id	sid	tid	token	lemma	pos
ap-7523	1	1	acta	acta	PROPN
ap-7523	1	2	polytechnica	polytechnica	PROPN
ap-7523	1	3	https://doi.org/10.14311/ap.2022.62.0479	https://doi.org/10.14311/ap.2022.62.0479	PROPN
ap-7523	1	4	acta	acta	PROPN
ap-7523	1	5	polytechnica	polytechnica	PROPN
ap-7523	1	6	62(4):479–487	62(4):479–487	PROPN
ap-7523	1	7	,	,	PUNCT
ap-7523	1	8	2022	2022	NUM
ap-7523	1	9	©	©	ADP
ap-7523	1	10	2022	2022	NUM
ap-7523	1	11	the	the	DET
ap-7523	1	12	author(s	author(s	NOUN
ap-7523	1	13	)	)	PUNCT
ap-7523	1	14	.	.	PUNCT
ap-7523	2	1	licensed	license	VERB
ap-7523	2	2	under	under	ADP
ap-7523	2	3	a	a	DET
ap-7523	2	4	cc	cc	NOUN
ap-7523	2	5	-	-	PUNCT
ap-7523	2	6	by	by	ADP
ap-7523	2	7	4.0	4.0	NUM
ap-7523	2	8	licence	licence	NOUN
ap-7523	2	9	published	publish	VERB
ap-7523	2	10	by	by	ADP
ap-7523	2	11	the	the	DET
ap-7523	2	12	czech	czech	PROPN
ap-7523	2	13	technical	technical	PROPN
ap-7523	2	14	university	university	PROPN
ap-7523	2	15	in	in	ADP
ap-7523	2	16	prague	prague	PROPN
ap-7523	2	17	active	active	ADJ
ap-7523	2	18	disturbance	disturbance	NOUN
ap-7523	2	19	rejection	rejection	NOUN
ap-7523	2	20	control	control	NOUN
ap-7523	2	21	-	-	PUNCT
ap-7523	2	22	based	base	VERB
ap-7523	2	23	anti	anti	ADJ
ap-7523	2	24	-	-	ADJ
ap-7523	2	25	coupling	coupling	ADJ
ap-7523	2	26	method	method	NOUN
ap-7523	2	27	for	for	ADP
ap-7523	2	28	conical	conical	ADJ
ap-7523	2	29	magnetic	magnetic	ADJ
ap-7523	2	30	bearings	bearing	NOUN
ap-7523	2	31	danh	danh	VERB
ap-7523	2	32	huy	huy	PROPN
ap-7523	2	33	nguyena	nguyena	PROPN
ap-7523	2	34	,	,	PUNCT
ap-7523	2	35	minh	minh	PROPN
ap-7523	2	36	le	le	X
ap-7523	2	37	vua	vua	PROPN
ap-7523	2	38	,	,	PUNCT
ap-7523	2	39	hieu	hieu	PROPN
ap-7523	2	40	do	do	AUX
ap-7523	2	41	tronga	tronga	NOUN
ap-7523	2	42	,	,	PUNCT
ap-7523	2	43	danh	danh	PROPN
ap-7523	2	44	giang	giang	PROPN
ap-7523	2	45	nguyenb	nguyenb	PROPN
ap-7523	2	46	,	,	PUNCT
ap-7523	2	47	tung	tung	PROPN
ap-7523	2	48	lam	lam	PROPN
ap-7523	2	49	nguyena,∗	nguyena,∗	PROPN
ap-7523	2	50	a	a	DET
ap-7523	2	51	hanoi	hanoi	NOUN
ap-7523	2	52	university	university	NOUN
ap-7523	2	53	of	of	ADP
ap-7523	2	54	science	science	NOUN
ap-7523	2	55	and	and	CCONJ
ap-7523	2	56	technology	technology	NOUN
ap-7523	2	57	,	,	PUNCT
ap-7523	2	58	school	school	NOUN
ap-7523	2	59	of	of	ADP
ap-7523	2	60	electrical	electrical	ADJ
ap-7523	2	61	engineering	engineering	NOUN
ap-7523	2	62	,	,	PUNCT
ap-7523	2	63	1	1	NUM
ap-7523	2	64	dai	dai	PROPN
ap-7523	2	65	co	co	PROPN
ap-7523	2	66	viet	viet	PROPN
ap-7523	2	67	st	st	PROPN
ap-7523	2	68	,	,	PUNCT
ap-7523	2	69	hanoi	hanoi	PROPN
ap-7523	2	70	100000	100000	NUM
ap-7523	2	71	,	,	PUNCT
ap-7523	2	72	vietnam	vietnam	PROPN
ap-7523	2	73	b	b	PROPN
ap-7523	2	74	national	national	PROPN
ap-7523	2	75	university	university	PROPN
ap-7523	2	76	of	of	ADP
ap-7523	2	77	civil	civil	ADJ
ap-7523	2	78	engineering	engineering	NOUN
ap-7523	2	79	,	,	PUNCT
ap-7523	2	80	faculty	faculty	NOUN
ap-7523	2	81	of	of	ADP
ap-7523	2	82	mechanical	mechanical	ADJ
ap-7523	2	83	engineering	engineering	NOUN
ap-7523	2	84	,	,	PUNCT
ap-7523	2	85	55	55	NUM
ap-7523	2	86	giai	giai	PROPN
ap-7523	2	87	phong	phong	PROPN
ap-7523	2	88	st	st	PROPN
ap-7523	2	89	,	,	PUNCT
ap-7523	2	90	hanoi	hanoi	PROPN
ap-7523	2	91	100000	100000	NUM
ap-7523	2	92	,	,	PUNCT
ap-7523	2	93	vietnam	vietnam	PROPN
ap-7523	2	94	∗	∗	NOUN
ap-7523	2	95	corresponding	correspond	VERB
ap-7523	2	96	author	author	NOUN
ap-7523	2	97	:	:	PUNCT
ap-7523	2	98	lam.nguyentung@hust.edu.vn	lam.nguyentung@hust.edu.vn	VERB
ap-7523	2	99	abstract	abstract	ADJ
ap-7523	2	100	.	.	PUNCT
ap-7523	3	1	conical	conical	NOUN
ap-7523	3	2	-	-	PUNCT
ap-7523	3	3	shape	shape	NOUN
ap-7523	3	4	magnetic	magnetic	ADJ
ap-7523	3	5	bearings	bearing	NOUN
ap-7523	3	6	are	be	AUX
ap-7523	3	7	currently	currently	ADV
ap-7523	3	8	a	a	DET
ap-7523	3	9	potential	potential	ADJ
ap-7523	3	10	candidate	candidate	NOUN
ap-7523	3	11	for	for	ADP
ap-7523	3	12	various	various	ADJ
ap-7523	3	13	magnetic	magnetic	ADJ
ap-7523	3	14	force	force	NOUN
ap-7523	3	15	-	-	PUNCT
ap-7523	3	16	supported	support	VERB
ap-7523	3	17	applications	application	NOUN
ap-7523	3	18	due	due	ADP
ap-7523	3	19	to	to	ADP
ap-7523	3	20	their	their	PRON
ap-7523	3	21	unique	unique	ADJ
ap-7523	3	22	geometric	geometric	ADJ
ap-7523	3	23	nature	nature	NOUN
ap-7523	3	24	reducing	reduce	VERB
ap-7523	3	25	the	the	DET
ap-7523	3	26	number	number	NOUN
ap-7523	3	27	of	of	ADP
ap-7523	3	28	required	require	VERB
ap-7523	3	29	active	active	ADJ
ap-7523	3	30	magnets	magnet	NOUN
ap-7523	3	31	.	.	PUNCT
ap-7523	4	1	however	however	ADV
ap-7523	4	2	,	,	PUNCT
ap-7523	4	3	the	the	DET
ap-7523	4	4	bearing	bear	VERB
ap-7523	4	5	structure	structure	NOUN
ap-7523	4	6	places	place	VERB
ap-7523	4	7	control	control	NOUN
ap-7523	4	8	-	-	PUNCT
ap-7523	4	9	engineering	engineering	NOUN
ap-7523	4	10	related	relate	VERB
ap-7523	4	11	problems	problem	NOUN
ap-7523	4	12	in	in	ADP
ap-7523	4	13	view	view	NOUN
ap-7523	4	14	of	of	ADP
ap-7523	4	15	underactuated	underactuated	ADJ
ap-7523	4	16	and	and	CCONJ
ap-7523	4	17	coupling	couple	VERB
ap-7523	4	18	phenomena	phenomenon	NOUN
ap-7523	4	19	.	.	PUNCT
ap-7523	5	1	the	the	DET
ap-7523	5	2	paper	paper	NOUN
ap-7523	5	3	proposes	propose	VERB
ap-7523	5	4	an	an	DET
ap-7523	5	5	adaptive	adaptive	ADJ
ap-7523	5	6	disturbance	disturbance	NOUN
ap-7523	5	7	rejection	rejection	NOUN
ap-7523	5	8	control	control	NOUN
ap-7523	5	9	(	(	PUNCT
ap-7523	5	10	adrc	adrc	NOUN
ap-7523	5	11	)	)	PUNCT
ap-7523	5	12	for	for	ADP
ap-7523	5	13	solving	solve	VERB
ap-7523	5	14	the	the	DET
ap-7523	5	15	above	above	ADV
ap-7523	5	16	-	-	PUNCT
ap-7523	5	17	mentioned	mention	VERB
ap-7523	5	18	problem	problem	NOUN
ap-7523	5	19	in	in	ADP
ap-7523	5	20	the	the	DET
ap-7523	5	21	conical	conical	ADJ
ap-7523	5	22	magnetic	magnetic	ADJ
ap-7523	5	23	bearing	bearing	NOUN
ap-7523	5	24	.	.	PUNCT
ap-7523	6	1	at	at	ADP
ap-7523	6	2	first	first	ADJ
ap-7523	6	3	,	,	PUNCT
ap-7523	6	4	virtual	virtual	ADJ
ap-7523	6	5	current	current	ADJ
ap-7523	6	6	controls	control	NOUN
ap-7523	6	7	are	be	AUX
ap-7523	6	8	identified	identify	VERB
ap-7523	6	9	to	to	PART
ap-7523	6	10	decouple	decouple	VERB
ap-7523	6	11	the	the	DET
ap-7523	6	12	electrical	electrical	ADJ
ap-7523	6	13	sub	sub	NOUN
ap-7523	6	14	-	-	NOUN
ap-7523	6	15	system	system	NOUN
ap-7523	6	16	,	,	PUNCT
ap-7523	6	17	then	then	ADV
ap-7523	6	18	the	the	DET
ap-7523	6	19	active	active	ADJ
ap-7523	6	20	disturbance	disturbance	NOUN
ap-7523	6	21	rejection	rejection	NOUN
ap-7523	6	22	control	control	NOUN
ap-7523	6	23	is	be	AUX
ap-7523	6	24	employed	employ	VERB
ap-7523	6	25	to	to	PART
ap-7523	6	26	eliminate	eliminate	VERB
ap-7523	6	27	coupling	couple	VERB
ap-7523	6	28	effects	effect	NOUN
ap-7523	6	29	owing	owe	VERB
ap-7523	6	30	to	to	ADP
ap-7523	6	31	rotational	rotational	ADJ
ap-7523	6	32	motions	motion	NOUN
ap-7523	6	33	.	.	PUNCT
ap-7523	7	1	comprehensive	comprehensive	ADJ
ap-7523	7	2	simulations	simulation	NOUN
ap-7523	7	3	are	be	AUX
ap-7523	7	4	provided	provide	VERB
ap-7523	7	5	to	to	PART
ap-7523	7	6	illustrate	illustrate	VERB
ap-7523	7	7	the	the	DET
ap-7523	7	8	control	control	NOUN
ap-7523	7	9	ability	ability	NOUN
ap-7523	7	10	.	.	PUNCT
ap-7523	8	1	keywords	keyword	NOUN
ap-7523	8	2	:	:	PUNCT
ap-7523	8	3	conical	conical	VERB
ap-7523	8	4	active	active	ADJ
ap-7523	8	5	magnetic	magnetic	ADJ
ap-7523	8	6	bearings	bearing	NOUN
ap-7523	8	7	,	,	PUNCT
ap-7523	8	8	over	over	ADP
ap-7523	8	9	-	-	PUNCT
ap-7523	8	10	actuated	actuate	VERB
ap-7523	8	11	systems	system	NOUN
ap-7523	8	12	,	,	PUNCT
ap-7523	8	13	adrc	adrc	NOUN
ap-7523	8	14	,	,	PUNCT
ap-7523	8	15	coupling	coupling	NOUN
ap-7523	8	16	mechanism	mechanism	NOUN
ap-7523	8	17	,	,	PUNCT
ap-7523	8	18	linearization	linearization	NOUN
ap-7523	8	19	.	.	PUNCT
ap-7523	9	1	1	1	X
ap-7523	9	2	.	.	X
ap-7523	9	3	introduction	introduction	NOUN
ap-7523	9	4	recently	recently	ADV
ap-7523	9	5	,	,	PUNCT
ap-7523	9	6	active	active	ADJ
ap-7523	9	7	magnetic	magnetic	ADJ
ap-7523	9	8	bearing	bearing	NOUN
ap-7523	9	9	(	(	PUNCT
ap-7523	9	10	amb	amb	PROPN
ap-7523	9	11	)	)	PUNCT
ap-7523	9	12	has	have	AUX
ap-7523	9	13	been	be	AUX
ap-7523	9	14	of	of	ADP
ap-7523	9	15	increasing	increase	VERB
ap-7523	9	16	interest	interest	NOUN
ap-7523	9	17	to	to	ADP
ap-7523	9	18	the	the	DET
ap-7523	9	19	manufacturing	manufacturing	NOUN
ap-7523	9	20	industry	industry	NOUN
ap-7523	9	21	due	due	ADP
ap-7523	9	22	to	to	ADP
ap-7523	9	23	its	its	PRON
ap-7523	9	24	contactless	contactless	NOUN
ap-7523	9	25	,	,	PUNCT
ap-7523	9	26	lubrication	lubrication	NOUN
ap-7523	9	27	-	-	PUNCT
ap-7523	9	28	free	free	ADJ
ap-7523	9	29	,	,	PUNCT
ap-7523	9	30	no	no	DET
ap-7523	9	31	mechanical	mechanical	ADJ
ap-7523	9	32	wear	wear	NOUN
ap-7523	9	33	,	,	PUNCT
ap-7523	9	34	and	and	CCONJ
ap-7523	9	35	high	high	ADJ
ap-7523	9	36	-	-	PUNCT
ap-7523	9	37	speed	speed	NOUN
ap-7523	9	38	capability	capability	NOUN
ap-7523	9	39	[	[	X
ap-7523	9	40	1–3	1–3	NOUN
ap-7523	9	41	]	]	X
ap-7523	9	42	.	.	PUNCT
ap-7523	10	1	these	these	DET
ap-7523	10	2	characteristics	characteristic	NOUN
ap-7523	10	3	enable	enable	VERB
ap-7523	10	4	them	they	PRON
ap-7523	10	5	to	to	PART
ap-7523	10	6	be	be	AUX
ap-7523	10	7	employed	employ	VERB
ap-7523	10	8	in	in	ADP
ap-7523	10	9	a	a	DET
ap-7523	10	10	variety	variety	NOUN
ap-7523	10	11	of	of	ADP
ap-7523	10	12	applications	application	NOUN
ap-7523	10	13	,	,	PUNCT
ap-7523	10	14	including	include	VERB
ap-7523	10	15	artificial	artificial	ADJ
ap-7523	10	16	hearts	heart	NOUN
ap-7523	10	17	[	[	X
ap-7523	10	18	4	4	NUM
ap-7523	10	19	]	]	PUNCT
ap-7523	10	20	,	,	PUNCT
ap-7523	10	21	vacuum	vacuum	NOUN
ap-7523	10	22	pumps	pump	NOUN
ap-7523	10	23	[	[	X
ap-7523	10	24	5	5	NUM
ap-7523	10	25	]	]	PUNCT
ap-7523	10	26	,	,	PUNCT
ap-7523	10	27	and	and	CCONJ
ap-7523	10	28	flywheel	flywheel	VERB
ap-7523	10	29	energy	energy	NOUN
ap-7523	10	30	storage	storage	NOUN
ap-7523	10	31	systems	system	NOUN
ap-7523	10	32	[	[	X
ap-7523	10	33	6	6	NUM
ap-7523	10	34	]	]	PUNCT
ap-7523	10	35	and	and	CCONJ
ap-7523	10	36	[	[	X
ap-7523	10	37	7	7	NUM
ap-7523	10	38	]	]	PUNCT
ap-7523	10	39	,	,	PUNCT
ap-7523	10	40	etc	etc	X
ap-7523	10	41	.	.	X
ap-7523	11	1	the	the	DET
ap-7523	11	2	motion	motion	NOUN
ap-7523	11	3	resolution	resolution	NOUN
ap-7523	11	4	of	of	ADP
ap-7523	11	5	the	the	DET
ap-7523	11	6	suspended	suspend	VERB
ap-7523	11	7	object	object	NOUN
ap-7523	11	8	in	in	ADP
ap-7523	11	9	translation	translation	NOUN
ap-7523	11	10	or	or	CCONJ
ap-7523	11	11	high	high	ADJ
ap-7523	11	12	-	-	PUNCT
ap-7523	11	13	speed	speed	NOUN
ap-7523	11	14	rotation	rotation	NOUN
ap-7523	11	15	is	be	AUX
ap-7523	11	16	restricted	restrict	VERB
ap-7523	11	17	solely	solely	ADV
ap-7523	11	18	by	by	ADP
ap-7523	11	19	the	the	DET
ap-7523	11	20	actuators	actuator	NOUN
ap-7523	11	21	,	,	PUNCT
ap-7523	11	22	sensors	sensor	NOUN
ap-7523	11	23	,	,	PUNCT
ap-7523	11	24	and	and	CCONJ
ap-7523	11	25	the	the	DET
ap-7523	11	26	servo	servo	NOUN
ap-7523	11	27	system	system	NOUN
ap-7523	11	28	utilised	utilise	VERB
ap-7523	11	29	due	due	ADP
ap-7523	11	30	to	to	ADP
ap-7523	11	31	the	the	DET
ap-7523	11	32	non	non	ADJ
ap-7523	11	33	-	-	ADJ
ap-7523	11	34	contact	contact	ADJ
ap-7523	11	35	nature	nature	NOUN
ap-7523	11	36	of	of	ADP
ap-7523	11	37	a	a	DET
ap-7523	11	38	magnetic	magnetic	ADJ
ap-7523	11	39	suspension	suspension	NOUN
ap-7523	11	40	.	.	PUNCT
ap-7523	12	1	as	as	ADP
ap-7523	12	2	a	a	DET
ap-7523	12	3	result	result	NOUN
ap-7523	12	4	,	,	PUNCT
ap-7523	12	5	magnetic	magnetic	ADJ
ap-7523	12	6	bearings	bearing	NOUN
ap-7523	12	7	can	can	AUX
ap-7523	12	8	be	be	AUX
ap-7523	12	9	utilised	utilise	VERB
ap-7523	12	10	in	in	ADP
ap-7523	12	11	almost	almost	ADV
ap-7523	12	12	any	any	PRON
ap-7523	12	13	environment	environment	NOUN
ap-7523	12	14	as	as	ADV
ap-7523	12	15	long	long	ADV
ap-7523	12	16	as	as	SCONJ
ap-7523	12	17	the	the	DET
ap-7523	12	18	electromagnetic	electromagnetic	ADJ
ap-7523	12	19	parts	part	NOUN
ap-7523	12	20	are	be	AUX
ap-7523	12	21	suitably	suitably	ADV
ap-7523	12	22	shielded	shield	VERB
ap-7523	12	23	,	,	PUNCT
ap-7523	12	24	for	for	ADP
ap-7523	12	25	example	example	NOUN
ap-7523	12	26	,	,	PUNCT
ap-7523	12	27	in	in	ADP
ap-7523	12	28	open	open	ADJ
ap-7523	12	29	air	air	NOUN
ap-7523	12	30	at	at	ADP
ap-7523	12	31	temperatures	temperature	NOUN
ap-7523	12	32	ranging	range	VERB
ap-7523	12	33	from	from	ADP
ap-7523	12	34	235	235	NUM
ap-7523	12	35	°	°	NOUN
ap-7523	12	36	c	c	NOUN
ap-7523	12	37	to	to	ADP
ap-7523	12	38	450	450	NUM
ap-7523	12	39	°	°	NOUN
ap-7523	12	40	c	c	NOUN
ap-7523	12	41	[	[	X
ap-7523	12	42	8	8	NUM
ap-7523	12	43	]	]	PUNCT
ap-7523	12	44	.	.	PUNCT
ap-7523	13	1	many	many	ADJ
ap-7523	13	2	researchers	researcher	NOUN
ap-7523	13	3	,	,	PUNCT
ap-7523	13	4	in	in	ADP
ap-7523	13	5	particular	particular	ADJ
ap-7523	13	6	,	,	PUNCT
ap-7523	13	7	have	have	AUX
ap-7523	13	8	endeavored	endeavor	VERB
ap-7523	13	9	to	to	PART
ap-7523	13	10	design	design	VERB
ap-7523	13	11	a	a	DET
ap-7523	13	12	range	range	NOUN
ap-7523	13	13	of	of	ADP
ap-7523	13	14	ambs	amb	NOUN
ap-7523	13	15	that	that	PRON
ap-7523	13	16	are	be	AUX
ap-7523	13	17	compact	compact	ADJ
ap-7523	13	18	and	and	CCONJ
ap-7523	13	19	simple	simple	ADJ
ap-7523	13	20	-	-	PUNCT
ap-7523	13	21	structured	structure	VERB
ap-7523	13	22	while	while	SCONJ
ap-7523	13	23	still	still	ADV
ap-7523	13	24	performing	perform	VERB
ap-7523	13	25	well	well	ADV
ap-7523	13	26	.	.	PUNCT
ap-7523	14	1	because	because	SCONJ
ap-7523	14	2	of	of	ADP
ap-7523	14	3	the	the	DET
ap-7523	14	4	advantages	advantage	NOUN
ap-7523	14	5	of	of	ADP
ap-7523	14	6	a	a	DET
ap-7523	14	7	cone	cone	NOUN
ap-7523	14	8	-	-	PUNCT
ap-7523	14	9	shaped	shape	VERB
ap-7523	14	10	active	active	ADJ
ap-7523	14	11	magnetic	magnetic	ADJ
ap-7523	14	12	bearing	bearing	NOUN
ap-7523	14	13	(	(	PUNCT
ap-7523	14	14	amb	amb	NOUN
ap-7523	14	15	)	)	PUNCT
ap-7523	14	16	system	system	NOUN
ap-7523	14	17	,	,	PUNCT
ap-7523	14	18	such	such	ADJ
ap-7523	14	19	as	as	ADP
ap-7523	14	20	its	its	PRON
ap-7523	14	21	simple	simple	ADJ
ap-7523	14	22	structure	structure	NOUN
ap-7523	14	23	,	,	PUNCT
ap-7523	14	24	low	low	ADJ
ap-7523	14	25	heating	heating	NOUN
ap-7523	14	26	,	,	PUNCT
ap-7523	14	27	and	and	CCONJ
ap-7523	14	28	high	high	ADJ
ap-7523	14	29	dependability	dependability	NOUN
ap-7523	14	30	,	,	PUNCT
ap-7523	14	31	there	there	PRON
ap-7523	14	32	is	be	VERB
ap-7523	14	33	an	an	DET
ap-7523	14	34	increasing	increase	VERB
ap-7523	14	35	number	number	NOUN
ap-7523	14	36	of	of	ADP
ap-7523	14	37	studies	study	NOUN
ap-7523	14	38	on	on	ADP
ap-7523	14	39	it	it	PRON
ap-7523	14	40	[	[	X
ap-7523	14	41	9	9	NUM
ap-7523	14	42	,	,	PUNCT
ap-7523	14	43	10	10	NUM
ap-7523	14	44	]	]	PUNCT
ap-7523	14	45	.	.	PUNCT
ap-7523	15	1	the	the	DET
ap-7523	15	2	structure	structure	NOUN
ap-7523	15	3	of	of	ADP
ap-7523	15	4	a	a	DET
ap-7523	15	5	conical	conical	ADJ
ap-7523	15	6	magnetic	magnetic	ADJ
ap-7523	15	7	bearing	bearing	NOUN
ap-7523	15	8	is	be	AUX
ap-7523	15	9	identical	identical	ADJ
ap-7523	15	10	to	to	ADP
ap-7523	15	11	that	that	PRON
ap-7523	15	12	of	of	ADP
ap-7523	15	13	a	a	DET
ap-7523	15	14	regular	regular	ADJ
ap-7523	15	15	radial	radial	ADJ
ap-7523	15	16	magnetic	magnetic	ADJ
ap-7523	15	17	bearing	bearing	NOUN
ap-7523	15	18	,	,	PUNCT
ap-7523	15	19	with	with	ADP
ap-7523	15	20	the	the	DET
ap-7523	15	21	exception	exception	NOUN
ap-7523	15	22	that	that	PRON
ap-7523	15	23	both	both	CCONJ
ap-7523	15	24	the	the	DET
ap-7523	15	25	stator	stator	NOUN
ap-7523	15	26	and	and	CCONJ
ap-7523	15	27	rotor	rotor	NOUN
ap-7523	15	28	working	working	NOUN
ap-7523	15	29	surfaces	surface	NOUN
ap-7523	15	30	are	be	AUX
ap-7523	15	31	conical	conical	ADJ
ap-7523	15	32	,	,	PUNCT
ap-7523	15	33	allowing	allow	VERB
ap-7523	15	34	force	force	NOUN
ap-7523	15	35	to	to	PART
ap-7523	15	36	be	be	AUX
ap-7523	15	37	applied	apply	VERB
ap-7523	15	38	in	in	ADP
ap-7523	15	39	both	both	CCONJ
ap-7523	15	40	axial	axial	ADJ
ap-7523	15	41	and	and	CCONJ
ap-7523	15	42	radial	radial	ADJ
ap-7523	15	43	directions	direction	NOUN
ap-7523	15	44	[	[	X
ap-7523	15	45	11	11	NUM
ap-7523	15	46	,	,	PUNCT
ap-7523	15	47	12	12	NUM
ap-7523	15	48	]	]	PUNCT
ap-7523	15	49	.	.	PUNCT
ap-7523	16	1	the	the	DET
ap-7523	16	2	conical	conical	ADJ
ap-7523	16	3	form	form	NOUN
ap-7523	16	4	saves	save	VERB
ap-7523	16	5	axial	axial	ADJ
ap-7523	16	6	space	space	NOUN
ap-7523	16	7	,	,	PUNCT
ap-7523	16	8	which	which	PRON
ap-7523	16	9	can	can	AUX
ap-7523	16	10	be	be	AUX
ap-7523	16	11	used	use	VERB
ap-7523	16	12	to	to	PART
ap-7523	16	13	install	install	VERB
ap-7523	16	14	gears	gear	NOUN
ap-7523	16	15	and	and	CCONJ
ap-7523	16	16	other	other	ADJ
ap-7523	16	17	components	component	NOUN
ap-7523	16	18	for	for	ADP
ap-7523	16	19	an	an	DET
ap-7523	16	20	added	add	VERB
ap-7523	16	21	mechanical	mechanical	ADJ
ap-7523	16	22	benefit	benefit	NOUN
ap-7523	16	23	.	.	PUNCT
ap-7523	17	1	it	it	PRON
ap-7523	17	2	also	also	ADV
ap-7523	17	3	conserves	conserve	VERB
ap-7523	17	4	energy	energy	NOUN
ap-7523	17	5	for	for	ADP
ap-7523	17	6	an	an	DET
ap-7523	17	7	optimal	optimal	ADJ
ap-7523	17	8	load	load	NOUN
ap-7523	17	9	support	support	NOUN
ap-7523	17	10	.	.	PUNCT
ap-7523	18	1	conical	conical	ADJ
ap-7523	18	2	electromagnetic	electromagnetic	ADJ
ap-7523	18	3	bearings	bearing	NOUN
ap-7523	18	4	feature	feature	VERB
ap-7523	18	5	two	two	NUM
ap-7523	18	6	coupled	couple	VERB
ap-7523	18	7	properties	property	NOUN
ap-7523	18	8	as	as	SCONJ
ap-7523	18	9	compared	compare	VERB
ap-7523	18	10	to	to	ADP
ap-7523	18	11	ordinary	ordinary	ADJ
ap-7523	18	12	radial	radial	ADJ
ap-7523	18	13	electromagnetic	electromagnetic	ADJ
ap-7523	18	14	bearings	bearing	NOUN
ap-7523	18	15	:	:	PUNCT
ap-7523	18	16	current	current	ADJ
ap-7523	18	17	-	-	PUNCT
ap-7523	18	18	coupled	couple	VERB
ap-7523	18	19	and	and	CCONJ
ap-7523	18	20	geometry	geometry	NOUN
ap-7523	18	21	-	-	PUNCT
ap-7523	18	22	coupled	couple	VERB
ap-7523	18	23	effects	effect	NOUN
ap-7523	18	24	,	,	PUNCT
ap-7523	18	25	making	make	VERB
ap-7523	18	26	dynamic	dynamic	ADJ
ap-7523	18	27	modelling	modelling	NOUN
ap-7523	18	28	and	and	CCONJ
ap-7523	18	29	control	control	NOUN
ap-7523	18	30	of	of	ADP
ap-7523	18	31	these	these	DET
ap-7523	18	32	systems	system	NOUN
ap-7523	18	33	particularly	particularly	ADV
ap-7523	18	34	difficult	difficult	ADJ
ap-7523	18	35	.	.	PUNCT
ap-7523	19	1	the	the	DET
ap-7523	19	2	current	current	ADV
ap-7523	19	3	-	-	PUNCT
ap-7523	19	4	coupled	couple	VERB
ap-7523	19	5	effect	effect	NOUN
ap-7523	19	6	exists	exist	VERB
ap-7523	19	7	because	because	SCONJ
ap-7523	19	8	the	the	DET
ap-7523	19	9	axial	axial	ADJ
ap-7523	19	10	and	and	CCONJ
ap-7523	19	11	radial	radial	ADJ
ap-7523	19	12	control	control	NOUN
ap-7523	19	13	currents	current	NOUN
ap-7523	19	14	flow	flow	VERB
ap-7523	19	15	in	in	ADP
ap-7523	19	16	the	the	DET
ap-7523	19	17	bearing	bearing	NOUN
ap-7523	19	18	coils	coil	NOUN
ap-7523	19	19	simultaneously	simultaneously	ADV
ap-7523	19	20	.	.	PUNCT
ap-7523	20	1	furthermore	furthermore	ADV
ap-7523	20	2	,	,	PUNCT
ap-7523	20	3	the	the	DET
ap-7523	20	4	inclined	inclined	ADJ
ap-7523	20	5	angle	angle	NOUN
ap-7523	20	6	of	of	ADP
ap-7523	20	7	the	the	DET
ap-7523	20	8	magnet	magnet	NOUN
ap-7523	20	9	core	core	NOUN
ap-7523	20	10	causes	cause	VERB
ap-7523	20	11	a	a	DET
ap-7523	20	12	geometry	geometry	NOUN
ap-7523	20	13	-	-	PUNCT
ap-7523	20	14	coupled	couple	VERB
ap-7523	20	15	effect	effect	NOUN
ap-7523	20	16	.	.	PUNCT
ap-7523	21	1	coupled	couple	VERB
ap-7523	21	2	dynamic	dynamic	ADJ
ap-7523	21	3	characteristics	characteristic	NOUN
ap-7523	21	4	of	of	ADP
ap-7523	21	5	the	the	DET
ap-7523	21	6	rotor	rotor	NOUN
ap-7523	21	7	conical	conical	PROPN
ap-7523	21	8	magnetic	magnetic	ADJ
ap-7523	21	9	bearing	bearing	NOUN
ap-7523	21	10	system	system	NOUN
ap-7523	21	11	became	became	AUX
ap-7523	21	12	known	know	VERB
ap-7523	21	13	due	due	ADP
ap-7523	21	14	to	to	ADP
ap-7523	21	15	the	the	DET
ap-7523	21	16	existence	existence	NOUN
ap-7523	21	17	of	of	ADP
ap-7523	21	18	the	the	DET
ap-7523	21	19	two	two	NUM
ap-7523	21	20	coupled	couple	VERB
ap-7523	21	21	effects	effect	NOUN
ap-7523	21	22	.	.	PUNCT
ap-7523	22	1	so	so	ADV
ap-7523	22	2	far	far	ADV
ap-7523	22	3	,	,	PUNCT
ap-7523	22	4	several	several	ADJ
ap-7523	22	5	researchers	researcher	NOUN
ap-7523	22	6	have	have	AUX
ap-7523	22	7	discussed	discuss	VERB
ap-7523	22	8	the	the	DET
ap-7523	22	9	modelling	modelling	NOUN
ap-7523	22	10	and	and	CCONJ
ap-7523	22	11	control	control	NOUN
ap-7523	22	12	of	of	ADP
ap-7523	22	13	cone	cone	NOUN
ap-7523	22	14	-	-	PUNCT
ap-7523	22	15	shaped	shape	VERB
ap-7523	22	16	ambs	amb	NOUN
ap-7523	23	1	[	[	X
ap-7523	23	2	2	2	NUM
ap-7523	23	3	,	,	PUNCT
ap-7523	23	4	13	13	NUM
ap-7523	23	5	,	,	PUNCT
ap-7523	23	6	14	14	NUM
ap-7523	23	7	]	]	PUNCT
ap-7523	23	8	.	.	PUNCT
ap-7523	24	1	lee	lee	PROPN
ap-7523	24	2	cw	cw	PROPN
ap-7523	24	3	and	and	CCONJ
ap-7523	24	4	jeong	jeong	PROPN
ap-7523	24	5	hs	hs	PROPN
ap-7523	24	6	presented	present	VERB
ap-7523	24	7	a	a	DET
ap-7523	24	8	control	control	NOUN
ap-7523	24	9	method	method	NOUN
ap-7523	24	10	for	for	ADP
ap-7523	24	11	conical	conical	ADJ
ap-7523	24	12	magnetic	magnetic	ADJ
ap-7523	24	13	bearings	bearing	NOUN
ap-7523	24	14	in	in	ADP
ap-7523	24	15	[	[	X
ap-7523	24	16	12	12	NUM
ap-7523	24	17	]	]	PUNCT
ap-7523	24	18	,	,	PUNCT
ap-7523	24	19	which	which	PRON
ap-7523	24	20	allows	allow	VERB
ap-7523	24	21	the	the	DET
ap-7523	24	22	rotor	rotor	NOUN
ap-7523	24	23	to	to	PART
ap-7523	24	24	float	float	VERB
ap-7523	24	25	in	in	ADP
ap-7523	24	26	the	the	DET
ap-7523	24	27	air	air	NOUN
ap-7523	24	28	stably	stably	ADV
ap-7523	24	29	.	.	PUNCT
ap-7523	25	1	they	they	PRON
ap-7523	25	2	proposed	propose	VERB
ap-7523	25	3	a	a	DET
ap-7523	25	4	completely	completely	ADV
ap-7523	25	5	connected	connect	VERB
ap-7523	25	6	linearised	linearise	VERB
ap-7523	25	7	dynamic	dynamic	ADJ
ap-7523	25	8	model	model	NOUN
ap-7523	25	9	for	for	ADP
ap-7523	25	10	the	the	DET
ap-7523	25	11	cone	cone	NOUN
ap-7523	25	12	-	-	PUNCT
ap-7523	25	13	shaped	shape	VERB
ap-7523	25	14	magnet	magnet	NOUN
ap-7523	25	15	coil	coil	NOUN
ap-7523	25	16	that	that	PRON
ap-7523	25	17	covers	cover	VERB
ap-7523	25	18	the	the	DET
ap-7523	25	19	relationships	relationship	NOUN
ap-7523	25	20	between	between	ADP
ap-7523	25	21	the	the	DET
ap-7523	25	22	input	input	NOUN
ap-7523	25	23	voltage	voltage	NOUN
ap-7523	25	24	and	and	CCONJ
ap-7523	25	25	output	output	NOUN
ap-7523	25	26	current	current	ADJ
ap-7523	25	27	.	.	PUNCT
ap-7523	26	1	the	the	DET
ap-7523	26	2	connected	connected	ADJ
ap-7523	26	3	controller	controller	NOUN
ap-7523	26	4	uses	use	VERB
ap-7523	26	5	a	a	DET
ap-7523	26	6	linear	linear	ADJ
ap-7523	26	7	quadratic	quadratic	ADJ
ap-7523	26	8	regulator	regulator	NOUN
ap-7523	26	9	with	with	ADP
ap-7523	26	10	integral	integral	ADJ
ap-7523	26	11	action	action	NOUN
ap-7523	26	12	to	to	PART
ap-7523	26	13	stabilise	stabilise	VERB
ap-7523	26	14	the	the	DET
ap-7523	26	15	amb	amb	PROPN
ap-7523	26	16	system	system	NOUN
ap-7523	26	17	,	,	PUNCT
ap-7523	26	18	while	while	SCONJ
ap-7523	26	19	the	the	DET
ap-7523	26	20	decoupled	decouple	VERB
ap-7523	26	21	controller	controller	NOUN
ap-7523	26	22	is	be	AUX
ap-7523	26	23	used	use	VERB
ap-7523	26	24	to	to	PART
ap-7523	26	25	stabilise	stabilise	VERB
ap-7523	26	26	the	the	DET
ap-7523	26	27	five	five	NUM
ap-7523	26	28	single	single	ADJ
ap-7523	26	29	dof	dof	NOUN
ap-7523	26	30	systems	system	NOUN
ap-7523	26	31	.	.	PUNCT
ap-7523	27	1	abdelfatah	abdelfatah	PROPN
ap-7523	27	2	m.	m.	PROPN
ap-7523	27	3	mohamed	mohamed	PROPN
ap-7523	27	4	et	et	PROPN
ap-7523	27	5	al	al	PROPN
ap-7523	27	6	.	.	PUNCT
ap-7523	28	1	[	[	X
ap-7523	28	2	11	11	NUM
ap-7523	28	3	]	]	PUNCT
ap-7523	28	4	proposed	propose	VERB
ap-7523	28	5	the	the	DET
ap-7523	28	6	q	q	ADJ
ap-7523	28	7	-	-	PUNCT
ap-7523	28	8	parameterization	parameterization	NOUN
ap-7523	28	9	method	method	NOUN
ap-7523	28	10	for	for	ADP
ap-7523	28	11	designing	design	VERB
ap-7523	28	12	system	system	NOUN
ap-7523	28	13	stabilisation	stabilisation	NOUN
ap-7523	28	14	in	in	ADP
ap-7523	28	15	terms	term	NOUN
ap-7523	28	16	of	of	ADP
ap-7523	28	17	two	two	NUM
ap-7523	28	18	free	free	ADJ
ap-7523	28	19	parameters	parameter	NOUN
ap-7523	28	20	.	.	PUNCT
ap-7523	29	1	the	the	DET
ap-7523	29	2	proposed	propose	VERB
ap-7523	29	3	technique	technique	NOUN
ap-7523	29	4	is	be	AUX
ap-7523	29	5	validated	validate	VERB
ap-7523	29	6	using	use	VERB
ap-7523	29	7	a	a	DET
ap-7523	29	8	digital	digital	ADJ
ap-7523	29	9	simulation	simulation	NOUN
ap-7523	29	10	.	.	PUNCT
ap-7523	30	1	as	as	ADP
ap-7523	30	2	a	a	DET
ap-7523	30	3	result	result	NOUN
ap-7523	30	4	,	,	PUNCT
ap-7523	30	5	plant	plant	NOUN
ap-7523	30	6	parameters	parameter	NOUN
ap-7523	30	7	such	such	ADJ
ap-7523	30	8	as	as	ADP
ap-7523	30	9	transient	transient	ADJ
ap-7523	30	10	and	and	CCONJ
ap-7523	30	11	forced	force	VERB
ap-7523	30	12	response	response	NOUN
ap-7523	30	13	are	be	AUX
ap-7523	30	14	good	good	ADJ
ap-7523	30	15	,	,	PUNCT
ap-7523	30	16	and	and	CCONJ
ap-7523	30	17	stiffness	stiffness	ADJ
ap-7523	30	18	characteristics	characteristic	NOUN
ap-7523	30	19	are	be	AUX
ap-7523	30	20	obtained	obtain	VERB
ap-7523	30	21	with	with	ADP
ap-7523	30	22	small	small	ADJ
ap-7523	30	23	oscillation	oscillation	NOUN
ap-7523	30	24	.	.	PUNCT
ap-7523	31	1	recently	recently	ADV
ap-7523	31	2	,	,	PUNCT
ap-7523	31	3	in	in	ADP
ap-7523	31	4	[	[	X
ap-7523	31	5	15	15	NUM
ap-7523	31	6	]	]	PUNCT
ap-7523	31	7	,	,	PUNCT
ap-7523	31	8	e.	e.	PROPN
ap-7523	31	9	e.	e.	PROPN
ap-7523	31	10	ovsyannikova	ovsyannikova	PROPN
ap-7523	31	11	and	and	CCONJ
ap-7523	31	12	a.	a.	NOUN
ap-7523	31	13	m.	m.	PROPN
ap-7523	31	14	gus’kov	gus’kov	PROPN
ap-7523	31	15	cre479	cre479	PROPN
ap-7523	31	16	https://doi.org/10.14311/ap.2022.62.0479	https://doi.org/10.14311/ap.2022.62.0479	PROPN
ap-7523	31	17	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-7523	31	18	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-7523	31	19	huy	huy	PROPN
ap-7523	31	20	,	,	PUNCT
ap-7523	31	21	minh	minh	PROPN
ap-7523	31	22	,	,	PUNCT
ap-7523	31	23	hieu	hieu	NOUN
ap-7523	31	24	et	et	PROPN
ap-7523	31	25	al	al	PROPN
ap-7523	31	26	.	.	PROPN
ap-7523	31	27	acta	acta	PROPN
ap-7523	31	28	polytechnica	polytechnica	PROPN
ap-7523	31	29	ated	ate	VERB
ap-7523	31	30	a	a	DET
ap-7523	31	31	mathematical	mathematical	ADJ
ap-7523	31	32	model	model	NOUN
ap-7523	31	33	of	of	ADP
ap-7523	31	34	a	a	DET
ap-7523	31	35	rigid	rigid	ADJ
ap-7523	31	36	rotor	rotor	NOUN
ap-7523	31	37	suspended	suspend	VERB
ap-7523	31	38	in	in	ADP
ap-7523	31	39	a	a	DET
ap-7523	31	40	blood	blood	NOUN
ap-7523	31	41	flow	flow	NOUN
ap-7523	31	42	and	and	CCONJ
ap-7523	31	43	supported	support	VERB
ap-7523	31	44	by	by	ADP
ap-7523	31	45	conical	conical	PROPN
ap-7523	31	46	active	active	ADJ
ap-7523	31	47	magnetic	magnetic	ADJ
ap-7523	31	48	bearings	bearing	NOUN
ap-7523	31	49	.	.	PUNCT
ap-7523	32	1	they	they	PRON
ap-7523	32	2	used	use	VERB
ap-7523	32	3	the	the	DET
ap-7523	32	4	proportional	proportional	ADJ
ap-7523	32	5	-	-	PUNCT
ap-7523	32	6	integral	integral	ADJ
ap-7523	32	7	differential	differential	NOUN
ap-7523	32	8	(	(	PUNCT
ap-7523	32	9	pid	pid	NOUN
ap-7523	32	10	)	)	PUNCT
ap-7523	32	11	control	control	NOUN
ap-7523	32	12	,	,	PUNCT
ap-7523	32	13	which	which	PRON
ap-7523	32	14	takes	take	VERB
ap-7523	32	15	into	into	ADP
ap-7523	32	16	account	account	NOUN
ap-7523	32	17	the	the	DET
ap-7523	32	18	influence	influence	NOUN
ap-7523	32	19	of	of	ADP
ap-7523	32	20	hydrodynamic	hydrodynamic	ADJ
ap-7523	32	21	moments	moment	NOUN
ap-7523	32	22	,	,	PUNCT
ap-7523	32	23	which	which	PRON
ap-7523	32	24	affect	affect	VERB
ap-7523	32	25	the	the	DET
ap-7523	32	26	rotor	rotor	NOUN
ap-7523	32	27	from	from	ADP
ap-7523	32	28	the	the	DET
ap-7523	32	29	side	side	NOUN
ap-7523	32	30	of	of	ADP
ap-7523	32	31	the	the	DET
ap-7523	32	32	blood	blood	NOUN
ap-7523	32	33	flow	flow	NOUN
ap-7523	32	34	,	,	PUNCT
ap-7523	32	35	as	as	ADV
ap-7523	32	36	well	well	ADV
ap-7523	32	37	as	as	ADP
ap-7523	32	38	external	external	ADJ
ap-7523	32	39	influences	influence	NOUN
ap-7523	32	40	on	on	ADP
ap-7523	32	41	the	the	DET
ap-7523	32	42	person	person	NOUN
ap-7523	32	43	.	.	PUNCT
ap-7523	33	1	the	the	DET
ap-7523	33	2	experimental	experimental	ADJ
ap-7523	33	3	findings	finding	NOUN
ap-7523	33	4	are	be	AUX
ap-7523	33	5	reported	report	VERB
ap-7523	33	6	,	,	PUNCT
ap-7523	33	7	with	with	ADP
ap-7523	33	8	a	a	DET
ap-7523	33	9	rotor	rotor	NOUN
ap-7523	33	10	speed	speed	NOUN
ap-7523	33	11	range	range	NOUN
ap-7523	33	12	of	of	ADP
ap-7523	33	13	5000	5000	NUM
ap-7523	33	14	to	to	ADP
ap-7523	33	15	12000	12000	NUM
ap-7523	33	16	rpm	rpm	NOUN
ap-7523	33	17	and	and	CCONJ
ap-7523	33	18	a	a	DET
ap-7523	33	19	placement	placement	NOUN
ap-7523	33	20	error	error	NOUN
ap-7523	33	21	of	of	ADP
ap-7523	33	22	less	less	ADJ
ap-7523	33	23	than	than	ADP
ap-7523	33	24	0.2	0.2	NUM
ap-7523	33	25	mm	mm	NOUN
ap-7523	33	26	.	.	PUNCT
ap-7523	34	1	nguyen	nguyen	PROPN
ap-7523	34	2	et	et	PROPN
ap-7523	34	3	al	al	PROPN
ap-7523	34	4	.	.	PROPN
ap-7523	34	5	introduced	introduce	VERB
ap-7523	34	6	a	a	DET
ap-7523	34	7	control	control	NOUN
ap-7523	34	8	approach	approach	NOUN
ap-7523	34	9	considering	consider	VERB
ap-7523	34	10	input	input	NOUN
ap-7523	34	11	and	and	CCONJ
ap-7523	34	12	output	output	NOUN
ap-7523	34	13	constraints	constraint	NOUN
ap-7523	34	14	in	in	ADP
ap-7523	34	15	the	the	DET
ap-7523	34	16	magnetic	magnetic	ADJ
ap-7523	34	17	bearing	bearing	NOUN
ap-7523	34	18	system	system	NOUN
ap-7523	34	19	in	in	ADP
ap-7523	34	20	[	[	X
ap-7523	34	21	16	16	NUM
ap-7523	34	22	]	]	PUNCT
ap-7523	34	23	and	and	CCONJ
ap-7523	34	24	[	[	X
ap-7523	34	25	17	17	NUM
ap-7523	34	26	]	]	PUNCT
ap-7523	34	27	.	.	PUNCT
ap-7523	35	1	the	the	DET
ap-7523	35	2	control	control	NOUN
ap-7523	35	3	restricts	restrict	VERB
ap-7523	35	4	the	the	DET
ap-7523	35	5	rotor	rotor	NOUN
ap-7523	35	6	displacement	displacement	NOUN
ap-7523	35	7	in	in	ADP
ap-7523	35	8	a	a	DET
ap-7523	35	9	certain	certain	ADJ
ap-7523	35	10	range	range	NOUN
ap-7523	35	11	according	accord	VERB
ap-7523	35	12	to	to	ADP
ap-7523	35	13	the	the	DET
ap-7523	35	14	system	system	NOUN
ap-7523	35	15	structure	structure	NOUN
ap-7523	35	16	.	.	PUNCT
ap-7523	36	1	in	in	ADP
ap-7523	36	2	[	[	X
ap-7523	36	3	18	18	NUM
ap-7523	36	4	]	]	PUNCT
ap-7523	36	5	,	,	PUNCT
ap-7523	36	6	modelling	modelling	NOUN
ap-7523	36	7	of	of	ADP
ap-7523	36	8	a	a	DET
ap-7523	36	9	conical	conical	ADJ
ap-7523	36	10	amb	amb	NOUN
ap-7523	36	11	structure	structure	NOUN
ap-7523	36	12	for	for	ADP
ap-7523	36	13	a	a	DET
ap-7523	36	14	complete	complete	ADJ
ap-7523	36	15	support	support	NOUN
ap-7523	36	16	of	of	ADP
ap-7523	36	17	5	5	NUM
ap-7523	36	18	-	-	PUNCT
ap-7523	36	19	dof	dof	NOUN
ap-7523	36	20	rotor	rotor	NOUN
ap-7523	36	21	system	system	NOUN
ap-7523	36	22	was	be	AUX
ap-7523	36	23	reported	report	VERB
ap-7523	36	24	by	by	ADP
ap-7523	36	25	a.	a.	NOUN
ap-7523	36	26	katyayn	katyayn	PROPN
ap-7523	36	27	and	and	CCONJ
ap-7523	36	28	p.	p.	PROPN
ap-7523	36	29	k.	k.	PROPN
ap-7523	37	1	agarwal	agarwal	PROPN
ap-7523	37	2	,	,	PUNCT
ap-7523	37	3	who	who	PRON
ap-7523	37	4	improved	improve	VERB
ap-7523	37	5	the	the	DET
ap-7523	37	6	system	system	NOUN
ap-7523	37	7	’s	’s	PART
ap-7523	37	8	performance	performance	NOUN
ap-7523	37	9	by	by	ADP
ap-7523	37	10	creating	create	VERB
ap-7523	37	11	the	the	DET
ap-7523	37	12	interval	interval	NOUN
ap-7523	37	13	type-2	type-2	PRON
ap-7523	37	14	fuzzy	fuzzy	ADJ
ap-7523	37	15	logic	logic	NOUN
ap-7523	37	16	controller	controller	NOUN
ap-7523	37	17	(	(	PUNCT
ap-7523	37	18	it2flc	it2flc	PROPN
ap-7523	37	19	)	)	PUNCT
ap-7523	37	20	with	with	ADP
ap-7523	37	21	an	an	DET
ap-7523	37	22	uncertain	uncertain	ADJ
ap-7523	37	23	bound	bind	VERB
ap-7523	37	24	algorithm	algorithm	NOUN
ap-7523	37	25	.	.	PUNCT
ap-7523	38	1	this	this	DET
ap-7523	38	2	controller	controller	NOUN
ap-7523	38	3	reduces	reduce	VERB
ap-7523	38	4	the	the	DET
ap-7523	38	5	need	need	NOUN
ap-7523	38	6	for	for	ADP
ap-7523	38	7	a	a	DET
ap-7523	38	8	precise	precise	ADJ
ap-7523	38	9	system	system	NOUN
ap-7523	38	10	modeling	modeling	NOUN
ap-7523	38	11	while	while	SCONJ
ap-7523	38	12	also	also	ADV
ap-7523	38	13	allowing	allow	VERB
ap-7523	38	14	for	for	ADP
ap-7523	38	15	the	the	DET
ap-7523	38	16	handling	handling	NOUN
ap-7523	38	17	of	of	ADP
ap-7523	38	18	parameter	parameter	NOUN
ap-7523	38	19	uncertainty	uncertainty	NOUN
ap-7523	38	20	.	.	PUNCT
ap-7523	39	1	the	the	DET
ap-7523	39	2	simulation	simulation	NOUN
ap-7523	39	3	results	result	NOUN
ap-7523	39	4	show	show	VERB
ap-7523	39	5	that	that	SCONJ
ap-7523	39	6	the	the	DET
ap-7523	39	7	proposed	propose	VERB
ap-7523	39	8	controller	controller	NOUN
ap-7523	39	9	outperforms	outperform	VERB
ap-7523	39	10	the	the	DET
ap-7523	39	11	type-1	type-1	NUM
ap-7523	39	12	fuzzy	fuzzy	ADJ
ap-7523	39	13	logic	logic	NOUN
ap-7523	39	14	controller	controller	NOUN
ap-7523	39	15	in	in	ADP
ap-7523	39	16	terms	term	NOUN
ap-7523	39	17	of	of	ADP
ap-7523	39	18	transient	transient	ADJ
ap-7523	39	19	responses	response	NOUN
ap-7523	39	20	.	.	PUNCT
ap-7523	40	1	in	in	ADP
ap-7523	40	2	this	this	DET
ap-7523	40	3	paper	paper	NOUN
ap-7523	40	4	,	,	PUNCT
ap-7523	40	5	we	we	PRON
ap-7523	40	6	examine	examine	VERB
ap-7523	40	7	the	the	DET
ap-7523	40	8	concept	concept	NOUN
ap-7523	40	9	of	of	ADP
ap-7523	40	10	conical	conical	ADJ
ap-7523	40	11	magnetic	magnetic	ADJ
ap-7523	40	12	bearings	bearing	NOUN
ap-7523	40	13	for	for	ADP
ap-7523	40	14	both	both	CCONJ
ap-7523	40	15	the	the	DET
ap-7523	40	16	radial	radial	ADJ
ap-7523	40	17	and	and	CCONJ
ap-7523	40	18	axial	axial	ADJ
ap-7523	40	19	displacement	displacement	ADJ
ap-7523	40	20	control	control	NOUN
ap-7523	40	21	.	.	PUNCT
ap-7523	41	1	the	the	DET
ap-7523	41	2	governing	govern	VERB
ap-7523	41	3	equations	equation	NOUN
ap-7523	41	4	characterising	characterise	VERB
ap-7523	41	5	the	the	DET
ap-7523	41	6	relationship	relationship	NOUN
ap-7523	41	7	between	between	ADP
ap-7523	41	8	magnetic	magnetic	ADJ
ap-7523	41	9	forces	force	NOUN
ap-7523	41	10	,	,	PUNCT
ap-7523	41	11	air	air	NOUN
ap-7523	41	12	gaps	gap	NOUN
ap-7523	41	13	,	,	PUNCT
ap-7523	41	14	gyroscopic	gyroscopic	NOUN
ap-7523	41	15	force	force	NOUN
ap-7523	41	16	,	,	PUNCT
ap-7523	41	17	and	and	CCONJ
ap-7523	41	18	control	control	NOUN
ap-7523	41	19	currents	current	NOUN
ap-7523	41	20	are	be	AUX
ap-7523	41	21	used	use	VERB
ap-7523	41	22	to	to	PART
ap-7523	41	23	build	build	VERB
ap-7523	41	24	the	the	DET
ap-7523	41	25	nonlinear	nonlinear	ADJ
ap-7523	41	26	model	model	NOUN
ap-7523	41	27	of	of	ADP
ap-7523	41	28	the	the	DET
ap-7523	41	29	conical	conical	ADJ
ap-7523	41	30	magnetic	magnetic	ADJ
ap-7523	41	31	bearing	bearing	NOUN
ap-7523	41	32	.	.	PUNCT
ap-7523	42	1	the	the	DET
ap-7523	42	2	main	main	ADJ
ap-7523	42	3	contribution	contribution	NOUN
ap-7523	42	4	of	of	ADP
ap-7523	42	5	the	the	DET
ap-7523	42	6	paper	paper	NOUN
ap-7523	42	7	is	be	AUX
ap-7523	42	8	that	that	SCONJ
ap-7523	42	9	rotational	rotational	ADJ
ap-7523	42	10	motions	motion	NOUN
ap-7523	42	11	are	be	AUX
ap-7523	42	12	treated	treat	VERB
ap-7523	42	13	as	as	ADP
ap-7523	42	14	disturbances	disturbance	NOUN
ap-7523	42	15	and	and	CCONJ
ap-7523	42	16	are	be	AUX
ap-7523	42	17	handled	handle	VERB
ap-7523	42	18	by	by	ADP
ap-7523	42	19	the	the	DET
ap-7523	42	20	active	active	ADJ
ap-7523	42	21	disturbance	disturbance	NOUN
ap-7523	42	22	rejection	rejection	NOUN
ap-7523	42	23	control	control	NOUN
ap-7523	42	24	(	(	PUNCT
ap-7523	42	25	adrc	adrc	NOUN
ap-7523	42	26	)	)	PUNCT
ap-7523	43	1	[	[	X
ap-7523	43	2	19	19	NUM
ap-7523	43	3	,	,	PUNCT
ap-7523	43	4	20	20	NUM
ap-7523	43	5	]	]	PUNCT
ap-7523	43	6	to	to	PART
ap-7523	43	7	stabilise	stabilise	VERB
ap-7523	43	8	the	the	DET
ap-7523	43	9	cone	cone	NOUN
ap-7523	43	10	-	-	PUNCT
ap-7523	43	11	shaped	shape	VERB
ap-7523	43	12	amb	amb	NOUN
ap-7523	43	13	system	system	NOUN
ap-7523	43	14	.	.	PUNCT
ap-7523	44	1	adrc	adrc	PROPN
ap-7523	44	2	was	be	AUX
ap-7523	44	3	developed	develop	VERB
ap-7523	44	4	as	as	ADP
ap-7523	44	5	an	an	DET
ap-7523	44	6	option	option	NOUN
ap-7523	44	7	that	that	PRON
ap-7523	44	8	combines	combine	VERB
ap-7523	44	9	the	the	DET
ap-7523	44	10	easy	easy	ADJ
ap-7523	44	11	applicability	applicability	NOUN
ap-7523	44	12	of	of	ADP
ap-7523	44	13	conventional	conventional	ADJ
ap-7523	44	14	pid	pid	ADJ
ap-7523	44	15	-	-	PUNCT
ap-7523	44	16	type	type	NOUN
ap-7523	44	17	control	control	NOUN
ap-7523	44	18	methods	method	NOUN
ap-7523	44	19	with	with	ADP
ap-7523	44	20	the	the	DET
ap-7523	44	21	strength	strength	NOUN
ap-7523	44	22	of	of	ADP
ap-7523	44	23	modern	modern	ADJ
ap-7523	44	24	modelbased	modelbase	VERB
ap-7523	44	25	approaches	approach	NOUN
ap-7523	44	26	.	.	PUNCT
ap-7523	45	1	the	the	DET
ap-7523	45	2	core	core	NOUN
ap-7523	45	3	of	of	ADP
ap-7523	45	4	adrc	adrc	PROPN
ap-7523	45	5	is	be	AUX
ap-7523	45	6	an	an	DET
ap-7523	45	7	extended	extended	ADJ
ap-7523	45	8	observer	observer	NOUN
ap-7523	45	9	that	that	PRON
ap-7523	45	10	treats	treat	VERB
ap-7523	45	11	actual	actual	ADJ
ap-7523	45	12	disturbances	disturbance	NOUN
ap-7523	45	13	and	and	CCONJ
ap-7523	45	14	modelling	model	VERB
ap-7523	45	15	uncertainty	uncertainty	NOUN
ap-7523	45	16	together	together	ADV
ap-7523	45	17	,	,	PUNCT
ap-7523	45	18	using	use	VERB
ap-7523	45	19	only	only	ADV
ap-7523	45	20	a	a	DET
ap-7523	45	21	very	very	ADV
ap-7523	45	22	coarse	coarse	ADJ
ap-7523	45	23	process	process	NOUN
ap-7523	45	24	model	model	NOUN
ap-7523	45	25	to	to	PART
ap-7523	45	26	create	create	VERB
ap-7523	45	27	a	a	DET
ap-7523	45	28	control	control	NOUN
ap-7523	45	29	loop	loop	NOUN
ap-7523	45	30	.	.	PUNCT
ap-7523	46	1	because	because	SCONJ
ap-7523	46	2	of	of	ADP
ap-7523	46	3	the	the	DET
ap-7523	46	4	excellent	excellent	ADJ
ap-7523	46	5	abilities	ability	NOUN
ap-7523	46	6	of	of	ADP
ap-7523	46	7	adrc	adrc	NOUN
ap-7523	46	8	,	,	PUNCT
ap-7523	46	9	the	the	DET
ap-7523	46	10	paper	paper	NOUN
ap-7523	46	11	also	also	ADV
ap-7523	46	12	tackles	tackle	VERB
ap-7523	46	13	the	the	DET
ap-7523	46	14	unwanted	unwanted	ADJ
ap-7523	46	15	dynamics	dynamic	NOUN
ap-7523	46	16	due	due	ADP
ap-7523	46	17	to	to	ADP
ap-7523	46	18	rotational	rotational	ADJ
ap-7523	46	19	motions	motion	NOUN
ap-7523	46	20	,	,	PUNCT
ap-7523	46	21	which	which	PRON
ap-7523	46	22	are	be	AUX
ap-7523	46	23	normally	normally	ADV
ap-7523	46	24	neglected	neglect	VERB
ap-7523	46	25	in	in	ADP
ap-7523	46	26	other	other	ADJ
ap-7523	46	27	related	related	ADJ
ap-7523	46	28	works	work	NOUN
ap-7523	46	29	.	.	PUNCT
ap-7523	47	1	the	the	DET
ap-7523	47	2	ignorance	ignorance	NOUN
ap-7523	47	3	might	might	AUX
ap-7523	47	4	lead	lead	VERB
ap-7523	47	5	to	to	AUX
ap-7523	47	6	system	system	NOUN
ap-7523	47	7	degradation	degradation	NOUN
ap-7523	47	8	due	due	ADP
ap-7523	47	9	to	to	ADP
ap-7523	47	10	a	a	DET
ap-7523	47	11	high	high	ADJ
ap-7523	47	12	operating	operating	NOUN
ap-7523	47	13	speed	speed	NOUN
ap-7523	47	14	resulting	result	VERB
ap-7523	47	15	in	in	ADP
ap-7523	47	16	strong	strong	ADJ
ap-7523	47	17	coupling	coupling	NOUN
ap-7523	47	18	effects	effect	NOUN
ap-7523	47	19	.	.	PUNCT
ap-7523	48	1	the	the	DET
ap-7523	48	2	effectiveness	effectiveness	NOUN
ap-7523	48	3	of	of	ADP
ap-7523	48	4	the	the	DET
ap-7523	48	5	proposed	propose	VERB
ap-7523	48	6	control	control	NOUN
ap-7523	48	7	structure	structure	NOUN
ap-7523	48	8	for	for	ADP
ap-7523	48	9	stabilising	stabilise	VERB
ap-7523	48	10	the	the	DET
ap-7523	48	11	rotor	rotor	NOUN
ap-7523	48	12	position	position	NOUN
ap-7523	48	13	and	and	CCONJ
ap-7523	48	14	rejecting	reject	VERB
ap-7523	48	15	coupling	coupling	NOUN
ap-7523	48	16	-	-	PUNCT
ap-7523	48	17	phenomenon	phenomenon	NOUN
ap-7523	48	18	-	-	PUNCT
ap-7523	48	19	induced	induce	VERB
ap-7523	48	20	disturbance	disturbance	NOUN
ap-7523	48	21	is	be	AUX
ap-7523	48	22	numerically	numerically	ADV
ap-7523	48	23	evaluated	evaluate	VERB
ap-7523	48	24	through	through	ADP
ap-7523	48	25	comprehensive	comprehensive	ADJ
ap-7523	48	26	scenarios	scenario	NOUN
ap-7523	48	27	.	.	PUNCT
ap-7523	49	1	2	2	X
ap-7523	49	2	.	.	X
ap-7523	49	3	dynamic	dynamic	ADJ
ap-7523	49	4	modelling	modelling	NOUN
ap-7523	49	5	of	of	ADP
ap-7523	49	6	conical	conical	ADJ
ap-7523	49	7	magnetic	magnetic	ADJ
ap-7523	49	8	bearings	bearing	NOUN
ap-7523	49	9	consider	consider	VERB
ap-7523	49	10	the	the	DET
ap-7523	49	11	simplified	simplified	ADJ
ap-7523	49	12	model	model	NOUN
ap-7523	49	13	of	of	ADP
ap-7523	49	14	a	a	DET
ap-7523	49	15	conical	conical	ADJ
ap-7523	49	16	magnetic	magnetic	ADJ
ap-7523	49	17	bearing	bearing	NOUN
ap-7523	49	18	system	system	NOUN
ap-7523	49	19	as	as	SCONJ
ap-7523	49	20	shown	show	VERB
ap-7523	49	21	in	in	ADP
ap-7523	49	22	fig	fig	NOUN
ap-7523	49	23	.	.	PUNCT
ap-7523	50	1	1	1	X
ap-7523	50	2	.	.	X
ap-7523	51	1	it	it	PRON
ap-7523	51	2	is	be	AUX
ap-7523	51	3	assumed	assume	VERB
ap-7523	51	4	that	that	SCONJ
ap-7523	51	5	the	the	DET
ap-7523	51	6	rotor	rotor	NOUN
ap-7523	51	7	is	be	AUX
ap-7523	51	8	rigid	rigid	ADJ
ap-7523	51	9	and	and	CCONJ
ap-7523	51	10	its	its	PRON
ap-7523	51	11	centre	centre	NOUN
ap-7523	51	12	of	of	ADP
ap-7523	51	13	mass	mass	ADJ
ap-7523	51	14	and	and	CCONJ
ap-7523	51	15	geometric	geometric	ADJ
ap-7523	51	16	centre	centre	NOUN
ap-7523	51	17	are	be	AUX
ap-7523	51	18	coincide	coincide	ADJ
ap-7523	51	19	.	.	PUNCT
ap-7523	52	1	furthermore	furthermore	ADV
ap-7523	52	2	,	,	PUNCT
ap-7523	52	3	the	the	DET
ap-7523	52	4	assumptions	assumption	NOUN
ap-7523	52	5	of	of	ADP
ap-7523	52	6	non	non	ADJ
ap-7523	52	7	-	-	ADJ
ap-7523	52	8	saturated	saturated	ADJ
ap-7523	52	9	circuit	circuit	NOUN
ap-7523	52	10	and	and	CCONJ
ap-7523	52	11	negligible	negligible	ADJ
ap-7523	52	12	flux	flux	NOUN
ap-7523	52	13	linkage	linkage	NOUN
ap-7523	52	14	between	between	ADP
ap-7523	52	15	magnetic	magnetic	ADJ
ap-7523	52	16	coils	coil	NOUN
ap-7523	52	17	are	be	AUX
ap-7523	52	18	made	make	VERB
ap-7523	52	19	.	.	PUNCT
ap-7523	53	1	rm	rm	PROPN
ap-7523	53	2	and	and	CCONJ
ap-7523	53	3	β	β	X
ap-7523	53	4	are	be	AUX
ap-7523	53	5	the	the	DET
ap-7523	53	6	figure	figure	NOUN
ap-7523	53	7	1	1	NUM
ap-7523	53	8	.	.	PUNCT
ap-7523	53	9	model	model	NOUN
ap-7523	53	10	of	of	ADP
ap-7523	53	11	a	a	DET
ap-7523	53	12	cone	cone	NOUN
ap-7523	53	13	-	-	PUNCT
ap-7523	53	14	shaped	shape	VERB
ap-7523	53	15	active	active	ADJ
ap-7523	53	16	magnetic	magnetic	ADJ
ap-7523	53	17	bearing	bearing	NOUN
ap-7523	53	18	system	system	NOUN
ap-7523	53	19	.	.	PUNCT
ap-7523	54	1	effective	effective	ADJ
ap-7523	54	2	radius	radius	NOUN
ap-7523	54	3	and	and	CCONJ
ap-7523	54	4	inclined	inclined	ADJ
ap-7523	54	5	angle	angle	NOUN
ap-7523	54	6	of	of	ADP
ap-7523	54	7	the	the	DET
ap-7523	54	8	magnetic	magnetic	ADJ
ap-7523	54	9	core	core	NOUN
ap-7523	54	10	,	,	PUNCT
ap-7523	54	11	b1	b1	NOUN
ap-7523	54	12	and	and	CCONJ
ap-7523	54	13	b2	b2	NOUN
ap-7523	54	14	are	be	AUX
ap-7523	54	15	the	the	DET
ap-7523	54	16	distances	distance	NOUN
ap-7523	54	17	between	between	ADP
ap-7523	54	18	the	the	DET
ap-7523	54	19	two	two	NUM
ap-7523	54	20	radical	radical	ADJ
ap-7523	54	21	magnetic	magnetic	ADJ
ap-7523	54	22	bearing	bearing	NOUN
ap-7523	54	23	and	and	CCONJ
ap-7523	54	24	the	the	DET
ap-7523	54	25	centre	centre	NOUN
ap-7523	54	26	of	of	ADP
ap-7523	54	27	gravity	gravity	NOUN
ap-7523	54	28	of	of	ADP
ap-7523	54	29	the	the	DET
ap-7523	54	30	rotor	rotor	NOUN
ap-7523	54	31	;	;	PUNCT
ap-7523	54	32	fj	fj	PROPN
ap-7523	54	33	(	(	PUNCT
ap-7523	54	34	j	j	PROPN
ap-7523	54	35	=	=	NOUN
ap-7523	54	36	1	1	NUM
ap-7523	54	37	to	to	ADP
ap-7523	54	38	8)	8)	NUM
ap-7523	54	39	are	be	AUX
ap-7523	54	40	the	the	DET
ap-7523	54	41	magnetic	magnetic	ADJ
ap-7523	54	42	forces	force	NOUN
ap-7523	54	43	produced	produce	VERB
ap-7523	54	44	by	by	ADP
ap-7523	54	45	the	the	DET
ap-7523	54	46	stator	stator	NOUN
ap-7523	54	47	and	and	CCONJ
ap-7523	54	48	exerted	exert	VERB
ap-7523	54	49	on	on	ADP
ap-7523	54	50	the	the	DET
ap-7523	54	51	rotor	rotor	NOUN
ap-7523	54	52	;	;	PUNCT
ap-7523	54	53	(	(	PUNCT
ap-7523	54	54	x	x	X
ap-7523	54	55	,	,	PUNCT
ap-7523	54	56	y	y	PROPN
ap-7523	54	57	,	,	PUNCT
ap-7523	54	58	z	z	NOUN
ap-7523	54	59	)	)	PUNCT
ap-7523	54	60	and	and	CCONJ
ap-7523	54	61	(	(	PUNCT
ap-7523	54	62	θx	θx	INTJ
ap-7523	54	63	,	,	PUNCT
ap-7523	54	64	θy	θy	VERB
ap-7523	54	65	,	,	PUNCT
ap-7523	54	66	θz	θz	NOUN
ap-7523	54	67	)	)	PUNCT
ap-7523	54	68	are	be	AUX
ap-7523	54	69	the	the	DET
ap-7523	54	70	displacement	displacement	ADJ
ap-7523	54	71	and	and	CCONJ
ap-7523	54	72	angular	angular	ADJ
ap-7523	54	73	coordinates	coordinate	NOUN
ap-7523	54	74	defined	define	VERB
ap-7523	54	75	with	with	ADP
ap-7523	54	76	respect	respect	NOUN
ap-7523	54	77	to	to	ADP
ap-7523	54	78	the	the	DET
ap-7523	54	79	centre	centre	NOUN
ap-7523	54	80	of	of	ADP
ap-7523	54	81	mass	mass	PROPN
ap-7523	54	82	.	.	PUNCT
ap-7523	55	1	the	the	DET
ap-7523	55	2	cone	cone	NOUN
ap-7523	55	3	-	-	PUNCT
ap-7523	55	4	shaped	shape	VERB
ap-7523	55	5	active	active	ADJ
ap-7523	55	6	magnetic	magnetic	ADJ
ap-7523	55	7	bearing	bearing	NOUN
ap-7523	55	8	system	system	NOUN
ap-7523	55	9	can	can	AUX
ap-7523	55	10	be	be	AUX
ap-7523	55	11	modelled	model	VERB
ap-7523	55	12	as	as	SCONJ
ap-7523	55	13	follows	follow	VERB
ap-7523	55	14	:	:	PUNCT
ap-7523	55	15	mẍ	mẍ	PUNCT
ap-7523	55	16	=	=	SYM
ap-7523	55	17	(	(	PUNCT
ap-7523	55	18	f1	f1	NOUN
ap-7523	55	19	+	+	CCONJ
ap-7523	55	20	f2	f2	PROPN
ap-7523	55	21	+	+	CCONJ
ap-7523	55	22	f5	f5	PROPN
ap-7523	55	23	+	+	SYM
ap-7523	55	24	f6	f6	PROPN
ap-7523	55	25	)	)	PUNCT
ap-7523	55	26	sin	sin	NOUN
ap-7523	55	27	β	β	X
ap-7523	55	28	−	−	PROPN
ap-7523	55	29	(	(	PUNCT
ap-7523	55	30	f3	f3	PROPN
ap-7523	55	31	+	+	CCONJ
ap-7523	55	32	f4	f4	PROPN
ap-7523	55	33	+	+	CCONJ
ap-7523	55	34	f7	f7	PROPN
ap-7523	55	35	+	+	CCONJ
ap-7523	55	36	f8	f8	PROPN
ap-7523	55	37	)	)	PUNCT
ap-7523	55	38	sin	sin	NOUN
ap-7523	55	39	β	β	NOUN
ap-7523	55	40	−	−	NOUN
ap-7523	55	41	mg	mg	PROPN
ap-7523	55	42	.	.	PUNCT
ap-7523	55	43	mÿ	mÿ	PROPN
ap-7523	56	1	=	=	SYM
ap-7523	56	2	(	(	PUNCT
ap-7523	56	3	f1	f1	NOUN
ap-7523	56	4	−	−	PROPN
ap-7523	56	5	f2	f2	PROPN
ap-7523	56	6	+	+	CCONJ
ap-7523	56	7	f3	f3	ADJ
ap-7523	56	8	−	−	PROPN
ap-7523	56	9	f4)cosβ	f4)cosβ	PROPN
ap-7523	56	10	.	.	PUNCT
ap-7523	56	11	mz̈	mz̈	PUNCT
ap-7523	57	1	=	=	SYM
ap-7523	57	2	(	(	PUNCT
ap-7523	57	3	f5	f5	PROPN
ap-7523	57	4	−	−	PROPN
ap-7523	57	5	f6	f6	PROPN
ap-7523	57	6	+	+	CCONJ
ap-7523	57	7	f7	f7	PROPN
ap-7523	58	1	−	−	PROPN
ap-7523	58	2	f8)cosβ	f8)cosβ	PROPN
ap-7523	58	3	.	.	PUNCT
ap-7523	59	1	jdθ̈y	jdθ̈y	NOUN
ap-7523	59	2	=	=	PUNCT
ap-7523	60	1	[	[	X
ap-7523	60	2	(	(	PUNCT
ap-7523	60	3	f6	f6	PROPN
ap-7523	60	4	−	−	PROPN
ap-7523	60	5	f5)b1	f5)b1	X
ap-7523	60	6	+	+	CCONJ
ap-7523	60	7	(	(	PUNCT
ap-7523	60	8	f7	f7	PROPN
ap-7523	60	9	−	−	PROPN
ap-7523	60	10	f8)b2]cosβ	f8)b2]cosβ	PROPN
ap-7523	61	1	+	+	CCONJ
ap-7523	61	2	(	(	PUNCT
ap-7523	61	3	f5	f5	PROPN
ap-7523	61	4	−	−	PROPN
ap-7523	61	5	f6	f6	PROPN
ap-7523	61	6	+	+	CCONJ
ap-7523	61	7	f8	f8	PROPN
ap-7523	61	8	−	−	PROPN
ap-7523	61	9	f7)rm	f7)rm	VERB
ap-7523	61	10	sin	sin	PROPN
ap-7523	61	11	β	β	X
ap-7523	61	12	+	+	X
ap-7523	61	13	jθ̇xθ̇z	jθ̇xθ̇z	PROPN
ap-7523	61	14	.	.	PUNCT
ap-7523	62	1	jdθ̈z	jdθ̈z	PROPN
ap-7523	62	2	=	=	PUNCT
ap-7523	63	1	[	[	X
ap-7523	63	2	(	(	PUNCT
ap-7523	63	3	f1	f1	PROPN
ap-7523	63	4	−	−	PROPN
ap-7523	63	5	f2)b1	f2)b1	NOUN
ap-7523	63	6	+	+	CCONJ
ap-7523	63	7	(	(	PUNCT
ap-7523	63	8	f4	f4	ADJ
ap-7523	63	9	−	−	NOUN
ap-7523	63	10	f3)b2]cosβ	f3)b2]cosβ	NUM
ap-7523	63	11	+	+	CCONJ
ap-7523	63	12	(	(	PUNCT
ap-7523	63	13	f2	f2	PRON
ap-7523	63	14	−	−	PROPN
ap-7523	63	15	f1	f1	NOUN
ap-7523	63	16	+	+	CCONJ
ap-7523	63	17	f3	f3	PROPN
ap-7523	63	18	−	−	PROPN
ap-7523	63	19	f4)rm	f4)rm	PROPN
ap-7523	63	20	sin	sin	NOUN
ap-7523	63	21	β	β	X
ap-7523	63	22	+	+	X
ap-7523	63	23	jθ̇xθ̇y	jθ̇xθ̇y	PROPN
ap-7523	63	24	(	(	PUNCT
ap-7523	63	25	1	1	NUM
ap-7523	63	26	)	)	PUNCT
ap-7523	63	27	where	where	SCONJ
ap-7523	63	28	j	j	PROPN
ap-7523	63	29	is	be	AUX
ap-7523	63	30	the	the	DET
ap-7523	63	31	moment	moment	NOUN
ap-7523	63	32	of	of	ADP
ap-7523	63	33	inertia	inertia	NOUN
ap-7523	63	34	of	of	ADP
ap-7523	63	35	the	the	DET
ap-7523	63	36	rotor	rotor	NOUN
ap-7523	63	37	about	about	ADP
ap-7523	63	38	the	the	DET
ap-7523	63	39	axis	axis	NOUN
ap-7523	63	40	of	of	ADP
ap-7523	63	41	rotation	rotation	NOUN
ap-7523	63	42	.	.	PUNCT
ap-7523	64	1	the	the	DET
ap-7523	64	2	mass	mass	NOUN
ap-7523	64	3	and	and	CCONJ
ap-7523	64	4	moment	moment	NOUN
ap-7523	64	5	of	of	ADP
ap-7523	64	6	inertia	inertia	NOUN
ap-7523	64	7	of	of	ADP
ap-7523	64	8	the	the	DET
ap-7523	64	9	rotor	rotor	NOUN
ap-7523	64	10	are	be	AUX
ap-7523	64	11	m	m	PRON
ap-7523	64	12	and	and	CCONJ
ap-7523	64	13	jd	jd	PROPN
ap-7523	64	14	,	,	PUNCT
ap-7523	64	15	respectively	respectively	ADV
ap-7523	64	16	.	.	PUNCT
ap-7523	65	1	we	we	PRON
ap-7523	65	2	also	also	ADV
ap-7523	65	3	consider	consider	VERB
ap-7523	65	4	the	the	DET
ap-7523	65	5	effect	effect	NOUN
ap-7523	65	6	of	of	ADP
ap-7523	65	7	the	the	DET
ap-7523	65	8	x	x	ADJ
ap-7523	65	9	-	-	ADJ
ap-7523	65	10	axis	axis	ADJ
ap-7523	65	11	rotation	rotation	NOUN
ap-7523	65	12	on	on	ADP
ap-7523	65	13	the	the	DET
ap-7523	65	14	other	other	ADJ
ap-7523	65	15	two	two	NUM
ap-7523	65	16	axes	axis	NOUN
ap-7523	65	17	.	.	PUNCT
ap-7523	66	1	here	here	ADV
ap-7523	66	2	,	,	PUNCT
ap-7523	66	3	the	the	DET
ap-7523	66	4	first	first	ADJ
ap-7523	66	5	three	three	NUM
ap-7523	66	6	equations	equation	NOUN
ap-7523	66	7	in	in	ADP
ap-7523	66	8	eq	eq	PROPN
ap-7523	66	9	.	.	PUNCT
ap-7523	67	1	(	(	PUNCT
ap-7523	67	2	1	1	X
ap-7523	67	3	)	)	PUNCT
ap-7523	67	4	are	be	AUX
ap-7523	67	5	the	the	DET
ap-7523	67	6	kinematics	kinematic	NOUN
ap-7523	67	7	of	of	ADP
ap-7523	67	8	the	the	DET
ap-7523	67	9	rotor	rotor	NOUN
ap-7523	67	10	’s	’s	PART
ap-7523	67	11	transverse	transverse	NOUN
ap-7523	67	12	motion	motion	NOUN
ap-7523	67	13	,	,	PUNCT
ap-7523	67	14	while	while	SCONJ
ap-7523	67	15	the	the	DET
ap-7523	67	16	last	last	ADJ
ap-7523	67	17	two	two	NUM
ap-7523	67	18	equations	equation	NOUN
ap-7523	67	19	represent	represent	VERB
ap-7523	67	20	the	the	DET
ap-7523	67	21	rotor	rotor	NOUN
ap-7523	67	22	’s	’s	PART
ap-7523	67	23	rotational	rotational	ADJ
ap-7523	67	24	dynamics	dynamic	NOUN
ap-7523	67	25	.	.	PUNCT
ap-7523	68	1	in	in	ADP
ap-7523	68	2	addition	addition	NOUN
ap-7523	68	3	,	,	PUNCT
ap-7523	68	4	in	in	ADP
ap-7523	68	5	the	the	DET
ap-7523	68	6	two	two	NUM
ap-7523	68	7	rotational	rotational	ADJ
ap-7523	68	8	kinematics	kinematic	NOUN
ap-7523	68	9	equations	equation	NOUN
ap-7523	68	10	,	,	PUNCT
ap-7523	68	11	there	there	PRON
ap-7523	68	12	is	be	VERB
ap-7523	68	13	an	an	DET
ap-7523	68	14	additional	additional	ADJ
ap-7523	68	15	component	component	NOUN
ap-7523	68	16	of	of	ADP
ap-7523	68	17	the	the	DET
ap-7523	68	18	feedback	feedback	NOUN
ap-7523	68	19	force	force	NOUN
ap-7523	68	20	.	.	PUNCT
ap-7523	69	1	suppose	suppose	VERB
ap-7523	69	2	that	that	SCONJ
ap-7523	69	3	when	when	SCONJ
ap-7523	69	4	the	the	DET
ap-7523	69	5	rotor	rotor	NOUN
ap-7523	69	6	rotates	rotate	VERB
ap-7523	69	7	rapidly	rapidly	ADV
ap-7523	69	8	if	if	SCONJ
ap-7523	69	9	a	a	DET
ap-7523	69	10	force	force	NOUN
ap-7523	69	11	is	be	AUX
ap-7523	69	12	applied	apply	VERB
ap-7523	69	13	to	to	ADP
ap-7523	69	14	the	the	DET
ap-7523	69	15	y	y	NOUN
ap-7523	69	16	-	-	PUNCT
ap-7523	69	17	axis	axis	NOUN
ap-7523	69	18	(	(	PUNCT
ap-7523	69	19	z	z	NOUN
ap-7523	69	20	-	-	PUNCT
ap-7523	69	21	axis	axis	NOUN
ap-7523	69	22	)	)	PUNCT
ap-7523	69	23	that	that	PRON
ap-7523	69	24	is	be	AUX
ap-7523	69	25	sufficiently	sufficiently	ADV
ap-7523	69	26	large	large	ADJ
ap-7523	69	27	to	to	PART
ap-7523	69	28	deflect	deflect	VERB
ap-7523	69	29	the	the	DET
ap-7523	69	30	rotor	rotor	NOUN
ap-7523	69	31	from	from	ADP
ap-7523	69	32	the	the	DET
ap-7523	69	33	axis	axis	NOUN
ap-7523	69	34	of	of	ADP
ap-7523	69	35	motion	motion	NOUN
ap-7523	69	36	by	by	ADP
ap-7523	69	37	a	a	DET
ap-7523	69	38	small	small	ADJ
ap-7523	69	39	angle	angle	NOUN
ap-7523	69	40	,	,	PUNCT
ap-7523	69	41	the	the	DET
ap-7523	69	42	rotor	rotor	NOUN
ap-7523	69	43	itself	itself	PRON
ap-7523	69	44	will	will	AUX
ap-7523	69	45	also	also	ADV
ap-7523	69	46	react	react	VERB
ap-7523	69	47	back	back	ADV
ap-7523	69	48	to	to	ADP
ap-7523	69	49	a	a	DET
ap-7523	69	50	torque	torque	NOUN
ap-7523	69	51	of	of	ADP
ap-7523	69	52	the	the	DET
ap-7523	69	53	corresponding	corresponding	ADJ
ap-7523	69	54	magnitude	magnitude	NOUN
ap-7523	69	55	equal	equal	ADJ
ap-7523	69	56	to	to	PART
ap-7523	69	57	jθ̇xθ̇z	jθ̇xθ̇z	VERB
ap-7523	69	58	.	.	PUNCT
ap-7523	70	1	similarly	similarly	ADV
ap-7523	70	2	,	,	PUNCT
ap-7523	70	3	the	the	DET
ap-7523	70	4	component	component	NOUN
ap-7523	70	5	of	of	ADP
ap-7523	70	6	gyro	gyro	NOUN
ap-7523	70	7	force	force	NOUN
ap-7523	70	8	480	480	NUM
ap-7523	70	9	vol	vol	NOUN
ap-7523	70	10	.	.	PUNCT
ap-7523	71	1	62	62	NUM
ap-7523	71	2	no	no	INTJ
ap-7523	71	3	.	.	PUNCT
ap-7523	72	1	4/2022	4/2022	PROPN
ap-7523	72	2	active	active	ADJ
ap-7523	72	3	disturbance	disturbance	NOUN
ap-7523	72	4	rejection	rejection	NOUN
ap-7523	72	5	control	control	NOUN
ap-7523	72	6	-	-	PUNCT
ap-7523	72	7	based	base	VERB
ap-7523	72	8	.	.	PUNCT
ap-7523	72	9	.	.	PUNCT
ap-7523	73	1	.	.	PUNCT
ap-7523	74	1	figure	figure	NOUN
ap-7523	74	2	2	2	NUM
ap-7523	74	3	.	.	PUNCT
ap-7523	74	4	simplified	simplified	ADJ
ap-7523	74	5	model	model	NOUN
ap-7523	74	6	of	of	ADP
ap-7523	74	7	the	the	DET
ap-7523	74	8	cone	cone	NOUN
ap-7523	74	9	-	-	PUNCT
ap-7523	74	10	shaped	shape	VERB
ap-7523	74	11	amb	amb	NOUN
ap-7523	74	12	system	system	NOUN
ap-7523	74	13	.	.	PUNCT
ap-7523	75	1	along	along	ADP
ap-7523	75	2	the	the	DET
ap-7523	75	3	z	z	NOUN
ap-7523	75	4	-	-	PUNCT
ap-7523	75	5	axis	axis	NOUN
ap-7523	75	6	is	be	AUX
ap-7523	75	7	computed	compute	VERB
ap-7523	75	8	.	.	PUNCT
ap-7523	76	1	in	in	ADP
ap-7523	76	2	order	order	NOUN
ap-7523	76	3	to	to	PART
ap-7523	76	4	linearise	linearise	VERB
ap-7523	76	5	,	,	PUNCT
ap-7523	76	6	the	the	DET
ap-7523	76	7	dynamic	dynamic	ADJ
ap-7523	76	8	equation	equation	NOUN
ap-7523	76	9	(	(	PUNCT
ap-7523	76	10	1	1	NUM
ap-7523	76	11	)	)	PUNCT
ap-7523	76	12	,	,	PUNCT
ap-7523	76	13	small	small	ADJ
ap-7523	76	14	motions	motion	NOUN
ap-7523	76	15	of	of	ADP
ap-7523	76	16	the	the	DET
ap-7523	76	17	rotor	rotor	NOUN
ap-7523	76	18	are	be	AUX
ap-7523	76	19	considered	consider	VERB
ap-7523	76	20	.	.	PUNCT
ap-7523	77	1	fig	fig	NOUN
ap-7523	77	2	.	.	PUNCT
ap-7523	78	1	2	2	NUM
ap-7523	78	2	shows	show	VERB
ap-7523	78	3	the	the	DET
ap-7523	78	4	change	change	NOUN
ap-7523	78	5	of	of	ADP
ap-7523	78	6	the	the	DET
ap-7523	78	7	air	air	NOUN
ap-7523	78	8	gap	gap	NOUN
ap-7523	78	9	of	of	ADP
ap-7523	78	10	the	the	DET
ap-7523	78	11	cone	cone	NOUN
ap-7523	78	12	-	-	PUNCT
ap-7523	78	13	shaped	shape	VERB
ap-7523	78	14	magnet	magnet	NOUN
ap-7523	78	15	,	,	PUNCT
ap-7523	78	16	which	which	PRON
ap-7523	78	17	is	be	AUX
ap-7523	78	18	written	write	VERB
ap-7523	78	19	as	as	ADP
ap-7523	78	20	:	:	PUNCT
ap-7523	78	21	gy1,2	gy1,2	PROPN
ap-7523	78	22	=	=	SYM
ap-7523	78	23	go	go	VERB
ap-7523	78	24	−	−	NOUN
ap-7523	78	25	x	x	PUNCT
ap-7523	78	26	sin	sin	PROPN
ap-7523	78	27	β	β	X
ap-7523	78	28	±	±	PROPN
ap-7523	78	29	(	(	PUNCT
ap-7523	78	30	y	y	PROPN
ap-7523	78	31	+	+	CCONJ
ap-7523	78	32	b1θz	b1θz	PUNCT
ap-7523	78	33	)	)	PUNCT
ap-7523	78	34	cos	cos	ADP
ap-7523	78	35	β	β	X
ap-7523	78	36	gy3,4	gy3,4	NOUN
ap-7523	78	37	=	=	SYM
ap-7523	78	38	go	go	VERB
ap-7523	78	39	+	+	CCONJ
ap-7523	78	40	x	x	SYM
ap-7523	78	41	sin	sin	NOUN
ap-7523	78	42	β	β	X
ap-7523	78	43	±	±	PROPN
ap-7523	78	44	(	(	PUNCT
ap-7523	78	45	y	y	NOUN
ap-7523	78	46	−	−	PROPN
ap-7523	78	47	b2θz	b2θz	PROPN
ap-7523	78	48	)	)	PUNCT
ap-7523	78	49	cos	cos	ADP
ap-7523	78	50	β	β	X
ap-7523	78	51	gz1,2	gz1,2	NOUN
ap-7523	78	52	=	=	PRON
ap-7523	78	53	go	go	VERB
ap-7523	78	54	−	−	NOUN
ap-7523	78	55	x	x	PUNCT
ap-7523	78	56	sin	sin	PROPN
ap-7523	78	57	β	β	X
ap-7523	78	58	±	±	NUM
ap-7523	78	59	(	(	PUNCT
ap-7523	78	60	z	z	NOUN
ap-7523	78	61	+	+	NOUN
ap-7523	78	62	b1θy	b1θy	NUM
ap-7523	78	63	)	)	PUNCT
ap-7523	78	64	cos	cos	ADP
ap-7523	78	65	β	β	PROPN
ap-7523	78	66	gz3,4	gz3,4	NOUN
ap-7523	78	67	=	=	PUNCT
ap-7523	78	68	go	go	VERB
ap-7523	78	69	+	+	CCONJ
ap-7523	78	70	x	x	SYM
ap-7523	78	71	sin	sin	NOUN
ap-7523	78	72	β	β	X
ap-7523	78	73	±	±	NUM
ap-7523	78	74	(	(	PUNCT
ap-7523	78	75	z	z	NOUN
ap-7523	78	76	+	+	NOUN
ap-7523	78	77	b2θy	b2θy	NOUN
ap-7523	78	78	)	)	PUNCT
ap-7523	78	79	cos	cos	SCONJ
ap-7523	78	80	β	β	X
ap-7523	78	81	(	(	PUNCT
ap-7523	78	82	2	2	NUM
ap-7523	78	83	)	)	PUNCT
ap-7523	78	84	where	where	SCONJ
ap-7523	78	85	go	go	VERB
ap-7523	78	86	is	be	AUX
ap-7523	78	87	the	the	DET
ap-7523	78	88	steady	steady	ADJ
ap-7523	78	89	-	-	PUNCT
ap-7523	78	90	state	state	NOUN
ap-7523	78	91	nominal	nominal	ADJ
ap-7523	78	92	air	air	NOUN
ap-7523	78	93	gap	gap	NOUN
ap-7523	78	94	.	.	PUNCT
ap-7523	79	1	the	the	DET
ap-7523	79	2	magnetic	magnetic	ADJ
ap-7523	79	3	force	force	NOUN
ap-7523	79	4	can	can	AUX
ap-7523	79	5	be	be	AUX
ap-7523	79	6	written	write	VERB
ap-7523	79	7	regrading	regrade	VERB
ap-7523	79	8	to	to	ADP
ap-7523	79	9	he	he	PRON
ap-7523	79	10	actual	actual	ADJ
ap-7523	79	11	air	air	NOUN
ap-7523	79	12	gap	gap	NOUN
ap-7523	79	13	and	and	CCONJ
ap-7523	79	14	the	the	DET
ap-7523	79	15	current	current	NOUN
ap-7523	79	16	as	as	ADP
ap-7523	79	17	:	:	PUNCT
ap-7523	79	18	f1,2	f1,2	PROPN
ap-7523	79	19	=	=	SYM
ap-7523	79	20	µoapn2(io1	µoapn2(io1	PROPN
ap-7523	79	21	+	+	NUM
ap-7523	79	22	iy1,2)2	iy1,2)2	NOUN
ap-7523	79	23	4gy1,2	4gy1,2	NUM
ap-7523	79	24	2	2	NUM
ap-7523	79	25	f3,4	f3,4	ADJ
ap-7523	79	26	=	=	PUNCT
ap-7523	79	27	µoapn2(io2	µoapn2(io2	PROPN
ap-7523	80	1	+	+	X
ap-7523	80	2	iy3,4)2	iy3,4)2	ADV
ap-7523	80	3	4gy3,4	4gy3,4	ADJ
ap-7523	80	4	2	2	NUM
ap-7523	80	5	f5,6	f5,6	NOUN
ap-7523	80	6	=	=	SYM
ap-7523	80	7	µoapn2(io1	µoapn2(io1	PROPN
ap-7523	80	8	+	+	NOUN
ap-7523	80	9	iz1,2)2	iz1,2)2	VERB
ap-7523	80	10	4gz1,2	4gz1,2	NUM
ap-7523	80	11	2	2	NUM
ap-7523	80	12	f7,8	f7,8	NOUN
ap-7523	80	13	=	=	SYM
ap-7523	80	14	µoapn2(io2	µoapn2(io2	PROPN
ap-7523	81	1	+	+	CCONJ
ap-7523	81	2	iz3,4)2	iz3,4)2	AUX
ap-7523	81	3	4gz3,4	4gz3,4	ADJ
ap-7523	81	4	2	2	NUM
ap-7523	81	5	(	(	PUNCT
ap-7523	81	6	3	3	NUM
ap-7523	81	7	)	)	PUNCT
ap-7523	81	8	where	where	SCONJ
ap-7523	81	9	µo(=	µo(=	ADJ
ap-7523	81	10	4π×10−7h	4π×10−7h	PROPN
ap-7523	81	11	/	/	SYM
ap-7523	81	12	m	m	PROPN
ap-7523	81	13	)	)	PUNCT
ap-7523	81	14	is	be	AUX
ap-7523	81	15	the	the	DET
ap-7523	81	16	permeability	permeability	NOUN
ap-7523	81	17	of	of	ADP
ap-7523	81	18	free	free	ADJ
ap-7523	81	19	space	space	NOUN
ap-7523	81	20	;	;	PUNCT
ap-7523	81	21	ap	ap	PROPN
ap-7523	81	22	=	=	VERB
ap-7523	81	23	a	a	PRON
ap-7523	81	24	/	/	SYM
ap-7523	81	25	cosβ	cosβ	PROPN
ap-7523	81	26	,	,	PUNCT
ap-7523	81	27	a	a	PRON
ap-7523	81	28	is	be	AUX
ap-7523	81	29	the	the	DET
ap-7523	81	30	cross	cross	ADJ
ap-7523	81	31	-	-	ADJ
ap-7523	81	32	sectional	sectional	ADJ
ap-7523	81	33	area	area	NOUN
ap-7523	81	34	,	,	PUNCT
ap-7523	81	35	n	n	X
ap-7523	81	36	is	be	AUX
ap-7523	81	37	the	the	DET
ap-7523	81	38	number	number	NOUN
ap-7523	81	39	of	of	ADP
ap-7523	81	40	coil	coil	NOUN
ap-7523	81	41	turns	turn	NOUN
ap-7523	81	42	;	;	PUNCT
ap-7523	81	43	iqj	iqj	X
ap-7523	81	44	(	(	PUNCT
ap-7523	81	45	j	j	NOUN
ap-7523	81	46	=	=	SYM
ap-7523	81	47	1	1	NUM
ap-7523	81	48	,	,	PUNCT
ap-7523	81	49	4&q	4&q	PROPN
ap-7523	81	50	=	=	SYM
ap-7523	81	51	y	y	PROPN
ap-7523	81	52	,	,	PUNCT
ap-7523	81	53	z	z	NOUN
ap-7523	81	54	)	)	PUNCT
ap-7523	81	55	is	be	AUX
ap-7523	81	56	the	the	DET
ap-7523	81	57	control	control	NOUN
ap-7523	81	58	current	current	NOUN
ap-7523	81	59	of	of	ADP
ap-7523	81	60	each	each	DET
ap-7523	81	61	magnet	magnet	NOUN
ap-7523	81	62	;	;	PUNCT
ap-7523	81	63	io1	io1	PROPN
ap-7523	81	64	and	and	CCONJ
ap-7523	81	65	io2	io2	PROPN
ap-7523	81	66	are	be	AUX
ap-7523	81	67	the	the	DET
ap-7523	81	68	bias	bias	NOUN
ap-7523	81	69	currents	current	NOUN
ap-7523	81	70	in	in	ADP
ap-7523	81	71	the	the	DET
ap-7523	81	72	upper	upper	ADJ
ap-7523	81	73	and	and	CCONJ
ap-7523	81	74	lower	low	ADJ
ap-7523	81	75	bearing	bearing	NOUN
ap-7523	81	76	.	.	PUNCT
ap-7523	82	1	assume	assume	VERB
ap-7523	82	2	that	that	SCONJ
ap-7523	82	3	the	the	DET
ap-7523	82	4	current	current	ADJ
ap-7523	82	5	change	change	NOUN
ap-7523	82	6	and	and	CCONJ
ap-7523	82	7	the	the	DET
ap-7523	82	8	displacement	displacement	NOUN
ap-7523	82	9	of	of	ADP
ap-7523	82	10	the	the	DET
ap-7523	82	11	rotor	rotor	NOUN
ap-7523	82	12	are	be	AUX
ap-7523	82	13	small	small	ADJ
ap-7523	82	14	relative	relative	ADJ
ap-7523	82	15	to	to	ADP
ap-7523	82	16	the	the	DET
ap-7523	82	17	bias	bias	NOUN
ap-7523	82	18	current	current	PROPN
ap-7523	82	19	io	io	X
ap-7523	82	20	and	and	CCONJ
ap-7523	82	21	the	the	DET
ap-7523	82	22	nominal	nominal	ADJ
ap-7523	82	23	air	air	NOUN
ap-7523	82	24	gap	gap	NOUN
ap-7523	82	25	.	.	PUNCT
ap-7523	83	1	apply	apply	VERB
ap-7523	83	2	eq	eq	ADP
ap-7523	83	3	.	.	PUNCT
ap-7523	84	1	(	(	PUNCT
ap-7523	84	2	2	2	NUM
ap-7523	84	3	)	)	PUNCT
ap-7523	84	4	to	to	ADP
ap-7523	84	5	eq	eq	NOUN
ap-7523	84	6	.	.	PUNCT
ap-7523	85	1	(	(	PUNCT
ap-7523	85	2	3	3	NUM
ap-7523	85	3	)	)	PUNCT
ap-7523	86	1	and	and	CCONJ
ap-7523	86	2	use	use	VERB
ap-7523	86	3	the	the	DET
ap-7523	86	4	taylor	taylor	PROPN
ap-7523	86	5	expansion	expansion	NOUN
ap-7523	86	6	series	series	NOUN
ap-7523	86	7	to	to	PART
ap-7523	86	8	obtain	obtain	VERB
ap-7523	86	9	the	the	DET
ap-7523	86	10	magnetic	magnetic	ADJ
ap-7523	86	11	force	force	NOUN
ap-7523	86	12	,	,	PUNCT
ap-7523	86	13	which	which	PRON
ap-7523	86	14	is	be	AUX
ap-7523	86	15	linearised	linearise	VERB
ap-7523	86	16	as	as	ADP
ap-7523	86	17	:	:	PUNCT
ap-7523	86	18	f1,2	f1,2	ADJ
ap-7523	86	19	=	=	PUNCT
ap-7523	86	20	fo1	fo1	PROPN
ap-7523	86	21	+	+	CCONJ
ap-7523	86	22	ki1iy1,2	ki1iy1,2	PROPN
ap-7523	87	1	+	+	CCONJ
ap-7523	87	2	kq1x	kq1x	AUX
ap-7523	87	3	sin	sin	VERB
ap-7523	87	4	β	β	X
ap-7523	87	5	±	±	NUM
ap-7523	87	6	kq1(y	kq1(y	VERB
ap-7523	87	7	+	+	SYM
ap-7523	87	8	b1θz	b1θz	X
ap-7523	87	9	)	)	PUNCT
ap-7523	87	10	cos	cos	ADP
ap-7523	87	11	β	β	PUNCT
ap-7523	87	12	f3,4	f3,4	ADJ
ap-7523	87	13	=	=	SYM
ap-7523	87	14	fo2	fo2	NOUN
ap-7523	87	15	+	+	CCONJ
ap-7523	87	16	ki2iy3,4	ki2iy3,4	NOUN
ap-7523	88	1	+	+	CCONJ
ap-7523	88	2	kq2x	kq2x	VERB
ap-7523	88	3	sin	sin	NOUN
ap-7523	88	4	β	β	PROPN
ap-7523	88	5	±	±	PROPN
ap-7523	88	6	kq2(y	kq2(y	PROPN
ap-7523	88	7	−	−	PROPN
ap-7523	88	8	b2θz	b2θz	ADJ
ap-7523	88	9	)	)	PUNCT
ap-7523	88	10	cos	cos	ADP
ap-7523	88	11	β	β	X
ap-7523	88	12	f5,6	f5,6	NOUN
ap-7523	88	13	=	=	PUNCT
ap-7523	88	14	fo1	fo1	PROPN
ap-7523	88	15	+	+	SYM
ap-7523	88	16	ki1iz1,2	ki1iz1,2	PROPN
ap-7523	89	1	+	+	CCONJ
ap-7523	89	2	kq1x	kq1x	AUX
ap-7523	89	3	sin	sin	VERB
ap-7523	89	4	β	β	X
ap-7523	89	5	±	±	NUM
ap-7523	90	1	kq1(z	kq1(z	PROPN
ap-7523	90	2	−	−	PROPN
ap-7523	90	3	b1θy	b1θy	NOUN
ap-7523	90	4	)	)	PUNCT
ap-7523	90	5	cos	cos	ADP
ap-7523	90	6	β	β	X
ap-7523	90	7	f7,8	f7,8	NOUN
ap-7523	90	8	=	=	SYM
ap-7523	90	9	fo2	fo2	PROPN
ap-7523	90	10	+	+	CCONJ
ap-7523	90	11	ki2iz3,4	ki2iz3,4	PUNCT
ap-7523	91	1	+	+	CCONJ
ap-7523	91	2	kq2x	kq2x	VERB
ap-7523	91	3	sin	sin	NOUN
ap-7523	91	4	β	β	PROPN
ap-7523	91	5	±	±	NUM
ap-7523	91	6	kq2(z	kq2(z	PROPN
ap-7523	91	7	+	+	CCONJ
ap-7523	91	8	b2θy	b2θy	NOUN
ap-7523	91	9	)	)	PUNCT
ap-7523	91	10	cos	cos	ADP
ap-7523	91	11	β	β	X
ap-7523	91	12	(	(	PUNCT
ap-7523	91	13	4	4	NUM
ap-7523	91	14	)	)	PUNCT
ap-7523	91	15	where	where	SCONJ
ap-7523	91	16	foj	foj	NOUN
ap-7523	91	17	=	=	SYM
ap-7523	91	18	µoapn2ioj	µoapn2ioj	VERB
ap-7523	91	19	2	2	NUM
ap-7523	91	20	4go	4go	NOUN
ap-7523	91	21	2	2	NUM
ap-7523	91	22	,	,	PUNCT
ap-7523	91	23	j	j	PROPN
ap-7523	91	24	=	=	SYM
ap-7523	91	25	1	1	NUM
ap-7523	91	26	,	,	PUNCT
ap-7523	91	27	2	2	NUM
ap-7523	91	28	are	be	AUX
ap-7523	91	29	the	the	DET
ap-7523	91	30	steady	steady	ADJ
ap-7523	91	31	-	-	PUNCT
ap-7523	91	32	state	state	NOUN
ap-7523	91	33	magnetic	magnetic	ADJ
ap-7523	91	34	forces	force	NOUN
ap-7523	91	35	and	and	CCONJ
ap-7523	91	36	kqj	kqj	PROPN
ap-7523	91	37	=	=	SYM
ap-7523	91	38	2foj	2foj	NUM
ap-7523	91	39	go	go	VERB
ap-7523	91	40	,	,	PUNCT
ap-7523	91	41	kij	kij	PROPN
ap-7523	91	42	=	=	SYM
ap-7523	91	43	2foj	2foj	PROPN
ap-7523	91	44	ioj	ioj	NOUN
ap-7523	91	45	,	,	PUNCT
ap-7523	91	46	j	j	PROPN
ap-7523	91	47	=	=	SYM
ap-7523	91	48	1	1	NUM
ap-7523	91	49	,	,	PUNCT
ap-7523	91	50	2	2	NUM
ap-7523	91	51	are	be	AUX
ap-7523	91	52	the	the	DET
ap-7523	91	53	position	position	NOUN
ap-7523	91	54	and	and	CCONJ
ap-7523	91	55	current	current	ADJ
ap-7523	91	56	stiffnesses	stiffness	NOUN
ap-7523	91	57	,	,	PUNCT
ap-7523	91	58	respectively	respectively	ADV
ap-7523	91	59	.	.	PUNCT
ap-7523	92	1	from	from	ADP
ap-7523	92	2	the	the	DET
ap-7523	92	3	combination	combination	NOUN
ap-7523	92	4	of	of	ADP
ap-7523	92	5	eqs	eqs	PROPN
ap-7523	92	6	.	.	PUNCT
ap-7523	93	1	(	(	PUNCT
ap-7523	93	2	1	1	X
ap-7523	93	3	)	)	PUNCT
ap-7523	93	4	and	and	CCONJ
ap-7523	93	5	(	(	PUNCT
ap-7523	93	6	4	4	NUM
ap-7523	93	7	)	)	PUNCT
ap-7523	93	8	,	,	PUNCT
ap-7523	93	9	the	the	DET
ap-7523	93	10	linear	linear	ADJ
ap-7523	93	11	differential	differential	NOUN
ap-7523	93	12	equation	equation	NOUN
ap-7523	93	13	showing	show	VERB
ap-7523	93	14	the	the	DET
ap-7523	93	15	kinematics	kinematic	NOUN
ap-7523	93	16	of	of	ADP
ap-7523	93	17	the	the	DET
ap-7523	93	18	5	5	NUM
ap-7523	93	19	degrees	degree	NOUN
ap-7523	93	20	of	of	ADP
ap-7523	93	21	freedom	freedom	NOUN
ap-7523	93	22	conical	conical	NOUN
ap-7523	93	23	-	-	PUNCT
ap-7523	93	24	amb	amb	PROPN
ap-7523	93	25	drive	drive	NOUN
ap-7523	93	26	system	system	NOUN
ap-7523	93	27	can	can	AUX
ap-7523	93	28	be	be	AUX
ap-7523	93	29	rewritten	rewrite	VERB
ap-7523	93	30	as	as	ADP
ap-7523	93	31	:	:	PUNCT
ap-7523	93	32	mbq̈b	mbq̈b	PROPN
ap-7523	93	33	+	+	CCONJ
ap-7523	93	34	kbqb	kbqb	NOUN
ap-7523	93	35	=	=	SYM
ap-7523	93	36	kibmim	kibmim	NOUN
ap-7523	93	37	+	+	CCONJ
ap-7523	93	38	gq̇b	gq̇b	X
ap-7523	93	39	(	(	PUNCT
ap-7523	93	40	5	5	NUM
ap-7523	93	41	)	)	PUNCT
ap-7523	93	42	where	where	SCONJ
ap-7523	93	43	qb	qb	PROPN
ap-7523	93	44	=	=	X
ap-7523	93	45	{	{	PUNCT
ap-7523	93	46	x	x	PROPN
ap-7523	93	47	,	,	PUNCT
ap-7523	93	48	y	y	PROPN
ap-7523	93	49	,	,	PUNCT
ap-7523	93	50	z	z	PROPN
ap-7523	93	51	,	,	PUNCT
ap-7523	93	52	θy	θy	VERB
ap-7523	93	53	,	,	PUNCT
ap-7523	93	54	θz	θz	NOUN
ap-7523	93	55	}	}	PUNCT
ap-7523	93	56	t	t	NOUN
ap-7523	94	1	i	i	PRON
ap-7523	94	2	m	m	VERB
ap-7523	94	3	=	=	PUNCT
ap-7523	94	4	{	{	PUNCT
ap-7523	94	5	iy1	iy1	NOUN
ap-7523	94	6	,	,	PUNCT
ap-7523	94	7	iy2	iy2	NOUN
ap-7523	94	8	,	,	PUNCT
ap-7523	94	9	iy3	iy3	ADJ
ap-7523	94	10	,	,	PUNCT
ap-7523	94	11	iy4	iy4	PROPN
ap-7523	94	12	,	,	PUNCT
ap-7523	94	13	iz1	iz1	PROPN
ap-7523	94	14	,	,	PUNCT
ap-7523	94	15	iz2	iz2	NOUN
ap-7523	94	16	,	,	PUNCT
ap-7523	94	17	iz3	iz3	NOUN
ap-7523	94	18	,	,	PUNCT
ap-7523	94	19	iz4	iz4	NOUN
ap-7523	94	20	}	}	PUNCT
ap-7523	95	1	t	t	PROPN
ap-7523	95	2	kb=	kb=	NOUN
ap-7523	95	3			PROPN
ap-7523	95	4	−kxx	−kxx	NOUN
ap-7523	95	5	0	0	NUM
ap-7523	95	6	0	0	NUM
ap-7523	95	7	0	0	NUM
ap-7523	95	8	0	0	NUM
ap-7523	95	9	0	0	NUM
ap-7523	96	1	−kyy	−kyy	NOUN
ap-7523	96	2	0	0	NUM
ap-7523	96	3	0	0	PUNCT
ap-7523	97	1	−kyθz	−kyθz	PRON
ap-7523	97	2	0	0	NUM
ap-7523	97	3	0	0	NUM
ap-7523	97	4	−kzz	−kzz	NOUN
ap-7523	97	5	−kzθy	−kzθy	ADV
ap-7523	97	6	0	0	SYM
ap-7523	97	7	0	0	NUM
ap-7523	97	8	0	0	PUNCT
ap-7523	97	9	−kθyz	−kθyz	ADP
ap-7523	97	10	−kθyθy	−kθyθy	NOUN
ap-7523	97	11	0	0	NUM
ap-7523	97	12	0	0	NUM
ap-7523	97	13	−kθzy	−kθzy	NOUN
ap-7523	97	14	0	0	PUNCT
ap-7523	98	1	−kθzθz	−kθzθz	ADJ
ap-7523	98	2	0	0	NUM
ap-7523	98	3			ADJ
ap-7523	98	4	g	g	NOUN
ap-7523	98	5	=	=	NOUN
ap-7523	98	6			ADJ
ap-7523	98	7	0	0	NUM
ap-7523	98	8	0	0	NUM
ap-7523	98	9	0	0	NUM
ap-7523	98	10	0	0	NUM
ap-7523	98	11	0	0	NUM
ap-7523	98	12	0	0	NUM
ap-7523	98	13	0	0	NUM
ap-7523	98	14	0	0	NUM
ap-7523	98	15	0	0	NUM
ap-7523	98	16	0	0	NUM
ap-7523	98	17	0	0	NUM
ap-7523	98	18	0	0	NUM
ap-7523	98	19	0	0	NUM
ap-7523	98	20	0	0	NUM
ap-7523	98	21	0	0	NUM
ap-7523	98	22	0	0	NUM
ap-7523	98	23	0	0	NUM
ap-7523	98	24	0	0	NUM
ap-7523	98	25	0	0	NUM
ap-7523	99	1	j	j	NOUN
ap-7523	99	2	.	.	PUNCT
ap-7523	100	1	θx	θx	ADP
ap-7523	100	2	0	0	NUM
ap-7523	100	3	0	0	NUM
ap-7523	100	4	0	0	NUM
ap-7523	100	5	j	j	NOUN
ap-7523	100	6	.	.	PUNCT
ap-7523	101	1	θx	θx	PRON
ap-7523	101	2	0	0	NUM
ap-7523	101	3			NOUN
ap-7523	101	4	kibm=	kibm=	NUM
ap-7523	101	5			NOUN
ap-7523	102	1	ki1	ki1	X
ap-7523	102	2	sβ	sβ	AUX
ap-7523	102	3	ki1	ki1	VERB
ap-7523	102	4	cβ	cβ	NOUN
ap-7523	102	5	0	0	NUM
ap-7523	102	6	0	0	NUM
ap-7523	102	7	ki1	ki1	NOUN
ap-7523	102	8	σ	σ	NOUN
ap-7523	102	9	ki1	ki1	VERB
ap-7523	102	10	sβ	sβ	PROPN
ap-7523	102	11	−ki1	−ki1	PROPN
ap-7523	102	12	cβ	cβ	NOUN
ap-7523	102	13	0	0	NUM
ap-7523	102	14	0	0	NUM
ap-7523	103	1	−ki1	−ki1	PROPN
ap-7523	103	2	σ	σ	X
ap-7523	103	3	−ki2	−ki2	PROPN
ap-7523	103	4	sβ	sβ	PROPN
ap-7523	103	5	ki2	ki2	PROPN
ap-7523	103	6	cβ	cβ	PROPN
ap-7523	103	7	0	0	PROPN
ap-7523	103	8	0	0	NUM
ap-7523	103	9	ki2	ki2	PROPN
ap-7523	103	10	γ	γ	X
ap-7523	103	11	−ki2	−ki2	PROPN
ap-7523	103	12	sβ	sβ	NOUN
ap-7523	103	13	−ki2	−ki2	NOUN
ap-7523	103	14	cβ	cβ	NOUN
ap-7523	103	15	0	0	NUM
ap-7523	103	16	0	0	NUM
ap-7523	103	17	−ki2	−ki2	PROPN
ap-7523	103	18	γ	γ	X
ap-7523	103	19	ki1	ki1	VERB
ap-7523	103	20	sβ	sβ	NUM
ap-7523	103	21	0	0	NUM
ap-7523	103	22	ki1	ki1	NOUN
ap-7523	103	23	cβ	cβ	NOUN
ap-7523	103	24	ki1	ki1	VERB
ap-7523	103	25	α	α	PROPN
ap-7523	103	26	0	0	PUNCT
ap-7523	103	27	ki1	ki1	VERB
ap-7523	103	28	sβ	sβ	NUM
ap-7523	103	29	0	0	NUM
ap-7523	104	1	−ki1	−ki1	NOUN
ap-7523	104	2	cβ	cβ	NOUN
ap-7523	104	3	−ki1	−ki1	PROPN
ap-7523	104	4	α	α	NOUN
ap-7523	104	5	0	0	PUNCT
ap-7523	104	6	−ki2	−ki2	NOUN
ap-7523	104	7	sβ	sβ	NOUN
ap-7523	104	8	0	0	NUM
ap-7523	104	9	ki2	ki2	PROPN
ap-7523	104	10	cβ	cβ	PROPN
ap-7523	104	11	ki2	ki2	PROPN
ap-7523	104	12	γ	γ	PROPN
ap-7523	104	13	0	0	NUM
ap-7523	104	14	−ki2	−ki2	PROPN
ap-7523	104	15	sβ	sβ	NUM
ap-7523	104	16	0	0	NUM
ap-7523	104	17	−ki2	−ki2	NOUN
ap-7523	104	18	cβ	cβ	NOUN
ap-7523	104	19	−ki2	−ki2	PROPN
ap-7523	104	20	γ	γ	X
ap-7523	104	21	0	0	NUM
ap-7523	104	22			NUM
ap-7523	104	23	mb	mb	NOUN
ap-7523	104	24	=	=	PUNCT
ap-7523	104	25			PROPN
ap-7523	104	26	m	m	VERB
ap-7523	104	27	0	0	NUM
ap-7523	104	28	0	0	NUM
ap-7523	104	29	0	0	NUM
ap-7523	104	30	0	0	NUM
ap-7523	104	31	0	0	NUM
ap-7523	104	32	m	m	VERB
ap-7523	104	33	0	0	NUM
ap-7523	104	34	0	0	NUM
ap-7523	104	35	0	0	NUM
ap-7523	104	36	0	0	NUM
ap-7523	104	37	0	0	NUM
ap-7523	104	38	m	m	VERB
ap-7523	104	39	0	0	NUM
ap-7523	104	40	0	0	NUM
ap-7523	104	41	0	0	NUM
ap-7523	104	42	0	0	NUM
ap-7523	104	43	0	0	NUM
ap-7523	104	44	jd	jd	ADP
ap-7523	104	45	0	0	NUM
ap-7523	104	46	0	0	NUM
ap-7523	104	47	0	0	NUM
ap-7523	104	48	0	0	NUM
ap-7523	104	49	0	0	NUM
ap-7523	104	50	jd	jd	PROPN
ap-7523	104	51			ADJ
ap-7523	104	52	kxx	kxx	NOUN
ap-7523	104	53	=	=	SYM
ap-7523	104	54	4	4	NUM
ap-7523	104	55	(	(	PUNCT
ap-7523	104	56	kq1	kq1	NOUN
ap-7523	104	57	+	+	CCONJ
ap-7523	104	58	kq2	kq2	NOUN
ap-7523	104	59	)	)	PUNCT
ap-7523	104	60	s2β	s2β	PROPN
ap-7523	104	61	kyy	kyy	PROPN
ap-7523	104	62	=	=	SYM
ap-7523	104	63	kzz	kzz	PROPN
ap-7523	104	64	=	=	SYM
ap-7523	104	65	2c2β	2c2β	NUM
ap-7523	104	66	(	(	PUNCT
ap-7523	104	67	kq1	kq1	NOUN
ap-7523	104	68	+	+	CCONJ
ap-7523	104	69	kq2	kq2	NOUN
ap-7523	104	70	)	)	PUNCT
ap-7523	104	71	kyθz	kyθz	NOUN
ap-7523	104	72	=	=	SYM
ap-7523	104	73	kzθy	kzθy	NOUN
ap-7523	104	74	=	=	SYM
ap-7523	104	75	2c2β	2c2β	NUM
ap-7523	104	76	(	(	PUNCT
ap-7523	104	77	kq1	kq1	NOUN
ap-7523	104	78	b1	b1	NOUN
ap-7523	104	79	+	+	CCONJ
ap-7523	104	80	kq2	kq2	NOUN
ap-7523	104	81	b2	b2	NOUN
ap-7523	104	82	)	)	PUNCT
ap-7523	104	83	481	481	NUM
ap-7523	104	84	huy	huy	PROPN
ap-7523	104	85	,	,	PUNCT
ap-7523	104	86	minh	minh	PROPN
ap-7523	104	87	,	,	PUNCT
ap-7523	104	88	hieu	hieu	NOUN
ap-7523	104	89	et	et	PROPN
ap-7523	104	90	al	al	PROPN
ap-7523	104	91	.	.	PROPN
ap-7523	104	92	acta	acta	PROPN
ap-7523	104	93	polytechnica	polytechnica	PROPN
ap-7523	104	94	kθyz	kθyz	PROPN
ap-7523	104	95	=	=	SYM
ap-7523	104	96	2c2β	2c2β	NUM
ap-7523	104	97	(	(	PUNCT
ap-7523	104	98	kq1b1	kq1b1	PROPN
ap-7523	104	99	+	+	CCONJ
ap-7523	104	100	kq2b2	kq2b2	PROPN
ap-7523	104	101	)	)	PUNCT
ap-7523	105	1	+	+	CCONJ
ap-7523	105	2	s(2β)rm	s(2β)rm	NOUN
ap-7523	105	3	(	(	PUNCT
ap-7523	105	4	kq1	kq1	NOUN
ap-7523	105	5	−	−	PROPN
ap-7523	105	6	kq2	kq2	NOUN
ap-7523	105	7	)	)	PUNCT
ap-7523	105	8	kθzy	kθzy	NOUN
ap-7523	105	9	=	=	VERB
ap-7523	105	10	2c2β	2c2β	NUM
ap-7523	105	11	(	(	PUNCT
ap-7523	105	12	kq1b1	kq1b1	PROPN
ap-7523	105	13	−	−	PROPN
ap-7523	105	14	kq2b2	kq2b2	PROPN
ap-7523	105	15	)	)	PUNCT
ap-7523	106	1	−	−	PROPN
ap-7523	106	2	s(2β)rm	s(2β)rm	NOUN
ap-7523	106	3	(	(	PUNCT
ap-7523	106	4	kq1	kq1	NOUN
ap-7523	106	5	−	−	PROPN
ap-7523	106	6	kq2	kq2	NOUN
ap-7523	106	7	)	)	PUNCT
ap-7523	106	8	kθyθy	kθyθy	NOUN
ap-7523	106	9	=	=	VERB
ap-7523	106	10	2c2β	2c2β	NUM
ap-7523	106	11	(	(	PUNCT
ap-7523	106	12	kq1b1	kq1b1	PROPN
ap-7523	106	13	2	2	NUM
ap-7523	106	14	−	−	NOUN
ap-7523	106	15	kq2b2	kq2b2	PROPN
ap-7523	106	16	2	2	NUM
ap-7523	106	17	)	)	PUNCT
ap-7523	106	18	+	+	CCONJ
ap-7523	106	19	s(2β)rm	s(2β)rm	NOUN
ap-7523	106	20	(	(	PUNCT
ap-7523	106	21	kq1b1	kq1b1	PROPN
ap-7523	106	22	+	+	CCONJ
ap-7523	106	23	kq2b2	kq2b2	NOUN
ap-7523	106	24	)	)	PUNCT
ap-7523	106	25	kθzθz	kθzθz	NOUN
ap-7523	106	26	=	=	SYM
ap-7523	106	27	2c2β	2c2β	NUM
ap-7523	106	28	(	(	PUNCT
ap-7523	106	29	kq1b1	kq1b1	PROPN
ap-7523	106	30	2	2	NUM
ap-7523	106	31	+	+	CCONJ
ap-7523	106	32	kq2b2	kq2b2	PROPN
ap-7523	106	33	2	2	NUM
ap-7523	106	34	)	)	PUNCT
ap-7523	106	35	−	−	PROPN
ap-7523	107	1	s(2β)rm	s(2β)rm	NOUN
ap-7523	107	2	(	(	PUNCT
ap-7523	107	3	kq1b1	kq1b1	PROPN
ap-7523	107	4	+	+	CCONJ
ap-7523	107	5	kq2b2	kq2b2	PROPN
ap-7523	107	6	)	)	PUNCT
ap-7523	107	7	α	α	NOUN
ap-7523	107	8	=	=	PUNCT
ap-7523	107	9	b1cβ	b1cβ	PUNCT
ap-7523	108	1	+	+	NUM
ap-7523	108	2	rmsβ	rmsβ	NOUN
ap-7523	108	3	;	;	PUNCT
ap-7523	109	1	σ	σ	PROPN
ap-7523	109	2	=	=	PUNCT
ap-7523	109	3	b1cβ	b1cβ	PUNCT
ap-7523	109	4	−	−	PROPN
ap-7523	109	5	rmsβ	rmsβ	NOUN
ap-7523	109	6	γ	γ	X
ap-7523	109	7	=	=	SYM
ap-7523	109	8	b2cβ	b2cβ	NUM
ap-7523	109	9	−	−	NOUN
ap-7523	109	10	rms	rm	NOUN
ap-7523	109	11	β	β	X
ap-7523	109	12	here	here	ADV
ap-7523	109	13	,	,	PUNCT
ap-7523	109	14	qb	qb	PROPN
ap-7523	109	15	is	be	AUX
ap-7523	109	16	the	the	DET
ap-7523	109	17	displacement	displacement	ADJ
ap-7523	109	18	vector	vector	NOUN
ap-7523	109	19	defined	define	VERB
ap-7523	109	20	in	in	ADP
ap-7523	109	21	the	the	DET
ap-7523	109	22	mass	mass	ADJ
ap-7523	109	23	centre	centre	NOUN
ap-7523	109	24	coordinates	coordinate	NOUN
ap-7523	109	25	;	;	PUNCT
ap-7523	109	26	i	i	PRON
ap-7523	109	27	m	m	VERB
ap-7523	109	28	is	be	AUX
ap-7523	109	29	the	the	DET
ap-7523	109	30	control	control	ADJ
ap-7523	109	31	current	current	ADJ
ap-7523	109	32	vector	vector	NOUN
ap-7523	109	33	and	and	CCONJ
ap-7523	109	34	mb	mb	NOUN
ap-7523	109	35	,	,	PUNCT
ap-7523	109	36	kb	kb	PROPN
ap-7523	109	37	and	and	CCONJ
ap-7523	109	38	kibm	kibm	PROPN
ap-7523	109	39	are	be	AUX
ap-7523	109	40	the	the	DET
ap-7523	109	41	mass	mass	ADJ
ap-7523	109	42	,	,	PUNCT
ap-7523	109	43	position	position	NOUN
ap-7523	109	44	stiffness	stiffness	NOUN
ap-7523	109	45	,	,	PUNCT
ap-7523	109	46	and	and	CCONJ
ap-7523	109	47	current	current	ADJ
ap-7523	109	48	stiffness	stiffness	ADJ
ap-7523	109	49	matrices	matrix	NOUN
ap-7523	109	50	,	,	PUNCT
ap-7523	109	51	respectively	respectively	ADV
ap-7523	109	52	.	.	PUNCT
ap-7523	110	1	as	as	SCONJ
ap-7523	110	2	can	can	AUX
ap-7523	110	3	be	be	AUX
ap-7523	110	4	observed	observe	VERB
ap-7523	110	5	,	,	PUNCT
ap-7523	110	6	the	the	DET
ap-7523	110	7	system	system	NOUN
ap-7523	110	8	’s	’s	PART
ap-7523	110	9	equation	equation	NOUN
ap-7523	110	10	is	be	AUX
ap-7523	110	11	complicated	complicate	VERB
ap-7523	110	12	and	and	CCONJ
ap-7523	110	13	coupled	couple	VERB
ap-7523	110	14	because	because	SCONJ
ap-7523	110	15	the	the	DET
ap-7523	110	16	components	component	NOUN
ap-7523	110	17	outside	outside	ADP
ap-7523	110	18	the	the	DET
ap-7523	110	19	main	main	ADJ
ap-7523	110	20	diagonal	diagonal	NOUN
ap-7523	110	21	of	of	ADP
ap-7523	110	22	the	the	DET
ap-7523	110	23	matrices	matrix	NOUN
ap-7523	110	24	,	,	PUNCT
ap-7523	110	25	kb	kb	PROPN
ap-7523	110	26	,	,	PUNCT
ap-7523	110	27	kibm	kibm	PROPN
ap-7523	110	28	and	and	CCONJ
ap-7523	110	29	g	g	PROPN
ap-7523	110	30	are	be	AUX
ap-7523	110	31	non	non	ADJ
ap-7523	110	32	-	-	ADJ
ap-7523	110	33	zero	zero	NUM
ap-7523	110	34	.	.	PUNCT
ap-7523	111	1	due	due	ADP
ap-7523	111	2	to	to	ADP
ap-7523	111	3	this	this	DET
ap-7523	111	4	characteristic	characteristic	NOUN
ap-7523	111	5	,	,	PUNCT
ap-7523	111	6	conventional	conventional	ADJ
ap-7523	111	7	linear	linear	NOUN
ap-7523	111	8	control	control	NOUN
ap-7523	111	9	rules	rule	NOUN
ap-7523	111	10	can	can	AUX
ap-7523	111	11	not	not	PART
ap-7523	111	12	be	be	AUX
ap-7523	111	13	applied	apply	VERB
ap-7523	111	14	directly	directly	ADV
ap-7523	111	15	to	to	ADP
ap-7523	111	16	each	each	DET
ap-7523	111	17	motion	motion	NOUN
ap-7523	111	18	direction	direction	NOUN
ap-7523	111	19	.	.	PUNCT
ap-7523	112	1	as	as	ADP
ap-7523	112	2	a	a	DET
ap-7523	112	3	result	result	NOUN
ap-7523	112	4	,	,	PUNCT
ap-7523	112	5	the	the	DET
ap-7523	112	6	active	active	ADJ
ap-7523	112	7	disturbance	disturbance	NOUN
ap-7523	112	8	rejection	rejection	NOUN
ap-7523	112	9	control	control	NOUN
ap-7523	112	10	(	(	PUNCT
ap-7523	112	11	adrc	adrc	NOUN
ap-7523	112	12	)	)	PUNCT
ap-7523	112	13	algorithm	algorithm	NOUN
ap-7523	112	14	is	be	AUX
ap-7523	112	15	employed	employ	VERB
ap-7523	112	16	to	to	PART
ap-7523	112	17	handle	handle	VERB
ap-7523	112	18	the	the	DET
ap-7523	112	19	coupling	coupling	NOUN
ap-7523	112	20	effects	effect	NOUN
ap-7523	112	21	by	by	ADP
ap-7523	112	22	taking	take	VERB
ap-7523	112	23	these	these	DET
ap-7523	112	24	effects	effect	NOUN
ap-7523	112	25	as	as	ADP
ap-7523	112	26	system	system	NOUN
ap-7523	112	27	disturbances	disturbance	NOUN
ap-7523	112	28	.	.	PUNCT
ap-7523	113	1	3	3	X
ap-7523	113	2	.	.	X
ap-7523	113	3	control	control	NOUN
ap-7523	113	4	system	system	NOUN
ap-7523	113	5	design	design	VERB
ap-7523	113	6	the	the	DET
ap-7523	113	7	conical	conical	ADJ
ap-7523	113	8	amb	amb	PROPN
ap-7523	113	9	system	system	NOUN
ap-7523	113	10	is	be	AUX
ap-7523	113	11	naturally	naturally	ADV
ap-7523	113	12	unstable	unstable	ADJ
ap-7523	113	13	,	,	PUNCT
ap-7523	113	14	a	a	DET
ap-7523	113	15	closed	close	VERB
ap-7523	113	16	-	-	PUNCT
ap-7523	113	17	loop	loop	NOUN
ap-7523	113	18	control	control	NOUN
ap-7523	113	19	is	be	AUX
ap-7523	113	20	required	require	VERB
ap-7523	113	21	to	to	PART
ap-7523	113	22	stabilise	stabilise	VERB
ap-7523	113	23	the	the	DET
ap-7523	113	24	rotor	rotor	NOUN
ap-7523	113	25	position	position	NOUN
ap-7523	113	26	.	.	PUNCT
ap-7523	114	1	the	the	DET
ap-7523	114	2	control	control	PROPN
ap-7523	114	3	current	current	NOUN
ap-7523	114	4	of	of	ADP
ap-7523	114	5	the	the	DET
ap-7523	114	6	system	system	NOUN
ap-7523	114	7	can	can	AUX
ap-7523	114	8	be	be	AUX
ap-7523	114	9	calculated	calculate	VERB
ap-7523	114	10	through	through	ADP
ap-7523	114	11	the	the	DET
ap-7523	114	12	control	control	NOUN
ap-7523	114	13	structure	structure	NOUN
ap-7523	114	14	“	"	PUNCT
ap-7523	114	15	different	different	ADJ
ap-7523	114	16	driving	driving	NOUN
ap-7523	114	17	mode	mode	NOUN
ap-7523	114	18	”	"	PUNCT
ap-7523	114	19	,	,	PUNCT
ap-7523	114	20	which	which	PRON
ap-7523	114	21	is	be	AUX
ap-7523	114	22	shown	show	VERB
ap-7523	114	23	in	in	ADP
ap-7523	114	24	fig	fig	NOUN
ap-7523	114	25	.	.	PUNCT
ap-7523	115	1	3	3	X
ap-7523	115	2	.	.	X
ap-7523	115	3	figure	figure	NOUN
ap-7523	115	4	3	3	NUM
ap-7523	115	5	.	.	PUNCT
ap-7523	115	6	conceptual	conceptual	PROPN
ap-7523	115	7	control	control	PROPN
ap-7523	115	8	loop	loop	NOUN
ap-7523	115	9	of	of	ADP
ap-7523	115	10	the	the	DET
ap-7523	115	11	cone	cone	NOUN
ap-7523	115	12	-	-	PUNCT
ap-7523	115	13	shaped	shape	VERB
ap-7523	115	14	active	active	ADJ
ap-7523	115	15	magnetic	magnetic	ADJ
ap-7523	115	16	bearings	bearing	NOUN
ap-7523	115	17	.	.	PUNCT
ap-7523	116	1	the	the	DET
ap-7523	116	2	main	main	ADJ
ap-7523	116	3	principle	principle	NOUN
ap-7523	116	4	of	of	ADP
ap-7523	116	5	the	the	DET
ap-7523	116	6	aforementioned	aforementioned	ADJ
ap-7523	116	7	structure	structure	NOUN
ap-7523	116	8	:	:	PUNCT
ap-7523	116	9	where	where	SCONJ
ap-7523	116	10	controlling	control	VERB
ap-7523	116	11	the	the	DET
ap-7523	116	12	position	position	NOUN
ap-7523	116	13	of	of	ADP
ap-7523	116	14	the	the	DET
ap-7523	116	15	rotor	rotor	NOUN
ap-7523	116	16	according	accord	VERB
ap-7523	116	17	to	to	ADP
ap-7523	116	18	the	the	DET
ap-7523	116	19	y	y	PROPN
ap-7523	116	20	−	−	PROPN
ap-7523	116	21	axis	axis	NOUN
ap-7523	116	22	and	and	CCONJ
ap-7523	116	23	z	z	NOUN
ap-7523	116	24	−	−	PROPN
ap-7523	116	25	axis	axis	NOUN
ap-7523	116	26	,	,	PUNCT
ap-7523	116	27	the	the	DET
ap-7523	116	28	magnet	magnet	NOUN
ap-7523	116	29	pairs	pair	NOUN
ap-7523	116	30	are	be	AUX
ap-7523	116	31	in	in	ADP
ap-7523	116	32	the	the	DET
ap-7523	116	33	poles	pole	NOUN
ap-7523	116	34	that	that	PRON
ap-7523	116	35	are	be	AUX
ap-7523	116	36	opposite	opposite	ADJ
ap-7523	116	37	each	each	DET
ap-7523	116	38	other	other	ADJ
ap-7523	116	39	.	.	PUNCT
ap-7523	117	1	for	for	ADP
ap-7523	117	2	example	example	NOUN
ap-7523	117	3	,	,	PUNCT
ap-7523	117	4	iy1	iy1	NOUN
ap-7523	117	5	and	and	CCONJ
ap-7523	117	6	iy2	iy2	NOUN
ap-7523	117	7	magnets	magnet	NOUN
ap-7523	117	8	,	,	PUNCT
ap-7523	117	9	as	as	ADV
ap-7523	117	10	well	well	ADV
ap-7523	117	11	as	as	ADP
ap-7523	117	12	,	,	PUNCT
ap-7523	117	13	iy3	iy3	ADJ
ap-7523	117	14	and	and	CCONJ
ap-7523	117	15	iy4	iy4	PROPN
ap-7523	117	16	,	,	PUNCT
ap-7523	117	17	iz1	iz1	PROPN
ap-7523	117	18	and	and	CCONJ
ap-7523	117	19	iz2	iz2	VERB
ap-7523	117	20	,	,	PUNCT
ap-7523	117	21	iz3	iz3	NOUN
ap-7523	117	22	and	and	CCONJ
ap-7523	117	23	iz4	iz4	NOUN
ap-7523	117	24	are	be	AUX
ap-7523	117	25	similarly	similarly	ADV
ap-7523	117	26	controlled	control	VERB
ap-7523	117	27	by	by	ADP
ap-7523	117	28	this	this	DET
ap-7523	117	29	structure	structure	NOUN
ap-7523	117	30	.	.	PUNCT
ap-7523	118	1	here	here	ADV
ap-7523	118	2	,	,	PUNCT
ap-7523	118	3	the	the	DET
ap-7523	118	4	magnet	magnet	NOUN
ap-7523	118	5	in	in	ADP
ap-7523	118	6	each	each	DET
ap-7523	118	7	pair	pair	NOUN
ap-7523	118	8	is	be	AUX
ap-7523	118	9	controlled	control	VERB
ap-7523	118	10	by	by	ADP
ap-7523	118	11	the	the	DET
ap-7523	118	12	sum	sum	NOUN
ap-7523	118	13	of	of	ADP
ap-7523	118	14	the	the	DET
ap-7523	118	15	bias	bias	NOUN
ap-7523	118	16	current	current	ADJ
ap-7523	118	17	and	and	CCONJ
ap-7523	118	18	control	control	NOUN
ap-7523	118	19	current	current	ADJ
ap-7523	118	20	,	,	PUNCT
ap-7523	118	21	and	and	CCONJ
ap-7523	118	22	the	the	DET
ap-7523	118	23	other	other	ADJ
ap-7523	118	24	with	with	ADP
ap-7523	118	25	the	the	DET
ap-7523	118	26	difference	difference	NOUN
ap-7523	118	27	of	of	ADP
ap-7523	118	28	the	the	DET
ap-7523	118	29	bias	bias	NOUN
ap-7523	118	30	current	current	ADJ
ap-7523	118	31	and	and	CCONJ
ap-7523	118	32	control	control	NOUN
ap-7523	118	33	current	current	ADJ
ap-7523	118	34	.	.	PUNCT
ap-7523	119	1	this	this	PRON
ap-7523	119	2	means	mean	VERB
ap-7523	119	3	that	that	SCONJ
ap-7523	119	4	when	when	SCONJ
ap-7523	119	5	the	the	DET
ap-7523	119	6	rotor	rotor	NOUN
ap-7523	119	7	is	be	AUX
ap-7523	119	8	displaced	displace	VERB
ap-7523	119	9	from	from	ADP
ap-7523	119	10	its	its	PRON
ap-7523	119	11	equilibrium	equilibrium	NOUN
ap-7523	119	12	position	position	NOUN
ap-7523	119	13	,	,	PUNCT
ap-7523	119	14	the	the	DET
ap-7523	119	15	“	"	PUNCT
ap-7523	119	16	different	different	ADJ
ap-7523	119	17	driving	driving	NOUN
ap-7523	119	18	mode	mode	NOUN
ap-7523	119	19	”	"	PUNCT
ap-7523	119	20	controls	control	VERB
ap-7523	119	21	the	the	DET
ap-7523	119	22	pairs	pair	NOUN
ap-7523	119	23	of	of	ADP
ap-7523	119	24	magnets	magnet	NOUN
ap-7523	119	25	,	,	PUNCT
ap-7523	119	26	whereas	whereas	SCONJ
ap-7523	119	27	when	when	SCONJ
ap-7523	119	28	the	the	DET
ap-7523	119	29	rotor	rotor	NOUN
ap-7523	119	30	is	be	AUX
ap-7523	119	31	in	in	ADP
ap-7523	119	32	its	its	PRON
ap-7523	119	33	equilibrium	equilibrium	NOUN
ap-7523	119	34	position	position	NOUN
ap-7523	119	35	,	,	PUNCT
ap-7523	119	36	only	only	ADV
ap-7523	119	37	the	the	DET
ap-7523	119	38	bias	bias	NOUN
ap-7523	119	39	current	current	NOUN
ap-7523	119	40	is	be	AUX
ap-7523	119	41	present	present	ADJ
ap-7523	119	42	on	on	ADP
ap-7523	119	43	each	each	DET
ap-7523	119	44	pair	pair	NOUN
ap-7523	119	45	of	of	ADP
ap-7523	119	46	the	the	DET
ap-7523	119	47	magnets	magnet	NOUN
ap-7523	119	48	.	.	PUNCT
ap-7523	120	1	when	when	SCONJ
ap-7523	120	2	the	the	DET
ap-7523	120	3	rotor	rotor	NOUN
ap-7523	120	4	deviates	deviate	VERB
ap-7523	120	5	from	from	ADP
ap-7523	120	6	the	the	DET
ap-7523	120	7	equilibrium	equilibrium	NOUN
ap-7523	120	8	position	position	NOUN
ap-7523	120	9	,	,	PUNCT
ap-7523	120	10	the	the	DET
ap-7523	120	11	current	current	NOUN
ap-7523	120	12	through	through	ADP
ap-7523	120	13	the	the	DET
ap-7523	120	14	pairs	pair	NOUN
ap-7523	120	15	of	of	ADP
ap-7523	120	16	magnets	magnet	NOUN
ap-7523	120	17	is	be	AUX
ap-7523	120	18	written	write	VERB
ap-7523	120	19	as	as	ADP
ap-7523	120	20	in	in	ADP
ap-7523	120	21	the	the	DET
ap-7523	120	22	following	follow	VERB
ap-7523	120	23	equation	equation	NOUN
ap-7523	120	24	:	:	PUNCT
ap-7523	120	25			NOUN
ap-7523	120	26	iy1	iy1	VERB
ap-7523	120	27	iy2	iy2	NOUN
ap-7523	120	28	iy3	iy3	ADJ
ap-7523	120	29	iy4	iy4	PROPN
ap-7523	120	30	iz1	iz1	PROPN
ap-7523	120	31	iz2	iz2	NOUN
ap-7523	120	32	iz3	iz3	NOUN
ap-7523	120	33	iz4	iz4	NOUN
ap-7523	120	34			NOUN
ap-7523	120	35	=	=	PRON
ap-7523	120	36			VERB
ap-7523	120	37	io1	io1	PROPN
ap-7523	120	38	io1	io1	PROPN
ap-7523	120	39	io2	io2	PROPN
ap-7523	120	40	io2	io2	PROPN
ap-7523	120	41	io1	io1	PROPN
ap-7523	120	42	io1	io1	PROPN
ap-7523	120	43	io2	io2	PROPN
ap-7523	120	44	io2	io2	PROPN
ap-7523	120	45			VERB
ap-7523	120	46	+	+	CCONJ
ap-7523	120	47			NOUN
ap-7523	120	48	1	1	NUM
ap-7523	120	49	0	0	NUM
ap-7523	120	50	0	0	NUM
ap-7523	120	51	0	0	NUM
ap-7523	120	52	−1	−1	NOUN
ap-7523	120	53	−1	−1	NOUN
ap-7523	120	54	0	0	NUM
ap-7523	120	55	0	0	NUM
ap-7523	120	56	0	0	NUM
ap-7523	120	57	−1	−1	NOUN
ap-7523	120	58	0	0	NUM
ap-7523	120	59	1	1	NUM
ap-7523	120	60	0	0	NUM
ap-7523	120	61	0	0	NUM
ap-7523	120	62	1	1	NUM
ap-7523	120	63	0	0	NUM
ap-7523	120	64	−1	−1	NOUN
ap-7523	120	65	0	0	NUM
ap-7523	120	66	0	0	NUM
ap-7523	120	67	1	1	NUM
ap-7523	120	68	0	0	NUM
ap-7523	120	69	0	0	NUM
ap-7523	120	70	1	1	NUM
ap-7523	120	71	0	0	NUM
ap-7523	120	72	−1	−1	NOUN
ap-7523	120	73	0	0	NUM
ap-7523	120	74	0	0	NUM
ap-7523	120	75	0	0	NUM
ap-7523	120	76	−1	−1	NOUN
ap-7523	120	77	−1	−1	NOUN
ap-7523	120	78	0	0	NUM
ap-7523	120	79	0	0	NUM
ap-7523	120	80	0	0	NUM
ap-7523	120	81	1	1	NUM
ap-7523	120	82	1	1	NUM
ap-7523	120	83	0	0	NUM
ap-7523	120	84	0	0	NUM
ap-7523	120	85	0	0	NUM
ap-7523	120	86	−1	−1	NOUN
ap-7523	120	87	1	1	NUM
ap-7523	120	88			NUM
ap-7523	120	89			NOUN
ap-7523	120	90	iyt	iyt	NOUN
ap-7523	120	91	iyd	iyd	INTJ
ap-7523	120	92	izt	izt	VERB
ap-7523	120	93	izd	izd	INTJ
ap-7523	120	94	ix	ix	ADP
ap-7523	120	95			PROPN
ap-7523	120	96	(	(	PUNCT
ap-7523	120	97	6	6	NUM
ap-7523	120	98	)	)	PUNCT
ap-7523	120	99	where	where	SCONJ
ap-7523	120	100	io	io	X
ap-7523	121	1	=	=	PUNCT
ap-7523	122	1	[	[	X
ap-7523	122	2	io1	io1	PROPN
ap-7523	122	3	,	,	PUNCT
ap-7523	122	4	io1	io1	PROPN
ap-7523	122	5	,	,	PUNCT
ap-7523	122	6	io2	io2	PROPN
ap-7523	122	7	,	,	PUNCT
ap-7523	122	8	io2	io2	PROPN
ap-7523	122	9	,	,	PUNCT
ap-7523	122	10	io1	io1	PROPN
ap-7523	122	11	,	,	PUNCT
ap-7523	122	12	io1	io1	PROPN
ap-7523	122	13	,	,	PUNCT
ap-7523	122	14	io2	io2	PROPN
ap-7523	122	15	,	,	PUNCT
ap-7523	122	16	io2	io2	PROPN
ap-7523	122	17	]	]	X
ap-7523	122	18	t	t	PROPN
ap-7523	122	19	is	be	AUX
ap-7523	122	20	the	the	DET
ap-7523	122	21	bias	bias	NOUN
ap-7523	122	22	current	current	ADJ
ap-7523	122	23	.	.	PUNCT
ap-7523	123	1	at	at	ADP
ap-7523	123	2	steady	steady	ADJ
ap-7523	123	3	-	-	PUNCT
ap-7523	123	4	state	state	NOUN
ap-7523	123	5	,	,	PUNCT
ap-7523	123	6	consider	consider	VERB
ap-7523	123	7	io	io	X
ap-7523	123	8	=	=	SYM
ap-7523	123	9	0	0	PROPN
ap-7523	123	10	,	,	PUNCT
ap-7523	123	11	ir	ir	NOUN
ap-7523	124	1	=	=	PUNCT
ap-7523	124	2	[	[	X
ap-7523	124	3	iyt	iyt	PROPN
ap-7523	124	4	,	,	PUNCT
ap-7523	124	5	iyd	iyd	PROPN
ap-7523	124	6	,	,	PUNCT
ap-7523	124	7	izt	izt	PROPN
ap-7523	124	8	,	,	PUNCT
ap-7523	124	9	izd	izd	INTJ
ap-7523	124	10	,	,	PUNCT
ap-7523	124	11	ix]t	ix]t	PROPN
ap-7523	124	12	is	be	AUX
ap-7523	124	13	the	the	DET
ap-7523	124	14	x	x	PROPN
ap-7523	124	15	,	,	PUNCT
ap-7523	124	16	y	y	PROPN
ap-7523	124	17	,	,	PUNCT
ap-7523	124	18	and	and	CCONJ
ap-7523	124	19	z	z	NOUN
ap-7523	124	20	axes	axis	NOUN
ap-7523	124	21	’	'	PUNCT
ap-7523	124	22	virtual	virtual	ADJ
ap-7523	124	23	control	control	NOUN
ap-7523	124	24	current	current	ADJ
ap-7523	124	25	.	.	PUNCT
ap-7523	125	1	ix	ix	PROPN
ap-7523	125	2	is	be	AUX
ap-7523	125	3	the	the	DET
ap-7523	125	4	virtual	virtual	ADJ
ap-7523	125	5	control	control	NOUN
ap-7523	125	6	current	current	ADJ
ap-7523	125	7	of	of	ADP
ap-7523	125	8	x	x	NOUN
ap-7523	125	9	-	-	NOUN
ap-7523	125	10	axes	axis	NOUN
ap-7523	125	11	.	.	PUNCT
ap-7523	126	1	the	the	DET
ap-7523	126	2	virtual	virtual	ADJ
ap-7523	126	3	control	control	PROPN
ap-7523	126	4	current	current	ADJ
ap-7523	126	5	in	in	ADP
ap-7523	126	6	the	the	DET
ap-7523	126	7	upper	upper	ADJ
ap-7523	126	8	half	half	NOUN
ap-7523	126	9	of	of	ADP
ap-7523	126	10	the	the	DET
ap-7523	126	11	y	y	PROPN
ap-7523	126	12	and	and	CCONJ
ap-7523	126	13	z	z	PROPN
ap-7523	126	14	axes	axis	NOUN
ap-7523	126	15	is	be	AUX
ap-7523	126	16	(	(	PUNCT
ap-7523	126	17	iyt	iyt	PROPN
ap-7523	126	18	,	,	PUNCT
ap-7523	126	19	izt	izt	PROPN
ap-7523	126	20	)	)	PUNCT
ap-7523	126	21	,	,	PUNCT
ap-7523	126	22	whereas	whereas	SCONJ
ap-7523	126	23	the	the	DET
ap-7523	126	24	virtual	virtual	ADJ
ap-7523	126	25	control	control	NOUN
ap-7523	126	26	current	current	ADJ
ap-7523	126	27	in	in	ADP
ap-7523	126	28	the	the	DET
ap-7523	126	29	bottom	bottom	ADJ
ap-7523	126	30	half	half	NOUN
ap-7523	126	31	is	be	AUX
ap-7523	126	32	(	(	PUNCT
ap-7523	126	33	iyd	iyd	INTJ
ap-7523	126	34	,	,	PUNCT
ap-7523	126	35	izd	izd	PROPN
ap-7523	126	36	)	)	PUNCT
ap-7523	126	37	.	.	PUNCT
ap-7523	127	1	h	h	NOUN
ap-7523	128	1	=	=	NOUN
ap-7523	128	2			ADJ
ap-7523	128	3	1	1	NUM
ap-7523	128	4	−1	−1	NOUN
ap-7523	128	5	0	0	NUM
ap-7523	128	6	0	0	NUM
ap-7523	128	7	0	0	NUM
ap-7523	128	8	0	0	NUM
ap-7523	128	9	0	0	NUM
ap-7523	128	10	0	0	NUM
ap-7523	128	11	0	0	NUM
ap-7523	128	12	0	0	NUM
ap-7523	128	13	1	1	NUM
ap-7523	128	14	−1	−1	NOUN
ap-7523	128	15	0	0	NUM
ap-7523	128	16	0	0	NUM
ap-7523	128	17	0	0	NUM
ap-7523	128	18	0	0	NUM
ap-7523	128	19	0	0	NUM
ap-7523	128	20	0	0	NUM
ap-7523	128	21	0	0	NUM
ap-7523	128	22	0	0	NUM
ap-7523	128	23	1	1	NUM
ap-7523	128	24	0	0	NUM
ap-7523	128	25	0	0	NUM
ap-7523	128	26	0	0	NUM
ap-7523	128	27	0	0	NUM
ap-7523	128	28	0	0	NUM
ap-7523	128	29	0	0	NUM
ap-7523	128	30	0	0	NUM
ap-7523	128	31	0	0	NUM
ap-7523	128	32	−1	−1	NOUN
ap-7523	128	33	1	1	NUM
ap-7523	128	34	−1	−1	NOUN
ap-7523	128	35	−1	−1	NOUN
ap-7523	128	36	−1	−1	NOUN
ap-7523	128	37	1	1	NUM
ap-7523	128	38	1	1	NUM
ap-7523	128	39	−1	−1	NOUN
ap-7523	128	40	−1	−1	NOUN
ap-7523	128	41	1	1	NUM
ap-7523	128	42	1	1	NUM
ap-7523	128	43			NOUN
ap-7523	128	44	t	t	NOUN
ap-7523	128	45	in	in	ADP
ap-7523	128	46	this	this	DET
ap-7523	128	47	case	case	NOUN
ap-7523	128	48	,	,	PUNCT
ap-7523	128	49	eq	eq	NOUN
ap-7523	128	50	.	.	PUNCT
ap-7523	129	1	(	(	PUNCT
ap-7523	129	2	5	5	X
ap-7523	129	3	)	)	PUNCT
ap-7523	129	4	can	can	AUX
ap-7523	129	5	be	be	AUX
ap-7523	129	6	rewritten	rewrite	VERB
ap-7523	129	7	as	as	ADP
ap-7523	129	8	:	:	PUNCT
ap-7523	129	9	mbq̈b	mbq̈b	NOUN
ap-7523	129	10	−	−	PROPN
ap-7523	129	11	gq̇b	gq̇b	NOUN
ap-7523	129	12	+	+	NUM
ap-7523	129	13	kbqb	kbqb	NOUN
ap-7523	129	14	=	=	SYM
ap-7523	129	15	kibmhir	kibmhir	NOUN
ap-7523	129	16	(	(	PUNCT
ap-7523	129	17	7	7	NUM
ap-7523	129	18	)	)	PUNCT
ap-7523	129	19	since	since	SCONJ
ap-7523	129	20	the	the	DET
ap-7523	129	21	control	control	NOUN
ap-7523	129	22	is	be	AUX
ap-7523	129	23	performed	perform	VERB
ap-7523	129	24	in	in	ADP
ap-7523	129	25	the	the	DET
ap-7523	129	26	bearing	bearing	NOUN
ap-7523	129	27	coordinates	coordinate	NOUN
ap-7523	129	28	,	,	PUNCT
ap-7523	129	29	rewriting	rewrite	VERB
ap-7523	129	30	the	the	DET
ap-7523	129	31	equations	equation	NOUN
ap-7523	129	32	of	of	ADP
ap-7523	129	33	motion	motion	NOUN
ap-7523	129	34	in	in	ADP
ap-7523	129	35	bearing	bear	VERB
ap-7523	129	36	coordinates	coordinate	NOUN
ap-7523	129	37	utilising	utilise	VERB
ap-7523	129	38	the	the	DET
ap-7523	129	39	relationship	relationship	NOUN
ap-7523	129	40	between	between	ADP
ap-7523	129	41	the	the	DET
ap-7523	129	42	mass	mass	ADJ
ap-7523	129	43	-	-	PUNCT
ap-7523	129	44	centre	centre	NOUN
ap-7523	129	45	coordinates	coordinate	NOUN
ap-7523	129	46	(	(	PUNCT
ap-7523	129	47	x	x	X
ap-7523	129	48	,	,	PUNCT
ap-7523	129	49	y	y	PROPN
ap-7523	129	50	,	,	PUNCT
ap-7523	129	51	z	z	PROPN
ap-7523	129	52	,	,	PUNCT
ap-7523	129	53	θy	θy	VERB
ap-7523	129	54	,	,	PUNCT
ap-7523	129	55	θz	θz	NOUN
ap-7523	129	56	)	)	PUNCT
ap-7523	129	57	and	and	CCONJ
ap-7523	129	58	the	the	DET
ap-7523	129	59	bearing	bearing	NOUN
ap-7523	129	60	coordinates	coordinate	NOUN
ap-7523	129	61	(	(	PUNCT
ap-7523	129	62	x	x	X
ap-7523	129	63	,	,	PUNCT
ap-7523	129	64	y1	y1	NOUN
ap-7523	129	65	,	,	PUNCT
ap-7523	129	66	y2	y2	PROPN
ap-7523	129	67	,	,	PUNCT
ap-7523	129	68	z1	z1	PROPN
ap-7523	129	69	,	,	PUNCT
ap-7523	129	70	z2	z2	PROPN
ap-7523	129	71	)	)	PUNCT
ap-7523	129	72	,	,	PUNCT
ap-7523	129	73	given	give	VERB
ap-7523	129	74	by	by	ADP
ap-7523	129	75	:	:	PUNCT
ap-7523	129	76	qb	qb	PROPN
ap-7523	129	77	=	=	PUNCT
ap-7523	129	78	{	{	PUNCT
ap-7523	129	79	x	x	NOUN
ap-7523	129	80	,	,	PUNCT
ap-7523	129	81	y	y	PROPN
ap-7523	129	82	,	,	PUNCT
ap-7523	129	83	z	z	PROPN
ap-7523	129	84	,	,	PUNCT
ap-7523	129	85	θy	θy	VERB
ap-7523	129	86	,	,	PUNCT
ap-7523	129	87	θz	θz	NOUN
ap-7523	129	88	}	}	PUNCT
ap-7523	129	89	t	t	PROPN
ap-7523	129	90	and	and	CCONJ
ap-7523	129	91	qse	qse	VERB
ap-7523	129	92	=	=	SYM
ap-7523	129	93	{	{	PUNCT
ap-7523	129	94	x	x	NOUN
ap-7523	129	95	,	,	PUNCT
ap-7523	129	96	y1	y1	NOUN
ap-7523	129	97	,	,	PUNCT
ap-7523	129	98	y2	y2	PROPN
ap-7523	129	99	,	,	PUNCT
ap-7523	129	100	z1	z1	PROPN
ap-7523	129	101	,	,	PUNCT
ap-7523	129	102	z2	z2	PROPN
ap-7523	129	103	}	}	PUNCT
ap-7523	129	104	t	t	PROPN
ap-7523	129	105	qse	qse	NOUN
ap-7523	129	106	=	=	SYM
ap-7523	129	107	tqb	tqb	NOUN
ap-7523	129	108	with	with	ADP
ap-7523	129	109	t	t	PROPN
ap-7523	129	110	is	be	AUX
ap-7523	129	111	the	the	DET
ap-7523	129	112	coordinate	coordinate	NOUN
ap-7523	129	113	transfer	transfer	NOUN
ap-7523	129	114	matrix	matrix	NOUN
ap-7523	129	115	t	t	NOUN
ap-7523	129	116	=	=	PUNCT
ap-7523	129	117			ADJ
ap-7523	129	118	1	1	NUM
ap-7523	129	119	0	0	NUM
ap-7523	129	120	0	0	NUM
ap-7523	129	121	0	0	NUM
ap-7523	129	122	0	0	NUM
ap-7523	129	123	0	0	NUM
ap-7523	129	124	1	1	NUM
ap-7523	129	125	0	0	NUM
ap-7523	129	126	0	0	NUM
ap-7523	129	127	b1	b1	NOUN
ap-7523	129	128	0	0	NUM
ap-7523	130	1	1	1	NUM
ap-7523	130	2	0	0	NUM
ap-7523	130	3	0	0	NUM
ap-7523	130	4	−b2	−b2	NUM
ap-7523	130	5	0	0	NUM
ap-7523	130	6	0	0	NUM
ap-7523	130	7	1	1	NUM
ap-7523	130	8	−b1	−b1	NOUN
ap-7523	130	9	0	0	NUM
ap-7523	130	10	0	0	NUM
ap-7523	130	11	0	0	NUM
ap-7523	130	12	1	1	NUM
ap-7523	130	13	b2	b2	NOUN
ap-7523	130	14	0	0	NUM
ap-7523	130	15			NOUN
ap-7523	130	16	eq	eq	NOUN
ap-7523	130	17	.	.	PUNCT
ap-7523	131	1	(	(	PUNCT
ap-7523	131	2	1	1	X
ap-7523	131	3	)	)	PUNCT
ap-7523	131	4	shows	show	VERB
ap-7523	131	5	that	that	SCONJ
ap-7523	131	6	the	the	DET
ap-7523	131	7	inter	inter	ADJ
ap-7523	131	8	-	-	ADJ
ap-7523	131	9	channel	channel	ADJ
ap-7523	131	10	effect	effect	NOUN
ap-7523	131	11	occurs	occur	VERB
ap-7523	131	12	at	at	ADP
ap-7523	131	13	kb	kb	PROPN
ap-7523	131	14	and	and	CCONJ
ap-7523	131	15	kibmh	kibmh	PROPN
ap-7523	131	16	because	because	SCONJ
ap-7523	131	17	the	the	DET
ap-7523	131	18	major	major	ADJ
ap-7523	131	19	non	non	ADJ
ap-7523	131	20	-	-	ADJ
ap-7523	131	21	diagonal	diagonal	ADJ
ap-7523	131	22	components	component	NOUN
ap-7523	131	23	are	be	AUX
ap-7523	131	24	not	not	PART
ap-7523	131	25	zero	zero	NUM
ap-7523	131	26	.	.	PUNCT
ap-7523	132	1	the	the	DET
ap-7523	132	2	kb	kb	PROPN
ap-7523	132	3	and	and	CCONJ
ap-7523	132	4	kibmh	kibmh	PROPN
ap-7523	132	5	are	be	AUX
ap-7523	132	6	invertible	invertible	ADJ
ap-7523	132	7	.	.	PUNCT
ap-7523	133	1	the	the	DET
ap-7523	133	2	following	follow	VERB
ap-7523	133	3	control	control	NOUN
ap-7523	133	4	structure	structure	NOUN
ap-7523	133	5	is	be	AUX
ap-7523	133	6	used	use	VERB
ap-7523	133	7	to	to	PART
ap-7523	133	8	eliminate	eliminate	VERB
ap-7523	133	9	the	the	DET
ap-7523	133	10	interstitial	interstitial	ADJ
ap-7523	133	11	component	component	NOUN
ap-7523	133	12	:	:	PUNCT
ap-7523	133	13	ir	ir	PROPN
ap-7523	133	14	=	=	PUNCT
ap-7523	133	15	(	(	PUNCT
ap-7523	133	16	kibmh)−1(v	kibmh)−1(v	PROPN
ap-7523	133	17	+	+	NUM
ap-7523	133	18	kbt−1qse	kbt−1qse	NOUN
ap-7523	133	19	)	)	PUNCT
ap-7523	133	20	(	(	PUNCT
ap-7523	133	21	8)	8)	NUM
ap-7523	133	22	482	482	NUM
ap-7523	133	23	vol	vol	NOUN
ap-7523	133	24	.	.	PUNCT
ap-7523	134	1	62	62	NUM
ap-7523	134	2	no	no	INTJ
ap-7523	134	3	.	.	PUNCT
ap-7523	135	1	4/2022	4/2022	PROPN
ap-7523	135	2	active	active	ADJ
ap-7523	135	3	disturbance	disturbance	NOUN
ap-7523	135	4	rejection	rejection	NOUN
ap-7523	135	5	control	control	NOUN
ap-7523	135	6	-	-	PUNCT
ap-7523	135	7	based	base	VERB
ap-7523	135	8	.	.	PUNCT
ap-7523	135	9	.	.	PUNCT
ap-7523	136	1	.	.	PUNCT
ap-7523	137	1	figure	figure	VERB
ap-7523	137	2	4	4	NUM
ap-7523	137	3	.	.	PUNCT
ap-7523	137	4	control	control	PROPN
ap-7523	137	5	loop	loop	NOUN
ap-7523	137	6	structure	structure	NOUN
ap-7523	137	7	with	with	ADP
ap-7523	137	8	active	active	ADJ
ap-7523	137	9	disturbance	disturbance	NOUN
ap-7523	137	10	rejection	rejection	NOUN
ap-7523	137	11	control	control	NOUN
ap-7523	137	12	(	(	PUNCT
ap-7523	137	13	adrc	adrc	NOUN
ap-7523	137	14	)	)	PUNCT
ap-7523	137	15	.	.	PUNCT
ap-7523	138	1	eq	eq	X
ap-7523	138	2	.	.	PUNCT
ap-7523	139	1	(	(	PUNCT
ap-7523	139	2	7	7	X
ap-7523	139	3	)	)	PUNCT
ap-7523	139	4	can	can	AUX
ap-7523	139	5	be	be	AUX
ap-7523	139	6	rewritten	rewrite	VERB
ap-7523	139	7	as	as	ADP
ap-7523	139	8	:	:	PUNCT
ap-7523	139	9	mbq̈b	mbq̈b	NOUN
ap-7523	139	10	−	−	PROPN
ap-7523	139	11	gq̇b	gq̇b	NOUN
ap-7523	139	12	=	=	SYM
ap-7523	139	13	v	v	NOUN
ap-7523	139	14	(	(	PUNCT
ap-7523	139	15	9	9	NUM
ap-7523	139	16	)	)	PUNCT
ap-7523	139	17	where	where	SCONJ
ap-7523	139	18	v	v	NOUN
ap-7523	139	19	is	be	AUX
ap-7523	139	20	the	the	DET
ap-7523	139	21	new	new	ADJ
ap-7523	139	22	control	control	NOUN
ap-7523	139	23	signal	signal	PROPN
ap-7523	139	24	’s	’s	PART
ap-7523	139	25	vector	vector	NOUN
ap-7523	139	26	.	.	PUNCT
ap-7523	140	1	the	the	DET
ap-7523	140	2	interstitial	interstitial	ADJ
ap-7523	140	3	component	component	NOUN
ap-7523	140	4	has	have	AUX
ap-7523	140	5	been	be	AUX
ap-7523	140	6	removed	remove	VERB
ap-7523	140	7	in	in	ADP
ap-7523	140	8	the	the	DET
ap-7523	140	9	control	control	NOUN
ap-7523	140	10	channels	channel	NOUN
ap-7523	140	11	(	(	PUNCT
ap-7523	140	12	x	x	X
ap-7523	140	13	,	,	PUNCT
ap-7523	140	14	y	y	PROPN
ap-7523	140	15	,	,	PUNCT
ap-7523	140	16	z	z	NOUN
ap-7523	140	17	)	)	PUNCT
ap-7523	140	18	leaving	leave	VERB
ap-7523	140	19	just	just	ADV
ap-7523	140	20	the	the	DET
ap-7523	140	21	interstitial	interstitial	ADJ
ap-7523	140	22	component	component	NOUN
ap-7523	140	23	in	in	ADP
ap-7523	140	24	the	the	DET
ap-7523	140	25	control	control	NOUN
ap-7523	140	26	channel	channel	NOUN
ap-7523	140	27	(	(	PUNCT
ap-7523	140	28	θy	θy	PROPN
ap-7523	140	29	,	,	PUNCT
ap-7523	140	30	θz	θz	NOUN
ap-7523	140	31	)	)	PUNCT
ap-7523	140	32	owing	owe	VERB
ap-7523	140	33	to	to	ADP
ap-7523	140	34	the	the	DET
ap-7523	140	35	gyroscope	gyroscope	NOUN
ap-7523	140	36	force	force	NOUN
ap-7523	140	37	.	.	PUNCT
ap-7523	141	1	the	the	DET
ap-7523	141	2	original	original	ADJ
ap-7523	141	3	model	model	NOUN
ap-7523	141	4	of	of	ADP
ap-7523	141	5	the	the	DET
ap-7523	141	6	magnetic	magnetic	ADJ
ap-7523	141	7	bearing	bearing	NOUN
ap-7523	141	8	is	be	AUX
ap-7523	141	9	a	a	DET
ap-7523	141	10	complex	complex	ADJ
ap-7523	141	11	,	,	PUNCT
ap-7523	141	12	multivariable	multivariable	ADJ
ap-7523	141	13	nonlinear	nonlinear	ADJ
ap-7523	141	14	system	system	NOUN
ap-7523	141	15	,	,	PUNCT
ap-7523	141	16	through	through	ADP
ap-7523	141	17	the	the	DET
ap-7523	141	18	process	process	NOUN
ap-7523	141	19	of	of	ADP
ap-7523	141	20	linearity	linearity	NOUN
ap-7523	141	21	and	and	CCONJ
ap-7523	141	22	decoupling	decoupling	NOUN
ap-7523	141	23	,	,	PUNCT
ap-7523	141	24	we	we	PRON
ap-7523	141	25	have	have	VERB
ap-7523	141	26	the	the	DET
ap-7523	141	27	linear	linear	ADJ
ap-7523	141	28	form	form	NOUN
ap-7523	141	29	of	of	ADP
ap-7523	141	30	the	the	DET
ap-7523	141	31	system	system	NOUN
ap-7523	141	32	shown	show	VERB
ap-7523	141	33	in	in	ADP
ap-7523	141	34	eq	eq	ADP
ap-7523	141	35	.	.	PUNCT
ap-7523	142	1	(	(	PUNCT
ap-7523	142	2	9	9	NUM
ap-7523	142	3	)	)	PUNCT
ap-7523	142	4	with	with	ADP
ap-7523	142	5	5	5	NUM
ap-7523	142	6	inputs	input	NOUN
ap-7523	142	7	and	and	CCONJ
ap-7523	142	8	5	5	NUM
ap-7523	142	9	outputs	output	NOUN
ap-7523	142	10	.	.	PUNCT
ap-7523	143	1	the	the	DET
ap-7523	143	2	full	full	ADJ
ap-7523	143	3	form	form	NOUN
ap-7523	143	4	of	of	ADP
ap-7523	143	5	eq	eq	PROPN
ap-7523	143	6	.	.	PUNCT
ap-7523	144	1	(	(	PUNCT
ap-7523	144	2	9	9	NUM
ap-7523	144	3	)	)	PUNCT
ap-7523	144	4	is	be	AUX
ap-7523	144	5	shown	show	VERB
ap-7523	144	6	as	as	SCONJ
ap-7523	144	7	follows	follow	VERB
ap-7523	144	8	:	:	PUNCT
ap-7523	144	9			NUM
ap-7523	144	10	m	m	VERB
ap-7523	144	11	..	..	PUNCT
ap-7523	144	12	x	x	X
ap-7523	145	1	=	=	SYM
ap-7523	145	2	v1	v1	PROPN
ap-7523	145	3	m	m	NOUN
ap-7523	145	4	..	..	PUNCT
ap-7523	146	1	y	y	X
ap-7523	146	2	=	=	PUNCT
ap-7523	146	3	v2	v2	PROPN
ap-7523	146	4	m	m	NOUN
ap-7523	146	5	..	..	PUNCT
ap-7523	146	6	z	z	X
ap-7523	147	1	=	=	SYM
ap-7523	147	2	v3	v3	PROPN
ap-7523	147	3	jd	jd	PROPN
ap-7523	147	4	..	..	PUNCT
ap-7523	147	5	θy	θy	PROPN
ap-7523	148	1	+	+	ADJ
ap-7523	148	2	j	j	PROPN
ap-7523	148	3	.	.	PUNCT
ap-7523	149	1	θx	θx	INTJ
ap-7523	149	2	.	.	PUNCT
ap-7523	150	1	θz	θz	PROPN
ap-7523	150	2	=	=	SYM
ap-7523	150	3	v4	v4	PROPN
ap-7523	150	4	jd	jd	PROPN
ap-7523	150	5	..	..	PUNCT
ap-7523	150	6	θz	θz	PROPN
ap-7523	150	7	+	+	PROPN
ap-7523	150	8	j	j	PROPN
ap-7523	150	9	.	.	PUNCT
ap-7523	151	1	θx	θx	INTJ
ap-7523	151	2	.	.	PUNCT
ap-7523	152	1	θy	θy	PUNCT
ap-7523	153	1	=	=	SYM
ap-7523	153	2	v5	v5	PROPN
ap-7523	153	3	(	(	PUNCT
ap-7523	153	4	10	10	NUM
ap-7523	153	5	)	)	PUNCT
ap-7523	153	6	remark	remark	NOUN
ap-7523	153	7	:	:	PUNCT
ap-7523	153	8	it	it	PRON
ap-7523	153	9	is	be	AUX
ap-7523	153	10	noted	note	VERB
ap-7523	153	11	that	that	SCONJ
ap-7523	153	12	the	the	DET
ap-7523	153	13	first	first	ADJ
ap-7523	153	14	three	three	NUM
ap-7523	153	15	equations	equation	NOUN
ap-7523	153	16	of	of	ADP
ap-7523	153	17	eq	eq	PROPN
ap-7523	153	18	.	.	PUNCT
ap-7523	154	1	(	(	PUNCT
ap-7523	154	2	10	10	NUM
ap-7523	154	3	)	)	PUNCT
ap-7523	154	4	characterise	characterise	VERB
ap-7523	154	5	the	the	DET
ap-7523	154	6	transnational	transnational	ADJ
ap-7523	154	7	motions	motion	NOUN
ap-7523	154	8	and	and	CCONJ
ap-7523	154	9	can	can	AUX
ap-7523	154	10	be	be	AUX
ap-7523	154	11	readily	readily	ADV
ap-7523	154	12	stabilized	stabilize	VERB
ap-7523	154	13	using	use	VERB
ap-7523	154	14	v1	v1	NOUN
ap-7523	154	15	,	,	PUNCT
ap-7523	154	16	v2	v2	NOUN
ap-7523	154	17	,	,	PUNCT
ap-7523	154	18	and	and	CCONJ
ap-7523	154	19	v3	v3	PROPN
ap-7523	154	20	.	.	PUNCT
ap-7523	155	1	the	the	DET
ap-7523	155	2	last	last	ADJ
ap-7523	155	3	two	two	NUM
ap-7523	155	4	equation	equation	NOUN
ap-7523	155	5	indicate	indicate	VERB
ap-7523	155	6	coupling	coupling	NOUN
ap-7523	155	7	mechanism	mechanism	NOUN
ap-7523	155	8	related	relate	VERB
ap-7523	155	9	to	to	ADP
ap-7523	155	10	the	the	DET
ap-7523	155	11	rotational	rotational	ADJ
ap-7523	155	12	motion	motion	NOUN
ap-7523	155	13	of	of	ADP
ap-7523	155	14	the	the	DET
ap-7523	155	15	rotor	rotor	NOUN
ap-7523	155	16	that	that	PRON
ap-7523	155	17	is	be	AUX
ap-7523	155	18	normally	normally	ADV
ap-7523	155	19	ignored	ignore	VERB
ap-7523	155	20	.	.	PUNCT
ap-7523	156	1	in	in	ADP
ap-7523	156	2	practice	practice	NOUN
ap-7523	156	3	,	,	PUNCT
ap-7523	156	4	the	the	DET
ap-7523	156	5	magnetic	magnetic	ADJ
ap-7523	156	6	bearing	bearing	NOUN
ap-7523	156	7	is	be	AUX
ap-7523	156	8	normally	normally	ADV
ap-7523	156	9	employed	employ	VERB
ap-7523	156	10	to	to	PART
ap-7523	156	11	operate	operate	VERB
ap-7523	156	12	in	in	ADP
ap-7523	156	13	high	high	ADJ
ap-7523	156	14	speed	speed	NOUN
ap-7523	156	15	range	range	NOUN
ap-7523	156	16	,	,	PUNCT
ap-7523	156	17	hence	hence	ADV
ap-7523	156	18	rotational	rotational	ADJ
ap-7523	156	19	motion	motion	NOUN
ap-7523	156	20	effects	effect	NOUN
ap-7523	156	21	can	can	AUX
ap-7523	156	22	not	not	PART
ap-7523	156	23	be	be	AUX
ap-7523	156	24	neglected	neglect	VERB
ap-7523	156	25	.	.	PUNCT
ap-7523	157	1	in	in	ADP
ap-7523	157	2	this	this	DET
ap-7523	157	3	section	section	NOUN
ap-7523	157	4	,	,	PUNCT
ap-7523	157	5	the	the	DET
ap-7523	157	6	adrc	adrc	ADJ
ap-7523	157	7	controller	controller	NOUN
ap-7523	157	8	will	will	AUX
ap-7523	157	9	be	be	AUX
ap-7523	157	10	used	use	VERB
ap-7523	157	11	to	to	PART
ap-7523	157	12	remove	remove	VERB
ap-7523	157	13	the	the	DET
ap-7523	157	14	remaining	remain	VERB
ap-7523	157	15	coupling	couple	VERB
ap-7523	157	16	components	component	NOUN
ap-7523	157	17	as	as	ADV
ap-7523	157	18	well	well	ADV
ap-7523	157	19	as	as	ADP
ap-7523	157	20	to	to	PART
ap-7523	157	21	stabilise	stabilise	VERB
ap-7523	157	22	the	the	DET
ap-7523	157	23	control	control	NOUN
ap-7523	157	24	object	object	NOUN
ap-7523	157	25	.	.	PUNCT
ap-7523	158	1	an	an	DET
ap-7523	158	2	adrc	adrc	ADJ
ap-7523	158	3	controller	controller	NOUN
ap-7523	158	4	is	be	AUX
ap-7523	158	5	used	use	VERB
ap-7523	158	6	for	for	ADP
ap-7523	158	7	each	each	DET
ap-7523	158	8	input	input	NOUN
ap-7523	158	9	and	and	CCONJ
ap-7523	158	10	output	output	NOUN
ap-7523	158	11	pair	pair	NOUN
ap-7523	158	12	(	(	PUNCT
ap-7523	158	13	x	x	NOUN
ap-7523	158	14	,	,	PUNCT
ap-7523	158	15	v1	v1	NOUN
ap-7523	158	16	)	)	PUNCT
ap-7523	158	17	,	,	PUNCT
ap-7523	158	18	(	(	PUNCT
ap-7523	158	19	y	y	NOUN
ap-7523	158	20	,	,	PUNCT
ap-7523	158	21	v2	v2	PROPN
ap-7523	158	22	)	)	PUNCT
ap-7523	158	23	,	,	PUNCT
ap-7523	158	24	(	(	PUNCT
ap-7523	158	25	z	z	X
ap-7523	158	26	,	,	PUNCT
ap-7523	158	27	v3	v3	PROPN
ap-7523	158	28	)	)	PUNCT
ap-7523	158	29	,	,	PUNCT
ap-7523	158	30	(	(	PUNCT
ap-7523	158	31	θy	θy	INTJ
ap-7523	158	32	,	,	PUNCT
ap-7523	158	33	v4	v4	NOUN
ap-7523	158	34	)	)	PUNCT
ap-7523	158	35	,	,	PUNCT
ap-7523	158	36	(	(	PUNCT
ap-7523	158	37	θz	θz	PROPN
ap-7523	158	38	,	,	PUNCT
ap-7523	158	39	v5	v5	PROPN
ap-7523	158	40	)	)	PUNCT
ap-7523	158	41	.	.	PUNCT
ap-7523	159	1	in	in	ADP
ap-7523	159	2	adrc	adrc	PROPN
ap-7523	159	3	design	design	NOUN
ap-7523	159	4	,	,	PUNCT
ap-7523	159	5	f(t	f(t	PROPN
ap-7523	159	6	)	)	PUNCT
ap-7523	159	7	is	be	AUX
ap-7523	159	8	unknown	unknown	ADJ
ap-7523	159	9	and	and	CCONJ
ap-7523	159	10	is	be	AUX
ap-7523	159	11	considered	consider	VERB
ap-7523	159	12	as	as	ADP
ap-7523	159	13	a	a	DET
ap-7523	159	14	“	"	PUNCT
ap-7523	159	15	generalized	generalized	ADJ
ap-7523	159	16	disturbance	disturbance	NOUN
ap-7523	159	17	”	"	PUNCT
ap-7523	159	18	,	,	PUNCT
ap-7523	159	19	and	and	CCONJ
ap-7523	159	20	b0	b0	NOUN
ap-7523	159	21	is	be	AUX
ap-7523	159	22	the	the	DET
ap-7523	159	23	available	available	ADJ
ap-7523	159	24	information	information	NOUN
ap-7523	159	25	concerning	concern	VERB
ap-7523	159	26	the	the	DET
ap-7523	159	27	model	model	NOUN
ap-7523	159	28	.	.	PUNCT
ap-7523	160	1	the	the	DET
ap-7523	160	2	according	accord	VERB
ap-7523	160	3	structure	structure	NOUN
ap-7523	160	4	of	of	ADP
ap-7523	160	5	the	the	DET
ap-7523	160	6	control	control	NOUN
ap-7523	160	7	loop	loop	NOUN
ap-7523	160	8	with	with	ADP
ap-7523	160	9	adrc	adrc	PROPN
ap-7523	160	10	is	be	AUX
ap-7523	160	11	presented	present	VERB
ap-7523	160	12	in	in	ADP
ap-7523	160	13	fig	fig	NOUN
ap-7523	160	14	.	.	PUNCT
ap-7523	161	1	4	4	X
ap-7523	161	2	.	.	X
ap-7523	161	3	the	the	DET
ap-7523	161	4	fundamental	fundamental	ADJ
ap-7523	161	5	idea	idea	NOUN
ap-7523	161	6	of	of	ADP
ap-7523	161	7	adrc	adrc	PROPN
ap-7523	161	8	is	be	AUX
ap-7523	161	9	to	to	PART
ap-7523	161	10	implement	implement	VERB
ap-7523	161	11	an	an	DET
ap-7523	161	12	extended	extended	ADJ
ap-7523	161	13	state	state	NOUN
ap-7523	161	14	observer	observer	NOUN
ap-7523	161	15	(	(	PUNCT
ap-7523	161	16	eso	eso	NOUN
ap-7523	161	17	)	)	PUNCT
ap-7523	161	18	that	that	PRON
ap-7523	161	19	provides	provide	VERB
ap-7523	161	20	an	an	DET
ap-7523	161	21	estimate	estimate	NOUN
ap-7523	161	22	,	,	PUNCT
ap-7523	161	23	f̂(t	f̂(t	NOUN
ap-7523	161	24	)	)	PUNCT
ap-7523	161	25	,	,	PUNCT
ap-7523	161	26	such	such	ADJ
ap-7523	161	27	that	that	SCONJ
ap-7523	161	28	we	we	PRON
ap-7523	161	29	can	can	AUX
ap-7523	161	30	compensate	compensate	VERB
ap-7523	161	31	the	the	DET
ap-7523	161	32	impact	impact	NOUN
ap-7523	161	33	of	of	ADP
ap-7523	161	34	f(t	f(t	NOUN
ap-7523	161	35	)	)	PUNCT
ap-7523	161	36	on	on	ADP
ap-7523	161	37	our	our	PRON
ap-7523	161	38	system	system	NOUN
ap-7523	161	39	.	.	PUNCT
ap-7523	162	1	the	the	DET
ap-7523	162	2	equation	equation	NOUN
ap-7523	162	3	for	for	ADP
ap-7523	162	4	the	the	DET
ap-7523	162	5	extended	extended	ADJ
ap-7523	162	6	state	state	NOUN
ap-7523	162	7	observer	observer	NOUN
ap-7523	162	8	is	be	AUX
ap-7523	162	9	given	give	VERB
ap-7523	162	10	as:	as:	PROPN
ap-7523	162	11	˙̂x1	˙̂x1	PROPN
ap-7523	162	12	(	(	PUNCT
ap-7523	162	13	t	t	NOUN
ap-7523	162	14	)	)	PUNCT
ap-7523	162	15	˙̂x2	˙̂x2	NOUN
ap-7523	162	16	(	(	PUNCT
ap-7523	162	17	t	t	PROPN
ap-7523	162	18	)	)	PUNCT
ap-7523	162	19	˙̂x3	˙̂x3	X
ap-7523	163	1	(	(	PUNCT
ap-7523	163	2	t	t	NOUN
ap-7523	163	3	)	)	PUNCT
ap-7523	163	4			PROPN
ap-7523	164	1	=	=	SYM
ap-7523	164	2			PROPN
ap-7523	164	3	0	0	NUM
ap-7523	164	4	1	1	NUM
ap-7523	164	5	0	0	NUM
ap-7523	164	6	0	0	NUM
ap-7523	164	7	0	0	NUM
ap-7523	164	8	1	1	NUM
ap-7523	164	9	0	0	NUM
ap-7523	164	10	0	0	NUM
ap-7523	164	11	0	0	NUM
ap-7523	165	1			PROPN
ap-7523	165	2			PROPN
ap-7523	165	3	x̂1	x̂1	X
ap-7523	165	4	(	(	PUNCT
ap-7523	165	5	t	t	NOUN
ap-7523	165	6	)	)	PUNCT
ap-7523	165	7	x̂2	x̂2	NOUN
ap-7523	165	8	(	(	PUNCT
ap-7523	165	9	t	t	PROPN
ap-7523	165	10	)	)	PUNCT
ap-7523	165	11	x̂3	x̂3	PROPN
ap-7523	166	1	(	(	PUNCT
ap-7523	166	2	t	t	PROPN
ap-7523	166	3	)	)	PUNCT
ap-7523	166	4			PROPN
ap-7523	167	1	+	+	CCONJ
ap-7523	167	2			PROPN
ap-7523	167	3	0	0	NUM
ap-7523	167	4	b0	b0	NOUN
ap-7523	167	5	0	0	NUM
ap-7523	167	6			PROPN
ap-7523	167	7	u	u	PROPN
ap-7523	167	8	(	(	PUNCT
ap-7523	167	9	t	t	PROPN
ap-7523	167	10	)	)	PUNCT
ap-7523	167	11	+	+	CCONJ
ap-7523	167	12			PROPN
ap-7523	167	13	l1	l1	PROPN
ap-7523	167	14	l2	l2	PROPN
ap-7523	167	15	l3	l3	PROPN
ap-7523	167	16			PROPN
ap-7523	167	17	(	(	PUNCT
ap-7523	167	18	y	y	PROPN
ap-7523	167	19	(	(	PUNCT
ap-7523	167	20	t	t	PROPN
ap-7523	167	21	)	)	PUNCT
ap-7523	167	22	−	−	PROPN
ap-7523	167	23	x̂1	x̂1	X
ap-7523	167	24	(	(	PUNCT
ap-7523	167	25	t	t	NOUN
ap-7523	167	26	)	)	PUNCT
ap-7523	167	27	)	)	PUNCT
ap-7523	168	1	=	=	PUNCT
ap-7523	169	1			PROPN
ap-7523	169	2	−l1	−l1	PROPN
ap-7523	169	3	1	1	NUM
ap-7523	169	4	0	0	X
ap-7523	169	5	−l2	−l2	NOUN
ap-7523	169	6	0	0	NUM
ap-7523	169	7	1	1	NUM
ap-7523	169	8	−l3	−l3	PROPN
ap-7523	169	9	0	0	NUM
ap-7523	169	10	0	0	NUM
ap-7523	169	11			PROPN
ap-7523	169	12	︸	︸	X
ap-7523	169	13	︷︷	︷︷	NOUN
ap-7523	169	14	︸	︸	ADP
ap-7523	169	15	a−lc	a−lc	NOUN
ap-7523	169	16			PROPN
ap-7523	169	17	x̂1	x̂1	X
ap-7523	169	18	(	(	PUNCT
ap-7523	169	19	t	t	NOUN
ap-7523	169	20	)	)	PUNCT
ap-7523	169	21	x̂2	x̂2	NOUN
ap-7523	169	22	(	(	PUNCT
ap-7523	169	23	t	t	PROPN
ap-7523	169	24	)	)	PUNCT
ap-7523	169	25	x̂3	x̂3	PROPN
ap-7523	169	26	(	(	PUNCT
ap-7523	169	27	t	t	PROPN
ap-7523	169	28	)	)	PUNCT
ap-7523	169	29			PROPN
ap-7523	170	1	+	+	CCONJ
ap-7523	171	1			PROPN
ap-7523	171	2	0	0	NUM
ap-7523	171	3	b0	b0	NOUN
ap-7523	171	4	0	0	NUM
ap-7523	171	5			PROPN
ap-7523	171	6	︸	︸	X
ap-7523	172	1	︷︷	︷︷	PROPN
ap-7523	172	2	︸	︸	ADP
ap-7523	172	3	b	b	PROPN
ap-7523	172	4	u	u	X
ap-7523	172	5	(	(	PUNCT
ap-7523	172	6	t	t	PROPN
ap-7523	172	7	)	)	PUNCT
ap-7523	172	8	+	+	CCONJ
ap-7523	172	9			PROPN
ap-7523	172	10	l1	l1	PROPN
ap-7523	172	11	l2	l2	NOUN
ap-7523	172	12	l3	l3	PROPN
ap-7523	172	13			PROPN
ap-7523	172	14	y	y	PROPN
ap-7523	172	15	(	(	PUNCT
ap-7523	172	16	t	t	PROPN
ap-7523	172	17	)	)	PUNCT
ap-7523	172	18	(	(	PUNCT
ap-7523	172	19	11	11	NUM
ap-7523	172	20	)	)	PUNCT
ap-7523	172	21	where	where	SCONJ
ap-7523	172	22	x̂1(t	x̂1(t	NOUN
ap-7523	172	23	)	)	PUNCT
ap-7523	172	24	=	=	SYM
ap-7523	172	25	ŷ(t	ŷ(t	PROPN
ap-7523	172	26	)	)	PUNCT
ap-7523	172	27	;	;	PUNCT
ap-7523	172	28	x̂2(t	x̂2(t	PROPN
ap-7523	172	29	)	)	PUNCT
ap-7523	172	30	=	=	PUNCT
ap-7523	172	31	˙̂y(t	˙̂y(t	PROPN
ap-7523	172	32	)	)	PUNCT
ap-7523	172	33	;	;	PUNCT
ap-7523	172	34	x̂3(t	x̂3(t	X
ap-7523	172	35	)	)	PUNCT
ap-7523	172	36	=	=	SYM
ap-7523	172	37	f̂(t	f̂(t	NOUN
ap-7523	172	38	)	)	PUNCT
ap-7523	172	39	.	.	PUNCT
ap-7523	173	1	removing	remove	VERB
ap-7523	173	2	the	the	DET
ap-7523	173	3	unknown	unknown	ADJ
ap-7523	173	4	components	component	NOUN
ap-7523	173	5	is	be	AUX
ap-7523	173	6	done	do	VERB
ap-7523	173	7	through	through	ADP
ap-7523	173	8	the	the	DET
ap-7523	173	9	following	follow	VERB
ap-7523	173	10	control	control	NOUN
ap-7523	173	11	law	law	NOUN
ap-7523	173	12	:	:	PUNCT
ap-7523	173	13	ÿ(t	ÿ(t	PROPN
ap-7523	173	14	)	)	PUNCT
ap-7523	173	15	=	=	SYM
ap-7523	173	16	(	(	PUNCT
ap-7523	173	17	f(t	f(t	PROPN
ap-7523	173	18	)	)	PUNCT
ap-7523	174	1	−	−	PROPN
ap-7523	174	2	f̂(t	f̂(t	NOUN
ap-7523	174	3	)	)	PUNCT
ap-7523	174	4	)	)	PUNCT
ap-7523	175	1	+	+	CCONJ
ap-7523	175	2	u0(t	u0(t	X
ap-7523	175	3	)	)	PUNCT
ap-7523	175	4	≈	≈	PROPN
ap-7523	176	1	u0(t	u0(t	PROPN
ap-7523	176	2	)	)	PUNCT
ap-7523	177	1	≈	≈	PROPN
ap-7523	177	2	kp	kp	PROPN
ap-7523	177	3	.((r(t	.((r(t	PROPN
ap-7523	177	4	)	)	PUNCT
ap-7523	178	1	−	−	PROPN
ap-7523	178	2	y(t	y(t	NOUN
ap-7523	178	3	)	)	PUNCT
ap-7523	178	4	)	)	PUNCT
ap-7523	179	1	−	−	PROPN
ap-7523	180	1	kd.ẏ(t	kd.ẏ(t	NOUN
ap-7523	180	2	)	)	PUNCT
ap-7523	180	3	)	)	PUNCT
ap-7523	181	1	(	(	PUNCT
ap-7523	181	2	12	12	NUM
ap-7523	181	3	)	)	PUNCT
ap-7523	181	4	where	where	SCONJ
ap-7523	181	5	r	r	NOUN
ap-7523	181	6	is	be	AUX
ap-7523	181	7	the	the	DET
ap-7523	181	8	setpoint	setpoint	NOUN
ap-7523	181	9	.	.	PUNCT
ap-7523	182	1	in	in	ADP
ap-7523	182	2	order	order	NOUN
ap-7523	182	3	to	to	PART
ap-7523	182	4	work	work	VERB
ap-7523	182	5	properly	properly	ADV
ap-7523	182	6	,	,	PUNCT
ap-7523	182	7	observer	observer	NOUN
ap-7523	182	8	parameters	parameter	NOUN
ap-7523	182	9	,	,	PUNCT
ap-7523	182	10	l1	l1	PROPN
ap-7523	182	11	,	,	PUNCT
ap-7523	182	12	l2	l2	NOUN
ap-7523	182	13	,	,	PUNCT
ap-7523	182	14	l3	l3	PROPN
ap-7523	182	15	,	,	PUNCT
ap-7523	182	16	in	in	ADP
ap-7523	182	17	eq	eq	ADP
ap-7523	182	18	.	.	PUNCT
ap-7523	182	19	(	(	PUNCT
ap-7523	182	20	11	11	NUM
ap-7523	182	21	)	)	PUNCT
ap-7523	182	22	still	still	ADV
ap-7523	182	23	have	have	VERB
ap-7523	182	24	to	to	PART
ap-7523	182	25	be	be	AUX
ap-7523	182	26	determined	determine	VERB
ap-7523	182	27	.	.	PUNCT
ap-7523	183	1	according	accord	VERB
ap-7523	183	2	to	to	ADP
ap-7523	183	3	[	[	X
ap-7523	183	4	20	20	NUM
ap-7523	183	5	]	]	PUNCT
ap-7523	183	6	,	,	PUNCT
ap-7523	183	7	the	the	DET
ap-7523	183	8	adrc	adrc	NOUN
ap-7523	183	9	’s	’s	PART
ap-7523	183	10	parameters	parameter	NOUN
ap-7523	183	11	can	can	AUX
ap-7523	183	12	be	be	AUX
ap-7523	183	13	chosen	choose	VERB
ap-7523	183	14	to	to	PART
ap-7523	183	15	tune	tune	VERB
ap-7523	183	16	the	the	DET
ap-7523	183	17	closed	close	VERB
ap-7523	183	18	-	-	PUNCT
ap-7523	183	19	loop	loop	NOUN
ap-7523	183	20	to	to	ADP
ap-7523	183	21	a	a	DET
ap-7523	183	22	critically	critically	ADV
ap-7523	183	23	damped	damp	VERB
ap-7523	183	24	behaviour	behaviour	NOUN
ap-7523	183	25	and	and	CCONJ
ap-7523	183	26	a	a	DET
ap-7523	183	27	desired	desire	VERB
ap-7523	183	28	2	2	NUM
ap-7523	183	29	%	%	NOUN
ap-7523	183	30	settling	settling	NOUN
ap-7523	183	31	time	time	NOUN
ap-7523	183	32	tsettle	tsettle	NOUN
ap-7523	183	33	.	.	PUNCT
ap-7523	184	1	the	the	DET
ap-7523	184	2	tuning	tuning	NOUN
ap-7523	184	3	procedure	procedure	NOUN
ap-7523	184	4	is	be	AUX
ap-7523	184	5	summarised	summarise	VERB
ap-7523	184	6	as	as	SCONJ
ap-7523	184	7	follows	follow	VERB
ap-7523	184	8	:	:	PUNCT
ap-7523	184	9	kp	kp	PROPN
ap-7523	184	10	=	=	PUNCT
ap-7523	184	11	(	(	PUNCT
ap-7523	184	12	scl	scl	PROPN
ap-7523	184	13	)	)	PUNCT
ap-7523	184	14	2	2	NUM
ap-7523	184	15	,	,	PUNCT
ap-7523	185	1	kd	kd	PROPN
ap-7523	185	2	=	=	SYM
ap-7523	185	3	−2.scl	−2.scl	PROPN
ap-7523	185	4	l1	l1	PROPN
ap-7523	185	5	=	=	SYM
ap-7523	185	6	−3.seso	−3.seso	PROPN
ap-7523	185	7	,	,	PUNCT
ap-7523	185	8	l2	l2	NOUN
ap-7523	185	9	=	=	SYM
ap-7523	185	10	3	3	X
ap-7523	185	11	.	.	PUNCT
ap-7523	185	12	(	(	PUNCT
ap-7523	185	13	seso	seso	NOUN
ap-7523	185	14	)	)	PUNCT
ap-7523	185	15	2	2	NUM
ap-7523	185	16	,	,	PUNCT
ap-7523	185	17	l3	l3	X
ap-7523	185	18	=	=	SYM
ap-7523	185	19	(	(	PUNCT
ap-7523	185	20	seso	seso	NOUN
ap-7523	185	21	)	)	PUNCT
ap-7523	185	22	3	3	NUM
ap-7523	185	23	(	(	PUNCT
ap-7523	185	24	13	13	NUM
ap-7523	185	25	)	)	PUNCT
ap-7523	185	26	with	with	ADP
ap-7523	185	27	scl	scl	PROPN
ap-7523	185	28	=	=	PUNCT
ap-7523	185	29	−	−	PROPN
ap-7523	185	30	6	6	NUM
ap-7523	185	31	tsettle	tsettle	NOUN
ap-7523	185	32	being	be	AUX
ap-7523	185	33	the	the	DET
ap-7523	185	34	negative	negative	ADJ
ap-7523	185	35	-	-	PUNCT
ap-7523	185	36	real	real	ADJ
ap-7523	185	37	double	double	ADJ
ap-7523	185	38	closed	closed	ADJ
ap-7523	185	39	-	-	PUNCT
ap-7523	185	40	loop	loop	NOUN
ap-7523	185	41	pole	pole	NOUN
ap-7523	185	42	.	.	PUNCT
ap-7523	186	1	seso	seso	NOUN
ap-7523	187	1	≈	≈	PROPN
ap-7523	187	2	(	(	PUNCT
ap-7523	187	3	3	3	NUM
ap-7523	187	4	...	...	SYM
ap-7523	187	5	10).scl	10).scl	NUM
ap-7523	187	6	is	be	AUX
ap-7523	187	7	the	the	DET
ap-7523	187	8	observer	observer	NOUN
ap-7523	187	9	pole	pole	NOUN
ap-7523	187	10	.	.	PUNCT
ap-7523	188	1	using	use	VERB
ap-7523	188	2	the	the	DET
ap-7523	188	3	adrc	adrc	ADJ
ap-7523	188	4	controller	controller	NOUN
ap-7523	188	5	to	to	PART
ap-7523	188	6	calculate	calculate	VERB
ap-7523	188	7	the	the	DET
ap-7523	188	8	variable	variable	ADJ
ap-7523	188	9	x	x	NOUN
ap-7523	188	10	,	,	PUNCT
ap-7523	188	11	y	y	PROPN
ap-7523	188	12	and	and	CCONJ
ap-7523	188	13	z	z	PROPN
ap-7523	188	14	are	be	AUX
ap-7523	188	15	calculated	calculate	VERB
ap-7523	188	16	similarly	similarly	ADV
ap-7523	188	17	:	:	PUNCT
ap-7523	188	18	ẍ	ẍ	X
ap-7523	189	1	=	=	PRON
ap-7523	189	2	(	(	PUNCT
ap-7523	189	3	1	1	NUM
ap-7523	189	4	m	m	NOUN
ap-7523	189	5	.d(t	.d(t	NOUN
ap-7523	189	6	)	)	PUNCT
ap-7523	190	1	+	+	CCONJ
ap-7523	190	2	∆b.u(t))︸	∆b.u(t))︸	PROPN
ap-7523	190	3	︷︷	︷︷	PROPN
ap-7523	190	4	︸	︸	ADP
ap-7523	190	5	f(t	f(t	NOUN
ap-7523	190	6	)	)	PUNCT
ap-7523	191	1	+	+	NOUN
ap-7523	191	2	b01v1	b01v1	NOUN
ap-7523	191	3	=	=	SYM
ap-7523	191	4	f(t	f(t	NOUN
ap-7523	191	5	)	)	PUNCT
ap-7523	191	6	+	+	CCONJ
ap-7523	191	7	b01.v1(t	b01.v1(t	NOUN
ap-7523	191	8	)	)	PUNCT
ap-7523	191	9	v1(t	v1(t	PRON
ap-7523	191	10	)	)	PUNCT
ap-7523	191	11	=	=	SYM
ap-7523	191	12	kp	kp	NOUN
ap-7523	191	13	1.((r(t	1.((r(t	NUM
ap-7523	191	14	)	)	PUNCT
ap-7523	191	15	−	−	PROPN
ap-7523	191	16	x̂(t	x̂(t	NOUN
ap-7523	191	17	)	)	PUNCT
ap-7523	191	18	)	)	PUNCT
ap-7523	192	1	−	−	PROPN
ap-7523	192	2	kd1	kd1	PROPN
ap-7523	192	3	.	.	PUNCT
ap-7523	192	4	.	.	PUNCT
ap-7523	193	1	x̂(t	x̂(t	NOUN
ap-7523	193	2	)	)	PUNCT
ap-7523	193	3	)	)	PUNCT
ap-7523	194	1	(	(	PUNCT
ap-7523	194	2	14	14	NUM
ap-7523	194	3	)	)	PUNCT
ap-7523	194	4	for	for	ADP
ap-7523	194	5	equations	equation	NOUN
ap-7523	194	6	containing	contain	VERB
ap-7523	194	7	the	the	DET
ap-7523	194	8	two	two	NUM
ap-7523	194	9	variables	variable	NOUN
ap-7523	194	10	(	(	PUNCT
ap-7523	194	11	θy	θy	X
ap-7523	194	12	and	and	CCONJ
ap-7523	194	13	θz	θz	PROPN
ap-7523	194	14	)	)	PUNCT
ap-7523	194	15	,	,	PUNCT
ap-7523	194	16	which	which	PRON
ap-7523	194	17	have	have	VERB
ap-7523	194	18	an	an	DET
ap-7523	194	19	interleaved	interleaved	ADJ
ap-7523	194	20	component	component	NOUN
ap-7523	194	21	between	between	ADP
ap-7523	194	22	the	the	DET
ap-7523	194	23	two	two	NUM
ap-7523	194	24	equations	equation	NOUN
ap-7523	194	25	.	.	PUNCT
ap-7523	195	1	because	because	SCONJ
ap-7523	195	2	the	the	DET
ap-7523	195	3	interleaved	interleaved	ADJ
ap-7523	195	4	component	component	NOUN
ap-7523	195	5	is	be	AUX
ap-7523	195	6	unknown	unknown	ADJ
ap-7523	195	7	,	,	PUNCT
ap-7523	195	8	the	the	DET
ap-7523	195	9	extended	extended	ADJ
ap-7523	195	10	observer	observer	NOUN
ap-7523	195	11	can	can	AUX
ap-7523	195	12	be	be	AUX
ap-7523	195	13	used	use	VERB
ap-7523	195	14	to	to	PART
ap-7523	195	15	estimate	estimate	VERB
ap-7523	195	16	and	and	CCONJ
ap-7523	195	17	analyse	analyse	VERB
ap-7523	195	18	it	it	PRON
ap-7523	195	19	,	,	PUNCT
ap-7523	195	20	using	use	VERB
ap-7523	195	21	the	the	DET
ap-7523	195	22	adrc	adrc	ADJ
ap-7523	195	23	controller	controller	NOUN
ap-7523	195	24	with	with	ADP
ap-7523	195	25	variable	variable	NOUN
ap-7523	195	26	θy	θy	ADP
ap-7523	195	27	,	,	PUNCT
ap-7523	195	28	as	as	SCONJ
ap-7523	195	29	follows	follow	VERB
ap-7523	195	30	:	:	PUNCT
ap-7523	195	31	θ̈y	θ̈y	NOUN
ap-7523	195	32	=	=	SYM
ap-7523	195	33	(	(	PUNCT
ap-7523	195	34	1	1	NUM
ap-7523	195	35	j	j	PROPN
ap-7523	195	36	d(t	d(t	PROPN
ap-7523	195	37	)	)	PUNCT
ap-7523	195	38	+	+	CCONJ
ap-7523	195	39	∆b.v4(t	∆b.v4(t	ADJ
ap-7523	195	40	)	)	PUNCT
ap-7523	195	41	+	+	NUM
ap-7523	195	42	jθxθz	jθxθz	NOUN
ap-7523	195	43	)	)	PUNCT
ap-7523	196	1	+	+	CCONJ
ap-7523	196	2	b04v4	b04v4	NOUN
ap-7523	196	3	=	=	SYM
ap-7523	196	4	f(t	f(t	NOUN
ap-7523	196	5	)	)	PUNCT
ap-7523	197	1	+	+	CCONJ
ap-7523	197	2	b04.v4(t	b04.v4(t	ADJ
ap-7523	197	3	)	)	PUNCT
ap-7523	197	4	b04	b04	NOUN
ap-7523	197	5	=	=	NOUN
ap-7523	197	6	1	1	NUM
ap-7523	197	7	j	j	PROPN
ap-7523	197	8	v4(t	v4(t	NUM
ap-7523	197	9	)	)	PUNCT
ap-7523	197	10	=	=	NUM
ap-7523	197	11	kp	kp	PROPN
ap-7523	197	12	4.((r(t	4.((r(t	PROPN
ap-7523	197	13	)	)	PUNCT
ap-7523	198	1	−	−	PROPN
ap-7523	198	2	θ̂y(t	θ̂y(t	NOUN
ap-7523	198	3	)	)	PUNCT
ap-7523	198	4	)	)	PUNCT
ap-7523	199	1	−	−	PROPN
ap-7523	199	2	kd4	kd4	PROPN
ap-7523	199	3	.	.	PROPN
ap-7523	199	4	˙̂	˙̂	PROPN
ap-7523	199	5	θy(t	θy(t	PROPN
ap-7523	199	6	)	)	PUNCT
ap-7523	199	7	)	)	PUNCT
ap-7523	199	8	(	(	PUNCT
ap-7523	199	9	15	15	X
ap-7523	199	10	)	)	PUNCT
ap-7523	199	11	483	483	NUM
ap-7523	199	12	huy	huy	PROPN
ap-7523	199	13	,	,	PUNCT
ap-7523	199	14	minh	minh	PROPN
ap-7523	199	15	,	,	PUNCT
ap-7523	199	16	hieu	hieu	NOUN
ap-7523	199	17	et	et	PROPN
ap-7523	199	18	al	al	PROPN
ap-7523	199	19	.	.	PROPN
ap-7523	200	1	acta	acta	PROPN
ap-7523	200	2	polytechnica	polytechnica	PROPN
ap-7523	200	3	name	name	NOUN
ap-7523	200	4	symbol	symbol	NOUN
ap-7523	200	5	b01	b01	NOUN
ap-7523	200	6	=	=	SYM
ap-7523	200	7	b02	b02	PROPN
ap-7523	200	8	=	=	PROPN
ap-7523	200	9	b03	b03	PROPN
ap-7523	200	10	1	1	NUM
ap-7523	200	11	/	/	SYM
ap-7523	200	12	m	m	NOUN
ap-7523	200	13	b04	b04	NOUN
ap-7523	200	14	=	=	NOUN
ap-7523	200	15	b05	b05	PROPN
ap-7523	200	16	1	1	NUM
ap-7523	200	17	/	/	SYM
ap-7523	200	18	j	j	PROPN
ap-7523	200	19	tsettle	tsettle	NOUN
ap-7523	200	20	0.1	0.1	NUM
ap-7523	200	21	(	(	PUNCT
ap-7523	200	22	s	s	NOUN
ap-7523	200	23	)	)	PUNCT
ap-7523	200	24	scl	scl	NOUN
ap-7523	200	25	-60	-60	PUNCT
ap-7523	200	26	kp	kp	PROPN
ap-7523	201	1	i	i	PRON
ap-7523	201	2	(	(	PUNCT
ap-7523	201	3	i	i	NOUN
ap-7523	201	4	=	=	NOUN
ap-7523	201	5	1	1	NUM
ap-7523	201	6	,	,	PUNCT
ap-7523	201	7	.	.	PUNCT
ap-7523	201	8	.	.	PUNCT
ap-7523	201	9	.	.	PUNCT
ap-7523	202	1	,	,	PUNCT
ap-7523	202	2	5	5	X
ap-7523	202	3	)	)	PUNCT
ap-7523	202	4	3600	3600	NUM
ap-7523	202	5	kdi	kdi	NOUN
ap-7523	202	6	(	(	PUNCT
ap-7523	202	7	i	i	NOUN
ap-7523	202	8	=	=	NOUN
ap-7523	202	9	1	1	NUM
ap-7523	202	10	,	,	PUNCT
ap-7523	202	11	.	.	PUNCT
ap-7523	202	12	.	.	PUNCT
ap-7523	202	13	.	.	PUNCT
ap-7523	203	1	,	,	PUNCT
ap-7523	203	2	5	5	X
ap-7523	203	3	)	)	PUNCT
ap-7523	203	4	120	120	NUM
ap-7523	203	5	seso	seso	NOUN
ap-7523	203	6	-420	-420	INTJ
ap-7523	204	1	l1i	l1i	INTJ
ap-7523	204	2	(	(	PUNCT
ap-7523	204	3	i	i	NOUN
ap-7523	204	4	=	=	NOUN
ap-7523	204	5	1	1	NUM
ap-7523	204	6	,	,	PUNCT
ap-7523	204	7	.	.	PUNCT
ap-7523	204	8	.	.	PUNCT
ap-7523	204	9	.	.	PUNCT
ap-7523	205	1	,	,	PUNCT
ap-7523	205	2	5	5	X
ap-7523	205	3	)	)	PUNCT
ap-7523	205	4	1260	1260	NUM
ap-7523	205	5	l2i	l2i	NOUN
ap-7523	205	6	(	(	PUNCT
ap-7523	205	7	i	i	NOUN
ap-7523	205	8	=	=	NOUN
ap-7523	205	9	1	1	NUM
ap-7523	205	10	,	,	PUNCT
ap-7523	205	11	.	.	PUNCT
ap-7523	205	12	.	.	PUNCT
ap-7523	205	13	.	.	PUNCT
ap-7523	206	1	,	,	PUNCT
ap-7523	206	2	5	5	X
ap-7523	206	3	)	)	PUNCT
ap-7523	206	4	529200	529200	NUM
ap-7523	206	5	l3i	l3i	NOUN
ap-7523	206	6	(	(	PUNCT
ap-7523	206	7	i	i	NOUN
ap-7523	206	8	=	=	NOUN
ap-7523	206	9	1	1	NUM
ap-7523	206	10	,	,	PUNCT
ap-7523	206	11	.	.	PUNCT
ap-7523	206	12	.	.	PUNCT
ap-7523	206	13	.	.	PUNCT
ap-7523	207	1	,	,	PUNCT
ap-7523	207	2	5	5	X
ap-7523	207	3	)	)	PUNCT
ap-7523	207	4	74088000	74088000	NUM
ap-7523	207	5	table	table	NOUN
ap-7523	207	6	1	1	NUM
ap-7523	207	7	.	.	PUNCT
ap-7523	207	8	controller	controller	NOUN
ap-7523	207	9	parameters	parameter	NOUN
ap-7523	207	10	.	.	PUNCT
ap-7523	208	1	4	4	X
ap-7523	208	2	.	.	X
ap-7523	208	3	numerical	numerical	ADJ
ap-7523	208	4	simulations	simulation	NOUN
ap-7523	208	5	in	in	ADP
ap-7523	208	6	this	this	DET
ap-7523	208	7	section	section	NOUN
ap-7523	208	8	,	,	PUNCT
ap-7523	208	9	we	we	PRON
ap-7523	208	10	consider	consider	VERB
ap-7523	208	11	two	two	NUM
ap-7523	208	12	scenarios	scenario	NOUN
ap-7523	208	13	to	to	PART
ap-7523	208	14	evaluate	evaluate	VERB
ap-7523	208	15	the	the	DET
ap-7523	208	16	effectiveness	effectiveness	NOUN
ap-7523	208	17	of	of	ADP
ap-7523	208	18	using	use	VERB
ap-7523	208	19	the	the	DET
ap-7523	208	20	adrc	adrc	ADJ
ap-7523	208	21	controller	controller	NOUN
ap-7523	208	22	in	in	ADP
ap-7523	208	23	the	the	DET
ap-7523	208	24	case	case	NOUN
ap-7523	208	25	of	of	ADP
ap-7523	208	26	variable	variable	ADJ
ap-7523	208	27	speed	speed	NOUN
ap-7523	208	28	rotation	rotation	NOUN
ap-7523	208	29	and	and	CCONJ
ap-7523	208	30	rotor	rotor	NOUN
ap-7523	208	31	load	load	NOUN
ap-7523	208	32	disturbance	disturbance	NOUN
ap-7523	208	33	.	.	PUNCT
ap-7523	209	1	bearing	bear	VERB
ap-7523	209	2	design	design	NOUN
ap-7523	209	3	parameters	parameter	NOUN
ap-7523	209	4	value	value	VERB
ap-7523	209	5	radial	radial	ADJ
ap-7523	209	6	air	air	NOUN
ap-7523	209	7	gap	gap	NOUN
ap-7523	209	8	g0	g0	PROPN
ap-7523	209	9	0.5	0.5	NUM
ap-7523	209	10	mm	mm	PROPN
ap-7523	209	11	cross	cross	ADJ
ap-7523	209	12	-	-	ADJ
ap-7523	209	13	sectional	sectional	ADJ
ap-7523	209	14	area	area	NOUN
ap-7523	209	15	a	a	DET
ap-7523	209	16	18	18	NUM
ap-7523	209	17	*	*	SYM
ap-7523	209	18	10	10	NUM
ap-7523	209	19	mm	mm	PROPN
ap-7523	209	20	inclined	inclined	ADJ
ap-7523	209	21	angle	angle	NOUN
ap-7523	209	22	β	β	PROPN
ap-7523	209	23	10o	10o	PROPN
ap-7523	209	24	magnetic	magnetic	ADJ
ap-7523	209	25	coils	coil	NOUN
ap-7523	209	26	n	n	PRON
ap-7523	209	27	300	300	NUM
ap-7523	209	28	turns	turn	VERB
ap-7523	209	29	resistance	resistance	NOUN
ap-7523	209	30	r	r	NOUN
ap-7523	209	31	2	2	NUM
ap-7523	209	32	ω	ω	NUM
ap-7523	209	33	inductance	inductance	NOUN
ap-7523	209	34	of	of	ADP
ap-7523	209	35	wire	wire	NOUN
ap-7523	209	36	l0	l0	PROPN
ap-7523	209	37	20	20	NUM
ap-7523	209	38	mh	mh	PROPN
ap-7523	209	39	rotor	rotor	NOUN
ap-7523	209	40	mass	mass	PROPN
ap-7523	209	41	m	m	VERB
ap-7523	209	42	1.86	1.86	NUM
ap-7523	209	43	kg	kg	NOUN
ap-7523	209	44	moment	moment	NOUN
ap-7523	209	45	of	of	ADP
ap-7523	209	46	inertia	inertia	NOUN
ap-7523	209	47	jd	jd	ADP
ap-7523	209	48	0.00647	0.00647	NUM
ap-7523	209	49	kgm2	kgm2	ADJ
ap-7523	209	50	moment	moment	NOUN
ap-7523	209	51	of	of	ADP
ap-7523	209	52	inertia	inertia	NOUN
ap-7523	209	53	jp	jp	NOUN
ap-7523	209	54	0.00121	0.00121	NUM
ap-7523	209	55	kgm2	kgm2	ADJ
ap-7523	209	56	bias	bias	NOUN
ap-7523	209	57	current	current	PROPN
ap-7523	209	58	i01	i01	NOUN
ap-7523	209	59	,	,	PUNCT
ap-7523	209	60	i02	i02	NOUN
ap-7523	209	61	1.6	1.6	NUM
ap-7523	209	62	a,1	a,1	NOUN
ap-7523	209	63	a	a	DET
ap-7523	209	64	bearing	bearing	NOUN
ap-7523	209	65	span	span	NOUN
ap-7523	209	66	b1	b1	NOUN
ap-7523	209	67	,	,	PUNCT
ap-7523	209	68	b2	b2	NOUN
ap-7523	209	69	81.7	81.7	NUM
ap-7523	209	70	mm,71.6	mm,71.6	PROPN
ap-7523	210	1	mm	mm	PROPN
ap-7523	210	2	table	table	NOUN
ap-7523	210	3	2	2	NUM
ap-7523	210	4	.	.	PUNCT
ap-7523	210	5	system	system	NOUN
ap-7523	210	6	parameters	parameter	NOUN
ap-7523	210	7	.	.	PUNCT
ap-7523	211	1	4.1	4.1	NUM
ap-7523	211	2	.	.	PUNCT
ap-7523	211	3	simulation	simulation	NOUN
ap-7523	211	4	scenario	scenario	PROPN
ap-7523	211	5	1	1	NUM
ap-7523	211	6	:	:	PUNCT
ap-7523	211	7	we	we	PRON
ap-7523	211	8	design	design	VERB
ap-7523	211	9	an	an	DET
ap-7523	211	10	adrc	adrc	ADJ
ap-7523	211	11	controller	controller	NOUN
ap-7523	211	12	with	with	ADP
ap-7523	211	13	a	a	DET
ap-7523	211	14	rotor	rotor	NOUN
ap-7523	211	15	rotation	rotation	NOUN
ap-7523	211	16	speed	speed	NOUN
ap-7523	211	17	of	of	ADP
ap-7523	211	18	3000	3000	NUM
ap-7523	211	19	rpm	rpm	NOUN
ap-7523	211	20	.	.	PUNCT
ap-7523	212	1	the	the	DET
ap-7523	212	2	initial	initial	ADJ
ap-7523	212	3	values	value	NOUN
ap-7523	212	4	of	of	ADP
ap-7523	212	5	the	the	DET
ap-7523	212	6	rotor	rotor	NOUN
ap-7523	212	7	’s	’s	PART
ap-7523	212	8	centre	centre	NOUN
ap-7523	212	9	of	of	ADP
ap-7523	212	10	mass	mass	NOUN
ap-7523	212	11	position	position	NOUN
ap-7523	212	12	are	be	AUX
ap-7523	212	13	:	:	PUNCT
ap-7523	212	14	x0	x0	PROPN
ap-7523	212	15	=	=	SYM
ap-7523	212	16	0.25.10−3	0.25.10−3	PROPN
ap-7523	212	17	;	;	PUNCT
ap-7523	212	18	y0	y0	NOUN
ap-7523	212	19	=	=	SYM
ap-7523	212	20	0.2.10−3	0.2.10−3	NOUN
ap-7523	212	21	;	;	PUNCT
ap-7523	212	22	z0	z0	PROPN
ap-7523	212	23	=	=	PUNCT
ap-7523	212	24	0.125.10−3	0.125.10−3	NUM
ap-7523	212	25	;	;	PUNCT
ap-7523	212	26	θy	θy	X
ap-7523	212	27	=	=	SYM
ap-7523	212	28	0.1.10−3	0.1.10−3	NUM
ap-7523	212	29	;	;	PUNCT
ap-7523	212	30	θz	θz	NOUN
ap-7523	212	31	=	=	PUNCT
ap-7523	212	32	0.2.10−3	0.2.10−3	PROPN
ap-7523	212	33	.	.	PUNCT
ap-7523	213	1	select	select	VERB
ap-7523	213	2	the	the	DET
ap-7523	213	3	coefficients	coefficient	NOUN
ap-7523	213	4	of	of	ADP
ap-7523	213	5	the	the	DET
ap-7523	213	6	adrc	adrc	NOUN
ap-7523	213	7	as	as	SCONJ
ap-7523	213	8	follows	follow	VERB
ap-7523	213	9	scl	scl	NOUN
ap-7523	213	10	=	=	PUNCT
ap-7523	214	1	−	−	PROPN
ap-7523	214	2	6	6	NUM
ap-7523	214	3	0.1	0.1	NUM
ap-7523	214	4	,	,	PUNCT
ap-7523	214	5	seso	seso	NOUN
ap-7523	214	6	=	=	SYM
ap-7523	214	7	7scl	7scl	NUM
ap-7523	214	8	,	,	PUNCT
ap-7523	214	9	kp	kp	PROPN
ap-7523	214	10	=	=	SYM
ap-7523	214	11	(	(	PUNCT
ap-7523	214	12	scl)2	scl)2	PROPN
ap-7523	214	13	,	,	PUNCT
ap-7523	214	14	kd	kd	PROPN
ap-7523	214	15	=	=	SYM
ap-7523	214	16	−2scl	−2scl	PROPN
ap-7523	214	17	,	,	PUNCT
ap-7523	214	18	l1	l1	PROPN
ap-7523	214	19	=	=	PUNCT
ap-7523	214	20	−3seso	−3seso	NOUN
ap-7523	214	21	;	;	PUNCT
ap-7523	214	22	l2	l2	NOUN
ap-7523	214	23	=	=	SYM
ap-7523	214	24	3	3	NUM
ap-7523	214	25	(	(	PUNCT
ap-7523	214	26	seso	seso	NOUN
ap-7523	214	27	)	)	PUNCT
ap-7523	214	28	2	2	NUM
ap-7523	214	29	,	,	PUNCT
ap-7523	214	30	l3	l3	X
ap-7523	214	31	=	=	PUNCT
ap-7523	215	1	−(seso)3	−(seso)3	PROPN
ap-7523	215	2	.	.	PUNCT
ap-7523	216	1	the	the	DET
ap-7523	216	2	position	position	NOUN
ap-7523	216	3	of	of	ADP
ap-7523	216	4	the	the	DET
ap-7523	216	5	centre	centre	NOUN
ap-7523	216	6	of	of	ADP
ap-7523	216	7	mass	mass	NOUN
ap-7523	216	8	and	and	CCONJ
ap-7523	216	9	the	the	DET
ap-7523	216	10	deflection	deflection	NOUN
ap-7523	216	11	angle	angle	NOUN
ap-7523	216	12	of	of	ADP
ap-7523	216	13	the	the	DET
ap-7523	216	14	rotor	rotor	NOUN
ap-7523	216	15	return	return	NOUN
ap-7523	216	16	to	to	ADP
ap-7523	216	17	the	the	DET
ap-7523	216	18	equilibrium	equilibrium	NOUN
ap-7523	216	19	position	position	NOUN
ap-7523	216	20	after	after	ADP
ap-7523	216	21	a	a	DET
ap-7523	216	22	time	time	NOUN
ap-7523	216	23	interval	interval	NOUN
ap-7523	216	24	of	of	ADP
ap-7523	216	25	0.1	0.1	NUM
ap-7523	216	26	seconds	second	NOUN
ap-7523	216	27	and	and	CCONJ
ap-7523	216	28	there	there	PRON
ap-7523	216	29	is	be	VERB
ap-7523	216	30	no	no	DET
ap-7523	216	31	overshoot	overshoot	NOUN
ap-7523	216	32	in	in	ADP
ap-7523	216	33	fig	fig	NOUN
ap-7523	216	34	.	.	PUNCT
ap-7523	217	1	5	5	NUM
ap-7523	217	2	and	and	CCONJ
ap-7523	217	3	fig	fig	NOUN
ap-7523	217	4	.	.	PUNCT
ap-7523	218	1	6	6	NUM
ap-7523	218	2	.	.	X
ap-7523	218	3	from	from	ADP
ap-7523	218	4	fig	fig	NOUN
ap-7523	218	5	.	.	PUNCT
ap-7523	219	1	7	7	NUM
ap-7523	219	2	,	,	PUNCT
ap-7523	219	3	initially	initially	ADV
ap-7523	219	4	,	,	PUNCT
ap-7523	219	5	when	when	SCONJ
ap-7523	219	6	the	the	DET
ap-7523	219	7	rotor	rotor	NOUN
ap-7523	219	8	position	position	NOUN
ap-7523	219	9	deviates	deviate	VERB
ap-7523	219	10	from	from	ADP
ap-7523	219	11	the	the	DET
ap-7523	219	12	equilibrium	equilibrium	NOUN
ap-7523	219	13	position	position	NOUN
ap-7523	219	14	,	,	PUNCT
ap-7523	219	15	a	a	DET
ap-7523	219	16	control	control	NOUN
ap-7523	219	17	current	current	NOUN
ap-7523	219	18	is	be	AUX
ap-7523	219	19	generated	generate	VERB
ap-7523	219	20	to	to	PART
ap-7523	219	21	bring	bring	VERB
ap-7523	219	22	the	the	DET
ap-7523	219	23	rotor	rotor	NOUN
ap-7523	219	24	back	back	ADV
ap-7523	219	25	to	to	ADP
ap-7523	219	26	the	the	DET
ap-7523	219	27	equilibrium	equilibrium	NOUN
ap-7523	219	28	position	position	NOUN
ap-7523	219	29	.	.	PUNCT
ap-7523	220	1	after	after	SCONJ
ap-7523	220	2	the	the	DET
ap-7523	220	3	rotor	rotor	NOUN
ap-7523	220	4	is	be	AUX
ap-7523	220	5	in	in	ADP
ap-7523	220	6	the	the	DET
ap-7523	220	7	equilibrium	equilibrium	NOUN
ap-7523	220	8	position	position	NOUN
ap-7523	220	9	,	,	PUNCT
ap-7523	220	10	the	the	DET
ap-7523	220	11	control	control	NOUN
ap-7523	220	12	current	current	NOUN
ap-7523	220	13	is	be	AUX
ap-7523	220	14	zero	zero	NUM
ap-7523	220	15	so	so	SCONJ
ap-7523	220	16	that	that	SCONJ
ap-7523	220	17	the	the	DET
ap-7523	220	18	bias	bias	NOUN
ap-7523	220	19	currents	current	VERB
ap-7523	220	20	i01	i01	NOUN
ap-7523	220	21	and	and	CCONJ
ap-7523	220	22	i02	i02	NOUN
ap-7523	220	23	keep	keep	VERB
ap-7523	220	24	the	the	DET
ap-7523	220	25	rotor	rotor	NOUN
ap-7523	220	26	in	in	ADP
ap-7523	220	27	this	this	DET
ap-7523	220	28	equilibrium	equilibrium	NOUN
ap-7523	220	29	state	state	NOUN
ap-7523	220	30	.	.	PUNCT
ap-7523	221	1	the	the	DET
ap-7523	221	2	impact	impact	NOUN
ap-7523	221	3	force	force	NOUN
ap-7523	221	4	of	of	ADP
ap-7523	221	5	the	the	DET
ap-7523	221	6	magnet	magnet	NOUN
ap-7523	221	7	is	be	AUX
ap-7523	221	8	shown	show	VERB
ap-7523	221	9	in	in	ADP
ap-7523	221	10	fig	fig	NOUN
ap-7523	221	11	.	.	PUNCT
ap-7523	221	12	8	8	NUM
ap-7523	221	13	as	as	ADP
ap-7523	221	14	having	have	VERB
ap-7523	221	15	a	a	DET
ap-7523	221	16	significant	significant	ADJ
ap-7523	221	17	value	value	NOUN
ap-7523	221	18	figure	figure	NOUN
ap-7523	221	19	5	5	NUM
ap-7523	221	20	.	.	PUNCT
ap-7523	221	21	response	response	NOUN
ap-7523	221	22	to	to	ADP
ap-7523	221	23	the	the	DET
ap-7523	221	24	position	position	NOUN
ap-7523	221	25	of	of	ADP
ap-7523	221	26	the	the	DET
ap-7523	221	27	x	x	PROPN
ap-7523	221	28	,	,	PUNCT
ap-7523	221	29	y	y	PROPN
ap-7523	221	30	,	,	PUNCT
ap-7523	221	31	z	z	NOUN
ap-7523	221	32	axes	axis	NOUN
ap-7523	221	33	.	.	PUNCT
ap-7523	222	1	figure	figure	NOUN
ap-7523	222	2	6	6	NUM
ap-7523	222	3	.	.	PUNCT
ap-7523	223	1	the	the	DET
ap-7523	223	2	position	position	NOUN
ap-7523	223	3	of	of	ADP
ap-7523	223	4	the	the	DET
ap-7523	223	5	axis	axis	NOUN
ap-7523	223	6	angle	angle	NOUN
ap-7523	223	7	θy	θy	AUX
ap-7523	223	8	,	,	PUNCT
ap-7523	223	9	θz	θz	PROPN
ap-7523	223	10	.	.	PUNCT
ap-7523	223	11	figure	figure	NOUN
ap-7523	223	12	7	7	NUM
ap-7523	223	13	.	.	PUNCT
ap-7523	223	14	control	control	VERB
ap-7523	223	15	current	current	ADJ
ap-7523	223	16	response	response	NOUN
ap-7523	223	17	.	.	PUNCT
ap-7523	224	1	at	at	ADP
ap-7523	224	2	first	first	ADV
ap-7523	224	3	to	to	PART
ap-7523	224	4	bring	bring	VERB
ap-7523	224	5	the	the	DET
ap-7523	224	6	rotor	rotor	NOUN
ap-7523	224	7	to	to	ADP
ap-7523	224	8	equilibrium	equilibrium	NOUN
ap-7523	224	9	,	,	PUNCT
ap-7523	224	10	but	but	CCONJ
ap-7523	224	11	once	once	SCONJ
ap-7523	224	12	the	the	DET
ap-7523	224	13	rotor	rotor	NOUN
ap-7523	224	14	returns	return	VERB
ap-7523	224	15	to	to	ADP
ap-7523	224	16	equilibrium	equilibrium	NOUN
ap-7523	224	17	,	,	PUNCT
ap-7523	224	18	the	the	DET
ap-7523	224	19	force	force	NOUN
ap-7523	224	20	is	be	AUX
ap-7523	224	21	kept	keep	VERB
ap-7523	224	22	stable	stable	ADJ
ap-7523	224	23	at	at	ADP
ap-7523	224	24	the	the	DET
ap-7523	224	25	values	value	NOUN
ap-7523	224	26	f01	f01	NOUN
ap-7523	224	27	and	and	CCONJ
ap-7523	224	28	f02	f02	NOUN
ap-7523	224	29	.	.	PUNCT
ap-7523	225	1	from	from	ADP
ap-7523	225	2	the	the	DET
ap-7523	225	3	above	above	ADJ
ap-7523	225	4	results	result	NOUN
ap-7523	225	5	,	,	PUNCT
ap-7523	225	6	it	it	PRON
ap-7523	225	7	can	can	AUX
ap-7523	225	8	be	be	AUX
ap-7523	225	9	concluded	conclude	VERB
ap-7523	225	10	that	that	SCONJ
ap-7523	225	11	the	the	DET
ap-7523	225	12	controller	controller	NOUN
ap-7523	225	13	is	be	AUX
ap-7523	225	14	designed	design	VERB
ap-7523	225	15	to	to	PART
ap-7523	225	16	completely	completely	ADV
ap-7523	225	17	satisfy	satisfy	VERB
ap-7523	225	18	the	the	DET
ap-7523	225	19	requirements	requirement	NOUN
ap-7523	225	20	.	.	PUNCT
ap-7523	226	1	484	484	NUM
ap-7523	226	2	vol	vol	NOUN
ap-7523	226	3	.	.	PUNCT
ap-7523	227	1	62	62	NUM
ap-7523	227	2	no	no	INTJ
ap-7523	227	3	.	.	PUNCT
ap-7523	228	1	4/2022	4/2022	PROPN
ap-7523	228	2	active	active	ADJ
ap-7523	228	3	disturbance	disturbance	NOUN
ap-7523	228	4	rejection	rejection	NOUN
ap-7523	228	5	control	control	NOUN
ap-7523	228	6	-	-	PUNCT
ap-7523	228	7	based	base	VERB
ap-7523	228	8	.	.	PUNCT
ap-7523	228	9	.	.	PUNCT
ap-7523	229	1	.	.	PUNCT
ap-7523	230	1	figure	figure	VERB
ap-7523	230	2	8	8	NUM
ap-7523	230	3	.	.	PUNCT
ap-7523	231	1	impact	impact	NOUN
ap-7523	231	2	force	force	NOUN
ap-7523	231	3	of	of	ADP
ap-7523	231	4	electromagnets	electromagnet	NOUN
ap-7523	231	5	.	.	PUNCT
ap-7523	232	1	figure	figure	NOUN
ap-7523	232	2	9	9	NUM
ap-7523	232	3	.	.	PUNCT
ap-7523	232	4	velocity	velocity	NOUN
ap-7523	232	5	deviation	deviation	NOUN
ap-7523	232	6	of	of	ADP
ap-7523	232	7	x	x	PROPN
ap-7523	232	8	,	,	PUNCT
ap-7523	232	9	y	y	PROPN
ap-7523	232	10	,	,	PUNCT
ap-7523	232	11	z	z	NOUN
ap-7523	232	12	axes	axis	NOUN
ap-7523	232	13	according	accord	VERB
ap-7523	232	14	to	to	ADP
ap-7523	232	15	observer	observer	PROPN
ap-7523	232	16	.	.	PUNCT
ap-7523	233	1	figure	figure	NOUN
ap-7523	233	2	10	10	NUM
ap-7523	233	3	.	.	PUNCT
ap-7523	234	1	velocity	velocity	NOUN
ap-7523	234	2	deviation	deviation	NOUN
ap-7523	234	3	of	of	ADP
ap-7523	234	4	θy	θy	NOUN
ap-7523	234	5	,	,	PUNCT
ap-7523	234	6	θz	θz	ADP
ap-7523	234	7	axes	axis	NOUN
ap-7523	234	8	according	accord	VERB
ap-7523	234	9	to	to	ADP
ap-7523	234	10	observer	observer	PROPN
ap-7523	234	11	.	.	PUNCT
ap-7523	235	1	based	base	VERB
ap-7523	235	2	on	on	ADP
ap-7523	235	3	fig	fig	NOUN
ap-7523	235	4	.	.	PUNCT
ap-7523	236	1	9	9	NUM
ap-7523	236	2	and	and	CCONJ
ap-7523	236	3	fig	fig	NOUN
ap-7523	236	4	.	.	PUNCT
ap-7523	237	1	10	10	NUM
ap-7523	237	2	,	,	PUNCT
ap-7523	237	3	the	the	DET
ap-7523	237	4	observer	observer	NOUN
ap-7523	237	5	satisfied	satisfy	VERB
ap-7523	237	6	the	the	DET
ap-7523	237	7	requirements	requirement	NOUN
ap-7523	237	8	,	,	PUNCT
ap-7523	237	9	and	and	CCONJ
ap-7523	237	10	the	the	DET
ap-7523	237	11	estimated	estimate	VERB
ap-7523	237	12	velocity	velocity	NOUN
ap-7523	237	13	values	value	NOUN
ap-7523	237	14	were	be	AUX
ap-7523	237	15	near	near	ADJ
ap-7523	237	16	to	to	ADP
ap-7523	237	17	the	the	DET
ap-7523	237	18	real	real	ADJ
ap-7523	237	19	velocity	velocity	NOUN
ap-7523	237	20	value	value	NOUN
ap-7523	237	21	after	after	ADP
ap-7523	237	22	0.1	0.1	NUM
ap-7523	237	23	s.	s.	PROPN
ap-7523	237	24	4.2	4.2	NUM
ap-7523	237	25	.	.	PUNCT
ap-7523	238	1	simulation	simulation	NOUN
ap-7523	238	2	scenario	scenario	PROPN
ap-7523	238	3	2	2	NUM
ap-7523	238	4	:	:	PUNCT
ap-7523	238	5	the	the	DET
ap-7523	238	6	rotor	rotor	NOUN
ap-7523	238	7	speed	speed	NOUN
ap-7523	238	8	will	will	AUX
ap-7523	238	9	be	be	AUX
ap-7523	238	10	changed	change	VERB
ap-7523	238	11	to	to	ADP
ap-7523	238	12	12000	12000	NUM
ap-7523	238	13	rpm	rpm	NOUN
ap-7523	238	14	to	to	PART
ap-7523	238	15	evaluate	evaluate	VERB
ap-7523	238	16	the	the	DET
ap-7523	238	17	controllability	controllability	NOUN
ap-7523	238	18	of	of	ADP
ap-7523	238	19	the	the	DET
ap-7523	238	20	controller	controller	NOUN
ap-7523	238	21	when	when	SCONJ
ap-7523	238	22	the	the	DET
ap-7523	238	23	rotor	rotor	NOUN
ap-7523	238	24	is	be	AUX
ap-7523	238	25	in	in	ADP
ap-7523	238	26	the	the	DET
ap-7523	238	27	high	high	ADJ
ap-7523	238	28	-	-	PUNCT
ap-7523	238	29	speed	speed	NOUN
ap-7523	238	30	region	region	NOUN
ap-7523	238	31	,	,	PUNCT
ap-7523	238	32	the	the	DET
ap-7523	238	33	initial	initial	ADJ
ap-7523	238	34	value	value	NOUN
ap-7523	238	35	of	of	ADP
ap-7523	238	36	the	the	DET
ap-7523	238	37	rotor	rotor	NOUN
ap-7523	238	38	’s	’s	PART
ap-7523	238	39	centre	centre	NOUN
ap-7523	238	40	of	of	ADP
ap-7523	238	41	mass	mass	NOUN
ap-7523	238	42	is	be	AUX
ap-7523	238	43	:	:	PUNCT
ap-7523	238	44	x0	x0	PROPN
ap-7523	238	45	=	=	SYM
ap-7523	238	46	0.25.10−3	0.25.10−3	PROPN
ap-7523	238	47	;	;	PUNCT
ap-7523	238	48	y0	y0	NOUN
ap-7523	238	49	=	=	SYM
ap-7523	238	50	0.2.10−3	0.2.10−3	NOUN
ap-7523	238	51	;	;	PUNCT
ap-7523	238	52	z0	z0	PROPN
ap-7523	238	53	=	=	PUNCT
ap-7523	238	54	0.125.10−3	0.125.10−3	NUM
ap-7523	238	55	;	;	PUNCT
ap-7523	238	56	θy	θy	X
ap-7523	238	57	=	=	SYM
ap-7523	238	58	0.1.10−3	0.1.10−3	NUM
ap-7523	238	59	;	;	PUNCT
ap-7523	238	60	θz	θz	NOUN
ap-7523	238	61	=	=	PUNCT
ap-7523	238	62	0.2.10−3	0.2.10−3	PROPN
ap-7523	238	63	.	.	PUNCT
ap-7523	239	1	the	the	DET
ap-7523	239	2	simulation	simulation	NOUN
ap-7523	239	3	results	result	VERB
ap-7523	239	4	on	on	ADP
ap-7523	239	5	the	the	DET
ap-7523	239	6	x	x	PROPN
ap-7523	239	7	,	,	PUNCT
ap-7523	239	8	y	y	PROPN
ap-7523	239	9	,	,	PUNCT
ap-7523	239	10	and	and	CCONJ
ap-7523	239	11	z	z	NOUN
ap-7523	239	12	axes	axis	NOUN
ap-7523	239	13	are	be	AUX
ap-7523	239	14	identical	identical	ADJ
ap-7523	239	15	to	to	ADP
ap-7523	239	16	the	the	DET
ap-7523	239	17	first	first	ADJ
ap-7523	239	18	simulation	simulation	NOUN
ap-7523	239	19	scenario	scenario	NOUN
ap-7523	239	20	,	,	PUNCT
ap-7523	239	21	as	as	SCONJ
ap-7523	239	22	shown	show	VERB
ap-7523	239	23	in	in	ADP
ap-7523	239	24	fig	fig	NOUN
ap-7523	239	25	.	.	PUNCT
ap-7523	240	1	12	12	NUM
ap-7523	240	2	,	,	PUNCT
ap-7523	240	3	where	where	SCONJ
ap-7523	240	4	the	the	DET
ap-7523	240	5	angular	angular	ADJ
ap-7523	240	6	position	position	NOUN
ap-7523	240	7	responses	response	NOUN
ap-7523	240	8	of	of	ADP
ap-7523	240	9	the	the	DET
ap-7523	240	10	axes	axis	NOUN
ap-7523	240	11	θy	θy	VERB
ap-7523	240	12	,	,	PUNCT
ap-7523	240	13	θz	θz	PART
ap-7523	240	14	have	have	VERB
ap-7523	240	15	an	an	DET
ap-7523	240	16	undershoot	undershoot	NOUN
ap-7523	240	17	and	and	CCONJ
ap-7523	240	18	the	the	DET
ap-7523	240	19	response	response	NOUN
ap-7523	240	20	time	time	NOUN
ap-7523	240	21	has	have	AUX
ap-7523	240	22	been	be	AUX
ap-7523	240	23	increased	increase	VERB
ap-7523	240	24	to	to	ADP
ap-7523	240	25	0.2	0.2	NUM
ap-7523	240	26	seconds	second	NOUN
ap-7523	240	27	.	.	PUNCT
ap-7523	241	1	only	only	ADV
ap-7523	241	2	the	the	DET
ap-7523	241	3	θy	θy	PROPN
ap-7523	241	4	and	and	CCONJ
ap-7523	241	5	θz	θz	PROPN
ap-7523	241	6	axes	axis	NOUN
ap-7523	241	7	are	be	AUX
ap-7523	241	8	impacted	impact	VERB
ap-7523	241	9	when	when	SCONJ
ap-7523	241	10	the	the	DET
ap-7523	241	11	rotor	rotor	NOUN
ap-7523	241	12	rotates	rotate	VERB
ap-7523	241	13	at	at	ADP
ap-7523	241	14	high	high	ADJ
ap-7523	241	15	speeds	speed	NOUN
ap-7523	241	16	,	,	PUNCT
ap-7523	241	17	but	but	CCONJ
ap-7523	241	18	it	it	PRON
ap-7523	241	19	soon	soon	ADV
ap-7523	241	20	returns	return	VERB
ap-7523	241	21	to	to	ADP
ap-7523	241	22	equilibrium	equilibrium	NOUN
ap-7523	241	23	.	.	PUNCT
ap-7523	242	1	the	the	DET
ap-7523	242	2	suggested	suggest	VERB
ap-7523	242	3	controller	controller	NOUN
ap-7523	242	4	takes	take	VERB
ap-7523	242	5	into	into	ADP
ap-7523	242	6	account	account	NOUN
ap-7523	242	7	the	the	DET
ap-7523	242	8	rotor	rotor	NOUN
ap-7523	242	9	speed	speed	NOUN
ap-7523	242	10	factor	factor	NOUN
ap-7523	242	11	and	and	CCONJ
ap-7523	242	12	demonstrates	demonstrate	VERB
ap-7523	242	13	its	its	PRON
ap-7523	242	14	capacity	capacity	NOUN
ap-7523	242	15	to	to	PART
ap-7523	242	16	function	function	VERB
ap-7523	242	17	well	well	ADV
ap-7523	242	18	in	in	ADP
ap-7523	242	19	the	the	DET
ap-7523	242	20	high	high	ADJ
ap-7523	242	21	-	-	PUNCT
ap-7523	242	22	speed	speed	NOUN
ap-7523	242	23	region	region	NOUN
ap-7523	242	24	.	.	PUNCT
ap-7523	243	1	figure	figure	VERB
ap-7523	243	2	11	11	NUM
ap-7523	243	3	.	.	PUNCT
ap-7523	244	1	response	response	NOUN
ap-7523	244	2	to	to	ADP
ap-7523	244	3	the	the	DET
ap-7523	244	4	position	position	NOUN
ap-7523	244	5	of	of	ADP
ap-7523	244	6	the	the	DET
ap-7523	244	7	x	x	PROPN
ap-7523	244	8	,	,	PUNCT
ap-7523	244	9	y	y	PROPN
ap-7523	244	10	,	,	PUNCT
ap-7523	244	11	z	z	NOUN
ap-7523	244	12	axes	axis	NOUN
ap-7523	244	13	.	.	PUNCT
ap-7523	245	1	figure	figure	NOUN
ap-7523	245	2	12	12	NUM
ap-7523	245	3	.	.	PUNCT
ap-7523	246	1	the	the	DET
ap-7523	246	2	position	position	NOUN
ap-7523	246	3	of	of	ADP
ap-7523	246	4	the	the	DET
ap-7523	246	5	axis	axis	NOUN
ap-7523	246	6	angle	angle	NOUN
ap-7523	246	7	θy	θy	ADP
ap-7523	246	8	,	,	PUNCT
ap-7523	246	9	θz	θz	NOUN
ap-7523	246	10	.	.	PROPN
ap-7523	246	11	485	485	NUM
ap-7523	246	12	huy	huy	PROPN
ap-7523	246	13	,	,	PUNCT
ap-7523	246	14	minh	minh	PROPN
ap-7523	246	15	,	,	PUNCT
ap-7523	246	16	hieu	hieu	NOUN
ap-7523	246	17	et	et	PROPN
ap-7523	246	18	al	al	PROPN
ap-7523	246	19	.	.	PROPN
ap-7523	247	1	acta	acta	PROPN
ap-7523	247	2	polytechnica	polytechnica	PROPN
ap-7523	247	3	figure	figure	NOUN
ap-7523	247	4	13	13	NUM
ap-7523	247	5	.	.	PUNCT
ap-7523	248	1	control	control	VERB
ap-7523	248	2	current	current	ADJ
ap-7523	248	3	response	response	NOUN
ap-7523	248	4	.	.	PUNCT
ap-7523	249	1	figure	figure	NOUN
ap-7523	249	2	14	14	NUM
ap-7523	249	3	.	.	PUNCT
ap-7523	250	1	impact	impact	NOUN
ap-7523	250	2	force	force	NOUN
ap-7523	250	3	of	of	ADP
ap-7523	250	4	electromagnets	electromagnet	NOUN
ap-7523	250	5	.	.	PUNCT
ap-7523	251	1	5	5	X
ap-7523	251	2	.	.	X
ap-7523	251	3	conclusions	conclusion	NOUN
ap-7523	251	4	in	in	ADP
ap-7523	251	5	the	the	DET
ap-7523	251	6	paper	paper	NOUN
ap-7523	251	7	,	,	PUNCT
ap-7523	251	8	we	we	PRON
ap-7523	251	9	consider	consider	VERB
ap-7523	251	10	the	the	DET
ap-7523	251	11	cone	cone	NOUN
ap-7523	251	12	-	-	PUNCT
ap-7523	251	13	shaped	shape	VERB
ap-7523	251	14	magnetic	magnetic	ADJ
ap-7523	251	15	bearing	bearing	NOUN
ap-7523	251	16	,	,	PUNCT
ap-7523	251	17	which	which	PRON
ap-7523	251	18	is	be	AUX
ap-7523	251	19	characterised	characterise	VERB
ap-7523	251	20	as	as	ADP
ap-7523	251	21	a	a	DET
ap-7523	251	22	class	class	NOUN
ap-7523	251	23	of	of	ADP
ap-7523	251	24	underactuated	underactuated	ADJ
ap-7523	251	25	and	and	CCONJ
ap-7523	251	26	strongly	strongly	ADV
ap-7523	251	27	coupled	couple	VERB
ap-7523	251	28	systems	system	NOUN
ap-7523	251	29	.	.	PUNCT
ap-7523	252	1	based	base	VERB
ap-7523	252	2	on	on	ADP
ap-7523	252	3	control	control	NOUN
ap-7523	252	4	current	current	ADJ
ap-7523	252	5	distribution	distribution	NOUN
ap-7523	252	6	,	,	PUNCT
ap-7523	252	7	the	the	DET
ap-7523	252	8	coupling	coupling	NOUN
ap-7523	252	9	mechanism	mechanism	NOUN
ap-7523	252	10	in	in	ADP
ap-7523	252	11	electrical	electrical	ADJ
ap-7523	252	12	sub	sub	NOUN
ap-7523	252	13	-	-	NOUN
ap-7523	252	14	system	system	NOUN
ap-7523	252	15	is	be	AUX
ap-7523	252	16	solved	solve	VERB
ap-7523	252	17	.	.	PUNCT
ap-7523	253	1	subsequently	subsequently	ADV
ap-7523	253	2	,	,	PUNCT
ap-7523	253	3	an	an	DET
ap-7523	253	4	active	active	ADJ
ap-7523	253	5	disturbance	disturbance	NOUN
ap-7523	253	6	control	control	NOUN
ap-7523	253	7	is	be	AUX
ap-7523	253	8	adopted	adopt	VERB
ap-7523	253	9	to	to	PART
ap-7523	253	10	tackle	tackle	VERB
ap-7523	253	11	the	the	DET
ap-7523	253	12	rotational	rotational	ADJ
ap-7523	253	13	-	-	PUNCT
ap-7523	253	14	motion	motion	NOUN
ap-7523	253	15	-	-	PUNCT
ap-7523	253	16	induced	induce	VERB
ap-7523	253	17	disturbance	disturbance	NOUN
ap-7523	253	18	acting	act	VERB
ap-7523	253	19	on	on	ADP
ap-7523	253	20	the	the	DET
ap-7523	253	21	system	system	NOUN
ap-7523	253	22	.	.	PUNCT
ap-7523	254	1	the	the	DET
ap-7523	254	2	simulations	simulation	NOUN
ap-7523	254	3	are	be	AUX
ap-7523	254	4	carried	carry	VERB
ap-7523	254	5	out	out	ADP
ap-7523	254	6	proving	prove	VERB
ap-7523	254	7	that	that	SCONJ
ap-7523	254	8	the	the	DET
ap-7523	254	9	proposed	propose	VERB
ap-7523	254	10	control	control	NOUN
ap-7523	254	11	can	can	AUX
ap-7523	254	12	effectively	effectively	ADV
ap-7523	254	13	bring	bring	VERB
ap-7523	254	14	the	the	DET
ap-7523	254	15	the	the	DET
ap-7523	254	16	rotor	rotor	NOUN
ap-7523	254	17	to	to	PART
ap-7523	254	18	equilibrium	equilibrium	NOUN
ap-7523	254	19	.	.	PUNCT
ap-7523	255	1	the	the	DET
ap-7523	255	2	results	result	NOUN
ap-7523	255	3	also	also	ADV
ap-7523	255	4	indicate	indicate	VERB
ap-7523	255	5	that	that	SCONJ
ap-7523	255	6	the	the	DET
ap-7523	255	7	coupling	coupling	NOUN
ap-7523	255	8	effects	effect	NOUN
ap-7523	255	9	from	from	ADP
ap-7523	255	10	low	low	ADJ
ap-7523	255	11	to	to	ADP
ap-7523	255	12	high	high	ADJ
ap-7523	255	13	rotational	rotational	ADJ
ap-7523	255	14	speeds	speed	NOUN
ap-7523	255	15	do	do	AUX
ap-7523	255	16	not	not	PART
ap-7523	255	17	have	have	VERB
ap-7523	255	18	a	a	DET
ap-7523	255	19	noticeable	noticeable	ADJ
ap-7523	255	20	impact	impact	NOUN
ap-7523	255	21	on	on	ADP
ap-7523	255	22	the	the	DET
ap-7523	255	23	transnational	transnational	ADJ
ap-7523	255	24	motions	motion	NOUN
ap-7523	255	25	of	of	ADP
ap-7523	255	26	the	the	DET
ap-7523	255	27	rotor	rotor	NOUN
ap-7523	255	28	.	.	PUNCT
ap-7523	256	1	in	in	ADP
ap-7523	256	2	the	the	DET
ap-7523	256	3	future	future	NOUN
ap-7523	256	4	,	,	PUNCT
ap-7523	256	5	experimental	experimental	ADJ
ap-7523	256	6	study	study	NOUN
ap-7523	256	7	will	will	AUX
ap-7523	256	8	be	be	AUX
ap-7523	256	9	carried	carry	VERB
ap-7523	256	10	out	out	ADP
ap-7523	256	11	.	.	PUNCT
ap-7523	257	1	acknowledgements	acknowledgement	NOUN
ap-7523	257	2	this	this	DET
ap-7523	257	3	research	research	NOUN
ap-7523	257	4	is	be	AUX
ap-7523	257	5	funded	fund	VERB
ap-7523	257	6	by	by	ADP
ap-7523	257	7	the	the	DET
ap-7523	257	8	hanoi	hanoi	PROPN
ap-7523	257	9	university	university	PROPN
ap-7523	257	10	of	of	ADP
ap-7523	257	11	science	science	NOUN
ap-7523	257	12	and	and	CCONJ
ap-7523	257	13	technology	technology	NOUN
ap-7523	257	14	(	(	PUNCT
ap-7523	257	15	hust	hust	ADV
ap-7523	257	16	)	)	PUNCT
ap-7523	257	17	under	under	ADP
ap-7523	257	18	project	project	NOUN
ap-7523	257	19	number	number	NOUN
ap-7523	257	20	t2021	t2021	NOUN
ap-7523	257	21	-	-	PUNCT
ap-7523	257	22	pc001	pc001	PROPN
ap-7523	257	23	.	.	PUNCT
ap-7523	257	24	figure	figure	NOUN
ap-7523	257	25	15	15	NUM
ap-7523	257	26	.	.	PUNCT
ap-7523	258	1	velocity	velocity	NOUN
ap-7523	258	2	deviation	deviation	NOUN
ap-7523	258	3	of	of	ADP
ap-7523	258	4	x	x	PROPN
ap-7523	258	5	,	,	PUNCT
ap-7523	258	6	y	y	PROPN
ap-7523	258	7	,	,	PUNCT
ap-7523	258	8	z	z	NOUN
ap-7523	258	9	axes	axis	NOUN
ap-7523	258	10	according	accord	VERB
ap-7523	258	11	to	to	ADP
ap-7523	258	12	observer	observer	PROPN
ap-7523	258	13	.	.	PUNCT
ap-7523	259	1	figure	figure	NOUN
ap-7523	259	2	16	16	NUM
ap-7523	259	3	.	.	PUNCT
ap-7523	260	1	velocity	velocity	NOUN
ap-7523	260	2	deviation	deviation	NOUN
ap-7523	260	3	of	of	ADP
ap-7523	260	4	θy	θy	NOUN
ap-7523	260	5	,	,	PUNCT
ap-7523	260	6	θz	θz	ADP
ap-7523	260	7	axes	axis	NOUN
ap-7523	260	8	according	accord	VERB
ap-7523	260	9	to	to	ADP
ap-7523	260	10	observer	observer	NOUN
ap-7523	260	11	.	.	PUNCT
ap-7523	261	1	references	reference	NOUN
ap-7523	261	2	[	[	X
ap-7523	261	3	1	1	NUM
ap-7523	261	4	]	]	PUNCT
ap-7523	261	5	c.	c.	PROPN
ap-7523	261	6	r.	r.	PROPN
ap-7523	261	7	knospe	knospe	PROPN
ap-7523	261	8	.	.	PUNCT
ap-7523	262	1	active	active	ADJ
ap-7523	262	2	magnetic	magnetic	ADJ
ap-7523	262	3	bearings	bearing	NOUN
ap-7523	262	4	for	for	ADP
ap-7523	262	5	machining	machining	NOUN
ap-7523	262	6	applications	application	NOUN
ap-7523	262	7	.	.	PUNCT
ap-7523	263	1	control	control	NOUN
ap-7523	263	2	engineering	engineering	NOUN
ap-7523	263	3	practice	practice	NOUN
ap-7523	263	4	15(3):307–313	15(3):307–313	NUM
ap-7523	263	5	,	,	PUNCT
ap-7523	263	6	2007	2007	NUM
ap-7523	263	7	.	.	PUNCT
ap-7523	264	1	https://doi.org/10.1016/j.conengprac.2005.12.002	https://doi.org/10.1016/j.conengprac.2005.12.002	NOUN
ap-7523	264	2	.	.	PUNCT
ap-7523	265	1	[	[	X
ap-7523	265	2	2	2	NUM
ap-7523	265	3	]	]	PUNCT
ap-7523	265	4	w.	w.	PROPN
ap-7523	265	5	ding	ding	PROPN
ap-7523	265	6	,	,	PUNCT
ap-7523	265	7	l.	l.	PROPN
ap-7523	265	8	liu	liu	PROPN
ap-7523	265	9	,	,	PUNCT
ap-7523	265	10	j.	j.	PROPN
ap-7523	265	11	lou	lou	PROPN
ap-7523	265	12	.	.	PUNCT
ap-7523	266	1	design	design	NOUN
ap-7523	266	2	and	and	CCONJ
ap-7523	266	3	control	control	NOUN
ap-7523	266	4	of	of	ADP
ap-7523	266	5	a	a	DET
ap-7523	266	6	high	high	ADJ
ap-7523	266	7	-	-	PUNCT
ap-7523	266	8	speed	speed	NOUN
ap-7523	266	9	switched	switch	VERB
ap-7523	266	10	reluctance	reluctance	NOUN
ap-7523	266	11	machine	machine	NOUN
ap-7523	266	12	with	with	ADP
ap-7523	266	13	conical	conical	ADJ
ap-7523	266	14	magnetic	magnetic	ADJ
ap-7523	266	15	bearings	bearing	NOUN
ap-7523	266	16	for	for	ADP
ap-7523	266	17	aircraft	aircraft	NOUN
ap-7523	266	18	application	application	NOUN
ap-7523	266	19	.	.	PUNCT
ap-7523	267	1	iet	iet	PROPN
ap-7523	267	2	electric	electric	PROPN
ap-7523	267	3	power	power	PROPN
ap-7523	267	4	applications	application	NOUN
ap-7523	267	5	7(3):179–190	7(3):179–190	NUM
ap-7523	267	6	,	,	PUNCT
ap-7523	267	7	2013	2013	NUM
ap-7523	267	8	.	.	PUNCT
ap-7523	268	1	https://doi.org/10.1049/iet-epa.2012.0319	https://doi.org/10.1049/iet-epa.2012.0319	PROPN
ap-7523	268	2	.	.	PUNCT
ap-7523	269	1	[	[	X
ap-7523	269	2	3	3	X
ap-7523	269	3	]	]	X
ap-7523	269	4	p.	p.	NOUN
ap-7523	269	5	imoberdorf	imoberdorf	PROPN
ap-7523	269	6	,	,	PUNCT
ap-7523	269	7	c.	c.	PROPN
ap-7523	269	8	zwyssig	zwyssig	PROPN
ap-7523	269	9	,	,	PUNCT
ap-7523	269	10	s.	s.	PROPN
ap-7523	269	11	d.	d.	PROPN
ap-7523	269	12	round	round	PROPN
ap-7523	269	13	,	,	PUNCT
ap-7523	269	14	j.	j.	PROPN
ap-7523	269	15	kolar	kolar	PROPN
ap-7523	269	16	.	.	PUNCT
ap-7523	269	17	combined	combine	VERB
ap-7523	269	18	radial	radial	ADJ
ap-7523	269	19	-	-	PUNCT
ap-7523	269	20	axial	axial	ADJ
ap-7523	269	21	magnetic	magnetic	ADJ
ap-7523	269	22	bearing	bearing	NOUN
ap-7523	269	23	for	for	ADP
ap-7523	269	24	a	a	DET
ap-7523	269	25	1	1	NUM
ap-7523	269	26	kw	kw	NOUN
ap-7523	269	27	,	,	PUNCT
ap-7523	269	28	500,000	500,000	NUM
ap-7523	269	29	rpm	rpm	ADJ
ap-7523	269	30	permanent	permanent	ADJ
ap-7523	269	31	magnet	magnet	NOUN
ap-7523	269	32	machine	machine	NOUN
ap-7523	269	33	.	.	PUNCT
ap-7523	270	1	in	in	ADP
ap-7523	270	2	apec	apec	PROPN
ap-7523	270	3	07	07	NUM
ap-7523	270	4	twenty	twenty	NUM
ap-7523	270	5	-	-	PUNCT
ap-7523	270	6	second	second	NOUN
ap-7523	270	7	annual	annual	ADJ
ap-7523	270	8	ieee	ieee	NOUN
ap-7523	270	9	applied	apply	VERB
ap-7523	270	10	power	power	NOUN
ap-7523	270	11	electronics	electronic	NOUN
ap-7523	270	12	conference	conference	NOUN
ap-7523	270	13	and	and	CCONJ
ap-7523	270	14	exposition	exposition	NOUN
ap-7523	270	15	,	,	PUNCT
ap-7523	270	16	pp	pp	ADJ
ap-7523	270	17	.	.	PUNCT
ap-7523	271	1	1434–1440	1434–1440	NUM
ap-7523	271	2	.	.	NOUN
ap-7523	271	3	2007	2007	NUM
ap-7523	271	4	.	.	PUNCT
ap-7523	272	1	https://doi.org/10.1109/apex.2007.357705	https://doi.org/10.1109/apex.2007.357705	PROPN
ap-7523	272	2	.	.	PUNCT
ap-7523	273	1	[	[	X
ap-7523	273	2	4	4	X
ap-7523	273	3	]	]	PUNCT
ap-7523	273	4	j.	j.	PROPN
ap-7523	273	5	x.	x.	PROPN
ap-7523	273	6	shen	shen	PROPN
ap-7523	273	7	,	,	PUNCT
ap-7523	273	8	k.	k.	PROPN
ap-7523	273	9	j.	j.	PROPN
ap-7523	273	10	tseng	tseng	PROPN
ap-7523	273	11	,	,	PUNCT
ap-7523	273	12	d.	d.	PROPN
ap-7523	273	13	m.	m.	PROPN
ap-7523	273	14	vilathgamuwa	vilathgamuwa	PROPN
ap-7523	273	15	.	.	PUNCT
ap-7523	274	1	a	a	DET
ap-7523	274	2	novel	novel	ADJ
ap-7523	274	3	compact	compact	ADJ
ap-7523	274	4	pmsm	pmsm	NOUN
ap-7523	274	5	with	with	ADP
ap-7523	274	6	magnetic	magnetic	ADJ
ap-7523	274	7	bearing	bearing	NOUN
ap-7523	274	8	for	for	ADP
ap-7523	274	9	artificial	artificial	ADJ
ap-7523	274	10	heart	heart	NOUN
ap-7523	274	11	application	application	NOUN
ap-7523	274	12	.	.	PUNCT
ap-7523	275	1	ieee	ieee	NOUN
ap-7523	275	2	transactions	transaction	NOUN
ap-7523	275	3	on	on	ADP
ap-7523	275	4	industry	industry	NOUN
ap-7523	275	5	applications	application	NOUN
ap-7523	275	6	36(4):1061–1068	36(4):1061–1068	NUM
ap-7523	275	7	,	,	PUNCT
ap-7523	275	8	2000	2000	NUM
ap-7523	275	9	.	.	PUNCT
ap-7523	276	1	https://doi.org/10.1109/28.855961	https://doi.org/10.1109/28.855961	PROPN
ap-7523	276	2	.	.	PUNCT
ap-7523	277	1	[	[	X
ap-7523	277	2	5	5	X
ap-7523	277	3	]	]	PUNCT
ap-7523	277	4	m.	m.	PROPN
ap-7523	277	5	d.	d.	PROPN
ap-7523	277	6	noh	noh	PROPN
ap-7523	277	7	,	,	PUNCT
ap-7523	277	8	s.	s.	PROPN
ap-7523	277	9	r.	r.	PROPN
ap-7523	277	10	cho	cho	PROPN
ap-7523	277	11	,	,	PUNCT
ap-7523	277	12	j.	j.	PROPN
ap-7523	277	13	h.	h.	PROPN
ap-7523	277	14	kyung	kyung	PROPN
ap-7523	277	15	,	,	PUNCT
ap-7523	277	16	et	et	PROPN
ap-7523	277	17	al	al	PROPN
ap-7523	277	18	.	.	PROPN
ap-7523	277	19	design	design	NOUN
ap-7523	277	20	and	and	CCONJ
ap-7523	277	21	implementation	implementation	NOUN
ap-7523	277	22	of	of	ADP
ap-7523	277	23	a	a	DET
ap-7523	277	24	fault	fault	NOUN
ap-7523	277	25	-	-	PUNCT
ap-7523	277	26	tolerant	tolerant	ADJ
ap-7523	277	27	magnetic	magnetic	ADJ
ap-7523	277	28	bearing	bear	VERB
ap-7523	277	29	486	486	NUM
ap-7523	277	30	https://doi.org/10.1016/j.conengprac.2005.12.002	https://doi.org/10.1016/j.conengprac.2005.12.002	ADJ
ap-7523	277	31	https://doi.org/10.1049/iet-epa.2012.0319	https://doi.org/10.1049/iet-epa.2012.0319	PROPN
ap-7523	277	32	https://doi.org/10.1109/apex.2007.357705	https://doi.org/10.1109/apex.2007.357705	PROPN
ap-7523	277	33	https://doi.org/10.1109/28.855961	https://doi.org/10.1109/28.855961	NOUN
ap-7523	277	34	vol	vol	NOUN
ap-7523	277	35	.	.	PROPN
ap-7523	277	36	62	62	NUM
ap-7523	278	1	no	no	INTJ
ap-7523	278	2	.	.	PUNCT
ap-7523	279	1	4/2022	4/2022	PROPN
ap-7523	279	2	active	active	ADJ
ap-7523	279	3	disturbance	disturbance	NOUN
ap-7523	279	4	rejection	rejection	NOUN
ap-7523	279	5	control	control	NOUN
ap-7523	279	6	-	-	PUNCT
ap-7523	279	7	based	base	VERB
ap-7523	279	8	.	.	PUNCT
ap-7523	279	9	.	.	PUNCT
ap-7523	279	10	.	.	PUNCT
ap-7523	280	1	system	system	NOUN
ap-7523	280	2	for	for	ADP
ap-7523	280	3	turbo	turbo	NOUN
ap-7523	280	4	-	-	PUNCT
ap-7523	280	5	molecular	molecular	ADJ
ap-7523	280	6	vacuum	vacuum	NOUN
ap-7523	280	7	pump	pump	NOUN
ap-7523	280	8	.	.	PUNCT
ap-7523	281	1	ieee	ieee	PROPN
ap-7523	281	2	/	/	SYM
ap-7523	281	3	asme	asme	PROPN
ap-7523	281	4	transactions	transaction	NOUN
ap-7523	281	5	on	on	ADP
ap-7523	281	6	mechatronics	mechatronic	NOUN
ap-7523	281	7	10(6):626–631	10(6):626–631	NUM
ap-7523	281	8	,	,	PUNCT
ap-7523	281	9	2005	2005	NUM
ap-7523	281	10	.	.	PUNCT
ap-7523	282	1	https://doi.org/10.1109/tmech.2005.859830	https://doi.org/10.1109/tmech.2005.859830	PROPN
ap-7523	282	2	.	.	PUNCT
ap-7523	283	1	[	[	X
ap-7523	283	2	6	6	NUM
ap-7523	283	3	]	]	PUNCT
ap-7523	283	4	b.	b.	PROPN
ap-7523	283	5	han	han	PROPN
ap-7523	283	6	,	,	PUNCT
ap-7523	283	7	s.	s.	PROPN
ap-7523	283	8	zheng	zheng	PROPN
ap-7523	283	9	,	,	PUNCT
ap-7523	283	10	y.	y.	PROPN
ap-7523	283	11	le	le	PROPN
ap-7523	283	12	,	,	PUNCT
ap-7523	283	13	s.	s.	PROPN
ap-7523	283	14	xu	xu	PROPN
ap-7523	283	15	.	.	PUNCT
ap-7523	284	1	modeling	modeling	NOUN
ap-7523	284	2	and	and	CCONJ
ap-7523	284	3	analysis	analysis	NOUN
ap-7523	284	4	of	of	ADP
ap-7523	284	5	coupling	couple	VERB
ap-7523	284	6	performance	performance	NOUN
ap-7523	284	7	between	between	ADP
ap-7523	284	8	passive	passive	ADJ
ap-7523	284	9	magnetic	magnetic	ADJ
ap-7523	284	10	bearing	bearing	NOUN
ap-7523	284	11	and	and	CCONJ
ap-7523	284	12	hybrid	hybrid	NOUN
ap-7523	284	13	magnetic	magnetic	ADJ
ap-7523	284	14	radial	radial	ADJ
ap-7523	284	15	bearing	bearing	NOUN
ap-7523	284	16	for	for	ADP
ap-7523	284	17	magnetically	magnetically	ADV
ap-7523	284	18	suspended	suspend	VERB
ap-7523	284	19	flywheel	flywheel	NOUN
ap-7523	284	20	.	.	PUNCT
ap-7523	285	1	ieee	ieee	NOUN
ap-7523	285	2	transactions	transaction	NOUN
ap-7523	285	3	on	on	ADP
ap-7523	285	4	magnetics	magnetic	NOUN
ap-7523	285	5	49(10):5356–5370	49(10):5356–5370	NUM
ap-7523	285	6	,	,	PUNCT
ap-7523	285	7	2013	2013	NUM
ap-7523	285	8	.	.	PUNCT
ap-7523	286	1	https://doi.org/10.1109/tmag.2013.2263284	https://doi.org/10.1109/tmag.2013.2263284	PROPN
ap-7523	286	2	.	.	PUNCT
ap-7523	287	1	[	[	X
ap-7523	287	2	7	7	X
ap-7523	287	3	]	]	X
ap-7523	287	4	d.	d.	PROPN
ap-7523	287	5	h.	h.	PROPN
ap-7523	287	6	nguyen	nguyen	PROPN
ap-7523	287	7	,	,	PUNCT
ap-7523	287	8	m.	m.	PROPN
ap-7523	287	9	l.	l.	PROPN
ap-7523	287	10	nguyen	nguyen	PROPN
ap-7523	287	11	,	,	PUNCT
ap-7523	287	12	t.	t.	PROPN
ap-7523	287	13	l.	l.	PROPN
ap-7523	287	14	nguyen	nguyen	PROPN
ap-7523	287	15	.	.	PUNCT
ap-7523	288	1	decoupling	decouple	VERB
ap-7523	288	2	control	control	NOUN
ap-7523	288	3	of	of	ADP
ap-7523	288	4	a	a	DET
ap-7523	288	5	disc	disc	NOUN
ap-7523	288	6	-	-	PUNCT
ap-7523	288	7	type	type	NOUN
ap-7523	288	8	rotor	rotor	NOUN
ap-7523	288	9	magnetic	magnetic	ADJ
ap-7523	288	10	bearing	bearing	NOUN
ap-7523	288	11	.	.	PUNCT
ap-7523	289	1	the	the	DET
ap-7523	289	2	international	international	ADJ
ap-7523	289	3	journal	journal	NOUN
ap-7523	289	4	of	of	ADP
ap-7523	289	5	integrated	integrate	VERB
ap-7523	289	6	engineering	engineering	NOUN
ap-7523	289	7	13(5):247–261	13(5):247–261	NUM
ap-7523	289	8	,	,	PUNCT
ap-7523	289	9	2021	2021	NUM
ap-7523	289	10	.	.	PUNCT
ap-7523	290	1	https://doi.org/10.30880/ijie.2021.13.05.026	https://doi.org/10.30880/ijie.2021.13.05.026	X
ap-7523	290	2	.	.	PUNCT
ap-7523	291	1	[	[	X
ap-7523	291	2	8	8	NUM
ap-7523	291	3	]	]	PUNCT
ap-7523	291	4	a.	a.	NOUN
ap-7523	291	5	h.	h.	PROPN
ap-7523	291	6	slocum	slocum	PROPN
ap-7523	291	7	.	.	PUNCT
ap-7523	292	1	introduction	introduction	NOUN
ap-7523	292	2	to	to	AUX
ap-7523	292	3	precision	precision	NOUN
ap-7523	292	4	machine	machine	NOUN
ap-7523	292	5	design	design	NOUN
ap-7523	292	6	.	.	PUNCT
ap-7523	293	1	precision	precision	NOUN
ap-7523	293	2	machine	machine	NOUN
ap-7523	293	3	design	design	NOUN
ap-7523	293	4	pp	pp	NOUN
ap-7523	293	5	.	.	PUNCT
ap-7523	294	1	390–399	390–399	NUM
ap-7523	294	2	,	,	PUNCT
ap-7523	294	3	1992	1992	NUM
ap-7523	294	4	.	.	PUNCT
ap-7523	295	1	[	[	X
ap-7523	295	2	9	9	NUM
ap-7523	295	3	]	]	PUNCT
ap-7523	295	4	h.	h.	PROPN
ap-7523	295	5	s.	s.	PROPN
ap-7523	295	6	jeong	jeong	PROPN
ap-7523	295	7	,	,	PUNCT
ap-7523	295	8	c.	c.	PROPN
ap-7523	295	9	s.	s.	PROPN
ap-7523	295	10	kim	kim	PROPN
ap-7523	295	11	.	.	PUNCT
ap-7523	296	1	modeling	modeling	NOUN
ap-7523	296	2	and	and	CCONJ
ap-7523	296	3	control	control	NOUN
ap-7523	296	4	of	of	ADP
ap-7523	296	5	active	active	ADJ
ap-7523	296	6	magnetic	magnetic	ADJ
ap-7523	296	7	bearings	bearing	NOUN
ap-7523	296	8	,	,	PUNCT
ap-7523	296	9	1994	1994	NUM
ap-7523	296	10	.	.	PUNCT
ap-7523	297	1	[	[	X
ap-7523	297	2	10	10	NUM
ap-7523	297	3	]	]	PUNCT
ap-7523	297	4	s.	s.	PROPN
ap-7523	297	5	xu	xu	PROPN
ap-7523	297	6	,	,	PUNCT
ap-7523	297	7	j.	j.	PROPN
ap-7523	297	8	fang	fang	PROPN
ap-7523	297	9	.	.	PUNCT
ap-7523	298	1	a	a	DET
ap-7523	298	2	novel	novel	ADJ
ap-7523	298	3	conical	conical	NOUN
ap-7523	298	4	active	active	ADJ
ap-7523	298	5	magnetic	magnetic	ADJ
ap-7523	298	6	bearing	bearing	NOUN
ap-7523	298	7	with	with	ADP
ap-7523	298	8	claw	claw	NOUN
ap-7523	298	9	structure	structure	NOUN
ap-7523	298	10	.	.	PUNCT
ap-7523	299	1	ieee	ieee	NOUN
ap-7523	299	2	transactions	transaction	NOUN
ap-7523	299	3	on	on	ADP
ap-7523	299	4	magnetics	magnetic	NOUN
ap-7523	299	5	50(5	50(5	NUM
ap-7523	299	6	)	)	PUNCT
ap-7523	299	7	,	,	PUNCT
ap-7523	299	8	2014	2014	NUM
ap-7523	299	9	.	.	PUNCT
ap-7523	300	1	https://doi.org/10.1109/tmag.2013.2295060	https://doi.org/10.1109/tmag.2013.2295060	NOUN
ap-7523	300	2	.	.	PUNCT
ap-7523	301	1	[	[	X
ap-7523	301	2	11	11	NUM
ap-7523	301	3	]	]	PUNCT
ap-7523	301	4	a.	a.	PROPN
ap-7523	301	5	mohamed	mohamed	PROPN
ap-7523	301	6	,	,	PUNCT
ap-7523	301	7	f.	f.	PROPN
ap-7523	301	8	emad	emad	PROPN
ap-7523	301	9	.	.	PUNCT
ap-7523	302	1	conical	conical	PROPN
ap-7523	302	2	magnetic	magnetic	ADJ
ap-7523	302	3	bearings	bearing	NOUN
ap-7523	302	4	with	with	ADP
ap-7523	302	5	radial	radial	ADJ
ap-7523	302	6	and	and	CCONJ
ap-7523	302	7	thrust	thrust	VERB
ap-7523	302	8	control	control	NOUN
ap-7523	302	9	.	.	PUNCT
ap-7523	303	1	in	in	ADP
ap-7523	303	2	proceedings	proceeding	NOUN
ap-7523	303	3	of	of	ADP
ap-7523	303	4	the	the	DET
ap-7523	303	5	28th	28th	ADJ
ap-7523	303	6	ieee	ieee	NOUN
ap-7523	303	7	conference	conference	NOUN
ap-7523	303	8	on	on	ADP
ap-7523	303	9	decision	decision	NOUN
ap-7523	303	10	and	and	CCONJ
ap-7523	303	11	control	control	NOUN
ap-7523	303	12	,	,	PUNCT
ap-7523	303	13	pp	pp	ADP
ap-7523	303	14	.	.	PUNCT
ap-7523	304	1	554–561	554–561	NUM
ap-7523	304	2	.	.	PUNCT
ap-7523	305	1	1989	1989	NUM
ap-7523	305	2	.	.	PUNCT
ap-7523	306	1	https://doi.org/10.1109/cdc.1989.70176	https://doi.org/10.1109/cdc.1989.70176	NOUN
ap-7523	306	2	.	.	PUNCT
ap-7523	307	1	[	[	X
ap-7523	307	2	12	12	NUM
ap-7523	307	3	]	]	X
ap-7523	307	4	c.	c.	PROPN
ap-7523	307	5	w.	w.	PROPN
ap-7523	307	6	lee	lee	PROPN
ap-7523	307	7	,	,	PUNCT
ap-7523	307	8	h.	h.	PROPN
ap-7523	307	9	s.	s.	PROPN
ap-7523	307	10	jeong	jeong	PROPN
ap-7523	307	11	.	.	PUNCT
ap-7523	308	1	dynamic	dynamic	ADJ
ap-7523	308	2	modeling	modeling	NOUN
ap-7523	308	3	and	and	CCONJ
ap-7523	308	4	optimal	optimal	ADJ
ap-7523	308	5	control	control	NOUN
ap-7523	308	6	of	of	ADP
ap-7523	308	7	cone	cone	NOUN
ap-7523	308	8	-	-	PUNCT
ap-7523	308	9	shaped	shape	VERB
ap-7523	308	10	active	active	ADJ
ap-7523	308	11	magnetic	magnetic	ADJ
ap-7523	308	12	bearing	bearing	NOUN
ap-7523	308	13	systems	system	NOUN
ap-7523	308	14	.	.	PUNCT
ap-7523	309	1	control	control	NOUN
ap-7523	309	2	engineering	engineering	NOUN
ap-7523	309	3	practice	practice	NOUN
ap-7523	309	4	4(10):1393–1403	4(10):1393–1403	NOUN
ap-7523	309	5	,	,	PUNCT
ap-7523	309	6	1996	1996	NUM
ap-7523	309	7	.	.	PUNCT
ap-7523	310	1	https://doi.org/10.1016/0967-0661(96)00149-9	https://doi.org/10.1016/0967-0661(96)00149-9	X
ap-7523	310	2	.	.	PUNCT
ap-7523	311	1	[	[	X
ap-7523	311	2	13	13	NUM
ap-7523	311	3	]	]	PUNCT
ap-7523	311	4	j.	j.	PROPN
ap-7523	311	5	fang	fang	PROPN
ap-7523	311	6	,	,	PUNCT
ap-7523	311	7	c.	c.	PROPN
ap-7523	311	8	wang	wang	PROPN
ap-7523	311	9	,	,	PUNCT
ap-7523	311	10	j.	j.	PROPN
ap-7523	311	11	tang	tang	PROPN
ap-7523	311	12	.	.	PUNCT
ap-7523	312	1	modeling	modeling	NOUN
ap-7523	312	2	and	and	CCONJ
ap-7523	312	3	analysis	analysis	NOUN
ap-7523	312	4	of	of	ADP
ap-7523	312	5	a	a	DET
ap-7523	312	6	novel	novel	ADJ
ap-7523	312	7	conical	conical	NOUN
ap-7523	312	8	magnetic	magnetic	ADJ
ap-7523	312	9	bearing	bearing	NOUN
ap-7523	312	10	for	for	ADP
ap-7523	312	11	vernier	vernier	NOUN
ap-7523	312	12	-	-	PUNCT
ap-7523	312	13	gimballing	gimballe	VERB
ap-7523	312	14	magnetically	magnetically	ADV
ap-7523	312	15	suspended	suspend	VERB
ap-7523	312	16	flywheel	flywheel	NOUN
ap-7523	312	17	.	.	PUNCT
ap-7523	313	1	proceedings	proceeding	NOUN
ap-7523	313	2	of	of	ADP
ap-7523	313	3	the	the	DET
ap-7523	313	4	institution	institution	NOUN
ap-7523	313	5	of	of	ADP
ap-7523	313	6	mechanical	mechanical	ADJ
ap-7523	313	7	engineers	engineer	NOUN
ap-7523	313	8	,	,	PUNCT
ap-7523	313	9	part	part	NOUN
ap-7523	313	10	c	c	NOUN
ap-7523	313	11	:	:	PUNCT
ap-7523	313	12	journal	journal	NOUN
ap-7523	313	13	of	of	ADP
ap-7523	313	14	mechanical	mechanical	ADJ
ap-7523	313	15	engineering	engineering	NOUN
ap-7523	313	16	science	science	NOUN
ap-7523	313	17	228(13):2416–2425	228(13):2416–2425	NUM
ap-7523	313	18	,	,	PUNCT
ap-7523	313	19	2014	2014	NUM
ap-7523	313	20	.	.	PUNCT
ap-7523	314	1	https://doi.org/10.1177/0954406213517488	https://doi.org/10.1177/0954406213517488	NOUN
ap-7523	314	2	.	.	PUNCT
ap-7523	315	1	[	[	X
ap-7523	315	2	14	14	NUM
ap-7523	315	3	]	]	PUNCT
ap-7523	315	4	s.	s.	PROPN
ap-7523	315	5	j.	j.	PROPN
ap-7523	315	6	huang	huang	PROPN
ap-7523	315	7	,	,	PUNCT
ap-7523	315	8	l.	l.	PROPN
ap-7523	315	9	c.	c.	PROPN
ap-7523	315	10	lin	lin	PROPN
ap-7523	315	11	.	.	PUNCT
ap-7523	316	1	fuzzy	fuzzy	ADJ
ap-7523	316	2	modeling	modeling	NOUN
ap-7523	316	3	and	and	CCONJ
ap-7523	316	4	control	control	NOUN
ap-7523	316	5	for	for	ADP
ap-7523	316	6	conical	conical	ADJ
ap-7523	316	7	magnetic	magnetic	ADJ
ap-7523	316	8	bearings	bearing	NOUN
ap-7523	316	9	using	use	VERB
ap-7523	316	10	linear	linear	ADJ
ap-7523	316	11	matrix	matrix	NOUN
ap-7523	316	12	inequality	inequality	NOUN
ap-7523	316	13	.	.	PUNCT
ap-7523	317	1	journal	journal	NOUN
ap-7523	317	2	of	of	ADP
ap-7523	317	3	intelligent	intelligent	ADJ
ap-7523	317	4	and	and	CCONJ
ap-7523	317	5	robotic	robotic	ADJ
ap-7523	317	6	systems	system	NOUN
ap-7523	317	7	:	:	PUNCT
ap-7523	317	8	theory	theory	NOUN
ap-7523	317	9	and	and	CCONJ
ap-7523	317	10	applications	application	NOUN
ap-7523	317	11	37(2):209–232	37(2):209–232	PROPN
ap-7523	317	12	,	,	PUNCT
ap-7523	317	13	2003	2003	NUM
ap-7523	317	14	.	.	PUNCT
ap-7523	318	1	https://doi.org/10.1023/a:1024137007918	https://doi.org/10.1023/a:1024137007918	NOUN
ap-7523	318	2	.	.	PUNCT
ap-7523	319	1	[	[	X
ap-7523	319	2	15	15	NUM
ap-7523	319	3	]	]	X
ap-7523	319	4	e.	e.	PROPN
ap-7523	319	5	e.	e.	PROPN
ap-7523	319	6	ovsyannikova	ovsyannikova	PROPN
ap-7523	319	7	,	,	PUNCT
ap-7523	319	8	a.	a.	NOUN
ap-7523	319	9	m.	m.	PROPN
ap-7523	319	10	gus’kov	gus’kov	PROPN
ap-7523	319	11	.	.	PUNCT
ap-7523	320	1	stabilization	stabilization	NOUN
ap-7523	320	2	of	of	ADP
ap-7523	320	3	a	a	DET
ap-7523	320	4	rigid	rigid	ADJ
ap-7523	320	5	rotor	rotor	NOUN
ap-7523	320	6	in	in	ADP
ap-7523	320	7	conical	conical	ADJ
ap-7523	320	8	magnetic	magnetic	ADJ
ap-7523	320	9	bearings	bearing	NOUN
ap-7523	320	10	.	.	PUNCT
ap-7523	321	1	journal	journal	PROPN
ap-7523	321	2	of	of	ADP
ap-7523	321	3	machinery	machinery	NOUN
ap-7523	321	4	manufacture	manufacture	NOUN
ap-7523	321	5	and	and	CCONJ
ap-7523	321	6	reliability	reliability	NOUN
ap-7523	321	7	49(1):8–15	49(1):8–15	NUM
ap-7523	321	8	,	,	PUNCT
ap-7523	321	9	2020	2020	NUM
ap-7523	321	10	.	.	PUNCT
ap-7523	322	1	https://doi.org/10.3103/s1052618820010100	https://doi.org/10.3103/s1052618820010100	NUM
ap-7523	322	2	.	.	PUNCT
ap-7523	323	1	[	[	X
ap-7523	323	2	16	16	NUM
ap-7523	323	3	]	]	X
ap-7523	323	4	d.	d.	PROPN
ap-7523	323	5	h.	h.	PROPN
ap-7523	323	6	nguyen	nguyen	PROPN
ap-7523	323	7	,	,	PUNCT
ap-7523	323	8	t.	t.	PROPN
ap-7523	323	9	l.	l.	PROPN
ap-7523	323	10	nguyen	nguyen	PROPN
ap-7523	323	11	,	,	PUNCT
ap-7523	323	12	m.	m.	PROPN
ap-7523	323	13	l.	l.	PROPN
ap-7523	323	14	nguyen	nguyen	PROPN
ap-7523	323	15	,	,	PUNCT
ap-7523	323	16	h.	h.	PROPN
ap-7523	323	17	p.	p.	PROPN
ap-7523	323	18	nguyen	nguyen	PROPN
ap-7523	323	19	.	.	PUNCT
ap-7523	324	1	nonlinear	nonlinear	ADJ
ap-7523	324	2	control	control	NOUN
ap-7523	324	3	of	of	ADP
ap-7523	324	4	an	an	DET
ap-7523	324	5	active	active	ADJ
ap-7523	324	6	magnetic	magnetic	ADJ
ap-7523	324	7	bearing	bearing	NOUN
ap-7523	324	8	with	with	ADP
ap-7523	324	9	output	output	NOUN
ap-7523	324	10	constraint	constraint	NOUN
ap-7523	324	11	.	.	PUNCT
ap-7523	325	1	international	international	ADJ
ap-7523	325	2	journal	journal	NOUN
ap-7523	325	3	of	of	ADP
ap-7523	325	4	electrical	electrical	ADJ
ap-7523	325	5	and	and	CCONJ
ap-7523	325	6	computer	computer	NOUN
ap-7523	325	7	engineering	engineering	NOUN
ap-7523	325	8	(	(	PUNCT
ap-7523	325	9	ijece	ijece	PROPN
ap-7523	325	10	)	)	PUNCT
ap-7523	325	11	8(5):3666	8(5):3666	NUM
ap-7523	325	12	,	,	PUNCT
ap-7523	325	13	2019	2019	NUM
ap-7523	325	14	.	.	PUNCT
ap-7523	326	1	https://doi.org/10.11591/ijece.v8i5.pp3666-3677	https://doi.org/10.11591/ijece.v8i5.pp3666-3677	ADJ
ap-7523	326	2	.	.	PUNCT
ap-7523	327	1	[	[	X
ap-7523	327	2	17	17	NUM
ap-7523	327	3	]	]	X
ap-7523	327	4	d.	d.	PROPN
ap-7523	327	5	h.	h.	PROPN
ap-7523	327	6	nguyen	nguyen	PROPN
ap-7523	327	7	,	,	PUNCT
ap-7523	327	8	t.	t.	PROPN
ap-7523	327	9	l.	l.	PROPN
ap-7523	327	10	nguyen	nguyen	PROPN
ap-7523	327	11	,	,	PUNCT
ap-7523	327	12	d.	d.	PROPN
ap-7523	327	13	c.	c.	PROPN
ap-7523	327	14	hoang	hoang	PROPN
ap-7523	327	15	.	.	PUNCT
ap-7523	328	1	a	a	DET
ap-7523	328	2	non	non	ADJ
ap-7523	328	3	-	-	ADJ
ap-7523	328	4	linear	linear	ADJ
ap-7523	328	5	control	control	NOUN
ap-7523	328	6	method	method	NOUN
ap-7523	328	7	for	for	ADP
ap-7523	328	8	active	active	ADJ
ap-7523	328	9	magnetic	magnetic	ADJ
ap-7523	328	10	bearings	bearing	NOUN
ap-7523	328	11	with	with	ADP
ap-7523	328	12	bounded	bounded	ADJ
ap-7523	328	13	input	input	NOUN
ap-7523	328	14	and	and	CCONJ
ap-7523	328	15	output	output	NOUN
ap-7523	328	16	.	.	PUNCT
ap-7523	329	1	international	international	ADJ
ap-7523	329	2	journal	journal	PROPN
ap-7523	329	3	of	of	ADP
ap-7523	329	4	power	power	NOUN
ap-7523	329	5	electronics	electronic	NOUN
ap-7523	329	6	and	and	CCONJ
ap-7523	329	7	drive	drive	NOUN
ap-7523	329	8	systems	system	NOUN
ap-7523	329	9	11(4):2154–2163	11(4):2154–2163	NUM
ap-7523	329	10	,	,	PUNCT
ap-7523	329	11	2020	2020	NUM
ap-7523	329	12	.	.	PUNCT
ap-7523	330	1	https	https	NOUN
ap-7523	330	2	:	:	PUNCT
ap-7523	330	3	//doi.org/10.11591	//doi.org/10.11591	X
ap-7523	330	4	/	/	SYM
ap-7523	330	5	ijpeds.v11.i4.pp2154	ijpeds.v11.i4.pp2154	NOUN
ap-7523	330	6	-	-	PUNCT
ap-7523	330	7	2163	2163	NUM
ap-7523	330	8	.	.	PUNCT
ap-7523	331	1	[	[	X
ap-7523	331	2	18	18	NUM
ap-7523	331	3	]	]	PUNCT
ap-7523	331	4	a.	a.	NOUN
ap-7523	331	5	katyayn	katyayn	PROPN
ap-7523	331	6	,	,	PUNCT
ap-7523	331	7	p.	p.	PROPN
ap-7523	331	8	k.	k.	PROPN
ap-7523	331	9	agarwal	agarwal	PROPN
ap-7523	331	10	.	.	PUNCT
ap-7523	332	1	type-2	type-2	NUM
ap-7523	332	2	fuzzy	fuzzy	ADJ
ap-7523	332	3	logic	logic	NOUN
ap-7523	332	4	controller	controller	NOUN
ap-7523	332	5	for	for	ADP
ap-7523	332	6	conical	conical	ADJ
ap-7523	332	7	amb	amb	PROPN
ap-7523	332	8	-	-	PUNCT
ap-7523	332	9	rotor	rotor	NOUN
ap-7523	332	10	system	system	NOUN
ap-7523	332	11	.	.	PUNCT
ap-7523	333	1	in	in	ADP
ap-7523	333	2	2017	2017	NUM
ap-7523	333	3	4th	4th	ADJ
ap-7523	333	4	international	international	ADJ
ap-7523	333	5	conference	conference	NOUN
ap-7523	333	6	on	on	ADP
ap-7523	333	7	power	power	NOUN
ap-7523	333	8	,	,	PUNCT
ap-7523	333	9	control	control	PROPN
ap-7523	333	10	&	&	CCONJ
ap-7523	333	11	embedded	embed	VERB
ap-7523	333	12	systems	system	NOUN
ap-7523	333	13	(	(	PUNCT
ap-7523	333	14	icpces	icpce	NOUN
ap-7523	333	15	)	)	PUNCT
ap-7523	333	16	,	,	PUNCT
ap-7523	333	17	pp	pp	ADP
ap-7523	333	18	.	.	PUNCT
ap-7523	334	1	1–6	1–6	NUM
ap-7523	334	2	.	.	NOUN
ap-7523	334	3	2017	2017	NUM
ap-7523	334	4	.	.	PUNCT
ap-7523	335	1	https://doi.org/10.1109/icpces.2017.8117616	https://doi.org/10.1109/icpces.2017.8117616	X
ap-7523	335	2	.	.	PUNCT
ap-7523	336	1	[	[	X
ap-7523	336	2	19	19	NUM
ap-7523	336	3	]	]	X
ap-7523	336	4	j.	j.	PROPN
ap-7523	336	5	han	han	PROPN
ap-7523	336	6	.	.	PROPN
ap-7523	337	1	from	from	ADP
ap-7523	337	2	pid	pid	NOUN
ap-7523	337	3	to	to	ADP
ap-7523	337	4	active	active	ADJ
ap-7523	337	5	disturbance	disturbance	NOUN
ap-7523	337	6	rejection	rejection	NOUN
ap-7523	337	7	control	control	NOUN
ap-7523	337	8	.	.	PUNCT
ap-7523	338	1	ieee	ieee	NOUN
ap-7523	338	2	transactions	transaction	NOUN
ap-7523	338	3	on	on	ADP
ap-7523	338	4	industrial	industrial	ADJ
ap-7523	338	5	electronics	electronic	NOUN
ap-7523	338	6	56(3):900–906	56(3):900–906	NUM
ap-7523	338	7	,	,	PUNCT
ap-7523	338	8	2009	2009	NUM
ap-7523	338	9	.	.	PUNCT
ap-7523	339	1	https://doi.org/10.1109/tie.2008.2011621	https://doi.org/10.1109/tie.2008.2011621	PROPN
ap-7523	339	2	.	.	PUNCT
ap-7523	340	1	[	[	X
ap-7523	340	2	20	20	NUM
ap-7523	340	3	]	]	X
ap-7523	340	4	g.	g.	PROPN
ap-7523	340	5	herbst	herbst	PROPN
ap-7523	340	6	.	.	PUNCT
ap-7523	341	1	a	a	DET
ap-7523	341	2	simulative	simulative	ADJ
ap-7523	341	3	study	study	NOUN
ap-7523	341	4	on	on	ADP
ap-7523	341	5	active	active	ADJ
ap-7523	341	6	disturbance	disturbance	NOUN
ap-7523	341	7	rejection	rejection	NOUN
ap-7523	341	8	control	control	NOUN
ap-7523	341	9	(	(	PUNCT
ap-7523	341	10	adrc	adrc	NOUN
ap-7523	341	11	)	)	PUNCT
ap-7523	341	12	as	as	ADP
ap-7523	341	13	a	a	DET
ap-7523	341	14	control	control	NOUN
ap-7523	341	15	tool	tool	NOUN
ap-7523	341	16	for	for	ADP
ap-7523	341	17	practitioners	practitioner	NOUN
ap-7523	341	18	.	.	PUNCT
ap-7523	342	1	electronics	electronic	NOUN
ap-7523	342	2	2(3):246–279	2(3):246–279	NUM
ap-7523	342	3	,	,	PUNCT
ap-7523	342	4	2013	2013	NUM
ap-7523	342	5	.	.	PUNCT
ap-7523	343	1	https://doi.org/10.3390/electronics2030246	https://doi.org/10.3390/electronics2030246	PROPN
ap-7523	343	2	.	.	PUNCT
ap-7523	344	1	487	487	NUM
ap-7523	345	1	https://doi.org/10.1109/tmech.2005.859830	https://doi.org/10.1109/tmech.2005.859830	PROPN
ap-7523	345	2	https://doi.org/10.1109/tmag.2013.2263284	https://doi.org/10.1109/tmag.2013.2263284	PROPN
ap-7523	345	3	https://doi.org/10.30880/ijie.2021.13.05.026	https://doi.org/10.30880/ijie.2021.13.05.026	PROPN
ap-7523	345	4	https://doi.org/10.1109/tmag.2013.2295060	https://doi.org/10.1109/tmag.2013.2295060	PROPN
ap-7523	345	5	https://doi.org/10.1109/cdc.1989.70176	https://doi.org/10.1109/cdc.1989.70176	NOUN
ap-7523	345	6	https://doi.org/10.1016/0967-0661(96)00149-9	https://doi.org/10.1016/0967-0661(96)00149-9	PROPN
ap-7523	345	7	https://doi.org/10.1177/0954406213517488	https://doi.org/10.1177/0954406213517488	PROPN
ap-7523	345	8	https://doi.org/10.1023/a:1024137007918	https://doi.org/10.1023/a:1024137007918	NOUN
ap-7523	345	9	https://doi.org/10.3103/s1052618820010100	https://doi.org/10.3103/s1052618820010100	NUM
ap-7523	345	10	https://doi.org/10.11591/ijece.v8i5.pp3666-3677	https://doi.org/10.11591/ijece.v8i5.pp3666-3677	ADJ
ap-7523	345	11	https://doi.org/10.11591/ijpeds.v11.i4.pp2154-2163	https://doi.org/10.11591/ijpeds.v11.i4.pp2154-2163	PROPN
ap-7523	345	12	https://doi.org/10.11591/ijpeds.v11.i4.pp2154-2163	https://doi.org/10.11591/ijpeds.v11.i4.pp2154-2163	PROPN
ap-7523	345	13	https://doi.org/10.1109/icpces.2017.8117616	https://doi.org/10.1109/icpces.2017.8117616	PROPN
ap-7523	345	14	https://doi.org/10.1109/tie.2008.2011621	https://doi.org/10.1109/tie.2008.2011621	PROPN
ap-7523	345	15	https://doi.org/10.3390/electronics2030246	https://doi.org/10.3390/electronics2030246	PROPN
ap-7523	345	16	acta	acta	PROPN
ap-7523	345	17	polytechnica	polytechnica	PROPN
ap-7523	345	18	62(4):479–487	62(4):479–487	PROPN
ap-7523	345	19	,	,	PUNCT
ap-7523	345	20	2022	2022	NUM
ap-7523	345	21	1	1	NUM
ap-7523	345	22	introduction	introduction	NOUN
ap-7523	345	23	2	2	NUM
ap-7523	345	24	dynamic	dynamic	ADJ
ap-7523	345	25	modelling	modelling	NOUN
ap-7523	345	26	of	of	ADP
ap-7523	345	27	conical	conical	ADJ
ap-7523	345	28	magnetic	magnetic	ADJ
ap-7523	345	29	bearings	bearing	NOUN
ap-7523	345	30	3	3	NUM
ap-7523	345	31	control	control	NOUN
ap-7523	345	32	system	system	NOUN
ap-7523	345	33	design	design	VERB
ap-7523	345	34	4	4	NUM
ap-7523	345	35	numerical	numerical	ADJ
ap-7523	345	36	simulations	simulation	NOUN
ap-7523	345	37	4.1	4.1	NUM
ap-7523	345	38	simulation	simulation	NOUN
ap-7523	345	39	scenario	scenario	NOUN
ap-7523	345	40	1	1	NUM
ap-7523	345	41	:	:	SYM
ap-7523	345	42	4.2	4.2	NUM
ap-7523	345	43	simulation	simulation	NOUN
ap-7523	345	44	scenario	scenario	NOUN
ap-7523	345	45	2	2	NUM
ap-7523	345	46	:	:	SYM
ap-7523	345	47	5	5	NUM
ap-7523	345	48	conclusions	conclusion	NOUN
ap-7523	345	49	acknowledgements	acknowledgement	NOUN
ap-7523	345	50	references	reference	NOUN