3	7	7	NUM
ap-258	189	4	]	]	SYM
ap-258	189	5	morari	morari	PROPN
ap-258	189	6	,	,	PUNCT
ap-258	189	7	m.	m.	NOUN
ap-258	189	8	,	,	PUNCT
ap-258	189	9	zafiriou	zafiriou	NOUN
ap-258	189	10	,	,	PUNCT
ap-258	189	11	e.	e.	PROPN
ap-258	189	12	:	:	PUNCT
ap-258	189	13	robust	robust	ADJ
ap-258	189	14	process	process	NOUN
ap-258	189	15	control	control	NOUN
ap-258	189	16	.	.	PUNCT
ap-258	190	1	prentice	prentice	NOUN
ap-258	190	2	-	-	PUNCT
ap-258	190	3	hall	hall	PROPN
ap-258	190	4	,	,	PUNCT
ap-258	190	5	englewood	englewood	PROPN
ap-258	190	6	clifts	clift	NOUN
ap-258	190	7	,	,	PUNCT
ap-258	190	8	n.	n.	PROPN
ap-258	190	9	j.	j.	PROPN
ap-258	190	10	,	,	PUNCT
ap-258	190	11	1989	1989	NUM
ap-258	191	1	[	[	X
ap-258	191	2	8	8	NUM
ap-258	191	3	]	]	X
ap-258	191	4	etkin	etkin	NOUN
ap-258	191	5	,	,	PUNCT
ap-258	191	6	b.	b.	PROPN
ap-258	191	7	,	,	PUNCT
ap-258	191	8	reid	reid	PROPN
ap-258	191	9	,	,	PUNCT
ap-258	191	10	l.	l.	PROPN
ap-258	191	11	d.	d.	PROPN
ap-258	191	12	:	:	PUNCT
ap-258	191	13	dynamics	dynamic	NOUN
ap-258	191	14	of	of	ADP
ap-258	191	15	flight	flight	NOUN
ap-258	191	16	,	,	PUNCT
ap-258	191	17	stability	stability	NOUN
ap-258	191	18	and	and	CCONJ
ap-258	191	19	control	control	NOUN
ap-258	191	20	.	.	PUNCT
ap-258	192	1	john	john	PROPN
ap-258	192	2	wiley	wiley	PROPN
ap-258	192	3	&	&	CCONJ
ap-258	192	4	sons	sons	PROPN
ap-258	192	5	,	,	PUNCT
ap-258	192	6	inc	inc	PROPN
ap-258	192	7	.	.	PROPN
ap-258	192	8	,	,	PUNCT
ap-258	192	9	1996	1996	NUM
ap-258	192	10	ing	ing	NOUN
ap-258	192	11	.	.	PROPN
ap-258	193	1	tomáš	tomáš	PROPN
ap-258	193	2	vyhlídal	vyhlídal	ADJ
ap-258	193	3	phone	phone	NOUN
ap-258	193	4	:	:	PUNCT
ap-258	193	5	+420	+420	NUM
ap-258	194	1	2	2	NUM
ap-258	194	2	2435	2435	NUM
ap-258	194	3	3953	3953	NUM
ap-258	194	4	e	e	NOUN
ap-258	194	5	-	-	NOUN
ap-258	194	6	mail	mail	NOUN
ap-258	194	7	:	:	PUNCT
ap-258	194	8	vyhlidal@student.fsid.cvut.cz	vyhlidal@student.fsid.cvut.cz	PROPN
ap-258	194	9	prof	prof	PROPN
ap-258	194	10	.	.	PUNCT
ap-258	195	1	ing	ing	PROPN
ap-258	195	2	.	.	PUNCT
ap-258	196	1	pavel	pavel	PROPN
ap-258	196	2	zítek	zítek	PROPN
ap-258	196	3	,	,	PUNCT
ap-258	196	4	drsc	drsc	PROPN
ap-258	196	5	.	.	PUNCT
ap-258	197	1	phone	phone	NOUN
ap-258	197	2	:	:	PUNCT
ap-258	197	3	+420	+420	NUM
ap-258	197	4	2	2	NUM
ap-258	197	5	2435	2435	NUM
ap-258	197	6	2564	2564	NUM
ap-258	197	7	e	e	NOUN
ap-258	197	8	-	-	NOUN
ap-258	197	9	mail	mail	NOUN
ap-258	197	10	:	:	PUNCT
ap-258	197	11	zitek@fsid.cvut.cz	zitek@fsid.cvut.cz	PROPN
ap-258	197	12	institute	institute	PROPN
ap-258	197	13	of	of	ADP
ap-258	197	14	instrumentation	instrumentation	NOUN
ap-258	197	15	and	and	CCONJ
ap-258	197	16	control	control	NOUN
ap-258	197	17	engineering	engineering	NOUN
ap-258	197	18	cak	cak	NOUN
ap-258	197	19	–	–	PUNCT
ap-258	197	20	centre	centre	NOUN
ap-258	197	21	for	for	ADP
ap-258	197	22	applied	applied	ADJ
ap-258	197	23	cybernetics	cybernetic	NOUN
ap-258	197	24	czech	czech	PROPN
ap-258	197	25	technical	technical	PROPN
ap-258	197	26	university	university	PROPN
ap-258	197	27	in	in	ADP
ap-258	197	28	prague	prague	PROPN
ap-258	197	29	faculty	faculty	NOUN
ap-258	197	30	of	of	ADP
ap-258	197	31	mechanical	mechanical	ADJ
ap-258	197	32	engineering	engineering	NOUN
ap-258	197	33	technická	technická	NOUN
ap-258	197	34	4	4	NUM
ap-258	197	35	,	,	PUNCT
ap-258	197	36	166	166	NUM
ap-258	197	37	07	07	NUM
ap-258	197	38	praha	praha	PROPN
ap-258	197	39	6	6	NUM
ap-258	197	40	,	,	PUNCT
ap-258	197	41	czech	czech	PROPN
ap-258	197	42	republic	republic	NOUN
ap-258	197	43	©	©	PROPN
ap-258	197	44	czech	czech	PROPN
ap-258	197	45	technical	technical	PROPN
ap-258	197	46	university	university	PROPN
ap-258	197	47	publishing	publishing	NOUN
ap-258	197	48	house	house	NOUN
ap-258	197	49	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-258	197	50	53	53	NUM
ap-258	197	51	acta	acta	PROPN
ap-258	197	52	polytechnica	polytechnica	PROPN
ap-258	197	53	vol	vol	NOUN
ap-258	197	54	.	.	PUNCT
ap-258	198	1	41	41	NUM
ap-258	198	2	no	no	NOUN
ap-258	198	3	.	.	PUNCT
ap-258	199	1	4–5/2001	4–5/2001	NUM
ap-258	199	2	fig	fig	NOUN
ap-258	199	3	.	.	PUNCT
ap-258	200	1	11	11	NUM
ap-258	200	2	:	:	PUNCT
ap-258	200	3	set	set	VERB
ap-258	200	4	point	point	NOUN
ap-258	200	5	response	response	NOUN
ap-258	200	6	and	and	CCONJ
ap-258	200	7	disturbance	disturbance	NOUN
ap-258	200	8	rejection	rejection	NOUN