id	sid	tid	token	lemma	pos
ap-6953	1	1	acta	acta	PROPN
ap-6953	1	2	polytechnica	polytechnica	PROPN
ap-6953	1	3	https://doi.org/10.14311/ap.2021.61.0350	https://doi.org/10.14311/ap.2021.61.0350	PROPN
ap-6953	1	4	acta	acta	PROPN
ap-6953	1	5	polytechnica	polytechnica	PROPN
ap-6953	1	6	61(2):350–363	61(2):350–363	PROPN
ap-6953	1	7	,	,	PUNCT
ap-6953	1	8	2021	2021	NUM
ap-6953	1	9	©	©	ADP
ap-6953	1	10	2021	2021	NUM
ap-6953	1	11	the	the	DET
ap-6953	1	12	author(s	author(s	NOUN
ap-6953	1	13	)	)	PUNCT
ap-6953	1	14	.	.	PUNCT
ap-6953	2	1	licensed	license	VERB
ap-6953	2	2	under	under	ADP
ap-6953	2	3	a	a	DET
ap-6953	2	4	cc	cc	NOUN
ap-6953	2	5	-	-	PUNCT
ap-6953	2	6	by	by	ADP
ap-6953	2	7	4.0	4.0	NUM
ap-6953	2	8	licence	licence	NOUN
ap-6953	2	9	published	publish	VERB
ap-6953	2	10	by	by	ADP
ap-6953	2	11	the	the	DET
ap-6953	2	12	czech	czech	PROPN
ap-6953	2	13	technical	technical	PROPN
ap-6953	2	14	university	university	PROPN
ap-6953	2	15	in	in	ADP
ap-6953	2	16	prague	prague	PROPN
ap-6953	2	17	adaptive	adaptive	ADJ
ap-6953	2	18	wavelets	wavelet	NOUN
ap-6953	2	19	sliding	slide	VERB
ap-6953	2	20	mode	mode	NOUN
ap-6953	2	21	control	control	NOUN
ap-6953	2	22	for	for	ADP
ap-6953	2	23	a	a	DET
ap-6953	2	24	class	class	NOUN
ap-6953	2	25	of	of	ADP
ap-6953	2	26	second	second	ADJ
ap-6953	2	27	order	order	NOUN
ap-6953	2	28	underactuated	underactuate	VERB
ap-6953	2	29	mechanical	mechanical	ADJ
ap-6953	2	30	systems	system	NOUN
ap-6953	2	31	fares	fare	NOUN
ap-6953	2	32	nafaa,∗	nafaa,∗	PROPN
ap-6953	2	33	,	,	PUNCT
ap-6953	2	34	aimad	aimad	VERB
ap-6953	2	35	boudoudaa	boudoudaa	NOUN
ap-6953	2	36	,	,	PUNCT
ap-6953	2	37	billel	billel	NOUN
ap-6953	2	38	smaanib	smaanib	NOUN
ap-6953	2	39	a	a	DET
ap-6953	2	40	boumerdes	boumerdes	PROPN
ap-6953	2	41	university	university	NOUN
ap-6953	2	42	,	,	PUNCT
ap-6953	2	43	faculté	faculté	PROPN
ap-6953	2	44	de	de	X
ap-6953	2	45	technologie	technologie	PROPN
ap-6953	2	46	,	,	PUNCT
ap-6953	2	47	laboratoire	laboratoire	PROPN
ap-6953	2	48	d’ingénierie	d’ingénierie	PROPN
ap-6953	2	49	des	des	PROPN
ap-6953	2	50	sytémes	sytéme	NOUN
ap-6953	2	51	et	et	PROPN
ap-6953	2	52	des	des	PROPN
ap-6953	2	53	telecommunication	telecommunication	PROPN
ap-6953	2	54	,	,	PUNCT
ap-6953	2	55	cité	cité	PROPN
ap-6953	2	56	franzfanon	franzfanon	PROPN
ap-6953	2	57	,	,	PUNCT
ap-6953	2	58	boumerdes	boumerdes	PROPN
ap-6953	2	59	,	,	PUNCT
ap-6953	2	60	algeria	algeria	PROPN
ap-6953	2	61	b	b	PROPN
ap-6953	2	62	laboratoire	laboratoire	PROPN
ap-6953	2	63	hyperfréquences	hyperfréquence	NOUN
ap-6953	2	64	et	et	PROPN
ap-6953	2	65	semiconducteurs	semiconducteur	VERB
ap-6953	2	66	constantine	constantine	PROPN
ap-6953	2	67	1	1	NUM
ap-6953	2	68	university	university	PROPN
ap-6953	2	69	,	,	PUNCT
ap-6953	2	70	b.p	b.p	PROPN
ap-6953	2	71	.	.	PROPN
ap-6953	2	72	325	325	NUM
ap-6953	2	73	route	route	PROPN
ap-6953	2	74	ain	ain	PROPN
ap-6953	2	75	el	el	PROPN
ap-6953	2	76	bey	bey	PROPN
ap-6953	2	77	,	,	PUNCT
ap-6953	2	78	constantine	constantine	PROPN
ap-6953	2	79	,	,	PUNCT
ap-6953	2	80	algeria	algeria	PROPN
ap-6953	2	81	∗	∗	NOUN
ap-6953	2	82	corresponding	correspond	VERB
ap-6953	2	83	author	author	NOUN
ap-6953	2	84	:	:	PUNCT
ap-6953	2	85	f.nafa@univ-boumerdes.dz	f.nafa@univ-boumerdes.dz	NUM
ap-6953	2	86	abstract	abstract	ADJ
ap-6953	2	87	.	.	PUNCT
ap-6953	3	1	the	the	DET
ap-6953	3	2	control	control	NOUN
ap-6953	3	3	of	of	ADP
ap-6953	3	4	underactuated	underactuated	ADJ
ap-6953	3	5	mechanical	mechanical	ADJ
ap-6953	3	6	systems	system	NOUN
ap-6953	3	7	(	(	PUNCT
ap-6953	3	8	ums	ums	PROPN
ap-6953	3	9	)	)	PUNCT
ap-6953	3	10	remains	remain	VERB
ap-6953	3	11	an	an	DET
ap-6953	3	12	attracting	attract	VERB
ap-6953	3	13	field	field	NOUN
ap-6953	3	14	where	where	SCONJ
ap-6953	3	15	researchers	researcher	NOUN
ap-6953	3	16	can	can	AUX
ap-6953	3	17	develop	develop	VERB
ap-6953	3	18	their	their	PRON
ap-6953	3	19	control	control	NOUN
ap-6953	3	20	algorithms	algorithm	NOUN
ap-6953	3	21	.	.	PUNCT
ap-6953	4	1	to	to	ADP
ap-6953	4	2	this	this	DET
ap-6953	4	3	date	date	NOUN
ap-6953	4	4	,	,	PUNCT
ap-6953	4	5	various	various	ADJ
ap-6953	4	6	linear	linear	ADJ
ap-6953	4	7	and	and	CCONJ
ap-6953	4	8	nonlinear	nonlinear	ADJ
ap-6953	4	9	control	control	NOUN
ap-6953	4	10	techniques	technique	NOUN
ap-6953	4	11	using	use	VERB
ap-6953	4	12	classical	classical	ADJ
ap-6953	4	13	and	and	CCONJ
ap-6953	4	14	intelligent	intelligent	ADJ
ap-6953	4	15	methods	method	NOUN
ap-6953	4	16	have	have	AUX
ap-6953	4	17	been	be	AUX
ap-6953	4	18	published	publish	VERB
ap-6953	4	19	in	in	ADP
ap-6953	4	20	literature	literature	NOUN
ap-6953	4	21	.	.	PUNCT
ap-6953	5	1	in	in	ADP
ap-6953	5	2	this	this	DET
ap-6953	5	3	work	work	NOUN
ap-6953	5	4	,	,	PUNCT
ap-6953	5	5	an	an	DET
ap-6953	5	6	adaptive	adaptive	ADJ
ap-6953	5	7	controller	controller	NOUN
ap-6953	5	8	using	use	VERB
ap-6953	5	9	sliding	slide	VERB
ap-6953	5	10	mode	mode	NOUN
ap-6953	5	11	control	control	NOUN
ap-6953	5	12	(	(	PUNCT
ap-6953	5	13	smc	smc	PROPN
ap-6953	5	14	)	)	PUNCT
ap-6953	5	15	and	and	CCONJ
ap-6953	5	16	wavelets	wavelet	NOUN
ap-6953	5	17	network	network	NOUN
ap-6953	5	18	(	(	PUNCT
ap-6953	5	19	wn	wn	PROPN
ap-6953	5	20	)	)	PUNCT
ap-6953	5	21	is	be	AUX
ap-6953	5	22	proposed	propose	VERB
ap-6953	5	23	for	for	ADP
ap-6953	5	24	a	a	DET
ap-6953	5	25	class	class	NOUN
ap-6953	5	26	of	of	ADP
ap-6953	5	27	second	second	ADJ
ap-6953	5	28	-	-	PUNCT
ap-6953	5	29	order	order	NOUN
ap-6953	5	30	ums	ums	NOUN
ap-6953	5	31	with	with	ADP
ap-6953	5	32	two	two	NUM
ap-6953	5	33	degrees	degree	NOUN
ap-6953	5	34	of	of	ADP
ap-6953	5	35	freedom	freedom	NOUN
ap-6953	5	36	(	(	PUNCT
ap-6953	5	37	dof	dof	NOUN
ap-6953	5	38	)	)	PUNCT
ap-6953	5	39	.	.	PUNCT
ap-6953	6	1	this	this	DET
ap-6953	6	2	adaptive	adaptive	ADJ
ap-6953	6	3	control	control	NOUN
ap-6953	6	4	strategy	strategy	NOUN
ap-6953	6	5	takes	take	VERB
ap-6953	6	6	advantage	advantage	NOUN
ap-6953	6	7	of	of	ADP
ap-6953	6	8	both	both	PRON
ap-6953	6	9	sliding	slide	VERB
ap-6953	6	10	mode	mode	NOUN
ap-6953	6	11	control	control	NOUN
ap-6953	6	12	and	and	CCONJ
ap-6953	6	13	wavelet	wavelet	NOUN
ap-6953	6	14	properties	property	NOUN
ap-6953	6	15	.	.	PUNCT
ap-6953	7	1	in	in	ADP
ap-6953	7	2	the	the	DET
ap-6953	7	3	main	main	ADJ
ap-6953	7	4	result	result	NOUN
ap-6953	7	5	,	,	PUNCT
ap-6953	7	6	we	we	PRON
ap-6953	7	7	consider	consider	VERB
ap-6953	7	8	the	the	DET
ap-6953	7	9	case	case	NOUN
ap-6953	7	10	of	of	ADP
ap-6953	7	11	un	un	ADJ
ap-6953	7	12	-	-	ADJ
ap-6953	7	13	modeled	model	VERB
ap-6953	7	14	dynamics	dynamic	NOUN
ap-6953	7	15	of	of	ADP
ap-6953	7	16	the	the	DET
ap-6953	7	17	above	above	ADV
ap-6953	7	18	-	-	PUNCT
ap-6953	7	19	mentioned	mention	VERB
ap-6953	7	20	ums	ums	NOUN
ap-6953	7	21	,	,	PUNCT
ap-6953	7	22	and	and	CCONJ
ap-6953	7	23	we	we	PRON
ap-6953	7	24	introduce	introduce	VERB
ap-6953	7	25	a	a	DET
ap-6953	7	26	wavelets	wavelet	NOUN
ap-6953	7	27	network	network	NOUN
ap-6953	7	28	to	to	PART
ap-6953	7	29	design	design	VERB
ap-6953	7	30	an	an	DET
ap-6953	7	31	adaptive	adaptive	ADJ
ap-6953	7	32	controller	controller	NOUN
ap-6953	7	33	based	base	VERB
ap-6953	7	34	on	on	ADP
ap-6953	7	35	the	the	DET
ap-6953	7	36	smc	smc	PROPN
ap-6953	7	37	.	.	PUNCT
ap-6953	8	1	the	the	DET
ap-6953	8	2	update	update	NOUN
ap-6953	8	3	algorithms	algorithm	NOUN
ap-6953	8	4	are	be	AUX
ap-6953	8	5	directly	directly	ADV
ap-6953	8	6	extracted	extract	VERB
ap-6953	8	7	by	by	ADP
ap-6953	8	8	using	use	VERB
ap-6953	8	9	the	the	DET
ap-6953	8	10	gradient	gradient	ADJ
ap-6953	8	11	descent	descent	NOUN
ap-6953	8	12	method	method	NOUN
ap-6953	8	13	and	and	CCONJ
ap-6953	8	14	conditions	condition	NOUN
ap-6953	8	15	are	be	AUX
ap-6953	8	16	then	then	ADV
ap-6953	8	17	settled	settle	VERB
ap-6953	8	18	to	to	PART
ap-6953	8	19	achieve	achieve	VERB
ap-6953	8	20	the	the	DET
ap-6953	8	21	required	require	VERB
ap-6953	8	22	convergence	convergence	NOUN
ap-6953	8	23	performance	performance	NOUN
ap-6953	8	24	.	.	PUNCT
ap-6953	9	1	the	the	DET
ap-6953	9	2	efficacy	efficacy	NOUN
ap-6953	9	3	of	of	ADP
ap-6953	9	4	the	the	DET
ap-6953	9	5	proposed	propose	VERB
ap-6953	9	6	adaptive	adaptive	ADJ
ap-6953	9	7	approach	approach	NOUN
ap-6953	9	8	is	be	AUX
ap-6953	9	9	demonstrated	demonstrate	VERB
ap-6953	9	10	through	through	ADP
ap-6953	9	11	an	an	DET
ap-6953	9	12	application	application	NOUN
ap-6953	9	13	to	to	ADP
ap-6953	9	14	the	the	DET
ap-6953	9	15	pendubot	pendubot	NOUN
ap-6953	9	16	.	.	PUNCT
ap-6953	10	1	keywords	keyword	NOUN
ap-6953	10	2	:	:	PUNCT
ap-6953	10	3	adaptive	adaptive	ADJ
ap-6953	10	4	,	,	PUNCT
ap-6953	10	5	gradient	gradient	ADJ
ap-6953	10	6	descent	descent	NOUN
ap-6953	10	7	,	,	PUNCT
ap-6953	10	8	pendubot	pendubot	NOUN
ap-6953	10	9	,	,	PUNCT
ap-6953	10	10	sliding	slide	VERB
ap-6953	10	11	mode	mode	NOUN
ap-6953	10	12	control	control	NOUN
ap-6953	10	13	,	,	PUNCT
ap-6953	10	14	wavelets	wavelet	NOUN
ap-6953	10	15	.	.	PUNCT
ap-6953	11	1	1	1	X
ap-6953	11	2	.	.	X
ap-6953	11	3	introduction	introduction	NOUN
ap-6953	11	4	1.1	1.1	NUM
ap-6953	11	5	.	.	PUNCT
ap-6953	12	1	motivation	motivation	NOUN
ap-6953	12	2	:	:	PUNCT
ap-6953	12	3	a	a	DET
ap-6953	12	4	literature	literature	NOUN
ap-6953	12	5	review	review	VERB
ap-6953	12	6	challenging	challenging	ADJ
ap-6953	12	7	control	control	NOUN
ap-6953	12	8	strategies	strategy	NOUN
ap-6953	12	9	for	for	ADP
ap-6953	12	10	underactuated	underactuated	ADJ
ap-6953	12	11	mechanical	mechanical	ADJ
ap-6953	12	12	systems	system	NOUN
ap-6953	12	13	(	(	PUNCT
ap-6953	12	14	ums	ums	PROPN
ap-6953	12	15	)	)	PUNCT
ap-6953	12	16	are	be	AUX
ap-6953	12	17	still	still	ADV
ap-6953	12	18	relevant	relevant	ADJ
ap-6953	12	19	for	for	ADP
ap-6953	12	20	researchers	researcher	NOUN
ap-6953	12	21	and	and	CCONJ
ap-6953	12	22	remain	remain	VERB
ap-6953	12	23	a	a	DET
ap-6953	12	24	major	major	ADJ
ap-6953	12	25	open	open	ADJ
ap-6953	12	26	field	field	NOUN
ap-6953	12	27	.	.	PUNCT
ap-6953	13	1	those	those	DET
ap-6953	13	2	systems	system	NOUN
ap-6953	13	3	have	have	VERB
ap-6953	13	4	fewer	few	ADJ
ap-6953	13	5	control	control	NOUN
ap-6953	13	6	inputs	input	NOUN
ap-6953	13	7	than	than	ADP
ap-6953	13	8	degrees	degree	NOUN
ap-6953	13	9	of	of	ADP
ap-6953	13	10	freedom	freedom	NOUN
ap-6953	13	11	(	(	PUNCT
ap-6953	13	12	dof	dof	NOUN
ap-6953	13	13	)	)	PUNCT
ap-6953	13	14	and	and	CCONJ
ap-6953	13	15	often	often	ADV
ap-6953	13	16	arise	arise	VERB
ap-6953	13	17	from	from	ADP
ap-6953	13	18	nonholonomic	nonholonomic	ADJ
ap-6953	13	19	systems	system	NOUN
ap-6953	13	20	with	with	ADP
ap-6953	13	21	non	non	ADJ
ap-6953	13	22	-	-	ADJ
ap-6953	13	23	integrable	integrable	ADJ
ap-6953	13	24	constraints	constraint	NOUN
ap-6953	13	25	:	:	PUNCT
ap-6953	13	26	first	first	ADJ
ap-6953	13	27	and/or	and/or	CCONJ
ap-6953	13	28	second	second	ADJ
ap-6953	13	29	-	-	PUNCT
ap-6953	13	30	order	order	NOUN
ap-6953	13	31	nonholonomic	nonholonomic	ADJ
ap-6953	13	32	constraints	constraint	NOUN
ap-6953	13	33	[	[	X
ap-6953	13	34	1	1	NUM
ap-6953	13	35	]	]	PUNCT
ap-6953	13	36	.	.	PUNCT
ap-6953	14	1	since	since	SCONJ
ap-6953	14	2	decades	decade	NOUN
ap-6953	14	3	,	,	PUNCT
ap-6953	14	4	many	many	ADJ
ap-6953	14	5	applications	application	NOUN
ap-6953	14	6	include	include	VERB
ap-6953	14	7	this	this	DET
ap-6953	14	8	class	class	NOUN
ap-6953	14	9	of	of	ADP
ap-6953	14	10	mechanical	mechanical	ADJ
ap-6953	14	11	systems	system	NOUN
ap-6953	14	12	in	in	ADP
ap-6953	14	13	different	different	ADJ
ap-6953	14	14	fields	field	NOUN
ap-6953	14	15	,	,	PUNCT
ap-6953	14	16	such	such	ADJ
ap-6953	14	17	as	as	ADP
ap-6953	14	18	robotics	robotic	NOUN
ap-6953	14	19	[	[	X
ap-6953	14	20	1	1	NUM
ap-6953	14	21	,	,	PUNCT
ap-6953	14	22	2	2	NUM
ap-6953	14	23	]	]	PUNCT
ap-6953	14	24	,	,	PUNCT
ap-6953	14	25	aeronautical	aeronautical	NOUN
ap-6953	14	26	[	[	X
ap-6953	14	27	3	3	NUM
ap-6953	14	28	]	]	PUNCT
ap-6953	14	29	,	,	PUNCT
ap-6953	14	30	spatial	spatial	ADJ
ap-6953	14	31	systems	system	NOUN
ap-6953	14	32	,	,	PUNCT
ap-6953	14	33	marine	marine	ADJ
ap-6953	14	34	and	and	CCONJ
ap-6953	14	35	underwater	underwater	ADJ
ap-6953	14	36	systems	system	NOUN
ap-6953	14	37	[	[	X
ap-6953	14	38	4	4	NUM
ap-6953	14	39	]	]	PUNCT
ap-6953	14	40	,	,	PUNCT
ap-6953	14	41	and	and	CCONJ
ap-6953	14	42	flexible	flexible	ADJ
ap-6953	14	43	and	and	CCONJ
ap-6953	14	44	mobile	mobile	ADJ
ap-6953	14	45	systems	system	NOUN
ap-6953	14	46	[	[	X
ap-6953	14	47	1	1	NUM
ap-6953	14	48	]	]	PUNCT
ap-6953	14	49	.	.	PUNCT
ap-6953	15	1	in	in	ADP
ap-6953	15	2	particular	particular	ADJ
ap-6953	15	3	,	,	PUNCT
ap-6953	15	4	the	the	DET
ap-6953	15	5	set	set	NOUN
ap-6953	15	6	of	of	ADP
ap-6953	15	7	ums	ums	PROPN
ap-6953	15	8	examples	example	NOUN
ap-6953	15	9	includes	include	VERB
ap-6953	15	10	inverted	inverted	ADJ
ap-6953	15	11	pendulum	pendulum	NOUN
ap-6953	15	12	,	,	PUNCT
ap-6953	15	13	double	double	ADJ
ap-6953	15	14	inverted	inverted	ADJ
ap-6953	15	15	pendulum	pendulum	NOUN
ap-6953	15	16	,	,	PUNCT
ap-6953	15	17	acrobot	acrobot	PROPN
ap-6953	15	18	,	,	PUNCT
ap-6953	15	19	pendubot	pendubot	PROPN
ap-6953	15	20	,	,	PUNCT
ap-6953	15	21	beam	beam	NOUN
ap-6953	15	22	and	and	CCONJ
ap-6953	15	23	ball	ball	NOUN
ap-6953	15	24	system	system	NOUN
ap-6953	15	25	,	,	PUNCT
ap-6953	15	26	tora	tora	PROPN
ap-6953	15	27	system	system	PROPN
ap-6953	15	28	,	,	PUNCT
ap-6953	15	29	underactuated	underactuated	ADJ
ap-6953	15	30	surface	surface	NOUN
ap-6953	15	31	vessels	vessel	NOUN
ap-6953	15	32	,	,	PUNCT
ap-6953	15	33	underactuated	underactuated	ADJ
ap-6953	15	34	aerial	aerial	ADJ
ap-6953	15	35	vehicles	vehicle	NOUN
ap-6953	15	36	,	,	PUNCT
ap-6953	15	37	...	...	PUNCT
ap-6953	15	38	etc	etc	X
ap-6953	15	39	.	.	X
ap-6953	16	1	having	have	VERB
ap-6953	16	2	fewer	few	ADJ
ap-6953	16	3	actuators	actuator	NOUN
ap-6953	16	4	than	than	ADP
ap-6953	16	5	degrees	degree	NOUN
ap-6953	16	6	of	of	ADP
ap-6953	16	7	freedom	freedom	NOUN
ap-6953	16	8	gives	give	VERB
ap-6953	16	9	a	a	DET
ap-6953	16	10	lot	lot	NOUN
ap-6953	16	11	of	of	ADP
ap-6953	16	12	advantage	advantage	NOUN
ap-6953	16	13	for	for	ADP
ap-6953	16	14	the	the	DET
ap-6953	16	15	ums	ums	PROPN
ap-6953	16	16	,	,	PUNCT
ap-6953	16	17	namely	namely	ADV
ap-6953	16	18	:	:	PUNCT
ap-6953	16	19	reduction	reduction	NOUN
ap-6953	16	20	of	of	ADP
ap-6953	16	21	weight	weight	NOUN
ap-6953	16	22	,	,	PUNCT
ap-6953	16	23	saving	save	VERB
ap-6953	16	24	cost	cost	NOUN
ap-6953	16	25	by	by	ADP
ap-6953	16	26	reduction	reduction	NOUN
ap-6953	16	27	of	of	ADP
ap-6953	16	28	the	the	DET
ap-6953	16	29	number	number	NOUN
ap-6953	16	30	of	of	ADP
ap-6953	16	31	actuators	actuator	NOUN
ap-6953	16	32	and	and	CCONJ
ap-6953	16	33	then	then	ADV
ap-6953	16	34	the	the	DET
ap-6953	16	35	consumed	consumed	ADJ
ap-6953	16	36	energy	energy	NOUN
ap-6953	16	37	.	.	PUNCT
ap-6953	17	1	in	in	ADP
ap-6953	17	2	addition	addition	NOUN
ap-6953	17	3	,	,	PUNCT
ap-6953	17	4	a	a	DET
ap-6953	17	5	fully	fully	ADV
ap-6953	17	6	actuated	actuate	VERB
ap-6953	17	7	system	system	NOUN
ap-6953	17	8	can	can	AUX
ap-6953	17	9	become	become	VERB
ap-6953	17	10	underactuated	underactuated	ADJ
ap-6953	17	11	in	in	ADP
ap-6953	17	12	case	case	NOUN
ap-6953	17	13	of	of	ADP
ap-6953	17	14	a	a	DET
ap-6953	17	15	breakdown	breakdown	NOUN
ap-6953	17	16	,	,	PUNCT
ap-6953	17	17	and	and	CCONJ
ap-6953	17	18	then	then	ADV
ap-6953	17	19	the	the	DET
ap-6953	17	20	control	control	NOUN
ap-6953	17	21	strategies	strategy	NOUN
ap-6953	17	22	for	for	ADP
ap-6953	17	23	the	the	DET
ap-6953	17	24	ums	ums	PROPN
ap-6953	17	25	can	can	AUX
ap-6953	17	26	be	be	AUX
ap-6953	17	27	used	use	VERB
ap-6953	17	28	as	as	ADP
ap-6953	17	29	a	a	DET
ap-6953	17	30	rescue	rescue	NOUN
ap-6953	17	31	plan	plan	NOUN
ap-6953	17	32	for	for	ADP
ap-6953	17	33	the	the	DET
ap-6953	17	34	control	control	NOUN
ap-6953	17	35	of	of	ADP
ap-6953	17	36	fully	fully	ADV
ap-6953	17	37	actuated	actuate	VERB
ap-6953	17	38	systems	system	NOUN
ap-6953	17	39	.	.	PUNCT
ap-6953	18	1	recently	recently	ADV
ap-6953	18	2	,	,	PUNCT
ap-6953	18	3	there	there	PRON
ap-6953	18	4	have	have	AUX
ap-6953	18	5	been	be	AUX
ap-6953	18	6	extensive	extensive	ADJ
ap-6953	18	7	and	and	CCONJ
ap-6953	18	8	remarkable	remarkable	ADJ
ap-6953	18	9	research	research	NOUN
ap-6953	18	10	efforts	effort	NOUN
ap-6953	18	11	in	in	ADP
ap-6953	18	12	the	the	DET
ap-6953	18	13	control	control	NOUN
ap-6953	18	14	of	of	ADP
ap-6953	18	15	the	the	DET
ap-6953	18	16	ums	ums	NOUN
ap-6953	18	17	and	and	CCONJ
ap-6953	18	18	several	several	ADJ
ap-6953	18	19	classifications	classification	NOUN
ap-6953	18	20	and	and	CCONJ
ap-6953	18	21	papers	paper	NOUN
ap-6953	18	22	have	have	AUX
ap-6953	18	23	been	be	AUX
ap-6953	18	24	presented	present	VERB
ap-6953	18	25	including	include	VERB
ap-6953	18	26	modelling	modelling	NOUN
ap-6953	18	27	,	,	PUNCT
ap-6953	18	28	stability	stability	NOUN
ap-6953	18	29	and	and	CCONJ
ap-6953	18	30	controllability	controllability	NOUN
ap-6953	18	31	issues	issue	NOUN
ap-6953	19	1	[	[	X
ap-6953	19	2	5–12	5–12	NOUN
ap-6953	19	3	]	]	PUNCT
ap-6953	19	4	.	.	PUNCT
ap-6953	20	1	indeed	indeed	ADV
ap-6953	20	2	,	,	PUNCT
ap-6953	20	3	an	an	DET
ap-6953	20	4	overview	overview	NOUN
ap-6953	20	5	of	of	ADP
ap-6953	20	6	control	control	NOUN
ap-6953	20	7	strategies	strategy	NOUN
ap-6953	20	8	shows	show	VERB
ap-6953	20	9	the	the	DET
ap-6953	20	10	use	use	NOUN
ap-6953	20	11	of	of	ADP
ap-6953	20	12	both	both	CCONJ
ap-6953	20	13	linear	linear	ADJ
ap-6953	20	14	and	and	CCONJ
ap-6953	20	15	nonlinear	nonlinear	ADJ
ap-6953	20	16	algorithms	algorithm	NOUN
ap-6953	20	17	.	.	PUNCT
ap-6953	21	1	linear	linear	ADJ
ap-6953	21	2	controllers	controller	NOUN
ap-6953	21	3	such	such	ADJ
ap-6953	21	4	as	as	ADP
ap-6953	21	5	in	in	ADP
ap-6953	21	6	[	[	PUNCT
ap-6953	21	7	13	13	NUM
ap-6953	21	8	]	]	PUNCT
ap-6953	21	9	use	use	VERB
ap-6953	21	10	a	a	DET
ap-6953	21	11	robust	robust	ADJ
ap-6953	21	12	lqr	lqr	NOUN
ap-6953	21	13	-	-	PUNCT
ap-6953	21	14	based	base	VERB
ap-6953	21	15	anfis	anfis	PROPN
ap-6953	21	16	(	(	PUNCT
ap-6953	21	17	adaptive	adaptive	ADJ
ap-6953	21	18	neuro	neuro	PROPN
ap-6953	21	19	fuzzy	fuzzy	ADJ
ap-6953	21	20	inference	inference	NOUN
ap-6953	21	21	system	system	NOUN
ap-6953	21	22	)	)	PUNCT
ap-6953	21	23	,	,	PUNCT
ap-6953	21	24	and	and	CCONJ
ap-6953	21	25	[	[	X
ap-6953	21	26	14	14	NUM
ap-6953	21	27	]	]	PUNCT
ap-6953	21	28	involves	involve	VERB
ap-6953	21	29	the	the	DET
ap-6953	21	30	jacobian	jacobian	ADJ
ap-6953	21	31	linearization	linearization	NOUN
ap-6953	21	32	method	method	NOUN
ap-6953	21	33	to	to	PART
ap-6953	21	34	extract	extract	VERB
ap-6953	21	35	a	a	DET
ap-6953	21	36	linear	linear	ADJ
ap-6953	21	37	quadratic	quadratic	ADJ
ap-6953	21	38	regulator	regulator	NOUN
ap-6953	21	39	and	and	CCONJ
ap-6953	21	40	hybrid	hybrid	NOUN
ap-6953	21	41	pid	pid	NOUN
ap-6953	21	42	with	with	ADP
ap-6953	21	43	lqr	lqr	PROPN
ap-6953	21	44	.	.	PUNCT
ap-6953	22	1	for	for	ADP
ap-6953	22	2	nonlinear	nonlinear	ADJ
ap-6953	22	3	approaches	approach	NOUN
ap-6953	22	4	,	,	PUNCT
ap-6953	22	5	a	a	DET
ap-6953	22	6	feedback	feedback	NOUN
ap-6953	22	7	linearization	linearization	NOUN
ap-6953	22	8	controller	controller	NOUN
ap-6953	22	9	has	have	AUX
ap-6953	22	10	been	be	AUX
ap-6953	22	11	proposed	propose	VERB
ap-6953	22	12	by	by	ADP
ap-6953	22	13	[	[	X
ap-6953	22	14	15	15	NUM
ap-6953	22	15	]	]	PUNCT
ap-6953	22	16	to	to	PART
ap-6953	22	17	control	control	VERB
ap-6953	22	18	the	the	DET
ap-6953	22	19	inertia	inertia	NOUN
ap-6953	22	20	wheel	wheel	NOUN
ap-6953	22	21	pendulum	pendulum	NOUN
ap-6953	22	22	,	,	PUNCT
ap-6953	22	23	[	[	X
ap-6953	22	24	16	16	NUM
ap-6953	22	25	]	]	PUNCT
ap-6953	22	26	for	for	ADP
ap-6953	22	27	tora	tora	PROPN
ap-6953	22	28	system	system	NOUN
ap-6953	22	29	and	and	CCONJ
ap-6953	22	30	[	[	X
ap-6953	22	31	17	17	NUM
ap-6953	22	32	]	]	PUNCT
ap-6953	22	33	to	to	PART
ap-6953	22	34	control	control	VERB
ap-6953	22	35	the	the	DET
ap-6953	22	36	inverted	inverted	ADJ
ap-6953	22	37	pendulum	pendulum	NOUN
ap-6953	22	38	.	.	PUNCT
ap-6953	23	1	however	however	ADV
ap-6953	23	2	,	,	PUNCT
ap-6953	23	3	the	the	DET
ap-6953	23	4	smc	smc	PROPN
ap-6953	23	5	is	be	AUX
ap-6953	23	6	still	still	ADV
ap-6953	23	7	the	the	DET
ap-6953	23	8	most	most	ADV
ap-6953	23	9	important	important	ADJ
ap-6953	23	10	nonlinear	nonlinear	ADJ
ap-6953	23	11	strategy	strategy	NOUN
ap-6953	23	12	that	that	PRON
ap-6953	23	13	many	many	ADJ
ap-6953	23	14	works	work	NOUN
ap-6953	23	15	have	have	AUX
ap-6953	23	16	used	use	VERB
ap-6953	23	17	[	[	PUNCT
ap-6953	23	18	7	7	NUM
ap-6953	23	19	,	,	PUNCT
ap-6953	23	20	9	9	NUM
ap-6953	23	21	,	,	PUNCT
ap-6953	23	22	18	18	NUM
ap-6953	23	23	,	,	PUNCT
ap-6953	23	24	19	19	NUM
ap-6953	23	25	]	]	PUNCT
ap-6953	23	26	.	.	PUNCT
ap-6953	24	1	indeed	indeed	ADV
ap-6953	24	2	,	,	PUNCT
ap-6953	24	3	using	use	VERB
ap-6953	24	4	the	the	DET
ap-6953	24	5	smc	smc	PROPN
ap-6953	24	6	for	for	ADP
ap-6953	24	7	the	the	DET
ap-6953	24	8	ums	ums	PROPN
ap-6953	24	9	remains	remain	VERB
ap-6953	24	10	the	the	DET
ap-6953	24	11	most	most	ADV
ap-6953	24	12	important	important	ADJ
ap-6953	24	13	perspective	perspective	NOUN
ap-6953	24	14	because	because	SCONJ
ap-6953	24	15	of	of	ADP
ap-6953	24	16	its	its	PRON
ap-6953	24	17	robust	robust	ADJ
ap-6953	24	18	performance	performance	NOUN
ap-6953	24	19	against	against	ADP
ap-6953	24	20	disturbances	disturbance	NOUN
ap-6953	24	21	and	and	CCONJ
ap-6953	24	22	uncertainties	uncertainty	NOUN
ap-6953	24	23	.	.	PUNCT
ap-6953	25	1	this	this	DET
ap-6953	25	2	appropriate	appropriate	ADJ
ap-6953	25	3	robust	robust	ADJ
ap-6953	25	4	approach	approach	NOUN
ap-6953	25	5	is	be	AUX
ap-6953	25	6	designed	design	VERB
ap-6953	25	7	by	by	ADP
ap-6953	25	8	using	use	VERB
ap-6953	25	9	a	a	DET
ap-6953	25	10	systematic	systematic	ADJ
ap-6953	25	11	scheme	scheme	NOUN
ap-6953	25	12	based	base	VERB
ap-6953	25	13	on	on	ADP
ap-6953	25	14	a	a	DET
ap-6953	25	15	sliding	slide	VERB
ap-6953	25	16	surface	surface	NOUN
ap-6953	25	17	and	and	CCONJ
ap-6953	25	18	lyapunov	lyapunov	PROPN
ap-6953	25	19	stability	stability	NOUN
ap-6953	25	20	theorem	theorem	VERB
ap-6953	25	21	[	[	PUNCT
ap-6953	25	22	20	20	NUM
ap-6953	25	23	]	]	PUNCT
ap-6953	25	24	.	.	PUNCT
ap-6953	26	1	also	also	ADV
ap-6953	26	2	,	,	PUNCT
ap-6953	26	3	other	other	ADJ
ap-6953	26	4	variants	variant	NOUN
ap-6953	26	5	of	of	ADP
ap-6953	26	6	the	the	DET
ap-6953	26	7	smc	smc	PROPN
ap-6953	26	8	strategy	strategy	NOUN
ap-6953	26	9	have	have	AUX
ap-6953	26	10	been	be	AUX
ap-6953	26	11	introduced	introduce	VERB
ap-6953	26	12	such	such	ADJ
ap-6953	26	13	as	as	ADP
ap-6953	26	14	smc	smc	PROPN
ap-6953	26	15	with	with	ADP
ap-6953	26	16	an	an	DET
ap-6953	26	17	integral	integral	ADJ
ap-6953	26	18	sliding	slide	VERB
ap-6953	26	19	function	function	NOUN
ap-6953	26	20	as	as	ADP
ap-6953	26	21	in	in	ADP
ap-6953	26	22	[	[	X
ap-6953	26	23	21	21	NUM
ap-6953	26	24	]	]	PUNCT
ap-6953	26	25	for	for	ADP
ap-6953	26	26	a	a	DET
ap-6953	26	27	stabilization	stabilization	NOUN
ap-6953	26	28	of	of	ADP
ap-6953	26	29	an	an	DET
ap-6953	26	30	underactuated	underactuated	ADJ
ap-6953	26	31	unicycle	unicycle	NOUN
ap-6953	26	32	,	,	PUNCT
ap-6953	26	33	and	and	CCONJ
ap-6953	26	34	second	second	ADJ
ap-6953	26	35	order	order	NOUN
ap-6953	26	36	sliding	slide	VERB
ap-6953	26	37	mode	mode	NOUN
ap-6953	26	38	control	control	NOUN
ap-6953	26	39	such	such	ADJ
ap-6953	26	40	as	as	ADP
ap-6953	26	41	[	[	X
ap-6953	26	42	22	22	NUM
ap-6953	26	43	]	]	PUNCT
ap-6953	26	44	for	for	ADP
ap-6953	26	45	the	the	DET
ap-6953	26	46	control	control	NOUN
ap-6953	26	47	of	of	ADP
ap-6953	26	48	a	a	DET
ap-6953	26	49	class	class	NOUN
ap-6953	26	50	of	of	ADP
ap-6953	26	51	second	second	ADJ
ap-6953	26	52	-	-	PUNCT
ap-6953	26	53	order	order	NOUN
ap-6953	26	54	ums	ums	NOUN
ap-6953	26	55	.	.	PUNCT
ap-6953	27	1	the	the	DET
ap-6953	27	2	common	common	ADJ
ap-6953	27	3	idea	idea	NOUN
ap-6953	27	4	for	for	ADP
ap-6953	27	5	those	those	DET
ap-6953	27	6	works	work	NOUN
ap-6953	27	7	is	be	AUX
ap-6953	27	8	to	to	PART
ap-6953	27	9	build	build	VERB
ap-6953	27	10	a	a	DET
ap-6953	27	11	hierarchy	hierarchy	NOUN
ap-6953	27	12	of	of	ADP
ap-6953	27	13	sliding	slide	VERB
ap-6953	27	14	surfaces	surface	NOUN
ap-6953	27	15	and	and	CCONJ
ap-6953	27	16	combine	combine	VERB
ap-6953	27	17	them	they	PRON
ap-6953	27	18	according	accord	VERB
ap-6953	27	19	to	to	ADP
ap-6953	27	20	some	some	DET
ap-6953	27	21	conditions	condition	NOUN
ap-6953	27	22	to	to	PART
ap-6953	27	23	guarantee	guarantee	VERB
ap-6953	27	24	the	the	DET
ap-6953	27	25	stability	stability	NOUN
ap-6953	27	26	and	and	CCONJ
ap-6953	27	27	convergence	convergence	NOUN
ap-6953	27	28	.	.	PUNCT
ap-6953	28	1	350	350	NUM
ap-6953	28	2	https://doi.org/10.14311/ap.2021.61.0350	https://doi.org/10.14311/ap.2021.61.0350	PROPN
ap-6953	28	3	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-6953	28	4	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-6953	28	5	vol	vol	NOUN
ap-6953	28	6	.	.	PROPN
ap-6953	28	7	61	61	NUM
ap-6953	28	8	no	no	NOUN
ap-6953	28	9	.	.	PUNCT
ap-6953	29	1	2/2021	2/2021	NUM
ap-6953	29	2	adaptive	adaptive	ADJ
ap-6953	29	3	wavelets	wavelet	NOUN
ap-6953	29	4	sliding	slide	VERB
ap-6953	29	5	mode	mode	NOUN
ap-6953	29	6	control	control	NOUN
ap-6953	29	7	.	.	PUNCT
ap-6953	29	8	.	.	PUNCT
ap-6953	29	9	.	.	PUNCT
ap-6953	30	1	although	although	SCONJ
ap-6953	30	2	these	these	DET
ap-6953	30	3	control	control	NOUN
ap-6953	30	4	strategies	strategy	NOUN
ap-6953	30	5	are	be	AUX
ap-6953	30	6	widely	widely	ADV
ap-6953	30	7	used	use	VERB
ap-6953	30	8	for	for	ADP
ap-6953	30	9	nonlinear	nonlinear	ADJ
ap-6953	30	10	systems	system	NOUN
ap-6953	30	11	and	and	CCONJ
ap-6953	30	12	,	,	PUNCT
ap-6953	30	13	in	in	ADP
ap-6953	30	14	particular	particular	ADJ
ap-6953	30	15	,	,	PUNCT
ap-6953	30	16	for	for	ADP
ap-6953	30	17	the	the	DET
ap-6953	30	18	ums	ums	PROPN
ap-6953	30	19	,	,	PUNCT
ap-6953	30	20	the	the	DET
ap-6953	30	21	nonlinearities	nonlinearitie	NOUN
ap-6953	30	22	of	of	ADP
ap-6953	30	23	the	the	DET
ap-6953	30	24	control	control	NOUN
ap-6953	30	25	plants	plant	NOUN
ap-6953	30	26	and	and	CCONJ
ap-6953	30	27	the	the	DET
ap-6953	30	28	difficulties	difficulty	NOUN
ap-6953	30	29	to	to	PART
ap-6953	30	30	extract	extract	VERB
ap-6953	30	31	accurate	accurate	ADJ
ap-6953	30	32	models	model	NOUN
ap-6953	30	33	make	make	VERB
ap-6953	30	34	the	the	DET
ap-6953	30	35	implementation	implementation	NOUN
ap-6953	30	36	of	of	ADP
ap-6953	30	37	the	the	DET
ap-6953	30	38	model	model	NOUN
ap-6953	30	39	-	-	PUNCT
ap-6953	30	40	based	base	VERB
ap-6953	30	41	control	control	NOUN
ap-6953	30	42	strategies	strategy	NOUN
ap-6953	30	43	difficult	difficult	ADJ
ap-6953	30	44	,	,	PUNCT
ap-6953	30	45	and	and	CCONJ
ap-6953	30	46	therefore	therefore	ADV
ap-6953	30	47	adaptive	adaptive	ADJ
ap-6953	30	48	techniques	technique	NOUN
ap-6953	30	49	become	become	VERB
ap-6953	30	50	inevitable	inevitable	ADJ
ap-6953	30	51	[	[	X
ap-6953	30	52	23	23	NUM
ap-6953	30	53	,	,	PUNCT
ap-6953	30	54	24	24	NUM
ap-6953	30	55	]	]	PUNCT
ap-6953	30	56	.	.	PUNCT
ap-6953	31	1	in	in	ADP
ap-6953	31	2	recent	recent	ADJ
ap-6953	31	3	control	control	NOUN
ap-6953	31	4	research	research	NOUN
ap-6953	31	5	works	work	NOUN
ap-6953	31	6	,	,	PUNCT
ap-6953	31	7	developers	developer	NOUN
ap-6953	31	8	have	have	AUX
ap-6953	31	9	merged	merge	VERB
ap-6953	31	10	various	various	ADJ
ap-6953	31	11	techniques	technique	NOUN
ap-6953	31	12	from	from	ADP
ap-6953	31	13	the	the	DET
ap-6953	31	14	approximation	approximation	NOUN
ap-6953	31	15	theory	theory	NOUN
ap-6953	31	16	with	with	ADP
ap-6953	31	17	the	the	DET
ap-6953	31	18	adaptive	adaptive	ADJ
ap-6953	31	19	nonlinear	nonlinear	ADJ
ap-6953	31	20	controllers	controller	NOUN
ap-6953	31	21	to	to	PART
ap-6953	31	22	enhance	enhance	VERB
ap-6953	31	23	the	the	DET
ap-6953	31	24	adaptive	adaptive	ADJ
ap-6953	31	25	capability	capability	NOUN
ap-6953	31	26	while	while	SCONJ
ap-6953	31	27	ensuring	ensure	VERB
ap-6953	31	28	the	the	DET
ap-6953	31	29	stability	stability	NOUN
ap-6953	31	30	and	and	CCONJ
ap-6953	31	31	convergence	convergence	NOUN
ap-6953	31	32	.	.	PUNCT
ap-6953	32	1	particularly	particularly	ADV
ap-6953	32	2	,	,	PUNCT
ap-6953	32	3	the	the	DET
ap-6953	32	4	ums	ums	PROPN
ap-6953	32	5	remains	remain	VERB
ap-6953	32	6	a	a	DET
ap-6953	32	7	challenging	challenging	ADJ
ap-6953	32	8	class	class	NOUN
ap-6953	32	9	of	of	ADP
ap-6953	32	10	coupled	couple	VERB
ap-6953	32	11	nonlinear	nonlinear	ADJ
ap-6953	32	12	systems	system	NOUN
ap-6953	32	13	and	and	CCONJ
ap-6953	32	14	the	the	DET
ap-6953	32	15	problem	problem	NOUN
ap-6953	32	16	of	of	ADP
ap-6953	32	17	adaptive	adaptive	ADJ
ap-6953	32	18	control	control	NOUN
ap-6953	32	19	of	of	ADP
ap-6953	32	20	the	the	DET
ap-6953	32	21	ums	ums	PROPN
ap-6953	32	22	presents	present	VERB
ap-6953	32	23	more	more	ADJ
ap-6953	32	24	difficulties	difficulty	NOUN
ap-6953	32	25	because	because	SCONJ
ap-6953	32	26	of	of	ADP
ap-6953	32	27	the	the	DET
ap-6953	32	28	coupling	coupling	NOUN
ap-6953	32	29	that	that	PRON
ap-6953	32	30	exists	exist	VERB
ap-6953	32	31	between	between	ADP
ap-6953	32	32	the	the	DET
ap-6953	32	33	control	control	NOUN
ap-6953	32	34	input	input	NOUN
ap-6953	32	35	and	and	CCONJ
ap-6953	32	36	the	the	DET
ap-6953	32	37	outputs	output	NOUN
ap-6953	32	38	.	.	PUNCT
ap-6953	33	1	in	in	ADP
ap-6953	33	2	literature	literature	NOUN
ap-6953	33	3	,	,	PUNCT
ap-6953	33	4	the	the	DET
ap-6953	33	5	main	main	ADJ
ap-6953	33	6	trends	trend	NOUN
ap-6953	33	7	of	of	ADP
ap-6953	33	8	adaptive	adaptive	ADJ
ap-6953	33	9	controllers	controller	NOUN
ap-6953	33	10	are	be	AUX
ap-6953	33	11	fuzzy	fuzzy	ADJ
ap-6953	33	12	logic	logic	NOUN
ap-6953	33	13	and	and	CCONJ
ap-6953	33	14	neural	neural	ADJ
ap-6953	33	15	networks	network	NOUN
ap-6953	33	16	with	with	ADP
ap-6953	33	17	the	the	DET
ap-6953	33	18	combination	combination	NOUN
ap-6953	33	19	of	of	ADP
ap-6953	33	20	a	a	DET
ap-6953	33	21	nonlinear	nonlinear	ADJ
ap-6953	33	22	control	control	NOUN
ap-6953	33	23	,	,	PUNCT
ap-6953	33	24	such	such	ADJ
ap-6953	33	25	as	as	ADP
ap-6953	33	26	optimal	optimal	ADJ
ap-6953	33	27	control	control	NOUN
ap-6953	33	28	and	and	CCONJ
ap-6953	33	29	smc	smc	NOUN
ap-6953	34	1	[	[	X
ap-6953	34	2	7	7	NUM
ap-6953	34	3	,	,	PUNCT
ap-6953	34	4	9	9	NUM
ap-6953	34	5	,	,	PUNCT
ap-6953	34	6	10	10	NUM
ap-6953	34	7	,	,	PUNCT
ap-6953	34	8	25	25	NUM
ap-6953	34	9	,	,	PUNCT
ap-6953	34	10	26	26	NUM
ap-6953	34	11	]	]	PUNCT
ap-6953	34	12	.	.	PUNCT
ap-6953	35	1	besides	besides	SCONJ
ap-6953	35	2	,	,	PUNCT
ap-6953	35	3	in	in	ADP
ap-6953	35	4	these	these	DET
ap-6953	35	5	presented	present	VERB
ap-6953	35	6	works	work	NOUN
ap-6953	35	7	focused	focus	VERB
ap-6953	35	8	on	on	ADP
ap-6953	35	9	adaptive	adaptive	ADJ
ap-6953	35	10	controllers	controller	NOUN
ap-6953	35	11	for	for	ADP
ap-6953	35	12	the	the	DET
ap-6953	35	13	ums	ums	PROPN
ap-6953	35	14	,	,	PUNCT
ap-6953	35	15	the	the	DET
ap-6953	35	16	adaptation	adaptation	NOUN
ap-6953	35	17	laws	law	NOUN
ap-6953	35	18	are	be	AUX
ap-6953	35	19	indirectly	indirectly	ADV
ap-6953	35	20	adjusted	adjust	VERB
ap-6953	35	21	by	by	ADP
ap-6953	35	22	using	use	VERB
ap-6953	35	23	the	the	DET
ap-6953	35	24	lyapunov	lyapunov	ADJ
ap-6953	35	25	approach	approach	NOUN
ap-6953	35	26	,	,	PUNCT
ap-6953	35	27	i.e.	i.e.	X
ap-6953	35	28	,	,	PUNCT
ap-6953	35	29	the	the	DET
ap-6953	35	30	learning	learning	NOUN
ap-6953	35	31	laws	law	NOUN
ap-6953	35	32	are	be	AUX
ap-6953	35	33	extracted	extract	VERB
ap-6953	35	34	to	to	PART
ap-6953	35	35	guarantee	guarantee	VERB
ap-6953	35	36	the	the	DET
ap-6953	35	37	convergence	convergence	NOUN
ap-6953	35	38	of	of	ADP
ap-6953	35	39	the	the	DET
ap-6953	35	40	lyapunov	lyapunov	ADJ
ap-6953	35	41	function	function	NOUN
ap-6953	35	42	.	.	PUNCT
ap-6953	36	1	for	for	ADP
ap-6953	36	2	an	an	DET
ap-6953	36	3	efficient	efficient	ADJ
ap-6953	36	4	adaptation	adaptation	NOUN
ap-6953	36	5	,	,	PUNCT
ap-6953	36	6	it	it	PRON
ap-6953	36	7	is	be	AUX
ap-6953	36	8	more	more	ADV
ap-6953	36	9	judicious	judicious	ADJ
ap-6953	36	10	to	to	PART
ap-6953	36	11	directly	directly	ADV
ap-6953	36	12	extract	extract	VERB
ap-6953	36	13	the	the	DET
ap-6953	36	14	parameters	parameter	NOUN
ap-6953	36	15	adaptation	adaptation	NOUN
ap-6953	36	16	laws	law	NOUN
ap-6953	36	17	from	from	ADP
ap-6953	36	18	the	the	DET
ap-6953	36	19	identification	identification	NOUN
ap-6953	36	20	error	error	NOUN
ap-6953	36	21	between	between	ADP
ap-6953	36	22	the	the	DET
ap-6953	36	23	unknown	unknown	ADJ
ap-6953	36	24	function	function	NOUN
ap-6953	36	25	and	and	CCONJ
ap-6953	36	26	its	its	PRON
ap-6953	36	27	adaptive	adaptive	ADJ
ap-6953	36	28	approximation	approximation	NOUN
ap-6953	36	29	[	[	X
ap-6953	36	30	26	26	NUM
ap-6953	36	31	,	,	PUNCT
ap-6953	36	32	27	27	NUM
ap-6953	36	33	]	]	PUNCT
ap-6953	36	34	.	.	PUNCT
ap-6953	37	1	in	in	ADP
ap-6953	37	2	fact	fact	NOUN
ap-6953	37	3	,	,	PUNCT
ap-6953	37	4	optimization	optimization	NOUN
ap-6953	37	5	algorithms	algorithm	NOUN
ap-6953	37	6	offer	offer	VERB
ap-6953	37	7	the	the	DET
ap-6953	37	8	advantage	advantage	NOUN
ap-6953	37	9	to	to	PART
ap-6953	37	10	find	find	VERB
ap-6953	37	11	the	the	DET
ap-6953	37	12	parameters	parameter	NOUN
ap-6953	37	13	that	that	PRON
ap-6953	37	14	directly	directly	ADV
ap-6953	37	15	minimize	minimize	VERB
ap-6953	37	16	any	any	DET
ap-6953	37	17	truncation	truncation	NOUN
ap-6953	37	18	error	error	NOUN
ap-6953	37	19	by	by	ADP
ap-6953	37	20	following	follow	VERB
ap-6953	37	21	some	some	DET
ap-6953	37	22	specific	specific	ADJ
ap-6953	37	23	update	update	NOUN
ap-6953	37	24	rules	rule	NOUN
ap-6953	37	25	.	.	PUNCT
ap-6953	38	1	the	the	DET
ap-6953	38	2	gradient	gradient	ADJ
ap-6953	38	3	descent	descent	NOUN
ap-6953	38	4	algorithm	algorithm	NOUN
ap-6953	38	5	can	can	AUX
ap-6953	38	6	be	be	AUX
ap-6953	38	7	a	a	DET
ap-6953	38	8	good	good	ADJ
ap-6953	38	9	alternative	alternative	NOUN
ap-6953	38	10	to	to	PART
ap-6953	38	11	reach	reach	VERB
ap-6953	38	12	this	this	DET
ap-6953	38	13	objective	objective	NOUN
ap-6953	38	14	.	.	PUNCT
ap-6953	39	1	nowadays	nowadays	ADV
ap-6953	39	2	,	,	PUNCT
ap-6953	39	3	wavelets	wavelet	NOUN
ap-6953	39	4	theory	theory	NOUN
ap-6953	39	5	was	be	AUX
ap-6953	39	6	successfully	successfully	ADV
ap-6953	39	7	applied	apply	VERB
ap-6953	39	8	to	to	ADP
ap-6953	39	9	multi	multi	ADJ
ap-6953	39	10	-	-	ADJ
ap-6953	39	11	scale	scale	ADJ
ap-6953	39	12	analysis	analysis	NOUN
ap-6953	39	13	and	and	CCONJ
ap-6953	39	14	synthesis	synthesis	NOUN
ap-6953	39	15	,	,	PUNCT
ap-6953	39	16	time	time	NOUN
ap-6953	39	17	-	-	PUNCT
ap-6953	39	18	frequency	frequency	NOUN
ap-6953	39	19	signal	signal	NOUN
ap-6953	39	20	analysis	analysis	NOUN
ap-6953	39	21	in	in	ADP
ap-6953	39	22	signal	signal	ADJ
ap-6953	39	23	processing	processing	NOUN
ap-6953	39	24	as	as	ADV
ap-6953	39	25	well	well	ADV
ap-6953	39	26	as	as	ADP
ap-6953	39	27	in	in	ADP
ap-6953	39	28	nonlinear	nonlinear	ADJ
ap-6953	39	29	control	control	NOUN
ap-6953	39	30	system	system	NOUN
ap-6953	39	31	design	design	NOUN
ap-6953	39	32	[	[	X
ap-6953	39	33	28	28	NUM
ap-6953	39	34	]	]	PUNCT
ap-6953	39	35	.	.	PUNCT
ap-6953	40	1	by	by	ADP
ap-6953	40	2	definition	definition	NOUN
ap-6953	40	3	,	,	PUNCT
ap-6953	40	4	a	a	DET
ap-6953	40	5	wavelet	wavelet	NOUN
ap-6953	40	6	network	network	NOUN
ap-6953	40	7	is	be	AUX
ap-6953	40	8	a	a	DET
ap-6953	40	9	one	one	NUM
ap-6953	40	10	-	-	PUNCT
ap-6953	40	11	layer	layer	NOUN
ap-6953	40	12	network	network	NOUN
ap-6953	40	13	consisting	consist	VERB
ap-6953	40	14	of	of	ADP
ap-6953	40	15	orthonormal	orthonormal	ADJ
ap-6953	40	16	“	"	PUNCT
ap-6953	40	17	father	father	NOUN
ap-6953	40	18	wavelets	wavelet	NOUN
ap-6953	40	19	”	"	PUNCT
ap-6953	40	20	and	and	CCONJ
ap-6953	40	21	“	"	PUNCT
ap-6953	40	22	mother	mother	NOUN
ap-6953	40	23	wavelets	wavelet	NOUN
ap-6953	40	24	”	"	PUNCT
ap-6953	40	25	and	and	CCONJ
ap-6953	40	26	widely	widely	ADV
ap-6953	40	27	used	use	VERB
ap-6953	40	28	as	as	ADP
ap-6953	40	29	a	a	DET
ap-6953	40	30	kind	kind	NOUN
ap-6953	40	31	of	of	ADP
ap-6953	40	32	building	building	NOUN
ap-6953	40	33	blocks	block	NOUN
ap-6953	40	34	for	for	ADP
ap-6953	40	35	the	the	DET
ap-6953	40	36	approximation	approximation	NOUN
ap-6953	40	37	of	of	ADP
ap-6953	40	38	unknown	unknown	ADJ
ap-6953	40	39	functions	function	NOUN
ap-6953	40	40	[	[	X
ap-6953	40	41	28	28	NUM
ap-6953	40	42	,	,	PUNCT
ap-6953	40	43	29	29	NUM
ap-6953	40	44	]	]	PUNCT
ap-6953	40	45	.	.	PUNCT
ap-6953	41	1	it	it	PRON
ap-6953	41	2	was	be	AUX
ap-6953	41	3	proven	prove	VERB
ap-6953	41	4	that	that	SCONJ
ap-6953	41	5	a	a	DET
ap-6953	41	6	wavelet	wavelet	NOUN
ap-6953	41	7	network	network	NOUN
ap-6953	41	8	is	be	AUX
ap-6953	41	9	a	a	DET
ap-6953	41	10	universal	universal	ADJ
ap-6953	41	11	approximator	approximator	NOUN
ap-6953	41	12	that	that	PRON
ap-6953	41	13	can	can	AUX
ap-6953	41	14	approximate	approximate	VERB
ap-6953	41	15	any	any	DET
ap-6953	41	16	function	function	NOUN
ap-6953	41	17	with	with	ADP
ap-6953	41	18	an	an	DET
ap-6953	41	19	arbitrary	arbitrary	ADJ
ap-6953	41	20	degree	degree	NOUN
ap-6953	41	21	of	of	ADP
ap-6953	41	22	accuracy	accuracy	NOUN
ap-6953	41	23	by	by	ADP
ap-6953	41	24	a	a	DET
ap-6953	41	25	linear	linear	ADJ
ap-6953	41	26	combination	combination	NOUN
ap-6953	41	27	of	of	ADP
ap-6953	41	28	father	father	NOUN
ap-6953	41	29	and	and	CCONJ
ap-6953	41	30	mother	mother	NOUN
ap-6953	41	31	wavelets	wavelet	NOUN
ap-6953	41	32	[	[	X
ap-6953	41	33	29–31	29–31	NOUN
ap-6953	41	34	]	]	PUNCT
ap-6953	41	35	.	.	PUNCT
ap-6953	42	1	besides	besides	SCONJ
ap-6953	42	2	,	,	PUNCT
ap-6953	42	3	adaptive	adaptive	ADJ
ap-6953	42	4	wavelets	wavelet	NOUN
ap-6953	42	5	networks	network	NOUN
ap-6953	42	6	are	be	AUX
ap-6953	42	7	especially	especially	ADV
ap-6953	42	8	well	well	ADV
ap-6953	42	9	suited	suited	ADJ
ap-6953	42	10	for	for	ADP
ap-6953	42	11	such	such	ADJ
ap-6953	42	12	function	function	NOUN
ap-6953	42	13	approximation	approximation	NOUN
ap-6953	42	14	tasks	task	NOUN
ap-6953	42	15	and	and	CCONJ
ap-6953	42	16	the	the	DET
ap-6953	42	17	problem	problem	NOUN
ap-6953	42	18	of	of	ADP
ap-6953	42	19	adaptation	adaptation	NOUN
ap-6953	42	20	to	to	ADP
ap-6953	42	21	an	an	DET
ap-6953	42	22	unknown	unknown	ADJ
ap-6953	42	23	dynamics	dynamic	NOUN
ap-6953	42	24	[	[	X
ap-6953	42	25	29	29	NUM
ap-6953	42	26	]	]	PUNCT
ap-6953	42	27	.	.	PUNCT
ap-6953	43	1	moreover	moreover	ADV
ap-6953	43	2	,	,	PUNCT
ap-6953	43	3	the	the	DET
ap-6953	43	4	wn	wn	NOUN
ap-6953	43	5	has	have	AUX
ap-6953	43	6	been	be	AUX
ap-6953	43	7	a	a	DET
ap-6953	43	8	subject	subject	NOUN
ap-6953	43	9	of	of	ADP
ap-6953	43	10	application	application	NOUN
ap-6953	43	11	for	for	ADP
ap-6953	43	12	nonlinear	nonlinear	ADJ
ap-6953	43	13	systems	system	NOUN
ap-6953	43	14	[	[	X
ap-6953	43	15	32–35	32–35	NUM
ap-6953	43	16	]	]	PUNCT
ap-6953	43	17	.	.	PUNCT
ap-6953	44	1	nevertheless	nevertheless	ADV
ap-6953	44	2	,	,	PUNCT
ap-6953	44	3	in	in	ADP
ap-6953	44	4	recent	recent	ADJ
ap-6953	44	5	works	work	NOUN
ap-6953	44	6	,	,	PUNCT
ap-6953	44	7	the	the	DET
ap-6953	44	8	wn	wn	PROPN
ap-6953	44	9	was	be	AUX
ap-6953	44	10	rarely	rarely	ADV
ap-6953	44	11	applied	apply	VERB
ap-6953	44	12	on	on	ADP
ap-6953	44	13	the	the	DET
ap-6953	44	14	ums	um	NOUN
ap-6953	44	15	,	,	PUNCT
ap-6953	44	16	and	and	CCONJ
ap-6953	44	17	this	this	PRON
ap-6953	44	18	opens	open	VERB
ap-6953	44	19	an	an	DET
ap-6953	44	20	interesting	interesting	ADJ
ap-6953	44	21	trend	trend	NOUN
ap-6953	44	22	of	of	ADP
ap-6953	44	23	application	application	NOUN
ap-6953	44	24	.	.	PUNCT
ap-6953	45	1	1.2	1.2	NUM
ap-6953	45	2	.	.	PUNCT
ap-6953	45	3	contributions	contribution	NOUN
ap-6953	45	4	from	from	ADP
ap-6953	45	5	the	the	DET
ap-6953	45	6	aforementioned	aforementioned	ADJ
ap-6953	45	7	background	background	NOUN
ap-6953	45	8	,	,	PUNCT
ap-6953	45	9	the	the	DET
ap-6953	45	10	main	main	ADJ
ap-6953	45	11	contributions	contribution	NOUN
ap-6953	45	12	of	of	ADP
ap-6953	45	13	this	this	DET
ap-6953	45	14	paper	paper	NOUN
ap-6953	45	15	are	be	AUX
ap-6953	45	16	emphasized	emphasize	VERB
ap-6953	45	17	as	as	SCONJ
ap-6953	45	18	follows	follow	VERB
ap-6953	45	19	:	:	PUNCT
ap-6953	45	20	(	(	PUNCT
ap-6953	45	21	1	1	NUM
ap-6953	45	22	.	.	PUNCT
ap-6953	45	23	)	)	PUNCT
ap-6953	46	1	the	the	DET
ap-6953	46	2	design	design	NOUN
ap-6953	46	3	of	of	ADP
ap-6953	46	4	a	a	DET
ap-6953	46	5	new	new	ADJ
ap-6953	46	6	sliding	slide	VERB
ap-6953	46	7	mode	mode	NOUN
ap-6953	46	8	controller	controller	NOUN
ap-6953	46	9	for	for	ADP
ap-6953	46	10	second	second	ADJ
ap-6953	46	11	-	-	PUNCT
ap-6953	46	12	order	order	NOUN
ap-6953	46	13	ums	ums	NOUN
ap-6953	46	14	with	with	ADP
ap-6953	46	15	two	two	NUM
ap-6953	46	16	degrees	degree	NOUN
ap-6953	46	17	of	of	ADP
ap-6953	46	18	freedom	freedom	NOUN
ap-6953	46	19	.	.	PUNCT
ap-6953	47	1	indeed	indeed	ADV
ap-6953	47	2	,	,	PUNCT
ap-6953	47	3	by	by	ADP
ap-6953	47	4	exploiting	exploit	VERB
ap-6953	47	5	the	the	DET
ap-6953	47	6	characteristics	characteristic	NOUN
ap-6953	47	7	of	of	ADP
ap-6953	47	8	the	the	DET
ap-6953	47	9	ums	ums	PROPN
ap-6953	47	10	dynamics	dynamic	NOUN
ap-6953	47	11	,	,	PUNCT
ap-6953	47	12	we	we	PRON
ap-6953	47	13	have	have	AUX
ap-6953	47	14	adapted	adapt	VERB
ap-6953	47	15	the	the	DET
ap-6953	47	16	sliding	slide	VERB
ap-6953	47	17	surfaces	surface	NOUN
ap-6953	47	18	to	to	PART
ap-6953	47	19	make	make	VERB
ap-6953	47	20	the	the	DET
ap-6953	47	21	control	control	NOUN
ap-6953	47	22	law	law	NOUN
ap-6953	47	23	more	more	ADV
ap-6953	47	24	flexible	flexible	ADJ
ap-6953	47	25	to	to	PART
ap-6953	47	26	eliminate	eliminate	VERB
ap-6953	47	27	the	the	DET
ap-6953	47	28	existing	exist	VERB
ap-6953	47	29	coupling	coupling	NOUN
ap-6953	47	30	between	between	ADP
ap-6953	47	31	the	the	DET
ap-6953	47	32	input	input	NOUN
ap-6953	47	33	and	and	CCONJ
ap-6953	47	34	the	the	DET
ap-6953	47	35	output	output	NOUN
ap-6953	47	36	,	,	PUNCT
ap-6953	47	37	and	and	CCONJ
ap-6953	47	38	to	to	PART
ap-6953	47	39	guarantee	guarantee	VERB
ap-6953	47	40	the	the	DET
ap-6953	47	41	performance	performance	NOUN
ap-6953	47	42	of	of	ADP
ap-6953	47	43	the	the	DET
ap-6953	47	44	convergence	convergence	NOUN
ap-6953	47	45	and	and	CCONJ
ap-6953	47	46	stability	stability	NOUN
ap-6953	47	47	of	of	ADP
ap-6953	47	48	the	the	DET
ap-6953	47	49	closed	closed	ADJ
ap-6953	47	50	-	-	PUNCT
ap-6953	47	51	loop	loop	NOUN
ap-6953	47	52	system	system	NOUN
ap-6953	47	53	.	.	PUNCT
ap-6953	48	1	(	(	PUNCT
ap-6953	48	2	2	2	NUM
ap-6953	48	3	.	.	PUNCT
ap-6953	48	4	)	)	PUNCT
ap-6953	48	5	based	base	VERB
ap-6953	48	6	on	on	ADP
ap-6953	48	7	the	the	DET
ap-6953	48	8	wavelets	wavelet	NOUN
ap-6953	48	9	network	network	NOUN
ap-6953	48	10	and	and	CCONJ
ap-6953	48	11	smc	smc	PROPN
ap-6953	48	12	approach	approach	NOUN
ap-6953	48	13	,	,	PUNCT
ap-6953	48	14	an	an	DET
ap-6953	48	15	adaptive	adaptive	ADJ
ap-6953	48	16	control	control	NOUN
ap-6953	48	17	scheme	scheme	NOUN
ap-6953	48	18	is	be	AUX
ap-6953	48	19	designed	design	VERB
ap-6953	48	20	to	to	PART
ap-6953	48	21	overcome	overcome	VERB
ap-6953	48	22	some	some	DET
ap-6953	48	23	difficulties	difficulty	NOUN
ap-6953	48	24	related	relate	VERB
ap-6953	48	25	to	to	ADP
ap-6953	48	26	nonlinearities	nonlinearitie	NOUN
ap-6953	48	27	and	and	CCONJ
ap-6953	48	28	model	model	NOUN
ap-6953	48	29	inaccuracy	inaccuracy	NOUN
ap-6953	48	30	of	of	ADP
ap-6953	48	31	the	the	DET
ap-6953	48	32	ums	ums	PROPN
ap-6953	48	33	.	.	PUNCT
ap-6953	49	1	this	this	DET
ap-6953	49	2	approach	approach	NOUN
ap-6953	49	3	combines	combine	VERB
ap-6953	49	4	the	the	DET
ap-6953	49	5	approximation	approximation	NOUN
ap-6953	49	6	properties	property	NOUN
ap-6953	49	7	of	of	ADP
ap-6953	49	8	wavelets	wavelet	NOUN
ap-6953	49	9	network	network	NOUN
ap-6953	49	10	and	and	CCONJ
ap-6953	49	11	the	the	DET
ap-6953	49	12	robustness	robustness	NOUN
ap-6953	49	13	of	of	ADP
ap-6953	49	14	the	the	DET
ap-6953	49	15	smc	smc	PROPN
ap-6953	49	16	.	.	PROPN
ap-6953	50	1	(	(	PUNCT
ap-6953	50	2	3	3	NUM
ap-6953	50	3	.	.	PUNCT
ap-6953	50	4	)	)	PUNCT
ap-6953	51	1	the	the	DET
ap-6953	51	2	adjustable	adjustable	ADJ
ap-6953	51	3	parameters	parameter	NOUN
ap-6953	51	4	of	of	ADP
ap-6953	51	5	the	the	DET
ap-6953	51	6	wavelet	wavelet	NOUN
ap-6953	51	7	networks	network	NOUN
ap-6953	51	8	are	be	AUX
ap-6953	51	9	updated	update	VERB
ap-6953	51	10	using	use	VERB
ap-6953	51	11	a	a	DET
ap-6953	51	12	gradient	gradient	ADJ
ap-6953	51	13	descent	descent	NOUN
ap-6953	51	14	algorithm	algorithm	NOUN
ap-6953	51	15	by	by	ADP
ap-6953	51	16	minimizing	minimize	VERB
ap-6953	51	17	the	the	DET
ap-6953	51	18	truncation	truncation	NOUN
ap-6953	51	19	error	error	NOUN
ap-6953	51	20	between	between	ADP
ap-6953	51	21	the	the	DET
ap-6953	51	22	existing	exist	VERB
ap-6953	51	23	unknown	unknown	ADJ
ap-6953	51	24	ideal	ideal	NOUN
ap-6953	51	25	sliding	slide	VERB
ap-6953	51	26	mode	mode	NOUN
ap-6953	51	27	controller	controller	NOUN
ap-6953	51	28	and	and	CCONJ
ap-6953	51	29	the	the	DET
ap-6953	51	30	adaptive	adaptive	ADJ
ap-6953	51	31	one	one	NUM
ap-6953	51	32	.	.	PUNCT
ap-6953	52	1	1.3	1.3	NUM
ap-6953	52	2	.	.	PUNCT
ap-6953	52	3	outlines	outline	NOUN
ap-6953	52	4	of	of	ADP
ap-6953	52	5	the	the	DET
ap-6953	52	6	paper	paper	NOUN
ap-6953	52	7	the	the	DET
ap-6953	52	8	following	follow	VERB
ap-6953	52	9	parts	part	NOUN
ap-6953	52	10	of	of	ADP
ap-6953	52	11	the	the	DET
ap-6953	52	12	paper	paper	NOUN
ap-6953	52	13	are	be	AUX
ap-6953	52	14	organized	organize	VERB
ap-6953	52	15	as	as	SCONJ
ap-6953	52	16	follows	follow	VERB
ap-6953	52	17	:	:	PUNCT
ap-6953	52	18	preliminaries	preliminary	NOUN
ap-6953	52	19	about	about	ADP
ap-6953	52	20	ums	ums	PROPN
ap-6953	52	21	and	and	CCONJ
ap-6953	52	22	the	the	DET
ap-6953	52	23	problem	problem	NOUN
ap-6953	52	24	formulation	formulation	NOUN
ap-6953	52	25	are	be	AUX
ap-6953	52	26	explained	explain	VERB
ap-6953	52	27	in	in	ADP
ap-6953	52	28	section	section	NOUN
ap-6953	52	29	2	2	NUM
ap-6953	52	30	.	.	PUNCT
ap-6953	53	1	section	section	NOUN
ap-6953	53	2	3	3	NUM
ap-6953	53	3	is	be	AUX
ap-6953	53	4	devoted	devote	VERB
ap-6953	53	5	to	to	PART
ap-6953	53	6	present	present	VERB
ap-6953	53	7	the	the	DET
ap-6953	53	8	proposed	propose	VERB
ap-6953	53	9	smc	smc	PROPN
ap-6953	53	10	strategy	strategy	NOUN
ap-6953	53	11	with	with	ADP
ap-6953	53	12	the	the	DET
ap-6953	53	13	adequate	adequate	ADJ
ap-6953	53	14	stability	stability	NOUN
ap-6953	53	15	analysis	analysis	NOUN
ap-6953	53	16	.	.	PUNCT
ap-6953	54	1	the	the	DET
ap-6953	54	2	adaptive	adaptive	ADJ
ap-6953	54	3	control	control	NOUN
ap-6953	54	4	algorithm	algorithm	NOUN
ap-6953	54	5	,	,	PUNCT
ap-6953	54	6	which	which	PRON
ap-6953	54	7	is	be	AUX
ap-6953	54	8	developed	develop	VERB
ap-6953	54	9	according	accord	VERB
ap-6953	54	10	to	to	ADP
ap-6953	54	11	the	the	DET
ap-6953	54	12	results	result	NOUN
ap-6953	54	13	of	of	ADP
ap-6953	54	14	the	the	DET
ap-6953	54	15	previous	previous	ADJ
ap-6953	54	16	section	section	NOUN
ap-6953	54	17	,	,	PUNCT
ap-6953	54	18	is	be	AUX
ap-6953	54	19	presented	present	VERB
ap-6953	54	20	in	in	ADP
ap-6953	54	21	section	section	NOUN
ap-6953	54	22	4	4	NUM
ap-6953	54	23	.	.	PUNCT
ap-6953	55	1	all	all	ADV
ap-6953	55	2	through	through	ADP
ap-6953	55	3	these	these	DET
ap-6953	55	4	sections	section	NOUN
ap-6953	55	5	,	,	PUNCT
ap-6953	55	6	a	a	DET
ap-6953	55	7	stability	stability	NOUN
ap-6953	55	8	analysis	analysis	NOUN
ap-6953	55	9	is	be	AUX
ap-6953	55	10	analytically	analytically	ADV
ap-6953	55	11	proved	prove	VERB
ap-6953	55	12	by	by	ADP
ap-6953	55	13	using	use	VERB
ap-6953	55	14	the	the	DET
ap-6953	55	15	lyapunov	lyapunov	ADJ
ap-6953	55	16	theory	theory	NOUN
ap-6953	55	17	and	and	CCONJ
ap-6953	55	18	barbalat	barbalat	PROPN
ap-6953	55	19	’s	’s	PART
ap-6953	55	20	lemma	lemma	PROPN
ap-6953	55	21	.	.	PUNCT
ap-6953	56	1	in	in	ADP
ap-6953	56	2	section	section	NOUN
ap-6953	56	3	5	5	NUM
ap-6953	56	4	,	,	PUNCT
ap-6953	56	5	the	the	DET
ap-6953	56	6	developed	develop	VERB
ap-6953	56	7	control	control	NOUN
ap-6953	56	8	strategies	strategy	NOUN
ap-6953	56	9	are	be	AUX
ap-6953	56	10	applied	apply	VERB
ap-6953	56	11	on	on	ADP
ap-6953	56	12	an	an	DET
ap-6953	56	13	illustrative	illustrative	ADJ
ap-6953	56	14	example	example	NOUN
ap-6953	56	15	:	:	PUNCT
ap-6953	56	16	the	the	DET
ap-6953	56	17	pendubot	pendubot	PROPN
ap-6953	56	18	system	system	NOUN
ap-6953	56	19	.	.	PUNCT
ap-6953	57	1	at	at	ADP
ap-6953	57	2	the	the	DET
ap-6953	57	3	end	end	NOUN
ap-6953	57	4	,	,	PUNCT
ap-6953	57	5	we	we	PRON
ap-6953	57	6	wrap	wrap	VERB
ap-6953	57	7	up	up	ADP
ap-6953	57	8	the	the	DET
ap-6953	57	9	paper	paper	NOUN
ap-6953	57	10	with	with	ADP
ap-6953	57	11	a	a	DET
ap-6953	57	12	conclusion	conclusion	NOUN
ap-6953	57	13	in	in	ADP
ap-6953	57	14	section	section	NOUN
ap-6953	57	15	6	6	NUM
ap-6953	57	16	.	.	NOUN
ap-6953	57	17	2	2	NUM
ap-6953	57	18	.	.	NUM
ap-6953	57	19	preliminaries	preliminary	NOUN
ap-6953	57	20	and	and	CCONJ
ap-6953	57	21	problem	problem	NOUN
ap-6953	57	22	formulation	formulation	VERB
ap-6953	57	23	the	the	DET
ap-6953	57	24	dynamics	dynamic	NOUN
ap-6953	57	25	of	of	ADP
ap-6953	57	26	an	an	DET
ap-6953	57	27	underactuated	underactuated	ADJ
ap-6953	57	28	system	system	NOUN
ap-6953	57	29	with	with	ADP
ap-6953	57	30	two	two	NUM
ap-6953	57	31	dof	dof	NOUN
ap-6953	57	32	can	can	AUX
ap-6953	57	33	be	be	AUX
ap-6953	57	34	written	write	VERB
ap-6953	57	35	in	in	ADP
ap-6953	57	36	a	a	DET
ap-6953	57	37	compact	compact	ADJ
ap-6953	57	38	form	form	NOUN
ap-6953	57	39	as	as	ADP
ap-6953	57	40	[	[	X
ap-6953	57	41	36	36	NUM
ap-6953	57	42	]	]	SYM
ap-6953	57	43	:	:	PUNCT
ap-6953	57	44	[	[	PUNCT
ap-6953	57	45	m11(q	m11(q	NOUN
ap-6953	57	46	)	)	PUNCT
ap-6953	57	47	m12(q	m12(q	NUM
ap-6953	57	48	)	)	PUNCT
ap-6953	57	49	m21(q	m21(q	NOUN
ap-6953	57	50	)	)	PUNCT
ap-6953	57	51	m22(q	m22(q	NOUN
ap-6953	57	52	)	)	PUNCT
ap-6953	57	53	]	]	PUNCT
ap-6953	58	1	[	[	PUNCT
ap-6953	58	2	q̈1	q̈1	NOUN
ap-6953	58	3	q̈2	q̈2	VERB
ap-6953	58	4	]	]	PUNCT
ap-6953	59	1	+	+	CCONJ
ap-6953	59	2	[	[	PUNCT
ap-6953	59	3	h1(q	h1(q	X
ap-6953	59	4	,	,	PUNCT
ap-6953	59	5	q̇	q̇	ADV
ap-6953	59	6	)	)	PUNCT
ap-6953	59	7	h2(q	h2(q	PROPN
ap-6953	59	8	,	,	PUNCT
ap-6953	59	9	q̇	q̇	PROPN
ap-6953	59	10	)	)	PUNCT
ap-6953	59	11	]	]	PUNCT
ap-6953	60	1	=	=	PUNCT
ap-6953	60	2	[	[	PUNCT
ap-6953	60	3	0	0	NUM
ap-6953	60	4	u	u	NOUN
ap-6953	60	5	]	]	X
ap-6953	60	6	(	(	PUNCT
ap-6953	60	7	1	1	X
ap-6953	60	8	)	)	PUNCT
ap-6953	60	9	with	with	ADP
ap-6953	60	10	q	q	PROPN
ap-6953	60	11	=	=	PUNCT
ap-6953	61	1	[	[	X
ap-6953	61	2	q1	q1	PROPN
ap-6953	61	3	,	,	PUNCT
ap-6953	61	4	q2]t	q2]t	PROPN
ap-6953	61	5	,	,	PUNCT
ap-6953	61	6	q1	q1	PROPN
ap-6953	61	7	and	and	CCONJ
ap-6953	61	8	q2	q2	NOUN
ap-6953	61	9	,	,	PUNCT
ap-6953	61	10	being	be	AUX
ap-6953	61	11	the	the	DET
ap-6953	61	12	generalized	generalized	ADJ
ap-6953	61	13	coordinates	coordinate	NOUN
ap-6953	61	14	,	,	PUNCT
ap-6953	61	15	u	u	NOUN
ap-6953	61	16	the	the	DET
ap-6953	61	17	control	control	NOUN
ap-6953	61	18	input	input	NOUN
ap-6953	61	19	,	,	PUNCT
ap-6953	61	20	mij	mij	VERB
ap-6953	61	21	the	the	DET
ap-6953	61	22	inertia	inertia	NOUN
ap-6953	61	23	matrix	matrix	NOUN
ap-6953	61	24	elements	element	NOUN
ap-6953	61	25	and	and	CCONJ
ap-6953	61	26	hi	hi	INTJ
ap-6953	61	27	contains	contain	VERB
ap-6953	61	28	coriolis	corioli	NOUN
ap-6953	61	29	,	,	PUNCT
ap-6953	61	30	centrifugal	centrifugal	ADJ
ap-6953	61	31	and	and	CCONJ
ap-6953	61	32	gravity	gravity	NOUN
ap-6953	61	33	terms	term	NOUN
ap-6953	61	34	.	.	PUNCT
ap-6953	62	1	it	it	PRON
ap-6953	62	2	has	have	AUX
ap-6953	62	3	been	be	AUX
ap-6953	62	4	shown	show	VERB
ap-6953	62	5	that	that	SCONJ
ap-6953	62	6	such	such	ADJ
ap-6953	62	7	systems	system	NOUN
ap-6953	62	8	can	can	AUX
ap-6953	62	9	be	be	AUX
ap-6953	62	10	351	351	NUM
ap-6953	62	11	f.	f.	PROPN
ap-6953	62	12	nafa	nafa	PROPN
ap-6953	62	13	,	,	PUNCT
ap-6953	62	14	a.	a.	NOUN
ap-6953	62	15	boudouda	boudouda	PROPN
ap-6953	62	16	,	,	PUNCT
ap-6953	62	17	b.	b.	PROPN
ap-6953	62	18	smaani	smaani	PROPN
ap-6953	62	19	acta	acta	PROPN
ap-6953	62	20	polytechnica	polytechnica	PROPN
ap-6953	62	21	given	give	VERB
ap-6953	62	22	according	accord	VERB
ap-6953	62	23	to	to	ADP
ap-6953	62	24	the	the	DET
ap-6953	62	25	following	follow	VERB
ap-6953	62	26	dynamics	dynamic	NOUN
ap-6953	62	27	[	[	X
ap-6953	62	28	36	36	NUM
ap-6953	62	29	]	]	PUNCT
ap-6953	62	30	:	:	PUNCT
ap-6953	63	1	ẋ1	ẋ1	PROPN
ap-6953	63	2	(	(	PUNCT
ap-6953	63	3	t	t	PROPN
ap-6953	63	4	)	)	PUNCT
ap-6953	63	5	=	=	SYM
ap-6953	64	1	x2	x2	PROPN
ap-6953	64	2	(	(	PUNCT
ap-6953	64	3	t	t	NOUN
ap-6953	64	4	)	)	PUNCT
ap-6953	65	1	ẋ2	ẋ2	PROPN
ap-6953	65	2	(	(	PUNCT
ap-6953	65	3	t	t	NOUN
ap-6953	65	4	)	)	PUNCT
ap-6953	65	5	=	=	SYM
ap-6953	65	6	f1	f1	NOUN
ap-6953	65	7	(	(	PUNCT
ap-6953	65	8	x	x	NOUN
ap-6953	65	9	)	)	PUNCT
ap-6953	65	10	+	+	CCONJ
ap-6953	65	11	b1	b1	NOUN
ap-6953	65	12	(	(	PUNCT
ap-6953	65	13	x)u	x)u	X
ap-6953	65	14	(	(	PUNCT
ap-6953	65	15	t	t	NOUN
ap-6953	65	16	)	)	PUNCT
ap-6953	65	17	(	(	PUNCT
ap-6953	65	18	2	2	X
ap-6953	65	19	)	)	PUNCT
ap-6953	65	20	ẋ3	ẋ3	PROPN
ap-6953	65	21	(	(	PUNCT
ap-6953	65	22	t	t	PROPN
ap-6953	65	23	)	)	PUNCT
ap-6953	65	24	=	=	SYM
ap-6953	65	25	x4	x4	PROPN
ap-6953	65	26	(	(	PUNCT
ap-6953	65	27	t	t	PROPN
ap-6953	65	28	)	)	PUNCT
ap-6953	65	29	ẋ4	ẋ4	PROPN
ap-6953	65	30	(	(	PUNCT
ap-6953	65	31	t	t	PROPN
ap-6953	65	32	)	)	PUNCT
ap-6953	65	33	=	=	X
ap-6953	65	34	f2	f2	PROPN
ap-6953	65	35	(	(	PUNCT
ap-6953	65	36	x	x	NOUN
ap-6953	65	37	)	)	PUNCT
ap-6953	65	38	+	+	NUM
ap-6953	65	39	b2	b2	NOUN
ap-6953	65	40	(	(	PUNCT
ap-6953	65	41	x)u	x)u	X
ap-6953	65	42	(	(	PUNCT
ap-6953	65	43	t	t	NOUN
ap-6953	65	44	)	)	PUNCT
ap-6953	65	45	where	where	SCONJ
ap-6953	65	46	x	x	X
ap-6953	65	47	=	=	PRON
ap-6953	65	48	(	(	PUNCT
ap-6953	65	49	x1	x1	PROPN
ap-6953	65	50	(	(	PUNCT
ap-6953	65	51	t	t	PROPN
ap-6953	65	52	)	)	PUNCT
ap-6953	65	53	,	,	PUNCT
ap-6953	65	54	x2	x2	PROPN
ap-6953	65	55	(	(	PUNCT
ap-6953	65	56	t	t	PROPN
ap-6953	65	57	)	)	PUNCT
ap-6953	65	58	,	,	PUNCT
ap-6953	65	59	x3	x3	PROPN
ap-6953	65	60	(	(	PUNCT
ap-6953	65	61	t	t	PROPN
ap-6953	65	62	)	)	PUNCT
ap-6953	65	63	,	,	PUNCT
ap-6953	65	64	x4	x4	PROPN
ap-6953	65	65	(	(	PUNCT
ap-6953	65	66	t	t	PROPN
ap-6953	65	67	)	)	PUNCT
ap-6953	65	68	)	)	PUNCT
ap-6953	65	69	is	be	AUX
ap-6953	65	70	the	the	DET
ap-6953	65	71	state	state	NOUN
ap-6953	65	72	variable	variable	ADJ
ap-6953	65	73	vector	vector	NOUN
ap-6953	65	74	,	,	PUNCT
ap-6953	65	75	representing	represent	VERB
ap-6953	65	76	the	the	DET
ap-6953	65	77	vector	vector	NOUN
ap-6953	65	78	q	q	NOUN
ap-6953	66	1	=	=	PUNCT
ap-6953	67	1	[	[	X
ap-6953	67	2	q1	q1	X
ap-6953	67	3	,	,	PUNCT
ap-6953	67	4	q̇1	q̇1	PROPN
ap-6953	67	5	,	,	PUNCT
ap-6953	67	6	q2	q2	NOUN
ap-6953	67	7	,	,	PUNCT
ap-6953	67	8	q̇2]t	q̇2]t	NOUN
ap-6953	67	9	,	,	PUNCT
ap-6953	67	10	u	u	PROPN
ap-6953	67	11	(	(	PUNCT
ap-6953	67	12	t	t	PROPN
ap-6953	67	13	)	)	PUNCT
ap-6953	67	14	the	the	DET
ap-6953	67	15	control	control	NOUN
ap-6953	67	16	input	input	NOUN
ap-6953	67	17	,	,	PUNCT
ap-6953	67	18	f1	f1	NOUN
ap-6953	67	19	(	(	PUNCT
ap-6953	67	20	x	x	NOUN
ap-6953	67	21	)	)	PUNCT
ap-6953	67	22	,	,	PUNCT
ap-6953	67	23	f2	f2	PROPN
ap-6953	67	24	(	(	PUNCT
ap-6953	67	25	x	x	NOUN
ap-6953	67	26	)	)	PUNCT
ap-6953	67	27	,	,	PUNCT
ap-6953	67	28	b1	b1	NOUN
ap-6953	67	29	(	(	PUNCT
ap-6953	67	30	x	x	NOUN
ap-6953	67	31	)	)	PUNCT
ap-6953	67	32	and	and	CCONJ
ap-6953	67	33	b2	b2	NOUN
ap-6953	67	34	(	(	PUNCT
ap-6953	67	35	x	x	X
ap-6953	67	36	)	)	PUNCT
ap-6953	67	37	are	be	AUX
ap-6953	67	38	nonlinear	nonlinear	ADJ
ap-6953	67	39	functions	function	NOUN
ap-6953	67	40	.	.	PUNCT
ap-6953	68	1	throughout	throughout	ADP
ap-6953	68	2	this	this	DET
ap-6953	68	3	work	work	NOUN
ap-6953	68	4	,	,	PUNCT
ap-6953	68	5	we	we	PRON
ap-6953	68	6	will	will	AUX
ap-6953	68	7	consider	consider	VERB
ap-6953	68	8	the	the	DET
ap-6953	68	9	following	follow	VERB
ap-6953	68	10	assumptions	assumption	NOUN
ap-6953	68	11	:	:	PUNCT
ap-6953	68	12	(	(	PUNCT
ap-6953	68	13	1	1	NUM
ap-6953	68	14	.	.	PUNCT
ap-6953	68	15	)	)	PUNCT
ap-6953	68	16	assumption	assumption	NOUN
ap-6953	68	17	1	1	NUM
ap-6953	68	18	.	.	PUNCT
ap-6953	69	1	the	the	DET
ap-6953	69	2	state	state	NOUN
ap-6953	69	3	vector	vector	NOUN
ap-6953	69	4	x	x	VERB
ap-6953	69	5	is	be	AUX
ap-6953	69	6	measurable	measurable	ADJ
ap-6953	69	7	.	.	PUNCT
ap-6953	70	1	(	(	PUNCT
ap-6953	70	2	2	2	NUM
ap-6953	70	3	.	.	PUNCT
ap-6953	70	4	)	)	PUNCT
ap-6953	70	5	assumption	assumption	NOUN
ap-6953	70	6	2	2	NUM
ap-6953	70	7	.	.	PUNCT
ap-6953	71	1	the	the	DET
ap-6953	71	2	control	control	NOUN
ap-6953	71	3	gains	gain	VERB
ap-6953	71	4	bi	bi	NOUN
ap-6953	71	5	(	(	PUNCT
ap-6953	71	6	x	x	X
ap-6953	71	7	)	)	PUNCT
ap-6953	71	8	(	(	PUNCT
ap-6953	71	9	i	i	NOUN
ap-6953	71	10	=	=	NOUN
ap-6953	71	11	1	1	NUM
ap-6953	71	12	,	,	PUNCT
ap-6953	71	13	2	2	NUM
ap-6953	71	14	)	)	PUNCT
ap-6953	71	15	are	be	AUX
ap-6953	71	16	finite	finite	ADJ
ap-6953	71	17	,	,	PUNCT
ap-6953	71	18	nonzero	nonzero	NOUN
ap-6953	71	19	,	,	PUNCT
ap-6953	71	20	and	and	CCONJ
ap-6953	71	21	of	of	ADP
ap-6953	71	22	known	know	VERB
ap-6953	71	23	sign	sign	NOUN
ap-6953	71	24	for	for	ADP
ap-6953	71	25	all	all	DET
ap-6953	71	26	states	state	NOUN
ap-6953	71	27	of	of	ADP
ap-6953	71	28	x.	x.	NOUN
ap-6953	72	1	it	it	PRON
ap-6953	72	2	is	be	AUX
ap-6953	72	3	assumed	assume	VERB
ap-6953	72	4	that	that	SCONJ
ap-6953	72	5	the	the	DET
ap-6953	72	6	sign	sign	NOUN
ap-6953	72	7	of	of	ADP
ap-6953	72	8	bi	bi	PROPN
ap-6953	72	9	(	(	PUNCT
ap-6953	72	10	x	x	X
ap-6953	72	11	)	)	PUNCT
ap-6953	72	12	does	do	AUX
ap-6953	72	13	not	not	PART
ap-6953	72	14	change	change	VERB
ap-6953	72	15	;	;	PUNCT
ap-6953	72	16	and	and	CCONJ
ap-6953	72	17	without	without	ADP
ap-6953	72	18	a	a	DET
ap-6953	72	19	loss	loss	NOUN
ap-6953	72	20	of	of	ADP
ap-6953	72	21	generality	generality	NOUN
ap-6953	72	22	,	,	PUNCT
ap-6953	72	23	this	this	DET
ap-6953	72	24	sign	sign	NOUN
ap-6953	72	25	can	can	AUX
ap-6953	72	26	be	be	AUX
ap-6953	72	27	taken	take	VERB
ap-6953	72	28	as	as	ADV
ap-6953	72	29	positive	positive	ADJ
ap-6953	72	30	.	.	PUNCT
ap-6953	73	1	in	in	ADP
ap-6953	73	2	addition	addition	NOUN
ap-6953	73	3	,	,	PUNCT
ap-6953	73	4	those	those	DET
ap-6953	73	5	functions	function	NOUN
ap-6953	73	6	are	be	AUX
ap-6953	73	7	bounded	bound	VERB
ap-6953	73	8	,	,	PUNCT
ap-6953	73	9	i.e.	i.e.	X
ap-6953	73	10	:	:	PUNCT
ap-6953	73	11	0	0	NUM
ap-6953	73	12	≤	≤	NUM
ap-6953	73	13	bmin	bmin	NOUN
ap-6953	73	14	≤	≤	ADJ
ap-6953	73	15	bi	bi	NOUN
ap-6953	73	16	(	(	PUNCT
ap-6953	73	17	x	x	NOUN
ap-6953	73	18	)	)	PUNCT
ap-6953	73	19	≤	≤	NUM
ap-6953	73	20	bmax	bmax	NOUN
ap-6953	73	21	.	.	PUNCT
ap-6953	74	1	the	the	DET
ap-6953	74	2	system	system	NOUN
ap-6953	74	3	(	(	PUNCT
ap-6953	74	4	2	2	X
ap-6953	74	5	)	)	PUNCT
ap-6953	74	6	can	can	AUX
ap-6953	74	7	be	be	AUX
ap-6953	74	8	viewed	view	VERB
ap-6953	74	9	as	as	ADP
ap-6953	74	10	two	two	NUM
ap-6953	74	11	subsystems	subsystem	NOUN
ap-6953	74	12	with	with	ADP
ap-6953	74	13	a	a	DET
ap-6953	74	14	second	second	ADJ
ap-6953	74	15	-	-	PUNCT
ap-6953	74	16	order	order	NOUN
ap-6953	74	17	canonical	canonical	ADJ
ap-6953	74	18	form	form	NOUN
ap-6953	74	19	including	include	VERB
ap-6953	74	20	the	the	DET
ap-6953	74	21	states	state	NOUN
ap-6953	74	22	(	(	PUNCT
ap-6953	74	23	x1	x1	PROPN
ap-6953	74	24	,	,	PUNCT
ap-6953	74	25	x2	x2	PROPN
ap-6953	74	26	)	)	PUNCT
ap-6953	74	27	and	and	CCONJ
ap-6953	74	28	(	(	PUNCT
ap-6953	74	29	x3	x3	PROPN
ap-6953	74	30	,	,	PUNCT
ap-6953	74	31	x4	x4	PROPN
ap-6953	74	32	)	)	PUNCT
ap-6953	74	33	for	for	ADP
ap-6953	74	34	which	which	PRON
ap-6953	74	35	we	we	PRON
ap-6953	74	36	define	define	VERB
ap-6953	74	37	the	the	DET
ap-6953	74	38	following	follow	VERB
ap-6953	74	39	pair	pair	NOUN
ap-6953	74	40	of	of	ADP
ap-6953	74	41	sliding	slide	VERB
ap-6953	74	42	surfaces	surface	NOUN
ap-6953	74	43	:	:	PUNCT
ap-6953	74	44	s1	s1	NOUN
ap-6953	74	45	=	=	PUNCT
ap-6953	74	46	ẋ1	ẋ1	PROPN
ap-6953	75	1	+	+	PUNCT
ap-6953	75	2	λ1x̃1	λ1x̃1	X
ap-6953	75	3	=	=	SYM
ap-6953	75	4	x2	x2	PROPN
ap-6953	76	1	+	+	NUM
ap-6953	76	2	λ1x̃1	λ1x̃1	X
ap-6953	76	3	.	.	PUNCT
ap-6953	77	1	s2	s2	NOUN
ap-6953	77	2	=	=	PUNCT
ap-6953	77	3	ẋ3	ẋ3	PROPN
ap-6953	78	1	+	+	CCONJ
ap-6953	78	2	λ2x̃3	λ2x̃3	PUNCT
ap-6953	78	3	=	=	PUNCT
ap-6953	78	4	x4	x4	PROPN
ap-6953	78	5	+	+	X
ap-6953	78	6	λ2x̃3	λ2x̃3	X
ap-6953	78	7	.	.	PUNCT
ap-6953	79	1	(	(	PUNCT
ap-6953	79	2	3	3	X
ap-6953	79	3	)	)	PUNCT
ap-6953	79	4	where	where	SCONJ
ap-6953	79	5	x̃1	x̃1	PROPN
ap-6953	80	1	=	=	PUNCT
ap-6953	81	1	x1	x1	PROPN
ap-6953	81	2	−	−	PROPN
ap-6953	81	3	x1d	x1d	PROPN
ap-6953	81	4	,	,	PUNCT
ap-6953	81	5	x̃3	x̃3	PROPN
ap-6953	82	1	=	=	PUNCT
ap-6953	82	2	x3	x3	ADJ
ap-6953	82	3	−	−	PROPN
ap-6953	83	1	x3d	x3d	INTJ
ap-6953	83	2	(	(	PUNCT
ap-6953	83	3	x1d	x1d	CCONJ
ap-6953	83	4	and	and	CCONJ
ap-6953	83	5	x3d	x3d	PROPN
ap-6953	83	6	are	be	AUX
ap-6953	83	7	constant	constant	ADJ
ap-6953	83	8	desired	desire	VERB
ap-6953	83	9	values	value	NOUN
ap-6953	83	10	)	)	PUNCT
ap-6953	83	11	,	,	PUNCT
ap-6953	83	12	λ1	λ1	ADJ
ap-6953	83	13	and	and	CCONJ
ap-6953	83	14	λ2	λ2	NOUN
ap-6953	83	15	are	be	AUX
ap-6953	83	16	positive	positive	ADJ
ap-6953	83	17	constants	constant	NOUN
ap-6953	83	18	.	.	PUNCT
ap-6953	84	1	the	the	DET
ap-6953	84	2	time	time	NOUN
ap-6953	84	3	derivatives	derivative	NOUN
ap-6953	84	4	of	of	ADP
ap-6953	84	5	both	both	DET
ap-6953	84	6	equations	equation	NOUN
ap-6953	84	7	in	in	ADP
ap-6953	84	8	(	(	PUNCT
ap-6953	84	9	3	3	X
ap-6953	84	10	)	)	PUNCT
ap-6953	84	11	are	be	AUX
ap-6953	84	12	given	give	VERB
ap-6953	84	13	as	as	SCONJ
ap-6953	84	14	follows	follow	VERB
ap-6953	84	15	:	:	PUNCT
ap-6953	84	16	ṡ1	ṡ1	PROPN
ap-6953	84	17	=	=	SYM
ap-6953	84	18	f1	f1	PROPN
ap-6953	84	19	+	+	CCONJ
ap-6953	84	20	b1u+	b1u+	NOUN
ap-6953	84	21	λ1x2	λ1x2	NOUN
ap-6953	84	22	.	.	PUNCT
ap-6953	85	1	ṡ2	ṡ2	PROPN
ap-6953	85	2	=	=	PUNCT
ap-6953	86	1	f2	f2	PROPN
ap-6953	86	2	+	+	CCONJ
ap-6953	86	3	b2u+	b2u+	X
ap-6953	86	4	λ2x4	λ2x4	X
ap-6953	86	5	.	.	PUNCT
ap-6953	87	1	(	(	PUNCT
ap-6953	87	2	4	4	X
ap-6953	87	3	)	)	PUNCT
ap-6953	87	4	if	if	SCONJ
ap-6953	87	5	fi	fi	NOUN
ap-6953	87	6	and	and	CCONJ
ap-6953	87	7	bi	bi	NOUN
ap-6953	87	8	are	be	AUX
ap-6953	87	9	known	know	VERB
ap-6953	87	10	,	,	PUNCT
ap-6953	87	11	then	then	ADV
ap-6953	87	12	we	we	PRON
ap-6953	87	13	can	can	AUX
ap-6953	87	14	obtain	obtain	VERB
ap-6953	87	15	the	the	DET
ap-6953	87	16	equivalent	equivalent	ADJ
ap-6953	87	17	control	control	NOUN
ap-6953	87	18	laws	law	NOUN
ap-6953	87	19	of	of	ADP
ap-6953	87	20	each	each	DET
ap-6953	87	21	sub	sub	NOUN
ap-6953	87	22	-	-	NOUN
ap-6953	87	23	system	system	NOUN
ap-6953	87	24	such	such	ADJ
ap-6953	87	25	as	as	ADP
ap-6953	87	26	:	:	PUNCT
ap-6953	87	27	ueq1	ueq1	PROPN
ap-6953	88	1	=	=	SYM
ap-6953	88	2	b−1	b−1	PROPN
ap-6953	88	3	1	1	NUM
ap-6953	88	4	(	(	PUNCT
ap-6953	88	5	f1	f1	NOUN
ap-6953	88	6	+	+	CCONJ
ap-6953	88	7	λ1x2	λ1x2	NOUN
ap-6953	88	8	)	)	PUNCT
ap-6953	88	9	.	.	PUNCT
ap-6953	89	1	(	(	PUNCT
ap-6953	89	2	5	5	X
ap-6953	89	3	)	)	PUNCT
ap-6953	89	4	ueq2	ueq2	NOUN
ap-6953	90	1	=	=	PUNCT
ap-6953	90	2	b−1	b−1	PROPN
ap-6953	90	3	2	2	NUM
ap-6953	90	4	(	(	PUNCT
ap-6953	90	5	f2	f2	PROPN
ap-6953	90	6	+	+	X
ap-6953	90	7	λ2x4	λ2x4	X
ap-6953	90	8	)	)	PUNCT
ap-6953	90	9	.	.	PUNCT
ap-6953	91	1	(	(	PUNCT
ap-6953	91	2	6	6	X
ap-6953	91	3	)	)	PUNCT
ap-6953	91	4	the	the	DET
ap-6953	91	5	control	control	NOUN
ap-6953	91	6	objective	objective	NOUN
ap-6953	91	7	is	be	AUX
ap-6953	91	8	to	to	PART
ap-6953	91	9	stabilize	stabilize	VERB
ap-6953	91	10	the	the	DET
ap-6953	91	11	whole	whole	ADJ
ap-6953	91	12	system	system	NOUN
ap-6953	91	13	and	and	CCONJ
ap-6953	91	14	to	to	PART
ap-6953	91	15	force	force	VERB
ap-6953	91	16	the	the	DET
ap-6953	91	17	outputs	output	NOUN
ap-6953	91	18	x1	x1	PROPN
ap-6953	91	19	and	and	CCONJ
ap-6953	91	20	x3	x3	ADJ
ap-6953	91	21	to	to	PART
ap-6953	91	22	follow	follow	VERB
ap-6953	91	23	their	their	PRON
ap-6953	91	24	desired	desire	VERB
ap-6953	91	25	values	value	NOUN
ap-6953	91	26	x1d	x1d	PUNCT
ap-6953	91	27	and	and	CCONJ
ap-6953	91	28	x3d	x3d	PROPN
ap-6953	91	29	.	.	PUNCT
ap-6953	92	1	however	however	ADV
ap-6953	92	2	,	,	PUNCT
ap-6953	92	3	using	use	VERB
ap-6953	92	4	(	(	PUNCT
ap-6953	92	5	5	5	NUM
ap-6953	92	6	)	)	PUNCT
ap-6953	92	7	or	or	CCONJ
ap-6953	92	8	(	(	PUNCT
ap-6953	92	9	6	6	NUM
ap-6953	92	10	)	)	PUNCT
ap-6953	92	11	ensures	ensure	VERB
ap-6953	92	12	only	only	ADV
ap-6953	92	13	the	the	DET
ap-6953	92	14	stabilization	stabilization	NOUN
ap-6953	92	15	of	of	ADP
ap-6953	92	16	the	the	DET
ap-6953	92	17	resultant	resultant	NOUN
ap-6953	92	18	subsystem	subsystem	NOUN
ap-6953	92	19	.	.	PUNCT
ap-6953	93	1	for	for	ADP
ap-6953	93	2	such	such	ADJ
ap-6953	93	3	challenging	challenging	ADJ
ap-6953	93	4	systems	system	NOUN
ap-6953	93	5	,	,	PUNCT
ap-6953	93	6	we	we	PRON
ap-6953	93	7	need	need	VERB
ap-6953	93	8	to	to	PART
ap-6953	93	9	design	design	VERB
ap-6953	93	10	a	a	DET
ap-6953	93	11	total	total	ADJ
ap-6953	93	12	control	control	NOUN
ap-6953	93	13	law	law	NOUN
ap-6953	93	14	able	able	ADJ
ap-6953	93	15	to	to	PART
ap-6953	93	16	simultaneously	simultaneously	ADV
ap-6953	93	17	attract	attract	VERB
ap-6953	93	18	both	both	DET
ap-6953	93	19	subsystems	subsystem	NOUN
ap-6953	93	20	to	to	ADP
ap-6953	93	21	their	their	PRON
ap-6953	93	22	desired	desire	VERB
ap-6953	93	23	values	value	NOUN
ap-6953	93	24	and	and	CCONJ
ap-6953	93	25	to	to	PART
ap-6953	93	26	guarantee	guarantee	VERB
ap-6953	93	27	the	the	DET
ap-6953	93	28	overall	overall	ADJ
ap-6953	93	29	stability	stability	NOUN
ap-6953	93	30	.	.	PUNCT
ap-6953	94	1	this	this	PRON
ap-6953	94	2	will	will	AUX
ap-6953	94	3	be	be	AUX
ap-6953	94	4	the	the	DET
ap-6953	94	5	aim	aim	NOUN
ap-6953	94	6	of	of	ADP
ap-6953	94	7	the	the	DET
ap-6953	94	8	next	next	ADJ
ap-6953	94	9	section	section	NOUN
ap-6953	94	10	.	.	PUNCT
ap-6953	95	1	3	3	X
ap-6953	95	2	.	.	X
ap-6953	95	3	sliding	slide	VERB
ap-6953	95	4	mode	mode	NOUN
ap-6953	95	5	controller	controller	NOUN
ap-6953	95	6	design	design	NOUN
ap-6953	95	7	by	by	ADP
ap-6953	95	8	using	use	VERB
ap-6953	95	9	the	the	DET
ap-6953	95	10	second	second	ADJ
ap-6953	95	11	equation	equation	NOUN
ap-6953	95	12	of	of	ADP
ap-6953	95	13	(	(	PUNCT
ap-6953	95	14	4	4	NUM
ap-6953	95	15	)	)	PUNCT
ap-6953	95	16	and	and	CCONJ
ap-6953	95	17	(	(	PUNCT
ap-6953	95	18	6	6	NUM
ap-6953	95	19	)	)	PUNCT
ap-6953	95	20	,	,	PUNCT
ap-6953	95	21	it	it	PRON
ap-6953	95	22	is	be	AUX
ap-6953	95	23	easy	easy	ADJ
ap-6953	95	24	to	to	PART
ap-6953	95	25	find	find	VERB
ap-6953	95	26	that	that	SCONJ
ap-6953	95	27	:	:	PUNCT
ap-6953	95	28	u	u	NOUN
ap-6953	95	29	=	=	SYM
ap-6953	95	30	1	1	NUM
ap-6953	95	31	b2	b2	NOUN
ap-6953	95	32	ṡ2	ṡ2	PROPN
ap-6953	95	33	+	+	CCONJ
ap-6953	95	34	ueq2	ueq2	ADJ
ap-6953	95	35	.	.	PUNCT
ap-6953	96	1	(	(	PUNCT
ap-6953	96	2	7	7	X
ap-6953	96	3	)	)	PUNCT
ap-6953	96	4	substituting	substitute	VERB
ap-6953	96	5	(	(	PUNCT
ap-6953	96	6	7	7	NUM
ap-6953	96	7	)	)	PUNCT
ap-6953	96	8	into	into	ADP
ap-6953	96	9	the	the	DET
ap-6953	96	10	first	first	ADJ
ap-6953	96	11	equation	equation	NOUN
ap-6953	96	12	of	of	ADP
ap-6953	96	13	(	(	PUNCT
ap-6953	96	14	4	4	NUM
ap-6953	96	15	)	)	PUNCT
ap-6953	96	16	yields	yield	NOUN
ap-6953	96	17	:	:	PUNCT
ap-6953	96	18	ṡ1	ṡ1	PROPN
ap-6953	96	19	=	=	PUNCT
ap-6953	96	20	b21ṡ2	b21ṡ2	NOUN
ap-6953	96	21	+	+	PUNCT
ap-6953	96	22	∆21	∆21	NOUN
ap-6953	96	23	.	.	PUNCT
ap-6953	96	24	(	(	PUNCT
ap-6953	96	25	8)	8)	NUM
ap-6953	96	26	where	where	SCONJ
ap-6953	96	27	:	:	PUNCT
ap-6953	96	28	b21	b21	PROPN
ap-6953	96	29	=	=	PUNCT
ap-6953	96	30	b1	b1	PROPN
ap-6953	96	31	b2	b2	NOUN
ap-6953	96	32	and	and	CCONJ
ap-6953	96	33	∆21	∆21	NOUN
ap-6953	96	34	=	=	SYM
ap-6953	96	35	b1(ueq2	b1(ueq2	PROPN
ap-6953	96	36	−	−	PROPN
ap-6953	96	37	ueq1	ueq1	PROPN
ap-6953	96	38	)	)	PUNCT
ap-6953	96	39	.	.	PUNCT
ap-6953	97	1	(	(	PUNCT
ap-6953	97	2	9	9	X
ap-6953	97	3	)	)	PUNCT
ap-6953	97	4	similarly	similarly	ADV
ap-6953	97	5	,	,	PUNCT
ap-6953	97	6	from	from	ADP
ap-6953	97	7	(	(	PUNCT
ap-6953	97	8	4	4	NUM
ap-6953	97	9	)	)	PUNCT
ap-6953	97	10	and	and	CCONJ
ap-6953	97	11	(	(	PUNCT
ap-6953	97	12	6)one	6)one	NOUN
ap-6953	97	13	can	can	AUX
ap-6953	97	14	have	have	VERB
ap-6953	97	15	:	:	PUNCT
ap-6953	98	1	ṡ2	ṡ2	PROPN
ap-6953	98	2	=	=	PUNCT
ap-6953	98	3	b12ṡ1	b12ṡ1	PROPN
ap-6953	98	4	+	+	CCONJ
ap-6953	98	5	∆12	∆12	NOUN
ap-6953	98	6	.	.	PUNCT
ap-6953	99	1	(	(	PUNCT
ap-6953	99	2	10	10	NUM
ap-6953	99	3	)	)	PUNCT
ap-6953	99	4	with	with	ADP
ap-6953	99	5	:	:	PUNCT
ap-6953	99	6	b12	b12	NOUN
ap-6953	99	7	=	=	SYM
ap-6953	99	8	b2	b2	NOUN
ap-6953	99	9	b1	b1	NOUN
ap-6953	99	10	and	and	CCONJ
ap-6953	99	11	∆12	∆12	NOUN
ap-6953	99	12	=	=	SYM
ap-6953	99	13	b2(ueq1	b2(ueq1	PROPN
ap-6953	99	14	−	−	PROPN
ap-6953	99	15	ueq2	ueq2	PROPN
ap-6953	99	16	)	)	PUNCT
ap-6953	99	17	.	.	PUNCT
ap-6953	100	1	(	(	PUNCT
ap-6953	100	2	11	11	NUM
ap-6953	100	3	)	)	PUNCT
ap-6953	100	4	if	if	SCONJ
ap-6953	100	5	the	the	DET
ap-6953	100	6	dynamics	dynamic	NOUN
ap-6953	100	7	(	(	PUNCT
ap-6953	100	8	8)	8)	NUM
ap-6953	100	9	of	of	ADP
ap-6953	100	10	s1	s1	NOUN
ap-6953	100	11	is	be	AUX
ap-6953	100	12	driven	drive	VERB
ap-6953	100	13	so	so	SCONJ
ap-6953	100	14	that	that	SCONJ
ap-6953	100	15	:	:	PUNCT
ap-6953	101	1	ṡ1	ṡ1	PROPN
ap-6953	101	2	=	=	PUNCT
ap-6953	102	1	−βṡ2	−βṡ2	PROPN
ap-6953	102	2	−ksgn	−ksgn	X
ap-6953	102	3	(	(	PUNCT
ap-6953	102	4	s2)−qs2	s2)−qs2	PROPN
ap-6953	102	5	−	−	PROPN
ap-6953	102	6	kssgn(s2	kssgn(s2	PROPN
ap-6953	103	1	+	+	CCONJ
ap-6953	103	2	αsgn	αsgn	PRON
ap-6953	103	3	(	(	PUNCT
ap-6953	103	4	s1	s1	NOUN
ap-6953	103	5	)	)	PUNCT
ap-6953	103	6	)	)	PUNCT
ap-6953	103	7	.	.	PUNCT
ap-6953	104	1	(	(	PUNCT
ap-6953	104	2	12	12	NUM
ap-6953	104	3	)	)	PUNCT
ap-6953	104	4	352	352	NUM
ap-6953	104	5	vol	vol	NOUN
ap-6953	104	6	.	.	PUNCT
ap-6953	105	1	61	61	NUM
ap-6953	105	2	no	no	NOUN
ap-6953	105	3	.	.	PUNCT
ap-6953	106	1	2/2021	2/2021	NUM
ap-6953	106	2	adaptive	adaptive	ADJ
ap-6953	106	3	wavelets	wavelet	NOUN
ap-6953	106	4	sliding	slide	VERB
ap-6953	106	5	mode	mode	NOUN
ap-6953	106	6	control	control	NOUN
ap-6953	106	7	.	.	PUNCT
ap-6953	106	8	.	.	PUNCT
ap-6953	106	9	.	.	PUNCT
ap-6953	107	1	with	with	ADP
ap-6953	107	2	α	α	PROPN
ap-6953	107	3	,	,	PUNCT
ap-6953	107	4	β	β	X
ap-6953	107	5	,	,	PUNCT
ap-6953	107	6	k	k	PROPN
ap-6953	107	7	,	,	PUNCT
ap-6953	107	8	ks	ks	NOUN
ap-6953	107	9	,	,	PUNCT
ap-6953	107	10	q	q	PUNCT
ap-6953	107	11	being	be	AUX
ap-6953	107	12	positive	positive	ADJ
ap-6953	107	13	constants	constant	NOUN
ap-6953	107	14	and	and	CCONJ
ap-6953	107	15	0	0	NUM
ap-6953	107	16	<	<	X
ap-6953	107	17	α	α	X
ap-6953	107	18	<	<	X
ap-6953	107	19	1	1	NUM
ap-6953	107	20	;	;	PUNCT
ap-6953	107	21	then	then	ADV
ap-6953	107	22	,	,	PUNCT
ap-6953	107	23	by	by	ADP
ap-6953	107	24	combining	combine	VERB
ap-6953	107	25	(	(	PUNCT
ap-6953	107	26	10	10	NUM
ap-6953	107	27	)	)	PUNCT
ap-6953	107	28	and	and	CCONJ
ap-6953	107	29	(	(	PUNCT
ap-6953	107	30	12	12	NUM
ap-6953	107	31	)	)	PUNCT
ap-6953	107	32	we	we	PRON
ap-6953	107	33	get	get	VERB
ap-6953	107	34	:	:	PUNCT
ap-6953	108	1	ṡ2	ṡ2	PROPN
ap-6953	108	2	=	=	SYM
ap-6953	108	3	−ksgn	−ksgn	X
ap-6953	108	4	(	(	PUNCT
ap-6953	108	5	s2	s2	PROPN
ap-6953	108	6	)	)	PUNCT
ap-6953	108	7	+	+	NOUN
ap-6953	108	8	qs2	qs2	X
ap-6953	108	9	+	+	SYM
ap-6953	108	10	kssgn(s2	kssgn(s2	VERB
ap-6953	109	1	+	+	CCONJ
ap-6953	109	2	αsgn	αsgn	PRON
ap-6953	109	3	(	(	PUNCT
ap-6953	109	4	s1	s1	NOUN
ap-6953	109	5	)	)	PUNCT
ap-6953	109	6	)	)	PUNCT
ap-6953	110	1	+	+	CCONJ
ap-6953	110	2	∆21	∆21	NOUN
ap-6953	110	3	(	(	PUNCT
ap-6953	110	4	β	β	X
ap-6953	110	5	+	+	NOUN
ap-6953	110	6	b21	b21	NOUN
ap-6953	110	7	)	)	PUNCT
ap-6953	110	8	.	.	PUNCT
ap-6953	111	1	(	(	PUNCT
ap-6953	111	2	13	13	NUM
ap-6953	111	3	)	)	PUNCT
ap-6953	111	4	in	in	ADP
ap-6953	111	5	order	order	NOUN
ap-6953	111	6	to	to	PART
ap-6953	111	7	show	show	VERB
ap-6953	111	8	that	that	SCONJ
ap-6953	111	9	this	this	DET
ap-6953	111	10	new	new	ADJ
ap-6953	111	11	resulting	result	VERB
ap-6953	111	12	dynamics	dynamic	NOUN
ap-6953	111	13	form	form	NOUN
ap-6953	111	14	yields	yield	VERB
ap-6953	111	15	the	the	DET
ap-6953	111	16	stability	stability	NOUN
ap-6953	111	17	and	and	CCONJ
ap-6953	111	18	the	the	DET
ap-6953	111	19	convergence	convergence	NOUN
ap-6953	111	20	of	of	ADP
ap-6953	111	21	the	the	DET
ap-6953	111	22	whole	whole	ADJ
ap-6953	111	23	system	system	NOUN
ap-6953	111	24	,	,	PUNCT
ap-6953	111	25	we	we	PRON
ap-6953	111	26	consider	consider	VERB
ap-6953	111	27	the	the	DET
ap-6953	111	28	following	follow	VERB
ap-6953	111	29	lyapunov	lyapunov	NOUN
ap-6953	111	30	function	function	NOUN
ap-6953	111	31	:	:	PUNCT
ap-6953	111	32	v	v	X
ap-6953	111	33	=	=	SYM
ap-6953	111	34	1	1	NUM
ap-6953	111	35	2s	2s	NUM
ap-6953	111	36	2	2	NUM
ap-6953	111	37	2	2	NUM
ap-6953	111	38	.	.	PUNCT
ap-6953	112	1	(	(	PUNCT
ap-6953	112	2	14	14	NUM
ap-6953	112	3	)	)	PUNCT
ap-6953	112	4	then	then	ADV
ap-6953	112	5	,	,	PUNCT
ap-6953	112	6	the	the	DET
ap-6953	112	7	time	time	NOUN
ap-6953	112	8	derivative	derivative	NOUN
ap-6953	112	9	of	of	ADP
ap-6953	112	10	(	(	PUNCT
ap-6953	112	11	14	14	NUM
ap-6953	112	12	)	)	PUNCT
ap-6953	112	13	is	be	AUX
ap-6953	112	14	obtained	obtain	VERB
ap-6953	112	15	as	as	SCONJ
ap-6953	112	16	follows	follow	VERB
ap-6953	112	17	:	:	PUNCT
ap-6953	112	18	v̇	v̇	NOUN
ap-6953	112	19	=	=	SYM
ap-6953	112	20	s2ṡ2	s2ṡ2	PROPN
ap-6953	112	21	.	.	PUNCT
ap-6953	113	1	(	(	PUNCT
ap-6953	113	2	15	15	NUM
ap-6953	113	3	)	)	PUNCT
ap-6953	113	4	by	by	ADP
ap-6953	113	5	replacing	replace	VERB
ap-6953	113	6	(	(	PUNCT
ap-6953	113	7	13	13	NUM
ap-6953	113	8	)	)	PUNCT
ap-6953	113	9	in	in	ADP
ap-6953	113	10	(	(	PUNCT
ap-6953	113	11	15	15	NUM
ap-6953	113	12	)	)	PUNCT
ap-6953	113	13	,	,	PUNCT
ap-6953	113	14	we	we	PRON
ap-6953	113	15	get	get	VERB
ap-6953	113	16	:	:	PUNCT
ap-6953	113	17	v̇	v̇	NOUN
ap-6953	113	18	=	=	SYM
ap-6953	113	19	−s2	−s2	PROPN
ap-6953	113	20	(	(	PUNCT
ap-6953	113	21	ksgn	ksgn	PROPN
ap-6953	113	22	(	(	PUNCT
ap-6953	113	23	s2	s2	PROPN
ap-6953	113	24	)	)	PUNCT
ap-6953	113	25	+	+	NOUN
ap-6953	113	26	qs2	qs2	X
ap-6953	113	27	+	+	SYM
ap-6953	113	28	kssgn(s2	kssgn(s2	VERB
ap-6953	114	1	+	+	CCONJ
ap-6953	114	2	αsgn	αsgn	PRON
ap-6953	114	3	(	(	PUNCT
ap-6953	114	4	s1	s1	NOUN
ap-6953	114	5	)	)	PUNCT
ap-6953	114	6	)	)	PUNCT
ap-6953	115	1	+	+	CCONJ
ap-6953	115	2	∆21	∆21	NOUN
ap-6953	115	3	)	)	PUNCT
ap-6953	115	4	(	(	PUNCT
ap-6953	115	5	β	β	X
ap-6953	115	6	+	+	ADJ
ap-6953	115	7	b21	b21	NOUN
ap-6953	115	8	)	)	PUNCT
ap-6953	115	9	.	.	PUNCT
ap-6953	116	1	(	(	PUNCT
ap-6953	116	2	16	16	NUM
ap-6953	116	3	)	)	PUNCT
ap-6953	116	4	if	if	SCONJ
ap-6953	116	5	we	we	PRON
ap-6953	116	6	choose	choose	VERB
ap-6953	116	7	:	:	PUNCT
ap-6953	116	8	β	β	X
ap-6953	116	9	=	=	PUNCT
ap-6953	116	10	βm	βm	VERB
ap-6953	116	11	+	+	CCONJ
ap-6953	116	12	bmax	bmax	ADJ
ap-6953	116	13	/	/	SYM
ap-6953	116	14	bmin	bmin	NOUN
ap-6953	116	15	,	,	PUNCT
ap-6953	116	16	and	and	CCONJ
ap-6953	116	17	k	k	PROPN
ap-6953	116	18	=	=	SYM
ap-6953	116	19	km	km	PROPN
ap-6953	116	20	+	+	CCONJ
ap-6953	116	21	ks	ks	NOUN
ap-6953	116	22	+	+	X
ap-6953	116	23	max|∆21|	max|∆21|	ADJ
ap-6953	116	24	.	.	PUNCT
ap-6953	117	1	(	(	PUNCT
ap-6953	117	2	17	17	NUM
ap-6953	117	3	)	)	PUNCT
ap-6953	117	4	with	with	ADP
ap-6953	117	5	βm	βm	VERB
ap-6953	117	6	>	>	X
ap-6953	117	7	0	0	PUNCT
ap-6953	117	8	and	and	CCONJ
ap-6953	117	9	km	km	PROPN
ap-6953	117	10	>	>	PUNCT
ap-6953	117	11	0	0	NUM
ap-6953	117	12	;	;	PUNCT
ap-6953	117	13	then	then	ADV
ap-6953	117	14	(	(	PUNCT
ap-6953	117	15	16	16	NUM
ap-6953	117	16	)	)	PUNCT
ap-6953	117	17	can	can	AUX
ap-6953	117	18	be	be	AUX
ap-6953	117	19	rewritten	rewrite	VERB
ap-6953	117	20	as	as	ADP
ap-6953	117	21	:	:	PUNCT
ap-6953	117	22	v̇	v̇	NOUN
ap-6953	117	23	≤	≤	PROPN
ap-6953	117	24	−βm−1km|s2|	−βm−1km|s2|	VERB
ap-6953	117	25	−	−	PROPN
ap-6953	117	26	βm−1qs2	βm−1qs2	PROPN
ap-6953	117	27	2	2	NUM
ap-6953	117	28	.	.	PUNCT
ap-6953	118	1	(	(	PUNCT
ap-6953	118	2	18	18	NUM
ap-6953	118	3	)	)	PUNCT
ap-6953	118	4	according	accord	VERB
ap-6953	118	5	to	to	ADP
ap-6953	118	6	smc	smc	PROPN
ap-6953	118	7	properties	property	NOUN
ap-6953	118	8	,	,	PUNCT
ap-6953	118	9	(	(	PUNCT
ap-6953	118	10	18	18	NUM
ap-6953	118	11	)	)	PUNCT
ap-6953	118	12	guarantees	guarantee	VERB
ap-6953	118	13	that	that	SCONJ
ap-6953	118	14	an	an	DET
ap-6953	118	15	ideal	ideal	ADJ
ap-6953	118	16	sliding	slide	VERB
ap-6953	118	17	motion	motion	NOUN
ap-6953	118	18	takes	take	VERB
ap-6953	118	19	place	place	NOUN
ap-6953	118	20	from	from	ADP
ap-6953	118	21	any	any	DET
ap-6953	118	22	initial	initial	ADJ
ap-6953	118	23	conditions	condition	NOUN
ap-6953	118	24	when	when	SCONJ
ap-6953	118	25	the	the	DET
ap-6953	118	26	dynamics	dynamic	NOUN
ap-6953	118	27	reach	reach	VERB
ap-6953	118	28	the	the	DET
ap-6953	118	29	sliding	slide	VERB
ap-6953	118	30	surface	surface	NOUN
ap-6953	119	1	[	[	X
ap-6953	119	2	37	37	NUM
ap-6953	119	3	]	]	PUNCT
ap-6953	119	4	.	.	PUNCT
ap-6953	120	1	clearly	clearly	ADV
ap-6953	120	2	,	,	PUNCT
ap-6953	120	3	(	(	PUNCT
ap-6953	120	4	18	18	NUM
ap-6953	120	5	)	)	PUNCT
ap-6953	120	6	shows	show	VERB
ap-6953	120	7	that	that	SCONJ
ap-6953	120	8	s2	s2	PROPN
ap-6953	120	9	is	be	AUX
ap-6953	120	10	bounded	bound	VERB
ap-6953	120	11	and	and	CCONJ
ap-6953	120	12	goes	go	VERB
ap-6953	120	13	to	to	ADP
ap-6953	120	14	zero	zero	NUM
ap-6953	120	15	as	as	ADP
ap-6953	120	16	t→∞	t→∞	NUM
ap-6953	120	17	and	and	CCONJ
ap-6953	120	18	its	its	PRON
ap-6953	120	19	dynamics	dynamic	NOUN
ap-6953	120	20	satisfies	satisfy	VERB
ap-6953	120	21	ṡ2	ṡ2	PROPN
ap-6953	120	22	≈	≈	PROPN
ap-6953	120	23	0	0	NUM
ap-6953	120	24	.	.	PUNCT
ap-6953	121	1	as	as	ADP
ap-6953	121	2	a	a	DET
ap-6953	121	3	result	result	NOUN
ap-6953	121	4	,	,	PUNCT
ap-6953	121	5	(	(	PUNCT
ap-6953	121	6	13	13	NUM
ap-6953	121	7	)	)	PUNCT
ap-6953	121	8	gives	give	VERB
ap-6953	121	9	:	:	PUNCT
ap-6953	121	10	ṡ1	ṡ1	PROPN
ap-6953	121	11	→	→	SYM
ap-6953	121	12	−kssgn(αsgn(s1))→	−kssgn(αsgn(s1))→	ADJ
ap-6953	121	13	−kssgn(s1	−kssgn(s1	NOUN
ap-6953	121	14	)	)	PUNCT
ap-6953	121	15	,	,	PUNCT
ap-6953	121	16	and	and	CCONJ
ap-6953	121	17	this	this	PRON
ap-6953	121	18	easily	easily	ADV
ap-6953	121	19	proves	prove	VERB
ap-6953	121	20	the	the	DET
ap-6953	121	21	stability	stability	NOUN
ap-6953	121	22	and	and	CCONJ
ap-6953	121	23	the	the	DET
ap-6953	121	24	convergence	convergence	NOUN
ap-6953	121	25	of	of	ADP
ap-6953	121	26	s1	s1	NOUN
ap-6953	121	27	to	to	ADP
ap-6953	121	28	zero	zero	NUM
ap-6953	121	29	as	as	ADP
ap-6953	121	30	t→∞.	t→∞.	NOUN
ap-6953	121	31	therefore	therefore	ADV
ap-6953	121	32	,	,	PUNCT
ap-6953	121	33	by	by	ADP
ap-6953	121	34	recalling	recall	VERB
ap-6953	121	35	the	the	DET
ap-6953	121	36	second	second	ADJ
ap-6953	121	37	equation	equation	NOUN
ap-6953	121	38	of	of	ADP
ap-6953	121	39	(	(	PUNCT
ap-6953	121	40	4	4	NUM
ap-6953	121	41	)	)	PUNCT
ap-6953	121	42	and	and	CCONJ
ap-6953	121	43	(	(	PUNCT
ap-6953	121	44	13	13	NUM
ap-6953	121	45	)	)	PUNCT
ap-6953	121	46	,	,	PUNCT
ap-6953	121	47	the	the	DET
ap-6953	121	48	control	control	NOUN
ap-6953	121	49	signal	signal	NOUN
ap-6953	121	50	will	will	AUX
ap-6953	121	51	have	have	VERB
ap-6953	121	52	the	the	DET
ap-6953	121	53	following	follow	VERB
ap-6953	121	54	expression	expression	NOUN
ap-6953	121	55	:	:	PUNCT
ap-6953	121	56	u	u	NOUN
ap-6953	121	57	=	=	PUNCT
ap-6953	121	58	−b−1[[ksgn	−b−1[[ksgn	PROPN
ap-6953	121	59	(	(	PUNCT
ap-6953	121	60	s2	s2	PROPN
ap-6953	121	61	)	)	PUNCT
ap-6953	122	1	+	+	NOUN
ap-6953	122	2	qs2	qs2	X
ap-6953	122	3	+	+	SYM
ap-6953	122	4	kssgn(s2	kssgn(s2	VERB
ap-6953	123	1	+	+	CCONJ
ap-6953	123	2	αsgn	αsgn	PRON
ap-6953	123	3	(	(	PUNCT
ap-6953	123	4	s1	s1	NOUN
ap-6953	123	5	)	)	PUNCT
ap-6953	123	6	)	)	PUNCT
ap-6953	123	7	]	]	PUNCT
ap-6953	124	1	−	−	PROPN
ap-6953	124	2	(	(	PUNCT
ap-6953	124	3	b1ueq1	b1ueq1	PROPN
ap-6953	124	4	+	+	CCONJ
ap-6953	124	5	βb2ueq2	βb2ueq2	NOUN
ap-6953	124	6	)	)	PUNCT
ap-6953	124	7	]	]	PUNCT
ap-6953	124	8	.	.	PUNCT
ap-6953	125	1	(	(	PUNCT
ap-6953	125	2	19	19	NUM
ap-6953	125	3	)	)	PUNCT
ap-6953	125	4	where	where	SCONJ
ap-6953	125	5	:	:	PUNCT
ap-6953	125	6	b	b	X
ap-6953	125	7	=	=	SYM
ap-6953	125	8	(	(	PUNCT
ap-6953	125	9	b1	b1	NOUN
ap-6953	125	10	+	+	CCONJ
ap-6953	125	11	βb2	βb2	NOUN
ap-6953	125	12	)	)	PUNCT
ap-6953	125	13	.	.	PUNCT
ap-6953	126	1	3.1	3.1	NUM
ap-6953	126	2	.	.	PUNCT
ap-6953	127	1	proposition-1	proposition-1	PRON
ap-6953	127	2	consider	consider	VERB
ap-6953	127	3	a	a	DET
ap-6953	127	4	class	class	NOUN
ap-6953	127	5	of	of	ADP
ap-6953	127	6	underactuated	underactuated	ADJ
ap-6953	127	7	mechanical	mechanical	ADJ
ap-6953	127	8	systems	system	NOUN
ap-6953	127	9	with	with	ADP
ap-6953	127	10	two	two	NUM
ap-6953	127	11	dof	dof	NOUN
ap-6953	127	12	given	give	VERB
ap-6953	127	13	by	by	ADP
ap-6953	127	14	(	(	PUNCT
ap-6953	127	15	2	2	NUM
ap-6953	127	16	)	)	PUNCT
ap-6953	127	17	,	,	PUNCT
ap-6953	127	18	which	which	PRON
ap-6953	127	19	satisfy	satisfy	VERB
ap-6953	127	20	assumptions	assumption	VERB
ap-6953	127	21	1	1	NUM
ap-6953	127	22	and	and	CCONJ
ap-6953	127	23	2	2	NUM
ap-6953	127	24	,	,	PUNCT
ap-6953	127	25	and	and	CCONJ
ap-6953	127	26	design	design	VERB
ap-6953	127	27	the	the	DET
ap-6953	127	28	sliding	slide	VERB
ap-6953	127	29	surfaces	surface	NOUN
ap-6953	127	30	(	(	PUNCT
ap-6953	127	31	3	3	NUM
ap-6953	127	32	)	)	PUNCT
ap-6953	127	33	.	.	PUNCT
ap-6953	128	1	the	the	DET
ap-6953	128	2	designed	design	VERB
ap-6953	128	3	control	control	NOUN
ap-6953	128	4	law	law	NOUN
ap-6953	128	5	(	(	PUNCT
ap-6953	128	6	19	19	NUM
ap-6953	128	7	)	)	PUNCT
ap-6953	128	8	satisfying	satisfy	VERB
ap-6953	128	9	the	the	DET
ap-6953	128	10	condition	condition	NOUN
ap-6953	128	11	(	(	PUNCT
ap-6953	128	12	17	17	NUM
ap-6953	128	13	)	)	PUNCT
ap-6953	128	14	ensures	ensure	VERB
ap-6953	128	15	all	all	DET
ap-6953	128	16	signals	signal	NOUN
ap-6953	128	17	in	in	ADP
ap-6953	128	18	the	the	DET
ap-6953	128	19	closed	closed	ADJ
ap-6953	128	20	-	-	PUNCT
ap-6953	128	21	loop	loop	NOUN
ap-6953	128	22	system	system	NOUN
ap-6953	128	23	will	will	AUX
ap-6953	128	24	be	be	AUX
ap-6953	128	25	bounded	bound	VERB
ap-6953	128	26	and	and	CCONJ
ap-6953	128	27	the	the	DET
ap-6953	128	28	sliding	slide	VERB
ap-6953	128	29	surfaces	surface	NOUN
ap-6953	128	30	will	will	AUX
ap-6953	128	31	converge	converge	VERB
ap-6953	128	32	to	to	ADP
ap-6953	128	33	zero	zero	NUM
ap-6953	128	34	asymptotically	asymptotically	ADV
ap-6953	128	35	.	.	PUNCT
ap-6953	129	1	4	4	X
ap-6953	129	2	.	.	X
ap-6953	129	3	adaptive	adaptive	ADJ
ap-6953	129	4	wavelets	wavelet	NOUN
ap-6953	129	5	sliding	slide	VERB
ap-6953	129	6	mode	mode	NOUN
ap-6953	129	7	controller	controller	NOUN
ap-6953	129	8	(	(	PUNCT
ap-6953	129	9	awsmc	awsmc	NOUN
ap-6953	129	10	)	)	PUNCT
ap-6953	129	11	4.1	4.1	NUM
ap-6953	129	12	.	.	PUNCT
ap-6953	130	1	wavelets	wavelet	NOUN
ap-6953	130	2	network	network	NOUN
ap-6953	130	3	overview	overview	VERB
ap-6953	130	4	a	a	DET
ap-6953	130	5	wavelets	wavelet	NOUN
ap-6953	130	6	network	network	NOUN
ap-6953	130	7	is	be	AUX
ap-6953	130	8	a	a	DET
ap-6953	130	9	type	type	NOUN
ap-6953	130	10	of	of	ADP
ap-6953	130	11	building	building	NOUN
ap-6953	130	12	blocks	block	NOUN
ap-6953	130	13	for	for	ADP
ap-6953	130	14	function	function	NOUN
ap-6953	130	15	approximation	approximation	NOUN
ap-6953	130	16	,	,	PUNCT
ap-6953	130	17	developed	develop	VERB
ap-6953	130	18	based	base	VERB
ap-6953	130	19	on	on	ADP
ap-6953	130	20	the	the	DET
ap-6953	130	21	concept	concept	NOUN
ap-6953	130	22	of	of	ADP
ap-6953	130	23	the	the	DET
ap-6953	130	24	multiresolution	multiresolution	NOUN
ap-6953	130	25	approximation	approximation	NOUN
ap-6953	130	26	.	.	PUNCT
ap-6953	131	1	the	the	DET
ap-6953	131	2	building	building	NOUN
ap-6953	131	3	block	block	NOUN
ap-6953	131	4	is	be	AUX
ap-6953	131	5	formed	form	VERB
ap-6953	131	6	by	by	ADP
ap-6953	131	7	shifting	shift	VERB
ap-6953	131	8	and	and	CCONJ
ap-6953	131	9	dilating	dilate	VERB
ap-6953	131	10	the	the	DET
ap-6953	131	11	basis	basis	NOUN
ap-6953	131	12	functions	function	NOUN
ap-6953	131	13	:	:	PUNCT
ap-6953	131	14	mother	mother	NOUN
ap-6953	131	15	wavelet	wavelet	PROPN
ap-6953	131	16	ψ	ψ	PROPN
ap-6953	131	17	and	and	CCONJ
ap-6953	131	18	father	father	PROPN
ap-6953	131	19	wavelet	wavelet	PROPN
ap-6953	131	20	φ	φ	PROPN
ap-6953	131	21	.	.	PUNCT
ap-6953	132	1	a	a	DET
ap-6953	132	2	multiresolution	multiresolution	NOUN
ap-6953	132	3	analysis	analysis	NOUN
ap-6953	132	4	was	be	AUX
ap-6953	132	5	proposed	propose	VERB
ap-6953	132	6	in	in	ADP
ap-6953	132	7	[	[	X
ap-6953	132	8	28	28	NUM
ap-6953	132	9	]	]	PUNCT
ap-6953	132	10	,	,	PUNCT
ap-6953	132	11	which	which	PRON
ap-6953	132	12	provides	provide	VERB
ap-6953	132	13	a	a	DET
ap-6953	132	14	mathematical	mathematical	ADJ
ap-6953	132	15	tool	tool	NOUN
ap-6953	132	16	to	to	PART
ap-6953	132	17	describe	describe	VERB
ap-6953	132	18	the	the	DET
ap-6953	132	19	“	"	PUNCT
ap-6953	132	20	increment	increment	NOUN
ap-6953	132	21	in	in	ADP
ap-6953	132	22	information	information	NOUN
ap-6953	132	23	”	"	PUNCT
ap-6953	132	24	from	from	ADP
ap-6953	132	25	a	a	DET
ap-6953	132	26	coarse	coarse	ADJ
ap-6953	132	27	approximation	approximation	NOUN
ap-6953	132	28	to	to	ADP
ap-6953	132	29	a	a	DET
ap-6953	132	30	higher	high	ADJ
ap-6953	132	31	resolution	resolution	NOUN
ap-6953	132	32	approximation	approximation	NOUN
ap-6953	132	33	.	.	PUNCT
ap-6953	133	1	the	the	DET
ap-6953	133	2	multiresolution	multiresolution	NOUN
ap-6953	133	3	analysis	analysis	NOUN
ap-6953	133	4	consists	consist	VERB
ap-6953	133	5	of	of	ADP
ap-6953	133	6	a	a	DET
ap-6953	133	7	sequence	sequence	NOUN
ap-6953	133	8	of	of	ADP
ap-6953	133	9	successive	successive	ADJ
ap-6953	133	10	approximation	approximation	NOUN
ap-6953	133	11	spaces	space	NOUN
ap-6953	133	12	vj	vj	INTJ
ap-6953	133	13	∈	∈	PROPN
ap-6953	133	14	l2	l2	NOUN
ap-6953	133	15	(	(	PUNCT
ap-6953	133	16	r)which	r)which	NOUN
ap-6953	133	17	satisfies	satisfy	VERB
ap-6953	133	18	:	:	PUNCT
ap-6953	133	19	...	...	PUNCT
ap-6953	134	1	⊂	⊂	PROPN
ap-6953	135	1	v−2	v−2	PROPN
ap-6953	135	2	⊂	⊂	PROPN
ap-6953	136	1	v−1	v−1	PROPN
ap-6953	136	2	⊂	⊂	PROPN
ap-6953	136	3	v0	v0	PROPN
ap-6953	136	4	⊂	⊂	PROPN
ap-6953	136	5	v1	v1	PROPN
ap-6953	136	6	⊂	⊂	PROPN
ap-6953	136	7	v2	v2	PROPN
ap-6953	136	8	⊂	⊂	X
ap-6953	136	9	...	...	PUNCT
ap-6953	136	10	,	,	PUNCT
ap-6953	136	11	⋂	⋂	PROPN
ap-6953	136	12	m∈z	m∈z	VERB
ap-6953	136	13	vm	vm	NOUN
ap-6953	137	1	=	=	PUNCT
ap-6953	137	2	{	{	PUNCT
ap-6953	137	3	0	0	NUM
ap-6953	137	4	}	}	PUNCT
ap-6953	137	5	and	and	CCONJ
ap-6953	137	6	⋃	⋃	NOUN
ap-6953	137	7	m∈z	m∈z	VERB
ap-6953	137	8	vm	vm	NOUN
ap-6953	137	9	=	=	NOUN
ap-6953	137	10	l2	l2	NOUN
ap-6953	137	11	(	(	PUNCT
ap-6953	137	12	r	r	NOUN
ap-6953	137	13	)	)	PUNCT
ap-6953	137	14	,	,	PUNCT
ap-6953	137	15	with	with	ADP
ap-6953	137	16	:	:	PUNCT
ap-6953	137	17	g	g	PROPN
ap-6953	137	18	(	(	PUNCT
ap-6953	137	19	x	x	NOUN
ap-6953	137	20	)	)	PUNCT
ap-6953	137	21	∈	∈	PROPN
ap-6953	137	22	vj	vj	PROPN
ap-6953	137	23	⇔	⇔	PROPN
ap-6953	137	24	g(2x	g(2x	VERB
ap-6953	137	25	)	)	PUNCT
ap-6953	137	26	∈	∈	PROPN
ap-6953	137	27	vj+1	vj+1	PUNCT
ap-6953	137	28	g	g	NOUN
ap-6953	137	29	(	(	PUNCT
ap-6953	137	30	x	x	NOUN
ap-6953	137	31	)	)	PUNCT
ap-6953	137	32	∈	∈	PROPN
ap-6953	138	1	vj	vj	PROPN
ap-6953	138	2	⇒	⇒	PROPN
ap-6953	139	1	g(x−	g(x−	PROPN
ap-6953	139	2	2−jk	2−jk	NUM
ap-6953	139	3	)	)	PUNCT
ap-6953	139	4	∈	∈	PROPN
ap-6953	139	5	vj	vj	NOUN
ap-6953	139	6	,	,	PUNCT
ap-6953	140	1	k	k	PROPN
ap-6953	140	2	∈	∈	PROPN
ap-6953	140	3	z	z	PROPN
ap-6953	140	4	;	;	PUNCT
ap-6953	140	5	vj	vj	PROPN
ap-6953	140	6	=	=	PROPN
ap-6953	140	7	span{φj	span{φj	PROPN
ap-6953	140	8	,	,	PUNCT
ap-6953	140	9	k	k	PROPN
ap-6953	140	10	,	,	PUNCT
ap-6953	140	11	k	k	PROPN
ap-6953	140	12	∈	∈	PROPN
ap-6953	140	13	z	z	PROPN
ap-6953	140	14	}	}	PUNCT
ap-6953	140	15	(	(	PUNCT
ap-6953	140	16	20	20	NUM
ap-6953	140	17	)	)	PUNCT
ap-6953	140	18	353	353	NUM
ap-6953	140	19	f.	f.	PROPN
ap-6953	140	20	nafa	nafa	PROPN
ap-6953	140	21	,	,	PUNCT
ap-6953	140	22	a.	a.	NOUN
ap-6953	140	23	boudouda	boudouda	PROPN
ap-6953	140	24	,	,	PUNCT
ap-6953	140	25	b.	b.	PROPN
ap-6953	140	26	smaani	smaani	PROPN
ap-6953	140	27	acta	acta	PROPN
ap-6953	140	28	polytechnica	polytechnica	PROPN
ap-6953	140	29	where	where	SCONJ
ap-6953	140	30	z	z	NOUN
ap-6953	140	31	is	be	AUX
ap-6953	140	32	the	the	DET
ap-6953	140	33	set	set	NOUN
ap-6953	140	34	of	of	ADP
ap-6953	140	35	all	all	DET
ap-6953	140	36	integers	integer	NOUN
ap-6953	140	37	,	,	PUNCT
ap-6953	140	38	φj	φj	INTJ
ap-6953	140	39	,	,	PUNCT
ap-6953	140	40	k	k	PROPN
ap-6953	140	41	(	(	PUNCT
ap-6953	140	42	x	x	X
ap-6953	140	43	)	)	PUNCT
ap-6953	140	44	=	=	SYM
ap-6953	140	45	2j/2φ	2j/2φ	NUM
ap-6953	140	46	(	(	PUNCT
ap-6953	140	47	2jx−	2jx−	NUM
ap-6953	140	48	k	k	NOUN
ap-6953	140	49	)	)	PUNCT
ap-6953	140	50	and	and	CCONJ
ap-6953	140	51	φj	φj	INTJ
ap-6953	140	52	,	,	PUNCT
ap-6953	140	53	k	k	PROPN
ap-6953	140	54	∈	∈	PROPN
ap-6953	140	55	vm	vm	PROPN
ap-6953	140	56	.	.	PROPN
ap-6953	140	57	φj	φj	PROPN
ap-6953	140	58	,	,	PUNCT
ap-6953	140	59	k	k	PROPN
ap-6953	140	60	is	be	AUX
ap-6953	140	61	an	an	DET
ap-6953	140	62	orthonormal	orthonormal	ADJ
ap-6953	140	63	basis	basis	NOUN
ap-6953	140	64	of	of	ADP
ap-6953	140	65	vj	vj	PRON
ap-6953	140	66	which	which	PRON
ap-6953	140	67	is	be	AUX
ap-6953	140	68	called	call	VERB
ap-6953	140	69	scaling	scale	VERB
ap-6953	140	70	function	function	NOUN
ap-6953	140	71	(	(	PUNCT
ap-6953	140	72	or	or	CCONJ
ap-6953	140	73	father	father	PROPN
ap-6953	140	74	wavelet	wavelet	PROPN
ap-6953	140	75	)	)	PUNCT
ap-6953	140	76	.	.	PUNCT
ap-6953	141	1	for	for	ADP
ap-6953	141	2	every	every	DET
ap-6953	141	3	j	j	PROPN
ap-6953	141	4	∈	∈	PROPN
ap-6953	141	5	z	z	PROPN
ap-6953	141	6	,	,	PUNCT
ap-6953	141	7	wj	wj	PROPN
ap-6953	141	8	is	be	AUX
ap-6953	141	9	defined	define	VERB
ap-6953	141	10	to	to	PART
ap-6953	141	11	be	be	AUX
ap-6953	141	12	the	the	DET
ap-6953	141	13	orthogonal	orthogonal	ADJ
ap-6953	141	14	complement	complement	NOUN
ap-6953	141	15	of	of	ADP
ap-6953	141	16	vj	vj	NOUN
ap-6953	141	17	in	in	ADP
ap-6953	141	18	vj+1	vj+1	PROPN
ap-6953	141	19	.	.	PUNCT
ap-6953	142	1	at	at	ADP
ap-6953	142	2	every	every	DET
ap-6953	142	3	resolution	resolution	NOUN
ap-6953	142	4	j	j	NOUN
ap-6953	142	5	:	:	PUNCT
ap-6953	142	6	vj+1	vj+1	PROPN
ap-6953	142	7	=	=	SYM
ap-6953	142	8	vj	vj	PROPN
ap-6953	142	9	⊕wj	⊕wj	ADP
ap-6953	142	10	wj⊥wi	wj⊥wi	NOUN
ap-6953	142	11	,	,	PUNCT
ap-6953	142	12	if	if	SCONJ
ap-6953	142	13	:	:	PUNCT
ap-6953	142	14	i	i	PROPN
ap-6953	142	15	6=	6=	NUM
ap-6953	142	16	j	j	PROPN
ap-6953	142	17	wj	wj	PROPN
ap-6953	142	18	⊂	⊂	PROPN
ap-6953	142	19	vi	vi	PROPN
ap-6953	142	20	,	,	PUNCT
ap-6953	142	21	if	if	SCONJ
ap-6953	142	22	:	:	PUNCT
ap-6953	142	23	i	i	PRON
ap-6953	142	24	>	>	X
ap-6953	142	25	j	j	PROPN
ap-6953	142	26	wj	wj	PROPN
ap-6953	142	27	=	=	PROPN
ap-6953	142	28	span{ψj	span{ψj	PROPN
ap-6953	142	29	,	,	PUNCT
ap-6953	142	30	k	k	X
ap-6953	142	31	,	,	PUNCT
ap-6953	142	32	k	k	PROPN
ap-6953	142	33	∈	∈	PROPN
ap-6953	143	1	z	z	PROPN
ap-6953	143	2	}	}	PUNCT
ap-6953	143	3	(	(	PUNCT
ap-6953	143	4	21	21	NUM
ap-6953	143	5	)	)	PUNCT
ap-6953	143	6	where	where	SCONJ
ap-6953	143	7	ψj	ψj	ADV
ap-6953	143	8	,	,	PUNCT
ap-6953	143	9	k	k	PROPN
ap-6953	143	10	(	(	PUNCT
ap-6953	143	11	x	x	X
ap-6953	143	12	)	)	PUNCT
ap-6953	143	13	=	=	SYM
ap-6953	143	14	2j/2ψ	2j/2ψ	NUM
ap-6953	143	15	(	(	PUNCT
ap-6953	143	16	2jx−	2jx−	NUM
ap-6953	143	17	k	k	NOUN
ap-6953	143	18	)	)	PUNCT
ap-6953	143	19	and	and	CCONJ
ap-6953	143	20	ψj	ψj	ADV
ap-6953	143	21	,	,	PUNCT
ap-6953	143	22	k	k	PROPN
ap-6953	143	23	∈wj	∈wj	PROPN
ap-6953	143	24	.	.	PUNCT
ap-6953	144	1	ψj	ψj	ADV
ap-6953	144	2	,	,	PUNCT
ap-6953	144	3	k	k	PROPN
ap-6953	144	4	is	be	AUX
ap-6953	144	5	an	an	DET
ap-6953	144	6	orthonormal	orthonormal	ADJ
ap-6953	144	7	basis	basis	NOUN
ap-6953	144	8	ofwj	ofwj	NOUN
ap-6953	144	9	and	and	CCONJ
ap-6953	144	10	is	be	AUX
ap-6953	144	11	called	call	VERB
ap-6953	144	12	mother	mother	NOUN
ap-6953	144	13	wavelet	wavelet	NOUN
ap-6953	144	14	[	[	X
ap-6953	144	15	28	28	NUM
ap-6953	144	16	,	,	PUNCT
ap-6953	144	17	30	30	NUM
ap-6953	144	18	]	]	PUNCT
ap-6953	144	19	.	.	PUNCT
ap-6953	145	1	a	a	DET
ap-6953	145	2	function	function	NOUN
ap-6953	145	3	g(x	g(x	NOUN
ap-6953	145	4	)	)	PUNCT
ap-6953	145	5	,	,	PUNCT
ap-6953	145	6	such	such	ADJ
ap-6953	145	7	as	as	ADP
ap-6953	145	8	:	:	PUNCT
ap-6953	145	9	g(x	g(x	NOUN
ap-6953	145	10	)	)	PUNCT
ap-6953	145	11	∈	∈	PROPN
ap-6953	145	12	l2(r	l2(r	PROPN
ap-6953	145	13	)	)	PUNCT
ap-6953	145	14	,	,	PUNCT
ap-6953	145	15	can	can	AUX
ap-6953	145	16	be	be	AUX
ap-6953	145	17	approximated	approximate	VERB
ap-6953	145	18	in	in	ADP
ap-6953	145	19	the	the	DET
ap-6953	145	20	space	space	NOUN
ap-6953	145	21	vj	vj	INTJ
ap-6953	145	22	as	as	SCONJ
ap-6953	145	23	follows	follow	VERB
ap-6953	145	24	:	:	PUNCT
ap-6953	145	25	g	g	NOUN
ap-6953	145	26	(	(	PUNCT
ap-6953	145	27	x	x	NOUN
ap-6953	145	28	)	)	PUNCT
ap-6953	145	29	=	=	SYM
ap-6953	145	30	gj	gj	NOUN
ap-6953	145	31	(	(	PUNCT
ap-6953	145	32	x	x	NOUN
ap-6953	145	33	)	)	PUNCT
ap-6953	146	1	+	+	CCONJ
ap-6953	146	2	e	e	X
ap-6953	146	3	(	(	PUNCT
ap-6953	146	4	j	j	NOUN
ap-6953	146	5	)	)	PUNCT
ap-6953	146	6	=	=	SYM
ap-6953	147	1	nj∑	nj∑	ADV
ap-6953	147	2	k=1	k=1	VERB
ap-6953	147	3	〈	〈	PROPN
ap-6953	147	4	φj	φj	PROPN
ap-6953	147	5	,	,	PUNCT
ap-6953	147	6	k	k	PROPN
ap-6953	147	7	(	(	PUNCT
ap-6953	147	8	x	x	X
ap-6953	147	9	)	)	PUNCT
ap-6953	147	10	,	,	PUNCT
ap-6953	147	11	g	g	PROPN
ap-6953	147	12	(	(	PUNCT
ap-6953	147	13	x	x	NOUN
ap-6953	147	14	)	)	PUNCT
ap-6953	147	15	〉	〉	NOUN
ap-6953	147	16	φj	φj	PROPN
ap-6953	147	17	,	,	PUNCT
ap-6953	147	18	k	k	PROPN
ap-6953	147	19	(	(	PUNCT
ap-6953	147	20	x	x	X
ap-6953	147	21	)	)	PUNCT
ap-6953	148	1	+	+	CCONJ
ap-6953	148	2	e	e	X
ap-6953	148	3	(	(	PUNCT
ap-6953	148	4	j	j	PROPN
ap-6953	148	5	)	)	PUNCT
ap-6953	148	6	.	.	PUNCT
ap-6953	149	1	(	(	PUNCT
ap-6953	149	2	22	22	NUM
ap-6953	149	3	)	)	PUNCT
ap-6953	149	4	where	where	SCONJ
ap-6953	149	5	gj	gj	NOUN
ap-6953	149	6	(	(	PUNCT
ap-6953	149	7	x	x	X
ap-6953	149	8	)	)	PUNCT
ap-6953	149	9	is	be	AUX
ap-6953	149	10	the	the	DET
ap-6953	149	11	projection	projection	NOUN
ap-6953	149	12	of	of	ADP
ap-6953	149	13	g	g	NOUN
ap-6953	149	14	on	on	ADP
ap-6953	149	15	the	the	DET
ap-6953	149	16	space	space	NOUN
ap-6953	149	17	vj	vj	NOUN
ap-6953	149	18	,	,	PUNCT
ap-6953	149	19	<	<	X
ap-6953	149	20	.	.	PUNCT
ap-6953	149	21	,	,	PUNCT
ap-6953	149	22	.	.	PUNCT
ap-6953	150	1	>	>	X
ap-6953	150	2	is	be	AUX
ap-6953	150	3	the	the	DET
ap-6953	150	4	inner	inner	ADJ
ap-6953	150	5	product	product	NOUN
ap-6953	150	6	in	in	ADP
ap-6953	150	7	l2	l2	NOUN
ap-6953	150	8	,	,	PUNCT
ap-6953	150	9	e(j	e(j	PROPN
ap-6953	150	10	)	)	PUNCT
ap-6953	150	11	is	be	AUX
ap-6953	150	12	the	the	DET
ap-6953	150	13	approximation	approximation	NOUN
ap-6953	150	14	error	error	NOUN
ap-6953	150	15	at	at	ADP
ap-6953	150	16	the	the	DET
ap-6953	150	17	jth	jth	PROPN
ap-6953	150	18	resolution	resolution	NOUN
ap-6953	150	19	,	,	PUNCT
ap-6953	150	20	and	and	CCONJ
ap-6953	150	21	nj	nj	PROPN
ap-6953	150	22	is	be	AUX
ap-6953	150	23	the	the	DET
ap-6953	150	24	number	number	NOUN
ap-6953	150	25	of	of	ADP
ap-6953	150	26	the	the	DET
ap-6953	150	27	basis	basis	NOUN
ap-6953	150	28	functions	function	NOUN
ap-6953	150	29	used	use	VERB
ap-6953	150	30	at	at	ADP
ap-6953	150	31	the	the	DET
ap-6953	150	32	jth	jth	PROPN
ap-6953	150	33	resolution	resolution	PROPN
ap-6953	150	34	.	.	PUNCT
ap-6953	151	1	note	note	VERB
ap-6953	151	2	that	that	SCONJ
ap-6953	151	3	a	a	DET
ap-6953	151	4	larger	large	ADJ
ap-6953	151	5	j	j	NOUN
ap-6953	151	6	means	mean	VERB
ap-6953	151	7	a	a	DET
ap-6953	151	8	higher	high	ADJ
ap-6953	151	9	resolution	resolution	NOUN
ap-6953	151	10	,	,	PUNCT
ap-6953	151	11	which	which	PRON
ap-6953	151	12	contains	contain	VERB
ap-6953	151	13	a	a	DET
ap-6953	151	14	lower	low	ADJ
ap-6953	151	15	resolution	resolution	NOUN
ap-6953	151	16	vj−1	vj−1	PROPN
ap-6953	151	17	and	and	CCONJ
ap-6953	151	18	the	the	DET
ap-6953	151	19	complement	complement	NOUN
ap-6953	151	20	space	space	NOUN
ap-6953	151	21	wj−1	wj−1	PROPN
ap-6953	151	22	.	.	PUNCT
ap-6953	152	1	therefore	therefore	ADV
ap-6953	152	2	,	,	PUNCT
ap-6953	152	3	as	as	SCONJ
ap-6953	152	4	j	j	PROPN
ap-6953	152	5	→∞	→∞	PROPN
ap-6953	152	6	,	,	PUNCT
ap-6953	152	7	vj−1	vj−1	PROPN
ap-6953	152	8	tends	tend	VERB
ap-6953	152	9	to	to	PART
ap-6953	152	10	be	be	AUX
ap-6953	152	11	l2	l2	NOUN
ap-6953	152	12	and	and	CCONJ
ap-6953	152	13	limj→∞|e(j)|	limj→∞|e(j)|	NOUN
ap-6953	152	14	=	=	SYM
ap-6953	152	15	0	0	NUM
ap-6953	152	16	and	and	CCONJ
ap-6953	152	17	from	from	ADP
ap-6953	152	18	multiresolution	multiresolution	NOUN
ap-6953	152	19	property	property	NOUN
ap-6953	152	20	of	of	ADP
ap-6953	152	21	wavelet	wavelet	NOUN
ap-6953	152	22	,	,	PUNCT
ap-6953	152	23	we	we	PRON
ap-6953	152	24	have	have	VERB
ap-6953	152	25	|e(j	|e(j	NOUN
ap-6953	152	26	+	+	NUM
ap-6953	152	27	1)|	1)|	NUM
ap-6953	152	28	<	<	X
ap-6953	152	29	|e(j)|[28	|e(j)|[28	PROPN
ap-6953	152	30	]	]	PUNCT
ap-6953	152	31	.	.	PUNCT
ap-6953	153	1	it	it	PRON
ap-6953	153	2	is	be	AUX
ap-6953	153	3	important	important	ADJ
ap-6953	153	4	to	to	PART
ap-6953	153	5	note	note	VERB
ap-6953	153	6	that	that	SCONJ
ap-6953	153	7	all	all	DET
ap-6953	153	8	wavelets	wavelet	NOUN
ap-6953	153	9	satisfy	satisfy	VERB
ap-6953	153	10	multiresolution	multiresolution	NOUN
ap-6953	153	11	and	and	CCONJ
ap-6953	153	12	orthonormal	orthonormal	ADJ
ap-6953	153	13	properties	property	NOUN
ap-6953	153	14	,	,	PUNCT
ap-6953	153	15	and	and	CCONJ
ap-6953	153	16	hence	hence	ADV
ap-6953	153	17	the	the	DET
ap-6953	153	18	choice	choice	NOUN
ap-6953	153	19	of	of	ADP
ap-6953	153	20	the	the	DET
ap-6953	153	21	wavelets	wavelet	NOUN
ap-6953	153	22	will	will	AUX
ap-6953	153	23	not	not	PART
ap-6953	153	24	affect	affect	VERB
ap-6953	153	25	the	the	DET
ap-6953	153	26	approximation	approximation	NOUN
ap-6953	153	27	results	result	NOUN
ap-6953	153	28	[	[	X
ap-6953	153	29	28	28	NUM
ap-6953	153	30	]	]	PUNCT
ap-6953	153	31	.	.	PUNCT
ap-6953	154	1	next	next	ADV
ap-6953	154	2	,	,	PUNCT
ap-6953	154	3	we	we	PRON
ap-6953	154	4	will	will	AUX
ap-6953	154	5	explore	explore	VERB
ap-6953	154	6	the	the	DET
ap-6953	154	7	above	above	ADJ
ap-6953	154	8	mentioned	mention	VERB
ap-6953	154	9	approximation	approximation	NOUN
ap-6953	154	10	’s	’s	PART
ap-6953	154	11	properties	property	NOUN
ap-6953	154	12	to	to	PART
ap-6953	154	13	design	design	VERB
ap-6953	154	14	an	an	DET
ap-6953	154	15	adaptive	adaptive	ADJ
ap-6953	154	16	controller	controller	NOUN
ap-6953	154	17	by	by	ADP
ap-6953	154	18	approximating	approximate	VERB
ap-6953	154	19	the	the	DET
ap-6953	154	20	unknown	unknown	ADJ
ap-6953	154	21	ideal	ideal	ADJ
ap-6953	154	22	controller	controller	NOUN
ap-6953	154	23	(	(	PUNCT
ap-6953	154	24	19	19	NUM
ap-6953	154	25	)	)	PUNCT
ap-6953	154	26	.	.	PUNCT
ap-6953	155	1	4.2	4.2	NUM
ap-6953	155	2	.	.	PUNCT
ap-6953	156	1	adaptive	adaptive	ADJ
ap-6953	156	2	controller	controller	NOUN
ap-6953	156	3	design	design	NOUN
ap-6953	156	4	for	for	ADP
ap-6953	156	5	the	the	DET
ap-6953	156	6	adaptive	adaptive	ADJ
ap-6953	156	7	control	control	NOUN
ap-6953	156	8	purpose	purpose	NOUN
ap-6953	156	9	,	,	PUNCT
ap-6953	156	10	we	we	PRON
ap-6953	156	11	assume	assume	VERB
ap-6953	156	12	now	now	ADV
ap-6953	156	13	that	that	SCONJ
ap-6953	156	14	the	the	DET
ap-6953	156	15	nonlinear	nonlinear	ADJ
ap-6953	156	16	functions	function	NOUN
ap-6953	156	17	f1	f1	NOUN
ap-6953	156	18	(	(	PUNCT
ap-6953	156	19	x	x	NOUN
ap-6953	156	20	)	)	PUNCT
ap-6953	156	21	,	,	PUNCT
ap-6953	156	22	f2	f2	PROPN
ap-6953	156	23	(	(	PUNCT
ap-6953	156	24	x	x	NOUN
ap-6953	156	25	)	)	PUNCT
ap-6953	156	26	,	,	PUNCT
ap-6953	156	27	b1	b1	NOUN
ap-6953	156	28	(	(	PUNCT
ap-6953	156	29	x	x	NOUN
ap-6953	156	30	)	)	PUNCT
ap-6953	156	31	,	,	PUNCT
ap-6953	156	32	and	and	CCONJ
ap-6953	156	33	b2	b2	NOUN
ap-6953	156	34	(	(	PUNCT
ap-6953	156	35	x	x	X
ap-6953	156	36	)	)	PUNCT
ap-6953	156	37	are	be	AUX
ap-6953	156	38	unknown	unknown	ADJ
ap-6953	156	39	and	and	CCONJ
ap-6953	156	40	only	only	ADV
ap-6953	156	41	the	the	DET
ap-6953	156	42	state	state	NOUN
ap-6953	156	43	vector	vector	NOUN
ap-6953	157	1	x	x	PUNCT
ap-6953	157	2	is	be	AUX
ap-6953	157	3	available	available	ADJ
ap-6953	157	4	for	for	ADP
ap-6953	157	5	measurement	measurement	NOUN
ap-6953	157	6	.	.	PUNCT
ap-6953	158	1	in	in	ADP
ap-6953	158	2	addition	addition	NOUN
ap-6953	158	3	,	,	PUNCT
ap-6953	158	4	we	we	PRON
ap-6953	158	5	keep	keep	VERB
ap-6953	158	6	all	all	DET
ap-6953	158	7	terms	term	NOUN
ap-6953	158	8	of	of	ADP
ap-6953	158	9	the	the	DET
ap-6953	158	10	assumption	assumption	NOUN
ap-6953	158	11	2	2	NUM
ap-6953	158	12	regarding	regard	VERB
ap-6953	158	13	the	the	DET
ap-6953	158	14	control	control	NOUN
ap-6953	158	15	gain	gain	NOUN
ap-6953	158	16	bi(x	bi(x	PUNCT
ap-6953	158	17	)	)	PUNCT
ap-6953	158	18	.	.	PUNCT
ap-6953	159	1	we	we	PRON
ap-6953	159	2	construct	construct	VERB
ap-6953	159	3	the	the	DET
ap-6953	159	4	aforementioned	aforementioned	ADJ
ap-6953	159	5	ideal	ideal	ADJ
ap-6953	159	6	input	input	NOUN
ap-6953	159	7	control	control	NOUN
ap-6953	159	8	(	(	PUNCT
ap-6953	159	9	19	19	NUM
ap-6953	159	10	)	)	PUNCT
ap-6953	159	11	by	by	ADP
ap-6953	159	12	using	use	VERB
ap-6953	159	13	a	a	DET
ap-6953	159	14	wavelet	wavelet	NOUN
ap-6953	159	15	network	network	NOUN
ap-6953	159	16	in	in	ADP
ap-6953	159	17	the	the	DET
ap-6953	159	18	form	form	NOUN
ap-6953	159	19	of	of	ADP
ap-6953	159	20	(	(	PUNCT
ap-6953	159	21	22	22	NUM
ap-6953	159	22	)	)	PUNCT
ap-6953	159	23	.	.	PUNCT
ap-6953	160	1	thus	thus	ADV
ap-6953	160	2	,	,	PUNCT
ap-6953	160	3	the	the	DET
ap-6953	160	4	general	general	ADJ
ap-6953	160	5	form	form	NOUN
ap-6953	160	6	of	of	ADP
ap-6953	160	7	this	this	DET
ap-6953	160	8	ideal	ideal	ADJ
ap-6953	160	9	controller	controller	NOUN
ap-6953	160	10	u∗(x	u∗(x	PROPN
ap-6953	160	11	)	)	PUNCT
ap-6953	160	12	can	can	AUX
ap-6953	160	13	be	be	AUX
ap-6953	160	14	expressed	express	VERB
ap-6953	160	15	as	as	ADP
ap-6953	160	16	:	:	PUNCT
ap-6953	160	17	u∗	u∗	INTJ
ap-6953	160	18	(	(	PUNCT
ap-6953	160	19	x	x	X
ap-6953	160	20	)	)	PUNCT
ap-6953	160	21	=	=	SYM
ap-6953	160	22	u∗j	u∗j	NUM
ap-6953	160	23	(	(	PUNCT
ap-6953	160	24	x	x	X
ap-6953	160	25	)	)	PUNCT
ap-6953	160	26	+	+	NUM
ap-6953	160	27	eu(j	eu(j	X
ap-6953	160	28	)	)	PUNCT
ap-6953	161	1	=	=	SYM
ap-6953	161	2	nj∑	nj∑	ADV
ap-6953	161	3	k=1	k=1	PUNCT
ap-6953	161	4	v∗j	v∗j	PROPN
ap-6953	161	5	,	,	PUNCT
ap-6953	161	6	kφj	kφj	NOUN
ap-6953	161	7	,	,	PUNCT
ap-6953	161	8	k	k	PROPN
ap-6953	161	9	(	(	PUNCT
ap-6953	161	10	x	x	X
ap-6953	161	11	)	)	PUNCT
ap-6953	161	12	+	+	CCONJ
ap-6953	161	13	∑	∑	PUNCT
ap-6953	161	14	j≥j	j≥j	NOUN
ap-6953	161	15	,	,	PUNCT
ap-6953	161	16	k∈z	k∈z	ADJ
ap-6953	161	17	w∗j	w∗j	NUM
ap-6953	161	18	,	,	PUNCT
ap-6953	161	19	kψj	kψj	PROPN
ap-6953	161	20	,	,	PUNCT
ap-6953	161	21	k	k	PROPN
ap-6953	161	22	(	(	PUNCT
ap-6953	161	23	x	x	X
ap-6953	161	24	)	)	PUNCT
ap-6953	161	25	(	(	PUNCT
ap-6953	161	26	23	23	NUM
ap-6953	161	27	)	)	PUNCT
ap-6953	161	28	where	where	SCONJ
ap-6953	161	29	j	j	PROPN
ap-6953	161	30	is	be	AUX
ap-6953	161	31	the	the	DET
ap-6953	161	32	coarse	coarse	ADJ
ap-6953	161	33	resolution	resolution	NOUN
ap-6953	161	34	.	.	PUNCT
ap-6953	162	1	it	it	PRON
ap-6953	162	2	is	be	AUX
ap-6953	162	3	worth	worth	ADJ
ap-6953	162	4	noticing	notice	VERB
ap-6953	162	5	that	that	SCONJ
ap-6953	162	6	using	use	VERB
ap-6953	162	7	wavelets	wavelet	NOUN
ap-6953	162	8	networks	network	NOUN
ap-6953	162	9	to	to	PART
ap-6953	162	10	approximate	approximate	VERB
ap-6953	162	11	the	the	DET
ap-6953	162	12	ideal	ideal	ADJ
ap-6953	162	13	controller	controller	NOUN
ap-6953	162	14	requires	require	VERB
ap-6953	162	15	a	a	DET
ap-6953	162	16	guarantee	guarantee	NOUN
ap-6953	162	17	of	of	ADP
ap-6953	162	18	the	the	DET
ap-6953	162	19	input	input	NOUN
ap-6953	162	20	vector	vector	NOUN
ap-6953	162	21	x	x	NOUN
ap-6953	162	22	in	in	ADP
ap-6953	162	23	a	a	DET
ap-6953	162	24	compact	compact	ADJ
ap-6953	162	25	region	region	NOUN
ap-6953	163	1	[	[	X
ap-6953	163	2	38	38	NUM
ap-6953	163	3	,	,	PUNCT
ap-6953	163	4	39	39	NUM
ap-6953	163	5	]	]	PUNCT
ap-6953	163	6	.	.	PUNCT
ap-6953	164	1	in	in	ADP
ap-6953	164	2	practical	practical	ADJ
ap-6953	164	3	applications	application	NOUN
ap-6953	164	4	,	,	PUNCT
ap-6953	164	5	it	it	PRON
ap-6953	164	6	is	be	AUX
ap-6953	164	7	required	require	VERB
ap-6953	164	8	to	to	PART
ap-6953	164	9	assign	assign	VERB
ap-6953	164	10	a	a	DET
ap-6953	164	11	very	very	ADV
ap-6953	164	12	large	large	ADJ
ap-6953	164	13	compact	compact	ADJ
ap-6953	164	14	set	set	NOUN
ap-6953	164	15	to	to	PART
ap-6953	164	16	avoid	avoid	VERB
ap-6953	164	17	a	a	DET
ap-6953	164	18	violation	violation	NOUN
ap-6953	164	19	of	of	ADP
ap-6953	164	20	this	this	DET
ap-6953	164	21	requirement	requirement	NOUN
ap-6953	164	22	.	.	PUNCT
ap-6953	165	1	however	however	ADV
ap-6953	165	2	,	,	PUNCT
ap-6953	165	3	a	a	DET
ap-6953	165	4	very	very	ADV
ap-6953	165	5	large	large	ADJ
ap-6953	165	6	wavelet	wavelet	NOUN
ap-6953	165	7	basis	basis	NOUN
ap-6953	165	8	is	be	AUX
ap-6953	165	9	needed	need	VERB
ap-6953	165	10	in	in	ADP
ap-6953	165	11	this	this	DET
ap-6953	165	12	situation	situation	NOUN
ap-6953	165	13	and	and	CCONJ
ap-6953	165	14	this	this	PRON
ap-6953	165	15	may	may	AUX
ap-6953	165	16	result	result	VERB
ap-6953	165	17	in	in	ADP
ap-6953	165	18	a	a	DET
ap-6953	165	19	high	high	ADJ
ap-6953	165	20	computational	computational	ADJ
ap-6953	165	21	complexity	complexity	NOUN
ap-6953	165	22	.	.	PUNCT
ap-6953	166	1	fortunately	fortunately	ADV
ap-6953	166	2	,	,	PUNCT
ap-6953	166	3	in	in	ADP
ap-6953	166	4	many	many	ADJ
ap-6953	166	5	physical	physical	ADJ
ap-6953	166	6	systems	system	NOUN
ap-6953	166	7	,	,	PUNCT
ap-6953	166	8	such	such	ADJ
ap-6953	166	9	as	as	ADP
ap-6953	166	10	mechanical	mechanical	ADJ
ap-6953	166	11	and	and	CCONJ
ap-6953	166	12	electrical	electrical	ADJ
ap-6953	166	13	systems	system	NOUN
ap-6953	166	14	,	,	PUNCT
ap-6953	166	15	an	an	DET
ap-6953	166	16	appropriate	appropriate	ADJ
ap-6953	166	17	selection	selection	NOUN
ap-6953	166	18	of	of	ADP
ap-6953	166	19	the	the	DET
ap-6953	166	20	pre	pre	ADJ
ap-6953	166	21	-	-	ADJ
ap-6953	166	22	assigned	assign	VERB
ap-6953	166	23	compact	compact	ADJ
ap-6953	166	24	set	set	NOUN
ap-6953	166	25	can	can	AUX
ap-6953	166	26	be	be	AUX
ap-6953	166	27	obtained	obtain	VERB
ap-6953	166	28	via	via	ADP
ap-6953	166	29	the	the	DET
ap-6953	166	30	knowledge	knowledge	NOUN
ap-6953	166	31	of	of	ADP
ap-6953	166	32	some	some	DET
ap-6953	166	33	physical	physical	ADJ
ap-6953	166	34	limitations	limitation	NOUN
ap-6953	166	35	[	[	X
ap-6953	166	36	39	39	NUM
ap-6953	166	37	]	]	PUNCT
ap-6953	166	38	.	.	PUNCT
ap-6953	167	1	accordingly	accordingly	ADV
ap-6953	167	2	,	,	PUNCT
ap-6953	167	3	in	in	ADP
ap-6953	167	4	order	order	NOUN
ap-6953	167	5	to	to	PART
ap-6953	167	6	meet	meet	VERB
ap-6953	167	7	the	the	DET
ap-6953	167	8	control	control	NOUN
ap-6953	167	9	requirements	requirement	NOUN
ap-6953	167	10	,	,	PUNCT
ap-6953	167	11	we	we	PRON
ap-6953	167	12	assume	assume	VERB
ap-6953	167	13	the	the	DET
ap-6953	167	14	existence	existence	NOUN
ap-6953	167	15	of	of	ADP
ap-6953	167	16	a	a	DET
ap-6953	167	17	finite	finite	ADJ
ap-6953	167	18	unknown	unknown	ADJ
ap-6953	167	19	integer	integer	NOUN
ap-6953	167	20	jc	jc	PROPN
ap-6953	167	21	such	such	ADJ
ap-6953	167	22	that	that	SCONJ
ap-6953	167	23	the	the	DET
ap-6953	167	24	desired	desire	VERB
ap-6953	167	25	approximation	approximation	NOUN
ap-6953	167	26	performance	performance	NOUN
ap-6953	167	27	can	can	AUX
ap-6953	167	28	be	be	AUX
ap-6953	167	29	met	meet	VERB
ap-6953	167	30	at	at	ADP
ap-6953	167	31	this	this	DET
ap-6953	167	32	resolution	resolution	NOUN
ap-6953	167	33	,	,	PUNCT
ap-6953	167	34	and	and	CCONJ
ap-6953	167	35	hence	hence	ADV
ap-6953	167	36	(	(	PUNCT
ap-6953	167	37	23	23	NUM
ap-6953	167	38	)	)	PUNCT
ap-6953	167	39	becomes	become	VERB
ap-6953	167	40	as	as	SCONJ
ap-6953	167	41	follows	follow	VERB
ap-6953	167	42	:	:	PUNCT
ap-6953	167	43	u∗(x	u∗(x	NUM
ap-6953	167	44	)	)	PUNCT
ap-6953	167	45	=	=	SYM
ap-6953	167	46	(	(	PUNCT
ap-6953	167	47	v∗j)tφj	v∗j)tφj	X
ap-6953	167	48	,	,	PUNCT
ap-6953	167	49	k(x	k(x	PROPN
ap-6953	167	50	)	)	PUNCT
ap-6953	168	1	+	+	CCONJ
ap-6953	168	2	jc∑	jc∑	PROPN
ap-6953	168	3	j	j	X
ap-6953	168	4	=	=	VERB
ap-6953	168	5	j	j	PROPN
ap-6953	168	6	(	(	PUNCT
ap-6953	168	7	w∗j	w∗j	NUM
ap-6953	168	8	)	)	PUNCT
ap-6953	168	9	tψj	tψj	NOUN
ap-6953	168	10	,	,	PUNCT
ap-6953	168	11	k	k	PROPN
ap-6953	168	12	(	(	PUNCT
ap-6953	168	13	x	x	NOUN
ap-6953	168	14	)	)	PUNCT
ap-6953	168	15	.	.	PUNCT
ap-6953	169	1	(	(	PUNCT
ap-6953	169	2	24	24	NUM
ap-6953	169	3	)	)	PUNCT
ap-6953	169	4	in	in	ADP
ap-6953	169	5	addition	addition	NOUN
ap-6953	169	6	,	,	PUNCT
ap-6953	169	7	we	we	PRON
ap-6953	169	8	will	will	AUX
ap-6953	169	9	use	use	VERB
ap-6953	169	10	a	a	DET
ap-6953	169	11	weighting	weighting	NOUN
ap-6953	169	12	vector	vector	NOUN
ap-6953	169	13	c	c	NOUN
ap-6953	169	14	such	such	ADJ
ap-6953	169	15	that	that	SCONJ
ap-6953	169	16	the	the	DET
ap-6953	169	17	wavelets	wavelet	NOUN
ap-6953	169	18	bases	basis	NOUN
ap-6953	169	19	become	become	VERB
ap-6953	169	20	:	:	PUNCT
ap-6953	169	21	φj	φj	PROPN
ap-6953	169	22	,	,	PUNCT
ap-6953	169	23	k(ctx	k(ctx	PROPN
ap-6953	169	24	)	)	PUNCT
ap-6953	169	25	and	and	CCONJ
ap-6953	169	26	ψj	ψj	ADV
ap-6953	169	27	,	,	PUNCT
ap-6953	169	28	k(ctx	k(ctx	NOUN
ap-6953	169	29	)	)	PUNCT
ap-6953	170	1	[	[	X
ap-6953	170	2	36	36	NUM
ap-6953	170	3	]	]	PUNCT
ap-6953	170	4	.	.	PUNCT
ap-6953	171	1	also	also	ADV
ap-6953	171	2	,	,	PUNCT
ap-6953	171	3	we	we	PRON
ap-6953	171	4	introduce	introduce	VERB
ap-6953	171	5	an	an	DET
ap-6953	171	6	additional	additional	ADJ
ap-6953	171	7	adaptation	adaptation	NOUN
ap-6953	171	8	so	so	SCONJ
ap-6953	171	9	that	that	SCONJ
ap-6953	171	10	(	(	PUNCT
ap-6953	171	11	24	24	NUM
ap-6953	171	12	)	)	PUNCT
ap-6953	171	13	will	will	AUX
ap-6953	171	14	have	have	VERB
ap-6953	171	15	the	the	DET
ap-6953	171	16	following	follow	VERB
ap-6953	171	17	form	form	NOUN
ap-6953	171	18	:	:	PUNCT
ap-6953	171	19	u∗(x	u∗(x	NUM
ap-6953	171	20	)	)	PUNCT
ap-6953	171	21	=	=	SYM
ap-6953	171	22	(	(	PUNCT
ap-6953	171	23	v∗j)tφj	v∗j)tφj	PROPN
ap-6953	171	24	,	,	PUNCT
ap-6953	171	25	k(ctx	k(ctx	NOUN
ap-6953	171	26	)	)	PUNCT
ap-6953	172	1	+	+	CCONJ
ap-6953	172	2	jc∑	jc∑	PROPN
ap-6953	172	3	j	j	PROPN
ap-6953	172	4	=	=	PROPN
ap-6953	172	5	j	j	PROPN
ap-6953	172	6	ξ(∆e)(w∗j	ξ(∆e)(w∗j	NOUN
ap-6953	172	7	)	)	PUNCT
ap-6953	172	8	tψj	tψj	ADJ
ap-6953	172	9	,	,	PUNCT
ap-6953	172	10	k(ctx	k(ctx	NOUN
ap-6953	172	11	)	)	PUNCT
ap-6953	172	12	.	.	PUNCT
ap-6953	173	1	(	(	PUNCT
ap-6953	173	2	25	25	NUM
ap-6953	173	3	)	)	PUNCT
ap-6953	173	4	where	where	SCONJ
ap-6953	173	5	∆e	∆e	PROPN
ap-6953	173	6	is	be	AUX
ap-6953	173	7	the	the	DET
ap-6953	173	8	performance	performance	NOUN
ap-6953	173	9	evaluation	evaluation	NOUN
ap-6953	173	10	given	give	VERB
ap-6953	173	11	by	by	ADP
ap-6953	173	12	∆e	∆e	PROPN
ap-6953	173	13	=	=	SYM
ap-6953	173	14	s2	s2	NOUN
ap-6953	173	15	1	1	NUM
ap-6953	173	16	+	+	NUM
ap-6953	173	17	s2	s2	X
ap-6953	173	18	2	2	NUM
ap-6953	173	19	,	,	PUNCT
ap-6953	173	20	ξ(∆e	ξ(∆e	NOUN
ap-6953	173	21	)	)	PUNCT
ap-6953	173	22	=	=	SYM
ap-6953	173	23	η(1−	η(1−	PROPN
ap-6953	173	24	e−	e−	PROPN
ap-6953	173	25	∆2	∆2	PROPN
ap-6953	173	26	e	e	PROPN
ap-6953	173	27	w2	w2	NOUN
ap-6953	173	28	)	)	PUNCT
ap-6953	173	29	,	,	PUNCT
ap-6953	174	1	[	[	X
ap-6953	174	2	ω	ω	X
ap-6953	174	3	η	η	X
ap-6953	174	4	]	]	X
ap-6953	174	5	∈	∈	PROPN
ap-6953	174	6	r∗2	r∗2	NOUN
ap-6953	174	7	,	,	PUNCT
ap-6953	174	8	while	while	SCONJ
ap-6953	174	9	v∗j	v∗j	NUM
ap-6953	174	10	and	and	CCONJ
ap-6953	174	11	w∗j	w∗j	NOUN
ap-6953	174	12	represent	represent	VERB
ap-6953	174	13	the	the	DET
ap-6953	174	14	ideal	ideal	ADJ
ap-6953	174	15	approximation	approximation	NOUN
ap-6953	174	16	parameters	parameter	NOUN
ap-6953	174	17	.	.	PUNCT
ap-6953	175	1	354	354	NUM
ap-6953	175	2	vol	vol	NOUN
ap-6953	175	3	.	.	PROPN
ap-6953	175	4	61	61	NUM
ap-6953	175	5	no	no	NOUN
ap-6953	175	6	.	.	PUNCT
ap-6953	176	1	2/2021	2/2021	NUM
ap-6953	176	2	adaptive	adaptive	ADJ
ap-6953	176	3	wavelets	wavelet	NOUN
ap-6953	176	4	sliding	slide	VERB
ap-6953	176	5	mode	mode	NOUN
ap-6953	176	6	control	control	NOUN
ap-6953	176	7	.	.	PUNCT
ap-6953	176	8	.	.	PUNCT
ap-6953	176	9	.	.	PUNCT
ap-6953	177	1	therefore	therefore	ADV
ap-6953	177	2	,	,	PUNCT
ap-6953	177	3	the	the	DET
ap-6953	177	4	estimate	estimate	NOUN
ap-6953	177	5	value	value	NOUN
ap-6953	177	6	of	of	ADP
ap-6953	177	7	the	the	DET
ap-6953	177	8	unknown	unknown	ADJ
ap-6953	177	9	ideal	ideal	ADJ
ap-6953	177	10	controller	controller	NOUN
ap-6953	177	11	u∗(x	u∗(x	PROPN
ap-6953	177	12	)	)	PUNCT
ap-6953	177	13	can	can	AUX
ap-6953	177	14	be	be	AUX
ap-6953	177	15	given	give	VERB
ap-6953	177	16	as	as	ADP
ap-6953	177	17	:	:	PUNCT
ap-6953	177	18	u(x	u(x	PROPN
ap-6953	177	19	)	)	PUNCT
ap-6953	177	20	=	=	SYM
ap-6953	177	21	(	(	PUNCT
ap-6953	177	22	vj)tφj	vj)tφj	NOUN
ap-6953	177	23	,	,	PUNCT
ap-6953	177	24	k(ctx	k(ctx	NOUN
ap-6953	177	25	)	)	PUNCT
ap-6953	178	1	+	+	CCONJ
ap-6953	178	2	jc∑	jc∑	PROPN
ap-6953	178	3	j	j	PROPN
ap-6953	178	4	=	=	PROPN
ap-6953	178	5	j	j	PROPN
ap-6953	178	6	ξ(∆e)(wj	ξ(∆e)(wj	PROPN
ap-6953	178	7	,	,	PUNCT
ap-6953	178	8	k)tψj	k)tψj	PROPN
ap-6953	178	9	,	,	PUNCT
ap-6953	178	10	k(ctx	k(ctx	NOUN
ap-6953	178	11	)	)	PUNCT
ap-6953	178	12	.	.	PUNCT
ap-6953	179	1	(	(	PUNCT
ap-6953	179	2	26	26	NUM
ap-6953	179	3	)	)	PUNCT
ap-6953	179	4	now	now	ADV
ap-6953	179	5	,	,	PUNCT
ap-6953	179	6	we	we	PRON
ap-6953	179	7	define	define	VERB
ap-6953	179	8	the	the	DET
ap-6953	179	9	approximation	approximation	NOUN
ap-6953	179	10	error	error	NOUN
ap-6953	179	11	between	between	ADP
ap-6953	179	12	both	both	DET
ap-6953	179	13	controllers	controller	NOUN
ap-6953	179	14	u∗(x	u∗(x	NOUN
ap-6953	179	15	)	)	PUNCT
ap-6953	179	16	andu(x	andu(x	PROPN
ap-6953	179	17	)	)	PUNCT
ap-6953	179	18	such	such	ADJ
ap-6953	179	19	as	as	ADP
ap-6953	179	20	:	:	PUNCT
ap-6953	179	21	ej	ej	PROPN
ap-6953	179	22	=	=	SYM
ap-6953	179	23	u(x)−	u(x)−	PROPN
ap-6953	179	24	u∗(x	u∗(x	PROPN
ap-6953	179	25	)	)	PUNCT
ap-6953	179	26	.	.	PUNCT
ap-6953	180	1	(	(	PUNCT
ap-6953	180	2	27	27	NUM
ap-6953	180	3	)	)	PUNCT
ap-6953	180	4	thus	thus	ADV
ap-6953	180	5	,	,	PUNCT
ap-6953	180	6	by	by	ADP
ap-6953	180	7	using	use	VERB
ap-6953	180	8	(	(	PUNCT
ap-6953	180	9	25	25	NUM
ap-6953	180	10	)	)	PUNCT
ap-6953	180	11	and	and	CCONJ
ap-6953	180	12	(	(	PUNCT
ap-6953	180	13	26	26	NUM
ap-6953	180	14	)	)	PUNCT
ap-6953	180	15	,	,	PUNCT
ap-6953	180	16	it	it	PRON
ap-6953	180	17	is	be	AUX
ap-6953	180	18	easy	easy	ADJ
ap-6953	180	19	to	to	PART
ap-6953	180	20	find	find	VERB
ap-6953	180	21	the	the	DET
ap-6953	180	22	following	follow	VERB
ap-6953	180	23	expression	expression	NOUN
ap-6953	180	24	of	of	ADP
ap-6953	180	25	ej	ej	PROPN
ap-6953	180	26	:	:	PUNCT
ap-6953	180	27	ej	ej	PROPN
ap-6953	180	28	=	=	SYM
ap-6953	180	29	(	(	PUNCT
ap-6953	180	30	ṽj)tφj	ṽj)tφj	PROPN
ap-6953	180	31	,	,	PUNCT
ap-6953	180	32	k(ctx	k(ctx	NOUN
ap-6953	180	33	)	)	PUNCT
ap-6953	181	1	+	+	CCONJ
ap-6953	181	2	jc∑	jc∑	PROPN
ap-6953	181	3	j	j	PROPN
ap-6953	181	4	=	=	PROPN
ap-6953	181	5	j	j	NOUN
ap-6953	181	6	ξ(∆e)(w̃j)tψj	ξ(∆e)(w̃j)tψj	NUM
ap-6953	181	7	,	,	PUNCT
ap-6953	181	8	k	k	PROPN
ap-6953	181	9	(	(	PUNCT
ap-6953	181	10	ctx	ctx	NOUN
ap-6953	181	11	)	)	PUNCT
ap-6953	181	12	.	.	PUNCT
ap-6953	182	1	(	(	PUNCT
ap-6953	182	2	28	28	NUM
ap-6953	182	3	)	)	PUNCT
ap-6953	182	4	where	where	SCONJ
ap-6953	182	5	ṽj	ṽj	ADJ
ap-6953	182	6	=	=	SYM
ap-6953	182	7	vj	vj	PROPN
ap-6953	182	8	−	−	PROPN
ap-6953	182	9	v∗j	v∗j	NOUN
ap-6953	182	10	and	and	CCONJ
ap-6953	182	11	w̃j	w̃j	NOUN
ap-6953	183	1	=	=	SYM
ap-6953	183	2	wj	wj	PROPN
ap-6953	183	3	−w∗j	−w∗j	NOUN
ap-6953	183	4	.	.	PUNCT
ap-6953	184	1	recalling	recall	VERB
ap-6953	184	2	that	that	DET
ap-6953	184	3	u	u	NOUN
ap-6953	184	4	=	=	X
ap-6953	184	5	u∗	u∗	PROPN
ap-6953	185	1	+	+	CCONJ
ap-6953	185	2	(	(	PUNCT
ap-6953	185	3	u−	u−	PROPN
ap-6953	185	4	u∗	u∗	PROPN
ap-6953	185	5	)	)	PUNCT
ap-6953	185	6	,	,	PUNCT
ap-6953	185	7	then	then	ADV
ap-6953	185	8	(	(	PUNCT
ap-6953	185	9	4	4	X
ap-6953	185	10	)	)	PUNCT
ap-6953	185	11	becomes	become	VERB
ap-6953	185	12	:	:	PUNCT
ap-6953	185	13	ṡ1	ṡ1	PROPN
ap-6953	185	14	=	=	SYM
ap-6953	185	15	f1	f1	PROPN
ap-6953	185	16	+	+	CCONJ
ap-6953	185	17	b1u	b1u	NOUN
ap-6953	185	18	∗	∗	NOUN
ap-6953	185	19	+	+	CCONJ
ap-6953	185	20	b1ej	b1ej	X
ap-6953	185	21	+	+	CCONJ
ap-6953	185	22	λ1x2	λ1x2	X
ap-6953	185	23	.	.	PUNCT
ap-6953	186	1	ṡ2	ṡ2	PROPN
ap-6953	186	2	=	=	PUNCT
ap-6953	186	3	f2	f2	PROPN
ap-6953	186	4	+	+	CCONJ
ap-6953	186	5	b2u	b2u	ADP
ap-6953	186	6	∗	∗	NOUN
ap-6953	186	7	+	+	NUM
ap-6953	186	8	b2ej	b2ej	NOUN
ap-6953	186	9	+	+	CCONJ
ap-6953	186	10	λ2x4	λ2x4	X
ap-6953	186	11	.	.	PUNCT
ap-6953	186	12	(	(	PUNCT
ap-6953	186	13	29	29	NUM
ap-6953	186	14	)	)	PUNCT
ap-6953	186	15	thus	thus	ADV
ap-6953	186	16	,	,	PUNCT
ap-6953	186	17	we	we	PRON
ap-6953	186	18	can	can	AUX
ap-6953	186	19	calculate	calculate	VERB
ap-6953	186	20	the	the	DET
ap-6953	186	21	following	follow	VERB
ap-6953	186	22	expression	expression	NOUN
ap-6953	186	23	:	:	PUNCT
ap-6953	187	1	ṡ1	ṡ1	PROPN
ap-6953	187	2	+	+	CCONJ
ap-6953	187	3	βṡ2	βṡ2	NUM
ap-6953	187	4	=(	=(	NOUN
ap-6953	187	5	f1	f1	NOUN
ap-6953	187	6	+	+	CCONJ
ap-6953	187	7	λ1x2	λ1x2	X
ap-6953	187	8	)	)	PUNCT
ap-6953	187	9	+	+	CCONJ
ap-6953	187	10	β(f2	β(f2	NOUN
ap-6953	187	11	+	+	X
ap-6953	187	12	λ2x4	λ2x4	X
ap-6953	187	13	)	)	PUNCT
ap-6953	187	14	+	+	CCONJ
ap-6953	187	15	(	(	PUNCT
ap-6953	187	16	b1	b1	NOUN
ap-6953	187	17	+	+	CCONJ
ap-6953	187	18	βb2)u∗	βb2)u∗	NOUN
ap-6953	187	19	+	+	CCONJ
ap-6953	187	20	(	(	PUNCT
ap-6953	187	21	b1	b1	NOUN
ap-6953	187	22	+	+	CCONJ
ap-6953	187	23	βb2)ej	βb2)ej	NOUN
ap-6953	187	24	.	.	PUNCT
ap-6953	188	1	(	(	PUNCT
ap-6953	188	2	30	30	X
ap-6953	188	3	)	)	PUNCT
ap-6953	188	4	plugging	plug	VERB
ap-6953	188	5	the	the	DET
ap-6953	188	6	value	value	NOUN
ap-6953	188	7	of	of	ADP
ap-6953	188	8	u∗	u∗	NOUN
ap-6953	188	9	(	(	PUNCT
ap-6953	188	10	19	19	NUM
ap-6953	188	11	)	)	PUNCT
ap-6953	188	12	into	into	ADP
ap-6953	188	13	(	(	PUNCT
ap-6953	188	14	30	30	NUM
ap-6953	188	15	)	)	PUNCT
ap-6953	188	16	gives	give	VERB
ap-6953	188	17	:	:	PUNCT
ap-6953	188	18	ṡ1	ṡ1	PROPN
ap-6953	188	19	+	+	CCONJ
ap-6953	188	20	βṡ2	βṡ2	X
ap-6953	189	1	=	=	PRON
ap-6953	189	2	−ksgn	−ksgn	X
ap-6953	189	3	(	(	PUNCT
ap-6953	189	4	s2)−qs2	s2)−qs2	PROPN
ap-6953	189	5	−	−	PROPN
ap-6953	189	6	kssgn(s2	kssgn(s2	PROPN
ap-6953	190	1	+	+	CCONJ
ap-6953	190	2	αsgn	αsgn	PRON
ap-6953	190	3	(	(	PUNCT
ap-6953	190	4	s1	s1	NOUN
ap-6953	190	5	)	)	PUNCT
ap-6953	190	6	)	)	PUNCT
ap-6953	191	1	+	+	ADP
ap-6953	191	2	bej	bej	ADJ
ap-6953	191	3	.	.	PUNCT
ap-6953	192	1	(	(	PUNCT
ap-6953	192	2	31	31	NUM
ap-6953	192	3	)	)	PUNCT
ap-6953	192	4	in	in	ADP
ap-6953	192	5	the	the	DET
ap-6953	192	6	next	next	ADJ
ap-6953	192	7	step	step	NOUN
ap-6953	192	8	,	,	PUNCT
ap-6953	192	9	we	we	PRON
ap-6953	192	10	define	define	VERB
ap-6953	192	11	a	a	DET
ap-6953	192	12	quadratic	quadratic	ADJ
ap-6953	192	13	cost	cost	NOUN
ap-6953	192	14	function	function	NOUN
ap-6953	192	15	that	that	PRON
ap-6953	192	16	measures	measure	VERB
ap-6953	192	17	the	the	DET
ap-6953	192	18	discrepancy	discrepancy	NOUN
ap-6953	192	19	between	between	ADP
ap-6953	192	20	the	the	DET
ap-6953	192	21	ideal	ideal	NOUN
ap-6953	192	22	and	and	CCONJ
ap-6953	192	23	the	the	DET
ap-6953	192	24	actual	actual	ADJ
ap-6953	192	25	wavelet	wavelet	NOUN
ap-6953	192	26	controller	controller	NOUN
ap-6953	192	27	.	.	PUNCT
ap-6953	193	1	such	such	DET
ap-6953	193	2	a	a	DET
ap-6953	193	3	function	function	NOUN
ap-6953	193	4	can	can	AUX
ap-6953	193	5	be	be	AUX
ap-6953	193	6	defined	define	VERB
ap-6953	193	7	as	as	ADP
ap-6953	193	8	:	:	PUNCT
ap-6953	193	9	i	i	PROPN
ap-6953	193	10	=	=	SYM
ap-6953	193	11	b	b	X
ap-6953	193	12	2	2	NUM
ap-6953	193	13	(vj)tφj	(vj)tφj	NUM
ap-6953	193	14	,	,	PUNCT
ap-6953	193	15	k(y	k(y	PROPN
ap-6953	193	16	)	)	PUNCT
ap-6953	194	1	+	+	CCONJ
ap-6953	194	2	jc∑	jc∑	PROPN
ap-6953	194	3	j	j	PROPN
ap-6953	194	4	=	=	PROPN
ap-6953	194	5	j	j	PROPN
ap-6953	194	6	ξ(∆e)(wj)tψj	ξ(∆e)(wj)tψj	NOUN
ap-6953	194	7	,	,	PUNCT
ap-6953	194	8	k(y)−	k(y)−	PROPN
ap-6953	194	9	u∗	u∗	INTJ
ap-6953	194	10	2	2	X
ap-6953	194	11	(	(	PUNCT
ap-6953	194	12	32	32	NUM
ap-6953	194	13	)	)	PUNCT
ap-6953	194	14	where	where	SCONJ
ap-6953	194	15	y	y	PROPN
ap-6953	194	16	=	=	SYM
ap-6953	194	17	ctx	ctx	PROPN
ap-6953	194	18	.	.	PUNCT
ap-6953	195	1	then	then	ADV
ap-6953	195	2	,	,	PUNCT
ap-6953	195	3	we	we	PRON
ap-6953	195	4	use	use	VERB
ap-6953	195	5	the	the	DET
ap-6953	195	6	gradient	gradient	ADJ
ap-6953	195	7	descent	descent	NOUN
ap-6953	195	8	method	method	NOUN
ap-6953	195	9	to	to	PART
ap-6953	195	10	minimize	minimize	VERB
ap-6953	195	11	the	the	DET
ap-6953	195	12	cost	cost	NOUN
ap-6953	195	13	function	function	NOUN
ap-6953	195	14	(	(	PUNCT
ap-6953	195	15	32	32	NUM
ap-6953	195	16	)	)	PUNCT
ap-6953	195	17	with	with	ADP
ap-6953	195	18	respect	respect	NOUN
ap-6953	195	19	to	to	ADP
ap-6953	195	20	the	the	DET
ap-6953	195	21	adjustable	adjustable	ADJ
ap-6953	195	22	parameters	parameter	NOUN
ap-6953	195	23	vj	vj	INTJ
ap-6953	195	24	and	and	CCONJ
ap-6953	195	25	wj	wj	PROPN
ap-6953	195	26	.	.	PUNCT
ap-6953	196	1	then	then	ADV
ap-6953	196	2	,	,	PUNCT
ap-6953	196	3	by	by	ADP
ap-6953	196	4	applying	apply	VERB
ap-6953	196	5	the	the	DET
ap-6953	196	6	gradient	gradient	ADJ
ap-6953	196	7	method	method	NOUN
ap-6953	196	8	[	[	X
ap-6953	196	9	40	40	NUM
ap-6953	196	10	]	]	PUNCT
ap-6953	196	11	,	,	PUNCT
ap-6953	196	12	the	the	DET
ap-6953	196	13	minimizing	minimizing	NOUN
ap-6953	196	14	trajectories	trajectory	NOUN
ap-6953	196	15	vj(t	vj(t	PUNCT
ap-6953	196	16	)	)	PUNCT
ap-6953	196	17	and	and	CCONJ
ap-6953	196	18	wj(t	wj(t	NUM
ap-6953	196	19	)	)	PUNCT
ap-6953	196	20	are	be	AUX
ap-6953	196	21	given	give	VERB
ap-6953	196	22	by	by	ADP
ap-6953	196	23	the	the	DET
ap-6953	196	24	following	follow	VERB
ap-6953	196	25	equations	equation	NOUN
ap-6953	196	26	:	:	PUNCT
ap-6953	196	27	v̇j	v̇j	PROPN
ap-6953	196	28	=	=	SYM
ap-6953	196	29	−γv5v(i	−γv5v(i	ADJ
ap-6953	196	30	)	)	PUNCT
ap-6953	196	31	.	.	PUNCT
ap-6953	197	1	ẇj	ẇj	NOUN
ap-6953	197	2	=	=	SYM
ap-6953	197	3	−γw5w(i	−γw5w(i	NUM
ap-6953	197	4	)	)	PUNCT
ap-6953	197	5	.	.	PUNCT
ap-6953	198	1	(	(	PUNCT
ap-6953	198	2	33	33	NUM
ap-6953	198	3	)	)	PUNCT
ap-6953	198	4	with	with	ADP
ap-6953	198	5	:	:	PUNCT
ap-6953	198	6	5v(i	5v(i	NUM
ap-6953	198	7	)	)	PUNCT
ap-6953	199	1	=	=	SYM
ap-6953	199	2	∂i(v	∂i(v	PROPN
ap-6953	199	3	,	,	PUNCT
ap-6953	199	4	w	w	NOUN
ap-6953	199	5	)	)	PUNCT
ap-6953	199	6	∂v	∂v	PROPN
ap-6953	199	7	=	=	SYM
ap-6953	199	8	φj	φj	PROPN
ap-6953	199	9	,	,	PUNCT
ap-6953	199	10	k(y)bej	k(y)bej	NOUN
ap-6953	199	11	.	.	PUNCT
ap-6953	200	1	(	(	PUNCT
ap-6953	200	2	34	34	NUM
ap-6953	200	3	)	)	PUNCT
ap-6953	200	4	5w(i	5w(i	NUM
ap-6953	200	5	)	)	PUNCT
ap-6953	201	1	=	=	PUNCT
ap-6953	201	2	∂i	∂i	PROPN
ap-6953	202	1	∂w	∂w	PROPN
ap-6953	202	2	=	=	PUNCT
ap-6953	202	3	ψj	ψj	ADV
ap-6953	202	4	,	,	PUNCT
ap-6953	202	5	k(y)bej	k(y)bej	ADJ
ap-6953	202	6	.	.	PUNCT
ap-6953	203	1	(	(	PUNCT
ap-6953	203	2	35	35	NUM
ap-6953	203	3	)	)	PUNCT
ap-6953	203	4	finally	finally	ADV
ap-6953	203	5	,	,	PUNCT
ap-6953	203	6	we	we	PRON
ap-6953	203	7	obtain	obtain	VERB
ap-6953	203	8	the	the	DET
ap-6953	203	9	following	follow	VERB
ap-6953	203	10	form	form	NOUN
ap-6953	203	11	of	of	ADP
ap-6953	203	12	the	the	DET
ap-6953	203	13	gradient	gradient	ADJ
ap-6953	203	14	descent	descent	NOUN
ap-6953	203	15	algorithm	algorithm	NOUN
ap-6953	203	16	:	:	PUNCT
ap-6953	203	17	v̇j	v̇j	PROPN
ap-6953	203	18	=	=	SYM
ap-6953	203	19	−γvφj	−γvφj	PROPN
ap-6953	203	20	,	,	PUNCT
ap-6953	203	21	k(y)bej	k(y)bej	ADJ
ap-6953	203	22	.	.	PUNCT
ap-6953	204	1	(	(	PUNCT
ap-6953	204	2	36	36	NUM
ap-6953	204	3	)	)	PUNCT
ap-6953	204	4	ẇj	ẇj	NOUN
ap-6953	204	5	=	=	SYM
ap-6953	204	6	−γwψj	−γwψj	PROPN
ap-6953	204	7	,	,	PUNCT
ap-6953	204	8	k(y)bej	k(y)bej	NOUN
ap-6953	204	9	.	.	PUNCT
ap-6953	205	1	(	(	PUNCT
ap-6953	205	2	37	37	NUM
ap-6953	205	3	)	)	PUNCT
ap-6953	205	4	however	however	ADV
ap-6953	205	5	,	,	PUNCT
ap-6953	205	6	the	the	DET
ap-6953	205	7	adaptive	adaptive	ADJ
ap-6953	205	8	laws	law	NOUN
ap-6953	205	9	(	(	PUNCT
ap-6953	205	10	36	36	NUM
ap-6953	205	11	)	)	PUNCT
ap-6953	205	12	and	and	CCONJ
ap-6953	205	13	(	(	PUNCT
ap-6953	205	14	37	37	NUM
ap-6953	205	15	)	)	PUNCT
ap-6953	205	16	can	can	AUX
ap-6953	205	17	not	not	PART
ap-6953	205	18	be	be	AUX
ap-6953	205	19	calculated	calculate	VERB
ap-6953	205	20	because	because	SCONJ
ap-6953	205	21	both	both	DET
ap-6953	205	22	b	b	NOUN
ap-6953	205	23	and	and	CCONJ
ap-6953	205	24	ej	ej	PROPN
ap-6953	205	25	are	be	AUX
ap-6953	205	26	unavailable	unavailable	ADJ
ap-6953	205	27	.	.	PUNCT
ap-6953	206	1	thus	thus	ADV
ap-6953	206	2	,	,	PUNCT
ap-6953	206	3	we	we	PRON
ap-6953	206	4	will	will	AUX
ap-6953	206	5	use	use	VERB
ap-6953	206	6	(	(	PUNCT
ap-6953	206	7	31	31	NUM
ap-6953	206	8	)	)	PUNCT
ap-6953	206	9	to	to	PART
ap-6953	206	10	overcome	overcome	VERB
ap-6953	206	11	this	this	DET
ap-6953	206	12	parameter	parameter	NOUN
ap-6953	206	13	unavailability	unavailability	NOUN
ap-6953	206	14	,	,	PUNCT
ap-6953	206	15	that	that	PRON
ap-6953	206	16	is	be	AUX
ap-6953	206	17	:	:	PUNCT
ap-6953	206	18	bej	bej	ADJ
ap-6953	206	19	=	=	PUNCT
ap-6953	206	20	βṡ2	βṡ2	PUNCT
ap-6953	207	1	+	+	CCONJ
ap-6953	207	2	ṡ1+ksgn	ṡ1+ksgn	ADJ
ap-6953	207	3	(	(	PUNCT
ap-6953	207	4	s2	s2	PROPN
ap-6953	207	5	)	)	PUNCT
ap-6953	208	1	+	+	NOUN
ap-6953	208	2	qs2	qs2	X
ap-6953	208	3	+	+	SYM
ap-6953	208	4	kssgn(s2	kssgn(s2	VERB
ap-6953	209	1	+	+	CCONJ
ap-6953	209	2	αsgn	αsgn	PRON
ap-6953	209	3	(	(	PUNCT
ap-6953	209	4	s1	s1	NOUN
ap-6953	209	5	)	)	PUNCT
ap-6953	209	6	)	)	PUNCT
ap-6953	209	7	.	.	PUNCT
ap-6953	210	1	(	(	PUNCT
ap-6953	210	2	38	38	NUM
ap-6953	210	3	)	)	PUNCT
ap-6953	210	4	consequently	consequently	ADV
ap-6953	210	5	,	,	PUNCT
ap-6953	210	6	(	(	PUNCT
ap-6953	210	7	36	36	NUM
ap-6953	210	8	)	)	PUNCT
ap-6953	210	9	and	and	CCONJ
ap-6953	210	10	(	(	PUNCT
ap-6953	210	11	37	37	NUM
ap-6953	210	12	)	)	PUNCT
ap-6953	210	13	become	become	VERB
ap-6953	210	14	:	:	PUNCT
ap-6953	210	15	v̇j	v̇j	PROPN
ap-6953	210	16	=	=	SYM
ap-6953	210	17	−γvφj	−γvφj	PROPN
ap-6953	210	18	,	,	PUNCT
ap-6953	210	19	k(y)[βṡ2	k(y)[βṡ2	NOUN
ap-6953	210	20	+	+	CCONJ
ap-6953	210	21	ṡ1+ksgn	ṡ1+ksgn	PROPN
ap-6953	210	22	(	(	PUNCT
ap-6953	210	23	s2	s2	PROPN
ap-6953	210	24	)	)	PUNCT
ap-6953	211	1	+	+	NOUN
ap-6953	211	2	qs2	qs2	X
ap-6953	212	1	+	+	VERB
ap-6953	212	2	kssgn	kssgn	VERB
ap-6953	212	3	(	(	PUNCT
ap-6953	212	4	s2	s2	VERB
ap-6953	212	5	+	+	CCONJ
ap-6953	212	6	αsgn	αsgn	PROPN
ap-6953	212	7	(	(	PUNCT
ap-6953	212	8	s1	s1	NOUN
ap-6953	212	9	)	)	PUNCT
ap-6953	212	10	)	)	PUNCT
ap-6953	212	11	]	]	PUNCT
ap-6953	212	12	.	.	PUNCT
ap-6953	213	1	(	(	PUNCT
ap-6953	213	2	39	39	NUM
ap-6953	213	3	)	)	PUNCT
ap-6953	213	4	ẇj	ẇj	NOUN
ap-6953	213	5	=	=	SYM
ap-6953	213	6	−γwψj	−γwψj	PROPN
ap-6953	213	7	,	,	PUNCT
ap-6953	213	8	k(y)[βṡ2	k(y)[βṡ2	NOUN
ap-6953	213	9	+	+	CCONJ
ap-6953	213	10	ṡ1+ksgn	ṡ1+ksgn	PROPN
ap-6953	213	11	(	(	PUNCT
ap-6953	213	12	s2	s2	PROPN
ap-6953	213	13	)	)	PUNCT
ap-6953	214	1	+	+	NOUN
ap-6953	214	2	qs2	qs2	X
ap-6953	215	1	+	+	VERB
ap-6953	215	2	kssgn	kssgn	VERB
ap-6953	215	3	(	(	PUNCT
ap-6953	215	4	s2	s2	VERB
ap-6953	215	5	+	+	CCONJ
ap-6953	215	6	αsgn	αsgn	PROPN
ap-6953	215	7	(	(	PUNCT
ap-6953	215	8	s1	s1	NOUN
ap-6953	215	9	)	)	PUNCT
ap-6953	215	10	)	)	PUNCT
ap-6953	215	11	]	]	PUNCT
ap-6953	215	12	.	.	PUNCT
ap-6953	216	1	(	(	PUNCT
ap-6953	216	2	40	40	NUM
ap-6953	216	3	)	)	PUNCT
ap-6953	216	4	the	the	DET
ap-6953	216	5	second	second	ADJ
ap-6953	216	6	main	main	ADJ
ap-6953	216	7	result	result	NOUN
ap-6953	216	8	of	of	ADP
ap-6953	216	9	this	this	DET
ap-6953	216	10	paper	paper	NOUN
ap-6953	216	11	is	be	AUX
ap-6953	216	12	resumed	resume	VERB
ap-6953	216	13	in	in	ADP
ap-6953	216	14	the	the	DET
ap-6953	216	15	following	follow	VERB
ap-6953	216	16	proposition	proposition	NOUN
ap-6953	216	17	.	.	PUNCT
ap-6953	217	1	355	355	NUM
ap-6953	217	2	f.	f.	PROPN
ap-6953	217	3	nafa	nafa	PROPN
ap-6953	217	4	,	,	PUNCT
ap-6953	217	5	a.	a.	NOUN
ap-6953	217	6	boudouda	boudouda	PROPN
ap-6953	217	7	,	,	PUNCT
ap-6953	217	8	b.	b.	PROPN
ap-6953	217	9	smaani	smaani	PROPN
ap-6953	217	10	acta	acta	PROPN
ap-6953	217	11	polytechnica	polytechnica	PROPN
ap-6953	217	12	4.3	4.3	NUM
ap-6953	217	13	.	.	PUNCT
ap-6953	218	1	proposition-2	proposition-2	NUM
ap-6953	218	2	let	let	VERB
ap-6953	218	3	assumptions	assumption	NOUN
ap-6953	218	4	1	1	NUM
ap-6953	218	5	and	and	CCONJ
ap-6953	218	6	2	2	NUM
ap-6953	218	7	be	be	AUX
ap-6953	218	8	satisfied	satisfied	ADJ
ap-6953	218	9	for	for	ADP
ap-6953	218	10	a	a	DET
ap-6953	218	11	class	class	NOUN
ap-6953	218	12	of	of	ADP
ap-6953	218	13	the	the	DET
ap-6953	218	14	ums	ums	PROPN
ap-6953	218	15	(	(	PUNCT
ap-6953	218	16	2	2	NUM
ap-6953	218	17	)	)	PUNCT
ap-6953	218	18	driven	drive	VERB
ap-6953	218	19	by	by	ADP
ap-6953	218	20	the	the	DET
ap-6953	218	21	controller	controller	NOUN
ap-6953	218	22	(	(	PUNCT
ap-6953	218	23	26	26	NUM
ap-6953	218	24	)	)	PUNCT
ap-6953	218	25	.	.	PUNCT
ap-6953	219	1	if	if	SCONJ
ap-6953	219	2	the	the	DET
ap-6953	219	3	condition	condition	NOUN
ap-6953	219	4	(	(	PUNCT
ap-6953	219	5	17	17	NUM
ap-6953	219	6	)	)	PUNCT
ap-6953	219	7	holds	hold	VERB
ap-6953	219	8	with	with	ADP
ap-6953	219	9	the	the	DET
ap-6953	219	10	adaptation	adaptation	NOUN
ap-6953	219	11	parameter	parameter	NOUN
ap-6953	219	12	laws	law	NOUN
ap-6953	219	13	(	(	PUNCT
ap-6953	219	14	39	39	NUM
ap-6953	219	15	)	)	PUNCT
ap-6953	219	16	and	and	CCONJ
ap-6953	219	17	(	(	PUNCT
ap-6953	219	18	40	40	NUM
ap-6953	219	19	)	)	PUNCT
ap-6953	219	20	where	where	SCONJ
ap-6953	219	21	γv	γv	NOUN
ap-6953	219	22	and	and	CCONJ
ap-6953	219	23	γw	γw	PRON
ap-6953	219	24	are	be	AUX
ap-6953	219	25	positive	positive	ADJ
ap-6953	219	26	definite	definite	ADJ
ap-6953	219	27	constants	constant	NOUN
ap-6953	219	28	,	,	PUNCT
ap-6953	219	29	all	all	DET
ap-6953	219	30	signals	signal	NOUN
ap-6953	219	31	in	in	ADP
ap-6953	219	32	the	the	DET
ap-6953	219	33	closed	closed	ADJ
ap-6953	219	34	-	-	PUNCT
ap-6953	219	35	loop	loop	NOUN
ap-6953	219	36	system	system	NOUN
ap-6953	219	37	will	will	AUX
ap-6953	219	38	be	be	AUX
ap-6953	219	39	bounded	bound	VERB
ap-6953	219	40	and	and	CCONJ
ap-6953	219	41	the	the	DET
ap-6953	219	42	sliding	slide	VERB
ap-6953	219	43	surfaces	surface	NOUN
ap-6953	219	44	given	give	VERB
ap-6953	219	45	by	by	ADP
ap-6953	219	46	(	(	PUNCT
ap-6953	219	47	3	3	X
ap-6953	219	48	)	)	PUNCT
ap-6953	219	49	will	will	AUX
ap-6953	219	50	converge	converge	VERB
ap-6953	219	51	to	to	ADP
ap-6953	219	52	zero	zero	NUM
ap-6953	219	53	asymptotically	asymptotically	ADV
ap-6953	219	54	.	.	PUNCT
ap-6953	220	1	4.4	4.4	NUM
ap-6953	220	2	.	.	PUNCT
ap-6953	221	1	proof	proof	NOUN
ap-6953	221	2	in	in	ADP
ap-6953	221	3	order	order	NOUN
ap-6953	221	4	to	to	PART
ap-6953	221	5	study	study	VERB
ap-6953	221	6	the	the	DET
ap-6953	221	7	stability	stability	NOUN
ap-6953	221	8	of	of	ADP
ap-6953	221	9	the	the	DET
ap-6953	221	10	whole	whole	ADJ
ap-6953	221	11	system	system	NOUN
ap-6953	221	12	,	,	PUNCT
ap-6953	221	13	we	we	PRON
ap-6953	221	14	define	define	VERB
ap-6953	221	15	the	the	DET
ap-6953	221	16	following	follow	VERB
ap-6953	221	17	lyapunov	lyapunov	NOUN
ap-6953	221	18	function	function	VERB
ap-6953	221	19	v	v	ADP
ap-6953	221	20	:	:	PUNCT
ap-6953	221	21	v	v	NOUN
ap-6953	221	22	=	=	SYM
ap-6953	221	23	1	1	NUM
ap-6953	221	24	2	2	NUM
ap-6953	221	25	βs2	βs2	NUM
ap-6953	221	26	2	2	NUM
ap-6953	221	27	+	+	NUM
ap-6953	221	28	ṽtj	ṽtj	NOUN
ap-6953	221	29	γv−1ṽj	γv−1ṽj	NOUN
ap-6953	221	30	+	+	CCONJ
ap-6953	221	31	jc∑	jc∑	PROPN
ap-6953	221	32	j	j	X
ap-6953	221	33	=	=	PROPN
ap-6953	221	34	j	j	PROPN
ap-6953	221	35	w̃t	w̃t	PROPN
ap-6953	221	36	j	j	PROPN
ap-6953	221	37	γw−1w̃j	γw−1w̃j	NOUN
ap-6953	221	38			PROPN
ap-6953	221	39	(	(	PUNCT
ap-6953	221	40	41	41	NUM
ap-6953	221	41	)	)	PUNCT
ap-6953	221	42	the	the	DET
ap-6953	221	43	time	time	NOUN
ap-6953	221	44	derivative	derivative	NOUN
ap-6953	221	45	of	of	ADP
ap-6953	221	46	v	v	NOUN
ap-6953	221	47	along	along	ADP
ap-6953	221	48	the	the	DET
ap-6953	221	49	dynamics	dynamic	NOUN
ap-6953	221	50	(	(	PUNCT
ap-6953	221	51	4	4	NUM
ap-6953	221	52	)	)	PUNCT
ap-6953	221	53	,	,	PUNCT
ap-6953	221	54	(	(	PUNCT
ap-6953	221	55	39	39	NUM
ap-6953	221	56	)	)	PUNCT
ap-6953	221	57	and	and	CCONJ
ap-6953	221	58	(	(	PUNCT
ap-6953	221	59	40	40	NUM
ap-6953	221	60	)	)	PUNCT
ap-6953	221	61	is	be	AUX
ap-6953	221	62	then	then	ADV
ap-6953	221	63	given	give	VERB
ap-6953	221	64	by	by	ADP
ap-6953	221	65	:	:	PUNCT
ap-6953	221	66	v̇	v̇	NOUN
ap-6953	221	67	=	=	NOUN
ap-6953	221	68	βs2ṡ2	βs2ṡ2	NOUN
ap-6953	221	69	+	+	NUM
ap-6953	221	70	ṽtj	ṽtj	NOUN
ap-6953	221	71	γv−1v̇j	γv−1v̇j	NOUN
ap-6953	221	72	+	+	CCONJ
ap-6953	221	73	jc∑	jc∑	PROPN
ap-6953	221	74	j	j	PROPN
ap-6953	222	1	=	=	PROPN
ap-6953	222	2	j	j	PROPN
ap-6953	222	3	w̃t	w̃t	PROPN
ap-6953	222	4	j	j	PROPN
ap-6953	222	5	γw−1ẇj	γw−1ẇj	PROPN
ap-6953	222	6	=	=	PRON
ap-6953	222	7	βs2(f2	βs2(f2	NOUN
ap-6953	222	8	+	+	CCONJ
ap-6953	222	9	b2u	b2u	ADP
ap-6953	222	10	∗	∗	NOUN
ap-6953	222	11	+	+	NUM
ap-6953	222	12	b2ej	b2ej	X
ap-6953	222	13	+	+	CCONJ
ap-6953	222	14	λ2x4)−	λ2x4)−	NUM
ap-6953	222	15	ṽtj	ṽtj	NOUN
ap-6953	222	16	φj	φj	NOUN
ap-6953	222	17	,	,	PUNCT
ap-6953	222	18	k(y)bej	k(y)bej	NOUN
ap-6953	222	19	−	−	PROPN
ap-6953	222	20	jc∑	jc∑	PROPN
ap-6953	222	21	j	j	PROPN
ap-6953	222	22	=	=	PROPN
ap-6953	222	23	j	j	PROPN
ap-6953	222	24	w̃t	w̃t	PROPN
ap-6953	222	25	j	j	PROPN
ap-6953	222	26	ξ(∆e)ψj	ξ(∆e)ψj	NOUN
ap-6953	222	27	,	,	PUNCT
ap-6953	222	28	k(y)bej	k(y)bej	NOUN
ap-6953	222	29	.	.	PUNCT
ap-6953	223	1	=	=	PRON
ap-6953	223	2	−	−	NOUN
ap-6953	223	3	s2(β	s2(β	PRON
ap-6953	223	4	+	+	PRON
ap-6953	223	5	b21)−1(ksgn	b21)−1(ksgn	X
ap-6953	223	6	(	(	PUNCT
ap-6953	223	7	s2	s2	PROPN
ap-6953	223	8	)	)	PUNCT
ap-6953	224	1	+	+	NOUN
ap-6953	224	2	qs2	qs2	X
ap-6953	224	3	+	+	SYM
ap-6953	224	4	kssgn(s2	kssgn(s2	VERB
ap-6953	225	1	+	+	CCONJ
ap-6953	225	2	αsgn	αsgn	PRON
ap-6953	225	3	(	(	PUNCT
ap-6953	225	4	s1	s1	NOUN
ap-6953	225	5	)	)	PUNCT
ap-6953	225	6	)	)	PUNCT
ap-6953	226	1	+	+	CCONJ
ap-6953	226	2	∆21	∆21	NOUN
ap-6953	226	3	)	)	PUNCT
ap-6953	226	4	+	+	CCONJ
ap-6953	226	5	βb2ejs2	βb2ejs2	PROPN
ap-6953	226	6	−be2	−be2	PROPN
ap-6953	226	7	j	j	PROPN
ap-6953	226	8	(	(	PUNCT
ap-6953	226	9	42	42	NUM
ap-6953	226	10	)	)	PUNCT
ap-6953	226	11	invoking	invoke	VERB
ap-6953	226	12	the	the	DET
ap-6953	226	13	condition	condition	NOUN
ap-6953	226	14	(	(	PUNCT
ap-6953	226	15	19	19	NUM
ap-6953	226	16	)	)	PUNCT
ap-6953	226	17	,	,	PUNCT
ap-6953	226	18	the	the	DET
ap-6953	226	19	expression	expression	NOUN
ap-6953	226	20	in	in	ADP
ap-6953	226	21	(	(	PUNCT
ap-6953	226	22	42	42	NUM
ap-6953	226	23	)	)	PUNCT
ap-6953	226	24	becomes	become	VERB
ap-6953	226	25	:	:	PUNCT
ap-6953	226	26	v̇	v̇	NOUN
ap-6953	226	27	≤	≤	NOUN
ap-6953	227	1	−β−1	−β−1	NUM
ap-6953	227	2	m	m	NOUN
ap-6953	227	3	km|s2|	km|s2|	NOUN
ap-6953	227	4	−	−	PROPN
ap-6953	227	5	β−1	β−1	PUNCT
ap-6953	227	6	m	m	PROPN
ap-6953	227	7	qs2	qs2	DET
ap-6953	227	8	2	2	NUM
ap-6953	227	9	+	+	CCONJ
ap-6953	227	10	βb2ejs2	βb2ejs2	PROPN
ap-6953	227	11	−be2	−be2	PROPN
ap-6953	227	12	j	j	PROPN
ap-6953	227	13	(	(	PUNCT
ap-6953	227	14	43	43	NUM
ap-6953	227	15	)	)	PUNCT
ap-6953	227	16	by	by	ADP
ap-6953	227	17	using	use	VERB
ap-6953	227	18	the	the	DET
ap-6953	227	19	following	follow	VERB
ap-6953	227	20	inequality	inequality	NOUN
ap-6953	227	21	:	:	PUNCT
ap-6953	227	22	βb2ejs2	βb2ejs2	PUNCT
ap-6953	227	23	≤	≤	NUM
ap-6953	227	24	1	1	NUM
ap-6953	227	25	2βb2e	2βb2e	NUM
ap-6953	227	26	2	2	NUM
ap-6953	227	27	j	j	NOUN
ap-6953	227	28	+	+	CCONJ
ap-6953	227	29	1	1	NUM
ap-6953	227	30	2βb2s	2βb2s	NUM
ap-6953	227	31	2	2	NUM
ap-6953	227	32	2	2	NUM
ap-6953	227	33	.	.	PUNCT
ap-6953	228	1	(	(	PUNCT
ap-6953	228	2	44	44	NUM
ap-6953	228	3	)	)	PUNCT
ap-6953	228	4	we	we	PRON
ap-6953	228	5	can	can	AUX
ap-6953	228	6	rewrite	rewrite	VERB
ap-6953	228	7	(	(	PUNCT
ap-6953	228	8	43	43	NUM
ap-6953	228	9	)	)	PUNCT
ap-6953	228	10	as	as	ADP
ap-6953	228	11	:	:	PUNCT
ap-6953	228	12	v̇	v̇	NOUN
ap-6953	228	13	≤	≤	ADJ
ap-6953	228	14	−km|s2|	−km|s2|	NUM
ap-6953	229	1	−	−	NUM
ap-6953	229	2	β−1	β−1	PUNCT
ap-6953	229	3	m	m	PROPN
ap-6953	229	4	qs2	qs2	DET
ap-6953	229	5	2	2	NUM
ap-6953	229	6	+	+	CCONJ
ap-6953	229	7	1	1	NUM
ap-6953	229	8	2βb2s	2βb2s	NUM
ap-6953	229	9	2	2	NUM
ap-6953	229	10	2	2	NUM
ap-6953	229	11	+	+	CCONJ
ap-6953	229	12	1	1	NUM
ap-6953	229	13	2βb2e	2βb2e	NUM
ap-6953	229	14	2	2	NUM
ap-6953	229	15	j	j	PROPN
ap-6953	229	16	−be2	−be2	PROPN
ap-6953	229	17	j	j	PROPN
ap-6953	229	18	.	.	PUNCT
ap-6953	230	1	(	(	PUNCT
ap-6953	230	2	45	45	NUM
ap-6953	230	3	)	)	PUNCT
ap-6953	230	4	in	in	ADP
ap-6953	230	5	addition	addition	NOUN
ap-6953	230	6	,	,	PUNCT
ap-6953	230	7	since	since	SCONJ
ap-6953	230	8	b	b	NOUN
ap-6953	230	9	=	=	SYM
ap-6953	230	10	βb2	βb2	NOUN
ap-6953	231	1	+	+	CCONJ
ap-6953	231	2	b1	b1	NOUN
ap-6953	231	3	,	,	PUNCT
ap-6953	231	4	a	a	DET
ap-6953	231	5	straightforward	straightforward	ADJ
ap-6953	231	6	calculation	calculation	NOUN
ap-6953	231	7	of	of	ADP
ap-6953	231	8	(	(	PUNCT
ap-6953	231	9	45	45	NUM
ap-6953	231	10	)	)	PUNCT
ap-6953	231	11	gives	give	VERB
ap-6953	231	12	:	:	PUNCT
ap-6953	231	13	v̇	v̇	NOUN
ap-6953	231	14	≤	≤	NUM
ap-6953	231	15	−km|s2|	−km|s2|	NUM
ap-6953	231	16	−	−	PROPN
ap-6953	232	1	(	(	PUNCT
ap-6953	232	2	β−1	β−1	PUNCT
ap-6953	232	3	m	m	NUM
ap-6953	232	4	q−	q−	PROPN
ap-6953	232	5	β	β	NOUN
ap-6953	232	6	1	1	NUM
ap-6953	232	7	2b2	2b2	NUM
ap-6953	232	8	)	)	PUNCT
ap-6953	232	9	s2	s2	NOUN
ap-6953	232	10	2	2	NUM
ap-6953	232	11	−	−	NOUN
ap-6953	232	12	(	(	PUNCT
ap-6953	232	13	1	1	NUM
ap-6953	232	14	2βb2	2βb2	NUM
ap-6953	232	15	+	+	CCONJ
ap-6953	232	16	b1	b1	NOUN
ap-6953	232	17	)	)	PUNCT
ap-6953	232	18	e2	e2	PROPN
ap-6953	232	19	j	j	PROPN
ap-6953	232	20	.	.	PUNCT
ap-6953	233	1	(	(	PUNCT
ap-6953	233	2	46	46	NUM
ap-6953	233	3	)	)	PUNCT
ap-6953	233	4	hence	hence	ADV
ap-6953	233	5	,	,	PUNCT
ap-6953	233	6	provided	provide	VERB
ap-6953	233	7	that	that	SCONJ
ap-6953	233	8	q	q	PROPN
ap-6953	233	9	≥	≥	NUM
ap-6953	233	10	1	1	NUM
ap-6953	233	11	2bmaxβ	2bmaxβ	NUM
ap-6953	233	12	2	2	NUM
ap-6953	233	13	,	,	PUNCT
ap-6953	233	14	the	the	DET
ap-6953	233	15	expression	expression	NOUN
ap-6953	233	16	in	in	ADP
ap-6953	233	17	(	(	PUNCT
ap-6953	233	18	46	46	NUM
ap-6953	233	19	)	)	PUNCT
ap-6953	233	20	can	can	AUX
ap-6953	233	21	be	be	AUX
ap-6953	233	22	upper	upper	ADV
ap-6953	233	23	-	-	PUNCT
ap-6953	233	24	bounded	bounded	ADJ
ap-6953	233	25	as	as	ADP
ap-6953	233	26	:	:	PUNCT
ap-6953	233	27	v̇	v̇	NOUN
ap-6953	233	28	≤	≤	NUM
ap-6953	233	29	−km|s2|	−km|s2|	NUM
ap-6953	234	1	−	−	PROPN
ap-6953	234	2	(	(	PUNCT
ap-6953	234	3	1	1	NUM
ap-6953	234	4	2βb2	2βb2	NUM
ap-6953	234	5	+	+	CCONJ
ap-6953	234	6	b1	b1	NOUN
ap-6953	234	7	)	)	PUNCT
ap-6953	234	8	e2	e2	PROPN
ap-6953	234	9	j	j	PROPN
ap-6953	234	10	≤	≤	ADV
ap-6953	234	11	0	0	NUM
ap-6953	234	12	.	.	PUNCT
ap-6953	235	1	(	(	PUNCT
ap-6953	235	2	47	47	NUM
ap-6953	235	3	)	)	PUNCT
ap-6953	235	4	this	this	PRON
ap-6953	235	5	guarantees	guarantee	VERB
ap-6953	235	6	that	that	SCONJ
ap-6953	235	7	s2	s2	NOUN
ap-6953	235	8	,	,	PUNCT
ap-6953	235	9	ṽj	ṽj	NOUN
ap-6953	235	10	and	and	CCONJ
ap-6953	235	11	w̃j	w̃j	NOUN
ap-6953	235	12	are	be	AUX
ap-6953	235	13	bounded	bound	VERB
ap-6953	235	14	.	.	PUNCT
ap-6953	236	1	furthermore	furthermore	ADV
ap-6953	236	2	,	,	PUNCT
ap-6953	236	3	by	by	ADP
ap-6953	236	4	using	use	VERB
ap-6953	236	5	barbalat	barbalat	PROPN
ap-6953	236	6	’s	’s	PART
ap-6953	236	7	lemma	lemma	PROPN
ap-6953	236	8	,	,	PUNCT
ap-6953	236	9	the	the	DET
ap-6953	236	10	sliding	slide	VERB
ap-6953	236	11	surface	surface	NOUN
ap-6953	236	12	s2	s2	NOUN
ap-6953	236	13	and	and	CCONJ
ap-6953	236	14	the	the	DET
ap-6953	236	15	error	error	NOUN
ap-6953	236	16	ej	ej	PART
ap-6953	236	17	converge	converge	VERB
ap-6953	236	18	to	to	ADP
ap-6953	236	19	zero	zero	NUM
ap-6953	236	20	as	as	ADP
ap-6953	236	21	t→∞	t→∞	NUM
ap-6953	236	22	and	and	CCONJ
ap-6953	236	23	the	the	DET
ap-6953	236	24	the	the	DET
ap-6953	236	25	dynamics	dynamic	NOUN
ap-6953	236	26	of	of	ADP
ap-6953	236	27	s2	s2	PROPN
ap-6953	236	28	is	be	AUX
ap-6953	236	29	given	give	VERB
ap-6953	236	30	by	by	ADP
ap-6953	236	31	ṡ2	ṡ2	PROPN
ap-6953	236	32	≈	≈	PROPN
ap-6953	236	33	0	0	NUM
ap-6953	236	34	.	.	PUNCT
ap-6953	237	1	by	by	ADP
ap-6953	237	2	assuming	assume	VERB
ap-6953	237	3	that	that	SCONJ
ap-6953	237	4	the	the	DET
ap-6953	237	5	adaptation	adaptation	NOUN
ap-6953	237	6	process	process	NOUN
ap-6953	237	7	converges	converge	VERB
ap-6953	237	8	and	and	CCONJ
ap-6953	237	9	ej	ej	PROPN
ap-6953	237	10	is	be	AUX
ap-6953	237	11	very	very	ADV
ap-6953	237	12	small	small	ADJ
ap-6953	237	13	,	,	PUNCT
ap-6953	237	14	it	it	PRON
ap-6953	237	15	is	be	AUX
ap-6953	237	16	obvious	obvious	ADJ
ap-6953	237	17	that	that	SCONJ
ap-6953	237	18	the	the	DET
ap-6953	237	19	convergence	convergence	NOUN
ap-6953	237	20	of	of	ADP
ap-6953	237	21	s2	s2	NOUN
ap-6953	237	22	to	to	ADP
ap-6953	237	23	zero	zero	NUM
ap-6953	237	24	as	as	ADP
ap-6953	237	25	t→∞	t→∞	NUM
ap-6953	237	26	gives	give	VERB
ap-6953	237	27	the	the	DET
ap-6953	237	28	following	following	NOUN
ap-6953	237	29	from	from	ADP
ap-6953	237	30	(	(	PUNCT
ap-6953	237	31	31	31	NUM
ap-6953	237	32	):	):	PUNCT
ap-6953	237	33	ṡ1	ṡ1	PROPN
ap-6953	237	34	=	=	SYM
ap-6953	237	35	−kssgn(αsgn	−kssgn(αsgn	PROPN
ap-6953	237	36	(	(	PUNCT
ap-6953	237	37	s1	s1	PROPN
ap-6953	237	38	)	)	PUNCT
ap-6953	237	39	)	)	PUNCT
ap-6953	238	1	+	+	ADP
ap-6953	238	2	bej	bej	ADJ
ap-6953	238	3	.	.	PUNCT
ap-6953	239	1	(	(	PUNCT
ap-6953	239	2	48	48	NUM
ap-6953	239	3	)	)	PUNCT
ap-6953	239	4	then	then	ADV
ap-6953	239	5	,	,	PUNCT
ap-6953	239	6	we	we	PRON
ap-6953	239	7	infer	infer	VERB
ap-6953	239	8	from	from	ADP
ap-6953	239	9	(	(	PUNCT
ap-6953	239	10	48	48	NUM
ap-6953	239	11	)	)	PUNCT
ap-6953	239	12	that	that	SCONJ
ap-6953	239	13	for	for	ADP
ap-6953	239	14	:	:	PUNCT
ap-6953	239	15	ks	ks	NOUN
ap-6953	239	16	=	=	SYM
ap-6953	239	17	ke	ke	PROPN
ap-6953	239	18	+	+	NUM
ap-6953	239	19	max(bej	max(bej	NOUN
ap-6953	239	20	)	)	PUNCT
ap-6953	239	21	.	.	PUNCT
ap-6953	240	1	(	(	PUNCT
ap-6953	240	2	49	49	NUM
ap-6953	240	3	)	)	PUNCT
ap-6953	240	4	where	where	SCONJ
ap-6953	240	5	ke	ke	PROPN
ap-6953	240	6	>	>	X
ap-6953	240	7	0	0	PROPN
ap-6953	240	8	,	,	PUNCT
ap-6953	240	9	one	one	PRON
ap-6953	240	10	can	can	AUX
ap-6953	240	11	obtain	obtain	VERB
ap-6953	240	12	:	:	PUNCT
ap-6953	240	13	ṡ1	ṡ1	PROPN
ap-6953	240	14	→	→	SYM
ap-6953	240	15	−kesgn(αsgn(s1))→	−kesgn(αsgn(s1))→	ADJ
ap-6953	240	16	−kesgn(s1	−kesgn(s1	PROPN
ap-6953	240	17	)	)	PUNCT
ap-6953	240	18	(	(	PUNCT
ap-6953	240	19	50	50	NUM
ap-6953	240	20	)	)	PUNCT
ap-6953	240	21	this	this	PRON
ap-6953	240	22	clearly	clearly	ADV
ap-6953	240	23	shows	show	VERB
ap-6953	240	24	that	that	SCONJ
ap-6953	240	25	s1	s1	PROPN
ap-6953	240	26	converges	converge	VERB
ap-6953	240	27	to	to	ADP
ap-6953	240	28	zero	zero	NUM
ap-6953	240	29	as	as	ADP
ap-6953	240	30	t→∞.	t→∞.	NOUN
ap-6953	240	31	356	356	NUM
ap-6953	240	32	vol	vol	NOUN
ap-6953	240	33	.	.	PUNCT
ap-6953	241	1	61	61	NUM
ap-6953	241	2	no	no	NOUN
ap-6953	241	3	.	.	PUNCT
ap-6953	242	1	2/2021	2/2021	NUM
ap-6953	242	2	adaptive	adaptive	ADJ
ap-6953	242	3	wavelets	wavelet	NOUN
ap-6953	242	4	sliding	slide	VERB
ap-6953	242	5	mode	mode	NOUN
ap-6953	242	6	control	control	NOUN
ap-6953	242	7	.	.	PUNCT
ap-6953	242	8	.	.	PUNCT
ap-6953	242	9	.	.	PUNCT
ap-6953	243	1	figure	figure	NOUN
ap-6953	243	2	1	1	NUM
ap-6953	243	3	.	.	PUNCT
ap-6953	243	4	block	block	NOUN
ap-6953	243	5	diagram	diagram	NOUN
ap-6953	243	6	of	of	ADP
ap-6953	243	7	the	the	DET
ap-6953	243	8	awsmc	awsmc	NOUN
ap-6953	243	9	algorithm	algorithm	PROPN
ap-6953	243	10	4.5	4.5	NUM
ap-6953	243	11	.	.	PUNCT
ap-6953	244	1	remarks	remark	NOUN
ap-6953	244	2	(	(	PUNCT
ap-6953	244	3	1	1	NUM
ap-6953	244	4	.	.	PUNCT
ap-6953	244	5	)	)	PUNCT
ap-6953	245	1	the	the	DET
ap-6953	245	2	derivatives	derivative	NOUN
ap-6953	245	3	of	of	ADP
ap-6953	245	4	s1	s1	NOUN
ap-6953	245	5	and	and	CCONJ
ap-6953	245	6	s2	s2	NOUN
ap-6953	245	7	are	be	AUX
ap-6953	245	8	not	not	PART
ap-6953	245	9	available	available	ADJ
ap-6953	245	10	,	,	PUNCT
ap-6953	245	11	we	we	PRON
ap-6953	245	12	can	can	AUX
ap-6953	245	13	predict	predict	VERB
ap-6953	245	14	a	a	DET
ap-6953	245	15	discrete	discrete	ADJ
ap-6953	245	16	implementable	implementable	ADJ
ap-6953	245	17	version	version	NOUN
ap-6953	245	18	.	.	PUNCT
ap-6953	246	1	indeed	indeed	ADV
ap-6953	246	2	,	,	PUNCT
ap-6953	246	3	the	the	DET
ap-6953	246	4	time	time	NOUN
ap-6953	246	5	derivative	derivative	NOUN
ap-6953	246	6	of	of	ADP
ap-6953	246	7	the	the	DET
ap-6953	246	8	function	function	NOUN
ap-6953	246	9	vj	vj	PROPN
ap-6953	246	10	can	can	AUX
ap-6953	246	11	be	be	AUX
ap-6953	246	12	given	give	VERB
ap-6953	246	13	as	as	ADP
ap-6953	246	14	:	:	PUNCT
ap-6953	246	15	v̇j	v̇j	PROPN
ap-6953	246	16	=	=	SYM
ap-6953	246	17	vj(t)−	vj(t)−	PROPN
ap-6953	246	18	vj(t−∆t	vj(t−∆t	PROPN
ap-6953	246	19	)	)	PUNCT
ap-6953	246	20	∆t	∆t	PROPN
ap-6953	246	21	(	(	PUNCT
ap-6953	246	22	51	51	NUM
ap-6953	246	23	)	)	PUNCT
ap-6953	246	24	where	where	SCONJ
ap-6953	246	25	∆t	∆t	PROPN
ap-6953	246	26	is	be	AUX
ap-6953	246	27	a	a	DET
ap-6953	246	28	small	small	ADJ
ap-6953	246	29	positive	positive	ADJ
ap-6953	246	30	constant	constant	NOUN
ap-6953	246	31	,	,	PUNCT
ap-6953	246	32	which	which	PRON
ap-6953	246	33	is	be	AUX
ap-6953	246	34	assumed	assume	VERB
ap-6953	246	35	small	small	ADJ
ap-6953	246	36	enough	enough	ADV
ap-6953	246	37	.	.	PUNCT
ap-6953	247	1	thus	thus	ADV
ap-6953	247	2	,	,	PUNCT
ap-6953	247	3	the	the	DET
ap-6953	247	4	discrete	discrete	ADJ
ap-6953	247	5	implementable	implementable	ADJ
ap-6953	247	6	version	version	NOUN
ap-6953	247	7	of	of	ADP
ap-6953	247	8	(	(	PUNCT
ap-6953	247	9	39	39	NUM
ap-6953	247	10	)	)	PUNCT
ap-6953	247	11	and	and	CCONJ
ap-6953	247	12	(	(	PUNCT
ap-6953	247	13	40	40	NUM
ap-6953	247	14	)	)	PUNCT
ap-6953	247	15	can	can	AUX
ap-6953	247	16	be	be	AUX
ap-6953	247	17	obtained	obtain	VERB
ap-6953	247	18	as	as	ADP
ap-6953	247	19	:	:	PUNCT
ap-6953	247	20	vj(t	vj(t	X
ap-6953	247	21	)	)	PUNCT
ap-6953	248	1	=	=	SYM
ap-6953	248	2	vj(t−∆t)−	vj(t−∆t)−	PROPN
ap-6953	248	3	γvφj(y)[(β(s2(t	γvφj(y)[(β(s2(t	NUM
ap-6953	248	4	)	)	PUNCT
ap-6953	248	5	+	+	X
ap-6953	248	6	s1(t	s1(t	X
ap-6953	248	7	)	)	PUNCT
ap-6953	248	8	−	−	PROPN
ap-6953	248	9	2∑	2∑	NUM
ap-6953	248	10	i=1	i=1	ADP
ap-6953	248	11	si(t−∆t	si(t−∆t	NOUN
ap-6953	248	12	)	)	PUNCT
ap-6953	248	13	)	)	PUNCT
ap-6953	249	1	+	+	CCONJ
ap-6953	249	2	∆t(ksgn(s2(t	∆t(ksgn(s2(t	NOUN
ap-6953	249	3	)	)	PUNCT
ap-6953	249	4	)	)	PUNCT
ap-6953	250	1	+	+	VERB
ap-6953	250	2	qs2(t	qs2(t	X
ap-6953	250	3	)	)	PUNCT
ap-6953	250	4	+	+	CCONJ
ap-6953	250	5	kssgn(s2(t	kssgn(s2(t	NOUN
ap-6953	250	6	)	)	PUNCT
ap-6953	250	7	+	+	NUM
ap-6953	250	8	αsgn(s1(t	αsgn(s1(t	NUM
ap-6953	250	9	)	)	PUNCT
ap-6953	250	10	)	)	PUNCT
ap-6953	250	11	)	)	PUNCT
ap-6953	250	12	]	]	PUNCT
ap-6953	250	13	.	.	PUNCT
ap-6953	251	1	(	(	PUNCT
ap-6953	251	2	52	52	NUM
ap-6953	251	3	)	)	PUNCT
ap-6953	251	4	wj(t	wj(t	X
ap-6953	251	5	)	)	PUNCT
ap-6953	252	1	=	=	SYM
ap-6953	252	2	wj(t−∆t)−	wj(t−∆t)−	PROPN
ap-6953	252	3	γwψj(y)[(β(s2(t	γwψj(y)[(β(s2(t	NUM
ap-6953	252	4	)	)	PUNCT
ap-6953	253	1	+	+	NUM
ap-6953	254	1	s1(t	s1(t	X
ap-6953	254	2	)	)	PUNCT
ap-6953	254	3	−	−	PROPN
ap-6953	254	4	2∑	2∑	NUM
ap-6953	254	5	i=1	i=1	ADP
ap-6953	254	6	si(t−∆t	si(t−∆t	NOUN
ap-6953	254	7	)	)	PUNCT
ap-6953	254	8	)	)	PUNCT
ap-6953	255	1	+	+	CCONJ
ap-6953	255	2	∆t(ksgn(s2(t	∆t(ksgn(s2(t	NOUN
ap-6953	255	3	)	)	PUNCT
ap-6953	255	4	)	)	PUNCT
ap-6953	256	1	+	+	VERB
ap-6953	256	2	qs2(t	qs2(t	X
ap-6953	256	3	)	)	PUNCT
ap-6953	256	4	+	+	CCONJ
ap-6953	256	5	kssgn(s2(t	kssgn(s2(t	NOUN
ap-6953	256	6	)	)	PUNCT
ap-6953	256	7	+	+	NUM
ap-6953	256	8	αsgn(s1(t	αsgn(s1(t	NUM
ap-6953	256	9	)	)	PUNCT
ap-6953	256	10	)	)	PUNCT
ap-6953	256	11	)	)	PUNCT
ap-6953	256	12	]	]	PUNCT
ap-6953	256	13	.	.	PUNCT
ap-6953	257	1	(	(	PUNCT
ap-6953	257	2	53	53	NUM
ap-6953	257	3	)	)	PUNCT
ap-6953	257	4	(	(	PUNCT
ap-6953	257	5	2	2	NUM
ap-6953	257	6	.	.	PUNCT
ap-6953	257	7	)	)	PUNCT
ap-6953	258	1	in	in	ADP
ap-6953	258	2	order	order	NOUN
ap-6953	258	3	to	to	PART
ap-6953	258	4	remedy	remedy	VERB
ap-6953	258	5	the	the	DET
ap-6953	258	6	control	control	NOUN
ap-6953	258	7	discontinuity	discontinuity	NOUN
ap-6953	258	8	in	in	ADP
ap-6953	258	9	the	the	DET
ap-6953	258	10	boundary	boundary	ADJ
ap-6953	258	11	layer	layer	NOUN
ap-6953	258	12	,	,	PUNCT
ap-6953	258	13	the	the	DET
ap-6953	258	14	sign	sign	NOUN
ap-6953	258	15	function	function	VERB
ap-6953	258	16	throughout	throughout	ADP
ap-6953	258	17	this	this	DET
ap-6953	258	18	paper	paper	NOUN
ap-6953	258	19	is	be	AUX
ap-6953	258	20	replaced	replace	VERB
ap-6953	258	21	by	by	ADP
ap-6953	258	22	a	a	DET
ap-6953	258	23	saturation	saturation	NOUN
ap-6953	258	24	function	function	NOUN
ap-6953	258	25	defined	define	VERB
ap-6953	258	26	for	for	ADP
ap-6953	258	27	θ	θ	PROPN
ap-6953	258	28	>	>	X
ap-6953	258	29	0	0	PUNCT
ap-6953	259	1	as	as	ADP
ap-6953	259	2	:	:	PUNCT
ap-6953	259	3	sat(x	sat(x	PROPN
ap-6953	259	4	)	)	PUNCT
ap-6953	259	5	=	=	PRON
ap-6953	259	6	{	{	PUNCT
ap-6953	259	7	sgn	sgn	NOUN
ap-6953	259	8	(	(	PUNCT
ap-6953	259	9	x	x	NOUN
ap-6953	259	10	θ	θ	NOUN
ap-6953	259	11	)	)	PUNCT
ap-6953	259	12	,	,	PUNCT
ap-6953	259	13	if	if	SCONJ
ap-6953	259	14	|x|	|x|	PROPN
ap-6953	259	15	≥	≥	NUM
ap-6953	259	16	θ	θ	NOUN
ap-6953	259	17	x	x	SYM
ap-6953	259	18	θ	θ	NOUN
ap-6953	259	19	,	,	PUNCT
ap-6953	259	20	if	if	SCONJ
ap-6953	259	21	|x|	|x|	PROPN
ap-6953	259	22	<	<	X
ap-6953	259	23	θ	θ	PROPN
ap-6953	259	24	(	(	PUNCT
ap-6953	259	25	54	54	NUM
ap-6953	259	26	)	)	PUNCT
ap-6953	259	27	5	5	NUM
ap-6953	259	28	.	.	X
ap-6953	259	29	simulation	simulation	NOUN
ap-6953	259	30	and	and	CCONJ
ap-6953	259	31	results	result	NOUN
ap-6953	259	32	in	in	ADP
ap-6953	259	33	this	this	DET
ap-6953	259	34	section	section	NOUN
ap-6953	259	35	,	,	PUNCT
ap-6953	259	36	we	we	PRON
ap-6953	259	37	applied	apply	VERB
ap-6953	259	38	the	the	DET
ap-6953	259	39	awsmc	awsmc	NOUN
ap-6953	259	40	on	on	ADP
ap-6953	259	41	the	the	DET
ap-6953	259	42	pendubot	pendubot	NOUN
ap-6953	259	43	system	system	NOUN
ap-6953	259	44	depicted	depict	VERB
ap-6953	259	45	in	in	ADP
ap-6953	259	46	figure	figure	NOUN
ap-6953	259	47	2	2	NUM
ap-6953	259	48	.	.	PUNCT
ap-6953	260	1	this	this	DET
ap-6953	260	2	two	two	NUM
ap-6953	260	3	-	-	PUNCT
ap-6953	260	4	link	link	NOUN
ap-6953	260	5	robot	robot	NOUN
ap-6953	260	6	has	have	VERB
ap-6953	260	7	an	an	DET
ap-6953	260	8	actuated	actuate	VERB
ap-6953	260	9	joint	joint	NOUN
ap-6953	260	10	mounted	mount	VERB
ap-6953	260	11	at	at	ADP
ap-6953	260	12	the	the	DET
ap-6953	260	13	beginning	beginning	NOUN
ap-6953	260	14	of	of	ADP
ap-6953	260	15	the	the	DET
ap-6953	260	16	first	first	ADJ
ap-6953	260	17	arm	arm	NOUN
ap-6953	260	18	(	(	PUNCT
ap-6953	260	19	arm	arm	NOUN
ap-6953	260	20	1	1	NUM
ap-6953	260	21	)	)	PUNCT
ap-6953	260	22	to	to	PART
ap-6953	260	23	which	which	PRON
ap-6953	260	24	another	another	DET
ap-6953	260	25	arm	arm	NOUN
ap-6953	260	26	(	(	PUNCT
ap-6953	260	27	arm	arm	NOUN
ap-6953	260	28	2	2	NUM
ap-6953	260	29	)	)	PUNCT
ap-6953	260	30	is	be	AUX
ap-6953	260	31	connected	connect	VERB
ap-6953	260	32	.	.	PUNCT
ap-6953	261	1	such	such	ADJ
ap-6953	261	2	system	system	NOUN
ap-6953	261	3	presents	present	VERB
ap-6953	261	4	four	four	NUM
ap-6953	261	5	equilibrium	equilibrium	NOUN
ap-6953	261	6	positions	position	NOUN
ap-6953	261	7	:	:	PUNCT
ap-6953	261	8	down	down	ADV
ap-6953	261	9	-	-	PUNCT
ap-6953	261	10	down	down	NOUN
ap-6953	261	11	(	(	PUNCT
ap-6953	261	12	−π2	−π2	NOUN
ap-6953	261	13	,	,	PUNCT
ap-6953	261	14	0	0	NUM
ap-6953	261	15	,	,	PUNCT
ap-6953	261	16	0	0	NUM
ap-6953	261	17	,	,	PUNCT
ap-6953	261	18	0	0	NUM
ap-6953	261	19	)	)	PUNCT
ap-6953	261	20	,	,	PUNCT
ap-6953	261	21	down	down	ADP
ap-6953	261	22	-	-	PUNCT
ap-6953	261	23	up(−π2	up(−π2	PROPN
ap-6953	261	24	,	,	PUNCT
ap-6953	261	25	0	0	NUM
ap-6953	261	26	,	,	PUNCT
ap-6953	261	27	π	π	PROPN
ap-6953	261	28	,	,	PUNCT
ap-6953	261	29	0	0	NUM
ap-6953	261	30	)	)	PUNCT
ap-6953	261	31	,	,	PUNCT
ap-6953	261	32	up	up	ADP
ap-6953	261	33	-	-	PUNCT
ap-6953	261	34	down(π2	down(π2	NOUN
ap-6953	261	35	,	,	PUNCT
ap-6953	261	36	0	0	NUM
ap-6953	261	37	,	,	PUNCT
ap-6953	261	38	π	π	PROPN
ap-6953	261	39	,	,	PUNCT
ap-6953	261	40	0	0	NUM
ap-6953	261	41	)	)	PUNCT
ap-6953	261	42	,	,	PUNCT
ap-6953	261	43	and	and	CCONJ
ap-6953	261	44	up	up	ADP
ap-6953	261	45	-	-	PUNCT
ap-6953	261	46	up	up	NOUN
ap-6953	261	47	(	(	PUNCT
ap-6953	261	48	π2	π2	X
ap-6953	261	49	,	,	PUNCT
ap-6953	261	50	0	0	NUM
ap-6953	261	51	,	,	PUNCT
ap-6953	261	52	0	0	NUM
ap-6953	261	53	,	,	PUNCT
ap-6953	261	54	0	0	NUM
ap-6953	261	55	)	)	PUNCT
ap-6953	261	56	.	.	PUNCT
ap-6953	262	1	both	both	PRON
ap-6953	262	2	down	down	ADV
ap-6953	262	3	-	-	PUNCT
ap-6953	262	4	up	up	NOUN
ap-6953	262	5	and	and	CCONJ
ap-6953	262	6	up	up	ADP
ap-6953	262	7	-	-	PUNCT
ap-6953	262	8	up	up	NOUN
ap-6953	262	9	are	be	AUX
ap-6953	262	10	unstable	unstable	ADJ
ap-6953	262	11	positions	position	NOUN
ap-6953	262	12	while	while	SCONJ
ap-6953	262	13	down	down	ADV
ap-6953	262	14	-	-	PUNCT
ap-6953	262	15	down	down	NOUN
ap-6953	262	16	and	and	CCONJ
ap-6953	262	17	up	up	ADP
ap-6953	262	18	-	-	PUNCT
ap-6953	262	19	down	down	NOUN
ap-6953	262	20	are	be	AUX
ap-6953	262	21	stable	stable	ADJ
ap-6953	262	22	[	[	X
ap-6953	262	23	1	1	NUM
ap-6953	262	24	,	,	PUNCT
ap-6953	262	25	41	41	NUM
ap-6953	262	26	]	]	PUNCT
ap-6953	262	27	.	.	PUNCT
ap-6953	263	1	the	the	DET
ap-6953	263	2	control	control	NOUN
ap-6953	263	3	challenge	challenge	NOUN
ap-6953	263	4	is	be	AUX
ap-6953	263	5	to	to	PART
ap-6953	263	6	maintain	maintain	VERB
ap-6953	263	7	and	and	CCONJ
ap-6953	263	8	stabilize	stabilize	VERB
ap-6953	263	9	the	the	DET
ap-6953	263	10	pendubot	pendubot	NOUN
ap-6953	263	11	on	on	ADP
ap-6953	263	12	one	one	NUM
ap-6953	263	13	of	of	ADP
ap-6953	263	14	its	its	PRON
ap-6953	263	15	unstable	unstable	ADJ
ap-6953	263	16	equilibrium	equilibrium	NOUN
ap-6953	263	17	positions	position	NOUN
ap-6953	263	18	.	.	PUNCT
ap-6953	264	1	the	the	DET
ap-6953	264	2	main	main	ADJ
ap-6953	264	3	mechanical	mechanical	ADJ
ap-6953	264	4	parameters	parameter	NOUN
ap-6953	264	5	of	of	ADP
ap-6953	264	6	the	the	DET
ap-6953	264	7	pendubot	pendubot	NOUN
ap-6953	264	8	are	be	AUX
ap-6953	264	9	listed	list	VERB
ap-6953	264	10	in	in	ADP
ap-6953	264	11	table	table	NOUN
ap-6953	264	12	1	1	NUM
ap-6953	264	13	.	.	PUNCT
ap-6953	264	14	recalling	recall	VERB
ap-6953	264	15	the	the	DET
ap-6953	264	16	lagrange	lagrange	NOUN
ap-6953	264	17	-	-	PUNCT
ap-6953	264	18	euler	euler	NOUN
ap-6953	264	19	principle	principle	NOUN
ap-6953	264	20	,	,	PUNCT
ap-6953	264	21	the	the	DET
ap-6953	264	22	dynamics	dynamic	NOUN
ap-6953	264	23	of	of	ADP
ap-6953	264	24	this	this	DET
ap-6953	264	25	system	system	NOUN
ap-6953	264	26	are	be	AUX
ap-6953	264	27	given	give	VERB
ap-6953	264	28	by	by	ADP
ap-6953	264	29	(	(	PUNCT
ap-6953	264	30	55	55	NUM
ap-6953	264	31	)	)	PUNCT
ap-6953	264	32	(	(	PUNCT
ap-6953	264	33	see	see	VERB
ap-6953	264	34	appendix	appendix	NOUN
ap-6953	264	35	)	)	PUNCT
ap-6953	264	36	.	.	PUNCT
ap-6953	265	1	by	by	ADP
ap-6953	265	2	introducing	introduce	VERB
ap-6953	265	3	the	the	DET
ap-6953	265	4	state	state	NOUN
ap-6953	265	5	vector	vector	NOUN
ap-6953	265	6	x	x	PUNCT
ap-6953	265	7	=	=	PUNCT
ap-6953	266	1	[	[	X
ap-6953	266	2	x1	x1	PROPN
ap-6953	266	3	,	,	PUNCT
ap-6953	266	4	ẋ1	ẋ1	PROPN
ap-6953	266	5	,	,	PUNCT
ap-6953	266	6	x2	x2	PROPN
ap-6953	266	7	,	,	PUNCT
ap-6953	266	8	ẋ2]t	ẋ2]t	PROPN
ap-6953	266	9	such	such	ADJ
ap-6953	266	10	that	that	SCONJ
ap-6953	266	11	x	x	X
ap-6953	266	12	=	=	PUNCT
ap-6953	266	13	q	q	NOUN
ap-6953	266	14	=	=	PUNCT
ap-6953	267	1	[	[	X
ap-6953	267	2	q1	q1	X
ap-6953	267	3	,	,	PUNCT
ap-6953	267	4	q̇1	q̇1	PROPN
ap-6953	267	5	,	,	PUNCT
ap-6953	267	6	q2	q2	NOUN
ap-6953	267	7	,	,	PUNCT
ap-6953	267	8	q̇2]t	q̇2]t	PROPN
ap-6953	267	9	,	,	PUNCT
ap-6953	267	10	it	it	PRON
ap-6953	267	11	is	be	AUX
ap-6953	267	12	easy	easy	ADJ
ap-6953	267	13	to	to	PART
ap-6953	267	14	conclude	conclude	VERB
ap-6953	267	15	that	that	SCONJ
ap-6953	267	16	(	(	PUNCT
ap-6953	267	17	55	55	NUM
ap-6953	267	18	)	)	PUNCT
ap-6953	267	19	has	have	VERB
ap-6953	267	20	the	the	DET
ap-6953	267	21	form	form	NOUN
ap-6953	267	22	of	of	ADP
ap-6953	267	23	(	(	PUNCT
ap-6953	267	24	2	2	NUM
ap-6953	267	25	)	)	PUNCT
ap-6953	267	26	.	.	PUNCT
ap-6953	268	1	to	to	PART
ap-6953	268	2	synthesize	synthesize	VERB
ap-6953	268	3	the	the	DET
ap-6953	268	4	awsmc	awsmc	NOUN
ap-6953	268	5	,	,	PUNCT
ap-6953	268	6	daubechies	daubechie	NOUN
ap-6953	268	7	wavelets	wavelet	VERB
ap-6953	268	8	(	(	PUNCT
ap-6953	268	9	db5	db5	NOUN
ap-6953	268	10	)	)	PUNCT
ap-6953	268	11	with	with	SCONJ
ap-6953	268	12	n=2	n=2	NOUN
ap-6953	268	13	are	be	AUX
ap-6953	268	14	chosen	choose	VERB
ap-6953	268	15	to	to	PART
ap-6953	268	16	be	be	AUX
ap-6953	268	17	the	the	DET
ap-6953	268	18	basis	basis	NOUN
ap-6953	268	19	of	of	ADP
ap-6953	268	20	the	the	DET
ap-6953	268	21	wavelet	wavelet	NOUN
ap-6953	268	22	network	network	NOUN
ap-6953	268	23	and	and	CCONJ
ap-6953	268	24	the	the	DET
ap-6953	268	25	vector	vector	NOUN
ap-6953	268	26	c	c	PROPN
ap-6953	268	27	is	be	AUX
ap-6953	268	28	taken	take	VERB
ap-6953	268	29	as	as	ADP
ap-6953	268	30	:	:	PUNCT
ap-6953	268	31	c	c	NOUN
ap-6953	268	32	=	=	SYM
ap-6953	268	33	10−3	10−3	NUM
ap-6953	268	34	×	×	NOUN
ap-6953	268	35	[	[	X
ap-6953	268	36	5	5	NUM
ap-6953	268	37	,	,	PUNCT
ap-6953	268	38	2,−3,−10]t	2,−3,−10]t	NOUN
ap-6953	268	39	.	.	PUNCT
ap-6953	269	1	the	the	DET
ap-6953	269	2	appropriate	appropriate	ADJ
ap-6953	269	3	parameters	parameter	NOUN
ap-6953	269	4	and	and	CCONJ
ap-6953	269	5	coefficients	coefficient	NOUN
ap-6953	269	6	of	of	ADP
ap-6953	269	7	the	the	DET
ap-6953	269	8	designed	design	VERB
ap-6953	269	9	controllers	controller	NOUN
ap-6953	269	10	are	be	AUX
ap-6953	269	11	:	:	PUNCT
ap-6953	269	12	α	α	X
ap-6953	269	13	=	=	SYM
ap-6953	269	14	0.3	0.3	NUM
ap-6953	269	15	,	,	PUNCT
ap-6953	269	16	β	β	X
ap-6953	269	17	=	=	SYM
ap-6953	269	18	1.5	1.5	NUM
ap-6953	269	19	,	,	PUNCT
ap-6953	269	20	k	k	NOUN
ap-6953	270	1	=	=	SYM
ap-6953	270	2	9	9	NUM
ap-6953	270	3	,	,	PUNCT
ap-6953	270	4	q	q	NOUN
ap-6953	271	1	=	=	SYM
ap-6953	271	2	11	11	NUM
ap-6953	271	3	,	,	PUNCT
ap-6953	271	4	ks	ks	NOUN
ap-6953	271	5	=	=	SYM
ap-6953	271	6	1	1	NUM
ap-6953	271	7	,	,	PUNCT
ap-6953	271	8	λ1	λ1	ADJ
ap-6953	271	9	=	=	SYM
ap-6953	271	10	0.1	0.1	NUM
ap-6953	271	11	,	,	PUNCT
ap-6953	271	12	λ2	λ2	NOUN
ap-6953	271	13	=	=	SYM
ap-6953	271	14	5	5	NUM
ap-6953	271	15	,	,	PUNCT
ap-6953	271	16	γv	γv	ADV
ap-6953	271	17	=	=	SYM
ap-6953	271	18	0.1	0.1	NUM
ap-6953	271	19	,	,	PUNCT
ap-6953	271	20	γw	γw	NOUN
ap-6953	271	21	=	=	SYM
ap-6953	271	22	5	5	NUM
ap-6953	271	23	,	,	PUNCT
ap-6953	271	24	jc	jc	PROPN
ap-6953	271	25	=	=	PROPN
ap-6953	271	26	5	5	PROPN
ap-6953	271	27	,	,	PUNCT
ap-6953	271	28	j	j	PROPN
ap-6953	271	29	=	=	SYM
ap-6953	271	30	7	7	NUM
ap-6953	271	31	,	,	PUNCT
ap-6953	271	32	ω	ω	NOUN
ap-6953	271	33	=	=	SYM
ap-6953	271	34	1	1	NUM
ap-6953	271	35	,	,	PUNCT
ap-6953	271	36	η	η	PROPN
ap-6953	271	37	=	=	SYM
ap-6953	271	38	0.5	0.5	NUM
ap-6953	271	39	and	and	CCONJ
ap-6953	271	40	θ	θ	NOUN
ap-6953	271	41	=	=	SYM
ap-6953	271	42	0.1	0.1	NUM
ap-6953	271	43	.	.	PUNCT
ap-6953	272	1	in	in	ADP
ap-6953	272	2	addition	addition	NOUN
ap-6953	272	3	,	,	PUNCT
ap-6953	272	4	the	the	DET
ap-6953	272	5	357	357	NUM
ap-6953	272	6	f.	f.	PROPN
ap-6953	272	7	nafa	nafa	PROPN
ap-6953	272	8	,	,	PUNCT
ap-6953	272	9	a.	a.	NOUN
ap-6953	272	10	boudouda	boudouda	PROPN
ap-6953	272	11	,	,	PUNCT
ap-6953	272	12	b.	b.	PROPN
ap-6953	272	13	smaani	smaani	PROPN
ap-6953	272	14	acta	acta	PROPN
ap-6953	272	15	polytechnica	polytechnica	PROPN
ap-6953	273	1	y	y	PROPN
ap-6953	273	2	g	g	PROPN
ap-6953	273	3	l1	l1	PROPN
ap-6953	273	4	lc1	lc1	PROPN
ap-6953	273	5	l2	l2	PROPN
ap-6953	273	6	lc2	lc2	PROPN
ap-6953	273	7	m1	m1	PROPN
ap-6953	273	8	l1	l1	PROPN
ap-6953	273	9	m2	m2	PROPN
ap-6953	273	10	l2	l2	PROPN
ap-6953	273	11	active	active	ADJ
ap-6953	273	12	joint	joint	ADJ
ap-6953	273	13	passive	passive	ADJ
ap-6953	273	14	joint	joint	ADJ
ap-6953	273	15	τ1	τ1	NOUN
ap-6953	273	16	x	x	SYM
ap-6953	273	17	q2	q2	PROPN
ap-6953	273	18	q1	q1	PROPN
ap-6953	273	19	o	o	PROPN
ap-6953	273	20	figure	figure	NOUN
ap-6953	273	21	2	2	NUM
ap-6953	273	22	.	.	PUNCT
ap-6953	273	23	schematic	schematic	ADJ
ap-6953	273	24	of	of	ADP
ap-6953	273	25	the	the	DET
ap-6953	273	26	pendubot	pendubot	NOUN
ap-6953	273	27	in	in	ADP
ap-6953	273	28	a	a	DET
ap-6953	273	29	relative	relative	ADJ
ap-6953	273	30	coordinate	coordinate	NOUN
ap-6953	273	31	system	system	NOUN
ap-6953	273	32	0	0	NUM
ap-6953	273	33	2	2	NUM
ap-6953	273	34	4	4	NUM
ap-6953	273	35	6	6	NUM
ap-6953	273	36	8	8	NUM
ap-6953	273	37	10	10	NUM
ap-6953	273	38	-2	-2	NOUN
ap-6953	273	39	-1	-1	SYM
ap-6953	273	40	0	0	NUM
ap-6953	273	41	1	1	NUM
ap-6953	273	42	2	2	NUM
ap-6953	273	43	3	3	NUM
ap-6953	273	44	4	4	NUM
ap-6953	273	45	5	5	NUM
ap-6953	273	46	(	(	PUNCT
ap-6953	273	47	a	a	NOUN
ap-6953	273	48	)	)	PUNCT
ap-6953	273	49	0	0	NUM
ap-6953	273	50	2	2	NUM
ap-6953	273	51	4	4	NUM
ap-6953	273	52	6	6	NUM
ap-6953	273	53	8	8	NUM
ap-6953	273	54	10	10	NUM
ap-6953	273	55	-4	-4	INTJ
ap-6953	273	56	-3	-3	INTJ
ap-6953	273	57	-2	-2	INTJ
ap-6953	274	1	-1	-1	SYM
ap-6953	274	2	0	0	NUM
ap-6953	275	1	1	1	NUM
ap-6953	275	2	2	2	NUM
ap-6953	275	3	(	(	PUNCT
ap-6953	275	4	b	b	NOUN
ap-6953	275	5	)	)	PUNCT
ap-6953	275	6	figure	figure	NOUN
ap-6953	275	7	3	3	NUM
ap-6953	275	8	.	.	PUNCT
ap-6953	275	9	system	system	NOUN
ap-6953	275	10	response	response	NOUN
ap-6953	275	11	for	for	ADP
ap-6953	275	12	”	"	PUNCT
ap-6953	275	13	down−	down−	VERB
ap-6953	275	14	up	up	ADP
ap-6953	275	15	”	"	PUNCT
ap-6953	275	16	position	position	NOUN
ap-6953	275	17	(	(	PUNCT
ap-6953	275	18	−π	−π	ADV
ap-6953	275	19	2	2	NUM
ap-6953	275	20	,	,	PUNCT
ap-6953	275	21	0	0	NUM
ap-6953	275	22	,	,	PUNCT
ap-6953	275	23	π	π	PROPN
ap-6953	275	24	,	,	PUNCT
ap-6953	275	25	0	0	NUM
ap-6953	275	26	)	)	PUNCT
ap-6953	275	27	;	;	PUNCT
ap-6953	275	28	including	include	VERB
ap-6953	275	29	disturbances	disturbance	NOUN
ap-6953	275	30	during	during	ADP
ap-6953	275	31	the	the	DET
ap-6953	275	32	time	time	NOUN
ap-6953	275	33	interval	interval	NOUN
ap-6953	275	34	[	[	X
ap-6953	275	35	6s	6s	NUM
ap-6953	275	36	,	,	PUNCT
ap-6953	275	37	8s	8s	NUM
ap-6953	275	38	]	]	X
ap-6953	275	39	:	:	PUNCT
ap-6953	275	40	(	(	PUNCT
ap-6953	275	41	a	a	X
ap-6953	275	42	)	)	PUNCT
ap-6953	275	43	angles	angle	NOUN
ap-6953	275	44	response	response	NOUN
ap-6953	275	45	,	,	PUNCT
ap-6953	275	46	(	(	PUNCT
ap-6953	275	47	b	b	X
ap-6953	275	48	)	)	PUNCT
ap-6953	275	49	control	control	NOUN
ap-6953	275	50	input	input	NOUN
ap-6953	275	51	.	.	PUNCT
ap-6953	276	1	initial	initial	ADJ
ap-6953	276	2	conditions	condition	NOUN
ap-6953	276	3	are	be	AUX
ap-6953	276	4	taken	take	VERB
ap-6953	276	5	such	such	ADJ
ap-6953	276	6	that	that	PRON
ap-6953	276	7	:	:	PUNCT
ap-6953	276	8	x(0	x(0	PROPN
ap-6953	276	9	)	)	PUNCT
ap-6953	277	1	=	=	PUNCT
ap-6953	278	1	[	[	X
ap-6953	278	2	π/2	π/2	NUM
ap-6953	278	3	,	,	PUNCT
ap-6953	278	4	0	0	NUM
ap-6953	278	5	,	,	PUNCT
ap-6953	278	6	0	0	NUM
ap-6953	278	7	,	,	PUNCT
ap-6953	278	8	0	0	NUM
ap-6953	278	9	]	]	PUNCT
ap-6953	278	10	and	and	CCONJ
ap-6953	278	11	x(0	x(0	PROPN
ap-6953	278	12	)	)	PUNCT
ap-6953	279	1	=	=	PUNCT
ap-6953	280	1	[	[	X
ap-6953	280	2	−π/2	−π/2	PROPN
ap-6953	280	3	,	,	PUNCT
ap-6953	280	4	0	0	NUM
ap-6953	280	5	,	,	PUNCT
ap-6953	280	6	0	0	NUM
ap-6953	280	7	,	,	PUNCT
ap-6953	280	8	0	0	NUM
ap-6953	280	9	]	]	PUNCT
ap-6953	280	10	for	for	ADP
ap-6953	280	11	down	down	ADV
ap-6953	280	12	-	-	PUNCT
ap-6953	280	13	up	up	NOUN
ap-6953	280	14	and	and	CCONJ
ap-6953	280	15	up	up	ADP
ap-6953	280	16	-	-	PUNCT
ap-6953	280	17	up	up	NOUN
ap-6953	280	18	,	,	PUNCT
ap-6953	280	19	respectively	respectively	ADV
ap-6953	280	20	,	,	PUNCT
ap-6953	280	21	and	and	CCONJ
ap-6953	280	22	the	the	DET
ap-6953	280	23	initial	initial	ADJ
ap-6953	280	24	values	value	NOUN
ap-6953	280	25	of	of	ADP
ap-6953	280	26	the	the	DET
ap-6953	280	27	parameter	parameter	NOUN
ap-6953	280	28	estimates	estimate	VERB
ap-6953	280	29	vj(0	vj(0	PROPN
ap-6953	280	30	)	)	PUNCT
ap-6953	280	31	and	and	CCONJ
ap-6953	280	32	wj(0	wj(0	PROPN
ap-6953	280	33	)	)	PUNCT
ap-6953	280	34	are	be	AUX
ap-6953	280	35	set	set	VERB
ap-6953	280	36	equal	equal	ADJ
ap-6953	280	37	to	to	ADP
ap-6953	280	38	zero	zero	NUM
ap-6953	280	39	.	.	PUNCT
ap-6953	281	1	in	in	ADP
ap-6953	281	2	order	order	NOUN
ap-6953	281	3	to	to	PART
ap-6953	281	4	show	show	VERB
ap-6953	281	5	the	the	DET
ap-6953	281	6	effectiveness	effectiveness	NOUN
ap-6953	281	7	of	of	ADP
ap-6953	281	8	the	the	DET
ap-6953	281	9	proposed	propose	VERB
ap-6953	281	10	control	control	NOUN
ap-6953	281	11	strategies	strategy	NOUN
ap-6953	281	12	,	,	PUNCT
ap-6953	281	13	we	we	PRON
ap-6953	281	14	have	have	AUX
ap-6953	281	15	considered	consider	VERB
ap-6953	281	16	two	two	NUM
ap-6953	281	17	scenarios	scenario	NOUN
ap-6953	281	18	:	:	PUNCT
ap-6953	281	19	with	with	ADP
ap-6953	281	20	and	and	CCONJ
ap-6953	281	21	without	without	ADP
ap-6953	281	22	noisy	noisy	ADJ
ap-6953	281	23	measurements	measurement	NOUN
ap-6953	281	24	.	.	PUNCT
ap-6953	282	1	in	in	ADP
ap-6953	282	2	all	all	DET
ap-6953	282	3	the	the	DET
ap-6953	282	4	reported	report	VERB
ap-6953	282	5	simulations	simulation	NOUN
ap-6953	282	6	,	,	PUNCT
ap-6953	282	7	a	a	DET
ap-6953	282	8	random	random	ADJ
ap-6953	282	9	disturbance	disturbance	NOUN
ap-6953	282	10	representing	represent	VERB
ap-6953	282	11	10	10	NUM
ap-6953	282	12	%	%	NOUN
ap-6953	282	13	of	of	ADP
ap-6953	282	14	unmodeled	unmodeled	ADJ
ap-6953	282	15	dynamics	dynamic	NOUN
ap-6953	282	16	has	have	AUX
ap-6953	282	17	been	be	AUX
ap-6953	282	18	added	add	VERB
ap-6953	282	19	in	in	ADP
ap-6953	282	20	order	order	NOUN
ap-6953	282	21	to	to	PART
ap-6953	282	22	show	show	VERB
ap-6953	282	23	the	the	DET
ap-6953	282	24	robustness	robustness	NOUN
ap-6953	282	25	of	of	ADP
ap-6953	282	26	the	the	DET
ap-6953	282	27	proposed	propose	VERB
ap-6953	282	28	controllers	controller	NOUN
ap-6953	282	29	.	.	PUNCT
ap-6953	283	1	for	for	ADP
ap-6953	283	2	the	the	DET
ap-6953	283	3	first	first	ADJ
ap-6953	283	4	scenario	scenario	NOUN
ap-6953	283	5	,	,	PUNCT
ap-6953	283	6	the	the	DET
ap-6953	283	7	results	result	NOUN
ap-6953	283	8	of	of	ADP
ap-6953	283	9	q1	q1	PROPN
ap-6953	283	10	and	and	CCONJ
ap-6953	283	11	q2	q2	NOUN
ap-6953	283	12	responses	response	NOUN
ap-6953	283	13	for	for	ADP
ap-6953	283	14	both	both	DET
ap-6953	283	15	positions	position	NOUN
ap-6953	283	16	are	be	AUX
ap-6953	283	17	shown	show	VERB
ap-6953	283	18	in	in	ADP
ap-6953	283	19	figure	figure	NOUN
ap-6953	283	20	3	3	NUM
ap-6953	283	21	and	and	CCONJ
ap-6953	283	22	figure	figure	VERB
ap-6953	283	23	4	4	NUM
ap-6953	283	24	,	,	PUNCT
ap-6953	283	25	respectively	respectively	ADV
ap-6953	283	26	.	.	PUNCT
ap-6953	284	1	referring	refer	VERB
ap-6953	284	2	to	to	ADP
ap-6953	284	3	the	the	DET
ap-6953	284	4	down	down	ADP
ap-6953	284	5	-	-	PUNCT
ap-6953	284	6	up	up	ADP
ap-6953	284	7	position	position	NOUN
ap-6953	284	8	,	,	PUNCT
ap-6953	284	9	it	it	PRON
ap-6953	284	10	is	be	AUX
ap-6953	284	11	clear	clear	ADJ
ap-6953	284	12	from	from	ADP
ap-6953	284	13	figure	figure	NOUN
ap-6953	284	14	.	.	PUNCT
ap-6953	285	1	3	3	NUM
ap-6953	285	2	that	that	PRON
ap-6953	285	3	both	both	DET
ap-6953	285	4	angles	angle	VERB
ap-6953	285	5	converge	converge	VERB
ap-6953	285	6	asymptotically	asymptotically	ADV
ap-6953	285	7	to	to	ADP
ap-6953	285	8	their	their	PRON
ap-6953	285	9	desired	desire	VERB
ap-6953	285	10	values	value	NOUN
ap-6953	285	11	.	.	PUNCT
ap-6953	286	1	the	the	DET
ap-6953	286	2	adaptive	adaptive	ADJ
ap-6953	286	3	strategy	strategy	NOUN
ap-6953	286	4	shows	show	VERB
ap-6953	286	5	a	a	DET
ap-6953	286	6	good	good	ADJ
ap-6953	286	7	performance	performance	NOUN
ap-6953	286	8	and	and	CCONJ
ap-6953	286	9	ensure	ensure	VERB
ap-6953	286	10	the	the	DET
ap-6953	286	11	asymptotic	asymptotic	ADJ
ap-6953	286	12	stability	stability	NOUN
ap-6953	286	13	for	for	ADP
ap-6953	286	14	all	all	DET
ap-6953	286	15	the	the	DET
ap-6953	286	16	state	state	NOUN
ap-6953	286	17	variables	variable	NOUN
ap-6953	286	18	of	of	ADP
ap-6953	286	19	the	the	DET
ap-6953	286	20	system	system	NOUN
ap-6953	286	21	.	.	PUNCT
ap-6953	287	1	in	in	ADP
ap-6953	287	2	addition	addition	NOUN
ap-6953	287	3	,	,	PUNCT
ap-6953	287	4	from	from	ADP
ap-6953	287	5	figure	figure	NOUN
ap-6953	287	6	.	.	PUNCT
ap-6953	288	1	3a	3a	NUM
ap-6953	288	2	,	,	PUNCT
ap-6953	288	3	the	the	DET
ap-6953	288	4	plant	plant	NOUN
ap-6953	288	5	response	response	NOUN
ap-6953	288	6	presents	present	VERB
ap-6953	288	7	an	an	DET
ap-6953	288	8	oscillatory	oscillatory	ADJ
ap-6953	288	9	form	form	NOUN
ap-6953	288	10	for	for	ADP
ap-6953	288	11	the	the	DET
ap-6953	288	12	awsmc	awsmc	NOUN
ap-6953	288	13	strategy	strategy	NOUN
ap-6953	288	14	.	.	PUNCT
ap-6953	289	1	indeed	indeed	ADV
ap-6953	289	2	,	,	PUNCT
ap-6953	289	3	the	the	DET
ap-6953	289	4	adaptation	adaptation	NOUN
ap-6953	289	5	laws	law	NOUN
ap-6953	289	6	led	lead	VERB
ap-6953	289	7	to	to	ADP
ap-6953	289	8	a	a	DET
ap-6953	289	9	control	control	NOUN
ap-6953	289	10	input	input	NOUN
ap-6953	289	11	less	less	ADV
ap-6953	289	12	smooth	smooth	ADJ
ap-6953	289	13	than	than	ADP
ap-6953	289	14	the	the	DET
ap-6953	289	15	smc	smc	PROPN
ap-6953	289	16	method	method	NOUN
ap-6953	289	17	(	(	PUNCT
ap-6953	289	18	figure(3b	figure(3b	NOUN
ap-6953	289	19	)	)	PUNCT
ap-6953	289	20	)	)	PUNCT
ap-6953	289	21	.	.	PUNCT
ap-6953	290	1	regarding	regard	VERB
ap-6953	290	2	the	the	DET
ap-6953	290	3	effect	effect	NOUN
ap-6953	290	4	of	of	ADP
ap-6953	290	5	the	the	DET
ap-6953	290	6	disturbance	disturbance	NOUN
ap-6953	290	7	during	during	ADP
ap-6953	290	8	the	the	DET
ap-6953	290	9	time	time	NOUN
ap-6953	290	10	interval	interval	NOUN
ap-6953	290	11	[	[	X
ap-6953	290	12	6s	6s	NUM
ap-6953	290	13	,	,	PUNCT
ap-6953	290	14	8s	8s	NUM
ap-6953	290	15	]	]	PUNCT
ap-6953	290	16	,	,	PUNCT
ap-6953	290	17	it	it	PRON
ap-6953	290	18	is	be	AUX
ap-6953	290	19	clear	clear	ADJ
ap-6953	290	20	that	that	SCONJ
ap-6953	290	21	the	the	DET
ap-6953	290	22	impact	impact	NOUN
ap-6953	290	23	is	be	AUX
ap-6953	290	24	minimal	minimal	ADJ
ap-6953	290	25	on	on	ADP
ap-6953	290	26	the	the	DET
ap-6953	290	27	stability	stability	NOUN
ap-6953	290	28	and	and	CCONJ
ap-6953	290	29	convergence	convergence	NOUN
ap-6953	290	30	of	of	ADP
ap-6953	290	31	the	the	DET
ap-6953	290	32	angles	angle	NOUN
ap-6953	290	33	.	.	PUNCT
ap-6953	291	1	this	this	PRON
ap-6953	291	2	confirms	confirm	VERB
ap-6953	291	3	the	the	DET
ap-6953	291	4	robustness	robustness	NOUN
ap-6953	291	5	of	of	ADP
ap-6953	291	6	the	the	DET
ap-6953	291	7	proposed	propose	VERB
ap-6953	291	8	control	control	NOUN
ap-6953	291	9	strategies	strategy	NOUN
ap-6953	291	10	.	.	PUNCT
ap-6953	292	1	in	in	ADP
ap-6953	292	2	addition	addition	NOUN
ap-6953	292	3	,	,	PUNCT
ap-6953	292	4	it	it	PRON
ap-6953	292	5	is	be	AUX
ap-6953	292	6	important	important	ADJ
ap-6953	292	7	to	to	PART
ap-6953	292	8	mention	mention	VERB
ap-6953	292	9	that	that	SCONJ
ap-6953	292	10	the	the	DET
ap-6953	292	11	adaptive	adaptive	ADJ
ap-6953	292	12	controller	controller	NOUN
ap-6953	292	13	has	have	VERB
ap-6953	292	14	a	a	DET
ap-6953	292	15	shorter	short	ADJ
ap-6953	292	16	response	response	NOUN
ap-6953	292	17	time	time	NOUN
ap-6953	292	18	,	,	PUNCT
ap-6953	292	19	this	this	PRON
ap-6953	292	20	represents	represent	VERB
ap-6953	292	21	a	a	DET
ap-6953	292	22	50	50	NUM
ap-6953	292	23	%	%	NOUN
ap-6953	292	24	reduction	reduction	NOUN
ap-6953	292	25	as	as	SCONJ
ap-6953	292	26	compared	compare	VERB
ap-6953	292	27	to	to	ADP
ap-6953	292	28	the	the	DET
ap-6953	292	29	smc	smc	PROPN
ap-6953	292	30	.	.	PUNCT
ap-6953	293	1	moreover	moreover	ADV
ap-6953	293	2	,	,	PUNCT
ap-6953	293	3	it	it	PRON
ap-6953	293	4	is	be	AUX
ap-6953	293	5	worth	worth	ADJ
ap-6953	293	6	noticing	notice	VERB
ap-6953	293	7	that	that	SCONJ
ap-6953	293	8	the	the	DET
ap-6953	293	9	use	use	NOUN
ap-6953	293	10	of	of	ADP
ap-6953	293	11	the	the	DET
ap-6953	293	12	adaptive	adaptive	ADJ
ap-6953	293	13	controller	controller	NOUN
ap-6953	293	14	has	have	AUX
ap-6953	293	15	considerably	considerably	ADV
ap-6953	293	16	reduced	reduce	VERB
ap-6953	293	17	the	the	DET
ap-6953	293	18	chattering	chattering	NOUN
ap-6953	293	19	seen	see	VERB
ap-6953	293	20	in	in	ADP
ap-6953	293	21	the	the	DET
ap-6953	293	22	case	case	NOUN
ap-6953	293	23	of	of	ADP
ap-6953	293	24	the	the	DET
ap-6953	293	25	smc	smc	PROPN
ap-6953	293	26	.	.	PROPN
ap-6953	293	27	358	358	NUM
ap-6953	293	28	vol	vol	NOUN
ap-6953	293	29	.	.	PUNCT
ap-6953	294	1	61	61	NUM
ap-6953	294	2	no	no	NOUN
ap-6953	294	3	.	.	PUNCT
ap-6953	295	1	2/2021	2/2021	NUM
ap-6953	295	2	adaptive	adaptive	ADJ
ap-6953	295	3	wavelets	wavelet	NOUN
ap-6953	295	4	sliding	slide	VERB
ap-6953	295	5	mode	mode	NOUN
ap-6953	295	6	control	control	NOUN
ap-6953	295	7	.	.	PUNCT
ap-6953	295	8	.	.	PUNCT
ap-6953	296	1	.	.	PUNCT
ap-6953	297	1	0	0	NUM
ap-6953	297	2	2	2	NUM
ap-6953	297	3	4	4	NUM
ap-6953	297	4	6	6	NUM
ap-6953	297	5	8	8	NUM
ap-6953	297	6	10	10	NUM
ap-6953	297	7	-2	-2	NOUN
ap-6953	297	8	-1	-1	SYM
ap-6953	297	9	0	0	NUM
ap-6953	298	1	1	1	NUM
ap-6953	298	2	2	2	NUM
ap-6953	298	3	3	3	NUM
ap-6953	298	4	(	(	PUNCT
ap-6953	298	5	a	a	NOUN
ap-6953	298	6	)	)	PUNCT
ap-6953	298	7	0	0	NUM
ap-6953	298	8	2	2	NUM
ap-6953	298	9	4	4	NUM
ap-6953	298	10	6	6	NUM
ap-6953	298	11	8	8	NUM
ap-6953	298	12	10	10	NUM
ap-6953	298	13	-4	-4	INTJ
ap-6953	298	14	-3	-3	INTJ
ap-6953	298	15	-2	-2	INTJ
ap-6953	298	16	-1	-1	SYM
ap-6953	298	17	0	0	NUM
ap-6953	299	1	1	1	NUM
ap-6953	299	2	2	2	NUM
ap-6953	299	3	(	(	PUNCT
ap-6953	299	4	b	b	NOUN
ap-6953	299	5	)	)	PUNCT
ap-6953	299	6	figure	figure	NOUN
ap-6953	299	7	4	4	NUM
ap-6953	299	8	.	.	PUNCT
ap-6953	299	9	system	system	NOUN
ap-6953	299	10	response	response	NOUN
ap-6953	299	11	for	for	ADP
ap-6953	299	12	”	"	PUNCT
ap-6953	299	13	up−	up−	PUNCT
ap-6953	299	14	up	up	ADP
ap-6953	299	15	”	"	PUNCT
ap-6953	299	16	position	position	NOUN
ap-6953	299	17	(	(	PUNCT
ap-6953	299	18	π2	π2	X
ap-6953	299	19	,	,	PUNCT
ap-6953	299	20	0	0	NUM
ap-6953	299	21	,	,	PUNCT
ap-6953	299	22	0	0	NUM
ap-6953	299	23	,	,	PUNCT
ap-6953	299	24	0	0	NUM
ap-6953	299	25	)	)	PUNCT
ap-6953	299	26	;	;	PUNCT
ap-6953	299	27	including	include	VERB
ap-6953	299	28	disturbances	disturbance	NOUN
ap-6953	299	29	during	during	ADP
ap-6953	299	30	the	the	DET
ap-6953	299	31	time	time	NOUN
ap-6953	299	32	interval	interval	NOUN
ap-6953	299	33	[	[	X
ap-6953	299	34	6s	6s	NUM
ap-6953	299	35	,	,	PUNCT
ap-6953	299	36	8s	8s	X
ap-6953	299	37	]	]	PUNCT
ap-6953	299	38	:	:	PUNCT
ap-6953	299	39	(	(	PUNCT
ap-6953	299	40	a	a	X
ap-6953	299	41	)	)	PUNCT
ap-6953	299	42	angles	angle	NOUN
ap-6953	299	43	response	response	NOUN
ap-6953	299	44	,	,	PUNCT
ap-6953	299	45	(	(	PUNCT
ap-6953	299	46	b	b	X
ap-6953	299	47	)	)	PUNCT
ap-6953	299	48	control	control	NOUN
ap-6953	299	49	input	input	NOUN
ap-6953	299	50	.	.	PUNCT
ap-6953	300	1	0	0	NUM
ap-6953	300	2	2	2	NUM
ap-6953	300	3	4	4	NUM
ap-6953	300	4	6	6	NUM
ap-6953	300	5	8	8	NUM
ap-6953	300	6	10	10	NUM
ap-6953	300	7	-3	-3	INTJ
ap-6953	300	8	-2	-2	INTJ
ap-6953	301	1	-1	-1	SYM
ap-6953	301	2	0	0	NUM
ap-6953	302	1	1	1	NUM
ap-6953	302	2	2	2	NUM
ap-6953	302	3	3	3	NUM
ap-6953	302	4	(	(	PUNCT
ap-6953	302	5	a	a	X
ap-6953	302	6	)	)	PUNCT
ap-6953	302	7	6.5	6.5	NUM
ap-6953	302	8	7	7	NUM
ap-6953	302	9	7.5	7.5	NUM
ap-6953	302	10	-0.05	-0.05	NUM
ap-6953	302	11	0	0	NUM
ap-6953	302	12	0.05	0.05	NUM
ap-6953	302	13	0	0	NUM
ap-6953	302	14	2	2	NUM
ap-6953	302	15	4	4	NUM
ap-6953	302	16	6	6	NUM
ap-6953	302	17	8	8	NUM
ap-6953	302	18	10	10	NUM
ap-6953	302	19	-4	-4	INTJ
ap-6953	302	20	-2	-2	NOUN
ap-6953	302	21	0	0	NUM
ap-6953	302	22	2	2	NUM
ap-6953	302	23	4	4	NUM
ap-6953	302	24	6	6	NUM
ap-6953	302	25	(	(	PUNCT
ap-6953	302	26	b	b	NOUN
ap-6953	302	27	)	)	PUNCT
ap-6953	302	28	6.5	6.5	NUM
ap-6953	302	29	7	7	NUM
ap-6953	302	30	7.5	7.5	NUM
ap-6953	302	31	-0.05	-0.05	NUM
ap-6953	302	32	0	0	NUM
ap-6953	302	33	0.05	0.05	NUM
ap-6953	302	34	figure	figure	NOUN
ap-6953	302	35	5	5	NUM
ap-6953	302	36	.	.	PUNCT
ap-6953	302	37	error	error	NOUN
ap-6953	302	38	estimation	estimation	NOUN
ap-6953	302	39	ej	ej	X
ap-6953	302	40	;	;	PUNCT
ap-6953	302	41	including	include	VERB
ap-6953	302	42	disturbances	disturbance	NOUN
ap-6953	302	43	during	during	ADP
ap-6953	302	44	the	the	DET
ap-6953	302	45	time	time	NOUN
ap-6953	302	46	interval	interval	NOUN
ap-6953	302	47	[	[	X
ap-6953	302	48	6s	6s	NUM
ap-6953	302	49	,	,	PUNCT
ap-6953	302	50	8s	8s	NUM
ap-6953	302	51	]	]	X
ap-6953	302	52	:	:	PUNCT
ap-6953	302	53	(	(	PUNCT
ap-6953	302	54	a)”down	a)”down	PROPN
ap-6953	302	55	−	−	PROPN
ap-6953	302	56	up”position	up”position	NOUN
ap-6953	302	57	,	,	PUNCT
ap-6953	302	58	(	(	PUNCT
ap-6953	302	59	b)”up−	b)”up−	PUNCT
ap-6953	302	60	up	up	ADP
ap-6953	302	61	”	"	PUNCT
ap-6953	302	62	position	position	NOUN
ap-6953	302	63	.	.	PUNCT
ap-6953	303	1	finally	finally	ADV
ap-6953	303	2	,	,	PUNCT
ap-6953	303	3	in	in	ADP
ap-6953	303	4	figure	figure	NOUN
ap-6953	303	5	5	5	NUM
ap-6953	303	6	,	,	PUNCT
ap-6953	303	7	we	we	PRON
ap-6953	303	8	can	can	AUX
ap-6953	303	9	observe	observe	VERB
ap-6953	303	10	that	that	SCONJ
ap-6953	303	11	the	the	DET
ap-6953	303	12	approximation	approximation	NOUN
ap-6953	303	13	error	error	NOUN
ap-6953	303	14	tends	tend	VERB
ap-6953	303	15	to	to	ADP
ap-6953	303	16	zero	zero	NUM
ap-6953	303	17	even	even	ADV
ap-6953	303	18	during	during	ADP
ap-6953	303	19	the	the	DET
ap-6953	303	20	disturbance	disturbance	NOUN
ap-6953	303	21	effect	effect	NOUN
ap-6953	303	22	,	,	PUNCT
ap-6953	303	23	and	and	CCONJ
ap-6953	303	24	this	this	PRON
ap-6953	303	25	represents	represent	VERB
ap-6953	303	26	an	an	DET
ap-6953	303	27	additional	additional	ADJ
ap-6953	303	28	positive	positive	ADJ
ap-6953	303	29	point	point	NOUN
ap-6953	303	30	of	of	ADP
ap-6953	303	31	the	the	DET
ap-6953	303	32	proposed	propose	VERB
ap-6953	303	33	adaptation	adaptation	NOUN
ap-6953	303	34	law	law	NOUN
ap-6953	303	35	.	.	PUNCT
ap-6953	304	1	the	the	DET
ap-6953	304	2	same	same	ADJ
ap-6953	304	3	notes	note	NOUN
ap-6953	304	4	and	and	CCONJ
ap-6953	304	5	observations	observation	NOUN
ap-6953	304	6	can	can	AUX
ap-6953	304	7	be	be	AUX
ap-6953	304	8	reported	report	VERB
ap-6953	304	9	for	for	ADP
ap-6953	304	10	the	the	DET
ap-6953	304	11	second	second	ADJ
ap-6953	304	12	case	case	NOUN
ap-6953	304	13	related	relate	VERB
ap-6953	304	14	to	to	ADP
ap-6953	304	15	the	the	DET
ap-6953	304	16	up	up	ADP
ap-6953	304	17	-	-	PUNCT
ap-6953	304	18	up	up	ADP
ap-6953	304	19	position	position	NOUN
ap-6953	304	20	,	,	PUNCT
ap-6953	304	21	see	see	VERB
ap-6953	304	22	figure	figure	NOUN
ap-6953	304	23	4(a	4(a	NUM
ap-6953	304	24	)	)	PUNCT
ap-6953	304	25	and	and	CCONJ
ap-6953	304	26	figure	figure	VERB
ap-6953	304	27	4(b	4(b	NUM
ap-6953	304	28	)	)	PUNCT
ap-6953	304	29	.	.	PUNCT
ap-6953	305	1	for	for	ADP
ap-6953	305	2	the	the	DET
ap-6953	305	3	second	second	ADJ
ap-6953	305	4	scenario	scenario	NOUN
ap-6953	305	5	,	,	PUNCT
ap-6953	305	6	we	we	PRON
ap-6953	305	7	introduced	introduce	VERB
ap-6953	305	8	noisy	noisy	ADJ
ap-6953	305	9	measurements	measurement	NOUN
ap-6953	305	10	for	for	ADP
ap-6953	305	11	all	all	DET
ap-6953	305	12	the	the	DET
ap-6953	305	13	states	state	NOUN
ap-6953	305	14	.	.	PUNCT
ap-6953	306	1	the	the	DET
ap-6953	306	2	noise	noise	NOUN
ap-6953	306	3	is	be	AUX
ap-6953	306	4	a	a	DET
ap-6953	306	5	periodic	periodic	ADJ
ap-6953	306	6	non	non	ADJ
ap-6953	306	7	-	-	ADJ
ap-6953	306	8	smooth	smooth	ADJ
ap-6953	306	9	function	function	NOUN
ap-6953	306	10	with	with	ADP
ap-6953	306	11	a	a	DET
ap-6953	306	12	nonzero	nonzero	ADJ
ap-6953	306	13	average	average	NOUN
ap-6953	306	14	representing	represent	VERB
ap-6953	306	15	10	10	NUM
ap-6953	306	16	%	%	NOUN
ap-6953	306	17	of	of	ADP
ap-6953	306	18	the	the	DET
ap-6953	306	19	measured	measure	VERB
ap-6953	306	20	signal	signal	NOUN
ap-6953	306	21	.	.	PUNCT
ap-6953	307	1	the	the	DET
ap-6953	307	2	results	result	NOUN
ap-6953	307	3	obtained	obtain	VERB
ap-6953	307	4	359	359	NUM
ap-6953	307	5	f.	f.	PROPN
ap-6953	307	6	nafa	nafa	PROPN
ap-6953	307	7	,	,	PUNCT
ap-6953	307	8	a.	a.	NOUN
ap-6953	307	9	boudouda	boudouda	PROPN
ap-6953	307	10	,	,	PUNCT
ap-6953	307	11	b.	b.	PROPN
ap-6953	307	12	smaani	smaani	PROPN
ap-6953	307	13	acta	acta	PROPN
ap-6953	307	14	polytechnica	polytechnica	PROPN
ap-6953	307	15	0	0	NUM
ap-6953	307	16	2	2	NUM
ap-6953	307	17	4	4	NUM
ap-6953	307	18	6	6	NUM
ap-6953	307	19	8	8	NUM
ap-6953	307	20	10	10	NUM
ap-6953	307	21	-2	-2	NOUN
ap-6953	307	22	-1	-1	SYM
ap-6953	307	23	0	0	NUM
ap-6953	307	24	1	1	NUM
ap-6953	307	25	2	2	NUM
ap-6953	307	26	3	3	NUM
ap-6953	307	27	4	4	NUM
ap-6953	307	28	5	5	NUM
ap-6953	307	29	(	(	PUNCT
ap-6953	307	30	a	a	NOUN
ap-6953	307	31	)	)	PUNCT
ap-6953	307	32	0	0	NUM
ap-6953	307	33	2	2	NUM
ap-6953	307	34	4	4	NUM
ap-6953	307	35	6	6	NUM
ap-6953	307	36	8	8	NUM
ap-6953	307	37	10	10	NUM
ap-6953	307	38	-4	-4	INTJ
ap-6953	307	39	-3	-3	INTJ
ap-6953	307	40	-2	-2	INTJ
ap-6953	308	1	-1	-1	SYM
ap-6953	308	2	0	0	NUM
ap-6953	309	1	1	1	NUM
ap-6953	309	2	2	2	NUM
ap-6953	309	3	(	(	PUNCT
ap-6953	309	4	b	b	NOUN
ap-6953	309	5	)	)	PUNCT
ap-6953	309	6	figure	figure	NOUN
ap-6953	309	7	6	6	NUM
ap-6953	309	8	.	.	PUNCT
ap-6953	310	1	system	system	NOUN
ap-6953	310	2	response	response	NOUN
ap-6953	310	3	for	for	ADP
ap-6953	310	4	”	"	PUNCT
ap-6953	310	5	down−	down−	VERB
ap-6953	310	6	up	up	ADP
ap-6953	310	7	”	"	PUNCT
ap-6953	310	8	position	position	NOUN
ap-6953	310	9	(	(	PUNCT
ap-6953	310	10	−π	−π	ADV
ap-6953	310	11	2	2	NUM
ap-6953	310	12	,	,	PUNCT
ap-6953	310	13	0	0	NUM
ap-6953	310	14	,	,	PUNCT
ap-6953	310	15	π	π	PROPN
ap-6953	310	16	,	,	PUNCT
ap-6953	310	17	0	0	NUM
ap-6953	310	18	)	)	PUNCT
ap-6953	310	19	;	;	PUNCT
ap-6953	310	20	including	include	VERB
ap-6953	310	21	noisy	noisy	ADJ
ap-6953	310	22	measurements	measurement	NOUN
ap-6953	310	23	and	and	CCONJ
ap-6953	310	24	disturbances	disturbance	NOUN
ap-6953	310	25	:	:	PUNCT
ap-6953	310	26	(	(	PUNCT
ap-6953	310	27	a	a	X
ap-6953	310	28	)	)	PUNCT
ap-6953	310	29	angles	angle	NOUN
ap-6953	310	30	response	response	NOUN
ap-6953	310	31	,	,	PUNCT
ap-6953	310	32	(	(	PUNCT
ap-6953	310	33	b	b	X
ap-6953	310	34	)	)	PUNCT
ap-6953	310	35	control	control	NOUN
ap-6953	310	36	input	input	NOUN
ap-6953	310	37	for	for	ADP
ap-6953	310	38	the	the	DET
ap-6953	310	39	"	"	PUNCT
ap-6953	310	40	down	down	ADP
ap-6953	310	41	-	-	PUNCT
ap-6953	310	42	up	up	ADP
ap-6953	310	43	"	"	PUNCT
ap-6953	310	44	position	position	NOUN
ap-6953	310	45	using	use	VERB
ap-6953	310	46	the	the	DET
ap-6953	310	47	awsmc	awsmc	NOUN
ap-6953	310	48	are	be	AUX
ap-6953	310	49	demonstrated	demonstrate	VERB
ap-6953	310	50	in	in	ADP
ap-6953	310	51	figure	figure	NOUN
ap-6953	310	52	6	6	NUM
ap-6953	310	53	.	.	PUNCT
ap-6953	311	1	the	the	DET
ap-6953	311	2	performances	performance	NOUN
ap-6953	311	3	do	do	AUX
ap-6953	311	4	not	not	PART
ap-6953	311	5	change	change	VERB
ap-6953	311	6	significantly	significantly	ADV
ap-6953	311	7	,	,	PUNCT
ap-6953	311	8	even	even	ADV
ap-6953	311	9	if	if	SCONJ
ap-6953	311	10	the	the	DET
ap-6953	311	11	frequency	frequency	NOUN
ap-6953	311	12	of	of	ADP
ap-6953	311	13	the	the	DET
ap-6953	311	14	noise	noise	NOUN
ap-6953	311	15	varies	vary	VERB
ap-6953	311	16	from	from	ADP
ap-6953	311	17	500s	500s	PROPN
ap-6953	311	18	to	to	ADP
ap-6953	311	19	100000s	100000s	NUM
ap-6953	311	20	.	.	PUNCT
ap-6953	312	1	the	the	DET
ap-6953	312	2	controller	controller	NOUN
ap-6953	312	3	signal	signal	NOUN
ap-6953	312	4	shown	show	VERB
ap-6953	312	5	in	in	ADP
ap-6953	312	6	figure	figure	NOUN
ap-6953	312	7	6(b	6(b	NUM
ap-6953	312	8	)	)	PUNCT
ap-6953	312	9	seems	seem	VERB
ap-6953	312	10	to	to	PART
ap-6953	312	11	be	be	AUX
ap-6953	312	12	less	less	ADV
ap-6953	312	13	smooth	smooth	ADJ
ap-6953	312	14	than	than	ADP
ap-6953	312	15	the	the	DET
ap-6953	312	16	first	first	ADJ
ap-6953	312	17	scenario	scenario	NOUN
ap-6953	312	18	but	but	CCONJ
ap-6953	312	19	tends	tend	VERB
ap-6953	312	20	to	to	ADP
ap-6953	312	21	a	a	DET
ap-6953	312	22	steady	steady	ADJ
ap-6953	312	23	smooth	smooth	ADJ
ap-6953	312	24	form	form	NOUN
ap-6953	312	25	.	.	PUNCT
ap-6953	313	1	this	this	PRON
ap-6953	313	2	is	be	AUX
ap-6953	313	3	due	due	ADJ
ap-6953	313	4	to	to	ADP
ap-6953	313	5	the	the	DET
ap-6953	313	6	variation	variation	NOUN
ap-6953	313	7	of	of	ADP
ap-6953	313	8	the	the	DET
ap-6953	313	9	measured	measure	VERB
ap-6953	313	10	signal	signal	NOUN
ap-6953	313	11	.	.	PUNCT
ap-6953	314	1	for	for	ADP
ap-6953	314	2	both	both	DET
ap-6953	314	3	cases	case	NOUN
ap-6953	314	4	,	,	PUNCT
ap-6953	314	5	we	we	PRON
ap-6953	314	6	can	can	AUX
ap-6953	314	7	see	see	VERB
ap-6953	314	8	that	that	SCONJ
ap-6953	314	9	the	the	DET
ap-6953	314	10	smc	smc	PROPN
ap-6953	314	11	controller	controller	NOUN
ap-6953	314	12	presents	present	VERB
ap-6953	314	13	some	some	DET
ap-6953	314	14	low	low	ADJ
ap-6953	314	15	frequency	frequency	NOUN
ap-6953	314	16	chattering	chatter	VERB
ap-6953	314	17	while	while	SCONJ
ap-6953	314	18	this	this	DET
ap-6953	314	19	effect	effect	NOUN
ap-6953	314	20	is	be	AUX
ap-6953	314	21	reduced	reduce	VERB
ap-6953	314	22	in	in	ADP
ap-6953	314	23	the	the	DET
ap-6953	314	24	case	case	NOUN
ap-6953	314	25	of	of	ADP
ap-6953	314	26	the	the	DET
ap-6953	314	27	awsmc	awsmc	NOUN
ap-6953	314	28	.	.	PUNCT
ap-6953	315	1	this	this	PRON
ap-6953	315	2	proves	prove	VERB
ap-6953	315	3	another	another	DET
ap-6953	315	4	advantage	advantage	NOUN
ap-6953	315	5	of	of	ADP
ap-6953	315	6	using	use	VERB
ap-6953	315	7	adaptive	adaptive	ADJ
ap-6953	315	8	combinations	combination	NOUN
ap-6953	315	9	between	between	ADP
ap-6953	315	10	the	the	DET
ap-6953	315	11	smc	smc	PROPN
ap-6953	315	12	and	and	CCONJ
ap-6953	315	13	intelligent	intelligent	ADJ
ap-6953	315	14	approximation	approximation	NOUN
ap-6953	315	15	algorithms	algorithm	NOUN
ap-6953	315	16	.	.	PUNCT
ap-6953	316	1	6	6	X
ap-6953	316	2	.	.	X
ap-6953	316	3	conclusion	conclusion	NOUN
ap-6953	316	4	and	and	CCONJ
ap-6953	316	5	outlook	outlook	NOUN
ap-6953	316	6	in	in	ADP
ap-6953	316	7	this	this	DET
ap-6953	316	8	paper	paper	NOUN
ap-6953	316	9	,	,	PUNCT
ap-6953	316	10	we	we	PRON
ap-6953	316	11	have	have	AUX
ap-6953	316	12	developed	develop	VERB
ap-6953	316	13	an	an	DET
ap-6953	316	14	adaptive	adaptive	ADJ
ap-6953	316	15	control	control	NOUN
ap-6953	316	16	strategy	strategy	NOUN
ap-6953	316	17	for	for	ADP
ap-6953	316	18	a	a	DET
ap-6953	316	19	class	class	NOUN
ap-6953	316	20	of	of	ADP
ap-6953	316	21	second	second	ADJ
ap-6953	316	22	-	-	PUNCT
ap-6953	316	23	order	order	NOUN
ap-6953	316	24	ums	ums	NOUN
ap-6953	316	25	with	with	ADP
ap-6953	316	26	two	two	NUM
ap-6953	316	27	degrees	degree	NOUN
ap-6953	316	28	of	of	ADP
ap-6953	316	29	freedom	freedom	NOUN
ap-6953	316	30	(	(	PUNCT
ap-6953	316	31	dof	dof	NOUN
ap-6953	316	32	)	)	PUNCT
ap-6953	316	33	.	.	PUNCT
ap-6953	317	1	the	the	DET
ap-6953	317	2	proposed	propose	VERB
ap-6953	317	3	algorithm	algorithm	NOUN
ap-6953	317	4	is	be	AUX
ap-6953	317	5	based	base	VERB
ap-6953	317	6	on	on	ADP
ap-6953	317	7	a	a	DET
ap-6953	317	8	wavelets	wavelet	NOUN
ap-6953	317	9	network	network	NOUN
ap-6953	317	10	(	(	PUNCT
ap-6953	317	11	wn	wn	PROPN
ap-6953	317	12	)	)	PUNCT
ap-6953	317	13	and	and	CCONJ
ap-6953	317	14	sliding	slide	VERB
ap-6953	317	15	mode	mode	NOUN
ap-6953	317	16	control	control	NOUN
ap-6953	317	17	(	(	PUNCT
ap-6953	317	18	smc	smc	PROPN
ap-6953	317	19	)	)	PUNCT
ap-6953	317	20	.	.	PUNCT
ap-6953	318	1	in	in	ADP
ap-6953	318	2	first	first	ADJ
ap-6953	318	3	stage	stage	NOUN
ap-6953	318	4	,	,	PUNCT
ap-6953	318	5	we	we	PRON
ap-6953	318	6	have	have	AUX
ap-6953	318	7	considered	consider	VERB
ap-6953	318	8	that	that	SCONJ
ap-6953	318	9	the	the	DET
ap-6953	318	10	system	system	NOUN
ap-6953	318	11	dynamics	dynamic	NOUN
ap-6953	318	12	are	be	AUX
ap-6953	318	13	well	well	ADV
ap-6953	318	14	modelled	model	VERB
ap-6953	318	15	and	and	CCONJ
ap-6953	318	16	we	we	PRON
ap-6953	318	17	have	have	AUX
ap-6953	318	18	presented	present	VERB
ap-6953	318	19	a	a	DET
ap-6953	318	20	new	new	ADJ
ap-6953	318	21	control	control	NOUN
ap-6953	318	22	algorithm	algorithm	NOUN
ap-6953	318	23	based	base	VERB
ap-6953	318	24	on	on	ADP
ap-6953	318	25	the	the	DET
ap-6953	318	26	smc	smc	PROPN
ap-6953	318	27	.	.	PUNCT
ap-6953	319	1	it	it	PRON
ap-6953	319	2	was	be	AUX
ap-6953	319	3	shown	show	VERB
ap-6953	319	4	that	that	SCONJ
ap-6953	319	5	the	the	DET
ap-6953	319	6	proposed	propose	VERB
ap-6953	319	7	approach	approach	NOUN
ap-6953	319	8	ensures	ensure	VERB
ap-6953	319	9	the	the	DET
ap-6953	319	10	asymptotic	asymptotic	ADJ
ap-6953	319	11	stability	stability	NOUN
ap-6953	319	12	and	and	CCONJ
ap-6953	319	13	the	the	DET
ap-6953	319	14	convergence	convergence	NOUN
ap-6953	319	15	of	of	ADP
ap-6953	319	16	the	the	DET
ap-6953	319	17	closed	closed	ADJ
ap-6953	319	18	-	-	PUNCT
ap-6953	319	19	loop	loop	NOUN
ap-6953	319	20	system	system	NOUN
ap-6953	319	21	.	.	PUNCT
ap-6953	320	1	for	for	ADP
ap-6953	320	2	solving	solve	VERB
ap-6953	320	3	a	a	DET
ap-6953	320	4	real	real	ADJ
ap-6953	320	5	case	case	NOUN
ap-6953	320	6	scenario	scenario	NOUN
ap-6953	320	7	,	,	PUNCT
ap-6953	320	8	where	where	SCONJ
ap-6953	320	9	the	the	DET
ap-6953	320	10	dynamics	dynamic	NOUN
ap-6953	320	11	present	present	VERB
ap-6953	320	12	uncertainties	uncertainty	NOUN
ap-6953	320	13	due	due	ADJ
ap-6953	320	14	to	to	ADP
ap-6953	320	15	unmodelled	unmodelled	ADJ
ap-6953	320	16	parameters	parameter	NOUN
ap-6953	320	17	,	,	PUNCT
ap-6953	320	18	we	we	PRON
ap-6953	320	19	have	have	AUX
ap-6953	320	20	designed	design	VERB
ap-6953	320	21	an	an	DET
ap-6953	320	22	adaptive	adaptive	ADJ
ap-6953	320	23	controller	controller	NOUN
ap-6953	320	24	that	that	PRON
ap-6953	320	25	uses	use	VERB
ap-6953	320	26	wavelets	wavelet	NOUN
ap-6953	320	27	network	network	NOUN
ap-6953	320	28	to	to	PART
ap-6953	320	29	approximate	approximate	VERB
ap-6953	320	30	an	an	DET
ap-6953	320	31	ideal	ideal	ADJ
ap-6953	320	32	smc	smc	PROPN
ap-6953	320	33	control	control	PROPN
ap-6953	320	34	law	law	PROPN
ap-6953	320	35	.	.	PUNCT
ap-6953	321	1	in	in	ADP
ap-6953	321	2	particular	particular	ADJ
ap-6953	321	3	,	,	PUNCT
ap-6953	321	4	the	the	DET
ap-6953	321	5	adaptation	adaptation	NOUN
ap-6953	321	6	laws	law	NOUN
ap-6953	321	7	have	have	AUX
ap-6953	321	8	been	be	AUX
ap-6953	321	9	extracted	extract	VERB
ap-6953	321	10	by	by	ADP
ap-6953	321	11	using	use	VERB
ap-6953	321	12	the	the	DET
ap-6953	321	13	gradient	gradient	ADJ
ap-6953	321	14	descent	descent	NOUN
ap-6953	321	15	method	method	NOUN
ap-6953	321	16	.	.	PUNCT
ap-6953	322	1	based	base	VERB
ap-6953	322	2	on	on	ADP
ap-6953	322	3	the	the	DET
ap-6953	322	4	lyapunov	lyapunov	ADJ
ap-6953	322	5	theory	theory	NOUN
ap-6953	322	6	,	,	PUNCT
ap-6953	322	7	we	we	PRON
ap-6953	322	8	proved	prove	VERB
ap-6953	322	9	that	that	SCONJ
ap-6953	322	10	the	the	DET
ap-6953	322	11	proposed	propose	VERB
ap-6953	322	12	control	control	NOUN
ap-6953	322	13	strategy	strategy	NOUN
ap-6953	322	14	guarantees	guarantee	VERB
ap-6953	322	15	the	the	DET
ap-6953	322	16	stability	stability	NOUN
ap-6953	322	17	and	and	CCONJ
ap-6953	322	18	the	the	DET
ap-6953	322	19	convergence	convergence	NOUN
ap-6953	322	20	of	of	ADP
ap-6953	322	21	the	the	DET
ap-6953	322	22	whole	whole	ADJ
ap-6953	322	23	system	system	NOUN
ap-6953	322	24	to	to	ADP
ap-6953	322	25	the	the	DET
ap-6953	322	26	desired	desire	VERB
ap-6953	322	27	values	value	NOUN
ap-6953	322	28	.	.	PUNCT
ap-6953	323	1	for	for	ADP
ap-6953	323	2	a	a	DET
ap-6953	323	3	numerical	numerical	ADJ
ap-6953	323	4	application	application	NOUN
ap-6953	323	5	,	,	PUNCT
ap-6953	323	6	we	we	PRON
ap-6953	323	7	have	have	AUX
ap-6953	323	8	taken	take	VERB
ap-6953	323	9	the	the	DET
ap-6953	323	10	pendubot	pendubot	NOUN
ap-6953	323	11	system	system	NOUN
ap-6953	323	12	as	as	ADP
ap-6953	323	13	an	an	DET
ap-6953	323	14	illustrative	illustrative	ADJ
ap-6953	323	15	example	example	NOUN
ap-6953	323	16	.	.	PUNCT
ap-6953	324	1	the	the	DET
ap-6953	324	2	obtained	obtain	VERB
ap-6953	324	3	results	result	NOUN
ap-6953	324	4	revealed	reveal	VERB
ap-6953	324	5	satisfactory	satisfactory	ADJ
ap-6953	324	6	performances	performance	NOUN
ap-6953	324	7	using	use	VERB
ap-6953	324	8	the	the	DET
ap-6953	324	9	smc	smc	PROPN
ap-6953	324	10	or	or	CCONJ
ap-6953	324	11	awsmc	awsmc	NOUN
ap-6953	324	12	strategies	strategy	NOUN
ap-6953	324	13	despite	despite	SCONJ
ap-6953	324	14	the	the	DET
ap-6953	324	15	lack	lack	NOUN
ap-6953	324	16	of	of	ADP
ap-6953	324	17	information	information	NOUN
ap-6953	324	18	about	about	ADP
ap-6953	324	19	the	the	DET
ap-6953	324	20	system	system	NOUN
ap-6953	324	21	.	.	PUNCT
ap-6953	325	1	with	with	ADP
ap-6953	325	2	respect	respect	NOUN
ap-6953	325	3	to	to	ADP
ap-6953	325	4	the	the	DET
ap-6953	325	5	results	result	NOUN
ap-6953	325	6	obtained	obtain	VERB
ap-6953	325	7	in	in	ADP
ap-6953	325	8	this	this	DET
ap-6953	325	9	work	work	NOUN
ap-6953	325	10	and	and	CCONJ
ap-6953	325	11	to	to	ADP
ap-6953	325	12	the	the	DET
ap-6953	325	13	existing	exist	VERB
ap-6953	325	14	literature	literature	NOUN
ap-6953	325	15	,	,	PUNCT
ap-6953	325	16	many	many	ADJ
ap-6953	325	17	future	future	ADJ
ap-6953	325	18	improvements	improvement	NOUN
ap-6953	325	19	can	can	AUX
ap-6953	325	20	be	be	AUX
ap-6953	325	21	implemented	implement	VERB
ap-6953	325	22	and	and	CCONJ
ap-6953	325	23	will	will	AUX
ap-6953	325	24	be	be	AUX
ap-6953	325	25	the	the	DET
ap-6953	325	26	scope	scope	NOUN
ap-6953	325	27	of	of	ADP
ap-6953	325	28	potential	potential	ADJ
ap-6953	325	29	works	work	NOUN
ap-6953	325	30	:	:	PUNCT
ap-6953	325	31	(	(	PUNCT
ap-6953	325	32	1	1	NUM
ap-6953	325	33	.	.	PUNCT
ap-6953	325	34	)	)	PUNCT
ap-6953	326	1	the	the	DET
ap-6953	326	2	generalization	generalization	NOUN
ap-6953	326	3	of	of	ADP
ap-6953	326	4	the	the	DET
ap-6953	326	5	proposed	propose	VERB
ap-6953	326	6	approach	approach	NOUN
ap-6953	326	7	for	for	ADP
ap-6953	326	8	the	the	DET
ap-6953	326	9	ums	ums	NOUN
ap-6953	326	10	with	with	ADP
ap-6953	326	11	a	a	DET
ap-6953	326	12	higher	high	ADJ
ap-6953	326	13	dof	dof	NOUN
ap-6953	326	14	.	.	PUNCT
ap-6953	327	1	(	(	PUNCT
ap-6953	327	2	2	2	NUM
ap-6953	327	3	.	.	PUNCT
ap-6953	327	4	)	)	PUNCT
ap-6953	327	5	to	to	PART
ap-6953	327	6	utilize	utilize	VERB
ap-6953	327	7	new	new	ADJ
ap-6953	327	8	intelligent	intelligent	ADJ
ap-6953	327	9	approximation	approximation	NOUN
ap-6953	327	10	technics	technic	NOUN
ap-6953	327	11	for	for	ADP
ap-6953	327	12	the	the	DET
ap-6953	327	13	ums	ums	PROPN
ap-6953	327	14	.	.	PUNCT
ap-6953	328	1	(	(	PUNCT
ap-6953	328	2	3	3	NUM
ap-6953	328	3	.	.	PUNCT
ap-6953	328	4	)	)	PUNCT
ap-6953	329	1	the	the	DET
ap-6953	329	2	use	use	NOUN
ap-6953	329	3	of	of	ADP
ap-6953	329	4	adaptive	adaptive	ADJ
ap-6953	329	5	higher	high	ADJ
ap-6953	329	6	-	-	PUNCT
ap-6953	329	7	order	order	NOUN
ap-6953	329	8	and	and	CCONJ
ap-6953	329	9	fractional	fractional	ADJ
ap-6953	329	10	sliding	slide	VERB
ap-6953	329	11	mode	mode	NOUN
ap-6953	329	12	controllers	controller	NOUN
ap-6953	329	13	.	.	PUNCT
ap-6953	330	1	references	reference	NOUN
ap-6953	330	2	[	[	X
ap-6953	330	3	1	1	NUM
ap-6953	330	4	]	]	PUNCT
ap-6953	330	5	x.	x.	NOUN
ap-6953	330	6	xin	xin	PROPN
ap-6953	330	7	,	,	PUNCT
ap-6953	330	8	y.	y.	PROPN
ap-6953	330	9	liu	liu	PROPN
ap-6953	330	10	.	.	PUNCT
ap-6953	331	1	control	control	PROPN
ap-6953	331	2	design	design	NOUN
ap-6953	331	3	and	and	CCONJ
ap-6953	331	4	analysis	analysis	NOUN
ap-6953	331	5	for	for	ADP
ap-6953	331	6	underactuated	underactuated	ADJ
ap-6953	331	7	robotic	robotic	ADJ
ap-6953	331	8	systems	system	NOUN
ap-6953	331	9	.	.	PUNCT
ap-6953	332	1	springer	springer	NOUN
ap-6953	332	2	-	-	PUNCT
ap-6953	332	3	verlag	verlag	PROPN
ap-6953	332	4	,	,	PUNCT
ap-6953	332	5	london	london	PROPN
ap-6953	332	6	,	,	PUNCT
ap-6953	332	7	uk	uk	PROPN
ap-6953	332	8	,	,	PUNCT
ap-6953	332	9	2014	2014	NUM
ap-6953	332	10	.	.	PUNCT
ap-6953	333	1	https://doi.org/10.1007/978-1-4471-6251-3	https://doi.org/10.1007/978-1-4471-6251-3	PROPN
ap-6953	333	2	.	.	PUNCT
ap-6953	334	1	360	360	NUM
ap-6953	334	2	https://doi.org/10.1007/978-1-4471-6251-3	https://doi.org/10.1007/978-1-4471-6251-3	PROPN
ap-6953	334	3	vol	vol	NOUN
ap-6953	334	4	.	.	PROPN
ap-6953	334	5	61	61	NUM
ap-6953	334	6	no	no	NOUN
ap-6953	334	7	.	.	PUNCT
ap-6953	335	1	2/2021	2/2021	NUM
ap-6953	335	2	adaptive	adaptive	ADJ
ap-6953	335	3	wavelets	wavelet	NOUN
ap-6953	335	4	sliding	slide	VERB
ap-6953	335	5	mode	mode	NOUN
ap-6953	335	6	control	control	NOUN
ap-6953	335	7	.	.	PUNCT
ap-6953	335	8	.	.	PUNCT
ap-6953	335	9	.	.	PUNCT
ap-6953	336	1	[	[	X
ap-6953	336	2	2	2	NUM
ap-6953	336	3	]	]	X
ap-6953	336	4	l.	l.	PROPN
ap-6953	336	5	birglen	birglen	PROPN
ap-6953	336	6	,	,	PUNCT
ap-6953	336	7	t.	t.	PROPN
ap-6953	336	8	laliberté	laliberté	PROPN
ap-6953	336	9	,	,	PUNCT
ap-6953	336	10	c.	c.	PROPN
ap-6953	336	11	m.	m.	PROPN
ap-6953	336	12	gosselin	gosselin	PROPN
ap-6953	336	13	.	.	PUNCT
ap-6953	337	1	underactuated	underactuated	ADJ
ap-6953	337	2	robotic	robotic	ADJ
ap-6953	337	3	hands	hand	NOUN
ap-6953	337	4	.	.	PUNCT
ap-6953	338	1	springer	springer	NOUN
ap-6953	338	2	-	-	PUNCT
ap-6953	338	3	verlag	verlag	PROPN
ap-6953	338	4	,	,	PUNCT
ap-6953	338	5	berlin	berlin	PROPN
ap-6953	338	6	,	,	PUNCT
ap-6953	338	7	germany	germany	PROPN
ap-6953	338	8	,	,	PUNCT
ap-6953	338	9	2008	2008	NUM
ap-6953	338	10	.	.	PUNCT
ap-6953	339	1	https://doi.org/10.1007/978-3-540-77459-4	https://doi.org/10.1007/978-3-540-77459-4	PROPN
ap-6953	339	2	.	.	PUNCT
ap-6953	340	1	[	[	X
ap-6953	340	2	3	3	X
ap-6953	340	3	]	]	X
ap-6953	340	4	p.	p.	PROPN
ap-6953	340	5	masarati	masarati	PROPN
ap-6953	340	6	,	,	PUNCT
ap-6953	340	7	m.	m.	NOUN
ap-6953	340	8	morandini	morandini	PROPN
ap-6953	340	9	,	,	PUNCT
ap-6953	340	10	a.	a.	NOUN
ap-6953	340	11	fumagalli	fumagalli	PROPN
ap-6953	340	12	.	.	PUNCT
ap-6953	341	1	control	control	NOUN
ap-6953	341	2	constraint	constraint	PROPN
ap-6953	341	3	of	of	ADP
ap-6953	341	4	underactuated	underactuated	ADJ
ap-6953	341	5	aerospace	aerospace	NOUN
ap-6953	341	6	systems	system	NOUN
ap-6953	341	7	.	.	PUNCT
ap-6953	342	1	journal	journal	NOUN
ap-6953	342	2	of	of	ADP
ap-6953	342	3	computational	computational	ADJ
ap-6953	342	4	and	and	CCONJ
ap-6953	342	5	nonlinear	nonlinear	ADJ
ap-6953	342	6	dynamics	dynamic	NOUN
ap-6953	342	7	9(2):395–401	9(2):395–401	NUM
ap-6953	342	8	,	,	PUNCT
ap-6953	342	9	2014	2014	NUM
ap-6953	342	10	.	.	PUNCT
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ap-6953	343	2	.	.	PUNCT
ap-6953	344	1	[	[	X
ap-6953	344	2	4	4	X
ap-6953	344	3	]	]	PUNCT
ap-6953	344	4	d.	d.	PROPN
ap-6953	344	5	k.	k.	PROPN
ap-6953	344	6	duc	duc	PROPN
ap-6953	344	7	,	,	PUNCT
ap-6953	344	8	j.	j.	PROPN
ap-6953	344	9	pan	pan	PROPN
ap-6953	344	10	.	.	PROPN
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ap-6953	344	12	of	of	ADP
ap-6953	344	13	ships	ship	NOUN
ap-6953	344	14	and	and	CCONJ
ap-6953	344	15	underwater	underwater	ADJ
ap-6953	344	16	vehicles	vehicle	NOUN
ap-6953	344	17	,	,	PUNCT
ap-6953	344	18	design	design	NOUN
ap-6953	344	19	for	for	ADP
ap-6953	344	20	underactuated	underactuated	ADJ
ap-6953	344	21	and	and	CCONJ
ap-6953	344	22	nonlinear	nonlinear	ADJ
ap-6953	344	23	marine	marine	ADJ
ap-6953	344	24	systems	system	NOUN
ap-6953	344	25	,	,	PUNCT
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ap-6953	344	27	in	in	ADP
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ap-6953	344	29	control	control	NOUN
ap-6953	344	30	.	.	PUNCT
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ap-6953	345	3	.	.	PUNCT
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ap-6953	346	2	-	-	PUNCT
ap-6953	346	3	verlag	verlag	PROPN
ap-6953	346	4	,	,	PUNCT
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ap-6953	346	6	,	,	PUNCT
ap-6953	346	7	2009	2009	NUM
ap-6953	346	8	.	.	PUNCT
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ap-6953	347	2	.	.	PUNCT
ap-6953	348	1	[	[	X
ap-6953	348	2	5	5	X
ap-6953	348	3	]	]	PUNCT
ap-6953	348	4	s.	s.	PROPN
ap-6953	348	5	krafes	krafes	PROPN
ap-6953	348	6	,	,	PUNCT
ap-6953	348	7	z.	z.	PROPN
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ap-6953	348	12	.	.	PUNCT
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ap-6953	349	3	the	the	DET
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ap-6953	349	5	of	of	ADP
ap-6953	349	6	second	second	ADJ
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ap-6953	350	3	.	.	PUNCT
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ap-6953	351	2	.	.	PUNCT
ap-6953	352	1	[	[	X
ap-6953	352	2	6	6	NUM
ap-6953	352	3	]	]	PUNCT
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ap-6953	352	5	yang	yang	PROPN
ap-6953	352	6	,	,	PUNCT
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ap-6953	352	8	hongnian	hongnian	PROPN
ap-6953	352	9	.	.	PUNCT
ap-6953	353	1	a	a	DET
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ap-6953	353	4	underactuated	underactuated	ADJ
ap-6953	353	5	mechanical	mechanical	ADJ
ap-6953	353	6	systems	system	NOUN
ap-6953	353	7	.	.	PUNCT
ap-6953	354	1	iet	iet	PROPN
ap-6953	354	2	control	control	PROPN
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ap-6953	354	4	7(7):921–935	7(7):921–935	NUM
ap-6953	354	5	,	,	PUNCT
ap-6953	354	6	2013	2013	NUM
ap-6953	354	7	.	.	PUNCT
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ap-6953	355	2	.	.	PUNCT
ap-6953	356	1	[	[	X
ap-6953	356	2	7	7	X
ap-6953	356	3	]	]	PUNCT
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ap-6953	356	5	reyhanoglu	reyhanoglu	PROPN
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ap-6953	356	7	a.	a.	NOUN
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ap-6953	356	15	.	.	PUNCT
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ap-6953	357	3	control	control	NOUN
ap-6953	357	4	of	of	ADP
ap-6953	357	5	a	a	DET
ap-6953	357	6	class	class	NOUN
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ap-6953	357	9	mechanical	mechanical	ADJ
ap-6953	357	10	systems	system	NOUN
ap-6953	357	11	.	.	PUNCT
ap-6953	358	1	ieee	ieee	NOUN
ap-6953	358	2	transaction	transaction	NOUN
ap-6953	358	3	on	on	ADP
ap-6953	358	4	automatic	automatic	ADJ
ap-6953	358	5	control	control	NOUN
ap-6953	358	6	44(9):1663–1671	44(9):1663–1671	NUM
ap-6953	358	7	,	,	PUNCT
ap-6953	358	8	1999	1999	NUM
ap-6953	358	9	.	.	PUNCT
ap-6953	359	1	https://doi.org/0.1109/9.788533	https://doi.org/0.1109/9.788533	PROPN
ap-6953	359	2	.	.	PUNCT
ap-6953	360	1	[	[	X
ap-6953	360	2	8	8	NUM
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ap-6953	360	5	huynh	huynh	PROPN
ap-6953	360	6	,	,	PUNCT
ap-6953	360	7	v.	v.	ADP
ap-6953	360	8	dat	dat	PROPN
ap-6953	360	9	,	,	PUNCT
ap-6953	360	10	t.	t.	NOUN
ap-6953	360	11	nguyen	nguyen	PROPN
ap-6953	360	12	.	.	PUNCT
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ap-6953	361	8	sliding	slide	VERB
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ap-6953	361	10	control	control	NOUN
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ap-6953	361	14	.	.	PUNCT
ap-6953	362	1	robotica	robotica	PROPN
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ap-6953	362	4	22(2):2–12	22(2):2–12	NUM
ap-6953	362	5	,	,	PUNCT
ap-6953	362	6	2017	2017	NUM
ap-6953	362	7	.	.	PUNCT
ap-6953	363	1	https://doi.org/10.1109/fuzz.2002.1005070	https://doi.org/10.1109/fuzz.2002.1005070	PROPN
ap-6953	363	2	.	.	PUNCT
ap-6953	364	1	[	[	X
ap-6953	364	2	9	9	NUM
ap-6953	364	3	]	]	PUNCT
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ap-6953	364	5	spong	spong	PROPN
ap-6953	364	6	.	.	PUNCT
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ap-6953	365	4	control	control	NOUN
ap-6953	365	5	and	and	CCONJ
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ap-6953	365	7	sciences	science	NOUN
ap-6953	365	8	.	.	PUNCT
ap-6953	366	1	in	in	ADP
ap-6953	366	2	control	control	NOUN
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ap-6953	366	4	in	in	ADP
ap-6953	366	5	robotics	robotic	NOUN
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ap-6953	366	8	,	,	PUNCT
ap-6953	366	9	chap	chap	PROPN
ap-6953	366	10	.	.	PUNCT
ap-6953	367	1	underactuated	underactuated	ADJ
ap-6953	367	2	mechanical	mechanical	ADJ
ap-6953	367	3	systems	system	NOUN
ap-6953	367	4	.	.	PUNCT
ap-6953	368	1	springer	springer	NOUN
ap-6953	368	2	,	,	PUNCT
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ap-6953	368	4	,	,	PUNCT
ap-6953	368	5	heidelberg	heidelberg	PROPN
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ap-6953	368	7	1998	1998	NUM
ap-6953	368	8	.	.	PUNCT
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ap-6953	369	2	.	.	PUNCT
ap-6953	370	1	[	[	X
ap-6953	370	2	10	10	NUM
ap-6953	370	3	]	]	PUNCT
ap-6953	370	4	x.	x.	PROPN
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ap-6953	370	6	,	,	PUNCT
ap-6953	370	7	a.	a.	NOUN
ap-6953	370	8	ralescu	ralescu	NOUN
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ap-6953	370	10	h.	h.	PROPN
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ap-6953	371	1	a	a	DET
ap-6953	371	2	survey	survey	NOUN
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ap-6953	371	4	the	the	DET
ap-6953	371	5	application	application	NOUN
ap-6953	371	6	of	of	ADP
ap-6953	371	7	fuzzy	fuzzy	ADJ
ap-6953	371	8	systems	system	NOUN
ap-6953	371	9	for	for	ADP
ap-6953	371	10	underactuated	underactuated	ADJ
ap-6953	371	11	systems	system	NOUN
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ap-6953	372	7	233(3):217–244	233(3):217–244	NUM
ap-6953	372	8	,	,	PUNCT
ap-6953	372	9	2018	2018	NUM
ap-6953	372	10	.	.	PUNCT
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ap-6953	373	2	.	.	PUNCT
ap-6953	374	1	[	[	X
ap-6953	374	2	11	11	NUM
ap-6953	374	3	]	]	PUNCT
ap-6953	374	4	m.	m.	NOUN
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ap-6953	374	6	,	,	PUNCT
ap-6953	374	7	m.	m.	NOUN
ap-6953	374	8	reyhanoglu	reyhanoglu	PROPN
ap-6953	374	9	.	.	PUNCT
ap-6953	375	1	control	control	NOUN
ap-6953	375	2	of	of	ADP
ap-6953	375	3	rolling	rolling	ADJ
ap-6953	375	4	disk	disk	NOUN
ap-6953	375	5	motion	motion	NOUN
ap-6953	375	6	on	on	ADP
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ap-6953	375	9	smooth	smooth	ADJ
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ap-6953	376	6	,	,	PUNCT
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ap-6953	376	8	.	.	PUNCT
ap-6953	377	1	https://doi.org/10.1109/lcsys.2018.2838528	https://doi.org/10.1109/lcsys.2018.2838528	PROPN
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ap-6953	378	1	[	[	X
ap-6953	378	2	12	12	NUM
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ap-6953	380	5	cham	cham	PROPN
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ap-6953	380	8	,	,	PUNCT
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ap-6953	382	2	13	13	NUM
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ap-6953	383	9	pendulum	pendulum	NOUN
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ap-6953	384	8	simulation	simulation	PROPN
ap-6953	384	9	19(3	19(3	PROPN
ap-6953	384	10	-	-	SYM
ap-6953	384	11	4):379–389	4):379–389	NUM
ap-6953	384	12	,	,	PUNCT
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ap-6953	384	14	.	.	PUNCT
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ap-6953	386	1	[	[	X
ap-6953	386	2	14	14	NUM
ap-6953	386	3	]	]	PUNCT
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ap-6953	387	14	-	-	ADJ
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ap-6953	387	18	approaches	approach	NOUN
ap-6953	387	19	.	.	PUNCT
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ap-6953	388	2	journal	journal	PROPN
ap-6953	388	3	on	on	ADP
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ap-6953	388	12	.	.	PUNCT
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ap-6953	389	2	.	.	PUNCT
ap-6953	390	1	[	[	X
ap-6953	390	2	15	15	NUM
ap-6953	390	3	]	]	X
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ap-6953	390	5	-	-	PUNCT
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ap-6953	390	10	-	-	PUNCT
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ap-6953	391	2	feedback	feedback	NOUN
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ap-6953	391	4	-	-	PUNCT
ap-6953	391	5	based	base	VERB
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ap-6953	391	12	the	the	DET
ap-6953	391	13	furuta	furuta	PROPN
ap-6953	391	14	pendulum	pendulum	NOUN
ap-6953	391	15	.	.	PUNCT
ap-6953	392	1	ieee	ieee	PROPN
ap-6953	392	2	/	/	SYM
ap-6953	392	3	asme	asme	PROPN
ap-6953	392	4	transactions	transaction	NOUN
ap-6953	392	5	on	on	ADP
ap-6953	392	6	mechatronics	mechatronic	NOUN
ap-6953	392	7	21(2):638	21(2):638	PROPN
ap-6953	392	8	–	–	PUNCT
ap-6953	392	9	648	648	NUM
ap-6953	392	10	,	,	PUNCT
ap-6953	392	11	2016	2016	NUM
ap-6953	392	12	.	.	PUNCT
ap-6953	393	1	https://doi.org/10.1109/tmech.2015.2485942	https://doi.org/10.1109/tmech.2015.2485942	PROPN
ap-6953	393	2	.	.	PUNCT
ap-6953	394	1	[	[	X
ap-6953	394	2	16	16	NUM
ap-6953	394	3	]	]	PUNCT
ap-6953	394	4	t.	t.	PROPN
ap-6953	394	5	taniguchi	taniguchi	PROPN
ap-6953	394	6	,	,	PUNCT
ap-6953	394	7	m.	m.	NOUN
ap-6953	394	8	sugeno	sugeno	PROPN
ap-6953	394	9	.	.	PUNCT
ap-6953	395	1	piecewisemulti	piecewisemulti	PROPN
ap-6953	395	2	-	-	ADJ
ap-6953	395	3	linear	linear	ADJ
ap-6953	395	4	model	model	NOUN
ap-6953	395	5	based	base	VERB
ap-6953	395	6	control	control	NOUN
ap-6953	395	7	for	for	ADP
ap-6953	395	8	tora	tora	PROPN
ap-6953	395	9	system	system	NOUN
ap-6953	395	10	via	via	ADP
ap-6953	395	11	feedback	feedback	NOUN
ap-6953	395	12	linearization	linearization	NOUN
ap-6953	395	13	.	.	PUNCT
ap-6953	396	1	proceedings	proceeding	NOUN
ap-6953	396	2	of	of	ADP
ap-6953	396	3	the	the	DET
ap-6953	396	4	international	international	ADJ
ap-6953	396	5	multiconference	multiconference	NOUN
ap-6953	396	6	of	of	ADP
ap-6953	396	7	engineers	engineer	NOUN
ap-6953	396	8	and	and	CCONJ
ap-6953	396	9	computer	computer	NOUN
ap-6953	396	10	scientists	scientist	NOUN
ap-6953	396	11	2018	2018	NUM
ap-6953	396	12	.	.	PUNCT
ap-6953	397	1	[	[	X
ap-6953	397	2	17	17	NUM
ap-6953	397	3	]	]	X
ap-6953	397	4	r.	r.	PROPN
ap-6953	397	5	chanchareon	chanchareon	PROPN
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ap-6953	397	7	v.	v.	PROPN
ap-6953	397	8	sangveraphunsiri	sangveraphunsiri	PROPN
ap-6953	397	9	,	,	PUNCT
ap-6953	397	10	s.	s.	PROPN
ap-6953	397	11	chantranuwathana	chantranuwathana	PROPN
ap-6953	397	12	.	.	PUNCT
ap-6953	398	1	tracking	track	VERB
ap-6953	398	2	control	control	NOUN
ap-6953	398	3	of	of	ADP
ap-6953	398	4	an	an	DET
ap-6953	398	5	inverted	inverted	ADJ
ap-6953	398	6	pendulum	pendulum	NOUN
ap-6953	398	7	using	use	VERB
ap-6953	398	8	computed	compute	VERB
ap-6953	398	9	feedback	feedback	NOUN
ap-6953	398	10	linearization	linearization	NOUN
ap-6953	398	11	technique	technique	NOUN
ap-6953	398	12	.	.	PUNCT
ap-6953	399	1	ieee	ieee	PROPN
ap-6953	399	2	international	international	PROPN
ap-6953	399	3	conference	conference	NOUN
ap-6953	399	4	on	on	ADP
ap-6953	399	5	robotics	robotic	NOUN
ap-6953	399	6	,	,	PUNCT
ap-6953	399	7	automation	automation	NOUN
ap-6953	399	8	and	and	CCONJ
ap-6953	399	9	mechatronics	mechatronic	NOUN
ap-6953	399	10	2006	2006	NUM
ap-6953	399	11	.	.	PUNCT
ap-6953	400	1	https://doi.org/10.1109/ramech.2006.252680	https://doi.org/10.1109/ramech.2006.252680	PROPN
ap-6953	400	2	.	.	PUNCT
ap-6953	401	1	[	[	X
ap-6953	401	2	18	18	NUM
ap-6953	401	3	]	]	PUNCT
ap-6953	401	4	l.	l.	PROPN
ap-6953	401	5	hsu	hsu	PROPN
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ap-6953	401	7	t.	t.	PROPN
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ap-6953	401	9	,	,	PUNCT
ap-6953	401	10	j.	j.	PROPN
ap-6953	401	11	cunha	cunha	PROPN
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ap-6953	401	13	l.	l.	PROPN
ap-6953	401	14	yan	yan	PROPN
ap-6953	401	15	.	.	PUNCT
ap-6953	402	1	adaptive	adaptive	PROPN
ap-6953	402	2	unit	unit	NOUN
ap-6953	402	3	vector	vector	NOUN
ap-6953	402	4	control	control	NOUN
ap-6953	402	5	of	of	ADP
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ap-6953	402	7	systems	system	NOUN
ap-6953	402	8	using	use	VERB
ap-6953	402	9	monitoring	monitoring	NOUN
ap-6953	402	10	functions	function	NOUN
ap-6953	402	11	.	.	PUNCT
ap-6953	403	1	international	international	ADJ
ap-6953	403	2	journal	journal	NOUN
ap-6953	403	3	of	of	ADP
ap-6953	403	4	robust	robust	ADJ
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ap-6953	403	6	nonlinear	nonlinear	ADJ
ap-6953	403	7	control	control	NOUN
ap-6953	403	8	29(3):583–600	29(3):583–600	PROPN
ap-6953	403	9	,	,	PUNCT
ap-6953	403	10	2019	2019	NUM
ap-6953	403	11	.	.	PUNCT
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ap-6953	404	2	.	.	PUNCT
ap-6953	405	1	[	[	X
ap-6953	405	2	19	19	NUM
ap-6953	405	3	]	]	X
ap-6953	405	4	t.	t.	PROPN
ap-6953	405	5	oliveira	oliveira	PROPN
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ap-6953	405	8	cunha	cunha	PROPN
ap-6953	405	9	,	,	PUNCT
ap-6953	405	10	l.	l.	PROPN
ap-6953	405	11	hsu	hsu	PROPN
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ap-6953	406	1	li	li	PROPN
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ap-6953	406	8	l.	l.	PROPN
ap-6953	406	9	,	,	PUNCT
ap-6953	406	10	man	man	PROPN
ap-6953	406	11	z.	z.	PROPN
ap-6953	406	12	,	,	PUNCT
ap-6953	406	13	wang	wang	PROPN
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ap-6953	407	9	mode	mode	NOUN
ap-6953	407	10	control	control	NOUN
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ap-6953	407	15	.	.	PUNCT
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ap-6953	408	8	,	,	PUNCT
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ap-6953	409	3	mode	mode	NOUN
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ap-6953	409	5	based	base	VERB
ap-6953	409	6	on	on	ADP
ap-6953	409	7	the	the	DET
ap-6953	409	8	extended	extended	ADJ
ap-6953	409	9	equivalent	equivalent	ADJ
ap-6953	409	10	control	control	NOUN
ap-6953	409	11	concept	concept	NOUN
ap-6953	409	12	for	for	ADP
ap-6953	409	13	disturbances	disturbance	NOUN
ap-6953	409	14	with	with	ADP
ap-6953	409	15	unknown	unknown	ADJ
ap-6953	409	16	bounds	bound	NOUN
ap-6953	409	17	.	.	PUNCT
ap-6953	410	1	springer	springer	NOUN
ap-6953	410	2	,	,	PUNCT
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ap-6953	410	5	2018	2018	NUM
ap-6953	410	6	.	.	PUNCT
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ap-6953	411	2	.	.	PUNCT
ap-6953	412	1	[	[	X
ap-6953	412	2	20	20	NUM
ap-6953	412	3	]	]	X
ap-6953	412	4	c.	c.	PROPN
ap-6953	412	5	edwards	edwards	PROPN
ap-6953	412	6	,	,	PUNCT
ap-6953	412	7	s.	s.	PROPN
ap-6953	412	8	spurgeon	spurgeon	PROPN
ap-6953	412	9	.	.	PUNCT
ap-6953	413	1	sliding	slide	VERB
ap-6953	413	2	mode	mode	NOUN
ap-6953	413	3	control	control	NOUN
ap-6953	413	4	:	:	PUNCT
ap-6953	413	5	theory	theory	NOUN
ap-6953	413	6	and	and	CCONJ
ap-6953	413	7	applications	application	NOUN
ap-6953	413	8	.	.	PUNCT
ap-6953	414	1	taylor	taylor	PROPN
ap-6953	414	2	and	and	CCONJ
ap-6953	414	3	francis	francis	PROPN
ap-6953	414	4	,	,	PUNCT
ap-6953	414	5	london	london	PROPN
ap-6953	414	6	,	,	PUNCT
ap-6953	414	7	uk	uk	PROPN
ap-6953	414	8	,	,	PUNCT
ap-6953	414	9	1998	1998	NUM
ap-6953	414	10	.	.	PUNCT
ap-6953	415	1	[	[	X
ap-6953	415	2	21	21	NUM
ap-6953	415	3	]	]	PUNCT
ap-6953	415	4	j.-x	j.-x	NOUN
ap-6953	415	5	.	.	PUNCT
ap-6953	416	1	xu	xu	PROPN
ap-6953	416	2	,	,	PUNCT
ap-6953	416	3	z.-q	z.-q	PROPN
ap-6953	416	4	.	.	PUNCT
ap-6953	417	1	guo	guo	PROPN
ap-6953	417	2	,	,	PUNCT
ap-6953	417	3	t.	t.	PROPN
ap-6953	417	4	lee	lee	PROPN
ap-6953	417	5	.	.	PUNCT
ap-6953	418	1	a	a	DET
ap-6953	418	2	synthesized	synthesize	VERB
ap-6953	418	3	integral	integral	ADJ
ap-6953	418	4	sliding	slide	VERB
ap-6953	418	5	mode	mode	NOUN
ap-6953	418	6	controller	controller	NOUN
ap-6953	418	7	for	for	ADP
ap-6953	418	8	an	an	DET
ap-6953	418	9	underactuated	underactuated	ADJ
ap-6953	418	10	unicycle	unicycle	NOUN
ap-6953	418	11	.	.	PUNCT
ap-6953	419	1	11th	11th	ADJ
ap-6953	419	2	international	international	ADJ
ap-6953	419	3	workshop	workshop	NOUN
ap-6953	419	4	on	on	ADP
ap-6953	419	5	variable	variable	ADJ
ap-6953	419	6	structure	structure	NOUN
ap-6953	419	7	systems	system	NOUN
ap-6953	419	8	(	(	PUNCT
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ap-6953	419	11	,	,	PUNCT
ap-6953	419	12	2010	2010	NUM
ap-6953	419	13	pp	pp	NOUN
ap-6953	419	14	.	.	PUNCT
ap-6953	420	1	352–357	352–357	NUM
ap-6953	420	2	,	,	PUNCT
ap-6953	420	3	2010	2010	NUM
ap-6953	420	4	.	.	PUNCT
ap-6953	421	1	https://doi.org/10.1109/vss.2010.5545132	https://doi.org/10.1109/vss.2010.5545132	X
ap-6953	421	2	.	.	PUNCT
ap-6953	422	1	[	[	X
ap-6953	422	2	22	22	NUM
ap-6953	422	3	]	]	PUNCT
ap-6953	422	4	i.	i.	NOUN
ap-6953	422	5	shah	shah	PROPN
ap-6953	422	6	,	,	PUNCT
ap-6953	422	7	f.	f.	PROPN
ap-6953	422	8	ur	ur	PROPN
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ap-6953	422	10	.	.	PUNCT
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ap-6953	423	2	second	second	ADJ
ap-6953	423	3	order	order	NOUN
ap-6953	423	4	sliding	slide	VERB
ap-6953	423	5	mode	mode	NOUN
ap-6953	423	6	control	control	NOUN
ap-6953	423	7	of	of	ADP
ap-6953	423	8	a	a	DET
ap-6953	423	9	class	class	NOUN
ap-6953	423	10	of	of	ADP
ap-6953	423	11	underactuated	underactuated	ADJ
ap-6953	423	12	mechanical	mechanical	ADJ
ap-6953	423	13	system	system	NOUN
ap-6953	423	14	.	.	PUNCT
ap-6953	424	1	ieee	ieee	NOUN
ap-6953	424	2	access	access	NOUN
ap-6953	424	3	,	,	PUNCT
ap-6953	424	4	2018	2018	NUM
ap-6953	424	5	6:7759–7771	6:7759–7771	NUM
ap-6953	424	6	,	,	PUNCT
ap-6953	424	7	2018	2018	NUM
ap-6953	424	8	.	.	PUNCT
ap-6953	425	1	https://doi.org/10.1109/access.2018.2806568	https://doi.org/10.1109/access.2018.2806568	PROPN
ap-6953	425	2	.	.	PUNCT
ap-6953	426	1	[	[	X
ap-6953	426	2	23	23	NUM
ap-6953	426	3	]	]	X
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ap-6953	426	5	cho	cho	PROPN
ap-6953	426	6	,	,	PUNCT
ap-6953	426	7	g.	g.	PROPN
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ap-6953	426	9	,	,	PUNCT
ap-6953	426	10	t.	t.	PROPN
ap-6953	426	11	oliveira	oliveira	PROPN
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ap-6953	427	7	systems	system	NOUN
ap-6953	427	8	.	.	PUNCT
ap-6953	428	1	nonlinear	nonlinear	ADJ
ap-6953	428	2	dyn	dyn	PROPN
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ap-6953	429	5	.	.	PUNCT
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ap-6953	431	1	[	[	X
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ap-6953	431	4	t.	t.	PROPN
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ap-6953	431	6	,	,	PUNCT
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ap-6953	432	3	reference	reference	NOUN
ap-6953	432	4	adaptive	adaptive	ADJ
ap-6953	432	5	control	control	NOUN
ap-6953	432	6	by	by	ADP
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ap-6953	432	8	of	of	ADP
ap-6953	432	9	global	global	ADJ
ap-6953	432	10	hosm	hosm	ADJ
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ap-6953	433	1	ieee	ieee	NOUN
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ap-6953	433	8	2020	2020	NUM
ap-6953	433	9	.	.	PUNCT
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ap-6953	435	20	https://doi.org/10.1109/access.2018.2806568	https://doi.org/10.1109/access.2018.2806568	PROPN
ap-6953	435	21	https://doi.org/10.1007/s11071-019-05446-z	https://doi.org/10.1007/s11071-019-05446-z	PROPN
ap-6953	435	22	https://doi.org/10.1109/tac.2018.2862466	https://doi.org/10.1109/tac.2018.2862466	PROPN
ap-6953	435	23	f.	f.	PROPN
ap-6953	435	24	nafa	nafa	PROPN
ap-6953	435	25	,	,	PUNCT
ap-6953	435	26	a.	a.	NOUN
ap-6953	435	27	boudouda	boudouda	PROPN
ap-6953	435	28	,	,	PUNCT
ap-6953	435	29	b.	b.	PROPN
ap-6953	435	30	smaani	smaani	PROPN
ap-6953	435	31	acta	acta	PROPN
ap-6953	435	32	polytechnica	polytechnica	PROPN
ap-6953	435	33	[	[	X
ap-6953	435	34	25	25	NUM
ap-6953	435	35	]	]	PUNCT
ap-6953	435	36	s.	s.	PROPN
ap-6953	435	37	ramos	ramos	PROPN
ap-6953	435	38	-	-	PROPN
ap-6953	435	39	paz	paz	PROPN
ap-6953	435	40	,	,	PUNCT
ap-6953	435	41	f.	f.	PROPN
ap-6953	435	42	ornelas	ornelas	PROPN
ap-6953	435	43	-	-	PUNCT
ap-6953	435	44	tellez	tellez	NOUN
ap-6953	435	45	,	,	PUNCT
ap-6953	435	46	a.	a.	PROPN
ap-6953	435	47	g.	g.	PROPN
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ap-6953	435	49	.	.	PUNCT
ap-6953	436	1	nonlinear	nonlinear	ADJ
ap-6953	436	2	optimal	optimal	ADJ
ap-6953	436	3	tracking	tracking	NOUN
ap-6953	436	4	control	control	NOUN
ap-6953	436	5	in	in	ADP
ap-6953	436	6	combination	combination	NOUN
ap-6953	436	7	with	with	ADP
ap-6953	436	8	sliding	slide	VERB
ap-6953	436	9	modes	mode	NOUN
ap-6953	436	10	:	:	PUNCT
ap-6953	436	11	application	application	NOUN
ap-6953	436	12	to	to	ADP
ap-6953	436	13	the	the	DET
ap-6953	436	14	pendubot	pendubot	NOUN
ap-6953	436	15	.	.	PUNCT
ap-6953	437	1	in	in	ADP
ap-6953	437	2	proceedings	proceeding	NOUN
ap-6953	437	3	of	of	ADP
ap-6953	437	4	the	the	DET
ap-6953	437	5	2017	2017	NUM
ap-6953	437	6	ieee	ieee	NOUN
ap-6953	437	7	international	international	ADJ
ap-6953	437	8	autumn	autumn	NOUN
ap-6953	437	9	meeting	meeting	NOUN
ap-6953	437	10	on	on	ADP
ap-6953	437	11	power	power	NOUN
ap-6953	437	12	,	,	PUNCT
ap-6953	437	13	electronics	electronic	NOUN
ap-6953	437	14	and	and	CCONJ
ap-6953	437	15	computing	computing	NOUN
ap-6953	437	16	(	(	PUNCT
ap-6953	437	17	ropec),mexico	ropec),mexico	NOUN
ap-6953	437	18	6:1–6	6:1–6	NUM
ap-6953	437	19	,	,	PUNCT
ap-6953	437	20	2017	2017	NUM
ap-6953	437	21	.	.	PUNCT
ap-6953	438	1	https://doi.org/10.1109/ropec.2017.8261619	https://doi.org/10.1109/ropec.2017.8261619	PROPN
ap-6953	438	2	.	.	PUNCT
ap-6953	439	1	[	[	X
ap-6953	439	2	26	26	NUM
ap-6953	439	3	]	]	X
ap-6953	439	4	f.	f.	PROPN
ap-6953	439	5	nafa	nafa	PROPN
ap-6953	439	6	,	,	PUNCT
ap-6953	439	7	s.	s.	PROPN
ap-6953	439	8	labiod	labiod	PROPN
ap-6953	439	9	,	,	PUNCT
ap-6953	439	10	h.	h.	PROPN
ap-6953	439	11	chekireb	chekireb	PROPN
ap-6953	439	12	.	.	PUNCT
ap-6953	440	1	direct	direct	ADJ
ap-6953	440	2	adaptive	adaptive	ADJ
ap-6953	440	3	fuzzy	fuzzy	ADJ
ap-6953	440	4	sliding	slide	VERB
ap-6953	440	5	mode	mode	NOUN
ap-6953	440	6	decoupling	decouple	VERB
ap-6953	440	7	control	control	NOUN
ap-6953	440	8	for	for	ADP
ap-6953	440	9	a	a	DET
ap-6953	440	10	class	class	NOUN
ap-6953	440	11	of	of	ADP
ap-6953	440	12	under	under	ADP
ap-6953	440	13	actuated	actuate	VERB
ap-6953	440	14	mechanical	mechanical	ADJ
ap-6953	440	15	systems	system	NOUN
ap-6953	440	16	.	.	PUNCT
ap-6953	441	1	turk	turk	PROPN
ap-6953	441	2	j	j	PROPN
ap-6953	441	3	electr	electr	PROPN
ap-6953	441	4	eng	eng	PROPN
ap-6953	441	5	co	co	PROPN
ap-6953	441	6	21:1615–1630	21:1615–1630	PROPN
ap-6953	441	7	,	,	PUNCT
ap-6953	441	8	2013	2013	NUM
ap-6953	441	9	.	.	PUNCT
ap-6953	442	1	https://doi.org/10.3906/elk-1112-17	https://doi.org/10.3906/elk-1112-17	NOUN
ap-6953	442	2	.	.	PUNCT
ap-6953	443	1	[	[	X
ap-6953	443	2	27	27	NUM
ap-6953	443	3	]	]	X
ap-6953	443	4	s.	s.	PROPN
ap-6953	443	5	labiod	labiod	PROPN
ap-6953	443	6	,	,	PUNCT
ap-6953	443	7	t.	t.	PROPN
ap-6953	443	8	guerra	guerra	NOUN
ap-6953	443	9	.	.	PUNCT
ap-6953	444	1	direct	direct	ADJ
ap-6953	444	2	adaptive	adaptive	ADJ
ap-6953	444	3	fuzzy	fuzzy	ADJ
ap-6953	444	4	control	control	NOUN
ap-6953	444	5	for	for	ADP
ap-6953	444	6	a	a	DET
ap-6953	444	7	class	class	NOUN
ap-6953	444	8	of	of	ADP
ap-6953	444	9	mimo	mimo	PROPN
ap-6953	444	10	nonlinear	nonlinear	PROPN
ap-6953	444	11	system	system	NOUN
ap-6953	444	12	.	.	PUNCT
ap-6953	445	1	international	international	ADJ
ap-6953	445	2	journal	journal	PROPN
ap-6953	445	3	of	of	ADP
ap-6953	445	4	systems	system	NOUN
ap-6953	445	5	science	science	NOUN
ap-6953	445	6	38(8):665–675	38(8):665–675	NUM
ap-6953	445	7	,	,	PUNCT
ap-6953	445	8	2007	2007	NUM
ap-6953	445	9	.	.	PUNCT
ap-6953	446	1	https://doi.org/10.2307/2001373	https://doi.org/10.2307/2001373	NOUN
ap-6953	446	2	.	.	PUNCT
ap-6953	447	1	[	[	X
ap-6953	447	2	28	28	NUM
ap-6953	447	3	]	]	X
ap-6953	447	4	s.	s.	PROPN
ap-6953	447	5	mallat	mallat	PROPN
ap-6953	447	6	.	.	PUNCT
ap-6953	448	1	multiresolution	multiresolution	NOUN
ap-6953	448	2	approximation	approximation	NOUN
ap-6953	448	3	and	and	CCONJ
ap-6953	448	4	wavelet	wavelet	NOUN
ap-6953	448	5	orthonormal	orthonormal	ADJ
ap-6953	448	6	base	base	NOUN
ap-6953	448	7	of	of	ADP
ap-6953	448	8	l2	l2	NOUN
ap-6953	448	9	(	(	PUNCT
ap-6953	448	10	r	r	NOUN
ap-6953	448	11	)	)	PUNCT
ap-6953	448	12	.	.	PUNCT
ap-6953	449	1	transactions	transaction	NOUN
ap-6953	449	2	of	of	ADP
ap-6953	449	3	the	the	DET
ap-6953	449	4	american	american	PROPN
ap-6953	449	5	mathematical	mathematical	ADJ
ap-6953	449	6	society	society	NOUN
ap-6953	449	7	315(1):69–87	315(1):69–87	NUM
ap-6953	449	8	,	,	PUNCT
ap-6953	449	9	1989	1989	NUM
ap-6953	449	10	.	.	PUNCT
ap-6953	450	1	[	[	X
ap-6953	450	2	29	29	NUM
ap-6953	450	3	]	]	X
ap-6953	450	4	i.	i.	PROPN
ap-6953	450	5	daubechies	daubechies	PROPN
ap-6953	450	6	.	.	PUNCT
ap-6953	451	1	ten	ten	NUM
ap-6953	451	2	lectures	lecture	NOUN
ap-6953	451	3	on	on	ADP
ap-6953	451	4	wavelets	wavelet	NOUN
ap-6953	451	5	.	.	PUNCT
ap-6953	452	1	siam	siam	PROPN
ap-6953	452	2	,	,	PUNCT
ap-6953	452	3	philadelphia	philadelphia	PROPN
ap-6953	452	4	,	,	PUNCT
ap-6953	452	5	pennsylvania	pennsylvania	PROPN
ap-6953	452	6	,	,	PUNCT
ap-6953	452	7	usa	usa	PROPN
ap-6953	452	8	1992	1992	NUM
ap-6953	452	9	.	.	PUNCT
ap-6953	453	1	[	[	X
ap-6953	453	2	30	30	NUM
ap-6953	453	3	]	]	PUNCT
ap-6953	453	4	j.	j.	PROPN
ap-6953	453	5	xu	xu	PROPN
ap-6953	453	6	,	,	PUNCT
ap-6953	453	7	y.	y.	PROPN
ap-6953	453	8	tan	tan	PROPN
ap-6953	453	9	.	.	PUNCT
ap-6953	454	1	nonlinear	nonlinear	ADJ
ap-6953	454	2	adaptive	adaptive	ADJ
ap-6953	454	3	wavelet	wavelet	NOUN
ap-6953	454	4	control	control	NOUN
ap-6953	454	5	using	use	VERB
ap-6953	454	6	constructive	constructive	ADJ
ap-6953	454	7	wavelet	wavelet	NOUN
ap-6953	454	8	networks	network	NOUN
ap-6953	454	9	.	.	PUNCT
ap-6953	455	1	ieee	ieee	NOUN
ap-6953	455	2	transactions	transaction	NOUN
ap-6953	455	3	on	on	ADP
ap-6953	455	4	neural	neural	ADJ
ap-6953	455	5	networks	network	NOUN
ap-6953	455	6	18(1):115–127	18(1):115–127	NUM
ap-6953	455	7	,	,	PUNCT
ap-6953	455	8	2007	2007	NUM
ap-6953	455	9	.	.	PUNCT
ap-6953	456	1	https://doi.org/10.1109/tnn.2006.886759	https://doi.org/10.1109/tnn.2006.886759	NOUN
ap-6953	456	2	.	.	PUNCT
ap-6953	457	1	[	[	X
ap-6953	457	2	31	31	NUM
ap-6953	457	3	]	]	PUNCT
ap-6953	457	4	t.	t.	PROPN
ap-6953	457	5	kugarajah	kugarajah	PROPN
ap-6953	457	6	,	,	PUNCT
ap-6953	457	7	q.	q.	PROPN
ap-6953	457	8	zhang	zhang	PROPN
ap-6953	457	9	.	.	PUNCT
ap-6953	458	1	multidimensional	multidimensional	ADJ
ap-6953	458	2	wavelet	wavelet	NOUN
ap-6953	458	3	frames	frames	PROPN
ap-6953	458	4	.	.	PUNCT
ap-6953	459	1	ieee	ieee	NOUN
ap-6953	459	2	transaction	transaction	NOUN
ap-6953	459	3	on	on	ADP
ap-6953	459	4	neural	neural	ADJ
ap-6953	459	5	networks	network	NOUN
ap-6953	459	6	6(6):1552–1556	6(6):1552–1556	PROPN
ap-6953	459	7	,	,	PUNCT
ap-6953	459	8	1995	1995	NUM
ap-6953	459	9	.	.	PUNCT
ap-6953	460	1	https://doi.org/10.1109/72.471353	https://doi.org/10.1109/72.471353	PROPN
ap-6953	460	2	.	.	PUNCT
ap-6953	461	1	[	[	X
ap-6953	461	2	32	32	NUM
ap-6953	461	3	]	]	PUNCT
ap-6953	461	4	a.	a.	NOUN
ap-6953	461	5	stephen	stephen	PROPN
ap-6953	461	6	,	,	PUNCT
ap-6953	461	7	h.	h.	PROPN
ap-6953	461	8	wei	wei	PROPN
ap-6953	461	9	.	.	PUNCT
ap-6953	462	1	new	new	ADJ
ap-6953	462	2	class	class	NOUN
ap-6953	462	3	of	of	ADP
ap-6953	462	4	wavelet	wavelet	NOUN
ap-6953	462	5	network	network	NOUN
ap-6953	462	6	for	for	ADP
ap-6953	462	7	nonlinear	nonlinear	ADJ
ap-6953	462	8	system	system	NOUN
ap-6953	462	9	identification	identification	NOUN
ap-6953	462	10	.	.	PUNCT
ap-6953	463	1	ieee	ieee	NOUN
ap-6953	463	2	transaction	transaction	NOUN
ap-6953	463	3	on	on	ADP
ap-6953	463	4	neural	neural	ADJ
ap-6953	463	5	networks	network	NOUN
ap-6953	463	6	16(4):862–874	16(4):862–874	NUM
ap-6953	463	7	,	,	PUNCT
ap-6953	463	8	2005	2005	NUM
ap-6953	463	9	.	.	PUNCT
ap-6953	464	1	https://doi.org/10.1109/tnn.2005.849842	https://doi.org/10.1109/tnn.2005.849842	X
ap-6953	464	2	.	.	PUNCT
ap-6953	465	1	[	[	X
ap-6953	465	2	33	33	NUM
ap-6953	465	3	]	]	PUNCT
ap-6953	465	4	h.	h.	PROPN
ap-6953	465	5	r.	r.	PROPN
ap-6953	465	6	karimi	karimi	PROPN
ap-6953	465	7	,	,	PUNCT
ap-6953	465	8	b.	b.	PROPN
ap-6953	465	9	lohmann	lohmann	PROPN
ap-6953	465	10	,	,	PUNCT
ap-6953	465	11	b.	b.	PROPN
ap-6953	465	12	moshiri	moshiri	PROPN
ap-6953	465	13	,	,	PUNCT
ap-6953	465	14	p.	p.	NOUN
ap-6953	465	15	maralani	maralani	PROPN
ap-6953	465	16	.	.	PUNCT
ap-6953	466	1	wavelet	wavelet	NOUN
ap-6953	466	2	-	-	PUNCT
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ap-6953	466	4	identification	identification	NOUN
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ap-6953	466	6	control	control	NOUN
ap-6953	466	7	design	design	NOUN
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ap-6953	466	9	a	a	DET
ap-6953	466	10	class	class	NOUN
ap-6953	466	11	of	of	ADP
ap-6953	466	12	nonlinear	nonlinear	ADJ
ap-6953	466	13	systems	system	NOUN
ap-6953	466	14	.	.	PUNCT
ap-6953	467	1	international	international	ADJ
ap-6953	467	2	journal	journal	PROPN
ap-6953	467	3	of	of	ADP
ap-6953	467	4	wavelets	wavelet	NOUN
ap-6953	467	5	,	,	PUNCT
ap-6953	467	6	multiresolution	multiresolution	NOUN
ap-6953	467	7	and	and	CCONJ
ap-6953	467	8	information	information	NOUN
ap-6953	467	9	processing	processing	NOUN
ap-6953	467	10	4(1):213–226	4(1):213–226	NUM
ap-6953	467	11	,	,	PUNCT
ap-6953	467	12	2006	2006	NUM
ap-6953	467	13	.	.	PUNCT
ap-6953	468	1	https://doi.org/10.1142/s0219691306001178	https://doi.org/10.1142/s0219691306001178	NUM
ap-6953	468	2	.	.	PUNCT
ap-6953	469	1	[	[	X
ap-6953	469	2	34	34	NUM
ap-6953	469	3	]	]	X
ap-6953	469	4	b.	b.	PROPN
ap-6953	469	5	chen	chen	PROPN
ap-6953	469	6	,	,	PUNCT
ap-6953	469	7	y.	y.	PROPN
ap-6953	469	8	cheng	cheng	PROPN
ap-6953	469	9	.	.	PUNCT
ap-6953	470	1	adaptive	adaptive	PROPN
ap-6953	470	2	wavelet	wavelet	NOUN
ap-6953	470	3	network	network	PROPN
ap-6953	470	4	control	control	NOUN
ap-6953	470	5	design	design	NOUN
ap-6953	470	6	for	for	ADP
ap-6953	470	7	nonlinear	nonlinear	ADJ
ap-6953	470	8	systems	system	NOUN
ap-6953	470	9	.	.	PUNCT
ap-6953	471	1	proceedings	proceeding	NOUN
ap-6953	471	2	of	of	ADP
ap-6953	471	3	35th	35th	ADJ
ap-6953	471	4	ieee	ieee	NOUN
ap-6953	471	5	conference	conference	NOUN
ap-6953	471	6	on	on	ADP
ap-6953	471	7	decision	decision	NOUN
ap-6953	471	8	and	and	CCONJ
ap-6953	471	9	control	control	NOUN
ap-6953	471	10	3(6):3224–3229	3(6):3224–3229	NUM
ap-6953	471	11	,	,	PUNCT
ap-6953	471	12	1997	1997	NUM
ap-6953	471	13	.	.	PUNCT
ap-6953	472	1	https://doi.org/10.1109/cdc.1996.573635	https://doi.org/10.1109/cdc.1996.573635	PROPN
ap-6953	472	2	.	.	PUNCT
ap-6953	473	1	[	[	X
ap-6953	473	2	35	35	NUM
ap-6953	473	3	]	]	PUNCT
ap-6953	473	4	m.	m.	NOUN
ap-6953	473	5	zekri	zekri	PROPN
ap-6953	473	6	,	,	PUNCT
ap-6953	473	7	s.	s.	PROPN
ap-6953	473	8	sadri	sadri	PROPN
ap-6953	473	9	,	,	PUNCT
ap-6953	473	10	f.	f.	PROPN
ap-6953	473	11	sheikholeslam	sheikholeslam	PROPN
ap-6953	473	12	.	.	PUNCT
ap-6953	474	1	adaptive	adaptive	ADJ
ap-6953	474	2	fuzzy	fuzzy	ADJ
ap-6953	474	3	wavelet	wavelet	NOUN
ap-6953	474	4	network	network	NOUN
ap-6953	474	5	control	control	NOUN
ap-6953	474	6	design	design	NOUN
ap-6953	474	7	for	for	ADP
ap-6953	474	8	nonlinear	nonlinear	ADJ
ap-6953	474	9	systems	system	NOUN
ap-6953	474	10	.	.	PUNCT
ap-6953	475	1	fuzzy	fuzzy	ADJ
ap-6953	475	2	sets	set	NOUN
ap-6953	475	3	and	and	CCONJ
ap-6953	475	4	systems	system	NOUN
ap-6953	475	5	159(20):2668–2695	159(20):2668–2695	NUM
ap-6953	475	6	,	,	PUNCT
ap-6953	475	7	2008	2008	NUM
ap-6953	475	8	.	.	PUNCT
ap-6953	476	1	https://doi.org/10.1016/j.fss.2008.02.008	https://doi.org/10.1016/j.fss.2008.02.008	NOUN
ap-6953	476	2	.	.	PUNCT
ap-6953	477	1	[	[	X
ap-6953	477	2	36	36	NUM
ap-6953	477	3	]	]	X
ap-6953	477	4	r.	r.	PROPN
ap-6953	477	5	olfati	olfati	PROPN
ap-6953	477	6	-	-	PUNCT
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ap-6953	477	8	.	.	PUNCT
ap-6953	478	1	normal	normal	ADJ
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ap-6953	478	3	for	for	ADP
ap-6953	478	4	underactuated	underactuated	ADJ
ap-6953	478	5	mechanical	mechanical	ADJ
ap-6953	478	6	systems	system	NOUN
ap-6953	478	7	with	with	ADP
ap-6953	478	8	symmetry	symmetry	NOUN
ap-6953	478	9	.	.	PUNCT
ap-6953	479	1	ieee	ieee	NOUN
ap-6953	479	2	transaction	transaction	NOUN
ap-6953	479	3	on	on	ADP
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ap-6953	479	5	control	control	NOUN
ap-6953	479	6	47(2):305–308	47(2):305–308	PROPN
ap-6953	479	7	,	,	PUNCT
ap-6953	479	8	2002	2002	NUM
ap-6953	479	9	.	.	PUNCT
ap-6953	480	1	https://doi.org/10.1109/9.983365	https://doi.org/10.1109/9.983365	NOUN
ap-6953	480	2	.	.	PUNCT
ap-6953	481	1	[	[	X
ap-6953	481	2	37	37	NUM
ap-6953	481	3	]	]	PUNCT
ap-6953	481	4	j.	j.	PROPN
ap-6953	481	5	slotine	slotine	PROPN
ap-6953	481	6	,	,	PUNCT
ap-6953	481	7	w.	w.	PROPN
ap-6953	481	8	li	li	PROPN
ap-6953	481	9	.	.	PROPN
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ap-6953	481	11	nonlinear	nonlinear	ADJ
ap-6953	481	12	control	control	NOUN
ap-6953	481	13	.	.	PUNCT
ap-6953	482	1	prentice	prentice	NOUN
ap-6953	482	2	-	-	PUNCT
ap-6953	482	3	hall	hall	PROPN
ap-6953	482	4	,	,	PUNCT
ap-6953	482	5	englewood	englewood	PROPN
ap-6953	482	6	cliffs	cliffs	PROPN
ap-6953	482	7	,	,	PUNCT
ap-6953	482	8	nj	nj	PROPN
ap-6953	482	9	,	,	PUNCT
ap-6953	482	10	usa	usa	PROPN
ap-6953	482	11	,	,	PUNCT
ap-6953	482	12	1991	1991	NUM
ap-6953	482	13	.	.	PUNCT
ap-6953	483	1	[	[	X
ap-6953	483	2	38	38	NUM
ap-6953	483	3	]	]	PUNCT
ap-6953	483	4	r.	r.	PROPN
ap-6953	483	5	sanner	sanner	PROPN
ap-6953	483	6	,	,	PUNCT
ap-6953	483	7	j.	j.	PROPN
ap-6953	483	8	slotine	slotine	PROPN
ap-6953	483	9	.	.	PUNCT
ap-6953	484	1	structurally	structurally	ADV
ap-6953	484	2	dynamic	dynamic	ADJ
ap-6953	484	3	wavelet	wavelet	NOUN
ap-6953	484	4	networks	network	NOUN
ap-6953	484	5	for	for	ADP
ap-6953	484	6	adaptive	adaptive	ADJ
ap-6953	484	7	control	control	NOUN
ap-6953	484	8	of	of	ADP
ap-6953	484	9	robotic	robotic	ADJ
ap-6953	484	10	systems	system	NOUN
ap-6953	484	11	.	.	PUNCT
ap-6953	485	1	international	international	ADJ
ap-6953	485	2	journal	journal	PROPN
ap-6953	485	3	of	of	ADP
ap-6953	485	4	control	control	PROPN
ap-6953	485	5	70(3):405–421	70(3):405–421	PROPN
ap-6953	485	6	,	,	PUNCT
ap-6953	485	7	1998	1998	NUM
ap-6953	485	8	.	.	PUNCT
ap-6953	486	1	https://doi.org/10.1080/002071798222307	https://doi.org/10.1080/002071798222307	NOUN
ap-6953	486	2	.	.	PUNCT
ap-6953	487	1	[	[	X
ap-6953	487	2	39	39	NUM
ap-6953	487	3	]	]	PUNCT
ap-6953	487	4	b.-s	b.-	NOUN
ap-6953	487	5	.	.	PUNCT
ap-6953	488	1	chen	chen	PROPN
ap-6953	488	2	,	,	PUNCT
ap-6953	488	3	y.-m	y.-m	PROPN
ap-6953	488	4	.	.	PUNCT
ap-6953	489	1	cheng	cheng	PROPN
ap-6953	489	2	.	.	PUNCT
ap-6953	490	1	adaptive	adaptive	PROPN
ap-6953	490	2	wavelet	wavelet	NOUN
ap-6953	490	3	network	network	PROPN
ap-6953	490	4	control	control	NOUN
ap-6953	490	5	design	design	NOUN
ap-6953	490	6	for	for	ADP
ap-6953	490	7	nonlinear	nonlinear	ADJ
ap-6953	490	8	systems	system	NOUN
ap-6953	490	9	.	.	PUNCT
ap-6953	491	1	proceedings	proceeding	NOUN
ap-6953	491	2	of	of	ADP
ap-6953	491	3	35th	35th	ADJ
ap-6953	491	4	ieee	ieee	NOUN
ap-6953	491	5	conference	conference	NOUN
ap-6953	491	6	on	on	ADP
ap-6953	491	7	decision	decision	NOUN
ap-6953	491	8	and	and	CCONJ
ap-6953	491	9	control	control	NOUN
ap-6953	491	10	,	,	PUNCT
ap-6953	491	11	kobe	kobe	PROPN
ap-6953	491	12	,	,	PUNCT
ap-6953	491	13	japan	japan	PROPN
ap-6953	491	14	3:3224–3229	3:3224–3229	NUM
ap-6953	491	15	,	,	PUNCT
ap-6953	491	16	1996	1996	NUM
ap-6953	491	17	.	.	PUNCT
ap-6953	492	1	https://doi.org/10.1109/cdc.1996.573635	https://doi.org/10.1109/cdc.1996.573635	PROPN
ap-6953	492	2	.	.	PUNCT
ap-6953	493	1	[	[	X
ap-6953	493	2	40	40	NUM
ap-6953	493	3	]	]	X
ap-6953	493	4	l.-x	l.-x	PROPN
ap-6953	493	5	.	.	PUNCT
ap-6953	494	1	wang	wang	PROPN
ap-6953	494	2	.	.	PUNCT
ap-6953	495	1	adaptive	adaptive	ADJ
ap-6953	495	2	fuzzy	fuzzy	ADJ
ap-6953	495	3	systems	system	NOUN
ap-6953	495	4	and	and	CCONJ
ap-6953	495	5	control	control	NOUN
ap-6953	495	6	:	:	PUNCT
ap-6953	495	7	design	design	NOUN
ap-6953	495	8	and	and	CCONJ
ap-6953	495	9	stability	stability	NOUN
ap-6953	495	10	analysis	analysis	NOUN
ap-6953	495	11	.	.	PUNCT
ap-6953	496	1	prentice	prentice	NOUN
ap-6953	496	2	-	-	PUNCT
ap-6953	496	3	hall	hall	PROPN
ap-6953	496	4	,	,	PUNCT
ap-6953	496	5	englewood	englewood	PROPN
ap-6953	496	6	cliffs	cliffs	PROPN
ap-6953	496	7	,	,	PUNCT
ap-6953	496	8	nj	nj	PROPN
ap-6953	496	9	,	,	PUNCT
ap-6953	496	10	usa	usa	PROPN
ap-6953	496	11	,	,	PUNCT
ap-6953	496	12	1994	1994	NUM
ap-6953	496	13	.	.	PUNCT
ap-6953	497	1	[	[	X
ap-6953	497	2	41	41	NUM
ap-6953	497	3	]	]	PUNCT
ap-6953	497	4	m.	m.	NOUN
ap-6953	497	5	gulan	gulan	PROPN
ap-6953	497	6	,	,	PUNCT
ap-6953	497	7	m.	m.	NOUN
ap-6953	497	8	salaj	salaj	PROPN
ap-6953	497	9	,	,	PUNCT
ap-6953	497	10	b.	b.	PROPN
ap-6953	497	11	rohal’-ilkiv	rohal’-ilkiv	PROPN
ap-6953	497	12	.	.	PUNCT
ap-6953	498	1	achieving	achieve	VERB
ap-6953	498	2	an	an	DET
ap-6953	498	3	equilibrium	equilibrium	NOUN
ap-6953	498	4	position	position	NOUN
ap-6953	498	5	of	of	ADP
ap-6953	498	6	pendubot	pendubot	PROPN
ap-6953	498	7	via	via	ADP
ap-6953	498	8	swing	swing	NOUN
ap-6953	498	9	–	–	PUNCT
ap-6953	498	10	up	up	ADV
ap-6953	498	11	and	and	CCONJ
ap-6953	498	12	stabilizing	stabilize	VERB
ap-6953	498	13	model	model	NOUN
ap-6953	498	14	predictive	predictive	PROPN
ap-6953	498	15	control	control	PROPN
ap-6953	498	16	.	.	PUNCT
ap-6953	499	1	journal	journal	NOUN
ap-6953	499	2	of	of	ADP
ap-6953	499	3	electrical	electrical	ADJ
ap-6953	499	4	engineering	engineering	NOUN
ap-6953	499	5	65(6):356–363	65(6):356–363	NUM
ap-6953	499	6	,	,	PUNCT
ap-6953	499	7	2014	2014	NUM
ap-6953	499	8	.	.	PUNCT
ap-6953	500	1	https://doi.org/10.2478/jee-2014-0058	https://doi.org/10.2478/jee-2014-0058	NOUN
ap-6953	500	2	.	.	PUNCT
ap-6953	501	1	7	7	X
ap-6953	501	2	.	.	X
ap-6953	501	3	appendices	appendix	NOUN
ap-6953	501	4	by	by	ADP
ap-6953	501	5	considering	consider	VERB
ap-6953	501	6	the	the	DET
ap-6953	501	7	friction	friction	NOUN
ap-6953	501	8	in	in	ADP
ap-6953	501	9	both	both	DET
ap-6953	501	10	joints	joint	NOUN
ap-6953	501	11	,	,	PUNCT
ap-6953	501	12	the	the	DET
ap-6953	501	13	dynamic	dynamic	ADJ
ap-6953	501	14	behavior	behavior	NOUN
ap-6953	501	15	of	of	ADP
ap-6953	501	16	a	a	DET
ap-6953	501	17	pendubot	pendubot	NOUN
ap-6953	501	18	can	can	AUX
ap-6953	501	19	be	be	AUX
ap-6953	501	20	given	give	VERB
ap-6953	501	21	as	as	SCONJ
ap-6953	501	22	follows	follow	VERB
ap-6953	501	23	[	[	X
ap-6953	501	24	41	41	NUM
ap-6953	501	25	]	]	X
ap-6953	501	26	:	:	PUNCT
ap-6953	501	27	q̈1	q̈1	NOUN
ap-6953	501	28	=	=	SYM
ap-6953	501	29	1	1	NUM
ap-6953	501	30	θ1θ2	θ1θ2	NOUN
ap-6953	501	31	−	−	PROPN
ap-6953	501	32	θ3	θ3	NOUN
ap-6953	501	33	2	2	NUM
ap-6953	501	34	cos2	cos2	NOUN
ap-6953	501	35	q2	q2	NOUN
ap-6953	501	36	[	[	X
ap-6953	501	37	θ1θ3(q̇1	θ1θ3(q̇1	X
ap-6953	501	38	+	+	CCONJ
ap-6953	501	39	q̇2)2	q̇2)2	NUM
ap-6953	501	40	sin	sin	NOUN
ap-6953	501	41	q2	q2	NOUN
ap-6953	501	42	+	+	CCONJ
ap-6953	501	43	θ2	θ2	PROPN
ap-6953	501	44	3	3	NUM
ap-6953	501	45	q̇	q̇	NOUN
ap-6953	501	46	2	2	NUM
ap-6953	501	47	1	1	NUM
ap-6953	501	48	cos	cos	PROPN
ap-6953	501	49	q2	q2	PROPN
ap-6953	501	50	sin	sin	PROPN
ap-6953	501	51	q2	q2	PROPN
ap-6953	501	52	−	−	PROPN
ap-6953	502	1	θ2θ4	θ2θ4	X
ap-6953	502	2	g	g	PROPN
ap-6953	502	3	cos	cos	PROPN
ap-6953	502	4	q1	q1	PROPN
ap-6953	502	5	+	+	CCONJ
ap-6953	502	6	θ3θ5	θ3θ5	PROPN
ap-6953	502	7	cos	cos	PROPN
ap-6953	502	8	q2	q2	PROPN
ap-6953	502	9	cos	cos	PROPN
ap-6953	502	10	(	(	PUNCT
ap-6953	502	11	q1	q1	PROPN
ap-6953	502	12	+	+	CCONJ
ap-6953	502	13	q2)−	q2)−	PROPN
ap-6953	502	14	θ2d1q̇1	θ2d1q̇1	PROPN
ap-6953	502	15	+	+	CCONJ
ap-6953	502	16	(	(	PUNCT
ap-6953	502	17	θ2	θ2	NOUN
ap-6953	502	18	+	+	CCONJ
ap-6953	502	19	θ3cosq2)d2q̇2	θ3cosq2)d2q̇2	NOUN
ap-6953	502	20	+	+	CCONJ
ap-6953	502	21	θ2τ1	θ2τ1	NOUN
ap-6953	502	22	]	]	PUNCT
ap-6953	502	23	.	.	PUNCT
ap-6953	503	1	q̈2	q̈2	PROPN
ap-6953	503	2	=	=	SYM
ap-6953	503	3	1	1	NUM
ap-6953	503	4	θ1θ2	θ1θ2	NOUN
ap-6953	503	5	−	−	PROPN
ap-6953	503	6	θ3	θ3	NOUN
ap-6953	503	7	2	2	NUM
ap-6953	503	8	cos2	cos2	PROPN
ap-6953	503	9	q2	q2	NOUN
ap-6953	503	10	[	[	X
ap-6953	503	11	−θ3(θ2	−θ3(θ2	PROPN
ap-6953	503	12	+	+	CCONJ
ap-6953	503	13	θ3	θ3	PROPN
ap-6953	503	14	cos	cos	PROPN
ap-6953	503	15	q2)(q̇1	q2)(q̇1	PROPN
ap-6953	503	16	+	+	CCONJ
ap-6953	503	17	q̇2)2	q̇2)2	NUM
ap-6953	503	18	sin	sin	NOUN
ap-6953	503	19	q2	q2	NOUN
ap-6953	503	20	−	−	PROPN
ap-6953	504	1	(	(	PUNCT
ap-6953	504	2	θ1	θ1	PROPN
ap-6953	504	3	+	+	CCONJ
ap-6953	504	4	θ3	θ3	PROPN
ap-6953	504	5	cos	cos	PROPN
ap-6953	504	6	q2)q̇2	q2)q̇2	PROPN
ap-6953	504	7	1θ3	1θ3	NUM
ap-6953	504	8	sin	sin	NOUN
ap-6953	504	9	q2	q2	NOUN
ap-6953	504	10	−	−	PROPN
ap-6953	504	11	(	(	PUNCT
ap-6953	504	12	θ1	θ1	PROPN
ap-6953	504	13	+	+	CCONJ
ap-6953	504	14	θ3	θ3	PROPN
ap-6953	504	15	cos	cos	PROPN
ap-6953	504	16	q2)θ5	q2)θ5	PROPN
ap-6953	504	17	g	g	PROPN
ap-6953	504	18	cos	cos	PROPN
ap-6953	504	19	(	(	PUNCT
ap-6953	504	20	q1	q1	PROPN
ap-6953	504	21	+	+	CCONJ
ap-6953	504	22	q2	q2	NOUN
ap-6953	504	23	)	)	PUNCT
ap-6953	505	1	+	+	CCONJ
ap-6953	505	2	(	(	PUNCT
ap-6953	505	3	θ2	θ2	ADV
ap-6953	505	4	+	+	CCONJ
ap-6953	505	5	θ3	θ3	PROPN
ap-6953	505	6	cos	cos	PROPN
ap-6953	505	7	q2)d1q̇1	q2)d1q̇1	PROPN
ap-6953	505	8	−	−	PROPN
ap-6953	505	9	(	(	PUNCT
ap-6953	505	10	θ1	θ1	PROPN
ap-6953	505	11	+	+	CCONJ
ap-6953	505	12	θ2	θ2	PROPN
ap-6953	505	13	+	+	CCONJ
ap-6953	505	14	2θ3	2θ3	NUM
ap-6953	505	15	cos	cos	ADP
ap-6953	505	16	q2)d2q̇2	q2)d2q̇2	PROPN
ap-6953	505	17	+	+	CCONJ
ap-6953	505	18	(	(	PUNCT
ap-6953	505	19	θ2	θ2	PROPN
ap-6953	505	20	+	+	CCONJ
ap-6953	505	21	θ3	θ3	PROPN
ap-6953	505	22	cos	cos	PROPN
ap-6953	505	23	q2)(θ4	q2)(θ4	PROPN
ap-6953	505	24	g	g	PROPN
ap-6953	505	25	cos	cos	PROPN
ap-6953	505	26	q1	q1	PROPN
ap-6953	505	27	−	−	PROPN
ap-6953	505	28	τ1	τ1	NOUN
ap-6953	505	29	)	)	PUNCT
ap-6953	505	30	]	]	PUNCT
ap-6953	505	31	.	.	PUNCT
ap-6953	506	1	(	(	PUNCT
ap-6953	506	2	55	55	NUM
ap-6953	506	3	)	)	PUNCT
ap-6953	506	4	the	the	DET
ap-6953	506	5	pendubot	pendubot	PROPN
ap-6953	506	6	parameters	parameter	NOUN
ap-6953	506	7	are	be	AUX
ap-6953	506	8	listed	list	VERB
ap-6953	506	9	in	in	ADP
ap-6953	506	10	the	the	DET
ap-6953	506	11	below	below	ADJ
ap-6953	506	12	table	table	NOUN
ap-6953	506	13	:	:	PUNCT
ap-6953	506	14	362	362	NUM
ap-6953	506	15	https://doi.org/10.1109/ropec.2017.8261619	https://doi.org/10.1109/ropec.2017.8261619	PROPN
ap-6953	506	16	https://doi.org/10.3906/elk-1112-17	https://doi.org/10.3906/elk-1112-17	ADP
ap-6953	506	17	https://doi.org/10.2307/2001373	https://doi.org/10.2307/2001373	ADP
ap-6953	506	18	https://doi.org/10.1109/tnn.2006.886759	https://doi.org/10.1109/tnn.2006.886759	PROPN
ap-6953	506	19	https://doi.org/10.1109/72.471353	https://doi.org/10.1109/72.471353	NOUN
ap-6953	506	20	https://doi.org/10.1109/tnn.2005.849842	https://doi.org/10.1109/tnn.2005.849842	DET
ap-6953	506	21	https://doi.org/10.1142/s0219691306001178	https://doi.org/10.1142/s0219691306001178	PROPN
ap-6953	506	22	https://doi.org/10.1109/cdc.1996.573635	https://doi.org/10.1109/cdc.1996.573635	PROPN
ap-6953	506	23	https://doi.org/10.1016/j.fss.2008.02.008	https://doi.org/10.1016/j.fss.2008.02.008	PROPN
ap-6953	506	24	https://doi.org/10.1109/9.983365	https://doi.org/10.1109/9.983365	PROPN
ap-6953	506	25	https://doi.org/10.1080/002071798222307	https://doi.org/10.1080/002071798222307	PROPN
ap-6953	506	26	https://doi.org/10.1109/cdc.1996.573635	https://doi.org/10.1109/cdc.1996.573635	PROPN
ap-6953	506	27	https://doi.org/10.2478/jee-2014-0058	https://doi.org/10.2478/jee-2014-0058	PROPN
ap-6953	506	28	vol	vol	NOUN
ap-6953	506	29	.	.	PROPN
ap-6953	507	1	61	61	NUM
ap-6953	507	2	no	no	NOUN
ap-6953	507	3	.	.	PUNCT
ap-6953	508	1	2/2021	2/2021	NUM
ap-6953	508	2	adaptive	adaptive	ADJ
ap-6953	508	3	wavelets	wavelet	NOUN
ap-6953	508	4	sliding	slide	VERB
ap-6953	508	5	mode	mode	NOUN
ap-6953	508	6	control	control	NOUN
ap-6953	508	7	.	.	PUNCT
ap-6953	508	8	.	.	PUNCT
ap-6953	508	9	.	.	PUNCT
ap-6953	509	1	arm	arm	NOUN
ap-6953	509	2	number	number	NOUN
ap-6953	509	3	parameter	parameter	NOUN
ap-6953	509	4	and	and	CCONJ
ap-6953	509	5	symbol	symbol	NOUN
ap-6953	509	6	value	value	NOUN
ap-6953	509	7	arm	arm	NOUN
ap-6953	509	8	1	1	NUM
ap-6953	509	9	m1	m1	NOUN
ap-6953	509	10	0.256	0.256	NUM
ap-6953	510	1	[	[	X
ap-6953	510	2	kg	kg	X
ap-6953	510	3	]	]	X
ap-6953	510	4	lenght	lenght	ADJ
ap-6953	510	5	:	:	PUNCT
ap-6953	511	1	l1	l1	PROPN
ap-6953	511	2	0.206	0.206	NUM
ap-6953	512	1	[	[	X
ap-6953	512	2	m	m	X
ap-6953	512	3	]	]	X
ap-6953	512	4	distance	distance	NOUN
ap-6953	512	5	of	of	ADP
ap-6953	512	6	the	the	DET
ap-6953	512	7	center	center	NOUN
ap-6953	512	8	of	of	ADP
ap-6953	512	9	mas	mas	PROPN
ap-6953	512	10	of	of	ADP
ap-6953	512	11	link1	link1	PROPN
ap-6953	512	12	:	:	PUNCT
ap-6953	513	1	lc1	lc1	NOUN
ap-6953	513	2	0.107	0.107	NUM
ap-6953	514	1	[	[	X
ap-6953	514	2	m	m	X
ap-6953	514	3	]	]	X
ap-6953	514	4	moment	moment	NOUN
ap-6953	514	5	inertia	inertia	NOUN
ap-6953	514	6	about	about	ADP
ap-6953	514	7	the	the	DET
ap-6953	514	8	centroid	centroid	NOUN
ap-6953	514	9	:	:	PUNCT
ap-6953	514	10	i1	i1	PROPN
ap-6953	514	11	0.0025	0.0025	NUM
ap-6953	515	1	[	[	X
ap-6953	515	2	kgm2	kgm2	X
ap-6953	515	3	]	]	PUNCT
ap-6953	515	4	friction	friction	NOUN
ap-6953	515	5	coefficient	coefficient	NOUN
ap-6953	515	6	:	:	PUNCT
ap-6953	515	7	d1	d1	PROPN
ap-6953	515	8	0.08	0.08	NUM
ap-6953	515	9	[	[	X
ap-6953	515	10	kgm2	kgm2	ADJ
ap-6953	515	11	s−1	s−1	PROPN
ap-6953	515	12	]	]	PUNCT
ap-6953	515	13	arm	arm	NOUN
ap-6953	515	14	2	2	NUM
ap-6953	515	15	mass	mass	NOUN
ap-6953	515	16	:	:	PUNCT
ap-6953	515	17	m2	m2	PROPN
ap-6953	515	18	0.226[kg	0.226[kg	X
ap-6953	515	19	]	]	X
ap-6953	515	20	lenght	lenght	ADJ
ap-6953	515	21	:	:	PUNCT
ap-6953	515	22	l2	l2	NOUN
ap-6953	515	23	0.298[m	0.298[m	NOUN
ap-6953	515	24	]	]	X
ap-6953	515	25	distance	distance	NOUN
ap-6953	515	26	of	of	ADP
ap-6953	515	27	the	the	DET
ap-6953	515	28	center	center	NOUN
ap-6953	515	29	of	of	ADP
ap-6953	515	30	mas	mas	PROPN
ap-6953	515	31	of	of	ADP
ap-6953	515	32	link2	link2	PROPN
ap-6953	515	33	:	:	PUNCT
ap-6953	515	34	lc2	lc2	NOUN
ap-6953	515	35	0.133	0.133	NUM
ap-6953	516	1	[	[	X
ap-6953	516	2	m	m	X
ap-6953	516	3	]	]	X
ap-6953	516	4	moment	moment	NOUN
ap-6953	516	5	inertia	inertia	NOUN
ap-6953	516	6	about	about	ADP
ap-6953	516	7	the	the	DET
ap-6953	516	8	centroid	centroid	NOUN
ap-6953	516	9	:	:	PUNCT
ap-6953	516	10	i2	i2	PROPN
ap-6953	516	11	0.0011	0.0011	NUM
ap-6953	516	12	[	[	X
ap-6953	516	13	kgm2	kgm2	X
ap-6953	516	14	]	]	PUNCT
ap-6953	516	15	friction	friction	NOUN
ap-6953	516	16	coefficient	coefficient	NOUN
ap-6953	516	17	:	:	PUNCT
ap-6953	516	18	d2	d2	PROPN
ap-6953	516	19	0.00001[kgm2	0.00001[kgm2	NUM
ap-6953	517	1	s−1	s−1	PROPN
ap-6953	517	2	]	]	PUNCT
ap-6953	517	3	torque	torque	NOUN
ap-6953	517	4	(	(	PUNCT
ap-6953	517	5	input	input	NOUN
ap-6953	517	6	control	control	NOUN
ap-6953	517	7	)	)	PUNCT
ap-6953	517	8	:	:	PUNCT
ap-6953	518	1	τ1	τ1	ADP
ap-6953	518	2	[	[	X
ap-6953	518	3	nm	nm	NOUN
ap-6953	518	4	]	]	X
ap-6953	518	5	table	table	NOUN
ap-6953	518	6	1	1	NUM
ap-6953	518	7	.	.	PUNCT
ap-6953	518	8	mechanical	mechanical	ADJ
ap-6953	518	9	parameters	parameter	NOUN
ap-6953	518	10	of	of	ADP
ap-6953	518	11	pendubot	pendubot	PROPN
ap-6953	518	12	model	model	NOUN
ap-6953	518	13	[	[	X
ap-6953	518	14	41	41	NUM
ap-6953	518	15	]	]	PUNCT
ap-6953	518	16	.	.	PUNCT
ap-6953	519	1	363	363	NUM
ap-6953	519	2	acta	acta	PROPN
ap-6953	519	3	polytechnica	polytechnica	PROPN
ap-6953	519	4	61(2):350–363	61(2):350–363	PROPN
ap-6953	519	5	,	,	PUNCT
ap-6953	519	6	2021	2021	NUM
ap-6953	519	7	1	1	NUM
ap-6953	519	8	introduction	introduction	NOUN
ap-6953	519	9	1.1	1.1	NUM
ap-6953	519	10	motivation	motivation	NOUN
ap-6953	519	11	:	:	PUNCT
ap-6953	519	12	a	a	DET
ap-6953	519	13	literature	literature	NOUN
ap-6953	519	14	review	review	VERB
ap-6953	519	15	1.2	1.2	NUM
ap-6953	519	16	contributions	contribution	NOUN
ap-6953	519	17	1.3	1.3	NUM
ap-6953	519	18	outlines	outline	NOUN
ap-6953	519	19	of	of	ADP
ap-6953	519	20	the	the	DET
ap-6953	519	21	paper	paper	NOUN
ap-6953	519	22	2	2	NUM
ap-6953	519	23	preliminaries	preliminary	NOUN
ap-6953	519	24	and	and	CCONJ
ap-6953	519	25	problem	problem	NOUN
ap-6953	519	26	formulation	formulation	NOUN
ap-6953	519	27	3	3	NUM
ap-6953	519	28	sliding	slide	VERB
ap-6953	519	29	mode	mode	NOUN
ap-6953	519	30	controller	controller	NOUN
ap-6953	519	31	design	design	VERB
ap-6953	519	32	3.1	3.1	NUM
ap-6953	519	33	proposition-1	proposition-1	NUM
ap-6953	519	34	4	4	NUM
ap-6953	519	35	adaptive	adaptive	ADJ
ap-6953	519	36	wavelets	wavelet	NOUN
ap-6953	519	37	sliding	slide	VERB
ap-6953	519	38	mode	mode	NOUN
ap-6953	519	39	controller	controller	NOUN
ap-6953	519	40	(	(	PUNCT
ap-6953	519	41	awsmc	awsmc	NOUN
ap-6953	519	42	)	)	PUNCT
ap-6953	519	43	4.1	4.1	NUM
ap-6953	519	44	wavelets	wavelet	NOUN
ap-6953	519	45	network	network	NOUN
ap-6953	519	46	overview	overview	VERB
ap-6953	519	47	4.2	4.2	NUM
ap-6953	519	48	adaptive	adaptive	ADJ
ap-6953	519	49	controller	controller	NOUN
ap-6953	519	50	design	design	VERB
ap-6953	519	51	4.3	4.3	NUM
ap-6953	519	52	proposition-2	proposition-2	NUM
ap-6953	519	53	4.4	4.4	NUM
ap-6953	519	54	proof	proof	NOUN
ap-6953	519	55	4.5	4.5	NUM
ap-6953	519	56	remarks	remark	VERB
ap-6953	519	57	5	5	NUM
ap-6953	519	58	simulation	simulation	NOUN
ap-6953	519	59	and	and	CCONJ
ap-6953	519	60	results	result	VERB
ap-6953	519	61	6	6	NUM
ap-6953	519	62	conclusion	conclusion	NOUN
ap-6953	519	63	and	and	CCONJ
ap-6953	519	64	outlook	outlook	NOUN
ap-6953	519	65	references	reference	NOUN
ap-6953	519	66	7	7	NUM
ap-6953	519	67	appendices	appendix	NOUN