id	sid	tid	token	lemma	pos
ap-730	1	1	ap05_4.vp	ap05_4.vp	NOUN
ap-730	1	2	1	1	NUM
ap-730	1	3	introduction	introduction	NOUN
ap-730	1	4	autonomous	autonomous	ADJ
ap-730	1	5	underwater	underwater	ADJ
ap-730	1	6	vehicles	vehicle	NOUN
ap-730	1	7	(	(	PUNCT
ap-730	1	8	auvs	auvs	PROPN
ap-730	1	9	)	)	PUNCT
ap-730	1	10	are	be	AUX
ap-730	1	11	submersible	submersible	ADJ
ap-730	1	12	robots	robot	NOUN
ap-730	1	13	that	that	PRON
ap-730	1	14	operate	operate	VERB
ap-730	1	15	independently	independently	ADV
ap-730	1	16	without	without	ADP
ap-730	1	17	human	human	ADJ
ap-730	1	18	intervention	intervention	NOUN
ap-730	1	19	[	[	X
ap-730	1	20	1	1	NUM
ap-730	1	21	,	,	PUNCT
ap-730	1	22	2	2	NUM
ap-730	1	23	,	,	PUNCT
ap-730	1	24	3	3	NUM
ap-730	1	25	]	]	PUNCT
ap-730	1	26	.	.	PUNCT
ap-730	2	1	these	these	DET
ap-730	2	2	vehicles	vehicle	NOUN
ap-730	2	3	have	have	VERB
ap-730	2	4	a	a	DET
ap-730	2	5	multitude	multitude	NOUN
ap-730	2	6	of	of	ADP
ap-730	2	7	uses	use	NOUN
ap-730	2	8	including	include	VERB
ap-730	2	9	maintenance	maintenance	NOUN
ap-730	2	10	,	,	PUNCT
ap-730	2	11	diver	diver	NOUN
ap-730	2	12	support	support	NOUN
ap-730	2	13	,	,	PUNCT
ap-730	2	14	pipeline	pipeline	NOUN
ap-730	2	15	inspection	inspection	NOUN
ap-730	2	16	and	and	CCONJ
ap-730	2	17	geological	geological	ADJ
ap-730	2	18	surveying	surveying	NOUN
ap-730	2	19	.	.	PUNCT
ap-730	3	1	as	as	SCONJ
ap-730	3	2	many	many	ADJ
ap-730	3	3	of	of	ADP
ap-730	3	4	these	these	DET
ap-730	3	5	tasks	task	NOUN
ap-730	3	6	require	require	VERB
ap-730	3	7	the	the	DET
ap-730	3	8	auv	auv	PROPN
ap-730	3	9	to	to	PART
ap-730	3	10	operate	operate	VERB
ap-730	3	11	in	in	ADP
ap-730	3	12	close	close	ADJ
ap-730	3	13	proximity	proximity	NOUN
ap-730	3	14	to	to	ADP
ap-730	3	15	obstacles	obstacle	NOUN
ap-730	3	16	and	and	CCONJ
ap-730	3	17	hazards	hazard	NOUN
ap-730	3	18	,	,	PUNCT
ap-730	3	19	it	it	PRON
ap-730	3	20	is	be	AUX
ap-730	3	21	imperative	imperative	ADJ
ap-730	3	22	that	that	SCONJ
ap-730	3	23	their	their	PRON
ap-730	3	24	motion	motion	NOUN
ap-730	3	25	is	be	AUX
ap-730	3	26	accurately	accurately	ADV
ap-730	3	27	controlled	control	VERB
ap-730	3	28	.	.	PUNCT
ap-730	4	1	this	this	PRON
ap-730	4	2	requires	require	VERB
ap-730	4	3	that	that	SCONJ
ap-730	4	4	the	the	DET
ap-730	4	5	particular	particular	ADJ
ap-730	4	6	control	control	NOUN
ap-730	4	7	system	system	NOUN
ap-730	4	8	designs	design	NOUN
ap-730	4	9	must	must	AUX
ap-730	4	10	be	be	AUX
ap-730	4	11	robust	robust	ADJ
ap-730	4	12	and	and	CCONJ
ap-730	4	13	reliable	reliable	ADJ
ap-730	4	14	[	[	X
ap-730	4	15	1	1	NUM
ap-730	4	16	,	,	PUNCT
ap-730	4	17	2	2	NUM
ap-730	4	18	,	,	PUNCT
ap-730	4	19	3	3	NUM
ap-730	4	20	]	]	PUNCT
ap-730	4	21	.	.	PUNCT
ap-730	5	1	automatic	automatic	ADJ
ap-730	5	2	control	control	NOUN
ap-730	5	3	of	of	ADP
ap-730	5	4	this	this	DET
ap-730	5	5	type	type	NOUN
ap-730	5	6	would	would	AUX
ap-730	5	7	enable	enable	VERB
ap-730	5	8	the	the	DET
ap-730	5	9	auv	auv	PROPN
ap-730	5	10	to	to	PART
ap-730	5	11	hold	hold	VERB
ap-730	5	12	its	its	PRON
ap-730	5	13	position	position	NOUN
ap-730	5	14	or	or	CCONJ
ap-730	5	15	manoeuvre	manoeuvre	VERB
ap-730	5	16	accurately	accurately	ADV
ap-730	5	17	with	with	ADP
ap-730	5	18	minimal	minimal	ADJ
ap-730	5	19	adverse	adverse	ADJ
ap-730	5	20	influence	influence	NOUN
ap-730	5	21	from	from	ADP
ap-730	5	22	the	the	DET
ap-730	5	23	external	external	ADJ
ap-730	5	24	disturbances	disturbance	NOUN
ap-730	5	25	present	present	ADJ
ap-730	5	26	in	in	ADP
ap-730	5	27	the	the	DET
ap-730	5	28	hostile	hostile	ADJ
ap-730	5	29	subsea	subsea	NOUN
ap-730	5	30	environment	environment	NOUN
ap-730	5	31	e.g.	e.g.	ADV
ap-730	5	32	ocean	ocean	NOUN
ap-730	5	33	currents	current	NOUN
ap-730	5	34	.	.	PUNCT
ap-730	6	1	the	the	DET
ap-730	6	2	performance	performance	NOUN
ap-730	6	3	of	of	ADP
ap-730	6	4	any	any	DET
ap-730	6	5	controller	controller	NOUN
ap-730	6	6	relies	rely	VERB
ap-730	6	7	on	on	ADP
ap-730	6	8	accurate	accurate	ADJ
ap-730	6	9	feedback	feedback	NOUN
ap-730	6	10	from	from	ADP
ap-730	6	11	sensors	sensor	NOUN
ap-730	6	12	[	[	X
ap-730	6	13	4	4	NUM
ap-730	6	14	]	]	PUNCT
ap-730	6	15	.	.	PUNCT
ap-730	7	1	unfortunately	unfortunately	ADV
ap-730	7	2	,	,	PUNCT
ap-730	7	3	this	this	DET
ap-730	7	4	aspect	aspect	NOUN
ap-730	7	5	is	be	AUX
ap-730	7	6	not	not	PART
ap-730	7	7	always	always	ADV
ap-730	7	8	present	present	ADJ
ap-730	7	9	within	within	ADP
ap-730	7	10	a	a	DET
ap-730	7	11	system	system	NOUN
ap-730	7	12	due	due	ADP
ap-730	7	13	to	to	ADP
ap-730	7	14	system	system	NOUN
ap-730	7	15	failures	failure	NOUN
ap-730	7	16	.	.	PUNCT
ap-730	8	1	there	there	PRON
ap-730	8	2	are	be	VERB
ap-730	8	3	two	two	NUM
ap-730	8	4	possible	possible	ADJ
ap-730	8	5	methods	method	NOUN
ap-730	8	6	that	that	PRON
ap-730	8	7	can	can	AUX
ap-730	8	8	be	be	AUX
ap-730	8	9	implemented	implement	VERB
ap-730	8	10	to	to	PART
ap-730	8	11	deal	deal	VERB
ap-730	8	12	with	with	ADP
ap-730	8	13	the	the	DET
ap-730	8	14	sensor	sensor	NOUN
ap-730	8	15	faults	fault	NOUN
ap-730	8	16	that	that	PRON
ap-730	8	17	are	be	AUX
ap-730	8	18	dealt	deal	VERB
ap-730	8	19	with	with	ADP
ap-730	8	20	in	in	ADP
ap-730	8	21	this	this	DET
ap-730	8	22	paper	paper	NOUN
ap-730	8	23	.	.	PUNCT
ap-730	9	1	the	the	DET
ap-730	9	2	first	first	ADJ
ap-730	9	3	is	be	AUX
ap-730	9	4	to	to	PART
ap-730	9	5	have	have	VERB
ap-730	9	6	redundancy	redundancy	NOUN
ap-730	9	7	built	build	VERB
ap-730	9	8	into	into	ADP
ap-730	9	9	the	the	DET
ap-730	9	10	system	system	NOUN
ap-730	9	11	by	by	ADP
ap-730	9	12	having	have	VERB
ap-730	9	13	multiple	multiple	ADJ
ap-730	9	14	sensors	sensor	NOUN
ap-730	9	15	for	for	SCONJ
ap-730	9	16	each	each	DET
ap-730	9	17	state	state	NOUN
ap-730	9	18	to	to	PART
ap-730	9	19	be	be	AUX
ap-730	9	20	measured	measure	VERB
ap-730	9	21	.	.	PUNCT
ap-730	10	1	this	this	PRON
ap-730	10	2	incurs	incur	VERB
ap-730	10	3	the	the	DET
ap-730	10	4	problems	problem	NOUN
ap-730	10	5	of	of	ADP
ap-730	10	6	added	add	VERB
ap-730	10	7	costs	cost	NOUN
ap-730	10	8	,	,	PUNCT
ap-730	10	9	weight	weight	NOUN
ap-730	10	10	and	and	CCONJ
ap-730	10	11	reduced	reduce	VERB
ap-730	10	12	battery	battery	NOUN
ap-730	10	13	life	life	NOUN
ap-730	10	14	,	,	PUNCT
ap-730	10	15	none	none	NOUN
ap-730	10	16	of	of	ADP
ap-730	10	17	which	which	PRON
ap-730	10	18	are	be	AUX
ap-730	10	19	desirable	desirable	ADJ
ap-730	10	20	in	in	ADP
ap-730	10	21	an	an	DET
ap-730	10	22	auv	auv	PROPN
ap-730	10	23	.	.	PUNCT
ap-730	11	1	the	the	DET
ap-730	11	2	second	second	ADJ
ap-730	11	3	method	method	NOUN
ap-730	11	4	is	be	AUX
ap-730	11	5	to	to	PART
ap-730	11	6	reconstruct	reconstruct	VERB
ap-730	11	7	the	the	DET
ap-730	11	8	output	output	NOUN
ap-730	11	9	of	of	ADP
ap-730	11	10	the	the	DET
ap-730	11	11	faulty	faulty	ADJ
ap-730	11	12	sensor	sensor	NOUN
ap-730	11	13	from	from	ADP
ap-730	11	14	the	the	DET
ap-730	11	15	responses	response	NOUN
ap-730	11	16	of	of	ADP
ap-730	11	17	the	the	DET
ap-730	11	18	remaining	remain	VERB
ap-730	11	19	good	good	ADJ
ap-730	11	20	sensors	sensor	NOUN
ap-730	11	21	.	.	PUNCT
ap-730	12	1	this	this	PRON
ap-730	12	2	is	be	AUX
ap-730	12	3	achieved	achieve	VERB
ap-730	12	4	by	by	ADP
ap-730	12	5	using	use	VERB
ap-730	12	6	an	an	DET
ap-730	12	7	observer	observer	NOUN
ap-730	12	8	to	to	PART
ap-730	12	9	estimate	estimate	VERB
ap-730	12	10	what	what	PRON
ap-730	12	11	the	the	DET
ap-730	12	12	faulty	faulty	ADJ
ap-730	12	13	signal	signal	NOUN
ap-730	12	14	should	should	AUX
ap-730	12	15	actually	actually	ADV
ap-730	12	16	be	be	AUX
ap-730	12	17	reading	read	VERB
ap-730	12	18	and	and	CCONJ
ap-730	12	19	then	then	ADV
ap-730	12	20	replacing	replace	VERB
ap-730	12	21	the	the	DET
ap-730	12	22	faulty	faulty	ADJ
ap-730	12	23	signal	signal	NOUN
ap-730	12	24	with	with	ADP
ap-730	12	25	this	this	DET
ap-730	12	26	estimate	estimate	NOUN
ap-730	12	27	of	of	ADP
ap-730	12	28	the	the	DET
ap-730	12	29	true	true	ADJ
ap-730	12	30	value	value	NOUN
ap-730	12	31	.	.	PUNCT
ap-730	13	1	it	it	PRON
ap-730	13	2	is	be	AUX
ap-730	13	3	this	this	DET
ap-730	13	4	second	second	ADJ
ap-730	13	5	method	method	NOUN
ap-730	13	6	that	that	PRON
ap-730	13	7	is	be	AUX
ap-730	13	8	presented	present	VERB
ap-730	13	9	in	in	ADP
ap-730	13	10	this	this	DET
ap-730	13	11	paper	paper	NOUN
ap-730	13	12	.	.	PUNCT
ap-730	14	1	the	the	DET
ap-730	14	2	control	control	NOUN
ap-730	14	3	method	method	NOUN
ap-730	14	4	that	that	PRON
ap-730	14	5	will	will	AUX
ap-730	14	6	be	be	AUX
ap-730	14	7	used	use	VERB
ap-730	14	8	is	be	AUX
ap-730	14	9	nonlinear	nonlinear	ADJ
ap-730	14	10	sliding	slide	VERB
ap-730	14	11	mode	mode	NOUN
ap-730	14	12	control	control	NOUN
ap-730	14	13	.	.	PUNCT
ap-730	15	1	this	this	DET
ap-730	15	2	control	control	NOUN
ap-730	15	3	structure	structure	NOUN
ap-730	15	4	has	have	AUX
ap-730	15	5	been	be	AUX
ap-730	15	6	used	use	VERB
ap-730	15	7	in	in	ADP
ap-730	15	8	numerous	numerous	ADJ
ap-730	15	9	papers	paper	NOUN
ap-730	15	10	where	where	SCONJ
ap-730	15	11	it	it	PRON
ap-730	15	12	has	have	AUX
ap-730	15	13	been	be	AUX
ap-730	15	14	shown	show	VERB
ap-730	15	15	to	to	PART
ap-730	15	16	be	be	AUX
ap-730	15	17	robust	robust	ADJ
ap-730	15	18	and	and	CCONJ
ap-730	15	19	reliable	reliable	ADJ
ap-730	15	20	for	for	ADP
ap-730	15	21	submersible	submersible	ADJ
ap-730	15	22	vehicle	vehicle	NOUN
ap-730	15	23	control	control	NOUN
ap-730	16	1	[	[	X
ap-730	16	2	1	1	NUM
ap-730	16	3	,	,	PUNCT
ap-730	16	4	2	2	NUM
ap-730	16	5	,	,	PUNCT
ap-730	16	6	3	3	NUM
ap-730	16	7	]	]	PUNCT
ap-730	16	8	.	.	PUNCT
ap-730	17	1	the	the	DET
ap-730	17	2	advantage	advantage	NOUN
ap-730	17	3	of	of	ADP
ap-730	17	4	sliding	slide	VERB
ap-730	17	5	mode	mode	NOUN
ap-730	17	6	control	control	NOUN
ap-730	17	7	over	over	ADP
ap-730	17	8	linear	linear	PROPN
ap-730	17	9	control	control	NOUN
ap-730	17	10	structures	structure	NOUN
ap-730	17	11	is	be	AUX
ap-730	17	12	that	that	SCONJ
ap-730	17	13	there	there	PRON
ap-730	17	14	is	be	VERB
ap-730	17	15	an	an	DET
ap-730	17	16	extra	extra	ADJ
ap-730	17	17	nonlinear	nonlinear	ADJ
ap-730	17	18	switching	switch	VERB
ap-730	17	19	term	term	NOUN
ap-730	17	20	that	that	PRON
ap-730	17	21	is	be	AUX
ap-730	17	22	able	able	ADJ
ap-730	17	23	to	to	PART
ap-730	17	24	overcome	overcome	VERB
ap-730	17	25	the	the	DET
ap-730	17	26	matched	match	VERB
ap-730	17	27	unmodelled	unmodelled	ADJ
ap-730	17	28	dynamics	dynamic	NOUN
ap-730	17	29	present	present	ADJ
ap-730	17	30	in	in	ADP
ap-730	17	31	the	the	DET
ap-730	17	32	system	system	NOUN
ap-730	17	33	.	.	PUNCT
ap-730	18	1	the	the	DET
ap-730	18	2	reconfiguration	reconfiguration	NOUN
ap-730	18	3	method	method	NOUN
ap-730	18	4	that	that	PRON
ap-730	18	5	is	be	AUX
ap-730	18	6	used	use	VERB
ap-730	18	7	in	in	ADP
ap-730	18	8	this	this	DET
ap-730	18	9	paper	paper	NOUN
ap-730	18	10	makes	make	VERB
ap-730	18	11	use	use	NOUN
ap-730	18	12	of	of	ADP
ap-730	18	13	a	a	DET
ap-730	18	14	nonlinear	nonlinear	ADJ
ap-730	18	15	sliding	slide	VERB
ap-730	18	16	mode	mode	NOUN
ap-730	18	17	observer	observer	NOUN
ap-730	18	18	(	(	PUNCT
ap-730	18	19	smo	smo	PROPN
ap-730	18	20	)	)	PUNCT
ap-730	19	1	[	[	X
ap-730	19	2	4	4	NUM
ap-730	19	3	,	,	PUNCT
ap-730	19	4	5	5	NUM
ap-730	19	5	,	,	PUNCT
ap-730	19	6	6	6	NUM
ap-730	19	7	]	]	PUNCT
ap-730	19	8	.	.	PUNCT
ap-730	20	1	the	the	DET
ap-730	20	2	theory	theory	NOUN
ap-730	20	3	and	and	CCONJ
ap-730	20	4	design	design	NOUN
ap-730	20	5	of	of	ADP
ap-730	20	6	smos	smos	NOUN
ap-730	20	7	for	for	ADP
ap-730	20	8	reconfiguration	reconfiguration	NOUN
ap-730	20	9	is	be	AUX
ap-730	20	10	given	give	VERB
ap-730	20	11	by	by	ADP
ap-730	20	12	edwards	edwards	PROPN
ap-730	20	13	and	and	CCONJ
ap-730	20	14	spurgeon	spurgeon	NOUN
ap-730	20	15	[	[	X
ap-730	20	16	5	5	NUM
ap-730	20	17	]	]	PUNCT
ap-730	20	18	and	and	CCONJ
ap-730	20	19	utkin	utkin	ADJ
ap-730	20	20	and	and	CCONJ
ap-730	20	21	guldner	guldner	NOUN
ap-730	20	22	[	[	X
ap-730	20	23	6	6	NUM
ap-730	20	24	]	]	PUNCT
ap-730	20	25	,	,	PUNCT
ap-730	20	26	and	and	CCONJ
ap-730	20	27	this	this	PRON
ap-730	20	28	is	be	AUX
ap-730	20	29	furthered	further	VERB
ap-730	20	30	by	by	ADP
ap-730	20	31	mcgookin	mcgookin	NOUN
ap-730	21	1	[	[	X
ap-730	21	2	4	4	X
ap-730	21	3	]	]	PUNCT
ap-730	21	4	who	who	PRON
ap-730	21	5	looks	look	VERB
ap-730	21	6	into	into	ADP
ap-730	21	7	their	their	PRON
ap-730	21	8	use	use	NOUN
ap-730	21	9	in	in	ADP
ap-730	21	10	submarine	submarine	NOUN
ap-730	21	11	control	control	NOUN
ap-730	21	12	reconfiguration	reconfiguration	NOUN
ap-730	21	13	.	.	PUNCT
ap-730	22	1	this	this	DET
ap-730	22	2	paper	paper	NOUN
ap-730	22	3	continues	continue	VERB
ap-730	22	4	that	that	SCONJ
ap-730	22	5	research	research	NOUN
ap-730	22	6	by	by	ADP
ap-730	22	7	looking	look	VERB
ap-730	22	8	into	into	ADP
ap-730	22	9	their	their	PRON
ap-730	22	10	use	use	NOUN
ap-730	22	11	in	in	ADP
ap-730	22	12	auvs	auvs	NOUN
ap-730	22	13	.	.	PUNCT
ap-730	23	1	this	this	DET
ap-730	23	2	paper	paper	NOUN
ap-730	23	3	is	be	AUX
ap-730	23	4	split	split	VERB
ap-730	23	5	into	into	ADP
ap-730	23	6	5	5	NUM
ap-730	23	7	sections	section	NOUN
ap-730	23	8	.	.	PUNCT
ap-730	24	1	the	the	DET
ap-730	24	2	first	first	ADJ
ap-730	24	3	looks	look	VERB
ap-730	24	4	at	at	ADP
ap-730	24	5	the	the	DET
ap-730	24	6	type	type	NOUN
ap-730	24	7	of	of	ADP
ap-730	24	8	auv	auv	PROPN
ap-730	24	9	model	model	NOUN
ap-730	24	10	used	use	VERB
ap-730	24	11	in	in	ADP
ap-730	24	12	this	this	DET
ap-730	24	13	paper	paper	NOUN
ap-730	24	14	.	.	PUNCT
ap-730	25	1	the	the	DET
ap-730	25	2	second	second	NOUN
ap-730	25	3	describes	describe	VERB
ap-730	25	4	the	the	DET
ap-730	25	5	control	control	NOUN
ap-730	25	6	structure	structure	NOUN
ap-730	25	7	used	use	VERB
ap-730	25	8	for	for	ADP
ap-730	25	9	the	the	DET
ap-730	25	10	auv	auv	PROPN
ap-730	25	11	.	.	PUNCT
ap-730	26	1	the	the	DET
ap-730	26	2	third	third	ADJ
ap-730	26	3	gives	give	VERB
ap-730	26	4	an	an	DET
ap-730	26	5	overview	overview	NOUN
ap-730	26	6	of	of	ADP
ap-730	26	7	smos	smos	NOUN
ap-730	26	8	and	and	CCONJ
ap-730	26	9	how	how	SCONJ
ap-730	26	10	they	they	PRON
ap-730	26	11	are	be	AUX
ap-730	26	12	designed	design	VERB
ap-730	26	13	for	for	ADP
ap-730	26	14	reconfiguration	reconfiguration	NOUN
ap-730	26	15	.	.	PUNCT
ap-730	27	1	the	the	DET
ap-730	27	2	fourth	fourth	ADJ
ap-730	27	3	section	section	NOUN
ap-730	27	4	gives	give	VERB
ap-730	27	5	results	result	NOUN
ap-730	27	6	of	of	ADP
ap-730	27	7	the	the	DET
ap-730	27	8	smos	smos	NOUN
ap-730	27	9	reconfiguring	reconfigure	VERB
ap-730	27	10	the	the	DET
ap-730	27	11	system	system	NOUN
ap-730	27	12	against	against	ADP
ap-730	27	13	faults	fault	NOUN
ap-730	27	14	injected	inject	VERB
ap-730	27	15	into	into	ADP
ap-730	27	16	the	the	DET
ap-730	27	17	system	system	NOUN
ap-730	27	18	before	before	SCONJ
ap-730	27	19	the	the	DET
ap-730	27	20	final	final	ADJ
ap-730	27	21	section	section	NOUN
ap-730	27	22	gives	give	VERB
ap-730	27	23	the	the	DET
ap-730	27	24	conclusions	conclusion	NOUN
ap-730	27	25	.	.	PUNCT
ap-730	28	1	2	2	NUM
ap-730	28	2	system	system	NOUN
ap-730	28	3	model	model	NOUN
ap-730	28	4	the	the	DET
ap-730	28	5	simulations	simulation	NOUN
ap-730	28	6	used	use	VERB
ap-730	28	7	in	in	ADP
ap-730	28	8	this	this	DET
ap-730	28	9	paper	paper	NOUN
ap-730	28	10	make	make	VERB
ap-730	28	11	use	use	NOUN
ap-730	28	12	of	of	ADP
ap-730	28	13	a	a	DET
ap-730	28	14	nonlinear	nonlinear	ADJ
ap-730	28	15	6	6	NUM
ap-730	28	16	degrees	degree	NOUN
ap-730	28	17	of	of	ADP
ap-730	28	18	freedom	freedom	NOUN
ap-730	28	19	(	(	PUNCT
ap-730	28	20	dof	dof	NOUN
ap-730	28	21	)	)	PUNCT
ap-730	28	22	model	model	NOUN
ap-730	28	23	to	to	PART
ap-730	28	24	give	give	VERB
ap-730	28	25	as	as	ADV
ap-730	28	26	accurate	accurate	ADJ
ap-730	28	27	a	a	DET
ap-730	28	28	representation	representation	NOUN
ap-730	28	29	of	of	ADP
ap-730	28	30	the	the	DET
ap-730	28	31	real	real	ADJ
ap-730	28	32	system	system	NOUN
ap-730	28	33	as	as	ADP
ap-730	28	34	possible	possible	ADJ
ap-730	28	35	.	.	PUNCT
ap-730	29	1	a	a	DET
ap-730	29	2	diagram	diagram	NOUN
ap-730	29	3	of	of	ADP
ap-730	29	4	the	the	DET
ap-730	29	5	auv	auv	PROPN
ap-730	29	6	model	model	NOUN
ap-730	29	7	used	use	VERB
ap-730	29	8	is	be	AUX
ap-730	29	9	shown	show	VERB
ap-730	29	10	in	in	ADP
ap-730	29	11	fig	fig	NOUN
ap-730	29	12	.	.	PUNCT
ap-730	30	1	1	1	NUM
ap-730	30	2	,	,	PUNCT
ap-730	30	3	annotated	annotate	VERB
ap-730	30	4	with	with	ADP
ap-730	30	5	the	the	DET
ap-730	30	6	main	main	ADJ
ap-730	30	7	18	18	NUM
ap-730	30	8	©	©	PROPN
ap-730	30	9	czech	czech	PROPN
ap-730	30	10	technical	technical	PROPN
ap-730	30	11	university	university	PROPN
ap-730	30	12	publishing	publishing	NOUN
ap-730	30	13	house	house	NOUN
ap-730	30	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	30	15	acta	acta	PROPN
ap-730	30	16	polytechnica	polytechnica	PROPN
ap-730	30	17	vol	vol	NOUN
ap-730	30	18	.	.	PROPN
ap-730	31	1	45	45	NUM
ap-730	31	2	no	no	NOUN
ap-730	31	3	.	.	PUNCT
ap-730	32	1	4/2005	4/2005	NUM
ap-730	32	2	czech	czech	PROPN
ap-730	32	3	technical	technical	PROPN
ap-730	32	4	university	university	PROPN
ap-730	32	5	in	in	ADP
ap-730	32	6	prague	prague	PROPN
ap-730	32	7	implementation	implementation	NOUN
ap-730	32	8	of	of	ADP
ap-730	32	9	sliding	slide	VERB
ap-730	32	10	mode	mode	NOUN
ap-730	32	11	observer	observer	NOUN
ap-730	32	12	based	base	VERB
ap-730	32	13	reconfiguration	reconfiguration	NOUN
ap-730	32	14	in	in	ADP
ap-730	32	15	an	an	DET
ap-730	32	16	autonomous	autonomous	ADJ
ap-730	32	17	underwater	underwater	ADJ
ap-730	32	18	vehicle	vehicle	NOUN
ap-730	32	19	a.	a.	PROPN
ap-730	32	20	j.	j.	PROPN
ap-730	32	21	mitchell	mitchell	PROPN
ap-730	32	22	,	,	PUNCT
ap-730	32	23	e.	e.	PROPN
ap-730	32	24	w.	w.	PROPN
ap-730	32	25	mcgookin	mcgookin	PROPN
ap-730	32	26	,	,	PUNCT
ap-730	32	27	d.	d.	PROPN
ap-730	32	28	j.	j.	PROPN
ap-730	32	29	murray	murray	PROPN
ap-730	32	30	-	-	PUNCT
ap-730	32	31	smith	smith	PROPN
ap-730	32	32	this	this	DET
ap-730	32	33	paper	paper	NOUN
ap-730	32	34	looks	look	VERB
ap-730	32	35	at	at	ADP
ap-730	32	36	the	the	DET
ap-730	32	37	implementation	implementation	NOUN
ap-730	32	38	of	of	ADP
ap-730	32	39	a	a	DET
ap-730	32	40	sliding	slide	VERB
ap-730	32	41	mode	mode	NOUN
ap-730	32	42	observer	observer	NOUN
ap-730	32	43	(	(	PUNCT
ap-730	32	44	smo	smo	PROPN
ap-730	32	45	)	)	PUNCT
ap-730	32	46	based	base	VERB
ap-730	32	47	reconfiguration	reconfiguration	NOUN
ap-730	32	48	algorithm	algorithm	NOUN
ap-730	32	49	to	to	PART
ap-730	32	50	deal	deal	VERB
ap-730	32	51	with	with	ADP
ap-730	32	52	sensor	sensor	NOUN
ap-730	32	53	faults	fault	NOUN
ap-730	32	54	within	within	ADP
ap-730	32	55	the	the	DET
ap-730	32	56	context	context	NOUN
ap-730	32	57	of	of	ADP
ap-730	32	58	navigation	navigation	NOUN
ap-730	32	59	controllers	controller	NOUN
ap-730	32	60	for	for	ADP
ap-730	32	61	autonomous	autonomous	ADJ
ap-730	32	62	underwater	underwater	ADJ
ap-730	32	63	vehicle	vehicle	NOUN
ap-730	32	64	(	(	PUNCT
ap-730	32	65	auv	auv	PROPN
ap-730	32	66	)	)	PUNCT
ap-730	32	67	.	.	PUNCT
ap-730	33	1	in	in	ADP
ap-730	33	2	this	this	DET
ap-730	33	3	paper	paper	NOUN
ap-730	33	4	the	the	DET
ap-730	33	5	reconfigurability	reconfigurability	NOUN
ap-730	33	6	aspects	aspect	NOUN
ap-730	33	7	are	be	AUX
ap-730	33	8	considered	consider	VERB
ap-730	33	9	for	for	ADP
ap-730	33	10	the	the	DET
ap-730	33	11	heading	head	VERB
ap-730	33	12	controller	controller	NOUN
ap-730	33	13	.	.	PUNCT
ap-730	34	1	simulation	simulation	NOUN
ap-730	34	2	responses	response	NOUN
ap-730	34	3	are	be	AUX
ap-730	34	4	used	use	VERB
ap-730	34	5	to	to	PART
ap-730	34	6	illustrate	illustrate	VERB
ap-730	34	7	that	that	SCONJ
ap-730	34	8	the	the	DET
ap-730	34	9	sliding	slide	VERB
ap-730	34	10	mode	mode	NOUN
ap-730	34	11	observer	observer	NOUN
ap-730	34	12	is	be	AUX
ap-730	34	13	able	able	ADJ
ap-730	34	14	to	to	PART
ap-730	34	15	give	give	VERB
ap-730	34	16	state	state	NOUN
ap-730	34	17	information	information	NOUN
ap-730	34	18	to	to	ADP
ap-730	34	19	the	the	DET
ap-730	34	20	controller	controller	NOUN
ap-730	34	21	when	when	SCONJ
ap-730	34	22	there	there	PRON
ap-730	34	23	is	be	VERB
ap-730	34	24	a	a	DET
ap-730	34	25	fault	fault	NOUN
ap-730	34	26	in	in	ADP
ap-730	34	27	the	the	DET
ap-730	34	28	auv	auv	PROPN
ap-730	34	29	’s	’s	PART
ap-730	34	30	sensor	sensor	NOUN
ap-730	34	31	package	package	NOUN
ap-730	34	32	.	.	PUNCT
ap-730	35	1	comparisons	comparison	NOUN
ap-730	35	2	are	be	AUX
ap-730	35	3	made	make	VERB
ap-730	35	4	between	between	ADP
ap-730	35	5	the	the	DET
ap-730	35	6	sliding	slide	VERB
ap-730	35	7	mode	mode	NOUN
ap-730	35	8	controller	controller	NOUN
ap-730	35	9	with	with	ADP
ap-730	35	10	and	and	CCONJ
ap-730	35	11	without	without	ADP
ap-730	35	12	reconfigurability	reconfigurability	NOUN
ap-730	35	13	for	for	ADP
ap-730	35	14	a	a	DET
ap-730	35	15	number	number	NOUN
ap-730	35	16	of	of	ADP
ap-730	35	17	different	different	ADJ
ap-730	35	18	sensor	sensor	NOUN
ap-730	35	19	failures	failure	NOUN
ap-730	35	20	,	,	PUNCT
ap-730	35	21	e.g.	e.g.	ADV
ap-730	35	22	bias	bias	NOUN
ap-730	35	23	errors	error	NOUN
ap-730	35	24	in	in	ADP
ap-730	35	25	or	or	CCONJ
ap-730	35	26	the	the	DET
ap-730	35	27	complete	complete	ADJ
ap-730	35	28	loss	loss	NOUN
ap-730	35	29	of	of	ADP
ap-730	35	30	the	the	DET
ap-730	35	31	heading	head	VERB
ap-730	35	32	data	data	NOUN
ap-730	35	33	,	,	PUNCT
ap-730	35	34	and	and	CCONJ
ap-730	35	35	the	the	DET
ap-730	35	36	robustness	robustness	NOUN
ap-730	35	37	of	of	ADP
ap-730	35	38	the	the	DET
ap-730	35	39	sliding	slide	VERB
ap-730	35	40	mode	mode	NOUN
ap-730	35	41	observer	observer	NOUN
ap-730	35	42	is	be	AUX
ap-730	35	43	investigated	investigate	VERB
ap-730	35	44	through	through	ADP
ap-730	35	45	the	the	DET
ap-730	35	46	introduction	introduction	NOUN
ap-730	35	47	of	of	ADP
ap-730	35	48	disturbances	disturbance	NOUN
ap-730	35	49	into	into	ADP
ap-730	35	50	the	the	DET
ap-730	35	51	system	system	NOUN
ap-730	35	52	.	.	PUNCT
ap-730	36	1	keywords	keyword	NOUN
ap-730	36	2	:	:	PUNCT
ap-730	36	3	autonomous	autonomous	ADJ
ap-730	36	4	underwater	underwater	ADJ
ap-730	36	5	vehicles	vehicle	NOUN
ap-730	36	6	,	,	PUNCT
ap-730	36	7	sliding	sliding	ADJ
ap-730	36	8	-	-	PUNCT
ap-730	36	9	mode	mode	NOUN
ap-730	36	10	control	control	NOUN
ap-730	36	11	,	,	PUNCT
ap-730	36	12	fault	fault	VERB
ap-730	36	13	tolerance	tolerance	NOUN
ap-730	36	14	,	,	PUNCT
ap-730	36	15	reconfiguration	reconfiguration	NOUN
ap-730	36	16	,	,	PUNCT
ap-730	36	17	sliding	slide	VERB
ap-730	36	18	mode	mode	NOUN
ap-730	36	19	observers	observer	NOUN
ap-730	36	20	,	,	PUNCT
ap-730	36	21	environmental	environmental	ADJ
ap-730	36	22	disturbances	disturbance	NOUN
ap-730	36	23	.	.	PUNCT
ap-730	37	1	xe	xe	PROPN
ap-730	37	2	ye	ye	PRON
ap-730	37	3	ze	ze	PROPN
ap-730	37	4	oe	oe	PROPN
ap-730	37	5	u	u	PROPN
ap-730	37	6	v	v	PROPN
ap-730	37	7	w	w	NOUN
ap-730	37	8	p	p	NOUN
ap-730	37	9	q	q	NOUN
ap-730	37	10	r	r	NOUN
ap-730	37	11	xb	xb	PROPN
ap-730	37	12	ybzb	ybzb	PROPN
ap-730	37	13	ob	ob	PROPN
ap-730	37	14	�	�	PROPN
ap-730	37	15	r	r	NOUN
ap-730	37	16	n	n	PRON
ap-730	37	17	�	�	PROPN
ap-730	37	18	s	s	PART
ap-730	37	19	z	z	NOUN
ap-730	37	20	.	.	PUNCT
ap-730	38	1	x	x	X
ap-730	38	2	.	.	PUNCT
ap-730	39	1	y	y	PROPN
ap-730	39	2	.	.	PUNCT
ap-730	40	1	�	�	PROPN
ap-730	40	2	.	.	PUNCT
ap-730	41	1	�	�	PROPN
ap-730	41	2	.	.	PUNCT
ap-730	42	1	�	�	PROPN
ap-730	42	2	.	.	PUNCT
ap-730	43	1	fig	fig	NOUN
ap-730	43	2	.	.	PUNCT
ap-730	44	1	1	1	NUM
ap-730	44	2	:	:	PUNCT
ap-730	44	3	graphical	graphical	ADJ
ap-730	44	4	representation	representation	NOUN
ap-730	44	5	of	of	ADP
ap-730	44	6	auv	auv	PROPN
ap-730	44	7	showing	show	VERB
ap-730	44	8	reference	reference	NOUN
ap-730	44	9	frames	frame	VERB
ap-730	44	10	axes	axis	NOUN
ap-730	44	11	and	and	CCONJ
ap-730	44	12	state	state	NOUN
ap-730	44	13	variables	variable	NOUN
ap-730	44	14	.	.	PUNCT
ap-730	45	1	it	it	PRON
ap-730	45	2	is	be	AUX
ap-730	45	3	based	base	VERB
ap-730	45	4	on	on	ADP
ap-730	45	5	the	the	DET
ap-730	45	6	nps	nps	PROPN
ap-730	45	7	auv	auv	PROPN
ap-730	45	8	ii	ii	PROPN
ap-730	45	9	given	give	VERB
ap-730	45	10	in	in	ADP
ap-730	45	11	[	[	X
ap-730	45	12	1	1	NUM
ap-730	45	13	,	,	PUNCT
ap-730	45	14	2	2	NUM
ap-730	45	15	]	]	PUNCT
ap-730	45	16	.	.	PUNCT
ap-730	46	1	in	in	ADP
ap-730	46	2	fig	fig	NOUN
ap-730	46	3	.	.	PUNCT
ap-730	47	1	1	1	NUM
ap-730	47	2	it	it	PRON
ap-730	47	3	can	can	AUX
ap-730	47	4	be	be	AUX
ap-730	47	5	seen	see	VERB
ap-730	47	6	that	that	SCONJ
ap-730	47	7	the	the	DET
ap-730	47	8	auv	auv	PROPN
ap-730	47	9	has	have	VERB
ap-730	47	10	vertical	vertical	ADJ
ap-730	47	11	and	and	CCONJ
ap-730	47	12	horizontal	horizontal	ADJ
ap-730	47	13	control	control	NOUN
ap-730	47	14	surfaces	surface	NOUN
ap-730	47	15	at	at	ADP
ap-730	47	16	both	both	CCONJ
ap-730	47	17	the	the	DET
ap-730	47	18	bow	bow	NOUN
ap-730	47	19	and	and	CCONJ
ap-730	47	20	stern	stern	ADJ
ap-730	47	21	.	.	PUNCT
ap-730	48	1	for	for	ADP
ap-730	48	2	the	the	DET
ap-730	48	3	work	work	NOUN
ap-730	48	4	in	in	ADP
ap-730	48	5	this	this	DET
ap-730	48	6	paper	paper	NOUN
ap-730	48	7	only	only	ADV
ap-730	48	8	the	the	DET
ap-730	48	9	stern	stern	ADJ
ap-730	48	10	control	control	NOUN
ap-730	48	11	surfaces	surface	NOUN
ap-730	48	12	are	be	AUX
ap-730	48	13	used	use	VERB
ap-730	48	14	to	to	PART
ap-730	48	15	control	control	VERB
ap-730	48	16	the	the	DET
ap-730	48	17	auv	auv	NOUN
ap-730	48	18	and	and	CCONJ
ap-730	48	19	the	the	DET
ap-730	48	20	bow	bow	NOUN
ap-730	48	21	surfaces	surface	NOUN
ap-730	48	22	are	be	AUX
ap-730	48	23	set	set	VERB
ap-730	48	24	to	to	ADP
ap-730	48	25	their	their	PRON
ap-730	48	26	trim	trim	NOUN
ap-730	48	27	values	value	NOUN
ap-730	48	28	of	of	ADP
ap-730	48	29	0	0	NUM
ap-730	48	30	°	°	NUM
ap-730	48	31	.	.	PUNCT
ap-730	49	1	the	the	DET
ap-730	49	2	control	control	NOUN
ap-730	49	3	surfaces	surface	NOUN
ap-730	49	4	are	be	AUX
ap-730	49	5	limited	limit	VERB
ap-730	49	6	to	to	ADP
ap-730	49	7	�	�	PROPN
ap-730	49	8	20	20	NUM
ap-730	49	9	°	°	NOUN
ap-730	49	10	,	,	PUNCT
ap-730	49	11	the	the	DET
ap-730	49	12	thrusters	thruster	NOUN
ap-730	49	13	�	�	PROPN
ap-730	49	14	1500rpm	1500rpm	NUM
ap-730	49	15	and	and	CCONJ
ap-730	49	16	all	all	DET
ap-730	49	17	the	the	DET
ap-730	49	18	actuator	actuator	NOUN
ap-730	49	19	signals	signal	NOUN
ap-730	49	20	are	be	AUX
ap-730	49	21	passed	pass	VERB
ap-730	49	22	through	through	ADP
ap-730	49	23	a	a	DET
ap-730	49	24	first	first	ADJ
ap-730	49	25	order	order	NOUN
ap-730	49	26	filter	filter	NOUN
ap-730	49	27	to	to	PART
ap-730	49	28	limit	limit	VERB
ap-730	49	29	the	the	DET
ap-730	49	30	actuator	actuator	NOUN
ap-730	49	31	rates	rate	NOUN
ap-730	49	32	[	[	X
ap-730	49	33	1,2	1,2	NUM
ap-730	49	34	]	]	PUNCT
ap-730	49	35	.	.	PUNCT
ap-730	50	1	the	the	DET
ap-730	50	2	state	state	NOUN
ap-730	50	3	space	space	NOUN
ap-730	50	4	form	form	NOUN
ap-730	50	5	of	of	ADP
ap-730	50	6	the	the	DET
ap-730	50	7	nonlinear	nonlinear	ADJ
ap-730	50	8	equations	equation	NOUN
ap-730	50	9	of	of	ADP
ap-730	50	10	motion	motion	NOUN
ap-730	50	11	is	be	AUX
ap-730	50	12	given	give	VERB
ap-730	50	13	below	below	ADP
ap-730	50	14	[	[	X
ap-730	50	15	2	2	NUM
ap-730	50	16	]	]	PUNCT
ap-730	50	17	.	.	PUNCT
ap-730	51	1	�	�	PROPN
ap-730	51	2	�	�	PROPN
ap-730	51	3	�	�	PROPN
ap-730	51	4	�	�	PROPN
ap-730	51	5	(	(	PUNCT
ap-730	51	6	)	)	PUNCT
ap-730	51	7	(	(	PUNCT
ap-730	51	8	)	)	PUNCT
ap-730	51	9	(	(	PUNCT
ap-730	51	10	)	)	PUNCT
ap-730	51	11	(	(	PUNCT
ap-730	51	12	�	�	PROPN
ap-730	51	13	�	�	PROPN
ap-730	51	14	�	�	PROPN
ap-730	51	15	�	�	PROPN
ap-730	51	16	�	�	PROPN
ap-730	51	17	�	�	PROPN
ap-730	51	18	�	�	PROPN
ap-730	51	19	�	�	PROPN
ap-730	51	20	�	�	PROPN
ap-730	51	21	�	�	PROPN
ap-730	51	22	�	�	PROPN
ap-730	51	23	�	�	PROPN
ap-730	51	24	�	�	PROPN
ap-730	51	25	�	�	PROPN
ap-730	51	26	�	�	PROPN
ap-730	51	27	�	�	PROPN
ap-730	51	28	�	�	PROPN
ap-730	51	29	�	�	PROPN
ap-730	51	30	�	�	PROPN
ap-730	51	31	�	�	PROPN
ap-730	51	32	�	�	PROPN
ap-730	51	33	m	m	NOUN
ap-730	51	34	c	c	NOUN
ap-730	51	35	d	d	X
ap-730	51	36	j	j	PROPN
ap-730	51	37	m	m	PROPN
ap-730	51	38	g1	g1	PROPN
ap-730	51	39	10	10	NUM
ap-730	51	40	0	0	NUM
ap-730	51	41	�	�	PROPN
ap-730	51	42	�	�	PROPN
ap-730	51	43	)	)	PUNCT
ap-730	51	44	(	(	PUNCT
ap-730	51	45	)	)	PUNCT
ap-730	51	46	0	0	SYM
ap-730	51	47	0	0	NUM
ap-730	51	48	�	�	PROPN
ap-730	51	49	�	�	PROPN
ap-730	51	50	�	�	PROPN
ap-730	51	51	�	�	PROPN
ap-730	51	52	�	�	PROPN
ap-730	51	53	�	�	PROPN
ap-730	51	54	�	�	PROPN
ap-730	51	55	�	�	PROPN
ap-730	51	56	�	�	PROPN
ap-730	51	57	m	m	PROPN
ap-730	51	58	b	b	NOUN
ap-730	51	59	u	u	NOUN
ap-730	51	60	1	1	NUM
ap-730	51	61	(	(	PUNCT
ap-730	51	62	1	1	NUM
ap-730	51	63	)	)	PUNCT
ap-730	51	64	where	where	SCONJ
ap-730	51	65	�	�	PROPN
ap-730	51	66	�	�	PROPN
ap-730	51	67	�	�	PROPN
ap-730	51	68	�	�	PROPN
ap-730	51	69	u	u	PROPN
ap-730	51	70	v	v	NOUN
ap-730	51	71	w	w	NOUN
ap-730	51	72	p	p	NOUN
ap-730	51	73	q	q	NOUN
ap-730	51	74	r	r	NOUN
ap-730	51	75	t	t	PROPN
ap-730	51	76	,	,	PUNCT
ap-730	51	77	�	�	PROPN
ap-730	51	78	�	�	PROPN
ap-730	51	79	�	�	PROPN
ap-730	51	80	�	�	PROPN
ap-730	51	81	x	x	SYM
ap-730	51	82	y	y	PROPN
ap-730	51	83	z	z	PROPN
ap-730	51	84	�	�	PROPN
ap-730	51	85	�	�	PROPN
ap-730	51	86	�	�	PROPN
ap-730	51	87	t	t	PROPN
ap-730	51	88	,	,	PUNCT
ap-730	51	89	�	�	PROPN
ap-730	51	90	�	�	PROPN
ap-730	51	91	u	u	PROPN
ap-730	51	92	�	�	PROPN
ap-730	51	93	�	�	PROPN
ap-730	51	94	�	�	PROPN
ap-730	51	95	r	r	NOUN
ap-730	51	96	s	s	PROPN
ap-730	51	97	n	n	PRON
ap-730	51	98	t	t	PROPN
ap-730	51	99	,	,	PUNCT
ap-730	51	100	b	b	PROPN
ap-730	51	101	(	(	PUNCT
ap-730	51	102	�	�	PROPN
ap-730	51	103	)	)	PUNCT
ap-730	51	104	is	be	AUX
ap-730	51	105	the	the	DET
ap-730	51	106	nonlinear	nonlinear	ADJ
ap-730	51	107	input	input	NOUN
ap-730	51	108	matrix	matrix	NOUN
ap-730	51	109	,	,	PUNCT
ap-730	51	110	c	c	X
ap-730	51	111	(	(	PUNCT
ap-730	51	112	�	�	PROPN
ap-730	51	113	)	)	PUNCT
ap-730	51	114	is	be	AUX
ap-730	51	115	the	the	DET
ap-730	51	116	matrix	matrix	NOUN
ap-730	51	117	of	of	ADP
ap-730	51	118	coriolis	corioli	NOUN
ap-730	51	119	and	and	CCONJ
ap-730	51	120	centripetal	centripetal	ADJ
ap-730	51	121	terms	term	NOUN
ap-730	51	122	,	,	PUNCT
ap-730	51	123	d	d	X
ap-730	51	124	(	(	PUNCT
ap-730	51	125	�	�	PROPN
ap-730	51	126	)	)	PUNCT
ap-730	51	127	is	be	AUX
ap-730	51	128	the	the	DET
ap-730	51	129	damping	damp	VERB
ap-730	51	130	matrix	matrix	NOUN
ap-730	51	131	,	,	PUNCT
ap-730	51	132	g	g	PROPN
ap-730	51	133	(	(	PUNCT
ap-730	51	134	�	�	PROPN
ap-730	51	135	)	)	PUNCT
ap-730	51	136	is	be	AUX
ap-730	51	137	the	the	DET
ap-730	51	138	vector	vector	NOUN
ap-730	51	139	of	of	ADP
ap-730	51	140	gravitational	gravitational	ADJ
ap-730	51	141	and	and	CCONJ
ap-730	51	142	buoyancy	buoyancy	ADJ
ap-730	51	143	forces	force	NOUN
ap-730	51	144	and	and	CCONJ
ap-730	51	145	moments	moment	NOUN
ap-730	51	146	,	,	PUNCT
ap-730	51	147	j	j	PROPN
ap-730	51	148	(	(	PUNCT
ap-730	51	149	�	�	PROPN
ap-730	51	150	)	)	PUNCT
ap-730	51	151	is	be	AUX
ap-730	51	152	the	the	DET
ap-730	51	153	euler	euler	NOUN
ap-730	51	154	transformation	transformation	NOUN
ap-730	51	155	matrix	matrix	NOUN
ap-730	51	156	,	,	PUNCT
ap-730	51	157	and	and	CCONJ
ap-730	51	158	m	m	PROPN
ap-730	51	159	is	be	AUX
ap-730	51	160	the	the	DET
ap-730	51	161	mass	mass	NOUN
ap-730	51	162	and	and	CCONJ
ap-730	51	163	inertia	inertia	NOUN
ap-730	51	164	matrix	matrix	NOUN
ap-730	51	165	.	.	PUNCT
ap-730	52	1	these	these	DET
ap-730	52	2	equations	equation	NOUN
ap-730	52	3	can	can	AUX
ap-730	52	4	be	be	AUX
ap-730	52	5	represented	represent	VERB
ap-730	52	6	by	by	ADP
ap-730	52	7	the	the	DET
ap-730	52	8	simplified	simplified	ADJ
ap-730	52	9	nonlinear	nonlinear	ADJ
ap-730	52	10	state	state	NOUN
ap-730	52	11	space	space	NOUN
ap-730	52	12	form	form	NOUN
ap-730	52	13	shown	show	VERB
ap-730	52	14	below	below	ADP
ap-730	52	15	.	.	PUNCT
ap-730	53	1	�	�	PROPN
ap-730	53	2	(	(	PUNCT
ap-730	53	3	)	)	PUNCT
ap-730	53	4	(	(	PUNCT
ap-730	53	5	)	)	PUNCT
ap-730	53	6	x	x	PUNCT
ap-730	53	7	a	a	DET
ap-730	53	8	x	x	X
ap-730	53	9	x	x	SYM
ap-730	53	10	b	b	PROPN
ap-730	53	11	x	x	SYM
ap-730	53	12	u	u	NOUN
ap-730	53	13	�	�	PROPN
ap-730	53	14	�	�	PROPN
ap-730	53	15	,	,	PUNCT
ap-730	53	16	(	(	PUNCT
ap-730	53	17	2	2	X
ap-730	53	18	)	)	PUNCT
ap-730	53	19	where	where	SCONJ
ap-730	53	20	x	x	SYM
ap-730	53	21	�	�	PROPN
ap-730	53	22	[	[	X
ap-730	53	23	�	�	PROPN
ap-730	53	24	�	�	PROPN
ap-730	53	25	]	]	PUNCT
ap-730	53	26	t.	t.	NOUN
ap-730	53	27	this	this	PRON
ap-730	53	28	can	can	AUX
ap-730	53	29	then	then	ADV
ap-730	53	30	be	be	AUX
ap-730	53	31	linearised	linearise	VERB
ap-730	53	32	to	to	PART
ap-730	53	33	give	give	VERB
ap-730	53	34	the	the	DET
ap-730	53	35	following	follow	VERB
ap-730	53	36	standard	standard	ADJ
ap-730	53	37	state	state	NOUN
ap-730	53	38	equation	equation	NOUN
ap-730	53	39	:	:	PUNCT
ap-730	53	40	�	�	X
ap-730	53	41	x	x	ADP
ap-730	53	42	ax	ax	NOUN
ap-730	53	43	bu	bu	PROPN
ap-730	53	44	�	�	PROPN
ap-730	53	45	�	�	PROPN
ap-730	53	46	.	.	PUNCT
ap-730	54	1	(	(	PUNCT
ap-730	54	2	3	3	X
ap-730	54	3	)	)	PUNCT
ap-730	54	4	here	here	ADV
ap-730	54	5	a	a	PRON
ap-730	54	6	is	be	AUX
ap-730	54	7	the	the	DET
ap-730	54	8	system	system	NOUN
ap-730	54	9	matrix	matrix	NOUN
ap-730	54	10	and	and	CCONJ
ap-730	54	11	b	b	NOUN
ap-730	54	12	is	be	AUX
ap-730	54	13	the	the	DET
ap-730	54	14	input	input	NOUN
ap-730	54	15	matrix	matrix	NOUN
ap-730	54	16	.	.	PUNCT
ap-730	55	1	2.1	2.1	NUM
ap-730	55	2	disturbances	disturbance	NOUN
ap-730	55	3	to	to	PART
ap-730	55	4	test	test	VERB
ap-730	55	5	the	the	DET
ap-730	55	6	controllers	controller	NOUN
ap-730	55	7	and	and	CCONJ
ap-730	55	8	reconfiguration	reconfiguration	NOUN
ap-730	55	9	in	in	ADP
ap-730	55	10	a	a	DET
ap-730	55	11	realistic	realistic	ADJ
ap-730	55	12	simulation	simulation	NOUN
ap-730	55	13	environment	environment	NOUN
ap-730	55	14	,	,	PUNCT
ap-730	55	15	ocean	ocean	PROPN
ap-730	55	16	current	current	ADJ
ap-730	55	17	disturbances	disturbance	NOUN
ap-730	55	18	have	have	AUX
ap-730	55	19	been	be	AUX
ap-730	55	20	modelled	model	VERB
ap-730	55	21	.	.	PUNCT
ap-730	56	1	ocean	ocean	NOUN
ap-730	56	2	currents	current	NOUN
ap-730	56	3	are	be	AUX
ap-730	56	4	the	the	DET
ap-730	56	5	turbulent	turbulent	ADJ
ap-730	56	6	flows	flow	NOUN
ap-730	56	7	within	within	ADP
ap-730	56	8	bodies	body	NOUN
ap-730	56	9	of	of	ADP
ap-730	56	10	water	water	NOUN
ap-730	56	11	[	[	X
ap-730	56	12	2	2	NUM
ap-730	56	13	,	,	PUNCT
ap-730	56	14	7	7	NUM
ap-730	56	15	]	]	PUNCT
ap-730	56	16	.	.	PUNCT
ap-730	57	1	for	for	ADP
ap-730	57	2	an	an	DET
ap-730	57	3	auv	auv	PROPN
ap-730	57	4	working	work	VERB
ap-730	57	5	near	near	ADP
ap-730	57	6	the	the	DET
ap-730	57	7	seabed	seabed	NOUN
ap-730	57	8	and	and	CCONJ
ap-730	57	9	in	in	ADP
ap-730	57	10	close	close	ADJ
ap-730	57	11	proximity	proximity	NOUN
ap-730	57	12	to	to	ADP
ap-730	57	13	objects	object	NOUN
ap-730	57	14	,	,	PUNCT
ap-730	57	15	the	the	DET
ap-730	57	16	ocean	ocean	NOUN
ap-730	57	17	-	-	PUNCT
ap-730	57	18	currents	current	NOUN
ap-730	57	19	would	would	AUX
ap-730	57	20	be	be	AUX
ap-730	57	21	highly	highly	ADV
ap-730	57	22	turbulent	turbulent	ADJ
ap-730	57	23	,	,	PUNCT
ap-730	57	24	as	as	SCONJ
ap-730	57	25	the	the	DET
ap-730	57	26	objects	object	NOUN
ap-730	57	27	shed	shed	VERB
ap-730	57	28	vortices	vortex	NOUN
ap-730	57	29	into	into	ADP
ap-730	57	30	the	the	DET
ap-730	57	31	stream	stream	NOUN
ap-730	57	32	.	.	PUNCT
ap-730	58	1	to	to	PART
ap-730	58	2	model	model	VERB
ap-730	58	3	the	the	DET
ap-730	58	4	sea	sea	NOUN
ap-730	58	5	currents	current	NOUN
ap-730	58	6	it	it	PRON
ap-730	58	7	is	be	AUX
ap-730	58	8	required	require	VERB
ap-730	58	9	to	to	PART
ap-730	58	10	know	know	VERB
ap-730	58	11	the	the	DET
ap-730	58	12	velocity	velocity	NOUN
ap-730	58	13	of	of	ADP
ap-730	58	14	the	the	DET
ap-730	58	15	current	current	ADJ
ap-730	58	16	flow	flow	NOUN
ap-730	58	17	,	,	PUNCT
ap-730	58	18	vc	vc	NOUN
ap-730	58	19	,	,	PUNCT
ap-730	58	20	angle	angle	NOUN
ap-730	58	21	of	of	ADP
ap-730	58	22	attack	attack	NOUN
ap-730	58	23	,	,	PUNCT
ap-730	58	24	�	�	PROPN
ap-730	58	25	c	c	PROPN
ap-730	58	26	,	,	PUNCT
ap-730	58	27	and	and	CCONJ
ap-730	58	28	sideslip	sideslip	NOUN
ap-730	58	29	angle	angle	NOUN
ap-730	58	30	,	,	PUNCT
ap-730	58	31	�	�	PROPN
ap-730	58	32	c	c	NOUN
ap-730	58	33	,	,	PUNCT
ap-730	58	34	of	of	ADP
ap-730	58	35	the	the	DET
ap-730	58	36	current	current	NOUN
ap-730	58	37	in	in	ADP
ap-730	58	38	the	the	DET
ap-730	58	39	earth	earth	NOUN
ap-730	58	40	-	-	PUNCT
ap-730	58	41	fixed	fix	VERB
ap-730	58	42	reference	reference	NOUN
ap-730	58	43	frame	frame	NOUN
ap-730	58	44	.	.	PUNCT
ap-730	59	1	for	for	ADP
ap-730	59	2	this	this	DET
ap-730	59	3	paper	paper	NOUN
ap-730	59	4	�	�	PROPN
ap-730	59	5	c	c	PROPN
ap-730	59	6	is	be	AUX
ap-730	59	7	set	set	VERB
ap-730	59	8	to	to	ADP
ap-730	59	9	a	a	DET
ap-730	59	10	predefined	predefine	VERB
ap-730	59	11	values	value	NOUN
ap-730	59	12	of	of	ADP
ap-730	59	13	0	0	NUM
ap-730	59	14	°	°	NUM
ap-730	59	15	and	and	CCONJ
ap-730	59	16	then	then	ADV
ap-730	59	17	vc	vc	INTJ
ap-730	59	18	,	,	PUNCT
ap-730	59	19	and	and	CCONJ
ap-730	59	20	�	�	PROPN
ap-730	59	21	c	c	NOUN
ap-730	59	22	are	be	AUX
ap-730	59	23	varied	varied	ADJ
ap-730	59	24	randomly	randomly	ADV
ap-730	59	25	.	.	PUNCT
ap-730	60	1	fig	fig	NOUN
ap-730	60	2	.	.	PUNCT
ap-730	61	1	2	2	NUM
ap-730	61	2	shows	show	VERB
ap-730	61	3	graphically	graphically	ADV
ap-730	61	4	the	the	DET
ap-730	61	5	relationship	relationship	NOUN
ap-730	61	6	between	between	ADP
ap-730	61	7	the	the	DET
ap-730	61	8	sea	sea	NOUN
ap-730	61	9	current	current	NOUN
ap-730	61	10	’s	’s	PART
ap-730	61	11	velocity	velocity	NOUN
ap-730	61	12	and	and	CCONJ
ap-730	61	13	the	the	DET
ap-730	61	14	earth	earth	NOUN
ap-730	61	15	fixed	fix	VERB
ap-730	61	16	axes	axis	NOUN
ap-730	61	17	.	.	PUNCT
ap-730	62	1	the	the	DET
ap-730	62	2	three	three	NUM
ap-730	62	3	terms	term	NOUN
ap-730	62	4	are	be	AUX
ap-730	62	5	then	then	ADV
ap-730	62	6	converted	convert	VERB
ap-730	62	7	into	into	ADP
ap-730	62	8	velocities	velocity	NOUN
ap-730	62	9	in	in	ADP
ap-730	62	10	the	the	DET
ap-730	62	11	earth	earth	NOUN
ap-730	62	12	-	-	PUNCT
ap-730	62	13	fixed	fix	VERB
ap-730	62	14	reference	reference	NOUN
ap-730	62	15	frame	frame	NOUN
ap-730	62	16	using	use	VERB
ap-730	62	17	the	the	DET
ap-730	62	18	following	follow	VERB
ap-730	62	19	equations	equation	NOUN
ap-730	62	20	:	:	PUNCT
ap-730	62	21	u	u	X
ap-730	62	22	vec	vec	NOUN
ap-730	62	23	c	c	PROPN
ap-730	62	24	c	c	PROPN
ap-730	62	25	c	c	PROPN
ap-730	62	26	�	�	PROPN
ap-730	62	27	cos	cos	PROPN
ap-730	62	28	cos	cos	PROPN
ap-730	62	29	�	�	PROPN
ap-730	62	30	�	�	PROPN
ap-730	62	31	,	,	PUNCT
ap-730	62	32	(	(	PUNCT
ap-730	62	33	4	4	X
ap-730	62	34	)	)	PUNCT
ap-730	62	35	v	v	NOUN
ap-730	62	36	vec	vec	PROPN
ap-730	62	37	c	c	PROPN
ap-730	62	38	c	c	PROPN
ap-730	62	39	c	c	X
ap-730	62	40	�	�	PROPN
ap-730	62	41	cos	cos	PROPN
ap-730	62	42	sin	sin	PROPN
ap-730	62	43	�	�	PROPN
ap-730	62	44	�	�	PROPN
ap-730	62	45	,	,	PUNCT
ap-730	62	46	(	(	PUNCT
ap-730	62	47	5	5	X
ap-730	62	48	)	)	PUNCT
ap-730	62	49	w	w	NOUN
ap-730	62	50	vec	vec	PROPN
ap-730	62	51	c	c	PROPN
ap-730	62	52	c	c	PROPN
ap-730	62	53	�	�	PROPN
ap-730	62	54	sin	sin	PROPN
ap-730	62	55	�	�	PROPN
ap-730	62	56	.	.	PUNCT
ap-730	63	1	(	(	PUNCT
ap-730	63	2	6	6	X
ap-730	63	3	)	)	PUNCT
ap-730	63	4	these	these	PRON
ap-730	63	5	can	can	AUX
ap-730	63	6	then	then	ADV
ap-730	63	7	be	be	AUX
ap-730	63	8	changed	change	VERB
ap-730	63	9	using	use	VERB
ap-730	63	10	euler	euler	NOUN
ap-730	63	11	transforms	transform	VERB
ap-730	63	12	to	to	PART
ap-730	63	13	give	give	VERB
ap-730	63	14	the	the	DET
ap-730	63	15	velocities	velocity	NOUN
ap-730	63	16	in	in	ADP
ap-730	63	17	the	the	DET
ap-730	63	18	body	body	NOUN
ap-730	63	19	-	-	PUNCT
ap-730	63	20	fixed	fix	VERB
ap-730	63	21	reference	reference	NOUN
ap-730	63	22	frame	frame	NOUN
ap-730	63	23	uc	uc	PROPN
ap-730	63	24	,	,	PUNCT
ap-730	63	25	vc	vc	PROPN
ap-730	63	26	,	,	PUNCT
ap-730	63	27	wc	wc	PROPN
ap-730	63	28	.	.	PUNCT
ap-730	64	1	these	these	DET
ap-730	64	2	values	value	NOUN
ap-730	64	3	are	be	AUX
ap-730	64	4	then	then	ADV
ap-730	64	5	used	use	VERB
ap-730	64	6	to	to	PART
ap-730	64	7	create	create	VERB
ap-730	64	8	the	the	DET
ap-730	64	9	vector	vector	PROPN
ap-730	64	10	�	�	PROPN
ap-730	64	11	�	�	PROPN
ap-730	64	12	�	�	PROPN
ap-730	64	13	c	c	NOUN
ap-730	64	14	c	c	NOUN
ap-730	64	15	c	c	PROPN
ap-730	64	16	cu	cu	PROPN
ap-730	64	17	v	v	PROPN
ap-730	64	18	w	w	PROPN
ap-730	64	19	�	�	PROPN
ap-730	64	20	0	0	NUM
ap-730	64	21	0	0	NUM
ap-730	64	22	0	0	NUM
ap-730	64	23	tthat	tthat	PRON
ap-730	64	24	is	be	AUX
ap-730	64	25	added	add	VERB
ap-730	64	26	by	by	ADP
ap-730	64	27	the	the	DET
ap-730	64	28	principle	principle	NOUN
ap-730	64	29	of	of	ADP
ap-730	64	30	superposition	superposition	NOUN
ap-730	64	31	to	to	ADP
ap-730	64	32	the	the	DET
ap-730	64	33	auv	auv	PROPN
ap-730	64	34	model	model	NOUN
ap-730	64	35	by	by	ADP
ap-730	64	36	altering	alter	VERB
ap-730	64	37	the	the	DET
ap-730	64	38	simulations	simulation	NOUN
ap-730	64	39	equations	equation	NOUN
ap-730	64	40	as	as	SCONJ
ap-730	64	41	shown	show	VERB
ap-730	64	42	below	below	ADV
ap-730	64	43	.	.	PUNCT
ap-730	65	1	�	�	PROPN
ap-730	65	2	�	�	PROPN
ap-730	65	3	�	�	PROPN
ap-730	65	4	�	�	PROPN
ap-730	65	5	r	r	NOUN
ap-730	65	6	c	c	PROPN
ap-730	65	7	�	�	PROPN
ap-730	65	8	,	,	PUNCT
ap-730	65	9	(	(	PUNCT
ap-730	65	10	7	7	X
ap-730	65	11	)	)	PUNCT
ap-730	65	12	�	�	PROPN
ap-730	65	13	�	�	PROPN
ap-730	65	14	m	m	NOUN
ap-730	65	15	c	c	NOUN
ap-730	65	16	d	d	X
ap-730	65	17	g	g	PROPN
ap-730	65	18	b	b	PROPN
ap-730	65	19	u	u	X
ap-730	65	20	�	�	PROPN
ap-730	65	21	(	(	PUNCT
ap-730	65	22	)	)	PUNCT
ap-730	65	23	�	�	PROPN
ap-730	65	24	�	�	PROPN
ap-730	65	25	�	�	PROPN
ap-730	65	26	�	�	PROPN
ap-730	65	27	�	�	PROPN
ap-730	65	28	�	�	PROPN
ap-730	65	29	�	�	PROPN
ap-730	65	30	�	�	PROPN
ap-730	65	31	(	(	PUNCT
ap-730	65	32	)	)	PUNCT
ap-730	65	33	(	(	PUNCT
ap-730	65	34	)	)	PUNCT
ap-730	65	35	r	r	NOUN
ap-730	65	36	r	r	NOUN
ap-730	65	37	r+	r+	NOUN
ap-730	65	38	,	,	PUNCT
ap-730	65	39	(	(	PUNCT
ap-730	65	40	8)	8)	NUM
ap-730	65	41	�	�	PROPN
ap-730	65	42	(	(	PUNCT
ap-730	65	43	)	)	PUNCT
ap-730	65	44	�	�	PROPN
ap-730	65	45	�	�	PROPN
ap-730	65	46	�	�	PROPN
ap-730	65	47	�	�	PROPN
ap-730	65	48	j	j	PROPN
ap-730	65	49	.	.	PUNCT
ap-730	66	1	(	(	PUNCT
ap-730	66	2	9	9	NUM
ap-730	66	3	)	)	SYM
ap-730	66	4	3	3	NUM
ap-730	66	5	controller	controller	NOUN
ap-730	66	6	design	design	VERB
ap-730	66	7	3.1	3.1	NUM
ap-730	66	8	decoupled	decouple	VERB
ap-730	66	9	controller	controller	NOUN
ap-730	66	10	design	design	NOUN
ap-730	66	11	since	since	SCONJ
ap-730	66	12	most	most	ADJ
ap-730	66	13	manoeuvres	manoeuvre	NOUN
ap-730	66	14	preformed	preform	VERB
ap-730	66	15	by	by	ADP
ap-730	66	16	auvs	auvs	NOUN
ap-730	66	17	can	can	AUX
ap-730	66	18	be	be	AUX
ap-730	66	19	broken	break	VERB
ap-730	66	20	down	down	ADP
ap-730	66	21	into	into	ADP
ap-730	66	22	3	3	NUM
ap-730	66	23	basic	basic	ADJ
ap-730	66	24	manoeuvres	manoeuvre	NOUN
ap-730	66	25	[	[	X
ap-730	66	26	1	1	NUM
ap-730	66	27	,	,	PUNCT
ap-730	66	28	2	2	NUM
ap-730	66	29	,	,	PUNCT
ap-730	66	30	7	7	NUM
ap-730	66	31	]	]	PUNCT
ap-730	66	32	,	,	PUNCT
ap-730	66	33	i.e.	i.e.	X
ap-730	66	34	change	change	NOUN
ap-730	66	35	in	in	ADP
ap-730	66	36	speed	speed	NOUN
ap-730	66	37	,	,	PUNCT
ap-730	66	38	change	change	NOUN
ap-730	66	39	in	in	ADP
ap-730	66	40	direction	direction	NOUN
ap-730	66	41	and	and	CCONJ
ap-730	66	42	change	change	NOUN
ap-730	66	43	in	in	ADP
ap-730	66	44	depth	depth	NOUN
ap-730	66	45	,	,	PUNCT
ap-730	66	46	the	the	DET
ap-730	66	47	lower	low	ADJ
ap-730	66	48	level	level	NOUN
ap-730	66	49	of	of	ADP
ap-730	66	50	control	control	NOUN
ap-730	66	51	will	will	AUX
ap-730	66	52	be	be	AUX
ap-730	66	53	made	make	VERB
ap-730	66	54	up	up	ADP
ap-730	66	55	of	of	ADP
ap-730	66	56	3	3	NUM
ap-730	66	57	decoupled	decouple	VERB
ap-730	66	58	controllers	controller	NOUN
ap-730	66	59	.	.	PUNCT
ap-730	67	1	for	for	SCONJ
ap-730	67	2	each	each	PRON
ap-730	67	3	of	of	ADP
ap-730	67	4	these	these	DET
ap-730	67	5	controllers	controller	NOUN
ap-730	67	6	a	a	DET
ap-730	67	7	submodel	submodel	NOUN
ap-730	67	8	of	of	ADP
ap-730	67	9	the	the	DET
ap-730	67	10	auv	auv	PROPN
ap-730	67	11	dynamics	dynamic	NOUN
ap-730	67	12	is	be	AUX
ap-730	67	13	generated	generate	VERB
ap-730	67	14	by	by	ADP
ap-730	67	15	reducing	reduce	VERB
ap-730	67	16	the	the	DET
ap-730	67	17	full	full	ADJ
ap-730	67	18	6	6	NUM
ap-730	67	19	dof	dof	NOUN
ap-730	67	20	model	model	NOUN
ap-730	67	21	to	to	ADP
ap-730	67	22	smaller	small	ADJ
ap-730	67	23	ones	one	NOUN
ap-730	67	24	that	that	PRON
ap-730	67	25	are	be	AUX
ap-730	67	26	based	base	VERB
ap-730	67	27	on	on	ADP
ap-730	67	28	the	the	DET
ap-730	67	29	dominant	dominant	ADJ
ap-730	67	30	states	state	NOUN
ap-730	67	31	for	for	ADP
ap-730	67	32	each	each	DET
ap-730	67	33	manoeuvre	manoeuvre	NOUN
ap-730	67	34	[	[	X
ap-730	67	35	1	1	NUM
ap-730	67	36	,	,	PUNCT
ap-730	67	37	2	2	NUM
ap-730	67	38	,	,	PUNCT
ap-730	67	39	7	7	NUM
ap-730	67	40	]	]	PUNCT
ap-730	67	41	.	.	PUNCT
ap-730	68	1	this	this	DET
ap-730	68	2	process	process	NOUN
ap-730	68	3	of	of	ADP
ap-730	68	4	isolating	isolate	VERB
ap-730	68	5	specific	specific	ADJ
ap-730	68	6	dynamics	dynamic	NOUN
ap-730	68	7	is	be	AUX
ap-730	68	8	called	call	VERB
ap-730	68	9	decoupling	decouple	VERB
ap-730	68	10	.	.	PUNCT
ap-730	69	1	for	for	ADP
ap-730	69	2	this	this	DET
ap-730	69	3	paper	paper	NOUN
ap-730	69	4	only	only	ADV
ap-730	69	5	the	the	DET
ap-730	69	6	heading	head	VERB
ap-730	69	7	submodel	submodel	NOUN
ap-730	69	8	is	be	AUX
ap-730	69	9	considered	consider	VERB
ap-730	69	10	and	and	CCONJ
ap-730	69	11	this	this	PRON
ap-730	69	12	is	be	AUX
ap-730	69	13	made	make	VERB
ap-730	69	14	up	up	ADP
ap-730	69	15	of	of	ADP
ap-730	69	16	the	the	DET
ap-730	69	17	yaw	yaw	NOUN
ap-730	69	18	rate	rate	NOUN
ap-730	69	19	,	,	PUNCT
ap-730	69	20	r	r	NOUN
ap-730	69	21	,	,	PUNCT
ap-730	69	22	and	and	CCONJ
ap-730	69	23	the	the	DET
ap-730	69	24	heading	heading	ADJ
ap-730	69	25	angle	angle	NOUN
ap-730	69	26	,	,	PUNCT
ap-730	69	27	�	�	PROPN
ap-730	69	28	.	.	PUNCT
ap-730	70	1	the	the	DET
ap-730	70	2	sway	sway	NOUN
ap-730	70	3	velocity	velocity	NOUN
ap-730	70	4	,	,	PUNCT
ap-730	70	5	v	v	NOUN
ap-730	70	6	,	,	PUNCT
ap-730	70	7	can	can	AUX
ap-730	70	8	also	also	ADV
ap-730	70	9	be	be	AUX
ap-730	70	10	used	use	VERB
ap-730	70	11	in	in	ADP
ap-730	70	12	the	the	DET
ap-730	70	13	heading	heading	ADJ
ap-730	70	14	submodel	submodel	NOUN
ap-730	70	15	,	,	PUNCT
ap-730	70	16	but	but	CCONJ
ap-730	70	17	this	this	PRON
ap-730	70	18	is	be	AUX
ap-730	70	19	found	find	VERB
ap-730	70	20	to	to	PART
ap-730	70	21	reduce	reduce	VERB
ap-730	70	22	the	the	DET
ap-730	70	23	disturbance	disturbance	NOUN
ap-730	70	24	rejection	rejection	NOUN
ap-730	70	25	abilities	ability	NOUN
ap-730	70	26	of	of	ADP
ap-730	70	27	the	the	DET
ap-730	70	28	controller	controller	NOUN
ap-730	70	29	and	and	CCONJ
ap-730	70	30	so	so	ADV
ap-730	70	31	is	be	AUX
ap-730	70	32	omitted	omit	VERB
ap-730	70	33	in	in	ADP
ap-730	70	34	this	this	DET
ap-730	70	35	study	study	NOUN
ap-730	70	36	.	.	PUNCT
ap-730	71	1	the	the	DET
ap-730	71	2	control	control	NOUN
ap-730	71	3	actuator	actuator	NOUN
ap-730	71	4	that	that	PRON
ap-730	71	5	is	be	AUX
ap-730	71	6	used	use	VERB
ap-730	71	7	for	for	ADP
ap-730	71	8	altering	alter	VERB
ap-730	71	9	the	the	DET
ap-730	71	10	heading	heading	NOUN
ap-730	71	11	is	be	AUX
ap-730	71	12	the	the	DET
ap-730	71	13	rudder	rudder	NOUN
ap-730	71	14	at	at	ADP
ap-730	71	15	the	the	DET
ap-730	71	16	stern	stern	ADJ
ap-730	71	17	,	,	PUNCT
ap-730	71	18	�	�	PROPN
ap-730	71	19	r.	r.	PROPN
ap-730	71	20	3.2	3.2	NUM
ap-730	71	21	sliding	slide	VERB
ap-730	71	22	mode	mode	NOUN
ap-730	71	23	control	control	NOUN
ap-730	71	24	the	the	DET
ap-730	71	25	sliding	slide	VERB
ap-730	71	26	mode	mode	NOUN
ap-730	71	27	controllers	controller	NOUN
ap-730	71	28	used	use	VERB
ap-730	71	29	here	here	ADV
ap-730	71	30	is	be	AUX
ap-730	71	31	sims	sim	NOUN
ap-730	71	32	(	(	PUNCT
ap-730	71	33	single	single	ADJ
ap-730	71	34	input	input	NOUN
ap-730	71	35	multiple	multiple	ADJ
ap-730	71	36	state	state	NOUN
ap-730	71	37	)	)	PUNCT
ap-730	72	1	[	[	X
ap-730	72	2	1	1	NUM
ap-730	72	3	,	,	PUNCT
ap-730	72	4	2	2	NUM
ap-730	72	5	,	,	PUNCT
ap-730	72	6	7	7	NUM
ap-730	72	7	]	]	PUNCT
ap-730	72	8	.	.	PUNCT
ap-730	73	1	sliding	slide	VERB
ap-730	73	2	mode	mode	NOUN
ap-730	73	3	controllers	controller	NOUN
ap-730	73	4	are	be	AUX
ap-730	73	5	made	make	VERB
ap-730	73	6	up	up	ADP
ap-730	73	7	of	of	ADP
ap-730	73	8	two	two	NUM
ap-730	73	9	parts	part	NOUN
ap-730	73	10	,	,	PUNCT
ap-730	73	11	the	the	DET
ap-730	73	12	equivalent	equivalent	ADJ
ap-730	73	13	term	term	NOUN
ap-730	73	14	,	,	PUNCT
ap-730	73	15	ueq	ueq	ADV
ap-730	73	16	,	,	PUNCT
ap-730	73	17	and	and	CCONJ
ap-730	73	18	the	the	DET
ap-730	73	19	switching	switch	VERB
ap-730	73	20	term	term	NOUN
ap-730	73	21	,	,	PUNCT
ap-730	73	22	usw	usw	VERB
ap-730	73	23	[	[	X
ap-730	73	24	1	1	NUM
ap-730	73	25	,	,	PUNCT
ap-730	73	26	2	2	NUM
ap-730	73	27	,	,	PUNCT
ap-730	73	28	7	7	NUM
ap-730	73	29	]	]	PUNCT
ap-730	73	30	.	.	PUNCT
ap-730	74	1	the	the	DET
ap-730	74	2	equivalent	equivalent	ADJ
ap-730	74	3	term	term	NOUN
ap-730	74	4	is	be	AUX
ap-730	74	5	a	a	DET
ap-730	74	6	linear	linear	ADJ
ap-730	74	7	controller	controller	NOUN
ap-730	74	8	that	that	PRON
ap-730	74	9	is	be	AUX
ap-730	74	10	optimised	optimise	VERB
ap-730	74	11	around	around	ADP
ap-730	74	12	a	a	DET
ap-730	74	13	specific	specific	ADJ
ap-730	74	14	operating	operating	NOUN
ap-730	74	15	condition	condition	NOUN
ap-730	74	16	.	.	PUNCT
ap-730	75	1	the	the	DET
ap-730	75	2	switching	switch	VERB
ap-730	75	3	term	term	NOUN
ap-730	75	4	is	be	AUX
ap-730	75	5	the	the	DET
ap-730	75	6	nonlinear	nonlinear	ADJ
ap-730	75	7	part	part	NOUN
ap-730	75	8	of	of	ADP
ap-730	75	9	the	the	DET
ap-730	75	10	controller	controller	NOUN
ap-730	75	11	and	and	CCONJ
ap-730	75	12	works	work	VERB
ap-730	75	13	by	by	ADP
ap-730	75	14	giving	give	VERB
ap-730	75	15	the	the	DET
ap-730	75	16	extra	extra	ADJ
ap-730	75	17	control	control	NOUN
ap-730	75	18	action	action	NOUN
ap-730	75	19	required	require	VERB
ap-730	75	20	to	to	PART
ap-730	75	21	drive	drive	VERB
ap-730	75	22	the	the	DET
ap-730	75	23	system	system	NOUN
ap-730	75	24	back	back	ADV
ap-730	75	25	to	to	ADP
ap-730	75	26	the	the	DET
ap-730	75	27	operating	operating	NOUN
ap-730	75	28	condition	condition	NOUN
ap-730	75	29	for	for	ADP
ap-730	75	30	which	which	PRON
ap-730	75	31	the	the	DET
ap-730	75	32	equivalent	equivalent	ADJ
ap-730	75	33	term	term	NOUN
ap-730	75	34	is	be	AUX
ap-730	75	35	valid	valid	ADJ
ap-730	75	36	.	.	PUNCT
ap-730	76	1	the	the	DET
ap-730	76	2	equivalent	equivalent	ADJ
ap-730	76	3	term	term	NOUN
ap-730	76	4	used	use	VERB
ap-730	76	5	in	in	ADP
ap-730	76	6	this	this	DET
ap-730	76	7	study	study	NOUN
ap-730	76	8	is	be	AUX
ap-730	76	9	of	of	ADP
ap-730	76	10	the	the	DET
ap-730	76	11	state	state	NOUN
ap-730	76	12	feedback	feedback	NOUN
ap-730	76	13	gain	gain	NOUN
ap-730	76	14	controller	controller	NOUN
ap-730	76	15	form	form	NOUN
ap-730	76	16	[	[	X
ap-730	76	17	1	1	NUM
ap-730	76	18	,	,	PUNCT
ap-730	76	19	2	2	NUM
ap-730	76	20	,	,	PUNCT
ap-730	76	21	3	3	NUM
ap-730	76	22	,	,	PUNCT
ap-730	76	23	7	7	NUM
ap-730	76	24	,	,	PUNCT
ap-730	76	25	8	8	NUM
ap-730	76	26	]	]	PUNCT
ap-730	76	27	:	:	PUNCT
ap-730	76	28	ueq	ueq	PROPN
ap-730	76	29	t	t	PROPN
ap-730	76	30	�	�	PROPN
ap-730	76	31	k	k	PROPN
ap-730	76	32	x	x	PROPN
ap-730	76	33	,	,	PUNCT
ap-730	76	34	(	(	PUNCT
ap-730	76	35	10	10	NUM
ap-730	76	36	)	)	PUNCT
ap-730	76	37	where	where	SCONJ
ap-730	76	38	k	k	PROPN
ap-730	76	39	is	be	AUX
ap-730	76	40	the	the	DET
ap-730	76	41	feedback	feedback	NOUN
ap-730	76	42	gain	gain	NOUN
ap-730	76	43	calculated	calculate	VERB
ap-730	76	44	using	use	VERB
ap-730	76	45	robust	robust	ADJ
ap-730	76	46	pole	pole	NOUN
ap-730	76	47	placement	placement	NOUN
ap-730	76	48	techniques	technique	NOUN
ap-730	76	49	,	,	PUNCT
ap-730	76	50	[	[	X
ap-730	76	51	1	1	NUM
ap-730	76	52	,	,	PUNCT
ap-730	76	53	2	2	NUM
ap-730	76	54	,	,	PUNCT
ap-730	76	55	8	8	NUM
ap-730	76	56	]	]	PUNCT
ap-730	76	57	,	,	PUNCT
ap-730	76	58	and	and	CCONJ
ap-730	76	59	x	x	X
ap-730	76	60	is	be	AUX
ap-730	76	61	the	the	DET
ap-730	76	62	sub	sub	ADJ
ap-730	76	63	-	-	ADJ
ap-730	76	64	system	system	ADJ
ap-730	76	65	state	state	NOUN
ap-730	76	66	vector	vector	NOUN
ap-730	76	67	.	.	PUNCT
ap-730	77	1	in	in	ADP
ap-730	77	2	this	this	DET
ap-730	77	3	project	project	NOUN
ap-730	77	4	all	all	DET
ap-730	77	5	pole	pole	NOUN
ap-730	77	6	placement	placement	NOUN
ap-730	77	7	has	have	AUX
ap-730	77	8	been	be	AUX
ap-730	77	9	carried	carry	VERB
ap-730	77	10	out	out	ADP
ap-730	77	11	using	use	VERB
ap-730	77	12	the	the	DET
ap-730	77	13	place	place	NOUN
ap-730	77	14	command	command	NOUN
ap-730	77	15	in	in	ADP
ap-730	77	16	matlab	matlab	PROPN
ap-730	77	17	that	that	PRON
ap-730	77	18	uses	use	VERB
ap-730	77	19	an	an	DET
ap-730	77	20	iterative	iterative	NOUN
ap-730	77	21	method	method	NOUN
ap-730	77	22	to	to	PART
ap-730	77	23	place	place	VERB
ap-730	77	24	the	the	DET
ap-730	77	25	poles	pole	NOUN
ap-730	77	26	[	[	X
ap-730	77	27	8	8	NUM
ap-730	77	28	]	]	PUNCT
ap-730	77	29	.	.	PUNCT
ap-730	78	1	the	the	DET
ap-730	78	2	switching	switch	VERB
ap-730	78	3	term	term	NOUN
ap-730	78	4	is	be	AUX
ap-730	78	5	calculated	calculate	VERB
ap-730	78	6	from	from	ADP
ap-730	78	7	the	the	DET
ap-730	78	8	equation	equation	NOUN
ap-730	78	9	for	for	ADP
ap-730	78	10	the	the	DET
ap-730	78	11	sliding	slide	VERB
ap-730	78	12	surface	surface	NOUN
ap-730	78	13	,	,	PUNCT
ap-730	78	14	given	give	VERB
ap-730	78	15	in	in	ADP
ap-730	78	16	[	[	X
ap-730	78	17	1	1	NUM
ap-730	78	18	,	,	PUNCT
ap-730	78	19	2	2	NUM
ap-730	78	20	]	]	PUNCT
ap-730	78	21	as	as	ADP
ap-730	78	22	:	:	PUNCT
ap-730	78	23	�	�	PROPN
ap-730	78	24	(	(	PUNCT
ap-730	78	25	)	)	PUNCT
ap-730	78	26	x	x	PROPN
ap-730	78	27	�	�	PROPN
ap-730	78	28	h	h	PROPN
ap-730	78	29	xt	xt	PROPN
ap-730	78	30	�	�	PROPN
ap-730	78	31	(	(	PUNCT
ap-730	78	32	11	11	NUM
ap-730	78	33	)	)	PUNCT
ap-730	78	34	with	with	ADP
ap-730	78	35	�	�	NOUN
ap-730	78	36	x	x	SYM
ap-730	78	37	being	be	AUX
ap-730	78	38	the	the	DET
ap-730	78	39	state	state	NOUN
ap-730	78	40	tracking	tracking	NOUN
ap-730	78	41	error	error	NOUN
ap-730	78	42	.	.	PUNCT
ap-730	79	1	this	this	DET
ap-730	79	2	equation	equation	NOUN
ap-730	79	3	can	can	AUX
ap-730	79	4	then	then	ADV
ap-730	79	5	be	be	AUX
ap-730	79	6	expanded	expand	VERB
ap-730	79	7	to	to	PART
ap-730	79	8	give	give	VERB
ap-730	79	9	the	the	DET
ap-730	79	10	following	follow	VERB
ap-730	79	11	equation	equation	NOUN
ap-730	79	12	,	,	PUNCT
ap-730	79	13	[	[	X
ap-730	79	14	1	1	NUM
ap-730	79	15	,	,	PUNCT
ap-730	79	16	2	2	NUM
ap-730	79	17	,	,	PUNCT
ap-730	79	18	3	3	NUM
ap-730	79	19	,	,	PUNCT
ap-730	79	20	7	7	NUM
ap-730	79	21	]	]	PUNCT
ap-730	79	22	.	.	PUNCT
ap-730	80	1	�	�	PROPN
ap-730	80	2	�	�	PROPN
ap-730	80	3	u	u	PROPN
ap-730	80	4	fsw	fsw	PROPN
ap-730	80	5	t	t	PROPN
ap-730	80	6	t	t	PROPN
ap-730	80	7	d	d	PROPN
ap-730	80	8	t	t	PROPN
ap-730	80	9	�	�	PROPN
ap-730	80	10	(	(	PUNCT
ap-730	80	11	)	)	PUNCT
ap-730	80	12	�	�	PROPN
ap-730	80	13	�	�	PROPN
ap-730	80	14	(	(	PUNCT
ap-730	80	15	)	)	PUNCT
ap-730	80	16	sgn	sgn	NOUN
ap-730	80	17	(	(	PUNCT
ap-730	80	18	)	)	PUNCT
ap-730	80	19	h	h	PROPN
ap-730	81	1	b	b	NOUN
ap-730	81	2	h	h	NOUN
ap-730	81	3	x	x	NOUN
ap-730	81	4	h	h	NOUN
ap-730	82	1	x1	x1	PROPN
ap-730	82	2	�	�	PROPN
ap-730	82	3	(	(	PUNCT
ap-730	82	4	12	12	NUM
ap-730	82	5	)	)	PUNCT
ap-730	82	6	©	©	PROPN
ap-730	82	7	czech	czech	PROPN
ap-730	82	8	technical	technical	PROPN
ap-730	82	9	university	university	PROPN
ap-730	82	10	publishing	publishing	NOUN
ap-730	82	11	house	house	NOUN
ap-730	82	12	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	82	13	19	19	NUM
ap-730	82	14	czech	czech	PROPN
ap-730	82	15	technical	technical	PROPN
ap-730	82	16	university	university	PROPN
ap-730	82	17	in	in	ADP
ap-730	82	18	prague	prague	PROPN
ap-730	82	19	acta	acta	PROPN
ap-730	82	20	polytechnica	polytechnica	PROPN
ap-730	82	21	vol	vol	NOUN
ap-730	82	22	.	.	PROPN
ap-730	83	1	45	45	NUM
ap-730	83	2	no	no	NOUN
ap-730	83	3	.	.	PUNCT
ap-730	84	1	4/2005	4/2005	NUM
ap-730	84	2	x	x	PUNCT
ap-730	85	1	e	e	PROPN
ap-730	85	2	vec	vec	PROPN
ap-730	85	3	uec	uec	PROPN
ap-730	85	4	v	v	PROPN
ap-730	85	5	c	c	PROPN
ap-730	85	6	wec	wec	PROPN
ap-730	85	7	�	�	PROPN
ap-730	85	8	c	c	PROPN
ap-730	85	9	�	�	PROPN
ap-730	85	10	c	c	PROPN
ap-730	85	11	y	y	PROPN
ap-730	85	12	e	e	PROPN
ap-730	85	13	ze	ze	PROPN
ap-730	85	14	fig	fig	NOUN
ap-730	85	15	.	.	PUNCT
ap-730	86	1	2	2	NUM
ap-730	86	2	:	:	PUNCT
ap-730	86	3	diagram	diagram	NOUN
ap-730	86	4	showing	show	VERB
ap-730	86	5	disturbance	disturbance	NOUN
ap-730	86	6	in	in	ADP
ap-730	86	7	earth	earth	NOUN
ap-730	86	8	-	-	PUNCT
ap-730	86	9	fixed	fix	VERB
ap-730	86	10	reference	reference	NOUN
ap-730	86	11	frame	frame	NOUN
ap-730	86	12	here	here	ADV
ap-730	86	13	h	h	NOUN
ap-730	86	14	is	be	AUX
ap-730	86	15	the	the	DET
ap-730	86	16	right	right	ADJ
ap-730	86	17	eigenvector	eigenvector	NOUN
ap-730	86	18	of	of	ADP
ap-730	86	19	ac	ac	PROPN
ap-730	86	20	�	�	PROPN
ap-730	86	21	a	a	DET
ap-730	86	22	bkt	bkt	PROPN
ap-730	86	23	,	,	PUNCT
ap-730	86	24	with	with	ADP
ap-730	86	25	a	a	PRON
ap-730	86	26	and	and	CCONJ
ap-730	86	27	b	b	NOUN
ap-730	86	28	being	be	AUX
ap-730	86	29	the	the	DET
ap-730	86	30	system	system	NOUN
ap-730	86	31	and	and	CCONJ
ap-730	86	32	input	input	NOUN
ap-730	86	33	matrices	matrix	NOUN
ap-730	86	34	defined	define	VERB
ap-730	86	35	previously	previously	ADV
ap-730	86	36	and	and	CCONJ
ap-730	86	37	�	�	PROPN
ap-730	86	38	(	(	PUNCT
ap-730	86	39	)	)	PUNCT
ap-730	86	40	f	f	X
ap-730	86	41	x	x	X
ap-730	86	42	is	be	AUX
ap-730	86	43	an	an	DET
ap-730	86	44	estimation	estimation	NOUN
ap-730	86	45	of	of	ADP
ap-730	86	46	the	the	DET
ap-730	86	47	nonlinearities	nonlinearitie	NOUN
ap-730	86	48	in	in	ADP
ap-730	86	49	the	the	DET
ap-730	86	50	system	system	NOUN
ap-730	86	51	,	,	PUNCT
ap-730	86	52	which	which	PRON
ap-730	86	53	for	for	ADP
ap-730	86	54	this	this	DET
ap-730	86	55	paper	paper	NOUN
ap-730	86	56	is	be	AUX
ap-730	86	57	set	set	VERB
ap-730	86	58	to	to	ADP
ap-730	86	59	zero	zero	NUM
ap-730	86	60	.	.	PUNCT
ap-730	87	1	as	as	SCONJ
ap-730	87	2	the	the	DET
ap-730	87	3	above	above	ADJ
ap-730	87	4	equation	equation	NOUN
ap-730	87	5	uses	use	VERB
ap-730	87	6	the	the	DET
ap-730	87	7	signum	signum	PROPN
ap-730	87	8	function	function	NOUN
ap-730	87	9	,	,	PUNCT
ap-730	87	10	sgn	sgn	NOUN
ap-730	87	11	(	(	PUNCT
ap-730	87	12	�	�	PROPN
ap-730	87	13	)	)	PUNCT
ap-730	87	14	,	,	PUNCT
ap-730	87	15	which	which	PRON
ap-730	87	16	has	have	VERB
ap-730	87	17	only	only	ADV
ap-730	87	18	three	three	NUM
ap-730	87	19	outputs	output	NOUN
ap-730	87	20	,	,	PUNCT
ap-730	87	21	1	1	NUM
ap-730	87	22	,	,	PUNCT
ap-730	87	23	0	0	NUM
ap-730	87	24	and	and	CCONJ
ap-730	87	25	1	1	NUM
ap-730	87	26	,	,	PUNCT
ap-730	87	27	this	this	PRON
ap-730	87	28	leads	lead	VERB
ap-730	87	29	to	to	ADP
ap-730	87	30	chattering	chatter	VERB
ap-730	87	31	when	when	SCONJ
ap-730	87	32	the	the	DET
ap-730	87	33	system	system	NOUN
ap-730	87	34	is	be	AUX
ap-730	87	35	on	on	ADP
ap-730	87	36	the	the	DET
ap-730	87	37	sliding	slide	VERB
ap-730	87	38	surface	surface	NOUN
ap-730	87	39	[	[	X
ap-730	87	40	1	1	NUM
ap-730	87	41	,	,	PUNCT
ap-730	87	42	2	2	NUM
ap-730	87	43	,	,	PUNCT
ap-730	87	44	3	3	NUM
ap-730	87	45	,	,	PUNCT
ap-730	87	46	7	7	NUM
ap-730	87	47	]	]	PUNCT
ap-730	87	48	.	.	PUNCT
ap-730	88	1	to	to	PART
ap-730	88	2	get	get	VERB
ap-730	88	3	around	around	ADP
ap-730	88	4	this	this	DET
ap-730	88	5	problem	problem	NOUN
ap-730	88	6	the	the	DET
ap-730	88	7	sgn	sgn	NOUN
ap-730	88	8	(	(	PUNCT
ap-730	88	9	�	�	NOUN
ap-730	88	10	)	)	PUNCT
ap-730	88	11	term	term	NOUN
ap-730	88	12	is	be	AUX
ap-730	88	13	replaced	replace	VERB
ap-730	88	14	by	by	ADP
ap-730	88	15	the	the	DET
ap-730	88	16	hyperbolic	hyperbolic	ADJ
ap-730	88	17	tangent	tangent	NOUN
ap-730	88	18	function	function	NOUN
ap-730	88	19	tanh(	tanh(	PROPN
ap-730	88	20	�	�	PROPN
ap-730	88	21	/	/	SYM
ap-730	88	22	�	�	PROPN
ap-730	88	23	)	)	PUNCT
ap-730	88	24	where	where	SCONJ
ap-730	88	25	�	�	PROPN
ap-730	88	26	is	be	AUX
ap-730	88	27	the	the	DET
ap-730	88	28	boundary	boundary	ADJ
ap-730	88	29	layer	layer	NOUN
ap-730	88	30	size	size	NOUN
ap-730	88	31	,	,	PUNCT
ap-730	88	32	[	[	X
ap-730	88	33	1	1	NUM
ap-730	88	34	,	,	PUNCT
ap-730	88	35	2	2	NUM
ap-730	88	36	,	,	PUNCT
ap-730	88	37	3	3	NUM
ap-730	88	38	,	,	PUNCT
ap-730	88	39	7	7	NUM
ap-730	88	40	]	]	PUNCT
ap-730	88	41	.	.	PUNCT
ap-730	89	1	this	this	PRON
ap-730	89	2	gives	give	VERB
ap-730	89	3	the	the	DET
ap-730	89	4	response	response	NOUN
ap-730	89	5	a	a	DET
ap-730	89	6	much	much	ADV
ap-730	89	7	smoother	smooth	ADJ
ap-730	89	8	transition	transition	NOUN
ap-730	89	9	across	across	ADP
ap-730	89	10	the	the	DET
ap-730	89	11	sliding	slide	VERB
ap-730	89	12	surface	surface	NOUN
ap-730	89	13	while	while	SCONJ
ap-730	89	14	still	still	ADV
ap-730	89	15	giving	give	VERB
ap-730	89	16	the	the	DET
ap-730	89	17	full	full	ADJ
ap-730	89	18	control	control	NOUN
ap-730	89	19	effort	effort	NOUN
ap-730	89	20	outside	outside	ADP
ap-730	89	21	the	the	DET
ap-730	89	22	boundary	boundary	ADJ
ap-730	89	23	layer	layer	NOUN
ap-730	89	24	.	.	PUNCT
ap-730	90	1	bringing	bring	VERB
ap-730	90	2	the	the	DET
ap-730	90	3	two	two	NUM
ap-730	90	4	terms	term	NOUN
ap-730	90	5	together	together	ADV
ap-730	90	6	and	and	CCONJ
ap-730	90	7	making	make	VERB
ap-730	90	8	the	the	DET
ap-730	90	9	aforementioned	aforementioned	ADJ
ap-730	90	10	changes	change	NOUN
ap-730	90	11	gives	give	VERB
ap-730	90	12	the	the	DET
ap-730	90	13	full	full	ADJ
ap-730	90	14	control	control	NOUN
ap-730	90	15	structure	structure	NOUN
ap-730	90	16	that	that	PRON
ap-730	90	17	is	be	AUX
ap-730	90	18	used	use	VERB
ap-730	90	19	in	in	ADP
ap-730	90	20	this	this	DET
ap-730	90	21	paper	paper	NOUN
ap-730	90	22	and	and	CCONJ
ap-730	90	23	is	be	AUX
ap-730	90	24	shown	show	VERB
ap-730	90	25	below	below	ADP
ap-730	90	26	.	.	PUNCT
ap-730	91	1	�	�	PROPN
ap-730	91	2	�	�	PROPN
ap-730	91	3	u	u	PROPN
ap-730	91	4	x	x	PROPN
ap-730	91	5	�	�	PROPN
ap-730	91	6	�	�	PROPN
ap-730	91	7	k	k	PROPN
ap-730	91	8	h	h	PROPN
ap-730	91	9	b	b	PROPN
ap-730	91	10	h	h	PROPN
ap-730	91	11	xt	xt	PROPN
ap-730	92	1	t	t	PROPN
ap-730	92	2	t	t	PROPN
ap-730	92	3	d	d	PROPN
ap-730	92	4	(	(	PUNCT
ap-730	92	5	)	)	PUNCT
ap-730	92	6	�	�	PROPN
ap-730	92	7	tanh	tanh	PROPN
ap-730	92	8	(	(	PUNCT
ap-730	92	9	)	)	PUNCT
ap-730	92	10	1	1	NUM
ap-730	92	11	�	�	PROPN
ap-730	92	12	�	�	PROPN
ap-730	92	13	.	.	PUNCT
ap-730	93	1	(	(	PUNCT
ap-730	93	2	13	13	NUM
ap-730	93	3	)	)	SYM
ap-730	93	4	3.3	3.3	NUM
ap-730	93	5	guidance	guidance	NOUN
ap-730	93	6	the	the	DET
ap-730	93	7	second	second	ADJ
ap-730	93	8	method	method	NOUN
ap-730	93	9	of	of	ADP
ap-730	93	10	guidance	guidance	NOUN
ap-730	93	11	that	that	PRON
ap-730	93	12	has	have	AUX
ap-730	93	13	been	be	AUX
ap-730	93	14	implemented	implement	VERB
ap-730	93	15	is	be	AUX
ap-730	93	16	a	a	DET
ap-730	93	17	simple	simple	ADJ
ap-730	93	18	line	line	NOUN
ap-730	93	19	-	-	PUNCT
ap-730	93	20	of	of	ADP
ap-730	93	21	-	-	PUNCT
ap-730	93	22	sight	sight	NOUN
ap-730	93	23	(	(	PUNCT
ap-730	93	24	los	los	PROPN
ap-730	93	25	)	)	PUNCT
ap-730	93	26	waypoint	waypoint	NOUN
ap-730	93	27	following	follow	VERB
ap-730	93	28	guidance	guidance	NOUN
ap-730	93	29	[	[	X
ap-730	93	30	2	2	NUM
ap-730	93	31	]	]	PUNCT
ap-730	93	32	.	.	PUNCT
ap-730	94	1	instead	instead	ADV
ap-730	94	2	of	of	ADP
ap-730	94	3	having	have	VERB
ap-730	94	4	a	a	DET
ap-730	94	5	fixed	fix	VERB
ap-730	94	6	list	list	NOUN
ap-730	94	7	of	of	ADP
ap-730	94	8	course	course	NOUN
ap-730	94	9	and	and	CCONJ
ap-730	94	10	time	time	NOUN
ap-730	94	11	data	datum	NOUN
ap-730	94	12	as	as	ADP
ap-730	94	13	its	its	PRON
ap-730	94	14	input	input	NOUN
ap-730	94	15	,	,	PUNCT
ap-730	94	16	this	this	DET
ap-730	94	17	guidance	guidance	NOUN
ap-730	94	18	has	have	VERB
ap-730	94	19	a	a	DET
ap-730	94	20	list	list	NOUN
ap-730	94	21	of	of	ADP
ap-730	94	22	waypoints	waypoint	NOUN
ap-730	94	23	,	,	PUNCT
ap-730	94	24	depths	depth	NOUN
ap-730	94	25	and	and	CCONJ
ap-730	94	26	approach	approach	NOUN
ap-730	94	27	velocities	velocity	NOUN
ap-730	94	28	.	.	PUNCT
ap-730	95	1	the	the	DET
ap-730	95	2	guidance	guidance	NOUN
ap-730	95	3	then	then	ADV
ap-730	95	4	calculates	calculate	VERB
ap-730	95	5	the	the	DET
ap-730	95	6	direction	direction	NOUN
ap-730	95	7	that	that	PRON
ap-730	95	8	the	the	DET
ap-730	95	9	auv	auv	PROPN
ap-730	95	10	should	should	AUX
ap-730	95	11	take	take	VERB
ap-730	95	12	in	in	ADP
ap-730	95	13	order	order	NOUN
ap-730	95	14	to	to	PART
ap-730	95	15	head	head	VERB
ap-730	95	16	towards	towards	ADP
ap-730	95	17	the	the	DET
ap-730	95	18	waypoint	waypoint	NOUN
ap-730	95	19	.	.	PUNCT
ap-730	96	1	the	the	DET
ap-730	96	2	auv	auv	PROPN
ap-730	96	3	continues	continue	VERB
ap-730	96	4	towards	towards	ADP
ap-730	96	5	the	the	DET
ap-730	96	6	waypoint	waypoint	NOUN
ap-730	96	7	until	until	SCONJ
ap-730	96	8	it	it	PRON
ap-730	96	9	enters	enter	VERB
ap-730	96	10	a	a	DET
ap-730	96	11	“	"	PUNCT
ap-730	96	12	sphere	sphere	NOUN
ap-730	96	13	of	of	ADP
ap-730	96	14	acceptance	acceptance	NOUN
ap-730	96	15	”	"	PUNCT
ap-730	96	16	around	around	ADP
ap-730	96	17	the	the	DET
ap-730	96	18	waypoint	waypoint	NOUN
ap-730	96	19	at	at	ADP
ap-730	96	20	which	which	DET
ap-730	96	21	point	point	NOUN
ap-730	96	22	the	the	DET
ap-730	96	23	guidance	guidance	NOUN
ap-730	96	24	moves	move	VERB
ap-730	96	25	on	on	ADP
ap-730	96	26	to	to	ADP
ap-730	96	27	the	the	DET
ap-730	96	28	next	next	ADJ
ap-730	96	29	waypoint	waypoint	NOUN
ap-730	96	30	.	.	PUNCT
ap-730	97	1	a	a	DET
ap-730	97	2	graphical	graphical	ADJ
ap-730	97	3	representation	representation	NOUN
ap-730	97	4	of	of	ADP
ap-730	97	5	the	the	DET
ap-730	97	6	auv	auv	PROPN
ap-730	97	7	heading	heading	NOUN
ap-730	97	8	towards	towards	ADP
ap-730	97	9	a	a	DET
ap-730	97	10	waypoint	waypoint	NOUN
ap-730	97	11	is	be	AUX
ap-730	97	12	given	give	VERB
ap-730	97	13	in	in	ADP
ap-730	97	14	fig	fig	NOUN
ap-730	97	15	.	.	PUNCT
ap-730	98	1	3	3	X
ap-730	98	2	.	.	PUNCT
ap-730	99	1	the	the	DET
ap-730	99	2	equations	equation	NOUN
ap-730	99	3	to	to	PART
ap-730	99	4	calculate	calculate	VERB
ap-730	99	5	the	the	DET
ap-730	99	6	desired	desire	VERB
ap-730	99	7	values	value	NOUN
ap-730	99	8	that	that	SCONJ
ap-730	99	9	the	the	DET
ap-730	99	10	controllers	controller	NOUN
ap-730	99	11	require	require	VERB
ap-730	99	12	are	be	AUX
ap-730	99	13	given	give	VERB
ap-730	99	14	below	below	ADP
ap-730	99	15	,	,	PUNCT
ap-730	99	16	[	[	X
ap-730	99	17	1	1	NUM
ap-730	99	18	,	,	PUNCT
ap-730	99	19	7	7	NUM
ap-730	99	20	]	]	PUNCT
ap-730	99	21	.	.	PUNCT
ap-730	100	1	v	v	X
ap-730	100	2	vwd	vwd	PROPN
ap-730	100	3	�	�	PROPN
ap-730	100	4	(	(	PUNCT
ap-730	100	5	14	14	NUM
ap-730	100	6	)	)	PUNCT
ap-730	100	7	�	�	PROPN
ap-730	100	8	d	d	PROPN
ap-730	100	9	�	�	PROPN
ap-730	100	10	�	�	PROPN
ap-730	100	11	�	�	PROPN
ap-730	100	12	�	�	PROPN
ap-730	100	13	�	�	PROPN
ap-730	100	14	�	�	PROPN
ap-730	100	15	�	�	PROPN
ap-730	100	16	�	�	PROPN
ap-730	100	17	�	�	PROPN
ap-730	100	18	tan	tan	PROPN
ap-730	100	19	1	1	NUM
ap-730	100	20	y	y	NOUN
ap-730	100	21	y	y	PROPN
ap-730	100	22	x	x	PUNCT
ap-730	100	23	x	x	PUNCT
ap-730	100	24	w	w	NOUN
ap-730	100	25	c	c	NOUN
ap-730	100	26	w	w	PROPN
ap-730	100	27	c	c	PROPN
ap-730	100	28	(	(	PUNCT
ap-730	100	29	15	15	NUM
ap-730	100	30	)	)	PUNCT
ap-730	100	31	z	z	PROPN
ap-730	100	32	zwd	zwd	PROPN
ap-730	100	33	�	�	PROPN
ap-730	100	34	(	(	PUNCT
ap-730	100	35	16	16	NUM
ap-730	100	36	)	)	SYM
ap-730	100	37	4	4	NUM
ap-730	100	38	reconfiguration	reconfiguration	NOUN
ap-730	100	39	a	a	DET
ap-730	100	40	sliding	slide	VERB
ap-730	100	41	mode	mode	NOUN
ap-730	100	42	observer	observer	NOUN
ap-730	100	43	based	base	VERB
ap-730	100	44	reconfiguration	reconfiguration	NOUN
ap-730	100	45	method	method	NOUN
ap-730	100	46	is	be	AUX
ap-730	100	47	used	use	VERB
ap-730	100	48	in	in	ADP
ap-730	100	49	this	this	DET
ap-730	100	50	study	study	NOUN
ap-730	100	51	.	.	PUNCT
ap-730	101	1	this	this	PRON
ap-730	101	2	utilises	utilise	VERB
ap-730	101	3	a	a	DET
ap-730	101	4	sliding	slide	VERB
ap-730	101	5	mode	mode	NOUN
ap-730	101	6	observer	observer	NOUN
ap-730	101	7	to	to	PART
ap-730	101	8	follow	follow	VERB
ap-730	101	9	the	the	DET
ap-730	101	10	system	system	NOUN
ap-730	101	11	,	,	PUNCT
ap-730	101	12	and	and	CCONJ
ap-730	101	13	when	when	SCONJ
ap-730	101	14	a	a	DET
ap-730	101	15	fault	fault	NOUN
ap-730	101	16	is	be	AUX
ap-730	101	17	detected	detect	VERB
ap-730	101	18	the	the	DET
ap-730	101	19	output	output	NOUN
ap-730	101	20	of	of	ADP
ap-730	101	21	the	the	DET
ap-730	101	22	smo	smo	NOUN
ap-730	101	23	is	be	AUX
ap-730	101	24	then	then	ADV
ap-730	101	25	substituted	substitute	VERB
ap-730	101	26	into	into	ADP
ap-730	101	27	the	the	DET
ap-730	101	28	system	system	NOUN
ap-730	101	29	in	in	ADP
ap-730	101	30	place	place	NOUN
ap-730	101	31	of	of	ADP
ap-730	101	32	the	the	DET
ap-730	101	33	faulty	faulty	ADJ
ap-730	101	34	signal	signal	NOUN
ap-730	101	35	[	[	X
ap-730	101	36	4	4	NUM
ap-730	101	37	,	,	PUNCT
ap-730	101	38	5	5	NUM
ap-730	101	39	,	,	PUNCT
ap-730	101	40	6	6	NUM
ap-730	101	41	]	]	PUNCT
ap-730	101	42	.	.	PUNCT
ap-730	102	1	again	again	ADV
ap-730	102	2	,	,	PUNCT
ap-730	102	3	as	as	ADP
ap-730	102	4	with	with	ADP
ap-730	102	5	the	the	DET
ap-730	102	6	control	control	NOUN
ap-730	102	7	structure	structure	NOUN
ap-730	102	8	,	,	PUNCT
ap-730	102	9	submodels	submodel	NOUN
ap-730	102	10	are	be	AUX
ap-730	102	11	used	use	VERB
ap-730	102	12	to	to	PART
ap-730	102	13	split	split	VERB
ap-730	102	14	the	the	DET
ap-730	102	15	full	full	ADJ
ap-730	102	16	system	system	NOUN
ap-730	102	17	into	into	ADP
ap-730	102	18	smaller	small	ADJ
ap-730	102	19	decoupled	decouple	VERB
ap-730	102	20	systems	system	NOUN
ap-730	102	21	.	.	PUNCT
ap-730	103	1	the	the	DET
ap-730	103	2	submodel	submodel	PROPN
ap-730	103	3	used	use	VERB
ap-730	103	4	for	for	ADP
ap-730	103	5	the	the	DET
ap-730	103	6	heading	head	VERB
ap-730	103	7	observer	observer	NOUN
ap-730	103	8	is	be	AUX
ap-730	103	9	,	,	PUNCT
ap-730	103	10	however	however	ADV
ap-730	103	11	,	,	PUNCT
ap-730	103	12	different	different	ADJ
ap-730	103	13	from	from	ADP
ap-730	103	14	that	that	PRON
ap-730	103	15	used	use	VERB
ap-730	103	16	in	in	ADP
ap-730	103	17	the	the	DET
ap-730	103	18	controller	controller	NOUN
ap-730	103	19	design	design	NOUN
ap-730	103	20	in	in	ADP
ap-730	103	21	that	that	SCONJ
ap-730	103	22	it	it	PRON
ap-730	103	23	has	have	VERB
ap-730	103	24	the	the	DET
ap-730	103	25	sway	sway	NOUN
ap-730	103	26	velocity	velocity	NOUN
ap-730	103	27	,	,	PUNCT
ap-730	103	28	v	v	PROPN
ap-730	103	29	,	,	PUNCT
ap-730	103	30	included	include	VERB
ap-730	103	31	in	in	ADP
ap-730	103	32	it	it	PRON
ap-730	103	33	to	to	PART
ap-730	103	34	make	make	VERB
ap-730	103	35	it	it	PRON
ap-730	103	36	a	a	DET
ap-730	103	37	three	three	NUM
ap-730	103	38	state	state	NOUN
ap-730	103	39	system	system	NOUN
ap-730	103	40	.	.	PUNCT
ap-730	104	1	the	the	DET
ap-730	104	2	extra	extra	ADJ
ap-730	104	3	state	state	NOUN
ap-730	104	4	is	be	AUX
ap-730	104	5	used	use	VERB
ap-730	104	6	to	to	PART
ap-730	104	7	give	give	VERB
ap-730	104	8	a	a	DET
ap-730	104	9	better	well	ADJ
ap-730	104	10	performance	performance	NOUN
ap-730	104	11	of	of	ADP
ap-730	104	12	the	the	DET
ap-730	104	13	observer	observer	NOUN
ap-730	104	14	as	as	SCONJ
ap-730	104	15	it	it	PRON
ap-730	104	16	allows	allow	VERB
ap-730	104	17	the	the	DET
ap-730	104	18	observer	observer	NOUN
ap-730	104	19	to	to	PART
ap-730	104	20	operate	operate	VERB
ap-730	104	21	with	with	ADP
ap-730	104	22	two	two	NUM
ap-730	104	23	faultless	faultless	ADJ
ap-730	104	24	states	state	NOUN
ap-730	104	25	when	when	SCONJ
ap-730	104	26	estimating	estimate	VERB
ap-730	104	27	the	the	DET
ap-730	104	28	heading	heading	NOUN
ap-730	104	29	.	.	PUNCT
ap-730	105	1	the	the	DET
ap-730	105	2	equations	equation	NOUN
ap-730	105	3	for	for	ADP
ap-730	105	4	a	a	DET
ap-730	105	5	smo	smo	NOUN
ap-730	105	6	in	in	ADP
ap-730	105	7	the	the	DET
ap-730	105	8	case	case	NOUN
ap-730	105	9	of	of	ADP
ap-730	105	10	an	an	DET
ap-730	105	11	lti	lti	PROPN
ap-730	105	12	system	system	NOUN
ap-730	105	13	are	be	AUX
ap-730	105	14	shown	show	VERB
ap-730	105	15	below	below	ADP
ap-730	105	16	[	[	X
ap-730	105	17	4	4	NUM
ap-730	105	18	,	,	PUNCT
ap-730	105	19	5	5	NUM
ap-730	105	20	]	]	PUNCT
ap-730	105	21	.	.	PUNCT
ap-730	106	1	�	�	PROPN
ap-730	106	2	�	�	PROPN
ap-730	106	3	�	�	PROPN
ap-730	106	4	�	�	PROPN
ap-730	106	5	�	�	PROPN
ap-730	106	6	x	x	PROPN
ap-730	106	7	y	y	PROPN
ap-730	106	8	a	a	X
ap-730	106	9	x	x	X
ap-730	106	10	y	y	PROPN
ap-730	106	11	b	b	PROPN
ap-730	106	12	u	u	PROPN
ap-730	106	13	ns	ns	NUM
ap-730	106	14	s	s	NOUN
ap-730	106	15	s	s	NOUN
ap-730	106	16	s	s	X
ap-730	106	17	s	s	X
ap-730	106	18	s	s	NOUN
ap-730	106	19	0	0	NUM
ap-730	106	20	�	�	PROPN
ap-730	106	21	�	�	PROPN
ap-730	106	22	�	�	PROPN
ap-730	106	23	�	�	PROPN
ap-730	106	24	�	�	PROPN
ap-730	106	25	�	�	PROPN
ap-730	106	26	�	�	PROPN
ap-730	106	27	�	�	PROPN
ap-730	106	28	�	�	PROPN
ap-730	106	29	�	�	PROPN
ap-730	106	30	�	�	PROPN
ap-730	106	31	v	v	PROPN
ap-730	106	32	,	,	PUNCT
ap-730	106	33	(	(	PUNCT
ap-730	106	34	17	17	NUM
ap-730	106	35	)	)	PUNCT
ap-730	106	36	where	where	SCONJ
ap-730	106	37	as	as	SCONJ
ap-730	106	38	and	and	CCONJ
ap-730	106	39	bs	bs	NOUN
ap-730	106	40	are	be	AUX
ap-730	106	41	the	the	DET
ap-730	106	42	subsystem	subsystem	NOUN
ap-730	106	43	’s	’s	PART
ap-730	106	44	system	system	NOUN
ap-730	106	45	matrix	matrix	NOUN
ap-730	106	46	and	and	CCONJ
ap-730	106	47	input	input	NOUN
ap-730	106	48	distribution	distribution	NOUN
ap-730	106	49	vector	vector	NOUN
ap-730	106	50	respectively	respectively	ADV
ap-730	106	51	,	,	PUNCT
ap-730	106	52	�	�	PROPN
ap-730	106	53	xs	xs	PROPN
ap-730	106	54	is	be	AUX
ap-730	106	55	the	the	DET
ap-730	106	56	estimated	estimate	VERB
ap-730	106	57	unflawed	unflawed	ADJ
ap-730	106	58	subsystem	subsystem	NOUN
ap-730	106	59	states	state	NOUN
ap-730	106	60	[	[	PUNCT
ap-730	106	61	]	]	X
ap-730	106	62	v	v	NOUN
ap-730	106	63	r	r	NOUN
ap-730	106	64	t	t	PROPN
ap-730	106	65	,	,	PUNCT
ap-730	106	66	ys	ys	PROPN
ap-730	106	67	is	be	AUX
ap-730	106	68	the	the	DET
ap-730	106	69	subvector	subvector	NOUN
ap-730	106	70	of	of	ADP
ap-730	106	71	the	the	DET
ap-730	106	72	system	system	NOUN
ap-730	106	73	output	output	NOUN
ap-730	106	74	,	,	PUNCT
ap-730	106	75	[	[	X
ap-730	106	76	�	�	NOUN
ap-730	106	77	]	]	X
ap-730	106	78	,	,	PUNCT
ap-730	106	79	�	�	PROPN
ap-730	106	80	ys	ys	PROPN
ap-730	106	81	is	be	AUX
ap-730	106	82	the	the	DET
ap-730	106	83	observers	observer	NOUN
ap-730	106	84	output	output	NOUN
ap-730	106	85	[	[	X
ap-730	106	86	�	�	NOUN
ap-730	106	87	]	]	PUNCT
ap-730	106	88	,	,	PUNCT
ap-730	106	89	us	us	PROPN
ap-730	106	90	is	be	AUX
ap-730	106	91	the	the	DET
ap-730	106	92	input	input	NOUN
ap-730	106	93	to	to	ADP
ap-730	106	94	the	the	DET
ap-730	106	95	subsystem	subsystem	NOUN
ap-730	106	96	[	[	X
ap-730	106	97	�	�	NOUN
ap-730	106	98	r	r	NOUN
ap-730	106	99	]	]	PUNCT
ap-730	106	100	,	,	PUNCT
ap-730	106	101	n	n	X
ap-730	106	102	is	be	AUX
ap-730	106	103	the	the	DET
ap-730	106	104	sliding	slide	VERB
ap-730	106	105	mode	mode	NOUN
ap-730	106	106	gains	gain	NOUN
ap-730	106	107	and	and	CCONJ
ap-730	106	108	v0	v0	NOUN
ap-730	106	109	is	be	AUX
ap-730	106	110	the	the	DET
ap-730	106	111	switching	switch	VERB
ap-730	106	112	term	term	NOUN
ap-730	106	113	.	.	PUNCT
ap-730	107	1	the	the	DET
ap-730	107	2	switching	switch	VERB
ap-730	107	3	term	term	NOUN
ap-730	107	4	gives	give	VERB
ap-730	107	5	the	the	DET
ap-730	107	6	observer	observer	NOUN
ap-730	107	7	the	the	DET
ap-730	107	8	extra	extra	ADJ
ap-730	107	9	action	action	NOUN
ap-730	107	10	to	to	PART
ap-730	107	11	overcome	overcome	VERB
ap-730	107	12	the	the	DET
ap-730	107	13	nonlinearities	nonlinearitie	NOUN
ap-730	107	14	and	and	CCONJ
ap-730	107	15	matched	match	VERB
ap-730	107	16	unmodelled	unmodelled	ADJ
ap-730	107	17	dynamics	dynamic	NOUN
ap-730	107	18	present	present	ADJ
ap-730	107	19	in	in	ADP
ap-730	107	20	the	the	DET
ap-730	107	21	system	system	NOUN
ap-730	107	22	.	.	PUNCT
ap-730	108	1	when	when	SCONJ
ap-730	108	2	fault	fault	VERB
ap-730	108	3	free	free	ADJ
ap-730	108	4	,	,	PUNCT
ap-730	108	5	the	the	DET
ap-730	108	6	switching	switch	VERB
ap-730	108	7	term	term	NOUN
ap-730	108	8	v0	v0	NOUN
ap-730	108	9	is	be	AUX
ap-730	108	10	defined	define	VERB
ap-730	108	11	as	as	ADP
ap-730	108	12	the	the	DET
ap-730	108	13	sign	sign	NOUN
ap-730	108	14	of	of	ADP
ap-730	108	15	the	the	DET
ap-730	108	16	difference	difference	NOUN
ap-730	108	17	between	between	ADP
ap-730	108	18	the	the	DET
ap-730	108	19	actual	actual	ADJ
ap-730	108	20	system	system	NOUN
ap-730	108	21	output	output	NOUN
ap-730	108	22	and	and	CCONJ
ap-730	108	23	observer	observer	NOUN
ap-730	108	24	output	output	NOUN
ap-730	108	25	[	[	X
ap-730	108	26	4	4	NUM
ap-730	108	27	]	]	PUNCT
ap-730	108	28	.	.	PUNCT
ap-730	109	1	the	the	DET
ap-730	109	2	switching	switch	VERB
ap-730	109	3	term	term	NOUN
ap-730	109	4	is	be	AUX
ap-730	109	5	defined	define	VERB
ap-730	109	6	as	as	ADP
ap-730	109	7	[	[	X
ap-730	109	8	4	4	NUM
ap-730	109	9	,	,	PUNCT
ap-730	109	10	5	5	NUM
ap-730	109	11	]	]	PUNCT
ap-730	109	12	:	:	PUNCT
ap-730	109	13	v	v	NUM
ap-730	109	14	y	y	PROPN
ap-730	109	15	y0	y0	PROPN
ap-730	109	16	�	�	PROPN
ap-730	109	17	sgn	sgn	NOUN
ap-730	109	18	(	(	PUNCT
ap-730	109	19	�	�	PROPN
ap-730	109	20	)	)	PUNCT
ap-730	109	21	so	so	PROPN
ap-730	109	22	s	s	PART
ap-730	109	23	.	.	PUNCT
ap-730	110	1	(	(	PUNCT
ap-730	110	2	18	18	NUM
ap-730	110	3	)	)	PUNCT
ap-730	110	4	here	here	ADV
ap-730	110	5	yso	yso	NOUN
ap-730	110	6	is	be	AUX
ap-730	110	7	the	the	DET
ap-730	110	8	output	output	NOUN
ap-730	110	9	of	of	ADP
ap-730	110	10	the	the	DET
ap-730	110	11	actual	actual	ADJ
ap-730	110	12	system	system	NOUN
ap-730	110	13	that	that	PRON
ap-730	110	14	is	be	AUX
ap-730	110	15	equivalent	equivalent	ADJ
ap-730	110	16	to	to	ADP
ap-730	110	17	the	the	DET
ap-730	110	18	output	output	NOUN
ap-730	110	19	of	of	ADP
ap-730	110	20	the	the	DET
ap-730	110	21	observer	observer	NOUN
ap-730	110	22	,	,	PUNCT
ap-730	110	23	i.e.	i.e.	X
ap-730	110	24	for	for	ADP
ap-730	110	25	the	the	DET
ap-730	110	26	heading	heading	ADJ
ap-730	110	27	submodel	submodel	PROPN
ap-730	110	28	yso	yso	NOUN
ap-730	110	29	would	would	AUX
ap-730	110	30	be	be	AUX
ap-730	110	31	the	the	DET
ap-730	110	32	heading	heading	ADJ
ap-730	110	33	angle	angle	NOUN
ap-730	110	34	,	,	PUNCT
ap-730	110	35	�	�	PROPN
ap-730	110	36	.	.	PUNCT
ap-730	111	1	the	the	DET
ap-730	111	2	problem	problem	NOUN
ap-730	111	3	,	,	PUNCT
ap-730	111	4	however	however	ADV
ap-730	111	5	,	,	PUNCT
ap-730	111	6	is	be	AUX
ap-730	111	7	that	that	SCONJ
ap-730	111	8	when	when	SCONJ
ap-730	111	9	there	there	PRON
ap-730	111	10	is	be	VERB
ap-730	111	11	a	a	DET
ap-730	111	12	fault	fault	NOUN
ap-730	111	13	in	in	ADP
ap-730	111	14	this	this	DET
ap-730	111	15	signal	signal	NOUN
ap-730	111	16	the	the	DET
ap-730	111	17	observer	observer	NOUN
ap-730	111	18	would	would	AUX
ap-730	111	19	follow	follow	VERB
ap-730	111	20	the	the	DET
ap-730	111	21	faulty	faulty	ADJ
ap-730	111	22	signal	signal	NOUN
ap-730	111	23	.	.	PUNCT
ap-730	112	1	to	to	PART
ap-730	112	2	get	get	VERB
ap-730	112	3	around	around	ADP
ap-730	112	4	this	this	DET
ap-730	112	5	problem	problem	NOUN
ap-730	112	6	the	the	DET
ap-730	112	7	switching	switch	VERB
ap-730	112	8	term	term	NOUN
ap-730	112	9	is	be	AUX
ap-730	112	10	altered	alter	VERB
ap-730	112	11	so	so	SCONJ
ap-730	112	12	that	that	SCONJ
ap-730	112	13	it	it	PRON
ap-730	112	14	uses	use	VERB
ap-730	112	15	a	a	DET
ap-730	112	16	comparable	comparable	ADJ
ap-730	112	17	signal	signal	NOUN
ap-730	112	18	that	that	PRON
ap-730	112	19	is	be	AUX
ap-730	112	20	unflawed	unflawed	ADJ
ap-730	112	21	.	.	PUNCT
ap-730	113	1	for	for	ADP
ap-730	113	2	the	the	DET
ap-730	113	3	heading	head	VERB
ap-730	113	4	observer	observer	NOUN
ap-730	113	5	the	the	DET
ap-730	113	6	yaw	yaw	NOUN
ap-730	113	7	rate	rate	NOUN
ap-730	113	8	,	,	PUNCT
ap-730	113	9	r	r	NOUN
ap-730	113	10	,	,	PUNCT
ap-730	113	11	is	be	AUX
ap-730	113	12	used	use	VERB
ap-730	113	13	to	to	PART
ap-730	113	14	replace	replace	VERB
ap-730	113	15	the	the	DET
ap-730	113	16	faulty	faulty	ADJ
ap-730	113	17	�	�	PROPN
ap-730	113	18	for	for	ADP
ap-730	113	19	its	its	PRON
ap-730	113	20	switching	switching	NOUN
ap-730	113	21	term	term	NOUN
ap-730	113	22	as	as	SCONJ
ap-730	113	23	this	this	PRON
ap-730	113	24	is	be	AUX
ap-730	113	25	approxi20	approxi20	NOUN
ap-730	113	26	©	©	PROPN
ap-730	113	27	czech	czech	PROPN
ap-730	113	28	technical	technical	PROPN
ap-730	113	29	university	university	PROPN
ap-730	113	30	publishing	publishing	NOUN
ap-730	113	31	house	house	NOUN
ap-730	113	32	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	113	33	acta	acta	PROPN
ap-730	113	34	polytechnica	polytechnica	PROPN
ap-730	113	35	vol	vol	NOUN
ap-730	113	36	.	.	PROPN
ap-730	114	1	45	45	NUM
ap-730	114	2	no	no	NOUN
ap-730	114	3	.	.	PUNCT
ap-730	115	1	4/2005	4/2005	NUM
ap-730	115	2	czech	czech	PROPN
ap-730	115	3	technical	technical	PROPN
ap-730	115	4	university	university	PROPN
ap-730	115	5	in	in	ADP
ap-730	115	6	prague	prague	PROPN
ap-730	115	7	north	north	PROPN
ap-730	115	8	z	z	PROPN
ap-730	115	9	�	�	PROPN
ap-730	115	10	u	u	PROPN
ap-730	115	11	sphere	sphere	NOUN
ap-730	115	12	of	of	ADP
ap-730	115	13	acceptance	acceptance	NOUN
ap-730	115	14	waypoint	waypoint	NOUN
ap-730	115	15	(	(	PUNCT
ap-730	115	16	xw	xw	PROPN
ap-730	115	17	,	,	PUNCT
ap-730	115	18	yw	yw	PROPN
ap-730	115	19	,	,	PUNCT
ap-730	115	20	zw	zw	PROPN
ap-730	115	21	,	,	PUNCT
ap-730	115	22	vw	vw	PROPN
ap-730	115	23	)	)	PUNCT
ap-730	115	24	xc	xc	PROPN
ap-730	115	25	,	,	PUNCT
ap-730	115	26	yc	yc	PROPN
ap-730	115	27	,	,	PUNCT
ap-730	115	28	zc	zc	PROPN
ap-730	115	29	fig	fig	NOUN
ap-730	115	30	.	.	PUNCT
ap-730	116	1	3	3	NUM
ap-730	116	2	:	:	PUNCT
ap-730	116	3	diagram	diagram	NOUN
ap-730	116	4	showing	show	VERB
ap-730	116	5	auv	auv	NUM
ap-730	116	6	heading	head	VERB
ap-730	116	7	towards	towards	ADP
ap-730	116	8	waypoint	waypoint	NOUN
ap-730	116	9	reconfiguration	reconfiguration	NOUN
ap-730	116	10	logic	logic	NOUN
ap-730	117	1	auv	auv	PROPN
ap-730	117	2	sm	sm	PROPN
ap-730	117	3	heading	head	VERB
ap-730	117	4	observer	observer	NOUN
ap-730	117	5	sm	sm	NOUN
ap-730	117	6	heading	head	VERB
ap-730	117	7	controller	controller	NOUN
ap-730	117	8	�	�	PROPN
ap-730	117	9	d	d	PROPN
ap-730	117	10	+	+	PROPN
ap-730	117	11	�	�	PROPN
ap-730	117	12	v	v	NOUN
ap-730	117	13	,	,	PUNCT
ap-730	117	14	r	r	NOUN
ap-730	117	15	,	,	PUNCT
ap-730	117	16	�	�	PROPN
ap-730	117	17	�	�	PROPN
ap-730	117	18	r	r	NOUN
ap-730	117	19	^^	^^	SYM
ap-730	117	20	�	�	PROPN
ap-730	117	21	�	�	PROPN
ap-730	117	22	or	or	CCONJ
ap-730	117	23	�	�	PROPN
ap-730	117	24	v	v	NOUN
ap-730	117	25	,	,	PUNCT
ap-730	117	26	r	r	NOUN
ap-730	117	27	,	,	PUNCT
ap-730	117	28	�	�	PROPN
ap-730	117	29	fig	fig	NOUN
ap-730	117	30	.	.	PUNCT
ap-730	118	1	4	4	NUM
ap-730	118	2	:	:	PUNCT
ap-730	118	3	diagram	diagram	NOUN
ap-730	118	4	of	of	ADP
ap-730	118	5	control	control	NOUN
ap-730	118	6	structure	structure	NOUN
ap-730	118	7	for	for	ADP
ap-730	118	8	the	the	DET
ap-730	118	9	heading	head	VERB
ap-730	118	10	submodel	submodel	NOUN
ap-730	118	11	including	include	VERB
ap-730	118	12	reconfiguration	reconfiguration	NOUN
ap-730	118	13	logic	logic	NOUN
ap-730	118	14	mately	mately	ADV
ap-730	118	15	the	the	DET
ap-730	118	16	derivative	derivative	NOUN
ap-730	118	17	of	of	ADP
ap-730	118	18	the	the	DET
ap-730	118	19	heading	head	VERB
ap-730	118	20	angle	angle	NOUN
ap-730	119	1	[	[	X
ap-730	119	2	4	4	NUM
ap-730	119	3	]	]	PUNCT
ap-730	119	4	.	.	PUNCT
ap-730	120	1	to	to	PART
ap-730	120	2	reduce	reduce	VERB
ap-730	120	3	chattering	chatter	VERB
ap-730	120	4	effect	effect	NOUN
ap-730	120	5	[	[	X
ap-730	120	6	4	4	NUM
ap-730	120	7	,	,	PUNCT
ap-730	120	8	5	5	NUM
ap-730	120	9	]	]	X
ap-730	120	10	soft	soft	ADJ
ap-730	120	11	switching	switching	NOUN
ap-730	120	12	in	in	ADP
ap-730	120	13	the	the	DET
ap-730	120	14	form	form	NOUN
ap-730	120	15	of	of	ADP
ap-730	120	16	a	a	DET
ap-730	120	17	hyperbolic	hyperbolic	ADJ
ap-730	120	18	tangent	tangent	NOUN
ap-730	120	19	function	function	NOUN
ap-730	120	20	with	with	ADP
ap-730	120	21	a	a	DET
ap-730	120	22	boundary	boundary	ADJ
ap-730	120	23	layer	layer	NOUN
ap-730	120	24	�	�	PROPN
ap-730	120	25	0	0	NUM
ap-730	120	26	thick	thick	ADJ
ap-730	120	27	replaces	replace	VERB
ap-730	120	28	the	the	DET
ap-730	120	29	signum	signum	ADJ
ap-730	120	30	function	function	NOUN
ap-730	120	31	in	in	ADP
ap-730	120	32	the	the	DET
ap-730	120	33	switching	switch	VERB
ap-730	120	34	terms	term	NOUN
ap-730	120	35	.	.	PUNCT
ap-730	121	1	the	the	DET
ap-730	121	2	switching	switch	VERB
ap-730	121	3	terms	term	NOUN
ap-730	121	4	are	be	AUX
ap-730	121	5	then	then	ADV
ap-730	121	6	written	write	VERB
ap-730	121	7	as	as	ADP
ap-730	121	8	:	:	PUNCT
ap-730	121	9	v	v	NUM
ap-730	121	10	r	r	NOUN
ap-730	121	11	x	x	SYM
ap-730	121	12	0	0	NUM
ap-730	121	13	0	0	NUM
ap-730	121	14	h	h	NOUN
ap-730	121	15	sh1,2	sh1,2	NOUN
ap-730	121	16	h	h	PROPN
ap-730	121	17	�	�	PROPN
ap-730	121	18	tanh	tanh	PROPN
ap-730	121	19	�	�	PROPN
ap-730	121	20	�	�	PROPN
ap-730	121	21	.	.	PUNCT
ap-730	122	1	(	(	PUNCT
ap-730	122	2	19	19	NUM
ap-730	122	3	)	)	PUNCT
ap-730	122	4	a	a	DET
ap-730	122	5	diagram	diagram	NOUN
ap-730	122	6	of	of	ADP
ap-730	122	7	the	the	DET
ap-730	122	8	complete	complete	ADJ
ap-730	122	9	control	control	NOUN
ap-730	122	10	structure	structure	NOUN
ap-730	122	11	for	for	ADP
ap-730	122	12	the	the	DET
ap-730	122	13	reconfigurable	reconfigurable	ADJ
ap-730	122	14	heading	head	VERB
ap-730	122	15	controller	controller	NOUN
ap-730	122	16	is	be	AUX
ap-730	122	17	shown	show	VERB
ap-730	122	18	in	in	ADP
ap-730	122	19	fig	fig	NOUN
ap-730	122	20	.	.	PUNCT
ap-730	123	1	4	4	NUM
ap-730	123	2	.	.	SYM
ap-730	123	3	5	5	NUM
ap-730	123	4	results	result	NOUN
ap-730	123	5	to	to	PART
ap-730	123	6	get	get	VERB
ap-730	123	7	the	the	DET
ap-730	123	8	following	follow	VERB
ap-730	123	9	results	result	NOUN
ap-730	123	10	a	a	DET
ap-730	123	11	zigzag	zigzag	NOUN
ap-730	123	12	pattern	pattern	NOUN
ap-730	123	13	of	of	ADP
ap-730	123	14	waypoints	waypoint	NOUN
ap-730	123	15	is	be	AUX
ap-730	123	16	laid	lay	VERB
ap-730	123	17	out	out	ADP
ap-730	123	18	for	for	SCONJ
ap-730	123	19	the	the	DET
ap-730	123	20	auv	auv	PROPN
ap-730	123	21	to	to	PART
ap-730	123	22	follow	follow	VERB
ap-730	123	23	.	.	PUNCT
ap-730	124	1	this	this	PRON
ap-730	124	2	allows	allow	VERB
ap-730	124	3	the	the	DET
ap-730	124	4	auv	auv	PROPN
ap-730	124	5	to	to	PART
ap-730	124	6	perform	perform	VERB
ap-730	124	7	both	both	CCONJ
ap-730	124	8	right	right	ADV
ap-730	124	9	and	and	CCONJ
ap-730	124	10	left	leave	VERB
ap-730	124	11	turns	turn	NOUN
ap-730	124	12	and	and	CCONJ
ap-730	124	13	should	should	AUX
ap-730	124	14	highlight	highlight	VERB
ap-730	124	15	any	any	DET
ap-730	124	16	asymmetry	asymmetry	NOUN
ap-730	124	17	in	in	ADP
ap-730	124	18	its	its	PRON
ap-730	124	19	handling	handling	NOUN
ap-730	124	20	characteristics	characteristic	NOUN
ap-730	124	21	.	.	PUNCT
ap-730	125	1	the	the	DET
ap-730	125	2	two	two	NUM
ap-730	125	3	faults	fault	NOUN
ap-730	125	4	that	that	PRON
ap-730	125	5	the	the	DET
ap-730	125	6	reconfiguration	reconfiguration	NOUN
ap-730	125	7	is	be	AUX
ap-730	125	8	tested	test	VERB
ap-730	125	9	for	for	ADP
ap-730	125	10	are	be	AUX
ap-730	125	11	a	a	DET
ap-730	125	12	complete	complete	ADJ
ap-730	125	13	failure	failure	NOUN
ap-730	125	14	of	of	ADP
ap-730	125	15	the	the	DET
ap-730	125	16	heading	head	VERB
ap-730	125	17	sensor	sensor	NOUN
ap-730	125	18	where	where	SCONJ
ap-730	125	19	the	the	DET
ap-730	125	20	heading	heading	ADJ
ap-730	125	21	output	output	NOUN
ap-730	125	22	is	be	AUX
ap-730	125	23	0	0	NUM
ap-730	125	24	°	°	NUM
ap-730	125	25	and	and	CCONJ
ap-730	125	26	for	for	ADP
ap-730	125	27	a	a	DET
ap-730	125	28	bias	bias	NOUN
ap-730	125	29	of	of	ADP
ap-730	125	30	10	10	NUM
ap-730	125	31	°	°	PRON
ap-730	125	32	added	add	VERB
ap-730	125	33	into	into	ADP
ap-730	125	34	the	the	DET
ap-730	125	35	heading	head	VERB
ap-730	125	36	sensor	sensor	NOUN
ap-730	125	37	.	.	PUNCT
ap-730	126	1	both	both	PRON
ap-730	126	2	of	of	ADP
ap-730	126	3	these	these	DET
ap-730	126	4	faults	fault	NOUN
ap-730	126	5	are	be	AUX
ap-730	126	6	simulated	simulate	VERB
ap-730	126	7	to	to	PART
ap-730	126	8	happen	happen	VERB
ap-730	126	9	after	after	ADP
ap-730	126	10	115	115	NUM
ap-730	126	11	seconds	second	NOUN
ap-730	126	12	and	and	CCONJ
ap-730	126	13	the	the	DET
ap-730	126	14	fault	fault	NOUN
ap-730	126	15	are	be	AUX
ap-730	126	16	detected	detect	VERB
ap-730	126	17	3	3	NUM
ap-730	126	18	seconds	second	NOUN
ap-730	126	19	after	after	ADP
ap-730	126	20	that	that	PRON
ap-730	126	21	.	.	PUNCT
ap-730	127	1	all	all	PRON
ap-730	127	2	of	of	ADP
ap-730	127	3	the	the	DET
ap-730	127	4	simulations	simulation	NOUN
ap-730	127	5	have	have	AUX
ap-730	127	6	been	be	AUX
ap-730	127	7	carried	carry	VERB
ap-730	127	8	out	out	ADP
ap-730	127	9	using	use	VERB
ap-730	127	10	the	the	DET
ap-730	127	11	full	full	ADJ
ap-730	127	12	6	6	NUM
ap-730	127	13	-	-	PUNCT
ap-730	127	14	dof	dof	NOUN
ap-730	127	15	model	model	NOUN
ap-730	127	16	at	at	ADP
ap-730	127	17	a	a	DET
ap-730	127	18	depth	depth	NOUN
ap-730	127	19	of	of	ADP
ap-730	127	20	40	40	NUM
ap-730	127	21	m	m	NOUN
ap-730	127	22	and	and	CCONJ
ap-730	127	23	with	with	ADP
ap-730	127	24	the	the	DET
ap-730	127	25	auv	auv	PROPN
ap-730	127	26	travelling	travel	VERB
ap-730	127	27	at	at	ADP
ap-730	127	28	1.7	1.7	NUM
ap-730	127	29	m	m	NOUN
ap-730	127	30	/	/	SYM
ap-730	127	31	s.	s.	PROPN
ap-730	128	1	the	the	DET
ap-730	128	2	first	first	ADJ
ap-730	128	3	graph	graph	NOUN
ap-730	128	4	,	,	PUNCT
ap-730	128	5	fig	fig	NOUN
ap-730	128	6	.	.	PUNCT
ap-730	128	7	5	5	NUM
ap-730	128	8	,	,	PUNCT
ap-730	128	9	shows	show	VERB
ap-730	128	10	how	how	SCONJ
ap-730	128	11	the	the	DET
ap-730	128	12	auv	auv	PROPN
ap-730	128	13	acts	act	VERB
ap-730	128	14	if	if	SCONJ
ap-730	128	15	there	there	PRON
ap-730	128	16	is	be	VERB
ap-730	128	17	a	a	DET
ap-730	128	18	complete	complete	ADJ
ap-730	128	19	failure	failure	NOUN
ap-730	128	20	in	in	ADP
ap-730	128	21	the	the	DET
ap-730	128	22	heading	head	VERB
ap-730	128	23	sensor	sensor	NOUN
ap-730	128	24	when	when	SCONJ
ap-730	128	25	no	no	DET
ap-730	128	26	reconfiguration	reconfiguration	NOUN
ap-730	128	27	is	be	AUX
ap-730	128	28	present	present	ADJ
ap-730	128	29	in	in	ADP
ap-730	128	30	the	the	DET
ap-730	128	31	system	system	NOUN
ap-730	128	32	.	.	PUNCT
ap-730	129	1	from	from	ADP
ap-730	129	2	this	this	PRON
ap-730	129	3	it	it	PRON
ap-730	129	4	can	can	AUX
ap-730	129	5	be	be	AUX
ap-730	129	6	seen	see	VERB
ap-730	129	7	that	that	SCONJ
ap-730	129	8	the	the	DET
ap-730	129	9	auv	auv	PROPN
ap-730	129	10	loses	lose	VERB
ap-730	129	11	the	the	DET
ap-730	129	12	ability	ability	NOUN
ap-730	129	13	to	to	PART
ap-730	129	14	follow	follow	VERB
ap-730	129	15	the	the	DET
ap-730	129	16	desired	desire	VERB
ap-730	129	17	heading	heading	NOUN
ap-730	129	18	completely	completely	ADV
ap-730	129	19	with	with	ADP
ap-730	129	20	the	the	DET
ap-730	129	21	model	model	NOUN
ap-730	129	22	of	of	ADP
ap-730	129	23	the	the	DET
ap-730	129	24	auv	auv	PROPN
ap-730	129	25	breaking	break	VERB
ap-730	129	26	down	down	ADP
ap-730	129	27	just	just	ADV
ap-730	129	28	after	after	SCONJ
ap-730	129	29	200	200	NUM
ap-730	129	30	s	s	NOUN
ap-730	129	31	has	have	AUX
ap-730	129	32	elapsed	elapse	VERB
ap-730	129	33	.	.	PUNCT
ap-730	130	1	this	this	PRON
ap-730	130	2	break	break	VERB
ap-730	130	3	down	down	ADP
ap-730	130	4	in	in	ADP
ap-730	130	5	the	the	DET
ap-730	130	6	model	model	NOUN
ap-730	130	7	is	be	AUX
ap-730	130	8	the	the	DET
ap-730	130	9	result	result	NOUN
ap-730	130	10	of	of	ADP
ap-730	130	11	the	the	DET
ap-730	130	12	speed	speed	NOUN
ap-730	130	13	controller	controller	NOUN
ap-730	130	14	trying	try	VERB
ap-730	130	15	to	to	PART
ap-730	130	16	compensate	compensate	VERB
ap-730	130	17	for	for	ADP
ap-730	130	18	the	the	DET
ap-730	130	19	cross	cross	NOUN
ap-730	130	20	coupling	coupling	NOUN
ap-730	130	21	that	that	PRON
ap-730	130	22	becomes	become	VERB
ap-730	130	23	noticeable	noticeable	ADJ
ap-730	130	24	when	when	SCONJ
ap-730	130	25	the	the	DET
ap-730	130	26	actuators	actuator	NOUN
ap-730	130	27	are	be	AUX
ap-730	130	28	at	at	ADP
ap-730	130	29	full	full	ADJ
ap-730	130	30	deflection	deflection	NOUN
ap-730	130	31	.	.	PUNCT
ap-730	131	1	fig	fig	NOUN
ap-730	131	2	.	.	PUNCT
ap-730	132	1	6	6	NUM
ap-730	132	2	gives	give	VERB
ap-730	132	3	a	a	DET
ap-730	132	4	view	view	NOUN
ap-730	132	5	looking	look	VERB
ap-730	132	6	down	down	ADP
ap-730	132	7	on	on	ADP
ap-730	132	8	the	the	DET
ap-730	132	9	path	path	NOUN
ap-730	132	10	that	that	PRON
ap-730	132	11	the	the	DET
ap-730	132	12	auv	auv	PROPN
ap-730	132	13	takes	take	NOUN
ap-730	132	14	,	,	PUNCT
ap-730	132	15	starting	start	VERB
ap-730	132	16	in	in	ADP
ap-730	132	17	the	the	DET
ap-730	132	18	top	top	ADJ
ap-730	132	19	right	right	NOUN
ap-730	132	20	of	of	ADP
ap-730	132	21	the	the	DET
ap-730	132	22	graph	graph	NOUN
ap-730	132	23	and	and	CCONJ
ap-730	132	24	travelling	travel	VERB
ap-730	132	25	towards	towards	ADP
ap-730	132	26	the	the	DET
ap-730	132	27	waypoints	waypoint	NOUN
ap-730	132	28	that	that	PRON
ap-730	132	29	are	be	AUX
ap-730	132	30	denoted	denote	VERB
ap-730	132	31	as	as	ADP
ap-730	132	32	circles	circle	NOUN
ap-730	132	33	with	with	ADP
ap-730	132	34	a	a	DET
ap-730	132	35	radius	radius	NOUN
ap-730	132	36	the	the	DET
ap-730	132	37	size	size	NOUN
ap-730	132	38	of	of	ADP
ap-730	132	39	the	the	DET
ap-730	132	40	sphere	sphere	NOUN
ap-730	132	41	of	of	ADP
ap-730	132	42	acceptance	acceptance	NOUN
ap-730	132	43	.	.	PUNCT
ap-730	133	1	from	from	ADP
ap-730	133	2	this	this	PRON
ap-730	133	3	it	it	PRON
ap-730	133	4	can	can	AUX
ap-730	133	5	be	be	AUX
ap-730	133	6	seen	see	VERB
ap-730	133	7	that	that	SCONJ
ap-730	133	8	the	the	DET
ap-730	133	9	failure	failure	NOUN
ap-730	133	10	in	in	ADP
ap-730	133	11	the	the	DET
ap-730	133	12	heading	head	VERB
ap-730	133	13	sensor	sensor	NOUN
ap-730	133	14	,	,	PUNCT
ap-730	133	15	which	which	PRON
ap-730	133	16	happens	happen	VERB
ap-730	133	17	just	just	ADV
ap-730	133	18	after	after	SCONJ
ap-730	133	19	the	the	DET
ap-730	133	20	auv	auv	PROPN
ap-730	133	21	has	have	AUX
ap-730	133	22	passed	pass	VERB
ap-730	133	23	through	through	ADP
ap-730	133	24	the	the	DET
ap-730	133	25	first	first	ADJ
ap-730	133	26	waypoint	waypoint	NOUN
ap-730	133	27	,	,	PUNCT
ap-730	133	28	causes	cause	VERB
ap-730	133	29	it	it	PRON
ap-730	133	30	to	to	PART
ap-730	133	31	lose	lose	VERB
ap-730	133	32	direction	direction	NOUN
ap-730	133	33	and	and	CCONJ
ap-730	133	34	snake	snake	NOUN
ap-730	133	35	from	from	ADP
ap-730	133	36	side	side	NOUN
ap-730	133	37	to	to	ADP
ap-730	133	38	side	side	NOUN
ap-730	133	39	before	before	SCONJ
ap-730	133	40	the	the	DET
ap-730	133	41	simulation	simulation	NOUN
ap-730	133	42	becomes	become	VERB
ap-730	133	43	unstable	unstable	ADJ
ap-730	133	44	and	and	CCONJ
ap-730	133	45	the	the	DET
ap-730	133	46	auv	auv	PROPN
ap-730	133	47	appears	appear	VERB
ap-730	133	48	to	to	PART
ap-730	133	49	shoot	shoot	VERB
ap-730	133	50	off	off	ADP
ap-730	133	51	into	into	ADP
ap-730	133	52	infinity	infinity	NOUN
ap-730	133	53	.	.	PUNCT
ap-730	134	1	figs	fig	NOUN
ap-730	134	2	.	.	PUNCT
ap-730	134	3	7	7	NUM
ap-730	134	4	and	and	CCONJ
ap-730	134	5	8	8	NUM
ap-730	134	6	show	show	VERB
ap-730	134	7	the	the	DET
ap-730	134	8	response	response	NOUN
ap-730	134	9	of	of	ADP
ap-730	134	10	the	the	DET
ap-730	134	11	auv	auv	PROPN
ap-730	134	12	when	when	SCONJ
ap-730	134	13	a	a	DET
ap-730	134	14	bias	bias	NOUN
ap-730	134	15	error	error	NOUN
ap-730	134	16	is	be	AUX
ap-730	134	17	added	add	VERB
ap-730	134	18	to	to	ADP
ap-730	134	19	the	the	DET
ap-730	134	20	heading	head	VERB
ap-730	134	21	sensor	sensor	NOUN
ap-730	134	22	without	without	ADP
ap-730	134	23	reconfiguration	reconfiguration	NOUN
ap-730	134	24	.	.	PUNCT
ap-730	135	1	in	in	ADP
ap-730	135	2	the	the	DET
ap-730	135	3	yaw	yaw	NOUN
ap-730	135	4	angle	angle	NOUN
ap-730	135	5	response	response	NOUN
ap-730	135	6	in	in	ADP
ap-730	135	7	fig	fig	NOUN
ap-730	135	8	.	.	PUNCT
ap-730	136	1	7	7	NUM
ap-730	136	2	it	it	PRON
ap-730	136	3	can	can	AUX
ap-730	136	4	be	be	AUX
ap-730	136	5	seen	see	VERB
ap-730	136	6	that	that	SCONJ
ap-730	136	7	the	the	DET
ap-730	136	8	auv	auv	PROPN
ap-730	136	9	continues	continue	VERB
ap-730	136	10	to	to	PART
ap-730	136	11	follow	follow	VERB
ap-730	136	12	accurately	accurately	ADV
ap-730	136	13	the	the	DET
ap-730	136	14	value	value	NOUN
ap-730	136	15	that	that	PRON
ap-730	136	16	is	be	AUX
ap-730	136	17	given	give	VERB
ap-730	136	18	by	by	ADP
ap-730	136	19	the	the	DET
ap-730	136	20	sensor	sensor	NOUN
ap-730	136	21	.	.	PUNCT
ap-730	137	1	the	the	DET
ap-730	137	2	large	large	ADJ
ap-730	137	3	spike	spike	NOUN
ap-730	137	4	in	in	ADP
ap-730	137	5	the	the	DET
ap-730	137	6	rudder	rudder	NOUN
ap-730	137	7	actuation	actuation	NOUN
ap-730	137	8	is	be	AUX
ap-730	137	9	caused	cause	VERB
ap-730	137	10	by	by	ADP
ap-730	137	11	the	the	DET
ap-730	137	12	controller	controller	NOUN
ap-730	137	13	suddenly	suddenly	ADV
ap-730	137	14	being	be	AUX
ap-730	137	15	presented	present	VERB
ap-730	137	16	with	with	ADP
ap-730	137	17	a	a	DET
ap-730	137	18	10	10	NUM
ap-730	137	19	°	°	NOUN
ap-730	137	20	error	error	NOUN
ap-730	137	21	in	in	ADP
ap-730	137	22	the	the	DET
ap-730	137	23	heading	head	VERB
ap-730	137	24	angle	angle	NOUN
ap-730	137	25	and	and	CCONJ
ap-730	137	26	trying	try	VERB
ap-730	137	27	to	to	PART
ap-730	137	28	correct	correct	VERB
ap-730	137	29	for	for	ADP
ap-730	137	30	that	that	PRON
ap-730	137	31	.	.	PUNCT
ap-730	138	1	the	the	DET
ap-730	138	2	problem	problem	NOUN
ap-730	138	3	caused	cause	VERB
ap-730	138	4	by	by	ADP
ap-730	138	5	this	this	DET
ap-730	138	6	bias	bias	NOUN
ap-730	138	7	error	error	NOUN
ap-730	138	8	in	in	ADP
ap-730	138	9	the	the	DET
ap-730	138	10	sensor	sensor	NOUN
ap-730	138	11	is	be	AUX
ap-730	138	12	noticeable	noticeable	ADJ
ap-730	138	13	in	in	ADP
ap-730	138	14	fig	fig	NOUN
ap-730	138	15	.	.	PUNCT
ap-730	139	1	8	8	NUM
ap-730	139	2	,	,	PUNCT
ap-730	139	3	where	where	SCONJ
ap-730	139	4	the	the	DET
ap-730	139	5	auv	auv	PROPN
ap-730	139	6	misses	miss	VERB
ap-730	139	7	the	the	DET
ap-730	139	8	next	next	ADJ
ap-730	139	9	waypoint	waypoint	NOUN
ap-730	139	10	.	.	PUNCT
ap-730	140	1	this	this	PRON
ap-730	140	2	is	be	AUX
ap-730	140	3	caused	cause	VERB
ap-730	140	4	by	by	ADP
ap-730	140	5	the	the	DET
ap-730	140	6	error	error	NOUN
ap-730	140	7	bias	bias	NOUN
ap-730	140	8	being	be	AUX
ap-730	140	9	large	large	ADJ
ap-730	140	10	enough	enough	ADV
ap-730	140	11	that	that	SCONJ
ap-730	140	12	the	the	DET
ap-730	140	13	auv	auv	PROPN
ap-730	140	14	is	be	AUX
ap-730	140	15	being	be	AUX
ap-730	140	16	directed	direct	VERB
ap-730	140	17	on	on	ADP
ap-730	140	18	a	a	DET
ap-730	140	19	course	course	NOUN
ap-730	140	20	that	that	PRON
ap-730	140	21	misses	miss	VERB
ap-730	140	22	the	the	DET
ap-730	140	23	sphere	sphere	NOUN
ap-730	140	24	of	of	ADP
ap-730	140	25	acceptance	acceptance	NOUN
ap-730	140	26	around	around	ADP
ap-730	140	27	the	the	DET
ap-730	140	28	waypoint	waypoint	NOUN
ap-730	140	29	.	.	PUNCT
ap-730	141	1	fig	fig	NOUN
ap-730	141	2	.	.	PUNCT
ap-730	142	1	9	9	NUM
ap-730	142	2	shows	show	VERB
ap-730	142	3	the	the	DET
ap-730	142	4	heading	heading	ADJ
ap-730	142	5	and	and	CCONJ
ap-730	142	6	rudder	rudder	NOUN
ap-730	142	7	responses	response	NOUN
ap-730	142	8	when	when	SCONJ
ap-730	142	9	the	the	DET
ap-730	142	10	smo	smo	NOUN
ap-730	142	11	based	base	VERB
ap-730	142	12	reconfiguration	reconfiguration	NOUN
ap-730	142	13	is	be	AUX
ap-730	142	14	implemented	implement	VERB
ap-730	142	15	in	in	ADP
ap-730	142	16	the	the	DET
ap-730	142	17	system	system	NOUN
ap-730	142	18	.	.	PUNCT
ap-730	143	1	from	from	ADP
ap-730	143	2	the	the	DET
ap-730	143	3	yaw	yaw	NOUN
ap-730	143	4	response	response	NOUN
ap-730	143	5	it	it	PRON
ap-730	143	6	can	can	AUX
ap-730	143	7	be	be	AUX
ap-730	143	8	seen	see	VERB
ap-730	143	9	that	that	SCONJ
ap-730	143	10	there	there	PRON
ap-730	143	11	is	be	VERB
ap-730	143	12	a	a	DET
ap-730	143	13	small	small	ADJ
ap-730	143	14	deviation	deviation	NOUN
ap-730	143	15	from	from	ADP
ap-730	143	16	the	the	DET
ap-730	143	17	commanded	command	VERB
ap-730	143	18	heading	head	VERB
ap-730	143	19	immediately	immediately	ADV
ap-730	143	20	after	after	ADP
ap-730	143	21	the	the	DET
ap-730	143	22	fault	fault	NOUN
ap-730	143	23	but	but	CCONJ
ap-730	143	24	this	this	PRON
ap-730	143	25	is	be	AUX
ap-730	143	26	quickly	quickly	ADV
ap-730	143	27	brought	bring	VERB
ap-730	143	28	under	under	ADP
ap-730	143	29	control	control	NOUN
ap-730	143	30	.	.	PUNCT
ap-730	144	1	also	also	ADV
ap-730	144	2	of	of	ADP
ap-730	144	3	note	note	NOUN
ap-730	144	4	from	from	ADP
ap-730	144	5	this	this	DET
ap-730	144	6	graph	graph	NOUN
ap-730	144	7	is	be	AUX
ap-730	144	8	the	the	DET
ap-730	144	9	accuracy	accuracy	NOUN
ap-730	144	10	of	of	ADP
ap-730	144	11	the	the	DET
ap-730	144	12	smo	smo	NOUN
ap-730	144	13	in	in	ADP
ap-730	144	14	estimating	estimate	VERB
ap-730	144	15	the	the	DET
ap-730	144	16	heading	head	VERB
ap-730	144	17	angle	angle	NOUN
ap-730	144	18	,	,	PUNCT
ap-730	144	19	after	after	SCONJ
ap-730	144	20	the	the	DET
ap-730	144	21	fault	fault	NOUN
ap-730	144	22	has	have	AUX
ap-730	144	23	been	be	AUX
ap-730	144	24	detected	detect	VERB
ap-730	144	25	the	the	DET
ap-730	144	26	output	output	NOUN
ap-730	144	27	from	from	ADP
ap-730	144	28	the	the	DET
ap-730	144	29	sensor	sensor	NOUN
ap-730	144	30	is	be	AUX
ap-730	144	31	overwritten	overwrite	VERB
ap-730	144	32	with	with	ADP
ap-730	144	33	the	the	DET
ap-730	144	34	data	datum	NOUN
ap-730	144	35	from	from	ADP
ap-730	144	36	the	the	DET
ap-730	144	37	observer	observer	NOUN
ap-730	144	38	.	.	PUNCT
ap-730	145	1	©	©	PROPN
ap-730	145	2	czech	czech	PROPN
ap-730	145	3	technical	technical	PROPN
ap-730	145	4	university	university	PROPN
ap-730	145	5	publishing	publishing	NOUN
ap-730	145	6	house	house	NOUN
ap-730	145	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	145	8	21	21	NUM
ap-730	145	9	czech	czech	PROPN
ap-730	145	10	technical	technical	PROPN
ap-730	145	11	university	university	PROPN
ap-730	145	12	in	in	ADP
ap-730	145	13	prague	prague	PROPN
ap-730	145	14	acta	acta	PROPN
ap-730	145	15	polytechnica	polytechnica	PROPN
ap-730	145	16	vol	vol	NOUN
ap-730	145	17	.	.	PROPN
ap-730	146	1	45	45	NUM
ap-730	146	2	no	no	NOUN
ap-730	146	3	.	.	PUNCT
ap-730	147	1	4/2005	4/2005	NUM
ap-730	147	2	fig	fig	NOUN
ap-730	147	3	.	.	PUNCT
ap-730	148	1	5	5	NUM
ap-730	148	2	:	:	PUNCT
ap-730	148	3	heading	head	VERB
ap-730	148	4	angle	angle	NOUN
ap-730	148	5	and	and	CCONJ
ap-730	148	6	rudder	rudder	NOUN
ap-730	148	7	usage	usage	NOUN
ap-730	148	8	responses	response	NOUN
ap-730	148	9	with	with	ADP
ap-730	148	10	complete	complete	ADJ
ap-730	148	11	failure	failure	NOUN
ap-730	148	12	of	of	ADP
ap-730	148	13	the	the	DET
ap-730	148	14	heading	head	VERB
ap-730	148	15	sensor	sensor	NOUN
ap-730	148	16	fig	fig	NOUN
ap-730	148	17	.	.	PUNCT
ap-730	149	1	6	6	NUM
ap-730	149	2	:	:	PUNCT
ap-730	149	3	xy	xy	PROPN
ap-730	149	4	position	position	NOUN
ap-730	149	5	plot	plot	NOUN
ap-730	149	6	showing	showing	NOUN
ap-730	149	7	movement	movement	NOUN
ap-730	149	8	of	of	ADP
ap-730	149	9	auv	auv	PROPN
ap-730	149	10	when	when	SCONJ
ap-730	149	11	heading	head	VERB
ap-730	149	12	sensor	sensor	NOUN
ap-730	149	13	fails	fail	VERB
ap-730	149	14	completely	completely	ADV
ap-730	149	15	fig	fig	NOUN
ap-730	149	16	.	.	PUNCT
ap-730	150	1	7	7	NUM
ap-730	150	2	:	:	PUNCT
ap-730	150	3	heading	head	VERB
ap-730	150	4	angle	angle	NOUN
ap-730	150	5	and	and	CCONJ
ap-730	150	6	rudder	rudder	NOUN
ap-730	150	7	usage	usage	NOUN
ap-730	150	8	responses	response	NOUN
ap-730	150	9	with	with	ADP
ap-730	150	10	bias	bias	NOUN
ap-730	150	11	fault	fault	NOUN
ap-730	150	12	in	in	ADP
ap-730	150	13	the	the	DET
ap-730	150	14	heading	head	VERB
ap-730	150	15	sensor	sensor	NOUN
ap-730	150	16	it	it	PRON
ap-730	150	17	can	can	AUX
ap-730	150	18	be	be	AUX
ap-730	150	19	seen	see	VERB
ap-730	150	20	in	in	ADP
ap-730	150	21	the	the	DET
ap-730	150	22	graph	graph	NOUN
ap-730	150	23	that	that	PRON
ap-730	150	24	the	the	DET
ap-730	150	25	actual	actual	ADJ
ap-730	150	26	and	and	CCONJ
ap-730	150	27	observed	observed	ADJ
ap-730	150	28	(	(	PUNCT
ap-730	150	29	the	the	DET
ap-730	150	30	sensed	sensed	ADJ
ap-730	150	31	line	line	NOUN
ap-730	150	32	after	after	ADP
ap-730	150	33	the	the	DET
ap-730	150	34	fault	fault	NOUN
ap-730	150	35	)	)	PUNCT
ap-730	150	36	heading	head	VERB
ap-730	150	37	angles	angle	NOUN
ap-730	150	38	lie	lie	NOUN
ap-730	150	39	on	on	ADP
ap-730	150	40	top	top	NOUN
ap-730	150	41	of	of	ADP
ap-730	150	42	one	one	NUM
ap-730	150	43	another	another	DET
ap-730	150	44	.	.	PUNCT
ap-730	151	1	in	in	ADP
ap-730	151	2	the	the	DET
ap-730	151	3	rudder	rudder	NOUN
ap-730	151	4	response	response	NOUN
ap-730	151	5	it	it	PRON
ap-730	151	6	can	can	AUX
ap-730	151	7	be	be	AUX
ap-730	151	8	seen	see	VERB
ap-730	151	9	that	that	SCONJ
ap-730	151	10	there	there	PRON
ap-730	151	11	is	be	VERB
ap-730	151	12	a	a	DET
ap-730	151	13	very	very	ADV
ap-730	151	14	large	large	ADJ
ap-730	151	15	spike	spike	NOUN
ap-730	151	16	in	in	ADP
ap-730	151	17	the	the	DET
ap-730	151	18	required	require	VERB
ap-730	151	19	value	value	NOUN
ap-730	151	20	around	around	ADP
ap-730	151	21	the	the	DET
ap-730	151	22	time	time	NOUN
ap-730	151	23	of	of	ADP
ap-730	151	24	the	the	DET
ap-730	151	25	fault	fault	NOUN
ap-730	151	26	.	.	PUNCT
ap-730	152	1	this	this	PRON
ap-730	152	2	is	be	AUX
ap-730	152	3	caused	cause	VERB
ap-730	152	4	by	by	ADP
ap-730	152	5	the	the	DET
ap-730	152	6	sudden	sudden	ADJ
ap-730	152	7	step	step	NOUN
ap-730	152	8	of	of	ADP
ap-730	152	9	150	150	NUM
ap-730	152	10	°	°	NOUN
ap-730	152	11	appears	appear	VERB
ap-730	152	12	in	in	ADP
ap-730	152	13	the	the	DET
ap-730	152	14	error	error	NOUN
ap-730	152	15	signal	signal	NOUN
ap-730	152	16	sent	send	VERB
ap-730	152	17	to	to	ADP
ap-730	152	18	the	the	DET
ap-730	152	19	controller	controller	NOUN
ap-730	152	20	when	when	SCONJ
ap-730	152	21	the	the	DET
ap-730	152	22	sensed	sensed	ADJ
ap-730	152	23	heading	heading	NOUN
ap-730	152	24	suddenly	suddenly	ADV
ap-730	152	25	becomes	become	VERB
ap-730	152	26	0	0	NUM
ap-730	152	27	°	°	NUM
ap-730	152	28	.	.	PUNCT
ap-730	153	1	in	in	ADP
ap-730	153	2	the	the	DET
ap-730	153	3	actual	actual	ADJ
ap-730	153	4	auv	auv	NOUN
ap-730	153	5	these	these	DET
ap-730	153	6	large	large	ADJ
ap-730	153	7	spikes	spike	NOUN
ap-730	153	8	would	would	AUX
ap-730	153	9	cause	cause	VERB
ap-730	153	10	undue	undue	ADJ
ap-730	153	11	stress	stress	NOUN
ap-730	153	12	and	and	CCONJ
ap-730	153	13	wear	wear	VERB
ap-730	153	14	on	on	ADP
ap-730	153	15	the	the	DET
ap-730	153	16	actuators	actuator	NOUN
ap-730	153	17	,	,	PUNCT
ap-730	153	18	reducing	reduce	VERB
ap-730	153	19	their	their	PRON
ap-730	153	20	lifespan	lifespan	NOUN
ap-730	153	21	and	and	CCONJ
ap-730	153	22	possibly	possibly	ADV
ap-730	153	23	even	even	ADV
ap-730	153	24	damaging	damage	VERB
ap-730	153	25	them	they	PRON
ap-730	153	26	directly	directly	ADV
ap-730	153	27	.	.	PUNCT
ap-730	154	1	from	from	ADP
ap-730	154	2	fig	fig	NOUN
ap-730	154	3	.	.	PUNCT
ap-730	155	1	10	10	NUM
ap-730	155	2	it	it	PRON
ap-730	155	3	can	can	AUX
ap-730	155	4	be	be	AUX
ap-730	155	5	seen	see	VERB
ap-730	155	6	that	that	SCONJ
ap-730	155	7	even	even	ADV
ap-730	155	8	though	though	SCONJ
ap-730	155	9	there	there	PRON
ap-730	155	10	is	be	VERB
ap-730	155	11	a	a	DET
ap-730	155	12	fault	fault	NOUN
ap-730	155	13	in	in	ADP
ap-730	155	14	the	the	DET
ap-730	155	15	heading	head	VERB
ap-730	155	16	sensor	sensor	NOUN
ap-730	155	17	the	the	DET
ap-730	155	18	auv	auv	PROPN
ap-730	155	19	is	be	AUX
ap-730	155	20	still	still	ADV
ap-730	155	21	able	able	ADJ
ap-730	155	22	to	to	PART
ap-730	155	23	reach	reach	VERB
ap-730	155	24	the	the	DET
ap-730	155	25	next	next	ADJ
ap-730	155	26	waypoint	waypoint	NOUN
ap-730	155	27	and	and	CCONJ
ap-730	155	28	then	then	ADV
ap-730	155	29	head	head	VERB
ap-730	155	30	in	in	ADP
ap-730	155	31	the	the	DET
ap-730	155	32	direction	direction	NOUN
ap-730	155	33	of	of	ADP
ap-730	155	34	the	the	DET
ap-730	155	35	waypoint	waypoint	NOUN
ap-730	155	36	after	after	ADP
ap-730	155	37	that	that	PRON
ap-730	155	38	.	.	PUNCT
ap-730	156	1	this	this	PRON
ap-730	156	2	would	would	AUX
ap-730	156	3	suggest	suggest	VERB
ap-730	156	4	that	that	SCONJ
ap-730	156	5	even	even	ADV
ap-730	156	6	with	with	ADP
ap-730	156	7	this	this	DET
ap-730	156	8	complete	complete	ADJ
ap-730	156	9	heading	heading	NOUN
ap-730	156	10	sensor	sensor	NOUN
ap-730	156	11	failure	failure	NOUN
ap-730	156	12	the	the	DET
ap-730	156	13	auv	auv	PROPN
ap-730	156	14	would	would	AUX
ap-730	156	15	be	be	AUX
ap-730	156	16	able	able	ADJ
ap-730	156	17	to	to	PART
ap-730	156	18	complete	complete	VERB
ap-730	156	19	its	its	PRON
ap-730	156	20	mission	mission	NOUN
ap-730	156	21	.	.	PUNCT
ap-730	157	1	the	the	DET
ap-730	157	2	heading	heading	ADJ
ap-730	157	3	and	and	CCONJ
ap-730	157	4	rudder	rudder	VERB
ap-730	157	5	responses	response	NOUN
ap-730	157	6	for	for	ADP
ap-730	157	7	a	a	DET
ap-730	157	8	10	10	NUM
ap-730	157	9	°	°	NUM
ap-730	157	10	bias	bias	NOUN
ap-730	157	11	failure	failure	NOUN
ap-730	157	12	when	when	SCONJ
ap-730	157	13	reconfiguration	reconfiguration	NOUN
ap-730	157	14	is	be	AUX
ap-730	157	15	present	present	ADJ
ap-730	157	16	are	be	AUX
ap-730	157	17	given	give	VERB
ap-730	157	18	in	in	ADP
ap-730	157	19	fig	fig	NOUN
ap-730	157	20	.	.	PUNCT
ap-730	158	1	11	11	NUM
ap-730	158	2	.	.	X
ap-730	159	1	from	from	ADP
ap-730	159	2	these	these	PRON
ap-730	159	3	it	it	PRON
ap-730	159	4	can	can	AUX
ap-730	159	5	be	be	AUX
ap-730	159	6	seen	see	VERB
ap-730	159	7	that	that	SCONJ
ap-730	159	8	the	the	DET
ap-730	159	9	smo	smo	PROPN
ap-730	159	10	is	be	AUX
ap-730	159	11	able	able	ADJ
ap-730	159	12	to	to	PART
ap-730	159	13	accurately	accurately	ADV
ap-730	159	14	reconstruct	reconstruct	VERB
ap-730	159	15	the	the	DET
ap-730	159	16	faulty	faulty	ADJ
ap-730	159	17	signal	signal	NOUN
ap-730	159	18	and	and	CCONJ
ap-730	159	19	is	be	AUX
ap-730	159	20	again	again	ADV
ap-730	159	21	able	able	ADJ
ap-730	159	22	to	to	PART
ap-730	159	23	follow	follow	VERB
ap-730	159	24	the	the	DET
ap-730	159	25	actual	actual	ADJ
ap-730	159	26	response	response	NOUN
ap-730	159	27	very	very	ADV
ap-730	159	28	closely	closely	ADV
ap-730	159	29	.	.	PUNCT
ap-730	160	1	as	as	ADP
ap-730	160	2	with	with	ADP
ap-730	160	3	the	the	DET
ap-730	160	4	complete	complete	ADJ
ap-730	160	5	failure	failure	NOUN
ap-730	160	6	case	case	NOUN
ap-730	160	7	,	,	PUNCT
ap-730	160	8	the	the	DET
ap-730	160	9	actuator	actuator	NOUN
ap-730	160	10	response	response	NOUN
ap-730	160	11	around	around	ADP
ap-730	160	12	the	the	DET
ap-730	160	13	time	time	NOUN
ap-730	160	14	of	of	ADP
ap-730	160	15	the	the	DET
ap-730	160	16	fault	fault	NOUN
ap-730	160	17	is	be	AUX
ap-730	160	18	characterised	characterise	VERB
ap-730	160	19	by	by	ADP
ap-730	160	20	large	large	ADJ
ap-730	160	21	spikes	spike	NOUN
ap-730	160	22	as	as	ADP
ap-730	160	23	the	the	DET
ap-730	160	24	step	step	NOUN
ap-730	160	25	response	response	NOUN
ap-730	160	26	inputs	input	NOUN
ap-730	160	27	of	of	ADP
ap-730	160	28	the	the	DET
ap-730	160	29	fault	fault	NOUN
ap-730	160	30	and	and	CCONJ
ap-730	160	31	then	then	ADV
ap-730	160	32	the	the	DET
ap-730	160	33	reconfiguration	reconfiguration	NOUN
ap-730	160	34	cause	cause	VERB
ap-730	160	35	the	the	DET
ap-730	160	36	controller	controller	NOUN
ap-730	160	37	to	to	PART
ap-730	160	38	react	react	VERB
ap-730	160	39	violently	violently	ADV
ap-730	160	40	in	in	ADP
ap-730	160	41	an	an	DET
ap-730	160	42	attempt	attempt	NOUN
ap-730	160	43	to	to	PART
ap-730	160	44	follow	follow	VERB
ap-730	160	45	its	its	PRON
ap-730	160	46	input	input	NOUN
ap-730	160	47	signal	signal	NOUN
ap-730	160	48	.	.	PUNCT
ap-730	161	1	from	from	ADP
ap-730	161	2	the	the	DET
ap-730	161	3	view	view	NOUN
ap-730	161	4	looking	look	VERB
ap-730	161	5	down	down	ADP
ap-730	161	6	on	on	ADP
ap-730	161	7	the	the	DET
ap-730	161	8	auv	auv	PROPN
ap-730	161	9	in	in	ADP
ap-730	161	10	fig	fig	NOUN
ap-730	161	11	.	.	PUNCT
ap-730	162	1	12	12	NUM
ap-730	162	2	it	it	PRON
ap-730	162	3	can	can	AUX
ap-730	162	4	be	be	AUX
ap-730	162	5	seen	see	VERB
ap-730	162	6	that	that	SCONJ
ap-730	162	7	the	the	DET
ap-730	162	8	auv	auv	PROPN
ap-730	162	9	is	be	AUX
ap-730	162	10	again	again	ADV
ap-730	162	11	able	able	ADJ
ap-730	162	12	to	to	PART
ap-730	162	13	continue	continue	VERB
ap-730	162	14	on	on	ADP
ap-730	162	15	its	its	PRON
ap-730	162	16	mission	mission	NOUN
ap-730	162	17	even	even	ADV
ap-730	162	18	with	with	ADP
ap-730	162	19	one	one	NUM
ap-730	162	20	signal	signal	NOUN
ap-730	162	21	being	be	AUX
ap-730	162	22	faulty	faulty	ADJ
ap-730	162	23	.	.	PUNCT
ap-730	163	1	the	the	DET
ap-730	163	2	ocean	ocean	PROPN
ap-730	163	3	current	current	ADJ
ap-730	163	4	based	base	VERB
ap-730	163	5	disturbances	disturbance	NOUN
ap-730	163	6	were	be	AUX
ap-730	163	7	then	then	ADV
ap-730	163	8	added	add	VERB
ap-730	163	9	to	to	ADP
ap-730	163	10	the	the	DET
ap-730	163	11	system	system	NOUN
ap-730	163	12	to	to	PART
ap-730	163	13	test	test	VERB
ap-730	163	14	how	how	SCONJ
ap-730	163	15	well	well	ADV
ap-730	163	16	the	the	DET
ap-730	163	17	observer	observer	NOUN
ap-730	163	18	would	would	AUX
ap-730	163	19	be	be	AUX
ap-730	163	20	able	able	ADJ
ap-730	163	21	to	to	PART
ap-730	163	22	cope	cope	VERB
ap-730	163	23	in	in	ADP
ap-730	163	24	a	a	DET
ap-730	163	25	more	more	ADV
ap-730	163	26	realistic	realistic	ADJ
ap-730	163	27	environment	environment	NOUN
ap-730	163	28	.	.	PUNCT
ap-730	164	1	for	for	ADP
ap-730	164	2	this	this	DET
ap-730	164	3	paper	paper	NOUN
ap-730	164	4	the	the	DET
ap-730	164	5	currents	current	NOUN
ap-730	164	6	were	be	AUX
ap-730	164	7	set	set	VERB
ap-730	164	8	to	to	PART
ap-730	164	9	vary	vary	VERB
ap-730	164	10	between	between	ADP
ap-730	164	11	0	0	NUM
ap-730	164	12	and	and	CCONJ
ap-730	164	13	0.1	0.1	NUM
ap-730	164	14	m	m	PROPN
ap-730	164	15	/	/	SYM
ap-730	164	16	s	s	PROPN
ap-730	164	17	,	,	PUNCT
ap-730	164	18	with	with	ADP
ap-730	164	19	a	a	DET
ap-730	164	20	constant	constant	ADJ
ap-730	164	21	�	�	NOUN
ap-730	164	22	c	c	NOUN
ap-730	164	23	of	of	ADP
ap-730	164	24	0	0	NUM
ap-730	164	25	°	°	NUM
ap-730	164	26	and	and	CCONJ
ap-730	164	27	varying	vary	VERB
ap-730	164	28	�	�	PROPN
ap-730	164	29	c.	c.	PROPN
ap-730	164	30	22	22	NUM
ap-730	164	31	©	©	PROPN
ap-730	164	32	czech	czech	PROPN
ap-730	164	33	technical	technical	PROPN
ap-730	164	34	university	university	PROPN
ap-730	164	35	publishing	publishing	NOUN
ap-730	164	36	house	house	NOUN
ap-730	164	37	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	164	38	acta	acta	PROPN
ap-730	164	39	polytechnica	polytechnica	PROPN
ap-730	164	40	vol	vol	NOUN
ap-730	164	41	.	.	PROPN
ap-730	165	1	45	45	NUM
ap-730	165	2	no	no	NOUN
ap-730	165	3	.	.	PUNCT
ap-730	166	1	4/2005	4/2005	NUM
ap-730	166	2	czech	czech	PROPN
ap-730	166	3	technical	technical	PROPN
ap-730	166	4	university	university	PROPN
ap-730	166	5	in	in	ADP
ap-730	166	6	prague	prague	PROPN
ap-730	166	7	fig	fig	NOUN
ap-730	166	8	.	.	PUNCT
ap-730	167	1	8	8	NUM
ap-730	167	2	:	:	PUNCT
ap-730	167	3	xy	xy	PROPN
ap-730	167	4	position	position	NOUN
ap-730	167	5	plot	plot	NOUN
ap-730	167	6	showing	showing	NOUN
ap-730	167	7	movement	movement	NOUN
ap-730	167	8	of	of	ADP
ap-730	167	9	auv	auv	PROPN
ap-730	167	10	when	when	SCONJ
ap-730	167	11	heading	head	VERB
ap-730	167	12	sensor	sensor	NOUN
ap-730	167	13	has	have	VERB
ap-730	167	14	10	10	NUM
ap-730	167	15	°	°	NUM
ap-730	167	16	bias	bias	NOUN
ap-730	167	17	error	error	NOUN
ap-730	167	18	fig	fig	NOUN
ap-730	167	19	.	.	PUNCT
ap-730	168	1	9	9	NUM
ap-730	168	2	:	:	PUNCT
ap-730	168	3	heading	head	VERB
ap-730	168	4	angle	angle	NOUN
ap-730	168	5	and	and	CCONJ
ap-730	168	6	rudder	rudder	NOUN
ap-730	168	7	usage	usage	NOUN
ap-730	168	8	responses	response	NOUN
ap-730	168	9	with	with	ADP
ap-730	168	10	complete	complete	ADJ
ap-730	168	11	failure	failure	NOUN
ap-730	168	12	of	of	ADP
ap-730	168	13	the	the	DET
ap-730	168	14	heading	head	VERB
ap-730	168	15	sensor	sensor	NOUN
ap-730	168	16	with	with	ADP
ap-730	168	17	reconfiguration	reconfiguration	NOUN
ap-730	168	18	present	present	ADJ
ap-730	168	19	fig	fig	NOUN
ap-730	168	20	.	.	PUNCT
ap-730	169	1	10	10	NUM
ap-730	169	2	:	:	PUNCT
ap-730	169	3	xy	xy	PROPN
ap-730	169	4	position	position	NOUN
ap-730	169	5	plot	plot	NOUN
ap-730	169	6	showing	showing	NOUN
ap-730	169	7	movement	movement	NOUN
ap-730	169	8	of	of	ADP
ap-730	169	9	auv	auv	PROPN
ap-730	169	10	when	when	SCONJ
ap-730	169	11	heading	head	VERB
ap-730	169	12	sensor	sensor	NOUN
ap-730	169	13	fails	fail	VERB
ap-730	169	14	completely	completely	ADV
ap-730	169	15	with	with	ADP
ap-730	169	16	reconfiguration	reconfiguration	NOUN
ap-730	169	17	present	present	ADJ
ap-730	169	18	fig	fig	NOUN
ap-730	169	19	.	.	PUNCT
ap-730	170	1	11	11	NUM
ap-730	170	2	:	:	PUNCT
ap-730	170	3	heading	head	VERB
ap-730	170	4	angle	angle	NOUN
ap-730	170	5	and	and	CCONJ
ap-730	170	6	rudder	rudder	NOUN
ap-730	170	7	usage	usage	NOUN
ap-730	170	8	responses	response	NOUN
ap-730	170	9	with	with	ADP
ap-730	170	10	bias	bias	NOUN
ap-730	170	11	fault	fault	NOUN
ap-730	170	12	in	in	ADP
ap-730	170	13	the	the	DET
ap-730	170	14	heading	head	VERB
ap-730	170	15	sensor	sensor	NOUN
ap-730	170	16	with	with	ADP
ap-730	170	17	reconfiguration	reconfiguration	NOUN
ap-730	170	18	present	present	ADJ
ap-730	170	19	fig	fig	NOUN
ap-730	170	20	.	.	PUNCT
ap-730	171	1	12	12	NUM
ap-730	171	2	:	:	PUNCT
ap-730	171	3	xy	xy	PROPN
ap-730	171	4	position	position	NOUN
ap-730	171	5	plot	plot	NOUN
ap-730	171	6	showing	showing	NOUN
ap-730	171	7	movement	movement	NOUN
ap-730	171	8	of	of	ADP
ap-730	171	9	auv	auv	PROPN
ap-730	171	10	when	when	SCONJ
ap-730	171	11	heading	head	VERB
ap-730	171	12	sensor	sensor	NOUN
ap-730	171	13	has	have	VERB
ap-730	171	14	10	10	NUM
ap-730	171	15	°	°	NUM
ap-730	171	16	bias	bias	NOUN
ap-730	171	17	error	error	NOUN
ap-730	171	18	with	with	ADP
ap-730	171	19	reconfiguration	reconfiguration	NOUN
ap-730	171	20	present	present	ADJ
ap-730	171	21	from	from	ADP
ap-730	171	22	fig	fig	NOUN
ap-730	171	23	.	.	PUNCT
ap-730	172	1	13	13	NUM
ap-730	172	2	it	it	PRON
ap-730	172	3	can	can	AUX
ap-730	172	4	be	be	AUX
ap-730	172	5	seen	see	VERB
ap-730	172	6	that	that	SCONJ
ap-730	172	7	there	there	PRON
ap-730	172	8	is	be	VERB
ap-730	172	9	no	no	DET
ap-730	172	10	visible	visible	ADJ
ap-730	172	11	degradation	degradation	NOUN
ap-730	172	12	in	in	ADP
ap-730	172	13	the	the	DET
ap-730	172	14	ability	ability	NOUN
ap-730	172	15	of	of	ADP
ap-730	172	16	the	the	DET
ap-730	172	17	smo	smo	NOUN
ap-730	172	18	to	to	PART
ap-730	172	19	follow	follow	VERB
ap-730	172	20	the	the	DET
ap-730	172	21	actual	actual	ADJ
ap-730	172	22	heading	heading	NOUN
ap-730	172	23	when	when	SCONJ
ap-730	172	24	there	there	PRON
ap-730	172	25	is	be	VERB
ap-730	172	26	a	a	DET
ap-730	172	27	complete	complete	ADJ
ap-730	172	28	failure	failure	NOUN
ap-730	172	29	of	of	ADP
ap-730	172	30	the	the	DET
ap-730	172	31	sensor	sensor	NOUN
ap-730	172	32	with	with	ADP
ap-730	172	33	the	the	DET
ap-730	172	34	disturbances	disturbance	NOUN
ap-730	172	35	in	in	ADP
ap-730	172	36	the	the	DET
ap-730	172	37	system	system	NOUN
ap-730	172	38	.	.	PUNCT
ap-730	173	1	the	the	DET
ap-730	173	2	view	view	NOUN
ap-730	173	3	in	in	ADP
ap-730	173	4	fig	fig	NOUN
ap-730	173	5	.	.	PUNCT
ap-730	174	1	14	14	NUM
ap-730	174	2	shows	show	VERB
ap-730	174	3	that	that	SCONJ
ap-730	174	4	the	the	DET
ap-730	174	5	auv	auv	PROPN
ap-730	174	6	is	be	AUX
ap-730	174	7	also	also	ADV
ap-730	174	8	able	able	ADJ
ap-730	174	9	to	to	PART
ap-730	174	10	continue	continue	VERB
ap-730	174	11	on	on	ADP
ap-730	174	12	its	its	PRON
ap-730	174	13	mission	mission	NOUN
ap-730	174	14	with	with	ADP
ap-730	174	15	a	a	DET
ap-730	174	16	failed	fail	VERB
ap-730	174	17	heading	head	VERB
ap-730	174	18	sensor	sensor	NOUN
ap-730	174	19	as	as	SCONJ
ap-730	174	20	it	it	PRON
ap-730	174	21	is	be	AUX
ap-730	174	22	still	still	ADV
ap-730	174	23	able	able	ADJ
ap-730	174	24	to	to	PART
ap-730	174	25	direct	direct	VERB
ap-730	174	26	itself	itself	PRON
ap-730	174	27	with	with	ADP
ap-730	174	28	accuracy	accuracy	NOUN
ap-730	174	29	towards	towards	ADP
ap-730	174	30	the	the	DET
ap-730	174	31	desired	desire	VERB
ap-730	174	32	waypoints	waypoint	NOUN
ap-730	174	33	.	.	PUNCT
ap-730	175	1	in	in	ADP
ap-730	175	2	fig	fig	NOUN
ap-730	175	3	.	.	PUNCT
ap-730	176	1	15	15	NUM
ap-730	177	1	the	the	DET
ap-730	177	2	yaw	yaw	NOUN
ap-730	177	3	response	response	NOUN
ap-730	177	4	again	again	ADV
ap-730	177	5	shows	show	VERB
ap-730	177	6	that	that	SCONJ
ap-730	177	7	the	the	DET
ap-730	177	8	introduction	introduction	NOUN
ap-730	177	9	of	of	ADP
ap-730	177	10	disturbances	disturbance	NOUN
ap-730	177	11	when	when	SCONJ
ap-730	177	12	a	a	DET
ap-730	177	13	bias	bias	NOUN
ap-730	177	14	error	error	NOUN
ap-730	177	15	fault	fault	NOUN
ap-730	177	16	occurs	occur	VERB
ap-730	177	17	in	in	ADP
ap-730	177	18	the	the	DET
ap-730	177	19	heading	head	VERB
ap-730	177	20	sensor	sensor	NOUN
ap-730	177	21	also	also	ADV
ap-730	177	22	has	have	VERB
ap-730	177	23	very	very	ADV
ap-730	177	24	little	little	ADJ
ap-730	177	25	impact	impact	NOUN
ap-730	177	26	.	.	PUNCT
ap-730	178	1	the	the	DET
ap-730	178	2	response	response	NOUN
ap-730	178	3	is	be	AUX
ap-730	178	4	again	again	ADV
ap-730	178	5	very	very	ADV
ap-730	178	6	similar	similar	ADJ
ap-730	178	7	to	to	ADP
ap-730	178	8	fig	fig	NOUN
ap-730	178	9	.	.	PUNCT
ap-730	179	1	11	11	NUM
ap-730	179	2	where	where	SCONJ
ap-730	179	3	no	no	DET
ap-730	179	4	disturbance	disturbance	NOUN
ap-730	179	5	is	be	AUX
ap-730	179	6	present	present	ADJ
ap-730	179	7	.	.	PUNCT
ap-730	180	1	in	in	ADP
ap-730	180	2	fig	fig	NOUN
ap-730	180	3	.	.	PUNCT
ap-730	181	1	16	16	NUM
ap-730	181	2	it	it	PRON
ap-730	181	3	can	can	AUX
ap-730	181	4	be	be	AUX
ap-730	181	5	noted	note	VERB
ap-730	181	6	that	that	SCONJ
ap-730	181	7	again	again	ADV
ap-730	181	8	,	,	PUNCT
ap-730	181	9	the	the	DET
ap-730	181	10	auv	auv	PROPN
ap-730	181	11	is	be	AUX
ap-730	181	12	able	able	ADJ
ap-730	181	13	to	to	PART
ap-730	181	14	continue	continue	VERB
ap-730	181	15	on	on	ADP
ap-730	181	16	its	its	PRON
ap-730	181	17	mission	mission	NOUN
ap-730	181	18	as	as	SCONJ
ap-730	181	19	the	the	DET
ap-730	181	20	reconfiguration	reconfiguration	NOUN
ap-730	181	21	is	be	AUX
ap-730	181	22	able	able	ADJ
ap-730	181	23	to	to	PART
ap-730	181	24	overcome	overcome	VERB
ap-730	181	25	the	the	DET
ap-730	181	26	effects	effect	NOUN
ap-730	181	27	of	of	ADP
ap-730	181	28	the	the	DET
ap-730	181	29	failure	failure	NOUN
ap-730	181	30	and	and	CCONJ
ap-730	181	31	guide	guide	VERB
ap-730	181	32	the	the	DET
ap-730	181	33	auv	auv	PROPN
ap-730	181	34	to	to	ADP
ap-730	181	35	the	the	DET
ap-730	181	36	next	next	ADJ
ap-730	181	37	waypoint	waypoint	NOUN
ap-730	181	38	.	.	PUNCT
ap-730	182	1	6	6	NUM
ap-730	182	2	conclusions	conclusion	NOUN
ap-730	182	3	in	in	ADP
ap-730	182	4	conclusion	conclusion	NOUN
ap-730	182	5	it	it	PRON
ap-730	182	6	can	can	AUX
ap-730	182	7	be	be	AUX
ap-730	182	8	seen	see	VERB
ap-730	182	9	that	that	SCONJ
ap-730	182	10	the	the	DET
ap-730	182	11	sliding	slide	VERB
ap-730	182	12	mode	mode	NOUN
ap-730	182	13	observers	observer	NOUN
ap-730	182	14	perform	perform	VERB
ap-730	182	15	well	well	ADV
ap-730	182	16	as	as	ADP
ap-730	182	17	a	a	DET
ap-730	182	18	method	method	NOUN
ap-730	182	19	of	of	ADP
ap-730	182	20	reconfiguration	reconfiguration	NOUN
ap-730	182	21	.	.	PUNCT
ap-730	183	1	without	without	ADP
ap-730	183	2	any	any	DET
ap-730	183	3	reconfiguration	reconfiguration	NOUN
ap-730	183	4	it	it	PRON
ap-730	183	5	can	can	AUX
ap-730	183	6	be	be	AUX
ap-730	183	7	seen	see	VERB
ap-730	183	8	that	that	SCONJ
ap-730	183	9	the	the	DET
ap-730	183	10	auv	auv	PROPN
ap-730	183	11	is	be	AUX
ap-730	183	12	unable	unable	ADJ
ap-730	183	13	to	to	PART
ap-730	183	14	continue	continue	VERB
ap-730	183	15	on	on	ADP
ap-730	183	16	its	its	PRON
ap-730	183	17	mission	mission	NOUN
ap-730	183	18	when	when	SCONJ
ap-730	183	19	either	either	CCONJ
ap-730	183	20	a	a	DET
ap-730	183	21	complete	complete	ADJ
ap-730	183	22	failure	failure	NOUN
ap-730	183	23	or	or	CCONJ
ap-730	183	24	a	a	DET
ap-730	183	25	bias	bias	NOUN
ap-730	183	26	error	error	NOUN
ap-730	183	27	occurs	occur	VERB
ap-730	183	28	in	in	ADP
ap-730	183	29	the	the	DET
ap-730	183	30	heading	head	VERB
ap-730	183	31	sensor	sensor	NOUN
ap-730	183	32	.	.	PUNCT
ap-730	184	1	with	with	ADP
ap-730	184	2	the	the	DET
ap-730	184	3	smo	smo	PROPN
ap-730	184	4	based	base	VERB
ap-730	184	5	reconfiguration	reconfiguration	NOUN
ap-730	184	6	the	the	DET
ap-730	184	7	auv	auv	PROPN
ap-730	184	8	is	be	AUX
ap-730	184	9	able	able	ADJ
ap-730	184	10	to	to	PART
ap-730	184	11	accurately	accurately	ADV
ap-730	184	12	track	track	VERB
ap-730	184	13	its	its	PRON
ap-730	184	14	desired	desire	VERB
ap-730	184	15	heading	heading	NOUN
ap-730	184	16	and	and	CCONJ
ap-730	184	17	continue	continue	VERB
ap-730	184	18	with	with	ADP
ap-730	184	19	its	its	PRON
ap-730	184	20	mission	mission	NOUN
ap-730	184	21	.	.	PUNCT
ap-730	185	1	even	even	ADV
ap-730	185	2	when	when	SCONJ
ap-730	185	3	disturbances	disturbance	NOUN
ap-730	185	4	are	be	AUX
ap-730	185	5	introduced	introduce	VERB
ap-730	185	6	into	into	ADP
ap-730	185	7	the	the	DET
ap-730	185	8	system	system	NOUN
ap-730	185	9	the	the	DET
ap-730	185	10	smos	smos	NOUN
ap-730	185	11	are	be	AUX
ap-730	185	12	able	able	ADJ
ap-730	185	13	to	to	PART
ap-730	185	14	accurately	accurately	ADV
ap-730	185	15	estimate	estimate	VERB
ap-730	185	16	the	the	DET
ap-730	185	17	heading	heading	NOUN
ap-730	185	18	of	of	ADP
ap-730	185	19	the	the	DET
ap-730	185	20	auv	auv	PROPN
ap-730	185	21	.	.	PUNCT
ap-730	186	1	one	one	NUM
ap-730	186	2	problem	problem	NOUN
ap-730	186	3	,	,	PUNCT
ap-730	186	4	rooted	root	VERB
ap-730	186	5	in	in	ADP
ap-730	186	6	the	the	DET
ap-730	186	7	high	high	ADJ
ap-730	186	8	gain	gain	NOUN
ap-730	186	9	nature	nature	NOUN
ap-730	186	10	of	of	ADP
ap-730	186	11	the	the	DET
ap-730	186	12	sliding	slide	VERB
ap-730	186	13	mode	mode	NOUN
ap-730	186	14	controllers	controller	NOUN
ap-730	186	15	,	,	PUNCT
ap-730	186	16	is	be	AUX
ap-730	186	17	the	the	DET
ap-730	186	18	large	large	ADJ
ap-730	186	19	spikes	spike	NOUN
ap-730	186	20	in	in	ADP
ap-730	186	21	the	the	DET
ap-730	186	22	actuator	actuator	NOUN
ap-730	186	23	signals	signal	NOUN
ap-730	186	24	when	when	SCONJ
ap-730	186	25	the	the	DET
ap-730	186	26	faults	fault	NOUN
ap-730	186	27	first	first	ADV
ap-730	186	28	appear	appear	VERB
ap-730	186	29	and	and	CCONJ
ap-730	186	30	are	be	AUX
ap-730	186	31	then	then	ADV
ap-730	186	32	dealt	deal	VERB
ap-730	186	33	with	with	ADP
ap-730	186	34	.	.	PUNCT
ap-730	187	1	a	a	DET
ap-730	187	2	possible	possible	ADJ
ap-730	187	3	solution	solution	NOUN
ap-730	187	4	to	to	ADP
ap-730	187	5	this	this	PRON
ap-730	187	6	would	would	AUX
ap-730	187	7	be	be	AUX
ap-730	187	8	to	to	PART
ap-730	187	9	place	place	VERB
ap-730	187	10	a	a	DET
ap-730	187	11	filter	filter	NOUN
ap-730	187	12	either	either	CCONJ
ap-730	187	13	on	on	ADP
ap-730	187	14	the	the	DET
ap-730	187	15	input	input	NOUN
ap-730	187	16	or	or	CCONJ
ap-730	187	17	the	the	DET
ap-730	187	18	output	output	NOUN
ap-730	187	19	of	of	ADP
ap-730	187	20	the	the	DET
ap-730	187	21	controller	controller	NOUN
ap-730	187	22	to	to	PART
ap-730	187	23	reduce	reduce	VERB
ap-730	187	24	the	the	DET
ap-730	187	25	stress	stress	NOUN
ap-730	187	26	that	that	SCONJ
ap-730	187	27	this	this	PRON
ap-730	187	28	would	would	AUX
ap-730	187	29	inflict	inflict	VERB
ap-730	187	30	on	on	ADP
ap-730	187	31	the	the	DET
ap-730	187	32	actuators	actuator	NOUN
ap-730	187	33	although	although	SCONJ
ap-730	187	34	this	this	PRON
ap-730	187	35	would	would	AUX
ap-730	187	36	degrade	degrade	VERB
ap-730	187	37	the	the	DET
ap-730	187	38	recovery	recovery	NOUN
ap-730	187	39	performance	performance	NOUN
ap-730	187	40	of	of	ADP
ap-730	187	41	the	the	DET
ap-730	187	42	system	system	NOUN
ap-730	187	43	.	.	PUNCT
ap-730	188	1	references	reference	NOUN
ap-730	188	2	[	[	X
ap-730	188	3	1	1	NUM
ap-730	188	4	]	]	PUNCT
ap-730	188	5	healey	healey	PROPN
ap-730	188	6	,	,	PUNCT
ap-730	188	7	a.	a.	PROPN
ap-730	188	8	j.	j.	PROPN
ap-730	188	9	,	,	PUNCT
ap-730	188	10	lienard	lienard	PROPN
ap-730	188	11	,	,	PUNCT
ap-730	188	12	d.	d.	PROPN
ap-730	188	13	:	:	PUNCT
ap-730	188	14	“	"	PUNCT
ap-730	188	15	multivariable	multivariable	ADJ
ap-730	188	16	sliding	slide	VERB
ap-730	188	17	mode	mode	NOUN
ap-730	188	18	control	control	NOUN
ap-730	188	19	for	for	ADP
ap-730	188	20	autonomous	autonomous	ADJ
ap-730	188	21	diving	diving	NOUN
ap-730	188	22	and	and	CCONJ
ap-730	188	23	steering	steering	NOUN
ap-730	188	24	of	of	ADP
ap-730	188	25	unmanned	unmanned	ADJ
ap-730	188	26	underwater	underwater	ADJ
ap-730	188	27	vehicles	vehicle	NOUN
ap-730	188	28	.	.	PUNCT
ap-730	188	29	”	"	PUNCT
ap-730	189	1	ieee	ieee	PROPN
ap-730	189	2	journal	journal	PROPN
ap-730	189	3	of	of	ADP
ap-730	189	4	oceanic	oceanic	ADJ
ap-730	189	5	engineering	engineering	NOUN
ap-730	189	6	,	,	PUNCT
ap-730	189	7	vol	vol	NOUN
ap-730	189	8	.	.	PROPN
ap-730	189	9	18	18	NUM
ap-730	189	10	(	(	PUNCT
ap-730	189	11	1993	1993	NUM
ap-730	189	12	)	)	PUNCT
ap-730	189	13	,	,	PUNCT
ap-730	189	14	no	no	INTJ
ap-730	189	15	.	.	NOUN
ap-730	189	16	3	3	NUM
ap-730	189	17	,	,	PUNCT
ap-730	189	18	p.	p.	NOUN
ap-730	189	19	327–339	327–339	NUM
ap-730	189	20	.	.	PUNCT
ap-730	190	1	[	[	X
ap-730	190	2	2	2	NUM
ap-730	190	3	]	]	PUNCT
ap-730	190	4	fossen	fossen	VERB
ap-730	190	5	,	,	PUNCT
ap-730	190	6	t.	t.	PROPN
ap-730	190	7	i.	i.	PROPN
ap-730	190	8	:	:	PUNCT
ap-730	190	9	guidance	guidance	NOUN
ap-730	190	10	and	and	CCONJ
ap-730	190	11	control	control	NOUN
ap-730	190	12	of	of	ADP
ap-730	190	13	ocean	ocean	NOUN
ap-730	190	14	vehicles	vehicle	NOUN
ap-730	190	15	.	.	PUNCT
ap-730	191	1	chichester	chichester	PROPN
ap-730	191	2	(	(	PUNCT
ap-730	191	3	england	england	PROPN
ap-730	191	4	):	):	PUNCT
ap-730	191	5	john	john	PROPN
ap-730	191	6	wiley	wiley	PROPN
ap-730	191	7	and	and	CCONJ
ap-730	191	8	sons	sons	PROPN
ap-730	191	9	ltd	ltd	PROPN
ap-730	191	10	,	,	PUNCT
ap-730	191	11	1994	1994	NUM
ap-730	191	12	.	.	PUNCT
ap-730	192	1	©	©	PROPN
ap-730	192	2	czech	czech	PROPN
ap-730	192	3	technical	technical	PROPN
ap-730	192	4	university	university	PROPN
ap-730	192	5	publishing	publishing	NOUN
ap-730	192	6	house	house	NOUN
ap-730	192	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	192	8	23	23	NUM
ap-730	192	9	czech	czech	PROPN
ap-730	192	10	technical	technical	PROPN
ap-730	192	11	university	university	PROPN
ap-730	192	12	in	in	ADP
ap-730	192	13	prague	prague	PROPN
ap-730	192	14	acta	acta	PROPN
ap-730	192	15	polytechnica	polytechnica	PROPN
ap-730	192	16	vol	vol	NOUN
ap-730	192	17	.	.	PROPN
ap-730	193	1	45	45	NUM
ap-730	193	2	no	no	NOUN
ap-730	193	3	.	.	PUNCT
ap-730	194	1	4/2005	4/2005	NUM
ap-730	194	2	fig	fig	NOUN
ap-730	194	3	.	.	PUNCT
ap-730	195	1	13	13	NUM
ap-730	195	2	:	:	PUNCT
ap-730	195	3	heading	head	VERB
ap-730	195	4	angle	angle	NOUN
ap-730	195	5	and	and	CCONJ
ap-730	195	6	rudder	rudder	NOUN
ap-730	195	7	usage	usage	NOUN
ap-730	195	8	responses	response	NOUN
ap-730	195	9	with	with	ADP
ap-730	195	10	complete	complete	ADJ
ap-730	195	11	failure	failure	NOUN
ap-730	195	12	of	of	ADP
ap-730	195	13	the	the	DET
ap-730	195	14	heading	head	VERB
ap-730	195	15	sensor	sensor	NOUN
ap-730	195	16	with	with	ADP
ap-730	195	17	reconfiguration	reconfiguration	NOUN
ap-730	195	18	and	and	CCONJ
ap-730	195	19	disturbances	disturbance	NOUN
ap-730	195	20	present	present	ADJ
ap-730	195	21	fig	fig	NOUN
ap-730	195	22	.	.	PUNCT
ap-730	196	1	14	14	NUM
ap-730	196	2	:	:	PUNCT
ap-730	196	3	xy	xy	PROPN
ap-730	196	4	position	position	NOUN
ap-730	196	5	plot	plot	NOUN
ap-730	196	6	showing	showing	NOUN
ap-730	196	7	movement	movement	NOUN
ap-730	196	8	of	of	ADP
ap-730	196	9	auv	auv	PROPN
ap-730	196	10	when	when	SCONJ
ap-730	196	11	heading	head	VERB
ap-730	196	12	sensor	sensor	NOUN
ap-730	196	13	fails	fail	VERB
ap-730	196	14	completely	completely	ADV
ap-730	196	15	with	with	ADP
ap-730	196	16	reconfiguration	reconfiguration	NOUN
ap-730	196	17	and	and	CCONJ
ap-730	196	18	disturbances	disturbance	NOUN
ap-730	196	19	present	present	ADJ
ap-730	196	20	fig	fig	NOUN
ap-730	196	21	.	.	PUNCT
ap-730	197	1	15	15	NUM
ap-730	197	2	:	:	PUNCT
ap-730	197	3	heading	head	VERB
ap-730	197	4	angle	angle	NOUN
ap-730	197	5	and	and	CCONJ
ap-730	197	6	rudder	rudder	NOUN
ap-730	197	7	usage	usage	NOUN
ap-730	197	8	responses	response	NOUN
ap-730	197	9	with	with	ADP
ap-730	197	10	bias	bias	NOUN
ap-730	197	11	fault	fault	NOUN
ap-730	197	12	in	in	ADP
ap-730	197	13	the	the	DET
ap-730	197	14	heading	head	VERB
ap-730	197	15	sensor	sensor	NOUN
ap-730	197	16	with	with	ADP
ap-730	197	17	reconfiguration	reconfiguration	NOUN
ap-730	197	18	and	and	CCONJ
ap-730	197	19	disturbances	disturbance	NOUN
ap-730	197	20	present	present	ADJ
ap-730	197	21	fig	fig	NOUN
ap-730	197	22	.	.	PUNCT
ap-730	198	1	16	16	NUM
ap-730	198	2	:	:	PUNCT
ap-730	198	3	xy	xy	PROPN
ap-730	198	4	position	position	NOUN
ap-730	198	5	plot	plot	NOUN
ap-730	198	6	showing	showing	NOUN
ap-730	198	7	movement	movement	NOUN
ap-730	198	8	of	of	ADP
ap-730	198	9	auv	auv	PROPN
ap-730	198	10	when	when	SCONJ
ap-730	198	11	heading	head	VERB
ap-730	198	12	sensor	sensor	NOUN
ap-730	198	13	has	have	VERB
ap-730	198	14	10	10	NUM
ap-730	198	15	°	°	NUM
ap-730	198	16	bias	bias	NOUN
ap-730	198	17	error	error	NOUN
ap-730	198	18	with	with	ADP
ap-730	198	19	reconfiguration	reconfiguration	NOUN
ap-730	198	20	and	and	CCONJ
ap-730	198	21	disturbances	disturbance	NOUN
ap-730	198	22	present	present	ADJ
ap-730	198	23	[	[	X
ap-730	198	24	3	3	NUM
ap-730	198	25	]	]	X
ap-730	198	26	mitchell	mitchell	PROPN
ap-730	198	27	,	,	PUNCT
ap-730	198	28	a.	a.	PROPN
ap-730	198	29	,	,	PUNCT
ap-730	198	30	mcgookin	mcgookin	X
ap-730	198	31	,	,	PUNCT
ap-730	198	32	e.	e.	PROPN
ap-730	198	33	,	,	PUNCT
ap-730	198	34	murray	murray	PROPN
ap-730	198	35	-	-	PUNCT
ap-730	198	36	smith	smith	PROPN
ap-730	198	37	,	,	PUNCT
ap-730	198	38	d.	d.	PROPN
ap-730	198	39	:	:	PUNCT
ap-730	198	40	“	"	PUNCT
ap-730	198	41	comparison	comparison	NOUN
ap-730	198	42	of	of	ADP
ap-730	198	43	control	control	NOUN
ap-730	198	44	methods	method	NOUN
ap-730	198	45	for	for	ADP
ap-730	198	46	autonomous	autonomous	ADJ
ap-730	198	47	underwater	underwater	ADJ
ap-730	198	48	vehicles	vehicle	NOUN
ap-730	198	49	.	.	PUNCT
ap-730	198	50	”	"	PUNCT
ap-730	199	1	proceedings	proceeding	NOUN
ap-730	199	2	of	of	ADP
ap-730	199	3	the	the	DET
ap-730	199	4	1st	1st	ADJ
ap-730	199	5	ifac	ifac	NOUN
ap-730	199	6	workshop	workshop	NOUN
ap-730	199	7	on	on	ADP
ap-730	199	8	guidance	guidance	NOUN
ap-730	199	9	and	and	CCONJ
ap-730	199	10	control	control	NOUN
ap-730	199	11	of	of	ADP
ap-730	199	12	underwater	underwater	ADJ
ap-730	199	13	vehicles	vehicle	NOUN
ap-730	199	14	(	(	PUNCT
ap-730	199	15	gcuv2003	gcuv2003	PROPN
ap-730	199	16	)	)	PUNCT
ap-730	199	17	,	,	PUNCT
ap-730	199	18	newport	newport	PROPN
ap-730	199	19	,	,	PUNCT
ap-730	199	20	wales	wales	PROPN
ap-730	199	21	,	,	PUNCT
ap-730	199	22	2003	2003	NUM
ap-730	199	23	,	,	PUNCT
ap-730	199	24	p.	p.	NOUN
ap-730	199	25	41–46	41–46	NUM
ap-730	199	26	.	.	PUNCT
ap-730	200	1	[	[	X
ap-730	200	2	4	4	NUM
ap-730	200	3	]	]	X
ap-730	200	4	mcgookin	mcgookin	X
ap-730	200	5	,	,	PUNCT
ap-730	200	6	e.	e.	PROPN
ap-730	200	7	w.	w.	PROPN
ap-730	200	8	:	:	PUNCT
ap-730	200	9	“	"	PUNCT
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ap-730	200	11	tolerant	tolerant	ADJ
ap-730	200	12	sliding	slide	VERB
ap-730	200	13	mode	mode	NOUN
ap-730	200	14	control	control	NOUN
ap-730	200	15	for	for	ADP
ap-730	200	16	submarine	submarine	NOUN
ap-730	200	17	manoeuvring	manoeuvring	NOUN
ap-730	200	18	.	.	PUNCT
ap-730	200	19	”	"	PUNCT
ap-730	200	20	proceedings	proceeding	NOUN
ap-730	200	21	of	of	ADP
ap-730	200	22	the	the	DET
ap-730	200	23	1st	1st	ADJ
ap-730	200	24	ifac	ifac	NOUN
ap-730	200	25	workshop	workshop	NOUN
ap-730	200	26	on	on	ADP
ap-730	200	27	guidance	guidance	NOUN
ap-730	200	28	and	and	CCONJ
ap-730	200	29	control	control	NOUN
ap-730	200	30	of	of	ADP
ap-730	200	31	underwater	underwater	ADJ
ap-730	200	32	vehicles	vehicle	NOUN
ap-730	200	33	(	(	PUNCT
ap-730	200	34	gcuv2003	gcuv2003	PROPN
ap-730	200	35	)	)	PUNCT
ap-730	200	36	,	,	PUNCT
ap-730	200	37	newport	newport	PROPN
ap-730	200	38	,	,	PUNCT
ap-730	200	39	wales	wales	PROPN
ap-730	200	40	,	,	PUNCT
ap-730	200	41	2003	2003	NUM
ap-730	200	42	,	,	PUNCT
ap-730	200	43	p.	p.	NOUN
ap-730	200	44	119–124	119–124	NUM
ap-730	200	45	.	.	PUNCT
ap-730	201	1	[	[	X
ap-730	201	2	5	5	NUM
ap-730	201	3	]	]	PUNCT
ap-730	201	4	edwards	edwards	PROPN
ap-730	201	5	,	,	PUNCT
ap-730	201	6	c.	c.	PROPN
ap-730	201	7	,	,	PUNCT
ap-730	201	8	spurgeon	spurgeon	NOUN
ap-730	201	9	,	,	PUNCT
ap-730	201	10	s.	s.	PROPN
ap-730	201	11	k.	k.	PROPN
ap-730	201	12	:	:	PUNCT
ap-730	201	13	sliding	slide	VERB
ap-730	201	14	mode	mode	NOUN
ap-730	201	15	control	control	NOUN
ap-730	201	16	:	:	PUNCT
ap-730	201	17	theory	theory	NOUN
ap-730	201	18	and	and	CCONJ
ap-730	201	19	applications	application	NOUN
ap-730	201	20	.	.	PUNCT
ap-730	201	21	london	london	PROPN
ap-730	201	22	(	(	PUNCT
ap-730	201	23	england	england	PROPN
ap-730	201	24	):	):	PUNCT
ap-730	201	25	taylor	taylor	PROPN
ap-730	201	26	&	&	CCONJ
ap-730	201	27	francis	francis	PROPN
ap-730	201	28	ltd	ltd	PROPN
ap-730	201	29	,	,	PUNCT
ap-730	201	30	1998	1998	NUM
ap-730	201	31	.	.	PUNCT
ap-730	202	1	[	[	X
ap-730	202	2	6	6	NUM
ap-730	202	3	]	]	X
ap-730	202	4	utkin	utkin	X
ap-730	202	5	,	,	PUNCT
ap-730	202	6	v.	v.	ADV
ap-730	202	7	,	,	PUNCT
ap-730	202	8	guldner	guldner	NOUN
ap-730	202	9	,	,	PUNCT
ap-730	202	10	j.	j.	PROPN
ap-730	202	11	,	,	PUNCT
ap-730	202	12	shi	shi	PROPN
ap-730	202	13	,	,	PUNCT
ap-730	202	14	j.	j.	PROPN
ap-730	202	15	:	:	PUNCT
ap-730	202	16	sliding	slide	VERB
ap-730	202	17	mode	mode	NOUN
ap-730	202	18	control	control	NOUN
ap-730	202	19	in	in	ADP
ap-730	202	20	electromechanical	electromechanical	ADJ
ap-730	202	21	systems	system	NOUN
ap-730	202	22	.	.	PUNCT
ap-730	203	1	london	london	PROPN
ap-730	203	2	(	(	PUNCT
ap-730	203	3	england	england	PROPN
ap-730	203	4	):	):	PUNCT
ap-730	203	5	taylor	taylor	PROPN
ap-730	203	6	&	&	CCONJ
ap-730	203	7	francis	francis	PROPN
ap-730	203	8	ltd	ltd	PROPN
ap-730	203	9	,	,	PUNCT
ap-730	203	10	1999	1999	NUM
ap-730	203	11	.	.	PUNCT
ap-730	204	1	[	[	X
ap-730	204	2	7	7	NUM
ap-730	204	3	]	]	X
ap-730	204	4	mcgookin	mcgookin	X
ap-730	204	5	,	,	PUNCT
ap-730	204	6	e.	e.	PROPN
ap-730	204	7	w.	w.	PROPN
ap-730	204	8	:	:	PUNCT
ap-730	204	9	“	"	PUNCT
ap-730	204	10	sliding	slide	VERB
ap-730	204	11	mode	mode	NOUN
ap-730	204	12	control	control	NOUN
ap-730	204	13	of	of	ADP
ap-730	204	14	a	a	DET
ap-730	204	15	submarine	submarine	NOUN
ap-730	204	16	.	.	PUNCT
ap-730	204	17	”	"	PUNCT
ap-730	205	1	m.eng	m.eng	PROPN
ap-730	205	2	thesis	thesis	NOUN
ap-730	205	3	,	,	PUNCT
ap-730	205	4	glasgow	glasgow	PROPN
ap-730	205	5	university	university	NOUN
ap-730	205	6	,	,	PUNCT
ap-730	205	7	scotland	scotland	NOUN
ap-730	205	8	,	,	PUNCT
ap-730	205	9	1993	1993	NUM
ap-730	205	10	.	.	PUNCT
ap-730	206	1	[	[	X
ap-730	206	2	8	8	NUM
ap-730	206	3	]	]	X
ap-730	206	4	kautsky	kautsky	PROPN
ap-730	206	5	,	,	PUNCT
ap-730	206	6	j.	j.	PROPN
ap-730	206	7	,	,	PUNCT
ap-730	206	8	nichols	nichols	PROPN
ap-730	206	9	,	,	PUNCT
ap-730	206	10	n.	n.	PROPN
ap-730	206	11	k.	k.	PROPN
ap-730	206	12	,	,	PUNCT
ap-730	206	13	van	van	PROPN
ap-730	206	14	doorens	dooren	NOUN
ap-730	206	15	,	,	PUNCT
ap-730	206	16	p.	p.	NOUN
ap-730	206	17	:	:	PUNCT
ap-730	206	18	“	"	PUNCT
ap-730	206	19	robust	robust	ADJ
ap-730	206	20	pole	pole	NOUN
ap-730	206	21	assignment	assignment	NOUN
ap-730	206	22	in	in	ADP
ap-730	206	23	linear	linear	PROPN
ap-730	206	24	state	state	NOUN
ap-730	206	25	feedback	feedback	NOUN
ap-730	206	26	.	.	PUNCT
ap-730	206	27	”	"	PUNCT
ap-730	207	1	international	international	ADJ
ap-730	207	2	journal	journal	NOUN
ap-730	207	3	of	of	ADP
ap-730	207	4	control	control	NOUN
ap-730	207	5	,	,	PUNCT
ap-730	207	6	vol	vol	NOUN
ap-730	207	7	.	.	PROPN
ap-730	207	8	41	41	NUM
ap-730	207	9	(	(	PUNCT
ap-730	207	10	1985	1985	NUM
ap-730	207	11	)	)	PUNCT
ap-730	207	12	,	,	PUNCT
ap-730	207	13	no	no	INTJ
ap-730	207	14	.	.	NOUN
ap-730	207	15	5	5	NUM
ap-730	207	16	,	,	PUNCT
ap-730	207	17	p.	p.	NOUN
ap-730	207	18	1129–1155	1129–1155	NUM
ap-730	207	19	.	.	PUNCT
ap-730	208	1	alasdair	alasdair	PROPN
ap-730	208	2	j.	j.	PROPN
ap-730	208	3	mitchell	mitchell	PROPN
ap-730	208	4	phone	phone	PROPN
ap-730	208	5	:	:	PUNCT
ap-730	208	6	+44	+44	PROPN
ap-730	208	7	141	141	NUM
ap-730	208	8	330	330	NUM
ap-730	208	9	6137	6137	NUM
ap-730	208	10	fax	fax	NOUN
ap-730	208	11	:	:	PUNCT
ap-730	208	12	+44	+44	PROPN
ap-730	208	13	141	141	NUM
ap-730	209	1	330	330	NUM
ap-730	209	2	6004	6004	NUM
ap-730	209	3	e	e	NOUN
ap-730	209	4	-	-	NOUN
ap-730	209	5	mail	mail	NOUN
ap-730	209	6	:	:	PUNCT
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ap-730	209	8	euan	euan	PROPN
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ap-730	209	26	engineering	engineering	NOUN
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ap-730	209	34	8lt	8lt	PROPN
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ap-730	209	36	uk	uk	PROPN
ap-730	209	37	24	24	NUM
ap-730	209	38	©	©	PROPN
ap-730	209	39	czech	czech	PROPN
ap-730	209	40	technical	technical	PROPN
ap-730	209	41	university	university	PROPN
ap-730	209	42	publishing	publishing	NOUN
ap-730	209	43	house	house	NOUN
ap-730	209	44	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-730	209	45	acta	acta	PROPN
ap-730	209	46	polytechnica	polytechnica	PROPN
ap-730	209	47	vol	vol	NOUN
ap-730	209	48	.	.	PROPN
ap-730	210	1	45	45	NUM
ap-730	210	2	no	no	NOUN
ap-730	210	3	.	.	PUNCT
ap-730	211	1	4/2005	4/2005	NUM
ap-730	211	2	czech	czech	PROPN
ap-730	211	3	technical	technical	PROPN
ap-730	211	4	university	university	PROPN
ap-730	211	5	in	in	ADP
ap-730	211	6	prague	prague	NOUN