id	sid	tid	token	lemma	pos
ap-796	1	1	ap06_1.vp	ap06_1.vp	NOUN
ap-796	1	2	1	1	NUM
ap-796	1	3	introduction	introduction	NOUN
ap-796	1	4	the	the	DET
ap-796	1	5	theory	theory	NOUN
ap-796	1	6	of	of	ADP
ap-796	1	7	dynamic	dynamic	ADJ
ap-796	1	8	optimization	optimization	NOUN
ap-796	1	9	problems	problem	NOUN
ap-796	1	10	has	have	AUX
ap-796	1	11	been	be	AUX
ap-796	1	12	developed	develop	VERB
ap-796	1	13	quite	quite	ADV
ap-796	1	14	well	well	ADV
ap-796	1	15	.	.	PUNCT
ap-796	2	1	however	however	ADV
ap-796	2	2	,	,	PUNCT
ap-796	2	3	it	it	PRON
ap-796	2	4	is	be	AUX
ap-796	2	5	still	still	ADV
ap-796	2	6	not	not	PART
ap-796	2	7	much	much	ADV
ap-796	2	8	used	use	VERB
ap-796	2	9	in	in	ADP
ap-796	2	10	applications	application	NOUN
ap-796	2	11	.	.	PUNCT
ap-796	3	1	there	there	PRON
ap-796	3	2	are	be	VERB
ap-796	3	3	several	several	ADJ
ap-796	3	4	reasons	reason	NOUN
ap-796	3	5	for	for	ADP
ap-796	3	6	this	this	PRON
ap-796	3	7	–	–	PUNCT
ap-796	3	8	the	the	DET
ap-796	3	9	first	first	ADJ
ap-796	3	10	is	be	AUX
ap-796	3	11	that	that	SCONJ
ap-796	3	12	solving	solve	VERB
ap-796	3	13	a	a	DET
ap-796	3	14	general	general	ADJ
ap-796	3	15	dynamic	dynamic	ADJ
ap-796	3	16	optimization	optimization	NOUN
ap-796	3	17	problem	problem	NOUN
ap-796	3	18	requires	require	VERB
ap-796	3	19	solving	solve	VERB
ap-796	3	20	a	a	DET
ap-796	3	21	general	general	ADJ
ap-796	3	22	boundary	boundary	ADJ
ap-796	3	23	problem	problem	NOUN
ap-796	3	24	for	for	ADP
ap-796	3	25	a	a	DET
ap-796	3	26	system	system	NOUN
ap-796	3	27	of	of	ADP
ap-796	3	28	ordinary	ordinary	ADJ
ap-796	3	29	differential	differential	ADJ
ap-796	3	30	equations	equation	NOUN
ap-796	3	31	.	.	PUNCT
ap-796	4	1	this	this	DET
ap-796	4	2	problem	problem	NOUN
ap-796	4	3	is	be	AUX
ap-796	4	4	difficult	difficult	ADJ
ap-796	4	5	,	,	PUNCT
ap-796	4	6	due	due	ADP
ap-796	4	7	to	to	ADP
ap-796	4	8	the	the	DET
ap-796	4	9	need	need	NOUN
ap-796	4	10	for	for	ADP
ap-796	4	11	proper	proper	ADJ
ap-796	4	12	discretization	discretization	NOUN
ap-796	4	13	and	and	CCONJ
ap-796	4	14	also	also	ADV
ap-796	4	15	to	to	ADP
ap-796	4	16	the	the	DET
ap-796	4	17	huge	huge	ADJ
ap-796	4	18	time	time	NOUN
ap-796	4	19	consumption	consumption	NOUN
ap-796	4	20	.	.	PUNCT
ap-796	5	1	another	another	DET
ap-796	5	2	drawback	drawback	NOUN
ap-796	5	3	is	be	AUX
ap-796	5	4	that	that	SCONJ
ap-796	5	5	the	the	DET
ap-796	5	6	control	control	NOUN
ap-796	5	7	law	law	NOUN
ap-796	5	8	can	can	AUX
ap-796	5	9	not	not	PART
ap-796	5	10	be	be	AUX
ap-796	5	11	formulated	formulate	VERB
ap-796	5	12	in	in	ADP
ap-796	5	13	the	the	DET
ap-796	5	14	feedback	feedback	NOUN
ap-796	5	15	form	form	NOUN
ap-796	5	16	.	.	PUNCT
ap-796	6	1	that	that	PRON
ap-796	6	2	is	be	AUX
ap-796	6	3	why	why	SCONJ
ap-796	6	4	this	this	DET
ap-796	6	5	theory	theory	NOUN
ap-796	6	6	was	be	AUX
ap-796	6	7	almost	almost	ADV
ap-796	6	8	abandoned	abandon	VERB
ap-796	6	9	,	,	PUNCT
ap-796	6	10	despite	despite	SCONJ
ap-796	6	11	its	its	PRON
ap-796	6	12	successful	successful	ADJ
ap-796	6	13	applications	application	NOUN
ap-796	6	14	to	to	ADP
ap-796	6	15	the	the	DET
ap-796	6	16	optimization	optimization	NOUN
ap-796	6	17	of	of	ADP
ap-796	6	18	,	,	PUNCT
ap-796	6	19	e.g.	e.g.	ADV
ap-796	6	20	,	,	PUNCT
ap-796	6	21	space	space	NOUN
ap-796	6	22	flights	flight	NOUN
ap-796	6	23	in	in	ADP
ap-796	6	24	the	the	DET
ap-796	6	25	1960	1960	NUM
ap-796	6	26	’s	’s	NOUN
ap-796	6	27	.	.	PUNCT
ap-796	7	1	this	this	DET
ap-796	7	2	theory	theory	NOUN
ap-796	7	3	with	with	ADP
ap-796	7	4	some	some	DET
ap-796	7	5	applications	application	NOUN
ap-796	7	6	to	to	ADP
ap-796	7	7	this	this	DET
ap-796	7	8	area	area	NOUN
ap-796	7	9	has	have	AUX
ap-796	7	10	been	be	AUX
ap-796	7	11	introduced	introduce	VERB
ap-796	7	12	in	in	ADP
ap-796	7	13	many	many	ADJ
ap-796	7	14	publications	publication	NOUN
ap-796	7	15	,	,	PUNCT
ap-796	7	16	e.g.	e.g.	ADV
ap-796	7	17	,	,	PUNCT
ap-796	7	18	[	[	X
ap-796	7	19	2	2	NUM
ap-796	7	20	]	]	PUNCT
ap-796	7	21	.	.	PUNCT
ap-796	8	1	the	the	DET
ap-796	8	2	boundary	boundary	ADJ
ap-796	8	3	problem	problem	NOUN
ap-796	8	4	arising	arise	VERB
ap-796	8	5	from	from	ADP
ap-796	8	6	the	the	DET
ap-796	8	7	dynamic	dynamic	ADJ
ap-796	8	8	optimization	optimization	NOUN
ap-796	8	9	can	can	AUX
ap-796	8	10	be	be	AUX
ap-796	8	11	solved	solve	VERB
ap-796	8	12	using	use	VERB
ap-796	8	13	the	the	DET
ap-796	8	14	finite	finite	ADJ
ap-796	8	15	element	element	NOUN
ap-796	8	16	method	method	NOUN
ap-796	8	17	(	(	PUNCT
ap-796	8	18	fem	fem	NOUN
ap-796	8	19	)	)	PUNCT
ap-796	8	20	similarly	similarly	ADV
ap-796	8	21	as	as	SCONJ
ap-796	8	22	it	it	PRON
ap-796	8	23	is	be	AUX
ap-796	8	24	used	use	VERB
ap-796	8	25	for	for	ADP
ap-796	8	26	solving	solve	VERB
ap-796	8	27	partial	partial	ADJ
ap-796	8	28	differential	differential	ADJ
ap-796	8	29	equations	equation	NOUN
ap-796	8	30	.	.	PUNCT
ap-796	9	1	hence	hence	ADV
ap-796	9	2	it	it	PRON
ap-796	9	3	is	be	AUX
ap-796	9	4	possible	possible	ADJ
ap-796	9	5	to	to	PART
ap-796	9	6	use	use	VERB
ap-796	9	7	pde	pde	NOUN
ap-796	9	8	solving	solving	NOUN
ap-796	9	9	tools	tool	NOUN
ap-796	9	10	for	for	ADP
ap-796	9	11	dynamic	dynamic	ADJ
ap-796	9	12	optimization	optimization	NOUN
ap-796	9	13	.	.	PUNCT
ap-796	10	1	thanks	thank	NOUN
ap-796	10	2	to	to	ADP
ap-796	10	3	the	the	DET
ap-796	10	4	vast	vast	ADJ
ap-796	10	5	efforts	effort	NOUN
ap-796	10	6	made	make	VERB
ap-796	10	7	in	in	ADP
ap-796	10	8	computer	computer	NOUN
ap-796	10	9	equipment	equipment	NOUN
ap-796	10	10	in	in	ADP
ap-796	10	11	the	the	DET
ap-796	10	12	last	last	ADJ
ap-796	10	13	twenty	twenty	NUM
ap-796	10	14	years	year	NOUN
ap-796	10	15	,	,	PUNCT
ap-796	10	16	powerful	powerful	ADJ
ap-796	10	17	and	and	CCONJ
ap-796	10	18	user	user	NOUN
ap-796	10	19	-	-	PUNCT
ap-796	10	20	friendly	friendly	ADJ
ap-796	10	21	software	software	NOUN
ap-796	10	22	packages	package	NOUN
ap-796	10	23	for	for	ADP
ap-796	10	24	solving	solve	VERB
ap-796	10	25	boundary	boundary	ADJ
ap-796	10	26	problems	problem	NOUN
ap-796	10	27	for	for	ADP
ap-796	10	28	ordinary	ordinary	ADJ
ap-796	10	29	differential	differential	ADJ
ap-796	10	30	equations	equation	NOUN
ap-796	10	31	have	have	AUX
ap-796	10	32	appeared	appear	VERB
ap-796	10	33	.	.	PUNCT
ap-796	11	1	one	one	NUM
ap-796	11	2	such	such	ADJ
ap-796	11	3	software	software	NOUN
ap-796	11	4	system	system	NOUN
ap-796	11	5	is	be	AUX
ap-796	11	6	femlab	femlab	NOUN
ap-796	11	7	.	.	PUNCT
ap-796	12	1	its	its	PRON
ap-796	12	2	close	close	ADJ
ap-796	12	3	relationship	relationship	NOUN
ap-796	12	4	to	to	ADP
ap-796	12	5	the	the	DET
ap-796	12	6	well	well	ADV
ap-796	12	7	-	-	PUNCT
ap-796	12	8	known	know	VERB
ap-796	12	9	matlab	matlab	NOUN
ap-796	12	10	system	system	NOUN
ap-796	12	11	makes	make	VERB
ap-796	12	12	its	its	PRON
ap-796	12	13	application	application	NOUN
ap-796	12	14	in	in	ADP
ap-796	12	15	complex	complex	ADJ
ap-796	12	16	control	control	NOUN
ap-796	12	17	problems	problem	NOUN
ap-796	12	18	straightforward	straightforward	ADJ
ap-796	12	19	.	.	PUNCT
ap-796	13	1	even	even	ADV
ap-796	13	2	if	if	SCONJ
ap-796	13	3	the	the	DET
ap-796	13	4	modern	modern	ADJ
ap-796	13	5	computer	computer	NOUN
ap-796	13	6	equipment	equipment	NOUN
ap-796	13	7	is	be	AUX
ap-796	13	8	used	use	VERB
ap-796	13	9	for	for	ADP
ap-796	13	10	solving	solve	VERB
ap-796	13	11	the	the	DET
ap-796	13	12	boundary	boundary	ADJ
ap-796	13	13	problem	problem	NOUN
ap-796	13	14	,	,	PUNCT
ap-796	13	15	computations	computation	NOUN
ap-796	13	16	can	can	AUX
ap-796	13	17	take	take	VERB
ap-796	13	18	too	too	ADV
ap-796	13	19	long	long	ADJ
ap-796	13	20	to	to	PART
ap-796	13	21	be	be	AUX
ap-796	13	22	used	use	VERB
ap-796	13	23	for	for	ADP
ap-796	13	24	directly	directly	ADV
ap-796	13	25	designing	design	VERB
ap-796	13	26	a	a	DET
ap-796	13	27	control	control	NOUN
ap-796	13	28	law	law	NOUN
ap-796	13	29	.	.	PUNCT
ap-796	14	1	hence	hence	ADV
ap-796	14	2	we	we	PRON
ap-796	14	3	have	have	AUX
ap-796	14	4	designed	design	VERB
ap-796	14	5	a	a	DET
ap-796	14	6	hierarchical	hierarchical	ADJ
ap-796	14	7	controller	controller	NOUN
ap-796	14	8	.	.	PUNCT
ap-796	15	1	the	the	DET
ap-796	15	2	theory	theory	NOUN
ap-796	15	3	of	of	ADP
ap-796	15	4	hierarchical	hierarchical	ADJ
ap-796	15	5	control	control	NOUN
ap-796	15	6	systems	system	NOUN
ap-796	15	7	was	be	AUX
ap-796	15	8	developed	develop	VERB
ap-796	15	9	in	in	ADP
ap-796	15	10	the	the	DET
ap-796	15	11	early	early	ADJ
ap-796	15	12	1980	1980	NUM
ap-796	15	13	’s	’s	NOUN
ap-796	15	14	in	in	ADP
ap-796	15	15	the	the	DET
ap-796	15	16	works	work	NOUN
ap-796	15	17	of	of	ADP
ap-796	15	18	singh	singh	PROPN
ap-796	15	19	,	,	PUNCT
ap-796	15	20	siljak	siljak	ADV
ap-796	15	21	,	,	PUNCT
ap-796	15	22	findeisen	findeisen	NOUN
ap-796	15	23	and	and	CCONJ
ap-796	15	24	others	other	NOUN
ap-796	15	25	.	.	PUNCT
ap-796	16	1	a	a	DET
ap-796	16	2	good	good	ADJ
ap-796	16	3	summary	summary	NOUN
ap-796	16	4	of	of	ADP
ap-796	16	5	this	this	DET
ap-796	16	6	theory	theory	NOUN
ap-796	16	7	can	can	AUX
ap-796	16	8	be	be	AUX
ap-796	16	9	found	find	VERB
ap-796	16	10	in	in	ADP
ap-796	16	11	[	[	X
ap-796	16	12	4	4	NUM
ap-796	16	13	]	]	PUNCT
ap-796	16	14	.	.	PUNCT
ap-796	17	1	in	in	ADP
ap-796	17	2	this	this	DET
ap-796	17	3	article	article	NOUN
ap-796	17	4	we	we	PRON
ap-796	17	5	design	design	VERB
ap-796	17	6	a	a	DET
ap-796	17	7	control	control	NOUN
ap-796	17	8	algorithm	algorithm	NOUN
ap-796	17	9	based	base	VERB
ap-796	17	10	on	on	ADP
ap-796	17	11	general	general	ADJ
ap-796	17	12	dynamic	dynamic	ADJ
ap-796	17	13	optimization	optimization	NOUN
ap-796	17	14	in	in	ADP
ap-796	17	15	the	the	DET
ap-796	17	16	upper	upper	ADJ
ap-796	17	17	level	level	NOUN
ap-796	17	18	.	.	PUNCT
ap-796	18	1	the	the	DET
ap-796	18	2	lower	low	ADJ
ap-796	18	3	level	level	NOUN
ap-796	18	4	was	be	AUX
ap-796	18	5	designed	design	VERB
ap-796	18	6	via	via	ADP
ap-796	18	7	the	the	DET
ap-796	18	8	theory	theory	NOUN
ap-796	18	9	of	of	ADP
ap-796	18	10	lq	lq	NOUN
ap-796	18	11	control	control	NOUN
ap-796	18	12	.	.	PUNCT
ap-796	19	1	we	we	PRON
ap-796	19	2	use	use	VERB
ap-796	19	3	the	the	DET
ap-796	19	4	femlab	femlab	NOUN
ap-796	19	5	2.3	2.3	NUM
ap-796	19	6	package	package	NOUN
ap-796	19	7	for	for	ADP
ap-796	19	8	solving	solve	VERB
ap-796	19	9	the	the	DET
ap-796	19	10	optimization	optimization	NOUN
ap-796	19	11	problem	problem	NOUN
ap-796	19	12	,	,	PUNCT
ap-796	19	13	and	and	CCONJ
ap-796	19	14	the	the	DET
ap-796	19	15	implementation	implementation	NOUN
ap-796	19	16	is	be	AUX
ap-796	19	17	also	also	ADV
ap-796	19	18	described	describe	VERB
ap-796	19	19	.	.	PUNCT
ap-796	20	1	simulations	simulation	NOUN
ap-796	20	2	showing	show	VERB
ap-796	20	3	the	the	DET
ap-796	20	4	advantages	advantage	NOUN
ap-796	20	5	of	of	ADP
ap-796	20	6	the	the	DET
ap-796	20	7	hierarchical	hierarchical	ADJ
ap-796	20	8	control	control	NOUN
ap-796	20	9	approach	approach	NOUN
ap-796	20	10	are	be	AUX
ap-796	20	11	mentioned	mention	VERB
ap-796	20	12	.	.	PUNCT
ap-796	21	1	this	this	DET
ap-796	21	2	approach	approach	NOUN
ap-796	21	3	can	can	AUX
ap-796	21	4	handle	handle	VERB
ap-796	21	5	nonquadratic	nonquadratic	ADJ
ap-796	21	6	cost	cost	NOUN
ap-796	21	7	functionals	functional	NOUN
ap-796	21	8	,	,	PUNCT
ap-796	21	9	e.g.	e.g.	ADV
ap-796	21	10	functionals	functional	NOUN
ap-796	21	11	containing	contain	VERB
ap-796	21	12	a	a	DET
ap-796	21	13	barrier	barrier	NOUN
ap-796	21	14	function	function	NOUN
ap-796	21	15	.	.	PUNCT
ap-796	22	1	this	this	DET
ap-796	22	2	paper	paper	NOUN
ap-796	22	3	summarizes	summarize	NOUN
ap-796	22	4	and	and	CCONJ
ap-796	22	5	extends	extend	VERB
ap-796	22	6	the	the	DET
ap-796	22	7	results	result	NOUN
ap-796	22	8	from	from	ADP
ap-796	22	9	[	[	X
ap-796	22	10	6	6	NUM
ap-796	22	11	]	]	PUNCT
ap-796	22	12	.	.	PUNCT
ap-796	22	13	2	2	NUM
ap-796	22	14	hierarchical	hierarchical	ADJ
ap-796	22	15	control	control	NOUN
ap-796	22	16	law	law	NOUN
ap-796	22	17	the	the	DET
ap-796	22	18	real	real	ADJ
ap-796	22	19	-	-	PUNCT
ap-796	22	20	time	time	NOUN
ap-796	22	21	optimal	optimal	ADJ
ap-796	22	22	control	control	NOUN
ap-796	22	23	problem	problem	NOUN
ap-796	22	24	was	be	AUX
ap-796	22	25	divided	divide	VERB
ap-796	22	26	into	into	ADP
ap-796	22	27	two	two	NUM
ap-796	22	28	subproblems	subproblem	NOUN
ap-796	22	29	.	.	PUNCT
ap-796	23	1	the	the	DET
ap-796	23	2	first	first	ADJ
ap-796	23	3	problem	problem	NOUN
ap-796	23	4	is	be	AUX
ap-796	23	5	to	to	PART
ap-796	23	6	compute	compute	VERB
ap-796	23	7	the	the	DET
ap-796	23	8	optimal	optimal	ADJ
ap-796	23	9	trajectory	trajectory	NOUN
ap-796	23	10	prediction	prediction	NOUN
ap-796	23	11	.	.	PUNCT
ap-796	24	1	this	this	PRON
ap-796	24	2	involves	involve	VERB
ap-796	24	3	dynamic	dynamic	ADJ
ap-796	24	4	optimization	optimization	NOUN
ap-796	24	5	.	.	PUNCT
ap-796	25	1	the	the	DET
ap-796	25	2	femlab	femlab	NOUN
ap-796	25	3	system	system	NOUN
ap-796	25	4	was	be	AUX
ap-796	25	5	used	use	VERB
ap-796	25	6	to	to	PART
ap-796	25	7	carry	carry	VERB
ap-796	25	8	out	out	ADP
ap-796	25	9	computations	computation	NOUN
ap-796	25	10	at	at	ADP
ap-796	25	11	this	this	DET
ap-796	25	12	level	level	NOUN
ap-796	25	13	.	.	PUNCT
ap-796	26	1	the	the	DET
ap-796	26	2	second	second	ADJ
ap-796	26	3	subproblem	subproblem	NOUN
ap-796	26	4	is	be	AUX
ap-796	26	5	to	to	PART
ap-796	26	6	track	track	VERB
ap-796	26	7	this	this	DET
ap-796	26	8	optimal	optimal	ADJ
ap-796	26	9	trajectory	trajectory	NOUN
ap-796	26	10	.	.	PUNCT
ap-796	27	1	this	this	PRON
ap-796	27	2	is	be	AUX
ap-796	27	3	the	the	DET
ap-796	27	4	task	task	NOUN
ap-796	27	5	of	of	ADP
ap-796	27	6	the	the	DET
ap-796	27	7	lq	lq	NOUN
ap-796	27	8	controller	controller	NOUN
ap-796	27	9	.	.	PUNCT
ap-796	28	1	these	these	DET
ap-796	28	2	two	two	NUM
ap-796	28	3	subproblems	subproblem	NOUN
ap-796	28	4	are	be	AUX
ap-796	28	5	solved	solve	VERB
ap-796	28	6	in	in	ADP
ap-796	28	7	different	different	ADJ
ap-796	28	8	levels	level	NOUN
ap-796	28	9	.	.	PUNCT
ap-796	29	1	the	the	DET
ap-796	29	2	first	first	ADJ
ap-796	29	3	is	be	AUX
ap-796	29	4	referred	refer	VERB
ap-796	29	5	to	to	ADP
ap-796	29	6	as	as	ADP
ap-796	29	7	the	the	DET
ap-796	29	8	upper	upper	ADJ
ap-796	29	9	while	while	SCONJ
ap-796	29	10	the	the	DET
ap-796	29	11	latter	latter	ADJ
ap-796	29	12	is	be	AUX
ap-796	29	13	the	the	DET
ap-796	29	14	lower	low	ADJ
ap-796	29	15	level	level	NOUN
ap-796	29	16	of	of	ADP
ap-796	29	17	the	the	DET
ap-796	29	18	controller	controller	NOUN
ap-796	29	19	.	.	PUNCT
ap-796	30	1	the	the	DET
ap-796	30	2	tracking	tracking	NOUN
ap-796	30	3	in	in	ADP
ap-796	30	4	the	the	DET
ap-796	30	5	lower	low	ADJ
ap-796	30	6	level	level	NOUN
ap-796	30	7	is	be	AUX
ap-796	30	8	independent	independent	ADJ
ap-796	30	9	of	of	ADP
ap-796	30	10	the	the	DET
ap-796	30	11	computations	computation	NOUN
ap-796	30	12	of	of	ADP
ap-796	30	13	the	the	DET
ap-796	30	14	upper	upper	ADJ
ap-796	30	15	level	level	NOUN
ap-796	30	16	.	.	PUNCT
ap-796	31	1	thus	thus	ADV
ap-796	31	2	both	both	DET
ap-796	31	3	these	these	DET
ap-796	31	4	tasks	task	NOUN
ap-796	31	5	may	may	AUX
ap-796	31	6	run	run	VERB
ap-796	31	7	in	in	ADP
ap-796	31	8	parallel	parallel	NOUN
ap-796	31	9	.	.	PUNCT
ap-796	32	1	the	the	DET
ap-796	32	2	scheme	scheme	NOUN
ap-796	32	3	of	of	ADP
ap-796	32	4	the	the	DET
ap-796	32	5	hierarchical	hierarchical	ADJ
ap-796	32	6	control	control	NOUN
ap-796	32	7	system	system	NOUN
ap-796	32	8	is	be	AUX
ap-796	32	9	shown	show	VERB
ap-796	32	10	in	in	ADP
ap-796	32	11	fig	fig	NOUN
ap-796	32	12	.	.	PUNCT
ap-796	33	1	1	1	NUM
ap-796	34	1	[	[	SYM
ap-796	34	2	4	4	NUM
ap-796	34	3	,	,	PUNCT
ap-796	34	4	7	7	NUM
ap-796	34	5	]	]	PUNCT
ap-796	34	6	.	.	PUNCT
ap-796	35	1	we	we	PRON
ap-796	35	2	will	will	AUX
ap-796	35	3	now	now	ADV
ap-796	35	4	outline	outline	VERB
ap-796	35	5	the	the	DET
ap-796	35	6	main	main	ADJ
ap-796	35	7	features	feature	NOUN
ap-796	35	8	of	of	ADP
ap-796	35	9	both	both	DET
ap-796	35	10	levels	level	NOUN
ap-796	35	11	now	now	ADV
ap-796	35	12	.	.	PUNCT
ap-796	36	1	upper	upper	ADJ
ap-796	36	2	level	level	NOUN
ap-796	36	3	�	�	PROPN
ap-796	36	4	determines	determine	VERB
ap-796	36	5	the	the	DET
ap-796	36	6	optimal	optimal	ADJ
ap-796	36	7	trajectory	trajectory	NOUN
ap-796	36	8	for	for	ADP
ap-796	36	9	a	a	DET
ap-796	36	10	long	long	ADJ
ap-796	36	11	period	period	NOUN
ap-796	36	12	ahead	ahead	ADV
ap-796	36	13	,	,	PUNCT
ap-796	36	14	�	�	PROPN
ap-796	36	15	time	time	NOUN
ap-796	36	16	-	-	PUNCT
ap-796	36	17	consuming	consume	VERB
ap-796	36	18	calculations	calculation	NOUN
ap-796	36	19	are	be	AUX
ap-796	36	20	carried	carry	VERB
ap-796	36	21	out	out	ADP
ap-796	36	22	here	here	ADV
ap-796	36	23	,	,	PUNCT
ap-796	36	24	�	�	PROPN
ap-796	36	25	the	the	DET
ap-796	36	26	whole	whole	ADJ
ap-796	36	27	structure	structure	NOUN
ap-796	36	28	of	of	ADP
ap-796	36	29	the	the	DET
ap-796	36	30	system	system	NOUN
ap-796	36	31	is	be	AUX
ap-796	36	32	taken	take	VERB
ap-796	36	33	into	into	ADP
ap-796	36	34	account	account	NOUN
ap-796	36	35	,	,	PUNCT
ap-796	36	36	including	include	VERB
ap-796	36	37	nonlinearities	nonlinearitie	NOUN
ap-796	36	38	etc	etc	X
ap-796	36	39	.	.	X
ap-796	36	40	,	,	PUNCT
ap-796	36	41	�	�	PROPN
ap-796	36	42	only	only	ADV
ap-796	36	43	the	the	DET
ap-796	36	44	slower	slow	ADJ
ap-796	36	45	dynamics	dynamic	NOUN
ap-796	36	46	are	be	AUX
ap-796	36	47	considered	consider	VERB
ap-796	36	48	.	.	PUNCT
ap-796	37	1	lower	low	ADJ
ap-796	37	2	level	level	NOUN
ap-796	37	3	�	�	PROPN
ap-796	37	4	is	be	AUX
ap-796	37	5	responsible	responsible	ADJ
ap-796	37	6	for	for	ADP
ap-796	37	7	tracking	track	VERB
ap-796	37	8	the	the	DET
ap-796	37	9	optimal	optimal	ADJ
ap-796	37	10	trajectory	trajectory	NOUN
ap-796	37	11	,	,	PUNCT
ap-796	37	12	�	�	PROPN
ap-796	37	13	compensates	compensate	VERB
ap-796	37	14	the	the	DET
ap-796	37	15	disturbances	disturbance	NOUN
ap-796	37	16	,	,	PUNCT
ap-796	37	17	�	�	PROPN
ap-796	37	18	the	the	DET
ap-796	37	19	control	control	NOUN
ap-796	37	20	law	law	NOUN
ap-796	37	21	should	should	AUX
ap-796	37	22	be	be	AUX
ap-796	37	23	as	as	ADV
ap-796	37	24	simple	simple	ADJ
ap-796	37	25	and	and	CCONJ
ap-796	37	26	as	as	ADV
ap-796	37	27	fast	fast	ADV
ap-796	37	28	as	as	ADP
ap-796	37	29	possible	possible	ADJ
ap-796	37	30	and	and	CCONJ
ap-796	37	31	should	should	AUX
ap-796	37	32	have	have	VERB
ap-796	37	33	the	the	DET
ap-796	37	34	feedback	feedback	NOUN
ap-796	37	35	form	form	NOUN
ap-796	37	36	,	,	PUNCT
ap-796	37	37	�	�	PROPN
ap-796	37	38	when	when	SCONJ
ap-796	37	39	designing	design	VERB
ap-796	37	40	the	the	DET
ap-796	37	41	control	control	NOUN
ap-796	37	42	law	law	NOUN
ap-796	37	43	design	design	VERB
ap-796	37	44	the	the	DET
ap-796	37	45	most	most	ADV
ap-796	37	46	important	important	ADJ
ap-796	37	47	connections	connection	NOUN
ap-796	37	48	are	be	AUX
ap-796	37	49	taken	take	VERB
ap-796	37	50	into	into	ADP
ap-796	37	51	account	account	NOUN
ap-796	37	52	while	while	SCONJ
ap-796	37	53	the	the	DET
ap-796	37	54	nonlinearities	nonlinearitie	NOUN
ap-796	37	55	can	can	AUX
ap-796	37	56	be	be	AUX
ap-796	37	57	replaced	replace	VERB
ap-796	37	58	by	by	ADP
ap-796	37	59	their	their	PRON
ap-796	37	60	linearizations	linearization	NOUN
ap-796	37	61	,	,	PUNCT
ap-796	37	62	�	�	PROPN
ap-796	37	63	the	the	DET
ap-796	37	64	influence	influence	NOUN
ap-796	37	65	of	of	ADP
ap-796	37	66	the	the	DET
ap-796	37	67	fast	fast	ADJ
ap-796	37	68	modes	mode	NOUN
ap-796	37	69	should	should	AUX
ap-796	37	70	be	be	AUX
ap-796	37	71	also	also	ADV
ap-796	37	72	be	be	AUX
ap-796	37	73	taken	take	VERB
ap-796	37	74	into	into	ADP
ap-796	37	75	consideration	consideration	NOUN
ap-796	37	76	.	.	PUNCT
ap-796	38	1	©	©	PROPN
ap-796	38	2	czech	czech	PROPN
ap-796	38	3	technical	technical	PROPN
ap-796	38	4	university	university	PROPN
ap-796	38	5	publishing	publishing	NOUN
ap-796	38	6	house	house	NOUN
ap-796	38	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	38	8	15	15	NUM
ap-796	38	9	czech	czech	PROPN
ap-796	38	10	technical	technical	PROPN
ap-796	38	11	university	university	PROPN
ap-796	38	12	in	in	ADP
ap-796	38	13	prague	prague	PROPN
ap-796	38	14	acta	acta	PROPN
ap-796	38	15	polytechnica	polytechnica	PROPN
ap-796	38	16	vol	vol	NOUN
ap-796	38	17	.	.	PUNCT
ap-796	39	1	46	46	NUM
ap-796	39	2	no	no	INTJ
ap-796	39	3	.	.	PUNCT
ap-796	40	1	1/2006	1/2006	NUM
ap-796	40	2	design	design	NOUN
ap-796	40	3	of	of	ADP
ap-796	40	4	a	a	DET
ap-796	40	5	predictive	predictive	ADJ
ap-796	40	6	hierarchical	hierarchical	ADJ
ap-796	40	7	controller	controller	NOUN
ap-796	40	8	using	use	VERB
ap-796	40	9	femlab	femlab	PROPN
ap-796	40	10	b.	b.	PROPN
ap-796	40	11	rehák	rehák	VERB
ap-796	40	12	a	a	DET
ap-796	40	13	hierarchical	hierarchical	ADJ
ap-796	40	14	controller	controller	NOUN
ap-796	40	15	with	with	ADP
ap-796	40	16	two	two	NUM
ap-796	40	17	levels	level	NOUN
ap-796	40	18	is	be	AUX
ap-796	40	19	proposed	propose	VERB
ap-796	40	20	.	.	PUNCT
ap-796	41	1	one	one	NUM
ap-796	41	2	level	level	NOUN
ap-796	41	3	is	be	AUX
ap-796	41	4	based	base	VERB
ap-796	41	5	on	on	ADP
ap-796	41	6	dynamic	dynamic	ADJ
ap-796	41	7	optimization	optimization	NOUN
ap-796	41	8	while	while	SCONJ
ap-796	41	9	the	the	DET
ap-796	41	10	second	second	NOUN
ap-796	41	11	is	be	AUX
ap-796	41	12	responsible	responsible	ADJ
ap-796	41	13	for	for	ADP
ap-796	41	14	tracking	track	VERB
ap-796	41	15	the	the	DET
ap-796	41	16	optimal	optimal	ADJ
ap-796	41	17	trajectory	trajectory	NOUN
ap-796	41	18	and	and	CCONJ
ap-796	41	19	rejecting	reject	VERB
ap-796	41	20	disturbances	disturbance	NOUN
ap-796	41	21	.	.	PUNCT
ap-796	42	1	its	its	PRON
ap-796	42	2	implementation	implementation	NOUN
ap-796	42	3	using	use	VERB
ap-796	42	4	the	the	DET
ap-796	42	5	femlab	femlab	NOUN
ap-796	42	6	system	system	NOUN
ap-796	42	7	is	be	AUX
ap-796	42	8	described	describe	VERB
ap-796	42	9	.	.	PUNCT
ap-796	43	1	some	some	DET
ap-796	43	2	simulations	simulation	NOUN
ap-796	43	3	are	be	AUX
ap-796	43	4	presented	present	VERB
ap-796	43	5	at	at	ADP
ap-796	43	6	the	the	DET
ap-796	43	7	end	end	NOUN
ap-796	43	8	of	of	ADP
ap-796	43	9	the	the	DET
ap-796	43	10	paper	paper	NOUN
ap-796	43	11	,	,	PUNCT
ap-796	43	12	together	together	ADV
ap-796	43	13	with	with	ADP
ap-796	43	14	an	an	DET
ap-796	43	15	evaluation	evaluation	NOUN
ap-796	43	16	of	of	ADP
ap-796	43	17	the	the	DET
ap-796	43	18	performance	performance	NOUN
ap-796	43	19	.	.	PUNCT
ap-796	44	1	keywords	keyword	NOUN
ap-796	44	2	:	:	PUNCT
ap-796	44	3	hierarchical	hierarchical	ADJ
ap-796	44	4	control	control	NOUN
ap-796	44	5	,	,	PUNCT
ap-796	44	6	boundary	boundary	ADJ
ap-796	44	7	-	-	PUNCT
ap-796	44	8	value	value	NOUN
ap-796	44	9	problem	problem	NOUN
ap-796	44	10	,	,	PUNCT
ap-796	44	11	dynamical	dynamical	ADJ
ap-796	44	12	optimization	optimization	NOUN
ap-796	44	13	,	,	PUNCT
ap-796	44	14	femlab	femlab	NOUN
ap-796	44	15	.	.	PUNCT
ap-796	45	1	lower	low	ADJ
ap-796	45	2	level	level	NOUN
ap-796	45	3	lower	low	ADJ
ap-796	45	4	level	level	NOUN
ap-796	45	5	plant	plant	NOUN
ap-796	45	6	upper	upper	ADJ
ap-796	45	7	level	level	NOUN
ap-796	45	8	fig	fig	NOUN
ap-796	45	9	.	.	PUNCT
ap-796	46	1	1	1	NUM
ap-796	46	2	:	:	PUNCT
ap-796	46	3	scheme	scheme	NOUN
ap-796	46	4	of	of	ADP
ap-796	46	5	a	a	DET
ap-796	46	6	hierarchical	hierarchical	ADJ
ap-796	46	7	control	control	NOUN
ap-796	46	8	system	system	NOUN
ap-796	46	9	the	the	DET
ap-796	46	10	delay	delay	NOUN
ap-796	46	11	caused	cause	VERB
ap-796	46	12	by	by	ADP
ap-796	46	13	computation	computation	NOUN
ap-796	46	14	of	of	ADP
ap-796	46	15	optimal	optimal	ADJ
ap-796	46	16	control	control	NOUN
ap-796	46	17	law	law	NOUN
ap-796	46	18	in	in	ADP
ap-796	46	19	the	the	DET
ap-796	46	20	upper	upper	ADJ
ap-796	46	21	level	level	NOUN
ap-796	46	22	design	design	NOUN
ap-796	46	23	should	should	AUX
ap-796	46	24	also	also	ADV
ap-796	46	25	be	be	AUX
ap-796	46	26	taken	take	VERB
ap-796	46	27	into	into	ADP
ap-796	46	28	account	account	NOUN
ap-796	46	29	.	.	PUNCT
ap-796	47	1	while	while	SCONJ
ap-796	47	2	this	this	DET
ap-796	47	3	computation	computation	NOUN
ap-796	47	4	is	be	AUX
ap-796	47	5	being	be	AUX
ap-796	47	6	carried	carry	VERB
ap-796	47	7	out	out	ADP
ap-796	47	8	,	,	PUNCT
ap-796	47	9	the	the	DET
ap-796	47	10	lower	low	ADJ
ap-796	47	11	level	level	NOUN
ap-796	47	12	uses	use	VERB
ap-796	47	13	the	the	DET
ap-796	47	14	trajectory	trajectory	NOUN
ap-796	47	15	computed	compute	VERB
ap-796	47	16	in	in	ADP
ap-796	47	17	the	the	DET
ap-796	47	18	previous	previous	ADJ
ap-796	47	19	step	step	NOUN
ap-796	47	20	.	.	PUNCT
ap-796	48	1	the	the	DET
ap-796	48	2	time	time	NOUN
ap-796	48	3	during	during	ADP
ap-796	48	4	which	which	PRON
ap-796	48	5	the	the	DET
ap-796	48	6	trajectory	trajectory	NOUN
ap-796	48	7	computed	compute	VERB
ap-796	48	8	in	in	ADP
ap-796	48	9	one	one	NUM
ap-796	48	10	computational	computational	ADJ
ap-796	48	11	step	step	NOUN
ap-796	48	12	of	of	ADP
ap-796	48	13	the	the	DET
ap-796	48	14	upper	upper	ADJ
ap-796	48	15	level	level	NOUN
ap-796	48	16	is	be	AUX
ap-796	48	17	used	use	VERB
ap-796	48	18	is	be	AUX
ap-796	48	19	denoted	denote	VERB
ap-796	48	20	by	by	ADP
ap-796	48	21	tv	tv	NOUN
ap-796	48	22	.	.	PUNCT
ap-796	49	1	this	this	DET
ap-796	49	2	period	period	NOUN
ap-796	49	3	must	must	AUX
ap-796	49	4	be	be	AUX
ap-796	49	5	longer	long	ADJ
ap-796	49	6	than	than	ADP
ap-796	49	7	the	the	DET
ap-796	49	8	longest	long	ADJ
ap-796	49	9	computation	computation	NOUN
ap-796	49	10	in	in	ADP
ap-796	49	11	the	the	DET
ap-796	49	12	upper	upper	ADJ
ap-796	49	13	level	level	NOUN
ap-796	49	14	.	.	PUNCT
ap-796	50	1	3	3	NUM
ap-796	50	2	control	control	NOUN
ap-796	50	3	algorithm	algorithm	NOUN
ap-796	50	4	design	design	NOUN
ap-796	50	5	of	of	ADP
ap-796	50	6	the	the	DET
ap-796	50	7	upper	upper	ADJ
ap-796	50	8	level	level	NOUN
ap-796	50	9	in	in	ADP
ap-796	50	10	this	this	DET
ap-796	50	11	paragraph	paragraph	NOUN
ap-796	50	12	we	we	PRON
ap-796	50	13	will	will	AUX
ap-796	50	14	introduce	introduce	VERB
ap-796	50	15	the	the	DET
ap-796	50	16	optimal	optimal	ADJ
ap-796	50	17	control	control	NOUN
ap-796	50	18	problem	problem	NOUN
ap-796	50	19	,	,	PUNCT
ap-796	50	20	which	which	PRON
ap-796	50	21	makes	make	VERB
ap-796	50	22	up	up	ADP
ap-796	50	23	a	a	DET
ap-796	50	24	central	central	ADJ
ap-796	50	25	part	part	NOUN
ap-796	50	26	of	of	ADP
ap-796	50	27	the	the	DET
ap-796	50	28	upper	upper	ADJ
ap-796	50	29	-	-	PUNCT
ap-796	50	30	level	level	NOUN
ap-796	50	31	design	design	NOUN
ap-796	50	32	.	.	PUNCT
ap-796	51	1	then	then	ADV
ap-796	51	2	we	we	PRON
ap-796	51	3	will	will	AUX
ap-796	51	4	focus	focus	VERB
ap-796	51	5	on	on	ADP
ap-796	51	6	how	how	SCONJ
ap-796	51	7	the	the	DET
ap-796	51	8	results	result	NOUN
ap-796	51	9	are	be	AUX
ap-796	51	10	applied	apply	VERB
ap-796	51	11	in	in	ADP
ap-796	51	12	order	order	NOUN
ap-796	51	13	to	to	PART
ap-796	51	14	complete	complete	VERB
ap-796	51	15	the	the	DET
ap-796	51	16	upper	upper	ADJ
ap-796	51	17	level	level	NOUN
ap-796	51	18	design	design	NOUN
ap-796	51	19	.	.	PUNCT
ap-796	52	1	let	let	VERB
ap-796	52	2	t>0	t>0	NOUN
ap-796	52	3	.	.	PUNCT
ap-796	53	1	we	we	PRON
ap-796	53	2	consider	consider	VERB
ap-796	53	3	the	the	DET
ap-796	53	4	system	system	NOUN
ap-796	53	5	described	describe	VERB
ap-796	53	6	by	by	ADP
ap-796	53	7	the	the	DET
ap-796	53	8	state	state	NOUN
ap-796	53	9	equation	equation	NOUN
ap-796	53	10	�	�	PROPN
ap-796	53	11	�	�	PROPN
ap-796	53	12	�	�	PROPN
ap-796	53	13	(	(	PUNCT
ap-796	53	14	)	)	PUNCT
ap-796	53	15	,	,	PUNCT
ap-796	53	16	(	(	PUNCT
ap-796	53	17	)	)	PUNCT
ap-796	53	18	x	x	SYM
ap-796	53	19	f	f	NOUN
ap-796	53	20	x	x	SYM
ap-796	53	21	t	t	PROPN
ap-796	53	22	u	u	PROPN
ap-796	53	23	t	t	PROPN
ap-796	53	24	�	�	PROPN
ap-796	53	25	together	together	ADV
ap-796	53	26	with	with	ADP
ap-796	53	27	the	the	DET
ap-796	53	28	initial	initial	ADJ
ap-796	53	29	condition	condition	NOUN
ap-796	53	30	x	x	X
ap-796	53	31	t	t	NOUN
ap-796	53	32	x	x	PROPN
ap-796	53	33	(	(	PUNCT
ap-796	53	34	)	)	PUNCT
ap-796	53	35	�	�	PROPN
ap-796	53	36	0	0	NUM
ap-796	53	37	.	.	PUNCT
ap-796	54	1	our	our	PRON
ap-796	54	2	aim	aim	NOUN
ap-796	54	3	is	be	AUX
ap-796	54	4	to	to	PART
ap-796	54	5	design	design	VERB
ap-796	54	6	a	a	DET
ap-796	54	7	control	control	NOUN
ap-796	54	8	u(t	u(t	NOUN
ap-796	54	9	)	)	PUNCT
ap-796	54	10	such	such	ADJ
ap-796	54	11	that	that	SCONJ
ap-796	54	12	the	the	DET
ap-796	54	13	cost	cost	NOUN
ap-796	54	14	functional	functional	ADJ
ap-796	54	15	�	�	PROPN
ap-796	54	16	�	�	PROPN
ap-796	54	17	j	j	PROPN
ap-796	54	18	t	t	PROPN
ap-796	54	19	j	j	PROPN
ap-796	54	20	x	x	SYM
ap-796	54	21	t	t	PROPN
ap-796	54	22	u	u	NOUN
ap-796	54	23	t	t	PROPN
ap-796	54	24	t	t	PROPN
ap-796	54	25	t	t	PROPN
ap-796	54	26	t	t	PROPN
ap-796	54	27	th	th	X
ap-796	54	28	(	(	PUNCT
ap-796	54	29	)	)	PUNCT
ap-796	54	30	(	(	PUNCT
ap-796	54	31	)	)	PUNCT
ap-796	54	32	,	,	PUNCT
ap-796	54	33	(	(	PUNCT
ap-796	54	34	)	)	PUNCT
ap-796	54	35	�	�	PROPN
ap-796	54	36	�	�	PROPN
ap-796	54	37	�	�	PROPN
ap-796	54	38	d	d	PROPN
ap-796	54	39	is	be	AUX
ap-796	54	40	minimized	minimize	VERB
ap-796	54	41	.	.	PUNCT
ap-796	55	1	in	in	ADP
ap-796	55	2	the	the	DET
ap-796	55	3	definition	definition	NOUN
ap-796	55	4	of	of	ADP
ap-796	55	5	the	the	DET
ap-796	55	6	cost	cost	NOUN
ap-796	55	7	functional	functional	ADJ
ap-796	55	8	,	,	PUNCT
ap-796	55	9	th	th	X
ap-796	55	10	stands	stand	VERB
ap-796	55	11	for	for	ADP
ap-796	55	12	the	the	DET
ap-796	55	13	prediction	prediction	NOUN
ap-796	55	14	horizon	horizon	NOUN
ap-796	55	15	and	and	CCONJ
ap-796	55	16	j	j	PROPN
ap-796	55	17	denotes	denote	VERB
ap-796	55	18	a	a	DET
ap-796	55	19	continuously	continuously	ADV
ap-796	55	20	differentiable	differentiable	ADJ
ap-796	55	21	function	function	NOUN
ap-796	55	22	such	such	ADJ
ap-796	55	23	that	that	SCONJ
ap-796	55	24	the	the	DET
ap-796	55	25	integral	integral	ADJ
ap-796	55	26	exists	exist	NOUN
ap-796	55	27	.	.	PUNCT
ap-796	56	1	the	the	DET
ap-796	56	2	horizon	horizon	NOUN
ap-796	56	3	th	th	X
ap-796	56	4	must	must	AUX
ap-796	56	5	be	be	AUX
ap-796	56	6	longer	long	ADJ
ap-796	56	7	than	than	ADP
ap-796	56	8	the	the	DET
ap-796	56	9	longest	long	ADJ
ap-796	56	10	time	time	NOUN
ap-796	56	11	necessary	necessary	ADJ
ap-796	56	12	for	for	ADP
ap-796	56	13	the	the	DET
ap-796	56	14	calculations	calculation	NOUN
ap-796	56	15	described	describe	VERB
ap-796	56	16	below	below	ADV
ap-796	56	17	.	.	PUNCT
ap-796	57	1	it	it	PRON
ap-796	57	2	can	can	AUX
ap-796	57	3	,	,	PUNCT
ap-796	57	4	however	however	ADV
ap-796	57	5	,	,	PUNCT
ap-796	57	6	be	be	AUX
ap-796	57	7	significantly	significantly	ADV
ap-796	57	8	greater	great	ADJ
ap-796	57	9	,	,	PUNCT
ap-796	57	10	as	as	SCONJ
ap-796	57	11	mentioned	mention	VERB
ap-796	57	12	in	in	ADP
ap-796	57	13	[	[	X
ap-796	57	14	5	5	NUM
ap-796	57	15	]	]	PUNCT
ap-796	57	16	.	.	PUNCT
ap-796	58	1	the	the	DET
ap-796	58	2	optimization	optimization	NOUN
ap-796	58	3	is	be	AUX
ap-796	58	4	performed	perform	VERB
ap-796	58	5	under	under	ADP
ap-796	58	6	the	the	DET
ap-796	58	7	condition	condition	NOUN
ap-796	58	8	that	that	SCONJ
ap-796	58	9	the	the	DET
ap-796	58	10	state	state	NOUN
ap-796	58	11	equation	equation	NOUN
ap-796	58	12	is	be	AUX
ap-796	58	13	satisfied	satisfied	ADJ
ap-796	58	14	for	for	ADP
ap-796	58	15	every	every	DET
ap-796	58	16	t	t	NOUN
ap-796	58	17	between	between	ADP
ap-796	58	18	t	t	PROPN
ap-796	58	19	and	and	CCONJ
ap-796	58	20	th	th	PROPN
ap-796	58	21	.	.	PUNCT
ap-796	59	1	the	the	DET
ap-796	59	2	problem	problem	NOUN
ap-796	59	3	described	describe	VERB
ap-796	59	4	above	above	ADV
ap-796	59	5	will	will	AUX
ap-796	59	6	be	be	AUX
ap-796	59	7	referred	refer	VERB
ap-796	59	8	to	to	ADP
ap-796	59	9	as	as	ADP
ap-796	59	10	the	the	DET
ap-796	59	11	upper	upper	ADJ
ap-796	59	12	-	-	PUNCT
ap-796	59	13	level	level	NOUN
ap-796	59	14	problem	problem	NOUN
ap-796	59	15	at	at	ADP
ap-796	59	16	time	time	NOUN
ap-796	59	17	t	t	NOUN
ap-796	59	18	on	on	ADP
ap-796	59	19	the	the	DET
ap-796	59	20	interval	interval	NOUN
ap-796	59	21	(	(	PUNCT
ap-796	59	22	t	t	PROPN
ap-796	59	23	,	,	PUNCT
ap-796	59	24	th	th	X
ap-796	59	25	)	)	PUNCT
ap-796	59	26	with	with	ADP
ap-796	59	27	the	the	DET
ap-796	59	28	initial	initial	ADJ
ap-796	59	29	condition	condition	NOUN
ap-796	59	30	x	x	X
ap-796	59	31	t	t	NOUN
ap-796	59	32	x	x	PROPN
ap-796	59	33	(	(	PUNCT
ap-796	59	34	)	)	PUNCT
ap-796	59	35	�	�	PROPN
ap-796	59	36	0	0	NUM
ap-796	59	37	and	and	CCONJ
ap-796	59	38	denoted	denote	VERB
ap-796	59	39	by	by	ADP
ap-796	59	40	(	(	PUNCT
ap-796	59	41	p[t	p[t	ADV
ap-796	59	42	,	,	PUNCT
ap-796	59	43	x0	x0	PROPN
ap-796	59	44	]	]	PUNCT
ap-796	59	45	)	)	PUNCT
ap-796	59	46	.	.	PUNCT
ap-796	60	1	first	first	ADV
ap-796	60	2	,	,	PUNCT
ap-796	60	3	we	we	PRON
ap-796	60	4	introduce	introduce	VERB
ap-796	60	5	the	the	DET
ap-796	60	6	solution	solution	NOUN
ap-796	60	7	of	of	ADP
ap-796	60	8	the	the	DET
ap-796	60	9	problem	problem	NOUN
ap-796	60	10	(	(	PUNCT
ap-796	60	11	p[t	p[t	ADV
ap-796	60	12	,	,	PUNCT
ap-796	60	13	x0	x0	PROPN
ap-796	60	14	]	]	PUNCT
ap-796	60	15	)	)	PUNCT
ap-796	60	16	.	.	PUNCT
ap-796	61	1	then	then	ADV
ap-796	61	2	we	we	PRON
ap-796	61	3	will	will	AUX
ap-796	61	4	demonstrate	demonstrate	VERB
ap-796	61	5	how	how	SCONJ
ap-796	61	6	it	it	PRON
ap-796	61	7	can	can	AUX
ap-796	61	8	be	be	AUX
ap-796	61	9	used	use	VERB
ap-796	61	10	for	for	ADP
ap-796	61	11	the	the	DET
ap-796	61	12	upper	upper	ADJ
ap-796	61	13	-	-	PUNCT
ap-796	61	14	level	level	NOUN
ap-796	61	15	definition	definition	NOUN
ap-796	61	16	.	.	PUNCT
ap-796	62	1	proceeding	proceed	VERB
ap-796	62	2	as	as	ADP
ap-796	62	3	in	in	ADP
ap-796	62	4	[	[	X
ap-796	62	5	2	2	NUM
ap-796	62	6	]	]	PUNCT
ap-796	62	7	,	,	PUNCT
ap-796	62	8	we	we	PRON
ap-796	62	9	infer	infer	VERB
ap-796	62	10	that	that	SCONJ
ap-796	62	11	the	the	DET
ap-796	62	12	problem	problem	NOUN
ap-796	62	13	(	(	PUNCT
ap-796	62	14	p[t	p[t	ADV
ap-796	62	15	,	,	PUNCT
ap-796	62	16	x0	x0	PROPN
ap-796	62	17	]	]	PUNCT
ap-796	62	18	)	)	PUNCT
ap-796	62	19	is	be	AUX
ap-796	62	20	equivalent	equivalent	ADJ
ap-796	62	21	to	to	ADP
ap-796	62	22	the	the	DET
ap-796	62	23	problem	problem	NOUN
ap-796	62	24	of	of	ADP
ap-796	62	25	unconstrained	unconstrained	ADJ
ap-796	62	26	minimization	minimization	NOUN
ap-796	62	27	of	of	ADP
ap-796	62	28	the	the	DET
ap-796	62	29	lagrange	lagrange	ADJ
ap-796	62	30	functional	functional	ADJ
ap-796	62	31	l	l	NOUN
ap-796	62	32	that	that	PRON
ap-796	62	33	is	be	AUX
ap-796	62	34	defined	define	VERB
ap-796	62	35	as	as	SCONJ
ap-796	62	36	follows	follow	VERB
ap-796	62	37	:	:	PUNCT
ap-796	62	38	�	�	PROPN
ap-796	62	39	�	�	PROPN
ap-796	62	40	�	�	PROPN
ap-796	62	41	�	�	PROPN
ap-796	62	42	�	�	PROPN
ap-796	62	43	�	�	PROPN
ap-796	62	44	�	�	PROPN
ap-796	62	45	�	�	PROPN
ap-796	62	46	l	l	PROPN
ap-796	62	47	t	t	PROPN
ap-796	63	1	j	j	X
ap-796	64	1	x	x	SYM
ap-796	64	2	t	t	PROPN
ap-796	64	3	u	u	NOUN
ap-796	64	4	t	t	PROPN
ap-796	64	5	t	t	PROPN
ap-796	64	6	x	x	SYM
ap-796	64	7	t	t	PROPN
ap-796	64	8	f	f	X
ap-796	64	9	x	x	SYM
ap-796	64	10	t	t	PROPN
ap-796	64	11	u	u	NOUN
ap-796	64	12	t	t	X
ap-796	64	13	tt	tt	PROPN
ap-796	64	14	t	t	PROPN
ap-796	64	15	t	t	PROPN
ap-796	64	16	th	th	X
ap-796	64	17	(	(	PUNCT
ap-796	64	18	)	)	PUNCT
ap-796	64	19	(	(	PUNCT
ap-796	64	20	)	)	PUNCT
ap-796	64	21	,	,	PUNCT
ap-796	64	22	(	(	PUNCT
ap-796	64	23	)	)	PUNCT
ap-796	64	24	(	(	PUNCT
ap-796	64	25	)	)	PUNCT
ap-796	64	26	�	�	PROPN
ap-796	64	27	(	(	PUNCT
ap-796	64	28	)	)	PUNCT
ap-796	64	29	(	(	PUNCT
ap-796	64	30	)	)	PUNCT
ap-796	64	31	,	,	PUNCT
ap-796	64	32	(	(	PUNCT
ap-796	64	33	)	)	PUNCT
ap-796	64	34	�	�	PROPN
ap-796	64	35	�	�	PROPN
ap-796	64	36	�	�	PROPN
ap-796	64	37	�	�	PROPN
ap-796	64	38	�	�	PROPN
ap-796	64	39	d	d	PROPN
ap-796	64	40	.	.	PUNCT
ap-796	65	1	the	the	DET
ap-796	65	2	vector	vector	NOUN
ap-796	65	3	-	-	PUNCT
ap-796	65	4	valued	value	VERB
ap-796	65	5	function	function	NOUN
ap-796	65	6	�	�	PROPN
ap-796	65	7	(	(	PUNCT
ap-796	65	8	having	have	VERB
ap-796	65	9	the	the	DET
ap-796	65	10	same	same	ADJ
ap-796	65	11	size	size	NOUN
ap-796	65	12	as	as	ADP
ap-796	65	13	the	the	DET
ap-796	65	14	state	state	NOUN
ap-796	65	15	vector	vector	NOUN
ap-796	65	16	)	)	PUNCT
ap-796	65	17	is	be	AUX
ap-796	65	18	the	the	DET
ap-796	65	19	lagrange	lagrange	NOUN
ap-796	65	20	multiplier	multiplier	ADV
ap-796	65	21	,	,	PUNCT
ap-796	65	22	sometimes	sometimes	ADV
ap-796	65	23	also	also	ADV
ap-796	65	24	called	call	VERB
ap-796	65	25	the	the	DET
ap-796	65	26	co	co	NOUN
ap-796	65	27	-	-	NOUN
ap-796	65	28	state	state	NOUN
ap-796	65	29	or	or	CCONJ
ap-796	65	30	the	the	DET
ap-796	65	31	adjoint	adjoint	PROPN
ap-796	65	32	state	state	NOUN
ap-796	65	33	.	.	PUNCT
ap-796	66	1	the	the	DET
ap-796	66	2	functions	function	NOUN
ap-796	66	3	u	u	NOUN
ap-796	66	4	,	,	PUNCT
ap-796	66	5	x	x	PROPN
ap-796	66	6	,	,	PUNCT
ap-796	66	7	�	�	PROPN
ap-796	66	8	that	that	PRON
ap-796	66	9	solve	solve	VERB
ap-796	66	10	the	the	DET
ap-796	66	11	minimization	minimization	NOUN
ap-796	66	12	problem	problem	NOUN
ap-796	66	13	also	also	ADV
ap-796	66	14	satisfy	satisfy	VERB
ap-796	66	15	the	the	DET
ap-796	66	16	following	follow	VERB
ap-796	66	17	set	set	NOUN
ap-796	66	18	of	of	ADP
ap-796	66	19	equations	equation	NOUN
ap-796	66	20	on	on	ADP
ap-796	66	21	the	the	DET
ap-796	66	22	interval	interval	NOUN
ap-796	66	23	(	(	PUNCT
ap-796	66	24	t	t	PROPN
ap-796	66	25	,	,	PUNCT
ap-796	66	26	th	th	X
ap-796	66	27	)	)	PUNCT
ap-796	66	28	(	(	PUNCT
ap-796	66	29	dxf	dxf	PROPN
ap-796	66	30	,	,	PUNCT
ap-796	66	31	or	or	CCONJ
ap-796	66	32	duf	duf	NOUN
ap-796	66	33	denotes	denote	VERB
ap-796	66	34	the	the	DET
ap-796	66	35	derivative	derivative	NOUN
ap-796	66	36	of	of	ADP
ap-796	66	37	function	function	NOUN
ap-796	66	38	f	f	PROPN
ap-796	66	39	with	with	ADP
ap-796	66	40	respect	respect	NOUN
ap-796	66	41	to	to	ADP
ap-796	66	42	variable	variable	NOUN
ap-796	66	43	x	x	PUNCT
ap-796	66	44	or	or	CCONJ
ap-796	66	45	u.	u.	PROPN
ap-796	66	46	):	):	PUNCT
ap-796	66	47	�	�	PROPN
ap-796	66	48	�	�	PROPN
ap-796	66	49	�	�	PROPN
ap-796	66	50	(	(	PUNCT
ap-796	66	51	)	)	PUNCT
ap-796	66	52	,	,	PUNCT
ap-796	66	53	(	(	PUNCT
ap-796	66	54	)	)	PUNCT
ap-796	66	55	x	x	SYM
ap-796	66	56	f	f	NOUN
ap-796	66	57	x	x	SYM
ap-796	66	58	t	t	PROPN
ap-796	66	59	u	u	PROPN
ap-796	66	60	t	t	PROPN
ap-796	66	61	�	�	PROPN
ap-796	66	62	�	�	PROPN
ap-796	66	63	�	�	PROPN
ap-796	66	64	�	�	PROPN
ap-796	66	65	�	�	PROPN
ap-796	66	66	�	�	PROPN
ap-796	66	67	(	(	PUNCT
ap-796	66	68	)	)	PUNCT
ap-796	66	69	,	,	PUNCT
ap-796	66	70	(	(	PUNCT
ap-796	66	71	)	)	PUNCT
ap-796	66	72	(	(	PUNCT
ap-796	66	73	)	)	PUNCT
ap-796	66	74	,	,	PUNCT
ap-796	66	75	(	(	PUNCT
ap-796	66	76	)	)	PUNCT
ap-796	66	77	(	(	PUNCT
ap-796	66	78	)	)	PUNCT
ap-796	66	79	�	�	PROPN
ap-796	66	80	�	�	PROPN
ap-796	66	81	�	�	PROPN
ap-796	66	82	�	�	PROPN
ap-796	66	83	d	d	PROPN
ap-796	66	84	j	j	PROPN
ap-796	66	85	x	x	SYM
ap-796	66	86	t	t	PROPN
ap-796	66	87	u	u	NOUN
ap-796	66	88	t	t	PROPN
ap-796	66	89	d	d	X
ap-796	66	90	f	f	X
ap-796	66	91	x	x	SYM
ap-796	66	92	t	t	PROPN
ap-796	66	93	u	u	NOUN
ap-796	66	94	t	t	PROPN
ap-796	66	95	tx	tx	PROPN
ap-796	66	96	x	x	PUNCT
ap-796	66	97	�	�	PROPN
ap-796	66	98	�	�	PROPN
ap-796	66	99	�	�	PROPN
ap-796	66	100	�	�	PROPN
ap-796	66	101	0	0	PROPN
ap-796	66	102	�	�	PROPN
ap-796	66	103	�	�	PROPN
ap-796	66	104	d	d	PROPN
ap-796	66	105	j	j	PROPN
ap-796	66	106	x	x	SYM
ap-796	66	107	t	t	PROPN
ap-796	66	108	u	u	NOUN
ap-796	66	109	t	t	PROPN
ap-796	66	110	d	d	X
ap-796	66	111	f	f	X
ap-796	66	112	x	x	SYM
ap-796	66	113	t	t	PROPN
ap-796	66	114	u	u	X
ap-796	66	115	t	t	PROPN
ap-796	66	116	tu	tu	PROPN
ap-796	66	117	u	u	PROPN
ap-796	66	118	(	(	PUNCT
ap-796	66	119	)	)	PUNCT
ap-796	66	120	,	,	PUNCT
ap-796	66	121	(	(	PUNCT
ap-796	66	122	)	)	PUNCT
ap-796	66	123	(	(	PUNCT
ap-796	66	124	)	)	PUNCT
ap-796	66	125	,	,	PUNCT
ap-796	66	126	(	(	PUNCT
ap-796	66	127	)	)	PUNCT
ap-796	66	128	(	(	PUNCT
ap-796	66	129	)	)	PUNCT
ap-796	66	130	�	�	PROPN
ap-796	66	131	with	with	ADP
ap-796	66	132	boundary	boundary	ADJ
ap-796	66	133	conditions	condition	NOUN
ap-796	66	134	defined	define	VERB
ap-796	66	135	as	as	SCONJ
ap-796	66	136	follows	follow	VERB
ap-796	66	137	:	:	PUNCT
ap-796	66	138	x	x	X
ap-796	66	139	t	t	NOUN
ap-796	66	140	x	x	X
ap-796	66	141	t	t	X
ap-796	66	142	th	th	X
ap-796	66	143	(	(	PUNCT
ap-796	66	144	)	)	PUNCT
ap-796	66	145	(	(	PUNCT
ap-796	66	146	)	)	PUNCT
ap-796	66	147	�	�	PROPN
ap-796	66	148	�	�	PROPN
ap-796	66	149	�	�	PROPN
ap-796	66	150	0	0	NUM
ap-796	66	151	0	0	NUM
ap-796	66	152	�	�	PROPN
ap-796	66	153	while	while	SCONJ
ap-796	66	154	the	the	DET
ap-796	66	155	value	value	NOUN
ap-796	66	156	of	of	ADP
ap-796	66	157	the	the	DET
ap-796	66	158	state	state	NOUN
ap-796	66	159	at	at	ADP
ap-796	66	160	the	the	DET
ap-796	66	161	end	end	NOUN
ap-796	66	162	of	of	ADP
ap-796	66	163	the	the	DET
ap-796	66	164	interval	interval	NOUN
ap-796	66	165	(	(	PUNCT
ap-796	66	166	t	t	PROPN
ap-796	66	167	,	,	PUNCT
ap-796	66	168	th	th	X
ap-796	66	169	)	)	PUNCT
ap-796	66	170	and	and	CCONJ
ap-796	66	171	also	also	ADV
ap-796	66	172	the	the	DET
ap-796	66	173	value	value	NOUN
ap-796	66	174	of	of	ADP
ap-796	66	175	the	the	DET
ap-796	66	176	co	co	NOUN
ap-796	66	177	-	-	NOUN
ap-796	66	178	state	state	NOUN
ap-796	66	179	at	at	ADP
ap-796	66	180	time	time	NOUN
ap-796	66	181	t	t	PROPN
ap-796	66	182	are	be	AUX
ap-796	66	183	not	not	PART
ap-796	66	184	defined	define	VERB
ap-796	66	185	.	.	PUNCT
ap-796	67	1	then	then	ADV
ap-796	67	2	the	the	DET
ap-796	67	3	boundary	boundary	ADJ
ap-796	67	4	value	value	NOUN
ap-796	67	5	problem	problem	NOUN
ap-796	67	6	for	for	ADP
ap-796	67	7	this	this	DET
ap-796	67	8	set	set	NOUN
ap-796	67	9	of	of	ADP
ap-796	67	10	equations	equation	NOUN
ap-796	67	11	is	be	AUX
ap-796	67	12	correctly	correctly	ADV
ap-796	67	13	defined	define	VERB
ap-796	67	14	.	.	PUNCT
ap-796	68	1	see	see	VERB
ap-796	68	2	[	[	X
ap-796	68	3	2	2	NUM
ap-796	68	4	,	,	PUNCT
ap-796	68	5	9	9	NUM
ap-796	68	6	]	]	PUNCT
ap-796	68	7	for	for	ADP
ap-796	68	8	details	detail	NOUN
ap-796	68	9	.	.	PUNCT
ap-796	69	1	we	we	PRON
ap-796	69	2	will	will	AUX
ap-796	69	3	now	now	ADV
ap-796	69	4	describe	describe	VERB
ap-796	69	5	the	the	DET
ap-796	69	6	functionality	functionality	NOUN
ap-796	69	7	of	of	ADP
ap-796	69	8	the	the	DET
ap-796	69	9	upper	upper	ADJ
ap-796	69	10	level	level	NOUN
ap-796	69	11	.	.	PUNCT
ap-796	70	1	since	since	SCONJ
ap-796	70	2	the	the	DET
ap-796	70	3	solution	solution	NOUN
ap-796	70	4	of	of	ADP
ap-796	70	5	the	the	DET
ap-796	70	6	optimization	optimization	NOUN
ap-796	70	7	problem	problem	NOUN
ap-796	70	8	takes	take	VERB
ap-796	70	9	a	a	DET
ap-796	70	10	considerable	considerable	ADJ
ap-796	70	11	time	time	NOUN
ap-796	70	12	,	,	PUNCT
ap-796	70	13	the	the	DET
ap-796	70	14	algorithm	algorithm	NOUN
ap-796	70	15	for	for	ADP
ap-796	70	16	the	the	DET
ap-796	70	17	solution	solution	NOUN
ap-796	70	18	can	can	AUX
ap-796	70	19	be	be	AUX
ap-796	70	20	started	start	VERB
ap-796	70	21	with	with	ADP
ap-796	70	22	period	period	NOUN
ap-796	70	23	tv	tv	NOUN
ap-796	70	24	,	,	PUNCT
ap-796	70	25	as	as	SCONJ
ap-796	70	26	described	describe	VERB
ap-796	70	27	above	above	ADV
ap-796	70	28	.	.	PUNCT
ap-796	71	1	the	the	DET
ap-796	71	2	period	period	NOUN
ap-796	71	3	must	must	AUX
ap-796	71	4	be	be	AUX
ap-796	71	5	longer	long	ADJ
ap-796	71	6	than	than	ADP
ap-796	71	7	the	the	DET
ap-796	71	8	time	time	NOUN
ap-796	71	9	necessary	necessary	ADJ
ap-796	71	10	for	for	ADP
ap-796	71	11	carrying	carry	VERB
ap-796	71	12	out	out	ADP
ap-796	71	13	the	the	DET
ap-796	71	14	computations	computation	NOUN
ap-796	71	15	,	,	PUNCT
ap-796	71	16	but	but	CCONJ
ap-796	71	17	it	it	PRON
ap-796	71	18	must	must	AUX
ap-796	71	19	be	be	AUX
ap-796	71	20	also	also	ADV
ap-796	71	21	shorter	short	ADJ
ap-796	71	22	than	than	ADP
ap-796	71	23	the	the	DET
ap-796	71	24	prediction	prediction	NOUN
ap-796	71	25	horizon	horizon	NOUN
ap-796	71	26	th	th	X
ap-796	71	27	.	.	PUNCT
ap-796	72	1	during	during	ADP
ap-796	72	2	that	that	DET
ap-796	72	3	period	period	NOUN
ap-796	72	4	,	,	PUNCT
ap-796	72	5	the	the	DET
ap-796	72	6	following	follow	VERB
ap-796	72	7	actions	action	NOUN
ap-796	72	8	take	take	VERB
ap-796	72	9	place	place	NOUN
ap-796	72	10	(	(	PUNCT
ap-796	72	11	let	let	VERB
ap-796	72	12	us	we	PRON
ap-796	72	13	assume	assume	VERB
ap-796	72	14	that	that	SCONJ
ap-796	72	15	the	the	DET
ap-796	72	16	current	current	ADJ
ap-796	72	17	time	time	NOUN
ap-796	72	18	is	be	AUX
ap-796	72	19	ktv	ktv	ADJ
ap-796	72	20	):	):	PUNCT
ap-796	72	21	1	1	X
ap-796	72	22	.	.	PUNCT
ap-796	73	1	the	the	DET
ap-796	73	2	prediction	prediction	NOUN
ap-796	73	3	of	of	ADP
ap-796	73	4	the	the	DET
ap-796	73	5	state	state	NOUN
ap-796	73	6	variables	variable	NOUN
ap-796	73	7	at	at	ADP
ap-796	73	8	time	time	NOUN
ap-796	73	9	(	(	PUNCT
ap-796	73	10	k	k	X
ap-796	73	11	�	�	PROPN
ap-796	73	12	1)tv	1)tv	NUM
ap-796	73	13	is	be	AUX
ap-796	73	14	evaluated	evaluate	VERB
ap-796	73	15	with	with	ADP
ap-796	73	16	the	the	DET
ap-796	73	17	help	help	NOUN
ap-796	73	18	of	of	ADP
ap-796	73	19	the	the	DET
ap-796	73	20	feedforward	feedforward	NOUN
ap-796	73	21	computed	compute	VERB
ap-796	73	22	at	at	ADP
ap-796	73	23	time	time	NOUN
ap-796	73	24	(	(	PUNCT
ap-796	73	25	k	k	NOUN
ap-796	73	26	1)tv	1)tv	NUM
ap-796	73	27	.	.	PUNCT
ap-796	74	1	we	we	PRON
ap-796	74	2	denote	denote	VERB
ap-796	74	3	this	this	DET
ap-796	74	4	prediction	prediction	NOUN
ap-796	74	5	by	by	ADP
ap-796	74	6	�	�	PROPN
ap-796	74	7	(	(	PUNCT
ap-796	74	8	(	(	PUNCT
ap-796	74	9	k	k	X
ap-796	74	10	�	�	PROPN
ap-796	74	11	1)tv	1)tv	NUM
ap-796	74	12	)	)	PUNCT
ap-796	74	13	.	.	PUNCT
ap-796	75	1	2	2	X
ap-796	75	2	.	.	X
ap-796	75	3	the	the	DET
ap-796	75	4	optimization	optimization	NOUN
ap-796	75	5	problem	problem	NOUN
ap-796	75	6	p[t(k	p[t(k	NOUN
ap-796	75	7	�	�	NOUN
ap-796	75	8	1)tv	1)tv	NUM
ap-796	75	9	,	,	PUNCT
ap-796	75	10	�	�	PROPN
ap-796	75	11	(	(	PUNCT
ap-796	75	12	(	(	PUNCT
ap-796	75	13	k	k	X
ap-796	75	14	�	�	PROPN
ap-796	75	15	1)tv	1)tv	NUM
ap-796	75	16	]	]	PUNCT
ap-796	75	17	is	be	AUX
ap-796	75	18	solved	solve	VERB
ap-796	75	19	.	.	PUNCT
ap-796	76	1	3	3	X
ap-796	76	2	.	.	X
ap-796	76	3	the	the	DET
ap-796	76	4	optimal	optimal	ADJ
ap-796	76	5	feedforward	feedforward	NOUN
ap-796	76	6	for	for	ADP
ap-796	76	7	the	the	DET
ap-796	76	8	lower	low	ADJ
ap-796	76	9	-	-	PUNCT
ap-796	76	10	level	level	NOUN
ap-796	76	11	control	control	NOUN
ap-796	76	12	loops	loop	NOUN
ap-796	76	13	on	on	ADP
ap-796	76	14	the	the	DET
ap-796	76	15	interval	interval	NOUN
ap-796	76	16	[	[	X
ap-796	76	17	(	(	PUNCT
ap-796	76	18	k	k	X
ap-796	76	19	�	�	PROPN
ap-796	76	20	1)tv	1)tv	NUM
ap-796	76	21	,	,	PUNCT
ap-796	76	22	(	(	PUNCT
ap-796	76	23	k	k	X
ap-796	76	24	�	�	PROPN
ap-796	76	25	2)tv	2)tv	NOUN
ap-796	76	26	]	]	PUNCT
ap-796	76	27	is	be	AUX
ap-796	76	28	evaluated	evaluate	VERB
ap-796	76	29	.	.	PUNCT
ap-796	77	1	we	we	PRON
ap-796	77	2	will	will	AUX
ap-796	77	3	clarify	clarify	VERB
ap-796	77	4	this	this	DET
ap-796	77	5	step	step	NOUN
ap-796	77	6	in	in	ADP
ap-796	77	7	the	the	DET
ap-796	77	8	following	follow	VERB
ap-796	77	9	paragraph	paragraph	NOUN
ap-796	77	10	.	.	PUNCT
ap-796	78	1	at	at	ADP
ap-796	78	2	the	the	DET
ap-796	78	3	time	time	NOUN
ap-796	78	4	slot	slot	NOUN
ap-796	78	5	(	(	PUNCT
ap-796	78	6	k	k	X
ap-796	78	7	�	�	PROPN
ap-796	78	8	2)tv	2)tv	PROPN
ap-796	78	9	the	the	DET
ap-796	78	10	optimal	optimal	ADJ
ap-796	78	11	feedforward	feedforward	NOUN
ap-796	78	12	is	be	AUX
ap-796	78	13	saved	save	VERB
ap-796	78	14	into	into	ADP
ap-796	78	15	the	the	DET
ap-796	78	16	buffer	buffer	NOUN
ap-796	78	17	and	and	CCONJ
ap-796	78	18	these	these	DET
ap-796	78	19	steps	step	NOUN
ap-796	78	20	are	be	AUX
ap-796	78	21	repeated	repeat	VERB
ap-796	78	22	with	with	ADP
ap-796	78	23	new	new	ADJ
ap-796	78	24	values	value	NOUN
ap-796	78	25	of	of	ADP
ap-796	78	26	the	the	DET
ap-796	78	27	initial	initial	ADJ
ap-796	78	28	and	and	CCONJ
ap-796	78	29	terminal	terminal	ADJ
ap-796	78	30	time	time	NOUN
ap-796	78	31	of	of	ADP
ap-796	78	32	the	the	DET
ap-796	78	33	optimization	optimization	NOUN
ap-796	78	34	problem	problem	NOUN
ap-796	78	35	.	.	PUNCT
ap-796	79	1	this	this	PRON
ap-796	79	2	is	be	AUX
ap-796	79	3	a	a	DET
ap-796	79	4	kind	kind	NOUN
ap-796	79	5	of	of	ADP
ap-796	79	6	“	"	PUNCT
ap-796	79	7	receding	recede	VERB
ap-796	79	8	horizon	horizon	NOUN
ap-796	79	9	”	"	PUNCT
ap-796	79	10	method	method	NOUN
ap-796	79	11	.	.	PUNCT
ap-796	80	1	it	it	PRON
ap-796	80	2	constitutes	constitute	VERB
ap-796	80	3	an	an	DET
ap-796	80	4	essential	essential	ADJ
ap-796	80	5	part	part	NOUN
ap-796	80	6	of	of	ADP
ap-796	80	7	predictive	predictive	ADJ
ap-796	80	8	control	control	NOUN
ap-796	80	9	theory	theory	NOUN
ap-796	80	10	[	[	X
ap-796	80	11	5	5	NUM
ap-796	80	12	]	]	PUNCT
ap-796	80	13	.	.	PUNCT
ap-796	81	1	4	4	NUM
ap-796	81	2	design	design	NOUN
ap-796	81	3	of	of	ADP
ap-796	81	4	the	the	DET
ap-796	81	5	lower	low	ADJ
ap-796	81	6	level	level	NOUN
ap-796	81	7	we	we	PRON
ap-796	81	8	will	will	AUX
ap-796	81	9	now	now	ADV
ap-796	81	10	describe	describe	VERB
ap-796	81	11	the	the	DET
ap-796	81	12	functionality	functionality	NOUN
ap-796	81	13	and	and	CCONJ
ap-796	81	14	the	the	DET
ap-796	81	15	design	design	NOUN
ap-796	81	16	of	of	ADP
ap-796	81	17	the	the	DET
ap-796	81	18	lower	low	ADJ
ap-796	81	19	-	-	PUNCT
ap-796	81	20	level	level	NOUN
ap-796	81	21	controllers	controller	NOUN
ap-796	81	22	.	.	PUNCT
ap-796	82	1	first	first	ADV
ap-796	82	2	we	we	PRON
ap-796	82	3	mention	mention	VERB
ap-796	82	4	that	that	SCONJ
ap-796	82	5	we	we	PRON
ap-796	82	6	will	will	AUX
ap-796	82	7	make	make	VERB
ap-796	82	8	use	use	NOUN
ap-796	82	9	of	of	ADP
ap-796	82	10	the	the	DET
ap-796	82	11	possibility	possibility	NOUN
ap-796	82	12	to	to	PART
ap-796	82	13	decompose	decompose	VERB
ap-796	82	14	the	the	DET
ap-796	82	15	system	system	NOUN
ap-796	82	16	.	.	PUNCT
ap-796	83	1	we	we	PRON
ap-796	83	2	briefly	briefly	ADV
ap-796	83	3	mention	mention	VERB
ap-796	83	4	this	this	DET
ap-796	83	5	decomposition	decomposition	NOUN
ap-796	83	6	.	.	PUNCT
ap-796	84	1	the	the	DET
ap-796	84	2	most	most	ADV
ap-796	84	3	important	important	ADJ
ap-796	84	4	condition	condition	NOUN
ap-796	84	5	is	be	AUX
ap-796	84	6	that	that	SCONJ
ap-796	84	7	the	the	DET
ap-796	84	8	systems	system	NOUN
ap-796	84	9	must	must	AUX
ap-796	84	10	be	be	AUX
ap-796	84	11	almost	almost	ADV
ap-796	84	12	autonomous	autonomous	ADJ
ap-796	84	13	,	,	PUNCT
ap-796	84	14	and	and	CCONJ
ap-796	84	15	their	their	PRON
ap-796	84	16	mutual	mutual	ADJ
ap-796	84	17	interaction	interaction	NOUN
ap-796	84	18	is	be	AUX
ap-796	84	19	only	only	ADV
ap-796	84	20	weak	weak	ADJ
ap-796	84	21	.	.	PUNCT
ap-796	85	1	in	in	ADP
ap-796	85	2	what	what	PRON
ap-796	85	3	follows	follow	VERB
ap-796	85	4	we	we	PRON
ap-796	85	5	assume	assume	VERB
ap-796	85	6	that	that	SCONJ
ap-796	85	7	the	the	DET
ap-796	85	8	system	system	NOUN
ap-796	85	9	can	can	AUX
ap-796	85	10	be	be	AUX
ap-796	85	11	divided	divide	VERB
ap-796	85	12	into	into	ADP
ap-796	85	13	n	n	PROPN
ap-796	85	14	subsystems	subsystem	NOUN
ap-796	85	15	.	.	PUNCT
ap-796	86	1	the	the	DET
ap-796	86	2	system	system	NOUN
ap-796	86	3	matrix	matrix	NOUN
ap-796	86	4	(	(	PUNCT
ap-796	86	5	or	or	CCONJ
ap-796	86	6	,	,	PUNCT
ap-796	86	7	if	if	SCONJ
ap-796	86	8	the	the	DET
ap-796	86	9	original	original	ADJ
ap-796	86	10	system	system	NOUN
ap-796	86	11	was	be	AUX
ap-796	86	12	nonlinear	nonlinear	ADJ
ap-796	86	13	,	,	PUNCT
ap-796	86	14	its	its	PRON
ap-796	86	15	linearization	linearization	NOUN
ap-796	86	16	)	)	PUNCT
ap-796	86	17	can	can	AUX
ap-796	86	18	be	be	AUX
ap-796	86	19	written	write	VERB
ap-796	86	20	as	as	SCONJ
ap-796	86	21	follows	follow	VERB
ap-796	86	22	:	:	PUNCT
ap-796	86	23	a	a	DET
ap-796	86	24	�	�	PROPN
ap-796	86	25	�	�	PROPN
ap-796	86	26	�	�	PROPN
ap-796	86	27	�	�	PROPN
ap-796	86	28	�	�	PROPN
ap-796	86	29	�	�	PROPN
ap-796	86	30	�	�	PROPN
ap-796	86	31	�	�	PROPN
ap-796	86	32	�	�	PROPN
ap-796	86	33	�	�	PROPN
ap-796	87	1	a	a	DET
ap-796	87	2	a	a	DET
ap-796	87	3	a	a	PRON
ap-796	87	4	n	n	NOUN
ap-796	87	5	connection	connection	NOUN
ap-796	87	6	1	1	NUM
ap-796	87	7	0	0	SYM
ap-796	87	8	0	0	NUM
ap-796	87	9	�	�	PROPN
ap-796	87	10	�	�	PROPN
ap-796	87	11	�	�	PROPN
ap-796	87	12	�	�	PROPN
ap-796	87	13	�	�	PROPN
ap-796	87	14	.	.	PUNCT
ap-796	88	1	the	the	DET
ap-796	88	2	term	term	NOUN
ap-796	88	3	aconnection	aconnection	NOUN
ap-796	88	4	contains	contain	VERB
ap-796	88	5	all	all	DET
ap-796	88	6	the	the	DET
ap-796	88	7	interactions	interaction	NOUN
ap-796	88	8	that	that	PRON
ap-796	88	9	are	be	AUX
ap-796	88	10	not	not	PART
ap-796	88	11	taken	take	VERB
ap-796	88	12	into	into	ADP
ap-796	88	13	account	account	NOUN
ap-796	88	14	in	in	ADP
ap-796	88	15	the	the	DET
ap-796	88	16	lower	low	ADJ
ap-796	88	17	-	-	PUNCT
ap-796	88	18	level	level	NOUN
ap-796	88	19	design	design	NOUN
ap-796	88	20	.	.	PUNCT
ap-796	89	1	we	we	PRON
ap-796	89	2	also	also	ADV
ap-796	89	3	assume	assume	VERB
ap-796	89	4	that	that	SCONJ
ap-796	89	5	matrices	matrice	VERB
ap-796	89	6	b	b	NOUN
ap-796	89	7	,	,	PUNCT
ap-796	89	8	q	q	INTJ
ap-796	89	9	,	,	PUNCT
ap-796	89	10	r	r	NOUN
ap-796	89	11	can	can	AUX
ap-796	89	12	be	be	AUX
ap-796	89	13	decomposed	decompose	VERB
ap-796	89	14	similarly	similarly	ADV
ap-796	89	15	,	,	PUNCT
ap-796	89	16	with	with	ADP
ap-796	89	17	compatible	compatible	ADJ
ap-796	89	18	dimensions	dimension	NOUN
ap-796	89	19	so	so	SCONJ
ap-796	89	20	that	that	SCONJ
ap-796	89	21	the	the	DET
ap-796	89	22	i	i	PROPN
ap-796	89	23	-	-	PUNCT
ap-796	89	24	th	th	X
ap-796	89	25	subsystem	subsystem	NOUN
ap-796	89	26	(	(	PUNCT
ap-796	89	27	with	with	ADP
ap-796	89	28	neglected	neglect	VERB
ap-796	89	29	interactions	interaction	NOUN
ap-796	89	30	)	)	PUNCT
ap-796	89	31	is	be	AUX
ap-796	89	32	described	describe	VERB
ap-796	89	33	by	by	ADP
ap-796	89	34	the	the	DET
ap-796	89	35	equation	equation	NOUN
ap-796	89	36	�	�	PROPN
ap-796	89	37	x	x	PROPN
ap-796	89	38	a	a	PRON
ap-796	89	39	x	x	SYM
ap-796	89	40	b	b	PROPN
ap-796	89	41	ui	ui	NOUN
ap-796	90	1	i	i	PRON
ap-796	90	2	i	i	PRON
ap-796	91	1	i	i	VERB
ap-796	91	2	i	i	PROPN
ap-796	91	3	�	�	PROPN
ap-796	91	4	�	�	PROPN
ap-796	91	5	.	.	PUNCT
ap-796	92	1	since	since	SCONJ
ap-796	92	2	high	high	ADJ
ap-796	92	3	speed	speed	NOUN
ap-796	92	4	is	be	AUX
ap-796	92	5	the	the	DET
ap-796	92	6	main	main	ADJ
ap-796	92	7	required	require	VERB
ap-796	92	8	feature	feature	NOUN
ap-796	92	9	,	,	PUNCT
ap-796	92	10	we	we	PRON
ap-796	92	11	decided	decide	VERB
ap-796	92	12	to	to	PART
ap-796	92	13	implement	implement	VERB
ap-796	92	14	this	this	DET
ap-796	92	15	level	level	NOUN
ap-796	92	16	using	use	VERB
ap-796	92	17	time	time	NOUN
ap-796	92	18	–	–	PUNCT
ap-796	92	19	invariant	invariant	ADJ
ap-796	92	20	lq	lq	NOUN
ap-796	92	21	controllers	controller	NOUN
ap-796	92	22	.	.	PUNCT
ap-796	93	1	lq	lq	NOUN
ap-796	93	2	controllers	controller	NOUN
ap-796	93	3	also	also	ADV
ap-796	93	4	offer	offer	VERB
ap-796	93	5	the	the	DET
ap-796	93	6	advantage	advantage	NOUN
ap-796	93	7	of	of	ADP
ap-796	93	8	a	a	DET
ap-796	93	9	straightforward	straightforward	ADJ
ap-796	93	10	analysis	analysis	NOUN
ap-796	93	11	of	of	ADP
ap-796	93	12	the	the	DET
ap-796	93	13	cost	cost	NOUN
ap-796	93	14	of	of	ADP
ap-796	93	15	the	the	DET
ap-796	93	16	control	control	NOUN
ap-796	93	17	.	.	PUNCT
ap-796	94	1	see	see	VERB
ap-796	94	2	,	,	PUNCT
ap-796	94	3	e.g.	e.g.	ADV
ap-796	94	4	,	,	PUNCT
ap-796	94	5	[	[	X
ap-796	94	6	1	1	NUM
ap-796	94	7	,	,	PUNCT
ap-796	94	8	9	9	NUM
ap-796	94	9	]	]	PUNCT
ap-796	94	10	for	for	ADP
ap-796	94	11	general	general	ADJ
ap-796	94	12	lq	lq	ADJ
ap-796	94	13	-	-	PUNCT
ap-796	94	14	control	control	NOUN
ap-796	94	15	theory	theory	NOUN
ap-796	94	16	and	and	CCONJ
ap-796	94	17	[	[	X
ap-796	94	18	7	7	NUM
ap-796	94	19	,	,	PUNCT
ap-796	94	20	8	8	NUM
ap-796	94	21	]	]	PUNCT
ap-796	94	22	for	for	ADP
ap-796	94	23	more	more	ADJ
ap-796	94	24	results	result	NOUN
ap-796	94	25	about	about	ADP
ap-796	94	26	decentralized	decentralize	VERB
ap-796	94	27	lq	lq	NOUN
ap-796	94	28	control	control	NOUN
ap-796	94	29	and	and	CCONJ
ap-796	94	30	about	about	ADP
ap-796	94	31	constraints	constraint	NOUN
ap-796	94	32	imposed	impose	VERB
ap-796	94	33	by	by	ADP
ap-796	94	34	the	the	DET
ap-796	94	35	prescribed	prescribed	ADJ
ap-796	94	36	structure	structure	NOUN
ap-796	94	37	of	of	ADP
ap-796	94	38	the	the	DET
ap-796	94	39	controller	controller	NOUN
ap-796	94	40	.	.	PUNCT
ap-796	95	1	we	we	PRON
ap-796	95	2	assume	assume	VERB
ap-796	95	3	that	that	SCONJ
ap-796	95	4	the	the	DET
ap-796	95	5	lower	low	ADJ
ap-796	95	6	lever	lever	NOUN
ap-796	95	7	controller	controller	NOUN
ap-796	95	8	of	of	ADP
ap-796	95	9	the	the	DET
ap-796	95	10	i	i	PROPN
ap-796	95	11	-	-	PUNCT
ap-796	95	12	th	th	VERB
ap-796	95	13	subsystem	subsystem	NOUN
ap-796	95	14	should	should	AUX
ap-796	95	15	track	track	VERB
ap-796	95	16	the	the	DET
ap-796	95	17	optimal	optimal	ADJ
ap-796	95	18	trajectory	trajectory	NOUN
ap-796	95	19	x	x	AUX
ap-796	95	20	topt	topt	VERB
ap-796	95	21	i	i	PRON
ap-796	95	22	(	(	PUNCT
ap-796	95	23	)	)	PUNCT
ap-796	95	24	and	and	CCONJ
ap-796	95	25	the	the	DET
ap-796	95	26	opti16	opti16	NOUN
ap-796	95	27	©	©	PROPN
ap-796	95	28	czech	czech	PROPN
ap-796	95	29	technical	technical	PROPN
ap-796	95	30	university	university	PROPN
ap-796	95	31	publishing	publishing	NOUN
ap-796	95	32	house	house	NOUN
ap-796	95	33	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	95	34	acta	acta	PROPN
ap-796	95	35	polytechnica	polytechnica	PROPN
ap-796	95	36	vol	vol	NOUN
ap-796	95	37	.	.	PUNCT
ap-796	96	1	46	46	NUM
ap-796	96	2	no	no	INTJ
ap-796	96	3	.	.	PUNCT
ap-796	97	1	1/2006	1/2006	NUM
ap-796	97	2	czech	czech	PROPN
ap-796	97	3	technical	technical	PROPN
ap-796	97	4	university	university	PROPN
ap-796	97	5	in	in	ADP
ap-796	97	6	prague	prague	PROPN
ap-796	97	7	mal	mal	PROPN
ap-796	97	8	control	control	NOUN
ap-796	97	9	u	u	NOUN
ap-796	97	10	topt	topt	VERB
ap-796	97	11	i	i	PRON
ap-796	97	12	(	(	PUNCT
ap-796	97	13	)	)	PUNCT
ap-796	97	14	,	,	PUNCT
ap-796	97	15	which	which	PRON
ap-796	97	16	were	be	AUX
ap-796	97	17	evaluated	evaluate	VERB
ap-796	97	18	in	in	ADP
ap-796	97	19	the	the	DET
ap-796	97	20	upper	upper	ADJ
ap-796	97	21	level	level	NOUN
ap-796	97	22	.	.	PUNCT
ap-796	98	1	the	the	DET
ap-796	98	2	tracking	tracking	NOUN
ap-796	98	3	should	should	AUX
ap-796	98	4	be	be	AUX
ap-796	98	5	such	such	ADJ
ap-796	98	6	that	that	SCONJ
ap-796	98	7	the	the	DET
ap-796	98	8	cost	cost	NOUN
ap-796	98	9	�	�	PROPN
ap-796	98	10	�	�	PROPN
ap-796	98	11	�	�	PROPN
ap-796	98	12	�	�	PROPN
ap-796	98	13	j	j	PROPN
ap-796	98	14	x	x	SYM
ap-796	98	15	t	t	PROPN
ap-796	98	16	x	x	X
ap-796	98	17	t	t	NOUN
ap-796	98	18	q	q	NOUN
ap-796	98	19	x	x	X
ap-796	98	20	t	t	X
ap-796	98	21	x	x	SYM
ap-796	98	22	t	t	NOUN
ap-796	98	23	u	u	NOUN
ap-796	98	24	t	t	X
ap-796	99	1	i	i	PRON
ap-796	100	1	i	i	PRON
ap-796	100	2	opt	opt	VERB
ap-796	100	3	i	i	PRON
ap-796	101	1	t	t	NOUN
ap-796	102	1	i	i	PRON
ap-796	102	2	i	i	PRON
ap-796	102	3	opt	opt	VERB
ap-796	102	4	i	i	PRON
ap-796	103	1	t	t	NOUN
ap-796	103	2	t	t	PROPN
ap-796	103	3	t	t	PROPN
ap-796	103	4	i	i	PRON
ap-796	103	5	h	h	PROPN
ap-796	103	6	�	�	PROPN
ap-796	103	7	�	�	PROPN
ap-796	103	8	�	�	PROPN
ap-796	103	9	�	�	PROPN
ap-796	103	10	�	�	PROPN
ap-796	103	11	�	�	PROPN
ap-796	103	12	�	�	PROPN
ap-796	103	13	�	�	PROPN
ap-796	103	14	(	(	PUNCT
ap-796	103	15	)	)	PUNCT
ap-796	103	16	(	(	PUNCT
ap-796	103	17	)	)	PUNCT
ap-796	103	18	(	(	PUNCT
ap-796	103	19	)	)	PUNCT
ap-796	103	20	(	(	PUNCT
ap-796	103	21	)	)	PUNCT
ap-796	103	22	(	(	PUNCT
ap-796	103	23	)	)	PUNCT
ap-796	103	24	�	�	PROPN
ap-796	103	25	�	�	PROPN
ap-796	103	26	�	�	PROPN
ap-796	103	27	�	�	PROPN
ap-796	103	28	�	�	PROPN
ap-796	103	29	�	�	PROPN
ap-796	103	30	�	�	PROPN
ap-796	103	31	u	u	PROPN
ap-796	104	1	t	t	NOUN
ap-796	104	2	r	r	NOUN
ap-796	104	3	u	u	NOUN
ap-796	104	4	t	t	PROPN
ap-796	104	5	u	u	NOUN
ap-796	104	6	t	t	X
ap-796	104	7	topt	topt	VERB
ap-796	104	8	i	i	PRON
ap-796	104	9	t	t	NOUN
ap-796	105	1	i	i	PRON
ap-796	105	2	i	i	PRON
ap-796	105	3	opt	opt	VERB
ap-796	105	4	i	i	PRON
ap-796	105	5	(	(	PUNCT
ap-796	105	6	)	)	PUNCT
ap-796	105	7	(	(	PUNCT
ap-796	105	8	)	)	PUNCT
ap-796	105	9	(	(	PUNCT
ap-796	105	10	)	)	PUNCT
ap-796	105	11	d	d	NOUN
ap-796	105	12	is	be	AUX
ap-796	105	13	minimal	minimal	ADJ
ap-796	105	14	.	.	PUNCT
ap-796	106	1	here	here	ADV
ap-796	106	2	,	,	PUNCT
ap-796	106	3	symbol	symbol	NOUN
ap-796	106	4	ui(t	ui(t	NOUN
ap-796	106	5	)	)	PUNCT
ap-796	106	6	denotes	denote	VERB
ap-796	106	7	the	the	DET
ap-796	106	8	optimal	optimal	ADJ
ap-796	106	9	control	control	NOUN
ap-796	106	10	which	which	PRON
ap-796	106	11	is	be	AUX
ap-796	106	12	applied	apply	VERB
ap-796	106	13	to	to	ADP
ap-796	106	14	the	the	DET
ap-796	106	15	system	system	NOUN
ap-796	106	16	,	,	PUNCT
ap-796	106	17	and	and	CCONJ
ap-796	106	18	xi(t	xi(t	NOUN
ap-796	106	19	)	)	PUNCT
ap-796	106	20	stands	stand	VERB
ap-796	106	21	for	for	ADP
ap-796	106	22	the	the	DET
ap-796	106	23	real	real	ADJ
ap-796	106	24	trajectory	trajectory	NOUN
ap-796	106	25	.	.	PUNCT
ap-796	107	1	we	we	PRON
ap-796	107	2	assume	assume	VERB
ap-796	107	3	that	that	SCONJ
ap-796	107	4	the	the	DET
ap-796	107	5	weighting	weighting	NOUN
ap-796	107	6	matrices	matrix	NOUN
ap-796	107	7	qi	qi	PROPN
ap-796	107	8	and	and	CCONJ
ap-796	107	9	ri	ri	PROPN
ap-796	107	10	are	be	AUX
ap-796	107	11	positively	positively	ADV
ap-796	107	12	semidefinite	semidefinite	ADJ
ap-796	107	13	and	and	CCONJ
ap-796	107	14	positively	positively	ADV
ap-796	107	15	definite	definite	ADJ
ap-796	107	16	,	,	PUNCT
ap-796	107	17	respectively	respectively	ADV
ap-796	107	18	.	.	PUNCT
ap-796	108	1	using	use	VERB
ap-796	108	2	the	the	DET
ap-796	108	3	dynamic	dynamic	ADJ
ap-796	108	4	programming	programming	NOUN
ap-796	108	5	approach	approach	NOUN
ap-796	108	6	(	(	PUNCT
ap-796	108	7	see	see	VERB
ap-796	108	8	e.g.	e.g.	ADV
ap-796	108	9	[	[	X
ap-796	108	10	1	1	NUM
ap-796	108	11	]	]	NUM
ap-796	108	12	)	)	PUNCT
ap-796	108	13	,	,	PUNCT
ap-796	108	14	we	we	PRON
ap-796	108	15	can	can	AUX
ap-796	108	16	infer	infer	VERB
ap-796	108	17	that	that	SCONJ
ap-796	108	18	the	the	DET
ap-796	108	19	optimal	optimal	ADJ
ap-796	108	20	control	control	NOUN
ap-796	108	21	is	be	AUX
ap-796	108	22	given	give	VERB
ap-796	108	23	by	by	ADP
ap-796	108	24	the	the	DET
ap-796	108	25	formula	formula	NOUN
ap-796	109	1	u	u	NOUN
ap-796	109	2	t	t	PROPN
ap-796	109	3	u	u	NOUN
ap-796	109	4	t	t	PROPN
ap-796	109	5	u	u	NOUN
ap-796	109	6	ti	ti	NOUN
ap-796	109	7	feedback	feedback	NOUN
ap-796	110	1	i	i	PRON
ap-796	110	2	feedforward	feedforward	VERB
ap-796	110	3	i	i	PRON
ap-796	110	4	(	(	PUNCT
ap-796	110	5	)	)	PUNCT
ap-796	110	6	(	(	PUNCT
ap-796	110	7	)	)	PUNCT
ap-796	110	8	(	(	PUNCT
ap-796	110	9	)	)	PUNCT
ap-796	110	10	�	�	PROPN
ap-796	110	11	�	�	PROPN
ap-796	110	12	.	.	PUNCT
ap-796	111	1	the	the	DET
ap-796	111	2	control	control	NOUN
ap-796	111	3	consists	consist	VERB
ap-796	111	4	of	of	ADP
ap-796	111	5	a	a	DET
ap-796	111	6	feedback	feedback	NOUN
ap-796	111	7	term	term	NOUN
ap-796	111	8	and	and	CCONJ
ap-796	111	9	a	a	DET
ap-796	111	10	feedforward	feedforward	ADJ
ap-796	111	11	term	term	NOUN
ap-796	111	12	.	.	PUNCT
ap-796	112	1	for	for	ADP
ap-796	112	2	the	the	DET
ap-796	112	3	feedback	feedback	NOUN
ap-796	112	4	term	term	NOUN
ap-796	112	5	it	it	PRON
ap-796	112	6	holds	hold	VERB
ap-796	112	7	:	:	PUNCT
ap-796	112	8	u	u	X
ap-796	112	9	t	t	NOUN
ap-796	112	10	r	r	NOUN
ap-796	112	11	p	p	PROPN
ap-796	112	12	t	t	PROPN
ap-796	112	13	b	b	X
ap-796	112	14	x	x	X
ap-796	112	15	tfeedback	tfeedback	VERB
ap-796	113	1	i	i	PRON
ap-796	113	2	i	i	PRON
ap-796	114	1	i	i	PRON
ap-796	114	2	it	it	PRON
ap-796	115	1	i	i	INTJ
ap-796	115	2	(	(	PUNCT
ap-796	115	3	)	)	PUNCT
ap-796	115	4	(	(	PUNCT
ap-796	115	5	)	)	PUNCT
ap-796	115	6	(	(	PUNCT
ap-796	115	7	)	)	PUNCT
ap-796	115	8	(	(	PUNCT
ap-796	115	9	)	)	PUNCT
ap-796	115	10	�	�	PROPN
ap-796	115	11	1	1	NUM
ap-796	115	12	while	while	SCONJ
ap-796	115	13	the	the	DET
ap-796	115	14	feedforward	feedforward	NOUN
ap-796	115	15	is	be	AUX
ap-796	115	16	defined	define	VERB
ap-796	115	17	by	by	ADP
ap-796	115	18	:	:	PUNCT
ap-796	115	19	u	u	X
ap-796	115	20	t	t	NOUN
ap-796	115	21	r	r	NOUN
ap-796	115	22	b	b	PROPN
ap-796	115	23	p	p	NOUN
ap-796	115	24	t	t	X
ap-796	115	25	u	u	PRON
ap-796	115	26	tfeedforward	tfeedforward	NOUN
ap-796	116	1	i	i	PRON
ap-796	117	1	i	i	PRON
ap-796	118	1	it	it	PRON
ap-796	119	1	i	i	PRON
ap-796	119	2	opt	opt	VERB
ap-796	119	3	i	i	PRON
ap-796	119	4	(	(	PUNCT
ap-796	119	5	)	)	PUNCT
ap-796	119	6	(	(	PUNCT
ap-796	119	7	)	)	PUNCT
ap-796	119	8	(	(	PUNCT
ap-796	119	9	)	)	PUNCT
ap-796	119	10	(	(	PUNCT
ap-796	119	11	)	)	PUNCT
ap-796	119	12	�	�	PROPN
ap-796	119	13	�	�	PROPN
ap-796	119	14	1	1	NUM
ap-796	119	15	where	where	SCONJ
ap-796	119	16	function	function	VERB
ap-796	119	17	p	p	PROPN
ap-796	119	18	i(t	i(t	PROPN
ap-796	119	19	)	)	PUNCT
ap-796	119	20	is	be	AUX
ap-796	119	21	actually	actually	ADV
ap-796	119	22	the	the	DET
ap-796	119	23	solution	solution	NOUN
ap-796	119	24	of	of	ADP
ap-796	119	25	the	the	DET
ap-796	119	26	continuous	continuous	ADJ
ap-796	119	27	riccati	riccati	NOUN
ap-796	119	28	equation	equation	NOUN
ap-796	119	29	with	with	ADP
ap-796	119	30	the	the	DET
ap-796	119	31	initial	initial	ADJ
ap-796	119	32	condition	condition	NOUN
ap-796	119	33	p	p	PROPN
ap-796	119	34	i(t	i(t	PROPN
ap-796	119	35	�	�	SYM
ap-796	119	36	th	th	NOUN
ap-796	119	37	)	)	PUNCT
ap-796	119	38	�	�	PROPN
ap-796	119	39	0	0	NUM
ap-796	119	40	for	for	ADP
ap-796	119	41	the	the	DET
ap-796	119	42	i	i	PROPN
ap-796	119	43	-	-	PUNCT
ap-796	119	44	th	th	VERB
ap-796	119	45	system	system	NOUN
ap-796	119	46	.	.	PUNCT
ap-796	120	1	function	function	NOUN
ap-796	120	2	pi(t	pi(t	NOUN
ap-796	120	3	)	)	PUNCT
ap-796	120	4	solves	solve	VERB
ap-796	120	5	the	the	DET
ap-796	120	6	following	follow	VERB
ap-796	120	7	differential	differential	ADJ
ap-796	120	8	equation	equation	NOUN
ap-796	120	9	�	�	PROPN
ap-796	120	10	(	(	PUNCT
ap-796	120	11	)	)	PUNCT
ap-796	120	12	(	(	PUNCT
ap-796	120	13	(	(	PUNCT
ap-796	120	14	)	)	PUNCT
ap-796	120	15	(	(	PUNCT
ap-796	120	16	)	)	PUNCT
ap-796	120	17	)	)	PUNCT
ap-796	120	18	(	(	PUNCT
ap-796	120	19	)	)	PUNCT
ap-796	120	20	(	(	PUNCT
ap-796	120	21	)	)	PUNCT
ap-796	120	22	p	p	NOUN
ap-796	120	23	t	t	PROPN
ap-796	120	24	a	a	DET
ap-796	120	25	p	p	X
ap-796	120	26	t	t	NOUN
ap-796	120	27	b	b	NOUN
ap-796	120	28	r	r	NOUN
ap-796	120	29	b	b	PROPN
ap-796	120	30	p	p	X
ap-796	120	31	t	t	X
ap-796	120	32	q	q	NOUN
ap-796	121	1	x	x	X
ap-796	121	2	p	p	PROPN
ap-796	121	3	t	t	PROPN
ap-796	121	4	b	b	X
ap-796	122	1	ui	ui	PROPN
ap-796	123	1	i	i	PRON
ap-796	123	2	it	it	PRON
ap-796	124	1	i	i	INTJ
ap-796	124	2	i	i	PRON
ap-796	125	1	i	i	PRON
ap-796	126	1	i	i	PRON
ap-796	126	2	opt	opt	VERB
ap-796	126	3	i	i	PRON
ap-796	127	1	i	i	PRON
ap-796	127	2	i	i	PRON
ap-796	127	3	o	o	VERB
ap-796	127	4	�	�	X
ap-796	127	5	�	�	PROPN
ap-796	127	6	1	1	NUM
ap-796	127	7	pt	pt	PROPN
ap-796	127	8	i	i	PROPN
ap-796	127	9	t	t	PROPN
ap-796	127	10	(	(	PUNCT
ap-796	127	11	)	)	PUNCT
ap-796	127	12	with	with	ADP
ap-796	127	13	the	the	DET
ap-796	127	14	initial	initial	ADJ
ap-796	127	15	condition	condition	NOUN
ap-796	127	16	pi(t	pi(t	ADJ
ap-796	127	17	�	�	NOUN
ap-796	127	18	th	th	NOUN
ap-796	127	19	)	)	PUNCT
ap-796	127	20	�	�	PROPN
ap-796	127	21	0	0	NUM
ap-796	127	22	.	.	PUNCT
ap-796	128	1	the	the	DET
ap-796	128	2	last	last	ADJ
ap-796	128	3	term	term	NOUN
ap-796	128	4	in	in	ADP
ap-796	128	5	the	the	DET
ap-796	128	6	equation	equation	NOUN
ap-796	128	7	is	be	AUX
ap-796	128	8	nonstandard	nonstandard	ADJ
ap-796	128	9	.	.	PUNCT
ap-796	129	1	it	it	PRON
ap-796	129	2	is	be	AUX
ap-796	129	3	due	due	ADJ
ap-796	129	4	to	to	ADP
ap-796	129	5	the	the	DET
ap-796	129	6	existence	existence	NOUN
ap-796	129	7	of	of	ADP
ap-796	129	8	the	the	DET
ap-796	129	9	desired	desire	VERB
ap-796	129	10	control	control	NOUN
ap-796	129	11	,	,	PUNCT
ap-796	129	12	which	which	PRON
ap-796	129	13	should	should	AUX
ap-796	129	14	also	also	ADV
ap-796	129	15	be	be	AUX
ap-796	129	16	tracked	track	VERB
ap-796	129	17	.	.	PUNCT
ap-796	130	1	note	note	VERB
ap-796	130	2	that	that	SCONJ
ap-796	130	3	this	this	DET
ap-796	130	4	equation	equation	NOUN
ap-796	130	5	is	be	AUX
ap-796	130	6	solved	solve	VERB
ap-796	130	7	in	in	ADP
ap-796	130	8	the	the	DET
ap-796	130	9	backward	backward	ADJ
ap-796	130	10	direction	direction	NOUN
ap-796	130	11	.	.	PUNCT
ap-796	131	1	strictly	strictly	ADV
ap-796	131	2	speaking	speak	VERB
ap-796	131	3	,	,	PUNCT
ap-796	131	4	the	the	DET
ap-796	131	5	lq	lq	NOUN
ap-796	131	6	control	control	NOUN
ap-796	131	7	on	on	ADP
ap-796	131	8	the	the	DET
ap-796	131	9	horizon	horizon	NOUN
ap-796	131	10	equal	equal	ADJ
ap-796	131	11	to	to	ADP
ap-796	131	12	the	the	DET
ap-796	131	13	optimization	optimization	NOUN
ap-796	131	14	horizon	horizon	NOUN
ap-796	131	15	in	in	ADP
ap-796	131	16	the	the	DET
ap-796	131	17	upper	upper	ADJ
ap-796	131	18	level	level	NOUN
ap-796	131	19	(	(	PUNCT
ap-796	131	20	denoted	denote	VERB
ap-796	131	21	by	by	ADP
ap-796	131	22	th	th	NOUN
ap-796	131	23	,	,	PUNCT
ap-796	131	24	see	see	VERB
ap-796	131	25	below	below	ADV
ap-796	131	26	)	)	PUNCT
ap-796	131	27	presented	present	VERB
ap-796	131	28	so	so	ADV
ap-796	131	29	far	far	ADV
ap-796	131	30	should	should	AUX
ap-796	131	31	be	be	AUX
ap-796	131	32	applied	apply	VERB
ap-796	131	33	.	.	PUNCT
ap-796	132	1	nonetheless	nonetheless	ADV
ap-796	132	2	we	we	PRON
ap-796	132	3	assume	assume	VERB
ap-796	132	4	that	that	SCONJ
ap-796	132	5	the	the	DET
ap-796	132	6	horizon	horizon	NOUN
ap-796	132	7	is	be	AUX
ap-796	132	8	long	long	ADJ
ap-796	132	9	enough	enough	ADV
ap-796	132	10	to	to	PART
ap-796	132	11	replace	replace	VERB
ap-796	132	12	the	the	DET
ap-796	132	13	time	time	NOUN
ap-796	132	14	-	-	PUNCT
ap-796	132	15	variant	variant	NOUN
ap-796	132	16	control	control	NOUN
ap-796	132	17	by	by	ADP
ap-796	132	18	the	the	DET
ap-796	132	19	time	time	NOUN
ap-796	132	20	-	-	PUNCT
ap-796	132	21	invariant	invariant	ADJ
ap-796	132	22	control	control	NOUN
ap-796	132	23	without	without	ADP
ap-796	132	24	a	a	DET
ap-796	132	25	significant	significant	ADJ
ap-796	132	26	loss	loss	NOUN
ap-796	132	27	of	of	ADP
ap-796	132	28	accuracy	accuracy	NOUN
ap-796	132	29	.	.	PUNCT
ap-796	133	1	another	another	DET
ap-796	133	2	advantage	advantage	NOUN
ap-796	133	3	is	be	AUX
ap-796	133	4	that	that	SCONJ
ap-796	133	5	we	we	PRON
ap-796	133	6	obtain	obtain	VERB
ap-796	133	7	a	a	DET
ap-796	133	8	time	time	NOUN
ap-796	133	9	-	-	PUNCT
ap-796	133	10	invariant	invariant	ADJ
ap-796	133	11	gain	gain	NOUN
ap-796	133	12	in	in	ADP
ap-796	133	13	the	the	DET
ap-796	133	14	control	control	NOUN
ap-796	133	15	loop	loop	PROPN
ap-796	133	16	.	.	PUNCT
ap-796	134	1	this	this	DET
ap-796	134	2	feature	feature	NOUN
ap-796	134	3	simplifies	simplify	VERB
ap-796	134	4	the	the	DET
ap-796	134	5	implementation	implementation	NOUN
ap-796	134	6	significantly	significantly	ADV
ap-796	134	7	.	.	PUNCT
ap-796	135	1	hence	hence	ADV
ap-796	135	2	we	we	PRON
ap-796	135	3	replace	replace	VERB
ap-796	135	4	matrix	matrix	NOUN
ap-796	135	5	function	function	NOUN
ap-796	135	6	p	p	PROPN
ap-796	135	7	i(t	i(t	PROPN
ap-796	135	8	)	)	PUNCT
ap-796	135	9	by	by	ADP
ap-796	135	10	its	its	PRON
ap-796	135	11	limit	limit	NOUN
ap-796	135	12	value	value	NOUN
ap-796	135	13	p	p	X
ap-796	135	14	i	i	PRON
ap-796	135	15	in	in	ADP
ap-796	135	16	the	the	DET
ap-796	135	17	differential	differential	ADJ
ap-796	135	18	equation	equation	NOUN
ap-796	135	19	for	for	ADP
ap-796	135	20	function	function	NOUN
ap-796	135	21	pi(t	pi(t	NOUN
ap-796	135	22	)	)	PUNCT
ap-796	135	23	.	.	PUNCT
ap-796	136	1	the	the	DET
ap-796	136	2	limit	limit	NOUN
ap-796	136	3	solution	solution	NOUN
ap-796	136	4	p	p	X
ap-796	136	5	i	i	PRON
ap-796	136	6	solves	solve	VERB
ap-796	136	7	the	the	DET
ap-796	136	8	algebraic	algebraic	PROPN
ap-796	136	9	riccati	riccati	PROPN
ap-796	136	10	equation	equation	NOUN
ap-796	136	11	:	:	PUNCT
ap-796	136	12	0	0	NUM
ap-796	136	13	1	1	NUM
ap-796	136	14	�	�	PROPN
ap-796	136	15	�	�	PROPN
ap-796	136	16	�	�	PROPN
ap-796	136	17	a	a	DET
ap-796	136	18	p	p	X
ap-796	136	19	p	p	X
ap-796	136	20	a	a	DET
ap-796	136	21	p	p	X
ap-796	136	22	b	b	NOUN
ap-796	136	23	r	r	NOUN
ap-796	136	24	b	b	PROPN
ap-796	137	1	p	p	NOUN
ap-796	138	1	qit	qit	INTJ
ap-796	139	1	i	i	PRON
ap-796	140	1	i	i	PRON
ap-796	141	1	i	i	PRON
ap-796	142	1	i	i	PRON
ap-796	142	2	it	it	PRON
ap-796	143	1	i	i	PRON
ap-796	143	2	i	i	PRON
ap-796	144	1	i	i	PRON
ap-796	144	2	i	i	PRON
ap-796	144	3	(	(	PUNCT
ap-796	144	4	)	)	PUNCT
ap-796	144	5	.	.	PUNCT
ap-796	145	1	this	this	DET
ap-796	145	2	trick	trick	NOUN
ap-796	145	3	simplifies	simplify	VERB
ap-796	145	4	the	the	DET
ap-796	145	5	implementation	implementation	NOUN
ap-796	145	6	of	of	ADP
ap-796	145	7	this	this	DET
ap-796	145	8	level	level	NOUN
ap-796	145	9	significantly	significantly	ADV
ap-796	145	10	.	.	PUNCT
ap-796	146	1	5	5	NUM
ap-796	146	2	analysis	analysis	NOUN
ap-796	146	3	of	of	ADP
ap-796	146	4	the	the	DET
ap-796	146	5	influence	influence	NOUN
ap-796	146	6	of	of	ADP
ap-796	146	7	the	the	DET
ap-796	146	8	decomposition	decomposition	NOUN
ap-796	146	9	on	on	ADP
ap-796	146	10	the	the	DET
ap-796	146	11	total	total	ADJ
ap-796	146	12	cost	cost	NOUN
ap-796	146	13	in	in	ADP
ap-796	146	14	this	this	DET
ap-796	146	15	section	section	NOUN
ap-796	146	16	we	we	PRON
ap-796	146	17	will	will	AUX
ap-796	146	18	analyze	analyze	VERB
ap-796	146	19	the	the	DET
ap-796	146	20	increase	increase	NOUN
ap-796	146	21	in	in	ADP
ap-796	146	22	the	the	DET
ap-796	146	23	cost	cost	NOUN
ap-796	146	24	when	when	SCONJ
ap-796	146	25	the	the	DET
ap-796	146	26	control	control	NOUN
ap-796	146	27	algorithm	algorithm	NOUN
ap-796	146	28	is	be	AUX
ap-796	146	29	designed	design	VERB
ap-796	146	30	using	use	VERB
ap-796	146	31	a	a	DET
ap-796	146	32	hierarchical	hierarchical	ADJ
ap-796	146	33	approach	approach	NOUN
ap-796	146	34	.	.	PUNCT
ap-796	147	1	we	we	PRON
ap-796	147	2	will	will	AUX
ap-796	147	3	make	make	VERB
ap-796	147	4	some	some	DET
ap-796	147	5	assumptions	assumption	NOUN
ap-796	147	6	that	that	PRON
ap-796	147	7	will	will	AUX
ap-796	147	8	simplify	simplify	VERB
ap-796	147	9	our	our	PRON
ap-796	147	10	analysis	analysis	NOUN
ap-796	147	11	.	.	PUNCT
ap-796	148	1	first	first	ADV
ap-796	148	2	we	we	PRON
ap-796	148	3	assume	assume	VERB
ap-796	148	4	that	that	SCONJ
ap-796	148	5	the	the	DET
ap-796	148	6	total	total	ADJ
ap-796	148	7	cost	cost	NOUN
ap-796	148	8	is	be	AUX
ap-796	148	9	quadratic	quadratic	ADJ
ap-796	148	10	,	,	PUNCT
ap-796	148	11	i.e.	i.e.	X
ap-796	148	12	,	,	PUNCT
ap-796	148	13	that	that	SCONJ
ap-796	148	14	there	there	PRON
ap-796	148	15	exist	exist	VERB
ap-796	148	16	a	a	DET
ap-796	148	17	symmetric	symmetric	ADJ
ap-796	148	18	positive	positive	ADJ
ap-796	148	19	semidefinite	semidefinite	NOUN
ap-796	148	20	matrix	matrix	NOUN
ap-796	148	21	q	q	PROPN
ap-796	148	22	and	and	CCONJ
ap-796	148	23	a	a	DET
ap-796	148	24	symmetric	symmetric	ADJ
ap-796	148	25	positive	positive	ADJ
ap-796	148	26	definite	definite	ADJ
ap-796	148	27	matrix	matrix	NOUN
ap-796	148	28	r	r	NOUN
ap-796	148	29	such	such	ADJ
ap-796	148	30	that	that	DET
ap-796	148	31	�	�	PROPN
ap-796	148	32	�	�	PROPN
ap-796	148	33	j	j	PROPN
ap-796	148	34	t	t	PROPN
ap-796	148	35	x	x	SYM
ap-796	148	36	t	t	PROPN
ap-796	148	37	x	x	X
ap-796	148	38	t	t	NOUN
ap-796	148	39	q	q	NOUN
ap-796	148	40	x	x	X
ap-796	148	41	t	t	X
ap-796	148	42	x	x	SYM
ap-796	148	43	t	t	NOUN
ap-796	148	44	u	u	PROPN
ap-796	148	45	t	t	PROPN
ap-796	148	46	ru	ru	PROPN
ap-796	148	47	t	t	PROPN
ap-796	148	48	tw	tw	PROPN
ap-796	148	49	t	t	PROPN
ap-796	148	50	w	w	PROPN
ap-796	148	51	t	t	PROPN
ap-796	148	52	t	t	PROPN
ap-796	148	53	t	t	PROPN
ap-796	148	54	th	th	X
ap-796	148	55	(	(	PUNCT
ap-796	148	56	)	)	PUNCT
ap-796	148	57	(	(	PUNCT
ap-796	148	58	(	(	PUNCT
ap-796	148	59	)	)	PUNCT
ap-796	148	60	(	(	PUNCT
ap-796	148	61	)	)	PUNCT
ap-796	148	62	)	)	PUNCT
ap-796	149	1	(	(	PUNCT
ap-796	149	2	(	(	PUNCT
ap-796	149	3	)	)	PUNCT
ap-796	149	4	(	(	PUNCT
ap-796	149	5	)	)	PUNCT
ap-796	149	6	)	)	PUNCT
ap-796	149	7	(	(	PUNCT
ap-796	149	8	)	)	PUNCT
ap-796	149	9	(	(	PUNCT
ap-796	149	10	)	)	PUNCT
ap-796	149	11	�	�	PROPN
ap-796	149	12	�	�	PROPN
ap-796	149	13	�	�	PROPN
ap-796	149	14	�	�	PROPN
ap-796	149	15	d	d	PROPN
ap-796	149	16	where	where	SCONJ
ap-796	149	17	xw	xw	PROPN
ap-796	149	18	denotes	denote	VERB
ap-796	149	19	the	the	DET
ap-796	149	20	desired	desire	VERB
ap-796	149	21	trajectory	trajectory	NOUN
ap-796	149	22	that	that	PRON
ap-796	149	23	is	be	AUX
ap-796	149	24	to	to	PART
ap-796	149	25	be	be	AUX
ap-796	149	26	tracked	track	VERB
ap-796	149	27	by	by	ADP
ap-796	149	28	the	the	DET
ap-796	149	29	controlled	control	VERB
ap-796	149	30	system	system	NOUN
ap-796	149	31	.	.	PUNCT
ap-796	150	1	moreover	moreover	ADV
ap-796	150	2	we	we	PRON
ap-796	150	3	assume	assume	VERB
ap-796	150	4	that	that	SCONJ
ap-796	150	5	the	the	DET
ap-796	150	6	weighting	weighting	NOUN
ap-796	150	7	matrices	matrix	NOUN
ap-796	150	8	can	can	AUX
ap-796	150	9	be	be	AUX
ap-796	150	10	decomposed	decompose	VERB
ap-796	150	11	as	as	SCONJ
ap-796	150	12	described	describe	VERB
ap-796	150	13	above	above	ADV
ap-796	150	14	.	.	PUNCT
ap-796	151	1	the	the	DET
ap-796	151	2	dynamic	dynamic	ADJ
ap-796	151	3	optimization	optimization	NOUN
ap-796	151	4	yields	yield	VERB
ap-796	151	5	an	an	DET
ap-796	151	6	optimal	optimal	ADJ
ap-796	151	7	trajectory	trajectory	NOUN
ap-796	151	8	that	that	PRON
ap-796	151	9	should	should	AUX
ap-796	151	10	be	be	AUX
ap-796	151	11	tracked	track	VERB
ap-796	151	12	together	together	ADV
ap-796	151	13	with	with	ADP
ap-796	151	14	the	the	DET
ap-796	151	15	optimal	optimal	ADJ
ap-796	151	16	control	control	NOUN
ap-796	151	17	that	that	PRON
ap-796	151	18	should	should	AUX
ap-796	151	19	be	be	AUX
ap-796	151	20	applied	apply	VERB
ap-796	151	21	.	.	PUNCT
ap-796	152	1	this	this	DET
ap-796	152	2	trajectory	trajectory	NOUN
ap-796	152	3	,	,	PUNCT
ap-796	152	4	or	or	CCONJ
ap-796	152	5	control	control	NOUN
ap-796	152	6	,	,	PUNCT
ap-796	152	7	is	be	AUX
ap-796	152	8	denoted	denote	VERB
ap-796	152	9	by	by	ADP
ap-796	152	10	xopt	xopt	VERB
ap-796	152	11	,	,	PUNCT
ap-796	152	12	uopt	uopt	VERB
ap-796	152	13	.	.	PUNCT
ap-796	153	1	(	(	PUNCT
ap-796	153	2	we	we	PRON
ap-796	153	3	will	will	AUX
ap-796	153	4	omit	omit	VERB
ap-796	153	5	the	the	DET
ap-796	153	6	explicit	explicit	ADJ
ap-796	153	7	writing	writing	NOUN
ap-796	153	8	of	of	ADP
ap-796	153	9	time	time	NOUN
ap-796	153	10	argument	argument	NOUN
ap-796	153	11	t	t	NOUN
ap-796	153	12	in	in	ADP
ap-796	153	13	what	what	PRON
ap-796	153	14	follows	follow	VERB
ap-796	153	15	.	.	PUNCT
ap-796	153	16	)	)	PUNCT
ap-796	154	1	we	we	PRON
ap-796	154	2	then	then	ADV
ap-796	154	3	have	have	VERB
ap-796	154	4	�	�	PROPN
ap-796	154	5	j	j	PROPN
ap-796	154	6	t	t	PROPN
ap-796	154	7	x	x	PUNCT
ap-796	154	8	x	x	PUNCT
ap-796	154	9	x	x	PUNCT
ap-796	154	10	x	x	X
ap-796	154	11	q	q	PUNCT
ap-796	154	12	x	x	X
ap-796	154	13	x	x	PUNCT
ap-796	154	14	x	x	PUNCT
ap-796	154	15	x	x	PUNCT
ap-796	154	16	u	u	NOUN
ap-796	154	17	w	w	PROPN
ap-796	154	18	opt	opt	NOUN
ap-796	154	19	opt	opt	PROPN
ap-796	154	20	t	t	PROPN
ap-796	154	21	w	w	PROPN
ap-796	154	22	opt	opt	PROPN
ap-796	154	23	opt	opt	PROPN
ap-796	154	24	t	t	PROPN
ap-796	154	25	t	t	PROPN
ap-796	154	26	th	th	X
ap-796	154	27	(	(	PUNCT
ap-796	154	28	)	)	PUNCT
ap-796	154	29	(	(	PUNCT
ap-796	154	30	)	)	PUNCT
ap-796	154	31	(	(	PUNCT
ap-796	154	32	)	)	PUNCT
ap-796	154	33	(	(	PUNCT
ap-796	154	34	�	�	PROPN
ap-796	154	35	�	�	PROPN
ap-796	154	36	�	�	PROPN
ap-796	154	37	�	�	PROPN
ap-796	154	38	�	�	PROPN
ap-796	154	39	�	�	PROPN
ap-796	154	40	�	�	PROPN
ap-796	154	41	�	�	PROPN
ap-796	154	42	�	�	PROPN
ap-796	154	43	u	u	NOUN
ap-796	154	44	u	u	NOUN
ap-796	154	45	r	r	NOUN
ap-796	154	46	u	u	X
ap-796	154	47	u	u	NOUN
ap-796	154	48	u	u	NOUN
ap-796	154	49	t	t	NOUN
ap-796	154	50	x	x	PUNCT
ap-796	154	51	x	x	X
ap-796	154	52	q	q	PUNCT
ap-796	154	53	x	x	PUNCT
ap-796	154	54	x	x	X
ap-796	154	55	opt	opt	NOUN
ap-796	154	56	opt	opt	PROPN
ap-796	154	57	t	t	PROPN
ap-796	154	58	opt	opt	VERB
ap-796	154	59	opt	opt	PROPN
ap-796	154	60	w	w	PROPN
ap-796	154	61	opt	opt	PROPN
ap-796	154	62	t	t	PROPN
ap-796	154	63	w	w	PROPN
ap-796	154	64	opt	opt	PROPN
ap-796	154	65	�	�	PROPN
ap-796	154	66	�	�	PROPN
ap-796	154	67	�	�	PROPN
ap-796	154	68	�	�	PROPN
ap-796	154	69	)	)	PUNCT
ap-796	154	70	(	(	PUNCT
ap-796	154	71	)	)	PUNCT
ap-796	154	72	(	(	PUNCT
ap-796	154	73	)	)	PUNCT
ap-796	154	74	(	(	PUNCT
ap-796	154	75	)	)	PUNCT
ap-796	154	76	(	(	PUNCT
ap-796	154	77	d	d	NOUN
ap-796	154	78	x	x	X
ap-796	154	79	x	x	X
ap-796	154	80	q	q	PUNCT
ap-796	154	81	x	x	X
ap-796	154	82	x	x	PUNCT
ap-796	154	83	x	x	PUNCT
ap-796	154	84	x	x	X
ap-796	154	85	q	q	PUNCT
ap-796	154	86	x	x	X
ap-796	154	87	x	x	PUNCT
ap-796	154	88	x	x	X
ap-796	154	89	opt	opt	PROPN
ap-796	154	90	t	t	PROPN
ap-796	154	91	w	w	PROPN
ap-796	154	92	opt	opt	PROPN
ap-796	154	93	t	t	PROPN
ap-796	154	94	t	t	PROPN
ap-796	154	95	t	t	PROPN
ap-796	154	96	w	w	PROPN
ap-796	154	97	opt	opt	PROPN
ap-796	154	98	t	t	PROPN
ap-796	154	99	opt	opt	VERB
ap-796	154	100	op	op	PROPN
ap-796	154	101	h	h	PROPN
ap-796	154	102	�	�	PROPN
ap-796	154	103	�	�	PROPN
ap-796	154	104	�	�	PROPN
ap-796	154	105	�	�	PROPN
ap-796	154	106	�	�	PROPN
ap-796	154	107	)	)	PUNCT
ap-796	154	108	(	(	PUNCT
ap-796	154	109	)	)	PUNCT
ap-796	154	110	(	(	PUNCT
ap-796	154	111	)	)	PUNCT
ap-796	154	112	(	(	PUNCT
ap-796	154	113	)	)	PUNCT
ap-796	154	114	(	(	PUNCT
ap-796	154	115	t	t	PROPN
ap-796	154	116	t	t	PROPN
ap-796	154	117	opt	opt	VERB
ap-796	154	118	opt	opt	PROPN
ap-796	154	119	t	t	PROPN
ap-796	154	120	opt	opt	PROPN
ap-796	154	121	opt	opt	PROPN
ap-796	154	122	t	t	PROPN
ap-796	154	123	t	t	PROPN
ap-796	154	124	opt	opt	VERB
ap-796	154	125	x	x	PUNCT
ap-796	154	126	q	q	NOUN
ap-796	154	127	x	x	X
ap-796	154	128	x	x	PUNCT
ap-796	154	129	u	u	NOUN
ap-796	154	130	ru	ru	PROPN
ap-796	154	131	u	u	NOUN
ap-796	154	132	u	u	NOUN
ap-796	154	133	ru	ru	NOUN
ap-796	154	134	u	u	NOUN
ap-796	154	135	r	r	NOUN
ap-796	154	136	u	u	X
ap-796	154	137	u	u	PROPN
ap-796	154	138	�	�	PROPN
ap-796	154	139	�	�	PROPN
ap-796	154	140	�	�	PROPN
ap-796	154	141	�	�	PROPN
ap-796	154	142	)	)	PUNCT
ap-796	154	143	(	(	PUNCT
ap-796	154	144	)	)	PUNCT
ap-796	154	145	(	(	PUNCT
ap-796	154	146	)	)	PUNCT
ap-796	154	147	(	(	PUNCT
ap-796	154	148	)	)	PUNCT
ap-796	154	149	�	�	PROPN
ap-796	154	150	�	�	PROPN
ap-796	154	151	�	�	PROPN
ap-796	154	152	�	�	PROPN
ap-796	154	153	�	�	PROPN
ap-796	154	154	(	(	PUNCT
ap-796	154	155	)	)	PUNCT
ap-796	154	156	(	(	PUNCT
ap-796	154	157	)	)	PUNCT
ap-796	154	158	(	(	PUNCT
ap-796	154	159	)	)	PUNCT
ap-796	154	160	(	(	PUNCT
ap-796	154	161	)	)	PUNCT
ap-796	154	162	(	(	PUNCT
ap-796	154	163	u	u	NOUN
ap-796	154	164	u	u	NOUN
ap-796	154	165	r	r	NOUN
ap-796	154	166	u	u	X
ap-796	154	167	u	u	NOUN
ap-796	154	168	t	t	NOUN
ap-796	154	169	x	x	PUNCT
ap-796	154	170	x	x	X
ap-796	154	171	q	q	PUNCT
ap-796	154	172	x	x	X
ap-796	154	173	x	x	PUNCT
ap-796	154	174	x	x	X
ap-796	154	175	opt	opt	NOUN
ap-796	154	176	t	t	PROPN
ap-796	154	177	opt	opt	VERB
ap-796	154	178	w	w	PROPN
ap-796	154	179	opt	opt	PROPN
ap-796	154	180	t	t	PROPN
ap-796	154	181	w	w	PROPN
ap-796	154	182	opt	opt	PROPN
ap-796	154	183	op	op	NOUN
ap-796	154	184	d	d	PROPN
ap-796	154	185	2	2	NUM
ap-796	154	186	2	2	NUM
ap-796	154	187	�	�	PROPN
ap-796	154	188	t	t	PROPN
ap-796	154	189	t	t	PROPN
ap-796	154	190	opt	opt	PROPN
ap-796	154	191	t	t	PROPN
ap-796	154	192	t	t	PROPN
ap-796	154	193	t	t	PROPN
ap-796	154	194	opt	opt	VERB
ap-796	154	195	t	t	PROPN
ap-796	154	196	opt	opt	PROPN
ap-796	154	197	opt	opt	PROPN
ap-796	154	198	t	t	PROPN
ap-796	154	199	opt	opt	VERB
ap-796	154	200	x	x	X
ap-796	154	201	q	q	NOUN
ap-796	154	202	x	x	X
ap-796	154	203	x	x	PUNCT
ap-796	154	204	u	u	NOUN
ap-796	154	205	ru	ru	NOUN
ap-796	154	206	u	u	NOUN
ap-796	154	207	u	u	NOUN
ap-796	154	208	r	r	NOUN
ap-796	154	209	u	u	PROPN
ap-796	154	210	h	h	PROPN
ap-796	154	211	�	�	PROPN
ap-796	154	212	�	�	PROPN
ap-796	154	213	�	�	PROPN
ap-796	154	214	�	�	PROPN
ap-796	154	215	�	�	PROPN
ap-796	154	216	)	)	PUNCT
ap-796	154	217	(	(	PUNCT
ap-796	154	218	)	)	PUNCT
ap-796	154	219	(	(	PUNCT
ap-796	154	220	)	)	PUNCT
ap-796	154	221	(	(	PUNCT
ap-796	154	222	2	2	NUM
ap-796	154	223	2	2	NUM
ap-796	154	224	�	�	PROPN
ap-796	154	225	�	�	PROPN
ap-796	154	226	�	�	PROPN
ap-796	154	227	u	u	PROPN
ap-796	154	228	t	t	PROPN
ap-796	154	229	j	j	PROPN
ap-796	154	230	jul	jul	PROPN
ap-796	154	231	ll	ll	PROPN
ap-796	154	232	)	)	PUNCT
ap-796	154	233	d	d	NOUN
ap-796	154	234	2	2	NUM
ap-796	154	235	2	2	NUM
ap-796	154	236	here	here	ADV
ap-796	154	237	,	,	PUNCT
ap-796	154	238	jul	jul	PROPN
ap-796	154	239	denotes	denote	VERB
ap-796	154	240	the	the	DET
ap-796	154	241	optimal	optimal	ADJ
ap-796	154	242	cost	cost	NOUN
ap-796	154	243	achievable	achievable	ADJ
ap-796	154	244	by	by	ADP
ap-796	154	245	the	the	DET
ap-796	154	246	optimization	optimization	NOUN
ap-796	154	247	in	in	ADP
ap-796	154	248	the	the	DET
ap-796	154	249	upper	upper	ADJ
ap-796	154	250	level	level	NOUN
ap-796	154	251	and	and	CCONJ
ap-796	154	252	jll	jll	NOUN
ap-796	154	253	stands	stand	VERB
ap-796	154	254	for	for	ADP
ap-796	154	255	the	the	DET
ap-796	154	256	lower	low	ADJ
ap-796	154	257	-	-	PUNCT
ap-796	154	258	level	level	NOUN
ap-796	154	259	optimal	optimal	ADJ
ap-796	154	260	cost	cost	NOUN
ap-796	154	261	.	.	PUNCT
ap-796	155	1	the	the	DET
ap-796	155	2	following	follow	VERB
ap-796	155	3	holds	hold	VERB
ap-796	155	4	for	for	ADP
ap-796	155	5	them	they	PRON
ap-796	155	6	:	:	PUNCT
ap-796	155	7	�	�	PROPN
ap-796	155	8	�	�	PROPN
ap-796	155	9	j	j	PROPN
ap-796	155	10	x	x	X
ap-796	155	11	x	x	X
ap-796	155	12	q	q	PUNCT
ap-796	155	13	x	x	X
ap-796	155	14	x	x	PUNCT
ap-796	155	15	u	u	NOUN
ap-796	155	16	ru	ru	PROPN
ap-796	155	17	tul	tul	PROPN
ap-796	155	18	w	w	PROPN
ap-796	155	19	opt	opt	PROPN
ap-796	155	20	t	t	PROPN
ap-796	155	21	w	w	PROPN
ap-796	155	22	opt	opt	PROPN
ap-796	155	23	opt	opt	PROPN
ap-796	155	24	t	t	PROPN
ap-796	155	25	opt	opt	PROPN
ap-796	155	26	t	t	PROPN
ap-796	155	27	t	t	PROPN
ap-796	155	28	th	th	PROPN
ap-796	155	29	�	�	PROPN
ap-796	155	30	�	�	PROPN
ap-796	155	31	�	�	PROPN
ap-796	155	32	�	�	PROPN
ap-796	155	33	(	(	PUNCT
ap-796	155	34	)	)	PUNCT
ap-796	155	35	(	(	PUNCT
ap-796	155	36	)	)	PUNCT
ap-796	155	37	d	d	NOUN
ap-796	155	38	and	and	CCONJ
ap-796	155	39	�	�	PROPN
ap-796	155	40	�	�	PROPN
ap-796	155	41	j	j	PROPN
ap-796	155	42	x	x	PUNCT
ap-796	155	43	x	x	X
ap-796	155	44	q	q	PUNCT
ap-796	155	45	x	x	X
ap-796	155	46	x	x	PUNCT
ap-796	155	47	u	u	NOUN
ap-796	155	48	u	u	NOUN
ap-796	155	49	r	r	NOUN
ap-796	155	50	u	u	X
ap-796	155	51	u	u	NOUN
ap-796	155	52	tll	tll	NOUN
ap-796	155	53	opt	opt	VERB
ap-796	155	54	t	t	PROPN
ap-796	155	55	opt	opt	PROPN
ap-796	155	56	opt	opt	PROPN
ap-796	155	57	t	t	PROPN
ap-796	155	58	opt	opt	PROPN
ap-796	155	59	t	t	PROPN
ap-796	155	60	t	t	PROPN
ap-796	155	61	th	th	PROPN
ap-796	155	62	�	�	PROPN
ap-796	155	63	�	�	PROPN
ap-796	155	64	�	�	PROPN
ap-796	155	65	�	�	PROPN
ap-796	155	66	(	(	PUNCT
ap-796	155	67	)	)	PUNCT
ap-796	155	68	(	(	PUNCT
ap-796	155	69	)	)	PUNCT
ap-796	155	70	(	(	PUNCT
ap-796	155	71	)	)	PUNCT
ap-796	155	72	(	(	PUNCT
ap-796	155	73	)	)	PUNCT
ap-796	155	74	.d	.d	ADJ
ap-796	155	75	nonlinearities	nonlinearitie	NOUN
ap-796	155	76	would	would	AUX
ap-796	155	77	make	make	VERB
ap-796	155	78	this	this	DET
ap-796	155	79	reasoning	reasoning	NOUN
ap-796	155	80	much	much	ADV
ap-796	155	81	more	more	ADV
ap-796	155	82	complicated	complicated	ADJ
ap-796	155	83	.	.	PUNCT
ap-796	156	1	the	the	DET
ap-796	156	2	same	same	ADJ
ap-796	156	3	holds	hold	VERB
ap-796	156	4	if	if	SCONJ
ap-796	156	5	the	the	DET
ap-796	156	6	cost	cost	NOUN
ap-796	156	7	is	be	AUX
ap-796	156	8	non	non	ADJ
ap-796	156	9	-	-	ADJ
ap-796	156	10	quadratic	quadratic	ADJ
ap-796	156	11	.	.	PUNCT
ap-796	157	1	6	6	NUM
ap-796	157	2	upper	upper	ADJ
ap-796	157	3	level	level	NOUN
ap-796	157	4	implementation	implementation	NOUN
ap-796	157	5	we	we	PRON
ap-796	157	6	mention	mention	VERB
ap-796	157	7	how	how	SCONJ
ap-796	157	8	the	the	DET
ap-796	157	9	control	control	NOUN
ap-796	157	10	scheme	scheme	NOUN
ap-796	157	11	described	describe	VERB
ap-796	157	12	above	above	ADV
ap-796	157	13	can	can	AUX
ap-796	157	14	be	be	AUX
ap-796	157	15	implemented	implement	VERB
ap-796	157	16	using	use	VERB
ap-796	157	17	the	the	DET
ap-796	157	18	femlab	femlab	NOUN
ap-796	157	19	software	software	NOUN
ap-796	157	20	package	package	NOUN
ap-796	157	21	.	.	PUNCT
ap-796	158	1	the	the	DET
ap-796	158	2	implementation	implementation	NOUN
ap-796	158	3	is	be	AUX
ap-796	158	4	fairly	fairly	ADV
ap-796	158	5	straightforward	straightforward	ADJ
ap-796	158	6	since	since	SCONJ
ap-796	158	7	this	this	DET
ap-796	158	8	software	software	NOUN
ap-796	158	9	enables	enable	VERB
ap-796	158	10	easy	easy	ADJ
ap-796	158	11	cooperation	cooperation	NOUN
ap-796	158	12	with	with	ADP
ap-796	158	13	matlab	matlab	PROPN
ap-796	158	14	.	.	PUNCT
ap-796	159	1	we	we	PRON
ap-796	159	2	will	will	AUX
ap-796	159	3	describe	describe	VERB
ap-796	159	4	briefly	briefly	ADV
ap-796	159	5	how	how	SCONJ
ap-796	159	6	the	the	DET
ap-796	159	7	code	code	NOUN
ap-796	159	8	was	be	AUX
ap-796	159	9	generated	generate	VERB
ap-796	159	10	and	and	CCONJ
ap-796	159	11	what	what	DET
ap-796	159	12	changes	change	NOUN
ap-796	159	13	are	be	AUX
ap-796	159	14	to	to	PART
ap-796	159	15	be	be	AUX
ap-796	159	16	made	make	VERB
ap-796	159	17	.	.	PUNCT
ap-796	160	1	we	we	PRON
ap-796	160	2	used	use	VERB
ap-796	160	3	the	the	DET
ap-796	160	4	femlab	femlab	NOUN
ap-796	160	5	2.1	2.1	NUM
ap-796	160	6	system	system	NOUN
ap-796	160	7	(	(	PUNCT
ap-796	160	8	see	see	VERB
ap-796	160	9	[	[	X
ap-796	160	10	3	3	NUM
ap-796	160	11	]	]	PUNCT
ap-796	160	12	)	)	PUNCT
ap-796	160	13	as	as	ADV
ap-796	160	14	well	well	ADV
ap-796	160	15	as	as	ADP
ap-796	160	16	its	its	PRON
ap-796	160	17	graphical	graphical	ADJ
ap-796	160	18	user	user	NOUN
ap-796	160	19	interface	interface	NOUN
ap-796	160	20	(	(	PUNCT
ap-796	160	21	gui	gui	NOUN
ap-796	160	22	)	)	PUNCT
ap-796	160	23	.	.	PUNCT
ap-796	161	1	generating	generate	VERB
ap-796	161	2	the	the	DET
ap-796	161	3	code	code	NOUN
ap-796	161	4	using	use	VERB
ap-796	161	5	the	the	DET
ap-796	161	6	gui	gui	NOUN
ap-796	161	7	saves	save	VERB
ap-796	161	8	a	a	DET
ap-796	161	9	lot	lot	NOUN
ap-796	161	10	of	of	ADP
ap-796	161	11	effort	effort	NOUN
ap-796	161	12	.	.	PUNCT
ap-796	162	1	for	for	ADP
ap-796	162	2	simplicity	simplicity	NOUN
ap-796	162	3	we	we	PRON
ap-796	162	4	assume	assume	VERB
ap-796	162	5	the	the	DET
ap-796	162	6	system	system	NOUN
ap-796	162	7	to	to	PART
ap-796	162	8	be	be	AUX
ap-796	162	9	of	of	ADP
ap-796	162	10	order	order	NOUN
ap-796	162	11	two	two	NUM
ap-796	162	12	.	.	PUNCT
ap-796	163	1	implementation	implementation	NOUN
ap-796	163	2	of	of	ADP
ap-796	163	3	the	the	DET
ap-796	163	4	control	control	NOUN
ap-796	163	5	algorithm	algorithm	NOUN
ap-796	163	6	for	for	ADP
ap-796	163	7	a	a	DET
ap-796	163	8	higher	high	ADJ
ap-796	163	9	-	-	PUNCT
ap-796	163	10	order	order	NOUN
ap-796	163	11	system	system	NOUN
ap-796	163	12	will	will	AUX
ap-796	163	13	then	then	ADV
ap-796	163	14	be	be	AUX
ap-796	163	15	a	a	DET
ap-796	163	16	straighforward	straighforward	ADJ
ap-796	163	17	extension	extension	NOUN
ap-796	163	18	of	of	ADP
ap-796	163	19	our	our	PRON
ap-796	163	20	approach	approach	NOUN
ap-796	163	21	we	we	PRON
ap-796	163	22	chose	choose	VERB
ap-796	163	23	the	the	DET
ap-796	163	24	general	general	ADJ
ap-796	163	25	form	form	NOUN
ap-796	163	26	,	,	PUNCT
ap-796	163	27	6	6	NUM
ap-796	163	28	one	one	NUM
ap-796	163	29	-	-	PUNCT
ap-796	163	30	dimensional	dimensional	ADJ
ap-796	163	31	equations	equation	NOUN
ap-796	163	32	on	on	ADP
ap-796	163	33	the	the	DET
ap-796	163	34	interval	interval	NOUN
ap-796	163	35	(	(	PUNCT
ap-796	163	36	0	0	NUM
ap-796	163	37	,	,	PUNCT
ap-796	163	38	th	th	NOUN
ap-796	163	39	)	)	PUNCT
ap-796	163	40	in	in	ADP
ap-796	163	41	the	the	DET
ap-796	163	42	initial	initial	ADJ
ap-796	163	43	menu	menu	NOUN
ap-796	163	44	.	.	PUNCT
ap-796	164	1	the	the	DET
ap-796	164	2	names	name	NOUN
ap-796	164	3	of	of	ADP
ap-796	164	4	the	the	DET
ap-796	164	5	functions	function	NOUN
ap-796	164	6	are	be	AUX
ap-796	164	7	x1	x1	PROPN
ap-796	164	8	,	,	PUNCT
ap-796	164	9	x2	x2	PROPN
ap-796	164	10	,	,	PUNCT
ap-796	164	11	�	�	PROPN
ap-796	164	12	1	1	NUM
ap-796	164	13	,	,	PUNCT
ap-796	164	14	�	�	NOUN
ap-796	164	15	2	2	NUM
ap-796	164	16	,	,	PUNCT
ap-796	164	17	u1	u1	NOUN
ap-796	164	18	,	,	PUNCT
ap-796	164	19	u2	u2	PROPN
ap-796	164	20	.	.	PUNCT
ap-796	165	1	the	the	DET
ap-796	165	2	first	first	ADJ
ap-796	165	3	two	two	NUM
ap-796	165	4	stand	stand	NOUN
ap-796	165	5	for	for	ADP
ap-796	165	6	the	the	DET
ap-796	165	7	state	state	NOUN
ap-796	165	8	,	,	PUNCT
ap-796	165	9	then	then	ADV
ap-796	165	10	the	the	DET
ap-796	165	11	pair	pair	NOUN
ap-796	165	12	�	�	PROPN
ap-796	165	13	1	1	NUM
ap-796	165	14	,	,	PUNCT
ap-796	165	15	�	�	X
ap-796	165	16	2	2	NUM
ap-796	165	17	represents	represent	VERB
ap-796	165	18	the	the	DET
ap-796	165	19	co	co	ADJ
ap-796	165	20	©	©	PROPN
ap-796	165	21	czech	czech	PROPN
ap-796	165	22	technical	technical	PROPN
ap-796	165	23	university	university	PROPN
ap-796	165	24	publishing	publishing	NOUN
ap-796	165	25	house	house	NOUN
ap-796	165	26	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	165	27	17	17	NUM
ap-796	165	28	czech	czech	PROPN
ap-796	165	29	technical	technical	PROPN
ap-796	165	30	university	university	PROPN
ap-796	165	31	in	in	ADP
ap-796	165	32	prague	prague	PROPN
ap-796	165	33	acta	acta	PROPN
ap-796	165	34	polytechnica	polytechnica	PROPN
ap-796	165	35	vol	vol	NOUN
ap-796	165	36	.	.	PUNCT
ap-796	166	1	46	46	NUM
ap-796	166	2	no	no	INTJ
ap-796	166	3	.	.	PUNCT
ap-796	167	1	1/2006	1/2006	NUM
ap-796	167	2	-states	-state	NOUN
ap-796	167	3	,	,	PUNCT
ap-796	167	4	and	and	CCONJ
ap-796	167	5	finally	finally	ADV
ap-796	167	6	the	the	DET
ap-796	167	7	last	last	ADJ
ap-796	167	8	two	two	NUM
ap-796	167	9	variables	variable	NOUN
ap-796	167	10	are	be	AUX
ap-796	167	11	used	use	VERB
ap-796	167	12	for	for	ADP
ap-796	167	13	control	control	NOUN
ap-796	167	14	.	.	PUNCT
ap-796	168	1	then	then	ADV
ap-796	168	2	we	we	PRON
ap-796	168	3	define	define	VERB
ap-796	168	4	constants	constant	NOUN
ap-796	168	5	xx10	xx10	PROPN
ap-796	168	6	and	and	CCONJ
ap-796	168	7	xx20	xx20	PROPN
ap-796	168	8	,	,	PUNCT
ap-796	168	9	which	which	PRON
ap-796	168	10	will	will	AUX
ap-796	168	11	be	be	AUX
ap-796	168	12	used	use	VERB
ap-796	168	13	for	for	ADP
ap-796	168	14	defining	define	VERB
ap-796	168	15	the	the	DET
ap-796	168	16	boundary	boundary	ADJ
ap-796	168	17	conditions	condition	NOUN
ap-796	168	18	of	of	ADP
ap-796	168	19	the	the	DET
ap-796	168	20	state	state	NOUN
ap-796	168	21	variables	variable	NOUN
ap-796	168	22	.	.	PUNCT
ap-796	169	1	next	next	ADV
ap-796	169	2	we	we	PRON
ap-796	169	3	define	define	VERB
ap-796	169	4	the	the	DET
ap-796	169	5	following	follow	VERB
ap-796	169	6	system	system	NOUN
ap-796	169	7	of	of	ADP
ap-796	169	8	equations	equation	NOUN
ap-796	169	9	,	,	PUNCT
ap-796	169	10	which	which	PRON
ap-796	169	11	describes	describe	VERB
ap-796	169	12	the	the	DET
ap-796	169	13	dynamic	dynamic	ADJ
ap-796	169	14	optimization	optimization	NOUN
ap-796	169	15	problem	problem	NOUN
ap-796	169	16	as	as	SCONJ
ap-796	169	17	introduced	introduce	VERB
ap-796	169	18	above	above	ADV
ap-796	169	19	.	.	PUNCT
ap-796	170	1	there	there	PRON
ap-796	170	2	is	be	VERB
ap-796	170	3	a	a	DET
ap-796	170	4	slight	slight	ADJ
ap-796	170	5	problem	problem	NOUN
ap-796	170	6	with	with	ADP
ap-796	170	7	the	the	DET
ap-796	170	8	definition	definition	NOUN
ap-796	170	9	of	of	ADP
ap-796	170	10	the	the	DET
ap-796	170	11	boundary	boundary	ADJ
ap-796	170	12	conditions	condition	NOUN
ap-796	170	13	.	.	PUNCT
ap-796	171	1	it	it	PRON
ap-796	171	2	is	be	AUX
ap-796	171	3	clear	clear	ADJ
ap-796	171	4	from	from	ADP
ap-796	171	5	the	the	DET
ap-796	171	6	definition	definition	NOUN
ap-796	171	7	of	of	ADP
ap-796	171	8	the	the	DET
ap-796	171	9	state	state	NOUN
ap-796	171	10	and	and	CCONJ
ap-796	171	11	co	co	ADJ
ap-796	171	12	-	-	NOUN
ap-796	171	13	state	state	NOUN
ap-796	171	14	functions	function	NOUN
ap-796	171	15	that	that	PRON
ap-796	171	16	the	the	DET
ap-796	171	17	following	follow	VERB
ap-796	171	18	must	must	AUX
ap-796	171	19	be	be	AUX
ap-796	171	20	satisfied	satisfied	ADJ
ap-796	171	21	:	:	PUNCT
ap-796	171	22	x1(0	x1(0	PROPN
ap-796	171	23	)	)	PUNCT
ap-796	171	24	�	�	PROPN
ap-796	172	1	xx10	xx10	PROPN
ap-796	172	2	,	,	PUNCT
ap-796	172	3	x2(0	x2(0	PROPN
ap-796	172	4	)	)	PUNCT
ap-796	172	5	�	�	PROPN
ap-796	173	1	xx20	xx20	PROPN
ap-796	173	2	,	,	PUNCT
ap-796	173	3	�	�	PROPN
ap-796	173	4	1(th	1(th	NOUN
ap-796	173	5	)	)	PUNCT
ap-796	173	6	�	�	PROPN
ap-796	173	7	0	0	NUM
ap-796	173	8	,	,	PUNCT
ap-796	173	9	�	�	PROPN
ap-796	173	10	2(th	2(th	NUM
ap-796	173	11	)	)	PUNCT
ap-796	173	12	�	�	PROPN
ap-796	173	13	0	0	NUM
ap-796	173	14	.	.	PUNCT
ap-796	174	1	nevertheless	nevertheless	ADV
ap-796	174	2	femlab	femlab	NOUN
ap-796	174	3	also	also	ADV
ap-796	174	4	requires	require	VERB
ap-796	174	5	initial	initial	ADJ
ap-796	174	6	conditions	condition	NOUN
ap-796	174	7	for	for	ADP
ap-796	174	8	the	the	DET
ap-796	174	9	states	state	NOUN
ap-796	174	10	defined	define	VERB
ap-796	174	11	at	at	ADP
ap-796	174	12	the	the	DET
ap-796	174	13	end	end	NOUN
ap-796	174	14	of	of	ADP
ap-796	174	15	the	the	DET
ap-796	174	16	interval	interval	NOUN
ap-796	174	17	and	and	CCONJ
ap-796	174	18	for	for	ADP
ap-796	174	19	the	the	DET
ap-796	174	20	co	co	NOUN
ap-796	174	21	-	-	NOUN
ap-796	174	22	states	state	NOUN
ap-796	174	23	at	at	ADP
ap-796	174	24	the	the	DET
ap-796	174	25	beginning	beginning	NOUN
ap-796	174	26	.	.	PUNCT
ap-796	175	1	this	this	PRON
ap-796	175	2	is	be	AUX
ap-796	175	3	due	due	ADJ
ap-796	175	4	to	to	ADP
ap-796	175	5	the	the	DET
ap-796	175	6	fact	fact	NOUN
ap-796	175	7	that	that	SCONJ
ap-796	175	8	the	the	DET
ap-796	175	9	femlab	femlab	NOUN
ap-796	175	10	gui	gui	NOUN
ap-796	175	11	was	be	AUX
ap-796	175	12	optimized	optimize	VERB
ap-796	175	13	for	for	ADP
ap-796	175	14	designing	design	VERB
ap-796	175	15	programs	program	NOUN
ap-796	175	16	for	for	ADP
ap-796	175	17	solving	solve	VERB
ap-796	175	18	differential	differential	ADJ
ap-796	175	19	equations	equation	NOUN
ap-796	175	20	of	of	ADP
ap-796	175	21	the	the	DET
ap-796	175	22	second	second	ADJ
ap-796	175	23	order	order	NOUN
ap-796	175	24	.	.	PUNCT
ap-796	176	1	thus	thus	ADV
ap-796	176	2	we	we	PRON
ap-796	176	3	have	have	VERB
ap-796	176	4	to	to	PART
ap-796	176	5	define	define	VERB
ap-796	176	6	the	the	DET
ap-796	176	7	boundary	boundary	ADJ
ap-796	176	8	condition	condition	NOUN
ap-796	176	9	as	as	ADP
ap-796	176	10	void	void	NOUN
ap-796	176	11	.	.	PUNCT
ap-796	177	1	we	we	PRON
ap-796	177	2	defined	define	VERB
ap-796	177	3	there	there	ADV
ap-796	177	4	the	the	DET
ap-796	177	5	conditions	condition	NOUN
ap-796	177	6	x1(th	x1(th	PROPN
ap-796	177	7	)	)	PUNCT
ap-796	178	1	x1(th	x1(th	NUM
ap-796	178	2	)	)	PUNCT
ap-796	179	1	=	=	SYM
ap-796	179	2	0	0	NUM
ap-796	179	3	,	,	PUNCT
ap-796	179	4	resp	resp	NOUN
ap-796	179	5	.	.	PUNCT
ap-796	180	1	�	�	PROPN
ap-796	180	2	1(0	1(0	NUM
ap-796	180	3	)	)	PUNCT
ap-796	180	4	�	�	PROPN
ap-796	180	5	1(0	1(0	NUM
ap-796	180	6	)	)	PUNCT
ap-796	181	1	=	=	SYM
ap-796	181	2	0	0	NUM
ap-796	181	3	,	,	PUNCT
ap-796	181	4	for	for	ADP
ap-796	181	5	the	the	DET
ap-796	181	6	other	other	ADJ
ap-796	181	7	state	state	NOUN
ap-796	181	8	and	and	CCONJ
ap-796	181	9	co	co	NOUN
ap-796	181	10	-	-	NOUN
ap-796	181	11	state	state	ADJ
ap-796	181	12	variables	variable	NOUN
ap-796	181	13	by	by	ADP
ap-796	181	14	analogy	analogy	NOUN
ap-796	181	15	.	.	PUNCT
ap-796	182	1	then	then	ADV
ap-796	182	2	the	the	DET
ap-796	182	3	equations	equation	NOUN
ap-796	182	4	are	be	AUX
ap-796	182	5	correctly	correctly	ADV
ap-796	182	6	defined	define	VERB
ap-796	182	7	and	and	CCONJ
ap-796	182	8	their	their	PRON
ap-796	182	9	definition	definition	NOUN
ap-796	182	10	meets	meet	VERB
ap-796	182	11	the	the	DET
ap-796	182	12	requirements	requirement	NOUN
ap-796	182	13	of	of	ADP
ap-796	182	14	the	the	DET
ap-796	182	15	femlab	femlab	NOUN
ap-796	182	16	system	system	NOUN
ap-796	182	17	.	.	PUNCT
ap-796	183	1	we	we	PRON
ap-796	183	2	also	also	ADV
ap-796	183	3	have	have	VERB
ap-796	183	4	to	to	PART
ap-796	183	5	define	define	VERB
ap-796	183	6	the	the	DET
ap-796	183	7	functions	function	NOUN
ap-796	183	8	that	that	PRON
ap-796	183	9	evaluate	evaluate	VERB
ap-796	183	10	the	the	DET
ap-796	183	11	desired	desire	VERB
ap-796	183	12	trajectory	trajectory	NOUN
ap-796	183	13	.	.	PUNCT
ap-796	184	1	the	the	DET
ap-796	184	2	following	follow	VERB
ap-796	184	3	actions	action	NOUN
ap-796	184	4	were	be	AUX
ap-796	184	5	carried	carry	VERB
ap-796	184	6	out	out	ADP
ap-796	184	7	with	with	ADP
ap-796	184	8	the	the	DET
ap-796	184	9	code	code	NOUN
ap-796	184	10	generated	generate	VERB
ap-796	184	11	by	by	ADP
ap-796	184	12	the	the	DET
ap-796	184	13	gui	gui	NOUN
ap-796	184	14	:	:	PUNCT
ap-796	184	15	�	�	PROPN
ap-796	184	16	it	it	PRON
ap-796	184	17	was	be	AUX
ap-796	184	18	declared	declare	VERB
ap-796	184	19	as	as	ADP
ap-796	184	20	a	a	DET
ap-796	184	21	function	function	NOUN
ap-796	184	22	with	with	ADP
ap-796	184	23	input	input	NOUN
ap-796	184	24	parameters	parameter	NOUN
ap-796	184	25	time	time	NOUN
ap-796	184	26	,	,	PUNCT
ap-796	184	27	x1time	x1time	PROPN
ap-796	184	28	,	,	PUNCT
ap-796	184	29	x2time	x2time	PROPN
ap-796	184	30	.	.	PUNCT
ap-796	185	1	the	the	DET
ap-796	185	2	time	time	NOUN
ap-796	185	3	parameter	parameter	NOUN
ap-796	185	4	contains	contain	VERB
ap-796	185	5	the	the	DET
ap-796	185	6	actual	actual	ADJ
ap-796	185	7	time	time	NOUN
ap-796	185	8	,	,	PUNCT
ap-796	185	9	and	and	CCONJ
ap-796	185	10	the	the	DET
ap-796	185	11	parameters	parameter	NOUN
ap-796	185	12	x1time	x1time	PROPN
ap-796	185	13	,	,	PUNCT
ap-796	185	14	x2time	x2time	PROPN
ap-796	185	15	contain	contain	VERB
ap-796	185	16	the	the	DET
ap-796	185	17	values	value	NOUN
ap-796	185	18	of	of	ADP
ap-796	185	19	the	the	DET
ap-796	185	20	state	state	NOUN
ap-796	185	21	variables	variable	NOUN
ap-796	185	22	.	.	PUNCT
ap-796	186	1	�	�	PROPN
ap-796	186	2	the	the	DET
ap-796	186	3	interval	interval	NOUN
ap-796	186	4	where	where	SCONJ
ap-796	186	5	the	the	DET
ap-796	186	6	boundary	boundary	ADJ
ap-796	186	7	problem	problem	NOUN
ap-796	186	8	was	be	AUX
ap-796	186	9	solved	solve	VERB
ap-796	186	10	was	be	AUX
ap-796	186	11	changed	change	VERB
ap-796	186	12	to	to	ADP
ap-796	186	13	(	(	PUNCT
ap-796	186	14	time	time	NOUN
ap-796	186	15	,	,	PUNCT
ap-796	186	16	time	time	NOUN
ap-796	186	17	�	�	PROPN
ap-796	186	18	th	th	NUM
ap-796	186	19	)	)	PUNCT
ap-796	186	20	.	.	PUNCT
ap-796	187	1	�	�	PROPN
ap-796	187	2	at	at	ADP
ap-796	187	3	the	the	DET
ap-796	187	4	beginning	beginning	NOUN
ap-796	187	5	of	of	ADP
ap-796	187	6	the	the	DET
ap-796	187	7	function	function	NOUN
ap-796	187	8	,	,	PUNCT
ap-796	187	9	the	the	DET
ap-796	187	10	value	value	NOUN
ap-796	187	11	of	of	ADP
ap-796	187	12	the	the	DET
ap-796	187	13	state	state	NOUN
ap-796	187	14	variables	variable	NOUN
ap-796	187	15	is	be	AUX
ap-796	187	16	evaluated	evaluate	VERB
ap-796	187	17	at	at	ADP
ap-796	187	18	the	the	DET
ap-796	187	19	time	time	NOUN
ap-796	187	20	slot	slot	NOUN
ap-796	187	21	time	time	NOUN
ap-796	187	22	�	�	PROPN
ap-796	187	23	1	1	NUM
ap-796	187	24	.	.	PUNCT
ap-796	188	1	this	this	PRON
ap-796	188	2	is	be	AUX
ap-796	188	3	possible	possible	ADJ
ap-796	188	4	since	since	SCONJ
ap-796	188	5	the	the	DET
ap-796	188	6	control	control	NOUN
ap-796	188	7	on	on	ADP
ap-796	188	8	this	this	DET
ap-796	188	9	interval	interval	NOUN
ap-796	188	10	is	be	AUX
ap-796	188	11	known	know	VERB
ap-796	188	12	from	from	ADP
ap-796	188	13	the	the	DET
ap-796	188	14	previous	previous	ADJ
ap-796	188	15	step	step	NOUN
ap-796	188	16	.	.	PUNCT
ap-796	189	1	�	�	PROPN
ap-796	189	2	then	then	ADV
ap-796	189	3	the	the	DET
ap-796	189	4	code	code	NOUN
ap-796	189	5	generated	generate	VERB
ap-796	189	6	by	by	ADP
ap-796	189	7	the	the	DET
ap-796	189	8	gui	gui	NOUN
ap-796	189	9	follows	follow	VERB
ap-796	189	10	.	.	PUNCT
ap-796	190	1	some	some	DET
ap-796	190	2	modifications	modification	NOUN
ap-796	190	3	were	be	AUX
ap-796	190	4	made	make	VERB
ap-796	190	5	:	:	PUNCT
ap-796	190	6	the	the	DET
ap-796	190	7	time	time	NOUN
ap-796	190	8	interval	interval	NOUN
ap-796	190	9	where	where	SCONJ
ap-796	190	10	the	the	DET
ap-796	190	11	problem	problem	NOUN
ap-796	190	12	is	be	AUX
ap-796	190	13	solved	solve	VERB
ap-796	190	14	was	be	AUX
ap-796	190	15	changed	change	VERB
ap-796	190	16	to	to	ADP
ap-796	190	17	time	time	NOUN
ap-796	190	18	�	�	PROPN
ap-796	190	19	1	1	NUM
ap-796	190	20	,	,	PUNCT
ap-796	190	21	time	time	NOUN
ap-796	190	22	�	�	PROPN
ap-796	190	23	1	1	NUM
ap-796	190	24	�	�	PROPN
ap-796	190	25	th	th	NOUN
ap-796	190	26	.	.	PUNCT
ap-796	191	1	the	the	DET
ap-796	191	2	boundary	boundary	ADJ
ap-796	191	3	conditions	condition	NOUN
ap-796	191	4	on	on	ADP
ap-796	191	5	the	the	DET
ap-796	191	6	state	state	NOUN
ap-796	191	7	variables	variable	NOUN
ap-796	191	8	are	be	AUX
ap-796	191	9	their	their	PRON
ap-796	191	10	value	value	NOUN
ap-796	191	11	at	at	ADP
ap-796	191	12	the	the	DET
ap-796	191	13	time	time	NOUN
ap-796	191	14	time	time	NOUN
ap-796	191	15	�	�	PROPN
ap-796	191	16	1	1	NUM
ap-796	191	17	,	,	PUNCT
ap-796	191	18	where	where	SCONJ
ap-796	191	19	the	the	DET
ap-796	191	20	constant	constant	ADJ
ap-796	191	21	th	th	X
ap-796	191	22	contains	contain	VERB
ap-796	191	23	the	the	DET
ap-796	191	24	length	length	NOUN
ap-796	191	25	of	of	ADP
ap-796	191	26	the	the	DET
ap-796	191	27	prediction	prediction	NOUN
ap-796	191	28	horizon	horizon	NOUN
ap-796	191	29	.	.	PUNCT
ap-796	192	1	�	�	PROPN
ap-796	192	2	then	then	ADV
ap-796	192	3	the	the	DET
ap-796	192	4	feedforward	feedforward	NOUN
ap-796	192	5	functions	function	NOUN
ap-796	192	6	were	be	AUX
ap-796	192	7	computed	compute	VERB
ap-796	192	8	and	and	CCONJ
ap-796	192	9	saved	save	VERB
ap-796	192	10	.	.	PUNCT
ap-796	193	1	the	the	DET
ap-796	193	2	simulink	simulink	PROPN
ap-796	193	3	system	system	NOUN
ap-796	193	4	was	be	AUX
ap-796	193	5	used	use	VERB
ap-796	193	6	for	for	ADP
ap-796	193	7	modeling	model	VERB
ap-796	193	8	the	the	DET
ap-796	193	9	system	system	NOUN
ap-796	193	10	.	.	PUNCT
ap-796	194	1	to	to	PART
ap-796	194	2	simulate	simulate	VERB
ap-796	194	3	both	both	DET
ap-796	194	4	levels	level	NOUN
ap-796	194	5	properly	properly	ADV
ap-796	194	6	it	it	PRON
ap-796	194	7	would	would	AUX
ap-796	194	8	be	be	AUX
ap-796	194	9	necessary	necessary	ADJ
ap-796	194	10	to	to	PART
ap-796	194	11	run	run	VERB
ap-796	194	12	the	the	DET
ap-796	194	13	calculations	calculation	NOUN
ap-796	194	14	in	in	ADP
ap-796	194	15	two	two	NUM
ap-796	194	16	different	different	ADJ
ap-796	194	17	threads	thread	NOUN
ap-796	194	18	.	.	PUNCT
ap-796	195	1	we	we	PRON
ap-796	195	2	did	do	AUX
ap-796	195	3	not	not	PART
ap-796	195	4	perform	perform	VERB
ap-796	195	5	this	this	PRON
ap-796	195	6	.	.	PUNCT
ap-796	196	1	the	the	DET
ap-796	196	2	scheme	scheme	NOUN
ap-796	196	3	is	be	AUX
ap-796	196	4	shown	show	VERB
ap-796	196	5	in	in	ADP
ap-796	196	6	fig	fig	NOUN
ap-796	196	7	.	.	PUNCT
ap-796	197	1	2	2	X
ap-796	197	2	.	.	X
ap-796	197	3	the	the	DET
ap-796	197	4	gains	gain	NOUN
ap-796	197	5	gain	gain	VERB
ap-796	197	6	and	and	CCONJ
ap-796	197	7	gain1	gain1	NOUN
ap-796	197	8	together	together	ADV
ap-796	197	9	with	with	ADP
ap-796	197	10	the	the	DET
ap-796	197	11	system	system	NOUN
ap-796	197	12	build	build	VERB
ap-796	197	13	up	up	ADP
ap-796	197	14	the	the	DET
ap-796	197	15	lower	low	ADJ
ap-796	197	16	level	level	NOUN
ap-796	197	17	.	.	PUNCT
ap-796	198	1	the	the	DET
ap-796	198	2	functions	function	NOUN
ap-796	198	3	firstreference	firstreference	NOUN
ap-796	198	4	and	and	CCONJ
ap-796	198	5	secondreference	secondreference	NOUN
ap-796	198	6	select	select	VERB
ap-796	198	7	the	the	DET
ap-796	198	8	appropriate	appropriate	ADJ
ap-796	198	9	feedforward	feedforward	NOUN
ap-796	198	10	computed	compute	VERB
ap-796	198	11	in	in	ADP
ap-796	198	12	the	the	DET
ap-796	198	13	upper	upper	ADJ
ap-796	198	14	level	level	NOUN
ap-796	198	15	.	.	PUNCT
ap-796	199	1	the	the	DET
ap-796	199	2	connection	connection	NOUN
ap-796	199	3	from	from	ADP
ap-796	199	4	the	the	DET
ap-796	199	5	lower	low	ADJ
ap-796	199	6	into	into	ADP
ap-796	199	7	the	the	DET
ap-796	199	8	upper	upper	ADJ
ap-796	199	9	level	level	NOUN
ap-796	199	10	is	be	AUX
ap-796	199	11	realized	realize	VERB
ap-796	199	12	by	by	ADP
ap-796	199	13	the	the	DET
ap-796	199	14	function	function	NOUN
ap-796	199	15	matlab	matlab	PROPN
ap-796	199	16	fcn	fcn	PROPN
ap-796	199	17	,	,	PUNCT
ap-796	199	18	which	which	PRON
ap-796	199	19	activates	activate	VERB
ap-796	199	20	the	the	DET
ap-796	199	21	upper	upper	ADJ
ap-796	199	22	level	level	NOUN
ap-796	199	23	always	always	ADV
ap-796	199	24	after	after	ADP
ap-796	199	25	period	period	NOUN
ap-796	199	26	1	1	NUM
ap-796	199	27	.	.	SYM
ap-796	199	28	7	7	NUM
ap-796	199	29	simulation	simulation	NOUN
ap-796	199	30	results	result	VERB
ap-796	199	31	a	a	DET
ap-796	199	32	simulation	simulation	NOUN
ap-796	199	33	example	example	NOUN
ap-796	199	34	was	be	AUX
ap-796	199	35	performed	perform	VERB
ap-796	199	36	with	with	ADP
ap-796	199	37	the	the	DET
ap-796	199	38	system	system	NOUN
ap-796	199	39	�	�	PROPN
ap-796	199	40	.x	.x	NOUN
ap-796	200	1	x	x	PUNCT
ap-796	200	2	x	x	PUNCT
ap-796	200	3	u1	u1	NOUN
ap-796	200	4	1	1	NUM
ap-796	200	5	2	2	NUM
ap-796	200	6	1001	1001	NUM
ap-796	200	7	�	�	PROPN
ap-796	200	8	�	�	PROPN
ap-796	200	9	�	�	PROPN
ap-796	200	10	�	�	PROPN
ap-796	200	11	.x	.x	PROPN
ap-796	201	1	x	x	PUNCT
ap-796	201	2	x	x	SYM
ap-796	201	3	u2	u2	NOUN
ap-796	201	4	1	1	NUM
ap-796	201	5	2	2	NUM
ap-796	201	6	2001	2001	NUM
ap-796	201	7	�	�	PROPN
ap-796	201	8	�	�	PROPN
ap-796	201	9	�	�	PROPN
ap-796	201	10	together	together	ADV
ap-796	201	11	with	with	ADP
ap-796	201	12	the	the	DET
ap-796	201	13	following	follow	VERB
ap-796	201	14	quadratic	quadratic	ADJ
ap-796	201	15	cost	cost	NOUN
ap-796	201	16	functional	functional	ADJ
ap-796	201	17	j.	j.	PROPN
ap-796	201	18	j	j	PROPN
ap-796	202	1	x	x	PUNCT
ap-796	202	2	x	x	X
ap-796	202	3	q	q	X
ap-796	202	4	q	q	X
ap-796	202	5	x	x	X
ap-796	202	6	x	x	PUNCT
ap-796	202	7	u	u	X
ap-796	202	8	u	u	X
ap-796	202	9	t	t	PROPN
ap-796	202	10	�	�	PROPN
ap-796	202	11	�	�	PROPN
ap-796	202	12	�	�	PROPN
ap-796	202	13	�	�	PROPN
ap-796	202	14	�	�	PROPN
ap-796	202	15	�	�	PROPN
ap-796	202	16	�	�	PROPN
ap-796	202	17	�	�	PROPN
ap-796	202	18	�	�	PROPN
ap-796	202	19	�	�	PROPN
ap-796	202	20	�	�	PROPN
ap-796	202	21	�	�	PROPN
ap-796	202	22	�	�	PROPN
ap-796	202	23	�	�	PROPN
ap-796	202	24	�	�	PROPN
ap-796	202	25	�	�	PROPN
ap-796	202	26	�	�	PROPN
ap-796	202	27	�	�	PROPN
ap-796	202	28	�	�	PROPN
ap-796	202	29	�	�	PROPN
ap-796	202	30	�	�	PROPN
ap-796	202	31	�	�	PROPN
ap-796	202	32	1	1	NUM
ap-796	202	33	2	2	NUM
ap-796	202	34	1	1	NUM
ap-796	202	35	2	2	NUM
ap-796	202	36	1	1	NUM
ap-796	202	37	2	2	NUM
ap-796	202	38	1	1	NUM
ap-796	202	39	2	2	NUM
ap-796	202	40	0	0	NUM
ap-796	202	41	0	0	NUM
ap-796	202	42	�	�	PROPN
ap-796	202	43	�	�	PROPN
ap-796	202	44	�	�	PROPN
ap-796	202	45	�	�	PROPN
ap-796	202	46	�	�	PROPN
ap-796	202	47	�	�	PROPN
ap-796	202	48	�	�	PROPN
ap-796	202	49	�	�	PROPN
ap-796	202	50	�	�	PROPN
ap-796	202	51	�	�	PROPN
ap-796	202	52	�	�	PROPN
ap-796	202	53	�	�	PROPN
ap-796	202	54	�	�	PROPN
ap-796	202	55	�	�	PROPN
ap-796	202	56	�	�	PROPN
ap-796	202	57	�	�	PROPN
ap-796	202	58	�	�	PROPN
ap-796	202	59	�	�	PROPN
ap-796	202	60	�	�	PROPN
ap-796	202	61	�	�	PROPN
ap-796	202	62	�	�	PROPN
ap-796	202	63	�	�	PROPN
ap-796	202	64	�	�	PROPN
ap-796	202	65	�	�	PROPN
ap-796	202	66	�	�	PROPN
ap-796	202	67	�	�	PROPN
ap-796	202	68	t	t	PROPN
ap-796	202	69	t	t	PROPN
ap-796	202	70	t	t	NOUN
ap-796	202	71	r	r	NOUN
ap-796	202	72	r	r	NOUN
ap-796	202	73	u	u	NOUN
ap-796	202	74	u	u	NOUN
ap-796	202	75	t1	t1	NOUN
ap-796	202	76	2	2	NUM
ap-796	202	77	1	1	NUM
ap-796	202	78	2	2	NUM
ap-796	202	79	3	3	NUM
ap-796	202	80	0	0	NUM
ap-796	202	81	0	0	NUM
ap-796	202	82	d	d	NOUN
ap-796	202	83	.	.	PUNCT
ap-796	203	1	the	the	DET
ap-796	203	2	matrices	matrix	NOUN
ap-796	203	3	q	q	NOUN
ap-796	203	4	,	,	PUNCT
ap-796	203	5	r	r	NOUN
ap-796	203	6	in	in	ADP
ap-796	203	7	the	the	DET
ap-796	203	8	upper	upper	ADJ
ap-796	203	9	-	-	PUNCT
ap-796	203	10	level	level	NOUN
ap-796	203	11	cost	cost	NOUN
ap-796	203	12	functional	functional	ADJ
ap-796	203	13	were	be	AUX
ap-796	203	14	chosen	choose	VERB
ap-796	203	15	such	such	ADJ
ap-796	203	16	that	that	DET
ap-796	203	17	q1	q1	PROPN
ap-796	203	18	�	�	PROPN
ap-796	203	19	q2	q2	PROPN
ap-796	203	20	�	�	PROPN
ap-796	203	21	10	10	NUM
ap-796	203	22	,	,	PUNCT
ap-796	203	23	r1	r1	PROPN
ap-796	203	24	�	�	PROPN
ap-796	203	25	r2	r2	PROPN
ap-796	203	26	�	�	PROPN
ap-796	203	27	0.2	0.2	NUM
ap-796	203	28	.	.	PUNCT
ap-796	204	1	the	the	DET
ap-796	204	2	lower	low	ADJ
ap-796	204	3	-	-	PUNCT
ap-796	204	4	level	level	NOUN
ap-796	204	5	compensators	compensator	NOUN
ap-796	204	6	have	have	VERB
ap-796	204	7	gains	gain	NOUN
ap-796	204	8	optimal	optimal	ADJ
ap-796	204	9	for	for	ADP
ap-796	204	10	controlling	control	VERB
ap-796	204	11	the	the	DET
ap-796	204	12	system	system	NOUN
ap-796	204	13	,	,	PUNCT
ap-796	204	14	with	with	SCONJ
ap-796	204	15	the	the	DET
ap-796	204	16	interconnections	interconnection	NOUN
ap-796	204	17	between	between	ADP
ap-796	204	18	these	these	DET
ap-796	204	19	subsystems	subsystem	NOUN
ap-796	204	20	neglected	neglect	VERB
ap-796	204	21	.	.	PUNCT
ap-796	205	1	the	the	DET
ap-796	205	2	matrices	matrix	NOUN
ap-796	205	3	in	in	ADP
ap-796	205	4	the	the	DET
ap-796	205	5	quadratic	quadratic	ADJ
ap-796	205	6	cost	cost	NOUN
ap-796	205	7	functional	functional	ADJ
ap-796	205	8	are	be	AUX
ap-796	205	9	chosen	choose	VERB
ap-796	205	10	as	as	ADP
ap-796	205	11	q1	q1	PROPN
ap-796	205	12	,	,	PUNCT
ap-796	205	13	r1	r1	PROPN
ap-796	205	14	resp	resp	NOUN
ap-796	205	15	.	.	PUNCT
ap-796	206	1	q2	q2	PROPN
ap-796	206	2	,	,	PUNCT
ap-796	206	3	r2	r2	PROPN
ap-796	206	4	.	.	PUNCT
ap-796	207	1	we	we	PRON
ap-796	207	2	aim	aim	VERB
ap-796	207	3	to	to	PART
ap-796	207	4	design	design	VERB
ap-796	207	5	the	the	DET
ap-796	207	6	control	control	NOUN
ap-796	207	7	so	so	SCONJ
ap-796	207	8	that	that	SCONJ
ap-796	207	9	the	the	DET
ap-796	207	10	state	state	NOUN
ap-796	207	11	x1	x1	PROPN
ap-796	207	12	will	will	AUX
ap-796	207	13	track	track	VERB
ap-796	207	14	the	the	DET
ap-796	207	15	reference	reference	NOUN
ap-796	207	16	x1w	x1w	PUNCT
ap-796	207	17	�	�	PROPN
ap-796	207	18	sin	sin	VERB
ap-796	207	19	4	4	NUM
ap-796	207	20	t	t	NOUN
ap-796	207	21	and	and	CCONJ
ap-796	207	22	the	the	DET
ap-796	207	23	state	state	NOUN
ap-796	207	24	x2	x2	PROPN
ap-796	207	25	will	will	AUX
ap-796	207	26	track	track	VERB
ap-796	207	27	the	the	DET
ap-796	207	28	reference	reference	NOUN
ap-796	207	29	x2w	x2w	PROPN
ap-796	207	30	�	�	PROPN
ap-796	207	31	cos5	cos5	PROPN
ap-796	207	32	t.	t.	PROPN
ap-796	208	1	the	the	DET
ap-796	208	2	equations	equation	NOUN
ap-796	208	3	for	for	ADP
ap-796	208	4	the	the	DET
ap-796	208	5	derivatives	derivative	NOUN
ap-796	208	6	of	of	ADP
ap-796	208	7	the	the	DET
ap-796	208	8	co	co	NOUN
ap-796	208	9	-	-	NOUN
ap-796	208	10	states	state	NOUN
ap-796	208	11	attain	attain	VERB
ap-796	208	12	the	the	DET
ap-796	208	13	following	follow	VERB
ap-796	208	14	form	form	NOUN
ap-796	208	15	18	18	NUM
ap-796	208	16	©	©	PROPN
ap-796	208	17	czech	czech	PROPN
ap-796	208	18	technical	technical	PROPN
ap-796	208	19	university	university	PROPN
ap-796	208	20	publishing	publishing	NOUN
ap-796	208	21	house	house	NOUN
ap-796	208	22	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	208	23	acta	acta	PROPN
ap-796	208	24	polytechnica	polytechnica	PROPN
ap-796	208	25	vol	vol	NOUN
ap-796	208	26	.	.	PUNCT
ap-796	209	1	46	46	NUM
ap-796	209	2	no	no	INTJ
ap-796	209	3	.	.	PUNCT
ap-796	210	1	1/2006	1/2006	NUM
ap-796	210	2	czech	czech	PROPN
ap-796	210	3	technical	technical	PROPN
ap-796	210	4	university	university	PROPN
ap-796	210	5	in	in	ADP
ap-796	210	6	prague	prague	PROPN
ap-796	210	7	fig	fig	NOUN
ap-796	210	8	.	.	PUNCT
ap-796	211	1	2	2	NUM
ap-796	211	2	:	:	PUNCT
ap-796	211	3	the	the	DET
ap-796	211	4	simulation	simulation	NOUN
ap-796	211	5	scheme	scheme	PROPN
ap-796	211	6	�	�	PROPN
ap-796	211	7	(	(	PUNCT
ap-796	211	8	)	)	PUNCT
ap-796	211	9	.	.	PUNCT
ap-796	212	1	(	(	PUNCT
ap-796	212	2	,	,	PUNCT
ap-796	212	3	)	)	PUNCT
ap-796	212	4	�	�	PROPN
ap-796	212	5	�	�	PROPN
ap-796	212	6	�	�	PROPN
ap-796	212	7	�	�	PROPN
ap-796	212	8	�	�	PROPN
ap-796	212	9	1	1	NUM
ap-796	212	10	1	1	NUM
ap-796	212	11	1	1	NUM
ap-796	212	12	1	1	NUM
ap-796	212	13	1	1	NUM
ap-796	212	14	2	2	NUM
ap-796	212	15	1	1	NUM
ap-796	212	16	2	2	NUM
ap-796	212	17	1	1	NUM
ap-796	212	18	001	001	NUM
ap-796	212	19	�	�	PROPN
ap-796	212	20	�	�	PROPN
ap-796	212	21	�	�	PROPN
ap-796	212	22	�	�	PROPN
ap-796	212	23	q	q	NOUN
ap-796	212	24	x	x	NOUN
ap-796	212	25	x	x	SYM
ap-796	212	26	b	b	X
ap-796	212	27	x	x	PUNCT
ap-796	212	28	x	x	VERB
ap-796	212	29	xopt	xopt	VERB
ap-796	212	30	w	w	PROPN
ap-796	212	31	opt	opt	PROPN
ap-796	212	32	opt	opt	PROPN
ap-796	212	33	�	�	PROPN
ap-796	212	34	(	(	PUNCT
ap-796	212	35	)	)	PUNCT
ap-796	212	36	.	.	PUNCT
ap-796	213	1	(	(	PUNCT
ap-796	213	2	,	,	PUNCT
ap-796	213	3	)	)	PUNCT
ap-796	213	4	�	�	PROPN
ap-796	213	5	�	�	PROPN
ap-796	213	6	�	�	PROPN
ap-796	213	7	�	�	PROPN
ap-796	213	8	�	�	PROPN
ap-796	213	9	2	2	NUM
ap-796	213	10	2	2	NUM
ap-796	213	11	2	2	NUM
ap-796	213	12	2	2	NUM
ap-796	213	13	1	1	NUM
ap-796	213	14	2	2	NUM
ap-796	213	15	1	1	NUM
ap-796	213	16	2	2	NUM
ap-796	213	17	2	2	NUM
ap-796	213	18	001	001	NUM
ap-796	213	19	�	�	PROPN
ap-796	213	20	�	�	PROPN
ap-796	213	21	�	�	PROPN
ap-796	213	22	�	�	PROPN
ap-796	213	23	q	q	NOUN
ap-796	213	24	x	x	NOUN
ap-796	213	25	x	x	SYM
ap-796	213	26	b	b	X
ap-796	213	27	x	x	PUNCT
ap-796	213	28	x	x	AUX
ap-796	213	29	xopt	xopt	VERB
ap-796	213	30	w	w	NOUN
ap-796	213	31	opt	opt	PROPN
ap-796	213	32	opt	opt	NOUN
ap-796	213	33	with	with	ADP
ap-796	213	34	zero	zero	NUM
ap-796	213	35	terminal	terminal	ADJ
ap-796	213	36	condition	condition	NOUN
ap-796	213	37	at	at	ADP
ap-796	213	38	t	t	PROPN
ap-796	213	39	�	�	PROPN
ap-796	213	40	3	3	NUM
ap-796	213	41	again	again	ADV
ap-796	213	42	.	.	PUNCT
ap-796	214	1	the	the	DET
ap-796	214	2	state	state	NOUN
ap-796	214	3	is	be	AUX
ap-796	214	4	shown	show	VERB
ap-796	214	5	in	in	ADP
ap-796	214	6	fig	fig	NOUN
ap-796	214	7	.	.	PUNCT
ap-796	215	1	3a	3a	NUM
ap-796	215	2	without	without	ADP
ap-796	215	3	the	the	DET
ap-796	215	4	barrier	barrier	NOUN
ap-796	215	5	function	function	NOUN
ap-796	215	6	and	and	CCONJ
ap-796	215	7	without	without	ADP
ap-796	215	8	the	the	DET
ap-796	215	9	presence	presence	NOUN
ap-796	215	10	of	of	ADP
ap-796	215	11	the	the	DET
ap-796	215	12	additive	additive	ADJ
ap-796	215	13	noise	noise	NOUN
ap-796	215	14	.	.	PUNCT
ap-796	216	1	(	(	PUNCT
ap-796	216	2	in	in	ADP
ap-796	216	3	this	this	PRON
ap-796	216	4	and	and	CCONJ
ap-796	216	5	in	in	ADP
ap-796	216	6	the	the	DET
ap-796	216	7	following	follow	VERB
ap-796	216	8	figures	figure	NOUN
ap-796	216	9	,	,	PUNCT
ap-796	216	10	the	the	DET
ap-796	216	11	solid	solid	ADJ
ap-796	216	12	line	line	NOUN
ap-796	216	13	represents	represent	VERB
ap-796	216	14	the	the	DET
ap-796	216	15	state	state	NOUN
ap-796	216	16	x1	x1	PROPN
ap-796	216	17	of	of	ADP
ap-796	216	18	the	the	DET
ap-796	216	19	system	system	NOUN
ap-796	216	20	while	while	SCONJ
ap-796	216	21	the	the	DET
ap-796	216	22	dashed	dash	VERB
ap-796	216	23	line	line	NOUN
ap-796	216	24	represents	represent	VERB
ap-796	216	25	the	the	DET
ap-796	216	26	reference	reference	NOUN
ap-796	216	27	.	.	PUNCT
ap-796	216	28	)	)	PUNCT
ap-796	217	1	fig	fig	NOUN
ap-796	217	2	.	.	PUNCT
ap-796	218	1	3b	3b	PROPN
ap-796	218	2	shows	show	VERB
ap-796	218	3	the	the	DET
ap-796	218	4	state	state	NOUN
ap-796	218	5	x1	x1	INTJ
ap-796	218	6	if	if	SCONJ
ap-796	218	7	the	the	DET
ap-796	218	8	additive	additive	ADJ
ap-796	218	9	noise	noise	NOUN
ap-796	218	10	acts	act	VERB
ap-796	218	11	upon	upon	SCONJ
ap-796	218	12	the	the	DET
ap-796	218	13	system	system	NOUN
ap-796	218	14	while	while	SCONJ
ap-796	218	15	the	the	DET
ap-796	218	16	barrier	barrier	NOUN
ap-796	218	17	function	function	NOUN
ap-796	218	18	is	be	AUX
ap-796	218	19	not	not	PART
ap-796	218	20	present	present	ADJ
ap-796	218	21	.	.	PUNCT
ap-796	219	1	the	the	DET
ap-796	219	2	next	next	ADJ
ap-796	219	3	two	two	NUM
ap-796	219	4	figures	figure	NOUN
ap-796	219	5	show	show	VERB
ap-796	219	6	the	the	DET
ap-796	219	7	state	state	NOUN
ap-796	219	8	x1	x1	PROPN
ap-796	219	9	in	in	ADP
ap-796	219	10	the	the	DET
ap-796	219	11	situation	situation	NOUN
ap-796	219	12	after	after	ADP
ap-796	219	13	augmentation	augmentation	NOUN
ap-796	219	14	of	of	ADP
ap-796	219	15	the	the	DET
ap-796	219	16	cost	cost	NOUN
ap-796	219	17	functional	functional	ADJ
ap-796	219	18	by	by	ADP
ap-796	219	19	adding	add	VERB
ap-796	219	20	the	the	DET
ap-796	219	21	barrier	barrier	NOUN
ap-796	219	22	function	function	NOUN
ap-796	219	23	.	.	PUNCT
ap-796	220	1	the	the	DET
ap-796	220	2	state	state	NOUN
ap-796	220	3	x1	x1	PROPN
ap-796	220	4	is	be	AUX
ap-796	220	5	shown	show	VERB
ap-796	220	6	in	in	ADP
ap-796	220	7	the	the	DET
ap-796	220	8	fig	fig	NOUN
ap-796	220	9	.	.	PUNCT
ap-796	221	1	4a	4a	NOUN
ap-796	221	2	without	without	ADP
ap-796	221	3	the	the	DET
ap-796	221	4	presence	presence	NOUN
ap-796	221	5	of	of	ADP
ap-796	221	6	the	the	DET
ap-796	221	7	additive	additive	ADJ
ap-796	221	8	noise	noise	NOUN
ap-796	221	9	,	,	PUNCT
ap-796	221	10	and	and	CCONJ
ap-796	221	11	in	in	ADP
ap-796	221	12	fig	fig	NOUN
ap-796	221	13	.	.	PUNCT
ap-796	222	1	4b	4b	PROPN
ap-796	222	2	in	in	ADP
ap-796	222	3	the	the	DET
ap-796	222	4	presence	presence	NOUN
ap-796	222	5	of	of	ADP
ap-796	222	6	this	this	DET
ap-796	222	7	noise	noise	NOUN
ap-796	222	8	.	.	PUNCT
ap-796	223	1	the	the	DET
ap-796	223	2	state	state	NOUN
ap-796	223	3	space	space	NOUN
ap-796	223	4	is	be	AUX
ap-796	223	5	shown	show	VERB
ap-796	223	6	in	in	ADP
ap-796	223	7	fig	fig	NOUN
ap-796	223	8	.	.	PUNCT
ap-796	224	1	5a	5a	NUM
ap-796	224	2	,	,	PUNCT
ap-796	224	3	respectively	respectively	ADV
ap-796	224	4	5b	5b	NUM
ap-796	224	5	(	(	PUNCT
ap-796	224	6	with	with	ADP
ap-796	224	7	,	,	PUNCT
ap-796	224	8	respectively	respectively	ADV
ap-796	224	9	without	without	ADP
ap-796	224	10	,	,	PUNCT
ap-796	224	11	the	the	DET
ap-796	224	12	barrier	barrier	NOUN
ap-796	224	13	function	function	NOUN
ap-796	224	14	activated	activate	VERB
ap-796	224	15	)	)	PUNCT
ap-796	224	16	.	.	PUNCT
ap-796	225	1	here	here	ADV
ap-796	225	2	we	we	PRON
ap-796	225	3	can	can	AUX
ap-796	225	4	easily	easily	ADV
ap-796	225	5	see	see	VERB
ap-796	225	6	the	the	DET
ap-796	225	7	effect	effect	NOUN
ap-796	225	8	of	of	ADP
ap-796	225	9	penalizing	penalize	VERB
ap-796	225	10	the	the	DET
ap-796	225	11	states	state	NOUN
ap-796	225	12	that	that	PRON
ap-796	225	13	are	be	AUX
ap-796	225	14	close	close	ADJ
ap-796	225	15	to	to	ADP
ap-796	225	16	the	the	DET
ap-796	225	17	point	point	NOUN
ap-796	225	18	xp	xp	INTJ
ap-796	225	19	.	.	PUNCT
ap-796	226	1	the	the	DET
ap-796	226	2	dashed	dash	VERB
ap-796	226	3	circle	circle	NOUN
ap-796	226	4	joins	join	VERB
ap-796	226	5	the	the	DET
ap-796	226	6	points	point	NOUN
ap-796	226	7	where	where	SCONJ
ap-796	226	8	the	the	DET
ap-796	226	9	barrier	barrier	NOUN
ap-796	226	10	function	function	NOUN
ap-796	226	11	(	(	PUNCT
ap-796	226	12	defined	define	VERB
ap-796	226	13	above	above	ADV
ap-796	226	14	)	)	PUNCT
ap-796	226	15	attains	attain	VERB
ap-796	226	16	the	the	DET
ap-796	226	17	value	value	NOUN
ap-796	226	18	1	1	NUM
ap-796	226	19	.	.	PUNCT
ap-796	227	1	finally	finally	ADV
ap-796	227	2	,	,	PUNCT
ap-796	227	3	if	if	SCONJ
ap-796	227	4	the	the	DET
ap-796	227	5	system	system	NOUN
ap-796	227	6	is	be	AUX
ap-796	227	7	controlled	control	VERB
ap-796	227	8	by	by	ADP
ap-796	227	9	the	the	DET
ap-796	227	10	optimal	optimal	ADJ
ap-796	227	11	control	control	NOUN
ap-796	227	12	computed	compute	VERB
ap-796	227	13	in	in	ADP
ap-796	227	14	the	the	DET
ap-796	227	15	upper	upper	ADJ
ap-796	227	16	level	level	NOUN
ap-796	227	17	,	,	PUNCT
ap-796	227	18	the	the	DET
ap-796	227	19	state	state	NOUN
ap-796	227	20	x1	x1	PROPN
ap-796	227	21	behaves	behave	NOUN
ap-796	227	22	as	as	SCONJ
ap-796	227	23	depicted	depict	VERB
ap-796	227	24	in	in	ADP
ap-796	227	25	fig	fig	NOUN
ap-796	227	26	.	.	PUNCT
ap-796	228	1	6	6	NUM
ap-796	228	2	(	(	PUNCT
ap-796	228	3	solid	solid	ADJ
ap-796	228	4	line	line	NOUN
ap-796	228	5	)	)	PUNCT
ap-796	228	6	,	,	PUNCT
ap-796	228	7	the	the	DET
ap-796	228	8	reference	reference	NOUN
ap-796	228	9	being	be	AUX
ap-796	228	10	again	again	ADV
ap-796	228	11	represented	represent	VERB
ap-796	228	12	by	by	ADP
ap-796	228	13	the	the	DET
ap-796	228	14	dashed	dash	VERB
ap-796	228	15	line	line	NOUN
ap-796	228	16	.	.	PUNCT
ap-796	229	1	the	the	DET
ap-796	229	2	loss	loss	NOUN
ap-796	229	3	of	of	ADP
ap-796	229	4	reasonable	reasonable	ADJ
ap-796	229	5	performance	performance	NOUN
ap-796	229	6	is	be	AUX
ap-796	229	7	due	due	ADJ
ap-796	229	8	to	to	ADP
ap-796	229	9	the	the	DET
ap-796	229	10	fact	fact	NOUN
ap-796	229	11	that	that	SCONJ
ap-796	229	12	the	the	DET
ap-796	229	13	system	system	NOUN
ap-796	229	14	remains	remain	VERB
ap-796	229	15	virtually	virtually	ADV
ap-796	229	16	uncontrolled	uncontrolled	ADJ
ap-796	229	17	during	during	ADP
ap-796	229	18	the	the	DET
ap-796	229	19	computations	computation	NOUN
ap-796	229	20	in	in	ADP
ap-796	229	21	the	the	DET
ap-796	229	22	upper	upper	ADJ
ap-796	229	23	level	level	NOUN
ap-796	229	24	while	while	SCONJ
ap-796	229	25	the	the	DET
ap-796	229	26	noise	noise	NOUN
ap-796	229	27	still	still	ADV
ap-796	229	28	acts	act	VERB
ap-796	229	29	.	.	PUNCT
ap-796	230	1	the	the	DET
ap-796	230	2	simulations	simulation	NOUN
ap-796	230	3	carried	carry	VERB
ap-796	230	4	out	out	ADP
ap-796	230	5	show	show	NOUN
ap-796	230	6	that	that	SCONJ
ap-796	230	7	the	the	DET
ap-796	230	8	behavior	behavior	NOUN
ap-796	230	9	of	of	ADP
ap-796	230	10	states	state	NOUN
ap-796	230	11	x1	x1	PROPN
ap-796	230	12	and	and	CCONJ
ap-796	230	13	x2	x2	PROPN
ap-796	230	14	is	be	AUX
ap-796	230	15	very	very	ADV
ap-796	230	16	similar	similar	ADJ
ap-796	230	17	.	.	PUNCT
ap-796	231	1	therefore	therefore	ADV
ap-796	231	2	the	the	DET
ap-796	231	3	state	state	NOUN
ap-796	231	4	x2	x2	PROPN
ap-796	231	5	is	be	AUX
ap-796	231	6	not	not	PART
ap-796	231	7	shown	show	VERB
ap-796	231	8	.	.	PUNCT
ap-796	232	1	©	©	PROPN
ap-796	232	2	czech	czech	PROPN
ap-796	232	3	technical	technical	PROPN
ap-796	232	4	university	university	PROPN
ap-796	232	5	publishing	publishing	NOUN
ap-796	232	6	house	house	NOUN
ap-796	232	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	232	8	19	19	NUM
ap-796	232	9	czech	czech	PROPN
ap-796	232	10	technical	technical	PROPN
ap-796	232	11	university	university	PROPN
ap-796	232	12	in	in	ADP
ap-796	232	13	prague	prague	PROPN
ap-796	232	14	acta	acta	PROPN
ap-796	232	15	polytechnica	polytechnica	PROPN
ap-796	232	16	vol	vol	NOUN
ap-796	232	17	.	.	PUNCT
ap-796	233	1	46	46	NUM
ap-796	233	2	no	no	INTJ
ap-796	233	3	.	.	PUNCT
ap-796	234	1	1/2006	1/2006	NUM
ap-796	234	2	the	the	DET
ap-796	234	3	cost	cost	NOUN
ap-796	234	4	functional	functional	NOUN
ap-796	234	5	can	can	AUX
ap-796	234	6	also	also	ADV
ap-796	234	7	be	be	AUX
ap-796	234	8	augmented	augment	VERB
ap-796	234	9	by	by	ADP
ap-796	234	10	a	a	DET
ap-796	234	11	barrier	barrier	NOUN
ap-796	234	12	function	function	NOUN
ap-796	234	13	.	.	PUNCT
ap-796	235	1	to	to	PART
ap-796	235	2	show	show	VERB
ap-796	235	3	how	how	SCONJ
ap-796	235	4	the	the	DET
ap-796	235	5	optimal	optimal	ADJ
ap-796	235	6	controller	controller	NOUN
ap-796	235	7	takes	take	VERB
ap-796	235	8	this	this	PRON
ap-796	235	9	into	into	ADP
ap-796	235	10	account	account	NOUN
ap-796	235	11	we	we	PRON
ap-796	235	12	carried	carry	VERB
ap-796	235	13	out	out	ADP
ap-796	235	14	similar	similar	ADJ
ap-796	235	15	simulations	simulation	NOUN
ap-796	235	16	of	of	ADP
ap-796	235	17	the	the	DET
ap-796	235	18	same	same	ADJ
ap-796	235	19	system	system	NOUN
ap-796	235	20	when	when	SCONJ
ap-796	235	21	the	the	DET
ap-796	235	22	term	term	NOUN
ap-796	235	23	b	b	NOUN
ap-796	235	24	x	x	NOUN
ap-796	235	25	x	x	PUNCT
ap-796	235	26	x	x	PUNCT
ap-796	235	27	x	x	SYM
ap-796	235	28	x	x	X
ap-796	235	29	(	(	PUNCT
ap-796	235	30	,	,	PUNCT
ap-796	235	31	)	)	PUNCT
ap-796	235	32	.	.	PUNCT
ap-796	236	1	(	(	PUNCT
ap-796	236	2	.	.	PUNCT
ap-796	236	3	)	)	PUNCT
ap-796	236	4	.	.	PUNCT
ap-796	237	1	(	(	PUNCT
ap-796	237	2	.	.	X
ap-796	238	1	1	1	NUM
ap-796	238	2	2	2	NUM
ap-796	238	3	1	1	NUM
ap-796	238	4	4	4	NUM
ap-796	238	5	2	2	NUM
ap-796	238	6	4	4	NUM
ap-796	238	7	4	4	NUM
ap-796	238	8	1	1	NUM
ap-796	238	9	05	05	NUM
ap-796	238	10	1	1	NUM
ap-796	238	11	06	06	NUM
ap-796	238	12	005	005	NUM
ap-796	238	13	1	1	NUM
ap-796	238	14	06	06	NUM
ap-796	238	15	�	�	PROPN
ap-796	238	16	�	�	PROPN
ap-796	238	17	�	�	PROPN
ap-796	238	18	�	�	PROPN
ap-796	238	19	�	�	PROPN
ap-796	238	20	�	�	PROPN
ap-796	238	21	�	�	PROPN
ap-796	238	22	�	�	PROPN
ap-796	238	23	�	�	PROPN
ap-796	238	24	if	if	SCONJ
ap-796	238	25	)	)	PUNCT
ap-796	238	26	.4	.4	NUM
ap-796	239	1	2	2	NUM
ap-796	239	2	4	4	NUM
ap-796	239	3	005	005	NUM
ap-796	239	4	10	10	NUM
ap-796	239	5	0	0	NUM
ap-796	239	6	�	�	PROPN
ap-796	239	7	�	�	PROPN
ap-796	239	8	�	�	PROPN
ap-796	239	9	�	�	PROPN
ap-796	239	10	�	�	PROPN
ap-796	239	11	�	�	PROPN
ap-796	239	12	�	�	PROPN
ap-796	239	13	�	�	PROPN
ap-796	239	14	�	�	PROPN
ap-796	239	15	�	�	PROPN
ap-796	239	16	�	�	PROPN
ap-796	239	17	�	�	PROPN
ap-796	239	18	x	x	PUNCT
ap-796	239	19	elsewhere	elsewhere	ADV
ap-796	239	20	was	be	AUX
ap-796	239	21	added	add	VERB
ap-796	239	22	to	to	ADP
ap-796	239	23	the	the	DET
ap-796	239	24	cost	cost	NOUN
ap-796	239	25	functional	functional	ADJ
ap-796	239	26	.	.	PUNCT
ap-796	240	1	this	this	DET
ap-796	240	2	barrier	barrier	NOUN
ap-796	240	3	function	function	VERB
ap-796	240	4	penalizes	penalize	NOUN
ap-796	240	5	trajectories	trajectory	NOUN
ap-796	240	6	that	that	PRON
ap-796	240	7	are	be	AUX
ap-796	240	8	close	close	ADJ
ap-796	240	9	to	to	ADP
ap-796	240	10	the	the	DET
ap-796	240	11	point	point	NOUN
ap-796	240	12	xp	xp	INTJ
ap-796	240	13	�	�	PROPN
ap-796	240	14	(	(	PUNCT
ap-796	240	15	.	.	PUNCT
ap-796	240	16	,	,	PUNCT
ap-796	240	17	)	)	PUNCT
ap-796	240	18	06	06	NUM
ap-796	240	19	0	0	NUM
ap-796	241	1	in	in	ADP
ap-796	241	2	the	the	DET
ap-796	241	3	state	state	NOUN
ap-796	241	4	space	space	NOUN
ap-796	241	5	.	.	PUNCT
ap-796	242	1	the	the	DET
ap-796	242	2	system	system	NOUN
ap-796	242	3	as	as	ADV
ap-796	242	4	well	well	ADV
ap-796	242	5	as	as	ADP
ap-796	242	6	the	the	DET
ap-796	242	7	cost	cost	NOUN
ap-796	242	8	functional	functional	ADJ
ap-796	242	9	are	be	AUX
ap-796	242	10	very	very	ADV
ap-796	242	11	simple	simple	ADJ
ap-796	242	12	,	,	PUNCT
ap-796	242	13	but	but	CCONJ
ap-796	242	14	still	still	ADV
ap-796	242	15	this	this	DET
ap-796	242	16	example	example	NOUN
ap-796	242	17	demonstrates	demonstrate	VERB
ap-796	242	18	the	the	DET
ap-796	242	19	main	main	ADJ
ap-796	242	20	features	feature	NOUN
ap-796	242	21	of	of	ADP
ap-796	242	22	the	the	DET
ap-796	242	23	proposed	propose	VERB
ap-796	242	24	approach	approach	NOUN
ap-796	242	25	.	.	PUNCT
ap-796	243	1	0	0	NUM
ap-796	244	1	1	1	NUM
ap-796	244	2	2	2	NUM
ap-796	244	3	3	3	NUM
ap-796	244	4	4	4	NUM
ap-796	244	5	5	5	NUM
ap-796	244	6	6	6	NUM
ap-796	244	7	7	7	NUM
ap-796	244	8	-1.5	-1.5	NUM
ap-796	244	9	-1	-1	PUNCT
ap-796	244	10	-0.5	-0.5	X
ap-796	244	11	0	0	NUM
ap-796	244	12	0.5	0.5	NUM
ap-796	244	13	1	1	NUM
ap-796	244	14	1.5	1.5	NUM
ap-796	244	15	2	2	NUM
ap-796	244	16	0	0	NUM
ap-796	244	17	1	1	NUM
ap-796	244	18	2	2	NUM
ap-796	244	19	3	3	NUM
ap-796	244	20	4	4	NUM
ap-796	244	21	5	5	NUM
ap-796	244	22	6	6	NUM
ap-796	244	23	7	7	NUM
ap-796	244	24	-1.5	-1.5	NUM
ap-796	244	25	-1	-1	PUNCT
ap-796	244	26	-0.5	-0.5	X
ap-796	244	27	0	0	NUM
ap-796	244	28	0.5	0.5	NUM
ap-796	244	29	1	1	NUM
ap-796	244	30	1.5	1.5	NUM
ap-796	244	31	2	2	NUM
ap-796	244	32	2.5	2.5	NUM
ap-796	244	33	a	a	DET
ap-796	244	34	)	)	PUNCT
ap-796	244	35	b	b	NOUN
ap-796	244	36	)	)	PUNCT
ap-796	244	37	fig	fig	NOUN
ap-796	244	38	.	.	PUNCT
ap-796	245	1	3	3	NUM
ap-796	245	2	:	:	PUNCT
ap-796	245	3	state	state	NOUN
ap-796	245	4	x1	x1	PROPN
ap-796	245	5	a	a	X
ap-796	245	6	)	)	PUNCT
ap-796	245	7	without	without	ADP
ap-796	245	8	the	the	DET
ap-796	245	9	presence	presence	NOUN
ap-796	245	10	of	of	ADP
ap-796	245	11	the	the	DET
ap-796	245	12	noise	noise	NOUN
ap-796	245	13	,	,	PUNCT
ap-796	245	14	no	no	DET
ap-796	245	15	barrier	barrier	NOUN
ap-796	245	16	function	function	NOUN
ap-796	245	17	,	,	PUNCT
ap-796	245	18	b	b	NOUN
ap-796	245	19	)	)	PUNCT
ap-796	245	20	with	with	ADP
ap-796	245	21	noise	noise	NOUN
ap-796	245	22	added	add	VERB
ap-796	245	23	,	,	PUNCT
ap-796	245	24	no	no	DET
ap-796	245	25	barrier	barrier	NOUN
ap-796	245	26	function	function	VERB
ap-796	245	27	a	a	DET
ap-796	245	28	)	)	PUNCT
ap-796	245	29	b	b	NOUN
ap-796	245	30	)	)	PUNCT
ap-796	245	31	fig	fig	NOUN
ap-796	245	32	.	.	PUNCT
ap-796	246	1	4	4	NUM
ap-796	246	2	:	:	PUNCT
ap-796	246	3	state	state	NOUN
ap-796	246	4	x1	x1	PROPN
ap-796	246	5	a	a	NOUN
ap-796	246	6	)	)	PUNCT
ap-796	246	7	without	without	ADP
ap-796	246	8	presence	presence	NOUN
ap-796	246	9	of	of	ADP
ap-796	246	10	the	the	DET
ap-796	246	11	noise	noise	NOUN
ap-796	246	12	,	,	PUNCT
ap-796	246	13	with	with	ADP
ap-796	246	14	barrier	barrier	NOUN
ap-796	246	15	function	function	NOUN
ap-796	246	16	,	,	PUNCT
ap-796	246	17	b	b	NOUN
ap-796	246	18	)	)	PUNCT
ap-796	246	19	with	with	ADP
ap-796	246	20	noise	noise	NOUN
ap-796	246	21	and	and	CCONJ
ap-796	246	22	barrier	barrier	NOUN
ap-796	246	23	function	function	NOUN
ap-796	246	24	added	add	VERB
ap-796	246	25	7	7	NUM
ap-796	246	26	remarks	remark	NOUN
ap-796	246	27	if	if	SCONJ
ap-796	246	28	the	the	DET
ap-796	246	29	penalty	penalty	NOUN
ap-796	246	30	on	on	ADP
ap-796	246	31	the	the	DET
ap-796	246	32	tracking	tracking	NOUN
ap-796	246	33	error	error	NOUN
ap-796	246	34	is	be	AUX
ap-796	246	35	too	too	ADV
ap-796	246	36	great	great	ADJ
ap-796	246	37	(	(	PUNCT
ap-796	246	38	qi	qi	NOUN
ap-796	246	39	=	=	NOUN
ap-796	246	40	1000	1000	NUM
ap-796	246	41	)	)	PUNCT
ap-796	246	42	,	,	PUNCT
ap-796	246	43	certain	certain	ADJ
ap-796	246	44	problems	problem	NOUN
ap-796	246	45	with	with	ADP
ap-796	246	46	satisfying	satisfy	VERB
ap-796	246	47	the	the	DET
ap-796	246	48	boundary	boundary	ADJ
ap-796	246	49	conditions	condition	NOUN
ap-796	246	50	occur	occur	VERB
ap-796	246	51	–	–	PUNCT
ap-796	246	52	these	these	DET
ap-796	246	53	conditions	condition	NOUN
ap-796	246	54	are	be	AUX
ap-796	246	55	not	not	PART
ap-796	246	56	satisfied	satisfied	ADJ
ap-796	246	57	even	even	ADV
ap-796	246	58	after	after	ADP
ap-796	246	59	a	a	DET
ap-796	246	60	great	great	ADJ
ap-796	246	61	number	number	NOUN
ap-796	246	62	of	of	ADP
ap-796	246	63	iterations	iteration	NOUN
ap-796	246	64	.	.	PUNCT
ap-796	247	1	using	use	VERB
ap-796	247	2	such	such	DET
ap-796	247	3	an	an	DET
ap-796	247	4	inaccurate	inaccurate	ADJ
ap-796	247	5	approximation	approximation	NOUN
ap-796	247	6	of	of	ADP
ap-796	247	7	the	the	DET
ap-796	247	8	optimal	optimal	ADJ
ap-796	247	9	trajectory	trajectory	NOUN
ap-796	247	10	significantly	significantly	ADV
ap-796	247	11	decreases	decrease	VERB
ap-796	247	12	the	the	DET
ap-796	247	13	quality	quality	NOUN
ap-796	247	14	of	of	ADP
ap-796	247	15	the	the	DET
ap-796	247	16	tracking	tracking	NOUN
ap-796	247	17	.	.	PUNCT
ap-796	248	1	other	other	ADJ
ap-796	248	2	problems	problem	NOUN
ap-796	248	3	occur	occur	VERB
ap-796	248	4	if	if	SCONJ
ap-796	248	5	the	the	DET
ap-796	248	6	barrier	barrier	NOUN
ap-796	248	7	function	function	NOUN
ap-796	248	8	is	be	AUX
ap-796	248	9	too	too	ADV
ap-796	248	10	steep	steep	ADJ
ap-796	248	11	–	–	PUNCT
ap-796	248	12	the	the	DET
ap-796	248	13	computations	computation	NOUN
ap-796	248	14	often	often	ADV
ap-796	248	15	end	end	VERB
ap-796	248	16	with	with	ADP
ap-796	248	17	an	an	DET
ap-796	248	18	error	error	NOUN
ap-796	248	19	message	message	NOUN
ap-796	248	20	.	.	PUNCT
ap-796	249	1	it	it	PRON
ap-796	249	2	is	be	AUX
ap-796	249	3	necessary	necessary	ADJ
ap-796	249	4	to	to	PART
ap-796	249	5	consider	consider	VERB
ap-796	249	6	the	the	DET
ap-796	249	7	huge	huge	ADJ
ap-796	249	8	time	time	NOUN
ap-796	249	9	consumption	consumption	NOUN
ap-796	249	10	in	in	ADP
ap-796	249	11	the	the	DET
ap-796	249	12	upper	upper	ADJ
ap-796	249	13	level	level	NOUN
ap-796	249	14	.	.	PUNCT
ap-796	250	1	this	this	PRON
ap-796	250	2	is	be	AUX
ap-796	250	3	due	due	ADJ
ap-796	250	4	to	to	ADP
ap-796	250	5	the	the	DET
ap-796	250	6	feedforward	feedforward	ADJ
ap-796	250	7	computation	computation	NOUN
ap-796	250	8	.	.	PUNCT
ap-796	251	1	at	at	ADP
ap-796	251	2	this	this	DET
ap-796	251	3	stage	stage	NOUN
ap-796	251	4	a	a	DET
ap-796	251	5	differential	differential	ADJ
ap-796	251	6	equation	equation	NOUN
ap-796	251	7	is	be	AUX
ap-796	251	8	solved	solve	VERB
ap-796	251	9	.	.	PUNCT
ap-796	252	1	the	the	DET
ap-796	252	2	optimal	optimal	ADJ
ap-796	252	3	trajectory	trajectory	NOUN
ap-796	252	4	x	x	X
ap-796	252	5	is	be	AUX
ap-796	252	6	on	on	ADP
ap-796	252	7	the	the	DET
ap-796	252	8	right	right	ADJ
ap-796	252	9	-	-	PUNCT
ap-796	252	10	hand	hand	NOUN
ap-796	252	11	side	side	NOUN
ap-796	252	12	of	of	ADP
ap-796	252	13	this	this	DET
ap-796	252	14	equation	equation	NOUN
ap-796	252	15	.	.	PUNCT
ap-796	253	1	this	this	DET
ap-796	253	2	results	result	VERB
ap-796	253	3	in	in	ADP
ap-796	253	4	the	the	DET
ap-796	253	5	need	need	NOUN
ap-796	253	6	to	to	PART
ap-796	253	7	call	call	VERB
ap-796	253	8	the	the	DET
ap-796	253	9	femlab	femlab	NOUN
ap-796	253	10	function	function	NOUN
ap-796	253	11	postinterp	postinterp	NOUN
ap-796	253	12	always	always	ADV
ap-796	253	13	when	when	SCONJ
ap-796	253	14	the	the	DET
ap-796	253	15	right	right	ADJ
ap-796	253	16	-	-	PUNCT
ap-796	253	17	hand	hand	NOUN
ap-796	253	18	side	side	NOUN
ap-796	253	19	is	be	AUX
ap-796	253	20	evaluated	evaluate	VERB
ap-796	253	21	.	.	PUNCT
ap-796	254	1	the	the	DET
ap-796	254	2	postprocessing	postprocessing	NOUN
ap-796	254	3	seems	seem	VERB
ap-796	254	4	to	to	PART
ap-796	254	5	be	be	AUX
ap-796	254	6	rather	rather	ADV
ap-796	254	7	time	time	NOUN
ap-796	254	8	-	-	PUNCT
ap-796	254	9	consuming	consume	VERB
ap-796	254	10	,	,	PUNCT
ap-796	254	11	and	and	CCONJ
ap-796	254	12	in	in	ADP
ap-796	254	13	this	this	DET
ap-796	254	14	case	case	NOUN
ap-796	254	15	its	its	PRON
ap-796	254	16	time	time	NOUN
ap-796	254	17	consumption	consumption	NOUN
ap-796	254	18	of	of	ADP
ap-796	254	19	the	the	DET
ap-796	254	20	time	time	NOUN
ap-796	254	21	exceeds	exceed	NOUN
ap-796	254	22	considerably	considerably	ADV
ap-796	254	23	exceeds	exceed	VERB
ap-796	254	24	the	the	DET
ap-796	254	25	time	time	NOUN
ap-796	254	26	necessary	necessary	ADJ
ap-796	254	27	for	for	ADP
ap-796	254	28	solving	solve	VERB
ap-796	254	29	the	the	DET
ap-796	254	30	boundary	boundary	ADJ
ap-796	254	31	-	-	PUNCT
ap-796	254	32	value	value	NOUN
ap-796	254	33	problem	problem	NOUN
ap-796	254	34	.	.	PUNCT
ap-796	255	1	this	this	DET
ap-796	255	2	difference	difference	NOUN
ap-796	255	3	is	be	AUX
ap-796	255	4	just	just	ADV
ap-796	255	5	strengthened	strengthen	VERB
ap-796	255	6	by	by	ADP
ap-796	255	7	the	the	DET
ap-796	255	8	fact	fact	NOUN
ap-796	255	9	that	that	SCONJ
ap-796	255	10	the	the	DET
ap-796	255	11	optimal	optimal	ADJ
ap-796	255	12	trajectory	trajectory	NOUN
ap-796	255	13	need	need	AUX
ap-796	255	14	not	not	PART
ap-796	255	15	be	be	AUX
ap-796	255	16	evaluated	evaluate	VERB
ap-796	255	17	with	with	ADP
ap-796	255	18	high	high	ADJ
ap-796	255	19	precision	precision	NOUN
ap-796	255	20	.	.	PUNCT
ap-796	256	1	8	8	NUM
ap-796	256	2	conclusion	conclusion	NOUN
ap-796	256	3	we	we	PRON
ap-796	256	4	have	have	AUX
ap-796	256	5	designed	design	VERB
ap-796	256	6	and	and	CCONJ
ap-796	256	7	simulated	simulate	VERB
ap-796	256	8	a	a	DET
ap-796	256	9	hierarchical	hierarchical	ADJ
ap-796	256	10	controller	controller	NOUN
ap-796	256	11	where	where	SCONJ
ap-796	256	12	the	the	DET
ap-796	256	13	optimization	optimization	NOUN
ap-796	256	14	is	be	AUX
ap-796	256	15	based	base	VERB
ap-796	256	16	on	on	ADP
ap-796	256	17	the	the	DET
ap-796	256	18	solution	solution	NOUN
ap-796	256	19	of	of	ADP
ap-796	256	20	a	a	DET
ap-796	256	21	boundary	boundary	ADJ
ap-796	256	22	control	control	NOUN
ap-796	256	23	problem	problem	NOUN
ap-796	256	24	.	.	PUNCT
ap-796	257	1	this	this	DET
ap-796	257	2	problem	problem	NOUN
ap-796	257	3	is	be	AUX
ap-796	257	4	solved	solve	VERB
ap-796	257	5	in	in	ADP
ap-796	257	6	femlab	femlab	NOUN
ap-796	257	7	2.1	2.1	NUM
ap-796	257	8	.	.	PUNCT
ap-796	258	1	the	the	DET
ap-796	258	2	solution	solution	NOUN
ap-796	258	3	of	of	ADP
ap-796	258	4	this	this	DET
ap-796	258	5	problem	problem	NOUN
ap-796	258	6	represents	represent	VERB
ap-796	258	7	the	the	DET
ap-796	258	8	reference	reference	NOUN
ap-796	258	9	trajectory	trajectory	NOUN
ap-796	258	10	for	for	ADP
ap-796	258	11	the	the	DET
ap-796	258	12	lower	low	ADJ
ap-796	258	13	level	level	NOUN
ap-796	258	14	of	of	ADP
ap-796	258	15	the	the	DET
ap-796	258	16	hierarchical	hierarchical	ADJ
ap-796	258	17	controller	controller	NOUN
ap-796	258	18	.	.	PUNCT
ap-796	259	1	acknowledgment	acknowledgment	NOUN
ap-796	259	2	this	this	DET
ap-796	259	3	work	work	NOUN
ap-796	259	4	was	be	AUX
ap-796	259	5	partially	partially	ADV
ap-796	259	6	supported	support	VERB
ap-796	259	7	by	by	ADP
ap-796	259	8	research	research	NOUN
ap-796	259	9	program	program	NOUN
ap-796	259	10	no	no	DET
ap-796	259	11	j04/98:212300013	j04/98:212300013	NOUN
ap-796	259	12	“	"	PUNCT
ap-796	259	13	decision	decision	NOUN
ap-796	259	14	making	making	NOUN
ap-796	259	15	and	and	CCONJ
ap-796	259	16	control	control	VERB
ap-796	259	17	for	for	ADP
ap-796	259	18	manufacturing	manufacturing	NOUN
ap-796	259	19	”	"	PUNCT
ap-796	259	20	of	of	ADP
ap-796	259	21	the	the	DET
ap-796	259	22	czech	czech	PROPN
ap-796	259	23	technical	technical	PROPN
ap-796	259	24	university	university	PROPN
ap-796	259	25	in	in	ADP
ap-796	259	26	prague	prague	PROPN
ap-796	259	27	(	(	PUNCT
ap-796	259	28	sponsored	sponsor	VERB
ap-796	259	29	by	by	ADP
ap-796	259	30	the	the	DET
ap-796	259	31	ministry	ministry	PROPN
ap-796	259	32	of	of	ADP
ap-796	259	33	education	education	PROPN
ap-796	259	34	,	,	PUNCT
ap-796	259	35	youth	youth	NOUN
ap-796	259	36	and	and	CCONJ
ap-796	259	37	sports	sport	NOUN
ap-796	259	38	of	of	ADP
ap-796	259	39	the	the	DET
ap-796	259	40	czech	czech	PROPN
ap-796	259	41	republic	republic	NOUN
ap-796	259	42	)	)	PUNCT
ap-796	259	43	,	,	PUNCT
ap-796	259	44	and	and	CCONJ
ap-796	259	45	by	by	ADP
ap-796	259	46	grant	grant	NOUN
ap-796	259	47	no	no	DET
ap-796	259	48	102/01/1347	102/01/1347	NOUN
ap-796	259	49	of	of	ADP
ap-796	259	50	the	the	DET
ap-796	259	51	grant	grant	NOUN
ap-796	259	52	agency	agency	NOUN
ap-796	259	53	of	of	ADP
ap-796	259	54	the	the	DET
ap-796	259	55	czech	czech	PROPN
ap-796	259	56	republic	republic	NOUN
ap-796	259	57	.	.	PUNCT
ap-796	260	1	references	reference	NOUN
ap-796	260	2	[	[	X
ap-796	260	3	1	1	NUM
ap-796	260	4	]	]	PUNCT
ap-796	260	5	bertsekas	bertsekas	PROPN
ap-796	260	6	,	,	PUNCT
ap-796	260	7	d.	d.	PROPN
ap-796	260	8	p.	p.	PROPN
ap-796	260	9	:	:	PUNCT
ap-796	260	10	dynamic	dynamic	ADJ
ap-796	260	11	programming	programming	NOUN
ap-796	260	12	and	and	CCONJ
ap-796	260	13	optimal	optimal	ADJ
ap-796	260	14	control	control	NOUN
ap-796	260	15	.	.	PUNCT
ap-796	261	1	belmont	belmont	PROPN
ap-796	261	2	:	:	PUNCT
ap-796	261	3	athena	athena	PROPN
ap-796	261	4	scientific	scientific	PROPN
ap-796	261	5	,	,	PUNCT
ap-796	261	6	1995	1995	NUM
ap-796	261	7	.	.	PUNCT
ap-796	262	1	[	[	X
ap-796	262	2	2	2	NUM
ap-796	262	3	]	]	X
ap-796	262	4	bryson	bryson	PROPN
ap-796	262	5	,	,	PUNCT
ap-796	262	6	a.	a.	PROPN
ap-796	262	7	e.	e.	PROPN
ap-796	262	8	,	,	PUNCT
ap-796	262	9	ho	ho	PROPN
ap-796	262	10	,	,	PUNCT
ap-796	262	11	y.	y.	PROPN
ap-796	262	12	:	:	PUNCT
ap-796	262	13	applied	apply	VERB
ap-796	262	14	optimal	optimal	ADJ
ap-796	262	15	control	control	NOUN
ap-796	262	16	.	.	PUNCT
ap-796	263	1	new	new	PROPN
ap-796	263	2	york	york	PROPN
ap-796	263	3	:	:	PUNCT
ap-796	263	4	j.	j.	PROPN
ap-796	263	5	wiley	wiley	PROPN
ap-796	263	6	,	,	PUNCT
ap-796	263	7	1975	1975	NUM
ap-796	263	8	.	.	PUNCT
ap-796	264	1	[	[	X
ap-796	264	2	3	3	NUM
ap-796	264	3	]	]	PUNCT
ap-796	264	4	femlab	femlab	NOUN
ap-796	264	5	reference	reference	NOUN
ap-796	264	6	manual	manual	NOUN
ap-796	264	7	v.	v.	ADP
ap-796	264	8	2.0	2.0	NUM
ap-796	264	9	,	,	PUNCT
ap-796	264	10	stockholm	stockholm	PROPN
ap-796	264	11	:	:	PUNCT
ap-796	264	12	comsol	comsol	PROPN
ap-796	264	13	ab	ab	PROPN
ap-796	264	14	,	,	PUNCT
ap-796	264	15	2000	2000	NUM
ap-796	264	16	[	[	X
ap-796	264	17	4	4	NUM
ap-796	264	18	]	]	X
ap-796	264	19	jamshidi	jamshidi	NOUN
ap-796	264	20	,	,	PUNCT
ap-796	264	21	m.	m.	NOUN
ap-796	264	22	:	:	PUNCT
ap-796	264	23	large	large	ADJ
ap-796	264	24	scale	scale	NOUN
ap-796	264	25	systems	system	NOUN
ap-796	264	26	:	:	PUNCT
ap-796	264	27	modeling	modeling	NOUN
ap-796	264	28	,	,	PUNCT
ap-796	264	29	control	control	NOUN
ap-796	264	30	and	and	CCONJ
ap-796	264	31	fuzzy	fuzzy	ADJ
ap-796	264	32	logic	logic	NOUN
ap-796	264	33	.	.	PUNCT
ap-796	265	1	new	new	PROPN
ap-796	265	2	jersey	jersey	PROPN
ap-796	265	3	:	:	PUNCT
ap-796	265	4	prentice	prentice	PROPN
ap-796	265	5	hall	hall	PROPN
ap-796	265	6	,	,	PUNCT
ap-796	265	7	1997	1997	NUM
ap-796	265	8	.	.	PUNCT
ap-796	266	1	[	[	X
ap-796	266	2	5	5	NUM
ap-796	266	3	]	]	X
ap-796	266	4	maciejowski	maciejowski	NOUN
ap-796	266	5	,	,	PUNCT
ap-796	266	6	j.	j.	PROPN
ap-796	266	7	m.	m.	PROPN
ap-796	266	8	:	:	PUNCT
ap-796	266	9	predictive	predictive	ADJ
ap-796	266	10	control	control	NOUN
ap-796	266	11	with	with	ADP
ap-796	266	12	constraints	constraint	NOUN
ap-796	266	13	.	.	PUNCT
ap-796	267	1	harlow	harlow	PROPN
ap-796	267	2	:	:	PUNCT
ap-796	267	3	prentice	prentice	PROPN
ap-796	267	4	hall	hall	PROPN
ap-796	267	5	,	,	PUNCT
ap-796	267	6	2002	2002	NUM
ap-796	267	7	.	.	PUNCT
ap-796	268	1	[	[	X
ap-796	268	2	6	6	NUM
ap-796	268	3	]	]	PUNCT
ap-796	268	4	rehák	rehák	PROPN
ap-796	268	5	,	,	PUNCT
ap-796	268	6	b.	b.	PROPN
ap-796	268	7	:	:	PUNCT
ap-796	268	8	“	"	PUNCT
ap-796	268	9	design	design	NOUN
ap-796	268	10	of	of	ADP
ap-796	268	11	a	a	DET
ap-796	268	12	hierarchical	hierarchical	ADJ
ap-796	268	13	controller	controller	NOUN
ap-796	268	14	using	use	VERB
ap-796	268	15	femlab	femlab	NOUN
ap-796	268	16	.	.	PUNCT
ap-796	268	17	”	"	PUNCT
ap-796	269	1	in	in	ADP
ap-796	269	2	:	:	PUNCT
ap-796	269	3	proceedings	proceeding	NOUN
ap-796	269	4	of	of	ADP
ap-796	269	5	the	the	DET
ap-796	269	6	22nd	22nd	NOUN
ap-796	269	7	iasted	iasted	ADJ
ap-796	269	8	conference	conference	NOUN
ap-796	269	9	on	on	ADP
ap-796	269	10	modelling	modelling	NOUN
ap-796	269	11	,	,	PUNCT
ap-796	269	12	identification	identification	NOUN
ap-796	269	13	and	and	CCONJ
ap-796	269	14	control	control	NOUN
ap-796	269	15	(	(	PUNCT
ap-796	269	16	editor	editor	NOUN
ap-796	269	17	:	:	PUNCT
ap-796	269	18	m.	m.	PROPN
ap-796	269	19	h.	h.	PROPN
ap-796	269	20	hamza	hamza	PROPN
ap-796	269	21	)	)	PUNCT
ap-796	269	22	,	,	PUNCT
ap-796	269	23	anaheim	anaheim	PROPN
ap-796	269	24	,	,	PUNCT
ap-796	269	25	acta	acta	PROPN
ap-796	269	26	press	press	PROPN
ap-796	269	27	,	,	PUNCT
ap-796	269	28	p.	p.	NOUN
ap-796	269	29	543–547	543–547	NUM
ap-796	269	30	.	.	PUNCT
ap-796	270	1	[	[	X
ap-796	270	2	7	7	NUM
ap-796	270	3	]	]	X
ap-796	270	4	singh	singh	PROPN
ap-796	270	5	,	,	PUNCT
ap-796	270	6	m.	m.	NOUN
ap-796	270	7	g.	g.	PROPN
ap-796	270	8	:	:	PUNCT
ap-796	270	9	decentralised	decentralise	VERB
ap-796	270	10	control	control	NOUN
ap-796	270	11	.	.	PUNCT
ap-796	271	1	amsterdam	amsterdam	PROPN
ap-796	271	2	:	:	PUNCT
ap-796	271	3	north	north	PROPN
ap-796	271	4	holland	holland	PROPN
ap-796	271	5	,	,	PUNCT
ap-796	271	6	1981	1981	NUM
ap-796	271	7	.	.	PUNCT
ap-796	272	1	[	[	X
ap-796	272	2	8	8	NUM
ap-796	272	3	]	]	SYM
ap-796	272	4	trave	trave	NOUN
ap-796	272	5	,	,	PUNCT
ap-796	272	6	l.	l.	PROPN
ap-796	272	7	,	,	PUNCT
ap-796	272	8	titli	titli	PROPN
ap-796	272	9	,	,	PUNCT
ap-796	272	10	a.	a.	NOUN
ap-796	272	11	,	,	PUNCT
ap-796	272	12	tarras	tarra	NOUN
ap-796	272	13	,	,	PUNCT
ap-796	272	14	a.	a.	NOUN
ap-796	272	15	:	:	PUNCT
ap-796	272	16	large	large	ADJ
ap-796	272	17	scale	scale	NOUN
ap-796	272	18	systems	system	NOUN
ap-796	272	19	:	:	PUNCT
ap-796	272	20	decentralization	decentralization	NOUN
ap-796	272	21	,	,	PUNCT
ap-796	272	22	structure	structure	NOUN
ap-796	272	23	constraints	constraint	NOUN
ap-796	272	24	and	and	CCONJ
ap-796	272	25	fixed	fix	VERB
ap-796	272	26	modes	mode	NOUN
ap-796	272	27	.	.	PUNCT
ap-796	273	1	berlin	berlin	ADJ
ap-796	273	2	:	:	PUNCT
ap-796	273	3	springer	springer	NOUN
ap-796	273	4	,	,	PUNCT
ap-796	273	5	1989	1989	NUM
ap-796	273	6	.	.	PUNCT
ap-796	274	1	[	[	X
ap-796	274	2	9	9	NUM
ap-796	274	3	]	]	X
ap-796	274	4	vincent	vincent	NOUN
ap-796	274	5	,	,	PUNCT
ap-796	274	6	t.	t.	PROPN
ap-796	274	7	l.	l.	PROPN
ap-796	274	8	,	,	PUNCT
ap-796	274	9	grantham	grantham	PROPN
ap-796	274	10	,	,	PUNCT
ap-796	274	11	j.	j.	PROPN
ap-796	274	12	:	:	PUNCT
ap-796	274	13	nonlinear	nonlinear	ADJ
ap-796	274	14	and	and	CCONJ
ap-796	274	15	optimal	optimal	ADJ
ap-796	274	16	control	control	NOUN
ap-796	274	17	systems	system	NOUN
ap-796	274	18	.	.	PUNCT
ap-796	275	1	new	new	PROPN
ap-796	275	2	york	york	PROPN
ap-796	275	3	:	:	PUNCT
ap-796	275	4	j.	j.	PROPN
ap-796	275	5	wiley	wiley	PROPN
ap-796	275	6	,	,	PUNCT
ap-796	275	7	1997	1997	NUM
ap-796	275	8	.	.	PUNCT
ap-796	276	1	ing	ing	ADJ
ap-796	276	2	.	.	PUNCT
ap-796	276	3	mgr	mgr	PROPN
ap-796	276	4	.	.	PUNCT
ap-796	277	1	branislav	branislav	PROPN
ap-796	277	2	rehák	rehák	PROPN
ap-796	277	3	phone	phone	NOUN
ap-796	277	4	:	:	PUNCT
ap-796	277	5	+420	+420	NUM
ap-796	277	6	2	2	NUM
ap-796	277	7	2435	2435	NUM
ap-796	277	8	7336	7336	NUM
ap-796	277	9	fax	fax	PROPN
ap-796	277	10	:	:	PUNCT
ap-796	277	11	+420	+420	NUM
ap-796	277	12	2	2	NUM
ap-796	277	13	2491	2491	NUM
ap-796	277	14	864	864	NUM
ap-796	278	1	e	e	NOUN
ap-796	278	2	-	-	NOUN
ap-796	278	3	mail	mail	NOUN
ap-796	278	4	:	:	PUNCT
ap-796	278	5	rehakb@control.felk.cvut.cz	rehakb@control.felk.cvut.cz	PROPN
ap-796	278	6	department	department	PROPN
ap-796	278	7	of	of	ADP
ap-796	278	8	control	control	PROPN
ap-796	278	9	engineering	engineering	PROPN
ap-796	278	10	czech	czech	PROPN
ap-796	278	11	technical	technical	PROPN
ap-796	278	12	university	university	PROPN
ap-796	278	13	in	in	ADP
ap-796	278	14	prague	prague	PROPN
ap-796	278	15	faculty	faculty	NOUN
ap-796	278	16	of	of	ADP
ap-796	278	17	electrical	electrical	ADJ
ap-796	278	18	engineering	engineering	NOUN
ap-796	278	19	technická	technická	NOUN
ap-796	278	20	2	2	NUM
ap-796	278	21	166	166	NUM
ap-796	278	22	27	27	NUM
ap-796	278	23	prague	prague	NOUN
ap-796	278	24	6	6	NUM
ap-796	278	25	,	,	PUNCT
ap-796	278	26	czech	czech	PROPN
ap-796	278	27	republic	republic	NOUN
ap-796	278	28	20	20	NUM
ap-796	278	29	©	©	PROPN
ap-796	278	30	czech	czech	PROPN
ap-796	278	31	technical	technical	PROPN
ap-796	278	32	university	university	PROPN
ap-796	278	33	publishing	publishing	NOUN
ap-796	278	34	house	house	NOUN
ap-796	278	35	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-796	278	36	acta	acta	PROPN
ap-796	278	37	polytechnica	polytechnica	PROPN
ap-796	278	38	vol	vol	NOUN
ap-796	278	39	.	.	PUNCT
ap-796	279	1	46	46	NUM
ap-796	279	2	no	no	INTJ
ap-796	279	3	.	.	PUNCT
ap-796	280	1	1/2006	1/2006	NUM
ap-796	280	2	czech	czech	PROPN
ap-796	280	3	technical	technical	PROPN
ap-796	280	4	university	university	PROPN
ap-796	280	5	in	in	ADP
ap-796	280	6	prague	prague	PROPN
ap-796	280	7	-1.5	-1.5	PUNCT
ap-796	280	8	-1	-1	PROPN
ap-796	280	9	-0.5	-0.5	X
ap-796	280	10	0	0	NUM
ap-796	280	11	0.5	0.5	NUM
ap-796	280	12	1	1	NUM
ap-796	280	13	1.5	1.5	NUM
ap-796	280	14	2	2	NUM
ap-796	280	15	-1	-1	SYM
ap-796	280	16	-0.5	-0.5	X
ap-796	280	17	0	0	NUM
ap-796	280	18	0.5	0.5	NUM
ap-796	280	19	1	1	NUM
ap-796	280	20	1.5	1.5	NUM
ap-796	280	21	a	a	DET
ap-796	280	22	)	)	PUNCT
ap-796	280	23	b	b	NOUN
ap-796	280	24	)	)	PUNCT
ap-796	280	25	fig	fig	NOUN
ap-796	280	26	.	.	PUNCT
ap-796	281	1	5	5	NUM
ap-796	281	2	:	:	PUNCT
ap-796	281	3	state	state	NOUN
ap-796	281	4	space	space	NOUN
ap-796	281	5	a	a	NOUN
ap-796	281	6	)	)	PUNCT
ap-796	281	7	no	no	DET
ap-796	281	8	barrier	barrier	NOUN
ap-796	281	9	active	active	ADJ
ap-796	281	10	,	,	PUNCT
ap-796	281	11	b	b	NOUN
ap-796	281	12	)	)	PUNCT
ap-796	281	13	with	with	ADP
ap-796	281	14	the	the	DET
ap-796	281	15	barrier	barrier	NOUN
ap-796	281	16	active	active	ADJ
ap-796	281	17	fig	fig	NOUN
ap-796	281	18	.	.	PUNCT
ap-796	282	1	6	6	NUM
ap-796	282	2	:	:	PUNCT
ap-796	282	3	state	state	NOUN
ap-796	282	4	x1	x1	PROPN
ap-796	282	5	,	,	PUNCT
ap-796	282	6	directly	directly	ADV
ap-796	282	7	controlled	control	VERB
ap-796	282	8	by	by	ADP
ap-796	282	9	the	the	DET
ap-796	282	10	upper	upper	ADJ
ap-796	282	11	level	level	NOUN