id	sid	tid	token	lemma	pos
ap-5541	1	1	acta	acta	PROPN
ap-5541	1	2	polytechnica	polytechnica	PROPN
ap-5541	1	3	doi:10.14311	doi:10.14311	PROPN
ap-5541	1	4	/	/	SYM
ap-5541	1	5	ap.2020.60.0197	ap.2020.60.0197	PROPN
ap-5541	1	6	acta	acta	PROPN
ap-5541	1	7	polytechnica	polytechnica	PROPN
ap-5541	1	8	60(3):197–205	60(3):197–205	PROPN
ap-5541	1	9	,	,	PUNCT
ap-5541	1	10	2020	2020	NUM
ap-5541	1	11	©	©	PROPN
ap-5541	1	12	czech	czech	PROPN
ap-5541	1	13	technical	technical	PROPN
ap-5541	1	14	university	university	PROPN
ap-5541	1	15	in	in	ADP
ap-5541	1	16	prague	prague	PROPN
ap-5541	1	17	,	,	PUNCT
ap-5541	1	18	2020	2020	NUM
ap-5541	1	19	available	available	ADJ
ap-5541	1	20	online	online	ADV
ap-5541	1	21	at	at	ADP
ap-5541	1	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5541	1	23	model	model	NOUN
ap-5541	1	24	reference	reference	NOUN
ap-5541	1	25	adaptive	adaptive	ADJ
ap-5541	1	26	control	control	NOUN
ap-5541	1	27	-	-	PUNCT
ap-5541	1	28	based	base	VERB
ap-5541	1	29	genetic	genetic	ADJ
ap-5541	1	30	algorithm	algorithm	NOUN
ap-5541	1	31	design	design	NOUN
ap-5541	1	32	for	for	ADP
ap-5541	1	33	heading	head	VERB
ap-5541	1	34	ship	ship	NOUN
ap-5541	1	35	motion	motion	NOUN
ap-5541	1	36	nasir	nasir	PROPN
ap-5541	1	37	ahmad	ahmad	PROPN
ap-5541	1	38	al	al	PROPN
ap-5541	1	39	-	-	PUNCT
ap-5541	1	40	awad	awad	PROPN
ap-5541	1	41	university	university	PROPN
ap-5541	1	42	of	of	ADP
ap-5541	1	43	mustansiriyah	mustansiriyah	NOUN
ap-5541	1	44	,	,	PUNCT
ap-5541	1	45	faculty	faculty	NOUN
ap-5541	1	46	of	of	ADP
ap-5541	1	47	engineering	engineering	NOUN
ap-5541	1	48	,	,	PUNCT
ap-5541	1	49	department	department	NOUN
ap-5541	1	50	of	of	ADP
ap-5541	1	51	computer	computer	NOUN
ap-5541	1	52	engineering	engineering	PROPN
ap-5541	1	53	,	,	PUNCT
ap-5541	1	54	palestine	palestine	PROPN
ap-5541	1	55	street	street	PROPN
ap-5541	1	56	,	,	PUNCT
ap-5541	1	57	10001	10001	NUM
ap-5541	1	58	baghdad	baghdad	PROPN
ap-5541	1	59	,	,	PUNCT
ap-5541	1	60	iraq	iraq	PROPN
ap-5541	1	61	correspondence	correspondence	NOUN
ap-5541	1	62	:	:	PUNCT
ap-5541	1	63	nasir.awad@uomustansiriyah.edu.iq	nasir.awad@uomustansiriyah.edu.iq	ADJ
ap-5541	1	64	abstract	abstract	NOUN
ap-5541	1	65	.	.	PUNCT
ap-5541	2	1	in	in	ADP
ap-5541	2	2	this	this	DET
ap-5541	2	3	paper	paper	NOUN
ap-5541	2	4	,	,	PUNCT
ap-5541	2	5	the	the	DET
ap-5541	2	6	heading	head	VERB
ap-5541	2	7	control	control	NOUN
ap-5541	2	8	of	of	ADP
ap-5541	2	9	a	a	DET
ap-5541	2	10	large	large	ADJ
ap-5541	2	11	ship	ship	NOUN
ap-5541	2	12	is	be	AUX
ap-5541	2	13	enhanced	enhance	VERB
ap-5541	2	14	with	with	ADP
ap-5541	2	15	a	a	DET
ap-5541	2	16	specific	specific	ADJ
ap-5541	2	17	end	end	NOUN
ap-5541	2	18	goal	goal	NOUN
ap-5541	2	19	,	,	PUNCT
ap-5541	2	20	to	to	PART
ap-5541	2	21	check	check	VERB
ap-5541	2	22	the	the	DET
ap-5541	2	23	unwanted	unwanted	ADJ
ap-5541	2	24	impact	impact	NOUN
ap-5541	2	25	of	of	ADP
ap-5541	2	26	the	the	DET
ap-5541	2	27	waves	wave	NOUN
ap-5541	2	28	on	on	ADP
ap-5541	2	29	the	the	DET
ap-5541	2	30	actuator	actuator	NOUN
ap-5541	2	31	framework	framework	NOUN
ap-5541	2	32	.	.	PUNCT
ap-5541	3	1	the	the	DET
ap-5541	3	2	nomoto	nomoto	PROPN
ap-5541	3	3	model	model	NOUN
ap-5541	3	4	is	be	AUX
ap-5541	3	5	investigated	investigate	VERB
ap-5541	3	6	to	to	PART
ap-5541	3	7	describe	describe	VERB
ap-5541	3	8	the	the	DET
ap-5541	3	9	ship	ship	NOUN
ap-5541	3	10	’s	’s	PART
ap-5541	3	11	guiding	guide	VERB
ap-5541	3	12	progression	progression	NOUN
ap-5541	3	13	.	.	PUNCT
ap-5541	4	1	first	first	ADJ
ap-5541	4	2	and	and	CCONJ
ap-5541	4	3	second	second	ADJ
ap-5541	4	4	order	order	NOUN
ap-5541	4	5	models	model	NOUN
ap-5541	4	6	are	be	AUX
ap-5541	4	7	considered	consider	VERB
ap-5541	4	8	here	here	ADV
ap-5541	4	9	.	.	PUNCT
ap-5541	5	1	the	the	DET
ap-5541	5	2	viability	viability	NOUN
ap-5541	5	3	of	of	ADP
ap-5541	5	4	the	the	DET
ap-5541	5	5	models	model	NOUN
ap-5541	5	6	is	be	AUX
ap-5541	5	7	examined	examine	VERB
ap-5541	5	8	based	base	VERB
ap-5541	5	9	on	on	ADP
ap-5541	5	10	the	the	DET
ap-5541	5	11	principal	principal	ADJ
ap-5541	5	12	properties	property	NOUN
ap-5541	5	13	of	of	ADP
ap-5541	5	14	the	the	DET
ap-5541	5	15	nomoto	nomoto	PROPN
ap-5541	5	16	model	model	NOUN
ap-5541	5	17	.	.	PUNCT
ap-5541	6	1	different	different	ADJ
ap-5541	6	2	controllers	controller	NOUN
ap-5541	6	3	are	be	AUX
ap-5541	6	4	proposed	propose	VERB
ap-5541	6	5	,	,	PUNCT
ap-5541	6	6	these	these	PRON
ap-5541	6	7	are	be	AUX
ap-5541	6	8	proportional	proportional	ADJ
ap-5541	6	9	integral	integral	ADJ
ap-5541	6	10	derivative	derivative	ADJ
ap-5541	6	11	(	(	PUNCT
ap-5541	6	12	pid	pid	NOUN
ap-5541	6	13	)	)	PUNCT
ap-5541	6	14	,	,	PUNCT
ap-5541	6	15	linear	linear	ADJ
ap-5541	6	16	quadratic	quadratic	ADJ
ap-5541	6	17	regulator	regulator	NOUN
ap-5541	6	18	(	(	PUNCT
ap-5541	6	19	lqr	lqr	PROPN
ap-5541	6	20	)	)	PUNCT
ap-5541	6	21	and	and	CCONJ
ap-5541	6	22	model	model	NOUN
ap-5541	6	23	reference	reference	PROPN
ap-5541	6	24	adaptive	adaptive	ADJ
ap-5541	6	25	control	control	NOUN
ap-5541	6	26	genetic	genetic	ADJ
ap-5541	6	27	optimization	optimization	NOUN
ap-5541	6	28	algorithm	algorithm	NOUN
ap-5541	6	29	(	(	PUNCT
ap-5541	6	30	mrac	mrac	PROPN
ap-5541	6	31	-	-	PUNCT
ap-5541	6	32	ga	ga	NOUN
ap-5541	6	33	)	)	PUNCT
ap-5541	6	34	for	for	ADP
ap-5541	6	35	a	a	DET
ap-5541	6	36	ship	ship	NOUN
ap-5541	6	37	heading	head	VERB
ap-5541	6	38	control	control	NOUN
ap-5541	6	39	.	.	PUNCT
ap-5541	7	1	the	the	DET
ap-5541	7	2	results	result	NOUN
ap-5541	7	3	show	show	VERB
ap-5541	7	4	that	that	SCONJ
ap-5541	7	5	the	the	DET
ap-5541	7	6	mrac	mrac	PROPN
ap-5541	7	7	-	-	PUNCT
ap-5541	7	8	ga	ga	PROPN
ap-5541	7	9	controller	controller	NOUN
ap-5541	7	10	provides	provide	VERB
ap-5541	7	11	the	the	DET
ap-5541	7	12	best	good	ADJ
ap-5541	7	13	results	result	NOUN
ap-5541	7	14	to	to	PART
ap-5541	7	15	satisfy	satisfy	VERB
ap-5541	7	16	the	the	DET
ap-5541	7	17	design	design	NOUN
ap-5541	7	18	requirements	requirement	NOUN
ap-5541	7	19	.	.	PUNCT
ap-5541	8	1	the	the	DET
ap-5541	8	2	matlab	matlab	PROPN
ap-5541	8	3	/	/	SYM
ap-5541	8	4	simulink	simulink	PROPN
ap-5541	8	5	tool	tool	NOUN
ap-5541	8	6	is	be	AUX
ap-5541	8	7	utilized	utilize	VERB
ap-5541	8	8	to	to	PART
ap-5541	8	9	demonstrate	demonstrate	VERB
ap-5541	8	10	the	the	DET
ap-5541	8	11	proposed	propose	VERB
ap-5541	8	12	arrangement	arrangement	NOUN
ap-5541	8	13	in	in	ADP
ap-5541	8	14	the	the	DET
ap-5541	8	15	control	control	NOUN
ap-5541	8	16	loop	loop	PROPN
ap-5541	8	17	.	.	PUNCT
ap-5541	9	1	keywords	keyword	NOUN
ap-5541	9	2	:	:	PUNCT
ap-5541	9	3	nomoto	nomoto	NOUN
ap-5541	9	4	ship	ship	NOUN
ap-5541	9	5	mathematical	mathematical	ADJ
ap-5541	9	6	models	model	NOUN
ap-5541	9	7	,	,	PUNCT
ap-5541	9	8	course	course	ADV
ap-5541	9	9	changing	change	VERB
ap-5541	9	10	,	,	PUNCT
ap-5541	9	11	ship	ship	NOUN
ap-5541	9	12	heading	head	VERB
ap-5541	9	13	control	control	NOUN
ap-5541	9	14	,	,	PUNCT
ap-5541	9	15	pid	pid	NOUN
ap-5541	9	16	controller	controller	NOUN
ap-5541	9	17	,	,	PUNCT
ap-5541	9	18	lqr	lqr	PROPN
ap-5541	9	19	controller	controller	NOUN
ap-5541	9	20	,	,	PUNCT
ap-5541	9	21	mrac	mrac	PROPN
ap-5541	9	22	-	-	PUNCT
ap-5541	9	23	ga	ga	NOUN
ap-5541	9	24	controller	controller	NOUN
ap-5541	9	25	.	.	PUNCT
ap-5541	10	1	1	1	NUM
ap-5541	10	2	.	.	X
ap-5541	10	3	introduction	introduction	NOUN
ap-5541	10	4	automatic	automatic	ADJ
ap-5541	10	5	control	control	NOUN
ap-5541	10	6	techniques	technique	NOUN
ap-5541	10	7	for	for	ADP
ap-5541	10	8	marine	marine	ADJ
ap-5541	10	9	vehicles	vehicle	NOUN
ap-5541	10	10	are	be	AUX
ap-5541	10	11	proposed	propose	VERB
ap-5541	10	12	to	to	PART
ap-5541	10	13	improve	improve	VERB
ap-5541	10	14	their	their	PRON
ap-5541	10	15	abilities	ability	NOUN
ap-5541	10	16	with	with	ADP
ap-5541	10	17	adequate	adequate	ADJ
ap-5541	10	18	unflinching	unflinching	ADJ
ap-5541	10	19	quality	quality	NOUN
ap-5541	10	20	and	and	CCONJ
ap-5541	10	21	economy	economy	NOUN
ap-5541	10	22	.	.	PUNCT
ap-5541	11	1	the	the	DET
ap-5541	11	2	primary	primary	ADJ
ap-5541	11	3	reason	reason	NOUN
ap-5541	11	4	for	for	ADP
ap-5541	11	5	the	the	DET
ap-5541	11	6	rudder	rudder	NOUN
ap-5541	11	7	is	be	AUX
ap-5541	11	8	to	to	PART
ap-5541	11	9	control	control	VERB
ap-5541	11	10	the	the	DET
ap-5541	11	11	heading	heading	NOUN
ap-5541	11	12	of	of	ADP
ap-5541	11	13	the	the	DET
ap-5541	11	14	ship	ship	NOUN
ap-5541	11	15	in	in	ADP
ap-5541	11	16	course	course	NOUN
ap-5541	11	17	-	-	PUNCT
ap-5541	11	18	keeping	keep	VERB
ap-5541	11	19	and	and	CCONJ
ap-5541	11	20	course	course	ADV
ap-5541	11	21	-	-	PUNCT
ap-5541	11	22	changing	change	VERB
ap-5541	11	23	moves	move	NOUN
ap-5541	11	24	[	[	X
ap-5541	11	25	1	1	NUM
ap-5541	11	26	]	]	PUNCT
ap-5541	11	27	.	.	PUNCT
ap-5541	12	1	applying	apply	VERB
ap-5541	12	2	more	more	ADV
ap-5541	12	3	complex	complex	ADJ
ap-5541	12	4	autopilots	autopilot	NOUN
ap-5541	12	5	to	to	PART
ap-5541	12	6	deliver	deliver	VERB
ap-5541	12	7	guidance	guidance	NOUN
ap-5541	12	8	is	be	AUX
ap-5541	12	9	fundamental	fundamental	ADJ
ap-5541	12	10	due	due	ADP
ap-5541	12	11	to	to	ADP
ap-5541	12	12	the	the	DET
ap-5541	12	13	precision	precision	NOUN
ap-5541	12	14	of	of	ADP
ap-5541	12	15	the	the	DET
ap-5541	12	16	execution	execution	NOUN
ap-5541	12	17	and	and	CCONJ
ap-5541	12	18	mileage	mileage	NOUN
ap-5541	12	19	[	[	X
ap-5541	12	20	2	2	NUM
ap-5541	12	21	]	]	PUNCT
ap-5541	12	22	.	.	PUNCT
ap-5541	13	1	a	a	DET
ap-5541	13	2	ship	ship	NOUN
ap-5541	13	3	in	in	ADP
ap-5541	13	4	waves	wave	NOUN
ap-5541	13	5	is	be	AUX
ap-5541	13	6	considered	consider	VERB
ap-5541	13	7	as	as	ADP
ap-5541	13	8	an	an	DET
ap-5541	13	9	inflexible	inflexible	ADJ
ap-5541	13	10	body	body	NOUN
ap-5541	13	11	with	with	ADP
ap-5541	13	12	six	six	NUM
ap-5541	13	13	degrees	degree	NOUN
ap-5541	13	14	of	of	ADP
ap-5541	13	15	freedom	freedom	NOUN
ap-5541	13	16	.	.	PUNCT
ap-5541	14	1	nonlinear	nonlinear	ADJ
ap-5541	14	2	numerical	numerical	ADJ
ap-5541	14	3	models	model	NOUN
ap-5541	14	4	of	of	ADP
ap-5541	14	5	ship	ship	NOUN
ap-5541	14	6	elements	element	NOUN
ap-5541	14	7	are	be	AUX
ap-5541	14	8	used	use	VERB
ap-5541	14	9	to	to	PART
ap-5541	14	10	reproduce	reproduce	VERB
ap-5541	14	11	the	the	DET
ap-5541	14	12	ship	ship	NOUN
ap-5541	14	13	movements	movement	NOUN
ap-5541	14	14	,	,	PUNCT
ap-5541	14	15	and	and	CCONJ
ap-5541	14	16	to	to	PART
ap-5541	14	17	outline	outline	VERB
ap-5541	14	18	the	the	DET
ap-5541	14	19	closed	close	VERB
ap-5541	14	20	-	-	PUNCT
ap-5541	14	21	loop	loop	NOUN
ap-5541	14	22	control	control	NOUN
ap-5541	14	23	frameworks	framework	NOUN
ap-5541	14	24	[	[	X
ap-5541	14	25	3	3	NUM
ap-5541	14	26	]	]	PUNCT
ap-5541	14	27	.	.	PUNCT
ap-5541	15	1	in	in	ADP
ap-5541	15	2	order	order	NOUN
ap-5541	15	3	to	to	PART
ap-5541	15	4	consider	consider	VERB
ap-5541	15	5	the	the	DET
ap-5541	15	6	yaw	yaw	NOUN
ap-5541	15	7	movement	movement	NOUN
ap-5541	15	8	for	for	ADP
ap-5541	15	9	the	the	DET
ap-5541	15	10	ship	ship	NOUN
ap-5541	15	11	,	,	PUNCT
ap-5541	15	12	the	the	DET
ap-5541	15	13	guiding	guide	VERB
ap-5541	15	14	elements	element	NOUN
ap-5541	15	15	can	can	AUX
ap-5541	15	16	be	be	AUX
ap-5541	15	17	described	describe	VERB
ap-5541	15	18	by	by	ADP
ap-5541	15	19	basic	basic	ADJ
ap-5541	15	20	linear	linear	NOUN
ap-5541	16	1	[	[	X
ap-5541	16	2	4	4	NUM
ap-5541	16	3	]	]	PUNCT
ap-5541	16	4	or	or	CCONJ
ap-5541	16	5	nonlinear	nonlinear	ADJ
ap-5541	16	6	[	[	X
ap-5541	16	7	5	5	NUM
ap-5541	16	8	]	]	PUNCT
ap-5541	16	9	mathematical	mathematical	ADJ
ap-5541	16	10	model	model	NOUN
ap-5541	16	11	.	.	PUNCT
ap-5541	17	1	the	the	DET
ap-5541	17	2	ship	ship	NOUN
ap-5541	17	3	guiding	guide	VERB
ap-5541	17	4	control	control	NOUN
ap-5541	17	5	frameworks	framework	NOUN
ap-5541	17	6	are	be	AUX
ap-5541	17	7	intended	intend	VERB
ap-5541	17	8	to	to	PART
ap-5541	17	9	perform	perform	VERB
ap-5541	17	10	two	two	NUM
ap-5541	17	11	types	type	NOUN
ap-5541	17	12	of	of	ADP
ap-5541	17	13	movements	movement	NOUN
ap-5541	17	14	:	:	PUNCT
ap-5541	17	15	course	course	NOUN
ap-5541	17	16	keeping	keeping	NOUN
ap-5541	17	17	and	and	CCONJ
ap-5541	17	18	course	course	ADV
ap-5541	17	19	-	-	PUNCT
ap-5541	17	20	changing	change	VERB
ap-5541	17	21	moves	move	NOUN
ap-5541	17	22	,	,	PUNCT
ap-5541	17	23	more	more	ADJ
ap-5541	17	24	details	detail	NOUN
ap-5541	17	25	are	be	AUX
ap-5541	17	26	addressed	address	VERB
ap-5541	17	27	in	in	ADP
ap-5541	17	28	[	[	X
ap-5541	17	29	6	6	NUM
ap-5541	17	30	]	]	PUNCT
ap-5541	17	31	.	.	PUNCT
ap-5541	18	1	there	there	PRON
ap-5541	18	2	are	be	VERB
ap-5541	18	3	two	two	NUM
ap-5541	18	4	necessary	necessary	ADJ
ap-5541	18	5	methods	method	NOUN
ap-5541	18	6	to	to	PART
ap-5541	18	7	approach	approach	VERB
ap-5541	18	8	the	the	DET
ap-5541	18	9	mathematical	mathematical	ADJ
ap-5541	18	10	model	model	NOUN
ap-5541	18	11	.	.	PUNCT
ap-5541	19	1	first	first	ADJ
ap-5541	19	2	one	one	NUM
ap-5541	19	3	is	be	AUX
ap-5541	19	4	classic	classic	ADJ
ap-5541	19	5	modelling	modelling	NOUN
ap-5541	19	6	,	,	PUNCT
ap-5541	19	7	which	which	PRON
ap-5541	19	8	includes	include	VERB
ap-5541	19	9	the	the	DET
ap-5541	19	10	analytical	analytical	ADJ
ap-5541	19	11	approach	approach	NOUN
ap-5541	19	12	.	.	PUNCT
ap-5541	20	1	this	this	DET
ap-5541	20	2	model	model	NOUN
ap-5541	20	3	is	be	AUX
ap-5541	20	4	developed	develop	VERB
ap-5541	20	5	based	base	VERB
ap-5541	20	6	on	on	ADP
ap-5541	20	7	a	a	DET
ap-5541	20	8	physical	physical	ADJ
ap-5541	20	9	knowledge	knowledge	NOUN
ap-5541	20	10	of	of	ADP
ap-5541	20	11	the	the	DET
ap-5541	20	12	system	system	NOUN
ap-5541	20	13	,	,	PUNCT
ap-5541	20	14	due	due	ADP
ap-5541	20	15	to	to	ADP
ap-5541	20	16	the	the	DET
ap-5541	20	17	fact	fact	NOUN
ap-5541	20	18	of	of	ADP
ap-5541	20	19	the	the	DET
ap-5541	20	20	computational	computational	ADJ
ap-5541	20	21	and	and	CCONJ
ap-5541	20	22	other	other	ADJ
ap-5541	20	23	practical	practical	ADJ
ap-5541	20	24	requirements	requirement	NOUN
ap-5541	20	25	;	;	PUNCT
ap-5541	20	26	the	the	DET
ap-5541	20	27	order	order	NOUN
ap-5541	20	28	of	of	ADP
ap-5541	20	29	the	the	DET
ap-5541	20	30	model	model	NOUN
ap-5541	20	31	needs	need	VERB
ap-5541	20	32	to	to	PART
ap-5541	20	33	be	be	AUX
ap-5541	20	34	reduced	reduce	VERB
ap-5541	20	35	for	for	ADP
ap-5541	20	36	synthesis	synthesis	NOUN
ap-5541	20	37	,	,	PUNCT
ap-5541	20	38	evaluation	evaluation	NOUN
ap-5541	20	39	,	,	PUNCT
ap-5541	20	40	and	and	CCONJ
ap-5541	20	41	implementation	implementation	NOUN
ap-5541	20	42	of	of	ADP
ap-5541	20	43	control	control	NOUN
ap-5541	20	44	systems	system	NOUN
ap-5541	20	45	and	and	CCONJ
ap-5541	20	46	the	the	DET
ap-5541	20	47	second	second	ADJ
ap-5541	20	48	approach	approach	NOUN
ap-5541	20	49	is	be	AUX
ap-5541	20	50	used	use	VERB
ap-5541	20	51	to	to	PART
ap-5541	20	52	simulate	simulate	VERB
ap-5541	20	53	ship	ship	NOUN
ap-5541	20	54	’s	’s	PART
ap-5541	20	55	movements	movement	NOUN
ap-5541	20	56	in	in	ADP
ap-5541	20	57	real	real	ADJ
ap-5541	20	58	time	time	NOUN
ap-5541	20	59	and	and	CCONJ
ap-5541	20	60	it	it	PRON
ap-5541	20	61	possesses	possess	VERB
ap-5541	20	62	the	the	DET
ap-5541	20	63	ability	ability	NOUN
ap-5541	20	64	to	to	PART
ap-5541	20	65	cope	cope	VERB
ap-5541	20	66	with	with	ADP
ap-5541	20	67	different	different	ADJ
ap-5541	20	68	shapes	shape	NOUN
ap-5541	20	69	of	of	ADP
ap-5541	20	70	a	a	DET
ap-5541	20	71	ship	ship	NOUN
ap-5541	20	72	,	,	PUNCT
ap-5541	20	73	engines	engine	NOUN
ap-5541	20	74	,	,	PUNCT
ap-5541	20	75	and	and	CCONJ
ap-5541	20	76	sea	sea	NOUN
ap-5541	20	77	conditions	condition	NOUN
ap-5541	20	78	without	without	ADP
ap-5541	20	79	the	the	DET
ap-5541	20	80	loss	loss	NOUN
ap-5541	20	81	of	of	ADP
ap-5541	20	82	efficiency	efficiency	NOUN
ap-5541	20	83	[	[	X
ap-5541	20	84	7	7	NUM
ap-5541	20	85	]	]	PUNCT
ap-5541	20	86	.	.	PUNCT
ap-5541	21	1	the	the	DET
ap-5541	21	2	historical	historical	ADJ
ap-5541	21	3	backdrop	backdrop	NOUN
ap-5541	21	4	of	of	ADP
ap-5541	21	5	ship	ship	NOUN
ap-5541	21	6	autopilots	autopilot	NOUN
ap-5541	21	7	is	be	AUX
ap-5541	21	8	over	over	ADP
ap-5541	21	9	80	80	NUM
ap-5541	21	10	years	year	NOUN
ap-5541	21	11	of	of	ADP
ap-5541	21	12	age	age	NOUN
ap-5541	21	13	.	.	PUNCT
ap-5541	22	1	minorsky	minorsky	PROPN
ap-5541	22	2	’s	’s	PART
ap-5541	23	1	[	[	X
ap-5541	23	2	8	8	NUM
ap-5541	23	3	]	]	PUNCT
ap-5541	23	4	is	be	AUX
ap-5541	23	5	one	one	NUM
ap-5541	23	6	of	of	ADP
ap-5541	23	7	the	the	DET
ap-5541	23	8	early	early	ADJ
ap-5541	23	9	works	work	NOUN
ap-5541	23	10	in	in	ADP
ap-5541	23	11	the	the	DET
ap-5541	23	12	field	field	NOUN
ap-5541	23	13	of	of	ADP
ap-5541	23	14	programmed	programmed	ADJ
ap-5541	23	15	control	control	NOUN
ap-5541	23	16	.	.	PUNCT
ap-5541	24	1	sperry	sperry	PROPN
ap-5541	25	1	[	[	X
ap-5541	25	2	9	9	NUM
ap-5541	25	3	]	]	PUNCT
ap-5541	25	4	presents	present	VERB
ap-5541	25	5	the	the	DET
ap-5541	25	6	main	main	ADJ
ap-5541	25	7	programmed	program	VERB
ap-5541	25	8	guiding	guiding	NOUN
ap-5541	25	9	control	control	NOUN
ap-5541	25	10	framework	framework	NOUN
ap-5541	25	11	for	for	ADP
ap-5541	25	12	ships	ship	NOUN
ap-5541	25	13	.	.	PUNCT
ap-5541	26	1	these	these	DET
ap-5541	26	2	controllers	controller	NOUN
ap-5541	26	3	are	be	AUX
ap-5541	26	4	completely	completely	ADV
ap-5541	26	5	mechanical	mechanical	ADJ
ap-5541	26	6	,	,	PUNCT
ap-5541	26	7	as	as	SCONJ
ap-5541	26	8	they	they	PRON
ap-5541	26	9	provide	provide	VERB
ap-5541	26	10	a	a	DET
ap-5541	26	11	basic	basic	ADJ
ap-5541	26	12	controlling	controlling	NOUN
ap-5541	26	13	activity	activity	NOUN
ap-5541	26	14	.	.	PUNCT
ap-5541	27	1	the	the	DET
ap-5541	27	2	rudder	rudder	NOUN
ap-5541	27	3	request	request	NOUN
ap-5541	27	4	is	be	AUX
ap-5541	27	5	relative	relative	ADJ
ap-5541	27	6	to	to	ADP
ap-5541	27	7	the	the	DET
ap-5541	27	8	heading	heading	NOUN
ap-5541	27	9	error	error	NOUN
ap-5541	27	10	.	.	PUNCT
ap-5541	28	1	at	at	ADP
ap-5541	28	2	the	the	DET
ap-5541	28	3	point	point	NOUN
ap-5541	28	4	when	when	SCONJ
ap-5541	28	5	pid	pid	NOUN
ap-5541	28	6	controllers	controller	NOUN
ap-5541	28	7	becomes	become	VERB
ap-5541	28	8	industrially	industrially	ADV
ap-5541	28	9	accessible	accessible	ADJ
ap-5541	28	10	,	,	PUNCT
ap-5541	28	11	they	they	PRON
ap-5541	28	12	will	will	AUX
ap-5541	28	13	significantly	significantly	ADV
ap-5541	28	14	enhance	enhance	VERB
ap-5541	28	15	the	the	DET
ap-5541	28	16	execution	execution	NOUN
ap-5541	28	17	of	of	ADP
ap-5541	28	18	the	the	DET
ap-5541	28	19	ship	ship	NOUN
ap-5541	28	20	behaviour	behaviour	NOUN
ap-5541	28	21	.	.	PUNCT
ap-5541	29	1	the	the	DET
ap-5541	29	2	primary	primary	ADJ
ap-5541	29	3	drawback	drawback	NOUN
ap-5541	29	4	of	of	ADP
ap-5541	29	5	the	the	DET
ap-5541	29	6	pid	pid	NOUN
ap-5541	29	7	is	be	AUX
ap-5541	29	8	the	the	DET
ap-5541	29	9	need	need	NOUN
ap-5541	29	10	of	of	ADP
ap-5541	29	11	tuning	tune	VERB
ap-5541	29	12	[	[	X
ap-5541	29	13	10	10	NUM
ap-5541	29	14	]	]	PUNCT
ap-5541	29	15	.	.	PUNCT
ap-5541	30	1	to	to	PART
ap-5541	30	2	overcome	overcome	VERB
ap-5541	30	3	the	the	DET
ap-5541	30	4	drawbacks	drawback	NOUN
ap-5541	30	5	of	of	ADP
ap-5541	30	6	the	the	DET
ap-5541	30	7	pid	pid	NOUN
ap-5541	30	8	controllers	controller	NOUN
ap-5541	30	9	,	,	PUNCT
ap-5541	30	10	adaptive	adaptive	ADJ
ap-5541	30	11	controllers	controller	NOUN
ap-5541	30	12	are	be	AUX
ap-5541	30	13	presented	present	VERB
ap-5541	30	14	[	[	PUNCT
ap-5541	30	15	11–13	11–13	NUM
ap-5541	30	16	]	]	X
ap-5541	30	17	.	.	PUNCT
ap-5541	31	1	artificial	artificial	ADJ
ap-5541	31	2	neural	neural	ADJ
ap-5541	31	3	networks	network	NOUN
ap-5541	31	4	(	(	PUNCT
ap-5541	31	5	anns	anns	PROPN
ap-5541	31	6	)	)	PUNCT
ap-5541	31	7	seem	seem	VERB
ap-5541	31	8	to	to	PART
ap-5541	31	9	offer	offer	VERB
ap-5541	31	10	a	a	DET
ap-5541	31	11	few	few	ADJ
ap-5541	31	12	points	point	NOUN
ap-5541	31	13	of	of	ADP
ap-5541	31	14	interest	interest	NOUN
ap-5541	31	15	over	over	ADP
ap-5541	31	16	different	different	ADJ
ap-5541	31	17	types	type	NOUN
ap-5541	31	18	of	of	ADP
ap-5541	31	19	control	control	NOUN
ap-5541	31	20	for	for	ADP
ap-5541	31	21	ship	ship	NOUN
ap-5541	31	22	guides	guide	NOUN
ap-5541	31	23	.	.	PUNCT
ap-5541	32	1	this	this	PRON
ap-5541	32	2	is	be	AUX
ap-5541	32	3	a	a	DET
ap-5541	32	4	result	result	NOUN
ap-5541	32	5	of	of	ADP
ap-5541	32	6	the	the	DET
ap-5541	32	7	capacity	capacity	NOUN
ap-5541	32	8	of	of	ADP
ap-5541	32	9	neural	neural	ADJ
ap-5541	32	10	systems	system	NOUN
ap-5541	32	11	to	to	PART
ap-5541	32	12	deal	deal	VERB
ap-5541	32	13	with	with	ADP
ap-5541	32	14	different	different	ADJ
ap-5541	32	15	framework	framework	NOUN
ap-5541	32	16	elements	element	NOUN
ap-5541	32	17	[	[	X
ap-5541	32	18	14	14	NUM
ap-5541	32	19	]	]	PUNCT
ap-5541	32	20	.	.	PUNCT
ap-5541	33	1	an	an	DET
ap-5541	33	2	ann	ann	PROPN
ap-5541	33	3	controller	controller	NOUN
ap-5541	33	4	can	can	AUX
ap-5541	33	5	be	be	AUX
ap-5541	33	6	prepared	prepare	VERB
ap-5541	33	7	to	to	PART
ap-5541	33	8	have	have	VERB
ap-5541	33	9	good	good	ADJ
ap-5541	33	10	properties	property	NOUN
ap-5541	33	11	of	of	ADP
ap-5541	33	12	both	both	CCONJ
ap-5541	33	13	the	the	DET
ap-5541	33	14	consistent	consistent	ADJ
ap-5541	33	15	parameter	parameter	NOUN
ap-5541	33	16	controller	controller	NOUN
ap-5541	33	17	and	and	CCONJ
ap-5541	33	18	the	the	DET
ap-5541	33	19	adaptive	adaptive	ADJ
ap-5541	33	20	controller	controller	NOUN
ap-5541	33	21	.	.	PUNCT
ap-5541	34	1	fuzzy	fuzzy	ADJ
ap-5541	34	2	controllers	controller	NOUN
ap-5541	34	3	are	be	AUX
ap-5541	34	4	effectively	effectively	ADV
ap-5541	34	5	employed	employ	VERB
ap-5541	34	6	in	in	ADP
ap-5541	34	7	ship	ship	NOUN
ap-5541	34	8	steering	steering	NOUN
ap-5541	34	9	.	.	PUNCT
ap-5541	35	1	fuzzy	fuzzy	ADJ
ap-5541	35	2	autopilots	autopilot	NOUN
ap-5541	35	3	,	,	PUNCT
ap-5541	35	4	h	h	NOUN
ap-5541	35	5	-	-	PUNCT
ap-5541	35	6	infinity	infinity	NOUN
ap-5541	35	7	autopilots	autopilot	NOUN
ap-5541	35	8	,	,	PUNCT
ap-5541	35	9	and	and	CCONJ
ap-5541	35	10	lqr	lqr	PROPN
ap-5541	35	11	controllers	controller	NOUN
ap-5541	35	12	have	have	AUX
ap-5541	35	13	been	be	AUX
ap-5541	35	14	proposed	propose	VERB
ap-5541	35	15	in	in	ADP
ap-5541	35	16	different	different	ADJ
ap-5541	35	17	works	work	NOUN
ap-5541	35	18	[	[	X
ap-5541	35	19	15–18	15–18	NUM
ap-5541	35	20	]	]	PUNCT
ap-5541	35	21	.	.	PUNCT
ap-5541	36	1	in	in	ADP
ap-5541	36	2	fuzzy	fuzzy	ADJ
ap-5541	36	3	control	control	NOUN
ap-5541	36	4	,	,	PUNCT
ap-5541	36	5	it	it	PRON
ap-5541	36	6	is	be	AUX
ap-5541	36	7	generally	generally	ADV
ap-5541	36	8	hard	hard	ADJ
ap-5541	36	9	to	to	PART
ap-5541	36	10	decide	decide	VERB
ap-5541	36	11	and	and	CCONJ
ap-5541	36	12	streamline	streamline	VERB
ap-5541	36	13	the	the	DET
ap-5541	36	14	control	control	NOUN
ap-5541	36	15	rules	rule	NOUN
ap-5541	36	16	.	.	PUNCT
ap-5541	37	1	it	it	PRON
ap-5541	37	2	defaults	default	VERB
ap-5541	37	3	to	to	PART
ap-5541	37	4	improve	improve	VERB
ap-5541	37	5	the	the	DET
ap-5541	37	6	parameters	parameter	NOUN
ap-5541	37	7	of	of	ADP
ap-5541	37	8	a	a	DET
ap-5541	37	9	disturbance	disturbance	NOUN
ap-5541	37	10	rejection	rejection	NOUN
ap-5541	37	11	controller	controller	NOUN
ap-5541	37	12	due	due	ADP
ap-5541	37	13	to	to	ADP
ap-5541	37	14	many	many	ADJ
ap-5541	37	15	parameters	parameter	NOUN
ap-5541	37	16	.	.	PUNCT
ap-5541	38	1	the	the	DET
ap-5541	38	2	backstepping	backstepping	NOUN
ap-5541	38	3	technique	technique	NOUN
ap-5541	38	4	can	can	AUX
ap-5541	38	5	provide	provide	VERB
ap-5541	38	6	a	a	DET
ap-5541	38	7	methodical	methodical	ADJ
ap-5541	38	8	development	development	NOUN
ap-5541	38	9	process	process	NOUN
ap-5541	38	10	for	for	ADP
ap-5541	38	11	the	the	DET
ap-5541	38	12	controller	controller	NOUN
ap-5541	38	13	outline	outline	NOUN
ap-5541	38	14	,	,	PUNCT
ap-5541	38	15	yet	yet	CCONJ
ap-5541	38	16	it	it	PRON
ap-5541	38	17	flops	flop	VERB
ap-5541	38	18	in	in	ADP
ap-5541	38	19	deciding	decide	VERB
ap-5541	38	20	the	the	DET
ap-5541	38	21	ideal	ideal	ADJ
ap-5541	38	22	estimation	estimation	NOUN
ap-5541	38	23	of	of	ADP
ap-5541	38	24	the	the	DET
ap-5541	38	25	control	control	NOUN
ap-5541	38	26	parameters	parameter	NOUN
ap-5541	38	27	,	,	PUNCT
ap-5541	38	28	as	as	ADP
ap-5541	38	29	a	a	DET
ap-5541	38	30	rule	rule	NOUN
ap-5541	38	31	,	,	PUNCT
ap-5541	38	32	adaptive	adaptive	ADJ
ap-5541	38	33	fuzzy	fuzzy	ADJ
ap-5541	38	34	backstepping	backstepping	NOUN
ap-5541	38	35	control	control	NOUN
ap-5541	38	36	can	can	AUX
ap-5541	38	37	provide	provide	VERB
ap-5541	38	38	an	an	DET
ap-5541	38	39	orderly	orderly	ADJ
ap-5541	38	40	technique	technique	NOUN
ap-5541	38	41	of	of	ADP
ap-5541	38	42	tackling	tackle	VERB
ap-5541	38	43	following	follow	VERB
ap-5541	38	44	or	or	CCONJ
ap-5541	38	45	direction	direction	NOUN
ap-5541	38	46	control	control	NOUN
ap-5541	38	47	issues	issue	NOUN
ap-5541	38	48	,	,	PUNCT
ap-5541	38	49	where	where	SCONJ
ap-5541	38	50	fuzzy	fuzzy	ADJ
ap-5541	38	51	frameworks	framework	NOUN
ap-5541	38	52	are	be	AUX
ap-5541	38	53	utilized	utilize	VERB
ap-5541	38	54	to	to	ADP
ap-5541	38	55	inexact	inexact	ADJ
ap-5541	38	56	obscure	obscure	ADJ
ap-5541	38	57	nonlinear	nonlinear	ADJ
ap-5541	38	58	functions	function	NOUN
ap-5541	38	59	with	with	ADP
ap-5541	38	60	obscure	obscure	ADJ
ap-5541	38	61	parameters	parameter	NOUN
ap-5541	38	62	[	[	X
ap-5541	38	63	19	19	NUM
ap-5541	38	64	]	]	PUNCT
ap-5541	38	65	.	.	PUNCT
ap-5541	39	1	the	the	DET
ap-5541	39	2	motivation	motivation	NOUN
ap-5541	39	3	for	for	ADP
ap-5541	39	4	this	this	DET
ap-5541	39	5	paper	paper	NOUN
ap-5541	39	6	is	be	AUX
ap-5541	39	7	based	base	VERB
ap-5541	39	8	on	on	ADP
ap-5541	39	9	the	the	DET
ap-5541	39	10	practical	practical	ADJ
ap-5541	39	11	need	need	NOUN
ap-5541	39	12	to	to	PART
ap-5541	39	13	develop	develop	VERB
ap-5541	39	14	a	a	DET
ap-5541	39	15	control	control	NOUN
ap-5541	39	16	system	system	NOUN
ap-5541	39	17	to	to	PART
ap-5541	39	18	steer	steer	VERB
ap-5541	39	19	a	a	DET
ap-5541	39	20	ship	ship	NOUN
ap-5541	39	21	along	along	ADP
ap-5541	39	22	a	a	DET
ap-5541	39	23	reference	reference	NOUN
ap-5541	39	24	trajectory	trajectory	NOUN
ap-5541	39	25	defined	define	VERB
ap-5541	39	26	in	in	ADP
ap-5541	39	27	a	a	DET
ap-5541	39	28	given	give	VERB
ap-5541	39	29	reference	reference	NOUN
ap-5541	39	30	frame	frame	NOUN
ap-5541	39	31	.	.	PUNCT
ap-5541	40	1	this	this	DET
ap-5541	40	2	paper	paper	NOUN
ap-5541	40	3	is	be	AUX
ap-5541	40	4	organized	organize	VERB
ap-5541	40	5	as	as	SCONJ
ap-5541	40	6	follows	follow	VERB
ap-5541	40	7	:	:	PUNCT
ap-5541	40	8	section	section	NOUN
ap-5541	40	9	2	2	NUM
ap-5541	40	10	depicts	depict	VERB
ap-5541	40	11	the	the	DET
ap-5541	40	12	inflexible	inflexible	ADJ
ap-5541	40	13	body	body	NOUN
ap-5541	40	14	elements	element	NOUN
ap-5541	40	15	of	of	ADP
ap-5541	40	16	the	the	DET
ap-5541	40	17	ship	ship	NOUN
ap-5541	40	18	in	in	ADP
ap-5541	40	19	six	six	NUM
ap-5541	40	20	degrees	degree	NOUN
ap-5541	40	21	of	of	ADP
ap-5541	40	22	freedom	freedom	NOUN
ap-5541	40	23	(	(	PUNCT
ap-5541	40	24	6dof	6dof	NOUN
ap-5541	40	25	)	)	PUNCT
ap-5541	40	26	and	and	CCONJ
ap-5541	40	27	197	197	NUM
ap-5541	40	28	https://doi.org/10.14311/ap.2020.60.0197	https://doi.org/10.14311/ap.2020.60.0197	NUM
ap-5541	40	29	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-5541	40	30	nasir	nasir	PROPN
ap-5541	40	31	ahmad	ahmad	PROPN
ap-5541	40	32	al	al	PROPN
ap-5541	40	33	-	-	PUNCT
ap-5541	40	34	awad	awad	PROPN
ap-5541	40	35	acta	acta	PROPN
ap-5541	40	36	polytechnica	polytechnica	PROPN
ap-5541	40	37	deliver	deliver	VERB
ap-5541	40	38	a	a	DET
ap-5541	40	39	movement	movement	NOUN
ap-5541	40	40	condition	condition	NOUN
ap-5541	40	41	,	,	PUNCT
ap-5541	40	42	finally	finally	ADV
ap-5541	40	43	,	,	PUNCT
ap-5541	40	44	the	the	DET
ap-5541	40	45	scientific	scientific	ADJ
ap-5541	40	46	model	model	NOUN
ap-5541	40	47	for	for	ADP
ap-5541	40	48	a	a	DET
ap-5541	40	49	payload	payload	NOUN
ap-5541	40	50	dispatch	dispatch	NOUN
ap-5541	40	51	including	include	VERB
ap-5541	40	52	the	the	DET
ap-5541	40	53	rudder	rudder	NOUN
ap-5541	40	54	servo	servo	NOUN
ap-5541	40	55	framework	framework	NOUN
ap-5541	40	56	is	be	AUX
ap-5541	40	57	introduced	introduce	VERB
ap-5541	40	58	.	.	PUNCT
ap-5541	41	1	section	section	NOUN
ap-5541	41	2	3	3	NUM
ap-5541	41	3	describes	describe	VERB
ap-5541	41	4	the	the	DET
ap-5541	41	5	different	different	ADJ
ap-5541	41	6	controllers	controller	NOUN
ap-5541	41	7	’	'	PUNCT
ap-5541	41	8	methods	method	NOUN
ap-5541	41	9	.	.	PUNCT
ap-5541	42	1	the	the	DET
ap-5541	42	2	simulation	simulation	NOUN
ap-5541	42	3	,	,	PUNCT
ap-5541	42	4	results	result	NOUN
ap-5541	42	5	,	,	PUNCT
ap-5541	42	6	and	and	CCONJ
ap-5541	42	7	comparison	comparison	NOUN
ap-5541	42	8	are	be	AUX
ap-5541	42	9	addressed	address	VERB
ap-5541	42	10	in	in	ADP
ap-5541	42	11	section	section	NOUN
ap-5541	42	12	4	4	NUM
ap-5541	42	13	.	.	PUNCT
ap-5541	42	14	section	section	NOUN
ap-5541	42	15	5	5	NUM
ap-5541	42	16	illustrates	illustrate	VERB
ap-5541	42	17	the	the	DET
ap-5541	42	18	main	main	ADJ
ap-5541	42	19	conclusions	conclusion	NOUN
ap-5541	42	20	.	.	PUNCT
ap-5541	43	1	2	2	X
ap-5541	43	2	.	.	X
ap-5541	43	3	ship	ship	NOUN
ap-5541	43	4	mathematical	mathematical	ADJ
ap-5541	43	5	modeling	modeling	NOUN
ap-5541	43	6	there	there	PRON
ap-5541	43	7	are	be	VERB
ap-5541	43	8	many	many	ADJ
ap-5541	43	9	established	establish	VERB
ap-5541	43	10	ship	ship	NOUN
ap-5541	43	11	displaying	display	VERB
ap-5541	43	12	procedures	procedure	NOUN
ap-5541	43	13	[	[	X
ap-5541	43	14	20	20	NUM
ap-5541	43	15	]	]	PUNCT
ap-5541	43	16	such	such	ADJ
ap-5541	43	17	as	as	ADP
ap-5541	43	18	nomoto	nomoto	PROPN
ap-5541	43	19	model	model	NOUN
ap-5541	43	20	,	,	PUNCT
ap-5541	43	21	norrbin	norrbin	PROPN
ap-5541	43	22	model	model	NOUN
ap-5541	43	23	,	,	PUNCT
ap-5541	43	24	bech	bech	PROPN
ap-5541	43	25	model	model	NOUN
ap-5541	43	26	.	.	PUNCT
ap-5541	44	1	all	all	DET
ap-5541	44	2	these	these	DET
ap-5541	44	3	demonstrating	demonstrate	VERB
ap-5541	44	4	procedures	procedure	NOUN
ap-5541	44	5	have	have	VERB
ap-5541	44	6	a	a	DET
ap-5541	44	7	distinctive	distinctive	ADJ
ap-5541	44	8	plan	plan	NOUN
ap-5541	44	9	stream	stream	NOUN
ap-5541	44	10	and	and	CCONJ
ap-5541	44	11	methodology	methodology	NOUN
ap-5541	44	12	.	.	PUNCT
ap-5541	45	1	the	the	DET
ap-5541	45	2	nomoto	nomoto	PROPN
ap-5541	45	3	model	model	NOUN
ap-5541	45	4	is	be	AUX
ap-5541	45	5	one	one	NUM
ap-5541	45	6	of	of	ADP
ap-5541	45	7	the	the	DET
ap-5541	45	8	basic	basic	ADJ
ap-5541	45	9	linear	linear	NOUN
ap-5541	45	10	models	model	NOUN
ap-5541	45	11	that	that	PRON
ap-5541	45	12	is	be	AUX
ap-5541	45	13	utilized	utilize	VERB
ap-5541	45	14	for	for	ADP
ap-5541	45	15	displaying	display	VERB
ap-5541	45	16	ship	ship	NOUN
ap-5541	45	17	elements	element	NOUN
ap-5541	45	18	,	,	PUNCT
ap-5541	45	19	which	which	PRON
ap-5541	45	20	underpins	underpin	VERB
ap-5541	45	21	each	each	PRON
ap-5541	45	22	of	of	ADP
ap-5541	45	23	the	the	DET
ap-5541	45	24	6	6	NUM
ap-5541	45	25	degrees	degree	NOUN
ap-5541	45	26	of	of	ADP
ap-5541	45	27	freedom	freedom	NOUN
ap-5541	45	28	(	(	PUNCT
ap-5541	45	29	dof	dof	NOUN
ap-5541	45	30	)	)	PUNCT
ap-5541	45	31	and	and	CCONJ
ap-5541	45	32	is	be	AUX
ap-5541	45	33	appropriate	appropriate	ADJ
ap-5541	45	34	for	for	ADP
ap-5541	45	35	small	small	ADJ
ap-5541	45	36	rudder	rudder	NOUN
ap-5541	45	37	angles	angle	NOUN
ap-5541	45	38	.	.	PUNCT
ap-5541	46	1	the	the	DET
ap-5541	46	2	nomoto	nomoto	PROPN
ap-5541	46	3	model	model	NOUN
ap-5541	46	4	is	be	AUX
ap-5541	46	5	the	the	DET
ap-5541	46	6	most	most	ADV
ap-5541	46	7	broadly	broadly	ADV
ap-5541	46	8	used	use	VERB
ap-5541	46	9	ship	ship	NOUN
ap-5541	46	10	display	display	NOUN
ap-5541	46	11	for	for	ADP
ap-5541	46	12	autopilot	autopilot	NOUN
ap-5541	46	13	outlines	outline	NOUN
ap-5541	46	14	[	[	X
ap-5541	46	15	21	21	NUM
ap-5541	46	16	–	–	PUNCT
ap-5541	46	17	23	23	NUM
ap-5541	46	18	]	]	PUNCT
ap-5541	46	19	.	.	PUNCT
ap-5541	47	1	this	this	DET
ap-5541	47	2	model	model	NOUN
ap-5541	47	3	provides	provide	VERB
ap-5541	47	4	a	a	DET
ap-5541	47	5	better	well	ADJ
ap-5541	47	6	execution	execution	NOUN
ap-5541	47	7	to	to	ADP
ap-5541	47	8	small	small	ADJ
ap-5541	47	9	rudder	rudder	NOUN
ap-5541	47	10	angle	angle	NOUN
ap-5541	47	11	turnings	turning	NOUN
ap-5541	47	12	and	and	CCONJ
ap-5541	47	13	best	good	ADJ
ap-5541	47	14	reasonable	reasonable	ADJ
ap-5541	47	15	solution	solution	NOUN
ap-5541	47	16	for	for	ADP
ap-5541	47	17	big	big	ADJ
ap-5541	47	18	boats	boat	NOUN
ap-5541	47	19	since	since	SCONJ
ap-5541	47	20	it	it	PRON
ap-5541	47	21	underpins	underpin	VERB
ap-5541	47	22	every	every	DET
ap-5541	47	23	one	one	NUM
ap-5541	47	24	of	of	ADP
ap-5541	47	25	the	the	DET
ap-5541	47	26	6	6	NUM
ap-5541	47	27	dof	dof	NOUN
ap-5541	47	28	.	.	PUNCT
ap-5541	48	1	the	the	DET
ap-5541	48	2	bech	bech	PROPN
ap-5541	48	3	’s	’s	PART
ap-5541	48	4	and	and	CCONJ
ap-5541	48	5	norrbin	norrbin	ADJ
ap-5541	48	6	models	model	NOUN
ap-5541	48	7	are	be	AUX
ap-5541	48	8	nonlinear	nonlinear	ADJ
ap-5541	48	9	models	model	NOUN
ap-5541	48	10	,	,	PUNCT
ap-5541	48	11	which	which	PRON
ap-5541	48	12	are	be	AUX
ap-5541	48	13	derived	derive	VERB
ap-5541	48	14	from	from	ADP
ap-5541	48	15	the	the	DET
ap-5541	48	16	nomoto	nomoto	PROPN
ap-5541	48	17	model	model	NOUN
ap-5541	48	18	.	.	PUNCT
ap-5541	49	1	these	these	DET
ap-5541	49	2	models	model	NOUN
ap-5541	49	3	are	be	AUX
ap-5541	49	4	used	use	VERB
ap-5541	49	5	for	for	ADP
ap-5541	49	6	bigger	big	ADJ
ap-5541	49	7	rudder	rudder	NOUN
ap-5541	49	8	angles	angle	NOUN
ap-5541	49	9	[	[	X
ap-5541	49	10	24	24	NUM
ap-5541	49	11	]	]	PUNCT
ap-5541	49	12	.	.	PUNCT
ap-5541	50	1	this	this	DET
ap-5541	50	2	section	section	NOUN
ap-5541	50	3	discusses	discuss	VERB
ap-5541	50	4	the	the	DET
ap-5541	50	5	connection	connection	NOUN
ap-5541	50	6	between	between	ADP
ap-5541	50	7	changes	change	NOUN
ap-5541	50	8	in	in	ADP
ap-5541	50	9	the	the	DET
ap-5541	50	10	heading	head	VERB
ap-5541	50	11	angle	angle	NOUN
ap-5541	50	12	,	,	PUNCT
ap-5541	50	13	with	with	ADP
ap-5541	50	14	respect	respect	NOUN
ap-5541	50	15	to	to	ADP
ap-5541	50	16	the	the	DET
ap-5541	50	17	rudder	rudder	NOUN
ap-5541	50	18	angle	angle	NOUN
ap-5541	50	19	.	.	PUNCT
ap-5541	51	1	during	during	ADP
ap-5541	51	2	course	course	NOUN
ap-5541	51	3	changing	change	VERB
ap-5541	51	4	,	,	PUNCT
ap-5541	51	5	it	it	PRON
ap-5541	51	6	has	have	VERB
ap-5541	51	7	all	all	DET
ap-5541	51	8	the	the	DET
ap-5541	51	9	earmarks	earmark	NOUN
ap-5541	51	10	of	of	ADP
ap-5541	51	11	being	be	AUX
ap-5541	51	12	attractive	attractive	ADJ
ap-5541	51	13	to	to	PART
ap-5541	51	14	swing	swing	VERB
ap-5541	51	15	to	to	ADP
ap-5541	51	16	the	the	DET
ap-5541	51	17	new	new	ADJ
ap-5541	51	18	heading	heading	NOUN
ap-5541	51	19	with	with	ADP
ap-5541	51	20	a	a	DET
ap-5541	51	21	consistent	consistent	ADJ
ap-5541	51	22	rate	rate	NOUN
ap-5541	51	23	of	of	ADP
ap-5541	51	24	turn	turn	NOUN
ap-5541	51	25	,	,	PUNCT
ap-5541	51	26	or	or	CCONJ
ap-5541	51	27	potentially	potentially	ADV
ap-5541	51	28	with	with	ADP
ap-5541	51	29	a	a	DET
ap-5541	51	30	steady	steady	ADJ
ap-5541	51	31	turning	turning	NOUN
ap-5541	51	32	span	span	NOUN
ap-5541	51	33	.	.	PUNCT
ap-5541	52	1	the	the	DET
ap-5541	52	2	new	new	ADJ
ap-5541	52	3	heading	heading	NOUN
ap-5541	52	4	must	must	AUX
ap-5541	52	5	be	be	AUX
ap-5541	52	6	without	without	ADP
ap-5541	52	7	overshoot	overshoot	NOUN
ap-5541	52	8	.	.	PUNCT
ap-5541	53	1	the	the	DET
ap-5541	53	2	likelihood	likelihood	NOUN
ap-5541	53	3	to	to	PART
ap-5541	53	4	alter	alter	VERB
ap-5541	53	5	the	the	DET
ap-5541	53	6	rate	rate	NOUN
ap-5541	53	7	of	of	ADP
ap-5541	53	8	turn	turn	NOUN
ap-5541	53	9	is	be	AUX
ap-5541	53	10	the	the	DET
ap-5541	53	11	main	main	ADJ
ap-5541	53	12	setting	setting	NOUN
ap-5541	53	13	required	require	VERB
ap-5541	53	14	by	by	ADP
ap-5541	53	15	the	the	DET
ap-5541	53	16	user	user	NOUN
ap-5541	53	17	.	.	PUNCT
ap-5541	54	1	the	the	DET
ap-5541	54	2	full	full	ADJ
ap-5541	54	3	nonlinear	nonlinear	ADJ
ap-5541	54	4	model	model	NOUN
ap-5541	54	5	is	be	AUX
ap-5541	54	6	too	too	ADV
ap-5541	54	7	intricate	intricate	ADJ
ap-5541	54	8	to	to	PART
ap-5541	54	9	ever	ever	ADV
ap-5541	54	10	be	be	AUX
ap-5541	54	11	utilized	utilize	VERB
ap-5541	54	12	for	for	ADP
ap-5541	54	13	designing	design	VERB
ap-5541	54	14	the	the	DET
ap-5541	54	15	controller	controller	NOUN
ap-5541	54	16	,	,	PUNCT
ap-5541	54	17	so	so	SCONJ
ap-5541	54	18	the	the	DET
ap-5541	54	19	linear	linear	ADJ
ap-5541	54	20	model	model	NOUN
ap-5541	54	21	is	be	AUX
ap-5541	54	22	picked	pick	VERB
ap-5541	54	23	.	.	PUNCT
ap-5541	55	1	the	the	DET
ap-5541	55	2	principal	principal	ADJ
ap-5541	55	3	linear	linear	NOUN
ap-5541	55	4	transfer	transfer	NOUN
ap-5541	55	5	function	function	NOUN
ap-5541	55	6	of	of	ADP
ap-5541	55	7	a	a	DET
ap-5541	55	8	ship	ship	NOUN
ap-5541	55	9	directing	direct	VERB
ap-5541	55	10	framework	framework	NOUN
ap-5541	55	11	was	be	AUX
ap-5541	55	12	advanced	advance	VERB
ap-5541	55	13	by	by	ADP
ap-5541	55	14	davidson	davidson	NOUN
ap-5541	55	15	and	and	CCONJ
ap-5541	55	16	schiff	schiff	NOUN
ap-5541	55	17	[	[	X
ap-5541	55	18	25	25	NUM
ap-5541	55	19	]	]	PUNCT
ap-5541	55	20	.	.	PUNCT
ap-5541	56	1	nomoto	nomoto	PROPN
ap-5541	56	2	et	et	PROPN
ap-5541	56	3	al	al	PROPN
ap-5541	56	4	.	.	PUNCT
ap-5541	57	1	[	[	X
ap-5541	57	2	4	4	X
ap-5541	57	3	]	]	PUNCT
ap-5541	57	4	have	have	AUX
ap-5541	57	5	proposed	propose	VERB
ap-5541	57	6	two	two	NUM
ap-5541	57	7	basic	basic	ADJ
ap-5541	57	8	linear	linear	PROPN
ap-5541	57	9	mathematical	mathematical	ADJ
ap-5541	57	10	models	model	NOUN
ap-5541	57	11	in	in	ADP
ap-5541	57	12	light	light	NOUN
ap-5541	57	13	of	of	ADP
ap-5541	57	14	the	the	DET
ap-5541	57	15	model	model	NOUN
ap-5541	57	16	of	of	ADP
ap-5541	57	17	davidson	davidson	NOUN
ap-5541	57	18	and	and	CCONJ
ap-5541	57	19	schiff	schiff	NOUN
ap-5541	57	20	,	,	PUNCT
ap-5541	57	21	nomoto	nomoto	PROPN
ap-5541	57	22	’s	’s	PART
ap-5541	57	23	models	model	NOUN
ap-5541	57	24	have	have	AUX
ap-5541	57	25	been	be	AUX
ap-5541	57	26	utilized	utilize	VERB
ap-5541	57	27	broadly	broadly	ADV
ap-5541	57	28	by	by	ADP
ap-5541	57	29	control	control	NOUN
ap-5541	57	30	engineers	engineer	NOUN
ap-5541	57	31	for	for	ADP
ap-5541	57	32	an	an	DET
ap-5541	57	33	investigation	investigation	NOUN
ap-5541	57	34	and	and	CCONJ
ap-5541	57	35	outline	outline	NOUN
ap-5541	57	36	of	of	ADP
ap-5541	57	37	ship	ship	NOUN
ap-5541	57	38	controllers	controller	NOUN
ap-5541	57	39	.	.	PUNCT
ap-5541	58	1	these	these	DET
ap-5541	58	2	models	model	NOUN
ap-5541	58	3	represent	represent	VERB
ap-5541	58	4	a	a	DET
ap-5541	58	5	sensibly	sensibly	ADV
ap-5541	58	6	precise	precise	ADJ
ap-5541	58	7	depiction	depiction	NOUN
ap-5541	58	8	of	of	ADP
ap-5541	58	9	the	the	DET
ap-5541	58	10	directing	directing	NOUN
ap-5541	58	11	conduct	conduct	NOUN
ap-5541	58	12	for	for	ADP
ap-5541	58	13	a	a	DET
ap-5541	58	14	large	large	ADJ
ap-5541	58	15	type	type	NOUN
ap-5541	58	16	of	of	ADP
ap-5541	58	17	ships	ship	NOUN
ap-5541	58	18	.	.	PUNCT
ap-5541	59	1	for	for	ADP
ap-5541	59	2	autopilot	autopilot	NOUN
ap-5541	59	3	applications	application	NOUN
ap-5541	59	4	,	,	PUNCT
ap-5541	59	5	there	there	PRON
ap-5541	59	6	is	be	VERB
ap-5541	59	7	no	no	DET
ap-5541	59	8	compelling	compelling	ADJ
ap-5541	59	9	reason	reason	NOUN
ap-5541	59	10	to	to	PART
ap-5541	59	11	incorporate	incorporate	VERB
ap-5541	59	12	6	6	NUM
ap-5541	59	13	dofs(three	dofs(three	NOUN
ap-5541	59	14	transnational	transnational	ADJ
ap-5541	59	15	motions	motion	NOUN
ap-5541	59	16	surge	surge	VERB
ap-5541	59	17	,	,	PUNCT
ap-5541	59	18	sway	sway	VERB
ap-5541	59	19	and	and	CCONJ
ap-5541	59	20	heave	heave	VERB
ap-5541	59	21	and	and	CCONJ
ap-5541	59	22	the	the	DET
ap-5541	59	23	other	other	ADJ
ap-5541	59	24	three	three	NUM
ap-5541	59	25	rotational	rotational	ADJ
ap-5541	59	26	motions	motion	NOUN
ap-5541	59	27	roll	roll	VERB
ap-5541	59	28	,	,	PUNCT
ap-5541	59	29	pitch	pitch	NOUN
ap-5541	59	30	and	and	CCONJ
ap-5541	59	31	yaw)in	yaw)in	ADJ
ap-5541	59	32	estimations	estimation	NOUN
ap-5541	59	33	.	.	PUNCT
ap-5541	60	1	for	for	ADP
ap-5541	60	2	surface	surface	NOUN
ap-5541	60	3	vessels	vessel	NOUN
ap-5541	60	4	,	,	PUNCT
ap-5541	60	5	it	it	PRON
ap-5541	60	6	is	be	AUX
ap-5541	60	7	ordinary	ordinary	ADJ
ap-5541	60	8	to	to	PART
ap-5541	60	9	lessen	lessen	VERB
ap-5541	60	10	the	the	DET
ap-5541	60	11	model	model	NOUN
ap-5541	60	12	to	to	ADP
ap-5541	60	13	movement	movement	NOUN
ap-5541	60	14	in	in	ADP
ap-5541	60	15	a	a	DET
ap-5541	60	16	surge	surge	NOUN
ap-5541	60	17	,	,	PUNCT
ap-5541	60	18	sway	sway	NOUN
ap-5541	60	19	,	,	PUNCT
ap-5541	60	20	and	and	CCONJ
ap-5541	60	21	yaw	yaw	NOUN
ap-5541	60	22	.	.	PUNCT
ap-5541	61	1	this	this	PRON
ap-5541	61	2	is	be	AUX
ap-5541	61	3	done	do	VERB
ap-5541	61	4	under	under	ADP
ap-5541	61	5	the	the	DET
ap-5541	61	6	assumption	assumption	NOUN
ap-5541	61	7	that	that	SCONJ
ap-5541	61	8	movements	movement	NOUN
ap-5541	61	9	in	in	ADP
ap-5541	61	10	heave	heave	NOUN
ap-5541	61	11	,	,	PUNCT
ap-5541	61	12	roll	roll	NOUN
ap-5541	61	13	,	,	PUNCT
ap-5541	61	14	and	and	CCONJ
ap-5541	61	15	pitch	pitch	NOUN
ap-5541	61	16	are	be	AUX
ap-5541	61	17	little	little	ADJ
ap-5541	61	18	,	,	PUNCT
ap-5541	61	19	see	see	VERB
ap-5541	61	20	figure	figure	NOUN
ap-5541	61	21	1	1	NUM
ap-5541	61	22	.	.	PUNCT
ap-5541	62	1	the	the	DET
ap-5541	62	2	ship	ship	NOUN
ap-5541	62	3	control	control	NOUN
ap-5541	62	4	issue	issue	NOUN
ap-5541	62	5	is	be	AUX
ap-5541	62	6	generally	generally	ADV
ap-5541	62	7	taken	take	VERB
ap-5541	62	8	by	by	ADP
ap-5541	62	9	applying	apply	VERB
ap-5541	62	10	the	the	DET
ap-5541	62	11	classical	classical	ADJ
ap-5541	62	12	technique	technique	NOUN
ap-5541	62	13	,	,	PUNCT
ap-5541	62	14	which	which	PRON
ap-5541	62	15	considers	consider	VERB
ap-5541	62	16	just	just	ADV
ap-5541	62	17	two	two	NUM
ap-5541	62	18	coupled	couple	VERB
ap-5541	62	19	developments	development	NOUN
ap-5541	62	20	,	,	PUNCT
ap-5541	62	21	which	which	PRON
ap-5541	62	22	are	be	AUX
ap-5541	62	23	yaw	yaw	NOUN
ap-5541	62	24	and	and	CCONJ
ap-5541	62	25	sway	sway	VERB
ap-5541	62	26	[	[	X
ap-5541	62	27	4	4	NUM
ap-5541	62	28	]	]	PUNCT
ap-5541	62	29	.	.	PUNCT
ap-5541	63	1	the	the	DET
ap-5541	63	2	equations	equation	NOUN
ap-5541	63	3	below	below	ADV
ap-5541	63	4	describe	describe	VERB
ap-5541	63	5	the	the	DET
ap-5541	63	6	horizontal	horizontal	ADJ
ap-5541	63	7	motion	motion	NOUN
ap-5541	63	8	of	of	ADP
ap-5541	63	9	a	a	DET
ap-5541	63	10	well	well	ADV
ap-5541	63	11	-	-	PUNCT
ap-5541	63	12	established	establish	VERB
ap-5541	63	13	ship	ship	NOUN
ap-5541	63	14	.	.	PUNCT
ap-5541	64	1	these	these	DET
ap-5541	64	2	equations	equation	NOUN
ap-5541	64	3	can	can	AUX
ap-5541	64	4	be	be	AUX
ap-5541	64	5	derived	derive	VERB
ap-5541	64	6	from	from	ADP
ap-5541	64	7	newton	newton	PROPN
ap-5541	64	8	’s	’s	PART
ap-5541	64	9	laws	law	NOUN
ap-5541	64	10	,	,	PUNCT
ap-5541	64	11	after	after	ADP
ap-5541	64	12	linearizing	linearize	VERB
ap-5541	64	13	the	the	DET
ap-5541	64	14	equations	equation	NOUN
ap-5541	64	15	of	of	ADP
ap-5541	64	16	the	the	DET
ap-5541	64	17	movement	movement	NOUN
ap-5541	64	18	,	,	PUNCT
ap-5541	64	19	see	see	VERB
ap-5541	64	20	[	[	X
ap-5541	64	21	4	4	X
ap-5541	64	22	]	]	PUNCT
ap-5541	64	23	and	and	CCONJ
ap-5541	65	1	[	[	X
ap-5541	65	2	26–28	26–28	NOUN
ap-5541	65	3	]	]	PUNCT
ap-5541	65	4	.	.	PUNCT
ap-5541	66	1	in	in	ADP
ap-5541	66	2	the	the	DET
ap-5541	66	3	ship	ship	NOUN
ap-5541	66	4	moving	move	VERB
ap-5541	66	5	issue	issue	NOUN
ap-5541	66	6	,	,	PUNCT
ap-5541	66	7	just	just	ADV
ap-5541	66	8	the	the	DET
ap-5541	66	9	flat	flat	ADJ
ap-5541	66	10	movement	movement	NOUN
ap-5541	66	11	is	be	AUX
ap-5541	66	12	thought	think	VERB
ap-5541	66	13	about	about	ADP
ap-5541	66	14	the	the	DET
ap-5541	66	15	surge	surge	NOUN
ap-5541	66	16	,	,	PUNCT
ap-5541	66	17	sway	sway	NOUN
ap-5541	66	18	,	,	PUNCT
ap-5541	66	19	and	and	CCONJ
ap-5541	66	20	yaw	yaw	NOUN
ap-5541	66	21	movements	movement	NOUN
ap-5541	66	22	.	.	PUNCT
ap-5541	67	1	in	in	ADP
ap-5541	67	2	this	this	DET
ap-5541	67	3	way	way	NOUN
ap-5541	67	4	,	,	PUNCT
ap-5541	67	5	the	the	DET
ap-5541	67	6	equations	equation	NOUN
ap-5541	67	7	are	be	AUX
ap-5541	67	8	[	[	X
ap-5541	67	9	29	29	NUM
ap-5541	67	10	]	]	SYM
ap-5541	67	11	:	:	PUNCT
ap-5541	67	12	x	x	SYM
ap-5541	67	13	=	=	SYM
ap-5541	67	14	m	m	PROPN
ap-5541	67	15	(	(	PUNCT
ap-5541	67	16	u.	u.	PROPN
ap-5541	67	17	−	−	PROPN
ap-5541	67	18	rv	rv	PROPN
ap-5541	67	19	)	)	PUNCT
ap-5541	67	20	(	(	PUNCT
ap-5541	67	21	1	1	X
ap-5541	67	22	)	)	PUNCT
ap-5541	67	23	y	y	NOUN
ap-5541	68	1	=	=	PUNCT
ap-5541	68	2	m	m	PROPN
ap-5541	68	3	(	(	PUNCT
ap-5541	68	4	v.	v.	ADP
ap-5541	68	5	−	−	PROPN
ap-5541	68	6	ru	ru	NOUN
ap-5541	68	7	)	)	PUNCT
ap-5541	68	8	(	(	PUNCT
ap-5541	68	9	2	2	X
ap-5541	68	10	)	)	PUNCT
ap-5541	68	11	n	n	NOUN
ap-5541	68	12	=	=	NOUN
ap-5541	68	13	izr	izr	NOUN
ap-5541	68	14	.	.	PUNCT
ap-5541	69	1	(	(	PUNCT
ap-5541	69	2	3	3	X
ap-5541	69	3	)	)	PUNCT
ap-5541	69	4	where	where	SCONJ
ap-5541	69	5	x	x	X
ap-5541	69	6	,	,	PUNCT
ap-5541	69	7	y	y	PROPN
ap-5541	69	8	,	,	PUNCT
ap-5541	69	9	and	and	CCONJ
ap-5541	69	10	n	n	PRON
ap-5541	69	11	are	be	AUX
ap-5541	69	12	the	the	DET
ap-5541	69	13	surge	surge	NOUN
ap-5541	69	14	,	,	PUNCT
ap-5541	69	15	sway	sway	NOUN
ap-5541	69	16	,	,	PUNCT
ap-5541	69	17	and	and	CCONJ
ap-5541	69	18	yaw	yaw	NOUN
ap-5541	69	19	motions	motion	NOUN
ap-5541	69	20	,	,	PUNCT
ap-5541	69	21	m	m	VERB
ap-5541	69	22	is	be	AUX
ap-5541	69	23	the	the	DET
ap-5541	69	24	mass	mass	NOUN
ap-5541	69	25	of	of	ADP
ap-5541	69	26	the	the	DET
ap-5541	69	27	ship	ship	NOUN
ap-5541	69	28	,	,	PUNCT
ap-5541	69	29	iz	iz	ADJ
ap-5541	69	30	is	be	AUX
ap-5541	69	31	the	the	DET
ap-5541	69	32	moment	moment	NOUN
ap-5541	69	33	of	of	ADP
ap-5541	69	34	inertia	inertia	NOUN
ap-5541	69	35	to	to	ADP
ap-5541	69	36	the	the	DET
ap-5541	69	37	z	z	NOUN
ap-5541	69	38	-	-	PUNCT
ap-5541	69	39	axis	axis	ADJ
ap-5541	69	40	,	,	PUNCT
ap-5541	69	41	(	(	PUNCT
ap-5541	69	42	u	u	NOUN
ap-5541	69	43	,	,	PUNCT
ap-5541	69	44	v	v	NOUN
ap-5541	69	45	and	and	CCONJ
ap-5541	69	46	r	r	NOUN
ap-5541	69	47	)	)	PUNCT
ap-5541	69	48	are	be	AUX
ap-5541	69	49	the	the	DET
ap-5541	69	50	surge	surge	NOUN
ap-5541	69	51	,	,	PUNCT
ap-5541	69	52	sway	sway	NOUN
ap-5541	69	53	,	,	PUNCT
ap-5541	69	54	and	and	CCONJ
ap-5541	69	55	yaw	yaw	NOUN
ap-5541	69	56	speed	speed	NOUN
ap-5541	69	57	motion	motion	NOUN
ap-5541	69	58	.	.	PUNCT
ap-5541	70	1	(	(	PUNCT
ap-5541	70	2	u.	u.	NOUN
ap-5541	70	3	,	,	PUNCT
ap-5541	70	4	v.	v.	PROPN
ap-5541	70	5	,	,	PUNCT
ap-5541	70	6	r.	r.	PROPN
ap-5541	70	7	)	)	PUNCT
ap-5541	70	8	are	be	AUX
ap-5541	70	9	surge	surge	ADJ
ap-5541	70	10	,	,	PUNCT
ap-5541	70	11	sway	sway	NOUN
ap-5541	70	12	and	and	CCONJ
ap-5541	70	13	yaw	yaw	NOUN
ap-5541	70	14	acceleration	acceleration	NOUN
ap-5541	70	15	.	.	PUNCT
ap-5541	71	1	in	in	ADP
ap-5541	71	2	considering	consider	VERB
ap-5541	71	3	the	the	DET
ap-5541	71	4	steering	steering	NOUN
ap-5541	71	5	movement	movement	NOUN
ap-5541	71	6	,	,	PUNCT
ap-5541	71	7	surge	surge	NOUN
ap-5541	71	8	is	be	AUX
ap-5541	71	9	isolated	isolate	VERB
ap-5541	71	10	from	from	ADP
ap-5541	71	11	steering	steering	NOUN
ap-5541	71	12	movement	movement	NOUN
ap-5541	71	13	and	and	CCONJ
ap-5541	71	14	particularly	particularly	ADV
ap-5541	71	15	,	,	PUNCT
ap-5541	71	16	by	by	ADP
ap-5541	71	17	ignoring	ignore	VERB
ap-5541	71	18	the	the	DET
ap-5541	71	19	swaying	swaying	NOUN
ap-5541	71	20	movement	movement	NOUN
ap-5541	71	21	in	in	ADP
ap-5541	71	22	eqs	eqs	PROPN
ap-5541	71	23	.	.	PUNCT
ap-5541	72	1	(	(	PUNCT
ap-5541	72	2	2	2	NUM
ap-5541	72	3	)	)	PUNCT
ap-5541	72	4	,	,	PUNCT
ap-5541	72	5	(	(	PUNCT
ap-5541	72	6	3	3	X
ap-5541	72	7	)	)	PUNCT
ap-5541	72	8	and	and	CCONJ
ap-5541	72	9	by	by	ADP
ap-5541	72	10	taking	take	VERB
ap-5541	72	11	the	the	DET
ap-5541	72	12	laplace	laplace	NOUN
ap-5541	72	13	transform	transform	NOUN
ap-5541	72	14	of	of	ADP
ap-5541	72	15	yaw	yaw	NOUN
ap-5541	72	16	and	and	CCONJ
ap-5541	72	17	surge	surge	VERB
ap-5541	72	18	with	with	ADP
ap-5541	72	19	thinking	think	VERB
ap-5541	72	20	about	about	ADP
ap-5541	72	21	a	a	DET
ap-5541	72	22	consistent	consistent	ADJ
ap-5541	72	23	speed	speed	NOUN
ap-5541	72	24	,	,	PUNCT
ap-5541	72	25	a	a	DET
ap-5541	72	26	nomoto	nomoto	NOUN
ap-5541	72	27	second	second	ADJ
ap-5541	72	28	order	order	NOUN
ap-5541	72	29	estimate	estimate	NOUN
ap-5541	72	30	,	,	PUNCT
ap-5541	72	31	which	which	PRON
ap-5541	72	32	portrays	portray	VERB
ap-5541	72	33	the	the	DET
ap-5541	72	34	heading	head	VERB
ap-5541	72	35	elements	element	NOUN
ap-5541	72	36	of	of	ADP
ap-5541	72	37	the	the	DET
ap-5541	72	38	ship	ship	NOUN
ap-5541	72	39	through	through	ADP
ap-5541	72	40	a	a	DET
ap-5541	72	41	basic	basic	ADJ
ap-5541	72	42	transfer	transfer	NOUN
ap-5541	72	43	function	function	NOUN
ap-5541	72	44	,	,	PUNCT
ap-5541	72	45	is	be	AUX
ap-5541	72	46	as	as	ADP
ap-5541	72	47	[	[	X
ap-5541	72	48	29	29	NUM
ap-5541	72	49	,	,	PUNCT
ap-5541	72	50	30	30	NUM
ap-5541	72	51	]	]	PUNCT
ap-5541	72	52	:	:	PUNCT
ap-5541	72	53	r	r	NOUN
ap-5541	72	54	δ	δ	NOUN
ap-5541	72	55	=	=	SYM
ap-5541	72	56	k	k	PROPN
ap-5541	72	57	(	(	PUNCT
ap-5541	72	58	1	1	NUM
ap-5541	72	59	+	+	CCONJ
ap-5541	72	60	t3s	t3s	NOUN
ap-5541	72	61	)	)	PUNCT
ap-5541	72	62	(	(	PUNCT
ap-5541	72	63	1	1	NUM
ap-5541	72	64	+	+	CCONJ
ap-5541	72	65	t1s	t1	NOUN
ap-5541	72	66	)	)	PUNCT
ap-5541	72	67	(	(	PUNCT
ap-5541	72	68	1	1	NUM
ap-5541	72	69	+	+	NUM
ap-5541	72	70	t2s	t2s	NOUN
ap-5541	72	71	)	)	PUNCT
ap-5541	72	72	(	(	PUNCT
ap-5541	72	73	4	4	X
ap-5541	72	74	)	)	PUNCT
ap-5541	72	75	where	where	SCONJ
ap-5541	72	76	(	(	PUNCT
ap-5541	72	77	r	r	NOUN
ap-5541	72	78	)	)	PUNCT
ap-5541	72	79	is	be	AUX
ap-5541	72	80	the	the	DET
ap-5541	72	81	yaw	yaw	PROPN
ap-5541	72	82	rate,(δ	rate,(δ	PROPN
ap-5541	72	83	)	)	PUNCT
ap-5541	72	84	is	be	AUX
ap-5541	72	85	the	the	DET
ap-5541	72	86	rudder	rudder	NOUN
ap-5541	72	87	angle	angle	NOUN
ap-5541	72	88	.	.	PUNCT
ap-5541	73	1	(	(	PUNCT
ap-5541	73	2	k	k	X
ap-5541	73	3	)	)	PUNCT
ap-5541	73	4	is	be	AUX
ap-5541	73	5	the	the	DET
ap-5541	73	6	static	static	ADJ
ap-5541	73	7	ruder	rude	ADJ
ap-5541	73	8	gain	gain	NOUN
ap-5541	73	9	.	.	PUNCT
ap-5541	74	1	(	(	PUNCT
ap-5541	74	2	t1	t1	NOUN
ap-5541	74	3	,	,	PUNCT
ap-5541	74	4	t2	t2	NOUN
ap-5541	74	5	,	,	PUNCT
ap-5541	74	6	and	and	CCONJ
ap-5541	74	7	t3	t3	PROPN
ap-5541	74	8	)	)	PUNCT
ap-5541	74	9	are	be	AUX
ap-5541	74	10	time	time	NOUN
ap-5541	74	11	constants	constant	NOUN
ap-5541	74	12	,	,	PUNCT
ap-5541	74	13	these	these	DET
ap-5541	74	14	parameters	parameter	NOUN
ap-5541	74	15	rely	rely	VERB
ap-5541	74	16	on	on	ADP
ap-5541	74	17	working	working	NOUN
ap-5541	74	18	conditions	condition	NOUN
ap-5541	74	19	and	and	CCONJ
ap-5541	74	20	are	be	AUX
ap-5541	74	21	generally	generally	ADV
ap-5541	74	22	alluded	allude	VERB
ap-5541	74	23	to	to	ADP
ap-5541	74	24	as	as	ADP
ap-5541	74	25	controlling	control	VERB
ap-5541	74	26	steering	steering	NOUN
ap-5541	74	27	movement	movement	NOUN
ap-5541	74	28	.	.	PUNCT
ap-5541	75	1	in	in	ADP
ap-5541	75	2	real	real	ADJ
ap-5541	75	3	work	work	NOUN
ap-5541	75	4	,	,	PUNCT
ap-5541	75	5	in	in	ADP
ap-5541	75	6	light	light	NOUN
ap-5541	75	7	of	of	ADP
ap-5541	75	8	the	the	DET
ap-5541	75	9	fact	fact	NOUN
ap-5541	75	10	that	that	SCONJ
ap-5541	75	11	the	the	DET
ap-5541	75	12	pole	pole	NOUN
ap-5541	75	13	term	term	NOUN
ap-5541	75	14	(	(	PUNCT
ap-5541	75	15	1	1	NUM
ap-5541	75	16	+	+	NUM
ap-5541	75	17	t2s	t2s	NOUN
ap-5541	75	18	)	)	PUNCT
ap-5541	75	19	and	and	CCONJ
ap-5541	75	20	the	the	DET
ap-5541	75	21	zero	zero	NUM
ap-5541	75	22	term	term	NOUN
ap-5541	75	23	(	(	PUNCT
ap-5541	75	24	1	1	NUM
ap-5541	75	25	+	+	CCONJ
ap-5541	75	26	t3s	t3s	NOUN
ap-5541	75	27	)	)	PUNCT
ap-5541	75	28	in	in	ADP
ap-5541	75	29	eq	eq	ADP
ap-5541	75	30	.	.	PUNCT
ap-5541	75	31	(	(	PUNCT
ap-5541	75	32	2	2	X
ap-5541	75	33	)	)	PUNCT
ap-5541	75	34	nearly	nearly	ADV
ap-5541	75	35	cancel	cancel	VERB
ap-5541	75	36	each	each	DET
ap-5541	75	37	other	other	ADJ
ap-5541	75	38	out	out	ADP
ap-5541	75	39	,	,	PUNCT
ap-5541	75	40	a	a	DET
ap-5541	75	41	further	further	ADJ
ap-5541	75	42	improvement	improvement	NOUN
ap-5541	75	43	of	of	ADP
ap-5541	75	44	eq	eq	PROPN
ap-5541	75	45	.	.	PUNCT
ap-5541	76	1	(	(	PUNCT
ap-5541	76	2	4	4	X
ap-5541	76	3	)	)	PUNCT
ap-5541	76	4	should	should	AUX
ap-5541	76	5	be	be	AUX
ap-5541	76	6	possible	possible	ADJ
ap-5541	76	7	to	to	PART
ap-5541	76	8	give	give	VERB
ap-5541	76	9	the	the	DET
ap-5541	76	10	principal	principal	ADJ
ap-5541	76	11	arrange	arrange	NOUN
ap-5541	76	12	nomoto	nomoto	NOUN
ap-5541	76	13	demonstrate	demonstrate	VERB
ap-5541	76	14	as	as	ADP
ap-5541	76	15	:	:	PUNCT
ap-5541	76	16	r	r	NOUN
ap-5541	76	17	δ	δ	NOUN
ap-5541	76	18	=	=	SYM
ap-5541	76	19	k	k	PROPN
ap-5541	76	20	(	(	PUNCT
ap-5541	76	21	1	1	NUM
ap-5541	76	22	+	+	CCONJ
ap-5541	76	23	ts	ts	NOUN
ap-5541	76	24	)	)	PUNCT
ap-5541	76	25	(	(	PUNCT
ap-5541	76	26	5	5	X
ap-5541	76	27	)	)	PUNCT
ap-5541	76	28	where	where	SCONJ
ap-5541	76	29	t	t	NOUN
ap-5541	76	30	=	=	PROPN
ap-5541	76	31	t1	t1	PROPN
ap-5541	76	32	+	+	NUM
ap-5541	76	33	t2	t2	PROPN
ap-5541	76	34	−	−	PROPN
ap-5541	76	35	t3	t3	PROPN
ap-5541	76	36	.	.	PUNCT
ap-5541	77	1	sometimes	sometimes	ADV
ap-5541	77	2	called	call	VERB
ap-5541	77	3	as	as	ADP
ap-5541	77	4	yaw	yaw	PROPN
ap-5541	77	5	model	model	NOUN
ap-5541	77	6	,	,	PUNCT
ap-5541	77	7	the	the	DET
ap-5541	77	8	nomoto	nomoto	NOUN
ap-5541	77	9	display	display	NOUN
ap-5541	77	10	is	be	AUX
ap-5541	77	11	legitimate	legitimate	ADJ
ap-5541	77	12	on	on	ADP
ap-5541	77	13	the	the	DET
ap-5541	77	14	assumption	assumption	NOUN
ap-5541	77	15	,	,	PUNCT
ap-5541	77	16	that	that	SCONJ
ap-5541	77	17	the	the	DET
ap-5541	77	18	ship	ship	NOUN
ap-5541	77	19	moves	move	VERB
ap-5541	77	20	at	at	ADP
ap-5541	77	21	a	a	DET
ap-5541	77	22	steady	steady	ADJ
ap-5541	77	23	speed	speed	NOUN
ap-5541	77	24	,	,	PUNCT
ap-5541	77	25	the	the	DET
ap-5541	77	26	propelling	propelling	NOUN
ap-5541	77	27	push	push	NOUN
ap-5541	77	28	is	be	AUX
ap-5541	77	29	consistent	consistent	ADJ
ap-5541	77	30	and	and	CCONJ
ap-5541	77	31	the	the	DET
ap-5541	77	32	rudder	rudder	NOUN
ap-5541	77	33	angle	angle	NOUN
ap-5541	77	34	is	be	AUX
ap-5541	77	35	little	little	ADJ
ap-5541	77	36	.	.	PUNCT
ap-5541	78	1	given	give	VERB
ap-5541	78	2	that	that	SCONJ
ap-5541	78	3	conditions	condition	NOUN
ap-5541	78	4	are	be	AUX
ap-5541	78	5	satisfied	satisfied	ADJ
ap-5541	78	6	,	,	PUNCT
ap-5541	78	7	the	the	DET
ap-5541	78	8	nomoto	nomoto	NOUN
ap-5541	78	9	display	display	NOUN
ap-5541	78	10	gives	give	VERB
ap-5541	78	11	a	a	DET
ap-5541	78	12	sensibly	sensibly	ADV
ap-5541	78	13	exact	exact	ADJ
ap-5541	78	14	portrayal	portrayal	NOUN
ap-5541	78	15	of	of	ADP
ap-5541	78	16	course	course	NOUN
ap-5541	78	17	-	-	PUNCT
ap-5541	78	18	keeping	keep	VERB
ap-5541	78	19	behaviour	behaviour	NOUN
ap-5541	79	1	[	[	X
ap-5541	79	2	22	22	NUM
ap-5541	79	3	]	]	PUNCT
ap-5541	79	4	.	.	PUNCT
ap-5541	80	1	nomoto	nomoto	PROPN
ap-5541	80	2	model	model	PROPN
ap-5541	80	3	,	,	PUNCT
ap-5541	80	4	which	which	PRON
ap-5541	80	5	is	be	AUX
ap-5541	80	6	widely	widely	ADV
ap-5541	80	7	employed	employ	VERB
ap-5541	80	8	in	in	ADP
ap-5541	80	9	autopilot	autopilot	NOUN
ap-5541	80	10	design	design	NOUN
ap-5541	80	11	and	and	CCONJ
ap-5541	80	12	yaw	yaw	NOUN
ap-5541	80	13	dynamics	dynamic	NOUN
ap-5541	80	14	,	,	PUNCT
ap-5541	80	15	is	be	AUX
ap-5541	80	16	characterised	characterise	VERB
ap-5541	80	17	by	by	ADP
ap-5541	80	18	parameters	parameter	NOUN
ap-5541	80	19	k	k	PROPN
ap-5541	80	20	and	and	CCONJ
ap-5541	80	21	t	t	PROPN
ap-5541	80	22	can	can	AUX
ap-5541	80	23	be	be	AUX
ap-5541	80	24	determined	determine	VERB
ap-5541	80	25	by	by	ADP
ap-5541	80	26	manoeuvring	manoeuvre	VERB
ap-5541	80	27	tests	test	NOUN
ap-5541	80	28	.	.	PUNCT
ap-5541	81	1	in	in	ADP
ap-5541	81	2	practice	practice	NOUN
ap-5541	81	3	,	,	PUNCT
ap-5541	81	4	it	it	PRON
ap-5541	81	5	is	be	AUX
ap-5541	81	6	more	more	ADV
ap-5541	81	7	helpful	helpful	ADJ
ap-5541	81	8	to	to	PART
ap-5541	81	9	work	work	VERB
ap-5541	81	10	with	with	ADP
ap-5541	81	11	the	the	DET
ap-5541	81	12	heading	head	VERB
ap-5541	81	13	angle	angle	NOUN
ap-5541	81	14	(	(	PUNCT
ap-5541	81	15	ψ	ψ	NOUN
ap-5541	81	16	)	)	PUNCT
ap-5541	81	17	than	than	ADP
ap-5541	81	18	the	the	DET
ap-5541	81	19	yaw	yaw	NOUN
ap-5541	81	20	rate	rate	NOUN
ap-5541	81	21	(	(	PUNCT
ap-5541	81	22	r	r	NOUN
ap-5541	81	23	)	)	PUNCT
ap-5541	81	24	,	,	PUNCT
ap-5541	81	25	it	it	PRON
ap-5541	81	26	is	be	AUX
ap-5541	81	27	ideal	ideal	ADJ
ap-5541	81	28	to	to	PART
ap-5541	81	29	modify	modify	VERB
ap-5541	81	30	eq	eq	ADP
ap-5541	81	31	.	.	PUNCT
ap-5541	82	1	(	(	PUNCT
ap-5541	82	2	5	5	NUM
ap-5541	82	3	)	)	PUNCT
ap-5541	82	4	since	since	SCONJ
ap-5541	82	5	the	the	DET
ap-5541	82	6	yaw	yaw	NOUN
ap-5541	82	7	rate	rate	NOUN
ap-5541	82	8	is	be	AUX
ap-5541	82	9	actually	actually	ADV
ap-5541	82	10	the	the	DET
ap-5541	82	11	time	time	NOUN
ap-5541	82	12	derivative	derivative	NOUN
ap-5541	82	13	of	of	ADP
ap-5541	82	14	the	the	DET
ap-5541	82	15	ship	ship	NOUN
ap-5541	82	16	heading	head	VERB
ap-5541	82	17	angle	angle	NOUN
ap-5541	82	18	,	,	PUNCT
ap-5541	82	19	so	so	SCONJ
ap-5541	82	20	that	that	SCONJ
ap-5541	82	21	:	:	PUNCT
ap-5541	82	22	ψ	ψ	X
ap-5541	82	23	δ	δ	X
ap-5541	82	24	=	=	PUNCT
ap-5541	82	25	k	k	PROPN
ap-5541	82	26	s	s	X
ap-5541	82	27	(	(	PUNCT
ap-5541	82	28	1	1	NUM
ap-5541	82	29	+	+	CCONJ
ap-5541	82	30	ts	ts	NOUN
ap-5541	82	31	)	)	PUNCT
ap-5541	82	32	(	(	PUNCT
ap-5541	82	33	6	6	X
ap-5541	82	34	)	)	PUNCT
ap-5541	82	35	this	this	DET
ap-5541	82	36	model	model	NOUN
ap-5541	82	37	is	be	AUX
ap-5541	82	38	widely	widely	ADV
ap-5541	82	39	used	use	VERB
ap-5541	82	40	for	for	ADP
ap-5541	82	41	the	the	DET
ap-5541	82	42	ship	ship	NOUN
ap-5541	82	43	autopilot	autopilot	NOUN
ap-5541	82	44	design	design	NOUN
ap-5541	82	45	due	due	ADP
ap-5541	82	46	to	to	ADP
ap-5541	82	47	its	its	PRON
ap-5541	82	48	simplicity	simplicity	NOUN
ap-5541	82	49	and	and	CCONJ
ap-5541	82	50	accuracy	accuracy	NOUN
ap-5541	82	51	.	.	PUNCT
ap-5541	83	1	eq	eq	ADJ
ap-5541	83	2	.	.	PUNCT
ap-5541	84	1	(	(	PUNCT
ap-5541	84	2	6	6	NUM
ap-5541	84	3	)	)	PUNCT
ap-5541	84	4	can	can	AUX
ap-5541	84	5	be	be	AUX
ap-5541	84	6	written	write	VERB
ap-5541	84	7	as	as	ADP
ap-5541	84	8	state	state	NOUN
ap-5541	84	9	-	-	PUNCT
ap-5541	84	10	space	space	NOUN
ap-5541	84	11	form	form	NOUN
ap-5541	84	12	:	:	PUNCT
ap-5541	84	13	[	[	PUNCT
ap-5541	84	14	ψ	ψ	X
ap-5541	84	15	r	r	NOUN
ap-5541	84	16	]	]	PUNCT
ap-5541	84	17	=	=	PUNCT
ap-5541	85	1	[	[	PUNCT
ap-5541	85	2	0	0	NUM
ap-5541	85	3	1	1	NUM
ap-5541	85	4	0	0	NUM
ap-5541	85	5	−1	−1	NOUN
ap-5541	85	6	t	t	NOUN
ap-5541	85	7	]	]	PUNCT
ap-5541	85	8	[	[	PUNCT
ap-5541	85	9	ψ	ψ	X
ap-5541	85	10	r	r	NOUN
ap-5541	85	11	]	]	PUNCT
ap-5541	85	12	+	+	CCONJ
ap-5541	85	13	[	[	PUNCT
ap-5541	85	14	0	0	NUM
ap-5541	85	15	k	k	NOUN
ap-5541	85	16	t	t	X
ap-5541	85	17	]	]	PUNCT
ap-5541	85	18	δ	δ	PROPN
ap-5541	85	19	(	(	PUNCT
ap-5541	85	20	7	7	NUM
ap-5541	85	21	)	)	SYM
ap-5541	85	22	198	198	NUM
ap-5541	85	23	vol	vol	NOUN
ap-5541	85	24	.	.	PUNCT
ap-5541	86	1	60	60	NUM
ap-5541	86	2	no	no	NOUN
ap-5541	86	3	.	.	PUNCT
ap-5541	87	1	3/2020	3/2020	DET
ap-5541	87	2	model	model	NOUN
ap-5541	87	3	reference	reference	NOUN
ap-5541	87	4	adaptive	adaptive	ADJ
ap-5541	87	5	control	control	NOUN
ap-5541	87	6	-	-	PUNCT
ap-5541	87	7	based	base	VERB
ap-5541	87	8	genetic	genetic	ADJ
ap-5541	87	9	algorithm	algorithm	NOUN
ap-5541	87	10	design	design	NOUN
ap-5541	87	11	.	.	PUNCT
ap-5541	87	12	.	.	PUNCT
ap-5541	88	1	.	.	PUNCT
ap-5541	89	1	figure	figure	NOUN
ap-5541	89	2	1	1	NUM
ap-5541	89	3	.	.	PUNCT
ap-5541	90	1	ship	ship	NOUN
ap-5541	90	2	motion	motion	NOUN
ap-5541	90	3	description	description	NOUN
ap-5541	90	4	[	[	X
ap-5541	90	5	4	4	NUM
ap-5541	90	6	]	]	PUNCT
ap-5541	90	7	.	.	PUNCT
ap-5541	91	1	x	x	PUNCT
ap-5541	92	1	=	=	PUNCT
ap-5541	92	2	ax+bu	ax+bu	NOUN
ap-5541	92	3	ψ	ψ	NOUN
ap-5541	92	4	=	=	X
ap-5541	92	5	[	[	PUNCT
ap-5541	92	6	1	1	NUM
ap-5541	92	7	0	0	NUM
ap-5541	92	8	]	]	PUNCT
ap-5541	93	1	[	[	PUNCT
ap-5541	93	2	ψ	ψ	X
ap-5541	93	3	r	r	NOUN
ap-5541	93	4	]	]	PUNCT
ap-5541	93	5	+	+	CCONJ
ap-5541	93	6	[	[	X
ap-5541	93	7	0	0	NUM
ap-5541	93	8	]	]	X
ap-5541	93	9	δ	δ	PROPN
ap-5541	93	10	(	(	PUNCT
ap-5541	93	11	8)	8)	NUM
ap-5541	93	12	y	y	NOUN
ap-5541	93	13	=	=	SYM
ap-5541	93	14	cx	cx	PROPN
ap-5541	94	1	where	where	SCONJ
ap-5541	94	2	r	r	NOUN
ap-5541	94	3	=	=	SYM
ap-5541	94	4	dψ	dψ	X
ap-5541	94	5	dt	dt	NOUN
ap-5541	94	6	in	in	ADP
ap-5541	94	7	other	other	ADJ
ap-5541	94	8	words	word	NOUN
ap-5541	94	9	,	,	PUNCT
ap-5541	94	10	eq	eq	NOUN
ap-5541	94	11	.	.	PUNCT
ap-5541	94	12	(	(	PUNCT
ap-5541	94	13	6	6	X
ap-5541	94	14	)	)	PUNCT
ap-5541	94	15	shows	show	VERB
ap-5541	94	16	that	that	SCONJ
ap-5541	94	17	the	the	DET
ap-5541	94	18	ship	ship	NOUN
ap-5541	94	19	steering	steer	VERB
ap-5541	94	20	autopilot	autopilot	NOUN
ap-5541	94	21	is	be	AUX
ap-5541	94	22	designed	design	VERB
ap-5541	94	23	for	for	ADP
ap-5541	94	24	the	the	DET
ap-5541	94	25	heading	head	VERB
ap-5541	94	26	angle	angle	NOUN
ap-5541	94	27	control	control	NOUN
ap-5541	95	1	[	[	X
ap-5541	95	2	30	30	NUM
ap-5541	95	3	]	]	PUNCT
ap-5541	95	4	.	.	PUNCT
ap-5541	96	1	therefore	therefore	ADV
ap-5541	96	2	,	,	PUNCT
ap-5541	96	3	the	the	DET
ap-5541	96	4	nomoto	nomoto	NOUN
ap-5541	96	5	model	model	NOUN
ap-5541	96	6	might	might	AUX
ap-5541	96	7	be	be	AUX
ap-5541	96	8	considered	consider	VERB
ap-5541	96	9	as	as	ADP
ap-5541	96	10	a	a	DET
ap-5541	96	11	linear	linear	ADJ
ap-5541	96	12	estimate	estimate	NOUN
ap-5541	96	13	for	for	ADP
ap-5541	96	14	the	the	DET
ap-5541	96	15	full	full	ADJ
ap-5541	96	16	model	model	NOUN
ap-5541	96	17	ship	ship	NOUN
ap-5541	96	18	.	.	PUNCT
ap-5541	97	1	if	if	SCONJ
ap-5541	97	2	we	we	PRON
ap-5541	97	3	take	take	VERB
ap-5541	97	4	k	k	PROPN
ap-5541	97	5	=	=	PUNCT
ap-5541	97	6	0.2803	0.2803	NUM
ap-5541	97	7	and	and	CCONJ
ap-5541	97	8	t	t	NOUN
ap-5541	97	9	=	=	SYM
ap-5541	97	10	47.44	47.44	NUM
ap-5541	97	11	sec	sec	PROPN
ap-5541	98	1	[	[	X
ap-5541	98	2	27	27	NUM
ap-5541	98	3	]	]	PUNCT
ap-5541	98	4	,	,	PUNCT
ap-5541	98	5	the	the	DET
ap-5541	98	6	transfer	transfer	NOUN
ap-5541	98	7	function	function	NOUN
ap-5541	98	8	of	of	ADP
ap-5541	98	9	eq	eq	PROPN
ap-5541	98	10	.	.	PUNCT
ap-5541	99	1	(	(	PUNCT
ap-5541	99	2	6	6	NUM
ap-5541	99	3	)	)	PUNCT
ap-5541	99	4	is	be	AUX
ap-5541	99	5	:	:	PUNCT
ap-5541	99	6	ψ	ψ	VERB
ap-5541	99	7	δ	δ	X
ap-5541	99	8	=	=	PUNCT
ap-5541	99	9	0.2803	0.2803	NUM
ap-5541	99	10	s	s	PART
ap-5541	99	11	(	(	PUNCT
ap-5541	99	12	1	1	NUM
ap-5541	99	13	+	+	CCONJ
ap-5541	99	14	47.44s	47.44s	NUM
ap-5541	99	15	)	)	PUNCT
ap-5541	99	16	(	(	PUNCT
ap-5541	99	17	9	9	X
ap-5541	99	18	)	)	PUNCT
ap-5541	99	19	figure	figure	NOUN
ap-5541	99	20	2	2	NUM
ap-5541	99	21	shows	show	VERB
ap-5541	99	22	the	the	DET
ap-5541	99	23	closed	close	VERB
ap-5541	99	24	-	-	PUNCT
ap-5541	99	25	loop	loop	NOUN
ap-5541	99	26	transient	transient	ADJ
ap-5541	99	27	response	response	NOUN
ap-5541	99	28	of	of	ADP
ap-5541	99	29	a	a	DET
ap-5541	99	30	ship	ship	NOUN
ap-5541	99	31	motion	motion	NOUN
ap-5541	99	32	without	without	ADP
ap-5541	99	33	the	the	DET
ap-5541	99	34	controller	controller	NOUN
ap-5541	99	35	,	,	PUNCT
ap-5541	99	36	it	it	PRON
ap-5541	99	37	appears	appear	VERB
ap-5541	99	38	that	that	SCONJ
ap-5541	99	39	the	the	DET
ap-5541	99	40	maximum	maximum	ADJ
ap-5541	99	41	overshot	overshot	PROPN
ap-5541	99	42	(	(	PUNCT
ap-5541	99	43	the	the	DET
ap-5541	99	44	maximum	maximum	ADJ
ap-5541	99	45	amount	amount	NOUN
ap-5541	99	46	by	by	ADP
ap-5541	99	47	which	which	PRON
ap-5541	99	48	the	the	DET
ap-5541	99	49	response	response	NOUN
ap-5541	99	50	overshoots	overshoot	VERB
ap-5541	99	51	the	the	DET
ap-5541	99	52	steady	steady	ADJ
ap-5541	99	53	-	-	PUNCT
ap-5541	99	54	state	state	NOUN
ap-5541	99	55	value	value	NOUN
ap-5541	99	56	and	and	CCONJ
ap-5541	99	57	is	be	AUX
ap-5541	99	58	thus	thus	ADV
ap-5541	99	59	the	the	DET
ap-5541	99	60	amplitude	amplitude	NOUN
ap-5541	99	61	of	of	ADP
ap-5541	99	62	the	the	DET
ap-5541	99	63	first	first	ADJ
ap-5541	99	64	peak	peak	NOUN
ap-5541	99	65	)	)	PUNCT
ap-5541	99	66	,	,	PUNCT
ap-5541	99	67	which	which	PRON
ap-5541	99	68	is	be	AUX
ap-5541	99	69	mp	mp	NOUN
ap-5541	99	70	=	=	PUNCT
ap-5541	99	71	64.7	64.7	NUM
ap-5541	99	72	%	%	NOUN
ap-5541	99	73	and	and	CCONJ
ap-5541	99	74	settling	settle	VERB
ap-5541	99	75	time(defined	time(define	VERB
ap-5541	99	76	as	as	ADP
ap-5541	99	77	the	the	DET
ap-5541	99	78	time	time	NOUN
ap-5541	99	79	required	require	VERB
ap-5541	99	80	by	by	ADP
ap-5541	99	81	the	the	DET
ap-5541	99	82	response	response	NOUN
ap-5541	99	83	to	to	PART
ap-5541	99	84	reach	reach	VERB
ap-5541	99	85	and	and	CCONJ
ap-5541	99	86	steady	steady	ADJ
ap-5541	99	87	within	within	ADP
ap-5541	99	88	the	the	DET
ap-5541	99	89	specified	specified	ADJ
ap-5541	99	90	range	range	NOUN
ap-5541	99	91	of	of	ADP
ap-5541	99	92	2%),which	2%),which	NUM
ap-5541	99	93	is	be	AUX
ap-5541	99	94	ts	ts	ADP
ap-5541	99	95	=	=	SYM
ap-5541	99	96	342	342	NUM
ap-5541	99	97	sec	sec	PROPN
ap-5541	99	98	.	.	PUNCT
ap-5541	100	1	these	these	DET
ap-5541	100	2	values	value	NOUN
ap-5541	100	3	are	be	AUX
ap-5541	100	4	undesirable	undesirable	ADJ
ap-5541	100	5	design	design	NOUN
ap-5541	100	6	requirements	requirement	NOUN
ap-5541	100	7	for	for	ADP
ap-5541	100	8	ship	ship	NOUN
ap-5541	100	9	movements	movement	NOUN
ap-5541	100	10	,	,	PUNCT
ap-5541	100	11	therefore	therefore	ADV
ap-5541	100	12	,	,	PUNCT
ap-5541	100	13	a	a	DET
ap-5541	100	14	controller	controller	NOUN
ap-5541	100	15	needs	need	VERB
ap-5541	100	16	to	to	PART
ap-5541	100	17	be	be	AUX
ap-5541	100	18	designed	design	VERB
ap-5541	100	19	to	to	PART
ap-5541	100	20	address	address	VERB
ap-5541	100	21	this	this	PRON
ap-5541	100	22	.	.	PUNCT
ap-5541	101	1	3	3	X
ap-5541	101	2	.	.	X
ap-5541	101	3	ship	ship	NOUN
ap-5541	101	4	steering	steering	NOUN
ap-5541	101	5	control	control	NOUN
ap-5541	101	6	methods	method	NOUN
ap-5541	101	7	as	as	ADP
ap-5541	101	8	a	a	DET
ap-5541	101	9	rule	rule	NOUN
ap-5541	101	10	,	,	PUNCT
ap-5541	101	11	a	a	DET
ap-5541	101	12	ship	ship	NOUN
ap-5541	101	13	controlling	control	VERB
ap-5541	101	14	framework	framework	NOUN
ap-5541	101	15	is	be	AUX
ap-5541	101	16	a	a	DET
ap-5541	101	17	singleinput	singleinput	NOUN
ap-5541	101	18	-	-	PUNCT
ap-5541	101	19	single	single	ADJ
ap-5541	101	20	-	-	PUNCT
ap-5541	101	21	output	output	NOUN
ap-5541	101	22	system	system	NOUN
ap-5541	101	23	.	.	PUNCT
ap-5541	102	1	this	this	PRON
ap-5541	102	2	can	can	AUX
ap-5541	102	3	be	be	AUX
ap-5541	102	4	seen	see	VERB
ap-5541	102	5	in	in	ADP
ap-5541	102	6	figure	figure	NOUN
ap-5541	102	7	3	3	NUM
ap-5541	102	8	,	,	PUNCT
ap-5541	102	9	where	where	SCONJ
ap-5541	102	10	(	(	PUNCT
ap-5541	102	11	ψd	ψd	NOUN
ap-5541	102	12	)	)	PUNCT
ap-5541	102	13	is	be	AUX
ap-5541	102	14	desired	desire	VERB
ap-5541	102	15	heading	head	VERB
ap-5541	102	16	,	,	PUNCT
ap-5541	102	17	(	(	PUNCT
ap-5541	102	18	ψ	ψ	X
ap-5541	102	19	)	)	PUNCT
ap-5541	102	20	is	be	AUX
ap-5541	102	21	the	the	DET
ap-5541	102	22	actual	actual	ADJ
ap-5541	102	23	heading	heading	NOUN
ap-5541	102	24	and	and	CCONJ
ap-5541	102	25	(	(	PUNCT
ap-5541	102	26	δc	δc	NOUN
ap-5541	102	27	)	)	PUNCT
ap-5541	102	28	is	be	AUX
ap-5541	102	29	the	the	DET
ap-5541	102	30	command	command	NOUN
ap-5541	102	31	rudder	rudder	NOUN
ap-5541	102	32	angle	angle	NOUN
ap-5541	102	33	(	(	PUNCT
ap-5541	102	34	all	all	PRON
ap-5541	102	35	in	in	ADP
ap-5541	102	36	degrees	degree	NOUN
ap-5541	102	37	)	)	PUNCT
ap-5541	102	38	.	.	PUNCT
ap-5541	103	1	the	the	DET
ap-5541	103	2	purpose	purpose	NOUN
ap-5541	103	3	of	of	ADP
ap-5541	103	4	a	a	DET
ap-5541	103	5	guiding	guide	VERB
ap-5541	103	6	machine	machine	NOUN
ap-5541	103	7	is	be	AUX
ap-5541	103	8	to	to	PART
ap-5541	103	9	move	move	VERB
ap-5541	103	10	the	the	DET
ap-5541	103	11	rudder	rudder	NOUN
ap-5541	103	12	edge	edge	NOUN
ap-5541	103	13	to	to	ADP
ap-5541	103	14	a	a	DET
ap-5541	103	15	coveted	covet	VERB
ap-5541	103	16	heading	heading	NOUN
ap-5541	103	17	when	when	SCONJ
ap-5541	103	18	it	it	PRON
ap-5541	103	19	is	be	AUX
ap-5541	103	20	constrained	constrain	VERB
ap-5541	103	21	by	by	ADP
ap-5541	103	22	the	the	DET
ap-5541	103	23	control	control	NOUN
ap-5541	103	24	structure	structure	NOUN
ap-5541	103	25	,	,	PUNCT
ap-5541	103	26	in	in	ADP
ap-5541	103	27	this	this	DET
ap-5541	103	28	paper	paper	NOUN
ap-5541	103	29	,	,	PUNCT
ap-5541	103	30	it	it	PRON
ap-5541	103	31	is	be	AUX
ap-5541	103	32	considered	consider	VERB
ap-5541	103	33	that	that	SCONJ
ap-5541	103	34	this	this	DET
ap-5541	103	35	machine	machine	NOUN
ap-5541	103	36	is	be	AUX
ap-5541	103	37	a	a	DET
ap-5541	103	38	part	part	NOUN
ap-5541	103	39	of	of	ADP
ap-5541	103	40	the	the	DET
ap-5541	103	41	ship	ship	NOUN
ap-5541	103	42	model	model	NOUN
ap-5541	103	43	.	.	PUNCT
ap-5541	104	1	a	a	DET
ap-5541	104	2	controller	controller	NOUN
ap-5541	104	3	for	for	ADP
ap-5541	104	4	a	a	DET
ap-5541	104	5	coordination	coordination	NOUN
ap-5541	104	6	of	of	ADP
ap-5541	104	7	the	the	DET
ap-5541	104	8	ship	ship	NOUN
ap-5541	104	9	normally	normally	ADV
ap-5541	104	10	controls	control	VERB
ap-5541	104	11	the	the	DET
ap-5541	104	12	rudder	rudder	NOUN
ap-5541	104	13	to	to	PART
ap-5541	104	14	diminish	diminish	VERB
ap-5541	104	15	the	the	DET
ap-5541	104	16	error	error	NOUN
ap-5541	104	17	between	between	ADP
ap-5541	104	18	the	the	DET
ap-5541	104	19	reference	reference	NOUN
ap-5541	104	20	heading	head	VERB
ap-5541	104	21	edge	edge	NOUN
ap-5541	104	22	and	and	CCONJ
ap-5541	104	23	the	the	DET
ap-5541	104	24	genuine	genuine	ADJ
ap-5541	104	25	heading	heading	NOUN
ap-5541	104	26	point	point	NOUN
ap-5541	104	27	.	.	PUNCT
ap-5541	105	1	for	for	ADP
ap-5541	105	2	the	the	DET
ap-5541	105	3	essential	essential	ADJ
ap-5541	105	4	plan	plan	NOUN
ap-5541	105	5	,	,	PUNCT
ap-5541	105	6	it	it	PRON
ap-5541	105	7	will	will	AUX
ap-5541	105	8	,	,	PUNCT
ap-5541	105	9	in	in	ADP
ap-5541	105	10	any	any	DET
ap-5541	105	11	case	case	NOUN
ap-5541	105	12	,	,	PUNCT
ap-5541	105	13	be	be	AUX
ap-5541	105	14	expected	expect	VERB
ap-5541	105	15	that	that	SCONJ
ap-5541	105	16	the	the	DET
ap-5541	105	17	ship	ship	NOUN
ap-5541	105	18	’s	’s	PART
ap-5541	105	19	steering	steering	NOUN
ap-5541	105	20	flow	flow	NOUN
ap-5541	105	21	is	be	AUX
ap-5541	105	22	linear	linear	ADJ
ap-5541	105	23	and	and	CCONJ
ap-5541	105	24	of	of	ADP
ap-5541	105	25	a	a	DET
ap-5541	105	26	known	know	VERB
ap-5541	105	27	order	order	NOUN
ap-5541	105	28	and	and	CCONJ
ap-5541	105	29	structure	structure	NOUN
ap-5541	105	30	and	and	CCONJ
ap-5541	105	31	that	that	SCONJ
ap-5541	105	32	there	there	PRON
ap-5541	105	33	is	be	VERB
ap-5541	105	34	no	no	DET
ap-5541	105	35	disturbance	disturbance	NOUN
ap-5541	105	36	.	.	PUNCT
ap-5541	106	1	the	the	DET
ap-5541	106	2	objective	objective	NOUN
ap-5541	106	3	is	be	AUX
ap-5541	106	4	to	to	PART
ap-5541	106	5	plan	plan	VERB
ap-5541	106	6	the	the	DET
ap-5541	106	7	autopilot	autopilot	NOUN
ap-5541	106	8	so	so	SCONJ
ap-5541	106	9	the	the	DET
ap-5541	106	10	closed	closed	ADJ
ap-5541	106	11	-	-	PUNCT
ap-5541	106	12	loop	loop	NOUN
ap-5541	106	13	framework	framework	NOUN
ap-5541	106	14	satisfies	satisfy	VERB
ap-5541	106	15	the	the	DET
ap-5541	106	16	robust	robust	ADJ
ap-5541	106	17	stability	stability	NOUN
ap-5541	106	18	and	and	CCONJ
ap-5541	106	19	design	design	NOUN
ap-5541	106	20	specifications	specification	NOUN
ap-5541	106	21	with	with	ADP
ap-5541	106	22	particular	particular	ADJ
ap-5541	106	23	qualities	quality	NOUN
ap-5541	106	24	for	for	ADP
ap-5541	106	25	course	course	NOUN
ap-5541	106	26	-	-	PUNCT
ap-5541	106	27	changing	change	VERB
ap-5541	106	28	issues	issue	NOUN
ap-5541	106	29	.	.	PUNCT
ap-5541	107	1	there	there	PRON
ap-5541	107	2	are	be	VERB
ap-5541	107	3	many	many	ADJ
ap-5541	107	4	types	type	NOUN
ap-5541	107	5	of	of	ADP
ap-5541	107	6	ship	ship	NOUN
ap-5541	107	7	autopilots	autopilot	NOUN
ap-5541	107	8	.	.	PUNCT
ap-5541	108	1	3.1	3.1	NUM
ap-5541	108	2	.	.	PUNCT
ap-5541	109	1	pid	pid	NOUN
ap-5541	109	2	controller	controller	NOUN
ap-5541	109	3	minorsky	minorsky	PROPN
ap-5541	109	4	proposed	propose	VERB
ap-5541	109	5	the	the	DET
ap-5541	109	6	utilization	utilization	NOUN
ap-5541	109	7	of	of	ADP
ap-5541	109	8	a	a	DET
ap-5541	109	9	pid	pid	NOUN
ap-5541	109	10	controller	controller	NOUN
ap-5541	109	11	[	[	X
ap-5541	109	12	8	8	NUM
ap-5541	109	13	]	]	PUNCT
ap-5541	109	14	,	,	PUNCT
ap-5541	109	15	in	in	ADP
ap-5541	109	16	1930	1930	NUM
ap-5541	109	17	.	.	PUNCT
ap-5541	110	1	indeed	indeed	ADV
ap-5541	110	2	,	,	PUNCT
ap-5541	110	3	even	even	ADV
ap-5541	110	4	today	today	NOUN
ap-5541	110	5	,	,	PUNCT
ap-5541	110	6	most	most	ADJ
ap-5541	110	7	ships	ship	NOUN
ap-5541	110	8	utilize	utilize	VERB
ap-5541	110	9	this	this	DET
ap-5541	110	10	kind	kind	NOUN
ap-5541	110	11	of	of	ADP
ap-5541	110	12	controller	controller	NOUN
ap-5541	110	13	.	.	PUNCT
ap-5541	111	1	there	there	PRON
ap-5541	111	2	are	be	VERB
ap-5541	111	3	few	few	ADJ
ap-5541	111	4	requirements	requirement	NOUN
ap-5541	111	5	that	that	PRON
ap-5541	111	6	need	need	VERB
ap-5541	111	7	to	to	PART
ap-5541	111	8	be	be	AUX
ap-5541	111	9	taken	take	VERB
ap-5541	111	10	into	into	ADP
ap-5541	111	11	account	account	NOUN
ap-5541	111	12	in	in	ADP
ap-5541	111	13	the	the	DET
ap-5541	111	14	design	design	NOUN
ap-5541	111	15	[	[	X
ap-5541	111	16	21	21	NUM
ap-5541	111	17	]	]	X
ap-5541	111	18	:	:	PUNCT
ap-5541	111	19	(	(	PUNCT
ap-5541	111	20	1	1	NUM
ap-5541	111	21	.	.	PUNCT
ap-5541	111	22	)	)	PUNCT
ap-5541	112	1	for	for	ADP
ap-5541	112	2	course	course	NOUN
ap-5541	112	3	-	-	PUNCT
ap-5541	112	4	changing	change	VERB
ap-5541	112	5	without	without	ADP
ap-5541	112	6	oscillations	oscillation	NOUN
ap-5541	112	7	,	,	PUNCT
ap-5541	112	8	the	the	DET
ap-5541	112	9	damping	damp	VERB
ap-5541	112	10	ratio	ratio	NOUN
ap-5541	112	11	is	be	AUX
ap-5541	112	12	chosen	choose	VERB
ap-5541	112	13	between	between	ADP
ap-5541	112	14	(	(	PUNCT
ap-5541	112	15	0.8	0.8	NUM
ap-5541	112	16	and	and	CCONJ
ap-5541	112	17	1	1	NUM
ap-5541	112	18	)	)	PUNCT
ap-5541	112	19	(	(	PUNCT
ap-5541	112	20	2	2	NUM
ap-5541	112	21	.	.	PUNCT
ap-5541	112	22	)	)	PUNCT
ap-5541	113	1	the	the	DET
ap-5541	113	2	choice	choice	NOUN
ap-5541	113	3	of	of	ADP
ap-5541	113	4	natural	natural	ADJ
ap-5541	113	5	frequency	frequency	NOUN
ap-5541	113	6	(	(	PUNCT
ap-5541	113	7	wn	wn	NOUN
ap-5541	113	8	)	)	PUNCT
ap-5541	113	9	will	will	AUX
ap-5541	113	10	be	be	AUX
ap-5541	113	11	limited	limit	VERB
ap-5541	113	12	by	by	ADP
ap-5541	113	13	the	the	DET
ap-5541	113	14	resulting	result	VERB
ap-5541	113	15	bandwidth	bandwidth	NOUN
ap-5541	113	16	of	of	ADP
ap-5541	113	17	the	the	DET
ap-5541	113	18	rudder	rudder	NOUN
ap-5541	113	19	wδ	wδ	NOUN
ap-5541	113	20	(	(	PUNCT
ap-5541	113	21	rad	rad	PROPN
ap-5541	113	22	/	/	SYM
ap-5541	113	23	sec	sec	PROPN
ap-5541	113	24	)	)	PUNCT
ap-5541	113	25	and	and	CCONJ
ap-5541	113	26	the	the	DET
ap-5541	113	27	ship	ship	NOUN
ap-5541	113	28	’s	’s	PART
ap-5541	113	29	dynamics	dynamic	NOUN
ap-5541	113	30	1	1	NUM
ap-5541	113	31	/	/	SYM
ap-5541	113	32	t	t	PROPN
ap-5541	113	33	(	(	PUNCT
ap-5541	113	34	rad	rad	PROPN
ap-5541	113	35	/	/	SYM
ap-5541	113	36	sec	sec	PROPN
ap-5541	113	37	)	)	PUNCT
ap-5541	113	38	for	for	ADP
ap-5541	113	39	a	a	DET
ap-5541	113	40	critically	critically	ADV
ap-5541	113	41	damped	damp	VERB
ap-5541	113	42	ship	ship	NOUN
ap-5541	113	43	.	.	PUNCT
ap-5541	114	1	the	the	DET
ap-5541	114	2	design	design	NOUN
ap-5541	114	3	requirements	requirement	NOUN
ap-5541	114	4	are	be	AUX
ap-5541	114	5	,	,	PUNCT
ap-5541	114	6	considering	consider	VERB
ap-5541	114	7	no	no	DET
ap-5541	114	8	overshot	overshot	ADJ
ap-5541	114	9	,	,	PUNCT
ap-5541	114	10	(	(	PUNCT
ap-5541	114	11	ζ	ζ	NOUN
ap-5541	114	12	=	=	SYM
ap-5541	114	13	1	1	NUM
ap-5541	114	14	)	)	PUNCT
ap-5541	114	15	and	and	CCONJ
ap-5541	114	16	wn	wn	X
ap-5541	114	17	=	=	PROPN
ap-5541	114	18	0.15	0.15	NUM
ap-5541	114	19	rad	rad	PROPN
ap-5541	114	20	/	/	SYM
ap-5541	114	21	sec	sec	PROPN
ap-5541	114	22	.	.	PUNCT
ap-5541	115	1	the	the	DET
ap-5541	115	2	settling	settle	VERB
ap-5541	115	3	time	time	NOUN
ap-5541	115	4	(	(	PUNCT
ap-5541	115	5	ts	ts	NOUN
ap-5541	115	6	=	=	SYM
ap-5541	115	7	4	4	NUM
ap-5541	115	8	/	/	SYM
ap-5541	115	9	ζwn	ζwn	NOUN
ap-5541	115	10	)	)	PUNCT
ap-5541	115	11	=	=	SYM
ap-5541	115	12	39	39	NUM
ap-5541	115	13	sec	sec	PROPN
ap-5541	115	14	.	.	PROPN
ap-5541	115	15	ref	ref	PROPN
ap-5541	115	16	.	.	PUNCT
ap-5541	116	1	[	[	X
ap-5541	116	2	23	23	NUM
ap-5541	116	3	]	]	PUNCT
ap-5541	116	4	has	have	AUX
ap-5541	116	5	inferred	infer	VERB
ap-5541	116	6	straightforward	straightforward	ADJ
ap-5541	116	7	relations	relation	NOUN
ap-5541	116	8	for	for	ADP
ap-5541	116	9	figuring	figure	VERB
ap-5541	116	10	the	the	DET
ap-5541	116	11	pd	pd	PROPN
ap-5541	116	12	/	/	SYM
ap-5541	116	13	pid	pid	NOUN
ap-5541	116	14	controller	controller	NOUN
ap-5541	116	15	parameters	parameter	NOUN
ap-5541	116	16	for	for	ADP
ap-5541	116	17	the	the	DET
ap-5541	116	18	(	(	PUNCT
ap-5541	116	19	ζ	ζ	NOUN
ap-5541	116	20	)	)	PUNCT
ap-5541	116	21	and	and	CCONJ
ap-5541	116	22	(	(	PUNCT
ap-5541	116	23	wn	wn	NOUN
ap-5541	116	24	)	)	PUNCT
ap-5541	116	25	of	of	ADP
ap-5541	116	26	a	a	DET
ap-5541	116	27	closed	closed	ADJ
ap-5541	116	28	-	-	PUNCT
ap-5541	116	29	loop	loop	NOUN
ap-5541	116	30	dispatch	dispatch	NOUN
ap-5541	116	31	control	control	NOUN
ap-5541	116	32	framework	framework	NOUN
ap-5541	116	33	.	.	PUNCT
ap-5541	117	1	where	where	SCONJ
ap-5541	117	2	kp	kp	PROPN
ap-5541	117	3	=	=	PUNCT
ap-5541	117	4	twn2	twn2	PROPN
ap-5541	117	5	k	k	PROPN
ap-5541	117	6	kd	kd	PROPN
ap-5541	117	7	=	=	PROPN
ap-5541	117	8	2tζwn−	2tζwn−	NUM
ap-5541	117	9	1	1	NUM
ap-5541	117	10	k	k	X
ap-5541	117	11	(	(	PUNCT
ap-5541	117	12	10	10	NUM
ap-5541	117	13	)	)	PUNCT
ap-5541	117	14	ki	ki	PROPN
ap-5541	118	1	=	=	PUNCT
ap-5541	118	2	wnkp	wnkp	VERB
ap-5541	118	3	k	k	NOUN
ap-5541	118	4	so	so	SCONJ
ap-5541	118	5	that	that	SCONJ
ap-5541	118	6	kp	kp	PROPN
ap-5541	118	7	=	=	PUNCT
ap-5541	118	8	3.8	3.8	NUM
ap-5541	118	9	,	,	PUNCT
ap-5541	118	10	kd	kd	PROPN
ap-5541	118	11	=	=	PROPN
ap-5541	118	12	47.2	47.2	NUM
ap-5541	118	13	,	,	PUNCT
ap-5541	118	14	and	and	CCONJ
ap-5541	118	15	ki	ki	PROPN
ap-5541	118	16	=	=	NOUN
ap-5541	118	17	0.057	0.057	NUM
ap-5541	118	18	.	.	PUNCT
ap-5541	119	1	figure	figure	NOUN
ap-5541	119	2	4	4	NUM
ap-5541	119	3	shows	show	VERB
ap-5541	119	4	the	the	DET
ap-5541	119	5	closed	close	VERB
ap-5541	119	6	-	-	PUNCT
ap-5541	119	7	loop	loop	NOUN
ap-5541	119	8	transient	transient	ADJ
ap-5541	119	9	response	response	NOUN
ap-5541	119	10	of	of	ADP
ap-5541	119	11	a	a	DET
ap-5541	119	12	ship	ship	NOUN
ap-5541	119	13	motion	motion	NOUN
ap-5541	119	14	with	with	ADP
ap-5541	119	15	a	a	DET
ap-5541	119	16	pid	pid	NOUN
ap-5541	119	17	controller	controller	NOUN
ap-5541	119	18	.	.	PUNCT
ap-5541	120	1	the	the	DET
ap-5541	120	2	figure	figure	NOUN
ap-5541	120	3	demonstrates	demonstrate	VERB
ap-5541	120	4	that	that	SCONJ
ap-5541	120	5	the	the	DET
ap-5541	120	6	ship	ship	NOUN
ap-5541	120	7	does	do	AUX
ap-5541	120	8	not	not	PART
ap-5541	120	9	take	take	VERB
ap-5541	120	10	after	after	ADP
ap-5541	120	11	the	the	DET
ap-5541	120	12	199	199	NUM
ap-5541	120	13	nasir	nasir	PROPN
ap-5541	120	14	ahmad	ahmad	PROPN
ap-5541	120	15	al	al	PROPN
ap-5541	120	16	-	-	PUNCT
ap-5541	120	17	awad	awad	PROPN
ap-5541	120	18	acta	acta	PROPN
ap-5541	120	19	polytechnica	polytechnica	PROPN
ap-5541	120	20	figure	figure	NOUN
ap-5541	120	21	2	2	NUM
ap-5541	120	22	.	.	PUNCT
ap-5541	120	23	closed	close	VERB
ap-5541	120	24	-	-	PUNCT
ap-5541	120	25	loop	loop	NOUN
ap-5541	120	26	transient	transient	ADJ
ap-5541	120	27	response	response	NOUN
ap-5541	120	28	of	of	ADP
ap-5541	120	29	ship	ship	NOUN
ap-5541	120	30	motion	motion	NOUN
ap-5541	120	31	without	without	ADP
ap-5541	120	32	controller	controller	NOUN
ap-5541	120	33	.	.	PUNCT
ap-5541	121	1	figure	figure	VERB
ap-5541	121	2	3	3	NUM
ap-5541	121	3	.	.	PUNCT
ap-5541	121	4	ship	ship	NOUN
ap-5541	121	5	steering	steering	NOUN
ap-5541	121	6	control	control	NOUN
ap-5541	121	7	system	system	NOUN
ap-5541	121	8	.	.	PUNCT
ap-5541	122	1	coveted	coveted	ADJ
ap-5541	122	2	reaction	reaction	NOUN
ap-5541	122	3	,	,	PUNCT
ap-5541	122	4	an	an	DET
ap-5541	122	5	overshoot	overshoot	NOUN
ap-5541	122	6	of	of	ADP
ap-5541	122	7	about	about	ADP
ap-5541	122	8	mp	mp	NOUN
ap-5541	122	9	=	=	NUM
ap-5541	122	10	10.3	10.3	NUM
ap-5541	122	11	%	%	NOUN
ap-5541	122	12	)	)	PUNCT
ap-5541	122	13	can	can	AUX
ap-5541	122	14	obviously	obviously	ADV
ap-5541	122	15	be	be	AUX
ap-5541	122	16	observed	observe	VERB
ap-5541	122	17	.	.	PUNCT
ap-5541	123	1	this	this	PRON
ap-5541	123	2	can	can	AUX
ap-5541	123	3	be	be	AUX
ap-5541	123	4	perilous	perilous	ADJ
ap-5541	123	5	,	,	PUNCT
ap-5541	123	6	if	if	SCONJ
ap-5541	123	7	different	different	ADJ
ap-5541	123	8	ships	ship	NOUN
ap-5541	123	9	are	be	AUX
ap-5541	123	10	in	in	ADP
ap-5541	123	11	the	the	DET
ap-5541	123	12	environment	environment	NOUN
ap-5541	123	13	or	or	CCONJ
ap-5541	123	14	if	if	SCONJ
ap-5541	123	15	the	the	DET
ap-5541	123	16	ship	ship	NOUN
ap-5541	123	17	is	be	AUX
ap-5541	123	18	cruising	cruise	VERB
ap-5541	123	19	in	in	ADP
ap-5541	123	20	a	a	DET
ap-5541	123	21	limited	limited	ADJ
ap-5541	123	22	channel	channel	NOUN
ap-5541	123	23	.	.	PUNCT
ap-5541	124	1	the	the	DET
ap-5541	124	2	execution	execution	NOUN
ap-5541	124	3	of	of	ADP
ap-5541	124	4	the	the	DET
ap-5541	124	5	controller	controller	NOUN
ap-5541	124	6	is	be	AUX
ap-5541	124	7	not	not	PART
ap-5541	124	8	sufficiently	sufficiently	ADV
ap-5541	124	9	accurate	accurate	ADJ
ap-5541	124	10	,	,	PUNCT
ap-5541	124	11	even	even	ADV
ap-5541	124	12	at	at	ADP
ap-5541	124	13	a	a	DET
ap-5541	124	14	settled	settle	VERB
ap-5541	124	15	forward	forward	ADJ
ap-5541	124	16	speed	speed	NOUN
ap-5541	124	17	of	of	ADP
ap-5541	124	18	the	the	DET
ap-5541	124	19	ship	ship	NOUN
ap-5541	124	20	.	.	PUNCT
ap-5541	125	1	3.2	3.2	NUM
ap-5541	125	2	.	.	NUM
ap-5541	125	3	lqr	lqr	AUX
ap-5541	125	4	controller	controller	VERB
ap-5541	125	5	an	an	DET
ap-5541	125	6	(	(	PUNCT
ap-5541	125	7	lqr	lqr	PROPN
ap-5541	125	8	)	)	PUNCT
ap-5541	125	9	can	can	AUX
ap-5541	125	10	be	be	AUX
ap-5541	125	11	designed	design	VERB
ap-5541	125	12	for	for	ADP
ap-5541	125	13	the	the	DET
ap-5541	125	14	state	state	NOUN
ap-5541	125	15	-	-	PUNCT
ap-5541	125	16	space	space	NOUN
ap-5541	125	17	model	model	NOUN
ap-5541	125	18	,	,	PUNCT
ap-5541	125	19	in	in	ADP
ap-5541	125	20	order	order	NOUN
ap-5541	125	21	to	to	PART
ap-5541	125	22	design	design	VERB
ap-5541	125	23	a	a	DET
ap-5541	125	24	linear	linear	ADJ
ap-5541	125	25	optimal	optimal	ADJ
ap-5541	125	26	control	control	NOUN
ap-5541	125	27	law	law	NOUN
ap-5541	125	28	,	,	PUNCT
ap-5541	125	29	the	the	DET
ap-5541	125	30	system	system	NOUN
ap-5541	125	31	(	(	PUNCT
ap-5541	125	32	a	a	DET
ap-5541	125	33	,	,	PUNCT
ap-5541	125	34	b	b	NOUN
ap-5541	125	35	,	,	PUNCT
ap-5541	125	36	c	c	NOUN
ap-5541	125	37	)	)	PUNCT
ap-5541	125	38	must	must	AUX
ap-5541	125	39	be	be	AUX
ap-5541	125	40	controllable	controllable	ADJ
ap-5541	125	41	.	.	PUNCT
ap-5541	126	1	refer	refer	VERB
ap-5541	126	2	to	to	ADP
ap-5541	126	3	eq	eq	NOUN
ap-5541	126	4	.	.	PUNCT
ap-5541	127	1	(	(	PUNCT
ap-5541	127	2	7	7	NUM
ap-5541	127	3	)	)	PUNCT
ap-5541	127	4	and	and	CCONJ
ap-5541	127	5	(	(	PUNCT
ap-5541	127	6	8)	8)	NUM
ap-5541	127	7	.	.	PUNCT
ap-5541	127	8	ref	ref	NOUN
ap-5541	127	9	.	.	PUNCT
ap-5541	128	1	[	[	X
ap-5541	128	2	31	31	NUM
ap-5541	128	3	]	]	PUNCT
ap-5541	128	4	covers	cover	VERB
ap-5541	128	5	the	the	DET
ap-5541	128	6	deduction	deduction	NOUN
ap-5541	128	7	of	of	ADP
ap-5541	128	8	the	the	DET
ap-5541	128	9	(	(	PUNCT
ap-5541	128	10	lqr	lqr	PROPN
ap-5541	128	11	)	)	PUNCT
ap-5541	128	12	and	and	CCONJ
ap-5541	128	13	that	that	DET
ap-5541	128	14	induction	induction	NOUN
ap-5541	128	15	wo	will	AUX
ap-5541	128	16	n’t	not	PART
ap-5541	128	17	be	be	AUX
ap-5541	128	18	repeated	repeat	VERB
ap-5541	128	19	here	here	ADV
ap-5541	128	20	.	.	PUNCT
ap-5541	129	1	in	in	ADP
ap-5541	129	2	any	any	DET
ap-5541	129	3	case	case	NOUN
ap-5541	129	4	,	,	PUNCT
ap-5541	129	5	the	the	DET
ap-5541	129	6	essential	essential	ADJ
ap-5541	129	7	issue	issue	NOUN
ap-5541	129	8	is	be	AUX
ap-5541	129	9	to	to	PART
ap-5541	129	10	limit	limit	VERB
ap-5541	129	11	some	some	DET
ap-5541	129	12	quadratic	quadratic	ADJ
ap-5541	129	13	cost	cost	NOUN
ap-5541	129	14	work	work	NOUN
ap-5541	129	15	(	(	PUNCT
ap-5541	129	16	j	j	NOUN
ap-5541	129	17	)	)	PUNCT
ap-5541	129	18	obliged	oblige	VERB
ap-5541	129	19	by	by	ADP
ap-5541	129	20	the	the	DET
ap-5541	129	21	progression	progression	NOUN
ap-5541	129	22	of	of	ADP
ap-5541	129	23	the	the	DET
ap-5541	129	24	framework	framework	NOUN
ap-5541	129	25	.	.	PUNCT
ap-5541	130	1	using	use	VERB
ap-5541	130	2	the	the	DET
ap-5541	130	3	matlab	matlab	PROPN
ap-5541	130	4	tool	tool	NOUN
ap-5541	130	5	:	:	PUNCT
ap-5541	131	1	[	[	X
ap-5541	131	2	k	k	X
ap-5541	131	3	,	,	PUNCT
ap-5541	131	4	p	p	X
ap-5541	131	5	,	,	PUNCT
ap-5541	131	6	e	e	X
ap-5541	131	7	]	]	X
ap-5541	131	8	=	=	SYM
ap-5541	131	9	lqr(a	lqr(a	PROPN
ap-5541	131	10	,	,	PUNCT
ap-5541	131	11	b	b	NOUN
ap-5541	131	12	,	,	PUNCT
ap-5541	131	13	q	q	NOUN
ap-5541	131	14	,	,	PUNCT
ap-5541	131	15	r	r	NOUN
ap-5541	131	16	)	)	PUNCT
ap-5541	131	17	and	and	CCONJ
ap-5541	131	18	let	let	VERB
ap-5541	131	19	r	r	NOUN
ap-5541	131	20	=	=	SYM
ap-5541	131	21	0.1	0.1	NUM
ap-5541	131	22	,	,	PUNCT
ap-5541	131	23	q	q	NOUN
ap-5541	131	24	=	=	SYM
ap-5541	131	25	c′	c′	NOUN
ap-5541	131	26	·	·	PUNCT
ap-5541	131	27	c.	c.	NOUN
ap-5541	131	28	the	the	DET
ap-5541	131	29	values	value	NOUN
ap-5541	131	30	of	of	ADP
ap-5541	131	31	the	the	DET
ap-5541	131	32	gain	gain	NOUN
ap-5541	131	33	matrix	matrix	NOUN
ap-5541	131	34	k	k	NOUN
ap-5541	132	1	=	=	PUNCT
ap-5541	133	1	[	[	X
ap-5541	133	2	3.1623	3.1623	NUM
ap-5541	133	3	33.4766	33.4766	NUM
ap-5541	133	4	]	]	PUNCT
ap-5541	133	5	can	can	AUX
ap-5541	133	6	be	be	AUX
ap-5541	133	7	calculated	calculate	VERB
ap-5541	133	8	.	.	PUNCT
ap-5541	134	1	figure	figure	NOUN
ap-5541	134	2	5	5	NUM
ap-5541	134	3	shows	show	VERB
ap-5541	134	4	the	the	DET
ap-5541	134	5	transient	transient	ADJ
ap-5541	134	6	response	response	NOUN
ap-5541	134	7	of	of	ADP
ap-5541	134	8	the	the	DET
ap-5541	134	9	ship	ship	NOUN
ap-5541	134	10	motion	motion	NOUN
ap-5541	134	11	with	with	ADP
ap-5541	134	12	(	(	PUNCT
ap-5541	134	13	lqr	lqr	PROPN
ap-5541	134	14	)	)	PUNCT
ap-5541	134	15	controller	controller	NOUN
ap-5541	134	16	as	as	SCONJ
ap-5541	134	17	seen	see	VERB
ap-5541	134	18	from	from	ADP
ap-5541	134	19	fig	fig	NOUN
ap-5541	134	20	the	the	DET
ap-5541	134	21	(	(	PUNCT
ap-5541	134	22	mp	mp	NOUN
ap-5541	134	23	=	=	SYM
ap-5541	134	24	4	4	NUM
ap-5541	134	25	%	%	NOUN
ap-5541	134	26	)	)	PUNCT
ap-5541	134	27	and	and	CCONJ
ap-5541	134	28	(	(	PUNCT
ap-5541	134	29	ts	ts	X
ap-5541	134	30	=	=	PROPN
ap-5541	134	31	50.5	50.5	NUM
ap-5541	134	32	sec	sec	PROPN
ap-5541	134	33	)	)	PUNCT
ap-5541	134	34	.	.	PUNCT
ap-5541	135	1	this	this	DET
ap-5541	135	2	type	type	NOUN
ap-5541	135	3	of	of	ADP
ap-5541	135	4	controller	controller	NOUN
ap-5541	135	5	needs	need	VERB
ap-5541	135	6	a	a	DET
ap-5541	135	7	pre	pre	NOUN
ap-5541	135	8	-	-	NOUN
ap-5541	135	9	filter	filter	NOUN
ap-5541	135	10	to	to	PART
ap-5541	135	11	cancel	cancel	VERB
ap-5541	135	12	the	the	DET
ap-5541	135	13	offset	offset	NOUN
ap-5541	135	14	between	between	ADP
ap-5541	135	15	the	the	DET
ap-5541	135	16	input	input	NOUN
ap-5541	135	17	and	and	CCONJ
ap-5541	135	18	the	the	DET
ap-5541	135	19	output	output	NOUN
ap-5541	135	20	.	.	PUNCT
ap-5541	136	1	3.3	3.3	NUM
ap-5541	136	2	.	.	PUNCT
ap-5541	137	1	model	model	PROPN
ap-5541	137	2	reference	reference	PROPN
ap-5541	137	3	adaptive	adaptive	ADJ
ap-5541	137	4	control	control	NOUN
ap-5541	137	5	-	-	PUNCT
ap-5541	137	6	based	base	VERB
ap-5541	137	7	genetic	genetic	ADJ
ap-5541	137	8	algorithm	algorithm	NOUN
ap-5541	137	9	(	(	PUNCT
ap-5541	137	10	mrac	mrac	PROPN
ap-5541	137	11	-	-	PUNCT
ap-5541	137	12	ga	ga	NOUN
ap-5541	137	13	)	)	PUNCT
ap-5541	137	14	an	an	DET
ap-5541	137	15	adaptive	adaptive	ADJ
ap-5541	137	16	controller	controller	NOUN
ap-5541	137	17	is	be	AUX
ap-5541	137	18	a	a	DET
ap-5541	137	19	settled	settle	VERB
ap-5541	137	20	structure	structure	NOUN
ap-5541	137	21	controller	controller	NOUN
ap-5541	137	22	with	with	ADP
ap-5541	137	23	movable	movable	ADJ
ap-5541	137	24	parameters	parameter	NOUN
ap-5541	137	25	and	and	CCONJ
ap-5541	137	26	a	a	DET
ap-5541	137	27	component	component	NOUN
ap-5541	137	28	for	for	ADP
ap-5541	137	29	naturally	naturally	ADV
ap-5541	137	30	altering	alter	VERB
ap-5541	137	31	those	those	DET
ap-5541	137	32	parameters	parameter	NOUN
ap-5541	137	33	.	.	PUNCT
ap-5541	138	1	in	in	ADP
ap-5541	138	2	(	(	PUNCT
ap-5541	138	3	mrac	mrac	NOUN
ap-5541	138	4	)	)	PUNCT
ap-5541	138	5	framework	framework	NOUN
ap-5541	138	6	,	,	PUNCT
ap-5541	138	7	the	the	DET
ap-5541	138	8	desired	desire	VERB
ap-5541	138	9	response	response	NOUN
ap-5541	138	10	is	be	AUX
ap-5541	138	11	determined	determine	VERB
ap-5541	138	12	by	by	ADP
ap-5541	138	13	a	a	DET
ap-5541	138	14	reference	reference	NOUN
ap-5541	138	15	transfer	transfer	NOUN
ap-5541	138	16	function	function	NOUN
ap-5541	138	17	and	and	CCONJ
ap-5541	138	18	the	the	DET
ap-5541	138	19	parameters	parameter	NOUN
ap-5541	138	20	are	be	AUX
ap-5541	138	21	adjusted	adjust	VERB
ap-5541	138	22	in	in	ADP
ap-5541	138	23	light	light	NOUN
ap-5541	138	24	of	of	ADP
ap-5541	138	25	the	the	DET
ap-5541	138	26	error	error	NOUN
ap-5541	138	27	,	,	PUNCT
ap-5541	138	28	which	which	PRON
ap-5541	138	29	is	be	AUX
ap-5541	138	30	the	the	DET
ap-5541	138	31	contrasts	contrast	NOUN
ap-5541	138	32	between	between	ADP
ap-5541	138	33	the	the	DET
ap-5541	138	34	yield	yield	NOUN
ap-5541	138	35	of	of	ADP
ap-5541	138	36	the	the	DET
ap-5541	138	37	nearby	nearby	ADJ
ap-5541	138	38	closed	closed	ADJ
ap-5541	138	39	-	-	PUNCT
ap-5541	138	40	loop	loop	NOUN
ap-5541	138	41	framework	framework	NOUN
ap-5541	138	42	and	and	CCONJ
ap-5541	138	43	the	the	DET
ap-5541	138	44	reference	reference	NOUN
ap-5541	138	45	demonstrate	demonstrate	NOUN
ap-5541	138	46	.	.	PUNCT
ap-5541	139	1	the	the	DET
ap-5541	139	2	adaptation	adaptation	NOUN
ap-5541	139	3	law	law	NOUN
ap-5541	139	4	provides	provide	VERB
ap-5541	139	5	an	an	DET
ap-5541	139	6	adjustment	adjustment	NOUN
ap-5541	139	7	of	of	ADP
ap-5541	139	8	parameters	parameter	NOUN
ap-5541	139	9	whose	whose	DET
ap-5541	139	10	breaking	breaking	NOUN
ap-5541	139	11	point	point	NOUN
ap-5541	139	12	is	be	AUX
ap-5541	139	13	the	the	DET
ap-5541	139	14	misstep	misstep	NOUN
ap-5541	139	15	between	between	ADP
ap-5541	139	16	the	the	DET
ap-5541	139	17	plant	plant	NOUN
ap-5541	139	18	and	and	CCONJ
ap-5541	139	19	the	the	DET
ap-5541	139	20	model	model	NOUN
ap-5541	139	21	’s	’s	PART
ap-5541	139	22	yields	yield	NOUN
ap-5541	139	23	.	.	PUNCT
ap-5541	140	1	hence	hence	ADV
ap-5541	140	2	the	the	DET
ap-5541	140	3	parameters	parameter	NOUN
ap-5541	140	4	of	of	ADP
ap-5541	140	5	the	the	DET
ap-5541	140	6	controller	controller	NOUN
ap-5541	140	7	are	be	AUX
ap-5541	140	8	balanced	balance	VERB
ap-5541	140	9	so	so	SCONJ
ap-5541	140	10	that	that	SCONJ
ap-5541	140	11	the	the	DET
ap-5541	140	12	mistaken	mistaken	ADJ
ap-5541	140	13	approach	approach	NOUN
ap-5541	140	14	is	be	AUX
ap-5541	140	15	zero	zero	NUM
ap-5541	140	16	.	.	PUNCT
ap-5541	141	1	various	various	ADJ
ap-5541	141	2	adjustment	adjustment	NOUN
ap-5541	141	3	laws	law	NOUN
ap-5541	141	4	have	have	AUX
ap-5541	141	5	been	be	AUX
ap-5541	141	6	created	create	VERB
ap-5541	141	7	.	.	PUNCT
ap-5541	142	1	the	the	DET
ap-5541	142	2	two	two	NUM
ap-5541	142	3	essential	essential	ADJ
ap-5541	142	4	components	component	NOUN
ap-5541	142	5	are	be	AUX
ap-5541	142	6	the	the	DET
ap-5541	142	7	gradient	gradient	NOUN
ap-5541	142	8	and	and	CCONJ
ap-5541	142	9	the	the	DET
ap-5541	142	10	lyapunov	lyapunov	ADJ
ap-5541	142	11	approach	approach	NOUN
ap-5541	142	12	.	.	PUNCT
ap-5541	143	1	here	here	ADV
ap-5541	143	2	,	,	PUNCT
ap-5541	143	3	the	the	DET
ap-5541	143	4	gradient	gradient	NOUN
ap-5541	143	5	method	method	NOUN
ap-5541	143	6	using	use	VERB
ap-5541	143	7	the	the	DET
ap-5541	143	8	mit	mit	NOUN
ap-5541	143	9	rule	rule	NOUN
ap-5541	143	10	is	be	AUX
ap-5541	143	11	utilized	utilize	VERB
ap-5541	143	12	to	to	PART
ap-5541	143	13	build	build	VERB
ap-5541	143	14	-	-	PUNCT
ap-5541	143	15	up	up	ADP
ap-5541	143	16	the	the	DET
ap-5541	143	17	adjustment	adjustment	NOUN
ap-5541	143	18	law	law	NOUN
ap-5541	143	19	[	[	X
ap-5541	143	20	32	32	NUM
ap-5541	143	21	,	,	PUNCT
ap-5541	143	22	33].to	33].to	NUM
ap-5541	143	23	apply	apply	VERB
ap-5541	143	24	the	the	DET
ap-5541	143	25	(	(	PUNCT
ap-5541	143	26	mrac	mrac	NOUN
ap-5541	143	27	)	)	PUNCT
ap-5541	143	28	,	,	PUNCT
ap-5541	143	29	a	a	DET
ap-5541	143	30	reference	reference	NOUN
ap-5541	143	31	transfer	transfer	NOUN
ap-5541	143	32	function	function	NOUN
ap-5541	143	33	might	might	AUX
ap-5541	143	34	be	be	AUX
ap-5541	143	35	viewed	view	VERB
ap-5541	143	36	as	as	ADP
ap-5541	143	37	a	a	DET
ap-5541	143	38	pre	pre	NOUN
ap-5541	143	39	-	-	NOUN
ap-5541	143	40	filter	filter	ADJ
ap-5541	143	41	,	,	PUNCT
ap-5541	143	42	see	see	VERB
ap-5541	143	43	figure	figure	NOUN
ap-5541	143	44	6	6	NUM
ap-5541	143	45	.	.	PUNCT
ap-5541	144	1	this	this	PRON
ap-5541	144	2	guarantees	guarantee	VERB
ap-5541	144	3	200	200	NUM
ap-5541	144	4	vol	vol	NOUN
ap-5541	144	5	.	.	PUNCT
ap-5541	145	1	60	60	NUM
ap-5541	145	2	no	no	NOUN
ap-5541	145	3	.	.	PUNCT
ap-5541	146	1	3/2020	3/2020	DET
ap-5541	146	2	model	model	NOUN
ap-5541	146	3	reference	reference	NOUN
ap-5541	146	4	adaptive	adaptive	ADJ
ap-5541	146	5	control	control	NOUN
ap-5541	146	6	-	-	PUNCT
ap-5541	146	7	based	base	VERB
ap-5541	146	8	genetic	genetic	ADJ
ap-5541	146	9	algorithm	algorithm	NOUN
ap-5541	146	10	design	design	NOUN
ap-5541	146	11	.	.	PUNCT
ap-5541	146	12	.	.	PUNCT
ap-5541	147	1	.	.	PUNCT
ap-5541	148	1	figure	figure	VERB
ap-5541	148	2	4	4	NUM
ap-5541	148	3	.	.	PUNCT
ap-5541	148	4	closed	close	VERB
ap-5541	148	5	-	-	PUNCT
ap-5541	148	6	loop	loop	NOUN
ap-5541	148	7	transient	transient	ADJ
ap-5541	148	8	response	response	NOUN
ap-5541	148	9	of	of	ADP
ap-5541	148	10	ship	ship	NOUN
ap-5541	148	11	motion	motion	NOUN
ap-5541	148	12	with	with	ADP
ap-5541	148	13	pid	pid	NOUN
ap-5541	148	14	controller	controller	NOUN
ap-5541	148	15	.	.	PUNCT
ap-5541	149	1	figure	figure	NOUN
ap-5541	149	2	5	5	NUM
ap-5541	149	3	.	.	PUNCT
ap-5541	149	4	closed	close	VERB
ap-5541	149	5	-	-	PUNCT
ap-5541	149	6	loop	loop	NOUN
ap-5541	149	7	transient	transient	ADJ
ap-5541	149	8	response	response	NOUN
ap-5541	149	9	of	of	ADP
ap-5541	149	10	ship	ship	NOUN
ap-5541	149	11	motion	motion	NOUN
ap-5541	149	12	with	with	ADP
ap-5541	149	13	(	(	PUNCT
ap-5541	149	14	lqr	lqr	PROPN
ap-5541	149	15	)	)	PUNCT
ap-5541	149	16	cotroller	cotroller	NOUN
ap-5541	149	17	.	.	PUNCT
ap-5541	150	1	201	201	NUM
ap-5541	150	2	nasir	nasir	PROPN
ap-5541	150	3	ahmad	ahmad	PROPN
ap-5541	150	4	al	al	PROPN
ap-5541	150	5	-	-	PUNCT
ap-5541	150	6	awad	awad	PROPN
ap-5541	150	7	acta	acta	PROPN
ap-5541	150	8	polytechnica	polytechnica	PROPN
ap-5541	150	9	figure	figure	NOUN
ap-5541	150	10	6	6	NUM
ap-5541	150	11	.	.	PUNCT
ap-5541	151	1	the	the	DET
ap-5541	151	2	reference	reference	NOUN
ap-5541	151	3	model	model	NOUN
ap-5541	151	4	.	.	PUNCT
ap-5541	152	1	figure	figure	VERB
ap-5541	152	2	7	7	NUM
ap-5541	152	3	.	.	PUNCT
ap-5541	153	1	the	the	DET
ap-5541	153	2	reference	reference	NOUN
ap-5541	153	3	model	model	NOUN
ap-5541	153	4	.	.	PUNCT
ap-5541	154	1	that	that	SCONJ
ap-5541	154	2	the	the	DET
ap-5541	154	3	numerical	numerical	ADJ
ap-5541	154	4	challenges	challenge	NOUN
ap-5541	154	5	related	relate	VERB
ap-5541	154	6	to	to	ADP
ap-5541	154	7	the	the	DET
ap-5541	154	8	input	input	NOUN
ap-5541	154	9	signal	signal	NOUN
ap-5541	154	10	are	be	AUX
ap-5541	154	11	kept	keep	VERB
ap-5541	154	12	away	away	ADV
ap-5541	154	13	from	from	ADP
ap-5541	154	14	the	the	DET
ap-5541	154	15	calculations	calculation	NOUN
ap-5541	154	16	[	[	X
ap-5541	154	17	28	28	NUM
ap-5541	154	18	]	]	PUNCT
ap-5541	154	19	.	.	PUNCT
ap-5541	155	1	the	the	DET
ap-5541	155	2	elements	element	NOUN
ap-5541	155	3	of	of	ADP
ap-5541	155	4	the	the	DET
ap-5541	155	5	reference	reference	NOUN
ap-5541	155	6	transfer	transfer	NOUN
ap-5541	155	7	function	function	NOUN
ap-5541	155	8	ought	ought	AUX
ap-5541	155	9	to	to	PART
ap-5541	155	10	be	be	AUX
ap-5541	155	11	coordinated	coordinate	VERB
ap-5541	155	12	to	to	ADP
ap-5541	155	13	the	the	DET
ap-5541	155	14	flow	flow	NOUN
ap-5541	155	15	of	of	ADP
ap-5541	155	16	the	the	DET
ap-5541	155	17	ship	ship	NOUN
ap-5541	155	18	paying	pay	VERB
ap-5541	155	19	little	little	ADJ
ap-5541	155	20	mind	mind	NOUN
ap-5541	155	21	to	to	ADP
ap-5541	155	22	the	the	DET
ap-5541	155	23	greatness	greatness	NOUN
ap-5541	155	24	of	of	ADP
ap-5541	155	25	the	the	DET
ap-5541	155	26	requested	request	VERB
ap-5541	155	27	change	change	NOUN
ap-5541	155	28	reference	reference	NOUN
ap-5541	155	29	yaw	yaw	NOUN
ap-5541	155	30	point	point	NOUN
ap-5541	155	31	.	.	PUNCT
ap-5541	156	1	the	the	DET
ap-5541	156	2	reference	reference	NOUN
ap-5541	156	3	transfer	transfer	NOUN
ap-5541	156	4	function	function	NOUN
ap-5541	156	5	is	be	AUX
ap-5541	156	6	excessively	excessively	ADV
ap-5541	156	7	drowsy	drowsy	NOUN
ap-5541	156	8	and	and	CCONJ
ap-5541	156	9	can	can	AUX
ap-5541	156	10	not	not	PART
ap-5541	156	11	create	create	VERB
ap-5541	156	12	an	an	DET
ap-5541	156	13	ideal	ideal	ADJ
ap-5541	156	14	execution	execution	NOUN
ap-5541	156	15	since	since	SCONJ
ap-5541	156	16	the	the	DET
ap-5541	156	17	ship	ship	NOUN
ap-5541	156	18	can	can	AUX
ap-5541	156	19	not	not	PART
ap-5541	156	20	accomplish	accomplish	VERB
ap-5541	156	21	the	the	DET
ap-5541	156	22	required	require	VERB
ap-5541	156	23	heading	heading	NOUN
ap-5541	156	24	in	in	ADP
ap-5541	156	25	the	the	DET
ap-5541	156	26	base	base	NOUN
ap-5541	156	27	time	time	NOUN
ap-5541	156	28	.	.	PUNCT
ap-5541	157	1	then	then	ADV
ap-5541	157	2	again	again	ADV
ap-5541	157	3	,	,	PUNCT
ap-5541	157	4	we	we	PRON
ap-5541	157	5	ought	ought	AUX
ap-5541	157	6	not	not	PART
ap-5541	157	7	to	to	PART
ap-5541	157	8	utilize	utilize	VERB
ap-5541	157	9	a	a	DET
ap-5541	157	10	reference	reference	NOUN
ap-5541	157	11	model	model	NOUN
ap-5541	157	12	,	,	PUNCT
ap-5541	157	13	which	which	PRON
ap-5541	157	14	is	be	AUX
ap-5541	157	15	too	too	ADV
ap-5541	157	16	quick	quick	ADJ
ap-5541	157	17	compared	compare	VERB
ap-5541	157	18	to	to	ADP
ap-5541	157	19	the	the	DET
ap-5541	157	20	ship	ship	NOUN
ap-5541	157	21	reaction	reaction	NOUN
ap-5541	157	22	attributes	attribute	VERB
ap-5541	157	23	since	since	SCONJ
ap-5541	157	24	this	this	PRON
ap-5541	157	25	may	may	AUX
ap-5541	157	26	cause	cause	VERB
ap-5541	157	27	a	a	DET
ap-5541	157	28	rudder	rudder	NOUN
ap-5541	157	29	actuator	actuator	NOUN
ap-5541	157	30	immersion	immersion	NOUN
ap-5541	157	31	and	and	CCONJ
ap-5541	157	32	execution	execution	NOUN
ap-5541	157	33	corruption	corruption	NOUN
ap-5541	157	34	.	.	PUNCT
ap-5541	158	1	to	to	PART
ap-5541	158	2	correctly	correctly	ADV
ap-5541	158	3	choose	choose	VERB
ap-5541	158	4	a	a	DET
ap-5541	158	5	reference	reference	NOUN
ap-5541	158	6	model	model	NOUN
ap-5541	158	7	,	,	PUNCT
ap-5541	158	8	the	the	DET
ap-5541	158	9	following	follow	VERB
ap-5541	158	10	should	should	AUX
ap-5541	158	11	be	be	AUX
ap-5541	158	12	considered	consider	VERB
ap-5541	158	13	:	:	PUNCT
ap-5541	158	14	(	(	PUNCT
ap-5541	158	15	1	1	NUM
ap-5541	158	16	.	.	PUNCT
ap-5541	158	17	)	)	PUNCT
ap-5541	158	18	unified	unify	VERB
ap-5541	158	19	steady	steady	ADJ
ap-5541	158	20	-	-	PUNCT
ap-5541	158	21	state	state	NOUN
ap-5541	158	22	gain	gain	NOUN
ap-5541	158	23	(	(	PUNCT
ap-5541	158	24	2	2	NUM
ap-5541	158	25	.	.	NUM
ap-5541	158	26	)	)	PUNCT
ap-5541	159	1	speed	speed	NOUN
ap-5541	159	2	of	of	ADP
ap-5541	159	3	response	response	NOUN
ap-5541	159	4	,	,	PUNCT
ap-5541	159	5	defined	define	VERB
ap-5541	159	6	by	by	ADP
ap-5541	159	7	natural	natural	ADJ
ap-5541	159	8	frequency	frequency	NOUN
ap-5541	159	9	(	(	PUNCT
ap-5541	159	10	wn	wn	PROPN
ap-5541	159	11	)	)	PUNCT
ap-5541	159	12	(	(	PUNCT
ap-5541	159	13	3	3	NUM
ap-5541	159	14	.	.	PUNCT
ap-5541	159	15	)	)	PUNCT
ap-5541	160	1	damping	damp	VERB
ap-5541	160	2	,	,	PUNCT
ap-5541	160	3	specified	specify	VERB
ap-5541	160	4	by	by	ADP
ap-5541	160	5	the	the	DET
ap-5541	160	6	damping	damp	VERB
ap-5541	160	7	coefficient	coefficient	NOUN
ap-5541	160	8	(	(	PUNCT
ap-5541	160	9	ζ	ζ	NOUN
ap-5541	160	10	)	)	PUNCT
ap-5541	160	11	generally	generally	ADV
ap-5541	160	12	,	,	PUNCT
ap-5541	160	13	a	a	DET
ap-5541	160	14	second	second	ADJ
ap-5541	160	15	-	-	PUNCT
ap-5541	160	16	order	order	NOUN
ap-5541	160	17	transfer	transfer	NOUN
ap-5541	160	18	function	function	NOUN
ap-5541	160	19	is	be	AUX
ap-5541	160	20	utilized	utilize	VERB
ap-5541	160	21	.	.	PUNCT
ap-5541	161	1	such	such	DET
ap-5541	161	2	a	a	DET
ap-5541	161	3	model	model	NOUN
ap-5541	161	4	can	can	AUX
ap-5541	161	5	be	be	AUX
ap-5541	161	6	depicted	depict	VERB
ap-5541	161	7	numerically	numerically	ADV
ap-5541	161	8	as	as	ADP
ap-5541	161	9	:	:	PUNCT
ap-5541	161	10	ψd	ψd	INTJ
ap-5541	161	11	ψr	ψr	ADP
ap-5541	161	12	=	=	PUNCT
ap-5541	161	13	wn2	wn2	PROPN
ap-5541	161	14	(	(	PUNCT
ap-5541	161	15	s2	s2	NOUN
ap-5541	161	16	+	+	CCONJ
ap-5541	161	17	2ζwn+wn2	2ζwn+wn2	NUM
ap-5541	161	18	)	)	PUNCT
ap-5541	161	19	(	(	PUNCT
ap-5541	161	20	11	11	NUM
ap-5541	161	21	)	)	PUNCT
ap-5541	161	22	3.4	3.4	NUM
ap-5541	161	23	.	.	PUNCT
ap-5541	161	24	mit	mit	NOUN
ap-5541	161	25	adaptation	adaptation	NOUN
ap-5541	161	26	law	law	NOUN
ap-5541	161	27	the	the	DET
ap-5541	161	28	mit	mit	PROPN
ap-5541	161	29	law	law	NOUN
ap-5541	161	30	is	be	AUX
ap-5541	161	31	the	the	DET
ap-5541	161	32	first	first	ADJ
ap-5541	161	33	way	way	NOUN
ap-5541	161	34	to	to	PART
ap-5541	161	35	deal	deal	VERB
ap-5541	161	36	with	with	ADP
ap-5541	161	37	the	the	DET
ap-5541	161	38	reference	reference	NOUN
ap-5541	161	39	versatile	versatile	ADJ
ap-5541	161	40	control	control	PROPN
ap-5541	161	41	.	.	PUNCT
ap-5541	162	1	the	the	DET
ap-5541	162	2	name	name	NOUN
ap-5541	162	3	comes	come	VERB
ap-5541	162	4	from	from	ADP
ap-5541	162	5	the	the	DET
ap-5541	162	6	way	way	NOUN
ap-5541	162	7	that	that	PRON
ap-5541	162	8	it	it	PRON
ap-5541	162	9	was	be	AUX
ap-5541	162	10	produced	produce	VERB
ap-5541	162	11	at	at	ADP
ap-5541	162	12	the	the	DET
ap-5541	162	13	instrumentation	instrumentation	NOUN
ap-5541	162	14	laboratory	laboratory	NOUN
ap-5541	162	15	(	(	PUNCT
ap-5541	162	16	now	now	ADV
ap-5541	162	17	the	the	DET
ap-5541	162	18	draper	draper	NOUN
ap-5541	162	19	laboratory	laboratory	NOUN
ap-5541	162	20	)	)	PUNCT
ap-5541	162	21	at	at	ADP
ap-5541	162	22	massachusetts	massachusetts	PROPN
ap-5541	162	23	institute	institute	PROPN
ap-5541	162	24	of	of	ADP
ap-5541	162	25	technology	technology	PROPN
ap-5541	162	26	(	(	PUNCT
ap-5541	162	27	mit	mit	NOUN
ap-5541	162	28	)	)	PUNCT
ap-5541	162	29	,	,	PUNCT
ap-5541	162	30	u.s.a	u.s.a	PROPN
ap-5541	162	31	.	.	PROPN
ap-5541	162	32	,	,	PUNCT
ap-5541	162	33	figure	figure	VERB
ap-5541	162	34	7	7	NUM
ap-5541	162	35	shows	show	VERB
ap-5541	162	36	the	the	DET
ap-5541	162	37	marc	marc	PROPN
ap-5541	162	38	block	block	NOUN
ap-5541	162	39	-	-	PUNCT
ap-5541	162	40	diagram	diagram	NOUN
ap-5541	162	41	.	.	PUNCT
ap-5541	163	1	to	to	PART
ap-5541	163	2	display	display	VERB
ap-5541	163	3	the	the	DET
ap-5541	163	4	mit	mit	NOUN
ap-5541	163	5	law	law	NOUN
ap-5541	163	6	,	,	PUNCT
ap-5541	163	7	we	we	PRON
ap-5541	163	8	will	will	AUX
ap-5541	163	9	consider	consider	VERB
ap-5541	163	10	a	a	DET
ap-5541	163	11	closed	closed	ADJ
ap-5541	163	12	-	-	PUNCT
ap-5541	163	13	loop	loop	NOUN
ap-5541	163	14	structure	structure	NOUN
ap-5541	163	15	in	in	ADP
ap-5541	163	16	which	which	PRON
ap-5541	163	17	the	the	DET
ap-5541	163	18	controller	controller	NOUN
ap-5541	163	19	has	have	VERB
ap-5541	163	20	one	one	NUM
ap-5541	163	21	versatile	versatile	ADJ
ap-5541	163	22	parameter	parameter	NOUN
ap-5541	163	23	.	.	PUNCT
ap-5541	164	1	the	the	DET
ap-5541	164	2	desired	desire	VERB
ap-5541	164	3	closed	close	VERB
ap-5541	164	4	-	-	PUNCT
ap-5541	164	5	loop	loop	NOUN
ap-5541	164	6	reaction	reaction	NOUN
ap-5541	164	7	is	be	AUX
ap-5541	164	8	indicated	indicate	VERB
ap-5541	164	9	by	by	ADP
ap-5541	164	10	a	a	DET
ap-5541	164	11	model	model	NOUN
ap-5541	164	12	yield	yield	NOUN
ap-5541	164	13	(	(	PUNCT
ap-5541	164	14	ym	ym	NOUN
ap-5541	164	15	)	)	PUNCT
ap-5541	164	16	.	.	PUNCT
ap-5541	165	1	the	the	DET
ap-5541	165	2	error	error	NOUN
ap-5541	165	3	(	(	PUNCT
ap-5541	165	4	e	e	NOUN
ap-5541	165	5	)	)	PUNCT
ap-5541	165	6	is	be	AUX
ap-5541	165	7	a	a	DET
ap-5541	165	8	contrast	contrast	NOUN
ap-5541	165	9	between	between	ADP
ap-5541	165	10	the	the	DET
ap-5541	165	11	yield	yield	NOUN
ap-5541	165	12	of	of	ADP
ap-5541	165	13	the	the	DET
ap-5541	165	14	framework	framework	NOUN
ap-5541	165	15	(	(	PUNCT
ap-5541	165	16	y	y	NOUN
ap-5541	165	17	)	)	PUNCT
ap-5541	165	18	and	and	CCONJ
ap-5541	165	19	the	the	DET
ap-5541	165	20	yield	yield	NOUN
ap-5541	165	21	of	of	ADP
ap-5541	165	22	the	the	DET
ap-5541	165	23	reference	reference	NOUN
ap-5541	165	24	demonstrates	demonstrate	VERB
ap-5541	165	25	(	(	PUNCT
ap-5541	165	26	ym	ym	NOUN
ap-5541	165	27	)	)	PUNCT
ap-5541	165	28	.	.	PUNCT
ap-5541	166	1	the	the	DET
ap-5541	166	2	modelling	modelling	NOUN
ap-5541	166	3	error	error	NOUN
ap-5541	166	4	(	(	PUNCT
ap-5541	166	5	e	e	NOUN
ap-5541	166	6	)	)	PUNCT
ap-5541	166	7	is	be	AUX
ap-5541	166	8	given	give	VERB
ap-5541	166	9	by	by	ADP
ap-5541	166	10	:	:	PUNCT
ap-5541	166	11	e	e	X
ap-5541	166	12	=	=	SYM
ap-5541	167	1	y	y	PROPN
ap-5541	167	2	−	−	NOUN
ap-5541	168	1	ym	ym	INTJ
ap-5541	168	2	(	(	PUNCT
ap-5541	168	3	12	12	NUM
ap-5541	168	4	)	)	PUNCT
ap-5541	168	5	there	there	PRON
ap-5541	168	6	are	be	VERB
ap-5541	168	7	many	many	ADJ
ap-5541	168	8	performance	performance	NOUN
ap-5541	168	9	indices	index	NOUN
ap-5541	168	10	for	for	ADP
ap-5541	168	11	control	control	NOUN
ap-5541	168	12	,	,	PUNCT
ap-5541	168	13	such	such	ADJ
ap-5541	168	14	as	as	ADP
ap-5541	168	15	iae	iae	NOUN
ap-5541	168	16	,	,	PUNCT
ap-5541	168	17	ise	ise	PROPN
ap-5541	168	18	,	,	PUNCT
ap-5541	168	19	itae	itae	PROPN
ap-5541	168	20	and	and	CCONJ
ap-5541	168	21	itse	itse	ADJ
ap-5541	168	22	,	,	PUNCT
ap-5541	168	23	but	but	CCONJ
ap-5541	168	24	in	in	ADP
ap-5541	168	25	this	this	DET
ap-5541	168	26	work	work	NOUN
ap-5541	168	27	,	,	PUNCT
ap-5541	168	28	we	we	PRON
ap-5541	168	29	are	be	AUX
ap-5541	168	30	using	use	VERB
ap-5541	168	31	the	the	DET
ap-5541	168	32	rss	rss	NOUN
ap-5541	168	33	(	(	PUNCT
ap-5541	168	34	residual	residual	ADJ
ap-5541	168	35	sum	sum	NOUN
ap-5541	168	36	of	of	ADP
ap-5541	168	37	squares	square	NOUN
ap-5541	168	38	)	)	PUNCT
ap-5541	168	39	.	.	PUNCT
ap-5541	169	1	one	one	NUM
ap-5541	169	2	approach	approach	NOUN
ap-5541	169	3	is	be	AUX
ap-5541	169	4	to	to	PART
ap-5541	169	5	modify	modify	VERB
ap-5541	169	6	parameters	parameter	NOUN
ap-5541	169	7	such	such	ADJ
ap-5541	169	8	that	that	SCONJ
ap-5541	169	9	the	the	DET
ap-5541	169	10	cost	cost	NOUN
ap-5541	169	11	work	work	NOUN
ap-5541	169	12	(	(	PUNCT
ap-5541	169	13	j	j	NOUN
ap-5541	169	14	)	)	PUNCT
ap-5541	169	15	,	,	PUNCT
ap-5541	169	16	as	as	ADP
ap-5541	169	17	the	the	DET
ap-5541	169	18	squared	square	VERB
ap-5541	169	19	difference	difference	NOUN
ap-5541	169	20	of	of	ADP
ap-5541	169	21	outputs	output	NOUN
ap-5541	169	22	,	,	PUNCT
ap-5541	169	23	is	be	AUX
ap-5541	169	24	:	:	PUNCT
ap-5541	169	25	j(n	j(n	ADJ
ap-5541	169	26	)	)	PUNCT
ap-5541	169	27	=	=	SYM
ap-5541	169	28	1	1	NUM
ap-5541	169	29	2e	2e	NOUN
ap-5541	169	30	2	2	NUM
ap-5541	169	31	=	=	SYM
ap-5541	169	32	1	1	NUM
ap-5541	169	33	2	2	NUM
ap-5541	169	34	[	[	X
ap-5541	169	35	y(n	y(n	PRON
ap-5541	169	36	)	)	PUNCT
ap-5541	169	37	−	−	PROPN
ap-5541	169	38	ym(n)]2	ym(n)]2	PROPN
ap-5541	169	39	(	(	PUNCT
ap-5541	169	40	13	13	NUM
ap-5541	169	41	)	)	PUNCT
ap-5541	169	42	to	to	PART
ap-5541	169	43	make	make	VERB
ap-5541	169	44	(	(	PUNCT
ap-5541	169	45	j	j	NOUN
ap-5541	169	46	)	)	PUNCT
ap-5541	169	47	little	little	ADJ
ap-5541	169	48	,	,	PUNCT
ap-5541	169	49	it	it	PRON
ap-5541	169	50	is	be	AUX
ap-5541	169	51	sensible	sensible	ADJ
ap-5541	169	52	to	to	PART
ap-5541	169	53	alter	alter	VERB
ap-5541	169	54	the	the	DET
ap-5541	169	55	parameters	parameter	NOUN
ap-5541	169	56	in	in	ADP
ap-5541	169	57	the	the	DET
ap-5541	169	58	course	course	NOUN
ap-5541	169	59	of	of	ADP
ap-5541	169	60	the	the	DET
ap-5541	169	61	negative	negative	ADJ
ap-5541	169	62	slope	slope	NOUN
ap-5541	169	63	of	of	ADP
ap-5541	169	64	(	(	PUNCT
ap-5541	169	65	j	j	PROPN
ap-5541	169	66	)	)	PUNCT
ap-5541	169	67	.	.	PUNCT
ap-5541	170	1	that	that	PRON
ap-5541	170	2	is	be	AUX
ap-5541	170	3	,	,	PUNCT
ap-5541	170	4	du	du	PROPN
ap-5541	170	5	dt	dt	NOUN
ap-5541	170	6	=	=	PUNCT
ap-5541	170	7	−η	−η	PROPN
ap-5541	170	8	de	de	X
ap-5541	170	9	du	du	X
ap-5541	170	10	(	(	PUNCT
ap-5541	170	11	14	14	NUM
ap-5541	170	12	)	)	PUNCT
ap-5541	170	13	where	where	SCONJ
ap-5541	170	14	(	(	PUNCT
ap-5541	170	15	η	η	PROPN
ap-5541	170	16	is	be	AUX
ap-5541	170	17	an	an	DET
ap-5541	170	18	adjustable	adjustable	ADJ
ap-5541	170	19	parameter	parameter	NOUN
ap-5541	170	20	(	(	PUNCT
ap-5541	170	21	adaptation	adaptation	NOUN
ap-5541	170	22	gain	gain	NOUN
ap-5541	170	23	)	)	PUNCT
ap-5541	170	24	and	and	CCONJ
ap-5541	170	25	it	it	PRON
ap-5541	170	26	is	be	AUX
ap-5541	170	27	used	use	VERB
ap-5541	170	28	to	to	PART
ap-5541	170	29	adjust	adjust	VERB
ap-5541	170	30	the	the	DET
ap-5541	170	31	convergence	convergence	NOUN
ap-5541	170	32	speed	speed	NOUN
ap-5541	170	33	of	of	ADP
ap-5541	170	34	the	the	DET
ap-5541	170	35	gradient	gradient	ADJ
ap-5541	170	36	descent	descent	NOUN
ap-5541	170	37	optimization	optimization	NOUN
ap-5541	170	38	method	method	NOUN
ap-5541	170	39	,	,	PUNCT
ap-5541	170	40	and	and	CCONJ
ap-5541	170	41	(	(	PUNCT
ap-5541	170	42	de	de	PROPN
ap-5541	170	43	/	/	SYM
ap-5541	170	44	du	du	NOUN
ap-5541	170	45	)	)	PUNCT
ap-5541	170	46	is	be	AUX
ap-5541	170	47	the	the	DET
ap-5541	170	48	sensitivity	sensitivity	NOUN
ap-5541	170	49	derivative	derivative	NOUN
ap-5541	170	50	of	of	ADP
ap-5541	170	51	the	the	DET
ap-5541	170	52	system	system	NOUN
ap-5541	170	53	and	and	CCONJ
ap-5541	170	54	indicates	indicate	VERB
ap-5541	170	55	how	how	SCONJ
ap-5541	170	56	the	the	DET
ap-5541	170	57	error	error	NOUN
ap-5541	170	58	(	(	PUNCT
ap-5541	170	59	e	e	NOUN
ap-5541	170	60	)	)	PUNCT
ap-5541	170	61	is	be	AUX
ap-5541	170	62	effected	effect	VERB
ap-5541	170	63	by	by	ADP
ap-5541	170	64	the	the	DET
ap-5541	170	65	(	(	PUNCT
ap-5541	170	66	η	η	PROPN
ap-5541	170	67	.	.	PROPN
ap-5541	170	68	by	by	ADP
ap-5541	170	69	hand	hand	NOUN
ap-5541	170	70	calculations	calculation	NOUN
ap-5541	170	71	,	,	PUNCT
ap-5541	170	72	it	it	PRON
ap-5541	170	73	has	have	AUX
ap-5541	170	74	been	be	AUX
ap-5541	170	75	found	find	VERB
ap-5541	170	76	that	that	SCONJ
ap-5541	170	77	the	the	DET
ap-5541	170	78	reaction	reaction	NOUN
ap-5541	170	79	is	be	AUX
ap-5541	170	80	moderate	moderate	ADJ
ap-5541	170	81	with	with	ADP
ap-5541	170	82	the	the	DET
ap-5541	170	83	little	little	ADJ
ap-5541	170	84	estimation	estimation	NOUN
ap-5541	170	85	of	of	ADP
ap-5541	170	86	adjustment	adjustment	NOUN
ap-5541	170	87	gain	gain	NOUN
ap-5541	170	88	.	.	PUNCT
ap-5541	171	1	this	this	DET
ap-5541	171	2	gain	gain	NOUN
ap-5541	171	3	is	be	AUX
ap-5541	171	4	increased	increase	VERB
ap-5541	171	5	,	,	PUNCT
ap-5541	171	6	the	the	DET
ap-5541	171	7	settling	settling	NOUN
ap-5541	171	8	time	time	NOUN
ap-5541	171	9	decreases	decrease	VERB
ap-5541	171	10	and	and	CCONJ
ap-5541	171	11	the	the	DET
ap-5541	171	12	rise	rise	NOUN
ap-5541	171	13	time	time	NOUN
ap-5541	171	14	is	be	AUX
ap-5541	171	15	diminished	diminish	VERB
ap-5541	171	16	.	.	PUNCT
ap-5541	172	1	it	it	PRON
ap-5541	172	2	is	be	AUX
ap-5541	172	3	extremely	extremely	ADV
ap-5541	172	4	hard	hard	ADJ
ap-5541	172	5	to	to	PART
ap-5541	172	6	check	check	VERB
ap-5541	172	7	every	every	DET
ap-5541	172	8	last	last	ADJ
ap-5541	172	9	estimation	estimation	NOUN
ap-5541	172	10	of	of	ADP
ap-5541	172	11	adaptation	adaptation	NOUN
ap-5541	172	12	gain	gain	NOUN
ap-5541	172	13	in	in	ADP
ap-5541	172	14	the	the	DET
ap-5541	172	15	simulink	simulink	PROPN
ap-5541	172	16	model	model	NOUN
ap-5541	172	17	.	.	PUNCT
ap-5541	173	1	with	with	ADP
ap-5541	173	2	a	a	DET
ap-5541	173	3	specific	specific	ADJ
ap-5541	173	4	end	end	NOUN
ap-5541	173	5	goal	goal	NOUN
ap-5541	173	6	to	to	PART
ap-5541	173	7	overcome	overcome	VERB
ap-5541	173	8	this	this	DET
ap-5541	173	9	issue	issue	NOUN
ap-5541	173	10	,	,	PUNCT
ap-5541	173	11	a	a	DET
ap-5541	173	12	genetic	genetic	ADJ
ap-5541	173	13	algorithm	algorithm	NOUN
ap-5541	173	14	was	be	AUX
ap-5541	173	15	executed	execute	VERB
ap-5541	173	16	.	.	PUNCT
ap-5541	174	1	genetic	genetic	ADJ
ap-5541	174	2	algorithm	algorithm	NOUN
ap-5541	174	3	(	(	PUNCT
ap-5541	174	4	g.a	g.a	NOUN
ap-5541	174	5	)	)	PUNCT
ap-5541	174	6	is	be	AUX
ap-5541	174	7	a	a	DET
ap-5541	174	8	heuristic	heuristic	ADJ
ap-5541	174	9	search	search	NOUN
ap-5541	174	10	method	method	NOUN
ap-5541	174	11	used	use	VERB
ap-5541	174	12	in	in	ADP
ap-5541	174	13	artificial	artificial	ADJ
ap-5541	174	14	intelligence	intelligence	NOUN
ap-5541	174	15	for	for	ADP
ap-5541	174	16	searching	search	VERB
ap-5541	174	17	through	through	ADP
ap-5541	174	18	large	large	ADJ
ap-5541	174	19	and	and	CCONJ
ap-5541	174	20	complex	complex	ADJ
ap-5541	174	21	data	data	NOUN
ap-5541	174	22	sets	set	NOUN
ap-5541	174	23	.	.	PUNCT
ap-5541	175	1	the	the	DET
ap-5541	175	2	cause	cause	NOUN
ap-5541	175	3	of	of	ADP
ap-5541	175	4	this	this	DET
ap-5541	175	5	parameter	parameter	NOUN
ap-5541	175	6	’s	’s	PART
ap-5541	175	7	iterative	iterative	NOUN
ap-5541	175	8	pursuit	pursuit	NOUN
ap-5541	175	9	system	system	NOUN
ap-5541	175	10	depends	depend	VERB
ap-5541	175	11	on	on	ADP
ap-5541	175	12	darwin	darwin	PROPN
ap-5541	175	13	’s	’s	PART
ap-5541	175	14	“	"	PUNCT
ap-5541	175	15	survival	survival	NOUN
ap-5541	175	16	of	of	ADP
ap-5541	175	17	the	the	DET
ap-5541	175	18	fittest	fit	ADJ
ap-5541	175	19	”	"	PUNCT
ap-5541	175	20	guideline	guideline	NOUN
ap-5541	175	21	[	[	X
ap-5541	175	22	34	34	NUM
ap-5541	175	23	]	]	PUNCT
ap-5541	175	24	.	.	PUNCT
ap-5541	176	1	ga	ga	PROPN
ap-5541	176	2	strategy	strategy	NOUN
ap-5541	176	3	is	be	AUX
ap-5541	176	4	motivated	motivate	VERB
ap-5541	176	5	by	by	ADP
ap-5541	176	6	two	two	NUM
ap-5541	176	7	organic	organic	ADJ
ap-5541	176	8	standards	standard	NOUN
ap-5541	176	9	to	to	PART
ap-5541	176	10	be	be	AUX
ap-5541	176	11	specific	specific	ADJ
ap-5541	176	12	to	to	ADP
ap-5541	176	13	the	the	DET
ap-5541	176	14	procedure	procedure	NOUN
ap-5541	176	15	of	of	ADP
ap-5541	176	16	common	common	ADJ
ap-5541	176	17	determination	determination	NOUN
ap-5541	176	18	and	and	CCONJ
ap-5541	176	19	the	the	DET
ap-5541	176	20	mechanics	mechanic	NOUN
ap-5541	176	21	of	of	ADP
ap-5541	176	22	characteristic	characteristic	ADJ
ap-5541	176	23	hereditary	hereditary	ADJ
ap-5541	176	24	qualities	quality	NOUN
ap-5541	176	25	.	.	PUNCT
ap-5541	177	1	it	it	PRON
ap-5541	177	2	controls	control	VERB
ap-5541	177	3	the	the	DET
ap-5541	177	4	gathering	gathering	NOUN
ap-5541	177	5	of	of	ADP
ap-5541	177	6	potential	potential	ADJ
ap-5541	177	7	arrangements	arrangement	NOUN
ap-5541	177	8	,	,	PUNCT
ap-5541	177	9	which	which	PRON
ap-5541	177	10	is	be	AUX
ap-5541	177	11	known	know	VERB
ap-5541	177	12	as	as	ADP
ap-5541	177	13	the	the	DET
ap-5541	177	14	populace	populace	NOUN
ap-5541	177	15	.	.	PUNCT
ap-5541	178	1	the	the	DET
ap-5541	178	2	measure	measure	NOUN
ap-5541	178	3	of	of	ADP
ap-5541	178	4	populace	populace	NOUN
ap-5541	178	5	depends	depend	VERB
ap-5541	178	6	on	on	ADP
ap-5541	178	7	trial	trial	NOUN
ap-5541	178	8	and	and	CCONJ
ap-5541	178	9	error	error	NOUN
ap-5541	178	10	.	.	PUNCT
ap-5541	179	1	for	for	ADP
ap-5541	179	2	the	the	DET
ap-5541	179	3	most	most	ADJ
ap-5541	179	4	part	part	NOUN
ap-5541	179	5	,	,	PUNCT
ap-5541	179	6	the	the	DET
ap-5541	179	7	projected	project	VERB
ap-5541	179	8	size	size	NOUN
ap-5541	179	9	of	of	ADP
ap-5541	179	10	a	a	DET
ap-5541	179	11	populace	populace	NOUN
ap-5541	179	12	is	be	AUX
ap-5541	179	13	in	in	ADP
ap-5541	179	14	a	a	DET
ap-5541	179	15	frame	frame	NOUN
ap-5541	179	16	from	from	ADP
ap-5541	179	17	30	30	NUM
ap-5541	179	18	to	to	PART
ap-5541	179	19	100	100	NUM
ap-5541	179	20	.	.	PUNCT
ap-5541	180	1	the	the	DET
ap-5541	180	2	potential	potential	ADJ
ap-5541	180	3	arrangement	arrangement	NOUN
ap-5541	180	4	of	of	ADP
ap-5541	180	5	a	a	DET
ap-5541	180	6	populace	populace	NOUN
ap-5541	180	7	is	be	AUX
ap-5541	180	8	called	call	VERB
ap-5541	180	9	chromosomes	chromosome	NOUN
ap-5541	180	10	.	.	PUNCT
ap-5541	181	1	these	these	PRON
ap-5541	181	2	are	be	AUX
ap-5541	181	3	encoded	encode	VERB
ap-5541	181	4	portrayals	portrayal	NOUN
ap-5541	181	5	of	of	ADP
ap-5541	181	6	the	the	DET
ap-5541	181	7	considerable	considerable	ADJ
ap-5541	181	8	number	number	NOUN
ap-5541	181	9	of	of	ADP
ap-5541	181	10	parameters	parameter	NOUN
ap-5541	181	11	of	of	ADP
ap-5541	181	12	the	the	DET
ap-5541	181	13	solution	solution	NOUN
ap-5541	181	14	.	.	PUNCT
ap-5541	182	1	there	there	PRON
ap-5541	182	2	are	be	VERB
ap-5541	182	3	three	three	NUM
ap-5541	182	4	stages	stage	NOUN
ap-5541	182	5	of	of	ADP
ap-5541	182	6	(	(	PUNCT
ap-5541	182	7	g.a	g.a	NOUN
ap-5541	182	8	)	)	PUNCT
ap-5541	182	9	,	,	PUNCT
ap-5541	182	10	they	they	PRON
ap-5541	182	11	are	be	AUX
ap-5541	182	12	reproduction	reproduction	NOUN
ap-5541	182	13	,	,	PUNCT
ap-5541	182	14	crossover	crossover	NOUN
ap-5541	182	15	,	,	PUNCT
ap-5541	182	16	and	and	CCONJ
ap-5541	182	17	mutation	mutation	NOUN
ap-5541	182	18	.	.	PUNCT
ap-5541	183	1	the	the	DET
ap-5541	183	2	optimization	optimization	NOUN
ap-5541	183	3	is	be	AUX
ap-5541	183	4	accomplished	accomplish	VERB
ap-5541	183	5	in	in	ADP
ap-5541	183	6	cycle	cycle	NOUN
ap-5541	183	7	frames	frame	NOUN
ap-5541	183	8	called	call	VERB
ap-5541	183	9	generations	generation	NOUN
ap-5541	183	10	and	and	CCONJ
ap-5541	183	11	makes	make	VERB
ap-5541	183	12	another	another	DET
ap-5541	183	13	arrangement	arrangement	NOUN
ap-5541	183	14	of	of	ADP
ap-5541	183	15	chromosomes	chromosome	NOUN
ap-5541	183	16	at	at	ADP
ap-5541	183	17	every	every	DET
ap-5541	183	18	generation	generation	NOUN
ap-5541	183	19	through	through	ADP
ap-5541	183	20	crossover	crossover	NOUN
ap-5541	183	21	and	and	CCONJ
ap-5541	183	22	mutation	mutation	NOUN
ap-5541	183	23	and	and	CCONJ
ap-5541	183	24	the	the	DET
ap-5541	183	25	best	good	ADJ
ap-5541	183	26	chromosomes	chromosome	NOUN
ap-5541	183	27	are	be	AUX
ap-5541	183	28	permitted	permit	VERB
ap-5541	183	29	to	to	ADP
ap-5541	183	30	the	the	DET
ap-5541	183	31	next	next	ADJ
ap-5541	183	32	generation	generation	NOUN
ap-5541	183	33	.	.	PUNCT
ap-5541	184	1	in	in	ADP
ap-5541	184	2	this	this	DET
ap-5541	184	3	paper	paper	NOUN
ap-5541	184	4	,	,	PUNCT
ap-5541	184	5	(	(	PUNCT
ap-5541	184	6	g.a	g.a	NOUN
ap-5541	184	7	)	)	PUNCT
ap-5541	184	8	parameters	parameter	NOUN
ap-5541	184	9	are	be	AUX
ap-5541	184	10	picked	pick	VERB
ap-5541	184	11	by	by	ADP
ap-5541	184	12	the	the	DET
ap-5541	184	13	experimentation	experimentation	NOUN
ap-5541	184	14	strategy	strategy	NOUN
ap-5541	184	15	as	as	ADP
ap-5541	184	16	takes	take	NOUN
ap-5541	184	17	:	:	PUNCT
ap-5541	184	18	populace	populace	NOUN
ap-5541	184	19	size	size	NOUN
ap-5541	184	20	=	=	SYM
ap-5541	184	21	70	70	NUM
ap-5541	184	22	;	;	PUNCT
ap-5541	184	23	crossover	crossover	VERB
ap-5541	184	24	rate	rate	NOUN
ap-5541	184	25	=	=	NOUN
ap-5541	184	26	0.2	0.2	NUM
ap-5541	184	27	;	;	PUNCT
ap-5541	184	28	mutation	mutation	NOUN
ap-5541	184	29	rate	rate	NOUN
ap-5541	184	30	=	=	NOUN
ap-5541	184	31	0.05	0.05	NUM
ap-5541	184	32	;	;	PUNCT
ap-5541	184	33	maximum	maximum	ADJ
ap-5541	184	34	generation	generation	NOUN
ap-5541	184	35	=	=	SYM
ap-5541	184	36	100	100	NUM
ap-5541	184	37	.	.	PUNCT
ap-5541	185	1	the	the	DET
ap-5541	185	2	parameter	parameter	NOUN
ap-5541	185	3	value	value	NOUN
ap-5541	185	4	of	of	ADP
ap-5541	185	5	the	the	DET
ap-5541	185	6	adaptation	adaptation	NOUN
ap-5541	185	7	gain	gain	NOUN
ap-5541	185	8	,	,	PUNCT
ap-5541	185	9	which	which	PRON
ap-5541	185	10	is	be	AUX
ap-5541	185	11	optimized	optimize	VERB
ap-5541	185	12	by	by	ADP
ap-5541	185	13	using	use	VERB
ap-5541	185	14	the	the	DET
ap-5541	185	15	g.a	g.a	PROPN
ap-5541	185	16	,	,	PUNCT
ap-5541	185	17	is	be	AUX
ap-5541	185	18	(	(	PUNCT
ap-5541	185	19	0.90456	0.90456	NUM
ap-5541	185	20	)	)	PUNCT
ap-5541	185	21	.	.	PUNCT
ap-5541	186	1	figure	figure	NOUN
ap-5541	186	2	8	8	NUM
ap-5541	186	3	shows	show	VERB
ap-5541	186	4	the	the	DET
ap-5541	186	5	flow	flow	NOUN
ap-5541	186	6	-	-	PUNCT
ap-5541	186	7	chart	chart	NOUN
ap-5541	186	8	of	of	ADP
ap-5541	186	9	g.a	g.a	PROPN
ap-5541	186	10	.	.	PUNCT
ap-5541	187	1	the	the	DET
ap-5541	187	2	transient	transient	ADJ
ap-5541	187	3	response	response	NOUN
ap-5541	187	4	of	of	ADP
ap-5541	187	5	the	the	DET
ap-5541	187	6	ship	ship	NOUN
ap-5541	187	7	motion	motion	NOUN
ap-5541	187	8	with	with	ADP
ap-5541	187	9	(	(	PUNCT
ap-5541	187	10	mrac	mrac	NOUN
ap-5541	187	11	-	-	PUNCT
ap-5541	187	12	ga	ga	NOUN
ap-5541	187	13	)	)	PUNCT
ap-5541	187	14	controller	controller	NOUN
ap-5541	187	15	can	can	AUX
ap-5541	187	16	be	be	AUX
ap-5541	187	17	seen	see	VERB
ap-5541	187	18	from	from	ADP
ap-5541	187	19	figure	figure	NOUN
ap-5541	187	20	9	9	NUM
ap-5541	187	21	,	,	PUNCT
ap-5541	187	22	it	it	PRON
ap-5541	187	23	shows	show	VERB
ap-5541	187	24	the	the	DET
ap-5541	187	25	output	output	NOUN
ap-5541	187	26	tracks	track	NOUN
ap-5541	187	27	of	of	ADP
ap-5541	187	28	the	the	DET
ap-5541	187	29	model	model	NOUN
ap-5541	187	30	reference	reference	NOUN
ap-5541	187	31	,	,	PUNCT
ap-5541	187	32	and	and	CCONJ
ap-5541	187	33	202	202	NUM
ap-5541	187	34	vol	vol	NOUN
ap-5541	187	35	.	.	PUNCT
ap-5541	188	1	60	60	NUM
ap-5541	188	2	no	no	NOUN
ap-5541	188	3	.	.	PUNCT
ap-5541	189	1	3/2020	3/2020	DET
ap-5541	189	2	model	model	NOUN
ap-5541	189	3	reference	reference	NOUN
ap-5541	189	4	adaptive	adaptive	ADJ
ap-5541	189	5	control	control	NOUN
ap-5541	189	6	-	-	PUNCT
ap-5541	189	7	based	base	VERB
ap-5541	189	8	genetic	genetic	ADJ
ap-5541	189	9	algorithm	algorithm	NOUN
ap-5541	189	10	design	design	NOUN
ap-5541	189	11	.	.	PUNCT
ap-5541	189	12	.	.	PUNCT
ap-5541	190	1	.	.	PUNCT
ap-5541	191	1	figure	figure	VERB
ap-5541	191	2	8	8	NUM
ap-5541	191	3	.	.	PUNCT
ap-5541	192	1	shows	show	VERB
ap-5541	192	2	the	the	DET
ap-5541	192	3	flow	flow	NOUN
ap-5541	192	4	-	-	PUNCT
ap-5541	192	5	chart	chart	NOUN
ap-5541	192	6	of	of	ADP
ap-5541	192	7	g.a	g.a	PROPN
ap-5541	192	8	.	.	PROPN
ap-5541	192	9	figure	figure	NOUN
ap-5541	192	10	9	9	NUM
ap-5541	192	11	.	.	PUNCT
ap-5541	192	12	closed	close	VERB
ap-5541	192	13	-	-	PUNCT
ap-5541	192	14	loop	loop	NOUN
ap-5541	192	15	transient	transient	ADJ
ap-5541	192	16	response	response	NOUN
ap-5541	192	17	of	of	ADP
ap-5541	192	18	ship	ship	NOUN
ap-5541	192	19	motion	motion	NOUN
ap-5541	192	20	with	with	ADP
ap-5541	192	21	(	(	PUNCT
ap-5541	192	22	mrac	mrac	NOUN
ap-5541	192	23	-	-	PUNCT
ap-5541	192	24	ga	ga	NOUN
ap-5541	192	25	)	)	PUNCT
ap-5541	192	26	controller	controller	NOUN
ap-5541	192	27	for	for	ADP
ap-5541	192	28	step	step	NOUN
ap-5541	192	29	input	input	NOUN
ap-5541	192	30	.	.	PUNCT
ap-5541	193	1	203	203	NUM
ap-5541	193	2	nasir	nasir	PROPN
ap-5541	193	3	ahmad	ahmad	PROPN
ap-5541	193	4	al	al	PROPN
ap-5541	193	5	-	-	PUNCT
ap-5541	193	6	awad	awad	PROPN
ap-5541	193	7	acta	acta	PROPN
ap-5541	193	8	polytechnica	polytechnica	PROPN
ap-5541	193	9	controller	controller	NOUN
ap-5541	193	10	type	type	NOUN
ap-5541	193	11	settling	settling	NOUN
ap-5541	193	12	time	time	NOUN
ap-5541	193	13	(	(	PUNCT
ap-5541	193	14	sec	sec	PROPN
ap-5541	193	15	)	)	PUNCT
ap-5541	193	16	rise	rise	NOUN
ap-5541	193	17	time	time	NOUN
ap-5541	193	18	(	(	PUNCT
ap-5541	193	19	sec	sec	PROPN
ap-5541	193	20	)	)	PUNCT
ap-5541	193	21	max	max	PROPN
ap-5541	193	22	.	.	PUNCT
ap-5541	194	1	overshot%	overshot%	PUNCT
ap-5541	194	2	steady	steady	ADJ
ap-5541	194	3	-	-	PUNCT
ap-5541	194	4	state	state	NOUN
ap-5541	194	5	error	error	NOUN
ap-5541	194	6	pid	pid	NOUN
ap-5541	194	7	37.1	37.1	NUM
ap-5541	194	8	5.51	5.51	NUM
ap-5541	194	9	10.3	10.3	NUM
ap-5541	194	10	0	0	NUM
ap-5541	194	11	lqr	lqr	VERB
ap-5541	194	12	50.4	50.4	NUM
ap-5541	194	13	18.4	18.4	NUM
ap-5541	194	14	4.12	4.12	NUM
ap-5541	194	15	0	0	NUM
ap-5541	195	1	(	(	PUNCT
ap-5541	196	1	with	with	ADP
ap-5541	196	2	prefilter	prefilter	NOUN
ap-5541	196	3	)	)	PUNCT
ap-5541	196	4	mrac	mrac	PROPN
ap-5541	196	5	-	-	PUNCT
ap-5541	196	6	ga	ga	PROPN
ap-5541	196	7	26	26	NUM
ap-5541	196	8	16.4	16.4	NUM
ap-5541	196	9	0	0	NUM
ap-5541	196	10	0	0	NUM
ap-5541	196	11	table	table	NOUN
ap-5541	196	12	1	1	NUM
ap-5541	196	13	.	.	PUNCT
ap-5541	196	14	levels	level	NOUN
ap-5541	196	15	of	of	ADP
ap-5541	196	16	the	the	DET
ap-5541	196	17	composite	composite	ADJ
ap-5541	196	18	adsorbent	adsorbent	NOUN
ap-5541	196	19	preparation	preparation	NOUN
ap-5541	196	20	variables	variable	NOUN
ap-5541	196	21	chosen	choose	VERB
ap-5541	196	22	for	for	ADP
ap-5541	196	23	this	this	DET
ap-5541	196	24	study	study	NOUN
ap-5541	196	25	.	.	PUNCT
ap-5541	197	1	satisfies	satisfie	NOUN
ap-5541	197	2	all	all	DET
ap-5541	197	3	the	the	DET
ap-5541	197	4	design	design	NOUN
ap-5541	197	5	requirements	requirement	NOUN
ap-5541	197	6	.	.	PUNCT
ap-5541	197	7	,	,	PUNCT
ap-5541	197	8	(	(	PUNCT
ap-5541	197	9	mp	mp	NOUN
ap-5541	197	10	=	=	SYM
ap-5541	197	11	0	0	NUM
ap-5541	197	12	%	%	NOUN
ap-5541	197	13	)	)	PUNCT
ap-5541	197	14	and	and	CCONJ
ap-5541	197	15	(	(	PUNCT
ap-5541	197	16	ts	ts	X
ap-5541	197	17	=	=	PROPN
ap-5541	197	18	26	26	NUM
ap-5541	197	19	sec	sec	PROPN
ap-5541	197	20	)	)	PUNCT
ap-5541	197	21	.	.	PUNCT
ap-5541	198	1	4	4	X
ap-5541	198	2	.	.	X
ap-5541	198	3	discussion	discussion	NOUN
ap-5541	198	4	different	different	ADJ
ap-5541	198	5	controllers	controller	NOUN
ap-5541	198	6	are	be	AUX
ap-5541	198	7	used	use	VERB
ap-5541	198	8	to	to	PART
ap-5541	198	9	improve	improve	VERB
ap-5541	198	10	the	the	DET
ap-5541	198	11	design	design	NOUN
ap-5541	198	12	requirements	requirement	NOUN
ap-5541	198	13	(	(	PUNCT
ap-5541	198	14	settling	settle	VERB
ap-5541	198	15	time	time	NOUN
ap-5541	198	16	,	,	PUNCT
ap-5541	198	17	maximum	maximum	ADJ
ap-5541	198	18	overshoot	overshoot	NOUN
ap-5541	198	19	,	,	PUNCT
ap-5541	198	20	and	and	CCONJ
ap-5541	198	21	rise	rise	VERB
ap-5541	198	22	time	time	NOUN
ap-5541	198	23	)	)	PUNCT
ap-5541	198	24	for	for	ADP
ap-5541	198	25	a	a	DET
ap-5541	198	26	ship	ship	NOUN
ap-5541	198	27	moving	move	VERB
ap-5541	198	28	.	.	PUNCT
ap-5541	199	1	in	in	ADP
ap-5541	199	2	spite	spite	NOUN
ap-5541	199	3	of	of	ADP
ap-5541	199	4	the	the	DET
ap-5541	199	5	fact	fact	NOUN
ap-5541	199	6	that	that	SCONJ
ap-5541	199	7	the	the	DET
ap-5541	199	8	pid	pid	NOUN
ap-5541	199	9	controllers	controller	NOUN
ap-5541	199	10	are	be	AUX
ap-5541	199	11	generally	generally	ADV
ap-5541	199	12	utilized	utilize	VERB
ap-5541	199	13	as	as	ADP
ap-5541	199	14	a	a	DET
ap-5541	199	15	part	part	NOUN
ap-5541	199	16	of	of	ADP
ap-5541	199	17	the	the	DET
ap-5541	199	18	marine	marine	ADJ
ap-5541	199	19	control	control	NOUN
ap-5541	199	20	frameworks	framework	NOUN
ap-5541	199	21	,	,	PUNCT
ap-5541	199	22	their	their	PRON
ap-5541	199	23	control	control	NOUN
ap-5541	199	24	effectiveness	effectiveness	NOUN
ap-5541	199	25	will	will	AUX
ap-5541	199	26	be	be	AUX
ap-5541	199	27	tested	test	VERB
ap-5541	199	28	truly	truly	ADV
ap-5541	199	29	by	by	ADP
ap-5541	199	30	the	the	DET
ap-5541	199	31	framework	framework	NOUN
ap-5541	199	32	model	model	NOUN
ap-5541	199	33	uncertainties	uncertainty	NOUN
ap-5541	199	34	.	.	PUNCT
ap-5541	200	1	in	in	ADP
ap-5541	200	2	(	(	PUNCT
ap-5541	200	3	lqr	lqr	PROPN
ap-5541	200	4	)	)	PUNCT
ap-5541	200	5	,	,	PUNCT
ap-5541	200	6	there	there	PRON
ap-5541	200	7	is	be	VERB
ap-5541	200	8	some	some	DET
ap-5541	200	9	overshot	overshot	NOUN
ap-5541	200	10	,	,	PUNCT
ap-5541	200	11	which	which	PRON
ap-5541	200	12	may	may	AUX
ap-5541	200	13	endanger	endanger	VERB
ap-5541	200	14	a	a	DET
ap-5541	200	15	ship	ship	NOUN
ap-5541	200	16	on	on	ADP
ap-5541	200	17	the	the	DET
ap-5541	200	18	sea	sea	NOUN
ap-5541	200	19	,	,	PUNCT
ap-5541	200	20	also	also	ADV
ap-5541	200	21	,	,	PUNCT
ap-5541	200	22	the	the	DET
ap-5541	200	23	ts	ts	NOUN
ap-5541	200	24	is	be	AUX
ap-5541	200	25	out	out	ADP
ap-5541	200	26	of	of	ADP
ap-5541	200	27	the	the	DET
ap-5541	200	28	design	design	NOUN
ap-5541	200	29	specification	specification	NOUN
ap-5541	200	30	.	.	PUNCT
ap-5541	201	1	in	in	ADP
ap-5541	201	2	the	the	DET
ap-5541	201	3	comparison	comparison	NOUN
ap-5541	201	4	of	of	ADP
ap-5541	201	5	the	the	DET
ap-5541	201	6	two	two	NUM
ap-5541	201	7	(	(	PUNCT
ap-5541	201	8	pid	pid	NOUN
ap-5541	201	9	,	,	PUNCT
ap-5541	201	10	lqr	lqr	PROPN
ap-5541	201	11	)	)	PUNCT
ap-5541	201	12	approaches	approach	NOUN
ap-5541	201	13	,	,	PUNCT
ap-5541	201	14	the	the	DET
ap-5541	201	15	outcomes	outcome	NOUN
ap-5541	201	16	in	in	ADP
ap-5541	201	17	the	the	DET
ap-5541	201	18	two	two	NUM
ap-5541	201	19	cases	case	NOUN
ap-5541	201	20	demonstrate	demonstrate	VERB
ap-5541	201	21	that	that	SCONJ
ap-5541	201	22	the	the	DET
ap-5541	201	23	control	control	NOUN
ap-5541	201	24	power	power	NOUN
ap-5541	201	25	of	of	ADP
ap-5541	201	26	the	the	DET
ap-5541	201	27	proposed	propose	VERB
ap-5541	201	28	technique	technique	NOUN
ap-5541	201	29	(	(	PUNCT
ap-5541	201	30	macr	macr	NOUN
ap-5541	201	31	-	-	PUNCT
ap-5541	201	32	ga	ga	NOUN
ap-5541	201	33	)	)	PUNCT
ap-5541	201	34	is	be	AUX
ap-5541	201	35	better	well	ADJ
ap-5541	201	36	than	than	ADP
ap-5541	201	37	the	the	DET
ap-5541	201	38	others	other	NOUN
ap-5541	201	39	,	,	PUNCT
ap-5541	201	40	in	in	ADP
ap-5541	201	41	terms	term	NOUN
ap-5541	201	42	of	of	ADP
ap-5541	201	43	maximum	maximum	ADJ
ap-5541	201	44	overshoot	overshoot	NOUN
ap-5541	201	45	(	(	PUNCT
ap-5541	201	46	mp%	mp%	NUM
ap-5541	201	47	)	)	PUNCT
ap-5541	201	48	and	and	CCONJ
ap-5541	201	49	the	the	DET
ap-5541	201	50	speed	speed	NOUN
ap-5541	201	51	of	of	ADP
ap-5541	201	52	response	response	NOUN
ap-5541	201	53	,	,	PUNCT
ap-5541	201	54	settling	settle	VERB
ap-5541	201	55	time	time	NOUN
ap-5541	201	56	(	(	PUNCT
ap-5541	201	57	ts	ts	NOUN
ap-5541	201	58	)	)	PUNCT
ap-5541	201	59	to	to	PART
ap-5541	201	60	reach	reach	VERB
ap-5541	201	61	the	the	DET
ap-5541	201	62	steady	steady	ADJ
ap-5541	201	63	-	-	PUNCT
ap-5541	201	64	state	state	NOUN
ap-5541	201	65	,	,	PUNCT
ap-5541	201	66	table	table	NOUN
ap-5541	201	67	1	1	NUM
ap-5541	201	68	shows	show	VERB
ap-5541	201	69	the	the	DET
ap-5541	201	70	numerical	numerical	ADJ
ap-5541	201	71	values	value	NOUN
ap-5541	201	72	comparison	comparison	NOUN
ap-5541	201	73	between	between	ADP
ap-5541	201	74	all	all	DET
ap-5541	201	75	controllers	controller	NOUN
ap-5541	201	76	.	.	PUNCT
ap-5541	202	1	when	when	SCONJ
ap-5541	202	2	comparing	compare	VERB
ap-5541	202	3	the	the	DET
ap-5541	202	4	proposed	propose	VERB
ap-5541	202	5	method	method	NOUN
ap-5541	202	6	(	(	PUNCT
ap-5541	202	7	mrac	mrac	NOUN
ap-5541	202	8	-	-	PUNCT
ap-5541	202	9	ga	ga	NOUN
ap-5541	202	10	)	)	PUNCT
ap-5541	202	11	with	with	ADP
ap-5541	202	12	the	the	DET
ap-5541	202	13	classic	classic	ADJ
ap-5541	202	14	controller	controller	NOUN
ap-5541	202	15	designs	design	NOUN
ap-5541	202	16	(	(	PUNCT
ap-5541	202	17	pid	pid	NOUN
ap-5541	202	18	)	)	PUNCT
ap-5541	202	19	and	and	CCONJ
ap-5541	202	20	(	(	PUNCT
ap-5541	202	21	lqr	lqr	PROPN
ap-5541	202	22	)	)	PUNCT
ap-5541	202	23	by	by	ADP
ap-5541	202	24	using	use	VERB
ap-5541	202	25	the	the	DET
ap-5541	202	26	same	same	ADJ
ap-5541	202	27	model	model	NOUN
ap-5541	202	28	eq	eq	ADP
ap-5541	202	29	.	.	PUNCT
ap-5541	203	1	(	(	PUNCT
ap-5541	203	2	6	6	NUM
ap-5541	203	3	)	)	PUNCT
ap-5541	203	4	,	,	PUNCT
ap-5541	203	5	it	it	PRON
ap-5541	203	6	is	be	AUX
ap-5541	203	7	obvious	obvious	ADJ
ap-5541	203	8	that	that	SCONJ
ap-5541	203	9	the	the	DET
ap-5541	203	10	design	design	NOUN
ap-5541	203	11	specifications	specification	NOUN
ap-5541	203	12	(	(	PUNCT
ap-5541	203	13	max	max	PROPN
ap-5541	203	14	.	.	PROPN
ap-5541	203	15	overshot	overshot	PROPN
ap-5541	203	16	,	,	PUNCT
ap-5541	203	17	settling	settle	VERB
ap-5541	203	18	time	time	NOUN
ap-5541	203	19	,	,	PUNCT
ap-5541	203	20	and	and	CCONJ
ap-5541	203	21	rise	rise	VERB
ap-5541	203	22	time	time	NOUN
ap-5541	203	23	)	)	PUNCT
ap-5541	203	24	have	have	VERB
ap-5541	203	25	better	well	ADJ
ap-5541	203	26	results	result	NOUN
ap-5541	203	27	for	for	ADP
ap-5541	203	28	the	the	DET
ap-5541	203	29	proposed	propose	VERB
ap-5541	203	30	method	method	NOUN
ap-5541	203	31	.	.	PUNCT
ap-5541	204	1	5	5	X
ap-5541	204	2	.	.	X
ap-5541	204	3	conclusions	conclusion	NOUN
ap-5541	204	4	this	this	DET
ap-5541	204	5	paper	paper	NOUN
ap-5541	204	6	shows	show	VERB
ap-5541	204	7	the	the	DET
ap-5541	204	8	response	response	NOUN
ap-5541	204	9	of	of	ADP
ap-5541	204	10	a	a	DET
ap-5541	204	11	framework	framework	NOUN
ap-5541	204	12	controlled	control	VERB
ap-5541	204	13	by	by	ADP
ap-5541	204	14	a	a	DET
ap-5541	204	15	model	model	NOUN
ap-5541	204	16	reference	reference	NOUN
ap-5541	204	17	adaptive	adaptive	ADJ
ap-5541	204	18	control	control	NOUN
ap-5541	204	19	method	method	NOUN
ap-5541	204	20	utilizing	utilize	VERB
ap-5541	204	21	the	the	DET
ap-5541	204	22	mit	mit	NOUN
ap-5541	204	23	scheme	scheme	NOUN
ap-5541	204	24	,	,	PUNCT
ap-5541	204	25	when	when	SCONJ
ap-5541	204	26	compared	compare	VERB
ap-5541	204	27	with	with	ADP
ap-5541	204	28	customary	customary	ADJ
ap-5541	204	29	settled	settle	VERB
ap-5541	204	30	pickup	pickup	NOUN
ap-5541	204	31	controllers	controller	NOUN
ap-5541	204	32	(	(	PUNCT
ap-5541	204	33	pid	pid	NOUN
ap-5541	204	34	)	)	PUNCT
ap-5541	204	35	and	and	CCONJ
ap-5541	204	36	(	(	PUNCT
ap-5541	204	37	lqr	lqr	PROPN
ap-5541	204	38	)	)	PUNCT
ap-5541	204	39	,	,	PUNCT
ap-5541	204	40	the	the	DET
ap-5541	204	41	following	follow	VERB
ap-5541	204	42	was	be	AUX
ap-5541	204	43	found	find	VERB
ap-5541	204	44	:	:	PUNCT
ap-5541	204	45	(	(	PUNCT
ap-5541	204	46	1	1	NUM
ap-5541	204	47	.	.	PUNCT
ap-5541	204	48	)	)	PUNCT
ap-5541	205	1	adaptive	adaptive	ADJ
ap-5541	205	2	controllers	controller	NOUN
ap-5541	205	3	are	be	AUX
ap-5541	205	4	exceptionally	exceptionally	ADV
ap-5541	205	5	compelling	compelling	ADJ
ap-5541	205	6	to	to	PART
ap-5541	205	7	deal	deal	VERB
ap-5541	205	8	with	with	ADP
ap-5541	205	9	.	.	PUNCT
ap-5541	206	1	the	the	DET
ap-5541	206	2	circumstances	circumstance	NOUN
ap-5541	206	3	where	where	SCONJ
ap-5541	206	4	the	the	DET
ap-5541	206	5	parameter	parameter	NOUN
ap-5541	206	6	varieties	variety	NOUN
ap-5541	206	7	and	and	CCONJ
ap-5541	206	8	natural	natural	ADJ
ap-5541	206	9	changes	change	NOUN
ap-5541	206	10	are	be	AUX
ap-5541	206	11	substantial	substantial	ADJ
ap-5541	206	12	,	,	PUNCT
ap-5541	206	13	the	the	DET
ap-5541	206	14	results	result	NOUN
ap-5541	206	15	are	be	AUX
ap-5541	206	16	heavily	heavily	ADV
ap-5541	206	17	affected	affected	ADJ
ap-5541	206	18	.	.	PUNCT
ap-5541	207	1	(	(	PUNCT
ap-5541	207	2	2	2	NUM
ap-5541	207	3	.	.	PUNCT
ap-5541	207	4	)	)	PUNCT
ap-5541	208	1	the	the	DET
ap-5541	208	2	adaptive	adaptive	ADJ
ap-5541	208	3	controller	controller	NOUN
ap-5541	208	4	keeps	keep	VERB
ap-5541	208	5	up	up	ADP
ap-5541	208	6	a	a	DET
ap-5541	208	7	steady	steady	ADJ
ap-5541	208	8	powerful	powerful	ADJ
ap-5541	208	9	execution	execution	NOUN
ap-5541	208	10	within	within	ADP
ap-5541	208	11	the	the	DET
ap-5541	208	12	sight	sight	NOUN
ap-5541	208	13	of	of	ADP
ap-5541	208	14	disturbances	disturbance	NOUN
ap-5541	208	15	and	and	CCONJ
ap-5541	208	16	immense	immense	ADJ
ap-5541	208	17	varieties	variety	NOUN
ap-5541	208	18	.	.	PUNCT
ap-5541	209	1	(	(	PUNCT
ap-5541	209	2	3	3	NUM
ap-5541	209	3	.	.	PUNCT
ap-5541	209	4	)	)	PUNCT
ap-5541	210	1	it	it	PRON
ap-5541	210	2	is	be	AUX
ap-5541	210	3	shown	show	VERB
ap-5541	210	4	that	that	SCONJ
ap-5541	210	5	,	,	PUNCT
ap-5541	210	6	for	for	ADP
ap-5541	210	7	suitable	suitable	ADJ
ap-5541	210	8	values	value	NOUN
ap-5541	210	9	of	of	ADP
ap-5541	210	10	adaptation	adaptation	NOUN
ap-5541	210	11	gain	gain	NOUN
ap-5541	210	12	,	,	PUNCT
ap-5541	210	13	the	the	DET
ap-5541	210	14	mit	mit	NOUN
ap-5541	210	15	rule	rule	NOUN
ap-5541	210	16	can	can	AUX
ap-5541	210	17	make	make	VERB
ap-5541	210	18	the	the	DET
ap-5541	210	19	transient	transient	ADJ
ap-5541	210	20	response	response	NOUN
ap-5541	210	21	of	of	ADP
ap-5541	210	22	second	second	ADJ
ap-5541	210	23	order	order	NOUN
ap-5541	210	24	model	model	NOUN
ap-5541	210	25	output	output	NOUN
ap-5541	210	26	as	as	ADV
ap-5541	210	27	close	close	ADJ
ap-5541	210	28	as	as	ADP
ap-5541	210	29	possible	possible	ADJ
ap-5541	210	30	to	to	ADP
ap-5541	210	31	the	the	DET
ap-5541	210	32	adaptive	adaptive	ADJ
ap-5541	210	33	reference	reference	NOUN
ap-5541	210	34	model	model	NOUN
ap-5541	210	35	.	.	PUNCT
ap-5541	211	1	also	also	ADV
ap-5541	211	2	,	,	PUNCT
ap-5541	211	3	the	the	DET
ap-5541	211	4	response	response	NOUN
ap-5541	211	5	in	in	ADP
ap-5541	211	6	terms	term	NOUN
ap-5541	211	7	of	of	ADP
ap-5541	211	8	the	the	DET
ap-5541	211	9	settling	settling	NOUN
ap-5541	211	10	time	time	NOUN
ap-5541	211	11	,	,	PUNCT
ap-5541	211	12	peak	peak	NOUN
ap-5541	211	13	time	time	NOUN
ap-5541	211	14	and	and	CCONJ
ap-5541	211	15	rise	rise	NOUN
ap-5541	211	16	time	time	NOUN
ap-5541	211	17	is	be	AUX
ap-5541	211	18	reduced	reduce	VERB
ap-5541	211	19	with	with	ADP
ap-5541	211	20	the	the	DET
ap-5541	211	21	little	little	ADJ
ap-5541	211	22	estimation	estimation	NOUN
ap-5541	211	23	of	of	ADP
ap-5541	211	24	adaptation	adaptation	NOUN
ap-5541	211	25	gain	gain	NOUN
ap-5541	211	26	.	.	PUNCT
ap-5541	212	1	(	(	PUNCT
ap-5541	212	2	4	4	NUM
ap-5541	212	3	.	.	NUM
ap-5541	212	4	)	)	PUNCT
ap-5541	213	1	(	(	PUNCT
ap-5541	213	2	g.a	g.a	NOUN
ap-5541	213	3	)	)	PUNCT
ap-5541	213	4	is	be	AUX
ap-5541	213	5	utilized	utilize	VERB
ap-5541	213	6	to	to	PART
ap-5541	213	7	estimate	estimate	VERB
ap-5541	213	8	the	the	DET
ap-5541	213	9	adjustment	adjustment	NOUN
ap-5541	213	10	pick	pick	VERB
ap-5541	213	11	up	up	ADP
ap-5541	213	12	,	,	PUNCT
ap-5541	213	13	which	which	PRON
ap-5541	213	14	requires	require	VERB
ap-5541	213	15	9.3245	9.3245	NUM
ap-5541	213	16	seconds	second	NOUN
ap-5541	213	17	of	of	ADP
ap-5541	213	18	computational	computational	ADJ
ap-5541	213	19	time	time	NOUN
ap-5541	213	20	to	to	PART
ap-5541	213	21	tune	tune	VERB
ap-5541	213	22	the	the	DET
ap-5541	213	23	parameter	parameter	NOUN
ap-5541	213	24	.	.	PUNCT
ap-5541	214	1	(	(	PUNCT
ap-5541	214	2	5	5	NUM
ap-5541	214	3	.	.	PUNCT
ap-5541	214	4	)	)	PUNCT
ap-5541	215	1	the	the	DET
ap-5541	215	2	mrac	mrac	PROPN
ap-5541	215	3	-	-	PUNCT
ap-5541	215	4	ga	ga	PROPN
ap-5541	215	5	is	be	AUX
ap-5541	215	6	effective	effective	ADJ
ap-5541	215	7	in	in	ADP
ap-5541	215	8	disturbances	disturbance	NOUN
ap-5541	215	9	rejection	rejection	NOUN
ap-5541	215	10	.	.	PUNCT
ap-5541	216	1	(	(	PUNCT
ap-5541	216	2	6	6	NUM
ap-5541	216	3	.	.	PUNCT
ap-5541	216	4	)	)	PUNCT
ap-5541	217	1	all	all	DET
ap-5541	217	2	design	design	NOUN
ap-5541	217	3	requirements	requirement	NOUN
ap-5541	217	4	(	(	PUNCT
ap-5541	217	5	mp	mp	PROPN
ap-5541	217	6	,	,	PUNCT
ap-5541	217	7	ts	ts	PROPN
ap-5541	217	8	,	,	PUNCT
ap-5541	217	9	t	t	PROPN
ap-5541	217	10	t	t	PROPN
ap-5541	217	11	)	)	PUNCT
ap-5541	217	12	are	be	AUX
ap-5541	217	13	satisfied	satisfied	ADJ
ap-5541	217	14	when	when	SCONJ
ap-5541	217	15	the	the	DET
ap-5541	217	16	mrac	mrac	PROPN
ap-5541	217	17	-	-	PUNCT
ap-5541	217	18	ga	ga	PROPN
ap-5541	217	19	is	be	AUX
ap-5541	217	20	applied	apply	VERB
ap-5541	217	21	.	.	PUNCT
ap-5541	218	1	acknowledgements	acknowledgement	NOUN
ap-5541	218	2	the	the	DET
ap-5541	218	3	author	author	NOUN
ap-5541	218	4	would	would	AUX
ap-5541	218	5	like	like	VERB
ap-5541	218	6	to	to	PART
ap-5541	218	7	thank	thank	VERB
ap-5541	218	8	mustansiriyah	mustansiriyah	PROPN
ap-5541	218	9	university	university	PROPN
ap-5541	218	10	(	(	PUNCT
ap-5541	218	11	www.uomustansiriyah.edu.iq	www.uomustansiriyah.edu.iq	NOUN
ap-5541	218	12	)	)	PUNCT
ap-5541	218	13	baghdad	baghdad	PROPN
ap-5541	218	14	–	–	PUNCT
ap-5541	218	15	iraq	iraq	PROPN
ap-5541	218	16	for	for	ADP
ap-5541	218	17	its	its	PRON
ap-5541	218	18	support	support	NOUN
ap-5541	218	19	in	in	ADP
ap-5541	218	20	the	the	DET
ap-5541	218	21	present	present	ADJ
ap-5541	218	22	work	work	NOUN
ap-5541	218	23	.	.	PUNCT
ap-5541	219	1	references	reference	NOUN
ap-5541	219	2	[	[	X
ap-5541	219	3	1	1	X
ap-5541	219	4	]	]	PUNCT
ap-5541	219	5	t.	t.	PROPN
ap-5541	219	6	i.	i.	PROPN
ap-5541	219	7	fossen	fossen	PROPN
ap-5541	219	8	.	.	PUNCT
ap-5541	220	1	guidance	guidance	NOUN
ap-5541	220	2	and	and	CCONJ
ap-5541	220	3	control	control	NOUN
ap-5541	220	4	of	of	ADP
ap-5541	220	5	ocean	ocean	NOUN
ap-5541	220	6	vehicles	vehicle	NOUN
ap-5541	220	7	.	.	PUNCT
ap-5541	221	1	john	john	PROPN
ap-5541	221	2	wiley	wiley	PROPN
ap-5541	221	3	sons	sons	PROPN
ap-5541	221	4	,	,	PUNCT
ap-5541	221	5	new	new	PROPN
ap-5541	221	6	york	york	PROPN
ap-5541	221	7	,	,	PUNCT
ap-5541	221	8	2014	2014	NUM
ap-5541	221	9	.	.	PUNCT
ap-5541	222	1	[	[	X
ap-5541	222	2	2	2	X
ap-5541	222	3	]	]	PUNCT
ap-5541	222	4	c.-n	c.-n	PROPN
ap-5541	222	5	.	.	PUNCT
ap-5541	223	1	hwang	hwang	PROPN
ap-5541	223	2	.	.	PUNCT
ap-5541	224	1	the	the	DET
ap-5541	224	2	integrated	integrate	VERB
ap-5541	224	3	design	design	NOUN
ap-5541	224	4	of	of	ADP
ap-5541	224	5	fuzzy	fuzzy	ADJ
ap-5541	224	6	collision	collision	NOUN
ap-5541	224	7	-	-	PUNCT
ap-5541	224	8	avoidance	avoidance	NOUN
ap-5541	224	9	and	and	CCONJ
ap-5541	224	10	h	h	NOUN
ap-5541	224	11	-	-	PUNCT
ap-5541	224	12	infinity	infinity	NOUN
ap-5541	224	13	autopilots	autopilot	NOUN
ap-5541	224	14	on	on	ADP
ap-5541	224	15	ships	ship	NOUN
ap-5541	224	16	.	.	PUNCT
ap-5541	225	1	journal	journal	PROPN
ap-5541	225	2	of	of	ADP
ap-5541	225	3	navigation	navigation	NOUN
ap-5541	225	4	55(1):117–136	55(1):117–136	PROPN
ap-5541	225	5	,	,	PUNCT
ap-5541	225	6	2002	2002	NUM
ap-5541	225	7	.	.	PUNCT
ap-5541	226	1	doi:10.1017	doi:10.1017	PROPN
ap-5541	226	2	/	/	SYM
ap-5541	226	3	s0373463301001631	s0373463301001631	NOUN
ap-5541	226	4	.	.	PUNCT
ap-5541	227	1	[	[	X
ap-5541	227	2	3	3	X
ap-5541	227	3	]	]	X
ap-5541	227	4	x.gu	x.gu	PROPN
ap-5541	227	5	.	.	PROPN
ap-5541	227	6	,	,	PUNCT
ap-5541	227	7	n.ma	n.ma	PROPN
ap-5541	227	8	,	,	PUNCT
ap-5541	227	9	s.j.tong	s.j.tong	PROPN
ap-5541	227	10	,	,	PUNCT
ap-5541	227	11	et	et	PROPN
ap-5541	227	12	al	al	PROPN
ap-5541	227	13	.	.	PUNCT
ap-5541	228	1	a	a	DET
ap-5541	228	2	simplified	simplified	ADJ
ap-5541	228	3	simulation	simulation	NOUN
ap-5541	228	4	model	model	NOUN
ap-5541	228	5	for	for	ADP
ap-5541	228	6	a	a	DET
ap-5541	228	7	ship	ship	NOUN
ap-5541	228	8	steering	steering	NOUN
ap-5541	228	9	in	in	ADP
ap-5541	228	10	regular	regular	ADJ
ap-5541	228	11	waves	wave	NOUN
ap-5541	228	12	.	.	PUNCT
ap-5541	229	1	in	in	ADP
ap-5541	229	2	proceedings	proceeding	NOUN
ap-5541	229	3	of	of	ADP
ap-5541	229	4	the	the	DET
ap-5541	229	5	12th	12th	ADJ
ap-5541	229	6	international	international	ADJ
ap-5541	229	7	conference	conference	NOUN
ap-5541	229	8	on	on	ADP
ap-5541	229	9	the	the	DET
ap-5541	229	10	stability	stability	NOUN
ap-5541	229	11	of	of	ADP
ap-5541	229	12	ships	ship	NOUN
ap-5541	229	13	and	and	CCONJ
ap-5541	229	14	ocean	ocean	NOUN
ap-5541	229	15	vehicles	vehicle	NOUN
ap-5541	229	16	,	,	PUNCT
ap-5541	229	17	pp	pp	ADV
ap-5541	229	18	.	.	PUNCT
ap-5541	230	1	14	14	NUM
ap-5541	230	2	–	–	SYM
ap-5541	230	3	19	19	NUM
ap-5541	230	4	.	.	NOUN
ap-5541	230	5	2015	2015	NUM
ap-5541	230	6	.	.	PUNCT
ap-5541	231	1	[	[	X
ap-5541	231	2	4	4	X
ap-5541	231	3	]	]	PUNCT
ap-5541	231	4	k.	k.	NOUN
ap-5541	231	5	nomoto	nomoto	PROPN
ap-5541	231	6	,	,	PUNCT
ap-5541	231	7	t.	t.	PROPN
ap-5541	231	8	taguchi	taguchi	PROPN
ap-5541	231	9	,	,	PUNCT
ap-5541	231	10	k.	k.	PROPN
ap-5541	231	11	honda	honda	PROPN
ap-5541	231	12	,	,	PUNCT
ap-5541	231	13	s.	s.	PROPN
ap-5541	231	14	hirano	hirano	PROPN
ap-5541	231	15	.	.	PUNCT
ap-5541	232	1	on	on	ADP
ap-5541	232	2	the	the	DET
ap-5541	232	3	steering	steering	NOUN
ap-5541	232	4	qualities	quality	NOUN
ap-5541	232	5	of	of	ADP
ap-5541	232	6	ships	ship	NOUN
ap-5541	232	7	.	.	PUNCT
ap-5541	233	1	tech	tech	NOUN
ap-5541	233	2	.	.	PUNCT
ap-5541	234	1	rep	rep	PROPN
ap-5541	234	2	.	.	PROPN
ap-5541	234	3	,	,	PUNCT
ap-5541	234	4	international	international	ADJ
ap-5541	234	5	shipbuilding	shipbuilding	NOUN
ap-5541	234	6	progress	progress	NOUN
ap-5541	234	7	,	,	PUNCT
ap-5541	234	8	1957	1957	NUM
ap-5541	234	9	.	.	PUNCT
ap-5541	235	1	[	[	X
ap-5541	235	2	5	5	X
ap-5541	235	3	]	]	PUNCT
ap-5541	235	4	r.	r.	PROPN
ap-5541	235	5	a.	a.	PROPN
ap-5541	235	6	ibrahim	ibrahim	PROPN
ap-5541	235	7	,	,	PUNCT
ap-5541	235	8	i.	i.	PROPN
ap-5541	235	9	m.	m.	NOUN
ap-5541	235	10	grace	grace	NOUN
ap-5541	235	11	.	.	PUNCT
ap-5541	236	1	modeling	modeling	NOUN
ap-5541	236	2	of	of	ADP
ap-5541	236	3	ship	ship	NOUN
ap-5541	236	4	roll	roll	NOUN
ap-5541	236	5	dynamics	dynamic	NOUN
ap-5541	236	6	and	and	CCONJ
ap-5541	236	7	its	its	PRON
ap-5541	236	8	coupling	coupling	NOUN
ap-5541	236	9	with	with	ADP
ap-5541	236	10	heave	heave	NOUN
ap-5541	236	11	and	and	CCONJ
ap-5541	236	12	pitch	pitch	NOUN
ap-5541	236	13	.	.	PUNCT
ap-5541	237	1	mathematical	mathematical	ADJ
ap-5541	237	2	problems	problem	NOUN
ap-5541	237	3	in	in	ADP
ap-5541	237	4	engineering	engineer	VERB
ap-5541	237	5	2010	2010	NUM
ap-5541	237	6	,	,	PUNCT
ap-5541	237	7	2010	2010	NUM
ap-5541	237	8	.	.	PUNCT
ap-5541	238	1	doi:10.1155/2010/934714	doi:10.1155/2010/934714	NOUN
ap-5541	238	2	.	.	PUNCT
ap-5541	239	1	[	[	X
ap-5541	239	2	6	6	NUM
ap-5541	239	3	]	]	PUNCT
ap-5541	239	4	t.	t.	PROPN
ap-5541	239	5	i.	i.	PROPN
ap-5541	239	6	fossen	fossen	PROPN
ap-5541	239	7	.	.	PUNCT
ap-5541	240	1	marine	marine	PROPN
ap-5541	240	2	control	control	PROPN
ap-5541	240	3	systems	system	NOUN
ap-5541	240	4	:	:	PUNCT
ap-5541	240	5	guidance	guidance	NOUN
ap-5541	240	6	,	,	PUNCT
ap-5541	240	7	navigation	navigation	NOUN
ap-5541	240	8	,	,	PUNCT
ap-5541	240	9	and	and	CCONJ
ap-5541	240	10	control	control	NOUN
ap-5541	240	11	of	of	ADP
ap-5541	240	12	ships	ship	NOUN
ap-5541	240	13	,	,	PUNCT
ap-5541	240	14	rigs	rig	NOUN
ap-5541	240	15	and	and	CCONJ
ap-5541	240	16	underwater	underwater	ADJ
ap-5541	240	17	vehicles	vehicle	NOUN
ap-5541	240	18	.	.	PUNCT
ap-5541	241	1	marine	marine	PROPN
ap-5541	241	2	cybernetics	cybernetics	PROPN
ap-5541	241	3	,	,	PUNCT
ap-5541	241	4	trondheim	trondheim	PROPN
ap-5541	241	5	,	,	PUNCT
ap-5541	241	6	2002	2002	NUM
ap-5541	241	7	.	.	PUNCT
ap-5541	242	1	[	[	X
ap-5541	242	2	7	7	X
ap-5541	242	3	]	]	PUNCT
ap-5541	242	4	s.	s.	PROPN
ap-5541	242	5	a.	a.	PROPN
ap-5541	242	6	hariprasad	hariprasad	PROPN
ap-5541	242	7	,	,	PUNCT
ap-5541	242	8	v.	v.	ADP
ap-5541	242	9	singh	singh	PROPN
ap-5541	242	10	,	,	PUNCT
ap-5541	242	11	t.	t.	PROPN
ap-5541	242	12	d.	d.	PROPN
ap-5541	242	13	shashikala	shashikala	PROPN
ap-5541	242	14	,	,	PUNCT
ap-5541	242	15	k.	k.	PROPN
ap-5541	242	16	shashikala	shashikala	PROPN
ap-5541	242	17	.	.	PUNCT
ap-5541	243	1	a	a	DET
ap-5541	243	2	design	design	NOUN
ap-5541	243	3	approach	approach	NOUN
ap-5541	243	4	to	to	ADP
ap-5541	243	5	rudder	rudder	NOUN
ap-5541	243	6	controller	controller	NOUN
ap-5541	243	7	.	.	PUNCT
ap-5541	244	1	internation	internation	PROPN
ap-5541	244	2	journal	journal	PROPN
ap-5541	244	3	of	of	ADP
ap-5541	244	4	computer	computer	NOUN
ap-5541	244	5	science	science	NOUN
ap-5541	244	6	and	and	CCONJ
ap-5541	244	7	technology	technology	NOUN
ap-5541	244	8	3(03):23	3(03):23	PROPN
ap-5541	244	9	–	–	PUNCT
ap-5541	244	10	29	29	NUM
ap-5541	244	11	,	,	PUNCT
ap-5541	244	12	2012	2012	NUM
ap-5541	244	13	.	.	PUNCT
ap-5541	245	1	[	[	X
ap-5541	245	2	8	8	NUM
ap-5541	245	3	]	]	X
ap-5541	245	4	n.	n.	NOUN
ap-5541	245	5	minorsky	minorsky	NOUN
ap-5541	245	6	.	.	PUNCT
ap-5541	246	1	automatic	automatic	ADJ
ap-5541	246	2	steering	steering	NOUN
ap-5541	246	3	tests	test	NOUN
ap-5541	246	4	.	.	PUNCT
ap-5541	247	1	journal	journal	NOUN
ap-5541	247	2	of	of	ADP
ap-5541	247	3	the	the	DET
ap-5541	247	4	american	american	ADJ
ap-5541	247	5	society	society	NOUN
ap-5541	247	6	for	for	ADP
ap-5541	247	7	naval	naval	ADJ
ap-5541	247	8	engineers	engineer	NOUN
ap-5541	247	9	42(2):285	42(2):285	PROPN
ap-5541	247	10	–	–	PUNCT
ap-5541	247	11	310	310	NUM
ap-5541	247	12	,	,	PUNCT
ap-5541	247	13	1930	1930	NUM
ap-5541	247	14	.	.	PUNCT
ap-5541	248	1	doi:10.1111	doi:10.1111	ADJ
ap-5541	248	2	/	/	SYM
ap-5541	248	3	j.1559	j.1559	NOUN
ap-5541	248	4	-	-	PUNCT
ap-5541	248	5	3584.1930.tb05036.x	3584.1930.tb05036.x	NUM
ap-5541	248	6	.	.	PUNCT
ap-5541	249	1	[	[	X
ap-5541	249	2	9	9	NUM
ap-5541	249	3	]	]	PUNCT
ap-5541	249	4	e.	e.	PROPN
ap-5541	249	5	sperry	sperry	PROPN
ap-5541	249	6	.	.	PUNCT
ap-5541	250	1	automatic	automatic	ADJ
ap-5541	250	2	steering	steering	NOUN
ap-5541	250	3	.	.	PUNCT
ap-5541	251	1	transactions	transaction	NOUN
ap-5541	251	2	of	of	ADP
ap-5541	251	3	the	the	DET
ap-5541	251	4	society	society	NOUN
ap-5541	251	5	of	of	ADP
ap-5541	251	6	naval	naval	ADJ
ap-5541	251	7	architects	architect	NOUN
ap-5541	251	8	and	and	CCONJ
ap-5541	251	9	marine	marine	ADJ
ap-5541	251	10	engineers	engineer	NOUN
ap-5541	251	11	pp	pp	X
ap-5541	251	12	.	.	PUNCT
ap-5541	252	1	53	53	NUM
ap-5541	252	2	–	–	PUNCT
ap-5541	252	3	57	57	NUM
ap-5541	252	4	,	,	PUNCT
ap-5541	252	5	1922	1922	NUM
ap-5541	252	6	.	.	PUNCT
ap-5541	253	1	[	[	X
ap-5541	253	2	10	10	NUM
ap-5541	253	3	]	]	X
ap-5541	253	4	a.	a.	NOUN
ap-5541	253	5	white	white	PROPN
ap-5541	253	6	,	,	PUNCT
ap-5541	253	7	p.	p.	NOUN
ap-5541	253	8	gleeson	gleeson	PROPN
ap-5541	253	9	,	,	PUNCT
ap-5541	253	10	m.	m.	NOUN
ap-5541	253	11	karamanoglu	karamanoglu	PROPN
ap-5541	253	12	.	.	PUNCT
ap-5541	254	1	control	control	NOUN
ap-5541	254	2	of	of	ADP
ap-5541	254	3	ship	ship	NOUN
ap-5541	254	4	capsize	capsize	NOUN
ap-5541	254	5	in	in	ADP
ap-5541	254	6	stern	stern	ADJ
ap-5541	254	7	quartering	quarter	VERB
ap-5541	254	8	seas	sea	NOUN
ap-5541	254	9	.	.	PUNCT
ap-5541	255	1	international	international	ADJ
ap-5541	255	2	journal	journal	PROPN
ap-5541	255	3	of	of	ADP
ap-5541	255	4	simulation	simulation	NOUN
ap-5541	255	5	8:20	8:20	NUM
ap-5541	255	6	–	–	PUNCT
ap-5541	255	7	31	31	NUM
ap-5541	255	8	,	,	PUNCT
ap-5541	255	9	2007	2007	NUM
ap-5541	255	10	.	.	PUNCT
ap-5541	256	1	[	[	X
ap-5541	256	2	11	11	NUM
ap-5541	256	3	]	]	X
ap-5541	256	4	n.	n.	PROPN
ap-5541	256	5	hovakimyan	hovakimyan	PROPN
ap-5541	256	6	,	,	PUNCT
ap-5541	256	7	c.	c.	PROPN
ap-5541	256	8	cao	cao	PROPN
ap-5541	256	9	.	.	PUNCT
ap-5541	257	1	l1	l1	PROPN
ap-5541	257	2	adaptive	adaptive	PROPN
ap-5541	257	3	control	control	PROPN
ap-5541	257	4	theory	theory	NOUN
ap-5541	257	5	:	:	PUNCT
ap-5541	257	6	guaranteed	guarantee	VERB
ap-5541	257	7	robustness	robustness	NOUN
ap-5541	257	8	with	with	ADP
ap-5541	257	9	fast	fast	ADJ
ap-5541	257	10	adaptation	adaptation	NOUN
ap-5541	257	11	.	.	PUNCT
ap-5541	258	1	society	society	NOUN
ap-5541	258	2	for	for	ADP
ap-5541	258	3	industrial	industrial	ADJ
ap-5541	258	4	and	and	CCONJ
ap-5541	258	5	applied	applied	ADJ
ap-5541	258	6	mathematics	mathematic	NOUN
ap-5541	258	7	,	,	PUNCT
ap-5541	258	8	philadelphia	philadelphia	PROPN
ap-5541	258	9	,	,	PUNCT
ap-5541	258	10	2010	2010	NUM
ap-5541	258	11	.	.	PUNCT
ap-5541	259	1	[	[	X
ap-5541	259	2	12	12	NUM
ap-5541	259	3	]	]	X
ap-5541	259	4	y.	y.	PROPN
ap-5541	259	5	morel	morel	PROPN
ap-5541	259	6	,	,	PUNCT
ap-5541	259	7	a.	a.	NOUN
ap-5541	259	8	leonessa	leonessa	NOUN
ap-5541	259	9	.	.	PUNCT
ap-5541	260	1	indirect	indirect	ADJ
ap-5541	260	2	adaptive	adaptive	ADJ
ap-5541	260	3	control	control	NOUN
ap-5541	260	4	of	of	ADP
ap-5541	260	5	a	a	DET
ap-5541	260	6	class	class	NOUN
ap-5541	260	7	of	of	ADP
ap-5541	260	8	marine	marine	ADJ
ap-5541	260	9	vehicles	vehicle	NOUN
ap-5541	260	10	.	.	PUNCT
ap-5541	261	1	international	international	ADJ
ap-5541	261	2	journal	journal	NOUN
ap-5541	261	3	of	of	ADP
ap-5541	261	4	adaptive	adaptive	ADJ
ap-5541	261	5	control	control	NOUN
ap-5541	261	6	and	and	CCONJ
ap-5541	261	7	signal	signal	NOUN
ap-5541	261	8	processing	process	VERB
ap-5541	261	9	24(4):261	24(4):261	NUM
ap-5541	261	10	–	–	PUNCT
ap-5541	261	11	274	274	NUM
ap-5541	261	12	,	,	PUNCT
ap-5541	261	13	2010	2010	NUM
ap-5541	261	14	.	.	PUNCT
ap-5541	262	1	doi:10.1002	doi:10.1002	NOUN
ap-5541	262	2	/	/	SYM
ap-5541	262	3	acs.1128	acs.1128	NOUN
ap-5541	262	4	.	.	NOUN
ap-5541	263	1	204	204	NUM
ap-5541	263	2	www.uomustansiriyah.edu.iq	www.uomustansiriyah.edu.iq	NOUN
ap-5541	263	3	http://dx.doi.org/10.1017/s0373463301001631	http://dx.doi.org/10.1017/s0373463301001631	PRON
ap-5541	263	4	http://dx.doi.org/10.1155/2010/934714	http://dx.doi.org/10.1155/2010/934714	PROPN
ap-5541	263	5	http://dx.doi.org/10.1111/j.1559-3584.1930.tb05036.x	http://dx.doi.org/10.1111/j.1559-3584.1930.tb05036.x	PRON
ap-5541	263	6	http://dx.doi.org/10.1002/acs.1128	http://dx.doi.org/10.1002/acs.1128	NOUN
ap-5541	263	7	vol	vol	NOUN
ap-5541	263	8	.	.	PUNCT
ap-5541	264	1	60	60	NUM
ap-5541	264	2	no	no	NOUN
ap-5541	264	3	.	.	PUNCT
ap-5541	265	1	3/2020	3/2020	DET
ap-5541	265	2	model	model	NOUN
ap-5541	265	3	reference	reference	NOUN
ap-5541	265	4	adaptive	adaptive	ADJ
ap-5541	265	5	control	control	NOUN
ap-5541	265	6	-	-	PUNCT
ap-5541	265	7	based	base	VERB
ap-5541	265	8	genetic	genetic	ADJ
ap-5541	265	9	algorithm	algorithm	NOUN
ap-5541	265	10	design	design	NOUN
ap-5541	265	11	.	.	PUNCT
ap-5541	265	12	.	.	PUNCT
ap-5541	265	13	.	.	PUNCT
ap-5541	266	1	[	[	X
ap-5541	266	2	13	13	NUM
ap-5541	266	3	]	]	PUNCT
ap-5541	266	4	j.	j.	PROPN
ap-5541	266	5	alvarez	alvarez	PROPN
ap-5541	266	6	,	,	PUNCT
ap-5541	266	7	i.	i.	PROPN
ap-5541	266	8	r.	r.	PROPN
ap-5541	266	9	bertaska	bertaska	PROPN
ap-5541	266	10	,	,	PUNCT
ap-5541	266	11	k.	k.	PROPN
ap-5541	266	12	von	von	PROPN
ap-5541	266	13	ellenrieder	ellenrieder	PROPN
ap-5541	266	14	.	.	PUNCT
ap-5541	267	1	nonlinear	nonlinear	ADJ
ap-5541	267	2	control	control	NOUN
ap-5541	267	3	of	of	ADP
ap-5541	267	4	an	an	DET
ap-5541	267	5	unmanned	unmanned	ADJ
ap-5541	267	6	amphibious	amphibious	ADJ
ap-5541	267	7	vehicle	vehicle	NOUN
ap-5541	267	8	.	.	PUNCT
ap-5541	268	1	in	in	ADP
ap-5541	268	2	proceeding	proceeding	NOUN
ap-5541	268	3	of	of	ADP
ap-5541	268	4	the	the	DET
ap-5541	268	5	american	american	ADJ
ap-5541	268	6	society	society	NOUN
ap-5541	268	7	of	of	ADP
ap-5541	268	8	mechanical	mechanical	ADJ
ap-5541	268	9	engineers	engineer	NOUN
ap-5541	268	10	,	,	PUNCT
ap-5541	268	11	vol	vol	NOUN
ap-5541	268	12	.	.	PROPN
ap-5541	268	13	3	3	NUM
ap-5541	268	14	of	of	ADP
ap-5541	268	15	dynamic	dynamic	ADJ
ap-5541	268	16	systems	system	NOUN
ap-5541	268	17	and	and	CCONJ
ap-5541	268	18	control	control	PROPN
ap-5541	268	19	conference	conference	NOUN
ap-5541	268	20	.	.	PUNCT
ap-5541	269	1	2013	2013	NUM
ap-5541	269	2	.	.	PUNCT
ap-5541	270	1	doi:10.1115	doi:10.1115	PROPN
ap-5541	270	2	/	/	SYM
ap-5541	270	3	dscc2013	dscc2013	PROPN
ap-5541	270	4	-	-	PUNCT
ap-5541	270	5	4039	4039	NUM
ap-5541	270	6	.	.	PUNCT
ap-5541	271	1	[	[	X
ap-5541	271	2	14	14	NUM
ap-5541	271	3	]	]	PUNCT
ap-5541	271	4	a.	a.	NOUN
ap-5541	271	5	nighat	nighat	PROPN
ap-5541	271	6	,	,	PUNCT
ap-5541	271	7	m.	m.	PROPN
ap-5541	271	8	unar	unar	PROPN
ap-5541	271	9	,	,	PUNCT
ap-5541	271	10	d.	d.	PROPN
ap-5541	271	11	yaping	yaping	PROPN
ap-5541	271	12	.	.	PUNCT
ap-5541	272	1	design	design	NOUN
ap-5541	272	2	of	of	ADP
ap-5541	272	3	heading	head	VERB
ap-5541	272	4	controller	controller	NOUN
ap-5541	272	5	for	for	ADP
ap-5541	272	6	cargo	cargo	NOUN
ap-5541	272	7	ship	ship	NOUN
ap-5541	272	8	using	use	VERB
ap-5541	272	9	feedforward	feedforward	ADJ
ap-5541	272	10	artificial	artificial	ADJ
ap-5541	272	11	neural	neural	ADJ
ap-5541	272	12	network	network	NOUN
ap-5541	272	13	.	.	PUNCT
ap-5541	273	1	international	international	ADJ
ap-5541	273	2	journal	journal	PROPN
ap-5541	273	3	of	of	ADP
ap-5541	273	4	advancements	advancement	NOUN
ap-5541	273	5	in	in	ADP
ap-5541	273	6	computer	computer	NOUN
ap-5541	273	7	technology	technology	NOUN
ap-5541	273	8	5:556	5:556	NUM
ap-5541	273	9	–	–	PUNCT
ap-5541	273	10	566	566	NUM
ap-5541	273	11	,	,	PUNCT
ap-5541	273	12	2013	2013	NUM
ap-5541	273	13	.	.	PUNCT
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ap-5541	274	2	/	/	SYM
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ap-5541	274	4	.	.	PUNCT
ap-5541	275	1	[	[	X
ap-5541	275	2	15	15	NUM
ap-5541	275	3	]	]	X
ap-5541	275	4	e.	e.	PROPN
ap-5541	275	5	omerdic	omerdic	PROPN
ap-5541	275	6	,	,	PUNCT
ap-5541	275	7	g.	g.	PROPN
ap-5541	275	8	n.	n.	PROPN
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ap-5541	275	10	,	,	PUNCT
ap-5541	275	11	z.	z.	PROPN
ap-5541	275	12	vukic	vukic	PROPN
ap-5541	275	13	.	.	PUNCT
ap-5541	276	1	a	a	DET
ap-5541	276	2	fuzzy	fuzzy	ADJ
ap-5541	276	3	track	track	NOUN
ap-5541	276	4	-	-	PUNCT
ap-5541	276	5	keeping	keep	VERB
ap-5541	276	6	autopilot	autopilot	NOUN
ap-5541	276	7	for	for	ADP
ap-5541	276	8	ship	ship	NOUN
ap-5541	276	9	steering	steering	NOUN
ap-5541	276	10	.	.	PUNCT
ap-5541	277	1	journal	journal	PROPN
ap-5541	277	2	of	of	ADP
ap-5541	277	3	marine	marine	PROPN
ap-5541	277	4	engineering	engineering	PROPN
ap-5541	277	5	&	&	CCONJ
ap-5541	277	6	technology	technology	PROPN
ap-5541	277	7	2(1):23	2(1):23	NUM
ap-5541	277	8	–	–	PUNCT
ap-5541	277	9	35	35	NUM
ap-5541	277	10	,	,	PUNCT
ap-5541	277	11	2003	2003	NUM
ap-5541	277	12	.	.	PUNCT
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ap-5541	278	2	.	.	PUNCT
ap-5541	279	1	[	[	X
ap-5541	279	2	16	16	NUM
ap-5541	279	3	]	]	PUNCT
ap-5541	279	4	a.	a.	NOUN
ap-5541	279	5	a.	a.	PROPN
ap-5541	279	6	ammar	ammar	PROPN
ap-5541	279	7	.	.	PUNCT
ap-5541	280	1	a	a	DET
ap-5541	280	2	self	self	NOUN
ap-5541	280	3	-	-	PUNCT
ap-5541	280	4	learning	learn	VERB
ap-5541	280	5	fuzzy	fuzzy	ADJ
ap-5541	280	6	logic	logic	NOUN
ap-5541	280	7	controller	controller	NOUN
ap-5541	280	8	for	for	ADP
ap-5541	280	9	the	the	DET
ap-5541	280	10	ship	ship	NOUN
ap-5541	280	11	steering	steering	NOUN
ap-5541	280	12	system	system	NOUN
ap-5541	280	13	.	.	PUNCT
ap-5541	281	1	iraq	iraq	PROPN
ap-5541	281	2	journal	journal	PROPN
ap-5541	281	3	of	of	ADP
ap-5541	281	4	electrical	electrical	ADJ
ap-5541	281	5	and	and	CCONJ
ap-5541	281	6	electronic	electronic	ADJ
ap-5541	281	7	engineering	engineering	NOUN
ap-5541	281	8	8(1):124	8(1):124	NUM
ap-5541	281	9	–	–	PUNCT
ap-5541	281	10	139	139	NUM
ap-5541	281	11	,	,	PUNCT
ap-5541	281	12	2012	2012	NUM
ap-5541	281	13	.	.	PUNCT
ap-5541	282	1	[	[	X
ap-5541	282	2	17	17	NUM
ap-5541	282	3	]	]	PUNCT
ap-5541	282	4	j.	j.	PROPN
ap-5541	282	5	velagic	velagic	PROPN
ap-5541	282	6	,	,	PUNCT
ap-5541	282	7	z.	z.	PROPN
ap-5541	282	8	vukic	vukic	PROPN
ap-5541	282	9	,	,	PUNCT
ap-5541	282	10	e.	e.	PROPN
ap-5541	282	11	omerdic	omerdic	PROPN
ap-5541	282	12	.	.	PUNCT
ap-5541	283	1	adaptive	adaptive	ADJ
ap-5541	283	2	fuzzy	fuzzy	ADJ
ap-5541	283	3	ship	ship	NOUN
ap-5541	283	4	autopilot	autopilot	NOUN
ap-5541	283	5	for	for	ADP
ap-5541	283	6	track	track	NOUN
ap-5541	283	7	-	-	PUNCT
ap-5541	283	8	keeping	keeping	NOUN
ap-5541	283	9	.	.	PUNCT
ap-5541	284	1	control	control	NOUN
ap-5541	284	2	engineering	engineering	NOUN
ap-5541	284	3	practice	practice	NOUN
ap-5541	284	4	11(4):433	11(4):433	NUM
ap-5541	284	5	–	–	PUNCT
ap-5541	284	6	443	443	NUM
ap-5541	284	7	,	,	PUNCT
ap-5541	284	8	2003	2003	NUM
ap-5541	284	9	.	.	PUNCT
ap-5541	285	1	doi:10.1016	doi:10.1016	PROPN
ap-5541	285	2	/	/	SYM
ap-5541	285	3	s0967	s0967	PROPN
ap-5541	285	4	-	-	PUNCT
ap-5541	285	5	0661(02)00009	0661(02)00009	NOUN
ap-5541	285	6	-	-	PUNCT
ap-5541	285	7	6	6	NUM
ap-5541	285	8	.	.	PUNCT
ap-5541	286	1	[	[	X
ap-5541	286	2	18	18	NUM
ap-5541	286	3	]	]	PUNCT
ap-5541	286	4	g.antonio	g.antonio	NOUN
ap-5541	286	5	,	,	PUNCT
ap-5541	286	6	c.	c.	PROPN
ap-5541	286	7	francisco	francisco	PROPN
ap-5541	286	8	.	.	PUNCT
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ap-5541	287	2	design	design	NOUN
ap-5541	287	3	of	of	ADP
ap-5541	287	4	h	h	NOUN
ap-5541	287	5	-	-	PUNCT
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ap-5541	287	7	controller	controller	NOUN
ap-5541	287	8	for	for	ADP
ap-5541	287	9	a	a	DET
ap-5541	287	10	launch	launch	NOUN
ap-5541	287	11	vehicle	vehicle	NOUN
ap-5541	287	12	autopilot	autopilot	NOUN
ap-5541	287	13	against	against	ADP
ap-5541	287	14	disturbances	disturbance	NOUN
ap-5541	287	15	.	.	PUNCT
ap-5541	288	1	journal	journal	NOUN
ap-5541	288	2	of	of	ADP
ap-5541	288	3	electrical	electrical	ADJ
ap-5541	288	4	and	and	CCONJ
ap-5541	288	5	electronics	electronic	NOUN
ap-5541	288	6	engineering	engineering	NOUN
ap-5541	288	7	11(5):135	11(5):135	NOUN
ap-5541	288	8	–	–	PUNCT
ap-5541	288	9	140	140	NUM
ap-5541	288	10	,	,	PUNCT
ap-5541	288	11	2016	2016	NUM
ap-5541	288	12	.	.	PUNCT
ap-5541	289	1	doi:10.9790/1676	doi:10.9790/1676	PROPN
ap-5541	289	2	-	-	PROPN
ap-5541	289	3	110502135140	110502135140	NUM
ap-5541	289	4	.	.	PUNCT
ap-5541	290	1	[	[	X
ap-5541	290	2	19	19	NUM
ap-5541	290	3	]	]	PUNCT
ap-5541	290	4	a.	a.	NOUN
ap-5541	290	5	witkowska	witkowska	PROPN
ap-5541	290	6	,	,	PUNCT
ap-5541	290	7	r.	r.	NOUN
ap-5541	290	8	śmierzchalski	śmierzchalski	NOUN
ap-5541	290	9	.	.	PUNCT
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ap-5541	291	2	a	a	DET
ap-5541	291	3	ship	ship	NOUN
ap-5541	291	4	course	course	NOUN
ap-5541	291	5	controller	controller	NOUN
ap-5541	291	6	by	by	ADP
ap-5541	291	7	applying	apply	VERB
ap-5541	291	8	the	the	DET
ap-5541	291	9	adaptive	adaptive	ADJ
ap-5541	291	10	backstepping	backstepping	NOUN
ap-5541	291	11	method	method	NOUN
ap-5541	291	12	.	.	PUNCT
ap-5541	292	1	international	international	ADJ
ap-5541	292	2	journal	journal	NOUN
ap-5541	292	3	of	of	ADP
ap-5541	292	4	applied	apply	VERB
ap-5541	292	5	mathematics	mathematic	NOUN
ap-5541	292	6	and	and	CCONJ
ap-5541	292	7	computer	computer	NOUN
ap-5541	292	8	science	science	NOUN
ap-5541	292	9	22(4):985	22(4):985	NUM
ap-5541	292	10	–	–	PUNCT
ap-5541	292	11	997	997	NUM
ap-5541	292	12	,	,	PUNCT
ap-5541	292	13	2012	2012	NUM
ap-5541	292	14	.	.	PUNCT
ap-5541	293	1	doi:10.2478	doi:10.2478	PROPN
ap-5541	293	2	/	/	SYM
ap-5541	293	3	v10006	v10006	NOUN
ap-5541	293	4	-	-	NOUN
ap-5541	293	5	012	012	NUM
ap-5541	293	6	-	-	PUNCT
ap-5541	293	7	0073	0073	NUM
ap-5541	293	8	-	-	PUNCT
ap-5541	293	9	y.	y.	NOUN
ap-5541	294	1	[	[	X
ap-5541	294	2	20	20	NUM
ap-5541	294	3	]	]	PUNCT
ap-5541	294	4	s.	s.	PROPN
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ap-5541	294	6	,	,	PUNCT
ap-5541	294	7	j.	j.	PROPN
ap-5541	294	8	contreras	contreras	PROPN
ap-5541	294	9	.	.	PUNCT
ap-5541	295	1	obtaining	obtain	VERB
ap-5541	295	2	first	first	ADJ
ap-5541	295	3	and	and	CCONJ
ap-5541	295	4	second	second	ADJ
ap-5541	295	5	order	order	NOUN
ap-5541	295	6	nomoto	nomoto	NOUN
ap-5541	295	7	models	model	NOUN
ap-5541	295	8	of	of	ADP
ap-5541	295	9	a	a	DET
ap-5541	295	10	fluvial	fluvial	ADJ
ap-5541	295	11	support	support	NOUN
ap-5541	295	12	patrol	patrol	NOUN
ap-5541	295	13	using	use	VERB
ap-5541	295	14	identification	identification	NOUN
ap-5541	295	15	techniques	technique	NOUN
ap-5541	295	16	.	.	PUNCT
ap-5541	296	1	ciencia	ciencia	PROPN
ap-5541	296	2	y	y	PROPN
ap-5541	296	3	tecnología	tecnología	PROPN
ap-5541	296	4	de	de	X
ap-5541	296	5	buques	buque	NOUN
ap-5541	296	6	11(22):19	11(22):19	NUM
ap-5541	296	7	–	–	PUNCT
ap-5541	296	8	28	28	NUM
ap-5541	296	9	,	,	PUNCT
ap-5541	296	10	2018	2018	NUM
ap-5541	296	11	.	.	PUNCT
ap-5541	297	1	doi:10.25043/19098642.160	doi:10.25043/19098642.160	X
ap-5541	297	2	.	.	PUNCT
ap-5541	298	1	[	[	X
ap-5541	298	2	21	21	NUM
ap-5541	298	3	]	]	X
ap-5541	298	4	v.	v.	CCONJ
ap-5541	298	5	nicolau	nicolau	PROPN
ap-5541	298	6	,	,	PUNCT
ap-5541	298	7	c.	c.	PROPN
ap-5541	298	8	miholcă	miholcă	PROPN
ap-5541	298	9	,	,	PUNCT
ap-5541	298	10	d.	d.	PROPN
ap-5541	298	11	aiordachioaie	aiordachioaie	PROPN
ap-5541	298	12	,	,	PUNCT
ap-5541	298	13	e.	e.	PROPN
ap-5541	298	14	ceangă	ceangă	PROPN
ap-5541	298	15	.	.	PUNCT
ap-5541	299	1	q	q	PUNCT
ap-5541	300	1	ft	ft	NOUN
ap-5541	300	2	autopilot	autopilot	NOUN
ap-5541	300	3	design	design	NOUN
ap-5541	300	4	for	for	ADP
ap-5541	300	5	robust	robust	ADJ
ap-5541	300	6	control	control	NOUN
ap-5541	300	7	of	of	ADP
ap-5541	300	8	ship	ship	NOUN
ap-5541	300	9	course	course	NOUN
ap-5541	300	10	-	-	PUNCT
ap-5541	300	11	keeping	keep	VERB
ap-5541	300	12	and	and	CCONJ
ap-5541	300	13	course	course	ADV
ap-5541	300	14	-	-	PUNCT
ap-5541	300	15	changing	change	VERB
ap-5541	300	16	problems	problem	NOUN
ap-5541	300	17	.	.	PUNCT
ap-5541	301	1	control	control	NOUN
ap-5541	301	2	engineering	engineering	NOUN
ap-5541	301	3	and	and	CCONJ
ap-5541	301	4	applied	apply	VERB
ap-5541	301	5	informatics	informatic	NOUN
ap-5541	301	6	7(1):44	7(1):44	NUM
ap-5541	301	7	–	–	PUNCT
ap-5541	301	8	56	56	NUM
ap-5541	301	9	,	,	PUNCT
ap-5541	301	10	2005	2005	NUM
ap-5541	301	11	.	.	PUNCT
ap-5541	302	1	[	[	X
ap-5541	302	2	22	22	NUM
ap-5541	302	3	]	]	PUNCT
ap-5541	302	4	p.	p.	PROPN
ap-5541	302	5	mishra	mishra	PROPN
ap-5541	302	6	,	,	PUNCT
ap-5541	302	7	s.	s.	PROPN
ap-5541	302	8	k.	k.	PROPN
ap-5541	302	9	panigrah	panigrah	PROPN
ap-5541	302	10	,	,	PUNCT
ap-5541	302	11	s.	s.	PROPN
ap-5541	302	12	dass	dass	PROPN
ap-5541	302	13	.	.	PUNCT
ap-5541	303	1	ships	ship	NOUN
ap-5541	303	2	steering	steer	VERB
ap-5541	303	3	autopilot	autopilot	NOUN
ap-5541	303	4	design	design	NOUN
ap-5541	303	5	by	by	ADP
ap-5541	303	6	nomoto	nomoto	PROPN
ap-5541	303	7	model	model	PROPN
ap-5541	303	8	.	.	PUNCT
ap-5541	304	1	international	international	ADJ
ap-5541	304	2	journal	journal	PROPN
ap-5541	304	3	on	on	ADP
ap-5541	304	4	mechanical	mechanical	ADJ
ap-5541	304	5	engineering	engineering	NOUN
ap-5541	304	6	and	and	CCONJ
ap-5541	304	7	robotic	robotic	ADJ
ap-5541	304	8	3(3):37	3(3):37	NUM
ap-5541	304	9	–	–	PUNCT
ap-5541	304	10	41	41	NUM
ap-5541	304	11	,	,	PUNCT
ap-5541	304	12	2015	2015	NUM
ap-5541	304	13	.	.	PUNCT
ap-5541	305	1	[	[	X
ap-5541	305	2	23	23	NUM
ap-5541	305	3	]	]	X
ap-5541	305	4	i.	i.	PROPN
ap-5541	305	5	temiz	temiz	PROPN
ap-5541	305	6	.	.	PUNCT
ap-5541	306	1	an	an	DET
ap-5541	306	2	investigation	investigation	NOUN
ap-5541	306	3	on	on	ADP
ap-5541	306	4	the	the	DET
ap-5541	306	5	ship	ship	NOUN
ap-5541	306	6	rudder	rudder	NOUN
ap-5541	306	7	with	with	ADP
ap-5541	306	8	a	a	DET
ap-5541	306	9	different	different	ADJ
ap-5541	306	10	control	control	NOUN
ap-5541	306	11	system	system	NOUN
ap-5541	306	12	.	.	PUNCT
ap-5541	307	1	electronics	electronic	NOUN
ap-5541	307	2	and	and	CCONJ
ap-5541	307	3	electrical	electrical	ADJ
ap-5541	307	4	engineering	engineering	NOUN
ap-5541	307	5	9(105):28	9(105):28	NUM
ap-5541	307	6	–	–	PUNCT
ap-5541	307	7	32	32	NUM
ap-5541	307	8	,	,	PUNCT
ap-5541	307	9	2010	2010	NUM
ap-5541	307	10	.	.	PUNCT
ap-5541	308	1	[	[	X
ap-5541	308	2	24	24	NUM
ap-5541	308	3	]	]	PUNCT
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ap-5541	308	5	ejaz	ejaz	PROPN
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ap-5541	308	7	m.	m.	PROPN
ap-5541	308	8	chen	chen	PROPN
ap-5541	308	9	.	.	PUNCT
ap-5541	309	1	sliding	slide	VERB
ap-5541	309	2	mode	mode	NOUN
ap-5541	309	3	control	control	NOUN
ap-5541	309	4	design	design	NOUN
ap-5541	309	5	of	of	ADP
ap-5541	309	6	a	a	DET
ap-5541	309	7	ship	ship	NOUN
ap-5541	309	8	steering	steer	VERB
ap-5541	309	9	autopilot	autopilot	NOUN
ap-5541	309	10	with	with	ADP
ap-5541	309	11	input	input	NOUN
ap-5541	309	12	saturation	saturation	NOUN
ap-5541	309	13	.	.	PUNCT
ap-5541	310	1	international	international	ADJ
ap-5541	310	2	journal	journal	NOUN
ap-5541	310	3	of	of	ADP
ap-5541	310	4	advanced	advanced	ADJ
ap-5541	310	5	robotic	robotic	ADJ
ap-5541	310	6	systems	system	NOUN
ap-5541	310	7	14(3):1729881417703568	14(3):1729881417703568	NUM
ap-5541	310	8	,	,	PUNCT
ap-5541	310	9	2017	2017	NUM
ap-5541	310	10	.	.	PUNCT
ap-5541	311	1	doi:10.1177/1729881417703568	doi:10.1177/1729881417703568	NOUN
ap-5541	311	2	.	.	PUNCT
ap-5541	312	1	[	[	X
ap-5541	312	2	25	25	NUM
ap-5541	312	3	]	]	X
ap-5541	312	4	r.	r.	PROPN
ap-5541	312	5	skjetne	skjetne	PROPN
ap-5541	312	6	,	,	PUNCT
ap-5541	312	7	o.	o.	PROPN
ap-5541	312	8	smogeli	smogeli	PROPN
ap-5541	312	9	,	,	PUNCT
ap-5541	312	10	t.	t.	PROPN
ap-5541	312	11	fossen	fossen	PROPN
ap-5541	312	12	.	.	PUNCT
ap-5541	313	1	a	a	DET
ap-5541	313	2	nonlinear	nonlinear	ADJ
ap-5541	313	3	ship	ship	NOUN
ap-5541	313	4	manoeuvering	manoeuvering	NOUN
ap-5541	313	5	model	model	NOUN
ap-5541	313	6	:	:	PUNCT
ap-5541	313	7	identification	identification	NOUN
ap-5541	313	8	and	and	CCONJ
ap-5541	313	9	adaptive	adaptive	ADJ
ap-5541	313	10	control	control	NOUN
ap-5541	313	11	with	with	ADP
ap-5541	313	12	experiments	experiment	NOUN
ap-5541	313	13	for	for	ADP
ap-5541	313	14	a	a	DET
ap-5541	313	15	model	model	NOUN
ap-5541	313	16	ship	ship	NOUN
ap-5541	313	17	.	.	PUNCT
ap-5541	314	1	modeling	modeling	NOUN
ap-5541	314	2	,	,	PUNCT
ap-5541	314	3	identification	identification	NOUN
ap-5541	314	4	and	and	CCONJ
ap-5541	314	5	control	control	NOUN
ap-5541	314	6	25:3	25:3	NUM
ap-5541	314	7	–	–	PUNCT
ap-5541	314	8	27	27	NUM
ap-5541	314	9	,	,	PUNCT
ap-5541	314	10	2004	2004	NUM
ap-5541	314	11	.	.	PUNCT
ap-5541	315	1	doi:10.4173	doi:10.4173	PROPN
ap-5541	315	2	/	/	SYM
ap-5541	315	3	mic.2004.1.1	mic.2004.1.1	PROPN
ap-5541	315	4	.	.	PUNCT
ap-5541	316	1	[	[	X
ap-5541	316	2	26	26	NUM
ap-5541	316	3	]	]	PUNCT
ap-5541	316	4	s.	s.	PROPN
ap-5541	316	5	das	das	PROPN
ap-5541	316	6	,	,	PUNCT
ap-5541	316	7	s.	s.	PROPN
ap-5541	316	8	talole	talole	PROPN
ap-5541	316	9	.	.	PUNCT
ap-5541	317	1	robust	robust	ADJ
ap-5541	317	2	steering	steering	NOUN
ap-5541	317	3	autopilot	autopilot	NOUN
ap-5541	317	4	design	design	NOUN
ap-5541	317	5	for	for	ADP
ap-5541	317	6	marine	marine	ADJ
ap-5541	317	7	surface	surface	NOUN
ap-5541	317	8	vessels	vessel	NOUN
ap-5541	317	9	.	.	PUNCT
ap-5541	318	1	ieee	ieee	PROPN
ap-5541	318	2	journal	journal	PROPN
ap-5541	318	3	of	of	ADP
ap-5541	318	4	oceanic	oceanic	ADJ
ap-5541	318	5	engineering	engineering	NOUN
ap-5541	318	6	41:1	41:1	NUM
ap-5541	318	7	–	–	PUNCT
ap-5541	318	8	10	10	NUM
ap-5541	318	9	,	,	PUNCT
ap-5541	318	10	2016	2016	NUM
ap-5541	318	11	.	.	PUNCT
ap-5541	319	1	doi:10.1109	doi:10.1109	PROPN
ap-5541	319	2	/	/	SYM
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ap-5541	319	4	.	.	PUNCT
ap-5541	320	1	[	[	X
ap-5541	320	2	27	27	NUM
ap-5541	320	3	]	]	PUNCT
ap-5541	320	4	m.	m.	NOUN
ap-5541	320	5	pande	pande	PROPN
ap-5541	320	6	,	,	PUNCT
ap-5541	320	7	k.	k.	PROPN
ap-5541	320	8	k.	k.	PROPN
ap-5541	320	9	mangrulkar	mangrulkar	PROPN
ap-5541	320	10	.	.	PUNCT
ap-5541	321	1	design	design	NOUN
ap-5541	321	2	of	of	ADP
ap-5541	321	3	a	a	DET
ap-5541	321	4	heading	head	VERB
ap-5541	321	5	autopilot	autopilot	NOUN
ap-5541	321	6	for	for	ADP
ap-5541	321	7	mariner	mariner	NOUN
ap-5541	321	8	class	class	NOUN
ap-5541	321	9	ship	ship	NOUN
ap-5541	321	10	with	with	ADP
ap-5541	321	11	wave	wave	NOUN
ap-5541	321	12	filtering	filtering	NOUN
ap-5541	321	13	based	base	VERB
ap-5541	321	14	on	on	ADP
ap-5541	321	15	a	a	DET
ap-5541	321	16	passive	passive	ADJ
ap-5541	321	17	observer	observer	NOUN
ap-5541	321	18	.	.	PUNCT
ap-5541	322	1	international	international	ADJ
ap-5541	322	2	journal	journal	PROPN
ap-5541	322	3	on	on	ADP
ap-5541	322	4	mechanical	mechanical	ADJ
ap-5541	322	5	engineering	engineering	NOUN
ap-5541	322	6	and	and	CCONJ
ap-5541	322	7	robotics	robotic	NOUN
ap-5541	322	8	3(3):30	3(3):30	NUM
ap-5541	322	9	–	–	PUNCT
ap-5541	322	10	36	36	NUM
ap-5541	322	11	,	,	PUNCT
ap-5541	322	12	2015	2015	NUM
ap-5541	322	13	.	.	PUNCT
ap-5541	323	1	[	[	X
ap-5541	323	2	28	28	NUM
ap-5541	323	3	]	]	X
ap-5541	323	4	r.	r.	PROPN
ap-5541	323	5	skjetne	skjetne	PROPN
ap-5541	323	6	,	,	PUNCT
ap-5541	323	7	t.	t.	PROPN
ap-5541	323	8	i.	i.	PROPN
ap-5541	323	9	fossen	fossen	PROPN
ap-5541	323	10	,	,	PUNCT
ap-5541	323	11	p.	p.	NOUN
ap-5541	323	12	v.	v.	ADP
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ap-5541	323	14	.	.	PUNCT
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ap-5541	324	2	output	output	NOUN
ap-5541	324	3	maneuvering	maneuver	VERB
ap-5541	324	4	for	for	ADP
ap-5541	324	5	a	a	DET
ap-5541	324	6	class	class	NOUN
ap-5541	324	7	of	of	ADP
ap-5541	324	8	nonlinear	nonlinear	ADJ
ap-5541	324	9	systems	system	NOUN
ap-5541	324	10	.	.	PUNCT
ap-5541	325	1	automatica	automatica	PROPN
ap-5541	325	2	40(3):373	40(3):373	PROPN
ap-5541	325	3	–	–	PUNCT
ap-5541	325	4	383	383	NUM
ap-5541	325	5	,	,	PUNCT
ap-5541	325	6	2004	2004	NUM
ap-5541	325	7	.	.	PUNCT
ap-5541	326	1	doi:10.1016	doi:10.1016	PROPN
ap-5541	326	2	/	/	SYM
ap-5541	326	3	j.automatica.2003.10.010	j.automatica.2003.10.010	PROPN
ap-5541	326	4	.	.	PUNCT
ap-5541	327	1	[	[	X
ap-5541	327	2	29	29	NUM
ap-5541	327	3	]	]	PUNCT
ap-5541	327	4	m.	m.	NOUN
ap-5541	327	5	beirami	beirami	PROPN
ap-5541	327	6	,	,	PUNCT
ap-5541	327	7	h.	h.	PROPN
ap-5541	327	8	y.	y.	PROPN
ap-5541	327	9	lee	lee	PROPN
ap-5541	327	10	,	,	PUNCT
ap-5541	327	11	y.-h	y.-h	PROPN
ap-5541	327	12	.	.	PUNCT
ap-5541	327	13	yu	yu	PROPN
ap-5541	327	14	.	.	PUNCT
ap-5541	327	15	implementation	implementation	NOUN
ap-5541	327	16	of	of	ADP
ap-5541	327	17	an	an	DET
ap-5541	327	18	auto	auto	NOUN
ap-5541	327	19	-	-	PUNCT
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ap-5541	327	21	system	system	NOUN
ap-5541	327	22	for	for	ADP
ap-5541	327	23	recreational	recreational	ADJ
ap-5541	327	24	marine	marine	ADJ
ap-5541	327	25	crafts	craft	NOUN
ap-5541	327	26	using	use	VERB
ap-5541	327	27	android	android	PROPN
ap-5541	327	28	platform	platform	PROPN
ap-5541	327	29	and	and	CCONJ
ap-5541	327	30	nmea	nmea	PROPN
ap-5541	327	31	network	network	PROPN
ap-5541	327	32	.	.	PUNCT
ap-5541	328	1	journal	journal	PROPN
ap-5541	328	2	of	of	ADP
ap-5541	328	3	the	the	DET
ap-5541	328	4	korean	korean	ADJ
ap-5541	328	5	society	society	NOUN
ap-5541	328	6	of	of	ADP
ap-5541	328	7	marine	marine	PROPN
ap-5541	328	8	engineering	engineering	NOUN
ap-5541	328	9	39:577	39:577	NUM
ap-5541	328	10	–	–	PUNCT
ap-5541	328	11	585	585	NUM
ap-5541	328	12	,	,	PUNCT
ap-5541	328	13	2015	2015	NUM
ap-5541	328	14	.	.	PUNCT
ap-5541	329	1	doi:10.5916	doi:10.5916	NOUN
ap-5541	329	2	/	/	SYM
ap-5541	329	3	jkosme.2015.39.5.577	jkosme.2015.39.5.577	PROPN
ap-5541	329	4	.	.	PUNCT
ap-5541	330	1	[	[	X
ap-5541	330	2	30	30	NUM
ap-5541	330	3	]	]	PUNCT
ap-5541	330	4	m.	m.	NOUN
ap-5541	330	5	tomera	tomera	NOUN
ap-5541	330	6	.	.	PUNCT
ap-5541	331	1	nonlinear	nonlinear	ADJ
ap-5541	331	2	controller	controller	NOUN
ap-5541	331	3	design	design	NOUN
ap-5541	331	4	of	of	ADP
ap-5541	331	5	a	a	DET
ap-5541	331	6	ship	ship	NOUN
ap-5541	331	7	autopilot	autopilot	NOUN
ap-5541	331	8	.	.	PUNCT
ap-5541	332	1	international	international	ADJ
ap-5541	332	2	journal	journal	PROPN
ap-5541	332	3	of	of	ADP
ap-5541	332	4	applied	apply	VERB
ap-5541	332	5	mathematics	mathematic	NOUN
ap-5541	332	6	and	and	CCONJ
ap-5541	332	7	computer	computer	NOUN
ap-5541	332	8	science	science	NOUN
ap-5541	332	9	20(2):271	20(2):271	NOUN
ap-5541	332	10	–	–	PUNCT
ap-5541	332	11	280	280	NUM
ap-5541	332	12	,	,	PUNCT
ap-5541	332	13	2010	2010	NUM
ap-5541	332	14	.	.	PUNCT
ap-5541	333	1	doi:10.2478	doi:10.2478	PROPN
ap-5541	333	2	/	/	SYM
ap-5541	333	3	v10006	v10006	NOUN
ap-5541	333	4	-	-	PUNCT
ap-5541	333	5	010	010	NUM
ap-5541	333	6	-	-	PUNCT
ap-5541	333	7	0020	0020	NUM
ap-5541	333	8	-	-	SYM
ap-5541	333	9	8	8	NUM
ap-5541	333	10	.	.	PUNCT
ap-5541	334	1	[	[	X
ap-5541	334	2	31	31	NUM
ap-5541	334	3	]	]	PUNCT
ap-5541	334	4	h.	h.	PROPN
ap-5541	334	5	a.	a.	PROPN
ap-5541	334	6	bouziane	bouziane	PROPN
ap-5541	334	7	,	,	PUNCT
ap-5541	334	8	r.	r.	PROPN
ap-5541	334	9	b.	b.	PROPN
ap-5541	334	10	bouiadjra	bouiadjra	PROPN
ap-5541	334	11	,	,	PUNCT
ap-5541	334	12	m.	m.	PROPN
ap-5541	334	13	b.	b.	PROPN
ap-5541	334	14	debbat	debbat	PROPN
ap-5541	334	15	.	.	PUNCT
ap-5541	335	1	design	design	NOUN
ap-5541	335	2	of	of	ADP
ap-5541	335	3	robust	robust	ADJ
ap-5541	335	4	lqr	lqr	NOUN
ap-5541	335	5	control	control	NOUN
ap-5541	335	6	for	for	ADP
ap-5541	335	7	dc	dc	PROPN
ap-5541	335	8	-	-	PUNCT
ap-5541	335	9	dc	dc	PROPN
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ap-5541	335	12	converter	converter	NOUN
ap-5541	335	13	.	.	PUNCT
ap-5541	336	1	in	in	ADP
ap-5541	336	2	4th	4th	ADJ
ap-5541	336	3	international	international	ADJ
ap-5541	336	4	conference	conference	NOUN
ap-5541	336	5	on	on	ADP
ap-5541	336	6	electrical	electrical	ADJ
ap-5541	336	7	engineering	engineering	NOUN
ap-5541	336	8	(	(	PUNCT
ap-5541	336	9	icee	icee	NOUN
ap-5541	336	10	)	)	PUNCT
ap-5541	336	11	,	,	PUNCT
ap-5541	336	12	pp	pp	PROPN
ap-5541	336	13	.	.	NOUN
ap-5541	336	14	1	1	NUM
ap-5541	336	15	–	–	PUNCT
ap-5541	336	16	5	5	NUM
ap-5541	336	17	.	.	NOUN
ap-5541	336	18	2015	2015	NUM
ap-5541	336	19	.	.	PUNCT
ap-5541	337	1	[	[	X
ap-5541	337	2	32	32	NUM
ap-5541	337	3	]	]	PUNCT
ap-5541	337	4	p.	p.	NOUN
ap-5541	337	5	jain	jain	PROPN
ap-5541	337	6	,	,	PUNCT
ap-5541	337	7	m.	m.	PROPN
ap-5541	337	8	j.	j.	PROPN
ap-5541	337	9	nigam	nigam	PROPN
ap-5541	337	10	.	.	PUNCT
ap-5541	338	1	design	design	NOUN
ap-5541	338	2	of	of	ADP
ap-5541	338	3	a	a	DET
ap-5541	338	4	model	model	NOUN
ap-5541	338	5	reference	reference	NOUN
ap-5541	338	6	adaptive	adaptive	ADJ
ap-5541	338	7	controller	controller	NOUN
ap-5541	338	8	using	use	VERB
ap-5541	338	9	a	a	DET
ap-5541	338	10	modified	modify	VERB
ap-5541	338	11	mit	mit	NOUN
ap-5541	338	12	rule	rule	NOUN
ap-5541	338	13	for	for	ADP
ap-5541	338	14	a	a	DET
ap-5541	338	15	second	second	ADJ
ap-5541	338	16	order	order	NOUN
ap-5541	338	17	system	system	NOUN
ap-5541	338	18	.	.	PUNCT
ap-5541	339	1	advance	advance	NOUN
ap-5541	339	2	in	in	ADP
ap-5541	339	3	electronic	electronic	ADJ
ap-5541	339	4	and	and	CCONJ
ap-5541	339	5	electrical	electrical	ADJ
ap-5541	339	6	engineering	engineering	NOUN
ap-5541	339	7	3(4):477	3(4):477	NUM
ap-5541	339	8	–	–	PUNCT
ap-5541	339	9	484	484	NUM
ap-5541	339	10	,	,	PUNCT
ap-5541	339	11	2013	2013	NUM
ap-5541	339	12	.	.	PUNCT
ap-5541	340	1	[	[	X
ap-5541	340	2	33	33	NUM
ap-5541	340	3	]	]	PUNCT
ap-5541	340	4	p.	p.	NOUN
ap-5541	340	5	swarnkar	swarnkar	PROPN
ap-5541	340	6	,	,	PUNCT
ap-5541	340	7	s.	s.	PROPN
ap-5541	340	8	jain	jain	PROPN
ap-5541	340	9	,	,	PUNCT
ap-5541	340	10	r.	r.	PROPN
ap-5541	340	11	k.	k.	PROPN
ap-5541	340	12	nema	nema	PROPN
ap-5541	340	13	.	.	PUNCT
ap-5541	341	1	effect	effect	NOUN
ap-5541	341	2	of	of	ADP
ap-5541	341	3	adaptation	adaptation	NOUN
ap-5541	341	4	gain	gain	NOUN
ap-5541	341	5	in	in	ADP
ap-5541	341	6	model	model	NOUN
ap-5541	341	7	reference	reference	NOUN
ap-5541	341	8	adaptive	adaptive	PROPN
ap-5541	341	9	controlled	control	VERB
ap-5541	341	10	second	second	ADJ
ap-5541	341	11	order	order	NOUN
ap-5541	341	12	system	system	NOUN
ap-5541	341	13	.	.	PUNCT
ap-5541	342	1	engineering	engineering	NOUN
ap-5541	342	2	,	,	PUNCT
ap-5541	342	3	technology	technology	NOUN
ap-5541	342	4	&	&	CCONJ
ap-5541	342	5	applied	apply	VERB
ap-5541	342	6	science	science	NOUN
ap-5541	342	7	research	research	NOUN
ap-5541	342	8	1(3):70	1(3):70	NUM
ap-5541	342	9	–	–	PUNCT
ap-5541	342	10	75	75	NUM
ap-5541	342	11	,	,	PUNCT
ap-5541	342	12	2011	2011	NUM
ap-5541	342	13	.	.	PUNCT
ap-5541	343	1	[	[	X
ap-5541	343	2	34	34	NUM
ap-5541	343	3	]	]	X
ap-5541	343	4	i.	i.	NOUN
ap-5541	343	5	abuiziah	abuiziah	PROPN
ap-5541	343	6	,	,	PUNCT
ap-5541	343	7	n.	n.	PROPN
ap-5541	343	8	hakarneh	hakarneh	PROPN
ap-5541	343	9	.	.	PUNCT
ap-5541	344	1	a	a	DET
ap-5541	344	2	review	review	NOUN
ap-5541	344	3	of	of	ADP
ap-5541	344	4	genetic	genetic	ADJ
ap-5541	344	5	algorithm	algorithm	NOUN
ap-5541	344	6	optimization	optimization	NOUN
ap-5541	344	7	:	:	PUNCT
ap-5541	344	8	operations	operation	NOUN
ap-5541	344	9	and	and	CCONJ
ap-5541	344	10	applications	application	NOUN
ap-5541	344	11	to	to	PART
ap-5541	344	12	water	water	NOUN
ap-5541	344	13	pipeline	pipeline	NOUN
ap-5541	344	14	systems	system	NOUN
ap-5541	344	15	.	.	PUNCT
ap-5541	345	1	international	international	ADJ
ap-5541	345	2	journal	journal	PROPN
ap-5541	345	3	of	of	ADP
ap-5541	345	4	mathematical	mathematical	ADJ
ap-5541	345	5	and	and	CCONJ
ap-5541	345	6	computational	computational	ADJ
ap-5541	345	7	sciences	science	NOUN
ap-5541	345	8	7(12):1782	7(12):1782	NUM
ap-5541	345	9	–	–	PUNCT
ap-5541	345	10	1788	1788	NUM
ap-5541	345	11	,	,	PUNCT
ap-5541	345	12	2013	2013	NUM
ap-5541	345	13	.	.	PUNCT
ap-5541	346	1	205	205	NUM
ap-5541	346	2	http://dx.doi.org/10.1115/dscc2013-4039	http://dx.doi.org/10.1115/dscc2013-4039	NOUN
ap-5541	346	3	http://dx.doi.org/10.4156/ijact.vol5.issue9.66	http://dx.doi.org/10.4156/ijact.vol5.issue9.66	PROPN
ap-5541	346	4	http://dx.doi.org/10.1080/20464177.2003.11020163	http://dx.doi.org/10.1080/20464177.2003.11020163	PROPN
ap-5541	346	5	http://dx.doi.org/10.1016/s0967-0661(02)00009-6	http://dx.doi.org/10.1016/s0967-0661(02)00009-6	PROPN
ap-5541	346	6	http://dx.doi.org/10.9790/1676-110502135140	http://dx.doi.org/10.9790/1676-110502135140	PROPN
ap-5541	346	7	http://dx.doi.org/10.2478/v10006-012-0073-y	http://dx.doi.org/10.2478/v10006-012-0073-y	VERB
ap-5541	346	8	http://dx.doi.org/10.25043/19098642.160	http://dx.doi.org/10.25043/19098642.160	NOUN
ap-5541	346	9	http://dx.doi.org/10.1177/1729881417703568	http://dx.doi.org/10.1177/1729881417703568	NOUN
ap-5541	346	10	http://dx.doi.org/10.4173/mic.2004.1.1	http://dx.doi.org/10.4173/mic.2004.1.1	PROPN
ap-5541	346	11	http://dx.doi.org/10.1109/joe.2016.2518256	http://dx.doi.org/10.1109/joe.2016.2518256	PROPN
ap-5541	346	12	http://dx.doi.org/10.1016/j.automatica.2003.10.010	http://dx.doi.org/10.1016/j.automatica.2003.10.010	PROPN
ap-5541	346	13	http://dx.doi.org/10.5916/jkosme.2015.39.5.577	http://dx.doi.org/10.5916/jkosme.2015.39.5.577	PROPN
ap-5541	346	14	http://dx.doi.org/10.2478/v10006-010-0020-8	http://dx.doi.org/10.2478/v10006-010-0020-8	X
ap-5541	346	15	acta	acta	PROPN
ap-5541	346	16	polytechnica	polytechnica	PROPN
ap-5541	346	17	60(3):197–205	60(3):197–205	PROPN
ap-5541	346	18	,	,	PUNCT
ap-5541	346	19	2020	2020	NUM
ap-5541	346	20	1	1	NUM
ap-5541	346	21	introduction	introduction	NOUN
ap-5541	346	22	2	2	NUM
ap-5541	346	23	ship	ship	NOUN
ap-5541	346	24	mathematical	mathematical	ADJ
ap-5541	346	25	modeling	model	VERB
ap-5541	346	26	3	3	NUM
ap-5541	346	27	ship	ship	NOUN
ap-5541	346	28	steering	steering	NOUN
ap-5541	346	29	control	control	NOUN
ap-5541	346	30	methods	method	NOUN
ap-5541	346	31	3.1	3.1	NUM
ap-5541	346	32	pid	pid	NOUN
ap-5541	346	33	controller	controller	NOUN
ap-5541	346	34	3.2	3.2	NUM
ap-5541	346	35	lqr	lqr	NOUN
ap-5541	346	36	controller	controller	NOUN
ap-5541	346	37	3.3	3.3	NUM
ap-5541	346	38	model	model	NOUN
ap-5541	346	39	reference	reference	NOUN
ap-5541	346	40	adaptive	adaptive	ADJ
ap-5541	346	41	control	control	NOUN
ap-5541	346	42	-	-	PUNCT
ap-5541	346	43	based	base	VERB
ap-5541	346	44	genetic	genetic	ADJ
ap-5541	346	45	algorithm	algorithm	NOUN
ap-5541	346	46	(	(	PUNCT
ap-5541	346	47	mrac	mrac	PROPN
ap-5541	346	48	-	-	PUNCT
ap-5541	346	49	ga	ga	NOUN
ap-5541	346	50	)	)	PUNCT
ap-5541	346	51	3.4	3.4	NUM
ap-5541	346	52	mit	mit	NOUN
ap-5541	346	53	adaptation	adaptation	NOUN
ap-5541	346	54	law	law	NOUN
ap-5541	346	55	4	4	NUM
ap-5541	346	56	discussion	discussion	NOUN
ap-5541	346	57	5	5	NUM
ap-5541	346	58	conclusions	conclusion	NOUN
ap-5541	346	59	acknowledgements	acknowledgement	NOUN
ap-5541	346	60	references	reference	NOUN