id	sid	tid	token	lemma	pos
ap-748	1	1	ap05_4.vp	ap05_4.vp	NOUN
ap-748	1	2	1	1	NUM
ap-748	1	3	introduction	introduction	NOUN
ap-748	1	4	the	the	DET
ap-748	1	5	issue	issue	NOUN
ap-748	1	6	of	of	ADP
ap-748	1	7	helicopter	helicopter	NOUN
ap-748	1	8	flight	flight	NOUN
ap-748	1	9	control	control	NOUN
ap-748	1	10	has	have	AUX
ap-748	1	11	been	be	AUX
ap-748	1	12	discussed	discuss	VERB
ap-748	1	13	extensively	extensively	ADV
ap-748	1	14	in	in	ADP
ap-748	1	15	the	the	DET
ap-748	1	16	relevant	relevant	ADJ
ap-748	1	17	literature	literature	NOUN
ap-748	1	18	[	[	X
ap-748	1	19	1	1	NUM
ap-748	1	20	,	,	PUNCT
ap-748	1	21	2	2	NUM
ap-748	1	22	,	,	PUNCT
ap-748	1	23	and	and	CCONJ
ap-748	1	24	references	reference	NOUN
ap-748	1	25	therein	therein	ADV
ap-748	1	26	]	]	PUNCT
ap-748	1	27	.	.	PUNCT
ap-748	2	1	due	due	ADP
ap-748	2	2	to	to	ADP
ap-748	2	3	the	the	DET
ap-748	2	4	complexity	complexity	NOUN
ap-748	2	5	of	of	ADP
ap-748	2	6	helicopter	helicopter	NOUN
ap-748	2	7	dynamics	dynamic	NOUN
ap-748	2	8	,	,	PUNCT
ap-748	2	9	the	the	DET
ap-748	2	10	design	design	NOUN
ap-748	2	11	and	and	CCONJ
ap-748	2	12	implementation	implementation	NOUN
ap-748	2	13	of	of	ADP
ap-748	2	14	controllers	controller	NOUN
ap-748	2	15	is	be	AUX
ap-748	2	16	difficult	difficult	ADJ
ap-748	2	17	.	.	PUNCT
ap-748	3	1	helicopters	helicopter	NOUN
ap-748	3	2	are	be	AUX
ap-748	3	3	highly	highly	ADV
ap-748	3	4	coupled	couple	VERB
ap-748	3	5	systems	system	NOUN
ap-748	3	6	.	.	PUNCT
ap-748	4	1	the	the	DET
ap-748	4	2	rotor	rotor	NOUN
ap-748	4	3	provides	provide	VERB
ap-748	4	4	propulsion	propulsion	NOUN
ap-748	4	5	and	and	CCONJ
ap-748	4	6	is	be	AUX
ap-748	4	7	the	the	DET
ap-748	4	8	main	main	ADJ
ap-748	4	9	control	control	NOUN
ap-748	4	10	actuator	actuator	NOUN
ap-748	4	11	,	,	PUNCT
ap-748	4	12	and	and	CCONJ
ap-748	4	13	is	be	AUX
ap-748	4	14	therefore	therefore	ADV
ap-748	4	15	the	the	DET
ap-748	4	16	source	source	NOUN
ap-748	4	17	of	of	ADP
ap-748	4	18	much	much	ADJ
ap-748	4	19	of	of	ADP
ap-748	4	20	the	the	DET
ap-748	4	21	complexity	complexity	NOUN
ap-748	4	22	.	.	PUNCT
ap-748	5	1	the	the	DET
ap-748	5	2	level	level	NOUN
ap-748	5	3	of	of	ADP
ap-748	5	4	detail	detail	NOUN
ap-748	5	5	used	use	VERB
ap-748	5	6	to	to	PART
ap-748	5	7	represent	represent	VERB
ap-748	5	8	the	the	DET
ap-748	5	9	rotor	rotor	NOUN
ap-748	5	10	dynamics	dynamic	NOUN
ap-748	5	11	is	be	AUX
ap-748	5	12	often	often	ADV
ap-748	5	13	an	an	DET
ap-748	5	14	important	important	ADJ
ap-748	5	15	factor	factor	NOUN
ap-748	5	16	during	during	ADP
ap-748	5	17	the	the	DET
ap-748	5	18	design	design	NOUN
ap-748	5	19	of	of	ADP
ap-748	5	20	the	the	DET
ap-748	5	21	controller	controller	NOUN
ap-748	5	22	and	and	CCONJ
ap-748	5	23	selection	selection	NOUN
ap-748	5	24	of	of	ADP
ap-748	5	25	the	the	DET
ap-748	5	26	associated	associated	ADJ
ap-748	5	27	parameters	parameter	NOUN
ap-748	5	28	[	[	X
ap-748	5	29	3	3	NUM
ap-748	5	30	,	,	PUNCT
ap-748	5	31	4	4	NUM
ap-748	5	32	]	]	PUNCT
ap-748	5	33	.	.	PUNCT
ap-748	6	1	as	as	SCONJ
ap-748	6	2	the	the	DET
ap-748	6	3	flight	flight	NOUN
ap-748	6	4	conditions	condition	NOUN
ap-748	6	5	change	change	VERB
ap-748	6	6	,	,	PUNCT
ap-748	6	7	these	these	DET
ap-748	6	8	dynamics	dynamic	NOUN
ap-748	6	9	change	change	NOUN
ap-748	6	10	,	,	PUNCT
ap-748	6	11	often	often	ADV
ap-748	6	12	resulting	result	VERB
ap-748	6	13	in	in	ADP
ap-748	6	14	controllers	controller	NOUN
ap-748	6	15	that	that	PRON
ap-748	6	16	only	only	ADV
ap-748	6	17	perform	perform	VERB
ap-748	6	18	to	to	ADP
ap-748	6	19	specification	specification	NOUN
ap-748	6	20	within	within	ADP
ap-748	6	21	the	the	DET
ap-748	6	22	operation	operation	NOUN
ap-748	6	23	margin	margin	NOUN
ap-748	6	24	for	for	ADP
ap-748	6	25	which	which	PRON
ap-748	6	26	they	they	PRON
ap-748	6	27	are	be	AUX
ap-748	6	28	designed	design	VERB
ap-748	6	29	.	.	PUNCT
ap-748	7	1	all	all	DET
ap-748	7	2	these	these	DET
ap-748	7	3	factors	factor	NOUN
ap-748	7	4	have	have	AUX
ap-748	7	5	stimulated	stimulate	VERB
ap-748	7	6	this	this	DET
ap-748	7	7	area	area	NOUN
ap-748	7	8	of	of	ADP
ap-748	7	9	research	research	NOUN
ap-748	7	10	and	and	CCONJ
ap-748	7	11	resulted	result	VERB
ap-748	7	12	in	in	ADP
ap-748	7	13	a	a	DET
ap-748	7	14	study	study	NOUN
ap-748	7	15	of	of	ADP
ap-748	7	16	various	various	ADJ
ap-748	7	17	control	control	NOUN
ap-748	7	18	strategies	strategy	NOUN
ap-748	7	19	being	be	AUX
ap-748	7	20	applied	apply	VERB
ap-748	7	21	to	to	ADP
ap-748	7	22	this	this	DET
ap-748	7	23	application	application	NOUN
ap-748	7	24	.	.	PUNCT
ap-748	8	1	the	the	DET
ap-748	8	2	goal	goal	NOUN
ap-748	8	3	is	be	AUX
ap-748	8	4	to	to	PART
ap-748	8	5	achieve	achieve	VERB
ap-748	8	6	high	high	ADJ
ap-748	8	7	-	-	PUNCT
ap-748	8	8	bandwidth	bandwidth	ADJ
ap-748	8	9	,	,	PUNCT
ap-748	8	10	high	high	ADJ
ap-748	8	11	-	-	PUNCT
ap-748	8	12	gain	gain	NOUN
ap-748	8	13	,	,	PUNCT
ap-748	8	14	robust	robust	ADJ
ap-748	8	15	controllers	controller	NOUN
ap-748	8	16	operable	operable	ADJ
ap-748	8	17	over	over	ADP
ap-748	8	18	the	the	DET
ap-748	8	19	entire	entire	ADJ
ap-748	8	20	flight	flight	NOUN
ap-748	8	21	envelope	envelope	NOUN
ap-748	8	22	[	[	X
ap-748	8	23	5	5	NUM
ap-748	8	24	]	]	PUNCT
ap-748	8	25	.	.	PUNCT
ap-748	9	1	one	one	NUM
ap-748	9	2	area	area	NOUN
ap-748	9	3	of	of	ADP
ap-748	9	4	control	control	NOUN
ap-748	9	5	that	that	PRON
ap-748	9	6	has	have	AUX
ap-748	9	7	had	have	VERB
ap-748	9	8	little	little	ADJ
ap-748	9	9	application	application	NOUN
ap-748	9	10	to	to	ADP
ap-748	9	11	the	the	DET
ap-748	9	12	helicopter	helicopter	NOUN
ap-748	9	13	problem	problem	NOUN
ap-748	9	14	is	be	AUX
ap-748	9	15	that	that	PRON
ap-748	9	16	of	of	ADP
ap-748	9	17	non	non	ADJ
ap-748	9	18	-	-	ADJ
ap-748	9	19	linear	linear	ADJ
ap-748	9	20	,	,	PUNCT
ap-748	9	21	variable	variable	ADJ
ap-748	9	22	structure	structure	NOUN
ap-748	9	23	methods	method	NOUN
ap-748	9	24	,	,	PUNCT
ap-748	9	25	such	such	ADJ
ap-748	9	26	as	as	ADP
ap-748	9	27	sliding	slide	VERB
ap-748	9	28	mode	mode	NOUN
ap-748	9	29	control	control	NOUN
ap-748	9	30	,	,	PUNCT
ap-748	9	31	(	(	PUNCT
ap-748	9	32	smc	smc	PROPN
ap-748	9	33	)	)	PUNCT
ap-748	10	1	[	[	X
ap-748	10	2	6	6	NUM
ap-748	10	3	,	,	PUNCT
ap-748	10	4	7	7	NUM
ap-748	10	5	,	,	PUNCT
ap-748	10	6	8	8	NUM
ap-748	10	7	,	,	PUNCT
ap-748	10	8	9	9	NUM
ap-748	10	9	]	]	PUNCT
ap-748	10	10	.	.	PUNCT
ap-748	11	1	smc	smc	PROPN
ap-748	11	2	is	be	AUX
ap-748	11	3	comprises	comprise	NOUN
ap-748	11	4	of	of	ADP
ap-748	11	5	two	two	NUM
ap-748	11	6	parts	part	NOUN
ap-748	11	7	:	:	PUNCT
ap-748	11	8	a	a	DET
ap-748	11	9	linear	linear	ADJ
ap-748	11	10	equivalent	equivalent	ADJ
ap-748	11	11	term	term	NOUN
ap-748	11	12	and	and	CCONJ
ap-748	11	13	a	a	DET
ap-748	11	14	non	non	ADJ
ap-748	11	15	-	-	ADJ
ap-748	11	16	linear	linear	ADJ
ap-748	11	17	switching	switching	NOUN
ap-748	11	18	term	term	NOUN
ap-748	11	19	.	.	PUNCT
ap-748	12	1	this	this	DET
ap-748	12	2	non	non	ADJ
ap-748	12	3	-	-	ADJ
ap-748	12	4	linear	linear	ADJ
ap-748	12	5	term	term	NOUN
ap-748	12	6	is	be	AUX
ap-748	12	7	the	the	DET
ap-748	12	8	unique	unique	ADJ
ap-748	12	9	attribute	attribute	NOUN
ap-748	12	10	for	for	ADP
ap-748	12	11	this	this	DET
ap-748	12	12	type	type	NOUN
ap-748	12	13	of	of	ADP
ap-748	12	14	control	control	NOUN
ap-748	12	15	scheme	scheme	NOUN
ap-748	12	16	.	.	PUNCT
ap-748	13	1	it	it	PRON
ap-748	13	2	provides	provide	VERB
ap-748	13	3	much	much	ADJ
ap-748	13	4	of	of	ADP
ap-748	13	5	the	the	DET
ap-748	13	6	controllers	controller	NOUN
ap-748	13	7	’	’	PART
ap-748	13	8	actuation	actuation	NOUN
ap-748	13	9	power	power	NOUN
ap-748	13	10	and	and	CCONJ
ap-748	13	11	provides	provide	VERB
ap-748	13	12	high	high	ADJ
ap-748	13	13	robustness	robustness	NOUN
ap-748	13	14	to	to	AUX
ap-748	13	15	model	model	VERB
ap-748	13	16	uncertainty	uncertainty	NOUN
ap-748	13	17	and	and	CCONJ
ap-748	13	18	external	external	ADJ
ap-748	13	19	disturbance	disturbance	NOUN
ap-748	13	20	.	.	PUNCT
ap-748	14	1	however	however	ADV
ap-748	14	2	,	,	PUNCT
ap-748	14	3	it	it	PRON
ap-748	14	4	is	be	AUX
ap-748	14	5	also	also	ADV
ap-748	14	6	often	often	ADV
ap-748	14	7	the	the	DET
ap-748	14	8	source	source	NOUN
ap-748	14	9	of	of	ADP
ap-748	14	10	concern	concern	NOUN
ap-748	14	11	for	for	ADP
ap-748	14	12	this	this	DET
ap-748	14	13	controller	controller	NOUN
ap-748	14	14	structure	structure	NOUN
ap-748	14	15	as	as	ADP
ap-748	14	16	the	the	DET
ap-748	14	17	non	non	ADJ
ap-748	14	18	-	-	ADJ
ap-748	14	19	linear	linear	ADJ
ap-748	14	20	term	term	NOUN
ap-748	14	21	tends	tend	VERB
ap-748	14	22	to	to	PART
ap-748	14	23	switch	switch	VERB
ap-748	14	24	around	around	ADP
ap-748	14	25	the	the	DET
ap-748	14	26	zero	zero	NUM
ap-748	14	27	error	error	NOUN
ap-748	14	28	region	region	NOUN
ap-748	14	29	giving	give	VERB
ap-748	14	30	a	a	DET
ap-748	14	31	high	high	ADJ
ap-748	14	32	frequency	frequency	NOUN
ap-748	14	33	input	input	NOUN
ap-748	14	34	to	to	ADP
ap-748	14	35	the	the	DET
ap-748	14	36	control	control	NOUN
ap-748	14	37	actuator	actuator	NOUN
ap-748	14	38	,	,	PUNCT
ap-748	14	39	called	call	VERB
ap-748	14	40	chattering	chatter	VERB
ap-748	14	41	[	[	X
ap-748	14	42	10	10	NUM
ap-748	14	43	,	,	PUNCT
ap-748	14	44	11	11	NUM
ap-748	14	45	]	]	PUNCT
ap-748	14	46	,	,	PUNCT
ap-748	14	47	which	which	PRON
ap-748	14	48	can	can	AUX
ap-748	14	49	be	be	AUX
ap-748	14	50	avoided	avoid	VERB
ap-748	14	51	by	by	ADP
ap-748	14	52	employing	employ	VERB
ap-748	14	53	a	a	DET
ap-748	14	54	soft	soft	ADJ
ap-748	14	55	switching	switching	NOUN
ap-748	14	56	structure	structure	NOUN
ap-748	14	57	.	.	PUNCT
ap-748	15	1	the	the	DET
ap-748	15	2	application	application	NOUN
ap-748	15	3	of	of	ADP
ap-748	15	4	a	a	DET
ap-748	15	5	smc	smc	PROPN
ap-748	15	6	scheme	scheme	NOUN
ap-748	15	7	to	to	ADP
ap-748	15	8	a	a	DET
ap-748	15	9	helicopter	helicopter	NOUN
ap-748	15	10	system	system	NOUN
ap-748	15	11	is	be	AUX
ap-748	15	12	presented	present	VERB
ap-748	15	13	in	in	ADP
ap-748	15	14	this	this	DET
ap-748	15	15	paper	paper	NOUN
ap-748	15	16	.	.	PUNCT
ap-748	16	1	the	the	DET
ap-748	16	2	controller	controller	NOUN
ap-748	16	3	is	be	AUX
ap-748	16	4	evaluated	evaluate	VERB
ap-748	16	5	using	use	VERB
ap-748	16	6	the	the	DET
ap-748	16	7	aeronautical	aeronautical	NOUN
ap-748	16	8	design	design	NOUN
ap-748	16	9	standard	standard	ADJ
ap-748	16	10	performance	performance	NOUN
ap-748	16	11	specification	specification	NOUN
ap-748	16	12	of	of	ADP
ap-748	16	13	handling	handle	VERB
ap-748	16	14	qualities	quality	NOUN
ap-748	16	15	requirements	requirement	NOUN
ap-748	16	16	for	for	ADP
ap-748	16	17	military	military	ADJ
ap-748	16	18	rotorcraft	rotorcraft	NOUN
ap-748	16	19	,	,	PUNCT
ap-748	16	20	ads-33e	ads-33e	NUM
ap-748	16	21	[	[	X
ap-748	16	22	12	12	NUM
ap-748	16	23	]	]	PUNCT
ap-748	16	24	.	.	PUNCT
ap-748	17	1	2	2	NUM
ap-748	17	2	helicopter	helicopter	NOUN
ap-748	17	3	model	model	NOUN
ap-748	17	4	the	the	DET
ap-748	17	5	rascal	rascal	ADJ
ap-748	17	6	model	model	NOUN
ap-748	17	7	(	(	PUNCT
ap-748	17	8	rotorcraft	rotorcraft	NOUN
ap-748	17	9	aerodynamics	aerodynamic	NOUN
ap-748	17	10	simulation	simulation	NOUN
ap-748	17	11	for	for	ADP
ap-748	17	12	control	control	NOUN
ap-748	17	13	analysis	analysis	NOUN
ap-748	17	14	)	)	PUNCT
ap-748	18	1	[	[	X
ap-748	18	2	13	13	NUM
ap-748	18	3	]	]	PUNCT
ap-748	18	4	is	be	AUX
ap-748	18	5	used	use	VERB
ap-748	18	6	to	to	PART
ap-748	18	7	represent	represent	VERB
ap-748	18	8	the	the	DET
ap-748	18	9	helicopter	helicopter	NOUN
ap-748	18	10	dynamics	dynamic	NOUN
ap-748	18	11	in	in	ADP
ap-748	18	12	this	this	DET
ap-748	18	13	study	study	NOUN
ap-748	18	14	.	.	PUNCT
ap-748	19	1	this	this	PRON
ap-748	19	2	is	be	AUX
ap-748	19	3	a	a	DET
ap-748	19	4	high	high	ADJ
ap-748	19	5	order	order	NOUN
ap-748	19	6	,	,	PUNCT
ap-748	19	7	nonlinear	nonlinear	ADJ
ap-748	19	8	,	,	PUNCT
ap-748	19	9	individual	individual	ADJ
ap-748	19	10	rotor	rotor	NOUN
ap-748	19	11	blade	blade	NOUN
ap-748	19	12	representation	representation	NOUN
ap-748	19	13	of	of	ADP
ap-748	19	14	the	the	DET
ap-748	19	15	helicopter	helicopter	NOUN
ap-748	19	16	dynamics	dynamic	NOUN
ap-748	19	17	.	.	PUNCT
ap-748	20	1	this	this	PRON
ap-748	20	2	differs	differ	VERB
ap-748	20	3	from	from	ADP
ap-748	20	4	many	many	ADJ
ap-748	20	5	other	other	ADJ
ap-748	20	6	helicopter	helicopter	NOUN
ap-748	20	7	models	model	NOUN
ap-748	20	8	in	in	ADP
ap-748	20	9	that	that	SCONJ
ap-748	20	10	it	it	PRON
ap-748	20	11	uses	use	VERB
ap-748	20	12	an	an	DET
ap-748	20	13	individual	individual	ADJ
ap-748	20	14	blade	blade	NOUN
ap-748	20	15	representation	representation	NOUN
ap-748	20	16	of	of	ADP
ap-748	20	17	the	the	DET
ap-748	20	18	rotors	rotor	NOUN
ap-748	20	19	,	,	PUNCT
ap-748	20	20	and	and	CCONJ
ap-748	20	21	not	not	PART
ap-748	20	22	a	a	DET
ap-748	20	23	disc	disc	NOUN
ap-748	20	24	.	.	PUNCT
ap-748	21	1	this	this	PRON
ap-748	21	2	means	mean	VERB
ap-748	21	3	that	that	SCONJ
ap-748	21	4	the	the	DET
ap-748	21	5	high	high	ADJ
ap-748	21	6	-	-	PUNCT
ap-748	21	7	order	order	NOUN
ap-748	21	8	dynamics	dynamic	NOUN
ap-748	21	9	of	of	ADP
ap-748	21	10	the	the	DET
ap-748	21	11	rotor	rotor	NOUN
ap-748	21	12	are	be	AUX
ap-748	21	13	captured	capture	VERB
ap-748	21	14	,	,	PUNCT
ap-748	21	15	instead	instead	ADV
ap-748	21	16	of	of	ADP
ap-748	21	17	the	the	DET
ap-748	21	18	assumption	assumption	NOUN
ap-748	21	19	that	that	SCONJ
ap-748	21	20	the	the	DET
ap-748	21	21	rotor	rotor	NOUN
ap-748	21	22	tilt	tilt	NOUN
ap-748	21	23	is	be	AUX
ap-748	21	24	quasi	quasi	ADJ
ap-748	21	25	-	-	ADJ
ap-748	21	26	steady	steady	ADJ
ap-748	21	27	[	[	X
ap-748	21	28	14	14	NUM
ap-748	21	29	]	]	PUNCT
ap-748	21	30	.	.	PUNCT
ap-748	22	1	although	although	SCONJ
ap-748	22	2	linearising	linearising	NOUN
ap-748	22	3	models	model	NOUN
ap-748	22	4	involve	involve	VERB
ap-748	22	5	omitting	omit	VERB
ap-748	22	6	important	important	ADJ
ap-748	22	7	high	high	ADJ
ap-748	22	8	order	order	NOUN
ap-748	22	9	,	,	PUNCT
ap-748	22	10	non	non	ADJ
ap-748	22	11	-	-	ADJ
ap-748	22	12	linear	linear	ADJ
ap-748	22	13	dynamics	dynamic	NOUN
ap-748	22	14	,	,	PUNCT
ap-748	22	15	generally	generally	ADV
ap-748	22	16	control	control	VERB
ap-748	22	17	engineering	engineering	NOUN
ap-748	22	18	utilizes	utilize	VERB
ap-748	22	19	linear	linear	NOUN
ap-748	22	20	models	model	NOUN
ap-748	22	21	of	of	ADP
ap-748	22	22	systems	system	NOUN
ap-748	22	23	,	,	PUNCT
ap-748	22	24	which	which	PRON
ap-748	22	25	they	they	PRON
ap-748	22	26	base	base	VERB
ap-748	22	27	the	the	DET
ap-748	22	28	controller	controller	NOUN
ap-748	22	29	designs	design	VERB
ap-748	22	30	upon	upon	SCONJ
ap-748	22	31	.	.	PUNCT
ap-748	23	1	it	it	PRON
ap-748	23	2	is	be	AUX
ap-748	23	3	assumed	assume	VERB
ap-748	23	4	that	that	SCONJ
ap-748	23	5	a	a	DET
ap-748	23	6	linear	linear	ADJ
ap-748	23	7	model	model	NOUN
ap-748	23	8	can	can	AUX
ap-748	23	9	represent	represent	VERB
ap-748	23	10	the	the	DET
ap-748	23	11	important	important	ADJ
ap-748	23	12	rigid	rigid	ADJ
ap-748	23	13	body	body	NOUN
ap-748	23	14	dynamics	dynamic	NOUN
ap-748	23	15	needed	need	VERB
ap-748	23	16	for	for	ADP
ap-748	23	17	adequate	adequate	ADJ
ap-748	23	18	controller	controller	NOUN
ap-748	23	19	design	design	NOUN
ap-748	23	20	.	.	PUNCT
ap-748	24	1	this	this	PRON
ap-748	24	2	means	mean	VERB
ap-748	24	3	that	that	SCONJ
ap-748	24	4	a	a	DET
ap-748	24	5	linear	linear	ADJ
ap-748	24	6	model	model	NOUN
ap-748	24	7	must	must	AUX
ap-748	24	8	be	be	AUX
ap-748	24	9	formed	form	VERB
ap-748	24	10	from	from	ADP
ap-748	24	11	the	the	DET
ap-748	24	12	non	non	ADJ
ap-748	24	13	-	-	ADJ
ap-748	24	14	linear	linear	ADJ
ap-748	24	15	model	model	NOUN
ap-748	24	16	described	describe	VERB
ap-748	24	17	in	in	ADP
ap-748	24	18	[	[	X
ap-748	24	19	13	13	NUM
ap-748	24	20	]	]	PUNCT
ap-748	24	21	,	,	PUNCT
ap-748	24	22	accomplished	accomplish	VERB
ap-748	24	23	using	use	VERB
ap-748	24	24	a	a	DET
ap-748	24	25	numerical	numerical	ADJ
ap-748	24	26	method	method	NOUN
ap-748	24	27	found	find	VERB
ap-748	24	28	through	through	ADP
ap-748	24	29	small	small	ADJ
ap-748	24	30	perturbation	perturbation	NOUN
ap-748	24	31	from	from	ADP
ap-748	24	32	a	a	DET
ap-748	24	33	given	give	VERB
ap-748	24	34	trim	trim	NOUN
ap-748	24	35	condition	condition	NOUN
ap-748	24	36	[	[	X
ap-748	24	37	14	14	NUM
ap-748	24	38	]	]	PUNCT
ap-748	24	39	.	.	PUNCT
ap-748	25	1	this	this	PRON
ap-748	25	2	defines	define	VERB
ap-748	25	3	a	a	DET
ap-748	25	4	state	state	NOUN
ap-748	25	5	space	space	NOUN
ap-748	25	6	system	system	NOUN
ap-748	25	7	given	give	VERB
ap-748	25	8	by	by	ADP
ap-748	25	9	:	:	PUNCT
ap-748	25	10	x	x	X
ap-748	25	11	ax	ax	NOUN
ap-748	25	12	bu	bu	PROPN
ap-748	25	13	�	�	PROPN
ap-748	25	14	�	�	PROPN
ap-748	25	15	(	(	PUNCT
ap-748	25	16	1	1	NUM
ap-748	25	17	)	)	PUNCT
ap-748	25	18	�	�	PROPN
ap-748	25	19	�	�	PROPN
ap-748	25	20	x	x	SYM
ap-748	25	21	t	t	PROPN
ap-748	25	22	�	�	PROPN
ap-748	25	23	u	u	PROPN
ap-748	25	24	v	v	NOUN
ap-748	25	25	w	w	NOUN
ap-748	25	26	p	p	NOUN
ap-748	25	27	q	q	NOUN
ap-748	25	28	r	r	NOUN
ap-748	25	29	�	�	PROPN
ap-748	25	30	�	�	PROPN
ap-748	25	31	�	�	PROPN
ap-748	25	32	,	,	PUNCT
ap-748	25	33	(	(	PUNCT
ap-748	25	34	2	2	X
ap-748	25	35	)	)	PUNCT
ap-748	25	36	�	�	PROPN
ap-748	25	37	�	�	PROPN
ap-748	25	38	u	u	PROPN
ap-748	25	39	t	t	PROPN
ap-748	25	40	�	�	PROPN
ap-748	25	41	�	�	PROPN
ap-748	25	42	�	�	PROPN
ap-748	25	43	�	�	PROPN
ap-748	25	44	�	�	PROPN
ap-748	25	45	�	�	PROPN
ap-748	25	46	1	1	NUM
ap-748	25	47	1	1	NUM
ap-748	25	48	0s	0s	NOUN
ap-748	25	49	c	c	NOUN
ap-748	25	50	tr	tr	VERB
ap-748	25	51	,	,	PUNCT
ap-748	25	52	(	(	PUNCT
ap-748	25	53	3	3	X
ap-748	25	54	)	)	PUNCT
ap-748	25	55	where	where	SCONJ
ap-748	25	56	,	,	PUNCT
ap-748	25	57	a	a	PRON
ap-748	25	58	is	be	AUX
ap-748	25	59	the	the	DET
ap-748	25	60	system	system	NOUN
ap-748	25	61	derivative	derivative	ADJ
ap-748	25	62	matrix	matrix	NOUN
ap-748	25	63	,	,	PUNCT
ap-748	25	64	b	b	NOUN
ap-748	25	65	is	be	AUX
ap-748	25	66	the	the	DET
ap-748	25	67	control	control	ADJ
ap-748	25	68	derivative	derivative	ADJ
ap-748	25	69	matrix	matrix	NOUN
ap-748	25	70	,	,	PUNCT
ap-748	25	71	u	u	NOUN
ap-748	25	72	(	(	PUNCT
ap-748	25	73	surge	surge	NOUN
ap-748	25	74	)	)	PUNCT
ap-748	25	75	,	,	PUNCT
ap-748	25	76	v	v	NOUN
ap-748	25	77	(	(	PUNCT
ap-748	25	78	sway	sway	NOUN
ap-748	25	79	)	)	PUNCT
ap-748	25	80	and	and	CCONJ
ap-748	25	81	w	w	PROPN
ap-748	25	82	(	(	PUNCT
ap-748	25	83	heave	heave	PROPN
ap-748	25	84	)	)	PUNCT
ap-748	25	85	are	be	AUX
ap-748	25	86	the	the	DET
ap-748	25	87	velocities	velocity	NOUN
ap-748	25	88	in	in	ADP
ap-748	25	89	the	the	DET
ap-748	25	90	body	body	NOUN
ap-748	25	91	referenced	reference	VERB
ap-748	25	92	x	x	NOUN
ap-748	25	93	,	,	PUNCT
ap-748	25	94	y	y	PROPN
ap-748	25	95	,	,	PUNCT
ap-748	25	96	and	and	CCONJ
ap-748	25	97	z	z	NOUN
ap-748	25	98	axes	axis	NOUN
ap-748	25	99	respectively	respectively	ADV
ap-748	25	100	,	,	PUNCT
ap-748	25	101	with	with	ADP
ap-748	25	102	the	the	DET
ap-748	25	103	rotational	rotational	ADJ
ap-748	25	104	velocities	velocity	NOUN
ap-748	25	105	p	p	NOUN
ap-748	25	106	(	(	PUNCT
ap-748	25	107	roll	roll	NOUN
ap-748	25	108	rate	rate	NOUN
ap-748	25	109	)	)	PUNCT
ap-748	25	110	,	,	PUNCT
ap-748	25	111	q	q	PROPN
ap-748	25	112	(	(	PUNCT
ap-748	25	113	pitch	pitch	NOUN
ap-748	25	114	rate	rate	NOUN
ap-748	25	115	)	)	PUNCT
ap-748	25	116	,	,	PUNCT
ap-748	25	117	and	and	CCONJ
ap-748	25	118	r	r	NOUN
ap-748	25	119	(	(	PUNCT
ap-748	25	120	yaw	yaw	NOUN
ap-748	25	121	rate	rate	NOUN
ap-748	25	122	)	)	PUNCT
ap-748	25	123	,	,	PUNCT
ap-748	25	124	and	and	CCONJ
ap-748	25	125	attitudes	attitude	NOUN
ap-748	25	126	�	�	PROPN
ap-748	25	127	(	(	PUNCT
ap-748	25	128	roll	roll	NOUN
ap-748	25	129	)	)	PUNCT
ap-748	25	130	,	,	PUNCT
ap-748	25	131	�	�	PROPN
ap-748	25	132	(	(	PUNCT
ap-748	25	133	pitch	pitch	NOUN
ap-748	25	134	)	)	PUNCT
ap-748	25	135	and	and	CCONJ
ap-748	25	136	�	�	PROPN
ap-748	25	137	(	(	PUNCT
ap-748	25	138	yaw	yaw	PROPN
ap-748	25	139	)	)	PUNCT
ap-748	25	140	about	about	ADP
ap-748	25	141	those	those	DET
ap-748	25	142	axes	axis	NOUN
ap-748	25	143	.	.	PUNCT
ap-748	26	1	�	�	NOUN
ap-748	26	2	0	0	NUM
ap-748	26	3	is	be	AUX
ap-748	26	4	the	the	DET
ap-748	26	5	main	main	ADJ
ap-748	26	6	rotor	rotor	NOUN
ap-748	26	7	collective	collective	NOUN
ap-748	26	8	,	,	PUNCT
ap-748	26	9	�	�	PROPN
ap-748	26	10	1s	1s	PROPN
ap-748	26	11	is	be	AUX
ap-748	26	12	the	the	DET
ap-748	26	13	main	main	ADJ
ap-748	26	14	rotor	rotor	NOUN
ap-748	26	15	longitudinal	longitudinal	ADJ
ap-748	26	16	cyclic	cyclic	NOUN
ap-748	26	17	,	,	PUNCT
ap-748	26	18	�	�	NOUN
ap-748	26	19	1c	1c	NOUN
ap-748	26	20	is	be	AUX
ap-748	26	21	the	the	DET
ap-748	26	22	main	main	ADJ
ap-748	26	23	rotor	rotor	NOUN
ap-748	26	24	lateral	lateral	ADJ
ap-748	26	25	cyclic	cyclic	NOUN
ap-748	26	26	,	,	PUNCT
ap-748	26	27	and	and	CCONJ
ap-748	26	28	�	�	PROPN
ap-748	26	29	0tr	0tr	NOUN
ap-748	26	30	is	be	AUX
ap-748	26	31	the	the	DET
ap-748	26	32	tail	tail	NOUN
ap-748	26	33	rotor	rotor	NOUN
ap-748	26	34	collective	collective	NOUN
ap-748	26	35	.	.	PUNCT
ap-748	27	1	this	this	DET
ap-748	27	2	model	model	NOUN
ap-748	27	3	is	be	AUX
ap-748	27	4	used	use	VERB
ap-748	27	5	for	for	ADP
ap-748	27	6	the	the	DET
ap-748	27	7	controller	controller	NOUN
ap-748	27	8	design	design	NOUN
ap-748	27	9	,	,	PUNCT
ap-748	27	10	but	but	CCONJ
ap-748	27	11	the	the	DET
ap-748	27	12	full	full	ADJ
ap-748	27	13	representation	representation	NOUN
ap-748	27	14	of	of	ADP
ap-748	27	15	the	the	DET
ap-748	27	16	helicopter	helicopter	NOUN
ap-748	27	17	system	system	NOUN
ap-748	27	18	is	be	AUX
ap-748	27	19	used	use	VERB
ap-748	27	20	for	for	ADP
ap-748	27	21	testing	testing	NOUN
ap-748	27	22	and	and	CCONJ
ap-748	27	23	evaluating	evaluate	VERB
ap-748	27	24	the	the	DET
ap-748	27	25	controllers	controller	NOUN
ap-748	27	26	.	.	PUNCT
ap-748	28	1	for	for	ADP
ap-748	28	2	this	this	DET
ap-748	28	3	a	a	DET
ap-748	28	4	puma	puma	NOUN
ap-748	28	5	helicopter	helicopter	NOUN
ap-748	28	6	in	in	ADP
ap-748	28	7	a	a	DET
ap-748	28	8	hovering	hover	VERB
ap-748	28	9	flight	flight	NOUN
ap-748	28	10	is	be	AUX
ap-748	28	11	used	use	VERB
ap-748	28	12	[	[	PUNCT
ap-748	28	13	15	15	NUM
ap-748	28	14	]	]	X
ap-748	28	15	.	.	PUNCT
ap-748	29	1	3	3	NUM
ap-748	29	2	sliding	slide	VERB
ap-748	29	3	mode	mode	NOUN
ap-748	29	4	control	control	NOUN
ap-748	29	5	smc	smc	PROPN
ap-748	29	6	is	be	AUX
ap-748	29	7	a	a	DET
ap-748	29	8	non	non	ADJ
ap-748	29	9	-	-	ADJ
ap-748	29	10	linear	linear	ADJ
ap-748	29	11	control	control	NOUN
ap-748	29	12	methodology	methodology	NOUN
ap-748	29	13	.	.	PUNCT
ap-748	30	1	it	it	PRON
ap-748	30	2	has	have	VERB
ap-748	30	3	advantages	advantage	NOUN
ap-748	30	4	over	over	ADP
ap-748	30	5	linear	linear	ADJ
ap-748	30	6	control	control	NOUN
ap-748	30	7	schemes	scheme	NOUN
ap-748	30	8	in	in	SCONJ
ap-748	30	9	that	that	SCONJ
ap-748	30	10	it	it	PRON
ap-748	30	11	can	can	AUX
ap-748	30	12	be	be	AUX
ap-748	30	13	more	more	ADV
ap-748	30	14	robust	robust	ADJ
ap-748	30	15	to	to	PART
ap-748	30	16	matched	match	VERB
ap-748	30	17	,	,	PUNCT
ap-748	30	18	unmodelled	unmodelled	ADJ
ap-748	30	19	,	,	PUNCT
ap-748	30	20	uncertain	uncertain	ADJ
ap-748	30	21	system	system	NOUN
ap-748	30	22	dynamics	dynamic	NOUN
ap-748	30	23	,	,	PUNCT
ap-748	30	24	and	and	CCONJ
ap-748	30	25	to	to	ADP
ap-748	30	26	disturbances	disturbance	NOUN
ap-748	30	27	[	[	X
ap-748	30	28	10	10	NUM
ap-748	30	29	]	]	PUNCT
ap-748	30	30	.	.	PUNCT
ap-748	31	1	the	the	DET
ap-748	31	2	controllers	controller	NOUN
ap-748	31	3	developed	develop	VERB
ap-748	31	4	in	in	ADP
ap-748	31	5	this	this	DET
ap-748	31	6	paper	paper	NOUN
ap-748	31	7	are	be	AUX
ap-748	31	8	of	of	ADP
ap-748	31	9	individual	individual	ADJ
ap-748	31	10	decoupled	decouple	VERB
ap-748	31	11	controllers	controller	NOUN
ap-748	31	12	[	[	X
ap-748	31	13	16	16	NUM
ap-748	31	14	,	,	PUNCT
ap-748	31	15	17	17	NUM
ap-748	31	16	]	]	PUNCT
ap-748	31	17	that	that	PRON
ap-748	31	18	have	have	VERB
ap-748	31	19	their	their	PRON
ap-748	31	20	to88	to88	PROPN
ap-748	31	21	©	©	PROPN
ap-748	31	22	czech	czech	PROPN
ap-748	31	23	technical	technical	PROPN
ap-748	31	24	university	university	PROPN
ap-748	31	25	publishing	publishing	NOUN
ap-748	31	26	house	house	NOUN
ap-748	31	27	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	31	28	acta	acta	PROPN
ap-748	31	29	polytechnica	polytechnica	PROPN
ap-748	31	30	vol	vol	NOUN
ap-748	31	31	.	.	PROPN
ap-748	32	1	45	45	NUM
ap-748	32	2	no	no	NOUN
ap-748	32	3	.	.	PUNCT
ap-748	33	1	4/2005	4/2005	NUM
ap-748	33	2	czech	czech	PROPN
ap-748	33	3	technical	technical	PROPN
ap-748	33	4	university	university	PROPN
ap-748	33	5	in	in	ADP
ap-748	33	6	prague	prague	NOUN
ap-748	33	7	sliding	slide	VERB
ap-748	33	8	mode	mode	NOUN
ap-748	33	9	implementation	implementation	NOUN
ap-748	33	10	of	of	ADP
ap-748	33	11	an	an	DET
ap-748	33	12	attitude	attitude	NOUN
ap-748	33	13	command	command	NOUN
ap-748	33	14	flight	flight	NOUN
ap-748	33	15	control	control	NOUN
ap-748	33	16	system	system	NOUN
ap-748	33	17	for	for	ADP
ap-748	33	18	a	a	DET
ap-748	33	19	helicopter	helicopter	NOUN
ap-748	33	20	in	in	ADP
ap-748	33	21	hover	hover	PROPN
ap-748	33	22	d.	d.	PROPN
ap-748	33	23	j.	j.	PROPN
ap-748	33	24	mcgeoch	mcgeoch	PROPN
ap-748	33	25	,	,	PUNCT
ap-748	33	26	e.	e.	PROPN
ap-748	33	27	w.	w.	PROPN
ap-748	33	28	mcgookin	mcgookin	PROPN
ap-748	33	29	,	,	PUNCT
ap-748	33	30	s.	s.	PROPN
ap-748	33	31	s.	s.	PROPN
ap-748	33	32	houston	houston	PROPN
ap-748	34	1	this	this	DET
ap-748	34	2	paper	paper	NOUN
ap-748	34	3	presents	present	VERB
ap-748	34	4	an	an	DET
ap-748	34	5	investigation	investigation	NOUN
ap-748	34	6	into	into	ADP
ap-748	34	7	the	the	DET
ap-748	34	8	design	design	NOUN
ap-748	34	9	of	of	ADP
ap-748	34	10	a	a	DET
ap-748	34	11	flight	flight	NOUN
ap-748	34	12	control	control	NOUN
ap-748	34	13	system	system	NOUN
ap-748	34	14	,	,	PUNCT
ap-748	34	15	using	use	VERB
ap-748	34	16	a	a	DET
ap-748	34	17	decoupled	decoupled	ADJ
ap-748	34	18	non	non	ADJ
ap-748	34	19	-	-	ADJ
ap-748	34	20	linear	linear	ADJ
ap-748	34	21	sliding	slide	VERB
ap-748	34	22	mode	mode	NOUN
ap-748	34	23	control	control	NOUN
ap-748	34	24	structure	structure	NOUN
ap-748	34	25	,	,	PUNCT
ap-748	34	26	designed	design	VERB
ap-748	34	27	using	use	VERB
ap-748	34	28	a	a	DET
ap-748	34	29	linearised	linearised	ADJ
ap-748	34	30	,	,	PUNCT
ap-748	34	31	9th	9th	ADJ
ap-748	34	32	order	order	NOUN
ap-748	34	33	representation	representation	NOUN
ap-748	34	34	of	of	ADP
ap-748	34	35	the	the	DET
ap-748	34	36	dynamics	dynamic	NOUN
ap-748	34	37	of	of	ADP
ap-748	34	38	a	a	DET
ap-748	34	39	puma	puma	NOUN
ap-748	34	40	helicopter	helicopter	NOUN
ap-748	34	41	in	in	ADP
ap-748	34	42	hover	hover	PROPN
ap-748	34	43	.	.	PUNCT
ap-748	35	1	the	the	DET
ap-748	35	2	controllers	controller	NOUN
ap-748	35	3	are	be	AUX
ap-748	35	4	then	then	ADV
ap-748	35	5	tested	test	VERB
ap-748	35	6	upon	upon	SCONJ
ap-748	35	7	a	a	DET
ap-748	35	8	higher	high	ADJ
ap-748	35	9	order	order	NOUN
ap-748	35	10	,	,	PUNCT
ap-748	35	11	non	non	ADJ
ap-748	35	12	-	-	ADJ
ap-748	35	13	linear	linear	ADJ
ap-748	35	14	helicopter	helicopter	NOUN
ap-748	35	15	model	model	NOUN
ap-748	35	16	,	,	PUNCT
ap-748	35	17	called	call	VERB
ap-748	35	18	rascal	rascal	NOUN
ap-748	35	19	.	.	PUNCT
ap-748	36	1	this	this	DET
ap-748	36	2	design	design	NOUN
ap-748	36	3	approach	approach	NOUN
ap-748	36	4	is	be	AUX
ap-748	36	5	used	use	VERB
ap-748	36	6	for	for	ADP
ap-748	36	7	attitude	attitude	NOUN
ap-748	36	8	command	command	NOUN
ap-748	36	9	flight	flight	NOUN
ap-748	36	10	control	control	NOUN
ap-748	36	11	implementation	implementation	NOUN
ap-748	36	12	and	and	CCONJ
ap-748	36	13	the	the	DET
ap-748	36	14	control	control	NOUN
ap-748	36	15	performance	performance	NOUN
ap-748	36	16	is	be	AUX
ap-748	36	17	assessed	assess	VERB
ap-748	36	18	in	in	ADP
ap-748	36	19	the	the	DET
ap-748	36	20	terms	term	NOUN
ap-748	36	21	of	of	ADP
ap-748	36	22	handling	handle	VERB
ap-748	36	23	qualities	quality	NOUN
ap-748	36	24	through	through	ADP
ap-748	36	25	the	the	DET
ap-748	36	26	aeronautical	aeronautical	NOUN
ap-748	36	27	design	design	NOUN
ap-748	36	28	standards	standard	NOUN
ap-748	36	29	for	for	ADP
ap-748	36	30	rotorcraft	rotorcraft	NOUN
ap-748	36	31	(	(	PUNCT
ap-748	36	32	ads-33	ads-33	PROPN
ap-748	36	33	)	)	PUNCT
ap-748	36	34	.	.	PUNCT
ap-748	37	1	in	in	ADP
ap-748	37	2	this	this	DET
ap-748	37	3	context	context	NOUN
ap-748	37	4	a	a	DET
ap-748	37	5	linearised	linearise	VERB
ap-748	37	6	approximation	approximation	NOUN
ap-748	37	7	of	of	ADP
ap-748	37	8	the	the	DET
ap-748	37	9	helicopter	helicopter	NOUN
ap-748	37	10	system	system	NOUN
ap-748	37	11	is	be	AUX
ap-748	37	12	used	use	VERB
ap-748	37	13	to	to	PART
ap-748	37	14	design	design	VERB
ap-748	37	15	an	an	DET
ap-748	37	16	smc	smc	PROPN
ap-748	37	17	control	control	PROPN
ap-748	37	18	scheme	scheme	NOUN
ap-748	37	19	.	.	PUNCT
ap-748	38	1	these	these	DET
ap-748	38	2	controllers	controller	NOUN
ap-748	38	3	have	have	AUX
ap-748	38	4	been	be	AUX
ap-748	38	5	found	find	VERB
ap-748	38	6	to	to	PART
ap-748	38	7	yield	yield	VERB
ap-748	38	8	a	a	DET
ap-748	38	9	system	system	NOUN
ap-748	38	10	that	that	PRON
ap-748	38	11	satisfies	satisfy	VERB
ap-748	38	12	the	the	DET
ap-748	38	13	level	level	NOUN
ap-748	38	14	1	1	NUM
ap-748	38	15	handling	handling	NOUN
ap-748	38	16	qualities	quality	NOUN
ap-748	38	17	set	set	VERB
ap-748	38	18	out	out	ADP
ap-748	38	19	by	by	ADP
ap-748	38	20	ads-33	ads-33	PROPN
ap-748	38	21	.	.	PUNCT
ap-748	39	1	keywords	keyword	NOUN
ap-748	39	2	:	:	PUNCT
ap-748	39	3	helicopter	helicopter	NOUN
ap-748	39	4	,	,	PUNCT
ap-748	39	5	sliding	slide	VERB
ap-748	39	6	mode	mode	NOUN
ap-748	39	7	control	control	NOUN
ap-748	39	8	,	,	PUNCT
ap-748	39	9	hover	hover	NOUN
ap-748	39	10	,	,	PUNCT
ap-748	39	11	handling	handle	VERB
ap-748	39	12	qualities	quality	NOUN
ap-748	39	13	,	,	PUNCT
ap-748	39	14	ads-33e	ads-33e	NOUN
ap-748	39	15	-	-	PUNCT
ap-748	39	16	prf	prf	NOUN
ap-748	39	17	,	,	PUNCT
ap-748	39	18	response	response	NOUN
ap-748	39	19	types	type	NOUN
ap-748	39	20	.	.	PUNCT
ap-748	40	1	tal	tal	PROPN
ap-748	40	2	control	control	NOUN
ap-748	40	3	effort	effort	NOUN
ap-748	40	4	comprising	comprising	NOUN
ap-748	40	5	of	of	ADP
ap-748	40	6	two	two	NUM
ap-748	40	7	parts	part	NOUN
ap-748	40	8	:	:	PUNCT
ap-748	40	9	a	a	DET
ap-748	40	10	linear	linear	ADJ
ap-748	40	11	equivalent	equivalent	ADJ
ap-748	40	12	term	term	NOUN
ap-748	40	13	,	,	PUNCT
ap-748	40	14	uequivalent	uequivalent	NOUN
ap-748	40	15	,	,	PUNCT
ap-748	40	16	and	and	CCONJ
ap-748	40	17	a	a	DET
ap-748	40	18	non	non	ADJ
ap-748	40	19	-	-	ADJ
ap-748	40	20	linear	linear	ADJ
ap-748	40	21	switching	switching	NOUN
ap-748	40	22	term	term	NOUN
ap-748	40	23	,	,	PUNCT
ap-748	40	24	uswitching	uswitche	VERB
ap-748	40	25	:	:	PUNCT
ap-748	40	26	u	u	PROPN
ap-748	40	27	u	u	PROPN
ap-748	40	28	u	u	PRON
ap-748	40	29	�	�	PROPN
ap-748	40	30	�	�	PROPN
ap-748	40	31	equivalent	equivalent	ADJ
ap-748	40	32	switching	switching	NOUN
ap-748	40	33	(	(	PUNCT
ap-748	40	34	4	4	NUM
ap-748	40	35	)	)	PUNCT
ap-748	40	36	the	the	DET
ap-748	40	37	closed	closed	ADJ
ap-748	40	38	loop	loop	NOUN
ap-748	40	39	system	system	NOUN
ap-748	40	40	dynamics	dynamic	NOUN
ap-748	40	41	are	be	AUX
ap-748	40	42	represented	represent	VERB
ap-748	40	43	by	by	ADP
ap-748	40	44	a	a	DET
ap-748	40	45	sliding	slide	VERB
ap-748	40	46	manifold	manifold	NOUN
ap-748	41	1	[	[	X
ap-748	41	2	10	10	NUM
ap-748	41	3	]	]	PUNCT
ap-748	41	4	.	.	PUNCT
ap-748	42	1	this	this	DET
ap-748	42	2	sliding	slide	VERB
ap-748	42	3	manifold	manifold	NOUN
ap-748	42	4	is	be	AUX
ap-748	42	5	a	a	DET
ap-748	42	6	hyper	hyper	ADJ
ap-748	42	7	plane	plane	NOUN
ap-748	42	8	representing	represent	VERB
ap-748	42	9	zero	zero	NUM
ap-748	42	10	steady	steady	ADJ
ap-748	42	11	state	state	NOUN
ap-748	42	12	error	error	NOUN
ap-748	42	13	,	,	PUNCT
ap-748	42	14	which	which	PRON
ap-748	42	15	the	the	DET
ap-748	42	16	controller	controller	NOUN
ap-748	42	17	strives	strive	VERB
ap-748	42	18	to	to	PART
ap-748	42	19	converge	converge	VERB
ap-748	42	20	the	the	DET
ap-748	42	21	system	system	NOUN
ap-748	42	22	toward	toward	ADP
ap-748	42	23	.	.	PUNCT
ap-748	43	1	the	the	DET
ap-748	43	2	switching	switch	VERB
ap-748	43	3	term	term	NOUN
ap-748	43	4	is	be	AUX
ap-748	43	5	effective	effective	ADJ
ap-748	43	6	when	when	SCONJ
ap-748	43	7	the	the	DET
ap-748	43	8	system	system	NOUN
ap-748	43	9	diverges	diverge	VERB
ap-748	43	10	from	from	ADP
ap-748	43	11	the	the	DET
ap-748	43	12	zero	zero	NUM
ap-748	43	13	sliding	slide	VERB
ap-748	43	14	surface	surface	NOUN
ap-748	43	15	,	,	PUNCT
ap-748	43	16	which	which	PRON
ap-748	43	17	causes	cause	VERB
ap-748	43	18	the	the	DET
ap-748	43	19	system	system	NOUN
ap-748	43	20	to	to	PART
ap-748	43	21	converge	converge	VERB
ap-748	43	22	back	back	ADV
ap-748	43	23	towards	towards	ADP
ap-748	43	24	it	it	PRON
ap-748	43	25	.	.	PUNCT
ap-748	44	1	the	the	DET
ap-748	44	2	equivalent	equivalent	ADJ
ap-748	44	3	controller	controller	NOUN
ap-748	44	4	is	be	AUX
ap-748	44	5	effective	effective	ADJ
ap-748	44	6	when	when	SCONJ
ap-748	44	7	upon	upon	SCONJ
ap-748	44	8	the	the	DET
ap-748	44	9	sliding	slide	VERB
ap-748	44	10	manifold	manifold	NOUN
ap-748	44	11	,	,	PUNCT
ap-748	44	12	representing	represent	VERB
ap-748	44	13	the	the	DET
ap-748	44	14	desired	desire	VERB
ap-748	44	15	closed	close	VERB
ap-748	44	16	-	-	PUNCT
ap-748	44	17	loop	loop	NOUN
ap-748	44	18	system	system	NOUN
ap-748	44	19	dynamics	dynamic	NOUN
ap-748	44	20	.	.	PUNCT
ap-748	45	1	u	u	PRON
ap-748	45	2	k	k	PROPN
ap-748	45	3	xt	xt	PROPN
ap-748	45	4	equivalent	equivalent	PROPN
ap-748	45	5	�	�	PROPN
ap-748	45	6	�	�	PROPN
ap-748	45	7	�	�	PROPN
ap-748	45	8	.	.	PUNCT
ap-748	46	1	(	(	PUNCT
ap-748	46	2	5	5	X
ap-748	46	3	)	)	PUNCT
ap-748	46	4	k	k	X
ap-748	46	5	is	be	AUX
ap-748	46	6	the	the	DET
ap-748	46	7	decoupled	decouple	VERB
ap-748	46	8	feedback	feedback	NOUN
ap-748	46	9	gain	gain	NOUN
ap-748	46	10	vector	vector	NOUN
ap-748	46	11	found	find	VERB
ap-748	46	12	from	from	ADP
ap-748	46	13	pole	pole	ADJ
ap-748	46	14	placement	placement	NOUN
ap-748	46	15	[	[	X
ap-748	46	16	18	18	NUM
ap-748	46	17	]	]	PUNCT
ap-748	46	18	and	and	CCONJ
ap-748	46	19	x	x	PRON
ap-748	46	20	represents	represent	VERB
ap-748	46	21	the	the	DET
ap-748	46	22	decoupled	decouple	VERB
ap-748	46	23	system	system	NOUN
ap-748	46	24	states	state	NOUN
ap-748	46	25	.	.	PUNCT
ap-748	47	1	the	the	DET
ap-748	47	2	switching	switch	VERB
ap-748	47	3	term	term	NOUN
ap-748	47	4	drives	drive	VERB
ap-748	47	5	the	the	DET
ap-748	47	6	systems	system	NOUN
ap-748	47	7	when	when	SCONJ
ap-748	47	8	subjected	subject	VERB
ap-748	47	9	to	to	ADP
ap-748	47	10	disturbance	disturbance	NOUN
ap-748	47	11	or	or	CCONJ
ap-748	47	12	commands	command	NOUN
ap-748	47	13	,	,	PUNCT
ap-748	47	14	defined	define	VERB
ap-748	47	15	by	by	ADP
ap-748	47	16	the	the	DET
ap-748	47	17	sliding	slide	VERB
ap-748	47	18	surface	surface	NOUN
ap-748	47	19	,	,	PUNCT
ap-748	47	20	�	�	PROPN
ap-748	47	21	,	,	PUNCT
ap-748	47	22	which	which	PRON
ap-748	47	23	is	be	AUX
ap-748	47	24	represented	represent	VERB
ap-748	47	25	as	as	ADP
ap-748	47	26	[	[	X
ap-748	47	27	16	16	NUM
ap-748	47	28	,	,	PUNCT
ap-748	47	29	17	17	NUM
ap-748	47	30	]	]	PUNCT
ap-748	47	31	�	�	PROPN
ap-748	47	32	(	(	PUNCT
ap-748	47	33	)	)	PUNCT
ap-748	47	34	(	(	PUNCT
ap-748	47	35	)	)	PUNCT
ap-748	47	36	�	�	PROPN
ap-748	47	37	�	�	PROPN
ap-748	47	38	�	�	PROPN
ap-748	47	39	�	�	PROPN
ap-748	47	40	�	�	PROPN
ap-748	47	41	�	�	PROPN
ap-748	47	42	�	�	PROPN
ap-748	47	43	�	�	PROPN
ap-748	47	44	�	�	PROPN
ap-748	47	45	x	x	PROPN
ap-748	47	46	h	h	NOUN
ap-748	47	47	x	x	NOUN
ap-748	47	48	h	h	NOUN
ap-748	47	49	x	x	SYM
ap-748	47	50	xt	xt	PROPN
ap-748	47	51	t	t	PROPN
ap-748	47	52	cmd	cmd	PROPN
ap-748	47	53	,	,	PUNCT
ap-748	47	54	(	(	PUNCT
ap-748	47	55	6	6	NUM
ap-748	47	56	)	)	PUNCT
ap-748	47	57	�	�	PROPN
ap-748	47	58	xcmd	xcmd	PROPN
ap-748	47	59	is	be	AUX
ap-748	47	60	the	the	DET
ap-748	47	61	desired	desire	VERB
ap-748	47	62	trajectory	trajectory	NOUN
ap-748	47	63	.	.	PUNCT
ap-748	48	1	�	�	PROPN
ap-748	48	2	is	be	AUX
ap-748	48	3	a	a	DET
ap-748	48	4	function	function	NOUN
ap-748	48	5	of	of	ADP
ap-748	48	6	the	the	DET
ap-748	48	7	state	state	NOUN
ap-748	48	8	error	error	NOUN
ap-748	48	9	,	,	PUNCT
ap-748	48	10	�	�	PROPN
ap-748	48	11	�	�	PROPN
ap-748	48	12	x	x	PRON
ap-748	48	13	,	,	PUNCT
ap-748	48	14	and	and	CCONJ
ap-748	48	15	h	h	NOUN
ap-748	48	16	is	be	AUX
ap-748	48	17	the	the	DET
ap-748	48	18	right	right	ADJ
ap-748	48	19	eigenvector	eigenvector	NOUN
ap-748	49	1	[	[	X
ap-748	49	2	16	16	NUM
ap-748	49	3	]	]	PUNCT
ap-748	49	4	of	of	ADP
ap-748	49	5	the	the	DET
ap-748	49	6	desired	desire	VERB
ap-748	49	7	decoupled	decouple	VERB
ap-748	49	8	closed	closed	ADJ
ap-748	49	9	loop	loop	NOUN
ap-748	49	10	system	system	NOUN
ap-748	49	11	matrix	matrix	NOUN
ap-748	49	12	,	,	PUNCT
ap-748	49	13	ac	ac	PROPN
ap-748	49	14	,	,	PUNCT
ap-748	49	15	found	find	VERB
ap-748	49	16	from	from	ADP
ap-748	49	17	:	:	PUNCT
ap-748	49	18	a	a	DET
ap-748	49	19	a	a	PRON
ap-748	49	20	b	b	X
ap-748	49	21	kt	kt	X
ap-748	49	22	c	c	PROPN
ap-748	49	23	�	�	PROPN
ap-748	49	24	�	�	PROPN
ap-748	49	25	�	�	PROPN
ap-748	49	26	�	�	PROPN
ap-748	49	27	,	,	PUNCT
ap-748	49	28	(	(	PUNCT
ap-748	49	29	7	7	X
ap-748	49	30	)	)	PUNCT
ap-748	49	31	where	where	SCONJ
ap-748	49	32	�	�	NOUN
ap-748	49	33	a	a	PRON
ap-748	49	34	is	be	AUX
ap-748	49	35	the	the	DET
ap-748	49	36	decoupled	decouple	VERB
ap-748	49	37	system	system	NOUN
ap-748	49	38	matrix	matrix	NOUN
ap-748	49	39	,	,	PUNCT
ap-748	49	40	�	�	PROPN
ap-748	49	41	b	b	PROPN
ap-748	49	42	is	be	AUX
ap-748	49	43	the	the	DET
ap-748	49	44	decoupled	decouple	VERB
ap-748	49	45	input	input	NOUN
ap-748	49	46	distribution	distribution	NOUN
ap-748	49	47	vector	vector	NOUN
ap-748	49	48	.	.	PUNCT
ap-748	50	1	this	this	PRON
ap-748	50	2	leads	lead	VERB
ap-748	50	3	to	to	ADP
ap-748	50	4	an	an	DET
ap-748	50	5	appropriate	appropriate	ADJ
ap-748	50	6	controller	controller	NOUN
ap-748	50	7	function	function	NOUN
ap-748	50	8	to	to	PART
ap-748	50	9	represent	represent	VERB
ap-748	50	10	the	the	DET
ap-748	50	11	switching	switch	VERB
ap-748	50	12	action	action	NOUN
ap-748	50	13	[	[	X
ap-748	50	14	16	16	NUM
ap-748	50	15	,	,	PUNCT
ap-748	50	16	17	17	NUM
ap-748	50	17	]	]	PUNCT
ap-748	50	18	:	:	PUNCT
ap-748	51	1	�	�	PROPN
ap-748	51	2	�	�	PROPN
ap-748	51	3	�	�	PROPN
ap-748	51	4	u	u	PROPN
ap-748	51	5	h	h	NOUN
ap-748	51	6	b	b	PROPN
ap-748	51	7	h	h	NOUN
ap-748	52	1	x	x	NOUN
ap-748	52	2	h	h	NOUN
ap-748	52	3	f	f	NOUN
ap-748	52	4	x	x	PROPN
ap-748	52	5	xt	xt	PROPN
ap-748	52	6	t	t	PROPN
ap-748	52	7	t	t	NOUN
ap-748	52	8	switching	switch	VERB
ap-748	52	9	cmd	cmd	PROPN
ap-748	52	10	�	�	PROPN
ap-748	52	11	�	�	PROPN
ap-748	52	12	�	�	PROPN
ap-748	52	13	�	�	PROPN
ap-748	52	14	�	�	PROPN
ap-748	52	15	�	�	PROPN
ap-748	52	16	1	1	NUM
ap-748	52	17	�	�	PROPN
ap-748	52	18	�	�	PROPN
ap-748	52	19	(	(	PUNCT
ap-748	52	20	)	)	PUNCT
ap-748	52	21	sgn	sgn	NOUN
ap-748	52	22	(	(	PUNCT
ap-748	52	23	(	(	PUNCT
ap-748	52	24	)	)	PUNCT
ap-748	52	25	)	)	PUNCT
ap-748	52	26	�	�	PROPN
ap-748	52	27	�	�	PROPN
ap-748	52	28	�	�	PROPN
ap-748	52	29	,	,	PUNCT
ap-748	52	30	(	(	PUNCT
ap-748	52	31	8)	8)	NUM
ap-748	52	32	where	where	SCONJ
ap-748	52	33	,	,	PUNCT
ap-748	52	34	�	�	PROPN
ap-748	52	35	(	(	PUNCT
ap-748	52	36	)	)	PUNCT
ap-748	52	37	f	f	NOUN
ap-748	52	38	x	x	PRON
ap-748	52	39	represents	represent	VERB
ap-748	52	40	the	the	DET
ap-748	52	41	unmodelled	unmodelled	ADJ
ap-748	52	42	dynamics	dynamic	NOUN
ap-748	52	43	.	.	PUNCT
ap-748	53	1	however	however	ADV
ap-748	53	2	,	,	PUNCT
ap-748	53	3	(	(	PUNCT
ap-748	53	4	8)	8)	NUM
ap-748	53	5	is	be	AUX
ap-748	53	6	not	not	PART
ap-748	53	7	very	very	ADV
ap-748	53	8	practical	practical	ADJ
ap-748	53	9	,	,	PUNCT
ap-748	53	10	due	due	ADJ
ap-748	53	11	to	to	ADP
ap-748	53	12	system	system	NOUN
ap-748	53	13	noise	noise	NOUN
ap-748	53	14	and	and	CCONJ
ap-748	53	15	actuator	actuator	NOUN
ap-748	53	16	dynamics	dynamic	NOUN
ap-748	53	17	,	,	PUNCT
ap-748	53	18	resulting	result	VERB
ap-748	53	19	in	in	ADP
ap-748	53	20	chattering	chatter	VERB
ap-748	53	21	[	[	X
ap-748	53	22	10	10	NUM
ap-748	53	23	]	]	PUNCT
ap-748	53	24	.	.	PUNCT
ap-748	54	1	this	this	PRON
ap-748	54	2	is	be	AUX
ap-748	54	3	due	due	ADJ
ap-748	54	4	to	to	ADP
ap-748	54	5	small	small	ADJ
ap-748	54	6	values	value	NOUN
ap-748	54	7	of	of	ADP
ap-748	54	8	�	�	PROPN
ap-748	54	9	causing	cause	VERB
ap-748	54	10	the	the	DET
ap-748	54	11	switching	switch	VERB
ap-748	54	12	term	term	NOUN
ap-748	54	13	to	to	PART
ap-748	54	14	add	add	VERB
ap-748	54	15	a	a	DET
ap-748	54	16	magnitude	magnitude	NOUN
ap-748	54	17	of	of	ADP
ap-748	54	18	�	�	PROPN
ap-748	54	19	to	to	ADP
ap-748	54	20	the	the	DET
ap-748	54	21	control	control	NOUN
ap-748	54	22	action	action	NOUN
ap-748	54	23	.	.	PUNCT
ap-748	55	1	consequently	consequently	ADV
ap-748	55	2	this	this	PRON
ap-748	55	3	overcompensates	overcompensate	VERB
ap-748	55	4	for	for	ADP
ap-748	55	5	the	the	DET
ap-748	55	6	small	small	ADJ
ap-748	55	7	error	error	NOUN
ap-748	55	8	and	and	CCONJ
ap-748	55	9	thus	thus	ADV
ap-748	55	10	causes	cause	VERB
ap-748	55	11	the	the	DET
ap-748	55	12	input	input	NOUN
ap-748	55	13	signal	signal	NOUN
ap-748	55	14	to	to	PART
ap-748	55	15	oscillate	oscillate	VERB
ap-748	55	16	around	around	ADP
ap-748	55	17	�	�	PROPN
ap-748	55	18	�	�	PROPN
ap-748	55	19	0	0	PROPN
ap-748	55	20	.	.	PUNCT
ap-748	56	1	this	this	PRON
ap-748	56	2	may	may	AUX
ap-748	56	3	result	result	VERB
ap-748	56	4	in	in	ADP
ap-748	56	5	high	high	ADJ
ap-748	56	6	actuator	actuator	NOUN
ap-748	56	7	wear	wear	NOUN
ap-748	56	8	and	and	CCONJ
ap-748	56	9	may	may	AUX
ap-748	56	10	excite	excite	VERB
ap-748	56	11	any	any	DET
ap-748	56	12	high	high	ADJ
ap-748	56	13	frequency	frequency	NOUN
ap-748	56	14	modes	mode	NOUN
ap-748	56	15	of	of	ADP
ap-748	56	16	the	the	DET
ap-748	56	17	system	system	NOUN
ap-748	56	18	.	.	PUNCT
ap-748	57	1	for	for	ADP
ap-748	57	2	this	this	DET
ap-748	57	3	reason	reason	NOUN
ap-748	57	4	,	,	PUNCT
ap-748	57	5	other	other	ADJ
ap-748	57	6	switching	switch	VERB
ap-748	57	7	regimes	regime	NOUN
ap-748	57	8	that	that	PRON
ap-748	57	9	incorporate	incorporate	VERB
ap-748	57	10	a	a	DET
ap-748	57	11	boundary	boundary	ADJ
ap-748	57	12	layer	layer	NOUN
ap-748	57	13	�	�	PROPN
ap-748	57	14	bl	bl	PROPN
ap-748	57	15	,	,	PUNCT
ap-748	57	16	around	around	ADP
ap-748	57	17	the	the	DET
ap-748	57	18	sliding	slide	VERB
ap-748	57	19	surface	surface	NOUN
ap-748	57	20	can	can	AUX
ap-748	57	21	be	be	AUX
ap-748	57	22	used	use	VERB
ap-748	57	23	[	[	PUNCT
ap-748	57	24	17	17	NUM
ap-748	57	25	]	]	PUNCT
ap-748	57	26	.	.	PUNCT
ap-748	58	1	for	for	ADP
ap-748	58	2	this	this	DET
ap-748	58	3	application	application	NOUN
ap-748	58	4	,	,	PUNCT
ap-748	58	5	a	a	DET
ap-748	58	6	saturation	saturation	NOUN
ap-748	58	7	function	function	NOUN
ap-748	58	8	is	be	AUX
ap-748	58	9	employed	employ	VERB
ap-748	58	10	.	.	PUNCT
ap-748	59	1	this	this	PRON
ap-748	59	2	is	be	AUX
ap-748	59	3	similar	similar	ADJ
ap-748	59	4	to	to	ADP
ap-748	59	5	that	that	PRON
ap-748	59	6	of	of	ADP
ap-748	59	7	a	a	DET
ap-748	59	8	sgn	sgn	NOUN
ap-748	59	9	function	function	NOUN
ap-748	59	10	in	in	ADP
ap-748	59	11	that	that	PRON
ap-748	59	12	when	when	SCONJ
ap-748	59	13	�	�	PROPN
ap-748	59	14	�	�	PROPN
ap-748	59	15	bl	bl	PROPN
ap-748	59	16	1	1	NUM
ap-748	59	17	,	,	PUNCT
ap-748	59	18	or	or	CCONJ
ap-748	59	19	�	�	PROPN
ap-748	59	20	�	�	PROPN
ap-748	59	21	bl	bl	PROPN
ap-748	59	22	�	�	PROPN
ap-748	59	23	�	�	PROPN
ap-748	59	24	1	1	NUM
ap-748	59	25	,	,	PUNCT
ap-748	59	26	the	the	DET
ap-748	59	27	output	output	NOUN
ap-748	59	28	of	of	ADP
ap-748	59	29	the	the	DET
ap-748	59	30	sat	sit	VERB
ap-748	59	31	function	function	NOUN
ap-748	59	32	is	be	AUX
ap-748	59	33	the	the	DET
ap-748	59	34	same	same	ADJ
ap-748	59	35	as	as	ADP
ap-748	59	36	the	the	DET
ap-748	59	37	sgn	sgn	NOUN
ap-748	59	38	function	function	NOUN
ap-748	59	39	.	.	PUNCT
ap-748	60	1	however	however	ADV
ap-748	60	2	when	when	SCONJ
ap-748	60	3	within	within	ADP
ap-748	60	4	the	the	DET
ap-748	60	5	boundary	boundary	ADJ
ap-748	60	6	layer	layer	NOUN
ap-748	60	7	,	,	PUNCT
ap-748	60	8	�	�	PROPN
ap-748	60	9	�	�	PROPN
ap-748	60	10	�	�	PROPN
ap-748	60	11	bl	bl	PROPN
ap-748	60	12	,	,	PUNCT
ap-748	60	13	the	the	DET
ap-748	60	14	output	output	NOUN
ap-748	60	15	is	be	AUX
ap-748	60	16	equal	equal	ADJ
ap-748	60	17	to	to	ADP
ap-748	60	18	�	�	PROPN
ap-748	60	19	�	�	PROPN
ap-748	60	20	bl	bl	PROPN
ap-748	60	21	.	.	PUNCT
ap-748	61	1	this	this	PRON
ap-748	61	2	is	be	AUX
ap-748	61	3	known	know	VERB
ap-748	61	4	as	as	ADP
ap-748	61	5	pseudo	pseudo	NOUN
ap-748	61	6	(	(	PUNCT
ap-748	61	7	or	or	CCONJ
ap-748	61	8	soft	soft	ADJ
ap-748	61	9	)	)	PUNCT
ap-748	61	10	switching	switch	VERB
ap-748	61	11	as	as	SCONJ
ap-748	61	12	it	it	PRON
ap-748	61	13	removes	remove	VERB
ap-748	61	14	the	the	DET
ap-748	61	15	hard	hard	ADJ
ap-748	61	16	transition	transition	NOUN
ap-748	61	17	between	between	ADP
ap-748	61	18	the	the	DET
ap-748	61	19	sudden	sudden	ADJ
ap-748	61	20	transitions	transition	NOUN
ap-748	61	21	from	from	ADP
ap-748	61	22	–	–	PUNCT
ap-748	61	23	1	1	NUM
ap-748	61	24	to	to	PART
ap-748	61	25	1	1	NUM
ap-748	61	26	[	[	X
ap-748	61	27	17	17	NUM
ap-748	61	28	]	]	PUNCT
ap-748	61	29	.	.	PUNCT
ap-748	62	1	this	this	PRON
ap-748	62	2	is	be	AUX
ap-748	62	3	shown	show	VERB
ap-748	62	4	below	below	ADV
ap-748	62	5	.	.	PUNCT
ap-748	63	1	sat	sit	VERB
ap-748	63	2	�	�	PROPN
ap-748	63	3	�	�	PROPN
ap-748	63	4	�	�	PROPN
ap-748	63	5	�	�	PROPN
ap-748	63	6	�	�	PROPN
ap-748	63	7	�	�	PROPN
ap-748	63	8	�	�	PROPN
ap-748	63	9	�	�	PROPN
ap-748	63	10	�	�	PROPN
ap-748	63	11	bl	bl	PROPN
ap-748	63	12	bl	bl	PROPN
ap-748	63	13	bl	bl	PROPN
ap-748	63	14	bl	bl	PROPN
ap-748	63	15	�	�	PROPN
ap-748	63	16	�	�	PROPN
ap-748	63	17	�	�	PROPN
ap-748	63	18	�	�	PROPN
ap-748	63	19	�	�	PROPN
ap-748	63	20	�	�	PROPN
ap-748	63	21	�	�	PROPN
ap-748	63	22	�	�	PROPN
ap-748	63	23	�	�	PROPN
ap-748	63	24	�	�	PROPN
ap-748	63	25	�	�	PROPN
ap-748	63	26	�	�	PROPN
ap-748	63	27	�	�	PROPN
ap-748	63	28	�	�	PROPN
ap-748	63	29	�	�	PROPN
ap-748	63	30	�	�	PROPN
ap-748	63	31	�	�	PROPN
ap-748	63	32	�	�	PROPN
ap-748	63	33	�	�	PROPN
ap-748	63	34	�	�	PROPN
ap-748	63	35	1	1	NUM
ap-748	63	36	1	1	NUM
ap-748	63	37	1	1	NUM
ap-748	63	38	1	1	NUM
ap-748	63	39	1	1	NUM
ap-748	63	40	1	1	NUM
ap-748	63	41	.	.	PUNCT
ap-748	64	1	(	(	PUNCT
ap-748	64	2	9	9	NUM
ap-748	64	3	)	)	PUNCT
ap-748	64	4	when	when	SCONJ
ap-748	64	5	within	within	ADP
ap-748	64	6	this	this	DET
ap-748	64	7	region	region	NOUN
ap-748	64	8	however	however	ADV
ap-748	64	9	,	,	PUNCT
ap-748	64	10	there	there	PRON
ap-748	64	11	is	be	VERB
ap-748	64	12	no	no	DET
ap-748	64	13	guarantee	guarantee	NOUN
ap-748	64	14	that	that	SCONJ
ap-748	64	15	the	the	DET
ap-748	64	16	sliding	slide	VERB
ap-748	64	17	surface	surface	NOUN
ap-748	64	18	will	will	AUX
ap-748	64	19	be	be	AUX
ap-748	64	20	reached	reach	VERB
ap-748	64	21	[	[	PUNCT
ap-748	64	22	10	10	NUM
ap-748	64	23	]	]	PUNCT
ap-748	64	24	.	.	PUNCT
ap-748	65	1	hence	hence	ADV
ap-748	65	2	,	,	PUNCT
ap-748	65	3	there	there	PRON
ap-748	65	4	must	must	AUX
ap-748	65	5	be	be	AUX
ap-748	65	6	a	a	DET
ap-748	65	7	trade	trade	NOUN
ap-748	65	8	-	-	PUNCT
ap-748	65	9	off	off	NOUN
ap-748	65	10	in	in	ADP
ap-748	65	11	terms	term	NOUN
ap-748	65	12	of	of	ADP
ap-748	65	13	robustness	robustness	NOUN
ap-748	65	14	,	,	PUNCT
ap-748	65	15	performance	performance	NOUN
ap-748	65	16	and	and	CCONJ
ap-748	65	17	chattering	chattering	NOUN
ap-748	65	18	.	.	PUNCT
ap-748	66	1	this	this	PRON
ap-748	66	2	gives	give	VERB
ap-748	66	3	the	the	DET
ap-748	66	4	total	total	ADJ
ap-748	66	5	control	control	NOUN
ap-748	66	6	effort	effort	NOUN
ap-748	66	7	as	as	ADP
ap-748	66	8	:	:	PUNCT
ap-748	66	9	�	�	PROPN
ap-748	66	10	u	u	NOUN
ap-748	66	11	k	k	PROPN
ap-748	66	12	x	x	PUNCT
ap-748	66	13	h	h	NOUN
ap-748	67	1	b	b	NOUN
ap-748	67	2	h	h	NOUN
ap-748	68	1	x	x	NOUN
ap-748	68	2	h	h	NOUN
ap-748	68	3	f	f	NOUN
ap-748	68	4	x	x	AUX
ap-748	68	5	sat	sit	VERB
ap-748	68	6	xt	xt	PROPN
ap-748	68	7	t	t	PROPN
ap-748	68	8	t	t	PROPN
ap-748	68	9	t	t	PROPN
ap-748	68	10	�	�	PROPN
ap-748	68	11	�	�	PROPN
ap-748	68	12	�	�	PROPN
ap-748	68	13	�	�	PROPN
ap-748	68	14	�	�	PROPN
ap-748	68	15	�	�	PROPN
ap-748	68	16	�	�	PROPN
ap-748	68	17	�	�	PROPN
ap-748	68	18	�	�	PROPN
ap-748	68	19	�	�	PROPN
ap-748	68	20	�	�	PROPN
ap-748	68	21	�	�	PROPN
ap-748	68	22	�	�	PROPN
ap-748	68	23	�	�	PROPN
ap-748	68	24	�	�	PROPN
ap-748	68	25	1	1	NUM
ap-748	68	26	�	�	PROPN
ap-748	68	27	�	�	PROPN
ap-748	68	28	(	(	PUNCT
ap-748	68	29	)	)	PUNCT
ap-748	68	30	(	(	PUNCT
ap-748	68	31	)	)	PUNCT
ap-748	68	32	cmd	cmd	NOUN
ap-748	68	33	bl	bl	PROPN
ap-748	68	34	�	�	PROPN
ap-748	68	35	�	�	PROPN
ap-748	68	36	�	�	PROPN
ap-748	68	37	�	�	PROPN
ap-748	68	38	�	�	PROPN
ap-748	68	39	�	�	PROPN
ap-748	68	40	�	�	PROPN
ap-748	68	41	�	�	PROPN
ap-748	68	42	�	�	PROPN
ap-748	68	43	�	�	PROPN
ap-748	68	44	�	�	PROPN
ap-748	68	45	�	�	PROPN
ap-748	68	46	(	(	PUNCT
ap-748	68	47	10	10	NUM
ap-748	68	48	)	)	PUNCT
ap-748	68	49	4	4	NUM
ap-748	68	50	aeronautical	aeronautical	NOUN
ap-748	68	51	design	design	NOUN
ap-748	68	52	standards	standard	NOUN
ap-748	68	53	ads-33	ads-33	ADP
ap-748	68	54	the	the	DET
ap-748	68	55	ads-33	ads-33	PROPN
ap-748	68	56	document	document	NOUN
ap-748	68	57	outlines	outline	VERB
ap-748	68	58	the	the	DET
ap-748	68	59	desired	desire	VERB
ap-748	68	60	handling	handling	NOUN
ap-748	68	61	qualities	quality	NOUN
ap-748	68	62	of	of	ADP
ap-748	68	63	military	military	ADJ
ap-748	68	64	rotorcraft	rotorcraft	NOUN
ap-748	68	65	(	(	PUNCT
ap-748	68	66	see	see	VERB
ap-748	68	67	ads-33	ads-33	PROPN
ap-748	68	68	and	and	CCONJ
ap-748	68	69	cooper	cooper	PROPN
ap-748	68	70	harper	harper	PROPN
ap-748	68	71	for	for	ADP
ap-748	68	72	more	more	ADJ
ap-748	68	73	information	information	NOUN
ap-748	68	74	[	[	X
ap-748	68	75	12	12	NUM
ap-748	68	76	,	,	PUNCT
ap-748	68	77	19	19	NUM
ap-748	68	78	]	]	PUNCT
ap-748	68	79	)	)	PUNCT
ap-748	68	80	.	.	PUNCT
ap-748	69	1	this	this	DET
ap-748	69	2	paper	paper	NOUN
ap-748	69	3	centers	center	NOUN
ap-748	69	4	upon	upon	SCONJ
ap-748	69	5	the	the	DET
ap-748	69	6	design	design	NOUN
ap-748	69	7	and	and	CCONJ
ap-748	69	8	implementation	implementation	NOUN
ap-748	69	9	of	of	ADP
ap-748	69	10	an	an	DET
ap-748	69	11	attitude	attitude	NOUN
ap-748	69	12	command	command	NOUN
ap-748	69	13	response	response	NOUN
ap-748	69	14	type	type	NOUN
ap-748	69	15	,	,	PUNCT
ap-748	69	16	(	(	PUNCT
ap-748	69	17	offers	offer	VERB
ap-748	69	18	a	a	DET
ap-748	69	19	lower	low	ADJ
ap-748	69	20	level	level	NOUN
ap-748	69	21	of	of	ADP
ap-748	69	22	agility	agility	NOUN
ap-748	69	23	than	than	ADP
ap-748	69	24	rate	rate	NOUN
ap-748	69	25	response	response	NOUN
ap-748	69	26	types	type	NOUN
ap-748	69	27	but	but	CCONJ
ap-748	69	28	tends	tend	VERB
ap-748	69	29	to	to	PART
ap-748	69	30	offer	offer	VERB
ap-748	69	31	a	a	DET
ap-748	69	32	higher	high	ADJ
ap-748	69	33	level	level	NOUN
ap-748	69	34	of	of	ADP
ap-748	69	35	stabilisation	stabilisation	NOUN
ap-748	69	36	)	)	PUNCT
ap-748	69	37	.	.	PUNCT
ap-748	70	1	this	this	PRON
ap-748	70	2	means	mean	VERB
ap-748	70	3	that	that	SCONJ
ap-748	70	4	from	from	ADP
ap-748	70	5	a	a	DET
ap-748	70	6	step	step	NOUN
ap-748	70	7	input	input	NOUN
ap-748	70	8	to	to	ADP
ap-748	70	9	the	the	DET
ap-748	70	10	cyclic	cyclic	ADJ
ap-748	70	11	or	or	CCONJ
ap-748	70	12	pedals	pedal	NOUN
ap-748	70	13	,	,	PUNCT
ap-748	70	14	a	a	DET
ap-748	70	15	constant	constant	ADJ
ap-748	70	16	attitude	attitude	NOUN
ap-748	70	17	change	change	NOUN
ap-748	70	18	of	of	ADP
ap-748	70	19	pitch	pitch	NOUN
ap-748	70	20	,	,	PUNCT
ap-748	70	21	roll	roll	NOUN
ap-748	70	22	or	or	CCONJ
ap-748	70	23	yaw	yaw	NOUN
ap-748	70	24	will	will	AUX
ap-748	70	25	result	result	VERB
ap-748	70	26	,	,	PUNCT
ap-748	70	27	proportional	proportional	ADJ
ap-748	70	28	to	to	ADP
ap-748	70	29	the	the	DET
ap-748	70	30	magnitude	magnitude	NOUN
ap-748	70	31	of	of	ADP
ap-748	70	32	the	the	DET
ap-748	70	33	step	step	NOUN
ap-748	70	34	input	input	NOUN
ap-748	70	35	.	.	PUNCT
ap-748	71	1	the	the	DET
ap-748	71	2	assessment	assessment	NOUN
ap-748	71	3	criteria	criterion	NOUN
ap-748	71	4	for	for	ADP
ap-748	71	5	attitude	attitude	NOUN
ap-748	71	6	response	response	NOUN
ap-748	71	7	types	type	NOUN
ap-748	71	8	can	can	AUX
ap-748	71	9	be	be	AUX
ap-748	71	10	broken	break	VERB
ap-748	71	11	down	down	ADP
ap-748	71	12	into	into	ADP
ap-748	71	13	the	the	DET
ap-748	71	14	following	follow	VERB
ap-748	71	15	areas	area	NOUN
ap-748	71	16	:	:	PUNCT
ap-748	71	17	small	small	ADJ
ap-748	71	18	amplitude	amplitude	NOUN
ap-748	71	19	,	,	PUNCT
ap-748	71	20	moderate	moderate	ADJ
ap-748	71	21	amplitude	amplitude	NOUN
ap-748	71	22	,	,	PUNCT
ap-748	71	23	large	large	ADJ
ap-748	71	24	amplitude	amplitude	NOUN
ap-748	71	25	,	,	PUNCT
ap-748	71	26	and	and	CCONJ
ap-748	71	27	inter	inter	ADJ
ap-748	71	28	axis	axis	ADJ
ap-748	71	29	coupling	coupling	NOUN
ap-748	71	30	.	.	PUNCT
ap-748	72	1	as	as	ADV
ap-748	72	2	well	well	ADV
ap-748	72	3	as	as	ADP
ap-748	72	4	the	the	DET
ap-748	72	5	above	above	ADJ
ap-748	72	6	requirements	requirement	NOUN
ap-748	72	7	,	,	PUNCT
ap-748	72	8	the	the	DET
ap-748	72	9	impulse	impulse	ADJ
ap-748	72	10	response	response	NOUN
ap-748	72	11	must	must	AUX
ap-748	72	12	be	be	AUX
ap-748	72	13	observed	observe	VERB
ap-748	72	14	.	.	PUNCT
ap-748	73	1	for	for	ADP
ap-748	73	2	attitude	attitude	NOUN
ap-748	73	3	hold	hold	VERB
ap-748	73	4	response	response	NOUN
ap-748	73	5	types	type	NOUN
ap-748	73	6	,	,	PUNCT
ap-748	73	7	the	the	DET
ap-748	73	8	attitude	attitude	NOUN
ap-748	73	9	should	should	AUX
ap-748	73	10	return	return	VERB
ap-748	73	11	to	to	PART
ap-748	73	12	trim	trim	VERB
ap-748	73	13	following	follow	VERB
ap-748	73	14	a	a	DET
ap-748	73	15	control	control	NOUN
ap-748	73	16	input	input	NOUN
ap-748	73	17	.	.	PUNCT
ap-748	74	1	by	by	ADP
ap-748	74	2	observing	observe	VERB
ap-748	74	3	the	the	DET
ap-748	74	4	response	response	NOUN
ap-748	74	5	following	follow	VERB
ap-748	74	6	an	an	DET
ap-748	74	7	impulse	impulse	ADJ
ap-748	74	8	command	command	NOUN
ap-748	74	9	,	,	PUNCT
ap-748	74	10	the	the	DET
ap-748	74	11	time	time	NOUN
ap-748	74	12	for	for	ADP
ap-748	74	13	attitude	attitude	NOUN
ap-748	74	14	to	to	PART
ap-748	74	15	return	return	VERB
ap-748	74	16	to	to	PART
ap-748	74	17	trim	trim	VERB
ap-748	74	18	is	be	AUX
ap-748	74	19	measured	measure	VERB
ap-748	74	20	.	.	PUNCT
ap-748	75	1	the	the	DET
ap-748	75	2	requirement	requirement	NOUN
ap-748	75	3	for	for	ADP
ap-748	75	4	pitch	pitch	NOUN
ap-748	75	5	,	,	PUNCT
ap-748	75	6	roll	roll	NOUN
ap-748	75	7	and	and	CCONJ
ap-748	75	8	yaw	yaw	NOUN
ap-748	75	9	,	,	PUNCT
ap-748	75	10	is	be	AUX
ap-748	75	11	that	that	PRON
ap-748	75	12	for	for	ADP
ap-748	75	13	a	a	DET
ap-748	75	14	pulse	pulse	NOUN
ap-748	75	15	controller	controller	NOUN
ap-748	75	16	input	input	NOUN
ap-748	75	17	,	,	PUNCT
ap-748	75	18	the	the	DET
ap-748	75	19	attitude	attitude	NOUN
ap-748	75	20	should	should	AUX
ap-748	75	21	return	return	VERB
ap-748	75	22	to	to	ADP
ap-748	75	23	10	10	NUM
ap-748	75	24	%	%	NOUN
ap-748	75	25	of	of	ADP
ap-748	75	26	the	the	DET
ap-748	75	27	peak	peak	NOUN
ap-748	75	28	value	value	NOUN
ap-748	75	29	within	within	ADP
ap-748	75	30	10	10	NUM
ap-748	75	31	seconds	second	NOUN
ap-748	75	32	.	.	PUNCT
ap-748	76	1	for	for	ADP
ap-748	76	2	yaw	yaw	NOUN
ap-748	76	3	(	(	PUNCT
ap-748	76	4	heading	head	VERB
ap-748	76	5	)	)	PUNCT
ap-748	76	6	there	there	PRON
ap-748	76	7	is	be	VERB
ap-748	76	8	the	the	DET
ap-748	76	9	additional	additional	ADJ
ap-748	76	10	requirement	requirement	NOUN
ap-748	76	11	that	that	SCONJ
ap-748	76	12	for	for	ADP
ap-748	76	13	a	a	DET
ap-748	76	14	release	release	NOUN
ap-748	76	15	of	of	ADP
ap-748	76	16	the	the	DET
ap-748	76	17	directional	directional	ADJ
ap-748	76	18	controller	controller	NOUN
ap-748	76	19	the	the	DET
ap-748	76	20	rotorcraft	rotorcraft	NOUN
ap-748	76	21	captures	capture	VERB
ap-748	76	22	the	the	DET
ap-748	76	23	reference	reference	NOUN
ap-748	76	24	heading	head	VERB
ap-748	76	25	within	within	ADP
ap-748	76	26	10	10	NUM
ap-748	76	27	%	%	NOUN
ap-748	76	28	of	of	ADP
ap-748	76	29	the	the	DET
ap-748	76	30	yaw	yaw	NOUN
ap-748	76	31	rate	rate	NOUN
ap-748	76	32	at	at	ADP
ap-748	76	33	release	release	NOUN
ap-748	76	34	[	[	X
ap-748	76	35	12	12	NUM
ap-748	76	36	]	]	PUNCT
ap-748	76	37	,	,	PUNCT
ap-748	76	38	�	�	PROPN
ap-748	76	39	�	�	PROPN
ap-748	76	40	f	f	PROPN
ap-748	76	41	r	r	PROPN
ap-748	76	42	rr	rr	PROPN
ap-748	76	43	�	�	PROPN
ap-748	76	44	�	�	PROPN
ap-748	76	45	01	01	NUM
ap-748	76	46	.	.	PUNCT
ap-748	77	1	(	(	PUNCT
ap-748	77	2	11	11	NUM
ap-748	77	3	)	)	PUNCT
ap-748	77	4	or	or	CCONJ
ap-748	77	5	within	within	ADP
ap-748	77	6	1	1	NUM
ap-748	77	7	°	°	NOUN
ap-748	77	8	of	of	ADP
ap-748	77	9	attitude	attitude	NOUN
ap-748	77	10	at	at	ADP
ap-748	77	11	release	release	NOUN
ap-748	77	12	:	:	PUNCT
ap-748	77	13	�	�	PROPN
ap-748	77	14	�	�	PROPN
ap-748	77	15	f	f	PROPN
ap-748	77	16	r	r	PROPN
ap-748	77	17	�	�	PROPN
ap-748	77	18	�	�	PROPN
ap-748	77	19	�	�	PROPN
ap-748	77	20	1	1	NUM
ap-748	77	21	,	,	PUNCT
ap-748	77	22	(	(	PUNCT
ap-748	77	23	12	12	NUM
ap-748	77	24	)	)	PUNCT
ap-748	77	25	whichever	whichever	PRON
ap-748	77	26	is	be	AUX
ap-748	77	27	greater	great	ADJ
ap-748	77	28	.	.	PUNCT
ap-748	78	1	here	here	ADV
ap-748	78	2	rr	rr	PROPN
ap-748	78	3	is	be	AUX
ap-748	78	4	the	the	DET
ap-748	78	5	yaw	yaw	NOUN
ap-748	78	6	rate	rate	NOUN
ap-748	78	7	at	at	ADP
ap-748	78	8	the	the	DET
ap-748	78	9	time	time	NOUN
ap-748	78	10	of	of	ADP
ap-748	78	11	controller	controller	NOUN
ap-748	78	12	release	release	NOUN
ap-748	78	13	,	,	PUNCT
ap-748	78	14	�	�	NOUN
ap-748	78	15	r	r	NOUN
ap-748	78	16	is	be	AUX
ap-748	78	17	the	the	DET
ap-748	78	18	yaw	yaw	ADJ
ap-748	78	19	attitude	attitude	NOUN
ap-748	78	20	at	at	ADP
ap-748	78	21	controller	controller	NOUN
ap-748	78	22	release	release	NOUN
ap-748	78	23	,	,	PUNCT
ap-748	78	24	and	and	CCONJ
ap-748	78	25	�	�	PROPN
ap-748	78	26	f	f	PROPN
ap-748	78	27	is	be	AUX
ap-748	78	28	the	the	DET
ap-748	78	29	final	final	ADJ
ap-748	78	30	yaw	yaw	NOUN
ap-748	78	31	attitude	attitude	NOUN
ap-748	78	32	.	.	PUNCT
ap-748	79	1	small	small	ADJ
ap-748	79	2	amplitude	amplitude	NOUN
ap-748	79	3	inputs	input	NOUN
ap-748	79	4	are	be	AUX
ap-748	79	5	defined	define	VERB
ap-748	79	6	in	in	ADP
ap-748	79	7	two	two	NUM
ap-748	79	8	parts	part	NOUN
ap-748	79	9	;	;	PUNCT
ap-748	79	10	short	short	ADJ
ap-748	79	11	-	-	PUNCT
ap-748	79	12	term	term	NOUN
ap-748	79	13	and	and	CCONJ
ap-748	79	14	mid	mid	ADJ
ap-748	79	15	-	-	ADJ
ap-748	79	16	term	term	NOUN
ap-748	79	17	response	response	NOUN
ap-748	79	18	.	.	PUNCT
ap-748	80	1	the	the	DET
ap-748	80	2	short	short	ADJ
ap-748	80	3	-	-	PUNCT
ap-748	80	4	term	term	NOUN
ap-748	80	5	response	response	NOUN
ap-748	80	6	is	be	AUX
ap-748	80	7	defined	define	VERB
ap-748	80	8	by	by	ADP
ap-748	80	9	bandwidth	bandwidth	NOUN
ap-748	80	10	and	and	CCONJ
ap-748	80	11	phase	phase	NOUN
ap-748	80	12	delay	delay	NOUN
ap-748	80	13	parameters	parameter	NOUN
ap-748	80	14	.	.	PUNCT
ap-748	81	1	the	the	DET
ap-748	81	2	bandwidth	bandwidth	ADJ
ap-748	81	3	,	,	PUNCT
ap-748	81	4	bw	bw	NOUN
ap-748	81	5	,	,	PUNCT
ap-748	81	6	is	be	AUX
ap-748	81	7	defined	define	VERB
ap-748	81	8	to	to	PART
ap-748	81	9	be	be	AUX
ap-748	81	10	equal	equal	ADJ
ap-748	81	11	to	to	ADP
ap-748	81	12	the	the	DET
ap-748	81	13	phase	phase	NOUN
ap-748	81	14	-	-	PUNCT
ap-748	81	15	limited	limit	VERB
ap-748	81	16	bandwidth	bandwidth	NOUN
ap-748	81	17	,	,	PUNCT
ap-748	81	18	bwphase	bwphase	ADJ
ap-748	81	19	(	(	PUNCT
ap-748	81	20	frequency	frequency	NOUN
ap-748	81	21	giving	give	VERB
ap-748	81	22	45	45	NUM
ap-748	81	23	°	°	NOUN
ap-748	81	24	phase	phase	NOUN
ap-748	81	25	margin	margin	NOUN
ap-748	81	26	)	)	PUNCT
ap-748	82	1	[	[	X
ap-748	82	2	12	12	NUM
ap-748	82	3	]	]	PUNCT
ap-748	82	4	.	.	PUNCT
ap-748	83	1	the	the	DET
ap-748	83	2	phase	phase	NOUN
ap-748	83	3	delay	delay	NOUN
ap-748	83	4	parameter	parameter	NOUN
ap-748	83	5	is	be	AUX
ap-748	83	6	defined	define	VERB
ap-748	83	7	as	as	ADP
ap-748	83	8	:	:	PUNCT
ap-748	83	9	p	p	PROPN
ap-748	83	10	�	�	PROPN
ap-748	83	11	�	�	PROPN
ap-748	83	12	�	�	PROPN
ap-748	83	13	2	2	NUM
ap-748	83	14	57	57	NUM
ap-748	83	15	3	3	NUM
ap-748	83	16	2	2	NUM
ap-748	83	17	180	180	NUM
ap-748	83	18	180	180	NUM
ap-748	83	19	.	.	PUNCT
ap-748	84	1	(	(	PUNCT
ap-748	84	2	)	)	PUNCT
ap-748	84	3	(	(	PUNCT
ap-748	84	4	13	13	NUM
ap-748	84	5	)	)	PUNCT
ap-748	84	6	where	where	SCONJ
ap-748	84	7	�	�	PROPN
ap-748	84	8	�	�	PROPN
ap-748	84	9	2	2	NUM
ap-748	84	10	180	180	NUM
ap-748	84	11	is	be	AUX
ap-748	84	12	the	the	DET
ap-748	84	13	difference	difference	NOUN
ap-748	84	14	in	in	ADP
ap-748	84	15	phase	phase	NOUN
ap-748	84	16	between	between	ADP
ap-748	84	17	the	the	DET
ap-748	84	18	180	180	NUM
ap-748	84	19	°	°	PROPN
ap-748	84	20	frequency	frequency	NOUN
ap-748	84	21	,	,	PUNCT
ap-748	84	22	180	180	NUM
ap-748	84	23	,	,	PUNCT
ap-748	84	24	and	and	CCONJ
ap-748	84	25	twice	twice	DET
ap-748	84	26	the	the	DET
ap-748	84	27	180	180	NUM
ap-748	84	28	°	°	NUM
ap-748	84	29	frequency	frequency	NOUN
ap-748	84	30	,	,	PUNCT
ap-748	84	31	2	2	NUM
ap-748	84	32	180	180	NUM
ap-748	84	33	.	.	PUNCT
ap-748	85	1	however	however	ADV
ap-748	85	2	,	,	PUNCT
ap-748	85	3	ads-33	ads-33	PROPN
ap-748	85	4	[	[	X
ap-748	85	5	12	12	NUM
ap-748	85	6	]	]	PUNCT
ap-748	85	7	states	state	VERB
ap-748	85	8	that	that	SCONJ
ap-748	85	9	if	if	SCONJ
ap-748	85	10	the	the	DET
ap-748	85	11	gain	gain	NOUN
ap-748	85	12	limited	limited	ADJ
ap-748	85	13	bandwidth	bandwidth	NOUN
ap-748	85	14	,	,	PUNCT
ap-748	85	15	bwgain	bwgain	NOUN
ap-748	85	16	,	,	PUNCT
ap-748	85	17	is	be	AUX
ap-748	85	18	lower	low	ADJ
ap-748	85	19	than	than	ADP
ap-748	85	20	bwphase	bwphase	ADV
ap-748	85	21	(	(	PUNCT
ap-748	85	22	gain	gain	VERB
ap-748	85	23	margin	margin	NOUN
ap-748	85	24	less	less	ADJ
ap-748	85	25	than	than	ADP
ap-748	85	26	6dbs	6dbs	NUM
ap-748	85	27	)	)	PUNCT
ap-748	85	28	then	then	ADV
ap-748	85	29	the	the	DET
ap-748	85	30	rotorcraft	rotorcraft	NOUN
ap-748	85	31	may	may	AUX
ap-748	85	32	be	be	AUX
ap-748	85	33	prone	prone	ADJ
ap-748	85	34	to	to	PART
ap-748	85	35	pilot	pilot	VERB
ap-748	85	36	induced	induce	VERB
ap-748	85	37	oscillation	oscillation	NOUN
ap-748	85	38	,	,	PUNCT
ap-748	85	39	pio	pio	PROPN
ap-748	85	40	.	.	PROPN
ap-748	86	1	this	this	PRON
ap-748	86	2	is	be	AUX
ap-748	86	3	due	due	ADJ
ap-748	86	4	to	to	ADP
ap-748	86	5	interactions	interaction	NOUN
ap-748	86	6	between	between	ADP
ap-748	86	7	the	the	DET
ap-748	86	8	helicopter	helicopter	NOUN
ap-748	86	9	and	and	CCONJ
ap-748	86	10	the	the	DET
ap-748	86	11	pilot	pilot	NOUN
ap-748	86	12	that	that	PRON
ap-748	86	13	can	can	AUX
ap-748	86	14	cause	cause	VERB
ap-748	86	15	the	the	DET
ap-748	86	16	aircraft	aircraft	NOUN
ap-748	86	17	to	to	PART
ap-748	86	18	become	become	VERB
ap-748	86	19	unstable	unstable	ADJ
ap-748	86	20	.	.	PUNCT
ap-748	87	1	the	the	DET
ap-748	87	2	mid	mid	ADJ
ap-748	87	3	-	-	ADJ
ap-748	87	4	term	term	NOUN
ap-748	87	5	response	response	NOUN
ap-748	87	6	concerns	concern	VERB
ap-748	87	7	the	the	DET
ap-748	87	8	damping	damp	VERB
ap-748	87	9	factor	factor	NOUN
ap-748	87	10	,	,	PUNCT
ap-748	87	11	�	�	PROPN
ap-748	87	12	,	,	PUNCT
ap-748	87	13	at	at	ADP
ap-748	87	14	frequencies	frequency	NOUN
ap-748	87	15	below	below	ADP
ap-748	87	16	the	the	DET
ap-748	87	17	bandwidth	bandwidth	ADJ
ap-748	87	18	frequency	frequency	NOUN
ap-748	87	19	,	,	PUNCT
ap-748	87	20	bw	bw	NOUN
ap-748	87	21	,	,	PUNCT
ap-748	87	22	found	find	VERB
ap-748	87	23	above	above	ADV
ap-748	87	24	.	.	PUNCT
ap-748	88	1	it	it	PRON
ap-748	88	2	is	be	AUX
ap-748	88	3	a	a	DET
ap-748	88	4	measure	measure	NOUN
ap-748	88	5	of	of	ADP
ap-748	88	6	the	the	DET
ap-748	88	7	controller	controller	NOUN
ap-748	88	8	’s	’s	PART
ap-748	88	9	ability	ability	NOUN
ap-748	88	10	to	to	PART
ap-748	88	11	reject	reject	VERB
ap-748	88	12	unwanted	unwanted	ADJ
ap-748	88	13	oscillations	oscillation	NOUN
ap-748	88	14	caused	cause	VERB
ap-748	88	15	by	by	ADP
ap-748	88	16	disturbances	disturbance	NOUN
ap-748	88	17	,	,	PUNCT
ap-748	88	18	and	and	CCONJ
ap-748	88	19	high	high	ADJ
ap-748	88	20	order	order	NOUN
ap-748	88	21	dynamics	dynamic	NOUN
ap-748	88	22	.	.	PUNCT
ap-748	89	1	ads-33	ads-33	PROPN
ap-748	89	2	states	state	VERB
ap-748	89	3	that	that	SCONJ
ap-748	89	4	for	for	ADP
ap-748	89	5	level	level	NOUN
ap-748	89	6	1	1	NUM
ap-748	89	7	,	,	PUNCT
ap-748	89	8	�	�	X
ap-748	89	9	>	>	X
ap-748	89	10	0.35	0.35	NUM
ap-748	90	1	[	[	X
ap-748	90	2	12	12	NUM
ap-748	90	3	]	]	PUNCT
ap-748	90	4	.	.	PUNCT
ap-748	91	1	the	the	DET
ap-748	91	2	moderate	moderate	ADJ
ap-748	91	3	amplitude	amplitude	NOUN
ap-748	91	4	requirements	requirement	NOUN
ap-748	91	5	are	be	AUX
ap-748	91	6	also	also	ADV
ap-748	91	7	known	know	VERB
ap-748	91	8	as	as	ADP
ap-748	91	9	attitude	attitude	NOUN
ap-748	91	10	quickness	quickness	NOUN
ap-748	91	11	.	.	PUNCT
ap-748	92	1	this	this	PRON
ap-748	92	2	is	be	AUX
ap-748	92	3	because	because	SCONJ
ap-748	92	4	it	it	PRON
ap-748	92	5	is	be	AUX
ap-748	92	6	a	a	DET
ap-748	92	7	ratio	ratio	NOUN
ap-748	92	8	of	of	ADP
ap-748	92	9	peak	peak	ADJ
ap-748	92	10	achievable	achievable	ADJ
ap-748	92	11	rate	rate	NOUN
ap-748	92	12	to	to	ADP
ap-748	92	13	the	the	DET
ap-748	92	14	peak	peak	NOUN
ap-748	92	15	attitude	attitude	NOUN
ap-748	92	16	change	change	NOUN
ap-748	92	17	.	.	PUNCT
ap-748	93	1	the	the	DET
ap-748	93	2	above	above	ADJ
ap-748	93	3	ratio	ratio	NOUN
ap-748	93	4	can	can	AUX
ap-748	93	5	be	be	AUX
ap-748	93	6	compared	compare	VERB
ap-748	93	7	to	to	ADP
ap-748	93	8	the	the	DET
ap-748	93	9	ads-33	ads-33	PROPN
ap-748	93	10	criteria	criterion	NOUN
ap-748	93	11	for	for	ADP
ap-748	93	12	different	different	ADJ
ap-748	93	13	magnitudes	magnitude	NOUN
ap-748	93	14	of	of	ADP
ap-748	93	15	change	change	NOUN
ap-748	93	16	in	in	ADP
ap-748	93	17	attitude	attitude	NOUN
ap-748	93	18	.	.	PUNCT
ap-748	94	1	the	the	DET
ap-748	94	2	criterion	criterion	NOUN
ap-748	94	3	is	be	AUX
ap-748	94	4	structured	structure	VERB
ap-748	94	5	so	so	SCONJ
ap-748	94	6	that	that	SCONJ
ap-748	94	7	the	the	DET
ap-748	94	8	over	over	ADP
ap-748	94	9	and	and	CCONJ
ap-748	94	10	under	under	ADP
ap-748	94	11	shoot	shoot	NOUN
ap-748	94	12	characteristics	characteristic	NOUN
ap-748	94	13	of	of	ADP
ap-748	94	14	the	the	DET
ap-748	94	15	attitude	attitude	NOUN
ap-748	94	16	response	response	NOUN
ap-748	94	17	are	be	AUX
ap-748	94	18	detrimental	detrimental	ADJ
ap-748	94	19	.	.	PUNCT
ap-748	95	1	this	this	DET
ap-748	95	2	measure	measure	NOUN
ap-748	95	3	is	be	AUX
ap-748	95	4	particularly	particularly	ADV
ap-748	95	5	relevant	relevant	ADJ
ap-748	95	6	for	for	ADP
ap-748	95	7	rate	rate	NOUN
ap-748	95	8	©	©	PROPN
ap-748	95	9	czech	czech	PROPN
ap-748	95	10	technical	technical	PROPN
ap-748	95	11	university	university	PROPN
ap-748	95	12	publishing	publishing	NOUN
ap-748	95	13	house	house	NOUN
ap-748	95	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	95	15	89	89	NUM
ap-748	95	16	czech	czech	PROPN
ap-748	95	17	technical	technical	PROPN
ap-748	95	18	university	university	PROPN
ap-748	95	19	in	in	ADP
ap-748	95	20	prague	prague	PROPN
ap-748	95	21	acta	acta	PROPN
ap-748	95	22	polytechnica	polytechnica	PROPN
ap-748	95	23	vol	vol	NOUN
ap-748	95	24	.	.	PROPN
ap-748	96	1	45	45	NUM
ap-748	96	2	no	no	NOUN
ap-748	96	3	.	.	PUNCT
ap-748	97	1	4/2005	4/2005	NUM
ap-748	97	2	response	response	NOUN
ap-748	97	3	types	type	NOUN
ap-748	97	4	where	where	SCONJ
ap-748	97	5	the	the	DET
ap-748	97	6	angular	angular	ADJ
ap-748	97	7	rate	rate	NOUN
ap-748	97	8	of	of	ADP
ap-748	97	9	change	change	NOUN
ap-748	97	10	is	be	AUX
ap-748	97	11	controlled	control	VERB
ap-748	97	12	.	.	PUNCT
ap-748	98	1	this	this	PRON
ap-748	98	2	is	be	AUX
ap-748	98	3	because	because	SCONJ
ap-748	98	4	rate	rate	NOUN
ap-748	98	5	systems	system	NOUN
ap-748	98	6	tend	tend	VERB
ap-748	98	7	to	to	PART
ap-748	98	8	offer	offer	VERB
ap-748	98	9	the	the	DET
ap-748	98	10	highest	high	ADJ
ap-748	98	11	level	level	NOUN
ap-748	98	12	of	of	ADP
ap-748	98	13	agility	agility	NOUN
ap-748	98	14	at	at	ADP
ap-748	98	15	the	the	DET
ap-748	98	16	sacrifice	sacrifice	NOUN
ap-748	98	17	of	of	ADP
ap-748	98	18	stability	stability	NOUN
ap-748	98	19	.	.	PUNCT
ap-748	99	1	moderate	moderate	ADJ
ap-748	99	2	amplitude	amplitude	NOUN
ap-748	99	3	requirements	requirement	NOUN
ap-748	99	4	are	be	AUX
ap-748	99	5	not	not	PART
ap-748	99	6	of	of	ADP
ap-748	99	7	major	major	ADJ
ap-748	99	8	concern	concern	NOUN
ap-748	99	9	because	because	SCONJ
ap-748	99	10	attitude	attitude	NOUN
ap-748	99	11	control	control	NOUN
ap-748	99	12	is	be	AUX
ap-748	99	13	a	a	DET
ap-748	99	14	sacrifice	sacrifice	NOUN
ap-748	99	15	of	of	ADP
ap-748	99	16	agility	agility	NOUN
ap-748	99	17	to	to	PART
ap-748	99	18	improve	improve	VERB
ap-748	99	19	stability	stability	NOUN
ap-748	99	20	;	;	PUNCT
ap-748	99	21	hence	hence	ADV
ap-748	99	22	,	,	PUNCT
ap-748	99	23	attitude	attitude	NOUN
ap-748	99	24	quickness	quickness	NOUN
ap-748	99	25	is	be	AUX
ap-748	99	26	degraded	degrade	VERB
ap-748	99	27	.	.	PUNCT
ap-748	100	1	large	large	ADJ
ap-748	100	2	amplitude	amplitude	NOUN
ap-748	100	3	response	response	NOUN
ap-748	100	4	is	be	AUX
ap-748	100	5	important	important	ADJ
ap-748	100	6	as	as	SCONJ
ap-748	100	7	it	it	PRON
ap-748	100	8	helps	help	VERB
ap-748	100	9	to	to	PART
ap-748	100	10	assess	assess	VERB
ap-748	100	11	the	the	DET
ap-748	100	12	craft	craft	NOUN
ap-748	100	13	’s	’s	PART
ap-748	100	14	ability	ability	NOUN
ap-748	100	15	to	to	PART
ap-748	100	16	retain	retain	VERB
ap-748	100	17	high	high	ADJ
ap-748	100	18	levels	level	NOUN
ap-748	100	19	of	of	ADP
ap-748	100	20	handling	handle	VERB
ap-748	100	21	at	at	ADP
ap-748	100	22	points	point	NOUN
ap-748	100	23	where	where	SCONJ
ap-748	100	24	the	the	DET
ap-748	100	25	non	non	NOUN
ap-748	100	26	-	-	NOUN
ap-748	100	27	linearities	linearity	NOUN
ap-748	100	28	are	be	AUX
ap-748	100	29	most	most	ADV
ap-748	100	30	severe	severe	ADJ
ap-748	101	1	[	[	X
ap-748	101	2	20	20	NUM
ap-748	101	3	]	]	PUNCT
ap-748	101	4	.	.	PUNCT
ap-748	102	1	as	as	SCONJ
ap-748	102	2	controllers	controller	NOUN
ap-748	102	3	are	be	AUX
ap-748	102	4	typically	typically	ADV
ap-748	102	5	designed	design	VERB
ap-748	102	6	with	with	ADP
ap-748	102	7	linear	linear	ADJ
ap-748	102	8	,	,	PUNCT
ap-748	102	9	small	small	ADJ
ap-748	102	10	-	-	PUNCT
ap-748	102	11	amplitude	amplitude	NOUN
ap-748	102	12	,	,	PUNCT
ap-748	102	13	approximations	approximation	NOUN
ap-748	102	14	of	of	ADP
ap-748	102	15	the	the	DET
ap-748	102	16	real	real	ADJ
ap-748	102	17	system	system	NOUN
ap-748	102	18	,	,	PUNCT
ap-748	102	19	it	it	PRON
ap-748	102	20	is	be	AUX
ap-748	102	21	necessary	necessary	ADJ
ap-748	102	22	to	to	PART
ap-748	102	23	test	test	VERB
ap-748	102	24	the	the	DET
ap-748	102	25	system	system	NOUN
ap-748	102	26	outside	outside	ADP
ap-748	102	27	the	the	DET
ap-748	102	28	range	range	NOUN
ap-748	102	29	where	where	SCONJ
ap-748	102	30	these	these	DET
ap-748	102	31	approximations	approximation	NOUN
ap-748	102	32	are	be	AUX
ap-748	102	33	valid	valid	ADJ
ap-748	102	34	.	.	PUNCT
ap-748	103	1	the	the	DET
ap-748	103	2	requirements	requirement	NOUN
ap-748	103	3	for	for	ADP
ap-748	103	4	aggressive	aggressive	ADJ
ap-748	103	5	,	,	PUNCT
ap-748	103	6	target	target	NOUN
ap-748	103	7	,	,	PUNCT
ap-748	103	8	acquisition	acquisition	NOUN
ap-748	103	9	and	and	CCONJ
ap-748	103	10	track	track	NOUN
ap-748	103	11	maneuvers	maneuver	NOUN
ap-748	103	12	(	(	PUNCT
ap-748	103	13	highest	high	ADJ
ap-748	103	14	specification	specification	NOUN
ap-748	103	15	)	)	PUNCT
ap-748	103	16	,	,	PUNCT
ap-748	103	17	for	for	ADP
ap-748	103	18	hover	hover	NOUN
ap-748	103	19	and	and	CCONJ
ap-748	103	20	low	low	ADJ
ap-748	103	21	speed	speed	NOUN
ap-748	103	22	flight	flight	NOUN
ap-748	103	23	are	be	AUX
ap-748	103	24	�	�	NOUN
ap-748	103	25	30	30	NUM
ap-748	103	26	°	°	NOUN
ap-748	103	27	for	for	ADP
ap-748	103	28	pitch	pitch	NOUN
ap-748	103	29	,	,	PUNCT
ap-748	103	30	�	�	PROPN
ap-748	103	31	60	60	NUM
ap-748	103	32	°	°	NOUN
ap-748	103	33	for	for	ADP
ap-748	103	34	roll	roll	NOUN
ap-748	103	35	.	.	PUNCT
ap-748	104	1	there	there	PRON
ap-748	104	2	is	be	VERB
ap-748	104	3	no	no	DET
ap-748	104	4	large	large	ADJ
ap-748	104	5	amplitude	amplitude	NOUN
ap-748	104	6	requirement	requirement	NOUN
ap-748	104	7	for	for	ADP
ap-748	104	8	yaw	yaw	NOUN
ap-748	104	9	as	as	SCONJ
ap-748	104	10	the	the	DET
ap-748	104	11	aircraft	aircraft	NOUN
ap-748	104	12	should	should	AUX
ap-748	104	13	be	be	AUX
ap-748	104	14	able	able	ADJ
ap-748	104	15	to	to	PART
ap-748	104	16	perform	perform	VERB
ap-748	104	17	360	360	NUM
ap-748	104	18	°	°	NOUN
ap-748	104	19	rotations	rotation	NOUN
ap-748	104	20	indefinitely	indefinitely	ADV
ap-748	104	21	.	.	PUNCT
ap-748	105	1	the	the	DET
ap-748	105	2	manner	manner	NOUN
ap-748	105	3	in	in	ADP
ap-748	105	4	which	which	PRON
ap-748	105	5	pitch	pitch	NOUN
ap-748	105	6	is	be	AUX
ap-748	105	7	affected	affect	VERB
ap-748	105	8	by	by	ADP
ap-748	105	9	roll	roll	NOUN
ap-748	105	10	,	,	PUNCT
ap-748	105	11	and	and	CCONJ
ap-748	105	12	vice	vice	NOUN
ap-748	105	13	-	-	NOUN
ap-748	105	14	versa	versa	ADJ
ap-748	105	15	is	be	AUX
ap-748	105	16	the	the	DET
ap-748	105	17	inter	inter	ADJ
ap-748	105	18	-	-	ADJ
ap-748	105	19	axis	axis	ADJ
ap-748	105	20	coupling	coupling	NOUN
ap-748	105	21	.	.	PUNCT
ap-748	106	1	for	for	ADP
ap-748	106	2	pitch	pitch	NOUN
ap-748	106	3	and	and	CCONJ
ap-748	106	4	roll	roll	NOUN
ap-748	106	5	coupling	couple	VERB
ap-748	106	6	the	the	DET
ap-748	106	7	ratio	ratio	NOUN
ap-748	106	8	of	of	ADP
ap-748	106	9	roll	roll	NOUN
ap-748	106	10	attitude	attitude	NOUN
ap-748	106	11	due	due	ADP
ap-748	106	12	to	to	ADP
ap-748	106	13	pitch	pitch	NOUN
ap-748	106	14	attitude	attitude	NOUN
ap-748	106	15	commanded	command	VERB
ap-748	106	16	change	change	NOUN
ap-748	106	17	following	follow	VERB
ap-748	106	18	a	a	DET
ap-748	106	19	fast	fast	ADJ
ap-748	106	20	input	input	NOUN
ap-748	106	21	should	should	AUX
ap-748	106	22	not	not	PART
ap-748	106	23	exceed	exceed	VERB
ap-748	106	24	�	�	NOUN
ap-748	106	25	0.25	0.25	NUM
ap-748	106	26	for	for	ADP
ap-748	106	27	level	level	NOUN
ap-748	106	28	1	1	NUM
ap-748	106	29	[	[	X
ap-748	106	30	12	12	NUM
ap-748	106	31	]	]	PUNCT
ap-748	106	32	,	,	PUNCT
ap-748	106	33	and	and	CCONJ
ap-748	106	34	vice	vice	ADV
ap-748	106	35	versa	versa	ADV
ap-748	106	36	.	.	PUNCT
ap-748	107	1	5	5	NUM
ap-748	107	2	control	control	NOUN
ap-748	107	3	system	system	NOUN
ap-748	107	4	the	the	DET
ap-748	107	5	control	control	NOUN
ap-748	107	6	structure	structure	NOUN
ap-748	107	7	employed	employ	VERB
ap-748	107	8	to	to	PART
ap-748	107	9	implement	implement	VERB
ap-748	107	10	smc	smc	PROPN
ap-748	107	11	is	be	AUX
ap-748	107	12	shown	show	VERB
ap-748	107	13	below	below	ADP
ap-748	107	14	.	.	PUNCT
ap-748	108	1	the	the	DET
ap-748	108	2	system	system	NOUN
ap-748	108	3	incorporates	incorporate	VERB
ap-748	108	4	a	a	DET
ap-748	108	5	model	model	NOUN
ap-748	108	6	reference	reference	NOUN
ap-748	108	7	block	block	NOUN
ap-748	108	8	in	in	ADP
ap-748	108	9	the	the	DET
ap-748	108	10	form	form	NOUN
ap-748	108	11	of	of	ADP
ap-748	108	12	a	a	DET
ap-748	108	13	low	low	ADJ
ap-748	108	14	pass	pass	NOUN
ap-748	108	15	pre	pre	NOUN
ap-748	108	16	-	-	NOUN
ap-748	108	17	filter	filter	NOUN
ap-748	108	18	.	.	PUNCT
ap-748	109	1	this	this	PRON
ap-748	109	2	takes	take	VERB
ap-748	109	3	the	the	DET
ap-748	109	4	pilot	pilot	NOUN
ap-748	109	5	commands	command	NOUN
ap-748	109	6	,	,	PUNCT
ap-748	109	7	filtering	filter	VERB
ap-748	109	8	out	out	ADP
ap-748	109	9	any	any	DET
ap-748	109	10	high	high	ADJ
ap-748	109	11	frequency	frequency	NOUN
ap-748	109	12	inputs	input	NOUN
ap-748	109	13	,	,	PUNCT
ap-748	109	14	providing	provide	VERB
ap-748	109	15	demanded	demand	VERB
ap-748	109	16	attitudes	attitude	NOUN
ap-748	109	17	and	and	CCONJ
ap-748	109	18	rates	rate	NOUN
ap-748	109	19	(	(	PUNCT
ap-748	109	20	6	6	NUM
ap-748	109	21	states	state	NOUN
ap-748	109	22	)	)	PUNCT
ap-748	109	23	.	.	PUNCT
ap-748	110	1	the	the	DET
ap-748	110	2	3	3	NUM
ap-748	110	3	individual	individual	ADJ
ap-748	110	4	controllers	controller	NOUN
ap-748	110	5	provide	provide	VERB
ap-748	110	6	the	the	DET
ap-748	110	7	control	control	NOUN
ap-748	110	8	action	action	NOUN
ap-748	110	9	.	.	PUNCT
ap-748	111	1	however	however	ADV
ap-748	111	2	,	,	PUNCT
ap-748	111	3	as	as	SCONJ
ap-748	111	4	the	the	DET
ap-748	111	5	controllers	controller	NOUN
ap-748	111	6	are	be	AUX
ap-748	111	7	decoupled	decouple	VERB
ap-748	111	8	,	,	PUNCT
ap-748	111	9	assuming	assume	VERB
ap-748	111	10	no	no	DET
ap-748	111	11	cross	cross	NOUN
ap-748	111	12	coupling	coupling	NOUN
ap-748	111	13	of	of	ADP
ap-748	111	14	the	the	DET
ap-748	111	15	dynamics	dynamic	NOUN
ap-748	111	16	or	or	CCONJ
ap-748	111	17	actuators	actuator	NOUN
ap-748	111	18	,	,	PUNCT
ap-748	111	19	this	this	PRON
ap-748	111	20	needs	need	VERB
ap-748	111	21	to	to	PART
ap-748	111	22	be	be	AUX
ap-748	111	23	taken	take	VERB
ap-748	111	24	into	into	ADP
ap-748	111	25	account	account	NOUN
ap-748	111	26	.	.	PUNCT
ap-748	112	1	the	the	DET
ap-748	112	2	unmodelled	unmodelled	ADJ
ap-748	112	3	system	system	NOUN
ap-748	112	4	dynamics	dynamic	NOUN
ap-748	112	5	(	(	PUNCT
ap-748	112	6	which	which	PRON
ap-748	112	7	include	include	VERB
ap-748	112	8	the	the	DET
ap-748	112	9	cross	cross	NOUN
ap-748	112	10	coupling	coupling	NOUN
ap-748	112	11	,	,	PUNCT
ap-748	112	12	off	off	ADP
ap-748	112	13	axis	axis	ADJ
ap-748	112	14	terms	term	NOUN
ap-748	112	15	in	in	ADP
ap-748	112	16	the	the	DET
ap-748	112	17	system	system	NOUN
ap-748	112	18	matrix	matrix	NOUN
ap-748	112	19	a	a	PRON
ap-748	112	20	)	)	PUNCT
ap-748	112	21	,	,	PUNCT
ap-748	112	22	are	be	AUX
ap-748	112	23	represented	represent	VERB
ap-748	112	24	by	by	ADP
ap-748	112	25	�	�	PROPN
ap-748	112	26	(	(	PUNCT
ap-748	112	27	)	)	PUNCT
ap-748	112	28	f	f	NOUN
ap-748	113	1	x	x	NOUN
ap-748	113	2	the	the	DET
ap-748	113	3	term	term	NOUN
ap-748	113	4	in	in	ADP
ap-748	113	5	the	the	DET
ap-748	113	6	controller	controller	NOUN
ap-748	113	7	given	give	VERB
ap-748	113	8	in	in	ADP
ap-748	113	9	equation	equation	NOUN
ap-748	113	10	(	(	PUNCT
ap-748	113	11	10	10	NUM
ap-748	113	12	)	)	PUNCT
ap-748	113	13	.	.	PUNCT
ap-748	114	1	however	however	ADV
ap-748	114	2	,	,	PUNCT
ap-748	114	3	for	for	SCONJ
ap-748	114	4	the	the	DET
ap-748	114	5	cross	cross	NOUN
ap-748	114	6	coupling	coupling	NOUN
ap-748	114	7	caused	cause	VERB
ap-748	114	8	by	by	ADP
ap-748	114	9	the	the	DET
ap-748	114	10	actuator	actuator	NOUN
ap-748	114	11	dynamics	dynamic	NOUN
ap-748	114	12	(	(	PUNCT
ap-748	114	13	off	off	ADP
ap-748	114	14	axis	axis	NOUN
ap-748	114	15	terms	term	NOUN
ap-748	114	16	in	in	ADP
ap-748	114	17	input	input	NOUN
ap-748	114	18	distribution	distribution	NOUN
ap-748	114	19	matrix	matrix	NOUN
ap-748	114	20	b	b	NOUN
ap-748	114	21	)	)	PUNCT
ap-748	114	22	,	,	PUNCT
ap-748	114	23	a	a	DET
ap-748	114	24	pre	pre	ADJ
ap-748	114	25	-	-	ADJ
ap-748	114	26	compensation	compensation	ADJ
ap-748	114	27	matrix	matrix	NOUN
ap-748	114	28	is	be	AUX
ap-748	114	29	employed	employ	VERB
ap-748	114	30	.	.	PUNCT
ap-748	115	1	the	the	DET
ap-748	115	2	effect	effect	NOUN
ap-748	115	3	of	of	ADP
ap-748	115	4	this	this	PRON
ap-748	115	5	is	be	AUX
ap-748	115	6	to	to	PART
ap-748	115	7	diagonalise	diagonalise	VERB
ap-748	115	8	the	the	DET
ap-748	115	9	b	b	NOUN
ap-748	115	10	matrix	matrix	NOUN
ap-748	115	11	by	by	ADP
ap-748	115	12	selecting	select	VERB
ap-748	115	13	the	the	DET
ap-748	115	14	matrix	matrix	NOUN
ap-748	115	15	as	as	SCONJ
ap-748	115	16	follows	follow	VERB
ap-748	115	17	:	:	PUNCT
ap-748	115	18	�	�	PROPN
ap-748	115	19	�	�	PROPN
ap-748	115	20	�	�	PROPN
ap-748	115	21	1	1	NUM
ap-748	115	22	1	1	NUM
ap-748	115	23	0	0	NUM
ap-748	115	24	4	4	NUM
ap-748	115	25	2	2	NUM
ap-748	115	26	4	4	NUM
ap-748	115	27	3	3	NUM
ap-748	115	28	4	4	NUM
ap-748	115	29	4	4	NUM
ap-748	115	30	4	4	NUM
ap-748	115	31	3	3	NUM
ap-748	115	32	5	5	NUM
ap-748	115	33	3	3	NUM
ap-748	115	34	5	5	NUM
ap-748	115	35	2	2	NUM
ap-748	115	36	1	1	NUM
ap-748	115	37	1	1	NUM
ap-748	115	38	c	c	NOUN
ap-748	115	39	s	s	PART
ap-748	115	40	tr	tr	NOUN
ap-748	115	41	b	b	PROPN
ap-748	115	42	b	b	PROPN
ap-748	115	43	b	b	PROPN
ap-748	115	44	b	b	PROPN
ap-748	115	45	b	b	PROPN
ap-748	115	46	b	b	PROPN
ap-748	115	47	�	�	PROPN
ap-748	115	48	�	�	PROPN
ap-748	115	49	�	�	PROPN
ap-748	115	50	�	�	PROPN
ap-748	115	51	�	�	PROPN
ap-748	115	52	�	�	PROPN
ap-748	115	53	�	�	PROPN
ap-748	115	54	�	�	PROPN
ap-748	115	55	�	�	PROPN
ap-748	115	56	�	�	PROPN
ap-748	115	57	�	�	PROPN
ap-748	115	58	�	�	PROPN
ap-748	115	59	�	�	PROPN
ap-748	115	60	�	�	PROPN
ap-748	115	61	,	,	PUNCT
ap-748	115	62	,	,	PUNCT
ap-748	115	63	,	,	PUNCT
ap-748	115	64	,	,	PUNCT
ap-748	115	65	,	,	PUNCT
ap-748	115	66	,	,	PUNCT
ap-748	115	67	�	�	PROPN
ap-748	115	68	�	�	PROPN
ap-748	115	69	�	�	PROPN
ap-748	115	70	�	�	PROPN
ap-748	115	71	�	�	PROPN
ap-748	115	72	�	�	PROPN
ap-748	115	73	�	�	PROPN
ap-748	115	74	�	�	PROPN
ap-748	115	75	�	�	PROPN
ap-748	115	76	�	�	PROPN
ap-748	115	77	�	�	PROPN
ap-748	115	78	�	�	PROPN
ap-748	115	79	�	�	PROPN
ap-748	115	80	b	b	PROPN
ap-748	115	81	b	b	PROPN
ap-748	115	82	b	b	PROPN
ap-748	115	83	b	b	PROPN
ap-748	115	84	b	b	PROPN
ap-748	115	85	b	b	PROPN
ap-748	115	86	c	c	PROPN
ap-748	115	87	s5	s5	PROPN
ap-748	115	88	4	4	NUM
ap-748	115	89	5	5	NUM
ap-748	115	90	2	2	NUM
ap-748	115	91	6	6	NUM
ap-748	115	92	3	3	NUM
ap-748	115	93	6	6	NUM
ap-748	115	94	4	4	NUM
ap-748	115	95	6	6	NUM
ap-748	115	96	2	2	NUM
ap-748	115	97	6	6	NUM
ap-748	115	98	4	4	NUM
ap-748	115	99	1	1	NUM
ap-748	115	100	1	1	NUM
ap-748	115	101	1	1	NUM
ap-748	115	102	,	,	PUNCT
ap-748	115	103	,	,	PUNCT
ap-748	115	104	,	,	PUNCT
ap-748	115	105	,	,	PUNCT
ap-748	115	106	,	,	PUNCT
ap-748	115	107	,	,	PUNCT
ap-748	115	108	�	�	PROPN
ap-748	115	109	�	�	PROPN
ap-748	115	110	smc	smc	PROPN
ap-748	115	111	smc	smc	PROPN
ap-748	115	112	�	�	PROPN
ap-748	115	113	0trsmc	0trsmc	PROPN
ap-748	115	114	�	�	PROPN
ap-748	115	115	�	�	PROPN
ap-748	115	116	�	�	PROPN
ap-748	115	117	�	�	PROPN
ap-748	115	118	�	�	PROPN
ap-748	115	119	�	�	PROPN
ap-748	115	120	�	�	PROPN
ap-748	115	121	�	�	PROPN
ap-748	115	122	�	�	PROPN
ap-748	115	123	�	�	PROPN
ap-748	115	124	,	,	PUNCT
ap-748	115	125	(	(	PUNCT
ap-748	115	126	14	14	NUM
ap-748	115	127	)	)	PUNCT
ap-748	115	128	where	where	SCONJ
ap-748	115	129	�	�	PROPN
ap-748	115	130	smc	smc	PROPN
ap-748	115	131	are	be	AUX
ap-748	115	132	the	the	DET
ap-748	115	133	respective	respective	ADJ
ap-748	115	134	outputs	output	NOUN
ap-748	115	135	from	from	ADP
ap-748	115	136	the	the	DET
ap-748	115	137	3	3	NUM
ap-748	115	138	decoupled	decouple	VERB
ap-748	115	139	smc	smc	PROPN
ap-748	115	140	controllers	controller	NOUN
ap-748	115	141	.	.	PUNCT
ap-748	116	1	the	the	DET
ap-748	116	2	output	output	NOUN
ap-748	116	3	from	from	ADP
ap-748	116	4	the	the	DET
ap-748	116	5	pre	pre	NOUN
ap-748	116	6	-	-	NOUN
ap-748	116	7	compensator	compensator	NOUN
ap-748	116	8	is	be	AUX
ap-748	116	9	then	then	ADV
ap-748	116	10	added	add	VERB
ap-748	116	11	to	to	ADP
ap-748	116	12	the	the	DET
ap-748	116	13	trim	trim	NOUN
ap-748	116	14	value	value	NOUN
ap-748	116	15	that	that	PRON
ap-748	116	16	is	be	AUX
ap-748	116	17	found	find	VERB
ap-748	116	18	in	in	ADP
ap-748	116	19	[	[	X
ap-748	116	20	14	14	NUM
ap-748	116	21	]	]	PUNCT
ap-748	116	22	which	which	PRON
ap-748	116	23	is	be	AUX
ap-748	116	24	valid	valid	ADJ
ap-748	116	25	for	for	ADP
ap-748	116	26	the	the	DET
ap-748	116	27	hover	hover	NOUN
ap-748	116	28	flight	flight	NOUN
ap-748	116	29	condition	condition	NOUN
ap-748	116	30	.	.	PUNCT
ap-748	117	1	the	the	DET
ap-748	117	2	controllers	controller	NOUN
ap-748	117	3	themselves	themselves	PRON
ap-748	117	4	are	be	AUX
ap-748	117	5	designed	design	VERB
ap-748	117	6	as	as	ADP
ap-748	117	7	multi	multi	ADJ
ap-748	117	8	-	-	ADJ
ap-748	117	9	state	state	ADJ
ap-748	117	10	systems	system	NOUN
ap-748	117	11	,	,	PUNCT
ap-748	117	12	with	with	ADP
ap-748	117	13	each	each	DET
ap-748	117	14	controller	controller	NOUN
ap-748	117	15	design	design	NOUN
ap-748	117	16	incorporating	incorporate	VERB
ap-748	117	17	the	the	DET
ap-748	117	18	appropriate	appropriate	ADJ
ap-748	117	19	rate	rate	NOUN
ap-748	117	20	and	and	CCONJ
ap-748	117	21	attitude	attitude	NOUN
ap-748	117	22	states	state	NOUN
ap-748	117	23	.	.	PUNCT
ap-748	118	1	it	it	PRON
ap-748	118	2	has	have	AUX
ap-748	118	3	been	be	AUX
ap-748	118	4	found	find	VERB
ap-748	118	5	that	that	SCONJ
ap-748	118	6	testing	test	VERB
ap-748	118	7	the	the	DET
ap-748	118	8	controller	controller	NOUN
ap-748	118	9	using	use	VERB
ap-748	118	10	the	the	DET
ap-748	118	11	state	state	NOUN
ap-748	118	12	space	space	NOUN
ap-748	118	13	matrices	matrice	VERB
ap-748	118	14	a	a	PRON
ap-748	118	15	and	and	CCONJ
ap-748	118	16	b	b	NOUN
ap-748	118	17	,	,	PUNCT
ap-748	118	18	a	a	DET
ap-748	118	19	very	very	ADV
ap-748	118	20	high	high	ADJ
ap-748	118	21	gain	gain	NOUN
ap-748	118	22	system	system	NOUN
ap-748	118	23	is	be	AUX
ap-748	118	24	realized	realize	VERB
ap-748	118	25	.	.	PUNCT
ap-748	119	1	however	however	ADV
ap-748	119	2	,	,	PUNCT
ap-748	119	3	when	when	SCONJ
ap-748	119	4	testing	test	VERB
ap-748	119	5	upon	upon	SCONJ
ap-748	119	6	the	the	DET
ap-748	119	7	full	full	ADJ
ap-748	119	8	helicopter	helicopter	NOUN
ap-748	119	9	model	model	NOUN
ap-748	119	10	,	,	PUNCT
ap-748	119	11	this	this	PRON
ap-748	119	12	had	have	VERB
ap-748	119	13	to	to	PART
ap-748	119	14	be	be	AUX
ap-748	119	15	greatly	greatly	ADV
ap-748	119	16	reduced	reduce	VERB
ap-748	119	17	.	.	PUNCT
ap-748	120	1	the	the	DET
ap-748	120	2	high	high	ADJ
ap-748	120	3	order	order	NOUN
ap-748	120	4	dynamics	dynamic	NOUN
ap-748	120	5	of	of	ADP
ap-748	120	6	the	the	DET
ap-748	120	7	system	system	NOUN
ap-748	120	8	become	become	VERB
ap-748	120	9	troublesome	troublesome	ADJ
ap-748	120	10	,	,	PUNCT
ap-748	120	11	and	and	CCONJ
ap-748	120	12	noise	noise	NOUN
ap-748	120	13	,	,	PUNCT
ap-748	120	14	in	in	ADP
ap-748	120	15	the	the	DET
ap-748	120	16	form	form	NOUN
ap-748	120	17	of	of	ADP
ap-748	120	18	angular	angular	ADJ
ap-748	120	19	rate	rate	NOUN
ap-748	120	20	transferred	transfer	VERB
ap-748	120	21	from	from	ADP
ap-748	120	22	main	main	ADJ
ap-748	120	23	rotor	rotor	NOUN
ap-748	120	24	vibration	vibration	NOUN
ap-748	120	25	,	,	PUNCT
ap-748	120	26	necessitates	necessitate	VERB
ap-748	120	27	a	a	DET
ap-748	120	28	large	large	ADJ
ap-748	120	29	reduction	reduction	NOUN
ap-748	120	30	of	of	ADP
ap-748	120	31	gain	gain	NOUN
ap-748	120	32	,	,	PUNCT
ap-748	120	33	and	and	CCONJ
ap-748	120	34	a	a	DET
ap-748	120	35	large	large	ADJ
ap-748	120	36	increase	increase	NOUN
ap-748	120	37	in	in	ADP
ap-748	120	38	the	the	DET
ap-748	120	39	boundary	boundary	ADJ
ap-748	120	40	layer	layer	NOUN
ap-748	120	41	.	.	PUNCT
ap-748	121	1	a	a	DET
ap-748	121	2	hard	hard	ADJ
ap-748	121	3	switching	switch	VERB
ap-748	121	4	controller	controller	NOUN
ap-748	121	5	is	be	AUX
ap-748	121	6	not	not	PART
ap-748	121	7	possible	possible	ADJ
ap-748	121	8	in	in	ADP
ap-748	121	9	this	this	DET
ap-748	121	10	system	system	NOUN
ap-748	121	11	due	due	ADP
ap-748	121	12	to	to	ADP
ap-748	121	13	this	this	PRON
ap-748	121	14	,	,	PUNCT
ap-748	121	15	and	and	CCONJ
ap-748	121	16	therefore	therefore	ADV
ap-748	121	17	a	a	DET
ap-748	121	18	soft	soft	ADJ
ap-748	121	19	switching	switching	NOUN
ap-748	121	20	sat	sit	VERB
ap-748	121	21	regime	regime	NOUN
ap-748	121	22	is	be	AUX
ap-748	121	23	used	use	VERB
ap-748	121	24	.	.	PUNCT
ap-748	122	1	finally	finally	ADV
ap-748	122	2	the	the	DET
ap-748	122	3	controllers	controller	NOUN
ap-748	122	4	are	be	AUX
ap-748	122	5	designed	design	VERB
ap-748	122	6	with	with	ADP
ap-748	122	7	closed	closed	ADJ
ap-748	122	8	loop	loop	NOUN
ap-748	122	9	poles	pole	NOUN
ap-748	122	10	at	at	ADP
ap-748	122	11	0	0	NUM
ap-748	122	12	and	and	CCONJ
ap-748	122	13	�	�	PROPN
ap-748	122	14	4	4	NUM
ap-748	122	15	.	.	PUNCT
ap-748	123	1	the	the	DET
ap-748	123	2	input	input	NOUN
ap-748	123	3	pre	pre	VERB
ap-748	123	4	-	-	NOUN
ap-748	123	5	filters	filter	NOUN
ap-748	123	6	have	have	VERB
ap-748	123	7	a	a	DET
ap-748	123	8	bandwidth	bandwidth	NOUN
ap-748	123	9	of	of	ADP
ap-748	123	10	double	double	DET
ap-748	123	11	the	the	DET
ap-748	123	12	ads-33	ads-33	ADJ
ap-748	123	13	minimum	minimum	ADJ
ap-748	123	14	bandwidth	bandwidth	NOUN
ap-748	123	15	[	[	X
ap-748	123	16	12	12	NUM
ap-748	123	17	]	]	PUNCT
ap-748	123	18	,	,	PUNCT
ap-748	123	19	with	with	ADP
ap-748	123	20	a	a	DET
ap-748	123	21	dc	dc	PROPN
ap-748	123	22	gain	gain	NOUN
ap-748	123	23	of	of	ADP
ap-748	123	24	10	10	NUM
ap-748	123	25	dbs	dbs	NOUN
ap-748	123	26	.	.	PUNCT
ap-748	124	1	the	the	DET
ap-748	124	2	switching	switch	VERB
ap-748	124	3	gain	gain	NOUN
ap-748	124	4	and	and	CCONJ
ap-748	124	5	boundary	boundary	ADJ
ap-748	124	6	layer	layer	NOUN
ap-748	124	7	are	be	AUX
ap-748	124	8	chosen	choose	VERB
ap-748	124	9	to	to	PART
ap-748	124	10	give	give	VERB
ap-748	124	11	stable	stable	ADJ
ap-748	124	12	responses	response	NOUN
ap-748	124	13	at	at	ADP
ap-748	124	14	high	high	ADJ
ap-748	124	15	amplitude	amplitude	NOUN
ap-748	124	16	inputs	input	NOUN
ap-748	124	17	.	.	PUNCT
ap-748	125	1	90	90	NUM
ap-748	125	2	©	©	PROPN
ap-748	125	3	czech	czech	PROPN
ap-748	125	4	technical	technical	PROPN
ap-748	125	5	university	university	PROPN
ap-748	125	6	publishing	publishing	NOUN
ap-748	125	7	house	house	NOUN
ap-748	125	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	125	9	acta	acta	PROPN
ap-748	125	10	polytechnica	polytechnica	PROPN
ap-748	125	11	vol	vol	NOUN
ap-748	125	12	.	.	PROPN
ap-748	126	1	45	45	NUM
ap-748	126	2	no	no	NOUN
ap-748	126	3	.	.	PUNCT
ap-748	127	1	4/2005	4/2005	NUM
ap-748	127	2	czech	czech	PROPN
ap-748	127	3	technical	technical	PROPN
ap-748	127	4	university	university	PROPN
ap-748	127	5	in	in	ADP
ap-748	127	6	prague	prague	PROPN
ap-748	127	7	fig	fig	NOUN
ap-748	127	8	.	.	PUNCT
ap-748	128	1	2	2	NUM
ap-748	128	2	:	:	SYM
ap-748	128	3	pitch	pitch	PROPN
ap-748	128	4	att	att	PROPN
ap-748	128	5	.	.	PUNCT
ap-748	129	1	bode	bode	PROPN
ap-748	129	2	plots	plot	NOUN
ap-748	129	3	including	include	VERB
ap-748	129	4	h	h	PROPN
ap-748	129	5	xt	xt	PROPN
ap-748	129	6	�	�	PROPN
ap-748	129	7	cmd	cmd	NOUN
ap-748	129	8	fig	fig	NOUN
ap-748	129	9	.	.	PUNCT
ap-748	130	1	3	3	NUM
ap-748	130	2	:	:	SYM
ap-748	130	3	pitch	pitch	PROPN
ap-748	130	4	att	att	PROPN
ap-748	130	5	.	.	PUNCT
ap-748	131	1	bode	bode	PROPN
ap-748	131	2	plots	plot	NOUN
ap-748	131	3	not	not	PART
ap-748	131	4	including	include	VERB
ap-748	131	5	h	h	PROPN
ap-748	131	6	xt	xt	PROPN
ap-748	131	7	�	�	PROPN
ap-748	131	8	cmd	cmd	NOUN
ap-748	131	9	fig	fig	NOUN
ap-748	131	10	.	.	PUNCT
ap-748	132	1	1	1	NUM
ap-748	132	2	:	:	PUNCT
ap-748	132	3	control	control	NOUN
ap-748	132	4	structure	structure	NOUN
ap-748	132	5	diagram	diagram	NOUN
ap-748	132	6	during	during	ADP
ap-748	132	7	the	the	DET
ap-748	132	8	evaluation	evaluation	NOUN
ap-748	132	9	of	of	ADP
ap-748	132	10	these	these	DET
ap-748	132	11	control	control	NOUN
ap-748	132	12	schemes	scheme	NOUN
ap-748	132	13	,	,	PUNCT
ap-748	132	14	it	it	PRON
ap-748	132	15	has	have	AUX
ap-748	132	16	been	be	AUX
ap-748	132	17	found	find	VERB
ap-748	132	18	that	that	SCONJ
ap-748	132	19	the	the	DET
ap-748	132	20	controller	controller	NOUN
ap-748	132	21	produced	produce	VERB
ap-748	132	22	a	a	DET
ap-748	132	23	system	system	NOUN
ap-748	132	24	that	that	PRON
ap-748	132	25	gives	give	VERB
ap-748	132	26	a	a	DET
ap-748	132	27	low	low	ADJ
ap-748	132	28	gain	gain	NOUN
ap-748	132	29	margin	margin	NOUN
ap-748	132	30	,	,	PUNCT
ap-748	132	31	bwgain	bwgain	NOUN
ap-748	132	32	<	<	X
ap-748	132	33	bwphase	bwphase	NOUN
ap-748	132	34	,	,	PUNCT
ap-748	132	35	as	as	SCONJ
ap-748	132	36	can	can	AUX
ap-748	132	37	be	be	AUX
ap-748	132	38	seen	see	VERB
ap-748	132	39	in	in	ADP
ap-748	132	40	fig	fig	NOUN
ap-748	132	41	.	.	PUNCT
ap-748	133	1	2	2	NUM
ap-748	133	2	,	,	PUNCT
ap-748	133	3	which	which	PRON
ap-748	133	4	shows	show	VERB
ap-748	133	5	bode	bode	ADJ
ap-748	133	6	plots	plot	NOUN
ap-748	133	7	of	of	ADP
ap-748	133	8	gain	gain	NOUN
ap-748	133	9	and	and	CCONJ
ap-748	133	10	phase	phase	NOUN
ap-748	133	11	for	for	ADP
ap-748	133	12	pitch	pitch	NOUN
ap-748	133	13	between	between	ADP
ap-748	133	14	1	1	NUM
ap-748	133	15	and	and	CCONJ
ap-748	133	16	10rad	10rad	ADJ
ap-748	133	17	/	/	SYM
ap-748	133	18	sec	sec	PROPN
ap-748	133	19	.	.	PUNCT
ap-748	134	1	this	this	PRON
ap-748	134	2	produces	produce	VERB
ap-748	134	3	a	a	DET
ap-748	134	4	system	system	NOUN
ap-748	134	5	prone	prone	ADJ
ap-748	134	6	to	to	PART
ap-748	134	7	pilot	pilot	VERB
ap-748	134	8	induced	induced	ADJ
ap-748	134	9	oscillations	oscillation	NOUN
ap-748	134	10	,	,	PUNCT
ap-748	134	11	as	as	SCONJ
ap-748	134	12	the	the	DET
ap-748	134	13	gain	gain	NOUN
ap-748	134	14	limited	limited	ADJ
ap-748	134	15	bandwidth	bandwidth	NOUN
ap-748	134	16	is	be	AUX
ap-748	134	17	lower	low	ADJ
ap-748	134	18	than	than	ADP
ap-748	134	19	the	the	DET
ap-748	134	20	phase	phase	NOUN
ap-748	134	21	limited	limit	VERB
ap-748	134	22	bandwidth	bandwidth	NOUN
ap-748	134	23	,	,	PUNCT
ap-748	134	24	giving	give	VERB
ap-748	134	25	a	a	DET
ap-748	134	26	gain	gain	NOUN
ap-748	134	27	margin	margin	NOUN
ap-748	134	28	of	of	ADP
ap-748	134	29	approximately	approximately	ADV
ap-748	134	30	2.5dbs	2.5dbs	NUM
ap-748	134	31	.	.	PUNCT
ap-748	135	1	this	this	PRON
ap-748	135	2	is	be	AUX
ap-748	135	3	a	a	DET
ap-748	135	4	highly	highly	ADV
ap-748	135	5	undesirable	undesirable	ADJ
ap-748	135	6	attribute	attribute	NOUN
ap-748	135	7	for	for	ADP
ap-748	135	8	the	the	DET
ap-748	135	9	control	control	NOUN
ap-748	135	10	system	system	NOUN
ap-748	135	11	.	.	PUNCT
ap-748	136	1	the	the	DET
ap-748	136	2	way	way	NOUN
ap-748	136	3	round	round	ADP
ap-748	136	4	this	this	DET
ap-748	136	5	problem	problem	NOUN
ap-748	136	6	is	be	AUX
ap-748	136	7	to	to	PART
ap-748	136	8	increase	increase	VERB
ap-748	136	9	the	the	DET
ap-748	136	10	gain	gain	NOUN
ap-748	136	11	roll	roll	VERB
ap-748	136	12	off	off	ADP
ap-748	136	13	characteristic	characteristic	NOUN
ap-748	136	14	.	.	PUNCT
ap-748	137	1	the	the	DET
ap-748	137	2	most	most	ADV
ap-748	137	3	suitable	suitable	ADJ
ap-748	137	4	manner	manner	NOUN
ap-748	137	5	to	to	PART
ap-748	137	6	accomplish	accomplish	VERB
ap-748	137	7	this	this	PRON
ap-748	137	8	is	be	AUX
ap-748	137	9	by	by	ADP
ap-748	137	10	the	the	DET
ap-748	137	11	removal	removal	NOUN
ap-748	137	12	of	of	ADP
ap-748	137	13	the	the	DET
ap-748	137	14	h	h	PROPN
ap-748	137	15	xt	xt	PROPN
ap-748	137	16	�	�	PROPN
ap-748	137	17	cmd	cmd	NOUN
ap-748	137	18	term	term	NOUN
ap-748	137	19	in	in	ADP
ap-748	137	20	the	the	DET
ap-748	137	21	switching	switch	VERB
ap-748	137	22	function	function	NOUN
ap-748	137	23	.	.	PUNCT
ap-748	138	1	this	this	DET
ap-748	138	2	term	term	NOUN
ap-748	138	3	produces	produce	VERB
ap-748	138	4	a	a	DET
ap-748	138	5	large	large	ADJ
ap-748	138	6	actuator	actuator	NOUN
ap-748	138	7	command	command	NOUN
ap-748	138	8	from	from	ADP
ap-748	138	9	the	the	DET
ap-748	138	10	controller	controller	NOUN
ap-748	138	11	,	,	PUNCT
ap-748	138	12	which	which	PRON
ap-748	138	13	gives	give	VERB
ap-748	138	14	the	the	DET
ap-748	138	15	system	system	NOUN
ap-748	138	16	a	a	DET
ap-748	138	17	fast	fast	ADJ
ap-748	138	18	actuation	actuation	NOUN
ap-748	138	19	following	follow	VERB
ap-748	138	20	a	a	DET
ap-748	138	21	command	command	NOUN
ap-748	138	22	input	input	NOUN
ap-748	138	23	.	.	PUNCT
ap-748	139	1	the	the	DET
ap-748	139	2	effect	effect	NOUN
ap-748	139	3	of	of	ADP
ap-748	139	4	omitting	omit	VERB
ap-748	139	5	this	this	DET
ap-748	139	6	term	term	NOUN
ap-748	139	7	is	be	AUX
ap-748	139	8	to	to	PART
ap-748	139	9	increase	increase	VERB
ap-748	139	10	the	the	DET
ap-748	139	11	roll	roll	NOUN
ap-748	139	12	-	-	PUNCT
ap-748	139	13	off	off	NOUN
ap-748	139	14	of	of	ADP
ap-748	139	15	gain	gain	NOUN
ap-748	139	16	and	and	CCONJ
ap-748	139	17	increase	increase	VERB
ap-748	139	18	the	the	DET
ap-748	139	19	phase	phase	NOUN
ap-748	139	20	delay	delay	NOUN
ap-748	139	21	.	.	PUNCT
ap-748	140	1	this	this	DET
ap-748	140	2	increased	increase	VERB
ap-748	140	3	phase	phase	NOUN
ap-748	140	4	delay	delay	NOUN
ap-748	140	5	decreases	decrease	NOUN
ap-748	140	6	bwphase	bwphase	NOUN
ap-748	140	7	,	,	PUNCT
ap-748	140	8	which	which	PRON
ap-748	140	9	in	in	ADP
ap-748	140	10	turn	turn	NOUN
ap-748	140	11	increases	increase	VERB
ap-748	140	12	the	the	DET
ap-748	140	13	gain	gain	NOUN
ap-748	140	14	margin	margin	NOUN
ap-748	140	15	,	,	PUNCT
ap-748	140	16	as	as	SCONJ
ap-748	140	17	can	can	AUX
ap-748	140	18	be	be	AUX
ap-748	140	19	seen	see	VERB
ap-748	140	20	in	in	ADP
ap-748	140	21	fig	fig	NOUN
ap-748	140	22	.	.	PUNCT
ap-748	141	1	3	3	X
ap-748	141	2	.	.	X
ap-748	141	3	the	the	DET
ap-748	141	4	other	other	ADJ
ap-748	141	5	effect	effect	NOUN
ap-748	141	6	of	of	ADP
ap-748	141	7	this	this	PRON
ap-748	141	8	is	be	AUX
ap-748	141	9	evident	evident	ADJ
ap-748	141	10	in	in	ADP
ap-748	141	11	the	the	DET
ap-748	141	12	moderate	moderate	ADJ
ap-748	141	13	amplitude	amplitude	NOUN
ap-748	141	14	evaluation	evaluation	NOUN
ap-748	141	15	.	.	PUNCT
ap-748	142	1	when	when	SCONJ
ap-748	142	2	the	the	DET
ap-748	142	3	h	h	NOUN
ap-748	142	4	xt	xt	PROPN
ap-748	142	5	�	�	PROPN
ap-748	142	6	cmd	cmd	NOUN
ap-748	142	7	term	term	NOUN
ap-748	142	8	is	be	AUX
ap-748	142	9	included	include	VERB
ap-748	142	10	,	,	PUNCT
ap-748	142	11	level	level	NOUN
ap-748	142	12	1	1	NUM
ap-748	142	13	requirements	requirement	NOUN
ap-748	142	14	can	can	AUX
ap-748	142	15	be	be	AUX
ap-748	142	16	satisfied	satisfied	ADJ
ap-748	142	17	.	.	PUNCT
ap-748	143	1	however	however	ADV
ap-748	143	2	,	,	PUNCT
ap-748	143	3	when	when	SCONJ
ap-748	143	4	the	the	DET
ap-748	143	5	term	term	NOUN
ap-748	143	6	is	be	AUX
ap-748	143	7	omitted	omit	VERB
ap-748	143	8	,	,	PUNCT
ap-748	143	9	the	the	DET
ap-748	143	10	system	system	NOUN
ap-748	143	11	does	do	AUX
ap-748	143	12	not	not	PART
ap-748	143	13	have	have	VERB
ap-748	143	14	the	the	DET
ap-748	143	15	high	high	ADJ
ap-748	143	16	actuation	actuation	NOUN
ap-748	143	17	signal	signal	NOUN
ap-748	143	18	that	that	PRON
ap-748	143	19	provides	provide	VERB
ap-748	143	20	much	much	ADJ
ap-748	143	21	of	of	ADP
ap-748	143	22	the	the	DET
ap-748	143	23	control	control	NOUN
ap-748	143	24	effort	effort	NOUN
ap-748	143	25	following	follow	VERB
ap-748	143	26	a	a	DET
ap-748	143	27	command	command	NOUN
ap-748	143	28	input	input	NOUN
ap-748	143	29	,	,	PUNCT
ap-748	143	30	resulting	result	VERB
ap-748	143	31	in	in	ADP
ap-748	143	32	a	a	DET
ap-748	143	33	more	more	ADV
ap-748	143	34	sluggish	sluggish	ADJ
ap-748	143	35	response	response	NOUN
ap-748	143	36	,	,	PUNCT
ap-748	143	37	as	as	SCONJ
ap-748	143	38	reflected	reflect	VERB
ap-748	143	39	in	in	ADP
ap-748	143	40	figs	fig	NOUN
ap-748	143	41	.	.	PUNCT
ap-748	144	1	6	6	NUM
ap-748	144	2	,	,	PUNCT
ap-748	144	3	10	10	NUM
ap-748	144	4	,	,	PUNCT
ap-748	144	5	and	and	CCONJ
ap-748	144	6	14	14	NUM
ap-748	144	7	.	.	PUNCT
ap-748	145	1	another	another	DET
ap-748	145	2	issue	issue	NOUN
ap-748	145	3	concerning	concern	VERB
ap-748	145	4	attitude	attitude	NOUN
ap-748	145	5	control	control	NOUN
ap-748	145	6	is	be	AUX
ap-748	145	7	that	that	PRON
ap-748	145	8	of	of	ADP
ap-748	145	9	steady	steady	ADJ
ap-748	145	10	state	state	NOUN
ap-748	145	11	tracking	tracking	NOUN
ap-748	145	12	.	.	PUNCT
ap-748	146	1	it	it	PRON
ap-748	146	2	has	have	AUX
ap-748	146	3	been	be	AUX
ap-748	146	4	found	find	VERB
ap-748	146	5	that	that	SCONJ
ap-748	146	6	the	the	DET
ap-748	146	7	controller	controller	NOUN
ap-748	146	8	given	give	VERB
ap-748	146	9	in	in	ADP
ap-748	146	10	equation	equation	NOUN
ap-748	146	11	(	(	PUNCT
ap-748	146	12	10	10	NUM
ap-748	146	13	)	)	PUNCT
ap-748	146	14	is	be	AUX
ap-748	146	15	insufficient	insufficient	ADJ
ap-748	146	16	to	to	PART
ap-748	146	17	provide	provide	VERB
ap-748	146	18	adequate	adequate	ADJ
ap-748	146	19	tracking	tracking	NOUN
ap-748	146	20	.	.	PUNCT
ap-748	147	1	for	for	ADP
ap-748	147	2	this	this	DET
ap-748	147	3	reason	reason	NOUN
ap-748	147	4	it	it	PRON
ap-748	147	5	is	be	AUX
ap-748	147	6	desirable	desirable	ADJ
ap-748	147	7	to	to	PART
ap-748	147	8	include	include	VERB
ap-748	147	9	an	an	DET
ap-748	147	10	integral	integral	ADJ
ap-748	147	11	term	term	NOUN
ap-748	147	12	into	into	ADP
ap-748	147	13	the	the	DET
ap-748	147	14	controller	controller	NOUN
ap-748	147	15	.	.	PUNCT
ap-748	148	1	this	this	DET
ap-748	148	2	results	result	VERB
ap-748	148	3	in	in	ADP
ap-748	148	4	a	a	DET
ap-748	148	5	new	new	ADJ
ap-748	148	6	controller	controller	NOUN
ap-748	148	7	given	give	VERB
ap-748	148	8	by	by	ADP
ap-748	148	9	(	(	PUNCT
ap-748	148	10	15	15	NUM
ap-748	148	11	)	)	PUNCT
ap-748	148	12	where	where	SCONJ
ap-748	148	13	is	be	AUX
ap-748	148	14	the	the	DET
ap-748	148	15	integral	integral	ADJ
ap-748	148	16	gain	gain	NOUN
ap-748	148	17	�	�	PROPN
ap-748	148	18	u	u	NOUN
ap-748	148	19	k	k	PROPN
ap-748	149	1	x	x	PUNCT
ap-748	150	1	h	h	NOUN
ap-748	151	1	b	b	NOUN
ap-748	151	2	h	h	NOUN
ap-748	152	1	f	f	NOUN
ap-748	152	2	x	x	PUNCT
ap-748	152	3	x	x	PRON
ap-748	152	4	sat	sit	VERB
ap-748	152	5	xt	xt	PROPN
ap-748	152	6	t	t	PROPN
ap-748	152	7	t	t	PROPN
ap-748	152	8	�	�	PROPN
ap-748	152	9	�	�	PROPN
ap-748	152	10	�	�	PROPN
ap-748	152	11	�	�	PROPN
ap-748	152	12	�	�	PROPN
ap-748	152	13	�	�	PROPN
ap-748	152	14	�	�	PROPN
ap-748	152	15	�	�	PROPN
ap-748	152	16	�	�	PROPN
ap-748	152	17	�	�	PROPN
ap-748	152	18	�	�	PROPN
ap-748	152	19	�	�	PROPN
ap-748	152	20	�	�	PROPN
ap-748	152	21	�	�	PROPN
ap-748	152	22	�	�	PROPN
ap-748	152	23	�	�	PROPN
ap-748	152	24	1	1	NUM
ap-748	152	25	�	�	PROPN
ap-748	152	26	(	(	PUNCT
ap-748	152	27	)	)	PUNCT
ap-748	152	28	(	(	PUNCT
ap-748	152	29	)	)	PUNCT
ap-748	152	30	(	(	PUNCT
ap-748	152	31	)	)	PUNCT
ap-748	152	32	�	�	PROPN
ap-748	152	33	�	�	PROPN
ap-748	152	34	�	�	PROPN
ap-748	152	35	�	�	PROPN
ap-748	152	36	�	�	PROPN
ap-748	152	37	�	�	PROPN
ap-748	152	38	bl	bl	PROPN
ap-748	152	39	�	�	PROPN
ap-748	152	40	�	�	PROPN
ap-748	152	41	�	�	PROPN
ap-748	152	42	�	�	PROPN
ap-748	152	43	�	�	PROPN
ap-748	152	44	�	�	PROPN
ap-748	152	45	�	�	PROPN
ap-748	152	46	�	�	PROPN
ap-748	152	47	�	�	PROPN
ap-748	152	48	(	(	PUNCT
ap-748	152	49	15	15	NUM
ap-748	152	50	)	)	SYM
ap-748	152	51	6	6	NUM
ap-748	152	52	pitch	pitch	NOUN
ap-748	152	53	control	control	VERB
ap-748	152	54	the	the	DET
ap-748	152	55	pitch	pitch	NOUN
ap-748	152	56	form	form	NOUN
ap-748	152	57	of	of	ADP
ap-748	152	58	the	the	DET
ap-748	152	59	smc	smc	PROPN
ap-748	152	60	comprises	comprise	VERB
ap-748	152	61	two	two	NUM
ap-748	152	62	states	state	NOUN
ap-748	152	63	,	,	PUNCT
ap-748	152	64	those	those	PRON
ap-748	152	65	of	of	ADP
ap-748	152	66	pitch	pitch	NOUN
ap-748	152	67	rate	rate	NOUN
ap-748	152	68	and	and	CCONJ
ap-748	152	69	pitch	pitch	NOUN
ap-748	152	70	attitude	attitude	NOUN
ap-748	152	71	.	.	PUNCT
ap-748	153	1	this	this	PRON
ap-748	153	2	allows	allow	VERB
ap-748	153	3	for	for	ADP
ap-748	153	4	both	both	PRON
ap-748	153	5	rate	rate	NOUN
ap-748	153	6	control	control	NOUN
ap-748	153	7	and	and	CCONJ
ap-748	153	8	attitude	attitude	NOUN
ap-748	153	9	control	control	NOUN
ap-748	153	10	to	to	PART
ap-748	153	11	be	be	AUX
ap-748	153	12	accomplished	accomplish	VERB
ap-748	153	13	with	with	ADP
ap-748	153	14	the	the	DET
ap-748	153	15	same	same	ADJ
ap-748	153	16	controller	controller	NOUN
ap-748	153	17	,	,	PUNCT
ap-748	153	18	only	only	ADV
ap-748	153	19	requiring	require	VERB
ap-748	153	20	different	different	ADJ
ap-748	153	21	command	command	NOUN
ap-748	153	22	inputs	input	NOUN
ap-748	153	23	for	for	ADP
ap-748	153	24	each	each	DET
ap-748	153	25	task	task	NOUN
ap-748	153	26	.	.	PUNCT
ap-748	154	1	the	the	DET
ap-748	154	2	first	first	ADJ
ap-748	154	3	requirement	requirement	NOUN
ap-748	154	4	for	for	ADP
ap-748	154	5	an	an	DET
ap-748	154	6	attitude	attitude	NOUN
ap-748	154	7	hold	hold	VERB
ap-748	154	8	response	response	NOUN
ap-748	154	9	type	type	NOUN
ap-748	154	10	is	be	AUX
ap-748	154	11	concerned	concern	VERB
ap-748	154	12	with	with	ADP
ap-748	154	13	the	the	DET
ap-748	154	14	impulse	impulse	ADJ
ap-748	154	15	response	response	NOUN
ap-748	154	16	.	.	PUNCT
ap-748	155	1	fig	fig	NOUN
ap-748	155	2	.	.	PUNCT
ap-748	156	1	4	4	NUM
ap-748	156	2	shows	show	VERB
ap-748	156	3	the	the	DET
ap-748	156	4	response	response	NOUN
ap-748	156	5	to	to	ADP
ap-748	156	6	a	a	DET
ap-748	156	7	rapid	rapid	ADJ
ap-748	156	8	controller	controller	NOUN
ap-748	156	9	impulse	impulse	ADJ
ap-748	156	10	.	.	PUNCT
ap-748	157	1	it	it	PRON
ap-748	157	2	can	can	AUX
ap-748	157	3	be	be	AUX
ap-748	157	4	seen	see	VERB
ap-748	157	5	that	that	SCONJ
ap-748	157	6	the	the	DET
ap-748	157	7	response	response	NOUN
ap-748	157	8	is	be	AUX
ap-748	157	9	not	not	PART
ap-748	157	10	first	first	ADJ
ap-748	157	11	order	order	NOUN
ap-748	157	12	due	due	ADP
ap-748	157	13	to	to	ADP
ap-748	157	14	the	the	DET
ap-748	157	15	negative	negative	ADJ
ap-748	157	16	overshoot	overshoot	NOUN
ap-748	157	17	.	.	PUNCT
ap-748	158	1	also	also	ADV
ap-748	158	2	observable	observable	ADJ
ap-748	158	3	is	be	AUX
ap-748	158	4	the	the	DET
ap-748	158	5	coupling	coupling	NOUN
ap-748	158	6	with	with	ADP
ap-748	158	7	roll	roll	NOUN
ap-748	158	8	,	,	PUNCT
ap-748	158	9	which	which	PRON
ap-748	158	10	can	can	AUX
ap-748	158	11	be	be	AUX
ap-748	158	12	seen	see	VERB
ap-748	158	13	to	to	PART
ap-748	158	14	be	be	AUX
ap-748	158	15	oscillatory	oscillatory	ADJ
ap-748	158	16	,	,	PUNCT
ap-748	158	17	due	due	ADP
ap-748	158	18	to	to	ADP
ap-748	158	19	the	the	DET
ap-748	158	20	high	high	ADJ
ap-748	158	21	order	order	NOUN
ap-748	158	22	rotor	rotor	NOUN
ap-748	158	23	dynamics	dynamic	NOUN
ap-748	158	24	.	.	PUNCT
ap-748	159	1	however	however	ADV
ap-748	159	2	,	,	PUNCT
ap-748	159	3	the	the	DET
ap-748	159	4	requirement	requirement	NOUN
ap-748	159	5	for	for	ADP
ap-748	159	6	returning	return	VERB
ap-748	159	7	to	to	PART
ap-748	159	8	trim	trim	VERB
ap-748	159	9	is	be	AUX
ap-748	159	10	met	meet	VERB
ap-748	159	11	as	as	SCONJ
ap-748	159	12	the	the	DET
ap-748	159	13	pitch	pitch	NOUN
ap-748	159	14	returns	return	VERB
ap-748	159	15	to	to	ADP
ap-748	159	16	10	10	NUM
ap-748	159	17	%	%	NOUN
ap-748	159	18	of	of	ADP
ap-748	159	19	peak	peak	NOUN
ap-748	159	20	deviation	deviation	NOUN
ap-748	159	21	within	within	ADP
ap-748	159	22	approximately	approximately	ADV
ap-748	159	23	2	2	NUM
ap-748	159	24	seconds	second	NOUN
ap-748	159	25	,	,	PUNCT
ap-748	159	26	and	and	CCONJ
ap-748	159	27	roll	roll	NOUN
ap-748	159	28	and	and	CCONJ
ap-748	159	29	yaw	yaw	NOUN
ap-748	159	30	return	return	NOUN
ap-748	159	31	to	to	ADP
ap-748	159	32	10	10	NUM
ap-748	159	33	%	%	NOUN
ap-748	159	34	of	of	ADP
ap-748	159	35	peak	peak	NOUN
ap-748	159	36	within	within	ADP
ap-748	159	37	less	less	ADJ
ap-748	159	38	than	than	ADP
ap-748	159	39	5	5	NUM
ap-748	159	40	seconds	second	NOUN
ap-748	159	41	.	.	PUNCT
ap-748	160	1	the	the	DET
ap-748	160	2	second	second	ADJ
ap-748	160	3	requirement	requirement	NOUN
ap-748	160	4	is	be	AUX
ap-748	160	5	that	that	PRON
ap-748	160	6	of	of	ADP
ap-748	160	7	small	small	ADJ
ap-748	160	8	amplitude	amplitude	NOUN
ap-748	160	9	bandwidth	bandwidth	NOUN
ap-748	160	10	and	and	CCONJ
ap-748	160	11	phase	phase	NOUN
ap-748	160	12	delay	delay	NOUN
ap-748	160	13	.	.	PUNCT
ap-748	161	1	fig	fig	NOUN
ap-748	161	2	.	.	PUNCT
ap-748	162	1	5	5	NUM
ap-748	162	2	shows	show	VERB
ap-748	162	3	the	the	DET
ap-748	162	4	resulting	result	VERB
ap-748	162	5	bandwidth	bandwidth	NOUN
ap-748	162	6	and	and	CCONJ
ap-748	162	7	phase	phase	NOUN
ap-748	162	8	delay	delay	NOUN
ap-748	162	9	in	in	ADP
ap-748	162	10	relation	relation	NOUN
ap-748	162	11	to	to	ADP
ap-748	162	12	the	the	DET
ap-748	162	13	ads-33	ads-33	PROPN
ap-748	162	14	requirements	requirement	NOUN
ap-748	162	15	.	.	PUNCT
ap-748	163	1	this	this	PRON
ap-748	163	2	indicates	indicate	VERB
ap-748	163	3	that	that	SCONJ
ap-748	163	4	the	the	DET
ap-748	163	5	level	level	NOUN
ap-748	163	6	1	1	NUM
ap-748	163	7	requirement	requirement	NOUN
ap-748	163	8	can	can	AUX
ap-748	163	9	be	be	AUX
ap-748	163	10	satisfied	satisfied	ADJ
ap-748	163	11	.	.	PUNCT
ap-748	164	1	bandwidth	bandwidth	NOUN
ap-748	164	2	can	can	AUX
ap-748	164	3	be	be	AUX
ap-748	164	4	increased	increase	VERB
ap-748	164	5	by	by	ADP
ap-748	164	6	increasing	increase	VERB
ap-748	164	7	the	the	DET
ap-748	164	8	gain	gain	NOUN
ap-748	164	9	or	or	CCONJ
ap-748	164	10	increasing	increase	VERB
ap-748	164	11	the	the	DET
ap-748	164	12	bandwidth	bandwidth	NOUN
ap-748	164	13	of	of	ADP
ap-748	164	14	the	the	DET
ap-748	164	15	input	input	NOUN
ap-748	164	16	filter	filter	NOUN
ap-748	164	17	,	,	PUNCT
ap-748	164	18	however	however	ADV
ap-748	164	19	,	,	PUNCT
ap-748	164	20	this	this	PRON
ap-748	164	21	has	have	VERB
ap-748	164	22	the	the	DET
ap-748	164	23	effect	effect	NOUN
ap-748	164	24	of	of	ADP
ap-748	164	25	increasing	increase	VERB
ap-748	164	26	the	the	DET
ap-748	164	27	phase	phase	NOUN
ap-748	164	28	delay	delay	NOUN
ap-748	164	29	due	due	ADP
ap-748	164	30	to	to	ADP
ap-748	164	31	the	the	PRON
ap-748	164	32	on	on	ADP
ap-748	164	33	set	set	NOUN
ap-748	164	34	of	of	ADP
ap-748	164	35	high	high	ADJ
ap-748	164	36	order	order	NOUN
ap-748	164	37	dynamics	dynamic	NOUN
ap-748	164	38	that	that	PRON
ap-748	164	39	are	be	AUX
ap-748	164	40	unaccounted	unaccounte	VERB
ap-748	164	41	for	for	ADP
ap-748	164	42	in	in	ADP
ap-748	164	43	the	the	DET
ap-748	164	44	controller	controller	NOUN
ap-748	164	45	.	.	PUNCT
ap-748	165	1	these	these	PRON
ap-748	165	2	contribute	contribute	VERB
ap-748	165	3	a	a	DET
ap-748	165	4	large	large	ADJ
ap-748	165	5	decay	decay	NOUN
ap-748	165	6	in	in	ADP
ap-748	165	7	phase	phase	NOUN
ap-748	165	8	at	at	ADP
ap-748	165	9	high	high	ADJ
ap-748	165	10	frequencies	frequency	NOUN
ap-748	165	11	(	(	PUNCT
ap-748	165	12	over	over	ADP
ap-748	165	13	10	10	NUM
ap-748	165	14	rad	rad	PROPN
ap-748	165	15	/	/	SYM
ap-748	165	16	sec	sec	PROPN
ap-748	165	17	)	)	PUNCT
ap-748	165	18	.	.	PUNCT
ap-748	166	1	the	the	DET
ap-748	166	2	mid	mid	ADJ
ap-748	166	3	-	-	ADJ
ap-748	166	4	term	term	NOUN
ap-748	166	5	requirement	requirement	NOUN
ap-748	166	6	is	be	AUX
ap-748	166	7	a	a	DET
ap-748	166	8	minimum	minimum	ADJ
ap-748	166	9	damping	damp	VERB
ap-748	166	10	factor	factor	NOUN
ap-748	166	11	of	of	ADP
ap-748	166	12	�	�	PROPN
ap-748	166	13	�	�	PROPN
ap-748	166	14	0.35	0.35	NUM
ap-748	166	15	in	in	ADP
ap-748	166	16	order	order	NOUN
ap-748	166	17	to	to	PART
ap-748	166	18	satisfy	satisfy	VERB
ap-748	166	19	level	level	NOUN
ap-748	166	20	1	1	NUM
ap-748	166	21	handling	handling	NOUN
ap-748	166	22	[	[	X
ap-748	166	23	1	1	NUM
ap-748	166	24	]	]	PUNCT
ap-748	166	25	.	.	PUNCT
ap-748	167	1	the	the	DET
ap-748	167	2	pitch	pitch	NOUN
ap-748	167	3	damping	damp	VERB
ap-748	167	4	is	be	AUX
ap-748	167	5	found	find	VERB
ap-748	167	6	to	to	PART
ap-748	167	7	be	be	AUX
ap-748	167	8	0.68	0.68	NUM
ap-748	167	9	,	,	PUNCT
ap-748	167	10	well	well	ADV
ap-748	167	11	above	above	ADP
ap-748	167	12	the	the	DET
ap-748	167	13	0.35	0.35	NUM
ap-748	167	14	requirement	requirement	NOUN
ap-748	167	15	.	.	PUNCT
ap-748	168	1	the	the	DET
ap-748	168	2	attainable	attainable	ADJ
ap-748	168	3	attitude	attitude	NOUN
ap-748	168	4	quickness	quickness	NOUN
ap-748	168	5	and	and	CCONJ
ap-748	168	6	the	the	DET
ap-748	168	7	ads-33	ads-33	PROPN
ap-748	168	8	require	require	VERB
ap-748	168	9	©	©	PROPN
ap-748	168	10	czech	czech	PROPN
ap-748	168	11	technical	technical	PROPN
ap-748	168	12	university	university	PROPN
ap-748	168	13	publishing	publishing	NOUN
ap-748	168	14	house	house	NOUN
ap-748	168	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	168	16	91	91	NUM
ap-748	168	17	czech	czech	PROPN
ap-748	168	18	technical	technical	PROPN
ap-748	168	19	university	university	PROPN
ap-748	168	20	in	in	ADP
ap-748	168	21	prague	prague	PROPN
ap-748	168	22	acta	acta	PROPN
ap-748	168	23	polytechnica	polytechnica	PROPN
ap-748	168	24	vol	vol	NOUN
ap-748	168	25	.	.	PROPN
ap-748	169	1	45	45	NUM
ap-748	169	2	no	no	NOUN
ap-748	169	3	.	.	PUNCT
ap-748	170	1	4/2005	4/2005	NUM
ap-748	170	2	bwpitch	bwpitch	NOUN
ap-748	170	3	(	(	PUNCT
ap-748	170	4	rad	rad	PROPN
ap-748	170	5	/	/	SYM
ap-748	170	6	sec	sec	PROPN
ap-748	170	7	)	)	PUNCT
ap-748	170	8	fig	fig	NOUN
ap-748	170	9	.	.	PUNCT
ap-748	171	1	5	5	NUM
ap-748	171	2	:	:	PUNCT
ap-748	171	3	ads-33	ads-33	VERB
ap-748	171	4	requirements	requirement	NOUN
ap-748	171	5	for	for	ADP
ap-748	171	6	pitch	pitch	NOUN
ap-748	171	7	attitude	attitude	NOUN
ap-748	171	8	[	[	X
ap-748	171	9	12	12	NUM
ap-748	171	10	]	]	PUNCT
ap-748	171	11	fig	fig	NOUN
ap-748	171	12	.	.	PUNCT
ap-748	172	1	4	4	NUM
ap-748	172	2	:	:	PUNCT
ap-748	172	3	attitude	attitude	NOUN
ap-748	172	4	response	response	NOUN
ap-748	172	5	to	to	ADP
ap-748	172	6	rapid	rapid	ADJ
ap-748	172	7	longitudinal	longitudinal	ADJ
ap-748	172	8	cyclic	cyclic	ADJ
ap-748	172	9	fig	fig	NOUN
ap-748	172	10	.	.	PUNCT
ap-748	173	1	6	6	NUM
ap-748	173	2	:	:	PUNCT
ap-748	173	3	moderate	moderate	ADJ
ap-748	173	4	amplitude	amplitude	NOUN
ap-748	173	5	pitch	pitch	NOUN
ap-748	173	6	attitude	attitude	NOUN
ap-748	173	7	[	[	X
ap-748	173	8	12	12	NUM
ap-748	173	9	]	]	PUNCT
ap-748	173	10	ments	ment	NOUN
ap-748	173	11	are	be	AUX
ap-748	173	12	shown	show	VERB
ap-748	173	13	in	in	ADP
ap-748	173	14	fig	fig	NOUN
ap-748	173	15	.	.	PUNCT
ap-748	174	1	6	6	NUM
ap-748	174	2	.	.	X
ap-748	174	3	it	it	PRON
ap-748	174	4	can	can	AUX
ap-748	174	5	be	be	AUX
ap-748	174	6	seen	see	VERB
ap-748	174	7	that	that	SCONJ
ap-748	174	8	the	the	DET
ap-748	174	9	level	level	NOUN
ap-748	174	10	1	1	NUM
ap-748	174	11	requirements	requirement	NOUN
ap-748	174	12	can	can	AUX
ap-748	174	13	not	not	PART
ap-748	174	14	be	be	AUX
ap-748	174	15	satisfied	satisfied	ADJ
ap-748	174	16	over	over	ADP
ap-748	174	17	the	the	DET
ap-748	174	18	total	total	ADJ
ap-748	174	19	range	range	NOUN
ap-748	174	20	,	,	PUNCT
ap-748	174	21	due	due	ADP
ap-748	174	22	to	to	ADP
ap-748	174	23	the	the	DET
ap-748	174	24	omission	omission	NOUN
ap-748	174	25	of	of	ADP
ap-748	174	26	the	the	DET
ap-748	174	27	h	h	PROPN
ap-748	174	28	xt	xt	PROPN
ap-748	174	29	�	�	PROPN
ap-748	174	30	cmd	cmd	NOUN
ap-748	174	31	term	term	NOUN
ap-748	174	32	in	in	ADP
ap-748	174	33	the	the	DET
ap-748	174	34	controller	controller	NOUN
ap-748	174	35	that	that	PRON
ap-748	174	36	provides	provide	VERB
ap-748	174	37	much	much	ADJ
ap-748	174	38	of	of	ADP
ap-748	174	39	the	the	DET
ap-748	174	40	initial	initial	ADJ
ap-748	174	41	control	control	NOUN
ap-748	174	42	effort	effort	NOUN
ap-748	174	43	.	.	PUNCT
ap-748	175	1	a	a	DET
ap-748	175	2	constant	constant	ADJ
ap-748	175	3	level	level	NOUN
ap-748	175	4	in	in	ADP
ap-748	175	5	the	the	DET
ap-748	175	6	attitude	attitude	NOUN
ap-748	175	7	quickness	quickness	NOUN
ap-748	175	8	is	be	AUX
ap-748	175	9	not	not	PART
ap-748	175	10	observed	observe	VERB
ap-748	175	11	in	in	ADP
ap-748	175	12	fig	fig	NOUN
ap-748	175	13	.	.	PUNCT
ap-748	176	1	6	6	NUM
ap-748	176	2	due	due	ADP
ap-748	176	3	to	to	ADP
ap-748	176	4	the	the	DET
ap-748	176	5	overshoot	overshoot	NOUN
ap-748	176	6	seen	see	VERB
ap-748	176	7	in	in	ADP
ap-748	176	8	at	at	ADP
ap-748	176	9	high	high	ADJ
ap-748	176	10	attitudes	attitude	NOUN
ap-748	176	11	(	(	PUNCT
ap-748	176	12	see	see	VERB
ap-748	176	13	fig	fig	NOUN
ap-748	176	14	.	.	PUNCT
ap-748	177	1	7	7	NUM
ap-748	177	2	)	)	PUNCT
ap-748	178	1	which	which	PRON
ap-748	178	2	reduces	reduce	VERB
ap-748	178	3	the	the	DET
ap-748	178	4	moderate	moderate	ADJ
ap-748	178	5	amplitude	amplitude	NOUN
ap-748	178	6	response	response	NOUN
ap-748	179	1	.	.	PUNCT
ap-748	180	1	the	the	DET
ap-748	180	2	large	large	ADJ
ap-748	180	3	amplitude	amplitude	NOUN
ap-748	180	4	requirement	requirement	NOUN
ap-748	180	5	demands	demand	NOUN
ap-748	180	6	for	for	ADP
ap-748	180	7	attitude	attitude	NOUN
ap-748	180	8	control	control	NOUN
ap-748	180	9	is	be	AUX
ap-748	180	10	a	a	DET
ap-748	180	11	minimum	minimum	NOUN
ap-748	180	12	of	of	ADP
ap-748	180	13	�	�	NOUN
ap-748	180	14	30	30	NUM
ap-748	180	15	°	°	NOUN
ap-748	181	1	[	[	X
ap-748	181	2	12	12	NUM
ap-748	181	3	]	]	PUNCT
ap-748	181	4	.	.	PUNCT
ap-748	182	1	this	this	PRON
ap-748	182	2	is	be	AUX
ap-748	182	3	shown	show	VERB
ap-748	182	4	in	in	ADP
ap-748	182	5	fig	fig	NOUN
ap-748	182	6	.	.	PUNCT
ap-748	182	7	7	7	NUM
ap-748	182	8	for	for	ADP
ap-748	182	9	a	a	DET
ap-748	182	10	positive	positive	ADJ
ap-748	182	11	step	step	NOUN
ap-748	182	12	in	in	ADP
ap-748	182	13	pitch	pitch	NOUN
ap-748	182	14	.	.	PUNCT
ap-748	183	1	it	it	PRON
ap-748	183	2	should	should	AUX
ap-748	183	3	be	be	AUX
ap-748	183	4	noted	note	VERB
ap-748	183	5	that	that	SCONJ
ap-748	183	6	there	there	PRON
ap-748	183	7	is	be	VERB
ap-748	183	8	a	a	DET
ap-748	183	9	slight	slight	ADJ
ap-748	183	10	overshoot	overshoot	NOUN
ap-748	183	11	present	present	ADJ
ap-748	183	12	in	in	ADP
ap-748	183	13	the	the	DET
ap-748	183	14	response	response	NOUN
ap-748	183	15	,	,	PUNCT
ap-748	183	16	but	but	CCONJ
ap-748	183	17	the	the	DET
ap-748	183	18	coupling	coupling	NOUN
ap-748	183	19	between	between	ADP
ap-748	183	20	pitch	pitch	NOUN
ap-748	183	21	and	and	CCONJ
ap-748	183	22	roll	roll	NOUN
ap-748	183	23	and	and	CCONJ
ap-748	183	24	yaw	yaw	NOUN
ap-748	183	25	is	be	AUX
ap-748	183	26	minimal	minimal	ADJ
ap-748	183	27	.	.	PUNCT
ap-748	184	1	7	7	NUM
ap-748	184	2	roll	roll	NOUN
ap-748	184	3	control	control	NOUN
ap-748	184	4	the	the	DET
ap-748	184	5	first	first	ADJ
ap-748	184	6	requirement	requirement	NOUN
ap-748	184	7	for	for	ADP
ap-748	184	8	roll	roll	NOUN
ap-748	184	9	is	be	AUX
ap-748	184	10	that	that	PRON
ap-748	184	11	of	of	ADP
ap-748	184	12	the	the	DET
ap-748	184	13	impulse	impulse	ADJ
ap-748	184	14	response	response	NOUN
ap-748	184	15	.	.	PUNCT
ap-748	185	1	this	this	PRON
ap-748	185	2	is	be	AUX
ap-748	185	3	shown	show	VERB
ap-748	185	4	in	in	ADP
ap-748	185	5	fig	fig	NOUN
ap-748	185	6	.	.	PUNCT
ap-748	186	1	8	8	X
ap-748	186	2	.	.	X
ap-748	187	1	like	like	ADP
ap-748	187	2	that	that	PRON
ap-748	187	3	of	of	ADP
ap-748	187	4	pitch	pitch	NOUN
ap-748	187	5	,	,	PUNCT
ap-748	187	6	the	the	DET
ap-748	187	7	response	response	NOUN
ap-748	187	8	is	be	AUX
ap-748	187	9	not	not	PART
ap-748	187	10	strictly	strictly	ADV
ap-748	187	11	first	first	ADJ
ap-748	187	12	order	order	NOUN
ap-748	187	13	due	due	ADP
ap-748	187	14	to	to	ADP
ap-748	187	15	the	the	DET
ap-748	187	16	negative	negative	ADJ
ap-748	187	17	overshoot	overshoot	NOUN
ap-748	187	18	.	.	PUNCT
ap-748	188	1	however	however	ADV
ap-748	188	2	,	,	PUNCT
ap-748	188	3	it	it	PRON
ap-748	188	4	can	can	AUX
ap-748	188	5	be	be	AUX
ap-748	188	6	seen	see	VERB
ap-748	188	7	that	that	SCONJ
ap-748	188	8	this	this	DET
ap-748	188	9	requirement	requirement	NOUN
ap-748	188	10	is	be	AUX
ap-748	188	11	satisfied	satisfied	ADJ
ap-748	188	12	as	as	ADP
ap-748	188	13	the	the	DET
ap-748	188	14	roll	roll	NOUN
ap-748	188	15	returns	return	NOUN
ap-748	188	16	to	to	ADP
ap-748	188	17	less	less	ADJ
ap-748	188	18	than	than	ADP
ap-748	188	19	10	10	NUM
ap-748	188	20	%	%	NOUN
ap-748	188	21	of	of	ADP
ap-748	188	22	the	the	DET
ap-748	188	23	peak	peak	NOUN
ap-748	188	24	value	value	NOUN
ap-748	188	25	in	in	ADP
ap-748	188	26	under	under	ADP
ap-748	188	27	3	3	NUM
ap-748	188	28	seconds	second	NOUN
ap-748	188	29	,	,	PUNCT
ap-748	188	30	far	far	ADV
ap-748	188	31	less	less	ADJ
ap-748	188	32	than	than	ADP
ap-748	188	33	the	the	DET
ap-748	188	34	10	10	NUM
ap-748	188	35	second	second	ADJ
ap-748	188	36	requirement	requirement	NOUN
ap-748	188	37	.	.	PUNCT
ap-748	189	1	also	also	ADV
ap-748	189	2	,	,	PUNCT
ap-748	189	3	as	as	SCONJ
ap-748	189	4	there	there	PRON
ap-748	189	5	is	be	VERB
ap-748	189	6	little	little	ADJ
ap-748	189	7	deviation	deviation	NOUN
ap-748	189	8	in	in	ADP
ap-748	189	9	pitch	pitch	NOUN
ap-748	189	10	and	and	CCONJ
ap-748	189	11	yaw	yaw	NOUN
ap-748	189	12	,	,	PUNCT
ap-748	189	13	this	this	PRON
ap-748	189	14	is	be	AUX
ap-748	189	15	not	not	PART
ap-748	189	16	of	of	ADP
ap-748	189	17	concern	concern	NOUN
ap-748	189	18	,	,	PUNCT
ap-748	189	19	and	and	CCONJ
ap-748	189	20	demonstrates	demonstrate	VERB
ap-748	189	21	the	the	DET
ap-748	189	22	successful	successful	ADJ
ap-748	189	23	decoupling	decoupling	NOUN
ap-748	189	24	of	of	ADP
ap-748	189	25	pitch	pitch	NOUN
ap-748	189	26	and	and	CCONJ
ap-748	189	27	yaw	yaw	NOUN
ap-748	189	28	from	from	ADP
ap-748	189	29	the	the	DET
ap-748	189	30	roll	roll	NOUN
ap-748	189	31	channel	channel	NOUN
ap-748	189	32	.	.	PUNCT
ap-748	190	1	the	the	DET
ap-748	190	2	phase	phase	NOUN
ap-748	190	3	delay	delay	NOUN
ap-748	190	4	in	in	ADP
ap-748	190	5	roll	roll	NOUN
ap-748	190	6	is	be	AUX
ap-748	190	7	the	the	DET
ap-748	190	8	most	most	ADV
ap-748	190	9	stringent	stringent	ADJ
ap-748	190	10	,	,	PUNCT
ap-748	190	11	with	with	ADP
ap-748	190	12	a	a	DET
ap-748	190	13	required	require	VERB
ap-748	190	14	phase	phase	NOUN
ap-748	190	15	delay	delay	NOUN
ap-748	190	16	of	of	ADP
ap-748	190	17	under	under	ADP
ap-748	190	18	0.12sec	0.12sec	NUM
ap-748	190	19	for	for	ADP
ap-748	190	20	level	level	NOUN
ap-748	190	21	1	1	NUM
ap-748	190	22	.	.	PUNCT
ap-748	190	23	fig	fig	NOUN
ap-748	190	24	.	.	PUNCT
ap-748	191	1	9	9	NUM
ap-748	191	2	shows	show	VERB
ap-748	191	3	the	the	DET
ap-748	191	4	resulting	result	VERB
ap-748	191	5	bandwidth	bandwidth	NOUN
ap-748	191	6	and	and	CCONJ
ap-748	191	7	phase	phase	NOUN
ap-748	191	8	delay	delay	NOUN
ap-748	191	9	in	in	ADP
ap-748	191	10	relation	relation	NOUN
ap-748	191	11	to	to	ADP
ap-748	191	12	the	the	DET
ap-748	191	13	ads-33	ads-33	ADJ
ap-748	191	14	requirements	requirement	NOUN
ap-748	191	15	,	,	PUNCT
ap-748	191	16	and	and	CCONJ
ap-748	191	17	that	that	SCONJ
ap-748	191	18	the	the	DET
ap-748	191	19	level	level	NOUN
ap-748	191	20	1	1	NUM
ap-748	191	21	requirement	requirement	NOUN
ap-748	191	22	is	be	AUX
ap-748	191	23	met	meet	VERB
ap-748	191	24	,	,	PUNCT
ap-748	191	25	although	although	SCONJ
ap-748	191	26	further	further	ADJ
ap-748	191	27	tuning	tuning	NOUN
ap-748	191	28	is	be	AUX
ap-748	191	29	required	require	VERB
ap-748	191	30	to	to	PART
ap-748	191	31	reduce	reduce	VERB
ap-748	191	32	the	the	DET
ap-748	191	33	phase	phase	NOUN
ap-748	191	34	delay	delay	NOUN
ap-748	191	35	p.	p.	NOUN
ap-748	191	36	for	for	ADP
ap-748	191	37	mid	mid	ADJ
ap-748	191	38	-	-	ADJ
ap-748	191	39	term	term	NOUN
ap-748	191	40	response	response	NOUN
ap-748	191	41	,	,	PUNCT
ap-748	191	42	the	the	DET
ap-748	191	43	roll	roll	NOUN
ap-748	191	44	damping	damp	VERB
ap-748	191	45	is	be	AUX
ap-748	191	46	found	find	VERB
ap-748	191	47	to	to	PART
ap-748	191	48	be	be	AUX
ap-748	191	49	0.70	0.70	NUM
ap-748	191	50	.	.	PUNCT
ap-748	192	1	the	the	DET
ap-748	192	2	moderate	moderate	ADJ
ap-748	192	3	amplitude	amplitude	NOUN
ap-748	192	4	requirements	requirement	NOUN
ap-748	192	5	in	in	ADP
ap-748	192	6	roll	roll	NOUN
ap-748	192	7	are	be	AUX
ap-748	192	8	the	the	DET
ap-748	192	9	most	most	ADV
ap-748	192	10	stringent	stringent	ADJ
ap-748	192	11	.	.	PUNCT
ap-748	193	1	the	the	DET
ap-748	193	2	attainable	attainable	ADJ
ap-748	193	3	attitude	attitude	NOUN
ap-748	193	4	quickness	quickness	NOUN
ap-748	193	5	and	and	CCONJ
ap-748	193	6	the	the	DET
ap-748	193	7	ads-33	ads-33	ADJ
ap-748	193	8	requirements	requirement	NOUN
ap-748	193	9	are	be	AUX
ap-748	193	10	shown	show	VERB
ap-748	193	11	in	in	ADP
ap-748	193	12	fig	fig	NOUN
ap-748	193	13	.	.	PUNCT
ap-748	194	1	10	10	NUM
ap-748	194	2	.	.	PUNCT
ap-748	195	1	it	it	PRON
ap-748	195	2	can	can	AUX
ap-748	195	3	be	be	AUX
ap-748	195	4	seen	see	VERB
ap-748	195	5	that	that	SCONJ
ap-748	195	6	the	the	DET
ap-748	195	7	level	level	NOUN
ap-748	195	8	1	1	NUM
ap-748	195	9	requirements	requirement	NOUN
ap-748	195	10	can	can	AUX
ap-748	195	11	not	not	PART
ap-748	195	12	be	be	AUX
ap-748	195	13	satisfied	satisfied	ADJ
ap-748	195	14	over	over	ADP
ap-748	195	15	the	the	DET
ap-748	195	16	total	total	ADJ
ap-748	195	17	whole	whole	ADJ
ap-748	195	18	range	range	NOUN
ap-748	195	19	,	,	PUNCT
ap-748	195	20	due	due	ADP
ap-748	195	21	to	to	ADP
ap-748	195	22	the	the	DET
ap-748	195	23	omission	omission	NOUN
ap-748	195	24	of	of	ADP
ap-748	195	25	the	the	DET
ap-748	195	26	h	h	PROPN
ap-748	195	27	xt	xt	PROPN
ap-748	195	28	�	�	PROPN
ap-748	195	29	cmd	cmd	NOUN
ap-748	195	30	term	term	NOUN
ap-748	195	31	in	in	ADP
ap-748	195	32	the	the	DET
ap-748	195	33	controller	controller	NOUN
ap-748	195	34	that	that	PRON
ap-748	195	35	provides	provide	VERB
ap-748	195	36	much	much	ADJ
ap-748	195	37	of	of	ADP
ap-748	195	38	the	the	DET
ap-748	195	39	initial	initial	ADJ
ap-748	195	40	control	control	NOUN
ap-748	195	41	effort	effort	NOUN
ap-748	195	42	.	.	PUNCT
ap-748	196	1	a	a	DET
ap-748	196	2	constant	constant	ADJ
ap-748	196	3	level	level	NOUN
ap-748	196	4	in	in	ADP
ap-748	196	5	the	the	DET
ap-748	196	6	attitude	attitude	NOUN
ap-748	196	7	quickness	quickness	NOUN
ap-748	196	8	is	be	AUX
ap-748	196	9	not	not	PART
ap-748	196	10	observed	observe	VERB
ap-748	196	11	in	in	ADP
ap-748	196	12	fig	fig	NOUN
ap-748	196	13	.	.	PUNCT
ap-748	197	1	10	10	NUM
ap-748	197	2	.	.	PUNCT
ap-748	198	1	the	the	DET
ap-748	198	2	level	level	NOUN
ap-748	198	3	of	of	ADP
ap-748	198	4	overshoot	overshoot	NOUN
ap-748	198	5	observed	observe	VERB
ap-748	198	6	in	in	ADP
ap-748	198	7	the	the	DET
ap-748	198	8	roll	roll	NOUN
ap-748	198	9	response	response	NOUN
ap-748	198	10	does	do	AUX
ap-748	198	11	not	not	PART
ap-748	198	12	increase	increase	VERB
ap-748	198	13	greatly	greatly	ADV
ap-748	198	14	as	as	ADP
ap-748	198	15	a	a	DET
ap-748	198	16	function	function	NOUN
ap-748	198	17	of	of	ADP
ap-748	198	18	commanded	commanded	ADJ
ap-748	198	19	input	input	NOUN
ap-748	198	20	(	(	PUNCT
ap-748	198	21	overshoot	overshoot	NOUN
ap-748	198	22	only	only	ADV
ap-748	198	23	varies	vary	VERB
ap-748	198	24	from	from	ADP
ap-748	198	25	1	1	NUM
ap-748	198	26	°	°	NOUN
ap-748	198	27	to	to	ADP
ap-748	198	28	2	2	NUM
ap-748	198	29	°	°	NOUN
ap-748	198	30	over	over	ADP
ap-748	198	31	the	the	DET
ap-748	198	32	10	10	NUM
ap-748	198	33	°	°	NOUN
ap-748	198	34	to	to	ADP
ap-748	198	35	60	60	NUM
ap-748	198	36	°	°	PART
ap-748	198	37	attitude	attitude	NOUN
ap-748	198	38	range	range	NOUN
ap-748	198	39	)	)	PUNCT
ap-748	198	40	due	due	ADP
ap-748	198	41	to	to	ADP
ap-748	198	42	the	the	DET
ap-748	198	43	effect	effect	NOUN
ap-748	198	44	of	of	ADP
ap-748	198	45	the	the	DET
ap-748	198	46	integral	integral	ADJ
ap-748	198	47	action	action	NOUN
ap-748	198	48	improving	improve	VERB
ap-748	198	49	the	the	DET
ap-748	198	50	steady	steady	ADJ
ap-748	198	51	state	state	NOUN
ap-748	198	52	tracking	tracking	NOUN
ap-748	198	53	.	.	PUNCT
ap-748	199	1	this	this	PRON
ap-748	199	2	means	mean	VERB
ap-748	199	3	that	that	SCONJ
ap-748	199	4	the	the	DET
ap-748	199	5	ratio	ratio	NOUN
ap-748	199	6	of	of	ADP
ap-748	199	7	peak	peak	NOUN
ap-748	199	8	rate	rate	NOUN
ap-748	199	9	to	to	ADP
ap-748	199	10	maximum	maximum	ADJ
ap-748	199	11	attitude	attitude	NOUN
ap-748	199	12	change	change	NOUN
ap-748	199	13	is	be	AUX
ap-748	199	14	lower	low	ADJ
ap-748	199	15	for	for	ADP
ap-748	199	16	small	small	ADJ
ap-748	199	17	attitude	attitude	NOUN
ap-748	199	18	changes	change	NOUN
ap-748	199	19	than	than	ADP
ap-748	199	20	for	for	ADP
ap-748	199	21	large	large	ADJ
ap-748	199	22	attitude	attitude	NOUN
ap-748	199	23	changes	change	NOUN
ap-748	199	24	.	.	PUNCT
ap-748	200	1	consequently	consequently	ADV
ap-748	200	2	,	,	PUNCT
ap-748	200	3	the	the	DET
ap-748	200	4	moderate	moderate	ADJ
ap-748	200	5	amplitude	amplitude	NOUN
ap-748	200	6	response	response	NOUN
ap-748	200	7	is	be	AUX
ap-748	200	8	poorer	poor	ADJ
ap-748	200	9	in	in	ADP
ap-748	200	10	the	the	DET
ap-748	200	11	lower	low	ADJ
ap-748	200	12	half	half	NOUN
ap-748	200	13	of	of	ADP
ap-748	200	14	the	the	DET
ap-748	200	15	attitude	attitude	NOUN
ap-748	200	16	92	92	NUM
ap-748	200	17	©	©	PROPN
ap-748	200	18	czech	czech	PROPN
ap-748	200	19	technical	technical	PROPN
ap-748	200	20	university	university	PROPN
ap-748	200	21	publishing	publishing	NOUN
ap-748	200	22	house	house	NOUN
ap-748	200	23	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	200	24	acta	acta	PROPN
ap-748	200	25	polytechnica	polytechnica	PROPN
ap-748	200	26	vol	vol	NOUN
ap-748	200	27	.	.	PROPN
ap-748	201	1	45	45	NUM
ap-748	201	2	no	no	NOUN
ap-748	201	3	.	.	PUNCT
ap-748	202	1	4/2005	4/2005	NUM
ap-748	202	2	czech	czech	PROPN
ap-748	202	3	technical	technical	PROPN
ap-748	202	4	university	university	PROPN
ap-748	202	5	in	in	ADP
ap-748	202	6	prague	prague	PROPN
ap-748	202	7	fig	fig	NOUN
ap-748	202	8	.	.	PUNCT
ap-748	203	1	7	7	NUM
ap-748	203	2	:	:	PUNCT
ap-748	203	3	large	large	ADJ
ap-748	203	4	amplitude	amplitude	NOUN
ap-748	203	5	response	response	NOUN
ap-748	203	6	of	of	ADP
ap-748	203	7	pitch	pitch	PROPN
ap-748	203	8	command	command	NOUN
ap-748	203	9	fig	fig	NOUN
ap-748	203	10	.	.	PUNCT
ap-748	204	1	8	8	NUM
ap-748	204	2	:	:	PUNCT
ap-748	204	3	attitude	attitude	NOUN
ap-748	204	4	response	response	NOUN
ap-748	204	5	to	to	ADP
ap-748	204	6	rapid	rapid	ADJ
ap-748	204	7	lateral	lateral	ADJ
ap-748	204	8	cyclic	cyclic	ADJ
ap-748	204	9	input	input	NOUN
ap-748	204	10	bwroll	bwroll	NOUN
ap-748	204	11	(	(	PUNCT
ap-748	204	12	rad	rad	PROPN
ap-748	204	13	/	/	SYM
ap-748	204	14	sec	sec	PROPN
ap-748	204	15	)	)	PUNCT
ap-748	204	16	fig	fig	NOUN
ap-748	204	17	.	.	PUNCT
ap-748	205	1	9	9	NUM
ap-748	205	2	:	:	PUNCT
ap-748	205	3	ads-33	ads-33	VERB
ap-748	205	4	requirements	requirement	NOUN
ap-748	205	5	for	for	ADP
ap-748	205	6	roll	roll	NOUN
ap-748	205	7	attitude	attitude	NOUN
ap-748	205	8	[	[	X
ap-748	205	9	12	12	NUM
ap-748	205	10	]	]	PUNCT
ap-748	205	11	fig	fig	NOUN
ap-748	205	12	.	.	PUNCT
ap-748	206	1	10	10	NUM
ap-748	206	2	:	:	PUNCT
ap-748	206	3	moderate	moderate	ADJ
ap-748	206	4	amplitude	amplitude	NOUN
ap-748	206	5	of	of	ADP
ap-748	206	6	roll	roll	NOUN
ap-748	206	7	attitude	attitude	NOUN
ap-748	206	8	[	[	X
ap-748	206	9	12	12	NUM
ap-748	206	10	]	]	PUNCT
ap-748	206	11	range	range	NOUN
ap-748	206	12	.	.	PUNCT
ap-748	207	1	the	the	DET
ap-748	207	2	large	large	ADJ
ap-748	207	3	amplitude	amplitude	NOUN
ap-748	207	4	requirement	requirement	NOUN
ap-748	207	5	demands	demand	NOUN
ap-748	207	6	are	be	AUX
ap-748	207	7	for	for	ADP
ap-748	207	8	rate	rate	NOUN
ap-748	207	9	control	control	NOUN
ap-748	207	10	,	,	PUNCT
ap-748	207	11	a	a	DET
ap-748	207	12	minimum	minimum	NOUN
ap-748	207	13	of	of	ADP
ap-748	207	14	�	�	PROPN
ap-748	207	15	50	50	NUM
ap-748	207	16	°	°	NUM
ap-748	207	17	/sec	/sec	PUNCT
ap-748	208	1	[	[	X
ap-748	208	2	12	12	NUM
ap-748	208	3	]	]	PUNCT
ap-748	208	4	.	.	PUNCT
ap-748	209	1	fig	fig	NOUN
ap-748	209	2	.	.	PUNCT
ap-748	210	1	11	11	NUM
ap-748	210	2	shows	show	VERB
ap-748	210	3	a	a	DET
ap-748	210	4	positive	positive	ADJ
ap-748	210	5	step	step	NOUN
ap-748	210	6	command	command	NOUN
ap-748	210	7	in	in	ADP
ap-748	210	8	roll	roll	NOUN
ap-748	210	9	.	.	PUNCT
ap-748	211	1	it	it	PRON
ap-748	211	2	should	should	AUX
ap-748	211	3	be	be	AUX
ap-748	211	4	noted	note	VERB
ap-748	211	5	that	that	SCONJ
ap-748	211	6	there	there	PRON
ap-748	211	7	is	be	VERB
ap-748	211	8	overshoot	overshoot	NOUN
ap-748	211	9	present	present	ADJ
ap-748	211	10	in	in	ADP
ap-748	211	11	the	the	DET
ap-748	211	12	response	response	NOUN
ap-748	211	13	,	,	PUNCT
ap-748	211	14	some	some	DET
ap-748	211	15	high	high	ADJ
ap-748	211	16	frequency	frequency	NOUN
ap-748	211	17	oscillation	oscillation	NOUN
ap-748	211	18	,	,	PUNCT
ap-748	211	19	and	and	CCONJ
ap-748	211	20	the	the	DET
ap-748	211	21	coupling	coupling	NOUN
ap-748	211	22	between	between	ADP
ap-748	211	23	roll	roll	NOUN
ap-748	211	24	,	,	PUNCT
ap-748	211	25	pitch	pitch	NOUN
ap-748	211	26	and	and	CCONJ
ap-748	211	27	yaw	yaw	NOUN
ap-748	211	28	.	.	PUNCT
ap-748	212	1	as	as	ADP
ap-748	212	2	with	with	ADP
ap-748	212	3	pitch	pitch	NOUN
ap-748	212	4	,	,	PUNCT
ap-748	212	5	this	this	DET
ap-748	212	6	coupling	coupling	NOUN
ap-748	212	7	can	can	AUX
ap-748	212	8	be	be	AUX
ap-748	212	9	improved	improve	VERB
ap-748	212	10	upon	upon	SCONJ
ap-748	212	11	by	by	ADP
ap-748	212	12	increasing	increase	VERB
ap-748	212	13	the	the	DET
ap-748	212	14	gain	gain	NOUN
ap-748	212	15	of	of	ADP
ap-748	212	16	the	the	DET
ap-748	212	17	off	off	ADP
ap-748	212	18	-	-	PUNCT
ap-748	212	19	axis	axis	NOUN
ap-748	212	20	controllers	controller	NOUN
ap-748	212	21	at	at	ADP
ap-748	212	22	the	the	DET
ap-748	212	23	expense	expense	NOUN
ap-748	212	24	of	of	ADP
ap-748	212	25	the	the	DET
ap-748	212	26	commanded	command	VERB
ap-748	212	27	responses	response	NOUN
ap-748	212	28	in	in	ADP
ap-748	212	29	those	those	DET
ap-748	212	30	axes	axis	NOUN
ap-748	212	31	.	.	PUNCT
ap-748	213	1	8	8	NUM
ap-748	213	2	coupling	couple	VERB
ap-748	213	3	interaxis	interaxis	NOUN
ap-748	213	4	coupling	coupling	NOUN
ap-748	213	5	is	be	AUX
ap-748	213	6	defined	define	VERB
ap-748	213	7	as	as	ADP
ap-748	213	8	a	a	DET
ap-748	213	9	ratio	ratio	NOUN
ap-748	213	10	of	of	ADP
ap-748	213	11	roll	roll	NOUN
ap-748	213	12	due	due	ADP
ap-748	213	13	to	to	ADP
ap-748	213	14	pitch	pitch	NOUN
ap-748	213	15	,	,	PUNCT
ap-748	213	16	and	and	CCONJ
ap-748	213	17	vice	vice	NOUN
ap-748	213	18	-	-	NOUN
ap-748	213	19	versa	versa	NOUN
ap-748	213	20	.	.	PUNCT
ap-748	214	1	for	for	ADP
ap-748	214	2	coupling	coupling	NOUN
ap-748	214	3	of	of	ADP
ap-748	214	4	pitch	pitch	NOUN
ap-748	214	5	due	due	ADJ
ap-748	214	6	to	to	ADP
ap-748	214	7	roll	roll	VERB
ap-748	214	8	,	,	PUNCT
ap-748	214	9	a	a	DET
ap-748	214	10	ratio	ratio	NOUN
ap-748	214	11	of	of	ADP
ap-748	214	12	0.008	0.008	NUM
ap-748	214	13	is	be	AUX
ap-748	214	14	attained	attain	VERB
ap-748	214	15	,	,	PUNCT
ap-748	214	16	and	and	CCONJ
ap-748	214	17	for	for	ADP
ap-748	214	18	roll	roll	NOUN
ap-748	214	19	due	due	ADP
ap-748	214	20	to	to	ADP
ap-748	214	21	pitch	pitch	NOUN
ap-748	214	22	,	,	PUNCT
ap-748	214	23	a	a	DET
ap-748	214	24	ratio	ratio	NOUN
ap-748	214	25	of	of	ADP
ap-748	214	26	0.022	0.022	NUM
ap-748	214	27	is	be	AUX
ap-748	214	28	found	find	VERB
ap-748	214	29	.	.	PUNCT
ap-748	215	1	this	this	PRON
ap-748	215	2	is	be	AUX
ap-748	215	3	well	well	ADV
ap-748	215	4	below	below	ADP
ap-748	215	5	the	the	DET
ap-748	215	6	0.25	0.25	NUM
ap-748	215	7	level	level	NOUN
ap-748	215	8	1	1	NUM
ap-748	215	9	requirement	requirement	NOUN
ap-748	215	10	[	[	X
ap-748	215	11	12	12	NUM
ap-748	215	12	]	]	PUNCT
ap-748	215	13	.	.	PUNCT
ap-748	216	1	9	9	NUM
ap-748	216	2	yaw	yaw	NOUN
ap-748	216	3	control	control	NOUN
ap-748	216	4	yaw	yaw	NOUN
ap-748	216	5	attitude	attitude	NOUN
ap-748	216	6	(	(	PUNCT
ap-748	216	7	or	or	CCONJ
ap-748	216	8	heading	heading	ADJ
ap-748	216	9	)	)	PUNCT
ap-748	216	10	control	control	NOUN
ap-748	216	11	has	have	VERB
ap-748	216	12	essentially	essentially	ADV
ap-748	216	13	the	the	DET
ap-748	216	14	same	same	ADJ
ap-748	216	15	requirements	requirement	NOUN
ap-748	216	16	applied	apply	VERB
ap-748	216	17	to	to	ADP
ap-748	216	18	it	it	PRON
ap-748	216	19	as	as	ADP
ap-748	216	20	pitch	pitch	NOUN
ap-748	216	21	and	and	CCONJ
ap-748	216	22	roll	roll	NOUN
ap-748	216	23	at	at	ADP
ap-748	216	24	hover	hover	NOUN
ap-748	216	25	and	and	CCONJ
ap-748	216	26	low	low	ADJ
ap-748	216	27	speeds	speed	NOUN
ap-748	216	28	(	(	PUNCT
ap-748	216	29	under	under	ADP
ap-748	216	30	40	40	NUM
ap-748	216	31	kts	kt	NOUN
ap-748	216	32	)	)	PUNCT
ap-748	216	33	.	.	PUNCT
ap-748	217	1	the	the	DET
ap-748	217	2	first	first	ADJ
ap-748	217	3	requirement	requirement	NOUN
ap-748	217	4	,	,	PUNCT
ap-748	217	5	like	like	ADP
ap-748	217	6	that	that	PRON
ap-748	217	7	of	of	ADP
ap-748	217	8	pitch	pitch	NOUN
ap-748	217	9	and	and	CCONJ
ap-748	217	10	roll	roll	NOUN
ap-748	217	11	,	,	PUNCT
ap-748	217	12	is	be	AUX
ap-748	217	13	that	that	SCONJ
ap-748	217	14	the	the	DET
ap-748	217	15	yaw	yaw	ADJ
ap-748	217	16	attitude	attitude	NOUN
ap-748	217	17	should	should	AUX
ap-748	217	18	return	return	VERB
ap-748	217	19	to	to	PART
ap-748	217	20	trim	trim	VERB
ap-748	217	21	within	within	ADP
ap-748	217	22	10	10	NUM
ap-748	217	23	seconds	second	NOUN
ap-748	217	24	of	of	ADP
ap-748	217	25	a	a	DET
ap-748	217	26	rapid	rapid	ADJ
ap-748	217	27	controller	controller	NOUN
ap-748	217	28	input	input	NOUN
ap-748	217	29	.	.	PUNCT
ap-748	218	1	as	as	SCONJ
ap-748	218	2	can	can	AUX
ap-748	218	3	be	be	AUX
ap-748	218	4	seen	see	VERB
ap-748	218	5	from	from	ADP
ap-748	218	6	fig	fig	NOUN
ap-748	218	7	.	.	PUNCT
ap-748	219	1	12	12	NUM
ap-748	219	2	,	,	PUNCT
ap-748	219	3	this	this	DET
ap-748	219	4	requirement	requirement	NOUN
ap-748	219	5	can	can	AUX
ap-748	219	6	be	be	AUX
ap-748	219	7	met	meet	VERB
ap-748	219	8	.	.	PUNCT
ap-748	220	1	yaw	yaw	PROPN
ap-748	220	2	control	control	PROPN
ap-748	220	3	exhibits	exhibit	VERB
ap-748	220	4	superior	superior	ADJ
ap-748	220	5	damping	damp	VERB
ap-748	220	6	to	to	ADP
ap-748	220	7	that	that	PRON
ap-748	220	8	of	of	ADP
ap-748	220	9	pitch	pitch	NOUN
ap-748	220	10	and	and	CCONJ
ap-748	220	11	roll	roll	NOUN
ap-748	220	12	as	as	SCONJ
ap-748	220	13	there	there	PRON
ap-748	220	14	is	be	VERB
ap-748	220	15	minimal	minimal	ADJ
ap-748	220	16	overshoot	overshoot	NOUN
ap-748	220	17	,	,	PUNCT
ap-748	220	18	and	and	CCONJ
ap-748	220	19	the	the	DET
ap-748	220	20	response	response	NOUN
ap-748	220	21	approximates	approximate	VERB
ap-748	220	22	a	a	DET
ap-748	220	23	first	first	ADJ
ap-748	220	24	order	order	NOUN
ap-748	220	25	behaviour	behaviour	NOUN
ap-748	220	26	.	.	PUNCT
ap-748	221	1	however	however	ADV
ap-748	221	2	,	,	PUNCT
ap-748	221	3	it	it	PRON
ap-748	221	4	can	can	AUX
ap-748	221	5	be	be	AUX
ap-748	221	6	seen	see	VERB
ap-748	221	7	that	that	SCONJ
ap-748	221	8	coupling	coupling	NOUN
ap-748	221	9	of	of	ADP
ap-748	221	10	pitch	pitch	NOUN
ap-748	221	11	and	and	CCONJ
ap-748	221	12	roll	roll	NOUN
ap-748	221	13	from	from	ADP
ap-748	221	14	this	this	DET
ap-748	221	15	axis	axis	NOUN
ap-748	221	16	is	be	AUX
ap-748	221	17	still	still	ADV
ap-748	221	18	present	present	ADJ
ap-748	221	19	,	,	PUNCT
ap-748	221	20	due	due	ADP
ap-748	221	21	to	to	ADP
ap-748	221	22	the	the	DET
ap-748	221	23	deviation	deviation	NOUN
ap-748	221	24	of	of	ADP
ap-748	221	25	both	both	DET
ap-748	221	26	attitudes	attitude	NOUN
ap-748	221	27	from	from	ADP
ap-748	221	28	trim	trim	NOUN
ap-748	221	29	following	follow	VERB
ap-748	221	30	the	the	DET
ap-748	221	31	input	input	NOUN
ap-748	221	32	.	.	PUNCT
ap-748	222	1	the	the	DET
ap-748	222	2	additional	additional	ADJ
ap-748	222	3	requirement	requirement	NOUN
ap-748	222	4	for	for	ADP
ap-748	222	5	yaw	yaw	NOUN
ap-748	222	6	attitude	attitude	NOUN
ap-748	222	7	hold	hold	VERB
ap-748	222	8	is	be	AUX
ap-748	222	9	that	that	PRON
ap-748	222	10	of	of	ADP
ap-748	222	11	capturing	capture	VERB
ap-748	222	12	the	the	DET
ap-748	222	13	reference	reference	NOUN
ap-748	222	14	heading	head	VERB
ap-748	222	15	within	within	ADP
ap-748	222	16	10	10	NUM
ap-748	222	17	%	%	NOUN
ap-748	222	18	of	of	ADP
ap-748	222	19	the	the	DET
ap-748	222	20	yaw	yaw	NOUN
ap-748	222	21	rate	rate	NOUN
ap-748	222	22	following	follow	VERB
ap-748	222	23	the	the	DET
ap-748	222	24	release	release	NOUN
ap-748	222	25	of	of	ADP
ap-748	222	26	a	a	DET
ap-748	222	27	commanded	commanded	ADJ
ap-748	222	28	yaw	yaw	NOUN
ap-748	222	29	input	input	NOUN
ap-748	222	30	.	.	PUNCT
ap-748	223	1	fig	fig	NOUN
ap-748	223	2	.	.	PUNCT
ap-748	224	1	13	13	NUM
ap-748	224	2	shows	show	VERB
ap-748	224	3	the	the	DET
ap-748	224	4	response	response	NOUN
ap-748	224	5	to	to	ADP
ap-748	224	6	a	a	DET
ap-748	224	7	command	command	NOUN
ap-748	224	8	resulting	result	VERB
ap-748	224	9	in	in	ADP
ap-748	224	10	a	a	DET
ap-748	224	11	step	step	NOUN
ap-748	224	12	change	change	NOUN
ap-748	224	13	in	in	ADP
ap-748	224	14	yaw	yaw	NOUN
ap-748	224	15	rate	rate	NOUN
ap-748	224	16	,	,	PUNCT
ap-748	224	17	which	which	PRON
ap-748	224	18	is	be	AUX
ap-748	224	19	rapidly	rapidly	ADV
ap-748	224	20	applied	apply	VERB
ap-748	224	21	and	and	CCONJ
ap-748	224	22	released	release	VERB
ap-748	224	23	.	.	PUNCT
ap-748	225	1	the	the	DET
ap-748	225	2	final	final	ADJ
ap-748	225	3	yaw	yaw	NOUN
ap-748	225	4	attitude	attitude	NOUN
ap-748	225	5	,	,	PUNCT
ap-748	225	6	�	�	PROPN
ap-748	225	7	f	f	NUM
ap-748	225	8	,	,	PUNCT
ap-748	225	9	should	should	AUX
ap-748	225	10	remain	remain	VERB
ap-748	225	11	within	within	ADP
ap-748	225	12	the	the	DET
ap-748	225	13	greater	great	ADJ
ap-748	225	14	of	of	ADP
ap-748	225	15	�	�	PROPN
ap-748	225	16	r	r	NOUN
ap-748	225	17	�	�	PROPN
ap-748	225	18	1	1	NUM
ap-748	225	19	°	°	NUM
ap-748	225	20	or	or	CCONJ
ap-748	225	21	�	�	PROPN
ap-748	225	22	r	r	NOUN
ap-748	225	23	�	�	PROPN
ap-748	225	24	0.1rr	0.1rr	NUM
ap-748	225	25	.	.	PUNCT
ap-748	226	1	it	it	PRON
ap-748	226	2	is	be	AUX
ap-748	226	3	found	find	VERB
ap-748	226	4	that	that	SCONJ
ap-748	226	5	for	for	ADP
ap-748	226	6	the	the	DET
ap-748	226	7	6	6	NUM
ap-748	226	8	°	°	PROPN
ap-748	226	9	/sec	/sec	PRON
ap-748	226	10	yaw	yaw	NOUN
ap-748	226	11	rate	rate	NOUN
ap-748	226	12	,	,	PUNCT
ap-748	226	13	and	and	CCONJ
ap-748	226	14	a	a	DET
ap-748	226	15	release	release	NOUN
ap-748	226	16	attitude	attitude	NOUN
ap-748	226	17	of	of	ADP
ap-748	226	18	18	18	NUM
ap-748	226	19	°	°	NOUN
ap-748	226	20	,	,	PUNCT
ap-748	226	21	�	�	PROPN
ap-748	226	22	f	f	PROPN
ap-748	226	23	is	be	AUX
ap-748	226	24	18.5	18.5	NUM
ap-748	226	25	°	°	NOUN
ap-748	226	26	,	,	PUNCT
ap-748	226	27	which	which	PRON
ap-748	226	28	is	be	AUX
ap-748	226	29	within	within	ADP
ap-748	226	30	the	the	DET
ap-748	226	31	10	10	NUM
ap-748	226	32	%	%	NOUN
ap-748	226	33	of	of	ADP
ap-748	226	34	yaw	yaw	NOUN
ap-748	226	35	rate	rate	NOUN
ap-748	226	36	at	at	ADP
ap-748	226	37	time	time	NOUN
ap-748	226	38	of	of	ADP
ap-748	226	39	release	release	NOUN
ap-748	226	40	(	(	PUNCT
ap-748	226	41	0.6deg	0.6deg	NUM
ap-748	226	42	/	/	SYM
ap-748	226	43	sec	sec	PROPN
ap-748	226	44	)	)	PUNCT
ap-748	226	45	and	and	CCONJ
ap-748	226	46	well	well	ADV
ap-748	226	47	under	under	ADP
ap-748	226	48	the	the	DET
ap-748	226	49	1	1	NUM
ap-748	226	50	°	°	PROPN
ap-748	226	51	requirement	requirement	NOUN
ap-748	226	52	.	.	PUNCT
ap-748	227	1	the	the	DET
ap-748	227	2	yaw	yaw	PROPN
ap-748	227	3	bandwidths	bandwidth	NOUN
ap-748	227	4	requirements	requirement	NOUN
ap-748	227	5	are	be	AUX
ap-748	227	6	the	the	DET
ap-748	227	7	highest	high	ADJ
ap-748	227	8	,	,	PUNCT
ap-748	227	9	with	with	ADP
ap-748	227	10	a	a	DET
ap-748	227	11	required	require	VERB
ap-748	227	12	bandwidth	bandwidth	NOUN
ap-748	227	13	of	of	ADP
ap-748	227	14	at	at	ADV
ap-748	227	15	least	least	ADV
ap-748	227	16	3.5rad	3.5rad	NUM
ap-748	227	17	/	/	SYM
ap-748	227	18	sec	sec	PROPN
ap-748	227	19	.	.	PROPN
ap-748	227	20	fig	fig	PROPN
ap-748	227	21	.	.	PUNCT
ap-748	228	1	14	14	NUM
ap-748	228	2	shows	show	VERB
ap-748	228	3	the	the	DET
ap-748	228	4	resulting	result	VERB
ap-748	228	5	bandwidth	bandwidth	NOUN
ap-748	228	6	and	and	CCONJ
ap-748	228	7	phase	phase	NOUN
ap-748	228	8	delay	delay	NOUN
ap-748	228	9	in	in	ADP
ap-748	228	10	relation	relation	NOUN
ap-748	228	11	to	to	ADP
ap-748	228	12	the	the	DET
ap-748	228	13	ads-33	ads-33	PROPN
ap-748	228	14	requirements	requirement	NOUN
ap-748	228	15	.	.	PUNCT
ap-748	229	1	this	this	PRON
ap-748	229	2	shows	show	VERB
ap-748	229	3	that	that	SCONJ
ap-748	229	4	the	the	DET
ap-748	229	5	level	level	NOUN
ap-748	229	6	1	1	NUM
ap-748	229	7	requirement	requirement	NOUN
ap-748	229	8	is	be	AUX
ap-748	229	9	satisfied	satisfied	ADJ
ap-748	229	10	.	.	PUNCT
ap-748	230	1	©	©	PROPN
ap-748	230	2	czech	czech	PROPN
ap-748	230	3	technical	technical	PROPN
ap-748	230	4	university	university	PROPN
ap-748	230	5	publishing	publishing	NOUN
ap-748	230	6	house	house	NOUN
ap-748	230	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	230	8	93	93	NUM
ap-748	230	9	czech	czech	PROPN
ap-748	230	10	technical	technical	PROPN
ap-748	230	11	university	university	PROPN
ap-748	230	12	in	in	ADP
ap-748	230	13	prague	prague	PROPN
ap-748	230	14	acta	acta	PROPN
ap-748	230	15	polytechnica	polytechnica	PROPN
ap-748	230	16	vol	vol	NOUN
ap-748	230	17	.	.	PROPN
ap-748	231	1	45	45	NUM
ap-748	231	2	no	no	NOUN
ap-748	231	3	.	.	PUNCT
ap-748	232	1	4/2005	4/2005	NUM
ap-748	232	2	fig	fig	NOUN
ap-748	232	3	.	.	PUNCT
ap-748	233	1	11	11	NUM
ap-748	233	2	:	:	PUNCT
ap-748	233	3	large	large	ADJ
ap-748	233	4	amplitude	amplitude	NOUN
ap-748	233	5	response	response	NOUN
ap-748	233	6	of	of	ADP
ap-748	233	7	roll	roll	NOUN
ap-748	233	8	fig	fig	NOUN
ap-748	233	9	.	.	PUNCT
ap-748	234	1	12	12	NUM
ap-748	234	2	:	:	PUNCT
ap-748	234	3	attitude	attitude	NOUN
ap-748	234	4	response	response	NOUN
ap-748	234	5	to	to	ADP
ap-748	234	6	rapid	rapid	ADJ
ap-748	234	7	tail	tail	NOUN
ap-748	234	8	rotor	rotor	NOUN
ap-748	234	9	cyclic	cyclic	ADJ
ap-748	234	10	input	input	NOUN
ap-748	234	11	fig	fig	NOUN
ap-748	234	12	.	.	PUNCT
ap-748	235	1	13	13	NUM
ap-748	235	2	:	:	PUNCT
ap-748	235	3	yaw	yaw	NOUN
ap-748	235	4	attitude	attitude	NOUN
ap-748	235	5	(	(	PUNCT
ap-748	235	6	heading	head	VERB
ap-748	235	7	)	)	PUNCT
ap-748	235	8	capture	capture	NOUN
ap-748	235	9	bwyaw	bwyaw	NOUN
ap-748	235	10	(	(	PUNCT
ap-748	235	11	rad	rad	PROPN
ap-748	235	12	/	/	SYM
ap-748	235	13	sec	sec	PROPN
ap-748	235	14	)	)	PUNCT
ap-748	235	15	fig	fig	NOUN
ap-748	235	16	.	.	PUNCT
ap-748	236	1	14	14	NUM
ap-748	236	2	:	:	PUNCT
ap-748	237	1	ads-33	ads-33	VERB
ap-748	237	2	bandwidth	bandwidth	NOUN
ap-748	237	3	for	for	ADP
ap-748	237	4	yaw	yaw	NOUN
ap-748	237	5	attitude	attitude	NOUN
ap-748	237	6	[	[	X
ap-748	237	7	12	12	NUM
ap-748	237	8	]	]	PUNCT
ap-748	237	9	for	for	ADP
ap-748	237	10	mid	mid	ADJ
ap-748	237	11	-	-	ADJ
ap-748	237	12	term	term	NOUN
ap-748	237	13	response	response	NOUN
ap-748	237	14	,	,	PUNCT
ap-748	237	15	the	the	DET
ap-748	237	16	yaw	yaw	NOUN
ap-748	237	17	damping	damp	VERB
ap-748	237	18	has	have	AUX
ap-748	237	19	been	be	AUX
ap-748	237	20	found	find	VERB
ap-748	237	21	to	to	PART
ap-748	237	22	be	be	AUX
ap-748	237	23	0.9	0.9	NUM
ap-748	237	24	.	.	PUNCT
ap-748	238	1	the	the	DET
ap-748	238	2	attainable	attainable	ADJ
ap-748	238	3	attitude	attitude	NOUN
ap-748	238	4	quickness	quickness	NOUN
ap-748	238	5	and	and	CCONJ
ap-748	238	6	the	the	DET
ap-748	238	7	ads-33	ads-33	ADJ
ap-748	238	8	requirements	requirement	NOUN
ap-748	238	9	are	be	AUX
ap-748	238	10	shown	show	VERB
ap-748	238	11	in	in	ADP
ap-748	238	12	figure	figure	NOUN
ap-748	238	13	15	15	NUM
ap-748	238	14	.	.	PUNCT
ap-748	239	1	it	it	PRON
ap-748	239	2	can	can	AUX
ap-748	239	3	be	be	AUX
ap-748	239	4	seen	see	VERB
ap-748	239	5	that	that	SCONJ
ap-748	239	6	the	the	DET
ap-748	239	7	level	level	NOUN
ap-748	239	8	1	1	NUM
ap-748	239	9	requirements	requirement	NOUN
ap-748	239	10	can	can	AUX
ap-748	239	11	not	not	PART
ap-748	239	12	be	be	AUX
ap-748	239	13	satisfied	satisfied	ADJ
ap-748	239	14	,	,	PUNCT
ap-748	239	15	due	due	ADP
ap-748	239	16	to	to	ADP
ap-748	239	17	the	the	DET
ap-748	239	18	omission	omission	NOUN
ap-748	239	19	of	of	ADP
ap-748	239	20	the	the	DET
ap-748	239	21	h	h	PROPN
ap-748	239	22	xt	xt	PROPN
ap-748	239	23	�	�	PROPN
ap-748	239	24	cmd	cmd	NOUN
ap-748	239	25	term	term	NOUN
ap-748	239	26	in	in	ADP
ap-748	239	27	the	the	DET
ap-748	239	28	controller	controller	NOUN
ap-748	239	29	that	that	PRON
ap-748	239	30	provides	provide	VERB
ap-748	239	31	much	much	ADJ
ap-748	239	32	of	of	ADP
ap-748	239	33	the	the	DET
ap-748	239	34	initial	initial	ADJ
ap-748	239	35	control	control	NOUN
ap-748	239	36	effort	effort	NOUN
ap-748	239	37	.	.	PUNCT
ap-748	240	1	it	it	PRON
ap-748	240	2	must	must	AUX
ap-748	240	3	be	be	AUX
ap-748	240	4	noted	note	VERB
ap-748	240	5	here	here	ADV
ap-748	240	6	that	that	SCONJ
ap-748	240	7	these	these	DET
ap-748	240	8	results	result	NOUN
ap-748	240	9	are	be	AUX
ap-748	240	10	for	for	ADP
ap-748	240	11	negative	negative	ADJ
ap-748	240	12	yaw	yaw	NOUN
ap-748	240	13	commands	command	NOUN
ap-748	240	14	.	.	PUNCT
ap-748	241	1	although	although	SCONJ
ap-748	241	2	the	the	DET
ap-748	241	3	resulting	result	VERB
ap-748	241	4	attitude	attitude	NOUN
ap-748	241	5	quickness	quickness	NOUN
ap-748	241	6	is	be	AUX
ap-748	241	7	very	very	ADV
ap-748	241	8	similar	similar	ADJ
ap-748	241	9	for	for	ADP
ap-748	241	10	positive	positive	ADJ
ap-748	241	11	steps	step	NOUN
ap-748	241	12	,	,	PUNCT
ap-748	241	13	at	at	ADP
ap-748	241	14	inputs	input	NOUN
ap-748	241	15	over	over	ADP
ap-748	241	16	40	40	NUM
ap-748	241	17	°	°	NOUN
ap-748	241	18	/sec	/sec	VERB
ap-748	241	19	the	the	DET
ap-748	241	20	system	system	NOUN
ap-748	241	21	can	can	AUX
ap-748	241	22	become	become	VERB
ap-748	241	23	unstable	unstable	ADJ
ap-748	241	24	.	.	PUNCT
ap-748	242	1	this	this	PRON
ap-748	242	2	is	be	AUX
ap-748	242	3	likely	likely	ADJ
ap-748	242	4	to	to	PART
ap-748	242	5	be	be	AUX
ap-748	242	6	due	due	ADJ
ap-748	242	7	to	to	ADP
ap-748	242	8	the	the	DET
ap-748	242	9	asymmetry	asymmetry	NOUN
ap-748	242	10	of	of	ADP
ap-748	242	11	the	the	DET
ap-748	242	12	aircraft	aircraft	NOUN
ap-748	242	13	from	from	ADP
ap-748	242	14	the	the	DET
ap-748	242	15	direction	direction	NOUN
ap-748	242	16	of	of	ADP
ap-748	242	17	rotation	rotation	NOUN
ap-748	242	18	of	of	ADP
ap-748	242	19	the	the	DET
ap-748	242	20	main	main	ADJ
ap-748	242	21	rotor	rotor	NOUN
ap-748	242	22	,	,	PUNCT
ap-748	242	23	placement	placement	NOUN
ap-748	242	24	of	of	ADP
ap-748	242	25	the	the	DET
ap-748	242	26	tail	tail	NOUN
ap-748	242	27	rotor	rotor	NOUN
ap-748	242	28	,	,	PUNCT
ap-748	242	29	and	and	CCONJ
ap-748	242	30	the	the	DET
ap-748	242	31	effect	effect	NOUN
ap-748	242	32	of	of	ADP
ap-748	242	33	wake	wake	NOUN
ap-748	242	34	caused	cause	VERB
ap-748	242	35	by	by	ADP
ap-748	242	36	the	the	DET
ap-748	242	37	former	former	ADJ
ap-748	242	38	on	on	ADP
ap-748	242	39	the	the	DET
ap-748	242	40	latter	latter	ADJ
ap-748	242	41	,	,	PUNCT
ap-748	242	42	which	which	PRON
ap-748	242	43	excites	excite	VERB
ap-748	242	44	coupling	coupling	NOUN
ap-748	242	45	between	between	ADP
ap-748	242	46	the	the	DET
ap-748	242	47	yaw	yaw	NOUN
ap-748	242	48	axis	axis	NOUN
ap-748	242	49	and	and	CCONJ
ap-748	242	50	roll	roll	NOUN
ap-748	242	51	axis	axis	NOUN
ap-748	242	52	.	.	PUNCT
ap-748	243	1	10	10	NUM
ap-748	243	2	conclusions	conclusion	NOUN
ap-748	243	3	in	in	ADP
ap-748	243	4	this	this	DET
ap-748	243	5	paper	paper	NOUN
ap-748	243	6	,	,	PUNCT
ap-748	243	7	the	the	DET
ap-748	243	8	successful	successful	ADJ
ap-748	243	9	implementation	implementation	NOUN
ap-748	243	10	of	of	ADP
ap-748	243	11	a	a	DET
ap-748	243	12	sliding	slide	VERB
ap-748	243	13	mode	mode	NOUN
ap-748	243	14	attitude	attitude	NOUN
ap-748	243	15	control	control	NOUN
ap-748	243	16	system	system	NOUN
ap-748	243	17	has	have	AUX
ap-748	243	18	been	be	AUX
ap-748	243	19	presented	present	VERB
ap-748	243	20	.	.	PUNCT
ap-748	244	1	the	the	DET
ap-748	244	2	assessment	assessment	NOUN
ap-748	244	3	of	of	ADP
ap-748	244	4	these	these	DET
ap-748	244	5	controllers	controller	NOUN
ap-748	244	6	to	to	ADP
ap-748	244	7	the	the	DET
ap-748	244	8	ads-33	ads-33	PROPN
ap-748	244	9	requirements	requirement	NOUN
ap-748	244	10	has	have	AUX
ap-748	244	11	shown	show	VERB
ap-748	244	12	that	that	DET
ap-748	244	13	level	level	NOUN
ap-748	244	14	1	1	NUM
ap-748	244	15	handling	handling	NOUN
ap-748	244	16	can	can	AUX
ap-748	244	17	be	be	AUX
ap-748	244	18	achieved	achieve	VERB
ap-748	244	19	for	for	ADP
ap-748	244	20	pitch	pitch	NOUN
ap-748	244	21	,	,	PUNCT
ap-748	244	22	roll	roll	NOUN
ap-748	244	23	and	and	CCONJ
ap-748	244	24	yaw	yaw	NOUN
ap-748	244	25	,	,	PUNCT
ap-748	244	26	creating	create	VERB
ap-748	244	27	a	a	DET
ap-748	244	28	high	high	ADJ
ap-748	244	29	bandwidth	bandwidth	NOUN
ap-748	244	30	,	,	PUNCT
ap-748	244	31	high	high	ADJ
ap-748	244	32	gain	gain	NOUN
ap-748	244	33	,	,	PUNCT
ap-748	244	34	stable	stable	ADJ
ap-748	244	35	control	control	NOUN
ap-748	244	36	platform	platform	NOUN
ap-748	244	37	.	.	PUNCT
ap-748	245	1	despite	despite	SCONJ
ap-748	245	2	the	the	DET
ap-748	245	3	use	use	NOUN
ap-748	245	4	of	of	ADP
ap-748	245	5	a	a	DET
ap-748	245	6	decoupled	decouple	VERB
ap-748	245	7	control	control	NOUN
ap-748	245	8	strategy	strategy	NOUN
ap-748	245	9	,	,	PUNCT
ap-748	245	10	the	the	DET
ap-748	245	11	coupling	coupling	NOUN
ap-748	245	12	between	between	ADP
ap-748	245	13	the	the	DET
ap-748	245	14	channels	channel	NOUN
ap-748	245	15	is	be	AUX
ap-748	245	16	well	well	ADV
ap-748	245	17	within	within	ADP
ap-748	245	18	acceptable	acceptable	ADJ
ap-748	245	19	levels	level	NOUN
ap-748	245	20	.	.	PUNCT
ap-748	246	1	although	although	SCONJ
ap-748	246	2	the	the	DET
ap-748	246	3	controller	controller	NOUN
ap-748	246	4	design	design	NOUN
ap-748	246	5	does	do	AUX
ap-748	246	6	not	not	PART
ap-748	246	7	take	take	VERB
ap-748	246	8	into	into	ADP
ap-748	246	9	account	account	NOUN
ap-748	246	10	the	the	DET
ap-748	246	11	high	high	ADJ
ap-748	246	12	order	order	NOUN
ap-748	246	13	dynamics	dynamic	NOUN
ap-748	246	14	,	,	PUNCT
ap-748	246	15	the	the	DET
ap-748	246	16	testing	testing	NOUN
ap-748	246	17	of	of	ADP
ap-748	246	18	the	the	DET
ap-748	246	19	controllers	controller	NOUN
ap-748	246	20	shows	show	VERB
ap-748	246	21	that	that	SCONJ
ap-748	246	22	the	the	DET
ap-748	246	23	smc	smc	PROPN
ap-748	246	24	system	system	NOUN
ap-748	246	25	can	can	AUX
ap-748	246	26	cope	cope	VERB
ap-748	246	27	with	with	ADP
ap-748	246	28	such	such	ADJ
ap-748	246	29	dynamics	dynamic	NOUN
ap-748	246	30	.	.	PUNCT
ap-748	247	1	however	however	ADV
ap-748	247	2	,	,	PUNCT
ap-748	247	3	there	there	PRON
ap-748	247	4	is	be	VERB
ap-748	247	5	room	room	NOUN
ap-748	247	6	for	for	ADP
ap-748	247	7	improvement	improvement	NOUN
ap-748	247	8	in	in	ADP
ap-748	247	9	this	this	DET
ap-748	247	10	system	system	NOUN
ap-748	247	11	.	.	PUNCT
ap-748	248	1	many	many	ADJ
ap-748	248	2	of	of	ADP
ap-748	248	3	the	the	DET
ap-748	248	4	high	high	ADJ
ap-748	248	5	order	order	NOUN
ap-748	248	6	dynamics	dynamic	NOUN
ap-748	248	7	can	can	AUX
ap-748	248	8	be	be	AUX
ap-748	248	9	observed	observe	VERB
ap-748	248	10	on	on	ADP
ap-748	248	11	the	the	DET
ap-748	248	12	responses	response	NOUN
ap-748	248	13	,	,	PUNCT
ap-748	248	14	and	and	CCONJ
ap-748	248	15	removal	removal	NOUN
ap-748	248	16	of	of	ADP
ap-748	248	17	these	these	PRON
ap-748	248	18	would	would	AUX
ap-748	248	19	be	be	AUX
ap-748	248	20	desirable	desirable	ADJ
ap-748	248	21	.	.	PUNCT
ap-748	249	1	the	the	DET
ap-748	249	2	issue	issue	NOUN
ap-748	249	3	of	of	ADP
ap-748	249	4	attaining	attain	VERB
ap-748	249	5	sufficient	sufficient	ADJ
ap-748	249	6	gain	gain	NOUN
ap-748	249	7	margins	margin	NOUN
ap-748	249	8	to	to	PART
ap-748	249	9	avoid	avoid	VERB
ap-748	249	10	pio	pio	PROPN
ap-748	249	11	has	have	AUX
ap-748	249	12	been	be	AUX
ap-748	249	13	addressed	address	VERB
ap-748	249	14	by	by	ADP
ap-748	249	15	altering	alter	VERB
ap-748	249	16	the	the	DET
ap-748	249	17	controller	controller	NOUN
ap-748	249	18	structure	structure	NOUN
ap-748	249	19	,	,	PUNCT
ap-748	249	20	but	but	CCONJ
ap-748	249	21	at	at	ADP
ap-748	249	22	the	the	DET
ap-748	249	23	cost	cost	NOUN
ap-748	249	24	of	of	ADP
ap-748	249	25	increasing	increase	VERB
ap-748	249	26	phase	phase	NOUN
ap-748	249	27	lag	lag	NOUN
ap-748	249	28	,	,	PUNCT
ap-748	249	29	reducing	reduce	VERB
ap-748	249	30	gain	gain	NOUN
ap-748	249	31	,	,	PUNCT
ap-748	249	32	and	and	CCONJ
ap-748	249	33	reducing	reduce	VERB
ap-748	249	34	available	available	ADJ
ap-748	249	35	bandwidth	bandwidth	NOUN
ap-748	249	36	,	,	PUNCT
ap-748	249	37	resulting	result	VERB
ap-748	249	38	in	in	ADP
ap-748	249	39	a	a	DET
ap-748	249	40	less	less	ADV
ap-748	249	41	agile	agile	ADJ
ap-748	249	42	system	system	NOUN
ap-748	249	43	as	as	SCONJ
ap-748	249	44	reflected	reflect	VERB
ap-748	249	45	in	in	ADP
ap-748	249	46	the	the	DET
ap-748	249	47	moderate	moderate	ADJ
ap-748	249	48	amplitude	amplitude	NOUN
ap-748	249	49	measurement	measurement	NOUN
ap-748	249	50	.	.	PUNCT
ap-748	250	1	the	the	DET
ap-748	250	2	systems	system	NOUN
ap-748	250	3	exhibit	exhibit	VERB
ap-748	250	4	high	high	ADJ
ap-748	250	5	levels	level	NOUN
ap-748	250	6	of	of	ADP
ap-748	250	7	damping	damp	VERB
ap-748	250	8	and	and	CCONJ
ap-748	250	9	allow	allow	VERB
ap-748	250	10	for	for	ADP
ap-748	250	11	large	large	ADJ
ap-748	250	12	amplitude	amplitude	NOUN
ap-748	250	13	while	while	SCONJ
ap-748	250	14	maintaining	maintain	VERB
ap-748	250	15	stable	stable	ADJ
ap-748	250	16	control	control	NOUN
ap-748	250	17	and	and	CCONJ
ap-748	250	18	low	low	ADJ
ap-748	250	19	levels	level	NOUN
ap-748	250	20	of	of	ADP
ap-748	250	21	coupling	coupling	NOUN
ap-748	250	22	.	.	PUNCT
ap-748	251	1	references	reference	NOUN
ap-748	251	2	[	[	X
ap-748	251	3	1	1	NUM
ap-748	251	4	]	]	X
ap-748	251	5	manness	manness	NOUN
ap-748	251	6	,	,	PUNCT
ap-748	251	7	m.	m.	NOUN
ap-748	251	8	a.	a.	PROPN
ap-748	251	9	,	,	PUNCT
ap-748	251	10	gribble	gribble	PROPN
ap-748	251	11	,	,	PUNCT
ap-748	251	12	j.	j.	PROPN
ap-748	251	13	j.	j.	PROPN
ap-748	251	14	,	,	PUNCT
ap-748	251	15	murray	murray	PROPN
ap-748	251	16	-	-	PUNCT
ap-748	251	17	smith	smith	PROPN
ap-748	251	18	,	,	PUNCT
ap-748	251	19	d.	d.	PROPN
ap-748	251	20	j.	j.	PROPN
ap-748	251	21	:	:	PUNCT
ap-748	251	22	“	"	PUNCT
ap-748	251	23	helicopter	helicopter	NOUN
ap-748	251	24	flight	flight	NOUN
ap-748	251	25	control	control	NOUN
ap-748	251	26	law	law	NOUN
ap-748	251	27	design	design	NOUN
ap-748	251	28	methodologies	methodology	NOUN
ap-748	251	29	”	"	PUNCT
ap-748	251	30	,	,	PUNCT
ap-748	251	31	september	september	PROPN
ap-748	251	32	1991	1991	NUM
ap-748	251	33	.	.	PUNCT
ap-748	252	1	[	[	X
ap-748	252	2	2	2	NUM
ap-748	252	3	]	]	PUNCT
ap-748	252	4	prouty	prouty	NOUN
ap-748	252	5	,	,	PUNCT
ap-748	252	6	r.	r.	PROPN
ap-748	252	7	w.	w.	PROPN
ap-748	252	8	:	:	PUNCT
ap-748	252	9	“	"	PUNCT
ap-748	252	10	helicopter	helicopter	NOUN
ap-748	252	11	control	control	NOUN
ap-748	252	12	systems	system	NOUN
ap-748	252	13	:	:	PUNCT
ap-748	252	14	a	a	DET
ap-748	252	15	history	history	NOUN
ap-748	252	16	”	"	PUNCT
ap-748	252	17	,	,	PUNCT
ap-748	252	18	journal	journal	NOUN
ap-748	252	19	of	of	ADP
ap-748	252	20	guidance	guidance	NOUN
ap-748	252	21	,	,	PUNCT
ap-748	252	22	control	control	NOUN
ap-748	252	23	,	,	PUNCT
ap-748	252	24	and	and	CCONJ
ap-748	252	25	dynamics	dynamic	NOUN
ap-748	252	26	,	,	PUNCT
ap-748	252	27	vol	vol	NOUN
ap-748	252	28	.	.	PROPN
ap-748	252	29	26	26	NUM
ap-748	252	30	(	(	PUNCT
ap-748	252	31	2003	2003	NUM
ap-748	252	32	)	)	PUNCT
ap-748	252	33	,	,	PUNCT
ap-748	252	34	no	no	INTJ
ap-748	252	35	.	.	NOUN
ap-748	252	36	1	1	NUM
ap-748	252	37	,	,	PUNCT
ap-748	252	38	january	january	PROPN
ap-748	252	39	-	-	PUNCT
ap-748	252	40	february	february	PROPN
ap-748	252	41	2003	2003	NUM
ap-748	252	42	.	.	PUNCT
ap-748	253	1	[	[	X
ap-748	253	2	3	3	NUM
ap-748	253	3	]	]	X
ap-748	253	4	ingle	ingle	NOUN
ap-748	253	5	,	,	PUNCT
ap-748	253	6	s.	s.	PROPN
ap-748	253	7	j.	j.	PROPN
ap-748	253	8	,	,	PUNCT
ap-748	253	9	celi	celi	PROPN
ap-748	253	10	,	,	PUNCT
ap-748	253	11	r.	r.	PROPN
ap-748	253	12	:	:	PUNCT
ap-748	253	13	“	"	PUNCT
ap-748	253	14	effects	effect	NOUN
ap-748	253	15	of	of	ADP
ap-748	253	16	higher	high	ADJ
ap-748	253	17	order	order	NOUN
ap-748	253	18	dynamics	dynamic	NOUN
ap-748	253	19	on	on	ADP
ap-748	253	20	helicopter	helicopter	NOUN
ap-748	253	21	flight	flight	NOUN
ap-748	253	22	control	control	NOUN
ap-748	253	23	law	law	NOUN
ap-748	253	24	design	design	NOUN
ap-748	253	25	”	"	PUNCT
ap-748	253	26	,	,	PUNCT
ap-748	253	27	presented	present	VERB
ap-748	253	28	at	at	ADP
ap-748	253	29	the	the	DET
ap-748	253	30	annual	annual	ADJ
ap-748	253	31	forum	forum	NOUN
ap-748	253	32	of	of	ADP
ap-748	253	33	the	the	DET
ap-748	253	34	american	american	ADJ
ap-748	253	35	helicopter	helicopter	NOUN
ap-748	253	36	society	society	NOUN
ap-748	253	37	,	,	PUNCT
ap-748	253	38	washington	washington	PROPN
ap-748	253	39	,	,	PUNCT
ap-748	253	40	d.	d.	PROPN
ap-748	253	41	c.	c.	PROPN
ap-748	253	42	,	,	PUNCT
ap-748	253	43	june	june	PROPN
ap-748	253	44	1992	1992	NUM
ap-748	253	45	.	.	PUNCT
ap-748	254	1	[	[	X
ap-748	254	2	4	4	NUM
ap-748	254	3	]	]	X
ap-748	254	4	manness	manness	NOUN
ap-748	254	5	,	,	PUNCT
ap-748	254	6	m.	m.	NOUN
ap-748	254	7	a.	a.	PROPN
ap-748	254	8	,	,	PUNCT
ap-748	254	9	murray	murray	PROPN
ap-748	254	10	-	-	PUNCT
ap-748	254	11	smith	smith	PROPN
ap-748	254	12	,	,	PUNCT
ap-748	254	13	d.	d.	PROPN
ap-748	254	14	j.	j.	PROPN
ap-748	254	15	:	:	PUNCT
ap-748	254	16	“	"	PUNCT
ap-748	254	17	aspects	aspect	NOUN
ap-748	254	18	of	of	ADP
ap-748	254	19	multivariable	multivariable	ADJ
ap-748	254	20	flight	flight	NOUN
ap-748	254	21	control	control	NOUN
ap-748	254	22	law	law	NOUN
ap-748	254	23	design	design	NOUN
ap-748	254	24	for	for	ADP
ap-748	254	25	helicopters	helicopter	NOUN
ap-748	254	26	using	use	VERB
ap-748	254	27	eigenstructure	eigenstructure	NOUN
ap-748	254	28	assignment	assignment	NOUN
ap-748	254	29	.	.	PUNCT
ap-748	254	30	”	"	PUNCT
ap-748	255	1	journal	journal	NOUN
ap-748	255	2	of	of	ADP
ap-748	255	3	the	the	DET
ap-748	255	4	american	american	ADJ
ap-748	255	5	helicopter	helicopter	NOUN
ap-748	255	6	society	society	NOUN
ap-748	255	7	,	,	PUNCT
ap-748	255	8	vol	vol	NOUN
ap-748	255	9	.	.	PROPN
ap-748	255	10	37	37	NUM
ap-748	255	11	(	(	PUNCT
ap-748	255	12	1992	1992	NUM
ap-748	255	13	)	)	PUNCT
ap-748	255	14	,	,	PUNCT
ap-748	255	15	no	no	INTJ
ap-748	255	16	.	.	NOUN
ap-748	255	17	3	3	NUM
ap-748	255	18	,	,	PUNCT
ap-748	255	19	july	july	PROPN
ap-748	255	20	1992	1992	NUM
ap-748	255	21	.	.	PUNCT
ap-748	256	1	[	[	X
ap-748	256	2	5	5	NUM
ap-748	256	3	]	]	PUNCT
ap-748	256	4	tischler	tischler	NOUN
ap-748	256	5	,	,	PUNCT
ap-748	256	6	m.	m.	PROPN
ap-748	256	7	b.	b.	PROPN
ap-748	256	8	:	:	PUNCT
ap-748	256	9	“	"	PUNCT
ap-748	256	10	digital	digital	ADJ
ap-748	256	11	control	control	NOUN
ap-748	256	12	of	of	ADP
ap-748	256	13	highly	highly	ADV
ap-748	256	14	augmented	augment	VERB
ap-748	256	15	combat	combat	NOUN
ap-748	256	16	rotorcraft	rotorcraft	NOUN
ap-748	256	17	.	.	PUNCT
ap-748	256	18	”	"	PUNCT
ap-748	256	19	nasa	nasa	PROPN
ap-748	256	20	-	-	PUNCT
ap-748	256	21	technical	technical	ADJ
ap-748	256	22	memorandum	memorandum	NOUN
ap-748	256	23	88346	88346	NUM
ap-748	256	24	,	,	PUNCT
ap-748	256	25	usaavscom	usaavscom	PROPN
ap-748	256	26	technical	technical	PROPN
ap-748	256	27	report	report	PROPN
ap-748	256	28	87a-5	87a-5	NUM
ap-748	256	29	may	may	PROPN
ap-748	256	30	1987	1987	NUM
ap-748	256	31	.	.	PUNCT
ap-748	257	1	[	[	X
ap-748	257	2	6	6	NUM
ap-748	257	3	]	]	PUNCT
ap-748	257	4	bag	bag	NOUN
ap-748	257	5	,	,	PUNCT
ap-748	257	6	s.	s.	PROPN
ap-748	257	7	k.	k.	PROPN
ap-748	257	8	,	,	PUNCT
ap-748	257	9	spurgeon	spurgeon	NOUN
ap-748	257	10	,	,	PUNCT
ap-748	257	11	s.	s.	PROPN
ap-748	257	12	k.	k.	PROPN
ap-748	257	13	,	,	PUNCT
ap-748	257	14	edwards	edwards	PROPN
ap-748	257	15	,	,	PUNCT
ap-748	257	16	c.	c.	PROPN
ap-748	257	17	:	:	PUNCT
ap-748	257	18	“	"	PUNCT
ap-748	257	19	robust	robust	ADJ
ap-748	257	20	sliding	slide	VERB
ap-748	257	21	mode	mode	NOUN
ap-748	257	22	design	design	NOUN
ap-748	257	23	based	base	VERB
ap-748	257	24	upon	upon	SCONJ
ap-748	257	25	output	output	NOUN
ap-748	257	26	feedback	feedback	NOUN
ap-748	257	27	.	.	PUNCT
ap-748	257	28	”	"	PUNCT
ap-748	258	1	conference	conference	NOUN
ap-748	258	2	publication	publication	NOUN
ap-748	258	3	no	no	INTJ
ap-748	258	4	.	.	NOUN
ap-748	258	5	427	427	NUM
ap-748	258	6	,	,	PUNCT
ap-748	258	7	ukacc	ukacc	PROPN
ap-748	258	8	international	international	ADJ
ap-748	258	9	conference	conference	NOUN
ap-748	258	10	on	on	ADP
ap-748	258	11	control	control	NOUN
ap-748	258	12	,	,	PUNCT
ap-748	258	13	2–5	2–5	PROPN
ap-748	258	14	september	september	PROPN
ap-748	258	15	1996	1996	NUM
ap-748	258	16	,	,	PUNCT
ap-748	259	1	p.	p.	NOUN
ap-748	259	2	406–411	406–411	NUM
ap-748	259	3	.	.	PUNCT
ap-748	260	1	[	[	X
ap-748	260	2	7	7	NUM
ap-748	260	3	]	]	X
ap-748	260	4	fossard	fossard	ADV
ap-748	260	5	,	,	PUNCT
ap-748	260	6	a.	a.	PROPN
ap-748	260	7	j.	j.	PROPN
ap-748	260	8	:	:	PUNCT
ap-748	260	9	“	"	PUNCT
ap-748	260	10	helicopter	helicopter	NOUN
ap-748	260	11	control	control	NOUN
ap-748	260	12	law	law	NOUN
ap-748	260	13	based	base	VERB
ap-748	260	14	on	on	ADP
ap-748	260	15	sliding	slide	VERB
ap-748	260	16	mode	mode	NOUN
ap-748	260	17	with	with	ADP
ap-748	260	18	model	model	NOUN
ap-748	260	19	following	follow	VERB
ap-748	260	20	.	.	PUNCT
ap-748	260	21	”	"	PUNCT
ap-748	260	22	international	international	ADJ
ap-748	260	23	journal	journal	NOUN
ap-748	260	24	of	of	ADP
ap-748	260	25	control	control	NOUN
ap-748	260	26	,	,	PUNCT
ap-748	260	27	vol	vol	NOUN
ap-748	260	28	.	.	PROPN
ap-748	260	29	57	57	NUM
ap-748	260	30	(	(	PUNCT
ap-748	260	31	1993	1993	NUM
ap-748	260	32	)	)	PUNCT
ap-748	260	33	,	,	PUNCT
ap-748	260	34	no	no	INTJ
ap-748	260	35	.	.	NOUN
ap-748	260	36	5	5	NUM
ap-748	260	37	,	,	PUNCT
ap-748	260	38	p.	p.	NOUN
ap-748	260	39	1221–1235	1221–1235	NUM
ap-748	260	40	.	.	PUNCT
ap-748	261	1	[	[	X
ap-748	261	2	8	8	NUM
ap-748	261	3	]	]	X
ap-748	261	4	sira	sira	PROPN
ap-748	261	5	-	-	PUNCT
ap-748	261	6	ramirez	ramirez	PROPN
ap-748	261	7	,	,	PUNCT
ap-748	261	8	h.	h.	PROPN
ap-748	261	9	,	,	PUNCT
ap-748	261	10	zribi	zribi	NOUN
ap-748	261	11	,	,	PUNCT
ap-748	261	12	m.	m.	NOUN
ap-748	261	13	,	,	PUNCT
ap-748	261	14	ahmad	ahmad	PROPN
ap-748	261	15	,	,	PUNCT
ap-748	261	16	s.	s.	PROPN
ap-748	261	17	:	:	PUNCT
ap-748	261	18	“	"	PUNCT
ap-748	261	19	dynamical	dynamical	ADJ
ap-748	261	20	sliding	slide	VERB
ap-748	261	21	mode	mode	NOUN
ap-748	261	22	control	control	NOUN
ap-748	261	23	approach	approach	NOUN
ap-748	261	24	for	for	ADP
ap-748	261	25	vertical	vertical	ADJ
ap-748	261	26	flight	flight	NOUN
ap-748	261	27	regulation	regulation	NOUN
ap-748	261	28	in	in	ADP
ap-748	261	29	helicopters	helicopter	NOUN
ap-748	261	30	.	.	PUNCT
ap-748	261	31	”	"	PUNCT
ap-748	262	1	iee	iee	PROPN
ap-748	262	2	proc.-control	proc.-control	PROPN
ap-748	262	3	theory	theory	NOUN
ap-748	262	4	appl	appl	PROPN
ap-748	262	5	.	.	PROPN
ap-748	262	6	,	,	PUNCT
ap-748	262	7	vol	vol	NOUN
ap-748	262	8	.	.	PROPN
ap-748	263	1	141	141	NUM
ap-748	263	2	,	,	PUNCT
ap-748	263	3	no	no	INTJ
ap-748	263	4	.	.	NOUN
ap-748	263	5	1	1	NUM
ap-748	263	6	,	,	PUNCT
ap-748	263	7	january	january	NOUN
ap-748	263	8	1994	1994	NUM
ap-748	263	9	,	,	PUNCT
ap-748	263	10	p.	p.	NOUN
ap-748	263	11	19–24	19–24	NUM
ap-748	263	12	.	.	PUNCT
ap-748	264	1	[	[	X
ap-748	264	2	9	9	NUM
ap-748	264	3	]	]	PUNCT
ap-748	264	4	spurgeon	spurgeon	NOUN
ap-748	264	5	,	,	PUNCT
ap-748	264	6	s.	s.	PROPN
ap-748	264	7	k.	k.	PROPN
ap-748	264	8	,	,	PUNCT
ap-748	264	9	edwards	edwards	PROPN
ap-748	264	10	,	,	PUNCT
ap-748	264	11	c.	c.	PROPN
ap-748	264	12	,	,	PUNCT
ap-748	264	13	foster	foster	ADJ
ap-748	264	14	,	,	PUNCT
ap-748	264	15	n.	n.	PROPN
ap-748	264	16	p.	p.	NOUN
ap-748	264	17	:	:	PUNCT
ap-748	264	18	“	"	PUNCT
ap-748	264	19	robust	robust	ADJ
ap-748	264	20	model	model	NOUN
ap-748	264	21	reference	reference	NOUN
ap-748	264	22	control	control	NOUN
ap-748	264	23	using	use	VERB
ap-748	264	24	a	a	DET
ap-748	264	25	sliding	slide	VERB
ap-748	264	26	mode	mode	NOUN
ap-748	264	27	controller	controller	NOUN
ap-748	264	28	/	/	SYM
ap-748	264	29	observer	observer	NOUN
ap-748	264	30	scheme	scheme	NOUN
ap-748	264	31	with	with	ADP
ap-748	264	32	application	application	NOUN
ap-748	264	33	to	to	ADP
ap-748	264	34	a	a	DET
ap-748	264	35	helicopter	helicopter	NOUN
ap-748	264	36	problem	problem	NOUN
ap-748	264	37	.	.	PUNCT
ap-748	264	38	”	"	PUNCT
ap-748	265	1	ieee	ieee	NOUN
ap-748	265	2	workshop	workshop	NOUN
ap-748	265	3	on	on	ADP
ap-748	265	4	variable	variable	ADJ
ap-748	265	5	structure	structure	NOUN
ap-748	265	6	systems	system	NOUN
ap-748	265	7	,	,	PUNCT
ap-748	265	8	1996	1996	NUM
ap-748	265	9	.	.	PUNCT
ap-748	266	1	[	[	X
ap-748	266	2	10	10	NUM
ap-748	266	3	]	]	X
ap-748	266	4	edwards	edwards	PROPN
ap-748	266	5	,	,	PUNCT
ap-748	266	6	c.	c.	PROPN
ap-748	266	7	,	,	PUNCT
ap-748	266	8	spurgeon	spurgeon	NOUN
ap-748	266	9	,	,	PUNCT
ap-748	266	10	s.	s.	PROPN
ap-748	266	11	k.	k.	PROPN
ap-748	266	12	:	:	PUNCT
ap-748	266	13	sliding	slide	VERB
ap-748	266	14	mode	mode	NOUN
ap-748	266	15	control	control	NOUN
ap-748	266	16	:	:	PUNCT
ap-748	266	17	theory	theory	NOUN
ap-748	266	18	and	and	CCONJ
ap-748	266	19	applications	application	NOUN
ap-748	266	20	.	.	PUNCT
ap-748	267	1	taylor	taylor	PROPN
ap-748	267	2	and	and	CCONJ
ap-748	267	3	francis	francis	PROPN
ap-748	267	4	ltd	ltd	PROPN
ap-748	267	5	,	,	PUNCT
ap-748	267	6	london	london	PROPN
ap-748	267	7	1998	1998	NUM
ap-748	267	8	.	.	PUNCT
ap-748	268	1	[	[	X
ap-748	268	2	11	11	NUM
ap-748	268	3	]	]	PUNCT
ap-748	268	4	slotine	slotine	NOUN
ap-748	268	5	,	,	PUNCT
ap-748	268	6	j.	j.	PROPN
ap-748	268	7	j.	j.	PROPN
ap-748	268	8	e.	e.	PROPN
ap-748	268	9	,	,	PUNCT
ap-748	268	10	li	li	PROPN
ap-748	268	11	,	,	PUNCT
ap-748	268	12	w.	w.	PROPN
ap-748	268	13	:	:	PUNCT
ap-748	268	14	applied	apply	VERB
ap-748	268	15	non	non	ADJ
ap-748	268	16	-	-	ADJ
ap-748	268	17	linear	linear	ADJ
ap-748	268	18	control	control	NOUN
ap-748	268	19	.	.	PUNCT
ap-748	269	1	prentice	prentice	PROPN
ap-748	269	2	hall	hall	PROPN
ap-748	269	3	,	,	PUNCT
ap-748	269	4	1992	1992	NUM
ap-748	269	5	.	.	PUNCT
ap-748	270	1	[	[	X
ap-748	270	2	12	12	NUM
ap-748	270	3	]	]	PUNCT
ap-748	270	4	ads-33e	ads-33e	NUM
ap-748	270	5	-	-	PUNCT
ap-748	270	6	prf	prf	NOUN
ap-748	270	7	,	,	PUNCT
ap-748	270	8	“	"	PUNCT
ap-748	270	9	aeronautical	aeronautical	NOUN
ap-748	270	10	design	design	NOUN
ap-748	270	11	standard	standard	NOUN
ap-748	270	12	,	,	PUNCT
ap-748	270	13	33e	33e	NUM
ap-748	270	14	,	,	PUNCT
ap-748	270	15	handling	handle	VERB
ap-748	270	16	qualities	quality	NOUN
ap-748	270	17	requirements	requirement	NOUN
ap-748	270	18	for	for	ADP
ap-748	270	19	military	military	ADJ
ap-748	270	20	rotorcraft	rotorcraft	NOUN
ap-748	270	21	”	"	PUNCT
ap-748	270	22	,	,	PUNCT
ap-748	270	23	united	united	PROPN
ap-748	270	24	states	states	PROPN
ap-748	270	25	army	army	PROPN
ap-748	270	26	aviation	aviation	NOUN
ap-748	270	27	and	and	CCONJ
ap-748	270	28	missile	missile	NOUN
ap-748	270	29	command	command	NOUN
ap-748	270	30	,	,	PUNCT
ap-748	270	31	aviation	aviation	NOUN
ap-748	270	32	engineering	engineering	NOUN
ap-748	270	33	directorate	directorate	NOUN
ap-748	270	34	,	,	PUNCT
ap-748	270	35	redstone	redstone	PROPN
ap-748	270	36	arsenal	arsenal	PROPN
ap-748	270	37	,	,	PUNCT
ap-748	270	38	alabama	alabama	PROPN
ap-748	270	39	,	,	PUNCT
ap-748	270	40	21st	21st	ADJ
ap-748	270	41	march	march	NOUN
ap-748	270	42	2000	2000	NUM
ap-748	270	43	.	.	PUNCT
ap-748	271	1	[	[	X
ap-748	271	2	13	13	NUM
ap-748	271	3	]	]	X
ap-748	271	4	houston	houston	PROPN
ap-748	271	5	,	,	PUNCT
ap-748	271	6	s.	s.	PROPN
ap-748	271	7	s.	s.	PROPN
ap-748	271	8	:	:	PUNCT
ap-748	271	9	rotorcraft	rotorcraft	NOUN
ap-748	271	10	aerodynamics	aerodynamic	NOUN
ap-748	271	11	simulation	simulation	NOUN
ap-748	271	12	for	for	ADP
ap-748	271	13	control	control	NOUN
ap-748	271	14	analysis	analysis	NOUN
ap-748	271	15	–	–	PUNCT
ap-748	271	16	mathematical	mathematical	ADJ
ap-748	271	17	model	model	NOUN
ap-748	271	18	definition	definition	NOUN
ap-748	271	19	.	.	PUNCT
ap-748	272	1	university	university	NOUN
ap-748	272	2	of	of	ADP
ap-748	272	3	glasgow	glasgow	PROPN
ap-748	272	4	,	,	PUNCT
ap-748	272	5	dept	dept	NOUN
ap-748	272	6	.	.	PROPN
ap-748	272	7	of	of	ADP
ap-748	272	8	aerospace	aerospace	NOUN
ap-748	272	9	engineering	engineering	NOUN
ap-748	272	10	internal	internal	ADJ
ap-748	272	11	report	report	NOUN
ap-748	272	12	no	no	INTJ
ap-748	272	13	.	.	PUNCT
ap-748	272	14	9123	9123	NUM
ap-748	272	15	,	,	PUNCT
ap-748	272	16	1991	1991	NUM
ap-748	272	17	.	.	PUNCT
ap-748	273	1	[	[	X
ap-748	273	2	14	14	NUM
ap-748	273	3	]	]	X
ap-748	273	4	houston	houston	PROPN
ap-748	273	5	,	,	PUNCT
ap-748	273	6	s.	s.	PROPN
ap-748	273	7	s.	s.	PROPN
ap-748	273	8	:	:	PUNCT
ap-748	273	9	“	"	PUNCT
ap-748	273	10	validation	validation	NOUN
ap-748	273	11	of	of	ADP
ap-748	273	12	a	a	DET
ap-748	273	13	non	non	ADJ
ap-748	273	14	-	-	ADJ
ap-748	273	15	linear	linear	ADJ
ap-748	273	16	individual	individual	ADJ
ap-748	273	17	blade	blade	NOUN
ap-748	273	18	flight	flight	NOUN
ap-748	273	19	dynamics	dynamic	NOUN
ap-748	273	20	model	model	NOUN
ap-748	273	21	using	use	VERB
ap-748	273	22	a	a	DET
ap-748	273	23	perturbation	perturbation	NOUN
ap-748	273	24	method	method	NOUN
ap-748	273	25	.	.	PUNCT
ap-748	273	26	”	"	PUNCT
ap-748	274	1	the	the	DET
ap-748	274	2	aeronautical	aeronautical	PROPN
ap-748	274	3	journal	journal	NOUN
ap-748	274	4	of	of	ADP
ap-748	274	5	the	the	DET
ap-748	274	6	royal	royal	ADJ
ap-748	274	7	aeronautical	aeronautical	PROPN
ap-748	274	8	society	society	NOUN
ap-748	274	9	,	,	PUNCT
ap-748	274	10	vol	vol	NOUN
ap-748	274	11	.	.	PROPN
ap-748	274	12	98	98	NUM
ap-748	274	13	(	(	PUNCT
ap-748	274	14	1994	1994	NUM
ap-748	274	15	)	)	PUNCT
ap-748	274	16	,	,	PUNCT
ap-748	274	17	no	no	INTJ
ap-748	274	18	.	.	NOUN
ap-748	274	19	977	977	NUM
ap-748	274	20	,	,	PUNCT
ap-748	274	21	august	august	PROPN
ap-748	274	22	-	-	PUNCT
ap-748	274	23	september	september	PROPN
ap-748	274	24	1994	1994	NUM
ap-748	274	25	.	.	PUNCT
ap-748	275	1	[	[	X
ap-748	275	2	15	15	NUM
ap-748	275	3	]	]	X
ap-748	275	4	houston	houston	PROPN
ap-748	275	5	,	,	PUNCT
ap-748	275	6	s.	s.	PROPN
ap-748	275	7	s.	s.	PROPN
ap-748	275	8	:	:	PUNCT
ap-748	275	9	“	"	PUNCT
ap-748	275	10	validation	validation	NOUN
ap-748	275	11	of	of	ADP
ap-748	275	12	a	a	DET
ap-748	275	13	blade	blade	NOUN
ap-748	275	14	-	-	PUNCT
ap-748	275	15	element	element	NOUN
ap-748	275	16	helicopter	helicopter	NOUN
ap-748	275	17	model	model	NOUN
ap-748	275	18	for	for	ADP
ap-748	275	19	large	large	ADJ
ap-748	275	20	amplitude	amplitude	NOUN
ap-748	275	21	manoeuvres	manoeuvre	NOUN
ap-748	275	22	.	.	PUNCT
ap-748	275	23	”	"	PUNCT
ap-748	276	1	the	the	DET
ap-748	276	2	aeronautical	aeronautical	PROPN
ap-748	276	3	journal	journal	NOUN
ap-748	276	4	of	of	ADP
ap-748	276	5	the	the	DET
ap-748	276	6	royal	royal	ADJ
ap-748	276	7	aeronautical	aeronautical	PROPN
ap-748	276	8	society	society	NOUN
ap-748	276	9	,	,	PUNCT
ap-748	276	10	vol	vol	NOUN
ap-748	276	11	.	.	PUNCT
ap-748	277	1	101	101	NUM
ap-748	277	2	(	(	PUNCT
ap-748	277	3	1997	1997	NUM
ap-748	277	4	)	)	PUNCT
ap-748	277	5	,	,	PUNCT
ap-748	277	6	no	no	INTJ
ap-748	277	7	.	.	NOUN
ap-748	278	1	1001	1001	NUM
ap-748	278	2	,	,	PUNCT
ap-748	278	3	january	january	PROPN
ap-748	278	4	1997	1997	NUM
ap-748	278	5	,	,	PUNCT
ap-748	279	1	p.	p.	NOUN
ap-748	279	2	1–7	1–7	NUM
ap-748	279	3	.	.	PUNCT
ap-748	280	1	[	[	X
ap-748	280	2	16	16	NUM
ap-748	280	3	]	]	X
ap-748	280	4	healey	healey	PROPN
ap-748	280	5	,	,	PUNCT
ap-748	280	6	a.	a.	PROPN
ap-748	280	7	j.	j.	PROPN
ap-748	280	8	,	,	PUNCT
ap-748	280	9	lienard	lienard	PROPN
ap-748	280	10	,	,	PUNCT
ap-748	280	11	d.	d.	PROPN
ap-748	280	12	:	:	PUNCT
ap-748	280	13	“	"	PUNCT
ap-748	280	14	multivariable	multivariable	ADJ
ap-748	280	15	sliding	slide	VERB
ap-748	280	16	mode	mode	NOUN
ap-748	280	17	control	control	NOUN
ap-748	280	18	for	for	ADP
ap-748	280	19	autonomous	autonomous	ADJ
ap-748	280	20	diving	diving	NOUN
ap-748	280	21	and	and	CCONJ
ap-748	280	22	steering	steering	NOUN
ap-748	280	23	of	of	ADP
ap-748	280	24	unmanned	unmanned	ADJ
ap-748	280	25	underwater	underwater	ADJ
ap-748	280	26	vehicles	vehicle	NOUN
ap-748	280	27	.	.	PUNCT
ap-748	280	28	”	"	PUNCT
ap-748	280	29	ieee	ieee	PROPN
ap-748	280	30	journal	journal	PROPN
ap-748	280	31	of	of	ADP
ap-748	280	32	oceanic	oceanic	ADJ
ap-748	280	33	engineering	engineering	NOUN
ap-748	280	34	,	,	PUNCT
ap-748	280	35	vol	vol	NOUN
ap-748	280	36	18	18	NUM
ap-748	280	37	(	(	PUNCT
ap-748	280	38	1993	1993	NUM
ap-748	280	39	)	)	PUNCT
ap-748	280	40	,	,	PUNCT
ap-748	280	41	no	no	INTJ
ap-748	280	42	.	.	NOUN
ap-748	280	43	3	3	NUM
ap-748	280	44	,	,	PUNCT
ap-748	280	45	p.	p.	NOUN
ap-748	280	46	327–339	327–339	NUM
ap-748	280	47	.	.	PUNCT
ap-748	281	1	94	94	NUM
ap-748	282	1	©	©	PROPN
ap-748	282	2	czech	czech	PROPN
ap-748	282	3	technical	technical	PROPN
ap-748	282	4	university	university	PROPN
ap-748	282	5	publishing	publishing	NOUN
ap-748	282	6	house	house	NOUN
ap-748	282	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	282	8	acta	acta	PROPN
ap-748	282	9	polytechnica	polytechnica	PROPN
ap-748	282	10	vol	vol	NOUN
ap-748	282	11	.	.	PROPN
ap-748	283	1	45	45	NUM
ap-748	283	2	no	no	NOUN
ap-748	283	3	.	.	PUNCT
ap-748	284	1	4/2005	4/2005	NUM
ap-748	284	2	czech	czech	PROPN
ap-748	284	3	technical	technical	PROPN
ap-748	284	4	university	university	PROPN
ap-748	284	5	in	in	ADP
ap-748	284	6	prague	prague	PROPN
ap-748	284	7	fig	fig	NOUN
ap-748	284	8	.	.	PUNCT
ap-748	285	1	15	15	NUM
ap-748	285	2	:	:	PUNCT
ap-748	285	3	moderate	moderate	ADJ
ap-748	285	4	amplitude	amplitude	NOUN
ap-748	285	5	of	of	ADP
ap-748	285	6	yaw	yaw	ADJ
ap-748	285	7	attitude	attitude	NOUN
ap-748	285	8	[	[	X
ap-748	285	9	12	12	NUM
ap-748	285	10	]	]	X
ap-748	286	1	[	[	X
ap-748	286	2	17	17	NUM
ap-748	286	3	]	]	X
ap-748	286	4	mcgookin	mcgookin	X
ap-748	286	5	,	,	PUNCT
ap-748	286	6	e.	e.	PROPN
ap-748	286	7	w.	w.	PROPN
ap-748	286	8	:	:	PUNCT
ap-748	286	9	“	"	PUNCT
ap-748	286	10	sliding	slide	VERB
ap-748	286	11	mode	mode	NOUN
ap-748	286	12	control	control	NOUN
ap-748	286	13	of	of	ADP
ap-748	286	14	a	a	DET
ap-748	286	15	submarine	submarine	NOUN
ap-748	286	16	.	.	PUNCT
ap-748	286	17	”	"	PUNCT
ap-748	287	1	m.	m.	NOUN
ap-748	287	2	eng	eng	PROPN
ap-748	287	3	thesis	thesis	NOUN
ap-748	287	4	,	,	PUNCT
ap-748	287	5	university	university	NOUN
ap-748	287	6	of	of	ADP
ap-748	287	7	glasgow	glasgow	PROPN
ap-748	287	8	,	,	PUNCT
ap-748	287	9	dept	dept	NOUN
ap-748	287	10	.	.	PUNCT
ap-748	288	1	e&ee	e&ee	PROPN
ap-748	288	2	engineering	engineering	PROPN
ap-748	288	3	,	,	PUNCT
ap-748	288	4	1993	1993	NUM
ap-748	288	5	.	.	PUNCT
ap-748	289	1	[	[	X
ap-748	289	2	18	18	NUM
ap-748	289	3	]	]	X
ap-748	289	4	kautsky	kautsky	PROPN
ap-748	289	5	,	,	PUNCT
ap-748	289	6	j.	j.	PROPN
ap-748	289	7	,	,	PUNCT
ap-748	289	8	nichols	nichols	PROPN
ap-748	289	9	,	,	PUNCT
ap-748	289	10	n.	n.	PROPN
ap-748	289	11	k.	k.	PROPN
ap-748	289	12	,	,	PUNCT
ap-748	289	13	van	van	PROPN
ap-748	289	14	dooren	dooren	PROPN
ap-748	289	15	,	,	PUNCT
ap-748	289	16	p.	p.	NOUN
ap-748	289	17	:	:	PUNCT
ap-748	289	18	“	"	PUNCT
ap-748	289	19	robust	robust	ADJ
ap-748	289	20	poles	pole	NOUN
ap-748	289	21	assignment	assignment	NOUN
ap-748	289	22	in	in	ADP
ap-748	289	23	linear	linear	PROPN
ap-748	289	24	state	state	NOUN
ap-748	289	25	feedback	feedback	NOUN
ap-748	289	26	.	.	PUNCT
ap-748	289	27	”	"	PUNCT
ap-748	290	1	international	international	ADJ
ap-748	290	2	journal	journal	NOUN
ap-748	290	3	of	of	ADP
ap-748	290	4	control	control	NOUN
ap-748	290	5	,	,	PUNCT
ap-748	290	6	vol	vol	NOUN
ap-748	290	7	.	.	PROPN
ap-748	290	8	41	41	NUM
ap-748	290	9	(	(	PUNCT
ap-748	290	10	1985	1985	NUM
ap-748	290	11	)	)	PUNCT
ap-748	290	12	,	,	PUNCT
ap-748	290	13	no	no	INTJ
ap-748	290	14	.	.	NOUN
ap-748	290	15	5	5	NUM
ap-748	290	16	,	,	PUNCT
ap-748	290	17	p.	p.	NOUN
ap-748	290	18	1129–1155	1129–1155	NUM
ap-748	290	19	.	.	PUNCT
ap-748	291	1	[	[	X
ap-748	291	2	19	19	NUM
ap-748	291	3	]	]	PUNCT
ap-748	291	4	cooper	cooper	NOUN
ap-748	291	5	,	,	PUNCT
ap-748	291	6	g.	g.	PROPN
ap-748	291	7	e.	e.	PROPN
ap-748	291	8	,	,	PUNCT
ap-748	291	9	harper	harper	PROPN
ap-748	291	10	jr	jr	PROPN
ap-748	291	11	,	,	PUNCT
ap-748	291	12	r.	r.	PROPN
ap-748	291	13	p.	p.	PROPN
ap-748	291	14	:	:	PUNCT
ap-748	291	15	“	"	PUNCT
ap-748	291	16	the	the	DET
ap-748	291	17	use	use	NOUN
ap-748	291	18	of	of	ADP
ap-748	291	19	pilot	pilot	NOUN
ap-748	291	20	rating	rating	NOUN
ap-748	291	21	in	in	ADP
ap-748	291	22	the	the	DET
ap-748	291	23	evaluation	evaluation	NOUN
ap-748	291	24	of	of	ADP
ap-748	291	25	aircraft	aircraft	NOUN
ap-748	291	26	handling	handle	VERB
ap-748	291	27	qualities	quality	NOUN
ap-748	291	28	.	.	PUNCT
ap-748	291	29	”	"	PUNCT
ap-748	291	30	nasa	nasa	PROPN
ap-748	291	31	-	-	PUNCT
ap-748	291	32	tn	tn	PROPN
ap-748	291	33	-	-	PUNCT
ap-748	291	34	d-5153	d-5153	PROPN
ap-748	291	35	,	,	PUNCT
ap-748	291	36	april	april	PROPN
ap-748	291	37	1969	1969	NUM
ap-748	291	38	.	.	PUNCT
ap-748	292	1	[	[	X
ap-748	292	2	20	20	NUM
ap-748	292	3	]	]	PUNCT
ap-748	292	4	osder	osder	NOUN
ap-748	292	5	,	,	PUNCT
ap-748	292	6	s.	s.	PROPN
ap-748	292	7	,	,	PUNCT
ap-748	292	8	caldwell	caldwell	PROPN
ap-748	292	9	,	,	PUNCT
ap-748	292	10	d.	d.	PROPN
ap-748	292	11	:	:	PUNCT
ap-748	292	12	“	"	PUNCT
ap-748	292	13	design	design	NOUN
ap-748	292	14	and	and	CCONJ
ap-748	292	15	robustness	robustness	NOUN
ap-748	292	16	issues	issue	NOUN
ap-748	292	17	for	for	ADP
ap-748	292	18	highly	highly	ADV
ap-748	292	19	augmented	augment	VERB
ap-748	292	20	helicopter	helicopter	NOUN
ap-748	292	21	controls	control	NOUN
ap-748	292	22	.	.	PUNCT
ap-748	292	23	”	"	PUNCT
ap-748	292	24	journal	journal	NOUN
ap-748	292	25	of	of	ADP
ap-748	292	26	guidance	guidance	NOUN
ap-748	292	27	,	,	PUNCT
ap-748	292	28	control	control	NOUN
ap-748	292	29	and	and	CCONJ
ap-748	292	30	dynamics	dynamic	NOUN
ap-748	292	31	,	,	PUNCT
ap-748	292	32	vol	vol	NOUN
ap-748	292	33	.	.	PROPN
ap-748	292	34	15	15	NUM
ap-748	292	35	(	(	PUNCT
ap-748	292	36	1992	1992	NUM
ap-748	292	37	)	)	PUNCT
ap-748	292	38	,	,	PUNCT
ap-748	292	39	no	no	INTJ
ap-748	292	40	.	.	NOUN
ap-748	292	41	6	6	NUM
ap-748	292	42	,	,	PUNCT
ap-748	292	43	november	november	PROPN
ap-748	292	44	-	-	PUNCT
ap-748	292	45	december	december	PROPN
ap-748	292	46	1992	1992	NUM
ap-748	292	47	.	.	PUNCT
ap-748	293	1	david	david	PROPN
ap-748	293	2	j.	j.	PROPN
ap-748	293	3	mcgeoch	mcgeoch	PROPN
ap-748	293	4	phone:+44	phone:+44	ADJ
ap-748	293	5	141	141	NUM
ap-748	293	6	330	330	NUM
ap-748	293	7	6137	6137	NUM
ap-748	293	8	fax	fax	NOUN
ap-748	293	9	:	:	PUNCT
ap-748	293	10	+44	+44	PROPN
ap-748	293	11	131	131	NUM
ap-748	293	12	330	330	NUM
ap-748	293	13	6004	6004	NUM
ap-748	293	14	email	email	NOUN
ap-748	293	15	:	:	PUNCT
ap-748	293	16	d.mcgeoch@elec.gla.ac.uk	d.mcgeoch@elec.gla.ac.uk	PROPN
ap-748	293	17	dr	dr	PROPN
ap-748	293	18	.	.	PROPN
ap-748	293	19	euan	euan	PROPN
ap-748	293	20	w.	w.	PROPN
ap-748	293	21	mcgookin	mcgookin	PROPN
ap-748	293	22	center	center	PROPN
ap-748	293	23	for	for	ADP
ap-748	293	24	systems	system	NOUN
ap-748	293	25	and	and	CCONJ
ap-748	293	26	control	control	PROPN
ap-748	293	27	department	department	PROPN
ap-748	293	28	of	of	ADP
ap-748	293	29	electronic	electronic	ADJ
ap-748	293	30	and	and	CCONJ
ap-748	293	31	electrical	electrical	ADJ
ap-748	293	32	engineering	engineering	NOUN
ap-748	293	33	university	university	PROPN
ap-748	293	34	of	of	ADP
ap-748	293	35	glasgow	glasgow	PROPN
ap-748	293	36	,	,	PUNCT
ap-748	293	37	glasgow	glasgow	PROPN
ap-748	293	38	,	,	PUNCT
ap-748	293	39	g12	g12	PROPN
ap-748	293	40	8lt	8lt	PROPN
ap-748	293	41	,	,	PUNCT
ap-748	293	42	uk	uk	PROPN
ap-748	293	43	dr	dr	PROPN
ap-748	293	44	.	.	PROPN
ap-748	293	45	stewart	stewart	PROPN
ap-748	293	46	s.	s.	PROPN
ap-748	293	47	houston	houston	PROPN
ap-748	293	48	rotorcraft	rotorcraft	PROPN
ap-748	293	49	flight	flight	NOUN
ap-748	293	50	dynamics	dynamic	NOUN
ap-748	293	51	group	group	PROPN
ap-748	293	52	department	department	PROPN
ap-748	293	53	of	of	ADP
ap-748	293	54	aerospace	aerospace	PROPN
ap-748	293	55	engineering	engineering	PROPN
ap-748	293	56	university	university	PROPN
ap-748	293	57	of	of	ADP
ap-748	293	58	glasgow	glasgow	PROPN
ap-748	293	59	,	,	PUNCT
ap-748	293	60	g12	g12	PROPN
ap-748	293	61	8qq	8qq	PROPN
ap-748	293	62	,	,	PUNCT
ap-748	293	63	uk	uk	PROPN
ap-748	293	64	©	©	PROPN
ap-748	293	65	czech	czech	PROPN
ap-748	293	66	technical	technical	PROPN
ap-748	293	67	university	university	PROPN
ap-748	293	68	publishing	publishing	NOUN
ap-748	293	69	house	house	NOUN
ap-748	293	70	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-748	293	71	95	95	NUM
ap-748	293	72	czech	czech	PROPN
ap-748	293	73	technical	technical	PROPN
ap-748	293	74	university	university	PROPN
ap-748	293	75	in	in	ADP
ap-748	293	76	prague	prague	PROPN
ap-748	293	77	acta	acta	PROPN
ap-748	293	78	polytechnica	polytechnica	PROPN
ap-748	293	79	vol	vol	NOUN
ap-748	293	80	.	.	PROPN
ap-748	294	1	45	45	NUM
ap-748	294	2	no	no	NOUN
ap-748	294	3	.	.	PUNCT
ap-748	295	1	4/2005	4/2005	NUM