id	sid	tid	token	lemma	pos
ap-8300	1	1	acta	acta	PROPN
ap-8300	1	2	polytechnica	polytechnica	PROPN
ap-8300	1	3	https://doi.org/10.14311/ap.2022.62.0522	https://doi.org/10.14311/ap.2022.62.0522	PROPN
ap-8300	1	4	acta	acta	PROPN
ap-8300	1	5	polytechnica	polytechnica	PROPN
ap-8300	1	6	62(5):522–530	62(5):522–530	PROPN
ap-8300	1	7	,	,	PUNCT
ap-8300	1	8	2022	2022	NUM
ap-8300	1	9	©	©	ADP
ap-8300	1	10	2022	2022	NUM
ap-8300	1	11	the	the	DET
ap-8300	1	12	author(s	author(s	NOUN
ap-8300	1	13	)	)	PUNCT
ap-8300	1	14	.	.	PUNCT
ap-8300	2	1	licensed	license	VERB
ap-8300	2	2	under	under	ADP
ap-8300	2	3	a	a	DET
ap-8300	2	4	cc	cc	NOUN
ap-8300	2	5	-	-	PUNCT
ap-8300	2	6	by	by	ADP
ap-8300	2	7	4.0	4.0	NUM
ap-8300	2	8	licence	licence	NOUN
ap-8300	2	9	published	publish	VERB
ap-8300	2	10	by	by	ADP
ap-8300	2	11	the	the	DET
ap-8300	2	12	czech	czech	PROPN
ap-8300	2	13	technical	technical	PROPN
ap-8300	2	14	university	university	PROPN
ap-8300	2	15	in	in	ADP
ap-8300	2	16	prague	prague	PROPN
ap-8300	2	17	extra	extra	ADJ
ap-8300	2	18	control	control	PROPN
ap-8300	2	19	coefficient	coefficient	NOUN
ap-8300	2	20	additive	additive	ADJ
ap-8300	2	21	ecca	ecca	NOUN
ap-8300	2	22	-	-	PUNCT
ap-8300	2	23	pid	pid	NOUN
ap-8300	2	24	for	for	ADP
ap-8300	2	25	control	control	NOUN
ap-8300	2	26	optimization	optimization	NOUN
ap-8300	2	27	of	of	ADP
ap-8300	2	28	electrical	electrical	ADJ
ap-8300	2	29	and	and	CCONJ
ap-8300	2	30	mechanic	mechanic	ADJ
ap-8300	2	31	system	system	NOUN
ap-8300	2	32	erol	erol	NOUN
ap-8300	2	33	can	can	AUX
ap-8300	2	34	erzincan	erzincan	VERB
ap-8300	2	35	binali	binali	PROPN
ap-8300	2	36	yıldırım	yıldırım	PROPN
ap-8300	2	37	university	university	PROPN
ap-8300	2	38	,	,	PUNCT
ap-8300	2	39	school	school	NOUN
ap-8300	2	40	of	of	ADP
ap-8300	2	41	civil	civil	ADJ
ap-8300	2	42	aviation	aviation	NOUN
ap-8300	2	43	,	,	PUNCT
ap-8300	2	44	department	department	NOUN
ap-8300	2	45	of	of	ADP
ap-8300	2	46	aviation	aviation	NOUN
ap-8300	2	47	electric	electric	NOUN
ap-8300	2	48	-	-	PUNCT
ap-8300	2	49	electronics	electronic	NOUN
ap-8300	2	50	,	,	PUNCT
ap-8300	2	51	erzincan	erzincan	ADJ
ap-8300	2	52	,	,	PUNCT
ap-8300	2	53	turkey	turkey	NOUN
ap-8300	2	54	correspondence	correspondence	NOUN
ap-8300	2	55	:	:	PUNCT
ap-8300	2	56	cn_e@hotmail.com	cn_e@hotmail.com	X
ap-8300	2	57	abstract	abstract	NOUN
ap-8300	2	58	.	.	PUNCT
ap-8300	3	1	proportional	proportional	ADJ
ap-8300	3	2	integral	integral	ADJ
ap-8300	3	3	derivative	derivative	ADJ
ap-8300	3	4	(	(	PUNCT
ap-8300	3	5	pid	pid	NOUN
ap-8300	3	6	)	)	PUNCT
ap-8300	3	7	controllers	controller	NOUN
ap-8300	3	8	are	be	AUX
ap-8300	3	9	frequently	frequently	ADV
ap-8300	3	10	used	use	VERB
ap-8300	3	11	control	control	NOUN
ap-8300	3	12	methods	method	NOUN
ap-8300	3	13	for	for	ADP
ap-8300	3	14	mechanical	mechanical	ADJ
ap-8300	3	15	and	and	CCONJ
ap-8300	3	16	electrical	electrical	ADJ
ap-8300	3	17	systems	system	NOUN
ap-8300	3	18	.	.	PUNCT
ap-8300	4	1	controller	controller	NOUN
ap-8300	4	2	values	value	NOUN
ap-8300	4	3	are	be	AUX
ap-8300	4	4	chosen	choose	VERB
ap-8300	4	5	either	either	CCONJ
ap-8300	4	6	by	by	ADP
ap-8300	4	7	calculation	calculation	NOUN
ap-8300	4	8	or	or	CCONJ
ap-8300	4	9	by	by	ADP
ap-8300	4	10	experimentation	experimentation	NOUN
ap-8300	4	11	to	to	PART
ap-8300	4	12	obtain	obtain	VERB
ap-8300	4	13	a	a	DET
ap-8300	4	14	satisfactory	satisfactory	ADJ
ap-8300	4	15	response	response	NOUN
ap-8300	4	16	in	in	ADP
ap-8300	4	17	the	the	DET
ap-8300	4	18	system	system	NOUN
ap-8300	4	19	and	and	CCONJ
ap-8300	4	20	to	to	PART
ap-8300	4	21	optimise	optimise	VERB
ap-8300	4	22	the	the	DET
ap-8300	4	23	response	response	NOUN
ap-8300	4	24	.	.	PUNCT
ap-8300	5	1	sometimes	sometimes	ADV
ap-8300	5	2	the	the	DET
ap-8300	5	3	controller	controller	NOUN
ap-8300	5	4	values	value	NOUN
ap-8300	5	5	do	do	AUX
ap-8300	5	6	not	not	PART
ap-8300	5	7	quite	quite	ADV
ap-8300	5	8	capture	capture	VERB
ap-8300	5	9	the	the	DET
ap-8300	5	10	desired	desire	VERB
ap-8300	5	11	system	system	NOUN
ap-8300	5	12	response	response	NOUN
ap-8300	5	13	due	due	ADP
ap-8300	5	14	to	to	ADP
ap-8300	5	15	incorrect	incorrect	ADJ
ap-8300	5	16	calculations	calculation	NOUN
ap-8300	5	17	or	or	CCONJ
ap-8300	5	18	approximate	approximate	ADJ
ap-8300	5	19	entered	enter	VERB
ap-8300	5	20	values	value	NOUN
ap-8300	5	21	.	.	PUNCT
ap-8300	6	1	in	in	ADP
ap-8300	6	2	this	this	DET
ap-8300	6	3	case	case	NOUN
ap-8300	6	4	,	,	PUNCT
ap-8300	6	5	it	it	PRON
ap-8300	6	6	is	be	AUX
ap-8300	6	7	necessary	necessary	ADJ
ap-8300	6	8	to	to	PART
ap-8300	6	9	add	add	VERB
ap-8300	6	10	features	feature	NOUN
ap-8300	6	11	that	that	PRON
ap-8300	6	12	can	can	AUX
ap-8300	6	13	make	make	VERB
ap-8300	6	14	a	a	DET
ap-8300	6	15	comparison	comparison	NOUN
ap-8300	6	16	with	with	ADP
ap-8300	6	17	the	the	DET
ap-8300	6	18	existing	exist	VERB
ap-8300	6	19	traditional	traditional	ADJ
ap-8300	6	20	system	system	NOUN
ap-8300	6	21	and	and	CCONJ
ap-8300	6	22	add	add	VERB
ap-8300	6	23	decision	decision	NOUN
ap-8300	6	24	-	-	PUNCT
ap-8300	6	25	making	make	VERB
ap-8300	6	26	features	feature	NOUN
ap-8300	6	27	to	to	PART
ap-8300	6	28	optimise	optimise	VERB
ap-8300	6	29	the	the	DET
ap-8300	6	30	response	response	NOUN
ap-8300	6	31	of	of	ADP
ap-8300	6	32	the	the	DET
ap-8300	6	33	system	system	NOUN
ap-8300	6	34	.	.	PUNCT
ap-8300	7	1	in	in	ADP
ap-8300	7	2	this	this	DET
ap-8300	7	3	article	article	NOUN
ap-8300	7	4	,	,	PUNCT
ap-8300	7	5	the	the	DET
ap-8300	7	6	decision	decision	NOUN
ap-8300	7	7	-	-	PUNCT
ap-8300	7	8	making	make	VERB
ap-8300	7	9	unit	unit	NOUN
ap-8300	7	10	created	create	VERB
ap-8300	7	11	for	for	ADP
ap-8300	7	12	these	these	DET
ap-8300	7	13	control	control	NOUN
ap-8300	7	14	systems	system	NOUN
ap-8300	7	15	to	to	PART
ap-8300	7	16	provide	provide	VERB
ap-8300	7	17	a	a	DET
ap-8300	7	18	better	well	ADJ
ap-8300	7	19	control	control	NOUN
ap-8300	7	20	response	response	NOUN
ap-8300	7	21	and	and	CCONJ
ap-8300	7	22	the	the	DET
ap-8300	7	23	pid	pid	NOUN
ap-8300	7	24	system	system	NOUN
ap-8300	7	25	that	that	PRON
ap-8300	7	26	contributes	contribute	VERB
ap-8300	7	27	an	an	DET
ap-8300	7	28	extra	extra	ADJ
ap-8300	7	29	control	control	NOUN
ap-8300	7	30	coefficient	coefficient	NOUN
ap-8300	7	31	called	call	VERB
ap-8300	7	32	ecca	ecca	NOUN
ap-8300	7	33	-	-	PUNCT
ap-8300	7	34	pid	pid	NOUN
ap-8300	7	35	is	be	AUX
ap-8300	7	36	presented	present	VERB
ap-8300	7	37	.	.	PUNCT
ap-8300	8	1	first	first	ADV
ap-8300	8	2	,	,	PUNCT
ap-8300	8	3	the	the	DET
ap-8300	8	4	structure	structure	NOUN
ap-8300	8	5	and	and	CCONJ
ap-8300	8	6	design	design	NOUN
ap-8300	8	7	of	of	ADP
ap-8300	8	8	the	the	DET
ap-8300	8	9	traditional	traditional	ADJ
ap-8300	8	10	pid	pid	NOUN
ap-8300	8	11	control	control	NOUN
ap-8300	8	12	system	system	NOUN
ap-8300	8	13	and	and	CCONJ
ap-8300	8	14	the	the	DET
ap-8300	8	15	ecca	ecca	NOUN
ap-8300	8	16	-	-	PUNCT
ap-8300	8	17	pid	pid	NOUN
ap-8300	8	18	control	control	NOUN
ap-8300	8	19	system	system	NOUN
ap-8300	8	20	are	be	AUX
ap-8300	8	21	presented	present	VERB
ap-8300	8	22	.	.	PUNCT
ap-8300	9	1	after	after	ADP
ap-8300	9	2	that	that	PRON
ap-8300	9	3	,	,	PUNCT
ap-8300	9	4	ecca	ecca	NOUN
ap-8300	9	5	-	-	PUNCT
ap-8300	9	6	pid	pid	NOUN
ap-8300	9	7	and	and	CCONJ
ap-8300	9	8	traditional	traditional	ADJ
ap-8300	9	9	pid	pid	NOUN
ap-8300	9	10	methods	method	NOUN
ap-8300	9	11	’	'	PUNCT
ap-8300	9	12	step	step	NOUN
ap-8300	9	13	response	response	NOUN
ap-8300	9	14	of	of	ADP
ap-8300	9	15	a	a	DET
ap-8300	9	16	quadratic	quadratic	ADJ
ap-8300	9	17	system	system	NOUN
ap-8300	9	18	are	be	AUX
ap-8300	9	19	examined	examine	VERB
ap-8300	9	20	.	.	PUNCT
ap-8300	10	1	the	the	DET
ap-8300	10	2	results	result	NOUN
ap-8300	10	3	obtained	obtain	VERB
ap-8300	10	4	show	show	VERB
ap-8300	10	5	the	the	DET
ap-8300	10	6	effectiveness	effectiveness	NOUN
ap-8300	10	7	of	of	ADP
ap-8300	10	8	the	the	DET
ap-8300	10	9	proposed	propose	VERB
ap-8300	10	10	control	control	NOUN
ap-8300	10	11	method	method	NOUN
ap-8300	10	12	.	.	PUNCT
ap-8300	11	1	keywords	keyword	NOUN
ap-8300	11	2	:	:	PUNCT
ap-8300	11	3	ecca	ecca	VERB
ap-8300	11	4	-	-	PUNCT
ap-8300	11	5	pid	pid	NOUN
ap-8300	11	6	,	,	PUNCT
ap-8300	11	7	decision	decision	NOUN
ap-8300	11	8	-	-	PUNCT
ap-8300	11	9	making	make	VERB
ap-8300	11	10	unit	unit	NOUN
ap-8300	11	11	,	,	PUNCT
ap-8300	11	12	satisfactory	satisfactory	ADJ
ap-8300	11	13	response	response	NOUN
ap-8300	11	14	.	.	PUNCT
ap-8300	12	1	1	1	X
ap-8300	12	2	.	.	X
ap-8300	12	3	introduction	introduction	NOUN
ap-8300	12	4	pid	pid	NOUN
ap-8300	12	5	(	(	PUNCT
ap-8300	12	6	proportional	proportional	ADJ
ap-8300	12	7	-	-	PUNCT
ap-8300	12	8	integral	integral	ADJ
ap-8300	12	9	-	-	PUNCT
ap-8300	12	10	derivative	derivative	ADJ
ap-8300	12	11	)	)	PUNCT
ap-8300	12	12	controller	controller	NOUN
ap-8300	12	13	control	control	PROPN
ap-8300	12	14	loop	loop	PROPN
ap-8300	12	15	method	method	NOUN
ap-8300	12	16	is	be	AUX
ap-8300	12	17	a	a	DET
ap-8300	12	18	control	control	NOUN
ap-8300	12	19	mechanism	mechanism	NOUN
ap-8300	12	20	that	that	PRON
ap-8300	12	21	has	have	VERB
ap-8300	12	22	a	a	DET
ap-8300	12	23	wide	wide	ADJ
ap-8300	12	24	range	range	NOUN
ap-8300	12	25	of	of	ADP
ap-8300	12	26	uses	use	NOUN
ap-8300	12	27	,	,	PUNCT
ap-8300	12	28	such	such	ADJ
ap-8300	12	29	as	as	ADP
ap-8300	12	30	electronic	electronic	ADJ
ap-8300	12	31	devices	device	NOUN
ap-8300	12	32	,	,	PUNCT
ap-8300	12	33	mechanical	mechanical	ADJ
ap-8300	12	34	devices	device	NOUN
ap-8300	12	35	and	and	CCONJ
ap-8300	12	36	pneumatic	pneumatic	ADJ
ap-8300	12	37	systems	system	NOUN
ap-8300	12	38	[	[	X
ap-8300	12	39	1–4	1–4	NOUN
ap-8300	12	40	]	]	X
ap-8300	12	41	.	.	PUNCT
ap-8300	13	1	the	the	DET
ap-8300	13	2	pid	pid	NOUN
ap-8300	13	3	compares	compare	VERB
ap-8300	13	4	the	the	DET
ap-8300	13	5	signal	signal	NOUN
ap-8300	13	6	sent	send	VERB
ap-8300	13	7	to	to	ADP
ap-8300	13	8	the	the	DET
ap-8300	13	9	input	input	NOUN
ap-8300	13	10	via	via	ADP
ap-8300	13	11	the	the	DET
ap-8300	13	12	feedback	feedback	NOUN
ap-8300	13	13	path	path	NOUN
ap-8300	13	14	with	with	ADP
ap-8300	13	15	the	the	DET
ap-8300	13	16	input	input	NOUN
ap-8300	13	17	signal	signal	NOUN
ap-8300	13	18	and	and	CCONJ
ap-8300	13	19	calculates	calculate	VERB
ap-8300	13	20	the	the	DET
ap-8300	13	21	error	error	NOUN
ap-8300	13	22	obtained	obtain	VERB
ap-8300	13	23	.	.	PUNCT
ap-8300	14	1	the	the	DET
ap-8300	14	2	pid	pid	NOUN
ap-8300	14	3	control	control	NOUN
ap-8300	14	4	system	system	NOUN
ap-8300	14	5	compares	compare	VERB
ap-8300	14	6	the	the	DET
ap-8300	14	7	reference	reference	NOUN
ap-8300	14	8	signal	signal	NOUN
ap-8300	14	9	of	of	ADP
ap-8300	14	10	input	input	NOUN
ap-8300	14	11	with	with	ADP
ap-8300	14	12	sensing	sense	VERB
ap-8300	14	13	the	the	DET
ap-8300	14	14	output	output	NOUN
ap-8300	14	15	signal	signal	NOUN
ap-8300	14	16	of	of	ADP
ap-8300	14	17	controlled	control	VERB
ap-8300	14	18	plant	plant	NOUN
ap-8300	14	19	via	via	ADP
ap-8300	14	20	the	the	DET
ap-8300	14	21	feedback	feedback	NOUN
ap-8300	14	22	path	path	NOUN
ap-8300	14	23	.	.	PUNCT
ap-8300	15	1	then	then	ADV
ap-8300	15	2	,	,	PUNCT
ap-8300	15	3	the	the	DET
ap-8300	15	4	controller	controller	NOUN
ap-8300	15	5	system	system	NOUN
ap-8300	15	6	calculates	calculate	VERB
ap-8300	15	7	the	the	DET
ap-8300	15	8	error	error	NOUN
ap-8300	15	9	of	of	ADP
ap-8300	15	10	the	the	DET
ap-8300	15	11	obtained	obtain	VERB
ap-8300	15	12	signal	signal	NOUN
ap-8300	15	13	.	.	PUNCT
ap-8300	16	1	this	this	DET
ap-8300	16	2	error	error	NOUN
ap-8300	16	3	is	be	AUX
ap-8300	16	4	sent	send	VERB
ap-8300	16	5	to	to	ADP
ap-8300	16	6	p	p	PRON
ap-8300	16	7	,	,	PUNCT
ap-8300	16	8	i	i	PRON
ap-8300	16	9	,	,	PUNCT
ap-8300	17	1	d	d	NOUN
ap-8300	17	2	and	and	CCONJ
ap-8300	17	3	after	after	SCONJ
ap-8300	17	4	the	the	DET
ap-8300	17	5	controller	controller	NOUN
ap-8300	17	6	units	unit	NOUN
ap-8300	17	7	multiplies	multiply	VERB
ap-8300	17	8	this	this	DET
ap-8300	17	9	error	error	NOUN
ap-8300	17	10	with	with	ADP
ap-8300	17	11	a	a	DET
ap-8300	17	12	coefficient	coefficient	NOUN
ap-8300	17	13	,	,	PUNCT
ap-8300	17	14	it	it	PRON
ap-8300	17	15	sends	send	VERB
ap-8300	17	16	new	new	ADJ
ap-8300	17	17	created	create	VERB
ap-8300	17	18	signals	signal	NOUN
ap-8300	17	19	to	to	ADP
ap-8300	17	20	the	the	DET
ap-8300	17	21	input	input	NOUN
ap-8300	17	22	of	of	ADP
ap-8300	17	23	the	the	DET
ap-8300	17	24	target	target	NOUN
ap-8300	17	25	plant	plant	NOUN
ap-8300	17	26	system	system	NOUN
ap-8300	17	27	[	[	X
ap-8300	17	28	5	5	NUM
ap-8300	17	29	,	,	PUNCT
ap-8300	17	30	6	6	NUM
ap-8300	17	31	]	]	PUNCT
ap-8300	17	32	.	.	PUNCT
ap-8300	18	1	this	this	DET
ap-8300	18	2	process	process	NOUN
ap-8300	18	3	is	be	AUX
ap-8300	18	4	repeated	repeat	VERB
ap-8300	18	5	until	until	SCONJ
ap-8300	18	6	the	the	DET
ap-8300	18	7	error	error	NOUN
ap-8300	18	8	reaches	reach	VERB
ap-8300	18	9	a	a	DET
ap-8300	18	10	minimum	minimum	ADJ
ap-8300	18	11	value	value	NOUN
ap-8300	18	12	.	.	PUNCT
ap-8300	19	1	while	while	SCONJ
ap-8300	19	2	pid	pid	PROPN
ap-8300	19	3	control	control	NOUN
ap-8300	19	4	studies	study	NOUN
ap-8300	19	5	generally	generally	ADV
ap-8300	19	6	focus	focus	VERB
ap-8300	19	7	on	on	ADP
ap-8300	19	8	linear	linear	PROPN
ap-8300	19	9	systems	system	NOUN
ap-8300	19	10	,	,	PUNCT
ap-8300	19	11	studies	study	NOUN
ap-8300	19	12	on	on	ADP
ap-8300	19	13	a	a	DET
ap-8300	19	14	good	good	ADV
ap-8300	19	15	-	-	PUNCT
ap-8300	19	16	performing	perform	VERB
ap-8300	19	17	pid	pid	NOUN
ap-8300	19	18	controller	controller	NOUN
ap-8300	19	19	are	be	AUX
ap-8300	19	20	also	also	ADV
ap-8300	19	21	presented	present	VERB
ap-8300	19	22	for	for	ADP
ap-8300	19	23	some	some	DET
ap-8300	19	24	system	system	NOUN
ap-8300	19	25	groups	group	NOUN
ap-8300	19	26	with	with	ADP
ap-8300	19	27	uncertainty	uncertainty	NOUN
ap-8300	19	28	[	[	X
ap-8300	19	29	7	7	NUM
ap-8300	19	30	,	,	PUNCT
ap-8300	19	31	8	8	NUM
ap-8300	19	32	]	]	PUNCT
ap-8300	19	33	.	.	PUNCT
ap-8300	20	1	the	the	DET
ap-8300	20	2	balancing	balancing	NOUN
ap-8300	20	3	of	of	ADP
ap-8300	20	4	the	the	DET
ap-8300	20	5	first	first	ADJ
ap-8300	20	6	order	order	NOUN
ap-8300	20	7	time	time	NOUN
ap-8300	20	8	-	-	PUNCT
ap-8300	20	9	delayed	delay	VERB
ap-8300	20	10	system	system	NOUN
ap-8300	20	11	using	use	VERB
ap-8300	20	12	a	a	DET
ap-8300	20	13	pid	pid	NOUN
ap-8300	20	14	controller	controller	NOUN
ap-8300	20	15	with	with	ADP
ap-8300	20	16	the	the	DET
ap-8300	20	17	previously	previously	ADV
ap-8300	20	18	given	give	VERB
ap-8300	20	19	pid	pid	NOUN
ap-8300	20	20	values	value	NOUN
ap-8300	20	21	has	have	AUX
ap-8300	20	22	been	be	AUX
ap-8300	20	23	investigated	investigate	VERB
ap-8300	20	24	[	[	PUNCT
ap-8300	20	25	9	9	NUM
ap-8300	20	26	,	,	PUNCT
ap-8300	20	27	10	10	NUM
ap-8300	20	28	]	]	PUNCT
ap-8300	20	29	while	while	SCONJ
ap-8300	20	30	high	high	ADJ
ap-8300	20	31	order	order	NOUN
ap-8300	20	32	time	time	NOUN
ap-8300	20	33	delay	delay	NOUN
ap-8300	20	34	systems	system	NOUN
ap-8300	20	35	are	be	AUX
ap-8300	20	36	controlled	control	VERB
ap-8300	20	37	by	by	ADP
ap-8300	20	38	pid	pid	NOUN
ap-8300	21	1	[	[	X
ap-8300	21	2	11–13	11–13	NUM
ap-8300	21	3	]	]	X
ap-8300	21	4	.	.	PUNCT
ap-8300	22	1	in	in	ADP
ap-8300	22	2	some	some	DET
ap-8300	22	3	studies	study	NOUN
ap-8300	22	4	,	,	PUNCT
ap-8300	22	5	it	it	PRON
ap-8300	22	6	relies	rely	VERB
ap-8300	22	7	on	on	ADP
ap-8300	22	8	testing	test	VERB
ap-8300	22	9	the	the	DET
ap-8300	22	10	negative	negative	ADJ
ap-8300	22	11	feedback	feedback	NOUN
ap-8300	22	12	control	control	NOUN
ap-8300	22	13	system	system	NOUN
ap-8300	22	14	in	in	ADP
ap-8300	22	15	continuous	continuous	ADJ
ap-8300	22	16	oscillation	oscillation	NOUN
ap-8300	22	17	with	with	ADP
ap-8300	22	18	a	a	DET
ap-8300	22	19	step	step	NOUN
ap-8300	22	20	input	input	NOUN
ap-8300	22	21	to	to	PART
ap-8300	22	22	calculate	calculate	VERB
ap-8300	22	23	the	the	DET
ap-8300	22	24	pid	pid	NOUN
ap-8300	22	25	gain	gain	VERB
ap-8300	22	26	values	value	NOUN
ap-8300	22	27	.	.	PUNCT
ap-8300	23	1	initially	initially	ADV
ap-8300	23	2	,	,	PUNCT
ap-8300	23	3	the	the	DET
ap-8300	23	4	integral	integral	ADJ
ap-8300	23	5	and	and	CCONJ
ap-8300	23	6	derivative	derivative	ADJ
ap-8300	23	7	terms	term	NOUN
ap-8300	23	8	are	be	AUX
ap-8300	23	9	disabled	disable	VERB
ap-8300	23	10	by	by	ADP
ap-8300	23	11	making	make	VERB
ap-8300	23	12	the	the	DET
ap-8300	23	13	gains	gain	NOUN
ap-8300	23	14	of	of	ADP
ap-8300	23	15	zero	zero	NUM
ap-8300	23	16	in	in	ADP
ap-8300	23	17	the	the	DET
ap-8300	23	18	pid	pid	NOUN
ap-8300	23	19	controller	controller	NOUN
ap-8300	23	20	,	,	PUNCT
ap-8300	23	21	and	and	CCONJ
ap-8300	23	22	the	the	DET
ap-8300	23	23	controller	controller	NOUN
ap-8300	23	24	is	be	AUX
ap-8300	23	25	operated	operate	VERB
ap-8300	23	26	with	with	ADP
ap-8300	23	27	only	only	ADV
ap-8300	23	28	a	a	DET
ap-8300	23	29	proportional	proportional	ADJ
ap-8300	23	30	effect	effect	NOUN
ap-8300	23	31	.	.	PUNCT
ap-8300	24	1	a	a	DET
ap-8300	24	2	step	step	NOUN
ap-8300	24	3	input	input	NOUN
ap-8300	24	4	is	be	AUX
ap-8300	24	5	applied	apply	VERB
ap-8300	24	6	to	to	ADP
ap-8300	24	7	the	the	DET
ap-8300	24	8	input	input	NOUN
ap-8300	24	9	of	of	ADP
ap-8300	24	10	the	the	DET
ap-8300	24	11	system	system	NOUN
ap-8300	24	12	and	and	CCONJ
ap-8300	24	13	the	the	DET
ap-8300	24	14	kp	kp	PROPN
ap-8300	24	15	gain	gain	NOUN
ap-8300	24	16	is	be	AUX
ap-8300	24	17	increased	increase	VERB
ap-8300	24	18	from	from	ADP
ap-8300	24	19	zero	zero	NUM
ap-8300	24	20	until	until	SCONJ
ap-8300	24	21	a	a	DET
ap-8300	24	22	continuous	continuous	ADJ
ap-8300	24	23	and	and	CCONJ
ap-8300	24	24	same	same	ADJ
ap-8300	24	25	amplitude	amplitude	NOUN
ap-8300	24	26	oscillation	oscillation	NOUN
ap-8300	24	27	is	be	AUX
ap-8300	24	28	obtained	obtain	VERB
ap-8300	24	29	at	at	ADP
ap-8300	24	30	the	the	DET
ap-8300	24	31	output	output	NOUN
ap-8300	24	32	of	of	ADP
ap-8300	24	33	the	the	DET
ap-8300	24	34	system	system	NOUN
ap-8300	25	1	[	[	X
ap-8300	25	2	12	12	NUM
ap-8300	25	3	,	,	PUNCT
ap-8300	25	4	13	13	NUM
ap-8300	25	5	]	]	PUNCT
ap-8300	25	6	.	.	PUNCT
ap-8300	26	1	the	the	DET
ap-8300	26	2	gain	gain	NOUN
ap-8300	26	3	kp	kp	NOUN
ap-8300	26	4	giving	give	VERB
ap-8300	26	5	sustained	sustained	ADJ
ap-8300	26	6	oscillation	oscillation	NOUN
ap-8300	26	7	is	be	AUX
ap-8300	26	8	determined	determine	VERB
ap-8300	26	9	as	as	ADP
ap-8300	26	10	the	the	DET
ap-8300	26	11	sustained	sustained	ADJ
ap-8300	26	12	oscillation	oscillation	NOUN
ap-8300	26	13	period	period	NOUN
ap-8300	26	14	in	in	ADP
ap-8300	26	15	seconds	second	NOUN
ap-8300	26	16	.	.	PUNCT
ap-8300	27	1	forcing	force	VERB
ap-8300	27	2	this	this	DET
ap-8300	27	3	method	method	NOUN
ap-8300	27	4	to	to	PART
ap-8300	27	5	reach	reach	VERB
ap-8300	27	6	the	the	DET
ap-8300	27	7	constant	constant	ADJ
ap-8300	27	8	oscillation	oscillation	NOUN
ap-8300	27	9	region	region	NOUN
ap-8300	27	10	may	may	AUX
ap-8300	27	11	have	have	VERB
ap-8300	27	12	undesirable	undesirable	ADJ
ap-8300	27	13	results	result	NOUN
ap-8300	27	14	in	in	ADP
ap-8300	27	15	some	some	DET
ap-8300	27	16	applications	application	NOUN
ap-8300	27	17	.	.	PUNCT
ap-8300	28	1	against	against	ADP
ap-8300	28	2	external	external	ADJ
ap-8300	28	3	factors	factor	NOUN
ap-8300	28	4	,	,	PUNCT
ap-8300	28	5	the	the	DET
ap-8300	28	6	process	process	NOUN
ap-8300	28	7	can	can	AUX
ap-8300	28	8	easily	easily	ADV
ap-8300	28	9	pass	pass	VERB
ap-8300	28	10	into	into	ADP
ap-8300	28	11	the	the	DET
ap-8300	28	12	unstable	unstable	ADJ
ap-8300	28	13	region	region	NOUN
ap-8300	28	14	.	.	PUNCT
ap-8300	29	1	therefore	therefore	ADV
ap-8300	29	2	,	,	PUNCT
ap-8300	29	3	some	some	DET
ap-8300	29	4	physical	physical	ADJ
ap-8300	29	5	damage	damage	NOUN
ap-8300	29	6	to	to	ADP
ap-8300	29	7	the	the	DET
ap-8300	29	8	equipment	equipment	NOUN
ap-8300	29	9	may	may	AUX
ap-8300	29	10	occur	occur	VERB
ap-8300	29	11	.	.	PUNCT
ap-8300	30	1	it	it	PRON
ap-8300	30	2	takes	take	VERB
ap-8300	30	3	a	a	DET
ap-8300	30	4	lot	lot	NOUN
ap-8300	30	5	of	of	ADP
ap-8300	30	6	experimentation	experimentation	NOUN
ap-8300	30	7	to	to	PART
ap-8300	30	8	calculate	calculate	VERB
ap-8300	30	9	its	its	PRON
ap-8300	30	10	value	value	NOUN
ap-8300	30	11	.	.	PUNCT
ap-8300	31	1	however	however	ADV
ap-8300	31	2	,	,	PUNCT
ap-8300	31	3	in	in	ADP
ap-8300	31	4	some	some	DET
ap-8300	31	5	systems	system	NOUN
ap-8300	31	6	,	,	PUNCT
ap-8300	31	7	predetermined	predetermine	VERB
ap-8300	31	8	insufficient	insufficient	ADJ
ap-8300	31	9	controller	controller	NOUN
ap-8300	31	10	values	value	NOUN
ap-8300	31	11	may	may	AUX
ap-8300	31	12	be	be	AUX
ap-8300	31	13	insufficient	insufficient	ADJ
ap-8300	31	14	to	to	PART
ap-8300	31	15	provide	provide	VERB
ap-8300	31	16	the	the	DET
ap-8300	31	17	desired	desire	VERB
ap-8300	31	18	stabilisation	stabilisation	NOUN
ap-8300	31	19	times	time	NOUN
ap-8300	31	20	.	.	PUNCT
ap-8300	32	1	in	in	ADP
ap-8300	32	2	order	order	NOUN
ap-8300	32	3	to	to	PART
ap-8300	32	4	eliminate	eliminate	VERB
ap-8300	32	5	such	such	ADJ
ap-8300	32	6	situations	situation	NOUN
ap-8300	32	7	,	,	PUNCT
ap-8300	32	8	an	an	DET
ap-8300	32	9	extra	extra	ADJ
ap-8300	32	10	control	control	NOUN
ap-8300	32	11	coefficient	coefficient	NOUN
ap-8300	32	12	additive	additive	ADJ
ap-8300	32	13	(	(	PUNCT
ap-8300	32	14	ecca)-pid	ecca)-pid	ADJ
ap-8300	32	15	control	control	NOUN
ap-8300	32	16	is	be	AUX
ap-8300	32	17	recommended	recommend	VERB
ap-8300	32	18	,	,	PUNCT
ap-8300	32	19	which	which	PRON
ap-8300	32	20	is	be	AUX
ap-8300	32	21	based	base	VERB
ap-8300	32	22	on	on	ADP
ap-8300	32	23	all	all	DET
ap-8300	32	24	these	these	DET
ap-8300	32	25	principles	principle	NOUN
ap-8300	32	26	,	,	PUNCT
ap-8300	32	27	but	but	CCONJ
ap-8300	32	28	which	which	PRON
ap-8300	32	29	can	can	AUX
ap-8300	32	30	activate	activate	VERB
ap-8300	32	31	the	the	DET
ap-8300	32	32	system	system	NOUN
ap-8300	32	33	faster	fast	ADV
ap-8300	32	34	and	and	CCONJ
ap-8300	32	35	stabilise	stabilise	VERB
ap-8300	32	36	the	the	DET
ap-8300	32	37	system	system	NOUN
ap-8300	32	38	by	by	ADP
ap-8300	32	39	providing	provide	VERB
ap-8300	32	40	a	a	DET
ap-8300	32	41	shorter	short	ADJ
ap-8300	32	42	settling	settling	NOUN
ap-8300	32	43	time	time	NOUN
ap-8300	32	44	.	.	PUNCT
ap-8300	33	1	the	the	DET
ap-8300	33	2	ideal	ideal	ADJ
ap-8300	33	3	reference	reference	NOUN
ap-8300	33	4	signal	signal	NOUN
ap-8300	33	5	is	be	AUX
ap-8300	33	6	divided	divide	VERB
ap-8300	33	7	into	into	ADP
ap-8300	33	8	reflection	reflection	NOUN
ap-8300	33	9	reference	reference	NOUN
ap-8300	33	10	values	value	NOUN
ap-8300	33	11	of	of	ADP
ap-8300	33	12	different	different	ADJ
ap-8300	33	13	magnitudes	magnitude	NOUN
ap-8300	33	14	to	to	PART
ap-8300	33	15	form	form	VERB
ap-8300	33	16	a	a	DET
ap-8300	33	17	decision	decision	NOUN
ap-8300	33	18	unit	unit	NOUN
ap-8300	33	19	to	to	PART
ap-8300	33	20	be	be	AUX
ap-8300	33	21	compared	compare	VERB
ap-8300	33	22	with	with	ADP
ap-8300	33	23	the	the	DET
ap-8300	33	24	error	error	NOUN
ap-8300	33	25	and	and	CCONJ
ap-8300	33	26	error	error	NOUN
ap-8300	33	27	change	change	NOUN
ap-8300	33	28	rates	rate	NOUN
ap-8300	33	29	.	.	PUNCT
ap-8300	34	1	therefore	therefore	ADV
ap-8300	34	2	,	,	PUNCT
ap-8300	34	3	extra	extra	ADJ
ap-8300	34	4	controller	controller	NOUN
ap-8300	34	5	coefficients	coefficient	NOUN
ap-8300	34	6	are	be	AUX
ap-8300	34	7	produced	produce	VERB
ap-8300	34	8	by	by	ADP
ap-8300	34	9	observing	observe	VERB
ap-8300	34	10	the	the	DET
ap-8300	34	11	error	error	NOUN
ap-8300	34	12	and	and	CCONJ
ap-8300	34	13	error	error	NOUN
ap-8300	34	14	rate	rate	NOUN
ap-8300	34	15	of	of	ADP
ap-8300	34	16	change	change	NOUN
ap-8300	34	17	and	and	CCONJ
ap-8300	34	18	comparing	compare	VERB
ap-8300	34	19	it	it	PRON
ap-8300	34	20	with	with	ADP
ap-8300	34	21	the	the	DET
ap-8300	34	22	reflection	reflection	NOUN
ap-8300	34	23	reference	reference	NOUN
ap-8300	34	24	part	part	NOUN
ap-8300	34	25	values	value	NOUN
ap-8300	34	26	of	of	ADP
ap-8300	34	27	different	different	ADJ
ap-8300	34	28	sizes	size	NOUN
ap-8300	34	29	.	.	PUNCT
ap-8300	35	1	it	it	PRON
ap-8300	35	2	is	be	AUX
ap-8300	35	3	aimed	aim	VERB
ap-8300	35	4	to	to	PART
ap-8300	35	5	provide	provide	VERB
ap-8300	35	6	a	a	DET
ap-8300	35	7	faster	fast	ADJ
ap-8300	35	8	optimisation	optimisation	NOUN
ap-8300	35	9	with	with	ADP
ap-8300	35	10	a	a	DET
ap-8300	35	11	semi	semi	ADJ
ap-8300	35	12	-	-	ADJ
ap-8300	35	13	linear	linear	ADJ
ap-8300	35	14	control	control	NOUN
ap-8300	35	15	independently	independently	ADV
ap-8300	35	16	of	of	ADP
ap-8300	35	17	the	the	DET
ap-8300	35	18	controller	controller	NOUN
ap-8300	35	19	coefficients	coefficient	NOUN
ap-8300	35	20	entered	enter	VERB
ap-8300	35	21	into	into	ADP
ap-8300	35	22	the	the	DET
ap-8300	35	23	system	system	NOUN
ap-8300	35	24	before	before	ADV
ap-8300	35	25	.	.	PUNCT
ap-8300	36	1	first	first	ADV
ap-8300	36	2	,	,	PUNCT
ap-8300	36	3	the	the	DET
ap-8300	36	4	ecca	ecca	NOUN
ap-8300	36	5	-	-	PUNCT
ap-8300	36	6	pid	pid	NOUN
ap-8300	36	7	design	design	NOUN
ap-8300	36	8	working	work	VERB
ap-8300	36	9	logic	logic	NOUN
ap-8300	36	10	is	be	AUX
ap-8300	36	11	given	give	VERB
ap-8300	36	12	.	.	PUNCT
ap-8300	37	1	then	then	ADV
ap-8300	37	2	,	,	PUNCT
ap-8300	37	3	in	in	ADP
ap-8300	37	4	the	the	DET
ap-8300	37	5	implementation	implementation	NOUN
ap-8300	37	6	phase	phase	NOUN
ap-8300	37	7	,	,	PUNCT
ap-8300	37	8	conventional	conventional	ADJ
ap-8300	37	9	pid	pid	NOUN
ap-8300	37	10	and	and	CCONJ
ap-8300	37	11	proposed	propose	VERB
ap-8300	37	12	pid	pid	NOUN
ap-8300	37	13	are	be	AUX
ap-8300	37	14	applied	apply	VERB
ap-8300	37	15	to	to	ADP
ap-8300	37	16	the	the	DET
ap-8300	37	17	transfer	transfer	NOUN
ap-8300	37	18	function	function	NOUN
ap-8300	37	19	of	of	ADP
ap-8300	37	20	a	a	DET
ap-8300	37	21	second	second	ADJ
ap-8300	37	22	-	-	PUNCT
ap-8300	37	23	order	order	NOUN
ap-8300	37	24	system	system	NOUN
ap-8300	37	25	and	and	CCONJ
ap-8300	37	26	the	the	DET
ap-8300	37	27	step	step	NOUN
ap-8300	37	28	response	response	NOUN
ap-8300	37	29	is	be	AUX
ap-8300	37	30	examined	examine	VERB
ap-8300	37	31	.	.	PUNCT
ap-8300	38	1	the	the	DET
ap-8300	38	2	ideal	ideal	ADJ
ap-8300	38	3	response	response	NOUN
ap-8300	38	4	parts	part	NOUN
ap-8300	38	5	expected	expect	VERB
ap-8300	38	6	with	with	ADP
ap-8300	38	7	the	the	DET
ap-8300	38	8	proposed	propose	VERB
ap-8300	38	9	system	system	NOUN
ap-8300	38	10	are	be	AUX
ap-8300	38	11	tested	test	VERB
ap-8300	38	12	522	522	NUM
ap-8300	38	13	https://doi.org/10.14311/ap.2022.62.0522	https://doi.org/10.14311/ap.2022.62.0522	PROPN
ap-8300	38	14	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-8300	38	15	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-8300	38	16	vol	vol	NOUN
ap-8300	38	17	.	.	PROPN
ap-8300	39	1	62	62	NUM
ap-8300	39	2	no	no	INTJ
ap-8300	39	3	.	.	PUNCT
ap-8300	40	1	5/2022	5/2022	NUM
ap-8300	40	2	extra	extra	ADJ
ap-8300	40	3	control	control	NOUN
ap-8300	40	4	coefficient	coefficient	NOUN
ap-8300	40	5	additive	additive	ADJ
ap-8300	40	6	ecca	ecca	NOUN
ap-8300	40	7	-	-	PUNCT
ap-8300	40	8	pid	pid	NOUN
ap-8300	40	9	for	for	ADP
ap-8300	40	10	control	control	NOUN
ap-8300	40	11	optimization	optimization	NOUN
ap-8300	40	12	.	.	PUNCT
ap-8300	40	13	.	.	PUNCT
ap-8300	41	1	.	.	PUNCT
ap-8300	42	1	at	at	ADP
ap-8300	42	2	the	the	DET
ap-8300	42	3	reflection	reflection	NOUN
ap-8300	42	4	reference	reference	NOUN
ap-8300	42	5	values	value	VERB
ap-8300	42	6	0–0.5	0–0.5	NUM
ap-8300	42	7	and	and	CCONJ
ap-8300	42	8	0–1	0–1	NOUN
ap-8300	42	9	and	and	CCONJ
ap-8300	42	10	the	the	DET
ap-8300	42	11	step	step	NOUN
ap-8300	42	12	responses	response	NOUN
ap-8300	42	13	are	be	AUX
ap-8300	42	14	measured	measure	VERB
ap-8300	42	15	.	.	PUNCT
ap-8300	43	1	considering	consider	VERB
ap-8300	43	2	the	the	DET
ap-8300	43	3	results	result	NOUN
ap-8300	43	4	obtained	obtain	VERB
ap-8300	43	5	,	,	PUNCT
ap-8300	43	6	the	the	DET
ap-8300	43	7	proposed	propose	VERB
ap-8300	43	8	method	method	NOUN
ap-8300	43	9	can	can	AUX
ap-8300	43	10	reach	reach	VERB
ap-8300	43	11	the	the	DET
ap-8300	43	12	ideal	ideal	ADJ
ap-8300	43	13	control	control	NOUN
ap-8300	43	14	point	point	NOUN
ap-8300	43	15	in	in	ADP
ap-8300	43	16	a	a	DET
ap-8300	43	17	very	very	ADV
ap-8300	43	18	short	short	ADJ
ap-8300	43	19	time	time	NOUN
ap-8300	43	20	,	,	PUNCT
ap-8300	43	21	while	while	SCONJ
ap-8300	43	22	the	the	DET
ap-8300	43	23	traditional	traditional	ADJ
ap-8300	43	24	system	system	NOUN
ap-8300	43	25	is	be	AUX
ap-8300	43	26	far	far	ADV
ap-8300	43	27	from	from	ADP
ap-8300	43	28	the	the	DET
ap-8300	43	29	desired	desire	VERB
ap-8300	43	30	response	response	NOUN
ap-8300	43	31	.	.	PUNCT
ap-8300	44	1	2	2	X
ap-8300	44	2	.	.	X
ap-8300	44	3	design	design	NOUN
ap-8300	44	4	with	with	ADP
ap-8300	44	5	pid	pid	NOUN
ap-8300	44	6	controller	controller	NOUN
ap-8300	44	7	although	although	SCONJ
ap-8300	44	8	the	the	DET
ap-8300	44	9	pd	pd	PROPN
ap-8300	44	10	control	control	NOUN
ap-8300	44	11	from	from	ADP
ap-8300	44	12	three	three	NUM
ap-8300	44	13	controllers	controller	NOUN
ap-8300	44	14	brings	bring	VERB
ap-8300	44	15	attenuation	attenuation	NOUN
ap-8300	44	16	to	to	ADP
ap-8300	44	17	the	the	DET
ap-8300	44	18	system	system	NOUN
ap-8300	44	19	,	,	PUNCT
ap-8300	44	20	it	it	PRON
ap-8300	44	21	does	do	AUX
ap-8300	44	22	not	not	PART
ap-8300	44	23	affect	affect	VERB
ap-8300	44	24	the	the	DET
ap-8300	44	25	steady	steady	ADJ
ap-8300	44	26	state	state	NOUN
ap-8300	44	27	behaviour	behaviour	NOUN
ap-8300	44	28	of	of	ADP
ap-8300	44	29	the	the	DET
ap-8300	44	30	system	system	NOUN
ap-8300	44	31	.	.	PUNCT
ap-8300	45	1	the	the	DET
ap-8300	45	2	pi	pi	PROPN
ap-8300	45	3	controller	controller	NOUN
ap-8300	45	4	,	,	PUNCT
ap-8300	45	5	however	however	ADV
ap-8300	45	6	,	,	PUNCT
ap-8300	45	7	increases	increase	VERB
ap-8300	45	8	the	the	DET
ap-8300	45	9	relative	relative	ADJ
ap-8300	45	10	stability	stability	NOUN
ap-8300	45	11	as	as	ADV
ap-8300	45	12	well	well	ADV
ap-8300	45	13	as	as	ADP
ap-8300	45	14	the	the	DET
ap-8300	45	15	rise	rise	NOUN
ap-8300	45	16	time	time	NOUN
ap-8300	45	17	,	,	PUNCT
ap-8300	45	18	although	although	SCONJ
ap-8300	45	19	it	it	PRON
ap-8300	45	20	corrects	correct	VERB
ap-8300	45	21	the	the	DET
ap-8300	45	22	steady	steady	ADJ
ap-8300	45	23	-	-	PUNCT
ap-8300	45	24	state	state	NOUN
ap-8300	45	25	errors	error	NOUN
ap-8300	45	26	.	.	PUNCT
ap-8300	46	1	these	these	DET
ap-8300	46	2	results	result	NOUN
ap-8300	46	3	lead	lead	VERB
ap-8300	46	4	to	to	ADP
ap-8300	46	5	the	the	DET
ap-8300	46	6	use	use	NOUN
ap-8300	46	7	of	of	ADP
ap-8300	46	8	pid	pid	NOUN
ap-8300	46	9	control	control	NOUN
ap-8300	46	10	,	,	PUNCT
ap-8300	46	11	with	with	ADP
ap-8300	46	12	the	the	DET
ap-8300	46	13	use	use	NOUN
ap-8300	46	14	of	of	ADP
ap-8300	46	15	a	a	DET
ap-8300	46	16	combination	combination	NOUN
ap-8300	46	17	of	of	ADP
ap-8300	46	18	pi	pi	NOUN
ap-8300	46	19	and	and	CCONJ
ap-8300	46	20	pd	pd	PROPN
ap-8300	46	21	controllers	controller	NOUN
ap-8300	46	22	.	.	PUNCT
ap-8300	47	1	kp	kp	PROPN
ap-8300	47	2	,	,	PUNCT
ap-8300	47	3	ki	ki	PROPN
ap-8300	47	4	,	,	PUNCT
ap-8300	47	5	kd	kd	PROPN
ap-8300	47	6	define	define	VERB
ap-8300	47	7	the	the	DET
ap-8300	47	8	proportional	proportional	ADJ
ap-8300	47	9	,	,	PUNCT
ap-8300	47	10	integral	integral	ADJ
ap-8300	47	11	and	and	CCONJ
ap-8300	47	12	derivative	derivative	ADJ
ap-8300	47	13	gain	gain	NOUN
ap-8300	47	14	coefficients	coefficient	NOUN
ap-8300	47	15	,	,	PUNCT
ap-8300	47	16	respectively	respectively	ADV
ap-8300	47	17	.	.	PUNCT
ap-8300	48	1	a	a	DET
ap-8300	48	2	pid	pid	NOUN
ap-8300	48	3	controller	controller	NOUN
ap-8300	48	4	consists	consist	VERB
ap-8300	48	5	of	of	ADP
ap-8300	48	6	pi	pi	NOUN
ap-8300	48	7	and	and	CCONJ
ap-8300	48	8	pd	pd	NOUN
ap-8300	48	9	parts	part	NOUN
ap-8300	48	10	connected	connect	VERB
ap-8300	48	11	in	in	ADP
ap-8300	48	12	series	series	NOUN
ap-8300	48	13	.	.	PUNCT
ap-8300	49	1	the	the	DET
ap-8300	49	2	closed	closed	ADJ
ap-8300	49	3	loop	loop	NOUN
ap-8300	49	4	control	control	NOUN
ap-8300	49	5	scheme	scheme	NOUN
ap-8300	49	6	for	for	ADP
ap-8300	49	7	a	a	DET
ap-8300	49	8	pid	pid	NOUN
ap-8300	49	9	control	control	NOUN
ap-8300	49	10	is	be	AUX
ap-8300	49	11	given	give	VERB
ap-8300	49	12	in	in	ADP
ap-8300	49	13	figure	figure	NOUN
ap-8300	49	14	1	1	NUM
ap-8300	49	15	,	,	PUNCT
ap-8300	49	16	with	with	ADP
ap-8300	49	17	e	e	X
ap-8300	49	18	being	be	AUX
ap-8300	49	19	the	the	DET
ap-8300	49	20	error	error	NOUN
ap-8300	49	21	of	of	ADP
ap-8300	49	22	the	the	DET
ap-8300	49	23	output	output	NOUN
ap-8300	49	24	signal	signal	NOUN
ap-8300	49	25	,	,	PUNCT
ap-8300	49	26	r	r	NOUN
ap-8300	49	27	is	be	AUX
ap-8300	49	28	the	the	DET
ap-8300	49	29	references	reference	NOUN
ap-8300	49	30	value	value	NOUN
ap-8300	49	31	.	.	PUNCT
ap-8300	50	1	figure	figure	NOUN
ap-8300	50	2	1	1	NUM
ap-8300	50	3	.	.	PUNCT
ap-8300	51	1	the	the	DET
ap-8300	51	2	closed	closed	ADJ
ap-8300	51	3	loop	loop	NOUN
ap-8300	51	4	control	control	PROPN
ap-8300	51	5	scheme	scheme	NOUN
ap-8300	51	6	for	for	ADP
ap-8300	51	7	pid	pid	PROPN
ap-8300	51	8	.	.	PUNCT
ap-8300	52	1	while	while	SCONJ
ap-8300	52	2	the	the	DET
ap-8300	52	3	transfer	transfer	NOUN
ap-8300	52	4	function	function	NOUN
ap-8300	52	5	of	of	ADP
ap-8300	52	6	pid	pid	NOUN
ap-8300	52	7	controller	controller	NOUN
ap-8300	52	8	is	be	AUX
ap-8300	52	9	as	as	ADP
ap-8300	52	10	below	below	ADV
ap-8300	52	11	:	:	PUNCT
ap-8300	52	12	u(t	u(t	NOUN
ap-8300	52	13	)	)	PUNCT
ap-8300	52	14	=	=	SYM
ap-8300	52	15	e(t	e(t	NOUN
ap-8300	52	16	)	)	PUNCT
ap-8300	52	17	∗	∗	NOUN
ap-8300	52	18	kp	kp	PROPN
ap-8300	53	1	+	+	CCONJ
ap-8300	53	2	ki	ki	PROPN
ap-8300	53	3	de(t	de(t	ADV
ap-8300	53	4	)	)	PUNCT
ap-8300	53	5	dt	dt	PUNCT
ap-8300	54	1	+	+	CCONJ
ap-8300	55	1	ki	ki	PROPN
ap-8300	55	2	∫	∫	PROPN
ap-8300	55	3	t	t	PROPN
ap-8300	55	4	0	0	NUM
ap-8300	55	5	e(t	e(t	NOUN
ap-8300	55	6	)	)	PUNCT
ap-8300	55	7	dt	dt	X
ap-8300	55	8	(	(	PUNCT
ap-8300	55	9	1	1	X
ap-8300	55	10	)	)	PUNCT
ap-8300	55	11	e(t	e(t	NOUN
ap-8300	55	12	)	)	PUNCT
ap-8300	55	13	=	=	SYM
ap-8300	55	14	r(t	r(t	NOUN
ap-8300	55	15	)	)	PUNCT
ap-8300	55	16	−	−	PROPN
ap-8300	55	17	y(t	y(t	NOUN
ap-8300	55	18	)	)	PUNCT
ap-8300	55	19	(	(	PUNCT
ap-8300	55	20	2	2	X
ap-8300	55	21	)	)	PUNCT
ap-8300	55	22	open	open	ADJ
ap-8300	55	23	-	-	PUNCT
ap-8300	55	24	loop	loop	NOUN
ap-8300	55	25	techniques	technique	NOUN
ap-8300	55	26	rely	rely	VERB
ap-8300	55	27	on	on	ADP
ap-8300	55	28	the	the	DET
ap-8300	55	29	results	result	NOUN
ap-8300	55	30	of	of	ADP
ap-8300	55	31	a	a	DET
ap-8300	55	32	bump	bump	NOUN
ap-8300	55	33	or	or	CCONJ
ap-8300	55	34	step	step	NOUN
ap-8300	55	35	test	test	NOUN
ap-8300	55	36	in	in	ADP
ap-8300	55	37	which	which	PRON
ap-8300	55	38	the	the	DET
ap-8300	55	39	output	output	NOUN
ap-8300	55	40	of	of	ADP
ap-8300	55	41	the	the	DET
ap-8300	55	42	controller	controller	NOUN
ap-8300	55	43	is	be	AUX
ap-8300	55	44	abruptly	abruptly	ADV
ap-8300	55	45	manually	manually	ADV
ap-8300	55	46	forced	force	VERB
ap-8300	55	47	by	by	ADP
ap-8300	55	48	cancelling	cancel	VERB
ap-8300	55	49	the	the	DET
ap-8300	55	50	feedback	feedback	NOUN
ap-8300	55	51	.	.	PUNCT
ap-8300	56	1	the	the	DET
ap-8300	56	2	graphical	graphical	ADJ
ap-8300	56	3	slice	slice	NOUN
ap-8300	56	4	of	of	ADP
ap-8300	56	5	the	the	DET
ap-8300	56	6	trailing	trailing	NOUN
ap-8300	56	7	trajectory	trajectory	NOUN
ap-8300	56	8	of	of	ADP
ap-8300	56	9	the	the	DET
ap-8300	56	10	process	process	NOUN
ap-8300	56	11	variable	variable	NOUN
ap-8300	56	12	is	be	AUX
ap-8300	56	13	given	give	VERB
ap-8300	56	14	in	in	ADP
ap-8300	56	15	figure	figure	NOUN
ap-8300	56	16	2	2	NUM
ap-8300	56	17	in	in	ADP
ap-8300	56	18	[	[	X
ap-8300	56	19	10	10	NUM
ap-8300	56	20	]	]	PUNCT
ap-8300	56	21	,	,	PUNCT
ap-8300	56	22	the	the	DET
ap-8300	56	23	curve	curve	NOUN
ap-8300	56	24	known	know	VERB
ap-8300	56	25	as	as	ADP
ap-8300	56	26	the	the	DET
ap-8300	56	27	reaction	reaction	NOUN
ap-8300	56	28	curve	curve	NOUN
ap-8300	56	29	.	.	PUNCT
ap-8300	57	1	the	the	DET
ap-8300	57	2	sloping	slope	VERB
ap-8300	57	3	line	line	NOUN
ap-8300	57	4	drawn	draw	VERB
ap-8300	57	5	tangent	tangent	NOUN
ap-8300	57	6	to	to	ADP
ap-8300	57	7	the	the	DET
ap-8300	57	8	steepest	steep	ADJ
ap-8300	57	9	point	point	NOUN
ap-8300	57	10	of	of	ADP
ap-8300	57	11	the	the	DET
ap-8300	57	12	reaction	reaction	NOUN
ap-8300	57	13	curve	curve	NOUN
ap-8300	57	14	demonstrates	demonstrate	VERB
ap-8300	57	15	how	how	SCONJ
ap-8300	57	16	fast	fast	ADV
ap-8300	57	17	the	the	DET
ap-8300	57	18	process	process	NOUN
ap-8300	57	19	reacts	react	VERB
ap-8300	57	20	to	to	ADP
ap-8300	57	21	the	the	DET
ap-8300	57	22	step	step	NOUN
ap-8300	57	23	change	change	NOUN
ap-8300	57	24	of	of	ADP
ap-8300	57	25	the	the	DET
ap-8300	57	26	controller	controller	NOUN
ap-8300	57	27	output	output	NOUN
ap-8300	57	28	.	.	PUNCT
ap-8300	58	1	the	the	DET
ap-8300	58	2	inverse	inverse	NOUN
ap-8300	58	3	of	of	ADP
ap-8300	58	4	the	the	DET
ap-8300	58	5	slope	slope	NOUN
ap-8300	58	6	of	of	ADP
ap-8300	58	7	this	this	DET
ap-8300	58	8	line	line	NOUN
ap-8300	58	9	,	,	PUNCT
ap-8300	58	10	t	t	PROPN
ap-8300	58	11	,	,	PUNCT
ap-8300	58	12	which	which	PRON
ap-8300	58	13	is	be	AUX
ap-8300	58	14	the	the	DET
ap-8300	58	15	measure	measure	NOUN
ap-8300	58	16	of	of	ADP
ap-8300	58	17	the	the	DET
ap-8300	58	18	severity	severity	NOUN
ap-8300	58	19	of	of	ADP
ap-8300	58	20	the	the	DET
ap-8300	58	21	delay	delay	NOUN
ap-8300	58	22	,	,	PUNCT
ap-8300	58	23	is	be	AUX
ap-8300	58	24	the	the	DET
ap-8300	58	25	time	time	NOUN
ap-8300	58	26	constant	constant	ADJ
ap-8300	58	27	of	of	ADP
ap-8300	58	28	the	the	DET
ap-8300	58	29	process	process	NOUN
ap-8300	58	30	.	.	PUNCT
ap-8300	59	1	the	the	DET
ap-8300	59	2	reaction	reaction	NOUN
ap-8300	59	3	curve	curve	NOUN
ap-8300	59	4	is	be	AUX
ap-8300	59	5	also	also	ADV
ap-8300	59	6	:	:	PUNCT
ap-8300	59	7	the	the	DET
ap-8300	59	8	dead	dead	ADJ
ap-8300	59	9	time	time	NOUN
ap-8300	59	10	(	(	PUNCT
ap-8300	59	11	d	d	NOUN
ap-8300	59	12	)	)	PUNCT
ap-8300	59	13	,	,	PUNCT
ap-8300	59	14	which	which	PRON
ap-8300	59	15	shows	show	VERB
ap-8300	59	16	how	how	SCONJ
ap-8300	59	17	long	long	ADV
ap-8300	59	18	it	it	PRON
ap-8300	59	19	takes	take	VERB
ap-8300	59	20	for	for	SCONJ
ap-8300	59	21	the	the	DET
ap-8300	59	22	process	process	NOUN
ap-8300	59	23	to	to	PART
ap-8300	59	24	give	give	VERB
ap-8300	59	25	the	the	DET
ap-8300	59	26	initial	initial	ADJ
ap-8300	59	27	reaction	reaction	NOUN
ap-8300	59	28	of	of	ADP
ap-8300	59	29	the	the	DET
ap-8300	59	30	process	process	NOUN
ap-8300	59	31	,	,	PUNCT
ap-8300	59	32	and	and	CCONJ
ap-8300	59	33	the	the	DET
ap-8300	59	34	process	process	NOUN
ap-8300	59	35	gain	gain	NOUN
ap-8300	59	36	(	(	PUNCT
ap-8300	59	37	k	k	NOUN
ap-8300	59	38	)	)	PUNCT
ap-8300	59	39	,	,	PUNCT
ap-8300	59	40	how	how	SCONJ
ap-8300	59	41	much	much	ADJ
ap-8300	59	42	the	the	DET
ap-8300	59	43	process	process	NOUN
ap-8300	59	44	variable	variable	ADJ
ap-8300	59	45	increases	increase	NOUN
ap-8300	59	46	according	accord	VERB
ap-8300	59	47	to	to	ADP
ap-8300	59	48	the	the	DET
ap-8300	59	49	size	size	NOUN
ap-8300	59	50	of	of	ADP
ap-8300	59	51	the	the	DET
ap-8300	59	52	step	step	NOUN
ap-8300	59	53	.	.	PUNCT
ap-8300	60	1	ziegler	ziegler	PROPN
ap-8300	60	2	and	and	CCONJ
ap-8300	60	3	nichols	nichols	PROPN
ap-8300	60	4	determined	determine	VERB
ap-8300	60	5	,	,	PUNCT
ap-8300	60	6	by	by	ADP
ap-8300	60	7	trial	trial	NOUN
ap-8300	60	8	and	and	CCONJ
ap-8300	60	9	error	error	NOUN
ap-8300	60	10	,	,	PUNCT
ap-8300	60	11	that	that	SCONJ
ap-8300	60	12	the	the	DET
ap-8300	60	13	best	good	ADJ
ap-8300	60	14	values	value	NOUN
ap-8300	60	15	of	of	ADP
ap-8300	60	16	the	the	DET
ap-8300	60	17	tuning	tuning	NOUN
ap-8300	60	18	parameters	parameter	NOUN
ap-8300	60	19	p	p	X
ap-8300	60	20	,	,	PUNCT
ap-8300	60	21	ti	ti	NOUN
ap-8300	60	22	,	,	PUNCT
ap-8300	60	23	and	and	CCONJ
ap-8300	60	24	td	td	NOUN
ap-8300	60	25	can	can	AUX
ap-8300	60	26	be	be	AUX
ap-8300	60	27	calculated	calculate	VERB
ap-8300	60	28	from	from	ADP
ap-8300	60	29	the	the	DET
ap-8300	60	30	t	t	PROPN
ap-8300	60	31	,	,	PUNCT
ap-8300	60	32	d	d	NOUN
ap-8300	60	33	,	,	PUNCT
ap-8300	60	34	and	and	CCONJ
ap-8300	60	35	k	k	PROPN
ap-8300	60	36	values	value	NOUN
ap-8300	60	37	as	as	SCONJ
ap-8300	60	38	follows	follow	VERB
ap-8300	60	39	[	[	X
ap-8300	60	40	12	12	NUM
ap-8300	60	41	,	,	PUNCT
ap-8300	60	42	13	13	NUM
ap-8300	60	43	]	]	PUNCT
ap-8300	60	44	.	.	PUNCT
ap-8300	61	1	p	p	NOUN
ap-8300	61	2	is	be	AUX
ap-8300	61	3	1.2	1.2	NUM
ap-8300	61	4	t	t	PROPN
ap-8300	61	5	/	/	SYM
ap-8300	61	6	kd	kd	PROPN
ap-8300	61	7	,	,	PUNCT
ap-8300	61	8	ti	ti	PROPN
ap-8300	61	9	is	be	AUX
ap-8300	61	10	2d	2d	NUM
ap-8300	61	11	,	,	PUNCT
ap-8300	61	12	td	td	NOUN
ap-8300	61	13	is	be	AUX
ap-8300	61	14	0.5d	0.5d	PRON
ap-8300	61	15	.	.	PUNCT
ap-8300	62	1	a	a	DET
ap-8300	62	2	closed	close	VERB
ap-8300	62	3	-	-	PUNCT
ap-8300	62	4	loop	loop	NOUN
ap-8300	62	5	technique	technique	NOUN
ap-8300	62	6	executes	execute	VERB
ap-8300	62	7	the	the	DET
ap-8300	62	8	controller	controller	NOUN
ap-8300	62	9	in	in	ADP
ap-8300	62	10	an	an	DET
ap-8300	62	11	automatic	automatic	ADJ
ap-8300	62	12	mode	mode	NOUN
ap-8300	62	13	but	but	CCONJ
ap-8300	62	14	with	with	ADP
ap-8300	62	15	integral	integral	ADJ
ap-8300	62	16	and	and	CCONJ
ap-8300	62	17	derivative	derivative	ADJ
ap-8300	62	18	figure	figure	NOUN
ap-8300	62	19	2	2	NUM
ap-8300	62	20	.	.	PUNCT
ap-8300	62	21	open	open	PROPN
ap-8300	62	22	loop	loop	NOUN
ap-8300	62	23	curve	curve	PROPN
ap-8300	62	24	.	.	PUNCT
ap-8300	63	1	figure	figure	NOUN
ap-8300	63	2	3	3	NUM
ap-8300	63	3	.	.	PUNCT
ap-8300	64	1	curve	curve	NOUN
ap-8300	64	2	for	for	ADP
ap-8300	64	3	a	a	DET
ap-8300	64	4	closed	closed	ADJ
ap-8300	64	5	-	-	PUNCT
ap-8300	64	6	loop	loop	NOUN
ap-8300	64	7	.	.	PUNCT
ap-8300	65	1	turned	turn	VERB
ap-8300	65	2	off	off	ADP
ap-8300	65	3	.	.	PUNCT
ap-8300	66	1	as	as	SCONJ
ap-8300	66	2	seen	see	VERB
ap-8300	66	3	in	in	ADP
ap-8300	66	4	figure	figure	NOUN
ap-8300	66	5	3	3	NUM
ap-8300	66	6	,	,	PUNCT
ap-8300	66	7	the	the	DET
ap-8300	66	8	gain	gain	NOUN
ap-8300	66	9	for	for	ADP
ap-8300	66	10	the	the	DET
ap-8300	66	11	controller	controller	NOUN
ap-8300	66	12	is	be	AUX
ap-8300	66	13	boosted	boost	VERB
ap-8300	66	14	until	until	SCONJ
ap-8300	66	15	the	the	DET
ap-8300	66	16	smallest	small	ADJ
ap-8300	66	17	error	error	NOUN
ap-8300	66	18	produces	produce	VERB
ap-8300	66	19	a	a	DET
ap-8300	66	20	continuous	continuous	ADJ
ap-8300	66	21	oscillation	oscillation	NOUN
ap-8300	66	22	in	in	ADP
ap-8300	66	23	the	the	DET
ap-8300	66	24	process	process	NOUN
ap-8300	66	25	variable	variable	NOUN
ap-8300	66	26	.	.	PUNCT
ap-8300	67	1	the	the	DET
ap-8300	67	2	gain	gain	NOUN
ap-8300	67	3	of	of	ADP
ap-8300	67	4	the	the	DET
ap-8300	67	5	smallest	small	ADJ
ap-8300	67	6	controller	controller	NOUN
ap-8300	67	7	that	that	PRON
ap-8300	67	8	causes	cause	VERB
ap-8300	67	9	an	an	DET
ap-8300	67	10	oscillation	oscillation	NOUN
ap-8300	67	11	is	be	AUX
ap-8300	67	12	named	name	VERB
ap-8300	67	13	the	the	DET
ap-8300	67	14	final	final	ADJ
ap-8300	67	15	gain	gain	NOUN
ap-8300	67	16	,	,	PUNCT
ap-8300	67	17	pu	pu	PROPN
ap-8300	67	18	.	.	PUNCT
ap-8300	68	1	the	the	DET
ap-8300	68	2	period	period	NOUN
ap-8300	68	3	of	of	ADP
ap-8300	68	4	these	these	DET
ap-8300	68	5	oscillations	oscillation	NOUN
ap-8300	68	6	is	be	AUX
ap-8300	68	7	also	also	ADV
ap-8300	68	8	named	name	VERB
ap-8300	68	9	the	the	DET
ap-8300	68	10	final	final	ADJ
ap-8300	68	11	period	period	NOUN
ap-8300	68	12	,	,	PUNCT
ap-8300	68	13	tu	tu	PROPN
ap-8300	68	14	.	.	PUNCT
ap-8300	68	15	appropriate	appropriate	ADJ
ap-8300	68	16	tuning	tuning	NOUN
ap-8300	68	17	parameters	parameter	NOUN
ap-8300	68	18	are	be	AUX
ap-8300	68	19	calculated	calculate	VERB
ap-8300	68	20	from	from	ADP
ap-8300	68	21	the	the	DET
ap-8300	68	22	following	follow	VERB
ap-8300	68	23	rules	rule	NOUN
ap-8300	68	24	based	base	VERB
ap-8300	68	25	on	on	ADP
ap-8300	68	26	these	these	DET
ap-8300	68	27	two	two	NUM
ap-8300	68	28	values	value	NOUN
ap-8300	68	29	[	[	X
ap-8300	68	30	10	10	NUM
ap-8300	68	31	]	]	PUNCT
ap-8300	68	32	.	.	PUNCT
ap-8300	69	1	as	as	ADP
ap-8300	69	2	a	a	DET
ap-8300	69	3	results	result	NOUN
ap-8300	69	4	,	,	PUNCT
ap-8300	69	5	p	p	NOUN
ap-8300	69	6	is	be	AUX
ap-8300	69	7	0.6	0.6	NUM
ap-8300	69	8	pu	pu	PROPN
ap-8300	69	9	,	,	PUNCT
ap-8300	69	10	ti	ti	PROPN
ap-8300	69	11	is	be	AUX
ap-8300	69	12	0.5	0.5	NUM
ap-8300	69	13	tu	tu	PROPN
ap-8300	69	14	,	,	PUNCT
ap-8300	69	15	td	td	PROPN
ap-8300	69	16	is	be	AUX
ap-8300	69	17	0.125	0.125	NUM
ap-8300	69	18	tu	tu	NOUN
ap-8300	69	19	.	.	PUNCT
ap-8300	70	1	despite	despite	SCONJ
ap-8300	70	2	all	all	DET
ap-8300	70	3	these	these	DET
ap-8300	70	4	separations	separation	NOUN
ap-8300	70	5	and	and	CCONJ
ap-8300	70	6	arrangements	arrangement	NOUN
ap-8300	70	7	,	,	PUNCT
ap-8300	70	8	the	the	DET
ap-8300	70	9	gain	gain	NOUN
ap-8300	70	10	kp	kp	NOUN
ap-8300	70	11	giving	give	VERB
ap-8300	70	12	a	a	DET
ap-8300	70	13	sustained	sustained	ADJ
ap-8300	70	14	oscillation	oscillation	NOUN
ap-8300	70	15	is	be	AUX
ap-8300	70	16	determined	determine	VERB
ap-8300	70	17	as	as	ADP
ap-8300	70	18	the	the	DET
ap-8300	70	19	sustained	sustained	ADJ
ap-8300	70	20	oscillation	oscillation	NOUN
ap-8300	70	21	period	period	NOUN
ap-8300	70	22	in	in	ADP
ap-8300	70	23	seconds	second	NOUN
ap-8300	70	24	.	.	PUNCT
ap-8300	71	1	forcing	force	VERB
ap-8300	71	2	this	this	DET
ap-8300	71	3	method	method	NOUN
ap-8300	71	4	to	to	PART
ap-8300	71	5	reach	reach	VERB
ap-8300	71	6	the	the	DET
ap-8300	71	7	constant	constant	ADJ
ap-8300	71	8	oscillation	oscillation	NOUN
ap-8300	71	9	region	region	NOUN
ap-8300	71	10	may	may	AUX
ap-8300	71	11	have	have	VERB
ap-8300	71	12	undesirable	undesirable	ADJ
ap-8300	71	13	results	result	NOUN
ap-8300	71	14	in	in	ADP
ap-8300	71	15	some	some	DET
ap-8300	71	16	applications	application	NOUN
ap-8300	71	17	.	.	PUNCT
ap-8300	72	1	the	the	DET
ap-8300	72	2	process	process	NOUN
ap-8300	72	3	can	can	AUX
ap-8300	72	4	move	move	VERB
ap-8300	72	5	to	to	ADP
ap-8300	72	6	the	the	DET
ap-8300	72	7	unstable	unstable	ADJ
ap-8300	72	8	region	region	NOUN
ap-8300	72	9	very	very	ADV
ap-8300	72	10	easily	easily	ADV
ap-8300	72	11	against	against	ADP
ap-8300	72	12	external	external	ADJ
ap-8300	72	13	factors	factor	NOUN
ap-8300	72	14	.	.	PUNCT
ap-8300	73	1	thus	thus	ADV
ap-8300	73	2	,	,	PUNCT
ap-8300	73	3	some	some	DET
ap-8300	73	4	physical	physical	ADJ
ap-8300	73	5	damage	damage	NOUN
ap-8300	73	6	to	to	ADP
ap-8300	73	7	the	the	DET
ap-8300	73	8	equipment	equipment	NOUN
ap-8300	73	9	may	may	AUX
ap-8300	73	10	occur	occur	VERB
ap-8300	73	11	.	.	PUNCT
ap-8300	74	1	so	so	ADV
ap-8300	74	2	,	,	PUNCT
ap-8300	74	3	the	the	DET
ap-8300	74	4	eccapid	eccapid	PROPN
ap-8300	74	5	method	method	NOUN
ap-8300	74	6	offers	offer	VERB
ap-8300	74	7	a	a	DET
ap-8300	74	8	good	good	ADJ
ap-8300	74	9	alternative	alternative	NOUN
ap-8300	74	10	to	to	PART
ap-8300	74	11	avoid	avoid	VERB
ap-8300	74	12	these	these	DET
ap-8300	74	13	complex	complex	ADJ
ap-8300	74	14	and	and	CCONJ
ap-8300	74	15	inconvenient	inconvenient	ADJ
ap-8300	74	16	situations	situation	NOUN
ap-8300	74	17	of	of	ADP
ap-8300	74	18	traditional	traditional	ADJ
ap-8300	74	19	methods	method	NOUN
ap-8300	74	20	.	.	PUNCT
ap-8300	75	1	in	in	ADP
ap-8300	75	2	order	order	NOUN
ap-8300	75	3	to	to	PART
ap-8300	75	4	provide	provide	VERB
ap-8300	75	5	a	a	DET
ap-8300	75	6	more	more	ADV
ap-8300	75	7	optimum	optimum	ADJ
ap-8300	75	8	control	control	NOUN
ap-8300	75	9	,	,	PUNCT
ap-8300	75	10	the	the	DET
ap-8300	75	11	response	response	NOUN
ap-8300	75	12	expected	expect	VERB
ap-8300	75	13	from	from	ADP
ap-8300	75	14	the	the	DET
ap-8300	75	15	system	system	NOUN
ap-8300	75	16	is	be	AUX
ap-8300	75	17	divided	divide	VERB
ap-8300	75	18	into	into	ADP
ap-8300	75	19	partial	partial	ADJ
ap-8300	75	20	sizes	size	NOUN
ap-8300	75	21	and	and	CCONJ
ap-8300	75	22	compared	compare	VERB
ap-8300	75	23	again	again	ADV
ap-8300	75	24	with	with	SCONJ
ap-8300	75	25	the	the	DET
ap-8300	75	26	error	error	NOUN
ap-8300	75	27	obtained	obtain	VERB
ap-8300	75	28	,	,	PUNCT
ap-8300	75	29	the	the	DET
ap-8300	75	30	error	error	NOUN
ap-8300	75	31	and	and	CCONJ
ap-8300	75	32	error	error	NOUN
ap-8300	75	33	change	change	NOUN
ap-8300	75	34	rates	rate	NOUN
ap-8300	75	35	produced	produce	VERB
ap-8300	75	36	for	for	ADP
ap-8300	75	37	the	the	DET
ap-8300	75	38	control	control	NOUN
ap-8300	75	39	are	be	AUX
ap-8300	75	40	evaluated	evaluate	VERB
ap-8300	75	41	,	,	PUNCT
ap-8300	75	42	and	and	CCONJ
ap-8300	75	43	new	new	ADJ
ap-8300	75	44	coefficients	coefficient	NOUN
ap-8300	75	45	are	be	AUX
ap-8300	75	46	created	create	VERB
ap-8300	75	47	to	to	PART
ap-8300	75	48	be	be	AUX
ap-8300	75	49	added	add	VERB
ap-8300	75	50	to	to	ADP
ap-8300	75	51	the	the	DET
ap-8300	75	52	controller	controller	NOUN
ap-8300	75	53	coefficients	coefficient	NOUN
ap-8300	75	54	of	of	ADP
ap-8300	75	55	the	the	DET
ap-8300	75	56	controllers	controller	NOUN
ap-8300	75	57	,	,	PUNCT
ap-8300	75	58	thus	thus	ADV
ap-8300	75	59	enabling	enable	VERB
ap-8300	75	60	the	the	DET
ap-8300	75	61	system	system	NOUN
ap-8300	75	62	to	to	PART
ap-8300	75	63	give	give	VERB
ap-8300	75	64	a	a	DET
ap-8300	75	65	better	well	ADJ
ap-8300	75	66	one	one	NUM
ap-8300	75	67	.	.	PUNCT
ap-8300	76	1	k	k	PROPN
ap-8300	76	2	∈	∈	PROPN
ap-8300	76	3	z+	z+	NUM
ap-8300	76	4	→	→	SYM
ap-8300	76	5	k	k	X
ap-8300	76	6	=	=	SYM
ap-8300	76	7	{	{	PUNCT
ap-8300	76	8	k1	k1	PROPN
ap-8300	76	9	,	,	PUNCT
ap-8300	76	10	k2	k2	PROPN
ap-8300	76	11	,	,	PUNCT
ap-8300	76	12	k3	k3	VERB
ap-8300	76	13	,	,	PUNCT
ap-8300	76	14	.	.	PUNCT
ap-8300	76	15	.	.	PUNCT
ap-8300	77	1	.	.	PUNCT
ap-8300	78	1	,	,	PUNCT
ap-8300	78	2	kn	kn	PROPN
ap-8300	78	3	}	}	PUNCT
ap-8300	78	4	,	,	PUNCT
ap-8300	78	5	in	in	ADP
ap-8300	78	6	order	order	NOUN
ap-8300	78	7	to	to	PART
ap-8300	78	8	find	find	VERB
ap-8300	78	9	the	the	DET
ap-8300	78	10	value	value	NOUN
ap-8300	78	11	that	that	PRON
ap-8300	78	12	will	will	AUX
ap-8300	78	13	provide	provide	VERB
ap-8300	78	14	the	the	DET
ap-8300	78	15	desired	desire	VERB
ap-8300	78	16	control	control	NOUN
ap-8300	78	17	in	in	ADP
ap-8300	78	18	rr	rr	PROPN
ap-8300	78	19	,	,	PUNCT
ap-8300	78	20	the	the	DET
ap-8300	78	21	value	value	NOUN
ap-8300	78	22	is	be	AUX
ap-8300	78	23	to	to	PART
ap-8300	78	24	be	be	AUX
ap-8300	78	25	compared	compare	VERB
ap-8300	78	26	with	with	ADP
ap-8300	78	27	the	the	DET
ap-8300	78	28	error	error	NOUN
ap-8300	78	29	produced	produce	VERB
ap-8300	78	30	by	by	ADP
ap-8300	78	31	the	the	DET
ap-8300	78	32	system	system	NOUN
ap-8300	78	33	;	;	PUNCT
ap-8300	78	34	virtual	virtual	ADJ
ap-8300	78	35	part	part	NOUN
ap-8300	78	36	reference	reference	NOUN
ap-8300	78	37	value	value	NOUN
ap-8300	78	38	is	be	AUX
ap-8300	78	39	rr	rr	PROPN
ap-8300	78	40	∈	∈	PROPN
ap-8300	78	41	r+	r+	NOUN
ap-8300	78	42	→	→	SYM
ap-8300	78	43	rr	rr	NOUN
ap-8300	78	44	=	=	SYM
ap-8300	78	45	{	{	PUNCT
ap-8300	78	46	rr1	rr1	PROPN
ap-8300	78	47	,	,	PUNCT
ap-8300	78	48	rr2	rr2	PROPN
ap-8300	78	49	,	,	PUNCT
ap-8300	78	50	.	.	PUNCT
ap-8300	78	51	.	.	PUNCT
ap-8300	79	1	.	.	PUNCT
ap-8300	80	1	,	,	PUNCT
ap-8300	80	2	rrn	rrn	PROPN
ap-8300	80	3	}	}	PUNCT
ap-8300	80	4	,	,	PUNCT
ap-8300	80	5	the	the	DET
ap-8300	80	6	k	k	PROPN
ap-8300	80	7	values	value	NOUN
ap-8300	80	8	to	to	PART
ap-8300	80	9	be	be	AUX
ap-8300	80	10	produced	produce	VERB
ap-8300	80	11	can	can	AUX
ap-8300	80	12	be	be	AUX
ap-8300	80	13	found	find	VERB
ap-8300	80	14	as	as	SCONJ
ap-8300	80	15	follows	follow	VERB
ap-8300	80	16	.	.	PUNCT
ap-8300	81	1	523	523	NUM
ap-8300	81	2	erol	erol	NOUN
ap-8300	81	3	can	can	AUX
ap-8300	81	4	acta	acta	VERB
ap-8300	81	5	polytechnica	polytechnica	PROPN
ap-8300	81	6	if	if	SCONJ
ap-8300	81	7	e1	e1	NOUN
ap-8300	81	8	>	>	NOUN
ap-8300	81	9	rr1	rr1	NOUN
ap-8300	81	10	then	then	ADV
ap-8300	81	11	k1	k1	PROPN
ap-8300	81	12	if	if	SCONJ
ap-8300	81	13	k1	k1	PROPN
ap-8300	81	14	>	>	X
ap-8300	81	15	0	0	PUNCT
ap-8300	82	1	then	then	ADV
ap-8300	82	2	kp	kp	PROPN
ap-8300	82	3	+	+	CCONJ
ap-8300	82	4	k1	k1	PROPN
ap-8300	82	5	and	and	CCONJ
ap-8300	82	6	ki	ki	PROPN
ap-8300	82	7	+	+	CCONJ
ap-8300	82	8	k1	k1	PROPN
ap-8300	82	9	and	and	CCONJ
ap-8300	82	10	kd	kd	PROPN
ap-8300	82	11	+	+	CCONJ
ap-8300	82	12	k1	k1	PROPN
ap-8300	82	13	if	if	SCONJ
ap-8300	82	14	e2	e2	PROPN
ap-8300	82	15	>	>	X
ap-8300	82	16	rr2	rr2	PROPN
ap-8300	82	17	then	then	ADV
ap-8300	82	18	k2	k2	PROPN
ap-8300	82	19	if	if	SCONJ
ap-8300	82	20	k2	k2	PROPN
ap-8300	82	21	>	>	X
ap-8300	82	22	0	0	PUNCT
ap-8300	83	1	then	then	ADV
ap-8300	83	2	kp	kp	PROPN
ap-8300	83	3	+	+	CCONJ
ap-8300	83	4	k2	k2	PROPN
ap-8300	83	5	and	and	CCONJ
ap-8300	83	6	ki	ki	PROPN
ap-8300	83	7	+	+	CCONJ
ap-8300	83	8	k2	k2	PROPN
ap-8300	83	9	and	and	CCONJ
ap-8300	83	10	kd	kd	PROPN
ap-8300	83	11	+	+	CCONJ
ap-8300	83	12	k2	k2	PROPN
ap-8300	83	13	if	if	SCONJ
ap-8300	83	14	en	en	X
ap-8300	83	15	>	>	X
ap-8300	83	16	rrn	rrn	PROPN
ap-8300	83	17	then	then	ADV
ap-8300	83	18	kn	kn	PROPN
ap-8300	83	19	if	if	SCONJ
ap-8300	83	20	kn	kn	PROPN
ap-8300	83	21	>	>	X
ap-8300	83	22	0	0	PUNCT
ap-8300	84	1	then	then	ADV
ap-8300	84	2	kp	kp	PROPN
ap-8300	84	3	+	+	CCONJ
ap-8300	84	4	kn	kn	PROPN
ap-8300	84	5	and	and	CCONJ
ap-8300	84	6	ki	ki	PROPN
ap-8300	85	1	+	+	CCONJ
ap-8300	85	2	kn	kn	PROPN
ap-8300	85	3	and	and	CCONJ
ap-8300	85	4	kd	kd	PROPN
ap-8300	86	1	+	+	CCONJ
ap-8300	86	2	kn	kn	PROPN
ap-8300	86	3	unlike	unlike	ADP
ap-8300	86	4	other	other	ADJ
ap-8300	86	5	swarm	swarm	NOUN
ap-8300	86	6	optimization	optimization	NOUN
ap-8300	86	7	and	and	CCONJ
ap-8300	86	8	traditional	traditional	ADJ
ap-8300	86	9	pid	pid	NOUN
ap-8300	86	10	control	control	NOUN
ap-8300	86	11	methods	method	NOUN
ap-8300	86	12	,	,	PUNCT
ap-8300	86	13	the	the	DET
ap-8300	86	14	proposed	propose	VERB
ap-8300	86	15	method	method	NOUN
ap-8300	86	16	produces	produce	VERB
ap-8300	86	17	linear	linear	ADJ
ap-8300	86	18	movements	movement	NOUN
ap-8300	86	19	to	to	PART
ap-8300	86	20	approach	approach	VERB
ap-8300	86	21	the	the	DET
ap-8300	86	22	desired	desire	VERB
ap-8300	86	23	value	value	NOUN
ap-8300	86	24	whenever	whenever	SCONJ
ap-8300	86	25	it	it	PRON
ap-8300	86	26	is	be	AUX
ap-8300	86	27	far	far	ADV
ap-8300	86	28	from	from	ADP
ap-8300	86	29	the	the	DET
ap-8300	86	30	desired	desire	VERB
ap-8300	86	31	value	value	NOUN
ap-8300	86	32	,	,	PUNCT
ap-8300	86	33	and	and	CCONJ
ap-8300	86	34	in	in	ADP
ap-8300	86	35	this	this	DET
ap-8300	86	36	case	case	NOUN
ap-8300	86	37	,	,	PUNCT
ap-8300	86	38	the	the	DET
ap-8300	86	39	desired	desire	VERB
ap-8300	86	40	control	control	NOUN
ap-8300	86	41	can	can	AUX
ap-8300	86	42	be	be	AUX
ap-8300	86	43	achieved	achieve	VERB
ap-8300	86	44	more	more	ADV
ap-8300	86	45	quickly	quickly	ADV
ap-8300	86	46	.	.	PUNCT
ap-8300	87	1	extra	extra	ADJ
ap-8300	87	2	control	control	NOUN
ap-8300	87	3	coefficient	coefficient	NOUN
ap-8300	87	4	(	(	PUNCT
ap-8300	87	5	ecca)-pid	ecca)-pid	ADJ
ap-8300	87	6	control	control	NOUN
ap-8300	87	7	is	be	AUX
ap-8300	87	8	given	give	VERB
ap-8300	87	9	in	in	ADP
ap-8300	87	10	figure	figure	NOUN
ap-8300	87	11	4a	4a	NOUN
ap-8300	87	12	while	while	SCONJ
ap-8300	87	13	figure	figure	VERB
ap-8300	87	14	4b	4b	PROPN
ap-8300	87	15	shows	show	VERB
ap-8300	87	16	the	the	DET
ap-8300	87	17	mesh	mesh	NOUN
ap-8300	87	18	depicting	depict	VERB
ap-8300	87	19	the	the	DET
ap-8300	87	20	interaction	interaction	NOUN
ap-8300	87	21	of	of	ADP
ap-8300	87	22	the	the	DET
ap-8300	87	23	reference	reference	NOUN
ap-8300	87	24	and	and	CCONJ
ap-8300	87	25	reflection	reflection	NOUN
ap-8300	87	26	reference	reference	NOUN
ap-8300	87	27	values	value	NOUN
ap-8300	87	28	that	that	PRON
ap-8300	87	29	will	will	AUX
ap-8300	87	30	contribute	contribute	VERB
ap-8300	87	31	to	to	ADP
ap-8300	87	32	the	the	DET
ap-8300	87	33	extra	extra	ADJ
ap-8300	87	34	coefficient	coefficient	NOUN
ap-8300	87	35	.	.	PUNCT
ap-8300	88	1	the	the	DET
ap-8300	88	2	control	control	NOUN
ap-8300	88	3	gains	gain	NOUN
ap-8300	88	4	predicted	predict	VERB
ap-8300	88	5	by	by	ADP
ap-8300	88	6	the	the	DET
ap-8300	88	7	decision	decision	NOUN
ap-8300	88	8	-	-	PUNCT
ap-8300	88	9	making	make	VERB
ap-8300	88	10	unit	unit	NOUN
ap-8300	88	11	can	can	AUX
ap-8300	88	12	be	be	AUX
ap-8300	88	13	expressed	express	VERB
ap-8300	88	14	as	as	ADP
ap-8300	88	15	the	the	DET
ap-8300	88	16	following	follow	VERB
ap-8300	88	17	equations	equation	NOUN
ap-8300	88	18	.	.	PUNCT
ap-8300	89	1	u(t1	u(t1	X
ap-8300	89	2	)	)	PUNCT
ap-8300	89	3	=	=	SYM
ap-8300	89	4	e(t1	e(t1	NOUN
ap-8300	89	5	)	)	PUNCT
ap-8300	89	6	∗	∗	NOUN
ap-8300	89	7	(	(	PUNCT
ap-8300	89	8	kp	kp	PROPN
ap-8300	89	9	+	+	CCONJ
ap-8300	89	10	k1	k1	NOUN
ap-8300	89	11	)	)	PUNCT
ap-8300	89	12	+	+	CCONJ
ap-8300	89	13	(	(	PUNCT
ap-8300	89	14	kd	kd	PROPN
ap-8300	89	15	+	+	CCONJ
ap-8300	89	16	k1)de(t1	k1)de(t1	PROPN
ap-8300	89	17	)	)	PUNCT
ap-8300	89	18	dt	dt	NOUN
ap-8300	90	1	+	+	CCONJ
ap-8300	90	2	(	(	PUNCT
ap-8300	90	3	ki	ki	PROPN
ap-8300	90	4	+	+	NUM
ap-8300	90	5	k1	k1	NOUN
ap-8300	90	6	)	)	PUNCT
ap-8300	90	7	∫	∫	PROPN
ap-8300	91	1	t1	t1	NOUN
ap-8300	91	2	0	0	NUM
ap-8300	91	3	e(t1	e(t1	NOUN
ap-8300	91	4	)	)	PUNCT
ap-8300	92	1	dt	dt	X
ap-8300	92	2	(	(	PUNCT
ap-8300	92	3	3	3	NUM
ap-8300	92	4	)	)	PUNCT
ap-8300	92	5	u(t2	u(t2	NOUN
ap-8300	92	6	)	)	PUNCT
ap-8300	92	7	=	=	SYM
ap-8300	92	8	e(t2	e(t2	NOUN
ap-8300	92	9	)	)	PUNCT
ap-8300	92	10	∗	∗	NOUN
ap-8300	92	11	(	(	PUNCT
ap-8300	92	12	kp	kp	PROPN
ap-8300	92	13	+	+	CCONJ
ap-8300	92	14	k2	k2	PROPN
ap-8300	92	15	)	)	PUNCT
ap-8300	92	16	+	+	CCONJ
ap-8300	92	17	(	(	PUNCT
ap-8300	92	18	kd	kd	PROPN
ap-8300	92	19	+	+	CCONJ
ap-8300	92	20	k2)de(t2	k2)de(t2	PROPN
ap-8300	92	21	)	)	PUNCT
ap-8300	92	22	dt	dt	NOUN
ap-8300	93	1	+	+	CCONJ
ap-8300	93	2	(	(	PUNCT
ap-8300	93	3	ki	ki	PROPN
ap-8300	93	4	+	+	CCONJ
ap-8300	93	5	k2	k2	ADJ
ap-8300	93	6	)	)	PUNCT
ap-8300	93	7	∫	∫	PROPN
ap-8300	93	8	t2	t2	PROPN
ap-8300	93	9	0	0	NUM
ap-8300	93	10	e(t2	e(t2	NOUN
ap-8300	93	11	)	)	PUNCT
ap-8300	93	12	dt	dt	X
ap-8300	93	13	(	(	PUNCT
ap-8300	93	14	4	4	NUM
ap-8300	93	15	)	)	PUNCT
ap-8300	93	16	u(tn	u(tn	NOUN
ap-8300	93	17	)	)	PUNCT
ap-8300	93	18	=	=	SYM
ap-8300	93	19	e(tn	e(tn	PROPN
ap-8300	93	20	)	)	PUNCT
ap-8300	93	21	∗	∗	NOUN
ap-8300	93	22	(	(	PUNCT
ap-8300	93	23	kp	kp	PROPN
ap-8300	93	24	+	+	PROPN
ap-8300	93	25	kn	kn	PROPN
ap-8300	93	26	)	)	PUNCT
ap-8300	94	1	+	+	CCONJ
ap-8300	94	2	(	(	PUNCT
ap-8300	94	3	kd	kd	X
ap-8300	94	4	+	+	PROPN
ap-8300	94	5	kn)de(tn	kn)de(tn	NOUN
ap-8300	94	6	)	)	PUNCT
ap-8300	94	7	dt	dt	PUNCT
ap-8300	95	1	+	+	CCONJ
ap-8300	95	2	(	(	PUNCT
ap-8300	95	3	ki	ki	PROPN
ap-8300	95	4	+	+	CCONJ
ap-8300	95	5	kn	kn	PROPN
ap-8300	95	6	)	)	PUNCT
ap-8300	95	7	∫	∫	PROPN
ap-8300	96	1	tn	tn	PROPN
ap-8300	96	2	0	0	NUM
ap-8300	96	3	e(tn	e(tn	NOUN
ap-8300	96	4	)	)	PUNCT
ap-8300	96	5	dt	dt	PUNCT
ap-8300	96	6	(	(	PUNCT
ap-8300	96	7	5	5	NUM
ap-8300	96	8	)	)	PUNCT
ap-8300	96	9	if	if	SCONJ
ap-8300	96	10	there	there	PRON
ap-8300	96	11	is	be	VERB
ap-8300	96	12	too	too	ADV
ap-8300	96	13	much	much	ADJ
ap-8300	96	14	overshoot	overshoot	NOUN
ap-8300	96	15	and	and	CCONJ
ap-8300	96	16	oscillation	oscillation	NOUN
ap-8300	96	17	in	in	ADP
ap-8300	96	18	the	the	DET
ap-8300	96	19	system	system	NOUN
ap-8300	96	20	,	,	PUNCT
ap-8300	96	21	the	the	DET
ap-8300	96	22	decision	decision	NOUN
ap-8300	96	23	-	-	PUNCT
ap-8300	96	24	making	make	VERB
ap-8300	96	25	order	order	NOUN
ap-8300	96	26	of	of	ADP
ap-8300	96	27	the	the	DET
ap-8300	96	28	proposed	propose	VERB
ap-8300	96	29	method	method	NOUN
ap-8300	96	30	can	can	AUX
ap-8300	96	31	be	be	AUX
ap-8300	96	32	arranged	arrange	VERB
ap-8300	96	33	as	as	SCONJ
ap-8300	96	34	follows	follow	VERB
ap-8300	96	35	.	.	PUNCT
ap-8300	97	1	if	if	SCONJ
ap-8300	97	2	e1	e1	NOUN
ap-8300	97	3	>	>	NOUN
ap-8300	97	4	rr1	rr1	NOUN
ap-8300	97	5	then	then	ADV
ap-8300	97	6	k1	k1	PROPN
ap-8300	97	7	if	if	SCONJ
ap-8300	97	8	k1	k1	PROPN
ap-8300	97	9	>	>	X
ap-8300	97	10	0	0	PUNCT
ap-8300	98	1	then	then	ADV
ap-8300	98	2	kp	kp	PROPN
ap-8300	98	3	+	+	CCONJ
ap-8300	98	4	k1	k1	PROPN
ap-8300	98	5	and	and	CCONJ
ap-8300	98	6	ki	ki	PROPN
ap-8300	98	7	+	+	CCONJ
ap-8300	98	8	k1	k1	PROPN
ap-8300	98	9	and	and	CCONJ
ap-8300	98	10	kd	kd	PROPN
ap-8300	98	11	+	+	CCONJ
ap-8300	98	12	k1	k1	PROPN
ap-8300	98	13	else	else	ADV
ap-8300	98	14	if	if	SCONJ
ap-8300	98	15	e1	e1	NOUN
ap-8300	98	16	<	<	NOUN
ap-8300	98	17	rr1	rr1	NOUN
ap-8300	98	18	then	then	ADV
ap-8300	98	19	k11	k11	PROPN
ap-8300	98	20	if	if	SCONJ
ap-8300	98	21	k11	k11	PROPN
ap-8300	98	22	>	>	X
ap-8300	98	23	0	0	PUNCT
ap-8300	99	1	then	then	ADV
ap-8300	99	2	kp	kp	PROPN
ap-8300	99	3	−k11	−k11	X
ap-8300	99	4	and	and	CCONJ
ap-8300	99	5	ki	ki	PROPN
ap-8300	99	6	−k11	−k11	X
ap-8300	99	7	and	and	CCONJ
ap-8300	99	8	kd	kd	PROPN
ap-8300	99	9	−k1	−k1	NOUN
ap-8300	99	10	if	if	SCONJ
ap-8300	99	11	e2	e2	PROPN
ap-8300	99	12	>	>	X
ap-8300	99	13	rr2	rr2	PROPN
ap-8300	99	14	then	then	ADV
ap-8300	99	15	k2	k2	PROPN
ap-8300	99	16	if	if	SCONJ
ap-8300	99	17	k2	k2	PROPN
ap-8300	99	18	>	>	X
ap-8300	99	19	0	0	PUNCT
ap-8300	100	1	then	then	ADV
ap-8300	100	2	kp	kp	PROPN
ap-8300	100	3	+	+	CCONJ
ap-8300	100	4	k2	k2	PROPN
ap-8300	100	5	and	and	CCONJ
ap-8300	100	6	ki	ki	PROPN
ap-8300	100	7	+	+	CCONJ
ap-8300	100	8	k2	k2	PROPN
ap-8300	100	9	and	and	CCONJ
ap-8300	100	10	kd	kd	PROPN
ap-8300	100	11	+	+	CCONJ
ap-8300	100	12	k2	k2	PROPN
ap-8300	100	13	else	else	ADV
ap-8300	100	14	if	if	SCONJ
ap-8300	100	15	e2	e2	PROPN
ap-8300	100	16	<	<	X
ap-8300	100	17	rr2	rr2	PROPN
ap-8300	100	18	then	then	ADV
ap-8300	100	19	k22	k22	VERB
ap-8300	100	20	if	if	SCONJ
ap-8300	100	21	k22	k22	NOUN
ap-8300	100	22	>	>	X
ap-8300	100	23	0	0	PUNCT
ap-8300	101	1	then	then	ADV
ap-8300	101	2	kp	kp	PROPN
ap-8300	101	3	−	−	PROPN
ap-8300	101	4	k2	k2	PROPN
ap-8300	101	5	and	and	CCONJ
ap-8300	101	6	ki	ki	PROPN
ap-8300	101	7	−	−	PROPN
ap-8300	101	8	k2	k2	PROPN
ap-8300	101	9	and	and	CCONJ
ap-8300	101	10	kd	kd	PROPN
ap-8300	101	11	−	−	PROPN
ap-8300	101	12	k2	k2	PROPN
ap-8300	101	13	if	if	SCONJ
ap-8300	101	14	en	en	X
ap-8300	101	15	>	>	X
ap-8300	101	16	rrn	rrn	PROPN
ap-8300	101	17	then	then	ADV
ap-8300	101	18	kn	kn	PROPN
ap-8300	101	19	if	if	SCONJ
ap-8300	101	20	kn	kn	PROPN
ap-8300	101	21	>	>	X
ap-8300	101	22	0	0	PUNCT
ap-8300	102	1	then	then	ADV
ap-8300	102	2	kp	kp	PROPN
ap-8300	102	3	+	+	CCONJ
ap-8300	102	4	kn	kn	PROPN
ap-8300	102	5	and	and	CCONJ
ap-8300	102	6	ki	ki	PROPN
ap-8300	103	1	+	+	CCONJ
ap-8300	103	2	kn	kn	PROPN
ap-8300	103	3	and	and	CCONJ
ap-8300	103	4	kd	kd	PROPN
ap-8300	104	1	+	+	CCONJ
ap-8300	104	2	kn	kn	PROPN
ap-8300	104	3	else	else	ADV
ap-8300	104	4	if	if	SCONJ
ap-8300	104	5	en	en	PROPN
ap-8300	104	6	<	<	X
ap-8300	104	7	rrnn	rrnn	NOUN
ap-8300	104	8	then	then	ADV
ap-8300	104	9	knn	knn	VERB
ap-8300	104	10	if	if	SCONJ
ap-8300	104	11	kn	kn	PROPN
ap-8300	104	12	>	>	X
ap-8300	104	13	0	0	PUNCT
ap-8300	105	1	then	then	ADV
ap-8300	105	2	kp−knn	kp−knn	PROPN
ap-8300	105	3	and	and	CCONJ
ap-8300	105	4	ki−knn	ki−knn	PROPN
ap-8300	105	5	and	and	CCONJ
ap-8300	105	6	kd−knn	kd−knn	VERB
ap-8300	105	7	e	e	NOUN
ap-8300	105	8	is	be	AUX
ap-8300	105	9	error	error	NOUN
ap-8300	105	10	,	,	PUNCT
ap-8300	105	11	de	de	X
ap-8300	105	12	is	be	AUX
ap-8300	105	13	error	error	NOUN
ap-8300	105	14	change	change	NOUN
ap-8300	105	15	,	,	PUNCT
ap-8300	105	16	e	e	X
ap-8300	105	17	∈	∈	PROPN
ap-8300	105	18	r	r	NOUN
ap-8300	105	19	→	→	SYM
ap-8300	105	20	e	e	X
ap-8300	105	21	=	=	SYM
ap-8300	105	22	{	{	PUNCT
ap-8300	105	23	e1	e1	PROPN
ap-8300	105	24	,	,	PUNCT
ap-8300	105	25	e2	e2	PROPN
ap-8300	105	26	,	,	PUNCT
ap-8300	105	27	.	.	PUNCT
ap-8300	105	28	.	.	PUNCT
ap-8300	106	1	.	.	PUNCT
ap-8300	106	2	,	,	PUNCT
ap-8300	106	3	en	en	ADP
ap-8300	106	4	}	}	PUNCT
ap-8300	106	5	,	,	PUNCT
ap-8300	106	6	de	de	PROPN
ap-8300	106	7	∈	∈	PROPN
ap-8300	106	8	r	r	NOUN
ap-8300	106	9	→	→	SYM
ap-8300	106	10	de	de	X
ap-8300	106	11	=	=	SYM
ap-8300	106	12	{	{	PUNCT
ap-8300	106	13	de1	de1	PROPN
ap-8300	106	14	,	,	PUNCT
ap-8300	106	15	de2	de2	PROPN
ap-8300	106	16	,	,	PUNCT
ap-8300	106	17	.	.	PUNCT
ap-8300	106	18	.	.	PUNCT
ap-8300	107	1	.	.	PUNCT
ap-8300	108	1	,	,	PUNCT
ap-8300	108	2	den	den	PROPN
ap-8300	108	3	}	}	PUNCT
ap-8300	108	4	,	,	PUNCT
ap-8300	108	5	e	e	NOUN
ap-8300	108	6	and	and	CCONJ
ap-8300	108	7	de	de	X
ap-8300	108	8	are	be	AUX
ap-8300	108	9	expressed	express	VERB
ap-8300	108	10	as	as	ADP
ap-8300	108	11	below	below	ADV
ap-8300	108	12	.	.	PUNCT
ap-8300	109	1	e(t1	e(t1	NOUN
ap-8300	109	2	)	)	PUNCT
ap-8300	110	1	=	=	SYM
ap-8300	110	2	r(t	r(t	NOUN
ap-8300	110	3	)	)	PUNCT
ap-8300	110	4	−	−	NUM
ap-8300	110	5	y(t1	y(t1	NOUN
ap-8300	110	6	)	)	PUNCT
ap-8300	110	7	(	(	PUNCT
ap-8300	110	8	6	6	X
ap-8300	110	9	)	)	PUNCT
ap-8300	110	10	k1	k1	NOUN
ap-8300	110	11	=	=	SYM
ap-8300	110	12	e(t1	e(t1	NOUN
ap-8300	110	13	)	)	PUNCT
ap-8300	111	1	−	−	PROPN
ap-8300	111	2	rr1	rr1	NOUN
ap-8300	111	3	(	(	PUNCT
ap-8300	111	4	7	7	NUM
ap-8300	111	5	)	)	PUNCT
ap-8300	111	6	e(t2	e(t2	NOUN
ap-8300	111	7	)	)	PUNCT
ap-8300	111	8	=	=	SYM
ap-8300	111	9	r(t	r(t	NOUN
ap-8300	111	10	)	)	PUNCT
ap-8300	111	11	−	−	PROPN
ap-8300	111	12	y(t2	y(t2	NOUN
ap-8300	111	13	)	)	PUNCT
ap-8300	111	14	(	(	PUNCT
ap-8300	111	15	8)	8)	NUM
ap-8300	111	16	k2	k2	NOUN
ap-8300	111	17	=	=	SYM
ap-8300	111	18	e(t2	e(t2	NOUN
ap-8300	111	19	)	)	PUNCT
ap-8300	111	20	−	−	PROPN
ap-8300	111	21	rr2	rr2	PROPN
ap-8300	111	22	(	(	PUNCT
ap-8300	111	23	9	9	NUM
ap-8300	111	24	)	)	PUNCT
ap-8300	111	25	de1	de1	NOUN
ap-8300	111	26	=	=	NOUN
ap-8300	111	27	e(t2	e(t2	NOUN
ap-8300	111	28	)	)	PUNCT
ap-8300	111	29	−	−	PROPN
ap-8300	111	30	e(t1	e(t1	NOUN
ap-8300	111	31	)	)	PUNCT
ap-8300	111	32	(	(	PUNCT
ap-8300	111	33	10	10	NUM
ap-8300	111	34	)	)	PUNCT
ap-8300	111	35	e(tn−1	e(tn−1	ADJ
ap-8300	111	36	)	)	PUNCT
ap-8300	111	37	=	=	SYM
ap-8300	111	38	r(t	r(t	NOUN
ap-8300	111	39	)	)	PUNCT
ap-8300	111	40	−	−	NOUN
ap-8300	111	41	y(tn−1	y(tn−1	PROPN
ap-8300	111	42	)	)	PUNCT
ap-8300	111	43	(	(	PUNCT
ap-8300	111	44	11	11	NUM
ap-8300	111	45	)	)	PUNCT
ap-8300	111	46	kn−1	kn−1	PROPN
ap-8300	111	47	=	=	PUNCT
ap-8300	111	48	e(tn−1	e(tn−1	X
ap-8300	111	49	)	)	PUNCT
ap-8300	111	50	−	−	PROPN
ap-8300	112	1	rrn−1	rrn−1	PROPN
ap-8300	112	2	(	(	PUNCT
ap-8300	112	3	12	12	NUM
ap-8300	112	4	)	)	PUNCT
ap-8300	112	5	den−1	den−1	PROPN
ap-8300	112	6	=	=	SYM
ap-8300	112	7	e(tn−1	e(tn−1	ADJ
ap-8300	112	8	)	)	PUNCT
ap-8300	112	9	−	−	PRON
ap-8300	112	10	e(tn−2	e(tn−2	PROPN
ap-8300	112	11	)	)	PUNCT
ap-8300	112	12	(	(	PUNCT
ap-8300	112	13	13	13	NUM
ap-8300	112	14	)	)	PUNCT
ap-8300	112	15	e(tn−1	e(tn−1	ADJ
ap-8300	112	16	)	)	PUNCT
ap-8300	112	17	=	=	SYM
ap-8300	112	18	r(t	r(t	NOUN
ap-8300	112	19	)	)	PUNCT
ap-8300	112	20	−	−	NOUN
ap-8300	112	21	y(tn−1	y(tn−1	PROPN
ap-8300	112	22	)	)	PUNCT
ap-8300	112	23	(	(	PUNCT
ap-8300	112	24	14	14	NUM
ap-8300	112	25	)	)	PUNCT
ap-8300	112	26	kn−1	kn−1	PROPN
ap-8300	112	27	=	=	SYM
ap-8300	112	28	e(tn	e(tn	PROPN
ap-8300	112	29	)	)	PUNCT
ap-8300	112	30	−	−	PROPN
ap-8300	113	1	rrn−1	rrn−1	PROPN
ap-8300	113	2	(	(	PUNCT
ap-8300	113	3	15	15	NUM
ap-8300	113	4	)	)	PUNCT
ap-8300	113	5	e(tn	e(tn	NOUN
ap-8300	113	6	)	)	PUNCT
ap-8300	113	7	=	=	SYM
ap-8300	113	8	r(t	r(t	NOUN
ap-8300	113	9	)	)	PUNCT
ap-8300	113	10	−	−	ADP
ap-8300	113	11	y(tn	y(tn	NOUN
ap-8300	113	12	)	)	PUNCT
ap-8300	113	13	(	(	PUNCT
ap-8300	113	14	16	16	NUM
ap-8300	113	15	)	)	PUNCT
ap-8300	113	16	kn	kn	NOUN
ap-8300	113	17	=	=	SYM
ap-8300	113	18	e(tn	e(tn	PROPN
ap-8300	113	19	)	)	PUNCT
ap-8300	113	20	−	−	NOUN
ap-8300	113	21	rrn	rrn	ADJ
ap-8300	113	22	(	(	PUNCT
ap-8300	113	23	17	17	NUM
ap-8300	113	24	)	)	PUNCT
ap-8300	113	25	considering	consider	VERB
ap-8300	113	26	the	the	DET
ap-8300	113	27	error	error	NOUN
ap-8300	113	28	ec	ec	NOUN
ap-8300	113	29	for	for	ADP
ap-8300	113	30	a	a	DET
ap-8300	113	31	conventional	conventional	ADJ
ap-8300	113	32	pid	pid	NOUN
ap-8300	113	33	control	control	NOUN
ap-8300	113	34	and	and	CCONJ
ap-8300	113	35	the	the	DET
ap-8300	113	36	effect	effect	NOUN
ap-8300	113	37	of	of	ADP
ap-8300	113	38	the	the	DET
ap-8300	113	39	proposed	propose	VERB
ap-8300	113	40	method	method	NOUN
ap-8300	113	41	on	on	ADP
ap-8300	113	42	the	the	DET
ap-8300	113	43	error	error	NOUN
ap-8300	113	44	of	of	ADP
ap-8300	113	45	the	the	DET
ap-8300	113	46	conventional	conventional	ADJ
ap-8300	113	47	method	method	NOUN
ap-8300	113	48	ek	ek	PROPN
ap-8300	113	49	,	,	PUNCT
ap-8300	113	50	e(t	e(t	PROPN
ap-8300	113	51	)	)	PUNCT
ap-8300	113	52	can	can	AUX
ap-8300	113	53	be	be	AUX
ap-8300	113	54	arranged	arrange	VERB
ap-8300	113	55	as	as	SCONJ
ap-8300	113	56	follows	follow	VERB
ap-8300	113	57	.	.	PUNCT
ap-8300	114	1	e(t	e(t	NOUN
ap-8300	114	2	)	)	PUNCT
ap-8300	115	1	=	=	SYM
ap-8300	115	2	ec	ec	PROPN
ap-8300	115	3	+	+	CCONJ
ap-8300	115	4	ek	ek	PROPN
ap-8300	115	5	(	(	PUNCT
ap-8300	115	6	18	18	NUM
ap-8300	115	7	)	)	PUNCT
ap-8300	115	8	the	the	DET
ap-8300	115	9	general	general	ADJ
ap-8300	115	10	equation	equation	NOUN
ap-8300	115	11	for	for	ADP
ap-8300	115	12	the	the	DET
ap-8300	115	13	pid	pid	NOUN
ap-8300	115	14	can	can	AUX
ap-8300	115	15	be	be	AUX
ap-8300	115	16	arranged	arrange	VERB
ap-8300	115	17	as	as	SCONJ
ap-8300	115	18	follows	follow	VERB
ap-8300	115	19	.	.	PUNCT
ap-8300	116	1	u(t1	u(t1	X
ap-8300	116	2	)	)	PUNCT
ap-8300	116	3	=	=	SYM
ap-8300	117	1	(	(	PUNCT
ap-8300	117	2	ec1	ec1	PROPN
ap-8300	117	3	+	+	NUM
ap-8300	117	4	ek1)(t1	ek1)(t1	NOUN
ap-8300	117	5	)	)	PUNCT
ap-8300	117	6	∗	∗	NOUN
ap-8300	117	7	(	(	PUNCT
ap-8300	117	8	kp	kp	PROPN
ap-8300	117	9	+	+	CCONJ
ap-8300	117	10	k1	k1	NOUN
ap-8300	117	11	)	)	PUNCT
ap-8300	117	12	+	+	CCONJ
ap-8300	117	13	(	(	PUNCT
ap-8300	117	14	ki	ki	PROPN
ap-8300	117	15	+	+	NUM
ap-8300	117	16	k1	k1	NOUN
ap-8300	117	17	)	)	PUNCT
ap-8300	117	18	(	(	PUNCT
ap-8300	117	19	dec1	dec1	PROPN
ap-8300	117	20	+	+	CCONJ
ap-8300	117	21	dek1)(t1	dek1)(t1	PROPN
ap-8300	117	22	)	)	PUNCT
ap-8300	117	23	dt	dt	NOUN
ap-8300	118	1	+	+	CCONJ
ap-8300	118	2	(	(	PUNCT
ap-8300	118	3	ki	ki	PROPN
ap-8300	118	4	+	+	NUM
ap-8300	118	5	k1	k1	NOUN
ap-8300	118	6	)	)	PUNCT
ap-8300	118	7	∫	∫	PROPN
ap-8300	118	8	t1	t1	NOUN
ap-8300	118	9	0	0	NUM
ap-8300	119	1	(	(	PUNCT
ap-8300	119	2	ec1	ec1	PROPN
ap-8300	119	3	+	+	NUM
ap-8300	119	4	ek1)(t1	ek1)(t1	NOUN
ap-8300	119	5	)	)	PUNCT
ap-8300	119	6	dt	dt	NOUN
ap-8300	119	7	(	(	PUNCT
ap-8300	119	8	19	19	NUM
ap-8300	119	9	)	)	PUNCT
ap-8300	119	10	u(t2	u(t2	NOUN
ap-8300	119	11	)	)	PUNCT
ap-8300	119	12	=	=	SYM
ap-8300	119	13	(	(	PUNCT
ap-8300	119	14	ec2	ec2	PROPN
ap-8300	119	15	+	+	CCONJ
ap-8300	119	16	ek2)(t2	ek2)(t2	PROPN
ap-8300	119	17	)	)	PUNCT
ap-8300	119	18	∗	∗	NOUN
ap-8300	119	19	(	(	PUNCT
ap-8300	119	20	kp	kp	PROPN
ap-8300	119	21	+	+	CCONJ
ap-8300	119	22	k2	k2	PROPN
ap-8300	119	23	)	)	PUNCT
ap-8300	119	24	+	+	CCONJ
ap-8300	120	1	(	(	PUNCT
ap-8300	120	2	ki	ki	PROPN
ap-8300	120	3	+	+	PROPN
ap-8300	120	4	k2	k2	PROPN
ap-8300	120	5	)	)	PUNCT
ap-8300	120	6	(	(	PUNCT
ap-8300	120	7	dec2	dec2	NOUN
ap-8300	120	8	+	+	CCONJ
ap-8300	120	9	dek2)(t2	dek2)(t2	PROPN
ap-8300	120	10	)	)	PUNCT
ap-8300	120	11	dt	dt	NOUN
ap-8300	121	1	+	+	CCONJ
ap-8300	121	2	(	(	PUNCT
ap-8300	121	3	ki	ki	PROPN
ap-8300	121	4	+	+	CCONJ
ap-8300	121	5	k2	k2	ADJ
ap-8300	121	6	)	)	PUNCT
ap-8300	121	7	∫	∫	PROPN
ap-8300	121	8	t2	t2	PROPN
ap-8300	121	9	0	0	NUM
ap-8300	121	10	(	(	PUNCT
ap-8300	121	11	ec2	ec2	PROPN
ap-8300	121	12	+	+	CCONJ
ap-8300	121	13	ek2)(t2	ek2)(t2	X
ap-8300	121	14	)	)	PUNCT
ap-8300	121	15	dt	dt	NOUN
ap-8300	121	16	(	(	PUNCT
ap-8300	121	17	20	20	NUM
ap-8300	121	18	)	)	PUNCT
ap-8300	121	19	u(tn	u(tn	NOUN
ap-8300	121	20	)	)	PUNCT
ap-8300	121	21	=	=	SYM
ap-8300	121	22	(	(	PUNCT
ap-8300	121	23	ecn	ecn	NOUN
ap-8300	121	24	+	+	CCONJ
ap-8300	121	25	ekn)(tn	ekn)(tn	X
ap-8300	121	26	)	)	PUNCT
ap-8300	121	27	∗	∗	NOUN
ap-8300	121	28	(	(	PUNCT
ap-8300	121	29	kp	kp	PROPN
ap-8300	121	30	+	+	PROPN
ap-8300	121	31	kn	kn	PROPN
ap-8300	121	32	)	)	PUNCT
ap-8300	122	1	+	+	CCONJ
ap-8300	122	2	(	(	PUNCT
ap-8300	122	3	ki	ki	PROPN
ap-8300	122	4	+	+	PROPN
ap-8300	122	5	kn	kn	PROPN
ap-8300	122	6	)	)	PUNCT
ap-8300	122	7	(	(	PUNCT
ap-8300	122	8	decn	decn	NOUN
ap-8300	122	9	+	+	CCONJ
ap-8300	122	10	dekn)(tn	dekn)(tn	NOUN
ap-8300	122	11	)	)	PUNCT
ap-8300	122	12	dt	dt	NOUN
ap-8300	123	1	+	+	CCONJ
ap-8300	123	2	(	(	PUNCT
ap-8300	123	3	ki	ki	PROPN
ap-8300	123	4	+	+	CCONJ
ap-8300	123	5	kn	kn	PROPN
ap-8300	123	6	)	)	PUNCT
ap-8300	123	7	∫	∫	PROPN
ap-8300	124	1	tn	tn	PROPN
ap-8300	124	2	0	0	PROPN
ap-8300	124	3	(	(	PUNCT
ap-8300	124	4	ecn	ecn	NOUN
ap-8300	124	5	+	+	CCONJ
ap-8300	124	6	ekn)(tn	ekn)(tn	X
ap-8300	124	7	)	)	PUNCT
ap-8300	124	8	dt	dt	X
ap-8300	124	9	(	(	PUNCT
ap-8300	124	10	21	21	NUM
ap-8300	124	11	)	)	PUNCT
ap-8300	124	12	depending	depend	VERB
ap-8300	124	13	on	on	ADP
ap-8300	124	14	whether	whether	SCONJ
ap-8300	124	15	the	the	DET
ap-8300	124	16	error	error	NOUN
ap-8300	124	17	is	be	AUX
ap-8300	124	18	positive	positive	ADJ
ap-8300	124	19	or	or	CCONJ
ap-8300	124	20	negative	negative	ADJ
ap-8300	124	21	,	,	PUNCT
ap-8300	124	22	the	the	DET
ap-8300	124	23	control	control	NOUN
ap-8300	124	24	diagram	diagram	NOUN
ap-8300	124	25	of	of	ADP
ap-8300	124	26	the	the	DET
ap-8300	124	27	system	system	NOUN
ap-8300	124	28	is	be	AUX
ap-8300	124	29	as	as	ADP
ap-8300	124	30	in	in	ADP
ap-8300	124	31	figure	figure	NOUN
ap-8300	124	32	5	5	NUM
ap-8300	124	33	,	,	PUNCT
ap-8300	124	34	in	in	ADP
ap-8300	124	35	line	line	NOUN
ap-8300	124	36	with	with	ADP
ap-8300	124	37	the	the	DET
ap-8300	124	38	above	above	ADJ
ap-8300	124	39	explanation	explanation	NOUN
ap-8300	124	40	of	of	ADP
ap-8300	124	41	the	the	DET
ap-8300	124	42	decisionmaking	decisionmake	VERB
ap-8300	124	43	unit	unit	NOUN
ap-8300	124	44	.	.	PUNCT
ap-8300	125	1	the	the	DET
ap-8300	125	2	equation	equation	NOUN
ap-8300	125	3	of	of	ADP
ap-8300	125	4	the	the	DET
ap-8300	125	5	second	second	ADJ
ap-8300	125	6	order	order	NOUN
ap-8300	125	7	and	and	CCONJ
ap-8300	125	8	pid	pid	NOUN
ap-8300	125	9	system	system	NOUN
ap-8300	125	10	is	be	AUX
ap-8300	125	11	given	give	VERB
ap-8300	125	12	in	in	ADP
ap-8300	125	13	equation	equation	NOUN
ap-8300	125	14	(	(	PUNCT
ap-8300	125	15	22	22	NUM
ap-8300	125	16	)	)	PUNCT
ap-8300	125	17	.	.	PUNCT
ap-8300	126	1	x(s	x(s	PROPN
ap-8300	126	2	)	)	PUNCT
ap-8300	127	1	f	f	PROPN
ap-8300	127	2	(	(	PUNCT
ap-8300	127	3	s	s	X
ap-8300	127	4	)	)	PUNCT
ap-8300	127	5	=	=	SYM
ap-8300	127	6	1	1	NUM
ap-8300	127	7	0.5s2	0.5s2	NUM
ap-8300	127	8	+	+	SYM
ap-8300	127	9	s	s	X
ap-8300	127	10	+	+	ADJ
ap-8300	127	11	1	1	NUM
ap-8300	127	12	(	(	PUNCT
ap-8300	127	13	22	22	NUM
ap-8300	127	14	)	)	PUNCT
ap-8300	127	15	the	the	DET
ap-8300	127	16	pid	pid	NOUN
ap-8300	127	17	control	control	NOUN
ap-8300	127	18	is	be	AUX
ap-8300	127	19	applied	apply	VERB
ap-8300	127	20	to	to	ADP
ap-8300	127	21	the	the	DET
ap-8300	127	22	system	system	NOUN
ap-8300	127	23	to	to	PART
ap-8300	127	24	be	be	AUX
ap-8300	127	25	tested	test	VERB
ap-8300	127	26	as	as	ADP
ap-8300	127	27	in	in	ADP
ap-8300	127	28	equation	equation	NOUN
ap-8300	127	29	(	(	PUNCT
ap-8300	127	30	23	23	NUM
ap-8300	127	31	)	)	PUNCT
ap-8300	127	32	.	.	PUNCT
ap-8300	128	1	x(s	x(s	PROPN
ap-8300	128	2	)	)	PUNCT
ap-8300	129	1	f	f	PROPN
ap-8300	129	2	(	(	PUNCT
ap-8300	129	3	s	s	X
ap-8300	129	4	)	)	PUNCT
ap-8300	129	5	=	=	SYM
ap-8300	129	6	kd	kd	X
ap-8300	129	7	·	·	PUNCT
ap-8300	129	8	s2	s2	PROPN
ap-8300	129	9	+	+	CCONJ
ap-8300	129	10	kp	kp	PROPN
ap-8300	129	11	·	·	PUNCT
ap-8300	129	12	s	s	PART
ap-8300	130	1	+	+	NUM
ap-8300	130	2	ki	ki	PROPN
ap-8300	130	3	(	(	PUNCT
ap-8300	130	4	0.5	0.5	NUM
ap-8300	130	5	+	+	NUM
ap-8300	130	6	kd)s2	kd)s2	NOUN
ap-8300	130	7	+	+	CCONJ
ap-8300	130	8	kp	kp	PROPN
ap-8300	130	9	·	·	PUNCT
ap-8300	130	10	s	s	PART
ap-8300	130	11	+	+	NUM
ap-8300	130	12	ki	ki	PROPN
ap-8300	130	13	(	(	PUNCT
ap-8300	130	14	23	23	NUM
ap-8300	130	15	)	)	PUNCT
ap-8300	130	16	524	524	NUM
ap-8300	130	17	vol	vol	NOUN
ap-8300	130	18	.	.	PUNCT
ap-8300	131	1	62	62	NUM
ap-8300	131	2	no	no	INTJ
ap-8300	131	3	.	.	PUNCT
ap-8300	132	1	5/2022	5/2022	NUM
ap-8300	132	2	extra	extra	ADJ
ap-8300	132	3	control	control	NOUN
ap-8300	132	4	coefficient	coefficient	NOUN
ap-8300	132	5	additive	additive	ADJ
ap-8300	132	6	ecca	ecca	NOUN
ap-8300	132	7	-	-	PUNCT
ap-8300	132	8	pid	pid	NOUN
ap-8300	132	9	for	for	ADP
ap-8300	132	10	control	control	NOUN
ap-8300	132	11	optimization	optimization	NOUN
ap-8300	132	12	.	.	PUNCT
ap-8300	132	13	.	.	PUNCT
ap-8300	132	14	.	.	PUNCT
ap-8300	133	1	(	(	PUNCT
ap-8300	133	2	a	a	X
ap-8300	133	3	)	)	PUNCT
ap-8300	133	4	.	.	PUNCT
ap-8300	134	1	(	(	PUNCT
ap-8300	134	2	b	b	X
ap-8300	134	3	)	)	PUNCT
ap-8300	134	4	.	.	PUNCT
ap-8300	135	1	figure	figure	VERB
ap-8300	135	2	4	4	NUM
ap-8300	135	3	.	.	PUNCT
ap-8300	135	4	a	a	PRON
ap-8300	135	5	)	)	PUNCT
ap-8300	135	6	extra	extra	ADJ
ap-8300	135	7	control	control	NOUN
ap-8300	135	8	coefficient	coefficient	NOUN
ap-8300	135	9	(	(	PUNCT
ap-8300	135	10	ecca)-pid	ecca)-pid	ADJ
ap-8300	135	11	control	control	NOUN
ap-8300	135	12	,	,	PUNCT
ap-8300	135	13	b	b	NOUN
ap-8300	135	14	)	)	PUNCT
ap-8300	135	15	relation	relation	NOUN
ap-8300	135	16	network	network	NOUN
ap-8300	135	17	between	between	ADP
ap-8300	135	18	r	r	NOUN
ap-8300	135	19	and	and	CCONJ
ap-8300	135	20	rr	rr	PROPN
ap-8300	135	21	.	.	PROPN
ap-8300	136	1	figure	figure	NOUN
ap-8300	136	2	5	5	NUM
ap-8300	136	3	.	.	PUNCT
ap-8300	137	1	the	the	DET
ap-8300	137	2	control	control	PROPN
ap-8300	137	3	diagram	diagram	NOUN
ap-8300	137	4	of	of	ADP
ap-8300	137	5	the	the	DET
ap-8300	137	6	system	system	NOUN
ap-8300	137	7	,	,	PUNCT
ap-8300	137	8	depending	depend	VERB
ap-8300	137	9	on	on	ADP
ap-8300	137	10	whether	whether	SCONJ
ap-8300	137	11	the	the	DET
ap-8300	137	12	error	error	NOUN
ap-8300	137	13	is	be	AUX
ap-8300	137	14	positive	positive	ADJ
ap-8300	137	15	or	or	CCONJ
ap-8300	137	16	negative	negative	ADJ
ap-8300	137	17	.	.	PUNCT
ap-8300	138	1	equation	equation	NOUN
ap-8300	138	2	(	(	PUNCT
ap-8300	138	3	24	24	NUM
ap-8300	138	4	)	)	PUNCT
ap-8300	138	5	and	and	CCONJ
ap-8300	138	6	equation	equation	NOUN
ap-8300	138	7	(	(	PUNCT
ap-8300	138	8	25	25	NUM
ap-8300	138	9	)	)	PUNCT
ap-8300	138	10	give	give	VERB
ap-8300	138	11	the	the	DET
ap-8300	138	12	fixed	fix	VERB
ap-8300	138	13	value	value	NOUN
ap-8300	138	14	contributions	contribution	NOUN
ap-8300	138	15	to	to	ADP
ap-8300	138	16	the	the	DET
ap-8300	138	17	controller	controller	NOUN
ap-8300	138	18	systems	system	NOUN
ap-8300	138	19	as	as	ADP
ap-8300	138	20	a	a	DET
ap-8300	138	21	result	result	NOUN
ap-8300	138	22	of	of	ADP
ap-8300	138	23	the	the	DET
ap-8300	138	24	comparison	comparison	NOUN
ap-8300	138	25	of	of	ADP
ap-8300	138	26	the	the	DET
ap-8300	138	27	reflection	reflection	NOUN
ap-8300	138	28	reference	reference	NOUN
ap-8300	138	29	values	value	NOUN
ap-8300	138	30	in	in	ADP
ap-8300	138	31	the	the	DET
ap-8300	138	32	decision	decision	NOUN
ap-8300	138	33	-	-	PUNCT
ap-8300	138	34	making	make	VERB
ap-8300	138	35	unit	unit	NOUN
ap-8300	138	36	of	of	ADP
ap-8300	138	37	the	the	DET
ap-8300	138	38	proposed	propose	VERB
ap-8300	138	39	system	system	NOUN
ap-8300	138	40	with	with	ADP
ap-8300	138	41	the	the	DET
ap-8300	138	42	actual	actual	ADJ
ap-8300	138	43	controller	controller	NOUN
ap-8300	138	44	coefficient	coefficient	NOUN
ap-8300	138	45	values	value	NOUN
ap-8300	138	46	.	.	PUNCT
ap-8300	139	1	x(s	x(s	PROPN
ap-8300	139	2	)	)	PUNCT
ap-8300	140	1	f	f	PROPN
ap-8300	140	2	(	(	PUNCT
ap-8300	140	3	s	s	X
ap-8300	140	4	)	)	PUNCT
ap-8300	140	5	=	=	SYM
ap-8300	140	6	(	(	PUNCT
ap-8300	140	7	kd	kd	PROPN
ap-8300	140	8	+	+	CCONJ
ap-8300	140	9	k1	k1	NOUN
ap-8300	140	10	)	)	PUNCT
ap-8300	140	11	·	·	PUNCT
ap-8300	141	1	s2(kp	s2(kp	PROPN
ap-8300	141	2	+	+	NUM
ap-8300	141	3	k1	k1	NOUN
ap-8300	141	4	)	)	PUNCT
ap-8300	141	5	·	·	PUNCT
ap-8300	141	6	s	s	PART
ap-8300	142	1	+	+	CCONJ
ap-8300	142	2	(	(	PUNCT
ap-8300	142	3	ki	ki	PROPN
ap-8300	142	4	+	+	NUM
ap-8300	142	5	k1	k1	NOUN
ap-8300	142	6	)	)	PUNCT
ap-8300	142	7	(	(	PUNCT
ap-8300	142	8	0.5	0.5	NUM
ap-8300	142	9	+	+	CCONJ
ap-8300	142	10	(	(	PUNCT
ap-8300	142	11	kd	kd	PROPN
ap-8300	142	12	+	+	NUM
ap-8300	142	13	k1	k1	NOUN
ap-8300	142	14	)	)	PUNCT
ap-8300	142	15	)	)	PUNCT
ap-8300	142	16	·	·	PUNCT
ap-8300	142	17	s2	s2	NOUN
ap-8300	142	18	+	+	CCONJ
ap-8300	142	19	(	(	PUNCT
ap-8300	142	20	kp	kp	PROPN
ap-8300	142	21	+	+	CCONJ
ap-8300	142	22	k1	k1	NOUN
ap-8300	142	23	)	)	PUNCT
ap-8300	142	24	·	·	PUNCT
ap-8300	142	25	s	s	PART
ap-8300	143	1	+	+	CCONJ
ap-8300	143	2	(	(	PUNCT
ap-8300	143	3	ki	ki	PROPN
ap-8300	143	4	+	+	NUM
ap-8300	143	5	k1	k1	NOUN
ap-8300	143	6	)	)	PUNCT
ap-8300	143	7	(	(	PUNCT
ap-8300	143	8	24	24	NUM
ap-8300	143	9	)	)	PUNCT
ap-8300	143	10	x(s	x(s	PROPN
ap-8300	143	11	)	)	PUNCT
ap-8300	143	12	f	f	PROPN
ap-8300	143	13	(	(	PUNCT
ap-8300	143	14	s	s	X
ap-8300	143	15	)	)	PUNCT
ap-8300	143	16	=	=	SYM
ap-8300	143	17	(	(	PUNCT
ap-8300	143	18	kd	kd	PROPN
ap-8300	143	19	−	−	PROPN
ap-8300	143	20	k1	k1	PROPN
ap-8300	143	21	)	)	PUNCT
ap-8300	143	22	·	·	PUNCT
ap-8300	144	1	s2(kp	s2(kp	PROPN
ap-8300	144	2	−	−	PROPN
ap-8300	144	3	k1	k1	PROPN
ap-8300	144	4	)	)	PUNCT
ap-8300	144	5	·	·	PUNCT
ap-8300	144	6	s	s	PART
ap-8300	145	1	+	+	CCONJ
ap-8300	145	2	(	(	PUNCT
ap-8300	145	3	ki	ki	PROPN
ap-8300	145	4	−	−	PROPN
ap-8300	145	5	k1	k1	PROPN
ap-8300	145	6	)	)	PUNCT
ap-8300	145	7	(	(	PUNCT
ap-8300	145	8	0.5	0.5	NUM
ap-8300	145	9	+	+	CCONJ
ap-8300	145	10	(	(	PUNCT
ap-8300	145	11	kd	kd	PROPN
ap-8300	145	12	−	−	PROPN
ap-8300	145	13	k1	k1	PROPN
ap-8300	145	14	)	)	PUNCT
ap-8300	145	15	)	)	PUNCT
ap-8300	145	16	·	·	PUNCT
ap-8300	146	1	s2	s2	NOUN
ap-8300	146	2	+	+	CCONJ
ap-8300	146	3	(	(	PUNCT
ap-8300	146	4	kp	kp	PROPN
ap-8300	146	5	−	−	PROPN
ap-8300	146	6	k1	k1	PROPN
ap-8300	146	7	)	)	PUNCT
ap-8300	146	8	·	·	PUNCT
ap-8300	146	9	s	s	PART
ap-8300	147	1	+	+	CCONJ
ap-8300	147	2	(	(	PUNCT
ap-8300	147	3	ki	ki	PROPN
ap-8300	147	4	−	−	PROPN
ap-8300	147	5	k1	k1	PROPN
ap-8300	147	6	)	)	PUNCT
ap-8300	147	7	(	(	PUNCT
ap-8300	147	8	25	25	NUM
ap-8300	147	9	)	)	PUNCT
ap-8300	147	10	525	525	NUM
ap-8300	147	11	erol	erol	NOUN
ap-8300	147	12	can	can	AUX
ap-8300	147	13	acta	acta	VERB
ap-8300	147	14	polytechnica	polytechnica	PROPN
ap-8300	147	15	figure	figure	NOUN
ap-8300	147	16	6	6	NUM
ap-8300	147	17	.	.	PUNCT
ap-8300	148	1	the	the	DET
ap-8300	148	2	matlab	matlab	PROPN
ap-8300	148	3	simulink	simulink	PROPN
ap-8300	148	4	model	model	NOUN
ap-8300	148	5	of	of	ADP
ap-8300	148	6	the	the	DET
ap-8300	148	7	designed	design	VERB
ap-8300	148	8	system	system	NOUN
ap-8300	148	9	.	.	PUNCT
ap-8300	149	1	3	3	X
ap-8300	149	2	.	.	PUNCT
ap-8300	149	3	(	(	PUNCT
ap-8300	149	4	ecca)-pid	ecca)-pid	ADJ
ap-8300	149	5	control	control	NOUN
ap-8300	149	6	application	application	NOUN
ap-8300	149	7	the	the	DET
ap-8300	149	8	proposed	propose	VERB
ap-8300	149	9	system	system	NOUN
ap-8300	149	10	is	be	AUX
ap-8300	149	11	examined	examine	VERB
ap-8300	149	12	over	over	ADP
ap-8300	149	13	the	the	DET
ap-8300	149	14	step	step	NOUN
ap-8300	149	15	response	response	NOUN
ap-8300	149	16	of	of	ADP
ap-8300	149	17	a	a	DET
ap-8300	149	18	second	second	ADJ
ap-8300	149	19	-	-	PUNCT
ap-8300	149	20	order	order	NOUN
ap-8300	149	21	system	system	NOUN
ap-8300	149	22	such	such	ADJ
ap-8300	149	23	as	as	ADP
ap-8300	149	24	[	[	X
ap-8300	149	25	(	(	PUNCT
ap-8300	149	26	1/(0.5s2	1/(0.5s2	NUM
ap-8300	149	27	+	+	NUM
ap-8300	149	28	s	s	X
ap-8300	149	29	+	+	NUM
ap-8300	149	30	1	1	NUM
ap-8300	149	31	)	)	PUNCT
ap-8300	149	32	]	]	PUNCT
ap-8300	149	33	.	.	PUNCT
ap-8300	150	1	the	the	DET
ap-8300	150	2	matlab	matlab	PROPN
ap-8300	150	3	simulink	simulink	PROPN
ap-8300	150	4	model	model	NOUN
ap-8300	150	5	of	of	ADP
ap-8300	150	6	the	the	DET
ap-8300	150	7	designed	design	VERB
ap-8300	150	8	system	system	NOUN
ap-8300	150	9	is	be	AUX
ap-8300	150	10	given	give	VERB
ap-8300	150	11	in	in	ADP
ap-8300	150	12	figure	figure	NOUN
ap-8300	150	13	6	6	NUM
ap-8300	150	14	.	.	PUNCT
ap-8300	151	1	in	in	ADP
ap-8300	151	2	the	the	DET
ap-8300	151	3	second	second	ADJ
ap-8300	151	4	order	order	NOUN
ap-8300	151	5	system	system	NOUN
ap-8300	151	6	,	,	PUNCT
ap-8300	151	7	both	both	PRON
ap-8300	151	8	traditional	traditional	ADJ
ap-8300	151	9	pid	pid	NOUN
ap-8300	151	10	control	control	NOUN
ap-8300	151	11	method	method	NOUN
ap-8300	151	12	and	and	CCONJ
ap-8300	151	13	(	(	PUNCT
ap-8300	151	14	ecca)-pid	ecca)-pid	ADJ
ap-8300	151	15	control	control	NOUN
ap-8300	151	16	are	be	AUX
ap-8300	151	17	applied	apply	VERB
ap-8300	151	18	.	.	PUNCT
ap-8300	152	1	figure	figure	NOUN
ap-8300	152	2	7a	7a	NOUN
ap-8300	152	3	shows	show	VERB
ap-8300	152	4	the	the	DET
ap-8300	152	5	step	step	NOUN
ap-8300	152	6	response	response	NOUN
ap-8300	152	7	values	value	NOUN
ap-8300	152	8	when	when	SCONJ
ap-8300	152	9	two	two	NUM
ap-8300	152	10	rr	rr	NOUN
ap-8300	152	11	values	value	NOUN
ap-8300	152	12	such	such	ADJ
ap-8300	152	13	as	as	ADP
ap-8300	152	14	0–0.5	0–0.5	NUM
ap-8300	152	15	are	be	AUX
ap-8300	152	16	given	give	VERB
ap-8300	152	17	to	to	ADP
ap-8300	152	18	the	the	DET
ap-8300	152	19	proposed	propose	VERB
ap-8300	152	20	system	system	NOUN
ap-8300	152	21	for	for	ADP
ap-8300	152	22	the	the	DET
ap-8300	152	23	step	step	NOUN
ap-8300	152	24	response	response	NOUN
ap-8300	152	25	of	of	ADP
ap-8300	152	26	the	the	DET
ap-8300	152	27	system	system	NOUN
ap-8300	152	28	.	.	PUNCT
ap-8300	153	1	while	while	SCONJ
ap-8300	153	2	the	the	DET
ap-8300	153	3	extra	extra	ADJ
ap-8300	153	4	gain	gain	NOUN
ap-8300	153	5	values	value	NOUN
ap-8300	153	6	produced	produce	VERB
ap-8300	153	7	by	by	ADP
ap-8300	153	8	the	the	DET
ap-8300	153	9	controller	controller	NOUN
ap-8300	153	10	decision	decision	NOUN
ap-8300	153	11	unit	unit	NOUN
ap-8300	153	12	are	be	AUX
ap-8300	153	13	given	give	VERB
ap-8300	153	14	in	in	ADP
ap-8300	153	15	figure	figure	NOUN
ap-8300	153	16	7b	7b	NOUN
ap-8300	153	17	,	,	PUNCT
ap-8300	153	18	the	the	DET
ap-8300	153	19	controller	controller	NOUN
ap-8300	153	20	output	output	NOUN
ap-8300	153	21	signal	signal	NOUN
ap-8300	153	22	and	and	CCONJ
ap-8300	153	23	controller	controller	NOUN
ap-8300	153	24	errors	error	NOUN
ap-8300	153	25	can	can	AUX
ap-8300	153	26	be	be	AUX
ap-8300	153	27	seen	see	VERB
ap-8300	153	28	in	in	ADP
ap-8300	153	29	figure	figure	NOUN
ap-8300	153	30	8	8	NUM
ap-8300	153	31	.	.	PUNCT
ap-8300	154	1	kp	kp	PROPN
ap-8300	154	2	is	be	AUX
ap-8300	154	3	1	1	NUM
ap-8300	154	4	,	,	PUNCT
ap-8300	154	5	ki	ki	PROPN
ap-8300	154	6	is	be	AUX
ap-8300	154	7	0.5	0.5	NUM
ap-8300	154	8	,	,	PUNCT
ap-8300	154	9	kd	kd	PROPN
ap-8300	154	10	is	be	AUX
ap-8300	154	11	0.02	0.02	NUM
ap-8300	154	12	,	,	PUNCT
ap-8300	154	13	e	e	NOUN
ap-8300	154	14	is	be	AUX
ap-8300	154	15	error	error	NOUN
ap-8300	154	16	.	.	PUNCT
ap-8300	155	1	while	while	SCONJ
ap-8300	155	2	the	the	DET
ap-8300	155	3	rise	rise	NOUN
ap-8300	155	4	moment	moment	NOUN
ap-8300	155	5	response	response	NOUN
ap-8300	155	6	of	of	ADP
ap-8300	155	7	the	the	DET
ap-8300	155	8	system	system	NOUN
ap-8300	155	9	is	be	AUX
ap-8300	155	10	as	as	ADV
ap-8300	155	11	short	short	ADJ
ap-8300	155	12	as	as	ADP
ap-8300	155	13	0.1	0.1	NUM
ap-8300	155	14	s	s	NOUN
ap-8300	155	15	for	for	ADP
ap-8300	155	16	ecca	ecca	NOUN
ap-8300	155	17	-	-	PUNCT
ap-8300	155	18	pid	pid	NOUN
ap-8300	155	19	and	and	CCONJ
ap-8300	155	20	ecca	ecca	NOUN
ap-8300	155	21	-	-	PUNCT
ap-8300	155	22	p	p	X
ap-8300	155	23	,	,	PUNCT
ap-8300	155	24	the	the	DET
ap-8300	155	25	rise	rise	NOUN
ap-8300	155	26	moment	moment	NOUN
ap-8300	155	27	response	response	NOUN
ap-8300	155	28	of	of	ADP
ap-8300	155	29	the	the	DET
ap-8300	155	30	system	system	NOUN
ap-8300	155	31	for	for	ADP
ap-8300	155	32	a	a	DET
ap-8300	155	33	traditional	traditional	ADJ
ap-8300	155	34	pid	pid	NOUN
ap-8300	155	35	control	control	NOUN
ap-8300	155	36	is	be	AUX
ap-8300	155	37	1.1	1.1	NUM
ap-8300	155	38	s.	s.	NOUN
ap-8300	155	39	this	this	PRON
ap-8300	155	40	means	mean	VERB
ap-8300	155	41	that	that	SCONJ
ap-8300	155	42	the	the	DET
ap-8300	155	43	rise	rise	NOUN
ap-8300	155	44	moment	moment	NOUN
ap-8300	155	45	response	response	NOUN
ap-8300	155	46	of	of	ADP
ap-8300	155	47	the	the	DET
ap-8300	155	48	proposed	propose	VERB
ap-8300	155	49	system	system	NOUN
ap-8300	155	50	corresponds	correspond	VERB
ap-8300	155	51	to	to	ADP
ap-8300	155	52	9	9	NUM
ap-8300	155	53	%	%	NOUN
ap-8300	155	54	of	of	ADP
ap-8300	155	55	the	the	DET
ap-8300	155	56	take	take	VERB
ap-8300	155	57	-	-	PUNCT
ap-8300	155	58	off	off	ADP
ap-8300	155	59	response	response	NOUN
ap-8300	155	60	of	of	ADP
ap-8300	155	61	a	a	DET
ap-8300	155	62	traditional	traditional	ADJ
ap-8300	155	63	pid	pid	NOUN
ap-8300	155	64	controlled	control	VERB
ap-8300	155	65	system	system	NOUN
ap-8300	155	66	.	.	PUNCT
ap-8300	156	1	the	the	DET
ap-8300	156	2	settling	settling	NOUN
ap-8300	156	3	time	time	NOUN
ap-8300	156	4	for	for	ADP
ap-8300	156	5	ecca	ecca	NOUN
ap-8300	156	6	-	-	PUNCT
ap-8300	156	7	p	p	NOUN
ap-8300	156	8	can	can	AUX
ap-8300	156	9	not	not	PART
ap-8300	156	10	occur	occur	VERB
ap-8300	156	11	in	in	ADP
ap-8300	156	12	10	10	NUM
ap-8300	156	13	s	s	NOUN
ap-8300	156	14	,	,	PUNCT
ap-8300	156	15	but	but	CCONJ
ap-8300	156	16	when	when	SCONJ
ap-8300	156	17	i	i	PROPN
ap-8300	156	18	-	-	PUNCT
ap-8300	156	19	d	d	NOUN
ap-8300	156	20	controllers	controller	NOUN
ap-8300	156	21	are	be	AUX
ap-8300	156	22	added	add	VERB
ap-8300	156	23	to	to	ADP
ap-8300	156	24	the	the	DET
ap-8300	156	25	total	total	ADJ
ap-8300	156	26	control	control	NOUN
ap-8300	156	27	system	system	NOUN
ap-8300	156	28	,	,	PUNCT
ap-8300	156	29	the	the	DET
ap-8300	156	30	settling	settle	VERB
ap-8300	156	31	time	time	NOUN
ap-8300	156	32	takes	take	VERB
ap-8300	156	33	place	place	NOUN
ap-8300	156	34	in	in	ADP
ap-8300	156	35	5	5	NUM
ap-8300	156	36	s	s	NOUN
ap-8300	156	37	for	for	ADP
ap-8300	156	38	ecca	ecca	NOUN
ap-8300	156	39	-	-	PUNCT
ap-8300	156	40	pid	pid	NOUN
ap-8300	156	41	.	.	PUNCT
ap-8300	157	1	when	when	SCONJ
ap-8300	157	2	the	the	DET
ap-8300	157	3	system	system	NOUN
ap-8300	157	4	is	be	AUX
ap-8300	157	5	controlled	control	VERB
ap-8300	157	6	with	with	ADP
ap-8300	157	7	a	a	DET
ap-8300	157	8	traditional	traditional	ADJ
ap-8300	157	9	pid	pid	NOUN
ap-8300	157	10	,	,	PUNCT
ap-8300	157	11	the	the	DET
ap-8300	157	12	system	system	NOUN
ap-8300	157	13	is	be	AUX
ap-8300	157	14	not	not	PART
ap-8300	157	15	capable	capable	ADJ
ap-8300	157	16	of	of	ADP
ap-8300	157	17	settling	settle	VERB
ap-8300	157	18	in	in	ADP
ap-8300	157	19	10	10	NUM
ap-8300	157	20	s.	s.	PROPN
ap-8300	157	21	this	this	PRON
ap-8300	157	22	shows	show	VERB
ap-8300	157	23	that	that	SCONJ
ap-8300	157	24	the	the	DET
ap-8300	157	25	desired	desire	VERB
ap-8300	157	26	control	control	NOUN
ap-8300	157	27	can	can	AUX
ap-8300	157	28	be	be	AUX
ap-8300	157	29	achieved	achieve	VERB
ap-8300	157	30	with	with	ADP
ap-8300	157	31	the	the	DET
ap-8300	157	32	decision	decision	NOUN
ap-8300	157	33	-	-	PUNCT
ap-8300	157	34	making	make	VERB
ap-8300	157	35	unit	unit	NOUN
ap-8300	157	36	of	of	ADP
ap-8300	157	37	the	the	DET
ap-8300	157	38	proposed	propose	VERB
ap-8300	157	39	system	system	NOUN
ap-8300	157	40	,	,	PUNCT
ap-8300	157	41	even	even	ADV
ap-8300	157	42	if	if	SCONJ
ap-8300	157	43	insufficient	insufficient	ADJ
ap-8300	157	44	controller	controller	NOUN
ap-8300	157	45	coefficients	coefficient	NOUN
ap-8300	157	46	are	be	AUX
ap-8300	157	47	selected	select	VERB
ap-8300	157	48	for	for	ADP
ap-8300	157	49	the	the	DET
ap-8300	157	50	system	system	NOUN
ap-8300	157	51	.	.	PUNCT
ap-8300	158	1	rr	rr	PROPN
ap-8300	158	2	values	value	NOUN
ap-8300	158	3	in	in	ADP
ap-8300	158	4	the	the	DET
ap-8300	158	5	range	range	NOUN
ap-8300	158	6	of	of	ADP
ap-8300	158	7	0–0.5	0–0.5	NUM
ap-8300	158	8	taken	take	VERB
ap-8300	158	9	into	into	ADP
ap-8300	158	10	consideration	consideration	NOUN
ap-8300	158	11	by	by	ADP
ap-8300	158	12	the	the	DET
ap-8300	158	13	decision	decision	NOUN
ap-8300	158	14	-	-	PUNCT
ap-8300	158	15	making	make	VERB
ap-8300	158	16	unit	unit	NOUN
ap-8300	158	17	are	be	AUX
ap-8300	158	18	trying	try	VERB
ap-8300	158	19	to	to	PART
ap-8300	158	20	reach	reach	VERB
ap-8300	158	21	the	the	DET
ap-8300	158	22	desired	desire	VERB
ap-8300	158	23	control	control	NOUN
ap-8300	158	24	point	point	NOUN
ap-8300	158	25	.	.	PUNCT
ap-8300	159	1	while	while	SCONJ
ap-8300	159	2	the	the	DET
ap-8300	159	3	gain	gain	NOUN
ap-8300	159	4	factor	factor	NOUN
ap-8300	159	5	is	be	AUX
ap-8300	159	6	increased	increase	VERB
ap-8300	159	7	between	between	ADP
ap-8300	159	8	0–1	0–1	NOUN
ap-8300	159	9	s	s	NOUN
ap-8300	159	10	and	and	CCONJ
ap-8300	159	11	5.4–8.4	5.4–8.4	NUM
ap-8300	159	12	s	s	X
ap-8300	159	13	for	for	ADP
ap-8300	159	14	rr	rr	PROPN
ap-8300	159	15	0	0	NUM
ap-8300	159	16	,	,	PUNCT
ap-8300	159	17	the	the	DET
ap-8300	159	18	gain	gain	NOUN
ap-8300	159	19	factor	factor	NOUN
ap-8300	159	20	is	be	AUX
ap-8300	159	21	increased	increase	VERB
ap-8300	159	22	between	between	ADP
ap-8300	159	23	0–1	0–1	NOUN
ap-8300	159	24	s	s	PART
ap-8300	159	25	and	and	CCONJ
ap-8300	159	26	2–10.4	2–10.4	NUM
ap-8300	159	27	s	s	VERB
ap-8300	159	28	for	for	ADP
ap-8300	159	29	rr	rr	PROPN
ap-8300	159	30	0.5	0.5	NUM
ap-8300	159	31	.	.	PUNCT
ap-8300	160	1	the	the	DET
ap-8300	160	2	controller	controller	NOUN
ap-8300	160	3	output	output	NOUN
ap-8300	160	4	signal	signal	NOUN
ap-8300	160	5	becomes	become	VERB
ap-8300	160	6	stable	stable	ADJ
ap-8300	160	7	in	in	ADP
ap-8300	160	8	4	4	NUM
ap-8300	160	9	s.	s.	NOUN
ap-8300	160	10	for	for	ADP
ap-8300	160	11	the	the	DET
ap-8300	160	12	proposed	propose	VERB
ap-8300	160	13	control	control	NOUN
ap-8300	160	14	system	system	NOUN
ap-8300	160	15	,	,	PUNCT
ap-8300	160	16	the	the	DET
ap-8300	160	17	controller	controller	NOUN
ap-8300	160	18	error	error	NOUN
ap-8300	160	19	ends	end	VERB
ap-8300	160	20	in	in	ADP
ap-8300	160	21	5	5	NUM
ap-8300	160	22	s	s	NOUN
ap-8300	160	23	,	,	PUNCT
ap-8300	160	24	while	while	SCONJ
ap-8300	160	25	for	for	ADP
ap-8300	160	26	the	the	DET
ap-8300	160	27	ecca	ecca	NOUN
ap-8300	160	28	-	-	PUNCT
ap-8300	160	29	p	p	NOUN
ap-8300	160	30	and	and	CCONJ
ap-8300	160	31	traditional	traditional	ADJ
ap-8300	160	32	pid	pid	NOUN
ap-8300	160	33	method	method	NOUN
ap-8300	160	34	,	,	PUNCT
ap-8300	160	35	the	the	DET
ap-8300	160	36	error	error	NOUN
ap-8300	160	37	does	do	AUX
ap-8300	160	38	not	not	PART
ap-8300	160	39	end	end	VERB
ap-8300	160	40	for	for	ADP
ap-8300	160	41	10	10	NUM
ap-8300	160	42	s.	s.	PROPN
ap-8300	160	43	figure	figure	PROPN
ap-8300	160	44	9a	9a	PROPN
ap-8300	160	45	shows	show	VERB
ap-8300	160	46	the	the	DET
ap-8300	160	47	step	step	NOUN
ap-8300	160	48	response	response	NOUN
ap-8300	160	49	values	value	NOUN
ap-8300	160	50	when	when	SCONJ
ap-8300	160	51	two	two	NUM
ap-8300	160	52	rr	rr	NOUN
ap-8300	160	53	values	value	NOUN
ap-8300	160	54	such	such	ADJ
ap-8300	160	55	as	as	ADP
ap-8300	160	56	0–1	0–1	NUM
ap-8300	160	57	are	be	AUX
ap-8300	160	58	given	give	VERB
ap-8300	160	59	to	to	ADP
ap-8300	160	60	the	the	DET
ap-8300	160	61	proposed	propose	VERB
ap-8300	160	62	system	system	NOUN
ap-8300	160	63	for	for	ADP
ap-8300	160	64	the	the	DET
ap-8300	160	65	step	step	NOUN
ap-8300	160	66	response	response	NOUN
ap-8300	160	67	of	of	ADP
ap-8300	160	68	the	the	DET
ap-8300	160	69	system	system	NOUN
ap-8300	160	70	.	.	PUNCT
ap-8300	161	1	while	while	SCONJ
ap-8300	161	2	the	the	DET
ap-8300	161	3	extra	extra	ADJ
ap-8300	161	4	gain	gain	NOUN
ap-8300	161	5	values	value	NOUN
ap-8300	161	6	produced	produce	VERB
ap-8300	161	7	by	by	ADP
ap-8300	161	8	the	the	DET
ap-8300	161	9	controller	controller	NOUN
ap-8300	161	10	decision	decision	NOUN
ap-8300	161	11	unit	unit	NOUN
ap-8300	161	12	are	be	AUX
ap-8300	161	13	given	give	VERB
ap-8300	161	14	in	in	ADP
ap-8300	161	15	figure	figure	NOUN
ap-8300	161	16	9b	9b	NOUN
ap-8300	161	17	,	,	PUNCT
ap-8300	161	18	the	the	DET
ap-8300	161	19	controller	controller	NOUN
ap-8300	161	20	output	output	NOUN
ap-8300	161	21	signal	signal	NOUN
ap-8300	161	22	and	and	CCONJ
ap-8300	161	23	controller	controller	NOUN
ap-8300	161	24	errors	error	NOUN
ap-8300	161	25	can	can	AUX
ap-8300	161	26	be	be	AUX
ap-8300	161	27	seen	see	VERB
ap-8300	161	28	in	in	ADP
ap-8300	161	29	figure	figure	NOUN
ap-8300	161	30	10	10	NUM
ap-8300	161	31	.	.	PUNCT
ap-8300	162	1	kp	kp	PROPN
ap-8300	162	2	is	be	AUX
ap-8300	162	3	1	1	NUM
ap-8300	162	4	,	,	PUNCT
ap-8300	162	5	ki	ki	PROPN
ap-8300	162	6	is	be	AUX
ap-8300	162	7	0.5	0.5	NUM
ap-8300	162	8	,	,	PUNCT
ap-8300	162	9	kd	kd	PROPN
ap-8300	162	10	is	be	AUX
ap-8300	162	11	0.02	0.02	NUM
ap-8300	162	12	.	.	PUNCT
ap-8300	163	1	while	while	SCONJ
ap-8300	163	2	the	the	DET
ap-8300	163	3	rise	rise	NOUN
ap-8300	163	4	moment	moment	NOUN
ap-8300	163	5	response	response	NOUN
ap-8300	163	6	of	of	ADP
ap-8300	163	7	the	the	DET
ap-8300	163	8	system	system	NOUN
ap-8300	163	9	for	for	ADP
ap-8300	163	10	rr	rr	PROPN
ap-8300	163	11	of	of	ADP
ap-8300	163	12	0–1	0–1	NOUN
ap-8300	163	13	is	be	AUX
ap-8300	163	14	as	as	ADV
ap-8300	163	15	short	short	ADJ
ap-8300	163	16	as	as	ADP
ap-8300	163	17	0.1	0.1	NUM
ap-8300	163	18	s	s	NOUN
ap-8300	163	19	for	for	ADP
ap-8300	163	20	ecca	ecca	NOUN
ap-8300	163	21	-	-	PUNCT
ap-8300	163	22	pid	pid	NOUN
ap-8300	163	23	and	and	CCONJ
ap-8300	163	24	ecca	ecca	NOUN
ap-8300	163	25	-	-	PUNCT
ap-8300	163	26	p	p	X
ap-8300	163	27	,	,	PUNCT
ap-8300	163	28	the	the	DET
ap-8300	163	29	rise	rise	NOUN
ap-8300	163	30	moment	moment	NOUN
ap-8300	163	31	response	response	NOUN
ap-8300	163	32	of	of	ADP
ap-8300	163	33	the	the	DET
ap-8300	163	34	system	system	NOUN
ap-8300	163	35	for	for	ADP
ap-8300	163	36	a	a	DET
ap-8300	163	37	traditional	traditional	ADJ
ap-8300	163	38	pid	pid	NOUN
ap-8300	163	39	control	control	NOUN
ap-8300	163	40	is	be	AUX
ap-8300	163	41	1.1	1.1	NUM
ap-8300	163	42	s.	s.	NOUN
ap-8300	163	43	this	this	PRON
ap-8300	163	44	means	mean	VERB
ap-8300	163	45	that	that	SCONJ
ap-8300	163	46	the	the	DET
ap-8300	163	47	rise	rise	NOUN
ap-8300	163	48	moment	moment	NOUN
ap-8300	163	49	response	response	NOUN
ap-8300	163	50	of	of	ADP
ap-8300	163	51	the	the	DET
ap-8300	163	52	proposed	propose	VERB
ap-8300	163	53	system	system	NOUN
ap-8300	163	54	corresponds	correspond	VERB
ap-8300	163	55	to	to	ADP
ap-8300	163	56	9	9	NUM
ap-8300	163	57	%	%	NOUN
ap-8300	163	58	of	of	ADP
ap-8300	163	59	the	the	DET
ap-8300	163	60	take	take	VERB
ap-8300	163	61	-	-	PUNCT
ap-8300	163	62	off	off	ADP
ap-8300	163	63	response	response	NOUN
ap-8300	163	64	of	of	ADP
ap-8300	163	65	a	a	DET
ap-8300	163	66	traditional	traditional	ADJ
ap-8300	163	67	pid	pid	NOUN
ap-8300	163	68	controlled	control	VERB
ap-8300	163	69	system	system	NOUN
ap-8300	163	70	.	.	PUNCT
ap-8300	164	1	the	the	DET
ap-8300	164	2	settling	settling	NOUN
ap-8300	164	3	time	time	NOUN
ap-8300	164	4	for	for	ADP
ap-8300	164	5	eccap	eccap	NOUN
ap-8300	164	6	can	can	AUX
ap-8300	164	7	not	not	PART
ap-8300	164	8	occur	occur	VERB
ap-8300	164	9	in	in	ADP
ap-8300	164	10	10	10	NUM
ap-8300	164	11	s	s	NOUN
ap-8300	164	12	,	,	PUNCT
ap-8300	164	13	but	but	CCONJ
ap-8300	164	14	when	when	SCONJ
ap-8300	164	15	i	i	PROPN
ap-8300	164	16	-	-	PUNCT
ap-8300	164	17	d	d	NOUN
ap-8300	164	18	controllers	controller	NOUN
ap-8300	164	19	are	be	AUX
ap-8300	164	20	added	add	VERB
ap-8300	164	21	to	to	ADP
ap-8300	164	22	the	the	DET
ap-8300	164	23	total	total	ADJ
ap-8300	164	24	control	control	NOUN
ap-8300	164	25	system	system	NOUN
ap-8300	164	26	,	,	PUNCT
ap-8300	164	27	the	the	DET
ap-8300	164	28	settling	settle	VERB
ap-8300	164	29	time	time	NOUN
ap-8300	164	30	takes	take	VERB
ap-8300	164	31	place	place	NOUN
ap-8300	164	32	in	in	ADP
ap-8300	164	33	4	4	NUM
ap-8300	164	34	s	s	NOUN
ap-8300	164	35	for	for	ADP
ap-8300	164	36	ecca	ecca	NOUN
ap-8300	164	37	-	-	PUNCT
ap-8300	164	38	pid	pid	NOUN
ap-8300	164	39	.	.	PUNCT
ap-8300	165	1	when	when	SCONJ
ap-8300	165	2	the	the	DET
ap-8300	165	3	system	system	NOUN
ap-8300	165	4	is	be	AUX
ap-8300	165	5	controlled	control	VERB
ap-8300	165	6	with	with	ADP
ap-8300	165	7	a	a	DET
ap-8300	165	8	traditional	traditional	ADJ
ap-8300	165	9	pid	pid	NOUN
ap-8300	165	10	,	,	PUNCT
ap-8300	165	11	the	the	DET
ap-8300	165	12	system	system	NOUN
ap-8300	165	13	is	be	AUX
ap-8300	165	14	not	not	PART
ap-8300	165	15	capable	capable	ADJ
ap-8300	165	16	of	of	ADP
ap-8300	165	17	settling	settle	VERB
ap-8300	165	18	in	in	ADP
ap-8300	165	19	10	10	NUM
ap-8300	165	20	s.	s.	PROPN
ap-8300	165	21	this	this	PRON
ap-8300	165	22	shows	show	VERB
ap-8300	165	23	that	that	SCONJ
ap-8300	165	24	the	the	DET
ap-8300	165	25	desired	desire	VERB
ap-8300	165	26	control	control	NOUN
ap-8300	165	27	can	can	AUX
ap-8300	165	28	be	be	AUX
ap-8300	165	29	achieved	achieve	VERB
ap-8300	165	30	with	with	ADP
ap-8300	165	31	the	the	DET
ap-8300	165	32	decision	decision	NOUN
ap-8300	165	33	-	-	PUNCT
ap-8300	165	34	making	make	VERB
ap-8300	165	35	unit	unit	NOUN
ap-8300	165	36	of	of	ADP
ap-8300	165	37	the	the	DET
ap-8300	165	38	proposed	propose	VERB
ap-8300	165	39	system	system	NOUN
ap-8300	165	40	,	,	PUNCT
ap-8300	165	41	even	even	ADV
ap-8300	165	42	if	if	SCONJ
ap-8300	165	43	insufficient	insufficient	ADJ
ap-8300	165	44	controller	controller	NOUN
ap-8300	165	45	coefficients	coefficient	NOUN
ap-8300	165	46	are	be	AUX
ap-8300	165	47	selected	select	VERB
ap-8300	165	48	for	for	ADP
ap-8300	165	49	the	the	DET
ap-8300	165	50	system	system	NOUN
ap-8300	165	51	.	.	PUNCT
ap-8300	166	1	rr	rr	PROPN
ap-8300	166	2	values	value	NOUN
ap-8300	166	3	in	in	ADP
ap-8300	166	4	the	the	DET
ap-8300	166	5	range	range	NOUN
ap-8300	166	6	of	of	ADP
ap-8300	166	7	0–1	0–1	NOUN
ap-8300	166	8	taken	take	VERB
ap-8300	166	9	into	into	ADP
ap-8300	166	10	consideration	consideration	NOUN
ap-8300	166	11	by	by	ADP
ap-8300	166	12	the	the	DET
ap-8300	166	13	decision	decision	NOUN
ap-8300	166	14	-	-	PUNCT
ap-8300	166	15	making	make	VERB
ap-8300	166	16	unit	unit	NOUN
ap-8300	166	17	are	be	AUX
ap-8300	166	18	trying	try	VERB
ap-8300	166	19	to	to	PART
ap-8300	166	20	reach	reach	VERB
ap-8300	166	21	the	the	DET
ap-8300	166	22	desired	desire	VERB
ap-8300	166	23	control	control	NOUN
ap-8300	166	24	point	point	NOUN
ap-8300	166	25	.	.	PUNCT
ap-8300	167	1	while	while	SCONJ
ap-8300	167	2	the	the	DET
ap-8300	167	3	gain	gain	NOUN
ap-8300	167	4	factor	factor	NOUN
ap-8300	167	5	is	be	AUX
ap-8300	167	6	increased	increase	VERB
ap-8300	167	7	between	between	ADP
ap-8300	167	8	0–1	0–1	NOUN
ap-8300	167	9	s	s	NOUN
ap-8300	167	10	and	and	CCONJ
ap-8300	167	11	3.9–7	3.9–7	PROPN
ap-8300	167	12	s	s	VERB
ap-8300	167	13	for	for	ADP
ap-8300	167	14	rr	rr	PROPN
ap-8300	167	15	of	of	ADP
ap-8300	167	16	0	0	NUM
ap-8300	167	17	,	,	PUNCT
ap-8300	167	18	the	the	DET
ap-8300	167	19	gain	gain	NOUN
ap-8300	167	20	factor	factor	NOUN
ap-8300	167	21	is	be	AUX
ap-8300	167	22	increased	increase	VERB
ap-8300	167	23	between	between	ADP
ap-8300	167	24	0–10	0–10	PROPN
ap-8300	167	25	s	s	PROPN
ap-8300	167	26	for	for	ADP
ap-8300	167	27	rr	rr	PROPN
ap-8300	167	28	of	of	ADP
ap-8300	167	29	1	1	NUM
ap-8300	167	30	.	.	PUNCT
ap-8300	168	1	while	while	SCONJ
ap-8300	168	2	the	the	DET
ap-8300	168	3	controller	controller	NOUN
ap-8300	168	4	output	output	NOUN
ap-8300	168	5	signal	signal	NOUN
ap-8300	168	6	becomes	become	VERB
ap-8300	168	7	stable	stable	ADJ
ap-8300	168	8	in	in	ADP
ap-8300	168	9	4	4	NUM
ap-8300	168	10	s	s	NOUN
ap-8300	168	11	,	,	PUNCT
ap-8300	168	12	it	it	PRON
ap-8300	168	13	deviates	deviate	VERB
ap-8300	168	14	from	from	ADP
ap-8300	168	15	the	the	DET
ap-8300	168	16	ideal	ideal	ADJ
ap-8300	168	17	control	control	PROPN
ap-8300	168	18	reference	reference	NOUN
ap-8300	168	19	value	value	NOUN
ap-8300	168	20	between	between	ADP
ap-8300	168	21	2	2	NUM
ap-8300	168	22	and	and	CCONJ
ap-8300	168	23	4	4	NUM
ap-8300	168	24	s.	s.	PROPN
ap-8300	168	25	for	for	ADP
ap-8300	168	26	the	the	DET
ap-8300	168	27	proposed	propose	VERB
ap-8300	168	28	control	control	NOUN
ap-8300	168	29	system	system	NOUN
ap-8300	168	30	,	,	PUNCT
ap-8300	168	31	the	the	DET
ap-8300	168	32	controller	controller	NOUN
ap-8300	168	33	error	error	NOUN
ap-8300	168	34	ends	end	VERB
ap-8300	168	35	in	in	ADP
ap-8300	168	36	4	4	NUM
ap-8300	168	37	s	s	NOUN
ap-8300	168	38	,	,	PUNCT
ap-8300	168	39	while	while	SCONJ
ap-8300	168	40	for	for	ADP
ap-8300	168	41	the	the	DET
ap-8300	168	42	ecca	ecca	NOUN
ap-8300	168	43	-	-	PUNCT
ap-8300	168	44	p	p	NOUN
ap-8300	168	45	and	and	CCONJ
ap-8300	168	46	traditional	traditional	ADJ
ap-8300	168	47	pid	pid	NOUN
ap-8300	168	48	method	method	NOUN
ap-8300	168	49	,	,	PUNCT
ap-8300	168	50	the	the	DET
ap-8300	168	51	error	error	NOUN
ap-8300	168	52	does	do	AUX
ap-8300	168	53	not	not	PART
ap-8300	168	54	end	end	VERB
ap-8300	168	55	for	for	ADP
ap-8300	168	56	10	10	NUM
ap-8300	168	57	s.	s.	PROPN
ap-8300	168	58	figure	figure	NOUN
ap-8300	168	59	11	11	NUM
ap-8300	168	60	shows	show	VERB
ap-8300	168	61	the	the	DET
ap-8300	168	62	step	step	NOUN
ap-8300	168	63	responses	response	NOUN
ap-8300	168	64	and	and	CCONJ
ap-8300	168	65	the	the	DET
ap-8300	168	66	extra	extra	ADJ
ap-8300	168	67	gain	gain	NOUN
ap-8300	168	68	values	value	NOUN
ap-8300	168	69	produced	produce	VERB
ap-8300	168	70	by	by	ADP
ap-8300	168	71	the	the	DET
ap-8300	168	72	controller	controller	NOUN
ap-8300	168	73	decision	decision	NOUN
ap-8300	168	74	unit	unit	NOUN
ap-8300	168	75	for	for	ADP
ap-8300	168	76	rr	rr	PROPN
ap-8300	168	77	0–0.3	0–0.3	NOUN
ap-8300	168	78	.	.	PUNCT
ap-8300	169	1	there	there	PRON
ap-8300	169	2	are	be	VERB
ap-8300	169	3	controller	controller	NOUN
ap-8300	169	4	output	output	NOUN
ap-8300	169	5	signal	signal	NOUN
ap-8300	169	6	and	and	CCONJ
ap-8300	169	7	controller	controller	NOUN
ap-8300	169	8	errors	error	NOUN
ap-8300	169	9	for	for	ADP
ap-8300	169	10	0–0.3	0–0.3	NOUN
ap-8300	169	11	.	.	PUNCT
ap-8300	170	1	the	the	DET
ap-8300	170	2	rise	rise	NOUN
ap-8300	170	3	moment	moment	NOUN
ap-8300	170	4	response	response	NOUN
ap-8300	170	5	of	of	ADP
ap-8300	170	6	the	the	DET
ap-8300	170	7	system	system	NOUN
ap-8300	170	8	for	for	ADP
ap-8300	170	9	rr	rr	PROPN
ap-8300	170	10	of	of	ADP
ap-8300	170	11	0–0.3	0–0.3	PROPN
ap-8300	170	12	is	be	AUX
ap-8300	170	13	as	as	ADV
ap-8300	170	14	short	short	ADJ
ap-8300	170	15	as	as	ADP
ap-8300	170	16	0.1	0.1	NUM
ap-8300	170	17	s	s	NOUN
ap-8300	170	18	for	for	ADP
ap-8300	170	19	ecca	ecca	NOUN
ap-8300	170	20	-	-	PUNCT
ap-8300	170	21	pid	pid	NOUN
ap-8300	170	22	and	and	CCONJ
ap-8300	170	23	ecca	ecca	NOUN
ap-8300	170	24	-	-	PUNCT
ap-8300	170	25	p	p	X
ap-8300	170	26	,	,	PUNCT
ap-8300	170	27	the	the	DET
ap-8300	170	28	rise	rise	NOUN
ap-8300	170	29	moment	moment	NOUN
ap-8300	170	30	response	response	NOUN
ap-8300	170	31	of	of	ADP
ap-8300	170	32	the	the	DET
ap-8300	170	33	system	system	NOUN
ap-8300	170	34	for	for	ADP
ap-8300	170	35	a	a	DET
ap-8300	170	36	traditional	traditional	ADJ
ap-8300	170	37	pid	pid	NOUN
ap-8300	170	38	control	control	NOUN
ap-8300	170	39	is	be	AUX
ap-8300	170	40	1.1	1.1	NUM
ap-8300	170	41	s.	s.	PROPN
ap-8300	170	42	526	526	NUM
ap-8300	170	43	vol	vol	NOUN
ap-8300	170	44	.	.	PUNCT
ap-8300	171	1	62	62	NUM
ap-8300	171	2	no	no	INTJ
ap-8300	171	3	.	.	PUNCT
ap-8300	172	1	5/2022	5/2022	NUM
ap-8300	172	2	extra	extra	ADJ
ap-8300	172	3	control	control	NOUN
ap-8300	172	4	coefficient	coefficient	NOUN
ap-8300	172	5	additive	additive	ADJ
ap-8300	172	6	ecca	ecca	NOUN
ap-8300	172	7	-	-	PUNCT
ap-8300	172	8	pid	pid	NOUN
ap-8300	172	9	for	for	ADP
ap-8300	172	10	control	control	NOUN
ap-8300	172	11	optimization	optimization	NOUN
ap-8300	172	12	.	.	PUNCT
ap-8300	172	13	.	.	PUNCT
ap-8300	172	14	.	.	PUNCT
ap-8300	173	1	(	(	PUNCT
ap-8300	173	2	a	a	X
ap-8300	173	3	)	)	PUNCT
ap-8300	173	4	.	.	PUNCT
ap-8300	174	1	(	(	PUNCT
ap-8300	174	2	b	b	X
ap-8300	174	3	)	)	PUNCT
ap-8300	174	4	.	.	PUNCT
ap-8300	175	1	figure	figure	VERB
ap-8300	175	2	7	7	NUM
ap-8300	175	3	.	.	PUNCT
ap-8300	176	1	for	for	ADP
ap-8300	176	2	rr	rr	PROPN
ap-8300	176	3	of	of	ADP
ap-8300	176	4	0–0.5	0–0.5	NUM
ap-8300	176	5	>	>	X
ap-8300	176	6	e	e	NOUN
ap-8300	176	7	:	:	PUNCT
ap-8300	176	8	a	a	X
ap-8300	176	9	)	)	PUNCT
ap-8300	176	10	the	the	DET
ap-8300	176	11	step	step	NOUN
ap-8300	176	12	responses	response	NOUN
ap-8300	176	13	,	,	PUNCT
ap-8300	176	14	b	b	X
ap-8300	176	15	)	)	PUNCT
ap-8300	176	16	the	the	DET
ap-8300	176	17	extra	extra	ADJ
ap-8300	176	18	gain	gain	NOUN
ap-8300	176	19	values	value	NOUN
ap-8300	176	20	produced	produce	VERB
ap-8300	176	21	by	by	ADP
ap-8300	176	22	the	the	DET
ap-8300	176	23	controller	controller	NOUN
ap-8300	176	24	decision	decision	NOUN
ap-8300	176	25	unit	unit	NOUN
ap-8300	176	26	.	.	PUNCT
ap-8300	177	1	(	(	PUNCT
ap-8300	177	2	a	a	X
ap-8300	177	3	)	)	PUNCT
ap-8300	177	4	.	.	PUNCT
ap-8300	178	1	(	(	PUNCT
ap-8300	178	2	b	b	NOUN
ap-8300	178	3	)	)	PUNCT
ap-8300	178	4	.	.	PUNCT
ap-8300	179	1	figure	figure	VERB
ap-8300	179	2	8	8	NUM
ap-8300	179	3	.	.	PUNCT
ap-8300	180	1	a	a	X
ap-8300	180	2	)	)	PUNCT
ap-8300	180	3	the	the	DET
ap-8300	180	4	controller	controller	NOUN
ap-8300	180	5	output	output	NOUN
ap-8300	180	6	signal	signal	NOUN
ap-8300	180	7	,	,	PUNCT
ap-8300	180	8	b	b	X
ap-8300	180	9	)	)	PUNCT
ap-8300	180	10	errors	error	NOUN
ap-8300	180	11	for	for	ADP
ap-8300	180	12	controllers	controller	NOUN
ap-8300	180	13	.	.	PUNCT
ap-8300	181	1	(	(	PUNCT
ap-8300	181	2	a	a	NOUN
ap-8300	181	3	)	)	PUNCT
ap-8300	181	4	.	.	PUNCT
ap-8300	182	1	(	(	PUNCT
ap-8300	182	2	b	b	NOUN
ap-8300	182	3	)	)	PUNCT
ap-8300	182	4	.	.	PUNCT
ap-8300	183	1	figure	figure	NOUN
ap-8300	183	2	9	9	NUM
ap-8300	183	3	.	.	PUNCT
ap-8300	184	1	for	for	ADP
ap-8300	184	2	rr	rr	NOUN
ap-8300	184	3	of	of	ADP
ap-8300	184	4	0–1	0–1	PROPN
ap-8300	184	5	>	>	X
ap-8300	184	6	e	e	NOUN
ap-8300	184	7	:	:	PUNCT
ap-8300	184	8	a	a	X
ap-8300	184	9	)	)	PUNCT
ap-8300	184	10	the	the	DET
ap-8300	184	11	step	step	NOUN
ap-8300	184	12	responses	response	NOUN
ap-8300	184	13	,	,	PUNCT
ap-8300	184	14	b	b	X
ap-8300	184	15	)	)	PUNCT
ap-8300	184	16	the	the	DET
ap-8300	184	17	extra	extra	ADJ
ap-8300	184	18	gain	gain	NOUN
ap-8300	184	19	values	value	NOUN
ap-8300	184	20	produced	produce	VERB
ap-8300	184	21	by	by	ADP
ap-8300	184	22	the	the	DET
ap-8300	184	23	controller	controller	NOUN
ap-8300	184	24	decision	decision	NOUN
ap-8300	184	25	unit	unit	NOUN
ap-8300	184	26	.	.	PUNCT
ap-8300	185	1	the	the	DET
ap-8300	185	2	0–0.3	0–0.3	PROPN
ap-8300	185	3	rr	rr	PROPN
ap-8300	185	4	range	range	NOUN
ap-8300	185	5	in	in	ADP
ap-8300	185	6	ecca	ecca	NOUN
ap-8300	185	7	-	-	PUNCT
ap-8300	185	8	p	p	NOUN
ap-8300	185	9	provides	provide	VERB
ap-8300	185	10	an	an	DET
ap-8300	185	11	earlier	early	ADJ
ap-8300	185	12	rise	rise	NOUN
ap-8300	185	13	as	as	SCONJ
ap-8300	185	14	compared	compare	VERB
ap-8300	185	15	to	to	ADP
ap-8300	185	16	the	the	DET
ap-8300	185	17	0–1	0–1	NOUN
ap-8300	185	18	range	range	NOUN
ap-8300	185	19	.	.	PUNCT
ap-8300	186	1	the	the	DET
ap-8300	186	2	settling	settle	VERB
ap-8300	186	3	tim	tim	PROPN
ap-8300	186	4	for	for	ADP
ap-8300	186	5	ecca	ecca	NOUN
ap-8300	186	6	-	-	PUNCT
ap-8300	186	7	p	p	NOUN
ap-8300	186	8	can	can	AUX
ap-8300	186	9	not	not	PART
ap-8300	186	10	occur	occur	VERB
ap-8300	186	11	in	in	ADP
ap-8300	186	12	10	10	NUM
ap-8300	186	13	s	s	NOUN
ap-8300	186	14	,	,	PUNCT
ap-8300	186	15	but	but	CCONJ
ap-8300	186	16	when	when	SCONJ
ap-8300	186	17	i	i	PROPN
ap-8300	186	18	-	-	PUNCT
ap-8300	186	19	d	d	NOUN
ap-8300	186	20	controllers	controller	NOUN
ap-8300	186	21	are	be	AUX
ap-8300	186	22	added	add	VERB
ap-8300	186	23	to	to	ADP
ap-8300	186	24	the	the	DET
ap-8300	186	25	total	total	ADJ
ap-8300	186	26	control	control	NOUN
ap-8300	186	27	system	system	NOUN
ap-8300	186	28	,	,	PUNCT
ap-8300	186	29	the	the	DET
ap-8300	186	30	settling	settle	VERB
ap-8300	186	31	time	time	NOUN
ap-8300	186	32	takes	take	VERB
ap-8300	186	33	place	place	NOUN
ap-8300	186	34	in	in	ADP
ap-8300	186	35	4	4	NUM
ap-8300	186	36	s	s	NOUN
ap-8300	186	37	for	for	ADP
ap-8300	186	38	ecca	ecca	NOUN
ap-8300	186	39	-	-	PUNCT
ap-8300	186	40	pid	pid	NOUN
ap-8300	186	41	.	.	PUNCT
ap-8300	187	1	when	when	SCONJ
ap-8300	187	2	the	the	DET
ap-8300	187	3	system	system	NOUN
ap-8300	187	4	is	be	AUX
ap-8300	187	5	controlled	control	VERB
ap-8300	187	6	with	with	ADP
ap-8300	187	7	a	a	DET
ap-8300	187	8	traditional	traditional	ADJ
ap-8300	187	9	pid	pid	NOUN
ap-8300	187	10	,	,	PUNCT
ap-8300	187	11	the	the	DET
ap-8300	187	12	system	system	NOUN
ap-8300	187	13	is	be	AUX
ap-8300	187	14	not	not	PART
ap-8300	187	15	capable	capable	ADJ
ap-8300	187	16	of	of	ADP
ap-8300	187	17	settling	settle	VERB
ap-8300	187	18	in	in	ADP
ap-8300	187	19	10	10	NUM
ap-8300	187	20	s.	s.	PROPN
ap-8300	187	21	this	this	PRON
ap-8300	187	22	shows	show	VERB
ap-8300	187	23	that	that	SCONJ
ap-8300	187	24	the	the	DET
ap-8300	187	25	desired	desire	VERB
ap-8300	187	26	control	control	NOUN
ap-8300	187	27	can	can	AUX
ap-8300	187	28	be	be	AUX
ap-8300	187	29	achieved	achieve	VERB
ap-8300	187	30	with	with	ADP
ap-8300	187	31	the	the	DET
ap-8300	187	32	decision	decision	NOUN
ap-8300	187	33	-	-	PUNCT
ap-8300	187	34	making	make	VERB
ap-8300	187	35	unit	unit	NOUN
ap-8300	187	36	of	of	ADP
ap-8300	187	37	the	the	DET
ap-8300	187	38	proposed	propose	VERB
ap-8300	187	39	system	system	NOUN
ap-8300	187	40	,	,	PUNCT
ap-8300	187	41	even	even	ADV
ap-8300	187	42	if	if	SCONJ
ap-8300	187	43	insufficient	insufficient	ADJ
ap-8300	187	44	controller	controller	NOUN
ap-8300	187	45	coefficients	coefficient	NOUN
ap-8300	187	46	are	be	AUX
ap-8300	187	47	selected	select	VERB
ap-8300	187	48	for	for	ADP
ap-8300	187	49	the	the	DET
ap-8300	187	50	system	system	NOUN
ap-8300	187	51	.	.	PUNCT
ap-8300	188	1	rr	rr	PROPN
ap-8300	188	2	values	value	NOUN
ap-8300	188	3	in	in	ADP
ap-8300	188	4	the	the	DET
ap-8300	188	5	range	range	NOUN
ap-8300	188	6	of	of	ADP
ap-8300	188	7	0–0.3	0–0.3	NOUN
ap-8300	188	8	taken	take	VERB
ap-8300	188	9	into	into	ADP
ap-8300	188	10	consideration	consideration	NOUN
ap-8300	188	11	by	by	ADP
ap-8300	188	12	the	the	DET
ap-8300	188	13	decision	decision	NOUN
ap-8300	188	14	-	-	PUNCT
ap-8300	188	15	making	make	VERB
ap-8300	188	16	unit	unit	NOUN
ap-8300	188	17	are	be	AUX
ap-8300	188	18	trying	try	VERB
ap-8300	188	19	to	to	PART
ap-8300	188	20	reach	reach	VERB
ap-8300	188	21	the	the	DET
ap-8300	188	22	desired	desire	VERB
ap-8300	188	23	control	control	NOUN
ap-8300	188	24	point	point	NOUN
ap-8300	188	25	.	.	PUNCT
ap-8300	189	1	while	while	SCONJ
ap-8300	189	2	the	the	DET
ap-8300	189	3	gain	gain	NOUN
ap-8300	189	4	factor	factor	NOUN
ap-8300	189	5	is	be	AUX
ap-8300	189	6	increased	increase	VERB
ap-8300	189	7	between	between	ADP
ap-8300	189	8	0–1	0–1	NOUN
ap-8300	189	9	s	s	PART
ap-8300	189	10	and	and	CCONJ
ap-8300	189	11	5.5–8.7	5.5–8.7	NUM
ap-8300	189	12	s	s	NOUN
ap-8300	189	13	for	for	ADP
ap-8300	189	14	rr	rr	PROPN
ap-8300	189	15	of	of	ADP
ap-8300	189	16	0	0	NUM
ap-8300	189	17	,	,	PUNCT
ap-8300	189	18	the	the	DET
ap-8300	189	19	gain	gain	NOUN
ap-8300	189	20	factor	factor	NOUN
ap-8300	189	21	is	be	AUX
ap-8300	189	22	increased	increase	VERB
ap-8300	189	23	between	between	ADP
ap-8300	189	24	0–1	0–1	NOUN
ap-8300	189	25	s	s	NOUN
ap-8300	189	26	and	and	CCONJ
ap-8300	189	27	1.2–10	1.2–10	NUM
ap-8300	189	28	s	s	NOUN
ap-8300	189	29	for	for	ADP
ap-8300	189	30	rr	rr	NOUN
ap-8300	189	31	of	of	ADP
ap-8300	189	32	0	0	NUM
ap-8300	189	33	.	.	PUNCT
ap-8300	190	1	after	after	SCONJ
ap-8300	190	2	the	the	DET
ap-8300	190	3	maximum	maximum	ADJ
ap-8300	190	4	collapse	collapse	NOUN
ap-8300	190	5	occurs	occur	VERB
ap-8300	190	6	in	in	ADP
ap-8300	190	7	2.2	2.2	NUM
ap-8300	190	8	s	s	NOUN
ap-8300	190	9	,	,	PUNCT
ap-8300	190	10	the	the	DET
ap-8300	190	11	controller	controller	NOUN
ap-8300	190	12	output	output	NOUN
ap-8300	190	13	signal	signal	NOUN
ap-8300	190	14	becomes	become	VERB
ap-8300	190	15	stable	stable	ADJ
ap-8300	190	16	in	in	ADP
ap-8300	190	17	4	4	NUM
ap-8300	190	18	s.	s.	NOUN
ap-8300	190	19	for	for	ADP
ap-8300	190	20	the	the	DET
ap-8300	190	21	proposed	propose	VERB
ap-8300	190	22	control	control	NOUN
ap-8300	190	23	system	system	NOUN
ap-8300	190	24	,	,	PUNCT
ap-8300	190	25	the	the	DET
ap-8300	190	26	527	527	NUM
ap-8300	190	27	erol	erol	NOUN
ap-8300	190	28	can	can	AUX
ap-8300	190	29	acta	acta	VERB
ap-8300	190	30	polytechnica	polytechnica	PROPN
ap-8300	190	31	(	(	PUNCT
ap-8300	190	32	a	a	NOUN
ap-8300	190	33	)	)	PUNCT
ap-8300	190	34	.	.	PUNCT
ap-8300	191	1	(	(	PUNCT
ap-8300	191	2	b	b	X
ap-8300	191	3	)	)	PUNCT
ap-8300	191	4	.	.	PUNCT
ap-8300	192	1	figure	figure	NOUN
ap-8300	192	2	10	10	NUM
ap-8300	192	3	.	.	PUNCT
ap-8300	193	1	a	a	X
ap-8300	193	2	)	)	PUNCT
ap-8300	193	3	the	the	DET
ap-8300	193	4	controller	controller	NOUN
ap-8300	193	5	output	output	NOUN
ap-8300	193	6	signal	signal	NOUN
ap-8300	193	7	,	,	PUNCT
ap-8300	193	8	b	b	X
ap-8300	193	9	)	)	PUNCT
ap-8300	193	10	controller	controller	NOUN
ap-8300	193	11	errors	error	NOUN
ap-8300	193	12	.	.	PUNCT
ap-8300	194	1	(	(	PUNCT
ap-8300	194	2	a	a	NOUN
ap-8300	194	3	)	)	PUNCT
ap-8300	194	4	.	.	PUNCT
ap-8300	195	1	(	(	PUNCT
ap-8300	195	2	b	b	X
ap-8300	195	3	)	)	PUNCT
ap-8300	195	4	.	.	PUNCT
ap-8300	196	1	figure	figure	VERB
ap-8300	196	2	11	11	NUM
ap-8300	196	3	.	.	PUNCT
ap-8300	197	1	for	for	ADP
ap-8300	197	2	rr	rr	PROPN
ap-8300	197	3	of	of	ADP
ap-8300	197	4	0–0.3	0–0.3	PROPN
ap-8300	197	5	>	>	PUNCT
ap-8300	197	6	e	e	X
ap-8300	197	7	:	:	PUNCT
ap-8300	197	8	a	a	X
ap-8300	197	9	)	)	PUNCT
ap-8300	197	10	the	the	DET
ap-8300	197	11	step	step	NOUN
ap-8300	197	12	responses	response	NOUN
ap-8300	197	13	,	,	PUNCT
ap-8300	197	14	b	b	X
ap-8300	197	15	)	)	PUNCT
ap-8300	197	16	the	the	DET
ap-8300	197	17	extra	extra	ADJ
ap-8300	197	18	gain	gain	NOUN
ap-8300	197	19	values	value	NOUN
ap-8300	197	20	produced	produce	VERB
ap-8300	197	21	by	by	ADP
ap-8300	197	22	the	the	DET
ap-8300	197	23	controller	controller	NOUN
ap-8300	197	24	decision	decision	NOUN
ap-8300	197	25	unit	unit	NOUN
ap-8300	197	26	.	.	PUNCT
ap-8300	198	1	(	(	PUNCT
ap-8300	198	2	a	a	X
ap-8300	198	3	)	)	PUNCT
ap-8300	198	4	.	.	PUNCT
ap-8300	199	1	(	(	PUNCT
ap-8300	199	2	b	b	NOUN
ap-8300	199	3	)	)	PUNCT
ap-8300	199	4	.	.	PUNCT
ap-8300	200	1	figure	figure	NOUN
ap-8300	200	2	12	12	NUM
ap-8300	200	3	.	.	PUNCT
ap-8300	201	1	a	a	X
ap-8300	201	2	)	)	PUNCT
ap-8300	201	3	the	the	DET
ap-8300	201	4	controller	controller	NOUN
ap-8300	201	5	output	output	NOUN
ap-8300	201	6	signal	signal	NOUN
ap-8300	201	7	for	for	ADP
ap-8300	201	8	0–0.3	0–0.3	PROPN
ap-8300	201	9	,	,	PUNCT
ap-8300	201	10	b	b	NOUN
ap-8300	201	11	)	)	PUNCT
ap-8300	201	12	controller	controller	NOUN
ap-8300	201	13	errors	error	NOUN
ap-8300	201	14	.	.	PUNCT
ap-8300	202	1	controller	controller	NOUN
ap-8300	202	2	error	error	NOUN
ap-8300	202	3	ends	end	VERB
ap-8300	202	4	in	in	ADP
ap-8300	202	5	6	6	NUM
ap-8300	202	6	s	s	NOUN
ap-8300	202	7	,	,	PUNCT
ap-8300	202	8	while	while	SCONJ
ap-8300	202	9	for	for	ADP
ap-8300	202	10	the	the	DET
ap-8300	202	11	ecca	ecca	NOUN
ap-8300	202	12	-	-	PUNCT
ap-8300	202	13	p	p	NOUN
ap-8300	202	14	and	and	CCONJ
ap-8300	202	15	traditional	traditional	ADJ
ap-8300	202	16	pid	pid	NOUN
ap-8300	202	17	method	method	NOUN
ap-8300	202	18	,	,	PUNCT
ap-8300	202	19	the	the	DET
ap-8300	202	20	error	error	NOUN
ap-8300	202	21	does	do	AUX
ap-8300	202	22	not	not	PART
ap-8300	202	23	end	end	VERB
ap-8300	202	24	for	for	ADP
ap-8300	202	25	10	10	NUM
ap-8300	202	26	s.	s.	PROPN
ap-8300	202	27	figure	figure	NOUN
ap-8300	202	28	13	13	NUM
ap-8300	202	29	shows	show	VERB
ap-8300	202	30	the	the	DET
ap-8300	202	31	step	step	NOUN
ap-8300	202	32	response	response	NOUN
ap-8300	202	33	of	of	ADP
ap-8300	202	34	the	the	DET
ap-8300	202	35	system	system	NOUN
ap-8300	202	36	controlled	control	VERB
ap-8300	202	37	with	with	ADP
ap-8300	202	38	ecca	ecca	NOUN
ap-8300	202	39	-	-	PUNCT
ap-8300	202	40	pid	pid	NOUN
ap-8300	202	41	and	and	CCONJ
ap-8300	202	42	the	the	DET
ap-8300	202	43	controller	controller	NOUN
ap-8300	202	44	errors	error	NOUN
ap-8300	202	45	for	for	ADP
ap-8300	202	46	different	different	ADJ
ap-8300	202	47	rr	rr	PROPN
ap-8300	202	48	values	value	NOUN
ap-8300	202	49	.	.	PUNCT
ap-8300	203	1	figure	figure	NOUN
ap-8300	203	2	14	14	NUM
ap-8300	203	3	shows	show	VERB
ap-8300	203	4	the	the	DET
ap-8300	203	5	step	step	NOUN
ap-8300	203	6	response	response	NOUN
ap-8300	203	7	of	of	ADP
ap-8300	203	8	the	the	DET
ap-8300	203	9	system	system	NOUN
ap-8300	203	10	control	control	NOUN
ap-8300	203	11	with	with	ADP
ap-8300	203	12	ecca	ecca	NOUN
ap-8300	203	13	-	-	PUNCT
ap-8300	203	14	p	p	NOUN
ap-8300	203	15	and	and	CCONJ
ap-8300	203	16	the	the	DET
ap-8300	203	17	controller	controller	NOUN
ap-8300	203	18	errors	error	NOUN
ap-8300	203	19	for	for	ADP
ap-8300	203	20	different	different	ADJ
ap-8300	203	21	rr	rr	PROPN
ap-8300	203	22	values	value	NOUN
ap-8300	203	23	.	.	PUNCT
ap-8300	204	1	ecca	ecca	NOUN
ap-8300	204	2	-	-	PUNCT
ap-8300	204	3	pid	pid	NOUN
ap-8300	204	4	and	and	CCONJ
ap-8300	204	5	ecca	ecca	NOUN
ap-8300	204	6	-	-	PUNCT
ap-8300	204	7	p	p	NOUN
ap-8300	204	8	are	be	AUX
ap-8300	204	9	tested	test	VERB
ap-8300	204	10	for	for	ADP
ap-8300	204	11	control	control	NOUN
ap-8300	204	12	of	of	ADP
ap-8300	204	13	a	a	DET
ap-8300	204	14	quadratic	quadratic	ADJ
ap-8300	204	15	system	system	NOUN
ap-8300	204	16	.	.	PUNCT
ap-8300	205	1	even	even	ADV
ap-8300	205	2	if	if	SCONJ
ap-8300	205	3	the	the	DET
ap-8300	205	4	previously	previously	ADV
ap-8300	205	5	determined	determine	VERB
ap-8300	205	6	controller	controller	NOUN
ap-8300	205	7	coefficient	coefficient	NOUN
ap-8300	205	8	constants	constant	NOUN
ap-8300	205	9	are	be	AUX
ap-8300	205	10	insufficient	insufficient	ADJ
ap-8300	205	11	or	or	CCONJ
ap-8300	205	12	not	not	PART
ap-8300	205	13	entered	enter	VERB
ap-8300	205	14	at	at	ADV
ap-8300	205	15	all	all	ADV
ap-8300	205	16	,	,	PUNCT
ap-8300	205	17	the	the	DET
ap-8300	205	18	system	system	NOUN
ap-8300	205	19	controlled	control	VERB
ap-8300	205	20	by	by	ADP
ap-8300	205	21	ecca	ecca	NOUN
ap-8300	205	22	-	-	PUNCT
ap-8300	205	23	pid	pid	NOUN
ap-8300	205	24	produces	produce	VERB
ap-8300	205	25	values	value	NOUN
ap-8300	205	26	that	that	PRON
ap-8300	205	27	will	will	AUX
ap-8300	205	28	contribute	contribute	VERB
ap-8300	205	29	to	to	ADP
ap-8300	205	30	the	the	DET
ap-8300	205	31	controller	controller	NOUN
ap-8300	205	32	system	system	NOUN
ap-8300	205	33	by	by	ADP
ap-8300	205	34	making	make	VERB
ap-8300	205	35	comparisons	comparison	NOUN
ap-8300	205	36	with	with	ADP
ap-8300	205	37	the	the	DET
ap-8300	205	38	actual	actual	ADJ
ap-8300	205	39	error	error	NOUN
ap-8300	205	40	of	of	ADP
ap-8300	205	41	the	the	DET
ap-8300	205	42	system	system	NOUN
ap-8300	205	43	for	for	ADP
ap-8300	205	44	different	different	ADJ
ap-8300	205	45	reflection	reflection	NOUN
ap-8300	205	46	rr	rr	NOUN
ap-8300	205	47	values	value	NOUN
ap-8300	205	48	in	in	ADP
ap-8300	205	49	the	the	DET
ap-8300	205	50	decision	decision	NOUN
ap-8300	205	51	-	-	PUNCT
ap-8300	205	52	making	make	VERB
ap-8300	205	53	unit	unit	NOUN
ap-8300	205	54	.	.	PUNCT
ap-8300	206	1	thus	thus	ADV
ap-8300	206	2	,	,	PUNCT
ap-8300	206	3	unlike	unlike	ADP
ap-8300	206	4	traditional	traditional	ADJ
ap-8300	206	5	pid	pid	NOUN
ap-8300	206	6	controllers	controller	NOUN
ap-8300	206	7	with	with	ADP
ap-8300	206	8	linear	linear	ADJ
ap-8300	206	9	response	response	NOUN
ap-8300	206	10	,	,	PUNCT
ap-8300	206	11	the	the	DET
ap-8300	206	12	error	error	NOUN
ap-8300	206	13	variation	variation	NOUN
ap-8300	206	14	affects	affect	VERB
ap-8300	206	15	the	the	DET
ap-8300	206	16	error	error	NOUN
ap-8300	206	17	variation	variation	NOUN
ap-8300	206	18	in	in	ADP
ap-8300	206	19	a	a	DET
ap-8300	206	20	semi	semi	ADJ
ap-8300	206	21	-	-	ADJ
ap-8300	206	22	linear	linear	ADJ
ap-8300	206	23	manner	manner	NOUN
ap-8300	206	24	,	,	PUNCT
ap-8300	206	25	independent	independent	ADJ
ap-8300	206	26	of	of	ADP
ap-8300	206	27	the	the	DET
ap-8300	206	28	controller	controller	NOUN
ap-8300	206	29	coefficients	coefficient	NOUN
ap-8300	206	30	entered	enter	VERB
ap-8300	206	31	into	into	ADP
ap-8300	206	32	the	the	DET
ap-8300	206	33	system	system	NOUN
ap-8300	206	34	before	before	ADV
ap-8300	206	35	,	,	PUNCT
ap-8300	206	36	and	and	CCONJ
ap-8300	206	37	brings	bring	VERB
ap-8300	206	38	the	the	DET
ap-8300	206	39	control	control	NOUN
ap-8300	206	40	of	of	ADP
ap-8300	206	41	the	the	DET
ap-8300	206	42	system	system	NOUN
ap-8300	206	43	to	to	ADP
ap-8300	206	44	a	a	DET
ap-8300	206	45	satisfactory	satisfactory	ADJ
ap-8300	206	46	level	level	NOUN
ap-8300	206	47	.	.	PUNCT
ap-8300	207	1	528	528	NUM
ap-8300	207	2	vol	vol	NOUN
ap-8300	207	3	.	.	PUNCT
ap-8300	208	1	62	62	NUM
ap-8300	208	2	no	no	INTJ
ap-8300	208	3	.	.	PUNCT
ap-8300	209	1	5/2022	5/2022	NUM
ap-8300	209	2	extra	extra	ADJ
ap-8300	209	3	control	control	NOUN
ap-8300	209	4	coefficient	coefficient	NOUN
ap-8300	209	5	additive	additive	ADJ
ap-8300	209	6	ecca	ecca	NOUN
ap-8300	209	7	-	-	PUNCT
ap-8300	209	8	pid	pid	NOUN
ap-8300	209	9	for	for	ADP
ap-8300	209	10	control	control	NOUN
ap-8300	209	11	optimization	optimization	NOUN
ap-8300	209	12	.	.	PUNCT
ap-8300	209	13	.	.	PUNCT
ap-8300	209	14	.	.	PUNCT
ap-8300	210	1	(	(	PUNCT
ap-8300	210	2	a	a	X
ap-8300	210	3	)	)	PUNCT
ap-8300	210	4	.	.	PUNCT
ap-8300	211	1	(	(	PUNCT
ap-8300	211	2	b	b	NOUN
ap-8300	211	3	)	)	PUNCT
ap-8300	211	4	.	.	PUNCT
ap-8300	212	1	figure	figure	NOUN
ap-8300	212	2	13	13	NUM
ap-8300	212	3	.	.	PUNCT
ap-8300	212	4	with	with	ADP
ap-8300	212	5	ecca	ecca	NOUN
ap-8300	212	6	-	-	PUNCT
ap-8300	212	7	pid	pid	NOUN
ap-8300	212	8	:	:	PUNCT
ap-8300	212	9	a	a	X
ap-8300	212	10	)	)	PUNCT
ap-8300	212	11	the	the	DET
ap-8300	212	12	step	step	NOUN
ap-8300	212	13	response	response	NOUN
ap-8300	212	14	of	of	ADP
ap-8300	212	15	the	the	DET
ap-8300	212	16	system	system	NOUN
ap-8300	212	17	controlled	control	VERB
ap-8300	212	18	,	,	PUNCT
ap-8300	212	19	b	b	X
ap-8300	212	20	)	)	PUNCT
ap-8300	212	21	the	the	DET
ap-8300	212	22	controller	controller	NOUN
ap-8300	212	23	errors	error	NOUN
ap-8300	212	24	for	for	ADP
ap-8300	212	25	different	different	ADJ
ap-8300	212	26	rr	rr	NOUN
ap-8300	212	27	values	value	NOUN
ap-8300	212	28	.	.	PUNCT
ap-8300	213	1	(	(	PUNCT
ap-8300	213	2	a	a	NOUN
ap-8300	213	3	)	)	PUNCT
ap-8300	213	4	.	.	PUNCT
ap-8300	214	1	(	(	PUNCT
ap-8300	214	2	b	b	NOUN
ap-8300	214	3	)	)	PUNCT
ap-8300	214	4	.	.	PUNCT
ap-8300	215	1	figure	figure	NOUN
ap-8300	215	2	14	14	NUM
ap-8300	215	3	.	.	PUNCT
ap-8300	216	1	with	with	ADP
ap-8300	216	2	ecca	ecca	NOUN
ap-8300	216	3	-	-	PUNCT
ap-8300	216	4	p	p	NOUN
ap-8300	216	5	:	:	PUNCT
ap-8300	216	6	a	a	X
ap-8300	216	7	)	)	PUNCT
ap-8300	216	8	the	the	DET
ap-8300	216	9	step	step	NOUN
ap-8300	216	10	response	response	NOUN
ap-8300	216	11	of	of	ADP
ap-8300	216	12	the	the	DET
ap-8300	216	13	system	system	NOUN
ap-8300	216	14	controlled	control	VERB
ap-8300	216	15	,	,	PUNCT
ap-8300	216	16	b	b	X
ap-8300	216	17	)	)	PUNCT
ap-8300	216	18	the	the	DET
ap-8300	216	19	controller	controller	NOUN
ap-8300	216	20	errors	error	NOUN
ap-8300	216	21	for	for	ADP
ap-8300	216	22	different	different	ADJ
ap-8300	216	23	rr	rr	PROPN
ap-8300	216	24	values	value	NOUN
ap-8300	216	25	.	.	PUNCT
ap-8300	217	1	4	4	X
ap-8300	217	2	.	.	X
ap-8300	217	3	conclusions	conclusion	NOUN
ap-8300	217	4	in	in	ADP
ap-8300	217	5	this	this	DET
ap-8300	217	6	article	article	NOUN
ap-8300	217	7	,	,	PUNCT
ap-8300	217	8	a	a	DET
ap-8300	217	9	pid	pid	NOUN
ap-8300	217	10	control	control	NOUN
ap-8300	217	11	with	with	ADP
ap-8300	217	12	extra	extra	ADJ
ap-8300	217	13	gain	gain	NOUN
ap-8300	217	14	is	be	AUX
ap-8300	217	15	developed	develop	VERB
ap-8300	217	16	.	.	PUNCT
ap-8300	218	1	the	the	DET
ap-8300	218	2	structure	structure	NOUN
ap-8300	218	3	and	and	CCONJ
ap-8300	218	4	design	design	NOUN
ap-8300	218	5	of	of	ADP
ap-8300	218	6	the	the	DET
ap-8300	218	7	traditional	traditional	ADJ
ap-8300	218	8	pid	pid	NOUN
ap-8300	218	9	control	control	NOUN
ap-8300	218	10	system	system	NOUN
ap-8300	218	11	and	and	CCONJ
ap-8300	218	12	the	the	DET
ap-8300	218	13	ecca	ecca	NOUN
ap-8300	218	14	-	-	PUNCT
ap-8300	218	15	pid	pid	NOUN
ap-8300	218	16	control	control	NOUN
ap-8300	218	17	system	system	NOUN
ap-8300	218	18	are	be	AUX
ap-8300	218	19	presented	present	VERB
ap-8300	218	20	.	.	PUNCT
ap-8300	219	1	then	then	ADV
ap-8300	219	2	,	,	PUNCT
ap-8300	219	3	the	the	DET
ap-8300	219	4	step	step	NOUN
ap-8300	219	5	response	response	NOUN
ap-8300	219	6	of	of	ADP
ap-8300	219	7	a	a	DET
ap-8300	219	8	second	second	ADJ
ap-8300	219	9	-	-	PUNCT
ap-8300	219	10	order	order	NOUN
ap-8300	219	11	system	system	NOUN
ap-8300	219	12	with	with	ADP
ap-8300	219	13	the	the	DET
ap-8300	219	14	conventional	conventional	ADJ
ap-8300	219	15	method	method	NOUN
ap-8300	219	16	is	be	AUX
ap-8300	219	17	examined	examine	VERB
ap-8300	219	18	.	.	PUNCT
ap-8300	220	1	in	in	ADP
ap-8300	220	2	the	the	DET
ap-8300	220	3	control	control	NOUN
ap-8300	220	4	processes	process	NOUN
ap-8300	220	5	for	for	ADP
ap-8300	220	6	rr	rr	PROPN
ap-8300	220	7	of	of	ADP
ap-8300	220	8	0–5	0–5	PROPN
ap-8300	220	9	and	and	CCONJ
ap-8300	220	10	rr	rr	NOUN
ap-8300	220	11	of	of	ADP
ap-8300	220	12	0–1	0–1	PROPN
ap-8300	220	13	values	value	NOUN
ap-8300	220	14	,	,	PUNCT
ap-8300	220	15	the	the	DET
ap-8300	220	16	proposed	propose	VERB
ap-8300	220	17	system	system	NOUN
ap-8300	220	18	responds	respond	VERB
ap-8300	220	19	in	in	ADP
ap-8300	220	20	0.1	0.1	NUM
ap-8300	220	21	s	s	NOUN
ap-8300	220	22	for	for	ADP
ap-8300	220	23	the	the	DET
ap-8300	220	24	moment	moment	NOUN
ap-8300	220	25	of	of	ADP
ap-8300	220	26	rise	rise	NOUN
ap-8300	220	27	,	,	PUNCT
ap-8300	220	28	while	while	SCONJ
ap-8300	220	29	the	the	DET
ap-8300	220	30	traditional	traditional	ADJ
ap-8300	220	31	pid	pid	NOUN
ap-8300	220	32	method	method	NOUN
ap-8300	220	33	responds	respond	VERB
ap-8300	220	34	in	in	ADP
ap-8300	220	35	1.1	1.1	NUM
ap-8300	220	36	s.	s.	NOUN
ap-8300	220	37	again	again	ADV
ap-8300	220	38	,	,	PUNCT
ap-8300	220	39	while	while	SCONJ
ap-8300	220	40	ecca	ecca	NOUN
ap-8300	220	41	-	-	PUNCT
ap-8300	220	42	pid	pid	NOUN
ap-8300	220	43	provides	provide	VERB
ap-8300	220	44	settling	settle	VERB
ap-8300	220	45	time	time	NOUN
ap-8300	220	46	at	at	ADP
ap-8300	220	47	4	4	NUM
ap-8300	220	48	s	s	NOUN
ap-8300	220	49	and	and	CCONJ
ap-8300	220	50	5	5	NUM
ap-8300	220	51	s	s	NOUN
ap-8300	220	52	,	,	PUNCT
ap-8300	220	53	traditional	traditional	ADJ
ap-8300	220	54	pid	pid	NOUN
ap-8300	220	55	can	can	AUX
ap-8300	220	56	not	not	PART
ap-8300	220	57	provide	provide	VERB
ap-8300	220	58	settling	settle	VERB
ap-8300	220	59	at	at	ADP
ap-8300	220	60	10	10	NUM
ap-8300	220	61	s.	s.	PROPN
ap-8300	220	62	this	this	PRON
ap-8300	220	63	shows	show	VERB
ap-8300	220	64	the	the	DET
ap-8300	220	65	effectiveness	effectiveness	NOUN
ap-8300	220	66	of	of	ADP
ap-8300	220	67	the	the	DET
ap-8300	220	68	proposed	propose	VERB
ap-8300	220	69	system	system	NOUN
ap-8300	220	70	and	and	CCONJ
ap-8300	220	71	its	its	PRON
ap-8300	220	72	contribution	contribution	NOUN
ap-8300	220	73	to	to	ADP
ap-8300	220	74	the	the	DET
ap-8300	220	75	control	control	NOUN
ap-8300	220	76	systems	system	NOUN
ap-8300	220	77	.	.	PUNCT
ap-8300	221	1	therefore	therefore	ADV
ap-8300	221	2	,	,	PUNCT
ap-8300	221	3	it	it	PRON
ap-8300	221	4	seems	seem	VERB
ap-8300	221	5	to	to	PART
ap-8300	221	6	be	be	AUX
ap-8300	221	7	an	an	DET
ap-8300	221	8	ideal	ideal	ADJ
ap-8300	221	9	method	method	NOUN
ap-8300	221	10	for	for	ADP
ap-8300	221	11	energy	energy	NOUN
ap-8300	221	12	conversion	conversion	NOUN
ap-8300	221	13	systems	system	NOUN
ap-8300	221	14	and	and	CCONJ
ap-8300	221	15	motor	motor	NOUN
ap-8300	221	16	control	control	NOUN
ap-8300	221	17	units	unit	NOUN
ap-8300	221	18	.	.	PUNCT
ap-8300	222	1	references	reference	NOUN
ap-8300	222	2	[	[	X
ap-8300	222	3	1	1	NUM
ap-8300	222	4	]	]	PUNCT
ap-8300	222	5	h.	h.	PROPN
ap-8300	222	6	wang	wang	PROPN
ap-8300	222	7	,	,	PUNCT
ap-8300	222	8	l.	l.	PROPN
ap-8300	222	9	jinbo	jinbo	PROPN
ap-8300	222	10	.	.	PUNCT
ap-8300	223	1	research	research	NOUN
ap-8300	223	2	on	on	ADP
ap-8300	223	3	fractional	fractional	ADJ
ap-8300	223	4	order	order	NOUN
ap-8300	223	5	fuzzy	fuzzy	ADJ
ap-8300	223	6	pid	pid	NOUN
ap-8300	223	7	control	control	NOUN
ap-8300	223	8	of	of	ADP
ap-8300	223	9	the	the	DET
ap-8300	223	10	pneumatic	pneumatic	ADJ
ap-8300	223	11	-	-	PUNCT
ap-8300	223	12	hydraulic	hydraulic	NOUN
ap-8300	223	13	upper	upper	ADJ
ap-8300	223	14	limb	limb	NOUN
ap-8300	223	15	rehabilitation	rehabilitation	NOUN
ap-8300	223	16	training	training	NOUN
ap-8300	223	17	system	system	NOUN
ap-8300	223	18	based	base	VERB
ap-8300	223	19	on	on	ADP
ap-8300	223	20	pso	pso	NOUN
ap-8300	223	21	.	.	PUNCT
ap-8300	224	1	international	international	ADJ
ap-8300	224	2	journal	journal	PROPN
ap-8300	224	3	of	of	ADP
ap-8300	224	4	control	control	NOUN
ap-8300	224	5	,	,	PUNCT
ap-8300	224	6	automation	automation	NOUN
ap-8300	224	7	and	and	CCONJ
ap-8300	224	8	systems	system	NOUN
ap-8300	224	9	20(3):210–320	20(3):210–320	PROPN
ap-8300	224	10	,	,	PUNCT
ap-8300	224	11	2022	2022	NUM
ap-8300	224	12	.	.	PUNCT
ap-8300	225	1	https://doi.org/10.1007/s12555-020-0847-1	https://doi.org/10.1007/s12555-020-0847-1	NOUN
ap-8300	225	2	.	.	PUNCT
ap-8300	226	1	[	[	X
ap-8300	226	2	2	2	NUM
ap-8300	226	3	]	]	PUNCT
ap-8300	226	4	m.	m.	NOUN
ap-8300	226	5	n.	n.	PROPN
ap-8300	226	6	muftah	muftah	PROPN
ap-8300	226	7	,	,	PUNCT
ap-8300	226	8	a.	a.	NOUN
ap-8300	226	9	a.	a.	PROPN
ap-8300	226	10	m.	m.	PROPN
ap-8300	226	11	faudzi	faudzi	PROPN
ap-8300	226	12	,	,	PUNCT
ap-8300	226	13	s.	s.	PROPN
ap-8300	226	14	sahlan	sahlan	PROPN
ap-8300	226	15	,	,	PUNCT
ap-8300	226	16	m.	m.	NOUN
ap-8300	226	17	shouran	shouran	NOUN
ap-8300	226	18	.	.	PUNCT
ap-8300	227	1	modeling	modeling	NOUN
ap-8300	227	2	and	and	CCONJ
ap-8300	227	3	fuzzy	fuzzy	ADJ
ap-8300	227	4	fopid	fopid	NOUN
ap-8300	227	5	controller	controller	NOUN
ap-8300	227	6	tuned	tune	VERB
ap-8300	227	7	by	by	ADP
ap-8300	227	8	pso	pso	NOUN
ap-8300	227	9	for	for	ADP
ap-8300	227	10	pneumatic	pneumatic	ADJ
ap-8300	227	11	positioning	positioning	NOUN
ap-8300	227	12	system	system	NOUN
ap-8300	227	13	.	.	PUNCT
ap-8300	228	1	energies	energy	NOUN
ap-8300	228	2	15(10):3757	15(10):3757	NUM
ap-8300	228	3	,	,	PUNCT
ap-8300	228	4	2022	2022	NUM
ap-8300	228	5	.	.	PUNCT
ap-8300	229	1	https://doi.org/10.3390/en15103757	https://doi.org/10.3390/en15103757	PROPN
ap-8300	229	2	.	.	PUNCT
ap-8300	230	1	[	[	X
ap-8300	230	2	3	3	X
ap-8300	230	3	]	]	X
ap-8300	230	4	e.	e.	PROPN
ap-8300	230	5	can	can	AUX
ap-8300	230	6	,	,	PUNCT
ap-8300	230	7	h.	h.	PROPN
ap-8300	230	8	h.	h.	PROPN
ap-8300	230	9	sayan	sayan	PROPN
ap-8300	230	10	.	.	PUNCT
ap-8300	231	1	the	the	DET
ap-8300	231	2	performance	performance	NOUN
ap-8300	231	3	of	of	ADP
ap-8300	231	4	the	the	DET
ap-8300	231	5	dc	dc	PROPN
ap-8300	231	6	motor	motor	NOUN
ap-8300	231	7	by	by	ADP
ap-8300	231	8	the	the	DET
ap-8300	231	9	pid	pid	NOUN
ap-8300	231	10	controlling	control	VERB
ap-8300	231	11	pwm	pwm	NOUN
ap-8300	231	12	dc	dc	PROPN
ap-8300	231	13	-	-	PUNCT
ap-8300	231	14	dc	dc	PROPN
ap-8300	231	15	boost	boost	NOUN
ap-8300	231	16	converter	converter	NOUN
ap-8300	231	17	.	.	PUNCT
ap-8300	232	1	tehnički	tehnički	PROPN
ap-8300	232	2	glasnik	glasnik	PROPN
ap-8300	232	3	11(4):182–187	11(4):182–187	PROPN
ap-8300	232	4	,	,	PUNCT
ap-8300	232	5	2017	2017	NUM
ap-8300	232	6	.	.	PUNCT
ap-8300	233	1	[	[	X
ap-8300	233	2	4	4	X
ap-8300	233	3	]	]	X
ap-8300	233	4	e.	e.	PROPN
ap-8300	233	5	can	can	AUX
ap-8300	233	6	,	,	PUNCT
ap-8300	233	7	m.	m.	NOUN
ap-8300	233	8	s.	s.	PROPN
ap-8300	233	9	toksoy	toksoy	PROPN
ap-8300	233	10	.	.	PUNCT
ap-8300	234	1	a	a	DET
ap-8300	234	2	flexible	flexible	ADJ
ap-8300	234	3	closed	close	VERB
ap-8300	234	4	-	-	PUNCT
ap-8300	234	5	loop	loop	NOUN
ap-8300	234	6	(	(	PUNCT
ap-8300	234	7	fcl	fcl	PROPN
ap-8300	234	8	)	)	PUNCT
ap-8300	234	9	pid	pid	NOUN
ap-8300	234	10	and	and	CCONJ
ap-8300	234	11	dynamic	dynamic	ADJ
ap-8300	234	12	fuzzy	fuzzy	ADJ
ap-8300	234	13	logic	logic	NOUN
ap-8300	234	14	+	+	CCONJ
ap-8300	234	15	pid	pid	NOUN
ap-8300	234	16	controllers	controller	NOUN
ap-8300	234	17	for	for	ADP
ap-8300	234	18	optimization	optimization	NOUN
ap-8300	234	19	of	of	ADP
ap-8300	234	20	dc	dc	PROPN
ap-8300	234	21	motor	motor	PROPN
ap-8300	234	22	.	.	PUNCT
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ap-8300	235	2	of	of	ADP
ap-8300	235	3	engineering	engineering	NOUN
ap-8300	235	4	research	research	NOUN
ap-8300	235	5	2021	2021	NUM
ap-8300	235	6	.	.	PUNCT
ap-8300	236	1	online	online	ADV
ap-8300	236	2	first	first	ADV
ap-8300	236	3	,	,	PUNCT
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ap-8300	236	5	.	.	PUNCT
ap-8300	237	1	[	[	X
ap-8300	237	2	5	5	X
ap-8300	237	3	]	]	PUNCT
ap-8300	237	4	j.	j.	PROPN
ap-8300	237	5	crowe	crowe	PROPN
ap-8300	237	6	,	,	PUNCT
ap-8300	237	7	k.	k.	PROPN
ap-8300	237	8	k.	k.	PROPN
ap-8300	237	9	tan	tan	PROPN
ap-8300	237	10	,	,	PUNCT
ap-8300	237	11	t.	t.	PROPN
ap-8300	237	12	h.	h.	PROPN
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ap-8300	237	14	,	,	PUNCT
ap-8300	237	15	et	et	PROPN
ap-8300	237	16	al	al	PROPN
ap-8300	237	17	.	.	PUNCT
ap-8300	237	18	pid	pid	PROPN
ap-8300	237	19	control	control	NOUN
ap-8300	237	20	:	:	PUNCT
ap-8300	237	21	new	new	ADJ
ap-8300	237	22	identification	identification	NOUN
ap-8300	237	23	and	and	CCONJ
ap-8300	237	24	design	design	NOUN
ap-8300	237	25	methods	method	NOUN
ap-8300	237	26	.	.	PUNCT
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ap-8300	238	2	-	-	PUNCT
ap-8300	238	3	verlag	verlag	PROPN
ap-8300	238	4	london	london	PROPN
ap-8300	238	5	limited	limit	VERB
ap-8300	238	6	,	,	PUNCT
ap-8300	238	7	2005	2005	NUM
ap-8300	238	8	.	.	PUNCT
ap-8300	239	1	[	[	X
ap-8300	239	2	6	6	NUM
ap-8300	239	3	]	]	PUNCT
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ap-8300	239	5	knospe	knospe	PROPN
ap-8300	239	6	.	.	PUNCT
ap-8300	240	1	pid	pid	PROPN
ap-8300	240	2	control	control	NOUN
ap-8300	240	3	.	.	PUNCT
ap-8300	241	1	ieee	ieee	PROPN
ap-8300	241	2	control	control	PROPN
ap-8300	241	3	systems	systems	PROPN
ap-8300	241	4	magazine	magazine	NOUN
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ap-8300	241	6	,	,	PUNCT
ap-8300	241	7	2006	2006	NUM
ap-8300	241	8	.	.	PUNCT
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ap-8300	243	5	.	.	PUNCT
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ap-8300	244	2	,	,	PUNCT
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ap-8300	244	4	.	.	PUNCT
ap-8300	245	1	lin	lin	PROPN
ap-8300	245	2	.	.	PUNCT
ap-8300	246	1	pid	pid	PROPN
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ap-8300	246	3	design	design	NOUN
ap-8300	246	4	for	for	ADP
ap-8300	246	5	robust	robust	ADJ
ap-8300	246	6	performance	performance	NOUN
ap-8300	246	7	.	.	PUNCT
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ap-8300	247	2	transactions	transaction	NOUN
ap-8300	247	3	on	on	ADP
ap-8300	247	4	automatic	automatic	ADJ
ap-8300	247	5	control	control	NOUN
ap-8300	247	6	48(8):1404–1409	48(8):1404–1409	NUM
ap-8300	247	7	,	,	PUNCT
ap-8300	247	8	2003	2003	NUM
ap-8300	247	9	.	.	PUNCT
ap-8300	248	1	https://doi.org/10.1109/tac.2003.815028	https://doi.org/10.1109/tac.2003.815028	NOUN
ap-8300	248	2	.	.	PUNCT
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ap-8300	249	2	8	8	NUM
ap-8300	249	3	]	]	X
ap-8300	249	4	c.	c.	PROPN
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ap-8300	249	6	,	,	PUNCT
ap-8300	249	7	l.	l.	PROPN
ap-8300	249	8	guo	guo	PROPN
ap-8300	249	9	.	.	PUNCT
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ap-8300	250	2	a	a	DET
ap-8300	250	3	theoretical	theoretical	ADJ
ap-8300	250	4	foundation	foundation	NOUN
ap-8300	250	5	of	of	ADP
ap-8300	250	6	pid	pid	NOUN
ap-8300	250	7	control	control	NOUN
ap-8300	250	8	for	for	ADP
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ap-8300	250	10	nonlinear	nonlinear	ADJ
ap-8300	250	11	systems	system	NOUN
ap-8300	250	12	.	.	PUNCT
ap-8300	251	1	automatica	automatica	PROPN
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ap-8300	251	3	,	,	PUNCT
ap-8300	251	4	2022	2022	NUM
ap-8300	251	5	.	.	PUNCT
ap-8300	252	1	https://doi.org/10.1016/j.automatica.2022.110360	https://doi.org/10.1016/j.automatica.2022.110360	PROPN
ap-8300	252	2	.	.	PUNCT
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ap-8300	253	6	https://doi.org/10.1109/tac.2003.815028	https://doi.org/10.1109/tac.2003.815028	NOUN
ap-8300	253	7	https://doi.org/10.1016/j.automatica.2022.110360	https://doi.org/10.1016/j.automatica.2022.110360	PROPN
ap-8300	253	8	erol	erol	NOUN
ap-8300	253	9	can	can	AUX
ap-8300	253	10	acta	acta	VERB
ap-8300	253	11	polytechnica	polytechnica	NOUN
ap-8300	254	1	[	[	X
ap-8300	254	2	9	9	NUM
ap-8300	254	3	]	]	PUNCT
ap-8300	254	4	p.	p.	NOUN
ap-8300	254	5	patil	patil	PROPN
ap-8300	254	6	,	,	PUNCT
ap-8300	254	7	s.	s.	PROPN
ap-8300	254	8	s.	s.	PROPN
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ap-8300	254	10	,	,	PUNCT
ap-8300	254	11	c.	c.	PROPN
ap-8300	254	12	s.	s.	PROPN
ap-8300	254	13	rao	rao	PROPN
ap-8300	254	14	.	.	PROPN
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ap-8300	255	2	pid	pid	NOUN
ap-8300	255	3	controller	controller	NOUN
ap-8300	255	4	design	design	NOUN
ap-8300	255	5	for	for	ADP
ap-8300	255	6	an	an	DET
ap-8300	255	7	unstable	unstable	ADJ
ap-8300	255	8	second	second	ADJ
ap-8300	255	9	order	order	NOUN
ap-8300	255	10	plus	plus	CCONJ
ap-8300	255	11	time	time	NOUN
ap-8300	255	12	delay	delay	VERB
ap-8300	255	13	non	non	ADJ
ap-8300	255	14	-	-	ADJ
ap-8300	255	15	minimum	minimum	ADJ
ap-8300	255	16	phase	phase	NOUN
ap-8300	255	17	systems	system	NOUN
ap-8300	255	18	.	.	PUNCT
ap-8300	256	1	results	result	NOUN
ap-8300	256	2	in	in	ADP
ap-8300	256	3	control	control	NOUN
ap-8300	256	4	and	and	CCONJ
ap-8300	256	5	optimization	optimization	NOUN
ap-8300	256	6	7:100117	7:100117	NUM
ap-8300	256	7	,	,	PUNCT
ap-8300	256	8	2022	2022	NUM
ap-8300	256	9	.	.	PUNCT
ap-8300	257	1	https://doi.org/10.1016/j.rico.2022.100117	https://doi.org/10.1016/j.rico.2022.100117	PROPN
ap-8300	257	2	.	.	PUNCT
ap-8300	258	1	[	[	X
ap-8300	258	2	10	10	NUM
ap-8300	258	3	]	]	X
ap-8300	258	4	e.	e.	PROPN
ap-8300	258	5	s.	s.	PROPN
ap-8300	258	6	tognetti	tognetti	PROPN
ap-8300	258	7	,	,	PUNCT
ap-8300	258	8	g.	g.	PROPN
ap-8300	258	9	a.	a.	PROPN
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ap-8300	258	12	.	.	PUNCT
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ap-8300	259	2	state	state	NOUN
ap-8300	259	3	feedback	feedback	NOUN
ap-8300	259	4	-	-	PUNCT
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ap-8300	259	6	design	design	NOUN
ap-8300	259	7	of	of	ADP
ap-8300	259	8	pid	pid	NOUN
ap-8300	259	9	controllers	controller	NOUN
ap-8300	259	10	for	for	ADP
ap-8300	259	11	high	high	ADJ
ap-8300	259	12	-	-	PUNCT
ap-8300	259	13	order	order	NOUN
ap-8300	259	14	systems	system	NOUN
ap-8300	259	15	with	with	ADP
ap-8300	259	16	time	time	NOUN
ap-8300	259	17	-	-	PUNCT
ap-8300	259	18	delay	delay	NOUN
ap-8300	259	19	and	and	CCONJ
ap-8300	259	20	parametric	parametric	ADJ
ap-8300	259	21	uncertainties	uncertainty	NOUN
ap-8300	259	22	.	.	PUNCT
ap-8300	260	1	journal	journal	PROPN
ap-8300	260	2	of	of	ADP
ap-8300	260	3	control	control	NOUN
ap-8300	260	4	,	,	PUNCT
ap-8300	260	5	automation	automation	NOUN
ap-8300	260	6	and	and	CCONJ
ap-8300	260	7	electrical	electrical	ADJ
ap-8300	260	8	systems	system	NOUN
ap-8300	260	9	33(2):382–392	33(2):382–392	NUM
ap-8300	260	10	,	,	PUNCT
ap-8300	260	11	2022	2022	NUM
ap-8300	260	12	.	.	PUNCT
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ap-8300	261	2	.	.	PUNCT
ap-8300	262	1	[	[	X
ap-8300	262	2	11	11	NUM
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ap-8300	262	4	c.	c.	PROPN
ap-8300	262	5	cruz	cruz	PROPN
ap-8300	262	6	-	-	PUNCT
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ap-8300	262	8	,	,	PUNCT
ap-8300	262	9	b.	b.	PROPN
ap-8300	262	10	del	del	PROPN
ap-8300	262	11	muro	muro	PROPN
ap-8300	262	12	-	-	PUNCT
ap-8300	262	13	cuéllar	cuéllar	NOUN
ap-8300	262	14	,	,	PUNCT
ap-8300	262	15	g.	g.	PROPN
ap-8300	262	16	duchénsánchez	duchénsánchez	PROPN
ap-8300	262	17	,	,	PUNCT
ap-8300	262	18	et	et	PROPN
ap-8300	262	19	al	al	PROPN
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ap-8300	262	22	-	-	PUNCT
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ap-8300	262	24	pid	pid	NOUN
ap-8300	262	25	control	control	NOUN
ap-8300	262	26	strategy	strategy	NOUN
ap-8300	262	27	for	for	ADP
ap-8300	262	28	the	the	DET
ap-8300	262	29	stabilization	stabilization	NOUN
ap-8300	262	30	of	of	ADP
ap-8300	262	31	delayed	delay	VERB
ap-8300	262	32	high	high	ADJ
ap-8300	262	33	order	order	NOUN
ap-8300	262	34	systems	system	NOUN
ap-8300	262	35	with	with	ADP
ap-8300	262	36	up	up	ADP
ap-8300	262	37	to	to	PART
ap-8300	262	38	three	three	NUM
ap-8300	262	39	unstable	unstable	ADJ
ap-8300	262	40	poles	pole	NOUN
ap-8300	262	41	.	.	PUNCT
ap-8300	263	1	mathematics	mathematic	NOUN
ap-8300	263	2	10(9):1399	10(9):1399	NUM
ap-8300	263	3	,	,	PUNCT
ap-8300	263	4	2022	2022	NUM
ap-8300	263	5	.	.	PUNCT
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ap-8300	264	2	.	.	PUNCT
ap-8300	265	1	[	[	X
ap-8300	265	2	12	12	NUM
ap-8300	265	3	]	]	PUNCT
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ap-8300	265	5	g.	g.	PROPN
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ap-8300	265	7	,	,	PUNCT
ap-8300	265	8	n.	n.	PROPN
ap-8300	265	9	b.	b.	PROPN
ap-8300	265	10	nichols	nichols	PROPN
ap-8300	265	11	.	.	PUNCT
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ap-8300	266	2	settings	setting	NOUN
ap-8300	266	3	for	for	ADP
ap-8300	266	4	automatic	automatic	ADJ
ap-8300	266	5	controllers	controller	NOUN
ap-8300	266	6	.	.	PUNCT
ap-8300	267	1	journal	journal	NOUN
ap-8300	267	2	of	of	ADP
ap-8300	267	3	dynamic	dynamic	ADJ
ap-8300	267	4	systems	system	NOUN
ap-8300	267	5	,	,	PUNCT
ap-8300	267	6	measurement	measurement	NOUN
ap-8300	267	7	,	,	PUNCT
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ap-8300	267	9	control	control	NOUN
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ap-8300	267	11	,	,	PUNCT
ap-8300	267	12	1993	1993	NUM
ap-8300	267	13	.	.	PUNCT
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ap-8300	268	2	.	.	PUNCT
ap-8300	269	1	[	[	X
ap-8300	269	2	13	13	NUM
ap-8300	269	3	]	]	PUNCT
ap-8300	269	4	s.	s.	PROPN
ap-8300	269	5	skogestad	skogestad	PROPN
ap-8300	269	6	.	.	PUNCT
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ap-8300	270	2	analytic	analytic	ADJ
ap-8300	270	3	rules	rule	NOUN
ap-8300	270	4	for	for	ADP
ap-8300	270	5	model	model	NOUN
ap-8300	270	6	reduction	reduction	NOUN
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ap-8300	270	9	controller	controller	NOUN
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ap-8300	270	11	.	.	PUNCT
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ap-8300	271	8	.	.	PUNCT
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ap-8300	273	12	1	1	NUM
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ap-8300	273	14	2	2	NUM
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ap-8300	273	18	controller	controller	NOUN
ap-8300	273	19	3	3	NUM
ap-8300	273	20	(	(	PUNCT
ap-8300	273	21	ecca)-pid	ecca)-pid	ADJ
ap-8300	273	22	control	control	NOUN
ap-8300	273	23	application	application	NOUN
ap-8300	273	24	4	4	NUM
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ap-8300	273	26	references	reference	NOUN