id	sid	tid	token	lemma	pos
ap-802	1	1	ap06_1.vp	ap06_1.vp	NOUN
ap-802	1	2	1	1	NUM
ap-802	1	3	introduction	introduction	NOUN
ap-802	1	4	the	the	DET
ap-802	1	5	dynamic	dynamic	ADJ
ap-802	1	6	properties	property	NOUN
ap-802	1	7	of	of	ADP
ap-802	1	8	a	a	DET
ap-802	1	9	real	real	ADJ
ap-802	1	10	plant	plant	NOUN
ap-802	1	11	are	be	AUX
ap-802	1	12	usually	usually	ADV
ap-802	1	13	identified	identify	VERB
ap-802	1	14	by	by	ADP
ap-802	1	15	making	make	VERB
ap-802	1	16	a	a	DET
ap-802	1	17	model	model	NOUN
ap-802	1	18	–	–	PUNCT
ap-802	1	19	choosing	choose	VERB
ap-802	1	20	a	a	DET
ap-802	1	21	model	model	NOUN
ap-802	1	22	structure	structure	NOUN
ap-802	1	23	and	and	CCONJ
ap-802	1	24	estimating	estimate	VERB
ap-802	1	25	the	the	DET
ap-802	1	26	unknown	unknown	ADJ
ap-802	1	27	parameters	parameter	NOUN
ap-802	1	28	of	of	ADP
ap-802	1	29	the	the	DET
ap-802	1	30	model	model	NOUN
ap-802	1	31	using	use	VERB
ap-802	1	32	data	datum	NOUN
ap-802	1	33	measured	measure	VERB
ap-802	1	34	on	on	ADP
ap-802	1	35	the	the	DET
ap-802	1	36	real	real	ADJ
ap-802	1	37	plant	plant	NOUN
ap-802	1	38	[	[	X
ap-802	1	39	1	1	NUM
ap-802	1	40	]	]	PUNCT
ap-802	1	41	.	.	PUNCT
ap-802	2	1	the	the	DET
ap-802	2	2	first	first	ADJ
ap-802	2	3	goal	goal	NOUN
ap-802	2	4	of	of	ADP
ap-802	2	5	this	this	DET
ap-802	2	6	paper	paper	NOUN
ap-802	2	7	is	be	AUX
ap-802	2	8	to	to	PART
ap-802	2	9	compare	compare	VERB
ap-802	2	10	a	a	DET
ap-802	2	11	set	set	NOUN
ap-802	2	12	of	of	ADP
ap-802	2	13	parameter	parameter	NOUN
ap-802	2	14	estimations	estimation	NOUN
ap-802	2	15	of	of	ADP
ap-802	2	16	an	an	DET
ap-802	2	17	arx	arx	PROPN
ap-802	2	18	model	model	NOUN
ap-802	2	19	where	where	SCONJ
ap-802	2	20	each	each	DET
ap-802	2	21	estimation	estimation	NOUN
ap-802	2	22	is	be	AUX
ap-802	2	23	obtained	obtain	VERB
ap-802	2	24	by	by	ADP
ap-802	2	25	minimizing	minimize	VERB
ap-802	2	26	the	the	DET
ap-802	2	27	p	p	NOUN
ap-802	2	28	-	-	PUNCT
ap-802	2	29	norm	norm	NOUN
ap-802	2	30	(	(	PUNCT
ap-802	2	31	1	1	NUM
ap-802	2	32	�	�	PROPN
ap-802	2	33	p	p	NOUN
ap-802	2	34	�	�	NOUN
ap-802	2	35	2	2	NUM
ap-802	2	36	)	)	PUNCT
ap-802	2	37	.	.	PUNCT
ap-802	3	1	the	the	DET
ap-802	3	2	measurement	measurement	NOUN
ap-802	3	3	of	of	ADP
ap-802	3	4	the	the	DET
ap-802	3	5	system	system	NOUN
ap-802	3	6	output	output	NOUN
ap-802	3	7	is	be	AUX
ap-802	3	8	considered	consider	VERB
ap-802	3	9	to	to	PART
ap-802	3	10	be	be	AUX
ap-802	3	11	damaged	damage	VERB
ap-802	3	12	by	by	ADP
ap-802	3	13	a	a	DET
ap-802	3	14	number	number	NOUN
ap-802	3	15	of	of	ADP
ap-802	3	16	outliers	outlier	NOUN
ap-802	3	17	.	.	PUNCT
ap-802	4	1	another	another	DET
ap-802	4	2	problem	problem	NOUN
ap-802	4	3	is	be	AUX
ap-802	4	4	optimal	optimal	ADJ
ap-802	4	5	control	control	NOUN
ap-802	4	6	of	of	ADP
ap-802	4	7	dynamic	dynamic	ADJ
ap-802	4	8	systems	system	NOUN
ap-802	4	9	.	.	PUNCT
ap-802	5	1	model	model	NOUN
ap-802	5	2	predictive	predictive	PROPN
ap-802	5	3	control	control	PROPN
ap-802	5	4	(	(	PUNCT
ap-802	5	5	mpc	mpc	NOUN
ap-802	5	6	)	)	PUNCT
ap-802	5	7	strategies	strategy	NOUN
ap-802	5	8	are	be	AUX
ap-802	5	9	very	very	ADV
ap-802	5	10	popular	popular	ADJ
ap-802	5	11	[	[	X
ap-802	5	12	2	2	NUM
ap-802	5	13	,	,	PUNCT
ap-802	5	14	4	4	NUM
ap-802	5	15	]	]	PUNCT
ap-802	5	16	.	.	PUNCT
ap-802	6	1	optimal	optimal	ADJ
ap-802	6	2	predictive	predictive	ADJ
ap-802	6	3	control	control	NOUN
ap-802	6	4	of	of	ADP
ap-802	6	5	an	an	DET
ap-802	6	6	arx	arx	PROPN
ap-802	6	7	or	or	CCONJ
ap-802	6	8	state	state	NOUN
ap-802	6	9	space	space	NOUN
ap-802	6	10	model	model	NOUN
ap-802	6	11	is	be	AUX
ap-802	6	12	usually	usually	ADV
ap-802	6	13	obtained	obtain	VERB
ap-802	6	14	by	by	ADP
ap-802	6	15	minimizing	minimize	VERB
ap-802	6	16	the	the	DET
ap-802	6	17	quadratic	quadratic	ADJ
ap-802	6	18	criterion	criterion	NOUN
ap-802	6	19	.	.	PUNCT
ap-802	7	1	if	if	SCONJ
ap-802	7	2	a	a	DET
ap-802	7	3	non	non	ADJ
ap-802	7	4	-	-	ADJ
ap-802	7	5	quadratic	quadratic	ADJ
ap-802	7	6	norm	norm	NOUN
ap-802	7	7	is	be	AUX
ap-802	7	8	used	use	VERB
ap-802	7	9	in	in	ADP
ap-802	7	10	the	the	DET
ap-802	7	11	optimality	optimality	NOUN
ap-802	7	12	criterion	criterion	NOUN
ap-802	7	13	,	,	PUNCT
ap-802	7	14	different	different	ADJ
ap-802	7	15	results	result	NOUN
ap-802	7	16	are	be	AUX
ap-802	7	17	obtained	obtain	VERB
ap-802	7	18	.	.	PUNCT
ap-802	8	1	for	for	ADP
ap-802	8	2	example	example	NOUN
ap-802	8	3	,	,	PUNCT
ap-802	8	4	for	for	SCONJ
ap-802	8	5	p	p	PRON
ap-802	8	6	�	�	PROPN
ap-802	8	7	1	1	NUM
ap-802	8	8	dead	dead	ADJ
ap-802	8	9	beat	beat	NOUN
ap-802	8	10	control	control	NOUN
ap-802	8	11	is	be	AUX
ap-802	8	12	obtained	obtain	VERB
ap-802	8	13	.	.	PUNCT
ap-802	9	1	minimizing	minimize	VERB
ap-802	9	2	the	the	DET
ap-802	9	3	l1	l1	PROPN
ap-802	9	4	norm	norm	NOUN
ap-802	9	5	using	use	VERB
ap-802	9	6	linear	linear	ADJ
ap-802	9	7	programming	programming	NOUN
ap-802	9	8	in	in	ADP
ap-802	9	9	mpc	mpc	PROPN
ap-802	9	10	control	control	NOUN
ap-802	9	11	has	have	AUX
ap-802	9	12	been	be	AUX
ap-802	9	13	considered	consider	VERB
ap-802	9	14	by	by	ADP
ap-802	9	15	many	many	ADJ
ap-802	9	16	authors	author	NOUN
ap-802	9	17	(	(	PUNCT
ap-802	9	18	e.g.	e.g.	ADV
ap-802	9	19	[	[	X
ap-802	9	20	5	5	NUM
ap-802	9	21	,	,	PUNCT
ap-802	9	22	6	6	NUM
ap-802	9	23	,	,	PUNCT
ap-802	9	24	7	7	NUM
ap-802	9	25	]	]	NUM
ap-802	9	26	)	)	PUNCT
ap-802	9	27	.	.	PUNCT
ap-802	10	1	a	a	DET
ap-802	10	2	connection	connection	NOUN
ap-802	10	3	between	between	ADP
ap-802	10	4	linear	linear	NOUN
ap-802	10	5	programming	programming	NOUN
ap-802	10	6	and	and	CCONJ
ap-802	10	7	optimal	optimal	ADJ
ap-802	10	8	control	control	NOUN
ap-802	10	9	is	be	AUX
ap-802	10	10	shown	show	VERB
ap-802	10	11	for	for	ADP
ap-802	10	12	example	example	NOUN
ap-802	10	13	in	in	ADP
ap-802	10	14	[	[	X
ap-802	10	15	8	8	NUM
ap-802	10	16	,	,	PUNCT
ap-802	10	17	9	9	NUM
ap-802	10	18	]	]	PUNCT
ap-802	10	19	.	.	PUNCT
ap-802	11	1	in	in	ADP
ap-802	11	2	this	this	DET
ap-802	11	3	paper	paper	NOUN
ap-802	11	4	,	,	PUNCT
ap-802	11	5	optimal	optimal	ADJ
ap-802	11	6	predictive	predictive	ADJ
ap-802	11	7	control	control	NOUN
ap-802	11	8	utilizing	utilize	VERB
ap-802	11	9	p	p	NOUN
ap-802	11	10	-	-	PUNCT
ap-802	11	11	norm	norm	NOUN
ap-802	11	12	minimization	minimization	NOUN
ap-802	11	13	of	of	ADP
ap-802	11	14	the	the	DET
ap-802	11	15	criterion	criterion	NOUN
ap-802	11	16	is	be	AUX
ap-802	11	17	shown	show	VERB
ap-802	11	18	,	,	PUNCT
ap-802	11	19	and	and	CCONJ
ap-802	11	20	the	the	DET
ap-802	11	21	results	result	NOUN
ap-802	11	22	are	be	AUX
ap-802	11	23	illustrated	illustrate	VERB
ap-802	11	24	by	by	ADP
ap-802	11	25	simple	simple	ADJ
ap-802	11	26	examples	example	NOUN
ap-802	11	27	.	.	PUNCT
ap-802	12	1	the	the	DET
ap-802	12	2	paper	paper	NOUN
ap-802	12	3	is	be	AUX
ap-802	12	4	organized	organize	VERB
ap-802	12	5	as	as	SCONJ
ap-802	12	6	follows	follow	VERB
ap-802	12	7	:	:	PUNCT
ap-802	12	8	the	the	DET
ap-802	12	9	second	second	ADJ
ap-802	12	10	section	section	NOUN
ap-802	12	11	shows	show	VERB
ap-802	12	12	identification	identification	NOUN
ap-802	12	13	of	of	ADP
ap-802	12	14	an	an	DET
ap-802	12	15	arx	arx	PROPN
ap-802	12	16	model	model	NOUN
ap-802	12	17	using	use	VERB
ap-802	12	18	the	the	DET
ap-802	12	19	p	p	NOUN
ap-802	12	20	-	-	PUNCT
ap-802	12	21	norm	norm	NOUN
ap-802	12	22	.	.	PUNCT
ap-802	13	1	the	the	DET
ap-802	13	2	algorithm	algorithm	NOUN
ap-802	13	3	for	for	ADP
ap-802	13	4	minimizing	minimize	VERB
ap-802	13	5	the	the	DET
ap-802	13	6	p	p	NOUN
ap-802	13	7	-	-	PUNCT
ap-802	13	8	norm	norm	NOUN
ap-802	13	9	where	where	SCONJ
ap-802	13	10	1	1	NUM
ap-802	13	11	<	<	X
ap-802	13	12	p	p	X
ap-802	13	13	<	<	X
ap-802	13	14	2	2	NUM
ap-802	13	15	is	be	AUX
ap-802	13	16	recapitulated	recapitulate	VERB
ap-802	13	17	in	in	ADP
ap-802	13	18	section	section	NOUN
ap-802	13	19	3	3	NUM
ap-802	13	20	.	.	PUNCT
ap-802	14	1	this	this	DET
ap-802	14	2	algorithm	algorithm	NOUN
ap-802	14	3	is	be	AUX
ap-802	14	4	known	know	VERB
ap-802	14	5	as	as	ADP
ap-802	14	6	iteratively	iteratively	ADV
ap-802	14	7	reweighted	reweighte	VERB
ap-802	14	8	least	least	ADJ
ap-802	14	9	squares	square	NOUN
ap-802	14	10	(	(	PUNCT
ap-802	14	11	irls	irl	NOUN
ap-802	14	12	)	)	PUNCT
ap-802	14	13	.	.	PUNCT
ap-802	15	1	in	in	ADP
ap-802	15	2	section	section	NOUN
ap-802	15	3	4	4	NUM
ap-802	15	4	,	,	PUNCT
ap-802	15	5	the	the	DET
ap-802	15	6	predictive	predictive	ADJ
ap-802	15	7	control	control	NOUN
ap-802	15	8	strategy	strategy	NOUN
ap-802	15	9	for	for	ADP
ap-802	15	10	state	state	NOUN
ap-802	15	11	space	space	NOUN
ap-802	15	12	models	model	NOUN
ap-802	15	13	is	be	AUX
ap-802	15	14	reviewed	review	VERB
ap-802	15	15	.	.	PUNCT
ap-802	16	1	in	in	ADP
ap-802	16	2	sections	section	NOUN
ap-802	16	3	5	5	NUM
ap-802	16	4	and	and	CCONJ
ap-802	16	5	6	6	NUM
ap-802	16	6	,	,	PUNCT
ap-802	16	7	examples	example	NOUN
ap-802	16	8	of	of	ADP
ap-802	16	9	system	system	NOUN
ap-802	16	10	identification	identification	NOUN
ap-802	16	11	and	and	CCONJ
ap-802	16	12	control	control	NOUN
ap-802	16	13	in	in	ADP
ap-802	16	14	p	p	NOUN
ap-802	16	15	-	-	PUNCT
ap-802	16	16	norm	norm	NOUN
ap-802	16	17	are	be	AUX
ap-802	16	18	shown	show	VERB
ap-802	16	19	.	.	PUNCT
ap-802	17	1	2	2	NUM
ap-802	17	2	identification	identification	NOUN
ap-802	17	3	of	of	ADP
ap-802	17	4	an	an	DET
ap-802	17	5	arx	arx	PROPN
ap-802	17	6	model	model	NOUN
ap-802	17	7	using	use	VERB
ap-802	17	8	p	p	NOUN
ap-802	17	9	-	-	PUNCT
ap-802	17	10	norm	norm	NOUN
ap-802	17	11	the	the	DET
ap-802	17	12	arx	arx	PROPN
ap-802	17	13	model	model	NOUN
ap-802	17	14	of	of	ADP
ap-802	17	15	a	a	DET
ap-802	17	16	dynamic	dynamic	ADJ
ap-802	17	17	system	system	NOUN
ap-802	17	18	can	can	AUX
ap-802	17	19	be	be	AUX
ap-802	17	20	described	describe	VERB
ap-802	17	21	by	by	ADP
ap-802	17	22	the	the	DET
ap-802	17	23	equation	equation	NOUN
ap-802	17	24	y	y	PROPN
ap-802	17	25	t	t	PROPN
ap-802	17	26	a	a	DET
ap-802	17	27	y	y	PROPN
ap-802	17	28	t	t	PROPN
ap-802	17	29	a	a	DET
ap-802	17	30	y	y	PROPN
ap-802	17	31	t	t	PROPN
ap-802	18	1	n	n	PROPN
ap-802	18	2	b	b	PROPN
ap-802	18	3	u	u	PROPN
ap-802	18	4	t	t	PROPN
ap-802	18	5	b	b	PROPN
ap-802	18	6	u	u	PROPN
ap-802	18	7	t	t	PROPN
ap-802	18	8	n	n	CCONJ
ap-802	18	9	n	n	CCONJ
ap-802	18	10	n	n	PROPN
ap-802	18	11	(	(	PUNCT
ap-802	18	12	)	)	PUNCT
ap-802	18	13	(	(	PUNCT
ap-802	18	14	)	)	PUNCT
ap-802	18	15	(	(	PUNCT
ap-802	18	16	)	)	PUNCT
ap-802	18	17	(	(	PUNCT
ap-802	18	18	)	)	PUNCT
ap-802	18	19	(	(	PUNCT
ap-802	18	20	)	)	PUNCT
ap-802	18	21	�	�	PROPN
ap-802	18	22	�	�	PROPN
ap-802	18	23	�	�	PROPN
ap-802	18	24	�	�	PROPN
ap-802	18	25	�	�	PROPN
ap-802	18	26	�	�	PROPN
ap-802	18	27	�	�	PROPN
ap-802	18	28	�	�	PROPN
ap-802	18	29	�	�	PROPN
ap-802	18	30	�	�	PROPN
ap-802	18	31	�	�	PROPN
ap-802	18	32	�	�	PROPN
ap-802	18	33	�	�	PROPN
ap-802	18	34	1	1	NUM
ap-802	18	35	1	1	NUM
ap-802	18	36	0	0	NUM
ap-802	18	37	1	1	NUM
ap-802	18	38	1	1	NUM
ap-802	18	39	1	1	NUM
ap-802	18	40	1	1	NUM
ap-802	18	41	�	�	PROPN
ap-802	18	42	�	�	PROPN
ap-802	18	43	�	�	PROPN
ap-802	18	44	e	e	PROPN
ap-802	18	45	t	t	PROPN
ap-802	18	46	(	(	PUNCT
ap-802	18	47	)	)	PUNCT
ap-802	18	48	(	(	PUNCT
ap-802	18	49	1	1	X
ap-802	18	50	)	)	PUNCT
ap-802	18	51	where	where	SCONJ
ap-802	18	52	y(t	y(t	NOUN
ap-802	18	53	)	)	PUNCT
ap-802	18	54	is	be	AUX
ap-802	18	55	the	the	DET
ap-802	18	56	system	system	NOUN
ap-802	18	57	output	output	NOUN
ap-802	18	58	in	in	ADP
ap-802	18	59	time	time	NOUN
ap-802	18	60	t	t	PROPN
ap-802	18	61	and	and	CCONJ
ap-802	18	62	u(t	u(t	NOUN
ap-802	18	63	)	)	PUNCT
ap-802	18	64	is	be	AUX
ap-802	18	65	the	the	DET
ap-802	18	66	system	system	NOUN
ap-802	18	67	input	input	NOUN
ap-802	18	68	,	,	PUNCT
ap-802	18	69	e(t	e(t	PROPN
ap-802	18	70	)	)	PUNCT
ap-802	18	71	is	be	AUX
ap-802	18	72	an	an	DET
ap-802	18	73	equation	equation	NOUN
ap-802	18	74	error	error	NOUN
ap-802	18	75	and	and	CCONJ
ap-802	18	76	ai	ai	VERB
ap-802	18	77	,	,	PUNCT
ap-802	18	78	bj	bj	NOUN
ap-802	18	79	are	be	AUX
ap-802	18	80	system	system	NOUN
ap-802	18	81	parameters	parameter	NOUN
ap-802	18	82	.	.	PUNCT
ap-802	19	1	note	note	VERB
ap-802	19	2	that	that	SCONJ
ap-802	19	3	only	only	ADV
ap-802	19	4	a	a	DET
ap-802	19	5	single	single	ADJ
ap-802	19	6	input	input	NOUN
ap-802	19	7	–	–	PUNCT
ap-802	19	8	single	single	ADJ
ap-802	19	9	output	output	NOUN
ap-802	19	10	(	(	PUNCT
ap-802	19	11	siso	siso	NOUN
ap-802	19	12	)	)	PUNCT
ap-802	19	13	system	system	NOUN
ap-802	19	14	is	be	AUX
ap-802	19	15	considered	consider	VERB
ap-802	19	16	in	in	ADP
ap-802	19	17	this	this	DET
ap-802	19	18	paper	paper	NOUN
ap-802	19	19	.	.	PUNCT
ap-802	20	1	the	the	DET
ap-802	20	2	parameter	parameter	PROPN
ap-802	20	3	estimation	estimation	NOUN
ap-802	20	4	problem	problem	NOUN
ap-802	20	5	from	from	ADP
ap-802	20	6	a	a	DET
ap-802	20	7	given	give	VERB
ap-802	20	8	set	set	NOUN
ap-802	20	9	of	of	ADP
ap-802	20	10	data	datum	NOUN
ap-802	20	11	�	�	PROPN
ap-802	20	12	t	t	PROPN
ap-802	20	13	y	y	PROPN
ap-802	20	14	t	t	PROPN
ap-802	21	1	y	y	PROPN
ap-802	21	2	t	t	PROPN
ap-802	21	3	u	u	NOUN
ap-802	21	4	t	t	PROPN
ap-802	21	5	u	u	NOUN
ap-802	21	6	t	t	PROPN
ap-802	21	7	�	�	PROPN
ap-802	21	8	�	�	PROPN
ap-802	21	9	�	�	PROPN
ap-802	21	10	{	{	PUNCT
ap-802	21	11	(	(	PUNCT
ap-802	21	12	)	)	PUNCT
ap-802	21	13	,	,	PUNCT
ap-802	21	14	(	(	PUNCT
ap-802	21	15	)	)	PUNCT
ap-802	21	16	,	,	PUNCT
ap-802	21	17	,	,	PUNCT
ap-802	21	18	(	(	PUNCT
ap-802	21	19	)	)	PUNCT
ap-802	21	20	,	,	PUNCT
ap-802	21	21	(	(	PUNCT
ap-802	21	22	)	)	PUNCT
ap-802	21	23	,	,	PUNCT
ap-802	21	24	}	}	PUNCT
ap-802	21	25	1	1	NUM
ap-802	21	26	1	1	NUM
ap-802	21	27	�	�	PROPN
ap-802	21	28	�	�	PROPN
ap-802	21	29	leads	lead	VERB
ap-802	21	30	to	to	ADP
ap-802	21	31	minimization	minimization	NOUN
ap-802	21	32	of	of	ADP
ap-802	21	33	error	error	NOUN
ap-802	21	34	vector	vector	NOUN
ap-802	21	35	�	�	PROPN
ap-802	21	36	�	�	PROPN
ap-802	21	37	�	�	PROPN
ap-802	21	38	�	�	PROPN
ap-802	21	39	�	�	PROPN
ap-802	21	40	e	e	PROPN
ap-802	21	41	t	t	PROPN
ap-802	21	42	e	e	PROPN
ap-802	21	43	t	t	PROPN
ap-802	21	44	t	t	PROPN
ap-802	21	45	(	(	PUNCT
ap-802	21	46	)	)	PUNCT
ap-802	21	47	,	,	PUNCT
ap-802	21	48	(	(	PUNCT
ap-802	21	49	)	)	PUNCT
ap-802	21	50	,	,	PUNCT
ap-802	21	51	1	1	NUM
ap-802	21	52	�	�	PROPN
ap-802	21	53	.	.	PUNCT
ap-802	22	1	we	we	PRON
ap-802	22	2	are	be	AUX
ap-802	22	3	looking	look	VERB
ap-802	22	4	for	for	ADP
ap-802	22	5	the	the	DET
ap-802	22	6	parameter	parameter	PROPN
ap-802	22	7	vector	vector	PROPN
ap-802	22	8	�	�	PROPN
ap-802	22	9	�	�	PROPN
ap-802	22	10	x	x	PROPN
ap-802	22	11	�	�	PROPN
ap-802	22	12	a	a	PRON
ap-802	22	13	a	a	DET
ap-802	22	14	b	b	PROPN
ap-802	22	15	b	b	PROPN
ap-802	22	16	t	t	PROPN
ap-802	22	17	1	1	NUM
ap-802	22	18	2	2	NUM
ap-802	22	19	0	0	NUM
ap-802	22	20	1	1	NUM
ap-802	22	21	,	,	PUNCT
ap-802	22	22	,	,	PUNCT
ap-802	22	23	,	,	PUNCT
ap-802	22	24	,	,	PUNCT
ap-802	22	25	,	,	PUNCT
ap-802	22	26	�	�	PROPN
ap-802	22	27	�	�	PROPN
ap-802	22	28	that	that	PRON
ap-802	22	29	ensures	ensure	VERB
ap-802	22	30	the	the	DET
ap-802	22	31	best	good	ADJ
ap-802	22	32	approximation	approximation	NOUN
ap-802	22	33	of	of	ADP
ap-802	22	34	the	the	DET
ap-802	22	35	output	output	NOUN
ap-802	22	36	vector	vector	PROPN
ap-802	22	37	�	�	PROPN
ap-802	22	38	�	�	PROPN
ap-802	22	39	b	b	PROPN
ap-802	22	40	�	�	PROPN
ap-802	22	41	�	�	PROPN
ap-802	22	42	�	�	PROPN
ap-802	22	43	�	�	PROPN
ap-802	22	44	y	y	PROPN
ap-802	22	45	t	t	PROPN
ap-802	22	46	y	y	PROPN
ap-802	22	47	t	t	PROPN
ap-802	22	48	y	y	PROPN
ap-802	23	1	t	t	PROPN
ap-802	23	2	m	m	PROPN
ap-802	23	3	t	t	PROPN
ap-802	23	4	(	(	PUNCT
ap-802	23	5	)	)	PUNCT
ap-802	23	6	,	,	PUNCT
ap-802	23	7	(	(	PUNCT
ap-802	23	8	)	)	PUNCT
ap-802	23	9	,	,	PUNCT
ap-802	23	10	,	,	PUNCT
ap-802	23	11	(	(	PUNCT
ap-802	23	12	)	)	SYM
ap-802	23	13	1	1	NUM
ap-802	23	14	1	1	NUM
ap-802	23	15	�	�	NOUN
ap-802	23	16	by	by	ADP
ap-802	23	17	a	a	DET
ap-802	23	18	vector	vector	NOUN
ap-802	23	19	ax	ax	NOUN
ap-802	23	20	,	,	PUNCT
ap-802	23	21	where	where	SCONJ
ap-802	23	22	a	a	DET
ap-802	23	23	�	�	PROPN
ap-802	23	24	�	�	PROPN
ap-802	23	25	�	�	PROPN
ap-802	23	26	�	�	PROPN
ap-802	23	27	�	�	PROPN
ap-802	23	28	�	�	PROPN
ap-802	23	29	�	�	PROPN
ap-802	23	30	�	�	PROPN
ap-802	23	31	�	�	PROPN
ap-802	23	32	y	y	PROPN
ap-802	23	33	t	t	PROPN
ap-802	23	34	y	y	PROPN
ap-802	23	35	t	t	PROPN
ap-802	23	36	u	u	NOUN
ap-802	23	37	t	t	PROPN
ap-802	23	38	y	y	PROPN
ap-802	23	39	t	t	PROPN
ap-802	23	40	y	y	PROPN
ap-802	23	41	t	t	PROPN
ap-802	23	42	u	u	PROPN
ap-802	23	43	t	t	PROPN
ap-802	23	44	(	(	PUNCT
ap-802	23	45	)	)	PUNCT
ap-802	23	46	(	(	PUNCT
ap-802	23	47	)	)	PUNCT
ap-802	23	48	(	(	PUNCT
ap-802	23	49	)	)	PUNCT
ap-802	23	50	(	(	PUNCT
ap-802	23	51	)	)	PUNCT
ap-802	23	52	(	(	PUNCT
ap-802	23	53	)	)	PUNCT
ap-802	23	54	(	(	PUNCT
ap-802	23	55	)	)	PUNCT
ap-802	23	56	1	1	NUM
ap-802	23	57	2	2	NUM
ap-802	23	58	2	2	NUM
ap-802	23	59	3	3	NUM
ap-802	23	60	1	1	NUM
ap-802	23	61	�	�	PROPN
ap-802	23	62	�	�	PROPN
ap-802	23	63	�	�	PROPN
ap-802	23	64	�	�	PROPN
ap-802	23	65	�	�	PROPN
ap-802	23	66	�	�	PROPN
ap-802	23	67	�	�	PROPN
ap-802	23	68	�	�	PROPN
ap-802	23	69	�	�	PROPN
ap-802	23	70	�	�	PROPN
ap-802	23	71	�	�	PROPN
ap-802	23	72	�	�	PROPN
ap-802	23	73	�	�	PROPN
ap-802	23	74	.	.	PUNCT
ap-802	24	1	(	(	PUNCT
ap-802	24	2	2	2	X
ap-802	24	3	)	)	PUNCT
ap-802	24	4	both	both	PRON
ap-802	24	5	vector	vector	NOUN
ap-802	24	6	b	b	NOUN
ap-802	24	7	and	and	CCONJ
ap-802	24	8	matrix	matrix	NOUN
ap-802	24	9	a	a	PRON
ap-802	24	10	are	be	AUX
ap-802	24	11	formed	form	VERB
ap-802	24	12	from	from	ADP
ap-802	24	13	the	the	DET
ap-802	24	14	measured	measure	VERB
ap-802	24	15	data	datum	NOUN
ap-802	24	16	�	�	PROPN
ap-802	24	17	t.	t.	PROPN
ap-802	24	18	the	the	DET
ap-802	24	19	most	most	ADV
ap-802	24	20	usual	usual	ADJ
ap-802	24	21	solution	solution	NOUN
ap-802	24	22	of	of	ADP
ap-802	24	23	the	the	DET
ap-802	24	24	parameter	parameter	NOUN
ap-802	24	25	estimation	estimation	NOUN
ap-802	24	26	problem	problem	NOUN
ap-802	24	27	involves	involve	VERB
ap-802	24	28	minimization	minimization	NOUN
ap-802	24	29	of	of	ADP
ap-802	24	30	the	the	DET
ap-802	24	31	quadratic	quadratic	ADJ
ap-802	24	32	norm	norm	NOUN
ap-802	24	33	of	of	ADP
ap-802	24	34	the	the	DET
ap-802	24	35	error	error	NOUN
ap-802	24	36	vector	vector	NOUN
ap-802	24	37	,	,	PUNCT
ap-802	24	38	known	know	VERB
ap-802	24	39	as	as	ADP
ap-802	24	40	the	the	DET
ap-802	24	41	euclidean	euclidean	ADJ
ap-802	24	42	norm	norm	NOUN
ap-802	24	43	.	.	PUNCT
ap-802	25	1	in	in	ADP
ap-802	25	2	such	such	DET
ap-802	25	3	a	a	DET
ap-802	25	4	case	case	NOUN
ap-802	25	5	,	,	PUNCT
ap-802	25	6	the	the	DET
ap-802	25	7	optimization	optimization	NOUN
ap-802	25	8	problem	problem	NOUN
ap-802	25	9	is	be	AUX
ap-802	25	10	min	min	NOUN
ap-802	25	11	x	x	NOUN
ap-802	25	12	ax	ax	NOUN
ap-802	25	13	b	b	PROPN
ap-802	25	14	�	�	PROPN
ap-802	25	15	2	2	NUM
ap-802	25	16	.	.	PUNCT
ap-802	26	1	(	(	PUNCT
ap-802	26	2	3	3	X
ap-802	26	3	)	)	PUNCT
ap-802	26	4	the	the	DET
ap-802	26	5	solution	solution	NOUN
ap-802	26	6	is	be	AUX
ap-802	26	7	known	know	VERB
ap-802	26	8	as	as	ADP
ap-802	26	9	least	least	ADJ
ap-802	26	10	squares	square	NOUN
ap-802	26	11	(	(	PUNCT
ap-802	26	12	ls	ls	PROPN
ap-802	26	13	)	)	PUNCT
ap-802	27	1	[	[	X
ap-802	27	2	10	10	NUM
ap-802	27	3	]	]	PUNCT
ap-802	27	4	.	.	PUNCT
ap-802	28	1	in	in	ADP
ap-802	28	2	reality	reality	NOUN
ap-802	28	3	the	the	DET
ap-802	28	4	noise	noise	NOUN
ap-802	28	5	of	of	ADP
ap-802	28	6	the	the	DET
ap-802	28	7	output	output	NOUN
ap-802	28	8	measurement	measurement	NOUN
ap-802	28	9	is	be	AUX
ap-802	28	10	also	also	ADV
ap-802	28	11	found	find	VERB
ap-802	28	12	in	in	ADP
ap-802	28	13	elements	element	NOUN
ap-802	28	14	of	of	ADP
ap-802	28	15	data	datum	NOUN
ap-802	28	16	matrix	matrix	NOUN
ap-802	28	17	a.	a.	NOUN
ap-802	28	18	the	the	DET
ap-802	28	19	solution	solution	NOUN
ap-802	28	20	of	of	ADP
ap-802	28	21	such	such	DET
ap-802	28	22	a	a	DET
ap-802	28	23	problem	problem	NOUN
ap-802	28	24	leads	lead	VERB
ap-802	28	25	to	to	ADP
ap-802	28	26	total	total	ADJ
ap-802	28	27	least	least	ADJ
ap-802	28	28	squares	square	NOUN
ap-802	28	29	(	(	PUNCT
ap-802	28	30	tls	tls	PROPN
ap-802	28	31	)	)	PUNCT
ap-802	29	1	[	[	X
ap-802	29	2	11	11	NUM
ap-802	29	3	]	]	PUNCT
ap-802	29	4	.	.	PUNCT
ap-802	30	1	if	if	SCONJ
ap-802	30	2	the	the	DET
ap-802	30	3	input	input	NOUN
ap-802	30	4	measurement	measurement	NOUN
ap-802	30	5	is	be	AUX
ap-802	30	6	noise	noise	NOUN
ap-802	30	7	free	free	ADJ
ap-802	30	8	,	,	PUNCT
ap-802	30	9	the	the	DET
ap-802	30	10	problem	problem	NOUN
ap-802	30	11	can	can	AUX
ap-802	30	12	be	be	AUX
ap-802	30	13	solved	solve	VERB
ap-802	30	14	by	by	ADP
ap-802	30	15	mixed	mixed	ADJ
ap-802	30	16	ls	ls	NOUN
ap-802	30	17	and	and	CCONJ
ap-802	30	18	tls	tls	VERB
ap-802	30	19	[	[	X
ap-802	30	20	11	11	NUM
ap-802	30	21	]	]	PUNCT
ap-802	30	22	.	.	PUNCT
ap-802	31	1	in	in	ADP
ap-802	31	2	some	some	DET
ap-802	31	3	applications	application	NOUN
ap-802	31	4	,	,	PUNCT
ap-802	31	5	we	we	PRON
ap-802	31	6	can	can	AUX
ap-802	31	7	use	use	VERB
ap-802	31	8	the	the	DET
ap-802	31	9	more	more	ADV
ap-802	31	10	general	general	ADJ
ap-802	31	11	p	p	NOUN
ap-802	31	12	-	-	PUNCT
ap-802	31	13	norm	norm	NOUN
ap-802	31	14	instead	instead	ADV
ap-802	31	15	of	of	ADP
ap-802	31	16	the	the	DET
ap-802	31	17	quadratic	quadratic	ADJ
ap-802	31	18	norm	norm	NOUN
ap-802	31	19	[	[	X
ap-802	31	20	10	10	NUM
ap-802	31	21	,	,	PUNCT
ap-802	31	22	12	12	NUM
ap-802	31	23	]	]	PUNCT
ap-802	31	24	.	.	PUNCT
ap-802	32	1	the	the	DET
ap-802	32	2	p	p	NOUN
ap-802	32	3	-	-	PUNCT
ap-802	32	4	norm	norm	NOUN
ap-802	32	5	is	be	AUX
ap-802	32	6	defined	define	VERB
ap-802	32	7	as	as	ADP
ap-802	32	8	�	�	PROPN
ap-802	32	9	�	�	PROPN
ap-802	32	10	y	y	PROPN
ap-802	32	11	y	y	PROPN
ap-802	32	12	p	p	PROPN
ap-802	32	13	p	p	PROPN
ap-802	33	1	n	n	PROPN
ap-802	33	2	p	p	NOUN
ap-802	34	1	p	p	X
ap-802	35	1	i	i	PRON
ap-802	35	2	y	y	PROPN
ap-802	35	3	y	y	PROPN
ap-802	35	4	p	p	PROPN
ap-802	35	5	y	y	PROPN
ap-802	35	6	y	y	PROPN
ap-802	35	7	�	�	PROPN
ap-802	35	8	�	�	PROPN
ap-802	35	9	�	�	PROPN
ap-802	35	10	�	�	PROPN
ap-802	35	11	�	�	PROPN
ap-802	35	12	�	�	PROPN
ap-802	35	13	�	�	PROPN
ap-802	35	14	�	�	PROPN
ap-802	35	15	1	1	NUM
ap-802	35	16	1	1	NUM
ap-802	35	17	1	1	NUM
ap-802	35	18	2	2	NUM
ap-802	35	19	1	1	NUM
ap-802	35	20	�	�	PROPN
ap-802	35	21	�	�	PROPN
ap-802	35	22	,	,	PUNCT
ap-802	35	23	max	max	PROPN
ap-802	35	24	,	,	PUNCT
ap-802	35	25	,	,	PUNCT
ap-802	35	26	.	.	PUNCT
ap-802	36	1	(	(	PUNCT
ap-802	36	2	)	)	PUNCT
ap-802	36	3	(	(	PUNCT
ap-802	36	4	4	4	X
ap-802	36	5	)	)	PUNCT
ap-802	36	6	then	then	ADV
ap-802	36	7	the	the	DET
ap-802	36	8	problem	problem	NOUN
ap-802	36	9	of	of	ADP
ap-802	36	10	parameter	parameter	NOUN
ap-802	36	11	estimation	estimation	NOUN
ap-802	36	12	is	be	AUX
ap-802	36	13	defined	define	VERB
ap-802	36	14	as	as	SCONJ
ap-802	36	15	follows	follow	VERB
ap-802	36	16	x	x	PUNCT
ap-802	36	17	ax	ax	NOUN
ap-802	36	18	b	b	NOUN
ap-802	36	19	x	x	X
ap-802	36	20	*	*	PUNCT
ap-802	36	21	arg	arg	NOUN
ap-802	36	22	min	min	PROPN
ap-802	36	23	�	�	PROPN
ap-802	36	24	�	�	PROPN
ap-802	37	1	p	p	PROPN
ap-802	37	2	p.	p.	NOUN
ap-802	37	3	(	(	PUNCT
ap-802	37	4	5	5	NUM
ap-802	37	5	)	)	PUNCT
ap-802	37	6	for	for	ADP
ap-802	37	7	1	1	NUM
ap-802	37	8	�	�	PROPN
ap-802	37	9	p	p	NOUN
ap-802	37	10	�	�	PROPN
ap-802	37	11	2	2	NUM
ap-802	37	12	p	p	ADJ
ap-802	37	13	-	-	PUNCT
ap-802	37	14	norm	norm	NOUN
ap-802	37	15	minimization	minimization	NOUN
ap-802	37	16	can	can	AUX
ap-802	37	17	be	be	AUX
ap-802	37	18	done	do	VERB
ap-802	37	19	by	by	ADP
ap-802	37	20	iterative	iterative	NOUN
ap-802	37	21	solution	solution	NOUN
ap-802	37	22	of	of	ADP
ap-802	37	23	the	the	DET
ap-802	37	24	ls	ls	ADJ
ap-802	37	25	problem	problem	NOUN
ap-802	37	26	.	.	PUNCT
ap-802	38	1	for	for	ADP
ap-802	38	2	p	p	PROPN
ap-802	38	3	�	�	PROPN
ap-802	38	4	1	1	NUM
ap-802	38	5	and	and	CCONJ
ap-802	38	6	p	p	PROPN
ap-802	38	7	�	�	PROPN
ap-802	38	8	�	�	PROPN
ap-802	38	9	the	the	DET
ap-802	38	10	solution	solution	NOUN
ap-802	38	11	can	can	AUX
ap-802	38	12	be	be	AUX
ap-802	38	13	obtained	obtain	VERB
ap-802	38	14	by	by	ADP
ap-802	38	15	linear	linear	PROPN
ap-802	38	16	programming	programming	NOUN
ap-802	38	17	.	.	PUNCT
ap-802	39	1	3	3	NUM
ap-802	39	2	p	p	ADJ
ap-802	39	3	-	-	PUNCT
ap-802	39	4	norm	norm	NOUN
ap-802	39	5	minimization	minimization	NOUN
ap-802	39	6	the	the	DET
ap-802	39	7	general	general	ADJ
ap-802	39	8	p	p	NOUN
ap-802	39	9	-	-	PUNCT
ap-802	39	10	norm	norm	NOUN
ap-802	39	11	can	can	AUX
ap-802	39	12	be	be	AUX
ap-802	39	13	used	use	VERB
ap-802	39	14	in	in	ADP
ap-802	39	15	the	the	DET
ap-802	39	16	optimization	optimization	NOUN
ap-802	39	17	problem	problem	NOUN
ap-802	39	18	defined	define	VERB
ap-802	39	19	by	by	ADP
ap-802	39	20	(	(	PUNCT
ap-802	39	21	5	5	NUM
ap-802	39	22	)	)	PUNCT
ap-802	39	23	.	.	PUNCT
ap-802	40	1	if	if	SCONJ
ap-802	40	2	the	the	DET
ap-802	40	3	p	p	NOUN
ap-802	40	4	-	-	PUNCT
ap-802	40	5	norm	norm	NOUN
ap-802	40	6	is	be	AUX
ap-802	40	7	restricted	restrict	VERB
ap-802	40	8	by	by	ADP
ap-802	40	9	1	1	NUM
ap-802	40	10	�	�	PROPN
ap-802	40	11	p	p	NOUN
ap-802	40	12	�	�	PROPN
ap-802	40	13	2	2	NUM
ap-802	40	14	the	the	DET
ap-802	40	15	©	©	PROPN
ap-802	40	16	czech	czech	PROPN
ap-802	40	17	technical	technical	PROPN
ap-802	40	18	university	university	PROPN
ap-802	40	19	publishing	publishing	NOUN
ap-802	40	20	house	house	NOUN
ap-802	40	21	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	40	22	33	33	NUM
ap-802	40	23	czech	czech	PROPN
ap-802	40	24	technical	technical	PROPN
ap-802	40	25	university	university	PROPN
ap-802	40	26	in	in	ADP
ap-802	40	27	prague	prague	PROPN
ap-802	40	28	acta	acta	PROPN
ap-802	40	29	polytechnica	polytechnica	PROPN
ap-802	40	30	vol	vol	NOUN
ap-802	40	31	.	.	PUNCT
ap-802	41	1	46	46	NUM
ap-802	41	2	no	no	INTJ
ap-802	41	3	.	.	PUNCT
ap-802	42	1	1/2006	1/2006	NUM
ap-802	42	2	identification	identification	NOUN
ap-802	42	3	and	and	CCONJ
ap-802	42	4	predictive	predictive	ADJ
ap-802	42	5	control	control	NOUN
ap-802	42	6	by	by	ADP
ap-802	42	7	p	p	ADJ
ap-802	42	8	-	-	PUNCT
ap-802	42	9	norm	norm	NOUN
ap-802	42	10	minimization	minimization	NOUN
ap-802	42	11	j.	j.	PROPN
ap-802	42	12	pekař	pekař	PROPN
ap-802	42	13	,	,	PUNCT
ap-802	42	14	j.	j.	PROPN
ap-802	42	15	štecha	štecha	PROPN
ap-802	42	16	real	real	ADJ
ap-802	42	17	time	time	NOUN
ap-802	42	18	system	system	NOUN
ap-802	42	19	parameter	parameter	NOUN
ap-802	42	20	estimation	estimation	NOUN
ap-802	42	21	from	from	ADP
ap-802	42	22	the	the	DET
ap-802	42	23	set	set	NOUN
ap-802	42	24	of	of	ADP
ap-802	42	25	input	input	NOUN
ap-802	42	26	-	-	PUNCT
ap-802	42	27	output	output	NOUN
ap-802	42	28	data	datum	NOUN
ap-802	42	29	is	be	AUX
ap-802	42	30	usually	usually	ADV
ap-802	42	31	solved	solve	VERB
ap-802	42	32	by	by	ADP
ap-802	42	33	minimization	minimization	NOUN
ap-802	42	34	of	of	ADP
ap-802	42	35	quadratic	quadratic	ADJ
ap-802	42	36	norm	norm	NOUN
ap-802	42	37	errors	error	NOUN
ap-802	42	38	of	of	ADP
ap-802	42	39	system	system	NOUN
ap-802	42	40	equations	equation	NOUN
ap-802	42	41	–	–	PUNCT
ap-802	42	42	known	know	VERB
ap-802	42	43	in	in	ADP
ap-802	42	44	the	the	DET
ap-802	42	45	literature	literature	NOUN
ap-802	42	46	as	as	ADP
ap-802	42	47	least	least	ADJ
ap-802	42	48	squares	square	NOUN
ap-802	42	49	(	(	PUNCT
ap-802	42	50	ls	ls	PROPN
ap-802	42	51	)	)	PUNCT
ap-802	42	52	or	or	CCONJ
ap-802	42	53	its	its	PRON
ap-802	42	54	modification	modification	NOUN
ap-802	42	55	as	as	ADP
ap-802	42	56	total	total	ADJ
ap-802	42	57	least	least	ADJ
ap-802	42	58	squares	square	NOUN
ap-802	42	59	(	(	PUNCT
ap-802	42	60	tls	tls	PROPN
ap-802	42	61	)	)	PUNCT
ap-802	42	62	or	or	CCONJ
ap-802	42	63	mixed	mixed	ADJ
ap-802	42	64	ls	ls	ADJ
ap-802	42	65	and	and	CCONJ
ap-802	42	66	tls	tls	NOUN
ap-802	42	67	.	.	PUNCT
ap-802	43	1	it	it	PRON
ap-802	43	2	is	be	AUX
ap-802	43	3	known	know	VERB
ap-802	43	4	that	that	SCONJ
ap-802	43	5	the	the	DET
ap-802	43	6	utilization	utilization	NOUN
ap-802	43	7	of	of	ADP
ap-802	43	8	the	the	DET
ap-802	43	9	p	p	NOUN
ap-802	43	10	-	-	PUNCT
ap-802	43	11	norm	norm	NOUN
ap-802	43	12	(	(	PUNCT
ap-802	43	13	1	1	NUM
ap-802	43	14	�	�	PROPN
ap-802	43	15	p	p	NOUN
ap-802	43	16	�	�	NOUN
ap-802	43	17	2	2	NUM
ap-802	43	18	)	)	PUNCT
ap-802	43	19	instead	instead	ADV
ap-802	43	20	of	of	ADP
ap-802	43	21	the	the	DET
ap-802	43	22	quadratic	quadratic	ADJ
ap-802	43	23	norm	norm	NOUN
ap-802	43	24	suppresses	suppress	VERB
ap-802	43	25	the	the	DET
ap-802	43	26	wrong	wrong	ADJ
ap-802	43	27	measurements	measurement	NOUN
ap-802	43	28	(	(	PUNCT
ap-802	43	29	outliers	outlier	NOUN
ap-802	43	30	)	)	PUNCT
ap-802	43	31	in	in	ADP
ap-802	43	32	the	the	DET
ap-802	43	33	data	datum	NOUN
ap-802	43	34	.	.	PUNCT
ap-802	44	1	this	this	DET
ap-802	44	2	property	property	NOUN
ap-802	44	3	is	be	AUX
ap-802	44	4	shown	show	VERB
ap-802	44	5	for	for	ADP
ap-802	44	6	different	different	ADJ
ap-802	44	7	norms	norm	NOUN
ap-802	44	8	,	,	PUNCT
ap-802	44	9	and	and	CCONJ
ap-802	44	10	it	it	PRON
ap-802	44	11	is	be	AUX
ap-802	44	12	shown	show	VERB
ap-802	44	13	that	that	SCONJ
ap-802	44	14	the	the	DET
ap-802	44	15	influence	influence	NOUN
ap-802	44	16	of	of	ADP
ap-802	44	17	outliers	outlier	NOUN
ap-802	44	18	is	be	AUX
ap-802	44	19	suppressed	suppress	VERB
ap-802	44	20	if	if	SCONJ
ap-802	44	21	p	p	PROPN
ap-802	44	22	�	�	PROPN
ap-802	44	23	1	1	NUM
ap-802	44	24	.	.	PUNCT
ap-802	45	1	also	also	ADV
ap-802	45	2	optimal	optimal	ADJ
ap-802	45	3	predictive	predictive	ADJ
ap-802	45	4	control	control	NOUN
ap-802	45	5	utilizing	utilize	VERB
ap-802	45	6	p	p	NOUN
ap-802	45	7	-	-	PUNCT
ap-802	45	8	norm	norm	NOUN
ap-802	45	9	minimization	minimization	NOUN
ap-802	45	10	of	of	ADP
ap-802	45	11	the	the	DET
ap-802	45	12	criterion	criterion	NOUN
ap-802	45	13	is	be	AUX
ap-802	45	14	developed	develop	VERB
ap-802	45	15	,	,	PUNCT
ap-802	45	16	and	and	CCONJ
ap-802	45	17	the	the	DET
ap-802	45	18	simulation	simulation	NOUN
ap-802	45	19	results	result	NOUN
ap-802	45	20	show	show	VERB
ap-802	45	21	the	the	DET
ap-802	45	22	properties	property	NOUN
ap-802	45	23	of	of	ADP
ap-802	45	24	such	such	ADJ
ap-802	45	25	control	control	NOUN
ap-802	45	26	.	.	PUNCT
ap-802	46	1	keywords	keyword	NOUN
ap-802	46	2	:	:	PUNCT
ap-802	46	3	identification	identification	NOUN
ap-802	46	4	,	,	PUNCT
ap-802	46	5	predictive	predictive	ADJ
ap-802	46	6	control	control	NOUN
ap-802	46	7	,	,	PUNCT
ap-802	46	8	p	p	NOUN
ap-802	46	9	-	-	PUNCT
ap-802	46	10	norm	norm	NOUN
ap-802	46	11	,	,	PUNCT
ap-802	46	12	arx	arx	PROPN
ap-802	46	13	model	model	NOUN
ap-802	46	14	,	,	PUNCT
ap-802	46	15	iteratively	iteratively	ADV
ap-802	46	16	reweighted	reweighte	VERB
ap-802	46	17	least	least	ADJ
ap-802	46	18	squares	square	NOUN
ap-802	46	19	,	,	PUNCT
ap-802	46	20	linear	linear	ADJ
ap-802	46	21	programming	programming	NOUN
ap-802	46	22	.	.	PUNCT
ap-802	47	1	minimization	minimization	NOUN
ap-802	47	2	problem	problem	NOUN
ap-802	47	3	is	be	AUX
ap-802	47	4	convex	convex	ADJ
ap-802	47	5	and	and	CCONJ
ap-802	47	6	the	the	DET
ap-802	47	7	solution	solution	NOUN
ap-802	47	8	is	be	AUX
ap-802	47	9	unique	unique	ADJ
ap-802	47	10	.	.	PUNCT
ap-802	48	1	this	this	DET
ap-802	48	2	problem	problem	NOUN
ap-802	48	3	can	can	AUX
ap-802	48	4	be	be	AUX
ap-802	48	5	solved	solve	VERB
ap-802	48	6	by	by	ADP
ap-802	48	7	an	an	DET
ap-802	48	8	iterative	iterative	NOUN
ap-802	48	9	algorithm	algorithm	NOUN
ap-802	48	10	known	know	VERB
ap-802	48	11	as	as	ADP
ap-802	48	12	iteratively	iteratively	ADV
ap-802	48	13	reweighted	reweighte	VERB
ap-802	48	14	least	least	ADJ
ap-802	48	15	squares	square	NOUN
ap-802	48	16	(	(	PUNCT
ap-802	48	17	irls	irl	NOUN
ap-802	48	18	)	)	PUNCT
ap-802	49	1	[	[	X
ap-802	49	2	10	10	NUM
ap-802	49	3	]	]	PUNCT
ap-802	49	4	.	.	PUNCT
ap-802	50	1	note	note	VERB
ap-802	50	2	that	that	SCONJ
ap-802	50	3	the	the	DET
ap-802	50	4	optimization	optimization	NOUN
ap-802	50	5	problem	problem	NOUN
ap-802	50	6	with	with	ADP
ap-802	50	7	1	1	NUM
ap-802	50	8	-	-	PUNCT
ap-802	50	9	norm	norm	NOUN
ap-802	50	10	or	or	CCONJ
ap-802	50	11	�	�	NOUN
ap-802	50	12	-norm	-norm	NOUN
ap-802	50	13	can	can	AUX
ap-802	50	14	be	be	AUX
ap-802	50	15	solved	solve	VERB
ap-802	50	16	by	by	ADP
ap-802	50	17	linear	linear	PROPN
ap-802	50	18	programming	programming	NOUN
ap-802	50	19	.	.	PUNCT
ap-802	51	1	3.1	3.1	NUM
ap-802	51	2	iteratively	iteratively	ADV
ap-802	51	3	reweighted	reweighte	VERB
ap-802	51	4	least	least	ADJ
ap-802	51	5	squares	square	NOUN
ap-802	51	6	let	let	VERB
ap-802	51	7	us	we	PRON
ap-802	51	8	solve	solve	VERB
ap-802	51	9	the	the	DET
ap-802	51	10	approximation	approximation	NOUN
ap-802	51	11	problem	problem	NOUN
ap-802	51	12	�	�	PROPN
ap-802	51	13	�	�	PROPN
ap-802	51	14	min	min	PROPN
ap-802	51	15	(	(	PUNCT
ap-802	51	16	)	)	PUNCT
ap-802	51	17	x	x	SYM
ap-802	51	18	x	x	X
ap-802	51	19	ax	ax	NOUN
ap-802	51	20	b	b	PROPN
ap-802	51	21	�	�	PROPN
ap-802	51	22	�	�	PROPN
ap-802	51	23	�	�	PROPN
ap-802	51	24	�	�	PROPN
ap-802	51	25	�	�	PROPN
ap-802	51	26	p	p	PROPN
ap-802	51	27	p	p	PROPN
ap-802	51	28	p1	p1	PROPN
ap-802	51	29	2	2	NUM
ap-802	51	30	.	.	PUNCT
ap-802	52	1	(	(	PUNCT
ap-802	52	2	6	6	X
ap-802	52	3	)	)	PUNCT
ap-802	52	4	we	we	PRON
ap-802	52	5	assume	assume	VERB
ap-802	52	6	,	,	PUNCT
ap-802	53	1	that	that	SCONJ
ap-802	53	2	all	all	DET
ap-802	53	3	coordinates	coordinate	NOUN
ap-802	53	4	of	of	ADP
ap-802	53	5	the	the	DET
ap-802	53	6	residuum	residuum	PROPN
ap-802	53	7	�	�	PROPN
ap-802	53	8	(	(	PUNCT
ap-802	53	9	)	)	PUNCT
ap-802	53	10	x	x	SYM
ap-802	53	11	b	b	X
ap-802	53	12	ax	ax	NOUN
ap-802	53	13	�	�	PROPN
ap-802	53	14	�	�	PROPN
ap-802	53	15	are	be	AUX
ap-802	53	16	nonzero	nonzero	ADJ
ap-802	53	17	.	.	PUNCT
ap-802	54	1	then	then	ADV
ap-802	54	2	the	the	DET
ap-802	54	3	function	function	PROPN
ap-802	54	4	�	�	PROPN
ap-802	54	5	(	(	PUNCT
ap-802	54	6	x	x	NOUN
ap-802	54	7	)	)	PUNCT
ap-802	54	8	can	can	AUX
ap-802	54	9	be	be	AUX
ap-802	54	10	defined	define	VERB
ap-802	54	11	as	as	ADP
ap-802	54	12	�	�	PROPN
ap-802	54	13	(	(	PUNCT
ap-802	54	14	)	)	PUNCT
ap-802	54	15	(	(	PUNCT
ap-802	54	16	)	)	PUNCT
ap-802	54	17	(	(	PUNCT
ap-802	54	18	)	)	PUNCT
ap-802	54	19	(	(	PUNCT
ap-802	54	20	)	)	PUNCT
ap-802	54	21	x	x	SYM
ap-802	54	22	x	x	PUNCT
ap-802	54	23	x	x	SYM
ap-802	54	24	x	x	PRON
ap-802	54	25	�	�	PROPN
ap-802	54	26	�	�	PROPN
ap-802	54	27	�	�	PROPN
ap-802	54	28	�	�	PROPN
ap-802	54	29	�	�	PROPN
ap-802	54	30	�	�	PROPN
ap-802	54	31	�	�	PROPN
ap-802	54	32	�	�	PROPN
ap-802	54	33	i	i	PRON
ap-802	54	34	p	p	X
ap-802	55	1	i	i	PRON
ap-802	55	2	m	m	VERB
ap-802	56	1	i	i	PRON
ap-802	56	2	p	p	X
ap-802	57	1	i	i	PRON
ap-802	57	2	i	i	PRON
ap-802	57	3	m	m	VERB
ap-802	57	4	1	1	NUM
ap-802	57	5	2	2	NUM
ap-802	57	6	2	2	NUM
ap-802	57	7	1	1	NUM
ap-802	57	8	�	�	PROPN
ap-802	57	9	�	�	PROPN
ap-802	57	10	.	.	PUNCT
ap-802	58	1	(	(	PUNCT
ap-802	58	2	7	7	X
ap-802	58	3	)	)	PUNCT
ap-802	58	4	the	the	DET
ap-802	58	5	previous	previous	ADJ
ap-802	58	6	problem	problem	NOUN
ap-802	58	7	is	be	AUX
ap-802	58	8	weighted	weight	VERB
ap-802	58	9	least	least	ADJ
ap-802	58	10	squares	square	NOUN
ap-802	58	11	:	:	PUNCT
ap-802	58	12	min	min	NOUN
ap-802	58	13	(	(	PUNCT
ap-802	58	14	)	)	PUNCT
ap-802	58	15	(	(	PUNCT
ap-802	58	16	)	)	PUNCT
ap-802	58	17	,	,	PUNCT
ap-802	58	18	(	(	PUNCT
ap-802	58	19	)	)	PUNCT
ap-802	58	20	(	(	PUNCT
ap-802	58	21	)	)	PUNCT
ap-802	58	22	x	x	PUNCT
ap-802	59	1	d	d	NOUN
ap-802	59	2	b	b	X
ap-802	59	3	ax	ax	NOUN
ap-802	59	4	d	d	PROPN
ap-802	59	5	�	�	PROPN
ap-802	59	6	�	�	PROPN
ap-802	59	7	�	�	PROPN
ap-802	59	8	p	p	PROPN
ap-802	59	9	�	�	PROPN
ap-802	59	10	�	�	PROPN
ap-802	59	11	�	�	PROPN
ap-802	59	12	2	2	NUM
ap-802	59	13	2	2	NUM
ap-802	59	14	2	2	NUM
ap-802	59	15	diag	diag	NOUN
ap-802	59	16	.	.	PUNCT
ap-802	60	1	(	(	PUNCT
ap-802	60	2	8)	8)	NUM
ap-802	60	3	because	because	SCONJ
ap-802	60	4	of	of	ADP
ap-802	60	5	the	the	DET
ap-802	60	6	dependency	dependency	NOUN
ap-802	60	7	of	of	ADP
ap-802	60	8	the	the	DET
ap-802	60	9	diagonal	diagonal	ADJ
ap-802	60	10	weighting	weighting	NOUN
ap-802	60	11	matrix	matrix	NOUN
ap-802	60	12	d	d	X
ap-802	60	13	(	(	PUNCT
ap-802	60	14	�	�	PROPN
ap-802	60	15	)	)	PUNCT
ap-802	60	16	on	on	ADP
ap-802	60	17	the	the	DET
ap-802	60	18	unknown	unknown	ADJ
ap-802	60	19	solution	solution	NOUN
ap-802	60	20	x	x	X
ap-802	60	21	,	,	PUNCT
ap-802	60	22	the	the	DET
ap-802	60	23	problem	problem	NOUN
ap-802	60	24	must	must	AUX
ap-802	60	25	be	be	AUX
ap-802	60	26	solved	solve	VERB
ap-802	60	27	by	by	ADP
ap-802	60	28	an	an	DET
ap-802	60	29	iterative	iterative	NOUN
ap-802	60	30	algorithm	algorithm	NOUN
ap-802	60	31	:	:	PUNCT
ap-802	61	1	1	1	X
ap-802	61	2	.	.	PUNCT
ap-802	61	3	x(0	x(0	PROPN
ap-802	61	4	)	)	PUNCT
ap-802	61	5	is	be	AUX
ap-802	61	6	an	an	DET
ap-802	61	7	initial	initial	ADJ
ap-802	61	8	solution	solution	NOUN
ap-802	61	9	,	,	PUNCT
ap-802	61	10	set	set	VERB
ap-802	61	11	the	the	DET
ap-802	61	12	iteration	iteration	NOUN
ap-802	61	13	counter	counter	NOUN
ap-802	61	14	k	k	PROPN
ap-802	61	15	�	�	PROPN
ap-802	61	16	0	0	NUM
ap-802	61	17	.	.	PROPN
ap-802	61	18	2	2	NUM
ap-802	61	19	.	.	NUM
ap-802	61	20	calculate	calculate	NOUN
ap-802	61	21	�	�	PROPN
ap-802	61	22	(	(	PUNCT
ap-802	61	23	k	k	NOUN
ap-802	61	24	)	)	PUNCT
ap-802	61	25	by	by	ADP
ap-802	61	26	�	�	PROPN
ap-802	61	27	(	(	PUNCT
ap-802	61	28	)	)	PUNCT
ap-802	61	29	(	(	PUNCT
ap-802	61	30	)	)	PUNCT
ap-802	61	31	k	k	X
ap-802	61	32	k	k	PROPN
ap-802	61	33	�	�	PROPN
ap-802	61	34	�	�	PROPN
ap-802	61	35	b	b	PROPN
ap-802	61	36	ax	ax	NOUN
ap-802	61	37	,	,	PUNCT
ap-802	61	38	d	d	X
ap-802	61	39	(	(	PUNCT
ap-802	61	40	)	)	PUNCT
ap-802	61	41	(	(	PUNCT
ap-802	61	42	)	)	PUNCT
ap-802	62	1	k	k	PROPN
ap-802	63	1	k	k	PROPN
ap-802	63	2	p	p	PROPN
ap-802	63	3	�	�	PROPN
ap-802	63	4	�	�	PROPN
ap-802	63	5	�	�	PROPN
ap-802	63	6	�	�	PROPN
ap-802	63	7	�	�	PROPN
ap-802	63	8	�	�	PROPN
ap-802	63	9	�	�	PROPN
ap-802	63	10	�	�	PROPN
ap-802	63	11	�	�	PROPN
ap-802	63	12	�	�	PROPN
ap-802	63	13	diag	diag	PROPN
ap-802	63	14	�	�	PROPN
ap-802	63	15	2	2	NUM
ap-802	63	16	2	2	NUM
ap-802	63	17	.	.	PUNCT
ap-802	64	1	(	(	PUNCT
ap-802	64	2	9	9	NUM
ap-802	64	3	)	)	SYM
ap-802	64	4	3	3	NUM
ap-802	64	5	.	.	X
ap-802	65	1	utilizing	utilize	VERB
ap-802	65	2	the	the	DET
ap-802	65	3	weighted	weight	VERB
ap-802	65	4	ls	ls	ADJ
ap-802	65	5	algorithm	algorithm	NOUN
ap-802	65	6	,	,	PUNCT
ap-802	65	7	�	�	PROPN
ap-802	65	8	x	x	SYM
ap-802	65	9	(	(	PUNCT
ap-802	65	10	)	)	PUNCT
ap-802	65	11	k	k	PROPN
ap-802	65	12	is	be	AUX
ap-802	65	13	obtained	obtain	VERB
ap-802	65	14	by	by	ADP
ap-802	65	15	solving	solve	VERB
ap-802	65	16	�	�	PROPN
ap-802	65	17	�	�	PROPN
ap-802	65	18	�	�	PROPN
ap-802	65	19	�	�	PROPN
ap-802	65	20	x	x	PROPN
ap-802	66	1	d	d	NOUN
ap-802	66	2	a	a	X
ap-802	66	3	x	x	X
ap-802	66	4	x	x	X
ap-802	66	5	(	(	PUNCT
ap-802	66	6	)	)	PUNCT
ap-802	66	7	(	(	PUNCT
ap-802	66	8	)	)	PUNCT
ap-802	66	9	(	(	PUNCT
ap-802	66	10	)	)	PUNCT
ap-802	66	11	arg	arg	NOUN
ap-802	66	12	min	min	NOUN
ap-802	66	13	(	(	PUNCT
ap-802	66	14	)	)	PUNCT
ap-802	66	15	k	k	PROPN
ap-802	66	16	k	k	PROPN
ap-802	66	17	k	k	PROPN
ap-802	66	18	�	�	PROPN
ap-802	66	19	�	�	PROPN
ap-802	66	20	2	2	NUM
ap-802	66	21	.	.	PUNCT
ap-802	67	1	(	(	PUNCT
ap-802	67	2	10	10	NUM
ap-802	67	3	)	)	PUNCT
ap-802	67	4	4	4	NUM
ap-802	67	5	.	.	PUNCT
ap-802	68	1	the	the	DET
ap-802	68	2	next	next	ADJ
ap-802	68	3	iteration	iteration	NOUN
ap-802	68	4	x(k+1	x(k+1	PUNCT
ap-802	68	5	)	)	PUNCT
ap-802	68	6	is	be	AUX
ap-802	68	7	obtained	obtain	VERB
ap-802	68	8	as	as	ADP
ap-802	68	9	x	x	X
ap-802	68	10	x	x	X
ap-802	68	11	x	x	NOUN
ap-802	68	12	(	(	PUNCT
ap-802	68	13	)	)	PUNCT
ap-802	68	14	(	(	PUNCT
ap-802	68	15	)	)	PUNCT
ap-802	68	16	(	(	PUNCT
ap-802	68	17	)	)	PUNCT
ap-802	68	18	k	k	PROPN
ap-802	68	19	k	k	PROPN
ap-802	68	20	k	k	PROPN
ap-802	68	21	�	�	PROPN
ap-802	68	22	�	�	PROPN
ap-802	68	23	�	�	PROPN
ap-802	68	24	1	1	NUM
ap-802	68	25	�	�	PROPN
ap-802	68	26	.	.	PUNCT
ap-802	69	1	(	(	PUNCT
ap-802	69	2	11	11	NUM
ap-802	69	3	)	)	PUNCT
ap-802	69	4	5	5	NUM
ap-802	69	5	.	.	PUNCT
ap-802	70	1	if	if	SCONJ
ap-802	70	2	the	the	DET
ap-802	70	3	convergence	convergence	NOUN
ap-802	70	4	criterion	criterion	NOUN
ap-802	70	5	is	be	AUX
ap-802	70	6	satisfied	satisfied	ADJ
ap-802	70	7	,	,	PUNCT
ap-802	70	8	then	then	ADV
ap-802	70	9	stop	stop	VERB
ap-802	70	10	and	and	CCONJ
ap-802	70	11	x(k+1	x(k+1	NOUN
ap-802	70	12	)	)	PUNCT
ap-802	70	13	is	be	AUX
ap-802	70	14	the	the	DET
ap-802	70	15	solution	solution	NOUN
ap-802	70	16	,	,	PUNCT
ap-802	70	17	else	else	ADV
ap-802	70	18	set	set	VERB
ap-802	70	19	k	k	PROPN
ap-802	70	20	k	k	PROPN
ap-802	70	21	�	�	PROPN
ap-802	70	22	�	�	PROPN
ap-802	70	23	1and	1and	PROPN
ap-802	70	24	go	go	VERB
ap-802	70	25	to	to	ADP
ap-802	70	26	2	2	NUM
ap-802	70	27	.	.	NOUN
ap-802	70	28	3.2	3.2	NUM
ap-802	70	29	minimization	minimization	NOUN
ap-802	70	30	of	of	ADP
ap-802	70	31	1	1	NUM
ap-802	70	32	-	-	PUNCT
ap-802	70	33	norm	norm	NOUN
ap-802	70	34	by	by	ADP
ap-802	70	35	linear	linear	NOUN
ap-802	70	36	programming	programming	NOUN
ap-802	70	37	in	in	ADP
ap-802	70	38	order	order	NOUN
ap-802	70	39	to	to	PART
ap-802	70	40	minimize	minimize	VERB
ap-802	70	41	the	the	DET
ap-802	70	42	norm	norm	NOUN
ap-802	70	43	p	p	PROPN
ap-802	70	44	�	�	PROPN
ap-802	70	45	1	1	NUM
ap-802	70	46	linear	linear	NOUN
ap-802	70	47	programming	programming	NOUN
ap-802	70	48	(	(	PUNCT
ap-802	70	49	lp	lp	NOUN
ap-802	70	50	)	)	PUNCT
ap-802	70	51	can	can	AUX
ap-802	70	52	be	be	AUX
ap-802	70	53	used	use	VERB
ap-802	70	54	.	.	PUNCT
ap-802	71	1	the	the	DET
ap-802	71	2	following	follow	VERB
ap-802	71	3	problems	problem	NOUN
ap-802	71	4	are	be	AUX
ap-802	71	5	equivalent	equivalent	ADJ
ap-802	71	6	min	min	PROPN
ap-802	71	7	min	min	PROPN
ap-802	71	8	{	{	PUNCT
ap-802	71	9	:	:	PUNCT
ap-802	71	10	,	,	PUNCT
ap-802	71	11	}	}	PUNCT
ap-802	71	12	x	x	PUNCT
ap-802	71	13	y	y	NOUN
ap-802	71	14	ax	ax	NOUN
ap-802	71	15	b	b	X
ap-802	71	16	y	y	PROPN
ap-802	71	17	ax	ax	NOUN
ap-802	71	18	b	b	X
ap-802	71	19	y	y	PROPN
ap-802	71	20	ax	ax	PROPN
ap-802	71	21	b	b	PROPN
ap-802	71	22	y	y	PROPN
ap-802	71	23	�	�	PROPN
ap-802	71	24	�	�	PROPN
ap-802	71	25	�	�	PROPN
ap-802	71	26	�	�	PROPN
ap-802	71	27	�	�	PROPN
ap-802	71	28	�	�	PROPN
ap-802	71	29	�	�	PROPN
ap-802	71	30	1	1	NUM
ap-802	71	31	1	1	NUM
ap-802	71	32	t	t	NOUN
ap-802	71	33	.	.	PUNCT
ap-802	72	1	(	(	PUNCT
ap-802	72	2	12	12	X
ap-802	72	3	)	)	PUNCT
ap-802	72	4	introducing	introduce	VERB
ap-802	72	5	the	the	DET
ap-802	72	6	augmented	augment	VERB
ap-802	72	7	vector	vector	NOUN
ap-802	72	8	z	z	NOUN
ap-802	72	9	x	x	SYM
ap-802	72	10	y	y	PROPN
ap-802	72	11	�	�	PROPN
ap-802	72	12	�	�	PROPN
ap-802	72	13	�	�	PROPN
ap-802	72	14	�	�	PROPN
ap-802	72	15	,	,	PUNCT
ap-802	72	16	the	the	DET
ap-802	72	17	standard	standard	ADJ
ap-802	72	18	form	form	NOUN
ap-802	72	19	of	of	ADP
ap-802	72	20	the	the	DET
ap-802	72	21	lp	lp	PROPN
ap-802	72	22	problem	problem	NOUN
ap-802	72	23	is	be	AUX
ap-802	72	24	obtained	obtain	VERB
ap-802	72	25	min	min	NOUN
ap-802	72	26	{	{	PUNCT
ap-802	72	27	:	:	PUNCT
ap-802	72	28	}	}	PUNCT
ap-802	72	29	,	,	PUNCT
ap-802	72	30	z	z	NOUN
ap-802	72	31	c	c	PROPN
ap-802	72	32	z	z	PROPN
ap-802	72	33	az	az	PROPN
ap-802	72	34	bt	bt	PROPN
ap-802	72	35	�	�	PROPN
ap-802	72	36	(	(	PUNCT
ap-802	72	37	13	13	NUM
ap-802	72	38	)	)	PUNCT
ap-802	72	39	ct	ct	PROPN
ap-802	72	40	�	�	PROPN
ap-802	73	1	[	[	PUNCT
ap-802	73	2	]	]	SYM
ap-802	73	3	0	0	NUM
ap-802	73	4	0	0	NUM
ap-802	73	5	1	1	NUM
ap-802	73	6	1	1	NUM
ap-802	73	7	,	,	PUNCT
ap-802	73	8	,	,	PUNCT
ap-802	73	9	,	,	PUNCT
ap-802	73	10	,	,	PUNCT
ap-802	73	11	,	,	PUNCT
ap-802	73	12	�	�	PROPN
ap-802	73	13	�	�	PROPN
ap-802	73	14	,	,	PUNCT
ap-802	73	15	a	a	PRON
ap-802	73	16	a	a	PRON
ap-802	73	17	a	a	DET
ap-802	73	18	b	b	PROPN
ap-802	73	19	b	b	PROPN
ap-802	73	20	b	b	PROPN
ap-802	73	21	�	�	PROPN
ap-802	73	22	�	�	PROPN
ap-802	73	23	�	�	PROPN
ap-802	73	24	�	�	PROPN
ap-802	73	25	�	�	PROPN
ap-802	73	26	�	�	PROPN
ap-802	73	27	�	�	PROPN
ap-802	73	28	�	�	PROPN
ap-802	73	29	�	�	PROPN
ap-802	73	30	�	�	PROPN
ap-802	73	31	�	�	PROPN
ap-802	73	32	�	�	PROPN
ap-802	74	1	i	i	PRON
ap-802	74	2	i	i	PRON
ap-802	74	3	,	,	PUNCT
ap-802	74	4	.	.	PUNCT
ap-802	75	1	the	the	DET
ap-802	75	2	only	only	ADJ
ap-802	75	3	drawback	drawback	NOUN
ap-802	75	4	of	of	ADP
ap-802	75	5	such	such	ADJ
ap-802	75	6	computation	computation	NOUN
ap-802	75	7	is	be	AUX
ap-802	75	8	that	that	SCONJ
ap-802	75	9	the	the	DET
ap-802	75	10	lp	lp	ADJ
ap-802	75	11	problem	problem	NOUN
ap-802	75	12	can	can	AUX
ap-802	75	13	have	have	VERB
ap-802	75	14	more	more	ADJ
ap-802	75	15	than	than	ADP
ap-802	75	16	one	one	NUM
ap-802	75	17	solution	solution	NOUN
ap-802	75	18	.	.	PUNCT
ap-802	76	1	3.3	3.3	NUM
ap-802	76	2	minimization	minimization	NOUN
ap-802	76	3	of	of	ADP
ap-802	76	4	�	�	PROPN
ap-802	76	5	-norm	-norm	NOUN
ap-802	76	6	by	by	ADP
ap-802	76	7	linear	linear	NOUN
ap-802	76	8	programming	programming	NOUN
ap-802	76	9	in	in	ADP
ap-802	76	10	order	order	NOUN
ap-802	76	11	to	to	PART
ap-802	76	12	minimize	minimize	VERB
ap-802	76	13	the	the	DET
ap-802	76	14	norm	norm	NOUN
ap-802	76	15	p	p	PROPN
ap-802	76	16	�	�	PROPN
ap-802	76	17	�	�	PROPN
ap-802	76	18	,	,	PUNCT
ap-802	76	19	linear	linear	ADJ
ap-802	76	20	programming	programming	NOUN
ap-802	76	21	(	(	PUNCT
ap-802	76	22	lp	lp	NOUN
ap-802	76	23	)	)	PUNCT
ap-802	76	24	can	can	AUX
ap-802	76	25	also	also	ADV
ap-802	76	26	be	be	AUX
ap-802	76	27	used	use	VERB
ap-802	76	28	.	.	PUNCT
ap-802	77	1	similarly	similarly	ADV
ap-802	77	2	as	as	ADP
ap-802	77	3	for	for	ADP
ap-802	77	4	1	1	NUM
ap-802	77	5	-	-	PUNCT
ap-802	77	6	norm	norm	NOUN
ap-802	77	7	,	,	PUNCT
ap-802	77	8	the	the	DET
ap-802	77	9	following	follow	VERB
ap-802	77	10	two	two	NUM
ap-802	77	11	problems	problem	NOUN
ap-802	77	12	are	be	AUX
ap-802	77	13	equivalent	equivalent	ADJ
ap-802	77	14	min	min	PROPN
ap-802	77	15	min	min	PROPN
ap-802	77	16	{	{	PUNCT
ap-802	77	17	:	:	PUNCT
ap-802	77	18	,	,	PUNCT
ap-802	77	19	}	}	PUNCT
ap-802	77	20	x	x	PUNCT
ap-802	77	21	ax	ax	NOUN
ap-802	77	22	b	b	PROPN
ap-802	77	23	ax	ax	NOUN
ap-802	77	24	b	b	PROPN
ap-802	77	25	ax	ax	NOUN
ap-802	77	26	b	b	PROPN
ap-802	77	27	�	�	PROPN
ap-802	77	28	�	�	PROPN
ap-802	77	29	�	�	PROPN
ap-802	77	30	�	�	PROPN
ap-802	77	31	�	�	PROPN
ap-802	77	32	�	�	PROPN
ap-802	77	33	�	�	PROPN
ap-802	77	34	�	�	PROPN
ap-802	77	35	y	y	PROPN
ap-802	77	36	y	y	PROPN
ap-802	77	37	y	y	PROPN
ap-802	77	38	y1	y1	PROPN
ap-802	77	39	1	1	NUM
ap-802	77	40	,	,	PUNCT
ap-802	77	41	(	(	PUNCT
ap-802	77	42	14	14	NUM
ap-802	77	43	)	)	PUNCT
ap-802	77	44	where	where	SCONJ
ap-802	77	45	1	1	NUM
ap-802	77	46	�	�	PROPN
ap-802	77	47	[	[	PUNCT
ap-802	77	48	,	,	PUNCT
ap-802	77	49	,	,	PUNCT
ap-802	77	50	,	,	PUNCT
ap-802	77	51	]	]	SYM
ap-802	77	52	1	1	NUM
ap-802	77	53	1	1	NUM
ap-802	77	54	1	1	NUM
ap-802	77	55	�	�	PROPN
ap-802	77	56	t	t	PROPN
ap-802	77	57	is	be	AUX
ap-802	77	58	the	the	DET
ap-802	77	59	unit	unit	NOUN
ap-802	77	60	vector	vector	NOUN
ap-802	77	61	.	.	PUNCT
ap-802	78	1	introducing	introduce	VERB
ap-802	78	2	the	the	DET
ap-802	78	3	augmented	augment	VERB
ap-802	78	4	vector	vector	NOUN
ap-802	78	5	z	z	NOUN
ap-802	78	6	x	x	SYM
ap-802	78	7	y	y	PROPN
ap-802	78	8	�	�	PROPN
ap-802	78	9	�	�	PROPN
ap-802	78	10	�	�	PROPN
ap-802	78	11	�	�	PROPN
ap-802	78	12	,	,	PUNCT
ap-802	78	13	the	the	DET
ap-802	78	14	standard	standard	ADJ
ap-802	78	15	form	form	NOUN
ap-802	78	16	of	of	ADP
ap-802	78	17	the	the	DET
ap-802	78	18	lp	lp	PROPN
ap-802	78	19	problem	problem	NOUN
ap-802	78	20	is	be	AUX
ap-802	78	21	obtained	obtain	VERB
ap-802	78	22	:	:	PUNCT
ap-802	78	23	min	min	ADJ
ap-802	78	24	{	{	PUNCT
ap-802	78	25	:	:	PUNCT
ap-802	78	26	}	}	PUNCT
ap-802	78	27	,	,	PUNCT
ap-802	78	28	z	z	NOUN
ap-802	78	29	c	c	PROPN
ap-802	78	30	z	z	PROPN
ap-802	78	31	az	az	PROPN
ap-802	78	32	bt	bt	PROPN
ap-802	78	33	�	�	PROPN
ap-802	78	34	(	(	PUNCT
ap-802	78	35	15	15	NUM
ap-802	78	36	)	)	PUNCT
ap-802	78	37	where	where	SCONJ
ap-802	78	38	c	c	PROPN
ap-802	78	39	�	�	PROPN
ap-802	78	40	�	�	PROPN
ap-802	78	41	�	�	PROPN
ap-802	78	42	�	�	PROPN
ap-802	78	43	�	�	PROPN
ap-802	78	44	�	�	PROPN
ap-802	78	45	�	�	PROPN
ap-802	78	46	�	�	PROPN
ap-802	78	47	�	�	PROPN
ap-802	78	48	�	�	PROPN
ap-802	78	49	0	0	NUM
ap-802	78	50	0	0	NUM
ap-802	78	51	1	1	NUM
ap-802	78	52	�	�	PROPN
ap-802	78	53	,	,	PUNCT
ap-802	78	54	a	a	DET
ap-802	78	55	a	a	DET
ap-802	78	56	a	a	DET
ap-802	78	57	�	�	PROPN
ap-802	78	58	�	�	PROPN
ap-802	78	59	�	�	PROPN
ap-802	78	60	�	�	PROPN
ap-802	78	61	�	�	PROPN
ap-802	78	62	�	�	PROPN
ap-802	78	63	�	�	PROPN
ap-802	78	64	�	�	PROPN
ap-802	78	65	�	�	PROPN
ap-802	78	66	�	�	PROPN
ap-802	78	67	�	�	PROPN
ap-802	78	68	�	�	PROPN
ap-802	78	69	�	�	PROPN
ap-802	78	70	�	�	PROPN
ap-802	78	71	�	�	PROPN
ap-802	78	72	�	�	PROPN
ap-802	78	73	�	�	PROPN
ap-802	78	74	�	�	PROPN
ap-802	78	75	�	�	PROPN
ap-802	78	76	�	�	PROPN
ap-802	78	77	�	�	PROPN
ap-802	78	78	1	1	NUM
ap-802	78	79	1	1	NUM
ap-802	78	80	1	1	NUM
ap-802	78	81	1	1	NUM
ap-802	78	82	�	�	PROPN
ap-802	78	83	�	�	PROPN
ap-802	78	84	,	,	PUNCT
ap-802	78	85	b	b	PROPN
ap-802	78	86	b	b	PROPN
ap-802	78	87	b	b	PROPN
ap-802	78	88	�	�	PROPN
ap-802	78	89	�	�	PROPN
ap-802	78	90	�	�	PROPN
ap-802	78	91	�	�	PROPN
ap-802	78	92	�	�	PROPN
ap-802	78	93	.	.	PUNCT
ap-802	79	1	4	4	NUM
ap-802	79	2	predictive	predictive	ADJ
ap-802	79	3	control	control	NOUN
ap-802	79	4	strategy	strategy	NOUN
ap-802	79	5	suppose	suppose	VERB
ap-802	79	6	the	the	DET
ap-802	79	7	state	state	NOUN
ap-802	79	8	and	and	CCONJ
ap-802	79	9	output	output	NOUN
ap-802	79	10	development	development	NOUN
ap-802	79	11	model	model	NOUN
ap-802	79	12	is	be	AUX
ap-802	79	13	given	give	VERB
ap-802	79	14	in	in	ADP
ap-802	79	15	the	the	DET
ap-802	79	16	form	form	NOUN
ap-802	79	17	x	x	PUNCT
ap-802	79	18	ax	ax	NOUN
ap-802	80	1	bu	bu	PROPN
ap-802	80	2	v	v	PROPN
ap-802	80	3	y	y	PROPN
ap-802	80	4	cx	cx	PROPN
ap-802	80	5	du	du	PROPN
ap-802	80	6	e	e	X
ap-802	80	7	(	(	PUNCT
ap-802	80	8	)	)	PUNCT
ap-802	80	9	(	(	PUNCT
ap-802	80	10	)	)	PUNCT
ap-802	80	11	(	(	PUNCT
ap-802	80	12	)	)	PUNCT
ap-802	80	13	(	(	PUNCT
ap-802	80	14	)	)	PUNCT
ap-802	80	15	,	,	PUNCT
ap-802	80	16	(	(	PUNCT
ap-802	80	17	)	)	PUNCT
ap-802	80	18	(	(	PUNCT
ap-802	80	19	)	)	PUNCT
ap-802	80	20	(	(	PUNCT
ap-802	80	21	)	)	PUNCT
ap-802	80	22	(	(	PUNCT
ap-802	80	23	)	)	PUNCT
ap-802	80	24	.	.	PUNCT
ap-802	81	1	t	t	PROPN
ap-802	81	2	t	t	PROPN
ap-802	81	3	t	t	PROPN
ap-802	81	4	t	t	PROPN
ap-802	81	5	t	t	PROPN
ap-802	81	6	t	t	PROPN
ap-802	81	7	t	t	PROPN
ap-802	81	8	t	t	PROPN
ap-802	81	9	�	�	PROPN
ap-802	81	10	�	�	PROPN
ap-802	81	11	�	�	PROPN
ap-802	81	12	�	�	PROPN
ap-802	81	13	�	�	PROPN
ap-802	81	14	�	�	PROPN
ap-802	81	15	�	�	PROPN
ap-802	81	16	1	1	NUM
ap-802	81	17	(	(	PUNCT
ap-802	81	18	16	16	NUM
ap-802	81	19	)	)	PUNCT
ap-802	81	20	where	where	SCONJ
ap-802	81	21	x(t	x(t	PROPN
ap-802	81	22	)	)	PUNCT
ap-802	81	23	,	,	PUNCT
ap-802	81	24	y(t	y(t	NUM
ap-802	81	25	)	)	PUNCT
ap-802	81	26	and	and	CCONJ
ap-802	81	27	u(t	u(t	NOUN
ap-802	81	28	)	)	PUNCT
ap-802	81	29	are	be	AUX
ap-802	81	30	the	the	DET
ap-802	81	31	state	state	NOUN
ap-802	81	32	,	,	PUNCT
ap-802	81	33	output	output	NOUN
ap-802	81	34	and	and	CCONJ
ap-802	81	35	input	input	NOUN
ap-802	81	36	of	of	ADP
ap-802	81	37	the	the	DET
ap-802	81	38	system	system	NOUN
ap-802	81	39	and	and	CCONJ
ap-802	81	40	a	a	DET
ap-802	81	41	,	,	PUNCT
ap-802	81	42	b	b	NOUN
ap-802	81	43	,	,	PUNCT
ap-802	81	44	c	c	PROPN
ap-802	81	45	and	and	CCONJ
ap-802	81	46	d	d	PROPN
ap-802	81	47	are	be	AUX
ap-802	81	48	matrices	matrix	NOUN
ap-802	81	49	of	of	ADP
ap-802	81	50	appropriate	appropriate	ADJ
ap-802	81	51	dimensions	dimension	NOUN
ap-802	81	52	,	,	PUNCT
ap-802	81	53	v(t	v(t	NOUN
ap-802	81	54	)	)	PUNCT
ap-802	81	55	and	and	CCONJ
ap-802	81	56	e(t	e(t	NOUN
ap-802	81	57	)	)	PUNCT
ap-802	81	58	are	be	AUX
ap-802	81	59	state	state	NOUN
ap-802	81	60	and	and	CCONJ
ap-802	81	61	measurement	measurement	NOUN
ap-802	81	62	noises	noise	NOUN
ap-802	81	63	respectively	respectively	ADV
ap-802	81	64	with	with	ADP
ap-802	81	65	zero	zero	NUM
ap-802	81	66	means	mean	NOUN
ap-802	81	67	and	and	CCONJ
ap-802	81	68	covariances	covariance	NOUN
ap-802	81	69	rv	rv	PROPN
ap-802	81	70	and	and	CCONJ
ap-802	81	71	re	re	PROPN
ap-802	81	72	,	,	PUNCT
ap-802	81	73	independent	independent	ADJ
ap-802	81	74	of	of	ADP
ap-802	81	75	the	the	DET
ap-802	81	76	state	state	NOUN
ap-802	81	77	and	and	CCONJ
ap-802	81	78	input	input	NOUN
ap-802	81	79	of	of	ADP
ap-802	81	80	the	the	DET
ap-802	81	81	process	process	NOUN
ap-802	81	82	.	.	PUNCT
ap-802	82	1	for	for	ADP
ap-802	82	2	the	the	DET
ap-802	82	3	optimal	optimal	ADJ
ap-802	82	4	predictive	predictive	ADJ
ap-802	82	5	strategy	strategy	NOUN
ap-802	82	6	the	the	DET
ap-802	82	7	quality	quality	NOUN
ap-802	82	8	criterion	criterion	NOUN
ap-802	82	9	is	be	AUX
ap-802	82	10	usually	usually	ADV
ap-802	82	11	given	give	VERB
ap-802	82	12	in	in	ADP
ap-802	82	13	the	the	DET
ap-802	82	14	quadratic	quadratic	ADJ
ap-802	82	15	form	form	NOUN
ap-802	82	16	�	�	PROPN
ap-802	82	17	�	�	PROPN
ap-802	82	18	�	�	PROPN
ap-802	82	19	�	�	PROPN
ap-802	82	20	j	j	PROPN
ap-802	82	21	y	y	PROPN
ap-802	82	22	t	t	PROPN
ap-802	82	23	w	w	PROPN
ap-802	82	24	t	t	PROPN
ap-802	82	25	r	r	NOUN
ap-802	82	26	u	u	NOUN
ap-802	82	27	t	t	PROPN
ap-802	82	28	t	t	PROPN
ap-802	82	29	k	k	PROPN
ap-802	82	30	�	�	PROPN
ap-802	82	31	�	�	PROPN
ap-802	82	32	�	�	PROPN
ap-802	82	33	�	�	PROPN
ap-802	82	34	!	!	PUNCT
ap-802	83	1	"	"	PUNCT
ap-802	83	2	!	!	PUNCT
ap-802	84	1	#	#	NOUN
ap-802	84	2	$	$	PROPN
ap-802	84	3	!	!	PUNCT
ap-802	85	1	%	%	INTJ
ap-802	85	2	!	!	PUNCT
ap-802	85	3	�	�	PROPN
ap-802	85	4	�	�	PROPN
ap-802	85	5	�	�	PROPN
ap-802	85	6	(	(	PUNCT
ap-802	85	7	)	)	PUNCT
ap-802	85	8	(	(	PUNCT
ap-802	85	9	)	)	PUNCT
ap-802	85	10	(	(	PUNCT
ap-802	85	11	)	)	PUNCT
ap-802	85	12	(	(	PUNCT
ap-802	85	13	)	)	SYM
ap-802	85	14	2	2	NUM
ap-802	85	15	2	2	NUM
ap-802	85	16	1	1	NUM
ap-802	85	17	1x	1x	NUM
ap-802	85	18	,	,	PUNCT
ap-802	85	19	(	(	PUNCT
ap-802	85	20	17	17	NUM
ap-802	85	21	)	)	PUNCT
ap-802	85	22	where	where	SCONJ
ap-802	85	23	k	k	PROPN
ap-802	85	24	is	be	AUX
ap-802	85	25	the	the	DET
ap-802	85	26	horizon	horizon	NOUN
ap-802	85	27	of	of	ADP
ap-802	85	28	the	the	DET
ap-802	85	29	predictive	predictive	ADJ
ap-802	85	30	control	control	NOUN
ap-802	85	31	strategy	strategy	NOUN
ap-802	85	32	,	,	PUNCT
ap-802	85	33	w(t	w(t	PROPN
ap-802	85	34	)	)	PUNCT
ap-802	85	35	is	be	AUX
ap-802	85	36	the	the	DET
ap-802	85	37	reference	reference	NOUN
ap-802	85	38	and	and	CCONJ
ap-802	85	39	r	r	NOUN
ap-802	85	40	is	be	AUX
ap-802	85	41	the	the	DET
ap-802	85	42	weighting	weighting	NOUN
ap-802	85	43	coefficient	coefficient	NOUN
ap-802	85	44	.	.	PUNCT
ap-802	86	1	let	let	VERB
ap-802	86	2	us	we	PRON
ap-802	86	3	introduce	introduce	VERB
ap-802	86	4	the	the	DET
ap-802	86	5	augmented	augment	VERB
ap-802	86	6	vectors	vector	NOUN
ap-802	86	7	�	�	PROPN
ap-802	86	8	�	�	PROPN
ap-802	86	9	y	y	PROPN
ap-802	86	10	�	�	PROPN
ap-802	86	11	y	y	PROPN
ap-802	86	12	y	y	PROPN
ap-802	86	13	k	k	PROPN
ap-802	86	14	t	t	PROPN
ap-802	86	15	(	(	PUNCT
ap-802	86	16	)	)	PUNCT
ap-802	86	17	,	,	PUNCT
ap-802	86	18	,	,	PUNCT
ap-802	86	19	(	(	PUNCT
ap-802	86	20	)	)	SYM
ap-802	86	21	1	1	NUM
ap-802	86	22	�	�	PROPN
ap-802	86	23	,	,	PUNCT
ap-802	86	24	�	�	PROPN
ap-802	86	25	�	�	PROPN
ap-802	86	26	w	w	PROPN
ap-802	86	27	�	�	PROPN
ap-802	86	28	w	w	PROPN
ap-802	86	29	w	w	PROPN
ap-802	86	30	k	k	PROPN
ap-802	86	31	t	t	PROPN
ap-802	86	32	(	(	PUNCT
ap-802	86	33	)	)	PUNCT
ap-802	86	34	,	,	PUNCT
ap-802	86	35	,	,	PUNCT
ap-802	86	36	(	(	PUNCT
ap-802	86	37	)	)	SYM
ap-802	86	38	1	1	NUM
ap-802	86	39	�	�	PROPN
ap-802	86	40	,	,	PUNCT
ap-802	86	41	�	�	PROPN
ap-802	86	42	�	�	PROPN
ap-802	86	43	u	u	NOUN
ap-802	86	44	�	�	PROPN
ap-802	86	45	u	u	PROPN
ap-802	86	46	u	u	PROPN
ap-802	86	47	k	k	PROPN
ap-802	86	48	t	t	PROPN
ap-802	86	49	(	(	PUNCT
ap-802	86	50	)	)	PUNCT
ap-802	86	51	,	,	PUNCT
ap-802	86	52	,	,	PUNCT
ap-802	86	53	(	(	PUNCT
ap-802	86	54	)	)	SYM
ap-802	86	55	1	1	NUM
ap-802	86	56	�	�	PROPN
ap-802	86	57	,	,	PUNCT
ap-802	86	58	�	�	PROPN
ap-802	86	59	�	�	PROPN
ap-802	86	60	v	v	NOUN
ap-802	86	61	�	�	PROPN
ap-802	86	62	v	v	ADP
ap-802	86	63	v	v	PROPN
ap-802	86	64	k	k	PROPN
ap-802	86	65	t	t	PROPN
ap-802	86	66	(	(	PUNCT
ap-802	86	67	)	)	PUNCT
ap-802	86	68	,	,	PUNCT
ap-802	86	69	,	,	PUNCT
ap-802	86	70	(	(	PUNCT
ap-802	86	71	)	)	SYM
ap-802	86	72	1	1	NUM
ap-802	86	73	�	�	PROPN
ap-802	86	74	,	,	PUNCT
ap-802	86	75	�	�	PROPN
ap-802	86	76	�	�	PROPN
ap-802	86	77	e	e	NOUN
ap-802	86	78	�	�	PROPN
ap-802	86	79	e	e	PROPN
ap-802	86	80	e	e	PROPN
ap-802	86	81	k	k	PROPN
ap-802	86	82	t	t	PROPN
ap-802	86	83	(	(	PUNCT
ap-802	86	84	)	)	PUNCT
ap-802	86	85	,	,	PUNCT
ap-802	86	86	,	,	PUNCT
ap-802	86	87	(	(	PUNCT
ap-802	86	88	)	)	SYM
ap-802	86	89	1	1	NUM
ap-802	86	90	�	�	PROPN
ap-802	86	91	and	and	CCONJ
ap-802	86	92	augmented	augment	VERB
ap-802	86	93	matrices	matrix	NOUN
ap-802	86	94	,	,	PUNCT
ap-802	86	95	�	�	PROPN
ap-802	86	96	�	�	PROPN
ap-802	86	97	p	p	PROPN
ap-802	86	98	c	c	PROPN
ap-802	86	99	a	a	DET
ap-802	86	100	c	c	NOUN
ap-802	86	101	a	a	DET
ap-802	86	102	c	c	PROPN
ap-802	86	103	�	�	PROPN
ap-802	86	104	�	�	PROPN
ap-802	86	105	t	t	PROPN
ap-802	86	106	t	t	PROPN
ap-802	86	107	t	t	PROPN
ap-802	86	108	t	t	PROPN
ap-802	86	109	k	k	PROPN
ap-802	86	110	t	t	PROPN
ap-802	86	111	t	t	PROPN
ap-802	86	112	,	,	PUNCT
ap-802	86	113	,	,	PUNCT
ap-802	86	114	,	,	PUNCT
ap-802	86	115	(	(	PUNCT
ap-802	86	116	)	)	PUNCT
ap-802	86	117	�	�	PROPN
ap-802	86	118	1	1	NUM
ap-802	86	119	,	,	PUNCT
ap-802	86	120	s	s	X
ap-802	86	121	d	d	X
ap-802	86	122	cb	cb	PROPN
ap-802	86	123	d	d	PROPN
ap-802	86	124	ca	can	AUX
ap-802	86	125	ca	ca	PROPN
ap-802	86	126	d	d	PROPN
ap-802	86	127	�	�	PROPN
ap-802	86	128	�	�	PROPN
ap-802	86	129	�	�	PROPN
ap-802	86	130	�	�	PROPN
ap-802	86	131	�	�	PROPN
ap-802	86	132	�	�	PROPN
ap-802	86	133	�	�	PROPN
ap-802	86	134	�	�	PROPN
ap-802	86	135	�	�	PROPN
ap-802	86	136	�	�	PROPN
ap-802	86	137	�	�	PROPN
ap-802	86	138	�	�	PROPN
ap-802	86	139	0	0	NUM
ap-802	86	140	0	0	SYM
ap-802	86	141	0	0	NUM
ap-802	86	142	�	�	PROPN
ap-802	86	143	�	�	PROPN
ap-802	86	144	�	�	PROPN
ap-802	86	145	�	�	PROPN
ap-802	86	146	�	�	PROPN
ap-802	86	147	�	�	PROPN
ap-802	86	148	�	�	PROPN
ap-802	86	149	k	k	PROPN
ap-802	86	150	k2	k2	PROPN
ap-802	86	151	3	3	NUM
ap-802	86	152	,	,	PUNCT
ap-802	86	153	q	q	PROPN
ap-802	87	1	c	c	NOUN
ap-802	88	1	ca	can	AUX
ap-802	88	2	ca	can	AUX
ap-802	88	3	�	�	PROPN
ap-802	88	4	�	�	PROPN
ap-802	88	5	�	�	PROPN
ap-802	88	6	�	�	PROPN
ap-802	88	7	�	�	PROPN
ap-802	88	8	�	�	PROPN
ap-802	88	9	�	�	PROPN
ap-802	88	10	�	�	PROPN
ap-802	88	11	�	�	PROPN
ap-802	88	12	�	�	PROPN
ap-802	88	13	�	�	PROPN
ap-802	88	14	�	�	PROPN
ap-802	88	15	0	0	NUM
ap-802	88	16	0	0	NUM
ap-802	88	17	0	0	NUM
ap-802	88	18	0	0	NUM
ap-802	88	19	0	0	SYM
ap-802	88	20	0	0	NUM
ap-802	88	21	�	�	PROPN
ap-802	88	22	�	�	PROPN
ap-802	88	23	�	�	PROPN
ap-802	88	24	�	�	PROPN
ap-802	88	25	�	�	PROPN
ap-802	88	26	�	�	PROPN
ap-802	88	27	�	�	PROPN
ap-802	88	28	k	k	PROPN
ap-802	88	29	k2	k2	PROPN
ap-802	88	30	3	3	NUM
ap-802	88	31	.	.	PUNCT
ap-802	89	1	then	then	ADV
ap-802	89	2	the	the	DET
ap-802	89	3	criterion	criterion	NOUN
ap-802	89	4	with	with	ADP
ap-802	89	5	the	the	DET
ap-802	89	6	quadratic	quadratic	ADJ
ap-802	89	7	cost	cost	NOUN
ap-802	89	8	function	function	NOUN
ap-802	89	9	can	can	AUX
ap-802	89	10	be	be	AUX
ap-802	89	11	written	write	VERB
ap-802	89	12	in	in	ADP
ap-802	89	13	the	the	DET
ap-802	89	14	form	form	NOUN
ap-802	89	15	�	�	PROPN
ap-802	89	16	�	�	PROPN
ap-802	89	17	j	j	PROPN
ap-802	89	18	rt	rt	PROPN
ap-802	89	19	t	t	PROPN
ap-802	89	20	�	�	PROPN
ap-802	89	21	�	�	PROPN
ap-802	89	22	�	�	PROPN
ap-802	89	23	�	�	PROPN
ap-802	89	24	�	�	PROPN
ap-802	89	25	(	(	PUNCT
ap-802	89	26	)	)	PUNCT
ap-802	89	27	(	(	PUNCT
ap-802	89	28	)	)	PUNCT
ap-802	89	29	(	(	PUNCT
ap-802	89	30	)	)	PUNCT
ap-802	90	1	y	y	PROPN
ap-802	90	2	w	w	PROPN
ap-802	90	3	y	y	PROPN
ap-802	90	4	w	w	PROPN
ap-802	90	5	u	u	PROPN
ap-802	90	6	u	u	NOUN
ap-802	90	7	x	x	PROPN
ap-802	90	8	1	1	NUM
ap-802	90	9	,	,	PUNCT
ap-802	90	10	(	(	PUNCT
ap-802	90	11	18	18	NUM
ap-802	90	12	)	)	PUNCT
ap-802	90	13	where	where	SCONJ
ap-802	90	14	the	the	DET
ap-802	90	15	augmented	augment	VERB
ap-802	90	16	vector	vector	NOUN
ap-802	90	17	y	y	PROPN
ap-802	90	18	�	�	PROPN
ap-802	90	19	px(1)	px(1)	NOUN
ap-802	90	20	�	�	PROPN
ap-802	90	21	su	su	PROPN
ap-802	90	22	�	�	PROPN
ap-802	90	23	qv	qv	PROPN
ap-802	90	24	�	�	PROPN
ap-802	90	25	e.	e.	PROPN
ap-802	90	26	the	the	DET
ap-802	90	27	criterion	criterion	NOUN
ap-802	90	28	can	can	AUX
ap-802	90	29	be	be	AUX
ap-802	90	30	minimized	minimize	VERB
ap-802	90	31	by	by	ADP
ap-802	90	32	completing	complete	VERB
ap-802	90	33	the	the	DET
ap-802	90	34	squares	square	NOUN
ap-802	90	35	if	if	SCONJ
ap-802	90	36	the	the	DET
ap-802	90	37	34	34	NUM
ap-802	90	38	©	©	PROPN
ap-802	90	39	czech	czech	PROPN
ap-802	90	40	technical	technical	PROPN
ap-802	90	41	university	university	PROPN
ap-802	90	42	publishing	publishing	NOUN
ap-802	90	43	house	house	NOUN
ap-802	90	44	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	90	45	acta	acta	PROPN
ap-802	90	46	polytechnica	polytechnica	PROPN
ap-802	90	47	vol	vol	NOUN
ap-802	90	48	.	.	PUNCT
ap-802	91	1	46	46	NUM
ap-802	91	2	no	no	INTJ
ap-802	91	3	.	.	PUNCT
ap-802	92	1	1/2006	1/2006	NUM
ap-802	92	2	czech	czech	PROPN
ap-802	92	3	technical	technical	PROPN
ap-802	92	4	university	university	PROPN
ap-802	92	5	in	in	ADP
ap-802	92	6	prague	prague	PROPN
ap-802	92	7	constraints	constraint	NOUN
ap-802	92	8	are	be	AUX
ap-802	92	9	not	not	PART
ap-802	92	10	considered	consider	VERB
ap-802	92	11	.	.	PUNCT
ap-802	93	1	after	after	ADP
ap-802	93	2	simple	simple	ADJ
ap-802	93	3	manipulation	manipulation	NOUN
ap-802	93	4	the	the	DET
ap-802	93	5	optimal	optimal	ADJ
ap-802	93	6	control	control	NOUN
ap-802	93	7	results	result	VERB
ap-802	93	8	�	�	PROPN
ap-802	93	9	�	�	PROPN
ap-802	93	10	u	u	NOUN
ap-802	93	11	s	s	NOUN
ap-802	93	12	s	s	X
ap-802	93	13	i	i	NOUN
ap-802	93	14	s	s	VERB
ap-802	93	15	px	px	PROPN
ap-802	93	16	w	w	PROPN
ap-802	93	17	*	*	PROPN
ap-802	93	18	(	(	PUNCT
ap-802	93	19	)	)	PUNCT
ap-802	93	20	(	(	PUNCT
ap-802	93	21	)	)	PUNCT
ap-802	93	22	�	�	PROPN
ap-802	93	23	�	�	PROPN
ap-802	93	24	�	�	PROPN
ap-802	93	25	�	�	PROPN
ap-802	93	26	�	�	PROPN
ap-802	93	27	t	t	PROPN
ap-802	93	28	tr	tr	VERB
ap-802	93	29	1	1	NUM
ap-802	93	30	1	1	NUM
ap-802	93	31	(	(	PUNCT
ap-802	93	32	19	19	NUM
ap-802	93	33	)	)	PUNCT
ap-802	93	34	the	the	DET
ap-802	93	35	state	state	NOUN
ap-802	93	36	and	and	CCONJ
ap-802	93	37	output	output	NOUN
ap-802	93	38	noises	noise	NOUN
ap-802	93	39	only	only	ADV
ap-802	93	40	enlarge	enlarge	VERB
ap-802	93	41	the	the	DET
ap-802	93	42	optimal	optimal	ADJ
ap-802	93	43	value	value	NOUN
ap-802	93	44	of	of	ADP
ap-802	93	45	the	the	DET
ap-802	93	46	criterion	criterion	NOUN
ap-802	93	47	.	.	PUNCT
ap-802	94	1	often	often	ADV
ap-802	94	2	only	only	ADV
ap-802	94	3	differences	difference	NOUN
ap-802	94	4	of	of	ADP
ap-802	94	5	input	input	NOUN
ap-802	94	6	signal	signal	NOUN
ap-802	94	7	are	be	AUX
ap-802	94	8	considered	consider	VERB
ap-802	94	9	.	.	PUNCT
ap-802	95	1	the	the	DET
ap-802	95	2	criterion	criterion	NOUN
ap-802	95	3	then	then	ADV
ap-802	95	4	has	have	VERB
ap-802	95	5	the	the	DET
ap-802	95	6	form	form	NOUN
ap-802	95	7	�	�	PROPN
ap-802	95	8	�	�	PROPN
ap-802	95	9	�	�	PROPN
ap-802	95	10	�	�	PROPN
ap-802	95	11	j	j	PROPN
ap-802	95	12	y	y	PROPN
ap-802	95	13	t	t	PROPN
ap-802	95	14	w	w	PROPN
ap-802	95	15	t	t	PROPN
ap-802	95	16	r	r	NOUN
ap-802	95	17	u	u	NOUN
ap-802	95	18	t	t	PROPN
ap-802	95	19	t	t	PROPN
ap-802	95	20	k	k	PROPN
ap-802	95	21	�	�	PROPN
ap-802	95	22	�	�	PROPN
ap-802	95	23	�	�	PROPN
ap-802	95	24	�	�	PROPN
ap-802	95	25	!	!	PUNCT
ap-802	96	1	"	"	PUNCT
ap-802	96	2	!	!	PUNCT
ap-802	97	1	#	#	NOUN
ap-802	97	2	$	$	PROPN
ap-802	97	3	!	!	PUNCT
ap-802	98	1	%	%	INTJ
ap-802	98	2	!	!	PUNCT
ap-802	98	3	�	�	PROPN
ap-802	98	4	�	�	PROPN
ap-802	98	5	�	�	PROPN
ap-802	98	6	(	(	PUNCT
ap-802	98	7	)	)	PUNCT
ap-802	98	8	(	(	PUNCT
ap-802	98	9	)	)	PUNCT
ap-802	98	10	(	(	PUNCT
ap-802	98	11	)	)	PUNCT
ap-802	98	12	(	(	PUNCT
ap-802	98	13	)	)	SYM
ap-802	98	14	2	2	NUM
ap-802	98	15	2	2	NUM
ap-802	98	16	1	1	NUM
ap-802	98	17	1	1	NUM
ap-802	98	18	�	�	PROPN
ap-802	98	19	x	x	SYM
ap-802	98	20	,	,	PUNCT
ap-802	98	21	(	(	PUNCT
ap-802	98	22	20	20	NUM
ap-802	98	23	)	)	PUNCT
ap-802	98	24	where	where	SCONJ
ap-802	98	25	&	&	CCONJ
ap-802	98	26	u(t	u(t	NOUN
ap-802	98	27	)	)	PUNCT
ap-802	98	28	�	�	PROPN
ap-802	98	29	u(t)	u(t)	PROPN
ap-802	98	30	�	�	PROPN
ap-802	98	31	u(t	u(t	NOUN
ap-802	98	32	�	�	NOUN
ap-802	98	33	1	1	NUM
ap-802	98	34	)	)	PUNCT
ap-802	98	35	.	.	PUNCT
ap-802	99	1	in	in	ADP
ap-802	99	2	such	such	DET
ap-802	99	3	a	a	DET
ap-802	99	4	case	case	NOUN
ap-802	99	5	,	,	PUNCT
ap-802	99	6	the	the	DET
ap-802	99	7	optimal	optimal	ADJ
ap-802	99	8	predictive	predictive	ADJ
ap-802	99	9	control	control	NOUN
ap-802	99	10	strategy	strategy	NOUN
ap-802	99	11	is	be	AUX
ap-802	99	12	�	�	PROPN
ap-802	99	13	�	�	PROPN
ap-802	99	14	�	�	PROPN
ap-802	99	15	�	�	PROPN
ap-802	99	16	u	u	NOUN
ap-802	99	17	s	s	PROPN
ap-802	99	18	s	s	NOUN
ap-802	99	19	r	r	NOUN
ap-802	99	20	r	r	NOUN
ap-802	99	21	s	s	X
ap-802	99	22	px	px	NOUN
ap-802	99	23	w	w	PROPN
ap-802	99	24	r	r	NOUN
ap-802	99	25	u	u	PROPN
ap-802	99	26	*	*	PUNCT
ap-802	99	27	(	(	PUNCT
ap-802	99	28	)	)	PUNCT
ap-802	99	29	(	(	PUNCT
ap-802	99	30	)	)	PUNCT
ap-802	99	31	(	(	PUNCT
ap-802	99	32	)	)	PUNCT
ap-802	99	33	�	�	PROPN
ap-802	99	34	�	�	PROPN
ap-802	99	35	�	�	PROPN
ap-802	99	36	�	�	PROPN
ap-802	99	37	�	�	PROPN
ap-802	99	38	�	�	PROPN
ap-802	99	39	t	t	PROPN
ap-802	99	40	t	t	PROPN
ap-802	99	41	t	t	PROPN
ap-802	99	42	tr	tr	PROPN
ap-802	99	43	r1	r1	PROPN
ap-802	99	44	1	1	NUM
ap-802	99	45	0	0	NUM
ap-802	99	46	,	,	PUNCT
ap-802	99	47	(	(	PUNCT
ap-802	99	48	21	21	NUM
ap-802	99	49	)	)	PUNCT
ap-802	99	50	where	where	SCONJ
ap-802	99	51	�	�	PROPN
ap-802	99	52	�	�	PROPN
ap-802	99	53	u	u	PROPN
ap-802	99	54	(	(	PUNCT
ap-802	99	55	)	)	PUNCT
ap-802	99	56	(	(	PUNCT
ap-802	99	57	)	)	PUNCT
ap-802	99	58	,	,	PUNCT
ap-802	99	59	,	,	PUNCT
ap-802	99	60	,	,	PUNCT
ap-802	99	61	0	0	NUM
ap-802	99	62	0	0	NUM
ap-802	99	63	0	0	NUM
ap-802	99	64	0	0	NUM
ap-802	99	65	�	�	PROPN
ap-802	99	66	u	u	PROPN
ap-802	99	67	t	t	PROPN
ap-802	99	68	�	�	PROPN
ap-802	99	69	and	and	CCONJ
ap-802	99	70	matrix	matrix	NOUN
ap-802	99	71	r	r	NOUN
ap-802	99	72	equals	equal	VERB
ap-802	99	73	r	r	PROPN
ap-802	99	74	�	�	PROPN
ap-802	99	75	�	�	PROPN
ap-802	99	76	�	�	PROPN
ap-802	99	77	�	�	PROPN
ap-802	99	78	�	�	PROPN
ap-802	99	79	�	�	PROPN
ap-802	99	80	�	�	PROPN
ap-802	99	81	�	�	PROPN
ap-802	99	82	�	�	PROPN
ap-802	99	83	�	�	PROPN
ap-802	99	84	�	�	PROPN
ap-802	99	85	�	�	PROPN
ap-802	99	86	�	�	PROPN
ap-802	99	87	�	�	PROPN
ap-802	99	88	�	�	PROPN
ap-802	99	89	�	�	PROPN
ap-802	100	1	1	1	NUM
ap-802	100	2	0	0	NUM
ap-802	100	3	0	0	NUM
ap-802	100	4	0	0	NUM
ap-802	100	5	1	1	NUM
ap-802	100	6	1	1	NUM
ap-802	100	7	0	0	NUM
ap-802	100	8	0	0	NUM
ap-802	100	9	0	0	NUM
ap-802	100	10	0	0	NUM
ap-802	100	11	1	1	NUM
ap-802	100	12	0	0	NUM
ap-802	100	13	0	0	NUM
ap-802	100	14	0	0	NUM
ap-802	100	15	1	1	NUM
ap-802	100	16	1	1	NUM
ap-802	100	17	�	�	PROPN
ap-802	100	18	�	�	PROPN
ap-802	100	19	�	�	PROPN
ap-802	100	20	�	�	PROPN
ap-802	100	21	�	�	PROPN
ap-802	100	22	.	.	PUNCT
ap-802	101	1	this	this	DET
ap-802	101	2	way	way	NOUN
ap-802	101	3	achives	achive	VERB
ap-802	101	4	integral	integral	ADJ
ap-802	101	5	action	action	NOUN
ap-802	101	6	of	of	ADP
ap-802	101	7	control	control	NOUN
ap-802	101	8	.	.	PUNCT
ap-802	102	1	also	also	ADV
ap-802	102	2	for	for	ADP
ap-802	102	3	predictive	predictive	ADJ
ap-802	102	4	control	control	NOUN
ap-802	102	5	a	a	DET
ap-802	102	6	different	different	ADJ
ap-802	102	7	norm	norm	NOUN
ap-802	102	8	minimization	minimization	NOUN
ap-802	102	9	of	of	ADP
ap-802	102	10	the	the	DET
ap-802	102	11	quality	quality	NOUN
ap-802	102	12	criterion	criterion	NOUN
ap-802	102	13	can	can	AUX
ap-802	102	14	be	be	AUX
ap-802	102	15	used	use	VERB
ap-802	102	16	j	j	PROPN
ap-802	103	1	y	y	PROPN
ap-802	104	1	i	i	INTJ
ap-802	105	1	w	w	VERB
ap-802	106	1	i	i	VERB
ap-802	106	2	r	r	NOUN
ap-802	106	3	u	u	NOUN
ap-802	106	4	ip	ip	NOUN
ap-802	106	5	p	p	NOUN
ap-802	106	6	p	p	PROPN
ap-802	106	7	p	p	PROPN
ap-802	106	8	k	k	PROPN
ap-802	106	9	k	k	PROPN
ap-802	106	10	�	�	PROPN
ap-802	106	11	�	�	PROPN
ap-802	106	12	�	�	PROPN
ap-802	106	13	�	�	PROPN
ap-802	106	14	�	�	PROPN
ap-802	106	15	�	�	PROPN
ap-802	106	16	(	(	PUNCT
ap-802	106	17	)	)	PUNCT
ap-802	106	18	(	(	PUNCT
ap-802	106	19	)	)	PUNCT
ap-802	106	20	(	(	PUNCT
ap-802	106	21	)	)	PUNCT
ap-802	106	22	�	�	PROPN
ap-802	106	23	�	�	PROPN
ap-802	106	24	1	1	NUM
ap-802	106	25	(	(	PUNCT
ap-802	106	26	22	22	NUM
ap-802	106	27	)	)	PUNCT
ap-802	106	28	according	accord	VERB
ap-802	106	29	to	to	ADP
ap-802	106	30	weighting	weight	VERB
ap-802	106	31	coefficient	coefficient	NOUN
ap-802	106	32	r	r	NOUN
ap-802	106	33	,	,	PUNCT
ap-802	106	34	the	the	DET
ap-802	106	35	quadratic	quadratic	ADJ
ap-802	106	36	norm	norm	NOUN
ap-802	106	37	suppresses	suppress	VERB
ap-802	106	38	large	large	ADJ
ap-802	106	39	control	control	NOUN
ap-802	106	40	errors	error	NOUN
ap-802	106	41	and	and	CCONJ
ap-802	106	42	large	large	ADJ
ap-802	106	43	input	input	NOUN
ap-802	106	44	signals	signal	NOUN
ap-802	106	45	.	.	PUNCT
ap-802	107	1	if	if	SCONJ
ap-802	107	2	the	the	DET
ap-802	107	3	norm	norm	NOUN
ap-802	107	4	p	p	X
ap-802	107	5	�	�	NOUN
ap-802	107	6	2	2	NUM
ap-802	107	7	is	be	AUX
ap-802	107	8	used	use	VERB
ap-802	107	9	,	,	PUNCT
ap-802	107	10	small	small	ADJ
ap-802	107	11	members	member	NOUN
ap-802	107	12	in	in	ADP
ap-802	107	13	the	the	DET
ap-802	107	14	criterion	criterion	NOUN
ap-802	107	15	have	have	VERB
ap-802	107	16	greater	great	ADJ
ap-802	107	17	influence	influence	NOUN
ap-802	107	18	,	,	PUNCT
ap-802	107	19	and	and	CCONJ
ap-802	107	20	if	if	SCONJ
ap-802	107	21	p	p	PROPN
ap-802	107	22	�	�	PROPN
ap-802	107	23	1	1	NUM
ap-802	107	24	the	the	DET
ap-802	107	25	control	control	NOUN
ap-802	107	26	law	law	NOUN
ap-802	107	27	approaches	approach	NOUN
ap-802	107	28	to	to	ADP
ap-802	107	29	dead	dead	ADJ
ap-802	107	30	beat	beat	NOUN
ap-802	107	31	control	control	NOUN
ap-802	107	32	.	.	PUNCT
ap-802	108	1	5	5	NUM
ap-802	108	2	example	example	NOUN
ap-802	108	3	i	i	PRON
ap-802	108	4	–	–	PUNCT
ap-802	108	5	suppression	suppression	NOUN
ap-802	108	6	of	of	ADP
ap-802	108	7	outliers	outlier	NOUN
ap-802	108	8	by	by	ADP
ap-802	108	9	p	p	NOUN
ap-802	108	10	-	-	PUNCT
ap-802	108	11	norm	norm	NOUN
ap-802	108	12	minimization	minimization	NOUN
ap-802	108	13	this	this	DET
ap-802	108	14	section	section	NOUN
ap-802	108	15	shows	show	VERB
ap-802	108	16	an	an	DET
ap-802	108	17	example	example	NOUN
ap-802	108	18	of	of	ADP
ap-802	108	19	system	system	NOUN
ap-802	108	20	parameter	parameter	NOUN
ap-802	108	21	identification	identification	NOUN
ap-802	108	22	.	.	PUNCT
ap-802	109	1	the	the	DET
ap-802	109	2	experiment	experiment	NOUN
ap-802	109	3	clearly	clearly	ADV
ap-802	109	4	shows	show	VERB
ap-802	109	5	the	the	DET
ap-802	109	6	influence	influence	NOUN
ap-802	109	7	of	of	ADP
ap-802	109	8	outliers	outlier	NOUN
ap-802	109	9	on	on	ADP
ap-802	109	10	the	the	DET
ap-802	109	11	results	result	NOUN
ap-802	109	12	of	of	ADP
ap-802	109	13	identification	identification	NOUN
ap-802	109	14	for	for	ADP
ap-802	109	15	utilization	utilization	NOUN
ap-802	109	16	of	of	ADP
ap-802	109	17	different	different	ADJ
ap-802	109	18	norms	norm	NOUN
ap-802	109	19	.	.	PUNCT
ap-802	110	1	consider	consider	VERB
ap-802	110	2	a	a	DET
ap-802	110	3	discrete	discrete	ADJ
ap-802	110	4	-	-	PUNCT
ap-802	110	5	time	time	NOUN
ap-802	110	6	system	system	NOUN
ap-802	110	7	described	describe	VERB
ap-802	110	8	by	by	ADP
ap-802	110	9	the	the	DET
ap-802	110	10	transfer	transfer	NOUN
ap-802	110	11	function	function	NOUN
ap-802	110	12	y	y	PROPN
ap-802	110	13	z	z	PROPN
ap-802	110	14	z	z	PROPN
ap-802	110	15	z	z	NOUN
ap-802	110	16	z	z	NOUN
ap-802	110	17	z	z	NOUN
ap-802	110	18	(	(	PUNCT
ap-802	110	19	)	)	PUNCT
ap-802	110	20	.	.	PUNCT
ap-802	110	21	.	.	PUNCT
ap-802	110	22	.	.	PUNCT
ap-802	110	23	.	.	PUNCT
ap-802	111	1	.	.	PUNCT
ap-802	112	1	�	�	PROPN
ap-802	112	2	�	�	PROPN
ap-802	112	3	�	�	PROPN
ap-802	112	4	�	�	PROPN
ap-802	112	5	�	�	PROPN
ap-802	112	6	0002870	0002870	NUM
ap-802	112	7	0009882	0009882	NUM
ap-802	112	8	0002126	0002126	NUM
ap-802	112	9	2	2	NUM
ap-802	112	10	444	444	NUM
ap-802	112	11	2008	2008	NUM
ap-802	112	12	2	2	NUM
ap-802	112	13	3	3	NUM
ap-802	112	14	2	2	NUM
ap-802	112	15	z	z	NOUN
ap-802	112	16	u	u	NOUN
ap-802	112	17	z	z	NOUN
ap-802	112	18	z	z	NOUN
ap-802	112	19	z	z	NOUN
ap-802	112	20	z	z	NOUN
ap-802	112	21	e	e	NOUN
ap-802	112	22	z	z	PROPN
ap-802	112	23	�	�	PROPN
ap-802	112	24	�	�	PROPN
ap-802	112	25	�	�	PROPN
ap-802	112	26	�	�	PROPN
ap-802	112	27	�	�	PROPN
ap-802	112	28	05488	05488	NUM
ap-802	112	29	1	1	NUM
ap-802	112	30	2	2	NUM
ap-802	112	31	444	444	NUM
ap-802	112	32	2008	2008	NUM
ap-802	112	33	054883	054883	NUM
ap-802	112	34	2	2	NUM
ap-802	112	35	.	.	PUNCT
ap-802	113	1	(	(	PUNCT
ap-802	113	2	)	)	PUNCT
ap-802	113	3	.	.	PUNCT
ap-802	113	4	.	.	PUNCT
ap-802	114	1	.	.	PUNCT
ap-802	115	1	(	(	PUNCT
ap-802	115	2	)	)	PUNCT
ap-802	115	3	.	.	PUNCT
ap-802	116	1	(	(	PUNCT
ap-802	116	2	23	23	NUM
ap-802	116	3	)	)	PUNCT
ap-802	116	4	using	use	VERB
ap-802	116	5	this	this	DET
ap-802	116	6	model	model	NOUN
ap-802	116	7	,	,	PUNCT
ap-802	116	8	the	the	DET
ap-802	116	9	data	datum	NOUN
ap-802	116	10	for	for	ADP
ap-802	116	11	our	our	PRON
ap-802	116	12	experiments	experiment	NOUN
ap-802	116	13	was	be	AUX
ap-802	116	14	generated	generate	VERB
ap-802	116	15	.	.	PUNCT
ap-802	117	1	fig	fig	NOUN
ap-802	117	2	.	.	PUNCT
ap-802	118	1	1	1	NUM
ap-802	118	2	shows	show	VERB
ap-802	118	3	the	the	DET
ap-802	118	4	system	system	NOUN
ap-802	118	5	input	input	NOUN
ap-802	118	6	and	and	CCONJ
ap-802	118	7	output	output	NOUN
ap-802	118	8	time	time	NOUN
ap-802	118	9	trajectories	trajectory	NOUN
ap-802	118	10	.	.	PUNCT
ap-802	119	1	1000	1000	NUM
ap-802	119	2	samples	sample	NOUN
ap-802	119	3	of	of	ADP
ap-802	119	4	input	input	NOUN
ap-802	119	5	-	-	PUNCT
ap-802	119	6	output	output	NOUN
ap-802	119	7	data	datum	NOUN
ap-802	119	8	are	be	AUX
ap-802	119	9	corrupted	corrupt	VERB
ap-802	119	10	by	by	ADP
ap-802	119	11	11	11	NUM
ap-802	119	12	outliers	outlier	NOUN
ap-802	119	13	(	(	PUNCT
ap-802	119	14	completely	completely	ADV
ap-802	119	15	wrong	wrong	ADJ
ap-802	119	16	measurements	measurement	NOUN
ap-802	119	17	)	)	PUNCT
ap-802	119	18	.	.	PUNCT
ap-802	120	1	fig	fig	NOUN
ap-802	120	2	.	.	PUNCT
ap-802	121	1	2	2	NUM
ap-802	121	2	and	and	CCONJ
ap-802	121	3	fig	fig	NOUN
ap-802	121	4	.	.	PUNCT
ap-802	122	1	3	3	NUM
ap-802	122	2	show	show	VERB
ap-802	122	3	the	the	DET
ap-802	122	4	step	step	NOUN
ap-802	122	5	responses	response	NOUN
ap-802	122	6	of	of	ADP
ap-802	122	7	the	the	DET
ap-802	122	8	identified	identify	VERB
ap-802	122	9	models	model	NOUN
ap-802	122	10	together	together	ADV
ap-802	122	11	with	with	ADP
ap-802	122	12	the	the	DET
ap-802	122	13	step	step	NOUN
ap-802	122	14	responses	response	NOUN
ap-802	122	15	of	of	ADP
ap-802	122	16	the	the	DET
ap-802	122	17	nominal	nominal	ADJ
ap-802	122	18	model	model	NOUN
ap-802	122	19	,	,	PUNCT
ap-802	122	20	where	where	SCONJ
ap-802	122	21	the	the	DET
ap-802	122	22	each	each	DET
ap-802	122	23	identification	identification	NOUN
ap-802	122	24	was	be	AUX
ap-802	122	25	done	do	VERB
ap-802	122	26	by	by	ADP
ap-802	122	27	minimizing	minimize	VERB
ap-802	122	28	a	a	DET
ap-802	122	29	different	different	ADJ
ap-802	122	30	norm	norm	NOUN
ap-802	122	31	.	.	PUNCT
ap-802	123	1	it	it	PRON
ap-802	123	2	is	be	AUX
ap-802	123	3	not	not	PART
ap-802	123	4	convenient	convenient	ADJ
ap-802	123	5	to	to	PART
ap-802	123	6	use	use	VERB
ap-802	123	7	the	the	DET
ap-802	123	8	p	p	PROPN
ap-802	123	9	�	�	PROPN
ap-802	123	10	�	�	PROPN
ap-802	123	11	norm	norm	NOUN
ap-802	123	12	for	for	ADP
ap-802	123	13	system	system	NOUN
ap-802	123	14	parameter	parameter	NOUN
ap-802	123	15	identification	identification	NOUN
ap-802	123	16	from	from	ADP
ap-802	123	17	data	datum	NOUN
ap-802	123	18	corrupted	corrupt	VERB
ap-802	123	19	by	by	ADP
ap-802	123	20	outliers	outlier	NOUN
ap-802	123	21	–	–	PUNCT
ap-802	123	22	see	see	VERB
ap-802	123	23	fig	fig	NOUN
ap-802	123	24	.	.	PUNCT
ap-802	124	1	4	4	X
ap-802	124	2	.	.	PUNCT
ap-802	124	3	the	the	DET
ap-802	124	4	euclidean	euclidean	ADJ
ap-802	124	5	norm	norm	NOUN
ap-802	124	6	of	of	ADP
ap-802	124	7	the	the	DET
ap-802	124	8	parameter	parameter	NOUN
ap-802	124	9	estimation	estimation	NOUN
ap-802	124	10	error	error	NOUN
ap-802	124	11	can	can	AUX
ap-802	124	12	be	be	AUX
ap-802	124	13	used	use	VERB
ap-802	124	14	to	to	PART
ap-802	124	15	demonstrate	demonstrate	VERB
ap-802	124	16	the	the	DET
ap-802	124	17	accuracy	accuracy	NOUN
ap-802	124	18	of	of	ADP
ap-802	124	19	the	the	DET
ap-802	124	20	estimation	estimation	NOUN
ap-802	124	21	.	.	PUNCT
ap-802	125	1	the	the	DET
ap-802	125	2	norm	norm	NOUN
ap-802	125	3	is	be	AUX
ap-802	125	4	j	j	PROPN
ap-802	125	5	�	�	PROPN
ap-802	125	6	�	�	PROPN
ap-802	125	7	x	x	X
ap-802	125	8	x	x	PROPN
ap-802	125	9	*	*	PROPN
ap-802	125	10	2	2	NUM
ap-802	125	11	,	,	PUNCT
ap-802	125	12	(	(	PUNCT
ap-802	125	13	24	24	NUM
ap-802	125	14	)	)	PUNCT
ap-802	125	15	where	where	SCONJ
ap-802	125	16	x	x	PRON
ap-802	125	17	is	be	AUX
ap-802	125	18	the	the	DET
ap-802	125	19	estimation	estimation	NOUN
ap-802	125	20	and	and	CCONJ
ap-802	125	21	x	x	NOUN
ap-802	125	22	*	*	PUNCT
ap-802	125	23	is	be	AUX
ap-802	125	24	the	the	DET
ap-802	125	25	vector	vector	NOUN
ap-802	125	26	of	of	ADP
ap-802	125	27	the	the	DET
ap-802	125	28	true	true	ADJ
ap-802	125	29	parameters	parameter	NOUN
ap-802	125	30	of	of	ADP
ap-802	125	31	the	the	DET
ap-802	125	32	nominal	nominal	ADJ
ap-802	125	33	system	system	NOUN
ap-802	125	34	.	.	PUNCT
ap-802	126	1	fig	fig	NOUN
ap-802	126	2	.	.	PUNCT
ap-802	127	1	5	5	NUM
ap-802	127	2	shows	show	VERB
ap-802	127	3	the	the	DET
ap-802	127	4	dependency	dependency	NOUN
ap-802	127	5	of	of	ADP
ap-802	127	6	the	the	DET
ap-802	127	7	norm	norm	NOUN
ap-802	127	8	of	of	ADP
ap-802	127	9	the	the	DET
ap-802	127	10	estimation	estimation	NOUN
ap-802	127	11	error	error	NOUN
ap-802	127	12	on	on	ADP
ap-802	127	13	the	the	DET
ap-802	127	14	p	p	NOUN
ap-802	127	15	-	-	PUNCT
ap-802	127	16	norm	norm	NOUN
ap-802	127	17	of	of	ADP
ap-802	127	18	the	the	DET
ap-802	127	19	criterion	criterion	NOUN
ap-802	127	20	(	(	PUNCT
ap-802	127	21	i.e.	i.e.	X
ap-802	127	22	,	,	PUNCT
ap-802	127	23	on	on	ADP
ap-802	127	24	p	p	NOUN
ap-802	127	25	)	)	PUNCT
ap-802	127	26	.	.	PUNCT
ap-802	128	1	©	©	PROPN
ap-802	128	2	czech	czech	PROPN
ap-802	128	3	technical	technical	PROPN
ap-802	128	4	university	university	PROPN
ap-802	128	5	publishing	publishing	NOUN
ap-802	128	6	house	house	NOUN
ap-802	128	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	128	8	35	35	NUM
ap-802	128	9	czech	czech	PROPN
ap-802	128	10	technical	technical	PROPN
ap-802	128	11	university	university	PROPN
ap-802	128	12	in	in	ADP
ap-802	128	13	prague	prague	PROPN
ap-802	128	14	acta	acta	PROPN
ap-802	128	15	polytechnica	polytechnica	PROPN
ap-802	128	16	vol	vol	NOUN
ap-802	128	17	.	.	PUNCT
ap-802	129	1	46	46	NUM
ap-802	129	2	no	no	INTJ
ap-802	129	3	.	.	PUNCT
ap-802	130	1	1/2006	1/2006	NUM
ap-802	130	2	fig	fig	NOUN
ap-802	130	3	.	.	PUNCT
ap-802	131	1	1	1	NUM
ap-802	131	2	:	:	PUNCT
ap-802	131	3	data	datum	NOUN
ap-802	131	4	for	for	ADP
ap-802	131	5	experiments	experiment	NOUN
ap-802	131	6	0	0	NUM
ap-802	131	7	20	20	NUM
ap-802	131	8	40	40	NUM
ap-802	131	9	60	60	NUM
ap-802	131	10	0	0	NUM
ap-802	131	11	0.2	0.2	NUM
ap-802	131	12	0.4	0.4	NUM
ap-802	131	13	0.6	0.6	NUM
ap-802	131	14	0.8	0.8	NUM
ap-802	131	15	1	1	NUM
ap-802	131	16	1.2	1.2	NUM
ap-802	131	17	step	step	NOUN
ap-802	131	18	response	response	NOUN
ap-802	131	19	time	time	NOUN
ap-802	131	20	(	(	PUNCT
ap-802	131	21	sec	sec	PROPN
ap-802	131	22	)	)	PUNCT
ap-802	131	23	a	a	DET
ap-802	131	24	m	m	NOUN
ap-802	131	25	pl	pl	NOUN
ap-802	131	26	itu	itu	PROPN
ap-802	131	27	de	de	PROPN
ap-802	131	28	true	true	ADJ
ap-802	131	29	model	model	NOUN
ap-802	131	30	identification	identification	NOUN
ap-802	131	31	0	0	NUM
ap-802	131	32	20	20	NUM
ap-802	131	33	40	40	NUM
ap-802	131	34	60	60	NUM
ap-802	131	35	0	0	NUM
ap-802	131	36	0.2	0.2	NUM
ap-802	131	37	0.4	0.4	NUM
ap-802	131	38	0.6	0.6	NUM
ap-802	131	39	0.8	0.8	NUM
ap-802	131	40	1	1	NUM
ap-802	131	41	1.2	1.2	NUM
ap-802	131	42	time	time	NOUN
ap-802	131	43	(	(	PUNCT
ap-802	131	44	sec	sec	PROPN
ap-802	131	45	)	)	PUNCT
ap-802	131	46	a	a	DET
ap-802	131	47	m	m	NOUN
ap-802	131	48	pl	pl	NOUN
ap-802	131	49	itu	itu	PROPN
ap-802	131	50	de	de	PROPN
ap-802	131	51	true	true	ADJ
ap-802	131	52	model	model	NOUN
ap-802	131	53	identification	identification	NOUN
ap-802	131	54	step	step	NOUN
ap-802	131	55	response	response	NOUN
ap-802	131	56	fig	fig	NOUN
ap-802	131	57	.	.	PUNCT
ap-802	132	1	2	2	NUM
ap-802	132	2	:	:	PUNCT
ap-802	132	3	results	result	NOUN
ap-802	132	4	of	of	ADP
ap-802	132	5	identification	identification	NOUN
ap-802	132	6	–	–	PUNCT
ap-802	132	7	step	step	NOUN
ap-802	132	8	responses	response	NOUN
ap-802	132	9	(	(	PUNCT
ap-802	132	10	left	leave	VERB
ap-802	132	11	p	p	PROPN
ap-802	132	12	�	�	PROPN
ap-802	132	13	2	2	NUM
ap-802	132	14	,	,	PUNCT
ap-802	132	15	right	right	ADJ
ap-802	132	16	p	p	X
ap-802	132	17	�	�	PROPN
ap-802	132	18	1.7	1.7	NUM
ap-802	132	19	)	)	PUNCT
ap-802	132	20	36	36	NUM
ap-802	132	21	©	©	PROPN
ap-802	132	22	czech	czech	PROPN
ap-802	132	23	technical	technical	PROPN
ap-802	132	24	university	university	PROPN
ap-802	132	25	publishing	publishing	NOUN
ap-802	132	26	house	house	NOUN
ap-802	132	27	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	132	28	acta	acta	PROPN
ap-802	132	29	polytechnica	polytechnica	PROPN
ap-802	132	30	vol	vol	NOUN
ap-802	132	31	.	.	PUNCT
ap-802	133	1	46	46	NUM
ap-802	133	2	no	no	INTJ
ap-802	133	3	.	.	PUNCT
ap-802	134	1	1/2006	1/2006	NUM
ap-802	134	2	czech	czech	PROPN
ap-802	134	3	technical	technical	PROPN
ap-802	134	4	university	university	PROPN
ap-802	134	5	in	in	ADP
ap-802	134	6	prague	prague	PROPN
ap-802	134	7	0	0	NUM
ap-802	134	8	20	20	NUM
ap-802	134	9	40	40	NUM
ap-802	134	10	60	60	NUM
ap-802	134	11	0	0	NUM
ap-802	134	12	0.2	0.2	NUM
ap-802	134	13	0.4	0.4	NUM
ap-802	134	14	0.6	0.6	NUM
ap-802	134	15	0.8	0.8	NUM
ap-802	134	16	1	1	NUM
ap-802	134	17	1.2	1.2	NUM
ap-802	134	18	step	step	NOUN
ap-802	134	19	response	response	NOUN
ap-802	134	20	time	time	NOUN
ap-802	134	21	(	(	PUNCT
ap-802	134	22	sec	sec	PROPN
ap-802	134	23	)	)	PUNCT
ap-802	134	24	a	a	DET
ap-802	134	25	m	m	NOUN
ap-802	134	26	pl	pl	NOUN
ap-802	134	27	itu	itu	PROPN
ap-802	134	28	de	de	PROPN
ap-802	134	29	true	true	ADJ
ap-802	134	30	model	model	NOUN
ap-802	134	31	identification	identification	NOUN
ap-802	134	32	step	step	NOUN
ap-802	134	33	response	response	NOUN
ap-802	134	34	time	time	NOUN
ap-802	134	35	(	(	PUNCT
ap-802	134	36	sec	sec	PROPN
ap-802	134	37	)	)	PUNCT
ap-802	134	38	0	0	NUM
ap-802	134	39	20	20	NUM
ap-802	134	40	40	40	NUM
ap-802	134	41	60	60	NUM
ap-802	134	42	0	0	NUM
ap-802	134	43	0.2	0.2	NUM
ap-802	134	44	0.4	0.4	NUM
ap-802	134	45	0.6	0.6	NUM
ap-802	134	46	0.8	0.8	NUM
ap-802	134	47	1	1	NUM
ap-802	134	48	1.2	1.2	NUM
ap-802	134	49	true	true	ADJ
ap-802	134	50	model	model	NOUN
ap-802	134	51	identification	identification	NOUN
ap-802	134	52	a	a	DET
ap-802	134	53	m	m	NOUN
ap-802	134	54	pl	pl	NOUN
ap-802	134	55	itu	itu	PROPN
ap-802	134	56	de	de	PROPN
ap-802	134	57	fig	fig	PROPN
ap-802	134	58	.	.	PUNCT
ap-802	135	1	3	3	NUM
ap-802	135	2	:	:	PUNCT
ap-802	135	3	results	result	NOUN
ap-802	135	4	of	of	ADP
ap-802	135	5	identification	identification	NOUN
ap-802	135	6	–	–	PUNCT
ap-802	135	7	step	step	NOUN
ap-802	135	8	responses	response	NOUN
ap-802	135	9	(	(	PUNCT
ap-802	135	10	left	leave	VERB
ap-802	135	11	p	p	PROPN
ap-802	135	12	�	�	PROPN
ap-802	135	13	1.3	1.3	NUM
ap-802	135	14	,	,	PUNCT
ap-802	135	15	right	right	ADJ
ap-802	135	16	p	p	X
ap-802	135	17	�	�	PROPN
ap-802	135	18	1	1	NUM
ap-802	135	19	)	)	PUNCT
ap-802	135	20	0	0	NUM
ap-802	135	21	10	10	NUM
ap-802	135	22	20	20	NUM
ap-802	135	23	30	30	NUM
ap-802	135	24	40	40	NUM
ap-802	135	25	50	50	NUM
ap-802	135	26	60	60	NUM
ap-802	135	27	�	�	NOUN
ap-802	135	28	0.2	0.2	NUM
ap-802	135	29	0	0	NUM
ap-802	135	30	0.2	0.2	NUM
ap-802	135	31	0.4	0.4	NUM
ap-802	135	32	0.6	0.6	NUM
ap-802	135	33	0.8	0.8	NUM
ap-802	135	34	1	1	NUM
ap-802	135	35	1.2	1.2	NUM
ap-802	135	36	step	step	NOUN
ap-802	135	37	response	response	NOUN
ap-802	135	38	time	time	NOUN
ap-802	135	39	(	(	PUNCT
ap-802	135	40	sec	sec	PROPN
ap-802	135	41	)	)	PUNCT
ap-802	135	42	a	a	DET
ap-802	135	43	m	m	NOUN
ap-802	135	44	pl	pl	NOUN
ap-802	135	45	itu	itu	PROPN
ap-802	135	46	de	de	PROPN
ap-802	135	47	true	true	ADJ
ap-802	135	48	model	model	NOUN
ap-802	135	49	identification	identification	NOUN
ap-802	135	50	fig	fig	NOUN
ap-802	135	51	.	.	PUNCT
ap-802	136	1	4	4	NUM
ap-802	136	2	:	:	PUNCT
ap-802	136	3	results	result	NOUN
ap-802	136	4	of	of	ADP
ap-802	136	5	identification	identification	NOUN
ap-802	136	6	step	step	NOUN
ap-802	136	7	response	response	NOUN
ap-802	136	8	for	for	ADP
ap-802	136	9	p	p	PROPN
ap-802	136	10	�	�	PROPN
ap-802	136	11	�	�	PROPN
ap-802	136	12	fig	fig	PROPN
ap-802	136	13	.	.	PUNCT
ap-802	137	1	5	5	NUM
ap-802	137	2	:	:	PUNCT
ap-802	137	3	dependency	dependency	NOUN
ap-802	137	4	of	of	ADP
ap-802	137	5	the	the	DET
ap-802	137	6	norm	norm	NOUN
ap-802	137	7	of	of	ADP
ap-802	137	8	the	the	DET
ap-802	137	9	estimation	estimation	NOUN
ap-802	137	10	error	error	NOUN
ap-802	137	11	on	on	ADP
ap-802	137	12	the	the	DET
ap-802	137	13	p	p	NOUN
ap-802	137	14	-	-	PUNCT
ap-802	137	15	norm	norm	NOUN
ap-802	137	16	(	(	PUNCT
ap-802	137	17	i.e.	i.e.	X
ap-802	137	18	,	,	PUNCT
ap-802	137	19	on	on	ADP
ap-802	137	20	p	p	X
ap-802	137	21	)	)	PUNCT
ap-802	137	22	6	6	NUM
ap-802	137	23	example	example	NOUN
ap-802	137	24	ii	ii	PROPN
ap-802	137	25	–	–	PUNCT
ap-802	137	26	predictive	predictive	ADJ
ap-802	137	27	control	control	NOUN
ap-802	137	28	by	by	ADP
ap-802	137	29	p	p	ADJ
ap-802	137	30	-	-	PUNCT
ap-802	137	31	norm	norm	NOUN
ap-802	137	32	minimization	minimization	NOUN
ap-802	137	33	consider	consider	VERB
ap-802	137	34	the	the	DET
ap-802	137	35	second	second	ADJ
ap-802	137	36	order	order	NOUN
ap-802	137	37	continuous	continuous	ADJ
ap-802	137	38	-	-	PUNCT
ap-802	137	39	time	time	NOUN
ap-802	137	40	system	system	NOUN
ap-802	137	41	described	describe	VERB
ap-802	137	42	by	by	ADP
ap-802	137	43	a	a	DET
ap-802	137	44	transfer	transfer	NOUN
ap-802	137	45	function	function	NOUN
ap-802	137	46	g	g	NOUN
ap-802	137	47	s	s	NOUN
ap-802	137	48	s	s	X
ap-802	137	49	s	s	X
ap-802	137	50	(	(	PUNCT
ap-802	137	51	)	)	PUNCT
ap-802	137	52	.	.	PUNCT
ap-802	137	53	.	.	PUNCT
ap-802	138	1	�	�	PROPN
ap-802	138	2	�	�	PROPN
ap-802	138	3	�	�	PROPN
ap-802	138	4	1	1	NUM
ap-802	138	5	07	07	NUM
ap-802	138	6	0932	0932	NUM
ap-802	138	7	(	(	PUNCT
ap-802	138	8	25	25	NUM
ap-802	138	9	)	)	PUNCT
ap-802	138	10	that	that	PRON
ap-802	138	11	is	be	AUX
ap-802	138	12	sampled	sample	VERB
ap-802	138	13	by	by	ADP
ap-802	138	14	a	a	DET
ap-802	138	15	sampling	sampling	NOUN
ap-802	138	16	period	period	NOUN
ap-802	138	17	t	t	PROPN
ap-802	138	18	ss	ss	PROPN
ap-802	138	19	�	�	PROPN
ap-802	138	20	01	01	NUM
ap-802	138	21	.	.	PUNCT
ap-802	138	22	.	.	PUNCT
ap-802	139	1	note	note	VERB
ap-802	139	2	that	that	SCONJ
ap-802	139	3	the	the	DET
ap-802	139	4	discrete	discrete	ADJ
ap-802	139	5	-	-	PUNCT
ap-802	139	6	time	time	NOUN
ap-802	139	7	system	system	NOUN
ap-802	139	8	model	model	NOUN
ap-802	139	9	was	be	AUX
ap-802	139	10	transformed	transform	VERB
ap-802	139	11	to	to	ADP
ap-802	139	12	the	the	DET
ap-802	139	13	state	state	NOUN
ap-802	139	14	space	space	NOUN
ap-802	139	15	.	.	PUNCT
ap-802	140	1	in	in	ADP
ap-802	140	2	the	the	DET
ap-802	140	3	first	first	ADJ
ap-802	140	4	experiment	experiment	NOUN
ap-802	140	5	,	,	PUNCT
ap-802	140	6	three	three	NUM
ap-802	140	7	different	different	ADJ
ap-802	140	8	mpc	mpc	NOUN
ap-802	140	9	controllers	controller	NOUN
ap-802	140	10	were	be	AUX
ap-802	140	11	designed	design	VERB
ap-802	140	12	:	:	PUNCT
ap-802	140	13	�	�	PROPN
ap-802	140	14	the	the	DET
ap-802	140	15	first	first	ADJ
ap-802	140	16	mpc	mpc	PROPN
ap-802	140	17	minimizes	minimize	VERB
ap-802	140	18	the	the	DET
ap-802	140	19	1	1	NUM
ap-802	140	20	-	-	PUNCT
ap-802	140	21	norm	norm	NOUN
ap-802	140	22	.	.	PUNCT
ap-802	141	1	such	such	DET
ap-802	141	2	a	a	DET
ap-802	141	3	minimization	minimization	NOUN
ap-802	141	4	problem	problem	NOUN
ap-802	141	5	can	can	AUX
ap-802	141	6	be	be	AUX
ap-802	141	7	converted	convert	VERB
ap-802	141	8	to	to	ADP
ap-802	141	9	linear	linear	ADJ
ap-802	141	10	programming	programming	NOUN
ap-802	141	11	(	(	PUNCT
ap-802	141	12	see	see	VERB
ap-802	141	13	section	section	NOUN
ap-802	141	14	3	3	NUM
ap-802	141	15	)	)	PUNCT
ap-802	141	16	.	.	PUNCT
ap-802	142	1	�	�	PROPN
ap-802	142	2	the	the	DET
ap-802	142	3	second	second	ADJ
ap-802	142	4	mpc	mpc	NOUN
ap-802	142	5	minimizes	minimize	VERB
ap-802	142	6	the	the	DET
ap-802	142	7	p	p	NOUN
ap-802	142	8	-	-	PUNCT
ap-802	142	9	norm	norm	NOUN
ap-802	142	10	where	where	SCONJ
ap-802	142	11	p	p	NOUN
ap-802	142	12	is	be	AUX
ap-802	142	13	considered	consider	VERB
ap-802	142	14	to	to	PART
ap-802	142	15	be	be	AUX
ap-802	142	16	1	1	NUM
ap-802	142	17	�	�	PROPN
ap-802	142	18	p	p	X
ap-802	142	19	�	�	PROPN
ap-802	142	20	2	2	NUM
ap-802	142	21	.	.	PUNCT
ap-802	143	1	in	in	ADP
ap-802	143	2	this	this	DET
ap-802	143	3	case	case	NOUN
ap-802	143	4	,	,	PUNCT
ap-802	143	5	the	the	DET
ap-802	143	6	minimization	minimization	NOUN
ap-802	143	7	problem	problem	NOUN
ap-802	143	8	can	can	AUX
ap-802	143	9	be	be	AUX
ap-802	143	10	solved	solve	VERB
ap-802	143	11	by	by	ADP
ap-802	143	12	the	the	DET
ap-802	143	13	irls	irl	NOUN
ap-802	143	14	algorithm	algorithm	NOUN
ap-802	143	15	(	(	PUNCT
ap-802	143	16	see	see	VERB
ap-802	143	17	section	section	NOUN
ap-802	143	18	3	3	NUM
ap-802	143	19	)	)	PUNCT
ap-802	143	20	.	.	PUNCT
ap-802	144	1	�	�	PROPN
ap-802	144	2	the	the	DET
ap-802	144	3	third	third	ADJ
ap-802	144	4	case	case	NOUN
ap-802	144	5	is	be	AUX
ap-802	144	6	standard	standard	ADJ
ap-802	144	7	mpc	mpc	NOUN
ap-802	144	8	minimizing	minimize	VERB
ap-802	144	9	the	the	DET
ap-802	144	10	quadratic	quadratic	ADJ
ap-802	144	11	norm	norm	NOUN
ap-802	144	12	of	of	ADP
ap-802	144	13	the	the	DET
ap-802	144	14	error	error	NOUN
ap-802	144	15	vector	vector	NOUN
ap-802	144	16	.	.	PUNCT
ap-802	145	1	this	this	DET
ap-802	145	2	optimization	optimization	NOUN
ap-802	145	3	can	can	AUX
ap-802	145	4	be	be	AUX
ap-802	145	5	solved	solve	VERB
ap-802	145	6	©	©	PROPN
ap-802	145	7	czech	czech	PROPN
ap-802	145	8	technical	technical	PROPN
ap-802	145	9	university	university	PROPN
ap-802	145	10	publishing	publishing	NOUN
ap-802	145	11	house	house	NOUN
ap-802	145	12	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	145	13	37	37	NUM
ap-802	145	14	czech	czech	PROPN
ap-802	145	15	technical	technical	PROPN
ap-802	145	16	university	university	PROPN
ap-802	145	17	in	in	ADP
ap-802	145	18	prague	prague	PROPN
ap-802	145	19	acta	acta	PROPN
ap-802	145	20	polytechnica	polytechnica	PROPN
ap-802	145	21	vol	vol	NOUN
ap-802	145	22	.	.	PUNCT
ap-802	146	1	46	46	NUM
ap-802	146	2	no	no	INTJ
ap-802	146	3	.	.	PUNCT
ap-802	147	1	1/2006	1/2006	NUM
ap-802	147	2	0	0	NUM
ap-802	147	3	2	2	NUM
ap-802	147	4	4	4	NUM
ap-802	147	5	6	6	NUM
ap-802	147	6	8	8	NUM
ap-802	147	7	10	10	NUM
ap-802	147	8	�	�	NOUN
ap-802	147	9	20	20	NUM
ap-802	147	10	0	0	NUM
ap-802	147	11	20	20	NUM
ap-802	147	12	40	40	NUM
ap-802	147	13	60	60	NUM
ap-802	147	14	80	80	NUM
ap-802	147	15	time	time	NOUN
ap-802	147	16	[	[	X
ap-802	147	17	s	s	X
ap-802	147	18	]	]	X
ap-802	147	19	sy	sy	PROPN
ap-802	147	20	st	st	PROPN
ap-802	147	21	em	em	PROPN
ap-802	147	22	ou	ou	PROPN
ap-802	147	23	tp	tp	X
ap-802	147	24	ut	ut	PROPN
ap-802	148	1	[	[	X
ap-802	148	2	]	]	X
ap-802	148	3	reference	reference	NOUN
ap-802	148	4	system	system	NOUN
ap-802	148	5	output	output	NOUN
ap-802	148	6	0	0	NUM
ap-802	148	7	2	2	NUM
ap-802	148	8	4	4	NUM
ap-802	148	9	6	6	NUM
ap-802	148	10	8	8	NUM
ap-802	148	11	10	10	NUM
ap-802	148	12	0	0	NUM
ap-802	148	13	20	20	NUM
ap-802	148	14	40	40	NUM
ap-802	148	15	60	60	NUM
ap-802	148	16	80	80	NUM
ap-802	148	17	time	time	NOUN
ap-802	148	18	[	[	X
ap-802	148	19	s	s	X
ap-802	148	20	]	]	X
ap-802	148	21	sy	sy	PROPN
ap-802	148	22	st	st	PROPN
ap-802	148	23	em	em	PRON
ap-802	148	24	in	in	ADP
ap-802	148	25	pu	pu	PROPN
ap-802	148	26	t	t	PROPN
ap-802	148	27	[	[	PUNCT
ap-802	148	28	-	-	PUNCT
ap-802	148	29	]	]	X
ap-802	148	30	system	system	NOUN
ap-802	148	31	input	input	NOUN
ap-802	148	32	�	�	PROPN
ap-802	148	33	20	20	NUM
ap-802	148	34	0	0	NUM
ap-802	148	35	2	2	NUM
ap-802	148	36	4	4	NUM
ap-802	148	37	6	6	NUM
ap-802	148	38	8	8	NUM
ap-802	148	39	10	10	NUM
ap-802	148	40	�	�	NOUN
ap-802	148	41	20	20	NUM
ap-802	148	42	0	0	NUM
ap-802	148	43	20	20	NUM
ap-802	148	44	40	40	NUM
ap-802	148	45	60	60	NUM
ap-802	148	46	80	80	NUM
ap-802	148	47	time	time	NOUN
ap-802	148	48	[	[	X
ap-802	148	49	s	s	X
ap-802	148	50	]	]	X
ap-802	148	51	sy	sy	PROPN
ap-802	148	52	st	st	PROPN
ap-802	148	53	em	em	PROPN
ap-802	148	54	ou	ou	PROPN
ap-802	148	55	tp	tp	X
ap-802	148	56	ut	ut	PROPN
ap-802	149	1	[	[	X
ap-802	149	2	]	]	X
ap-802	149	3	reference	reference	NOUN
ap-802	149	4	system	system	NOUN
ap-802	149	5	output	output	NOUN
ap-802	149	6	0	0	NUM
ap-802	149	7	2	2	NUM
ap-802	149	8	4	4	NUM
ap-802	149	9	6	6	NUM
ap-802	149	10	8	8	NUM
ap-802	149	11	10	10	NUM
ap-802	149	12	0	0	NUM
ap-802	149	13	20	20	NUM
ap-802	149	14	40	40	NUM
ap-802	149	15	60	60	NUM
ap-802	149	16	80	80	NUM
ap-802	149	17	time	time	NOUN
ap-802	149	18	[	[	X
ap-802	149	19	s	s	X
ap-802	149	20	]	]	X
ap-802	149	21	sy	sy	PROPN
ap-802	149	22	st	st	PROPN
ap-802	149	23	em	em	PRON
ap-802	149	24	in	in	ADP
ap-802	149	25	pu	pu	PROPN
ap-802	149	26	t	t	PROPN
ap-802	149	27	[	[	PUNCT
ap-802	149	28	-	-	PUNCT
ap-802	149	29	]	]	X
ap-802	149	30	system	system	NOUN
ap-802	149	31	input	input	NOUN
ap-802	149	32	�	�	PROPN
ap-802	149	33	20	20	NUM
ap-802	149	34	fig	fig	NOUN
ap-802	149	35	.	.	PUNCT
ap-802	150	1	7	7	NUM
ap-802	150	2	:	:	PUNCT
ap-802	150	3	simulation	simulation	NOUN
ap-802	150	4	results	result	VERB
ap-802	150	5	for	for	ADP
ap-802	150	6	1.5	1.5	NUM
ap-802	150	7	(	(	PUNCT
ap-802	150	8	left	leave	VERB
ap-802	150	9	)	)	PUNCT
ap-802	150	10	and	and	CCONJ
ap-802	150	11	2	2	NUM
ap-802	150	12	(	(	PUNCT
ap-802	150	13	right	right	ADJ
ap-802	150	14	)	)	PUNCT
ap-802	150	15	norm	norm	NOUN
ap-802	150	16	(	(	PUNCT
ap-802	150	17	with	with	ADP
ap-802	150	18	weighting	weight	VERB
ap-802	150	19	coefficient	coefficient	NOUN
ap-802	150	20	r	r	NOUN
ap-802	150	21	�	�	PROPN
ap-802	150	22	1	1	NUM
ap-802	150	23	)	)	PUNCT
ap-802	150	24	0	0	NUM
ap-802	150	25	2	2	NUM
ap-802	150	26	4	4	NUM
ap-802	150	27	6	6	NUM
ap-802	150	28	8	8	NUM
ap-802	150	29	10	10	NUM
ap-802	150	30	�	�	NOUN
ap-802	150	31	20	20	NUM
ap-802	150	32	0	0	NUM
ap-802	150	33	20	20	NUM
ap-802	150	34	40	40	NUM
ap-802	150	35	60	60	NUM
ap-802	150	36	80	80	NUM
ap-802	150	37	time	time	NOUN
ap-802	150	38	[	[	X
ap-802	150	39	s	s	X
ap-802	150	40	]	]	X
ap-802	150	41	sy	sy	PROPN
ap-802	150	42	st	st	PROPN
ap-802	150	43	em	em	PROPN
ap-802	150	44	ou	ou	PROPN
ap-802	150	45	tp	tp	X
ap-802	150	46	ut	ut	PROPN
ap-802	151	1	[	[	X
ap-802	151	2	]	]	X
ap-802	151	3	reference	reference	NOUN
ap-802	151	4	system	system	NOUN
ap-802	151	5	output	output	NOUN
ap-802	151	6	0	0	NUM
ap-802	151	7	2	2	NUM
ap-802	151	8	4	4	NUM
ap-802	151	9	6	6	NUM
ap-802	151	10	8	8	NUM
ap-802	151	11	10	10	NUM
ap-802	151	12	0	0	NUM
ap-802	151	13	20	20	NUM
ap-802	151	14	40	40	NUM
ap-802	151	15	60	60	NUM
ap-802	151	16	80	80	NUM
ap-802	151	17	time	time	NOUN
ap-802	151	18	[	[	X
ap-802	151	19	s	s	X
ap-802	151	20	]	]	X
ap-802	151	21	sy	sy	PROPN
ap-802	151	22	st	st	PROPN
ap-802	151	23	em	em	PRON
ap-802	151	24	in	in	ADP
ap-802	151	25	pu	pu	PROPN
ap-802	151	26	t	t	PROPN
ap-802	151	27	[	[	PUNCT
ap-802	151	28	-	-	PUNCT
ap-802	151	29	]	]	X
ap-802	151	30	system	system	NOUN
ap-802	151	31	input	input	NOUN
ap-802	151	32	�	�	PROPN
ap-802	151	33	20	20	NUM
ap-802	151	34	0	0	NUM
ap-802	151	35	2	2	NUM
ap-802	151	36	4	4	NUM
ap-802	151	37	6	6	NUM
ap-802	151	38	8	8	NUM
ap-802	151	39	10	10	NUM
ap-802	151	40	�	�	NOUN
ap-802	151	41	20	20	NUM
ap-802	151	42	0	0	NUM
ap-802	151	43	20	20	NUM
ap-802	151	44	40	40	NUM
ap-802	151	45	60	60	NUM
ap-802	151	46	80	80	NUM
ap-802	151	47	time	time	NOUN
ap-802	151	48	[	[	X
ap-802	151	49	s	s	X
ap-802	151	50	]	]	X
ap-802	151	51	sy	sy	PROPN
ap-802	151	52	st	st	PROPN
ap-802	151	53	em	em	PROPN
ap-802	151	54	ou	ou	PROPN
ap-802	151	55	tp	tp	X
ap-802	151	56	ut	ut	PROPN
ap-802	152	1	[	[	X
ap-802	152	2	]	]	X
ap-802	152	3	0	0	NUM
ap-802	152	4	2	2	NUM
ap-802	152	5	4	4	NUM
ap-802	152	6	6	6	NUM
ap-802	152	7	8	8	NUM
ap-802	152	8	10	10	NUM
ap-802	152	9	0	0	NUM
ap-802	152	10	20	20	NUM
ap-802	152	11	40	40	NUM
ap-802	152	12	60	60	NUM
ap-802	152	13	80	80	NUM
ap-802	152	14	time	time	NOUN
ap-802	152	15	[	[	X
ap-802	152	16	s	s	X
ap-802	152	17	]	]	X
ap-802	152	18	sy	sy	PROPN
ap-802	152	19	st	st	PROPN
ap-802	152	20	em	em	PRON
ap-802	152	21	in	in	ADP
ap-802	152	22	pu	pu	PROPN
ap-802	152	23	t	t	PROPN
ap-802	152	24	[	[	PUNCT
ap-802	152	25	-	-	PUNCT
ap-802	152	26	]	]	X
ap-802	152	27	system	system	NOUN
ap-802	152	28	input	input	NOUN
ap-802	152	29	reference	reference	NOUN
ap-802	152	30	system	system	NOUN
ap-802	152	31	output	output	NOUN
ap-802	152	32	�	�	PROPN
ap-802	152	33	20	20	NUM
ap-802	152	34	fig	fig	NOUN
ap-802	152	35	.	.	PUNCT
ap-802	153	1	6	6	NUM
ap-802	153	2	:	:	PUNCT
ap-802	153	3	simulation	simulation	NOUN
ap-802	153	4	results	result	VERB
ap-802	153	5	for	for	ADP
ap-802	153	6	1	1	NUM
ap-802	153	7	(	(	PUNCT
ap-802	153	8	left	leave	VERB
ap-802	153	9	)	)	PUNCT
ap-802	153	10	and	and	CCONJ
ap-802	153	11	1.1	1.1	NUM
ap-802	153	12	(	(	PUNCT
ap-802	153	13	right	right	ADJ
ap-802	153	14	)	)	PUNCT
ap-802	153	15	norm	norm	NOUN
ap-802	153	16	(	(	PUNCT
ap-802	153	17	with	with	ADP
ap-802	153	18	weighting	weight	VERB
ap-802	153	19	coefficient	coefficient	NOUN
ap-802	153	20	r	r	NOUN
ap-802	153	21	�	�	PROPN
ap-802	153	22	1	1	NUM
ap-802	153	23	)	)	PUNCT
ap-802	153	24	as	as	ADP
ap-802	153	25	a	a	DET
ap-802	153	26	least	least	ADJ
ap-802	153	27	squares	square	NOUN
ap-802	153	28	problem	problem	NOUN
ap-802	153	29	or	or	CCONJ
ap-802	153	30	,	,	PUNCT
ap-802	153	31	with	with	ADP
ap-802	153	32	constraints	constraint	NOUN
ap-802	153	33	,	,	PUNCT
ap-802	153	34	as	as	ADP
ap-802	153	35	a	a	DET
ap-802	153	36	quadratic	quadratic	ADJ
ap-802	153	37	programme	programme	NOUN
ap-802	153	38	.	.	PUNCT
ap-802	154	1	the	the	DET
ap-802	154	2	only	only	ADJ
ap-802	154	3	parameter	parameter	NOUN
ap-802	154	4	that	that	PRON
ap-802	154	5	is	be	AUX
ap-802	154	6	different	different	ADJ
ap-802	154	7	for	for	ADP
ap-802	154	8	each	each	DET
ap-802	154	9	mpc	mpc	NOUN
ap-802	154	10	is	be	AUX
ap-802	154	11	the	the	DET
ap-802	154	12	kind	kind	NOUN
ap-802	154	13	of	of	ADP
ap-802	154	14	p	p	NOUN
ap-802	154	15	-	-	PUNCT
ap-802	154	16	norm	norm	NOUN
ap-802	154	17	.	.	PUNCT
ap-802	155	1	all	all	DET
ap-802	155	2	other	other	ADJ
ap-802	155	3	parameters	parameter	NOUN
ap-802	155	4	are	be	AUX
ap-802	155	5	not	not	PART
ap-802	155	6	changed	change	VERB
ap-802	155	7	(	(	PUNCT
ap-802	155	8	prediction	prediction	NOUN
ap-802	155	9	horizon	horizon	NOUN
ap-802	155	10	n	n	PROPN
ap-802	155	11	�	�	PROPN
ap-802	155	12	4s	4s	NUM
ap-802	155	13	and	and	CCONJ
ap-802	155	14	weighting	weight	VERB
ap-802	155	15	coefficient	coefficient	NOUN
ap-802	155	16	r	r	NOUN
ap-802	155	17	�	�	PROPN
ap-802	155	18	1	1	NUM
ap-802	155	19	)	)	PUNCT
ap-802	155	20	.	.	PUNCT
ap-802	156	1	fig	fig	NOUN
ap-802	156	2	.	.	PUNCT
ap-802	157	1	6	6	NUM
ap-802	157	2	and	and	CCONJ
ap-802	157	3	fig	fig	NOUN
ap-802	157	4	.	.	PUNCT
ap-802	158	1	7	7	NUM
ap-802	158	2	show	show	VERB
ap-802	158	3	the	the	DET
ap-802	158	4	simulation	simulation	NOUN
ap-802	158	5	results	result	VERB
ap-802	158	6	for	for	ADP
ap-802	158	7	the	the	DET
ap-802	158	8	first	first	ADJ
ap-802	158	9	experiment	experiment	NOUN
ap-802	158	10	.	.	PUNCT
ap-802	159	1	the	the	DET
ap-802	159	2	performances	performance	NOUN
ap-802	159	3	of	of	ADP
ap-802	159	4	reference	reference	NOUN
ap-802	159	5	tracking	tracking	NOUN
ap-802	159	6	and	and	CCONJ
ap-802	159	7	system	system	NOUN
ap-802	159	8	input	input	NOUN
ap-802	159	9	are	be	AUX
ap-802	159	10	shown	show	VERB
ap-802	159	11	for	for	ADP
ap-802	159	12	p	p	PROPN
ap-802	159	13	�	�	PROPN
ap-802	159	14	1	1	NUM
ap-802	159	15	,	,	PUNCT
ap-802	159	16	1.1	1.1	NUM
ap-802	159	17	,	,	PUNCT
ap-802	159	18	1.5	1.5	NUM
ap-802	159	19	,	,	PUNCT
ap-802	159	20	2	2	NUM
ap-802	159	21	.	.	X
ap-802	159	22	minimizing	minimize	VERB
ap-802	159	23	the	the	DET
ap-802	159	24	1	1	NUM
ap-802	159	25	-	-	PUNCT
ap-802	159	26	norm	norm	NOUN
ap-802	159	27	of	of	ADP
ap-802	159	28	the	the	DET
ap-802	159	29	quality	quality	NOUN
ap-802	159	30	criterion	criterion	NOUN
ap-802	159	31	achieves	achieve	VERB
ap-802	159	32	dead	dead	ADJ
ap-802	159	33	beat	beat	NOUN
ap-802	159	34	control	control	NOUN
ap-802	159	35	.	.	PUNCT
ap-802	160	1	the	the	DET
ap-802	160	2	second	second	ADJ
ap-802	160	3	experiment	experiment	NOUN
ap-802	160	4	shows	show	VERB
ap-802	160	5	the	the	DET
ap-802	160	6	influence	influence	NOUN
ap-802	160	7	of	of	ADP
ap-802	160	8	the	the	DET
ap-802	160	9	weighting	weighting	NOUN
ap-802	160	10	coefficient	coefficient	NOUN
ap-802	160	11	r	r	NOUN
ap-802	160	12	in	in	ADP
ap-802	160	13	the	the	DET
ap-802	160	14	criterion	criterion	NOUN
ap-802	160	15	(	(	PUNCT
ap-802	160	16	22	22	NUM
ap-802	160	17	)	)	PUNCT
ap-802	160	18	on	on	ADP
ap-802	160	19	the	the	DET
ap-802	160	20	time	time	NOUN
ap-802	160	21	length	length	NOUN
ap-802	160	22	of	of	ADP
ap-802	160	23	dead	dead	ADJ
ap-802	160	24	beat	beat	NOUN
ap-802	160	25	control	control	NOUN
ap-802	160	26	(	(	PUNCT
ap-802	160	27	for	for	ADP
ap-802	160	28	1	1	NUM
ap-802	160	29	norm	norm	NOUN
ap-802	160	30	)	)	PUNCT
ap-802	160	31	.	.	PUNCT
ap-802	161	1	the	the	DET
ap-802	161	2	simulation	simulation	NOUN
ap-802	161	3	results	result	VERB
ap-802	161	4	for	for	ADP
ap-802	161	5	weighting	weight	VERB
ap-802	161	6	coefficient	coefficient	NOUN
ap-802	161	7	r	r	PROPN
ap-802	161	8	�	�	PROPN
ap-802	161	9	1	1	NUM
ap-802	161	10	are	be	AUX
ap-802	161	11	shown	show	VERB
ap-802	161	12	in	in	ADP
ap-802	161	13	fig	fig	NOUN
ap-802	161	14	.	.	PUNCT
ap-802	162	1	6	6	NUM
ap-802	162	2	(	(	PUNCT
ap-802	162	3	left	left	ADV
ap-802	162	4	)	)	PUNCT
ap-802	162	5	,	,	PUNCT
ap-802	162	6	for	for	ADP
ap-802	162	7	r	r	PROPN
ap-802	162	8	�	�	PROPN
ap-802	162	9	0.1	0.1	NUM
ap-802	162	10	and	and	CCONJ
ap-802	162	11	r	r	NOUN
ap-802	162	12	�	�	PROPN
ap-802	162	13	10	10	NUM
ap-802	162	14	in	in	ADP
ap-802	162	15	the	the	DET
ap-802	162	16	fig	fig	NOUN
ap-802	162	17	.	.	PUNCT
ap-802	163	1	8	8	NUM
ap-802	163	2	.	.	PUNCT
ap-802	164	1	the	the	DET
ap-802	164	2	relatively	relatively	ADV
ap-802	164	3	large	large	ADJ
ap-802	164	4	penalty	penalty	NOUN
ap-802	164	5	r	r	NOUN
ap-802	164	6	does	do	AUX
ap-802	164	7	not	not	PART
ap-802	164	8	allow	allow	VERB
ap-802	164	9	big	big	ADJ
ap-802	164	10	changes	change	NOUN
ap-802	164	11	in	in	ADP
ap-802	164	12	differences	difference	NOUN
ap-802	164	13	of	of	ADP
ap-802	164	14	control	control	NOUN
ap-802	164	15	variable	variable	NOUN
ap-802	164	16	&	&	CCONJ
ap-802	164	17	u	u	PROPN
ap-802	164	18	and	and	CCONJ
ap-802	164	19	therefore	therefore	ADV
ap-802	164	20	the	the	DET
ap-802	164	21	time	time	NOUN
ap-802	164	22	of	of	ADP
ap-802	164	23	dead	dead	ADJ
ap-802	164	24	beat	beat	NOUN
ap-802	164	25	control	control	NOUN
ap-802	164	26	is	be	AUX
ap-802	164	27	longer	long	ADJ
ap-802	164	28	.	.	PUNCT
ap-802	165	1	7	7	NUM
ap-802	165	2	conclusions	conclusion	NOUN
ap-802	165	3	the	the	DET
ap-802	165	4	purpose	purpose	NOUN
ap-802	165	5	of	of	ADP
ap-802	165	6	this	this	DET
ap-802	165	7	paper	paper	NOUN
ap-802	165	8	is	be	AUX
ap-802	165	9	to	to	PART
ap-802	165	10	show	show	VERB
ap-802	165	11	the	the	DET
ap-802	165	12	influence	influence	NOUN
ap-802	165	13	of	of	ADP
ap-802	165	14	different	different	ADJ
ap-802	165	15	p	p	ADJ
ap-802	165	16	-	-	PUNCT
ap-802	165	17	norm	norm	NOUN
ap-802	165	18	selection	selection	NOUN
ap-802	165	19	on	on	ADP
ap-802	165	20	arx	arx	PROPN
ap-802	165	21	model	model	NOUN
ap-802	165	22	identification	identification	NOUN
ap-802	165	23	and	and	CCONJ
ap-802	165	24	control	control	NOUN
ap-802	165	25	.	.	PUNCT
ap-802	166	1	when	when	SCONJ
ap-802	166	2	the	the	DET
ap-802	166	3	measurements	measurement	NOUN
ap-802	166	4	of	of	ADP
ap-802	166	5	the	the	DET
ap-802	166	6	system	system	NOUN
ap-802	166	7	output	output	NOUN
ap-802	166	8	were	be	AUX
ap-802	166	9	damaged	damage	VERB
ap-802	166	10	by	by	ADP
ap-802	166	11	outliers	outlier	NOUN
ap-802	166	12	,	,	PUNCT
ap-802	166	13	it	it	PRON
ap-802	166	14	is	be	AUX
ap-802	166	15	shown	show	VERB
ap-802	166	16	that	that	SCONJ
ap-802	166	17	the	the	DET
ap-802	166	18	euclidean	euclidean	ADJ
ap-802	166	19	norm	norm	NOUN
ap-802	166	20	gives	give	VERB
ap-802	166	21	worse	bad	ADJ
ap-802	166	22	results	result	NOUN
ap-802	166	23	than	than	ADP
ap-802	166	24	the	the	DET
ap-802	166	25	p	p	NOUN
ap-802	166	26	-	-	PUNCT
ap-802	166	27	norm	norm	NOUN
ap-802	166	28	for	for	ADP
ap-802	166	29	1	1	NUM
ap-802	166	30	�	�	PROPN
ap-802	166	31	p	p	NOUN
ap-802	166	32	�	�	PROPN
ap-802	166	33	2	2	NUM
ap-802	166	34	.	.	PUNCT
ap-802	167	1	the	the	DET
ap-802	167	2	best	good	ADJ
ap-802	167	3	results	result	NOUN
ap-802	167	4	were	be	AUX
ap-802	167	5	achieved	achieve	VERB
ap-802	167	6	with	with	ADP
ap-802	167	7	the	the	DET
ap-802	167	8	p	p	NOUN
ap-802	167	9	-	-	PUNCT
ap-802	167	10	norm	norm	NOUN
ap-802	167	11	for	for	ADP
ap-802	167	12	p	p	PROPN
ap-802	167	13	�	�	PROPN
ap-802	167	14	1	1	NUM
ap-802	167	15	.	.	PUNCT
ap-802	167	16	predictive	predictive	ADJ
ap-802	167	17	control	control	NOUN
ap-802	167	18	realized	realize	VERB
ap-802	167	19	by	by	ADP
ap-802	167	20	the	the	DET
ap-802	167	21	p	p	NOUN
ap-802	167	22	-	-	PUNCT
ap-802	167	23	norm	norm	NOUN
ap-802	167	24	of	of	ADP
ap-802	167	25	quality	quality	NOUN
ap-802	167	26	criterion	criterion	NOUN
ap-802	167	27	minimization	minimization	NOUN
ap-802	167	28	shows	show	VERB
ap-802	167	29	interesting	interesting	ADJ
ap-802	167	30	results	result	NOUN
ap-802	167	31	from	from	ADP
ap-802	167	32	lq	lq	NOUN
ap-802	167	33	control	control	NOUN
ap-802	167	34	(	(	PUNCT
ap-802	167	35	linear	linear	ADJ
ap-802	167	36	system	system	NOUN
ap-802	167	37	and	and	CCONJ
ap-802	167	38	quadratic	quadratic	ADJ
ap-802	167	39	criterion	criterion	NOUN
ap-802	167	40	)	)	PUNCT
ap-802	167	41	to	to	ADP
ap-802	167	42	dead	dead	ADJ
ap-802	167	43	beat	beat	NOUN
ap-802	167	44	control	control	NOUN
ap-802	167	45	.	.	PUNCT
ap-802	168	1	8	8	NUM
ap-802	168	2	acknowledgment	acknowledgment	NOUN
ap-802	168	3	this	this	DET
ap-802	168	4	work	work	NOUN
ap-802	168	5	was	be	AUX
ap-802	168	6	partly	partly	ADV
ap-802	168	7	supported	support	VERB
ap-802	168	8	by	by	ADP
ap-802	168	9	grants	grant	NOUN
ap-802	168	10	102/05/0903	102/05/0903	NUM
ap-802	168	11	,	,	PUNCT
ap-802	168	12	405/05/2173	405/05/2173	PROPN
ap-802	168	13	and	and	CCONJ
ap-802	168	14	102/05/2075	102/05/2075	NUM
ap-802	168	15	of	of	ADP
ap-802	168	16	the	the	DET
ap-802	168	17	grant	grant	NOUN
ap-802	168	18	agency	agency	NOUN
ap-802	168	19	of	of	ADP
ap-802	168	20	the	the	DET
ap-802	168	21	czech	czech	PROPN
ap-802	168	22	republic	republic	NOUN
ap-802	168	23	.	.	PUNCT
ap-802	169	1	references	reference	NOUN
ap-802	169	2	a	a	DET
ap-802	169	3	shorter	short	ADJ
ap-802	169	4	version	version	NOUN
ap-802	169	5	of	of	ADP
ap-802	169	6	this	this	DET
ap-802	169	7	paper	paper	NOUN
ap-802	169	8	was	be	AUX
ap-802	169	9	presented	present	VERB
ap-802	169	10	in	in	ADP
ap-802	169	11	[	[	X
ap-802	169	12	3	3	NUM
ap-802	169	13	]	]	PUNCT
ap-802	169	14	.	.	PUNCT
ap-802	170	1	[	[	X
ap-802	170	2	1	1	NUM
ap-802	170	3	]	]	X
ap-802	170	4	ljung	ljung	PROPN
ap-802	170	5	,	,	PUNCT
ap-802	170	6	l.	l.	PROPN
ap-802	170	7	:	:	PUNCT
ap-802	170	8	system	system	NOUN
ap-802	170	9	identification	identification	NOUN
ap-802	170	10	:	:	PUNCT
ap-802	170	11	theory	theory	NOUN
ap-802	170	12	for	for	ADP
ap-802	170	13	the	the	DET
ap-802	170	14	user	user	NOUN
ap-802	170	15	.	.	PUNCT
ap-802	171	1	prentice	prentice	PROPN
ap-802	171	2	hall	hall	PROPN
ap-802	171	3	,	,	PUNCT
ap-802	171	4	englewood	englewood	PROPN
ap-802	171	5	cliffs	cliffs	PROPN
ap-802	171	6	,	,	PUNCT
ap-802	171	7	nj	nj	PROPN
ap-802	171	8	,	,	PUNCT
ap-802	171	9	1987	1987	NUM
ap-802	171	10	.	.	PUNCT
ap-802	172	1	[	[	X
ap-802	172	2	2	2	NUM
ap-802	172	3	]	]	PUNCT
ap-802	172	4	aström	aström	NOUN
ap-802	172	5	,	,	PUNCT
ap-802	172	6	k.	k.	PROPN
ap-802	172	7	j.	j.	PROPN
ap-802	172	8	,	,	PUNCT
ap-802	172	9	wittenmark	wittenmark	PROPN
ap-802	172	10	,	,	PUNCT
ap-802	172	11	b.	b.	NOUN
ap-802	172	12	:	:	PUNCT
ap-802	172	13	computer	computer	NOUN
ap-802	172	14	controlled	control	VERB
ap-802	172	15	systems	system	NOUN
ap-802	172	16	:	:	PUNCT
ap-802	172	17	theory	theory	NOUN
ap-802	172	18	and	and	CCONJ
ap-802	172	19	design	design	NOUN
ap-802	172	20	.	.	PUNCT
ap-802	173	1	prentice	prentice	PROPN
ap-802	173	2	hall	hall	PROPN
ap-802	173	3	,	,	PUNCT
ap-802	173	4	inc	inc	PROPN
ap-802	173	5	.	.	PROPN
ap-802	173	6	,	,	PUNCT
ap-802	173	7	upper	upper	ADJ
ap-802	173	8	saddle	saddle	NOUN
ap-802	173	9	river	river	PROPN
ap-802	173	10	,	,	PUNCT
ap-802	173	11	nj	nj	PROPN
ap-802	173	12	,	,	PUNCT
ap-802	173	13	1997	1997	NUM
ap-802	173	14	.	.	PUNCT
ap-802	174	1	[	[	X
ap-802	174	2	3	3	X
ap-802	174	3	]	]	X
ap-802	174	4	pekař	pekař	NOUN
ap-802	174	5	,	,	PUNCT
ap-802	174	6	j.	j.	PROPN
ap-802	174	7	,	,	PUNCT
ap-802	174	8	štecha	štecha	PROPN
ap-802	174	9	,	,	PUNCT
ap-802	174	10	j.	j.	PROPN
ap-802	174	11	,	,	PUNCT
ap-802	174	12	havlena	havlena	PROPN
ap-802	174	13	,	,	PUNCT
ap-802	174	14	v.	v.	ADV
ap-802	174	15	:	:	PUNCT
ap-802	174	16	“	"	PUNCT
ap-802	174	17	identification	identification	NOUN
ap-802	174	18	and	and	CCONJ
ap-802	174	19	predictive	predictive	ADJ
ap-802	174	20	control	control	NOUN
ap-802	174	21	of	of	ADP
ap-802	174	22	arx	arx	PROPN
ap-802	174	23	model	model	NOUN
ap-802	174	24	by	by	ADP
ap-802	174	25	p	p	NOUN
ap-802	174	26	-	-	PUNCT
ap-802	174	27	norm	norm	NOUN
ap-802	174	28	minimization	minimization	NOUN
ap-802	174	29	.	.	PUNCT
ap-802	174	30	”	"	PUNCT
ap-802	175	1	proceedings	proceeding	NOUN
ap-802	175	2	of	of	ADP
ap-802	175	3	the	the	DET
ap-802	175	4	23rd	23rd	NOUN
ap-802	175	5	iasted	iasted	ADJ
ap-802	175	6	international	international	ADJ
ap-802	175	7	conference	conference	NOUN
ap-802	175	8	on	on	ADP
ap-802	175	9	modelling	modelling	NOUN
ap-802	175	10	,	,	PUNCT
ap-802	175	11	identification	identification	NOUN
ap-802	175	12	,	,	PUNCT
ap-802	175	13	and	and	CCONJ
ap-802	175	14	control	control	NOUN
ap-802	175	15	.	.	PUNCT
ap-802	176	1	anaheim	anaheim	PROPN
ap-802	176	2	2004	2004	NUM
ap-802	176	3	.	.	PUNCT
ap-802	177	1	isbn	isbn	ADJ
ap-802	177	2	0	0	NUM
ap-802	177	3	-	-	PUNCT
ap-802	177	4	88986	88986	NUM
ap-802	177	5	-	-	SYM
ap-802	177	6	387	387	NUM
ap-802	177	7	-	-	SYM
ap-802	177	8	3	3	NUM
ap-802	177	9	.	.	PUNCT
ap-802	178	1	[	[	X
ap-802	178	2	4	4	NUM
ap-802	178	3	]	]	SYM
ap-802	178	4	findeisen	findeisen	PROPN
ap-802	178	5	,	,	PUNCT
ap-802	178	6	r.	r.	PROPN
ap-802	178	7	,	,	PUNCT
ap-802	178	8	imsland	imsland	PROPN
ap-802	178	9	,	,	PUNCT
ap-802	178	10	l.	l.	PROPN
ap-802	178	11	,	,	PUNCT
ap-802	178	12	allgöwer	allgöwer	PROPN
ap-802	178	13	,	,	PUNCT
ap-802	178	14	f.	f.	PROPN
ap-802	178	15	,	,	PUNCT
ap-802	178	16	foss	foss	PROPN
ap-802	178	17	,	,	PUNCT
ap-802	178	18	b.	b.	PROPN
ap-802	178	19	a.	a.	PROPN
ap-802	178	20	:	:	PUNCT
ap-802	178	21	“	"	PUNCT
ap-802	178	22	state	state	NOUN
ap-802	178	23	and	and	CCONJ
ap-802	178	24	output	output	NOUN
ap-802	178	25	feedback	feedback	NOUN
ap-802	178	26	nonlinear	nonlinear	PROPN
ap-802	178	27	model	model	NOUN
ap-802	178	28	predictive	predictive	PROPN
ap-802	178	29	control	control	PROPN
ap-802	178	30	:	:	PUNCT
ap-802	178	31	an	an	DET
ap-802	178	32	overview	overview	NOUN
ap-802	178	33	.	.	PUNCT
ap-802	178	34	”	"	PUNCT
ap-802	179	1	european	european	PROPN
ap-802	179	2	journal	journal	PROPN
ap-802	179	3	of	of	ADP
ap-802	179	4	control	control	PROPN
ap-802	179	5	,	,	PUNCT
ap-802	179	6	vol	vol	NOUN
ap-802	179	7	.	.	PROPN
ap-802	179	8	9	9	NUM
ap-802	179	9	(	(	PUNCT
ap-802	179	10	2003	2003	NUM
ap-802	179	11	)	)	PUNCT
ap-802	179	12	,	,	PUNCT
ap-802	180	1	p.	p.	NOUN
ap-802	180	2	190–206	190–206	NUM
ap-802	180	3	.	.	PUNCT
ap-802	181	1	[	[	X
ap-802	181	2	5	5	NUM
ap-802	181	3	]	]	SYM
ap-802	181	4	rao	rao	PROPN
ap-802	181	5	,	,	PUNCT
ap-802	181	6	c.	c.	PROPN
ap-802	181	7	v.	v.	PROPN
ap-802	181	8	,	,	PUNCT
ap-802	181	9	rawlings	rawlings	PROPN
ap-802	181	10	,	,	PUNCT
ap-802	181	11	j.	j.	PROPN
ap-802	181	12	b.	b.	PROPN
ap-802	181	13	:	:	PUNCT
ap-802	181	14	“	"	PUNCT
ap-802	181	15	linear	linear	ADJ
ap-802	181	16	programming	programming	NOUN
ap-802	181	17	and	and	CCONJ
ap-802	181	18	model	model	NOUN
ap-802	181	19	predictive	predictive	ADJ
ap-802	181	20	control	control	NOUN
ap-802	181	21	.	.	PUNCT
ap-802	181	22	”	"	PUNCT
ap-802	182	1	journal	journal	NOUN
ap-802	182	2	of	of	ADP
ap-802	182	3	process	process	NOUN
ap-802	182	4	control	control	NOUN
ap-802	182	5	,	,	PUNCT
ap-802	182	6	vol	vol	NOUN
ap-802	182	7	.	.	PROPN
ap-802	182	8	10	10	NUM
ap-802	182	9	(	(	PUNCT
ap-802	182	10	2000	2000	NUM
ap-802	182	11	)	)	PUNCT
ap-802	182	12	,	,	PUNCT
ap-802	183	1	p.	p.	NOUN
ap-802	183	2	283–289	283–289	NUM
ap-802	183	3	.	.	PUNCT
ap-802	184	1	[	[	X
ap-802	184	2	6	6	NUM
ap-802	184	3	]	]	SYM
ap-802	184	4	allwright	allwright	NOUN
ap-802	184	5	,	,	PUNCT
ap-802	184	6	j.	j.	PROPN
ap-802	184	7	c.	c.	PROPN
ap-802	184	8	,	,	PUNCT
ap-802	184	9	papavasiliou	papavasiliou	NOUN
ap-802	184	10	,	,	PUNCT
ap-802	184	11	g.	g.	PROPN
ap-802	184	12	c.	c.	PROPN
ap-802	184	13	:	:	PUNCT
ap-802	184	14	“	"	PUNCT
ap-802	184	15	on	on	ADP
ap-802	184	16	linear	linear	ADJ
ap-802	184	17	programming	programming	NOUN
ap-802	184	18	and	and	CCONJ
ap-802	184	19	robust	robust	ADJ
ap-802	184	20	model	model	NOUN
ap-802	184	21	predictive	predictive	ADJ
ap-802	184	22	control	control	NOUN
ap-802	184	23	using	use	VERB
ap-802	184	24	impulse	impulse	ADJ
ap-802	184	25	response	response	NOUN
ap-802	184	26	.	.	PUNCT
ap-802	184	27	”	"	PUNCT
ap-802	185	1	sys	sys	PROPN
ap-802	185	2	.	.	PUNCT
ap-802	185	3	cont	cont	PROPN
ap-802	185	4	.	.	PUNCT
ap-802	186	1	let	let	AUX
ap-802	186	2	.	.	PUNCT
ap-802	186	3	,	,	PUNCT
ap-802	186	4	vol	vol	NOUN
ap-802	186	5	.	.	PROPN
ap-802	186	6	18	18	NUM
ap-802	186	7	(	(	PUNCT
ap-802	186	8	1992	1992	NUM
ap-802	186	9	)	)	PUNCT
ap-802	186	10	,	,	PUNCT
ap-802	186	11	p.	p.	NOUN
ap-802	186	12	159–164	159–164	NUM
ap-802	186	13	.	.	PUNCT
ap-802	187	1	[	[	X
ap-802	187	2	7	7	NUM
ap-802	187	3	]	]	PUNCT
ap-802	187	4	genceli	genceli	NOUN
ap-802	187	5	,	,	PUNCT
ap-802	187	6	h.	h.	PROPN
ap-802	187	7	,	,	PUNCT
ap-802	187	8	nikolau	nikolau	PROPN
ap-802	187	9	,	,	PUNCT
ap-802	187	10	m.	m.	NOUN
ap-802	187	11	:	:	PUNCT
ap-802	187	12	“	"	PUNCT
ap-802	187	13	robust	robust	ADJ
ap-802	187	14	stability	stability	NOUN
ap-802	187	15	analysis	analysis	NOUN
ap-802	187	16	of	of	ADP
ap-802	187	17	constrained	constrained	ADJ
ap-802	187	18	-norm	-norm	NOUN
ap-802	187	19	model	model	NOUN
ap-802	187	20	predictive	predictive	PROPN
ap-802	187	21	control	control	PROPN
ap-802	187	22	.	.	PUNCT
ap-802	188	1	aiche	aiche	PROPN
ap-802	188	2	j.	j.	PROPN
ap-802	188	3	,	,	PUNCT
ap-802	188	4	vol	vol	NOUN
ap-802	188	5	.	.	PROPN
ap-802	188	6	39	39	NUM
ap-802	188	7	(	(	PUNCT
ap-802	188	8	1993	1993	NUM
ap-802	188	9	)	)	PUNCT
ap-802	188	10	,	,	PUNCT
ap-802	188	11	no	no	INTJ
ap-802	188	12	.	.	NOUN
ap-802	188	13	12	12	NUM
ap-802	188	14	,	,	PUNCT
ap-802	188	15	p.	p.	NOUN
ap-802	188	16	1954–1965	1954–1965	NUM
ap-802	188	17	.	.	PUNCT
ap-802	189	1	[	[	X
ap-802	189	2	8	8	NUM
ap-802	189	3	]	]	X
ap-802	189	4	change	change	NOUN
ap-802	189	5	,	,	PUNCT
ap-802	189	6	t.	t.	PROPN
ap-802	189	7	s.	s.	PROPN
ap-802	189	8	,	,	PUNCT
ap-802	189	9	seborg	seborg	PROPN
ap-802	189	10	,	,	PUNCT
ap-802	189	11	d.	d.	PROPN
ap-802	189	12	e.	e.	PROPN
ap-802	189	13	:	:	PUNCT
ap-802	189	14	a	a	DET
ap-802	189	15	linear	linear	ADJ
ap-802	189	16	programming	programming	NOUN
ap-802	189	17	approach	approach	NOUN
ap-802	189	18	for	for	ADP
ap-802	189	19	multivariable	multivariable	ADJ
ap-802	189	20	feedback	feedback	NOUN
ap-802	189	21	control	control	NOUN
ap-802	189	22	with	with	ADP
ap-802	189	23	inequality	inequality	NOUN
ap-802	189	24	constraints	constraint	NOUN
ap-802	189	25	.	.	PUNCT
ap-802	190	1	int	int	NOUN
ap-802	190	2	.	.	PUNCT
ap-802	191	1	j.	j.	PROPN
ap-802	191	2	control	control	PROPN
ap-802	191	3	,	,	PUNCT
ap-802	191	4	vol	vol	NOUN
ap-802	191	5	.	.	PROPN
ap-802	191	6	37	37	NUM
ap-802	191	7	(	(	PUNCT
ap-802	191	8	1983	1983	NUM
ap-802	191	9	)	)	PUNCT
ap-802	191	10	,	,	PUNCT
ap-802	191	11	p.	p.	NOUN
ap-802	191	12	583–597	583–597	NUM
ap-802	191	13	.	.	PUNCT
ap-802	192	1	[	[	X
ap-802	192	2	9	9	NUM
ap-802	192	3	]	]	SYM
ap-802	192	4	zadeh	zadeh	PROPN
ap-802	192	5	,	,	PUNCT
ap-802	192	6	l.	l.	PROPN
ap-802	192	7	a.	a.	PROPN
ap-802	192	8	,	,	PUNCT
ap-802	192	9	whalen	whalen	PROPN
ap-802	192	10	,	,	PUNCT
ap-802	192	11	j.	j.	PROPN
ap-802	192	12	h.	h.	PROPN
ap-802	192	13	:	:	PUNCT
ap-802	192	14	“	"	PUNCT
ap-802	192	15	on	on	ADP
ap-802	192	16	optimal	optimal	ADJ
ap-802	192	17	control	control	NOUN
ap-802	192	18	and	and	CCONJ
ap-802	192	19	linear	linear	PROPN
ap-802	192	20	programming	programming	NOUN
ap-802	192	21	.	.	PUNCT
ap-802	192	22	”	"	PUNCT
ap-802	192	23	ire	ire	PROPN
ap-802	192	24	trans	tran	NOUN
ap-802	192	25	.	.	PUNCT
ap-802	193	1	auto	auto	PROPN
ap-802	193	2	,	,	PUNCT
ap-802	193	3	cont	cont	NOUN
ap-802	193	4	.	.	PUNCT
ap-802	194	1	vol	vol	NOUN
ap-802	194	2	.	.	PROPN
ap-802	194	3	7	7	NUM
ap-802	194	4	(	(	PUNCT
ap-802	194	5	1962	1962	NUM
ap-802	194	6	)	)	PUNCT
ap-802	194	7	,	,	PUNCT
ap-802	195	1	p.	p.	NOUN
ap-802	195	2	45–46	45–46	NUM
ap-802	195	3	.	.	PUNCT
ap-802	196	1	38	38	NUM
ap-802	196	2	©	©	PROPN
ap-802	196	3	czech	czech	PROPN
ap-802	196	4	technical	technical	PROPN
ap-802	196	5	university	university	PROPN
ap-802	196	6	publishing	publishing	NOUN
ap-802	196	7	house	house	NOUN
ap-802	196	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	196	9	acta	acta	PROPN
ap-802	196	10	polytechnica	polytechnica	PROPN
ap-802	196	11	vol	vol	NOUN
ap-802	196	12	.	.	PUNCT
ap-802	197	1	46	46	NUM
ap-802	197	2	no	no	INTJ
ap-802	197	3	.	.	PUNCT
ap-802	198	1	1/2006	1/2006	NUM
ap-802	198	2	czech	czech	PROPN
ap-802	198	3	technical	technical	PROPN
ap-802	198	4	university	university	PROPN
ap-802	198	5	in	in	ADP
ap-802	198	6	prague	prague	PROPN
ap-802	198	7	0	0	NUM
ap-802	198	8	2	2	NUM
ap-802	198	9	4	4	NUM
ap-802	198	10	6	6	NUM
ap-802	198	11	8	8	NUM
ap-802	198	12	10	10	NUM
ap-802	198	13	�	�	NOUN
ap-802	198	14	20	20	NUM
ap-802	198	15	0	0	NUM
ap-802	198	16	20	20	NUM
ap-802	198	17	40	40	NUM
ap-802	198	18	60	60	NUM
ap-802	198	19	80	80	NUM
ap-802	198	20	time	time	NOUN
ap-802	199	1	[	[	X
ap-802	199	2	s	s	X
ap-802	199	3	]	]	X
ap-802	199	4	sy	sy	PROPN
ap-802	199	5	st	st	PROPN
ap-802	199	6	em	em	PROPN
ap-802	199	7	ou	ou	PROPN
ap-802	199	8	tp	tp	X
ap-802	199	9	ut	ut	PROPN
ap-802	200	1	[	[	X
ap-802	200	2	]	]	X
ap-802	200	3	reference	reference	NOUN
ap-802	200	4	system	system	NOUN
ap-802	200	5	output	output	NOUN
ap-802	200	6	0	0	NUM
ap-802	200	7	2	2	NUM
ap-802	200	8	4	4	NUM
ap-802	200	9	6	6	NUM
ap-802	200	10	8	8	NUM
ap-802	200	11	10	10	NUM
ap-802	200	12	�	�	NOUN
ap-802	200	13	100	100	NUM
ap-802	200	14	0	0	NUM
ap-802	200	15	100	100	NUM
ap-802	200	16	200	200	NUM
ap-802	200	17	time	time	NOUN
ap-802	201	1	[	[	X
ap-802	201	2	s	s	X
ap-802	201	3	]	]	X
ap-802	201	4	sy	sy	PROPN
ap-802	201	5	st	st	PROPN
ap-802	201	6	em	em	PRON
ap-802	201	7	in	in	ADP
ap-802	201	8	pu	pu	PROPN
ap-802	201	9	t	t	PROPN
ap-802	201	10	[	[	PUNCT
ap-802	201	11	-	-	PUNCT
ap-802	201	12	]	]	X
ap-802	201	13	system	system	NOUN
ap-802	201	14	input	input	NOUN
ap-802	201	15	0	0	NUM
ap-802	201	16	2	2	NUM
ap-802	201	17	4	4	NUM
ap-802	201	18	6	6	NUM
ap-802	201	19	8	8	NUM
ap-802	201	20	10	10	NUM
ap-802	201	21	-20	-20	NUM
ap-802	201	22	0	0	NUM
ap-802	201	23	20	20	NUM
ap-802	201	24	40	40	NUM
ap-802	201	25	60	60	NUM
ap-802	201	26	80	80	NUM
ap-802	201	27	time	time	NOUN
ap-802	202	1	[	[	X
ap-802	202	2	s	s	X
ap-802	202	3	]	]	X
ap-802	202	4	sy	sy	PROPN
ap-802	202	5	st	st	PROPN
ap-802	202	6	em	em	PROPN
ap-802	202	7	ou	ou	PROPN
ap-802	202	8	tp	tp	X
ap-802	202	9	ut	ut	PROPN
ap-802	203	1	[	[	X
ap-802	203	2	]	]	X
ap-802	203	3	reference	reference	NOUN
ap-802	203	4	system	system	NOUN
ap-802	203	5	output	output	NOUN
ap-802	203	6	0	0	NUM
ap-802	203	7	2	2	NUM
ap-802	203	8	4	4	NUM
ap-802	203	9	6	6	NUM
ap-802	203	10	8	8	NUM
ap-802	203	11	10	10	NUM
ap-802	203	12	-20	-20	NUM
ap-802	203	13	0	0	NUM
ap-802	203	14	20	20	NUM
ap-802	203	15	40	40	NUM
ap-802	203	16	60	60	NUM
ap-802	203	17	80	80	NUM
ap-802	203	18	time	time	NOUN
ap-802	203	19	[	[	X
ap-802	203	20	s	s	X
ap-802	203	21	]	]	X
ap-802	203	22	sy	sy	PROPN
ap-802	203	23	st	st	PROPN
ap-802	203	24	em	em	PRON
ap-802	203	25	in	in	ADP
ap-802	203	26	pu	pu	PROPN
ap-802	203	27	t	t	PROPN
ap-802	203	28	[	[	PUNCT
ap-802	203	29	-	-	PUNCT
ap-802	203	30	]	]	X
ap-802	203	31	system	system	NOUN
ap-802	203	32	input	input	NOUN
ap-802	203	33	fig	fig	NOUN
ap-802	203	34	.	.	PUNCT
ap-802	204	1	8	8	NUM
ap-802	204	2	:	:	PUNCT
ap-802	204	3	the	the	DET
ap-802	204	4	simulation	simulation	NOUN
ap-802	204	5	results	result	VERB
ap-802	204	6	for	for	ADP
ap-802	204	7	1	1	NUM
ap-802	204	8	norm	norm	NOUN
ap-802	204	9	for	for	ADP
ap-802	204	10	weighting	weight	VERB
ap-802	204	11	coefficient	coefficient	NOUN
ap-802	204	12	r	r	NOUN
ap-802	204	13	�	�	PROPN
ap-802	204	14	0.1	0.1	NUM
ap-802	204	15	(	(	PUNCT
ap-802	204	16	left	left	ADJ
ap-802	204	17	)	)	PUNCT
ap-802	204	18	and	and	CCONJ
ap-802	204	19	r	r	NOUN
ap-802	204	20	�	�	PROPN
ap-802	204	21	10	10	NUM
ap-802	204	22	(	(	PUNCT
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ap-802	204	24	)	)	PUNCT
ap-802	205	1	[	[	X
ap-802	205	2	10	10	NUM
ap-802	205	3	]	]	PUNCT
ap-802	205	4	björck	björck	NOUN
ap-802	205	5	,	,	PUNCT
ap-802	205	6	.	.	PUNCT
ap-802	205	7	:	:	PUNCT
ap-802	206	1	numerical	numerical	ADJ
ap-802	206	2	methods	method	NOUN
ap-802	206	3	for	for	ADP
ap-802	206	4	least	least	ADJ
ap-802	206	5	squares	square	NOUN
ap-802	206	6	problems	problem	NOUN
ap-802	206	7	.	.	PUNCT
ap-802	207	1	siam	siam	PROPN
ap-802	207	2	,	,	PUNCT
ap-802	207	3	philadelphia	philadelphia	PROPN
ap-802	207	4	,	,	PUNCT
ap-802	207	5	1996	1996	NUM
ap-802	207	6	.	.	PUNCT
ap-802	208	1	[	[	X
ap-802	208	2	11	11	NUM
ap-802	208	3	]	]	X
ap-802	208	4	van	van	PROPN
ap-802	208	5	huffel	huffel	PROPN
ap-802	208	6	,	,	PUNCT
ap-802	208	7	s.	s.	PROPN
ap-802	208	8	,	,	PUNCT
ap-802	208	9	vandewalle	vandewalle	PROPN
ap-802	208	10	,	,	PUNCT
ap-802	208	11	j.	j.	PROPN
ap-802	208	12	:	:	PUNCT
ap-802	208	13	the	the	DET
ap-802	208	14	total	total	ADJ
ap-802	208	15	least	least	ADJ
ap-802	208	16	squares	square	NOUN
ap-802	208	17	problem	problem	NOUN
ap-802	208	18	.	.	PUNCT
ap-802	209	1	computational	computational	ADJ
ap-802	209	2	aspects	aspect	NOUN
ap-802	209	3	and	and	CCONJ
ap-802	209	4	analysis	analysis	NOUN
ap-802	209	5	.	.	PUNCT
ap-802	210	1	siam	siam	PROPN
ap-802	210	2	,	,	PUNCT
ap-802	210	3	philadelphia	philadelphia	PROPN
ap-802	210	4	,	,	PUNCT
ap-802	210	5	1991	1991	NUM
ap-802	210	6	.	.	PUNCT
ap-802	211	1	[	[	X
ap-802	211	2	12	12	NUM
ap-802	211	3	]	]	X
ap-802	211	4	boyd	boyd	PROPN
ap-802	211	5	,	,	PUNCT
ap-802	211	6	s.	s.	PROPN
ap-802	211	7	,	,	PUNCT
ap-802	211	8	vandenberghe	vandenberghe	PROPN
ap-802	211	9	,	,	PUNCT
ap-802	211	10	l.	l.	PROPN
ap-802	211	11	:	:	PUNCT
ap-802	211	12	“	"	PUNCT
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ap-802	211	14	to	to	PART
ap-802	211	15	convex	convex	VERB
ap-802	211	16	optimization	optimization	NOUN
ap-802	211	17	with	with	ADP
ap-802	211	18	engineering	engineering	NOUN
ap-802	211	19	applications	application	NOUN
ap-802	211	20	.	.	PUNCT
ap-802	211	21	”	"	PUNCT
ap-802	212	1	lecture	lecture	NOUN
ap-802	212	2	notes	note	NOUN
ap-802	212	3	,	,	PUNCT
ap-802	212	4	stanford	stanford	PROPN
ap-802	212	5	university	university	PROPN
ap-802	212	6	,	,	PUNCT
ap-802	212	7	2002	2002	NUM
ap-802	212	8	.	.	PUNCT
ap-802	213	1	available	available	ADJ
ap-802	213	2	at	at	ADP
ap-802	213	3	:	:	PUNCT
ap-802	213	4	isl.stanford.edu/pub/boyd/.	isl.stanford.edu/pub/boyd/.	PROPN
ap-802	213	5	ing	ing	ADJ
ap-802	213	6	.	.	PUNCT
ap-802	214	1	jaroslav	jaroslav	PROPN
ap-802	214	2	pekař	pekař	PROPN
ap-802	214	3	,	,	PUNCT
ap-802	214	4	ph.d	ph.d	PROPN
ap-802	214	5	.	.	PUNCT
ap-802	214	6	phone	phone	NOUN
ap-802	214	7	:	:	PUNCT
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ap-802	214	10	052	052	NUM
ap-802	214	11	325	325	NUM
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ap-802	214	13	:	:	PUNCT
ap-802	214	14	+420	+420	NUM
ap-802	214	15	286	286	NUM
ap-802	214	16	890	890	NUM
ap-802	214	17	555	555	NUM
ap-802	214	18	e	e	NOUN
ap-802	214	19	-	-	NOUN
ap-802	214	20	mail	mail	NOUN
ap-802	214	21	:	:	PUNCT
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ap-802	214	24	prague	prague	PROPN
ap-802	214	25	laboratory	laboratory	PROPN
ap-802	214	26	pod	pod	PROPN
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ap-802	214	28	věží	věží	VERB
ap-802	214	29	4	4	NUM
ap-802	214	30	182	182	NUM
ap-802	214	31	08	08	NUM
ap-802	214	32	prague	prague	NOUN
ap-802	214	33	8	8	NUM
ap-802	214	34	,	,	PUNCT
ap-802	214	35	czech	czech	PROPN
ap-802	214	36	republic	republic	PROPN
ap-802	214	37	prof	prof	PROPN
ap-802	214	38	.	.	PUNCT
ap-802	215	1	ing	ing	PROPN
ap-802	215	2	.	.	PUNCT
ap-802	216	1	jan	jan	PROPN
ap-802	216	2	štecha	štecha	PROPN
ap-802	216	3	,	,	PUNCT
ap-802	216	4	csc	csc	PROPN
ap-802	216	5	.	.	PROPN
ap-802	216	6	phone	phone	NOUN
ap-802	216	7	:	:	PUNCT
ap-802	216	8	+420	+420	PROPN
ap-802	216	9	224	224	NUM
ap-802	216	10	357	357	NUM
ap-802	216	11	238	238	NUM
ap-802	216	12	fax	fax	NOUN
ap-802	216	13	:	:	PUNCT
ap-802	216	14	+420	+420	NUM
ap-802	216	15	224	224	NUM
ap-802	216	16	918	918	NUM
ap-802	216	17	646	646	NUM
ap-802	216	18	e	e	NOUN
ap-802	216	19	-	-	NOUN
ap-802	216	20	mail	mail	NOUN
ap-802	216	21	:	:	PUNCT
ap-802	216	22	stecha@control.felk.cvut.cz	stecha@control.felk.cvut.cz	PROPN
ap-802	216	23	department	department	NOUN
ap-802	216	24	of	of	ADP
ap-802	216	25	control	control	PROPN
ap-802	216	26	engineering	engineering	PROPN
ap-802	216	27	czech	czech	PROPN
ap-802	216	28	technical	technical	PROPN
ap-802	216	29	university	university	PROPN
ap-802	216	30	in	in	ADP
ap-802	216	31	prague	prague	PROPN
ap-802	216	32	karlovo	karlovo	PROPN
ap-802	216	33	nám	nám	PROPN
ap-802	216	34	.	.	PUNCT
ap-802	217	1	13	13	NUM
ap-802	217	2	12	12	NUM
ap-802	217	3	135	135	NUM
ap-802	217	4	prague	prague	NOUN
ap-802	217	5	2	2	NUM
ap-802	217	6	,	,	PUNCT
ap-802	217	7	czech	czech	PROPN
ap-802	217	8	republic	republic	NOUN
ap-802	217	9	©	©	PROPN
ap-802	217	10	czech	czech	PROPN
ap-802	217	11	technical	technical	PROPN
ap-802	217	12	university	university	PROPN
ap-802	217	13	publishing	publishing	NOUN
ap-802	217	14	house	house	NOUN
ap-802	217	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-802	217	16	39	39	NUM
ap-802	217	17	czech	czech	PROPN
ap-802	217	18	technical	technical	PROPN
ap-802	217	19	university	university	PROPN
ap-802	217	20	in	in	ADP
ap-802	217	21	prague	prague	PROPN
ap-802	217	22	acta	acta	PROPN
ap-802	217	23	polytechnica	polytechnica	PROPN
ap-802	217	24	vol	vol	NOUN
ap-802	217	25	.	.	PUNCT
ap-802	217	26	46	46	NUM
ap-802	218	1	no	no	INTJ
ap-802	218	2	.	.	PUNCT
ap-802	219	1	1/2006	1/2006	NUM