id	sid	tid	token	lemma	pos
ap-500	1	1	ap03_6.vp	ap03_6.vp	NOUN
ap-500	1	2	1	1	NUM
ap-500	1	3	introduction	introduction	NOUN
ap-500	1	4	an	an	DET
ap-500	1	5	important	important	ADJ
ap-500	1	6	problem	problem	NOUN
ap-500	1	7	in	in	ADP
ap-500	1	8	the	the	DET
ap-500	1	9	theory	theory	NOUN
ap-500	1	10	and	and	CCONJ
ap-500	1	11	practice	practice	NOUN
ap-500	1	12	of	of	ADP
ap-500	1	13	control	control	NOUN
ap-500	1	14	system	system	NOUN
ap-500	1	15	design	design	NOUN
ap-500	1	16	is	be	AUX
ap-500	1	17	the	the	DET
ap-500	1	18	design	design	NOUN
ap-500	1	19	of	of	ADP
ap-500	1	20	feedback	feedback	NOUN
ap-500	1	21	controllers	controller	NOUN
ap-500	1	22	,	,	PUNCT
ap-500	1	23	which	which	PRON
ap-500	1	24	place	place	VERB
ap-500	1	25	the	the	DET
ap-500	1	26	closed	closed	ADJ
ap-500	1	27	-	-	PUNCT
ap-500	1	28	loop	loop	NOUN
ap-500	1	29	poles	pole	NOUN
ap-500	1	30	of	of	ADP
ap-500	1	31	a	a	DET
ap-500	1	32	linear	linear	ADJ
ap-500	1	33	system	system	NOUN
ap-500	1	34	at	at	ADP
ap-500	1	35	desired	desire	VERB
ap-500	1	36	locations	location	NOUN
ap-500	1	37	.	.	PUNCT
ap-500	2	1	the	the	DET
ap-500	2	2	literature	literature	NOUN
ap-500	2	3	in	in	ADP
ap-500	2	4	this	this	DET
ap-500	2	5	field	field	NOUN
ap-500	2	6	is	be	AUX
ap-500	2	7	quite	quite	ADV
ap-500	2	8	rich	rich	ADJ
ap-500	2	9	.	.	PUNCT
ap-500	3	1	the	the	DET
ap-500	3	2	state	state	NOUN
ap-500	3	3	feedback	feedback	NOUN
ap-500	3	4	control	control	NOUN
ap-500	3	5	problem	problem	NOUN
ap-500	3	6	has	have	AUX
ap-500	3	7	been	be	AUX
ap-500	3	8	given	give	VERB
ap-500	3	9	a	a	DET
ap-500	3	10	lot	lot	NOUN
ap-500	3	11	of	of	ADP
ap-500	3	12	attention	attention	NOUN
ap-500	3	13	in	in	ADP
ap-500	3	14	the	the	DET
ap-500	3	15	control	control	NOUN
ap-500	3	16	community	community	NOUN
ap-500	3	17	during	during	ADP
ap-500	3	18	the	the	DET
ap-500	3	19	last	last	ADJ
ap-500	3	20	three	three	NUM
ap-500	3	21	decades	decade	NOUN
ap-500	3	22	.	.	PUNCT
ap-500	4	1	several	several	ADJ
ap-500	4	2	researchers	researcher	NOUN
ap-500	4	3	have	have	AUX
ap-500	4	4	developed	develop	VERB
ap-500	4	5	design	design	NOUN
ap-500	4	6	methods	method	NOUN
ap-500	4	7	for	for	ADP
ap-500	4	8	a	a	DET
ap-500	4	9	wide	wide	ADJ
ap-500	4	10	class	class	NOUN
ap-500	4	11	of	of	ADP
ap-500	4	12	linear	linear	PROPN
ap-500	4	13	systems	system	NOUN
ap-500	4	14	under	under	ADP
ap-500	4	15	full	full	ADJ
ap-500	4	16	-	-	PUNCT
ap-500	4	17	state	state	NOUN
ap-500	4	18	feedback	feedback	NOUN
ap-500	4	19	with	with	ADP
ap-500	4	20	the	the	DET
ap-500	4	21	objective	objective	NOUN
ap-500	4	22	of	of	ADP
ap-500	4	23	stabilizing	stabilize	VERB
ap-500	4	24	control	control	NOUN
ap-500	4	25	systems	system	NOUN
ap-500	4	26	(	(	PUNCT
ap-500	4	27	e.g.	e.g.	ADV
ap-500	4	28	[	[	X
ap-500	4	29	1–10	1–10	NOUN
ap-500	4	30	]	]	X
ap-500	4	31	)	)	PUNCT
ap-500	4	32	.	.	PUNCT
ap-500	5	1	in	in	ADP
ap-500	5	2	designing	design	VERB
ap-500	5	3	control	control	NOUN
ap-500	5	4	systems	system	NOUN
ap-500	5	5	based	base	VERB
ap-500	5	6	on	on	ADP
ap-500	5	7	pole	pole	NOUN
ap-500	5	8	placement	placement	NOUN
ap-500	5	9	,	,	PUNCT
ap-500	5	10	it	it	PRON
ap-500	5	11	may	may	AUX
ap-500	5	12	be	be	AUX
ap-500	5	13	satisfactory	satisfactory	ADJ
ap-500	5	14	in	in	ADP
ap-500	5	15	practice	practice	NOUN
ap-500	5	16	that	that	SCONJ
ap-500	5	17	the	the	DET
ap-500	5	18	closed	close	VERB
ap-500	5	19	-	-	PUNCT
ap-500	5	20	loop	loop	NOUN
ap-500	5	21	system	system	NOUN
ap-500	5	22	has	have	VERB
ap-500	5	23	all	all	DET
ap-500	5	24	poles	pole	NOUN
ap-500	5	25	at	at	ADP
ap-500	5	26	a	a	DET
ap-500	5	27	desired	desire	VERB
ap-500	5	28	location	location	NOUN
ap-500	5	29	.	.	PUNCT
ap-500	6	1	however	however	ADV
ap-500	6	2	,	,	PUNCT
ap-500	6	3	this	this	DET
ap-500	6	4	paper	paper	NOUN
ap-500	6	5	focuses	focus	VERB
ap-500	6	6	on	on	ADP
ap-500	6	7	a	a	DET
ap-500	6	8	special	special	ADJ
ap-500	6	9	feedback	feedback	NOUN
ap-500	6	10	using	use	VERB
ap-500	6	11	only	only	ADJ
ap-500	6	12	state	state	NOUN
ap-500	6	13	derivatives	derivative	NOUN
ap-500	6	14	instead	instead	ADV
ap-500	6	15	of	of	ADP
ap-500	6	16	full	full	ADJ
ap-500	6	17	state	state	NOUN
ap-500	6	18	feedback	feedback	NOUN
ap-500	6	19	.	.	PUNCT
ap-500	7	1	therefore	therefore	ADV
ap-500	7	2	this	this	DET
ap-500	7	3	feedback	feedback	NOUN
ap-500	7	4	is	be	AUX
ap-500	7	5	called	call	VERB
ap-500	7	6	state	state	NOUN
ap-500	7	7	derivative	derivative	ADJ
ap-500	7	8	feedback	feedback	NOUN
ap-500	7	9	.	.	PUNCT
ap-500	8	1	the	the	DET
ap-500	8	2	problem	problem	NOUN
ap-500	8	3	of	of	ADP
ap-500	8	4	arbitrary	arbitrary	ADJ
ap-500	8	5	pole	pole	NOUN
ap-500	8	6	placement	placement	NOUN
ap-500	8	7	using	use	VERB
ap-500	8	8	full	full	ADJ
ap-500	8	9	state	state	NOUN
ap-500	8	10	derivative	derivative	ADJ
ap-500	8	11	feedback	feedback	NOUN
ap-500	8	12	naturally	naturally	ADV
ap-500	8	13	arises	arise	VERB
ap-500	8	14	.	.	PUNCT
ap-500	9	1	to	to	ADP
ap-500	9	2	the	the	DET
ap-500	9	3	best	good	ADJ
ap-500	9	4	of	of	ADP
ap-500	9	5	the	the	DET
ap-500	9	6	authors	author	NOUN
ap-500	9	7	’	'	PUNCT
ap-500	9	8	knowledge	knowledge	NOUN
ap-500	9	9	,	,	PUNCT
ap-500	9	10	there	there	PRON
ap-500	9	11	has	have	AUX
ap-500	9	12	not	not	PART
ap-500	9	13	yet	yet	ADV
ap-500	9	14	been	be	AUX
ap-500	9	15	any	any	DET
ap-500	9	16	general	general	ADJ
ap-500	9	17	study	study	NOUN
ap-500	9	18	solving	solve	VERB
ap-500	9	19	this	this	DET
ap-500	9	20	feedback	feedback	NOUN
ap-500	9	21	for	for	ADP
ap-500	9	22	pole	pole	NOUN
ap-500	9	23	placement	placement	NOUN
ap-500	9	24	.	.	PUNCT
ap-500	10	1	the	the	DET
ap-500	10	2	motivation	motivation	NOUN
ap-500	10	3	for	for	ADP
ap-500	10	4	the	the	DET
ap-500	10	5	state	state	NOUN
ap-500	10	6	derivative	derivative	ADJ
ap-500	10	7	feedback	feedback	NOUN
ap-500	10	8	comes	come	VERB
ap-500	10	9	from	from	ADP
ap-500	10	10	controlled	control	VERB
ap-500	10	11	vibration	vibration	NOUN
ap-500	10	12	suppression	suppression	NOUN
ap-500	10	13	of	of	ADP
ap-500	10	14	mechanical	mechanical	ADJ
ap-500	10	15	systems	system	NOUN
ap-500	10	16	.	.	PUNCT
ap-500	11	1	the	the	DET
ap-500	11	2	main	main	ADJ
ap-500	11	3	sensors	sensor	NOUN
ap-500	11	4	of	of	ADP
ap-500	11	5	vibration	vibration	NOUN
ap-500	11	6	are	be	AUX
ap-500	11	7	accelerometers	accelerometer	NOUN
ap-500	11	8	.	.	PUNCT
ap-500	12	1	from	from	ADP
ap-500	12	2	accelerations	acceleration	NOUN
ap-500	12	3	it	it	PRON
ap-500	12	4	is	be	AUX
ap-500	12	5	possible	possible	ADJ
ap-500	12	6	to	to	PART
ap-500	12	7	reconstruct	reconstruct	VERB
ap-500	12	8	velocities	velocity	NOUN
ap-500	12	9	with	with	ADP
ap-500	12	10	reasonable	reasonable	ADJ
ap-500	12	11	accuracy	accuracy	NOUN
ap-500	12	12	,	,	PUNCT
ap-500	12	13	but	but	CCONJ
ap-500	12	14	not	not	PART
ap-500	12	15	the	the	DET
ap-500	12	16	displacements	displacement	NOUN
ap-500	12	17	.	.	PUNCT
ap-500	13	1	therefore	therefore	ADV
ap-500	13	2	the	the	DET
ap-500	13	3	available	available	ADJ
ap-500	13	4	signals	signal	NOUN
ap-500	13	5	for	for	ADP
ap-500	13	6	feedback	feedback	NOUN
ap-500	13	7	are	be	AUX
ap-500	13	8	accelerations	acceleration	NOUN
ap-500	13	9	and	and	CCONJ
ap-500	13	10	velocities	velocity	NOUN
ap-500	13	11	only	only	ADV
ap-500	13	12	,	,	PUNCT
ap-500	13	13	and	and	CCONJ
ap-500	13	14	these	these	PRON
ap-500	13	15	are	be	AUX
ap-500	13	16	exactly	exactly	ADV
ap-500	13	17	the	the	DET
ap-500	13	18	derivatives	derivative	NOUN
ap-500	13	19	of	of	ADP
ap-500	13	20	the	the	DET
ap-500	13	21	states	state	NOUN
ap-500	13	22	of	of	ADP
ap-500	13	23	mechanical	mechanical	ADJ
ap-500	13	24	systems	system	NOUN
ap-500	13	25	which	which	PRON
ap-500	13	26	are	be	AUX
ap-500	13	27	the	the	DET
ap-500	13	28	velocities	velocity	NOUN
ap-500	13	29	and	and	CCONJ
ap-500	13	30	displacements	displacement	NOUN
ap-500	13	31	.	.	PUNCT
ap-500	14	1	one	one	NUM
ap-500	14	2	necessary	necessary	ADJ
ap-500	14	3	condition	condition	NOUN
ap-500	14	4	for	for	ADP
ap-500	14	5	a	a	DET
ap-500	14	6	control	control	NOUN
ap-500	14	7	strategy	strategy	NOUN
ap-500	14	8	to	to	PART
ap-500	14	9	be	be	AUX
ap-500	14	10	implementable	implementable	ADJ
ap-500	14	11	is	be	AUX
ap-500	14	12	that	that	SCONJ
ap-500	14	13	it	it	PRON
ap-500	14	14	must	must	AUX
ap-500	14	15	use	use	VERB
ap-500	14	16	the	the	DET
ap-500	14	17	available	available	ADJ
ap-500	14	18	measured	measure	VERB
ap-500	14	19	responses	response	NOUN
ap-500	14	20	to	to	PART
ap-500	14	21	determine	determine	VERB
ap-500	14	22	the	the	DET
ap-500	14	23	control	control	NOUN
ap-500	14	24	action	action	NOUN
ap-500	14	25	.	.	PUNCT
ap-500	15	1	all	all	PRON
ap-500	15	2	of	of	ADP
ap-500	15	3	the	the	DET
ap-500	15	4	previous	previous	ADJ
ap-500	15	5	research	research	NOUN
ap-500	15	6	in	in	ADP
ap-500	15	7	the	the	DET
ap-500	15	8	control	control	NOUN
ap-500	15	9	has	have	AUX
ap-500	15	10	assumed	assume	VERB
ap-500	15	11	that	that	SCONJ
ap-500	15	12	all	all	PRON
ap-500	15	13	of	of	ADP
ap-500	15	14	the	the	DET
ap-500	15	15	states	state	NOUN
ap-500	15	16	can	can	AUX
ap-500	15	17	be	be	AUX
ap-500	15	18	directly	directly	ADV
ap-500	15	19	measured	measure	VERB
ap-500	15	20	(	(	PUNCT
ap-500	15	21	i.e.	i.e.	X
ap-500	15	22	,	,	PUNCT
ap-500	15	23	full	full	ADJ
ap-500	15	24	state	state	NOUN
ap-500	15	25	feedback	feedback	NOUN
ap-500	15	26	)	)	PUNCT
ap-500	15	27	.	.	PUNCT
ap-500	16	1	to	to	PART
ap-500	16	2	control	control	VERB
ap-500	16	3	this	this	DET
ap-500	16	4	class	class	NOUN
ap-500	16	5	of	of	ADP
ap-500	16	6	systems	system	NOUN
ap-500	16	7	,	,	PUNCT
ap-500	16	8	many	many	ADJ
ap-500	16	9	papers	paper	NOUN
ap-500	16	10	have	have	AUX
ap-500	16	11	been	be	AUX
ap-500	16	12	published	publish	VERB
ap-500	16	13	(	(	PUNCT
ap-500	16	14	e.g.	e.g.	ADV
ap-500	16	15	[	[	X
ap-500	16	16	11–16	11–16	NUM
ap-500	16	17	]	]	PUNCT
ap-500	16	18	)	)	PUNCT
ap-500	16	19	describing	describe	VERB
ap-500	16	20	the	the	DET
ap-500	16	21	acceleration	acceleration	NOUN
ap-500	16	22	feedback	feedback	NOUN
ap-500	16	23	for	for	ADP
ap-500	16	24	controlled	control	VERB
ap-500	16	25	vibration	vibration	NOUN
ap-500	16	26	suppression	suppression	NOUN
ap-500	16	27	.	.	PUNCT
ap-500	17	1	however	however	ADV
ap-500	17	2	,	,	PUNCT
ap-500	17	3	the	the	DET
ap-500	17	4	pole	pole	NOUN
ap-500	17	5	placement	placement	NOUN
ap-500	17	6	approach	approach	NOUN
ap-500	17	7	for	for	ADP
ap-500	17	8	feedback	feedback	NOUN
ap-500	17	9	gain	gain	NOUN
ap-500	17	10	determination	determination	NOUN
ap-500	17	11	has	have	AUX
ap-500	17	12	not	not	PART
ap-500	17	13	been	be	AUX
ap-500	17	14	used	use	VERB
ap-500	17	15	at	at	ADV
ap-500	17	16	all	all	ADV
ap-500	17	17	or	or	CCONJ
ap-500	17	18	has	have	AUX
ap-500	17	19	not	not	PART
ap-500	17	20	been	be	AUX
ap-500	17	21	solved	solve	VERB
ap-500	17	22	generally	generally	ADV
ap-500	17	23	.	.	PUNCT
ap-500	18	1	the	the	DET
ap-500	18	2	approach	approach	NOUN
ap-500	18	3	in	in	ADP
ap-500	18	4	[	[	X
ap-500	18	5	11–14	11–14	NUM
ap-500	18	6	]	]	X
ap-500	18	7	is	be	AUX
ap-500	18	8	based	base	VERB
ap-500	18	9	on	on	ADP
ap-500	18	10	dynamic	dynamic	ADJ
ap-500	18	11	derivative	derivative	ADJ
ap-500	18	12	output	output	NOUN
ap-500	18	13	feedback	feedback	NOUN
ap-500	18	14	.	.	PUNCT
ap-500	19	1	the	the	DET
ap-500	19	2	feedback	feedback	NOUN
ap-500	19	3	uses	use	VERB
ap-500	19	4	acceleration	acceleration	NOUN
ap-500	19	5	only	only	ADV
ap-500	19	6	(	(	PUNCT
ap-500	19	7	the	the	DET
ap-500	19	8	velocity	velocity	NOUN
ap-500	19	9	is	be	AUX
ap-500	19	10	not	not	PART
ap-500	19	11	used	use	VERB
ap-500	19	12	,	,	PUNCT
ap-500	19	13	therefore	therefore	ADV
ap-500	19	14	it	it	PRON
ap-500	19	15	is	be	AUX
ap-500	19	16	not	not	PART
ap-500	19	17	full	full	ADJ
ap-500	19	18	state	state	NOUN
ap-500	19	19	derivative	derivative	ADJ
ap-500	19	20	feedback	feedback	NOUN
ap-500	19	21	,	,	PUNCT
ap-500	19	22	but	but	CCONJ
ap-500	19	23	only	only	ADV
ap-500	19	24	output	output	VERB
ap-500	19	25	derivative	derivative	ADJ
ap-500	19	26	feedback	feedback	NOUN
ap-500	19	27	)	)	PUNCT
ap-500	19	28	and	and	CCONJ
ap-500	19	29	the	the	DET
ap-500	19	30	acceleration	acceleration	NOUN
ap-500	19	31	is	be	AUX
ap-500	19	32	processed	process	VERB
ap-500	19	33	by	by	ADP
ap-500	19	34	a	a	DET
ap-500	19	35	dynamic	dynamic	ADJ
ap-500	19	36	filter	filter	NOUN
ap-500	19	37	(	(	PUNCT
ap-500	19	38	dynamic	dynamic	ADJ
ap-500	19	39	feedback	feedback	NOUN
ap-500	19	40	)	)	PUNCT
ap-500	19	41	.	.	PUNCT
ap-500	20	1	the	the	DET
ap-500	20	2	feedback	feedback	NOUN
ap-500	20	3	gains	gain	NOUN
ap-500	20	4	are	be	AUX
ap-500	20	5	determined	determine	VERB
ap-500	20	6	using	use	VERB
ap-500	20	7	root	root	NOUN
ap-500	20	8	locus	locus	ADJ
ap-500	20	9	analysis	analysis	NOUN
ap-500	20	10	[	[	X
ap-500	20	11	11–15	11–15	NUM
ap-500	20	12	]	]	X
ap-500	20	13	,	,	PUNCT
ap-500	20	14	optimization	optimization	NOUN
ap-500	20	15	of	of	ADP
ap-500	20	16	the	the	DET
ap-500	20	17	h2	h2	NOUN
ap-500	20	18	norm	norm	NOUN
ap-500	20	19	of	of	ADP
ap-500	20	20	the	the	DET
ap-500	20	21	closed	closed	ADJ
ap-500	20	22	loop	loop	NOUN
ap-500	20	23	transfer	transfer	NOUN
ap-500	20	24	function	function	NOUN
ap-500	20	25	[	[	X
ap-500	20	26	14	14	NUM
ap-500	20	27	]	]	PUNCT
ap-500	20	28	or	or	CCONJ
ap-500	20	29	using	use	VERB
ap-500	20	30	just	just	ADV
ap-500	20	31	numerical	numerical	ADJ
ap-500	20	32	parameter	parameter	PROPN
ap-500	20	33	optimization	optimization	NOUN
ap-500	20	34	of	of	ADP
ap-500	20	35	performance	performance	NOUN
ap-500	20	36	indices	index	NOUN
ap-500	21	1	[	[	X
ap-500	21	2	16	16	NUM
ap-500	21	3	]	]	PUNCT
ap-500	21	4	.	.	PUNCT
ap-500	22	1	other	other	ADJ
ap-500	22	2	papers	paper	NOUN
ap-500	22	3	dealing	deal	VERB
ap-500	22	4	with	with	ADP
ap-500	22	5	acceleration	acceleration	NOUN
ap-500	22	6	feedback	feedback	NOUN
ap-500	22	7	for	for	ADP
ap-500	22	8	mechanical	mechanical	ADJ
ap-500	22	9	systems	system	NOUN
ap-500	22	10	are	be	AUX
ap-500	22	11	[	[	X
ap-500	22	12	17–18	17–18	NUM
ap-500	22	13	]	]	PUNCT
ap-500	22	14	,	,	PUNCT
ap-500	22	15	but	but	CCONJ
ap-500	22	16	here	here	ADV
ap-500	22	17	the	the	DET
ap-500	22	18	feedback	feedback	NOUN
ap-500	22	19	uses	use	VERB
ap-500	22	20	all	all	DET
ap-500	22	21	states	state	NOUN
ap-500	22	22	(	(	PUNCT
ap-500	22	23	positions	position	NOUN
ap-500	22	24	,	,	PUNCT
ap-500	22	25	velocities	velocity	NOUN
ap-500	22	26	)	)	PUNCT
ap-500	22	27	and	and	CCONJ
ap-500	22	28	accelerations	acceleration	NOUN
ap-500	22	29	additionally	additionally	ADV
ap-500	22	30	.	.	PUNCT
ap-500	23	1	recently	recently	ADV
ap-500	23	2	,	,	PUNCT
ap-500	23	3	paper	paper	NOUN
ap-500	24	1	[	[	X
ap-500	24	2	19	19	NUM
ap-500	24	3	]	]	PUNCT
ap-500	24	4	has	have	AUX
ap-500	24	5	presented	present	VERB
ap-500	24	6	a	a	DET
ap-500	24	7	nonlinear	nonlinear	ADJ
ap-500	24	8	controller	controller	NOUN
ap-500	24	9	based	base	VERB
ap-500	24	10	on	on	ADP
ap-500	24	11	the	the	DET
ap-500	24	12	state	state	NOUN
ap-500	24	13	-	-	PUNCT
ap-500	24	14	derivative	derivative	ADJ
ap-500	24	15	feedback	feedback	NOUN
ap-500	24	16	control	control	NOUN
ap-500	24	17	for	for	ADP
ap-500	24	18	a	a	DET
ap-500	24	19	magnetic	magnetic	ADJ
ap-500	24	20	bearing	bearing	NOUN
ap-500	24	21	.	.	PUNCT
ap-500	25	1	the	the	DET
ap-500	25	2	state	state	NOUN
ap-500	25	3	-	-	PUNCT
ap-500	25	4	derivative	derivative	ADJ
ap-500	25	5	feedback	feedback	NOUN
ap-500	25	6	is	be	AUX
ap-500	25	7	used	use	VERB
ap-500	25	8	for	for	ADP
ap-500	25	9	feedback	feedback	NOUN
ap-500	25	10	linearization	linearization	NOUN
ap-500	25	11	and	and	CCONJ
ap-500	25	12	not	not	PART
ap-500	25	13	for	for	ADP
ap-500	25	14	pole	pole	ADJ
ap-500	25	15	placement	placement	NOUN
ap-500	25	16	.	.	PUNCT
ap-500	26	1	in	in	ADP
ap-500	26	2	this	this	DET
ap-500	26	3	paper	paper	NOUN
ap-500	26	4	the	the	DET
ap-500	26	5	problem	problem	NOUN
ap-500	26	6	of	of	ADP
ap-500	26	7	pole	pole	NOUN
ap-500	26	8	placement	placement	NOUN
ap-500	26	9	by	by	ADP
ap-500	26	10	state	state	NOUN
ap-500	26	11	derivative	derivative	ADJ
ap-500	26	12	feedback	feedback	NOUN
ap-500	26	13	for	for	ADP
ap-500	26	14	single	single	ADJ
ap-500	26	15	-	-	PUNCT
ap-500	26	16	input	input	NOUN
ap-500	26	17	linear	linear	NOUN
ap-500	26	18	systems	system	NOUN
ap-500	26	19	,	,	PUNCT
ap-500	26	20	both	both	DET
ap-500	26	21	time	time	NOUN
ap-500	26	22	invariant	invariant	ADJ
ap-500	26	23	and	and	CCONJ
ap-500	26	24	time	time	NOUN
ap-500	26	25	varying	varying	NOUN
ap-500	26	26	,	,	PUNCT
ap-500	26	27	is	be	AUX
ap-500	26	28	generally	generally	ADV
ap-500	26	29	formulated	formulate	VERB
ap-500	26	30	and	and	CCONJ
ap-500	26	31	solved	solve	VERB
ap-500	26	32	.	.	PUNCT
ap-500	27	1	the	the	DET
ap-500	27	2	solution	solution	NOUN
ap-500	27	3	is	be	AUX
ap-500	27	4	based	base	VERB
ap-500	27	5	on	on	ADP
ap-500	27	6	recent	recent	ADJ
ap-500	27	7	efficient	efficient	ADJ
ap-500	27	8	techniques	technique	NOUN
ap-500	27	9	for	for	ADP
ap-500	27	10	solving	solve	VERB
ap-500	27	11	the	the	DET
ap-500	27	12	pole	pole	NOUN
ap-500	27	13	placement	placement	NOUN
ap-500	27	14	problem	problem	NOUN
ap-500	27	15	by	by	ADP
ap-500	27	16	state	state	NOUN
ap-500	27	17	feedback	feedback	NOUN
ap-500	27	18	for	for	ADP
ap-500	27	19	siso	siso	NOUN
ap-500	27	20	and	and	CCONJ
ap-500	27	21	mimo	mimo	PROPN
ap-500	27	22	linear	linear	PROPN
ap-500	27	23	time	time	NOUN
ap-500	27	24	-	-	PUNCT
ap-500	27	25	invariant	invariant	ADJ
ap-500	27	26	and	and	CCONJ
ap-500	27	27	time	time	NOUN
ap-500	27	28	-	-	PUNCT
ap-500	27	29	varying	vary	VERB
ap-500	27	30	systems	system	NOUN
ap-500	27	31	[	[	X
ap-500	27	32	8	8	NUM
ap-500	27	33	,	,	PUNCT
ap-500	27	34	9	9	NUM
ap-500	27	35	,	,	PUNCT
ap-500	27	36	10	10	NUM
ap-500	27	37	]	]	PUNCT
ap-500	27	38	.	.	PUNCT
ap-500	28	1	it	it	PRON
ap-500	28	2	uses	use	VERB
ap-500	28	3	the	the	DET
ap-500	28	4	transformation	transformation	NOUN
ap-500	28	5	of	of	ADP
ap-500	28	6	a	a	DET
ap-500	28	7	linear	linear	ADJ
ap-500	28	8	system	system	NOUN
ap-500	28	9	into	into	ADP
ap-500	28	10	frobenius	frobenius	ADJ
ap-500	28	11	canonical	canonical	ADJ
ap-500	28	12	form	form	NOUN
ap-500	28	13	and	and	CCONJ
ap-500	28	14	results	result	NOUN
ap-500	28	15	in	in	ADP
ap-500	28	16	different	different	ADJ
ap-500	28	17	versions	version	NOUN
ap-500	28	18	of	of	ADP
ap-500	28	19	ackermann	ackermann	PROPN
ap-500	28	20	’s	’s	PART
ap-500	28	21	formula	formula	NOUN
ap-500	28	22	.	.	PUNCT
ap-500	29	1	this	this	DET
ap-500	29	2	methodology	methodology	NOUN
ap-500	29	3	is	be	AUX
ap-500	29	4	also	also	ADV
ap-500	29	5	utilized	utilize	VERB
ap-500	29	6	in	in	ADP
ap-500	29	7	this	this	DET
ap-500	29	8	paper	paper	NOUN
ap-500	29	9	.	.	PUNCT
ap-500	30	1	in	in	ADP
ap-500	30	2	summary	summary	NOUN
ap-500	30	3	,	,	PUNCT
ap-500	30	4	this	this	DET
ap-500	30	5	paper	paper	NOUN
ap-500	30	6	is	be	AUX
ap-500	30	7	organized	organize	VERB
ap-500	30	8	as	as	SCONJ
ap-500	30	9	follows	follow	VERB
ap-500	30	10	.	.	PUNCT
ap-500	31	1	in	in	ADP
ap-500	31	2	section	section	NOUN
ap-500	31	3	2	2	NUM
ap-500	31	4	,	,	PUNCT
ap-500	31	5	we	we	PRON
ap-500	31	6	begin	begin	VERB
ap-500	31	7	with	with	ADP
ap-500	31	8	the	the	DET
ap-500	31	9	general	general	ADJ
ap-500	31	10	formulation	formulation	NOUN
ap-500	31	11	of	of	ADP
ap-500	31	12	the	the	DET
ap-500	31	13	problem	problem	NOUN
ap-500	31	14	followed	follow	VERB
ap-500	31	15	by	by	ADP
ap-500	31	16	the	the	DET
ap-500	31	17	solution	solution	NOUN
ap-500	31	18	for	for	ADP
ap-500	31	19	single	single	ADJ
ap-500	31	20	-	-	PUNCT
ap-500	31	21	input	input	NOUN
ap-500	31	22	linear	linear	ADJ
ap-500	31	23	time	time	NOUN
ap-500	31	24	invariant	invariant	ADJ
ap-500	31	25	systems	system	NOUN
ap-500	31	26	.	.	PUNCT
ap-500	32	1	section	section	NOUN
ap-500	32	2	3	3	NUM
ap-500	32	3	deals	deal	NOUN
ap-500	32	4	with	with	ADP
ap-500	32	5	the	the	DET
ap-500	32	6	extension	extension	NOUN
ap-500	32	7	of	of	ADP
ap-500	32	8	this	this	DET
ap-500	32	9	pole	pole	NOUN
ap-500	32	10	placement	placement	NOUN
ap-500	32	11	for	for	ADP
ap-500	32	12	time	time	NOUN
ap-500	32	13	-	-	PUNCT
ap-500	32	14	varying	vary	VERB
ap-500	32	15	systems	system	NOUN
ap-500	32	16	.	.	PUNCT
ap-500	33	1	in	in	ADP
ap-500	33	2	section	section	NOUN
ap-500	33	3	4	4	NUM
ap-500	33	4	,	,	PUNCT
ap-500	33	5	the	the	DET
ap-500	33	6	illustrative	illustrative	ADJ
ap-500	33	7	examples	example	NOUN
ap-500	33	8	and	and	CCONJ
ap-500	33	9	simulation	simulation	NOUN
ap-500	33	10	results	result	NOUN
ap-500	33	11	for	for	ADP
ap-500	33	12	several	several	ADJ
ap-500	33	13	systems	system	NOUN
ap-500	33	14	are	be	AUX
ap-500	33	15	presented	present	VERB
ap-500	33	16	.	.	PUNCT
ap-500	34	1	finally	finally	ADV
ap-500	34	2	,	,	PUNCT
ap-500	34	3	conclusions	conclusion	NOUN
ap-500	34	4	follow	follow	VERB
ap-500	34	5	in	in	ADP
ap-500	34	6	section	section	NOUN
ap-500	34	7	5	5	NUM
ap-500	34	8	.	.	SYM
ap-500	34	9	2	2	NUM
ap-500	34	10	pole	pole	NOUN
ap-500	34	11	placement	placement	NOUN
ap-500	34	12	by	by	ADP
ap-500	34	13	state	state	NOUN
ap-500	34	14	-	-	PUNCT
ap-500	34	15	derivative	derivative	ADJ
ap-500	34	16	feedback	feedback	NOUN
ap-500	34	17	for	for	ADP
ap-500	34	18	linear	linear	ADJ
ap-500	34	19	time	time	NOUN
ap-500	34	20	-	-	PUNCT
ap-500	34	21	invariant	invariant	ADJ
ap-500	34	22	systems	system	NOUN
ap-500	34	23	pole	pole	NOUN
ap-500	34	24	placement	placement	NOUN
ap-500	34	25	by	by	ADP
ap-500	34	26	state	state	NOUN
ap-500	34	27	-	-	PUNCT
ap-500	34	28	derivative	derivative	ADJ
ap-500	34	29	feedback	feedback	NOUN
ap-500	34	30	is	be	AUX
ap-500	34	31	solved	solve	VERB
ap-500	34	32	in	in	ADP
ap-500	34	33	this	this	DET
ap-500	34	34	section	section	NOUN
ap-500	34	35	for	for	ADP
ap-500	34	36	linear	linear	ADJ
ap-500	34	37	time	time	NOUN
ap-500	34	38	-	-	PUNCT
ap-500	34	39	invariant	invariant	ADJ
ap-500	34	40	systems	system	NOUN
ap-500	34	41	using	use	VERB
ap-500	34	42	the	the	DET
ap-500	34	43	technique	technique	NOUN
ap-500	34	44	from	from	ADP
ap-500	34	45	[	[	X
ap-500	34	46	8	8	NUM
ap-500	34	47	,	,	PUNCT
ap-500	34	48	9	9	NUM
ap-500	34	49	,	,	PUNCT
ap-500	34	50	10	10	NUM
ap-500	34	51	]	]	PUNCT
ap-500	34	52	.	.	PUNCT
ap-500	35	1	52	52	NUM
ap-500	35	2	©	©	PROPN
ap-500	35	3	czech	czech	PROPN
ap-500	35	4	technical	technical	PROPN
ap-500	35	5	university	university	PROPN
ap-500	35	6	publishing	publishing	NOUN
ap-500	35	7	house	house	NOUN
ap-500	35	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	35	9	acta	acta	PROPN
ap-500	35	10	polytechnica	polytechnica	PROPN
ap-500	35	11	vol	vol	NOUN
ap-500	35	12	.	.	PUNCT
ap-500	36	1	43	43	NUM
ap-500	36	2	no	no	NOUN
ap-500	36	3	.	.	PUNCT
ap-500	37	1	6/2003	6/2003	NOUN
ap-500	37	2	a	a	DET
ap-500	37	3	direct	direct	ADJ
ap-500	37	4	algorithm	algorithm	NOUN
ap-500	37	5	for	for	ADP
ap-500	37	6	pole	pole	ADJ
ap-500	37	7	placement	placement	NOUN
ap-500	37	8	by	by	ADP
ap-500	37	9	state	state	NOUN
ap-500	37	10	-	-	PUNCT
ap-500	37	11	derivative	derivative	ADJ
ap-500	37	12	feedback	feedback	NOUN
ap-500	37	13	for	for	ADP
ap-500	37	14	single	single	ADJ
ap-500	37	15	-	-	PUNCT
ap-500	37	16	input	input	NOUN
ap-500	37	17	linear	linear	PROPN
ap-500	37	18	systems	systems	PROPN
ap-500	37	19	taha	taha	PROPN
ap-500	37	20	h.	h.	PROPN
ap-500	37	21	s.	s.	PROPN
ap-500	37	22	abdelaziz	abdelaziz	PROPN
ap-500	37	23	,	,	PUNCT
ap-500	37	24	m.	m.	NOUN
ap-500	37	25	valášek	valášek	VERB
ap-500	37	26	this	this	DET
ap-500	37	27	paper	paper	NOUN
ap-500	37	28	deals	deal	NOUN
ap-500	37	29	with	with	ADP
ap-500	37	30	the	the	DET
ap-500	37	31	direct	direct	ADJ
ap-500	37	32	solution	solution	NOUN
ap-500	37	33	of	of	ADP
ap-500	37	34	the	the	DET
ap-500	37	35	pole	pole	NOUN
ap-500	37	36	placement	placement	NOUN
ap-500	37	37	problem	problem	NOUN
ap-500	37	38	for	for	ADP
ap-500	37	39	single	single	ADJ
ap-500	37	40	-	-	PUNCT
ap-500	37	41	input	input	NOUN
ap-500	37	42	linear	linear	NOUN
ap-500	37	43	systems	system	NOUN
ap-500	37	44	using	use	VERB
ap-500	37	45	state	state	NOUN
ap-500	37	46	-	-	PUNCT
ap-500	37	47	derivative	derivative	ADJ
ap-500	37	48	feedback	feedback	NOUN
ap-500	37	49	.	.	PUNCT
ap-500	38	1	this	this	DET
ap-500	38	2	pole	pole	ADJ
ap-500	38	3	placement	placement	NOUN
ap-500	38	4	problem	problem	NOUN
ap-500	38	5	is	be	AUX
ap-500	38	6	always	always	ADV
ap-500	38	7	solvable	solvable	ADJ
ap-500	38	8	for	for	ADP
ap-500	38	9	any	any	DET
ap-500	38	10	controllable	controllable	ADJ
ap-500	38	11	systems	system	NOUN
ap-500	38	12	if	if	SCONJ
ap-500	38	13	all	all	DET
ap-500	38	14	eigenvalues	eigenvalue	NOUN
ap-500	38	15	of	of	ADP
ap-500	38	16	the	the	DET
ap-500	38	17	original	original	ADJ
ap-500	38	18	system	system	NOUN
ap-500	38	19	are	be	AUX
ap-500	38	20	nonzero	nonzero	ADJ
ap-500	38	21	.	.	PUNCT
ap-500	39	1	then	then	ADV
ap-500	39	2	any	any	DET
ap-500	39	3	arbitrary	arbitrary	ADJ
ap-500	39	4	closed	closed	ADJ
ap-500	39	5	-	-	PUNCT
ap-500	39	6	loop	loop	NOUN
ap-500	39	7	poles	pole	NOUN
ap-500	39	8	can	can	AUX
ap-500	39	9	be	be	AUX
ap-500	39	10	placed	place	VERB
ap-500	39	11	in	in	ADP
ap-500	39	12	order	order	NOUN
ap-500	39	13	to	to	PART
ap-500	39	14	achieve	achieve	VERB
ap-500	39	15	the	the	DET
ap-500	39	16	desired	desire	VERB
ap-500	39	17	system	system	NOUN
ap-500	39	18	performance	performance	NOUN
ap-500	39	19	.	.	PUNCT
ap-500	40	1	the	the	DET
ap-500	40	2	solving	solve	VERB
ap-500	40	3	procedure	procedure	NOUN
ap-500	40	4	results	result	NOUN
ap-500	40	5	in	in	ADP
ap-500	40	6	a	a	DET
ap-500	40	7	formula	formula	NOUN
ap-500	40	8	similar	similar	ADJ
ap-500	40	9	to	to	ADP
ap-500	40	10	the	the	DET
ap-500	40	11	ackermann	ackermann	ADJ
ap-500	40	12	formula	formula	NOUN
ap-500	40	13	.	.	PUNCT
ap-500	41	1	its	its	PRON
ap-500	41	2	derivation	derivation	NOUN
ap-500	41	3	is	be	AUX
ap-500	41	4	based	base	VERB
ap-500	41	5	on	on	ADP
ap-500	41	6	the	the	DET
ap-500	41	7	transformation	transformation	NOUN
ap-500	41	8	of	of	ADP
ap-500	41	9	a	a	DET
ap-500	41	10	linear	linear	ADJ
ap-500	41	11	single	single	ADJ
ap-500	41	12	-	-	PUNCT
ap-500	41	13	input	input	NOUN
ap-500	41	14	system	system	NOUN
ap-500	41	15	into	into	ADP
ap-500	41	16	frobenius	frobenius	ADJ
ap-500	41	17	canonical	canonical	ADJ
ap-500	41	18	form	form	NOUN
ap-500	41	19	by	by	ADP
ap-500	41	20	a	a	DET
ap-500	41	21	special	special	ADJ
ap-500	41	22	coordinate	coordinate	NOUN
ap-500	41	23	transformation	transformation	NOUN
ap-500	41	24	,	,	PUNCT
ap-500	41	25	then	then	ADV
ap-500	41	26	solving	solve	VERB
ap-500	41	27	the	the	DET
ap-500	41	28	pole	pole	NOUN
ap-500	41	29	placement	placement	NOUN
ap-500	41	30	problem	problem	NOUN
ap-500	41	31	by	by	ADP
ap-500	41	32	state	state	NOUN
ap-500	41	33	derivative	derivative	ADJ
ap-500	41	34	feedback	feedback	NOUN
ap-500	41	35	.	.	PUNCT
ap-500	42	1	finally	finally	ADV
ap-500	42	2	the	the	DET
ap-500	42	3	solution	solution	NOUN
ap-500	42	4	is	be	AUX
ap-500	42	5	extended	extend	VERB
ap-500	42	6	also	also	ADV
ap-500	42	7	for	for	ADP
ap-500	42	8	single	single	ADJ
ap-500	42	9	-	-	PUNCT
ap-500	42	10	input	input	NOUN
ap-500	42	11	time	time	NOUN
ap-500	42	12	-	-	PUNCT
ap-500	42	13	varying	vary	VERB
ap-500	42	14	control	control	NOUN
ap-500	42	15	systems	system	NOUN
ap-500	42	16	.	.	PUNCT
ap-500	43	1	the	the	DET
ap-500	43	2	simulation	simulation	NOUN
ap-500	43	3	results	result	NOUN
ap-500	43	4	are	be	AUX
ap-500	43	5	included	include	VERB
ap-500	43	6	to	to	PART
ap-500	43	7	show	show	VERB
ap-500	43	8	the	the	DET
ap-500	43	9	effectiveness	effectiveness	NOUN
ap-500	43	10	of	of	ADP
ap-500	43	11	the	the	DET
ap-500	43	12	proposed	propose	VERB
ap-500	43	13	approach	approach	NOUN
ap-500	43	14	.	.	PUNCT
ap-500	44	1	keywords	keyword	NOUN
ap-500	44	2	:	:	PUNCT
ap-500	44	3	pole	pole	NOUN
ap-500	44	4	placement	placement	NOUN
ap-500	44	5	,	,	PUNCT
ap-500	44	6	state	state	NOUN
ap-500	44	7	-	-	PUNCT
ap-500	44	8	derivative	derivative	ADJ
ap-500	44	9	feedback	feedback	NOUN
ap-500	44	10	,	,	PUNCT
ap-500	44	11	linear	linear	ADJ
ap-500	44	12	single	single	ADJ
ap-500	44	13	-	-	PUNCT
ap-500	44	14	input	input	NOUN
ap-500	44	15	systems	system	NOUN
ap-500	44	16	,	,	PUNCT
ap-500	44	17	feedback	feedback	NOUN
ap-500	44	18	stabilization	stabilization	NOUN
ap-500	44	19	.	.	PUNCT
ap-500	45	1	2.1	2.1	NUM
ap-500	45	2	pole	pole	NOUN
ap-500	45	3	placement	placement	NOUN
ap-500	45	4	problem	problem	NOUN
ap-500	45	5	formulation	formulation	NOUN
ap-500	45	6	consider	consider	VERB
ap-500	45	7	a	a	DET
ap-500	45	8	controllable	controllable	ADJ
ap-500	45	9	linear	linear	NOUN
ap-500	45	10	time	time	NOUN
ap-500	45	11	-	-	PUNCT
ap-500	45	12	invariant	invariant	ADJ
ap-500	45	13	single	single	ADJ
ap-500	45	14	-	-	PUNCT
ap-500	45	15	input	input	NOUN
ap-500	45	16	system	system	NOUN
ap-500	45	17	,	,	PUNCT
ap-500	45	18	�	�	PROPN
ap-500	45	19	�	�	PROPN
ap-500	45	20	�	�	PROPN
ap-500	45	21	�	�	PROPN
ap-500	45	22	�	�	PROPN
ap-500	45	23	�	�	PROPN
ap-500	45	24	�	�	PROPN
ap-500	45	25	x	x	PROPN
ap-500	45	26	a	a	DET
ap-500	45	27	x	x	SYM
ap-500	45	28	bt	bt	NOUN
ap-500	45	29	t	t	PROPN
ap-500	45	30	u	u	PROPN
ap-500	45	31	t	t	PROPN
ap-500	45	32	�	�	PROPN
ap-500	45	33	�	�	PROPN
ap-500	45	34	,	,	PUNCT
ap-500	45	35	�	�	PROPN
ap-500	45	36	�	�	PROPN
ap-500	45	37	x	x	PROPN
ap-500	45	38	xt0	xt0	PROPN
ap-500	45	39	�	�	PROPN
ap-500	45	40	0	0	NUM
ap-500	45	41	,	,	PUNCT
ap-500	45	42	(	(	PUNCT
ap-500	45	43	1	1	X
ap-500	45	44	)	)	PUNCT
ap-500	45	45	where	where	SCONJ
ap-500	45	46	�	�	PROPN
ap-500	45	47	�	�	PROPN
ap-500	45	48	x	x	PROPN
ap-500	45	49	t	t	PROPN
ap-500	45	50	n	n	CCONJ
ap-500	45	51	�	�	PROPN
ap-500	45	52	r	r	NOUN
ap-500	45	53	and	and	CCONJ
ap-500	45	54	�	�	PROPN
ap-500	45	55	�	�	PROPN
ap-500	45	56	u	u	PROPN
ap-500	45	57	t	t	PROPN
ap-500	45	58	�	�	PROPN
ap-500	45	59	r	r	NOUN
ap-500	45	60	are	be	AUX
ap-500	45	61	the	the	DET
ap-500	45	62	state	state	NOUN
ap-500	45	63	vector	vector	NOUN
ap-500	45	64	and	and	CCONJ
ap-500	45	65	the	the	DET
ap-500	45	66	scalar	scalar	ADJ
ap-500	45	67	control	control	NOUN
ap-500	45	68	input	input	NOUN
ap-500	45	69	,	,	PUNCT
ap-500	45	70	respectively	respectively	ADV
ap-500	45	71	,	,	PUNCT
ap-500	45	72	while	while	SCONJ
ap-500	45	73	a	a	DET
ap-500	45	74	�	�	PROPN
ap-500	45	75	�	�	PROPN
ap-500	45	76	rn	rn	PROPN
ap-500	45	77	n	n	PROPN
ap-500	45	78	and	and	CCONJ
ap-500	45	79	b	b	PROPN
ap-500	45	80	�	�	PROPN
ap-500	45	81	rnare	rnare	VERB
ap-500	45	82	the	the	DET
ap-500	45	83	system	system	NOUN
ap-500	45	84	matrix	matrix	NOUN
ap-500	45	85	and	and	CCONJ
ap-500	45	86	control	control	NOUN
ap-500	45	87	gain	gain	NOUN
ap-500	45	88	vector	vector	NOUN
ap-500	45	89	,	,	PUNCT
ap-500	45	90	respectively	respectively	ADV
ap-500	45	91	.	.	PUNCT
ap-500	46	1	the	the	DET
ap-500	46	2	characteristic	characteristic	ADJ
ap-500	46	3	polynomial	polynomial	NOUN
ap-500	46	4	of	of	ADP
ap-500	46	5	matrix	matrix	NOUN
ap-500	46	6	a	a	PRON
ap-500	46	7	can	can	AUX
ap-500	46	8	be	be	AUX
ap-500	46	9	given	give	VERB
ap-500	46	10	by	by	ADP
ap-500	46	11	�	�	PROPN
ap-500	46	12	det	det	PROPN
ap-500	46	13	s	s	PROPN
ap-500	46	14	s	s	NOUN
ap-500	46	15	s	s	X
ap-500	46	16	s	s	X
ap-500	46	17	+	+	NOUN
ap-500	46	18	i	i	PRON
ap-500	46	19	a	a	DET
ap-500	46	20	�	�	PROPN
ap-500	46	21	�	�	PROPN
ap-500	46	22	�	�	PROPN
ap-500	46	23	�	�	PROPN
ap-500	46	24	�	�	PROPN
ap-500	46	25	n	n	CCONJ
ap-500	46	26	n	n	ADV
ap-500	46	27	na	na	NOUN
ap-500	46	28	a	a	DET
ap-500	46	29	a1	a1	NOUN
ap-500	46	30	1	1	NUM
ap-500	46	31	1	1	NUM
ap-500	46	32	0	0	NUM
ap-500	46	33	0	0	NUM
ap-500	46	34	�	�	PROPN
ap-500	46	35	,	,	PUNCT
ap-500	46	36	(	(	PUNCT
ap-500	46	37	2	2	X
ap-500	46	38	)	)	PUNCT
ap-500	46	39	where	where	SCONJ
ap-500	46	40	�	�	PROPN
ap-500	46	41	a	a	DET
ap-500	46	42	�	�	PROPN
ap-500	46	43	a	a	DET
ap-500	46	44	a	a	DET
ap-500	46	45	an0	an0	PROPN
ap-500	46	46	1	1	NUM
ap-500	46	47	1	1	NUM
ap-500	46	48	,	,	PUNCT
ap-500	46	49	,	,	PUNCT
ap-500	46	50	,	,	PUNCT
ap-500	46	51	�	�	PROPN
ap-500	46	52	are	be	AUX
ap-500	46	53	the	the	DET
ap-500	46	54	coefficients	coefficient	NOUN
ap-500	46	55	of	of	ADP
ap-500	46	56	the	the	DET
ap-500	46	57	characteristic	characteristic	ADJ
ap-500	46	58	polynomial	polynomial	NOUN
ap-500	46	59	and	and	CCONJ
ap-500	46	60	i	i	PROPN
ap-500	46	61	�	�	PROPN
ap-500	46	62	�	�	PROPN
ap-500	46	63	rn	rn	PROPN
ap-500	46	64	n	n	PROPN
ap-500	46	65	is	be	AUX
ap-500	46	66	the	the	DET
ap-500	46	67	identity	identity	NOUN
ap-500	46	68	matrix	matrix	NOUN
ap-500	46	69	.	.	PUNCT
ap-500	47	1	it	it	PRON
ap-500	47	2	is	be	AUX
ap-500	47	3	known	know	VERB
ap-500	47	4	that	that	SCONJ
ap-500	47	5	�	�	PROPN
ap-500	47	6	�	�	PROPN
ap-500	47	7	�	�	PROPN
ap-500	47	8	�	�	PROPN
ap-500	47	9	�	�	PROPN
ap-500	47	10	�	�	PROPN
ap-500	47	11	a	a	PRON
ap-500	47	12	n	n	NOUN
ap-500	47	13	0	0	NUM
ap-500	47	14	1	1	NUM
ap-500	47	15	�	�	PROPN
ap-500	47	16	�	�	PROPN
ap-500	47	17	det	det	PROPN
ap-500	47	18	deta	deta	PROPN
ap-500	47	19	a	a	DET
ap-500	47	20	and	and	CCONJ
ap-500	47	21	�	�	PROPN
ap-500	47	22	�	�	PROPN
ap-500	47	23	an	an	DET
ap-500	47	24	�	�	PROPN
ap-500	47	25	1	1	NUM
ap-500	47	26	trace	trace	NOUN
ap-500	47	27	a	a	PRON
ap-500	47	28	.	.	PUNCT
ap-500	48	1	the	the	DET
ap-500	48	2	objective	objective	NOUN
ap-500	48	3	is	be	AUX
ap-500	48	4	to	to	PART
ap-500	48	5	place	place	VERB
ap-500	48	6	the	the	DET
ap-500	48	7	desired	desire	VERB
ap-500	48	8	poles	pole	NOUN
ap-500	48	9	for	for	ADP
ap-500	48	10	the	the	DET
ap-500	48	11	closed	closed	ADJ
ap-500	48	12	-	-	PUNCT
ap-500	48	13	loop	loop	NOUN
ap-500	48	14	system	system	NOUN
ap-500	48	15	using	use	VERB
ap-500	48	16	the	the	DET
ap-500	48	17	constant	constant	ADJ
ap-500	48	18	state	state	NOUN
ap-500	48	19	-	-	PUNCT
ap-500	48	20	derivative	derivative	ADJ
ap-500	48	21	feedback	feedback	NOUN
ap-500	48	22	control	control	NOUN
ap-500	48	23	u	u	PROPN
ap-500	48	24	�	�	PROPN
ap-500	48	25	k	k	PROPN
ap-500	48	26	x	x	PROPN
ap-500	48	27	�	�	PROPN
ap-500	48	28	,	,	PUNCT
ap-500	48	29	(	(	PUNCT
ap-500	48	30	3	3	X
ap-500	48	31	)	)	PUNCT
ap-500	48	32	that	that	PRON
ap-500	48	33	enforces	enforce	VERB
ap-500	48	34	a	a	DET
ap-500	48	35	desired	desire	VERB
ap-500	48	36	characteristic	characteristic	ADJ
ap-500	48	37	behavior	behavior	NOUN
ap-500	48	38	for	for	ADP
ap-500	48	39	the	the	DET
ap-500	48	40	states	state	NOUN
ap-500	48	41	and	and	CCONJ
ap-500	48	42	thus	thus	ADV
ap-500	48	43	stabilizes	stabilize	VERB
ap-500	48	44	the	the	DET
ap-500	48	45	system	system	NOUN
ap-500	48	46	.	.	PUNCT
ap-500	49	1	using	use	VERB
ap-500	49	2	the	the	DET
ap-500	49	3	feedback	feedback	NOUN
ap-500	49	4	(	(	PUNCT
ap-500	49	5	3	3	X
ap-500	49	6	)	)	PUNCT
ap-500	49	7	the	the	DET
ap-500	49	8	closed	closed	ADJ
ap-500	49	9	-	-	PUNCT
ap-500	49	10	loop	loop	NOUN
ap-500	49	11	system	system	NOUN
ap-500	49	12	becomes	become	VERB
ap-500	49	13	�	�	PROPN
ap-500	49	14	�	�	PROPN
ap-500	49	15	�	�	PROPN
ap-500	49	16	�	�	PROPN
ap-500	49	17	x	x	PROPN
ap-500	49	18	i	i	PROPN
ap-500	49	19	bkt	bkt	PROPN
ap-500	49	20	�	�	PROPN
ap-500	50	1	+	+	CCONJ
ap-500	50	2	1a	1a	X
ap-500	50	3	x	x	SYM
ap-500	50	4	,	,	PUNCT
ap-500	50	5	(	(	PUNCT
ap-500	50	6	4	4	X
ap-500	50	7	)	)	PUNCT
ap-500	50	8	the	the	DET
ap-500	50	9	design	design	NOUN
ap-500	50	10	problem	problem	NOUN
ap-500	50	11	is	be	AUX
ap-500	50	12	to	to	PART
ap-500	50	13	find	find	VERB
ap-500	50	14	the	the	DET
ap-500	50	15	feedback	feedback	NOUN
ap-500	50	16	gain	gain	NOUN
ap-500	50	17	matrix	matrix	NOUN
ap-500	50	18	k	k	NOUN
ap-500	50	19	such	such	ADJ
ap-500	50	20	that	that	SCONJ
ap-500	50	21	the	the	DET
ap-500	50	22	closed	closed	ADJ
ap-500	50	23	-	-	PUNCT
ap-500	50	24	loop	loop	NOUN
ap-500	50	25	poles	pole	NOUN
ap-500	50	26	,	,	PUNCT
ap-500	50	27	�	�	PROPN
ap-500	50	28	�	�	PROPN
ap-500	50	29	�	�	PROPN
ap-500	50	30	�	�	PROPN
ap-500	50	31	�	�	PROPN
ap-500	50	32	1	1	NUM
ap-500	50	33	2	2	NUM
ap-500	50	34	,	,	PUNCT
ap-500	50	35	,	,	PUNCT
ap-500	50	36	,	,	PUNCT
ap-500	50	37	�	�	PROPN
ap-500	50	38	n	n	CCONJ
ap-500	50	39	satisfying	satisfy	VERB
ap-500	50	40	�	�	PROPN
ap-500	50	41	�	�	PROPN
ap-500	50	42	�	�	PROPN
ap-500	50	43	�	�	PROPN
ap-500	50	44	spec	spec	VERB
ap-500	50	45	a	a	DET
ap-500	50	46	�	�	PROPN
ap-500	50	47	�	�	PROPN
ap-500	50	48	�	�	PROPN
ap-500	50	49	�	�	PROPN
ap-500	50	50	�	�	PROPN
ap-500	50	51	1	1	NUM
ap-500	50	52	2	2	NUM
ap-500	50	53	0	0	NUM
ap-500	50	54	,	,	PUNCT
ap-500	50	55	,	,	PUNCT
ap-500	50	56	,	,	PUNCT
ap-500	50	57	n	n	X
ap-500	50	58	�	�	PROPN
ap-500	50	59	,	,	PUNCT
ap-500	50	60	of	of	ADP
ap-500	50	61	system	system	NOUN
ap-500	50	62	(	(	PUNCT
ap-500	50	63	4	4	X
ap-500	50	64	)	)	PUNCT
ap-500	50	65	are	be	AUX
ap-500	50	66	assigned	assign	VERB
ap-500	50	67	at	at	ADP
ap-500	50	68	the	the	DET
ap-500	50	69	desired	desire	VERB
ap-500	50	70	values	value	NOUN
ap-500	50	71	.	.	PUNCT
ap-500	51	1	a	a	DET
ap-500	51	2	solution	solution	NOUN
ap-500	51	3	of	of	ADP
ap-500	51	4	this	this	DET
ap-500	51	5	problem	problem	NOUN
ap-500	51	6	using	use	VERB
ap-500	51	7	the	the	DET
ap-500	51	8	procedures	procedure	NOUN
ap-500	51	9	of	of	ADP
ap-500	51	10	state	state	NOUN
ap-500	51	11	feedback	feedback	NOUN
ap-500	51	12	is	be	AUX
ap-500	51	13	difficult	difficult	ADJ
ap-500	51	14	,	,	PUNCT
ap-500	51	15	and	and	CCONJ
ap-500	51	16	a	a	DET
ap-500	51	17	direct	direct	ADJ
ap-500	51	18	approach	approach	NOUN
ap-500	51	19	usually	usually	ADV
ap-500	51	20	leads	lead	VERB
ap-500	51	21	to	to	ADP
ap-500	51	22	iterative	iterative	NOUN
ap-500	51	23	optimization	optimization	NOUN
ap-500	51	24	.	.	PUNCT
ap-500	52	1	the	the	DET
ap-500	52	2	solution	solution	NOUN
ap-500	52	3	to	to	ADP
ap-500	52	4	this	this	DET
ap-500	52	5	problem	problem	NOUN
ap-500	52	6	is	be	AUX
ap-500	52	7	further	far	ADV
ap-500	52	8	accomplished	accomplish	VERB
ap-500	52	9	by	by	ADP
ap-500	52	10	utilizing	utilize	VERB
ap-500	52	11	a	a	DET
ap-500	52	12	transformation	transformation	NOUN
ap-500	52	13	of	of	ADP
ap-500	52	14	this	this	DET
ap-500	52	15	system	system	NOUN
ap-500	52	16	to	to	ADP
ap-500	52	17	the	the	DET
ap-500	52	18	frobenius	frobenius	ADJ
ap-500	52	19	canonical	canonical	ADJ
ap-500	52	20	form	form	NOUN
ap-500	52	21	and	and	CCONJ
ap-500	52	22	placing	place	VERB
ap-500	52	23	the	the	DET
ap-500	52	24	desired	desire	VERB
ap-500	52	25	eigenvalues	eigenvalue	NOUN
ap-500	52	26	.	.	PUNCT
ap-500	53	1	2.2	2.2	NUM
ap-500	53	2	transformation	transformation	NOUN
ap-500	53	3	into	into	ADP
ap-500	53	4	frobenius	frobenius	ADJ
ap-500	53	5	canonical	canonical	ADJ
ap-500	53	6	form	form	NOUN
ap-500	53	7	for	for	ADP
ap-500	53	8	time	time	NOUN
ap-500	53	9	-	-	PUNCT
ap-500	53	10	invariant	invariant	ADJ
ap-500	53	11	systems	system	NOUN
ap-500	53	12	frobenius	frobenius	NOUN
ap-500	53	13	canonical	canonical	ADJ
ap-500	53	14	form	form	NOUN
ap-500	53	15	is	be	AUX
ap-500	53	16	constructed	construct	VERB
ap-500	53	17	by	by	ADP
ap-500	53	18	transforming	transform	VERB
ap-500	53	19	the	the	DET
ap-500	53	20	state	state	NOUN
ap-500	53	21	vector	vector	NOUN
ap-500	53	22	to	to	ADP
ap-500	53	23	a	a	DET
ap-500	53	24	new	new	ADJ
ap-500	53	25	coordinate	coordinate	NOUN
ap-500	53	26	system	system	NOUN
ap-500	53	27	in	in	ADP
ap-500	53	28	which	which	PRON
ap-500	53	29	the	the	DET
ap-500	53	30	system	system	NOUN
ap-500	53	31	equation	equation	NOUN
ap-500	53	32	takes	take	VERB
ap-500	53	33	a	a	DET
ap-500	53	34	particular	particular	ADJ
ap-500	53	35	form	form	NOUN
ap-500	53	36	.	.	PUNCT
ap-500	54	1	let	let	VERB
ap-500	54	2	us	we	PRON
ap-500	54	3	take	take	VERB
ap-500	54	4	the	the	DET
ap-500	54	5	following	following	ADJ
ap-500	54	6	time	time	NOUN
ap-500	54	7	-	-	PUNCT
ap-500	54	8	invariant	invariant	ADJ
ap-500	54	9	state	state	NOUN
ap-500	54	10	transformation	transformation	NOUN
ap-500	54	11	,	,	PUNCT
ap-500	54	12	�	�	PROPN
ap-500	54	13	�	�	PROPN
ap-500	54	14	�	�	PROPN
ap-500	54	15	�	�	PROPN
ap-500	54	16	z	z	PROPN
ap-500	54	17	q	q	PROPN
ap-500	54	18	xt	xt	PROPN
ap-500	54	19	t	t	PROPN
ap-500	54	20	�	�	PROPN
ap-500	54	21	1	1	NUM
ap-500	54	22	,	,	PUNCT
ap-500	54	23	(	(	PUNCT
ap-500	54	24	5	5	NUM
ap-500	54	25	)	)	PUNCT
ap-500	54	26	where	where	SCONJ
ap-500	54	27	�	�	PROPN
ap-500	54	28	�	�	PROPN
ap-500	54	29	z	z	PROPN
ap-500	54	30	t	t	PROPN
ap-500	54	31	n	n	CCONJ
ap-500	54	32	�	�	NOUN
ap-500	54	33	r	r	NOUN
ap-500	54	34	is	be	AUX
ap-500	54	35	the	the	DET
ap-500	54	36	new	new	ADJ
ap-500	54	37	(	(	PUNCT
ap-500	54	38	transformed	transform	VERB
ap-500	54	39	)	)	PUNCT
ap-500	54	40	state	state	NOUN
ap-500	54	41	variable	variable	ADJ
ap-500	54	42	vector	vector	NOUN
ap-500	54	43	and	and	CCONJ
ap-500	54	44	q	q	PROPN
ap-500	54	45	�	�	PROPN
ap-500	54	46	�	�	PROPN
ap-500	54	47	1	1	NUM
ap-500	54	48	rn	rn	PROPN
ap-500	54	49	n	n	PROPN
ap-500	54	50	is	be	AUX
ap-500	54	51	the	the	DET
ap-500	54	52	transformation	transformation	NOUN
ap-500	54	53	matrix	matrix	NOUN
ap-500	54	54	.	.	PUNCT
ap-500	55	1	the	the	DET
ap-500	55	2	original	original	ADJ
ap-500	55	3	system	system	NOUN
ap-500	55	4	is	be	AUX
ap-500	55	5	transformed	transform	VERB
ap-500	55	6	into	into	ADP
ap-500	55	7	a	a	DET
ap-500	55	8	system	system	NOUN
ap-500	55	9	with	with	ADP
ap-500	55	10	the	the	DET
ap-500	55	11	transformed	transform	VERB
ap-500	55	12	system	system	NOUN
ap-500	55	13	matrix	matrix	NOUN
ap-500	55	14	af	af	VERB
ap-500	55	15	n	n	CCONJ
ap-500	55	16	n	n	CCONJ
ap-500	55	17	�	�	PROPN
ap-500	55	18	�	�	PROPN
ap-500	55	19	r	r	NOUN
ap-500	55	20	and	and	CCONJ
ap-500	55	21	the	the	DET
ap-500	55	22	transformed	transform	VERB
ap-500	55	23	control	control	NOUN
ap-500	55	24	gain	gain	VERB
ap-500	55	25	vector	vector	NOUN
ap-500	55	26	bf	bf	NOUN
ap-500	55	27	n	n	CCONJ
ap-500	55	28	�	�	PROPN
ap-500	55	29	r	r	NOUN
ap-500	55	30	,	,	PUNCT
ap-500	55	31	which	which	PRON
ap-500	55	32	are	be	AUX
ap-500	55	33	given	give	VERB
ap-500	55	34	by	by	ADP
ap-500	55	35	a	a	DET
ap-500	55	36	af	af	PROPN
ap-500	55	37	�	�	PROPN
ap-500	55	38	q	q	PROPN
ap-500	55	39	q1	q1	PROPN
ap-500	55	40	,	,	PUNCT
ap-500	55	41	b	b	PROPN
ap-500	55	42	bf	bf	NOUN
ap-500	55	43	�	�	PROPN
ap-500	55	44	q	q	PROPN
ap-500	55	45	1	1	NUM
ap-500	55	46	.	.	PUNCT
ap-500	56	1	(	(	PUNCT
ap-500	56	2	6	6	NUM
ap-500	56	3	)	)	PUNCT
ap-500	56	4	if	if	SCONJ
ap-500	56	5	the	the	DET
ap-500	56	6	transformation	transformation	NOUN
ap-500	56	7	matrix	matrix	NOUN
ap-500	56	8	is	be	AUX
ap-500	56	9	chosen	choose	VERB
ap-500	56	10	as	as	ADP
ap-500	56	11	q	q	PROPN
ap-500	56	12	q	q	X
ap-500	56	13	q	q	X
ap-500	56	14	q	q	ADJ
ap-500	56	15	�	�	PROPN
ap-500	56	16	�	�	PROPN
ap-500	56	17	�	�	PROPN
ap-500	56	18	�	�	PROPN
ap-500	56	19	�	�	PROPN
ap-500	56	20	�	�	PROPN
ap-500	56	21	�	�	PROPN
ap-500	56	22	�	�	PROPN
ap-500	56	23	�	�	PROPN
ap-500	56	24	�	�	PROPN
ap-500	56	25	�	�	PROPN
ap-500	56	26	�	�	PROPN
ap-500	56	27	1	1	NUM
ap-500	56	28	1	1	NUM
ap-500	56	29	1	1	NUM
ap-500	56	30	1	1	NUM
ap-500	56	31	1	1	NUM
ap-500	56	32	a	a	DET
ap-500	56	33	a	a	DET
ap-500	56	34	m	m	NOUN
ap-500	56	35	n	n	NUM
ap-500	56	36	,	,	PUNCT
ap-500	56	37	(	(	PUNCT
ap-500	56	38	7	7	X
ap-500	56	39	)	)	PUNCT
ap-500	56	40	where	where	SCONJ
ap-500	56	41	the	the	DET
ap-500	56	42	row	row	NOUN
ap-500	56	43	vector	vector	NOUN
ap-500	56	44	q1	q1	PROPN
ap-500	56	45	1	1	NUM
ap-500	56	46	�	�	PROPN
ap-500	56	47	�	�	PROPN
ap-500	56	48	r	r	NOUN
ap-500	56	49	n	n	NOUN
ap-500	56	50	is	be	AUX
ap-500	56	51	computed	compute	VERB
ap-500	56	52	as	as	ADP
ap-500	56	53	q	q	PROPN
ap-500	56	54	e1	e1	PROPN
ap-500	56	55	1=	1=	NUM
ap-500	56	56	t	t	NOUN
ap-500	56	57	n	n	CCONJ
ap-500	56	58	r	r	NOUN
ap-500	56	59	,	,	PUNCT
ap-500	56	60	(	(	PUNCT
ap-500	56	61	8)	8)	NUM
ap-500	56	62	from	from	ADP
ap-500	56	63	the	the	DET
ap-500	56	64	controllability	controllability	NOUN
ap-500	56	65	matrix	matrix	NOUN
ap-500	56	66	r	r	NOUN
ap-500	56	67	�	�	PROPN
ap-500	56	68	�	�	PROPN
ap-500	56	69	rn	rn	PROPN
ap-500	56	70	n	n	PROPN
ap-500	56	71	of	of	ADP
ap-500	56	72	system	system	NOUN
ap-500	56	73	(	(	PUNCT
ap-500	56	74	1	1	NUM
ap-500	56	75	)	)	PUNCT
ap-500	56	76	,	,	PUNCT
ap-500	56	77	�	�	PROPN
ap-500	56	78	�	�	PROPN
ap-500	56	79	r	r	NOUN
ap-500	56	80	b	b	PROPN
ap-500	56	81	ab	ab	PROPN
ap-500	56	82	a	a	DET
ap-500	56	83	b	b	PROPN
ap-500	56	84	a	a	DET
ap-500	56	85	b	b	X
ap-500	56	86	�	�	PROPN
ap-500	56	87	2	2	NUM
ap-500	56	88	1	1	NUM
ap-500	56	89	�	�	PROPN
ap-500	56	90	n	n	NOUN
ap-500	56	91	,	,	PUNCT
ap-500	56	92	(	(	PUNCT
ap-500	56	93	9	9	X
ap-500	56	94	)	)	PUNCT
ap-500	56	95	where	where	SCONJ
ap-500	56	96	�	�	PROPN
ap-500	56	97	en	en	X
ap-500	56	98	�	�	PROPN
ap-500	56	99	0	0	NUM
ap-500	56	100	0	0	NUM
ap-500	56	101	1	1	NUM
ap-500	56	102	,	,	PUNCT
ap-500	56	103	,	,	PUNCT
ap-500	56	104	,	,	PUNCT
ap-500	56	105	�	�	PROPN
ap-500	56	106	ten	ten	NUM
ap-500	56	107	�	�	PROPN
ap-500	56	108	[	[	PUNCT
ap-500	56	109	0	0	NUM
ap-500	56	110	,	,	PUNCT
ap-500	56	111	…	…	PUNCT
ap-500	56	112	,	,	PUNCT
ap-500	56	113	0	0	NUM
ap-500	56	114	,	,	PUNCT
ap-500	56	115	1]t	1]t	NUM
ap-500	56	116	is	be	AUX
ap-500	56	117	a	a	DET
ap-500	56	118	unit	unit	NOUN
ap-500	56	119	vector	vector	NOUN
ap-500	56	120	,	,	PUNCT
ap-500	56	121	then	then	ADV
ap-500	56	122	the	the	DET
ap-500	56	123	transformed	transform	VERB
ap-500	56	124	system	system	NOUN
ap-500	56	125	is	be	AUX
ap-500	56	126	transformed	transform	VERB
ap-500	56	127	into	into	ADP
ap-500	56	128	the	the	DET
ap-500	56	129	frobenius	frobenius	ADJ
ap-500	56	130	canonical	canonical	ADJ
ap-500	56	131	form	form	NOUN
ap-500	56	132	�	�	PROPN
ap-500	56	133	z	z	PROPN
ap-500	56	134	z	z	PROPN
ap-500	56	135	�	�	PROPN
ap-500	56	136	�	�	PROPN
ap-500	56	137	�	�	PROPN
ap-500	56	138	�	�	PROPN
ap-500	56	139	�	�	PROPN
ap-500	56	140	a	a	DET
ap-500	56	141	bf	bf	NOUN
ap-500	56	142	f	f	PROPN
ap-500	57	1	n+	n+	NUM
ap-500	57	2	u	u	PRON
ap-500	57	3	a	a	DET
ap-500	57	4	a	a	DET
ap-500	57	5	a	a	DET
ap-500	57	6	a	a	DET
ap-500	57	7	0	0	NUM
ap-500	57	8	0	0	NUM
ap-500	57	9	0	0	NUM
ap-500	57	10	1	1	NUM
ap-500	57	11	�	�	PROPN
ap-500	57	12	�	�	PROPN
ap-500	57	13	�	�	PROPN
ap-500	57	14	�	�	PROPN
ap-500	57	15	�	�	PROPN
ap-500	57	16	�	�	PROPN
ap-500	57	17	0	0	NUM
ap-500	57	18	0	0	NUM
ap-500	57	19	1	1	NUM
ap-500	57	20	0	0	NUM
ap-500	57	21	m	m	VERB
ap-500	57	22	m	m	VERB
ap-500	57	23	m	m	VERB
ap-500	57	24	o	o	NOUN
ap-500	57	25	m	m	NOUN
ap-500	57	26	0	0	NUM
ap-500	57	27	0	0	NUM
ap-500	57	28	1	1	NUM
ap-500	57	29	0	0	NUM
ap-500	57	30	1	1	NUM
ap-500	57	31	2	2	NUM
ap-500	57	32	�	�	PROPN
ap-500	57	33	�	�	PROPN
ap-500	57	34	�	�	PROPN
ap-500	57	35	�	�	PROPN
ap-500	57	36	�	�	PROPN
ap-500	57	37	�	�	PROPN
ap-500	57	38	�	�	PROPN
ap-500	57	39	�	�	PROPN
ap-500	57	40	�	�	PROPN
ap-500	57	41	�	�	PROPN
ap-500	57	42	�	�	PROPN
ap-500	57	43	�	�	PROPN
ap-500	57	44	�	�	PROPN
ap-500	57	45	�	�	PROPN
ap-500	57	46	�	�	PROPN
ap-500	57	47	�	�	PROPN
ap-500	57	48	�	�	PROPN
ap-500	57	49	�	�	PROPN
ap-500	57	50	�	�	PROPN
ap-500	57	51	�	�	PROPN
ap-500	57	52	�	�	PROPN
ap-500	57	53	�	�	PROPN
ap-500	57	54	�	�	PROPN
ap-500	57	55	�	�	PROPN
ap-500	57	56	�	�	PROPN
ap-500	57	57	�	�	PROPN
ap-500	57	58	�	�	PROPN
ap-500	57	59	z+	z+	NUM
ap-500	57	60	u	u	NOUN
ap-500	57	61	0	0	NUM
ap-500	57	62	0	0	NUM
ap-500	57	63	0	0	NUM
ap-500	57	64	1	1	NUM
ap-500	57	65	m	m	NOUN
ap-500	57	66	.	.	PUNCT
ap-500	58	1	(	(	PUNCT
ap-500	58	2	10	10	NUM
ap-500	58	3	)	)	PUNCT
ap-500	58	4	then	then	ADV
ap-500	58	5	,	,	PUNCT
ap-500	58	6	the	the	DET
ap-500	58	7	system	system	NOUN
ap-500	58	8	is	be	AUX
ap-500	58	9	reduced	reduce	VERB
ap-500	58	10	to	to	ADP
ap-500	58	11	a	a	DET
ap-500	58	12	simple	simple	ADJ
ap-500	58	13	and	and	CCONJ
ap-500	58	14	convenient	convenient	ADJ
ap-500	58	15	form	form	NOUN
ap-500	58	16	that	that	PRON
ap-500	58	17	can	can	AUX
ap-500	58	18	be	be	AUX
ap-500	58	19	easily	easily	ADV
ap-500	58	20	manipulated	manipulate	VERB
ap-500	58	21	and	and	CCONJ
ap-500	58	22	we	we	PRON
ap-500	58	23	can	can	AUX
ap-500	58	24	solve	solve	VERB
ap-500	58	25	the	the	DET
ap-500	58	26	pole	pole	NOUN
ap-500	58	27	placement	placement	NOUN
ap-500	58	28	problem	problem	NOUN
ap-500	58	29	by	by	ADP
ap-500	58	30	state	state	NOUN
ap-500	58	31	-	-	PUNCT
ap-500	58	32	derivative	derivative	ADJ
ap-500	58	33	feedback	feedback	NOUN
ap-500	58	34	.	.	PUNCT
ap-500	59	1	if	if	SCONJ
ap-500	59	2	the	the	DET
ap-500	59	3	transformation	transformation	NOUN
ap-500	59	4	matrix	matrix	NOUN
ap-500	59	5	is	be	AUX
ap-500	59	6	nonsingular	nonsingular	ADJ
ap-500	59	7	,	,	PUNCT
ap-500	59	8	then	then	ADV
ap-500	59	9	the	the	DET
ap-500	59	10	transformation	transformation	NOUN
ap-500	59	11	to	to	ADP
ap-500	59	12	the	the	DET
ap-500	59	13	generalized	generalize	VERB
ap-500	59	14	frobenius	frobenius	ADJ
ap-500	59	15	canonical	canonical	ADJ
ap-500	59	16	form	form	NOUN
ap-500	59	17	can	can	AUX
ap-500	59	18	be	be	AUX
ap-500	59	19	made	make	VERB
ap-500	59	20	.	.	PUNCT
ap-500	60	1	2.3	2.3	NUM
ap-500	60	2	solution	solution	NOUN
ap-500	60	3	of	of	ADP
ap-500	60	4	the	the	DET
ap-500	60	5	pole	pole	NOUN
ap-500	60	6	placement	placement	NOUN
ap-500	60	7	problem	problem	NOUN
ap-500	60	8	for	for	ADP
ap-500	60	9	time	time	NOUN
ap-500	60	10	-	-	PUNCT
ap-500	60	11	invariant	invariant	ADJ
ap-500	60	12	systems	system	NOUN
ap-500	60	13	in	in	ADP
ap-500	60	14	this	this	DET
ap-500	60	15	subsection	subsection	NOUN
ap-500	60	16	,	,	PUNCT
ap-500	60	17	we	we	PRON
ap-500	60	18	will	will	AUX
ap-500	60	19	find	find	VERB
ap-500	60	20	the	the	DET
ap-500	60	21	state	state	NOUN
ap-500	60	22	-	-	PUNCT
ap-500	60	23	derivative	derivative	ADJ
ap-500	60	24	feedback	feedback	NOUN
ap-500	60	25	gain	gain	NOUN
ap-500	60	26	matrix	matrix	NOUN
ap-500	60	27	k	k	NOUN
ap-500	61	1	that	that	PRON
ap-500	61	2	assigns	assign	VERB
ap-500	61	3	the	the	DET
ap-500	61	4	desired	desire	VERB
ap-500	61	5	closed	close	VERB
ap-500	61	6	-	-	PUNCT
ap-500	61	7	loop	loop	NOUN
ap-500	61	8	poles	pole	NOUN
ap-500	61	9	system	system	NOUN
ap-500	61	10	in	in	ADP
ap-500	61	11	a	a	DET
ap-500	61	12	computationally	computationally	ADV
ap-500	61	13	efficient	efficient	ADJ
ap-500	61	14	and	and	CCONJ
ap-500	61	15	simple	simple	ADJ
ap-500	61	16	manner	manner	NOUN
ap-500	61	17	.	.	PUNCT
ap-500	62	1	utilizing	utilize	VERB
ap-500	62	2	the	the	DET
ap-500	62	3	above	above	ADJ
ap-500	62	4	transformation	transformation	NOUN
ap-500	62	5	into	into	ADP
ap-500	62	6	frobenius	frobenius	ADJ
ap-500	62	7	canonical	canonical	ADJ
ap-500	62	8	form	form	NOUN
ap-500	62	9	,	,	PUNCT
ap-500	62	10	the	the	DET
ap-500	62	11	system	system	NOUN
ap-500	62	12	can	can	AUX
ap-500	62	13	be	be	AUX
ap-500	62	14	manipulated	manipulate	VERB
ap-500	62	15	by	by	ADP
ap-500	62	16	a	a	DET
ap-500	62	17	linear	linear	ADJ
ap-500	62	18	feedback	feedback	NOUN
ap-500	62	19	for	for	ADP
ap-500	62	20	a	a	DET
ap-500	62	21	desired	desire	VERB
ap-500	62	22	behavior	behavior	NOUN
ap-500	62	23	.	.	PUNCT
ap-500	63	1	by	by	ADP
ap-500	63	2	differentiating	differentiate	VERB
ap-500	63	3	the	the	DET
ap-500	63	4	transformation	transformation	NOUN
ap-500	63	5	equation	equation	NOUN
ap-500	63	6	(	(	PUNCT
ap-500	63	7	5	5	NUM
ap-500	63	8	)	)	PUNCT
ap-500	63	9	,	,	PUNCT
ap-500	63	10	the	the	DET
ap-500	63	11	resulting	result	VERB
ap-500	63	12	closed	close	VERB
ap-500	63	13	-	-	PUNCT
ap-500	63	14	loop	loop	NOUN
ap-500	63	15	system	system	NOUN
ap-500	63	16	in	in	ADP
ap-500	63	17	the	the	DET
ap-500	63	18	z	z	NOUN
ap-500	63	19	-	-	PUNCT
ap-500	63	20	coordinate	coordinate	NOUN
ap-500	63	21	is	be	AUX
ap-500	63	22	,	,	PUNCT
ap-500	63	23	�	�	PROPN
ap-500	63	24	�	�	PROPN
ap-500	63	25	�	�	PROPN
ap-500	63	26	�	�	PROPN
ap-500	63	27	�	�	PROPN
ap-500	63	28	�	�	PROPN
ap-500	63	29	z	z	PROPN
ap-500	63	30	q	q	PROPN
ap-500	63	31	xt	xt	PROPN
ap-500	63	32	t	t	PROPN
ap-500	63	33	�	�	PROPN
ap-500	63	34	1	1	NUM
ap-500	63	35	.	.	PUNCT
ap-500	64	1	(	(	PUNCT
ap-500	64	2	11	11	NUM
ap-500	64	3	)	)	PUNCT
ap-500	64	4	hence	hence	ADV
ap-500	64	5	,	,	PUNCT
ap-500	64	6	after	after	ADP
ap-500	64	7	the	the	DET
ap-500	64	8	substitution	substitution	NOUN
ap-500	64	9	of	of	ADP
ap-500	64	10	(	(	PUNCT
ap-500	64	11	4	4	NUM
ap-500	64	12	)	)	PUNCT
ap-500	64	13	and	and	CCONJ
ap-500	64	14	(	(	PUNCT
ap-500	64	15	5	5	NUM
ap-500	64	16	)	)	PUNCT
ap-500	64	17	in	in	ADP
ap-500	64	18	the	the	DET
ap-500	64	19	above	above	ADJ
ap-500	64	20	equation	equation	NOUN
ap-500	64	21	we	we	PRON
ap-500	64	22	obtain	obtain	VERB
ap-500	64	23	�	�	PROPN
ap-500	64	24	�	�	PROPN
ap-500	64	25	�	�	PROPN
ap-500	64	26	�	�	PROPN
ap-500	64	27	z	z	PROPN
ap-500	64	28	q	q	NOUN
ap-500	65	1	i	i	PRON
ap-500	65	2	bk	bk	VERB
ap-500	65	3	aq	aq	ADP
ap-500	65	4	z	z	NOUN
ap-500	65	5	a	a	DET
ap-500	65	6	zt	zt	PROPN
ap-500	65	7	z	z	PROPN
ap-500	65	8	�	�	PROPN
ap-500	65	9	�	�	PROPN
ap-500	65	10	�	�	PROPN
ap-500	65	11	1	1	NUM
ap-500	65	12	1	1	NUM
ap-500	65	13	,	,	PUNCT
ap-500	65	14	(	(	PUNCT
ap-500	65	15	12	12	NUM
ap-500	65	16	)	)	PUNCT
ap-500	65	17	where	where	SCONJ
ap-500	65	18	the	the	DET
ap-500	65	19	closed	closed	ADJ
ap-500	65	20	-	-	PUNCT
ap-500	65	21	loop	loop	NOUN
ap-500	65	22	system	system	NOUN
ap-500	65	23	matrix	matrix	NOUN
ap-500	65	24	az	az	PROPN
ap-500	65	25	n	n	CCONJ
ap-500	65	26	n	n	CCONJ
ap-500	65	27	�	�	PROPN
ap-500	65	28	�	�	PROPN
ap-500	65	29	r	r	NOUN
ap-500	65	30	is	be	AUX
ap-500	65	31	given	give	VERB
ap-500	65	32	by	by	ADP
ap-500	65	33	�	�	PROPN
ap-500	65	34	a	a	DET
ap-500	65	35	q	q	X
ap-500	65	36	i	i	PRON
ap-500	65	37	bk	bk	VERB
ap-500	65	38	aqz	aqz	PROPN
ap-500	65	39	�	�	X
ap-500	65	40	�	�	PROPN
ap-500	65	41	1	1	NUM
ap-500	65	42	1	1	NUM
ap-500	65	43	.	.	PUNCT
ap-500	66	1	(	(	PUNCT
ap-500	66	2	13	13	NUM
ap-500	66	3	)	)	PUNCT
ap-500	66	4	postmultiply	postmultiply	NOUN
ap-500	66	5	equation	equation	NOUN
ap-500	66	6	(	(	PUNCT
ap-500	66	7	13	13	NUM
ap-500	66	8	)	)	PUNCT
ap-500	66	9	by	by	ADP
ap-500	66	10	�	�	PROPN
ap-500	66	11	q	q	PROPN
ap-500	66	12	a	a	PROPN
ap-500	66	13	i	i	PRON
ap-500	66	14	bk	bk	VERB
ap-500	66	15	�	�	PROPN
ap-500	66	16	1	1	NUM
ap-500	66	17	1	1	NUM
ap-500	66	18	.	.	PUNCT
ap-500	67	1	hence	hence	ADV
ap-500	67	2	,	,	PUNCT
ap-500	67	3	we	we	PRON
ap-500	67	4	can	can	AUX
ap-500	67	5	rewrite	rewrite	VERB
ap-500	67	6	the	the	DET
ap-500	67	7	above	above	ADJ
ap-500	67	8	equation	equation	NOUN
ap-500	67	9	as	as	ADP
ap-500	67	10	�	�	PROPN
ap-500	67	11	a	a	DET
ap-500	67	12	q	q	NOUN
ap-500	68	1	a	a	PRON
ap-500	68	2	i	i	NOUN
ap-500	68	3	bk	bk	PROPN
ap-500	68	4	qz	qz	PROPN
ap-500	68	5	�	�	PROPN
ap-500	68	6	�	�	PROPN
ap-500	68	7	1	1	NUM
ap-500	68	8	1	1	NUM
ap-500	68	9	1	1	NUM
ap-500	68	10	.	.	PUNCT
ap-500	69	1	(	(	PUNCT
ap-500	69	2	14	14	NUM
ap-500	69	3	)	)	PUNCT
ap-500	69	4	given	give	VERB
ap-500	69	5	the	the	DET
ap-500	69	6	desired	desire	VERB
ap-500	69	7	eigenvalues	eigenvalues	PROPN
ap-500	69	8	{	{	PUNCT
ap-500	69	9	�	�	NOUN
ap-500	69	10	1	1	NUM
ap-500	69	11	,	,	PUNCT
ap-500	69	12	…	…	PUNCT
ap-500	69	13	,	,	PUNCT
ap-500	69	14	�	�	PROPN
ap-500	69	15	n	n	CCONJ
ap-500	69	16	}	}	PUNCT
ap-500	69	17	.	.	PUNCT
ap-500	70	1	the	the	DET
ap-500	70	2	desired	desire	VERB
ap-500	70	3	closed	close	VERB
ap-500	70	4	-	-	PUNCT
ap-500	70	5	loop	loop	NOUN
ap-500	70	6	characteristic	characteristic	ADJ
ap-500	70	7	polynomial	polynomial	NOUN
ap-500	70	8	is	be	AUX
ap-500	70	9	,	,	PUNCT
ap-500	70	10	�	�	PROPN
ap-500	70	11	�	�	PROPN
ap-500	70	12	�	�	PROPN
ap-500	70	13	�	�	PROPN
ap-500	70	14	�	�	PROPN
ap-500	70	15	�	�	PROPN
ap-500	70	16	�	�	PROPN
ap-500	70	17	�	�	PROPN
ap-500	70	18	d	d	PROPN
ap-500	70	19	d	d	PROPN
ap-500	70	20	d	d	PROPN
ap-500	70	21	d	d	PROPN
ap-500	70	22	n	n	CCONJ
ap-500	70	23	n	n	CCONJ
ap-500	70	24	n	n	CCONJ
ap-500	70	25	n	n	NOUN
ap-500	70	26	s	s	NOUN
ap-500	70	27	s	s	X
ap-500	70	28	s	s	X
ap-500	70	29	s	s	X
ap-500	70	30	s	s	X
ap-500	70	31	s	s	X
ap-500	70	32	s	s	NOUN
ap-500	70	33	�	�	PROPN
ap-500	70	34	�	�	PROPN
ap-500	70	35	�	�	PROPN
ap-500	70	36	�	�	PROPN
ap-500	70	37	�	�	PROPN
ap-500	70	38	�	�	PROPN
ap-500	70	39	�	�	PROPN
ap-500	70	40	�	�	PROPN
ap-500	70	41	�	�	PROPN
ap-500	70	42	1	1	NUM
ap-500	70	43	2	2	NUM
ap-500	70	44	1	1	NUM
ap-500	70	45	1	1	NUM
ap-500	70	46	1	1	NUM
ap-500	70	47	0	0	NUM
ap-500	70	48	�	�	PROPN
ap-500	70	49	�	�	PROPN
ap-500	70	50	,	,	PUNCT
ap-500	70	51	(	(	PUNCT
ap-500	70	52	15	15	NUM
ap-500	70	53	)	)	PUNCT
ap-500	70	54	where	where	SCONJ
ap-500	70	55	�	�	PROPN
ap-500	70	56	d	d	PROPN
ap-500	70	57	�	�	PROPN
ap-500	70	58	d	d	PROPN
ap-500	70	59	d	d	X
ap-500	70	60	dn0	dn0	NOUN
ap-500	70	61	1	1	NUM
ap-500	70	62	1	1	NUM
ap-500	70	63	,	,	PUNCT
ap-500	70	64	,	,	PUNCT
ap-500	70	65	,	,	PUNCT
ap-500	70	66	�	�	PROPN
ap-500	70	67	are	be	AUX
ap-500	70	68	the	the	DET
ap-500	70	69	coefficients	coefficient	NOUN
ap-500	70	70	of	of	ADP
ap-500	70	71	the	the	DET
ap-500	70	72	desired	desire	VERB
ap-500	70	73	characteristic	characteristic	ADJ
ap-500	70	74	polynomial	polynomial	NOUN
ap-500	70	75	.	.	PUNCT
ap-500	71	1	the	the	DET
ap-500	71	2	structure	structure	NOUN
ap-500	71	3	of	of	ADP
ap-500	71	4	the	the	DET
ap-500	71	5	desired	desire	VERB
ap-500	71	6	closed	closed	ADJ
ap-500	71	7	-	-	PUNCT
ap-500	71	8	loop	loop	NOUN
ap-500	71	9	matrix	matrix	NOUN
ap-500	71	10	can	can	AUX
ap-500	71	11	be	be	AUX
ap-500	71	12	written	write	VERB
ap-500	71	13	in	in	ADP
ap-500	71	14	a	a	DET
ap-500	71	15	canonical	canonical	ADJ
ap-500	71	16	form	form	NOUN
ap-500	71	17	,	,	PUNCT
ap-500	71	18	as	as	ADP
ap-500	71	19	az	az	PROPN
ap-500	71	20	nd	nd	PROPN
ap-500	71	21	d	d	PROPN
ap-500	71	22	d	d	PROPN
ap-500	71	23	d	d	X
ap-500	71	24	�	�	PROPN
ap-500	71	25	�	�	PROPN
ap-500	71	26	�	�	PROPN
ap-500	71	27	�	�	PROPN
ap-500	71	28	�	�	PROPN
ap-500	71	29	�	�	PROPN
ap-500	71	30	�	�	PROPN
ap-500	71	31	�	�	PROPN
ap-500	71	32	�	�	PROPN
ap-500	71	33	�	�	PROPN
ap-500	71	34	�	�	PROPN
ap-500	71	35	�	�	PROPN
ap-500	71	36	0	0	NUM
ap-500	71	37	0	0	NUM
ap-500	71	38	0	0	NUM
ap-500	71	39	0	0	NUM
ap-500	71	40	1	1	NUM
ap-500	71	41	2	2	NUM
ap-500	71	42	1	1	NUM
ap-500	71	43	�	�	PROPN
ap-500	71	44	�	�	PROPN
ap-500	71	45	�	�	PROPN
ap-500	71	46	�	�	PROPN
ap-500	71	47	�	�	PROPN
ap-500	71	48	�	�	PROPN
ap-500	71	49	�	�	PROPN
ap-500	71	50	�	�	PROPN
ap-500	71	51	�	�	PROPN
ap-500	71	52	�	�	PROPN
ap-500	71	53	�	�	PROPN
ap-500	71	54	�	�	PROPN
ap-500	71	55	�	�	PROPN
ap-500	71	56	m	m	VERB
ap-500	71	57	m	m	VERB
ap-500	71	58	m	m	VERB
ap-500	71	59	o	o	NOUN
ap-500	71	60	m	m	ADJ
ap-500	71	61	�	�	PROPN
ap-500	71	62	�	�	PROPN
ap-500	71	63	�	�	PROPN
ap-500	71	64	�	�	PROPN
ap-500	71	65	.	.	PUNCT
ap-500	72	1	(	(	PUNCT
ap-500	72	2	16	16	NUM
ap-500	72	3	)	)	PUNCT
ap-500	72	4	equation	equation	NOUN
ap-500	72	5	(	(	PUNCT
ap-500	72	6	14	14	NUM
ap-500	72	7	)	)	PUNCT
ap-500	72	8	can	can	AUX
ap-500	72	9	be	be	AUX
ap-500	72	10	rewritten	rewrite	VERB
ap-500	72	11	in	in	ADP
ap-500	72	12	terms	term	NOUN
ap-500	72	13	of	of	ADP
ap-500	72	14	the	the	DET
ap-500	72	15	row	row	NOUN
ap-500	72	16	vectors	vector	NOUN
ap-500	72	17	of	of	ADP
ap-500	72	18	the	the	DET
ap-500	72	19	transformation	transformation	NOUN
ap-500	72	20	matrix	matrix	NOUN
ap-500	72	21	q	q	NOUN
ap-500	72	22	1	1	NUM
ap-500	72	23	as	as	ADP
ap-500	72	24	,	,	PUNCT
ap-500	72	25	�	�	PROPN
ap-500	72	26	q	q	PROPN
ap-500	72	27	a	a	PROPN
ap-500	72	28	i	i	PRON
ap-500	72	29	bk	bk	PROPN
ap-500	72	30	q	q	NOUN
ap-500	72	31	a1	a1	PROPN
ap-500	72	32	1	1	NUM
ap-500	73	1	i	i	PROPN
ap-500	73	2	i	i	PROPN
ap-500	73	3	�	�	PROPN
ap-500	73	4	�	�	PROPN
ap-500	73	5	,	,	PUNCT
ap-500	73	6	i	i	PRON
ap-500	73	7	�	�	PROPN
ap-500	73	8	0	0	NUM
ap-500	73	9	,	,	PUNCT
ap-500	73	10	…	…	PUNCT
ap-500	73	11	,	,	PUNCT
ap-500	73	12	n–2	n–2	NUM
ap-500	73	13	,	,	PUNCT
ap-500	73	14	and	and	CCONJ
ap-500	73	15	©	©	PROPN
ap-500	73	16	czech	czech	PROPN
ap-500	73	17	technical	technical	PROPN
ap-500	73	18	university	university	PROPN
ap-500	73	19	publishing	publishing	NOUN
ap-500	73	20	house	house	NOUN
ap-500	73	21	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	73	22	53	53	NUM
ap-500	73	23	acta	acta	PROPN
ap-500	73	24	polytechnica	polytechnica	PROPN
ap-500	73	25	vol	vol	NOUN
ap-500	73	26	.	.	PUNCT
ap-500	74	1	43	43	NUM
ap-500	74	2	no	no	NOUN
ap-500	74	3	.	.	PUNCT
ap-500	75	1	6/2003	6/2003	NUM
ap-500	75	2	�	�	PROPN
ap-500	75	3	�	�	PROPN
ap-500	75	4	�	�	PROPN
ap-500	75	5	d	d	PROPN
ap-500	75	6	q	q	PROPN
ap-500	75	7	a	a	PRON
ap-500	75	8	i	i	PRON
ap-500	75	9	bk	bk	INTJ
ap-500	75	10	q	q	NOUN
ap-500	75	11	a1	a1	NOUN
ap-500	75	12	1	1	NUM
ap-500	75	13	1	1	NUM
ap-500	75	14	1n	1n	NUM
ap-500	75	15	.	.	PUNCT
ap-500	76	1	(	(	PUNCT
ap-500	76	2	17	17	NUM
ap-500	76	3	)	)	PUNCT
ap-500	76	4	based	base	VERB
ap-500	76	5	on	on	ADP
ap-500	76	6	the	the	DET
ap-500	76	7	definition	definition	NOUN
ap-500	76	8	of	of	ADP
ap-500	76	9	the	the	DET
ap-500	76	10	transformation	transformation	NOUN
ap-500	76	11	matrix	matrix	NOUN
ap-500	76	12	q	q	NOUN
ap-500	76	13	1	1	NUM
ap-500	76	14	,	,	PUNCT
ap-500	76	15	it	it	PRON
ap-500	76	16	is	be	AUX
ap-500	76	17	easy	easy	ADJ
ap-500	76	18	to	to	PART
ap-500	76	19	write	write	VERB
ap-500	76	20	that	that	DET
ap-500	76	21	q	q	PUNCT
ap-500	76	22	a	a	DET
ap-500	76	23	b1	b1	PROPN
ap-500	76	24	0i	0i	PROPN
ap-500	76	25	�	�	PROPN
ap-500	76	26	,	,	PUNCT
ap-500	76	27	i	i	PRON
ap-500	76	28	�	�	PROPN
ap-500	76	29	0	0	NUM
ap-500	76	30	,	,	PUNCT
ap-500	76	31	…	…	PUNCT
ap-500	76	32	,	,	PUNCT
ap-500	76	33	n–2	n–2	NUM
ap-500	76	34	.	.	PUNCT
ap-500	77	1	(	(	PUNCT
ap-500	77	2	18	18	NUM
ap-500	77	3	)	)	PUNCT
ap-500	77	4	finally	finally	ADV
ap-500	77	5	,	,	PUNCT
ap-500	77	6	the	the	DET
ap-500	77	7	feedback	feedback	NOUN
ap-500	77	8	gain	gain	NOUN
ap-500	77	9	matrix	matrix	NOUN
ap-500	77	10	k	k	NOUN
ap-500	77	11	for	for	ADP
ap-500	77	12	the	the	DET
ap-500	77	13	time	time	NOUN
ap-500	77	14	-	-	PUNCT
ap-500	77	15	invariant	invariant	ADJ
ap-500	77	16	system	system	NOUN
ap-500	77	17	can	can	AUX
ap-500	77	18	be	be	AUX
ap-500	77	19	written	write	VERB
ap-500	77	20	as	as	ADP
ap-500	77	21	�	�	PROPN
ap-500	77	22	�	�	PROPN
ap-500	77	23	�	�	PROPN
ap-500	77	24	�	�	PROPN
ap-500	77	25	k	k	PROPN
ap-500	77	26	d	d	PROPN
ap-500	77	27	q	q	X
ap-500	77	28	a	a	PRON
ap-500	77	29	b	b	NOUN
ap-500	77	30	q	q	X
ap-500	77	31	a	a	PROPN
ap-500	77	32	d	d	X
ap-500	77	33	q	q	X
ap-500	77	34	a	a	DET
ap-500	77	35	�	�	PROPN
ap-500	77	36	�	�	PROPN
ap-500	77	37	1	1	NUM
ap-500	77	38	1	1	NUM
ap-500	77	39	1	1	NUM
ap-500	77	40	1	1	NUM
ap-500	77	41	1	1	NUM
ap-500	77	42	1	1	NUM
ap-500	77	43	1n	1n	NUM
ap-500	77	44	.	.	PUNCT
ap-500	78	1	(	(	PUNCT
ap-500	78	2	19	19	NUM
ap-500	78	3	)	)	PUNCT
ap-500	78	4	the	the	DET
ap-500	78	5	above	above	ADJ
ap-500	78	6	equation	equation	NOUN
ap-500	78	7	can	can	AUX
ap-500	78	8	be	be	AUX
ap-500	78	9	rewritten	rewrite	VERB
ap-500	78	10	as	as	ADP
ap-500	78	11	k	k	PROPN
ap-500	78	12	q	q	PROPN
ap-500	78	13	a	a	PRON
ap-500	78	14	b	b	X
ap-500	78	15	q	q	X
ap-500	78	16	a	a	DET
ap-500	78	17	�	�	PROPN
ap-500	78	18	�	�	PROPN
ap-500	78	19	�	�	PROPN
ap-500	78	20	�	�	PROPN
ap-500	78	21	�	�	PROPN
ap-500	78	22	�	�	PROPN
ap-500	78	23	�	�	PROPN
ap-500	78	24	�	�	PROPN
ap-500	78	25	�	�	PROPN
ap-500	78	26	�	�	PROPN
ap-500	78	27	�	�	PROPN
ap-500	78	28	�	�	PROPN
ap-500	78	29	�	�	PROPN
ap-500	78	30	�	�	PROPN
ap-500	78	31	�	�	PROPN
ap-500	78	32	�	�	PROPN
ap-500	78	33	�	�	PROPN
ap-500	78	34	�	�	PROPN
ap-500	78	35	�	�	PROPN
ap-500	78	36	�	�	PROPN
ap-500	78	37	�	�	PROPN
ap-500	78	38	�	�	PROPN
ap-500	78	39	d	d	NOUN
ap-500	78	40	di	di	NOUN
ap-500	78	41	i	i	PRON
ap-500	78	42	i	i	PRON
ap-500	78	43	n	n	VERB
ap-500	78	44	n	n	X
ap-500	78	45	i1	i1	PROPN
ap-500	78	46	1	1	NUM
ap-500	78	47	0	0	NUM
ap-500	78	48	1	1	NUM
ap-500	78	49	1	1	NUM
ap-500	78	50	1	1	NUM
ap-500	78	51	1	1	NUM
ap-500	78	52	q	q	NOUN
ap-500	78	53	a1	a1	NOUN
ap-500	78	54	1	1	NUM
ap-500	78	55	0	0	NUM
ap-500	78	56	1	1	NUM
ap-500	78	57	i	i	PRON
ap-500	78	58	i	i	PRON
ap-500	78	59	n	n	CCONJ
ap-500	78	60	�	�	PROPN
ap-500	78	61	�	�	PROPN
ap-500	78	62	�	�	PROPN
ap-500	78	63	�	�	PROPN
ap-500	78	64	�	�	PROPN
ap-500	78	65	�	�	PROPN
ap-500	78	66	�	�	PROPN
ap-500	78	67	�	�	PROPN
ap-500	78	68	�	�	PROPN
ap-500	78	69	�	�	PROPN
ap-500	78	70	�	�	PROPN
ap-500	78	71	.	.	PUNCT
ap-500	79	1	(	(	PUNCT
ap-500	79	2	20	20	NUM
ap-500	79	3	)	)	PUNCT
ap-500	79	4	to	to	PART
ap-500	79	5	simplify	simplify	VERB
ap-500	79	6	the	the	DET
ap-500	79	7	feedback	feedback	NOUN
ap-500	79	8	gain	gain	NOUN
ap-500	79	9	matrix	matrix	NOUN
ap-500	79	10	.	.	PUNCT
ap-500	80	1	first	first	ADV
ap-500	80	2	,	,	PUNCT
ap-500	80	3	we	we	PRON
ap-500	80	4	utilize	utilize	VERB
ap-500	80	5	the	the	DET
ap-500	80	6	relation	relation	NOUN
ap-500	80	7	aq	aq	VERB
ap-500	80	8	q	q	PROPN
ap-500	80	9	a	a	PROPN
ap-500	80	10	�	�	PROPN
ap-500	80	11	f	f	PROPN
ap-500	80	12	.	.	PUNCT
ap-500	81	1	(	(	PUNCT
ap-500	81	2	21	21	NUM
ap-500	81	3	)	)	PUNCT
ap-500	81	4	then	then	ADV
ap-500	81	5	,	,	PUNCT
ap-500	81	6	it	it	PRON
ap-500	81	7	is	be	AUX
ap-500	81	8	easy	easy	ADJ
ap-500	81	9	to	to	PART
ap-500	81	10	verify	verify	VERB
ap-500	81	11	that	that	DET
ap-500	81	12	q	q	PUNCT
ap-500	81	13	a	a	DET
ap-500	81	14	b	b	NOUN
ap-500	81	15	a	a	DET
ap-500	81	16	q	q	NOUN
ap-500	81	17	b	b	PROPN
ap-500	81	18	a	a	DET
ap-500	81	19	b	b	PROPN
ap-500	81	20	�	�	PROPN
ap-500	81	21	�	�	PROPN
ap-500	81	22	1	1	NUM
ap-500	81	23	1	1	NUM
ap-500	81	24	1	1	NUM
ap-500	81	25	1	1	NUM
ap-500	81	26	1	1	NUM
ap-500	81	27	f	f	NOUN
ap-500	81	28	f	f	PROPN
ap-500	81	29	f	f	PROPN
ap-500	81	30	.	.	PUNCT
ap-500	82	1	(	(	PUNCT
ap-500	82	2	22	22	NUM
ap-500	82	3	)	)	PUNCT
ap-500	82	4	the	the	DET
ap-500	82	5	inverse	inverse	NOUN
ap-500	82	6	of	of	ADP
ap-500	82	7	the	the	DET
ap-500	82	8	transformed	transform	VERB
ap-500	82	9	system	system	NOUN
ap-500	82	10	matrix	matrix	NOUN
ap-500	82	11	af	af	NOUN
ap-500	82	12	can	can	AUX
ap-500	82	13	be	be	AUX
ap-500	82	14	obtained	obtain	VERB
ap-500	82	15	as	as	ADP
ap-500	82	16	af	af	PROPN
ap-500	82	17	na	na	INTJ
ap-500	82	18	a	a	PRON
ap-500	82	19	a	a	DET
ap-500	82	20	a	a	DET
ap-500	82	21	a	a	DET
ap-500	82	22	a	a	DET
ap-500	82	23	a	a	DET
ap-500	82	24	�	�	PROPN
ap-500	82	25	�	�	PROPN
ap-500	82	26	�	�	PROPN
ap-500	82	27	1	1	NUM
ap-500	82	28	1	1	NUM
ap-500	82	29	0	0	NUM
ap-500	82	30	2	2	NUM
ap-500	82	31	0	0	NUM
ap-500	82	32	1	1	NUM
ap-500	82	33	0	0	NUM
ap-500	82	34	01	01	NUM
ap-500	82	35	1	1	NUM
ap-500	82	36	0	0	NUM
ap-500	82	37	0	0	NUM
ap-500	82	38	0	0	NUM
ap-500	82	39	1	1	NUM
ap-500	82	40	�	�	PROPN
ap-500	82	41	�	�	PROPN
ap-500	82	42	�	�	PROPN
ap-500	82	43	�	�	PROPN
ap-500	82	44	�	�	PROPN
ap-500	82	45	0	0	NUM
ap-500	82	46	0	0	NUM
ap-500	82	47	m	m	VERB
ap-500	82	48	m	m	VERB
ap-500	82	49	m	m	VERB
ap-500	82	50	m	m	VERB
ap-500	82	51	m	m	VERB
ap-500	82	52	o	o	NOUN
ap-500	82	53	0	0	NUM
ap-500	82	54	0	0	SYM
ap-500	82	55	0	0	NUM
ap-500	82	56	�	�	PROPN
ap-500	82	57	�	�	PROPN
ap-500	82	58	�	�	PROPN
ap-500	82	59	�	�	PROPN
ap-500	82	60	�	�	PROPN
ap-500	82	61	�	�	PROPN
ap-500	82	62	�	�	PROPN
ap-500	82	63	�	�	PROPN
ap-500	82	64	�	�	PROPN
ap-500	82	65	�	�	PROPN
ap-500	82	66	�	�	PROPN
ap-500	82	67	�	�	PROPN
ap-500	82	68	�	�	PROPN
ap-500	82	69	.	.	PUNCT
ap-500	83	1	(	(	PUNCT
ap-500	83	2	23	23	NUM
ap-500	83	3	)	)	PUNCT
ap-500	83	4	finally	finally	ADV
ap-500	83	5	,	,	PUNCT
ap-500	83	6	it	it	PRON
ap-500	83	7	can	can	AUX
ap-500	83	8	easily	easily	ADV
ap-500	83	9	be	be	AUX
ap-500	83	10	obtained	obtain	VERB
ap-500	83	11	that	that	SCONJ
ap-500	83	12	�	�	PROPN
ap-500	83	13	�	�	PROPN
ap-500	83	14	�	�	PROPN
ap-500	83	15	�	�	PROPN
ap-500	83	16	�	�	PROPN
ap-500	83	17	�	�	PROPN
ap-500	83	18	�	�	PROPN
ap-500	83	19	�	�	PROPN
ap-500	83	20	�	�	PROPN
ap-500	83	21	�	�	PROPN
ap-500	83	22	�	�	PROPN
ap-500	83	23	�	�	PROPN
ap-500	83	24	�	�	PROPN
ap-500	83	25	�	�	PROPN
ap-500	84	1	d	d	NOUN
ap-500	84	2	q	q	PROPN
ap-500	84	3	a	a	DET
ap-500	84	4	b	b	PROPN
ap-500	84	5	d	d	NOUN
ap-500	84	6	a	a	PRON
ap-500	84	7	b	b	NOUN
ap-500	84	8	d1	d1	NOUN
ap-500	84	9	1	1	NUM
ap-500	84	10	1	1	NUM
ap-500	84	11	0	0	NUM
ap-500	84	12	0	0	NUM
ap-500	84	13	0	0	NUM
ap-500	84	14	1	1	NUM
ap-500	84	15	0	0	NUM
ap-500	84	16	0	0	NUM
ap-500	85	1	f	f	PROPN
ap-500	85	2	f	f	PROPN
ap-500	86	1	a	a	DET
ap-500	86	2	d	d	NOUN
ap-500	86	3	am	be	AUX
ap-500	86	4	.	.	PUNCT
ap-500	87	1	(	(	PUNCT
ap-500	87	2	24	24	NUM
ap-500	87	3	)	)	PUNCT
ap-500	87	4	then	then	ADV
ap-500	87	5	,	,	PUNCT
ap-500	87	6	the	the	DET
ap-500	87	7	feedback	feedback	NOUN
ap-500	87	8	gain	gain	NOUN
ap-500	87	9	matrix	matrix	NOUN
ap-500	87	10	k	k	NOUN
ap-500	87	11	for	for	ADP
ap-500	87	12	the	the	DET
ap-500	87	13	time	time	NOUN
ap-500	87	14	-	-	PUNCT
ap-500	87	15	invariant	invariant	ADJ
ap-500	87	16	system	system	NOUN
ap-500	87	17	can	can	AUX
ap-500	87	18	be	be	AUX
ap-500	87	19	written	write	VERB
ap-500	87	20	as	as	ADP
ap-500	87	21	k	k	PROPN
ap-500	87	22	q	q	PROPN
ap-500	87	23	a	a	DET
ap-500	87	24	q	q	X
ap-500	87	25	a	a	DET
ap-500	87	26	�	�	PROPN
ap-500	87	27	�	�	PROPN
ap-500	87	28	�	�	PROPN
ap-500	87	29	�	�	PROPN
ap-500	87	30	�	�	PROPN
ap-500	87	31	�	�	PROPN
ap-500	87	32	�	�	PROPN
ap-500	87	33	�	�	PROPN
ap-500	87	34	�	�	PROPN
ap-500	87	35	�	�	PROPN
ap-500	87	36	�	�	PROPN
ap-500	87	37	�	�	PROPN
ap-500	87	38	�	�	PROPN
ap-500	87	39	�	�	PROPN
ap-500	87	40	�	�	PROPN
ap-500	87	41	�	�	PROPN
ap-500	87	42	�	�	PROPN
ap-500	87	43	�	�	PROPN
ap-500	87	44	�	�	PROPN
ap-500	87	45	�	�	PROPN
ap-500	87	46	�	�	PROPN
ap-500	87	47	�	�	PROPN
ap-500	87	48	a	a	PROPN
ap-500	87	49	d	d	PROPN
ap-500	87	50	d	d	PROPN
ap-500	87	51	a	a	PROPN
ap-500	87	52	n	n	NOUN
ap-500	87	53	i	i	PRON
ap-500	88	1	i	i	PRON
ap-500	88	2	i	i	PRON
ap-500	88	3	n	n	VERB
ap-500	88	4	0	0	NUM
ap-500	88	5	0	0	NUM
ap-500	88	6	1	1	NUM
ap-500	88	7	1	1	NUM
ap-500	88	8	1	1	NUM
ap-500	88	9	1	1	NUM
ap-500	88	10	0	0	NUM
ap-500	88	11	1	1	NUM
ap-500	88	12	0	0	NUM
ap-500	88	13	�	�	PROPN
ap-500	89	1	d	d	NOUN
ap-500	89	2	d	d	PROPN
ap-500	89	3	d	d	PROPN
ap-500	89	4	d	d	PROPN
ap-500	89	5	a	a	PROPN
ap-500	89	6	d	d	PROPN
ap-500	89	7	n	n	CCONJ
ap-500	89	8	n	n	CCONJ
ap-500	89	9	n	n	ADV
ap-500	89	10	0	0	NUM
ap-500	89	11	1	1	NUM
ap-500	89	12	1	1	NUM
ap-500	89	13	1	1	NUM
ap-500	89	14	1	1	NUM
ap-500	89	15	1	1	NUM
ap-500	89	16	0	0	NUM
ap-500	89	17	0	0	NUM
ap-500	89	18	0	0	NUM
ap-500	89	19	�	�	PROPN
ap-500	89	20	�	�	PROPN
ap-500	89	21	�	�	PROPN
ap-500	89	22	�	�	PROPN
ap-500	89	23	�	�	PROPN
ap-500	89	24	�	�	PROPN
ap-500	89	25	�	�	PROPN
ap-500	89	26	�	�	PROPN
ap-500	89	27	�	�	PROPN
ap-500	89	28	�	�	PROPN
ap-500	89	29	�	�	PROPN
ap-500	89	30	�	�	PROPN
ap-500	89	31	�	�	PROPN
ap-500	89	32	�	�	PROPN
ap-500	89	33	�	�	PROPN
ap-500	89	34	�	�	PROPN
ap-500	89	35	�	�	PROPN
ap-500	89	36	�	�	PROPN
ap-500	89	37	�	�	PROPN
ap-500	89	38	�	�	PROPN
ap-500	89	39	q	q	PROPN
ap-500	89	40	a	a	PRON
ap-500	89	41	a	a	DET
ap-500	89	42	a	a	DET
ap-500	89	43	a	a	DET
ap-500	89	44	i	i	PROPN
ap-500	89	45	�	�	PROPN
ap-500	89	46	�	�	PROPN
ap-500	89	47	�	�	PROPN
ap-500	89	48	�	�	PROPN
ap-500	89	49	�	�	PROPN
ap-500	89	50	�	�	PROPN
ap-500	89	51	�	�	PROPN
ap-500	89	52	�	�	PROPN
ap-500	89	53	�	�	PROPN
ap-500	89	54	�	�	PROPN
ap-500	89	55	e	e	PROPN
ap-500	89	56	ar	ar	PROPN
ap-500	89	57	d	d	PROPN
ap-500	89	58	a	a	DET
ap-500	89	59	e	e	NOUN
ap-500	89	60	r	r	NOUN
ap-500	89	61	a	a	PROPN
ap-500	89	62	d	d	NOUN
ap-500	89	63	an	an	DET
ap-500	89	64	n	n	NOUN
ap-500	89	65	nd	nd	ADP
ap-500	89	66	t	t	NOUN
ap-500	89	67	t	t	PROPN
ap-500	89	68	adj	adj	X
ap-500	89	69	�	�	PROPN
ap-500	89	70	1	1	NUM
ap-500	89	71	0	0	NUM
ap-500	89	72	11	11	NUM
ap-500	89	73	(	(	PUNCT
ap-500	89	74	25	25	NUM
ap-500	89	75	)	)	PUNCT
ap-500	89	76	where	where	SCONJ
ap-500	89	77	d(a	d(a	PROPN
ap-500	89	78	)	)	PUNCT
ap-500	89	79	denotes	denote	VERB
ap-500	89	80	the	the	DET
ap-500	89	81	evaluation	evaluation	NOUN
ap-500	89	82	of	of	ADP
ap-500	89	83	the	the	DET
ap-500	89	84	desired	desire	VERB
ap-500	89	85	characteristic	characteristic	ADJ
ap-500	89	86	polynomial	polynomial	NOUN
ap-500	89	87	(	(	PUNCT
ap-500	89	88	15	15	NUM
ap-500	89	89	)	)	PUNCT
ap-500	89	90	with	with	ADP
ap-500	89	91	the	the	DET
ap-500	89	92	state	state	NOUN
ap-500	89	93	matrix	matrix	NOUN
ap-500	89	94	a.	a.	NOUN
ap-500	89	95	the	the	DET
ap-500	89	96	resulting	result	VERB
ap-500	89	97	formula	formula	NOUN
ap-500	89	98	for	for	ADP
ap-500	89	99	the	the	DET
ap-500	89	100	constant	constant	ADJ
ap-500	89	101	state	state	NOUN
ap-500	89	102	-	-	PUNCT
ap-500	89	103	derivative	derivative	ADJ
ap-500	89	104	feedback	feedback	NOUN
ap-500	89	105	gain	gain	NOUN
ap-500	89	106	matrix	matrix	NOUN
ap-500	89	107	is	be	AUX
ap-500	89	108	the	the	DET
ap-500	89	109	direct	direct	ADJ
ap-500	89	110	analogy	analogy	NOUN
ap-500	89	111	of	of	ADP
ap-500	89	112	ackermann	ackermann	PROPN
ap-500	89	113	formula	formula	NOUN
ap-500	89	114	for	for	ADP
ap-500	89	115	traditional	traditional	ADJ
ap-500	89	116	state	state	NOUN
ap-500	89	117	feedback	feedback	NOUN
ap-500	89	118	.	.	PUNCT
ap-500	90	1	the	the	DET
ap-500	90	2	original	original	ADJ
ap-500	90	3	ackermann	ackermann	ADJ
ap-500	90	4	formula	formula	NOUN
ap-500	90	5	has	have	AUX
ap-500	90	6	been	be	AUX
ap-500	90	7	modified	modify	VERB
ap-500	90	8	in	in	ADP
ap-500	90	9	[	[	X
ap-500	90	10	8	8	NUM
ap-500	90	11	,	,	PUNCT
ap-500	90	12	9	9	NUM
ap-500	90	13	,	,	PUNCT
ap-500	90	14	10	10	NUM
ap-500	90	15	]	]	PUNCT
ap-500	90	16	into	into	ADP
ap-500	90	17	equivalent	equivalent	ADJ
ap-500	90	18	efficient	efficient	ADJ
ap-500	90	19	numerical	numerical	ADJ
ap-500	90	20	algorithms	algorithm	NOUN
ap-500	90	21	for	for	ADP
ap-500	90	22	computing	compute	VERB
ap-500	90	23	the	the	DET
ap-500	90	24	feedback	feedback	NOUN
ap-500	90	25	gain	gain	NOUN
ap-500	90	26	matrix	matrix	NOUN
ap-500	90	27	k.	k.	NOUN
ap-500	91	1	the	the	DET
ap-500	91	2	same	same	ADJ
ap-500	91	3	can	can	AUX
ap-500	91	4	be	be	AUX
ap-500	91	5	done	do	VERB
ap-500	91	6	for	for	ADP
ap-500	91	7	the	the	DET
ap-500	91	8	state	state	NOUN
ap-500	91	9	-	-	PUNCT
ap-500	91	10	derivative	derivative	ADJ
ap-500	91	11	feedback	feedback	NOUN
ap-500	91	12	.	.	PUNCT
ap-500	92	1	the	the	DET
ap-500	92	2	resulting	result	VERB
ap-500	92	3	equivalent	equivalent	ADJ
ap-500	92	4	efficient	efficient	ADJ
ap-500	92	5	formula	formula	NOUN
ap-500	92	6	based	base	VERB
ap-500	92	7	on	on	ADP
ap-500	92	8	desired	desire	VERB
ap-500	92	9	coefficients	coefficient	NOUN
ap-500	92	10	of	of	ADP
ap-500	92	11	the	the	DET
ap-500	92	12	characteristic	characteristic	ADJ
ap-500	92	13	polynomial	polynomial	NOUN
ap-500	92	14	is	be	AUX
ap-500	92	15	the	the	DET
ap-500	92	16	following	follow	VERB
ap-500	92	17	recursive	recursive	ADJ
ap-500	92	18	procedure	procedure	NOUN
ap-500	92	19	k	k	X
ap-500	92	20	q	q	PUNCT
ap-500	92	21	q	q	PROPN
ap-500	92	22	�	�	PROPN
ap-500	92	23	�	�	PROPN
ap-500	92	24	�	�	PROPN
ap-500	92	25	�	�	PROPN
ap-500	92	26	�	�	PROPN
ap-500	92	27	�	�	PROPN
ap-500	92	28	�	�	PROPN
ap-500	92	29	�	�	PROPN
ap-500	92	30	�	�	PROPN
ap-500	92	31	�	�	PROPN
ap-500	92	32	�	�	PROPN
ap-500	92	33	�	�	PROPN
ap-500	92	34	�	�	PROPN
ap-500	92	35	�	�	PROPN
ap-500	92	36	�	�	PROPN
ap-500	92	37	�	�	PROPN
ap-500	92	38	�	�	PROPN
ap-500	92	39	�	�	PROPN
ap-500	92	40	�	�	PROPN
ap-500	92	41	�	�	PROPN
ap-500	92	42	�	�	PROPN
ap-500	92	43	�	�	PROPN
ap-500	92	44	a	a	PROPN
ap-500	93	1	d	d	NOUN
ap-500	93	2	dn	dn	NOUN
ap-500	94	1	i	i	PRON
ap-500	94	2	i	i	PRON
ap-500	94	3	i	i	PRON
ap-500	94	4	n	n	VERB
ap-500	94	5	0	0	NUM
ap-500	94	6	0	0	NUM
ap-500	94	7	0	0	NUM
ap-500	94	8	1	1	NUM
ap-500	94	9	,	,	PUNCT
ap-500	94	10	(	(	PUNCT
ap-500	94	11	26	26	NUM
ap-500	94	12	)	)	PUNCT
ap-500	95	1	where	where	SCONJ
ap-500	95	2	�	�	PROPN
ap-500	95	3	�	�	PROPN
ap-500	95	4	�	�	PROPN
ap-500	95	5	�	�	PROPN
ap-500	95	6	q	q	PROPN
ap-500	95	7	q	q	X
ap-500	95	8	a	a	PRON
ap-500	95	9	e	e	NOUN
ap-500	95	10	a	a	DET
ap-500	95	11	r0	r0	NOUN
ap-500	95	12	1	1	NUM
ap-500	95	13	1	1	NUM
ap-500	95	14	1	1	NUM
ap-500	95	15	n	n	ADP
ap-500	95	16	t	t	NOUN
ap-500	95	17	,	,	PUNCT
ap-500	95	18	�	�	PROPN
ap-500	95	19	�	�	PROPN
ap-500	95	20	�	�	PROPN
ap-500	95	21	q	q	PROPN
ap-500	95	22	q	q	NOUN
ap-500	95	23	ai	ai	VERB
ap-500	95	24	i	i	ADV
ap-500	95	25	1	1	NUM
ap-500	95	26	,	,	PUNCT
ap-500	95	27	i	i	PRON
ap-500	95	28	�	�	PROPN
ap-500	95	29	1	1	NUM
ap-500	95	30	,	,	PUNCT
ap-500	95	31	…	…	PUNCT
ap-500	95	32	,	,	PUNCT
ap-500	95	33	n.	n.	NOUN
ap-500	95	34	it	it	PRON
ap-500	95	35	is	be	AUX
ap-500	95	36	clear	clear	ADJ
ap-500	95	37	that	that	SCONJ
ap-500	95	38	the	the	DET
ap-500	95	39	computation	computation	NOUN
ap-500	95	40	with	with	ADP
ap-500	95	41	row	row	NOUN
ap-500	95	42	vectors	vector	NOUN
ap-500	95	43	is	be	AUX
ap-500	95	44	more	more	ADV
ap-500	95	45	efficient	efficient	ADJ
ap-500	95	46	than	than	ADP
ap-500	95	47	with	with	ADP
ap-500	95	48	the	the	DET
ap-500	95	49	full	full	ADJ
ap-500	95	50	square	square	ADJ
ap-500	95	51	matrices	matrix	NOUN
ap-500	95	52	.	.	PUNCT
ap-500	96	1	now	now	ADV
ap-500	96	2	,	,	PUNCT
ap-500	96	3	if	if	SCONJ
ap-500	96	4	the	the	DET
ap-500	96	5	stabilizing	stabilize	VERB
ap-500	96	6	feedback	feedback	NOUN
ap-500	96	7	control	control	NOUN
ap-500	96	8	defined	define	VERB
ap-500	96	9	by	by	ADP
ap-500	96	10	a	a	DET
ap-500	96	11	set	set	NOUN
ap-500	96	12	of	of	ADP
ap-500	96	13	desired	desire	VERB
ap-500	96	14	eigenvalues	eigenvalues	PROPN
ap-500	96	15	�	�	PROPN
ap-500	96	16	i	i	PRON
ap-500	96	17	,	,	PUNCT
ap-500	96	18	i	i	PRON
ap-500	96	19	�	�	PROPN
ap-500	96	20	1	1	NUM
ap-500	96	21	,	,	PUNCT
ap-500	96	22	…	…	PUNCT
ap-500	96	23	,	,	PUNCT
ap-500	96	24	n	n	CCONJ
ap-500	96	25	,	,	PUNCT
ap-500	96	26	instead	instead	ADV
ap-500	96	27	of	of	ADP
ap-500	96	28	the	the	DET
ap-500	96	29	coefficients	coefficient	NOUN
ap-500	96	30	di	di	X
ap-500	96	31	of	of	ADP
ap-500	96	32	the	the	DET
ap-500	96	33	characteristic	characteristic	ADJ
ap-500	96	34	equation	equation	NOUN
ap-500	96	35	.	.	PUNCT
ap-500	97	1	then	then	ADV
ap-500	97	2	,	,	PUNCT
ap-500	97	3	the	the	DET
ap-500	97	4	feedback	feedback	NOUN
ap-500	97	5	gain	gain	NOUN
ap-500	97	6	matrix	matrix	NOUN
ap-500	97	7	is	be	AUX
ap-500	97	8	�	�	PROPN
ap-500	97	9	�	�	PROPN
ap-500	97	10	�	�	PROPN
ap-500	97	11	�	�	PROPN
ap-500	97	12	�	�	PROPN
ap-500	98	1	k	k	PROPN
ap-500	98	2	q	q	PROPN
ap-500	99	1	a	a	PRON
ap-500	99	2	a	a	PRON
ap-500	99	3	i	i	PRON
ap-500	99	4	a	a	DET
ap-500	99	5	e	e	X
ap-500	99	6	ar	ar	NOUN
ap-500	99	7	a	a	DET
ap-500	99	8	�	�	PROPN
ap-500	99	9	�	�	PROPN
ap-500	99	10	�	�	PROPN
ap-500	99	11	�	�	PROPN
ap-500	99	12	�	�	PROPN
ap-500	99	13	�	�	PROPN
ap-500	99	14	�	�	PROPN
ap-500	99	15	�	�	PROPN
ap-500	99	16	�	�	PROPN
ap-500	100	1	a	a	PRON
ap-500	100	2	i	i	PRON
ap-500	100	3	i	i	PRON
ap-500	100	4	n	n	VERB
ap-500	101	1	i	i	PRON
ap-500	101	2	i	i	PRON
ap-500	102	1	n	n	VERB
ap-500	103	1	i	i	PRON
ap-500	103	2	i	i	PRON
ap-500	103	3	n	n	VERB
ap-500	103	4	n	n	ADV
ap-500	103	5	0	0	NUM
ap-500	103	6	1	1	NUM
ap-500	103	7	1	1	NUM
ap-500	103	8	1	1	NUM
ap-500	103	9	1	1	NUM
ap-500	103	10	1	1	NUM
ap-500	103	11	1	1	NUM
ap-500	103	12	�	�	PROPN
ap-500	103	13	�	�	PROPN
ap-500	103	14	�	�	PROPN
ap-500	103	15	det	det	PROPN
ap-500	103	16	t	t	PROPN
ap-500	103	17	�	�	PROPN
ap-500	103	18	�	�	PROPN
ap-500	103	19	�	�	PROPN
ap-500	103	20	�	�	PROPN
ap-500	103	21	�	�	PROPN
ap-500	103	22	�	�	PROPN
ap-500	103	23	�	�	PROPN
ap-500	103	24	�	�	PROPN
ap-500	103	25	�	�	PROPN
ap-500	103	26	�	�	PROPN
ap-500	103	27	�	�	PROPN
ap-500	103	28	�	�	PROPN
ap-500	103	29	�	�	PROPN
ap-500	103	30	�	�	PROPN
ap-500	103	31	�	�	PROPN
ap-500	103	32	�	�	PROPN
ap-500	103	33	�	�	PROPN
ap-500	104	1	i	i	PRON
ap-500	104	2	i	i	PRON
ap-500	104	3	n	n	VERB
ap-500	105	1	i	i	PRON
ap-500	105	2	i	i	PRON
ap-500	105	3	n	n	VERB
ap-500	105	4	n	n	CCONJ
ap-500	106	1	i	i	PRON
ap-500	106	2	i	i	PRON
ap-500	107	1	n	n	VERB
ap-500	108	1	i	i	NOUN
ap-500	108	2	e	e	VERB
ap-500	108	3	r	r	VERB
ap-500	108	4	a	a	PRON
ap-500	108	5	a	a	DET
ap-500	108	6	i	i	NOUN
ap-500	108	7	1	1	NUM
ap-500	108	8	1	1	NUM
ap-500	108	9	1	1	NUM
ap-500	108	10	1	1	NUM
ap-500	108	11	1	1	NUM
ap-500	108	12	t	t	NOUN
ap-500	108	13	adj	adj	X
ap-500	108	14	(	(	PUNCT
ap-500	108	15	27	27	NUM
ap-500	108	16	)	)	PUNCT
ap-500	108	17	and	and	CCONJ
ap-500	108	18	again	again	ADV
ap-500	108	19	utilizing	utilize	VERB
ap-500	108	20	the	the	DET
ap-500	108	21	above	above	ADJ
ap-500	108	22	simplification	simplification	NOUN
ap-500	108	23	(	(	PUNCT
ap-500	108	24	26	26	NUM
ap-500	108	25	)	)	PUNCT
ap-500	108	26	,	,	PUNCT
ap-500	108	27	the	the	DET
ap-500	108	28	above	above	ADJ
ap-500	108	29	equation	equation	NOUN
ap-500	108	30	can	can	AUX
ap-500	108	31	be	be	AUX
ap-500	108	32	written	write	VERB
ap-500	108	33	as	as	ADP
ap-500	108	34	k	k	PROPN
ap-500	108	35	q	q	PROPN
ap-500	108	36	�	�	PROPN
ap-500	108	37	�	�	PROPN
ap-500	108	38	�	�	PROPN
ap-500	108	39	�	�	PROPN
ap-500	108	40	a	a	PRON
ap-500	108	41	i	i	PRON
ap-500	108	42	i	i	PRON
ap-500	108	43	n	n	VERB
ap-500	108	44	n	n	NOUN
ap-500	108	45	0	0	NUM
ap-500	108	46	1	1	NUM
ap-500	108	47	�	�	PROPN
ap-500	108	48	,	,	PUNCT
ap-500	108	49	(	(	PUNCT
ap-500	108	50	28	28	NUM
ap-500	108	51	)	)	PUNCT
ap-500	108	52	where	where	SCONJ
ap-500	108	53	�	�	PROPN
ap-500	108	54	�	�	PROPN
ap-500	108	55	�	�	PROPN
ap-500	108	56	�	�	PROPN
ap-500	108	57	q	q	PROPN
ap-500	108	58	q	q	X
ap-500	108	59	a	a	DET
ap-500	108	60	e	e	NOUN
ap-500	108	61	ar0	ar0	NOUN
ap-500	108	62	1	1	NUM
ap-500	108	63	1	1	NUM
ap-500	108	64	1	1	NUM
ap-500	108	65	n	n	ADP
ap-500	108	66	t	t	NOUN
ap-500	108	67	,	,	PUNCT
ap-500	108	68	�	�	PROPN
ap-500	108	69	�	�	PROPN
ap-500	108	70	�	�	PROPN
ap-500	108	71	�	�	PROPN
ap-500	108	72	�	�	PROPN
ap-500	108	73	q	q	PROPN
ap-500	108	74	q	q	PROPN
ap-500	109	1	a	a	PRON
ap-500	109	2	ii	ii	NOUN
ap-500	110	1	i	i	PROPN
ap-500	110	2	i1	i1	PROPN
ap-500	110	3	�	�	PROPN
ap-500	110	4	,	,	PUNCT
ap-500	110	5	i	i	PRON
ap-500	110	6	�	�	PROPN
ap-500	110	7	1	1	NUM
ap-500	110	8	,	,	PUNCT
ap-500	110	9	…	…	PUNCT
ap-500	110	10	,	,	PUNCT
ap-500	110	11	n.	n.	NOUN
ap-500	110	12	one	one	NUM
ap-500	110	13	can	can	AUX
ap-500	110	14	easily	easily	ADV
ap-500	110	15	note	note	VERB
ap-500	110	16	that	that	SCONJ
ap-500	110	17	the	the	DET
ap-500	110	18	proposed	propose	VERB
ap-500	110	19	algorithm	algorithm	NOUN
ap-500	110	20	is	be	AUX
ap-500	110	21	simple	simple	ADJ
ap-500	110	22	and	and	CCONJ
ap-500	110	23	easy	easy	ADJ
ap-500	110	24	to	to	PART
ap-500	110	25	implement	implement	VERB
ap-500	110	26	.	.	PUNCT
ap-500	111	1	in	in	ADP
ap-500	111	2	addition	addition	NOUN
ap-500	111	3	,	,	PUNCT
ap-500	111	4	the	the	DET
ap-500	111	5	state	state	NOUN
ap-500	111	6	-	-	PUNCT
ap-500	111	7	derivative	derivative	ADJ
ap-500	111	8	feedback	feedback	NOUN
ap-500	111	9	gain	gain	NOUN
ap-500	111	10	matrix	matrix	NOUN
ap-500	111	11	calculations	calculation	NOUN
ap-500	111	12	are	be	AUX
ap-500	111	13	not	not	PART
ap-500	111	14	done	do	VERB
ap-500	111	15	in	in	ADP
ap-500	111	16	the	the	DET
ap-500	111	17	intermidiate	intermidiate	ADJ
ap-500	111	18	domain	domain	NOUN
ap-500	111	19	and	and	CCONJ
ap-500	111	20	direct	direct	ADJ
ap-500	111	21	implementation	implementation	NOUN
ap-500	111	22	is	be	AUX
ap-500	111	23	performed	perform	VERB
ap-500	111	24	in	in	ADP
ap-500	111	25	the	the	DET
ap-500	111	26	original	original	ADJ
ap-500	111	27	state	state	NOUN
ap-500	111	28	space	space	NOUN
ap-500	111	29	.	.	PUNCT
ap-500	112	1	we	we	PRON
ap-500	112	2	do	do	AUX
ap-500	112	3	not	not	PART
ap-500	112	4	need	need	VERB
ap-500	112	5	to	to	PART
ap-500	112	6	compute	compute	VERB
ap-500	112	7	the	the	DET
ap-500	112	8	transformation	transformation	NOUN
ap-500	112	9	into	into	ADP
ap-500	112	10	the	the	DET
ap-500	112	11	generalized	generalize	VERB
ap-500	112	12	frobenius	frobenius	NOUN
ap-500	112	13	form	form	NOUN
ap-500	112	14	.	.	PUNCT
ap-500	113	1	one	one	NUM
ap-500	113	2	of	of	ADP
ap-500	113	3	the	the	DET
ap-500	113	4	main	main	ADJ
ap-500	113	5	advantages	advantage	NOUN
ap-500	113	6	of	of	ADP
ap-500	113	7	the	the	DET
ap-500	113	8	transformation	transformation	NOUN
ap-500	113	9	matrix	matrix	NOUN
ap-500	113	10	is	be	AUX
ap-500	113	11	the	the	DET
ap-500	113	12	posibility	posibility	NOUN
ap-500	113	13	to	to	PART
ap-500	113	14	easily	easily	ADV
ap-500	113	15	derive	derive	VERB
ap-500	113	16	an	an	DET
ap-500	113	17	explicit	explicit	ADJ
ap-500	113	18	analytic	analytic	ADJ
ap-500	113	19	expression	expression	NOUN
ap-500	113	20	for	for	ADP
ap-500	113	21	the	the	DET
ap-500	113	22	feedback	feedback	NOUN
ap-500	113	23	gain	gain	NOUN
ap-500	113	24	matrix	matrix	NOUN
ap-500	113	25	.	.	PUNCT
ap-500	114	1	the	the	DET
ap-500	114	2	above	above	ADJ
ap-500	114	3	algorithm	algorithm	NOUN
ap-500	114	4	is	be	AUX
ap-500	114	5	valid	valid	ADJ
ap-500	114	6	for	for	ADP
ap-500	114	7	desired	desire	VERB
ap-500	114	8	eigenvalues	eigenvalue	NOUN
ap-500	114	9	that	that	PRON
ap-500	114	10	are	be	AUX
ap-500	114	11	either	either	CCONJ
ap-500	114	12	real	real	ADJ
ap-500	114	13	or	or	CCONJ
ap-500	114	14	complex	complex	ADJ
ap-500	114	15	-	-	PUNCT
ap-500	114	16	conjugate	conjugate	ADJ
ap-500	114	17	poles	pole	NOUN
ap-500	114	18	.	.	PUNCT
ap-500	115	1	from	from	ADP
ap-500	115	2	the	the	DET
ap-500	115	3	derivation	derivation	NOUN
ap-500	115	4	of	of	ADP
ap-500	115	5	the	the	DET
ap-500	115	6	state	state	NOUN
ap-500	115	7	-	-	PUNCT
ap-500	115	8	derivative	derivative	ADJ
ap-500	115	9	feedback	feedback	NOUN
ap-500	115	10	pole	pole	NOUN
ap-500	115	11	placement	placement	NOUN
ap-500	115	12	the	the	DET
ap-500	115	13	necessary	necessary	ADJ
ap-500	115	14	and	and	CCONJ
ap-500	115	15	sufficient	sufficient	ADJ
ap-500	115	16	conditions	condition	NOUN
ap-500	115	17	for	for	ADP
ap-500	115	18	arbitrary	arbitrary	ADJ
ap-500	115	19	pole	pole	NOUN
ap-500	115	20	placement	placement	NOUN
ap-500	115	21	can	can	AUX
ap-500	115	22	be	be	AUX
ap-500	115	23	described	describe	VERB
ap-500	115	24	.	.	PUNCT
ap-500	116	1	for	for	ADP
ap-500	116	2	the	the	DET
ap-500	116	3	transformation	transformation	NOUN
ap-500	116	4	into	into	ADP
ap-500	116	5	the	the	DET
ap-500	116	6	frobenius	frobenius	ADJ
ap-500	116	7	canonical	canonical	ADJ
ap-500	116	8	form	form	NOUN
ap-500	116	9	and/or	and/or	CCONJ
ap-500	116	10	computing	compute	VERB
ap-500	116	11	formulas	formula	NOUN
ap-500	116	12	(	(	PUNCT
ap-500	116	13	25)–(28	25)–(28	NUM
ap-500	116	14	)	)	PUNCT
ap-500	116	15	the	the	DET
ap-500	116	16	controllability	controllability	NOUN
ap-500	116	17	matrix	matrix	NOUN
ap-500	116	18	r	r	NOUN
ap-500	116	19	must	must	AUX
ap-500	116	20	be	be	AUX
ap-500	116	21	of	of	ADP
ap-500	116	22	full	full	ADJ
ap-500	116	23	rank	rank	NOUN
ap-500	116	24	,	,	PUNCT
ap-500	116	25	i.e.	i.e.	X
ap-500	116	26	the	the	DET
ap-500	116	27	original	original	ADJ
ap-500	116	28	system	system	NOUN
ap-500	116	29	must	must	AUX
ap-500	116	30	be	be	AUX
ap-500	116	31	controllable	controllable	ADJ
ap-500	116	32	as	as	ADP
ap-500	116	33	for	for	ADP
ap-500	116	34	traditional	traditional	ADJ
ap-500	116	35	state	state	NOUN
ap-500	116	36	feedback	feedback	NOUN
ap-500	116	37	.	.	PUNCT
ap-500	117	1	in	in	ADP
ap-500	117	2	addition	addition	NOUN
ap-500	117	3	,	,	PUNCT
ap-500	117	4	the	the	DET
ap-500	117	5	coefficient	coefficient	NOUN
ap-500	117	6	a0	a0	PROPN
ap-500	117	7	must	must	AUX
ap-500	117	8	be	be	AUX
ap-500	117	9	non	non	ADJ
ap-500	117	10	-	-	ADJ
ap-500	117	11	zero	zero	NUM
ap-500	117	12	.	.	PUNCT
ap-500	118	1	using	use	VERB
ap-500	118	2	our	our	PRON
ap-500	118	3	knowledge	knowledge	NOUN
ap-500	118	4	about	about	ADP
ap-500	118	5	the	the	DET
ap-500	118	6	coefficients	coefficient	NOUN
ap-500	118	7	of	of	ADP
ap-500	118	8	the	the	DET
ap-500	118	9	characteristic	characteristic	ADJ
ap-500	118	10	polynomial	polynomial	NOUN
ap-500	118	11	the	the	DET
ap-500	118	12	coefficients	coefficient	NOUN
ap-500	118	13	is	be	AUX
ap-500	118	14	equivalent	equivalent	ADJ
ap-500	118	15	to	to	ADP
ap-500	118	16	the	the	DET
ap-500	118	17	condition	condition	NOUN
ap-500	119	1	that	that	SCONJ
ap-500	119	2	a	a	DET
ap-500	119	3	oi	oi	X
ap-500	119	4	i	i	PRON
ap-500	119	5	n	n	ADV
ap-500	119	6	0	0	NUM
ap-500	119	7	1	1	NUM
ap-500	119	8	0	0	NUM
ap-500	119	9	�	�	PROPN
ap-500	119	10	�	�	PROPN
ap-500	119	11	�	�	PROPN
ap-500	119	12	�	�	PROPN
ap-500	119	13	�	�	PROPN
ap-500	119	14	(	(	PUNCT
ap-500	119	15	29	29	NUM
ap-500	119	16	)	)	PUNCT
ap-500	119	17	where	where	SCONJ
ap-500	119	18	here	here	ADV
ap-500	119	19	�	�	PROPN
ap-500	119	20	oi	oi	PROPN
ap-500	119	21	,	,	PUNCT
ap-500	119	22	(	(	PUNCT
ap-500	119	23	i	i	PRON
ap-500	119	24	�	�	PROPN
ap-500	119	25	1	1	NUM
ap-500	119	26	,	,	PUNCT
ap-500	119	27	…	…	PUNCT
ap-500	119	28	,	,	PUNCT
ap-500	119	29	n	n	CCONJ
ap-500	119	30	)	)	PUNCT
ap-500	119	31	,	,	PUNCT
ap-500	119	32	are	be	AUX
ap-500	119	33	the	the	DET
ap-500	119	34	original	original	ADJ
ap-500	119	35	poles	pole	NOUN
ap-500	119	36	of	of	ADP
ap-500	119	37	the	the	DET
ap-500	119	38	system	system	NOUN
ap-500	119	39	(	(	PUNCT
ap-500	119	40	1	1	NUM
ap-500	119	41	)	)	PUNCT
ap-500	119	42	.	.	PUNCT
ap-500	120	1	this	this	PRON
ap-500	120	2	means	mean	VERB
ap-500	120	3	that	that	SCONJ
ap-500	120	4	all	all	DET
ap-500	120	5	the	the	DET
ap-500	120	6	original	original	ADJ
ap-500	120	7	poles	pole	NOUN
ap-500	120	8	must	must	AUX
ap-500	120	9	be	be	AUX
ap-500	120	10	non	non	ADJ
ap-500	120	11	-	-	ADJ
ap-500	120	12	zero	zero	NUM
ap-500	120	13	.	.	PUNCT
ap-500	121	1	this	this	PRON
ap-500	121	2	is	be	AUX
ap-500	121	3	equivalent	equivalent	ADJ
ap-500	121	4	according	accord	VERB
ap-500	121	5	to	to	ADP
ap-500	121	6	[	[	X
ap-500	121	7	20	20	NUM
ap-500	121	8	,	,	PUNCT
ap-500	121	9	1.1.7	1.1.7	NUM
ap-500	121	10	]	]	PUNCT
ap-500	121	11	to	to	ADP
ap-500	121	12	the	the	DET
ap-500	121	13	54	54	NUM
ap-500	121	14	©	©	PROPN
ap-500	121	15	czech	czech	PROPN
ap-500	121	16	technical	technical	PROPN
ap-500	121	17	university	university	PROPN
ap-500	121	18	publishing	publishing	NOUN
ap-500	121	19	house	house	NOUN
ap-500	121	20	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	121	21	acta	acta	PROPN
ap-500	121	22	polytechnica	polytechnica	PROPN
ap-500	121	23	vol	vol	NOUN
ap-500	121	24	.	.	PUNCT
ap-500	122	1	43	43	NUM
ap-500	122	2	no	no	NOUN
ap-500	122	3	.	.	PUNCT
ap-500	123	1	6/2003	6/2003	NUM
ap-500	123	2	condition	condition	NOUN
ap-500	123	3	that	that	SCONJ
ap-500	123	4	the	the	DET
ap-500	123	5	system	system	NOUN
ap-500	123	6	matrix	matrix	NOUN
ap-500	123	7	a	a	PRON
ap-500	123	8	of	of	ADP
ap-500	123	9	the	the	DET
ap-500	123	10	original	original	ADJ
ap-500	123	11	system	system	NOUN
ap-500	123	12	(	(	PUNCT
ap-500	123	13	1	1	X
ap-500	123	14	)	)	PUNCT
ap-500	123	15	is	be	AUX
ap-500	123	16	nonsingular	nonsingular	ADJ
ap-500	123	17	(	(	PUNCT
ap-500	123	18	it	it	PRON
ap-500	123	19	has	have	AUX
ap-500	123	20	full	full	ADJ
ap-500	123	21	rank	rank	NOUN
ap-500	123	22	n	n	CCONJ
ap-500	123	23	)	)	PUNCT
ap-500	123	24	.	.	PUNCT
ap-500	124	1	based	base	VERB
ap-500	124	2	on	on	ADP
ap-500	124	3	the	the	DET
ap-500	124	4	above	above	ADJ
ap-500	124	5	necessary	necessary	ADJ
ap-500	124	6	and	and	CCONJ
ap-500	124	7	sufficient	sufficient	ADJ
ap-500	124	8	conditions	condition	NOUN
ap-500	124	9	,	,	PUNCT
ap-500	124	10	we	we	PRON
ap-500	124	11	are	be	AUX
ap-500	124	12	now	now	ADV
ap-500	124	13	in	in	ADP
ap-500	124	14	the	the	DET
ap-500	124	15	position	position	NOUN
ap-500	124	16	to	to	PART
ap-500	124	17	present	present	VERB
ap-500	124	18	the	the	DET
ap-500	124	19	first	first	ADJ
ap-500	124	20	main	main	ADJ
ap-500	124	21	result	result	NOUN
ap-500	124	22	of	of	ADP
ap-500	124	23	the	the	DET
ap-500	124	24	present	present	ADJ
ap-500	124	25	work	work	NOUN
ap-500	124	26	.	.	PUNCT
ap-500	125	1	theorem	theorem	NOUN
ap-500	125	2	1	1	NUM
ap-500	125	3	:	:	PUNCT
ap-500	125	4	consider	consider	VERB
ap-500	125	5	the	the	DET
ap-500	125	6	controllable	controllable	ADJ
ap-500	125	7	single	single	ADJ
ap-500	125	8	-	-	PUNCT
ap-500	125	9	input	input	NOUN
ap-500	125	10	time	time	NOUN
ap-500	125	11	-	-	PUNCT
ap-500	125	12	invariant	invariant	ADJ
ap-500	125	13	linear	linear	ADJ
ap-500	125	14	system	system	NOUN
ap-500	125	15	of	of	ADP
ap-500	125	16	(	(	PUNCT
ap-500	125	17	1	1	NUM
ap-500	125	18	)	)	PUNCT
ap-500	125	19	.	.	PUNCT
ap-500	126	1	if	if	SCONJ
ap-500	126	2	matrix	matrix	NOUN
ap-500	126	3	a	a	PRON
ap-500	126	4	is	be	AUX
ap-500	126	5	non	non	ADJ
ap-500	126	6	-	-	ADJ
ap-500	126	7	singular	singular	ADJ
ap-500	126	8	,	,	PUNCT
ap-500	126	9	then	then	ADV
ap-500	126	10	the	the	DET
ap-500	126	11	poles	pole	NOUN
ap-500	126	12	of	of	ADP
ap-500	126	13	system	system	NOUN
ap-500	126	14	(	(	PUNCT
ap-500	126	15	1	1	X
ap-500	126	16	)	)	PUNCT
ap-500	126	17	can	can	AUX
ap-500	126	18	be	be	AUX
ap-500	126	19	arbitrarily	arbitrarily	ADV
ap-500	126	20	placed	place	VERB
ap-500	126	21	in	in	ADP
ap-500	126	22	the	the	DET
ap-500	126	23	desired	desire	VERB
ap-500	126	24	places	place	NOUN
ap-500	126	25	by	by	ADP
ap-500	126	26	the	the	DET
ap-500	126	27	state	state	NOUN
ap-500	126	28	-	-	PUNCT
ap-500	126	29	derivative	derivative	ADJ
ap-500	126	30	feedback	feedback	NOUN
ap-500	126	31	(	(	PUNCT
ap-500	126	32	3	3	X
ap-500	126	33	)	)	PUNCT
ap-500	126	34	using	use	VERB
ap-500	126	35	the	the	DET
ap-500	126	36	constant	constant	ADJ
ap-500	126	37	feedback	feedback	NOUN
ap-500	126	38	gain	gain	NOUN
ap-500	126	39	matrix	matrix	NOUN
ap-500	126	40	k	k	NOUN
ap-500	126	41	computed	compute	VERB
ap-500	126	42	by	by	ADP
ap-500	126	43	one	one	NUM
ap-500	126	44	of	of	ADP
ap-500	126	45	the	the	DET
ap-500	126	46	formulas	formula	NOUN
ap-500	126	47	(	(	PUNCT
ap-500	126	48	25)–(28	25)–(28	NUM
ap-500	126	49	)	)	PUNCT
ap-500	126	50	.	.	PUNCT
ap-500	127	1	it	it	PRON
ap-500	127	2	is	be	AUX
ap-500	127	3	clear	clear	ADJ
ap-500	127	4	that	that	SCONJ
ap-500	127	5	this	this	DET
ap-500	127	6	solution	solution	NOUN
ap-500	127	7	is	be	AUX
ap-500	127	8	general	general	ADJ
ap-500	127	9	,	,	PUNCT
ap-500	127	10	it	it	PRON
ap-500	127	11	requires	require	VERB
ap-500	127	12	no	no	DET
ap-500	127	13	iteration	iteration	NOUN
ap-500	127	14	and	and	CCONJ
ap-500	127	15	can	can	AUX
ap-500	127	16	be	be	AUX
ap-500	127	17	easily	easily	ADV
ap-500	127	18	directly	directly	ADV
ap-500	127	19	computed	compute	VERB
ap-500	127	20	.	.	PUNCT
ap-500	128	1	this	this	PRON
ap-500	128	2	solves	solve	VERB
ap-500	128	3	the	the	DET
ap-500	128	4	pole	pole	NOUN
ap-500	128	5	placement	placement	NOUN
ap-500	128	6	for	for	ADP
ap-500	128	7	a	a	DET
ap-500	128	8	linear	linear	ADJ
ap-500	128	9	time	time	NOUN
ap-500	128	10	-	-	PUNCT
ap-500	128	11	invariant	invariant	ADJ
ap-500	128	12	system	system	NOUN
ap-500	128	13	by	by	ADP
ap-500	128	14	state	state	NOUN
ap-500	128	15	-	-	PUNCT
ap-500	128	16	derivative	derivative	ADJ
ap-500	128	17	feedback	feedback	NOUN
ap-500	128	18	.	.	PUNCT
ap-500	129	1	another	another	DET
ap-500	129	2	interesting	interesting	ADJ
ap-500	129	3	feature	feature	NOUN
ap-500	129	4	is	be	AUX
ap-500	129	5	that	that	SCONJ
ap-500	129	6	in	in	ADP
ap-500	129	7	many	many	ADJ
ap-500	129	8	cases	case	NOUN
ap-500	129	9	the	the	DET
ap-500	129	10	state	state	NOUN
ap-500	129	11	-	-	PUNCT
ap-500	129	12	derivative	derivative	ADJ
ap-500	129	13	feedback	feedback	NOUN
ap-500	129	14	gains	gain	NOUN
ap-500	129	15	(	(	PUNCT
ap-500	129	16	26)-(28	26)-(28	NOUN
ap-500	129	17	)	)	PUNCT
ap-500	129	18	are	be	AUX
ap-500	129	19	in	in	ADP
ap-500	129	20	absolute	absolute	ADJ
ap-500	129	21	values	value	NOUN
ap-500	129	22	smaller	small	ADJ
ap-500	129	23	than	than	ADP
ap-500	129	24	the	the	DET
ap-500	129	25	traditional	traditional	ADJ
ap-500	129	26	state	state	NOUN
ap-500	129	27	feedback	feedback	NOUN
ap-500	129	28	gains	gain	NOUN
ap-500	129	29	[	[	X
ap-500	129	30	8	8	NUM
ap-500	129	31	,	,	PUNCT
ap-500	129	32	9	9	NUM
ap-500	129	33	,	,	PUNCT
ap-500	129	34	10	10	NUM
ap-500	129	35	]	]	PUNCT
ap-500	129	36	if	if	SCONJ
ap-500	129	37	the	the	DET
ap-500	129	38	inverse	inverse	NOUN
ap-500	129	39	of	of	ADP
ap-500	129	40	system	system	NOUN
ap-500	129	41	matrix	matrix	NOUN
ap-500	129	42	a	a	DET
ap-500	129	43	reduces	reduce	VERB
ap-500	129	44	the	the	DET
ap-500	129	45	gains	gain	NOUN
ap-500	129	46	in	in	ADP
ap-500	129	47	(	(	PUNCT
ap-500	129	48	26)–(28	26)–(28	NUM
ap-500	129	49	)	)	PUNCT
ap-500	129	50	.	.	PUNCT
ap-500	130	1	the	the	DET
ap-500	130	2	state	state	NOUN
ap-500	130	3	-	-	PUNCT
ap-500	130	4	derivative	derivative	ADJ
ap-500	130	5	feedback	feedback	NOUN
ap-500	130	6	is	be	AUX
ap-500	130	7	a	a	DET
ap-500	130	8	derivative	derivative	ADJ
ap-500	130	9	feedback	feedback	NOUN
ap-500	130	10	.	.	PUNCT
ap-500	131	1	it	it	PRON
ap-500	131	2	can	can	AUX
ap-500	131	3	modify	modify	VERB
ap-500	131	4	the	the	DET
ap-500	131	5	system	system	NOUN
ap-500	131	6	dynamics	dynamic	NOUN
ap-500	131	7	,	,	PUNCT
ap-500	131	8	but	but	CCONJ
ap-500	131	9	it	it	PRON
ap-500	131	10	can	can	AUX
ap-500	131	11	not	not	PART
ap-500	131	12	modify	modify	VERB
ap-500	131	13	the	the	DET
ap-500	131	14	steady	steady	ADJ
ap-500	131	15	-	-	PUNCT
ap-500	131	16	state	state	NOUN
ap-500	131	17	errors	error	NOUN
ap-500	131	18	.	.	PUNCT
ap-500	132	1	the	the	DET
ap-500	132	2	steady	steady	ADJ
ap-500	132	3	-	-	PUNCT
ap-500	132	4	state	state	NOUN
ap-500	132	5	error	error	NOUN
ap-500	132	6	is	be	AUX
ap-500	132	7	finite	finite	ADJ
ap-500	132	8	for	for	ADP
ap-500	132	9	the	the	DET
ap-500	132	10	original	original	ADJ
ap-500	132	11	system	system	NOUN
ap-500	132	12	,	,	PUNCT
ap-500	132	13	as	as	SCONJ
ap-500	132	14	system	system	NOUN
ap-500	132	15	matrix	matrix	NOUN
ap-500	132	16	a	a	PRON
ap-500	132	17	is	be	AUX
ap-500	132	18	nonsingular	nonsingular	ADJ
ap-500	132	19	and	and	CCONJ
ap-500	132	20	it	it	PRON
ap-500	132	21	remains	remain	VERB
ap-500	132	22	unchanged	unchanged	ADJ
ap-500	132	23	by	by	ADP
ap-500	132	24	the	the	DET
ap-500	132	25	state	state	NOUN
ap-500	132	26	-	-	PUNCT
ap-500	132	27	derivative	derivative	ADJ
ap-500	132	28	feedback	feedback	NOUN
ap-500	132	29	.	.	PUNCT
ap-500	133	1	3	3	NUM
ap-500	133	2	pole	pole	NOUN
ap-500	133	3	placement	placement	NOUN
ap-500	133	4	by	by	ADP
ap-500	133	5	state	state	NOUN
ap-500	133	6	-	-	PUNCT
ap-500	133	7	derivative	derivative	ADJ
ap-500	133	8	feedback	feedback	NOUN
ap-500	133	9	for	for	ADP
ap-500	133	10	linear	linear	ADJ
ap-500	133	11	time	time	NOUN
ap-500	133	12	-	-	PUNCT
ap-500	133	13	varying	vary	VERB
ap-500	133	14	systems	system	NOUN
ap-500	133	15	the	the	DET
ap-500	133	16	above	above	ADJ
ap-500	133	17	methodology	methodology	NOUN
ap-500	133	18	can	can	AUX
ap-500	133	19	be	be	AUX
ap-500	133	20	extended	extend	VERB
ap-500	133	21	for	for	ADP
ap-500	133	22	general	general	ADJ
ap-500	133	23	single	single	ADJ
ap-500	133	24	-	-	PUNCT
ap-500	133	25	input	input	NOUN
ap-500	133	26	controllable	controllable	ADJ
ap-500	133	27	linear	linear	NOUN
ap-500	133	28	time	time	NOUN
ap-500	133	29	-	-	PUNCT
ap-500	133	30	varying	vary	VERB
ap-500	133	31	systems	system	NOUN
ap-500	133	32	�	�	PROPN
ap-500	133	33	�	�	PROPN
ap-500	133	34	�	�	PROPN
ap-500	133	35	�	�	PROPN
ap-500	133	36	�	�	PROPN
ap-500	133	37	�	�	PROPN
ap-500	133	38	�	�	PROPN
ap-500	133	39	�	�	PROPN
ap-500	133	40	�	�	PROPN
ap-500	133	41	�	�	PROPN
ap-500	133	42	�	�	PROPN
ap-500	133	43	x	x	PROPN
ap-500	133	44	a	a	DET
ap-500	133	45	x	x	SYM
ap-500	133	46	bt	bt	PROPN
ap-500	133	47	t	t	PROPN
ap-500	133	48	t	t	PROPN
ap-500	133	49	t	t	PROPN
ap-500	133	50	u	u	PROPN
ap-500	133	51	t	t	PROPN
ap-500	133	52	�	�	PROPN
ap-500	133	53	�	�	PROPN
ap-500	133	54	,	,	PUNCT
ap-500	133	55	�	�	PROPN
ap-500	133	56	�	�	PROPN
ap-500	133	57	x	x	PROPN
ap-500	133	58	xt0	xt0	PROPN
ap-500	133	59	0	0	NUM
ap-500	133	60	�	�	PROPN
ap-500	133	61	(	(	PUNCT
ap-500	133	62	30	30	NUM
ap-500	133	63	)	)	PUNCT
ap-500	133	64	where	where	SCONJ
ap-500	133	65	�	�	PROPN
ap-500	133	66	�	�	PROPN
ap-500	133	67	x	x	PROPN
ap-500	133	68	t	t	PROPN
ap-500	133	69	n	n	CCONJ
ap-500	133	70	�	�	PROPN
ap-500	133	71	r	r	NOUN
ap-500	133	72	and	and	CCONJ
ap-500	133	73	�	�	PROPN
ap-500	133	74	�	�	PROPN
ap-500	133	75	u	u	PROPN
ap-500	133	76	t	t	PROPN
ap-500	133	77	�	�	PROPN
ap-500	133	78	r	r	NOUN
ap-500	133	79	are	be	AUX
ap-500	133	80	the	the	DET
ap-500	133	81	state	state	NOUN
ap-500	133	82	vector	vector	NOUN
ap-500	133	83	and	and	CCONJ
ap-500	133	84	the	the	DET
ap-500	133	85	scalar	scalar	ADJ
ap-500	133	86	control	control	NOUN
ap-500	133	87	input	input	NOUN
ap-500	133	88	,	,	PUNCT
ap-500	133	89	respectively	respectively	ADV
ap-500	133	90	,	,	PUNCT
ap-500	133	91	while	while	SCONJ
ap-500	133	92	�	�	PROPN
ap-500	133	93	�	�	PROPN
ap-500	133	94	a	a	DET
ap-500	133	95	t	t	PROPN
ap-500	133	96	n	n	CCONJ
ap-500	133	97	n	n	CCONJ
ap-500	133	98	�	�	PROPN
ap-500	133	99	�	�	PROPN
ap-500	133	100	r	r	PROPN
ap-500	133	101	and	and	CCONJ
ap-500	133	102	�	�	PROPN
ap-500	133	103	�	�	PROPN
ap-500	133	104	b	b	PROPN
ap-500	133	105	t	t	PROPN
ap-500	133	106	n	n	CCONJ
ap-500	133	107	�	�	NOUN
ap-500	133	108	r	r	NOUN
ap-500	133	109	are	be	AUX
ap-500	133	110	the	the	DET
ap-500	133	111	system	system	NOUN
ap-500	133	112	matrix	matrix	NOUN
ap-500	133	113	and	and	CCONJ
ap-500	133	114	control	control	NOUN
ap-500	133	115	gain	gain	NOUN
ap-500	133	116	vector	vector	NOUN
ap-500	133	117	,	,	PUNCT
ap-500	133	118	respectively	respectively	ADV
ap-500	133	119	.	.	PUNCT
ap-500	134	1	the	the	DET
ap-500	134	2	sufficient	sufficient	ADJ
ap-500	134	3	condition	condition	NOUN
ap-500	134	4	for	for	ADP
ap-500	134	5	the	the	DET
ap-500	134	6	existence	existence	NOUN
ap-500	134	7	and	and	CCONJ
ap-500	134	8	unique	unique	ADJ
ap-500	134	9	solution	solution	NOUN
ap-500	134	10	is	be	AUX
ap-500	134	11	to	to	PART
ap-500	134	12	require	require	VERB
ap-500	134	13	that	that	SCONJ
ap-500	134	14	all	all	DET
ap-500	134	15	elements	element	NOUN
ap-500	134	16	of	of	ADP
ap-500	134	17	a(t	a(t	NOUN
ap-500	134	18	)	)	PUNCT
ap-500	134	19	be	be	VERB
ap-500	134	20	continuous	continuous	ADJ
ap-500	134	21	in	in	ADP
ap-500	134	22	the	the	DET
ap-500	134	23	time	time	NOUN
ap-500	134	24	interval	interval	NOUN
ap-500	134	25	of	of	ADP
ap-500	134	26	interest	interest	NOUN
ap-500	134	27	�	�	PROPN
ap-500	134	28	t	t	PROPN
ap-500	134	29	t	t	PROPN
ap-500	134	30	�	�	PROPN
ap-500	134	31	�	�	PROPN
ap-500	134	32	0	0	NUM
ap-500	134	33	,	,	PUNCT
ap-500	134	34	.	.	PUNCT
ap-500	135	1	the	the	DET
ap-500	135	2	objective	objective	NOUN
ap-500	135	3	here	here	ADV
ap-500	135	4	is	be	AUX
ap-500	135	5	to	to	PART
ap-500	135	6	find	find	VERB
ap-500	135	7	a	a	DET
ap-500	135	8	time	time	NOUN
ap-500	135	9	-	-	PUNCT
ap-500	135	10	dependent	dependent	ADJ
ap-500	135	11	linear	linear	ADJ
ap-500	135	12	feedback	feedback	NOUN
ap-500	135	13	gain	gain	NOUN
ap-500	135	14	matrix	matrix	NOUN
ap-500	135	15	that	that	PRON
ap-500	135	16	will	will	AUX
ap-500	135	17	stabilize	stabilize	VERB
ap-500	135	18	the	the	DET
ap-500	135	19	system	system	NOUN
ap-500	135	20	.	.	PUNCT
ap-500	136	1	then	then	ADV
ap-500	136	2	,	,	PUNCT
ap-500	136	3	this	this	DET
ap-500	136	4	system	system	NOUN
ap-500	136	5	can	can	AUX
ap-500	136	6	be	be	AUX
ap-500	136	7	stabilized	stabilize	VERB
ap-500	136	8	by	by	ADP
ap-500	136	9	the	the	DET
ap-500	136	10	varying	vary	VERB
ap-500	136	11	state	state	NOUN
ap-500	136	12	-	-	PUNCT
ap-500	136	13	derivative	derivative	ADJ
ap-500	136	14	feedback	feedback	NOUN
ap-500	136	15	control	control	NOUN
ap-500	136	16	law	law	NOUN
ap-500	136	17	,	,	PUNCT
ap-500	136	18	�	�	PROPN
ap-500	136	19	�	�	PROPN
ap-500	136	20	�	�	PROPN
ap-500	136	21	�	�	PROPN
ap-500	136	22	�	�	PROPN
ap-500	136	23	�	�	PROPN
ap-500	136	24	u	u	PROPN
ap-500	136	25	t	t	PROPN
ap-500	136	26	t	t	PROPN
ap-500	136	27	t	t	PROPN
ap-500	136	28	�	�	PROPN
ap-500	136	29	k	k	PROPN
ap-500	136	30	x	x	PROPN
ap-500	136	31	�	�	PROPN
ap-500	136	32	,	,	PUNCT
ap-500	136	33	(	(	PUNCT
ap-500	136	34	31	31	NUM
ap-500	136	35	)	)	PUNCT
ap-500	136	36	and	and	CCONJ
ap-500	136	37	the	the	DET
ap-500	136	38	closed	closed	ADJ
ap-500	136	39	-	-	PUNCT
ap-500	136	40	loop	loop	NOUN
ap-500	136	41	system	system	NOUN
ap-500	136	42	can	can	AUX
ap-500	136	43	be	be	AUX
ap-500	136	44	written	write	VERB
ap-500	136	45	as	as	ADP
ap-500	136	46	�	�	PROPN
ap-500	136	47	�	�	PROPN
ap-500	136	48	�	�	PROPN
ap-500	136	49	�	�	PROPN
ap-500	136	50	�	�	PROPN
ap-500	136	51	�	�	PROPN
ap-500	136	52	�	�	PROPN
ap-500	136	53	�	�	PROPN
ap-500	136	54	�	�	PROPN
ap-500	136	55	�	�	PROPN
ap-500	136	56	x	x	PROPN
ap-500	136	57	i	i	PROPN
ap-500	136	58	b	b	PROPN
ap-500	136	59	k	k	X
ap-500	136	60	a	a	X
ap-500	136	61	xt	xt	PROPN
ap-500	137	1	+	+	CCONJ
ap-500	137	2	t	t	PROPN
ap-500	137	3	t	t	PROPN
ap-500	137	4	t	t	PROPN
ap-500	137	5	�	�	PROPN
ap-500	137	6	1	1	NUM
ap-500	137	7	.	.	PUNCT
ap-500	138	1	(	(	PUNCT
ap-500	138	2	32	32	NUM
ap-500	138	3	)	)	PUNCT
ap-500	138	4	the	the	DET
ap-500	138	5	objective	objective	NOUN
ap-500	138	6	now	now	ADV
ap-500	138	7	is	be	AUX
ap-500	138	8	to	to	PART
ap-500	138	9	construct	construct	VERB
ap-500	138	10	the	the	DET
ap-500	138	11	varying	vary	VERB
ap-500	138	12	feedback	feedback	NOUN
ap-500	138	13	gain	gain	NOUN
ap-500	138	14	matrix	matrix	NOUN
ap-500	138	15	k(t	k(t	NOUN
ap-500	138	16	)	)	PUNCT
ap-500	138	17	in	in	ADP
ap-500	138	18	order	order	NOUN
ap-500	138	19	to	to	PART
ap-500	138	20	stabilize	stabilize	VERB
ap-500	138	21	the	the	DET
ap-500	138	22	system	system	NOUN
ap-500	138	23	.	.	PUNCT
ap-500	139	1	in	in	ADP
ap-500	139	2	this	this	DET
ap-500	139	3	treatment	treatment	NOUN
ap-500	139	4	,	,	PUNCT
ap-500	139	5	we	we	PRON
ap-500	139	6	turn	turn	VERB
ap-500	139	7	our	our	PRON
ap-500	139	8	attention	attention	NOUN
ap-500	139	9	to	to	PART
ap-500	139	10	utilize	utilize	VERB
ap-500	139	11	the	the	DET
ap-500	139	12	frobenius	frobenius	ADJ
ap-500	139	13	transformation	transformation	NOUN
ap-500	139	14	as	as	ADP
ap-500	139	15	an	an	DET
ap-500	139	16	intermediate	intermediate	ADJ
ap-500	139	17	step	step	NOUN
ap-500	139	18	to	to	PART
ap-500	139	19	simplify	simplify	VERB
ap-500	139	20	the	the	DET
ap-500	139	21	pole	pole	NOUN
ap-500	139	22	placement	placement	NOUN
ap-500	139	23	problem	problem	NOUN
ap-500	139	24	.	.	PUNCT
ap-500	140	1	let	let	VERB
ap-500	140	2	us	we	PRON
ap-500	140	3	take	take	VERB
ap-500	140	4	the	the	DET
ap-500	140	5	following	following	ADJ
ap-500	140	6	time	time	NOUN
ap-500	140	7	-	-	PUNCT
ap-500	140	8	varying	vary	VERB
ap-500	140	9	state	state	NOUN
ap-500	140	10	transformation	transformation	NOUN
ap-500	140	11	�	�	PROPN
ap-500	140	12	�	�	PROPN
ap-500	140	13	z	z	PROPN
ap-500	140	14	q	q	NOUN
ap-500	140	15	x	x	X
ap-500	140	16	�	�	PROPN
ap-500	140	17	1	1	NUM
ap-500	140	18	t	t	PROPN
ap-500	140	19	,	,	PUNCT
ap-500	140	20	�	�	PROPN
ap-500	140	21	�	�	PROPN
ap-500	140	22	x	x	PROPN
ap-500	140	23	q	q	PROPN
ap-500	140	24	z	z	PROPN
ap-500	140	25	�	�	PROPN
ap-500	140	26	t	t	PROPN
ap-500	140	27	(	(	PUNCT
ap-500	140	28	33	33	NUM
ap-500	140	29	)	)	PUNCT
ap-500	140	30	then	then	ADV
ap-500	140	31	,	,	PUNCT
ap-500	140	32	the	the	DET
ap-500	140	33	system	system	NOUN
ap-500	140	34	is	be	AUX
ap-500	140	35	transformed	transform	VERB
ap-500	140	36	to	to	ADP
ap-500	140	37	the	the	DET
ap-500	140	38	frobenius	frobenius	ADJ
ap-500	140	39	canonical	canonical	ADJ
ap-500	140	40	form	form	NOUN
ap-500	140	41	and	and	CCONJ
ap-500	140	42	the	the	DET
ap-500	140	43	dynamic	dynamic	ADJ
ap-500	140	44	system	system	NOUN
ap-500	140	45	matrices	matrix	NOUN
ap-500	140	46	can	can	AUX
ap-500	140	47	be	be	AUX
ap-500	140	48	computed	compute	VERB
ap-500	140	49	as	as	SCONJ
ap-500	140	50	�	�	PROPN
ap-500	140	51	�	�	PROPN
ap-500	140	52	�	�	PROPN
ap-500	140	53	�	�	PROPN
ap-500	140	54	a	a	DET
ap-500	140	55	q	q	X
ap-500	140	56	aq	aq	PROPN
ap-500	140	57	qf	qf	PROPN
ap-500	140	58	t	t	PROPN
ap-500	140	59	�	�	PROPN
ap-500	140	60	1	1	NUM
ap-500	140	61	�	�	PROPN
ap-500	140	62	,	,	PUNCT
ap-500	140	63	b	b	X
ap-500	140	64	q	q	NOUN
ap-500	140	65	bf	bf	NOUN
ap-500	140	66	�	�	PROPN
ap-500	140	67	1	1	NUM
ap-500	140	68	(	(	PUNCT
ap-500	140	69	34	34	NUM
ap-500	140	70	)	)	PUNCT
ap-500	140	71	where	where	SCONJ
ap-500	140	72	�	�	PROPN
ap-500	140	73	�	�	PROPN
ap-500	140	74	af	af	PROPN
ap-500	140	75	n	n	SYM
ap-500	140	76	nt	not	PART
ap-500	140	77	�	�	PROPN
ap-500	140	78	�	�	PROPN
ap-500	140	79	r	r	NOUN
ap-500	140	80	and	and	CCONJ
ap-500	140	81	bf	bf	NOUN
ap-500	140	82	n	n	CCONJ
ap-500	140	83	�	�	NOUN
ap-500	140	84	r	r	NOUN
ap-500	140	85	are	be	AUX
ap-500	140	86	the	the	DET
ap-500	140	87	transformed	transform	VERB
ap-500	140	88	system	system	NOUN
ap-500	140	89	matrix	matrix	NOUN
ap-500	140	90	and	and	CCONJ
ap-500	140	91	control	control	NOUN
ap-500	140	92	gain	gain	NOUN
ap-500	140	93	vector	vector	NOUN
ap-500	140	94	,	,	PUNCT
ap-500	140	95	respectively	respectively	ADV
ap-500	140	96	.	.	PUNCT
ap-500	141	1	the	the	DET
ap-500	141	2	transformed	transform	VERB
ap-500	141	3	system	system	NOUN
ap-500	141	4	is	be	AUX
ap-500	141	5	the	the	DET
ap-500	141	6	same	same	ADJ
ap-500	141	7	as	as	ADP
ap-500	141	8	(	(	PUNCT
ap-500	141	9	10	10	NUM
ap-500	141	10	)	)	PUNCT
ap-500	141	11	,	,	PUNCT
ap-500	141	12	however	however	ADV
ap-500	141	13	with	with	ADP
ap-500	141	14	�	�	PROPN
ap-500	141	15	�	�	PROPN
ap-500	141	16	�	�	PROPN
ap-500	141	17	�	�	PROPN
ap-500	141	18	�	�	PROPN
ap-500	141	19	�	�	PROPN
ap-500	141	20	�	�	PROPN
ap-500	141	21	�	�	PROPN
ap-500	141	22	�	�	PROPN
ap-500	141	23	a	a	DET
ap-500	141	24	t	t	NOUN
ap-500	141	25	a	a	DET
ap-500	141	26	t	t	NOUN
ap-500	141	27	a	a	DET
ap-500	141	28	t	t	PROPN
ap-500	141	29	a	a	DET
ap-500	141	30	tn	tn	PROPN
ap-500	141	31	�	�	PROPN
ap-500	141	32	0	0	NUM
ap-500	141	33	1	1	NUM
ap-500	141	34	1	1	NUM
ap-500	141	35	,	,	PUNCT
ap-500	141	36	,	,	PUNCT
ap-500	141	37	,	,	PUNCT
ap-500	141	38	�	�	PROPN
ap-500	141	39	being	be	AUX
ap-500	141	40	the	the	DET
ap-500	141	41	time	time	NOUN
ap-500	141	42	-	-	PUNCT
ap-500	141	43	varying	vary	VERB
ap-500	141	44	coefficients	coefficient	NOUN
ap-500	141	45	.	.	PUNCT
ap-500	142	1	note	note	VERB
ap-500	142	2	that	that	SCONJ
ap-500	142	3	the	the	DET
ap-500	142	4	eigenvalues	eigenvalue	NOUN
ap-500	142	5	of	of	ADP
ap-500	142	6	the	the	DET
ap-500	142	7	time	time	NOUN
ap-500	142	8	varying	vary	VERB
ap-500	142	9	dynamic	dynamic	ADJ
ap-500	142	10	system	system	NOUN
ap-500	142	11	do	do	AUX
ap-500	142	12	not	not	PART
ap-500	142	13	have	have	VERB
ap-500	142	14	any	any	DET
ap-500	142	15	meaning	meaning	NOUN
ap-500	142	16	regarding	regard	VERB
ap-500	142	17	its	its	PRON
ap-500	142	18	behaviour	behaviour	NOUN
ap-500	142	19	or	or	CCONJ
ap-500	142	20	its	its	PRON
ap-500	142	21	stability	stability	NOUN
ap-500	142	22	features	feature	VERB
ap-500	142	23	.	.	PUNCT
ap-500	143	1	the	the	DET
ap-500	143	2	state	state	NOUN
ap-500	143	3	transformation	transformation	NOUN
ap-500	143	4	matrix	matrix	NOUN
ap-500	143	5	�	�	PROPN
ap-500	143	6	�	�	PROPN
ap-500	143	7	q	q	PROPN
ap-500	143	8	�	�	PROPN
ap-500	143	9	�	�	PROPN
ap-500	143	10	1	1	NUM
ap-500	143	11	t	t	PROPN
ap-500	143	12	n	n	PRON
ap-500	143	13	nr	nr	PRON
ap-500	143	14	can	can	AUX
ap-500	143	15	be	be	AUX
ap-500	143	16	calculated	calculate	VERB
ap-500	143	17	as	as	SCONJ
ap-500	143	18	follows	follow	VERB
ap-500	143	19	�	�	PROPN
ap-500	143	20	�	�	PROPN
ap-500	143	21	�	�	PROPN
ap-500	143	22	�	�	PROPN
ap-500	143	23	q	q	PROPN
ap-500	143	24	q	q	X
ap-500	143	25	q	q	X
ap-500	143	26	q	q	ADJ
ap-500	143	27	�	�	PROPN
ap-500	143	28	1	1	NUM
ap-500	143	29	1	1	NUM
ap-500	143	30	2	2	NUM
ap-500	143	31	t	t	NOUN
ap-500	143	32	nrows	nrow	VERB
ap-500	143	33	�	�	PROPN
ap-500	143	34	(	(	PUNCT
ap-500	143	35	35	35	NUM
ap-500	143	36	)	)	PUNCT
ap-500	143	37	where	where	SCONJ
ap-500	143	38	qi	qi	PROPN
ap-500	143	39	n	n	CCONJ
ap-500	143	40	�	�	PROPN
ap-500	143	41	�	�	PROPN
ap-500	143	42	r1	r1	PROPN
ap-500	143	43	is	be	AUX
ap-500	143	44	computed	compute	VERB
ap-500	143	45	by	by	ADP
ap-500	143	46	using	use	VERB
ap-500	143	47	the	the	DET
ap-500	143	48	recursive	recursive	ADJ
ap-500	143	49	computations	computation	NOUN
ap-500	143	50	of	of	ADP
ap-500	143	51	the	the	DET
ap-500	143	52	rows	row	NOUN
ap-500	143	53	as	as	SCONJ
ap-500	143	54	follows	follow	VERB
ap-500	143	55	q	q	NOUN
ap-500	143	56	e	e	PROPN
ap-500	143	57	r1	r1	PROPN
ap-500	143	58	1	1	NUM
ap-500	143	59	�	�	PROPN
ap-500	143	60	n	n	ADP
ap-500	143	61	t	t	NOUN
ap-500	143	62	,	,	PUNCT
ap-500	143	63	q	q	PROPN
ap-500	143	64	q	q	PUNCT
ap-500	143	65	a	a	PRON
ap-500	143	66	qi	qi	X
ap-500	144	1	i	i	PRON
ap-500	144	2	i	i	PROPN
ap-500	144	3	�	�	PROPN
ap-500	144	4	�	�	PROPN
ap-500	144	5	�	�	PROPN
ap-500	144	6	1	1	NUM
ap-500	144	7	�	�	PROPN
ap-500	144	8	,	,	PUNCT
ap-500	144	9	i	i	PRON
ap-500	144	10	�	�	PROPN
ap-500	144	11	1	1	NUM
ap-500	144	12	,	,	PUNCT
ap-500	144	13	…	…	PUNCT
ap-500	144	14	,	,	PUNCT
ap-500	144	15	n–1	n–1	X
ap-500	144	16	.	.	PUNCT
ap-500	145	1	(	(	PUNCT
ap-500	145	2	36	36	NUM
ap-500	145	3	)	)	PUNCT
ap-500	145	4	the	the	DET
ap-500	145	5	controllability	controllability	NOUN
ap-500	145	6	matrix	matrix	NOUN
ap-500	145	7	for	for	ADP
ap-500	145	8	the	the	DET
ap-500	145	9	time	time	NOUN
ap-500	145	10	-	-	PUNCT
ap-500	145	11	varying	vary	VERB
ap-500	145	12	system	system	NOUN
ap-500	145	13	�	�	PROPN
ap-500	145	14	�	�	PROPN
ap-500	145	15	r	r	PROPN
ap-500	145	16	t	t	PROPN
ap-500	145	17	n	n	CCONJ
ap-500	145	18	n	n	CCONJ
ap-500	145	19	�	�	PROPN
ap-500	145	20	�	�	PROPN
ap-500	145	21	r	r	NOUN
ap-500	145	22	is	be	AUX
ap-500	145	23	formed	form	VERB
ap-500	145	24	as	as	ADP
ap-500	145	25	�	�	PROPN
ap-500	145	26	�	�	PROPN
ap-500	145	27	�	�	PROPN
ap-500	145	28	�	�	PROPN
ap-500	145	29	r	r	NOUN
ap-500	145	30	r	r	NOUN
ap-500	145	31	r	r	NOUN
ap-500	145	32	rt	rt	PROPN
ap-500	145	33	n	n	CCONJ
ap-500	145	34	�	�	PROPN
ap-500	145	35	1	1	NUM
ap-500	145	36	2	2	NUM
ap-500	145	37	�	�	PROPN
ap-500	145	38	,	,	PUNCT
ap-500	145	39	(	(	PUNCT
ap-500	145	40	37	37	NUM
ap-500	145	41	)	)	PUNCT
ap-500	145	42	where	where	SCONJ
ap-500	145	43	ri	ri	PROPN
ap-500	145	44	n	n	CCONJ
ap-500	145	45	�	�	PROPN
ap-500	145	46	r	r	NOUN
ap-500	145	47	can	can	AUX
ap-500	145	48	be	be	AUX
ap-500	145	49	computed	compute	VERB
ap-500	145	50	algebraically	algebraically	ADV
ap-500	145	51	using	use	VERB
ap-500	145	52	the	the	DET
ap-500	145	53	recursion	recursion	NOUN
ap-500	145	54	r	r	NOUN
ap-500	145	55	b1	b1	NOUN
ap-500	145	56	�	�	PROPN
ap-500	145	57	,	,	PUNCT
ap-500	145	58	r	r	NOUN
ap-500	145	59	a	a	DET
ap-500	145	60	r	r	NOUN
ap-500	145	61	ri	ri	NOUN
ap-500	146	1	i	i	PRON
ap-500	146	2	i	i	PROPN
ap-500	146	3	�	�	PROPN
ap-500	146	4	�	�	PROPN
ap-500	146	5	1	1	NUM
ap-500	146	6	�	�	PROPN
ap-500	146	7	,	,	PUNCT
ap-500	146	8	i	i	PRON
ap-500	146	9	�	�	PROPN
ap-500	146	10	1	1	NUM
ap-500	146	11	,	,	PUNCT
ap-500	146	12	…	…	PUNCT
ap-500	146	13	,	,	PUNCT
ap-500	146	14	n–1	n–1	X
ap-500	146	15	.	.	PUNCT
ap-500	147	1	(	(	PUNCT
ap-500	147	2	38	38	NUM
ap-500	147	3	)	)	PUNCT
ap-500	147	4	if	if	SCONJ
ap-500	147	5	�	�	PROPN
ap-500	147	6	�	�	PROPN
ap-500	147	7	q	q	PROPN
ap-500	147	8	t	t	PROPN
ap-500	147	9	,	,	PUNCT
ap-500	147	10	�	�	PROPN
ap-500	147	11	�	�	PROPN
ap-500	147	12	q	q	PROPN
ap-500	147	13	1	1	NUM
ap-500	147	14	t	t	NOUN
ap-500	147	15	,	,	PUNCT
ap-500	147	16	and	and	CCONJ
ap-500	147	17	�	�	PROPN
ap-500	147	18	�	�	PROPN
ap-500	147	19	�	�	PROPN
ap-500	147	20	q	q	PROPN
ap-500	147	21	t	t	PROPN
ap-500	147	22	are	be	AUX
ap-500	147	23	continuous	continuous	ADJ
ap-500	147	24	and	and	CCONJ
ap-500	147	25	bounded	bounded	ADJ
ap-500	147	26	matrices	matrix	NOUN
ap-500	147	27	and	and	CCONJ
ap-500	147	28	�	�	PROPN
ap-500	147	29	�	�	PROPN
ap-500	147	30	q	q	PROPN
ap-500	147	31	1	1	NUM
ap-500	147	32	t	t	NOUN
ap-500	147	33	has	have	VERB
ap-500	147	34	a	a	DET
ap-500	147	35	full	full	ADJ
ap-500	147	36	rank	rank	NOUN
ap-500	147	37	at	at	ADP
ap-500	147	38	the	the	DET
ap-500	147	39	time	time	NOUN
ap-500	147	40	interval	interval	NOUN
ap-500	147	41	of	of	ADP
ap-500	147	42	interest	interest	NOUN
ap-500	147	43	,	,	PUNCT
ap-500	147	44	�	�	PROPN
ap-500	147	45	t	t	PROPN
ap-500	147	46	t	t	PROPN
ap-500	147	47	�	�	PROPN
ap-500	147	48	�	�	PROPN
ap-500	147	49	0	0	NUM
ap-500	147	50	,	,	PUNCT
ap-500	147	51	,	,	PUNCT
ap-500	147	52	then	then	ADV
ap-500	147	53	this	this	DET
ap-500	147	54	transformation	transformation	NOUN
ap-500	147	55	is	be	AUX
ap-500	147	56	called	call	VERB
ap-500	147	57	a	a	DET
ap-500	147	58	lyapunov	lyapunov	ADJ
ap-500	147	59	transformation	transformation	NOUN
ap-500	147	60	.	.	PUNCT
ap-500	148	1	note	note	VERB
ap-500	148	2	that	that	SCONJ
ap-500	148	3	the	the	DET
ap-500	148	4	lyapunov	lyapunov	ADJ
ap-500	148	5	transformation	transformation	NOUN
ap-500	148	6	means	mean	VERB
ap-500	148	7	that	that	SCONJ
ap-500	148	8	the	the	DET
ap-500	148	9	transformation	transformation	NOUN
ap-500	148	10	from	from	ADP
ap-500	148	11	one	one	NUM
ap-500	148	12	system	system	NOUN
ap-500	148	13	to	to	ADP
ap-500	148	14	the	the	DET
ap-500	148	15	other	other	ADJ
ap-500	148	16	preserves	preserve	VERB
ap-500	148	17	the	the	DET
ap-500	148	18	property	property	NOUN
ap-500	148	19	of	of	ADP
ap-500	148	20	stability	stability	NOUN
ap-500	148	21	.	.	PUNCT
ap-500	149	1	consequently	consequently	ADV
ap-500	149	2	,	,	PUNCT
ap-500	149	3	this	this	PRON
ap-500	149	4	ensures	ensure	VERB
ap-500	149	5	that	that	SCONJ
ap-500	149	6	we	we	PRON
ap-500	149	7	can	can	AUX
ap-500	149	8	stabilize	stabilize	VERB
ap-500	149	9	the	the	DET
ap-500	149	10	time	time	NOUN
ap-500	149	11	-	-	PUNCT
ap-500	149	12	varying	vary	VERB
ap-500	149	13	system	system	NOUN
ap-500	149	14	by	by	ADP
ap-500	149	15	means	mean	NOUN
ap-500	149	16	of	of	ADP
ap-500	149	17	placing	place	VERB
ap-500	149	18	the	the	DET
ap-500	149	19	poles	pole	NOUN
ap-500	149	20	of	of	ADP
ap-500	149	21	the	the	DET
ap-500	149	22	lyapunov	lyapunov	ADJ
ap-500	149	23	equivalent	equivalent	NOUN
ap-500	149	24	by	by	ADP
ap-500	149	25	a	a	DET
ap-500	149	26	linear	linear	ADJ
ap-500	149	27	time	time	NOUN
ap-500	149	28	-	-	PUNCT
ap-500	149	29	invariant	invariant	ADJ
ap-500	149	30	system	system	NOUN
ap-500	149	31	.	.	PUNCT
ap-500	150	1	assuming	assume	VERB
ap-500	150	2	that	that	SCONJ
ap-500	150	3	the	the	DET
ap-500	150	4	above	above	ADJ
ap-500	150	5	transformation	transformation	NOUN
ap-500	150	6	to	to	ADP
ap-500	150	7	the	the	DET
ap-500	150	8	frobenius	frobenius	ADJ
ap-500	150	9	canonical	canonical	ADJ
ap-500	150	10	form	form	NOUN
ap-500	150	11	is	be	AUX
ap-500	150	12	of	of	ADP
ap-500	150	13	the	the	DET
ap-500	150	14	lyapunov	lyapunov	ADJ
ap-500	150	15	kind	kind	NOUN
ap-500	150	16	then	then	ADV
ap-500	150	17	the	the	DET
ap-500	150	18	pole	pole	ADJ
ap-500	150	19	placement	placement	NOUN
ap-500	150	20	technique	technique	NOUN
ap-500	150	21	from	from	ADP
ap-500	150	22	the	the	DET
ap-500	150	23	time	time	NOUN
ap-500	150	24	-	-	PUNCT
ap-500	150	25	invariant	invariant	ADJ
ap-500	150	26	case	case	NOUN
ap-500	150	27	can	can	AUX
ap-500	150	28	be	be	AUX
ap-500	150	29	extended	extend	VERB
ap-500	150	30	for	for	ADP
ap-500	150	31	the	the	DET
ap-500	150	32	time	time	NOUN
ap-500	150	33	-	-	PUNCT
ap-500	150	34	varying	vary	VERB
ap-500	150	35	case	case	NOUN
ap-500	150	36	.	.	PUNCT
ap-500	151	1	by	by	ADP
ap-500	151	2	differeintiating	differeintiate	VERB
ap-500	151	3	the	the	DET
ap-500	151	4	transformation	transformation	NOUN
ap-500	151	5	equation	equation	NOUN
ap-500	151	6	(	(	PUNCT
ap-500	151	7	33	33	NUM
ap-500	151	8	)	)	PUNCT
ap-500	151	9	and	and	CCONJ
ap-500	151	10	substitute	substitute	NOUN
ap-500	151	11	(	(	PUNCT
ap-500	151	12	32	32	NUM
ap-500	151	13	)	)	PUNCT
ap-500	151	14	,	,	PUNCT
ap-500	151	15	the	the	DET
ap-500	151	16	resulting	result	VERB
ap-500	151	17	closed	close	VERB
ap-500	151	18	-	-	PUNCT
ap-500	151	19	loop	loop	NOUN
ap-500	151	20	system	system	NOUN
ap-500	151	21	in	in	ADP
ap-500	151	22	the	the	DET
ap-500	151	23	z	z	NOUN
ap-500	151	24	-	-	PUNCT
ap-500	151	25	coordinate	coordinate	NOUN
ap-500	151	26	is	be	AUX
ap-500	151	27	,	,	PUNCT
ap-500	151	28	�	�	PROPN
ap-500	151	29	�	�	PROPN
ap-500	151	30	�	�	PROPN
ap-500	151	31	�	�	PROPN
ap-500	151	32	�	�	PROPN
ap-500	151	33	�	�	PROPN
ap-500	151	34	�	�	PROPN
ap-500	151	35	z	z	PROPN
ap-500	151	36	q	q	NOUN
ap-500	152	1	x	x	X
ap-500	152	2	q	q	PUNCT
ap-500	152	3	x	x	X
ap-500	152	4	q	q	X
ap-500	152	5	q	q	X
ap-500	153	1	i	i	PRON
ap-500	153	2	bk	bk	VERB
ap-500	153	3	a	a	DET
ap-500	153	4	q	q	PROPN
ap-500	153	5	z	z	NOUN
ap-500	153	6	a	a	DET
ap-500	153	7	z	z	PROPN
ap-500	153	8	�	�	PROPN
ap-500	153	9	�	�	PROPN
ap-500	153	10	�	�	PROPN
ap-500	153	11	�	�	PROPN
ap-500	153	12	�	�	PROPN
ap-500	153	13	�	�	PROPN
ap-500	153	14	1	1	NUM
ap-500	153	15	1	1	NUM
ap-500	153	16	1	1	NUM
ap-500	153	17	1	1	NUM
ap-500	153	18	1	1	NUM
ap-500	153	19	+	+	NUM
ap-500	153	20	,	,	PUNCT
ap-500	153	21	z	z	NOUN
ap-500	153	22	(	(	PUNCT
ap-500	153	23	39	39	NUM
ap-500	153	24	)	)	PUNCT
ap-500	153	25	where	where	SCONJ
ap-500	153	26	az	az	PROPN
ap-500	153	27	n	n	CCONJ
ap-500	153	28	n	n	CCONJ
ap-500	153	29	�	�	PROPN
ap-500	153	30	�	�	PROPN
ap-500	153	31	r	r	NOUN
ap-500	153	32	is	be	AUX
ap-500	153	33	the	the	DET
ap-500	153	34	closed	closed	ADJ
ap-500	153	35	-	-	PUNCT
ap-500	153	36	loop	loop	NOUN
ap-500	153	37	system	system	NOUN
ap-500	153	38	matrix	matrix	NOUN
ap-500	153	39	and	and	CCONJ
ap-500	153	40	is	be	AUX
ap-500	153	41	given	give	VERB
ap-500	153	42	as	as	ADP
ap-500	153	43	(	(	PUNCT
ap-500	153	44	16	16	NUM
ap-500	153	45	)	)	PUNCT
ap-500	153	46	,	,	PUNCT
ap-500	153	47	and	and	CCONJ
ap-500	153	48	can	can	AUX
ap-500	153	49	be	be	AUX
ap-500	153	50	computed	compute	VERB
ap-500	153	51	as	as	SCONJ
ap-500	153	52	�	�	PROPN
ap-500	153	53	�	�	PROPN
ap-500	153	54	�	�	PROPN
ap-500	153	55	a	a	PRON
ap-500	154	1	q	q	X
ap-500	155	1	q	q	X
ap-500	156	1	i	i	PRON
ap-500	156	2	bk	bk	VERB
ap-500	156	3	a	a	DET
ap-500	156	4	qz	qz	PROPN
ap-500	156	5	+	+	PROPN
ap-500	156	6	�	�	PROPN
ap-500	156	7	�	�	PROPN
ap-500	156	8	�	�	PROPN
ap-500	156	9	1	1	NUM
ap-500	156	10	1	1	NUM
ap-500	156	11	1	1	NUM
ap-500	156	12	.	.	PUNCT
ap-500	157	1	(	(	PUNCT
ap-500	157	2	40	40	NUM
ap-500	157	3	)	)	PUNCT
ap-500	157	4	hence	hence	ADV
ap-500	157	5	,	,	PUNCT
ap-500	157	6	we	we	PRON
ap-500	157	7	can	can	AUX
ap-500	157	8	rewrite	rewrite	VERB
ap-500	157	9	the	the	DET
ap-500	157	10	above	above	ADJ
ap-500	157	11	equation	equation	NOUN
ap-500	157	12	as	as	ADP
ap-500	157	13	�	�	PROPN
ap-500	157	14	�	�	PROPN
ap-500	157	15	�	�	PROPN
ap-500	157	16	a	a	DET
ap-500	157	17	q	q	X
ap-500	157	18	q	q	X
ap-500	157	19	a	a	X
ap-500	157	20	i	i	NOUN
ap-500	157	21	bk	bk	PROPN
ap-500	157	22	qz	qz	PROPN
ap-500	157	23	+	+	PROPN
ap-500	157	24	�	�	PROPN
ap-500	157	25	1	1	NUM
ap-500	157	26	1	1	NUM
ap-500	157	27	1	1	NUM
ap-500	157	28	1	1	NUM
ap-500	157	29	�	�	PROPN
ap-500	157	30	.	.	PUNCT
ap-500	158	1	(	(	PUNCT
ap-500	158	2	41	41	NUM
ap-500	158	3	)	)	PUNCT
ap-500	158	4	applying	apply	VERB
ap-500	158	5	the	the	DET
ap-500	158	6	same	same	ADJ
ap-500	158	7	procedure	procedure	NOUN
ap-500	158	8	for	for	ADP
ap-500	158	9	the	the	DET
ap-500	158	10	time	time	NOUN
ap-500	158	11	-	-	PUNCT
ap-500	158	12	invariant	invariant	ADJ
ap-500	158	13	system	system	NOUN
ap-500	158	14	,	,	PUNCT
ap-500	158	15	it	it	PRON
ap-500	158	16	is	be	AUX
ap-500	158	17	easy	easy	ADJ
ap-500	158	18	to	to	PART
ap-500	158	19	write	write	VERB
ap-500	158	20	the	the	DET
ap-500	158	21	n	n	PROPN
ap-500	158	22	equations	equation	NOUN
ap-500	158	23	describing	describe	VERB
ap-500	158	24	the	the	DET
ap-500	158	25	system	system	NOUN
ap-500	158	26	in	in	ADP
ap-500	158	27	terms	term	NOUN
ap-500	158	28	of	of	ADP
ap-500	158	29	the	the	DET
ap-500	158	30	row	row	NOUN
ap-500	158	31	vectors	vector	NOUN
ap-500	158	32	qi	qi	NOUN
ap-500	158	33	,	,	PUNCT
ap-500	158	34	i	i	PRON
ap-500	158	35	�	�	PROPN
ap-500	158	36	1	1	NUM
ap-500	158	37	,	,	PUNCT
ap-500	158	38	…	…	PUNCT
ap-500	158	39	,	,	PUNCT
ap-500	158	40	n	n	PROPN
ap-500	158	41	of	of	ADP
ap-500	158	42	�	�	PROPN
ap-500	158	43	�	�	PROPN
ap-500	158	44	q	q	PROPN
ap-500	158	45	1	1	NUM
ap-500	158	46	t	t	NOUN
ap-500	158	47	as	as	ADP
ap-500	158	48	,	,	PUNCT
ap-500	158	49	�	�	PROPN
ap-500	158	50	�	�	PROPN
ap-500	158	51	�	�	PROPN
ap-500	158	52	q	q	PROPN
ap-500	158	53	q	q	X
ap-500	159	1	a	a	X
ap-500	159	2	i	i	NOUN
ap-500	159	3	bk	bk	ADP
ap-500	159	4	qi	qi	PROPN
ap-500	159	5	i	i	PRON
ap-500	159	6	i+	i+	X
ap-500	159	7	�	�	PROPN
ap-500	159	8	�	�	PROPN
ap-500	159	9	1	1	NUM
ap-500	159	10	1	1	NUM
ap-500	159	11	�	�	PROPN
ap-500	159	12	,	,	PUNCT
ap-500	159	13	i	i	PRON
ap-500	159	14	�	�	PROPN
ap-500	159	15	1	1	NUM
ap-500	159	16	,	,	PUNCT
ap-500	159	17	…	…	PUNCT
ap-500	159	18	,	,	PUNCT
ap-500	159	19	n–1	n–1	PROPN
ap-500	159	20	and	and	CCONJ
ap-500	159	21	�	�	PROPN
ap-500	159	22	�	�	PROPN
ap-500	159	23	�	�	PROPN
ap-500	159	24	�	�	PROPN
ap-500	159	25	dq	dq	ADP
ap-500	159	26	q	q	PROPN
ap-500	160	1	a	a	DET
ap-500	160	2	i	i	NOUN
ap-500	160	3	bk	bk	PROPN
ap-500	160	4	q1	q1	PROPN
ap-500	160	5	1	1	NUM
ap-500	160	6	�	�	PROPN
ap-500	160	7	n	n	NUM
ap-500	160	8	n+	n+	NUM
ap-500	160	9	,	,	PUNCT
ap-500	160	10	(	(	PUNCT
ap-500	160	11	42	42	NUM
ap-500	160	12	)	)	PUNCT
ap-500	160	13	then	then	ADV
ap-500	160	14	,	,	PUNCT
ap-500	160	15	the	the	DET
ap-500	160	16	feedback	feedback	NOUN
ap-500	160	17	gain	gain	VERB
ap-500	160	18	matrix	matrix	NOUN
ap-500	160	19	k(t	k(t	NOUN
ap-500	160	20	)	)	PUNCT
ap-500	160	21	for	for	ADP
ap-500	160	22	the	the	DET
ap-500	160	23	time	time	NOUN
ap-500	160	24	-	-	PUNCT
ap-500	160	25	varying	vary	VERB
ap-500	160	26	system	system	NOUN
ap-500	160	27	can	can	AUX
ap-500	160	28	be	be	AUX
ap-500	160	29	written	write	VERB
ap-500	160	30	as	as	ADP
ap-500	160	31	©	©	PROPN
ap-500	160	32	czech	czech	PROPN
ap-500	160	33	technical	technical	PROPN
ap-500	160	34	university	university	PROPN
ap-500	160	35	publishing	publishing	NOUN
ap-500	160	36	house	house	NOUN
ap-500	160	37	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	160	38	55	55	NUM
ap-500	160	39	acta	acta	PROPN
ap-500	160	40	polytechnica	polytechnica	PROPN
ap-500	160	41	vol	vol	NOUN
ap-500	160	42	.	.	PUNCT
ap-500	161	1	43	43	NUM
ap-500	161	2	no	no	NOUN
ap-500	161	3	.	.	PUNCT
ap-500	162	1	6/2003	6/2003	NUM
ap-500	162	2	�	�	PROPN
ap-500	162	3	�	�	PROPN
ap-500	162	4	�	�	PROPN
ap-500	162	5	�	�	PROPN
ap-500	162	6	�	�	PROPN
ap-500	162	7	�	�	PROPN
ap-500	162	8	k	k	PROPN
ap-500	162	9	dq	dq	ADP
ap-500	162	10	q	q	PROPN
ap-500	162	11	a	a	DET
ap-500	162	12	b	b	X
ap-500	162	13	q	q	NOUN
ap-500	162	14	dq	dq	PROPN
ap-500	162	15	q	q	NOUN
ap-500	162	16	at	at	ADP
ap-500	162	17	n	n	CCONJ
ap-500	162	18	n	n	CCONJ
ap-500	162	19	n	n	CCONJ
ap-500	162	20	�	�	PROPN
ap-500	162	21	�	�	PROPN
ap-500	162	22	�	�	PROPN
ap-500	162	23	�	�	PROPN
ap-500	162	24	�	�	PROPN
ap-500	162	25	�	�	PROPN
ap-500	162	26	�	�	PROPN
ap-500	162	27	�	�	PROPN
ap-500	162	28	�	�	PROPN
ap-500	162	29	�	�	PROPN
ap-500	162	30	�	�	PROPN
ap-500	162	31	�	�	PROPN
ap-500	162	32	�	�	PROPN
ap-500	162	33	�	�	PROPN
ap-500	162	34	�	�	PROPN
ap-500	162	35	1	1	NUM
ap-500	162	36	1	1	NUM
ap-500	162	37	1	1	NUM
ap-500	162	38	1	1	NUM
ap-500	162	39	1	1	NUM
ap-500	162	40	�	�	PROPN
ap-500	162	41	�	�	PROPN
ap-500	162	42	.	.	PUNCT
ap-500	163	1	(	(	PUNCT
ap-500	163	2	43	43	NUM
ap-500	163	3	)	)	PUNCT
ap-500	163	4	the	the	DET
ap-500	163	5	feedback	feedback	NOUN
ap-500	163	6	gain	gain	VERB
ap-500	163	7	matrix	matrix	NOUN
ap-500	163	8	k(t	k(t	NOUN
ap-500	163	9	)	)	PUNCT
ap-500	163	10	can	can	AUX
ap-500	163	11	be	be	AUX
ap-500	163	12	rewritten	rewrite	VERB
ap-500	163	13	as	as	ADP
ap-500	163	14	�	�	PROPN
ap-500	163	15	�	�	PROPN
ap-500	163	16	k	k	PROPN
ap-500	163	17	q	q	PROPN
ap-500	163	18	q	q	X
ap-500	163	19	a	a	DET
ap-500	163	20	bt	bt	NOUN
ap-500	164	1	dn	dn	INTJ
ap-500	164	2	i	i	PRON
ap-500	165	1	i	i	PRON
ap-500	165	2	i	i	PRON
ap-500	165	3	n	n	VERB
ap-500	165	4	�	�	PROPN
ap-500	165	5	�	�	PROPN
ap-500	165	6	�	�	PROPN
ap-500	165	7	�	�	PROPN
ap-500	165	8	�	�	PROPN
ap-500	165	9	�	�	PROPN
ap-500	165	10	�	�	PROPN
ap-500	165	11	�	�	PROPN
ap-500	165	12	�	�	PROPN
ap-500	165	13	�	�	PROPN
ap-500	165	14	�	�	PROPN
ap-500	165	15	�	�	PROPN
ap-500	165	16	�	�	PROPN
ap-500	165	17	�	�	PROPN
ap-500	165	18	�	�	PROPN
ap-500	165	19	�	�	PROPN
ap-500	165	20	�	�	PROPN
ap-500	165	21	�	�	PROPN
ap-500	165	22	�	�	PROPN
ap-500	165	23	�	�	PROPN
ap-500	165	24	�	�	PROPN
ap-500	165	25	�	�	PROPN
ap-500	165	26	�	�	PROPN
ap-500	165	27	�	�	PROPN
ap-500	165	28	�	�	PROPN
ap-500	165	29	1	1	NUM
ap-500	165	30	1	1	NUM
ap-500	165	31	1	1	NUM
ap-500	165	32	0	0	NUM
ap-500	165	33	1	1	NUM
ap-500	165	34	1	1	NUM
ap-500	165	35	1	1	NUM
ap-500	165	36	q	q	NOUN
ap-500	165	37	q	q	NOUN
ap-500	166	1	an	an	INTJ
ap-500	166	2	i	i	PRON
ap-500	167	1	i	i	PRON
ap-500	167	2	i	i	PRON
ap-500	167	3	n	n	PROPN
ap-500	167	4	d	d	PROPN
ap-500	167	5	�	�	PROPN
ap-500	167	6	�	�	PROPN
ap-500	167	7	�	�	PROPN
ap-500	167	8	�	�	PROPN
ap-500	167	9	�	�	PROPN
ap-500	167	10	�	�	PROPN
ap-500	167	11	�	�	PROPN
ap-500	167	12	�	�	PROPN
ap-500	167	13	�	�	PROPN
ap-500	167	14	�	�	PROPN
ap-500	167	15	�	�	PROPN
ap-500	167	16	�	�	PROPN
ap-500	167	17	�	�	PROPN
ap-500	167	18	�	�	PROPN
ap-500	167	19	1	1	NUM
ap-500	167	20	1	1	NUM
ap-500	167	21	0	0	NUM
ap-500	167	22	1	1	NUM
ap-500	167	23	1	1	NUM
ap-500	167	24	.	.	PUNCT
ap-500	168	1	(	(	PUNCT
ap-500	168	2	44	44	NUM
ap-500	168	3	)	)	PUNCT
ap-500	168	4	next	next	ADV
ap-500	168	5	,	,	PUNCT
ap-500	168	6	we	we	PRON
ap-500	168	7	consider	consider	VERB
ap-500	168	8	a	a	DET
ap-500	168	9	stabilizing	stabilize	VERB
ap-500	168	10	feedback	feedback	NOUN
ap-500	168	11	control	control	NOUN
ap-500	168	12	defined	define	VERB
ap-500	168	13	by	by	ADP
ap-500	168	14	the	the	DET
ap-500	168	15	desired	desire	VERB
ap-500	168	16	eigenvalues	eigenvalues	PROPN
ap-500	168	17	{	{	PUNCT
ap-500	168	18	�	�	NOUN
ap-500	168	19	1	1	NUM
ap-500	168	20	,	,	PUNCT
ap-500	168	21	…	…	PUNCT
ap-500	168	22	,	,	PUNCT
ap-500	168	23	�	�	PROPN
ap-500	168	24	n	n	CCONJ
ap-500	168	25	}	}	PUNCT
ap-500	168	26	.	.	PUNCT
ap-500	169	1	the	the	DET
ap-500	169	2	gain	gain	NOUN
ap-500	169	3	matrix	matrix	NOUN
ap-500	169	4	is	be	AUX
ap-500	169	5	directly	directly	ADV
ap-500	169	6	computed	compute	VERB
ap-500	169	7	by	by	ADP
ap-500	169	8	an	an	DET
ap-500	169	9	efficient	efficient	ADJ
ap-500	169	10	numerical	numerical	ADJ
ap-500	169	11	algorithm	algorithm	NOUN
ap-500	169	12	as	as	ADP
ap-500	169	13	�	�	PROPN
ap-500	169	14	�	�	PROPN
ap-500	169	15	�	�	PROPN
ap-500	169	16	�	�	PROPN
ap-500	169	17	k	k	PROPN
ap-500	169	18	q	q	PROPN
ap-500	169	19	a	a	DET
ap-500	169	20	b	b	X
ap-500	169	21	q	q	NOUN
ap-500	169	22	at	at	ADP
ap-500	169	23	n	n	CCONJ
ap-500	169	24	n	n	CCONJ
ap-500	169	25	�	�	PROPN
ap-500	170	1	�	�	PROPN
ap-500	170	2	�	�	PROPN
ap-500	170	3	�	�	PROPN
ap-500	170	4	�	�	PROPN
ap-500	170	5	1	1	NUM
ap-500	170	6	1	1	NUM
ap-500	170	7	1	1	NUM
ap-500	170	8	1	1	NUM
ap-500	170	9	1	1	NUM
ap-500	170	10	1	1	NUM
ap-500	170	11	,	,	PUNCT
ap-500	170	12	(	(	PUNCT
ap-500	170	13	45	45	NUM
ap-500	170	14	)	)	PUNCT
ap-500	170	15	where	where	SCONJ
ap-500	170	16	�	�	PROPN
ap-500	170	17	�	�	PROPN
ap-500	170	18	�	�	PROPN
ap-500	170	19	q	q	PROPN
ap-500	170	20	q	q	X
ap-500	170	21	e	e	NOUN
ap-500	170	22	r1	r1	NOUN
ap-500	170	23	1	1	NUM
ap-500	170	24	1	1	NUM
ap-500	170	25	n	n	ADP
ap-500	170	26	t	t	NOUN
ap-500	170	27	,	,	PUNCT
ap-500	170	28	�	�	PROPN
ap-500	170	29	�	�	PROPN
ap-500	170	30	�	�	PROPN
ap-500	170	31	�	�	PROPN
ap-500	170	32	�	�	PROPN
ap-500	170	33	�	�	PROPN
ap-500	170	34	�	�	PROPN
ap-500	170	35	q	q	NOUN
ap-500	170	36	q	q	PROPN
ap-500	170	37	a	a	X
ap-500	170	38	i	i	PRON
ap-500	170	39	qi	qi	PROPN
ap-500	171	1	i	i	PRON
ap-500	171	2	i	i	PROPN
ap-500	171	3	i1	i1	PROPN
ap-500	171	4	�	�	PROPN
ap-500	171	5	�	�	PROPN
ap-500	171	6	,	,	PUNCT
ap-500	171	7	i	i	PRON
ap-500	171	8	�	�	PROPN
ap-500	171	9	1	1	NUM
ap-500	171	10	,	,	PUNCT
ap-500	171	11	…	…	PUNCT
ap-500	171	12	,	,	PUNCT
ap-500	171	13	n	n	X
ap-500	171	14	.	.	PUNCT
ap-500	172	1	from	from	ADP
ap-500	172	2	the	the	DET
ap-500	172	3	derivation	derivation	NOUN
ap-500	172	4	of	of	ADP
ap-500	172	5	the	the	DET
ap-500	172	6	state	state	NOUN
ap-500	172	7	-	-	PUNCT
ap-500	172	8	derivative	derivative	ADJ
ap-500	172	9	feedback	feedback	NOUN
ap-500	172	10	pole	pole	NOUN
ap-500	172	11	plaement	plaement	NOUN
ap-500	172	12	the	the	DET
ap-500	172	13	necessary	necessary	ADJ
ap-500	172	14	and	and	CCONJ
ap-500	172	15	sufficient	sufficient	ADJ
ap-500	172	16	conditions	condition	NOUN
ap-500	172	17	for	for	ADP
ap-500	172	18	arbitrary	arbitrary	ADJ
ap-500	172	19	pole	pole	NOUN
ap-500	172	20	placement	placement	NOUN
ap-500	172	21	can	can	AUX
ap-500	172	22	be	be	AUX
ap-500	172	23	described	describe	VERB
ap-500	172	24	.	.	PUNCT
ap-500	173	1	for	for	ADP
ap-500	173	2	the	the	DET
ap-500	173	3	transformation	transformation	NOUN
ap-500	173	4	into	into	ADP
ap-500	173	5	the	the	DET
ap-500	173	6	frobenius	frobenius	ADJ
ap-500	173	7	canonical	canonical	ADJ
ap-500	173	8	form	form	NOUN
ap-500	173	9	and/or	and/or	CCONJ
ap-500	173	10	computing	compute	VERB
ap-500	173	11	formulas	formula	NOUN
ap-500	173	12	(	(	PUNCT
ap-500	173	13	34)–(38	34)–(38	NOUN
ap-500	173	14	)	)	PUNCT
ap-500	173	15	the	the	DET
ap-500	173	16	controllability	controllability	NOUN
ap-500	173	17	matrix	matrix	NOUN
ap-500	173	18	r(t	r(t	NOUN
ap-500	173	19	)	)	PUNCT
ap-500	173	20	and	and	CCONJ
ap-500	173	21	the	the	DET
ap-500	173	22	transformation	transformation	NOUN
ap-500	173	23	matrix	matrix	NOUN
ap-500	173	24	�	�	PROPN
ap-500	173	25	�	�	PROPN
ap-500	173	26	q	q	PROPN
ap-500	173	27	1	1	NUM
ap-500	173	28	t	t	NOUN
ap-500	173	29	must	must	AUX
ap-500	173	30	be	be	AUX
ap-500	173	31	of	of	ADP
ap-500	173	32	full	full	ADJ
ap-500	173	33	rank	rank	NOUN
ap-500	173	34	,	,	PUNCT
ap-500	173	35	the	the	DET
ap-500	173	36	matrices	matrix	NOUN
ap-500	173	37	�	�	PROPN
ap-500	173	38	�	�	PROPN
ap-500	173	39	q	q	PROPN
ap-500	173	40	t	t	PROPN
ap-500	173	41	,	,	PUNCT
ap-500	173	42	�	�	PROPN
ap-500	173	43	�	�	PROPN
ap-500	173	44	q	q	PROPN
ap-500	173	45	1	1	NUM
ap-500	173	46	t	t	NOUN
ap-500	173	47	,	,	PUNCT
ap-500	173	48	�	�	PROPN
ap-500	173	49	�	�	PROPN
ap-500	173	50	�	�	PROPN
ap-500	173	51	q	q	PROPN
ap-500	173	52	t	t	PROPN
ap-500	173	53	are	be	AUX
ap-500	173	54	continuous	continuous	ADJ
ap-500	173	55	and	and	CCONJ
ap-500	173	56	bounded	bound	VERB
ap-500	173	57	in	in	ADP
ap-500	173	58	order	order	NOUN
ap-500	173	59	for	for	SCONJ
ap-500	173	60	the	the	DET
ap-500	173	61	transformation	transformation	NOUN
ap-500	173	62	be	be	AUX
ap-500	173	63	of	of	ADP
ap-500	173	64	the	the	DET
ap-500	173	65	lyapunov	lyapunov	ADJ
ap-500	173	66	kind	kind	NOUN
ap-500	173	67	.	.	PUNCT
ap-500	174	1	in	in	ADP
ap-500	174	2	addition	addition	NOUN
ap-500	174	3	,	,	PUNCT
ap-500	174	4	matrix	matrix	NOUN
ap-500	174	5	a(t	a(t	NOUN
ap-500	174	6	)	)	PUNCT
ap-500	174	7	is	be	AUX
ap-500	174	8	continuous	continuous	ADJ
ap-500	174	9	,	,	PUNCT
ap-500	174	10	nonsingular	nonsingular	ADJ
ap-500	174	11	,	,	PUNCT
ap-500	174	12	and	and	CCONJ
ap-500	174	13	its	its	PRON
ap-500	174	14	inverse	inverse	NOUN
ap-500	174	15	is	be	AUX
ap-500	174	16	bounded	bound	VERB
ap-500	174	17	.	.	PUNCT
ap-500	175	1	finally	finally	ADV
ap-500	175	2	,	,	PUNCT
ap-500	175	3	the	the	DET
ap-500	175	4	term	term	NOUN
ap-500	175	5	.	.	PUNCT
ap-500	176	1	everything	everything	PRON
ap-500	176	2	must	must	AUX
ap-500	176	3	be	be	AUX
ap-500	176	4	valid	valid	ADJ
ap-500	176	5	at	at	ADP
ap-500	176	6	the	the	DET
ap-500	176	7	time	time	NOUN
ap-500	176	8	interval	interval	NOUN
ap-500	176	9	of	of	ADP
ap-500	176	10	interest	interest	NOUN
ap-500	176	11	,	,	PUNCT
ap-500	176	12	�	�	PROPN
ap-500	176	13	t	t	PROPN
ap-500	176	14	t	t	PROPN
ap-500	176	15	�	�	PROPN
ap-500	176	16	�	�	PROPN
ap-500	176	17	0	0	NUM
ap-500	176	18	,	,	PUNCT
ap-500	176	19	.	.	PUNCT
ap-500	177	1	now	now	ADV
ap-500	177	2	,	,	PUNCT
ap-500	177	3	the	the	DET
ap-500	177	4	following	follow	VERB
ap-500	177	5	theorem	theorem	NOUN
ap-500	177	6	can	can	AUX
ap-500	177	7	be	be	AUX
ap-500	177	8	presented	present	VERB
ap-500	177	9	for	for	ADP
ap-500	177	10	the	the	DET
ap-500	177	11	single	single	ADJ
ap-500	177	12	-	-	PUNCT
ap-500	177	13	input	input	NOUN
ap-500	177	14	time	time	NOUN
ap-500	177	15	-	-	PUNCT
ap-500	177	16	varying	vary	VERB
ap-500	177	17	control	control	NOUN
ap-500	177	18	systems	system	NOUN
ap-500	177	19	.	.	PUNCT
ap-500	178	1	theorem	theorem	NOUN
ap-500	178	2	2	2	NUM
ap-500	178	3	:	:	PUNCT
ap-500	178	4	consider	consider	VERB
ap-500	178	5	the	the	DET
ap-500	178	6	controllable	controllable	ADJ
ap-500	178	7	single	single	ADJ
ap-500	178	8	-	-	PUNCT
ap-500	178	9	input	input	NOUN
ap-500	178	10	time	time	NOUN
ap-500	178	11	-	-	PUNCT
ap-500	178	12	varying	vary	VERB
ap-500	178	13	linear	linear	ADJ
ap-500	178	14	system	system	NOUN
ap-500	178	15	of	of	ADP
ap-500	178	16	(	(	PUNCT
ap-500	178	17	30	30	NUM
ap-500	178	18	)	)	PUNCT
ap-500	178	19	.	.	PUNCT
ap-500	179	1	if	if	SCONJ
ap-500	179	2	matrix	matrix	NOUN
ap-500	179	3	a(t	a(t	NOUN
ap-500	179	4	)	)	PUNCT
ap-500	179	5	is	be	AUX
ap-500	179	6	continuous	continuous	ADJ
ap-500	179	7	,	,	PUNCT
ap-500	179	8	nonsingular	nonsingular	ADJ
ap-500	179	9	and	and	CCONJ
ap-500	179	10	its	its	PRON
ap-500	179	11	inverse	inverse	NOUN
ap-500	179	12	is	be	AUX
ap-500	179	13	bounded	bound	VERB
ap-500	179	14	.	.	PUNCT
ap-500	180	1	furthermore	furthermore	ADV
ap-500	180	2	,	,	PUNCT
ap-500	180	3	the	the	DET
ap-500	180	4	transformation	transformation	NOUN
ap-500	180	5	matrix	matrix	NOUN
ap-500	180	6	�	�	PROPN
ap-500	180	7	�	�	PROPN
ap-500	180	8	q	q	PROPN
ap-500	180	9	1	1	NUM
ap-500	180	10	t	t	NOUN
ap-500	180	11	is	be	AUX
ap-500	180	12	a	a	DET
ap-500	180	13	transformation	transformation	NOUN
ap-500	180	14	of	of	ADP
ap-500	180	15	a	a	DET
ap-500	180	16	lyapunov	lyapunov	ADJ
ap-500	180	17	kind	kind	NOUN
ap-500	180	18	and	and	CCONJ
ap-500	180	19	the	the	DET
ap-500	180	20	term	term	NOUN
ap-500	180	21	�	�	PROPN
ap-500	180	22	�	�	PROPN
ap-500	180	23	�	�	PROPN
ap-500	180	24	q	q	PROPN
ap-500	180	25	a	a	DET
ap-500	180	26	bn	bn	NUM
ap-500	180	27	1	1	NUM
ap-500	180	28	1	1	NUM
ap-500	180	29	1for	1for	PROPN
ap-500	180	30	the	the	DET
ap-500	180	31	time	time	NOUN
ap-500	180	32	interval	interval	NOUN
ap-500	180	33	of	of	ADP
ap-500	180	34	interest	interest	NOUN
ap-500	180	35	�	�	PROPN
ap-500	180	36	t	t	PROPN
ap-500	180	37	t	t	PROPN
ap-500	180	38	�	�	PROPN
ap-500	180	39	�	�	PROPN
ap-500	180	40	0	0	NUM
ap-500	180	41	,	,	PUNCT
ap-500	180	42	.	.	PUNCT
ap-500	181	1	then	then	ADV
ap-500	181	2	the	the	DET
ap-500	181	3	poles	pole	NOUN
ap-500	181	4	of	of	ADP
ap-500	181	5	the	the	DET
ap-500	181	6	system	system	NOUN
ap-500	181	7	(	(	PUNCT
ap-500	181	8	30	30	NUM
ap-500	181	9	)	)	PUNCT
ap-500	181	10	can	can	AUX
ap-500	181	11	be	be	AUX
ap-500	181	12	arbitrarily	arbitrarily	ADV
ap-500	181	13	placed	place	VERB
ap-500	181	14	in	in	ADP
ap-500	181	15	the	the	DET
ap-500	181	16	desired	desire	VERB
ap-500	181	17	places	place	NOUN
ap-500	181	18	by	by	ADP
ap-500	181	19	the	the	DET
ap-500	181	20	state	state	NOUN
ap-500	181	21	-	-	PUNCT
ap-500	181	22	derivative	derivative	ADJ
ap-500	181	23	feedback	feedback	NOUN
ap-500	181	24	(	(	PUNCT
ap-500	181	25	31	31	NUM
ap-500	181	26	)	)	PUNCT
ap-500	181	27	,	,	PUNCT
ap-500	181	28	using	use	VERB
ap-500	181	29	the	the	DET
ap-500	181	30	time	time	NOUN
ap-500	181	31	-	-	PUNCT
ap-500	181	32	varying	vary	VERB
ap-500	181	33	feedback	feedback	NOUN
ap-500	181	34	gain	gain	NOUN
ap-500	181	35	matrix	matrix	NOUN
ap-500	181	36	k(t	k(t	NOUN
ap-500	181	37	)	)	PUNCT
ap-500	181	38	computed	compute	VERB
ap-500	181	39	by	by	ADP
ap-500	181	40	one	one	NUM
ap-500	181	41	of	of	ADP
ap-500	181	42	the	the	DET
ap-500	181	43	formulas	formula	NOUN
ap-500	181	44	(	(	PUNCT
ap-500	181	45	44)–(45	44)–(45	NUM
ap-500	181	46	)	)	PUNCT
ap-500	181	47	.	.	PUNCT
ap-500	182	1	with	with	ADP
ap-500	182	2	the	the	DET
ap-500	182	3	above	above	ADJ
ap-500	182	4	development	development	NOUN
ap-500	182	5	,	,	PUNCT
ap-500	182	6	it	it	PRON
ap-500	182	7	is	be	AUX
ap-500	182	8	clear	clear	ADJ
ap-500	182	9	that	that	SCONJ
ap-500	182	10	this	this	DET
ap-500	182	11	solution	solution	NOUN
ap-500	182	12	is	be	AUX
ap-500	182	13	general	general	ADJ
ap-500	182	14	,	,	PUNCT
ap-500	182	15	it	it	PRON
ap-500	182	16	requires	require	VERB
ap-500	182	17	no	no	DET
ap-500	182	18	iteration	iteration	NOUN
ap-500	182	19	and	and	CCONJ
ap-500	182	20	can	can	AUX
ap-500	182	21	be	be	AUX
ap-500	182	22	relatively	relatively	ADV
ap-500	182	23	easily	easily	ADV
ap-500	182	24	directly	directly	ADV
ap-500	182	25	computed	compute	VERB
ap-500	182	26	.	.	PUNCT
ap-500	183	1	we	we	PRON
ap-500	183	2	do	do	AUX
ap-500	183	3	not	not	PART
ap-500	183	4	need	need	VERB
ap-500	183	5	to	to	PART
ap-500	183	6	complete	complete	VERB
ap-500	183	7	the	the	DET
ap-500	183	8	transformation	transformation	NOUN
ap-500	183	9	into	into	ADP
ap-500	183	10	a	a	DET
ap-500	183	11	generalized	generalize	VERB
ap-500	183	12	frobenius	frobenius	NOUN
ap-500	183	13	form	form	NOUN
ap-500	183	14	.	.	PUNCT
ap-500	184	1	furthermore	furthermore	ADV
ap-500	184	2	,	,	PUNCT
ap-500	184	3	the	the	DET
ap-500	184	4	characteristic	characteristic	ADJ
ap-500	184	5	polynomial	polynomial	ADJ
ap-500	184	6	coefficients	coefficient	NOUN
ap-500	184	7	or	or	CCONJ
ap-500	184	8	eigenvalues	eigenvalue	NOUN
ap-500	184	9	do	do	AUX
ap-500	184	10	not	not	PART
ap-500	184	11	have	have	VERB
ap-500	184	12	to	to	PART
ap-500	184	13	be	be	AUX
ap-500	184	14	calculated	calculate	VERB
ap-500	184	15	.	.	PUNCT
ap-500	185	1	this	this	PRON
ap-500	185	2	solves	solve	VERB
ap-500	185	3	the	the	DET
ap-500	185	4	pole	pole	NOUN
ap-500	185	5	placement	placement	NOUN
ap-500	185	6	for	for	ADP
ap-500	185	7	a	a	DET
ap-500	185	8	linear	linear	ADJ
ap-500	185	9	time	time	NOUN
ap-500	185	10	-	-	PUNCT
ap-500	185	11	varying	vary	VERB
ap-500	185	12	system	system	NOUN
ap-500	185	13	by	by	ADP
ap-500	185	14	state	state	NOUN
ap-500	185	15	-	-	PUNCT
ap-500	185	16	derivative	derivative	ADJ
ap-500	185	17	feedback	feedback	NOUN
ap-500	185	18	.	.	PUNCT
ap-500	186	1	the	the	DET
ap-500	186	2	procedure	procedure	NOUN
ap-500	186	3	defined	define	VERB
ap-500	186	4	here	here	ADV
ap-500	186	5	represents	represent	VERB
ap-500	186	6	a	a	DET
ap-500	186	7	unique	unique	ADJ
ap-500	186	8	treatment	treatment	NOUN
ap-500	186	9	for	for	ADP
ap-500	186	10	state	state	NOUN
ap-500	186	11	-	-	PUNCT
ap-500	186	12	derivative	derivative	ADJ
ap-500	186	13	feedback	feedback	NOUN
ap-500	186	14	in	in	ADP
ap-500	186	15	the	the	DET
ap-500	186	16	literature	literature	NOUN
ap-500	186	17	.	.	PUNCT
ap-500	187	1	4	4	NUM
ap-500	187	2	illustrative	illustrative	ADJ
ap-500	187	3	examples	example	NOUN
ap-500	187	4	in	in	ADP
ap-500	187	5	this	this	DET
ap-500	187	6	section	section	NOUN
ap-500	187	7	,	,	PUNCT
ap-500	187	8	simulation	simulation	NOUN
ap-500	187	9	results	result	NOUN
ap-500	187	10	are	be	AUX
ap-500	187	11	given	give	VERB
ap-500	187	12	to	to	PART
ap-500	187	13	demonstrate	demonstrate	VERB
ap-500	187	14	the	the	DET
ap-500	187	15	feasibility	feasibility	NOUN
ap-500	187	16	and	and	CCONJ
ap-500	187	17	effectiveness	effectiveness	NOUN
ap-500	187	18	of	of	ADP
ap-500	187	19	the	the	DET
ap-500	187	20	proposed	propose	VERB
ap-500	187	21	pole	pole	NOUN
ap-500	187	22	placement	placement	NOUN
ap-500	187	23	algorithm	algorithm	NOUN
ap-500	187	24	by	by	ADP
ap-500	187	25	state	state	NOUN
ap-500	187	26	-	-	PUNCT
ap-500	187	27	derivative	derivative	ADJ
ap-500	187	28	feedback	feedback	NOUN
ap-500	187	29	.	.	PUNCT
ap-500	188	1	example	example	NOUN
ap-500	188	2	1	1	NUM
ap-500	188	3	the	the	DET
ap-500	188	4	configuration	configuration	NOUN
ap-500	188	5	of	of	ADP
ap-500	188	6	the	the	DET
ap-500	188	7	mechanical	mechanical	ADJ
ap-500	188	8	system	system	NOUN
ap-500	188	9	and	and	CCONJ
ap-500	188	10	its	its	PRON
ap-500	188	11	parameters	parameter	NOUN
ap-500	188	12	are	be	AUX
ap-500	188	13	shown	show	VERB
ap-500	188	14	in	in	ADP
ap-500	188	15	fig	fig	NOUN
ap-500	188	16	.	.	PUNCT
ap-500	189	1	1	1	X
ap-500	189	2	.	.	X
ap-500	190	1	the	the	DET
ap-500	190	2	dynamic	dynamic	ADJ
ap-500	190	3	equation	equation	NOUN
ap-500	190	4	of	of	ADP
ap-500	190	5	this	this	DET
ap-500	190	6	system	system	NOUN
ap-500	190	7	can	can	AUX
ap-500	190	8	be	be	AUX
ap-500	190	9	described	describe	VERB
ap-500	190	10	in	in	ADP
ap-500	190	11	the	the	DET
ap-500	190	12	state	state	NOUN
ap-500	190	13	-	-	PUNCT
ap-500	190	14	space	space	NOUN
ap-500	190	15	form	form	NOUN
ap-500	190	16	as	as	ADP
ap-500	190	17	�	�	PROPN
ap-500	190	18	x	x	SYM
ap-500	190	19	�	�	PROPN
ap-500	190	20	0	0	NUM
ap-500	190	21	0	0	NUM
ap-500	190	22	1	1	NUM
ap-500	190	23	0	0	NUM
ap-500	190	24	0	0	NUM
ap-500	190	25	0	0	NUM
ap-500	190	26	0	0	NUM
ap-500	190	27	1	1	NUM
ap-500	190	28	1	1	NUM
ap-500	190	29	2	2	NUM
ap-500	190	30	1	1	NUM
ap-500	190	31	2	2	NUM
ap-500	190	32	1	1	NUM
ap-500	190	33	1	1	NUM
ap-500	190	34	2	2	NUM
ap-500	190	35	1	1	NUM
ap-500	190	36	2	2	NUM
ap-500	190	37	1	1	NUM
ap-500	190	38	2	2	NUM
ap-500	190	39	2	2	NUM
ap-500	190	40	2	2	NUM
ap-500	190	41	2	2	NUM
ap-500	190	42	2	2	NUM
ap-500	190	43	2	2	NUM
ap-500	190	44	k	k	NOUN
ap-500	190	45	k	k	NOUN
ap-500	190	46	m	m	VERB
ap-500	190	47	k	k	PROPN
ap-500	190	48	m	m	PROPN
ap-500	190	49	b	b	PROPN
ap-500	190	50	b	b	PROPN
ap-500	190	51	m	m	VERB
ap-500	190	52	b	b	NOUN
ap-500	190	53	m	m	VERB
ap-500	190	54	k	k	NOUN
ap-500	190	55	m	m	VERB
ap-500	190	56	k	k	PROPN
ap-500	190	57	m	m	PROPN
ap-500	190	58	b	b	PROPN
ap-500	190	59	m	m	PROPN
ap-500	190	60	b2	b2	NOUN
ap-500	190	61	2	2	NUM
ap-500	190	62	1	1	NUM
ap-500	190	63	2	2	NUM
ap-500	190	64	0	0	NUM
ap-500	190	65	0	0	NUM
ap-500	190	66	1	1	NUM
ap-500	190	67	1	1	NUM
ap-500	190	68	m	m	NOUN
ap-500	190	69	m	m	VERB
ap-500	190	70	m	m	VERB
ap-500	190	71	�	�	PROPN
ap-500	190	72	�	�	PROPN
ap-500	190	73	�	�	PROPN
ap-500	190	74	�	�	PROPN
ap-500	190	75	�	�	PROPN
ap-500	190	76	�	�	PROPN
ap-500	190	77	�	�	PROPN
ap-500	190	78	�	�	PROPN
ap-500	190	79	�	�	PROPN
ap-500	190	80	�	�	PROPN
ap-500	190	81	�	�	PROPN
ap-500	190	82	�	�	PROPN
ap-500	190	83	�	�	PROPN
ap-500	190	84	�	�	PROPN
ap-500	190	85	�	�	PROPN
ap-500	190	86	�	�	PROPN
ap-500	190	87	�	�	PROPN
ap-500	190	88	�	�	PROPN
ap-500	190	89	�	�	PROPN
ap-500	190	90	�	�	PROPN
ap-500	190	91	�	�	PROPN
ap-500	190	92	�	�	PROPN
ap-500	190	93	�	�	PROPN
ap-500	190	94	�	�	PROPN
ap-500	190	95	�	�	PROPN
ap-500	190	96	�	�	PROPN
ap-500	190	97	�	�	PROPN
ap-500	190	98	�	�	PROPN
ap-500	190	99	�	�	PROPN
ap-500	190	100	�	�	PROPN
ap-500	190	101	�	�	PROPN
ap-500	190	102	x	x	SYM
ap-500	190	103	where	where	SCONJ
ap-500	190	104	m1	m1	PROPN
ap-500	190	105	and	and	CCONJ
ap-500	190	106	m2	m2	PROPN
ap-500	190	107	are	be	AUX
ap-500	190	108	the	the	DET
ap-500	190	109	first	first	ADJ
ap-500	190	110	and	and	CCONJ
ap-500	190	111	second	second	ADJ
ap-500	190	112	mass	mass	NOUN
ap-500	190	113	,	,	PUNCT
ap-500	190	114	k1	k1	PROPN
ap-500	190	115	and	and	CCONJ
ap-500	190	116	k2	k2	PROPN
ap-500	190	117	are	be	AUX
ap-500	190	118	the	the	DET
ap-500	190	119	spring	spring	NOUN
ap-500	190	120	constants	constant	NOUN
ap-500	190	121	,	,	PUNCT
ap-500	190	122	b1	b1	NOUN
ap-500	190	123	and	and	CCONJ
ap-500	190	124	b2	b2	NOUN
ap-500	190	125	are	be	AUX
ap-500	190	126	the	the	DET
ap-500	190	127	damper	damper	NOUN
ap-500	190	128	constants	constant	NOUN
ap-500	190	129	,	,	PUNCT
ap-500	190	130	x1	x1	PROPN
ap-500	191	1	and	and	CCONJ
ap-500	191	2	x2	x2	PROPN
ap-500	191	3	are	be	AUX
ap-500	191	4	the	the	DET
ap-500	191	5	first	first	ADJ
ap-500	191	6	and	and	CCONJ
ap-500	191	7	second	second	ADJ
ap-500	191	8	mass	mass	ADJ
ap-500	191	9	vertical	vertical	ADJ
ap-500	191	10	displacement	displacement	NOUN
ap-500	191	11	,	,	PUNCT
ap-500	191	12	the	the	DET
ap-500	191	13	state	state	NOUN
ap-500	191	14	vector	vector	NOUN
ap-500	191	15	�	�	PROPN
ap-500	191	16	x	x	SYM
ap-500	191	17	�	�	PROPN
ap-500	191	18	x	x	PUNCT
ap-500	191	19	x	x	PUNCT
ap-500	191	20	x	x	SYM
ap-500	191	21	x1	x1	ADJ
ap-500	191	22	2	2	NUM
ap-500	191	23	1	1	NUM
ap-500	191	24	2	2	NUM
ap-500	191	25	�	�	PROPN
ap-500	191	26	�	�	PROPN
ap-500	191	27	,	,	PUNCT
ap-500	191	28	and	and	CCONJ
ap-500	191	29	u	u	NOUN
ap-500	191	30	is	be	AUX
ap-500	191	31	the	the	DET
ap-500	191	32	control	control	NOUN
ap-500	191	33	input	input	NOUN
ap-500	191	34	.	.	PUNCT
ap-500	192	1	the	the	DET
ap-500	192	2	model	model	NOUN
ap-500	192	3	parameters	parameter	NOUN
ap-500	192	4	are	be	AUX
ap-500	192	5	taken	take	VERB
ap-500	192	6	as	as	ADP
ap-500	192	7	m1	m1	PROPN
ap-500	192	8	�	�	PROPN
ap-500	192	9	100	100	NUM
ap-500	192	10	kg;	kg;	NOUN
ap-500	192	11	m2	m2	PROPN
ap-500	192	12	�	�	PROPN
ap-500	192	13	10	10	NUM
ap-500	192	14	kg;	kg;	NOUN
ap-500	192	15	k1	k1	PROPN
ap-500	192	16	�	�	PROPN
ap-500	192	17	360	360	NUM
ap-500	192	18	kn	kn	PROPN
ap-500	192	19	/	/	SYM
ap-500	192	20	m;	m;	PROPN
ap-500	192	21	k2	k2	PROPN
ap-500	192	22	�	�	PROPN
ap-500	192	23	36	36	NUM
ap-500	192	24	kn	kn	PROPN
ap-500	192	25	/	/	SYM
ap-500	192	26	m;	m;	PROPN
ap-500	192	27	b1	b1	PROPN
ap-500	192	28	�	�	PROPN
ap-500	192	29	70	70	NUM
ap-500	192	30	n	n	CCONJ
ap-500	192	31	�	�	PROPN
ap-500	192	32	s	s	PART
ap-500	192	33	/	/	SYM
ap-500	192	34	m	m	PROPN
ap-500	192	35	,	,	PUNCT
ap-500	192	36	and	and	CCONJ
ap-500	192	37	b2	b2	PROPN
ap-500	192	38	�	�	PROPN
ap-500	192	39	50	50	NUM
ap-500	192	40	n	n	NUM
ap-500	192	41	�	�	PROPN
ap-500	192	42	s	s	PART
ap-500	192	43	/	/	SYM
ap-500	192	44	m.	m.	NOUN
ap-500	192	45	the	the	DET
ap-500	192	46	transformation	transformation	NOUN
ap-500	192	47	matrix	matrix	NOUN
ap-500	192	48	q	q	PROPN
ap-500	192	49	�	�	PROPN
ap-500	192	50	1	1	NUM
ap-500	192	51	002778	002778	NUM
ap-500	192	52	000278	000278	NUM
ap-500	192	53	0	0	SYM
ap-500	192	54	0	0	NUM
ap-500	192	55	019444	019444	NUM
ap-500	192	56	0	0	SYM
ap-500	192	57	002778	002778	NUM
ap-500	192	58	000278	000278	NUM
ap-500	192	59	100	100	NUM
ap-500	192	60	0	0	NUM
ap-500	192	61	0	0	NUM
ap-500	192	62	0	0	NUM
ap-500	192	63	0	0	NUM
ap-500	192	64	.	.	PUNCT
ap-500	192	65	.	.	PUNCT
ap-500	192	66	.	.	PUNCT
ap-500	192	67	.	.	PUNCT
ap-500	193	1	.	.	PUNCT
ap-500	194	1	0	0	NUM
ap-500	194	2	100	100	NUM
ap-500	194	3	0	0	NUM
ap-500	194	4	�	�	PROPN
ap-500	194	5	�	�	PROPN
ap-500	194	6	�	�	PROPN
ap-500	194	7	�	�	PROPN
ap-500	194	8	�	�	PROPN
ap-500	194	9	�	�	PROPN
ap-500	194	10	�	�	PROPN
ap-500	194	11	�	�	PROPN
ap-500	194	12	�	�	PROPN
ap-500	194	13	�	�	PROPN
ap-500	194	14	�	�	PROPN
ap-500	194	15	while	while	SCONJ
ap-500	194	16	the	the	DET
ap-500	194	17	equivalent	equivalent	ADJ
ap-500	194	18	frobenius	frobenius	ADJ
ap-500	194	19	canonical	canonical	ADJ
ap-500	194	20	form	form	NOUN
ap-500	194	21	has	have	VERB
ap-500	194	22	a	a	DET
ap-500	194	23	state	state	NOUN
ap-500	194	24	description	description	NOUN
ap-500	194	25	as	as	ADP
ap-500	194	26	�	�	PROPN
ap-500	194	27	.	.	PUNCT
ap-500	194	28	.	.	PUNCT
ap-500	194	29	.	.	PUNCT
ap-500	195	1	x	x	X
ap-500	195	2	�	�	PROPN
ap-500	195	3	�	�	PROPN
ap-500	195	4	�	�	PROPN
ap-500	195	5	�	�	PROPN
ap-500	195	6	�	�	PROPN
ap-500	195	7	�	�	PROPN
ap-500	195	8	�	�	PROPN
ap-500	195	9	�	�	PROPN
ap-500	195	10	�	�	PROPN
ap-500	195	11	0	0	NUM
ap-500	195	12	1	1	NUM
ap-500	195	13	0	0	NUM
ap-500	195	14	0	0	NUM
ap-500	195	15	0	0	NUM
ap-500	195	16	0	0	NUM
ap-500	195	17	1	1	NUM
ap-500	195	18	0	0	NUM
ap-500	195	19	0	0	NUM
ap-500	195	20	0	0	NUM
ap-500	195	21	0	0	NUM
ap-500	195	22	1	1	NUM
ap-500	195	23	1296	1296	NUM
ap-500	195	24	10	10	NUM
ap-500	195	25	20520	20520	NUM
ap-500	195	26	75635	75635	NUM
ap-500	195	27	627	627	NUM
ap-500	195	28	�	�	PROPN
ap-500	195	29	�	�	PROPN
ap-500	195	30	�	�	PROPN
ap-500	195	31	�	�	PROPN
ap-500	195	32	�	�	PROPN
ap-500	195	33	�	�	PROPN
ap-500	195	34	�	�	PROPN
ap-500	195	35	�	�	PROPN
ap-500	195	36	�	�	PROPN
ap-500	195	37	�	�	PROPN
ap-500	195	38	�	�	PROPN
ap-500	195	39	�	�	PROPN
ap-500	195	40	�	�	PROPN
ap-500	195	41	�	�	PROPN
ap-500	195	42	�	�	PROPN
ap-500	195	43	�	�	PROPN
ap-500	195	44	z	z	PROPN
ap-500	195	45	0	0	NUM
ap-500	195	46	0	0	NUM
ap-500	195	47	0	0	NUM
ap-500	195	48	1	1	NUM
ap-500	195	49	u	u	NOUN
ap-500	195	50	,	,	PUNCT
ap-500	195	51	with	with	ADP
ap-500	195	52	the	the	DET
ap-500	195	53	coefficients	coefficient	NOUN
ap-500	195	54	of	of	ADP
ap-500	195	55	the	the	DET
ap-500	195	56	characteristic	characteristic	ADJ
ap-500	195	57	polynomial	polynomial	ADJ
ap-500	195	58	�	�	PROPN
ap-500	195	59	a	a	DET
ap-500	195	60	�	�	PROPN
ap-500	195	61	�	�	PROPN
ap-500	195	62	1296	1296	NUM
ap-500	195	63	10	10	NUM
ap-500	195	64	20520	20520	NUM
ap-500	195	65	75635	75635	NUM
ap-500	195	66	627	627	NUM
ap-500	195	67	.	.	PUNCT
ap-500	195	68	,	,	PUNCT
ap-500	195	69	,	,	PUNCT
ap-500	195	70	.	.	PUNCT
ap-500	195	71	,	,	PUNCT
ap-500	195	72	.	.	PUNCT
ap-500	195	73	.	.	PUNCT
ap-500	196	1	for	for	ADP
ap-500	196	2	this	this	DET
ap-500	196	3	system	system	NOUN
ap-500	196	4	the	the	DET
ap-500	196	5	open	open	ADJ
ap-500	196	6	-	-	PUNCT
ap-500	196	7	loop	loop	NOUN
ap-500	196	8	poles	pole	NOUN
ap-500	196	9	are	be	AUX
ap-500	196	10	–	–	PUNCT
ap-500	196	11	2.1835	2.1835	NUM
ap-500	196	12	�	�	NOUN
ap-500	196	13	70.1294	70.1294	NUM
ap-500	196	14	i	i	PRON
ap-500	196	15	and	and	CCONJ
ap-500	196	16	–	–	PUNCT
ap-500	196	17	0.9165	0.9165	NUM
ap-500	196	18	�	�	SYM
ap-500	196	19	51.3006	51.3006	NUM
ap-500	196	20	i.	i.	NOUN
ap-500	196	21	the	the	DET
ap-500	196	22	desired	desire	VERB
ap-500	196	23	closed	close	VERB
ap-500	196	24	-	-	PUNCT
ap-500	196	25	loop	loop	NOUN
ap-500	196	26	poles	pole	NOUN
ap-500	196	27	are	be	AUX
ap-500	196	28	selected	select	VERB
ap-500	196	29	as	as	ADP
ap-500	196	30	–	–	PUNCT
ap-500	196	31	5	5	NUM
ap-500	196	32	�	�	SYM
ap-500	196	33	2	2	NUM
ap-500	196	34	i	i	NOUN
ap-500	196	35	and	and	CCONJ
ap-500	196	36	–	–	PUNCT
ap-500	196	37	10	10	NUM
ap-500	196	38	�	�	SYM
ap-500	196	39	5	5	NUM
ap-500	196	40	i.	i.	NOUN
ap-500	196	41	let	let	VERB
ap-500	196	42	us	we	PRON
ap-500	196	43	apply	apply	VERB
ap-500	196	44	the	the	DET
ap-500	196	45	control	control	NOUN
ap-500	196	46	synthesis	synthesis	NOUN
ap-500	196	47	procedure	procedure	NOUN
ap-500	196	48	of	of	ADP
ap-500	196	49	pole	pole	ADJ
ap-500	196	50	placement	placement	NOUN
ap-500	196	51	from	from	ADP
ap-500	196	52	the	the	DET
ap-500	196	53	previous	previous	ADJ
ap-500	196	54	sections	section	NOUN
ap-500	196	55	to	to	ADP
ap-500	196	56	this	this	DET
ap-500	196	57	system	system	NOUN
ap-500	196	58	.	.	PUNCT
ap-500	197	1	the	the	DET
ap-500	197	2	computed	computed	ADJ
ap-500	197	3	state	state	NOUN
ap-500	197	4	-	-	PUNCT
ap-500	197	5	derivative	derivative	ADJ
ap-500	197	6	feedback	feedback	NOUN
ap-500	197	7	gain	gain	NOUN
ap-500	197	8	matrix	matrix	NOUN
ap-500	197	9	is	be	AUX
ap-500	197	10	k	k	PROPN
ap-500	197	11	�	�	PROPN
ap-500	197	12	�	�	PROPN
ap-500	197	13	105	105	NUM
ap-500	197	14	[	[	PUNCT
ap-500	197	15	–	–	PUNCT
ap-500	197	16	105.19	105.19	NUM
ap-500	197	17	,	,	PUNCT
ap-500	197	18	0.18117	0.18117	NUM
ap-500	197	19	,	,	PUNCT
ap-500	197	20	–	–	PUNCT
ap-500	197	21	3.2225	3.2225	NUM
ap-500	197	22	,	,	PUNCT
ap-500	197	23	0.0349	0.0349	NUM
ap-500	197	24	]	]	X
ap-500	197	25	.	.	PUNCT
ap-500	198	1	56	56	NUM
ap-500	198	2	©	©	PROPN
ap-500	198	3	czech	czech	PROPN
ap-500	198	4	technical	technical	PROPN
ap-500	198	5	university	university	PROPN
ap-500	198	6	publishing	publishing	NOUN
ap-500	198	7	house	house	NOUN
ap-500	198	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	198	9	acta	acta	PROPN
ap-500	198	10	polytechnica	polytechnica	PROPN
ap-500	198	11	vol	vol	NOUN
ap-500	198	12	.	.	PUNCT
ap-500	199	1	43	43	NUM
ap-500	199	2	no	no	NOUN
ap-500	199	3	.	.	PUNCT
ap-500	200	1	6/2003	6/2003	NUM
ap-500	200	2	m1	m1	PROPN
ap-500	200	3	k1	k1	PROPN
ap-500	200	4	b1	b1	PROPN
ap-500	200	5	x1	x1	PROPN
ap-500	200	6	b2	b2	PROPN
ap-500	200	7	x2	x2	PROPN
ap-500	200	8	k2	k2	PROPN
ap-500	200	9	m2	m2	PROPN
ap-500	200	10	u	u	PROPN
ap-500	200	11	fig	fig	NOUN
ap-500	200	12	.	.	PUNCT
ap-500	201	1	1	1	NUM
ap-500	201	2	:	:	PUNCT
ap-500	201	3	mechanical	mechanical	ADJ
ap-500	201	4	system	system	NOUN
ap-500	201	5	to	to	PART
ap-500	201	6	verify	verify	VERB
ap-500	201	7	the	the	DET
ap-500	201	8	design	design	NOUN
ap-500	201	9	a	a	DET
ap-500	201	10	simulation	simulation	NOUN
ap-500	201	11	was	be	AUX
ap-500	201	12	performed	perform	VERB
ap-500	201	13	.	.	PUNCT
ap-500	202	1	the	the	DET
ap-500	202	2	initial	initial	ADJ
ap-500	202	3	conditions	condition	NOUN
ap-500	202	4	of	of	ADP
ap-500	202	5	the	the	DET
ap-500	202	6	states	state	NOUN
ap-500	202	7	are	be	AUX
ap-500	202	8	taken	take	VERB
ap-500	202	9	as	as	ADP
ap-500	202	10	�	�	PROPN
ap-500	202	11	�	�	PROPN
ap-500	202	12	�	�	PROPN
ap-500	202	13	x	x	PUNCT
ap-500	202	14	t0	t0	NOUN
ap-500	202	15	05	05	NUM
ap-500	202	16	05	05	NUM
ap-500	202	17	02	02	NUM
ap-500	202	18	02	02	NUM
ap-500	202	19	�	�	PROPN
ap-500	202	20	.	.	PUNCT
ap-500	202	21	,	,	PUNCT
ap-500	202	22	.	.	PUNCT
ap-500	203	1	,	,	PUNCT
ap-500	203	2	.	.	PUNCT
ap-500	204	1	,	,	PUNCT
ap-500	204	2	.	.	PUNCT
ap-500	205	1	t.	t.	NOUN
ap-500	205	2	the	the	DET
ap-500	205	3	transient	transient	ADJ
ap-500	205	4	responses	response	NOUN
ap-500	205	5	of	of	ADP
ap-500	205	6	states	state	NOUN
ap-500	205	7	and	and	CCONJ
ap-500	205	8	control	control	NOUN
ap-500	205	9	input	input	NOUN
ap-500	205	10	are	be	AUX
ap-500	205	11	displayed	display	VERB
ap-500	205	12	in	in	ADP
ap-500	205	13	fig	fig	NOUN
ap-500	205	14	.	.	PUNCT
ap-500	206	1	2	2	NUM
ap-500	206	2	.	.	X
ap-500	206	3	for	for	ADP
ap-500	206	4	a	a	DET
ap-500	206	5	comparison	comparison	NOUN
ap-500	206	6	,	,	PUNCT
ap-500	206	7	the	the	DET
ap-500	206	8	ackermann	ackermann	PROPN
ap-500	206	9	gain	gain	NOUN
ap-500	206	10	matrix	matrix	NOUN
ap-500	206	11	for	for	ADP
ap-500	206	12	the	the	DET
ap-500	206	13	same	same	ADJ
ap-500	206	14	desired	desire	VERB
ap-500	206	15	system	system	NOUN
ap-500	206	16	poles	pole	NOUN
ap-500	206	17	is	be	AUX
ap-500	206	18	k	k	PROPN
ap-500	206	19	s	s	PROPN
ap-500	206	20	�	�	PROPN
ap-500	206	21	�	�	PROPN
ap-500	206	22	105	105	NUM
ap-500	206	23	[	[	PUNCT
ap-500	206	24	3.6074	3.6074	NUM
ap-500	206	25	,	,	PUNCT
ap-500	206	26	–	–	PUNCT
ap-500	206	27	0.3599	0.3599	NUM
ap-500	206	28	,	,	PUNCT
ap-500	206	29	–	–	PUNCT
ap-500	206	30	0.02829	0.02829	NUM
ap-500	206	31	,	,	PUNCT
ap-500	206	32	–	–	PUNCT
ap-500	206	33	0.00045	0.00045	NUM
ap-500	206	34	]	]	PUNCT
ap-500	206	35	.	.	PUNCT
ap-500	207	1	the	the	DET
ap-500	207	2	stabilized	stabilize	VERB
ap-500	207	3	results	result	NOUN
ap-500	207	4	for	for	ADP
ap-500	207	5	the	the	DET
ap-500	207	6	same	same	ADJ
ap-500	207	7	initial	initial	ADJ
ap-500	207	8	conditions	condition	NOUN
ap-500	207	9	are	be	AUX
ap-500	207	10	plotted	plot	VERB
ap-500	207	11	in	in	ADP
ap-500	207	12	fig	fig	NOUN
ap-500	207	13	.	.	PUNCT
ap-500	208	1	3	3	X
ap-500	208	2	.	.	X
ap-500	208	3	they	they	PRON
ap-500	208	4	are	be	AUX
ap-500	208	5	the	the	DET
ap-500	208	6	same	same	ADJ
ap-500	208	7	as	as	ADP
ap-500	208	8	with	with	ADP
ap-500	208	9	state	state	NOUN
ap-500	208	10	-	-	PUNCT
ap-500	208	11	derivative	derivative	ADJ
ap-500	208	12	feedback	feedback	NOUN
ap-500	208	13	in	in	ADP
ap-500	208	14	both	both	CCONJ
ap-500	208	15	transient	transient	ADJ
ap-500	208	16	response	response	NOUN
ap-500	208	17	and	and	CCONJ
ap-500	208	18	control	control	NOUN
ap-500	208	19	input	input	NOUN
ap-500	208	20	.	.	PUNCT
ap-500	209	1	example	example	NOUN
ap-500	209	2	2	2	NUM
ap-500	209	3	consider	consider	VERB
ap-500	209	4	the	the	DET
ap-500	209	5	familiar	familiar	ADJ
ap-500	209	6	ball	ball	NOUN
ap-500	209	7	and	and	CCONJ
ap-500	209	8	beam	beam	NOUN
ap-500	209	9	system	system	NOUN
ap-500	209	10	.	.	PUNCT
ap-500	210	1	fig	fig	NOUN
ap-500	210	2	.	.	PUNCT
ap-500	211	1	4	4	NUM
ap-500	211	2	presents	present	VERB
ap-500	211	3	the	the	DET
ap-500	211	4	configuration	configuration	NOUN
ap-500	211	5	of	of	ADP
ap-500	211	6	this	this	DET
ap-500	211	7	system	system	NOUN
ap-500	211	8	and	and	CCONJ
ap-500	211	9	its	its	PRON
ap-500	211	10	parameters	parameter	NOUN
ap-500	211	11	.	.	PUNCT
ap-500	212	1	the	the	DET
ap-500	212	2	dynamic	dynamic	ADJ
ap-500	212	3	equations	equation	NOUN
ap-500	212	4	of	of	ADP
ap-500	212	5	the	the	DET
ap-500	212	6	linearized	linearize	VERB
ap-500	212	7	state	state	NOUN
ap-500	212	8	space	space	NOUN
ap-500	212	9	model	model	NOUN
ap-500	212	10	for	for	ADP
ap-500	212	11	small	small	ADJ
ap-500	212	12	motions	motion	NOUN
ap-500	212	13	about	about	ADP
ap-500	212	14	�	�	PROPN
ap-500	212	15	0.0	0.0	NUM
ap-500	212	16	,	,	PUNCT
ap-500	212	17	and	and	CCONJ
ap-500	212	18	r	r	NOUN
ap-500	212	19	�	�	PROPN
ap-500	212	20	r0	r0	NOUN
ap-500	212	21	is	be	AUX
ap-500	212	22	�	�	PROPN
ap-500	212	23	x	x	SYM
ap-500	212	24	�	�	PROPN
ap-500	212	25	�	�	PROPN
ap-500	212	26	�	�	PROPN
ap-500	212	27	�	�	PROPN
ap-500	212	28	�	�	PROPN
ap-500	212	29	�	�	PROPN
ap-500	212	30	�	�	PROPN
ap-500	212	31	�	�	PROPN
ap-500	212	32	�	�	PROPN
ap-500	212	33	0	0	NUM
ap-500	212	34	1	1	NUM
ap-500	212	35	0	0	NUM
ap-500	212	36	0	0	NUM
ap-500	212	37	0	0	NUM
ap-500	212	38	0	0	NUM
ap-500	212	39	0	0	NUM
ap-500	212	40	0	0	NUM
ap-500	212	41	0	0	NUM
ap-500	212	42	1	1	NUM
ap-500	212	43	0	0	NUM
ap-500	212	44	0	0	NUM
ap-500	212	45	0	0	NUM
ap-500	212	46	0	0	NUM
ap-500	212	47	2	2	NUM
ap-500	212	48	0	0	NUM
ap-500	212	49	2	2	NUM
ap-500	212	50	2	2	NUM
ap-500	212	51	2	2	NUM
ap-500	212	52	b	b	NOUN
ap-500	212	53	mr	mr	PROPN
ap-500	212	54	i	i	PRON
ap-500	212	55	m	m	VERB
ap-500	212	56	g	g	NOUN
ap-500	212	57	mr	mr	PROPN
ap-500	212	58	i	i	PRON
ap-500	212	59	m	m	VERB
ap-500	212	60	g	g	NOUN
ap-500	212	61	m	m	PROPN
ap-500	212	62	ib	ib	PROPN
ap-500	212	63	�	�	PROPN
ap-500	212	64	�	�	PROPN
ap-500	212	65	�	�	PROPN
ap-500	212	66	�	�	PROPN
ap-500	212	67	�	�	PROPN
ap-500	212	68	�	�	PROPN
ap-500	212	69	�	�	PROPN
ap-500	212	70	�	�	PROPN
ap-500	212	71	�	�	PROPN
ap-500	212	72	�	�	PROPN
ap-500	212	73	�	�	PROPN
ap-500	212	74	�	�	PROPN
ap-500	212	75	�	�	PROPN
ap-500	212	76	�	�	PROPN
ap-500	212	77	�	�	PROPN
ap-500	212	78	�	�	PROPN
ap-500	212	79	�	�	PROPN
ap-500	212	80	�	�	PROPN
ap-500	212	81	�	�	PROPN
ap-500	212	82	�	�	PROPN
ap-500	212	83	�	�	PROPN
ap-500	212	84	�	�	PROPN
ap-500	212	85	�	�	PROPN
ap-500	212	86	�	�	PROPN
ap-500	212	87	�	�	PROPN
ap-500	212	88	x	x	SYM
ap-500	212	89	0	0	NUM
ap-500	212	90	1	1	NUM
ap-500	212	91	0	0	NUM
ap-500	212	92	0	0	NUM
ap-500	212	93	0	0	NUM
ap-500	213	1	2mr	2mr	NOUN
ap-500	213	2	i	i	PRON
ap-500	213	3	u	u	NOUN
ap-500	213	4	where	where	SCONJ
ap-500	213	5	m	m	VERB
ap-500	213	6	,	,	PUNCT
ap-500	213	7	ib	ib	INTJ
ap-500	213	8	,	,	PUNCT
ap-500	213	9	and	and	CCONJ
ap-500	213	10	are	be	AUX
ap-500	213	11	the	the	DET
ap-500	213	12	mass	mass	ADJ
ap-500	213	13	,	,	PUNCT
ap-500	213	14	moment	moment	NOUN
ap-500	213	15	of	of	ADP
ap-500	213	16	inertia	inertia	NOUN
ap-500	213	17	and	and	CCONJ
ap-500	213	18	radius	radius	NOUN
ap-500	213	19	of	of	ADP
ap-500	213	20	the	the	DET
ap-500	213	21	ball	ball	NOUN
ap-500	213	22	,	,	PUNCT
ap-500	213	23	respectively	respectively	ADV
ap-500	213	24	,	,	PUNCT
ap-500	213	25	i	i	PRON
ap-500	213	26	is	be	AUX
ap-500	213	27	the	the	DET
ap-500	213	28	beam	beam	ADJ
ap-500	213	29	moment	moment	NOUN
ap-500	213	30	of	of	ADP
ap-500	213	31	inertia	inertia	NOUN
ap-500	213	32	,	,	PUNCT
ap-500	213	33	g	g	PROPN
ap-500	213	34	is	be	AUX
ap-500	213	35	the	the	DET
ap-500	213	36	gravitational	gravitational	ADJ
ap-500	213	37	acceleration	acceleration	NOUN
ap-500	213	38	,	,	PUNCT
ap-500	213	39	b	b	NOUN
ap-500	213	40	is	be	AUX
ap-500	213	41	the	the	DET
ap-500	213	42	coefficient	coefficient	NOUN
ap-500	213	43	of	of	ADP
ap-500	213	44	viscous	viscous	ADJ
ap-500	213	45	friction	friction	NOUN
ap-500	213	46	opposing	oppose	VERB
ap-500	213	47	the	the	DET
ap-500	213	48	beam	beam	NOUN
ap-500	213	49	rotation	rotation	NOUN
ap-500	213	50	,	,	PUNCT
ap-500	213	51	is	be	AUX
ap-500	213	52	the	the	DET
ap-500	213	53	angle	angle	NOUN
ap-500	213	54	that	that	SCONJ
ap-500	213	55	the	the	DET
ap-500	213	56	beam	beam	NOUN
ap-500	213	57	makes	make	VERB
ap-500	213	58	with	with	ADP
ap-500	213	59	the	the	DET
ap-500	213	60	horizontal	horizontal	NOUN
ap-500	213	61	,	,	PUNCT
ap-500	213	62	r	r	NOUN
ap-500	213	63	is	be	AUX
ap-500	213	64	the	the	DET
ap-500	213	65	distance	distance	NOUN
ap-500	213	66	between	between	ADP
ap-500	213	67	the	the	DET
ap-500	213	68	center	center	NOUN
ap-500	213	69	of	of	ADP
ap-500	213	70	the	the	DET
ap-500	213	71	ball	ball	NOUN
ap-500	213	72	and	and	CCONJ
ap-500	213	73	center	center	NOUN
ap-500	213	74	of	of	ADP
ap-500	213	75	rotation	rotation	NOUN
ap-500	213	76	of	of	ADP
ap-500	213	77	the	the	DET
ap-500	213	78	beam	beam	NOUN
ap-500	213	79	,	,	PUNCT
ap-500	213	80	the	the	DET
ap-500	213	81	state	state	NOUN
ap-500	213	82	vector	vector	NOUN
ap-500	213	83	�	�	PROPN
ap-500	213	84	x	x	SYM
ap-500	213	85	�	�	PROPN
ap-500	213	86	�	�	PROPN
ap-500	213	87	�	�	PROPN
ap-500	213	88	r	r	NOUN
ap-500	213	89	r	r	NOUN
ap-500	213	90	,	,	PUNCT
ap-500	213	91	and	and	CCONJ
ap-500	213	92	u	u	NOUN
ap-500	213	93	is	be	AUX
ap-500	213	94	the	the	DET
ap-500	213	95	control	control	NOUN
ap-500	213	96	torque	torque	NOUN
ap-500	213	97	input	input	NOUN
ap-500	213	98	.	.	PUNCT
ap-500	214	1	in	in	ADP
ap-500	214	2	this	this	DET
ap-500	214	3	treatment	treatment	NOUN
ap-500	214	4	,	,	PUNCT
ap-500	214	5	we	we	PRON
ap-500	214	6	assume	assume	VERB
ap-500	214	7	that	that	SCONJ
ap-500	214	8	the	the	DET
ap-500	214	9	ball	ball	NOUN
ap-500	214	10	is	be	AUX
ap-500	214	11	frictionless	frictionless	NOUN
ap-500	214	12	rolling	roll	VERB
ap-500	214	13	along	along	ADP
ap-500	214	14	the	the	DET
ap-500	214	15	beam	beam	NOUN
ap-500	214	16	.	.	PUNCT
ap-500	215	1	the	the	DET
ap-500	215	2	control	control	NOUN
ap-500	215	3	objective	objective	NOUN
ap-500	215	4	is	be	AUX
ap-500	215	5	to	to	PART
ap-500	215	6	balance	balance	VERB
ap-500	215	7	the	the	DET
ap-500	215	8	ball	ball	NOUN
ap-500	215	9	at	at	ADP
ap-500	215	10	a	a	DET
ap-500	215	11	distance	distance	NOUN
ap-500	215	12	from	from	ADP
ap-500	215	13	the	the	DET
ap-500	215	14	central	central	ADJ
ap-500	215	15	pivot	pivot	NOUN
ap-500	215	16	point	point	NOUN
ap-500	215	17	by	by	ADP
ap-500	215	18	tilting	tilt	VERB
ap-500	215	19	the	the	DET
ap-500	215	20	beam	beam	NOUN
ap-500	215	21	back	back	ADV
ap-500	215	22	and	and	CCONJ
ap-500	215	23	forth	forth	ADV
ap-500	215	24	using	use	VERB
ap-500	215	25	the	the	DET
ap-500	215	26	motor	motor	NOUN
ap-500	215	27	.	.	PUNCT
ap-500	216	1	the	the	DET
ap-500	216	2	values	value	NOUN
ap-500	216	3	of	of	ADP
ap-500	216	4	various	various	ADJ
ap-500	216	5	parameters	parameter	NOUN
ap-500	216	6	of	of	ADP
ap-500	216	7	the	the	DET
ap-500	216	8	model	model	NOUN
ap-500	216	9	are	be	AUX
ap-500	216	10	m	m	VERB
ap-500	216	11	�	�	PROPN
ap-500	216	12	1	1	NUM
ap-500	216	13	kg	kg	NOUN
ap-500	216	14	;	;	PUNCT
ap-500	216	15	�	�	PROPN
ap-500	216	16	0.05	0.05	NUM
ap-500	216	17	m	m	NOUN
ap-500	216	18	;	;	PUNCT
ap-500	216	19	r0	r0	NOUN
ap-500	216	20	�	�	PROPN
ap-500	216	21	0.1	0.1	NUM
ap-500	216	22	m	m	NOUN
ap-500	216	23	;	;	PUNCT
ap-500	216	24	g	g	PROPN
ap-500	216	25	�	�	PROPN
ap-500	216	26	9.81	9.81	NUM
ap-500	216	27	m	m	PROPN
ap-500	216	28	/	/	SYM
ap-500	216	29	s2	s2	PROPN
ap-500	216	30	;	;	PUNCT
ap-500	216	31	b	b	X
ap-500	216	32	�	�	PROPN
ap-500	216	33	0.1	0.1	NUM
ap-500	216	34	n	n	CCONJ
ap-500	216	35	�	�	PROPN
ap-500	216	36	s	s	PART
ap-500	216	37	/	/	SYM
ap-500	216	38	m	m	PROPN
ap-500	216	39	,	,	PUNCT
ap-500	216	40	ib	ib	PROPN
ap-500	216	41	�	�	PROPN
ap-500	216	42	5	5	NUM
ap-500	216	43	kg	kg	PROPN
ap-500	216	44	�	�	PROPN
ap-500	216	45	m2	m2	PROPN
ap-500	216	46	,	,	PUNCT
ap-500	216	47	and	and	CCONJ
ap-500	216	48	i	i	PRON
ap-500	216	49	�	�	PROPN
ap-500	216	50	1	1	NUM
ap-500	216	51	kg	kg	PROPN
ap-500	216	52	�	�	PROPN
ap-500	216	53	m2	m2	PROPN
ap-500	216	54	.	.	PUNCT
ap-500	217	1	the	the	DET
ap-500	217	2	characteristic	characteristic	ADJ
ap-500	217	3	polynomial	polynomial	ADJ
ap-500	217	4	coefficients	coefficient	NOUN
ap-500	217	5	are	be	AUX
ap-500	217	6	a	a	DET
ap-500	217	7	�	�	PROPN
ap-500	217	8	[	[	PUNCT
ap-500	217	9	–	–	PUNCT
ap-500	217	10	0.0479	0.0479	NUM
ap-500	217	11	,	,	PUNCT
ap-500	217	12	0.0	0.0	NUM
ap-500	217	13	,	,	PUNCT
ap-500	217	14	0.0	0.0	NUM
ap-500	217	15	,	,	PUNCT
ap-500	217	16	0.020	0.020	NUM
ap-500	217	17	]	]	PUNCT
ap-500	217	18	.	.	PUNCT
ap-500	218	1	the	the	DET
ap-500	218	2	original	original	ADJ
ap-500	218	3	poles	pole	NOUN
ap-500	218	4	are	be	AUX
ap-500	218	5	,	,	PUNCT
ap-500	218	6	+0.4629	+0.4629	PROPN
ap-500	218	7	,	,	PUNCT
ap-500	218	8	–	–	PUNCT
ap-500	218	9	0.4729	0.4729	NUM
ap-500	218	10	and	and	CCONJ
ap-500	218	11	–	–	PUNCT
ap-500	218	12	0.005	0.005	NUM
ap-500	218	13	�	�	NUM
ap-500	218	14	0.4678	0.4678	NUM
ap-500	218	15	i.	i.	NOUN
ap-500	218	16	obviously	obviously	ADV
ap-500	218	17	,	,	PUNCT
ap-500	218	18	the	the	DET
ap-500	218	19	open	open	ADJ
ap-500	218	20	loop	loop	NOUN
ap-500	218	21	system	system	NOUN
ap-500	218	22	is	be	AUX
ap-500	218	23	unstable	unstable	ADJ
ap-500	218	24	.	.	PUNCT
ap-500	219	1	the	the	DET
ap-500	219	2	desired	desire	VERB
ap-500	219	3	closed	close	VERB
ap-500	219	4	-	-	PUNCT
ap-500	219	5	loop	loop	NOUN
ap-500	219	6	poles	pole	NOUN
ap-500	219	7	are	be	AUX
ap-500	219	8	–	–	PUNCT
ap-500	219	9	7	7	NUM
ap-500	219	10	�	�	SYM
ap-500	219	11	2	2	NUM
ap-500	219	12	i	i	NOUN
ap-500	219	13	and	and	CCONJ
ap-500	219	14	–	–	PUNCT
ap-500	219	15	10	10	NUM
ap-500	219	16	�	�	SYM
ap-500	219	17	5	5	NUM
ap-500	219	18	i.	i.	NOUN
ap-500	219	19	the	the	DET
ap-500	219	20	state	state	NOUN
ap-500	219	21	-	-	PUNCT
ap-500	219	22	derivative	derivative	ADJ
ap-500	219	23	feedback	feedback	NOUN
ap-500	219	24	gain	gain	NOUN
ap-500	219	25	matrix	matrix	NOUN
ap-500	219	26	is	be	AUX
ap-500	219	27	computed	compute	VERB
ap-500	219	28	as	as	ADP
ap-500	219	29	,	,	PUNCT
ap-500	219	30	�	�	PROPN
ap-500	219	31	k	k	PROPN
ap-500	219	32	�	�	PROPN
ap-500	219	33	01012	01012	NUM
ap-500	219	34	501	501	NUM
ap-500	219	35	41609	41609	NUM
ap-500	219	36	06782	06782	NUM
ap-500	219	37	.	.	PUNCT
ap-500	220	1	,	,	PUNCT
ap-500	220	2	.	.	PUNCT
ap-500	221	1	,	,	PUNCT
ap-500	221	2	.	.	PUNCT
ap-500	222	1	,	,	PUNCT
ap-500	222	2	.	.	PUNCT
ap-500	222	3	.	.	PUNCT
ap-500	223	1	taking	take	VERB
ap-500	223	2	the	the	DET
ap-500	223	3	initial	initial	ADJ
ap-500	223	4	states	state	NOUN
ap-500	223	5	as	as	ADP
ap-500	223	6	�	�	PROPN
ap-500	223	7	�	�	PROPN
ap-500	223	8	�	�	PROPN
ap-500	223	9	x	x	SYM
ap-500	223	10	t0	t0	NOUN
ap-500	223	11	01	01	NUM
ap-500	223	12	01	01	NUM
ap-500	223	13	005	005	NUM
ap-500	223	14	005	005	NUM
ap-500	223	15	�	�	PROPN
ap-500	223	16	.	.	PUNCT
ap-500	224	1	,	,	PUNCT
ap-500	224	2	.	.	PUNCT
ap-500	225	1	,	,	PUNCT
ap-500	225	2	.	.	PUNCT
ap-500	226	1	,	,	PUNCT
ap-500	226	2	.	.	PUNCT
ap-500	227	1	t.	t.	NOUN
ap-500	227	2	the	the	DET
ap-500	227	3	simulation	simulation	NOUN
ap-500	227	4	results	result	NOUN
ap-500	227	5	are	be	AUX
ap-500	227	6	shown	show	VERB
ap-500	227	7	in	in	ADP
ap-500	227	8	fig	fig	NOUN
ap-500	227	9	.	.	PUNCT
ap-500	228	1	5	5	NUM
ap-500	228	2	.	.	PUNCT
ap-500	228	3	compared	compare	VERB
ap-500	228	4	with	with	ADP
ap-500	228	5	the	the	DET
ap-500	228	6	ackermann	ackermann	PROPN
ap-500	228	7	formula	formula	NOUN
ap-500	228	8	,	,	PUNCT
ap-500	228	9	the	the	DET
ap-500	228	10	gain	gain	NOUN
ap-500	228	11	matrix	matrix	NOUN
ap-500	228	12	for	for	ADP
ap-500	228	13	the	the	DET
ap-500	228	14	same	same	ADJ
ap-500	228	15	desired	desire	VERB
ap-500	228	16	system	system	NOUN
ap-500	228	17	poles	pole	NOUN
ap-500	228	18	is	be	AUX
ap-500	228	19	�	�	PROPN
ap-500	228	20	k	k	PROPN
ap-500	228	21	s	s	PROPN
ap-500	228	22	�	�	PROPN
ap-500	228	23	�	�	PROPN
ap-500	228	24	10	10	NUM
ap-500	228	25	0023	0023	NUM
ap-500	228	26	0002	0002	NUM
ap-500	228	27	13	13	NUM
ap-500	228	28	568	568	NUM
ap-500	228	29	5	5	NUM
ap-500	228	30	7555	7555	NUM
ap-500	228	31	.	.	PUNCT
ap-500	229	1	,	,	PUNCT
ap-500	229	2	.	.	PUNCT
ap-500	230	1	,	,	PUNCT
ap-500	230	2	.	.	PUNCT
ap-500	231	1	,	,	PUNCT
ap-500	231	2	.	.	PUNCT
ap-500	231	3	.	.	PUNCT
ap-500	232	1	similar	similar	ADJ
ap-500	232	2	to	to	ADP
ap-500	232	3	the	the	DET
ap-500	232	4	results	result	NOUN
ap-500	232	5	of	of	ADP
ap-500	232	6	the	the	DET
ap-500	232	7	previous	previous	ADJ
ap-500	232	8	example	example	NOUN
ap-500	232	9	,	,	PUNCT
ap-500	232	10	the	the	DET
ap-500	232	11	performance	performance	NOUN
ap-500	232	12	of	of	ADP
ap-500	232	13	the	the	DET
ap-500	232	14	two	two	NUM
ap-500	232	15	cases	case	NOUN
ap-500	232	16	are	be	AUX
ap-500	232	17	the	the	DET
ap-500	232	18	same	same	ADJ
ap-500	232	19	in	in	ADP
ap-500	232	20	transient	transient	ADJ
ap-500	232	21	response	response	NOUN
ap-500	232	22	and	and	CCONJ
ap-500	232	23	control	control	NOUN
ap-500	232	24	input	input	NOUN
ap-500	232	25	.	.	PUNCT
ap-500	233	1	©	©	PROPN
ap-500	233	2	czech	czech	PROPN
ap-500	233	3	technical	technical	PROPN
ap-500	233	4	university	university	PROPN
ap-500	233	5	publishing	publishing	NOUN
ap-500	233	6	house	house	NOUN
ap-500	233	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	233	8	57	57	NUM
ap-500	233	9	acta	acta	PROPN
ap-500	233	10	polytechnica	polytechnica	PROPN
ap-500	233	11	vol	vol	NOUN
ap-500	233	12	.	.	PUNCT
ap-500	234	1	43	43	NUM
ap-500	234	2	no	no	NOUN
ap-500	234	3	.	.	PUNCT
ap-500	235	1	6/2003	6/2003	NUM
ap-500	235	2	fig	fig	NOUN
ap-500	235	3	.	.	PUNCT
ap-500	236	1	2	2	NUM
ap-500	236	2	:	:	PUNCT
ap-500	236	3	transient	transient	ADJ
ap-500	236	4	response	response	NOUN
ap-500	236	5	and	and	CCONJ
ap-500	236	6	control	control	NOUN
ap-500	236	7	input	input	NOUN
ap-500	236	8	of	of	ADP
ap-500	236	9	the	the	DET
ap-500	236	10	system	system	NOUN
ap-500	236	11	controlled	control	VERB
ap-500	236	12	by	by	ADP
ap-500	236	13	state	state	NOUN
ap-500	236	14	-	-	PUNCT
ap-500	236	15	derivative	derivative	ADJ
ap-500	236	16	feedback	feedback	NOUN
ap-500	236	17	fig	fig	NOUN
ap-500	236	18	.	.	PUNCT
ap-500	237	1	3	3	NUM
ap-500	237	2	:	:	PUNCT
ap-500	237	3	transient	transient	ADJ
ap-500	237	4	response	response	NOUN
ap-500	237	5	and	and	CCONJ
ap-500	237	6	control	control	NOUN
ap-500	237	7	input	input	NOUN
ap-500	237	8	of	of	ADP
ap-500	237	9	the	the	DET
ap-500	237	10	system	system	NOUN
ap-500	237	11	controlled	control	VERB
ap-500	237	12	by	by	ADP
ap-500	237	13	the	the	DET
ap-500	237	14	ackermann	ackermann	PROPN
ap-500	237	15	formula	formula	NOUN
ap-500	237	16	i	i	PRON
ap-500	237	17	m	m	VERB
ap-500	237	18	,	,	PUNCT
ap-500	237	19	ib	ib	INTJ
ap-500	237	20	,	,	PUNCT
ap-500	237	21	r	r	NOUN
ap-500	237	22	u	u	NOUN
ap-500	237	23	r	r	NOUN
ap-500	237	24	q	q	X
ap-500	237	25	fig	fig	NOUN
ap-500	237	26	.	.	PUNCT
ap-500	238	1	4	4	NUM
ap-500	238	2	:	:	PUNCT
ap-500	238	3	ball	ball	NOUN
ap-500	238	4	and	and	CCONJ
ap-500	238	5	beam	beam	NOUN
ap-500	238	6	system	system	NOUN
ap-500	238	7	fig	fig	NOUN
ap-500	238	8	.	.	PUNCT
ap-500	239	1	5	5	NUM
ap-500	239	2	:	:	PUNCT
ap-500	239	3	transient	transient	ADJ
ap-500	239	4	response	response	NOUN
ap-500	239	5	and	and	CCONJ
ap-500	239	6	control	control	NOUN
ap-500	239	7	input	input	NOUN
ap-500	239	8	of	of	ADP
ap-500	239	9	the	the	DET
ap-500	239	10	system	system	NOUN
ap-500	239	11	controlled	control	VERB
ap-500	239	12	by	by	ADP
ap-500	239	13	state	state	NOUN
ap-500	239	14	-	-	PUNCT
ap-500	239	15	derivative	derivative	ADJ
ap-500	239	16	feedback	feedback	NOUN
ap-500	239	17	example	example	NOUN
ap-500	239	18	3	3	NUM
ap-500	239	19	consider	consider	VERB
ap-500	239	20	the	the	DET
ap-500	239	21	dynamic	dynamic	ADJ
ap-500	239	22	equation	equation	NOUN
ap-500	239	23	of	of	ADP
ap-500	239	24	the	the	DET
ap-500	239	25	single	single	ADJ
ap-500	239	26	-	-	PUNCT
ap-500	239	27	input	input	NOUN
ap-500	239	28	time	time	NOUN
ap-500	239	29	-	-	PUNCT
ap-500	239	30	varying	vary	VERB
ap-500	239	31	system	system	NOUN
ap-500	239	32	�	�	PROPN
ap-500	239	33	�	�	PROPN
ap-500	239	34	�	�	PROPN
ap-500	239	35	�	�	PROPN
ap-500	239	36	�	�	PROPN
ap-500	239	37	.	.	PUNCT
ap-500	239	38	.	.	PUNCT
ap-500	239	39	.	.	PUNCT
ap-500	239	40	.	.	PUNCT
ap-500	239	41	.	.	PUNCT
ap-500	239	42	.	.	PUNCT
ap-500	239	43	.	.	PUNCT
ap-500	240	1	.x	.x	PROPN
ap-500	240	2	xt	xt	PROPN
ap-500	241	1	e	e	PROPN
ap-500	241	2	e	e	PROPN
ap-500	241	3	t	t	PROPN
ap-500	241	4	t	t	PROPN
ap-500	241	5	t	t	PROPN
ap-500	241	6	�	�	PROPN
ap-500	241	7	�	�	PROPN
ap-500	241	8	�	�	PROPN
ap-500	241	9	�	�	PROPN
ap-500	241	10	�	�	PROPN
ap-500	241	11	�	�	PROPN
ap-500	241	12	�	�	PROPN
ap-500	241	13	�	�	PROPN
ap-500	241	14	�	�	PROPN
ap-500	241	15	�	�	PROPN
ap-500	241	16	�	�	PROPN
ap-500	241	17	01	01	NUM
ap-500	241	18	02	02	NUM
ap-500	241	19	0	0	NUM
ap-500	241	20	01	01	NUM
ap-500	241	21	02	02	NUM
ap-500	241	22	01	01	NUM
ap-500	241	23	01	01	NUM
ap-500	241	24	0	0	NUM
ap-500	241	25	01	01	NUM
ap-500	241	26	0	0	NUM
ap-500	241	27	0	0	NUM
ap-500	241	28	�	�	PROPN
ap-500	241	29	�	�	PROPN
ap-500	241	30	1	1	NUM
ap-500	241	31	0	0	NUM
ap-500	241	32	�	�	PROPN
ap-500	241	33	�	�	PROPN
ap-500	241	34	�	�	PROPN
ap-500	241	35	�	�	PROPN
ap-500	241	36	�	�	PROPN
ap-500	241	37	�	�	PROPN
ap-500	241	38	�	�	PROPN
ap-500	241	39	�	�	PROPN
ap-500	241	40	�	�	PROPN
ap-500	241	41	u	u	PROPN
ap-500	241	42	t	t	PROPN
ap-500	241	43	.	.	PUNCT
ap-500	242	1	this	this	DET
ap-500	242	2	system	system	NOUN
ap-500	242	3	is	be	AUX
ap-500	242	4	unstable	unstable	ADJ
ap-500	242	5	and	and	CCONJ
ap-500	242	6	the	the	DET
ap-500	242	7	zero	zero	NUM
ap-500	242	8	-	-	PUNCT
ap-500	242	9	input	input	NOUN
ap-500	242	10	transient	transient	ADJ
ap-500	242	11	response	response	NOUN
ap-500	242	12	of	of	ADP
ap-500	242	13	an	an	DET
ap-500	242	14	open	open	ADJ
ap-500	242	15	-	-	PUNCT
ap-500	242	16	loop	loop	NOUN
ap-500	242	17	system	system	NOUN
ap-500	242	18	are	be	AUX
ap-500	242	19	shown	show	VERB
ap-500	242	20	in	in	ADP
ap-500	242	21	fig	fig	NOUN
ap-500	242	22	.	.	PUNCT
ap-500	243	1	6	6	NUM
ap-500	243	2	.	.	X
ap-500	243	3	to	to	PART
ap-500	243	4	stabilize	stabilize	VERB
ap-500	243	5	the	the	DET
ap-500	243	6	above	above	ADJ
ap-500	243	7	system	system	NOUN
ap-500	243	8	,	,	PUNCT
ap-500	243	9	the	the	DET
ap-500	243	10	pole	pole	NOUN
ap-500	243	11	placement	placement	NOUN
ap-500	243	12	technique	technique	NOUN
ap-500	243	13	is	be	AUX
ap-500	243	14	used	use	VERB
ap-500	243	15	.	.	PUNCT
ap-500	244	1	first	first	ADV
ap-500	244	2	,	,	PUNCT
ap-500	244	3	the	the	DET
ap-500	244	4	controllability	controllability	NOUN
ap-500	244	5	matrix	matrix	NOUN
ap-500	244	6	and	and	CCONJ
ap-500	244	7	its	its	PRON
ap-500	244	8	inverse	inverse	NOUN
ap-500	244	9	are	be	AUX
ap-500	244	10	computed	compute	VERB
ap-500	244	11	as	as	ADP
ap-500	244	12	�	�	PROPN
ap-500	244	13	�	�	PROPN
ap-500	244	14	�	�	PROPN
ap-500	244	15	�	�	PROPN
ap-500	244	16	r	r	NOUN
ap-500	244	17	t	t	PROPN
ap-500	244	18	t	t	PROPN
ap-500	244	19	�	�	PROPN
ap-500	244	20	�	�	PROPN
ap-500	244	21	�	�	PROPN
ap-500	244	22	�	�	PROPN
ap-500	244	23	�	�	PROPN
ap-500	244	24	�	�	PROPN
ap-500	244	25	�	�	PROPN
ap-500	244	26	�	�	PROPN
ap-500	244	27	�	�	PROPN
ap-500	244	28	�	�	PROPN
ap-500	244	29	�	�	PROPN
ap-500	244	30	�	�	PROPN
ap-500	244	31	�	�	PROPN
ap-500	244	32	0	0	NUM
ap-500	244	33	002	002	NUM
ap-500	244	34	0002	0002	NUM
ap-500	244	35	2	2	NUM
ap-500	244	36	01	01	NUM
ap-500	244	37	002	002	NUM
ap-500	244	38	0006	0006	NUM
ap-500	244	39	0	0	NUM
ap-500	244	40	0	0	NUM
ap-500	244	41	0002	0002	NUM
ap-500	244	42	.	.	PUNCT
ap-500	244	43	.	.	PUNCT
ap-500	244	44	.	.	PUNCT
ap-500	244	45	.	.	PUNCT
ap-500	244	46	.	.	PUNCT
ap-500	244	47	.	.	PUNCT
ap-500	245	1	e	e	NOUN
ap-500	245	2	,	,	PUNCT
ap-500	245	3	and	and	CCONJ
ap-500	245	4	�	�	PROPN
ap-500	245	5	�	�	PROPN
ap-500	245	6	�	�	PROPN
ap-500	245	7	�	�	PROPN
ap-500	245	8	�	�	PROPN
ap-500	245	9	�	�	PROPN
ap-500	245	10	r	r	PROPN
ap-500	245	11	�	�	PROPN
ap-500	245	12	�	�	PROPN
ap-500	245	13	�	�	PROPN
ap-500	245	14	�	�	PROPN
ap-500	245	15	�	�	PROPN
ap-500	245	16	�	�	PROPN
ap-500	245	17	�	�	PROPN
ap-500	245	18	�	�	PROPN
ap-500	245	19	�	�	PROPN
ap-500	245	20	�	�	PROPN
ap-500	245	21	�	�	PROPN
ap-500	245	22	�	�	PROPN
ap-500	245	23	�	�	PROPN
ap-500	245	24	1	1	NUM
ap-500	245	25	10	10	NUM
ap-500	245	26	10	10	NUM
ap-500	245	27	10	10	NUM
ap-500	245	28	1	1	NUM
ap-500	245	29	50	50	NUM
ap-500	245	30	0	0	NUM
ap-500	245	31	50	50	NUM
ap-500	245	32	2	2	NUM
ap-500	245	33	0	0	NUM
ap-500	245	34	0	0	NUM
ap-500	245	35	500	500	NUM
ap-500	245	36	t	t	NOUN
ap-500	245	37	t	t	NOUN
ap-500	245	38	t	t	NOUN
ap-500	245	39	e	e	X
ap-500	245	40	e	e	X
ap-500	245	41	.	.	PUNCT
ap-500	246	1	it	it	PRON
ap-500	246	2	is	be	AUX
ap-500	246	3	clear	clear	ADJ
ap-500	246	4	that	that	SCONJ
ap-500	246	5	the	the	DET
ap-500	246	6	controllability	controllability	NOUN
ap-500	246	7	matrix	matrix	NOUN
ap-500	246	8	is	be	AUX
ap-500	246	9	a	a	DET
ap-500	246	10	full	full	ADJ
ap-500	246	11	rank	rank	NOUN
ap-500	246	12	in	in	ADP
ap-500	246	13	the	the	DET
ap-500	246	14	time	time	NOUN
ap-500	246	15	interval	interval	NOUN
ap-500	246	16	of	of	ADP
ap-500	246	17	interest	interest	NOUN
ap-500	246	18	�	�	PROPN
ap-500	246	19	t	t	PROPN
ap-500	246	20	t	t	PROPN
ap-500	246	21	�	�	PROPN
ap-500	246	22	�	�	PROPN
ap-500	246	23	0	0	NUM
ap-500	246	24	,	,	PUNCT
ap-500	246	25	.	.	PUNCT
ap-500	247	1	this	this	PRON
ap-500	247	2	means	mean	VERB
ap-500	247	3	the	the	DET
ap-500	247	4	system	system	NOUN
ap-500	247	5	is	be	AUX
ap-500	247	6	completely	completely	ADV
ap-500	247	7	state	state	NOUN
ap-500	247	8	controllable	controllable	ADJ
ap-500	247	9	.	.	PUNCT
ap-500	248	1	now	now	ADV
ap-500	248	2	,	,	PUNCT
ap-500	248	3	the	the	DET
ap-500	248	4	transformation	transformation	NOUN
ap-500	248	5	matrix	matrix	NOUN
ap-500	248	6	can	can	AUX
ap-500	248	7	be	be	AUX
ap-500	248	8	computed	compute	VERB
ap-500	248	9	as	as	SCONJ
ap-500	248	10	follows	follow	VERB
ap-500	248	11	.	.	PUNCT
ap-500	249	1	the	the	DET
ap-500	249	2	rows	row	NOUN
ap-500	249	3	qi	qi	PROPN
ap-500	249	4	,	,	PUNCT
ap-500	249	5	i	i	PRON
ap-500	249	6	�	�	PROPN
ap-500	249	7	1	1	NUM
ap-500	249	8	,	,	PUNCT
ap-500	249	9	…	…	PUNCT
ap-500	249	10	,	,	PUNCT
ap-500	249	11	n	n	PRON
ap-500	249	12	are	be	AUX
ap-500	249	13	computed	compute	VERB
ap-500	249	14	as	as	ADP
ap-500	249	15	�	�	PROPN
ap-500	249	16	�	�	PROPN
ap-500	249	17	q	q	PROPN
ap-500	249	18	e	e	NOUN
ap-500	249	19	r1	r1	NOUN
ap-500	249	20	1	1	NUM
ap-500	249	21	0	0	NUM
ap-500	249	22	0	0	NUM
ap-500	249	23	500	500	NUM
ap-500	249	24	�	�	PROPN
ap-500	249	25	�	�	PROPN
ap-500	249	26	n	n	ADP
ap-500	249	27	t	t	PROPN
ap-500	249	28	,	,	PUNCT
ap-500	249	29	�	�	PROPN
ap-500	249	30	�	�	PROPN
ap-500	249	31	q	q	PROPN
ap-500	249	32	q	q	NOUN
ap-500	249	33	a	a	DET
ap-500	249	34	q2	q2	NOUN
ap-500	249	35	1	1	NUM
ap-500	249	36	1	1	NUM
ap-500	249	37	50	50	NUM
ap-500	249	38	0	0	NUM
ap-500	249	39	50	50	NUM
ap-500	249	40	�	�	PROPN
ap-500	249	41	�	�	PROPN
ap-500	249	42	�	�	PROPN
ap-500	249	43	�	�	PROPN
ap-500	249	44	,	,	PUNCT
ap-500	249	45	and	and	CCONJ
ap-500	249	46	�	�	PROPN
ap-500	249	47	�	�	PROPN
ap-500	249	48	�	�	PROPN
ap-500	249	49	�	�	PROPN
ap-500	249	50	q	q	PROPN
ap-500	249	51	q	q	NOUN
ap-500	249	52	a	a	DET
ap-500	249	53	q3	q3	NOUN
ap-500	249	54	2	2	NUM
ap-500	249	55	2	2	NUM
ap-500	249	56	5	5	NUM
ap-500	249	57	1	1	NUM
ap-500	249	58	10	10	NUM
ap-500	249	59	5	5	NUM
ap-500	249	60	�	�	PROPN
ap-500	249	61	�	�	PROPN
ap-500	249	62	�	�	PROPN
ap-500	249	63	�	�	PROPN
ap-500	249	64	�	�	PROPN
ap-500	249	65	e	e	PROPN
ap-500	249	66	t	t	PROPN
ap-500	249	67	.	.	PUNCT
ap-500	250	1	then	then	ADV
ap-500	250	2	,	,	PUNCT
ap-500	250	3	the	the	DET
ap-500	250	4	transformation	transformation	NOUN
ap-500	250	5	matrix	matrix	NOUN
ap-500	250	6	,	,	PUNCT
ap-500	250	7	inverse	inverse	NOUN
ap-500	250	8	,	,	PUNCT
ap-500	250	9	and	and	CCONJ
ap-500	250	10	derivative	derivative	NOUN
ap-500	250	11	are	be	AUX
ap-500	250	12	�	�	PROPN
ap-500	250	13	�	�	PROPN
ap-500	250	14	�	�	PROPN
ap-500	250	15	�	�	PROPN
ap-500	250	16	q	q	PROPN
ap-500	250	17	�	�	PROPN
ap-500	250	18	�	�	PROPN
ap-500	250	19	�	�	PROPN
ap-500	250	20	�	�	PROPN
ap-500	250	21	�	�	PROPN
ap-500	250	22	�	�	PROPN
ap-500	250	23	�	�	PROPN
ap-500	250	24	�	�	PROPN
ap-500	250	25	�	�	PROPN
ap-500	250	26	�	�	PROPN
ap-500	250	27	�	�	PROPN
ap-500	250	28	�	�	PROPN
ap-500	250	29	�	�	PROPN
ap-500	250	30	1	1	NUM
ap-500	250	31	0	0	NUM
ap-500	250	32	0	0	NUM
ap-500	250	33	500	500	NUM
ap-500	250	34	50	50	NUM
ap-500	250	35	0	0	NUM
ap-500	250	36	50	50	NUM
ap-500	250	37	5	5	NUM
ap-500	250	38	1	1	NUM
ap-500	250	39	10	10	NUM
ap-500	250	40	5	5	NUM
ap-500	250	41	t	t	NOUN
ap-500	250	42	te	te	PROPN
ap-500	250	43	,	,	PUNCT
ap-500	250	44	�	�	PROPN
ap-500	250	45	�	�	PROPN
ap-500	250	46	�	�	PROPN
ap-500	250	47	�	�	PROPN
ap-500	250	48	q	q	PROPN
ap-500	250	49	t	t	PROPN
ap-500	250	50	.	.	PUNCT
ap-500	250	51	.	.	PUNCT
ap-500	251	1	t	t	PROPN
ap-500	251	2	t	t	PROPN
ap-500	251	3	�	�	PROPN
ap-500	251	4	�	�	PROPN
ap-500	251	5	�	�	PROPN
ap-500	251	6	�	�	PROPN
ap-500	251	7	�	�	PROPN
ap-500	251	8	�	�	PROPN
ap-500	251	9	�	�	PROPN
ap-500	251	10	�	�	PROPN
ap-500	251	11	0002	0002	NUM
ap-500	251	12	002	002	NUM
ap-500	251	13	0	0	NUM
ap-500	251	14	0001	0001	NUM
ap-500	251	15	001	001	NUM
ap-500	251	16	1	1	NUM
ap-500	251	17	01	01	NUM
ap-500	251	18	0002	0002	NUM
ap-500	251	19	0	0	NUM
ap-500	251	20	0	0	NUM
ap-500	251	21	.	.	PUNCT
ap-500	251	22	.	.	PUNCT
ap-500	251	23	.	.	PUNCT
ap-500	251	24	.	.	PUNCT
ap-500	252	1	e	e	X
ap-500	252	2	e	e	X
ap-500	252	3	�	�	PROPN
ap-500	252	4	�	�	PROPN
ap-500	252	5	�	�	PROPN
ap-500	252	6	,	,	PUNCT
ap-500	252	7	�	�	PROPN
ap-500	252	8	�	�	PROPN
ap-500	252	9	�	�	PROPN
ap-500	252	10	q	q	PROPN
ap-500	252	11	�	�	PROPN
ap-500	252	12	�	�	PROPN
ap-500	252	13	�	�	PROPN
ap-500	252	14	�	�	PROPN
ap-500	252	15	�	�	PROPN
ap-500	252	16	�	�	PROPN
ap-500	252	17	�	�	PROPN
ap-500	252	18	�	�	PROPN
ap-500	252	19	�	�	PROPN
ap-500	252	20	�	�	PROPN
ap-500	252	21	1	1	NUM
ap-500	252	22	0	0	NUM
ap-500	252	23	0	0	NUM
ap-500	252	24	0	0	NUM
ap-500	252	25	0	0	NUM
ap-500	252	26	0	0	NUM
ap-500	252	27	0	0	NUM
ap-500	252	28	5	5	NUM
ap-500	252	29	0	0	NUM
ap-500	252	30	0	0	NUM
ap-500	252	31	t	t	NOUN
ap-500	252	32	te	te	X
ap-500	252	33	,	,	PUNCT
ap-500	252	34	and	and	CCONJ
ap-500	252	35	�	�	PROPN
ap-500	252	36	�	�	PROPN
ap-500	252	37	�	�	PROPN
ap-500	252	38	.	.	PUNCT
ap-500	253	1	.q	.q	PROPN
ap-500	253	2	t	t	PROPN
ap-500	253	3	t	t	PROPN
ap-500	253	4	t	t	PROPN
ap-500	253	5	�	�	PROPN
ap-500	253	6	�	�	PROPN
ap-500	253	7	�	�	PROPN
ap-500	253	8	�	�	PROPN
ap-500	253	9	�	�	PROPN
ap-500	253	10	�	�	PROPN
ap-500	253	11	�	�	PROPN
ap-500	253	12	�	�	PROPN
ap-500	253	13	�	�	PROPN
ap-500	253	14	�	�	PROPN
ap-500	253	15	0	0	NUM
ap-500	253	16	0	0	NUM
ap-500	253	17	0	0	NUM
ap-500	253	18	0001	0001	NUM
ap-500	253	19	0001	0001	NUM
ap-500	253	20	0	0	NUM
ap-500	253	21	0	0	NUM
ap-500	253	22	0	0	NUM
ap-500	253	23	0	0	NUM
ap-500	253	24	e	e	NOUN
ap-500	253	25	e	e	NOUN
ap-500	253	26	.	.	PUNCT
ap-500	254	1	these	these	DET
ap-500	254	2	matrices	matrix	NOUN
ap-500	254	3	are	be	AUX
ap-500	254	4	continuous	continuous	ADJ
ap-500	254	5	and	and	CCONJ
ap-500	254	6	bounded	bound	VERB
ap-500	254	7	and	and	CCONJ
ap-500	254	8	the	the	DET
ap-500	254	9	transformation	transformation	NOUN
ap-500	254	10	matrix	matrix	NOUN
ap-500	254	11	has	have	VERB
ap-500	254	12	a	a	DET
ap-500	254	13	full	full	ADJ
ap-500	254	14	rank	rank	NOUN
ap-500	254	15	at	at	ADP
ap-500	254	16	the	the	DET
ap-500	254	17	time	time	NOUN
ap-500	254	18	interval	interval	NOUN
ap-500	254	19	of	of	ADP
ap-500	254	20	interest	interest	NOUN
ap-500	254	21	�	�	PROPN
ap-500	254	22	t	t	PROPN
ap-500	254	23	t	t	PROPN
ap-500	254	24	�	�	PROPN
ap-500	254	25	�	�	PROPN
ap-500	254	26	0	0	NUM
ap-500	254	27	,	,	PUNCT
ap-500	254	28	.	.	PUNCT
ap-500	255	1	then	then	ADV
ap-500	255	2	this	this	DET
ap-500	255	3	transformation	transformation	NOUN
ap-500	255	4	is	be	AUX
ap-500	255	5	a	a	DET
ap-500	255	6	lyapunov	lyapunov	ADJ
ap-500	255	7	transformation	transformation	NOUN
ap-500	255	8	and	and	CCONJ
ap-500	255	9	the	the	DET
ap-500	255	10	proposed	propose	VERB
ap-500	255	11	pole	pole	NOUN
ap-500	255	12	placement	placement	NOUN
ap-500	255	13	technique	technique	NOUN
ap-500	255	14	can	can	AUX
ap-500	255	15	be	be	AUX
ap-500	255	16	applied	apply	VERB
ap-500	255	17	.	.	PUNCT
ap-500	256	1	the	the	DET
ap-500	256	2	transformed	transform	VERB
ap-500	256	3	system	system	NOUN
ap-500	256	4	matrix	matrix	NOUN
ap-500	256	5	�	�	PROPN
ap-500	256	6	�	�	PROPN
ap-500	256	7	af	af	PROPN
ap-500	256	8	t	t	PROPN
ap-500	256	9	and	and	CCONJ
ap-500	256	10	the	the	DET
ap-500	256	11	control	control	NOUN
ap-500	256	12	gain	gain	VERB
ap-500	256	13	vector	vector	NOUN
ap-500	256	14	bf	bf	NOUN
ap-500	256	15	are	be	AUX
ap-500	256	16	�	�	PROPN
ap-500	256	17	�	�	PROPN
ap-500	256	18	�	�	PROPN
ap-500	256	19	�	�	PROPN
ap-500	256	20	�	�	PROPN
ap-500	256	21	�	�	PROPN
ap-500	256	22	�	�	PROPN
ap-500	256	23	�	�	PROPN
ap-500	256	24	a	a	DET
ap-500	256	25	q	q	NOUN
ap-500	256	26	a	a	DET
ap-500	256	27	q	q	X
ap-500	256	28	qf	qf	PROPN
ap-500	256	29	t	t	PROPN
ap-500	256	30	t	t	PROPN
ap-500	256	31	t	t	PROPN
ap-500	256	32	t	t	PROPN
ap-500	256	33	�	�	PROPN
ap-500	256	34	�	�	PROPN
ap-500	256	35	�	�	PROPN
ap-500	256	36	�	�	PROPN
ap-500	256	37	�	�	PROPN
ap-500	256	38	�	�	PROPN
ap-500	256	39	1	1	NUM
ap-500	256	40	0	0	NUM
ap-500	256	41	1	1	NUM
ap-500	256	42	0	0	NUM
ap-500	256	43	0	0	NUM
ap-500	256	44	0	0	NUM
ap-500	256	45	1	1	NUM
ap-500	256	46	001	001	NUM
ap-500	256	47	02	02	NUM
ap-500	256	48	013	013	NUM
ap-500	256	49	01	01	NUM
ap-500	256	50	3	3	NUM
ap-500	256	51	�	�	PROPN
ap-500	256	52	.	.	PUNCT
ap-500	256	53	.	.	PUNCT
ap-500	256	54	.	.	PUNCT
ap-500	257	1	.e	.e	PUNCT
ap-500	258	1	e	e	X
ap-500	258	2	e	e	X
ap-500	258	3	�	�	PROPN
ap-500	258	4	�	�	PROPN
ap-500	258	5	�	�	PROPN
ap-500	258	6	�	�	PROPN
ap-500	258	7	�	�	PROPN
ap-500	258	8	�	�	PROPN
ap-500	258	9	�	�	PROPN
ap-500	258	10	�	�	PROPN
ap-500	258	11	,	,	PUNCT
ap-500	258	12	and	and	CCONJ
ap-500	258	13	b	b	X
ap-500	258	14	q	q	PROPN
ap-500	258	15	bf	bf	PROPN
ap-500	258	16	�	�	PROPN
ap-500	258	17	�	�	PROPN
ap-500	258	18	�	�	PROPN
ap-500	258	19	�	�	PROPN
ap-500	258	20	�	�	PROPN
ap-500	258	21	�	�	PROPN
ap-500	258	22	�	�	PROPN
ap-500	258	23	�	�	PROPN
ap-500	258	24	�	�	PROPN
ap-500	258	25	�	�	PROPN
ap-500	258	26	�	�	PROPN
ap-500	258	27	1	1	NUM
ap-500	258	28	0	0	NUM
ap-500	258	29	0	0	NUM
ap-500	258	30	1	1	NUM
ap-500	258	31	,	,	PUNCT
ap-500	258	32	with	with	ADP
ap-500	258	33	the	the	DET
ap-500	258	34	time	time	NOUN
ap-500	258	35	-	-	PUNCT
ap-500	258	36	varying	vary	VERB
ap-500	258	37	coefficients	coefficient	NOUN
ap-500	258	38	�	�	PROPN
ap-500	258	39	�	�	PROPN
ap-500	258	40	�	�	PROPN
ap-500	258	41	�	�	PROPN
ap-500	258	42	�	�	PROPN
ap-500	258	43	�	�	PROPN
ap-500	258	44	�	�	PROPN
ap-500	258	45	�	�	PROPN
ap-500	258	46	a	a	DET
ap-500	258	47	t	t	NOUN
ap-500	258	48	t	t	PROPN
ap-500	258	49	t	t	PROPN
ap-500	258	50	t	t	PROPN
ap-500	258	51	�	�	PROPN
ap-500	258	52	�	�	PROPN
ap-500	258	53	001	001	NUM
ap-500	258	54	02	02	NUM
ap-500	258	55	013	013	NUM
ap-500	258	56	01	01	NUM
ap-500	258	57	3	3	NUM
ap-500	258	58	.	.	PUNCT
ap-500	258	59	.	.	PUNCT
ap-500	258	60	.	.	PUNCT
ap-500	259	1	.e	.e	PUNCT
ap-500	260	1	e	e	X
ap-500	260	2	e	e	X
ap-500	260	3	.	.	PUNCT
ap-500	261	1	58	58	NUM
ap-500	262	1	©	©	PROPN
ap-500	262	2	czech	czech	PROPN
ap-500	262	3	technical	technical	PROPN
ap-500	262	4	university	university	PROPN
ap-500	262	5	publishing	publishing	NOUN
ap-500	262	6	house	house	NOUN
ap-500	262	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	262	8	acta	acta	PROPN
ap-500	262	9	polytechnica	polytechnica	PROPN
ap-500	262	10	vol	vol	NOUN
ap-500	262	11	.	.	PUNCT
ap-500	263	1	43	43	NUM
ap-500	263	2	no	no	NOUN
ap-500	263	3	.	.	PUNCT
ap-500	264	1	6/2003	6/2003	NUM
ap-500	264	2	fig	fig	NOUN
ap-500	264	3	.	.	PUNCT
ap-500	265	1	6	6	NUM
ap-500	265	2	:	:	PUNCT
ap-500	265	3	zero	zero	NUM
ap-500	265	4	-	-	PUNCT
ap-500	265	5	input	input	NOUN
ap-500	265	6	transient	transient	ADJ
ap-500	265	7	response	response	NOUN
ap-500	265	8	of	of	ADP
ap-500	265	9	an	an	DET
ap-500	265	10	open	open	ADJ
ap-500	265	11	-	-	PUNCT
ap-500	265	12	loop	loop	NOUN
ap-500	265	13	system	system	NOUN
ap-500	265	14	the	the	DET
ap-500	265	15	computation	computation	NOUN
ap-500	265	16	of	of	ADP
ap-500	265	17	the	the	DET
ap-500	265	18	feedback	feedback	NOUN
ap-500	265	19	gain	gain	NOUN
ap-500	265	20	matrix	matrix	NOUN
ap-500	265	21	for	for	ADP
ap-500	265	22	the	the	DET
ap-500	265	23	desired	desire	VERB
ap-500	265	24	eigenvalues	eigenvalues	PROPN
ap-500	265	25	�	�	PROPN
ap-500	265	26	1,	1,	NUM
ap-500	265	27	�	�	NOUN
ap-500	265	28	2,	2,	NOUN
ap-500	265	29	�	�	NOUN
ap-500	265	30	3	3	NUM
ap-500	265	31	can	can	AUX
ap-500	265	32	be	be	AUX
ap-500	265	33	done	do	VERB
ap-500	265	34	as	as	SCONJ
ap-500	265	35	follows	follow	VERB
ap-500	265	36	.	.	PUNCT
ap-500	266	1	first	first	ADV
ap-500	266	2	,	,	PUNCT
ap-500	266	3	the	the	DET
ap-500	266	4	rows	row	NOUN
ap-500	266	5	�	�	PROPN
ap-500	266	6	q1	q1	PROPN
ap-500	266	7	,	,	PUNCT
ap-500	266	8	i	i	PRON
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ap-500	266	10	1	1	NUM
ap-500	266	11	,	,	PUNCT
ap-500	266	12	…	…	PUNCT
ap-500	266	13	,	,	PUNCT
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ap-500	266	16	�	�	PROPN
ap-500	266	17	�	�	PROPN
ap-500	266	18	�	�	PROPN
ap-500	266	19	�	�	PROPN
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ap-500	266	23	1	1	NUM
ap-500	266	24	0	0	NUM
ap-500	266	25	0	0	NUM
ap-500	266	26	500	500	NUM
ap-500	266	27	,	,	PUNCT
ap-500	266	28	�	�	PROPN
ap-500	266	29	�	�	PROPN
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ap-500	266	39	q	q	PROPN
ap-500	266	40	q	q	X
ap-500	266	41	a	a	X
ap-500	266	42	i	i	PROPN
ap-500	266	43	q2	q2	NOUN
ap-500	266	44	1	1	NUM
ap-500	266	45	1	1	NUM
ap-500	266	46	1	1	NUM
ap-500	266	47	150	150	NUM
ap-500	266	48	0	0	NUM
ap-500	266	49	500	500	NUM
ap-500	266	50	01	01	NUM
ap-500	266	51	�	�	PROPN
ap-500	266	52	�	�	PROPN
ap-500	266	53	�	�	PROPN
ap-500	266	54	.	.	PUNCT
ap-500	267	1	,	,	PUNCT
ap-500	267	2	�	�	PROPN
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ap-500	267	9	�	�	PROPN
ap-500	267	10	�	�	PROPN
ap-500	267	11	�	�	PROPN
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ap-500	267	14	q	q	PROPN
ap-500	267	15	q	q	X
ap-500	268	1	a	a	X
ap-500	268	2	i	i	PRON
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ap-500	268	4	2	2	NUM
ap-500	268	5	2	2	NUM
ap-500	268	6	2	2	NUM
ap-500	268	7	1	1	NUM
ap-500	268	8	2	2	NUM
ap-500	268	9	150	150	NUM
ap-500	268	10	01	01	NUM
ap-500	268	11	01	01	NUM
ap-500	268	12	10	10	NUM
ap-500	268	13	500	500	NUM
ap-500	268	14	01	01	NUM
ap-500	268	15	01	01	NUM
ap-500	268	16	�	�	PROPN
ap-500	268	17	�	�	PROPN
ap-500	268	18	�	�	PROPN
ap-500	268	19	�	�	PROPN
ap-500	268	20	�	�	PROPN
ap-500	268	21	.	.	PUNCT
ap-500	268	22	.	.	PUNCT
ap-500	268	23	.	.	PUNCT
ap-500	269	1	.e	.e	PROPN
ap-500	270	1	t	t	PROPN
ap-500	270	2	�	�	PROPN
ap-500	270	3	�	�	PROPN
ap-500	270	4	�	�	PROPN
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ap-500	270	6	�	�	PROPN
ap-500	270	7	1	1	NUM
ap-500	270	8	,	,	PUNCT
ap-500	270	9	and	and	CCONJ
ap-500	270	10	�	�	PROPN
ap-500	270	11	�	�	PROPN
ap-500	270	12	�	�	PROPN
ap-500	270	13	�	�	PROPN
ap-500	270	14	�	�	PROPN
ap-500	270	15	�	�	PROPN
ap-500	270	16	�	�	PROPN
ap-500	270	17	�	�	PROPN
ap-500	270	18	�	�	PROPN
ap-500	270	19	�	�	PROPN
ap-500	270	20	�	�	PROPN
ap-500	270	21	�	�	PROPN
ap-500	270	22	�	�	PROPN
ap-500	270	23	�	�	PROPN
ap-500	270	24	�	�	PROPN
ap-500	270	25	�	�	PROPN
ap-500	270	26	q	q	PROPN
ap-500	270	27	q	q	X
ap-500	271	1	a	a	PRON
ap-500	271	2	i	i	NOUN
ap-500	271	3	q4	q4	PROPN
ap-500	271	4	3	3	NUM
ap-500	271	5	3	3	NUM
ap-500	271	6	3	3	NUM
ap-500	271	7	2	2	NUM
ap-500	271	8	1	1	NUM
ap-500	271	9	2	2	NUM
ap-500	271	10	305	305	NUM
ap-500	271	11	4	4	NUM
ap-500	271	12	5	5	NUM
ap-500	271	13	5	5	NUM
ap-500	271	14	1	1	NUM
ap-500	271	15	50	50	NUM
ap-500	271	16	�	�	PROPN
ap-500	271	17	�	�	PROPN
ap-500	271	18	�	�	PROPN
ap-500	271	19	�	�	PROPN
ap-500	271	20	�	�	PROPN
ap-500	271	21	�	�	PROPN
ap-500	271	22	.	.	PUNCT
ap-500	271	23	.e	.e	PROPN
ap-500	272	1	e	e	X
ap-500	272	2	et	et	PROPN
ap-500	272	3	t	t	PROPN
ap-500	272	4	t	t	PROPN
ap-500	272	5	�	�	PROPN
ap-500	272	6	�	�	PROPN
ap-500	272	7	�	�	PROPN
ap-500	272	8	�	�	PROPN
ap-500	272	9	�	�	PROPN
ap-500	272	10	�	�	PROPN
ap-500	272	11	1	1	NUM
ap-500	272	12	2	2	NUM
ap-500	272	13	1	1	NUM
ap-500	272	14	3	3	NUM
ap-500	272	15	2	2	NUM
ap-500	272	16	3	3	NUM
ap-500	272	17	1	1	NUM
ap-500	272	18	2	2	NUM
ap-500	272	19	3	3	NUM
ap-500	272	20	1	1	NUM
ap-500	272	21	15	15	NUM
ap-500	272	22	10	10	NUM
ap-500	272	23	3	3	NUM
ap-500	272	24	500	500	NUM
ap-500	272	25	01	01	NUM
ap-500	272	26	0	0	NUM
ap-500	272	27	�	�	PROPN
ap-500	272	28	�	�	PROPN
ap-500	272	29	�	�	PROPN
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ap-500	272	31	�	�	PROPN
ap-500	272	32	�	�	PROPN
ap-500	272	33	�	�	PROPN
ap-500	272	34	�	�	PROPN
ap-500	272	35	�	�	PROPN
ap-500	272	36	�	�	PROPN
ap-500	272	37	�	�	PROPN
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ap-500	272	40	�	�	PROPN
ap-500	272	41	�	�	PROPN
ap-500	272	42	.	.	PUNCT
ap-500	272	43	,	,	PUNCT
ap-500	272	44	,	,	PUNCT
ap-500	272	45	.	.	PUNCT
ap-500	273	1	.e	.e	PROPN
ap-500	273	2	et	et	PROPN
ap-500	273	3	t	t	PROPN
ap-500	273	4	�	�	PROPN
ap-500	273	5	�	�	PROPN
ap-500	273	6	�	�	PROPN
ap-500	273	7	�	�	PROPN
ap-500	273	8	�	�	PROPN
ap-500	273	9	1	1	NUM
ap-500	273	10	012	012	NUM
ap-500	273	11	3	3	NUM
ap-500	273	12	�	�	PROPN
ap-500	273	13	�	�	PROPN
ap-500	273	14	.	.	PUNCT
ap-500	274	1	taking	take	VERB
ap-500	274	2	the	the	DET
ap-500	274	3	desired	desire	VERB
ap-500	274	4	eiginvalues	eiginvalue	NOUN
ap-500	274	5	and	and	CCONJ
ap-500	274	6	the	the	DET
ap-500	274	7	same	same	ADJ
ap-500	274	8	initial	initial	ADJ
ap-500	274	9	conditions	condition	NOUN
ap-500	274	10	for	for	ADP
ap-500	274	11	the	the	DET
ap-500	274	12	state	state	NOUN
ap-500	274	13	-	-	PUNCT
ap-500	274	14	derivative	derivative	ADJ
ap-500	274	15	feedback	feedback	NOUN
ap-500	274	16	,	,	PUNCT
ap-500	274	17	the	the	DET
ap-500	274	18	simulation	simulation	NOUN
ap-500	274	19	results	result	NOUN
ap-500	274	20	indicate	indicate	VERB
ap-500	274	21	the	the	DET
ap-500	274	22	same	same	ADJ
ap-500	274	23	transient	transient	ADJ
ap-500	274	24	performance	performance	NOUN
ap-500	274	25	and	and	CCONJ
ap-500	274	26	control	control	NOUN
ap-500	274	27	input	input	NOUN
ap-500	274	28	with	with	ADP
ap-500	274	29	lower	low	ADJ
ap-500	274	30	gains	gain	NOUN
ap-500	274	31	.	.	PUNCT
ap-500	275	1	the	the	DET
ap-500	275	2	elements	element	NOUN
ap-500	275	3	of	of	ADP
ap-500	275	4	the	the	DET
ap-500	275	5	gain	gain	NOUN
ap-500	275	6	matrix	matrix	NOUN
ap-500	275	7	are	be	AUX
ap-500	275	8	displayed	display	VERB
ap-500	275	9	in	in	ADP
ap-500	275	10	fig	fig	NOUN
ap-500	275	11	.	.	PUNCT
ap-500	276	1	9	9	X
ap-500	276	2	.	.	PUNCT
ap-500	276	3	based	base	VERB
ap-500	276	4	on	on	ADP
ap-500	276	5	the	the	DET
ap-500	276	6	simulation	simulation	NOUN
ap-500	276	7	analysis	analysis	NOUN
ap-500	276	8	above	above	ADV
ap-500	276	9	,	,	PUNCT
ap-500	276	10	we	we	PRON
ap-500	276	11	note	note	VERB
ap-500	276	12	the	the	DET
ap-500	276	13	great	great	ADJ
ap-500	276	14	reduction	reduction	NOUN
ap-500	276	15	in	in	ADP
ap-500	276	16	the	the	DET
ap-500	276	17	state	state	NOUN
ap-500	276	18	-	-	PUNCT
ap-500	276	19	derivative	derivative	ADJ
ap-500	276	20	feedback	feedback	NOUN
ap-500	276	21	gain	gain	NOUN
ap-500	276	22	matrix	matrix	NOUN
ap-500	276	23	compared	compare	VERB
ap-500	276	24	to	to	ADP
ap-500	276	25	the	the	DET
ap-500	276	26	well	well	ADV
ap-500	276	27	-	-	PUNCT
ap-500	276	28	known	know	VERB
ap-500	276	29	state	state	NOUN
ap-500	276	30	feedback	feedback	NOUN
ap-500	276	31	approach	approach	NOUN
ap-500	276	32	,	,	PUNCT
ap-500	276	33	with	with	ADP
ap-500	276	34	the	the	DET
ap-500	276	35	same	same	ADJ
ap-500	276	36	performance	performance	NOUN
ap-500	276	37	for	for	ADP
ap-500	276	38	time	time	NOUN
ap-500	276	39	-	-	PUNCT
ap-500	276	40	invariant	invariant	ADJ
ap-500	276	41	and	and	CCONJ
ap-500	276	42	time	time	NOUN
ap-500	276	43	-	-	PUNCT
ap-500	276	44	varying	vary	VERB
ap-500	276	45	systems	system	NOUN
ap-500	276	46	.	.	PUNCT
ap-500	277	1	this	this	DET
ap-500	277	2	paper	paper	NOUN
ap-500	277	3	shows	show	VERB
ap-500	277	4	how	how	SCONJ
ap-500	277	5	the	the	DET
ap-500	277	6	pole	pole	NOUN
ap-500	277	7	placement	placement	NOUN
ap-500	277	8	approach	approach	NOUN
ap-500	277	9	can	can	AUX
ap-500	277	10	be	be	AUX
ap-500	277	11	used	use	VERB
ap-500	277	12	to	to	PART
ap-500	277	13	design	design	VERB
ap-500	277	14	a	a	DET
ap-500	277	15	controller	controller	NOUN
ap-500	277	16	-	-	PUNCT
ap-500	277	17	based	base	VERB
ap-500	277	18	state	state	NOUN
ap-500	277	19	-	-	PUNCT
ap-500	277	20	derivative	derivative	ADJ
ap-500	277	21	feedback	feedback	NOUN
ap-500	277	22	control	control	NOUN
ap-500	277	23	which	which	PRON
ap-500	277	24	yields	yield	VERB
ap-500	277	25	a	a	DET
ap-500	277	26	closed	closed	ADJ
ap-500	277	27	-	-	PUNCT
ap-500	277	28	loop	loop	NOUN
ap-500	277	29	system	system	NOUN
ap-500	277	30	with	with	ADP
ap-500	277	31	specified	specified	ADJ
ap-500	277	32	characteristics	characteristic	NOUN
ap-500	277	33	.	.	PUNCT
ap-500	278	1	the	the	DET
ap-500	278	2	approach	approach	NOUN
ap-500	278	3	is	be	AUX
ap-500	278	4	relevant	relevant	ADJ
ap-500	278	5	for	for	ADP
ap-500	278	6	design	design	NOUN
ap-500	278	7	with	with	ADP
ap-500	278	8	perservation	perservation	NOUN
ap-500	278	9	of	of	ADP
ap-500	278	10	stability	stability	NOUN
ap-500	278	11	when	when	SCONJ
ap-500	278	12	some	some	DET
ap-500	278	13	necessary	necessary	ADJ
ap-500	278	14	and	and	CCONJ
ap-500	278	15	sufficient	sufficient	ADJ
ap-500	278	16	conditions	condition	NOUN
ap-500	278	17	are	be	AUX
ap-500	278	18	provided	provide	VERB
ap-500	278	19	.	.	PUNCT
ap-500	279	1	compared	compare	VERB
ap-500	279	2	with	with	ADP
ap-500	279	3	a	a	DET
ap-500	279	4	well	well	ADV
ap-500	279	5	-	-	PUNCT
ap-500	279	6	known	know	VERB
ap-500	279	7	state	state	NOUN
ap-500	279	8	feedback	feedback	NOUN
ap-500	279	9	,	,	PUNCT
ap-500	279	10	the	the	DET
ap-500	279	11	state	state	NOUN
ap-500	279	12	-	-	PUNCT
ap-500	279	13	derivative	derivative	ADJ
ap-500	279	14	feedback	feedback	NOUN
ap-500	279	15	controller	controller	NOUN
ap-500	279	16	in	in	ADP
ap-500	279	17	some	some	DET
ap-500	279	18	cases	case	NOUN
ap-500	279	19	achieves	achieve	VERB
ap-500	279	20	the	the	DET
ap-500	279	21	same	same	ADJ
ap-500	279	22	performance	performance	NOUN
ap-500	279	23	with	with	ADP
ap-500	279	24	a	a	DET
ap-500	279	25	lower	low	ADJ
ap-500	279	26	gain	gain	NOUN
ap-500	279	27	.	.	PUNCT
ap-500	280	1	©	©	PROPN
ap-500	280	2	czech	czech	PROPN
ap-500	280	3	technical	technical	PROPN
ap-500	280	4	university	university	PROPN
ap-500	280	5	publishing	publishing	NOUN
ap-500	280	6	house	house	NOUN
ap-500	280	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	280	8	59	59	NUM
ap-500	280	9	acta	acta	PROPN
ap-500	280	10	polytechnica	polytechnica	PROPN
ap-500	280	11	vol	vol	NOUN
ap-500	280	12	.	.	PUNCT
ap-500	281	1	43	43	NUM
ap-500	281	2	no	no	NOUN
ap-500	281	3	.	.	PUNCT
ap-500	282	1	6/2003	6/2003	PUNCT
ap-500	282	2	then	then	ADV
ap-500	282	3	,	,	PUNCT
ap-500	282	4	we	we	PRON
ap-500	282	5	can	can	AUX
ap-500	282	6	compute	compute	VERB
ap-500	282	7	�	�	PROPN
ap-500	282	8	�	�	PROPN
ap-500	282	9	�	�	PROPN
ap-500	282	10	�	�	PROPN
ap-500	282	11	�	�	PROPN
ap-500	282	12	�	�	PROPN
ap-500	282	13	�	�	PROPN
ap-500	282	14	�	�	PROPN
ap-500	282	15	q	q	PROPN
ap-500	282	16	a4	a4	PROPN
ap-500	282	17	1	1	NUM
ap-500	282	18	1	1	NUM
ap-500	282	19	2	2	NUM
ap-500	282	20	3	3	NUM
ap-500	282	21	1	1	NUM
ap-500	282	22	2	2	NUM
ap-500	282	23	3	3	NUM
ap-500	282	24	155	155	NUM
ap-500	282	25	5000	5000	NUM
ap-500	282	26	50	50	NUM
ap-500	282	27	5	5	NUM
ap-500	282	28	50	50	NUM
ap-500	282	29	5000e	5000e	NOUN
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ap-500	282	36	�	�	PROPN
ap-500	282	37	�	�	PROPN
ap-500	282	38	�	�	PROPN
ap-500	282	39	,	,	PUNCT
ap-500	282	40	�	�	PROPN
ap-500	282	41	�	�	PROPN
ap-500	282	42	�	�	PROPN
ap-500	282	43	�	�	PROPN
ap-500	282	44	�	�	PROPN
ap-500	282	45	�	�	PROPN
ap-500	282	46	�	�	PROPN
ap-500	282	47	�	�	PROPN
ap-500	282	48	�	�	PROPN
ap-500	282	49	�	�	PROPN
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ap-500	282	51	�	�	PROPN
ap-500	282	52	�	�	PROPN
ap-500	282	53	�	�	PROPN
ap-500	282	54	�	�	PROPN
ap-500	282	55	2	2	NUM
ap-500	282	56	3	3	NUM
ap-500	282	57	2	2	NUM
ap-500	282	58	1	1	NUM
ap-500	282	59	2	2	NUM
ap-500	282	60	3	3	NUM
ap-500	282	61	1	1	NUM
ap-500	282	62	2	2	NUM
ap-500	282	63	3	3	NUM
ap-500	282	64	1	1	NUM
ap-500	282	65	2	2	NUM
ap-500	282	66	10	10	NUM
ap-500	282	67	50	50	NUM
ap-500	282	68	5000	5000	NUM
ap-500	282	69	1	1	NUM
ap-500	282	70	50	50	NUM
ap-500	282	71	500	500	NUM
ap-500	282	72	�	�	PROPN
ap-500	282	73	�	�	PROPN
ap-500	282	74	�	�	PROPN
ap-500	282	75	�	�	PROPN
ap-500	282	76	�	�	PROPN
ap-500	282	77	�	�	PROPN
ap-500	282	78	,	,	PUNCT
ap-500	282	79	e	e	X
ap-500	282	80	et	et	PROPN
ap-500	282	81	t	t	PROPN
ap-500	282	82	�	�	PROPN
ap-500	282	83	�	�	PROPN
ap-500	282	84	�	�	PROPN
ap-500	282	85	�	�	PROPN
ap-500	282	86	�	�	PROPN
ap-500	282	87	�	�	PROPN
ap-500	282	88	�	�	PROPN
ap-500	282	89	1	1	NUM
ap-500	282	90	3	3	NUM
ap-500	282	91	2	2	NUM
ap-500	282	92	3	3	NUM
ap-500	282	93	5	5	NUM
ap-500	282	94	�	�	PROPN
ap-500	282	95	,	,	PUNCT
ap-500	282	96	and	and	CCONJ
ap-500	282	97	�	�	PROPN
ap-500	282	98	�	�	PROPN
ap-500	282	99	�	�	PROPN
ap-500	282	100	�	�	PROPN
ap-500	282	101	q	q	PROPN
ap-500	282	102	a	a	DET
ap-500	282	103	b4	b4	NOUN
ap-500	282	104	1	1	NUM
ap-500	282	105	1	1	NUM
ap-500	282	106	2	2	NUM
ap-500	282	107	35	35	NUM
ap-500	282	108	500	500	NUM
ap-500	282	109	1e	1e	NOUN
ap-500	282	110	t	t	PROPN
ap-500	282	111	�	�	PROPN
ap-500	282	112	�	�	PROPN
ap-500	282	113	�	�	PROPN
ap-500	282	114	.	.	PUNCT
ap-500	283	1	finally	finally	ADV
ap-500	283	2	,	,	PUNCT
ap-500	283	3	the	the	DET
ap-500	283	4	feedback	feedback	NOUN
ap-500	283	5	gain	gain	NOUN
ap-500	283	6	matrix	matrix	NOUN
ap-500	283	7	is	be	AUX
ap-500	283	8	�	�	PROPN
ap-500	283	9	�	�	PROPN
ap-500	283	10	�	�	PROPN
ap-500	283	11	�	�	PROPN
ap-500	283	12	�	�	PROPN
ap-500	283	13	�	�	PROPN
ap-500	284	1	k	k	PROPN
ap-500	284	2	q	q	PROPN
ap-500	285	1	a	a	DET
ap-500	285	2	b	b	X
ap-500	285	3	q	q	NOUN
ap-500	285	4	at	at	ADP
ap-500	285	5	t	t	PROPN
ap-500	285	6	t	t	PROPN
ap-500	285	7	�	�	PROPN
ap-500	285	8	�	�	PROPN
ap-500	285	9	�	�	PROPN
ap-500	285	10	�	�	PROPN
ap-500	285	11	�	�	PROPN
ap-500	285	12	�	�	PROPN
ap-500	285	13	�	�	PROPN
ap-500	285	14	�	�	PROPN
ap-500	285	15	1	1	NUM
ap-500	285	16	10	10	NUM
ap-500	285	17	10	10	NUM
ap-500	285	18	1	1	NUM
ap-500	285	19	100	100	NUM
ap-500	285	20	4	4	NUM
ap-500	285	21	1	1	NUM
ap-500	285	22	4	4	NUM
ap-500	285	23	1	1	NUM
ap-500	285	24	1	1	NUM
ap-500	285	25	2	2	NUM
ap-500	285	26	3	3	NUM
ap-500	285	27	1	1	NUM
ap-500	285	28	2	2	NUM
ap-500	285	29	e	e	NOUN
ap-500	285	30	e	e	X
ap-500	285	31	�	�	PROPN
ap-500	285	32	�	�	PROPN
ap-500	285	33	�	�	PROPN
ap-500	285	34	�	�	PROPN
ap-500	285	35	�	�	PROPN
ap-500	285	36	�	�	PROPN
ap-500	285	37	3	3	NUM
ap-500	285	38	1	1	NUM
ap-500	285	39	2	2	NUM
ap-500	285	40	3	3	NUM
ap-500	285	41	1	1	NUM
ap-500	285	42	2	2	NUM
ap-500	285	43	3	3	NUM
ap-500	285	44	1	1	NUM
ap-500	285	45	2	2	NUM
ap-500	285	46	10	10	NUM
ap-500	285	47	2	2	NUM
ap-500	285	48	100	100	NUM
ap-500	285	49	10	10	NUM
ap-500	285	50	1000	1000	NUM
ap-500	285	51	100	100	NUM
ap-500	285	52	�	�	PROPN
ap-500	285	53	�	�	PROPN
ap-500	285	54	�	�	PROPN
ap-500	285	55	�	�	PROPN
ap-500	285	56	�	�	PROPN
ap-500	285	57	,	,	PUNCT
ap-500	285	58	,	,	PUNCT
ap-500	285	59	e	e	PROPN
ap-500	285	60	e	e	PROPN
ap-500	285	61	t	t	PROPN
ap-500	285	62	t	t	PROPN
ap-500	285	63	�	�	PROPN
ap-500	285	64	�	�	PROPN
ap-500	285	65	�	�	PROPN
ap-500	285	66	�	�	PROPN
ap-500	285	67	�	�	PROPN
ap-500	285	68	�	�	PROPN
ap-500	285	69	�	�	PROPN
ap-500	285	70	�	�	PROPN
ap-500	285	71	�	�	PROPN
ap-500	285	72	�	�	PROPN
ap-500	285	73	�	�	PROPN
ap-500	285	74	�	�	PROPN
ap-500	285	75	�	�	PROPN
ap-500	285	76	1	1	NUM
ap-500	285	77	3	3	NUM
ap-500	285	78	2	2	NUM
ap-500	285	79	3	3	NUM
ap-500	285	80	1	1	NUM
ap-500	285	81	2	2	NUM
ap-500	285	82	3	3	NUM
ap-500	285	83	1	1	NUM
ap-500	285	84	2	2	NUM
ap-500	285	85	3	3	NUM
ap-500	285	86	10	10	NUM
ap-500	285	87	1	1	NUM
ap-500	285	88	100	100	NUM
ap-500	285	89	�	�	PROPN
ap-500	285	90	�	�	PROPN
ap-500	285	91	�	�	PROPN
ap-500	285	92	�	�	PROPN
ap-500	285	93	�	�	PROPN
ap-500	285	94	�	�	PROPN
ap-500	285	95	�	�	PROPN
ap-500	285	96	�	�	PROPN
ap-500	285	97	�	�	PROPN
ap-500	285	98	�	�	PROPN
ap-500	285	99	�	�	PROPN
ap-500	285	100	�	�	PROPN
ap-500	285	101	�	�	PROPN
ap-500	285	102	�	�	PROPN
ap-500	285	103	�	�	PROPN
ap-500	285	104	�	�	PROPN
ap-500	285	105	�	�	PROPN
ap-500	285	106	�	�	PROPN
ap-500	285	107	e	e	PROPN
ap-500	285	108	t	t	PROPN
ap-500	285	109	.	.	PUNCT
ap-500	286	1	our	our	PRON
ap-500	286	2	selection	selection	NOUN
ap-500	286	3	of	of	ADP
ap-500	286	4	the	the	DET
ap-500	286	5	desired	desire	VERB
ap-500	286	6	closed	close	VERB
ap-500	286	7	-	-	PUNCT
ap-500	286	8	loop	loop	NOUN
ap-500	286	9	poles	pole	NOUN
ap-500	286	10	are	be	AUX
ap-500	286	11	–	–	PUNCT
ap-500	286	12	5	5	NUM
ap-500	286	13	�	�	SYM
ap-500	286	14	2	2	NUM
ap-500	286	15	i	i	PRON
ap-500	286	16	and	and	CCONJ
ap-500	286	17	–	–	PUNCT
ap-500	286	18	7	7	X
ap-500	286	19	.	.	PUNCT
ap-500	286	20	applying	apply	VERB
ap-500	286	21	the	the	DET
ap-500	286	22	pole	pole	NOUN
ap-500	286	23	placement	placement	NOUN
ap-500	286	24	technique	technique	NOUN
ap-500	286	25	to	to	ADP
ap-500	286	26	this	this	DET
ap-500	286	27	system	system	NOUN
ap-500	286	28	,	,	PUNCT
ap-500	286	29	the	the	DET
ap-500	286	30	initial	initial	ADJ
ap-500	286	31	condition	condition	NOUN
ap-500	286	32	of	of	ADP
ap-500	286	33	the	the	DET
ap-500	286	34	states	state	NOUN
ap-500	286	35	is	be	AUX
ap-500	286	36	selected	select	VERB
ap-500	286	37	as	as	SCONJ
ap-500	286	38	�	�	PROPN
ap-500	286	39	�	�	PROPN
ap-500	286	40	�	�	PROPN
ap-500	286	41	x	x	SYM
ap-500	286	42	t0	t0	NOUN
ap-500	286	43	1	1	NUM
ap-500	286	44	1	1	NUM
ap-500	286	45	2	2	NUM
ap-500	286	46	�	�	PROPN
ap-500	286	47	,	,	PUNCT
ap-500	286	48	,	,	PUNCT
ap-500	286	49	t.	t.	PROPN
ap-500	286	50	the	the	DET
ap-500	286	51	transient	transient	ADJ
ap-500	286	52	response	response	NOUN
ap-500	286	53	and	and	CCONJ
ap-500	286	54	control	control	NOUN
ap-500	286	55	input	input	NOUN
ap-500	286	56	are	be	AUX
ap-500	286	57	shown	show	VERB
ap-500	286	58	in	in	ADP
ap-500	286	59	fig	fig	NOUN
ap-500	286	60	.	.	PUNCT
ap-500	287	1	7	7	X
ap-500	287	2	.	.	X
ap-500	287	3	in	in	ADP
ap-500	287	4	addition	addition	NOUN
ap-500	287	5	,	,	PUNCT
ap-500	287	6	the	the	DET
ap-500	287	7	elements	element	NOUN
ap-500	287	8	of	of	ADP
ap-500	287	9	the	the	DET
ap-500	287	10	gain	gain	NOUN
ap-500	287	11	matrix	matrix	NOUN
ap-500	287	12	are	be	AUX
ap-500	287	13	displayed	display	VERB
ap-500	287	14	in	in	ADP
ap-500	287	15	fig	fig	NOUN
ap-500	287	16	.	.	PUNCT
ap-500	288	1	8	8	NUM
ap-500	288	2	.	.	X
ap-500	289	1	as	as	ADP
ap-500	289	2	a	a	DET
ap-500	289	3	comparison	comparison	NOUN
ap-500	289	4	with	with	ADP
ap-500	289	5	the	the	DET
ap-500	289	6	state	state	NOUN
ap-500	289	7	feedback	feedback	NOUN
ap-500	289	8	,	,	PUNCT
ap-500	289	9	the	the	DET
ap-500	289	10	state	state	NOUN
ap-500	289	11	feedback	feedback	NOUN
ap-500	289	12	gain	gain	NOUN
ap-500	289	13	matrix	matrix	NOUN
ap-500	289	14	for	for	ADP
ap-500	289	15	this	this	DET
ap-500	289	16	system	system	NOUN
ap-500	289	17	can	can	AUX
ap-500	289	18	be	be	AUX
ap-500	289	19	computed	compute	VERB
ap-500	289	20	as	as	ADP
ap-500	289	21	[	[	X
ap-500	289	22	8	8	NUM
ap-500	289	23	,	,	PUNCT
ap-500	289	24	9	9	NUM
ap-500	289	25	]	]	PUNCT
ap-500	289	26	,	,	PUNCT
ap-500	289	27	�	�	PROPN
ap-500	289	28	�	�	PROPN
ap-500	289	29	�	�	PROPN
ap-500	289	30	�	�	PROPN
ap-500	289	31	�	�	PROPN
ap-500	289	32	�	�	PROPN
ap-500	289	33	k	k	PROPN
ap-500	289	34	qs	qs	PROPN
ap-500	289	35	e	e	PROPN
ap-500	289	36	e	e	X
ap-500	289	37	et	et	PROPN
ap-500	289	38	.	.	PUNCT
ap-500	290	1	t	t	PROPN
ap-500	290	2	t	t	PROPN
ap-500	290	3	t	t	PROPN
ap-500	290	4	�	�	PROPN
ap-500	290	5	�	�	PROPN
ap-500	290	6	�	�	PROPN
ap-500	290	7	�	�	PROPN
ap-500	290	8	�	�	PROPN
ap-500	290	9	�	�	PROPN
ap-500	290	10	�	�	PROPN
ap-500	290	11	�	�	PROPN
ap-500	290	12	�	�	PROPN
ap-500	290	13	4	4	NUM
ap-500	290	14	2	2	NUM
ap-500	290	15	1	1	NUM
ap-500	290	16	2	2	NUM
ap-500	290	17	3	3	NUM
ap-500	290	18	1	1	NUM
ap-500	290	19	2	2	NUM
ap-500	290	20	1	1	NUM
ap-500	290	21	305	305	NUM
ap-500	290	22	4	4	NUM
ap-500	290	23	5	5	NUM
ap-500	290	24	5	5	NUM
ap-500	290	25	1	1	NUM
ap-500	290	26	50	50	NUM
ap-500	290	27	.	.	PUNCT
ap-500	291	1	�	�	PROPN
ap-500	291	2	�	�	PROPN
ap-500	291	3	�	�	PROPN
ap-500	291	4	�	�	PROPN
ap-500	291	5	�	�	PROPN
ap-500	291	6	�	�	PROPN
ap-500	291	7	�	�	PROPN
ap-500	291	8	�	�	PROPN
ap-500	291	9	�	�	PROPN
ap-500	291	10	�	�	PROPN
ap-500	291	11	�	�	PROPN
ap-500	291	12	�	�	PROPN
ap-500	291	13	�	�	PROPN
ap-500	291	14	�	�	PROPN
ap-500	291	15	�	�	PROPN
ap-500	291	16	�	�	PROPN
ap-500	291	17	�	�	PROPN
ap-500	291	18	�	�	PROPN
ap-500	291	19	�	�	PROPN
ap-500	291	20	�	�	PROPN
ap-500	291	21	�	�	PROPN
ap-500	291	22	�	�	PROPN
ap-500	291	23	�	�	PROPN
ap-500	291	24	�	�	PROPN
ap-500	291	25	2	2	NUM
ap-500	291	26	3	3	NUM
ap-500	291	27	1	1	NUM
ap-500	291	28	2	2	NUM
ap-500	291	29	3	3	NUM
ap-500	291	30	1	1	NUM
ap-500	291	31	2	2	NUM
ap-500	291	32	15	15	NUM
ap-500	291	33	10	10	NUM
ap-500	291	34	3	3	NUM
ap-500	291	35	500	500	NUM
ap-500	291	36	01	01	NUM
ap-500	291	37	01	01	NUM
ap-500	291	38	01	01	NUM
ap-500	291	39	�	�	PROPN
ap-500	291	40	�	�	PROPN
ap-500	291	41	�	�	PROPN
ap-500	291	42	�	�	PROPN
ap-500	291	43	.	.	PUNCT
ap-500	291	44	,	,	PUNCT
ap-500	291	45	,	,	PUNCT
ap-500	291	46	.	.	PUNCT
ap-500	291	47	.	.	PUNCT
ap-500	292	1	.e	.e	PROPN
ap-500	292	2	et	et	PROPN
ap-500	292	3	t	t	PROPN
ap-500	292	4	�	�	PROPN
ap-500	292	5	�	�	PROPN
ap-500	292	6	�	�	PROPN
ap-500	292	7	3	3	NUM
ap-500	292	8	.	.	PUNCT
ap-500	293	1	fig	fig	NOUN
ap-500	293	2	.	.	PUNCT
ap-500	294	1	7	7	NUM
ap-500	294	2	:	:	PUNCT
ap-500	294	3	transient	transient	ADJ
ap-500	294	4	response	response	NOUN
ap-500	294	5	and	and	CCONJ
ap-500	294	6	control	control	NOUN
ap-500	294	7	input	input	NOUN
ap-500	294	8	of	of	ADP
ap-500	294	9	a	a	DET
ap-500	294	10	time	time	NOUN
ap-500	294	11	-	-	PUNCT
ap-500	294	12	varying	vary	VERB
ap-500	294	13	system	system	NOUN
ap-500	294	14	controlled	control	VERB
ap-500	294	15	by	by	ADP
ap-500	294	16	state	state	NOUN
ap-500	294	17	-	-	PUNCT
ap-500	294	18	derivative	derivative	ADJ
ap-500	294	19	feedback	feedback	NOUN
ap-500	294	20	fig	fig	NOUN
ap-500	294	21	.	.	PUNCT
ap-500	295	1	8	8	NUM
ap-500	295	2	:	:	PUNCT
ap-500	295	3	gain	gain	VERB
ap-500	295	4	elements	element	NOUN
ap-500	295	5	of	of	ADP
ap-500	295	6	a	a	DET
ap-500	295	7	time	time	NOUN
ap-500	295	8	-	-	PUNCT
ap-500	295	9	varying	vary	VERB
ap-500	295	10	system	system	NOUN
ap-500	295	11	controlled	control	VERB
ap-500	295	12	by	by	ADP
ap-500	295	13	state	state	NOUN
ap-500	295	14	-	-	PUNCT
ap-500	295	15	derivative	derivative	ADJ
ap-500	295	16	feedback	feedback	NOUN
ap-500	295	17	fig	fig	NOUN
ap-500	295	18	.	.	PUNCT
ap-500	296	1	9	9	NUM
ap-500	296	2	:	:	PUNCT
ap-500	296	3	gain	gain	VERB
ap-500	296	4	elements	element	NOUN
ap-500	296	5	of	of	ADP
ap-500	296	6	a	a	DET
ap-500	296	7	time	time	NOUN
ap-500	296	8	-	-	PUNCT
ap-500	296	9	varying	vary	VERB
ap-500	296	10	system	system	NOUN
ap-500	296	11	controlled	control	VERB
ap-500	296	12	by	by	ADP
ap-500	296	13	state	state	NOUN
ap-500	296	14	feedback	feedback	NOUN
ap-500	296	15	5	5	NUM
ap-500	296	16	conclusions	conclusion	NOUN
ap-500	296	17	this	this	DET
ap-500	296	18	paper	paper	NOUN
ap-500	296	19	has	have	AUX
ap-500	296	20	generally	generally	ADV
ap-500	296	21	formulated	formulate	VERB
ap-500	296	22	and	and	CCONJ
ap-500	296	23	proposed	propose	VERB
ap-500	296	24	a	a	DET
ap-500	296	25	new	new	ADJ
ap-500	296	26	concept	concept	NOUN
ap-500	296	27	and	and	CCONJ
ap-500	296	28	technique	technique	NOUN
ap-500	296	29	for	for	ADP
ap-500	296	30	solving	solve	VERB
ap-500	296	31	the	the	DET
ap-500	296	32	pole	pole	NOUN
ap-500	296	33	placement	placement	NOUN
ap-500	296	34	problem	problem	NOUN
ap-500	296	35	by	by	ADP
ap-500	296	36	full	full	ADJ
ap-500	296	37	state	state	NOUN
ap-500	296	38	-	-	PUNCT
ap-500	296	39	derivative	derivative	ADJ
ap-500	296	40	feedback	feedback	NOUN
ap-500	296	41	for	for	ADP
ap-500	296	42	a	a	DET
ap-500	296	43	linear	linear	ADJ
ap-500	296	44	time	time	NOUN
ap-500	296	45	-	-	PUNCT
ap-500	296	46	invariant	invariant	ADJ
ap-500	296	47	and	and	CCONJ
ap-500	296	48	time	time	NOUN
ap-500	296	49	-	-	PUNCT
ap-500	296	50	varying	vary	VERB
ap-500	296	51	single	single	ADJ
ap-500	296	52	-	-	PUNCT
ap-500	296	53	input	input	NOUN
ap-500	296	54	system	system	NOUN
ap-500	296	55	.	.	PUNCT
ap-500	297	1	there	there	PRON
ap-500	297	2	have	have	AUX
ap-500	297	3	been	be	AUX
ap-500	297	4	formulated	formulate	VERB
ap-500	297	5	necessary	necessary	ADJ
ap-500	297	6	and	and	CCONJ
ap-500	297	7	sufficient	sufficient	ADJ
ap-500	297	8	conditions	condition	NOUN
ap-500	297	9	for	for	ADP
ap-500	297	10	solving	solve	VERB
ap-500	297	11	such	such	ADJ
ap-500	297	12	pole	pole	NOUN
ap-500	297	13	placement	placement	NOUN
ap-500	297	14	.	.	PUNCT
ap-500	298	1	the	the	DET
ap-500	298	2	resulting	result	VERB
ap-500	298	3	formula	formula	NOUN
ap-500	298	4	for	for	ADP
ap-500	298	5	the	the	DET
ap-500	298	6	time	time	NOUN
ap-500	298	7	-	-	PUNCT
ap-500	298	8	invariant	invariant	ADJ
ap-500	298	9	case	case	NOUN
ap-500	298	10	is	be	AUX
ap-500	298	11	a	a	DET
ap-500	298	12	generalization	generalization	NOUN
ap-500	298	13	of	of	ADP
ap-500	298	14	the	the	DET
ap-500	298	15	ackermann	ackermann	PROPN
ap-500	298	16	formula	formula	NOUN
ap-500	298	17	for	for	ADP
ap-500	298	18	traditional	traditional	ADJ
ap-500	298	19	state	state	NOUN
ap-500	298	20	feedback	feedback	NOUN
ap-500	298	21	.	.	PUNCT
ap-500	299	1	the	the	DET
ap-500	299	2	described	describe	VERB
ap-500	299	3	algorithm	algorithm	NOUN
ap-500	299	4	avoids	avoid	VERB
ap-500	299	5	previous	previous	ADJ
ap-500	299	6	iterative	iterative	NOUN
ap-500	299	7	approaches	approach	NOUN
ap-500	299	8	and	and	CCONJ
ap-500	299	9	provides	provide	VERB
ap-500	299	10	a	a	DET
ap-500	299	11	fast	fast	ADJ
ap-500	299	12	and	and	CCONJ
ap-500	299	13	computationally	computationally	ADV
ap-500	299	14	efficient	efficient	ADJ
ap-500	299	15	solution	solution	NOUN
ap-500	299	16	.	.	PUNCT
ap-500	300	1	an	an	DET
ap-500	300	2	interesting	interesting	ADJ
ap-500	300	3	feature	feature	NOUN
ap-500	300	4	of	of	ADP
ap-500	300	5	the	the	DET
ap-500	300	6	state	state	NOUN
ap-500	300	7	-	-	PUNCT
ap-500	300	8	derivative	derivative	ADJ
ap-500	300	9	feedback	feedback	NOUN
ap-500	300	10	is	be	AUX
ap-500	300	11	that	that	SCONJ
ap-500	300	12	it	it	PRON
ap-500	300	13	in	in	ADP
ap-500	300	14	many	many	ADJ
ap-500	300	15	cases	case	NOUN
ap-500	300	16	gives	give	VERB
ap-500	300	17	feedback	feedback	NOUN
ap-500	300	18	gains	gain	NOUN
ap-500	300	19	with	with	ADP
ap-500	300	20	smaller	small	ADJ
ap-500	300	21	absolute	absolute	ADJ
ap-500	300	22	values	value	NOUN
ap-500	300	23	than	than	ADP
ap-500	300	24	traditional	traditional	ADJ
ap-500	300	25	state	state	NOUN
ap-500	300	26	feedback	feedback	NOUN
ap-500	300	27	gains	gain	NOUN
ap-500	300	28	.	.	PUNCT
ap-500	301	1	the	the	DET
ap-500	301	2	simulation	simulation	NOUN
ap-500	301	3	results	result	NOUN
ap-500	301	4	prove	prove	VERB
ap-500	301	5	the	the	DET
ap-500	301	6	feasibility	feasibility	NOUN
ap-500	301	7	and	and	CCONJ
ap-500	301	8	effectiveness	effectiveness	NOUN
ap-500	301	9	of	of	ADP
ap-500	301	10	the	the	DET
ap-500	301	11	proposed	propose	VERB
ap-500	301	12	technique	technique	NOUN
ap-500	301	13	.	.	PUNCT
ap-500	302	1	references	reference	NOUN
ap-500	302	2	[	[	X
ap-500	302	3	1	1	NUM
ap-500	302	4	]	]	PUNCT
ap-500	302	5	tuel	tuel	ADV
ap-500	302	6	,	,	PUNCT
ap-500	302	7	w.	w.	PROPN
ap-500	302	8	g.	g.	PROPN
ap-500	302	9	:	:	PUNCT
ap-500	302	10	on	on	ADP
ap-500	302	11	the	the	DET
ap-500	302	12	transformation	transformation	NOUN
ap-500	302	13	to	to	ADP
ap-500	302	14	(	(	PUNCT
ap-500	302	15	phase	phase	NOUN
ap-500	302	16	-	-	PUNCT
ap-500	302	17	variable	variable	NOUN
ap-500	302	18	)	)	PUNCT
ap-500	302	19	canonical	canonical	ADJ
ap-500	302	20	form	form	NOUN
ap-500	302	21	.	.	PUNCT
ap-500	303	1	ieee	ieee	PROPN
ap-500	303	2	trans	trans	PROPN
ap-500	303	3	.	.	PUNCT
ap-500	304	1	on	on	ADP
ap-500	304	2	automatic	automatic	ADJ
ap-500	304	3	control	control	NOUN
ap-500	304	4	,	,	PUNCT
ap-500	304	5	ac-11	ac-11	ADV
ap-500	304	6	,	,	PUNCT
ap-500	304	7	1966	1966	NUM
ap-500	304	8	,	,	PUNCT
ap-500	304	9	p.	p.	NOUN
ap-500	304	10	607	607	NUM
ap-500	304	11	.	.	PUNCT
ap-500	305	1	[	[	X
ap-500	305	2	2	2	NUM
ap-500	305	3	]	]	PUNCT
ap-500	305	4	wonham	wonham	PROPN
ap-500	305	5	,	,	PUNCT
ap-500	305	6	w.	w.	PROPN
ap-500	305	7	m.	m.	PROPN
ap-500	305	8	:	:	PUNCT
ap-500	305	9	on	on	ADP
ap-500	305	10	pole	pole	NOUN
ap-500	305	11	assignment	assignment	NOUN
ap-500	305	12	in	in	ADP
ap-500	305	13	multi	multi	ADJ
ap-500	305	14	-	-	ADJ
ap-500	305	15	input	input	ADJ
ap-500	305	16	controllable	controllable	ADJ
ap-500	305	17	linear	linear	NOUN
ap-500	305	18	systems	system	NOUN
ap-500	305	19	.	.	PUNCT
ap-500	306	1	ieee	ieee	PROPN
ap-500	306	2	trans	trans	PROPN
ap-500	306	3	.	.	PUNCT
ap-500	307	1	on	on	ADP
ap-500	307	2	automatic	automatic	ADJ
ap-500	307	3	control	control	NOUN
ap-500	307	4	,	,	PUNCT
ap-500	307	5	ac-12	ac-12	NOUN
ap-500	307	6	,	,	PUNCT
ap-500	307	7	1967	1967	NUM
ap-500	307	8	,	,	PUNCT
ap-500	307	9	p.	p.	NOUN
ap-500	307	10	660–665	660–665	NUM
ap-500	307	11	.	.	PUNCT
ap-500	308	1	[	[	X
ap-500	308	2	3	3	NUM
ap-500	308	3	]	]	X
ap-500	308	4	luenberger	luenberg	ADJ
ap-500	308	5	,	,	PUNCT
ap-500	308	6	d.	d.	PROPN
ap-500	308	7	g.	g.	PROPN
ap-500	308	8	:	:	PUNCT
ap-500	308	9	canonical	canonical	ADJ
ap-500	308	10	forms	form	NOUN
ap-500	308	11	for	for	ADP
ap-500	308	12	linear	linear	PROPN
ap-500	308	13	multivariable	multivariable	ADJ
ap-500	308	14	systems	system	NOUN
ap-500	308	15	.	.	PUNCT
ap-500	309	1	ieee	ieee	PROPN
ap-500	309	2	trans	trans	PROPN
ap-500	309	3	.	.	PUNCT
ap-500	310	1	on	on	ADP
ap-500	310	2	automatic	automatic	ADJ
ap-500	310	3	control	control	NOUN
ap-500	310	4	,	,	PUNCT
ap-500	310	5	ac-12	ac-12	NOUN
ap-500	310	6	,	,	PUNCT
ap-500	310	7	1967	1967	NUM
ap-500	310	8	,	,	PUNCT
ap-500	310	9	p.	p.	NOUN
ap-500	310	10	290–292	290–292	NUM
ap-500	310	11	.	.	PUNCT
ap-500	311	1	[	[	X
ap-500	311	2	4	4	NUM
ap-500	311	3	]	]	X
ap-500	311	4	ackermann	ackermann	PROPN
ap-500	311	5	,	,	PUNCT
ap-500	311	6	j.	j.	PROPN
ap-500	311	7	:	:	PUNCT
ap-500	311	8	der	der	PROPN
ap-500	311	9	entwurf	entwurf	PROPN
ap-500	311	10	linearer	linearer	VERB
ap-500	311	11	regelungsysteme	regelungsysteme	PROPN
ap-500	311	12	i	i	PROPN
ap-500	311	13	m	m	PROPN
ap-500	311	14	zustandraum	zustandraum	PROPN
ap-500	311	15	.	.	PUNCT
ap-500	311	16	regel	regel	PROPN
ap-500	311	17	.	.	PUNCT
ap-500	312	1	tech	tech	NOUN
ap-500	312	2	.	.	PUNCT
ap-500	313	1	proz.-datenverarb	proz.-datenverarb	PROPN
ap-500	313	2	.	.	PROPN
ap-500	313	3	,	,	PUNCT
ap-500	313	4	1972	1972	NUM
ap-500	313	5	,	,	PUNCT
ap-500	313	6	vol	vol	NOUN
ap-500	313	7	.	.	PROPN
ap-500	313	8	7	7	NUM
ap-500	313	9	,	,	PUNCT
ap-500	313	10	p.	p.	NOUN
ap-500	313	11	297–300	297–300	NUM
ap-500	313	12	.	.	PUNCT
ap-500	314	1	[	[	X
ap-500	314	2	5	5	NUM
ap-500	314	3	]	]	PUNCT
ap-500	314	4	wolowich	wolowich	NOUN
ap-500	314	5	,	,	PUNCT
ap-500	314	6	w.	w.	PROPN
ap-500	314	7	a.	a.	PROPN
ap-500	314	8	:	:	PUNCT
ap-500	314	9	linear	linear	PROPN
ap-500	314	10	multivariable	multivariable	ADJ
ap-500	314	11	systems	system	NOUN
ap-500	314	12	.	.	PUNCT
ap-500	315	1	springer	springer	PROPN
ap-500	315	2	verlag	verlag	PROPN
ap-500	315	3	,	,	PUNCT
ap-500	315	4	new	new	PROPN
ap-500	315	5	york	york	PROPN
ap-500	315	6	1974	1974	NUM
ap-500	315	7	.	.	PUNCT
ap-500	316	1	[	[	X
ap-500	316	2	6	6	NUM
ap-500	316	3	]	]	X
ap-500	316	4	kautsky	kautsky	PROPN
ap-500	316	5	,	,	PUNCT
ap-500	316	6	j.	j.	PROPN
ap-500	316	7	,	,	PUNCT
ap-500	316	8	nichols	nichols	PROPN
ap-500	316	9	,	,	PUNCT
ap-500	316	10	n.	n.	PROPN
ap-500	316	11	k.	k.	PROPN
ap-500	316	12	,	,	PUNCT
ap-500	316	13	van	van	PROPN
ap-500	316	14	dooren	dooren	PROPN
ap-500	316	15	,	,	PUNCT
ap-500	316	16	p.	p.	NOUN
ap-500	316	17	:	:	PUNCT
ap-500	316	18	robust	robust	ADJ
ap-500	316	19	pole	pole	NOUN
ap-500	316	20	assignment	assignment	NOUN
ap-500	316	21	in	in	ADP
ap-500	316	22	linear	linear	PROPN
ap-500	316	23	state	state	NOUN
ap-500	316	24	feedback	feedback	NOUN
ap-500	316	25	.	.	PUNCT
ap-500	317	1	int	int	NOUN
ap-500	317	2	.	.	PUNCT
ap-500	318	1	j.	j.	PROPN
ap-500	318	2	of	of	ADP
ap-500	318	3	control	control	PROPN
ap-500	318	4	,	,	PUNCT
ap-500	318	5	1985	1985	NUM
ap-500	318	6	,	,	PUNCT
ap-500	318	7	vol	vol	NOUN
ap-500	318	8	.	.	PROPN
ap-500	318	9	41	41	NUM
ap-500	318	10	,	,	PUNCT
ap-500	318	11	p.	p.	NOUN
ap-500	318	12	1129–1155	1129–1155	NUM
ap-500	318	13	.	.	PUNCT
ap-500	319	1	[	[	X
ap-500	319	2	7	7	NUM
ap-500	319	3	]	]	SYM
ap-500	319	4	lewis	lewis	PROPN
ap-500	319	5	,	,	PUNCT
ap-500	319	6	f.	f.	PROPN
ap-500	319	7	l.	l.	PROPN
ap-500	319	8	:	:	PUNCT
ap-500	319	9	applied	apply	VERB
ap-500	319	10	optimal	optimal	ADJ
ap-500	319	11	control	control	NOUN
ap-500	319	12	and	and	CCONJ
ap-500	319	13	estimation	estimation	NOUN
ap-500	319	14	,	,	PUNCT
ap-500	319	15	digital	digital	ADJ
ap-500	319	16	design	design	NOUN
ap-500	319	17	and	and	CCONJ
ap-500	319	18	implimentation	implimentation	NOUN
ap-500	319	19	.	.	PUNCT
ap-500	320	1	prentice	prentice	NOUN
ap-500	320	2	-	-	PUNCT
ap-500	320	3	hall	hall	PROPN
ap-500	320	4	and	and	CCONJ
ap-500	320	5	texas	texas	PROPN
ap-500	320	6	instruments	instrument	NOUN
ap-500	320	7	,	,	PUNCT
ap-500	320	8	englewood	englewood	PROPN
ap-500	320	9	cliffs	cliffs	PROPN
ap-500	320	10	,	,	PUNCT
ap-500	320	11	nj	nj	PROPN
ap-500	320	12	.	.	PROPN
ap-500	320	13	,	,	PUNCT
ap-500	320	14	1992	1992	NUM
ap-500	320	15	.	.	PUNCT
ap-500	321	1	[	[	X
ap-500	321	2	8	8	NUM
ap-500	321	3	]	]	PUNCT
ap-500	321	4	valášek	valášek	NOUN
ap-500	321	5	,	,	PUNCT
ap-500	321	6	m.	m.	NOUN
ap-500	321	7	,	,	PUNCT
ap-500	321	8	olgac	olgac	PROPN
ap-500	321	9	,	,	PUNCT
ap-500	321	10	n.	n.	NOUN
ap-500	321	11	:	:	PUNCT
ap-500	321	12	an	an	DET
ap-500	321	13	efficient	efficient	ADJ
ap-500	321	14	pole	pole	NOUN
ap-500	321	15	placement	placement	NOUN
ap-500	321	16	technique	technique	NOUN
ap-500	321	17	for	for	ADP
ap-500	321	18	linear	linear	ADJ
ap-500	321	19	time	time	NOUN
ap-500	321	20	-	-	PUNCT
ap-500	321	21	variant	variant	NOUN
ap-500	321	22	siso	siso	NOUN
ap-500	321	23	systems	system	NOUN
ap-500	321	24	.	.	PUNCT
ap-500	322	1	iee	iee	PROPN
ap-500	322	2	control	control	PROPN
ap-500	322	3	theory	theory	PROPN
ap-500	322	4	appl	appl	PROPN
ap-500	322	5	.	.	PUNCT
ap-500	323	1	proc	proc	PROPN
ap-500	323	2	.	.	PUNCT
ap-500	324	1	d	d	X
ap-500	324	2	,	,	PUNCT
ap-500	324	3	1995	1995	NUM
ap-500	324	4	,	,	PUNCT
ap-500	324	5	vol	vol	NOUN
ap-500	324	6	.	.	PROPN
ap-500	325	1	142	142	NUM
ap-500	325	2	,	,	PUNCT
ap-500	325	3	no	no	INTJ
ap-500	325	4	.	.	NOUN
ap-500	325	5	5	5	NUM
ap-500	325	6	,	,	PUNCT
ap-500	325	7	p.	p.	NOUN
ap-500	325	8	451–458	451–458	NUM
ap-500	325	9	.	.	PUNCT
ap-500	326	1	[	[	X
ap-500	326	2	9	9	NUM
ap-500	326	3	]	]	PUNCT
ap-500	326	4	valášek	valášek	NOUN
ap-500	326	5	,	,	PUNCT
ap-500	326	6	m.	m.	NOUN
ap-500	326	7	,	,	PUNCT
ap-500	326	8	olgac	olgac	PROPN
ap-500	326	9	,	,	PUNCT
ap-500	326	10	n.	n.	NOUN
ap-500	326	11	:	:	PUNCT
ap-500	326	12	efficient	efficient	ADJ
ap-500	326	13	eigenvalue	eigenvalue	PROPN
ap-500	326	14	assignments	assignment	NOUN
ap-500	326	15	for	for	ADP
ap-500	326	16	general	general	ADJ
ap-500	326	17	linear	linear	PROPN
ap-500	326	18	mimo	mimo	PROPN
ap-500	326	19	systems	systems	PROPN
ap-500	326	20	.	.	PUNCT
ap-500	327	1	automatica	automatica	PROPN
ap-500	327	2	,	,	PUNCT
ap-500	327	3	1995	1995	NUM
ap-500	327	4	,	,	PUNCT
ap-500	327	5	vol	vol	NOUN
ap-500	327	6	.	.	PROPN
ap-500	327	7	31	31	NUM
ap-500	327	8	,	,	PUNCT
ap-500	327	9	no	no	INTJ
ap-500	327	10	.	.	NOUN
ap-500	327	11	11	11	NUM
ap-500	327	12	,	,	PUNCT
ap-500	327	13	p.	p.	NOUN
ap-500	327	14	1605–1617	1605–1617	NUM
ap-500	327	15	.	.	PUNCT
ap-500	328	1	[	[	X
ap-500	328	2	10	10	NUM
ap-500	328	3	]	]	PUNCT
ap-500	328	4	valášek	valášek	PROPN
ap-500	328	5	,	,	PUNCT
ap-500	328	6	m.	m.	NOUN
ap-500	328	7	,	,	PUNCT
ap-500	328	8	olgac	olgac	PROPN
ap-500	328	9	,	,	PUNCT
ap-500	328	10	n.	n.	NOUN
ap-500	328	11	:	:	PUNCT
ap-500	328	12	pole	pole	NOUN
ap-500	328	13	placement	placement	NOUN
ap-500	328	14	for	for	ADP
ap-500	328	15	linear	linear	ADJ
ap-500	328	16	time	time	NOUN
ap-500	328	17	-	-	PUNCT
ap-500	328	18	varying	vary	VERB
ap-500	328	19	non	non	ADJ
ap-500	328	20	-	-	ADJ
ap-500	328	21	lexicographically	lexicographically	ADV
ap-500	328	22	fixed	fix	VERB
ap-500	328	23	mimo	mimo	PROPN
ap-500	328	24	systems	systems	PROPN
ap-500	328	25	.	.	PUNCT
ap-500	329	1	automatica	automatica	PROPN
ap-500	329	2	,	,	PUNCT
ap-500	329	3	1999	1999	NUM
ap-500	329	4	,	,	PUNCT
ap-500	329	5	vol	vol	NOUN
ap-500	329	6	.	.	PROPN
ap-500	329	7	35	35	NUM
ap-500	329	8	,	,	PUNCT
ap-500	329	9	no	no	INTJ
ap-500	329	10	.	.	NOUN
ap-500	329	11	11	11	NUM
ap-500	329	12	,	,	PUNCT
ap-500	329	13	p.	p.	NOUN
ap-500	329	14	101–108	101–108	NUM
ap-500	329	15	.	.	PUNCT
ap-500	330	1	[	[	X
ap-500	330	2	11	11	NUM
ap-500	330	3	]	]	SYM
ap-500	330	4	preumont	preumont	NOUN
ap-500	330	5	,	,	PUNCT
ap-500	330	6	a.	a.	NOUN
ap-500	330	7	,	,	PUNCT
ap-500	330	8	loix	loix	ADJ
ap-500	330	9	,	,	PUNCT
ap-500	330	10	n.	n.	NOUN
ap-500	330	11	,	,	PUNCT
ap-500	330	12	malaise	malaise	PROPN
ap-500	330	13	,	,	PUNCT
ap-500	330	14	d.	d.	PROPN
ap-500	330	15	,	,	PUNCT
ap-500	330	16	lecrenier	lecrenier	PROPN
ap-500	330	17	,	,	PUNCT
ap-500	330	18	o.	o.	NOUN
ap-500	330	19	:	:	PUNCT
ap-500	330	20	active	active	ADJ
ap-500	330	21	damping	damping	NOUN
ap-500	330	22	of	of	ADP
ap-500	330	23	optical	optical	ADJ
ap-500	330	24	test	test	NOUN
ap-500	330	25	benches	bench	NOUN
ap-500	330	26	with	with	ADP
ap-500	330	27	acceleration	acceleration	NOUN
ap-500	330	28	feedback	feedback	NOUN
ap-500	330	29	.	.	PUNCT
ap-500	331	1	machine	machine	NOUN
ap-500	331	2	vibration	vibration	NOUN
ap-500	331	3	,	,	PUNCT
ap-500	331	4	1993	1993	NUM
ap-500	331	5	,	,	PUNCT
ap-500	331	6	vol	vol	NOUN
ap-500	331	7	.	.	PROPN
ap-500	331	8	2	2	NUM
ap-500	331	9	,	,	PUNCT
ap-500	331	10	p.	p.	NOUN
ap-500	331	11	119–124	119–124	NUM
ap-500	331	12	.	.	PUNCT
ap-500	332	1	[	[	X
ap-500	332	2	12	12	NUM
ap-500	332	3	]	]	PUNCT
ap-500	332	4	preumont	preumont	NOUN
ap-500	332	5	,	,	PUNCT
ap-500	332	6	a.	a.	NOUN
ap-500	332	7	:	:	PUNCT
ap-500	332	8	vibration	vibration	NOUN
ap-500	332	9	control	control	NOUN
ap-500	332	10	of	of	ADP
ap-500	332	11	active	active	ADJ
ap-500	332	12	structures	structure	NOUN
ap-500	332	13	.	.	PUNCT
ap-500	333	1	kluwer	kluwer	NOUN
ap-500	333	2	,	,	PUNCT
ap-500	333	3	1998	1998	NUM
ap-500	333	4	.	.	PUNCT
ap-500	334	1	[	[	X
ap-500	334	2	13	13	NUM
ap-500	334	3	]	]	X
ap-500	334	4	bayon	bayon	NOUN
ap-500	334	5	de	de	X
ap-500	334	6	noyer	noyer	PROPN
ap-500	334	7	,	,	PUNCT
ap-500	334	8	m.	m.	NOUN
ap-500	334	9	p.	p.	PROPN
ap-500	334	10	,	,	PUNCT
ap-500	334	11	hanagud	hanagud	PROPN
ap-500	334	12	,	,	PUNCT
ap-500	334	13	s.	s.	PROPN
ap-500	334	14	v.	v.	PROPN
ap-500	334	15	:	:	PUNCT
ap-500	334	16	single	single	ADJ
ap-500	334	17	actuator	actuator	NOUN
ap-500	334	18	and	and	CCONJ
ap-500	334	19	multi	multi	ADJ
ap-500	334	20	-	-	ADJ
ap-500	334	21	mode	mode	ADJ
ap-500	334	22	acceleration	acceleration	NOUN
ap-500	334	23	feedback	feedback	NOUN
ap-500	334	24	control	control	NOUN
ap-500	334	25	.	.	PUNCT
ap-500	335	1	adaptive	adaptive	ADJ
ap-500	335	2	structures	structure	NOUN
ap-500	335	3	and	and	CCONJ
ap-500	335	4	material	material	NOUN
ap-500	335	5	systems	system	NOUN
ap-500	335	6	,	,	PUNCT
ap-500	335	7	asme	asme	PROPN
ap-500	335	8	,	,	PUNCT
ap-500	335	9	ad	ad	NOUN
ap-500	335	10	,	,	PUNCT
ap-500	335	11	1997	1997	NUM
ap-500	335	12	,	,	PUNCT
ap-500	335	13	vol	vol	NOUN
ap-500	335	14	.	.	PROPN
ap-500	335	15	54	54	NUM
ap-500	335	16	,	,	PUNCT
ap-500	335	17	p.	p.	NOUN
ap-500	335	18	227–235	227–235	NUM
ap-500	335	19	.	.	PUNCT
ap-500	336	1	[	[	X
ap-500	336	2	14	14	NUM
ap-500	336	3	]	]	X
ap-500	336	4	bayon	bayon	NOUN
ap-500	336	5	de	de	X
ap-500	336	6	noyer	noyer	PROPN
ap-500	336	7	,	,	PUNCT
ap-500	336	8	m.	m.	NOUN
ap-500	336	9	p.	p.	PROPN
ap-500	336	10	hanagud	hanagud	PROPN
ap-500	336	11	,	,	PUNCT
ap-500	336	12	s.	s.	PROPN
ap-500	336	13	v.	v.	PROPN
ap-500	336	14	:	:	PUNCT
ap-500	336	15	a	a	DET
ap-500	336	16	comparison	comparison	NOUN
ap-500	336	17	of	of	ADP
ap-500	336	18	h2	h2	NOUN
ap-500	336	19	optimized	optimize	VERB
ap-500	336	20	design	design	NOUN
ap-500	336	21	and	and	CCONJ
ap-500	336	22	cross	cross	NOUN
ap-500	336	23	-	-	ADJ
ap-500	336	24	over	over	ADP
ap-500	336	25	point	point	NOUN
ap-500	336	26	design	design	NOUN
ap-500	336	27	for	for	ADP
ap-500	336	28	acceleration	acceleration	NOUN
ap-500	336	29	feedback	feedback	NOUN
ap-500	336	30	control	control	NOUN
ap-500	336	31	.	.	PUNCT
ap-500	337	1	proceedings	proceeding	NOUN
ap-500	337	2	of	of	ADP
ap-500	337	3	39th	39th	ADJ
ap-500	337	4	aiaa	aiaa	ADJ
ap-500	337	5	/	/	SYM
ap-500	337	6	asme/	asme/	NUM
ap-500	337	7	asce	asce	PROPN
ap-500	337	8	/	/	SYM
ap-500	337	9	ahs	ahs	PROPN
ap-500	337	10	,	,	PUNCT
ap-500	337	11	structures	structure	NOUN
ap-500	337	12	,	,	PUNCT
ap-500	337	13	structural	structural	ADJ
ap-500	337	14	dynamics	dynamic	NOUN
ap-500	337	15	and	and	CCONJ
ap-500	337	16	materials	material	NOUN
ap-500	337	17	conference	conference	NOUN
ap-500	337	18	,	,	PUNCT
ap-500	337	19	1998	1998	NUM
ap-500	337	20	,	,	PUNCT
ap-500	337	21	vol	vol	NOUN
ap-500	337	22	.	.	PROPN
ap-500	337	23	4	4	NUM
ap-500	337	24	,	,	PUNCT
ap-500	337	25	p.	p.	NOUN
ap-500	337	26	3250–3258	3250–3258	NUM
ap-500	337	27	.	.	PUNCT
ap-500	338	1	[	[	X
ap-500	338	2	15	15	NUM
ap-500	338	3	]	]	X
ap-500	338	4	olgac	olgac	NOUN
ap-500	338	5	,	,	PUNCT
ap-500	338	6	n.	n.	PROPN
ap-500	338	7	,	,	PUNCT
ap-500	338	8	elmali	elmali	PROPN
ap-500	338	9	,	,	PUNCT
ap-500	338	10	h.	h.	PROPN
ap-500	338	11	,	,	PUNCT
ap-500	338	12	hosek	hosek	PROPN
ap-500	338	13	,	,	PUNCT
ap-500	338	14	m.	m.	NOUN
ap-500	338	15	,	,	PUNCT
ap-500	338	16	renzulli	renzulli	NOUN
ap-500	338	17	,	,	PUNCT
ap-500	338	18	m.	m.	NOUN
ap-500	338	19	:	:	PUNCT
ap-500	338	20	active	active	ADJ
ap-500	338	21	vibration	vibration	NOUN
ap-500	338	22	control	control	NOUN
ap-500	338	23	of	of	ADP
ap-500	338	24	distributed	distribute	VERB
ap-500	338	25	systems	system	NOUN
ap-500	338	26	using	use	VERB
ap-500	338	27	delayed	delay	VERB
ap-500	338	28	resonator	resonator	NOUN
ap-500	338	29	with	with	ADP
ap-500	338	30	acceleration	acceleration	NOUN
ap-500	338	31	feedback	feedback	NOUN
ap-500	338	32	.	.	PUNCT
ap-500	339	1	trans	trans	PROPN
ap-500	339	2	.	.	PROPN
ap-500	339	3	of	of	ADP
ap-500	339	4	asme	asme	PROPN
ap-500	339	5	journal	journal	PROPN
ap-500	339	6	of	of	ADP
ap-500	339	7	dynamic	dynamic	ADJ
ap-500	339	8	systems	system	NOUN
ap-500	339	9	,	,	PUNCT
ap-500	339	10	measurement	measurement	NOUN
ap-500	339	11	and	and	CCONJ
ap-500	339	12	control	control	NOUN
ap-500	339	13	,	,	PUNCT
ap-500	339	14	1997	1997	NUM
ap-500	339	15	,	,	PUNCT
ap-500	339	16	vol	vol	NOUN
ap-500	339	17	.	.	PROPN
ap-500	339	18	119	119	NUM
ap-500	339	19	,	,	PUNCT
ap-500	339	20	p.	p.	NOUN
ap-500	339	21	380	380	NUM
ap-500	339	22	.	.	PUNCT
ap-500	340	1	[	[	X
ap-500	340	2	16	16	NUM
ap-500	340	3	]	]	PUNCT
ap-500	340	4	kejval	kejval	NOUN
ap-500	340	5	,	,	PUNCT
ap-500	340	6	j.	j.	PROPN
ap-500	340	7	,	,	PUNCT
ap-500	340	8	sika	sika	PROPN
ap-500	340	9	,	,	PUNCT
ap-500	340	10	z.	z.	PROPN
ap-500	340	11	,	,	PUNCT
ap-500	340	12	valasek	valasek	PROPN
ap-500	340	13	,	,	PUNCT
ap-500	340	14	m.	m.	NOUN
ap-500	340	15	:	:	PUNCT
ap-500	340	16	active	active	ADJ
ap-500	340	17	vibration	vibration	NOUN
ap-500	340	18	suppression	suppression	NOUN
ap-500	340	19	of	of	ADP
ap-500	340	20	a	a	DET
ap-500	340	21	machine	machine	NOUN
ap-500	340	22	.	.	PUNCT
ap-500	341	1	proceedings	proceeding	NOUN
ap-500	341	2	of	of	ADP
ap-500	341	3	interaction	interaction	NOUN
ap-500	341	4	and	and	CCONJ
ap-500	341	5	feedbacks	feedback	NOUN
ap-500	341	6	'	'	NUM
ap-500	341	7	2000	2000	NUM
ap-500	341	8	,	,	PUNCT
ap-500	341	9	ut	ut	PROPN
ap-500	341	10	av	av	PROPN
ap-500	341	11	cr	cr	PROPN
ap-500	341	12	,	,	PUNCT
ap-500	341	13	praha	praha	PROPN
ap-500	341	14	,	,	PUNCT
ap-500	341	15	2000	2000	NUM
ap-500	341	16	,	,	PUNCT
ap-500	341	17	p.	p.	PROPN
ap-500	341	18	75–80	75–80	PROPN
ap-500	341	19	.	.	PUNCT
ap-500	342	1	[	[	X
ap-500	342	2	17	17	NUM
ap-500	342	3	]	]	X
ap-500	342	4	deur	deur	PROPN
ap-500	342	5	,	,	PUNCT
ap-500	342	6	j.	j.	PROPN
ap-500	342	7	,	,	PUNCT
ap-500	342	8	peric	peric	NOUN
ap-500	342	9	,	,	PUNCT
ap-500	342	10	n.	n.	NOUN
ap-500	342	11	:	:	PUNCT
ap-500	342	12	a	a	DET
ap-500	342	13	comparative	comparative	ADJ
ap-500	342	14	study	study	NOUN
ap-500	342	15	of	of	ADP
ap-500	342	16	servosystems	servosystem	NOUN
ap-500	342	17	with	with	ADP
ap-500	342	18	acceleration	acceleration	NOUN
ap-500	342	19	feedback	feedback	NOUN
ap-500	342	20	.	.	PUNCT
ap-500	343	1	proceedings	proceeding	NOUN
ap-500	343	2	of	of	ADP
ap-500	343	3	the	the	DET
ap-500	343	4	35th	35th	ADJ
ap-500	343	5	ieee	ieee	NOUN
ap-500	343	6	industry	industry	NOUN
ap-500	343	7	applications	application	NOUN
ap-500	343	8	conference	conference	NOUN
ap-500	343	9	,	,	PUNCT
ap-500	343	10	roma	roma	PROPN
ap-500	343	11	(	(	PUNCT
ap-500	343	12	italy	italy	PROPN
ap-500	343	13	)	)	PUNCT
ap-500	343	14	,	,	PUNCT
ap-500	343	15	2000	2000	NUM
ap-500	343	16	,	,	PUNCT
ap-500	343	17	vol	vol	NOUN
ap-500	343	18	.	.	PROPN
ap-500	343	19	2	2	NUM
ap-500	343	20	,	,	PUNCT
ap-500	343	21	p.	p.	NOUN
ap-500	343	22	1533–1540	1533–1540	NUM
ap-500	343	23	.	.	PUNCT
ap-500	344	1	[	[	X
ap-500	344	2	18	18	NUM
ap-500	344	3	]	]	X
ap-500	344	4	ellis	ellis	PROPN
ap-500	344	5	,	,	PUNCT
ap-500	344	6	g.	g.	PROPN
ap-500	344	7	:	:	PUNCT
ap-500	344	8	cures	cure	NOUN
ap-500	344	9	for	for	ADP
ap-500	344	10	mechanical	mechanical	ADJ
ap-500	344	11	resonance	resonance	NOUN
ap-500	344	12	in	in	ADP
ap-500	344	13	industrial	industrial	ADJ
ap-500	344	14	servo	servo	NOUN
ap-500	344	15	systems	system	NOUN
ap-500	344	16	.	.	PUNCT
ap-500	345	1	proceedings	proceeding	NOUN
ap-500	345	2	of	of	ADP
ap-500	345	3	pcim	pcim	NOUN
ap-500	345	4	2001	2001	NUM
ap-500	345	5	conference	conference	NOUN
ap-500	345	6	,	,	PUNCT
ap-500	345	7	nuremberg	nuremberg	PROPN
ap-500	345	8	,	,	PUNCT
ap-500	345	9	2001	2001	NUM
ap-500	345	10	.	.	PUNCT
ap-500	346	1	[	[	X
ap-500	346	2	19	19	NUM
ap-500	346	3	]	]	X
ap-500	346	4	necsulescu	necsulescu	NOUN
ap-500	346	5	,	,	PUNCT
ap-500	346	6	d.	d.	PROPN
ap-500	346	7	s.	s.	PROPN
ap-500	346	8	,	,	PUNCT
ap-500	346	9	ceru	ceru	PROPN
ap-500	346	10	,	,	PUNCT
ap-500	346	11	m.	m.	NOUN
ap-500	346	12	:	:	PUNCT
ap-500	346	13	nonlinear	nonlinear	ADJ
ap-500	346	14	control	control	NOUN
ap-500	346	15	of	of	ADP
ap-500	346	16	magnetic	magnetic	ADJ
ap-500	346	17	bearing	bearing	NOUN
ap-500	346	18	.	.	PUNCT
ap-500	347	1	journal	journal	NOUN
ap-500	347	2	of	of	ADP
ap-500	347	3	electrical	electrical	ADJ
ap-500	347	4	engineering	engineering	NOUN
ap-500	347	5	,	,	PUNCT
ap-500	347	6	vol	vol	NOUN
ap-500	347	7	.	.	PROPN
ap-500	347	8	2	2	NUM
ap-500	347	9	,	,	PUNCT
ap-500	347	10	2002	2002	NUM
ap-500	347	11	.	.	PUNCT
ap-500	348	1	[	[	X
ap-500	348	2	20	20	NUM
ap-500	348	3	]	]	PUNCT
ap-500	348	4	horn	horn	NOUN
ap-500	348	5	,	,	PUNCT
ap-500	348	6	r.	r.	PROPN
ap-500	348	7	a.	a.	PROPN
ap-500	348	8	,	,	PUNCT
ap-500	348	9	johnson	johnson	PROPN
ap-500	348	10	,	,	PUNCT
ap-500	348	11	c.	c.	PROPN
ap-500	348	12	r.	r.	PROPN
ap-500	348	13	:	:	PUNCT
ap-500	348	14	matrix	matrix	NOUN
ap-500	348	15	analysis	analysis	NOUN
ap-500	348	16	.	.	PUNCT
ap-500	349	1	cambridge	cambridge	PROPN
ap-500	349	2	university	university	PROPN
ap-500	349	3	press	press	PROPN
ap-500	349	4	,	,	PUNCT
ap-500	349	5	cambridge	cambridge	PROPN
ap-500	349	6	,	,	PUNCT
ap-500	349	7	1986	1986	NUM
ap-500	349	8	.	.	PUNCT
ap-500	350	1	prof	prof	PROPN
ap-500	350	2	.	.	PUNCT
ap-500	351	1	ing	ing	PROPN
ap-500	351	2	.	.	PUNCT
ap-500	352	1	michael	michael	PROPN
ap-500	352	2	valášek	valášek	PROPN
ap-500	352	3	,	,	PUNCT
ap-500	352	4	drsc	drsc	PROPN
ap-500	352	5	.	.	PUNCT
ap-500	353	1	phone	phone	NOUN
ap-500	353	2	:	:	PUNCT
ap-500	353	3	+420	+420	PROPN
ap-500	353	4	224	224	NUM
ap-500	353	5	357	357	NUM
ap-500	353	6	361	361	NUM
ap-500	353	7	e	e	NOUN
ap-500	353	8	-	-	NOUN
ap-500	353	9	mail	mail	NOUN
ap-500	353	10	:	:	PUNCT
ap-500	353	11	michael.valasek@fs.cvut.cz	michael.valasek@fs.cvut.cz	PROPN
ap-500	353	12	eng	eng	PROPN
ap-500	353	13	.	.	PROPN
ap-500	353	14	taha	taha	PROPN
ap-500	353	15	helmy	helmy	PROPN
ap-500	353	16	sayed	say	VERB
ap-500	353	17	abdelaziz	abdelaziz	PROPN
ap-500	353	18	,	,	PUNCT
ap-500	353	19	ph.d	ph.d	PROPN
ap-500	353	20	.	.	PUNCT
ap-500	354	1	e	e	X
ap-500	354	2	-	-	NOUN
ap-500	354	3	mail	mail	NOUN
ap-500	354	4	:	:	PUNCT
ap-500	354	5	tahahelmy@yahoo.com	tahahelmy@yahoo.com	X
ap-500	354	6	department	department	PROPN
ap-500	354	7	of	of	ADP
ap-500	354	8	mechanics	mechanic	NOUN
ap-500	354	9	czech	czech	PROPN
ap-500	354	10	technical	technical	PROPN
ap-500	354	11	university	university	PROPN
ap-500	354	12	in	in	ADP
ap-500	354	13	prague	prague	PROPN
ap-500	354	14	,	,	PUNCT
ap-500	354	15	faculty	faculty	NOUN
ap-500	354	16	of	of	ADP
ap-500	354	17	mechanical	mechanical	ADJ
ap-500	354	18	engineering	engineering	PROPN
ap-500	354	19	karlovo	karlovo	PROPN
ap-500	354	20	nám	nám	PROPN
ap-500	354	21	.	.	PUNCT
ap-500	355	1	13	13	NUM
ap-500	355	2	121	121	NUM
ap-500	355	3	35	35	NUM
ap-500	355	4	prague	prague	NOUN
ap-500	355	5	2	2	NUM
ap-500	355	6	,	,	PUNCT
ap-500	355	7	czech	czech	PROPN
ap-500	355	8	republic	republic	NOUN
ap-500	355	9	60	60	NUM
ap-500	355	10	©	©	PROPN
ap-500	355	11	czech	czech	PROPN
ap-500	355	12	technical	technical	PROPN
ap-500	355	13	university	university	PROPN
ap-500	355	14	publishing	publishing	NOUN
ap-500	355	15	house	house	NOUN
ap-500	355	16	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-500	355	17	acta	acta	PROPN
ap-500	355	18	polytechnica	polytechnica	PROPN
ap-500	355	19	vol	vol	NOUN
ap-500	355	20	.	.	PUNCT
ap-500	356	1	43	43	NUM
ap-500	356	2	no	no	NOUN
ap-500	356	3	.	.	PUNCT
ap-500	357	1	6/2003	6/2003	NUM
ap-500	357	2	table	table	NOUN
ap-500	357	3	of	of	ADP
ap-500	357	4	contents	content	NOUN
ap-500	357	5	inlet	inlet	VERB
ap-500	357	6	channel	channel	NOUN
ap-500	357	7	for	for	ADP
ap-500	357	8	a	a	DET
ap-500	357	9	ducted	ducte	VERB
ap-500	357	10	fan	fan	NOUN
ap-500	357	11	propulsion	propulsion	NOUN
ap-500	357	12	system	system	NOUN
ap-500	357	13	of	of	ADP
ap-500	357	14	a	a	DET
ap-500	357	15	light	light	ADJ
ap-500	357	16	aircraft	aircraft	NOUN
ap-500	357	17	3	3	NUM
ap-500	357	18	e.	e.	PROPN
ap-500	357	19	ritschl	ritschl	PROPN
ap-500	357	20	,	,	PUNCT
ap-500	357	21	r.	r.	PROPN
ap-500	357	22	theiner	theiner	PROPN
ap-500	357	23	,	,	PUNCT
ap-500	357	24	d.	d.	PROPN
ap-500	357	25	hanus	hanus	VERB
ap-500	357	26	concurrent	concurrent	ADJ
ap-500	357	27	design	design	NOUN
ap-500	357	28	of	of	ADP
ap-500	357	29	railway	railway	NOUN
ap-500	357	30	vehicles	vehicle	NOUN
ap-500	357	31	by	by	ADP
ap-500	357	32	simulation	simulation	NOUN
ap-500	357	33	model	model	NOUN
ap-500	357	34	reuse	reuse	NOUN
ap-500	357	35	9	9	NUM
ap-500	357	36	m.	m.	NOUN
ap-500	357	37	valášek	valášek	NOUN
ap-500	357	38	,	,	PUNCT
ap-500	357	39	p.	p.	PROPN
ap-500	357	40	steinbauer	steinbauer	PROPN
ap-500	357	41	,	,	PUNCT
ap-500	357	42	j.	j.	PROPN
ap-500	357	43	koláø	koláø	PROPN
ap-500	357	44	,	,	PUNCT
ap-500	357	45	j.	j.	PROPN
ap-500	357	46	dvoøák	dvoøák	PROPN
ap-500	357	47	static	static	PROPN
ap-500	357	48	vs.	vs.	ADP
ap-500	357	49	dynamic	dynamic	ADJ
ap-500	357	50	list	list	NOUN
ap-500	357	51	-	-	PUNCT
ap-500	357	52	scheduling	scheduling	NOUN
ap-500	357	53	performance	performance	NOUN
ap-500	357	54	comparison	comparison	NOUN
ap-500	357	55	16	16	NUM
ap-500	357	56	t.	t.	NOUN
ap-500	357	57	hagras	hagras	PROPN
ap-500	357	58	,	,	PUNCT
ap-500	357	59	j.	j.	PROPN
ap-500	357	60	janeèek	janeèek	PROPN
ap-500	357	61	indoor	indoor	ADJ
ap-500	357	62	air	air	NOUN
ap-500	357	63	quality	quality	NOUN
ap-500	357	64	assessment	assessment	NOUN
ap-500	357	65	based	base	VERB
ap-500	357	66	on	on	ADP
ap-500	357	67	human	human	ADJ
ap-500	357	68	physiology	physiology	NOUN
ap-500	357	69	–	–	PUNCT
ap-500	357	70	part	part	NOUN
ap-500	357	71	1.new	1.new	ADJ
ap-500	357	72	criteria	criterion	NOUN
ap-500	357	73	proposal	proposal	VERB
ap-500	357	74	22	22	NUM
ap-500	357	75	m.	m.	NOUN
ap-500	357	76	v.	v.	ADP
ap-500	357	77	jokl	jokl	PROPN
ap-500	357	78	indoor	indoor	ADJ
ap-500	357	79	air	air	NOUN
ap-500	357	80	quality	quality	NOUN
ap-500	357	81	assessment	assessment	NOUN
ap-500	357	82	based	base	VERB
ap-500	357	83	on	on	ADP
ap-500	357	84	human	human	ADJ
ap-500	357	85	physiology	physiology	NOUN
ap-500	357	86	–	–	PUNCT
ap-500	357	87	part	part	NOUN
ap-500	357	88	2.limits	2.limits	NUM
ap-500	357	89	31	31	NUM
ap-500	357	90	m.	m.	NOUN
ap-500	357	91	v.	v.	ADP
ap-500	357	92	jokl	jokl	PROPN
ap-500	357	93	indoor	indoor	ADJ
ap-500	357	94	air	air	NOUN
ap-500	357	95	quality	quality	NOUN
ap-500	357	96	assessment	assessment	NOUN
ap-500	357	97	based	base	VERB
ap-500	357	98	on	on	ADP
ap-500	357	99	human	human	ADJ
ap-500	357	100	physiology	physiology	NOUN
ap-500	357	101	–	–	PUNCT
ap-500	357	102	part	part	NOUN
ap-500	357	103	3.applications	3.applications	NUM
ap-500	357	104	38	38	NUM
ap-500	357	105	m.	m.	NOUN
ap-500	357	106	v.	v.	ADP
ap-500	357	107	jokl	jokl	PROPN
ap-500	357	108	non	non	ADJ
ap-500	357	109	-	-	ADJ
ap-500	357	110	thermal	thermal	ADJ
ap-500	357	111	plasma	plasma	NOUN
ap-500	357	112	ozone	ozone	NOUN
ap-500	357	113	generation	generation	NOUN
ap-500	357	114	47	47	NUM
ap-500	357	115	s.	s.	PROPN
ap-500	357	116	pekárek	pekárek	PROPN
ap-500	357	117	a	a	DET
ap-500	357	118	direct	direct	ADJ
ap-500	357	119	algorithm	algorithm	NOUN
ap-500	357	120	for	for	ADP
ap-500	357	121	pole	pole	ADJ
ap-500	357	122	placement	placement	NOUN
ap-500	357	123	by	by	ADP
ap-500	357	124	state	state	NOUN
ap-500	357	125	-	-	PUNCT
ap-500	357	126	derivative	derivative	ADJ
ap-500	357	127	feedback	feedback	NOUN
ap-500	357	128	for	for	ADP
ap-500	357	129	single	single	ADJ
ap-500	357	130	-	-	PUNCT
ap-500	357	131	input	input	NOUN
ap-500	357	132	linear	linear	PROPN
ap-500	357	133	systems	system	NOUN
ap-500	357	134	52	52	NUM
ap-500	357	135	taha	taha	PROPN
ap-500	357	136	h.	h.	PROPN
ap-500	357	137	s.	s.	PROPN
ap-500	357	138	abdelaziz	abdelaziz	PROPN
ap-500	357	139	,	,	PUNCT
ap-500	357	140	m.	m.	NOUN
ap-500	357	141	valášek	valášek	NOUN