id	sid	tid	token	lemma	pos
ap-354	1	1	ap02_3.vp	ap02_3.vp	PROPN
ap-354	1	2	1	1	NUM
ap-354	1	3	introduction	introduction	NOUN
ap-354	1	4	hydraulic	hydraulic	ADJ
ap-354	1	5	actuators	actuator	NOUN
ap-354	1	6	are	be	AUX
ap-354	1	7	used	use	VERB
ap-354	1	8	for	for	ADP
ap-354	1	9	delivering	deliver	VERB
ap-354	1	10	high	high	ADJ
ap-354	1	11	actuation	actuation	NOUN
ap-354	1	12	forces	force	NOUN
ap-354	1	13	and	and	CCONJ
ap-354	1	14	high	high	ADJ
ap-354	1	15	power	power	NOUN
ap-354	1	16	density	density	NOUN
ap-354	1	17	.	.	PUNCT
ap-354	2	1	due	due	ADP
ap-354	2	2	to	to	ADP
ap-354	2	3	their	their	PRON
ap-354	2	4	simple	simple	ADJ
ap-354	2	5	construction	construction	NOUN
ap-354	2	6	and	and	CCONJ
ap-354	2	7	low	low	ADJ
ap-354	2	8	cost	cost	NOUN
ap-354	2	9	,	,	PUNCT
ap-354	2	10	hydraulic	hydraulic	ADJ
ap-354	2	11	actuators	actuator	NOUN
ap-354	2	12	are	be	AUX
ap-354	2	13	widely	widely	ADV
ap-354	2	14	used	use	VERB
ap-354	2	15	.	.	PUNCT
ap-354	3	1	these	these	DET
ap-354	3	2	actuators	actuator	NOUN
ap-354	3	3	have	have	VERB
ap-354	3	4	highly	highly	ADV
ap-354	3	5	nonlinear	nonlinear	ADJ
ap-354	3	6	model	model	NOUN
ap-354	3	7	characteristics	characteristic	NOUN
ap-354	3	8	.	.	PUNCT
ap-354	4	1	two	two	NUM
ap-354	4	2	types	type	NOUN
ap-354	4	3	of	of	ADP
ap-354	4	4	actuators	actuator	NOUN
ap-354	4	5	are	be	AUX
ap-354	4	6	used	use	VERB
ap-354	4	7	,	,	PUNCT
ap-354	4	8	differential	differential	ADJ
ap-354	4	9	(	(	PUNCT
ap-354	4	10	single	single	ADJ
ap-354	4	11	-	-	PUNCT
ap-354	4	12	rod	rod	NOUN
ap-354	4	13	)	)	PUNCT
ap-354	4	14	and	and	CCONJ
ap-354	4	15	synchronizing	synchronize	VERB
ap-354	4	16	(	(	PUNCT
ap-354	4	17	double	double	ADJ
ap-354	4	18	-	-	PUNCT
ap-354	4	19	rod	rod	NOUN
ap-354	4	20	)	)	PUNCT
ap-354	4	21	.	.	PUNCT
ap-354	5	1	from	from	ADP
ap-354	5	2	the	the	DET
ap-354	5	3	control	control	NOUN
ap-354	5	4	engineering	engineering	NOUN
ap-354	5	5	point	point	NOUN
ap-354	5	6	of	of	ADP
ap-354	5	7	view	view	NOUN
ap-354	5	8	,	,	PUNCT
ap-354	5	9	synchronizing	synchronize	VERB
ap-354	5	10	or	or	CCONJ
ap-354	5	11	symmetric	symmetric	ADJ
ap-354	5	12	actuators	actuator	NOUN
ap-354	5	13	are	be	AUX
ap-354	5	14	preferred	prefer	VERB
ap-354	5	15	because	because	SCONJ
ap-354	5	16	there	there	PRON
ap-354	5	17	is	be	VERB
ap-354	5	18	no	no	DET
ap-354	5	19	piston	piston	NOUN
ap-354	5	20	area	area	NOUN
ap-354	5	21	difference	difference	NOUN
ap-354	6	1	and	and	CCONJ
ap-354	6	2	this	this	DET
ap-354	6	3	fact	fact	NOUN
ap-354	6	4	reduces	reduce	VERB
ap-354	6	5	non	non	NOUN
ap-354	6	6	-	-	NOUN
ap-354	6	7	linearities	linearity	NOUN
ap-354	6	8	,	,	PUNCT
ap-354	6	9	but	but	CCONJ
ap-354	6	10	on	on	ADP
ap-354	6	11	the	the	DET
ap-354	6	12	other	other	ADJ
ap-354	6	13	hand	hand	NOUN
ap-354	6	14	,	,	PUNCT
ap-354	6	15	the	the	DET
ap-354	6	16	construction	construction	NOUN
ap-354	6	17	of	of	ADP
ap-354	6	18	these	these	DET
ap-354	6	19	types	type	NOUN
ap-354	6	20	of	of	ADP
ap-354	6	21	actuators	actuator	NOUN
ap-354	6	22	is	be	AUX
ap-354	6	23	difficult	difficult	ADJ
ap-354	6	24	and	and	CCONJ
ap-354	6	25	expensive	expensive	ADJ
ap-354	6	26	.	.	PUNCT
ap-354	7	1	also	also	ADV
ap-354	7	2	in	in	ADP
ap-354	7	3	some	some	DET
ap-354	7	4	situations	situation	NOUN
ap-354	7	5	,	,	PUNCT
ap-354	7	6	e.g.	e.g.	ADV
ap-354	7	7	,	,	PUNCT
ap-354	7	8	robots	robot	NOUN
ap-354	7	9	,	,	PUNCT
ap-354	7	10	cranes	crane	NOUN
ap-354	7	11	,	,	PUNCT
ap-354	7	12	etc	etc	X
ap-354	7	13	.	.	X
ap-354	7	14	,	,	PUNCT
ap-354	7	15	due	due	ADP
ap-354	7	16	to	to	ADP
ap-354	7	17	limited	limited	ADJ
ap-354	7	18	space	space	NOUN
ap-354	7	19	symmetric	symmetric	ADJ
ap-354	7	20	actuators	actuator	NOUN
ap-354	7	21	can	can	AUX
ap-354	7	22	not	not	PART
ap-354	7	23	be	be	AUX
ap-354	7	24	used	use	VERB
ap-354	7	25	.	.	PUNCT
ap-354	8	1	in	in	ADP
ap-354	8	2	the	the	DET
ap-354	8	3	literature	literature	NOUN
ap-354	8	4	[	[	X
ap-354	8	5	13	13	NUM
ap-354	8	6	,	,	PUNCT
ap-354	8	7	6	6	NUM
ap-354	8	8	,	,	PUNCT
ap-354	8	9	11	11	NUM
ap-354	8	10	,	,	PUNCT
ap-354	8	11	etc	etc	X
ap-354	8	12	.	.	X
ap-354	8	13	]	]	PUNCT
ap-354	9	1	various	various	ADJ
ap-354	9	2	models	model	NOUN
ap-354	9	3	of	of	ADP
ap-354	9	4	hydraulic	hydraulic	ADJ
ap-354	9	5	actuators	actuator	NOUN
ap-354	9	6	are	be	AUX
ap-354	9	7	presented	present	VERB
ap-354	9	8	.	.	PUNCT
ap-354	10	1	some	some	PRON
ap-354	10	2	are	be	AUX
ap-354	10	3	linear	linear	PROPN
ap-354	10	4	models	model	NOUN
ap-354	10	5	,	,	PUNCT
ap-354	10	6	mostly	mostly	ADV
ap-354	10	7	applied	apply	VERB
ap-354	10	8	to	to	ADP
ap-354	10	9	synchronizing	synchronize	VERB
ap-354	10	10	cylinders	cylinder	NOUN
ap-354	10	11	.	.	PUNCT
ap-354	11	1	many	many	ADJ
ap-354	11	2	authors	author	NOUN
ap-354	11	3	have	have	AUX
ap-354	11	4	neglected	neglect	VERB
ap-354	11	5	the	the	DET
ap-354	11	6	leakage	leakage	NOUN
ap-354	11	7	;	;	PUNCT
ap-354	11	8	also	also	ADV
ap-354	11	9	the	the	DET
ap-354	11	10	friction	friction	NOUN
ap-354	11	11	forces	force	NOUN
ap-354	11	12	are	be	AUX
ap-354	11	13	not	not	PART
ap-354	11	14	completely	completely	ADV
ap-354	11	15	modeled	model	VERB
ap-354	11	16	.	.	PUNCT
ap-354	12	1	these	these	DET
ap-354	12	2	factors	factor	NOUN
ap-354	12	3	are	be	AUX
ap-354	12	4	all	all	PRON
ap-354	12	5	included	include	VERB
ap-354	12	6	in	in	ADP
ap-354	12	7	the	the	DET
ap-354	12	8	derivation	derivation	NOUN
ap-354	12	9	of	of	ADP
ap-354	12	10	our	our	PRON
ap-354	12	11	model	model	NOUN
ap-354	12	12	that	that	PRON
ap-354	12	13	provides	provide	VERB
ap-354	12	14	the	the	DET
ap-354	12	15	basis	basis	NOUN
ap-354	12	16	for	for	ADP
ap-354	12	17	creating	create	VERB
ap-354	12	18	object	object	NOUN
ap-354	12	19	oriented	orient	VERB
ap-354	12	20	library	library	NOUN
ap-354	12	21	blocks	block	NOUN
ap-354	12	22	.	.	PUNCT
ap-354	13	1	the	the	DET
ap-354	13	2	schematic	schematic	ADJ
ap-354	13	3	diagram	diagram	NOUN
ap-354	13	4	of	of	ADP
ap-354	13	5	a	a	DET
ap-354	13	6	differential	differential	ADJ
ap-354	13	7	actuator	actuator	NOUN
ap-354	13	8	,	,	PUNCT
ap-354	13	9	as	as	SCONJ
ap-354	13	10	shown	show	VERB
ap-354	13	11	in	in	ADP
ap-354	13	12	fig	fig	NOUN
ap-354	13	13	.	.	PUNCT
ap-354	14	1	1	1	NUM
ap-354	14	2	,	,	PUNCT
ap-354	14	3	consists	consist	VERB
ap-354	14	4	of	of	ADP
ap-354	14	5	a	a	DET
ap-354	14	6	constant	constant	ADJ
ap-354	14	7	pressure	pressure	NOUN
ap-354	14	8	supply	supply	NOUN
ap-354	14	9	pump	pump	NOUN
ap-354	14	10	,	,	PUNCT
ap-354	14	11	a	a	DET
ap-354	14	12	magnetically	magnetically	ADV
ap-354	14	13	controlled	control	VERB
ap-354	14	14	spool	spool	NOUN
ap-354	14	15	valve	valve	NOUN
ap-354	14	16	and	and	CCONJ
ap-354	14	17	a	a	DET
ap-354	14	18	differential	differential	ADJ
ap-354	14	19	hydraulic	hydraulic	ADJ
ap-354	14	20	cylinder	cylinder	NOUN
ap-354	14	21	.	.	PUNCT
ap-354	15	1	all	all	DET
ap-354	15	2	the	the	DET
ap-354	15	3	variables	variable	NOUN
ap-354	15	4	are	be	AUX
ap-354	15	5	explained	explain	VERB
ap-354	15	6	in	in	ADP
ap-354	15	7	the	the	DET
ap-354	15	8	list	list	NOUN
ap-354	15	9	of	of	ADP
ap-354	15	10	symbols	symbol	NOUN
ap-354	15	11	(	(	PUNCT
ap-354	15	12	table	table	NOUN
ap-354	15	13	2	2	NUM
ap-354	15	14	)	)	PUNCT
ap-354	15	15	.	.	PUNCT
ap-354	16	1	the	the	DET
ap-354	16	2	model	model	NOUN
ap-354	16	3	is	be	AUX
ap-354	16	4	derived	derive	VERB
ap-354	16	5	in	in	ADP
ap-354	16	6	the	the	DET
ap-354	16	7	next	next	ADJ
ap-354	16	8	section	section	NOUN
ap-354	16	9	.	.	PUNCT
ap-354	17	1	the	the	DET
ap-354	17	2	motivation	motivation	NOUN
ap-354	17	3	is	be	AUX
ap-354	17	4	to	to	PART
ap-354	17	5	prepare	prepare	VERB
ap-354	17	6	the	the	DET
ap-354	17	7	relations	relation	NOUN
ap-354	17	8	and	and	CCONJ
ap-354	17	9	parameter	parameter	NOUN
ap-354	17	10	definitions	definition	NOUN
ap-354	17	11	for	for	ADP
ap-354	17	12	object	object	NOUN
ap-354	17	13	-	-	PUNCT
ap-354	17	14	oriented	orient	VERB
ap-354	17	15	blocks	block	NOUN
ap-354	17	16	that	that	PRON
ap-354	17	17	are	be	AUX
ap-354	17	18	suitable	suitable	ADJ
ap-354	17	19	for	for	ADP
ap-354	17	20	programming	programming	NOUN
ap-354	17	21	in	in	ADP
ap-354	17	22	special	special	ADJ
ap-354	17	23	matlab	matlab	PROPN
ap-354	17	24	s	s	NOUN
ap-354	17	25	-	-	PUNCT
ap-354	17	26	functions	function	NOUN
ap-354	17	27	.	.	PUNCT
ap-354	18	1	2	2	NUM
ap-354	18	2	mathematical	mathematical	ADJ
ap-354	18	3	modelling	modelling	NOUN
ap-354	18	4	let	let	VERB
ap-354	18	5	the	the	DET
ap-354	18	6	flow	flow	NOUN
ap-354	18	7	areas	area	NOUN
ap-354	18	8	to	to	ADP
ap-354	18	9	the	the	DET
ap-354	18	10	supply	supply	NOUN
ap-354	18	11	and	and	CCONJ
ap-354	18	12	return	return	VERB
ap-354	18	13	port	port	NOUN
ap-354	18	14	of	of	ADP
ap-354	18	15	the	the	DET
ap-354	18	16	spool	spool	NOUN
ap-354	18	17	valve	valve	NOUN
ap-354	18	18	be	be	AUX
ap-354	18	19	proportional	proportional	ADJ
ap-354	18	20	to	to	ADP
ap-354	18	21	the	the	DET
ap-354	18	22	spool	spool	ADJ
ap-354	18	23	displacement	displacement	NOUN
ap-354	18	24	xs	xs	PROPN
ap-354	18	25	,	,	PUNCT
ap-354	18	26	(	(	PUNCT
ap-354	18	27	i.e.	i.e.	X
ap-354	18	28	,	,	PUNCT
ap-354	18	29	a	a	DET
ap-354	18	30	k	k	X
ap-354	18	31	x0	x0	PROPN
ap-354	18	32	0	0	NUM
ap-354	18	33	�	�	PROPN
ap-354	18	34	s	s	PART
ap-354	18	35	)	)	PUNCT
ap-354	18	36	.	.	PUNCT
ap-354	19	1	then	then	ADV
ap-354	19	2	the	the	DET
ap-354	19	3	flow	flow	NOUN
ap-354	19	4	rate	rate	NOUN
ap-354	19	5	of	of	ADP
ap-354	19	6	oil	oil	NOUN
ap-354	19	7	across	across	ADP
ap-354	19	8	the	the	DET
ap-354	19	9	spool	spool	NOUN
ap-354	19	10	valve	valve	NOUN
ap-354	19	11	can	can	AUX
ap-354	19	12	be	be	AUX
ap-354	19	13	given	give	VERB
ap-354	19	14	as	as	ADP
ap-354	19	15	:	:	PUNCT
ap-354	19	16	q	q	X
ap-354	19	17	c	c	NOUN
ap-354	19	18	x	x	X
ap-354	20	1	p	p	X
ap-354	20	2	�	�	PROPN
ap-354	20	3	0	0	NUM
ap-354	20	4	0	0	NUM
ap-354	20	5	�	�	PROPN
ap-354	20	6	(	(	PUNCT
ap-354	20	7	1	1	NUM
ap-354	20	8	)	)	PUNCT
ap-354	21	1	where	where	SCONJ
ap-354	21	2	c	c	PROPN
ap-354	21	3	c	c	PROPN
ap-354	21	4	k	k	PROPN
ap-354	21	5	a	a	DET
ap-354	21	6	a	a	DET
ap-354	21	7	0	0	NUM
ap-354	21	8	0	0	NUM
ap-354	21	9	2	2	NUM
ap-354	21	10	1	1	NUM
ap-354	21	11	2	2	NUM
ap-354	21	12	1	1	NUM
ap-354	21	13	1	1	NUM
ap-354	21	14	2	2	NUM
ap-354	21	15	�	�	PROPN
ap-354	21	16	�	�	PROPN
ap-354	21	17	�	�	PROPN
ap-354	21	18	�	�	PROPN
ap-354	21	19	�	�	PROPN
ap-354	21	20	�	�	PROPN
ap-354	21	21	�	�	PROPN
ap-354	21	22	d	d	PROPN
ap-354	21	23	�	�	PROPN
ap-354	21	24	at	at	ADP
ap-354	21	25	the	the	DET
ap-354	21	26	nominal	nominal	ADJ
ap-354	21	27	pressure	pressure	NOUN
ap-354	21	28	drop	drop	NOUN
ap-354	21	29	(	(	PUNCT
ap-354	21	30	�	�	NOUN
ap-354	21	31	pn	pn	NOUN
ap-354	21	32	)	)	PUNCT
ap-354	21	33	and	and	CCONJ
ap-354	21	34	nominal	nominal	ADJ
ap-354	21	35	flow	flow	NOUN
ap-354	21	36	(	(	PUNCT
ap-354	21	37	qn	qn	NOUN
ap-354	21	38	)	)	PUNCT
ap-354	21	39	,	,	PUNCT
ap-354	21	40	this	this	DET
ap-354	21	41	constant	constant	ADJ
ap-354	21	42	can	can	AUX
ap-354	21	43	be	be	AUX
ap-354	21	44	estimated	estimate	VERB
ap-354	21	45	as	as	ADP
ap-354	21	46	c	c	PROPN
ap-354	21	47	q	q	NOUN
ap-354	21	48	x	x	NOUN
ap-354	21	49	p0	p0	NOUN
ap-354	21	50	05	05	NUM
ap-354	21	51	�	�	PROPN
ap-354	21	52	n	n	CCONJ
ap-354	21	53	s	s	PROPN
ap-354	21	54	n	n	CCONJ
ap-354	21	55	,	,	PUNCT
ap-354	21	56	max	max	PROPN
ap-354	21	57	.	.	PUNCT
ap-354	22	1	�	�	PROPN
ap-354	22	2	(	(	PUNCT
ap-354	22	3	2	2	X
ap-354	22	4	)	)	PUNCT
ap-354	22	5	applying	apply	VERB
ap-354	22	6	the	the	DET
ap-354	22	7	continuity	continuity	NOUN
ap-354	22	8	equation	equation	NOUN
ap-354	22	9	to	to	ADP
ap-354	22	10	both	both	DET
ap-354	22	11	chambers	chamber	NOUN
ap-354	22	12	1	1	NUM
ap-354	22	13	and	and	CCONJ
ap-354	22	14	2	2	NUM
ap-354	22	15	�	�	PROPN
ap-354	22	16	�	�	PROPN
ap-354	22	17	�	�	PROPN
ap-354	22	18	�	�	PROPN
ap-354	22	19	�	�	PROPN
ap-354	22	20	�	�	PROPN
ap-354	23	1	d	d	PROPN
ap-354	23	2	d	d	PROPN
ap-354	23	3	d	d	PROPN
ap-354	23	4	d	d	X
ap-354	23	5	oil	oil	NOUN
ap-354	23	6	c	c	NOUN
ap-354	23	7	oil	oil	NOUN
ap-354	23	8	oil	oil	NOUN
ap-354	23	9	c	c	NOUN
ap-354	23	10	t	t	PROPN
ap-354	23	11	p	p	X
ap-354	23	12	v	v	ADP
ap-354	23	13	a	a	PRON
ap-354	23	14	x	x	X
ap-354	23	15	p	p	X
ap-354	23	16	q	q	X
ap-354	23	17	q	q	X
ap-354	23	18	t	t	PROPN
ap-354	23	19	p	p	NOUN
ap-354	23	20	v	v	ADP
ap-354	23	21	a	a	DET
ap-354	23	22	x	x	PUNCT
ap-354	23	23	�	�	PROPN
ap-354	23	24	�	�	PROPN
ap-354	23	25	�	�	PROPN
ap-354	23	26	1	1	NUM
ap-354	23	27	0	0	NUM
ap-354	23	28	1	1	NUM
ap-354	23	29	1	1	NUM
ap-354	23	30	1	1	NUM
ap-354	23	31	1	1	NUM
ap-354	23	32	2	2	NUM
ap-354	23	33	0	0	NUM
ap-354	23	34	2	2	NUM
ap-354	23	35	2	2	NUM
ap-354	23	36	,	,	PUNCT
ap-354	23	37	int	int	NOUN
ap-354	23	38	,	,	PUNCT
ap-354	23	39	�	�	PROPN
ap-354	23	40	�	�	PROPN
ap-354	23	41	�	�	PROPN
ap-354	23	42	�	�	PROPN
ap-354	23	43	�	�	PROPN
ap-354	23	44	�	�	PROPN
ap-354	23	45	�	�	PROPN
ap-354	23	46	�	�	PROPN
ap-354	23	47	�	�	PROPN
ap-354	23	48	�	�	PROPN
ap-354	23	49	oil	oil	NOUN
ap-354	23	50	ext	ext	NOUN
ap-354	23	51	2p	2p	NUM
ap-354	23	52	q	q	NOUN
ap-354	23	53	q	q	PROPN
ap-354	23	54	q2	q2	NOUN
ap-354	23	55	int	int	NOUN
ap-354	23	56	(	(	PUNCT
ap-354	23	57	3	3	NUM
ap-354	23	58	)	)	PUNCT
ap-354	23	59	and	and	CCONJ
ap-354	23	60	considering	consider	VERB
ap-354	23	61	the	the	DET
ap-354	23	62	compressibility	compressibility	NOUN
ap-354	23	63	of	of	ADP
ap-354	23	64	oil	oil	NOUN
ap-354	23	65	eoil	eoil	NOUN
ap-354	23	66	as	as	ADP
ap-354	23	67	�	�	PROPN
ap-354	23	68	�	�	PROPN
ap-354	23	69	�	�	PROPN
ap-354	23	70	e	e	PROPN
ap-354	23	71	p	p	NOUN
ap-354	23	72	p	p	PROPN
ap-354	23	73	p	p	PROPN
ap-354	23	74	poil	poil	NOUN
ap-354	23	75	oil	oil	NOUN
ap-354	23	76	oil	oil	NOUN
ap-354	23	77	�	�	PROPN
ap-354	23	78	�	�	PROPN
ap-354	23	79	�	�	PROPN
ap-354	23	80	�	�	PROPN
ap-354	23	81	�	�	PROPN
ap-354	23	82	©	©	PROPN
ap-354	23	83	czech	czech	PROPN
ap-354	23	84	technical	technical	PROPN
ap-354	23	85	university	university	PROPN
ap-354	23	86	publishing	publishing	NOUN
ap-354	23	87	house	house	NOUN
ap-354	23	88	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	23	89	41	41	NUM
ap-354	23	90	acta	acta	PROPN
ap-354	23	91	polytechnica	polytechnica	PROPN
ap-354	23	92	vol	vol	NOUN
ap-354	23	93	.	.	PUNCT
ap-354	24	1	42	42	NUM
ap-354	24	2	no	no	INTJ
ap-354	24	3	.	.	PUNCT
ap-354	25	1	3/2002	3/2002	NUM
ap-354	25	2	non	non	X
ap-354	25	3	linear	linear	PROPN
ap-354	25	4	modelling	modelling	NOUN
ap-354	25	5	and	and	CCONJ
ap-354	25	6	control	control	NOUN
ap-354	25	7	of	of	ADP
ap-354	25	8	hydraulic	hydraulic	ADJ
ap-354	25	9	actuators	actuator	NOUN
ap-354	25	10	b.	b.	PROPN
ap-354	25	11	šulc	šulc	PROPN
ap-354	25	12	,	,	PUNCT
ap-354	25	13	j.	j.	PROPN
ap-354	25	14	a.	a.	PROPN
ap-354	25	15	jan	jan	PROPN
ap-354	25	16	this	this	DET
ap-354	25	17	paper	paper	NOUN
ap-354	25	18	deals	deal	NOUN
ap-354	25	19	with	with	ADP
ap-354	25	20	non	non	ADJ
ap-354	25	21	-	-	ADJ
ap-354	25	22	linear	linear	ADJ
ap-354	25	23	modelling	modelling	NOUN
ap-354	25	24	and	and	CCONJ
ap-354	25	25	control	control	NOUN
ap-354	25	26	of	of	ADP
ap-354	25	27	a	a	DET
ap-354	25	28	differential	differential	ADJ
ap-354	25	29	hydraulic	hydraulic	ADJ
ap-354	25	30	actuator	actuator	NOUN
ap-354	25	31	.	.	PUNCT
ap-354	26	1	the	the	DET
ap-354	26	2	nonlinear	nonlinear	ADJ
ap-354	26	3	state	state	NOUN
ap-354	26	4	space	space	NOUN
ap-354	26	5	equations	equation	NOUN
ap-354	26	6	are	be	AUX
ap-354	26	7	derived	derive	VERB
ap-354	26	8	from	from	ADP
ap-354	26	9	basic	basic	ADJ
ap-354	26	10	physical	physical	ADJ
ap-354	26	11	laws	law	NOUN
ap-354	26	12	.	.	PUNCT
ap-354	27	1	they	they	PRON
ap-354	27	2	are	be	AUX
ap-354	27	3	more	more	ADV
ap-354	27	4	powerful	powerful	ADJ
ap-354	27	5	than	than	ADP
ap-354	27	6	the	the	DET
ap-354	27	7	transfer	transfer	NOUN
ap-354	27	8	function	function	NOUN
ap-354	27	9	in	in	ADP
ap-354	27	10	the	the	DET
ap-354	27	11	case	case	NOUN
ap-354	27	12	of	of	ADP
ap-354	27	13	linear	linear	PROPN
ap-354	27	14	models	model	NOUN
ap-354	27	15	,	,	PUNCT
ap-354	27	16	and	and	CCONJ
ap-354	27	17	they	they	PRON
ap-354	27	18	allow	allow	VERB
ap-354	27	19	the	the	DET
ap-354	27	20	application	application	NOUN
ap-354	27	21	of	of	ADP
ap-354	27	22	an	an	DET
ap-354	27	23	object	object	NOUN
ap-354	27	24	oriented	orient	VERB
ap-354	27	25	approach	approach	NOUN
ap-354	27	26	in	in	ADP
ap-354	27	27	simulation	simulation	NOUN
ap-354	27	28	programs	program	NOUN
ap-354	27	29	.	.	PUNCT
ap-354	28	1	the	the	DET
ap-354	28	2	effects	effect	NOUN
ap-354	28	3	of	of	ADP
ap-354	28	4	all	all	DET
ap-354	28	5	friction	friction	NOUN
ap-354	28	6	forces	force	NOUN
ap-354	28	7	(	(	PUNCT
ap-354	28	8	static	static	ADJ
ap-354	28	9	,	,	PUNCT
ap-354	28	10	coulomb	coulomb	NOUN
ap-354	28	11	and	and	CCONJ
ap-354	28	12	viscous	viscous	ADJ
ap-354	28	13	)	)	PUNCT
ap-354	28	14	have	have	AUX
ap-354	28	15	been	be	AUX
ap-354	28	16	modelled	model	VERB
ap-354	28	17	,	,	PUNCT
ap-354	28	18	and	and	CCONJ
ap-354	28	19	many	many	ADJ
ap-354	28	20	phenomena	phenomenon	NOUN
ap-354	28	21	that	that	PRON
ap-354	28	22	are	be	AUX
ap-354	28	23	usually	usually	ADV
ap-354	28	24	neglected	neglect	VERB
ap-354	28	25	are	be	AUX
ap-354	28	26	taken	take	VERB
ap-354	28	27	into	into	ADP
ap-354	28	28	account	account	NOUN
ap-354	28	29	,	,	PUNCT
ap-354	28	30	e.g.	e.g.	ADV
ap-354	28	31	,	,	PUNCT
ap-354	28	32	the	the	DET
ap-354	28	33	static	static	ADJ
ap-354	28	34	term	term	NOUN
ap-354	28	35	of	of	ADP
ap-354	28	36	friction	friction	NOUN
ap-354	28	37	,	,	PUNCT
ap-354	28	38	the	the	DET
ap-354	28	39	leakage	leakage	NOUN
ap-354	28	40	between	between	ADP
ap-354	28	41	the	the	DET
ap-354	28	42	two	two	NUM
ap-354	28	43	chambers	chamber	NOUN
ap-354	28	44	and	and	CCONJ
ap-354	28	45	external	external	ADJ
ap-354	28	46	space	space	NOUN
ap-354	28	47	.	.	PUNCT
ap-354	29	1	proportional	proportional	ADJ
ap-354	29	2	differential	differential	NOUN
ap-354	29	3	(	(	PUNCT
ap-354	29	4	pd	pd	NOUN
ap-354	29	5	)	)	PUNCT
ap-354	29	6	and	and	CCONJ
ap-354	29	7	fuzzy	fuzzy	ADJ
ap-354	29	8	logic	logic	NOUN
ap-354	29	9	controllers	controller	NOUN
ap-354	29	10	(	(	PUNCT
ap-354	29	11	flc	flc	PROPN
ap-354	29	12	)	)	PUNCT
ap-354	29	13	have	have	AUX
ap-354	29	14	been	be	AUX
ap-354	29	15	applied	apply	VERB
ap-354	29	16	in	in	ADP
ap-354	29	17	order	order	NOUN
ap-354	29	18	to	to	PART
ap-354	29	19	make	make	VERB
ap-354	29	20	a	a	DET
ap-354	29	21	comparison	comparison	NOUN
ap-354	29	22	by	by	ADP
ap-354	29	23	means	mean	NOUN
ap-354	29	24	of	of	ADP
ap-354	29	25	simulation	simulation	NOUN
ap-354	29	26	.	.	PUNCT
ap-354	30	1	simulation	simulation	NOUN
ap-354	30	2	is	be	AUX
ap-354	30	3	performed	perform	VERB
ap-354	30	4	using	use	VERB
ap-354	30	5	matlab	matlab	PROPN
ap-354	30	6	/	/	SYM
ap-354	30	7	simulink	simulink	PROPN
ap-354	30	8	,	,	PUNCT
ap-354	30	9	and	and	CCONJ
ap-354	30	10	some	some	PRON
ap-354	30	11	of	of	ADP
ap-354	30	12	the	the	DET
ap-354	30	13	results	result	NOUN
ap-354	30	14	are	be	AUX
ap-354	30	15	compared	compare	VERB
ap-354	30	16	graphically	graphically	ADV
ap-354	30	17	.	.	PUNCT
ap-354	31	1	flc	flc	PROPN
ap-354	31	2	is	be	AUX
ap-354	31	3	tuned	tune	VERB
ap-354	31	4	in	in	ADP
ap-354	31	5	a	a	DET
ap-354	31	6	such	such	ADJ
ap-354	31	7	way	way	NOUN
ap-354	31	8	that	that	PRON
ap-354	31	9	it	it	PRON
ap-354	31	10	produces	produce	VERB
ap-354	31	11	a	a	DET
ap-354	31	12	constant	constant	ADJ
ap-354	31	13	control	control	NOUN
ap-354	31	14	signal	signal	NOUN
ap-354	31	15	close	close	ADV
ap-354	31	16	to	to	ADP
ap-354	31	17	its	its	PRON
ap-354	31	18	maximum	maximum	ADJ
ap-354	31	19	(	(	PUNCT
ap-354	31	20	or	or	CCONJ
ap-354	31	21	minimum	minimum	NOUN
ap-354	31	22	)	)	PUNCT
ap-354	31	23	,	,	PUNCT
ap-354	31	24	where	where	SCONJ
ap-354	31	25	possible	possible	ADJ
ap-354	31	26	.	.	PUNCT
ap-354	32	1	in	in	ADP
ap-354	32	2	the	the	DET
ap-354	32	3	case	case	NOUN
ap-354	32	4	of	of	ADP
ap-354	32	5	pd	pd	PROPN
ap-354	32	6	control	control	PROPN
ap-354	32	7	the	the	DET
ap-354	32	8	occurrence	occurrence	NOUN
ap-354	32	9	of	of	ADP
ap-354	32	10	peaks	peak	NOUN
ap-354	32	11	can	can	AUX
ap-354	32	12	not	not	PART
ap-354	32	13	be	be	AUX
ap-354	32	14	avoided	avoid	VERB
ap-354	32	15	.	.	PUNCT
ap-354	33	1	these	these	DET
ap-354	33	2	peaks	peak	NOUN
ap-354	33	3	produce	produce	VERB
ap-354	33	4	a	a	DET
ap-354	33	5	very	very	ADV
ap-354	33	6	high	high	ADJ
ap-354	33	7	velocity	velocity	NOUN
ap-354	33	8	that	that	PRON
ap-354	33	9	oversteps	overstep	NOUN
ap-354	33	10	the	the	DET
ap-354	33	11	allowed	allow	VERB
ap-354	33	12	values	value	NOUN
ap-354	33	13	.	.	PUNCT
ap-354	34	1	keywords	keyword	NOUN
ap-354	34	2	:	:	PUNCT
ap-354	34	3	modelling	modelling	NOUN
ap-354	34	4	,	,	PUNCT
ap-354	34	5	simulation	simulation	NOUN
ap-354	34	6	,	,	PUNCT
ap-354	34	7	fluid	fluid	ADJ
ap-354	34	8	dynamics	dynamic	NOUN
ap-354	34	9	,	,	PUNCT
ap-354	34	10	robotics	robotic	NOUN
ap-354	34	11	,	,	PUNCT
ap-354	34	12	fuzzy	fuzzy	ADJ
ap-354	34	13	control	control	NOUN
ap-354	34	14	,	,	PUNCT
ap-354	34	15	proportional	proportional	ADJ
ap-354	34	16	-	-	PUNCT
ap-354	34	17	derivative	derivative	NOUN
ap-354	34	18	control	control	NOUN
ap-354	34	19	.	.	PUNCT
ap-354	35	1	u	u	PRON
ap-354	35	2	xs	xs	PROPN
ap-354	35	3	p0ps	p0ps	PUNCT
ap-354	35	4	q2q1	q2q1	PROPN
ap-354	35	5	a2	a2	PROPN
ap-354	35	6	ff	ff	NOUN
ap-354	35	7	v1p1	v1p1	NOUN
ap-354	35	8	p2	p2	X
ap-354	35	9	fdist	fdist	ADJ
ap-354	35	10	a1	a1	NOUN
ap-354	35	11	v2	v2	NOUN
ap-354	35	12	q	q	NOUN
ap-354	35	13	int	int	NOUN
ap-354	35	14	q	q	PROPN
ap-354	35	15	ext	ext	NOUN
ap-354	35	16	,	,	PUNCT
ap-354	35	17	2	2	NUM
ap-354	35	18	xc	xc	NOUN
ap-354	35	19	fig	fig	NOUN
ap-354	35	20	.	.	PUNCT
ap-354	36	1	1	1	NUM
ap-354	36	2	:	:	PUNCT
ap-354	36	3	schematic	schematic	ADJ
ap-354	36	4	diagram	diagram	NOUN
ap-354	36	5	of	of	ADP
ap-354	36	6	a	a	DET
ap-354	36	7	differential	differential	ADJ
ap-354	36	8	hydraulic	hydraulic	ADJ
ap-354	36	9	actuator	actuator	NOUN
ap-354	36	10	after	after	ADP
ap-354	36	11	putting	put	VERB
ap-354	36	12	this	this	DET
ap-354	36	13	formula	formula	NOUN
ap-354	36	14	into	into	ADP
ap-354	36	15	eq	eq	NOUN
ap-354	36	16	.	.	PUNCT
ap-354	37	1	(	(	PUNCT
ap-354	37	2	3	3	X
ap-354	37	3	)	)	PUNCT
ap-354	37	4	we	we	PRON
ap-354	37	5	obtain	obtain	VERB
ap-354	37	6	the	the	DET
ap-354	37	7	equations	equation	NOUN
ap-354	37	8	�	�	PROPN
ap-354	37	9	�	�	PROPN
ap-354	37	10	�	�	PROPN
ap-354	37	11	�	�	PROPN
ap-354	37	12	�	�	PROPN
ap-354	37	13	�	�	PROPN
ap-354	37	14	�	�	PROPN
ap-354	37	15	�	�	PROPN
ap-354	37	16	�	�	PROPN
ap-354	37	17	oil	oil	NOUN
ap-354	37	18	c	c	NOUN
ap-354	37	19	c	c	NOUN
ap-354	37	20	oil	oil	NOUN
ap-354	37	21	1	1	NUM
ap-354	37	22	oil	oil	NOUN
ap-354	38	1	d	d	NOUN
ap-354	39	1	d	d	PROPN
ap-354	40	1	d	d	PROPN
ap-354	40	2	d	d	X
ap-354	40	3	p	p	NOUN
ap-354	40	4	a	a	DET
ap-354	40	5	x	x	SYM
ap-354	40	6	t	t	NOUN
ap-354	40	7	v	v	NOUN
ap-354	40	8	a	a	DET
ap-354	40	9	x	x	X
ap-354	40	10	p	p	X
ap-354	40	11	p	p	X
ap-354	40	12	p	p	X
ap-354	40	13	t	t	PROPN
ap-354	40	14	p	p	NOUN
ap-354	40	15	q	q	X
ap-354	40	16	q	q	NOUN
ap-354	40	17	1	1	NUM
ap-354	40	18	1	1	NUM
ap-354	40	19	0	0	NUM
ap-354	40	20	1	1	NUM
ap-354	40	21	1	1	NUM
ap-354	40	22	1	1	NUM
ap-354	40	23	1	1	NUM
ap-354	40	24	1	1	NUM
ap-354	40	25	�	�	PROPN
ap-354	40	26	�	�	PROPN
ap-354	40	27	�	�	PROPN
ap-354	40	28	�	�	PROPN
ap-354	40	29	�	�	PROPN
ap-354	40	30	,	,	PUNCT
ap-354	40	31	i	i	PRON
ap-354	40	32	�	�	PROPN
ap-354	40	33	�	�	PROPN
ap-354	40	34	�	�	PROPN
ap-354	40	35	�	�	PROPN
ap-354	40	36	�	�	PROPN
ap-354	40	37	nt	not	PART
ap-354	40	38	,	,	PUNCT
ap-354	40	39	i	i	PRON
ap-354	40	40	�	�	PROPN
ap-354	40	41	�	�	PROPN
ap-354	40	42	�	�	PROPN
ap-354	40	43	�	�	PROPN
ap-354	40	44	�	�	PROPN
ap-354	40	45	�	�	PROPN
ap-354	40	46	�	�	PROPN
ap-354	40	47	�	�	PROPN
ap-354	40	48	�	�	PROPN
ap-354	40	49	�	�	PROPN
ap-354	40	50	oil	oil	NOUN
ap-354	40	51	c	c	NOUN
ap-354	40	52	c	c	NOUN
ap-354	40	53	oil	oil	NOUN
ap-354	40	54	2	2	NUM
ap-354	40	55	oil	oil	NOUN
ap-354	40	56	d	d	NOUN
ap-354	41	1	d	d	PROPN
ap-354	41	2	d	d	PROPN
ap-354	41	3	d	d	X
ap-354	41	4	p	p	NOUN
ap-354	41	5	a	a	DET
ap-354	41	6	x	x	SYM
ap-354	41	7	t	t	NOUN
ap-354	41	8	v	v	NOUN
ap-354	41	9	a	a	DET
ap-354	41	10	x	x	X
ap-354	41	11	p	p	X
ap-354	41	12	p	p	X
ap-354	41	13	p	p	X
ap-354	41	14	t	t	PROPN
ap-354	41	15	p	p	NOUN
ap-354	41	16	q	q	PROPN
ap-354	41	17	2	2	NUM
ap-354	41	18	2	2	NUM
ap-354	41	19	0	0	NUM
ap-354	41	20	2	2	NUM
ap-354	41	21	2	2	NUM
ap-354	41	22	2	2	NUM
ap-354	41	23	2	2	NUM
ap-354	41	24	�	�	PROPN
ap-354	41	25	nt	not	PART
ap-354	41	26	�	�	PROPN
ap-354	41	27	�	�	PROPN
ap-354	41	28	q	q	PROPN
ap-354	41	29	qext	qext	ADJ
ap-354	41	30	2	2	NUM
ap-354	41	31	(	(	PUNCT
ap-354	41	32	4	4	NUM
ap-354	41	33	)	)	PUNCT
ap-354	41	34	�	�	PROPN
ap-354	41	35	�	�	PROPN
ap-354	42	1	d	d	PROPN
ap-354	42	2	d	d	PROPN
ap-354	43	1	d	d	PROPN
ap-354	43	2	d	d	X
ap-354	43	3	d	d	X
ap-354	43	4	d	d	SYM
ap-354	43	5	1	1	NUM
ap-354	43	6	oil	oil	NOUN
ap-354	43	7	c	c	NOUN
ap-354	43	8	c	c	NOUN
ap-354	43	9	2	2	NUM
ap-354	43	10	o	o	NOUN
ap-354	43	11	p	p	NOUN
ap-354	43	12	t	t	X
ap-354	43	13	p	p	X
ap-354	43	14	v	v	ADP
ap-354	43	15	a	a	DET
ap-354	43	16	x	x	X
ap-354	43	17	q	q	X
ap-354	43	18	a	a	X
ap-354	43	19	x	x	X
ap-354	43	20	t	t	NOUN
ap-354	43	21	q	q	X
ap-354	43	22	p	p	PROPN
ap-354	43	23	t	t	PROPN
ap-354	43	24	�	�	PROPN
ap-354	43	25	�	�	PROPN
ap-354	43	26	�	�	PROPN
ap-354	43	27	1	1	NUM
ap-354	43	28	0	0	NUM
ap-354	43	29	1	1	NUM
ap-354	43	30	1	1	NUM
ap-354	43	31	1	1	NUM
ap-354	43	32	1	1	NUM
ap-354	43	33	,	,	PUNCT
ap-354	43	34	int	int	NOUN
ap-354	43	35	�	�	PROPN
ap-354	43	36	�	�	PROPN
ap-354	43	37	�	�	PROPN
ap-354	43	38	�	�	PROPN
ap-354	43	39	�	�	PROPN
ap-354	43	40	�	�	PROPN
ap-354	43	41	�	�	PROPN
ap-354	43	42	�	�	PROPN
ap-354	43	43	�	�	PROPN
ap-354	43	44	�	�	PROPN
ap-354	43	45	�	�	PROPN
ap-354	43	46	il	il	PROPN
ap-354	43	47	c	c	PROPN
ap-354	43	48	ext	ext	PROPN
ap-354	43	49	c	c	NOUN
ap-354	43	50	2	2	NUM
ap-354	43	51	d	d	NOUN
ap-354	44	1	d	d	X
ap-354	44	2	p	p	X
ap-354	44	3	v	v	X
ap-354	44	4	a	a	DET
ap-354	44	5	x	x	X
ap-354	44	6	q	q	X
ap-354	44	7	q	q	NOUN
ap-354	44	8	a	a	X
ap-354	44	9	x	x	SYM
ap-354	44	10	t	t	NOUN
ap-354	44	11	q2	q2	NOUN
ap-354	44	12	0	0	NUM
ap-354	44	13	2	2	NUM
ap-354	44	14	2	2	NUM
ap-354	44	15	2	2	NUM
ap-354	44	16	,	,	PUNCT
ap-354	44	17	int	int	NOUN
ap-354	44	18	�	�	PROPN
ap-354	44	19	�	�	PROPN
ap-354	44	20	�	�	PROPN
ap-354	44	21	�	�	PROPN
ap-354	44	22	�	�	PROPN
ap-354	44	23	�	�	PROPN
ap-354	44	24	�	�	PROPN
ap-354	44	25	�	�	PROPN
ap-354	44	26	�	�	PROPN
ap-354	44	27	(	(	PUNCT
ap-354	44	28	5	5	NUM
ap-354	44	29	)	)	PUNCT
ap-354	44	30	where	where	SCONJ
ap-354	44	31	�	�	PROPN
ap-354	44	32	�	�	PROPN
ap-354	44	33	�	�	PROPN
ap-354	44	34	�	�	PROPN
ap-354	44	35	q	q	PROPN
ap-354	44	36	c	c	NOUN
ap-354	45	1	x	x	X
ap-354	45	2	p	p	X
ap-354	45	3	p	p	X
ap-354	45	4	p	p	X
ap-354	45	5	p	p	X
ap-354	45	6	x	x	X
ap-354	45	7	p	p	X
ap-354	45	8	p	p	X
ap-354	45	9	p	p	X
ap-354	45	10	p	p	X
ap-354	45	11	q	q	NOUN
ap-354	45	12	c	c	NOUN
ap-354	45	13	1	1	NUM
ap-354	45	14	0	0	NUM
ap-354	45	15	1	1	NUM
ap-354	45	16	1	1	NUM
ap-354	45	17	0	0	NUM
ap-354	45	18	0	0	NUM
ap-354	45	19	2	2	NUM
ap-354	45	20	0	0	NUM
ap-354	45	21	�	�	PROPN
ap-354	45	22	�	�	PROPN
ap-354	45	23	�	�	PROPN
ap-354	45	24	�	�	PROPN
ap-354	45	25	�	�	PROPN
ap-354	45	26	�	�	PROPN
ap-354	45	27	�	�	PROPN
ap-354	45	28	�	�	PROPN
ap-354	45	29	�	�	PROPN
ap-354	45	30	(	(	PUNCT
ap-354	45	31	)	)	PUNCT
ap-354	45	32	(	(	PUNCT
ap-354	45	33	sgn	sgn	NOUN
ap-354	45	34	sgn	sgn	NOUN
ap-354	45	35	sg	sg	VERB
ap-354	45	36	sg	sg	ADP
ap-354	45	37	s	s	PART
ap-354	45	38	s	s	NOUN
ap-354	45	39	s	s	X
ap-354	45	40	s	s	NOUN
ap-354	45	41	1	1	NUM
ap-354	45	42	1	1	NUM
ap-354	45	43	�	�	PROPN
ap-354	45	44	�	�	PROPN
ap-354	45	45	�	�	PROPN
ap-354	45	46	�	�	PROPN
ap-354	45	47	sg	sg	VERB
ap-354	45	48	sg	sg	PROPN
ap-354	45	49	s	s	PART
ap-354	45	50	2	2	NUM
ap-354	45	51	2	2	NUM
ap-354	45	52	s	s	NOUN
ap-354	45	53	s	s	NOUN
ap-354	45	54	s	s	NOUN
ap-354	45	55	x	x	X
ap-354	45	56	p	p	NOUN
ap-354	45	57	p	p	X
ap-354	45	58	p	p	X
ap-354	45	59	p	p	X
ap-354	45	60	x	x	X
ap-354	45	61	p	p	NOUN
ap-354	45	62	p	p	X
ap-354	45	63	p	p	X
ap-354	45	64	p	p	NOUN
ap-354	45	65	sgn	sgn	NOUN
ap-354	45	66	sgn	sgn	NOUN
ap-354	45	67	)	)	PUNCT
ap-354	45	68	�	�	PROPN
ap-354	45	69	�	�	PROPN
ap-354	45	70	�	�	PROPN
ap-354	45	71	�	�	PROPN
ap-354	45	72	�	�	PROPN
ap-354	45	73	�	�	PROPN
ap-354	45	74	�	�	PROPN
ap-354	45	75	0	0	NUM
ap-354	45	76	0	0	NUM
ap-354	45	77	2	2	NUM
ap-354	45	78	2	2	NUM
ap-354	45	79	(	(	PUNCT
ap-354	45	80	6	6	NUM
ap-354	45	81	)	)	PUNCT
ap-354	45	82	�	�	PROPN
ap-354	45	83	�	�	PROPN
ap-354	45	84	q	q	PROPN
ap-354	46	1	k	k	PROPN
ap-354	47	1	p	p	X
ap-354	47	2	p	p	X
ap-354	47	3	q	q	PROPN
ap-354	47	4	k	k	NOUN
ap-354	47	5	p	p	X
ap-354	47	6	int	int	NOUN
ap-354	47	7	int	int	NOUN
ap-354	47	8	,	,	PUNCT
ap-354	47	9	,	,	PUNCT
ap-354	47	10	�	�	PROPN
ap-354	47	11	�	�	PROPN
ap-354	47	12	�	�	PROPN
ap-354	47	13	1	1	NUM
ap-354	47	14	2	2	NUM
ap-354	47	15	2	2	NUM
ap-354	47	16	2	2	NUM
ap-354	47	17	2ext	2ext	PROPN
ap-354	47	18	ext	ext	NOUN
ap-354	47	19	where	where	SCONJ
ap-354	47	20	coefficients	coefficient	NOUN
ap-354	47	21	kint	kint	NOUN
ap-354	47	22	and	and	CCONJ
ap-354	47	23	kext	kext	NOUN
ap-354	47	24	,	,	PUNCT
ap-354	47	25	2	2	NUM
ap-354	47	26	can	can	AUX
ap-354	47	27	be	be	AUX
ap-354	47	28	evaluated	evaluate	VERB
ap-354	47	29	by	by	ADP
ap-354	47	30	means	mean	NOUN
ap-354	47	31	of	of	ADP
ap-354	47	32	the	the	DET
ap-354	47	33	general	general	ADJ
ap-354	47	34	formula	formula	NOUN
ap-354	47	35	by	by	ADP
ap-354	47	36	[	[	X
ap-354	47	37	12	12	NUM
ap-354	47	38	]	]	X
ap-354	47	39	k	k	PROPN
ap-354	48	1	d	d	NOUN
ap-354	48	2	r	r	NOUN
ap-354	48	3	r	r	NOUN
ap-354	48	4	l	l	NOUN
ap-354	48	5	c	c	NOUN
ap-354	48	6	q	q	NOUN
ap-354	48	7	p	p	NOUN
ap-354	48	8	leak	leak	NOUN
ap-354	49	1	i	i	PRON
ap-354	49	2	c	c	NOUN
ap-354	49	3	c	c	NOUN
ap-354	49	4	3	3	NUM
ap-354	49	5	n	n	ADP
ap-354	49	6	n	n	NUM
ap-354	49	7	6	6	NUM
ap-354	49	8	�	�	PROPN
ap-354	49	9	�	�	PROPN
ap-354	49	10	�	�	PROPN
ap-354	49	11	�	�	PROPN
ap-354	49	12	�	�	PROPN
ap-354	49	13	�	�	PROPN
ap-354	49	14	�	�	PROPN
ap-354	49	15	�	�	PROPN
ap-354	49	16	�	�	PROPN
ap-354	49	17	�	�	PROPN
ap-354	49	18	2	2	NUM
ap-354	49	19	050	050	NUM
ap-354	49	20	.	.	PUNCT
ap-354	50	1	�	�	PROPN
ap-354	50	2	eoil	eoil	NOUN
ap-354	50	3	[	[	X
ap-354	50	4	1	1	NUM
ap-354	50	5	]	]	PUNCT
ap-354	50	6	can	can	AUX
ap-354	50	7	be	be	AUX
ap-354	50	8	given	give	VERB
ap-354	50	9	as	as	ADP
ap-354	50	10	:	:	PUNCT
ap-354	50	11	�	�	X
ap-354	50	12	e	e	NOUN
ap-354	50	13	p	p	NOUN
ap-354	50	14	e	e	PROPN
ap-354	50	15	c	c	PROPN
ap-354	50	16	p	p	PROPN
ap-354	50	17	p	p	PROPN
ap-354	50	18	coil	coil	NOUN
ap-354	50	19	oil	oil	NOUN
ap-354	50	20	,	,	PUNCT
ap-354	50	21	max	max	PROPN
ap-354	50	22	�	�	PROPN
ap-354	50	23	�	�	PROPN
ap-354	50	24	�	�	PROPN
ap-354	50	25	�	�	PROPN
ap-354	50	26	�	�	PROPN
ap-354	50	27	�	�	PROPN
ap-354	50	28	�	�	PROPN
ap-354	50	29	�	�	PROPN
ap-354	50	30	1	1	NUM
ap-354	50	31	2	2	NUM
ap-354	50	32	10	10	NUM
ap-354	50	33	1	1	NUM
ap-354	50	34	2log	2log	PROPN
ap-354	50	35	max	max	NOUN
ap-354	50	36	(	(	PUNCT
ap-354	50	37	7	7	NUM
ap-354	50	38	)	)	PUNCT
ap-354	50	39	and	and	CCONJ
ap-354	50	40	the	the	DET
ap-354	50	41	following	follow	VERB
ap-354	50	42	notification	notification	NOUN
ap-354	50	43	is	be	AUX
ap-354	50	44	used	use	VERB
ap-354	50	45	�	�	NOUN
ap-354	50	46	sgn	sgn	NOUN
ap-354	50	47	x	x	NOUN
ap-354	50	48	x	x	SYM
ap-354	50	49	x	x	SYM
ap-354	50	50	x	x	SYM
ap-354	50	51	�	�	PROPN
ap-354	50	52	�	�	PROPN
ap-354	50	53	�	�	PROPN
ap-354	50	54	�	�	PROPN
ap-354	50	55	�	�	PROPN
ap-354	50	56	1	1	NUM
ap-354	50	57	0	0	NUM
ap-354	50	58	0	0	NUM
ap-354	50	59	0	0	NUM
ap-354	50	60	1	1	NUM
ap-354	50	61	0	0	NUM
ap-354	50	62	�	�	PROPN
ap-354	50	63	sg	sg	NOUN
ap-354	50	64	x	x	SYM
ap-354	50	65	x	x	SYM
ap-354	50	66	x	x	SYM
ap-354	50	67	x	x	SYM
ap-354	50	68	�	�	PROPN
ap-354	50	69	�	�	PROPN
ap-354	50	70	�	�	PROPN
ap-354	50	71	0	0	NUM
ap-354	50	72	0	0	NUM
ap-354	50	73	0	0	NUM
ap-354	51	1	the	the	DET
ap-354	51	2	forces	force	NOUN
ap-354	51	3	on	on	ADP
ap-354	51	4	the	the	DET
ap-354	51	5	cylinder	cylinder	NOUN
ap-354	51	6	can	can	AUX
ap-354	51	7	be	be	AUX
ap-354	51	8	expressed	express	VERB
ap-354	51	9	as	as	ADP
ap-354	51	10	(	(	PUNCT
ap-354	51	11	using	use	VERB
ap-354	51	12	newton	newton	PROPN
ap-354	51	13	’s	’s	PART
ap-354	51	14	second	second	ADJ
ap-354	51	15	law	law	NOUN
ap-354	51	16	of	of	ADP
ap-354	51	17	motion	motion	NOUN
ap-354	51	18	)	)	PUNCT
ap-354	51	19	�	�	PROPN
ap-354	51	20	�	�	PROPN
ap-354	51	21	m	m	PROPN
ap-354	51	22	x	x	PROPN
ap-354	51	23	t	t	NOUN
ap-354	51	24	p	p	NOUN
ap-354	51	25	a	a	DET
ap-354	51	26	p	p	NOUN
ap-354	51	27	a	a	DET
ap-354	51	28	f	f	NOUN
ap-354	51	29	v	v	NOUN
ap-354	51	30	f	f	PROPN
ap-354	52	1	d	d	PROPN
ap-354	52	2	d	d	PROPN
ap-354	52	3	c	c	PROPN
ap-354	52	4	f	f	PROPN
ap-354	52	5	c	c	PROPN
ap-354	52	6	dist	dist	NOUN
ap-354	52	7	2	2	NUM
ap-354	52	8	2	2	NUM
ap-354	52	9	1	1	NUM
ap-354	52	10	1	1	NUM
ap-354	52	11	2	2	NUM
ap-354	52	12	2	2	NUM
ap-354	52	13	�	�	PROPN
ap-354	52	14	�	�	PROPN
ap-354	52	15	�	�	PROPN
ap-354	52	16	�	�	PROPN
ap-354	52	17	(	(	PUNCT
ap-354	52	18	8)	8)	NUM
ap-354	52	19	where	where	SCONJ
ap-354	52	20	v	v	NOUN
ap-354	52	21	x	x	SYM
ap-354	52	22	tc	tc	PROPN
ap-354	52	23	cd	cd	PROPN
ap-354	52	24	d	d	PROPN
ap-354	52	25	�	�	PROPN
ap-354	52	26	.	.	PUNCT
ap-354	53	1	the	the	DET
ap-354	53	2	friction	friction	NOUN
ap-354	53	3	forces	force	NOUN
ap-354	53	4	�	�	PROPN
ap-354	53	5	f	f	PROPN
ap-354	53	6	vf	vf	PROPN
ap-354	53	7	c	c	PROPN
ap-354	53	8	are	be	AUX
ap-354	53	9	viscous	viscous	ADJ
ap-354	53	10	friction	friction	NOUN
ap-354	53	11	,	,	PUNCT
ap-354	53	12	coulomb	coulomb	NOUN
ap-354	53	13	friction	friction	NOUN
ap-354	53	14	and	and	CCONJ
ap-354	53	15	static	static	ADJ
ap-354	53	16	friction	friction	NOUN
ap-354	53	17	,	,	PUNCT
ap-354	53	18	i.e.	i.e.	X
ap-354	53	19	,	,	PUNCT
ap-354	53	20	�	�	PROPN
ap-354	53	21	�	�	PROPN
ap-354	53	22	f	f	PROPN
ap-354	53	23	v	v	PROPN
ap-354	53	24	k	k	PROPN
ap-354	53	25	v	v	X
ap-354	53	26	v	v	X
ap-354	53	27	f	f	PROPN
ap-354	54	1	f	f	X
ap-354	54	2	v	v	NOUN
ap-354	54	3	cf	cf	NOUN
ap-354	54	4	c	c	NOUN
ap-354	54	5	v	v	NOUN
ap-354	54	6	c	c	NOUN
ap-354	54	7	c	c	NOUN
ap-354	54	8	c	c	NOUN
ap-354	54	9	s	s	PROPN
ap-354	54	10	c	c	PROPN
ap-354	54	11	s	s	PROPN
ap-354	54	12	�	�	PROPN
ap-354	54	13	�	�	PROPN
ap-354	54	14	�	�	PROPN
ap-354	54	15	�	�	PROPN
ap-354	54	16	�	�	PROPN
ap-354	54	17	�	�	PROPN
ap-354	54	18	�	�	PROPN
ap-354	54	19	�	�	PROPN
ap-354	54	20	�	�	PROPN
ap-354	54	21	�	�	PROPN
ap-354	54	22	�	�	PROPN
ap-354	54	23	�	�	PROPN
ap-354	54	24	�	�	PROPN
ap-354	54	25	�	�	PROPN
ap-354	54	26	sgn	sgn	NOUN
ap-354	54	27	exp	exp	NOUN
ap-354	54	28	the	the	DET
ap-354	54	29	plot	plot	NOUN
ap-354	54	30	of	of	ADP
ap-354	54	31	friction	friction	NOUN
ap-354	54	32	versus	versus	ADP
ap-354	54	33	velocity	velocity	NOUN
ap-354	54	34	is	be	AUX
ap-354	54	35	shown	show	VERB
ap-354	54	36	in	in	ADP
ap-354	54	37	fig	fig	NOUN
ap-354	54	38	.	.	PUNCT
ap-354	55	1	2	2	X
ap-354	55	2	.	.	X
ap-354	55	3	the	the	DET
ap-354	55	4	factors	factor	NOUN
ap-354	55	5	of	of	ADP
ap-354	55	6	friction	friction	NOUN
ap-354	55	7	forces	force	NOUN
ap-354	55	8	fv	fv	PROPN
ap-354	55	9	(	(	PUNCT
ap-354	55	10	viscous	viscous	PROPN
ap-354	55	11	)	)	PUNCT
ap-354	55	12	,	,	PUNCT
ap-354	55	13	fc	fc	PROPN
ap-354	55	14	(	(	PUNCT
ap-354	55	15	coulomb	coulomb	NOUN
ap-354	55	16	)	)	PUNCT
ap-354	55	17	and	and	CCONJ
ap-354	55	18	fs	fs	INTJ
ap-354	55	19	(	(	PUNCT
ap-354	55	20	static	static	NOUN
ap-354	55	21	)	)	PUNCT
ap-354	55	22	can	can	AUX
ap-354	55	23	be	be	AUX
ap-354	55	24	identified	identify	VERB
ap-354	55	25	from	from	ADP
ap-354	55	26	the	the	DET
ap-354	55	27	total	total	ADJ
ap-354	55	28	friction	friction	NOUN
ap-354	55	29	(	(	PUNCT
ap-354	55	30	ff	ff	NOUN
ap-354	55	31	)	)	PUNCT
ap-354	55	32	and	and	CCONJ
ap-354	55	33	velocity	velocity	NOUN
ap-354	55	34	(	(	PUNCT
ap-354	55	35	vc	vc	NOUN
ap-354	55	36	)	)	PUNCT
ap-354	55	37	.	.	PUNCT
ap-354	56	1	these	these	DET
ap-354	56	2	(	(	PUNCT
ap-354	56	3	ff	ff	NOUN
ap-354	56	4	and	and	CCONJ
ap-354	56	5	vc	vc	NOUN
ap-354	56	6	)	)	PUNCT
ap-354	56	7	can	can	AUX
ap-354	56	8	be	be	AUX
ap-354	56	9	estimated	estimate	VERB
ap-354	56	10	from	from	ADP
ap-354	56	11	the	the	DET
ap-354	56	12	values	value	NOUN
ap-354	56	13	of	of	ADP
ap-354	56	14	the	the	DET
ap-354	56	15	position	position	NOUN
ap-354	56	16	,	,	PUNCT
ap-354	56	17	and	and	CCONJ
ap-354	56	18	pressures	pressure	NOUN
ap-354	56	19	in	in	ADP
ap-354	56	20	both	both	DET
ap-354	56	21	chambers	chamber	NOUN
ap-354	56	22	of	of	ADP
ap-354	56	23	the	the	DET
ap-354	56	24	cylinders	cylinder	NOUN
ap-354	56	25	experimentally	experimentally	ADV
ap-354	56	26	with	with	ADP
ap-354	56	27	zero	zero	NUM
ap-354	56	28	load	load	NOUN
ap-354	56	29	,	,	PUNCT
ap-354	56	30	and	and	CCONJ
ap-354	56	31	using	use	VERB
ap-354	56	32	then	then	ADV
ap-354	56	33	numerical	numerical	ADJ
ap-354	56	34	integration	integration	NOUN
ap-354	56	35	of	of	ADP
ap-354	56	36	the	the	DET
ap-354	56	37	position	position	NOUN
ap-354	56	38	for	for	ADP
ap-354	56	39	determing	determe	VERB
ap-354	56	40	velocity	velocity	NOUN
ap-354	56	41	.	.	PUNCT
ap-354	57	1	spool	spool	PROPN
ap-354	57	2	valve	valve	NOUN
ap-354	57	3	spool	spool	NOUN
ap-354	57	4	valve	valve	NOUN
ap-354	57	5	dynamics	dynamic	NOUN
ap-354	57	6	can	can	AUX
ap-354	57	7	be	be	AUX
ap-354	57	8	derived	derive	VERB
ap-354	57	9	in	in	ADP
ap-354	57	10	a	a	DET
ap-354	57	11	similar	similar	ADJ
ap-354	57	12	way	way	NOUN
ap-354	57	13	as	as	ADP
ap-354	57	14	for	for	ADP
ap-354	57	15	a	a	DET
ap-354	57	16	cylinder	cylinder	NOUN
ap-354	57	17	,	,	PUNCT
ap-354	57	18	but	but	CCONJ
ap-354	57	19	the	the	DET
ap-354	57	20	following	follow	VERB
ap-354	57	21	linear	linear	ADJ
ap-354	57	22	second	second	ADJ
ap-354	57	23	order	order	NOUN
ap-354	57	24	differential	differential	NOUN
ap-354	57	25	equation	equation	NOUN
ap-354	57	26	is	be	AUX
ap-354	57	27	a	a	DET
ap-354	57	28	widely	widely	ADV
ap-354	57	29	used	use	VERB
ap-354	57	30	and	and	CCONJ
ap-354	57	31	sufficient	sufficient	ADJ
ap-354	57	32	approximation	approximation	NOUN
ap-354	57	33	:	:	PUNCT
ap-354	57	34	�	�	PROPN
ap-354	57	35	�	�	PROPN
ap-354	57	36	�	�	PROPN
ap-354	58	1	d	d	PROPN
ap-354	58	2	d	d	PROPN
ap-354	58	3	d	d	X
ap-354	58	4	d	d	X
ap-354	58	5	s	s	X
ap-354	58	6	n	n	PRON
ap-354	58	7	s	s	NOUN
ap-354	58	8	n	n	PRON
ap-354	58	9	2	2	NUM
ap-354	58	10	n	n	NUM
ap-354	58	11	2	2	NUM
ap-354	58	12	2	2	NUM
ap-354	58	13	2	2	NUM
ap-354	58	14	2	2	NUM
ap-354	58	15	x	x	SYM
ap-354	58	16	t	t	PROPN
ap-354	58	17	t	t	PROPN
ap-354	58	18	b	b	PROPN
ap-354	58	19	x	x	SYM
ap-354	58	20	t	t	PROPN
ap-354	58	21	t	t	PROPN
ap-354	58	22	u	u	PROPN
ap-354	58	23	t	t	PROPN
ap-354	58	24	�	�	PROPN
ap-354	58	25	�	�	PROPN
ap-354	58	26	�	�	PROPN
ap-354	58	27	(	(	PUNCT
ap-354	58	28	9	9	NUM
ap-354	58	29	)	)	PUNCT
ap-354	58	30	typical	typical	ADJ
ap-354	58	31	values	value	NOUN
ap-354	58	32	of	of	ADP
ap-354	58	33	spool	spool	NOUN
ap-354	58	34	valve	valve	NOUN
ap-354	58	35	parameters	parameter	NOUN
ap-354	58	36	are	be	AUX
ap-354	58	37	:	:	PUNCT
ap-354	58	38	natural	natural	ADJ
ap-354	58	39	frequency	frequency	NOUN
ap-354	58	40	n	n	PRON
ap-354	58	41	�	�	PROPN
ap-354	58	42	300–500	300–500	NUM
ap-354	58	43	s	s	NOUN
ap-354	58	44	1	1	NUM
ap-354	58	45	and	and	CCONJ
ap-354	58	46	damping	damp	VERB
ap-354	58	47	factor	factor	NOUN
ap-354	58	48	b	b	PROPN
ap-354	58	49	�	�	PROPN
ap-354	58	50	0.7–1.0	0.7–1.0	PROPN
ap-354	58	51	.	.	PUNCT
ap-354	59	1	correct	correct	ADJ
ap-354	59	2	modelling	modelling	NOUN
ap-354	59	3	of	of	ADP
ap-354	59	4	a	a	DET
ap-354	59	5	spool	spool	NOUN
ap-354	59	6	valve	valve	NOUN
ap-354	59	7	requires	require	VERB
ap-354	59	8	resetting	reset	VERB
ap-354	59	9	of	of	ADP
ap-354	59	10	the	the	DET
ap-354	59	11	integrators	integrator	NOUN
ap-354	59	12	by	by	ADP
ap-354	59	13	bringing	bring	VERB
ap-354	59	14	their	their	PRON
ap-354	59	15	inputs	input	NOUN
ap-354	59	16	to	to	ADP
ap-354	59	17	zero	zero	NUM
ap-354	59	18	as	as	ADV
ap-354	59	19	soon	soon	ADV
ap-354	59	20	as	as	SCONJ
ap-354	59	21	the	the	DET
ap-354	59	22	end	end	NOUN
ap-354	59	23	positions	position	NOUN
ap-354	59	24	of	of	ADP
ap-354	59	25	the	the	DET
ap-354	59	26	spool	spool	NOUN
ap-354	59	27	valve	valve	NOUN
ap-354	59	28	are	be	AUX
ap-354	59	29	overstepped	overstepped	ADJ
ap-354	59	30	.	.	PUNCT
ap-354	60	1	this	this	DET
ap-354	60	2	precaution	precaution	NOUN
ap-354	60	3	is	be	AUX
ap-354	60	4	shown	show	VERB
ap-354	60	5	in	in	ADP
ap-354	60	6	fig	fig	NOUN
ap-354	60	7	.	.	PUNCT
ap-354	61	1	4	4	X
ap-354	61	2	.	.	X
ap-354	61	3	state	state	NOUN
ap-354	61	4	space	space	NOUN
ap-354	61	5	form	form	NOUN
ap-354	61	6	of	of	ADP
ap-354	61	7	the	the	DET
ap-354	61	8	hydraulic	hydraulic	ADJ
ap-354	61	9	actuator	actuator	NOUN
ap-354	61	10	let	let	VERB
ap-354	61	11	x	x	PUNCT
ap-354	61	12	x	x	PUNCT
ap-354	61	13	x	x	PUNCT
ap-354	61	14	x	x	X
ap-354	61	15	t	t	NOUN
ap-354	61	16	x	x	X
ap-354	61	17	p	p	X
ap-354	61	18	x	x	X
ap-354	61	19	p	p	X
ap-354	61	20	x	x	X
ap-354	61	21	x	x	PUNCT
ap-354	61	22	x	x	SYM
ap-354	61	23	x	x	SYM
ap-354	61	24	t1	t1	NOUN
ap-354	61	25	2	2	NUM
ap-354	61	26	3	3	NUM
ap-354	61	27	1	1	NUM
ap-354	61	28	4	4	NUM
ap-354	61	29	2	2	NUM
ap-354	61	30	5	5	NUM
ap-354	61	31	6	6	NUM
ap-354	61	32	�	�	PROPN
ap-354	61	33	�	�	PROPN
ap-354	61	34	�	�	PROPN
ap-354	61	35	�	�	PROPN
ap-354	61	36	�	�	PROPN
ap-354	61	37	�	�	PROPN
ap-354	62	1	c	c	PROPN
ap-354	62	2	c	c	NOUN
ap-354	62	3	s	s	PART
ap-354	62	4	sd	sd	PROPN
ap-354	62	5	d	d	PROPN
ap-354	62	6	d	d	PROPN
ap-354	62	7	d	d	PROPN
ap-354	62	8	,	,	PUNCT
ap-354	62	9	,	,	PUNCT
ap-354	62	10	,	,	PUNCT
ap-354	62	11	,	,	PUNCT
ap-354	62	12	,	,	PUNCT
ap-354	62	13	then	then	ADV
ap-354	62	14	from	from	ADP
ap-354	62	15	eq	eq	ADP
ap-354	62	16	.	.	PUNCT
ap-354	63	1	(	(	PUNCT
ap-354	63	2	5–9	5–9	NUM
ap-354	63	3	)	)	PUNCT
ap-354	63	4	we	we	PRON
ap-354	63	5	get	get	VERB
ap-354	63	6	:	:	PUNCT
ap-354	63	7	�	�	PROPN
ap-354	63	8	�	�	PROPN
ap-354	63	9	�	�	PROPN
ap-354	63	10	�	�	PROPN
ap-354	63	11	�	�	PROPN
ap-354	63	12	�	�	PROPN
ap-354	63	13	�	�	PROPN
ap-354	63	14	�	�	PROPN
ap-354	63	15	,	,	PUNCT
ap-354	63	16	x	x	PUNCT
ap-354	63	17	x	x	PUNCT
ap-354	63	18	x	x	VERB
ap-354	63	19	m	m	VERB
ap-354	63	20	x	x	X
ap-354	63	21	a	a	X
ap-354	63	22	x	x	X
ap-354	63	23	a	a	DET
ap-354	63	24	f	f	NOUN
ap-354	63	25	x	x	SYM
ap-354	63	26	f	f	NOUN
ap-354	63	27	x	x	PUNCT
ap-354	63	28	e	e	NOUN
ap-354	63	29	x	x	PROPN
ap-354	63	30	v	v	ADP
ap-354	63	31	a	a	DET
ap-354	63	32	x	x	SYM
ap-354	63	33	1	1	NUM
ap-354	63	34	2	2	NUM
ap-354	63	35	2	2	NUM
ap-354	63	36	3	3	NUM
ap-354	63	37	1	1	NUM
ap-354	63	38	4	4	NUM
ap-354	63	39	2	2	NUM
ap-354	63	40	2	2	NUM
ap-354	63	41	3	3	NUM
ap-354	63	42	3	3	NUM
ap-354	63	43	0	0	NUM
ap-354	63	44	1	1	NUM
ap-354	63	45	1	1	NUM
ap-354	63	46	1	1	NUM
ap-354	63	47	�	�	PROPN
ap-354	63	48	�	�	PROPN
ap-354	63	49	�	�	PROPN
ap-354	63	50	�	�	PROPN
ap-354	63	51	�	�	PROPN
ap-354	63	52	�	�	PROPN
ap-354	63	53	�	�	PROPN
ap-354	63	54	f	f	PROPN
ap-354	63	55	load	load	VERB
ap-354	63	56	oil	oil	PROPN
ap-354	63	57	�	�	PROPN
ap-354	63	58	�	�	PROPN
ap-354	63	59	�	�	PROPN
ap-354	63	60	�	�	PROPN
ap-354	63	61	�	�	PROPN
ap-354	63	62	�	�	PROPN
ap-354	63	63	�	�	PROPN
ap-354	63	64	1	1	NUM
ap-354	63	65	2	2	NUM
ap-354	63	66	oil	oil	NOUN
ap-354	63	67	1	1	NUM
ap-354	63	68	�	�	PROPN
ap-354	63	69	�	�	PROPN
ap-354	63	70	�	�	PROPN
ap-354	63	71	�	�	PROPN
ap-354	63	72	�	�	PROPN
ap-354	63	73	�	�	PROPN
ap-354	63	74	�	�	PROPN
ap-354	63	75	�	�	PROPN
ap-354	63	76	q	q	PROPN
ap-354	64	1	x	x	X
ap-354	64	2	x	x	PUNCT
ap-354	64	3	a	a	DET
ap-354	64	4	x	x	X
ap-354	64	5	q	q	NOUN
ap-354	64	6	x	x	X
ap-354	64	7	x	x	PUNCT
ap-354	64	8	x	x	PUNCT
ap-354	64	9	e	e	NOUN
ap-354	64	10	x	x	X
ap-354	64	11	v	v	ADP
ap-354	64	12	a	a	DET
ap-354	64	13	x	x	SYM
ap-354	64	14	q	q	NOUN
ap-354	64	15	1	1	NUM
ap-354	64	16	3	3	NUM
ap-354	64	17	5	5	NUM
ap-354	64	18	1	1	NUM
ap-354	64	19	3	3	NUM
ap-354	64	20	4	4	NUM
ap-354	64	21	4	4	NUM
ap-354	64	22	4	4	NUM
ap-354	64	23	0	0	NUM
ap-354	64	24	2	2	NUM
ap-354	64	25	2	2	NUM
ap-354	64	26	,	,	PUNCT
ap-354	64	27	,	,	PUNCT
ap-354	64	28	�	�	PROPN
ap-354	64	29	int	int	NOUN
ap-354	64	30	,	,	PUNCT
ap-354	64	31	int	int	NOUN
ap-354	64	32	�	�	PROPN
ap-354	64	33	�	�	PROPN
ap-354	64	34	�	�	PROPN
ap-354	64	35	�	�	PROPN
ap-354	64	36	�	�	PROPN
ap-354	64	37	x	x	X
ap-354	64	38	x	x	X
ap-354	64	39	q	q	PUNCT
ap-354	64	40	x	x	X
ap-354	64	41	a	a	PRON
ap-354	64	42	x	x	X
ap-354	64	43	q	q	NOUN
ap-354	64	44	x	x	X
ap-354	64	45	x	x	PUNCT
ap-354	64	46	x	x	PUNCT
ap-354	64	47	x	x	PUNCT
ap-354	64	48	x	x	PUNCT
ap-354	64	49	u	u	NOUN
ap-354	64	50	b	b	PROPN
ap-354	64	51	x	x	SYM
ap-354	64	52	4	4	NUM
ap-354	64	53	5	5	NUM
ap-354	64	54	4	4	NUM
ap-354	64	55	2	2	NUM
ap-354	64	56	4	4	NUM
ap-354	64	57	5	5	NUM
ap-354	64	58	5	5	NUM
ap-354	64	59	6	6	NUM
ap-354	64	60	6	6	NUM
ap-354	64	61	2	2	NUM
ap-354	64	62	,	,	PUNCT
ap-354	64	63	,	,	PUNCT
ap-354	64	64	�	�	PROPN
ap-354	64	65	�	�	PROPN
ap-354	64	66	�	�	PROPN
ap-354	64	67	�	�	PROPN
ap-354	64	68	�	�	PROPN
ap-354	64	69	�	�	PROPN
ap-354	64	70	�	�	PROPN
ap-354	64	71	�	�	PROPN
ap-354	64	72	�	�	PROPN
ap-354	64	73	ext	ext	VERB
ap-354	64	74	2	2	NUM
ap-354	64	75	2	2	NUM
ap-354	64	76	n	n	ADP
ap-354	64	77	2	2	NUM
ap-354	64	78	n	n	NUM
ap-354	64	79	6	6	NUM
ap-354	64	80	n	n	SYM
ap-354	64	81	2	2	NUM
ap-354	64	82	x5	x5	NOUN
ap-354	64	83	(	(	PUNCT
ap-354	64	84	10	10	NUM
ap-354	64	85	)	)	PUNCT
ap-354	64	86	42	42	NUM
ap-354	64	87	©	©	PROPN
ap-354	64	88	czech	czech	PROPN
ap-354	64	89	technical	technical	PROPN
ap-354	64	90	university	university	PROPN
ap-354	64	91	publishing	publishing	NOUN
ap-354	64	92	house	house	NOUN
ap-354	64	93	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	64	94	acta	acta	PROPN
ap-354	64	95	polytechnica	polytechnica	PROPN
ap-354	64	96	vol	vol	NOUN
ap-354	64	97	.	.	PUNCT
ap-354	65	1	42	42	NUM
ap-354	65	2	no	no	INTJ
ap-354	65	3	.	.	PUNCT
ap-354	66	1	3/2002	3/2002	NUM
ap-354	66	2	0.25	0.25	NUM
ap-354	66	3	0.2	0.2	NUM
ap-354	66	4	0.15	0.15	NUM
ap-354	66	5	0.1	0.1	NUM
ap-354	66	6	0.05	0.05	NUM
ap-354	66	7	0	0	NUM
ap-354	66	8	0.05	0.05	NUM
ap-354	66	9	0.1	0.1	NUM
ap-354	66	10	0.15	0.15	NUM
ap-354	66	11	0.2	0.2	NUM
ap-354	66	12	0.25	0.25	NUM
ap-354	66	13	200	200	NUM
ap-354	66	14	150	150	NUM
ap-354	66	15	100	100	NUM
ap-354	66	16	50	50	NUM
ap-354	66	17	0	0	NUM
ap-354	66	18	50	50	NUM
ap-354	66	19	100	100	NUM
ap-354	66	20	150	150	NUM
ap-354	66	21	200	200	NUM
ap-354	66	22	velocity	velocity	NOUN
ap-354	66	23	[	[	X
ap-354	66	24	m	m	NOUN
ap-354	66	25	/	/	SYM
ap-354	66	26	s	s	PART
ap-354	66	27	]	]	PUNCT
ap-354	66	28	friction	friction	NOUN
ap-354	66	29	force	force	NOUN
ap-354	66	30	[	[	X
ap-354	66	31	n	n	CCONJ
ap-354	66	32	]	]	X
ap-354	66	33	fig	fig	NOUN
ap-354	66	34	.	.	PUNCT
ap-354	67	1	2	2	NUM
ap-354	67	2	:	:	PUNCT
ap-354	67	3	friction	friction	NOUN
ap-354	67	4	verses	verses	ADP
ap-354	67	5	velocity	velocity	NOUN
ap-354	67	6	profile	profile	NOUN
ap-354	67	7	3	3	NUM
ap-354	67	8	modelling	modelling	NOUN
ap-354	67	9	in	in	ADP
ap-354	67	10	matlab	matlab	PROPN
ap-354	67	11	/	/	SYM
ap-354	67	12	simulink	simulink	PROPN
ap-354	67	13	the	the	DET
ap-354	67	14	model	model	NOUN
ap-354	67	15	has	have	AUX
ap-354	67	16	been	be	AUX
ap-354	67	17	implemented	implement	VERB
ap-354	67	18	in	in	ADP
ap-354	67	19	versatile	versatile	ADJ
ap-354	67	20	software	software	NOUN
ap-354	67	21	matlab	matlab	PROPN
ap-354	67	22	/	/	SYM
ap-354	67	23	simulink	simulink	PROPN
ap-354	67	24	,	,	PUNCT
ap-354	67	25	which	which	PRON
ap-354	67	26	is	be	AUX
ap-354	67	27	widely	widely	ADV
ap-354	67	28	used	use	VERB
ap-354	67	29	in	in	ADP
ap-354	67	30	control	control	NOUN
ap-354	67	31	engineering	engineering	NOUN
ap-354	67	32	communities	community	NOUN
ap-354	67	33	around	around	ADP
ap-354	67	34	the	the	DET
ap-354	67	35	world	world	NOUN
ap-354	67	36	.	.	PUNCT
ap-354	68	1	cylinder	cylinder	NOUN
ap-354	68	2	,	,	PUNCT
ap-354	68	3	spool	spool	NOUN
ap-354	68	4	valve	valve	NOUN
ap-354	68	5	and	and	CCONJ
ap-354	68	6	controller	controller	NOUN
ap-354	68	7	models	model	NOUN
ap-354	68	8	are	be	AUX
ap-354	68	9	shown	show	VERB
ap-354	68	10	in	in	ADP
ap-354	68	11	fig	fig	NOUN
ap-354	68	12	.	.	PUNCT
ap-354	69	1	3	3	X
ap-354	69	2	.	.	X
ap-354	69	3	these	these	DET
ap-354	69	4	blocks	block	NOUN
ap-354	69	5	were	be	AUX
ap-354	69	6	created	create	VERB
ap-354	69	7	using	use	VERB
ap-354	69	8	the	the	DET
ap-354	69	9	above	above	ADJ
ap-354	69	10	derived	derive	VERB
ap-354	69	11	equations	equation	NOUN
ap-354	69	12	,	,	PUNCT
ap-354	69	13	and	and	CCONJ
ap-354	69	14	a	a	DET
ap-354	69	15	gui	gui	NOUN
ap-354	69	16	(	(	PUNCT
ap-354	69	17	graphical	graphical	ADJ
ap-354	69	18	user	user	NOUN
ap-354	69	19	interface	interface	NOUN
ap-354	69	20	)	)	PUNCT
ap-354	69	21	will	will	AUX
ap-354	69	22	appear	appear	VERB
ap-354	69	23	by	by	ADP
ap-354	69	24	clicking	click	VERB
ap-354	69	25	the	the	DET
ap-354	69	26	block	block	NOUN
ap-354	69	27	.	.	PUNCT
ap-354	70	1	parameters	parameter	NOUN
ap-354	70	2	can	can	AUX
ap-354	70	3	be	be	AUX
ap-354	70	4	entered	enter	VERB
ap-354	70	5	through	through	ADP
ap-354	70	6	these	these	DET
ap-354	70	7	menus	menu	NOUN
ap-354	70	8	.	.	PUNCT
ap-354	71	1	fig	fig	NOUN
ap-354	71	2	.	.	PUNCT
ap-354	72	1	4	4	NUM
ap-354	72	2	shows	show	VERB
ap-354	72	3	the	the	DET
ap-354	72	4	spool	spool	PROPN
ap-354	72	5	valve	valve	NOUN
ap-354	72	6	model	model	NOUN
ap-354	72	7	,	,	PUNCT
ap-354	72	8	where	where	SCONJ
ap-354	72	9	anti	anti	ADJ
ap-354	72	10	-	-	ADJ
ap-354	72	11	windup	windup	ADJ
ap-354	72	12	has	have	AUX
ap-354	72	13	been	be	AUX
ap-354	72	14	included	include	VERB
ap-354	72	15	.	.	PUNCT
ap-354	73	1	fig	fig	NOUN
ap-354	73	2	.	.	PUNCT
ap-354	74	1	5	5	NUM
ap-354	74	2	shows	show	VERB
ap-354	74	3	the	the	DET
ap-354	74	4	cylinder	cylinder	NOUN
ap-354	74	5	model	model	NOUN
ap-354	74	6	,	,	PUNCT
ap-354	74	7	which	which	PRON
ap-354	74	8	is	be	AUX
ap-354	74	9	modeled	model	VERB
ap-354	74	10	using	use	VERB
ap-354	74	11	four	four	NUM
ap-354	74	12	state	state	NOUN
ap-354	74	13	variables	variable	NOUN
ap-354	74	14	,	,	PUNCT
ap-354	74	15	and	and	CCONJ
ap-354	74	16	the	the	DET
ap-354	74	17	cylinder	cylinder	NOUN
ap-354	74	18	stops	stop	VERB
ap-354	74	19	at	at	ADP
ap-354	74	20	the	the	DET
ap-354	74	21	ends	end	NOUN
ap-354	74	22	have	have	AUX
ap-354	74	23	been	be	AUX
ap-354	74	24	introduced	introduce	VERB
ap-354	74	25	.	.	PUNCT
ap-354	75	1	©	©	PROPN
ap-354	75	2	czech	czech	PROPN
ap-354	75	3	technical	technical	PROPN
ap-354	75	4	university	university	PROPN
ap-354	75	5	publishing	publishing	NOUN
ap-354	75	6	house	house	NOUN
ap-354	75	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	75	8	43	43	NUM
ap-354	75	9	acta	acta	PROPN
ap-354	75	10	polytechnica	polytechnica	PROPN
ap-354	75	11	vol	vol	NOUN
ap-354	75	12	.	.	PUNCT
ap-354	76	1	42	42	NUM
ap-354	76	2	no	no	INTJ
ap-354	76	3	.	.	PUNCT
ap-354	77	1	3/2002	3/2002	NUM
ap-354	77	2	fig	fig	NOUN
ap-354	77	3	.	.	PUNCT
ap-354	78	1	3	3	NUM
ap-354	78	2	:	:	PUNCT
ap-354	78	3	simulink	simulink	NOUN
ap-354	78	4	block	block	NOUN
ap-354	78	5	diagram	diagram	NOUN
ap-354	78	6	of	of	ADP
ap-354	78	7	the	the	DET
ap-354	78	8	hydraulic	hydraulic	ADJ
ap-354	78	9	actuator	actuator	NOUN
ap-354	78	10	model	model	NOUN
ap-354	78	11	sign	sign	NOUN
ap-354	78	12	product	product	NOUN
ap-354	78	13	0	0	NUM
ap-354	78	14	constant	constant	ADJ
ap-354	78	15	1	1	NUM
ap-354	78	16	/	/	SYM
ap-354	78	17	w0	w0	PROPN
ap-354	78	18	/	/	SYM
ap-354	78	19	w01	w01	NOUN
ap-354	78	20	in1	in1	ADJ
ap-354	78	21	fig	fig	NOUN
ap-354	78	22	.	.	PUNCT
ap-354	79	1	4	4	NUM
ap-354	79	2	:	:	PUNCT
ap-354	79	3	simulink	simulink	NOUN
ap-354	79	4	spool	spool	PROPN
ap-354	79	5	valve	valve	NOUN
ap-354	79	6	model	model	NOUN
ap-354	79	7	with	with	ADP
ap-354	79	8	end	end	NOUN
ap-354	79	9	position	position	NOUN
ap-354	79	10	stops	stop	VERB
ap-354	79	11	fig	fig	NOUN
ap-354	79	12	.	.	PUNCT
ap-354	80	1	5	5	NUM
ap-354	80	2	:	:	PUNCT
ap-354	80	3	simulink	simulink	NOUN
ap-354	80	4	block	block	NOUN
ap-354	80	5	diagram	diagram	NOUN
ap-354	80	6	of	of	ADP
ap-354	80	7	the	the	DET
ap-354	80	8	hydraulic	hydraulic	ADJ
ap-354	80	9	cylinder	cylinder	NOUN
ap-354	80	10	model	model	NOUN
ap-354	80	11	4	4	NUM
ap-354	80	12	fuzzy	fuzzy	ADJ
ap-354	80	13	logic	logic	NOUN
ap-354	80	14	controller	controller	NOUN
ap-354	80	15	(	(	PUNCT
ap-354	80	16	flc	flc	PROPN
ap-354	80	17	)	)	PUNCT
ap-354	80	18	looking	look	VERB
ap-354	80	19	for	for	ADP
ap-354	80	20	an	an	DET
ap-354	80	21	algorithm	algorithm	NOUN
ap-354	80	22	that	that	PRON
ap-354	80	23	would	would	AUX
ap-354	80	24	be	be	AUX
ap-354	80	25	closer	close	ADJ
ap-354	80	26	to	to	ADP
ap-354	80	27	the	the	DET
ap-354	80	28	time	time	NOUN
ap-354	80	29	optimal	optimal	ADJ
ap-354	80	30	controller	controller	NOUN
ap-354	80	31	(	(	PUNCT
ap-354	80	32	bang	bang	PROPN
ap-354	80	33	-	-	PUNCT
ap-354	80	34	bang	bang	PROPN
ap-354	80	35	control	control	PROPN
ap-354	80	36	)	)	PUNCT
ap-354	80	37	,	,	PUNCT
ap-354	80	38	we	we	PRON
ap-354	80	39	tried	try	VERB
ap-354	80	40	using	use	VERB
ap-354	80	41	non	non	ADJ
ap-354	80	42	-	-	ADJ
ap-354	80	43	linear	linear	ADJ
ap-354	80	44	fuzzy	fuzzy	ADJ
ap-354	80	45	logic	logic	NOUN
ap-354	80	46	control	control	NOUN
ap-354	80	47	design	design	NOUN
ap-354	80	48	techniques	technique	NOUN
ap-354	80	49	.	.	PUNCT
ap-354	81	1	the	the	DET
ap-354	81	2	basic	basic	ADJ
ap-354	81	3	structure	structure	NOUN
ap-354	81	4	of	of	ADP
ap-354	81	5	a	a	DET
ap-354	81	6	fuzzy	fuzzy	ADJ
ap-354	81	7	logic	logic	NOUN
ap-354	81	8	controller	controller	NOUN
ap-354	81	9	is	be	AUX
ap-354	81	10	shown	show	VERB
ap-354	81	11	in	in	ADP
ap-354	81	12	fig	fig	NOUN
ap-354	81	13	.	.	PUNCT
ap-354	82	1	6	6	NUM
ap-354	82	2	.	.	X
ap-354	82	3	from	from	ADP
ap-354	82	4	the	the	DET
ap-354	82	5	many	many	ADJ
ap-354	82	6	types	type	NOUN
ap-354	82	7	of	of	ADP
ap-354	82	8	fuzzy	fuzzy	ADJ
ap-354	82	9	controllers	controller	NOUN
ap-354	82	10	,	,	PUNCT
ap-354	82	11	e.g.	e.g.	ADV
ap-354	82	12	,	,	PUNCT
ap-354	82	13	pid	pid	NOUN
ap-354	82	14	-	-	PUNCT
ap-354	82	15	like	like	ADJ
ap-354	82	16	,	,	PUNCT
ap-354	82	17	sliding	slide	VERB
ap-354	82	18	mode	mode	NOUN
ap-354	82	19	,	,	PUNCT
ap-354	82	20	takagi	takagi	NOUN
ap-354	82	21	-	-	PUNCT
ap-354	82	22	sugeno	sugeno	NOUN
ap-354	82	23	etc	etc	X
ap-354	82	24	.	.	X
ap-354	82	25	,	,	PUNCT
ap-354	82	26	we	we	PRON
ap-354	82	27	selected	select	VERB
ap-354	82	28	mamdani	mamdani	NOUN
ap-354	82	29	type	type	NOUN
ap-354	82	30	fuzzy	fuzzy	ADJ
ap-354	82	31	logic	logic	NOUN
ap-354	82	32	controller	controller	NOUN
ap-354	82	33	.	.	PUNCT
ap-354	83	1	this	this	DET
ap-354	83	2	controller	controller	NOUN
ap-354	83	3	uses	use	VERB
ap-354	83	4	two	two	NUM
ap-354	83	5	inputs	input	NOUN
ap-354	83	6	(	(	PUNCT
ap-354	83	7	control	control	NOUN
ap-354	83	8	error	error	NOUN
ap-354	83	9	and	and	CCONJ
ap-354	83	10	its	its	PRON
ap-354	83	11	derivate	derivate	NOUN
ap-354	83	12	)	)	PUNCT
ap-354	83	13	and	and	CCONJ
ap-354	83	14	one	one	NUM
ap-354	83	15	output	output	NOUN
ap-354	83	16	(	(	PUNCT
ap-354	83	17	control	control	NOUN
ap-354	83	18	signal	signal	PROPN
ap-354	83	19	)	)	PUNCT
ap-354	83	20	.	.	PUNCT
ap-354	84	1	for	for	ADP
ap-354	84	2	both	both	DET
ap-354	84	3	inputs	input	NOUN
ap-354	84	4	,	,	PUNCT
ap-354	84	5	three	three	NUM
ap-354	84	6	fuzzy	fuzzy	ADJ
ap-354	84	7	sets	set	NOUN
ap-354	84	8	(	(	PUNCT
ap-354	84	9	two	two	NUM
ap-354	84	10	sigmoid	sigmoid	NOUN
ap-354	84	11	and	and	CCONJ
ap-354	84	12	one	one	NUM
ap-354	84	13	gaussian	gaussian	ADJ
ap-354	84	14	membership	membership	NOUN
ap-354	84	15	functions	function	NOUN
ap-354	84	16	)	)	PUNCT
ap-354	84	17	,	,	PUNCT
ap-354	84	18	and	and	CCONJ
ap-354	84	19	for	for	ADP
ap-354	84	20	output	output	NOUN
ap-354	84	21	five	five	NUM
ap-354	84	22	fuzzy	fuzzy	ADJ
ap-354	84	23	sets	set	NOUN
ap-354	84	24	(	(	PUNCT
ap-354	84	25	two	two	NUM
ap-354	84	26	sigmoid	sigmoid	NOUN
ap-354	84	27	and	and	CCONJ
ap-354	84	28	three	three	NUM
ap-354	84	29	gaussian	gaussian	ADJ
ap-354	84	30	membership	membership	NOUN
ap-354	84	31	functions	function	NOUN
ap-354	84	32	)	)	PUNCT
ap-354	84	33	have	have	AUX
ap-354	84	34	been	be	AUX
ap-354	84	35	taken	take	VERB
ap-354	84	36	,	,	PUNCT
ap-354	84	37	as	as	SCONJ
ap-354	84	38	shown	show	VERB
ap-354	84	39	in	in	ADP
ap-354	84	40	fig	fig	NOUN
ap-354	84	41	.	.	PUNCT
ap-354	85	1	6	6	X
ap-354	85	2	.	.	X
ap-354	86	1	rules	rule	NOUN
ap-354	86	2	are	be	AUX
ap-354	86	3	defined	define	VERB
ap-354	86	4	such	such	ADJ
ap-354	86	5	that	that	PRON
ap-354	86	6	for	for	ADP
ap-354	86	7	the	the	DET
ap-354	86	8	region	region	NOUN
ap-354	86	9	where	where	SCONJ
ap-354	86	10	we	we	PRON
ap-354	86	11	have	have	VERB
ap-354	86	12	large	large	ADJ
ap-354	86	13	errors	error	NOUN
ap-354	86	14	,	,	PUNCT
ap-354	86	15	a	a	DET
ap-354	86	16	constant	constant	ADJ
ap-354	86	17	and	and	CCONJ
ap-354	86	18	maximum	maximum	ADJ
ap-354	86	19	allowable	allowable	ADJ
ap-354	86	20	control	control	NOUN
ap-354	86	21	signal	signal	NOUN
ap-354	86	22	will	will	AUX
ap-354	86	23	be	be	AUX
ap-354	86	24	delivered	deliver	VERB
ap-354	86	25	,	,	PUNCT
ap-354	86	26	whereas	whereas	SCONJ
ap-354	86	27	in	in	ADP
ap-354	86	28	the	the	DET
ap-354	86	29	small	small	ADJ
ap-354	86	30	error	error	NOUN
ap-354	86	31	region	region	NOUN
ap-354	86	32	it	it	PRON
ap-354	86	33	will	will	AUX
ap-354	86	34	behaves	behave	VERB
ap-354	86	35	as	as	ADP
ap-354	86	36	a	a	DET
ap-354	86	37	non	non	ADJ
ap-354	86	38	-	-	ADJ
ap-354	86	39	linear	linear	ADJ
ap-354	86	40	pd	pd	ADJ
ap-354	86	41	-	-	PUNCT
ap-354	86	42	like	like	ADJ
ap-354	86	43	controller	controller	NOUN
ap-354	86	44	,	,	PUNCT
ap-354	86	45	see	see	VERB
ap-354	86	46	table	table	NOUN
ap-354	86	47	1	1	NUM
ap-354	86	48	.	.	PUNCT
ap-354	86	49	two	two	NUM
ap-354	86	50	types	type	NOUN
ap-354	86	51	of	of	ADP
ap-354	86	52	inference	inference	NOUN
ap-354	86	53	engines	engine	NOUN
ap-354	86	54	are	be	AUX
ap-354	86	55	used	use	VERB
ap-354	86	56	;	;	PUNCT
ap-354	86	57	one	one	NUM
ap-354	86	58	is	be	AUX
ap-354	86	59	composition	composition	NOUN
ap-354	86	60	-	-	PUNCT
ap-354	86	61	based	base	VERB
ap-354	86	62	inference	inference	NOUN
ap-354	86	63	and	and	CCONJ
ap-354	86	64	the	the	DET
ap-354	86	65	other	other	ADJ
ap-354	86	66	is	be	AUX
ap-354	86	67	individual	individual	ADJ
ap-354	86	68	-	-	PUNCT
ap-354	86	69	rule	rule	NOUN
ap-354	86	70	-	-	PUNCT
ap-354	86	71	based	base	VERB
ap-354	86	72	inference	inference	NOUN
ap-354	86	73	.	.	PUNCT
ap-354	87	1	in	in	ADP
ap-354	87	2	the	the	DET
ap-354	87	3	defuzzification	defuzzification	NOUN
ap-354	87	4	,	,	PUNCT
ap-354	87	5	the	the	DET
ap-354	87	6	set	set	NOUN
ap-354	87	7	of	of	ADP
ap-354	87	8	modified	modified	ADJ
ap-354	87	9	control	control	NOUN
ap-354	87	10	output	output	NOUN
ap-354	87	11	values	value	NOUN
ap-354	87	12	in	in	ADP
ap-354	87	13	the	the	DET
ap-354	87	14	form	form	NOUN
ap-354	87	15	of	of	ADP
ap-354	87	16	fuzzy	fuzzy	ADJ
ap-354	87	17	sets	set	NOUN
ap-354	87	18	is	be	AUX
ap-354	87	19	converted	convert	VERB
ap-354	87	20	into	into	ADP
ap-354	87	21	single	single	ADJ
ap-354	87	22	point	point	NOUN
ap-354	87	23	-	-	PUNCT
ap-354	87	24	wise	wise	ADJ
ap-354	87	25	values	value	NOUN
ap-354	87	26	or	or	CCONJ
ap-354	87	27	crisp	crisp	ADJ
ap-354	87	28	values	value	NOUN
ap-354	87	29	.	.	PUNCT
ap-354	88	1	various	various	ADJ
ap-354	88	2	defuzzification	defuzzification	NOUN
ap-354	88	3	methods	method	NOUN
ap-354	88	4	can	can	AUX
ap-354	88	5	be	be	AUX
ap-354	88	6	used	use	VERB
ap-354	88	7	;	;	PUNCT
ap-354	88	8	we	we	PRON
ap-354	88	9	used	use	VERB
ap-354	88	10	the	the	DET
ap-354	88	11	centre	centre	NOUN
ap-354	88	12	of	of	ADP
ap-354	88	13	gravity	gravity	NOUN
ap-354	88	14	or	or	CCONJ
ap-354	88	15	centre	centre	NOUN
ap-354	88	16	of	of	ADP
ap-354	88	17	area	area	NOUN
ap-354	88	18	method	method	NOUN
ap-354	88	19	.	.	PUNCT
ap-354	89	1	fuzzy	fuzzy	ADJ
ap-354	89	2	controllers	controller	NOUN
ap-354	89	3	have	have	VERB
ap-354	89	4	the	the	DET
ap-354	89	5	disadvantage	disadvantage	NOUN
ap-354	89	6	that	that	SCONJ
ap-354	89	7	it	it	PRON
ap-354	89	8	is	be	AUX
ap-354	89	9	difficult	difficult	ADJ
ap-354	89	10	to	to	PART
ap-354	89	11	tune	tune	VERB
ap-354	89	12	the	the	DET
ap-354	89	13	large	large	ADJ
ap-354	89	14	number	number	NOUN
ap-354	89	15	of	of	ADP
ap-354	89	16	parameters	parameter	NOUN
ap-354	89	17	,	,	PUNCT
ap-354	89	18	in	in	ADP
ap-354	89	19	contrast	contrast	NOUN
ap-354	89	20	to	to	ADP
ap-354	89	21	the	the	DET
ap-354	89	22	proportional	proportional	ADJ
ap-354	89	23	derivative	derivative	ADJ
ap-354	89	24	(	(	PUNCT
ap-354	89	25	pd	pd	NOUN
ap-354	89	26	)	)	PUNCT
ap-354	89	27	controller	controller	NOUN
ap-354	89	28	,	,	PUNCT
ap-354	89	29	which	which	PRON
ap-354	89	30	can	can	AUX
ap-354	89	31	be	be	AUX
ap-354	89	32	expressed	express	VERB
ap-354	89	33	by	by	ADP
ap-354	89	34	the	the	DET
ap-354	89	35	equation	equation	NOUN
ap-354	89	36	:	:	PUNCT
ap-354	89	37	u	u	NOUN
ap-354	89	38	k	k	PROPN
ap-354	89	39	e	e	PROPN
ap-354	89	40	k	k	PROPN
ap-354	89	41	epd	epd	PROPN
ap-354	89	42	p	p	PROPN
ap-354	89	43	d	d	PROPN
ap-354	89	44	�	�	PROPN
ap-354	89	45	�	�	PROPN
ap-354	89	46	�	�	PROPN
ap-354	89	47	(	(	PUNCT
ap-354	89	48	11	11	NUM
ap-354	89	49	)	)	PUNCT
ap-354	89	50	where	where	SCONJ
ap-354	89	51	upd	upd	PROPN
ap-354	89	52	is	be	AUX
ap-354	89	53	the	the	DET
ap-354	89	54	control	control	NOUN
ap-354	89	55	signal	signal	NOUN
ap-354	89	56	,	,	PUNCT
ap-354	89	57	e	e	X
ap-354	89	58	the	the	DET
ap-354	89	59	control	control	NOUN
ap-354	89	60	error	error	NOUN
ap-354	89	61	,	,	PUNCT
ap-354	89	62	and	and	CCONJ
ap-354	89	63	the	the	DET
ap-354	89	64	constants	constant	NOUN
ap-354	89	65	kp	kp	PROPN
ap-354	89	66	,	,	PUNCT
ap-354	89	67	kd	kd	PROPN
ap-354	89	68	represent	represent	VERB
ap-354	89	69	proportional	proportional	ADJ
ap-354	89	70	and	and	CCONJ
ap-354	89	71	derivate	derivate	NOUN
ap-354	89	72	constants	constant	NOUN
ap-354	89	73	.	.	PUNCT
ap-354	90	1	the	the	DET
ap-354	90	2	controller	controller	NOUN
ap-354	90	3	parameters	parameter	NOUN
ap-354	90	4	can	can	AUX
ap-354	90	5	be	be	AUX
ap-354	90	6	optimised	optimise	VERB
ap-354	90	7	heuristically	heuristically	ADV
ap-354	90	8	,	,	PUNCT
ap-354	90	9	but	but	CCONJ
ap-354	90	10	good	good	ADJ
ap-354	90	11	support	support	NOUN
ap-354	90	12	for	for	ADP
ap-354	90	13	optimising	optimise	VERB
ap-354	90	14	these	these	DET
ap-354	90	15	parameters	parameter	NOUN
ap-354	90	16	is	be	AUX
ap-354	90	17	provided	provide	VERB
ap-354	90	18	by	by	ADP
ap-354	90	19	the	the	DET
ap-354	90	20	matlab	matlab	PROPN
ap-354	90	21	toolbox	toolbox	NOUN
ap-354	90	22	called	call	VERB
ap-354	90	23	the	the	DET
ap-354	90	24	ncd	ncd	PROPN
ap-354	90	25	block	block	NOUN
ap-354	90	26	set	set	NOUN
ap-354	90	27	.	.	PUNCT
ap-354	91	1	even	even	ADV
ap-354	91	2	in	in	ADP
ap-354	91	3	the	the	DET
ap-354	91	4	presented	present	VERB
ap-354	91	5	case	case	NOUN
ap-354	91	6	of	of	ADP
ap-354	91	7	a	a	DET
ap-354	91	8	fuzzy	fuzzy	ADJ
ap-354	91	9	logic	logic	NOUN
ap-354	91	10	controller	controller	NOUN
ap-354	91	11	when	when	SCONJ
ap-354	91	12	a	a	DET
ap-354	91	13	minimum	minimum	ADJ
ap-354	91	14	number	number	NOUN
ap-354	91	15	of	of	ADP
ap-354	91	16	fuzzy	fuzzy	ADJ
ap-354	91	17	variables	variable	NOUN
ap-354	91	18	and	and	CCONJ
ap-354	91	19	rules	rule	NOUN
ap-354	91	20	have	have	AUX
ap-354	91	21	been	be	AUX
ap-354	91	22	used	use	VERB
ap-354	91	23	,	,	PUNCT
ap-354	91	24	better	well	ADJ
ap-354	91	25	results	result	NOUN
ap-354	91	26	than	than	ADP
ap-354	91	27	with	with	ADP
ap-354	91	28	a	a	DET
ap-354	91	29	pd	pd	NOUN
ap-354	91	30	controller	controller	NOUN
ap-354	91	31	have	have	AUX
ap-354	91	32	been	be	AUX
ap-354	91	33	achieved	achieve	VERB
ap-354	91	34	.	.	PUNCT
ap-354	92	1	as	as	ADP
ap-354	92	2	a	a	DET
ap-354	92	3	fuzzifier	fuzzifier	NOUN
ap-354	92	4	,	,	PUNCT
ap-354	92	5	three	three	NUM
ap-354	92	6	fuzzy	fuzzy	ADJ
ap-354	92	7	sets	set	NOUN
ap-354	92	8	(	(	PUNCT
ap-354	92	9	two	two	NUM
ap-354	92	10	sigmoid	sigmoid	NOUN
ap-354	92	11	and	and	CCONJ
ap-354	92	12	one	one	NUM
ap-354	92	13	gaussian	gaussian	ADJ
ap-354	92	14	membership	membership	NOUN
ap-354	92	15	functions	function	NOUN
ap-354	92	16	)	)	PUNCT
ap-354	92	17	have	have	AUX
ap-354	92	18	been	be	AUX
ap-354	92	19	used	use	VERB
ap-354	92	20	to	to	PART
ap-354	92	21	convert	convert	VERB
ap-354	92	22	the	the	DET
ap-354	92	23	crisp	crisp	ADJ
ap-354	92	24	values	value	NOUN
ap-354	92	25	of	of	ADP
ap-354	92	26	the	the	DET
ap-354	92	27	inputs	input	NOUN
ap-354	92	28	into	into	ADP
ap-354	92	29	fuzzy	fuzzy	ADJ
ap-354	92	30	linguistic	linguistic	ADJ
ap-354	92	31	variables	variable	NOUN
ap-354	92	32	,	,	PUNCT
ap-354	92	33	see	see	VERB
ap-354	92	34	fig	fig	NOUN
ap-354	92	35	.	.	PUNCT
ap-354	93	1	9	9	X
ap-354	93	2	.	.	X
ap-354	93	3	similarly	similarly	ADV
ap-354	93	4	five	five	NUM
ap-354	93	5	fuzzy	fuzzy	ADJ
ap-354	93	6	sets	set	NOUN
ap-354	93	7	(	(	PUNCT
ap-354	93	8	two	two	NUM
ap-354	93	9	sigmoid	sigmoid	NOUN
ap-354	93	10	and	and	CCONJ
ap-354	93	11	three	three	NUM
ap-354	93	12	gaussian	gaussian	ADJ
ap-354	93	13	membership	membership	NOUN
ap-354	93	14	functions	function	NOUN
ap-354	93	15	)	)	PUNCT
ap-354	93	16	have	have	AUX
ap-354	93	17	been	be	AUX
ap-354	93	18	used	use	VERB
ap-354	93	19	to	to	PART
ap-354	93	20	convert	convert	VERB
ap-354	93	21	fuzzy	fuzzy	ADJ
ap-354	93	22	linguistic	linguistic	ADJ
ap-354	93	23	variables	variable	NOUN
ap-354	93	24	into	into	ADP
ap-354	93	25	crisp	crisp	ADJ
ap-354	93	26	values	value	NOUN
ap-354	93	27	of	of	ADP
ap-354	93	28	the	the	DET
ap-354	93	29	outputs	output	NOUN
ap-354	93	30	as	as	ADP
ap-354	93	31	a	a	DET
ap-354	93	32	control	control	NOUN
ap-354	93	33	signal	signal	NOUN
ap-354	93	34	.	.	PUNCT
ap-354	94	1	44	44	NUM
ap-354	95	1	©	©	PROPN
ap-354	95	2	czech	czech	PROPN
ap-354	95	3	technical	technical	PROPN
ap-354	95	4	university	university	PROPN
ap-354	95	5	publishing	publishing	NOUN
ap-354	95	6	house	house	NOUN
ap-354	95	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	95	8	acta	acta	PROPN
ap-354	95	9	polytechnica	polytechnica	PROPN
ap-354	95	10	vol	vol	NOUN
ap-354	95	11	.	.	PUNCT
ap-354	96	1	42	42	NUM
ap-354	96	2	no	no	INTJ
ap-354	96	3	.	.	PUNCT
ap-354	97	1	3/2002	3/2002	NUM
ap-354	97	2	normalization	normalization	NOUN
ap-354	97	3	crisp	crisp	ADJ
ap-354	97	4	process	process	NOUN
ap-354	97	5	-	-	PUNCT
ap-354	97	6	state	state	NOUN
ap-354	97	7	values	value	NOUN
ap-354	97	8	fig	fig	NOUN
ap-354	97	9	.	.	PUNCT
ap-354	98	1	6	6	NUM
ap-354	98	2	:	:	PUNCT
ap-354	98	3	the	the	DET
ap-354	98	4	structure	structure	NOUN
ap-354	98	5	of	of	ADP
ap-354	98	6	a	a	DET
ap-354	98	7	fuzzy	fuzzy	ADJ
ap-354	98	8	knowledge	knowledge	NOUN
ap-354	98	9	based	base	VERB
ap-354	98	10	controller	controller	NOUN
ap-354	98	11	control	control	NOUN
ap-354	98	12	error	error	NOUN
ap-354	98	13	n	n	ADP
ap-354	98	14	z	z	NOUN
ap-354	98	15	p	p	NOUN
ap-354	98	16	change	change	NOUN
ap-354	98	17	of	of	ADP
ap-354	98	18	control	control	NOUN
ap-354	98	19	error	error	NOUN
ap-354	98	20	n	n	NOUN
ap-354	98	21	..	..	PUNCT
ap-354	98	22	..	..	PUNCT
ap-354	99	1	p	p	X
ap-354	99	2	z	z	NOUN
ap-354	99	3	..	..	PUNCT
ap-354	100	1	z	z	X
ap-354	100	2	..	..	PUNCT
ap-354	101	1	p	p	X
ap-354	101	2	n	n	PROPN
ap-354	101	3	..	..	PUNCT
ap-354	101	4	..	..	PUNCT
ap-354	101	5	..	..	PUNCT
ap-354	102	1	nl	nl	INTJ
ap-354	102	2	..	..	PUNCT
ap-354	102	3	pl	pl	X
ap-354	102	4	table	table	NOUN
ap-354	102	5	1	1	NUM
ap-354	102	6	:	:	PUNCT
ap-354	102	7	lookup	lookup	NOUN
ap-354	102	8	table	table	NOUN
ap-354	102	9	(	(	PUNCT
ap-354	102	10	explaining	explain	VERB
ap-354	102	11	rules	rule	NOUN
ap-354	102	12	)	)	PUNCT
ap-354	102	13	fig	fig	NOUN
ap-354	102	14	.	.	PUNCT
ap-354	103	1	7	7	NUM
ap-354	103	2	:	:	PUNCT
ap-354	103	3	inserting	insert	VERB
ap-354	103	4	flc	flc	PROPN
ap-354	103	5	into	into	ADP
ap-354	103	6	the	the	DET
ap-354	103	7	simulink	simulink	PROPN
ap-354	103	8	model	model	NOUN
ap-354	103	9	fig	fig	PROPN
ap-354	103	10	.	.	PUNCT
ap-354	104	1	8	8	NUM
ap-354	104	2	:	:	PUNCT
ap-354	104	3	gui	gui	NOUN
ap-354	104	4	for	for	ADP
ap-354	104	5	output	output	NOUN
ap-354	104	6	in	in	ADP
ap-354	104	7	matlab	matlab	PROPN
ap-354	104	8	for	for	ADP
ap-354	104	9	flc	flc	PROPN
ap-354	104	10	fig	fig	PROPN
ap-354	104	11	.	.	PUNCT
ap-354	105	1	9	9	NUM
ap-354	105	2	:	:	PUNCT
ap-354	105	3	schematic	schematic	ADJ
ap-354	105	4	diagram	diagram	NOUN
ap-354	105	5	of	of	ADP
ap-354	105	6	fuzzy	fuzzy	ADJ
ap-354	105	7	inference	inference	NOUN
ap-354	105	8	system	system	NOUN
ap-354	105	9	the	the	DET
ap-354	105	10	whole	whole	ADJ
ap-354	105	11	process	process	NOUN
ap-354	105	12	of	of	ADP
ap-354	105	13	fuzzy	fuzzy	ADJ
ap-354	105	14	control	control	NOUN
ap-354	105	15	can	can	AUX
ap-354	105	16	be	be	AUX
ap-354	105	17	expressed	express	VERB
ap-354	105	18	in	in	ADP
ap-354	105	19	the	the	DET
ap-354	105	20	following	follow	VERB
ap-354	105	21	steps	step	NOUN
ap-354	105	22	,	,	PUNCT
ap-354	105	23	considering	consider	VERB
ap-354	105	24	x	x	PUNCT
ap-354	105	25	as	as	ADP
ap-354	105	26	input	input	NOUN
ap-354	105	27	and	and	CCONJ
ap-354	105	28	y	y	NOUN
ap-354	105	29	as	as	ADP
ap-354	105	30	output	output	NOUN
ap-354	105	31	for	for	ADP
ap-354	105	32	each	each	DET
ap-354	105	33	step	step	NOUN
ap-354	105	34	.	.	PUNCT
ap-354	106	1	also	also	ADV
ap-354	106	2	two	two	NUM
ap-354	106	3	types	type	NOUN
ap-354	106	4	of	of	ADP
ap-354	106	5	membership	membership	NOUN
ap-354	106	6	functions	function	NOUN
ap-354	106	7	are	be	AUX
ap-354	106	8	used	use	VERB
ap-354	106	9	as	as	ADP
ap-354	106	10	given	give	VERB
ap-354	106	11	below	below	ADV
ap-354	106	12	:	:	PUNCT
ap-354	106	13	sigmoid	sigmoid	NOUN
ap-354	106	14	membership	membership	NOUN
ap-354	106	15	function	function	NOUN
ap-354	106	16	:	:	PUNCT
ap-354	106	17	�	�	PROPN
ap-354	106	18	�	�	PROPN
ap-354	106	19	f	f	PROPN
ap-354	106	20	x	x	X
ap-354	106	21	a	a	DET
ap-354	106	22	c	c	NOUN
ap-354	106	23	e	e	NOUN
ap-354	106	24	a	a	X
ap-354	106	25	x	x	X
ap-354	106	26	c	c	PROPN
ap-354	106	27	;	;	NOUN
ap-354	106	28	,	,	PUNCT
ap-354	106	29	�	�	PROPN
ap-354	106	30	�	�	PROPN
ap-354	106	31	�	�	PROPN
ap-354	106	32	�	�	PROPN
ap-354	106	33	1	1	NUM
ap-354	106	34	1	1	NUM
ap-354	106	35	gaussian	gaussian	ADJ
ap-354	106	36	membership	membership	NOUN
ap-354	106	37	function	function	NOUN
ap-354	106	38	:	:	PUNCT
ap-354	107	1	�	�	PROPN
ap-354	107	2	�	�	PROPN
ap-354	107	3	f	f	PROPN
ap-354	107	4	x	x	X
ap-354	107	5	a	a	DET
ap-354	107	6	c	c	NOUN
ap-354	107	7	e	e	NOUN
ap-354	107	8	x	x	X
ap-354	107	9	c	c	NOUN
ap-354	107	10	a;	a;	PROPN
ap-354	107	11	,	,	PUNCT
ap-354	107	12	�	�	PROPN
ap-354	107	13	�	�	PROPN
ap-354	107	14	�	�	PROPN
ap-354	107	15	2	2	NUM
ap-354	107	16	2	2	NUM
ap-354	107	17	step	step	NOUN
ap-354	107	18	1	1	NUM
ap-354	107	19	:	:	PUNCT
ap-354	107	20	fuzzifier	fuzzifier	NOUN
ap-354	107	21	:	:	PUNCT
ap-354	107	22	conversion	conversion	NOUN
ap-354	107	23	of	of	ADP
ap-354	107	24	crisp	crisp	ADJ
ap-354	107	25	values	value	NOUN
ap-354	107	26	to	to	ADP
ap-354	107	27	fuzzy	fuzzy	ADJ
ap-354	107	28	variables	variable	NOUN
ap-354	107	29	:	:	PUNCT
ap-354	107	30	for	for	ADP
ap-354	107	31	input	input	NOUN
ap-354	107	32	1	1	NUM
ap-354	107	33	,	,	PUNCT
ap-354	107	34	i.e.	i.e.	X
ap-354	107	35	,	,	PUNCT
ap-354	107	36	error	error	NOUN
ap-354	107	37	,	,	PUNCT
ap-354	107	38	conversion	conversion	NOUN
ap-354	107	39	has	have	AUX
ap-354	107	40	been	be	AUX
ap-354	107	41	done	do	VERB
ap-354	107	42	using	use	VERB
ap-354	107	43	three	three	NUM
ap-354	107	44	fuzzy	fuzzy	ADJ
ap-354	107	45	variables	variable	NOUN
ap-354	107	46	(	(	PUNCT
ap-354	107	47	negative	negative	ADJ
ap-354	107	48	(	(	PUNCT
ap-354	107	49	n	n	CCONJ
ap-354	107	50	)	)	PUNCT
ap-354	107	51	using	use	VERB
ap-354	107	52	the	the	DET
ap-354	107	53	sigmoid	sigmoid	NOUN
ap-354	107	54	membership	membership	NOUN
ap-354	107	55	function	function	NOUN
ap-354	107	56	of	of	ADP
ap-354	107	57	parameters	parameter	NOUN
ap-354	107	58	[	[	PUNCT
ap-354	107	59	250	250	NUM
ap-354	107	60	0.02	0.02	NUM
ap-354	107	61	]	]	PUNCT
ap-354	107	62	,	,	PUNCT
ap-354	107	63	zero	zero	NUM
ap-354	107	64	(	(	PUNCT
ap-354	107	65	z	z	NOUN
ap-354	107	66	)	)	PUNCT
ap-354	107	67	using	use	VERB
ap-354	107	68	the	the	DET
ap-354	107	69	gaussian	gaussian	ADJ
ap-354	107	70	membership	membership	NOUN
ap-354	107	71	function	function	NOUN
ap-354	107	72	of	of	ADP
ap-354	107	73	parameters	parameter	NOUN
ap-354	107	74	[	[	X
ap-354	107	75	0.015	0.015	NUM
ap-354	107	76	0	0	NUM
ap-354	107	77	]	]	PUNCT
ap-354	107	78	,	,	PUNCT
ap-354	107	79	and	and	CCONJ
ap-354	107	80	positive	positive	ADJ
ap-354	107	81	(	(	PUNCT
ap-354	107	82	p	p	NOUN
ap-354	107	83	)	)	PUNCT
ap-354	107	84	using	use	VERB
ap-354	107	85	the	the	DET
ap-354	107	86	sigmoid	sigmoid	NOUN
ap-354	107	87	membership	membership	NOUN
ap-354	107	88	function	function	NOUN
ap-354	107	89	of	of	ADP
ap-354	107	90	parameters	parameter	NOUN
ap-354	107	91	[	[	X
ap-354	107	92	250	250	NUM
ap-354	107	93	0.02	0.02	NUM
ap-354	107	94	]	]	PUNCT
ap-354	107	95	)	)	PUNCT
ap-354	107	96	.	.	PUNCT
ap-354	108	1	the	the	DET
ap-354	108	2	same	same	ADJ
ap-354	108	3	procedure	procedure	NOUN
ap-354	108	4	was	be	AUX
ap-354	108	5	followed	follow	VERB
ap-354	108	6	for	for	ADP
ap-354	108	7	input	input	NOUN
ap-354	108	8	2	2	NUM
ap-354	108	9	,	,	PUNCT
ap-354	108	10	i.e.	i.e.	X
ap-354	108	11	,	,	PUNCT
ap-354	108	12	change	change	NOUN
ap-354	108	13	of	of	ADP
ap-354	108	14	error	error	NOUN
ap-354	108	15	with	with	ADP
ap-354	108	16	parameters	parameter	NOUN
ap-354	108	17	(	(	PUNCT
ap-354	108	18	[	[	PUNCT
ap-354	108	19	90	90	NUM
ap-354	108	20	0.05	0.05	NUM
ap-354	108	21	]	]	PUNCT
ap-354	108	22	,	,	PUNCT
ap-354	109	1	[	[	X
ap-354	109	2	0.04	0.04	NUM
ap-354	109	3	0	0	NUM
ap-354	109	4	]	]	PUNCT
ap-354	109	5	,	,	PUNCT
ap-354	109	6	[	[	X
ap-354	109	7	90	90	NUM
ap-354	109	8	0.05	0.05	NUM
ap-354	109	9	]	]	PUNCT
ap-354	109	10	)	)	PUNCT
ap-354	109	11	.	.	PUNCT
ap-354	110	1	step	step	NOUN
ap-354	110	2	2	2	NUM
ap-354	110	3	:	:	PUNCT
ap-354	110	4	logical	logical	ADJ
ap-354	110	5	operators	operator	NOUN
ap-354	110	6	the	the	DET
ap-354	110	7	logical	logical	ADJ
ap-354	110	8	operator	operator	NOUN
ap-354	110	9	and	and	CCONJ
ap-354	110	10	used	use	VERB
ap-354	110	11	in	in	ADP
ap-354	110	12	the	the	DET
ap-354	110	13	rules	rule	NOUN
ap-354	110	14	is	be	AUX
ap-354	110	15	described	describe	VERB
ap-354	110	16	as	as	ADP
ap-354	110	17	:	:	PUNCT
ap-354	110	18	�	�	PROPN
ap-354	110	19	y	y	NOUN
ap-354	110	20	x	x	SYM
ap-354	110	21	x	x	X
ap-354	110	22	�	�	PROPN
ap-354	110	23	�	�	PROPN
ap-354	110	24	min	min	PROPN
ap-354	110	25	,	,	PUNCT
ap-354	110	26	,	,	PUNCT
ap-354	110	27	1	1	NUM
ap-354	110	28	2	2	NUM
ap-354	110	29	step	step	NOUN
ap-354	110	30	3	3	NUM
ap-354	110	31	:	:	PUNCT
ap-354	110	32	implication	implication	NOUN
ap-354	110	33	the	the	DET
ap-354	110	34	implication	implication	NOUN
ap-354	110	35	used	use	VERB
ap-354	110	36	in	in	ADP
ap-354	110	37	rules	rule	NOUN
ap-354	110	38	is	be	AUX
ap-354	110	39	as	as	SCONJ
ap-354	110	40	follows	follow	VERB
ap-354	110	41	:	:	PUNCT
ap-354	110	42	if	if	SCONJ
ap-354	110	43	error	error	NOUN
ap-354	110	44	is	be	AUX
ap-354	110	45	p	p	NOUN
ap-354	110	46	and	and	CCONJ
ap-354	110	47	change	change	NOUN
ap-354	110	48	of	of	ADP
ap-354	110	49	error	error	NOUN
ap-354	110	50	is	be	AUX
ap-354	110	51	n	n	PRON
ap-354	110	52	then	then	ADV
ap-354	110	53	control	control	NOUN
ap-354	110	54	signal	signal	PROPN
ap-354	110	55	is	be	AUX
ap-354	110	56	p.	p.	NOUN
ap-354	110	57	step	step	NOUN
ap-354	110	58	4	4	NUM
ap-354	110	59	:	:	PUNCT
ap-354	110	60	aggregation	aggregation	NOUN
ap-354	110	61	:	:	PUNCT
ap-354	110	62	in	in	ADP
ap-354	110	63	aggregation	aggregation	NOUN
ap-354	110	64	,	,	PUNCT
ap-354	110	65	the	the	DET
ap-354	110	66	rules	rule	NOUN
ap-354	110	67	directed	direct	VERB
ap-354	110	68	towards	towards	ADP
ap-354	110	69	one	one	NUM
ap-354	110	70	output	output	NOUN
ap-354	110	71	are	be	AUX
ap-354	110	72	combined	combine	VERB
ap-354	110	73	together	together	ADV
ap-354	110	74	.	.	PUNCT
ap-354	111	1	we	we	PRON
ap-354	111	2	used	use	VERB
ap-354	111	3	the	the	DET
ap-354	111	4	logical	logical	ADJ
ap-354	111	5	operator	operator	NOUN
ap-354	111	6	or	or	CCONJ
ap-354	111	7	with	with	ADP
ap-354	111	8	max	max	PROPN
ap-354	111	9	function	function	NOUN
ap-354	111	10	as	as	SCONJ
ap-354	111	11	given	give	VERB
ap-354	111	12	below	below	ADV
ap-354	111	13	:	:	PUNCT
ap-354	111	14	�	�	PROPN
ap-354	111	15	y	y	NOUN
ap-354	111	16	x	x	SYM
ap-354	111	17	x	x	X
ap-354	111	18	�	�	PROPN
ap-354	111	19	�	�	PROPN
ap-354	111	20	max	max	PROPN
ap-354	111	21	,	,	PUNCT
ap-354	111	22	,	,	PUNCT
ap-354	111	23	1	1	NUM
ap-354	111	24	2	2	NUM
ap-354	111	25	in	in	ADP
ap-354	111	26	our	our	PRON
ap-354	111	27	case	case	NOUN
ap-354	111	28	we	we	PRON
ap-354	111	29	had	have	VERB
ap-354	111	30	one	one	NUM
ap-354	111	31	output	output	NOUN
ap-354	111	32	and	and	CCONJ
ap-354	111	33	five	five	NUM
ap-354	111	34	rules	rule	NOUN
ap-354	111	35	.	.	PUNCT
ap-354	112	1	step	step	NOUN
ap-354	112	2	5	5	NUM
ap-354	112	3	:	:	PUNCT
ap-354	112	4	defuzzification	defuzzification	NOUN
ap-354	112	5	:	:	PUNCT
ap-354	112	6	defuzzification	defuzzification	NOUN
ap-354	112	7	is	be	AUX
ap-354	112	8	the	the	DET
ap-354	112	9	process	process	NOUN
ap-354	112	10	of	of	ADP
ap-354	112	11	converting	convert	VERB
ap-354	112	12	fuzzy	fuzzy	ADJ
ap-354	112	13	variables	variable	NOUN
ap-354	112	14	to	to	ADP
ap-354	112	15	crisp	crisp	ADJ
ap-354	112	16	values	value	NOUN
ap-354	112	17	.	.	PUNCT
ap-354	113	1	the	the	DET
ap-354	113	2	center	center	NOUN
ap-354	113	3	of	of	ADP
ap-354	113	4	gravity	gravity	NOUN
ap-354	113	5	method	method	NOUN
ap-354	113	6	has	have	AUX
ap-354	113	7	been	be	AUX
ap-354	113	8	used	use	VERB
ap-354	113	9	to	to	PART
ap-354	113	10	obtain	obtain	VERB
ap-354	113	11	crisp	crisp	ADJ
ap-354	113	12	values	value	NOUN
ap-354	113	13	of	of	ADP
ap-354	113	14	the	the	DET
ap-354	113	15	output	output	NOUN
ap-354	113	16	from	from	ADP
ap-354	113	17	the	the	DET
ap-354	113	18	reference	reference	NOUN
ap-354	113	19	output	output	NOUN
ap-354	113	20	fuzzy	fuzzy	ADJ
ap-354	113	21	sets	set	NOUN
ap-354	113	22	.	.	PUNCT
ap-354	114	1	the	the	DET
ap-354	114	2	reference	reference	NOUN
ap-354	114	3	fuzzy	fuzzy	ADJ
ap-354	114	4	sets	set	NOUN
ap-354	114	5	consist	consist	VERB
ap-354	114	6	of	of	ADP
ap-354	114	7	five	five	NUM
ap-354	114	8	fuzzy	fuzzy	ADJ
ap-354	114	9	variables	variable	NOUN
ap-354	114	10	(	(	PUNCT
ap-354	114	11	negative	negative	ADJ
ap-354	114	12	large	large	ADJ
ap-354	114	13	(	(	PUNCT
ap-354	114	14	nl	nl	NOUN
ap-354	114	15	)	)	PUNCT
ap-354	114	16	using	use	VERB
ap-354	114	17	the	the	DET
ap-354	114	18	sigmoid	sigmoid	NOUN
ap-354	114	19	membership	membership	NOUN
ap-354	114	20	function	function	NOUN
ap-354	114	21	[	[	PUNCT
ap-354	114	22	175	175	NUM
ap-354	114	23	0.12	0.12	NUM
ap-354	114	24	]	]	PUNCT
ap-354	114	25	,	,	PUNCT
ap-354	114	26	negative	negative	ADJ
ap-354	114	27	(	(	PUNCT
ap-354	114	28	n	n	CCONJ
ap-354	114	29	)	)	PUNCT
ap-354	114	30	using	use	VERB
ap-354	114	31	the	the	DET
ap-354	114	32	gaussian	gaussian	ADJ
ap-354	114	33	membership	membership	NOUN
ap-354	114	34	function	function	NOUN
ap-354	115	1	[	[	X
ap-354	115	2	0.008	0.008	NUM
ap-354	115	3	0.05	0.05	NUM
ap-354	115	4	]	]	PUNCT
ap-354	115	5	,	,	PUNCT
ap-354	115	6	zero	zero	NUM
ap-354	115	7	(	(	PUNCT
ap-354	115	8	z	z	NOUN
ap-354	115	9	)	)	PUNCT
ap-354	115	10	using	use	VERB
ap-354	115	11	the	the	DET
ap-354	115	12	gaussian	gaussian	ADJ
ap-354	115	13	membership	membership	NOUN
ap-354	115	14	function	function	NOUN
ap-354	116	1	[	[	X
ap-354	116	2	0.008	0.008	NUM
ap-354	116	3	0	0	NUM
ap-354	116	4	]	]	PUNCT
ap-354	116	5	,	,	PUNCT
ap-354	116	6	positive	positive	ADJ
ap-354	116	7	(	(	PUNCT
ap-354	116	8	p	p	NOUN
ap-354	116	9	)	)	PUNCT
ap-354	116	10	using	use	VERB
ap-354	116	11	the	the	DET
ap-354	116	12	gaussian	gaussian	ADJ
ap-354	116	13	membership	membership	NOUN
ap-354	116	14	function	function	NOUN
ap-354	117	1	[	[	X
ap-354	117	2	0.008	0.008	NUM
ap-354	117	3	0.05	0.05	NUM
ap-354	117	4	]	]	PUNCT
ap-354	117	5	and	and	CCONJ
ap-354	117	6	positive	positive	ADJ
ap-354	117	7	large	large	ADJ
ap-354	117	8	(	(	PUNCT
ap-354	117	9	pl	pl	NOUN
ap-354	117	10	)	)	PUNCT
ap-354	117	11	using	use	VERB
ap-354	117	12	the	the	DET
ap-354	117	13	sigmoid	sigmoid	NOUN
ap-354	117	14	membership	membership	NOUN
ap-354	117	15	function	function	NOUN
ap-354	118	1	[	[	X
ap-354	118	2	175	175	NUM
ap-354	118	3	0.12	0.12	NUM
ap-354	118	4	]	]	PUNCT
ap-354	118	5	)	)	PUNCT
ap-354	118	6	.	.	PUNCT
ap-354	119	1	the	the	DET
ap-354	119	2	following	follow	VERB
ap-354	119	3	formula	formula	NOUN
ap-354	119	4	has	have	AUX
ap-354	119	5	been	be	AUX
ap-354	119	6	used	use	VERB
ap-354	119	7	to	to	PART
ap-354	119	8	convert	convert	VERB
ap-354	119	9	the	the	DET
ap-354	119	10	fuzzy	fuzzy	ADJ
ap-354	119	11	variables	variable	NOUN
ap-354	119	12	to	to	ADP
ap-354	119	13	crisp	crisp	ADJ
ap-354	119	14	values	value	NOUN
ap-354	119	15	.	.	PUNCT
ap-354	120	1	�	�	PROPN
ap-354	121	1	y	y	PROPN
ap-354	121	2	c	c	PROPN
ap-354	122	1	a	a	DET
ap-354	122	2	x	x	SYM
ap-354	122	3	a	a	DET
ap-354	122	4	x	x	SYM
ap-354	122	5	ij	ij	INTJ
ap-354	122	6	ij	ij	INTJ
ap-354	123	1	i	i	PRON
ap-354	124	1	i	i	PRON
ap-354	124	2	p	p	X
ap-354	125	1	ij	ij	INTJ
ap-354	126	1	i	i	PRON
ap-354	127	1	i	i	PRON
ap-354	128	1	p	p	PROPN
ap-354	128	2	�	�	PROPN
ap-354	128	3	�	�	PROPN
ap-354	128	4	�	�	PROPN
ap-354	128	5	�	�	PROPN
ap-354	128	6	�	�	PROPN
ap-354	128	7	1	1	NUM
ap-354	128	8	1	1	NUM
ap-354	128	9	as	as	SCONJ
ap-354	128	10	shown	show	VERB
ap-354	128	11	in	in	ADP
ap-354	128	12	fig	fig	NOUN
ap-354	128	13	.	.	PUNCT
ap-354	129	1	8	8	NUM
ap-354	129	2	,	,	PUNCT
ap-354	129	3	guis	guis	PROPN
ap-354	129	4	has	have	AUX
ap-354	129	5	been	be	AUX
ap-354	129	6	used	use	VERB
ap-354	129	7	in	in	ADP
ap-354	129	8	matlab	matlab	PROPN
ap-354	129	9	,	,	PUNCT
ap-354	129	10	where	where	SCONJ
ap-354	129	11	all	all	DET
ap-354	129	12	the	the	DET
ap-354	129	13	input	input	NOUN
ap-354	129	14	and	and	CCONJ
ap-354	129	15	output	output	NOUN
ap-354	129	16	fuzzy	fuzzy	ADJ
ap-354	129	17	variables	variable	NOUN
ap-354	129	18	,	,	PUNCT
ap-354	129	19	inference	inference	NOUN
ap-354	129	20	system	system	NOUN
ap-354	129	21	,	,	PUNCT
ap-354	129	22	fuzzifier	fuzzifier	NOUN
ap-354	129	23	and	and	CCONJ
ap-354	129	24	defuzzifier	defuzzifier	PROPN
ap-354	129	25	can	can	AUX
ap-354	129	26	be	be	AUX
ap-354	129	27	defined	define	VERB
ap-354	129	28	very	very	ADV
ap-354	129	29	easily	easily	ADV
ap-354	129	30	by	by	ADP
ap-354	129	31	setting	set	VERB
ap-354	129	32	the	the	DET
ap-354	129	33	corresponding	corresponding	ADJ
ap-354	129	34	parameters	parameter	NOUN
ap-354	129	35	.	.	PUNCT
ap-354	130	1	then	then	ADV
ap-354	130	2	the	the	DET
ap-354	130	3	controller	controller	NOUN
ap-354	130	4	is	be	AUX
ap-354	130	5	connected	connect	VERB
ap-354	130	6	to	to	ADP
ap-354	130	7	the	the	DET
ap-354	130	8	model	model	NOUN
ap-354	130	9	in	in	ADP
ap-354	130	10	simulink	simulink	PROPN
ap-354	130	11	,	,	PUNCT
ap-354	130	12	as	as	SCONJ
ap-354	130	13	shown	show	VERB
ap-354	130	14	in	in	ADP
ap-354	130	15	fig	fig	NOUN
ap-354	130	16	.	.	PUNCT
ap-354	131	1	7	7	NUM
ap-354	131	2	.	.	SYM
ap-354	131	3	5	5	NUM
ap-354	131	4	results	result	NOUN
ap-354	131	5	and	and	CCONJ
ap-354	131	6	conclusions	conclusion	NOUN
ap-354	131	7	this	this	DET
ap-354	131	8	work	work	NOUN
ap-354	131	9	has	have	VERB
ap-354	131	10	two	two	NUM
ap-354	131	11	aims	aim	NOUN
ap-354	131	12	:	:	PUNCT
ap-354	131	13	the	the	DET
ap-354	131	14	first	first	ADJ
ap-354	131	15	is	be	AUX
ap-354	131	16	to	to	PART
ap-354	131	17	elaborate	elaborate	VERB
ap-354	131	18	a	a	DET
ap-354	131	19	way	way	NOUN
ap-354	131	20	of	of	ADP
ap-354	131	21	non	non	ADJ
ap-354	131	22	-	-	ADJ
ap-354	131	23	linear	linear	ADJ
ap-354	131	24	modelling	modelling	NOUN
ap-354	131	25	of	of	ADP
ap-354	131	26	a	a	DET
ap-354	131	27	differential	differential	ADJ
ap-354	131	28	hydraulic	hydraulic	ADJ
ap-354	131	29	actuator	actuator	NOUN
ap-354	131	30	suit45	suit45	NOUN
ap-354	131	31	acta	acta	PROPN
ap-354	131	32	polytechnica	polytechnica	PROPN
ap-354	131	33	vol	vol	NOUN
ap-354	131	34	.	.	PUNCT
ap-354	132	1	42	42	NUM
ap-354	132	2	no	no	INTJ
ap-354	132	3	.	.	PUNCT
ap-354	133	1	3/2002	3/2002	NUM
ap-354	133	2	fig	fig	NOUN
ap-354	133	3	.	.	PUNCT
ap-354	134	1	10	10	NUM
ap-354	134	2	:	:	PUNCT
ap-354	134	3	gui	gui	NOUN
ap-354	134	4	for	for	ADP
ap-354	134	5	defining	define	VERB
ap-354	134	6	rules	rule	NOUN
ap-354	134	7	in	in	ADP
ap-354	134	8	matlab	matlab	PROPN
ap-354	134	9	for	for	ADP
ap-354	134	10	flc	flc	PROPN
ap-354	134	11	0	0	NUM
ap-354	134	12	0.5	0.5	NUM
ap-354	134	13	1	1	NUM
ap-354	134	14	1.5	1.5	NUM
ap-354	134	15	0	0	NUM
ap-354	134	16	10	10	NUM
ap-354	134	17	20	20	NUM
ap-354	134	18	30	30	NUM
ap-354	134	19	40	40	NUM
ap-354	134	20	50	50	NUM
ap-354	134	21	60	60	NUM
ap-354	134	22	70	70	NUM
ap-354	134	23	80	80	NUM
ap-354	134	24	90	90	NUM
ap-354	134	25	100	100	NUM
ap-354	134	26	110	110	NUM
ap-354	134	27	position	position	NOUN
ap-354	135	1	[	[	X
ap-354	135	2	mm	mm	X
ap-354	135	3	]	]	X
ap-354	135	4	with	with	ADP
ap-354	135	5	small	small	ADJ
ap-354	135	6	gain	gain	NOUN
ap-354	135	7	time	time	NOUN
ap-354	135	8	[	[	X
ap-354	135	9	s	s	X
ap-354	135	10	]	]	X
ap-354	135	11	x	x	PUNCT
ap-354	135	12	desired	desire	VERB
ap-354	135	13	x	x	SYM
ap-354	135	14	pd	pd	PROPN
ap-354	135	15	x	x	PROPN
ap-354	135	16	flc	flc	PROPN
ap-354	135	17	0	0	NUM
ap-354	135	18	0.5	0.5	NUM
ap-354	135	19	1	1	NUM
ap-354	135	20	1.5	1.5	NUM
ap-354	135	21	0	0	NUM
ap-354	135	22	10	10	NUM
ap-354	135	23	20	20	NUM
ap-354	135	24	30	30	NUM
ap-354	135	25	40	40	NUM
ap-354	135	26	50	50	NUM
ap-354	135	27	60	60	NUM
ap-354	135	28	70	70	NUM
ap-354	135	29	80	80	NUM
ap-354	135	30	90	90	NUM
ap-354	135	31	100	100	NUM
ap-354	135	32	110	110	NUM
ap-354	135	33	position	position	NOUN
ap-354	136	1	[	[	X
ap-354	136	2	mm	mm	X
ap-354	136	3	]	]	X
ap-354	136	4	with	with	ADP
ap-354	136	5	large	large	ADJ
ap-354	136	6	gain	gain	NOUN
ap-354	136	7	time	time	NOUN
ap-354	136	8	[	[	X
ap-354	136	9	s	s	X
ap-354	136	10	]	]	X
ap-354	136	11	x	x	PUNCT
ap-354	136	12	desired	desire	VERB
ap-354	136	13	x	x	SYM
ap-354	136	14	pd	pd	PROPN
ap-354	136	15	x	x	PROPN
ap-354	136	16	flc	flc	PROPN
ap-354	136	17	fig	fig	PROPN
ap-354	136	18	.	.	PUNCT
ap-354	137	1	11	11	NUM
ap-354	137	2	:	:	PUNCT
ap-354	137	3	position	position	NOUN
ap-354	137	4	trajectory	trajectory	NOUN
ap-354	137	5	of	of	ADP
ap-354	137	6	hydraulic	hydraulic	ADJ
ap-354	137	7	actuator	actuator	NOUN
ap-354	137	8	for	for	ADP
ap-354	137	9	flc	flc	PROPN
ap-354	137	10	and	and	CCONJ
ap-354	137	11	pd	pd	PROPN
ap-354	137	12	control	control	NOUN
ap-354	137	13	able	able	ADJ
ap-354	137	14	for	for	ADP
ap-354	137	15	programming	programming	NOUN
ap-354	137	16	in	in	ADP
ap-354	137	17	simulink	simulink	PROPN
ap-354	137	18	.	.	PUNCT
ap-354	138	1	the	the	DET
ap-354	138	2	second	second	ADJ
ap-354	138	3	goal	goal	NOUN
ap-354	138	4	is	be	AUX
ap-354	138	5	to	to	PART
ap-354	138	6	use	use	VERB
ap-354	138	7	this	this	DET
ap-354	138	8	model	model	NOUN
ap-354	138	9	for	for	ADP
ap-354	138	10	comparing	compare	VERB
ap-354	138	11	a	a	DET
ap-354	138	12	classical	classical	ADJ
ap-354	138	13	and	and	CCONJ
ap-354	138	14	a	a	DET
ap-354	138	15	non	non	ADJ
ap-354	138	16	-	-	ADJ
ap-354	138	17	linear	linear	ADJ
ap-354	138	18	fuzzy	fuzzy	ADJ
ap-354	138	19	logic	logic	NOUN
ap-354	138	20	control	control	PROPN
ap-354	138	21	loop	loop	PROPN
ap-354	138	22	design	design	PROPN
ap-354	138	23	.	.	PUNCT
ap-354	139	1	the	the	DET
ap-354	139	2	obtained	obtain	VERB
ap-354	139	3	results	result	NOUN
ap-354	139	4	do	do	AUX
ap-354	139	5	not	not	PART
ap-354	139	6	show	show	VERB
ap-354	139	7	any	any	DET
ap-354	139	8	discrepancy	discrepancy	NOUN
ap-354	139	9	with	with	ADP
ap-354	139	10	our	our	PRON
ap-354	139	11	experience	experience	NOUN
ap-354	139	12	or	or	CCONJ
ap-354	139	13	with	with	ADP
ap-354	139	14	the	the	DET
ap-354	139	15	available	available	ADJ
ap-354	139	16	experimental	experimental	ADJ
ap-354	139	17	data	datum	NOUN
ap-354	139	18	.	.	PUNCT
ap-354	140	1	the	the	DET
ap-354	140	2	responses	response	NOUN
ap-354	140	3	that	that	PRON
ap-354	140	4	we	we	PRON
ap-354	140	5	obtained	obtain	VERB
ap-354	140	6	confirm	confirm	VERB
ap-354	140	7	the	the	DET
ap-354	140	8	general	general	ADJ
ap-354	140	9	advantage	advantage	NOUN
ap-354	140	10	of	of	ADP
ap-354	140	11	flc	flc	PROPN
ap-354	140	12	in	in	ADP
ap-354	140	13	quicker	quick	ADJ
ap-354	140	14	responses	response	NOUN
ap-354	140	15	,	,	PUNCT
ap-354	140	16	due	due	ADP
ap-354	140	17	to	to	ADP
ap-354	140	18	the	the	DET
ap-354	140	19	fact	fact	NOUN
ap-354	140	20	that	that	SCONJ
ap-354	140	21	only	only	ADV
ap-354	140	22	flc	flc	PROPN
ap-354	140	23	is	be	AUX
ap-354	140	24	able	able	ADJ
ap-354	140	25	to	to	PART
ap-354	140	26	produce	produce	VERB
ap-354	140	27	control	control	NOUN
ap-354	140	28	signals	signal	NOUN
ap-354	140	29	that	that	PRON
ap-354	140	30	are	be	AUX
ap-354	140	31	not	not	PART
ap-354	140	32	only	only	ADV
ap-354	140	33	proportionally	proportionally	ADV
ap-354	140	34	dependent	dependent	ADJ
ap-354	140	35	on	on	ADP
ap-354	140	36	control	control	NOUN
ap-354	140	37	error	error	NOUN
ap-354	140	38	as	as	ADP
ap-354	140	39	in	in	ADP
ap-354	140	40	the	the	DET
ap-354	140	41	case	case	NOUN
ap-354	140	42	of	of	ADP
ap-354	140	43	a	a	DET
ap-354	140	44	pd	pd	NOUN
ap-354	140	45	controller	controller	NOUN
ap-354	140	46	.	.	PUNCT
ap-354	141	1	the	the	DET
ap-354	141	2	fundamental	fundamental	ADJ
ap-354	141	3	importance	importance	NOUN
ap-354	141	4	of	of	ADP
ap-354	141	5	a	a	DET
ap-354	141	6	proper	proper	ADJ
ap-354	141	7	choice	choice	NOUN
ap-354	141	8	of	of	ADP
ap-354	141	9	the	the	DET
ap-354	141	10	gain	gain	NOUN
ap-354	141	11	in	in	ADP
ap-354	141	12	the	the	DET
ap-354	141	13	pd	pd	NOUN
ap-354	141	14	controller	controller	NOUN
ap-354	141	15	is	be	AUX
ap-354	141	16	demonstrated	demonstrate	VERB
ap-354	141	17	in	in	ADP
ap-354	141	18	by	by	ADP
ap-354	141	19	the	the	DET
ap-354	141	20	columns	column	NOUN
ap-354	141	21	in	in	ADP
ap-354	141	22	fig	fig	NOUN
ap-354	141	23	.	.	PUNCT
ap-354	142	1	13	13	NUM
ap-354	142	2	,	,	PUNCT
ap-354	142	3	where	where	SCONJ
ap-354	142	4	the	the	DET
ap-354	142	5	left	left	ADJ
ap-354	142	6	column	column	NOUN
ap-354	142	7	shows	show	VERB
ap-354	142	8	responses	response	NOUN
ap-354	142	9	with	with	ADP
ap-354	142	10	half	half	NOUN
ap-354	142	11	of	of	ADP
ap-354	142	12	the	the	DET
ap-354	142	13	gain	gain	NOUN
ap-354	142	14	used	use	VERB
ap-354	142	15	in	in	ADP
ap-354	142	16	the	the	DET
ap-354	142	17	experiments	experiment	NOUN
ap-354	142	18	depicted	depict	VERB
ap-354	142	19	in	in	ADP
ap-354	142	20	the	the	DET
ap-354	142	21	right	right	ADJ
ap-354	142	22	column	column	NOUN
ap-354	142	23	.	.	PUNCT
ap-354	143	1	pd	pd	PROPN
ap-354	143	2	for	for	ADP
ap-354	143	3	small	small	ADJ
ap-354	143	4	step	step	NOUN
ap-354	143	5	changes	change	NOUN
ap-354	143	6	surprisingly	surprisingly	ADV
ap-354	143	7	achieved	achieve	VERB
ap-354	143	8	worse	bad	ADJ
ap-354	143	9	control	control	NOUN
ap-354	143	10	responses	response	NOUN
ap-354	143	11	than	than	ADP
ap-354	143	12	for	for	ADP
ap-354	143	13	larger	large	ADJ
ap-354	143	14	step	step	NOUN
ap-354	143	15	changes	change	NOUN
ap-354	143	16	.	.	PUNCT
ap-354	144	1	the	the	DET
ap-354	144	2	anti	anti	ADJ
ap-354	144	3	-	-	ADJ
ap-354	144	4	windup	windup	ADJ
ap-354	144	5	problem	problem	NOUN
ap-354	144	6	has	have	AUX
ap-354	144	7	been	be	AUX
ap-354	144	8	solved	solve	VERB
ap-354	144	9	,	,	PUNCT
ap-354	144	10	as	as	SCONJ
ap-354	144	11	shown	show	VERB
ap-354	144	12	in	in	ADP
ap-354	144	13	fig	fig	NOUN
ap-354	144	14	.	.	PUNCT
ap-354	145	1	15	15	NUM
ap-354	145	2	,	,	PUNCT
ap-354	145	3	which	which	PRON
ap-354	145	4	explains	explain	VERB
ap-354	145	5	the	the	DET
ap-354	145	6	importance	importance	NOUN
ap-354	145	7	of	of	ADP
ap-354	145	8	46	46	NUM
ap-354	145	9	©	©	PROPN
ap-354	145	10	czech	czech	PROPN
ap-354	145	11	technical	technical	PROPN
ap-354	145	12	university	university	PROPN
ap-354	145	13	publishing	publishing	NOUN
ap-354	145	14	house	house	NOUN
ap-354	145	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	145	16	acta	acta	PROPN
ap-354	145	17	polytechnica	polytechnica	PROPN
ap-354	145	18	vol	vol	NOUN
ap-354	145	19	.	.	PUNCT
ap-354	146	1	42	42	NUM
ap-354	146	2	no	no	INTJ
ap-354	146	3	.	.	PUNCT
ap-354	147	1	3/2002	3/2002	NUM
ap-354	147	2	0	0	NUM
ap-354	147	3	0.5	0.5	NUM
ap-354	147	4	1	1	NUM
ap-354	147	5	1.5	1.5	NUM
ap-354	147	6	50	50	NUM
ap-354	147	7	0	0	NUM
ap-354	147	8	50	50	NUM
ap-354	147	9	100	100	NUM
ap-354	147	10	150	150	NUM
ap-354	147	11	200	200	NUM
ap-354	147	12	250	250	NUM
ap-354	147	13	300	300	NUM
ap-354	147	14	350	350	NUM
ap-354	147	15	400	400	NUM
ap-354	147	16	450	450	NUM
ap-354	147	17	velocity	velocity	NOUN
ap-354	147	18	[	[	X
ap-354	147	19	mm	mm	X
ap-354	147	20	/	/	SYM
ap-354	147	21	s	s	X
ap-354	147	22	]	]	X
ap-354	147	23	with	with	ADP
ap-354	147	24	large	large	ADJ
ap-354	147	25	gain	gain	NOUN
ap-354	147	26	time	time	NOUN
ap-354	148	1	[	[	X
ap-354	148	2	s	s	X
ap-354	148	3	]	]	X
ap-354	148	4	v	v	X
ap-354	148	5	pd	pd	PROPN
ap-354	148	6	v	v	X
ap-354	148	7	flc	flc	PROPN
ap-354	148	8	0	0	NUM
ap-354	148	9	0.5	0.5	NUM
ap-354	148	10	1	1	NUM
ap-354	148	11	1.5	1.5	NUM
ap-354	148	12	50	50	NUM
ap-354	148	13	0	0	NUM
ap-354	148	14	50	50	NUM
ap-354	148	15	100	100	NUM
ap-354	148	16	150	150	NUM
ap-354	148	17	200	200	NUM
ap-354	148	18	250	250	NUM
ap-354	148	19	300	300	NUM
ap-354	148	20	350	350	NUM
ap-354	148	21	400	400	NUM
ap-354	148	22	450	450	NUM
ap-354	148	23	velocity	velocity	NOUN
ap-354	148	24	[	[	X
ap-354	148	25	mm	mm	X
ap-354	148	26	/	/	SYM
ap-354	148	27	s	s	X
ap-354	148	28	]	]	X
ap-354	148	29	with	with	ADP
ap-354	148	30	small	small	ADJ
ap-354	148	31	gain	gain	NOUN
ap-354	148	32	time	time	NOUN
ap-354	148	33	[	[	X
ap-354	148	34	s	s	X
ap-354	148	35	]	]	X
ap-354	148	36	v	v	X
ap-354	148	37	pd	pd	PROPN
ap-354	148	38	v	v	X
ap-354	148	39	flc	flc	PROPN
ap-354	148	40	fig	fig	PROPN
ap-354	148	41	.	.	PUNCT
ap-354	149	1	12	12	NUM
ap-354	149	2	:	:	PUNCT
ap-354	149	3	velocity	velocity	NOUN
ap-354	149	4	trajectory	trajectory	NOUN
ap-354	149	5	of	of	ADP
ap-354	149	6	hydraulic	hydraulic	ADJ
ap-354	149	7	actuator	actuator	NOUN
ap-354	149	8	for	for	ADP
ap-354	149	9	flc	flc	PROPN
ap-354	149	10	and	and	CCONJ
ap-354	149	11	pd	pd	PROPN
ap-354	149	12	control	control	NOUN
ap-354	149	13	0	0	NUM
ap-354	149	14	0.5	0.5	NUM
ap-354	149	15	1	1	NUM
ap-354	149	16	1.5	1.5	NUM
ap-354	149	17	50	50	NUM
ap-354	149	18	0	0	NUM
ap-354	149	19	50	50	NUM
ap-354	149	20	100	100	NUM
ap-354	149	21	150	150	NUM
ap-354	149	22	200	200	NUM
ap-354	149	23	250	250	NUM
ap-354	149	24	300	300	NUM
ap-354	149	25	control	control	NOUN
ap-354	149	26	signal	signal	NOUN
ap-354	150	1	[	[	X
ap-354	150	2	mm	mm	X
ap-354	150	3	]	]	X
ap-354	150	4	with	with	ADP
ap-354	150	5	large	large	ADJ
ap-354	150	6	gain	gain	NOUN
ap-354	150	7	time	time	NOUN
ap-354	150	8	[	[	X
ap-354	150	9	s	s	X
ap-354	150	10	]	]	X
ap-354	150	11	u	u	X
ap-354	150	12	pd	pd	PROPN
ap-354	150	13	u	u	PROPN
ap-354	150	14	flc	flc	PROPN
ap-354	150	15	limit	limit	NOUN
ap-354	150	16	(	(	PUNCT
ap-354	150	17	160	160	NUM
ap-354	150	18	mm	mm	NOUN
ap-354	150	19	)	)	PUNCT
ap-354	150	20	0	0	NUM
ap-354	150	21	0.5	0.5	NUM
ap-354	150	22	1	1	NUM
ap-354	150	23	1.5	1.5	NUM
ap-354	150	24	50	50	NUM
ap-354	150	25	0	0	NUM
ap-354	150	26	50	50	NUM
ap-354	150	27	100	100	NUM
ap-354	150	28	150	150	NUM
ap-354	150	29	200	200	NUM
ap-354	150	30	250	250	NUM
ap-354	150	31	300	300	NUM
ap-354	150	32	control	control	NOUN
ap-354	150	33	signal	signal	NOUN
ap-354	151	1	[	[	X
ap-354	151	2	mm	mm	X
ap-354	151	3	]	]	X
ap-354	151	4	with	with	ADP
ap-354	151	5	small	small	ADJ
ap-354	151	6	gain	gain	NOUN
ap-354	151	7	time	time	NOUN
ap-354	151	8	[	[	X
ap-354	151	9	s	s	X
ap-354	151	10	]	]	X
ap-354	151	11	u	u	X
ap-354	151	12	pd	pd	PROPN
ap-354	151	13	u	u	PROPN
ap-354	151	14	flc	flc	PROPN
ap-354	151	15	limit	limit	NOUN
ap-354	151	16	(	(	PUNCT
ap-354	151	17	160	160	NUM
ap-354	151	18	mm	mm	NOUN
ap-354	151	19	)	)	PUNCT
ap-354	151	20	fig	fig	NOUN
ap-354	151	21	.	.	PUNCT
ap-354	152	1	13	13	NUM
ap-354	152	2	:	:	PUNCT
ap-354	152	3	control	control	NOUN
ap-354	152	4	signal	signal	NOUN
ap-354	152	5	for	for	ADP
ap-354	152	6	a	a	DET
ap-354	152	7	hydraulic	hydraulic	ADJ
ap-354	152	8	actuator	actuator	NOUN
ap-354	152	9	applying	apply	VERB
ap-354	152	10	flc	flc	PROPN
ap-354	152	11	and	and	CCONJ
ap-354	152	12	pd	pd	PROPN
ap-354	152	13	control	control	NOUN
ap-354	152	14	0	0	NUM
ap-354	152	15	0.1	0.1	NUM
ap-354	152	16	0.2	0.2	NUM
ap-354	152	17	0.3	0.3	NUM
ap-354	152	18	0.4	0.4	NUM
ap-354	152	19	0.5	0.5	NUM
ap-354	152	20	0.6	0.6	NUM
ap-354	152	21	0.7	0.7	NUM
ap-354	152	22	0.8	0.8	NUM
ap-354	152	23	0.9	0.9	NUM
ap-354	152	24	1	1	NUM
ap-354	152	25	0.03	0.03	NUM
ap-354	152	26	0.025	0.025	NUM
ap-354	152	27	0.02	0.02	NUM
ap-354	152	28	0.015	0.015	NUM
ap-354	152	29	0.01	0.01	NUM
ap-354	152	30	0.005	0.005	NUM
ap-354	152	31	0	0	NUM
ap-354	152	32	0.005	0.005	NUM
ap-354	152	33	0.01	0.01	NUM
ap-354	152	34	0.015	0.015	NUM
ap-354	152	35	velocity	velocity	NOUN
ap-354	153	1	[	[	X
ap-354	153	2	mm	mm	X
ap-354	153	3	/	/	SYM
ap-354	153	4	s	s	NOUN
ap-354	153	5	]	]	PUNCT
ap-354	153	6	with	with	ADP
ap-354	153	7	and	and	CCONJ
ap-354	153	8	without	without	ADP
ap-354	153	9	anti	anti	ADJ
ap-354	153	10	-	-	ADJ
ap-354	153	11	windup	windup	ADJ
ap-354	153	12	time	time	NOUN
ap-354	154	1	[	[	X
ap-354	154	2	s	s	X
ap-354	154	3	]	]	X
ap-354	154	4	with	with	ADP
ap-354	154	5	anti	anti	ADJ
ap-354	154	6	-	-	ADJ
ap-354	154	7	windup	windup	ADJ
ap-354	154	8	without	without	ADP
ap-354	154	9	anti	anti	ADJ
ap-354	154	10	-	-	ADJ
ap-354	154	11	windup	windup	ADJ
ap-354	154	12	with	with	ADP
ap-354	154	13	no	no	DET
ap-354	154	14	matlab	matlab	PROPN
ap-354	154	15	limits	limit	VERB
ap-354	154	16	fig	fig	NOUN
ap-354	154	17	.	.	PUNCT
ap-354	155	1	14	14	NUM
ap-354	155	2	:	:	PUNCT
ap-354	155	3	velocity	velocity	NOUN
ap-354	155	4	profile	profile	NOUN
ap-354	155	5	with	with	ADP
ap-354	155	6	windup	windup	NOUN
ap-354	155	7	problems	problem	NOUN
ap-354	155	8	0	0	NUM
ap-354	155	9	0.1	0.1	NUM
ap-354	155	10	0.2	0.2	NUM
ap-354	155	11	0.3	0.3	NUM
ap-354	155	12	0.4	0.4	NUM
ap-354	155	13	0.5	0.5	NUM
ap-354	155	14	0.6	0.6	NUM
ap-354	155	15	0.7	0.7	NUM
ap-354	155	16	0.8	0.8	NUM
ap-354	155	17	0.9	0.9	NUM
ap-354	155	18	1	1	NUM
ap-354	155	19	2	2	NUM
ap-354	155	20	1.5	1.5	NUM
ap-354	155	21	1	1	NUM
ap-354	155	22	0.5	0.5	NUM
ap-354	155	23	0	0	NUM
ap-354	155	24	0.5	0.5	NUM
ap-354	155	25	1	1	NUM
ap-354	155	26	1.5	1.5	NUM
ap-354	155	27	2	2	NUM
ap-354	155	28	×10	×10	NOUN
ap-354	155	29	3	3	NUM
ap-354	155	30	position	position	NOUN
ap-354	155	31	[	[	X
ap-354	155	32	mm	mm	X
ap-354	155	33	]	]	X
ap-354	155	34	with	with	ADP
ap-354	155	35	and	and	CCONJ
ap-354	155	36	without	without	ADP
ap-354	155	37	anti	anti	ADJ
ap-354	155	38	-	-	ADJ
ap-354	155	39	windup	windup	ADJ
ap-354	155	40	time	time	NOUN
ap-354	156	1	[	[	X
ap-354	156	2	s	s	X
ap-354	156	3	]	]	X
ap-354	156	4	with	with	ADP
ap-354	156	5	anti	anti	ADJ
ap-354	156	6	-	-	ADJ
ap-354	156	7	windup	windup	ADJ
ap-354	156	8	without	without	ADP
ap-354	156	9	anti	anti	ADJ
ap-354	156	10	-	-	ADJ
ap-354	156	11	windup	windup	ADJ
ap-354	156	12	with	with	ADP
ap-354	156	13	no	no	DET
ap-354	156	14	matlab	matlab	PROPN
ap-354	156	15	limits	limit	VERB
ap-354	156	16	fig	fig	NOUN
ap-354	156	17	.	.	PUNCT
ap-354	157	1	15	15	NUM
ap-354	157	2	:	:	PUNCT
ap-354	157	3	position	position	NOUN
ap-354	157	4	curves	curve	NOUN
ap-354	157	5	with	with	ADP
ap-354	157	6	windup	windup	NOUN
ap-354	157	7	problems	problem	NOUN
ap-354	157	8	respecting	respect	VERB
ap-354	157	9	the	the	DET
ap-354	157	10	limits	limit	NOUN
ap-354	157	11	in	in	ADP
ap-354	157	12	the	the	DET
ap-354	157	13	model	model	NOUN
ap-354	157	14	.	.	PUNCT
ap-354	158	1	however	however	ADV
ap-354	158	2	in	in	ADP
ap-354	158	3	this	this	DET
ap-354	158	4	case	case	NOUN
ap-354	158	5	less	less	ADJ
ap-354	158	6	difference	difference	NOUN
ap-354	158	7	is	be	AUX
ap-354	158	8	shown	show	VERB
ap-354	158	9	between	between	ADP
ap-354	158	10	with	with	ADP
ap-354	158	11	and	and	CCONJ
ap-354	158	12	without	without	ADP
ap-354	158	13	antiwindup	antiwindup	PROPN
ap-354	158	14	,	,	PUNCT
ap-354	158	15	due	due	ADP
ap-354	158	16	to	to	ADP
ap-354	158	17	the	the	DET
ap-354	158	18	unsuitability	unsuitability	NOUN
ap-354	158	19	of	of	ADP
ap-354	158	20	the	the	DET
ap-354	158	21	parameters	parameter	NOUN
ap-354	158	22	.	.	PUNCT
ap-354	159	1	acknowledgement	acknowledgement	NOUN
ap-354	159	2	this	this	DET
ap-354	159	3	work	work	NOUN
ap-354	159	4	has	have	AUX
ap-354	159	5	been	be	AUX
ap-354	159	6	supported	support	VERB
ap-354	159	7	by	by	ADP
ap-354	159	8	ga	ga	PROPN
ap-354	159	9	čr	čr	PROPN
ap-354	159	10	,	,	PUNCT
ap-354	159	11	research	research	NOUN
ap-354	159	12	project	project	NOUN
ap-354	159	13	no	no	PRON
ap-354	159	14	:	:	PUNCT
ap-354	159	15	102/01/1347	102/01/1347	ADJ
ap-354	159	16	;	;	PUNCT
ap-354	159	17	“	"	PUNCT
ap-354	159	18	numerical	numerical	ADJ
ap-354	159	19	methods	method	NOUN
ap-354	159	20	for	for	ADP
ap-354	159	21	optimal	optimal	ADJ
ap-354	159	22	control	control	NOUN
ap-354	159	23	system	system	NOUN
ap-354	159	24	design	design	NOUN
ap-354	159	25	”	"	PUNCT
ap-354	159	26	.	.	PUNCT
ap-354	160	1	references	reference	NOUN
ap-354	160	2	[	[	X
ap-354	160	3	1	1	NUM
ap-354	160	4	]	]	PUNCT
ap-354	160	5	berzen	berzen	VERB
ap-354	160	6	,	,	PUNCT
ap-354	160	7	w.	w.	PROPN
ap-354	160	8	:	:	PUNCT
ap-354	160	9	nonlinear	nonlinear	ADJ
ap-354	160	10	control	control	NOUN
ap-354	160	11	of	of	ADP
ap-354	160	12	hydraulic	hydraulic	ADJ
ap-354	160	13	cylinders	cylinder	NOUN
ap-354	160	14	.	.	PUNCT
ap-354	161	1	proceedings	proceeding	NOUN
ap-354	161	2	of	of	ADP
ap-354	161	3	the	the	DET
ap-354	161	4	6th	6th	ADJ
ap-354	161	5	ieee	ieee	PROPN
ap-354	161	6	mediterranean	mediterranean	PROPN
ap-354	161	7	conference	conference	PROPN
ap-354	161	8	on	on	ADP
ap-354	161	9	control	control	NOUN
ap-354	161	10	and	and	CCONJ
ap-354	161	11	systems	system	NOUN
ap-354	161	12	(	(	PUNCT
ap-354	161	13	mccs’98	mccs’98	PROPN
ap-354	161	14	)	)	PUNCT
ap-354	161	15	,	,	PUNCT
ap-354	161	16	italy	italy	PROPN
ap-354	161	17	,	,	PUNCT
ap-354	161	18	1998	1998	NUM
ap-354	161	19	.	.	PUNCT
ap-354	162	1	[	[	X
ap-354	162	2	2	2	NUM
ap-354	162	3	]	]	X
ap-354	162	4	blackburn	blackburn	NOUN
ap-354	162	5	,	,	PUNCT
ap-354	162	6	j.	j.	PROPN
ap-354	162	7	f.	f.	PROPN
ap-354	162	8	,	,	PUNCT
ap-354	162	9	reethof	reethof	PROPN
ap-354	162	10	,	,	PUNCT
ap-354	162	11	g.	g.	PROPN
ap-354	162	12	,	,	PUNCT
ap-354	162	13	shearer	shearer	PROPN
ap-354	162	14	j.	j.	PROPN
ap-354	162	15	l.	l.	PROPN
ap-354	162	16	:	:	PUNCT
ap-354	162	17	fluid	fluid	ADJ
ap-354	162	18	power	power	NOUN
ap-354	162	19	control	control	NOUN
ap-354	162	20	.	.	PUNCT
ap-354	163	1	massachusetts	massachusetts	PROPN
ap-354	163	2	,	,	PUNCT
ap-354	163	3	(	(	PUNCT
ap-354	163	4	u.s.a	u.s.a	PROPN
ap-354	163	5	.	.	PROPN
ap-354	163	6	):	):	PUNCT
ap-354	163	7	the	the	DET
ap-354	163	8	mit	mit	PROPN
ap-354	163	9	press	press	NOUN
ap-354	163	10	,	,	PUNCT
ap-354	163	11	1960	1960	NUM
ap-354	163	12	.	.	PUNCT
ap-354	164	1	[	[	X
ap-354	164	2	3	3	NUM
ap-354	164	3	]	]	X
ap-354	164	4	costa	costa	PROPN
ap-354	164	5	branco	branco	PROPN
ap-354	164	6	,	,	PUNCT
ap-354	164	7	p.	p.	PROPN
ap-354	164	8	j.	j.	PROPN
ap-354	164	9	,	,	PUNCT
ap-354	164	10	dente	dente	PROPN
ap-354	164	11	,	,	PUNCT
ap-354	164	12	j.	j.	PROPN
ap-354	164	13	a.	a.	PROPN
ap-354	164	14	:	:	PUNCT
ap-354	164	15	the	the	DET
ap-354	164	16	application	application	NOUN
ap-354	164	17	of	of	ADP
ap-354	164	18	fuzzy	fuzzy	ADJ
ap-354	164	19	logic	logic	NOUN
ap-354	164	20	in	in	ADP
ap-354	164	21	automatic	automatic	ADJ
ap-354	164	22	modelling	modelling	NOUN
ap-354	164	23	electromechanical	electromechanical	ADJ
ap-354	164	24	systems	system	NOUN
ap-354	164	25	.	.	PUNCT
ap-354	165	1	fuzzy	fuzzy	ADJ
ap-354	165	2	sets	set	NOUN
ap-354	165	3	and	and	CCONJ
ap-354	165	4	systems	system	NOUN
ap-354	165	5	,	,	PUNCT
ap-354	165	6	1998	1998	NUM
ap-354	165	7	,	,	PUNCT
ap-354	165	8	vol	vol	NOUN
ap-354	165	9	.	.	PROPN
ap-354	165	10	95	95	NUM
ap-354	165	11	,	,	PUNCT
ap-354	165	12	no	no	INTJ
ap-354	165	13	.	.	NOUN
ap-354	165	14	3	3	NUM
ap-354	165	15	,	,	PUNCT
ap-354	165	16	p.	p.	NOUN
ap-354	165	17	273–293	273–293	NUM
ap-354	165	18	.	.	PUNCT
ap-354	166	1	[	[	X
ap-354	166	2	4	4	NUM
ap-354	166	3	]	]	X
ap-354	166	4	daugherty	daugherty	PROPN
ap-354	166	5	,	,	PUNCT
ap-354	166	6	r.	r.	PROPN
ap-354	166	7	l.	l.	PROPN
ap-354	166	8	,	,	PUNCT
ap-354	166	9	franzini	franzini	PROPN
ap-354	166	10	,	,	PUNCT
ap-354	166	11	j.	j.	PROPN
ap-354	166	12	b.	b.	PROPN
ap-354	166	13	,	,	PUNCT
ap-354	166	14	finnemore	finnemore	PROPN
ap-354	166	15	,	,	PUNCT
ap-354	166	16	e.	e.	PROPN
ap-354	166	17	j.	j.	PROPN
ap-354	166	18	:	:	PUNCT
ap-354	166	19	fluid	fluid	ADJ
ap-354	166	20	mechanics	mechanic	NOUN
ap-354	166	21	with	with	ADP
ap-354	166	22	engineering	engineering	NOUN
ap-354	166	23	applications	application	NOUN
ap-354	166	24	.	.	PUNCT
ap-354	167	1	singapore	singapore	PROPN
ap-354	167	2	:	:	PUNCT
ap-354	167	3	mc	mc	PROPN
ap-354	167	4	graw	graw	PROPN
ap-354	167	5	-	-	PUNCT
ap-354	167	6	hill	hill	NOUN
ap-354	167	7	book	book	NOUN
ap-354	167	8	company	company	NOUN
ap-354	167	9	,	,	PUNCT
ap-354	167	10	1989	1989	NUM
ap-354	167	11	.	.	PUNCT
ap-354	168	1	[	[	X
ap-354	168	2	5	5	NUM
ap-354	168	3	]	]	PUNCT
ap-354	168	4	dimiter	dimiter	NOUN
ap-354	168	5	,	,	PUNCT
ap-354	168	6	d.	d.	PROPN
ap-354	168	7	,	,	PUNCT
ap-354	168	8	hans	hans	PROPN
ap-354	168	9	,	,	PUNCT
ap-354	168	10	h.	h.	PROPN
ap-354	168	11	,	,	PUNCT
ap-354	168	12	michael	michael	PROPN
ap-354	168	13	,	,	PUNCT
ap-354	168	14	r.	r.	PROPN
ap-354	168	15	:	:	PUNCT
ap-354	168	16	an	an	DET
ap-354	168	17	introduction	introduction	NOUN
ap-354	168	18	to	to	ADP
ap-354	168	19	fuzzy	fuzzy	ADJ
ap-354	168	20	control	control	NOUN
ap-354	168	21	.	.	PUNCT
ap-354	169	1	berlin	berlin	ADJ
ap-354	169	2	:	:	PUNCT
ap-354	169	3	springer	springer	NOUN
ap-354	169	4	-	-	PUNCT
ap-354	169	5	verlag	verlag	PROPN
ap-354	169	6	,	,	PUNCT
ap-354	169	7	1996	1996	NUM
ap-354	169	8	,	,	PUNCT
ap-354	169	9	isbn	isbn	ADJ
ap-354	169	10	3	3	NUM
ap-354	169	11	-	-	SYM
ap-354	169	12	540	540	NUM
ap-354	169	13	-	-	PUNCT
ap-354	169	14	60691	60691	NUM
ap-354	169	15	-	-	SYM
ap-354	169	16	2	2	NUM
ap-354	169	17	.	.	PUNCT
ap-354	170	1	[	[	X
ap-354	170	2	6	6	NUM
ap-354	170	3	]	]	X
ap-354	170	4	horacek	horacek	NOUN
ap-354	170	5	,	,	PUNCT
ap-354	170	6	p.	p.	NOUN
ap-354	170	7	,	,	PUNCT
ap-354	170	8	binder	binder	NOUN
ap-354	170	9	,	,	PUNCT
ap-354	170	10	z.	z.	PROPN
ap-354	170	11	:	:	PUNCT
ap-354	170	12	an	an	DET
ap-354	170	13	approach	approach	NOUN
ap-354	170	14	for	for	ADP
ap-354	170	15	design	design	NOUN
ap-354	170	16	and	and	CCONJ
ap-354	170	17	implementation	implementation	NOUN
ap-354	170	18	of	of	ADP
ap-354	170	19	fuzzy	fuzzy	ADJ
ap-354	170	20	controller	controller	NOUN
ap-354	170	21	.	.	PUNCT
ap-354	171	1	in	in	ADP
ap-354	171	2	:	:	PUNCT
ap-354	171	3	proceedings	proceeding	NOUN
ap-354	171	4	of	of	ADP
ap-354	171	5	european	european	PROPN
ap-354	171	6	congress	congress	PROPN
ap-354	171	7	on	on	ADP
ap-354	171	8	fuzzy	fuzzy	ADJ
ap-354	171	9	and	and	CCONJ
ap-354	171	10	intelligent	intelligent	ADJ
ap-354	171	11	technologies	technology	NOUN
ap-354	171	12	eufit’93	eufit’93	PROPN
ap-354	171	13	,	,	PUNCT
ap-354	171	14	germany	germany	PROPN
ap-354	171	15	,	,	PUNCT
ap-354	171	16	september	september	PROPN
ap-354	171	17	1993	1993	NUM
ap-354	171	18	,	,	PUNCT
ap-354	171	19	vol	vol	NOUN
ap-354	171	20	.	.	PROPN
ap-354	171	21	2	2	NUM
ap-354	171	22	,	,	PUNCT
ap-354	171	23	p.	p.	NOUN
ap-354	171	24	163–169	163–169	NUM
ap-354	171	25	,	,	PUNCT
ap-354	171	26	isbn	isbn	ADJ
ap-354	171	27	3	3	NUM
ap-354	171	28	-	-	SYM
ap-354	171	29	86073	86073	NUM
ap-354	171	30	-	-	SYM
ap-354	171	31	176	176	NUM
ap-354	171	32	-	-	SYM
ap-354	171	33	9	9	NUM
ap-354	171	34	.	.	PUNCT
ap-354	172	1	[	[	X
ap-354	172	2	7	7	X
ap-354	172	3	]	]	X
ap-354	172	4	jan	jan	PROPN
ap-354	172	5	,	,	PUNCT
ap-354	172	6	j.	j.	PROPN
ap-354	172	7	a.	a.	PROPN
ap-354	172	8	,	,	PUNCT
ap-354	172	9	šulc	šulc	PROPN
ap-354	172	10	,	,	PUNCT
ap-354	172	11	b.	b.	PROPN
ap-354	172	12	:	:	PUNCT
ap-354	172	13	conventional	conventional	ADJ
ap-354	172	14	and	and	CCONJ
ap-354	172	15	fuzzy	fuzzy	ADJ
ap-354	172	16	logic	logic	NOUN
ap-354	172	17	control	control	NOUN
ap-354	172	18	of	of	ADP
ap-354	172	19	non	non	ADJ
ap-354	172	20	linear	linear	PROPN
ap-354	172	21	hydraulic	hydraulic	ADJ
ap-354	172	22	actuators	actuator	NOUN
ap-354	172	23	for	for	ADP
ap-354	172	24	flexible	flexible	ADJ
ap-354	172	25	robots	robot	NOUN
ap-354	172	26	.	.	PUNCT
ap-354	173	1	iasted	iaste	VERB
ap-354	173	2	international	international	ADJ
ap-354	173	3	conference	conference	NOUN
ap-354	173	4	applied	apply	VERB
ap-354	173	5	simulation	simulation	NOUN
ap-354	173	6	and	and	CCONJ
ap-354	173	7	modelling	modelling	NOUN
ap-354	173	8	(	(	PUNCT
ap-354	173	9	asm	asm	NOUN
ap-354	173	10	2001	2001	NUM
ap-354	173	11	)	)	PUNCT
ap-354	173	12	,	,	PUNCT
ap-354	173	13	marbella	marbella	NOUN
ap-354	173	14	,	,	PUNCT
ap-354	173	15	spain	spain	PROPN
ap-354	173	16	,	,	PUNCT
ap-354	173	17	2001	2001	NUM
ap-354	173	18	,	,	PUNCT
ap-354	173	19	p.	p.	NOUN
ap-354	173	20	302–307	302–307	NUM
ap-354	173	21	,	,	PUNCT
ap-354	173	22	isbn	isbn	ADJ
ap-354	173	23	0	0	NUM
ap-354	173	24	-	-	PUNCT
ap-354	173	25	88986	88986	NUM
ap-354	173	26	-	-	PUNCT
ap-354	173	27	311	311	NUM
ap-354	173	28	-	-	SYM
ap-354	173	29	3	3	NUM
ap-354	173	30	.	.	PUNCT
ap-354	174	1	[	[	X
ap-354	174	2	8	8	NUM
ap-354	174	3	]	]	X
ap-354	174	4	jan	jan	PROPN
ap-354	174	5	,	,	PUNCT
ap-354	174	6	j.	j.	PROPN
ap-354	174	7	a.	a.	PROPN
ap-354	174	8	,	,	PUNCT
ap-354	174	9	šulc	šulc	PROPN
ap-354	174	10	,	,	PUNCT
ap-354	174	11	b.	b.	PROPN
ap-354	174	12	:	:	PUNCT
ap-354	174	13	fuzzy	fuzzy	ADJ
ap-354	174	14	logic	logic	NOUN
ap-354	174	15	control	control	NOUN
ap-354	174	16	in	in	ADP
ap-354	174	17	hydraulic	hydraulic	ADJ
ap-354	174	18	actuator	actuator	NOUN
ap-354	174	19	modelled	model	VERB
ap-354	174	20	from	from	ADP
ap-354	174	21	own	own	ADJ
ap-354	174	22	-	-	PUNCT
ap-354	174	23	built	build	VERB
ap-354	174	24	simulink	simulink	NOUN
ap-354	174	25	block	block	NOUN
ap-354	174	26	library	library	NOUN
ap-354	174	27	.	.	PUNCT
ap-354	175	1	proceedings	proceeding	NOUN
ap-354	175	2	of	of	ADP
ap-354	175	3	the	the	DET
ap-354	175	4	conference	conference	NOUN
ap-354	175	5	on	on	ADP
ap-354	175	6	information	information	NOUN
ap-354	175	7	engineering	engineering	NOUN
ap-354	175	8	and	and	CCONJ
ap-354	175	9	process	process	NOUN
ap-354	175	10	control	control	NOUN
ap-354	175	11	,	,	PUNCT
ap-354	175	12	ctu	ctu	PROPN
ap-354	175	13	,	,	PUNCT
ap-354	175	14	prague	prague	PROPN
ap-354	175	15	,	,	PUNCT
ap-354	175	16	czech	czech	PROPN
ap-354	175	17	republic	republic	NOUN
ap-354	175	18	,	,	PUNCT
ap-354	175	19	2001	2001	NUM
ap-354	175	20	,	,	PUNCT
ap-354	175	21	p.	p.	NOUN
ap-354	175	22	73–74	73–74	PROPN
ap-354	175	23	,	,	PUNCT
ap-354	175	24	isbn	isbn	ADJ
ap-354	175	25	80	80	NUM
ap-354	175	26	-	-	SYM
ap-354	175	27	902131	902131	NUM
ap-354	175	28	-	-	PUNCT
ap-354	175	29	7	7	NUM
ap-354	175	30	-	-	PUNCT
ap-354	175	31	0	0	NUM
ap-354	175	32	.	.	PUNCT
ap-354	176	1	[	[	X
ap-354	176	2	9	9	NUM
ap-354	176	3	]	]	SYM
ap-354	176	4	jan	jan	PROPN
ap-354	176	5	,	,	PUNCT
ap-354	176	6	j.	j.	PROPN
ap-354	176	7	a.	a.	PROPN
ap-354	176	8	,	,	PUNCT
ap-354	176	9	šulc	šulc	PROPN
ap-354	176	10	,	,	PUNCT
ap-354	176	11	b.	b.	PROPN
ap-354	176	12	:	:	PUNCT
ap-354	176	13	modelling	modelling	NOUN
ap-354	176	14	and	and	CCONJ
ap-354	176	15	simulation	simulation	NOUN
ap-354	176	16	of	of	ADP
ap-354	176	17	nonlinear	nonlinear	ADJ
ap-354	176	18	hydraulic	hydraulic	ADJ
ap-354	176	19	actuator	actuator	NOUN
ap-354	176	20	using	use	VERB
ap-354	176	21	conventional	conventional	ADJ
ap-354	176	22	and	and	CCONJ
ap-354	176	23	fuzzy	fuzzy	ADJ
ap-354	176	24	logic	logic	NOUN
ap-354	176	25	control	control	NOUN
ap-354	176	26	.	.	PUNCT
ap-354	177	1	16th	16th	ADJ
ap-354	177	2	international	international	ADJ
ap-354	177	3	conference	conference	NOUN
ap-354	177	4	on	on	ADP
ap-354	177	5	production	production	NOUN
ap-354	177	6	research	research	NOUN
ap-354	177	7	(	(	PUNCT
ap-354	177	8	icpr-16	icpr-16	PROPN
ap-354	177	9	)	)	PUNCT
ap-354	177	10	,	,	PUNCT
ap-354	177	11	prague	prague	PROPN
ap-354	177	12	,	,	PUNCT
ap-354	177	13	czech	czech	PROPN
ap-354	177	14	republic	republic	NOUN
ap-354	177	15	,	,	PUNCT
ap-354	177	16	2001	2001	NUM
ap-354	177	17	,	,	PUNCT
ap-354	177	18	isbn	isbn	ADJ
ap-354	177	19	80	80	NUM
ap-354	177	20	-	-	PUNCT
ap-354	177	21	02	02	NUM
ap-354	177	22	-	-	PUNCT
ap-354	177	23	01438	01438	NUM
ap-354	177	24	-	-	PUNCT
ap-354	177	25	3	3	NUM
ap-354	177	26	.	.	PUNCT
ap-354	178	1	[	[	X
ap-354	178	2	10	10	NUM
ap-354	178	3	]	]	X
ap-354	178	4	jan	jan	PROPN
ap-354	178	5	,	,	PUNCT
ap-354	178	6	j.	j.	PROPN
ap-354	178	7	a.	a.	PROPN
ap-354	178	8	,	,	PUNCT
ap-354	178	9	šulc	šulc	PROPN
ap-354	178	10	,	,	PUNCT
ap-354	178	11	b.	b.	PROPN
ap-354	178	12	:	:	PUNCT
ap-354	178	13	fuzzy	fuzzy	ADJ
ap-354	178	14	logic	logic	NOUN
ap-354	178	15	control	control	NOUN
ap-354	178	16	in	in	ADP
ap-354	178	17	differential	differential	ADJ
ap-354	178	18	hydraulic	hydraulic	ADJ
ap-354	178	19	cylinders	cylinder	NOUN
ap-354	178	20	driven	drive	VERB
ap-354	178	21	by	by	ADP
ap-354	178	22	servo	servo	NOUN
ap-354	178	23	-	-	PUNCT
ap-354	178	24	valves	valve	NOUN
ap-354	178	25	:	:	PUNCT
ap-354	178	26	simulation	simulation	NOUN
ap-354	178	27	and	and	CCONJ
ap-354	178	28	visualization	visualization	NOUN
ap-354	178	29	.	.	PUNCT
ap-354	179	1	5th	5th	ADJ
ap-354	179	2	international	international	ADJ
ap-354	179	3	student	student	NOUN
ap-354	179	4	conference	conference	NOUN
ap-354	179	5	,	,	PUNCT
ap-354	179	6	ctu	ctu	NOUN
ap-354	179	7	in	in	ADP
ap-354	179	8	prague	prague	PROPN
ap-354	179	9	,	,	PUNCT
ap-354	179	10	prague	prague	PROPN
ap-354	179	11	(	(	PUNCT
ap-354	179	12	czech	czech	PROPN
ap-354	179	13	republic	republic	NOUN
ap-354	179	14	):	):	PUNCT
ap-354	179	15	poster	poster	NOUN
ap-354	179	16	2001	2001	NUM
ap-354	179	17	.	.	PUNCT
ap-354	180	1	[	[	X
ap-354	180	2	11	11	NUM
ap-354	180	3	]	]	X
ap-354	180	4	kugi	kugi	NOUN
ap-354	180	5	,	,	PUNCT
ap-354	180	6	a.	a.	NOUN
ap-354	180	7	,	,	PUNCT
ap-354	180	8	schlacher	schlacher	PROPN
ap-354	180	9	,	,	PUNCT
ap-354	180	10	k.	k.	PROPN
ap-354	180	11	,	,	PUNCT
ap-354	180	12	keintzel	keintzel	PROPN
ap-354	180	13	,	,	PUNCT
ap-354	180	14	g.	g.	NOUN
ap-354	180	15	:	:	PUNCT
ap-354	180	16	position	position	NOUN
ap-354	180	17	control	control	NOUN
ap-354	180	18	and	and	CCONJ
ap-354	180	19	active	active	ADJ
ap-354	180	20	eccentricity	eccentricity	NOUN
ap-354	180	21	compensation	compensation	NOUN
ap-354	180	22	in	in	ADP
ap-354	180	23	rolling	rolling	NOUN
ap-354	180	24	mills	mill	NOUN
ap-354	180	25	.	.	PUNCT
ap-354	181	1	automatisierungstechnik	automatisierungstechnik	PROPN
ap-354	181	2	germany	germany	PROPN
ap-354	181	3	,	,	PUNCT
ap-354	181	4	1999	1999	NUM
ap-354	181	5	,	,	PUNCT
ap-354	181	6	at	at	ADP
ap-354	181	7	8/99	8/99	NUM
ap-354	181	8	,	,	PUNCT
ap-354	181	9	isbn	isbn	ADJ
ap-354	181	10	3	3	NUM
ap-354	181	11	-	-	SYM
ap-354	181	12	486	486	NUM
ap-354	181	13	-	-	PUNCT
ap-354	181	14	23477	23477	NUM
ap-354	181	15	-	-	SYM
ap-354	181	16	3	3	NUM
ap-354	181	17	.	.	PUNCT
ap-354	182	1	[	[	X
ap-354	182	2	12	12	NUM
ap-354	182	3	]	]	X
ap-354	182	4	merrit	merrit	PROPN
ap-354	182	5	,	,	PUNCT
ap-354	182	6	h.	h.	PROPN
ap-354	182	7	e.	e.	PROPN
ap-354	182	8	:	:	PUNCT
ap-354	182	9	hydraulic	hydraulic	PROPN
ap-354	182	10	control	control	PROPN
ap-354	182	11	systems	system	NOUN
ap-354	182	12	.	.	PUNCT
ap-354	183	1	new	new	PROPN
ap-354	183	2	york	york	PROPN
ap-354	183	3	:	:	PUNCT
ap-354	183	4	john	john	PROPN
ap-354	183	5	wiley	wiley	PROPN
ap-354	183	6	&	&	CCONJ
ap-354	183	7	sons	son	NOUN
ap-354	183	8	,	,	PUNCT
ap-354	183	9	1967	1967	NUM
ap-354	183	10	.	.	PUNCT
ap-354	184	1	13	13	NUM
ap-354	184	2	]	]	PUNCT
ap-354	184	3	noskievič	noskievič	NOUN
ap-354	184	4	,	,	PUNCT
ap-354	184	5	p.	p.	NOUN
ap-354	184	6	:	:	PUNCT
ap-354	184	7	modelling	modelling	NOUN
ap-354	184	8	and	and	CCONJ
ap-354	184	9	system	system	NOUN
ap-354	184	10	identification	identification	NOUN
ap-354	184	11	.	.	PUNCT
ap-354	185	1	(	(	PUNCT
ap-354	185	2	in	in	ADP
ap-354	185	3	czech	czech	PROPN
ap-354	185	4	)	)	PUNCT
ap-354	185	5	,	,	PUNCT
ap-354	185	6	ostrava	ostrava	PROPN
ap-354	185	7	(	(	PUNCT
ap-354	185	8	czech	czech	PROPN
ap-354	185	9	republic	republic	NOUN
ap-354	185	10	):	):	PUNCT
ap-354	185	11	montanex	montanex	PROPN
ap-354	185	12	a.s	a.s	PROPN
ap-354	185	13	.	.	PROPN
ap-354	185	14	,	,	PUNCT
ap-354	185	15	1999	1999	NUM
ap-354	185	16	,	,	PUNCT
ap-354	185	17	isbn	isbn	ADJ
ap-354	185	18	80	80	NUM
ap-354	185	19	-	-	PUNCT
ap-354	185	20	7225	7225	NUM
ap-354	185	21	-	-	PUNCT
ap-354	185	22	030	030	NUM
ap-354	185	23	-	-	PUNCT
ap-354	185	24	2	2	NUM
ap-354	185	25	.	.	PUNCT
ap-354	186	1	[	[	X
ap-354	186	2	14	14	NUM
ap-354	186	3	]	]	X
ap-354	186	4	stadler	stadler	NOUN
ap-354	186	5	,	,	PUNCT
ap-354	186	6	w.	w.	PROPN
ap-354	186	7	:	:	PUNCT
ap-354	186	8	analytical	analytical	ADJ
ap-354	186	9	robotics	robotic	NOUN
ap-354	186	10	and	and	CCONJ
ap-354	186	11	mechatronics	mechatronic	NOUN
ap-354	186	12	.	.	PUNCT
ap-354	187	1	new	new	PROPN
ap-354	187	2	york	york	PROPN
ap-354	187	3	:	:	PUNCT
ap-354	187	4	mcgraw	mcgraw	PROPN
ap-354	187	5	-	-	PUNCT
ap-354	187	6	hill	hill	PROPN
ap-354	187	7	inc	inc	PROPN
ap-354	187	8	.	.	PROPN
ap-354	187	9	,	,	PUNCT
ap-354	187	10	1995	1995	NUM
ap-354	187	11	,	,	PUNCT
ap-354	187	12	isbn	isbn	ADJ
ap-354	187	13	0	0	NUM
ap-354	187	14	-	-	PUNCT
ap-354	187	15	07	07	NUM
ap-354	187	16	-	-	PUNCT
ap-354	187	17	0060608	0060608	NUM
ap-354	187	18	-	-	PUNCT
ap-354	187	19	0	0	NUM
ap-354	187	20	.	.	PUNCT
ap-354	188	1	[	[	X
ap-354	188	2	15	15	NUM
ap-354	188	3	]	]	X
ap-354	188	4	sugeno	sugeno	NOUN
ap-354	188	5	,	,	PUNCT
ap-354	188	6	m.	m.	NOUN
ap-354	188	7	,	,	PUNCT
ap-354	188	8	yasukawa	yasukawa	NOUN
ap-354	188	9	,	,	PUNCT
ap-354	188	10	t.	t.	PROPN
ap-354	188	11	:	:	PUNCT
ap-354	188	12	a	a	DET
ap-354	188	13	fuzzy	fuzzy	ADJ
ap-354	188	14	-	-	PUNCT
ap-354	188	15	logic	logic	NOUN
ap-354	188	16	-	-	PUNCT
ap-354	188	17	based	base	VERB
ap-354	188	18	approach	approach	NOUN
ap-354	188	19	to	to	ADP
ap-354	188	20	qualitative	qualitative	ADJ
ap-354	188	21	modeling	modeling	NOUN
ap-354	188	22	.	.	PUNCT
ap-354	189	1	ieee	ieee	PROPN
ap-354	189	2	trans	trans	PROPN
ap-354	189	3	.	.	PUNCT
ap-354	190	1	on	on	ADP
ap-354	190	2	fuzzy	fuzzy	ADJ
ap-354	190	3	systems	system	NOUN
ap-354	190	4	,	,	PUNCT
ap-354	190	5	february	february	PROPN
ap-354	190	6	1993	1993	NUM
ap-354	190	7	,	,	PUNCT
ap-354	190	8	vol	vol	NOUN
ap-354	190	9	.	.	PROPN
ap-354	190	10	1	1	NUM
ap-354	190	11	,	,	PUNCT
ap-354	190	12	no	no	INTJ
ap-354	190	13	.	.	NOUN
ap-354	190	14	1	1	NUM
ap-354	190	15	,	,	PUNCT
ap-354	190	16	p.	p.	PROPN
ap-354	190	17	7–31	7–31	PROPN
ap-354	190	18	.	.	PUNCT
ap-354	191	1	[	[	X
ap-354	191	2	16	16	NUM
ap-354	191	3	]	]	PUNCT
ap-354	191	4	šulc	šulc	PROPN
ap-354	191	5	,	,	PUNCT
ap-354	191	6	b.	b.	PROPN
ap-354	191	7	:	:	PUNCT
ap-354	191	8	integral	integral	ADJ
ap-354	191	9	wind	wind	NOUN
ap-354	191	10	-	-	PUNCT
ap-354	191	11	up	up	NOUN
ap-354	191	12	in	in	ADP
ap-354	191	13	control	control	NOUN
ap-354	191	14	and	and	CCONJ
ap-354	191	15	system	system	NOUN
ap-354	191	16	simulation	simulation	NOUN
ap-354	191	17	.	.	PUNCT
ap-354	192	1	in	in	ADP
ap-354	192	2	:	:	PUNCT
ap-354	192	3	control	control	NOUN
ap-354	192	4	engineering	engineering	NOUN
ap-354	192	5	solutions	solution	NOUN
ap-354	192	6	.	.	PUNCT
ap-354	193	1	a	a	DET
ap-354	193	2	practical	practical	ADJ
ap-354	193	3	approach	approach	NOUN
ap-354	193	4	(	(	PUNCT
ap-354	193	5	p.	p.	NOUN
ap-354	193	6	albertos	albertos	PROPN
ap-354	193	7	,	,	PUNCT
ap-354	193	8	r.	r.	PROPN
ap-354	193	9	strietzel	strietzel	PROPN
ap-354	193	10	and	and	CCONJ
ap-354	193	11	n.	n.	PROPN
ap-354	193	12	mort	mort	PROPN
ap-354	193	13	(	(	PUNCT
ap-354	193	14	editors	editor	NOUN
ap-354	193	15	)	)	PUNCT
ap-354	193	16	)	)	PUNCT
ap-354	193	17	,	,	PUNCT
ap-354	193	18	iee	iee	PROPN
ap-354	193	19	,	,	PUNCT
ap-354	193	20	london	london	PROPN
ap-354	193	21	1997	1997	NUM
ap-354	193	22	,	,	PUNCT
ap-354	193	23	p.	p.	NOUN
ap-354	193	24	61–76	61–76	NUM
ap-354	193	25	,	,	PUNCT
ap-354	193	26	isbn	isbn	ADJ
ap-354	193	27	0	0	NUM
ap-354	193	28	-	-	PUNCT
ap-354	193	29	85296	85296	NUM
ap-354	193	30	-	-	PUNCT
ap-354	193	31	829	829	NUM
ap-354	193	32	-	-	SYM
ap-354	193	33	9	9	NUM
ap-354	193	34	.	.	PUNCT
ap-354	194	1	bohumil	bohumil	NOUN
ap-354	194	2	šulc	šulc	PROPN
ap-354	194	3	phone:+420	phone:+420	PRON
ap-354	194	4	224	224	NUM
ap-354	194	5	352	352	NUM
ap-354	194	6	531	531	NUM
ap-354	194	7	fax	fax	NOUN
ap-354	194	8	:	:	PUNCT
ap-354	194	9	+420	+420	NUM
ap-354	194	10	233	233	NUM
ap-354	194	11	336	336	NUM
ap-354	194	12	414	414	NUM
ap-354	194	13	e	e	NOUN
ap-354	194	14	-	-	NOUN
ap-354	194	15	mail	mail	NOUN
ap-354	194	16	:	:	PUNCT
ap-354	194	17	sulc@fsid.cvut.cz	sulc@fsid.cvut.cz	NOUN
ap-354	194	18	ing	ing	NOUN
ap-354	194	19	.	.	PUNCT
ap-354	195	1	javed	javed	PROPN
ap-354	195	2	alam	alam	PROPN
ap-354	195	3	jan	jan	PROPN
ap-354	195	4	,	,	PUNCT
ap-354	195	5	ph.d	ph.d	PROPN
ap-354	195	6	.	.	PUNCT
ap-354	196	1	e	e	X
ap-354	196	2	-	-	NOUN
ap-354	196	3	mail	mail	NOUN
ap-354	196	4	:	:	PUNCT
ap-354	196	5	javed@student.fsid.cvut.cz	javed@student.fsid.cvut.cz	PROPN
ap-354	196	6	department	department	NOUN
ap-354	196	7	of	of	ADP
ap-354	196	8	instrumentation	instrumentation	NOUN
ap-354	196	9	and	and	CCONJ
ap-354	196	10	control	control	NOUN
ap-354	196	11	engineering	engineering	NOUN
ap-354	196	12	czech	czech	PROPN
ap-354	196	13	technical	technical	PROPN
ap-354	196	14	university	university	PROPN
ap-354	196	15	in	in	ADP
ap-354	196	16	prague	prague	PROPN
ap-354	196	17	faculty	faculty	NOUN
ap-354	196	18	of	of	ADP
ap-354	196	19	mechanical	mechanical	ADJ
ap-354	196	20	engineering	engineering	NOUN
ap-354	196	21	technická	technická	NOUN
ap-354	196	22	4	4	NUM
ap-354	196	23	166	166	NUM
ap-354	196	24	07	07	NUM
ap-354	196	25	prague	prague	NOUN
ap-354	196	26	6	6	NUM
ap-354	196	27	,	,	PUNCT
ap-354	196	28	czech	czech	PROPN
ap-354	196	29	republic	republic	NOUN
ap-354	196	30	©	©	PROPN
ap-354	196	31	czech	czech	PROPN
ap-354	196	32	technical	technical	PROPN
ap-354	196	33	university	university	PROPN
ap-354	196	34	publishing	publishing	NOUN
ap-354	196	35	house	house	NOUN
ap-354	196	36	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-354	196	37	47	47	NUM
ap-354	196	38	acta	acta	PROPN
ap-354	196	39	polytechnica	polytechnica	PROPN
ap-354	196	40	vol	vol	NOUN
ap-354	196	41	.	.	PUNCT
ap-354	197	1	42	42	NUM
ap-354	197	2	no	no	INTJ
ap-354	197	3	.	.	PUNCT
ap-354	198	1	3/2002	3/2002	NUM
ap-354	198	2	x1	x1	PROPN
ap-354	198	3	,	,	PUNCT
ap-354	198	4	xc	xc	PROPN
ap-354	198	5	position	position	NOUN
ap-354	198	6	of	of	ADP
ap-354	198	7	cylinder	cylinder	NOUN
ap-354	198	8	piston	piston	NOUN
ap-354	199	1	[	[	X
ap-354	199	2	m	m	X
ap-354	199	3	]	]	X
ap-354	199	4	x2	x2	X
ap-354	199	5	,	,	PUNCT
ap-354	199	6	vc	vc	PROPN
ap-354	199	7	velocity	velocity	NOUN
ap-354	199	8	of	of	ADP
ap-354	199	9	cylinder	cylinder	NOUN
ap-354	199	10	piston	piston	NOUN
ap-354	200	1	[	[	X
ap-354	200	2	m	m	X
ap-354	200	3	/	/	SYM
ap-354	200	4	s	s	X
ap-354	200	5	]	]	X
ap-354	200	6	x3	x3	ADJ
ap-354	200	7	,	,	PUNCT
ap-354	200	8	p1	p1	NOUN
ap-354	200	9	pressure	pressure	NOUN
ap-354	200	10	of	of	ADP
ap-354	200	11	oil	oil	NOUN
ap-354	200	12	in	in	ADP
ap-354	200	13	chamber	chamber	NOUN
ap-354	200	14	1	1	NUM
ap-354	201	1	[	[	X
ap-354	201	2	pa	pa	X
ap-354	201	3	]	]	X
ap-354	201	4	x4	x4	PROPN
ap-354	201	5	,	,	PUNCT
ap-354	201	6	p2	p2	PROPN
ap-354	201	7	pressure	pressure	NOUN
ap-354	201	8	of	of	ADP
ap-354	201	9	oil	oil	NOUN
ap-354	201	10	in	in	ADP
ap-354	201	11	chamber	chamber	NOUN
ap-354	201	12	2	2	NUM
ap-354	202	1	[	[	X
ap-354	202	2	pa	pa	X
ap-354	202	3	]	]	X
ap-354	202	4	x5	x5	PROPN
ap-354	202	5	,	,	PUNCT
ap-354	202	6	xs	xs	PROPN
ap-354	202	7	position	position	NOUN
ap-354	202	8	of	of	ADP
ap-354	202	9	valve	valve	NOUN
ap-354	202	10	piston	piston	NOUN
ap-354	202	11	[	[	X
ap-354	202	12	m	m	X
ap-354	202	13	]	]	X
ap-354	202	14	x6	x6	PROPN
ap-354	202	15	,	,	PUNCT
ap-354	202	16	vs	vs	ADP
ap-354	202	17	velocity	velocity	NOUN
ap-354	202	18	of	of	ADP
ap-354	202	19	valve	valve	NOUN
ap-354	202	20	piston	piston	NOUN
ap-354	202	21	[	[	X
ap-354	202	22	m	m	X
ap-354	202	23	/	/	SYM
ap-354	202	24	s	s	X
ap-354	202	25	]	]	X
ap-354	202	26	q1/2	q1/2	VERB
ap-354	202	27	flow	flow	NOUN
ap-354	202	28	in	in	ADP
ap-354	202	29	pipe	pipe	NOUN
ap-354	202	30	1	1	NUM
ap-354	202	31	and	and	CCONJ
ap-354	202	32	2	2	NUM
ap-354	202	33	[	[	X
ap-354	202	34	m3	m3	PROPN
ap-354	202	35	/	/	SYM
ap-354	202	36	s	s	X
ap-354	202	37	]	]	X
ap-354	202	38	v0,1/2	v0,1/2	ADJ
ap-354	202	39	volume	volume	NOUN
ap-354	202	40	of	of	ADP
ap-354	202	41	oil	oil	NOUN
ap-354	202	42	in	in	ADP
ap-354	202	43	chamber	chamber	PROPN
ap-354	202	44	at	at	ADP
ap-354	202	45	xc	xc	PROPN
ap-354	202	46	�	�	PROPN
ap-354	202	47	0	0	PUNCT
ap-354	203	1	[	[	X
ap-354	203	2	m3	m3	X
ap-354	203	3	]	]	X
ap-354	203	4	ff	ff	NUM
ap-354	203	5	friction	friction	NOUN
ap-354	203	6	force	force	NOUN
ap-354	203	7	[	[	X
ap-354	203	8	n	n	CCONJ
ap-354	203	9	]	]	X
ap-354	203	10	eoil	eoil	NOUN
ap-354	203	11	bulk	bulk	ADJ
ap-354	203	12	modulus	modulus	NOUN
ap-354	203	13	of	of	ADP
ap-354	203	14	oil	oil	NOUN
ap-354	203	15	[	[	X
ap-354	203	16	pa	pa	X
ap-354	203	17	]	]	X
ap-354	203	18	a1	a1	NOUN
ap-354	203	19	piston	piston	NOUN
ap-354	203	20	area	area	NOUN
ap-354	203	21	in	in	ADP
ap-354	203	22	chamber	chamber	PROPN
ap-354	203	23	1	1	NUM
ap-354	203	24	[	[	X
ap-354	203	25	m2	m2	PROPN
ap-354	203	26	]	]	X
ap-354	203	27	a2	a2	PROPN
ap-354	203	28	piston	piston	PROPN
ap-354	203	29	area	area	NOUN
ap-354	203	30	in	in	ADP
ap-354	203	31	chamber	chamber	PROPN
ap-354	203	32	2	2	NUM
ap-354	203	33	[	[	X
ap-354	203	34	m2	m2	X
ap-354	203	35	]	]	X
ap-354	203	36	d	d	X
ap-354	203	37	diameter	diameter	NOUN
ap-354	203	38	of	of	ADP
ap-354	203	39	piston	piston	NOUN
ap-354	203	40	of	of	ADP
ap-354	203	41	cylinder	cylinder	NOUN
ap-354	203	42	[	[	X
ap-354	203	43	m	m	X
ap-354	203	44	]	]	X
ap-354	203	45	rc	rc	PROPN
ap-354	203	46	radial	radial	ADJ
ap-354	203	47	clearance	clearance	NOUN
ap-354	203	48	between	between	ADP
ap-354	203	49	piston	piston	NOUN
ap-354	203	50	and	and	CCONJ
ap-354	203	51	cylinder	cylinder	NOUN
ap-354	204	1	[	[	X
ap-354	204	2	m	m	X
ap-354	204	3	]	]	X
ap-354	204	4	l	l	NOUN
ap-354	204	5	length	length	NOUN
ap-354	204	6	of	of	ADP
ap-354	204	7	piston	piston	NOUN
ap-354	204	8	head	head	NOUN
ap-354	205	1	[	[	X
ap-354	205	2	m	m	X
ap-354	205	3	]	]	X
ap-354	205	4	b	b	PROPN
ap-354	205	5	spool	spool	NOUN
ap-354	205	6	valve	valve	NOUN
ap-354	205	7	damping	damp	VERB
ap-354	205	8	[	[	PUNCT
ap-354	205	9	1	1	NUM
ap-354	205	10	]	]	PUNCT
ap-354	205	11	�	�	NOUN
ap-354	205	12	n	n	PART
ap-354	205	13	spool	spool	NOUN
ap-354	205	14	valve	valve	VERB
ap-354	205	15	natural	natural	ADJ
ap-354	205	16	frequency	frequency	NOUN
ap-354	205	17	[	[	X
ap-354	205	18	s	s	NOUN
ap-354	205	19	�	�	NOUN
ap-354	205	20	1	1	NUM
ap-354	205	21	]	]	PUNCT
ap-354	205	22	�	�	PROPN
ap-354	205	23	dynamic	dynamic	ADJ
ap-354	205	24	viscosity	viscosity	NOUN
ap-354	205	25	[	[	X
ap-354	205	26	pa	pa	PROPN
ap-354	205	27	�	�	PROPN
ap-354	205	28	s	s	PART
ap-354	205	29	]	]	X
ap-354	205	30	table	table	NOUN
ap-354	205	31	2	2	NUM
ap-354	205	32	:	:	PUNCT
ap-354	205	33	lists	list	NOUN
ap-354	205	34	of	of	ADP
ap-354	205	35	symbols	symbol	NOUN