id	sid	tid	token	lemma	pos
ap-5381	1	1	acta	acta	PROPN
ap-5381	1	2	polytechnica	polytechnica	PROPN
ap-5381	1	3	doi:10.14311	doi:10.14311	PROPN
ap-5381	1	4	/	/	SYM
ap-5381	1	5	ap.2019.59.0458	ap.2019.59.0458	PROPN
ap-5381	1	6	acta	acta	PROPN
ap-5381	1	7	polytechnica	polytechnica	PROPN
ap-5381	1	8	59(5):458–466	59(5):458–466	PROPN
ap-5381	1	9	,	,	PUNCT
ap-5381	1	10	2019	2019	NUM
ap-5381	1	11	©	©	PROPN
ap-5381	1	12	czech	czech	PROPN
ap-5381	1	13	technical	technical	PROPN
ap-5381	1	14	university	university	PROPN
ap-5381	1	15	in	in	ADP
ap-5381	1	16	prague	prague	PROPN
ap-5381	1	17	,	,	PUNCT
ap-5381	1	18	2019	2019	NUM
ap-5381	1	19	available	available	ADJ
ap-5381	1	20	online	online	ADV
ap-5381	1	21	at	at	ADP
ap-5381	1	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5381	1	23	inverted	inverted	ADJ
ap-5381	1	24	pendulum	pendulum	NOUN
ap-5381	1	25	with	with	ADP
ap-5381	1	26	linear	linear	ADJ
ap-5381	1	27	synchronous	synchronous	ADJ
ap-5381	1	28	motor	motor	NOUN
ap-5381	1	29	swing	swing	NOUN
ap-5381	1	30	up	up	ADP
ap-5381	1	31	using	use	VERB
ap-5381	1	32	boundary	boundary	ADJ
ap-5381	1	33	value	value	NOUN
ap-5381	1	34	problem	problem	NOUN
ap-5381	1	35	lukáš	lukáš	ADJ
ap-5381	1	36	koska	koska	PROPN
ap-5381	1	37	,	,	PUNCT
ap-5381	1	38	slávka	slávka	PROPN
ap-5381	1	39	jadlovská	jadlovská	PROPN
ap-5381	1	40	,	,	PUNCT
ap-5381	1	41	dominik	dominik	PROPN
ap-5381	1	42	vošček	vošček	PROPN
ap-5381	1	43	,	,	PUNCT
ap-5381	1	44	anna	anna	PROPN
ap-5381	1	45	jadlovská∗	jadlovská∗	PROPN
ap-5381	1	46	technical	technical	PROPN
ap-5381	1	47	university	university	PROPN
ap-5381	1	48	of	of	ADP
ap-5381	1	49	košice	košice	NOUN
ap-5381	1	50	,	,	PUNCT
ap-5381	1	51	faculty	faculty	NOUN
ap-5381	1	52	of	of	ADP
ap-5381	1	53	electrical	electrical	ADJ
ap-5381	1	54	engineering	engineering	NOUN
ap-5381	1	55	and	and	CCONJ
ap-5381	1	56	informatics	informatics	PROPN
ap-5381	1	57	,	,	PUNCT
ap-5381	1	58	department	department	NOUN
ap-5381	1	59	of	of	ADP
ap-5381	1	60	cybernetics	cybernetic	NOUN
ap-5381	1	61	and	and	CCONJ
ap-5381	1	62	artificial	artificial	ADJ
ap-5381	1	63	intelligence	intelligence	NOUN
ap-5381	1	64	,	,	PUNCT
ap-5381	1	65	letná	letná	ADJ
ap-5381	1	66	9	9	NUM
ap-5381	1	67	,	,	PUNCT
ap-5381	1	68	042	042	NUM
ap-5381	1	69	00	00	NUM
ap-5381	1	70	košice	košice	NOUN
ap-5381	1	71	,	,	PUNCT
ap-5381	1	72	slovak	slovak	ADJ
ap-5381	1	73	republic	republic	NOUN
ap-5381	1	74	∗	∗	NOUN
ap-5381	1	75	corresponding	correspond	VERB
ap-5381	1	76	author	author	NOUN
ap-5381	1	77	:	:	PUNCT
ap-5381	1	78	anna.jadlovska@tuke.sk	anna.jadlovska@tuke.sk	PROPN
ap-5381	1	79	abstract	abstract	PROPN
ap-5381	1	80	.	.	PUNCT
ap-5381	2	1	research	research	NOUN
ap-5381	2	2	in	in	ADP
ap-5381	2	3	the	the	DET
ap-5381	2	4	field	field	NOUN
ap-5381	2	5	of	of	ADP
ap-5381	2	6	underactuated	underactuated	ADJ
ap-5381	2	7	systems	system	NOUN
ap-5381	2	8	shows	show	VERB
ap-5381	2	9	that	that	SCONJ
ap-5381	2	10	control	control	NOUN
ap-5381	2	11	algorithms	algorithm	NOUN
ap-5381	2	12	which	which	PRON
ap-5381	2	13	take	take	VERB
ap-5381	2	14	the	the	DET
ap-5381	2	15	natural	natural	ADJ
ap-5381	2	16	dynamics	dynamic	NOUN
ap-5381	2	17	of	of	ADP
ap-5381	2	18	the	the	DET
ap-5381	2	19	system	system	NOUN
ap-5381	2	20	’s	’s	PART
ap-5381	2	21	underactuated	underactuated	ADJ
ap-5381	2	22	part	part	NOUN
ap-5381	2	23	into	into	ADP
ap-5381	2	24	account	account	NOUN
ap-5381	2	25	are	be	AUX
ap-5381	2	26	more	more	ADJ
ap-5381	2	27	energy	energy	NOUN
ap-5381	2	28	-	-	PUNCT
ap-5381	2	29	efficient	efficient	ADJ
ap-5381	2	30	than	than	ADP
ap-5381	2	31	those	those	PRON
ap-5381	2	32	utilizing	utilize	VERB
ap-5381	2	33	fully	fully	ADV
ap-5381	2	34	-	-	PUNCT
ap-5381	2	35	actuated	actuate	VERB
ap-5381	2	36	systems	system	NOUN
ap-5381	2	37	.	.	PUNCT
ap-5381	3	1	the	the	DET
ap-5381	3	2	purpose	purpose	NOUN
ap-5381	3	3	of	of	ADP
ap-5381	3	4	this	this	DET
ap-5381	3	5	paper	paper	NOUN
ap-5381	3	6	to	to	PART
ap-5381	3	7	apply	apply	VERB
ap-5381	3	8	the	the	DET
ap-5381	3	9	two	two	NUM
ap-5381	3	10	-	-	PUNCT
ap-5381	3	11	degrees	degree	NOUN
ap-5381	3	12	-	-	PUNCT
ap-5381	3	13	of	of	ADP
ap-5381	3	14	-	-	PUNCT
ap-5381	3	15	freedom	freedom	NOUN
ap-5381	3	16	(	(	PUNCT
ap-5381	3	17	feedforward	feedforward	NOUN
ap-5381	3	18	/	/	SYM
ap-5381	3	19	feedback	feedback	NOUN
ap-5381	3	20	)	)	PUNCT
ap-5381	3	21	control	control	NOUN
ap-5381	3	22	structure	structure	NOUN
ap-5381	3	23	to	to	PART
ap-5381	3	24	design	design	VERB
ap-5381	3	25	a	a	DET
ap-5381	3	26	swing	swing	NOUN
ap-5381	3	27	-	-	PUNCT
ap-5381	3	28	up	up	ADP
ap-5381	3	29	manoeuver	manoeuver	NOUN
ap-5381	3	30	that	that	PRON
ap-5381	3	31	involves	involve	VERB
ap-5381	3	32	tracking	track	VERB
ap-5381	3	33	the	the	DET
ap-5381	3	34	desired	desire	VERB
ap-5381	3	35	trajectories	trajectory	NOUN
ap-5381	3	36	so	so	SCONJ
ap-5381	3	37	as	as	SCONJ
ap-5381	3	38	to	to	PART
ap-5381	3	39	achieve	achieve	VERB
ap-5381	3	40	and	and	CCONJ
ap-5381	3	41	maintain	maintain	VERB
ap-5381	3	42	the	the	DET
ap-5381	3	43	unstable	unstable	ADJ
ap-5381	3	44	equilibrium	equilibrium	NOUN
ap-5381	3	45	position	position	NOUN
ap-5381	3	46	of	of	ADP
ap-5381	3	47	the	the	DET
ap-5381	3	48	pendulum	pendulum	NOUN
ap-5381	3	49	on	on	ADP
ap-5381	3	50	the	the	DET
ap-5381	3	51	cart	cart	NOUN
ap-5381	3	52	system	system	NOUN
ap-5381	3	53	.	.	PUNCT
ap-5381	4	1	the	the	DET
ap-5381	4	2	desired	desire	VERB
ap-5381	4	3	trajectories	trajectory	NOUN
ap-5381	4	4	are	be	AUX
ap-5381	4	5	obtained	obtain	VERB
ap-5381	4	6	by	by	ADP
ap-5381	4	7	solving	solve	VERB
ap-5381	4	8	the	the	DET
ap-5381	4	9	boundary	boundary	ADJ
ap-5381	4	10	value	value	NOUN
ap-5381	4	11	problem	problem	NOUN
ap-5381	4	12	of	of	ADP
ap-5381	4	13	the	the	DET
ap-5381	4	14	internal	internal	ADJ
ap-5381	4	15	system	system	NOUN
ap-5381	4	16	dynamics	dynamic	NOUN
ap-5381	4	17	,	,	PUNCT
ap-5381	4	18	while	while	SCONJ
ap-5381	4	19	the	the	DET
ap-5381	4	20	optimal	optimal	ADJ
ap-5381	4	21	state	state	NOUN
ap-5381	4	22	-	-	PUNCT
ap-5381	4	23	feedback	feedback	NOUN
ap-5381	4	24	controller	controller	NOUN
ap-5381	4	25	ensures	ensure	VERB
ap-5381	4	26	that	that	SCONJ
ap-5381	4	27	the	the	DET
ap-5381	4	28	desired	desire	VERB
ap-5381	4	29	trajectory	trajectory	NOUN
ap-5381	4	30	is	be	AUX
ap-5381	4	31	tracked	track	VERB
ap-5381	4	32	with	with	ADP
ap-5381	4	33	minimal	minimal	ADJ
ap-5381	4	34	deviations	deviation	NOUN
ap-5381	4	35	.	.	PUNCT
ap-5381	5	1	the	the	DET
ap-5381	5	2	proposed	propose	VERB
ap-5381	5	3	algorithm	algorithm	NOUN
ap-5381	5	4	is	be	AUX
ap-5381	5	5	verified	verify	VERB
ap-5381	5	6	on	on	ADP
ap-5381	5	7	the	the	DET
ap-5381	5	8	simulation	simulation	NOUN
ap-5381	5	9	model	model	NOUN
ap-5381	5	10	of	of	ADP
ap-5381	5	11	the	the	DET
ap-5381	5	12	available	available	ADJ
ap-5381	5	13	laboratory	laboratory	NOUN
ap-5381	5	14	model	model	NOUN
ap-5381	5	15	actuated	actuate	VERB
ap-5381	5	16	by	by	ADP
ap-5381	5	17	a	a	DET
ap-5381	5	18	linear	linear	ADJ
ap-5381	5	19	synchronous	synchronous	ADJ
ap-5381	5	20	motor	motor	NOUN
ap-5381	5	21	,	,	PUNCT
ap-5381	5	22	and	and	CCONJ
ap-5381	5	23	the	the	DET
ap-5381	5	24	resulting	result	VERB
ap-5381	5	25	program	program	NOUN
ap-5381	5	26	implementation	implementation	NOUN
ap-5381	5	27	is	be	AUX
ap-5381	5	28	used	use	VERB
ap-5381	5	29	to	to	PART
ap-5381	5	30	enhance	enhance	VERB
ap-5381	5	31	the	the	DET
ap-5381	5	32	custom	custom	NOUN
ap-5381	5	33	simulink	simulink	PROPN
ap-5381	5	34	library	library	PROPN
ap-5381	5	35	inverted	invert	VERB
ap-5381	5	36	pendula	pendula	NOUN
ap-5381	5	37	modeling	modeling	NOUN
ap-5381	5	38	and	and	CCONJ
ap-5381	5	39	control	control	NOUN
ap-5381	5	40	,	,	PUNCT
ap-5381	5	41	developed	develop	VERB
ap-5381	5	42	by	by	ADP
ap-5381	5	43	the	the	DET
ap-5381	5	44	authors	author	NOUN
ap-5381	5	45	of	of	ADP
ap-5381	5	46	this	this	DET
ap-5381	5	47	paper	paper	NOUN
ap-5381	5	48	.	.	PUNCT
ap-5381	6	1	keywords	keyword	NOUN
ap-5381	6	2	:	:	PUNCT
ap-5381	6	3	automatic	automatic	ADJ
ap-5381	6	4	model	model	NOUN
ap-5381	6	5	generator	generator	PROPN
ap-5381	6	6	,	,	PUNCT
ap-5381	6	7	pendulum	pendulum	NOUN
ap-5381	6	8	on	on	ADP
ap-5381	6	9	the	the	DET
ap-5381	6	10	cart	cart	NOUN
ap-5381	6	11	,	,	PUNCT
ap-5381	6	12	linear	linear	ADJ
ap-5381	6	13	synchronous	synchronous	ADJ
ap-5381	6	14	motor	motor	NOUN
ap-5381	6	15	,	,	PUNCT
ap-5381	6	16	feedforward	feedforward	NOUN
ap-5381	6	17	/	/	SYM
ap-5381	6	18	feedback	feedback	NOUN
ap-5381	6	19	control	control	NOUN
ap-5381	6	20	structure	structure	NOUN
ap-5381	6	21	,	,	PUNCT
ap-5381	6	22	boundary	boundary	ADJ
ap-5381	6	23	value	value	NOUN
ap-5381	6	24	problem	problem	NOUN
ap-5381	6	25	,	,	PUNCT
ap-5381	6	26	swing	swing	NOUN
ap-5381	6	27	-	-	PUNCT
ap-5381	6	28	up	up	ADP
ap-5381	6	29	control	control	NOUN
ap-5381	6	30	.	.	PUNCT
ap-5381	7	1	1	1	X
ap-5381	7	2	.	.	X
ap-5381	7	3	introduction	introduction	NOUN
ap-5381	7	4	underactuated	underactuated	ADJ
ap-5381	7	5	systems	system	NOUN
ap-5381	7	6	are	be	AUX
ap-5381	7	7	mechanical	mechanical	ADJ
ap-5381	7	8	systems	system	NOUN
ap-5381	7	9	that	that	PRON
ap-5381	7	10	have	have	VERB
ap-5381	7	11	fewer	few	ADJ
ap-5381	7	12	control	control	NOUN
ap-5381	7	13	inputs	input	NOUN
ap-5381	7	14	than	than	ADP
ap-5381	7	15	degrees	degree	NOUN
ap-5381	7	16	of	of	ADP
ap-5381	7	17	freedom	freedom	NOUN
ap-5381	7	18	to	to	PART
ap-5381	7	19	control	control	VERB
ap-5381	7	20	,	,	PUNCT
ap-5381	7	21	which	which	PRON
ap-5381	7	22	make	make	VERB
ap-5381	7	23	both	both	CCONJ
ap-5381	7	24	the	the	DET
ap-5381	7	25	control	control	NOUN
ap-5381	7	26	design	design	NOUN
ap-5381	7	27	and	and	CCONJ
ap-5381	7	28	the	the	DET
ap-5381	7	29	analysis	analysis	NOUN
ap-5381	7	30	more	more	ADV
ap-5381	7	31	difficult	difficult	ADJ
ap-5381	7	32	when	when	SCONJ
ap-5381	7	33	compared	compare	VERB
ap-5381	7	34	to	to	ADP
ap-5381	7	35	their	their	PRON
ap-5381	7	36	fully	fully	ADV
ap-5381	7	37	actuated	actuate	VERB
ap-5381	7	38	alternatives	alternative	NOUN
ap-5381	7	39	.	.	PUNCT
ap-5381	8	1	these	these	DET
ap-5381	8	2	systems	system	NOUN
ap-5381	8	3	exploit	exploit	VERB
ap-5381	8	4	the	the	DET
ap-5381	8	5	natural	natural	ADJ
ap-5381	8	6	dynamics	dynamic	NOUN
ap-5381	8	7	of	of	ADP
ap-5381	8	8	the	the	DET
ap-5381	8	9	system	system	NOUN
ap-5381	8	10	in	in	ADP
ap-5381	8	11	order	order	NOUN
ap-5381	8	12	to	to	PART
ap-5381	8	13	achieve	achieve	VERB
ap-5381	8	14	a	a	DET
ap-5381	8	15	higher	high	ADJ
ap-5381	8	16	level	level	NOUN
ap-5381	8	17	of	of	ADP
ap-5381	8	18	performance	performance	NOUN
ap-5381	8	19	in	in	ADP
ap-5381	8	20	terms	term	NOUN
ap-5381	8	21	of	of	ADP
ap-5381	8	22	speed	speed	NOUN
ap-5381	8	23	,	,	PUNCT
ap-5381	8	24	efficiency	efficiency	NOUN
ap-5381	8	25	,	,	PUNCT
ap-5381	8	26	or	or	CCONJ
ap-5381	8	27	robustness	robustness	NOUN
ap-5381	8	28	[	[	X
ap-5381	8	29	1	1	NUM
ap-5381	8	30	]	]	PUNCT
ap-5381	8	31	.	.	PUNCT
ap-5381	9	1	a	a	DET
ap-5381	9	2	system	system	NOUN
ap-5381	9	3	of	of	ADP
ap-5381	9	4	interconnected	interconnected	ADJ
ap-5381	9	5	pendulums	pendulum	NOUN
ap-5381	9	6	on	on	ADP
ap-5381	9	7	a	a	DET
ap-5381	9	8	stabilizing	stabilize	VERB
ap-5381	9	9	base	base	NOUN
ap-5381	9	10	such	such	ADJ
ap-5381	9	11	as	as	ADP
ap-5381	9	12	a	a	DET
ap-5381	9	13	cart	cart	NOUN
ap-5381	9	14	/	/	SYM
ap-5381	9	15	rotary	rotary	NOUN
ap-5381	9	16	arm	arm	NOUN
ap-5381	9	17	is	be	AUX
ap-5381	9	18	a	a	DET
ap-5381	9	19	typical	typical	ADJ
ap-5381	9	20	example	example	NOUN
ap-5381	9	21	of	of	ADP
ap-5381	9	22	a	a	DET
ap-5381	9	23	benchmark	benchmark	ADJ
ap-5381	9	24	underactuated	underactuated	ADJ
ap-5381	9	25	system	system	NOUN
ap-5381	9	26	.	.	PUNCT
ap-5381	10	1	this	this	DET
ap-5381	10	2	system	system	NOUN
ap-5381	10	3	has	have	AUX
ap-5381	10	4	proven	prove	VERB
ap-5381	10	5	to	to	PART
ap-5381	10	6	be	be	AUX
ap-5381	10	7	important	important	ADJ
ap-5381	10	8	in	in	ADP
ap-5381	10	9	studying	study	VERB
ap-5381	10	10	the	the	DET
ap-5381	10	11	dynamics	dynamic	NOUN
ap-5381	10	12	of	of	ADP
ap-5381	10	13	more	more	ADJ
ap-5381	10	14	complex	complex	ADJ
ap-5381	10	15	higher	high	ADJ
ap-5381	10	16	-	-	PUNCT
ap-5381	10	17	order	order	NOUN
ap-5381	10	18	systems	system	NOUN
ap-5381	10	19	,	,	PUNCT
ap-5381	10	20	such	such	ADJ
ap-5381	10	21	as	as	ADP
ap-5381	10	22	mobile	mobile	NOUN
ap-5381	10	23	(	(	PUNCT
ap-5381	10	24	notably	notably	ADV
ap-5381	10	25	legged	legged	ADJ
ap-5381	10	26	)	)	PUNCT
ap-5381	10	27	robots	robot	NOUN
ap-5381	10	28	,	,	PUNCT
ap-5381	10	29	robot	robot	NOUN
ap-5381	10	30	manipulators	manipulator	NOUN
ap-5381	10	31	,	,	PUNCT
ap-5381	10	32	segways	segway	NOUN
ap-5381	10	33	,	,	PUNCT
ap-5381	10	34	aircrafts	aircraft	NOUN
ap-5381	10	35	or	or	CCONJ
ap-5381	10	36	submarines	submarine	NOUN
ap-5381	11	1	[	[	X
ap-5381	11	2	2	2	NUM
ap-5381	11	3	]	]	X
ap-5381	11	4	[	[	X
ap-5381	11	5	3	3	X
ap-5381	11	6	]	]	X
ap-5381	11	7	[	[	X
ap-5381	11	8	4	4	X
ap-5381	11	9	]	]	X
ap-5381	11	10	[	[	X
ap-5381	11	11	5	5	NUM
ap-5381	11	12	]	]	PUNCT
ap-5381	11	13	.	.	PUNCT
ap-5381	12	1	the	the	DET
ap-5381	12	2	basic	basic	ADJ
ap-5381	12	3	control	control	NOUN
ap-5381	12	4	objective	objective	NOUN
ap-5381	12	5	for	for	ADP
ap-5381	12	6	pendulum	pendulum	NOUN
ap-5381	12	7	-	-	PUNCT
ap-5381	12	8	based	base	VERB
ap-5381	12	9	underactuated	underactuated	ADJ
ap-5381	12	10	systems	system	NOUN
ap-5381	12	11	is	be	AUX
ap-5381	12	12	to	to	PART
ap-5381	12	13	stabilize	stabilize	VERB
ap-5381	12	14	each	each	DET
ap-5381	12	15	pendulum	pendulum	NOUN
ap-5381	12	16	link	link	VERB
ap-5381	12	17	in	in	ADP
ap-5381	12	18	the	the	DET
ap-5381	12	19	vertical	vertical	ADJ
ap-5381	12	20	upright	upright	NOUN
ap-5381	12	21	(	(	PUNCT
ap-5381	12	22	inverted	inverted	ADJ
ap-5381	12	23	)	)	PUNCT
ap-5381	12	24	position	position	NOUN
ap-5381	12	25	,	,	PUNCT
ap-5381	12	26	often	often	ADV
ap-5381	12	27	following	follow	VERB
ap-5381	12	28	a	a	DET
ap-5381	12	29	swing	swing	NOUN
ap-5381	12	30	-	-	PUNCT
ap-5381	12	31	up	up	NOUN
ap-5381	12	32	from	from	ADP
ap-5381	12	33	the	the	DET
ap-5381	12	34	downward	downward	ADJ
ap-5381	12	35	position	position	NOUN
ap-5381	12	36	.	.	PUNCT
ap-5381	13	1	to	to	PART
ap-5381	13	2	perform	perform	VERB
ap-5381	13	3	the	the	DET
ap-5381	13	4	swing	swing	NOUN
ap-5381	13	5	-	-	PUNCT
ap-5381	13	6	up	up	ADP
ap-5381	13	7	manoeuver	manoeuver	NOUN
ap-5381	13	8	,	,	PUNCT
ap-5381	13	9	the	the	DET
ap-5381	13	10	pendulum	pendulum	NOUN
ap-5381	13	11	can	can	AUX
ap-5381	13	12	either	either	CCONJ
ap-5381	13	13	be	be	AUX
ap-5381	13	14	simply	simply	ADV
ap-5381	13	15	required	require	VERB
ap-5381	13	16	to	to	PART
ap-5381	13	17	reach	reach	VERB
ap-5381	13	18	the	the	DET
ap-5381	13	19	upright	upright	ADJ
ap-5381	13	20	position	position	NOUN
ap-5381	13	21	without	without	ADP
ap-5381	13	22	regard	regard	NOUN
ap-5381	13	23	to	to	ADP
ap-5381	13	24	the	the	DET
ap-5381	13	25	trajectory	trajectory	NOUN
ap-5381	13	26	tracked	track	VERB
ap-5381	13	27	,	,	PUNCT
ap-5381	13	28	or	or	CCONJ
ap-5381	13	29	to	to	PART
ap-5381	13	30	reach	reach	VERB
ap-5381	13	31	it	it	PRON
ap-5381	13	32	while	while	SCONJ
ap-5381	13	33	simultaneously	simultaneously	ADV
ap-5381	13	34	tracking	track	VERB
ap-5381	13	35	the	the	DET
ap-5381	13	36	prescribed	prescribed	ADJ
ap-5381	13	37	trajectory	trajectory	NOUN
ap-5381	13	38	.	.	PUNCT
ap-5381	14	1	the	the	DET
ap-5381	14	2	former	former	ADJ
ap-5381	14	3	approach	approach	NOUN
ap-5381	14	4	can	can	AUX
ap-5381	14	5	be	be	AUX
ap-5381	14	6	realized	realize	VERB
ap-5381	14	7	via	via	ADP
ap-5381	14	8	a	a	DET
ap-5381	14	9	number	number	NOUN
ap-5381	14	10	of	of	ADP
ap-5381	14	11	methods	method	NOUN
ap-5381	14	12	,	,	PUNCT
ap-5381	14	13	such	such	ADJ
ap-5381	14	14	as	as	ADP
ap-5381	14	15	furuta	furuta	NOUN
ap-5381	14	16	’s	’s	PART
ap-5381	14	17	energy	energy	NOUN
ap-5381	14	18	-	-	PUNCT
ap-5381	14	19	based	base	VERB
ap-5381	14	20	method	method	NOUN
ap-5381	14	21	[	[	X
ap-5381	14	22	6	6	NUM
ap-5381	14	23	]	]	PUNCT
ap-5381	14	24	,	,	PUNCT
ap-5381	14	25	partial	partial	ADJ
ap-5381	14	26	feedback	feedback	NOUN
ap-5381	14	27	linearization	linearization	NOUN
ap-5381	15	1	[	[	X
ap-5381	15	2	7	7	X
ap-5381	15	3	]	]	PUNCT
ap-5381	15	4	or	or	CCONJ
ap-5381	15	5	lyapunov	lyapunov	NOUN
ap-5381	15	6	function	function	NOUN
ap-5381	15	7	design	design	NOUN
ap-5381	15	8	[	[	X
ap-5381	15	9	8	8	NUM
ap-5381	15	10	]	]	PUNCT
ap-5381	15	11	.	.	PUNCT
ap-5381	16	1	an	an	DET
ap-5381	16	2	example	example	NOUN
ap-5381	16	3	application	application	NOUN
ap-5381	16	4	of	of	ADP
ap-5381	16	5	the	the	DET
ap-5381	16	6	latter	latter	ADJ
ap-5381	16	7	was	be	AUX
ap-5381	16	8	notably	notably	ADV
ap-5381	16	9	published	publish	VERB
ap-5381	16	10	in	in	ADP
ap-5381	16	11	[	[	X
ap-5381	16	12	9	9	NUM
ap-5381	16	13	]	]	PUNCT
ap-5381	16	14	and	and	CCONJ
ap-5381	17	1	[	[	X
ap-5381	17	2	10	10	NUM
ap-5381	17	3	]	]	PUNCT
ap-5381	17	4	where	where	SCONJ
ap-5381	17	5	graichen	graichen	PROPN
ap-5381	17	6	et	et	PROPN
ap-5381	17	7	al	al	PROPN
ap-5381	17	8	.	.	PROPN
ap-5381	17	9	studied	study	VERB
ap-5381	17	10	the	the	DET
ap-5381	17	11	swing	swing	NOUN
ap-5381	17	12	-	-	PUNCT
ap-5381	17	13	up	up	ADP
ap-5381	17	14	manoeuver	manoeuver	NOUN
ap-5381	17	15	problem	problem	NOUN
ap-5381	17	16	for	for	ADP
ap-5381	17	17	a	a	DET
ap-5381	17	18	double	double	ADJ
ap-5381	17	19	pendulum	pendulum	NOUN
ap-5381	17	20	on	on	ADP
ap-5381	17	21	the	the	DET
ap-5381	17	22	cart	cart	NOUN
ap-5381	17	23	-	-	PUNCT
ap-5381	17	24	based	base	VERB
ap-5381	17	25	combined	combined	ADJ
ap-5381	17	26	feedforward	feedforward	NOUN
ap-5381	17	27	/	/	SYM
ap-5381	17	28	feedback	feedback	NOUN
ap-5381	17	29	control	control	NOUN
ap-5381	17	30	scheme	scheme	NOUN
ap-5381	17	31	resulting	result	VERB
ap-5381	17	32	in	in	ADP
ap-5381	17	33	a	a	DET
ap-5381	17	34	two	two	NUM
ap-5381	17	35	-	-	PUNCT
ap-5381	17	36	point	point	NOUN
ap-5381	17	37	boundary	boundary	ADJ
ap-5381	17	38	value	value	NOUN
ap-5381	17	39	problem	problem	NOUN
ap-5381	17	40	(	(	PUNCT
ap-5381	17	41	bvp	bvp	PROPN
ap-5381	17	42	)	)	PUNCT
ap-5381	17	43	of	of	ADP
ap-5381	17	44	the	the	DET
ap-5381	17	45	internal	internal	ADJ
ap-5381	17	46	dynamics	dynamic	NOUN
ap-5381	17	47	of	of	ADP
ap-5381	17	48	the	the	DET
ap-5381	17	49	system	system	NOUN
ap-5381	17	50	.	.	PUNCT
ap-5381	18	1	the	the	DET
ap-5381	18	2	bvp	bvp	PROPN
ap-5381	18	3	solution	solution	NOUN
ap-5381	18	4	for	for	ADP
ap-5381	18	5	the	the	DET
ap-5381	18	6	pendulum	pendulum	NOUN
ap-5381	18	7	swing	swing	NOUN
ap-5381	18	8	-	-	PUNCT
ap-5381	18	9	up	up	NOUN
ap-5381	18	10	for	for	ADP
ap-5381	18	11	the	the	DET
ap-5381	18	12	triple	triple	ADJ
ap-5381	18	13	pendulum	pendulum	NOUN
ap-5381	18	14	on	on	ADP
ap-5381	18	15	the	the	DET
ap-5381	18	16	cart	cart	NOUN
ap-5381	18	17	was	be	AUX
ap-5381	18	18	introduced	introduce	VERB
ap-5381	18	19	in	in	ADP
ap-5381	18	20	[	[	X
ap-5381	18	21	11	11	NUM
ap-5381	18	22	]	]	PUNCT
ap-5381	18	23	.	.	PUNCT
ap-5381	19	1	this	this	DET
ap-5381	19	2	paper	paper	NOUN
ap-5381	19	3	is	be	AUX
ap-5381	19	4	a	a	DET
ap-5381	19	5	follow	follow	NOUN
ap-5381	19	6	-	-	PUNCT
ap-5381	19	7	up	up	NOUN
ap-5381	19	8	to	to	ADP
ap-5381	19	9	the	the	DET
ap-5381	19	10	research	research	NOUN
ap-5381	19	11	of	of	ADP
ap-5381	19	12	our	our	PRON
ap-5381	19	13	underactuated	underactuated	ADJ
ap-5381	19	14	systems	system	NOUN
ap-5381	19	15	group	group	NOUN
ap-5381	19	16	at	at	ADP
ap-5381	19	17	the	the	DET
ap-5381	19	18	center	center	NOUN
ap-5381	19	19	of	of	ADP
ap-5381	19	20	modern	modern	ADJ
ap-5381	19	21	control	control	NOUN
ap-5381	19	22	techniques	technique	NOUN
ap-5381	19	23	and	and	CCONJ
ap-5381	19	24	industrial	industrial	ADJ
ap-5381	19	25	informatics	informatic	NOUN
ap-5381	19	26	(	(	PUNCT
ap-5381	19	27	cmct&ii	cmct&ii	PROPN
ap-5381	19	28	)	)	PUNCT
ap-5381	19	29	at	at	ADP
ap-5381	19	30	dcai	dcai	PROPN
ap-5381	19	31	,	,	PUNCT
ap-5381	19	32	feei	feei	PROPN
ap-5381	19	33	,	,	PUNCT
ap-5381	19	34	tu	tu	PROPN
ap-5381	19	35	in	in	ADP
ap-5381	19	36	the	the	DET
ap-5381	19	37	field	field	NOUN
ap-5381	19	38	of	of	ADP
ap-5381	19	39	modelling	modelling	NOUN
ap-5381	19	40	and	and	CCONJ
ap-5381	19	41	control	control	NOUN
ap-5381	19	42	of	of	ADP
ap-5381	19	43	underactuated	underactuated	ADJ
ap-5381	19	44	systems	system	NOUN
ap-5381	19	45	(	(	PUNCT
ap-5381	19	46	http	http	ADJ
ap-5381	19	47	:	:	PUNCT
ap-5381	19	48	//matlab.fei.tuke.sk	//matlab.fei.tuke.sk	ADJ
ap-5381	19	49	/	/	SYM
ap-5381	19	50	underactuated	underactuated	ADJ
ap-5381	19	51	)	)	PUNCT
ap-5381	19	52	.	.	PUNCT
ap-5381	20	1	the	the	DET
ap-5381	20	2	obtained	obtain	VERB
ap-5381	20	3	results	result	NOUN
ap-5381	20	4	,	,	PUNCT
ap-5381	20	5	such	such	ADJ
ap-5381	20	6	as	as	ADP
ap-5381	20	7	functions	function	NOUN
ap-5381	20	8	that	that	PRON
ap-5381	20	9	automate	automate	VERB
ap-5381	20	10	the	the	DET
ap-5381	20	11	generation	generation	NOUN
ap-5381	20	12	of	of	ADP
ap-5381	20	13	mathematical	mathematical	ADJ
ap-5381	20	14	models	model	NOUN
ap-5381	20	15	for	for	ADP
ap-5381	20	16	the	the	DET
ap-5381	20	17	n	n	CCONJ
ap-5381	20	18	-	-	PUNCT
ap-5381	20	19	link	link	NOUN
ap-5381	20	20	inverted	invert	VERB
ap-5381	20	21	pendulum	pendulum	NOUN
ap-5381	20	22	system	system	NOUN
ap-5381	20	23	on	on	ADP
ap-5381	20	24	the	the	DET
ap-5381	20	25	cart	cart	NOUN
ap-5381	20	26	or	or	CCONJ
ap-5381	20	27	a	a	DET
ap-5381	20	28	rotary	rotary	ADJ
ap-5381	20	29	base	base	NOUN
ap-5381	20	30	,	,	PUNCT
ap-5381	20	31	implemented	implement	VERB
ap-5381	20	32	control	control	NOUN
ap-5381	20	33	algorithms	algorithm	NOUN
ap-5381	20	34	and	and	CCONJ
ap-5381	20	35	demo	demo	NOUN
ap-5381	20	36	simulations	simulation	NOUN
ap-5381	20	37	,	,	PUNCT
ap-5381	20	38	have	have	AUX
ap-5381	20	39	been	be	AUX
ap-5381	20	40	included	include	VERB
ap-5381	20	41	in	in	ADP
ap-5381	20	42	the	the	DET
ap-5381	20	43	custom	custom	NOUN
ap-5381	20	44	matlab	matlab	PROPN
ap-5381	20	45	/	/	SYM
ap-5381	20	46	simulink	simulink	PROPN
ap-5381	20	47	library	library	NOUN
ap-5381	20	48	,	,	PUNCT
ap-5381	20	49	inverted	invert	VERB
ap-5381	20	50	pendula	pendula	NOUN
ap-5381	20	51	modeling	modeling	NOUN
ap-5381	20	52	and	and	CCONJ
ap-5381	20	53	control	control	NOUN
ap-5381	20	54	(	(	PUNCT
ap-5381	20	55	ipmac	ipmac	PROPN
ap-5381	20	56	)	)	PUNCT
ap-5381	21	1	[	[	X
ap-5381	21	2	12	12	NUM
ap-5381	21	3	]	]	PUNCT
ap-5381	21	4	,	,	PUNCT
ap-5381	21	5	developed	develop	VERB
ap-5381	21	6	since	since	SCONJ
ap-5381	21	7	2011	2011	NUM
ap-5381	21	8	.	.	PUNCT
ap-5381	22	1	the	the	DET
ap-5381	22	2	library	library	NOUN
ap-5381	22	3	has	have	AUX
ap-5381	22	4	been	be	AUX
ap-5381	22	5	gradually	gradually	ADV
ap-5381	22	6	expanded	expand	VERB
ap-5381	22	7	,	,	PUNCT
ap-5381	22	8	i.e.	i.e.	X
ap-5381	22	9	[	[	X
ap-5381	22	10	13	13	NUM
ap-5381	22	11	]	]	PUNCT
ap-5381	22	12	describes	describe	VERB
ap-5381	22	13	the	the	DET
ap-5381	22	14	addition	addition	NOUN
ap-5381	22	15	of	of	ADP
ap-5381	22	16	weight	weight	NOUN
ap-5381	22	17	in	in	ADP
ap-5381	22	18	the	the	DET
ap-5381	22	19	form	form	NOUN
ap-5381	22	20	of	of	ADP
ap-5381	22	21	a	a	DET
ap-5381	22	22	sphere	sphere	NOUN
ap-5381	22	23	/	/	SYM
ap-5381	22	24	ring	ring	NOUN
ap-5381	22	25	/	/	SYM
ap-5381	22	26	cylinder	cylinder	NOUN
ap-5381	22	27	at	at	ADP
ap-5381	22	28	the	the	DET
ap-5381	22	29	end	end	NOUN
ap-5381	22	30	of	of	ADP
ap-5381	22	31	the	the	DET
ap-5381	22	32	pendulum	pendulum	NOUN
ap-5381	22	33	,	,	PUNCT
ap-5381	22	34	which	which	PRON
ap-5381	22	35	is	be	AUX
ap-5381	22	36	reflected	reflect	VERB
ap-5381	22	37	in	in	ADP
ap-5381	22	38	its	its	PRON
ap-5381	22	39	inertia	inertia	NOUN
ap-5381	22	40	;	;	PUNCT
ap-5381	22	41	additional	additional	ADJ
ap-5381	22	42	benchmark	benchmark	NOUN
ap-5381	22	43	models	model	NOUN
ap-5381	22	44	were	be	AUX
ap-5381	22	45	introduced	introduce	VERB
ap-5381	22	46	in	in	ADP
ap-5381	22	47	[	[	X
ap-5381	22	48	14	14	NUM
ap-5381	22	49	]	]	PUNCT
ap-5381	22	50	.	.	PUNCT
ap-5381	23	1	stabilizing	stabilize	VERB
ap-5381	23	2	control	control	NOUN
ap-5381	23	3	algorithms	algorithm	NOUN
ap-5381	23	4	most	most	ADV
ap-5381	23	5	importantly	importantly	ADV
ap-5381	23	6	include	include	VERB
ap-5381	23	7	state	state	NOUN
ap-5381	23	8	-	-	PUNCT
ap-5381	23	9	feedback	feedback	NOUN
ap-5381	23	10	approaches	approach	NOUN
ap-5381	23	11	,	,	PUNCT
ap-5381	23	12	such	such	ADJ
ap-5381	23	13	as	as	ADP
ap-5381	23	14	pole	pole	NOUN
ap-5381	23	15	-	-	PUNCT
ap-5381	23	16	placement	placement	NOUN
ap-5381	23	17	or	or	CCONJ
ap-5381	23	18	lqr	lqr	NOUN
ap-5381	23	19	,	,	PUNCT
ap-5381	23	20	and	and	CCONJ
ap-5381	23	21	the	the	DET
ap-5381	23	22	implementation	implementation	NOUN
ap-5381	23	23	of	of	ADP
ap-5381	23	24	swing	swing	NOUN
ap-5381	23	25	-	-	PUNCT
ap-5381	23	26	up	up	ADP
ap-5381	23	27	algorithms	algorithms	NOUN
ap-5381	23	28	covers	cover	VERB
ap-5381	23	29	the	the	DET
ap-5381	23	30	energy	energy	NOUN
ap-5381	23	31	method	method	NOUN
ap-5381	23	32	or	or	CCONJ
ap-5381	23	33	the	the	DET
ap-5381	23	34	partial	partial	ADJ
ap-5381	23	35	feedback	feedback	NOUN
ap-5381	23	36	linearization	linearization	NOUN
ap-5381	23	37	.	.	PUNCT
ap-5381	24	1	the	the	DET
ap-5381	24	2	hybrid	hybrid	ADJ
ap-5381	24	3	control	control	NOUN
ap-5381	24	4	structure	structure	NOUN
ap-5381	24	5	,	,	PUNCT
ap-5381	24	6	which	which	PRON
ap-5381	24	7	enables	enable	VERB
ap-5381	24	8	switching	switch	VERB
ap-5381	24	9	between	between	ADP
ap-5381	24	10	the	the	DET
ap-5381	24	11	swingup	swingup	NOUN
ap-5381	24	12	and	and	CCONJ
ap-5381	24	13	stabilizing	stabilizing	NOUN
ap-5381	24	14	controller	controller	NOUN
ap-5381	24	15	,	,	PUNCT
ap-5381	24	16	is	be	AUX
ap-5381	24	17	used	use	VERB
ap-5381	24	18	to	to	PART
ap-5381	24	19	meet	meet	VERB
ap-5381	24	20	the	the	DET
ap-5381	24	21	stated	state	VERB
ap-5381	24	22	control	control	NOUN
ap-5381	24	23	objective	objective	NOUN
ap-5381	25	1	[	[	X
ap-5381	25	2	14	14	NUM
ap-5381	25	3	]	]	X
ap-5381	26	1	[	[	X
ap-5381	26	2	15	15	NUM
ap-5381	26	3	]	]	PUNCT
ap-5381	26	4	.	.	PUNCT
ap-5381	27	1	the	the	DET
ap-5381	27	2	development	development	NOUN
ap-5381	27	3	of	of	ADP
ap-5381	27	4	the	the	DET
ap-5381	27	5	ipmac	ipmac	NOUN
ap-5381	27	6	as	as	ADP
ap-5381	27	7	a	a	DET
ap-5381	27	8	framework	framework	NOUN
ap-5381	27	9	for	for	ADP
ap-5381	27	10	solving	solve	VERB
ap-5381	27	11	analysis	analysis	NOUN
ap-5381	27	12	/	/	SYM
ap-5381	27	13	control	control	NOUN
ap-5381	27	14	problems	problem	NOUN
ap-5381	27	15	of	of	ADP
ap-5381	27	16	inverted	inverted	ADJ
ap-5381	27	17	pendulum	pendulum	NOUN
ap-5381	27	18	systems	system	NOUN
ap-5381	27	19	also	also	ADV
ap-5381	27	20	enabled	enable	VERB
ap-5381	27	21	us	we	PRON
ap-5381	27	22	to	to	PART
ap-5381	27	23	unify	unify	VERB
ap-5381	27	24	and	and	CCONJ
ap-5381	27	25	generalize	generalize	VERB
ap-5381	27	26	the	the	DET
ap-5381	27	27	nomenclature	nomenclature	NOUN
ap-5381	27	28	and	and	CCONJ
ap-5381	27	29	labelling	labelling	NOUN
ap-5381	27	30	of	of	ADP
ap-5381	27	31	input	input	NOUN
ap-5381	27	32	/	/	SYM
ap-5381	27	33	output	output	NOUN
ap-5381	27	34	/	/	SYM
ap-5381	27	35	state	state	NOUN
ap-5381	27	36	variables	variable	NOUN
ap-5381	27	37	and	and	CCONJ
ap-5381	27	38	physical	physical	ADJ
ap-5381	27	39	458	458	NUM
ap-5381	27	40	https://doi.org/10.14311/ap.2019.59.0458	https://doi.org/10.14311/ap.2019.59.0458	ADV
ap-5381	27	41	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5381	27	42	http://matlab.fei.tuke.sk/underactuated	http://matlab.fei.tuke.sk/underactuate	VERB
ap-5381	27	43	http://matlab.fei.tuke.sk/underactuated	http://matlab.fei.tuke.sk/underactuate	VERB
ap-5381	27	44	vol	vol	NOUN
ap-5381	27	45	.	.	PUNCT
ap-5381	28	1	59	59	NUM
ap-5381	28	2	no	no	NOUN
ap-5381	28	3	.	.	PUNCT
ap-5381	29	1	5/2019	5/2019	NUM
ap-5381	29	2	swing	swing	NOUN
ap-5381	29	3	-	-	PUNCT
ap-5381	29	4	up	up	NOUN
ap-5381	29	5	of	of	ADP
ap-5381	29	6	the	the	DET
ap-5381	29	7	inverted	inverted	ADJ
ap-5381	29	8	pendulum	pendulum	NOUN
ap-5381	29	9	on	on	ADP
ap-5381	29	10	a	a	DET
ap-5381	29	11	cart	cart	NOUN
ap-5381	29	12	quantities	quantity	NOUN
ap-5381	29	13	used	use	VERB
ap-5381	29	14	in	in	ADP
ap-5381	29	15	mathematical	mathematical	ADJ
ap-5381	29	16	modelling	modelling	NOUN
ap-5381	29	17	of	of	ADP
ap-5381	29	18	these	these	DET
ap-5381	29	19	benchmark	benchmark	ADJ
ap-5381	29	20	underactuated	underactuated	ADJ
ap-5381	29	21	systems	system	NOUN
ap-5381	29	22	.	.	PUNCT
ap-5381	30	1	the	the	DET
ap-5381	30	2	present	present	ADJ
ap-5381	30	3	paper	paper	NOUN
ap-5381	30	4	proposes	propose	VERB
ap-5381	30	5	the	the	DET
ap-5381	30	6	algorithm	algorithm	NOUN
ap-5381	30	7	for	for	ADP
ap-5381	30	8	calculating	calculate	VERB
ap-5381	30	9	the	the	DET
ap-5381	30	10	swing	swing	NOUN
ap-5381	30	11	-	-	PUNCT
ap-5381	30	12	up	up	ADP
ap-5381	30	13	trajectories	trajectory	NOUN
ap-5381	30	14	and	and	CCONJ
ap-5381	30	15	their	their	PRON
ap-5381	30	16	subsequent	subsequent	ADJ
ap-5381	30	17	tracking	tracking	NOUN
ap-5381	30	18	in	in	ADP
ap-5381	30	19	the	the	DET
ap-5381	30	20	two	two	NUM
ap-5381	30	21	-	-	PUNCT
ap-5381	30	22	degree	degree	NOUN
ap-5381	30	23	of	of	ADP
ap-5381	30	24	freedom	freedom	NOUN
ap-5381	30	25	control	control	NOUN
ap-5381	30	26	scheme	scheme	NOUN
ap-5381	30	27	,	,	PUNCT
ap-5381	30	28	which	which	PRON
ap-5381	30	29	is	be	AUX
ap-5381	30	30	then	then	ADV
ap-5381	30	31	verified	verify	VERB
ap-5381	30	32	on	on	ADP
ap-5381	30	33	the	the	DET
ap-5381	30	34	simulation	simulation	NOUN
ap-5381	30	35	model	model	NOUN
ap-5381	30	36	of	of	ADP
ap-5381	30	37	the	the	DET
ap-5381	30	38	laboratory	laboratory	NOUN
ap-5381	30	39	single	single	ADJ
ap-5381	30	40	inverted	invert	VERB
ap-5381	30	41	pendulum	pendulum	NOUN
ap-5381	30	42	system	system	NOUN
ap-5381	30	43	on	on	ADP
ap-5381	30	44	a	a	DET
ap-5381	30	45	cart	cart	NOUN
ap-5381	30	46	(	(	PUNCT
ap-5381	30	47	cart	cart	NOUN
ap-5381	30	48	-	-	PUNCT
ap-5381	30	49	pole	pole	NOUN
ap-5381	30	50	system	system	NOUN
ap-5381	30	51	)	)	PUNCT
ap-5381	30	52	,	,	PUNCT
ap-5381	30	53	the	the	DET
ap-5381	30	54	multipurpose	multipurpose	NOUN
ap-5381	30	55	workplace	workplace	NOUN
ap-5381	30	56	for	for	ADP
ap-5381	30	57	nondestructive	nondestructive	ADJ
ap-5381	30	58	diagnostics	diagnostic	NOUN
ap-5381	30	59	with	with	ADP
ap-5381	30	60	linear	linear	ADJ
ap-5381	30	61	synchronous	synchronous	ADJ
ap-5381	30	62	motor	motor	NOUN
ap-5381	30	63	,	,	PUNCT
ap-5381	30	64	located	locate	VERB
ap-5381	30	65	in	in	ADP
ap-5381	30	66	the	the	DET
ap-5381	30	67	cmct&ii	cmct&ii	PROPN
ap-5381	30	68	’s	’s	PART
ap-5381	30	69	laboratory	laboratory	NOUN
ap-5381	30	70	of	of	ADP
ap-5381	30	71	production	production	NOUN
ap-5381	30	72	lines	line	NOUN
ap-5381	30	73	and	and	CCONJ
ap-5381	30	74	image	image	NOUN
ap-5381	30	75	recognition	recognition	NOUN
ap-5381	30	76	at	at	ADP
ap-5381	30	77	dcai	dcai	PROPN
ap-5381	30	78	,	,	PUNCT
ap-5381	30	79	feei	feei	PROPN
ap-5381	30	80	tu	tu	PROPN
ap-5381	30	81	in	in	ADP
ap-5381	30	82	košice	košice	PROPN
ap-5381	30	83	.	.	PUNCT
ap-5381	31	1	this	this	DET
ap-5381	31	2	laboratory	laboratory	NOUN
ap-5381	31	3	model	model	NOUN
ap-5381	31	4	was	be	AUX
ap-5381	31	5	first	first	ADV
ap-5381	31	6	presented	present	VERB
ap-5381	31	7	in	in	ADP
ap-5381	31	8	[	[	X
ap-5381	31	9	16	16	NUM
ap-5381	31	10	]	]	PUNCT
ap-5381	31	11	,	,	PUNCT
ap-5381	31	12	where	where	SCONJ
ap-5381	31	13	the	the	DET
ap-5381	31	14	process	process	NOUN
ap-5381	31	15	of	of	ADP
ap-5381	31	16	obtaining	obtain	VERB
ap-5381	31	17	its	its	PRON
ap-5381	31	18	mathematical	mathematical	ADJ
ap-5381	31	19	model	model	NOUN
ap-5381	31	20	and	and	CCONJ
ap-5381	31	21	parameter	parameter	NOUN
ap-5381	31	22	identification	identification	NOUN
ap-5381	31	23	,	,	PUNCT
ap-5381	31	24	as	as	ADV
ap-5381	31	25	well	well	ADV
ap-5381	31	26	as	as	ADP
ap-5381	31	27	design	design	NOUN
ap-5381	31	28	and	and	CCONJ
ap-5381	31	29	subsequent	subsequent	ADJ
ap-5381	31	30	verification	verification	NOUN
ap-5381	31	31	of	of	ADP
ap-5381	31	32	swing	swing	NOUN
ap-5381	31	33	-	-	PUNCT
ap-5381	31	34	up	up	NOUN
ap-5381	31	35	and	and	CCONJ
ap-5381	31	36	stabilizing	stabilize	VERB
ap-5381	31	37	control	control	NOUN
ap-5381	31	38	was	be	AUX
ap-5381	31	39	described	describe	VERB
ap-5381	31	40	in	in	ADP
ap-5381	31	41	detail	detail	NOUN
ap-5381	31	42	.	.	PUNCT
ap-5381	32	1	unlike	unlike	ADP
ap-5381	32	2	the	the	DET
ap-5381	32	3	approaches	approach	NOUN
ap-5381	32	4	based	base	VERB
ap-5381	32	5	on	on	ADP
ap-5381	32	6	switching	switch	VERB
ap-5381	32	7	between	between	ADP
ap-5381	32	8	swing	swing	NOUN
ap-5381	32	9	-	-	PUNCT
ap-5381	32	10	up	up	NOUN
ap-5381	32	11	and	and	CCONJ
ap-5381	32	12	stabilizing	stabilize	VERB
ap-5381	32	13	control	control	NOUN
ap-5381	32	14	algorithms	algorithm	NOUN
ap-5381	32	15	,	,	PUNCT
ap-5381	32	16	the	the	DET
ap-5381	32	17	proposed	propose	VERB
ap-5381	32	18	approach	approach	NOUN
ap-5381	32	19	has	have	AUX
ap-5381	32	20	not	not	PART
ap-5381	32	21	yet	yet	ADV
ap-5381	32	22	been	be	AUX
ap-5381	32	23	implemented	implement	VERB
ap-5381	32	24	in	in	ADP
ap-5381	32	25	the	the	DET
ap-5381	32	26	ipmac	ipmac	ADJ
ap-5381	32	27	library	library	NOUN
ap-5381	32	28	,	,	PUNCT
ap-5381	32	29	and	and	CCONJ
ap-5381	32	30	therefore	therefore	ADV
ap-5381	32	31	will	will	AUX
ap-5381	32	32	enhance	enhance	VERB
ap-5381	32	33	it	it	PRON
ap-5381	32	34	.	.	PUNCT
ap-5381	33	1	the	the	DET
ap-5381	33	2	structure	structure	NOUN
ap-5381	33	3	of	of	ADP
ap-5381	33	4	the	the	DET
ap-5381	33	5	paper	paper	NOUN
ap-5381	33	6	is	be	AUX
ap-5381	33	7	as	as	SCONJ
ap-5381	33	8	follows	follow	VERB
ap-5381	33	9	.	.	PUNCT
ap-5381	34	1	in	in	ADP
ap-5381	34	2	section	section	NOUN
ap-5381	34	3	2	2	NUM
ap-5381	34	4	,	,	PUNCT
ap-5381	34	5	the	the	DET
ap-5381	34	6	functionality	functionality	NOUN
ap-5381	34	7	of	of	ADP
ap-5381	34	8	the	the	DET
ap-5381	34	9	ipmac	ipmac	ADJ
ap-5381	34	10	library	library	NOUN
ap-5381	34	11	regarding	regard	VERB
ap-5381	34	12	the	the	DET
ap-5381	34	13	generation	generation	NOUN
ap-5381	34	14	of	of	ADP
ap-5381	34	15	the	the	DET
ap-5381	34	16	mathematical	mathematical	ADJ
ap-5381	34	17	model	model	NOUN
ap-5381	34	18	of	of	ADP
ap-5381	34	19	the	the	DET
ap-5381	34	20	inverted	inverted	ADJ
ap-5381	34	21	pendulum	pendulum	NOUN
ap-5381	34	22	on	on	ADP
ap-5381	34	23	the	the	DET
ap-5381	34	24	cart	cart	NOUN
ap-5381	34	25	with	with	ADP
ap-5381	34	26	the	the	DET
ap-5381	34	27	force	force	NOUN
ap-5381	34	28	input	input	NOUN
ap-5381	34	29	will	will	AUX
ap-5381	34	30	be	be	AUX
ap-5381	34	31	presented	present	VERB
ap-5381	34	32	and	and	CCONJ
ap-5381	34	33	the	the	DET
ap-5381	34	34	model	model	NOUN
ap-5381	34	35	will	will	AUX
ap-5381	34	36	further	far	ADV
ap-5381	34	37	be	be	AUX
ap-5381	34	38	adjusted	adjust	VERB
ap-5381	34	39	to	to	PART
ap-5381	34	40	generate	generate	VERB
ap-5381	34	41	the	the	DET
ap-5381	34	42	optimal	optimal	ADJ
ap-5381	34	43	trajectory	trajectory	NOUN
ap-5381	34	44	for	for	ADP
ap-5381	34	45	the	the	DET
ap-5381	34	46	natural	natural	ADJ
ap-5381	34	47	,	,	PUNCT
ap-5381	34	48	underactuated	underactuated	ADJ
ap-5381	34	49	pendulum	pendulum	NOUN
ap-5381	34	50	dynamics	dynamic	NOUN
ap-5381	34	51	.	.	PUNCT
ap-5381	35	1	in	in	ADP
ap-5381	35	2	section	section	NOUN
ap-5381	35	3	3	3	NUM
ap-5381	35	4	,	,	PUNCT
ap-5381	35	5	the	the	DET
ap-5381	35	6	paper	paper	NOUN
ap-5381	35	7	describes	describe	VERB
ap-5381	35	8	the	the	DET
ap-5381	35	9	solution	solution	NOUN
ap-5381	35	10	of	of	ADP
ap-5381	35	11	the	the	DET
ap-5381	35	12	bvp	bvp	NOUN
ap-5381	35	13	with	with	ADP
ap-5381	35	14	the	the	DET
ap-5381	35	15	objective	objective	NOUN
ap-5381	35	16	of	of	ADP
ap-5381	35	17	trajectory	trajectory	NOUN
ap-5381	35	18	generation	generation	NOUN
ap-5381	35	19	for	for	ADP
ap-5381	35	20	pendulum	pendulum	NOUN
ap-5381	35	21	swing	swing	NOUN
ap-5381	35	22	-	-	PUNCT
ap-5381	35	23	up	up	NOUN
ap-5381	35	24	using	use	VERB
ap-5381	35	25	the	the	DET
ap-5381	35	26	two	two	NUM
ap-5381	35	27	-	-	PUNCT
ap-5381	35	28	degrees	degree	NOUN
ap-5381	35	29	-	-	PUNCT
ap-5381	35	30	of	of	ADP
ap-5381	35	31	-	-	PUNCT
ap-5381	35	32	freedom	freedom	NOUN
ap-5381	35	33	control	control	NOUN
ap-5381	35	34	structure	structure	NOUN
ap-5381	35	35	.	.	PUNCT
ap-5381	36	1	at	at	ADP
ap-5381	36	2	the	the	DET
ap-5381	36	3	end	end	NOUN
ap-5381	36	4	of	of	ADP
ap-5381	36	5	section	section	NOUN
ap-5381	36	6	3	3	NUM
ap-5381	36	7	,	,	PUNCT
ap-5381	36	8	the	the	DET
ap-5381	36	9	optimal	optimal	ADJ
ap-5381	36	10	control	control	NOUN
ap-5381	36	11	algorithm	algorithm	NOUN
ap-5381	36	12	for	for	ADP
ap-5381	36	13	tracking	track	VERB
ap-5381	36	14	desired	desire	VERB
ap-5381	36	15	trajectories	trajectory	NOUN
ap-5381	36	16	is	be	AUX
ap-5381	36	17	described	describe	VERB
ap-5381	36	18	,	,	PUNCT
ap-5381	36	19	which	which	PRON
ap-5381	36	20	ensures	ensure	VERB
ap-5381	36	21	the	the	DET
ap-5381	36	22	minimal	minimal	ADJ
ap-5381	36	23	deviations	deviation	NOUN
ap-5381	36	24	of	of	ADP
ap-5381	36	25	the	the	DET
ap-5381	36	26	state	state	NOUN
ap-5381	36	27	-	-	PUNCT
ap-5381	36	28	space	space	NOUN
ap-5381	36	29	vector	vector	NOUN
ap-5381	36	30	from	from	ADP
ap-5381	36	31	the	the	DET
ap-5381	36	32	generated	generate	VERB
ap-5381	36	33	trajectories	trajectory	NOUN
ap-5381	36	34	.	.	PUNCT
ap-5381	37	1	in	in	ADP
ap-5381	37	2	section	section	NOUN
ap-5381	37	3	4	4	NUM
ap-5381	37	4	,	,	PUNCT
ap-5381	37	5	the	the	DET
ap-5381	37	6	extended	extended	ADJ
ap-5381	37	7	functionality	functionality	NOUN
ap-5381	37	8	of	of	ADP
ap-5381	37	9	the	the	DET
ap-5381	37	10	existing	exist	VERB
ap-5381	37	11	ipmac	ipmac	NOUN
ap-5381	37	12	library	library	NOUN
ap-5381	37	13	is	be	AUX
ap-5381	37	14	presented	present	VERB
ap-5381	37	15	,	,	PUNCT
ap-5381	37	16	based	base	VERB
ap-5381	37	17	on	on	ADP
ap-5381	37	18	the	the	DET
ap-5381	37	19	proposed	propose	VERB
ap-5381	37	20	swing	swing	NOUN
ap-5381	37	21	-	-	PUNCT
ap-5381	37	22	up	up	ADP
ap-5381	37	23	algorithm	algorithm	NOUN
ap-5381	37	24	.	.	PUNCT
ap-5381	38	1	in	in	ADP
ap-5381	38	2	the	the	DET
ap-5381	38	3	end	end	NOUN
ap-5381	38	4	,	,	PUNCT
ap-5381	38	5	the	the	DET
ap-5381	38	6	obtained	obtain	VERB
ap-5381	38	7	results	result	NOUN
ap-5381	38	8	are	be	AUX
ap-5381	38	9	evaluated	evaluate	VERB
ap-5381	38	10	and	and	CCONJ
ap-5381	38	11	future	future	ADJ
ap-5381	38	12	research	research	NOUN
ap-5381	38	13	directions	direction	NOUN
ap-5381	38	14	are	be	AUX
ap-5381	38	15	outlined	outline	VERB
ap-5381	38	16	.	.	PUNCT
ap-5381	39	1	2	2	X
ap-5381	39	2	.	.	X
ap-5381	39	3	inverted	invert	VERB
ap-5381	39	4	pendulum	pendulum	NOUN
ap-5381	39	5	model	model	NOUN
ap-5381	39	6	generated	generate	VERB
ap-5381	39	7	via	via	ADP
ap-5381	39	8	ipmac	ipmac	ADJ
ap-5381	39	9	library	library	NOUN
ap-5381	39	10	determining	determine	VERB
ap-5381	39	11	the	the	DET
ap-5381	39	12	correct	correct	ADJ
ap-5381	39	13	and	and	CCONJ
ap-5381	39	14	sufficiently	sufficiently	ADV
ap-5381	39	15	accurate	accurate	ADJ
ap-5381	39	16	mathematical	mathematical	ADJ
ap-5381	39	17	model	model	NOUN
ap-5381	39	18	is	be	AUX
ap-5381	39	19	a	a	DET
ap-5381	39	20	basic	basic	ADJ
ap-5381	39	21	prerequisite	prerequisite	NOUN
ap-5381	39	22	for	for	ADP
ap-5381	39	23	any	any	DET
ap-5381	39	24	further	further	ADJ
ap-5381	39	25	analysis	analysis	NOUN
ap-5381	39	26	of	of	ADP
ap-5381	39	27	a	a	DET
ap-5381	39	28	given	give	VERB
ap-5381	39	29	physical	physical	ADJ
ap-5381	39	30	system	system	NOUN
ap-5381	39	31	.	.	PUNCT
ap-5381	40	1	to	to	PART
ap-5381	40	2	design	design	VERB
ap-5381	40	3	advanced	advanced	ADJ
ap-5381	40	4	control	control	NOUN
ap-5381	40	5	algorithms	algorithm	NOUN
ap-5381	40	6	such	such	ADJ
ap-5381	40	7	as	as	ADP
ap-5381	40	8	swing	swing	NOUN
ap-5381	40	9	-	-	PUNCT
ap-5381	40	10	up	up	ADP
ap-5381	40	11	trajectory	trajectory	NOUN
ap-5381	40	12	planning	planning	NOUN
ap-5381	40	13	/	/	SYM
ap-5381	40	14	tracking	tracking	NOUN
ap-5381	40	15	for	for	ADP
ap-5381	40	16	an	an	DET
ap-5381	40	17	underactuated	underactuated	ADJ
ap-5381	40	18	system	system	NOUN
ap-5381	40	19	,	,	PUNCT
ap-5381	40	20	such	such	DET
ap-5381	40	21	a	a	DET
ap-5381	40	22	mathematical	mathematical	ADJ
ap-5381	40	23	model	model	NOUN
ap-5381	40	24	is	be	AUX
ap-5381	40	25	essential	essential	ADJ
ap-5381	40	26	[	[	X
ap-5381	40	27	13	13	NUM
ap-5381	40	28	]	]	PUNCT
ap-5381	40	29	.	.	PUNCT
ap-5381	41	1	the	the	DET
ap-5381	41	2	ipmac	ipmac	PROPN
ap-5381	41	3	library	library	NOUN
ap-5381	41	4	,	,	PUNCT
ap-5381	41	5	via	via	ADP
ap-5381	41	6	the	the	DET
ap-5381	41	7	inverted	inverted	ADJ
ap-5381	41	8	pendula	pendula	PROPN
ap-5381	41	9	model	model	NOUN
ap-5381	41	10	equation	equation	NOUN
ap-5381	41	11	derivator	derivator	NOUN
ap-5381	41	12	application	application	NOUN
ap-5381	41	13	,	,	PUNCT
ap-5381	41	14	allows	allow	VERB
ap-5381	41	15	to	to	PART
ap-5381	41	16	derive	derive	VERB
ap-5381	41	17	the	the	DET
ap-5381	41	18	mathematical	mathematical	ADJ
ap-5381	41	19	model	model	NOUN
ap-5381	41	20	of	of	ADP
ap-5381	41	21	an	an	DET
ap-5381	41	22	inverted	inverted	ADJ
ap-5381	41	23	pendulum	pendulum	NOUN
ap-5381	41	24	system	system	NOUN
ap-5381	41	25	in	in	ADP
ap-5381	41	26	various	various	ADJ
ap-5381	41	27	configurations	configuration	NOUN
ap-5381	41	28	,	,	PUNCT
ap-5381	41	29	considering	consider	VERB
ap-5381	41	30	a	a	DET
ap-5381	41	31	given	give	VERB
ap-5381	41	32	number	number	NOUN
ap-5381	41	33	of	of	ADP
ap-5381	41	34	links	link	NOUN
ap-5381	41	35	and	and	CCONJ
ap-5381	41	36	several	several	ADJ
ap-5381	41	37	types	type	NOUN
ap-5381	41	38	of	of	ADP
ap-5381	41	39	weights	weight	NOUN
ap-5381	41	40	(	(	PUNCT
ap-5381	41	41	or	or	CCONJ
ap-5381	41	42	no	no	DET
ap-5381	41	43	weight	weight	NOUN
ap-5381	41	44	)	)	PUNCT
ap-5381	41	45	at	at	ADP
ap-5381	41	46	the	the	DET
ap-5381	41	47	end	end	NOUN
ap-5381	41	48	of	of	ADP
ap-5381	41	49	the	the	DET
ap-5381	41	50	pendulum	pendulum	NOUN
ap-5381	41	51	[	[	X
ap-5381	41	52	14	14	NUM
ap-5381	41	53	]	]	PUNCT
ap-5381	41	54	.	.	PUNCT
ap-5381	42	1	the	the	DET
ap-5381	42	2	implemented	implement	VERB
ap-5381	42	3	algorithm	algorithm	NOUN
ap-5381	42	4	uses	use	VERB
ap-5381	42	5	the	the	DET
ap-5381	42	6	lagrange	lagrange	PROPN
ap-5381	42	7	equations	equation	NOUN
ap-5381	42	8	of	of	ADP
ap-5381	42	9	the	the	DET
ap-5381	42	10	second	second	ADJ
ap-5381	42	11	kind	kind	NOUN
ap-5381	42	12	to	to	PART
ap-5381	42	13	derive	derive	VERB
ap-5381	42	14	the	the	DET
ap-5381	42	15	model	model	NOUN
ap-5381	42	16	of	of	ADP
ap-5381	42	17	a	a	DET
ap-5381	42	18	selected	select	VERB
ap-5381	42	19	inverted	inverted	ADJ
ap-5381	42	20	pendulum	pendulum	NOUN
ap-5381	42	21	system	system	NOUN
ap-5381	42	22	[	[	X
ap-5381	42	23	12	12	NUM
ap-5381	42	24	]	]	PUNCT
ap-5381	42	25	.	.	PUNCT
ap-5381	43	1	this	this	DET
ap-5381	43	2	method	method	NOUN
ap-5381	43	3	is	be	AUX
ap-5381	43	4	based	base	VERB
ap-5381	43	5	on	on	ADP
ap-5381	43	6	the	the	DET
ap-5381	43	7	definition	definition	NOUN
ap-5381	43	8	of	of	ADP
ap-5381	43	9	the	the	DET
ap-5381	43	10	mass	mass	NOUN
ap-5381	43	11	point	point	NOUN
ap-5381	43	12	coordinates	coordinate	NOUN
ap-5381	43	13	and	and	CCONJ
ap-5381	43	14	the	the	DET
ap-5381	43	15	determination	determination	NOUN
ap-5381	43	16	of	of	ADP
ap-5381	43	17	kinetic	kinetic	ADJ
ap-5381	43	18	ek	ek	NOUN
ap-5381	43	19	and	and	CCONJ
ap-5381	43	20	potential	potential	ADJ
ap-5381	43	21	ep	ep	PROPN
ap-5381	43	22	energy	energy	NOUN
ap-5381	43	23	with	with	ADP
ap-5381	43	24	respect	respect	NOUN
ap-5381	43	25	to	to	ADP
ap-5381	43	26	the	the	DET
ap-5381	43	27	defined	define	VERB
ap-5381	43	28	vector	vector	NOUN
ap-5381	43	29	of	of	ADP
ap-5381	43	30	the	the	DET
ap-5381	43	31	figure	figure	NOUN
ap-5381	43	32	1	1	NUM
ap-5381	43	33	.	.	NOUN
ap-5381	43	34	pendulum	pendulum	NOUN
ap-5381	43	35	on	on	ADP
ap-5381	43	36	the	the	DET
ap-5381	43	37	cart	cart	NOUN
ap-5381	43	38	(	(	PUNCT
ap-5381	43	39	cart	cart	NOUN
ap-5381	43	40	-	-	PUNCT
ap-5381	43	41	pole	pole	NOUN
ap-5381	43	42	)	)	PUNCT
ap-5381	43	43	system	system	NOUN
ap-5381	43	44	generalized	generalize	VERB
ap-5381	43	45	coordinates	coordinate	NOUN
ap-5381	43	46	θθθ(t	θθθ(t	PROPN
ap-5381	43	47	)	)	PUNCT
ap-5381	43	48	,	,	PUNCT
ap-5381	43	49	which	which	PRON
ap-5381	43	50	is	be	AUX
ap-5381	43	51	specified	specify	VERB
ap-5381	43	52	for	for	ADP
ap-5381	43	53	a	a	DET
ap-5381	43	54	n	n	CCONJ
ap-5381	43	55	-	-	PUNCT
ap-5381	43	56	link	link	NOUN
ap-5381	43	57	pendulum	pendulum	NOUN
ap-5381	43	58	as	as	ADP
ap-5381	43	59	:	:	PUNCT
ap-5381	43	60	θθθ(t	θθθ(t	X
ap-5381	43	61	)	)	PUNCT
ap-5381	43	62	=	=	SYM
ap-5381	43	63	[	[	PUNCT
ap-5381	43	64	θ0(t	θ0(t	PROPN
ap-5381	43	65	)	)	PUNCT
ap-5381	43	66	θ1(t	θ1(t	PROPN
ap-5381	43	67	)	)	PUNCT
ap-5381	43	68	·	·	PUNCT
ap-5381	43	69	·	·	PUNCT
ap-5381	43	70	·	·	PUNCT
ap-5381	43	71	θn(t	θn(t	NUM
ap-5381	43	72	)	)	PUNCT
ap-5381	43	73	]	]	PUNCT
ap-5381	44	1	(	(	PUNCT
ap-5381	44	2	1	1	X
ap-5381	44	3	)	)	PUNCT
ap-5381	44	4	where	where	SCONJ
ap-5381	44	5	the	the	DET
ap-5381	44	6	θ0(t	θ0(t	PROPN
ap-5381	44	7	)	)	PUNCT
ap-5381	44	8	represents	represent	VERB
ap-5381	44	9	the	the	DET
ap-5381	44	10	position	position	NOUN
ap-5381	44	11	of	of	ADP
ap-5381	44	12	the	the	DET
ap-5381	44	13	cart	cart	NOUN
ap-5381	44	14	and	and	CCONJ
ap-5381	44	15	the	the	DET
ap-5381	44	16	remaining	remain	VERB
ap-5381	44	17	coordinates	coordinate	NOUN
ap-5381	44	18	θ1(t	θ1(t	NUM
ap-5381	44	19	)	)	PUNCT
ap-5381	44	20	,	,	PUNCT
ap-5381	44	21	.	.	PUNCT
ap-5381	44	22	.	.	PUNCT
ap-5381	44	23	.	.	PUNCT
ap-5381	45	1	,	,	PUNCT
ap-5381	45	2	θn(t	θn(t	PUNCT
ap-5381	45	3	)	)	PUNCT
ap-5381	45	4	represent	represent	VERB
ap-5381	45	5	the	the	DET
ap-5381	45	6	angles	angle	NOUN
ap-5381	45	7	of	of	ADP
ap-5381	45	8	the	the	DET
ap-5381	45	9	individual	individual	ADJ
ap-5381	45	10	pendulum	pendulum	NOUN
ap-5381	45	11	links	link	NOUN
ap-5381	45	12	.	.	PUNCT
ap-5381	46	1	lagrangian	lagrangian	ADJ
ap-5381	46	2	(	(	PUNCT
ap-5381	46	3	lagrange	lagrange	NOUN
ap-5381	46	4	function	function	NOUN
ap-5381	46	5	)	)	PUNCT
ap-5381	46	6	for	for	ADP
ap-5381	46	7	n	n	DET
ap-5381	46	8	mass	mass	NOUN
ap-5381	46	9	points	point	NOUN
ap-5381	46	10	is	be	AUX
ap-5381	46	11	defined	define	VERB
ap-5381	46	12	as	as	ADP
ap-5381	46	13	[	[	X
ap-5381	46	14	17	17	NUM
ap-5381	46	15	]	]	SYM
ap-5381	46	16	:	:	PUNCT
ap-5381	46	17	l(θθθ(t	l(θθθ(t	NOUN
ap-5381	46	18	)	)	PUNCT
ap-5381	46	19	,	,	PUNCT
ap-5381	46	20	θ̇θθ(t	θ̇θθ(t	PROPN
ap-5381	46	21	)	)	PUNCT
ap-5381	46	22	)	)	PUNCT
ap-5381	47	1	=	=	SYM
ap-5381	47	2	n∑	n∑	PROPN
ap-5381	47	3	i=0	i=0	PROPN
ap-5381	47	4	eki	eki	PROPN
ap-5381	47	5	(	(	PUNCT
ap-5381	47	6	θθθ(t	θθθ(t	PROPN
ap-5381	47	7	)	)	PUNCT
ap-5381	47	8	,	,	PUNCT
ap-5381	47	9	θ̇θθ(t))−	θ̇θθ(t))−	PROPN
ap-5381	47	10	n∑	n∑	NOUN
ap-5381	47	11	i=0	i=0	PROPN
ap-5381	47	12	epi	epi	X
ap-5381	47	13	(	(	PUNCT
ap-5381	47	14	θθθ(t	θθθ(t	PROPN
ap-5381	47	15	)	)	PUNCT
ap-5381	47	16	)	)	PUNCT
ap-5381	47	17	(	(	PUNCT
ap-5381	47	18	2	2	X
ap-5381	47	19	)	)	PUNCT
ap-5381	47	20	by	by	ADP
ap-5381	47	21	deriving	derive	VERB
ap-5381	47	22	the	the	DET
ap-5381	47	23	lagrange	lagrange	NOUN
ap-5381	47	24	function	function	NOUN
ap-5381	47	25	with	with	ADP
ap-5381	47	26	respect	respect	NOUN
ap-5381	47	27	to	to	ADP
ap-5381	47	28	time	time	NOUN
ap-5381	47	29	t	t	PROPN
ap-5381	47	30	and	and	CCONJ
ap-5381	47	31	generalized	generalized	ADJ
ap-5381	47	32	coordinates	coordinate	NOUN
ap-5381	47	33	θθθ(t	θθθ(t	PROPN
ap-5381	47	34	)	)	PUNCT
ap-5381	47	35	,	,	PUNCT
ap-5381	47	36	the	the	DET
ap-5381	47	37	resulting	result	VERB
ap-5381	47	38	motion	motion	NOUN
ap-5381	47	39	equations	equation	NOUN
ap-5381	47	40	of	of	ADP
ap-5381	47	41	the	the	DET
ap-5381	47	42	system	system	NOUN
ap-5381	47	43	can	can	AUX
ap-5381	47	44	be	be	AUX
ap-5381	47	45	obtained	obtain	VERB
ap-5381	47	46	in	in	ADP
ap-5381	47	47	the	the	DET
ap-5381	47	48	form	form	NOUN
ap-5381	47	49	:	:	PUNCT
ap-5381	47	50	d	d	X
ap-5381	47	51	dt	dt	X
ap-5381	47	52	(	(	PUNCT
ap-5381	47	53	∂l(t	∂l(t	PROPN
ap-5381	47	54	)	)	PUNCT
ap-5381	47	55	∂θ̇̇θ̇θ(t	∂θ̇̇θ̇θ(t	NOUN
ap-5381	47	56	)	)	PUNCT
ap-5381	47	57	)	)	PUNCT
ap-5381	48	1	−	−	ADP
ap-5381	48	2	∂l(t	∂l(t	NOUN
ap-5381	48	3	)	)	PUNCT
ap-5381	48	4	∂θθθ(t	∂θθθ(t	NOUN
ap-5381	48	5	)	)	PUNCT
ap-5381	49	1	+	+	CCONJ
ap-5381	49	2	∂r(t	∂r(t	NOUN
ap-5381	49	3	)	)	PUNCT
ap-5381	49	4	∂θ̇̇θ̇θ(t	∂θ̇̇θ̇θ(t	NOUN
ap-5381	49	5	)	)	PUNCT
ap-5381	49	6	=	=	SYM
ap-5381	49	7	qqq∗(t	qqq∗(t	NOUN
ap-5381	49	8	)	)	PUNCT
ap-5381	49	9	(	(	PUNCT
ap-5381	49	10	3	3	X
ap-5381	49	11	)	)	PUNCT
ap-5381	49	12	where	where	SCONJ
ap-5381	49	13	r(t	r(t	NOUN
ap-5381	49	14	)	)	PUNCT
ap-5381	49	15	represents	represent	VERB
ap-5381	49	16	the	the	DET
ap-5381	49	17	rayleigh	rayleigh	PROPN
ap-5381	49	18	dissipative	dissipative	NOUN
ap-5381	49	19	function	function	NOUN
ap-5381	49	20	(	(	PUNCT
ap-5381	49	21	friction	friction	NOUN
ap-5381	49	22	/	/	SYM
ap-5381	49	23	damping	damping	NOUN
ap-5381	49	24	)	)	PUNCT
ap-5381	49	25	and	and	CCONJ
ap-5381	49	26	qqq∗(t	qqq∗(t	NOUN
ap-5381	49	27	)	)	PUNCT
ap-5381	49	28	is	be	AUX
ap-5381	49	29	the	the	DET
ap-5381	49	30	external	external	ADJ
ap-5381	49	31	generalized	generalized	ADJ
ap-5381	49	32	force	force	NOUN
ap-5381	49	33	[	[	X
ap-5381	49	34	17	17	NUM
ap-5381	49	35	]	]	PUNCT
ap-5381	49	36	.	.	PUNCT
ap-5381	50	1	our	our	PRON
ap-5381	50	2	specific	specific	ADJ
ap-5381	50	3	case	case	NOUN
ap-5381	50	4	is	be	AUX
ap-5381	50	5	considered	consider	VERB
ap-5381	50	6	to	to	PART
ap-5381	50	7	have	have	VERB
ap-5381	50	8	only	only	ADV
ap-5381	50	9	one	one	NUM
ap-5381	50	10	pendulum	pendulum	NOUN
ap-5381	50	11	,	,	PUNCT
ap-5381	50	12	as	as	ADP
ap-5381	50	13	in	in	ADP
ap-5381	50	14	fig	fig	NOUN
ap-5381	50	15	.	.	PUNCT
ap-5381	51	1	1	1	X
ap-5381	51	2	.	.	PUNCT
ap-5381	51	3	thus	thus	ADV
ap-5381	51	4	,	,	PUNCT
ap-5381	51	5	kinetic	kinetic	ADJ
ap-5381	51	6	ek	ek	NOUN
ap-5381	51	7	and	and	CCONJ
ap-5381	51	8	potential	potential	ADJ
ap-5381	51	9	ep	ep	PROPN
ap-5381	51	10	energy	energy	NOUN
ap-5381	51	11	is	be	AUX
ap-5381	51	12	defined	define	VERB
ap-5381	51	13	for	for	ADP
ap-5381	51	14	two	two	NUM
ap-5381	51	15	mass	mass	NOUN
ap-5381	51	16	points	point	NOUN
ap-5381	51	17	,	,	PUNCT
ap-5381	51	18	for	for	ADP
ap-5381	51	19	the	the	DET
ap-5381	51	20	cart	cart	NOUN
ap-5381	51	21	θ0(t	θ0(t	PROPN
ap-5381	51	22	)	)	PUNCT
ap-5381	51	23	and	and	CCONJ
ap-5381	51	24	for	for	ADP
ap-5381	51	25	the	the	DET
ap-5381	51	26	pendulum	pendulum	NOUN
ap-5381	51	27	θ1(t	θ1(t	NUM
ap-5381	51	28	)	)	PUNCT
ap-5381	51	29	,	,	PUNCT
ap-5381	51	30	respectively	respectively	ADV
ap-5381	51	31	.	.	PUNCT
ap-5381	52	1	we	we	PRON
ap-5381	52	2	consider	consider	VERB
ap-5381	52	3	the	the	DET
ap-5381	52	4	model	model	NOUN
ap-5381	52	5	with	with	ADP
ap-5381	52	6	a	a	DET
ap-5381	52	7	sphere	sphere	NOUN
ap-5381	52	8	at	at	ADP
ap-5381	52	9	the	the	DET
ap-5381	52	10	end	end	NOUN
ap-5381	52	11	of	of	ADP
ap-5381	52	12	the	the	DET
ap-5381	52	13	pendulum	pendulum	NOUN
ap-5381	52	14	,	,	PUNCT
ap-5381	52	15	which	which	PRON
ap-5381	52	16	is	be	AUX
ap-5381	52	17	the	the	DET
ap-5381	52	18	closest	close	ADJ
ap-5381	52	19	representation	representation	NOUN
ap-5381	52	20	of	of	ADP
ap-5381	52	21	the	the	DET
ap-5381	52	22	laboratory	laboratory	NOUN
ap-5381	52	23	model	model	NOUN
ap-5381	52	24	.	.	PUNCT
ap-5381	53	1	the	the	DET
ap-5381	53	2	external	external	ADJ
ap-5381	53	3	input	input	NOUN
ap-5381	53	4	to	to	ADP
ap-5381	53	5	the	the	DET
ap-5381	53	6	system	system	NOUN
ap-5381	53	7	corresponds	correspond	VERB
ap-5381	53	8	to	to	ADP
ap-5381	53	9	the	the	DET
ap-5381	53	10	force	force	NOUN
ap-5381	53	11	f	f	PROPN
ap-5381	53	12	(	(	PUNCT
ap-5381	53	13	t	t	PROPN
ap-5381	53	14	)	)	PUNCT
ap-5381	53	15	applied	apply	VERB
ap-5381	53	16	on	on	ADP
ap-5381	53	17	the	the	DET
ap-5381	53	18	cart	cart	NOUN
ap-5381	53	19	.	.	PUNCT
ap-5381	54	1	the	the	DET
ap-5381	54	2	resulting	result	VERB
ap-5381	54	3	nonlinear	nonlinear	ADJ
ap-5381	54	4	differential	differential	ADJ
ap-5381	54	5	equations	equation	NOUN
ap-5381	54	6	have	have	VERB
ap-5381	54	7	the	the	DET
ap-5381	54	8	form	form	NOUN
ap-5381	54	9	of	of	ADP
ap-5381	54	10	a	a	DET
ap-5381	54	11	cart	cart	NOUN
ap-5381	54	12	equation	equation	NOUN
ap-5381	54	13	:	:	PUNCT
ap-5381	54	14	(	(	PUNCT
ap-5381	54	15	m	m	VERB
ap-5381	54	16	+	+	VERB
ap-5381	54	17	m0	m0	NOUN
ap-5381	54	18	+	+	X
ap-5381	54	19	m1)θ̈0(t	m1)θ̈0(t	ADJ
ap-5381	54	20	)	)	PUNCT
ap-5381	55	1	+	+	NUM
ap-5381	55	2	c	c	NOUN
ap-5381	55	3	cos(θ1(t))(m	cos(θ1(t))(m	VERB
ap-5381	55	4	+	+	NOUN
ap-5381	55	5	m1)θ̈1(t)+	m1)θ̈1(t)+	NOUN
ap-5381	55	6	+	+	NOUN
ap-5381	55	7	δ0θ̇0(t)−	δ0θ̇0(t)−	X
ap-5381	55	8	c	c	X
ap-5381	56	1	sin(θ1(t))θ̇2	sin(θ1(t))θ̇2	PROPN
ap-5381	56	2	0(t)(m	0(t)(m	PUNCT
ap-5381	57	1	+	+	ADJ
ap-5381	57	2	m1	m1	NOUN
ap-5381	57	3	)	)	PUNCT
ap-5381	58	1	=	=	SYM
ap-5381	58	2	f	f	PROPN
ap-5381	58	3	(	(	PUNCT
ap-5381	58	4	t	t	PROPN
ap-5381	58	5	)	)	PUNCT
ap-5381	58	6	(	(	PUNCT
ap-5381	58	7	4	4	NUM
ap-5381	58	8	)	)	PUNCT
ap-5381	58	9	and	and	CCONJ
ap-5381	58	10	the	the	DET
ap-5381	58	11	pendulum	pendulum	NOUN
ap-5381	58	12	equation	equation	NOUN
ap-5381	58	13	:	:	PUNCT
ap-5381	59	1	c(m	c(m	PROPN
ap-5381	59	2	+	+	PROPN
ap-5381	59	3	m1	m1	NOUN
ap-5381	59	4	)	)	PUNCT
ap-5381	59	5	cos(θ1(t))θ̈0(t	cos(θ1(t))θ̈0(t	NOUN
ap-5381	59	6	)	)	PUNCT
ap-5381	59	7	+	+	CCONJ
ap-5381	59	8	j1θ̈1(t)+	j1θ̈1(t)+	PROPN
ap-5381	59	9	+	+	NOUN
ap-5381	59	10	δ1θ̇1(t)−	δ1θ̇1(t)−	PROPN
ap-5381	59	11	c(m1	c(m1	VERB
ap-5381	59	12	+	+	NOUN
ap-5381	59	13	m)g	m)g	NOUN
ap-5381	59	14	sin(θ1(t	sin(θ1(t	NUM
ap-5381	59	15	)	)	PUNCT
ap-5381	59	16	)	)	PUNCT
ap-5381	60	1	=	=	SYM
ap-5381	60	2	0	0	PUNCT
ap-5381	60	3	(	(	PUNCT
ap-5381	60	4	5	5	NUM
ap-5381	60	5	)	)	PUNCT
ap-5381	60	6	with	with	ADP
ap-5381	60	7	the	the	DET
ap-5381	60	8	parameters	parameter	NOUN
ap-5381	60	9	listed	list	VERB
ap-5381	60	10	in	in	ADP
ap-5381	60	11	tab	tab	NOUN
ap-5381	60	12	.	.	PUNCT
ap-5381	61	1	1	1	NUM
ap-5381	61	2	.	.	PUNCT
ap-5381	61	3	to	to	PART
ap-5381	61	4	find	find	VERB
ap-5381	61	5	a	a	DET
ap-5381	61	6	trajectory	trajectory	NOUN
ap-5381	61	7	for	for	ADP
ap-5381	61	8	the	the	DET
ap-5381	61	9	underactuated	underactuated	ADJ
ap-5381	61	10	part	part	NOUN
ap-5381	61	11	of	of	ADP
ap-5381	61	12	the	the	DET
ap-5381	61	13	system	system	NOUN
ap-5381	61	14	,	,	PUNCT
ap-5381	61	15	we	we	PRON
ap-5381	61	16	declare	declare	VERB
ap-5381	61	17	the	the	DET
ap-5381	61	18	acceleration	acceleration	NOUN
ap-5381	61	19	of	of	ADP
ap-5381	61	20	the	the	DET
ap-5381	61	21	cart	cart	NOUN
ap-5381	61	22	459	459	NUM
ap-5381	61	23	l.	l.	PROPN
ap-5381	61	24	koska	koska	PROPN
ap-5381	61	25	,	,	PUNCT
ap-5381	61	26	s.	s.	PROPN
ap-5381	61	27	jadlovská	jadlovská	PROPN
ap-5381	61	28	,	,	PUNCT
ap-5381	61	29	d.	d.	PROPN
ap-5381	61	30	vošček	vošček	PROPN
ap-5381	61	31	,	,	PUNCT
ap-5381	61	32	a.	a.	PROPN
ap-5381	61	33	jadlovská	jadlovská	PROPN
ap-5381	61	34	acta	acta	PROPN
ap-5381	61	35	polytechnica	polytechnica	PROPN
ap-5381	61	36	m0	m0	PROPN
ap-5381	62	1	[	[	X
ap-5381	62	2	kg	kg	X
ap-5381	62	3	]	]	X
ap-5381	62	4	weight	weight	NOUN
ap-5381	62	5	of	of	ADP
ap-5381	62	6	the	the	DET
ap-5381	62	7	cart	cart	NOUN
ap-5381	62	8	m1	m1	PROPN
ap-5381	63	1	[	[	X
ap-5381	63	2	kg	kg	X
ap-5381	63	3	]	]	X
ap-5381	63	4	weight	weight	NOUN
ap-5381	63	5	of	of	ADP
ap-5381	63	6	the	the	DET
ap-5381	63	7	pendulum	pendulum	NOUN
ap-5381	63	8	m	m	VERB
ap-5381	64	1	[	[	X
ap-5381	64	2	kg	kg	X
ap-5381	64	3	]	]	X
ap-5381	64	4	weight	weight	NOUN
ap-5381	64	5	of	of	ADP
ap-5381	64	6	the	the	DET
ap-5381	64	7	sphere	sphere	NOUN
ap-5381	64	8	l1	l1	PROPN
ap-5381	64	9	[	[	X
ap-5381	64	10	m	m	X
ap-5381	64	11	]	]	X
ap-5381	64	12	length	length	NOUN
ap-5381	64	13	of	of	ADP
ap-5381	64	14	the	the	DET
ap-5381	64	15	pendulum	pendulum	NOUN
ap-5381	64	16	c	c	PUNCT
ap-5381	65	1	[	[	X
ap-5381	65	2	m	m	X
ap-5381	65	3	]	]	X
ap-5381	65	4	distance	distance	NOUN
ap-5381	65	5	between	between	ADP
ap-5381	65	6	the	the	DET
ap-5381	65	7	centre	centre	NOUN
ap-5381	65	8	of	of	ADP
ap-5381	65	9	gravity	gravity	NOUN
ap-5381	65	10	(	(	PUNCT
ap-5381	65	11	cog	cog	PROPN
ap-5381	65	12	)	)	PUNCT
ap-5381	65	13	and	and	CCONJ
ap-5381	65	14	the	the	DET
ap-5381	65	15	point	point	NOUN
ap-5381	65	16	of	of	ADP
ap-5381	65	17	rotation	rotation	NOUN
ap-5381	65	18	:	:	PUNCT
ap-5381	66	1	c	c	X
ap-5381	66	2	=	=	SYM
ap-5381	66	3	(	(	PUNCT
ap-5381	66	4	m1l1/2	m1l1/2	PROPN
ap-5381	67	1	+	+	NOUN
ap-5381	67	2	m(l1	m(l1	NOUN
ap-5381	67	3	+	+	NOUN
ap-5381	67	4	r	r	NOUN
ap-5381	67	5	)	)	PUNCT
ap-5381	67	6	)	)	PUNCT
ap-5381	68	1	/(m	/(m	PUNCT
ap-5381	69	1	+	+	NOUN
ap-5381	69	2	m1	m1	NOUN
ap-5381	69	3	)	)	PUNCT
ap-5381	70	1	r	r	NOUN
ap-5381	70	2	[	[	X
ap-5381	70	3	m	m	X
ap-5381	70	4	]	]	X
ap-5381	70	5	radius	radius	NOUN
ap-5381	70	6	of	of	ADP
ap-5381	70	7	the	the	DET
ap-5381	70	8	weight	weight	NOUN
ap-5381	70	9	j1	j1	NOUN
ap-5381	70	10	[	[	X
ap-5381	70	11	kgm2	kgm2	X
ap-5381	70	12	]	]	X
ap-5381	70	13	moment	moment	NOUN
ap-5381	70	14	of	of	ADP
ap-5381	70	15	inertia	inertia	NOUN
ap-5381	70	16	δ0	δ0	NOUN
ap-5381	70	17	[	[	X
ap-5381	70	18	kgm2	kgm2	PROPN
ap-5381	70	19	/	/	SYM
ap-5381	70	20	s	s	PROPN
ap-5381	70	21	]	]	X
ap-5381	70	22	cart	cart	NOUN
ap-5381	70	23	friction	friction	NOUN
ap-5381	70	24	δ1	δ1	NOUN
ap-5381	70	25	[	[	X
ap-5381	70	26	kgm2	kgm2	PROPN
ap-5381	70	27	/	/	SYM
ap-5381	70	28	s	s	NOUN
ap-5381	70	29	]	]	PUNCT
ap-5381	70	30	pendulum	pendulum	NOUN
ap-5381	70	31	friction	friction	NOUN
ap-5381	70	32	table	table	NOUN
ap-5381	70	33	1	1	NUM
ap-5381	70	34	.	.	PUNCT
ap-5381	71	1	parameters	parameter	NOUN
ap-5381	71	2	of	of	ADP
ap-5381	71	3	the	the	DET
ap-5381	71	4	inverted	inverted	ADJ
ap-5381	71	5	pendulum	pendulum	NOUN
ap-5381	71	6	on	on	ADP
ap-5381	71	7	the	the	DET
ap-5381	71	8	cart	cart	NOUN
ap-5381	71	9	system	system	NOUN
ap-5381	71	10	θ̈0(t	θ̈0(t	PROPN
ap-5381	71	11	)	)	PUNCT
ap-5381	71	12	to	to	PART
ap-5381	71	13	be	be	AUX
ap-5381	71	14	the	the	DET
ap-5381	71	15	input	input	NOUN
ap-5381	71	16	of	of	ADP
ap-5381	71	17	the	the	DET
ap-5381	71	18	pendulum	pendulum	NOUN
ap-5381	71	19	subsystem	subsystem	NOUN
ap-5381	71	20	(	(	PUNCT
ap-5381	71	21	5	5	NUM
ap-5381	71	22	)	)	PUNCT
ap-5381	71	23	.	.	PUNCT
ap-5381	72	1	hence	hence	ADV
ap-5381	72	2	,	,	PUNCT
ap-5381	72	3	we	we	PRON
ap-5381	72	4	consider	consider	VERB
ap-5381	72	5	the	the	DET
ap-5381	72	6	system	system	NOUN
ap-5381	72	7	of	of	ADP
ap-5381	72	8	equations	equation	NOUN
ap-5381	72	9	θ̈0(t	θ̈0(t	PROPN
ap-5381	72	10	)	)	PUNCT
ap-5381	72	11	=	=	SYM
ap-5381	72	12	u(t	u(t	NOUN
ap-5381	72	13	)	)	PUNCT
ap-5381	72	14	(	(	PUNCT
ap-5381	72	15	6	6	NUM
ap-5381	72	16	)	)	PUNCT
ap-5381	72	17	θ̈1(t	θ̈1(t	PUNCT
ap-5381	72	18	)	)	PUNCT
ap-5381	73	1	=	=	PUNCT
ap-5381	73	2	c(m	c(m	PROPN
ap-5381	73	3	+	+	PROPN
ap-5381	73	4	m1	m1	PROPN
ap-5381	73	5	)	)	PUNCT
ap-5381	73	6	j1	j1	PROPN
ap-5381	73	7	cos(θ1(t))u(t	cos(θ1(t))u(t	PROPN
ap-5381	73	8	)	)	PUNCT
ap-5381	74	1	+	+	NUM
ap-5381	74	2	δ1	δ1	NOUN
ap-5381	74	3	j1	j1	PROPN
ap-5381	74	4	θ̇1(t)−	θ̇1(t)−	PROPN
ap-5381	74	5	−	−	PROPN
ap-5381	74	6	c(m1	c(m1	NOUN
ap-5381	74	7	+	+	NOUN
ap-5381	74	8	m)g	m)g	NOUN
ap-5381	74	9	j1	j1	PROPN
ap-5381	74	10	sin(θ1(t	sin(θ1(t	NUM
ap-5381	74	11	)	)	PUNCT
ap-5381	74	12	)	)	PUNCT
ap-5381	74	13	(	(	PUNCT
ap-5381	74	14	7	7	X
ap-5381	74	15	)	)	PUNCT
ap-5381	74	16	where	where	SCONJ
ap-5381	74	17	(	(	PUNCT
ap-5381	74	18	6	6	NUM
ap-5381	74	19	)	)	PUNCT
ap-5381	74	20	represents	represent	VERB
ap-5381	74	21	the	the	DET
ap-5381	74	22	input	input	NOUN
ap-5381	74	23	-	-	PUNCT
ap-5381	74	24	output	output	NOUN
ap-5381	74	25	dynamics	dynamic	NOUN
ap-5381	74	26	of	of	ADP
ap-5381	74	27	the	the	DET
ap-5381	74	28	cart	cart	NOUN
ap-5381	74	29	[	[	X
ap-5381	74	30	18	18	NUM
ap-5381	74	31	]	]	PUNCT
ap-5381	74	32	and	and	CCONJ
ap-5381	74	33	(	(	PUNCT
ap-5381	74	34	7	7	X
ap-5381	74	35	)	)	PUNCT
ap-5381	74	36	represents	represent	VERB
ap-5381	74	37	the	the	DET
ap-5381	74	38	internal	internal	ADJ
ap-5381	74	39	dynamics	dynamic	NOUN
ap-5381	74	40	of	of	ADP
ap-5381	74	41	the	the	DET
ap-5381	74	42	system	system	NOUN
ap-5381	74	43	.	.	PUNCT
ap-5381	75	1	for	for	ADP
ap-5381	75	2	the	the	DET
ap-5381	75	3	design	design	NOUN
ap-5381	75	4	of	of	ADP
ap-5381	75	5	desired	desire	VERB
ap-5381	75	6	(	(	PUNCT
ap-5381	75	7	nominal	nominal	ADJ
ap-5381	75	8	)	)	PUNCT
ap-5381	75	9	swing	swing	NOUN
ap-5381	75	10	-	-	PUNCT
ap-5381	75	11	up	up	ADP
ap-5381	75	12	trajectories	trajectory	NOUN
ap-5381	75	13	[	[	X
ap-5381	75	14	θ∗1(t	θ∗1(t	PROPN
ap-5381	75	15	)	)	PUNCT
ap-5381	75	16	θ̇∗1(t	θ̇∗1(t	ADV
ap-5381	75	17	)	)	PUNCT
ap-5381	75	18	]	]	PUNCT
ap-5381	75	19	and	and	CCONJ
ap-5381	75	20	the	the	DET
ap-5381	75	21	control	control	NOUN
ap-5381	75	22	input	input	PROPN
ap-5381	75	23	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	75	24	)	)	PUNCT
ap-5381	75	25	for	for	ADP
ap-5381	75	26	swing	swing	NOUN
ap-5381	75	27	-	-	PUNCT
ap-5381	75	28	up	up	NOUN
ap-5381	75	29	,	,	PUNCT
ap-5381	75	30	we	we	PRON
ap-5381	75	31	also	also	ADV
ap-5381	75	32	have	have	VERB
ap-5381	75	33	to	to	PART
ap-5381	75	34	take	take	VERB
ap-5381	75	35	into	into	ADP
ap-5381	75	36	account	account	NOUN
ap-5381	75	37	the	the	DET
ap-5381	75	38	following	follow	VERB
ap-5381	75	39	constraints	constraint	NOUN
ap-5381	75	40	resulting	result	VERB
ap-5381	75	41	from	from	ADP
ap-5381	75	42	the	the	DET
ap-5381	75	43	laboratory	laboratory	NOUN
ap-5381	75	44	setup	setup	NOUN
ap-5381	75	45	:	:	PUNCT
ap-5381	75	46	|θ0(t)|	|θ0(t)|	NUM
ap-5381	75	47	<	<	X
ap-5381	75	48	0.45	0.45	NUM
ap-5381	75	49	m	m	NOUN
ap-5381	75	50	,	,	PUNCT
ap-5381	76	1	|θ̇0(t)|	|θ̇0(t)|	CCONJ
ap-5381	76	2	<	<	X
ap-5381	76	3	3.5	3.5	NUM
ap-5381	76	4	m/s	m/s	NUM
ap-5381	76	5	,	,	PUNCT
ap-5381	76	6	|θ̈0(t)|	|θ̈0(t)|	PUNCT
ap-5381	76	7	<	<	X
ap-5381	76	8	12m	12m	NUM
ap-5381	76	9	/	/	SYM
ap-5381	76	10	s2	s2	NOUN
ap-5381	76	11	(	(	PUNCT
ap-5381	76	12	8)	8)	NUM
ap-5381	76	13	this	this	PRON
ap-5381	76	14	concludes	conclude	VERB
ap-5381	76	15	the	the	DET
ap-5381	76	16	modelling	modelling	NOUN
ap-5381	76	17	section	section	NOUN
ap-5381	76	18	.	.	PUNCT
ap-5381	77	1	3	3	X
ap-5381	77	2	.	.	X
ap-5381	77	3	trajectory	trajectory	NOUN
ap-5381	77	4	planning	planning	NOUN
ap-5381	77	5	using	use	VERB
ap-5381	77	6	bvp	bvp	NOUN
ap-5381	77	7	the	the	DET
ap-5381	77	8	problem	problem	NOUN
ap-5381	77	9	of	of	ADP
ap-5381	77	10	trajectory	trajectory	NOUN
ap-5381	77	11	planning	planning	NOUN
ap-5381	77	12	for	for	ADP
ap-5381	77	13	the	the	DET
ap-5381	77	14	inverted	inverted	ADJ
ap-5381	77	15	pendulum	pendulum	NOUN
ap-5381	77	16	system	system	NOUN
ap-5381	77	17	involves	involve	VERB
ap-5381	77	18	solving	solve	VERB
ap-5381	77	19	the	the	DET
ap-5381	77	20	task	task	NOUN
ap-5381	77	21	of	of	ADP
ap-5381	77	22	pendulum	pendulum	NOUN
ap-5381	77	23	swing	swing	NOUN
ap-5381	77	24	-	-	PUNCT
ap-5381	77	25	up	up	NOUN
ap-5381	77	26	from	from	ADP
ap-5381	77	27	the	the	DET
ap-5381	77	28	downward	downward	ADJ
ap-5381	77	29	equilibrium	equilibrium	NOUN
ap-5381	77	30	position	position	NOUN
ap-5381	77	31	to	to	ADP
ap-5381	77	32	the	the	DET
ap-5381	77	33	upright	upright	ADJ
ap-5381	77	34	unstable	unstable	ADJ
ap-5381	77	35	equilibrium	equilibrium	NOUN
ap-5381	77	36	position	position	NOUN
ap-5381	77	37	[	[	X
ap-5381	77	38	19	19	NUM
ap-5381	77	39	]	]	PUNCT
ap-5381	77	40	.	.	PUNCT
ap-5381	78	1	let	let	VERB
ap-5381	78	2	us	we	PRON
ap-5381	78	3	suppose	suppose	VERB
ap-5381	78	4	that	that	SCONJ
ap-5381	78	5	the	the	DET
ap-5381	78	6	swing	swing	NOUN
ap-5381	78	7	-	-	PUNCT
ap-5381	78	8	up	up	NOUN
ap-5381	78	9	must	must	AUX
ap-5381	78	10	be	be	AUX
ap-5381	78	11	executed	execute	VERB
ap-5381	78	12	for	for	ADP
ap-5381	78	13	the	the	DET
ap-5381	78	14	bounded	bounded	ADJ
ap-5381	78	15	time	time	NOUN
ap-5381	78	16	interval	interval	NOUN
ap-5381	78	17	t	t	PROPN
ap-5381	78	18	∈	∈	PROPN
ap-5381	79	1	[	[	X
ap-5381	79	2	0	0	NUM
ap-5381	79	3	,	,	PUNCT
ap-5381	79	4	t	t	X
ap-5381	79	5	]	]	PUNCT
ap-5381	79	6	.	.	PUNCT
ap-5381	80	1	the	the	DET
ap-5381	80	2	boundary	boundary	ADJ
ap-5381	80	3	conditions	condition	NOUN
ap-5381	80	4	for	for	ADP
ap-5381	80	5	the	the	DET
ap-5381	80	6	swing	swing	NOUN
ap-5381	80	7	-	-	PUNCT
ap-5381	80	8	up	up	NOUN
ap-5381	80	9	of	of	ADP
ap-5381	80	10	the	the	DET
ap-5381	80	11	considered	consider	VERB
ap-5381	80	12	system	system	NOUN
ap-5381	80	13	from	from	ADP
ap-5381	80	14	the	the	DET
ap-5381	80	15	initial	initial	ADJ
ap-5381	80	16	downward	downward	ADV
ap-5381	80	17	to	to	ADP
ap-5381	80	18	the	the	DET
ap-5381	80	19	terminal	terminal	NOUN
ap-5381	80	20	upward	upward	ADJ
ap-5381	80	21	equilibrium	equilibrium	NOUN
ap-5381	80	22	are	be	AUX
ap-5381	80	23	as	as	SCONJ
ap-5381	80	24	follows	follow	VERB
ap-5381	80	25	:	:	PUNCT
ap-5381	80	26	θ0(0	θ0(0	PROPN
ap-5381	80	27	)	)	PUNCT
ap-5381	81	1	=	=	SYM
ap-5381	81	2	0	0	NUM
ap-5381	81	3	,	,	PUNCT
ap-5381	81	4	θ̇0(0	θ̇0(0	NOUN
ap-5381	81	5	)	)	PUNCT
ap-5381	81	6	=	=	SYM
ap-5381	82	1	0	0	NUM
ap-5381	82	2	,	,	PUNCT
ap-5381	82	3	θ1(0	θ1(0	PROPN
ap-5381	82	4	)	)	PUNCT
ap-5381	82	5	=	=	SYM
ap-5381	83	1	−π	−π	PROPN
ap-5381	83	2	,	,	PUNCT
ap-5381	83	3	θ̇1(0	θ̇1(0	NOUN
ap-5381	83	4	)	)	PUNCT
ap-5381	83	5	=	=	SYM
ap-5381	83	6	0	0	NUM
ap-5381	83	7	θ0(t	θ0(t	PROPN
ap-5381	83	8	)	)	PUNCT
ap-5381	83	9	=	=	SYM
ap-5381	83	10	0	0	NUM
ap-5381	83	11	,	,	PUNCT
ap-5381	83	12	θ̇0(t	θ̇0(t	NOUN
ap-5381	83	13	)	)	PUNCT
ap-5381	84	1	=	=	SYM
ap-5381	84	2	0	0	NUM
ap-5381	84	3	,	,	PUNCT
ap-5381	84	4	θ1(t	θ1(t	NUM
ap-5381	84	5	)	)	PUNCT
ap-5381	84	6	=	=	SYM
ap-5381	84	7	0	0	NUM
ap-5381	84	8	,	,	PUNCT
ap-5381	84	9	θ̇1(t	θ̇1(t	ADJ
ap-5381	84	10	)	)	PUNCT
ap-5381	85	1	=	=	SYM
ap-5381	85	2	0	0	PUNCT
ap-5381	85	3	(	(	PUNCT
ap-5381	85	4	9	9	NUM
ap-5381	85	5	)	)	PUNCT
ap-5381	85	6	in	in	ADP
ap-5381	85	7	this	this	DET
ap-5381	85	8	paper	paper	NOUN
ap-5381	85	9	,	,	PUNCT
ap-5381	85	10	the	the	DET
ap-5381	85	11	design	design	NOUN
ap-5381	85	12	of	of	ADP
ap-5381	85	13	the	the	DET
ap-5381	85	14	swing	swing	NOUN
ap-5381	85	15	-	-	PUNCT
ap-5381	85	16	up	up	ADP
ap-5381	85	17	trajectory	trajectory	NOUN
ap-5381	85	18	for	for	ADP
ap-5381	85	19	the	the	DET
ap-5381	85	20	underactuated	underactuated	ADJ
ap-5381	85	21	system	system	NOUN
ap-5381	85	22	of	of	ADP
ap-5381	85	23	inverted	inverted	ADJ
ap-5381	85	24	pendulum	pendulum	NOUN
ap-5381	85	25	on	on	ADP
ap-5381	85	26	the	the	DET
ap-5381	85	27	cart	cart	NOUN
ap-5381	85	28	is	be	AUX
ap-5381	85	29	based	base	VERB
ap-5381	85	30	on	on	ADP
ap-5381	85	31	the	the	DET
ap-5381	85	32	solution	solution	NOUN
ap-5381	85	33	of	of	ADP
ap-5381	85	34	the	the	DET
ap-5381	85	35	two	two	NUM
ap-5381	85	36	-	-	PUNCT
ap-5381	85	37	point	point	NOUN
ap-5381	85	38	boundary	boundary	ADJ
ap-5381	85	39	value	value	NOUN
ap-5381	85	40	problem	problem	NOUN
ap-5381	85	41	,	,	PUNCT
ap-5381	85	42	considering	consider	VERB
ap-5381	85	43	the	the	DET
ap-5381	85	44	boundaries	boundary	NOUN
ap-5381	85	45	(	(	PUNCT
ap-5381	85	46	8)	8)	NUM
ap-5381	85	47	for	for	ADP
ap-5381	85	48	the	the	DET
ap-5381	85	49	input	input	NOUN
ap-5381	85	50	signal	signal	NOUN
ap-5381	85	51	.	.	PUNCT
ap-5381	86	1	the	the	DET
ap-5381	86	2	input	input	NOUN
ap-5381	86	3	signal	signal	NOUN
ap-5381	86	4	represents	represent	VERB
ap-5381	86	5	the	the	DET
ap-5381	86	6	required	require	VERB
ap-5381	86	7	acceleration	acceleration	NOUN
ap-5381	86	8	of	of	ADP
ap-5381	86	9	the	the	DET
ap-5381	86	10	cart	cart	NOUN
ap-5381	86	11	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	86	12	)	)	PUNCT
ap-5381	86	13	,	,	PUNCT
ap-5381	86	14	hence	hence	ADV
ap-5381	86	15	the	the	DET
ap-5381	86	16	obtained	obtain	VERB
ap-5381	86	17	solution	solution	NOUN
ap-5381	86	18	will	will	AUX
ap-5381	86	19	be	be	AUX
ap-5381	86	20	suitable	suitable	ADJ
ap-5381	86	21	for	for	ADP
ap-5381	86	22	a	a	DET
ap-5381	86	23	subsequent	subsequent	ADJ
ap-5381	86	24	implementation	implementation	NOUN
ap-5381	86	25	into	into	ADP
ap-5381	86	26	the	the	DET
ap-5381	86	27	laboratory	laboratory	NOUN
ap-5381	86	28	model	model	NOUN
ap-5381	87	1	[	[	X
ap-5381	87	2	9	9	NUM
ap-5381	87	3	]	]	X
ap-5381	87	4	[	[	X
ap-5381	87	5	16	16	NUM
ap-5381	87	6	]	]	PUNCT
ap-5381	87	7	.	.	PUNCT
ap-5381	88	1	the	the	DET
ap-5381	88	2	result	result	NOUN
ap-5381	88	3	of	of	ADP
ap-5381	88	4	the	the	DET
ap-5381	88	5	trajectory	trajectory	NOUN
ap-5381	88	6	planning	planning	NOUN
ap-5381	88	7	is	be	AUX
ap-5381	88	8	represented	represent	VERB
ap-5381	88	9	not	not	PART
ap-5381	88	10	only	only	ADV
ap-5381	88	11	by	by	ADP
ap-5381	88	12	the	the	DET
ap-5381	88	13	trajectories	trajectory	NOUN
ap-5381	88	14	of	of	ADP
ap-5381	88	15	state	state	NOUN
ap-5381	88	16	variables	variable	NOUN
ap-5381	88	17	of	of	ADP
ap-5381	88	18	the	the	DET
ap-5381	88	19	selected	select	VERB
ap-5381	88	20	system	system	NOUN
ap-5381	88	21	(	(	PUNCT
ap-5381	88	22	θ∗0(t	θ∗0(t	PROPN
ap-5381	88	23	)	)	PUNCT
ap-5381	88	24	θ̇∗0(t	θ̇∗0(t	NOUN
ap-5381	88	25	)	)	PUNCT
ap-5381	88	26	θ∗1(t	θ∗1(t	PROPN
ap-5381	88	27	)	)	PUNCT
ap-5381	88	28	θ̇∗1(t	θ̇∗1(t	ADV
ap-5381	88	29	)	)	PUNCT
ap-5381	88	30	)	)	PUNCT
ap-5381	88	31	,	,	PUNCT
ap-5381	88	32	but	but	CCONJ
ap-5381	88	33	also	also	ADV
ap-5381	88	34	by	by	ADP
ap-5381	88	35	the	the	DET
ap-5381	88	36	trajectory	trajectory	NOUN
ap-5381	88	37	of	of	ADP
ap-5381	88	38	the	the	DET
ap-5381	88	39	adequate	adequate	ADJ
ap-5381	88	40	input	input	NOUN
ap-5381	88	41	u∗(t	u∗(t	NOUN
ap-5381	88	42	)	)	PUNCT
ap-5381	88	43	=	=	SYM
ap-5381	88	44	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	88	45	)	)	PUNCT
ap-5381	88	46	that	that	PRON
ap-5381	88	47	performs	perform	VERB
ap-5381	88	48	the	the	DET
ap-5381	88	49	required	require	VERB
ap-5381	88	50	behaviour	behaviour	NOUN
ap-5381	88	51	[	[	X
ap-5381	88	52	20	20	NUM
ap-5381	88	53	]	]	PUNCT
ap-5381	88	54	.	.	PUNCT
ap-5381	89	1	the	the	DET
ap-5381	89	2	task	task	NOUN
ap-5381	89	3	of	of	ADP
ap-5381	89	4	inverted	inverted	ADJ
ap-5381	89	5	pendulum	pendulum	NOUN
ap-5381	89	6	swing	swing	NOUN
ap-5381	89	7	-	-	PUNCT
ap-5381	89	8	up	up	NOUN
ap-5381	89	9	is	be	AUX
ap-5381	89	10	most	most	ADV
ap-5381	89	11	commonly	commonly	ADV
ap-5381	89	12	implemented	implement	VERB
ap-5381	89	13	in	in	ADP
ap-5381	89	14	a	a	DET
ap-5381	89	15	way	way	NOUN
ap-5381	89	16	where	where	SCONJ
ap-5381	89	17	the	the	DET
ap-5381	89	18	pendulum	pendulum	NOUN
ap-5381	89	19	is	be	AUX
ap-5381	89	20	simply	simply	ADV
ap-5381	89	21	required	require	VERB
ap-5381	89	22	to	to	PART
ap-5381	89	23	reach	reach	VERB
ap-5381	89	24	the	the	DET
ap-5381	89	25	upright	upright	ADJ
ap-5381	89	26	position	position	NOUN
ap-5381	89	27	without	without	ADP
ap-5381	89	28	regard	regard	NOUN
ap-5381	89	29	to	to	ADP
ap-5381	89	30	the	the	DET
ap-5381	89	31	trajectory	trajectory	NOUN
ap-5381	89	32	tracked	track	VERB
ap-5381	89	33	;	;	PUNCT
ap-5381	89	34	once	once	ADV
ap-5381	89	35	close	close	ADJ
ap-5381	89	36	to	to	ADP
ap-5381	89	37	the	the	DET
ap-5381	89	38	unstable	unstable	ADJ
ap-5381	89	39	equilibrium	equilibrium	NOUN
ap-5381	89	40	,	,	PUNCT
ap-5381	89	41	the	the	DET
ap-5381	89	42	control	control	NOUN
ap-5381	89	43	law	law	NOUN
ap-5381	89	44	is	be	AUX
ap-5381	89	45	switched	switch	VERB
ap-5381	89	46	to	to	ADP
ap-5381	89	47	a	a	DET
ap-5381	89	48	stabilizing	stabilize	VERB
ap-5381	89	49	controller	controller	NOUN
ap-5381	89	50	.	.	PUNCT
ap-5381	90	1	this	this	DET
ap-5381	90	2	approach	approach	NOUN
ap-5381	90	3	,	,	PUNCT
ap-5381	90	4	known	know	VERB
ap-5381	90	5	as	as	ADP
ap-5381	90	6	the	the	DET
ap-5381	90	7	hybrid	hybrid	NOUN
ap-5381	90	8	control	control	NOUN
ap-5381	90	9	structure	structure	NOUN
ap-5381	90	10	,	,	PUNCT
ap-5381	90	11	has	have	AUX
ap-5381	90	12	already	already	ADV
ap-5381	90	13	been	be	AUX
ap-5381	90	14	successfully	successfully	ADV
ap-5381	90	15	implemented	implement	VERB
ap-5381	90	16	as	as	ADP
ap-5381	90	17	a	a	DET
ap-5381	90	18	part	part	NOUN
ap-5381	90	19	of	of	ADP
ap-5381	90	20	the	the	DET
ap-5381	90	21	ipmac	ipmac	NOUN
ap-5381	90	22	[	[	X
ap-5381	90	23	14	14	NUM
ap-5381	90	24	]	]	X
ap-5381	91	1	[	[	X
ap-5381	91	2	16	16	NUM
ap-5381	91	3	]	]	PUNCT
ap-5381	91	4	.	.	PUNCT
ap-5381	92	1	rather	rather	ADV
ap-5381	92	2	than	than	ADP
ap-5381	92	3	this	this	DET
ap-5381	92	4	control	control	NOUN
ap-5381	92	5	structure	structure	NOUN
ap-5381	92	6	,	,	PUNCT
ap-5381	92	7	this	this	DET
ap-5381	92	8	paper	paper	NOUN
ap-5381	92	9	uses	use	VERB
ap-5381	92	10	the	the	DET
ap-5381	92	11	two	two	NUM
ap-5381	92	12	-	-	PUNCT
ap-5381	92	13	degrees	degree	NOUN
ap-5381	92	14	-	-	PUNCT
ap-5381	92	15	of	of	ADP
ap-5381	92	16	-	-	PUNCT
ap-5381	92	17	freedom	freedom	NOUN
ap-5381	92	18	(	(	PUNCT
ap-5381	92	19	feedforward	feedforward	NOUN
ap-5381	92	20	/	/	SYM
ap-5381	92	21	feedback	feedback	NOUN
ap-5381	92	22	)	)	PUNCT
ap-5381	92	23	scheme	scheme	NOUN
ap-5381	92	24	shown	show	VERB
ap-5381	92	25	in	in	ADP
ap-5381	92	26	fig	fig	NOUN
ap-5381	92	27	.	.	PUNCT
ap-5381	92	28	2	2	NUM
ap-5381	92	29	to	to	PART
ap-5381	92	30	ensure	ensure	VERB
ap-5381	92	31	the	the	DET
ap-5381	92	32	offline	offline	ADJ
ap-5381	92	33	generation	generation	NOUN
ap-5381	92	34	of	of	ADP
ap-5381	92	35	desired	desire	VERB
ap-5381	92	36	trajectories	trajectory	NOUN
ap-5381	92	37	based	base	VERB
ap-5381	92	38	on	on	ADP
ap-5381	92	39	a	a	DET
ap-5381	92	40	nonlinear	nonlinear	ADJ
ap-5381	92	41	feedforward	feedforward	NOUN
ap-5381	92	42	design	design	NOUN
ap-5381	92	43	and	and	CCONJ
ap-5381	92	44	their	their	PRON
ap-5381	92	45	subsequent	subsequent	ADJ
ap-5381	92	46	online	online	ADJ
ap-5381	92	47	tracking	tracking	NOUN
ap-5381	92	48	by	by	ADP
ap-5381	92	49	feedback	feedback	NOUN
ap-5381	92	50	lq	lq	NOUN
ap-5381	92	51	control	control	NOUN
ap-5381	92	52	design	design	NOUN
ap-5381	92	53	.	.	PUNCT
ap-5381	93	1	upon	upon	SCONJ
ap-5381	93	2	the	the	DET
ap-5381	93	3	formulation	formulation	NOUN
ap-5381	93	4	of	of	ADP
ap-5381	93	5	the	the	DET
ap-5381	93	6	bvp	bvp	PROPN
ap-5381	93	7	assumptions	assumption	NOUN
ap-5381	93	8	and	and	CCONJ
ap-5381	93	9	constraints	constraint	NOUN
ap-5381	93	10	,	,	PUNCT
ap-5381	93	11	the	the	DET
ap-5381	93	12	solution	solution	NOUN
ap-5381	93	13	can	can	AUX
ap-5381	93	14	be	be	AUX
ap-5381	93	15	searched	search	VERB
ap-5381	93	16	for	for	ADP
ap-5381	93	17	.	.	PROPN
ap-5381	94	1	3.1	3.1	NUM
ap-5381	94	2	.	.	PUNCT
ap-5381	94	3	solution	solution	NOUN
ap-5381	94	4	of	of	ADP
ap-5381	94	5	the	the	DET
ap-5381	94	6	bvp	bvp	NOUN
ap-5381	94	7	from	from	ADP
ap-5381	94	8	the	the	DET
ap-5381	94	9	equation	equation	NOUN
ap-5381	94	10	describing	describe	VERB
ap-5381	94	11	the	the	DET
ap-5381	94	12	dynamics	dynamic	NOUN
ap-5381	94	13	of	of	ADP
ap-5381	94	14	the	the	DET
ap-5381	94	15	inverted	inverted	ADJ
ap-5381	94	16	pendulum	pendulum	NOUN
ap-5381	94	17	(	(	PUNCT
ap-5381	94	18	5	5	NUM
ap-5381	94	19	)	)	PUNCT
ap-5381	94	20	,	,	PUNCT
ap-5381	94	21	we	we	PRON
ap-5381	94	22	obtained	obtain	VERB
ap-5381	94	23	a	a	DET
ap-5381	94	24	nonlinear	nonlinear	ADJ
ap-5381	94	25	second	second	ADJ
ap-5381	94	26	order	order	NOUN
ap-5381	94	27	differential	differential	NOUN
ap-5381	94	28	equation	equation	NOUN
ap-5381	94	29	(	(	PUNCT
ap-5381	94	30	7	7	NUM
ap-5381	94	31	)	)	PUNCT
ap-5381	94	32	where	where	SCONJ
ap-5381	94	33	the	the	DET
ap-5381	94	34	input	input	NOUN
ap-5381	94	35	is	be	AUX
ap-5381	94	36	the	the	DET
ap-5381	94	37	acceleration	acceleration	NOUN
ap-5381	94	38	of	of	ADP
ap-5381	94	39	the	the	DET
ap-5381	94	40	cart	cart	NOUN
ap-5381	94	41	(	(	PUNCT
ap-5381	94	42	6	6	NUM
ap-5381	94	43	)	)	PUNCT
ap-5381	94	44	.	.	PUNCT
ap-5381	95	1	the	the	DET
ap-5381	95	2	system	system	NOUN
ap-5381	95	3	of	of	ADP
ap-5381	95	4	equations	equation	NOUN
ap-5381	95	5	(	(	PUNCT
ap-5381	95	6	6)−(7	6)−(7	NUM
ap-5381	95	7	)	)	PUNCT
ap-5381	95	8	,	,	PUNCT
ap-5381	95	9	which	which	PRON
ap-5381	95	10	is	be	AUX
ap-5381	95	11	already	already	ADV
ap-5381	95	12	in	in	ADP
ap-5381	95	13	input	input	NOUN
ap-5381	95	14	-	-	PUNCT
ap-5381	95	15	output	output	NOUN
ap-5381	95	16	normal	normal	ADJ
ap-5381	95	17	form	form	NOUN
ap-5381	95	18	together	together	ADV
ap-5381	95	19	with	with	ADP
ap-5381	95	20	boundary	boundary	ADJ
ap-5381	95	21	conditions	condition	NOUN
ap-5381	95	22	(	(	PUNCT
ap-5381	95	23	9	9	NUM
ap-5381	95	24	)	)	PUNCT
ap-5381	95	25	,	,	PUNCT
ap-5381	95	26	defines	define	VERB
ap-5381	95	27	a	a	DET
ap-5381	95	28	nonlinear	nonlinear	ADJ
ap-5381	95	29	two	two	NUM
ap-5381	95	30	-	-	PUNCT
ap-5381	95	31	point	point	NOUN
ap-5381	95	32	bvp	bvp	NOUN
ap-5381	95	33	for	for	ADP
ap-5381	95	34	states	state	NOUN
ap-5381	95	35	θ0(t	θ0(t	NOUN
ap-5381	95	36	)	)	PUNCT
ap-5381	95	37	,	,	PUNCT
ap-5381	95	38	θ̇0(t	θ̇0(t	PROPN
ap-5381	95	39	)	)	PUNCT
ap-5381	95	40	,	,	PUNCT
ap-5381	95	41	θ1(t	θ1(t	PROPN
ap-5381	95	42	)	)	PUNCT
ap-5381	95	43	,	,	PUNCT
ap-5381	95	44	θ̇1(t	θ̇1(t	PROPN
ap-5381	95	45	)	)	PUNCT
ap-5381	95	46	that	that	PRON
ap-5381	95	47	depends	depend	VERB
ap-5381	95	48	on	on	ADP
ap-5381	95	49	the	the	DET
ap-5381	95	50	input	input	NOUN
ap-5381	95	51	trajectory	trajectory	NOUN
ap-5381	95	52	u(t	u(t	PROPN
ap-5381	95	53	)	)	PUNCT
ap-5381	95	54	.	.	PUNCT
ap-5381	96	1	using	use	VERB
ap-5381	96	2	the	the	DET
ap-5381	96	3	feedforward	feedforward	NOUN
ap-5381	96	4	control	control	NOUN
ap-5381	96	5	principle	principle	NOUN
ap-5381	96	6	design	design	NOUN
ap-5381	96	7	based	base	VERB
ap-5381	96	8	on	on	ADP
ap-5381	96	9	inverting	invert	VERB
ap-5381	96	10	the	the	DET
ap-5381	96	11	input	input	NOUN
ap-5381	96	12	-	-	PUNCT
ap-5381	96	13	output	output	NOUN
ap-5381	96	14	dynamics	dynamic	NOUN
ap-5381	96	15	of	of	ADP
ap-5381	96	16	the	the	DET
ap-5381	96	17	cart	cart	NOUN
ap-5381	96	18	(	(	PUNCT
ap-5381	96	19	6	6	NUM
ap-5381	96	20	)	)	PUNCT
ap-5381	96	21	and	and	CCONJ
ap-5381	96	22	solving	solve	VERB
ap-5381	96	23	the	the	DET
ap-5381	96	24	bvp	bvp	NOUN
ap-5381	96	25	of	of	ADP
ap-5381	96	26	the	the	DET
ap-5381	96	27	internal	internal	ADJ
ap-5381	96	28	dynamics	dynamic	NOUN
ap-5381	96	29	of	of	ADP
ap-5381	96	30	the	the	DET
ap-5381	96	31	pendulum	pendulum	NOUN
ap-5381	96	32	(	(	PUNCT
ap-5381	96	33	7	7	NUM
ap-5381	96	34	)	)	PUNCT
ap-5381	96	35	,	,	PUNCT
ap-5381	96	36	a	a	DET
ap-5381	96	37	feedforward	feedforward	NOUN
ap-5381	96	38	control	control	NOUN
ap-5381	96	39	input	input	NOUN
ap-5381	96	40	u∗(t	u∗(t	NOUN
ap-5381	96	41	)	)	PUNCT
ap-5381	96	42	=	=	SYM
ap-5381	96	43	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	96	44	)	)	PUNCT
ap-5381	96	45	that	that	PRON
ap-5381	96	46	ensures	ensure	VERB
ap-5381	96	47	that	that	SCONJ
ap-5381	96	48	the	the	DET
ap-5381	96	49	pendulum	pendulum	NOUN
ap-5381	96	50	performs	perform	VERB
ap-5381	96	51	the	the	DET
ap-5381	96	52	swing	swing	NOUN
ap-5381	96	53	-	-	PUNCT
ap-5381	96	54	up	up	NOUN
ap-5381	96	55	,	,	PUNCT
ap-5381	96	56	is	be	AUX
ap-5381	96	57	obtained	obtain	VERB
ap-5381	96	58	.	.	PUNCT
ap-5381	97	1	such	such	DET
ap-5381	97	2	a	a	DET
ap-5381	97	3	control	control	NOUN
ap-5381	97	4	input	input	NOUN
ap-5381	97	5	u∗(t	u∗(t	NOUN
ap-5381	97	6	)	)	PUNCT
ap-5381	97	7	can	can	AUX
ap-5381	97	8	be	be	AUX
ap-5381	97	9	expressed	express	VERB
ap-5381	97	10	in	in	ADP
ap-5381	97	11	the	the	DET
ap-5381	97	12	form	form	NOUN
ap-5381	97	13	of	of	ADP
ap-5381	97	14	polynomial	polynomial	ADJ
ap-5381	97	15	series	series	NOUN
ap-5381	97	16	,	,	PUNCT
ap-5381	97	17	splines	spline	NOUN
ap-5381	97	18	,	,	PUNCT
ap-5381	97	19	harmonic	harmonic	ADJ
ap-5381	97	20	functions	function	NOUN
ap-5381	97	21	or	or	CCONJ
ap-5381	97	22	other	other	ADJ
ap-5381	97	23	functions	function	NOUN
ap-5381	97	24	that	that	PRON
ap-5381	97	25	contain	contain	VERB
ap-5381	97	26	free	free	ADJ
ap-5381	97	27	parameters	parameter	NOUN
ap-5381	97	28	;	;	PUNCT
ap-5381	97	29	hence	hence	ADV
ap-5381	97	30	the	the	DET
ap-5381	97	31	task	task	NOUN
ap-5381	97	32	transforms	transform	VERB
ap-5381	97	33	into	into	ADP
ap-5381	97	34	the	the	DET
ap-5381	97	35	search	search	NOUN
ap-5381	97	36	for	for	ADP
ap-5381	97	37	these	these	DET
ap-5381	97	38	free	free	ADJ
ap-5381	97	39	parameters	parameter	NOUN
ap-5381	97	40	[	[	X
ap-5381	97	41	21	21	NUM
ap-5381	97	42	]	]	PUNCT
ap-5381	97	43	.	.	PUNCT
ap-5381	98	1	the	the	DET
ap-5381	98	2	type	type	NOUN
ap-5381	98	3	of	of	ADP
ap-5381	98	4	the	the	DET
ap-5381	98	5	input	input	NOUN
ap-5381	98	6	series	series	NOUN
ap-5381	98	7	depends	depend	VERB
ap-5381	98	8	on	on	ADP
ap-5381	98	9	the	the	DET
ap-5381	98	10	choice	choice	NOUN
ap-5381	98	11	of	of	ADP
ap-5381	98	12	the	the	DET
ap-5381	98	13	expert	expert	NOUN
ap-5381	98	14	[	[	X
ap-5381	98	15	18	18	NUM
ap-5381	98	16	]	]	X
ap-5381	98	17	;	;	PUNCT
ap-5381	98	18	in	in	ADP
ap-5381	98	19	our	our	PRON
ap-5381	98	20	case	case	NOUN
ap-5381	98	21	,	,	PUNCT
ap-5381	98	22	we	we	PRON
ap-5381	98	23	have	have	AUX
ap-5381	98	24	chosen	choose	VERB
ap-5381	98	25	the	the	DET
ap-5381	98	26	cosine	cosine	NOUN
ap-5381	98	27	input	input	NOUN
ap-5381	98	28	series	series	NOUN
ap-5381	98	29	θ∗0(t	θ∗0(t	PROPN
ap-5381	98	30	)	)	PUNCT
ap-5381	98	31	=	=	PUNCT
ap-5381	99	1	γ(t	γ(t	NOUN
ap-5381	99	2	,	,	PUNCT
ap-5381	99	3	σσσ	σσσ	ADV
ap-5381	99	4	)	)	PUNCT
ap-5381	99	5	with	with	ADP
ap-5381	99	6	free	free	ADJ
ap-5381	99	7	parameters	parameter	NOUN
ap-5381	99	8	for	for	ADP
ap-5381	99	9	the	the	DET
ap-5381	99	10	cart	cart	NOUN
ap-5381	99	11	position	position	NOUN
ap-5381	99	12	θ0(t	θ0(t	PROPN
ap-5381	99	13	)	)	PUNCT
ap-5381	99	14	in	in	ADP
ap-5381	99	15	the	the	DET
ap-5381	99	16	form	form	NOUN
ap-5381	99	17	:	:	PUNCT
ap-5381	99	18	γ(t	γ(t	NOUN
ap-5381	99	19	,	,	PUNCT
ap-5381	99	20	σσσ	σσσ	ADV
ap-5381	99	21	)	)	PUNCT
ap-5381	99	22	=	=	SYM
ap-5381	99	23	−	−	PROPN
ap-5381	99	24	(	(	PUNCT
ap-5381	99	25	σ1	σ1	NOUN
ap-5381	99	26	+	+	CCONJ
ap-5381	99	27	σ3)−	σ3)−	PROPN
ap-5381	99	28	(	(	PUNCT
ap-5381	99	29	σ2	σ2	NOUN
ap-5381	99	30	+	+	CCONJ
ap-5381	99	31	σ4	σ4	NOUN
ap-5381	99	32	)	)	PUNCT
ap-5381	99	33	cos	cos	PROPN
ap-5381	99	34	(	(	PUNCT
ap-5381	99	35	πt	πt	ADP
ap-5381	99	36	t	t	PROPN
ap-5381	99	37	)	)	PUNCT
ap-5381	100	1	+	+	PUNCT
ap-5381	100	2	+	+	CCONJ
ap-5381	100	3	5∑	5∑	ADJ
ap-5381	100	4	i=2	i=2	PROPN
ap-5381	100	5	σi−1	σi−1	PROPN
ap-5381	100	6	cos	cos	PROPN
ap-5381	100	7	(	(	PUNCT
ap-5381	100	8	iπt	iπt	NOUN
ap-5381	100	9	t	t	NOUN
ap-5381	100	10	)	)	PUNCT
ap-5381	100	11	(	(	PUNCT
ap-5381	100	12	10	10	NUM
ap-5381	100	13	)	)	PUNCT
ap-5381	100	14	the	the	DET
ap-5381	100	15	free	free	ADJ
ap-5381	100	16	parameters	parameter	NOUN
ap-5381	100	17	σσσ	σσσ	ADV
ap-5381	100	18	=	=	SYM
ap-5381	100	19	(	(	PUNCT
ap-5381	100	20	σ1	σ1	PROPN
ap-5381	100	21	,	,	PUNCT
ap-5381	100	22	σ2	σ2	PROPN
ap-5381	100	23	,	,	PUNCT
ap-5381	100	24	σ3	σ3	PROPN
ap-5381	100	25	,	,	PUNCT
ap-5381	100	26	σ4	σ4	NOUN
ap-5381	100	27	)	)	PUNCT
ap-5381	100	28	represent	represent	VERB
ap-5381	100	29	the	the	DET
ap-5381	100	30	coefficients	coefficient	NOUN
ap-5381	100	31	of	of	ADP
ap-5381	100	32	the	the	DET
ap-5381	100	33	cosine	cosine	NOUN
ap-5381	100	34	series	series	NOUN
ap-5381	100	35	for	for	ADP
ap-5381	100	36	the	the	DET
ap-5381	100	37	highest	high	ADJ
ap-5381	100	38	frequencies	frequency	NOUN
ap-5381	100	39	.	.	PUNCT
ap-5381	101	1	to	to	PART
ap-5381	101	2	evaluate	evaluate	VERB
ap-5381	101	3	these	these	PRON
ap-5381	101	4	,	,	PUNCT
ap-5381	101	5	we	we	PRON
ap-5381	101	6	use	use	VERB
ap-5381	101	7	the	the	DET
ap-5381	101	8	function	function	NOUN
ap-5381	101	9	bvp5c	bvp5c	PUNCT
ap-5381	101	10	from	from	ADP
ap-5381	101	11	matlab	matlab	PROPN
ap-5381	101	12	with	with	ADP
ap-5381	101	13	an	an	DET
ap-5381	101	14	initial	initial	ADJ
ap-5381	101	15	estimation	estimation	NOUN
ap-5381	101	16	given	give	VERB
ap-5381	101	17	as	as	ADP
ap-5381	101	18	σσσ	σσσ	ADV
ap-5381	101	19	=	=	SYM
ap-5381	101	20	{	{	PUNCT
ap-5381	101	21	0	0	NUM
ap-5381	101	22	,	,	PUNCT
ap-5381	101	23	0	0	NUM
ap-5381	101	24	,	,	PUNCT
ap-5381	101	25	0	0	NUM
ap-5381	101	26	,	,	PUNCT
ap-5381	101	27	0	0	NUM
ap-5381	101	28	}	}	PUNCT
ap-5381	101	29	and	and	CCONJ
ap-5381	101	30	the	the	DET
ap-5381	101	31	swing	swing	NOUN
ap-5381	101	32	-	-	PUNCT
ap-5381	101	33	up	up	ADP
ap-5381	101	34	time	time	NOUN
ap-5381	101	35	set	set	VERB
ap-5381	101	36	to	to	ADP
ap-5381	101	37	t	t	NOUN
ap-5381	101	38	=	=	PUNCT
ap-5381	101	39	1.5s	1.5s	NUM
ap-5381	101	40	.	.	PUNCT
ap-5381	102	1	solving	solve	VERB
ap-5381	102	2	the	the	DET
ap-5381	102	3	bvp	bvp	NOUN
ap-5381	102	4	leads	lead	VERB
ap-5381	102	5	to	to	ADP
ap-5381	102	6	the	the	DET
ap-5381	102	7	set	set	NOUN
ap-5381	102	8	of	of	ADP
ap-5381	102	9	free	free	ADJ
ap-5381	102	10	parameters	parameter	NOUN
ap-5381	102	11	specified	specify	VERB
ap-5381	102	12	as	as	ADP
ap-5381	102	13	σ1	σ1	PROPN
ap-5381	102	14	=	=	SYM
ap-5381	102	15	0.1087	0.1087	NUM
ap-5381	102	16	,	,	PUNCT
ap-5381	102	17	σ2	σ2	NOUN
ap-5381	102	18	=	=	SYM
ap-5381	102	19	0.1588	0.1588	NUM
ap-5381	102	20	,	,	PUNCT
ap-5381	102	21	σ3	σ3	NOUN
ap-5381	102	22	=	=	SYM
ap-5381	102	23	−0.0530	−0.0530	PROPN
ap-5381	102	24	,	,	PUNCT
ap-5381	102	25	σ4	σ4	NOUN
ap-5381	102	26	=	=	SYM
ap-5381	102	27	−0.0611	−0.0611	PROPN
ap-5381	102	28	.	.	PUNCT
ap-5381	103	1	the	the	DET
ap-5381	103	2	desired	desire	VERB
ap-5381	103	3	trajectories	trajectory	NOUN
ap-5381	103	4	θ∗0(t	θ∗0(t	PROPN
ap-5381	103	5	)	)	PUNCT
ap-5381	103	6	,	,	PUNCT
ap-5381	103	7	θ̇∗0(t	θ̇∗0(t	NOUN
ap-5381	103	8	)	)	PUNCT
ap-5381	103	9	and	and	CCONJ
ap-5381	103	10	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	103	11	)	)	PUNCT
ap-5381	103	12	for	for	ADP
ap-5381	103	13	the	the	DET
ap-5381	103	14	cart	cart	NOUN
ap-5381	103	15	that	that	PRON
ap-5381	103	16	result	result	VERB
ap-5381	103	17	from	from	ADP
ap-5381	103	18	this	this	DET
ap-5381	103	19	set	set	NOUN
ap-5381	103	20	of	of	ADP
ap-5381	103	21	parameters	parameter	NOUN
ap-5381	103	22	are	be	AUX
ap-5381	103	23	shown	show	VERB
ap-5381	103	24	in	in	ADP
ap-5381	103	25	the	the	DET
ap-5381	103	26	fig	fig	NOUN
ap-5381	103	27	.	.	PUNCT
ap-5381	104	1	3	3	X
ap-5381	104	2	.	.	X
ap-5381	105	1	the	the	DET
ap-5381	105	2	desired	desire	VERB
ap-5381	105	3	trajecto460	trajecto460	PROPN
ap-5381	105	4	vol	vol	NOUN
ap-5381	105	5	.	.	PUNCT
ap-5381	106	1	59	59	NUM
ap-5381	106	2	no	no	NOUN
ap-5381	106	3	.	.	PUNCT
ap-5381	107	1	5/2019	5/2019	NUM
ap-5381	107	2	swing	swing	NOUN
ap-5381	107	3	-	-	PUNCT
ap-5381	107	4	up	up	NOUN
ap-5381	107	5	of	of	ADP
ap-5381	107	6	the	the	DET
ap-5381	107	7	inverted	inverted	ADJ
ap-5381	107	8	pendulum	pendulum	NOUN
ap-5381	107	9	on	on	ADP
ap-5381	107	10	a	a	DET
ap-5381	107	11	cart	cart	NOUN
ap-5381	107	12	figure	figure	NOUN
ap-5381	107	13	2	2	NUM
ap-5381	107	14	.	.	PUNCT
ap-5381	107	15	feedforward	feedforward	NOUN
ap-5381	107	16	/	/	SYM
ap-5381	107	17	feedback	feedback	NOUN
ap-5381	107	18	control	control	NOUN
ap-5381	107	19	structure	structure	NOUN
ap-5381	107	20	0	0	NUM
ap-5381	108	1	0.2	0.2	NUM
ap-5381	108	2	0.4	0.4	NUM
ap-5381	108	3	0.6	0.6	NUM
ap-5381	108	4	0.8	0.8	NUM
ap-5381	108	5	1	1	NUM
ap-5381	108	6	1.2	1.2	NUM
ap-5381	108	7	1.4	1.4	NUM
ap-5381	108	8	1.6	1.6	NUM
ap-5381	108	9	1.8	1.8	NUM
ap-5381	108	10	time	time	NOUN
ap-5381	109	1	[	[	X
ap-5381	109	2	s	s	X
ap-5381	109	3	]	]	X
ap-5381	109	4	-0.4	-0.4	NUM
ap-5381	109	5	-0.2	-0.2	PROPN
ap-5381	109	6	0	0	NUM
ap-5381	109	7	desired	desire	VERB
ap-5381	109	8	position	position	NOUN
ap-5381	109	9	0	0	NUM
ap-5381	109	10	0.2	0.2	NUM
ap-5381	109	11	0.4	0.4	NUM
ap-5381	109	12	0.6	0.6	NUM
ap-5381	109	13	0.8	0.8	NUM
ap-5381	109	14	1	1	NUM
ap-5381	109	15	1.2	1.2	NUM
ap-5381	109	16	1.4	1.4	NUM
ap-5381	109	17	1.6	1.6	NUM
ap-5381	109	18	1.8	1.8	NUM
ap-5381	109	19	time	time	NOUN
ap-5381	110	1	[	[	X
ap-5381	110	2	s	s	X
ap-5381	110	3	]	]	X
ap-5381	110	4	-2	-2	NOUN
ap-5381	110	5	0	0	NUM
ap-5381	110	6	2	2	NUM
ap-5381	110	7	desired	desire	VERB
ap-5381	110	8	velocity	velocity	NOUN
ap-5381	110	9	trajectory	trajectory	NOUN
ap-5381	110	10	0	0	NUM
ap-5381	110	11	0.2	0.2	NUM
ap-5381	110	12	0.4	0.4	NUM
ap-5381	110	13	0.6	0.6	NUM
ap-5381	110	14	0.8	0.8	NUM
ap-5381	110	15	1	1	NUM
ap-5381	110	16	1.2	1.2	NUM
ap-5381	110	17	1.4	1.4	NUM
ap-5381	110	18	1.6	1.6	NUM
ap-5381	110	19	1.8	1.8	NUM
ap-5381	110	20	time	time	NOUN
ap-5381	110	21	[	[	X
ap-5381	110	22	s	s	X
ap-5381	110	23	]	]	X
ap-5381	110	24	-10	-10	SYM
ap-5381	110	25	0	0	NUM
ap-5381	110	26	10	10	NUM
ap-5381	110	27	desired	desire	VERB
ap-5381	110	28	acceleration	acceleration	NOUN
ap-5381	110	29	trajectory	trajectory	NOUN
ap-5381	110	30	(	(	PUNCT
ap-5381	110	31	input	input	NOUN
ap-5381	110	32	)	)	PUNCT
ap-5381	110	33	figure	figure	NOUN
ap-5381	110	34	3	3	NUM
ap-5381	110	35	.	.	PUNCT
ap-5381	111	1	the	the	DET
ap-5381	111	2	desired	desire	VERB
ap-5381	111	3	position	position	NOUN
ap-5381	111	4	θ∗	θ∗	NOUN
ap-5381	111	5	0(t	0(t	NUM
ap-5381	111	6	)	)	PUNCT
ap-5381	111	7	,	,	PUNCT
ap-5381	111	8	velocity	velocity	NOUN
ap-5381	111	9	θ̇∗	θ̇∗	PROPN
ap-5381	111	10	0(t	0(t	NUM
ap-5381	111	11	)	)	PUNCT
ap-5381	111	12	and	and	CCONJ
ap-5381	111	13	acceleration	acceleration	NOUN
ap-5381	111	14	θ̈∗	θ̈∗	NOUN
ap-5381	111	15	0(t	0(t	NUM
ap-5381	111	16	)	)	PUNCT
ap-5381	111	17	of	of	ADP
ap-5381	111	18	the	the	DET
ap-5381	111	19	cart	cart	NOUN
ap-5381	111	20	generated	generate	VERB
ap-5381	111	21	by	by	ADP
ap-5381	111	22	the	the	DET
ap-5381	111	23	solution	solution	NOUN
ap-5381	111	24	of	of	ADP
ap-5381	111	25	the	the	DET
ap-5381	111	26	bvp	bvp	NOUN
ap-5381	111	27	0	0	NUM
ap-5381	111	28	0.5	0.5	NUM
ap-5381	111	29	1	1	NUM
ap-5381	111	30	1.5	1.5	NUM
ap-5381	111	31	time	time	NOUN
ap-5381	112	1	[	[	X
ap-5381	112	2	s	s	X
ap-5381	112	3	]	]	X
ap-5381	112	4	-200	-200	NUM
ap-5381	112	5	-100	-100	PROPN
ap-5381	112	6	0	0	NUM
ap-5381	112	7	desired	desire	VERB
ap-5381	112	8	position	position	NOUN
ap-5381	112	9	trajectory	trajectory	NOUN
ap-5381	112	10	of	of	ADP
ap-5381	112	11	the	the	DET
ap-5381	112	12	pole	pole	NOUN
ap-5381	112	13	pole	pole	NOUN
ap-5381	112	14	trajectory	trajectory	NOUN
ap-5381	112	15	position	position	NOUN
ap-5381	112	16	[	[	X
ap-5381	112	17	deg	deg	X
ap-5381	112	18	]	]	X
ap-5381	112	19	0	0	NUM
ap-5381	112	20	0.5	0.5	NUM
ap-5381	112	21	1	1	NUM
ap-5381	112	22	1.5	1.5	NUM
ap-5381	112	23	time	time	NOUN
ap-5381	113	1	[	[	X
ap-5381	113	2	s	s	X
ap-5381	113	3	]	]	X
ap-5381	113	4	-200	-200	NUM
ap-5381	113	5	0	0	NUM
ap-5381	113	6	200	200	NUM
ap-5381	113	7	400	400	NUM
ap-5381	113	8	desired	desire	VERB
ap-5381	113	9	velocity	velocity	NOUN
ap-5381	113	10	trajectory	trajectory	NOUN
ap-5381	113	11	of	of	ADP
ap-5381	113	12	the	the	DET
ap-5381	113	13	pole	pole	NOUN
ap-5381	113	14	pole	pole	NOUN
ap-5381	113	15	trajectory	trajectory	NOUN
ap-5381	113	16	velocity	velocity	NOUN
ap-5381	113	17	[	[	X
ap-5381	113	18	deg	deg	NOUN
ap-5381	113	19	/	/	SYM
ap-5381	113	20	s	s	PROPN
ap-5381	113	21	]	]	X
ap-5381	113	22	figure	figure	NOUN
ap-5381	113	23	4	4	NUM
ap-5381	113	24	.	.	PUNCT
ap-5381	113	25	desired	desire	VERB
ap-5381	113	26	trajectory	trajectory	NOUN
ap-5381	113	27	of	of	ADP
ap-5381	113	28	the	the	DET
ap-5381	113	29	pendulum	pendulum	NOUN
ap-5381	113	30	angle	angle	NOUN
ap-5381	113	31	θ∗	θ∗	NOUN
ap-5381	113	32	1(t	1(t	NUM
ap-5381	113	33	)	)	PUNCT
ap-5381	113	34	and	and	CCONJ
ap-5381	113	35	pendulum	pendulum	NOUN
ap-5381	113	36	angular	angular	ADJ
ap-5381	113	37	velocity	velocity	NOUN
ap-5381	113	38	θ̇∗	θ̇∗	PROPN
ap-5381	113	39	1(t	1(t	NUM
ap-5381	113	40	)	)	PUNCT
ap-5381	113	41	generated	generate	VERB
ap-5381	113	42	by	by	ADP
ap-5381	113	43	the	the	DET
ap-5381	113	44	solution	solution	NOUN
ap-5381	113	45	of	of	ADP
ap-5381	113	46	the	the	DET
ap-5381	113	47	bvp	bvp	PROPN
ap-5381	113	48	461	461	NUM
ap-5381	113	49	l.	l.	PROPN
ap-5381	113	50	koska	koska	PROPN
ap-5381	113	51	,	,	PUNCT
ap-5381	113	52	s.	s.	PROPN
ap-5381	113	53	jadlovská	jadlovská	PROPN
ap-5381	113	54	,	,	PUNCT
ap-5381	113	55	d.	d.	PROPN
ap-5381	113	56	vošček	vošček	PROPN
ap-5381	113	57	,	,	PUNCT
ap-5381	113	58	a.	a.	PROPN
ap-5381	113	59	jadlovská	jadlovská	PROPN
ap-5381	113	60	acta	acta	PROPN
ap-5381	113	61	polytechnica	polytechnica	PROPN
ap-5381	113	62	ries	rie	NOUN
ap-5381	113	63	satisfying	satisfy	VERB
ap-5381	113	64	the	the	DET
ap-5381	113	65	control	control	NOUN
ap-5381	113	66	objective	objective	NOUN
ap-5381	113	67	and	and	CCONJ
ap-5381	113	68	constraints	constraint	NOUN
ap-5381	113	69	for	for	ADP
ap-5381	113	70	the	the	DET
ap-5381	113	71	pendulum	pendulum	NOUN
ap-5381	113	72	swing	swing	NOUN
ap-5381	113	73	-	-	PUNCT
ap-5381	113	74	up	up	ADP
ap-5381	113	75	θ∗1(t	θ∗1(t	PROPN
ap-5381	113	76	)	)	PUNCT
ap-5381	113	77	and	and	CCONJ
ap-5381	113	78	its	its	PRON
ap-5381	113	79	angular	angular	ADJ
ap-5381	113	80	velocity	velocity	NOUN
ap-5381	113	81	θ̇∗1(t	θ̇∗1(t	VERB
ap-5381	113	82	)	)	PUNCT
ap-5381	113	83	are	be	AUX
ap-5381	113	84	shown	show	VERB
ap-5381	113	85	in	in	ADP
ap-5381	113	86	fig	fig	NOUN
ap-5381	113	87	.	.	PUNCT
ap-5381	114	1	4	4	NUM
ap-5381	114	2	.	.	NOUN
ap-5381	114	3	3.2	3.2	NUM
ap-5381	114	4	.	.	PUNCT
ap-5381	115	1	design	design	NOUN
ap-5381	115	2	of	of	ADP
ap-5381	115	3	the	the	DET
ap-5381	115	4	control	control	NOUN
ap-5381	115	5	algorithm	algorithm	NOUN
ap-5381	115	6	for	for	ADP
ap-5381	115	7	tracking	track	VERB
ap-5381	115	8	desired	desire	VERB
ap-5381	115	9	trajectories	trajectory	NOUN
ap-5381	115	10	calculated	calculate	VERB
ap-5381	115	11	by	by	ADP
ap-5381	115	12	the	the	DET
ap-5381	115	13	bvp	bvp	NOUN
ap-5381	115	14	the	the	DET
ap-5381	115	15	generated	generate	VERB
ap-5381	115	16	inverted	invert	VERB
ap-5381	115	17	pendulum	pendulum	NOUN
ap-5381	115	18	model	model	NOUN
ap-5381	115	19	(	(	PUNCT
ap-5381	115	20	4)−(5	4)−(5	NUM
ap-5381	115	21	)	)	PUNCT
ap-5381	115	22	is	be	AUX
ap-5381	115	23	only	only	ADV
ap-5381	115	24	appropriate	appropriate	ADJ
ap-5381	115	25	for	for	ADP
ap-5381	115	26	trajectory	trajectory	NOUN
ap-5381	115	27	tracking	tracking	NOUN
ap-5381	115	28	control	control	NOUN
ap-5381	115	29	design	design	NOUN
ap-5381	115	30	if	if	SCONJ
ap-5381	115	31	the	the	DET
ap-5381	115	32	drive	drive	PROPN
ap-5381	115	33	control	control	NOUN
ap-5381	115	34	unit	unit	NOUN
ap-5381	115	35	allows	allow	VERB
ap-5381	115	36	the	the	DET
ap-5381	115	37	force	force	NOUN
ap-5381	115	38	input	input	NOUN
ap-5381	115	39	on	on	ADP
ap-5381	115	40	the	the	DET
ap-5381	115	41	cart	cart	NOUN
ap-5381	115	42	.	.	PUNCT
ap-5381	116	1	our	our	PRON
ap-5381	116	2	system	system	NOUN
ap-5381	116	3	is	be	AUX
ap-5381	116	4	actuated	actuate	VERB
ap-5381	116	5	by	by	ADP
ap-5381	116	6	means	mean	NOUN
ap-5381	116	7	of	of	ADP
ap-5381	116	8	a	a	DET
ap-5381	116	9	linear	linear	ADJ
ap-5381	116	10	synchronous	synchronous	ADJ
ap-5381	116	11	motor	motor	NOUN
ap-5381	116	12	(	(	PUNCT
ap-5381	116	13	lsm	lsm	PROPN
ap-5381	116	14	)	)	PUNCT
ap-5381	116	15	,	,	PUNCT
ap-5381	116	16	hence	hence	ADV
ap-5381	116	17	it	it	PRON
ap-5381	116	18	does	do	AUX
ap-5381	116	19	not	not	PART
ap-5381	116	20	satisfy	satisfy	VERB
ap-5381	116	21	this	this	DET
ap-5381	116	22	condition	condition	NOUN
ap-5381	116	23	.	.	PUNCT
ap-5381	117	1	therefore	therefore	ADV
ap-5381	117	2	,	,	PUNCT
ap-5381	117	3	we	we	PRON
ap-5381	117	4	first	first	ADV
ap-5381	117	5	need	need	VERB
ap-5381	117	6	to	to	PART
ap-5381	117	7	modify	modify	VERB
ap-5381	117	8	the	the	DET
ap-5381	117	9	model	model	NOUN
ap-5381	117	10	by	by	ADP
ap-5381	117	11	replacing	replace	VERB
ap-5381	117	12	the	the	DET
ap-5381	117	13	equation	equation	NOUN
ap-5381	117	14	(	(	PUNCT
ap-5381	117	15	4	4	NUM
ap-5381	117	16	)	)	PUNCT
ap-5381	117	17	with	with	ADP
ap-5381	117	18	the	the	DET
ap-5381	117	19	linear	linear	ADJ
ap-5381	117	20	approximation	approximation	NOUN
ap-5381	117	21	of	of	ADP
ap-5381	117	22	the	the	DET
ap-5381	117	23	cart	cart	NOUN
ap-5381	117	24	-	-	PUNCT
ap-5381	117	25	lsm	lsm	PROPN
ap-5381	117	26	subsystem	subsystem	NOUN
ap-5381	117	27	to	to	PART
ap-5381	117	28	obtain	obtain	VERB
ap-5381	117	29	the	the	DET
ap-5381	117	30	simulation	simulation	NOUN
ap-5381	117	31	model	model	NOUN
ap-5381	117	32	of	of	ADP
ap-5381	117	33	the	the	DET
ap-5381	117	34	laboratory	laboratory	NOUN
ap-5381	117	35	system	system	NOUN
ap-5381	117	36	[	[	X
ap-5381	117	37	16	16	NUM
ap-5381	117	38	]	]	PUNCT
ap-5381	117	39	.	.	PUNCT
ap-5381	118	1	the	the	DET
ap-5381	118	2	state	state	NOUN
ap-5381	118	3	-	-	PUNCT
ap-5381	118	4	space	space	NOUN
ap-5381	118	5	vector	vector	NOUN
ap-5381	118	6	for	for	ADP
ap-5381	118	7	the	the	DET
ap-5381	118	8	inverted	inverted	ADJ
ap-5381	118	9	pendulum	pendulum	NOUN
ap-5381	118	10	with	with	ADP
ap-5381	118	11	lsm	lsm	PROPN
ap-5381	118	12	remains	remain	VERB
ap-5381	118	13	unchanged	unchanged	ADJ
ap-5381	118	14	and	and	CCONJ
ap-5381	118	15	is	be	AUX
ap-5381	118	16	of	of	ADP
ap-5381	118	17	the	the	DET
ap-5381	118	18	form	form	NOUN
ap-5381	118	19	:	:	PUNCT
ap-5381	118	20	xxx(t	xxx(t	PROPN
ap-5381	118	21	)	)	PUNCT
ap-5381	119	1	=	=	PRON
ap-5381	119	2	(	(	PUNCT
ap-5381	119	3	θ0(t	θ0(t	PROPN
ap-5381	119	4	)	)	PUNCT
ap-5381	119	5	θ̇0(t	θ̇0(t	PROPN
ap-5381	119	6	)	)	PUNCT
ap-5381	119	7	θ1(t	θ1(t	PROPN
ap-5381	119	8	)	)	PUNCT
ap-5381	119	9	θ̇1(t	θ̇1(t	PROPN
ap-5381	119	10	)	)	PUNCT
ap-5381	119	11	)	)	PUNCT
ap-5381	120	1	t	t	NOUN
ap-5381	120	2	(	(	PUNCT
ap-5381	120	3	11	11	NUM
ap-5381	120	4	)	)	PUNCT
ap-5381	120	5	and	and	CCONJ
ap-5381	120	6	the	the	DET
ap-5381	120	7	same	same	ADJ
ap-5381	120	8	holds	hold	VERB
ap-5381	120	9	for	for	ADP
ap-5381	120	10	the	the	DET
ap-5381	120	11	vector	vector	NOUN
ap-5381	120	12	of	of	ADP
ap-5381	120	13	desired	desire	VERB
ap-5381	120	14	trajectories	trajectory	NOUN
ap-5381	120	15	xxx∗(t	xxx∗(t	NOUN
ap-5381	120	16	)	)	PUNCT
ap-5381	120	17	=	=	SYM
ap-5381	120	18	(	(	PUNCT
ap-5381	120	19	θ∗0(t	θ∗0(t	PROPN
ap-5381	120	20	)	)	PUNCT
ap-5381	120	21	θ̇∗0(t	θ̇∗0(t	NOUN
ap-5381	120	22	)	)	PUNCT
ap-5381	120	23	θ∗1(t	θ∗1(t	PROPN
ap-5381	120	24	)	)	PUNCT
ap-5381	120	25	θ̇∗1(t))t	θ̇∗1(t))t	PROPN
ap-5381	120	26	.	.	PUNCT
ap-5381	121	1	in	in	ADP
ap-5381	121	2	this	this	DET
ap-5381	121	3	paper	paper	NOUN
ap-5381	121	4	,	,	PUNCT
ap-5381	121	5	we	we	PRON
ap-5381	121	6	consider	consider	VERB
ap-5381	121	7	the	the	DET
ap-5381	121	8	cart	cart	NOUN
ap-5381	121	9	-	-	PUNCT
ap-5381	121	10	lsm	lsm	PROPN
ap-5381	121	11	subsystem	subsystem	NOUN
ap-5381	121	12	as	as	ADP
ap-5381	121	13	a	a	DET
ap-5381	121	14	linear	linear	ADJ
ap-5381	121	15	system	system	NOUN
ap-5381	121	16	whose	whose	DET
ap-5381	121	17	input	input	NOUN
ap-5381	121	18	is	be	AUX
ap-5381	121	19	the	the	DET
ap-5381	121	20	desired	desire	VERB
ap-5381	121	21	(	(	PUNCT
ap-5381	121	22	reference	reference	NOUN
ap-5381	121	23	)	)	PUNCT
ap-5381	121	24	velocity	velocity	NOUN
ap-5381	121	25	θ̇∗0(t	θ̇∗0(t	NOUN
ap-5381	121	26	)	)	PUNCT
ap-5381	121	27	of	of	ADP
ap-5381	121	28	the	the	DET
ap-5381	121	29	cart	cart	NOUN
ap-5381	121	30	and	and	CCONJ
ap-5381	121	31	the	the	DET
ap-5381	121	32	output	output	NOUN
ap-5381	121	33	is	be	AUX
ap-5381	121	34	the	the	DET
ap-5381	121	35	actual	actual	ADJ
ap-5381	121	36	velocity	velocity	NOUN
ap-5381	121	37	θ̇0(t	θ̇0(t	PROPN
ap-5381	121	38	)	)	PUNCT
ap-5381	121	39	of	of	ADP
ap-5381	121	40	the	the	DET
ap-5381	121	41	cart	cart	NOUN
ap-5381	121	42	.	.	PUNCT
ap-5381	122	1	the	the	DET
ap-5381	122	2	desired	desire	VERB
ap-5381	122	3	velocity	velocity	NOUN
ap-5381	122	4	trajectory	trajectory	NOUN
ap-5381	122	5	θ̇∗0(t	θ̇∗0(t	PROPN
ap-5381	122	6	)	)	PUNCT
ap-5381	122	7	was	be	AUX
ap-5381	122	8	obtained	obtain	VERB
ap-5381	122	9	in	in	ADP
ap-5381	122	10	the	the	DET
ap-5381	122	11	previous	previous	ADJ
ap-5381	122	12	section	section	NOUN
ap-5381	122	13	by	by	ADP
ap-5381	122	14	means	mean	NOUN
ap-5381	122	15	of	of	ADP
ap-5381	122	16	the	the	DET
ap-5381	122	17	cosine	cosine	NOUN
ap-5381	122	18	series	series	NOUN
ap-5381	122	19	(	(	PUNCT
ap-5381	122	20	10	10	NUM
ap-5381	122	21	)	)	PUNCT
ap-5381	122	22	.	.	PUNCT
ap-5381	123	1	a	a	DET
ap-5381	123	2	first	first	ADJ
ap-5381	123	3	-	-	PUNCT
ap-5381	123	4	order	order	NOUN
ap-5381	123	5	linear	linear	NOUN
ap-5381	123	6	system	system	NOUN
ap-5381	123	7	is	be	AUX
ap-5381	123	8	proposed	propose	VERB
ap-5381	123	9	in	in	ADP
ap-5381	123	10	the	the	DET
ap-5381	123	11	form	form	NOUN
ap-5381	123	12	:	:	PUNCT
ap-5381	123	13	θ̈0(t	θ̈0(t	PRON
ap-5381	123	14	)	)	PUNCT
ap-5381	124	1	+	+	CCONJ
ap-5381	124	2	q0θ̇0(t	q0θ̇0(t	X
ap-5381	124	3	)	)	PUNCT
ap-5381	124	4	=	=	NOUN
ap-5381	124	5	p0θ̇	p0θ̇	NOUN
ap-5381	124	6	∗	∗	NOUN
ap-5381	124	7	0(t	0(t	NUM
ap-5381	124	8	)	)	PUNCT
ap-5381	124	9	(	(	PUNCT
ap-5381	124	10	12	12	NUM
ap-5381	124	11	)	)	PUNCT
ap-5381	124	12	the	the	DET
ap-5381	124	13	coefficients	coefficient	NOUN
ap-5381	124	14	q0	q0	VERB
ap-5381	124	15	and	and	CCONJ
ap-5381	124	16	p0	p0	NOUN
ap-5381	124	17	of	of	ADP
ap-5381	124	18	the	the	DET
ap-5381	124	19	linear	linear	PROPN
ap-5381	124	20	differential	differential	NOUN
ap-5381	124	21	equation	equation	NOUN
ap-5381	124	22	(	(	PUNCT
ap-5381	124	23	12	12	NUM
ap-5381	124	24	)	)	PUNCT
ap-5381	124	25	were	be	AUX
ap-5381	124	26	obtained	obtain	VERB
ap-5381	124	27	using	use	VERB
ap-5381	124	28	the	the	DET
ap-5381	124	29	arx	arx	PROPN
ap-5381	124	30	function	function	NOUN
ap-5381	124	31	from	from	ADP
ap-5381	124	32	system	system	NOUN
ap-5381	124	33	identification	identification	NOUN
ap-5381	124	34	toolbox	toolbox	NOUN
ap-5381	124	35	,	,	PUNCT
ap-5381	124	36	i.e.	i.e.	X
ap-5381	124	37	by	by	ADP
ap-5381	124	38	performing	perform	VERB
ap-5381	124	39	an	an	DET
ap-5381	124	40	experimental	experimental	ADJ
ap-5381	124	41	identification	identification	NOUN
ap-5381	124	42	on	on	ADP
ap-5381	124	43	the	the	DET
ap-5381	124	44	laboratory	laboratory	NOUN
ap-5381	124	45	pendulum	pendulum	NOUN
ap-5381	124	46	system	system	NOUN
ap-5381	124	47	,	,	PUNCT
ap-5381	124	48	as	as	ADP
ap-5381	124	49	in	in	ADP
ap-5381	124	50	[	[	X
ap-5381	124	51	16	16	NUM
ap-5381	124	52	]	]	PUNCT
ap-5381	124	53	.	.	PUNCT
ap-5381	125	1	after	after	ADP
ap-5381	125	2	combining	combine	VERB
ap-5381	125	3	the	the	DET
ap-5381	125	4	approximate	approximate	ADJ
ap-5381	125	5	cart	cart	NOUN
ap-5381	125	6	-	-	PUNCT
ap-5381	125	7	lsm	lsm	PROPN
ap-5381	125	8	representation	representation	NOUN
ap-5381	125	9	(	(	PUNCT
ap-5381	125	10	12	12	NUM
ap-5381	125	11	)	)	PUNCT
ap-5381	125	12	with	with	ADP
ap-5381	125	13	the	the	DET
ap-5381	125	14	pendulum	pendulum	NOUN
ap-5381	125	15	equation	equation	NOUN
ap-5381	125	16	(	(	PUNCT
ap-5381	125	17	5	5	NUM
ap-5381	125	18	)	)	PUNCT
ap-5381	125	19	,	,	PUNCT
ap-5381	125	20	we	we	PRON
ap-5381	125	21	obtain	obtain	VERB
ap-5381	125	22	the	the	DET
ap-5381	125	23	modified	modify	VERB
ap-5381	125	24	model	model	NOUN
ap-5381	125	25	of	of	ADP
ap-5381	125	26	the	the	DET
ap-5381	125	27	inverted	inverted	ADJ
ap-5381	125	28	pendulum	pendulum	NOUN
ap-5381	125	29	system	system	NOUN
ap-5381	125	30	in	in	ADP
ap-5381	125	31	the	the	DET
ap-5381	125	32	form	form	NOUN
ap-5381	125	33	that	that	PRON
ap-5381	125	34	is	be	AUX
ap-5381	125	35	suitable	suitable	ADJ
ap-5381	125	36	for	for	ADP
ap-5381	125	37	linearization	linearization	NOUN
ap-5381	125	38	[	[	X
ap-5381	125	39	16	16	NUM
ap-5381	125	40	]	]	PUNCT
ap-5381	125	41	.	.	PUNCT
ap-5381	126	1	for	for	ADP
ap-5381	126	2	the	the	DET
ap-5381	126	3	design	design	NOUN
ap-5381	126	4	of	of	ADP
ap-5381	126	5	the	the	DET
ap-5381	126	6	control	control	NOUN
ap-5381	126	7	algorithm	algorithm	NOUN
ap-5381	126	8	which	which	PRON
ap-5381	126	9	ensures	ensure	VERB
ap-5381	126	10	tracking	track	VERB
ap-5381	126	11	the	the	DET
ap-5381	126	12	desired	desire	VERB
ap-5381	126	13	trajectories	trajectory	NOUN
ap-5381	126	14	obtained	obtain	VERB
ap-5381	126	15	by	by	ADP
ap-5381	126	16	the	the	DET
ap-5381	126	17	solution	solution	NOUN
ap-5381	126	18	of	of	ADP
ap-5381	126	19	the	the	DET
ap-5381	126	20	bvp	bvp	NOUN
ap-5381	126	21	,	,	PUNCT
ap-5381	126	22	the	the	DET
ap-5381	126	23	algorithm	algorithm	NOUN
ap-5381	126	24	based	base	VERB
ap-5381	126	25	on	on	ADP
ap-5381	126	26	timevarying	timevarye	VERB
ap-5381	126	27	lq	lq	PART
ap-5381	126	28	principle	principle	NOUN
ap-5381	126	29	(	(	PUNCT
ap-5381	126	30	feedback	feedback	NOUN
ap-5381	126	31	control	control	NOUN
ap-5381	126	32	∆u(t	∆u(t	PROPN
ap-5381	126	33	)	)	PUNCT
ap-5381	126	34	)	)	PUNCT
ap-5381	126	35	and	and	CCONJ
ap-5381	126	36	results	result	NOUN
ap-5381	126	37	of	of	ADP
ap-5381	126	38	the	the	DET
ap-5381	126	39	bvp	bvp	PROPN
ap-5381	126	40	algorithm	algorithm	NOUN
ap-5381	126	41	(	(	PUNCT
ap-5381	126	42	feedforward	feedforward	NOUN
ap-5381	126	43	control	control	NOUN
ap-5381	126	44	u∗(t	u∗(t	NOUN
ap-5381	126	45	)	)	PUNCT
ap-5381	126	46	)	)	PUNCT
ap-5381	126	47	are	be	AUX
ap-5381	126	48	used	use	VERB
ap-5381	126	49	in	in	ADP
ap-5381	126	50	the	the	DET
ap-5381	126	51	control	control	NOUN
ap-5381	126	52	structure	structure	NOUN
ap-5381	126	53	,	,	PUNCT
ap-5381	126	54	which	which	PRON
ap-5381	126	55	is	be	AUX
ap-5381	126	56	depicted	depict	VERB
ap-5381	126	57	in	in	ADP
ap-5381	126	58	fig	fig	NOUN
ap-5381	126	59	.	.	PUNCT
ap-5381	127	1	2	2	X
ap-5381	127	2	.	.	PUNCT
ap-5381	127	3	to	to	PART
ap-5381	127	4	implement	implement	VERB
ap-5381	127	5	an	an	DET
ap-5381	127	6	optimal	optimal	ADJ
ap-5381	127	7	feedback	feedback	NOUN
ap-5381	127	8	time	time	NOUN
ap-5381	127	9	-	-	PUNCT
ap-5381	127	10	varying	vary	VERB
ap-5381	127	11	lq	lq	NOUN
ap-5381	127	12	control	control	NOUN
ap-5381	127	13	∆u(t	∆u(t	PROPN
ap-5381	127	14	)	)	PUNCT
ap-5381	127	15	,	,	PUNCT
ap-5381	127	16	the	the	DET
ap-5381	127	17	linearized	linearize	VERB
ap-5381	127	18	inverted	inverted	ADJ
ap-5381	127	19	pendulum	pendulum	NOUN
ap-5381	127	20	model	model	NOUN
ap-5381	127	21	is	be	AUX
ap-5381	127	22	used	use	VERB
ap-5381	127	23	,	,	PUNCT
ap-5381	127	24	which	which	PRON
ap-5381	127	25	is	be	AUX
ap-5381	127	26	characterized	characterize	VERB
ap-5381	127	27	by	by	ADP
ap-5381	127	28	the	the	DET
ap-5381	127	29	time	time	NOUN
ap-5381	127	30	-	-	PUNCT
ap-5381	127	31	varying	vary	VERB
ap-5381	127	32	system	system	NOUN
ap-5381	127	33	dynamics	dynamic	NOUN
ap-5381	127	34	matrix	matrix	NOUN
ap-5381	127	35	aaa(t	aaa(t	NOUN
ap-5381	127	36	)	)	PUNCT
ap-5381	127	37	and	and	CCONJ
ap-5381	127	38	input	input	NOUN
ap-5381	127	39	matrix	matrix	NOUN
ap-5381	127	40	bbb(t	bbb(t	PROPN
ap-5381	127	41	)	)	PUNCT
ap-5381	127	42	,	,	PUNCT
ap-5381	127	43	given	give	VERB
ap-5381	127	44	as	as	SCONJ
ap-5381	127	45	follows	follow	VERB
ap-5381	127	46	:	:	PUNCT
ap-5381	127	47	aaa(t	aaa(t	NOUN
ap-5381	127	48	)	)	PUNCT
ap-5381	127	49	=	=	SYM
ap-5381	127	50			NOUN
ap-5381	127	51	0	0	NUM
ap-5381	127	52	1	1	NUM
ap-5381	127	53	0	0	NUM
ap-5381	127	54	0	0	NUM
ap-5381	127	55	h3	h3	NOUN
ap-5381	127	56	−h2	−h2	VERB
ap-5381	127	57	0	0	PUNCT
ap-5381	128	1	−h1q0	−h1q0	NOUN
ap-5381	128	2	0	0	NUM
ap-5381	128	3	0	0	NUM
ap-5381	128	4	0	0	NUM
ap-5381	128	5	1	1	NUM
ap-5381	128	6	0	0	NUM
ap-5381	128	7	0	0	NUM
ap-5381	128	8	0	0	NUM
ap-5381	128	9	−q0	−q0	NOUN
ap-5381	128	10			NOUN
ap-5381	128	11	∣∣∣∣∣∣∣∣	∣∣∣∣∣∣∣∣	ADP
ap-5381	129	1	[	[	X
ap-5381	129	2	xxx∗(t),u∗(t	xxx∗(t),u∗(t	NOUN
ap-5381	129	3	)	)	PUNCT
ap-5381	129	4	]	]	PUNCT
ap-5381	130	1	bbb(t	bbb(t	PROPN
ap-5381	130	2	)	)	PUNCT
ap-5381	130	3	=	=	SYM
ap-5381	130	4			NOUN
ap-5381	130	5	0	0	NUM
ap-5381	131	1	h1p0	h1p0	ADP
ap-5381	131	2	0	0	NUM
ap-5381	131	3	p0	p0	NOUN
ap-5381	131	4			NOUN
ap-5381	131	5	∣∣∣∣∣∣∣∣	∣∣∣∣∣∣∣∣	PROPN
ap-5381	132	1	[	[	X
ap-5381	132	2	xxx∗(t),u∗(t	xxx∗(t),u∗(t	NOUN
ap-5381	132	3	)	)	PUNCT
ap-5381	132	4	]	]	PUNCT
ap-5381	132	5	where	where	SCONJ
ap-5381	132	6	:	:	PUNCT
ap-5381	132	7	h1	h1	VERB
ap-5381	132	8	=	=	PUNCT
ap-5381	132	9	c(m1	c(m1	PROPN
ap-5381	133	1	+	+	PROPN
ap-5381	133	2	m	m	NOUN
ap-5381	133	3	)	)	PUNCT
ap-5381	133	4	j1	j1	PROPN
ap-5381	133	5	h2	h2	PROPN
ap-5381	133	6	=	=	SYM
ap-5381	133	7	δ1	δ1	NOUN
ap-5381	133	8	h3	h3	NOUN
ap-5381	133	9	=	=	SYM
ap-5381	133	10	c(m1	c(m1	NOUN
ap-5381	133	11	+	+	NOUN
ap-5381	133	12	m)g	m)g	NOUN
ap-5381	133	13	j1	j1	PROPN
ap-5381	133	14	sin(θ1(t	sin(θ1(t	NUM
ap-5381	133	15	)	)	PUNCT
ap-5381	133	16	)	)	PUNCT
ap-5381	134	1	the	the	DET
ap-5381	134	2	proposed	propose	VERB
ap-5381	134	3	control	control	NOUN
ap-5381	134	4	algorithm	algorithm	NOUN
ap-5381	134	5	law	law	NOUN
ap-5381	134	6	yields	yield	VERB
ap-5381	134	7	the	the	DET
ap-5381	134	8	optimal	optimal	ADJ
ap-5381	134	9	feedback	feedback	NOUN
ap-5381	134	10	lq	lq	NOUN
ap-5381	134	11	control	control	NOUN
ap-5381	134	12	∆u(t	∆u(t	PROPN
ap-5381	134	13	)	)	PUNCT
ap-5381	134	14	=	=	SYM
ap-5381	135	1	−k(t)∆x(t	−k(t)∆x(t	PROPN
ap-5381	135	2	)	)	PUNCT
ap-5381	135	3	,	,	PUNCT
ap-5381	135	4	which	which	PRON
ap-5381	135	5	minimizes	minimize	VERB
ap-5381	135	6	the	the	DET
ap-5381	135	7	quadratic	quadratic	ADJ
ap-5381	135	8	criterion	criterion	NOUN
ap-5381	135	9	:	:	PUNCT
ap-5381	135	10	jlq(t	jlq(t	X
ap-5381	135	11	)	)	PUNCT
ap-5381	135	12	=	=	SYM
ap-5381	136	1	∫	∫	PROPN
ap-5381	136	2	∞	∞	NUM
ap-5381	136	3	0	0	NUM
ap-5381	137	1	(	(	PUNCT
ap-5381	137	2	∆xxxt	∆xxxt	NUM
ap-5381	137	3	(	(	PUNCT
ap-5381	137	4	t)qqq∆xxx(t	t)qqq∆xxx(t	PROPN
ap-5381	137	5	)	)	PUNCT
ap-5381	137	6	+	+	NUM
ap-5381	137	7	∆ut	∆ut	NOUN
ap-5381	137	8	(	(	PUNCT
ap-5381	137	9	t)r∆u(t))dt	t)r∆u(t))dt	NOUN
ap-5381	137	10	(	(	PUNCT
ap-5381	137	11	13	13	NUM
ap-5381	137	12	)	)	PUNCT
ap-5381	137	13	where	where	SCONJ
ap-5381	137	14	qqq	qqq	PROPN
ap-5381	137	15	∈	∈	PROPN
ap-5381	137	16	r4×4	r4×4	PROPN
ap-5381	137	17	is	be	AUX
ap-5381	137	18	a	a	DET
ap-5381	137	19	symmetric	symmetric	ADJ
ap-5381	137	20	positive	positive	ADJ
ap-5381	137	21	semidefinite	semidefinite	NOUN
ap-5381	137	22	matrix	matrix	NOUN
ap-5381	137	23	,	,	PUNCT
ap-5381	137	24	r	r	NOUN
ap-5381	137	25	is	be	AUX
ap-5381	137	26	a	a	DET
ap-5381	137	27	positive	positive	ADJ
ap-5381	137	28	constant	constant	NOUN
ap-5381	137	29	and	and	CCONJ
ap-5381	137	30	∆x(t	∆x(t	NOUN
ap-5381	137	31	)	)	PUNCT
ap-5381	137	32	=	=	SYM
ap-5381	137	33	x∗(t)−	x∗(t)−	PROPN
ap-5381	137	34	x(t	x(t	PROPN
ap-5381	137	35	)	)	PUNCT
ap-5381	137	36	is	be	AUX
ap-5381	137	37	a	a	DET
ap-5381	137	38	vector	vector	NOUN
ap-5381	137	39	of	of	ADP
ap-5381	137	40	desired	desire	VERB
ap-5381	137	41	trajectory	trajectory	NOUN
ap-5381	137	42	perturbations	perturbation	NOUN
ap-5381	137	43	.	.	PUNCT
ap-5381	138	1	the	the	DET
ap-5381	138	2	feedback	feedback	NOUN
ap-5381	138	3	gain	gain	VERB
ap-5381	138	4	kkk(t	kkk(t	PROPN
ap-5381	138	5	)	)	PUNCT
ap-5381	138	6	is	be	AUX
ap-5381	138	7	represented	represent	VERB
ap-5381	138	8	as	as	ADP
ap-5381	138	9	:	:	PUNCT
ap-5381	138	10	kkk(t	kkk(t	PROPN
ap-5381	138	11	)	)	PUNCT
ap-5381	138	12	=	=	SYM
ap-5381	138	13	r−1bbbt	r−1bbbt	NOUN
ap-5381	138	14	(	(	PUNCT
ap-5381	138	15	t)ppp	t)ppp	NOUN
ap-5381	138	16	(	(	PUNCT
ap-5381	138	17	14	14	NUM
ap-5381	138	18	)	)	PUNCT
ap-5381	138	19	where	where	SCONJ
ap-5381	138	20	ppp	ppp	NOUN
ap-5381	138	21	is	be	AUX
ap-5381	138	22	the	the	DET
ap-5381	138	23	solution	solution	NOUN
ap-5381	138	24	of	of	ADP
ap-5381	138	25	the	the	DET
ap-5381	138	26	riccati	riccati	NOUN
ap-5381	138	27	system	system	NOUN
ap-5381	138	28	of	of	ADP
ap-5381	138	29	algebraic	algebraic	ADJ
ap-5381	138	30	equations	equation	NOUN
ap-5381	138	31	corresponding	correspond	VERB
ap-5381	138	32	to	to	ADP
ap-5381	138	33	the	the	DET
ap-5381	138	34	given	give	VERB
ap-5381	138	35	time	time	NOUN
ap-5381	138	36	step	step	NOUN
ap-5381	138	37	:	:	PUNCT
ap-5381	138	38	pbpbpb(t)r−1bbbt	pbpbpb(t)r−1bbbt	PROPN
ap-5381	138	39	(	(	PUNCT
ap-5381	138	40	t)ppp	t)ppp	NOUN
ap-5381	138	41	−papapa(t)−aaat	−papapa(t)−aaat	PROPN
ap-5381	138	42	(	(	PUNCT
ap-5381	138	43	t)ppp	t)ppp	X
ap-5381	138	44	−qqq	−qqq	NOUN
ap-5381	138	45	=	=	SYM
ap-5381	138	46	000	000	NUM
ap-5381	138	47	(	(	PUNCT
ap-5381	138	48	15	15	NUM
ap-5381	138	49	)	)	PUNCT
ap-5381	138	50	the	the	DET
ap-5381	138	51	feedback	feedback	NOUN
ap-5381	138	52	gain	gain	VERB
ap-5381	138	53	vector	vector	NOUN
ap-5381	138	54	kkk(t	kkk(t	PROPN
ap-5381	138	55	)	)	PUNCT
ap-5381	138	56	was	be	AUX
ap-5381	138	57	computed	compute	VERB
ap-5381	138	58	in	in	ADP
ap-5381	138	59	each	each	DET
ap-5381	138	60	time	time	NOUN
ap-5381	138	61	step	step	NOUN
ap-5381	138	62	of	of	ADP
ap-5381	138	63	0.1	0.1	NUM
ap-5381	138	64	second	second	ADJ
ap-5381	138	65	for	for	ADP
ap-5381	138	66	specific	specific	ADJ
ap-5381	138	67	values	value	NOUN
ap-5381	138	68	of	of	ADP
ap-5381	138	69	the	the	DET
ap-5381	138	70	state	state	NOUN
ap-5381	138	71	-	-	PUNCT
ap-5381	138	72	space	space	NOUN
ap-5381	138	73	matrices	matrix	NOUN
ap-5381	138	74	with	with	ADP
ap-5381	138	75	the	the	DET
ap-5381	138	76	built	build	VERB
ap-5381	138	77	-	-	PUNCT
ap-5381	138	78	in	in	ADP
ap-5381	138	79	matlab	matlab	PROPN
ap-5381	138	80	function	function	NOUN
ap-5381	138	81	lqr	lqr	VERB
ap-5381	138	82	with	with	ADP
ap-5381	138	83	the	the	DET
ap-5381	138	84	weighting	weighting	NOUN
ap-5381	138	85	matrices	matrix	NOUN
ap-5381	138	86	adjusted	adjust	VERB
ap-5381	138	87	manually	manually	ADV
ap-5381	138	88	to	to	ADP
ap-5381	138	89	qqq	qqq	NOUN
ap-5381	138	90	=	=	SYM
ap-5381	138	91	diag(20000	diag(20000	PROPN
ap-5381	138	92	,	,	PUNCT
ap-5381	138	93	100	100	NUM
ap-5381	138	94	,	,	PUNCT
ap-5381	138	95	1000	1000	NUM
ap-5381	138	96	,	,	PUNCT
ap-5381	138	97	220000	220000	NUM
ap-5381	138	98	)	)	PUNCT
ap-5381	138	99	and	and	CCONJ
ap-5381	138	100	r	r	NOUN
ap-5381	138	101	=	=	SYM
ap-5381	138	102	10000	10000	NUM
ap-5381	138	103	.	.	PUNCT
ap-5381	139	1	the	the	DET
ap-5381	139	2	time	time	NOUN
ap-5381	139	3	behaviour	behaviour	NOUN
ap-5381	139	4	of	of	ADP
ap-5381	139	5	the	the	DET
ap-5381	139	6	feedback	feedback	NOUN
ap-5381	139	7	gain	gain	NOUN
ap-5381	139	8	kkk(t	kkk(t	PROPN
ap-5381	139	9	)	)	PUNCT
ap-5381	139	10	components	component	NOUN
ap-5381	139	11	obtained	obtain	VERB
ap-5381	139	12	by	by	ADP
ap-5381	139	13	the	the	DET
ap-5381	139	14	simulation	simulation	NOUN
ap-5381	139	15	is	be	AUX
ap-5381	139	16	shown	show	VERB
ap-5381	139	17	in	in	ADP
ap-5381	139	18	the	the	DET
ap-5381	139	19	fig	fig	NOUN
ap-5381	139	20	.	.	PUNCT
ap-5381	140	1	5	5	NUM
ap-5381	140	2	.	.	SYM
ap-5381	140	3	4	4	NUM
ap-5381	140	4	.	.	NOUN
ap-5381	140	5	enhancement	enhancement	NOUN
ap-5381	140	6	of	of	ADP
ap-5381	140	7	the	the	DET
ap-5381	140	8	ipmac	ipmac	ADJ
ap-5381	140	9	library	library	NOUN
ap-5381	140	10	the	the	DET
ap-5381	140	11	ipmac	ipmac	ADJ
ap-5381	140	12	library	library	NOUN
ap-5381	141	1	[	[	X
ap-5381	141	2	12	12	NUM
ap-5381	141	3	]	]	PUNCT
ap-5381	141	4	contains	contain	VERB
ap-5381	141	5	algorithms	algorithm	NOUN
ap-5381	141	6	enabling	enable	VERB
ap-5381	141	7	inverted	inverted	ADJ
ap-5381	141	8	pendulum	pendulum	NOUN
ap-5381	141	9	control	control	NOUN
ap-5381	141	10	in	in	ADP
ap-5381	141	11	the	the	DET
ap-5381	141	12	hybrid	hybrid	ADJ
ap-5381	141	13	control	control	NOUN
ap-5381	141	14	structure	structure	NOUN
ap-5381	141	15	,	,	PUNCT
ap-5381	141	16	i.e.	i.e.	X
ap-5381	141	17	by	by	ADP
ap-5381	141	18	switching	switch	VERB
ap-5381	141	19	between	between	ADP
ap-5381	141	20	the	the	DET
ap-5381	141	21	swing	swing	NOUN
ap-5381	141	22	-	-	PUNCT
ap-5381	141	23	up	up	NOUN
ap-5381	141	24	and	and	CCONJ
ap-5381	141	25	stabilizing	stabilize	VERB
ap-5381	141	26	control	control	NOUN
ap-5381	141	27	algorithm	algorithm	NOUN
ap-5381	141	28	.	.	PUNCT
ap-5381	142	1	the	the	DET
ap-5381	142	2	swing	swing	NOUN
ap-5381	142	3	-	-	PUNCT
ap-5381	142	4	up	up	ADP
ap-5381	142	5	manoeuver	manoeuver	NOUN
ap-5381	142	6	has	have	AUX
ap-5381	142	7	been	be	AUX
ap-5381	142	8	implemented	implement	VERB
ap-5381	142	9	either	either	CCONJ
ap-5381	142	10	via	via	ADP
ap-5381	142	11	the	the	DET
ap-5381	142	12	energy	energy	NOUN
ap-5381	142	13	-	-	PUNCT
ap-5381	142	14	based	base	VERB
ap-5381	142	15	methods	method	NOUN
ap-5381	142	16	or	or	CCONJ
ap-5381	142	17	via	via	ADP
ap-5381	142	18	partial	partial	ADJ
ap-5381	142	19	feedback	feedback	NOUN
ap-5381	142	20	linearization	linearization	NOUN
ap-5381	142	21	,	,	PUNCT
ap-5381	142	22	without	without	ADP
ap-5381	142	23	considering	consider	VERB
ap-5381	142	24	the	the	DET
ap-5381	142	25	swing	swing	NOUN
ap-5381	142	26	-	-	PUNCT
ap-5381	142	27	up	up	ADP
ap-5381	142	28	trajectory	trajectory	NOUN
ap-5381	142	29	.	.	PUNCT
ap-5381	143	1	when	when	SCONJ
ap-5381	143	2	the	the	DET
ap-5381	143	3	pendulum	pendulum	NOUN
ap-5381	143	4	approaches	approach	VERB
ap-5381	143	5	the	the	DET
ap-5381	143	6	upright	upright	ADJ
ap-5381	143	7	equilibrium	equilibrium	NOUN
ap-5381	143	8	,	,	PUNCT
ap-5381	143	9	the	the	DET
ap-5381	143	10	switch	switch	NOUN
ap-5381	143	11	to	to	ADP
ap-5381	143	12	the	the	DET
ap-5381	143	13	state	state	NOUN
ap-5381	143	14	-	-	PUNCT
ap-5381	143	15	feedback	feedback	NOUN
ap-5381	143	16	stabilizing	stabilizing	NOUN
ap-5381	143	17	control	control	NOUN
ap-5381	143	18	algorithm	algorithm	NOUN
ap-5381	143	19	takes	take	VERB
ap-5381	143	20	place	place	NOUN
ap-5381	143	21	,	,	PUNCT
ap-5381	143	22	which	which	PRON
ap-5381	143	23	has	have	AUX
ap-5381	143	24	been	be	AUX
ap-5381	143	25	implemented	implement	VERB
ap-5381	143	26	using	use	VERB
ap-5381	143	27	methods	method	NOUN
ap-5381	143	28	462	462	NUM
ap-5381	143	29	vol	vol	NOUN
ap-5381	143	30	.	.	PUNCT
ap-5381	144	1	59	59	NUM
ap-5381	144	2	no	no	NOUN
ap-5381	144	3	.	.	PUNCT
ap-5381	145	1	5/2019	5/2019	NUM
ap-5381	145	2	swing	swing	NOUN
ap-5381	145	3	-	-	PUNCT
ap-5381	145	4	up	up	NOUN
ap-5381	145	5	of	of	ADP
ap-5381	145	6	the	the	DET
ap-5381	145	7	inverted	inverted	ADJ
ap-5381	145	8	pendulum	pendulum	NOUN
ap-5381	145	9	on	on	ADP
ap-5381	145	10	a	a	DET
ap-5381	145	11	cart	cart	NOUN
ap-5381	145	12	0	0	NUM
ap-5381	145	13	0.2	0.2	NUM
ap-5381	145	14	0.4	0.4	NUM
ap-5381	145	15	0.6	0.6	NUM
ap-5381	145	16	0.8	0.8	NUM
ap-5381	145	17	1	1	NUM
ap-5381	145	18	1.2	1.2	NUM
ap-5381	145	19	1.4	1.4	NUM
ap-5381	145	20	1.6	1.6	NUM
ap-5381	145	21	1.8	1.8	NUM
ap-5381	145	22	2	2	NUM
ap-5381	145	23	time	time	NOUN
ap-5381	145	24	[	[	X
ap-5381	145	25	s	s	X
ap-5381	145	26	]	]	X
ap-5381	145	27	-1800	-1800	PROPN
ap-5381	145	28	-1600	-1600	PROPN
ap-5381	146	1	-1400	-1400	PROPN
ap-5381	147	1	-1200	-1200	PROPN
ap-5381	148	1	-1000	-1000	INTJ
ap-5381	149	1	-800	-800	INTJ
ap-5381	150	1	-600	-600	INTJ
ap-5381	150	2	-400	-400	INTJ
ap-5381	151	1	-200	-200	NUM
ap-5381	151	2	0	0	NUM
ap-5381	151	3	200	200	NUM
ap-5381	151	4	time	time	NOUN
ap-5381	151	5	-	-	PUNCT
ap-5381	151	6	varying	vary	VERB
ap-5381	151	7	lq	lq	NOUN
ap-5381	151	8	feedback	feedback	NOUN
ap-5381	151	9	gains	gain	NOUN
ap-5381	151	10	figure	figure	NOUN
ap-5381	151	11	5	5	NUM
ap-5381	151	12	.	.	PUNCT
ap-5381	151	13	time	time	NOUN
ap-5381	151	14	-	-	PUNCT
ap-5381	151	15	varying	vary	VERB
ap-5381	151	16	feedback	feedback	NOUN
ap-5381	151	17	gains	gain	NOUN
ap-5381	151	18	k1(t	k1(t	NOUN
ap-5381	151	19	)	)	PUNCT
ap-5381	151	20	,	,	PUNCT
ap-5381	151	21	k2(t	k2(t	PROPN
ap-5381	151	22	)	)	PUNCT
ap-5381	151	23	,	,	PUNCT
ap-5381	151	24	k3(t	k3(t	PROPN
ap-5381	151	25	)	)	PUNCT
ap-5381	151	26	,	,	PUNCT
ap-5381	151	27	k4(t	k4(t	PROPN
ap-5381	151	28	)	)	PUNCT
ap-5381	151	29	0	0	NUM
ap-5381	151	30	0.2	0.2	NUM
ap-5381	151	31	0.4	0.4	NUM
ap-5381	151	32	0.6	0.6	NUM
ap-5381	151	33	0.8	0.8	NUM
ap-5381	151	34	1	1	NUM
ap-5381	151	35	1.2	1.2	NUM
ap-5381	151	36	1.4	1.4	NUM
ap-5381	151	37	1.6	1.6	NUM
ap-5381	151	38	1.8	1.8	NUM
ap-5381	151	39	time	time	NOUN
ap-5381	152	1	[	[	X
ap-5381	152	2	s	s	X
ap-5381	152	3	]	]	X
ap-5381	152	4	-0.4	-0.4	NUM
ap-5381	152	5	-0.2	-0.2	NOUN
ap-5381	152	6	0	0	NUM
ap-5381	152	7	0.2	0.2	NUM
ap-5381	152	8	comparison	comparison	NOUN
ap-5381	152	9	of	of	ADP
ap-5381	152	10	desired	desire	VERB
ap-5381	152	11	trajectories	trajectory	NOUN
ap-5381	152	12	generated	generate	VERB
ap-5381	152	13	by	by	ADP
ap-5381	152	14	bvp	bvp	PROPN
ap-5381	152	15	0	0	NUM
ap-5381	152	16	0.2	0.2	NUM
ap-5381	152	17	0.4	0.4	NUM
ap-5381	152	18	0.6	0.6	NUM
ap-5381	152	19	0.8	0.8	NUM
ap-5381	152	20	1	1	NUM
ap-5381	152	21	1.2	1.2	NUM
ap-5381	152	22	1.4	1.4	NUM
ap-5381	152	23	1.6	1.6	NUM
ap-5381	152	24	1.8	1.8	NUM
ap-5381	152	25	time	time	NOUN
ap-5381	153	1	[	[	X
ap-5381	153	2	s	s	X
ap-5381	153	3	]	]	X
ap-5381	153	4	-300	-300	NUM
ap-5381	153	5	-200	-200	NUM
ap-5381	153	6	-100	-100	PROPN
ap-5381	153	7	0	0	NUM
ap-5381	153	8	figure	figure	NOUN
ap-5381	153	9	6	6	NUM
ap-5381	153	10	.	.	PUNCT
ap-5381	153	11	comparison	comparison	NOUN
ap-5381	153	12	of	of	ADP
ap-5381	153	13	the	the	DET
ap-5381	153	14	desired	desire	VERB
ap-5381	153	15	cart	cart	NOUN
ap-5381	153	16	position	position	NOUN
ap-5381	153	17	trajectories	trajectory	NOUN
ap-5381	153	18	θ∗	θ∗	VERB
ap-5381	153	19	0(t	0(t	NUM
ap-5381	153	20	)	)	PUNCT
ap-5381	153	21	and	and	CCONJ
ap-5381	153	22	pendulum	pendulum	NOUN
ap-5381	153	23	angle	angle	NOUN
ap-5381	153	24	θ∗	θ∗	NOUN
ap-5381	153	25	1(t	1(t	NUM
ap-5381	153	26	)	)	PUNCT
ap-5381	153	27	generated	generate	VERB
ap-5381	153	28	by	by	ADP
ap-5381	153	29	the	the	DET
ap-5381	153	30	matlab	matlab	PROPN
ap-5381	153	31	function	function	NOUN
ap-5381	153	32	bvp5c	bvp5c	PUNCT
ap-5381	153	33	with	with	ADP
ap-5381	153	34	different	different	ADJ
ap-5381	153	35	time	time	NOUN
ap-5381	153	36	intervals	interval	NOUN
ap-5381	153	37	t1	t1	NOUN
ap-5381	153	38	=	=	SYM
ap-5381	154	1	1.5s	1.5s	NUM
ap-5381	154	2	,	,	PUNCT
ap-5381	154	3	t2	t2	NOUN
ap-5381	154	4	=	=	PUNCT
ap-5381	154	5	1.8s	1.8s	NUM
ap-5381	154	6	for	for	ADP
ap-5381	154	7	swing	swing	NOUN
ap-5381	154	8	-	-	PUNCT
ap-5381	154	9	up	up	NOUN
ap-5381	154	10	such	such	ADJ
ap-5381	154	11	as	as	ADP
ap-5381	154	12	lqr	lqr	NOUN
ap-5381	154	13	,	,	PUNCT
ap-5381	154	14	pole	pole	NOUN
ap-5381	154	15	placement	placement	NOUN
ap-5381	154	16	or	or	CCONJ
ap-5381	154	17	model	model	NOUN
ap-5381	154	18	predictive	predictive	ADJ
ap-5381	154	19	control	control	NOUN
ap-5381	155	1	[	[	X
ap-5381	155	2	12	12	NUM
ap-5381	155	3	]	]	PUNCT
ap-5381	155	4	.	.	PUNCT
ap-5381	156	1	the	the	DET
ap-5381	156	2	modification	modification	NOUN
ap-5381	156	3	of	of	ADP
ap-5381	156	4	the	the	DET
ap-5381	156	5	ipmac	ipmac	ADJ
ap-5381	156	6	library	library	NOUN
ap-5381	156	7	presented	present	VERB
ap-5381	156	8	in	in	ADP
ap-5381	156	9	this	this	DET
ap-5381	156	10	paper	paper	NOUN
ap-5381	156	11	consists	consist	VERB
ap-5381	156	12	of	of	ADP
ap-5381	156	13	adding	add	VERB
ap-5381	156	14	a	a	DET
ap-5381	156	15	control	control	NOUN
ap-5381	156	16	structure	structure	NOUN
ap-5381	156	17	that	that	PRON
ap-5381	156	18	uses	use	VERB
ap-5381	156	19	the	the	DET
ap-5381	156	20	generated	generate	VERB
ap-5381	156	21	swing	swing	NOUN
ap-5381	156	22	-	-	PUNCT
ap-5381	156	23	up	up	ADP
ap-5381	156	24	trajectories	trajectory	NOUN
ap-5381	156	25	and	and	CCONJ
ap-5381	156	26	a	a	DET
ap-5381	156	27	trajectory	trajectory	NOUN
ap-5381	156	28	-	-	PUNCT
ap-5381	156	29	tracking	track	VERB
ap-5381	156	30	algorithm	algorithm	NOUN
ap-5381	156	31	to	to	PART
ap-5381	156	32	raise	raise	VERB
ap-5381	156	33	the	the	DET
ap-5381	156	34	pendulum	pendulum	NOUN
ap-5381	156	35	from	from	ADP
ap-5381	156	36	the	the	DET
ap-5381	156	37	downward	downward	NOUN
ap-5381	156	38	to	to	ADP
ap-5381	156	39	the	the	DET
ap-5381	156	40	upward	upward	ADJ
ap-5381	156	41	unstable	unstable	ADJ
ap-5381	156	42	equilibrium	equilibrium	NOUN
ap-5381	156	43	position	position	NOUN
ap-5381	156	44	and	and	CCONJ
ap-5381	156	45	stabilize	stabilize	VERB
ap-5381	156	46	it	it	PRON
ap-5381	156	47	there	there	ADV
ap-5381	156	48	.	.	PUNCT
ap-5381	157	1	the	the	DET
ap-5381	157	2	simulation	simulation	NOUN
ap-5381	157	3	scheme	scheme	NOUN
ap-5381	157	4	in	in	ADP
ap-5381	157	5	fig	fig	NOUN
ap-5381	157	6	.	.	PUNCT
ap-5381	157	7	7	7	NUM
ap-5381	157	8	is	be	AUX
ap-5381	157	9	used	use	VERB
ap-5381	157	10	to	to	PART
ap-5381	157	11	implement	implement	VERB
ap-5381	157	12	the	the	DET
ap-5381	157	13	trajectories	trajectory	NOUN
ap-5381	157	14	calculated	calculate	VERB
ap-5381	157	15	offline	offline	ADJ
ap-5381	157	16	by	by	ADP
ap-5381	157	17	the	the	DET
ap-5381	157	18	bvp	bvp	NOUN
ap-5381	157	19	in	in	ADP
ap-5381	157	20	the	the	DET
ap-5381	157	21	control	control	NOUN
ap-5381	157	22	structure	structure	NOUN
ap-5381	157	23	depicted	depict	VERB
ap-5381	157	24	in	in	ADP
ap-5381	157	25	the	the	DET
ap-5381	157	26	fig	fig	NOUN
ap-5381	157	27	.	.	PUNCT
ap-5381	158	1	2	2	X
ap-5381	158	2	.	.	X
ap-5381	158	3	the	the	DET
ap-5381	158	4	physical	physical	ADJ
ap-5381	158	5	parameters	parameter	NOUN
ap-5381	158	6	of	of	ADP
ap-5381	158	7	the	the	DET
ap-5381	158	8	laboratory	laboratory	NOUN
ap-5381	158	9	model	model	NOUN
ap-5381	158	10	,	,	PUNCT
ap-5381	158	11	necessary	necessary	ADJ
ap-5381	158	12	for	for	ADP
ap-5381	158	13	simulations	simulation	NOUN
ap-5381	158	14	,	,	PUNCT
ap-5381	158	15	are	be	AUX
ap-5381	158	16	listed	list	VERB
ap-5381	158	17	in	in	ADP
ap-5381	158	18	the	the	DET
ap-5381	158	19	tab	tab	NOUN
ap-5381	158	20	.	.	PUNCT
ap-5381	159	1	2	2	X
ap-5381	159	2	.	.	X
ap-5381	159	3	the	the	DET
ap-5381	159	4	parameters	parameter	NOUN
ap-5381	159	5	of	of	ADP
ap-5381	159	6	the	the	DET
ap-5381	159	7	inertia	inertia	NOUN
ap-5381	159	8	moment	moment	NOUN
ap-5381	159	9	j1	j1	PROPN
ap-5381	159	10	and	and	CCONJ
ap-5381	159	11	the	the	DET
ap-5381	159	12	damping	damp	VERB
ap-5381	159	13	coefficient	coefficient	NOUN
ap-5381	159	14	δ1	δ1	NOUN
ap-5381	159	15	were	be	AUX
ap-5381	159	16	obtained	obtain	VERB
ap-5381	159	17	through	through	ADP
ap-5381	159	18	an	an	DET
ap-5381	159	19	experimental	experimental	ADJ
ap-5381	159	20	identification	identification	NOUN
ap-5381	159	21	.	.	PUNCT
ap-5381	160	1	the	the	DET
ap-5381	160	2	procedure	procedure	NOUN
ap-5381	160	3	for	for	ADP
ap-5381	160	4	obtaining	obtain	VERB
ap-5381	160	5	these	these	DET
ap-5381	160	6	parameters	parameter	NOUN
ap-5381	160	7	is	be	AUX
ap-5381	160	8	described	describe	VERB
ap-5381	160	9	in	in	ADP
ap-5381	160	10	[	[	X
ap-5381	160	11	16	16	NUM
ap-5381	160	12	]	]	PUNCT
ap-5381	160	13	.	.	PUNCT
ap-5381	161	1	cog	cog	PROPN
ap-5381	161	2	0.3098	0.3098	NUM
ap-5381	161	3	[	[	X
ap-5381	161	4	m	m	X
ap-5381	161	5	]	]	X
ap-5381	161	6	center	center	NOUN
ap-5381	161	7	of	of	ADP
ap-5381	161	8	gravity	gravity	NOUN
ap-5381	161	9	j1	j1	NOUN
ap-5381	161	10	0.0613	0.0613	NUM
ap-5381	162	1	[	[	X
ap-5381	162	2	kgm2	kgm2	X
ap-5381	162	3	]	]	X
ap-5381	162	4	moment	moment	NOUN
ap-5381	162	5	of	of	ADP
ap-5381	162	6	inertia	inertia	NOUN
ap-5381	162	7	m	m	PROPN
ap-5381	162	8	0.5983	0.5983	NOUN
ap-5381	162	9	[	[	X
ap-5381	162	10	kg	kg	X
ap-5381	162	11	]	]	X
ap-5381	162	12	weight	weight	NOUN
ap-5381	162	13	of	of	ADP
ap-5381	162	14	the	the	DET
ap-5381	162	15	pendulum	pendulum	NOUN
ap-5381	162	16	δ1	δ1	NOUN
ap-5381	162	17	0.0027	0.0027	PROPN
ap-5381	162	18	[	[	X
ap-5381	162	19	kgm2	kgm2	PROPN
ap-5381	162	20	/	/	SYM
ap-5381	162	21	s	s	NOUN
ap-5381	162	22	]	]	PUNCT
ap-5381	162	23	pendulum	pendulum	NOUN
ap-5381	162	24	friction	friction	NOUN
ap-5381	162	25	p0	p0	NOUN
ap-5381	162	26	31.53	31.53	NUM
ap-5381	162	27	numerator	numerator	NOUN
ap-5381	162	28	coefficient	coefficient	NOUN
ap-5381	162	29	of	of	ADP
ap-5381	162	30	the	the	DET
ap-5381	162	31	cart	cart	NOUN
ap-5381	162	32	subsystem	subsystem	NOUN
ap-5381	162	33	q0	q0	VERB
ap-5381	162	34	31.24	31.24	NUM
ap-5381	162	35	denominator	denominator	NOUN
ap-5381	162	36	coefficient	coefficient	NOUN
ap-5381	162	37	of	of	ADP
ap-5381	162	38	the	the	DET
ap-5381	162	39	cart	cart	NOUN
ap-5381	162	40	subsystem	subsystem	NOUN
ap-5381	162	41	table	table	NOUN
ap-5381	162	42	2	2	NUM
ap-5381	162	43	.	.	PUNCT
ap-5381	162	44	numerical	numerical	ADJ
ap-5381	162	45	parameters	parameter	NOUN
ap-5381	162	46	of	of	ADP
ap-5381	162	47	the	the	DET
ap-5381	162	48	simulation	simulation	NOUN
ap-5381	162	49	model	model	NOUN
ap-5381	162	50	of	of	ADP
ap-5381	162	51	the	the	DET
ap-5381	162	52	laboratory	laboratory	NOUN
ap-5381	162	53	pendulum	pendulum	NOUN
ap-5381	162	54	model	model	NOUN
ap-5381	162	55	to	to	PART
ap-5381	162	56	calculate	calculate	VERB
ap-5381	162	57	the	the	DET
ap-5381	162	58	swing	swing	NOUN
ap-5381	162	59	-	-	PUNCT
ap-5381	162	60	up	up	ADP
ap-5381	162	61	trajectories	trajectory	NOUN
ap-5381	162	62	,	,	PUNCT
ap-5381	162	63	two	two	NUM
ap-5381	162	64	time	time	NOUN
ap-5381	162	65	intervals	interval	NOUN
ap-5381	162	66	were	be	AUX
ap-5381	162	67	selected	select	VERB
ap-5381	162	68	:	:	PUNCT
ap-5381	163	1	t1	t1	NOUN
ap-5381	163	2	=	=	SYM
ap-5381	163	3	1.5s	1.5s	NUM
ap-5381	163	4	and	and	CCONJ
ap-5381	163	5	t2	t2	NOUN
ap-5381	163	6	=	=	SYM
ap-5381	163	7	1.8s	1.8s	NUM
ap-5381	163	8	.	.	PUNCT
ap-5381	164	1	for	for	ADP
ap-5381	164	2	these	these	DET
ap-5381	164	3	settings	setting	NOUN
ap-5381	164	4	,	,	PUNCT
ap-5381	164	5	the	the	DET
ap-5381	164	6	bvp5c	bvp5c	NOUN
ap-5381	164	7	function	function	NOUN
ap-5381	164	8	returned	return	VERB
ap-5381	164	9	two	two	NUM
ap-5381	164	10	sets	set	NOUN
ap-5381	164	11	of	of	ADP
ap-5381	164	12	parameters	parameter	NOUN
ap-5381	164	13	σσσ	σσσ	ADV
ap-5381	164	14	.	.	PUNCT
ap-5381	165	1	the	the	DET
ap-5381	165	2	desired	desire	VERB
ap-5381	165	3	trajectories	trajectory	NOUN
ap-5381	165	4	for	for	ADP
ap-5381	165	5	the	the	DET
ap-5381	165	6	pendu463	pendu463	PROPN
ap-5381	165	7	l.	l.	PROPN
ap-5381	165	8	koska	koska	PROPN
ap-5381	165	9	,	,	PUNCT
ap-5381	165	10	s.	s.	PROPN
ap-5381	165	11	jadlovská	jadlovská	PROPN
ap-5381	165	12	,	,	PUNCT
ap-5381	165	13	d.	d.	PROPN
ap-5381	165	14	vošček	vošček	PROPN
ap-5381	165	15	,	,	PUNCT
ap-5381	165	16	a.	a.	PROPN
ap-5381	165	17	jadlovská	jadlovská	PROPN
ap-5381	165	18	acta	acta	PROPN
ap-5381	165	19	polytechnica	polytechnica	PROPN
ap-5381	165	20	figure	figure	NOUN
ap-5381	165	21	7	7	NUM
ap-5381	165	22	.	.	PUNCT
ap-5381	165	23	simulation	simulation	NOUN
ap-5381	165	24	scheme	scheme	NOUN
ap-5381	165	25	for	for	ADP
ap-5381	165	26	tracking	track	VERB
ap-5381	165	27	the	the	DET
ap-5381	165	28	desired	desire	VERB
ap-5381	165	29	trajectories	trajectory	NOUN
ap-5381	165	30	using	use	VERB
ap-5381	165	31	the	the	DET
ap-5381	165	32	solution	solution	NOUN
ap-5381	165	33	of	of	ADP
ap-5381	165	34	the	the	DET
ap-5381	165	35	bvp	bvp	NOUN
ap-5381	165	36	and	and	CCONJ
ap-5381	165	37	time	time	NOUN
ap-5381	165	38	-	-	PUNCT
ap-5381	165	39	varying	vary	VERB
ap-5381	165	40	lq	lq	NOUN
ap-5381	165	41	algorithm	algorithm	NOUN
ap-5381	165	42	lum	lum	PROPN
ap-5381	165	43	swing	swing	NOUN
ap-5381	165	44	-	-	PUNCT
ap-5381	165	45	up	up	NOUN
ap-5381	165	46	based	base	VERB
ap-5381	165	47	on	on	ADP
ap-5381	165	48	these	these	DET
ap-5381	165	49	σσσ	σσσ	NOUN
ap-5381	165	50	parameters	parameter	NOUN
ap-5381	165	51	are	be	AUX
ap-5381	165	52	shown	show	VERB
ap-5381	165	53	in	in	ADP
ap-5381	165	54	the	the	DET
ap-5381	165	55	fig	fig	NOUN
ap-5381	165	56	.	.	PUNCT
ap-5381	166	1	6	6	NUM
ap-5381	166	2	.	.	PUNCT
ap-5381	167	1	the	the	DET
ap-5381	167	2	generated	generate	VERB
ap-5381	167	3	trajectories	trajectory	NOUN
ap-5381	167	4	were	be	AUX
ap-5381	167	5	verified	verify	VERB
ap-5381	167	6	and	and	CCONJ
ap-5381	167	7	compared	compare	VERB
ap-5381	167	8	,	,	PUNCT
ap-5381	167	9	and	and	CCONJ
ap-5381	167	10	the	the	DET
ap-5381	167	11	trajectory	trajectory	NOUN
ap-5381	167	12	corresponding	correspond	VERB
ap-5381	167	13	to	to	ADP
ap-5381	167	14	the	the	DET
ap-5381	167	15	time	time	NOUN
ap-5381	167	16	interval	interval	NOUN
ap-5381	167	17	t	t	PROPN
ap-5381	168	1	=	=	SYM
ap-5381	168	2	1.5s	1.5s	PROPN
ap-5381	168	3	was	be	AUX
ap-5381	168	4	selected	select	VERB
ap-5381	168	5	for	for	ADP
ap-5381	168	6	further	further	ADJ
ap-5381	168	7	steps	step	NOUN
ap-5381	168	8	.	.	PUNCT
ap-5381	169	1	based	base	VERB
ap-5381	169	2	on	on	ADP
ap-5381	169	3	(	(	PUNCT
ap-5381	169	4	10	10	NUM
ap-5381	169	5	)	)	PUNCT
ap-5381	169	6	,	,	PUNCT
ap-5381	169	7	parameters	parameter	NOUN
ap-5381	169	8	σσσ	σσσ	ADV
ap-5381	169	9	are	be	AUX
ap-5381	169	10	used	use	VERB
ap-5381	169	11	to	to	PART
ap-5381	169	12	generate	generate	VERB
ap-5381	169	13	the	the	DET
ap-5381	169	14	desired	desire	VERB
ap-5381	169	15	trajectories	trajectory	NOUN
ap-5381	169	16	for	for	ADP
ap-5381	169	17	the	the	DET
ap-5381	169	18	position	position	NOUN
ap-5381	169	19	θ∗0(t	θ∗0(t	PROPN
ap-5381	169	20	)	)	PUNCT
ap-5381	169	21	,	,	PUNCT
ap-5381	169	22	velocity	velocity	NOUN
ap-5381	169	23	θ̇∗0(t	θ̇∗0(t	NOUN
ap-5381	169	24	)	)	PUNCT
ap-5381	169	25	and	and	CCONJ
ap-5381	169	26	acceleration	acceleration	NOUN
ap-5381	169	27	θ̈∗0(t	θ̈∗0(t	PROPN
ap-5381	169	28	)	)	PUNCT
ap-5381	169	29	of	of	ADP
ap-5381	169	30	the	the	DET
ap-5381	169	31	cart	cart	NOUN
ap-5381	169	32	.	.	PUNCT
ap-5381	170	1	the	the	DET
ap-5381	170	2	final	final	ADJ
ap-5381	170	3	trajectories	trajectory	NOUN
ap-5381	170	4	of	of	ADP
ap-5381	170	5	the	the	DET
ap-5381	170	6	cart	cart	NOUN
ap-5381	170	7	position	position	NOUN
ap-5381	170	8	θ∗0(t	θ∗0(t	PROPN
ap-5381	170	9	)	)	PUNCT
ap-5381	170	10	and	and	CCONJ
ap-5381	170	11	pendulum	pendulum	NOUN
ap-5381	170	12	angle	angle	NOUN
ap-5381	170	13	θ∗1(t	θ∗1(t	PROPN
ap-5381	170	14	)	)	PUNCT
ap-5381	170	15	are	be	AUX
ap-5381	170	16	shown	show	VERB
ap-5381	170	17	in	in	ADP
ap-5381	170	18	the	the	DET
ap-5381	170	19	fig	fig	NOUN
ap-5381	170	20	.	.	PUNCT
ap-5381	171	1	8	8	NUM
ap-5381	171	2	and	and	CCONJ
ap-5381	171	3	fig	fig	NOUN
ap-5381	171	4	.	.	PUNCT
ap-5381	172	1	9	9	X
ap-5381	172	2	.	.	X
ap-5381	173	1	it	it	PRON
ap-5381	173	2	is	be	AUX
ap-5381	173	3	shown	show	VERB
ap-5381	173	4	that	that	SCONJ
ap-5381	173	5	the	the	DET
ap-5381	173	6	proposed	propose	VERB
ap-5381	173	7	tracking	tracking	NOUN
ap-5381	173	8	control	control	NOUN
ap-5381	173	9	algorithm	algorithm	NOUN
ap-5381	173	10	with	with	ADP
ap-5381	173	11	the	the	DET
ap-5381	173	12	control	control	NOUN
ap-5381	173	13	law	law	NOUN
ap-5381	173	14	u(t	u(t	NOUN
ap-5381	173	15	)	)	PUNCT
ap-5381	173	16	=	=	SYM
ap-5381	173	17	u∗(t	u∗(t	NOUN
ap-5381	173	18	)	)	PUNCT
ap-5381	173	19	+	+	CCONJ
ap-5381	173	20	∆u(t	∆u(t	PROPN
ap-5381	173	21	)	)	PUNCT
ap-5381	173	22	and	and	CCONJ
ap-5381	173	23	the	the	DET
ap-5381	173	24	suitably	suitably	ADV
ap-5381	173	25	selected	select	VERB
ap-5381	173	26	weight	weight	NOUN
ap-5381	173	27	matricesqqq	matricesqqq	NOUN
ap-5381	173	28	and	and	CCONJ
ap-5381	173	29	r	r	NOUN
ap-5381	173	30	exploits	exploit	VERB
ap-5381	173	31	the	the	DET
ap-5381	173	32	effect	effect	NOUN
ap-5381	173	33	of	of	ADP
ap-5381	173	34	natural	natural	ADJ
ap-5381	173	35	dynamics	dynamic	NOUN
ap-5381	173	36	of	of	ADP
ap-5381	173	37	the	the	DET
ap-5381	173	38	system	system	NOUN
ap-5381	173	39	and	and	CCONJ
ap-5381	173	40	ensures	ensure	VERB
ap-5381	173	41	that	that	SCONJ
ap-5381	173	42	the	the	DET
ap-5381	173	43	desired	desire	VERB
ap-5381	173	44	trajectory	trajectory	NOUN
ap-5381	173	45	is	be	AUX
ap-5381	173	46	tracked	track	VERB
ap-5381	173	47	with	with	ADP
ap-5381	173	48	minimal	minimal	ADJ
ap-5381	173	49	deviations	deviation	NOUN
ap-5381	173	50	of	of	ADP
ap-5381	173	51	the	the	DET
ap-5381	173	52	actual	actual	ADJ
ap-5381	173	53	pendulum	pendulum	NOUN
ap-5381	173	54	trajectory	trajectory	NOUN
ap-5381	173	55	from	from	ADP
ap-5381	173	56	the	the	DET
ap-5381	173	57	swing	swing	NOUN
ap-5381	173	58	-	-	PUNCT
ap-5381	173	59	up	up	ADP
ap-5381	173	60	trajectories	trajectory	NOUN
ap-5381	173	61	calculated	calculate	VERB
ap-5381	173	62	by	by	ADP
ap-5381	173	63	the	the	DET
ap-5381	173	64	bvp	bvp	NOUN
ap-5381	173	65	.	.	PUNCT
ap-5381	174	1	moreover	moreover	ADV
ap-5381	174	2	,	,	PUNCT
ap-5381	174	3	the	the	DET
ap-5381	174	4	proposed	propose	VERB
ap-5381	174	5	control	control	NOUN
ap-5381	174	6	algorithm	algorithm	PROPN
ap-5381	174	7	reduces	reduce	VERB
ap-5381	174	8	the	the	DET
ap-5381	174	9	control	control	NOUN
ap-5381	174	10	input	input	NOUN
ap-5381	174	11	of	of	ADP
ap-5381	174	12	the	the	DET
ap-5381	174	13	feedback	feedback	NOUN
ap-5381	174	14	component	component	NOUN
ap-5381	174	15	against	against	ADP
ap-5381	174	16	the	the	DET
ap-5381	174	17	feedforward	feedforward	NOUN
ap-5381	174	18	component	component	NOUN
ap-5381	174	19	that	that	PRON
ap-5381	174	20	plays	play	VERB
ap-5381	174	21	the	the	DET
ap-5381	174	22	key	key	ADJ
ap-5381	174	23	role	role	NOUN
ap-5381	174	24	in	in	ADP
ap-5381	174	25	the	the	DET
ap-5381	174	26	swing	swing	NOUN
ap-5381	174	27	-	-	PUNCT
ap-5381	174	28	up	up	NOUN
ap-5381	174	29	to	to	ADP
ap-5381	174	30	the	the	DET
ap-5381	174	31	upward	upward	ADJ
ap-5381	174	32	equilibrium	equilibrium	NOUN
ap-5381	174	33	.	.	PUNCT
ap-5381	175	1	as	as	SCONJ
ap-5381	175	2	suggested	suggest	VERB
ap-5381	175	3	by	by	ADP
ap-5381	175	4	fig	fig	NOUN
ap-5381	175	5	.	.	PUNCT
ap-5381	176	1	8	8	NUM
ap-5381	176	2	and	and	CCONJ
ap-5381	176	3	fig	fig	NOUN
ap-5381	176	4	.	.	PUNCT
ap-5381	177	1	9	9	NUM
ap-5381	177	2	,	,	PUNCT
ap-5381	177	3	the	the	DET
ap-5381	177	4	proposed	propose	VERB
ap-5381	177	5	enhancing	enhance	VERB
ap-5381	177	6	functions	function	NOUN
ap-5381	177	7	for	for	ADP
ap-5381	177	8	the	the	DET
ap-5381	177	9	ipmac	ipmac	ADJ
ap-5381	177	10	library	library	NOUN
ap-5381	177	11	correctly	correctly	ADV
ap-5381	177	12	fulfil	fulfil	VERB
ap-5381	177	13	the	the	DET
ap-5381	177	14	stated	state	VERB
ap-5381	177	15	control	control	NOUN
ap-5381	177	16	objective	objective	NOUN
ap-5381	177	17	.	.	PUNCT
ap-5381	178	1	it	it	PRON
ap-5381	178	2	can	can	AUX
ap-5381	178	3	,	,	PUNCT
ap-5381	178	4	therefore	therefore	ADV
ap-5381	178	5	,	,	PUNCT
ap-5381	178	6	be	be	AUX
ap-5381	178	7	concluded	conclude	VERB
ap-5381	178	8	that	that	SCONJ
ap-5381	178	9	the	the	DET
ap-5381	178	10	designed	design	VERB
ap-5381	178	11	control	control	NOUN
ap-5381	178	12	algorithm	algorithm	NOUN
ap-5381	178	13	not	not	PART
ap-5381	178	14	only	only	ADV
ap-5381	178	15	swings	swing	VERB
ap-5381	178	16	up	up	ADP
ap-5381	178	17	the	the	DET
ap-5381	178	18	pendulum	pendulum	NOUN
ap-5381	178	19	but	but	CCONJ
ap-5381	178	20	also	also	ADV
ap-5381	178	21	stabilizes	stabilize	VERB
ap-5381	178	22	it	it	PRON
ap-5381	178	23	in	in	ADP
ap-5381	178	24	the	the	DET
ap-5381	178	25	unstable	unstable	ADJ
ap-5381	178	26	equilibrium	equilibrium	NOUN
ap-5381	178	27	position	position	NOUN
ap-5381	178	28	.	.	PUNCT
ap-5381	179	1	5	5	X
ap-5381	179	2	.	.	X
ap-5381	179	3	conclusions	conclusion	NOUN
ap-5381	179	4	the	the	DET
ap-5381	179	5	aim	aim	NOUN
ap-5381	179	6	of	of	ADP
ap-5381	179	7	this	this	DET
ap-5381	179	8	paper	paper	NOUN
ap-5381	179	9	was	be	AUX
ap-5381	179	10	to	to	PART
ap-5381	179	11	introduce	introduce	VERB
ap-5381	179	12	a	a	DET
ap-5381	179	13	modification	modification	NOUN
ap-5381	179	14	of	of	ADP
ap-5381	179	15	the	the	DET
ap-5381	179	16	swing	swing	NOUN
ap-5381	179	17	-	-	PUNCT
ap-5381	179	18	up	up	ADP
ap-5381	179	19	control	control	NOUN
ap-5381	179	20	algorithm	algorithm	NOUN
ap-5381	179	21	based	base	VERB
ap-5381	179	22	on	on	ADP
ap-5381	179	23	the	the	DET
ap-5381	179	24	feedforward	feedforward	NOUN
ap-5381	179	25	/	/	SYM
ap-5381	179	26	feedback	feedback	NOUN
ap-5381	179	27	control	control	NOUN
ap-5381	179	28	scheme	scheme	NOUN
ap-5381	179	29	and	and	CCONJ
ap-5381	179	30	to	to	PART
ap-5381	179	31	verify	verify	VERB
ap-5381	179	32	it	it	PRON
ap-5381	179	33	on	on	ADP
ap-5381	179	34	the	the	DET
ap-5381	179	35	simulation	simulation	NOUN
ap-5381	179	36	model	model	NOUN
ap-5381	179	37	of	of	ADP
ap-5381	179	38	a	a	DET
ap-5381	179	39	cart	cart	NOUN
ap-5381	179	40	-	-	PUNCT
ap-5381	179	41	pendulum	pendulum	NOUN
ap-5381	179	42	system	system	NOUN
ap-5381	179	43	,	,	PUNCT
ap-5381	179	44	which	which	PRON
ap-5381	179	45	is	be	AUX
ap-5381	179	46	part	part	NOUN
ap-5381	179	47	of	of	ADP
ap-5381	179	48	the	the	DET
ap-5381	179	49	laboratory	laboratory	NOUN
ap-5381	179	50	model	model	NOUN
ap-5381	179	51	multipurpose	multipurpose	NOUN
ap-5381	179	52	workplace	workplace	NOUN
ap-5381	179	53	for	for	ADP
ap-5381	179	54	nondestructive	nondestructive	ADJ
ap-5381	179	55	diagnostics	diagnostic	NOUN
ap-5381	179	56	with	with	ADP
ap-5381	179	57	linear	linear	ADJ
ap-5381	179	58	synchronous	synchronous	ADJ
ap-5381	179	59	motor	motor	NOUN
ap-5381	179	60	.	.	PUNCT
ap-5381	180	1	the	the	DET
ap-5381	180	2	control	control	PROPN
ap-5381	180	3	algorithm	algorithm	PROPN
ap-5381	180	4	modification	modification	NOUN
ap-5381	180	5	was	be	AUX
ap-5381	180	6	included	include	VERB
ap-5381	180	7	in	in	ADP
ap-5381	180	8	our	our	PRON
ap-5381	180	9	proprietary	proprietary	ADJ
ap-5381	180	10	matlab	matlab	PROPN
ap-5381	180	11	/	/	SYM
ap-5381	180	12	simulink	simulink	PROPN
ap-5381	180	13	inverted	invert	VERB
ap-5381	180	14	pendula	pendula	PROPN
ap-5381	180	15	modeling	modeling	NOUN
ap-5381	180	16	and	and	CCONJ
ap-5381	180	17	control	control	NOUN
ap-5381	180	18	library	library	NOUN
ap-5381	180	19	.	.	PUNCT
ap-5381	181	1	first	first	ADV
ap-5381	181	2	of	of	ADP
ap-5381	181	3	all	all	PRON
ap-5381	181	4	,	,	PUNCT
ap-5381	181	5	the	the	DET
ap-5381	181	6	mathematical	mathematical	ADJ
ap-5381	181	7	model	model	NOUN
ap-5381	181	8	of	of	ADP
ap-5381	181	9	the	the	DET
ap-5381	181	10	single	single	ADJ
ap-5381	181	11	inverted	inverted	ADJ
ap-5381	181	12	pendulum	pendulum	NOUN
ap-5381	181	13	system	system	NOUN
ap-5381	181	14	with	with	ADP
ap-5381	181	15	an	an	DET
ap-5381	181	16	attached	attached	ADJ
ap-5381	181	17	weight	weight	NOUN
ap-5381	181	18	was	be	AUX
ap-5381	181	19	generated	generate	VERB
ap-5381	181	20	via	via	ADP
ap-5381	181	21	a	a	DET
ap-5381	181	22	gui	gui	NOUN
ap-5381	181	23	application	application	NOUN
ap-5381	181	24	,	,	PUNCT
ap-5381	181	25	which	which	PRON
ap-5381	181	26	is	be	AUX
ap-5381	181	27	part	part	NOUN
ap-5381	181	28	of	of	ADP
ap-5381	181	29	the	the	DET
ap-5381	181	30	ipmac	ipmac	ADJ
ap-5381	181	31	library	library	NOUN
ap-5381	181	32	.	.	PUNCT
ap-5381	182	1	considering	consider	VERB
ap-5381	182	2	the	the	DET
ap-5381	182	3	cart	cart	NOUN
ap-5381	182	4	acceleration	acceleration	NOUN
ap-5381	182	5	as	as	ADP
ap-5381	182	6	the	the	DET
ap-5381	182	7	pendulum	pendulum	NOUN
ap-5381	182	8	subsystem	subsystem	NOUN
ap-5381	182	9	input	input	NOUN
ap-5381	182	10	together	together	ADV
ap-5381	182	11	with	with	ADP
ap-5381	182	12	constraints	constraint	NOUN
ap-5381	182	13	resulting	result	VERB
ap-5381	182	14	from	from	ADP
ap-5381	182	15	the	the	DET
ap-5381	182	16	laboratory	laboratory	NOUN
ap-5381	182	17	setup	setup	NOUN
ap-5381	182	18	defines	define	VERB
ap-5381	182	19	a	a	DET
ap-5381	182	20	two	two	NUM
ap-5381	182	21	-	-	PUNCT
ap-5381	182	22	point	point	NOUN
ap-5381	182	23	nonlinear	nonlinear	ADJ
ap-5381	182	24	boundary	boundary	ADJ
ap-5381	182	25	value	value	NOUN
ap-5381	182	26	problem	problem	NOUN
ap-5381	182	27	with	with	ADP
ap-5381	182	28	free	free	ADJ
ap-5381	182	29	parameters	parameter	NOUN
ap-5381	182	30	as	as	ADP
ap-5381	182	31	the	the	DET
ap-5381	182	32	coefficients	coefficient	NOUN
ap-5381	182	33	of	of	ADP
ap-5381	182	34	the	the	DET
ap-5381	182	35	input	input	NOUN
ap-5381	182	36	cosine	cosine	NOUN
ap-5381	182	37	series	series	PROPN
ap-5381	182	38	.	.	PUNCT
ap-5381	183	1	the	the	DET
ap-5381	183	2	solution	solution	NOUN
ap-5381	183	3	of	of	ADP
ap-5381	183	4	the	the	DET
ap-5381	183	5	boundary	boundary	ADJ
ap-5381	183	6	value	value	NOUN
ap-5381	183	7	problem	problem	NOUN
ap-5381	183	8	is	be	AUX
ap-5381	183	9	represented	represent	VERB
ap-5381	183	10	by	by	ADP
ap-5381	183	11	the	the	DET
ap-5381	183	12	desired	desire	VERB
ap-5381	183	13	trajectories	trajectory	NOUN
ap-5381	183	14	for	for	ADP
ap-5381	183	15	state	state	NOUN
ap-5381	183	16	-	-	PUNCT
ap-5381	183	17	space	space	NOUN
ap-5381	183	18	variables	variable	NOUN
ap-5381	183	19	of	of	ADP
ap-5381	183	20	the	the	DET
ap-5381	183	21	system	system	NOUN
ap-5381	183	22	during	during	ADP
ap-5381	183	23	the	the	DET
ap-5381	183	24	swing	swing	NOUN
ap-5381	183	25	-	-	PUNCT
ap-5381	183	26	up	up	ADP
ap-5381	183	27	phase	phase	NOUN
ap-5381	183	28	.	.	PUNCT
ap-5381	184	1	simulations	simulation	NOUN
ap-5381	184	2	have	have	AUX
ap-5381	184	3	confirmed	confirm	VERB
ap-5381	184	4	that	that	SCONJ
ap-5381	184	5	based	base	VERB
ap-5381	184	6	on	on	ADP
ap-5381	184	7	the	the	DET
ap-5381	184	8	calculated	calculated	ADJ
ap-5381	184	9	set	set	NOUN
ap-5381	184	10	of	of	ADP
ap-5381	184	11	parameters	parameter	NOUN
ap-5381	184	12	of	of	ADP
ap-5381	184	13	the	the	DET
ap-5381	184	14	input	input	NOUN
ap-5381	184	15	cosine	cosine	NOUN
ap-5381	184	16	series	series	PROPN
ap-5381	184	17	,	,	PUNCT
ap-5381	184	18	the	the	DET
ap-5381	184	19	suitable	suitable	ADJ
ap-5381	184	20	feedforward	feedforward	NOUN
ap-5381	184	21	component	component	NOUN
ap-5381	184	22	signal	signal	NOUN
ap-5381	184	23	u∗(t	u∗(t	NOUN
ap-5381	184	24	)	)	PUNCT
ap-5381	184	25	was	be	AUX
ap-5381	184	26	generated	generate	VERB
ap-5381	184	27	.	.	PUNCT
ap-5381	185	1	before	before	ADP
ap-5381	185	2	designing	design	VERB
ap-5381	185	3	the	the	DET
ap-5381	185	4	control	control	NOUN
ap-5381	185	5	algorithm	algorithm	NOUN
ap-5381	185	6	for	for	ADP
ap-5381	185	7	the	the	DET
ap-5381	185	8	trajectory	trajectory	NOUN
ap-5381	185	9	tracking	tracking	NOUN
ap-5381	185	10	,	,	PUNCT
ap-5381	185	11	the	the	DET
ap-5381	185	12	model	model	NOUN
ap-5381	185	13	was	be	AUX
ap-5381	185	14	modified	modify	VERB
ap-5381	185	15	from	from	ADP
ap-5381	185	16	its	its	PRON
ap-5381	185	17	generated	generate	VERB
ap-5381	185	18	form	form	NOUN
ap-5381	185	19	to	to	PART
ap-5381	185	20	mirror	mirror	VERB
ap-5381	185	21	the	the	DET
ap-5381	185	22	actual	actual	ADJ
ap-5381	185	23	laboratory	laboratory	NOUN
ap-5381	185	24	im464	im464	ADP
ap-5381	185	25	vol	vol	NOUN
ap-5381	185	26	.	.	PUNCT
ap-5381	186	1	59	59	NUM
ap-5381	186	2	no	no	NOUN
ap-5381	186	3	.	.	PUNCT
ap-5381	187	1	5/2019	5/2019	NUM
ap-5381	187	2	swing	swing	NOUN
ap-5381	187	3	-	-	PUNCT
ap-5381	187	4	up	up	NOUN
ap-5381	187	5	of	of	ADP
ap-5381	187	6	the	the	DET
ap-5381	187	7	inverted	inverted	ADJ
ap-5381	187	8	pendulum	pendulum	NOUN
ap-5381	187	9	on	on	ADP
ap-5381	187	10	a	a	DET
ap-5381	187	11	cart	cart	NOUN
ap-5381	187	12	0	0	NUM
ap-5381	187	13	0.2	0.2	NUM
ap-5381	187	14	0.4	0.4	NUM
ap-5381	187	15	0.6	0.6	NUM
ap-5381	187	16	0.8	0.8	NUM
ap-5381	187	17	1	1	NUM
ap-5381	187	18	1.2	1.2	NUM
ap-5381	187	19	1.4	1.4	NUM
ap-5381	187	20	1.6	1.6	NUM
ap-5381	187	21	1.8	1.8	NUM
ap-5381	187	22	2	2	NUM
ap-5381	187	23	time	time	NOUN
ap-5381	187	24	[	[	X
ap-5381	187	25	s	s	X
ap-5381	187	26	]	]	X
ap-5381	187	27	-0.4	-0.4	NUM
ap-5381	187	28	-0.2	-0.2	NOUN
ap-5381	187	29	0	0	NUM
ap-5381	187	30	0.2	0.2	NUM
ap-5381	187	31	tracking	track	VERB
ap-5381	187	32	the	the	DET
ap-5381	187	33	desired	desire	VERB
ap-5381	187	34	trajectories	trajectory	NOUN
ap-5381	187	35	by	by	ADP
ap-5381	187	36	the	the	DET
ap-5381	187	37	laboratory	laboratory	NOUN
ap-5381	187	38	model	model	NOUN
ap-5381	187	39	0	0	NUM
ap-5381	187	40	0.2	0.2	NUM
ap-5381	187	41	0.4	0.4	NUM
ap-5381	187	42	0.6	0.6	NUM
ap-5381	187	43	0.8	0.8	NUM
ap-5381	187	44	1	1	NUM
ap-5381	187	45	1.2	1.2	NUM
ap-5381	187	46	1.4	1.4	NUM
ap-5381	187	47	1.6	1.6	NUM
ap-5381	187	48	1.8	1.8	NUM
ap-5381	187	49	2	2	NUM
ap-5381	187	50	time	time	NOUN
ap-5381	188	1	[	[	X
ap-5381	188	2	s	s	X
ap-5381	188	3	]	]	X
ap-5381	188	4	-2	-2	INTJ
ap-5381	188	5	-1	-1	SYM
ap-5381	188	6	0	0	NUM
ap-5381	188	7	1	1	NUM
ap-5381	188	8	2	2	NUM
ap-5381	188	9	figure	figure	NOUN
ap-5381	188	10	8	8	NUM
ap-5381	188	11	.	.	PUNCT
ap-5381	189	1	tracking	tracking	NOUN
ap-5381	189	2	of	of	ADP
ap-5381	189	3	the	the	DET
ap-5381	189	4	desired	desire	VERB
ap-5381	189	5	cart	cart	NOUN
ap-5381	189	6	position	position	NOUN
ap-5381	189	7	θ∗	θ∗	NOUN
ap-5381	189	8	0(t	0(t	NUM
ap-5381	189	9	)	)	PUNCT
ap-5381	189	10	and	and	CCONJ
ap-5381	189	11	the	the	DET
ap-5381	189	12	velocity	velocity	NOUN
ap-5381	189	13	θ̇∗	θ̇∗	PROPN
ap-5381	189	14	0(t	0(t	NUM
ap-5381	189	15	)	)	PUNCT
ap-5381	189	16	against	against	ADP
ap-5381	189	17	the	the	DET
ap-5381	189	18	laboratory	laboratory	NOUN
ap-5381	189	19	system	system	NOUN
ap-5381	189	20	position	position	NOUN
ap-5381	189	21	θ0(t	θ0(t	NOUN
ap-5381	189	22	)	)	PUNCT
ap-5381	189	23	and	and	CCONJ
ap-5381	189	24	velocity	velocity	NOUN
ap-5381	189	25	θ̇0(t	θ̇0(t	PROPN
ap-5381	189	26	)	)	PUNCT
ap-5381	189	27	for	for	ADP
ap-5381	189	28	t	t	NOUN
ap-5381	189	29	=	=	SYM
ap-5381	190	1	1.5s	1.5s	NUM
ap-5381	190	2	0	0	NUM
ap-5381	190	3	0.2	0.2	NUM
ap-5381	190	4	0.4	0.4	NUM
ap-5381	190	5	0.6	0.6	NUM
ap-5381	190	6	0.8	0.8	NUM
ap-5381	190	7	1	1	NUM
ap-5381	190	8	1.2	1.2	NUM
ap-5381	190	9	1.4	1.4	NUM
ap-5381	190	10	1.6	1.6	NUM
ap-5381	190	11	1.8	1.8	NUM
ap-5381	190	12	2	2	NUM
ap-5381	190	13	time	time	NOUN
ap-5381	191	1	[	[	X
ap-5381	191	2	s	s	X
ap-5381	191	3	]	]	X
ap-5381	191	4	-200	-200	PROPN
ap-5381	191	5	-150	-150	PROPN
ap-5381	191	6	-100	-100	PROPN
ap-5381	191	7	-50	-50	PUNCT
ap-5381	191	8	0	0	PUNCT
ap-5381	191	9	tracking	track	VERB
ap-5381	191	10	the	the	DET
ap-5381	191	11	desired	desire	VERB
ap-5381	191	12	trajectories	trajectory	NOUN
ap-5381	191	13	by	by	ADP
ap-5381	191	14	the	the	DET
ap-5381	191	15	laboratory	laboratory	NOUN
ap-5381	191	16	model	model	NOUN
ap-5381	191	17	0	0	NUM
ap-5381	191	18	0.2	0.2	NUM
ap-5381	191	19	0.4	0.4	NUM
ap-5381	191	20	0.6	0.6	NUM
ap-5381	191	21	0.8	0.8	NUM
ap-5381	191	22	1	1	NUM
ap-5381	191	23	1.2	1.2	NUM
ap-5381	191	24	1.4	1.4	NUM
ap-5381	191	25	1.6	1.6	NUM
ap-5381	191	26	1.8	1.8	NUM
ap-5381	191	27	2	2	NUM
ap-5381	191	28	time	time	NOUN
ap-5381	191	29	[	[	X
ap-5381	191	30	s	s	X
ap-5381	191	31	]	]	X
ap-5381	191	32	-200	-200	NUM
ap-5381	191	33	0	0	NUM
ap-5381	191	34	200	200	NUM
ap-5381	191	35	400	400	NUM
ap-5381	191	36	figure	figure	NOUN
ap-5381	191	37	9	9	NUM
ap-5381	191	38	.	.	PUNCT
ap-5381	191	39	tracking	tracking	NOUN
ap-5381	191	40	of	of	ADP
ap-5381	191	41	the	the	DET
ap-5381	191	42	desired	desire	VERB
ap-5381	191	43	pendulum	pendulum	NOUN
ap-5381	191	44	angle	angle	NOUN
ap-5381	191	45	θ∗	θ∗	NOUN
ap-5381	191	46	1(t	1(t	NUM
ap-5381	191	47	)	)	PUNCT
ap-5381	191	48	and	and	CCONJ
ap-5381	191	49	the	the	DET
ap-5381	191	50	angular	angular	ADJ
ap-5381	191	51	velocity	velocity	NOUN
ap-5381	191	52	θ̇∗	θ̇∗	PROPN
ap-5381	191	53	1(t	1(t	NUM
ap-5381	191	54	)	)	PUNCT
ap-5381	191	55	against	against	ADP
ap-5381	191	56	the	the	DET
ap-5381	191	57	laboratory	laboratory	NOUN
ap-5381	191	58	system	system	NOUN
ap-5381	191	59	pendulum	pendulum	NOUN
ap-5381	191	60	angle	angle	NOUN
ap-5381	191	61	θ1(t	θ1(t	PROPN
ap-5381	191	62	)	)	PUNCT
ap-5381	191	63	and	and	CCONJ
ap-5381	191	64	angular	angular	ADJ
ap-5381	191	65	velocity	velocity	NOUN
ap-5381	191	66	θ̇1(t	θ̇1(t	PROPN
ap-5381	191	67	)	)	PUNCT
ap-5381	191	68	for	for	ADP
ap-5381	191	69	t	t	NOUN
ap-5381	191	70	=	=	SYM
ap-5381	191	71	1.5s	1.5s	NUM
ap-5381	191	72	plementation	plementation	NOUN
ap-5381	191	73	,	,	PUNCT
ap-5381	191	74	using	use	VERB
ap-5381	191	75	the	the	DET
ap-5381	191	76	linear	linear	ADJ
ap-5381	191	77	approximation	approximation	NOUN
ap-5381	191	78	of	of	ADP
ap-5381	191	79	the	the	DET
ap-5381	191	80	motor	motor	NOUN
ap-5381	191	81	-	-	PUNCT
ap-5381	191	82	cart	cart	NOUN
ap-5381	191	83	subsystem	subsystem	NOUN
ap-5381	191	84	.	.	PUNCT
ap-5381	192	1	after	after	SCONJ
ap-5381	192	2	the	the	DET
ap-5381	192	3	simulation	simulation	NOUN
ap-5381	192	4	model	model	NOUN
ap-5381	192	5	of	of	ADP
ap-5381	192	6	the	the	DET
ap-5381	192	7	laboratory	laboratory	NOUN
ap-5381	192	8	system	system	NOUN
ap-5381	192	9	was	be	AUX
ap-5381	192	10	obtained	obtain	VERB
ap-5381	192	11	,	,	PUNCT
ap-5381	192	12	the	the	DET
ap-5381	192	13	control	control	NOUN
ap-5381	192	14	signal	signal	NOUN
ap-5381	192	15	u∗(t	u∗(t	NOUN
ap-5381	192	16	)	)	PUNCT
ap-5381	192	17	was	be	AUX
ap-5381	192	18	able	able	ADJ
ap-5381	192	19	to	to	PART
ap-5381	192	20	steer	steer	VERB
ap-5381	192	21	the	the	DET
ap-5381	192	22	pendulum	pendulum	NOUN
ap-5381	192	23	system	system	NOUN
ap-5381	192	24	from	from	ADP
ap-5381	192	25	the	the	DET
ap-5381	192	26	downward	downward	ADJ
ap-5381	192	27	equilibrium	equilibrium	NOUN
ap-5381	192	28	position	position	NOUN
ap-5381	192	29	to	to	ADP
ap-5381	192	30	the	the	DET
ap-5381	192	31	upward	upward	ADJ
ap-5381	192	32	,	,	PUNCT
ap-5381	192	33	unstable	unstable	ADJ
ap-5381	192	34	equilibrium	equilibrium	NOUN
ap-5381	192	35	position	position	NOUN
ap-5381	192	36	.	.	PUNCT
ap-5381	193	1	tracking	tracking	NOUN
ap-5381	193	2	of	of	ADP
ap-5381	193	3	the	the	DET
ap-5381	193	4	generated	generate	VERB
ap-5381	193	5	trajectories	trajectory	NOUN
ap-5381	193	6	and	and	CCONJ
ap-5381	193	7	subsequent	subsequent	ADJ
ap-5381	193	8	stabilization	stabilization	NOUN
ap-5381	193	9	in	in	ADP
ap-5381	193	10	the	the	DET
ap-5381	193	11	unstable	unstable	ADJ
ap-5381	193	12	equilibrium	equilibrium	NOUN
ap-5381	193	13	were	be	AUX
ap-5381	193	14	ensured	ensure	VERB
ap-5381	193	15	by	by	ADP
ap-5381	193	16	means	mean	NOUN
ap-5381	193	17	of	of	ADP
ap-5381	193	18	a	a	DET
ap-5381	193	19	time	time	NOUN
ap-5381	193	20	-	-	PUNCT
ap-5381	193	21	varying	vary	VERB
ap-5381	193	22	lq	lq	NOUN
ap-5381	193	23	control	control	NOUN
ap-5381	193	24	.	.	PUNCT
ap-5381	194	1	an	an	DET
ap-5381	194	2	actual	actual	ADJ
ap-5381	194	3	implementation	implementation	NOUN
ap-5381	194	4	of	of	ADP
ap-5381	194	5	the	the	DET
ap-5381	194	6	designed	design	VERB
ap-5381	194	7	control	control	NOUN
ap-5381	194	8	algorithm	algorithm	NOUN
ap-5381	194	9	into	into	ADP
ap-5381	194	10	the	the	DET
ap-5381	194	11	laboratory	laboratory	NOUN
ap-5381	194	12	model	model	NOUN
ap-5381	194	13	will	will	AUX
ap-5381	194	14	require	require	VERB
ap-5381	194	15	the	the	DET
ap-5381	194	16	hardware	hardware	NOUN
ap-5381	194	17	configuration	configuration	NOUN
ap-5381	194	18	of	of	ADP
ap-5381	194	19	the	the	DET
ap-5381	194	20	model	model	NOUN
ap-5381	194	21	to	to	PART
ap-5381	194	22	be	be	AUX
ap-5381	194	23	enhanced	enhance	VERB
ap-5381	194	24	by	by	ADP
ap-5381	194	25	a	a	DET
ap-5381	194	26	suitable	suitable	ADJ
ap-5381	194	27	embedded	embed	VERB
ap-5381	194	28	system	system	NOUN
ap-5381	194	29	.	.	PUNCT
ap-5381	195	1	the	the	DET
ap-5381	195	2	trajectory	trajectory	NOUN
ap-5381	195	3	planning	planning	NOUN
ap-5381	195	4	problem	problem	NOUN
ap-5381	195	5	considered	consider	VERB
ap-5381	195	6	in	in	ADP
ap-5381	195	7	this	this	DET
ap-5381	195	8	paper	paper	NOUN
ap-5381	195	9	is	be	AUX
ap-5381	195	10	not	not	PART
ap-5381	195	11	only	only	ADV
ap-5381	195	12	a	a	DET
ap-5381	195	13	relevant	relevant	ADJ
ap-5381	195	14	control	control	NOUN
ap-5381	195	15	objective	objective	NOUN
ap-5381	195	16	for	for	ADP
ap-5381	195	17	benchmarking	benchmarke	VERB
ap-5381	195	18	underactuated	underactuated	ADJ
ap-5381	195	19	systems	system	NOUN
ap-5381	195	20	,	,	PUNCT
ap-5381	195	21	but	but	CCONJ
ap-5381	195	22	it	it	PRON
ap-5381	195	23	can	can	AUX
ap-5381	195	24	also	also	ADV
ap-5381	195	25	be	be	AUX
ap-5381	195	26	applied	apply	VERB
ap-5381	195	27	in	in	ADP
ap-5381	195	28	gait	gait	ADJ
ap-5381	195	29	generation	generation	NOUN
ap-5381	195	30	for	for	ADP
ap-5381	195	31	bipedal	bipedal	NOUN
ap-5381	195	32	or	or	CCONJ
ap-5381	195	33	multi	multi	ADJ
ap-5381	195	34	-	-	ADJ
ap-5381	195	35	legged	legged	ADJ
ap-5381	195	36	robotic	robotic	ADJ
ap-5381	195	37	systems	system	NOUN
ap-5381	195	38	,	,	PUNCT
ap-5381	195	39	with	with	ADP
ap-5381	195	40	several	several	ADJ
ap-5381	195	41	different	different	ADJ
ap-5381	195	42	trajectories	trajectory	NOUN
ap-5381	195	43	stored	store	VERB
ap-5381	195	44	in	in	ADP
ap-5381	195	45	the	the	DET
ap-5381	195	46	motion	motion	NOUN
ap-5381	195	47	database	database	NOUN
ap-5381	195	48	and	and	CCONJ
ap-5381	195	49	selected	select	VERB
ap-5381	195	50	as	as	ADP
ap-5381	195	51	the	the	DET
ap-5381	195	52	most	most	ADV
ap-5381	195	53	appropriate	appropriate	ADJ
ap-5381	195	54	for	for	ADP
ap-5381	195	55	current	current	ADJ
ap-5381	195	56	conditions	condition	NOUN
ap-5381	195	57	.	.	PUNCT
ap-5381	196	1	our	our	PRON
ap-5381	196	2	research	research	NOUN
ap-5381	196	3	will	will	AUX
ap-5381	196	4	further	far	ADV
ap-5381	196	5	focus	focus	VERB
ap-5381	196	6	on	on	ADP
ap-5381	196	7	the	the	DET
ap-5381	196	8	verification	verification	NOUN
ap-5381	196	9	of	of	ADP
ap-5381	196	10	this	this	DET
ap-5381	196	11	approach	approach	NOUN
ap-5381	196	12	for	for	ADP
ap-5381	196	13	more	more	ADV
ap-5381	196	14	complicated	complicated	ADJ
ap-5381	196	15	underactuated	underactuated	ADJ
ap-5381	196	16	systems	system	NOUN
ap-5381	196	17	such	such	ADJ
ap-5381	196	18	as	as	ADP
ap-5381	196	19	the	the	DET
ap-5381	196	20	compass	compass	PROPN
ap-5381	196	21	gait	gait	NOUN
ap-5381	196	22	and	and	CCONJ
ap-5381	196	23	other	other	ADJ
ap-5381	196	24	benchmarks	benchmark	NOUN
ap-5381	196	25	for	for	ADP
ap-5381	196	26	a	a	DET
ap-5381	196	27	passive	passive	ADJ
ap-5381	196	28	legged	legged	ADJ
ap-5381	196	29	locomotion	locomotion	NOUN
ap-5381	196	30	.	.	PUNCT
ap-5381	197	1	acknowledgements	acknowledgement	NOUN
ap-5381	197	2	this	this	DET
ap-5381	197	3	work	work	NOUN
ap-5381	197	4	has	have	AUX
ap-5381	197	5	been	be	AUX
ap-5381	197	6	supported	support	VERB
ap-5381	197	7	by	by	ADP
ap-5381	197	8	the	the	DET
ap-5381	197	9	grant	grant	NOUN
ap-5381	197	10	kega	kega	PROPN
ap-5381	197	11	implementation	implementation	NOUN
ap-5381	197	12	of	of	ADP
ap-5381	197	13	research	research	NOUN
ap-5381	197	14	results	result	NOUN
ap-5381	197	15	in	in	ADP
ap-5381	197	16	the	the	DET
ap-5381	197	17	area	area	NOUN
ap-5381	197	18	of	of	ADP
ap-5381	197	19	modelling	modelling	NOUN
ap-5381	197	20	and	and	CCONJ
ap-5381	197	21	simulation	simulation	NOUN
ap-5381	197	22	of	of	ADP
ap-5381	197	23	cyber	cyber	NOUN
ap-5381	197	24	-	-	PUNCT
ap-5381	197	25	physical	physical	ADJ
ap-5381	197	26	systems	system	NOUN
ap-5381	197	27	into	into	ADP
ap-5381	197	28	the	the	DET
ap-5381	197	29	teaching	teaching	NOUN
ap-5381	197	30	process	process	NOUN
ap-5381	197	31	development	development	NOUN
ap-5381	197	32	of	of	ADP
ap-5381	197	33	modern	modern	ADJ
ap-5381	197	34	university	university	NOUN
ap-5381	197	35	textbooks	textbook	NOUN
ap-5381	197	36	–	–	PUNCT
ap-5381	197	37	072tuke-4/2018	072tuke-4/2018	NOUN
ap-5381	197	38	(	(	PUNCT
ap-5381	197	39	100	100	NUM
ap-5381	197	40	%	%	NOUN
ap-5381	197	41	)	)	PUNCT
ap-5381	197	42	.	.	PUNCT
ap-5381	198	1	465	465	NUM
ap-5381	198	2	l.	l.	PROPN
ap-5381	198	3	koska	koska	PROPN
ap-5381	198	4	,	,	PUNCT
ap-5381	198	5	s.	s.	PROPN
ap-5381	198	6	jadlovská	jadlovská	PROPN
ap-5381	198	7	,	,	PUNCT
ap-5381	198	8	d.	d.	PROPN
ap-5381	198	9	vošček	vošček	PROPN
ap-5381	198	10	,	,	PUNCT
ap-5381	198	11	a.	a.	PROPN
ap-5381	198	12	jadlovská	jadlovská	PROPN
ap-5381	198	13	acta	acta	PROPN
ap-5381	198	14	polytechnica	polytechnica	PROPN
ap-5381	198	15	references	reference	NOUN
ap-5381	198	16	[	[	X
ap-5381	198	17	1	1	NUM
ap-5381	198	18	]	]	PUNCT
ap-5381	198	19	r.	r.	PROPN
ap-5381	198	20	tedrake	tedrake	PROPN
ap-5381	198	21	.	.	PUNCT
ap-5381	199	1	underactuated	underactuated	ADJ
ap-5381	199	2	robotics	robotic	NOUN
ap-5381	199	3	:	:	PUNCT
ap-5381	199	4	learning	learning	NOUN
ap-5381	199	5	,	,	PUNCT
ap-5381	199	6	planning	planning	NOUN
ap-5381	199	7	,	,	PUNCT
ap-5381	199	8	and	and	CCONJ
ap-5381	199	9	control	control	NOUN
ap-5381	199	10	for	for	ADP
ap-5381	199	11	efficient	efficient	ADJ
ap-5381	199	12	and	and	CCONJ
ap-5381	199	13	agile	agile	ADJ
ap-5381	199	14	machines	machine	NOUN
ap-5381	199	15	course	course	NOUN
ap-5381	199	16	notes	note	NOUN
ap-5381	199	17	for	for	ADP
ap-5381	199	18	mit	mit	NOUN
ap-5381	199	19	6.832	6.832	NUM
ap-5381	199	20	.	.	PUNCT
ap-5381	200	1	working	work	VERB
ap-5381	200	2	draft	draft	NOUN
ap-5381	200	3	edition	edition	NOUN
ap-5381	200	4	p.	p.	NOUN
ap-5381	200	5	3	3	NUM
ap-5381	200	6	,	,	PUNCT
ap-5381	200	7	2009	2009	NUM
ap-5381	200	8	.	.	PUNCT
ap-5381	201	1	[	[	X
ap-5381	201	2	2	2	X
ap-5381	201	3	]	]	PUNCT
ap-5381	201	4	o.	o.	PROPN
ap-5381	201	5	boubaker	boubaker	PROPN
ap-5381	201	6	.	.	PUNCT
ap-5381	202	1	the	the	DET
ap-5381	202	2	inverted	inverted	ADJ
ap-5381	202	3	pendulum	pendulum	NOUN
ap-5381	202	4	:	:	PUNCT
ap-5381	202	5	history	history	NOUN
ap-5381	202	6	and	and	CCONJ
ap-5381	202	7	survey	survey	NOUN
ap-5381	202	8	of	of	ADP
ap-5381	202	9	open	open	ADJ
ap-5381	202	10	and	and	CCONJ
ap-5381	202	11	current	current	ADJ
ap-5381	202	12	problems	problem	NOUN
ap-5381	202	13	in	in	ADP
ap-5381	202	14	control	control	NOUN
ap-5381	202	15	theory	theory	NOUN
ap-5381	202	16	and	and	CCONJ
ap-5381	202	17	robotics	robotic	NOUN
ap-5381	202	18	.	.	PUNCT
ap-5381	203	1	the	the	DET
ap-5381	203	2	inverted	inverted	ADJ
ap-5381	203	3	pendulum	pendulum	NOUN
ap-5381	203	4	in	in	ADP
ap-5381	203	5	control	control	NOUN
ap-5381	203	6	theory	theory	NOUN
ap-5381	203	7	and	and	CCONJ
ap-5381	203	8	robotics	robotic	NOUN
ap-5381	203	9	:	:	PUNCT
ap-5381	203	10	from	from	ADP
ap-5381	203	11	theory	theory	NOUN
ap-5381	203	12	to	to	ADP
ap-5381	203	13	new	new	ADJ
ap-5381	203	14	innovations	innovation	NOUN
ap-5381	203	15	111:1	111:1	NUM
ap-5381	203	16	,	,	PUNCT
ap-5381	203	17	2017	2017	NUM
ap-5381	203	18	.	.	PUNCT
ap-5381	204	1	[	[	X
ap-5381	204	2	3	3	X
ap-5381	204	3	]	]	X
ap-5381	204	4	y.	y.	PROPN
ap-5381	204	5	wang	wang	PROPN
ap-5381	204	6	,	,	PUNCT
ap-5381	204	7	k.	k.	PROPN
ap-5381	204	8	zhu	zhu	PROPN
ap-5381	204	9	,	,	PUNCT
ap-5381	204	10	b.	b.	PROPN
ap-5381	204	11	chen	chen	PROPN
ap-5381	204	12	,	,	PUNCT
ap-5381	204	13	h.	h.	PROPN
ap-5381	204	14	wu	wu	PROPN
ap-5381	204	15	.	.	PUNCT
ap-5381	205	1	a	a	DET
ap-5381	205	2	new	new	ADJ
ap-5381	205	3	model	model	NOUN
ap-5381	205	4	-	-	PUNCT
ap-5381	205	5	free	free	ADJ
ap-5381	205	6	trajectory	trajectory	NOUN
ap-5381	205	7	tracking	tracking	NOUN
ap-5381	205	8	control	control	NOUN
ap-5381	205	9	for	for	ADP
ap-5381	205	10	robot	robot	NOUN
ap-5381	205	11	manipulators	manipulator	NOUN
ap-5381	205	12	.	.	PUNCT
ap-5381	206	1	mathematical	mathematical	ADJ
ap-5381	206	2	problems	problem	NOUN
ap-5381	206	3	in	in	ADP
ap-5381	206	4	engineering	engineer	VERB
ap-5381	206	5	2018	2018	NUM
ap-5381	206	6	,	,	PUNCT
ap-5381	206	7	2018	2018	NUM
ap-5381	206	8	.	.	PUNCT
ap-5381	207	1	[	[	X
ap-5381	207	2	4	4	NUM
ap-5381	207	3	]	]	X
ap-5381	207	4	i.	i.	PROPN
ap-5381	207	5	kafetzis	kafetzis	PROPN
ap-5381	207	6	,	,	PUNCT
ap-5381	207	7	l.	l.	PROPN
ap-5381	207	8	moysis	moysis	PROPN
ap-5381	207	9	.	.	PUNCT
ap-5381	208	1	inverted	invert	VERB
ap-5381	208	2	pendulum	pendulum	NOUN
ap-5381	208	3	:	:	PUNCT
ap-5381	208	4	a	a	DET
ap-5381	208	5	system	system	NOUN
ap-5381	208	6	with	with	ADP
ap-5381	208	7	innumerable	innumerable	ADJ
ap-5381	208	8	applications	application	NOUN
ap-5381	208	9	.	.	PUNCT
ap-5381	209	1	in	in	ADP
ap-5381	209	2	school	school	NOUN
ap-5381	209	3	of	of	ADP
ap-5381	209	4	mathematical	mathematical	ADJ
ap-5381	209	5	sciences	sciences	PROPN
ap-5381	209	6	.	.	PUNCT
ap-5381	210	1	aristotle	aristotle	PROPN
ap-5381	210	2	university	university	PROPN
ap-5381	210	3	of	of	ADP
ap-5381	210	4	thessaloniki	thessaloniki	PROPN
ap-5381	210	5	,	,	PUNCT
ap-5381	210	6	2017	2017	NUM
ap-5381	210	7	.	.	PUNCT
ap-5381	211	1	[	[	X
ap-5381	211	2	5	5	X
ap-5381	211	3	]	]	PUNCT
ap-5381	211	4	o.	o.	NOUN
ap-5381	211	5	boubaker	boubaker	PROPN
ap-5381	211	6	.	.	PUNCT
ap-5381	212	1	the	the	DET
ap-5381	212	2	inverted	inverted	ADJ
ap-5381	212	3	pendulum	pendulum	NOUN
ap-5381	212	4	benchmark	benchmark	NOUN
ap-5381	212	5	in	in	ADP
ap-5381	212	6	nonlinear	nonlinear	PROPN
ap-5381	212	7	control	control	PROPN
ap-5381	212	8	theory	theory	NOUN
ap-5381	212	9	:	:	PUNCT
ap-5381	212	10	a	a	DET
ap-5381	212	11	survey	survey	NOUN
ap-5381	212	12	.	.	PUNCT
ap-5381	213	1	international	international	ADJ
ap-5381	213	2	journal	journal	NOUN
ap-5381	213	3	of	of	ADP
ap-5381	213	4	advanced	advanced	ADJ
ap-5381	213	5	robotic	robotic	ADJ
ap-5381	213	6	systems	system	NOUN
ap-5381	213	7	10(5):233	10(5):233	NUM
ap-5381	213	8	,	,	PUNCT
ap-5381	213	9	2013	2013	NUM
ap-5381	213	10	.	.	PUNCT
ap-5381	214	1	[	[	X
ap-5381	214	2	6	6	NUM
ap-5381	214	3	]	]	PUNCT
ap-5381	214	4	k.	k.	PROPN
ap-5381	214	5	j.	j.	PROPN
ap-5381	214	6	åström	åström	PROPN
ap-5381	214	7	,	,	PUNCT
ap-5381	214	8	k.	k.	PROPN
ap-5381	214	9	furuta	furuta	PROPN
ap-5381	214	10	.	.	PUNCT
ap-5381	215	1	swinging	swinge	VERB
ap-5381	215	2	up	up	ADP
ap-5381	215	3	a	a	DET
ap-5381	215	4	pendulum	pendulum	NOUN
ap-5381	215	5	by	by	ADP
ap-5381	215	6	energy	energy	NOUN
ap-5381	215	7	control	control	NOUN
ap-5381	215	8	.	.	PUNCT
ap-5381	216	1	automatica	automatica	PROPN
ap-5381	216	2	36(2):287	36(2):287	PROPN
ap-5381	216	3	–	–	PUNCT
ap-5381	216	4	295	295	NUM
ap-5381	216	5	,	,	PUNCT
ap-5381	216	6	2000	2000	NUM
ap-5381	216	7	.	.	PUNCT
ap-5381	217	1	doi:10.1016	doi:10.1016	PROPN
ap-5381	217	2	/	/	SYM
ap-5381	217	3	s0005	s0005	PROPN
ap-5381	217	4	-	-	NOUN
ap-5381	217	5	1098(99)00140	1098(99)00140	NUM
ap-5381	217	6	-	-	PUNCT
ap-5381	217	7	5	5	NUM
ap-5381	217	8	.	.	PUNCT
ap-5381	218	1	[	[	X
ap-5381	218	2	7	7	X
ap-5381	218	3	]	]	PUNCT
ap-5381	218	4	m.	m.	NOUN
ap-5381	218	5	w.	w.	PROPN
ap-5381	218	6	spong	spong	PROPN
ap-5381	218	7	.	.	PUNCT
ap-5381	219	1	the	the	DET
ap-5381	219	2	swing	swing	NOUN
ap-5381	219	3	up	up	ADP
ap-5381	219	4	control	control	NOUN
ap-5381	219	5	problem	problem	NOUN
ap-5381	219	6	for	for	ADP
ap-5381	219	7	the	the	DET
ap-5381	219	8	acrobot	acrobot	NOUN
ap-5381	219	9	.	.	PUNCT
ap-5381	220	1	ieee	ieee	PROPN
ap-5381	220	2	control	control	PROPN
ap-5381	220	3	systems	systems	PROPN
ap-5381	220	4	magazine	magazine	NOUN
ap-5381	220	5	15(1):49–55	15(1):49–55	NUM
ap-5381	220	6	,	,	PUNCT
ap-5381	220	7	1995	1995	NUM
ap-5381	220	8	.	.	PUNCT
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ap-5381	221	2	/	/	SYM
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ap-5381	221	4	.	.	PUNCT
ap-5381	222	1	[	[	X
ap-5381	222	2	8	8	NUM
ap-5381	222	3	]	]	X
ap-5381	222	4	i.	i.	PROPN
ap-5381	222	5	fantoni	fantoni	PROPN
ap-5381	222	6	,	,	PUNCT
ap-5381	222	7	r.	r.	PROPN
ap-5381	222	8	lozano	lozano	PROPN
ap-5381	222	9	.	.	PUNCT
ap-5381	223	1	non	non	ADJ
ap-5381	223	2	-	-	ADJ
ap-5381	223	3	linear	linear	ADJ
ap-5381	223	4	control	control	NOUN
ap-5381	223	5	for	for	ADP
ap-5381	223	6	underactuated	underactuated	ADJ
ap-5381	223	7	mechanical	mechanical	ADJ
ap-5381	223	8	systems	system	NOUN
ap-5381	223	9	.	.	PUNCT
ap-5381	224	1	springer	springer	NOUN
ap-5381	224	2	science	science	PROPN
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ap-5381	224	4	business	business	NOUN
ap-5381	224	5	media	medium	NOUN
ap-5381	224	6	,	,	PUNCT
ap-5381	224	7	2001	2001	NUM
ap-5381	224	8	.	.	PUNCT
ap-5381	225	1	[	[	X
ap-5381	225	2	9	9	NUM
ap-5381	225	3	]	]	PUNCT
ap-5381	225	4	k.	k.	PROPN
ap-5381	225	5	graichen	graichen	PROPN
ap-5381	225	6	,	,	PUNCT
ap-5381	225	7	m.	m.	NOUN
ap-5381	225	8	treuer	treuer	NOUN
ap-5381	225	9	,	,	PUNCT
ap-5381	225	10	m.	m.	NOUN
ap-5381	225	11	zeitz	zeitz	PROPN
ap-5381	225	12	.	.	PUNCT
ap-5381	226	1	swing	swing	NOUN
ap-5381	226	2	-	-	PUNCT
ap-5381	226	3	up	up	NOUN
ap-5381	226	4	of	of	ADP
ap-5381	226	5	the	the	DET
ap-5381	226	6	double	double	ADJ
ap-5381	226	7	pendulum	pendulum	NOUN
ap-5381	226	8	on	on	ADP
ap-5381	226	9	a	a	DET
ap-5381	226	10	cart	cart	NOUN
ap-5381	226	11	by	by	ADP
ap-5381	226	12	feedforward	feedforward	NOUN
ap-5381	226	13	and	and	CCONJ
ap-5381	226	14	feedback	feedback	NOUN
ap-5381	226	15	control	control	NOUN
ap-5381	226	16	with	with	ADP
ap-5381	226	17	experimental	experimental	ADJ
ap-5381	226	18	validation	validation	NOUN
ap-5381	226	19	.	.	PUNCT
ap-5381	227	1	automatica	automatica	PROPN
ap-5381	227	2	43(1):63	43(1):63	NUM
ap-5381	227	3	–	–	PUNCT
ap-5381	227	4	71	71	NUM
ap-5381	227	5	,	,	PUNCT
ap-5381	227	6	2007	2007	NUM
ap-5381	227	7	.	.	PUNCT
ap-5381	228	1	doi:10.1016	doi:10.1016	PROPN
ap-5381	228	2	/	/	SYM
ap-5381	228	3	j.automatica.2006.07.023	j.automatica.2006.07.023	PROPN
ap-5381	228	4	.	.	PUNCT
ap-5381	229	1	[	[	X
ap-5381	229	2	10	10	NUM
ap-5381	229	3	]	]	PUNCT
ap-5381	229	4	k.	k.	PROPN
ap-5381	230	1	graichen	graichen	PROPN
ap-5381	230	2	,	,	PUNCT
ap-5381	230	3	m.	m.	NOUN
ap-5381	230	4	treuer	treuer	NOUN
ap-5381	230	5	,	,	PUNCT
ap-5381	230	6	m.	m.	NOUN
ap-5381	230	7	zeitz	zeitz	PROPN
ap-5381	230	8	.	.	PUNCT
ap-5381	231	1	swing	swing	NOUN
ap-5381	231	2	-	-	PUNCT
ap-5381	231	3	up	up	NOUN
ap-5381	231	4	of	of	ADP
ap-5381	231	5	the	the	DET
ap-5381	231	6	double	double	ADJ
ap-5381	231	7	pendulum	pendulum	NOUN
ap-5381	231	8	on	on	ADP
ap-5381	231	9	a	a	DET
ap-5381	231	10	cart	cart	NOUN
ap-5381	231	11	by	by	ADP
ap-5381	231	12	feedforward	feedforward	NOUN
ap-5381	231	13	and	and	CCONJ
ap-5381	231	14	feedback	feedback	NOUN
ap-5381	231	15	control	control	NOUN
ap-5381	231	16	with	with	ADP
ap-5381	231	17	experimental	experimental	ADJ
ap-5381	231	18	validation	validation	NOUN
ap-5381	231	19	.	.	PUNCT
ap-5381	232	1	automatica	automatica	PROPN
ap-5381	232	2	43(1):63–71	43(1):63–71	NUM
ap-5381	232	3	,	,	PUNCT
ap-5381	232	4	2007	2007	NUM
ap-5381	232	5	.	.	PUNCT
ap-5381	233	1	[	[	X
ap-5381	233	2	11	11	NUM
ap-5381	233	3	]	]	PUNCT
ap-5381	233	4	t.	t.	NOUN
ap-5381	233	5	glück	glück	PROPN
ap-5381	233	6	,	,	PUNCT
ap-5381	233	7	a.	a.	NOUN
ap-5381	233	8	eder	eder	NOUN
ap-5381	233	9	,	,	PUNCT
ap-5381	233	10	a.	a.	NOUN
ap-5381	233	11	kugi	kugi	PROPN
ap-5381	233	12	.	.	PUNCT
ap-5381	234	1	swing	swing	NOUN
ap-5381	234	2	-	-	PUNCT
ap-5381	234	3	up	up	ADP
ap-5381	234	4	control	control	NOUN
ap-5381	234	5	of	of	ADP
ap-5381	234	6	a	a	DET
ap-5381	234	7	triple	triple	ADJ
ap-5381	234	8	pendulum	pendulum	NOUN
ap-5381	234	9	on	on	ADP
ap-5381	234	10	a	a	DET
ap-5381	234	11	cart	cart	NOUN
ap-5381	234	12	with	with	ADP
ap-5381	234	13	experimental	experimental	ADJ
ap-5381	234	14	validation	validation	NOUN
ap-5381	234	15	.	.	PUNCT
ap-5381	235	1	automatica	automatica	PROPN
ap-5381	235	2	49(3):801	49(3):801	NUM
ap-5381	235	3	–	–	PUNCT
ap-5381	235	4	808	808	NUM
ap-5381	235	5	,	,	PUNCT
ap-5381	235	6	2013	2013	NUM
ap-5381	235	7	.	.	PUNCT
ap-5381	236	1	doi:10.1016	doi:10.1016	PROPN
ap-5381	236	2	/	/	SYM
ap-5381	236	3	j.automatica.2012.12.006	j.automatica.2012.12.006	PROPN
ap-5381	236	4	.	.	PUNCT
ap-5381	237	1	[	[	X
ap-5381	237	2	12	12	NUM
ap-5381	237	3	]	]	X
ap-5381	237	4	s.	s.	PROPN
ap-5381	237	5	jadlovská	jadlovská	PROPN
ap-5381	237	6	,	,	PUNCT
ap-5381	237	7	j.	j.	PROPN
ap-5381	237	8	sarnovský	sarnovský	PROPN
ap-5381	237	9	.	.	PUNCT
ap-5381	238	1	modelling	modelling	NOUN
ap-5381	238	2	of	of	ADP
ap-5381	238	3	classical	classical	ADJ
ap-5381	238	4	and	and	CCONJ
ap-5381	238	5	rotary	rotary	ADJ
ap-5381	238	6	inverted	invert	VERB
ap-5381	238	7	pendulum	pendulum	NOUN
ap-5381	238	8	systems	system	NOUN
ap-5381	238	9	–	–	PUNCT
ap-5381	238	10	a	a	DET
ap-5381	238	11	generalized	generalized	ADJ
ap-5381	238	12	approach	approach	NOUN
ap-5381	238	13	.	.	PUNCT
ap-5381	239	1	journal	journal	NOUN
ap-5381	239	2	of	of	ADP
ap-5381	239	3	electrical	electrical	ADJ
ap-5381	239	4	engineering	engineering	NOUN
ap-5381	239	5	64(1):12–19	64(1):12–19	NUM
ap-5381	239	6	,	,	PUNCT
ap-5381	239	7	2013	2013	NUM
ap-5381	239	8	.	.	PUNCT
ap-5381	240	1	doi:10.2478	doi:10.2478	PROPN
ap-5381	240	2	/	/	SYM
ap-5381	240	3	jee-2013	jee-2013	NOUN
ap-5381	240	4	-	-	PUNCT
ap-5381	240	5	0002	0002	NUM
ap-5381	240	6	.	.	PUNCT
ap-5381	241	1	[	[	X
ap-5381	241	2	13	13	NUM
ap-5381	241	3	]	]	PUNCT
ap-5381	241	4	s.	s.	PROPN
ap-5381	241	5	jadlovská	jadlovská	PROPN
ap-5381	241	6	,	,	PUNCT
ap-5381	241	7	j.	j.	PROPN
ap-5381	241	8	sarnovský	sarnovský	PROPN
ap-5381	241	9	,	,	PUNCT
ap-5381	241	10	j.	j.	PROPN
ap-5381	241	11	vojtek	vojtek	PROPN
ap-5381	241	12	,	,	PUNCT
ap-5381	241	13	d.	d.	PROPN
ap-5381	241	14	vošček	vošček	PROPN
ap-5381	241	15	.	.	PUNCT
ap-5381	242	1	advanced	advanced	ADJ
ap-5381	242	2	generalized	generalize	VERB
ap-5381	242	3	modelling	modelling	NOUN
ap-5381	242	4	of	of	ADP
ap-5381	242	5	classical	classical	ADJ
ap-5381	242	6	inverted	inverted	ADJ
ap-5381	242	7	pendulum	pendulum	NOUN
ap-5381	242	8	systems	system	NOUN
ap-5381	242	9	.	.	PUNCT
ap-5381	243	1	in	in	ADP
ap-5381	243	2	emergent	emergent	ADJ
ap-5381	243	3	trends	trend	NOUN
ap-5381	243	4	in	in	ADP
ap-5381	243	5	robotics	robotic	NOUN
ap-5381	243	6	and	and	CCONJ
ap-5381	243	7	intelligent	intelligent	ADJ
ap-5381	243	8	systems	system	NOUN
ap-5381	243	9	,	,	PUNCT
ap-5381	243	10	pp	pp	ADV
ap-5381	243	11	.	.	PUNCT
ap-5381	244	1	255–264	255–264	NUM
ap-5381	244	2	.	.	PUNCT
ap-5381	244	3	springer	springer	NOUN
ap-5381	244	4	,	,	PUNCT
ap-5381	244	5	2015	2015	NUM
ap-5381	244	6	.	.	PUNCT
ap-5381	245	1	doi:10.1007/978	doi:10.1007/978	NOUN
ap-5381	245	2	-	-	PUNCT
ap-5381	245	3	3	3	NUM
ap-5381	245	4	-	-	NUM
ap-5381	245	5	319	319	NUM
ap-5381	245	6	-	-	PUNCT
ap-5381	245	7	10783	10783	NUM
ap-5381	245	8	-	-	PUNCT
ap-5381	245	9	7_28	7_28	NUM
ap-5381	245	10	.	.	PUNCT
ap-5381	246	1	[	[	X
ap-5381	246	2	14	14	NUM
ap-5381	246	3	]	]	X
ap-5381	246	4	s.	s.	PROPN
ap-5381	246	5	jadlovská	jadlovská	PROPN
ap-5381	246	6	,	,	PUNCT
ap-5381	246	7	l.	l.	PROPN
ap-5381	246	8	koska	koska	PROPN
ap-5381	246	9	,	,	PUNCT
ap-5381	246	10	m.	m.	NOUN
ap-5381	246	11	kentoš	kentoš	PROPN
ap-5381	246	12	.	.	PUNCT
ap-5381	246	13	matlab	matlab	PROPN
ap-5381	246	14	-	-	PUNCT
ap-5381	246	15	based	base	VERB
ap-5381	246	16	tools	tool	NOUN
ap-5381	246	17	for	for	ADP
ap-5381	246	18	modelling	modelling	NOUN
ap-5381	246	19	and	and	CCONJ
ap-5381	246	20	control	control	NOUN
ap-5381	246	21	of	of	ADP
ap-5381	246	22	underactuated	underactuated	ADJ
ap-5381	246	23	mechanical	mechanical	ADJ
ap-5381	246	24	systems	system	NOUN
ap-5381	246	25	.	.	PUNCT
ap-5381	247	1	transactions	transaction	NOUN
ap-5381	247	2	on	on	ADP
ap-5381	247	3	electrical	electrical	ADJ
ap-5381	247	4	engineering	engineering	NOUN
ap-5381	247	5	6(3):56–61	6(3):56–61	NUM
ap-5381	247	6	,	,	PUNCT
ap-5381	247	7	2017	2017	NUM
ap-5381	247	8	.	.	PUNCT
ap-5381	248	1	doi:10.14311	doi:10.14311	NOUN
ap-5381	248	2	/	/	SYM
ap-5381	248	3	tee.2017.3.056	tee.2017.3.056	PROPN
ap-5381	248	4	.	.	PUNCT
ap-5381	249	1	[	[	X
ap-5381	249	2	15	15	NUM
ap-5381	249	3	]	]	X
ap-5381	249	4	s.	s.	PROPN
ap-5381	249	5	jadlovska	jadlovska	PROPN
ap-5381	249	6	,	,	PUNCT
ap-5381	249	7	j.	j.	PROPN
ap-5381	249	8	sarnovsky	sarnovsky	PROPN
ap-5381	249	9	.	.	PUNCT
ap-5381	250	1	a	a	DET
ap-5381	250	2	complex	complex	ADJ
ap-5381	250	3	overview	overview	NOUN
ap-5381	250	4	of	of	ADP
ap-5381	250	5	modeling	modeling	NOUN
ap-5381	250	6	and	and	CCONJ
ap-5381	250	7	control	control	NOUN
ap-5381	250	8	of	of	ADP
ap-5381	250	9	the	the	DET
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ap-5381	250	11	single	single	ADJ
ap-5381	250	12	inverted	inverted	ADJ
ap-5381	250	13	pendulum	pendulum	NOUN
ap-5381	250	14	system	system	NOUN
ap-5381	250	15	.	.	PUNCT
ap-5381	251	1	advances	advance	NOUN
ap-5381	251	2	in	in	ADP
ap-5381	251	3	electrical	electrical	ADJ
ap-5381	251	4	and	and	CCONJ
ap-5381	251	5	electronic	electronic	ADJ
ap-5381	251	6	engineering	engineering	NOUN
ap-5381	251	7	11(2):73–85	11(2):73–85	NUM
ap-5381	251	8	,	,	PUNCT
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ap-5381	251	10	.	.	PUNCT
ap-5381	252	1	[	[	X
ap-5381	252	2	16	16	NUM
ap-5381	252	3	]	]	PUNCT
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ap-5381	252	5	jadlovská	jadlovská	PROPN
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ap-5381	252	7	s.	s.	PROPN
ap-5381	252	8	jadlovská	jadlovská	PROPN
ap-5381	252	9	,	,	PUNCT
ap-5381	252	10	d.	d.	PROPN
ap-5381	252	11	vošček	vošček	PROPN
ap-5381	252	12	.	.	PUNCT
ap-5381	253	1	cyber	cyber	NOUN
ap-5381	253	2	-	-	PUNCT
ap-5381	253	3	physical	physical	ADJ
ap-5381	253	4	system	system	NOUN
ap-5381	253	5	implementation	implementation	NOUN
ap-5381	253	6	into	into	ADP
ap-5381	253	7	the	the	DET
ap-5381	253	8	distributed	distribute	VERB
ap-5381	253	9	control	control	NOUN
ap-5381	253	10	system	system	NOUN
ap-5381	253	11	.	.	PUNCT
ap-5381	254	1	ifac	ifac	NOUN
ap-5381	254	2	-	-	PUNCT
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ap-5381	254	4	49(25):31	49(25):31	NOUN
ap-5381	254	5	–	–	PUNCT
ap-5381	254	6	36	36	NUM
ap-5381	254	7	,	,	PUNCT
ap-5381	254	8	2016	2016	NUM
ap-5381	254	9	.	.	PUNCT
ap-5381	255	1	14th	14th	ADJ
ap-5381	255	2	ifac	ifac	NOUN
ap-5381	255	3	conference	conference	NOUN
ap-5381	255	4	on	on	ADP
ap-5381	255	5	programmable	programmable	ADJ
ap-5381	255	6	devices	device	NOUN
ap-5381	255	7	and	and	CCONJ
ap-5381	255	8	embedded	embed	VERB
ap-5381	255	9	systems	system	NOUN
ap-5381	255	10	pdes	pde	VERB
ap-5381	255	11	2016	2016	NUM
ap-5381	255	12	,	,	PUNCT
ap-5381	255	13	doi:10.1016	doi:10.1016	PROPN
ap-5381	255	14	/	/	SYM
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ap-5381	255	16	.	.	PUNCT
ap-5381	256	1	[	[	X
ap-5381	256	2	17	17	NUM
ap-5381	256	3	]	]	X
ap-5381	256	4	r.	r.	PROPN
ap-5381	256	5	p.	p.	PROPN
ap-5381	256	6	feynman	feynman	PROPN
ap-5381	256	7	,	,	PUNCT
ap-5381	256	8	r.	r.	PROPN
ap-5381	256	9	b.	b.	PROPN
ap-5381	256	10	leighton	leighton	PROPN
ap-5381	256	11	,	,	PUNCT
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ap-5381	256	13	sands	sand	NOUN
ap-5381	256	14	.	.	PUNCT
ap-5381	257	1	the	the	DET
ap-5381	257	2	feynman	feynman	PROPN
ap-5381	257	3	lectures	lecture	VERB
ap-5381	257	4	on	on	ADP
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ap-5381	257	6	,	,	PUNCT
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ap-5381	257	8	.	.	PUNCT
ap-5381	258	1	i	i	PRON
ap-5381	258	2	:	:	PUNCT
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ap-5381	258	4	new	new	ADJ
ap-5381	258	5	millennium	millennium	NOUN
ap-5381	258	6	edition	edition	NOUN
ap-5381	258	7	:	:	PUNCT
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ap-5381	258	9	mechanics	mechanic	NOUN
ap-5381	258	10	,	,	PUNCT
ap-5381	258	11	radiation	radiation	NOUN
ap-5381	258	12	,	,	PUNCT
ap-5381	258	13	and	and	CCONJ
ap-5381	258	14	heat	heat	NOUN
ap-5381	258	15	,	,	PUNCT
ap-5381	258	16	vol	vol	NOUN
ap-5381	258	17	.	.	NOUN
ap-5381	258	18	1	1	NUM
ap-5381	258	19	.	.	NUM
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ap-5381	258	21	books	book	NOUN
ap-5381	258	22	,	,	PUNCT
ap-5381	258	23	2011	2011	NUM
ap-5381	258	24	.	.	PUNCT
ap-5381	259	1	[	[	X
ap-5381	259	2	18	18	NUM
ap-5381	259	3	]	]	X
ap-5381	259	4	s.	s.	PROPN
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ap-5381	259	7	m.	m.	PROPN
ap-5381	259	8	schlegel	schlegel	PROPN
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ap-5381	260	1	computation	computation	NOUN
ap-5381	260	2	of	of	ADP
ap-5381	260	3	reference	reference	NOUN
ap-5381	260	4	trajectories	trajectory	NOUN
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ap-5381	260	6	inverted	inverted	ADJ
ap-5381	260	7	pendulum	pendulum	NOUN
ap-5381	260	8	with	with	ADP
ap-5381	260	9	the	the	DET
ap-5381	260	10	use	use	NOUN
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ap-5381	260	12	two	two	NUM
ap-5381	260	13	-	-	PUNCT
ap-5381	260	14	point	point	NOUN
ap-5381	260	15	bvp	bvp	NOUN
ap-5381	260	16	with	with	ADP
ap-5381	260	17	free	free	ADJ
ap-5381	260	18	parameters	parameter	NOUN
ap-5381	260	19	.	.	PUNCT
ap-5381	261	1	ifac	ifac	NOUN
ap-5381	261	2	-	-	PUNCT
ap-5381	261	3	papersonline	papersonline	NOUN
ap-5381	261	4	51(6):408	51(6):408	PROPN
ap-5381	261	5	–	–	PUNCT
ap-5381	261	6	413	413	NUM
ap-5381	261	7	,	,	PUNCT
ap-5381	261	8	2018	2018	NUM
ap-5381	261	9	.	.	PUNCT
ap-5381	262	1	15th	15th	ADJ
ap-5381	262	2	ifac	ifac	NOUN
ap-5381	262	3	conference	conference	NOUN
ap-5381	262	4	on	on	ADP
ap-5381	262	5	programmable	programmable	ADJ
ap-5381	262	6	devices	device	NOUN
ap-5381	262	7	and	and	CCONJ
ap-5381	262	8	embedded	embed	VERB
ap-5381	262	9	systems	system	NOUN
ap-5381	262	10	pdes	pde	NOUN
ap-5381	262	11	2018	2018	NUM
ap-5381	262	12	,	,	PUNCT
ap-5381	262	13	doi:10.1016	doi:10.1016	PROPN
ap-5381	262	14	/	/	SYM
ap-5381	262	15	j.ifacol.2018.07.119	j.ifacol.2018.07.119	PROPN
ap-5381	262	16	.	.	PUNCT
ap-5381	263	1	[	[	X
ap-5381	263	2	19	19	NUM
ap-5381	263	3	]	]	X
ap-5381	263	4	s.	s.	PROPN
ap-5381	263	5	ozana	ozana	PROPN
ap-5381	263	6	,	,	PUNCT
ap-5381	263	7	m.	m.	NOUN
ap-5381	263	8	pies	pie	NOUN
ap-5381	263	9	,	,	PUNCT
ap-5381	263	10	r.	r.	PROPN
ap-5381	263	11	hajovsky	hajovsky	PROPN
ap-5381	263	12	.	.	PUNCT
ap-5381	264	1	computation	computation	NOUN
ap-5381	264	2	of	of	ADP
ap-5381	264	3	swing	swing	NOUN
ap-5381	264	4	-	-	PUNCT
ap-5381	264	5	up	up	ADP
ap-5381	264	6	signal	signal	NOUN
ap-5381	264	7	for	for	ADP
ap-5381	264	8	inverted	inverted	ADJ
ap-5381	264	9	pendulum	pendulum	NOUN
ap-5381	264	10	using	use	VERB
ap-5381	264	11	dynamic	dynamic	ADJ
ap-5381	264	12	optimization	optimization	NOUN
ap-5381	264	13	.	.	PUNCT
ap-5381	265	1	in	in	ADP
ap-5381	265	2	ifip	ifip	PROPN
ap-5381	265	3	international	international	ADJ
ap-5381	265	4	conference	conference	NOUN
ap-5381	265	5	on	on	ADP
ap-5381	265	6	computer	computer	NOUN
ap-5381	265	7	information	information	NOUN
ap-5381	265	8	systems	system	NOUN
ap-5381	265	9	and	and	CCONJ
ap-5381	265	10	industrial	industrial	ADJ
ap-5381	265	11	management	management	NOUN
ap-5381	265	12	,	,	PUNCT
ap-5381	265	13	pp	pp	ADP
ap-5381	265	14	.	.	PUNCT
ap-5381	266	1	301–314	301–314	NUM
ap-5381	266	2	.	.	PUNCT
ap-5381	266	3	springer	springer	NOUN
ap-5381	266	4	,	,	PUNCT
ap-5381	266	5	2014	2014	NUM
ap-5381	266	6	.	.	PUNCT
ap-5381	267	1	doi:10.1007/978	doi:10.1007/978	ADJ
ap-5381	267	2	-	-	PUNCT
ap-5381	267	3	3	3	NUM
ap-5381	267	4	-	-	PUNCT
ap-5381	267	5	662	662	NUM
ap-5381	267	6	-	-	PUNCT
ap-5381	267	7	45237	45237	NUM
ap-5381	267	8	-	-	PUNCT
ap-5381	267	9	0_29	0_29	NOUN
ap-5381	267	10	.	.	PUNCT
ap-5381	268	1	[	[	X
ap-5381	268	2	20	20	NUM
ap-5381	268	3	]	]	PUNCT
ap-5381	268	4	p.	p.	PROPN
ap-5381	268	5	boscariol	boscariol	PROPN
ap-5381	268	6	,	,	PUNCT
ap-5381	268	7	d.	d.	PROPN
ap-5381	268	8	richiedei	richiedei	PROPN
ap-5381	268	9	.	.	PUNCT
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ap-5381	269	2	point	point	NOUN
ap-5381	269	3	-	-	PUNCT
ap-5381	269	4	to	to	ADP
ap-5381	269	5	-	-	PUNCT
ap-5381	269	6	point	point	NOUN
ap-5381	269	7	trajectory	trajectory	NOUN
ap-5381	269	8	planning	planning	NOUN
ap-5381	269	9	for	for	ADP
ap-5381	269	10	nonlinear	nonlinear	ADJ
ap-5381	269	11	underactuated	underactuated	ADJ
ap-5381	269	12	systems	system	NOUN
ap-5381	269	13	:	:	PUNCT
ap-5381	269	14	theory	theory	NOUN
ap-5381	269	15	and	and	CCONJ
ap-5381	269	16	experimental	experimental	ADJ
ap-5381	269	17	assessment	assessment	NOUN
ap-5381	269	18	.	.	PUNCT
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ap-5381	270	2	and	and	CCONJ
ap-5381	270	3	computer	computer	NOUN
ap-5381	270	4	-	-	PUNCT
ap-5381	270	5	integrated	integrate	VERB
ap-5381	270	6	manufacturing	manufacturing	NOUN
ap-5381	270	7	50:256	50:256	NUM
ap-5381	270	8	–	–	PUNCT
ap-5381	270	9	265	265	NUM
ap-5381	270	10	,	,	PUNCT
ap-5381	270	11	2018	2018	NUM
ap-5381	270	12	.	.	PUNCT
ap-5381	271	1	doi:10.1016	doi:10.1016	PROPN
ap-5381	271	2	/	/	SYM
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ap-5381	271	4	.	.	PUNCT
ap-5381	272	1	[	[	X
ap-5381	272	2	21	21	NUM
ap-5381	272	3	]	]	PUNCT
ap-5381	272	4	k.	k.	PROPN
ap-5381	273	1	graichen	graichen	PROPN
ap-5381	273	2	,	,	PUNCT
ap-5381	273	3	m.	m.	NOUN
ap-5381	273	4	zeitz	zeitz	PROPN
ap-5381	273	5	.	.	PUNCT
ap-5381	274	1	feedforward	feedforward	NOUN
ap-5381	274	2	control	control	NOUN
ap-5381	274	3	design	design	NOUN
ap-5381	274	4	for	for	ADP
ap-5381	274	5	nonlinear	nonlinear	ADJ
ap-5381	274	6	systems	system	NOUN
ap-5381	274	7	under	under	ADP
ap-5381	274	8	input	input	NOUN
ap-5381	274	9	constraints	constraint	NOUN
ap-5381	274	10	,	,	PUNCT
ap-5381	274	11	pp	pp	ADJ
ap-5381	274	12	.	.	PUNCT
ap-5381	275	1	235–252	235–252	NUM
ap-5381	275	2	.	.	PROPN
ap-5381	275	3	springer	springer	PROPN
ap-5381	275	4	berlin	berlin	PROPN
ap-5381	275	5	heidelberg	heidelberg	PROPN
ap-5381	275	6	,	,	PUNCT
ap-5381	275	7	berlin	berlin	PROPN
ap-5381	275	8	,	,	PUNCT
ap-5381	275	9	heidelberg	heidelberg	PROPN
ap-5381	275	10	,	,	PUNCT
ap-5381	275	11	2005	2005	NUM
ap-5381	275	12	.	.	PUNCT
ap-5381	276	1	doi:10.1007/11529798_15	doi:10.1007/11529798_15	X
ap-5381	276	2	.	.	PUNCT
ap-5381	277	1	466	466	NUM
ap-5381	277	2	http://dx.doi.org/10.1016/s0005-1098(99)00140-5	http://dx.doi.org/10.1016/s0005-1098(99)00140-5	NOUN
ap-5381	277	3	http://dx.doi.org/10.1109/robot.1994.350934	http://dx.doi.org/10.1109/robot.1994.350934	NOUN
ap-5381	277	4	http://dx.doi.org/10.1016/j.automatica.2006.07.023	http://dx.doi.org/10.1016/j.automatica.2006.07.023	NUM
ap-5381	277	5	http://dx.doi.org/10.1016/j.automatica.2012.12.006	http://dx.doi.org/10.1016/j.automatica.2012.12.006	ADJ
ap-5381	277	6	http://dx.doi.org/10.2478/jee-2013-0002	http://dx.doi.org/10.2478/jee-2013-0002	NOUN
ap-5381	277	7	http://dx.doi.org/10.1007/978-3-319-10783-7_28	http://dx.doi.org/10.1007/978-3-319-10783-7_28	NOUN
ap-5381	277	8	http://dx.doi.org/10.14311/tee.2017.3.056	http://dx.doi.org/10.14311/tee.2017.3.056	ADP
ap-5381	277	9	http://dx.doi.org/10.1016/j.ifacol.2016.12.006	http://dx.doi.org/10.1016/j.ifacol.2016.12.006	PROPN
ap-5381	277	10	http://dx.doi.org/10.1016/j.ifacol.2018.07.119	http://dx.doi.org/10.1016/j.ifacol.2018.07.119	PROPN
ap-5381	277	11	http://dx.doi.org/10.1007/978-3-662-45237-0_29	http://dx.doi.org/10.1007/978-3-662-45237-0_29	PROPN
ap-5381	277	12	http://dx.doi.org/10.1016/j.rcim.2017.10.001	http://dx.doi.org/10.1016/j.rcim.2017.10.001	PROPN
ap-5381	277	13	http://dx.doi.org/10.1007/11529798_15	http://dx.doi.org/10.1007/11529798_15	ADV
ap-5381	277	14	acta	acta	PROPN
ap-5381	277	15	polytechnica	polytechnica	PROPN
ap-5381	277	16	59(5):458–466	59(5):458–466	PROPN
ap-5381	277	17	,	,	PUNCT
ap-5381	277	18	2019	2019	NUM
ap-5381	277	19	1	1	NUM
ap-5381	277	20	introduction	introduction	NOUN
ap-5381	277	21	2	2	NUM
ap-5381	277	22	inverted	invert	VERB
ap-5381	277	23	pendulum	pendulum	NOUN
ap-5381	277	24	model	model	NOUN
ap-5381	277	25	generated	generate	VERB
ap-5381	277	26	via	via	ADP
ap-5381	277	27	ipmac	ipmac	PROPN
ap-5381	277	28	library	library	NOUN
ap-5381	277	29	3	3	NUM
ap-5381	277	30	trajectory	trajectory	NOUN
ap-5381	277	31	planning	planning	NOUN
ap-5381	277	32	using	use	VERB
ap-5381	277	33	bvp	bvp	PROPN
ap-5381	277	34	3.1	3.1	NUM
ap-5381	277	35	solution	solution	NOUN
ap-5381	277	36	of	of	ADP
ap-5381	277	37	the	the	DET
ap-5381	277	38	bvp	bvp	NOUN
ap-5381	277	39	3.2	3.2	NUM
ap-5381	277	40	design	design	NOUN
ap-5381	277	41	of	of	ADP
ap-5381	277	42	the	the	DET
ap-5381	277	43	control	control	NOUN
ap-5381	277	44	algorithm	algorithm	NOUN
ap-5381	277	45	for	for	ADP
ap-5381	277	46	tracking	track	VERB
ap-5381	277	47	desired	desire	VERB
ap-5381	277	48	trajectories	trajectory	NOUN
ap-5381	277	49	calculated	calculate	VERB
ap-5381	277	50	by	by	ADP
ap-5381	277	51	the	the	DET
ap-5381	277	52	bvp	bvp	NOUN
ap-5381	277	53	4	4	NUM
ap-5381	277	54	enhancement	enhancement	NOUN
ap-5381	277	55	of	of	ADP
ap-5381	277	56	the	the	DET
ap-5381	277	57	ipmac	ipmac	ADJ
ap-5381	277	58	library	library	NOUN
ap-5381	277	59	5	5	NUM
ap-5381	277	60	conclusions	conclusion	NOUN
ap-5381	277	61	acknowledgements	acknowledgement	NOUN
ap-5381	277	62	references	reference	NOUN