id	sid	tid	token	lemma	pos
ap-514	1	1	ap04_1.vp	ap04_1.vp	NOUN
ap-514	1	2	1	1	NUM
ap-514	1	3	introduction	introduction	NOUN
ap-514	1	4	the	the	DET
ap-514	1	5	use	use	NOUN
ap-514	1	6	of	of	ADP
ap-514	1	7	artificial	artificial	ADJ
ap-514	1	8	neural	neural	ADJ
ap-514	1	9	nets	net	NOUN
ap-514	1	10	for	for	ADP
ap-514	1	11	systems	system	NOUN
ap-514	1	12	identification	identification	NOUN
ap-514	1	13	and	and	CCONJ
ap-514	1	14	control	control	NOUN
ap-514	1	15	,	,	PUNCT
ap-514	1	16	has	have	AUX
ap-514	1	17	been	be	AUX
ap-514	1	18	the	the	DET
ap-514	1	19	subject	subject	NOUN
ap-514	1	20	of	of	ADP
ap-514	1	21	a	a	DET
ap-514	1	22	vast	vast	ADJ
ap-514	1	23	amount	amount	NOUN
ap-514	1	24	of	of	ADP
ap-514	1	25	publications	publication	NOUN
ap-514	1	26	in	in	ADP
ap-514	1	27	recent	recent	ADJ
ap-514	1	28	years	year	NOUN
ap-514	1	29	.	.	PUNCT
ap-514	2	1	it	it	PRON
ap-514	2	2	is	be	AUX
ap-514	2	3	possible	possible	ADJ
ap-514	2	4	to	to	PART
ap-514	2	5	mention	mention	VERB
ap-514	2	6	for	for	ADP
ap-514	2	7	instance	instance	NOUN
ap-514	2	8	,	,	PUNCT
ap-514	2	9	the	the	DET
ap-514	2	10	paper	paper	NOUN
ap-514	2	11	of	of	ADP
ap-514	2	12	narendra	narendra	PROPN
ap-514	2	13	and	and	CCONJ
ap-514	2	14	parthasaraty	parthasaraty	NOUN
ap-514	2	15	[	[	X
ap-514	2	16	5	5	NUM
ap-514	2	17	]	]	PUNCT
ap-514	2	18	in	in	ADP
ap-514	2	19	which	which	PRON
ap-514	2	20	several	several	ADJ
ap-514	2	21	possible	possible	ADJ
ap-514	2	22	structures	structure	NOUN
ap-514	2	23	of	of	ADP
ap-514	2	24	the	the	DET
ap-514	2	25	neural	neural	ADJ
ap-514	2	26	controller	controller	NOUN
ap-514	2	27	that	that	PRON
ap-514	2	28	suppose	suppose	VERB
ap-514	2	29	an	an	DET
ap-514	2	30	a	a	DET
ap-514	2	31	priori	priori	ADJ
ap-514	2	32	knowledge	knowledge	NOUN
ap-514	2	33	of	of	ADP
ap-514	2	34	the	the	DET
ap-514	2	35	plant	plant	NOUN
ap-514	2	36	dynamic	dynamic	ADJ
ap-514	2	37	structure	structure	NOUN
ap-514	2	38	are	be	AUX
ap-514	2	39	proposed	propose	VERB
ap-514	2	40	.	.	PUNCT
ap-514	3	1	in	in	ADP
ap-514	3	2	bhat	bhat	PROPN
ap-514	3	3	and	and	CCONJ
ap-514	3	4	mcavoy	mcavoy	PROPN
ap-514	4	1	[	[	X
ap-514	4	2	3	3	NUM
ap-514	4	3	]	]	PUNCT
ap-514	4	4	and	and	CCONJ
ap-514	4	5	in	in	ADP
ap-514	4	6	many	many	ADJ
ap-514	4	7	other	other	ADJ
ap-514	4	8	papers	paper	NOUN
ap-514	4	9	,	,	PUNCT
ap-514	4	10	a	a	DET
ap-514	4	11	scheme	scheme	NOUN
ap-514	4	12	based	base	VERB
ap-514	4	13	in	in	ADP
ap-514	4	14	an	an	DET
ap-514	4	15	inverse	inverse	ADJ
ap-514	4	16	dynamic	dynamic	ADJ
ap-514	4	17	neural	neural	ADJ
ap-514	4	18	model	model	NOUN
ap-514	4	19	is	be	AUX
ap-514	4	20	used	use	VERB
ap-514	4	21	.	.	PUNCT
ap-514	5	1	a	a	DET
ap-514	5	2	similar	similar	ADJ
ap-514	5	3	approach	approach	NOUN
ap-514	5	4	is	be	AUX
ap-514	5	5	adopted	adopt	VERB
ap-514	5	6	by	by	ADP
ap-514	5	7	aguado	aguado	NOUN
ap-514	5	8	and	and	CCONJ
ap-514	5	9	del	del	PROPN
ap-514	5	10	pozo	pozo	PROPN
ap-514	6	1	[	[	X
ap-514	6	2	2	2	NUM
ap-514	6	3	]	]	PUNCT
ap-514	6	4	but	but	CCONJ
ap-514	6	5	here	here	ADV
ap-514	6	6	the	the	DET
ap-514	6	7	inverse	inverse	ADJ
ap-514	6	8	neural	neural	ADJ
ap-514	6	9	regulator	regulator	NOUN
ap-514	6	10	is	be	AUX
ap-514	6	11	complemented	complement	VERB
ap-514	6	12	by	by	ADP
ap-514	6	13	a	a	DET
ap-514	6	14	self	self	NOUN
ap-514	6	15	-	-	PUNCT
ap-514	6	16	tuning	tune	VERB
ap-514	6	17	pid	pid	NOUN
ap-514	6	18	algorithm	algorithm	NOUN
ap-514	6	19	which	which	PRON
ap-514	6	20	guarantees	guarantee	VERB
ap-514	6	21	that	that	SCONJ
ap-514	6	22	the	the	DET
ap-514	6	23	stationary	stationary	ADJ
ap-514	6	24	error	error	NOUN
ap-514	6	25	goes	go	VERB
ap-514	6	26	to	to	ADP
ap-514	6	27	zero	zero	NUM
ap-514	6	28	.	.	PUNCT
ap-514	7	1	in	in	ADP
ap-514	7	2	the	the	DET
ap-514	7	3	above	above	ADJ
ap-514	7	4	mentioned	mention	VERB
ap-514	7	5	paper	paper	NOUN
ap-514	7	6	and	and	CCONJ
ap-514	7	7	in	in	ADP
ap-514	7	8	many	many	ADJ
ap-514	7	9	others	other	NOUN
ap-514	7	10	,	,	PUNCT
ap-514	7	11	it	it	PRON
ap-514	7	12	is	be	AUX
ap-514	7	13	required	require	VERB
ap-514	7	14	an	an	DET
ap-514	7	15	exhaustive	exhaustive	ADJ
ap-514	7	16	previous	previous	ADJ
ap-514	7	17	training	training	NOUN
ap-514	7	18	of	of	ADP
ap-514	7	19	the	the	DET
ap-514	7	20	neural	neural	ADJ
ap-514	7	21	net	net	NOUN
ap-514	7	22	,	,	PUNCT
ap-514	7	23	which	which	PRON
ap-514	7	24	is	be	AUX
ap-514	7	25	a	a	DET
ap-514	7	26	serious	serious	ADJ
ap-514	7	27	obstacle	obstacle	NOUN
ap-514	7	28	for	for	ADP
ap-514	7	29	the	the	DET
ap-514	7	30	practical	practical	ADJ
ap-514	7	31	implementation	implementation	NOUN
ap-514	7	32	of	of	ADP
ap-514	7	33	the	the	DET
ap-514	7	34	proposed	propose	VERB
ap-514	7	35	solution	solution	NOUN
ap-514	7	36	in	in	ADP
ap-514	7	37	the	the	DET
ap-514	7	38	industry	industry	NOUN
ap-514	7	39	.	.	PUNCT
ap-514	8	1	at	at	ADP
ap-514	8	2	the	the	DET
ap-514	8	3	same	same	ADJ
ap-514	8	4	time	time	NOUN
ap-514	8	5	,	,	PUNCT
ap-514	8	6	the	the	DET
ap-514	8	7	controller	controller	NOUN
ap-514	8	8	structure	structure	NOUN
ap-514	8	9	in	in	ADP
ap-514	8	10	some	some	DET
ap-514	8	11	cases	case	NOUN
ap-514	8	12	,	,	PUNCT
ap-514	8	13	as	as	ADP
ap-514	8	14	in	in	ADP
ap-514	8	15	the	the	DET
ap-514	8	16	mentioned	mention	VERB
ap-514	8	17	paper	paper	NOUN
ap-514	8	18	of	of	ADP
ap-514	8	19	narendra	narendra	PROPN
ap-514	8	20	and	and	CCONJ
ap-514	8	21	parthasaraty	parthasaraty	NOUN
ap-514	8	22	[	[	X
ap-514	8	23	5	5	NUM
ap-514	8	24	]	]	PUNCT
ap-514	8	25	,	,	PUNCT
ap-514	8	26	is	be	AUX
ap-514	8	27	very	very	ADV
ap-514	8	28	complex	complex	ADJ
ap-514	8	29	,	,	PUNCT
ap-514	8	30	including	include	VERB
ap-514	8	31	several	several	ADJ
ap-514	8	32	nets	net	NOUN
ap-514	8	33	each	each	DET
ap-514	8	34	one	one	NUM
ap-514	8	35	with	with	ADP
ap-514	8	36	two	two	NUM
ap-514	8	37	hidden	hidden	ADJ
ap-514	8	38	layers	layer	NOUN
ap-514	8	39	of	of	ADP
ap-514	8	40	many	many	ADJ
ap-514	8	41	neurons	neuron	NOUN
ap-514	8	42	which	which	PRON
ap-514	8	43	must	must	AUX
ap-514	8	44	be	be	AUX
ap-514	8	45	trained	train	VERB
ap-514	8	46	using	use	VERB
ap-514	8	47	large	large	ADJ
ap-514	8	48	data	datum	NOUN
ap-514	8	49	samples	sample	NOUN
ap-514	8	50	.	.	PUNCT
ap-514	9	1	an	an	DET
ap-514	9	2	important	important	ADJ
ap-514	9	3	contribution	contribution	NOUN
ap-514	9	4	to	to	PART
ap-514	9	5	enhance	enhance	VERB
ap-514	9	6	the	the	DET
ap-514	9	7	possibilities	possibility	NOUN
ap-514	9	8	of	of	ADP
ap-514	9	9	neural	neural	ADJ
ap-514	9	10	nets	net	NOUN
ap-514	9	11	in	in	ADP
ap-514	9	12	the	the	DET
ap-514	9	13	solution	solution	NOUN
ap-514	9	14	of	of	ADP
ap-514	9	15	practical	practical	ADJ
ap-514	9	16	problems	problem	NOUN
ap-514	9	17	is	be	AUX
ap-514	9	18	the	the	DET
ap-514	9	19	paper	paper	NOUN
ap-514	9	20	by	by	ADP
ap-514	9	21	cui	cui	NOUN
ap-514	9	22	and	and	CCONJ
ap-514	9	23	shin	shin	NOUN
ap-514	9	24	[	[	X
ap-514	9	25	4	4	NUM
ap-514	9	26	]	]	PUNCT
ap-514	9	27	.	.	PUNCT
ap-514	10	1	in	in	ADP
ap-514	10	2	that	that	DET
ap-514	10	3	work	work	NOUN
ap-514	10	4	a	a	DET
ap-514	10	5	direct	direct	ADJ
ap-514	10	6	neural	neural	ADJ
ap-514	10	7	control	control	NOUN
ap-514	10	8	scheme	scheme	NOUN
ap-514	10	9	is	be	AUX
ap-514	10	10	proposed	propose	VERB
ap-514	10	11	for	for	ADP
ap-514	10	12	a	a	DET
ap-514	10	13	wide	wide	ADJ
ap-514	10	14	class	class	NOUN
ap-514	10	15	of	of	ADP
ap-514	10	16	non	non	ADJ
ap-514	10	17	-	-	ADJ
ap-514	10	18	linear	linear	ADJ
ap-514	10	19	processes	process	NOUN
ap-514	10	20	and	and	CCONJ
ap-514	10	21	it	it	PRON
ap-514	10	22	is	be	AUX
ap-514	10	23	shown	show	VERB
ap-514	10	24	that	that	SCONJ
ap-514	10	25	in	in	ADP
ap-514	10	26	many	many	ADJ
ap-514	10	27	cases	case	NOUN
ap-514	10	28	,	,	PUNCT
ap-514	10	29	the	the	DET
ap-514	10	30	net	net	NOUN
ap-514	10	31	can	can	AUX
ap-514	10	32	be	be	AUX
ap-514	10	33	trained	train	VERB
ap-514	10	34	directly	directly	ADV
ap-514	10	35	retropropagating	retropropagate	VERB
ap-514	10	36	the	the	DET
ap-514	10	37	regulation	regulation	NOUN
ap-514	10	38	error	error	NOUN
ap-514	10	39	instead	instead	ADV
ap-514	10	40	of	of	ADP
ap-514	10	41	the	the	DET
ap-514	10	42	net	net	ADJ
ap-514	10	43	output	output	NOUN
ap-514	10	44	error	error	NOUN
ap-514	10	45	.	.	PUNCT
ap-514	11	1	however	however	ADV
ap-514	11	2	,	,	PUNCT
ap-514	11	3	in	in	ADP
ap-514	11	4	that	that	DET
ap-514	11	5	paper	paper	NOUN
ap-514	11	6	it	it	PRON
ap-514	11	7	is	be	AUX
ap-514	11	8	not	not	PART
ap-514	11	9	discussed	discuss	VERB
ap-514	11	10	the	the	DET
ap-514	11	11	influence	influence	NOUN
ap-514	11	12	of	of	ADP
ap-514	11	13	some	some	DET
ap-514	11	14	training	training	NOUN
ap-514	11	15	parameters	parameter	NOUN
ap-514	11	16	,	,	PUNCT
ap-514	11	17	particularly	particularly	ADV
ap-514	11	18	the	the	DET
ap-514	11	19	learning	learning	NOUN
ap-514	11	20	coefficient	coefficient	NOUN
ap-514	11	21	,	,	PUNCT
ap-514	11	22	over	over	ADP
ap-514	11	23	the	the	DET
ap-514	11	24	closed	closed	ADJ
ap-514	11	25	loop	loop	NOUN
ap-514	11	26	dynamics	dynamic	NOUN
ap-514	11	27	.	.	PUNCT
ap-514	12	1	it	it	PRON
ap-514	12	2	is	be	AUX
ap-514	12	3	also	also	ADV
ap-514	12	4	not	not	PART
ap-514	12	5	remarked	remark	VERB
ap-514	12	6	that	that	PRON
ap-514	12	7	practically	practically	ADV
ap-514	12	8	with	with	ADP
ap-514	12	9	a	a	DET
ap-514	12	10	direct	direct	ADJ
ap-514	12	11	neural	neural	ADJ
ap-514	12	12	control	control	NOUN
ap-514	12	13	scheme	scheme	NOUN
ap-514	12	14	the	the	DET
ap-514	12	15	training	training	NOUN
ap-514	12	16	stage	stage	NOUN
ap-514	12	17	can	can	AUX
ap-514	12	18	be	be	AUX
ap-514	12	19	substituted	substitute	VERB
ap-514	12	20	by	by	ADP
ap-514	12	21	a	a	DET
ap-514	12	22	permanent	permanent	ADJ
ap-514	12	23	and	and	CCONJ
ap-514	12	24	real	real	ADJ
ap-514	12	25	time	time	NOUN
ap-514	12	26	adaptation	adaptation	NOUN
ap-514	12	27	of	of	ADP
ap-514	12	28	the	the	DET
ap-514	12	29	weighting	weighting	NOUN
ap-514	12	30	coefficients	coefficient	NOUN
ap-514	12	31	of	of	ADP
ap-514	12	32	the	the	DET
ap-514	12	33	neural	neural	ADJ
ap-514	12	34	net	net	NOUN
ap-514	12	35	.	.	PUNCT
ap-514	13	1	in	in	ADP
ap-514	13	2	the	the	DET
ap-514	13	3	present	present	ADJ
ap-514	13	4	paper	paper	NOUN
ap-514	13	5	,	,	PUNCT
ap-514	13	6	it	it	PRON
ap-514	13	7	is	be	AUX
ap-514	13	8	proposed	propose	VERB
ap-514	13	9	a	a	DET
ap-514	13	10	self	self	NOUN
ap-514	13	11	-	-	PUNCT
ap-514	13	12	tuning	tune	VERB
ap-514	13	13	neural	neural	ADJ
ap-514	13	14	regulator	regulator	NOUN
ap-514	13	15	,	,	PUNCT
ap-514	13	16	inspired	inspire	VERB
ap-514	13	17	in	in	ADP
ap-514	13	18	the	the	DET
ap-514	13	19	ideas	idea	NOUN
ap-514	13	20	of	of	ADP
ap-514	13	21	cui	cui	NOUN
ap-514	13	22	and	and	CCONJ
ap-514	13	23	shin	shin	NOUN
ap-514	14	1	[	[	X
ap-514	14	2	4	4	NUM
ap-514	14	3	]	]	PUNCT
ap-514	14	4	,	,	PUNCT
ap-514	14	5	but	but	CCONJ
ap-514	14	6	with	with	ADP
ap-514	14	7	the	the	DET
ap-514	14	8	particular	particular	ADJ
ap-514	14	9	feature	feature	NOUN
ap-514	14	10	that	that	SCONJ
ap-514	14	11	the	the	DET
ap-514	14	12	previous	previous	ADJ
ap-514	14	13	training	training	NOUN
ap-514	14	14	is	be	AUX
ap-514	14	15	substituted	substitute	VERB
ap-514	14	16	by	by	ADP
ap-514	14	17	a	a	DET
ap-514	14	18	permanent	permanent	ADJ
ap-514	14	19	adjustment	adjustment	NOUN
ap-514	14	20	of	of	ADP
ap-514	14	21	the	the	DET
ap-514	14	22	weighting	weighting	NOUN
ap-514	14	23	coefficients	coefficient	NOUN
ap-514	14	24	based	base	VERB
ap-514	14	25	on	on	ADP
ap-514	14	26	the	the	DET
ap-514	14	27	control	control	NOUN
ap-514	14	28	error	error	NOUN
ap-514	14	29	.	.	PUNCT
ap-514	15	1	at	at	ADP
ap-514	15	2	the	the	DET
ap-514	15	3	same	same	ADJ
ap-514	15	4	time	time	NOUN
ap-514	15	5	,	,	PUNCT
ap-514	15	6	it	it	PRON
ap-514	15	7	is	be	AUX
ap-514	15	8	shown	show	VERB
ap-514	15	9	the	the	DET
ap-514	15	10	influence	influence	NOUN
ap-514	15	11	of	of	ADP
ap-514	15	12	the	the	DET
ap-514	15	13	learning	learning	NOUN
ap-514	15	14	coefficient	coefficient	NOUN
ap-514	15	15	over	over	ADP
ap-514	15	16	the	the	DET
ap-514	15	17	closed	closed	ADJ
ap-514	15	18	loop	loop	NOUN
ap-514	15	19	dynamics	dynamic	NOUN
ap-514	15	20	and	and	CCONJ
ap-514	15	21	some	some	DET
ap-514	15	22	criteria	criterion	NOUN
ap-514	15	23	are	be	AUX
ap-514	15	24	given	give	VERB
ap-514	15	25	about	about	ADP
ap-514	15	26	how	how	SCONJ
ap-514	15	27	to	to	PART
ap-514	15	28	choose	choose	VERB
ap-514	15	29	that	that	DET
ap-514	15	30	parameter	parameter	NOUN
ap-514	15	31	.	.	PUNCT
ap-514	16	1	finally	finally	ADV
ap-514	16	2	,	,	PUNCT
ap-514	16	3	some	some	DET
ap-514	16	4	examples	example	NOUN
ap-514	16	5	are	be	AUX
ap-514	16	6	given	give	VERB
ap-514	16	7	where	where	SCONJ
ap-514	16	8	the	the	DET
ap-514	16	9	possibilities	possibility	NOUN
ap-514	16	10	of	of	ADP
ap-514	16	11	the	the	DET
ap-514	16	12	proposed	propose	VERB
ap-514	16	13	method	method	NOUN
ap-514	16	14	for	for	ADP
ap-514	16	15	difficult	difficult	ADJ
ap-514	16	16	non	non	ADJ
ap-514	16	17	-	-	ADJ
ap-514	16	18	linear	linear	ADJ
ap-514	16	19	systems	system	NOUN
ap-514	16	20	control	control	NOUN
ap-514	16	21	is	be	AUX
ap-514	16	22	shown	show	VERB
ap-514	16	23	,	,	PUNCT
ap-514	16	24	specially	specially	ADV
ap-514	16	25	when	when	SCONJ
ap-514	16	26	there	there	PRON
ap-514	16	27	exists	exist	VERB
ap-514	16	28	a	a	DET
ap-514	16	29	considerable	considerable	ADJ
ap-514	16	30	pure	pure	ADJ
ap-514	16	31	time	time	NOUN
ap-514	16	32	delay	delay	NOUN
ap-514	16	33	.	.	PUNCT
ap-514	17	1	2	2	NUM
ap-514	17	2	self	self	NOUN
ap-514	17	3	tuning	tune	VERB
ap-514	17	4	neural	neural	ADJ
ap-514	17	5	controler	controler	NOUN
ap-514	17	6	structure	structure	NOUN
ap-514	17	7	in	in	ADP
ap-514	17	8	fig	fig	NOUN
ap-514	17	9	.	.	PUNCT
ap-514	18	1	1	1	NUM
ap-514	18	2	,	,	PUNCT
ap-514	18	3	it	it	PRON
ap-514	18	4	is	be	AUX
ap-514	18	5	shown	show	VERB
ap-514	18	6	the	the	DET
ap-514	18	7	proposed	propose	VERB
ap-514	18	8	scheme	scheme	NOUN
ap-514	18	9	of	of	ADP
ap-514	18	10	the	the	DET
ap-514	18	11	self	self	NOUN
ap-514	18	12	-	-	PUNCT
ap-514	18	13	tuning	tune	VERB
ap-514	18	14	neural	neural	ADJ
ap-514	18	15	regulator	regulator	NOUN
ap-514	18	16	.	.	PUNCT
ap-514	19	1	the	the	DET
ap-514	19	2	neural	neural	ADJ
ap-514	19	3	net	net	NOUN
ap-514	19	4	which	which	PRON
ap-514	19	5	assume	assume	VERB
ap-514	19	6	the	the	DET
ap-514	19	7	regulator	regulator	NOUN
ap-514	19	8	function	function	NOUN
ap-514	19	9	,	,	PUNCT
ap-514	19	10	is	be	AUX
ap-514	19	11	a	a	DET
ap-514	19	12	3	3	NUM
ap-514	19	13	neuron	neuron	NOUN
ap-514	19	14	layers	layers	PROPN
ap-514	19	15	perceptron	perceptron	PROPN
ap-514	19	16	(	(	PUNCT
ap-514	19	17	one	one	NUM
ap-514	19	18	hidden	hide	VERB
ap-514	19	19	layer	layer	NOUN
ap-514	19	20	)	)	PUNCT
ap-514	19	21	which	which	PRON
ap-514	19	22	weighting	weight	VERB
ap-514	19	23	coefficients	coefficient	NOUN
ap-514	19	24	are	be	AUX
ap-514	19	25	adjusted	adjust	VERB
ap-514	19	26	by	by	ADP
ap-514	19	27	a	a	DET
ap-514	19	28	modified	modify	VERB
ap-514	19	29	retropropagation	retropropagation	NOUN
ap-514	19	30	algorithm	algorithm	NOUN
ap-514	19	31	.	.	PUNCT
ap-514	20	1	in	in	ADP
ap-514	20	2	this	this	DET
ap-514	20	3	case	case	NOUN
ap-514	20	4	,	,	PUNCT
ap-514	20	5	instead	instead	ADV
ap-514	20	6	of	of	ADP
ap-514	20	7	the	the	DET
ap-514	20	8	net	net	ADJ
ap-514	20	9	output	output	NOUN
ap-514	20	10	error	error	NOUN
ap-514	20	11	:	:	PUNCT
ap-514	20	12	�	�	PROPN
ap-514	20	13	�	�	PROPN
ap-514	20	14	�	�	PROPN
ap-514	20	15	�	�	PROPN
ap-514	20	16	�	�	PROPN
ap-514	20	17	�	�	PROPN
ap-514	20	18	e	e	PROPN
ap-514	20	19	t	t	NOUN
ap-514	20	20	u	u	NOUN
ap-514	20	21	t	t	PROPN
ap-514	20	22	u	u	X
ap-514	20	23	tu	tu	PROPN
ap-514	20	24	d	d	PROPN
ap-514	20	25	�	�	PROPN
ap-514	20	26	�	�	PROPN
ap-514	20	27	(	(	PUNCT
ap-514	20	28	1	1	X
ap-514	20	29	)	)	PUNCT
ap-514	20	30	it	it	PRON
ap-514	20	31	is	be	AUX
ap-514	20	32	used	use	VERB
ap-514	20	33	the	the	DET
ap-514	20	34	process	process	NOUN
ap-514	20	35	output	output	NOUN
ap-514	20	36	error	error	NOUN
ap-514	20	37	:	:	PUNCT
ap-514	20	38	�	�	PROPN
ap-514	20	39	�	�	PROPN
ap-514	20	40	�	�	PROPN
ap-514	20	41	�	�	PROPN
ap-514	20	42	�	�	PROPN
ap-514	20	43	�	�	PROPN
ap-514	20	44	e	e	PROPN
ap-514	20	45	t	t	PROPN
ap-514	20	46	y	y	PROPN
ap-514	20	47	t	t	PROPN
ap-514	20	48	y	y	PROPN
ap-514	20	49	ty	ty	INTJ
ap-514	20	50	r	r	PROPN
ap-514	20	51	�	�	PROPN
ap-514	20	52	�	�	PROPN
ap-514	20	53	(	(	PUNCT
ap-514	20	54	2	2	NUM
ap-514	20	55	)	)	PUNCT
ap-514	20	56	to	to	PART
ap-514	20	57	adjust	adjust	VERB
ap-514	20	58	the	the	DET
ap-514	20	59	weighting	weighting	NOUN
ap-514	20	60	coefficients	coefficient	NOUN
ap-514	20	61	.	.	PUNCT
ap-514	21	1	in	in	ADP
ap-514	21	2	fig	fig	NOUN
ap-514	21	3	.	.	PUNCT
ap-514	22	1	2	2	NUM
ap-514	22	2	,	,	PUNCT
ap-514	22	3	it	it	PRON
ap-514	22	4	is	be	AUX
ap-514	22	5	represented	represent	VERB
ap-514	22	6	the	the	DET
ap-514	22	7	neural	neural	ADJ
ap-514	22	8	net	net	ADJ
ap-514	22	9	controller	controller	NOUN
ap-514	22	10	structure	structure	NOUN
ap-514	22	11	.	.	PUNCT
ap-514	23	1	the	the	DET
ap-514	23	2	output	output	NOUN
ap-514	23	3	layer	layer	NOUN
ap-514	23	4	has	have	VERB
ap-514	23	5	only	only	ADV
ap-514	23	6	one	one	NUM
ap-514	23	7	neuron	neuron	NOUN
ap-514	23	8	because	because	SCONJ
ap-514	23	9	by	by	ADP
ap-514	23	10	the	the	DET
ap-514	23	11	moment	moment	NOUN
ap-514	23	12	,	,	PUNCT
ap-514	23	13	we	we	PRON
ap-514	23	14	are	be	AUX
ap-514	23	15	limiting	limit	VERB
ap-514	23	16	the	the	DET
ap-514	23	17	analysis	analysis	NOUN
ap-514	23	18	to	to	ADP
ap-514	23	19	one	one	NUM
ap-514	23	20	input	input	NOUN
ap-514	23	21	-	-	PUNCT
ap-514	23	22	one	one	NUM
ap-514	23	23	output	output	NOUN
ap-514	23	24	processes	process	NOUN
ap-514	23	25	.	.	PUNCT
ap-514	24	1	in	in	ADP
ap-514	24	2	the	the	DET
ap-514	24	3	input	input	NOUN
ap-514	24	4	layer	layer	NOUN
ap-514	24	5	,	,	PUNCT
ap-514	24	6	the	the	DET
ap-514	24	7	present	present	NOUN
ap-514	24	8	and	and	CCONJ
ap-514	24	9	some	some	DET
ap-514	24	10	previous	previous	ADJ
ap-514	24	11	values	value	NOUN
ap-514	24	12	of	of	ADP
ap-514	24	13	the	the	DET
ap-514	24	14	regulation	regulation	NOUN
ap-514	24	15	error	error	NOUN
ap-514	24	16	are	be	AUX
ap-514	24	17	introduced	introduce	VERB
ap-514	24	18	,	,	PUNCT
ap-514	24	19	it	it	PRON
ap-514	24	20	means	mean	VERB
ap-514	24	21	that	that	SCONJ
ap-514	24	22	:	:	PUNCT
ap-514	24	23	�	�	PROPN
ap-514	24	24	�	�	PROPN
ap-514	24	25	�	�	PROPN
ap-514	24	26	�	�	PROPN
ap-514	24	27	�	�	PROPN
ap-514	24	28	�	�	PROPN
ap-514	24	29	�	�	PROPN
ap-514	24	30	�	�	PROPN
ap-514	24	31	�	�	PROPN
ap-514	24	32	�	�	PROPN
ap-514	24	33	x	x	PROPN
ap-514	24	34	t	t	PROPN
ap-514	24	35	e	e	X
ap-514	24	36	t	t	PROPN
ap-514	24	37	e	e	PROPN
ap-514	24	38	t	t	PROPN
ap-514	24	39	e	e	PROPN
ap-514	24	40	t	t	PROPN
ap-514	24	41	ny	ny	PROPN
ap-514	24	42	y	y	PROPN
ap-514	24	43	y	y	PROPN
ap-514	24	44	�	�	PROPN
ap-514	24	45	�	�	PROPN
ap-514	24	46	�	�	PROPN
ap-514	24	47	1	1	NUM
ap-514	24	48	�	�	PROPN
ap-514	24	49	.	.	PUNCT
ap-514	25	1	(	(	PUNCT
ap-514	25	2	3	3	X
ap-514	25	3	)	)	PUNCT
ap-514	25	4	for	for	ADP
ap-514	25	5	the	the	DET
ap-514	25	6	cases	case	NOUN
ap-514	25	7	that	that	PRON
ap-514	25	8	has	have	AUX
ap-514	25	9	been	be	AUX
ap-514	25	10	simulated	simulate	VERB
ap-514	25	11	until	until	ADP
ap-514	25	12	now	now	ADV
ap-514	25	13	,	,	PUNCT
ap-514	25	14	the	the	DET
ap-514	25	15	value	value	NOUN
ap-514	25	16	n	n	PRON
ap-514	25	17	�	�	PROPN
ap-514	25	18	2	2	NUM
ap-514	25	19	was	be	AUX
ap-514	25	20	sufficient	sufficient	ADJ
ap-514	25	21	to	to	PART
ap-514	25	22	obtain	obtain	VERB
ap-514	25	23	an	an	DET
ap-514	25	24	adequate	adequate	ADJ
ap-514	25	25	closed	closed	ADJ
ap-514	25	26	loop	loop	NOUN
ap-514	25	27	performance	performance	NOUN
ap-514	25	28	.	.	PUNCT
ap-514	26	1	it	it	PRON
ap-514	26	2	means	mean	VERB
ap-514	26	3	that	that	SCONJ
ap-514	26	4	the	the	DET
ap-514	26	5	number	number	NOUN
ap-514	26	6	of	of	ADP
ap-514	26	7	input	input	NOUN
ap-514	26	8	neurons	neuron	NOUN
ap-514	26	9	can	can	AUX
ap-514	26	10	be	be	AUX
ap-514	26	11	3	3	NUM
ap-514	26	12	.	.	PUNCT
ap-514	26	13	a	a	DET
ap-514	26	14	similar	similar	ADJ
ap-514	26	15	number	number	NOUN
ap-514	26	16	of	of	ADP
ap-514	26	17	hidden	hide	VERB
ap-514	26	18	layer	layer	NOUN
ap-514	26	19	neurons	neuron	NOUN
ap-514	26	20	was	be	AUX
ap-514	26	21	equally	equally	ADV
ap-514	26	22	satisfactory	satisfactory	ADJ
ap-514	26	23	.	.	PUNCT
ap-514	27	1	3	3	NUM
ap-514	27	2	weighting	weight	VERB
ap-514	27	3	coefficients	coefficient	NOUN
ap-514	27	4	adaptation	adaptation	NOUN
ap-514	27	5	algorithm	algorithm	NOUN
ap-514	27	6	in	in	ADP
ap-514	27	7	fig	fig	NOUN
ap-514	27	8	.	.	PUNCT
ap-514	28	1	2	2	NUM
ap-514	28	2	,	,	PUNCT
ap-514	28	3	the	the	DET
ap-514	28	4	weighting	weighting	NOUN
ap-514	28	5	coefficients	coefficient	VERB
ap-514	28	6	wji	wji	NOUN
ap-514	28	7	and	and	CCONJ
ap-514	28	8	vj	vj	NOUN
ap-514	28	9	for	for	ADP
ap-514	28	10	the	the	DET
ap-514	28	11	hidden	hide	VERB
ap-514	28	12	layer	layer	NOUN
ap-514	28	13	and	and	CCONJ
ap-514	28	14	output	output	NOUN
ap-514	28	15	layer	layer	NOUN
ap-514	28	16	input	input	NOUN
ap-514	28	17	connections	connection	NOUN
ap-514	28	18	respectively	respectively	ADV
ap-514	28	19	,	,	PUNCT
ap-514	28	20	are	be	AUX
ap-514	28	21	shown	show	VERB
ap-514	28	22	.	.	PUNCT
ap-514	29	1	in	in	ADP
ap-514	29	2	what	what	PRON
ap-514	29	3	follows	follow	VERB
ap-514	29	4	,	,	PUNCT
ap-514	29	5	we	we	PRON
ap-514	29	6	will	will	AUX
ap-514	29	7	detail	detail	VERB
ap-514	29	8	the	the	DET
ap-514	29	9	adaptation	adaptation	NOUN
ap-514	29	10	algo	algo	NOUN
ap-514	29	11	©	©	PROPN
ap-514	29	12	czech	czech	PROPN
ap-514	29	13	technical	technical	PROPN
ap-514	29	14	university	university	PROPN
ap-514	29	15	publishing	publishing	NOUN
ap-514	29	16	house	house	NOUN
ap-514	29	17	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-514	29	18	49	49	NUM
ap-514	29	19	czech	czech	PROPN
ap-514	29	20	technical	technical	PROPN
ap-514	29	21	university	university	PROPN
ap-514	29	22	in	in	ADP
ap-514	29	23	prague	prague	PROPN
ap-514	29	24	acta	acta	PROPN
ap-514	29	25	polytechnica	polytechnica	PROPN
ap-514	29	26	vol	vol	NOUN
ap-514	29	27	.	.	PROPN
ap-514	30	1	44	44	NUM
ap-514	31	1	no	no	NOUN
ap-514	31	2	.	.	PUNCT
ap-514	32	1	1/2004	1/2004	NUM
ap-514	32	2	neural	neural	ADJ
ap-514	32	3	networks	network	NOUN
ap-514	32	4	for	for	ADP
ap-514	32	5	self	self	NOUN
ap-514	32	6	-	-	PUNCT
ap-514	32	7	tuning	tune	VERB
ap-514	32	8	control	control	NOUN
ap-514	32	9	systems	systems	PROPN
ap-514	32	10	a.	a.	PROPN
ap-514	32	11	noriega	noriega	PROPN
ap-514	32	12	ponce	ponce	PROPN
ap-514	32	13	,	,	PUNCT
ap-514	32	14	a.	a.	PROPN
ap-514	32	15	aguado	aguado	PROPN
ap-514	32	16	behar	behar	PROPN
ap-514	32	17	,	,	PUNCT
ap-514	32	18	a.	a.	PROPN
ap-514	32	19	ordaz	ordaz	PROPN
ap-514	32	20	hernández	hernández	PROPN
ap-514	32	21	,	,	PUNCT
ap-514	32	22	v.	v.	ADP
ap-514	32	23	rauch	rauch	PROPN
ap-514	32	24	sitar	sitar	NOUN
ap-514	32	25	in	in	ADP
ap-514	32	26	this	this	DET
ap-514	32	27	paper	paper	NOUN
ap-514	32	28	,	,	PUNCT
ap-514	32	29	we	we	PRON
ap-514	32	30	presented	present	VERB
ap-514	32	31	a	a	DET
ap-514	32	32	self	self	NOUN
ap-514	32	33	-	-	PUNCT
ap-514	32	34	tuning	tune	VERB
ap-514	32	35	control	control	NOUN
ap-514	32	36	algorithm	algorithm	NOUN
ap-514	32	37	based	base	VERB
ap-514	32	38	on	on	ADP
ap-514	32	39	a	a	DET
ap-514	32	40	three	three	NUM
ap-514	32	41	layers	layer	NOUN
ap-514	32	42	perceptron	perceptron	PROPN
ap-514	32	43	type	type	NOUN
ap-514	32	44	neural	neural	ADJ
ap-514	32	45	network	network	NOUN
ap-514	32	46	.	.	PUNCT
ap-514	33	1	the	the	DET
ap-514	33	2	proposed	propose	VERB
ap-514	33	3	algorithm	algorithm	NOUN
ap-514	33	4	is	be	AUX
ap-514	33	5	advantageous	advantageous	ADJ
ap-514	33	6	in	in	ADP
ap-514	33	7	the	the	DET
ap-514	33	8	sense	sense	NOUN
ap-514	33	9	that	that	SCONJ
ap-514	33	10	practically	practically	ADV
ap-514	33	11	a	a	DET
ap-514	33	12	previous	previous	ADJ
ap-514	33	13	training	training	NOUN
ap-514	33	14	of	of	ADP
ap-514	33	15	the	the	DET
ap-514	33	16	net	net	NOUN
ap-514	33	17	is	be	AUX
ap-514	33	18	not	not	PART
ap-514	33	19	required	require	VERB
ap-514	33	20	and	and	CCONJ
ap-514	33	21	some	some	DET
ap-514	33	22	changes	change	NOUN
ap-514	33	23	in	in	ADP
ap-514	33	24	the	the	DET
ap-514	33	25	set	set	NOUN
ap-514	33	26	-	-	PUNCT
ap-514	33	27	point	point	NOUN
ap-514	33	28	are	be	AUX
ap-514	33	29	generally	generally	ADV
ap-514	33	30	enough	enough	ADJ
ap-514	33	31	to	to	PART
ap-514	33	32	adjust	adjust	VERB
ap-514	33	33	the	the	DET
ap-514	33	34	learning	learning	NOUN
ap-514	33	35	coefficient	coefficient	NOUN
ap-514	33	36	.	.	PUNCT
ap-514	34	1	optionally	optionally	ADV
ap-514	34	2	,	,	PUNCT
ap-514	34	3	it	it	PRON
ap-514	34	4	is	be	AUX
ap-514	34	5	possible	possible	ADJ
ap-514	34	6	to	to	PART
ap-514	34	7	introduce	introduce	VERB
ap-514	34	8	a	a	DET
ap-514	34	9	self	self	NOUN
ap-514	34	10	-	-	PUNCT
ap-514	34	11	tuning	tune	VERB
ap-514	34	12	mechanism	mechanism	NOUN
ap-514	34	13	of	of	ADP
ap-514	34	14	the	the	DET
ap-514	34	15	learning	learning	NOUN
ap-514	34	16	coefficient	coefficient	NOUN
ap-514	34	17	although	although	SCONJ
ap-514	34	18	by	by	ADP
ap-514	34	19	the	the	DET
ap-514	34	20	moment	moment	NOUN
ap-514	34	21	it	it	PRON
ap-514	34	22	is	be	AUX
ap-514	34	23	not	not	PART
ap-514	34	24	possible	possible	ADJ
ap-514	34	25	to	to	PART
ap-514	34	26	give	give	VERB
ap-514	34	27	final	final	ADJ
ap-514	34	28	conclusions	conclusion	NOUN
ap-514	34	29	about	about	ADP
ap-514	34	30	this	this	DET
ap-514	34	31	possibility	possibility	NOUN
ap-514	34	32	.	.	PUNCT
ap-514	35	1	the	the	DET
ap-514	35	2	proposed	propose	VERB
ap-514	35	3	algorithm	algorithm	NOUN
ap-514	35	4	has	have	VERB
ap-514	35	5	the	the	DET
ap-514	35	6	special	special	ADJ
ap-514	35	7	feature	feature	NOUN
ap-514	35	8	that	that	SCONJ
ap-514	35	9	the	the	DET
ap-514	35	10	regulation	regulation	NOUN
ap-514	35	11	error	error	NOUN
ap-514	35	12	instead	instead	ADV
ap-514	35	13	of	of	ADP
ap-514	35	14	the	the	DET
ap-514	35	15	net	net	ADJ
ap-514	35	16	output	output	NOUN
ap-514	35	17	error	error	NOUN
ap-514	35	18	is	be	AUX
ap-514	35	19	retropropagated	retropropagate	VERB
ap-514	35	20	for	for	ADP
ap-514	35	21	the	the	DET
ap-514	35	22	weighting	weighting	NOUN
ap-514	35	23	coefficients	coefficient	NOUN
ap-514	35	24	modifications	modification	NOUN
ap-514	35	25	.	.	PUNCT
ap-514	36	1	keywords	keyword	NOUN
ap-514	36	2	:	:	PUNCT
ap-514	36	3	neural	neural	ADJ
ap-514	36	4	networks	network	NOUN
ap-514	36	5	,	,	PUNCT
ap-514	36	6	feedforward	feedforward	NOUN
ap-514	36	7	,	,	PUNCT
ap-514	36	8	back	back	ADJ
ap-514	36	9	-	-	PUNCT
ap-514	36	10	propagation	propagation	NOUN
ap-514	36	11	,	,	PUNCT
ap-514	36	12	networks	network	NOUN
ap-514	36	13	,	,	PUNCT
ap-514	36	14	self	self	NOUN
ap-514	36	15	-	-	PUNCT
ap-514	36	16	tuning	tune	VERB
ap-514	36	17	control	control	NOUN
ap-514	36	18	.	.	PUNCT
ap-514	37	1	ey	ey	PROPN
ap-514	37	2	rn	rn	PROPN
ap-514	37	3	p	p	PROPN
ap-514	38	1	yr	yr	PROPN
ap-514	38	2	u	u	PROPN
ap-514	38	3	y	y	PROPN
ap-514	38	4	fig	fig	NOUN
ap-514	38	5	.	.	PUNCT
ap-514	39	1	1	1	NUM
ap-514	39	2	.	.	PUNCT
ap-514	39	3	:	:	PUNCT
ap-514	40	1	scheme	scheme	NOUN
ap-514	40	2	of	of	ADP
ap-514	40	3	the	the	DET
ap-514	40	4	self	self	NOUN
ap-514	40	5	-	-	PUNCT
ap-514	40	6	tuning	tune	VERB
ap-514	40	7	neural	neural	ADJ
ap-514	40	8	regulator	regulator	NOUN
ap-514	40	9	rithm	rithm	NOUN
ap-514	40	10	for	for	ADP
ap-514	40	11	that	that	DET
ap-514	40	12	coefficients	coefficient	NOUN
ap-514	40	13	,	,	PUNCT
ap-514	40	14	which	which	PRON
ap-514	40	15	ensures	ensure	VERB
ap-514	40	16	the	the	DET
ap-514	40	17	minimisation	minimisation	NOUN
ap-514	40	18	of	of	ADP
ap-514	40	19	a	a	DET
ap-514	40	20	regulation	regulation	NOUN
ap-514	40	21	error	error	NOUN
ap-514	40	22	�	�	PROPN
ap-514	40	23	�	�	PROPN
ap-514	40	24	e	e	NOUN
ap-514	40	25	ty	ty	NUM
ap-514	40	26	function	function	NOUN
ap-514	40	27	.	.	PUNCT
ap-514	41	1	the	the	DET
ap-514	41	2	output	output	NOUN
ap-514	41	3	of	of	ADP
ap-514	41	4	the	the	DET
ap-514	41	5	j	j	PROPN
ap-514	41	6	hidden	hide	VERB
ap-514	41	7	layer	layer	NOUN
ap-514	41	8	neuron	neuron	NOUN
ap-514	41	9	may	may	AUX
ap-514	41	10	be	be	AUX
ap-514	41	11	calculated	calculate	VERB
ap-514	41	12	by	by	ADP
ap-514	41	13	means	mean	NOUN
ap-514	41	14	of	of	ADP
ap-514	41	15	:	:	PUNCT
ap-514	41	16	h	h	NOUN
ap-514	41	17	e	e	PROPN
ap-514	41	18	j	j	PROPN
ap-514	41	19	s	s	PROPN
ap-514	41	20	j	j	PROPN
ap-514	41	21	�	�	PROPN
ap-514	41	22	�	�	PROPN
ap-514	41	23	�	�	PROPN
ap-514	41	24	1	1	NUM
ap-514	41	25	1	1	NUM
ap-514	41	26	,	,	PUNCT
ap-514	41	27	j	j	PROPN
ap-514	41	28	�	�	PROPN
ap-514	41	29	1	1	NUM
ap-514	41	30	2	2	NUM
ap-514	41	31	3	3	NUM
ap-514	41	32	,	,	PUNCT
ap-514	41	33	,	,	PUNCT
ap-514	41	34	,	,	PUNCT
ap-514	41	35	�	�	PROPN
ap-514	41	36	(	(	PUNCT
ap-514	41	37	4	4	NUM
ap-514	41	38	)	)	PUNCT
ap-514	41	39	where	where	SCONJ
ap-514	41	40	:	:	PUNCT
ap-514	41	41	s	s	PROPN
ap-514	41	42	w	w	VERB
ap-514	41	43	xj	xj	INTJ
ap-514	42	1	ji	ji	PROPN
ap-514	43	1	i	i	PRON
ap-514	43	2	i	i	PROPN
ap-514	43	3	�	�	PROPN
ap-514	43	4	�	�	PROPN
ap-514	43	5	1	1	NUM
ap-514	43	6	3	3	NUM
ap-514	43	7	(	(	PUNCT
ap-514	43	8	5	5	NUM
ap-514	43	9	)	)	PUNCT
ap-514	43	10	at	at	ADP
ap-514	43	11	the	the	DET
ap-514	43	12	same	same	ADJ
ap-514	43	13	time	time	NOUN
ap-514	43	14	,	,	PUNCT
ap-514	43	15	the	the	DET
ap-514	43	16	output	output	NOUN
ap-514	43	17	layer	layer	NOUN
ap-514	43	18	neuron	neuron	PROPN
ap-514	43	19	output	output	NOUN
ap-514	43	20	value	value	NOUN
ap-514	43	21	will	will	AUX
ap-514	43	22	be	be	AUX
ap-514	43	23	:	:	PUNCT
ap-514	43	24	�	�	PROPN
ap-514	43	25	�	�	PROPN
ap-514	43	26	u	u	PROPN
ap-514	43	27	t	t	X
ap-514	43	28	e	e	X
ap-514	43	29	r	r	PROPN
ap-514	43	30	�	�	PROPN
ap-514	43	31	�	�	PROPN
ap-514	43	32	�	�	PROPN
ap-514	43	33	1	1	NUM
ap-514	43	34	1	1	NUM
ap-514	43	35	(	(	PUNCT
ap-514	43	36	6	6	NUM
ap-514	43	37	)	)	PUNCT
ap-514	43	38	where	where	SCONJ
ap-514	43	39	:	:	PUNCT
ap-514	43	40	r	r	NOUN
ap-514	43	41	v	v	X
ap-514	43	42	hj	hj	PROPN
ap-514	43	43	j	j	PROPN
ap-514	43	44	j	j	PROPN
ap-514	43	45	�	�	PROPN
ap-514	43	46	�	�	PROPN
ap-514	43	47	1	1	NUM
ap-514	43	48	3	3	NUM
ap-514	43	49	.	.	PUNCT
ap-514	44	1	(	(	PUNCT
ap-514	44	2	7	7	NUM
ap-514	44	3	)	)	PUNCT
ap-514	44	4	as	as	ADP
ap-514	44	5	a	a	DET
ap-514	44	6	criteria	criterion	NOUN
ap-514	44	7	to	to	PART
ap-514	44	8	be	be	AUX
ap-514	44	9	minimised	minimise	VERB
ap-514	44	10	,	,	PUNCT
ap-514	44	11	we	we	PRON
ap-514	44	12	defined	define	VERB
ap-514	44	13	the	the	DET
ap-514	44	14	function	function	NOUN
ap-514	44	15	:	:	PUNCT
ap-514	44	16	�	�	PROPN
ap-514	44	17	�	�	PROPN
ap-514	44	18	�	�	PROPN
ap-514	44	19	�	�	PROPN
ap-514	44	20	e	e	PROPN
ap-514	44	21	t	t	PROPN
ap-514	44	22	e	e	PROPN
ap-514	44	23	ky	ky	PROPN
ap-514	44	24	k	k	PROPN
ap-514	44	25	t	t	PROPN
ap-514	44	26	�	�	PROPN
ap-514	44	27	�	�	PROPN
ap-514	45	1	1	1	NUM
ap-514	45	2	2	2	NUM
ap-514	45	3	2	2	NUM
ap-514	45	4	1	1	NUM
ap-514	45	5	(	(	PUNCT
ap-514	45	6	8)	8)	NUM
ap-514	45	7	where	where	SCONJ
ap-514	45	8	it	it	PRON
ap-514	45	9	is	be	AUX
ap-514	45	10	supposed	suppose	VERB
ap-514	45	11	that	that	SCONJ
ap-514	45	12	the	the	DET
ap-514	45	13	time	time	NOUN
ap-514	45	14	has	have	AUX
ap-514	45	15	been	be	AUX
ap-514	45	16	discretized	discretize	VERB
ap-514	45	17	by	by	ADP
ap-514	45	18	using	use	VERB
ap-514	45	19	an	an	DET
ap-514	45	20	equally	equally	ADV
ap-514	45	21	-	-	PUNCT
ap-514	45	22	spaced	space	VERB
ap-514	45	23	small	small	ADJ
ap-514	45	24	time	time	NOUN
ap-514	45	25	interval	interval	NOUN
ap-514	45	26	.	.	PUNCT
ap-514	46	1	the	the	DET
ap-514	46	2	minimisation	minimisation	NOUN
ap-514	46	3	procedure	procedure	NOUN
ap-514	46	4	consists	consist	VERB
ap-514	46	5	,	,	PUNCT
ap-514	46	6	as	as	SCONJ
ap-514	46	7	it	it	PRON
ap-514	46	8	is	be	AUX
ap-514	46	9	known	know	VERB
ap-514	46	10	,	,	PUNCT
ap-514	46	11	in	in	ADP
ap-514	46	12	a	a	DET
ap-514	46	13	movement	movement	NOUN
ap-514	46	14	in	in	ADP
ap-514	46	15	the	the	DET
ap-514	46	16	negative	negative	ADJ
ap-514	46	17	gradient	gradient	ADJ
ap-514	46	18	direction	direction	NOUN
ap-514	46	19	of	of	ADP
ap-514	46	20	the	the	DET
ap-514	46	21	function	function	NOUN
ap-514	46	22	e(t	e(t	NOUN
ap-514	46	23	)	)	PUNCT
ap-514	46	24	with	with	ADP
ap-514	46	25	respect	respect	NOUN
ap-514	46	26	to	to	ADP
ap-514	46	27	the	the	DET
ap-514	46	28	weighting	weighting	NOUN
ap-514	46	29	coefficients	coefficient	NOUN
ap-514	46	30	vj	vj	INTJ
ap-514	46	31	and	and	CCONJ
ap-514	46	32	wji	wji	PROPN
ap-514	46	33	.	.	PUNCT
ap-514	47	1	the	the	DET
ap-514	47	2	e(t	e(t	NOUN
ap-514	47	3	)	)	PUNCT
ap-514	47	4	gradient	gradient	NOUN
ap-514	47	5	is	be	AUX
ap-514	47	6	a	a	DET
ap-514	47	7	multi	multi	ADJ
ap-514	47	8	-	-	ADJ
ap-514	47	9	dimensional	dimensional	ADJ
ap-514	47	10	vector	vector	NOUN
ap-514	47	11	whose	whose	DET
ap-514	47	12	components	component	NOUN
ap-514	47	13	are	be	AUX
ap-514	47	14	the	the	DET
ap-514	47	15	partial	partial	ADJ
ap-514	47	16	derivatives	derivative	NOUN
ap-514	47	17	�	�	PROPN
ap-514	47	18	�	�	PROPN
ap-514	47	19	�	�	PROPN
ap-514	47	20	�	�	PROPN
ap-514	47	21	e	e	PROPN
ap-514	47	22	t	t	PROPN
ap-514	47	23	vj	vj	PROPN
ap-514	47	24	,	,	PUNCT
ap-514	47	25	�	�	PROPN
ap-514	47	26	�	�	PROPN
ap-514	47	27	�	�	PROPN
ap-514	47	28	�	�	PROPN
ap-514	47	29	e	e	PROPN
ap-514	47	30	t	t	NOUN
ap-514	47	31	wji	wji	NOUN
ap-514	47	32	,	,	PUNCT
ap-514	47	33	it	it	PRON
ap-514	47	34	means	mean	VERB
ap-514	47	35	that	that	SCONJ
ap-514	47	36	:	:	PUNCT
ap-514	47	37	�	�	PROPN
ap-514	47	38	�	�	PROPN
ap-514	47	39	�	�	PROPN
ap-514	47	40	�	�	PROPN
ap-514	47	41	�	�	PROPN
ap-514	47	42	�	�	PROPN
ap-514	47	43	�	�	PROPN
ap-514	47	44	�	�	PROPN
ap-514	47	45	�	�	PROPN
ap-514	47	46	�	�	PROPN
ap-514	47	47	�	�	PROPN
ap-514	47	48	�	�	PROPN
ap-514	47	49	�	�	PROPN
ap-514	47	50	�	�	PROPN
ap-514	47	51	�	�	PROPN
ap-514	47	52	e	e	PROPN
ap-514	47	53	t	t	PROPN
ap-514	47	54	e	e	PROPN
ap-514	47	55	t	t	NOUN
ap-514	47	56	v	v	NUM
ap-514	47	57	e	e	PROPN
ap-514	47	58	t	t	PROPN
ap-514	47	59	w	w	PROPN
ap-514	47	60	j	j	PROPN
ap-514	47	61	ji	ji	PROPN
ap-514	47	62	�	�	PROPN
ap-514	47	63	�	�	PROPN
ap-514	47	64	�	�	PROPN
ap-514	47	65	�	�	PROPN
ap-514	47	66	(	(	PUNCT
ap-514	47	67	9	9	NUM
ap-514	47	68	)	)	PUNCT
ap-514	47	69	let	let	VERB
ap-514	47	70	us	we	PRON
ap-514	47	71	first	first	ADV
ap-514	47	72	obtain	obtain	VERB
ap-514	47	73	the	the	DET
ap-514	47	74	partial	partial	ADJ
ap-514	47	75	derivatives	derivative	NOUN
ap-514	47	76	with	with	ADP
ap-514	47	77	respect	respect	NOUN
ap-514	47	78	to	to	ADP
ap-514	47	79	the	the	DET
ap-514	47	80	coefficients	coefficient	NOUN
ap-514	47	81	of	of	ADP
ap-514	47	82	the	the	DET
ap-514	47	83	output	output	NOUN
ap-514	47	84	neuron	neuron	NOUN
ap-514	47	85	.	.	PUNCT
ap-514	48	1	applying	apply	VERB
ap-514	48	2	the	the	DET
ap-514	48	3	chain	chain	NOUN
ap-514	48	4	rule	rule	NOUN
ap-514	48	5	,	,	PUNCT
ap-514	48	6	we	we	PRON
ap-514	48	7	get	get	VERB
ap-514	48	8	:	:	PUNCT
ap-514	48	9	�	�	PROPN
ap-514	48	10	�	�	PROPN
ap-514	48	11	�	�	PROPN
ap-514	48	12	�	�	PROPN
ap-514	48	13	�	�	PROPN
ap-514	48	14	�	�	PROPN
ap-514	48	15	�	�	PROPN
ap-514	48	16	�	�	PROPN
ap-514	48	17	�	�	PROPN
ap-514	48	18	�	�	PROPN
ap-514	48	19	�	�	PROPN
ap-514	48	20	�	�	PROPN
ap-514	48	21	�	�	PROPN
ap-514	48	22	�	�	PROPN
ap-514	48	23	�	�	PROPN
ap-514	48	24	�	�	PROPN
ap-514	48	25	�	�	PROPN
ap-514	48	26	�	�	PROPN
ap-514	48	27	�	�	PROPN
ap-514	48	28	�	�	PROPN
ap-514	48	29	e	e	PROPN
ap-514	48	30	t	t	NOUN
ap-514	48	31	v	v	X
ap-514	48	32	e	e	NOUN
ap-514	48	33	t	t	NOUN
ap-514	48	34	e	e	X
ap-514	48	35	e	e	X
ap-514	48	36	e	e	X
ap-514	48	37	e	e	X
ap-514	48	38	u	u	NOUN
ap-514	48	39	t	t	PROPN
ap-514	48	40	u	u	NOUN
ap-514	48	41	t	t	NOUN
ap-514	48	42	r	r	NOUN
ap-514	48	43	r	r	NOUN
ap-514	49	1	vj	vj	INTJ
ap-514	49	2	y	y	PROPN
ap-514	49	3	y	y	PROPN
ap-514	49	4	u	u	PROPN
ap-514	50	1	u	u	PROPN
ap-514	50	2	j	j	PROPN
ap-514	50	3	�	�	PROPN
ap-514	50	4	�	�	PROPN
ap-514	50	5	�	�	PROPN
ap-514	50	6	�	�	PROPN
ap-514	50	7	�	�	PROPN
ap-514	50	8	(	(	PUNCT
ap-514	50	9	10	10	NUM
ap-514	50	10	)	)	PUNCT
ap-514	50	11	�	�	PROPN
ap-514	50	12	�	�	PROPN
ap-514	50	13	�	�	PROPN
ap-514	50	14	�	�	PROPN
ap-514	50	15	�	�	PROPN
ap-514	50	16	�	�	PROPN
ap-514	50	17	�	�	PROPN
ap-514	50	18	�	�	PROPN
ap-514	50	19	�	�	PROPN
ap-514	50	20	�	�	PROPN
ap-514	50	21	�	�	PROPN
ap-514	50	22	�	�	PROPN
ap-514	50	23	�	�	PROPN
ap-514	50	24	�	�	PROPN
ap-514	51	1	e	e	PROPN
ap-514	51	2	t	t	NOUN
ap-514	51	3	v	v	NUM
ap-514	51	4	e	e	X
ap-514	51	5	e	e	X
ap-514	51	6	e	e	X
ap-514	51	7	u	u	NOUN
ap-514	51	8	t	t	PROPN
ap-514	51	9	u	u	NOUN
ap-514	51	10	t	t	NOUN
ap-514	51	11	h	h	NOUN
ap-514	51	12	j	j	PROPN
ap-514	51	13	y	y	PROPN
ap-514	51	14	y	y	PROPN
ap-514	51	15	u	u	PROPN
ap-514	51	16	j	j	PROPN
ap-514	51	17	�	�	PROPN
ap-514	51	18	�	�	PROPN
ap-514	51	19	�	�	PROPN
ap-514	51	20	�	�	PROPN
ap-514	51	21	�	�	PROPN
ap-514	51	22	�	�	PROPN
ap-514	51	23	�	�	PROPN
ap-514	51	24	�	�	PROPN
ap-514	51	25	1	1	NUM
ap-514	51	26	1	1	NUM
ap-514	51	27	(	(	PUNCT
ap-514	51	28	11	11	NUM
ap-514	51	29	)	)	PUNCT
ap-514	51	30	in	in	ADP
ap-514	51	31	(	(	PUNCT
ap-514	51	32	11	11	NUM
ap-514	51	33	)	)	PUNCT
ap-514	51	34	it	it	PRON
ap-514	51	35	is	be	AUX
ap-514	51	36	used	use	VERB
ap-514	51	37	the	the	DET
ap-514	51	38	well	well	ADV
ap-514	51	39	known	know	VERB
ap-514	51	40	relation	relation	NOUN
ap-514	51	41	:	:	PUNCT
ap-514	51	42	�	�	PROPN
ap-514	51	43	�	�	PROPN
ap-514	51	44	�	�	PROPN
ap-514	51	45	�	�	PROPN
ap-514	51	46	�	�	PROPN
ap-514	51	47	�	�	PROPN
ap-514	51	48	�	�	PROPN
ap-514	51	49	�	�	PROPN
ap-514	51	50	u	u	PROPN
ap-514	51	51	t	t	NOUN
ap-514	51	52	r	r	NOUN
ap-514	51	53	e	e	NOUN
ap-514	51	54	r	r	NOUN
ap-514	51	55	e	e	NOUN
ap-514	51	56	e	e	NOUN
ap-514	51	57	r	r	NOUN
ap-514	51	58	r	r	NOUN
ap-514	51	59	r	r	NOUN
ap-514	51	60	�	�	PROPN
ap-514	51	61	�	�	PROPN
ap-514	51	62	�	�	PROPN
ap-514	51	63	�	�	PROPN
ap-514	51	64	�	�	PROPN
ap-514	51	65	�	�	PROPN
ap-514	51	66	�	�	PROPN
ap-514	51	67	�	�	PROPN
ap-514	51	68	�	�	PROPN
ap-514	51	69	�	�	PROPN
ap-514	51	70	�	�	PROPN
ap-514	51	71	�	�	PROPN
ap-514	51	72	�	�	PROPN
ap-514	51	73	1	1	NUM
ap-514	51	74	1	1	NUM
ap-514	51	75	1	1	NUM
ap-514	51	76	2	2	NUM
ap-514	51	77	�	�	PROPN
ap-514	51	78	�	�	PROPN
ap-514	51	79	�	�	PROPN
ap-514	51	80	�	�	PROPN
ap-514	51	81	�	�	PROPN
ap-514	51	82	�	�	PROPN
ap-514	51	83	�	�	PROPN
ap-514	51	84	�	�	PROPN
ap-514	51	85	�	�	PROPN
ap-514	51	86	�	�	PROPN
ap-514	51	87	u	u	PROPN
ap-514	51	88	t	t	NOUN
ap-514	51	89	r	r	NOUN
ap-514	51	90	e	e	X
ap-514	51	91	e	e	X
ap-514	51	92	e	e	X
ap-514	51	93	u	u	NOUN
ap-514	51	94	t	t	PROPN
ap-514	51	95	u	u	NOUN
ap-514	51	96	t	t	NOUN
ap-514	51	97	r	r	NOUN
ap-514	51	98	r	r	NOUN
ap-514	51	99	r	r	PROPN
ap-514	51	100	�	�	PROPN
ap-514	51	101	�	�	PROPN
ap-514	51	102	�	�	PROPN
ap-514	51	103	�	�	PROPN
ap-514	51	104	�	�	PROPN
ap-514	51	105	�	�	PROPN
ap-514	51	106	�	�	PROPN
ap-514	51	107	�	�	PROPN
ap-514	51	108	�	�	PROPN
ap-514	51	109	�	�	PROPN
ap-514	51	110	1	1	NUM
ap-514	51	111	1	1	NUM
ap-514	51	112	1	1	NUM
ap-514	51	113	1	1	NUM
ap-514	51	114	(	(	PUNCT
ap-514	51	115	12	12	NUM
ap-514	51	116	)	)	PUNCT
ap-514	51	117	let	let	VERB
ap-514	51	118	us	we	PRON
ap-514	51	119	define	define	VERB
ap-514	51	120	:	:	PUNCT
ap-514	51	121	�	�	PROPN
ap-514	51	122	�	�	PROPN
ap-514	51	123	�	�	PROPN
ap-514	51	124	�	�	PROPN
ap-514	51	125	�	�	PROPN
ap-514	51	126	�	�	PROPN
ap-514	51	127	�	�	PROPN
ap-514	51	128	1	1	NUM
ap-514	51	129	1	1	NUM
ap-514	51	130	�	�	PROPN
ap-514	51	131	�	�	PROPN
ap-514	51	132	�	�	PROPN
ap-514	51	133	�	�	PROPN
ap-514	51	134	e	e	NOUN
ap-514	51	135	u	u	NOUN
ap-514	51	136	t	t	X
ap-514	51	137	u	u	X
ap-514	51	138	ty	ty	INTJ
ap-514	51	139	(	(	PUNCT
ap-514	51	140	13	13	NUM
ap-514	51	141	)	)	PUNCT
ap-514	51	142	then	then	ADV
ap-514	51	143	:	:	PUNCT
ap-514	52	1	�	�	PROPN
ap-514	52	2	�	�	PROPN
ap-514	52	3	�	�	PROPN
ap-514	52	4	�	�	PROPN
ap-514	52	5	�	�	PROPN
ap-514	52	6	�	�	PROPN
ap-514	52	7	�	�	PROPN
ap-514	52	8	e	e	PROPN
ap-514	52	9	t	t	PROPN
ap-514	52	10	v	v	NUM
ap-514	52	11	h	h	NOUN
ap-514	53	1	e	e	NOUN
ap-514	53	2	ej	ej	PROPN
ap-514	53	3	j	j	PROPN
ap-514	53	4	y	y	PROPN
ap-514	53	5	u	u	PROPN
ap-514	53	6	�	�	PROPN
ap-514	53	7	�	�	PROPN
ap-514	53	8	1	1	NUM
ap-514	53	9	(	(	PUNCT
ap-514	53	10	14	14	NUM
ap-514	53	11	)	)	PUNCT
ap-514	53	12	in	in	ADP
ap-514	53	13	the	the	DET
ap-514	53	14	equation	equation	NOUN
ap-514	53	15	(	(	PUNCT
ap-514	53	16	14	14	NUM
ap-514	53	17	)	)	PUNCT
ap-514	53	18	,	,	PUNCT
ap-514	53	19	it	it	PRON
ap-514	53	20	appears	appear	VERB
ap-514	53	21	the	the	DET
ap-514	53	22	partial	partial	ADJ
ap-514	53	23	derivative	derivative	ADJ
ap-514	53	24	�	�	PROPN
ap-514	53	25	�	�	PROPN
ap-514	53	26	e	e	PROPN
ap-514	53	27	e	e	PROPN
ap-514	53	28	y	y	PROPN
ap-514	53	29	u	u	PROPN
ap-514	53	30	,	,	PUNCT
ap-514	53	31	which	which	PRON
ap-514	53	32	can	can	AUX
ap-514	53	33	be	be	AUX
ap-514	53	34	interpreted	interpret	VERB
ap-514	53	35	as	as	ADP
ap-514	53	36	some	some	DET
ap-514	53	37	kind	kind	NOUN
ap-514	53	38	of	of	ADP
ap-514	53	39	“	"	PUNCT
ap-514	53	40	equivalent	equivalent	ADJ
ap-514	53	41	gain	gain	NOUN
ap-514	53	42	”	"	PUNCT
ap-514	53	43	of	of	ADP
ap-514	53	44	the	the	DET
ap-514	53	45	process	process	NOUN
ap-514	53	46	.	.	PUNCT
ap-514	54	1	further	far	ADV
ap-514	54	2	we	we	PRON
ap-514	54	3	will	will	AUX
ap-514	54	4	make	make	VERB
ap-514	54	5	some	some	DET
ap-514	54	6	considerations	consideration	NOUN
ap-514	54	7	about	about	ADP
ap-514	54	8	that	that	DET
ap-514	54	9	term	term	NOUN
ap-514	54	10	.	.	PUNCT
ap-514	55	1	the	the	DET
ap-514	55	2	partial	partial	ADJ
ap-514	55	3	derivative	derivative	NOUN
ap-514	55	4	of	of	ADP
ap-514	55	5	function	function	NOUN
ap-514	55	6	e(t	e(t	NOUN
ap-514	55	7	)	)	PUNCT
ap-514	55	8	with	with	ADP
ap-514	55	9	respect	respect	NOUN
ap-514	55	10	to	to	ADP
ap-514	55	11	the	the	DET
ap-514	55	12	weighting	weighting	NOUN
ap-514	55	13	coefficients	coefficient	NOUN
ap-514	55	14	wji	wji	PROPN
ap-514	55	15	,	,	PUNCT
ap-514	55	16	can	can	AUX
ap-514	55	17	be	be	AUX
ap-514	55	18	obtained	obtain	VERB
ap-514	55	19	applying	apply	VERB
ap-514	55	20	again	again	ADV
ap-514	55	21	the	the	DET
ap-514	55	22	chain	chain	NOUN
ap-514	55	23	rule	rule	NOUN
ap-514	55	24	:	:	PUNCT
ap-514	55	25	�	�	PROPN
ap-514	55	26	�	�	PROPN
ap-514	55	27	�	�	PROPN
ap-514	55	28	�	�	PROPN
ap-514	55	29	�	�	PROPN
ap-514	55	30	�	�	PROPN
ap-514	55	31	�	�	PROPN
ap-514	55	32	�	�	PROPN
ap-514	55	33	�	�	PROPN
ap-514	55	34	�	�	PROPN
ap-514	55	35	�	�	PROPN
ap-514	55	36	�	�	PROPN
ap-514	55	37	�	�	PROPN
ap-514	55	38	�	�	PROPN
ap-514	55	39	�	�	PROPN
ap-514	55	40	�	�	PROPN
ap-514	55	41	�	�	PROPN
ap-514	55	42	�	�	PROPN
ap-514	55	43	�	�	PROPN
ap-514	55	44	�	�	PROPN
ap-514	55	45	�	�	PROPN
ap-514	55	46	�	�	PROPN
ap-514	55	47	�	�	PROPN
ap-514	55	48	e	e	PROPN
ap-514	55	49	t	t	PROPN
ap-514	55	50	w	w	PROPN
ap-514	55	51	e	e	PROPN
ap-514	55	52	t	t	NOUN
ap-514	55	53	e	e	X
ap-514	55	54	e	e	X
ap-514	55	55	e	e	X
ap-514	55	56	e	e	X
ap-514	55	57	u	u	NOUN
ap-514	55	58	t	t	PROPN
ap-514	55	59	u	u	NOUN
ap-514	55	60	t	t	NOUN
ap-514	55	61	r	r	NOUN
ap-514	55	62	r	r	NOUN
ap-514	55	63	h	h	NOUN
ap-514	55	64	h	h	NOUN
ap-514	55	65	s	s	PART
ap-514	55	66	s	s	VERB
ap-514	55	67	ji	ji	PROPN
ap-514	55	68	y	y	PROPN
ap-514	55	69	y	y	PROPN
ap-514	55	70	u	u	PROPN
ap-514	55	71	u	u	PROPN
ap-514	55	72	j	j	PROPN
ap-514	55	73	j	j	PROPN
ap-514	55	74	j	j	PROPN
ap-514	55	75	�	�	PROPN
ap-514	55	76	�	�	PROPN
ap-514	55	77	�	�	PROPN
ap-514	55	78	�	�	PROPN
ap-514	55	79	�	�	PROPN
ap-514	55	80	�	�	PROPN
ap-514	55	81	�	�	PROPN
ap-514	55	82	j	j	PROPN
ap-514	55	83	jiw	jiw	PROPN
ap-514	55	84	�	�	PROPN
ap-514	55	85	(	(	PUNCT
ap-514	55	86	15	15	NUM
ap-514	55	87	)	)	PUNCT
ap-514	55	88	�	�	PROPN
ap-514	55	89	�	�	PROPN
ap-514	55	90	�	�	PROPN
ap-514	55	91	�	�	PROPN
ap-514	55	92	�	�	PROPN
ap-514	55	93	�	�	PROPN
ap-514	55	94	�	�	PROPN
ap-514	55	95	�	�	PROPN
ap-514	55	96	�	�	PROPN
ap-514	55	97	�	�	PROPN
ap-514	55	98	�	�	PROPN
ap-514	55	99	�	�	PROPN
ap-514	55	100	�	�	PROPN
ap-514	55	101	�	�	PROPN
ap-514	55	102	e	e	PROPN
ap-514	55	103	t	t	PROPN
ap-514	55	104	w	w	PROPN
ap-514	55	105	e	e	PROPN
ap-514	55	106	e	e	X
ap-514	55	107	e	e	X
ap-514	55	108	u	u	NOUN
ap-514	55	109	t	t	PROPN
ap-514	55	110	u	u	NOUN
ap-514	55	111	t	t	PROPN
ap-514	55	112	v	v	NUM
ap-514	56	1	h	h	NOUN
ap-514	56	2	h	h	NOUN
ap-514	57	1	x	x	PUNCT
ap-514	58	1	ji	ji	PROPN
ap-514	58	2	y	y	PROPN
ap-514	58	3	y	y	PROPN
ap-514	58	4	u	u	PROPN
ap-514	58	5	j	j	PROPN
ap-514	58	6	j	j	PROPN
ap-514	58	7	j	j	PROPN
ap-514	58	8	i	i	PRON
ap-514	58	9	�	�	PROPN
ap-514	58	10	�	�	PROPN
ap-514	58	11	�	�	PROPN
ap-514	58	12	�	�	PROPN
ap-514	58	13	�	�	PROPN
ap-514	58	14	�	�	PROPN
ap-514	58	15	�	�	PROPN
ap-514	58	16	1	1	NUM
ap-514	58	17	1	1	NUM
ap-514	58	18	�	�	PROPN
ap-514	58	19	�	�	PROPN
ap-514	58	20	�	�	PROPN
ap-514	58	21	�	�	PROPN
ap-514	58	22	�	�	PROPN
ap-514	58	23	�	�	PROPN
ap-514	58	24	�	�	PROPN
ap-514	58	25	�	�	PROPN
ap-514	58	26	�	�	PROPN
ap-514	58	27	e	e	PROPN
ap-514	58	28	t	t	PROPN
ap-514	58	29	w	w	PROPN
ap-514	58	30	v	v	PROPN
ap-514	58	31	h	h	NOUN
ap-514	58	32	h	h	NOUN
ap-514	59	1	x	x	PUNCT
ap-514	59	2	e	e	NOUN
ap-514	59	3	eji	eji	VERB
ap-514	60	1	j	j	PROPN
ap-514	60	2	j	j	PROPN
ap-514	61	1	j	j	PROPN
ap-514	61	2	i	i	PRON
ap-514	61	3	y	y	PROPN
ap-514	61	4	u	u	PROPN
ap-514	61	5	�	�	PROPN
ap-514	61	6	�	�	PROPN
ap-514	61	7	�	�	PROPN
ap-514	61	8	1	1	NUM
ap-514	61	9	1	1	NUM
ap-514	61	10	(	(	PUNCT
ap-514	61	11	16	16	NUM
ap-514	61	12	)	)	PUNCT
ap-514	61	13	let	let	VERB
ap-514	61	14	us	we	PRON
ap-514	61	15	define	define	VERB
ap-514	61	16	:	:	PUNCT
ap-514	61	17	�	�	PROPN
ap-514	61	18	�	�	PROPN
ap-514	61	19	�	�	PROPN
ap-514	61	20	�	�	PROPN
ap-514	62	1	j	j	PROPN
ap-514	62	2	j	j	PROPN
ap-514	62	3	j	j	PROPN
ap-514	62	4	jv	jv	PROPN
ap-514	63	1	h	h	PROPN
ap-514	63	2	h2	h2	PROPN
ap-514	63	3	1	1	NUM
ap-514	63	4	1	1	NUM
ap-514	63	5	�	�	PROPN
ap-514	63	6	�	�	PROPN
ap-514	63	7	(	(	PUNCT
ap-514	63	8	17	17	NUM
ap-514	63	9	)	)	PUNCT
ap-514	63	10	and	and	CCONJ
ap-514	63	11	then	then	ADV
ap-514	63	12	:	:	PUNCT
ap-514	63	13	�	�	PROPN
ap-514	63	14	�	�	PROPN
ap-514	63	15	�	�	PROPN
ap-514	63	16	�	�	PROPN
ap-514	63	17	�	�	PROPN
ap-514	63	18	�	�	PROPN
ap-514	63	19	�	�	PROPN
ap-514	63	20	e	e	PROPN
ap-514	63	21	t	t	PROPN
ap-514	63	22	v	v	NUM
ap-514	63	23	x	x	X
ap-514	63	24	e	e	NOUN
ap-514	63	25	ej	ej	PROPN
ap-514	64	1	j	j	PROPN
ap-514	64	2	i	i	PRON
ap-514	64	3	y	y	PROPN
ap-514	64	4	u	u	PROPN
ap-514	64	5	�	�	PROPN
ap-514	64	6	�	�	PROPN
ap-514	64	7	2	2	NUM
ap-514	64	8	(	(	PUNCT
ap-514	64	9	18	18	NUM
ap-514	64	10	)	)	PUNCT
ap-514	64	11	using	use	VERB
ap-514	64	12	equations	equation	NOUN
ap-514	64	13	(	(	PUNCT
ap-514	64	14	14	14	NUM
ap-514	64	15	)	)	PUNCT
ap-514	64	16	and	and	CCONJ
ap-514	64	17	(	(	PUNCT
ap-514	64	18	18	18	NUM
ap-514	64	19	)	)	PUNCT
ap-514	64	20	,	,	PUNCT
ap-514	64	21	the	the	DET
ap-514	64	22	adjustments	adjustment	NOUN
ap-514	64	23	of	of	ADP
ap-514	64	24	weighting	weight	VERB
ap-514	64	25	coefficients	coefficient	NOUN
ap-514	64	26	vj	vj	INTJ
ap-514	64	27	,	,	PUNCT
ap-514	64	28	wji	wji	NOUN
ap-514	64	29	can	can	AUX
ap-514	64	30	be	be	AUX
ap-514	64	31	made	make	VERB
ap-514	64	32	by	by	ADP
ap-514	64	33	means	mean	NOUN
ap-514	64	34	of	of	ADP
ap-514	64	35	the	the	DET
ap-514	64	36	expressions	expression	NOUN
ap-514	64	37	:	:	PUNCT
ap-514	64	38	�	�	PROPN
ap-514	64	39	�	�	PROPN
ap-514	64	40	�	�	PROPN
ap-514	64	41	�	�	PROPN
ap-514	64	42	v	v	ADP
ap-514	64	43	t	t	PROPN
ap-514	64	44	v	v	NOUN
ap-514	64	45	t	t	NOUN
ap-514	64	46	e	e	X
ap-514	64	47	e	e	X
ap-514	64	48	hj	hj	PROPN
ap-514	64	49	j	j	PROPN
ap-514	64	50	y	y	PROPN
ap-514	64	51	u	u	PROPN
ap-514	64	52	j	j	PROPN
ap-514	64	53	�	�	PROPN
ap-514	64	54	�	�	PROPN
ap-514	64	55	�	�	PROPN
ap-514	64	56	�	�	PROPN
ap-514	64	57	�	�	PROPN
ap-514	64	58	�	�	PROPN
ap-514	64	59	�	�	PROPN
ap-514	64	60	�	�	PROPN
ap-514	64	61	�	�	PROPN
ap-514	64	62	�	�	PROPN
ap-514	64	63	�	�	PROPN
ap-514	64	64	1	1	NUM
ap-514	64	65	1	1	NUM
ap-514	64	66	�	�	PROPN
ap-514	64	67	�	�	PROPN
ap-514	64	68	�	�	PROPN
ap-514	64	69	�	�	PROPN
ap-514	64	70	(	(	PUNCT
ap-514	64	71	19	19	NUM
ap-514	64	72	)	)	PUNCT
ap-514	64	73	�	�	PROPN
ap-514	64	74	�	�	PROPN
ap-514	64	75	�	�	PROPN
ap-514	64	76	�	�	PROPN
ap-514	64	77	w	w	PROPN
ap-514	64	78	t	t	PROPN
ap-514	64	79	w	w	PROPN
ap-514	64	80	t	t	PROPN
ap-514	64	81	e	e	X
ap-514	64	82	e	e	X
ap-514	64	83	xji	xji	PROPN
ap-514	65	1	ji	ji	PROPN
ap-514	65	2	y	y	PROPN
ap-514	65	3	u	u	PROPN
ap-514	65	4	j	j	PROPN
ap-514	65	5	i	i	PRON
ap-514	65	6	�	�	PROPN
ap-514	65	7	�	�	PROPN
ap-514	65	8	�	�	PROPN
ap-514	65	9	�	�	PROPN
ap-514	65	10	�	�	PROPN
ap-514	65	11	�	�	PROPN
ap-514	65	12	�	�	PROPN
ap-514	65	13	�	�	PROPN
ap-514	65	14	�	�	PROPN
ap-514	65	15	�	�	PROPN
ap-514	65	16	�	�	PROPN
ap-514	65	17	1	1	NUM
ap-514	65	18	2	2	NUM
ap-514	65	19	�	�	PROPN
ap-514	65	20	�	�	PROPN
ap-514	65	21	�	�	PROPN
ap-514	65	22	�	�	PROPN
ap-514	65	23	(	(	PUNCT
ap-514	65	24	20	20	NUM
ap-514	65	25	)	)	PUNCT
ap-514	65	26	where	where	SCONJ
ap-514	65	27	�	�	PROPN
ap-514	65	28	is	be	AUX
ap-514	65	29	the	the	DET
ap-514	65	30	so	so	ADV
ap-514	65	31	-	-	PUNCT
ap-514	65	32	called	call	VERB
ap-514	65	33	learning	learn	VERB
ap-514	65	34	coefficient	coefficient	NOUN
ap-514	65	35	and	and	CCONJ
ap-514	65	36	�	�	PROPN
ap-514	65	37	�	�	PROPN
ap-514	65	38	e	e	PROPN
ap-514	65	39	e	e	PROPN
ap-514	65	40	y	y	PROPN
ap-514	65	41	u	u	PROPN
ap-514	65	42	is	be	AUX
ap-514	65	43	the	the	DET
ap-514	65	44	“	"	PUNCT
ap-514	65	45	equivalent	equivalent	ADJ
ap-514	65	46	gain	gain	NOUN
ap-514	65	47	”	"	PUNCT
ap-514	65	48	of	of	ADP
ap-514	65	49	the	the	DET
ap-514	65	50	plant	plant	NOUN
ap-514	65	51	.	.	PUNCT
ap-514	66	1	the	the	DET
ap-514	66	2	main	main	ADJ
ap-514	66	3	obstacle	obstacle	NOUN
ap-514	66	4	to	to	PART
ap-514	66	5	apply	apply	VERB
ap-514	66	6	the	the	DET
ap-514	66	7	adjustment	adjustment	NOUN
ap-514	66	8	equations	equation	NOUN
ap-514	66	9	(	(	PUNCT
ap-514	66	10	19	19	NUM
ap-514	66	11	)	)	PUNCT
ap-514	66	12	and	and	CCONJ
ap-514	66	13	(	(	PUNCT
ap-514	66	14	20	20	NUM
ap-514	66	15	)	)	PUNCT
ap-514	66	16	is	be	AUX
ap-514	66	17	that	that	SCONJ
ap-514	66	18	in	in	ADP
ap-514	66	19	general	general	ADJ
ap-514	66	20	the	the	DET
ap-514	66	21	plant	plant	NOUN
ap-514	66	22	equivalent	equivalent	ADJ
ap-514	66	23	gain	gain	NOUN
ap-514	66	24	�	�	PROPN
ap-514	66	25	�	�	PROPN
ap-514	66	26	e	e	PROPN
ap-514	66	27	e	e	PROPN
ap-514	66	28	y	y	PROPN
ap-514	66	29	u	u	PROPN
ap-514	66	30	is	be	AUX
ap-514	66	31	unknown	unknown	ADJ
ap-514	66	32	.	.	PUNCT
ap-514	67	1	however	however	ADV
ap-514	67	2	,	,	PUNCT
ap-514	67	3	in	in	ADP
ap-514	67	4	the	the	DET
ap-514	67	5	above	above	ADJ
ap-514	67	6	mentioned	mention	VERB
ap-514	67	7	paper	paper	NOUN
ap-514	67	8	by	by	ADP
ap-514	67	9	cui	cui	NOUN
ap-514	67	10	and	and	CCONJ
ap-514	67	11	shin	shin	NOUN
ap-514	68	1	[	[	X
ap-514	68	2	4	4	NUM
ap-514	68	3	]	]	PUNCT
ap-514	68	4	,	,	PUNCT
ap-514	68	5	it	it	PRON
ap-514	68	6	is	be	AUX
ap-514	68	7	demonstrated	demonstrate	VERB
ap-514	68	8	that	that	SCONJ
ap-514	68	9	it	it	PRON
ap-514	68	10	is	be	AUX
ap-514	68	11	only	only	ADV
ap-514	68	12	required	require	VERB
ap-514	68	13	to	to	PART
ap-514	68	14	know	know	VERB
ap-514	68	15	the	the	DET
ap-514	68	16	sign	sign	NOUN
ap-514	68	17	of	of	ADP
ap-514	68	18	that	that	DET
ap-514	68	19	term	term	NOUN
ap-514	68	20	to	to	PART
ap-514	68	21	ensure	ensure	VERB
ap-514	68	22	the	the	DET
ap-514	68	23	convergence	convergence	NOUN
ap-514	68	24	of	of	ADP
ap-514	68	25	the	the	DET
ap-514	68	26	weighting	weighting	NOUN
ap-514	68	27	coefficients	coefficient	NOUN
ap-514	68	28	,	,	PUNCT
ap-514	68	29	because	because	SCONJ
ap-514	68	30	the	the	DET
ap-514	68	31	magnitude	magnitude	NOUN
ap-514	68	32	can	can	AUX
ap-514	68	33	be	be	AUX
ap-514	68	34	incorporated	incorporate	VERB
ap-514	68	35	in	in	ADP
ap-514	68	36	the	the	DET
ap-514	68	37	learning	learning	NOUN
ap-514	68	38	coefficient	coefficient	NOUN
ap-514	68	39	�	�	PROPN
ap-514	69	1	if	if	SCONJ
ap-514	69	2	the	the	DET
ap-514	69	3	50	50	NUM
ap-514	69	4	©	©	PROPN
ap-514	69	5	czech	czech	PROPN
ap-514	69	6	technical	technical	PROPN
ap-514	69	7	university	university	PROPN
ap-514	69	8	publishing	publishing	NOUN
ap-514	69	9	house	house	NOUN
ap-514	69	10	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-514	69	11	acta	acta	PROPN
ap-514	69	12	polytechnica	polytechnica	PROPN
ap-514	69	13	vol	vol	NOUN
ap-514	69	14	.	.	PROPN
ap-514	69	15	44	44	NUM
ap-514	69	16	no	no	NOUN
ap-514	69	17	.	.	PUNCT
ap-514	70	1	1/2004	1/2004	NUM
ap-514	70	2	czech	czech	PROPN
ap-514	70	3	technical	technical	PROPN
ap-514	70	4	university	university	PROPN
ap-514	70	5	in	in	ADP
ap-514	70	6	prague	prague	PROPN
ap-514	70	7	e	e	PROPN
ap-514	70	8	t	t	PROPN
ap-514	70	9	(	(	PUNCT
ap-514	70	10	)	)	PUNCT
ap-514	70	11	e	e	PROPN
ap-514	70	12	t	t	PROPN
ap-514	70	13	(	(	PUNCT
ap-514	70	14	1	1	NUM
ap-514	70	15	)	)	PUNCT
ap-514	70	16	�	�	PROPN
ap-514	70	17	e	e	PROPN
ap-514	70	18	t	t	PROPN
ap-514	70	19	(	(	PUNCT
ap-514	70	20	2	2	NUM
ap-514	70	21	)	)	PUNCT
ap-514	70	22	�	�	PROPN
ap-514	70	23	u(t)vj	u(t)vj	PROPN
ap-514	70	24	wji	wji	NOUN
ap-514	70	25	fig	fig	NOUN
ap-514	70	26	.	.	PUNCT
ap-514	71	1	2	2	NUM
ap-514	71	2	.	.	NUM
ap-514	71	3	:	:	PUNCT
ap-514	72	1	neural	neural	ADJ
ap-514	72	2	net	net	ADJ
ap-514	72	3	controller	controller	NOUN
ap-514	72	4	structure	structure	NOUN
ap-514	72	5	non	non	ADJ
ap-514	72	6	-	-	ADJ
ap-514	72	7	restrictive	restrictive	ADJ
ap-514	72	8	condition	condition	NOUN
ap-514	72	9	�	�	PROPN
ap-514	72	10	�	�	PROPN
ap-514	72	11	e	e	PROPN
ap-514	72	12	e	e	PROPN
ap-514	72	13	y	y	PROPN
ap-514	72	14	u	u	PROPN
ap-514	72	15	�	�	PROPN
ap-514	72	16	�	�	PROPN
ap-514	72	17	is	be	AUX
ap-514	72	18	accomplished	accomplish	VERB
ap-514	72	19	.	.	PUNCT
ap-514	73	1	besides	besides	SCONJ
ap-514	73	2	,	,	PUNCT
ap-514	73	3	the	the	DET
ap-514	73	4	sign	sign	NOUN
ap-514	73	5	of	of	ADP
ap-514	73	6	�	�	PROPN
ap-514	73	7	�	�	PROPN
ap-514	73	8	e	e	PROPN
ap-514	73	9	e	e	PROPN
ap-514	73	10	y	y	PROPN
ap-514	73	11	u	u	PROPN
ap-514	73	12	can	can	AUX
ap-514	73	13	be	be	AUX
ap-514	73	14	easily	easily	ADV
ap-514	73	15	estimated	estimate	VERB
ap-514	73	16	by	by	ADP
ap-514	73	17	means	mean	NOUN
ap-514	73	18	of	of	ADP
ap-514	73	19	a	a	DET
ap-514	73	20	very	very	ADV
ap-514	73	21	simple	simple	ADJ
ap-514	73	22	auxiliary	auxiliary	ADJ
ap-514	73	23	experiment	experiment	NOUN
ap-514	73	24	,	,	PUNCT
ap-514	73	25	by	by	ADP
ap-514	73	26	instance	instance	NOUN
ap-514	73	27	,	,	PUNCT
ap-514	73	28	to	to	PART
ap-514	73	29	apply	apply	VERB
ap-514	73	30	a	a	DET
ap-514	73	31	step	step	NOUN
ap-514	73	32	function	function	NOUN
ap-514	73	33	at	at	ADP
ap-514	73	34	the	the	DET
ap-514	73	35	process	process	NOUN
ap-514	73	36	input	input	NOUN
ap-514	73	37	.	.	PUNCT
ap-514	74	1	the	the	DET
ap-514	74	2	assumption	assumption	NOUN
ap-514	74	3	that	that	SCONJ
ap-514	74	4	the	the	DET
ap-514	74	5	sign	sign	NOUN
ap-514	74	6	of	of	ADP
ap-514	74	7	the	the	DET
ap-514	74	8	gain	gain	NOUN
ap-514	74	9	remains	remain	VERB
ap-514	74	10	constant	constant	ADJ
ap-514	74	11	in	in	ADP
ap-514	74	12	a	a	DET
ap-514	74	13	neighbourhood	neighbourhood	NOUN
ap-514	74	14	of	of	ADP
ap-514	74	15	the	the	DET
ap-514	74	16	operation	operation	NOUN
ap-514	74	17	point	point	NOUN
ap-514	74	18	of	of	ADP
ap-514	74	19	the	the	DET
ap-514	74	20	process	process	NOUN
ap-514	74	21	is	be	AUX
ap-514	74	22	not	not	PART
ap-514	74	23	very	very	ADV
ap-514	74	24	strong	strong	ADJ
ap-514	74	25	and	and	CCONJ
ap-514	74	26	it	it	PRON
ap-514	74	27	is	be	AUX
ap-514	74	28	accomplished	accomplish	VERB
ap-514	74	29	in	in	ADP
ap-514	74	30	most	most	ADJ
ap-514	74	31	practical	practical	ADJ
ap-514	74	32	cases	case	NOUN
ap-514	74	33	.	.	PUNCT
ap-514	75	1	finally	finally	ADV
ap-514	75	2	,	,	PUNCT
ap-514	75	3	in	in	ADP
ap-514	75	4	the	the	DET
ap-514	75	5	worst	bad	ADJ
ap-514	75	6	of	of	ADP
ap-514	75	7	cases	case	NOUN
ap-514	75	8	,	,	PUNCT
ap-514	75	9	real	real	ADJ
ap-514	75	10	time	time	NOUN
ap-514	75	11	estimation	estimation	NOUN
ap-514	75	12	of	of	ADP
ap-514	75	13	the	the	DET
ap-514	75	14	gain	gain	NOUN
ap-514	75	15	sign	sign	NOUN
ap-514	75	16	could	could	AUX
ap-514	75	17	be	be	AUX
ap-514	75	18	incorporated	incorporate	VERB
ap-514	75	19	,	,	PUNCT
ap-514	75	20	without	without	ADP
ap-514	75	21	great	great	ADJ
ap-514	75	22	difficulties	difficulty	NOUN
ap-514	75	23	,	,	PUNCT
ap-514	75	24	in	in	ADP
ap-514	75	25	the	the	DET
ap-514	75	26	control	control	NOUN
ap-514	75	27	algorithm	algorithm	NOUN
ap-514	75	28	.	.	PUNCT
ap-514	76	1	having	have	VERB
ap-514	76	2	in	in	ADP
ap-514	76	3	mind	mind	NOUN
ap-514	76	4	the	the	DET
ap-514	76	5	above	above	ADJ
ap-514	76	6	considerations	consideration	NOUN
ap-514	76	7	,	,	PUNCT
ap-514	76	8	the	the	DET
ap-514	76	9	equations	equation	NOUN
ap-514	76	10	(	(	PUNCT
ap-514	76	11	19	19	NUM
ap-514	76	12	)	)	PUNCT
ap-514	76	13	and	and	CCONJ
ap-514	76	14	(	(	PUNCT
ap-514	76	15	20	20	NUM
ap-514	76	16	)	)	PUNCT
ap-514	76	17	could	could	AUX
ap-514	76	18	be	be	AUX
ap-514	76	19	written	write	VERB
ap-514	76	20	as	as	SCONJ
ap-514	76	21	follows	follow	VERB
ap-514	76	22	:	:	PUNCT
ap-514	76	23	�	�	PROPN
ap-514	76	24	�	�	PROPN
ap-514	76	25	�	�	PROPN
ap-514	76	26	�	�	PROPN
ap-514	76	27	v	v	ADP
ap-514	76	28	t	t	PROPN
ap-514	76	29	v	v	NOUN
ap-514	76	30	t	t	NOUN
ap-514	76	31	e	e	X
ap-514	76	32	e	e	X
ap-514	76	33	hj	hj	PROPN
ap-514	76	34	j	j	PROPN
ap-514	76	35	y	y	PROPN
ap-514	76	36	u	u	PROPN
ap-514	76	37	j	j	PROPN
ap-514	76	38	�	�	PROPN
ap-514	76	39	�	�	PROPN
ap-514	76	40	�	�	PROPN
ap-514	76	41	�	�	PROPN
ap-514	76	42	�	�	PROPN
ap-514	76	43	�	�	PROPN
ap-514	76	44	�	�	PROPN
ap-514	76	45	�	�	PROPN
ap-514	76	46	�	�	PROPN
ap-514	76	47	�	�	PROPN
ap-514	76	48	�	�	PROPN
ap-514	76	49	1	1	NUM
ap-514	76	50	1	1	NUM
ap-514	76	51	�	�	PROPN
ap-514	76	52	�	�	PROPN
ap-514	76	53	�	�	PROPN
ap-514	76	54	�	�	PROPN
ap-514	76	55	sign	sign	NOUN
ap-514	76	56	(	(	PUNCT
ap-514	76	57	21	21	NUM
ap-514	76	58	)	)	PUNCT
ap-514	76	59	�	�	PROPN
ap-514	76	60	�	�	PROPN
ap-514	76	61	�	�	PROPN
ap-514	76	62	�	�	PROPN
ap-514	76	63	w	w	PROPN
ap-514	76	64	t	t	PROPN
ap-514	76	65	w	w	PROPN
ap-514	76	66	t	t	PROPN
ap-514	76	67	e	e	X
ap-514	76	68	e	e	X
ap-514	76	69	xji	xji	PROPN
ap-514	77	1	ji	ji	PROPN
ap-514	77	2	y	y	PROPN
ap-514	77	3	u	u	PROPN
ap-514	77	4	j	j	PROPN
ap-514	77	5	i	i	PRON
ap-514	77	6	�	�	PROPN
ap-514	77	7	�	�	PROPN
ap-514	77	8	�	�	PROPN
ap-514	77	9	�	�	PROPN
ap-514	77	10	�	�	PROPN
ap-514	77	11	�	�	PROPN
ap-514	77	12	�	�	PROPN
ap-514	77	13	�	�	PROPN
ap-514	77	14	�	�	PROPN
ap-514	77	15	�	�	PROPN
ap-514	77	16	�	�	PROPN
ap-514	77	17	1	1	NUM
ap-514	77	18	2	2	NUM
ap-514	77	19	�	�	PROPN
ap-514	77	20	�	�	PROPN
ap-514	77	21	�	�	PROPN
ap-514	77	22	�	�	PROPN
ap-514	77	23	sign	sign	NOUN
ap-514	77	24	(	(	PUNCT
ap-514	77	25	22	22	NUM
ap-514	77	26	)	)	PUNCT
ap-514	77	27	the	the	DET
ap-514	77	28	right	right	ADJ
ap-514	77	29	value	value	NOUN
ap-514	77	30	of	of	ADP
ap-514	77	31	learning	learn	VERB
ap-514	77	32	coefficient	coefficient	NOUN
ap-514	77	33	�	�	PROPN
ap-514	77	34	can	can	AUX
ap-514	77	35	be	be	AUX
ap-514	77	36	experimentally	experimentally	ADV
ap-514	77	37	determined	determine	VERB
ap-514	77	38	from	from	ADP
ap-514	77	39	the	the	DET
ap-514	77	40	observation	observation	NOUN
ap-514	77	41	of	of	ADP
ap-514	77	42	closed	closed	ADJ
ap-514	77	43	loop	loop	NOUN
ap-514	77	44	system	system	NOUN
ap-514	77	45	performance	performance	NOUN
ap-514	77	46	when	when	SCONJ
ap-514	77	47	some	some	DET
ap-514	77	48	changes	change	NOUN
ap-514	77	49	are	be	AUX
ap-514	77	50	made	make	VERB
ap-514	77	51	in	in	ADP
ap-514	77	52	the	the	DET
ap-514	77	53	controlled	control	VERB
ap-514	77	54	variable	variable	ADJ
ap-514	77	55	set	set	NOUN
ap-514	77	56	-	-	PUNCT
ap-514	77	57	point	point	NOUN
ap-514	77	58	.	.	PUNCT
ap-514	78	1	the	the	DET
ap-514	78	2	equations	equation	NOUN
ap-514	78	3	(	(	PUNCT
ap-514	78	4	21	21	NUM
ap-514	78	5	)	)	PUNCT
ap-514	78	6	and	and	CCONJ
ap-514	78	7	(	(	PUNCT
ap-514	78	8	22	22	NUM
ap-514	78	9	)	)	PUNCT
ap-514	78	10	for	for	ADP
ap-514	78	11	the	the	DET
ap-514	78	12	proposed	propose	VERB
ap-514	78	13	neural	neural	ADJ
ap-514	78	14	controller	controller	NOUN
ap-514	78	15	structure	structure	NOUN
ap-514	78	16	,	,	PUNCT
ap-514	78	17	may	may	AUX
ap-514	78	18	be	be	AUX
ap-514	78	19	interpreted	interpret	VERB
ap-514	78	20	as	as	ADP
ap-514	78	21	the	the	DET
ap-514	78	22	regulator	regulator	NOUN
ap-514	78	23	adaptation	adaptation	NOUN
ap-514	78	24	equations	equation	NOUN
ap-514	78	25	instead	instead	ADV
ap-514	78	26	of	of	ADP
ap-514	78	27	training	training	NOUN
ap-514	78	28	equations	equation	NOUN
ap-514	78	29	as	as	SCONJ
ap-514	78	30	it	it	PRON
ap-514	78	31	is	be	AUX
ap-514	78	32	normally	normally	ADV
ap-514	78	33	done	do	VERB
ap-514	78	34	.	.	PUNCT
ap-514	79	1	indeed	indeed	ADV
ap-514	79	2	,	,	PUNCT
ap-514	79	3	the	the	DET
ap-514	79	4	simulation	simulation	NOUN
ap-514	79	5	study	study	NOUN
ap-514	79	6	done	do	VERB
ap-514	79	7	until	until	ADP
ap-514	79	8	now	now	ADV
ap-514	79	9	using	use	VERB
ap-514	79	10	the	the	DET
ap-514	79	11	scheme	scheme	NOUN
ap-514	79	12	shown	show	VERB
ap-514	79	13	in	in	ADP
ap-514	79	14	fig	fig	NOUN
ap-514	79	15	.	.	PUNCT
ap-514	80	1	1	1	NUM
ap-514	80	2	and	and	CCONJ
ap-514	80	3	permanently	permanently	ADV
ap-514	80	4	adjusting	adjust	VERB
ap-514	80	5	the	the	DET
ap-514	80	6	weighting	weighting	NOUN
ap-514	80	7	coefficients	coefficient	NOUN
ap-514	80	8	vj	vj	INTJ
ap-514	80	9	and	and	CCONJ
ap-514	80	10	wji	wji	NOUN
ap-514	80	11	by	by	ADP
ap-514	80	12	means	mean	NOUN
ap-514	80	13	of	of	ADP
ap-514	80	14	(	(	PUNCT
ap-514	80	15	21	21	NUM
ap-514	80	16	)	)	PUNCT
ap-514	80	17	and	and	CCONJ
ap-514	80	18	(	(	PUNCT
ap-514	80	19	22	22	NUM
ap-514	80	20	)	)	PUNCT
ap-514	80	21	allowed	allow	VERB
ap-514	80	22	us	we	PRON
ap-514	80	23	to	to	PART
ap-514	80	24	arrive	arrive	VERB
ap-514	80	25	to	to	ADP
ap-514	80	26	the	the	DET
ap-514	80	27	next	next	ADJ
ap-514	80	28	conclusions	conclusion	NOUN
ap-514	80	29	:	:	PUNCT
ap-514	80	30	�	�	PROPN
ap-514	80	31	it	it	PRON
ap-514	80	32	is	be	AUX
ap-514	80	33	not	not	PART
ap-514	80	34	in	in	ADP
ap-514	80	35	general	general	ADJ
ap-514	80	36	required	require	VERB
ap-514	80	37	a	a	DET
ap-514	80	38	previous	previous	ADJ
ap-514	80	39	training	training	NOUN
ap-514	80	40	of	of	ADP
ap-514	80	41	the	the	DET
ap-514	80	42	net	net	NOUN
ap-514	80	43	and	and	CCONJ
ap-514	80	44	once	once	ADV
ap-514	80	45	the	the	DET
ap-514	80	46	control	control	NOUN
ap-514	80	47	loop	loop	NOUN
ap-514	80	48	is	be	AUX
ap-514	80	49	closed	close	VERB
ap-514	80	50	,	,	PUNCT
ap-514	80	51	the	the	DET
ap-514	80	52	weighting	weighting	NOUN
ap-514	80	53	coefficients	coefficient	VERB
ap-514	80	54	self	self	NOUN
ap-514	80	55	-	-	PUNCT
ap-514	80	56	adjust	adjust	NOUN
ap-514	80	57	in	in	ADP
ap-514	80	58	a	a	DET
ap-514	80	59	few	few	ADJ
ap-514	80	60	control	control	NOUN
ap-514	80	61	periods	period	NOUN
ap-514	80	62	,	,	PUNCT
ap-514	80	63	carrying	carry	VERB
ap-514	80	64	the	the	DET
ap-514	80	65	regulation	regulation	NOUN
ap-514	80	66	error	error	NOUN
ap-514	80	67	ey(t	ey(t	NOUN
ap-514	80	68	)	)	PUNCT
ap-514	80	69	to	to	ADP
ap-514	80	70	zero	zero	NUM
ap-514	80	71	.	.	PUNCT
ap-514	81	1	�	�	PROPN
ap-514	81	2	the	the	DET
ap-514	81	3	dynamical	dynamical	ADJ
ap-514	81	4	performance	performance	NOUN
ap-514	81	5	of	of	ADP
ap-514	81	6	the	the	DET
ap-514	81	7	closed	close	VERB
ap-514	81	8	loop	loop	NOUN
ap-514	81	9	depends	depend	VERB
ap-514	81	10	exclusively	exclusively	ADV
ap-514	81	11	on	on	ADP
ap-514	81	12	the	the	DET
ap-514	81	13	learning	learning	NOUN
ap-514	81	14	coefficient	coefficient	PROPN
ap-514	81	15	magnitude	magnitude	NOUN
ap-514	81	16	,	,	PUNCT
ap-514	81	17	corresponding	correspond	VERB
ap-514	81	18	to	to	ADP
ap-514	81	19	higher	high	ADJ
ap-514	81	20	values	value	NOUN
ap-514	81	21	of	of	ADP
ap-514	81	22	�	�	PROPN
ap-514	81	23	,	,	PUNCT
ap-514	81	24	a	a	DET
ap-514	81	25	faster	fast	ADJ
ap-514	81	26	response	response	NOUN
ap-514	81	27	that	that	PRON
ap-514	81	28	can	can	AUX
ap-514	81	29	even	even	ADV
ap-514	81	30	present	present	VERB
ap-514	81	31	a	a	DET
ap-514	81	32	considerable	considerable	ADJ
ap-514	81	33	over	over	NOUN
ap-514	81	34	-	-	PUNCT
ap-514	81	35	shoot	shoot	NOUN
ap-514	81	36	.	.	PUNCT
ap-514	82	1	diminishing	diminish	VERB
ap-514	82	2	the	the	DET
ap-514	82	3	value	value	NOUN
ap-514	82	4	of	of	ADP
ap-514	82	5	�	�	PROPN
ap-514	82	6	,	,	PUNCT
ap-514	82	7	the	the	DET
ap-514	82	8	system	system	NOUN
ap-514	82	9	is	be	AUX
ap-514	82	10	damped	damp	VERB
ap-514	82	11	up	up	ADP
ap-514	82	12	to	to	ADP
ap-514	82	13	the	the	DET
ap-514	82	14	point	point	NOUN
ap-514	82	15	in	in	ADP
ap-514	82	16	which	which	PRON
ap-514	82	17	the	the	DET
ap-514	82	18	desired	desire	VERB
ap-514	82	19	response	response	NOUN
ap-514	82	20	is	be	AUX
ap-514	82	21	obtained	obtain	VERB
ap-514	82	22	.	.	PUNCT
ap-514	83	1	the	the	DET
ap-514	83	2	system	system	NOUN
ap-514	83	3	,	,	PUNCT
ap-514	83	4	however	however	ADV
ap-514	83	5	,	,	PUNCT
ap-514	83	6	keeps	keep	VERB
ap-514	83	7	the	the	DET
ap-514	83	8	stability	stability	NOUN
ap-514	83	9	for	for	ADP
ap-514	83	10	a	a	DET
ap-514	83	11	wide	wide	ADJ
ap-514	83	12	range	range	NOUN
ap-514	83	13	of	of	ADP
ap-514	83	14	�	�	PROPN
ap-514	83	15	values	value	NOUN
ap-514	83	16	.	.	PUNCT
ap-514	84	1	�	�	PROPN
ap-514	84	2	it	it	PRON
ap-514	84	3	is	be	AUX
ap-514	84	4	very	very	ADV
ap-514	84	5	convenient	convenient	ADJ
ap-514	84	6	to	to	PART
ap-514	84	7	use	use	VERB
ap-514	84	8	a	a	DET
ap-514	84	9	variable	variable	ADJ
ap-514	84	10	learning	learning	NOUN
ap-514	84	11	coefficient	coefficient	NOUN
ap-514	84	12	,	,	PUNCT
ap-514	84	13	using	use	VERB
ap-514	84	14	an	an	DET
ap-514	84	15	expression	expression	NOUN
ap-514	84	16	as	as	ADP
ap-514	84	17	:	:	PUNCT
ap-514	84	18	�	�	PROPN
ap-514	84	19	�	�	PROPN
ap-514	84	20	�	�	PROPN
ap-514	84	21	�	�	PROPN
ap-514	84	22	�	�	PROPN
ap-514	84	23	�	�	PROPN
ap-514	84	24	�	�	PROPN
ap-514	84	25	�	�	PROPN
ap-514	84	26	abs	ab	VERB
ap-514	84	27	e	e	NOUN
ap-514	84	28	y	y	PROPN
ap-514	84	29	(	(	PUNCT
ap-514	84	30	23	23	NUM
ap-514	84	31	)	)	PUNCT
ap-514	84	32	in	in	ADP
ap-514	84	33	this	this	DET
ap-514	84	34	way	way	NOUN
ap-514	84	35	a	a	DET
ap-514	84	36	small	small	ADJ
ap-514	84	37	basic	basic	ADJ
ap-514	84	38	value	value	NOUN
ap-514	84	39	of	of	ADP
ap-514	84	40	�	�	PROPN
ap-514	84	41	can	can	AUX
ap-514	84	42	be	be	AUX
ap-514	84	43	used	use	VERB
ap-514	84	44	,	,	PUNCT
ap-514	84	45	for	for	ADP
ap-514	84	46	instance	instance	NOUN
ap-514	84	47	�	�	PROPN
ap-514	84	48	�	�	PROPN
ap-514	84	49	01	01	NUM
ap-514	84	50	.	.	PUNCT
ap-514	84	51	,	,	PUNCT
ap-514	84	52	and	and	CCONJ
ap-514	84	53	the	the	DET
ap-514	84	54	effective	effective	ADJ
ap-514	84	55	value	value	NOUN
ap-514	84	56	�	�	PROPN
ap-514	84	57	�	�	PROPN
ap-514	84	58	is	be	AUX
ap-514	84	59	incremented	incremente	VERB
ap-514	84	60	depending	depend	VERB
ap-514	84	61	of	of	ADP
ap-514	84	62	the	the	DET
ap-514	84	63	regulation	regulation	NOUN
ap-514	84	64	error	error	NOUN
ap-514	84	65	magnitude	magnitude	NOUN
ap-514	84	66	.	.	PUNCT
ap-514	85	1	the	the	DET
ap-514	85	2	right	right	ADJ
ap-514	85	3	value	value	NOUN
ap-514	85	4	of	of	ADP
ap-514	85	5	�	�	PROPN
ap-514	85	6	can	can	AUX
ap-514	85	7	be	be	AUX
ap-514	85	8	tuned	tune	VERB
ap-514	85	9	experimentally	experimentally	ADV
ap-514	85	10	without	without	ADP
ap-514	85	11	troubles	trouble	NOUN
ap-514	85	12	.	.	PUNCT
ap-514	86	1	the	the	DET
ap-514	86	2	use	use	NOUN
ap-514	86	3	of	of	ADP
ap-514	86	4	equation	equation	NOUN
ap-514	86	5	(	(	PUNCT
ap-514	86	6	23	23	NUM
ap-514	86	7	)	)	PUNCT
ap-514	86	8	gives	give	VERB
ap-514	86	9	the	the	DET
ap-514	86	10	system	system	NOUN
ap-514	86	11	the	the	DET
ap-514	86	12	possibility	possibility	NOUN
ap-514	86	13	to	to	PART
ap-514	86	14	present	present	VERB
ap-514	86	15	a	a	DET
ap-514	86	16	fast	fast	ADJ
ap-514	86	17	response	response	NOUN
ap-514	86	18	when	when	SCONJ
ap-514	86	19	the	the	DET
ap-514	86	20	errors	error	NOUN
ap-514	86	21	are	be	AUX
ap-514	86	22	big	big	ADJ
ap-514	86	23	and	and	CCONJ
ap-514	86	24	then	then	ADV
ap-514	86	25	to	to	PART
ap-514	86	26	go	go	VERB
ap-514	86	27	slowly	slowly	ADV
ap-514	86	28	to	to	ADP
ap-514	86	29	the	the	DET
ap-514	86	30	reference	reference	NOUN
ap-514	86	31	value	value	NOUN
ap-514	86	32	.	.	PUNCT
ap-514	87	1	that	that	DET
ap-514	87	2	behaviour	behaviour	NOUN
ap-514	87	3	is	be	AUX
ap-514	87	4	,	,	PUNCT
ap-514	87	5	indeed	indeed	ADV
ap-514	87	6	,	,	PUNCT
ap-514	87	7	very	very	ADV
ap-514	87	8	convenient	convenient	ADJ
ap-514	87	9	in	in	ADP
ap-514	87	10	practice	practice	NOUN
ap-514	87	11	.	.	PUNCT
ap-514	88	1	4	4	NUM
ap-514	88	2	some	some	DET
ap-514	88	3	simulation	simulation	NOUN
ap-514	88	4	results	result	VERB
ap-514	88	5	although	although	SCONJ
ap-514	88	6	the	the	DET
ap-514	88	7	above	above	ADJ
ap-514	88	8	described	describe	VERB
ap-514	88	9	algorithm	algorithm	NOUN
ap-514	88	10	has	have	AUX
ap-514	88	11	been	be	AUX
ap-514	88	12	tested	test	VERB
ap-514	88	13	in	in	ADP
ap-514	88	14	many	many	ADJ
ap-514	88	15	examples	example	NOUN
ap-514	88	16	,	,	PUNCT
ap-514	88	17	here	here	ADV
ap-514	88	18	we	we	PRON
ap-514	88	19	will	will	AUX
ap-514	88	20	only	only	ADV
ap-514	88	21	show	show	VERB
ap-514	88	22	the	the	DET
ap-514	88	23	results	result	NOUN
ap-514	88	24	obtained	obtain	VERB
ap-514	88	25	in	in	ADP
ap-514	88	26	two	two	NUM
ap-514	88	27	simulated	simulated	ADJ
ap-514	88	28	cases	case	NOUN
ap-514	88	29	corresponding	correspond	VERB
ap-514	88	30	to	to	ADP
ap-514	88	31	non	non	ADJ
ap-514	88	32	-	-	ADJ
ap-514	88	33	linear	linear	ADJ
ap-514	88	34	processes	process	NOUN
ap-514	88	35	which	which	PRON
ap-514	88	36	can	can	AUX
ap-514	88	37	be	be	AUX
ap-514	88	38	described	describe	VERB
ap-514	88	39	by	by	ADP
ap-514	88	40	means	mean	NOUN
ap-514	88	41	of	of	ADP
ap-514	88	42	the	the	DET
ap-514	88	43	equation	equation	NOUN
ap-514	88	44	:	:	PUNCT
ap-514	88	45	�	�	PROPN
ap-514	88	46	�	�	PROPN
ap-514	88	47	�	�	PROPN
ap-514	88	48	�	�	PROPN
ap-514	88	49	�	�	PROPN
ap-514	88	50	�	�	PROPN
ap-514	88	51	�	�	PROPN
ap-514	88	52	�	�	PROPN
ap-514	88	53	y	y	PROPN
ap-514	88	54	t	t	PROPN
ap-514	88	55	k	k	PROPN
ap-514	88	56	e	e	PROPN
ap-514	88	57	t	t	PROPN
ap-514	88	58	s	s	PROPN
ap-514	88	59	t	t	PROPN
ap-514	88	60	s	s	X
ap-514	88	61	u	u	NOUN
ap-514	88	62	t	t	PROPN
ap-514	88	63	t	t	PROPN
ap-514	88	64	sd	sd	PROPN
ap-514	88	65	�	�	PROPN
ap-514	88	66	�	�	PROPN
ap-514	88	67	�	�	PROPN
ap-514	88	68	�	�	PROPN
ap-514	88	69	�	�	PROPN
ap-514	88	70	�	�	PROPN
ap-514	88	71	�	�	PROPN
ap-514	88	72	�	�	PROPN
ap-514	88	73	�	�	PROPN
ap-514	88	74	�	�	PROPN
ap-514	88	75	�	�	PROPN
ap-514	88	76	�	�	PROPN
ap-514	88	77	1	1	NUM
ap-514	88	78	2	2	NUM
ap-514	88	79	2	2	NUM
ap-514	88	80	2	2	NUM
ap-514	88	81	1	1	NUM
ap-514	88	82	1	1	NUM
ap-514	88	83	(	(	PUNCT
ap-514	88	84	24	24	NUM
ap-514	88	85	)	)	PUNCT
ap-514	88	86	the	the	DET
ap-514	88	87	simulation	simulation	NOUN
ap-514	88	88	was	be	AUX
ap-514	88	89	carried	carry	VERB
ap-514	88	90	out	out	ADP
ap-514	88	91	on	on	ADP
ap-514	88	92	a	a	DET
ap-514	88	93	real	real	ADJ
ap-514	88	94	time	time	NOUN
ap-514	88	95	environment	environment	NOUN
ap-514	88	96	provided	provide	VERB
ap-514	88	97	by	by	ADP
ap-514	88	98	the	the	DET
ap-514	88	99	cpg	cpg	NOUN
ap-514	88	100	system	system	NOUN
ap-514	88	101	(	(	PUNCT
ap-514	88	102	aguado	aguado	NOUN
ap-514	88	103	,	,	PUNCT
ap-514	88	104	1992	1992	NUM
ap-514	88	105	)	)	PUNCT
ap-514	88	106	so	so	SCONJ
ap-514	88	107	that	that	SCONJ
ap-514	88	108	the	the	DET
ap-514	88	109	obtained	obtain	VERB
ap-514	88	110	results	result	NOUN
ap-514	88	111	are	be	AUX
ap-514	88	112	very	very	ADV
ap-514	88	113	close	close	ADJ
ap-514	88	114	to	to	ADP
ap-514	88	115	those	those	PRON
ap-514	88	116	that	that	PRON
ap-514	88	117	could	could	AUX
ap-514	88	118	be	be	AUX
ap-514	88	119	expected	expect	VERB
ap-514	88	120	in	in	ADP
ap-514	88	121	a	a	DET
ap-514	88	122	real	real	ADJ
ap-514	88	123	process	process	NOUN
ap-514	88	124	.	.	PUNCT
ap-514	89	1	in	in	ADP
ap-514	89	2	fig	fig	NOUN
ap-514	89	3	.	.	PUNCT
ap-514	90	1	3	3	NUM
ap-514	90	2	it	it	PRON
ap-514	90	3	is	be	AUX
ap-514	90	4	represented	represent	VERB
ap-514	90	5	the	the	DET
ap-514	90	6	closed	closed	ADJ
ap-514	90	7	loop	loop	NOUN
ap-514	90	8	behavior	behavior	NOUN
ap-514	90	9	corresponding	correspond	VERB
ap-514	90	10	to	to	ADP
ap-514	90	11	the	the	DET
ap-514	90	12	next	next	ADJ
ap-514	90	13	process	process	NOUN
ap-514	90	14	and	and	CCONJ
ap-514	90	15	regulator	regulator	NOUN
ap-514	90	16	parameters	parameter	NOUN
ap-514	90	17	:	:	PUNCT
ap-514	91	1	t	t	PROPN
ap-514	91	2	t	t	PROPN
ap-514	91	3	td	td	PROPN
ap-514	91	4	�	�	PROPN
ap-514	91	5	�	�	PROPN
ap-514	91	6	�	�	PROPN
ap-514	91	7	5	5	NUM
ap-514	91	8	3	3	NUM
ap-514	91	9	51	51	NUM
ap-514	91	10	2s	2s	PROPN
ap-514	91	11	s	s	X
ap-514	91	12	s	s	NOUN
ap-514	91	13	,	,	PUNCT
ap-514	91	14	,	,	PUNCT
ap-514	91	15	,	,	PUNCT
ap-514	91	16	(	(	PUNCT
ap-514	91	17	25	25	NUM
ap-514	91	18	)	)	PUNCT
ap-514	91	19	�	�	PROPN
ap-514	91	20	�	�	PROPN
ap-514	91	21	�	�	PROPN
ap-514	91	22	�	�	PROPN
ap-514	91	23	06	06	NUM
ap-514	91	24	0	0	NUM
ap-514	91	25	4	4	NUM
ap-514	91	26	.	.	NUM
ap-514	91	27	,	,	PUNCT
ap-514	91	28	.	.	PUNCT
ap-514	91	29	.	.	PUNCT
ap-514	92	1	(	(	PUNCT
ap-514	92	2	26	26	NUM
ap-514	92	3	)	)	PUNCT
ap-514	92	4	as	as	SCONJ
ap-514	92	5	can	can	AUX
ap-514	92	6	be	be	AUX
ap-514	92	7	seen	see	VERB
ap-514	92	8	,	,	PUNCT
ap-514	92	9	a	a	DET
ap-514	92	10	practically	practically	ADV
ap-514	92	11	perfect	perfect	ADJ
ap-514	92	12	response	response	NOUN
ap-514	92	13	is	be	AUX
ap-514	92	14	obtained	obtain	VERB
ap-514	92	15	when	when	SCONJ
ap-514	92	16	positive	positive	ADJ
ap-514	92	17	and	and	CCONJ
ap-514	92	18	negative	negative	ADJ
ap-514	92	19	step	step	NOUN
ap-514	92	20	changes	change	NOUN
ap-514	92	21	in	in	ADP
ap-514	92	22	the	the	DET
ap-514	92	23	reference	reference	NOUN
ap-514	92	24	output	output	NOUN
ap-514	92	25	value	value	NOUN
ap-514	92	26	are	be	AUX
ap-514	92	27	applied	apply	VERB
ap-514	92	28	.	.	PUNCT
ap-514	93	1	given	give	VERB
ap-514	93	2	that	that	SCONJ
ap-514	93	3	the	the	DET
ap-514	93	4	time	time	NOUN
ap-514	93	5	constants	constant	NOUN
ap-514	93	6	are	be	AUX
ap-514	93	7	relatively	relatively	ADV
ap-514	93	8	small	small	ADJ
ap-514	93	9	,	,	PUNCT
ap-514	93	10	the	the	DET
ap-514	93	11	values	value	NOUN
ap-514	93	12	of	of	ADP
ap-514	93	13	�	�	PROPN
ap-514	93	14	and	and	CCONJ
ap-514	93	15	�	�	PROPN
ap-514	93	16	can	can	AUX
ap-514	93	17	be	be	AUX
ap-514	93	18	chosen	choose	VERB
ap-514	93	19	relatively	relatively	ADV
ap-514	93	20	big	big	ADJ
ap-514	93	21	without	without	ADP
ap-514	93	22	producing	produce	VERB
ap-514	93	23	positive	positive	ADJ
ap-514	93	24	or	or	CCONJ
ap-514	93	25	negative	negative	ADJ
ap-514	93	26	over	over	NOUN
ap-514	93	27	-	-	PUNCT
ap-514	93	28	shoots	shoot	NOUN
ap-514	93	29	.	.	PUNCT
ap-514	94	1	this	this	DET
ap-514	94	2	type	type	NOUN
ap-514	94	3	of	of	ADP
ap-514	94	4	performance	performance	NOUN
ap-514	94	5	is	be	AUX
ap-514	94	6	observed	observe	VERB
ap-514	94	7	in	in	ADP
ap-514	94	8	general	general	ADJ
ap-514	94	9	,	,	PUNCT
ap-514	94	10	it	it	PRON
ap-514	94	11	means	mean	VERB
ap-514	94	12	that	that	SCONJ
ap-514	94	13	for	for	ADP
ap-514	94	14	fast	fast	ADJ
ap-514	94	15	dynamics	dynamic	NOUN
ap-514	94	16	processes	process	NOUN
ap-514	94	17	,	,	PUNCT
ap-514	94	18	it	it	PRON
ap-514	94	19	is	be	AUX
ap-514	94	20	possible	possible	ADJ
ap-514	94	21	and	and	CCONJ
ap-514	94	22	convenient	convenient	ADJ
ap-514	94	23	a	a	DET
ap-514	94	24	fast	fast	ADJ
ap-514	94	25	learning	learning	NOUN
ap-514	94	26	of	of	ADP
ap-514	94	27	the	the	DET
ap-514	94	28	net	net	NOUN
ap-514	94	29	.	.	PUNCT
ap-514	95	1	we	we	PRON
ap-514	95	2	have	have	AUX
ap-514	95	3	observed	observe	VERB
ap-514	95	4	that	that	SCONJ
ap-514	95	5	for	for	ADP
ap-514	95	6	time	time	NOUN
ap-514	95	7	constants	constant	NOUN
ap-514	95	8	in	in	ADP
ap-514	95	9	the	the	DET
ap-514	95	10	order	order	NOUN
ap-514	95	11	of	of	ADP
ap-514	95	12	milliseconds	millisecond	NOUN
ap-514	95	13	,	,	PUNCT
ap-514	95	14	values	value	NOUN
ap-514	95	15	of	of	ADP
ap-514	95	16	�	�	PROPN
ap-514	95	17	of	of	ADP
ap-514	95	18	5	5	NUM
ap-514	95	19	and	and	CCONJ
ap-514	95	20	more	more	ADJ
ap-514	95	21	can	can	AUX
ap-514	95	22	be	be	AUX
ap-514	95	23	used	use	VERB
ap-514	95	24	.	.	PUNCT
ap-514	96	1	©	©	PROPN
ap-514	96	2	czech	czech	PROPN
ap-514	96	3	technical	technical	PROPN
ap-514	96	4	university	university	PROPN
ap-514	96	5	publishing	publishing	NOUN
ap-514	96	6	house	house	NOUN
ap-514	96	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-514	96	8	51	51	NUM
ap-514	96	9	czech	czech	PROPN
ap-514	96	10	technical	technical	PROPN
ap-514	96	11	university	university	PROPN
ap-514	96	12	in	in	ADP
ap-514	96	13	prague	prague	PROPN
ap-514	96	14	acta	acta	PROPN
ap-514	96	15	polytechnica	polytechnica	PROPN
ap-514	96	16	vol	vol	NOUN
ap-514	96	17	.	.	PROPN
ap-514	97	1	44	44	NUM
ap-514	97	2	no	no	NOUN
ap-514	97	3	.	.	PUNCT
ap-514	98	1	1/2004	1/2004	NUM
ap-514	98	2	fig	fig	NOUN
ap-514	98	3	3	3	NUM
ap-514	98	4	.	.	PUNCT
ap-514	98	5	:	:	PUNCT
ap-514	99	1	closed	close	VERB
ap-514	99	2	loop	loop	NOUN
ap-514	99	3	behaviour	behaviour	NOUN
ap-514	99	4	for	for	ADP
ap-514	99	5	process	process	NOUN
ap-514	99	6	in	in	ADP
ap-514	99	7	equations	equation	NOUN
ap-514	99	8	(	(	PUNCT
ap-514	99	9	25	25	NUM
ap-514	99	10	)	)	PUNCT
ap-514	99	11	in	in	ADP
ap-514	99	12	fig	fig	NOUN
ap-514	99	13	.	.	PUNCT
ap-514	100	1	4	4	NUM
ap-514	100	2	,	,	PUNCT
ap-514	100	3	it	it	PRON
ap-514	100	4	is	be	AUX
ap-514	100	5	represented	represent	VERB
ap-514	100	6	the	the	DET
ap-514	100	7	close	close	ADJ
ap-514	100	8	loop	loop	NOUN
ap-514	100	9	performance	performance	NOUN
ap-514	100	10	for	for	ADP
ap-514	100	11	the	the	DET
ap-514	100	12	next	next	ADJ
ap-514	100	13	constants	constant	NOUN
ap-514	100	14	values	value	NOUN
ap-514	100	15	:	:	PUNCT
ap-514	100	16	t	t	PROPN
ap-514	100	17	t	t	PROPN
ap-514	100	18	td	td	PROPN
ap-514	100	19	�	�	PROPN
ap-514	100	20	�	�	PROPN
ap-514	100	21	�	�	PROPN
ap-514	100	22	60	60	NUM
ap-514	100	23	10	10	NUM
ap-514	100	24	201	201	NUM
ap-514	100	25	2s	2s	PROPN
ap-514	100	26	s	s	X
ap-514	100	27	s	s	NOUN
ap-514	100	28	,	,	PUNCT
ap-514	100	29	,	,	PUNCT
ap-514	100	30	,	,	PUNCT
ap-514	100	31	(	(	PUNCT
ap-514	100	32	27	27	NUM
ap-514	100	33	)	)	PUNCT
ap-514	100	34	�	�	PROPN
ap-514	100	35	�	�	PROPN
ap-514	100	36	�	�	PROPN
ap-514	100	37	�	�	PROPN
ap-514	100	38	005	005	NUM
ap-514	100	39	020	020	NUM
ap-514	100	40	.	.	PUNCT
ap-514	100	41	,	,	PUNCT
ap-514	100	42	.	.	PUNCT
ap-514	100	43	.	.	PUNCT
ap-514	101	1	(	(	PUNCT
ap-514	101	2	28	28	NUM
ap-514	101	3	)	)	PUNCT
ap-514	101	4	as	as	SCONJ
ap-514	101	5	can	can	AUX
ap-514	101	6	be	be	AUX
ap-514	101	7	observed	observe	VERB
ap-514	101	8	,	,	PUNCT
ap-514	101	9	we	we	PRON
ap-514	101	10	have	have	VERB
ap-514	101	11	a	a	DET
ap-514	101	12	large	large	ADJ
ap-514	101	13	time	time	NOUN
ap-514	101	14	-	-	PUNCT
ap-514	101	15	delay	delay	VERB
ap-514	101	16	non	non	ADJ
ap-514	101	17	linear	linear	PROPN
ap-514	101	18	system	system	NOUN
ap-514	101	19	which	which	PRON
ap-514	101	20	can	can	AUX
ap-514	101	21	be	be	AUX
ap-514	101	22	hardly	hardly	ADV
ap-514	101	23	controlled	control	VERB
ap-514	101	24	by	by	ADP
ap-514	101	25	a	a	DET
ap-514	101	26	conventional	conventional	ADJ
ap-514	101	27	adaptive	adaptive	ADJ
ap-514	101	28	algorithm	algorithm	NOUN
ap-514	101	29	,	,	PUNCT
ap-514	101	30	for	for	ADP
ap-514	101	31	instance	instance	NOUN
ap-514	101	32	a	a	DET
ap-514	101	33	self	self	NOUN
ap-514	101	34	-	-	PUNCT
ap-514	101	35	tuning	tune	VERB
ap-514	101	36	pid	pid	NOUN
ap-514	101	37	.	.	PUNCT
ap-514	102	1	however	however	ADV
ap-514	102	2	,	,	PUNCT
ap-514	102	3	with	with	ADP
ap-514	102	4	the	the	DET
ap-514	102	5	adaptive	adaptive	ADJ
ap-514	102	6	neural	neural	ADJ
ap-514	102	7	regulator	regulator	NOUN
ap-514	102	8	,	,	PUNCT
ap-514	102	9	it	it	PRON
ap-514	102	10	is	be	AUX
ap-514	102	11	obtained	obtain	VERB
ap-514	102	12	a	a	DET
ap-514	102	13	response	response	NOUN
ap-514	102	14	that	that	PRON
ap-514	102	15	can	can	AUX
ap-514	102	16	be	be	AUX
ap-514	102	17	considered	consider	VERB
ap-514	102	18	as	as	ADP
ap-514	102	19	very	very	ADV
ap-514	102	20	good	good	ADJ
ap-514	102	21	,	,	PUNCT
ap-514	102	22	given	give	VERB
ap-514	102	23	the	the	DET
ap-514	102	24	process	process	NOUN
ap-514	102	25	characteristics	characteristic	NOUN
ap-514	102	26	.	.	PUNCT
ap-514	103	1	notice	notice	VERB
ap-514	103	2	that	that	SCONJ
ap-514	103	3	in	in	ADP
ap-514	103	4	this	this	DET
ap-514	103	5	case	case	NOUN
ap-514	103	6	,	,	PUNCT
ap-514	103	7	the	the	DET
ap-514	103	8	values	value	NOUN
ap-514	103	9	of	of	ADP
ap-514	103	10	�	�	PROPN
ap-514	103	11	and	and	CCONJ
ap-514	103	12	�	�	PROPN
ap-514	103	13	are	be	AUX
ap-514	103	14	considerably	considerably	ADV
ap-514	103	15	smaller	small	ADJ
ap-514	103	16	,	,	PUNCT
ap-514	103	17	as	as	SCONJ
ap-514	103	18	expected	expect	VERB
ap-514	103	19	,	,	PUNCT
ap-514	103	20	given	give	VERB
ap-514	103	21	that	that	SCONJ
ap-514	103	22	the	the	DET
ap-514	103	23	process	process	NOUN
ap-514	103	24	dynamics	dynamic	NOUN
ap-514	103	25	is	be	AUX
ap-514	103	26	much	much	ADV
ap-514	103	27	slower	slow	ADJ
ap-514	103	28	.	.	PUNCT
ap-514	104	1	5	5	NUM
ap-514	104	2	conclusions	conclusion	NOUN
ap-514	104	3	the	the	DET
ap-514	104	4	self	self	NOUN
ap-514	104	5	-	-	PUNCT
ap-514	104	6	tuning	tune	VERB
ap-514	104	7	control	control	NOUN
ap-514	104	8	algorithm	algorithm	NOUN
ap-514	104	9	based	base	VERB
ap-514	104	10	on	on	ADP
ap-514	104	11	a	a	DET
ap-514	104	12	neural	neural	ADJ
ap-514	104	13	net	net	NOUN
ap-514	104	14	presented	present	VERB
ap-514	104	15	in	in	ADP
ap-514	104	16	this	this	DET
ap-514	104	17	paper	paper	NOUN
ap-514	104	18	,	,	PUNCT
ap-514	104	19	promise	promise	VERB
ap-514	104	20	to	to	PART
ap-514	104	21	be	be	AUX
ap-514	104	22	a	a	DET
ap-514	104	23	very	very	ADV
ap-514	104	24	interesting	interesting	ADJ
ap-514	104	25	option	option	NOUN
ap-514	104	26	for	for	ADP
ap-514	104	27	the	the	DET
ap-514	104	28	control	control	NOUN
ap-514	104	29	of	of	ADP
ap-514	104	30	processes	process	NOUN
ap-514	104	31	with	with	ADP
ap-514	104	32	a	a	DET
ap-514	104	33	difficult	difficult	ADJ
ap-514	104	34	dynamics	dynamic	NOUN
ap-514	104	35	that	that	PRON
ap-514	104	36	could	could	AUX
ap-514	104	37	not	not	PART
ap-514	104	38	be	be	AUX
ap-514	104	39	adequately	adequately	ADV
ap-514	104	40	controlled	control	VERB
ap-514	104	41	with	with	ADP
ap-514	104	42	pid	pid	NOUN
ap-514	104	43	regulators	regulator	NOUN
ap-514	104	44	,	,	PUNCT
ap-514	104	45	even	even	ADV
ap-514	104	46	in	in	ADP
ap-514	104	47	their	their	PRON
ap-514	104	48	self	self	NOUN
ap-514	104	49	-	-	PUNCT
ap-514	104	50	tuning	tune	VERB
ap-514	104	51	versions	version	NOUN
ap-514	104	52	,	,	PUNCT
ap-514	104	53	as	as	SCONJ
ap-514	104	54	it	it	PRON
ap-514	104	55	was	be	AUX
ap-514	104	56	shown	show	VERB
ap-514	104	57	in	in	ADP
ap-514	104	58	the	the	DET
ap-514	104	59	above	above	ADJ
ap-514	104	60	presented	present	VERB
ap-514	104	61	simulation	simulation	NOUN
ap-514	104	62	cases	case	NOUN
ap-514	104	63	.	.	PUNCT
ap-514	105	1	the	the	DET
ap-514	105	2	class	class	NOUN
ap-514	105	3	of	of	ADP
ap-514	105	4	processes	process	NOUN
ap-514	105	5	in	in	ADP
ap-514	105	6	which	which	PRON
ap-514	105	7	the	the	DET
ap-514	105	8	algorithm	algorithm	NOUN
ap-514	105	9	could	could	AUX
ap-514	105	10	be	be	AUX
ap-514	105	11	applied	apply	VERB
ap-514	105	12	is	be	AUX
ap-514	105	13	very	very	ADV
ap-514	105	14	wide	wide	ADJ
ap-514	105	15	and	and	CCONJ
ap-514	105	16	it	it	PRON
ap-514	105	17	includes	include	VERB
ap-514	105	18	most	most	ADJ
ap-514	105	19	of	of	ADP
ap-514	105	20	the	the	DET
ap-514	105	21	cases	case	NOUN
ap-514	105	22	that	that	PRON
ap-514	105	23	can	can	AUX
ap-514	105	24	appear	appear	VERB
ap-514	105	25	in	in	ADP
ap-514	105	26	practice	practice	NOUN
ap-514	105	27	.	.	PUNCT
ap-514	106	1	in	in	ADP
ap-514	106	2	the	the	DET
ap-514	106	3	near	near	ADJ
ap-514	106	4	future	future	NOUN
ap-514	106	5	,	,	PUNCT
ap-514	106	6	we	we	PRON
ap-514	106	7	plan	plan	VERB
ap-514	106	8	to	to	PART
ap-514	106	9	apply	apply	VERB
ap-514	106	10	the	the	DET
ap-514	106	11	algorithm	algorithm	NOUN
ap-514	106	12	to	to	ADP
ap-514	106	13	some	some	DET
ap-514	106	14	real	real	ADJ
ap-514	106	15	laboratory	laboratory	NOUN
ap-514	106	16	processes	process	NOUN
ap-514	106	17	and	and	CCONJ
ap-514	106	18	to	to	PART
ap-514	106	19	extend	extend	VERB
ap-514	106	20	the	the	DET
ap-514	106	21	obtained	obtain	VERB
ap-514	106	22	results	result	NOUN
ap-514	106	23	to	to	ADP
ap-514	106	24	the	the	DET
ap-514	106	25	case	case	NOUN
ap-514	106	26	of	of	ADP
ap-514	106	27	multivariable	multivariable	ADJ
ap-514	106	28	and	and	CCONJ
ap-514	106	29	multiconnected	multiconnecte	VERB
ap-514	106	30	systems	system	NOUN
ap-514	106	31	.	.	PUNCT
ap-514	107	1	references	reference	NOUN
ap-514	107	2	[	[	X
ap-514	107	3	1	1	NUM
ap-514	107	4	]	]	PUNCT
ap-514	107	5	aguado	aguado	PROPN
ap-514	107	6	a.	a.	NOUN
ap-514	107	7	:	:	PUNCT
ap-514	107	8	controlador	controlador	PROPN
ap-514	107	9	de	de	PROPN
ap-514	107	10	propósito	propósito	PROPN
ap-514	107	11	general	general	PROPN
ap-514	107	12	.	.	PUNCT
ap-514	108	1	memorias	memorias	PROPN
ap-514	108	2	del	del	PROPN
ap-514	108	3	v	v	PROPN
ap-514	108	4	congreso	congreso	PROPN
ap-514	108	5	latinoamericano	latinoamericano	PROPN
ap-514	108	6	de	de	PROPN
ap-514	108	7	control	control	PROPN
ap-514	108	8	automático	automático	PROPN
ap-514	108	9	,	,	PUNCT
ap-514	108	10	la	la	DET
ap-514	108	11	habana	habana	PROPN
ap-514	108	12	,	,	PUNCT
ap-514	108	13	cuba	cuba	PROPN
ap-514	108	14	,	,	PUNCT
ap-514	108	15	1992	1992	NUM
ap-514	108	16	.	.	PUNCT
ap-514	109	1	[	[	X
ap-514	109	2	2	2	X
ap-514	109	3	]	]	PUNCT
ap-514	109	4	aguado	aguado	PROPN
ap-514	109	5	a.	a.	PROPN
ap-514	109	6	,	,	PUNCT
ap-514	109	7	del	del	PROPN
ap-514	109	8	pozo	pozo	PROPN
ap-514	109	9	a.	a.	PROPN
ap-514	109	10	:	:	PUNCT
ap-514	109	11	esquema	esquema	PROPN
ap-514	109	12	de	de	PROPN
ap-514	109	13	control	control	PROPN
ap-514	109	14	combinado	combinado	PROPN
ap-514	109	15	usando	usando	PROPN
ap-514	109	16	redes	redes	PROPN
ap-514	109	17	neuronales	neuronales	PROPN
ap-514	109	18	.	.	PUNCT
ap-514	110	1	memorias	memorias	PROPN
ap-514	110	2	de	de	PROPN
ap-514	110	3	cimaf	cimaf	PROPN
ap-514	110	4	97	97	NUM
ap-514	110	5	,	,	PUNCT
ap-514	110	6	la	la	PROPN
ap-514	110	7	habana	habana	PROPN
ap-514	110	8	,	,	PUNCT
ap-514	110	9	cuba	cuba	PROPN
ap-514	110	10	,	,	PUNCT
ap-514	110	11	1997	1997	NUM
ap-514	110	12	[	[	X
ap-514	110	13	3	3	X
ap-514	110	14	]	]	X
ap-514	110	15	bhat	bhat	PROPN
ap-514	110	16	n.	n.	PROPN
ap-514	110	17	,	,	PUNCT
ap-514	110	18	mcavoy	mcavoy	PROPN
ap-514	110	19	t.	t.	PROPN
ap-514	110	20	j.	j.	PROPN
ap-514	110	21	:	:	PUNCT
ap-514	110	22	“	"	PUNCT
ap-514	110	23	use	use	NOUN
ap-514	110	24	of	of	ADP
ap-514	110	25	neural	neural	ADJ
ap-514	110	26	nets	net	NOUN
ap-514	110	27	for	for	ADP
ap-514	110	28	dynamic	dynamic	ADJ
ap-514	110	29	modelling	modelling	NOUN
ap-514	110	30	and	and	CCONJ
ap-514	110	31	control	control	NOUN
ap-514	110	32	of	of	ADP
ap-514	110	33	chemical	chemical	NOUN
ap-514	110	34	process	process	NOUN
ap-514	110	35	systems	system	NOUN
ap-514	110	36	.	.	PUNCT
ap-514	110	37	”	"	PUNCT
ap-514	111	1	computers	computer	NOUN
ap-514	111	2	on	on	ADP
ap-514	111	3	chem	chem	NOUN
ap-514	111	4	.	.	PUNCT
ap-514	112	1	engineering	engineering	NOUN
ap-514	112	2	,	,	PUNCT
ap-514	112	3	vol	vol	NOUN
ap-514	112	4	.	.	PROPN
ap-514	112	5	14	14	NUM
ap-514	112	6	(	(	PUNCT
ap-514	112	7	1990	1990	NUM
ap-514	112	8	)	)	PUNCT
ap-514	112	9	,	,	PUNCT
ap-514	112	10	no	no	INTJ
ap-514	112	11	.	.	NOUN
ap-514	112	12	4/5	4/5	NUM
ap-514	112	13	,	,	PUNCT
ap-514	112	14	p.	p.	NOUN
ap-514	112	15	573–583	573–583	NUM
ap-514	112	16	.	.	PUNCT
ap-514	113	1	[	[	X
ap-514	113	2	4	4	X
ap-514	113	3	]	]	X
ap-514	113	4	cui	cui	NOUN
ap-514	113	5	x.	x.	PROPN
ap-514	113	6	,	,	PUNCT
ap-514	113	7	shin	shin	PROPN
ap-514	113	8	k.	k.	PROPN
ap-514	113	9	g.	g.	PROPN
ap-514	113	10	:	:	PUNCT
ap-514	113	11	“	"	PUNCT
ap-514	113	12	direct	direct	ADJ
ap-514	113	13	control	control	NOUN
ap-514	113	14	and	and	CCONJ
ap-514	113	15	coordination	coordination	NOUN
ap-514	113	16	using	use	VERB
ap-514	113	17	neural	neural	ADJ
ap-514	113	18	networks	network	NOUN
ap-514	113	19	.	.	PUNCT
ap-514	113	20	”	"	PUNCT
ap-514	113	21	ieee	ieee	NOUN
ap-514	113	22	transactions	transaction	NOUN
ap-514	113	23	on	on	ADP
ap-514	113	24	systems	system	NOUN
ap-514	113	25	,	,	PUNCT
ap-514	113	26	man	man	NOUN
ap-514	113	27	and	and	CCONJ
ap-514	113	28	cybernetics	cybernetic	NOUN
ap-514	113	29	,	,	PUNCT
ap-514	113	30	vol	vol	NOUN
ap-514	113	31	.	.	PROPN
ap-514	113	32	23	23	NUM
ap-514	113	33	(	(	PUNCT
ap-514	113	34	1992	1992	NUM
ap-514	113	35	)	)	PUNCT
ap-514	113	36	,	,	PUNCT
ap-514	113	37	no	no	INTJ
ap-514	113	38	.	.	NOUN
ap-514	113	39	3	3	NUM
ap-514	113	40	,	,	PUNCT
ap-514	113	41	p.	p.	NOUN
ap-514	113	42	686–697	686–697	NUM
ap-514	113	43	.	.	PUNCT
ap-514	114	1	[	[	X
ap-514	114	2	5	5	NUM
ap-514	114	3	]	]	X
ap-514	114	4	narendra	narendra	PROPN
ap-514	114	5	k.	k.	PROPN
ap-514	114	6	s.	s.	PROPN
ap-514	114	7	,	,	PUNCT
ap-514	114	8	parthasaraty	parthasaraty	PROPN
ap-514	114	9	k.	k.	PROPN
ap-514	114	10	:	:	PUNCT
ap-514	114	11	“	"	PUNCT
ap-514	114	12	identification	identification	NOUN
ap-514	114	13	and	and	CCONJ
ap-514	114	14	control	control	NOUN
ap-514	114	15	of	of	ADP
ap-514	114	16	dynamical	dynamical	ADJ
ap-514	114	17	systems	system	NOUN
ap-514	114	18	using	use	VERB
ap-514	114	19	neural	neural	ADJ
ap-514	114	20	networks	network	NOUN
ap-514	114	21	.	.	PUNCT
ap-514	114	22	”	"	PUNCT
ap-514	115	1	ieee	ieee	NOUN
ap-514	115	2	transactions	transaction	NOUN
ap-514	115	3	on	on	ADP
ap-514	115	4	neural	neural	ADJ
ap-514	115	5	networks	network	NOUN
ap-514	115	6	,	,	PUNCT
ap-514	115	7	vol	vol	NOUN
ap-514	115	8	.	.	PROPN
ap-514	115	9	1	1	NUM
ap-514	115	10	(	(	PUNCT
ap-514	115	11	1990	1990	NUM
ap-514	115	12	)	)	PUNCT
ap-514	115	13	,	,	PUNCT
ap-514	115	14	no	no	INTJ
ap-514	115	15	.	.	NOUN
ap-514	116	1	1	1	X
ap-514	116	2	.	.	X
ap-514	116	3	m	m	PROPN
ap-514	116	4	c.	c.	PROPN
ap-514	116	5	alfonso	alfonso	PROPN
ap-514	116	6	noriega	noriega	PROPN
ap-514	116	7	ponce	ponce	PROPN
ap-514	116	8	phone	phone	PROPN
ap-514	116	9	:	:	PUNCT
ap-514	116	10	01	01	NUM
ap-514	116	11	(	(	PUNCT
ap-514	116	12	442	442	NUM
ap-514	116	13	)	)	PUNCT
ap-514	116	14	1921264	1921264	NUM
ap-514	116	15	fax	fax	NOUN
ap-514	116	16	:	:	PUNCT
ap-514	116	17	01	01	NUM
ap-514	116	18	(	(	PUNCT
ap-514	116	19	442	442	NUM
ap-514	116	20	)	)	PUNCT
ap-514	116	21	1921264	1921264	NUM
ap-514	116	22	ext	ext	NOUN
ap-514	116	23	.	.	PROPN
ap-514	117	1	103	103	NUM
ap-514	117	2	e	e	NOUN
ap-514	117	3	-	-	NOUN
ap-514	117	4	mail	mail	NOUN
ap-514	117	5	:	:	PUNCT
ap-514	117	6	anoriega@uaq.mx	anoriega@uaq.mx	PROPN
ap-514	117	7	dr	dr	PROPN
ap-514	117	8	.	.	PROPN
ap-514	117	9	alberto	alberto	PROPN
ap-514	117	10	aguado	aguado	PROPN
ap-514	117	11	behar	behar	PROPN
ap-514	117	12	m.	m.	PROPN
ap-514	117	13	c.	c.	PROPN
ap-514	117	14	antonio	antonio	PROPN
ap-514	117	15	ordaz	ordaz	PROPN
ap-514	117	16	hernández	hernández	PROPN
ap-514	117	17	dr	dr	PROPN
ap-514	117	18	.	.	PROPN
ap-514	117	19	vladimir	vladimir	PROPN
ap-514	117	20	rauch	rauch	PROPN
ap-514	117	21	sitar	sitar	PROPN
ap-514	117	22	universidad	universidad	PROPN
ap-514	117	23	autónoma	autónoma	PROPN
ap-514	117	24	de	de	X
ap-514	117	25	querétaro	querétaro	PROPN
ap-514	117	26	centro	centro	PROPN
ap-514	117	27	universitario	universitario	PROPN
ap-514	117	28	santiago	santiago	PROPN
ap-514	117	29	de	de	X
ap-514	117	30	querétaro	querétaro	PROPN
ap-514	117	31	qro	qro	NOUN
ap-514	117	32	.	.	PUNCT
ap-514	118	1	c.	c.	PROPN
ap-514	118	2	p.	p.	PROPN
ap-514	118	3	76010	76010	NUM
ap-514	118	4	,	,	PUNCT
ap-514	118	5	méxico	méxico	NOUN
ap-514	118	6	52	52	NUM
ap-514	118	7	©	©	PROPN
ap-514	118	8	czech	czech	PROPN
ap-514	118	9	technical	technical	PROPN
ap-514	118	10	university	university	PROPN
ap-514	118	11	publishing	publishing	NOUN
ap-514	118	12	house	house	NOUN
ap-514	118	13	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-514	118	14	acta	acta	PROPN
ap-514	118	15	polytechnica	polytechnica	PROPN
ap-514	118	16	vol	vol	NOUN
ap-514	118	17	.	.	PROPN
ap-514	119	1	44	44	NUM
ap-514	119	2	no	no	NOUN
ap-514	119	3	.	.	PUNCT
ap-514	120	1	1/2004	1/2004	NUM
ap-514	120	2	czech	czech	PROPN
ap-514	120	3	technical	technical	PROPN
ap-514	120	4	university	university	PROPN
ap-514	120	5	in	in	ADP
ap-514	120	6	prague	prague	PROPN
ap-514	120	7	fig	fig	NOUN
ap-514	120	8	.	.	PUNCT
ap-514	121	1	4	4	X
ap-514	121	2	.	.	NUM
ap-514	121	3	:	:	PUNCT
ap-514	122	1	closed	close	VERB
ap-514	122	2	loop	loop	NOUN
ap-514	122	3	behaviour	behaviour	NOUN
ap-514	122	4	for	for	ADP
ap-514	122	5	process	process	NOUN
ap-514	122	6	in	in	ADP
ap-514	122	7	equations	equation	NOUN
ap-514	122	8	(	(	PUNCT
ap-514	122	9	27	27	NUM
ap-514	122	10	)	)	PUNCT