id	sid	tid	token	lemma	pos
ap-8631	1	1	acta	acta	PROPN
ap-8631	1	2	polytechnica	polytechnica	PROPN
ap-8631	1	3	https://doi.org/10.14311/ap.2023.63.0158	https://doi.org/10.14311/ap.2023.63.0158	PROPN
ap-8631	1	4	acta	acta	PROPN
ap-8631	1	5	polytechnica	polytechnica	PROPN
ap-8631	1	6	63(3):158–170	63(3):158–170	PROPN
ap-8631	1	7	,	,	PUNCT
ap-8631	1	8	2023	2023	NUM
ap-8631	1	9	©	©	ADP
ap-8631	1	10	2023	2023	NUM
ap-8631	1	11	the	the	DET
ap-8631	1	12	author(s	author(s	NOUN
ap-8631	1	13	)	)	PUNCT
ap-8631	1	14	.	.	PUNCT
ap-8631	2	1	licensed	license	VERB
ap-8631	2	2	under	under	ADP
ap-8631	2	3	a	a	DET
ap-8631	2	4	cc	cc	NOUN
ap-8631	2	5	-	-	PUNCT
ap-8631	2	6	by	by	ADP
ap-8631	2	7	4.0	4.0	NUM
ap-8631	2	8	licence	licence	NOUN
ap-8631	2	9	published	publish	VERB
ap-8631	2	10	by	by	ADP
ap-8631	2	11	the	the	DET
ap-8631	2	12	czech	czech	PROPN
ap-8631	2	13	technical	technical	PROPN
ap-8631	2	14	university	university	PROPN
ap-8631	2	15	in	in	ADP
ap-8631	2	16	prague	prague	PROPN
ap-8631	2	17	fractional	fractional	ADJ
ap-8631	2	18	multi	multi	ADJ
ap-8631	2	19	-	-	ADJ
ap-8631	2	20	loop	loop	ADJ
ap-8631	2	21	active	active	ADJ
ap-8631	2	22	disturbance	disturbance	NOUN
ap-8631	2	23	rejection	rejection	NOUN
ap-8631	2	24	control	control	NOUN
ap-8631	2	25	for	for	ADP
ap-8631	2	26	a	a	DET
ap-8631	2	27	lower	low	ADJ
ap-8631	2	28	knee	knee	NOUN
ap-8631	2	29	exoskeleton	exoskeleton	NOUN
ap-8631	2	30	system	system	NOUN
ap-8631	2	31	nasir	nasir	PROPN
ap-8631	2	32	ahmed	ahmed	PROPN
ap-8631	2	33	al	al	PROPN
ap-8631	2	34	-	-	PROPN
ap-8631	2	35	awada,∗	awada,∗	PROPN
ap-8631	2	36	,	,	PUNCT
ap-8631	2	37	amjad	amjad	PROPN
ap-8631	2	38	jaleel	jaleel	PROPN
ap-8631	2	39	humaidib	humaidib	PROPN
ap-8631	2	40	,	,	PUNCT
ap-8631	2	41	ahmed	ahmed	PROPN
ap-8631	2	42	sabah	sabah	PROPN
ap-8631	2	43	al	al	PROPN
ap-8631	2	44	-	-	PUNCT
ap-8631	2	45	arajic	arajic	PROPN
ap-8631	2	46	a	a	DET
ap-8631	2	47	university	university	NOUN
ap-8631	2	48	of	of	ADP
ap-8631	2	49	mustansiriyah	mustansiriyah	NOUN
ap-8631	2	50	,	,	PUNCT
ap-8631	2	51	department	department	NOUN
ap-8631	2	52	of	of	ADP
ap-8631	2	53	computer	computer	NOUN
ap-8631	2	54	engineering	engineering	NOUN
ap-8631	2	55	,	,	PUNCT
ap-8631	2	56	10001	10001	NUM
ap-8631	2	57	baghdad	baghdad	PROPN
ap-8631	2	58	,	,	PUNCT
ap-8631	2	59	iraq	iraq	PROPN
ap-8631	2	60	b	b	PROPN
ap-8631	2	61	university	university	PROPN
ap-8631	2	62	of	of	ADP
ap-8631	2	63	technology	technology	NOUN
ap-8631	2	64	,	,	PUNCT
ap-8631	2	65	control	control	NOUN
ap-8631	2	66	and	and	CCONJ
ap-8631	2	67	systems	systems	PROPN
ap-8631	2	68	engineering	engineering	PROPN
ap-8631	2	69	department	department	NOUN
ap-8631	2	70	,	,	PUNCT
ap-8631	2	71	10066	10066	NUM
ap-8631	2	72	baghdad	baghdad	PROPN
ap-8631	2	73	,	,	PUNCT
ap-8631	2	74	iraq	iraq	PROPN
ap-8631	2	75	c	c	PROPN
ap-8631	2	76	university	university	PROPN
ap-8631	2	77	of	of	ADP
ap-8631	2	78	technology	technology	NOUN
ap-8631	2	79	,	,	PUNCT
ap-8631	2	80	department	department	NOUN
ap-8631	2	81	of	of	ADP
ap-8631	2	82	computer	computer	NOUN
ap-8631	2	83	engineering	engineering	NOUN
ap-8631	2	84	,	,	PUNCT
ap-8631	2	85	10066	10066	NUM
ap-8631	2	86	baghdad	baghdad	PROPN
ap-8631	2	87	,	,	PUNCT
ap-8631	2	88	iraq	iraq	PROPN
ap-8631	2	89	∗	∗	VERB
ap-8631	2	90	corresponding	correspond	VERB
ap-8631	2	91	author	author	NOUN
ap-8631	2	92	:	:	PUNCT
ap-8631	2	93	cse.20.33@grad.uotechnology.edu.iq	cse.20.33@grad.uotechnology.edu.iq	ADJ
ap-8631	2	94	abstract	abstract	ADJ
ap-8631	2	95	.	.	PUNCT
ap-8631	3	1	rehabilitation	rehabilitation	NOUN
ap-8631	3	2	exoskeleton	exoskeleton	PROPN
ap-8631	3	3	is	be	AUX
ap-8631	3	4	becoming	become	VERB
ap-8631	3	5	more	more	ADV
ap-8631	3	6	and	and	CCONJ
ap-8631	3	7	more	more	ADV
ap-8631	3	8	important	important	ADJ
ap-8631	3	9	in	in	ADP
ap-8631	3	10	physiotherapists	physiotherapist	NOUN
ap-8631	3	11	’	’	PART
ap-8631	3	12	routine	routine	ADJ
ap-8631	3	13	work	work	NOUN
ap-8631	3	14	.	.	PUNCT
ap-8631	4	1	to	to	PART
ap-8631	4	2	improve	improve	VERB
ap-8631	4	3	the	the	DET
ap-8631	4	4	treatment	treatment	NOUN
ap-8631	4	5	performance	performance	NOUN
ap-8631	4	6	,	,	PUNCT
ap-8631	4	7	such	such	ADJ
ap-8631	4	8	as	as	ADP
ap-8631	4	9	reducing	reduce	VERB
ap-8631	4	10	the	the	DET
ap-8631	4	11	recovery	recovery	NOUN
ap-8631	4	12	period	period	NOUN
ap-8631	4	13	and/or	and/or	CCONJ
ap-8631	4	14	monitoring	monitor	VERB
ap-8631	4	15	and	and	CCONJ
ap-8631	4	16	reacting	react	VERB
ap-8631	4	17	to	to	ADP
ap-8631	4	18	unpredictable	unpredictable	ADJ
ap-8631	4	19	situations	situation	NOUN
ap-8631	4	20	,	,	PUNCT
ap-8631	4	21	the	the	DET
ap-8631	4	22	rehabilitation	rehabilitation	NOUN
ap-8631	4	23	manipulators	manipulator	NOUN
ap-8631	4	24	need	need	VERB
ap-8631	4	25	to	to	PART
ap-8631	4	26	help	help	VERB
ap-8631	4	27	the	the	DET
ap-8631	4	28	patients	patient	NOUN
ap-8631	4	29	in	in	ADP
ap-8631	4	30	various	various	ADJ
ap-8631	4	31	physical	physical	ADJ
ap-8631	4	32	trainings	training	NOUN
ap-8631	4	33	.	.	PUNCT
ap-8631	5	1	a	a	DET
ap-8631	5	2	special	special	ADJ
ap-8631	5	3	case	case	NOUN
ap-8631	5	4	of	of	ADP
ap-8631	5	5	the	the	DET
ap-8631	5	6	active	active	ADJ
ap-8631	5	7	disturbance	disturbance	NOUN
ap-8631	5	8	rejection	rejection	NOUN
ap-8631	5	9	control	control	NOUN
ap-8631	5	10	(	(	PUNCT
ap-8631	5	11	adrc	adrc	NOUN
ap-8631	5	12	)	)	PUNCT
ap-8631	5	13	is	be	AUX
ap-8631	5	14	applied	apply	VERB
ap-8631	5	15	to	to	PART
ap-8631	5	16	govern	govern	VERB
ap-8631	5	17	a	a	DET
ap-8631	5	18	proper	proper	ADJ
ap-8631	5	19	realisation	realisation	NOUN
ap-8631	5	20	of	of	ADP
ap-8631	5	21	basic	basic	ADJ
ap-8631	5	22	limb	limb	NOUN
ap-8631	5	23	rehabilitation	rehabilitation	NOUN
ap-8631	5	24	trainings	training	NOUN
ap-8631	5	25	.	.	PUNCT
ap-8631	6	1	the	the	DET
ap-8631	6	2	experimental	experimental	ADJ
ap-8631	6	3	study	study	NOUN
ap-8631	6	4	is	be	AUX
ap-8631	6	5	performed	perform	VERB
ap-8631	6	6	on	on	ADP
ap-8631	6	7	a	a	DET
ap-8631	6	8	model	model	NOUN
ap-8631	6	9	of	of	ADP
ap-8631	6	10	a	a	DET
ap-8631	6	11	flexible	flexible	ADJ
ap-8631	6	12	joint	joint	ADJ
ap-8631	6	13	manipulator	manipulator	NOUN
ap-8631	6	14	,	,	PUNCT
ap-8631	6	15	whose	whose	DET
ap-8631	6	16	behaviour	behaviour	NOUN
ap-8631	6	17	resembles	resemble	VERB
ap-8631	6	18	a	a	DET
ap-8631	6	19	real	real	ADJ
ap-8631	6	20	exoskeleton	exoskeleton	ADJ
ap-8631	6	21	rehabilitation	rehabilitation	NOUN
ap-8631	6	22	device	device	NOUN
ap-8631	6	23	(	(	PUNCT
ap-8631	6	24	a	a	DET
ap-8631	6	25	one	one	NUM
ap-8631	6	26	-	-	PUNCT
ap-8631	6	27	degree	degree	NOUN
ap-8631	6	28	-	-	PUNCT
ap-8631	6	29	of	of	ADP
ap-8631	6	30	-	-	PUNCT
ap-8631	6	31	freedom	freedom	NOUN
ap-8631	6	32	,	,	PUNCT
ap-8631	6	33	rigid	rigid	ADJ
ap-8631	6	34	-	-	PUNCT
ap-8631	6	35	link	link	NOUN
ap-8631	6	36	,	,	PUNCT
ap-8631	6	37	flexible	flexible	ADJ
ap-8631	6	38	-	-	PUNCT
ap-8631	6	39	joint	joint	ADJ
ap-8631	6	40	manipulator	manipulator	NOUN
ap-8631	6	41	)	)	PUNCT
ap-8631	6	42	.	.	PUNCT
ap-8631	7	1	the	the	DET
ap-8631	7	2	fractional	fractional	ADJ
ap-8631	7	3	(	(	PUNCT
ap-8631	7	4	fadrc	fadrc	NOUN
ap-8631	7	5	)	)	PUNCT
ap-8631	7	6	is	be	AUX
ap-8631	7	7	an	an	DET
ap-8631	7	8	unconventional	unconventional	ADJ
ap-8631	7	9	model	model	ADJ
ap-8631	7	10	-	-	PUNCT
ap-8631	7	11	independent	independent	ADJ
ap-8631	7	12	approach	approach	NOUN
ap-8631	7	13	,	,	PUNCT
ap-8631	7	14	acknowledged	acknowledge	VERB
ap-8631	7	15	as	as	ADP
ap-8631	7	16	an	an	DET
ap-8631	7	17	effective	effective	ADJ
ap-8631	7	18	controller	controller	NOUN
ap-8631	7	19	in	in	ADP
ap-8631	7	20	the	the	DET
ap-8631	7	21	existence	existence	NOUN
ap-8631	7	22	of	of	ADP
ap-8631	7	23	total	total	ADJ
ap-8631	7	24	plant	plant	NOUN
ap-8631	7	25	uncertainties	uncertainty	NOUN
ap-8631	7	26	,	,	PUNCT
ap-8631	7	27	and	and	CCONJ
ap-8631	7	28	these	these	DET
ap-8631	7	29	uncertainties	uncertainty	NOUN
ap-8631	7	30	are	be	AUX
ap-8631	7	31	inclusive	inclusive	ADJ
ap-8631	7	32	of	of	ADP
ap-8631	7	33	the	the	DET
ap-8631	7	34	total	total	ADJ
ap-8631	7	35	disturbances	disturbance	NOUN
ap-8631	7	36	and	and	CCONJ
ap-8631	7	37	unknown	unknown	ADJ
ap-8631	7	38	dynamics	dynamic	NOUN
ap-8631	7	39	of	of	ADP
ap-8631	7	40	the	the	DET
ap-8631	7	41	plant	plant	NOUN
ap-8631	7	42	.	.	PUNCT
ap-8631	8	1	in	in	ADP
ap-8631	8	2	this	this	DET
ap-8631	8	3	work	work	NOUN
ap-8631	8	4	,	,	PUNCT
ap-8631	8	5	three	three	NUM
ap-8631	8	6	fadrc	fadrc	NOUN
ap-8631	8	7	schemes	scheme	NOUN
ap-8631	8	8	are	be	AUX
ap-8631	8	9	used	use	VERB
ap-8631	8	10	,	,	PUNCT
ap-8631	8	11	the	the	DET
ap-8631	8	12	first	first	ADJ
ap-8631	8	13	one	one	NOUN
ap-8631	8	14	using	use	VERB
ap-8631	8	15	a	a	DET
ap-8631	8	16	fractional	fractional	ADJ
ap-8631	8	17	state	state	NOUN
ap-8631	8	18	observer	observer	NOUN
ap-8631	8	19	(	(	PUNCT
ap-8631	8	20	fso	fso	PROPN
ap-8631	8	21	)	)	PUNCT
ap-8631	8	22	,	,	PUNCT
ap-8631	8	23	or	or	CCONJ
ap-8631	8	24	fadrc1	fadrc1	NOUN
ap-8631	8	25	,	,	PUNCT
ap-8631	8	26	second	second	ADJ
ap-8631	8	27	one	one	NOUN
ap-8631	8	28	using	use	VERB
ap-8631	8	29	a	a	DET
ap-8631	8	30	fractional	fractional	ADJ
ap-8631	8	31	proportional	proportional	ADJ
ap-8631	8	32	-	-	PUNCT
ap-8631	8	33	derivative	derivative	ADJ
ap-8631	8	34	controller	controller	NOUN
ap-8631	8	35	(	(	PUNCT
ap-8631	8	36	fpd	fpd	NOUN
ap-8631	8	37	)	)	PUNCT
ap-8631	8	38	,	,	PUNCT
ap-8631	8	39	or	or	CCONJ
ap-8631	8	40	fadrc2	fadrc2	NOUN
ap-8631	8	41	,	,	PUNCT
ap-8631	8	42	and	and	CCONJ
ap-8631	8	43	the	the	DET
ap-8631	8	44	third	third	ADJ
ap-8631	8	45	one	one	NOUN
ap-8631	8	46	a	a	DET
ap-8631	8	47	multi	multi	ADJ
ap-8631	8	48	-	-	ADJ
ap-8631	8	49	loop	loop	ADJ
ap-8631	8	50	fractional	fractional	NOUN
ap-8631	8	51	in	in	ADP
ap-8631	8	52	pd	pd	ADJ
ap-8631	8	53	-	-	PUNCT
ap-8631	8	54	loop	loop	NOUN
ap-8631	8	55	controller	controller	NOUN
ap-8631	8	56	and	and	CCONJ
ap-8631	8	57	the	the	DET
ap-8631	8	58	observer	observer	NOUN
ap-8631	8	59	-	-	PUNCT
ap-8631	8	60	loop	loop	NOUN
ap-8631	8	61	(	(	PUNCT
ap-8631	8	62	feedforward	feedforward	NOUN
ap-8631	8	63	and	and	CCONJ
ap-8631	8	64	feedback	feedback	NOUN
ap-8631	8	65	)	)	PUNCT
ap-8631	8	66	,	,	PUNCT
ap-8631	8	67	or	or	CCONJ
ap-8631	8	68	fadrc3	fadrc3	NOUN
ap-8631	8	69	.	.	PUNCT
ap-8631	9	1	the	the	DET
ap-8631	9	2	simulated	simulate	VERB
ap-8631	9	3	exoskeleton	exoskeleton	NOUN
ap-8631	9	4	system	system	NOUN
ap-8631	9	5	is	be	AUX
ap-8631	9	6	subjected	subject	VERB
ap-8631	9	7	to	to	ADP
ap-8631	9	8	a	a	DET
ap-8631	9	9	noise	noise	NOUN
ap-8631	9	10	disturbance	disturbance	NOUN
ap-8631	9	11	and	and	CCONJ
ap-8631	9	12	the	the	DET
ap-8631	9	13	fadrc3	fadrc3	NOUN
ap-8631	9	14	shows	show	VERB
ap-8631	9	15	the	the	DET
ap-8631	9	16	effectiveness	effectiveness	NOUN
ap-8631	9	17	to	to	PART
ap-8631	9	18	compensate	compensate	VERB
ap-8631	9	19	all	all	DET
ap-8631	9	20	these	these	DET
ap-8631	9	21	effects	effect	NOUN
ap-8631	9	22	and	and	CCONJ
ap-8631	9	23	satisfies	satisfy	VERB
ap-8631	9	24	the	the	DET
ap-8631	9	25	desired	desire	VERB
ap-8631	9	26	position	position	NOUN
ap-8631	9	27	when	when	SCONJ
ap-8631	9	28	compared	compare	VERB
ap-8631	9	29	with	with	ADP
ap-8631	9	30	fadrc1	fadrc1	NOUN
ap-8631	9	31	and	and	CCONJ
ap-8631	9	32	fadrc2	fadrc2	NOUN
ap-8631	9	33	.	.	PUNCT
ap-8631	10	1	the	the	DET
ap-8631	10	2	design	design	NOUN
ap-8631	10	3	and	and	CCONJ
ap-8631	10	4	simulation	simulation	NOUN
ap-8631	10	5	were	be	AUX
ap-8631	10	6	carried	carry	VERB
ap-8631	10	7	out	out	ADP
ap-8631	10	8	in	in	ADP
ap-8631	10	9	matlab	matlab	PROPN
ap-8631	10	10	/	/	SYM
ap-8631	10	11	simulink	simulink	PROPN
ap-8631	10	12	.	.	PUNCT
ap-8631	11	1	keywords	keyword	NOUN
ap-8631	11	2	:	:	PUNCT
ap-8631	11	3	adrc	adrc	ADJ
ap-8631	11	4	,	,	PUNCT
ap-8631	11	5	fractional	fractional	ADJ
ap-8631	11	6	calculus	calculus	NOUN
ap-8631	11	7	,	,	PUNCT
ap-8631	11	8	exoskeleton	exoskeleton	NOUN
ap-8631	11	9	system	system	NOUN
ap-8631	11	10	,	,	PUNCT
ap-8631	11	11	exogenous	exogenous	ADJ
ap-8631	11	12	disturbance	disturbance	NOUN
ap-8631	11	13	,	,	PUNCT
ap-8631	11	14	extended	extend	VERB
ap-8631	11	15	state	state	NOUN
ap-8631	11	16	observer	observer	NOUN
ap-8631	11	17	.	.	PUNCT
ap-8631	12	1	1	1	X
ap-8631	12	2	.	.	X
ap-8631	12	3	introduction	introduction	NOUN
ap-8631	12	4	an	an	DET
ap-8631	12	5	exoskeleton	exoskeleton	NOUN
ap-8631	12	6	is	be	AUX
ap-8631	12	7	an	an	DET
ap-8631	12	8	electromechanical	electromechanical	ADJ
ap-8631	12	9	framework	framework	NOUN
ap-8631	12	10	that	that	PRON
ap-8631	12	11	reflects	reflect	VERB
ap-8631	12	12	the	the	DET
ap-8631	12	13	form	form	NOUN
ap-8631	12	14	and	and	CCONJ
ap-8631	12	15	function	function	NOUN
ap-8631	12	16	of	of	ADP
ap-8631	12	17	the	the	DET
ap-8631	12	18	body	body	NOUN
ap-8631	12	19	of	of	ADP
ap-8631	12	20	an	an	DET
ap-8631	12	21	operator	operator	NOUN
ap-8631	12	22	wearing	wear	VERB
ap-8631	12	23	it	it	PRON
ap-8631	12	24	.	.	PUNCT
ap-8631	13	1	in	in	ADP
ap-8631	13	2	rehabilitation	rehabilitation	NOUN
ap-8631	13	3	,	,	PUNCT
ap-8631	13	4	robotics	robotic	NOUN
ap-8631	13	5	is	be	AUX
ap-8631	13	6	a	a	DET
ap-8631	13	7	new	new	ADJ
ap-8631	13	8	topic	topic	NOUN
ap-8631	13	9	that	that	PRON
ap-8631	13	10	is	be	AUX
ap-8631	13	11	believed	believe	VERB
ap-8631	13	12	to	to	PART
ap-8631	13	13	be	be	AUX
ap-8631	13	14	a	a	DET
ap-8631	13	15	promising	promising	ADJ
ap-8631	13	16	way	way	NOUN
ap-8631	13	17	to	to	PART
ap-8631	13	18	automate	automate	VERB
ap-8631	13	19	training	training	NOUN
ap-8631	13	20	.	.	PUNCT
ap-8631	14	1	robotic	robotic	ADJ
ap-8631	14	2	rehabilitation	rehabilitation	NOUN
ap-8631	14	3	can	can	AUX
ap-8631	14	4	take	take	VERB
ap-8631	14	5	the	the	DET
ap-8631	14	6	place	place	NOUN
ap-8631	14	7	of	of	ADP
ap-8631	14	8	a	a	DET
ap-8631	14	9	therapist	therapist	NOUN
ap-8631	14	10	’s	’s	PART
ap-8631	14	11	physical	physical	ADJ
ap-8631	14	12	training	training	NOUN
ap-8631	14	13	activities	activity	NOUN
ap-8631	14	14	,	,	PUNCT
ap-8631	14	15	allowing	allow	VERB
ap-8631	14	16	for	for	ADP
ap-8631	14	17	more	more	ADV
ap-8631	14	18	rigorous	rigorous	ADJ
ap-8631	14	19	repeated	repeat	VERB
ap-8631	14	20	motions	motion	NOUN
ap-8631	14	21	and	and	CCONJ
ap-8631	14	22	lower	low	ADJ
ap-8631	14	23	therapy	therapy	NOUN
ap-8631	14	24	costs	cost	NOUN
ap-8631	14	25	[	[	X
ap-8631	14	26	1	1	NUM
ap-8631	14	27	]	]	PUNCT
ap-8631	14	28	.	.	PUNCT
ap-8631	15	1	fixed	fix	VERB
ap-8631	15	2	trajectory	trajectory	NOUN
ap-8631	15	3	controllers	controller	NOUN
ap-8631	15	4	move	move	VERB
ap-8631	15	5	the	the	DET
ap-8631	15	6	user	user	NOUN
ap-8631	15	7	’s	’s	PART
ap-8631	15	8	limb	limb	NOUN
ap-8631	15	9	along	along	ADP
ap-8631	15	10	a	a	DET
ap-8631	15	11	predefined	predefine	VERB
ap-8631	15	12	movement	movement	NOUN
ap-8631	15	13	path	path	NOUN
ap-8631	15	14	.	.	PUNCT
ap-8631	16	1	they	they	PRON
ap-8631	16	2	provide	provide	VERB
ap-8631	16	3	the	the	DET
ap-8631	16	4	smallest	small	ADJ
ap-8631	16	5	amount	amount	NOUN
ap-8631	16	6	of	of	ADP
ap-8631	16	7	freedom	freedom	NOUN
ap-8631	16	8	because	because	SCONJ
ap-8631	16	9	user	user	NOUN
ap-8631	16	10	engagement	engagement	NOUN
ap-8631	16	11	is	be	AUX
ap-8631	16	12	not	not	PART
ap-8631	16	13	taken	take	VERB
ap-8631	16	14	into	into	ADP
ap-8631	16	15	account	account	NOUN
ap-8631	16	16	[	[	X
ap-8631	16	17	2	2	NUM
ap-8631	16	18	]	]	PUNCT
ap-8631	16	19	.	.	PUNCT
ap-8631	17	1	there	there	PRON
ap-8631	17	2	has	have	AUX
ap-8631	17	3	been	be	AUX
ap-8631	17	4	a	a	DET
ap-8631	17	5	substantial	substantial	ADJ
ap-8631	17	6	amount	amount	NOUN
ap-8631	17	7	of	of	ADP
ap-8631	17	8	research	research	NOUN
ap-8631	17	9	in	in	ADP
ap-8631	17	10	several	several	ADJ
ap-8631	17	11	sectors	sector	NOUN
ap-8631	17	12	required	require	VERB
ap-8631	17	13	for	for	ADP
ap-8631	17	14	developing	develop	VERB
ap-8631	17	15	and	and	CCONJ
ap-8631	17	16	increasing	increase	VERB
ap-8631	17	17	the	the	DET
ap-8631	17	18	performance	performance	NOUN
ap-8631	17	19	of	of	ADP
ap-8631	17	20	these	these	DET
ap-8631	17	21	devices	device	NOUN
ap-8631	17	22	,	,	PUNCT
ap-8631	17	23	and	and	CCONJ
ap-8631	17	24	there	there	PRON
ap-8631	17	25	are	be	VERB
ap-8631	17	26	numerous	numerous	ADJ
ap-8631	17	27	obstacles	obstacle	NOUN
ap-8631	17	28	in	in	ADP
ap-8631	17	29	this	this	DET
ap-8631	17	30	area	area	NOUN
ap-8631	17	31	,	,	PUNCT
ap-8631	17	32	one	one	NUM
ap-8631	17	33	of	of	ADP
ap-8631	17	34	the	the	DET
ap-8631	17	35	most	most	ADV
ap-8631	17	36	important	important	ADJ
ap-8631	17	37	of	of	ADP
ap-8631	17	38	them	they	PRON
ap-8631	17	39	being	be	AUX
ap-8631	17	40	the	the	DET
ap-8631	17	41	system	system	NOUN
ap-8631	17	42	control	control	NOUN
ap-8631	17	43	.	.	PUNCT
ap-8631	18	1	the	the	DET
ap-8631	18	2	exoskeleton	exoskeleton	PROPN
ap-8631	18	3	control	control	NOUN
ap-8631	18	4	scheme	scheme	NOUN
ap-8631	18	5	can	can	AUX
ap-8631	18	6	be	be	AUX
ap-8631	18	7	divided	divide	VERB
ap-8631	18	8	into	into	ADP
ap-8631	18	9	position	position	NOUN
ap-8631	18	10	,	,	PUNCT
ap-8631	18	11	torque	torque	NOUN
ap-8631	18	12	/	/	SYM
ap-8631	18	13	force	force	NOUN
ap-8631	18	14	,	,	PUNCT
ap-8631	18	15	and	and	CCONJ
ap-8631	18	16	force	force	NOUN
ap-8631	18	17	interaction	interaction	NOUN
ap-8631	18	18	controllers	controller	NOUN
ap-8631	18	19	based	base	VERB
ap-8631	18	20	on	on	ADP
ap-8631	18	21	physical	physical	ADJ
ap-8631	18	22	factors	factor	NOUN
ap-8631	18	23	.	.	PUNCT
ap-8631	19	1	to	to	PART
ap-8631	19	2	ensure	ensure	VERB
ap-8631	19	3	that	that	SCONJ
ap-8631	19	4	the	the	DET
ap-8631	19	5	exoskeleton	exoskeleton	PROPN
ap-8631	19	6	joints	joint	NOUN
ap-8631	19	7	revolve	revolve	NOUN
ap-8631	19	8	at	at	ADP
ap-8631	19	9	the	the	DET
ap-8631	19	10	proper	proper	ADJ
ap-8631	19	11	angle	angle	NOUN
ap-8631	19	12	,	,	PUNCT
ap-8631	19	13	the	the	DET
ap-8631	19	14	position	position	NOUN
ap-8631	19	15	control	control	NOUN
ap-8631	19	16	technique	technique	NOUN
ap-8631	19	17	is	be	AUX
ap-8631	19	18	typically	typically	ADV
ap-8631	19	19	used	use	VERB
ap-8631	19	20	.	.	PUNCT
ap-8631	20	1	some	some	DET
ap-8631	20	2	exoskeleton	exoskeleton	PROPN
ap-8631	20	3	axes	axis	NOUN
ap-8631	20	4	have	have	AUX
ap-8631	20	5	fixed	fix	VERB
ap-8631	20	6	joint	joint	ADJ
ap-8631	20	7	positions	position	NOUN
ap-8631	20	8	due	due	ADP
ap-8631	20	9	to	to	ADP
ap-8631	20	10	rehabilitation	rehabilitation	NOUN
ap-8631	20	11	goals	goal	NOUN
ap-8631	20	12	.	.	PUNCT
ap-8631	21	1	the	the	DET
ap-8631	21	2	pd	pd	PROPN
ap-8631	21	3	position	position	NOUN
ap-8631	21	4	controller	controller	NOUN
ap-8631	21	5	is	be	AUX
ap-8631	21	6	used	use	VERB
ap-8631	21	7	for	for	ADP
ap-8631	21	8	these	these	DET
ap-8631	21	9	axes	axis	NOUN
ap-8631	21	10	,	,	PUNCT
ap-8631	21	11	and	and	CCONJ
ap-8631	21	12	the	the	DET
ap-8631	21	13	axes	axis	NOUN
ap-8631	21	14	are	be	AUX
ap-8631	21	15	locked	lock	VERB
ap-8631	21	16	at	at	ADP
ap-8631	21	17	a	a	DET
ap-8631	21	18	specified	specified	ADJ
ap-8631	21	19	angle	angle	NOUN
ap-8631	21	20	position	position	NOUN
ap-8631	22	1	[	[	X
ap-8631	22	2	3–5	3–5	NOUN
ap-8631	22	3	]	]	PUNCT
ap-8631	22	4	.	.	PUNCT
ap-8631	23	1	exoskeletons	exoskeleton	NOUN
ap-8631	23	2	with	with	ADP
ap-8631	23	3	many	many	ADJ
ap-8631	23	4	degrees	degree	NOUN
ap-8631	23	5	of	of	ADP
ap-8631	23	6	freedom	freedom	NOUN
ap-8631	23	7	have	have	AUX
ap-8631	23	8	been	be	AUX
ap-8631	23	9	implemented	implement	VERB
ap-8631	23	10	with	with	ADP
ap-8631	23	11	proportional	proportional	ADJ
ap-8631	23	12	-	-	PUNCT
ap-8631	23	13	integralderivative	integralderivative	ADJ
ap-8631	23	14	(	(	PUNCT
ap-8631	23	15	pid	pid	NOUN
ap-8631	23	16	)	)	PUNCT
ap-8631	23	17	controllers	controller	NOUN
ap-8631	23	18	to	to	PART
ap-8631	23	19	control	control	VERB
ap-8631	23	20	the	the	DET
ap-8631	23	21	leg	leg	NOUN
ap-8631	23	22	’s	’s	PART
ap-8631	23	23	motion	motion	NOUN
ap-8631	23	24	,	,	PUNCT
ap-8631	23	25	despite	despite	SCONJ
ap-8631	23	26	its	its	PRON
ap-8631	23	27	ease	ease	NOUN
ap-8631	23	28	of	of	ADP
ap-8631	23	29	implementation	implementation	NOUN
ap-8631	23	30	,	,	PUNCT
ap-8631	23	31	the	the	DET
ap-8631	23	32	usage	usage	NOUN
ap-8631	23	33	of	of	ADP
ap-8631	23	34	pid	pid	NOUN
ap-8631	23	35	control	control	NOUN
ap-8631	23	36	is	be	AUX
ap-8631	23	37	limited	limit	VERB
ap-8631	23	38	by	by	ADP
ap-8631	23	39	the	the	DET
ap-8631	23	40	convergence	convergence	NOUN
ap-8631	23	41	analysis	analysis	NOUN
ap-8631	23	42	and	and	CCONJ
ap-8631	23	43	coefficient	coefficient	NOUN
ap-8631	23	44	adjustments	adjustment	NOUN
ap-8631	23	45	[	[	X
ap-8631	23	46	6	6	NUM
ap-8631	23	47	]	]	PUNCT
ap-8631	23	48	.	.	PUNCT
ap-8631	24	1	a	a	DET
ap-8631	24	2	backstepping	backstepping	NOUN
ap-8631	24	3	controller	controller	NOUN
ap-8631	24	4	based	base	VERB
ap-8631	24	5	on	on	ADP
ap-8631	24	6	the	the	DET
ap-8631	24	7	shank	shank	ADJ
ap-8631	24	8	-	-	PUNCT
ap-8631	24	9	orthosis	orthosis	NOUN
ap-8631	24	10	system	system	NOUN
ap-8631	24	11	was	be	AUX
ap-8631	24	12	proposed	propose	VERB
ap-8631	24	13	,	,	PUNCT
ap-8631	24	14	where	where	SCONJ
ap-8631	24	15	backstepping	backstepping	NOUN
ap-8631	24	16	can	can	AUX
ap-8631	24	17	commonly	commonly	ADV
ap-8631	24	18	address	address	VERB
ap-8631	24	19	stability	stability	NOUN
ap-8631	24	20	,	,	PUNCT
ap-8631	24	21	monitoring	monitoring	NOUN
ap-8631	24	22	,	,	PUNCT
ap-8631	24	23	and	and	CCONJ
ap-8631	24	24	robustness	robustness	NOUN
ap-8631	24	25	control	control	NOUN
ap-8631	24	26	problems	problem	NOUN
ap-8631	24	27	under	under	ADP
ap-8631	24	28	less	less	ADV
ap-8631	24	29	restrictive	restrictive	ADJ
ap-8631	24	30	settings	setting	NOUN
ap-8631	24	31	than	than	ADP
ap-8631	24	32	other	other	ADJ
ap-8631	24	33	methods	method	NOUN
ap-8631	24	34	[	[	X
ap-8631	24	35	7	7	NUM
ap-8631	24	36	,	,	PUNCT
ap-8631	24	37	8	8	NUM
ap-8631	24	38	]	]	PUNCT
ap-8631	24	39	.	.	PUNCT
ap-8631	25	1	in	in	ADP
ap-8631	25	2	recent	recent	ADJ
ap-8631	25	3	years	year	NOUN
ap-8631	25	4	,	,	PUNCT
ap-8631	25	5	a	a	DET
ap-8631	25	6	fuzzy	fuzzy	ADJ
ap-8631	25	7	controller	controller	NOUN
ap-8631	25	8	with	with	ADP
ap-8631	25	9	a	a	DET
ap-8631	25	10	bang	bang	PROPN
ap-8631	25	11	-	-	PUNCT
ap-8631	25	12	bang	bang	PROPN
ap-8631	25	13	controller	controller	NOUN
ap-8631	25	14	with	with	ADP
ap-8631	25	15	a	a	DET
ap-8631	25	16	high	high	ADJ
ap-8631	25	17	accuracy	accuracy	NOUN
ap-8631	25	18	and	and	CCONJ
ap-8631	25	19	fast	fast	ADJ
ap-8631	25	20	response	response	NOUN
ap-8631	25	21	has	have	AUX
ap-8631	25	22	been	be	AUX
ap-8631	25	23	proposed	propose	VERB
ap-8631	25	24	for	for	ADP
ap-8631	25	25	the	the	DET
ap-8631	25	26	output	output	NOUN
ap-8631	25	27	torque	torque	NOUN
ap-8631	25	28	control	control	PROPN
ap-8631	25	29	.	.	PUNCT
ap-8631	26	1	an	an	DET
ap-8631	26	2	adaptive	adaptive	ADJ
ap-8631	26	3	self	self	NOUN
ap-8631	26	4	-	-	PUNCT
ap-8631	26	5	organising	organise	VERB
ap-8631	26	6	fuzzy	fuzzy	ADJ
ap-8631	26	7	controller	controller	NOUN
ap-8631	26	8	is	be	AUX
ap-8631	26	9	developed	develop	VERB
ap-8631	26	10	for	for	ADP
ap-8631	26	11	the	the	DET
ap-8631	26	12	rehabilitation	rehabilitation	NOUN
ap-8631	26	13	exoskeleton	exoskeleton	NOUN
ap-8631	26	14	in	in	ADP
ap-8631	26	15	this	this	DET
ap-8631	26	16	study	study	NOUN
ap-8631	26	17	,	,	PUNCT
ap-8631	26	18	its	its	PRON
ap-8631	26	19	fuzzy	fuzzy	ADJ
ap-8631	26	20	sliding	slide	VERB
ap-8631	26	21	surface	surface	NOUN
ap-8631	26	22	can	can	AUX
ap-8631	26	23	help	help	VERB
ap-8631	26	24	to	to	PART
ap-8631	26	25	reduce	reduce	VERB
ap-8631	26	26	the	the	DET
ap-8631	26	27	number	number	NOUN
ap-8631	26	28	of	of	ADP
ap-8631	26	29	fuzzy	fuzzy	ADJ
ap-8631	26	30	rule	rule	NOUN
ap-8631	26	31	[	[	X
ap-8631	26	32	9	9	NUM
ap-8631	26	33	]	]	PUNCT
ap-8631	26	34	.	.	PUNCT
ap-8631	27	1	the	the	DET
ap-8631	27	2	self	self	NOUN
ap-8631	27	3	-	-	PUNCT
ap-8631	27	4	organising	organise	VERB
ap-8631	27	5	learning	learning	NOUN
ap-8631	27	6	mechanism	mechanism	NOUN
ap-8631	27	7	is	be	AUX
ap-8631	27	8	employed	employ	VERB
ap-8631	27	9	to	to	PART
ap-8631	27	10	modify	modify	VERB
ap-8631	27	11	fuzzy	fuzzy	ADJ
ap-8631	27	12	rules	rule	NOUN
ap-8631	27	13	in	in	ADP
ap-8631	27	14	real	real	ADJ
ap-8631	27	15	time	time	NOUN
ap-8631	27	16	.	.	PUNCT
ap-8631	28	1	a	a	DET
ap-8631	28	2	collection	collection	NOUN
ap-8631	28	3	of	of	ADP
ap-8631	28	4	fuzzy	fuzzy	ADJ
ap-8631	28	5	if	if	SCONJ
ap-8631	28	6	-	-	PUNCT
ap-8631	28	7	then	then	ADV
ap-8631	28	8	rules	rule	NOUN
ap-8631	28	9	is	be	AUX
ap-8631	28	10	used	use	VERB
ap-8631	28	11	to	to	PART
ap-8631	28	12	create	create	VERB
ap-8631	28	13	an	an	DET
ap-8631	28	14	intelligent	intelligent	ADJ
ap-8631	28	15	lower	low	ADJ
ap-8631	28	16	extremity	extremity	NOUN
ap-8631	28	17	rehabilitation	rehabilitation	NOUN
ap-8631	28	18	training	training	NOUN
ap-8631	28	19	system	system	NOUN
ap-8631	28	20	controlled	control	VERB
ap-8631	28	21	by	by	ADP
ap-8631	28	22	fuzzy	fuzzy	ADJ
ap-8631	28	23	or	or	CCONJ
ap-8631	28	24	adaptive	adaptive	ADJ
ap-8631	28	25	fuzzy	fuzzy	ADJ
ap-8631	28	26	controllers	controller	NOUN
ap-8631	28	27	[	[	X
ap-8631	28	28	10	10	NUM
ap-8631	28	29	,	,	PUNCT
ap-8631	28	30	11	11	NUM
ap-8631	28	31	]	]	PUNCT
ap-8631	28	32	.	.	PUNCT
ap-8631	29	1	as	as	ADP
ap-8631	29	2	a	a	DET
ap-8631	29	3	result	result	NOUN
ap-8631	29	4	,	,	PUNCT
ap-8631	29	5	another	another	DET
ap-8631	29	6	intelligent	intelligent	ADJ
ap-8631	29	7	control	control	NOUN
ap-8631	29	8	system	system	NOUN
ap-8631	29	9	based	base	VERB
ap-8631	29	10	on	on	ADP
ap-8631	29	11	a	a	DET
ap-8631	29	12	neuro	neuro	ADJ
ap-8631	29	13	-	-	PUNCT
ap-8631	29	14	fuzzy	fuzzy	ADJ
ap-8631	29	15	controller	controller	NOUN
ap-8631	29	16	for	for	ADP
ap-8631	29	17	upper	upper	ADJ
ap-8631	29	18	limbs	limb	NOUN
ap-8631	29	19	was	be	AUX
ap-8631	29	20	suggested	suggest	VERB
ap-8631	29	21	in	in	ADP
ap-8631	29	22	[	[	X
ap-8631	29	23	12	12	NUM
ap-8631	29	24	]	]	PUNCT
ap-8631	29	25	,	,	PUNCT
ap-8631	29	26	to	to	PART
ap-8631	29	27	construct	construct	VERB
ap-8631	29	28	a	a	DET
ap-8631	29	29	power	power	NOUN
ap-8631	29	30	assist	assist	NOUN
ap-8631	29	31	exoskeleton	exoskeleton	PROPN
ap-8631	29	32	.	.	PUNCT
ap-8631	30	1	in	in	ADP
ap-8631	30	2	order	order	NOUN
ap-8631	30	3	to	to	PART
ap-8631	30	4	achieve	achieve	VERB
ap-8631	30	5	an	an	DET
ap-8631	30	6	accurate	accurate	ADJ
ap-8631	30	7	control	control	NOUN
ap-8631	30	8	performance	performance	NOUN
ap-8631	30	9	,	,	PUNCT
ap-8631	30	10	158	158	NUM
ap-8631	30	11	https://doi.org/10.14311/ap.2023.63.0158	https://doi.org/10.14311/ap.2023.63.0158	NOUN
ap-8631	30	12	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	NOUN
ap-8631	30	13	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-8631	30	14	vol	vol	NOUN
ap-8631	30	15	.	.	PROPN
ap-8631	31	1	63	63	NUM
ap-8631	31	2	no	no	NOUN
ap-8631	31	3	.	.	PUNCT
ap-8631	32	1	3/2023	3/2023	NUM
ap-8631	32	2	fractional	fractional	ADJ
ap-8631	32	3	multi	multi	ADJ
ap-8631	32	4	-	-	ADJ
ap-8631	32	5	loop	loop	ADJ
ap-8631	32	6	active	active	ADJ
ap-8631	32	7	disturbance	disturbance	NOUN
ap-8631	32	8	rejection	rejection	NOUN
ap-8631	32	9	control	control	PROPN
ap-8631	32	10	ann	ann	PROPN
ap-8631	32	11	-	-	PUNCT
ap-8631	32	12	based	base	VERB
ap-8631	32	13	model	model	NOUN
ap-8631	32	14	predictive	predictive	PROPN
ap-8631	32	15	control	control	PROPN
ap-8631	32	16	(	(	PUNCT
ap-8631	32	17	mpc	mpc	NOUN
ap-8631	32	18	)	)	PUNCT
ap-8631	32	19	methods	method	NOUN
ap-8631	32	20	are	be	AUX
ap-8631	32	21	used	use	VERB
ap-8631	32	22	,	,	PUNCT
ap-8631	32	23	despite	despite	SCONJ
ap-8631	32	24	the	the	DET
ap-8631	32	25	ability	ability	NOUN
ap-8631	32	26	to	to	PART
ap-8631	32	27	approximate	approximate	VERB
ap-8631	32	28	nonlinear	nonlinear	ADJ
ap-8631	32	29	properties	property	NOUN
ap-8631	32	30	,	,	PUNCT
ap-8631	32	31	real	real	ADJ
ap-8631	32	32	-	-	PUNCT
ap-8631	32	33	time	time	NOUN
ap-8631	32	34	performance	performance	NOUN
ap-8631	32	35	is	be	AUX
ap-8631	32	36	constrained	constrain	VERB
ap-8631	32	37	,	,	PUNCT
ap-8631	32	38	and	and	CCONJ
ap-8631	32	39	all	all	PRON
ap-8631	32	40	of	of	ADP
ap-8631	32	41	these	these	DET
ap-8631	32	42	control	control	NOUN
ap-8631	32	43	applications	application	NOUN
ap-8631	32	44	are	be	AUX
ap-8631	32	45	limited	limit	VERB
ap-8631	32	46	[	[	PUNCT
ap-8631	32	47	13	13	NUM
ap-8631	32	48	]	]	PUNCT
ap-8631	32	49	.	.	PUNCT
ap-8631	33	1	any	any	DET
ap-8631	33	2	system	system	NOUN
ap-8631	33	3	uncertainties	uncertainty	NOUN
ap-8631	33	4	,	,	PUNCT
ap-8631	33	5	such	such	ADJ
ap-8631	33	6	as	as	ADP
ap-8631	33	7	exogenous	exogenous	ADJ
ap-8631	33	8	disruptions	disruption	NOUN
ap-8631	33	9	,	,	PUNCT
ap-8631	33	10	unmodelled	unmodelled	ADJ
ap-8631	33	11	dynamics	dynamic	NOUN
ap-8631	33	12	,	,	PUNCT
ap-8631	33	13	and	and	CCONJ
ap-8631	33	14	parameter	parameter	NOUN
ap-8631	33	15	perturbations	perturbation	NOUN
ap-8631	33	16	,	,	PUNCT
ap-8631	33	17	have	have	VERB
ap-8631	33	18	a	a	DET
ap-8631	33	19	significant	significant	ADJ
ap-8631	33	20	impact	impact	NOUN
ap-8631	33	21	on	on	ADP
ap-8631	33	22	the	the	DET
ap-8631	33	23	performance	performance	NOUN
ap-8631	33	24	of	of	ADP
ap-8631	33	25	a	a	DET
ap-8631	33	26	control	control	NOUN
ap-8631	33	27	system	system	NOUN
ap-8631	33	28	.	.	PUNCT
ap-8631	34	1	the	the	DET
ap-8631	34	2	development	development	NOUN
ap-8631	34	3	of	of	ADP
ap-8631	34	4	the	the	DET
ap-8631	34	5	any	any	DET
ap-8631	34	6	controller	controller	NOUN
ap-8631	34	7	that	that	PRON
ap-8631	34	8	attempts	attempt	VERB
ap-8631	34	9	to	to	PART
ap-8631	34	10	fulfil	fulfil	VERB
ap-8631	34	11	these	these	DET
ap-8631	34	12	objectives	objective	NOUN
ap-8631	34	13	while	while	SCONJ
ap-8631	34	14	also	also	ADV
ap-8631	34	15	assuring	assure	VERB
ap-8631	34	16	disturbance	disturbance	NOUN
ap-8631	34	17	rejection	rejection	NOUN
ap-8631	34	18	and	and	CCONJ
ap-8631	34	19	strong	strong	ADJ
ap-8631	34	20	tracking	tracking	NOUN
ap-8631	34	21	performance	performance	NOUN
ap-8631	34	22	in	in	ADP
ap-8631	34	23	the	the	DET
ap-8631	34	24	face	face	NOUN
ap-8631	34	25	of	of	ADP
ap-8631	34	26	huge	huge	ADJ
ap-8631	34	27	uncertainty	uncertainty	NOUN
ap-8631	34	28	is	be	AUX
ap-8631	34	29	complicated	complicate	VERB
ap-8631	34	30	[	[	X
ap-8631	34	31	14	14	NUM
ap-8631	34	32	]	]	PUNCT
ap-8631	34	33	.	.	PUNCT
ap-8631	35	1	because	because	SCONJ
ap-8631	35	2	of	of	ADP
ap-8631	35	3	this	this	PRON
ap-8631	35	4	,	,	PUNCT
ap-8631	35	5	anti	anti	ADJ
ap-8631	35	6	-	-	ADJ
ap-8631	35	7	disturbance	disturbance	ADJ
ap-8631	35	8	approaches	approach	NOUN
ap-8631	35	9	are	be	AUX
ap-8631	35	10	used	use	VERB
ap-8631	35	11	for	for	ADP
ap-8631	35	12	both	both	CCONJ
ap-8631	35	13	external	external	ADJ
ap-8631	35	14	and	and	CCONJ
ap-8631	35	15	internal	internal	ADJ
ap-8631	35	16	loop	loop	NOUN
ap-8631	35	17	controllers	controller	NOUN
ap-8631	35	18	and	and	CCONJ
ap-8631	35	19	estimators	estimator	NOUN
ap-8631	35	20	have	have	AUX
ap-8631	35	21	been	be	AUX
ap-8631	35	22	widely	widely	ADV
ap-8631	35	23	employed	employ	VERB
ap-8631	35	24	[	[	X
ap-8631	35	25	15	15	NUM
ap-8631	35	26	]	]	PUNCT
ap-8631	35	27	.	.	PUNCT
ap-8631	36	1	regarding	regard	VERB
ap-8631	36	2	the	the	DET
ap-8631	36	3	biomechanics	biomechanic	NOUN
ap-8631	36	4	of	of	ADP
ap-8631	36	5	the	the	DET
ap-8631	36	6	exoskeleton	exoskeleton	NOUN
ap-8631	36	7	,	,	PUNCT
ap-8631	36	8	a	a	DET
ap-8631	36	9	sliding	slide	VERB
ap-8631	36	10	mode	mode	NOUN
ap-8631	36	11	control	control	NOUN
ap-8631	36	12	(	(	PUNCT
ap-8631	36	13	smc	smc	PROPN
ap-8631	36	14	)	)	PUNCT
ap-8631	36	15	may	may	AUX
ap-8631	36	16	be	be	AUX
ap-8631	36	17	an	an	DET
ap-8631	36	18	appropriate	appropriate	ADJ
ap-8631	36	19	solution	solution	NOUN
ap-8631	36	20	due	due	ADP
ap-8631	36	21	to	to	ADP
ap-8631	36	22	its	its	PRON
ap-8631	36	23	robustness	robustness	NOUN
ap-8631	36	24	to	to	ADP
ap-8631	36	25	both	both	CCONJ
ap-8631	36	26	internal	internal	ADJ
ap-8631	36	27	and	and	CCONJ
ap-8631	36	28	external	external	ADJ
ap-8631	36	29	system	system	NOUN
ap-8631	36	30	uncertainties	uncertainty	NOUN
ap-8631	36	31	.	.	PUNCT
ap-8631	37	1	one	one	NUM
ap-8631	37	2	of	of	ADP
ap-8631	37	3	these	these	DET
ap-8631	37	4	solutions	solution	NOUN
ap-8631	37	5	proposed	propose	VERB
ap-8631	37	6	a	a	DET
ap-8631	37	7	control	control	NOUN
ap-8631	37	8	scheme	scheme	NOUN
ap-8631	37	9	with	with	ADP
ap-8631	37	10	a	a	DET
ap-8631	37	11	model	model	NOUN
ap-8631	37	12	-	-	PUNCT
ap-8631	37	13	free	free	ADJ
ap-8631	37	14	decentralised	decentralise	VERB
ap-8631	37	15	output	output	NOUN
ap-8631	37	16	feedback	feedback	NOUN
ap-8631	37	17	adaptive	adaptive	ADJ
ap-8631	37	18	high	high	ADJ
ap-8631	37	19	-	-	PUNCT
ap-8631	37	20	order	order	NOUN
ap-8631	37	21	sliding	slide	VERB
ap-8631	37	22	mode	mode	NOUN
ap-8631	37	23	control	control	NOUN
ap-8631	37	24	to	to	PART
ap-8631	37	25	solve	solve	VERB
ap-8631	37	26	the	the	DET
ap-8631	37	27	trajectory	trajectory	NOUN
ap-8631	37	28	tracking	tracking	NOUN
ap-8631	37	29	problem	problem	NOUN
ap-8631	37	30	in	in	ADP
ap-8631	37	31	each	each	DET
ap-8631	37	32	degree	degree	NOUN
ap-8631	37	33	of	of	ADP
ap-8631	37	34	freedom	freedom	NOUN
ap-8631	37	35	of	of	ADP
ap-8631	37	36	the	the	DET
ap-8631	37	37	exoskeleton	exoskeleton	NOUN
ap-8631	37	38	.	.	PUNCT
ap-8631	38	1	in	in	ADP
ap-8631	38	2	this	this	DET
ap-8631	38	3	work	work	NOUN
ap-8631	38	4	,	,	PUNCT
ap-8631	38	5	a	a	DET
ap-8631	38	6	second	second	ADJ
ap-8631	38	7	-	-	PUNCT
ap-8631	38	8	order	order	NOUN
ap-8631	38	9	adaptive	adaptive	NOUN
ap-8631	38	10	sliding	slide	VERB
ap-8631	38	11	mode	mode	NOUN
ap-8631	38	12	controller	controller	NOUN
ap-8631	38	13	based	base	VERB
ap-8631	38	14	on	on	ADP
ap-8631	38	15	the	the	DET
ap-8631	38	16	super	super	ADJ
ap-8631	38	17	-	-	ADJ
ap-8631	38	18	twisting	twisting	ADJ
ap-8631	38	19	algorithm	algorithm	NOUN
ap-8631	38	20	drives	drive	VERB
ap-8631	38	21	the	the	DET
ap-8631	38	22	exoskeleton	exoskeleton	PROPN
ap-8631	38	23	articulations	articulation	NOUN
ap-8631	38	24	to	to	PART
ap-8631	38	25	track	track	VERB
ap-8631	38	26	the	the	DET
ap-8631	38	27	proposed	propose	VERB
ap-8631	38	28	reference	reference	NOUN
ap-8631	38	29	trajectories	trajectory	NOUN
ap-8631	38	30	[	[	X
ap-8631	38	31	16	16	NUM
ap-8631	38	32	]	]	PUNCT
ap-8631	38	33	.	.	PUNCT
ap-8631	39	1	the	the	DET
ap-8631	39	2	main	main	ADJ
ap-8631	39	3	problem	problem	NOUN
ap-8631	39	4	of	of	ADP
ap-8631	39	5	the	the	DET
ap-8631	39	6	smc	smc	PROPN
ap-8631	39	7	is	be	AUX
ap-8631	39	8	the	the	DET
ap-8631	39	9	chattering	chattering	NOUN
ap-8631	39	10	.	.	PUNCT
ap-8631	40	1	many	many	ADJ
ap-8631	40	2	studies	study	NOUN
ap-8631	40	3	partly	partly	ADV
ap-8631	40	4	solved	solve	VERB
ap-8631	40	5	this	this	DET
ap-8631	40	6	thanks	thank	NOUN
ap-8631	40	7	to	to	ADP
ap-8631	40	8	the	the	DET
ap-8631	40	9	ability	ability	NOUN
ap-8631	40	10	of	of	ADP
ap-8631	40	11	the	the	DET
ap-8631	40	12	exoskeleton	exoskeleton	NOUN
ap-8631	40	13	to	to	PART
ap-8631	40	14	follow	follow	VERB
ap-8631	40	15	the	the	DET
ap-8631	40	16	optimised	optimise	VERB
ap-8631	40	17	trajectories	trajectory	NOUN
ap-8631	40	18	[	[	X
ap-8631	40	19	17	17	NUM
ap-8631	40	20	]	]	PUNCT
ap-8631	40	21	.	.	PUNCT
ap-8631	41	1	to	to	PART
ap-8631	41	2	achieve	achieve	VERB
ap-8631	41	3	an	an	DET
ap-8631	41	4	optimal	optimal	ADJ
ap-8631	41	5	performance	performance	NOUN
ap-8631	41	6	,	,	PUNCT
ap-8631	41	7	the	the	DET
ap-8631	41	8	smc	smc	PROPN
ap-8631	41	9	parameters	parameter	NOUN
ap-8631	41	10	should	should	AUX
ap-8631	41	11	be	be	AUX
ap-8631	41	12	chosen	choose	VERB
ap-8631	41	13	carefully	carefully	ADV
ap-8631	41	14	.	.	PUNCT
ap-8631	42	1	genetic	genetic	ADJ
ap-8631	42	2	algorithm	algorithm	NOUN
ap-8631	42	3	ga	ga	PROPN
ap-8631	43	1	[	[	X
ap-8631	43	2	18	18	NUM
ap-8631	43	3	]	]	PUNCT
ap-8631	43	4	,	,	PUNCT
ap-8631	43	5	particle	particle	NOUN
ap-8631	43	6	swarm	swarm	NOUN
ap-8631	43	7	optimization	optimization	NOUN
ap-8631	43	8	pso	pso	NOUN
ap-8631	43	9	[	[	X
ap-8631	43	10	19	19	NUM
ap-8631	43	11	]	]	PUNCT
ap-8631	43	12	,	,	PUNCT
ap-8631	43	13	grey	grey	ADJ
ap-8631	43	14	-	-	PUNCT
ap-8631	43	15	wolf	wolf	NOUN
ap-8631	43	16	optimization	optimization	NOUN
ap-8631	43	17	[	[	X
ap-8631	43	18	20	20	NUM
ap-8631	43	19	]	]	PUNCT
ap-8631	43	20	,	,	PUNCT
ap-8631	43	21	and	and	CCONJ
ap-8631	43	22	ant	ant	ADJ
ap-8631	43	23	colony	colony	NOUN
ap-8631	43	24	optimization	optimization	NOUN
ap-8631	43	25	[	[	X
ap-8631	43	26	21	21	NUM
ap-8631	43	27	]	]	PUNCT
ap-8631	43	28	are	be	AUX
ap-8631	43	29	examples	example	NOUN
ap-8631	43	30	of	of	ADP
ap-8631	43	31	common	common	ADJ
ap-8631	43	32	optimisation	optimisation	NOUN
ap-8631	43	33	methods	method	NOUN
ap-8631	43	34	that	that	PRON
ap-8631	43	35	are	be	AUX
ap-8631	43	36	used	use	VERB
ap-8631	43	37	in	in	ADP
ap-8631	43	38	exoskeleton	exoskeleton	ADJ
ap-8631	43	39	devices	device	NOUN
ap-8631	43	40	.	.	PUNCT
ap-8631	44	1	ga	ga	PROPN
ap-8631	44	2	is	be	AUX
ap-8631	44	3	used	use	VERB
ap-8631	44	4	to	to	PART
ap-8631	44	5	determine	determine	VERB
ap-8631	44	6	the	the	DET
ap-8631	44	7	optimal	optimal	ADJ
ap-8631	44	8	sliding	slide	VERB
ap-8631	44	9	surface	surface	NOUN
ap-8631	44	10	and	and	CCONJ
ap-8631	44	11	the	the	DET
ap-8631	44	12	sliding	slide	VERB
ap-8631	44	13	control	control	NOUN
ap-8631	44	14	law	law	NOUN
ap-8631	44	15	.	.	PUNCT
ap-8631	45	1	it	it	PRON
ap-8631	45	2	is	be	AUX
ap-8631	45	3	easy	easy	ADJ
ap-8631	45	4	to	to	PART
ap-8631	45	5	use	use	VERB
ap-8631	45	6	and	and	CCONJ
ap-8631	45	7	capable	capable	ADJ
ap-8631	45	8	of	of	ADP
ap-8631	45	9	finding	find	VERB
ap-8631	45	10	global	global	ADJ
ap-8631	45	11	optima	optima	NOUN
ap-8631	45	12	,	,	PUNCT
ap-8631	45	13	which	which	PRON
ap-8631	45	14	can	can	AUX
ap-8631	45	15	be	be	AUX
ap-8631	45	16	used	use	VERB
ap-8631	45	17	to	to	PART
ap-8631	45	18	improve	improve	VERB
ap-8631	45	19	the	the	DET
ap-8631	45	20	structure	structure	NOUN
ap-8631	45	21	of	of	ADP
ap-8631	45	22	optimisation	optimisation	NOUN
ap-8631	45	23	systems	system	NOUN
ap-8631	45	24	[	[	X
ap-8631	45	25	22	22	NUM
ap-8631	45	26	]	]	PUNCT
ap-8631	45	27	.	.	PUNCT
ap-8631	46	1	many	many	ADJ
ap-8631	46	2	works	work	NOUN
ap-8631	46	3	also	also	ADV
ap-8631	46	4	deal	deal	VERB
ap-8631	46	5	with	with	ADP
ap-8631	46	6	the	the	DET
ap-8631	46	7	reduction	reduction	NOUN
ap-8631	46	8	of	of	ADP
ap-8631	46	9	chattering	chatter	VERB
ap-8631	46	10	by	by	ADP
ap-8631	46	11	employing	employ	VERB
ap-8631	46	12	a	a	DET
ap-8631	46	13	synergetic	synergetic	ADJ
ap-8631	46	14	control	control	NOUN
ap-8631	46	15	(	(	PUNCT
ap-8631	46	16	sc	sc	NOUN
ap-8631	46	17	)	)	PUNCT
ap-8631	46	18	technique	technique	NOUN
ap-8631	46	19	.	.	PUNCT
ap-8631	47	1	this	this	DET
ap-8631	47	2	control	control	NOUN
ap-8631	47	3	methodology	methodology	NOUN
ap-8631	47	4	has	have	AUX
ap-8631	47	5	been	be	AUX
ap-8631	47	6	used	use	VERB
ap-8631	47	7	to	to	PART
ap-8631	47	8	govern	govern	VERB
ap-8631	47	9	highly	highly	ADV
ap-8631	47	10	coupled	couple	VERB
ap-8631	47	11	and	and	CCONJ
ap-8631	47	12	complicated	complicated	ADJ
ap-8631	47	13	nonlinear	nonlinear	ADJ
ap-8631	47	14	systems	system	NOUN
ap-8631	47	15	.	.	PUNCT
ap-8631	48	1	the	the	DET
ap-8631	48	2	sc	sc	PROPN
ap-8631	48	3	is	be	AUX
ap-8631	48	4	based	base	VERB
ap-8631	48	5	on	on	ADP
ap-8631	48	6	state	state	NOUN
ap-8631	48	7	-	-	PUNCT
ap-8631	48	8	space	space	NOUN
ap-8631	48	9	theory	theory	NOUN
ap-8631	48	10	.	.	PUNCT
ap-8631	49	1	an	an	DET
ap-8631	49	2	independent	independent	ADJ
ap-8631	49	3	manifold	manifold	NOUN
ap-8631	49	4	is	be	AUX
ap-8631	49	5	developed	develop	VERB
ap-8631	49	6	to	to	PART
ap-8631	49	7	fulfil	fulfil	VERB
ap-8631	49	8	the	the	DET
ap-8631	49	9	necessary	necessary	ADJ
ap-8631	49	10	control	control	NOUN
ap-8631	49	11	criteria	criterion	NOUN
ap-8631	49	12	in	in	ADP
ap-8631	49	13	the	the	DET
ap-8631	49	14	situation	situation	NOUN
ap-8631	49	15	of	of	ADP
ap-8631	49	16	parametric	parametric	ADJ
ap-8631	49	17	and	and	CCONJ
ap-8631	49	18	nominal	nominal	ADJ
ap-8631	49	19	uncertainty	uncertainty	NOUN
ap-8631	49	20	,	,	PUNCT
ap-8631	49	21	and	and	CCONJ
ap-8631	49	22	a	a	DET
ap-8631	49	23	controller	controller	NOUN
ap-8631	49	24	constructed	construct	VERB
ap-8631	49	25	based	base	VERB
ap-8631	49	26	on	on	ADP
ap-8631	49	27	sc	sc	PROPN
ap-8631	49	28	might	might	AUX
ap-8631	49	29	drive	drive	VERB
ap-8631	49	30	the	the	DET
ap-8631	49	31	system	system	NOUN
ap-8631	49	32	’s	’s	PART
ap-8631	49	33	state	state	NOUN
ap-8631	49	34	variables	variable	NOUN
ap-8631	49	35	in	in	ADP
ap-8631	49	36	such	such	DET
ap-8631	49	37	a	a	DET
ap-8631	49	38	manner	manner	NOUN
ap-8631	49	39	as	as	SCONJ
ap-8631	49	40	to	to	PART
ap-8631	49	41	track	track	VERB
ap-8631	49	42	it	it	PRON
ap-8631	49	43	.	.	PUNCT
ap-8631	50	1	it	it	PRON
ap-8631	50	2	eliminates	eliminate	VERB
ap-8631	50	3	chattering	chatter	VERB
ap-8631	50	4	while	while	SCONJ
ap-8631	50	5	maintaining	maintain	VERB
ap-8631	50	6	the	the	DET
ap-8631	50	7	same	same	ADJ
ap-8631	50	8	control	control	NOUN
ap-8631	50	9	systems	system	NOUN
ap-8631	50	10	as	as	ADP
ap-8631	50	11	smc	smc	PROPN
ap-8631	51	1	[	[	X
ap-8631	51	2	23	23	NUM
ap-8631	51	3	]	]	PUNCT
ap-8631	51	4	.	.	PUNCT
ap-8631	52	1	the	the	DET
ap-8631	52	2	adrc	adrc	PROPN
ap-8631	52	3	is	be	AUX
ap-8631	52	4	a	a	DET
ap-8631	52	5	modern	modern	ADJ
ap-8631	52	6	robustness	robustness	NOUN
ap-8631	52	7	regulation	regulation	NOUN
ap-8631	52	8	conceptual	conceptual	ADJ
ap-8631	52	9	model	model	NOUN
ap-8631	52	10	based	base	VERB
ap-8631	52	11	on	on	ADP
ap-8631	52	12	the	the	DET
ap-8631	52	13	standard	standard	ADJ
ap-8631	52	14	pid	pid	NOUN
ap-8631	52	15	control	control	NOUN
ap-8631	52	16	algorithm	algorithm	PROPN
ap-8631	52	17	,	,	PUNCT
ap-8631	52	18	first	first	ADV
ap-8631	52	19	introduced	introduce	VERB
ap-8631	52	20	in	in	ADP
ap-8631	52	21	[	[	X
ap-8631	52	22	24	24	NUM
ap-8631	52	23	]	]	PUNCT
ap-8631	52	24	,	,	PUNCT
ap-8631	52	25	and	and	CCONJ
ap-8631	52	26	further	far	ADV
ap-8631	52	27	developed	develop	VERB
ap-8631	52	28	in	in	ADP
ap-8631	52	29	[	[	X
ap-8631	52	30	25	25	NUM
ap-8631	52	31	]	]	PUNCT
ap-8631	52	32	.	.	PUNCT
ap-8631	53	1	the	the	DET
ap-8631	53	2	adrc	adrc	PROPN
ap-8631	53	3	has	have	AUX
ap-8631	53	4	recently	recently	ADV
ap-8631	53	5	been	be	AUX
ap-8631	53	6	used	use	VERB
ap-8631	53	7	in	in	ADP
ap-8631	53	8	the	the	DET
ap-8631	53	9	field	field	NOUN
ap-8631	53	10	of	of	ADP
ap-8631	53	11	rehabilitation	rehabilitation	NOUN
ap-8631	53	12	systems	system	NOUN
ap-8631	53	13	[	[	X
ap-8631	53	14	26	26	NUM
ap-8631	53	15	,	,	PUNCT
ap-8631	53	16	27	27	NUM
ap-8631	53	17	]	]	PUNCT
ap-8631	53	18	.	.	PUNCT
ap-8631	54	1	the	the	DET
ap-8631	54	2	adrc	adrc	PROPN
ap-8631	54	3	was	be	AUX
ap-8631	54	4	created	create	VERB
ap-8631	54	5	by	by	ADP
ap-8631	54	6	merging	merge	VERB
ap-8631	54	7	eso	eso	NOUN
ap-8631	54	8	with	with	ADP
ap-8631	54	9	a	a	DET
ap-8631	54	10	variety	variety	NOUN
ap-8631	54	11	of	of	ADP
ap-8631	54	12	control	control	NOUN
ap-8631	54	13	approaches	approach	NOUN
ap-8631	54	14	.	.	PUNCT
ap-8631	55	1	fractional	fractional	ADJ
ap-8631	55	2	order	order	NOUN
ap-8631	55	3	controllers	controller	NOUN
ap-8631	55	4	,	,	PUNCT
ap-8631	55	5	like	like	ADP
ap-8631	55	6	crone	crone	NOUN
ap-8631	55	7	control	control	NOUN
ap-8631	55	8	and	and	CCONJ
ap-8631	55	9	expanded	expand	VERB
ap-8631	55	10	fractional	fractional	ADJ
ap-8631	55	11	control	control	NOUN
ap-8631	55	12	theories	theory	NOUN
ap-8631	55	13	based	base	VERB
ap-8631	55	14	on	on	ADP
ap-8631	55	15	adaptive	adaptive	ADJ
ap-8631	55	16	control	control	NOUN
ap-8631	55	17	and	and	CCONJ
ap-8631	55	18	sliding	slide	VERB
ap-8631	55	19	mode	mode	NOUN
ap-8631	55	20	control	control	NOUN
ap-8631	55	21	,	,	PUNCT
ap-8631	55	22	have	have	AUX
ap-8631	55	23	produced	produce	VERB
ap-8631	55	24	improved	improved	ADJ
ap-8631	55	25	results	result	NOUN
ap-8631	55	26	in	in	ADP
ap-8631	55	27	both	both	DET
ap-8631	55	28	theory	theory	NOUN
ap-8631	55	29	and	and	CCONJ
ap-8631	55	30	practice	practice	NOUN
ap-8631	55	31	[	[	X
ap-8631	55	32	28	28	NUM
ap-8631	55	33	,	,	PUNCT
ap-8631	55	34	29	29	NUM
ap-8631	55	35	]	]	PUNCT
ap-8631	55	36	.	.	PUNCT
ap-8631	56	1	the	the	DET
ap-8631	56	2	fractional	fractional	ADJ
ap-8631	56	3	order	order	NOUN
ap-8631	56	4	control	control	NOUN
ap-8631	56	5	has	have	AUX
ap-8631	56	6	been	be	AUX
ap-8631	56	7	investigated	investigate	VERB
ap-8631	56	8	in	in	ADP
ap-8631	56	9	robotic	robotic	ADJ
ap-8631	56	10	and	and	CCONJ
ap-8631	56	11	engineering	engineering	NOUN
ap-8631	56	12	systems	system	NOUN
ap-8631	56	13	and	and	CCONJ
ap-8631	56	14	used	use	VERB
ap-8631	56	15	to	to	PART
ap-8631	56	16	obtain	obtain	VERB
ap-8631	56	17	reliable	reliable	ADJ
ap-8631	56	18	performances	performance	NOUN
ap-8631	56	19	in	in	ADP
ap-8631	56	20	industrial	industrial	ADJ
ap-8631	56	21	systems	system	NOUN
ap-8631	56	22	,	,	PUNCT
ap-8631	56	23	despite	despite	SCONJ
ap-8631	56	24	its	its	PRON
ap-8631	56	25	inherent	inherent	ADJ
ap-8631	56	26	complexity	complexity	NOUN
ap-8631	57	1	[	[	X
ap-8631	57	2	30–33	30–33	NUM
ap-8631	57	3	]	]	PUNCT
ap-8631	57	4	.	.	PUNCT
ap-8631	58	1	later	later	ADV
ap-8631	58	2	,	,	PUNCT
ap-8631	58	3	utilising	utilise	VERB
ap-8631	58	4	various	various	ADJ
ap-8631	58	5	tuning	tuning	NOUN
ap-8631	58	6	techniques	technique	NOUN
ap-8631	58	7	and	and	CCONJ
ap-8631	58	8	numerical	numerical	ADJ
ap-8631	58	9	optimisation	optimisation	NOUN
ap-8631	58	10	,	,	PUNCT
ap-8631	58	11	several	several	ADJ
ap-8631	58	12	researchers	researcher	NOUN
ap-8631	58	13	focused	focus	VERB
ap-8631	58	14	on	on	ADP
ap-8631	58	15	the	the	DET
ap-8631	58	16	design	design	NOUN
ap-8631	58	17	and	and	CCONJ
ap-8631	58	18	synthesis	synthesis	NOUN
ap-8631	58	19	of	of	ADP
ap-8631	58	20	fopid	fopid	NOUN
ap-8631	58	21	controllers	controller	NOUN
ap-8631	58	22	[	[	X
ap-8631	58	23	34	34	NUM
ap-8631	58	24	]	]	PUNCT
ap-8631	58	25	.	.	PUNCT
ap-8631	59	1	the	the	DET
ap-8631	59	2	classical	classical	ADJ
ap-8631	59	3	extended	extend	VERB
ap-8631	59	4	states	state	NOUN
ap-8631	59	5	observer	observer	NOUN
ap-8631	59	6	(	(	PUNCT
ap-8631	59	7	eso	eso	NOUN
ap-8631	59	8	)	)	PUNCT
ap-8631	59	9	is	be	AUX
ap-8631	59	10	generalised	generalise	VERB
ap-8631	59	11	to	to	ADP
ap-8631	59	12	a	a	DET
ap-8631	59	13	fractional	fractional	ADJ
ap-8631	59	14	order	order	NOUN
ap-8631	59	15	extended	extend	VERB
ap-8631	59	16	states	state	NOUN
ap-8631	59	17	observer	observer	NOUN
ap-8631	59	18	(	(	PUNCT
ap-8631	59	19	feso	feso	NOUN
ap-8631	59	20	)	)	PUNCT
ap-8631	59	21	in	in	ADP
ap-8631	59	22	fadrc	fadrc	NOUN
ap-8631	60	1	[	[	X
ap-8631	60	2	35	35	NUM
ap-8631	60	3	]	]	PUNCT
ap-8631	60	4	,	,	PUNCT
ap-8631	60	5	using	use	VERB
ap-8631	60	6	fractional	fractional	ADJ
ap-8631	60	7	calculus	calculus	NOUN
ap-8631	60	8	.	.	PUNCT
ap-8631	61	1	numerous	numerous	ADJ
ap-8631	61	2	studies	study	NOUN
ap-8631	61	3	show	show	VERB
ap-8631	61	4	that	that	SCONJ
ap-8631	61	5	the	the	DET
ap-8631	61	6	fraction	fraction	NOUN
ap-8631	61	7	-	-	PUNCT
ap-8631	61	8	order	order	NOUN
ap-8631	61	9	active	active	ADJ
ap-8631	61	10	disturbance	disturbance	NOUN
ap-8631	61	11	rejection	rejection	NOUN
ap-8631	61	12	controller	controller	NOUN
ap-8631	61	13	(	(	PUNCT
ap-8631	61	14	fadrc	fadrc	NOUN
ap-8631	61	15	)	)	PUNCT
ap-8631	61	16	outperforms	outperform	VERB
ap-8631	61	17	the	the	DET
ap-8631	61	18	integer	integer	NOUN
ap-8631	61	19	-	-	PUNCT
ap-8631	61	20	order	order	NOUN
ap-8631	61	21	adrc	adrc	NOUN
ap-8631	61	22	in	in	ADP
ap-8631	61	23	terms	term	NOUN
ap-8631	61	24	of	of	ADP
ap-8631	61	25	robustness	robustness	NOUN
ap-8631	61	26	,	,	PUNCT
ap-8631	61	27	disturbance	disturbance	NOUN
ap-8631	61	28	rejection	rejection	NOUN
ap-8631	61	29	,	,	PUNCT
ap-8631	61	30	and	and	CCONJ
ap-8631	61	31	parameter	parameter	NOUN
ap-8631	61	32	variation	variation	NOUN
ap-8631	61	33	uncertainty	uncertainty	NOUN
ap-8631	61	34	capacity	capacity	NOUN
ap-8631	61	35	[	[	X
ap-8631	61	36	36–38	36–38	NUM
ap-8631	61	37	]	]	PUNCT
ap-8631	61	38	.	.	PUNCT
ap-8631	62	1	in	in	ADP
ap-8631	62	2	terms	term	NOUN
ap-8631	62	3	of	of	ADP
ap-8631	62	4	robustness	robustness	NOUN
ap-8631	62	5	against	against	ADP
ap-8631	62	6	noisy	noisy	ADJ
ap-8631	62	7	environments	environment	NOUN
ap-8631	62	8	and	and	CCONJ
ap-8631	62	9	perturbation	perturbation	NOUN
ap-8631	62	10	,	,	PUNCT
ap-8631	62	11	some	some	DET
ap-8631	62	12	researchers	researcher	NOUN
ap-8631	62	13	have	have	AUX
ap-8631	62	14	suggested	suggest	VERB
ap-8631	62	15	a	a	DET
ap-8631	62	16	fadrc	fadrc	NOUN
ap-8631	62	17	control	control	NOUN
ap-8631	62	18	system	system	NOUN
ap-8631	62	19	that	that	PRON
ap-8631	62	20	consists	consist	VERB
ap-8631	62	21	of	of	ADP
ap-8631	62	22	a	a	DET
ap-8631	62	23	proportional	proportional	ADJ
ap-8631	62	24	controller	controller	NOUN
ap-8631	62	25	and	and	CCONJ
ap-8631	62	26	a	a	DET
ap-8631	62	27	fraction	fraction	NOUN
ap-8631	62	28	-	-	PUNCT
ap-8631	62	29	order	order	NOUN
ap-8631	62	30	eso	eso	NOUN
ap-8631	63	1	[	[	X
ap-8631	63	2	39	39	NUM
ap-8631	63	3	]	]	PUNCT
ap-8631	63	4	.	.	PUNCT
ap-8631	64	1	in	in	ADP
ap-8631	64	2	contrast	contrast	NOUN
ap-8631	64	3	,	,	PUNCT
ap-8631	64	4	other	other	ADJ
ap-8631	64	5	researchers	researcher	NOUN
ap-8631	64	6	have	have	AUX
ap-8631	64	7	suggested	suggest	VERB
ap-8631	64	8	an	an	DET
ap-8631	64	9	adrc	adrc	NOUN
ap-8631	64	10	and	and	CCONJ
ap-8631	64	11	fraction	fraction	NOUN
ap-8631	64	12	-	-	PUNCT
ap-8631	64	13	order	order	NOUN
ap-8631	64	14	pid	pid	NOUN
ap-8631	64	15	(	(	PUNCT
ap-8631	64	16	fopid	fopid	NOUN
ap-8631	64	17	)	)	PUNCT
ap-8631	64	18	direct	direct	ADJ
ap-8631	64	19	torque	torque	NOUN
ap-8631	64	20	control	control	NOUN
ap-8631	64	21	technique	technique	NOUN
ap-8631	64	22	for	for	ADP
ap-8631	64	23	the	the	DET
ap-8631	64	24	hydro	hydro	NOUN
ap-8631	64	25	-	-	PUNCT
ap-8631	64	26	turbine	turbine	NOUN
ap-8631	64	27	speed	speed	NOUN
ap-8631	64	28	governor	governor	NOUN
ap-8631	64	29	system	system	NOUN
ap-8631	64	30	that	that	PRON
ap-8631	64	31	is	be	AUX
ap-8631	64	32	load	load	NOUN
ap-8631	64	33	-	-	PUNCT
ap-8631	64	34	disturbance	disturbance	NOUN
ap-8631	64	35	tolerant	tolerant	ADJ
ap-8631	64	36	,	,	PUNCT
ap-8631	64	37	since	since	SCONJ
ap-8631	64	38	the	the	DET
ap-8631	64	39	integer	integer	NOUN
ap-8631	64	40	order	order	NOUN
ap-8631	64	41	eso	eso	NOUN
ap-8631	64	42	(	(	PUNCT
ap-8631	64	43	ieso	ieso	NOUN
ap-8631	64	44	)	)	PUNCT
ap-8631	64	45	has	have	VERB
ap-8631	64	46	weak	weak	ADJ
ap-8631	64	47	high	high	ADJ
ap-8631	64	48	-	-	PUNCT
ap-8631	64	49	frequency	frequency	NOUN
ap-8631	64	50	disturbance	disturbance	NOUN
ap-8631	64	51	prediction	prediction	NOUN
ap-8631	64	52	capabilities	capability	NOUN
ap-8631	64	53	[	[	X
ap-8631	64	54	40	40	NUM
ap-8631	64	55	]	]	PUNCT
ap-8631	64	56	.	.	PUNCT
ap-8631	65	1	in	in	ADP
ap-8631	65	2	order	order	NOUN
ap-8631	65	3	to	to	PART
ap-8631	65	4	improve	improve	VERB
ap-8631	65	5	the	the	DET
ap-8631	65	6	performance	performance	NOUN
ap-8631	65	7	of	of	ADP
ap-8631	65	8	the	the	DET
ap-8631	65	9	system	system	NOUN
ap-8631	65	10	’s	’s	PART
ap-8631	65	11	control	control	NOUN
ap-8631	65	12	,	,	PUNCT
ap-8631	65	13	a	a	DET
ap-8631	65	14	fadrc	fadrc	NOUN
ap-8631	65	15	typically	typically	ADV
ap-8631	65	16	offered	offer	VERB
ap-8631	65	17	a	a	DET
ap-8631	65	18	control	control	NOUN
ap-8631	65	19	technique	technique	NOUN
ap-8631	65	20	based	base	VERB
ap-8631	65	21	on	on	ADP
ap-8631	65	22	a	a	DET
ap-8631	65	23	fraction	fraction	NOUN
ap-8631	65	24	-	-	PUNCT
ap-8631	65	25	order	order	NOUN
ap-8631	65	26	eso	eso	NOUN
ap-8631	65	27	(	(	PUNCT
ap-8631	65	28	feso	feso	NOUN
ap-8631	65	29	)	)	PUNCT
ap-8631	66	1	[	[	X
ap-8631	66	2	35	35	NUM
ap-8631	66	3	]	]	PUNCT
ap-8631	66	4	.	.	PUNCT
ap-8631	67	1	the	the	DET
ap-8631	67	2	paper	paper	NOUN
ap-8631	67	3	’s	’s	PART
ap-8631	67	4	contribution	contribution	NOUN
ap-8631	67	5	can	can	AUX
ap-8631	67	6	be	be	AUX
ap-8631	67	7	highlighted	highlight	VERB
ap-8631	67	8	by	by	ADP
ap-8631	67	9	the	the	DET
ap-8631	67	10	following	following	ADJ
ap-8631	67	11	points	point	NOUN
ap-8631	67	12	:	:	PUNCT
ap-8631	67	13	i.	i.	NOUN
ap-8631	67	14	in	in	ADP
ap-8631	67	15	order	order	NOUN
ap-8631	67	16	to	to	PART
ap-8631	67	17	increase	increase	VERB
ap-8631	67	18	the	the	DET
ap-8631	67	19	lower	low	ADJ
ap-8631	67	20	limb	limb	NOUN
ap-8631	67	21	exoskeleton	exoskeleton	NOUN
ap-8631	67	22	system	system	NOUN
ap-8631	67	23	’s	’s	PART
ap-8631	67	24	ability	ability	NOUN
ap-8631	67	25	to	to	PART
ap-8631	67	26	reject	reject	VERB
ap-8631	67	27	disturbances	disturbance	NOUN
ap-8631	67	28	and	and	CCONJ
ap-8631	67	29	achieve	achieve	VERB
ap-8631	67	30	limited	limited	ADJ
ap-8631	67	31	convergence	convergence	NOUN
ap-8631	67	32	,	,	PUNCT
ap-8631	67	33	fadrc	fadrc	NOUN
ap-8631	67	34	has	have	AUX
ap-8631	67	35	been	be	AUX
ap-8631	67	36	introduced	introduce	VERB
ap-8631	67	37	in	in	ADP
ap-8631	67	38	this	this	DET
ap-8631	67	39	research	research	NOUN
ap-8631	67	40	.	.	PUNCT
ap-8631	68	1	ii	ii	PROPN
ap-8631	68	2	.	.	PUNCT
ap-8631	69	1	there	there	PRON
ap-8631	69	2	is	be	VERB
ap-8631	69	3	evidence	evidence	NOUN
ap-8631	69	4	for	for	ADP
ap-8631	69	5	the	the	DET
ap-8631	69	6	controlled	control	VERB
ap-8631	69	7	system	system	NOUN
ap-8631	69	8	’s	’s	PART
ap-8631	69	9	robustness	robustness	NOUN
ap-8631	69	10	and	and	CCONJ
ap-8631	69	11	better	well	ADJ
ap-8631	69	12	convergence	convergence	NOUN
ap-8631	69	13	properties	property	NOUN
ap-8631	69	14	to	to	PART
ap-8631	69	15	satisfy	satisfy	VERB
ap-8631	69	16	the	the	DET
ap-8631	69	17	stability	stability	NOUN
ap-8631	69	18	.	.	PUNCT
ap-8631	70	1	iii	iii	X
ap-8631	70	2	.	.	PUNCT
ap-8631	71	1	a	a	DET
ap-8631	71	2	comparison	comparison	NOUN
ap-8631	71	3	study	study	NOUN
ap-8631	71	4	have	have	AUX
ap-8631	71	5	been	be	AUX
ap-8631	71	6	conducted	conduct	VERB
ap-8631	71	7	between	between	ADP
ap-8631	71	8	the	the	DET
ap-8631	71	9	proposed	propose	VERB
ap-8631	71	10	fadrc3	fadrc3	NOUN
ap-8631	71	11	and	and	CCONJ
ap-8631	71	12	two	two	NUM
ap-8631	71	13	configurations	configuration	NOUN
ap-8631	71	14	of	of	ADP
ap-8631	71	15	fadrc	fadrc	NOUN
ap-8631	71	16	,	,	PUNCT
ap-8631	71	17	focusing	focus	VERB
ap-8631	71	18	on	on	ADP
ap-8631	71	19	error	error	NOUN
ap-8631	71	20	performance	performance	NOUN
ap-8631	71	21	indices	index	NOUN
ap-8631	71	22	and	and	CCONJ
ap-8631	71	23	the	the	DET
ap-8631	71	24	control	control	NOUN
ap-8631	71	25	torque	torque	NOUN
ap-8631	71	26	required	require	VERB
ap-8631	71	27	with	with	ADP
ap-8631	71	28	minimal	minimal	ADJ
ap-8631	71	29	chattering	chattering	NOUN
ap-8631	71	30	.	.	PUNCT
ap-8631	72	1	the	the	DET
ap-8631	72	2	paper	paper	NOUN
ap-8631	72	3	is	be	AUX
ap-8631	72	4	organised	organise	VERB
ap-8631	72	5	into	into	ADP
ap-8631	72	6	several	several	ADJ
ap-8631	72	7	sections	section	NOUN
ap-8631	72	8	.	.	PUNCT
ap-8631	73	1	section	section	NOUN
ap-8631	73	2	2	2	NUM
ap-8631	73	3	introduces	introduce	VERB
ap-8631	73	4	the	the	DET
ap-8631	73	5	structure	structure	NOUN
ap-8631	73	6	,	,	PUNCT
ap-8631	73	7	mathematical	mathematical	ADJ
ap-8631	73	8	model	model	NOUN
ap-8631	73	9	calculations	calculation	NOUN
ap-8631	73	10	of	of	ADP
ap-8631	73	11	the	the	DET
ap-8631	73	12	proposed	propose	VERB
ap-8631	73	13	exoskeleton	exoskeleton	NOUN
ap-8631	73	14	,	,	PUNCT
ap-8631	73	15	and	and	CCONJ
ap-8631	73	16	adrc	adrc	PRON
ap-8631	73	17	methodology	methodology	NOUN
ap-8631	73	18	.	.	PUNCT
ap-8631	74	1	stability	stability	NOUN
ap-8631	74	2	analysis	analysis	NOUN
ap-8631	74	3	is	be	AUX
ap-8631	74	4	presented	present	VERB
ap-8631	74	5	in	in	ADP
ap-8631	74	6	section	section	NOUN
ap-8631	74	7	3	3	NUM
ap-8631	74	8	.	.	PUNCT
ap-8631	74	9	section	section	NOUN
ap-8631	74	10	4	4	NUM
ap-8631	74	11	shows	show	VERB
ap-8631	74	12	the	the	DET
ap-8631	74	13	simulation	simulation	NOUN
ap-8631	74	14	results	result	NOUN
ap-8631	74	15	and	and	CCONJ
ap-8631	74	16	discussion	discussion	NOUN
ap-8631	74	17	about	about	ADP
ap-8631	74	18	the	the	DET
ap-8631	74	19	system	system	NOUN
ap-8631	74	20	.	.	PUNCT
ap-8631	75	1	conclusions	conclusion	NOUN
ap-8631	75	2	and	and	CCONJ
ap-8631	75	3	future	future	ADJ
ap-8631	75	4	work	work	NOUN
ap-8631	75	5	are	be	AUX
ap-8631	75	6	discussed	discuss	VERB
ap-8631	75	7	in	in	ADP
ap-8631	75	8	section	section	NOUN
ap-8631	75	9	5	5	NUM
ap-8631	75	10	.	.	NOUN
ap-8631	75	11	2	2	NUM
ap-8631	75	12	.	.	PUNCT
ap-8631	75	13	materials	material	NOUN
ap-8631	75	14	and	and	CCONJ
ap-8631	75	15	methods	method	NOUN
ap-8631	75	16	the	the	DET
ap-8631	75	17	fundamental	fundamental	ADJ
ap-8631	75	18	ideas	idea	NOUN
ap-8631	75	19	underlying	underlie	VERB
ap-8631	75	20	the	the	DET
ap-8631	75	21	knee	knee	NOUN
ap-8631	75	22	-	-	PUNCT
ap-8631	75	23	joint	joint	NOUN
ap-8631	75	24	mathematical	mathematical	ADJ
ap-8631	75	25	model	model	NOUN
ap-8631	75	26	,	,	PUNCT
ap-8631	75	27	the	the	DET
ap-8631	75	28	adrc	adrc	PROPN
ap-8631	75	29	control	control	NOUN
ap-8631	75	30	components	component	NOUN
ap-8631	75	31	,	,	PUNCT
ap-8631	75	32	and	and	CCONJ
ap-8631	75	33	the	the	DET
ap-8631	75	34	proposed	propose	VERB
ap-8631	75	35	controllers	controller	NOUN
ap-8631	75	36	are	be	AUX
ap-8631	75	37	established	establish	VERB
ap-8631	75	38	in	in	ADP
ap-8631	75	39	this	this	DET
ap-8631	75	40	part	part	NOUN
ap-8631	75	41	.	.	PUNCT
ap-8631	76	1	159	159	NUM
ap-8631	76	2	n.	n.	PROPN
ap-8631	76	3	a.	a.	PROPN
ap-8631	76	4	al	al	PROPN
ap-8631	76	5	-	-	PUNCT
ap-8631	76	6	awad	awad	PROPN
ap-8631	76	7	,	,	PUNCT
ap-8631	76	8	a.	a.	PROPN
ap-8631	76	9	j.	j.	PROPN
ap-8631	76	10	humaidi	humaidi	PROPN
ap-8631	76	11	,	,	PUNCT
ap-8631	76	12	a.	a.	PROPN
ap-8631	76	13	s.	s.	PROPN
ap-8631	76	14	al	al	PROPN
ap-8631	76	15	-	-	PUNCT
ap-8631	76	16	araji	araji	PROPN
ap-8631	76	17	acta	acta	PROPN
ap-8631	76	18	polytechnica	polytechnica	PROPN
ap-8631	76	19	2.1	2.1	NUM
ap-8631	76	20	.	.	PUNCT
ap-8631	77	1	modelling	modelling	NOUN
ap-8631	77	2	of	of	ADP
ap-8631	77	3	lower	low	ADJ
ap-8631	77	4	limb	limb	NOUN
ap-8631	77	5	robotic	robotic	ADJ
ap-8631	77	6	rehabilitation	rehabilitation	NOUN
ap-8631	77	7	exoskeleton	exoskeleton	NOUN
ap-8631	77	8	the	the	DET
ap-8631	77	9	active	active	ADJ
ap-8631	77	10	exoskeleton	exoskeleton	ADJ
ap-8631	77	11	electromechanical	electromechanical	ADJ
ap-8631	77	12	device	device	NOUN
ap-8631	77	13	described	describe	VERB
ap-8631	77	14	in	in	ADP
ap-8631	77	15	this	this	DET
ap-8631	77	16	study	study	NOUN
ap-8631	77	17	is	be	AUX
ap-8631	77	18	worn	wear	VERB
ap-8631	77	19	by	by	ADP
ap-8631	77	20	a	a	DET
ap-8631	77	21	human	human	ADJ
ap-8631	77	22	operator	operator	NOUN
ap-8631	77	23	and	and	CCONJ
ap-8631	77	24	is	be	AUX
ap-8631	77	25	intended	intend	VERB
ap-8631	77	26	to	to	PART
ap-8631	77	27	improve	improve	VERB
ap-8631	77	28	the	the	DET
ap-8631	77	29	wearer	wearer	NOUN
ap-8631	77	30	’s	’s	PART
ap-8631	77	31	physical	physical	ADJ
ap-8631	77	32	performance	performance	NOUN
ap-8631	77	33	.	.	PUNCT
ap-8631	78	1	direct	direct	ADJ
ap-8631	78	2	motor	motor	NOUN
ap-8631	78	3	driving	drive	VERB
ap-8631	78	4	through	through	ADP
ap-8631	78	5	reducers	reducer	NOUN
ap-8631	78	6	provides	provide	VERB
ap-8631	78	7	the	the	DET
ap-8631	78	8	action	action	NOUN
ap-8631	78	9	of	of	ADP
ap-8631	78	10	the	the	DET
ap-8631	78	11	hip	hip	NOUN
ap-8631	78	12	and	and	CCONJ
ap-8631	78	13	knee	knee	NOUN
ap-8631	78	14	.	.	PUNCT
ap-8631	79	1	the	the	DET
ap-8631	79	2	exoskeleton	exoskeleton	PROPN
ap-8631	79	3	’s	’s	PART
ap-8631	79	4	swing	swing	NOUN
ap-8631	79	5	leg	leg	NOUN
ap-8631	79	6	is	be	AUX
ap-8631	79	7	the	the	DET
ap-8631	79	8	primary	primary	ADJ
ap-8631	79	9	focus	focus	NOUN
ap-8631	79	10	of	of	ADP
ap-8631	79	11	the	the	DET
ap-8631	79	12	effort	effort	NOUN
ap-8631	79	13	.	.	PUNCT
ap-8631	80	1	generally	generally	ADV
ap-8631	80	2	,	,	PUNCT
ap-8631	80	3	the	the	DET
ap-8631	80	4	dynamic	dynamic	ADJ
ap-8631	80	5	model	model	NOUN
ap-8631	80	6	of	of	ADP
ap-8631	80	7	the	the	DET
ap-8631	80	8	lower	low	ADJ
ap-8631	80	9	knee	knee	NOUN
ap-8631	80	10	joint	joint	ADJ
ap-8631	80	11	motion	motion	NOUN
ap-8631	80	12	is	be	AUX
ap-8631	80	13	[	[	X
ap-8631	80	14	41–43	41–43	NUM
ap-8631	80	15	]	]	X
ap-8631	80	16	:	:	PUNCT
ap-8631	80	17	jθ̈	jθ̈	ADP
ap-8631	80	18	=	=	PUNCT
ap-8631	80	19	−τgcosθ	−τgcosθ	PUNCT
ap-8631	80	20	−	−	NOUN
ap-8631	80	21	asgnθ̇	asgnθ̇	X
ap-8631	81	1	−	−	PROPN
ap-8631	81	2	bθ̇	bθ̇	PROPN
ap-8631	82	1	+	+	CCONJ
ap-8631	82	2	τc	τc	X
ap-8631	82	3	+	+	X
ap-8631	82	4	τh	τh	ADP
ap-8631	82	5	.	.	PUNCT
ap-8631	83	1	(	(	PUNCT
ap-8631	83	2	1	1	X
ap-8631	83	3	)	)	PUNCT
ap-8631	83	4	the	the	DET
ap-8631	83	5	angular	angular	ADJ
ap-8631	83	6	position	position	NOUN
ap-8631	83	7	θ	θ	PROPN
ap-8631	83	8	is	be	AUX
ap-8631	83	9	the	the	DET
ap-8631	83	10	knee	knee	NOUN
ap-8631	83	11	joint	joint	ADJ
ap-8631	83	12	angle	angle	NOUN
ap-8631	83	13	between	between	ADP
ap-8631	83	14	the	the	DET
ap-8631	83	15	actual	actual	ADJ
ap-8631	83	16	position	position	NOUN
ap-8631	83	17	of	of	ADP
ap-8631	83	18	the	the	DET
ap-8631	83	19	shank	shank	NOUN
ap-8631	83	20	and	and	CCONJ
ap-8631	83	21	the	the	DET
ap-8631	83	22	full	full	ADJ
ap-8631	83	23	extension	extension	NOUN
ap-8631	83	24	position	position	NOUN
ap-8631	83	25	,	,	PUNCT
ap-8631	83	26	θ̇	θ̇	ADJ
ap-8631	83	27	and	and	CCONJ
ap-8631	83	28	θ̈	θ̈	NOUN
ap-8631	83	29	are	be	AUX
ap-8631	83	30	the	the	DET
ap-8631	83	31	knee	knee	NOUN
ap-8631	83	32	joint	joint	ADJ
ap-8631	83	33	angular	angular	ADJ
ap-8631	83	34	velocity	velocity	NOUN
ap-8631	83	35	and	and	CCONJ
ap-8631	83	36	acceleration	acceleration	NOUN
ap-8631	83	37	,	,	PUNCT
ap-8631	83	38	respectively	respectively	ADV
ap-8631	83	39	.	.	PUNCT
ap-8631	84	1	j	j	PROPN
ap-8631	84	2	,	,	PUNCT
ap-8631	84	3	a	a	PRON
ap-8631	84	4	,	,	PUNCT
ap-8631	84	5	b	b	PROPN
ap-8631	84	6	,	,	PUNCT
ap-8631	84	7	τg	τg	PROPN
ap-8631	84	8	,	,	PUNCT
ap-8631	84	9	τc	τc	ADV
ap-8631	84	10	,	,	PUNCT
ap-8631	84	11	τh	τh	ADP
ap-8631	84	12	are	be	AUX
ap-8631	84	13	the	the	DET
ap-8631	84	14	inertia	inertia	NOUN
ap-8631	84	15	,	,	PUNCT
ap-8631	84	16	solid	solid	ADJ
ap-8631	84	17	friction	friction	NOUN
ap-8631	84	18	coefficient	coefficient	NOUN
ap-8631	84	19	,	,	PUNCT
ap-8631	84	20	viscous	viscous	ADJ
ap-8631	84	21	friction	friction	NOUN
ap-8631	84	22	coefficient	coefficient	NOUN
ap-8631	84	23	,	,	PUNCT
ap-8631	84	24	gravity	gravity	NOUN
ap-8631	84	25	torque	torque	NOUN
ap-8631	84	26	,	,	PUNCT
ap-8631	84	27	controller	controller	NOUN
ap-8631	84	28	torque	torque	NOUN
ap-8631	84	29	and	and	CCONJ
ap-8631	84	30	human	human	ADJ
ap-8631	84	31	torque	torque	NOUN
ap-8631	84	32	,	,	PUNCT
ap-8631	84	33	respectively	respectively	ADV
ap-8631	84	34	.	.	PUNCT
ap-8631	85	1	based	base	VERB
ap-8631	85	2	on	on	ADP
ap-8631	85	3	the	the	DET
ap-8631	85	4	mathematical	mathematical	ADJ
ap-8631	85	5	equation	equation	NOUN
ap-8631	85	6	above	above	ADV
ap-8631	85	7	,	,	PUNCT
ap-8631	85	8	designers	designer	NOUN
ap-8631	85	9	can	can	AUX
ap-8631	85	10	see	see	VERB
ap-8631	85	11	that	that	SCONJ
ap-8631	85	12	the	the	DET
ap-8631	85	13	system	system	NOUN
ap-8631	85	14	is	be	AUX
ap-8631	85	15	inherently	inherently	ADV
ap-8631	85	16	nonlinear	nonlinear	ADJ
ap-8631	85	17	due	due	ADJ
ap-8631	85	18	to	to	ADP
ap-8631	85	19	nonlinear	nonlinear	ADJ
ap-8631	85	20	terms	term	NOUN
ap-8631	85	21	like	like	ADP
ap-8631	85	22	cos	cos	NOUN
ap-8631	85	23	and	and	CCONJ
ap-8631	85	24	sign	sign	PROPN
ap-8631	85	25	,	,	PUNCT
ap-8631	85	26	which	which	PRON
ap-8631	85	27	makes	make	VERB
ap-8631	85	28	it	it	PRON
ap-8631	85	29	difficult	difficult	ADJ
ap-8631	85	30	to	to	PART
ap-8631	85	31	evaluate	evaluate	VERB
ap-8631	85	32	;	;	PUNCT
ap-8631	85	33	nevertheless	nevertheless	ADV
ap-8631	85	34	,	,	PUNCT
ap-8631	85	35	the	the	DET
ap-8631	85	36	adrc	adrc	PROPN
ap-8631	85	37	handle	handle	NOUN
ap-8631	85	38	system	system	NOUN
ap-8631	85	39	has	have	VERB
ap-8631	85	40	the	the	DET
ap-8631	85	41	advantage	advantage	NOUN
ap-8631	85	42	of	of	ADP
ap-8631	85	43	being	be	AUX
ap-8631	85	44	able	able	ADJ
ap-8631	85	45	to	to	PART
ap-8631	85	46	control	control	VERB
ap-8631	85	47	system	system	NOUN
ap-8631	85	48	dynamics	dynamic	NOUN
ap-8631	85	49	as	as	ADP
ap-8631	85	50	a	a	DET
ap-8631	85	51	linear	linear	ADJ
ap-8631	85	52	controller	controller	NOUN
ap-8631	85	53	.	.	PUNCT
ap-8631	86	1	the	the	DET
ap-8631	86	2	single	single	ADJ
ap-8631	86	3	control	control	NOUN
ap-8631	86	4	variable	variable	NOUN
ap-8631	86	5	in	in	ADP
ap-8631	86	6	this	this	DET
ap-8631	86	7	work	work	NOUN
ap-8631	86	8	is	be	AUX
ap-8631	86	9	the	the	DET
ap-8631	86	10	position	position	NOUN
ap-8631	86	11	(	(	PUNCT
ap-8631	86	12	θ	θ	NOUN
ap-8631	86	13	)	)	PUNCT
ap-8631	86	14	,	,	PUNCT
ap-8631	86	15	which	which	PRON
ap-8631	86	16	must	must	AUX
ap-8631	86	17	be	be	AUX
ap-8631	86	18	regulated	regulate	VERB
ap-8631	86	19	according	accord	VERB
ap-8631	86	20	to	to	ADP
ap-8631	86	21	a	a	DET
ap-8631	86	22	specified	specify	VERB
ap-8631	86	23	trajectory	trajectory	NOUN
ap-8631	86	24	.	.	PUNCT
ap-8631	87	1	subjects	subject	NOUN
ap-8631	87	2	rested	rest	VERB
ap-8631	87	3	upright	upright	ADJ
ap-8631	87	4	on	on	ADP
ap-8631	87	5	a	a	DET
ap-8631	87	6	treatment	treatment	NOUN
ap-8631	87	7	table	table	NOUN
ap-8631	87	8	in	in	ADP
ap-8631	87	9	a	a	DET
ap-8631	87	10	fixed	fixed	ADJ
ap-8631	87	11	state	state	NOUN
ap-8631	87	12	,	,	PUNCT
ap-8631	87	13	with	with	ADP
ap-8631	87	14	the	the	DET
ap-8631	87	15	shank	shank	NOUN
ap-8631	87	16	hanging	hang	VERB
ap-8631	87	17	off	off	ADP
ap-8631	87	18	the	the	DET
ap-8631	87	19	table	table	NOUN
ap-8631	87	20	at	at	ADP
ap-8631	87	21	roughly	roughly	ADV
ap-8631	87	22	-45	-45	PUNCT
ap-8631	87	23	degrees	degree	NOUN
ap-8631	87	24	,	,	PUNCT
ap-8631	87	25	which	which	PRON
ap-8631	87	26	is	be	AUX
ap-8631	87	27	the	the	DET
ap-8631	87	28	rest	rest	NOUN
ap-8631	87	29	position	position	NOUN
ap-8631	87	30	.	.	PUNCT
ap-8631	88	1	the	the	DET
ap-8631	88	2	formal	formal	ADJ
ap-8631	88	3	testing	testing	NOUN
ap-8631	88	4	consisted	consist	VERB
ap-8631	88	5	of	of	ADP
ap-8631	88	6	the	the	DET
ap-8631	88	7	following	follow	VERB
ap-8631	88	8	trials	trial	NOUN
ap-8631	88	9	that	that	PRON
ap-8631	88	10	were	be	AUX
ap-8631	88	11	completed	complete	VERB
ap-8631	88	12	in	in	ADP
ap-8631	88	13	a	a	DET
ap-8631	88	14	specific	specific	ADJ
ap-8631	88	15	sequence	sequence	NOUN
ap-8631	88	16	.	.	PUNCT
ap-8631	89	1	moving	move	VERB
ap-8631	89	2	to	to	ADP
ap-8631	89	3	an	an	DET
ap-8631	89	4	angle	angle	NOUN
ap-8631	89	5	of	of	ADP
ap-8631	89	6	-45	-45	PUNCT
ap-8631	89	7	degrees	degree	NOUN
ap-8631	89	8	of	of	ADP
ap-8631	89	9	knee	knee	NOUN
ap-8631	89	10	flexion	flexion	NOUN
ap-8631	89	11	to	to	PART
ap-8631	89	12	reach	reach	VERB
ap-8631	89	13	-90	-90	NUM
ap-8631	89	14	degrees	degree	NOUN
ap-8631	89	15	,	,	PUNCT
ap-8631	89	16	and	and	CCONJ
ap-8631	89	17	then	then	ADV
ap-8631	89	18	returning	return	VERB
ap-8631	89	19	to	to	ADP
ap-8631	89	20	-45	-45	PUNCT
ap-8631	89	21	degrees	degree	NOUN
ap-8631	89	22	,	,	PUNCT
ap-8631	89	23	after	after	ADP
ap-8631	89	24	that	that	PRON
ap-8631	89	25	,	,	PUNCT
ap-8631	89	26	moving	move	VERB
ap-8631	89	27	to	to	ADP
ap-8631	89	28	an	an	DET
ap-8631	89	29	angle	angle	NOUN
ap-8631	89	30	of	of	ADP
ap-8631	89	31	0	0	NUM
ap-8631	89	32	degrees	degree	NOUN
ap-8631	89	33	of	of	ADP
ap-8631	89	34	knee	knee	NOUN
ap-8631	89	35	flexion	flexion	NOUN
ap-8631	89	36	and	and	CCONJ
ap-8631	89	37	returning	return	VERB
ap-8631	89	38	to	to	ADP
ap-8631	89	39	-45	-45	PUNCT
ap-8631	89	40	degrees	degree	NOUN
ap-8631	89	41	(	(	PUNCT
ap-8631	89	42	initial	initial	ADJ
ap-8631	89	43	condition	condition	NOUN
ap-8631	89	44	)	)	PUNCT
ap-8631	89	45	.	.	PUNCT
ap-8631	90	1	this	this	DET
ap-8631	90	2	training	training	NOUN
ap-8631	90	3	was	be	AUX
ap-8631	90	4	repeated	repeat	VERB
ap-8631	90	5	every	every	DET
ap-8631	90	6	4	4	NUM
ap-8631	90	7	seconds	second	NOUN
ap-8631	90	8	.	.	PUNCT
ap-8631	91	1	the	the	DET
ap-8631	91	2	flat	flat	ADJ
ap-8631	91	3	series	series	NOUN
ap-8631	91	4	of	of	ADP
ap-8631	91	5	maxon	maxon	PROPN
ap-8631	91	6	’s	’s	PART
ap-8631	91	7	ec90	ec90	PROPN
ap-8631	91	8	brushless	brushless	NOUN
ap-8631	91	9	dc	dc	PROPN
ap-8631	91	10	motors	motor	NOUN
ap-8631	91	11	was	be	AUX
ap-8631	91	12	used	use	VERB
ap-8631	91	13	for	for	ADP
ap-8631	91	14	the	the	DET
ap-8631	91	15	exoskeleton	exoskeleton	NOUN
ap-8631	91	16	.	.	PUNCT
ap-8631	92	1	it	it	PRON
ap-8631	92	2	can	can	AUX
ap-8631	92	3	provide	provide	VERB
ap-8631	92	4	a	a	DET
ap-8631	92	5	constant	constant	ADJ
ap-8631	92	6	torque	torque	NOUN
ap-8631	92	7	of	of	ADP
ap-8631	92	8	up	up	ADP
ap-8631	92	9	to	to	ADP
ap-8631	92	10	560	560	NUM
ap-8631	92	11	mn·m	mn·m	PROPN
ap-8631	92	12	.	.	PUNCT
ap-8631	93	1	this	this	DET
ap-8631	93	2	motor	motor	NOUN
ap-8631	93	3	was	be	AUX
ap-8631	93	4	chosen	choose	VERB
ap-8631	93	5	because	because	SCONJ
ap-8631	93	6	it	it	PRON
ap-8631	93	7	is	be	AUX
ap-8631	93	8	among	among	ADP
ap-8631	93	9	the	the	DET
ap-8631	93	10	cheapest	cheap	ADJ
ap-8631	93	11	and	and	CCONJ
ap-8631	93	12	smallest	small	ADJ
ap-8631	93	13	models	model	NOUN
ap-8631	93	14	on	on	ADP
ap-8631	93	15	the	the	DET
ap-8631	93	16	market	market	NOUN
ap-8631	93	17	,	,	PUNCT
ap-8631	93	18	making	make	VERB
ap-8631	93	19	it	it	PRON
ap-8631	93	20	suitable	suitable	ADJ
ap-8631	93	21	for	for	ADP
ap-8631	93	22	use	use	NOUN
ap-8631	93	23	in	in	ADP
ap-8631	93	24	the	the	DET
ap-8631	93	25	exoskeleton	exoskeleton	PROPN
ap-8631	93	26	.	.	PUNCT
ap-8631	94	1	figure	figure	NOUN
ap-8631	94	2	1	1	NUM
ap-8631	94	3	shows	show	VERB
ap-8631	94	4	the	the	DET
ap-8631	94	5	structure	structure	NOUN
ap-8631	94	6	of	of	ADP
ap-8631	94	7	the	the	DET
ap-8631	94	8	exoskeleton	exoskeleton	NOUN
ap-8631	94	9	.	.	PUNCT
ap-8631	95	1	the	the	DET
ap-8631	95	2	parameters	parameter	NOUN
ap-8631	95	3	of	of	ADP
ap-8631	95	4	the	the	DET
ap-8631	95	5	exoskeleton	exoskeleton	NOUN
ap-8631	95	6	system	system	NOUN
ap-8631	95	7	used	use	VERB
ap-8631	95	8	in	in	ADP
ap-8631	95	9	this	this	DET
ap-8631	95	10	study	study	NOUN
ap-8631	95	11	has	have	AUX
ap-8631	95	12	been	be	AUX
ap-8631	95	13	listed	list	VERB
ap-8631	95	14	in	in	ADP
ap-8631	95	15	table	table	NOUN
ap-8631	95	16	1	1	NUM
ap-8631	95	17	[	[	X
ap-8631	95	18	41	41	NUM
ap-8631	95	19	]	]	PUNCT
ap-8631	95	20	.	.	PUNCT
ap-8631	96	1	2.2	2.2	NUM
ap-8631	96	2	.	.	PUNCT
ap-8631	97	1	adrc	adrc	PROPN
ap-8631	97	2	methodology	methodology	NOUN
ap-8631	97	3	the	the	DET
ap-8631	97	4	primary	primary	ADJ
ap-8631	97	5	concept	concept	NOUN
ap-8631	97	6	of	of	ADP
ap-8631	97	7	adrc	adrc	PROPN
ap-8631	97	8	is	be	AUX
ap-8631	97	9	disturbance	disturbance	NOUN
ap-8631	97	10	rejection	rejection	NOUN
ap-8631	97	11	,	,	PUNCT
ap-8631	97	12	which	which	PRON
ap-8631	97	13	is	be	AUX
ap-8631	97	14	based	base	VERB
ap-8631	97	15	on	on	ADP
ap-8631	97	16	the	the	DET
ap-8631	97	17	lack	lack	NOUN
ap-8631	97	18	of	of	ADP
ap-8631	97	19	a	a	DET
ap-8631	97	20	precise	precise	ADJ
ap-8631	97	21	mathematical	mathematical	ADJ
ap-8631	97	22	model	model	NOUN
ap-8631	97	23	of	of	ADP
ap-8631	97	24	the	the	DET
ap-8631	97	25	system	system	NOUN
ap-8631	97	26	[	[	X
ap-8631	97	27	43	43	NUM
ap-8631	97	28	,	,	PUNCT
ap-8631	97	29	44	44	NUM
ap-8631	97	30	]	]	PUNCT
ap-8631	97	31	.	.	PUNCT
ap-8631	98	1	the	the	DET
ap-8631	98	2	eso	eso	NOUN
ap-8631	98	3	is	be	AUX
ap-8631	98	4	utilised	utilise	VERB
ap-8631	98	5	in	in	ADP
ap-8631	98	6	the	the	DET
ap-8631	98	7	adrc	adrc	PROPN
ap-8631	98	8	framework	framework	NOUN
ap-8631	98	9	to	to	PART
ap-8631	98	10	estimate	estimate	VERB
ap-8631	98	11	the	the	DET
ap-8631	98	12	disturbance	disturbance	NOUN
ap-8631	98	13	so	so	SCONJ
ap-8631	98	14	that	that	SCONJ
ap-8631	98	15	it	it	PRON
ap-8631	98	16	can	can	AUX
ap-8631	98	17	later	later	ADV
ap-8631	98	18	be	be	AUX
ap-8631	98	19	terminated	terminate	VERB
ap-8631	98	20	in	in	ADP
ap-8631	98	21	the	the	DET
ap-8631	98	22	control	control	NOUN
ap-8631	98	23	rule	rule	NOUN
ap-8631	98	24	.	.	PUNCT
ap-8631	99	1	the	the	DET
ap-8631	99	2	adrc	adrc	PROPN
ap-8631	99	3	is	be	AUX
ap-8631	99	4	a	a	DET
ap-8631	99	5	form	form	NOUN
ap-8631	99	6	of	of	ADP
ap-8631	99	7	nonlinear	nonlinear	ADJ
ap-8631	99	8	control	control	NOUN
ap-8631	99	9	approach	approach	NOUN
ap-8631	99	10	that	that	PRON
ap-8631	99	11	comes	come	VERB
ap-8631	99	12	in	in	ADP
ap-8631	99	13	two	two	NUM
ap-8631	99	14	types	type	NOUN
ap-8631	99	15	.	.	PUNCT
ap-8631	100	1	2.2.1	2.2.1	NUM
ap-8631	100	2	.	.	PUNCT
ap-8631	101	1	linear	linear	PROPN
ap-8631	101	2	adrc	adrc	PROPN
ap-8631	101	3	(	(	PUNCT
ap-8631	101	4	ladrc	ladrc	PROPN
ap-8631	101	5	)	)	PUNCT
ap-8631	101	6	the	the	DET
ap-8631	101	7	adrc	adrc	NOUN
ap-8631	101	8	is	be	AUX
ap-8631	101	9	mainly	mainly	ADV
ap-8631	101	10	composed	compose	VERB
ap-8631	101	11	of	of	ADP
ap-8631	101	12	tracking	tracking	NOUN
ap-8631	101	13	differential	differential	NOUN
ap-8631	101	14	(	(	PUNCT
ap-8631	101	15	td	td	NOUN
ap-8631	101	16	)	)	PUNCT
ap-8631	101	17	,	,	PUNCT
ap-8631	101	18	extended	extend	VERB
ap-8631	101	19	state	state	NOUN
ap-8631	101	20	observer	observer	NOUN
ap-8631	101	21	(	(	PUNCT
ap-8631	101	22	eso	eso	NOUN
ap-8631	101	23	)	)	PUNCT
ap-8631	101	24	,	,	PUNCT
ap-8631	101	25	and	and	CCONJ
ap-8631	101	26	state	state	NOUN
ap-8631	101	27	error	error	NOUN
ap-8631	101	28	feedback	feedback	NOUN
ap-8631	101	29	(	(	PUNCT
ap-8631	101	30	sef	sef	NOUN
ap-8631	101	31	)	)	PUNCT
ap-8631	101	32	.	.	PUNCT
ap-8631	102	1	a	a	DET
ap-8631	102	2	general	general	ADJ
ap-8631	102	3	nth	nth	NOUN
ap-8631	102	4	-	-	PUNCT
ap-8631	102	5	order	order	NOUN
ap-8631	102	6	siso	siso	NOUN
ap-8631	102	7	dynamical	dynamical	ADJ
ap-8631	102	8	figure	figure	NOUN
ap-8631	102	9	1	1	NUM
ap-8631	102	10	.	.	PUNCT
ap-8631	103	1	lower	low	ADJ
ap-8631	103	2	limb	limb	NOUN
ap-8631	103	3	robotic	robotic	ADJ
ap-8631	103	4	rehabilitation	rehabilitation	NOUN
ap-8631	103	5	exoskeleton	exoskeleton	NOUN
ap-8631	104	1	[	[	X
ap-8631	104	2	41	41	NUM
ap-8631	104	3	]	]	PUNCT
ap-8631	104	4	.	.	PUNCT
ap-8631	105	1	parameter	parameter	NOUN
ap-8631	105	2	value	value	NOUN
ap-8631	105	3	inertia	inertia	NOUN
ap-8631	105	4	(	(	PUNCT
ap-8631	105	5	j	j	NOUN
ap-8631	105	6	)	)	PUNCT
ap-8631	105	7	0.348	0.348	NUM
ap-8631	106	1	kg·m2	kg·m2	PROPN
ap-8631	106	2	solid	solid	ADJ
ap-8631	106	3	friction	friction	NOUN
ap-8631	106	4	coefficient	coefficient	NOUN
ap-8631	106	5	(	(	PUNCT
ap-8631	106	6	a	a	X
ap-8631	106	7	)	)	PUNCT
ap-8631	106	8	0.998	0.998	NUM
ap-8631	106	9	n·m	n·m	DET
ap-8631	106	10	viscous	viscous	ADJ
ap-8631	106	11	friction	friction	NOUN
ap-8631	106	12	coefficient	coefficient	NOUN
ap-8631	106	13	(	(	PUNCT
ap-8631	106	14	b	b	NOUN
ap-8631	106	15	)	)	PUNCT
ap-8631	106	16	0.872	0.872	NUM
ap-8631	106	17	n·m·s·rad−1	n·m·s·rad−1	NOUN
ap-8631	106	18	gravity	gravity	NOUN
ap-8631	106	19	torque	torque	NOUN
ap-8631	106	20	3.445	3.445	NUM
ap-8631	106	21	n·m	n·m	NOUN
ap-8631	106	22	table	table	NOUN
ap-8631	106	23	1	1	NUM
ap-8631	106	24	.	.	PUNCT
ap-8631	107	1	parameters	parameter	NOUN
ap-8631	107	2	of	of	ADP
ap-8631	107	3	the	the	DET
ap-8631	107	4	exoskeleton	exoskeleton	NOUN
ap-8631	107	5	[	[	X
ap-8631	107	6	41	41	NUM
ap-8631	107	7	]	]	PUNCT
ap-8631	107	8	.	.	PUNCT
ap-8631	108	1	system	system	NOUN
ap-8631	108	2	,	,	PUNCT
ap-8631	108	3	which	which	PRON
ap-8631	108	4	may	may	AUX
ap-8631	108	5	be	be	AUX
ap-8631	108	6	used	use	VERB
ap-8631	108	7	to	to	PART
ap-8631	108	8	describe	describe	VERB
ap-8631	108	9	a	a	DET
ap-8631	108	10	wide	wide	ADJ
ap-8631	108	11	range	range	NOUN
ap-8631	108	12	of	of	ADP
ap-8631	108	13	physical	physical	ADJ
ap-8631	108	14	systems	system	NOUN
ap-8631	108	15	,	,	PUNCT
ap-8631	108	16	can	can	AUX
ap-8631	108	17	be	be	AUX
ap-8631	108	18	formulated	formulate	VERB
ap-8631	108	19	as	as	ADP
ap-8631	108	20	a	a	DET
ap-8631	108	21	fundamental	fundamental	ADJ
ap-8631	108	22	input	input	NOUN
ap-8631	108	23	-	-	PUNCT
ap-8631	108	24	output	output	NOUN
ap-8631	108	25	representation	representation	NOUN
ap-8631	108	26	for	for	ADP
ap-8631	108	27	simplicity	simplicity	NOUN
ap-8631	108	28	and	and	CCONJ
ap-8631	108	29	without	without	ADP
ap-8631	108	30	abandoning	abandon	VERB
ap-8631	108	31	generality	generality	NOUN
ap-8631	108	32	[	[	X
ap-8631	108	33	25	25	NUM
ap-8631	108	34	]	]	X
ap-8631	108	35	:	:	PUNCT
ap-8631	108	36	y(n	y(n	PROPN
ap-8631	108	37	)	)	PUNCT
ap-8631	109	1	=	=	SYM
ap-8631	109	2	f	f	PROPN
ap-8631	109	3	(	(	PUNCT
ap-8631	109	4	y(n−1	y(n−1	PROPN
ap-8631	109	5	)	)	PUNCT
ap-8631	109	6	,	,	PUNCT
ap-8631	109	7	y(n−2	y(n−2	PROPN
ap-8631	109	8	)	)	PUNCT
ap-8631	109	9	,	,	PUNCT
ap-8631	109	10	.	.	PUNCT
ap-8631	109	11	.	.	PUNCT
ap-8631	109	12	.	.	PUNCT
ap-8631	110	1	,	,	PUNCT
ap-8631	110	2	y	y	PROPN
ap-8631	110	3	)	)	PUNCT
ap-8631	111	1	+	+	CCONJ
ap-8631	111	2	w	w	X
ap-8631	112	1	+	+	NUM
ap-8631	112	2	b0u	b0u	NOUN
ap-8631	112	3	.	.	PUNCT
ap-8631	113	1	(	(	PUNCT
ap-8631	113	2	2	2	X
ap-8631	113	3	)	)	PUNCT
ap-8631	113	4	according	accord	VERB
ap-8631	113	5	to	to	ADP
ap-8631	113	6	equation	equation	NOUN
ap-8631	113	7	(	(	PUNCT
ap-8631	113	8	1	1	NUM
ap-8631	113	9	)	)	PUNCT
ap-8631	113	10	,	,	PUNCT
ap-8631	113	11	one	one	PRON
ap-8631	113	12	can	can	AUX
ap-8631	113	13	have	have	VERB
ap-8631	113	14	:	:	PUNCT
ap-8631	113	15	θ̈	θ̈	CCONJ
ap-8631	113	16	=	=	SYM
ap-8631	113	17	ÿ	ÿ	NOUN
ap-8631	113	18	=	=	NOUN
ap-8631	113	19	f(t	f(t	NOUN
ap-8631	113	20	,	,	PUNCT
ap-8631	113	21	θ	θ	PROPN
ap-8631	113	22	,	,	PUNCT
ap-8631	113	23	θ̇	θ̇	X
ap-8631	113	24	,	,	PUNCT
ap-8631	113	25	w	w	NOUN
ap-8631	113	26	)	)	PUNCT
ap-8631	114	1	+	+	CCONJ
ap-8631	114	2	b0u	b0u	NOUN
ap-8631	114	3	,	,	PUNCT
ap-8631	114	4	(	(	PUNCT
ap-8631	114	5	3	3	X
ap-8631	114	6	)	)	PUNCT
ap-8631	114	7	where	where	SCONJ
ap-8631	114	8	u	u	PRON
ap-8631	114	9	represents	represent	VERB
ap-8631	114	10	the	the	DET
ap-8631	114	11	control	control	NOUN
ap-8631	114	12	input	input	NOUN
ap-8631	114	13	(	(	PUNCT
ap-8631	114	14	to	to	PART
ap-8631	114	15	be	be	AUX
ap-8631	114	16	designed	design	VERB
ap-8631	114	17	)	)	PUNCT
ap-8631	114	18	,	,	PUNCT
ap-8631	114	19	(	(	PUNCT
ap-8631	114	20	y	y	NOUN
ap-8631	114	21	)	)	PUNCT
ap-8631	114	22	represents	represent	VERB
ap-8631	114	23	the	the	DET
ap-8631	114	24	only	only	ADJ
ap-8631	114	25	observable	observable	ADJ
ap-8631	114	26	system	system	NOUN
ap-8631	114	27	output	output	NOUN
ap-8631	114	28	signal	signal	NOUN
ap-8631	114	29	,	,	PUNCT
ap-8631	114	30	w	w	PROPN
ap-8631	114	31	denotes	denote	NOUN
ap-8631	114	32	the	the	DET
ap-8631	114	33	unidentified	unidentified	ADJ
ap-8631	114	34	external	external	ADJ
ap-8631	114	35	disturbance	disturbance	NOUN
ap-8631	114	36	,	,	PUNCT
ap-8631	114	37	f	f	X
ap-8631	114	38	(	(	PUNCT
ap-8631	114	39	.	.	PUNCT
ap-8631	114	40	)	)	PUNCT
ap-8631	114	41	demonstrates	demonstrate	VERB
ap-8631	114	42	probably	probably	ADV
ap-8631	114	43	the	the	DET
ap-8631	114	44	most	most	ADV
ap-8631	114	45	frequently	frequently	ADV
ap-8631	114	46	unknown	unknown	ADJ
ap-8631	114	47	internal	internal	ADJ
ap-8631	114	48	(	(	PUNCT
ap-8631	114	49	state	state	NOUN
ap-8631	114	50	-	-	PUNCT
ap-8631	114	51	dependent	dependent	ADJ
ap-8631	114	52	and	and	CCONJ
ap-8631	114	53	feasibly	feasibly	ADV
ap-8631	114	54	nonlinear	nonlinear	ADJ
ap-8631	114	55	)	)	PUNCT
ap-8631	114	56	dynamics	dynamic	NOUN
ap-8631	114	57	of	of	ADP
ap-8631	114	58	the	the	DET
ap-8631	114	59	process	process	NOUN
ap-8631	114	60	,	,	PUNCT
ap-8631	114	61	and	and	CCONJ
ap-8631	114	62	(	(	PUNCT
ap-8631	114	63	b0	b0	NOUN
ap-8631	114	64	)	)	PUNCT
ap-8631	114	65	signifies	signify	VERB
ap-8631	114	66	the	the	DET
ap-8631	114	67	unknown	unknown	ADJ
ap-8631	114	68	input	input	NOUN
ap-8631	114	69	correction	correction	NOUN
ap-8631	114	70	factor	factor	NOUN
ap-8631	114	71	.	.	PUNCT
ap-8631	115	1	the	the	DET
ap-8631	115	2	purpose	purpose	NOUN
ap-8631	115	3	of	of	ADP
ap-8631	115	4	the	the	DET
ap-8631	115	5	control	control	NOUN
ap-8631	115	6	is	be	AUX
ap-8631	115	7	to	to	PART
ap-8631	115	8	create	create	VERB
ap-8631	115	9	a	a	DET
ap-8631	115	10	system	system	NOUN
ap-8631	115	11	input	input	NOUN
ap-8631	115	12	signal	signal	NOUN
ap-8631	115	13	(	(	PUNCT
ap-8631	115	14	u	u	NOUN
ap-8631	115	15	)	)	PUNCT
ap-8631	115	16	that	that	PRON
ap-8631	115	17	allows	allow	VERB
ap-8631	115	18	the	the	DET
ap-8631	115	19	system	system	NOUN
ap-8631	115	20	output	output	NOUN
ap-8631	115	21	(	(	PUNCT
ap-8631	115	22	y	y	NOUN
ap-8631	115	23	)	)	PUNCT
ap-8631	115	24	to	to	PART
ap-8631	115	25	track	track	VERB
ap-8631	115	26	the	the	DET
ap-8631	115	27	target	target	NOUN
ap-8631	115	28	value	value	NOUN
ap-8631	115	29	(	(	PUNCT
ap-8631	115	30	yd	yd	NOUN
ap-8631	115	31	)	)	PUNCT
ap-8631	115	32	,	,	PUNCT
ap-8631	115	33	an	an	DET
ap-8631	115	34	irrespective	irrespective	ADJ
ap-8631	115	35	influence	influence	NOUN
ap-8631	115	36	of	of	ADP
ap-8631	115	37	unmolded	unmolded	ADJ
ap-8631	115	38	/	/	SYM
ap-8631	115	39	unknown	unknown	ADJ
ap-8631	115	40	system	system	NOUN
ap-8631	115	41	components	component	NOUN
ap-8631	115	42	(	(	PUNCT
ap-8631	115	43	seen	see	VERB
ap-8631	115	44	as	as	ADP
ap-8631	115	45	an	an	DET
ap-8631	115	46	acting	act	VERB
ap-8631	115	47	perturbation	perturbation	NOUN
ap-8631	115	48	)	)	PUNCT
ap-8631	115	49	.	.	PUNCT
ap-8631	116	1	a	a	DET
ap-8631	116	2	new	new	ADJ
ap-8631	116	3	term	term	NOUN
ap-8631	116	4	(	(	PUNCT
ap-8631	116	5	δ	δ	NOUN
ap-8631	116	6	)	)	PUNCT
ap-8631	116	7	can	can	AUX
ap-8631	116	8	be	be	AUX
ap-8631	116	9	introduced	introduce	VERB
ap-8631	116	10	to	to	PART
ap-8631	116	11	tackle	tackle	VERB
ap-8631	116	12	both	both	CCONJ
ap-8631	116	13	the	the	DET
ap-8631	116	14	internal	internal	ADJ
ap-8631	116	15	modelling	modelling	NOUN
ap-8631	116	16	mismatch	mismatch	NOUN
ap-8631	116	17	f	f	X
ap-8631	116	18	(	(	PUNCT
ap-8631	116	19	.	.	PUNCT
ap-8631	116	20	)	)	PUNCT
ap-8631	117	1	and	and	CCONJ
ap-8631	117	2	the	the	DET
ap-8631	117	3	unknown	unknown	ADJ
ap-8631	117	4	external	external	ADJ
ap-8631	117	5	disturbance	disturbance	NOUN
ap-8631	117	6	(	(	PUNCT
ap-8631	117	7	w	w	NOUN
ap-8631	117	8	)	)	PUNCT
ap-8631	117	9	,	,	PUNCT
ap-8631	117	10	resulting	result	VERB
ap-8631	117	11	in	in	ADP
ap-8631	117	12	a	a	DET
ap-8631	117	13	required	require	VERB
ap-8631	117	14	generalised	generalised	ADJ
ap-8631	117	15	controllable	controllable	ADJ
ap-8631	117	16	canonical	canonical	ADJ
ap-8631	117	17	form	form	NOUN
ap-8631	117	18	of	of	ADP
ap-8631	117	19	the	the	DET
ap-8631	117	20	system	system	NOUN
ap-8631	117	21	[	[	X
ap-8631	117	22	15	15	NUM
ap-8631	117	23	]	]	SYM
ap-8631	117	24	:	:	PUNCT
ap-8631	117	25	y(n	y(n	PROPN
ap-8631	117	26	)	)	PUNCT
ap-8631	118	1	=	=	SYM
ap-8631	118	2	δ	δ	PROPN
ap-8631	118	3	+	+	NUM
ap-8631	118	4	b0u	b0u	NOUN
ap-8631	118	5	,	,	PUNCT
ap-8631	118	6	δ	δ	X
ap-8631	118	7	=	=	SYM
ap-8631	118	8	f	f	PROPN
ap-8631	118	9	(	(	PUNCT
ap-8631	118	10	.	.	PUNCT
ap-8631	118	11	)	)	PUNCT
ap-8631	119	1	+	+	CCONJ
ap-8631	119	2	w	w	X
ap-8631	119	3	,	,	PUNCT
ap-8631	119	4	(	(	PUNCT
ap-8631	119	5	4	4	NUM
ap-8631	119	6	)	)	PUNCT
ap-8631	119	7	where	where	SCONJ
ap-8631	119	8	(	(	PUNCT
ap-8631	119	9	δ	δ	NOUN
ap-8631	119	10	)	)	PUNCT
ap-8631	119	11	is	be	AUX
ap-8631	119	12	assumed	assume	VERB
ap-8631	119	13	to	to	PART
ap-8631	119	14	be	be	AUX
ap-8631	119	15	the	the	DET
ap-8631	119	16	total	total	ADJ
ap-8631	119	17	disturbance	disturbance	NOUN
ap-8631	119	18	.	.	PUNCT
ap-8631	120	1	the	the	DET
ap-8631	120	2	modelling	model	VERB
ap-8631	120	3	uncertainty	uncertainty	NOUN
ap-8631	120	4	related	relate	VERB
ap-8631	120	5	to	to	ADP
ap-8631	120	6	(	(	PUNCT
ap-8631	120	7	b	b	NOUN
ap-8631	120	8	)	)	PUNCT
ap-8631	120	9	can	can	AUX
ap-8631	120	10	also	also	ADV
ap-8631	120	11	be	be	AUX
ap-8631	120	12	treated	treat	VERB
ap-8631	120	13	as	as	ADP
ap-8631	120	14	part	part	NOUN
ap-8631	120	15	of	of	ADP
ap-8631	120	16	the	the	DET
ap-8631	120	17	total	total	ADJ
ap-8631	120	18	disturbance	disturbance	NOUN
ap-8631	120	19	,	,	PUNCT
ap-8631	120	20	so	so	SCONJ
ap-8631	120	21	that	that	SCONJ
ap-8631	120	22	equation	equation	NOUN
ap-8631	120	23	(	(	PUNCT
ap-8631	120	24	4	4	X
ap-8631	120	25	)	)	PUNCT
ap-8631	120	26	can	can	AUX
ap-8631	120	27	be	be	AUX
ap-8631	120	28	written	write	VERB
ap-8631	120	29	as	as	ADP
ap-8631	120	30	:	:	PUNCT
ap-8631	120	31	160	160	NUM
ap-8631	120	32	vol	vol	NOUN
ap-8631	120	33	.	.	PUNCT
ap-8631	121	1	63	63	NUM
ap-8631	122	1	no	no	NOUN
ap-8631	122	2	.	.	PUNCT
ap-8631	123	1	3/2023	3/2023	NUM
ap-8631	123	2	fractional	fractional	ADJ
ap-8631	123	3	multi	multi	ADJ
ap-8631	123	4	-	-	ADJ
ap-8631	123	5	loop	loop	ADJ
ap-8631	123	6	active	active	ADJ
ap-8631	123	7	disturbance	disturbance	NOUN
ap-8631	123	8	rejection	rejection	NOUN
ap-8631	123	9	control	control	NOUN
ap-8631	123	10	δ	δ	X
ap-8631	123	11	=	=	SYM
ap-8631	123	12	f	f	PROPN
ap-8631	123	13	(	(	PUNCT
ap-8631	123	14	.	.	PUNCT
ap-8631	123	15	)	)	PUNCT
ap-8631	124	1	+	+	CCONJ
ap-8631	124	2	w	w	NOUN
ap-8631	124	3	+	+	CCONJ
ap-8631	124	4	u(b	u(b	ADJ
ap-8631	124	5	−	−	PROPN
ap-8631	124	6	b0	b0	NOUN
ap-8631	124	7	)	)	PUNCT
ap-8631	124	8	.	.	PUNCT
ap-8631	125	1	(	(	PUNCT
ap-8631	125	2	5	5	X
ap-8631	125	3	)	)	PUNCT
ap-8631	125	4	the	the	DET
ap-8631	125	5	plant	plant	NOUN
ap-8631	125	6	model	model	NOUN
ap-8631	125	7	can	can	AUX
ap-8631	125	8	be	be	AUX
ap-8631	125	9	described	describe	VERB
ap-8631	125	10	using	use	VERB
ap-8631	125	11	the	the	DET
ap-8631	125	12	statespace	statespace	NOUN
ap-8631	125	13	representation	representation	NOUN
ap-8631	125	14	as	as	ADP
ap-8631	125	15	:	:	PUNCT
ap-8631	125	16	ẋ	ẋ	PROPN
ap-8631	125	17	=	=	NOUN
ap-8631	126	1	ax	ax	NOUN
ap-8631	126	2	+	+	CCONJ
ap-8631	126	3	bu	bu	ADP
ap-8631	127	1	+	+	CCONJ
ap-8631	127	2	eδ	eδ	NOUN
ap-8631	127	3	,	,	PUNCT
ap-8631	127	4	y	y	PROPN
ap-8631	127	5	=	=	SYM
ap-8631	127	6	cx	cx	PROPN
ap-8631	127	7	.	.	PUNCT
ap-8631	128	1	(	(	PUNCT
ap-8631	128	2	6	6	X
ap-8631	128	3	)	)	PUNCT
ap-8631	128	4	the	the	DET
ap-8631	128	5	plant	plant	NOUN
ap-8631	128	6	matrices	matrix	NOUN
ap-8631	128	7	are	be	AUX
ap-8631	128	8	placed	place	VERB
ap-8631	128	9	in	in	ADP
ap-8631	128	10	(	(	PUNCT
ap-8631	128	11	n	n	X
ap-8631	128	12	+	+	CCONJ
ap-8631	128	13	1	1	NUM
ap-8631	128	14	)	)	PUNCT
ap-8631	128	15	form	form	NOUN
ap-8631	128	16	because	because	SCONJ
ap-8631	128	17	the	the	DET
ap-8631	128	18	adrc	adrc	NOUN
ap-8631	128	19	needs	need	VERB
ap-8631	128	20	an	an	DET
ap-8631	128	21	extra	extra	ADJ
ap-8631	128	22	state	state	NOUN
ap-8631	128	23	for	for	ADP
ap-8631	128	24	cancelling	cancel	VERB
ap-8631	128	25	the	the	DET
ap-8631	128	26	total	total	ADJ
ap-8631	128	27	disturbances	disturbance	NOUN
ap-8631	128	28	,	,	PUNCT
ap-8631	128	29	then	then	ADV
ap-8631	128	30	x	x	X
ap-8631	129	1	=	=	PUNCT
ap-8631	130	1	[	[	X
ap-8631	130	2	x1	x1	PROPN
ap-8631	130	3	,	,	PUNCT
ap-8631	130	4	x2	x2	PROPN
ap-8631	130	5	,	,	PUNCT
ap-8631	130	6	.	.	PUNCT
ap-8631	130	7	.	.	PUNCT
ap-8631	131	1	.	.	PUNCT
ap-8631	132	1	,	,	PUNCT
ap-8631	132	2	xn	xn	PROPN
ap-8631	132	3	,	,	PUNCT
ap-8631	132	4	xn+1	xn+1	X
ap-8631	132	5	]	]	PUNCT
ap-8631	133	1	∼=	∼=	PROPN
ap-8631	133	2	[	[	X
ap-8631	133	3	y	y	PROPN
ap-8631	133	4	,	,	PUNCT
ap-8631	133	5	ẏ	ẏ	PROPN
ap-8631	133	6	,	,	PUNCT
ap-8631	133	7	.	.	PUNCT
ap-8631	133	8	.	.	PUNCT
ap-8631	134	1	.	.	PUNCT
ap-8631	135	1	,	,	PUNCT
ap-8631	135	2	yn	yn	PROPN
ap-8631	135	3	,	,	PUNCT
ap-8631	135	4	δ	δ	PROPN
ap-8631	135	5	]	]	PUNCT
ap-8631	135	6	.	.	PUNCT
ap-8631	136	1	(	(	PUNCT
ap-8631	136	2	7	7	X
ap-8631	136	3	)	)	PUNCT
ap-8631	136	4	the	the	DET
ap-8631	136	5	observer	observer	NOUN
ap-8631	136	6	,	,	PUNCT
ap-8631	136	7	in	in	ADP
ap-8631	136	8	this	this	DET
ap-8631	136	9	case	case	NOUN
ap-8631	136	10	,	,	PUNCT
ap-8631	136	11	takes	take	VERB
ap-8631	136	12	the	the	DET
ap-8631	136	13	form	form	NOUN
ap-8631	136	14	of	of	ADP
ap-8631	136	15	the	the	DET
ap-8631	136	16	most	most	ADV
ap-8631	136	17	widely	widely	ADV
ap-8631	136	18	used	use	VERB
ap-8631	136	19	linear	linear	NOUN
ap-8631	136	20	luenberger	luenberg	ADJ
ap-8631	136	21	-	-	PUNCT
ap-8631	136	22	like	like	ADJ
ap-8631	136	23	estimator	estimator	NOUN
ap-8631	136	24	,	,	PUNCT
ap-8631	136	25	which	which	PRON
ap-8631	136	26	is	be	AUX
ap-8631	136	27	:	:	PUNCT
ap-8631	136	28	ˆ̇x	ˆ̇x	PROPN
ap-8631	136	29	=	=	SYM
ap-8631	136	30	ax̂	ax̂	PROPN
ap-8631	136	31	+	+	CCONJ
ap-8631	136	32	bu	bu	PROPN
ap-8631	136	33	+	+	CCONJ
ap-8631	136	34	l(x	l(x	PROPN
ap-8631	136	35	−	−	PROPN
ap-8631	136	36	x̂	x̂	NUM
ap-8631	136	37	)	)	PUNCT
ap-8631	136	38	,	,	PUNCT
ap-8631	137	1	y	y	NOUN
ap-8631	137	2	=	=	PUNCT
ap-8631	137	3	cx̂	cx̂	PROPN
ap-8631	137	4	.	.	PUNCT
ap-8631	138	1	(	(	PUNCT
ap-8631	138	2	8)	8)	NUM
ap-8631	138	3	the	the	DET
ap-8631	138	4	aim	aim	NOUN
ap-8631	138	5	is	be	AUX
ap-8631	138	6	(	(	PUNCT
ap-8631	138	7	x̂	x̂	X
ap-8631	138	8	→	→	SYM
ap-8631	138	9	x	x	X
ap-8631	138	10	)	)	PUNCT
ap-8631	138	11	,	,	PUNCT
ap-8631	138	12	so	so	SCONJ
ap-8631	138	13	that	that	PRON
ap-8631	138	14	x̂	x̂	PUNCT
ap-8631	139	1	=	=	PUNCT
ap-8631	140	1	[	[	X
ap-8631	140	2	x̂1	x̂1	X
ap-8631	140	3	,	,	PUNCT
ap-8631	140	4	x̂2	x̂2	NOUN
ap-8631	140	5	,	,	PUNCT
ap-8631	140	6	.	.	PUNCT
ap-8631	140	7	.	.	PUNCT
ap-8631	140	8	.	.	PUNCT
ap-8631	140	9	.	.	PUNCT
ap-8631	141	1	.	.	PUNCT
ap-8631	141	2	.	.	PUNCT
ap-8631	142	1	,	,	PUNCT
ap-8631	142	2	x̂n	x̂n	PROPN
ap-8631	142	3	,	,	PUNCT
ap-8631	142	4	x̂n+1	x̂n+1	PROPN
ap-8631	142	5	]	]	PUNCT
ap-8631	142	6	∼=	∼=	PROPN
ap-8631	142	7	[	[	PUNCT
ap-8631	142	8	ŷ	ŷ	NUM
ap-8631	142	9	,	,	PUNCT
ap-8631	142	10	ˆ̇y	ˆ̇y	PROPN
ap-8631	142	11	,	,	PUNCT
ap-8631	142	12	.	.	PUNCT
ap-8631	142	13	.	.	PUNCT
ap-8631	142	14	.	.	PUNCT
ap-8631	142	15	.	.	PUNCT
ap-8631	143	1	.	.	PUNCT
ap-8631	143	2	.	.	PUNCT
ap-8631	144	1	,	,	PUNCT
ap-8631	144	2	δ	δ	PROPN
ap-8631	144	3	]	]	PUNCT
ap-8631	144	4	,	,	PUNCT
ap-8631	144	5	(	(	PUNCT
ap-8631	144	6	9	9	NUM
ap-8631	144	7	)	)	PUNCT
ap-8631	145	1	where	where	SCONJ
ap-8631	145	2	,	,	PUNCT
ap-8631	145	3	l	l	PROPN
ap-8631	145	4	=	=	PUNCT
ap-8631	146	1	[	[	X
ap-8631	146	2	l1	l1	PROPN
ap-8631	146	3	,	,	PUNCT
ap-8631	146	4	l2	l2	NOUN
ap-8631	146	5	,	,	PUNCT
ap-8631	146	6	.	.	PUNCT
ap-8631	146	7	.	.	PUNCT
ap-8631	146	8	.	.	PUNCT
ap-8631	147	1	,	,	PUNCT
ap-8631	147	2	ln	ln	X
ap-8631	147	3	,	,	PUNCT
ap-8631	147	4	ln+1	ln+1	PROPN
ap-8631	147	5	]	]	PUNCT
ap-8631	147	6	represents	represent	VERB
ap-8631	147	7	the	the	DET
ap-8631	147	8	observer	observer	NOUN
ap-8631	147	9	gains	gain	NOUN
ap-8631	147	10	and	and	CCONJ
ap-8631	147	11	depends	depend	VERB
ap-8631	147	12	on	on	ADP
ap-8631	147	13	the	the	DET
ap-8631	147	14	observer	observer	NOUN
ap-8631	147	15	’s	’s	PART
ap-8631	147	16	bandwidth	bandwidth	ADJ
ap-8631	147	17	(	(	PUNCT
ap-8631	147	18	w0	w0	PROPN
ap-8631	147	19	)	)	PUNCT
ap-8631	147	20	.	.	PUNCT
ap-8631	148	1	if	if	SCONJ
ap-8631	148	2	one	one	PRON
ap-8631	148	3	chooses	choose	VERB
ap-8631	148	4	w0	w0	PROPN
ap-8631	148	5	=	=	SYM
ap-8631	148	6	4wc	4wc	PROPN
ap-8631	148	7	,	,	PUNCT
ap-8631	148	8	where	where	SCONJ
ap-8631	148	9	wc	wc	PROPN
ap-8631	148	10	is	be	AUX
ap-8631	148	11	the	the	DET
ap-8631	148	12	controller	controller	NOUN
ap-8631	148	13	bandwidth	bandwidth	NOUN
ap-8631	148	14	,	,	PUNCT
ap-8631	148	15	then	then	ADV
ap-8631	148	16	it	it	PRON
ap-8631	148	17	is	be	AUX
ap-8631	148	18	easy	easy	ADJ
ap-8631	148	19	to	to	PART
ap-8631	148	20	calculate	calculate	VERB
ap-8631	148	21	the	the	DET
ap-8631	148	22	elements	element	NOUN
ap-8631	148	23	of	of	ADP
ap-8631	148	24	the	the	DET
ap-8631	148	25	observer	observer	NOUN
ap-8631	148	26	matrix	matrix	NOUN
ap-8631	148	27	gains	gain	NOUN
ap-8631	148	28	(	(	PUNCT
ap-8631	148	29	l1	l1	PROPN
ap-8631	148	30	=	=	PUNCT
ap-8631	148	31	3wo	3wo	NOUN
ap-8631	148	32	,	,	PUNCT
ap-8631	148	33	l2	l2	NOUN
ap-8631	148	34	=	=	PUNCT
ap-8631	148	35	3w2	3w2	NUM
ap-8631	148	36	o	o	NOUN
ap-8631	148	37	,	,	PUNCT
ap-8631	148	38	l3	l3	PROPN
ap-8631	148	39	=	=	PROPN
ap-8631	148	40	w3	w3	PROPN
ap-8631	148	41	o	o	NOUN
ap-8631	148	42	)	)	PUNCT
ap-8631	148	43	according	accord	VERB
ap-8631	148	44	to	to	ADP
ap-8631	148	45	[	[	X
ap-8631	148	46	25	25	NUM
ap-8631	148	47	]	]	PUNCT
ap-8631	148	48	.	.	PUNCT
ap-8631	149	1	the	the	DET
ap-8631	149	2	second	second	ADJ
ap-8631	149	3	part	part	NOUN
ap-8631	149	4	of	of	ADP
ap-8631	149	5	the	the	DET
ap-8631	149	6	adrc	adrc	NOUN
ap-8631	149	7	is	be	AUX
ap-8631	149	8	the	the	DET
ap-8631	149	9	state	state	NOUN
ap-8631	149	10	error	error	NOUN
ap-8631	149	11	feedback	feedback	NOUN
ap-8631	149	12	(	(	PUNCT
ap-8631	149	13	sef	sef	NOUN
ap-8631	149	14	)	)	PUNCT
ap-8631	149	15	.	.	PUNCT
ap-8631	150	1	in	in	ADP
ap-8631	150	2	this	this	DET
ap-8631	150	3	work	work	NOUN
ap-8631	150	4	,	,	PUNCT
ap-8631	150	5	done	do	VERB
ap-8631	150	6	by	by	ADP
ap-8631	150	7	linear	linear	ADJ
ap-8631	150	8	proportional	proportional	ADJ
ap-8631	150	9	-	-	PUNCT
ap-8631	150	10	derivative	derivative	ADJ
ap-8631	150	11	controller	controller	NOUN
ap-8631	150	12	(	(	PUNCT
ap-8631	150	13	pd	pd	NOUN
ap-8631	150	14	)	)	PUNCT
ap-8631	150	15	u0	u0	NOUN
ap-8631	150	16	=	=	PUNCT
ap-8631	150	17	kpϵ	kpϵ	PROPN
ap-8631	150	18	+	+	CCONJ
ap-8631	150	19	kdϵ̇	kdϵ̇	PROPN
ap-8631	150	20	=	=	SYM
ap-8631	150	21	kp(r	kp(r	PROPN
ap-8631	150	22	−	−	NOUN
ap-8631	150	23	x̂1	x̂1	PROPN
ap-8631	150	24	)	)	PUNCT
ap-8631	150	25	+	+	CCONJ
ap-8631	150	26	kd(ṙ	kd(ṙ	NOUN
ap-8631	150	27	−	−	PROPN
ap-8631	150	28	x̂2	x̂2	NOUN
ap-8631	150	29	)	)	PUNCT
ap-8631	150	30	,	,	PUNCT
ap-8631	150	31	(	(	PUNCT
ap-8631	150	32	10	10	NUM
ap-8631	150	33	)	)	PUNCT
ap-8631	150	34	where	where	SCONJ
ap-8631	150	35	kp	kp	PROPN
ap-8631	150	36	is	be	AUX
ap-8631	150	37	the	the	DET
ap-8631	150	38	proportional	proportional	ADJ
ap-8631	150	39	gain	gain	NOUN
ap-8631	150	40	and	and	CCONJ
ap-8631	150	41	kd	kd	PROPN
ap-8631	150	42	is	be	AUX
ap-8631	150	43	the	the	DET
ap-8631	150	44	derivative	derivative	ADJ
ap-8631	150	45	gain	gain	NOUN
ap-8631	150	46	.	.	PUNCT
ap-8631	151	1	these	these	DET
ap-8631	151	2	values	value	NOUN
ap-8631	151	3	are	be	AUX
ap-8631	151	4	calculated	calculate	VERB
ap-8631	151	5	from	from	ADP
ap-8631	151	6	the	the	DET
ap-8631	151	7	controller	controller	NOUN
ap-8631	151	8	bandwidth	bandwidth	NOUN
ap-8631	151	9	(	(	PUNCT
ap-8631	151	10	wc	wc	PROPN
ap-8631	151	11	)	)	PUNCT
ap-8631	151	12	and	and	CCONJ
ap-8631	151	13	damping	damp	VERB
ap-8631	151	14	ratio	ratio	NOUN
ap-8631	151	15	(	(	PUNCT
ap-8631	151	16	ς	ς	NOUN
ap-8631	151	17	)	)	PUNCT
ap-8631	151	18	.	.	PUNCT
ap-8631	152	1	these	these	DET
ap-8631	152	2	values	value	NOUN
ap-8631	152	3	depend	depend	VERB
ap-8631	152	4	on	on	ADP
ap-8631	152	5	the	the	DET
ap-8631	152	6	design	design	NOUN
ap-8631	152	7	specifications	specification	NOUN
ap-8631	152	8	[	[	X
ap-8631	152	9	45	45	NUM
ap-8631	152	10	]	]	PUNCT
ap-8631	152	11	,	,	PUNCT
ap-8631	152	12	kp	kp	PROPN
ap-8631	152	13	=	=	PROPN
ap-8631	152	14	w2	w2	PROPN
ap-8631	152	15	c	c	PROPN
ap-8631	152	16	,	,	PUNCT
ap-8631	152	17	kd	kd	PROPN
ap-8631	152	18	=	=	SYM
ap-8631	152	19	2ςwc	2ςwc	PROPN
ap-8631	152	20	.	.	PUNCT
ap-8631	153	1	(	(	PUNCT
ap-8631	153	2	11	11	NUM
ap-8631	153	3	)	)	PUNCT
ap-8631	153	4	in	in	ADP
ap-8631	153	5	the	the	DET
ap-8631	153	6	adrc	adrc	ADJ
ap-8631	153	7	technique	technique	NOUN
ap-8631	153	8	,	,	PUNCT
ap-8631	153	9	the	the	DET
ap-8631	153	10	control	control	NOUN
ap-8631	153	11	rule	rule	NOUN
ap-8631	153	12	is	be	AUX
ap-8631	153	13	composed	compose	VERB
ap-8631	153	14	of	of	ADP
ap-8631	153	15	a	a	DET
ap-8631	153	16	controller	controller	NOUN
ap-8631	153	17	(	(	PUNCT
ap-8631	153	18	u0	u0	PROPN
ap-8631	153	19	)	)	PUNCT
ap-8631	153	20	,	,	PUNCT
ap-8631	153	21	which	which	PRON
ap-8631	153	22	is	be	AUX
ap-8631	153	23	in	in	ADP
ap-8631	153	24	charge	charge	NOUN
ap-8631	153	25	of	of	ADP
ap-8631	153	26	completing	complete	VERB
ap-8631	153	27	the	the	DET
ap-8631	153	28	assigned	assign	VERB
ap-8631	153	29	task	task	NOUN
ap-8631	153	30	(	(	PUNCT
ap-8631	153	31	i.e.	i.e.	X
ap-8631	153	32	y	y	PROPN
ap-8631	153	33	→	→	SYM
ap-8631	153	34	yd	yd	PROPN
ap-8631	153	35	)	)	PUNCT
ap-8631	153	36	,	,	PUNCT
ap-8631	153	37	and	and	CCONJ
ap-8631	153	38	a	a	DET
ap-8631	153	39	disturbance	disturbance	NOUN
ap-8631	153	40	rejection	rejection	NOUN
ap-8631	153	41	estimation	estimation	NOUN
ap-8631	153	42	term	term	NOUN
ap-8631	153	43	(	(	PUNCT
ap-8631	153	44	δ̂	δ̂	NOUN
ap-8631	153	45	)	)	PUNCT
ap-8631	153	46	,	,	PUNCT
ap-8631	153	47	as	as	SCONJ
ap-8631	153	48	shown	show	VERB
ap-8631	153	49	below	below	ADP
ap-8631	153	50	:	:	PUNCT
ap-8631	153	51	u	u	NOUN
ap-8631	153	52	=	=	NOUN
ap-8631	153	53	u0	u0	ADJ
ap-8631	153	54	−	−	PROPN
ap-8631	153	55	δ̂	δ̂	PRON
ap-8631	153	56	b0	b0	NOUN
ap-8631	153	57	,	,	PUNCT
ap-8631	153	58	(	(	PUNCT
ap-8631	153	59	12	12	NUM
ap-8631	153	60	)	)	PUNCT
ap-8631	153	61	where	where	SCONJ
ap-8631	153	62	δ̂	δ̂	NOUN
ap-8631	153	63	=	=	SYM
ap-8631	153	64	x̂3	x̂3	PROPN
ap-8631	153	65	is	be	AUX
ap-8631	153	66	the	the	DET
ap-8631	153	67	estimated	estimate	VERB
ap-8631	153	68	total	total	ADJ
ap-8631	153	69	disturbance	disturbance	NOUN
ap-8631	153	70	(	(	PUNCT
ap-8631	153	71	in	in	ADP
ap-8631	153	72	the	the	DET
ap-8631	153	73	system	system	NOUN
ap-8631	153	74	under	under	ADP
ap-8631	153	75	test	test	NOUN
ap-8631	153	76	)	)	PUNCT
ap-8631	153	77	and	and	CCONJ
ap-8631	153	78	(	(	PUNCT
ap-8631	153	79	u0	u0	ADJ
ap-8631	153	80	)	)	PUNCT
ap-8631	153	81	is	be	AUX
ap-8631	153	82	the	the	DET
ap-8631	153	83	proposed	propose	VERB
ap-8631	153	84	control	control	NOUN
ap-8631	153	85	signal	signal	NOUN
ap-8631	153	86	for	for	ADP
ap-8631	153	87	the	the	DET
ap-8631	153	88	currently	currently	ADV
ap-8631	153	89	disturbance	disturbance	NOUN
ap-8631	153	90	-	-	PUNCT
ap-8631	153	91	free	free	ADJ
ap-8631	153	92	system	system	NOUN
ap-8631	153	93	,	,	PUNCT
ap-8631	153	94	which	which	PRON
ap-8631	153	95	is	be	AUX
ap-8631	153	96	designed	design	VERB
ap-8631	153	97	to	to	PART
ap-8631	153	98	match	match	VERB
ap-8631	153	99	some	some	DET
ap-8631	153	100	predetermined	predetermine	VERB
ap-8631	153	101	closed	closed	ADJ
ap-8631	153	102	-	-	PUNCT
ap-8631	153	103	loop	loop	NOUN
ap-8631	153	104	requirements	requirement	NOUN
ap-8631	153	105	.	.	PUNCT
ap-8631	154	1	the	the	DET
ap-8631	154	2	suggested	suggest	VERB
ap-8631	154	3	control	control	NOUN
ap-8631	154	4	rule	rule	NOUN
ap-8631	154	5	can	can	AUX
ap-8631	154	6	be	be	AUX
ap-8631	154	7	introduced	introduce	VERB
ap-8631	154	8	in	in	ADP
ap-8631	154	9	the	the	DET
ap-8631	154	10	extended	extended	ADJ
ap-8631	154	11	system	system	NOUN
ap-8631	154	12	in	in	ADP
ap-8631	154	13	each	each	DET
ap-8631	154	14	control	control	NOUN
ap-8631	154	15	cycle	cycle	NOUN
ap-8631	154	16	if	if	SCONJ
ap-8631	154	17	the	the	DET
ap-8631	154	18	estimating	estimate	VERB
ap-8631	154	19	loop	loop	NOUN
ap-8631	154	20	is	be	AUX
ap-8631	154	21	well	well	ADV
ap-8631	154	22	tuned	tune	VERB
ap-8631	154	23	(	(	PUNCT
ap-8631	154	24	i.e.	i.e.	X
ap-8631	154	25	δ̂	δ̂	PRON
ap-8631	154	26	=	=	SYM
ap-8631	154	27	δ	δ	PROPN
ap-8631	154	28	)	)	PUNCT
ap-8631	154	29	,	,	PUNCT
ap-8631	154	30	and	and	CCONJ
ap-8631	154	31	this	this	PRON
ap-8631	154	32	gives	give	VERB
ap-8631	154	33	,	,	PUNCT
ap-8631	154	34	theoretically	theoretically	ADV
ap-8631	154	35	:	:	PUNCT
ap-8631	154	36	yn	yn	PROPN
ap-8631	154	37	=	=	PUNCT
ap-8631	154	38	δ	δ	PROPN
ap-8631	155	1	+	+	PUNCT
ap-8631	155	2	b0(u0	b0(u0	ADJ
ap-8631	155	3	−	−	PROPN
ap-8631	155	4	δ	δ	PROPN
ap-8631	155	5	)	)	PUNCT
ap-8631	155	6	b0	b0	NOUN
ap-8631	155	7	=	=	SYM
ap-8631	155	8	u0	u0	ADJ
ap-8631	155	9	.	.	PUNCT
ap-8631	156	1	(	(	PUNCT
ap-8631	156	2	13	13	NUM
ap-8631	156	3	)	)	PUNCT
ap-8631	156	4	this	this	PRON
ap-8631	156	5	reduces	reduce	VERB
ap-8631	156	6	the	the	DET
ap-8631	156	7	system	system	NOUN
ap-8631	156	8	to	to	ADP
ap-8631	156	9	a	a	DET
ap-8631	156	10	basic	basic	ADJ
ap-8631	156	11	cascade	cascade	NOUN
ap-8631	156	12	of	of	ADP
ap-8631	156	13	integrators	integrator	NOUN
ap-8631	156	14	,	,	PUNCT
ap-8631	156	15	making	make	VERB
ap-8631	156	16	it	it	PRON
ap-8631	156	17	easier	easy	ADJ
ap-8631	156	18	to	to	PART
ap-8631	156	19	govern	govern	VERB
ap-8631	156	20	due	due	ADP
ap-8631	156	21	to	to	ADP
ap-8631	156	22	the	the	DET
ap-8631	156	23	system	system	NOUN
ap-8631	156	24	’s	’s	PART
ap-8631	156	25	fundamental	fundamental	ADJ
ap-8631	156	26	adaptability	adaptability	NOUN
ap-8631	156	27	to	to	ADP
ap-8631	156	28	any	any	DET
ap-8631	156	29	perturbation	perturbation	NOUN
ap-8631	156	30	.	.	PUNCT
ap-8631	157	1	2.2.2	2.2.2	X
ap-8631	157	2	.	.	PUNCT
ap-8631	157	3	fractional	fractional	ADJ
ap-8631	157	4	adrc	adrc	PROPN
ap-8631	157	5	(	(	PUNCT
ap-8631	157	6	fadrc	fadrc	NOUN
ap-8631	157	7	)	)	PUNCT
ap-8631	157	8	in	in	ADP
ap-8631	157	9	this	this	DET
ap-8631	157	10	work	work	NOUN
ap-8631	157	11	,	,	PUNCT
ap-8631	157	12	we	we	PRON
ap-8631	157	13	use	use	VERB
ap-8631	157	14	three	three	NUM
ap-8631	157	15	approaches	approach	NOUN
ap-8631	157	16	of	of	ADP
ap-8631	157	17	fadrc	fadrc	NOUN
ap-8631	157	18	,	,	PUNCT
ap-8631	157	19	the	the	DET
ap-8631	157	20	first	first	ADJ
ap-8631	157	21	approach	approach	NOUN
ap-8631	157	22	,	,	PUNCT
ap-8631	157	23	fadrc1	fadrc1	PROPN
ap-8631	157	24	,	,	PUNCT
ap-8631	157	25	depends	depend	VERB
ap-8631	157	26	on	on	ADP
ap-8631	157	27	an	an	DET
ap-8631	157	28	eso	eso	NOUN
ap-8631	157	29	modified	modify	VERB
ap-8631	157	30	to	to	ADP
ap-8631	157	31	a	a	DET
ap-8631	157	32	fractional	fractional	ADJ
ap-8631	157	33	order	order	NOUN
ap-8631	157	34	extended	extend	VERB
ap-8631	157	35	states	state	NOUN
ap-8631	157	36	observer	observer	NOUN
ap-8631	157	37	feso	feso	NOUN
ap-8631	157	38	,	,	PUNCT
ap-8631	157	39	the	the	DET
ap-8631	157	40	second	second	ADJ
ap-8631	157	41	approach	approach	NOUN
ap-8631	157	42	,	,	PUNCT
ap-8631	157	43	farc2	farc2	PROPN
ap-8631	157	44	,	,	PUNCT
ap-8631	157	45	depends	depend	VERB
ap-8631	157	46	on	on	ADP
ap-8631	157	47	a	a	DET
ap-8631	157	48	fractional	fractional	ADJ
ap-8631	157	49	pd	pd	NOUN
ap-8631	157	50	controller	controller	NOUN
ap-8631	157	51	,	,	PUNCT
ap-8631	157	52	and	and	CCONJ
ap-8631	157	53	finally	finally	ADV
ap-8631	157	54	,	,	PUNCT
ap-8631	157	55	the	the	DET
ap-8631	157	56	third	third	ADJ
ap-8631	157	57	one	one	NOUN
ap-8631	157	58	is	be	AUX
ap-8631	157	59	the	the	DET
ap-8631	157	60	proposed	propose	VERB
ap-8631	157	61	controller	controller	NOUN
ap-8631	157	62	,	,	PUNCT
ap-8631	157	63	fadrc3	fadrc3	NOUN
ap-8631	157	64	,	,	PUNCT
ap-8631	157	65	combining	combine	VERB
ap-8631	157	66	fadrc1	fadrc1	NOUN
ap-8631	157	67	and	and	CCONJ
ap-8631	157	68	fadrc2	fadrc2	NOUN
ap-8631	157	69	.	.	PUNCT
ap-8631	158	1	fadrc1	fadrc1	NOUN
ap-8631	158	2	approach	approach	NOUN
ap-8631	158	3	all	all	DET
ap-8631	158	4	the	the	DET
ap-8631	158	5	equations	equation	NOUN
ap-8631	158	6	(	(	PUNCT
ap-8631	158	7	3)-(12	3)-(12	NUM
ap-8631	158	8	)	)	PUNCT
ap-8631	158	9	for	for	ADP
ap-8631	158	10	ladrc	ladrc	NOUN
ap-8631	158	11	,	,	PUNCT
ap-8631	158	12	can	can	AUX
ap-8631	158	13	be	be	AUX
ap-8631	158	14	used	use	VERB
ap-8631	158	15	only	only	ADV
ap-8631	158	16	by	by	ADP
ap-8631	158	17	feso	feso	NOUN
ap-8631	158	18	,	,	PUNCT
ap-8631	158	19	instead	instead	ADV
ap-8631	158	20	of	of	ADP
ap-8631	158	21	linear	linear	ADJ
ap-8631	158	22	leso	leso	NOUN
ap-8631	158	23	,	,	PUNCT
ap-8631	158	24	so	so	SCONJ
ap-8631	158	25	that	that	SCONJ
ap-8631	158	26	we	we	PRON
ap-8631	158	27	deal	deal	VERB
ap-8631	158	28	with	with	ADP
ap-8631	158	29	modified	modify	VERB
ap-8631	158	30	adrc	adrc	NOUN
ap-8631	158	31	(	(	PUNCT
ap-8631	158	32	fadrc1	fadrc1	NOUN
ap-8631	158	33	)	)	PUNCT
ap-8631	158	34	.	.	PUNCT
ap-8631	159	1	the	the	DET
ap-8631	159	2	definition	definition	NOUN
ap-8631	159	3	of	of	ADP
ap-8631	159	4	fractional	fractional	ADJ
ap-8631	159	5	calculus	calculus	NOUN
ap-8631	159	6	proposed	propose	VERB
ap-8631	159	7	by	by	ADP
ap-8631	159	8	caputo	caputo	PROPN
ap-8631	159	9	is	be	AUX
ap-8631	159	10	widely	widely	ADV
ap-8631	159	11	used	use	VERB
ap-8631	159	12	in	in	ADP
ap-8631	159	13	fractional	fractional	ADJ
ap-8631	159	14	order	order	NOUN
ap-8631	159	15	control	control	NOUN
ap-8631	160	1	[	[	X
ap-8631	160	2	46	46	NUM
ap-8631	160	3	,	,	PUNCT
ap-8631	160	4	47	47	NUM
ap-8631	160	5	]	]	PUNCT
ap-8631	160	6	.	.	PUNCT
ap-8631	161	1	the	the	DET
ap-8631	161	2	fractional	fractional	ADJ
ap-8631	161	3	calculus	calculus	NOUN
ap-8631	161	4	is	be	AUX
ap-8631	161	5	a	a	DET
ap-8631	161	6	generalisation	generalisation	NOUN
ap-8631	161	7	of	of	ADP
ap-8631	161	8	integration	integration	NOUN
ap-8631	161	9	and	and	CCONJ
ap-8631	161	10	differentiation	differentiation	NOUN
ap-8631	161	11	to	to	ADP
ap-8631	161	12	a	a	DET
ap-8631	161	13	non	non	ADJ
ap-8631	161	14	-	-	ADJ
ap-8631	161	15	integer	integer	ADJ
ap-8631	161	16	order	order	NOUN
ap-8631	161	17	operator	operator	NOUN
ap-8631	161	18	:	:	PUNCT
ap-8631	161	19	dα	dα	ADJ
ap-8631	161	20	=	=	PUNCT
ap-8631	161	21			NOUN
ap-8631	161	22	dα	dα	ADP
ap-8631	161	23	dα	dα	PRON
ap-8631	161	24	t	t	PROPN
ap-8631	161	25	forα	forα	VERB
ap-8631	161	26	≻	≻	PROPN
ap-8631	161	27	0	0	NUM
ap-8631	161	28	1	1	NUM
ap-8631	161	29	forα	forα	NOUN
ap-8631	161	30	=	=	SYM
ap-8631	161	31	0	0	NUM
ap-8631	161	32	,	,	PUNCT
ap-8631	161	33	∫	∫	PROPN
ap-8631	161	34	t	t	PROPN
ap-8631	161	35	a	a	X
ap-8631	161	36	(	(	PUNCT
ap-8631	161	37	dt)−α	dt)−α	PROPN
ap-8631	161	38	forα	forα	VERB
ap-8631	161	39	≺	≺	NOUN
ap-8631	161	40	0	0	NUM
ap-8631	161	41	(	(	PUNCT
ap-8631	161	42	14	14	NUM
ap-8631	161	43	)	)	PUNCT
ap-8631	161	44	where	where	SCONJ
ap-8631	161	45	a	a	PRON
ap-8631	161	46	and	and	CCONJ
ap-8631	161	47	t	t	PROPN
ap-8631	161	48	denote	denote	VERB
ap-8631	161	49	the	the	DET
ap-8631	161	50	limits	limit	NOUN
ap-8631	161	51	of	of	ADP
ap-8631	161	52	the	the	DET
ap-8631	161	53	operation	operation	NOUN
ap-8631	161	54	and	and	CCONJ
ap-8631	161	55	(	(	PUNCT
ap-8631	161	56	α	α	NOUN
ap-8631	161	57	)	)	PUNCT
ap-8631	161	58	denotes	denote	VERB
ap-8631	161	59	the	the	DET
ap-8631	161	60	fractional	fractional	ADJ
ap-8631	161	61	order	order	NOUN
ap-8631	161	62	,	,	PUNCT
ap-8631	161	63	which	which	PRON
ap-8631	161	64	lies	lie	VERB
ap-8631	161	65	between	between	ADP
ap-8631	161	66	(	(	PUNCT
ap-8631	161	67	0	0	NUM
ap-8631	161	68	to	to	PART
ap-8631	161	69	1	1	NUM
ap-8631	161	70	)	)	PUNCT
ap-8631	161	71	.	.	PUNCT
ap-8631	162	1	the	the	DET
ap-8631	162	2	important	important	ADJ
ap-8631	162	3	key	key	NOUN
ap-8631	162	4	in	in	ADP
ap-8631	162	5	fadrc	fadrc	NOUN
ap-8631	162	6	is	be	AUX
ap-8631	162	7	the	the	DET
ap-8631	162	8	eso	eso	NOUN
ap-8631	162	9	,	,	PUNCT
ap-8631	162	10	so	so	SCONJ
ap-8631	162	11	that	that	SCONJ
ap-8631	162	12	we	we	PRON
ap-8631	162	13	can	can	AUX
ap-8631	162	14	use	use	VERB
ap-8631	162	15	the	the	DET
ap-8631	162	16	fractional	fractional	ADJ
ap-8631	162	17	order	order	NOUN
ap-8631	162	18	for	for	ADP
ap-8631	162	19	the	the	DET
ap-8631	162	20	derivative	derivative	NOUN
ap-8631	162	21	in	in	ADP
ap-8631	162	22	all	all	PRON
ap-8631	162	23	estimate	estimate	NOUN
ap-8631	162	24	states	state	NOUN
ap-8631	162	25	of	of	ADP
ap-8631	162	26	observer	observer	NOUN
ap-8631	162	27	x̂	x̂	PUNCT
ap-8631	162	28	=	=	PUNCT
ap-8631	163	1	[	[	X
ap-8631	163	2	x̂1	x̂1	X
ap-8631	163	3	,	,	PUNCT
ap-8631	163	4	x̂2	x̂2	NOUN
ap-8631	163	5	,	,	PUNCT
ap-8631	163	6	.	.	PUNCT
ap-8631	163	7	.	.	PUNCT
ap-8631	163	8	.	.	PUNCT
ap-8631	163	9	.	.	PUNCT
ap-8631	164	1	.	.	PUNCT
ap-8631	164	2	.	.	PUNCT
ap-8631	165	1	,	,	PUNCT
ap-8631	165	2	x̂n	x̂n	PROPN
ap-8631	165	3	,	,	PUNCT
ap-8631	165	4	x̂n+1	x̂n+1	PROPN
ap-8631	165	5	]	]	PUNCT
ap-8631	165	6	.	.	PUNCT
ap-8631	166	1	equation	equation	NOUN
ap-8631	166	2	(	(	PUNCT
ap-8631	166	3	8)	8)	NUM
ap-8631	166	4	can	can	AUX
ap-8631	166	5	be	be	AUX
ap-8631	166	6	written	write	VERB
ap-8631	166	7	as	as	ADP
ap-8631	166	8	:	:	PUNCT
ap-8631	166	9			NOUN
ap-8631	166	10	dα1x̂1	dα1x̂1	NOUN
ap-8631	166	11	=	=	PUNCT
ap-8631	166	12	x̂2	x̂2	X
ap-8631	167	1	+	+	CCONJ
ap-8631	167	2	l1(y	l1(y	PROPN
ap-8631	167	3	−	−	NOUN
ap-8631	167	4	x̂1	x̂1	NOUN
ap-8631	167	5	)	)	PUNCT
ap-8631	167	6	dα2x̂2	dα2x̂2	NOUN
ap-8631	167	7	=	=	SYM
ap-8631	167	8	x̂3	x̂3	PROPN
ap-8631	168	1	+	+	CCONJ
ap-8631	168	2	bu	bu	PROPN
ap-8631	168	3	+	+	CCONJ
ap-8631	168	4	l2(y	l2(y	PROPN
ap-8631	168	5	−	−	NOUN
ap-8631	168	6	x̂1	x̂1	PROPN
ap-8631	168	7	)	)	PUNCT
ap-8631	168	8	,	,	PUNCT
ap-8631	168	9	dα3x̂3	dα3x̂3	NOUN
ap-8631	168	10	=	=	PUNCT
ap-8631	169	1	l3(y	l3(y	PROPN
ap-8631	169	2	−	−	NOUN
ap-8631	169	3	x̂1	x̂1	PROPN
ap-8631	169	4	)	)	PUNCT
ap-8631	169	5	(	(	PUNCT
ap-8631	169	6	15	15	NUM
ap-8631	169	7	)	)	PUNCT
ap-8631	169	8	where	where	SCONJ
ap-8631	169	9	the	the	DET
ap-8631	169	10	observers	observer	NOUN
ap-8631	169	11	gains	gain	VERB
ap-8631	169	12	l	l	NOUN
ap-8631	169	13	=	=	PUNCT
ap-8631	170	1	[	[	X
ap-8631	170	2	l1	l1	PROPN
ap-8631	170	3	,	,	PUNCT
ap-8631	170	4	l2	l2	NOUN
ap-8631	170	5	,	,	PUNCT
ap-8631	170	6	l3	l3	PROPN
ap-8631	170	7	]	]	PUNCT
ap-8631	170	8	are	be	AUX
ap-8631	170	9	determined	determine	VERB
ap-8631	170	10	by	by	ADP
ap-8631	170	11	rules	rule	NOUN
ap-8631	170	12	in	in	ADP
ap-8631	170	13	[	[	X
ap-8631	170	14	45	45	NUM
ap-8631	170	15	]	]	PUNCT
ap-8631	170	16	,	,	PUNCT
ap-8631	170	17	or	or	CCONJ
ap-8631	170	18	using	use	VERB
ap-8631	170	19	any	any	DET
ap-8631	170	20	optimisation	optimisation	NOUN
ap-8631	170	21	methods	method	NOUN
ap-8631	170	22	.	.	PUNCT
ap-8631	171	1	figure	figure	NOUN
ap-8631	171	2	2	2	NUM
ap-8631	171	3	.	.	PUNCT
ap-8631	171	4	shows	show	VERB
ap-8631	171	5	the	the	DET
ap-8631	171	6	general	general	ADJ
ap-8631	171	7	structure	structure	NOUN
ap-8631	171	8	of	of	ADP
ap-8631	171	9	fadrc1	fadrc1	NOUN
ap-8631	171	10	for	for	ADP
ap-8631	171	11	the	the	DET
ap-8631	171	12	exoskeleton	exoskeleton	PROPN
ap-8631	171	13	control	control	NOUN
ap-8631	171	14	system	system	NOUN
ap-8631	171	15	.	.	PUNCT
ap-8631	172	1	the	the	DET
ap-8631	172	2	nonlinear	nonlinear	ADJ
ap-8631	172	3	structure	structure	NOUN
ap-8631	172	4	(	(	PUNCT
ap-8631	172	5	fractional	fractional	ADJ
ap-8631	172	6	term	term	NOUN
ap-8631	172	7	)	)	PUNCT
ap-8631	172	8	is	be	AUX
ap-8631	172	9	used	use	VERB
ap-8631	172	10	in	in	ADP
ap-8631	172	11	eso	eso	NOUN
ap-8631	172	12	161	161	NUM
ap-8631	172	13	n.	n.	NOUN
ap-8631	172	14	a.	a.	PROPN
ap-8631	172	15	al	al	PROPN
ap-8631	172	16	-	-	PUNCT
ap-8631	172	17	awad	awad	PROPN
ap-8631	172	18	,	,	PUNCT
ap-8631	172	19	a.	a.	PROPN
ap-8631	172	20	j.	j.	PROPN
ap-8631	172	21	humaidi	humaidi	PROPN
ap-8631	172	22	,	,	PUNCT
ap-8631	172	23	a.	a.	PROPN
ap-8631	172	24	s.	s.	PROPN
ap-8631	172	25	al	al	PROPN
ap-8631	172	26	-	-	PUNCT
ap-8631	172	27	araji	araji	PROPN
ap-8631	172	28	acta	acta	PROPN
ap-8631	172	29	polytechnica	polytechnica	PROPN
ap-8631	172	30	figure	figure	NOUN
ap-8631	172	31	2	2	NUM
ap-8631	172	32	.	.	PUNCT
ap-8631	173	1	the	the	DET
ap-8631	173	2	general	general	ADJ
ap-8631	173	3	idea	idea	NOUN
ap-8631	173	4	of	of	ADP
ap-8631	173	5	fadrc1	fadrc1	NOUN
ap-8631	173	6	for	for	ADP
ap-8631	173	7	exoskeleton	exoskeleton	PROPN
ap-8631	173	8	control	control	NOUN
ap-8631	173	9	system	system	NOUN
ap-8631	173	10	.	.	PUNCT
ap-8631	174	1	to	to	PART
ap-8631	174	2	comprehensively	comprehensively	ADV
ap-8631	174	3	estimate	estimate	VERB
ap-8631	174	4	the	the	DET
ap-8631	174	5	un	un	PROPN
ap-8631	174	6	-	-	ADJ
ap-8631	174	7	modelled	model	VERB
ap-8631	174	8	errors	error	NOUN
ap-8631	174	9	and	and	CCONJ
ap-8631	174	10	external	external	ADJ
ap-8631	174	11	disturbances	disturbance	NOUN
ap-8631	174	12	.	.	PUNCT
ap-8631	175	1	in	in	ADP
ap-8631	175	2	order	order	NOUN
ap-8631	175	3	for	for	ADP
ap-8631	175	4	the	the	DET
ap-8631	175	5	feso	feso	NOUN
ap-8631	175	6	to	to	PART
ap-8631	175	7	estimate	estimate	VERB
ap-8631	175	8	the	the	DET
ap-8631	175	9	state	state	NOUN
ap-8631	175	10	more	more	ADV
ap-8631	175	11	quickly	quickly	ADV
ap-8631	175	12	and	and	CCONJ
ap-8631	175	13	accurately	accurately	ADV
ap-8631	175	14	,	,	PUNCT
ap-8631	175	15	and	and	CCONJ
ap-8631	175	16	ultimately	ultimately	ADV
ap-8631	175	17	for	for	SCONJ
ap-8631	175	18	the	the	DET
ap-8631	175	19	fadrc	fadrc	NOUN
ap-8631	175	20	to	to	PART
ap-8631	175	21	achieve	achieve	VERB
ap-8631	175	22	a	a	DET
ap-8631	175	23	superior	superior	ADJ
ap-8631	175	24	control	control	NOUN
ap-8631	175	25	performance	performance	NOUN
ap-8631	175	26	,	,	PUNCT
ap-8631	175	27	the	the	DET
ap-8631	175	28	fractional	fractional	ADJ
ap-8631	175	29	-	-	PUNCT
ap-8631	175	30	order	order	NOUN
ap-8631	175	31	integration	integration	NOUN
ap-8631	175	32	has	have	VERB
ap-8631	175	33	an	an	DET
ap-8631	175	34	additional	additional	ADJ
ap-8631	175	35	weight	weight	NOUN
ap-8631	175	36	function	function	NOUN
ap-8631	175	37	and	and	CCONJ
ap-8631	175	38	the	the	DET
ap-8631	175	39	initial	initial	ADJ
ap-8631	175	40	stage	stage	NOUN
ap-8631	175	41	has	have	VERB
ap-8631	175	42	a	a	DET
ap-8631	175	43	bigger	big	ADJ
ap-8631	175	44	integral	integral	ADJ
ap-8631	175	45	response	response	NOUN
ap-8631	175	46	value	value	NOUN
ap-8631	175	47	.	.	PUNCT
ap-8631	176	1	the	the	DET
ap-8631	176	2	feso	feso	NOUN
ap-8631	176	3	assesses	assess	VERB
ap-8631	176	4	both	both	CCONJ
ap-8631	176	5	the	the	DET
ap-8631	176	6	overall	overall	ADJ
ap-8631	176	7	disturbance	disturbance	NOUN
ap-8631	176	8	and	and	CCONJ
ap-8631	176	9	the	the	DET
ap-8631	176	10	variable	variable	ADJ
ap-8631	176	11	structure	structure	NOUN
ap-8631	176	12	dynamic	dynamic	ADJ
ap-8631	176	13	states	state	NOUN
ap-8631	176	14	,	,	PUNCT
ap-8631	176	15	resulting	result	VERB
ap-8631	176	16	in	in	ADP
ap-8631	176	17	a	a	DET
ap-8631	176	18	smaller	small	ADJ
ap-8631	176	19	observer	observer	NOUN
ap-8631	176	20	bandwidth	bandwidth	NOUN
ap-8631	176	21	.	.	PUNCT
ap-8631	177	1	pursuing	pursue	VERB
ap-8631	177	2	the	the	DET
ap-8631	177	3	analysis	analysis	NOUN
ap-8631	177	4	from	from	ADP
ap-8631	177	5	[	[	X
ap-8631	177	6	45	45	NUM
ap-8631	177	7	]	]	PUNCT
ap-8631	177	8	,	,	PUNCT
ap-8631	177	9	the	the	DET
ap-8631	177	10	bandwidth	bandwidth	NOUN
ap-8631	177	11	(	(	PUNCT
ap-8631	177	12	wc	wc	PROPN
ap-8631	177	13	)	)	PUNCT
ap-8631	177	14	is	be	AUX
ap-8631	177	15	related	relate	VERB
ap-8631	177	16	to	to	ADP
ap-8631	177	17	settling	settle	VERB
ap-8631	177	18	time	time	NOUN
ap-8631	177	19	(	(	PUNCT
ap-8631	177	20	τs	τs	NOUN
ap-8631	177	21	)	)	PUNCT
ap-8631	177	22	of	of	ADP
ap-8631	177	23	the	the	DET
ap-8631	177	24	closed	closed	ADJ
ap-8631	177	25	-	-	PUNCT
ap-8631	177	26	loop	loop	NOUN
ap-8631	177	27	system	system	NOUN
ap-8631	177	28	,	,	PUNCT
ap-8631	177	29	according	accord	VERB
ap-8631	177	30	to	to	ADP
ap-8631	177	31	the	the	DET
ap-8631	177	32	following	follow	VERB
ap-8631	177	33	formula	formula	NOUN
ap-8631	177	34	:	:	PUNCT
ap-8631	177	35	wc	wc	PROPN
ap-8631	177	36	=	=	PROPN
ap-8631	177	37	10	10	NUM
ap-8631	177	38	τs	τs	NOUN
ap-8631	177	39	.	.	PUNCT
ap-8631	178	1	(	(	PUNCT
ap-8631	178	2	16	16	NUM
ap-8631	178	3	)	)	PUNCT
ap-8631	178	4	in	in	ADP
ap-8631	178	5	this	this	DET
ap-8631	178	6	application	application	NOUN
ap-8631	178	7	,	,	PUNCT
ap-8631	178	8	the	the	DET
ap-8631	178	9	specification	specification	NOUN
ap-8631	178	10	of	of	ADP
ap-8631	178	11	the	the	DET
ap-8631	178	12	settling	settling	NOUN
ap-8631	178	13	time	time	NOUN
ap-8631	178	14	of	of	ADP
ap-8631	178	15	the	the	DET
ap-8631	178	16	controlled	control	VERB
ap-8631	178	17	system	system	NOUN
ap-8631	178	18	is	be	AUX
ap-8631	178	19	chosen	choose	VERB
ap-8631	178	20	to	to	PART
ap-8631	178	21	be	be	AUX
ap-8631	178	22	τs	τs	ADP
ap-8631	178	23	=	=	PROPN
ap-8631	178	24	0.408	0.408	NUM
ap-8631	178	25	s.	s.	PROPN
ap-8631	178	26	the	the	DET
ap-8631	178	27	observer	observer	NOUN
ap-8631	178	28	and	and	CCONJ
ap-8631	178	29	pd	pd	PROPN
ap-8631	178	30	controller	controller	NOUN
ap-8631	178	31	gains	gain	NOUN
ap-8631	178	32	can	can	AUX
ap-8631	178	33	be	be	AUX
ap-8631	178	34	calculated	calculate	VERB
ap-8631	178	35	according	accord	VERB
ap-8631	178	36	to	to	ADP
ap-8631	178	37	the	the	DET
ap-8631	178	38	above	above	ADJ
ap-8631	178	39	equation	equation	NOUN
ap-8631	178	40	with	with	ADP
ap-8631	178	41	(	(	PUNCT
ap-8631	178	42	wc	wc	PROPN
ap-8631	178	43	=	=	PROPN
ap-8631	178	44	24.5	24.5	NUM
ap-8631	178	45	rad·sec−1	rad·sec−1	PROPN
ap-8631	178	46	)	)	PUNCT
ap-8631	178	47	.	.	PUNCT
ap-8631	179	1	the	the	DET
ap-8631	179	2	best	well	ADV
ap-8631	179	3	fractional	fractional	ADJ
ap-8631	179	4	observer	observer	NOUN
ap-8631	179	5	terms	term	NOUN
ap-8631	179	6	(	(	PUNCT
ap-8631	179	7	α1	α1	PROPN
ap-8631	179	8	,	,	PUNCT
ap-8631	179	9	α2	α2	ADJ
ap-8631	179	10	,	,	PUNCT
ap-8631	179	11	α3	α3	ADJ
ap-8631	179	12	)	)	PUNCT
ap-8631	179	13	values	value	NOUN
ap-8631	179	14	can	can	AUX
ap-8631	179	15	be	be	AUX
ap-8631	179	16	obtained	obtain	VERB
ap-8631	179	17	by	by	ADP
ap-8631	179	18	any	any	DET
ap-8631	179	19	optimisation	optimisation	NOUN
ap-8631	179	20	algorithm	algorithm	NOUN
ap-8631	179	21	[	[	X
ap-8631	179	22	48–50	48–50	NOUN
ap-8631	179	23	]	]	PUNCT
ap-8631	179	24	.	.	PUNCT
ap-8631	180	1	in	in	ADP
ap-8631	180	2	this	this	DET
ap-8631	180	3	work	work	NOUN
ap-8631	180	4	,	,	PUNCT
ap-8631	180	5	pso	pso	NOUN
ap-8631	180	6	parameters	parameter	NOUN
ap-8631	180	7	are	be	AUX
ap-8631	180	8	chosen	choose	VERB
ap-8631	180	9	according	accord	VERB
ap-8631	180	10	to	to	ADP
ap-8631	180	11	the	the	DET
ap-8631	180	12	trial	trial	NOUN
ap-8631	180	13	and	and	CCONJ
ap-8631	180	14	error	error	NOUN
ap-8631	180	15	method	method	NOUN
ap-8631	180	16	as	as	SCONJ
ap-8631	180	17	follows	follow	VERB
ap-8631	180	18	:	:	PUNCT
ap-8631	180	19	iterations	iteration	NOUN
ap-8631	180	20	=	=	SYM
ap-8631	180	21	30	30	NUM
ap-8631	180	22	;	;	PUNCT
ap-8631	180	23	inertia	inertia	NOUN
ap-8631	180	24	=	=	SYM
ap-8631	180	25	1.5	1.5	NUM
ap-8631	180	26	;	;	PUNCT
ap-8631	180	27	c1	c1	NOUN
ap-8631	180	28	=	=	PUNCT
ap-8631	180	29	2	2	NUM
ap-8631	180	30	;	;	PUNCT
ap-8631	180	31	c2	c2	PROPN
ap-8631	180	32	=	=	PROPN
ap-8631	180	33	2	2	NUM
ap-8631	180	34	;	;	PUNCT
ap-8631	180	35	swarm_size	swarm_size	PROPN
ap-8631	180	36	=	=	SYM
ap-8631	180	37	30	30	NUM
ap-8631	180	38	;	;	PUNCT
ap-8631	180	39	no_of_param	no_of_param	PROPN
ap-8631	180	40	=	=	PROPN
ap-8631	180	41	3	3	NUM
ap-8631	180	42	;	;	PUNCT
ap-8631	180	43	the	the	DET
ap-8631	180	44	pso	pso	NOUN
ap-8631	180	45	optimisation	optimisation	NOUN
ap-8631	180	46	result	result	NOUN
ap-8631	180	47	gives	give	VERB
ap-8631	180	48	the	the	DET
ap-8631	180	49	best	good	ADJ
ap-8631	180	50	value	value	NOUN
ap-8631	180	51	of	of	ADP
ap-8631	180	52	fractional	fractional	ADJ
ap-8631	180	53	observer	observer	NOUN
ap-8631	180	54	integrators	integrator	NOUN
ap-8631	180	55	terms	term	NOUN
ap-8631	180	56	(	(	PUNCT
ap-8631	180	57	α1	α1	PROPN
ap-8631	180	58	,	,	PUNCT
ap-8631	180	59	α2	α2	ADJ
ap-8631	180	60	,	,	PUNCT
ap-8631	180	61	α3	α3	PROPN
ap-8631	180	62	)	)	PUNCT
ap-8631	180	63	as	as	ADP
ap-8631	180	64	(	(	PUNCT
ap-8631	180	65	0.5243	0.5243	NUM
ap-8631	180	66	,	,	PUNCT
ap-8631	180	67	1	1	NUM
ap-8631	180	68	,	,	PUNCT
ap-8631	180	69	0.4513	0.4513	NUM
ap-8631	180	70	)	)	PUNCT
ap-8631	180	71	,	,	PUNCT
ap-8631	180	72	respectively	respectively	ADV
ap-8631	180	73	.	.	PUNCT
ap-8631	181	1	fadrc2	fadrc2	PROPN
ap-8631	181	2	approach	approach	NOUN
ap-8631	181	3	in	in	ADP
ap-8631	181	4	this	this	DET
ap-8631	181	5	section	section	NOUN
ap-8631	181	6	,	,	PUNCT
ap-8631	181	7	we	we	PRON
ap-8631	181	8	use	use	VERB
ap-8631	181	9	the	the	DET
ap-8631	181	10	ladrc	ladrc	NOUN
ap-8631	181	11	structure	structure	NOUN
ap-8631	181	12	with	with	ADP
ap-8631	181	13	only	only	ADV
ap-8631	181	14	a	a	DET
ap-8631	181	15	pd	pd	NOUN
ap-8631	181	16	controller	controller	NOUN
ap-8631	181	17	modified	modify	VERB
ap-8631	181	18	by	by	ADP
ap-8631	181	19	using	use	VERB
ap-8631	181	20	fractional	fractional	ADJ
ap-8631	181	21	term	term	NOUN
ap-8631	181	22	of	of	ADP
ap-8631	181	23	controller	controller	NOUN
ap-8631	181	24	derivative	derivative	NOUN
ap-8631	181	25	:	:	PUNCT
ap-8631	181	26	u0	u0	ADJ
ap-8631	181	27	=	=	NOUN
ap-8631	181	28	kpϵkddαϵϵ	kpϵkddαϵϵ	NOUN
ap-8631	181	29	.	.	PUNCT
ap-8631	182	1	(	(	PUNCT
ap-8631	182	2	17	17	NUM
ap-8631	182	3	)	)	PUNCT
ap-8631	182	4	the	the	DET
ap-8631	182	5	controller	controller	NOUN
ap-8631	182	6	parameters	parameter	NOUN
ap-8631	182	7	(	(	PUNCT
ap-8631	182	8	kp	kp	PROPN
ap-8631	182	9	,	,	PUNCT
ap-8631	182	10	kd	kd	PROPN
ap-8631	182	11	)	)	PUNCT
ap-8631	182	12	are	be	AUX
ap-8631	182	13	calculated	calculate	VERB
ap-8631	182	14	according	accord	VERB
ap-8631	182	15	to	to	ADP
ap-8631	182	16	equation	equation	NOUN
ap-8631	182	17	(	(	PUNCT
ap-8631	182	18	11	11	NUM
ap-8631	182	19	)	)	PUNCT
ap-8631	182	20	.	.	PUNCT
ap-8631	183	1	one	one	NUM
ap-8631	183	2	parameter	parameter	NOUN
ap-8631	183	3	to	to	PART
ap-8631	183	4	optimise	optimise	VERB
ap-8631	183	5	for	for	ADP
ap-8631	183	6	fadrc2	fadrc2	NOUN
ap-8631	183	7	is	be	AUX
ap-8631	183	8	the	the	DET
ap-8631	183	9	fractional	fractional	ADJ
ap-8631	183	10	term	term	NOUN
ap-8631	183	11	of	of	ADP
ap-8631	183	12	derivative	derivative	NOUN
ap-8631	183	13	(	(	PUNCT
ap-8631	183	14	αc	αc	NOUN
ap-8631	183	15	)	)	PUNCT
ap-8631	183	16	.	.	PUNCT
ap-8631	184	1	the	the	DET
ap-8631	184	2	pso	pso	NOUN
ap-8631	184	3	optimisation	optimisation	NOUN
ap-8631	184	4	result	result	NOUN
ap-8631	184	5	gives	give	VERB
ap-8631	184	6	the	the	DET
ap-8631	184	7	best	good	ADJ
ap-8631	184	8	value	value	NOUN
ap-8631	184	9	of	of	ADP
ap-8631	184	10	fractional	fractional	ADJ
ap-8631	184	11	controller	controller	NOUN
ap-8631	184	12	term	term	NOUN
ap-8631	184	13	(	(	PUNCT
ap-8631	184	14	αc	αc	NOUN
ap-8631	184	15	)	)	PUNCT
ap-8631	184	16	as	as	ADP
ap-8631	184	17	(	(	PUNCT
ap-8631	184	18	0.1419	0.1419	NUM
ap-8631	184	19	)	)	PUNCT
ap-8631	184	20	.	.	PUNCT
ap-8631	185	1	figure	figure	NOUN
ap-8631	185	2	3	3	NUM
ap-8631	185	3	shows	show	VERB
ap-8631	185	4	the	the	DET
ap-8631	185	5	general	general	ADJ
ap-8631	185	6	structure	structure	NOUN
ap-8631	185	7	of	of	ADP
ap-8631	185	8	fadrc2	fadrc2	NOUN
ap-8631	185	9	for	for	ADP
ap-8631	185	10	the	the	DET
ap-8631	185	11	exoskeleton	exoskeleton	PROPN
ap-8631	185	12	control	control	NOUN
ap-8631	185	13	system	system	NOUN
ap-8631	185	14	.	.	PUNCT
ap-8631	186	1	figure	figure	NOUN
ap-8631	186	2	3	3	NUM
ap-8631	186	3	.	.	PUNCT
ap-8631	187	1	the	the	DET
ap-8631	187	2	general	general	ADJ
ap-8631	187	3	idea	idea	NOUN
ap-8631	187	4	of	of	ADP
ap-8631	187	5	fadrc2	fadrc2	NOUN
ap-8631	187	6	for	for	ADP
ap-8631	187	7	exoskeleton	exoskeleton	PROPN
ap-8631	187	8	control	control	NOUN
ap-8631	187	9	system	system	NOUN
ap-8631	187	10	.	.	PUNCT
ap-8631	188	1	fadrc3	fadrc3	NOUN
ap-8631	188	2	approach	approach	NOUN
ap-8631	188	3	in	in	ADP
ap-8631	188	4	this	this	DET
ap-8631	188	5	section	section	NOUN
ap-8631	188	6	,	,	PUNCT
ap-8631	188	7	we	we	PRON
ap-8631	188	8	combine	combine	VERB
ap-8631	188	9	the	the	DET
ap-8631	188	10	two	two	NUM
ap-8631	188	11	approaches	approach	NOUN
ap-8631	188	12	,	,	PUNCT
ap-8631	188	13	fadrc1	fadrc1	NOUN
ap-8631	188	14	for	for	ADP
ap-8631	188	15	minimisation	minimisation	NOUN
ap-8631	188	16	of	of	ADP
ap-8631	188	17	the	the	DET
ap-8631	188	18	chattering	chattering	NOUN
ap-8631	188	19	and	and	CCONJ
ap-8631	188	20	fadrc2	fadrc2	NOUN
ap-8631	188	21	for	for	ADP
ap-8631	188	22	reducing	reduce	VERB
ap-8631	188	23	the	the	DET
ap-8631	188	24	error	error	NOUN
ap-8631	188	25	,	,	PUNCT
ap-8631	188	26	to	to	PART
ap-8631	188	27	construct	construct	VERB
ap-8631	188	28	a	a	DET
ap-8631	188	29	multifractional	multifractional	ADJ
ap-8631	188	30	approach	approach	NOUN
ap-8631	188	31	fadrc3	fadrc3	NOUN
ap-8631	188	32	for	for	ADP
ap-8631	188	33	improving	improve	VERB
ap-8631	188	34	the	the	DET
ap-8631	188	35	trajectory	trajectory	NOUN
ap-8631	188	36	performance	performance	NOUN
ap-8631	188	37	and	and	CCONJ
ap-8631	188	38	increase	increase	VERB
ap-8631	188	39	the	the	DET
ap-8631	188	40	response	response	NOUN
ap-8631	188	41	accuracy	accuracy	NOUN
ap-8631	188	42	.	.	PUNCT
ap-8631	189	1	the	the	DET
ap-8631	189	2	same	same	ADJ
ap-8631	189	3	design	design	NOUN
ap-8631	189	4	parameters	parameter	NOUN
ap-8631	189	5	for	for	ADP
ap-8631	189	6	fadrc1	fadrc1	NOUN
ap-8631	189	7	and	and	CCONJ
ap-8631	189	8	fadrc2	fadrc2	NOUN
ap-8631	189	9	are	be	AUX
ap-8631	189	10	used	use	VERB
ap-8631	189	11	in	in	ADP
ap-8631	189	12	this	this	DET
ap-8631	189	13	proposed	propose	VERB
ap-8631	189	14	approach	approach	NOUN
ap-8631	189	15	.	.	PUNCT
ap-8631	190	1	integral	integral	ADJ
ap-8631	190	2	of	of	ADP
ap-8631	190	3	the	the	DET
ap-8631	190	4	absolute	absolute	ADJ
ap-8631	190	5	error	error	NOUN
ap-8631	190	6	(	(	PUNCT
ap-8631	190	7	iae	iae	NOUN
ap-8631	190	8	)	)	PUNCT
ap-8631	190	9	,	,	PUNCT
ap-8631	190	10	integral	integral	ADJ
ap-8631	190	11	square	square	ADJ
ap-8631	190	12	error	error	NOUN
ap-8631	190	13	(	(	PUNCT
ap-8631	190	14	ise	ise	NOUN
ap-8631	190	15	)	)	PUNCT
ap-8631	190	16	,	,	PUNCT
ap-8631	190	17	integral	integral	ADJ
ap-8631	190	18	square	square	NOUN
ap-8631	190	19	of	of	ADP
ap-8631	190	20	the	the	DET
ap-8631	190	21	control	control	NOUN
ap-8631	190	22	signal	signal	PROPN
ap-8631	190	23	(	(	PUNCT
ap-8631	190	24	isu	isu	NOUN
ap-8631	190	25	)	)	PUNCT
ap-8631	190	26	,	,	PUNCT
ap-8631	190	27	integral	integral	ADJ
ap-8631	190	28	absolute	absolute	ADJ
ap-8631	190	29	of	of	ADP
ap-8631	190	30	the	the	DET
ap-8631	190	31	control	control	NOUN
ap-8631	190	32	signal	signal	NOUN
ap-8631	190	33	(	(	PUNCT
ap-8631	190	34	iau	iau	PROPN
ap-8631	190	35	)	)	PUNCT
ap-8631	190	36	,	,	PUNCT
ap-8631	190	37	and	and	CCONJ
ap-8631	190	38	root	root	NOUN
ap-8631	190	39	mean	mean	VERB
ap-8631	190	40	square	square	ADJ
ap-8631	190	41	error	error	NOUN
ap-8631	190	42	(	(	PUNCT
ap-8631	190	43	r.m.s.e	r.m.s.e	NOUN
ap-8631	190	44	)	)	PUNCT
ap-8631	190	45	are	be	AUX
ap-8631	190	46	the	the	DET
ap-8631	190	47	performance	performance	NOUN
ap-8631	190	48	indices	index	NOUN
ap-8631	190	49	chosen	choose	VERB
ap-8631	190	50	for	for	ADP
ap-8631	190	51	evaluating	evaluate	VERB
ap-8631	190	52	and	and	CCONJ
ap-8631	190	53	comparing	compare	VERB
ap-8631	190	54	the	the	DET
ap-8631	190	55	results	result	NOUN
ap-8631	190	56	.	.	PUNCT
ap-8631	191	1	each	each	PRON
ap-8631	191	2	of	of	ADP
ap-8631	191	3	these	these	DET
ap-8631	191	4	performance	performance	NOUN
ap-8631	191	5	indices	index	NOUN
ap-8631	191	6	can	can	AUX
ap-8631	191	7	be	be	AUX
ap-8631	191	8	expressed	express	VERB
ap-8631	191	9	as	as	ADP
ap-8631	191	10	follows:	follows:	NUM
ap-8631	191	11	iae	iae	NOUN
ap-8631	191	12	=	=	SYM
ap-8631	191	13	∫	∫	PROPN
ap-8631	191	14	t	t	PROPN
ap-8631	191	15	0	0	NUM
ap-8631	191	16	|(yd	|(yd	NUM
ap-8631	191	17	−	−	PROPN
ap-8631	191	18	y)|dt	y)|dt	PROPN
ap-8631	191	19	ise	ise	NOUN
ap-8631	192	1	=	=	SYM
ap-8631	192	2	∫	∫	PROPN
ap-8631	192	3	t	t	PROPN
ap-8631	192	4	0	0	NUM
ap-8631	192	5	(	(	PUNCT
ap-8631	192	6	yd	yd	ADP
ap-8631	192	7	−	−	PROPN
ap-8631	192	8	y)2dt	y)2dt	NOUN
ap-8631	192	9	r.m.s.e	r.m.s.e	NOUN
ap-8631	192	10	=	=	PUNCT
ap-8631	192	11	√√√√	√√√√	PRON
ap-8631	192	12	1	1	NUM
ap-8631	192	13	n	n	NUM
ap-8631	192	14	n∑	n∑	NOUN
ap-8631	192	15	1	1	NUM
ap-8631	192	16	(	(	PUNCT
ap-8631	192	17	yd	yd	NOUN
ap-8631	192	18	−	−	PROPN
ap-8631	192	19	y)2	y)2	NOUN
ap-8631	192	20	,	,	PUNCT
ap-8631	192	21	isu	isu	PROPN
ap-8631	192	22	=	=	SYM
ap-8631	192	23	∫	∫	PROPN
ap-8631	192	24	t	t	PROPN
ap-8631	192	25	0	0	NUM
ap-8631	192	26	u2dt	u2dt	PROPN
ap-8631	192	27	iau	iau	PROPN
ap-8631	192	28	=	=	SYM
ap-8631	192	29	∫	∫	PROPN
ap-8631	192	30	t	t	PROPN
ap-8631	192	31	0	0	NUM
ap-8631	192	32	|u|dt	|u|dt	NOUN
ap-8631	192	33	(	(	PUNCT
ap-8631	192	34	18	18	NUM
ap-8631	192	35	)	)	PUNCT
ap-8631	192	36	where	where	SCONJ
ap-8631	192	37	,	,	PUNCT
ap-8631	192	38	(	(	PUNCT
ap-8631	192	39	yd	yd	NOUN
ap-8631	192	40	)	)	PUNCT
ap-8631	192	41	is	be	AUX
ap-8631	193	1	the	the	DET
ap-8631	193	2	reference	reference	NOUN
ap-8631	193	3	input	input	NOUN
ap-8631	193	4	signal	signal	NOUN
ap-8631	193	5	,	,	PUNCT
ap-8631	193	6	(	(	PUNCT
ap-8631	193	7	y	y	NOUN
ap-8631	193	8	)	)	PUNCT
ap-8631	193	9	is	be	AUX
ap-8631	193	10	the	the	DET
ap-8631	193	11	output	output	NOUN
ap-8631	193	12	of	of	ADP
ap-8631	193	13	the	the	DET
ap-8631	193	14	system	system	NOUN
ap-8631	193	15	,	,	PUNCT
ap-8631	193	16	(	(	PUNCT
ap-8631	193	17	yd	yd	NOUN
ap-8631	193	18	−	−	PROPN
ap-8631	193	19	y	y	PROPN
ap-8631	193	20	)	)	PUNCT
ap-8631	193	21	denotes	denote	VERB
ap-8631	193	22	the	the	DET
ap-8631	193	23	error	error	NOUN
ap-8631	193	24	of	of	ADP
ap-8631	193	25	the	the	DET
ap-8631	193	26	system	system	NOUN
ap-8631	193	27	,	,	PUNCT
ap-8631	193	28	and	and	CCONJ
ap-8631	193	29	(	(	PUNCT
ap-8631	193	30	u	u	NOUN
ap-8631	193	31	)	)	PUNCT
ap-8631	193	32	is	be	AUX
ap-8631	193	33	the	the	DET
ap-8631	193	34	control	control	NOUN
ap-8631	193	35	output	output	NOUN
ap-8631	193	36	.	.	PUNCT
ap-8631	194	1	the	the	DET
ap-8631	194	2	values	value	NOUN
ap-8631	194	3	were	be	AUX
ap-8631	194	4	determined	determine	VERB
ap-8631	194	5	based	base	VERB
ap-8631	194	6	on	on	ADP
ap-8631	194	7	the	the	DET
ap-8631	194	8	minimum	minimum	ADJ
ap-8631	194	9	value	value	NOUN
ap-8631	194	10	of	of	ADP
ap-8631	194	11	the	the	DET
ap-8631	194	12	index	index	NOUN
ap-8631	194	13	,	,	PUNCT
ap-8631	194	14	which	which	PRON
ap-8631	194	15	recommends	recommend	VERB
ap-8631	194	16	the	the	DET
ap-8631	194	17	best	good	ADJ
ap-8631	194	18	performance	performance	NOUN
ap-8631	195	1	[	[	X
ap-8631	195	2	51	51	NUM
ap-8631	195	3	,	,	PUNCT
ap-8631	195	4	52	52	NUM
ap-8631	195	5	]	]	PUNCT
ap-8631	195	6	.	.	PUNCT
ap-8631	196	1	the	the	DET
ap-8631	196	2	iau	iau	PROPN
ap-8631	196	3	performance	performance	NOUN
ap-8631	196	4	index	index	NOUN
ap-8631	196	5	provides	provide	VERB
ap-8631	196	6	a	a	DET
ap-8631	196	7	measure	measure	NOUN
ap-8631	196	8	of	of	ADP
ap-8631	196	9	chatter	chatter	NOUN
ap-8631	196	10	reduction	reduction	NOUN
ap-8631	196	11	in	in	ADP
ap-8631	196	12	the	the	DET
ap-8631	196	13	control	control	NOUN
ap-8631	196	14	signal	signal	NOUN
ap-8631	196	15	[	[	X
ap-8631	196	16	53	53	NUM
ap-8631	196	17	]	]	PUNCT
ap-8631	196	18	,	,	PUNCT
ap-8631	196	19	whereas	whereas	SCONJ
ap-8631	196	20	isu	isu	NOUN
ap-8631	196	21	refers	refer	VERB
ap-8631	196	22	to	to	ADP
ap-8631	196	23	the	the	DET
ap-8631	196	24	controlling	control	VERB
ap-8631	196	25	effort	effort	NOUN
ap-8631	196	26	needed	need	VERB
ap-8631	196	27	for	for	ADP
ap-8631	196	28	a	a	DET
ap-8631	196	29	controller	controller	NOUN
ap-8631	196	30	.	.	PUNCT
ap-8631	197	1	3	3	X
ap-8631	197	2	.	.	X
ap-8631	197	3	stability	stability	NOUN
ap-8631	197	4	analysis	analysis	NOUN
ap-8631	197	5	one	one	NUM
ap-8631	197	6	of	of	ADP
ap-8631	197	7	the	the	DET
ap-8631	197	8	main	main	ADJ
ap-8631	197	9	issues	issue	NOUN
ap-8631	197	10	in	in	ADP
ap-8631	197	11	the	the	DET
ap-8631	197	12	control	control	NOUN
ap-8631	197	13	system	system	NOUN
ap-8631	197	14	design	design	NOUN
ap-8631	197	15	is	be	AUX
ap-8631	197	16	how	how	SCONJ
ap-8631	197	17	to	to	PART
ap-8631	197	18	guarantee	guarantee	VERB
ap-8631	197	19	the	the	DET
ap-8631	197	20	stability	stability	NOUN
ap-8631	197	21	of	of	ADP
ap-8631	197	22	the	the	DET
ap-8631	197	23	controlled	control	VERB
ap-8631	197	24	162	162	NUM
ap-8631	197	25	vol	vol	NOUN
ap-8631	197	26	.	.	PUNCT
ap-8631	198	1	63	63	NUM
ap-8631	199	1	no	no	NOUN
ap-8631	199	2	.	.	PUNCT
ap-8631	200	1	3/2023	3/2023	NUM
ap-8631	200	2	fractional	fractional	ADJ
ap-8631	200	3	multi	multi	ADJ
ap-8631	200	4	-	-	ADJ
ap-8631	200	5	loop	loop	ADJ
ap-8631	200	6	active	active	ADJ
ap-8631	200	7	disturbance	disturbance	NOUN
ap-8631	200	8	rejection	rejection	NOUN
ap-8631	200	9	control	control	NOUN
ap-8631	200	10	system	system	NOUN
ap-8631	200	11	[	[	X
ap-8631	200	12	54	54	NUM
ap-8631	200	13	]	]	PUNCT
ap-8631	200	14	.	.	PUNCT
ap-8631	201	1	in	in	ADP
ap-8631	201	2	this	this	DET
ap-8631	201	3	part	part	NOUN
ap-8631	201	4	,	,	PUNCT
ap-8631	201	5	the	the	DET
ap-8631	201	6	stability	stability	NOUN
ap-8631	201	7	analysis	analysis	NOUN
ap-8631	201	8	will	will	AUX
ap-8631	201	9	be	be	AUX
ap-8631	201	10	conducted	conduct	VERB
ap-8631	201	11	based	base	VERB
ap-8631	201	12	on	on	ADP
ap-8631	201	13	the	the	DET
ap-8631	201	14	pole	pole	ADJ
ap-8631	201	15	-	-	PUNCT
ap-8631	201	16	placement	placement	NOUN
ap-8631	201	17	theory	theory	NOUN
ap-8631	201	18	.	.	PUNCT
ap-8631	202	1	lemma	lemma	PROPN
ap-8631	202	2	1	1	NUM
ap-8631	202	3	:	:	PUNCT
ap-8631	202	4	considering	consider	VERB
ap-8631	202	5	the	the	DET
ap-8631	202	6	system	system	NOUN
ap-8631	202	7	of	of	ADP
ap-8631	202	8	equation	equation	NOUN
ap-8631	202	9	(	(	PUNCT
ap-8631	202	10	3	3	NUM
ap-8631	202	11	)	)	PUNCT
ap-8631	202	12	with	with	ADP
ap-8631	202	13	the	the	DET
ap-8631	202	14	parametric	parametric	ADJ
ap-8631	202	15	uncertainties	uncertainty	NOUN
ap-8631	202	16	f	f	NOUN
ap-8631	202	17	,	,	PUNCT
ap-8631	202	18	the	the	DET
ap-8631	202	19	control	control	NOUN
ap-8631	202	20	law	law	NOUN
ap-8631	202	21	developed	develop	VERB
ap-8631	202	22	based	base	VERB
ap-8631	202	23	on	on	ADP
ap-8631	202	24	fadrc	fadrc	NOUN
ap-8631	202	25	can	can	AUX
ap-8631	202	26	lead	lead	VERB
ap-8631	202	27	to	to	ADP
ap-8631	202	28	an	an	DET
ap-8631	202	29	asymptotic	asymptotic	ADJ
ap-8631	202	30	convergence	convergence	NOUN
ap-8631	202	31	of	of	ADP
ap-8631	202	32	tracking	tracking	NOUN
ap-8631	202	33	error	error	NOUN
ap-8631	202	34	to	to	ADP
ap-8631	202	35	zero	zero	NUM
ap-8631	202	36	for	for	ADP
ap-8631	202	37	a	a	DET
ap-8631	202	38	given	give	VERB
ap-8631	202	39	desired	desire	VERB
ap-8631	202	40	trajectory	trajectory	NOUN
ap-8631	202	41	.	.	PUNCT
ap-8631	203	1	this	this	PRON
ap-8631	203	2	will	will	AUX
ap-8631	203	3	give	give	VERB
ap-8631	203	4	the	the	DET
ap-8631	203	5	condition	condition	NOUN
ap-8631	203	6	of	of	ADP
ap-8631	203	7	bounded	bound	VERB
ap-8631	203	8	-	-	PUNCT
ap-8631	203	9	input	input	NOUN
ap-8631	203	10	bounded	bound	VERB
ap-8631	203	11	-	-	PUNCT
ap-8631	203	12	output	output	NOUN
ap-8631	203	13	(	(	PUNCT
ap-8631	203	14	bibo	bibo	ADJ
ap-8631	203	15	)	)	PUNCT
ap-8631	203	16	stability	stability	NOUN
ap-8631	203	17	of	of	ADP
ap-8631	203	18	the	the	DET
ap-8631	203	19	closed	closed	ADJ
ap-8631	203	20	-	-	PUNCT
ap-8631	203	21	loop	loop	NOUN
ap-8631	203	22	system	system	NOUN
ap-8631	203	23	in	in	ADP
ap-8631	203	24	terms	term	NOUN
ap-8631	203	25	of	of	ADP
ap-8631	203	26	roots	root	NOUN
ap-8631	203	27	of	of	ADP
ap-8631	203	28	a	a	DET
ap-8631	203	29	polynomial	polynomial	NOUN
ap-8631	203	30	.	.	PUNCT
ap-8631	204	1	the	the	DET
ap-8631	204	2	stability	stability	NOUN
ap-8631	204	3	analysis	analysis	NOUN
ap-8631	204	4	of	of	ADP
ap-8631	204	5	the	the	DET
ap-8631	204	6	proposed	propose	VERB
ap-8631	204	7	control	control	NOUN
ap-8631	204	8	algorithm	algorithm	PROPN
ap-8631	204	9	is	be	AUX
ap-8631	204	10	initiated	initiate	VERB
ap-8631	204	11	by	by	ADP
ap-8631	204	12	letting	let	VERB
ap-8631	204	13	:	:	PUNCT
ap-8631	204	14	ϵα	ϵα	INTJ
ap-8631	205	1	i	i	PRON
ap-8631	205	2	=	=	PUNCT
ap-8631	206	1	xα	xα	INTJ
ap-8631	207	1	i	i	PRON
ap-8631	207	2	−	−	NOUN
ap-8631	207	3	x	x	SYM
ap-8631	207	4	∧α	∧α	NOUN
ap-8631	207	5	,	,	PUNCT
ap-8631	207	6	i	i	PRON
ap-8631	207	7	=	=	NOUN
ap-8631	207	8	1	1	NUM
ap-8631	207	9	,	,	PUNCT
ap-8631	207	10	2	2	NUM
ap-8631	207	11	,	,	PUNCT
ap-8631	207	12	3	3	NUM
ap-8631	207	13	,	,	PUNCT
ap-8631	207	14	.	.	PUNCT
ap-8631	207	15	.	.	PUNCT
ap-8631	207	16	.	.	PUNCT
ap-8631	208	1	,	,	PUNCT
ap-8631	208	2	(	(	PUNCT
ap-8631	208	3	19	19	NUM
ap-8631	208	4	)	)	PUNCT
ap-8631	208	5	where	where	SCONJ
ap-8631	208	6	α	α	NOUN
ap-8631	208	7	is	be	AUX
ap-8631	208	8	fractional	fractional	ADJ
ap-8631	208	9	term	term	NOUN
ap-8631	208	10	.	.	PUNCT
ap-8631	209	1	combining	combine	VERB
ap-8631	209	2	equation	equation	NOUN
ap-8631	209	3	(	(	PUNCT
ap-8631	209	4	7	7	NUM
ap-8631	209	5	)	)	PUNCT
ap-8631	209	6	and	and	CCONJ
ap-8631	209	7	equation	equation	NOUN
ap-8631	209	8	(	(	PUNCT
ap-8631	209	9	15	15	NUM
ap-8631	209	10	)	)	PUNCT
ap-8631	209	11	,	,	PUNCT
ap-8631	209	12	the	the	DET
ap-8631	209	13	error	error	NOUN
ap-8631	209	14	equation	equation	NOUN
ap-8631	209	15	is	be	AUX
ap-8631	209	16	:	:	PUNCT
ap-8631	209	17	ϵα	ϵα	INTJ
ap-8631	210	1	i	i	NOUN
ap-8631	210	2	=	=	VERB
ap-8631	210	3	aϵϵi	aϵϵi	NOUN
ap-8631	211	1	+	+	CCONJ
ap-8631	211	2	eh	eh	INTJ
ap-8631	211	3	.	.	PUNCT
ap-8631	212	1	(	(	PUNCT
ap-8631	212	2	20	20	NUM
ap-8631	212	3	)	)	PUNCT
ap-8631	212	4	equation	equation	NOUN
ap-8631	212	5	(	(	PUNCT
ap-8631	212	6	20	20	NUM
ap-8631	212	7	)	)	PUNCT
ap-8631	212	8	can	can	AUX
ap-8631	212	9	be	be	AUX
ap-8631	212	10	represented	represent	VERB
ap-8631	212	11	as	as	ADP
ap-8631	212	12	state	state	NOUN
ap-8631	212	13	-	-	PUNCT
ap-8631	212	14	space	space	NOUN
ap-8631	212	15	:	:	PUNCT
ap-8631	212	16	aϵ	aϵ	ADP
ap-8631	212	17	=	=	PUNCT
ap-8631	212	18	−l1	−l1	PUNCT
ap-8631	213	1	1	1	NUM
ap-8631	213	2	0	0	X
ap-8631	213	3	−l2	−l2	NOUN
ap-8631	213	4	0	0	NUM
ap-8631	213	5	1	1	NUM
ap-8631	213	6	−l3	−l3	NUM
ap-8631	213	7	0	0	NUM
ap-8631	213	8	0	0	NUM
ap-8631	213	9			NOUN
ap-8631	213	10	,	,	PUNCT
ap-8631	213	11	e	e	NOUN
ap-8631	213	12	=	=	SYM
ap-8631	213	13	0	0	ADJ
ap-8631	213	14	0	0	NUM
ap-8631	213	15	1	1	NUM
ap-8631	213	16			NOUN
ap-8631	213	17	,	,	PUNCT
ap-8631	213	18	h	h	NOUN
ap-8631	213	19	=	=	SYM
ap-8631	213	20	fα	fα	NOUN
ap-8631	213	21	(	(	PUNCT
ap-8631	213	22	.	.	PUNCT
ap-8631	213	23	)	)	PUNCT
ap-8631	213	24	.	.	PUNCT
ap-8631	214	1	(	(	PUNCT
ap-8631	214	2	21	21	NUM
ap-8631	214	3	)	)	PUNCT
ap-8631	214	4	the	the	DET
ap-8631	214	5	characteristic	characteristic	ADJ
ap-8631	214	6	polynomial	polynomial	NOUN
ap-8631	214	7	of	of	ADP
ap-8631	214	8	(	(	PUNCT
ap-8631	214	9	aϵ	aϵ	NOUN
ap-8631	214	10	)	)	PUNCT
ap-8631	214	11	is	be	AUX
ap-8631	214	12	[	[	X
ap-8631	214	13	55	55	NUM
ap-8631	214	14	]	]	SYM
ap-8631	214	15	:	:	PUNCT
ap-8631	214	16	q(s	q(s	X
ap-8631	214	17	)	)	PUNCT
ap-8631	214	18	=	=	PUNCT
ap-8631	215	1	s3α	s3α	NOUN
ap-8631	215	2	+	+	CCONJ
ap-8631	215	3	l1s2α	l1s2α	NUM
ap-8631	215	4	+	+	CCONJ
ap-8631	215	5	l2sα	l2sα	PUNCT
ap-8631	215	6	+	+	NUM
ap-8631	215	7	l3	l3	NOUN
ap-8631	215	8	=	=	SYM
ap-8631	215	9	(	(	PUNCT
ap-8631	215	10	sα	sα	ADV
ap-8631	215	11	+	+	CCONJ
ap-8631	215	12	w0)3	w0)3	X
ap-8631	215	13	.	.	PUNCT
ap-8631	216	1	(	(	PUNCT
ap-8631	216	2	22	22	NUM
ap-8631	216	3	)	)	PUNCT
ap-8631	216	4	there	there	PRON
ap-8631	216	5	are	be	VERB
ap-8631	216	6	two	two	NUM
ap-8631	216	7	boundary	boundary	ADJ
ap-8631	216	8	lines	line	NOUN
ap-8631	216	9	for	for	ADP
ap-8631	216	10	the	the	DET
ap-8631	216	11	stable	stable	ADJ
ap-8631	216	12	region	region	NOUN
ap-8631	216	13	with	with	ADP
ap-8631	216	14	the	the	DET
ap-8631	216	15	slope	slope	NOUN
ap-8631	216	16	(	(	PUNCT
ap-8631	216	17	±0.5πα	±0.5πα	NOUN
ap-8631	216	18	)	)	PUNCT
ap-8631	216	19	.	.	PUNCT
ap-8631	217	1	the	the	DET
ap-8631	217	2	stable	stable	ADJ
ap-8631	217	3	region	region	NOUN
ap-8631	217	4	includes	includes	AUX
ap-8631	217	5	left	leave	VERB
ap-8631	217	6	half	half	ADJ
ap-8631	217	7	-	-	PUNCT
ap-8631	217	8	plane	plane	NOUN
ap-8631	217	9	,	,	PUNCT
ap-8631	217	10	including	include	VERB
ap-8631	217	11	the	the	DET
ap-8631	217	12	imaginary	imaginary	ADJ
ap-8631	217	13	axis	axis	NOUN
ap-8631	217	14	because	because	SCONJ
ap-8631	217	15	of	of	ADP
ap-8631	217	16	(	(	PUNCT
ap-8631	217	17	0	0	X
ap-8631	217	18	<	<	X
ap-8631	217	19	α	α	X
ap-8631	217	20	<	<	X
ap-8631	217	21	1	1	NUM
ap-8631	217	22	)	)	PUNCT
ap-8631	217	23	.	.	PUNCT
ap-8631	218	1	transforming	transform	VERB
ap-8631	218	2	the	the	DET
ap-8631	218	3	above	above	ADJ
ap-8631	218	4	fractional	fractional	ADJ
ap-8631	218	5	-	-	PUNCT
ap-8631	218	6	order	order	NOUN
ap-8631	218	7	system	system	NOUN
ap-8631	218	8	to	to	ADP
ap-8631	218	9	w	w	NOUN
ap-8631	218	10	-	-	NOUN
ap-8631	218	11	plane	plane	NOUN
ap-8631	218	12	by	by	ADP
ap-8631	218	13	replacing	replace	VERB
ap-8631	218	14	(	(	PUNCT
ap-8631	218	15	sα	sα	PROPN
ap-8631	218	16	=	=	PROPN
ap-8631	218	17	w	w	PROPN
ap-8631	218	18	)	)	PUNCT
ap-8631	218	19	,	,	PUNCT
ap-8631	218	20	the	the	DET
ap-8631	218	21	transfer	transfer	NOUN
ap-8631	218	22	function	function	NOUN
ap-8631	218	23	is	be	AUX
ap-8631	218	24	given	give	VERB
ap-8631	218	25	by	by	ADP
ap-8631	218	26	q(s	q(	VERB
ap-8631	218	27	)	)	PUNCT
ap-8631	218	28	=	=	PUNCT
ap-8631	219	1	(	(	PUNCT
ap-8631	219	2	w	w	PROPN
ap-8631	219	3	+	+	PROPN
ap-8631	219	4	wo)3	wo)3	PROPN
ap-8631	219	5	.	.	PUNCT
ap-8631	220	1	all	all	DET
ap-8631	220	2	the	the	DET
ap-8631	220	3	poles	pole	NOUN
ap-8631	220	4	are	be	AUX
ap-8631	220	5	determined	determine	VERB
ap-8631	220	6	at	at	ADP
ap-8631	220	7	(	(	PUNCT
ap-8631	220	8	−wo	−wo	NOUN
ap-8631	220	9	)	)	PUNCT
ap-8631	220	10	,	,	PUNCT
ap-8631	220	11	i.e.	i.e.	X
ap-8631	220	12	at	at	ADP
ap-8631	220	13	left	left	ADJ
ap-8631	220	14	half	half	ADJ
ap-8631	220	15	-	-	PUNCT
ap-8631	220	16	plane	plane	NOUN
ap-8631	220	17	.	.	PUNCT
ap-8631	221	1	when	when	SCONJ
ap-8631	221	2	the	the	DET
ap-8631	221	3	observer	observer	NOUN
ap-8631	221	4	gain	gain	NOUN
ap-8631	221	5	is	be	AUX
ap-8631	221	6	selected	select	VERB
ap-8631	221	7	sufficiently	sufficiently	ADV
ap-8631	221	8	large	large	ADJ
ap-8631	221	9	,	,	PUNCT
ap-8631	221	10	the	the	DET
ap-8631	221	11	feso	feso	NOUN
ap-8631	221	12	is	be	AUX
ap-8631	221	13	bibo	bibo	ADJ
ap-8631	221	14	stable	stable	ADJ
ap-8631	221	15	and	and	CCONJ
ap-8631	221	16	the	the	DET
ap-8631	221	17	whole	whole	ADJ
ap-8631	221	18	closed	closed	ADJ
ap-8631	221	19	-	-	PUNCT
ap-8631	221	20	loop	loop	NOUN
ap-8631	221	21	system	system	NOUN
ap-8631	221	22	is	be	AUX
ap-8631	221	23	bibo	bibo	ADJ
ap-8631	221	24	.	.	PUNCT
ap-8631	222	1	4	4	X
ap-8631	222	2	.	.	NOUN
ap-8631	222	3	results	result	NOUN
ap-8631	222	4	and	and	CCONJ
ap-8631	222	5	discussion	discussion	NOUN
ap-8631	222	6	to	to	PART
ap-8631	222	7	verify	verify	VERB
ap-8631	222	8	the	the	DET
ap-8631	222	9	controller	controller	NOUN
ap-8631	222	10	’s	’s	PART
ap-8631	222	11	robustness	robustness	NOUN
ap-8631	222	12	,	,	PUNCT
ap-8631	222	13	fadrc	fadrc	NOUN
ap-8631	222	14	will	will	AUX
ap-8631	222	15	be	be	AUX
ap-8631	222	16	simulated	simulate	VERB
ap-8631	222	17	for	for	ADP
ap-8631	222	18	two	two	NUM
ap-8631	222	19	different	different	ADJ
ap-8631	222	20	cases	case	NOUN
ap-8631	222	21	in	in	ADP
ap-8631	222	22	this	this	DET
ap-8631	222	23	part	part	NOUN
ap-8631	222	24	.	.	PUNCT
ap-8631	223	1	the	the	DET
ap-8631	223	2	simulation	simulation	NOUN
ap-8631	223	3	results	result	NOUN
ap-8631	223	4	will	will	AUX
ap-8631	223	5	be	be	AUX
ap-8631	223	6	compared	compare	VERB
ap-8631	223	7	using	use	VERB
ap-8631	223	8	many	many	ADJ
ap-8631	223	9	disturbances	disturbance	NOUN
ap-8631	223	10	and	and	CCONJ
ap-8631	223	11	noise	noise	NOUN
ap-8631	223	12	criteria	criterion	NOUN
ap-8631	223	13	.	.	PUNCT
ap-8631	224	1	the	the	DET
ap-8631	224	2	desired	desire	VERB
ap-8631	224	3	trajectory	trajectory	NOUN
ap-8631	224	4	for	for	ADP
ap-8631	224	5	training	training	NOUN
ap-8631	224	6	is	be	AUX
ap-8631	224	7	a	a	DET
ap-8631	224	8	sinusoidal	sinusoidal	ADJ
ap-8631	224	9	input	input	NOUN
ap-8631	224	10	with	with	ADP
ap-8631	224	11	the	the	DET
ap-8631	224	12	starting	start	VERB
ap-8631	224	13	angle	angle	NOUN
ap-8631	224	14	of	of	ADP
ap-8631	224	15	the	the	DET
ap-8631	224	16	exoskeleton	exoskeleton	PROPN
ap-8631	224	17	of	of	ADP
ap-8631	224	18	(	(	PUNCT
ap-8631	224	19	-45	-45	INTJ
ap-8631	224	20	deg	deg	NOUN
ap-8631	224	21	,	,	PUNCT
ap-8631	224	22	or	or	CCONJ
ap-8631	224	23	-0.785	-0.785	PUNCT
ap-8631	224	24	rad	rad	NOUN
ap-8631	224	25	)	)	PUNCT
ap-8631	224	26	,	,	PUNCT
ap-8631	224	27	and	and	CCONJ
ap-8631	224	28	the	the	DET
ap-8631	224	29	maximum	maximum	ADJ
ap-8631	224	30	angle	angle	NOUN
ap-8631	224	31	of	of	ADP
ap-8631	224	32	(	(	PUNCT
ap-8631	224	33	-90	-90	PUNCT
ap-8631	224	34	deg	deg	NOUN
ap-8631	224	35	,	,	PUNCT
ap-8631	224	36	or	or	CCONJ
ap-8631	224	37	-1.57	-1.57	ADJ
ap-8631	224	38	rad	rad	PROPN
ap-8631	224	39	)	)	PUNCT
ap-8631	224	40	,	,	PUNCT
ap-8631	224	41	at	at	ADP
ap-8631	224	42	knee	knee	NOUN
ap-8631	224	43	flexion	flexion	NOUN
ap-8631	224	44	,	,	PUNCT
ap-8631	224	45	while	while	SCONJ
ap-8631	224	46	to	to	ADP
ap-8631	224	47	a	a	DET
ap-8631	224	48	maximum	maximum	NOUN
ap-8631	224	49	of	of	ADP
ap-8631	224	50	(	(	PUNCT
ap-8631	224	51	0	0	NUM
ap-8631	224	52	deg	deg	NOUN
ap-8631	224	53	,	,	PUNCT
ap-8631	224	54	or	or	CCONJ
ap-8631	224	55	0	0	NUM
ap-8631	224	56	rad	rad	NOUN
ap-8631	224	57	)	)	PUNCT
ap-8631	224	58	,	,	PUNCT
ap-8631	224	59	at	at	ADP
ap-8631	224	60	knee	knee	NOUN
ap-8631	224	61	extension	extension	NOUN
ap-8631	224	62	.	.	PUNCT
ap-8631	225	1	no	no	DET
ap-8631	225	2	disturbance	disturbance	NOUN
ap-8631	225	3	case	case	NOUN
ap-8631	225	4	to	to	PART
ap-8631	225	5	assess	assess	VERB
ap-8631	225	6	the	the	DET
ap-8631	225	7	controller	controller	NOUN
ap-8631	225	8	’s	’s	PART
ap-8631	225	9	performance	performance	NOUN
ap-8631	225	10	,	,	PUNCT
ap-8631	225	11	it	it	PRON
ap-8631	225	12	must	must	AUX
ap-8631	225	13	be	be	AUX
ap-8631	225	14	ran	run	VERB
ap-8631	225	15	without	without	ADP
ap-8631	225	16	any	any	DET
ap-8631	225	17	payload	payload	NOUN
ap-8631	225	18	(	(	PUNCT
ap-8631	225	19	no	no	DET
ap-8631	225	20	human	human	ADJ
ap-8631	225	21	torque	torque	NOUN
ap-8631	225	22	impact	impact	NOUN
ap-8631	225	23	τh	τh	ADP
ap-8631	225	24	=	=	NOUN
ap-8631	225	25	0	0	NUM
ap-8631	225	26	)	)	PUNCT
ap-8631	225	27	and	and	CCONJ
ap-8631	225	28	without	without	ADP
ap-8631	225	29	any	any	DET
ap-8631	225	30	disruptions	disruption	NOUN
ap-8631	225	31	or	or	CCONJ
ap-8631	225	32	noises	noise	NOUN
ap-8631	225	33	.	.	PUNCT
ap-8631	226	1	fadrc1	fadrc1	NOUN
ap-8631	226	2	,	,	PUNCT
ap-8631	226	3	fadrc2	fadrc2	NOUN
ap-8631	226	4	and	and	CCONJ
ap-8631	226	5	fadrc3	fadrc3	NOUN
ap-8631	226	6	performances	performance	NOUN
ap-8631	226	7	are	be	AUX
ap-8631	226	8	shown	show	VERB
ap-8631	226	9	in	in	ADP
ap-8631	226	10	figure	figure	NOUN
ap-8631	226	11	4	4	NUM
ap-8631	226	12	.	.	PUNCT
ap-8631	227	1	(	(	PUNCT
ap-8631	227	2	desired	desire	VERB
ap-8631	227	3	vs	vs	ADP
ap-8631	227	4	real	real	ADJ
ap-8631	227	5	output	output	NOUN
ap-8631	227	6	)	)	PUNCT
ap-8631	227	7	.	.	PUNCT
ap-8631	228	1	figure	figure	VERB
ap-8631	228	2	5	5	NUM
ap-8631	228	3	depicts	depict	VERB
ap-8631	228	4	the	the	DET
ap-8631	228	5	difference	difference	NOUN
ap-8631	228	6	in	in	ADP
ap-8631	228	7	the	the	DET
ap-8631	228	8	knee	knee	NOUN
ap-8631	228	9	position	position	NOUN
ap-8631	228	10	between	between	ADP
ap-8631	228	11	the	the	DET
ap-8631	228	12	desired	desire	VERB
ap-8631	228	13	and	and	CCONJ
ap-8631	228	14	actual	actual	ADJ
ap-8631	228	15	positions	position	NOUN
ap-8631	228	16	for	for	ADP
ap-8631	228	17	all	all	DET
ap-8631	228	18	controllers	controller	NOUN
ap-8631	228	19	.	.	PUNCT
ap-8631	229	1	the	the	DET
ap-8631	229	2	fadrc3	fadrc3	PROPN
ap-8631	229	3	control	control	PROPN
ap-8631	229	4	approach	approach	NOUN
ap-8631	229	5	achieves	achieve	VERB
ap-8631	229	6	the	the	DET
ap-8631	229	7	least	least	ADJ
ap-8631	229	8	tracking	tracking	NOUN
ap-8631	229	9	error	error	NOUN
ap-8631	229	10	,	,	PUNCT
ap-8631	229	11	proving	prove	VERB
ap-8631	229	12	its	its	PRON
ap-8631	229	13	effectiveness	effectiveness	NOUN
ap-8631	229	14	and	and	CCONJ
ap-8631	229	15	superiority	superiority	NOUN
ap-8631	229	16	to	to	ADP
ap-8631	229	17	fradc1	fradc1	PROPN
ap-8631	229	18	and	and	CCONJ
ap-8631	229	19	fadrc2	fadrc2	NOUN
ap-8631	229	20	,	,	PUNCT
ap-8631	229	21	as	as	SCONJ
ap-8631	229	22	shown	show	VERB
ap-8631	229	23	in	in	ADP
ap-8631	229	24	table	table	NOUN
ap-8631	229	25	2	2	NUM
ap-8631	229	26	,	,	PUNCT
ap-8631	229	27	with	with	ADP
ap-8631	229	28	the	the	DET
ap-8631	229	29	smallest	small	ADJ
ap-8631	229	30	r.m.s.e	r.m.s.e	NOUN
ap-8631	229	31	(	(	PUNCT
ap-8631	229	32	0.0039	0.0039	NUM
ap-8631	229	33	)	)	PUNCT
ap-8631	229	34	.	.	PUNCT
ap-8631	230	1	when	when	SCONJ
ap-8631	230	2	comparing	compare	VERB
ap-8631	230	3	the	the	DET
ap-8631	230	4	performance	performance	NOUN
ap-8631	230	5	index	index	NOUN
ap-8631	230	6	(	(	PUNCT
ap-8631	230	7	r.m.s.e	r.m.s.e	PROPN
ap-8631	230	8	)	)	PUNCT
ap-8631	230	9	for	for	ADP
ap-8631	230	10	the	the	DET
ap-8631	230	11	best	good	ADJ
ap-8631	230	12	case	case	NOUN
ap-8631	230	13	of	of	ADP
ap-8631	230	14	fadrc2	fadrc2	NOUN
ap-8631	230	15	and	and	CCONJ
ap-8631	230	16	the	the	DET
ap-8631	230	17	proposed	proposed	ADJ
ap-8631	230	18	fadrc3	fadrc3	PROPN
ap-8631	230	19	,	,	PUNCT
ap-8631	230	20	a	a	DET
ap-8631	230	21	reduction	reduction	NOUN
ap-8631	230	22	of	of	ADP
ap-8631	230	23	48	48	NUM
ap-8631	230	24	%	%	NOUN
ap-8631	230	25	is	be	AUX
ap-8631	230	26	observed	observe	VERB
ap-8631	230	27	.	.	PUNCT
ap-8631	231	1	it	it	PRON
ap-8631	231	2	can	can	AUX
ap-8631	231	3	be	be	AUX
ap-8631	231	4	stated	state	VERB
ap-8631	231	5	that	that	SCONJ
ap-8631	231	6	the	the	DET
ap-8631	231	7	fadrc3	fadrc3	NOUN
ap-8631	231	8	controller	controller	NOUN
ap-8631	231	9	outperforms	outperform	VERB
ap-8631	231	10	the	the	DET
ap-8631	231	11	fadrc1	fadrc1	NOUN
ap-8631	231	12	and	and	CCONJ
ap-8631	231	13	fadrc2	fadrc2	NOUN
ap-8631	231	14	controllers	controller	NOUN
ap-8631	231	15	due	due	ADP
ap-8631	231	16	to	to	ADP
ap-8631	231	17	the	the	DET
ap-8631	231	18	additional	additional	ADJ
ap-8631	231	19	degree	degree	NOUN
ap-8631	231	20	of	of	ADP
ap-8631	231	21	freedom	freedom	NOUN
ap-8631	231	22	.	.	PUNCT
ap-8631	232	1	figure	figure	NOUN
ap-8631	232	2	6	6	NUM
ap-8631	232	3	depicts	depict	VERB
ap-8631	232	4	the	the	DET
ap-8631	232	5	control	control	NOUN
ap-8631	232	6	efforts	effort	NOUN
ap-8631	232	7	required	require	VERB
ap-8631	232	8	to	to	PART
ap-8631	232	9	study	study	VERB
ap-8631	232	10	the	the	DET
ap-8631	232	11	control	control	NOUN
ap-8631	232	12	torque	torque	NOUN
ap-8631	232	13	(	(	PUNCT
ap-8631	232	14	τc	τc	NOUN
ap-8631	232	15	)	)	PUNCT
ap-8631	232	16	or	or	CCONJ
ap-8631	232	17	u(t	u(t	NOUN
ap-8631	232	18	)	)	PUNCT
ap-8631	232	19	for	for	ADP
ap-8631	232	20	all	all	DET
ap-8631	232	21	control	control	NOUN
ap-8631	232	22	systems	system	NOUN
ap-8631	232	23	.	.	PUNCT
ap-8631	233	1	when	when	SCONJ
ap-8631	233	2	compared	compare	VERB
ap-8631	233	3	to	to	ADP
ap-8631	233	4	fadrc1	fadrc1	NOUN
ap-8631	233	5	and	and	CCONJ
ap-8631	233	6	fadrc2	fadrc2	PROPN
ap-8631	233	7	,	,	PUNCT
ap-8631	233	8	the	the	DET
ap-8631	233	9	experimental	experimental	ADJ
ap-8631	233	10	results	result	NOUN
ap-8631	233	11	reveal	reveal	VERB
ap-8631	233	12	that	that	SCONJ
ap-8631	233	13	the	the	DET
ap-8631	233	14	fadrc3	fadrc3	PROPN
ap-8631	233	15	control	control	NOUN
ap-8631	233	16	approach	approach	NOUN
ap-8631	233	17	produces	produce	VERB
ap-8631	233	18	the	the	DET
ap-8631	233	19	smallest	small	ADJ
ap-8631	233	20	control	control	NOUN
ap-8631	233	21	effort	effort	NOUN
ap-8631	233	22	required	require	VERB
ap-8631	233	23	for	for	ADP
ap-8631	233	24	a	a	DET
ap-8631	233	25	controller	controller	NOUN
ap-8631	233	26	(	(	PUNCT
ap-8631	233	27	isu	isu	NOUN
ap-8631	233	28	=	=	NOUN
ap-8631	233	29	108	108	NUM
ap-8631	233	30	)	)	PUNCT
ap-8631	233	31	and	and	CCONJ
ap-8631	233	32	the	the	DET
ap-8631	233	33	largest	large	ADJ
ap-8631	233	34	measure	measure	NOUN
ap-8631	233	35	of	of	ADP
ap-8631	233	36	chattering	chatter	VERB
ap-8631	233	37	reduction	reduction	NOUN
ap-8631	233	38	in	in	ADP
ap-8631	233	39	the	the	DET
ap-8631	233	40	control	control	NOUN
ap-8631	233	41	signal	signal	PROPN
ap-8631	233	42	index	index	NOUN
ap-8631	233	43	(	(	PUNCT
ap-8631	233	44	iau	iau	PROPN
ap-8631	233	45	=	=	PROPN
ap-8631	233	46	39.63	39.63	NUM
ap-8631	233	47	)	)	PUNCT
ap-8631	233	48	due	due	ADP
ap-8631	233	49	to	to	ADP
ap-8631	233	50	the	the	DET
ap-8631	233	51	presence	presence	NOUN
ap-8631	233	52	of	of	ADP
ap-8631	233	53	two	two	NUM
ap-8631	233	54	fractional	fractional	ADJ
ap-8631	233	55	terms	term	NOUN
ap-8631	233	56	,	,	PUNCT
ap-8631	233	57	one	one	NUM
ap-8631	233	58	at	at	ADP
ap-8631	233	59	the	the	DET
ap-8631	233	60	feedback	feedback	NOUN
ap-8631	233	61	path	path	NOUN
ap-8631	233	62	(	(	PUNCT
ap-8631	233	63	feso	feso	NOUN
ap-8631	233	64	)	)	PUNCT
ap-8631	233	65	and	and	CCONJ
ap-8631	233	66	the	the	DET
ap-8631	233	67	other	other	ADJ
ap-8631	233	68	at	at	ADP
ap-8631	233	69	the	the	DET
ap-8631	233	70	feedforward	feedforward	ADJ
ap-8631	233	71	path	path	NOUN
ap-8631	233	72	(	(	PUNCT
ap-8631	233	73	fpd	fpd	NOUN
ap-8631	233	74	)	)	PUNCT
ap-8631	233	75	,	,	PUNCT
ap-8631	233	76	as	as	SCONJ
ap-8631	233	77	can	can	AUX
ap-8631	233	78	be	be	AUX
ap-8631	233	79	seen	see	VERB
ap-8631	233	80	in	in	ADP
ap-8631	233	81	table	table	NOUN
ap-8631	233	82	3	3	NUM
ap-8631	233	83	.	.	PUNCT
ap-8631	234	1	with	with	ADP
ap-8631	234	2	disturbance	disturbance	NOUN
ap-8631	234	3	case	case	NOUN
ap-8631	234	4	in	in	ADP
ap-8631	234	5	this	this	DET
ap-8631	234	6	case	case	NOUN
ap-8631	234	7	,	,	PUNCT
ap-8631	234	8	the	the	DET
ap-8631	234	9	performance	performance	NOUN
ap-8631	234	10	of	of	ADP
ap-8631	234	11	the	the	DET
ap-8631	234	12	proposed	propose	VERB
ap-8631	234	13	controller	controller	NOUN
ap-8631	234	14	under	under	ADP
ap-8631	234	15	disturbance	disturbance	NOUN
ap-8631	234	16	application	application	NOUN
ap-8631	234	17	is	be	AUX
ap-8631	234	18	assessed	assess	VERB
ap-8631	234	19	.	.	PUNCT
ap-8631	235	1	the	the	DET
ap-8631	235	2	joint	joint	ADJ
ap-8631	235	3	position	position	NOUN
ap-8631	235	4	is	be	AUX
ap-8631	235	5	measured	measure	VERB
ap-8631	235	6	practically	practically	ADV
ap-8631	235	7	by	by	ADP
ap-8631	235	8	an	an	DET
ap-8631	235	9	absolute	absolute	ADJ
ap-8631	235	10	encoder	encoder	NOUN
ap-8631	235	11	mounted	mount	VERB
ap-8631	235	12	at	at	ADP
ap-8631	235	13	the	the	DET
ap-8631	235	14	rotational	rotational	ADJ
ap-8631	235	15	shaft	shaft	NOUN
ap-8631	235	16	of	of	ADP
ap-8631	235	17	knee	knee	NOUN
ap-8631	235	18	joint	joint	NOUN
ap-8631	235	19	,	,	PUNCT
ap-8631	235	20	which	which	PRON
ap-8631	235	21	may	may	AUX
ap-8631	235	22	cause	cause	VERB
ap-8631	235	23	a	a	DET
ap-8631	235	24	noise	noise	NOUN
ap-8631	235	25	in	in	ADP
ap-8631	235	26	the	the	DET
ap-8631	235	27	measurement	measurement	NOUN
ap-8631	235	28	.	.	PUNCT
ap-8631	236	1	a	a	DET
ap-8631	236	2	noise	noise	NOUN
ap-8631	236	3	can	can	AUX
ap-8631	236	4	also	also	ADV
ap-8631	236	5	be	be	AUX
ap-8631	236	6	produced	produce	VERB
ap-8631	236	7	by	by	ADP
ap-8631	236	8	the	the	DET
ap-8631	236	9	exoskeleton	exoskeleton	PROPN
ap-8631	236	10	user	user	NOUN
ap-8631	236	11	during	during	ADP
ap-8631	236	12	the	the	DET
ap-8631	236	13	training	training	NOUN
ap-8631	236	14	.	.	PUNCT
ap-8631	237	1	it	it	PRON
ap-8631	237	2	considers	consider	VERB
ap-8631	237	3	a	a	DET
ap-8631	237	4	condition	condition	NOUN
ap-8631	237	5	of	of	ADP
ap-8631	237	6	disturbance	disturbance	NOUN
ap-8631	237	7	by	by	ADP
ap-8631	237	8	a	a	DET
ap-8631	237	9	payload	payload	NOUN
ap-8631	237	10	of	of	ADP
ap-8631	237	11	0.5	0.5	NUM
ap-8631	237	12	kg	kg	NOUN
ap-8631	237	13	,	,	PUNCT
ap-8631	237	14	which	which	PRON
ap-8631	237	15	is	be	AUX
ap-8631	237	16	introduced	introduce	VERB
ap-8631	237	17	in	in	ADP
ap-8631	237	18	between	between	ADP
ap-8631	237	19	the	the	DET
ap-8631	237	20	flexion	flexion	NOUN
ap-8631	237	21	/	/	SYM
ap-8631	237	22	extension	extension	NOUN
ap-8631	237	23	at	at	ADP
ap-8631	237	24	2	2	NUM
ap-8631	237	25	s	s	NOUN
ap-8631	237	26	cycle	cycle	NOUN
ap-8631	237	27	as	as	SCONJ
ap-8631	237	28	shown	show	VERB
ap-8631	237	29	in	in	ADP
ap-8631	237	30	figure	figure	NOUN
ap-8631	237	31	7	7	NUM
ap-8631	237	32	.	.	PUNCT
ap-8631	237	33	figure	figure	NOUN
ap-8631	237	34	8	8	NUM
ap-8631	237	35	shows	show	VERB
ap-8631	237	36	the	the	DET
ap-8631	237	37	position	position	NOUN
ap-8631	237	38	trajectory	trajectory	NOUN
ap-8631	237	39	performance	performance	NOUN
ap-8631	237	40	and	and	CCONJ
ap-8631	237	41	how	how	SCONJ
ap-8631	237	42	the	the	DET
ap-8631	237	43	fadrc3	fadrc3	NOUN
ap-8631	237	44	compensates	compensate	VERB
ap-8631	237	45	this	this	DET
ap-8631	237	46	effect	effect	NOUN
ap-8631	237	47	and	and	CCONJ
ap-8631	237	48	returns	return	VERB
ap-8631	237	49	the	the	DET
ap-8631	237	50	trajectory	trajectory	NOUN
ap-8631	237	51	to	to	ADP
ap-8631	237	52	the	the	DET
ap-8631	237	53	desired	desire	VERB
ap-8631	237	54	path	path	NOUN
ap-8631	237	55	in	in	ADP
ap-8631	237	56	a	a	DET
ap-8631	237	57	period	period	NOUN
ap-8631	237	58	of	of	ADP
ap-8631	237	59	less	less	ADJ
ap-8631	237	60	than	than	ADP
ap-8631	237	61	0.2	0.2	NUM
ap-8631	237	62	s.	s.	PROPN
ap-8631	237	63	figure	figure	NOUN
ap-8631	237	64	9	9	NUM
ap-8631	237	65	shows	show	VERB
ap-8631	237	66	the	the	DET
ap-8631	237	67	trajectory	trajectory	NOUN
ap-8631	237	68	error	error	NOUN
ap-8631	237	69	,	,	PUNCT
ap-8631	237	70	where	where	SCONJ
ap-8631	237	71	the	the	DET
ap-8631	237	72	fadrc3	fadrc3	NOUN
ap-8631	237	73	approach	approach	NOUN
ap-8631	237	74	,	,	PUNCT
ap-8631	237	75	at	at	ADP
ap-8631	237	76	a	a	DET
ap-8631	237	77	steady	steady	ADJ
ap-8631	237	78	-	-	PUNCT
ap-8631	237	79	state	state	NOUN
ap-8631	237	80	condition	condition	NOUN
ap-8631	237	81	,	,	PUNCT
ap-8631	237	82	has	have	VERB
ap-8631	237	83	the	the	DET
ap-8631	237	84	smallest	small	ADJ
ap-8631	237	85	error	error	NOUN
ap-8631	237	86	(	(	PUNCT
ap-8631	237	87	r.m.s.e	r.m.s.e	PROPN
ap-8631	237	88	=	=	PUNCT
ap-8631	237	89	0.0091	0.0091	NUM
ap-8631	237	90	)	)	PUNCT
ap-8631	237	91	when	when	SCONJ
ap-8631	237	92	compared	compare	VERB
ap-8631	237	93	to	to	ADP
ap-8631	237	94	fadrc1	fadrc1	NOUN
ap-8631	237	95	and	and	CCONJ
ap-8631	237	96	fadrc2	fadrc2	NOUN
ap-8631	237	97	,	,	PUNCT
ap-8631	237	98	as	as	SCONJ
ap-8631	237	99	shown	show	VERB
ap-8631	237	100	in	in	ADP
ap-8631	237	101	table	table	NOUN
ap-8631	237	102	4	4	NUM
ap-8631	237	103	.	.	PUNCT
ap-8631	237	104	figure	figure	VERB
ap-8631	237	105	10	10	NUM
ap-8631	237	106	depicts	depict	VERB
ap-8631	237	107	the	the	DET
ap-8631	237	108	control	control	NOUN
ap-8631	237	109	efforts	effort	NOUN
ap-8631	237	110	required	require	VERB
ap-8631	237	111	to	to	PART
ap-8631	237	112	study	study	VERB
ap-8631	237	113	the	the	DET
ap-8631	237	114	control	control	NOUN
ap-8631	237	115	torque	torque	NOUN
ap-8631	237	116	(	(	PUNCT
ap-8631	237	117	τc	τc	NOUN
ap-8631	237	118	)	)	PUNCT
ap-8631	237	119	or	or	CCONJ
ap-8631	237	120	u(t	u(t	NOUN
ap-8631	237	121	)	)	PUNCT
ap-8631	237	122	for	for	ADP
ap-8631	237	123	all	all	DET
ap-8631	237	124	control	control	NOUN
ap-8631	237	125	systems	system	NOUN
ap-8631	237	126	.	.	PUNCT
ap-8631	238	1	when	when	SCONJ
ap-8631	238	2	compared	compare	VERB
ap-8631	238	3	to	to	ADP
ap-8631	238	4	fadrc1	fadrc1	NOUN
ap-8631	238	5	and	and	CCONJ
ap-8631	238	6	fadrc2	fadrc2	PROPN
ap-8631	238	7	,	,	PUNCT
ap-8631	238	8	the	the	DET
ap-8631	238	9	experimental	experimental	ADJ
ap-8631	238	10	results	result	NOUN
ap-8631	238	11	reveal	reveal	VERB
ap-8631	238	12	that	that	SCONJ
ap-8631	238	13	the	the	DET
ap-8631	238	14	fadrc3	fadrc3	PROPN
ap-8631	238	15	control	control	NOUN
ap-8631	238	16	approach	approach	NOUN
ap-8631	238	17	produces	produce	VERB
ap-8631	238	18	the	the	DET
ap-8631	238	19	smallest	small	ADJ
ap-8631	238	20	control	control	NOUN
ap-8631	238	21	effort	effort	NOUN
ap-8631	238	22	required	require	VERB
ap-8631	238	23	for	for	ADP
ap-8631	238	24	a	a	DET
ap-8631	238	25	controller	controller	NOUN
ap-8631	238	26	(	(	PUNCT
ap-8631	238	27	isu	isu	NOUN
ap-8631	238	28	=	=	SYM
ap-8631	238	29	115.74	115.74	NUM
ap-8631	238	30	)	)	PUNCT
ap-8631	238	31	and	and	CCONJ
ap-8631	238	32	the	the	DET
ap-8631	238	33	largest	large	ADJ
ap-8631	238	34	measure	measure	NOUN
ap-8631	238	35	of	of	ADP
ap-8631	238	36	chatter	chatter	NOUN
ap-8631	238	37	reduction	reduction	NOUN
ap-8631	238	38	in	in	ADP
ap-8631	238	39	the	the	DET
ap-8631	238	40	control	control	NOUN
ap-8631	238	41	signal	signal	PROPN
ap-8631	238	42	index	index	NOUN
ap-8631	238	43	(	(	PUNCT
ap-8631	238	44	iau	iau	PROPN
ap-8631	238	45	=	=	PROPN
ap-8631	238	46	46.82	46.82	NUM
ap-8631	238	47	)	)	PUNCT
ap-8631	238	48	.	.	PUNCT
ap-8631	239	1	table	table	NOUN
ap-8631	239	2	5	5	NUM
ap-8631	239	3	shows	show	VERB
ap-8631	239	4	the	the	DET
ap-8631	239	5	comparative	comparative	ADJ
ap-8631	239	6	experiment	experiment	NOUN
ap-8631	239	7	results	result	NOUN
ap-8631	239	8	.	.	PUNCT
ap-8631	240	1	since	since	SCONJ
ap-8631	240	2	fadrc3	fadrc3	NOUN
ap-8631	240	3	is	be	AUX
ap-8631	240	4	the	the	DET
ap-8631	240	5	better	well	ADJ
ap-8631	240	6	approach	approach	NOUN
ap-8631	240	7	for	for	ADP
ap-8631	240	8	a	a	DET
ap-8631	240	9	more	more	ADV
ap-8631	240	10	accurate	accurate	ADJ
ap-8631	240	11	tracking	tracking	NOUN
ap-8631	240	12	when	when	SCONJ
ap-8631	240	13	compared	compare	VERB
ap-8631	240	14	with	with	ADP
ap-8631	240	15	other	other	ADJ
ap-8631	240	16	approaches	approach	NOUN
ap-8631	240	17	,	,	PUNCT
ap-8631	240	18	we	we	PRON
ap-8631	240	19	can	can	AUX
ap-8631	240	20	focus	focus	VERB
ap-8631	240	21	on	on	ADP
ap-8631	240	22	the	the	DET
ap-8631	240	23	effectives	effective	NOUN
ap-8631	240	24	of	of	ADP
ap-8631	240	25	eso	eso	NOUN
ap-8631	240	26	(	(	PUNCT
ap-8631	240	27	which	which	PRON
ap-8631	240	28	is	be	AUX
ap-8631	240	29	the	the	DET
ap-8631	240	30	key	key	ADJ
ap-8631	240	31	aspect	aspect	NOUN
ap-8631	240	32	of	of	ADP
ap-8631	240	33	adrc	adrc	NOUN
ap-8631	240	34	)	)	PUNCT
ap-8631	240	35	,	,	PUNCT
ap-8631	240	36	figure	figure	VERB
ap-8631	240	37	11	11	NUM
ap-8631	240	38	shows	show	VERB
ap-8631	240	39	how	how	SCONJ
ap-8631	240	40	the	the	DET
ap-8631	240	41	estimate	estimate	NOUN
ap-8631	240	42	x3(t	x3(t	NOUN
ap-8631	240	43	)	)	PUNCT
ap-8631	240	44	follows	follow	VERB
ap-8631	240	45	its	its	PRON
ap-8631	240	46	total	total	ADJ
ap-8631	240	47	disturbance	disturbance	NOUN
ap-8631	240	48	target	target	NOUN
ap-8631	240	49	(	(	PUNCT
ap-8631	240	50	δ∧	δ∧	PROPN
ap-8631	240	51	)	)	PUNCT
ap-8631	240	52	.	.	PUNCT
ap-8631	241	1	it	it	PRON
ap-8631	241	2	is	be	AUX
ap-8631	241	3	clearly	clearly	ADV
ap-8631	241	4	shown	show	VERB
ap-8631	241	5	that	that	DET
ap-8631	241	6	estimate	estimate	NOUN
ap-8631	241	7	x3(t	x3(t	NOUN
ap-8631	241	8	)	)	PUNCT
ap-8631	241	9	tracks	track	VERB
ap-8631	241	10	total	total	ADJ
ap-8631	241	11	disturbances	disturbance	NOUN
ap-8631	241	12	very	very	ADV
ap-8631	241	13	closely	closely	ADV
ap-8631	241	14	,	,	PUNCT
ap-8631	241	15	especially	especially	ADV
ap-8631	241	16	at	at	ADP
ap-8631	241	17	a	a	DET
ap-8631	241	18	steady	steady	ADJ
ap-8631	241	19	-	-	PUNCT
ap-8631	241	20	state	state	NOUN
ap-8631	241	21	condition	condition	NOUN
ap-8631	241	22	.	.	PUNCT
ap-8631	242	1	as	as	SCONJ
ap-8631	242	2	seen	see	VERB
ap-8631	242	3	from	from	ADP
ap-8631	242	4	table	table	NOUN
ap-8631	242	5	4	4	NUM
ap-8631	242	6	and	and	CCONJ
ap-8631	242	7	table	table	NOUN
ap-8631	242	8	5	5	NUM
ap-8631	242	9	,	,	PUNCT
ap-8631	242	10	all	all	DET
ap-8631	242	11	indices	index	NOUN
ap-8631	242	12	are	be	AUX
ap-8631	242	13	increased	increase	VERB
ap-8631	242	14	with	with	ADP
ap-8631	242	15	disturbance	disturbance	NOUN
ap-8631	242	16	,	,	PUNCT
ap-8631	242	17	which	which	PRON
ap-8631	242	18	is	be	AUX
ap-8631	242	19	the	the	DET
ap-8631	242	20	desired	desire	VERB
ap-8631	242	21	behaviour	behaviour	NOUN
ap-8631	242	22	due	due	ADP
ap-8631	242	23	to	to	ADP
ap-8631	242	24	the	the	DET
ap-8631	242	25	disturbance	disturbance	NOUN
ap-8631	242	26	effect	effect	NOUN
ap-8631	242	27	.	.	PUNCT
ap-8631	243	1	163	163	NUM
ap-8631	243	2	n.	n.	NOUN
ap-8631	243	3	a.	a.	PROPN
ap-8631	243	4	al	al	PROPN
ap-8631	243	5	-	-	PUNCT
ap-8631	243	6	awad	awad	PROPN
ap-8631	243	7	,	,	PUNCT
ap-8631	243	8	a.	a.	PROPN
ap-8631	243	9	j.	j.	PROPN
ap-8631	243	10	humaidi	humaidi	PROPN
ap-8631	243	11	,	,	PUNCT
ap-8631	243	12	a.	a.	PROPN
ap-8631	243	13	s.	s.	PROPN
ap-8631	243	14	al	al	PROPN
ap-8631	243	15	-	-	PUNCT
ap-8631	243	16	araji	araji	PROPN
ap-8631	243	17	acta	acta	PROPN
ap-8631	243	18	polytechnica	polytechnica	PROPN
ap-8631	243	19	figure	figure	NOUN
ap-8631	243	20	4	4	NUM
ap-8631	243	21	.	.	PUNCT
ap-8631	244	1	knee	knee	NOUN
ap-8631	244	2	position	position	NOUN
ap-8631	244	3	trajectory	trajectory	NOUN
ap-8631	244	4	for	for	ADP
ap-8631	244	5	comparison	comparison	NOUN
ap-8631	244	6	of	of	ADP
ap-8631	244	7	all	all	DET
ap-8631	244	8	controllers	controller	NOUN
ap-8631	244	9	.	.	PUNCT
ap-8631	245	1	figure	figure	VERB
ap-8631	245	2	5	5	NUM
ap-8631	245	3	.	.	PUNCT
ap-8631	246	1	knee	knee	NOUN
ap-8631	246	2	position	position	NOUN
ap-8631	246	3	error	error	NOUN
ap-8631	246	4	for	for	ADP
ap-8631	246	5	comparison	comparison	NOUN
ap-8631	246	6	of	of	ADP
ap-8631	246	7	all	all	DET
ap-8631	246	8	controllers	controller	NOUN
ap-8631	246	9	.	.	PUNCT
ap-8631	247	1	control	control	NOUN
ap-8631	247	2	methods	method	NOUN
ap-8631	247	3	iae	iae	PRON
ap-8631	248	1	[	[	X
ap-8631	248	2	rad	rad	X
ap-8631	248	3	]	]	X
ap-8631	248	4	ise	ise	NOUN
ap-8631	249	1	[	[	X
ap-8631	249	2	rad	rad	X
ap-8631	249	3	]	]	X
ap-8631	249	4	r.m.s.e	r.m.s.e	NOUN
ap-8631	250	1	[	[	X
ap-8631	250	2	rad	rad	X
ap-8631	250	3	]	]	X
ap-8631	250	4	fadrc1	fadrc1	NOUN
ap-8631	250	5	0.028	0.028	NUM
ap-8631	250	6	0.000129	0.000129	NUM
ap-8631	250	7	0.0184	0.0184	NUM
ap-8631	250	8	fadrc2	fadrc2	NOUN
ap-8631	250	9	0.023	0.023	NUM
ap-8631	250	10	0.000116	0.000116	NUM
ap-8631	250	11	0.0075	0.0075	NUM
ap-8631	250	12	fadrc3	fadrc3	NOUN
ap-8631	251	1	0.012	0.012	NUM
ap-8631	251	2	0.000101	0.000101	NUM
ap-8631	251	3	0.0039	0.0039	NUM
ap-8631	251	4	reduction	reduction	NOUN
ap-8631	251	5	[	[	X
ap-8631	251	6	%	%	X
ap-8631	251	7	]	]	X
ap-8631	251	8	47.8	47.8	NUM
ap-8631	251	9	13	13	NUM
ap-8631	251	10	48	48	NUM
ap-8631	251	11	table	table	NOUN
ap-8631	251	12	2	2	NUM
ap-8631	251	13	.	.	PUNCT
ap-8631	251	14	performance	performance	NOUN
ap-8631	251	15	error	error	NOUN
ap-8631	251	16	indices	indice	VERB
ap-8631	251	17	for	for	ADP
ap-8631	251	18	all	all	DET
ap-8631	251	19	controllers	controller	NOUN
ap-8631	251	20	without	without	ADP
ap-8631	251	21	disturbance	disturbance	NOUN
ap-8631	251	22	.	.	PUNCT
ap-8631	252	1	control	control	NOUN
ap-8631	252	2	methods	method	NOUN
ap-8631	252	3	isu	isu	PROPN
ap-8631	253	1	[	[	X
ap-8631	253	2	n·m	n·m	X
ap-8631	253	3	]	]	X
ap-8631	253	4	ise	ise	NOUN
ap-8631	254	1	[	[	X
ap-8631	254	2	n·m	n·m	X
ap-8631	254	3	]	]	X
ap-8631	254	4	fadrc1	fadrc1	NOUN
ap-8631	254	5	145.62	145.62	NUM
ap-8631	254	6	34.76	34.76	NUM
ap-8631	254	7	fadrc2	fadrc2	NOUN
ap-8631	254	8	120	120	NUM
ap-8631	254	9	27.22	27.22	NUM
ap-8631	254	10	fadrc3	fadrc3	NOUN
ap-8631	254	11	108	108	NUM
ap-8631	254	12	39.63	39.63	NUM
ap-8631	254	13	table	table	NOUN
ap-8631	254	14	3	3	NUM
ap-8631	254	15	.	.	PUNCT
ap-8631	254	16	performance	performance	NOUN
ap-8631	254	17	control	control	NOUN
ap-8631	254	18	signal	signal	NOUN
ap-8631	254	19	indices	index	NOUN
ap-8631	254	20	for	for	ADP
ap-8631	254	21	all	all	DET
ap-8631	254	22	controllers	controller	NOUN
ap-8631	254	23	without	without	ADP
ap-8631	254	24	disturbance	disturbance	NOUN
ap-8631	254	25	.	.	PUNCT
ap-8631	255	1	164	164	NUM
ap-8631	255	2	vol	vol	NOUN
ap-8631	255	3	.	.	PUNCT
ap-8631	255	4	63	63	NUM
ap-8631	255	5	no	no	NOUN
ap-8631	255	6	.	.	PUNCT
ap-8631	256	1	3/2023	3/2023	NUM
ap-8631	256	2	fractional	fractional	ADJ
ap-8631	256	3	multi	multi	ADJ
ap-8631	256	4	-	-	ADJ
ap-8631	256	5	loop	loop	ADJ
ap-8631	256	6	active	active	ADJ
ap-8631	256	7	disturbance	disturbance	NOUN
ap-8631	256	8	rejection	rejection	NOUN
ap-8631	256	9	control	control	NOUN
ap-8631	256	10	figure	figure	NOUN
ap-8631	256	11	6	6	NUM
ap-8631	256	12	.	.	PUNCT
ap-8631	257	1	control	control	NOUN
ap-8631	257	2	torque	torque	PROPN
ap-8631	257	3	required	require	VERB
ap-8631	257	4	comparison	comparison	NOUN
ap-8631	257	5	of	of	ADP
ap-8631	257	6	all	all	DET
ap-8631	257	7	controllers	controller	NOUN
ap-8631	257	8	.	.	PUNCT
ap-8631	258	1	figure	figure	VERB
ap-8631	258	2	7	7	NUM
ap-8631	258	3	.	.	PUNCT
ap-8631	258	4	constant	constant	ADJ
ap-8631	258	5	disturbance	disturbance	NOUN
ap-8631	258	6	payload	payload	NOUN
ap-8631	258	7	.	.	PUNCT
ap-8631	259	1	figure	figure	VERB
ap-8631	259	2	8	8	NUM
ap-8631	259	3	.	.	PUNCT
ap-8631	260	1	knee	knee	NOUN
ap-8631	260	2	position	position	NOUN
ap-8631	260	3	trajectory	trajectory	NOUN
ap-8631	260	4	for	for	ADP
ap-8631	260	5	comparison	comparison	NOUN
ap-8631	260	6	of	of	ADP
ap-8631	260	7	all	all	DET
ap-8631	260	8	controllers	controller	NOUN
ap-8631	260	9	with	with	ADP
ap-8631	260	10	disturbance	disturbance	NOUN
ap-8631	260	11	.	.	PUNCT
ap-8631	261	1	165	165	NUM
ap-8631	261	2	n.	n.	NOUN
ap-8631	261	3	a.	a.	PROPN
ap-8631	261	4	al	al	PROPN
ap-8631	261	5	-	-	PUNCT
ap-8631	261	6	awad	awad	PROPN
ap-8631	261	7	,	,	PUNCT
ap-8631	261	8	a.	a.	PROPN
ap-8631	261	9	j.	j.	PROPN
ap-8631	261	10	humaidi	humaidi	PROPN
ap-8631	261	11	,	,	PUNCT
ap-8631	261	12	a.	a.	PROPN
ap-8631	261	13	s.	s.	PROPN
ap-8631	261	14	al	al	PROPN
ap-8631	261	15	-	-	PUNCT
ap-8631	261	16	araji	araji	PROPN
ap-8631	261	17	acta	acta	PROPN
ap-8631	261	18	polytechnica	polytechnica	PROPN
ap-8631	261	19	figure	figure	NOUN
ap-8631	261	20	9	9	NUM
ap-8631	261	21	.	.	PUNCT
ap-8631	262	1	knee	knee	NOUN
ap-8631	262	2	position	position	NOUN
ap-8631	262	3	error	error	NOUN
ap-8631	262	4	for	for	ADP
ap-8631	262	5	comparison	comparison	NOUN
ap-8631	262	6	of	of	ADP
ap-8631	262	7	all	all	DET
ap-8631	262	8	controllers	controller	NOUN
ap-8631	262	9	with	with	ADP
ap-8631	262	10	disturbance	disturbance	NOUN
ap-8631	262	11	.	.	PUNCT
ap-8631	263	1	control	control	NOUN
ap-8631	263	2	methods	method	NOUN
ap-8631	263	3	iae	iae	PRON
ap-8631	264	1	[	[	X
ap-8631	264	2	rad	rad	X
ap-8631	264	3	]	]	X
ap-8631	264	4	ise	ise	NOUN
ap-8631	265	1	[	[	X
ap-8631	265	2	rad	rad	X
ap-8631	265	3	]	]	X
ap-8631	265	4	r.m.s.e	r.m.s.e	NOUN
ap-8631	266	1	[	[	X
ap-8631	266	2	rad	rad	X
ap-8631	266	3	]	]	X
ap-8631	266	4	fadrc1	fadrc1	NOUN
ap-8631	266	5	0.112	0.112	NUM
ap-8631	266	6	0.004943	0.004943	NUM
ap-8631	266	7	0.0225	0.0225	NUM
ap-8631	266	8	fadrc2	fadrc2	NOUN
ap-8631	266	9	0.066	0.066	NUM
ap-8631	266	10	0.000891	0.000891	NUM
ap-8631	266	11	0.0137	0.0137	NUM
ap-8631	266	12	fadrc3	fadrc3	NOUN
ap-8631	266	13	0.035	0.035	NUM
ap-8631	266	14	0.000796	0.000796	NUM
ap-8631	266	15	0.0091	0.0091	NUM
ap-8631	266	16	reduction	reduction	NOUN
ap-8631	266	17	[	[	X
ap-8631	266	18	%	%	X
ap-8631	266	19	]	]	X
ap-8631	266	20	46.37	46.37	NUM
ap-8631	266	21	11	11	NUM
ap-8631	266	22	33.5	33.5	NUM
ap-8631	266	23	table	table	NOUN
ap-8631	266	24	4	4	NUM
ap-8631	266	25	.	.	PUNCT
ap-8631	266	26	performance	performance	NOUN
ap-8631	266	27	error	error	NOUN
ap-8631	266	28	indices	indice	VERB
ap-8631	266	29	for	for	ADP
ap-8631	266	30	all	all	DET
ap-8631	266	31	controllers	controller	NOUN
ap-8631	266	32	with	with	ADP
ap-8631	266	33	disturbance	disturbance	NOUN
ap-8631	266	34	.	.	PUNCT
ap-8631	267	1	figure	figure	NOUN
ap-8631	267	2	10	10	NUM
ap-8631	267	3	.	.	PUNCT
ap-8631	268	1	control	control	NOUN
ap-8631	268	2	torque	torque	PROPN
ap-8631	268	3	required	require	VERB
ap-8631	268	4	comparison	comparison	NOUN
ap-8631	268	5	of	of	ADP
ap-8631	268	6	all	all	DET
ap-8631	268	7	controllers	controller	NOUN
ap-8631	268	8	with	with	ADP
ap-8631	268	9	disturbance	disturbance	NOUN
ap-8631	268	10	.	.	PUNCT
ap-8631	269	1	control	control	NOUN
ap-8631	269	2	methods	method	NOUN
ap-8631	269	3	isu	isu	PROPN
ap-8631	270	1	[	[	X
ap-8631	270	2	n·m	n·m	X
ap-8631	270	3	]	]	X
ap-8631	270	4	ise	ise	NOUN
ap-8631	271	1	[	[	X
ap-8631	271	2	n·m	n·m	X
ap-8631	271	3	]	]	X
ap-8631	271	4	fadrc1	fadrc1	NOUN
ap-8631	272	1	157.83	157.83	NUM
ap-8631	272	2	38.93	38.93	NUM
ap-8631	272	3	fadrc2	fadrc2	NOUN
ap-8631	272	4	127.58	127.58	NUM
ap-8631	272	5	25.32	25.32	NUM
ap-8631	272	6	fadrc3	fadrc3	NOUN
ap-8631	272	7	115.74	115.74	NUM
ap-8631	272	8	46.82	46.82	NUM
ap-8631	272	9	table	table	NOUN
ap-8631	272	10	5	5	NUM
ap-8631	272	11	.	.	PUNCT
ap-8631	272	12	performance	performance	NOUN
ap-8631	272	13	control	control	NOUN
ap-8631	272	14	signal	signal	NOUN
ap-8631	272	15	indices	index	NOUN
ap-8631	272	16	for	for	ADP
ap-8631	272	17	all	all	DET
ap-8631	272	18	controllers	controller	NOUN
ap-8631	272	19	with	with	ADP
ap-8631	272	20	disturbance	disturbance	NOUN
ap-8631	272	21	.	.	PUNCT
ap-8631	273	1	166	166	NUM
ap-8631	273	2	vol	vol	NOUN
ap-8631	273	3	.	.	PUNCT
ap-8631	273	4	63	63	NUM
ap-8631	273	5	no	no	NOUN
ap-8631	273	6	.	.	PUNCT
ap-8631	274	1	3/2023	3/2023	NUM
ap-8631	274	2	fractional	fractional	ADJ
ap-8631	274	3	multi	multi	ADJ
ap-8631	274	4	-	-	ADJ
ap-8631	274	5	loop	loop	ADJ
ap-8631	274	6	active	active	ADJ
ap-8631	274	7	disturbance	disturbance	NOUN
ap-8631	274	8	rejection	rejection	NOUN
ap-8631	274	9	control	control	NOUN
ap-8631	274	10	figure	figure	NOUN
ap-8631	274	11	11	11	NUM
ap-8631	274	12	.	.	PUNCT
ap-8631	275	1	total	total	ADJ
ap-8631	275	2	disturbances	disturbance	NOUN
ap-8631	275	3	and	and	CCONJ
ap-8631	275	4	its	its	PRON
ap-8631	275	5	estimation	estimation	NOUN
ap-8631	275	6	of	of	ADP
ap-8631	275	7	fadrc3	fadrc3	NOUN
ap-8631	275	8	with	with	ADP
ap-8631	275	9	disturbance	disturbance	NOUN
ap-8631	275	10	.	.	PUNCT
ap-8631	276	1	5	5	X
ap-8631	276	2	.	.	X
ap-8631	276	3	conclusions	conclusion	NOUN
ap-8631	276	4	an	an	DET
ap-8631	276	5	fadrc	fadrc	NOUN
ap-8631	276	6	controller	controller	NOUN
ap-8631	276	7	has	have	AUX
ap-8631	276	8	been	be	AUX
ap-8631	276	9	devised	devise	VERB
ap-8631	276	10	in	in	ADP
ap-8631	276	11	this	this	DET
ap-8631	276	12	research	research	NOUN
ap-8631	276	13	to	to	PART
ap-8631	276	14	reduce	reduce	VERB
ap-8631	276	15	the	the	DET
ap-8631	276	16	lower	low	ADJ
ap-8631	276	17	exoskeleton	exoskeleton	NOUN
ap-8631	276	18	tracking	tracking	NOUN
ap-8631	276	19	error	error	NOUN
ap-8631	276	20	for	for	ADP
ap-8631	276	21	a	a	DET
ap-8631	276	22	knee	knee	NOUN
ap-8631	276	23	joint	joint	ADJ
ap-8631	276	24	motion	motion	NOUN
ap-8631	276	25	.	.	PUNCT
ap-8631	277	1	to	to	PART
ap-8631	277	2	compensate	compensate	VERB
ap-8631	277	3	for	for	ADP
ap-8631	277	4	the	the	DET
ap-8631	277	5	effects	effect	NOUN
ap-8631	277	6	of	of	ADP
ap-8631	277	7	unstructured	unstructured	ADJ
ap-8631	277	8	disturbances	disturbance	NOUN
ap-8631	277	9	,	,	PUNCT
ap-8631	277	10	the	the	DET
ap-8631	277	11	adrc	adrc	ADJ
ap-8631	277	12	controller	controller	NOUN
ap-8631	277	13	includes	include	VERB
ap-8631	277	14	a	a	DET
ap-8631	277	15	fractional	fractional	ADJ
ap-8631	277	16	term	term	NOUN
ap-8631	277	17	in	in	ADP
ap-8631	277	18	both	both	DET
ap-8631	277	19	paths	path	NOUN
ap-8631	277	20	,	,	PUNCT
ap-8631	277	21	feedback	feedback	NOUN
ap-8631	277	22	and	and	CCONJ
ap-8631	277	23	feedforward	feedforward	NOUN
ap-8631	277	24	(	(	PUNCT
ap-8631	277	25	fadrc3	fadrc3	NOUN
ap-8631	277	26	)	)	PUNCT
ap-8631	277	27	.	.	PUNCT
ap-8631	278	1	there	there	PRON
ap-8631	278	2	is	be	VERB
ap-8631	278	3	a	a	DET
ap-8631	278	4	comparison	comparison	NOUN
ap-8631	278	5	of	of	ADP
ap-8631	278	6	the	the	DET
ap-8631	278	7	tracking	tracking	NOUN
ap-8631	278	8	responses	response	NOUN
ap-8631	278	9	of	of	ADP
ap-8631	278	10	the	the	DET
ap-8631	278	11	proposed	proposed	ADJ
ap-8631	278	12	fadrc3	fadrc3	NOUN
ap-8631	278	13	and	and	CCONJ
ap-8631	278	14	fadrc	fadrc	NOUN
ap-8631	278	15	controllers	controller	NOUN
ap-8631	278	16	,	,	PUNCT
ap-8631	278	17	one	one	NUM
ap-8631	278	18	with	with	ADP
ap-8631	278	19	the	the	DET
ap-8631	278	20	fractional	fractional	ADJ
ap-8631	278	21	term	term	NOUN
ap-8631	278	22	in	in	ADP
ap-8631	278	23	the	the	DET
ap-8631	278	24	feedforward	feedforward	NOUN
ap-8631	278	25	path	path	NOUN
ap-8631	278	26	(	(	PUNCT
ap-8631	278	27	fadrc1	fadrc1	NOUN
ap-8631	278	28	)	)	PUNCT
ap-8631	278	29	and	and	CCONJ
ap-8631	278	30	the	the	DET
ap-8631	278	31	second	second	ADJ
ap-8631	278	32	one	one	NUM
ap-8631	278	33	with	with	ADP
ap-8631	278	34	the	the	DET
ap-8631	278	35	fractional	fractional	ADJ
ap-8631	278	36	term	term	NOUN
ap-8631	278	37	the	the	DET
ap-8631	278	38	in	in	ADP
ap-8631	278	39	feedback	feedback	NOUN
ap-8631	278	40	path	path	NOUN
ap-8631	278	41	(	(	PUNCT
ap-8631	278	42	fadrc2	fadrc2	NOUN
ap-8631	278	43	)	)	PUNCT
ap-8631	278	44	.	.	PUNCT
ap-8631	279	1	the	the	DET
ap-8631	279	2	suggested	suggest	VERB
ap-8631	279	3	control	control	NOUN
ap-8631	279	4	methods	method	NOUN
ap-8631	279	5	are	be	AUX
ap-8631	279	6	implemented	implement	VERB
ap-8631	279	7	in	in	ADP
ap-8631	279	8	the	the	DET
ap-8631	279	9	exoskeleton	exoskeleton	NOUN
ap-8631	279	10	intelligently	intelligently	ADV
ap-8631	279	11	communicating	communicate	VERB
ap-8631	279	12	and	and	CCONJ
ap-8631	279	13	sensitive	sensitive	ADJ
ap-8631	279	14	to	to	ADP
ap-8631	279	15	intention	intention	NOUN
ap-8631	279	16	(	(	PUNCT
ap-8631	279	17	eicosi	eicosi	NOUN
ap-8631	279	18	)	)	PUNCT
ap-8631	279	19	model	model	NOUN
ap-8631	279	20	of	of	ADP
ap-8631	279	21	a	a	DET
ap-8631	279	22	knee	knee	NOUN
ap-8631	279	23	exoskeleton	exoskeleton	NOUN
ap-8631	279	24	.	.	PUNCT
ap-8631	280	1	as	as	ADP
ap-8631	280	2	a	a	DET
ap-8631	280	3	result	result	NOUN
ap-8631	280	4	,	,	PUNCT
ap-8631	280	5	many	many	ADJ
ap-8631	280	6	findings	finding	NOUN
ap-8631	280	7	were	be	AUX
ap-8631	280	8	reached	reach	VERB
ap-8631	280	9	.	.	PUNCT
ap-8631	281	1	this	this	DET
ap-8631	281	2	technique	technique	NOUN
ap-8631	281	3	combines	combine	VERB
ap-8631	281	4	the	the	DET
ap-8631	281	5	advantages	advantage	NOUN
ap-8631	281	6	of	of	ADP
ap-8631	281	7	the	the	DET
ap-8631	281	8	fractional	fractional	ADJ
ap-8631	281	9	order	order	NOUN
ap-8631	281	10	robustness	robustness	NOUN
ap-8631	281	11	with	with	ADP
ap-8631	281	12	the	the	DET
ap-8631	281	13	efficiency	efficiency	NOUN
ap-8631	281	14	of	of	ADP
ap-8631	281	15	the	the	DET
ap-8631	281	16	adrc	adrc	ADJ
ap-8631	281	17	controller	controller	NOUN
ap-8631	281	18	.	.	PUNCT
ap-8631	282	1	a	a	DET
ap-8631	282	2	single	single	ADJ
ap-8631	282	3	-	-	PUNCT
ap-8631	282	4	leg	leg	NOUN
ap-8631	282	5	flexible	flexible	ADJ
ap-8631	282	6	exoskeleton	exoskeleton	NOUN
ap-8631	282	7	was	be	AUX
ap-8631	282	8	used	use	VERB
ap-8631	282	9	to	to	PART
ap-8631	282	10	test	test	VERB
ap-8631	282	11	this	this	DET
ap-8631	282	12	technology	technology	NOUN
ap-8631	282	13	.	.	PUNCT
ap-8631	283	1	the	the	DET
ap-8631	283	2	dynamic	dynamic	ADJ
ap-8631	283	3	model	model	NOUN
ap-8631	283	4	was	be	AUX
ap-8631	283	5	reorganised	reorganise	VERB
ap-8631	283	6	to	to	PART
ap-8631	283	7	become	become	VERB
ap-8631	283	8	an	an	DET
ap-8631	283	9	extended	extended	ADJ
ap-8631	283	10	state	state	NOUN
ap-8631	283	11	space	space	NOUN
ap-8631	283	12	.	.	PUNCT
ap-8631	284	1	a	a	DET
ap-8631	284	2	fractional	fractional	ADJ
ap-8631	284	3	order	order	NOUN
ap-8631	284	4	adrc	adrc	NOUN
ap-8631	284	5	was	be	AUX
ap-8631	284	6	utilised	utilise	VERB
ap-8631	284	7	to	to	PART
ap-8631	284	8	actively	actively	ADV
ap-8631	284	9	estimate	estimate	VERB
ap-8631	284	10	this	this	DET
ap-8631	284	11	disturbance	disturbance	NOUN
ap-8631	284	12	via	via	ADP
ap-8631	284	13	eso	eso	NOUN
ap-8631	284	14	,	,	PUNCT
ap-8631	284	15	with	with	ADP
ap-8631	284	16	a	a	DET
ap-8631	284	17	fpd	fpd	NOUN
ap-8631	284	18	feedback	feedback	NOUN
ap-8631	284	19	controller	controller	NOUN
ap-8631	284	20	subsequently	subsequently	ADV
ap-8631	284	21	compensating	compensate	VERB
ap-8631	284	22	it	it	PRON
ap-8631	284	23	.	.	PUNCT
ap-8631	285	1	the	the	DET
ap-8631	285	2	suggested	suggest	VERB
ap-8631	285	3	controller	controller	NOUN
ap-8631	285	4	outperforms	outperform	VERB
ap-8631	285	5	the	the	DET
ap-8631	285	6	typical	typical	ADJ
ap-8631	285	7	adrc	adrc	ADJ
ap-8631	285	8	controller	controller	NOUN
ap-8631	285	9	due	due	ADP
ap-8631	285	10	to	to	ADP
ap-8631	285	11	the	the	DET
ap-8631	285	12	extra	extra	ADJ
ap-8631	285	13	degree	degree	NOUN
ap-8631	285	14	of	of	ADP
ap-8631	285	15	freedom	freedom	NOUN
ap-8631	285	16	in	in	ADP
ap-8631	285	17	the	the	DET
ap-8631	285	18	fractional	fractional	ADJ
ap-8631	285	19	(	(	PUNCT
ap-8631	285	20	pd	pd	NOUN
ap-8631	285	21	and	and	CCONJ
ap-8631	285	22	eso	eso	NOUN
ap-8631	285	23	)	)	PUNCT
ap-8631	285	24	.	.	PUNCT
ap-8631	286	1	the	the	DET
ap-8631	286	2	simulation	simulation	NOUN
ap-8631	286	3	results	result	NOUN
ap-8631	286	4	demonstrate	demonstrate	VERB
ap-8631	286	5	that	that	SCONJ
ap-8631	286	6	the	the	DET
ap-8631	286	7	tracking	tracking	NOUN
ap-8631	286	8	errors	error	NOUN
ap-8631	286	9	obtained	obtain	VERB
ap-8631	286	10	with	with	ADP
ap-8631	286	11	the	the	DET
ap-8631	286	12	suggested	suggested	ADJ
ap-8631	286	13	fadrc3	fadrc3	NOUN
ap-8631	286	14	are	be	AUX
ap-8631	286	15	lower	low	ADJ
ap-8631	286	16	than	than	ADP
ap-8631	286	17	those	those	PRON
ap-8631	286	18	obtained	obtain	VERB
ap-8631	286	19	with	with	ADP
ap-8631	286	20	the	the	DET
ap-8631	286	21	typical	typical	ADJ
ap-8631	286	22	fadrc1	fadrc1	NOUN
ap-8631	286	23	and	and	CCONJ
ap-8631	286	24	fadrc2	fadrc2	NOUN
ap-8631	286	25	controllers	controller	NOUN
ap-8631	286	26	.	.	PUNCT
ap-8631	287	1	the	the	DET
ap-8631	287	2	usefulness	usefulness	NOUN
ap-8631	287	3	of	of	ADP
ap-8631	287	4	the	the	DET
ap-8631	287	5	suggested	suggest	VERB
ap-8631	287	6	controller	controller	NOUN
ap-8631	287	7	was	be	AUX
ap-8631	287	8	demonstrated	demonstrate	VERB
ap-8631	287	9	by	by	ADP
ap-8631	287	10	a	a	DET
ap-8631	287	11	numerical	numerical	ADJ
ap-8631	287	12	simulation	simulation	NOUN
ap-8631	287	13	and	and	CCONJ
ap-8631	287	14	several	several	ADJ
ap-8631	287	15	performances	performance	NOUN
ap-8631	287	16	indices	index	NOUN
ap-8631	287	17	.	.	PUNCT
ap-8631	288	1	it	it	PRON
ap-8631	288	2	can	can	AUX
ap-8631	288	3	actively	actively	ADV
ap-8631	288	4	estimate	estimate	VERB
ap-8631	288	5	the	the	DET
ap-8631	288	6	impact	impact	NOUN
ap-8631	288	7	of	of	ADP
ap-8631	288	8	an	an	DET
ap-8631	288	9	external	external	ADJ
ap-8631	288	10	disturbance	disturbance	NOUN
ap-8631	288	11	during	during	ADP
ap-8631	288	12	each	each	DET
ap-8631	288	13	sampling	sampling	NOUN
ap-8631	288	14	period	period	NOUN
ap-8631	288	15	and	and	CCONJ
ap-8631	288	16	then	then	ADV
ap-8631	288	17	compensate	compensate	VERB
ap-8631	288	18	for	for	ADP
ap-8631	288	19	it	it	PRON
ap-8631	288	20	.	.	PUNCT
ap-8631	289	1	finally	finally	ADV
ap-8631	289	2	,	,	PUNCT
ap-8631	289	3	fadrc3	fadrc3	NOUN
ap-8631	289	4	is	be	AUX
ap-8631	289	5	an	an	DET
ap-8631	289	6	excellent	excellent	ADJ
ap-8631	289	7	exoskeleton	exoskeleton	NOUN
ap-8631	289	8	system	system	NOUN
ap-8631	289	9	control	control	NOUN
ap-8631	289	10	strategy	strategy	NOUN
ap-8631	289	11	when	when	SCONJ
ap-8631	289	12	compared	compare	VERB
ap-8631	289	13	with	with	ADP
ap-8631	289	14	fadrc1	fadrc1	NOUN
ap-8631	289	15	and	and	CCONJ
ap-8631	289	16	fadrc2	fadrc2	NOUN
ap-8631	289	17	,	,	PUNCT
ap-8631	289	18	as	as	SCONJ
ap-8631	289	19	can	can	AUX
ap-8631	289	20	be	be	AUX
ap-8631	289	21	seen	see	VERB
ap-8631	289	22	from	from	ADP
ap-8631	289	23	numerical	numerical	ADJ
ap-8631	289	24	results	result	NOUN
ap-8631	289	25	according	accord	VERB
ap-8631	289	26	to	to	ADP
ap-8631	289	27	performance	performance	NOUN
ap-8631	289	28	indices	index	NOUN
ap-8631	289	29	for	for	ADP
ap-8631	289	30	the	the	DET
ap-8631	289	31	tracking	tracking	NOUN
ap-8631	289	32	error	error	NOUN
ap-8631	289	33	(	(	PUNCT
ap-8631	289	34	r.m.s.e	r.m.s.e	NOUN
ap-8631	289	35	)	)	PUNCT
ap-8631	289	36	and	and	CCONJ
ap-8631	289	37	control	control	PROPN
ap-8631	289	38	signal	signal	PROPN
ap-8631	289	39	required	require	VERB
ap-8631	289	40	(	(	PUNCT
ap-8631	289	41	isu	isu	NOUN
ap-8631	289	42	)	)	PUNCT
ap-8631	289	43	,	,	PUNCT
ap-8631	289	44	with	with	ADP
ap-8631	289	45	a	a	DET
ap-8631	289	46	minimal	minimal	ADJ
ap-8631	289	47	chattering	chatter	VERB
ap-8631	289	48	due	due	ADP
ap-8631	289	49	to	to	ADP
ap-8631	289	50	the	the	DET
ap-8631	289	51	fractional	fractional	ADJ
ap-8631	289	52	terms	term	NOUN
ap-8631	289	53	in	in	ADP
ap-8631	289	54	eso	eso	NOUN
ap-8631	289	55	and	and	CCONJ
ap-8631	289	56	pd	pd	NOUN
ap-8631	289	57	controller	controller	NOUN
ap-8631	289	58	.	.	PUNCT
ap-8631	290	1	numerically	numerically	ADV
ap-8631	290	2	,	,	PUNCT
ap-8631	290	3	the	the	DET
ap-8631	290	4	r.m.s.e	r.m.s.e	NOUN
ap-8631	290	5	of	of	ADP
ap-8631	290	6	fadrc3	fadrc3	NOUN
ap-8631	290	7	without	without	ADP
ap-8631	290	8	disturbance	disturbance	NOUN
ap-8631	290	9	is	be	AUX
ap-8631	290	10	(	(	PUNCT
ap-8631	290	11	0.0039	0.0039	NUM
ap-8631	290	12	rad	rad	NOUN
ap-8631	290	13	)	)	PUNCT
ap-8631	290	14	,	,	PUNCT
ap-8631	290	15	and	and	CCONJ
ap-8631	290	16	(	(	PUNCT
ap-8631	290	17	0.0091	0.0091	NUM
ap-8631	290	18	rad	rad	NOUN
ap-8631	290	19	)	)	PUNCT
ap-8631	290	20	with	with	ADP
ap-8631	290	21	disturbance	disturbance	NOUN
ap-8631	290	22	.	.	PUNCT
ap-8631	291	1	these	these	DET
ap-8631	291	2	values	value	NOUN
ap-8631	291	3	are	be	AUX
ap-8631	291	4	the	the	DET
ap-8631	291	5	smallest	small	ADJ
ap-8631	291	6	when	when	SCONJ
ap-8631	291	7	compared	compare	VERB
ap-8631	291	8	with	with	ADP
ap-8631	291	9	other	other	ADJ
ap-8631	291	10	controllers	controller	NOUN
ap-8631	291	11	,	,	PUNCT
ap-8631	291	12	the	the	DET
ap-8631	291	13	same	same	ADJ
ap-8631	291	14	can	can	AUX
ap-8631	291	15	be	be	AUX
ap-8631	291	16	said	say	VERB
ap-8631	291	17	for	for	ADP
ap-8631	291	18	the	the	DET
ap-8631	291	19	control	control	NOUN
ap-8631	291	20	efforts	effort	NOUN
ap-8631	291	21	(	(	PUNCT
ap-8631	291	22	isu	isu	NOUN
ap-8631	291	23	)	)	PUNCT
ap-8631	291	24	.	.	PUNCT
ap-8631	292	1	this	this	DET
ap-8631	292	2	study	study	NOUN
ap-8631	292	3	can	can	AUX
ap-8631	292	4	be	be	AUX
ap-8631	292	5	continued	continue	VERB
ap-8631	292	6	by	by	ADP
ap-8631	292	7	implementing	implement	VERB
ap-8631	292	8	the	the	DET
ap-8631	292	9	suggested	suggest	VERB
ap-8631	292	10	control	control	NOUN
ap-8631	292	11	method	method	NOUN
ap-8631	292	12	in	in	ADP
ap-8631	292	13	a	a	DET
ap-8631	292	14	real	real	ADJ
ap-8631	292	15	-	-	PUNCT
ap-8631	292	16	time	time	NOUN
ap-8631	292	17	context	context	NOUN
ap-8631	292	18	with	with	ADP
ap-8631	292	19	fpga	fpga	PROPN
ap-8631	292	20	[	[	X
ap-8631	292	21	56	56	NUM
ap-8631	292	22	]	]	PUNCT
ap-8631	292	23	.	.	PUNCT
ap-8631	293	1	utilising	utilise	VERB
ap-8631	293	2	modern	modern	ADJ
ap-8631	293	3	optimisation	optimisation	NOUN
ap-8631	293	4	techniques	technique	NOUN
ap-8631	293	5	to	to	PART
ap-8631	293	6	adjust	adjust	VERB
ap-8631	293	7	the	the	DET
ap-8631	293	8	design	design	NOUN
ap-8631	293	9	parameters	parameter	NOUN
ap-8631	293	10	for	for	ADP
ap-8631	293	11	the	the	DET
ap-8631	293	12	suggested	suggest	VERB
ap-8631	293	13	controller	controller	NOUN
ap-8631	293	14	’s	’s	PART
ap-8631	293	15	optimum	optimum	ADJ
ap-8631	293	16	performance	performance	NOUN
ap-8631	293	17	is	be	AUX
ap-8631	293	18	another	another	DET
ap-8631	293	19	continuation	continuation	NOUN
ap-8631	293	20	of	of	ADP
ap-8631	293	21	this	this	DET
ap-8631	293	22	work	work	NOUN
ap-8631	293	23	[	[	X
ap-8631	293	24	57	57	NUM
ap-8631	293	25	,	,	PUNCT
ap-8631	293	26	58	58	NUM
ap-8631	293	27	]	]	PUNCT
ap-8631	293	28	.	.	PUNCT
ap-8631	294	1	additionally	additionally	ADV
ap-8631	294	2	,	,	PUNCT
ap-8631	294	3	the	the	DET
ap-8631	294	4	performance	performance	NOUN
ap-8631	294	5	of	of	ADP
ap-8631	294	6	the	the	DET
ap-8631	294	7	suggested	suggest	VERB
ap-8631	294	8	controller	controller	NOUN
ap-8631	294	9	can	can	AUX
ap-8631	294	10	be	be	AUX
ap-8631	294	11	compared	compare	VERB
ap-8631	294	12	to	to	ADP
ap-8631	294	13	alternative	alternative	ADJ
ap-8631	294	14	control	control	NOUN
ap-8631	294	15	methods	method	NOUN
ap-8631	294	16	[	[	X
ap-8631	294	17	59–64	59–64	X
ap-8631	294	18	]	]	PUNCT
ap-8631	294	19	.	.	PUNCT
ap-8631	295	1	references	reference	NOUN
ap-8631	295	2	[	[	X
ap-8631	295	3	1	1	NUM
ap-8631	295	4	]	]	PUNCT
ap-8631	295	5	a.	a.	NOUN
ap-8631	295	6	m.	m.	NOUN
ap-8631	295	7	dollar	dollar	PROPN
ap-8631	295	8	,	,	PUNCT
ap-8631	295	9	h.	h.	PROPN
ap-8631	295	10	herr	herr	PROPN
ap-8631	295	11	.	.	PUNCT
ap-8631	296	1	lower	low	ADJ
ap-8631	296	2	extremity	extremity	NOUN
ap-8631	296	3	exoskeletons	exoskeleton	NOUN
ap-8631	296	4	and	and	CCONJ
ap-8631	296	5	active	active	ADJ
ap-8631	296	6	orthoses	orthose	NOUN
ap-8631	296	7	:	:	PUNCT
ap-8631	296	8	challenges	challenge	NOUN
ap-8631	296	9	and	and	CCONJ
ap-8631	296	10	state	state	NOUN
ap-8631	296	11	-	-	PUNCT
ap-8631	296	12	of	of	ADP
ap-8631	296	13	-	-	PUNCT
ap-8631	296	14	the	the	DET
ap-8631	296	15	-	-	PUNCT
ap-8631	296	16	art	art	NOUN
ap-8631	296	17	.	.	PUNCT
ap-8631	297	1	ieee	ieee	NOUN
ap-8631	297	2	transactions	transaction	NOUN
ap-8631	297	3	on	on	ADP
ap-8631	297	4	robotics	robotic	NOUN
ap-8631	297	5	24(1):144–158	24(1):144–158	PROPN
ap-8631	297	6	,	,	PUNCT
ap-8631	297	7	2008	2008	NUM
ap-8631	297	8	.	.	PUNCT
ap-8631	298	1	https://doi.org/10.1109/tro.2008.915453	https://doi.org/10.1109/tro.2008.915453	NOUN
ap-8631	298	2	[	[	PUNCT
ap-8631	298	3	2	2	NUM
ap-8631	298	4	]	]	PUNCT
ap-8631	298	5	r.	r.	NOUN
ap-8631	298	6	baud	baud	PROPN
ap-8631	298	7	,	,	PUNCT
ap-8631	298	8	a.	a.	PROPN
ap-8631	298	9	r.	r.	PROPN
ap-8631	298	10	manzoori	manzoori	PROPN
ap-8631	298	11	,	,	PUNCT
ap-8631	298	12	a.	a.	PROPN
ap-8631	298	13	ijspeert	ijspeert	PROPN
ap-8631	298	14	,	,	PUNCT
ap-8631	298	15	m.	m.	PROPN
ap-8631	298	16	bouri	bouri	PROPN
ap-8631	298	17	.	.	PUNCT
ap-8631	299	1	review	review	NOUN
ap-8631	299	2	of	of	ADP
ap-8631	299	3	control	control	NOUN
ap-8631	299	4	strategies	strategy	NOUN
ap-8631	299	5	for	for	ADP
ap-8631	299	6	lower	low	ADJ
ap-8631	299	7	-	-	PUNCT
ap-8631	299	8	limb	limb	NOUN
ap-8631	299	9	exoskeletons	exoskeleton	NOUN
ap-8631	299	10	to	to	PART
ap-8631	299	11	assist	assist	VERB
ap-8631	299	12	gait	gait	NOUN
ap-8631	299	13	.	.	PUNCT
ap-8631	300	1	journal	journal	PROPN
ap-8631	300	2	of	of	ADP
ap-8631	300	3	neuroengineering	neuroengineere	VERB
ap-8631	300	4	rehabilitation	rehabilitation	NOUN
ap-8631	300	5	18:119	18:119	NUM
ap-8631	300	6	,	,	PUNCT
ap-8631	300	7	2031	2031	NUM
ap-8631	300	8	.	.	PUNCT
ap-8631	301	1	https://doi.org/10.1186/s12984-021-00906-3	https://doi.org/10.1186/s12984-021-00906-3	VERB
ap-8631	302	1	[	[	X
ap-8631	302	2	3	3	NUM
ap-8631	302	3	]	]	X
ap-8631	302	4	c.	c.	PROPN
ap-8631	302	5	carignan	carignan	PROPN
ap-8631	302	6	,	,	PUNCT
ap-8631	302	7	j.	j.	PROPN
ap-8631	302	8	tang	tang	PROPN
ap-8631	302	9	,	,	PUNCT
ap-8631	302	10	s.	s.	PROPN
ap-8631	302	11	roderick	roderick	PROPN
ap-8631	302	12	.	.	PUNCT
ap-8631	303	1	development	development	NOUN
ap-8631	303	2	of	of	ADP
ap-8631	303	3	an	an	DET
ap-8631	303	4	exoskeleton	exoskeleton	ADJ
ap-8631	303	5	haptic	haptic	ADJ
ap-8631	303	6	interface	interface	NOUN
ap-8631	303	7	for	for	ADP
ap-8631	303	8	virtual	virtual	ADJ
ap-8631	303	9	task	task	NOUN
ap-8631	303	10	training	training	NOUN
ap-8631	303	11	.	.	PUNCT
ap-8631	304	1	in	in	ADP
ap-8631	304	2	2009	2009	NUM
ap-8631	304	3	ieee	ieee	NOUN
ap-8631	304	4	/	/	SYM
ap-8631	304	5	rsj	rsj	NOUN
ap-8631	304	6	international	international	ADJ
ap-8631	304	7	conference	conference	NOUN
ap-8631	304	8	on	on	ADP
ap-8631	304	9	intelligent	intelligent	ADJ
ap-8631	304	10	robots	robot	NOUN
ap-8631	304	11	and	and	CCONJ
ap-8631	304	12	systems	system	NOUN
ap-8631	304	13	,	,	PUNCT
ap-8631	304	14	pp	pp	X
ap-8631	304	15	.	.	PUNCT
ap-8631	304	16	3697–3702	3697–3702	NUM
ap-8631	304	17	.	.	NOUN
ap-8631	304	18	2009	2009	NUM
ap-8631	304	19	.	.	PUNCT
ap-8631	305	1	https://doi.org/10.1109/iros.2009.5354834	https://doi.org/10.1109/iros.2009.5354834	PROPN
ap-8631	306	1	[	[	X
ap-8631	306	2	4	4	X
ap-8631	306	3	]	]	PUNCT
ap-8631	306	4	h.	h.	PROPN
ap-8631	306	5	zhang	zhang	PROPN
ap-8631	306	6	,	,	PUNCT
ap-8631	306	7	s.	s.	PROPN
ap-8631	306	8	balasubramanian	balasubramanian	PROPN
ap-8631	306	9	,	,	PUNCT
ap-8631	306	10	r.	r.	PROPN
ap-8631	306	11	wei	wei	PROPN
ap-8631	306	12	,	,	PUNCT
ap-8631	306	13	et	et	PROPN
ap-8631	306	14	al	al	PROPN
ap-8631	306	15	.	.	PROPN
ap-8631	306	16	rupert	rupert	PROPN
ap-8631	306	17	closed	closed	PROPN
ap-8631	306	18	loop	loop	PROPN
ap-8631	306	19	control	control	PROPN
ap-8631	306	20	design	design	NOUN
ap-8631	306	21	.	.	PUNCT
ap-8631	307	1	in	in	ADP
ap-8631	307	2	2010	2010	NUM
ap-8631	307	3	annual	annual	ADJ
ap-8631	307	4	international	international	ADJ
ap-8631	307	5	conference	conference	NOUN
ap-8631	307	6	of	of	ADP
ap-8631	307	7	the	the	DET
ap-8631	307	8	ieee	ieee	NOUN
ap-8631	307	9	engineering	engineering	NOUN
ap-8631	307	10	in	in	ADP
ap-8631	307	11	medicine	medicine	NOUN
ap-8631	307	12	and	and	CCONJ
ap-8631	307	13	biology	biology	NOUN
ap-8631	307	14	,	,	PUNCT
ap-8631	307	15	pp	pp	ADP
ap-8631	307	16	.	.	PUNCT
ap-8631	307	17	3686–3689	3686–3689	NUM
ap-8631	307	18	.	.	PUNCT
ap-8631	307	19	2010	2010	NUM
ap-8631	307	20	.	.	PUNCT
ap-8631	308	1	https://doi.org/10.1109/iembs.2010.5627647	https://doi.org/10.1109/iembs.2010.5627647	X
ap-8631	309	1	[	[	X
ap-8631	309	2	5	5	NUM
ap-8631	309	3	]	]	PUNCT
ap-8631	309	4	k.	k.	PROPN
ap-8631	309	5	suzuki	suzuki	PROPN
ap-8631	309	6	,	,	PUNCT
ap-8631	309	7	y.	y.	PROPN
ap-8631	309	8	kawamura	kawamura	PROPN
ap-8631	309	9	,	,	PUNCT
ap-8631	309	10	t.	t.	PROPN
ap-8631	309	11	hayashi	hayashi	PROPN
ap-8631	309	12	,	,	PUNCT
ap-8631	309	13	et	et	PROPN
ap-8631	309	14	al	al	PROPN
ap-8631	309	15	.	.	PROPN
ap-8631	309	16	intention	intention	NOUN
ap-8631	309	17	-	-	PUNCT
ap-8631	309	18	based	base	VERB
ap-8631	309	19	walking	walking	NOUN
ap-8631	309	20	support	support	NOUN
ap-8631	309	21	for	for	ADP
ap-8631	309	22	paraplegia	paraplegia	ADJ
ap-8631	309	23	patient	patient	NOUN
ap-8631	309	24	.	.	PUNCT
ap-8631	310	1	in	in	ADP
ap-8631	310	2	2005	2005	NUM
ap-8631	310	3	ieee	ieee	NOUN
ap-8631	310	4	international	international	ADJ
ap-8631	310	5	conference	conference	NOUN
ap-8631	310	6	on	on	ADP
ap-8631	310	7	systems	system	NOUN
ap-8631	310	8	,	,	PUNCT
ap-8631	310	9	167	167	NUM
ap-8631	310	10	https://doi.org/10.1109/tro.2008.915453	https://doi.org/10.1109/tro.2008.915453	NOUN
ap-8631	310	11	https://doi.org/10.1186/s12984-021-00906-3	https://doi.org/10.1186/s12984-021-00906-3	NUM
ap-8631	310	12	https://doi.org/10.1109/iros.2009.5354834	https://doi.org/10.1109/iros.2009.5354834	PROPN
ap-8631	310	13	https://doi.org/10.1109/iembs.2010.5627647	https://doi.org/10.1109/iembs.2010.5627647	PROPN
ap-8631	310	14	n.	n.	PROPN
ap-8631	310	15	a.	a.	PROPN
ap-8631	310	16	al	al	PROPN
ap-8631	310	17	-	-	PUNCT
ap-8631	310	18	awad	awad	PROPN
ap-8631	310	19	,	,	PUNCT
ap-8631	310	20	a.	a.	PROPN
ap-8631	310	21	j.	j.	PROPN
ap-8631	310	22	humaidi	humaidi	PROPN
ap-8631	310	23	,	,	PUNCT
ap-8631	310	24	a.	a.	PROPN
ap-8631	310	25	s.	s.	PROPN
ap-8631	310	26	al	al	PROPN
ap-8631	310	27	-	-	PUNCT
ap-8631	310	28	araji	araji	PROPN
ap-8631	310	29	acta	acta	PROPN
ap-8631	310	30	polytechnica	polytechnica	PROPN
ap-8631	310	31	man	man	NOUN
ap-8631	310	32	and	and	CCONJ
ap-8631	310	33	cybernetics	cybernetic	NOUN
ap-8631	310	34	,	,	PUNCT
ap-8631	310	35	vol	vol	NOUN
ap-8631	310	36	.	.	PROPN
ap-8631	311	1	3	3	NUM
ap-8631	311	2	,	,	PUNCT
ap-8631	311	3	pp	pp	ADJ
ap-8631	311	4	.	.	PUNCT
ap-8631	312	1	2707–2713	2707–2713	NUM
ap-8631	312	2	.	.	PUNCT
ap-8631	313	1	2005	2005	NUM
ap-8631	313	2	.	.	PUNCT
ap-8631	314	1	https://doi.org/10.1109/icsmc.2005.1571559	https://doi.org/10.1109/icsmc.2005.1571559	PROPN
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ap-8631	314	3	6	6	NUM
ap-8631	314	4	]	]	PUNCT
ap-8631	314	5	h.	h.	NOUN
ap-8631	314	6	kazerooni	kazerooni	PROPN
ap-8631	314	7	,	,	PUNCT
ap-8631	314	8	j.-l	j.-l	PROPN
ap-8631	314	9	.	.	PUNCT
ap-8631	315	1	racine	racine	PROPN
ap-8631	315	2	,	,	PUNCT
ap-8631	315	3	l.	l.	PROPN
ap-8631	315	4	huang	huang	PROPN
ap-8631	315	5	,	,	PUNCT
ap-8631	315	6	r.	r.	PROPN
ap-8631	315	7	steger	steger	PROPN
ap-8631	315	8	.	.	PUNCT
ap-8631	316	1	on	on	ADP
ap-8631	316	2	the	the	DET
ap-8631	316	3	control	control	NOUN
ap-8631	316	4	of	of	ADP
ap-8631	316	5	the	the	DET
ap-8631	316	6	berkeley	berkeley	PROPN
ap-8631	316	7	lower	low	ADJ
ap-8631	316	8	extremity	extremity	PROPN
ap-8631	316	9	exoskeleton	exoskeleton	NOUN
ap-8631	316	10	(	(	PUNCT
ap-8631	316	11	bleex	bleex	NOUN
ap-8631	316	12	)	)	PUNCT
ap-8631	316	13	.	.	PUNCT
ap-8631	317	1	in	in	ADP
ap-8631	317	2	proceedings	proceeding	NOUN
ap-8631	317	3	of	of	ADP
ap-8631	317	4	the	the	DET
ap-8631	317	5	2005	2005	NUM
ap-8631	317	6	ieee	ieee	NOUN
ap-8631	317	7	international	international	ADJ
ap-8631	317	8	conference	conference	NOUN
ap-8631	317	9	on	on	ADP
ap-8631	317	10	robotics	robotic	NOUN
ap-8631	317	11	and	and	CCONJ
ap-8631	317	12	automation	automation	NOUN
ap-8631	317	13	,	,	PUNCT
ap-8631	317	14	pp	pp	X
ap-8631	317	15	.	.	PUNCT
ap-8631	317	16	4353–4360	4353–4360	NUM
ap-8631	317	17	.	.	PUNCT
ap-8631	317	18	2005	2005	NUM
ap-8631	317	19	.	.	PUNCT
ap-8631	318	1	https://doi.org/10.1109/robot.2005.1570790	https://doi.org/10.1109/robot.2005.1570790	PROPN
ap-8631	318	2	[	[	X
ap-8631	318	3	7	7	X
ap-8631	318	4	]	]	PUNCT
ap-8631	318	5	h.	h.	PROPN
ap-8631	318	6	k.	k.	PROPN
ap-8631	318	7	khalil	khalil	PROPN
ap-8631	318	8	.	.	PUNCT
ap-8631	319	1	nonlinear	nonlinear	ADJ
ap-8631	319	2	systems	systems	PROPN
ap-8631	319	3	.	.	PUNCT
ap-8631	320	1	pearson	pearson	PROPN
ap-8631	320	2	education	education	PROPN
ap-8631	320	3	.	.	PUNCT
ap-8631	321	1	prentice	prentice	PROPN
ap-8631	321	2	hall	hall	PROPN
ap-8631	321	3	,	,	PUNCT
ap-8631	321	4	2002	2002	NUM
ap-8631	321	5	.	.	PUNCT
ap-8631	322	1	[	[	X
ap-8631	322	2	8	8	NUM
ap-8631	322	3	]	]	PUNCT
ap-8631	322	4	m.	m.	NOUN
ap-8631	322	5	khamar	khamar	PROPN
ap-8631	322	6	,	,	PUNCT
ap-8631	322	7	m.	m.	NOUN
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ap-8631	322	9	.	.	PUNCT
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ap-8631	323	2	a	a	DET
ap-8631	323	3	backstepping	backstepping	NOUN
ap-8631	323	4	sliding	slide	VERB
ap-8631	323	5	mode	mode	NOUN
ap-8631	323	6	controller	controller	NOUN
ap-8631	323	7	for	for	ADP
ap-8631	323	8	an	an	DET
ap-8631	323	9	assistant	assistant	ADJ
ap-8631	323	10	human	human	ADJ
ap-8631	323	11	knee	knee	NOUN
ap-8631	323	12	exoskeleton	exoskeleton	NOUN
ap-8631	323	13	based	base	VERB
ap-8631	323	14	on	on	ADP
ap-8631	323	15	nonlinear	nonlinear	ADJ
ap-8631	323	16	disturbance	disturbance	NOUN
ap-8631	323	17	observer	observer	NOUN
ap-8631	323	18	.	.	PUNCT
ap-8631	324	1	mechatronics	mechatronic	NOUN
ap-8631	324	2	54:121–132	54:121–132	PROPN
ap-8631	324	3	,	,	PUNCT
ap-8631	324	4	2018	2018	NUM
ap-8631	324	5	.	.	PUNCT
ap-8631	325	1	https	https	NOUN
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ap-8631	327	1	[	[	X
ap-8631	327	2	9	9	X
ap-8631	327	3	]	]	PUNCT
ap-8631	327	4	m.-k	m.-k	NOUN
ap-8631	327	5	.	.	PUNCT
ap-8631	328	1	chang	chang	PROPN
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ap-8631	329	1	an	an	DET
ap-8631	329	2	adaptive	adaptive	ADJ
ap-8631	329	3	self	self	NOUN
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ap-8631	329	7	sliding	slide	VERB
ap-8631	329	8	mode	mode	NOUN
ap-8631	329	9	controller	controller	NOUN
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ap-8631	329	11	a	a	DET
ap-8631	329	12	2	2	NUM
ap-8631	329	13	-	-	PUNCT
ap-8631	329	14	dof	dof	NOUN
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ap-8631	329	16	robot	robot	NOUN
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ap-8631	329	18	by	by	ADP
ap-8631	329	19	pneumatic	pneumatic	ADJ
ap-8631	329	20	muscle	muscle	NOUN
ap-8631	329	21	actuators	actuator	NOUN
ap-8631	329	22	.	.	PUNCT
ap-8631	330	1	control	control	NOUN
ap-8631	330	2	engineering	engineering	NOUN
ap-8631	330	3	practice	practice	NOUN
ap-8631	330	4	18(1):13–22	18(1):13–22	NUM
ap-8631	330	5	,	,	PUNCT
ap-8631	330	6	2010	2010	NUM
ap-8631	330	7	.	.	PUNCT
ap-8631	331	1	https	https	NOUN
ap-8631	331	2	:	:	PUNCT
ap-8631	332	1	//doi.org/10.1016	//doi.org/10.1016	PROPN
ap-8631	332	2	/	/	SYM
ap-8631	332	3	j.conengprac.2009.08.005	j.conengprac.2009.08.005	PROPN
ap-8631	333	1	[	[	X
ap-8631	333	2	10	10	NUM
ap-8631	333	3	]	]	PUNCT
ap-8631	333	4	s.	s.	PROPN
ap-8631	333	5	m.	m.	PROPN
ap-8631	333	6	taslim	taslim	PROPN
ap-8631	333	7	reza	reza	PROPN
ap-8631	333	8	,	,	PUNCT
ap-8631	333	9	n.	n.	PROPN
ap-8631	333	10	ahmad	ahmad	PROPN
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ap-8631	333	12	i.	i.	PROPN
ap-8631	333	13	a.	a.	PROPN
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ap-8631	333	15	,	,	PUNCT
ap-8631	333	16	r.	r.	PROPN
ap-8631	333	17	a.	a.	PROPN
ap-8631	333	18	r.	r.	PROPN
ap-8631	333	19	ghazilla	ghazilla	PROPN
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ap-8631	334	1	a	a	DET
ap-8631	334	2	fuzzy	fuzzy	ADJ
ap-8631	334	3	controller	controller	NOUN
ap-8631	334	4	for	for	ADP
ap-8631	334	5	lower	low	ADJ
ap-8631	334	6	limb	limb	NOUN
ap-8631	334	7	exoskeletons	exoskeleton	NOUN
ap-8631	334	8	during	during	ADP
ap-8631	334	9	sit	sit	NOUN
ap-8631	334	10	-	-	PUNCT
ap-8631	334	11	to	to	PART
ap-8631	334	12	-	-	PUNCT
ap-8631	334	13	stand	stand	VERB
ap-8631	334	14	and	and	CCONJ
ap-8631	334	15	stand	stand	VERB
ap-8631	334	16	-	-	PUNCT
ap-8631	334	17	to	to	ADP
ap-8631	334	18	-	-	PUNCT
ap-8631	334	19	sit	sit	VERB
ap-8631	334	20	movement	movement	NOUN
ap-8631	334	21	using	use	VERB
ap-8631	334	22	wearable	wearable	ADJ
ap-8631	334	23	sensors	sensor	NOUN
ap-8631	334	24	.	.	PUNCT
ap-8631	335	1	sensors	sensor	NOUN
ap-8631	335	2	14(3):4342	14(3):4342	NUM
ap-8631	335	3	–	–	PUNCT
ap-8631	335	4	4363	4363	NUM
ap-8631	335	5	,	,	PUNCT
ap-8631	335	6	2014	2014	NUM
ap-8631	335	7	.	.	PUNCT
ap-8631	336	1	https://doi.org/10.3390/s140304342	https://doi.org/10.3390/s140304342	NUM
ap-8631	337	1	[	[	X
ap-8631	337	2	11	11	NUM
ap-8631	337	3	]	]	PUNCT
ap-8631	337	4	t.	t.	PROPN
ap-8631	337	5	h.	h.	PROPN
ap-8631	337	6	do	do	VERB
ap-8631	337	7	,	,	PUNCT
ap-8631	337	8	d.	d.	PROPN
ap-8631	337	9	t.	t.	PROPN
ap-8631	337	10	vu	vu	PROPN
ap-8631	337	11	.	.	PUNCT
ap-8631	338	1	an	an	DET
ap-8631	338	2	intelligent	intelligent	ADJ
ap-8631	338	3	control	control	NOUN
ap-8631	338	4	for	for	ADP
ap-8631	338	5	lower	low	ADJ
ap-8631	338	6	limb	limb	NOUN
ap-8631	338	7	exoskeleton	exoskeleton	NOUN
ap-8631	338	8	for	for	ADP
ap-8631	338	9	rehabilitation	rehabilitation	NOUN
ap-8631	338	10	.	.	PUNCT
ap-8631	339	1	ssrg	ssrg	PROPN
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ap-8631	339	3	journal	journal	PROPN
ap-8631	339	4	of	of	ADP
ap-8631	339	5	electrical	electrical	ADJ
ap-8631	339	6	and	and	CCONJ
ap-8631	339	7	electronics	electronic	NOUN
ap-8631	339	8	engineering	engineering	NOUN
ap-8631	339	9	4(8):13–19	4(8):13–19	NUM
ap-8631	339	10	,	,	PUNCT
ap-8631	339	11	2017	2017	NUM
ap-8631	339	12	.	.	PUNCT
ap-8631	340	1	https	https	NOUN
ap-8631	340	2	:	:	PUNCT
ap-8631	340	3	//doi.org/10.14445/23488379	//doi.org/10.14445/23488379	NOUN
ap-8631	340	4	/	/	SYM
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ap-8631	340	6	-	-	PUNCT
ap-8631	340	7	v4i8p103	v4i8p103	NOUN
ap-8631	340	8	[	[	X
ap-8631	340	9	12	12	NUM
ap-8631	340	10	]	]	PUNCT
ap-8631	340	11	l.	l.	PROPN
ap-8631	340	12	vaca	vaca	PROPN
ap-8631	340	13	benitez	benitez	PROPN
ap-8631	340	14	,	,	PUNCT
ap-8631	340	15	m.	m.	NOUN
ap-8631	340	16	tabie	tabie	PROPN
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ap-8631	340	21	et	et	PROPN
ap-8631	340	22	al	al	PROPN
ap-8631	340	23	.	.	PROPN
ap-8631	340	24	exoskeleton	exoskeleton	PROPN
ap-8631	340	25	technology	technology	NOUN
ap-8631	340	26	in	in	ADP
ap-8631	340	27	rehabilitation	rehabilitation	NOUN
ap-8631	340	28	:	:	PUNCT
ap-8631	340	29	towards	towards	ADP
ap-8631	340	30	an	an	DET
ap-8631	340	31	emg	emg	NOUN
ap-8631	340	32	-	-	PUNCT
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ap-8631	340	34	orthosis	orthosis	NOUN
ap-8631	340	35	system	system	NOUN
ap-8631	340	36	for	for	ADP
ap-8631	340	37	upper	upper	ADJ
ap-8631	340	38	limb	limb	NOUN
ap-8631	340	39	neuromotor	neuromotor	PROPN
ap-8631	340	40	rehabilitation	rehabilitation	NOUN
ap-8631	340	41	.	.	PUNCT
ap-8631	341	1	journal	journal	NOUN
ap-8631	341	2	of	of	ADP
ap-8631	341	3	robotics	robotic	NOUN
ap-8631	341	4	2013:610589	2013:610589	NUM
ap-8631	341	5	,	,	PUNCT
ap-8631	341	6	2013	2013	NUM
ap-8631	341	7	.	.	PUNCT
ap-8631	342	1	https://doi.org/10.1155/2013/610589	https://doi.org/10.1155/2013/610589	PROPN
ap-8631	343	1	[	[	X
ap-8631	343	2	13	13	NUM
ap-8631	343	3	]	]	PUNCT
ap-8631	343	4	c.	c.	PROPN
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ap-8631	343	6	,	,	PUNCT
ap-8631	343	7	w.	w.	PROPN
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ap-8631	343	9	,	,	PUNCT
ap-8631	343	10	e.	e.	PROPN
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ap-8631	343	12	,	,	PUNCT
ap-8631	343	13	et	et	PROPN
ap-8631	343	14	al	al	PROPN
ap-8631	343	15	.	.	PROPN
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ap-8631	343	19	for	for	ADP
ap-8631	343	20	human	human	NOUN
ap-8631	343	21	-	-	PUNCT
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ap-8631	343	23	lower	low	ADJ
ap-8631	343	24	limb	limb	NOUN
ap-8631	343	25	robotic	robotic	ADJ
ap-8631	343	26	assistance	assistance	NOUN
ap-8631	343	27	.	.	PUNCT
ap-8631	344	1	ieee	ieee	NOUN
ap-8631	344	2	transactions	transaction	NOUN
ap-8631	344	3	on	on	ADP
ap-8631	344	4	medical	medical	ADJ
ap-8631	344	5	robotics	robotic	NOUN
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ap-8631	344	7	bionics	bionic	NOUN
ap-8631	344	8	3(4):980–991	3(4):980–991	NUM
ap-8631	344	9	,	,	PUNCT
ap-8631	344	10	2021	2021	NUM
ap-8631	344	11	.	.	PUNCT
ap-8631	345	1	https://doi.org/10.1109/tmrb.2021.3105141	https://doi.org/10.1109/tmrb.2021.3105141	PROPN
ap-8631	346	1	[	[	X
ap-8631	346	2	14	14	NUM
ap-8631	346	3	]	]	X
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ap-8631	346	6	.	.	PUNCT
ap-8631	347	1	comments	comment	NOUN
ap-8631	347	2	on	on	ADP
ap-8631	347	3	active	active	ADJ
ap-8631	347	4	disturbance	disturbance	NOUN
ap-8631	347	5	rejection	rejection	NOUN
ap-8631	347	6	control	control	NOUN
ap-8631	347	7	.	.	PUNCT
ap-8631	348	1	ieee	ieee	NOUN
ap-8631	348	2	transactions	transaction	NOUN
ap-8631	348	3	on	on	ADP
ap-8631	348	4	industrial	industrial	ADJ
ap-8631	348	5	electronics	electronic	NOUN
ap-8631	348	6	54(6):3428–3429	54(6):3428–3429	PROPN
ap-8631	348	7	,	,	PUNCT
ap-8631	348	8	2007	2007	NUM
ap-8631	348	9	.	.	PUNCT
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ap-8631	350	1	[	[	X
ap-8631	350	2	15	15	NUM
ap-8631	350	3	]	]	X
ap-8631	350	4	w.	w.	PROPN
ap-8631	350	5	r.	r.	PROPN
ap-8631	350	6	abdul	abdul	PROPN
ap-8631	350	7	-	-	PUNCT
ap-8631	350	8	adheem	adheem	PROPN
ap-8631	350	9	,	,	PUNCT
ap-8631	350	10	a.	a.	NOUN
ap-8631	350	11	t.	t.	PROPN
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ap-8631	350	13	,	,	PUNCT
ap-8631	350	14	i.	i.	PROPN
ap-8631	350	15	k.	k.	PROPN
ap-8631	350	16	ibraheem	ibraheem	PROPN
ap-8631	350	17	,	,	PUNCT
ap-8631	350	18	a.	a.	PROPN
ap-8631	350	19	j.	j.	PROPN
ap-8631	350	20	humaidi	humaidi	PROPN
ap-8631	350	21	.	.	PUNCT
ap-8631	351	1	novel	novel	VERB
ap-8631	351	2	active	active	ADJ
ap-8631	351	3	disturbance	disturbance	NOUN
ap-8631	351	4	rejection	rejection	NOUN
ap-8631	351	5	control	control	NOUN
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ap-8631	351	11	state	state	NOUN
ap-8631	351	12	observers	observer	NOUN
ap-8631	351	13	.	.	PUNCT
ap-8631	352	1	applied	apply	VERB
ap-8631	352	2	sciences	science	NOUN
ap-8631	352	3	10(12):4069	10(12):4069	NUM
ap-8631	352	4	,	,	PUNCT
ap-8631	352	5	2020	2020	NUM
ap-8631	352	6	.	.	PUNCT
ap-8631	352	7	https://doi.org/10.3390/app10124069	https://doi.org/10.3390/app10124069	PROPN
ap-8631	353	1	[	[	X
ap-8631	353	2	16	16	NUM
ap-8631	353	3	]	]	PUNCT
ap-8631	353	4	r.	r.	PROPN
ap-8631	353	5	pérez	pérez	PROPN
ap-8631	353	6	-	-	PUNCT
ap-8631	353	7	san	san	PROPN
ap-8631	353	8	lázaro	lázaro	NOUN
ap-8631	353	9	,	,	PUNCT
ap-8631	353	10	i.	i.	PROPN
ap-8631	353	11	salgado	salgado	PROPN
ap-8631	353	12	,	,	PUNCT
ap-8631	353	13	i.	i.	PROPN
ap-8631	353	14	chairez	chairez	PROPN
ap-8631	353	15	.	.	PUNCT
ap-8631	354	1	adaptive	adaptive	ADJ
ap-8631	354	2	sliding	sliding	ADJ
ap-8631	354	3	-	-	PUNCT
ap-8631	354	4	mode	mode	NOUN
ap-8631	354	5	controller	controller	NOUN
ap-8631	354	6	of	of	ADP
ap-8631	354	7	a	a	DET
ap-8631	354	8	lower	low	ADJ
ap-8631	354	9	limb	limb	NOUN
ap-8631	354	10	mobile	mobile	ADJ
ap-8631	354	11	exoskeleton	exoskeleton	NOUN
ap-8631	354	12	for	for	ADP
ap-8631	354	13	active	active	ADJ
ap-8631	354	14	rehabilitation	rehabilitation	NOUN
ap-8631	354	15	.	.	PUNCT
ap-8631	355	1	isa	isa	NOUN
ap-8631	355	2	transactions	transaction	NOUN
ap-8631	355	3	109:218–228	109:218–228	NUM
ap-8631	355	4	,	,	PUNCT
ap-8631	355	5	2021	2021	NUM
ap-8631	355	6	.	.	PUNCT
ap-8631	356	1	https://doi.org/10.1016/j.isatra.2020.10.008	https://doi.org/10.1016/j.isatra.2020.10.008	PROPN
ap-8631	356	2	[	[	X
ap-8631	356	3	17	17	NUM
ap-8631	356	4	]	]	PUNCT
ap-8631	356	5	m.	m.	NOUN
ap-8631	356	6	babaiasl	babaiasl	NOUN
ap-8631	356	7	,	,	PUNCT
ap-8631	356	8	s.	s.	PROPN
ap-8631	356	9	n.	n.	PROPN
ap-8631	356	10	goldar	goldar	PROPN
ap-8631	356	11	,	,	PUNCT
ap-8631	356	12	m.	m.	PROPN
ap-8631	356	13	h.	h.	PROPN
ap-8631	356	14	barhaghtalab	barhaghtalab	PROPN
ap-8631	356	15	,	,	PUNCT
ap-8631	356	16	v.	v.	ADP
ap-8631	356	17	meigoli	meigoli	ADV
ap-8631	356	18	.	.	PUNCT
ap-8631	357	1	sliding	slide	VERB
ap-8631	357	2	mode	mode	NOUN
ap-8631	357	3	control	control	NOUN
ap-8631	357	4	of	of	ADP
ap-8631	357	5	an	an	DET
ap-8631	357	6	exoskeleton	exoskeleton	NOUN
ap-8631	357	7	robot	robot	NOUN
ap-8631	357	8	for	for	ADP
ap-8631	357	9	use	use	NOUN
ap-8631	357	10	in	in	ADP
ap-8631	357	11	upper	upper	ADJ
ap-8631	357	12	-	-	PUNCT
ap-8631	357	13	limb	limb	NOUN
ap-8631	357	14	rehabilitation	rehabilitation	NOUN
ap-8631	357	15	.	.	PUNCT
ap-8631	358	1	in	in	ADP
ap-8631	358	2	2015	2015	NUM
ap-8631	358	3	3rd	3rd	ADJ
ap-8631	358	4	rsi	rsi	ADJ
ap-8631	358	5	international	international	ADJ
ap-8631	358	6	conference	conference	NOUN
ap-8631	358	7	on	on	ADP
ap-8631	358	8	robotics	robotic	NOUN
ap-8631	358	9	and	and	CCONJ
ap-8631	358	10	mechatronics	mechatronic	NOUN
ap-8631	358	11	(	(	PUNCT
ap-8631	358	12	icrom	icrom	PROPN
ap-8631	358	13	)	)	PUNCT
ap-8631	358	14	,	,	PUNCT
ap-8631	358	15	pp	pp	ADJ
ap-8631	358	16	.	.	PUNCT
ap-8631	359	1	694–701	694–701	NUM
ap-8631	359	2	.	.	NOUN
ap-8631	359	3	2015	2015	NUM
ap-8631	359	4	.	.	PUNCT
ap-8631	360	1	https://doi.org/10.1109/icrom.2015.7367867	https://doi.org/10.1109/icrom.2015.7367867	PROPN
ap-8631	361	1	[	[	X
ap-8631	361	2	18	18	NUM
ap-8631	361	3	]	]	X
ap-8631	361	4	b.	b.	PROPN
ap-8631	361	5	s.	s.	PROPN
ap-8631	361	6	k.	k.	PROPN
ap-8631	361	7	k.	k.	PROPN
ap-8631	361	8	ibrahim	ibrahim	PROPN
ap-8631	361	9	,	,	PUNCT
ap-8631	361	10	r.	r.	PROPN
ap-8631	361	11	ngadengon	ngadengon	PROPN
ap-8631	361	12	,	,	PUNCT
ap-8631	361	13	m.	m.	PROPN
ap-8631	361	14	n.	n.	PROPN
ap-8631	361	15	ahmad	ahmad	PROPN
ap-8631	361	16	.	.	PUNCT
ap-8631	362	1	genetic	genetic	ADJ
ap-8631	362	2	algorithm	algorithm	NOUN
ap-8631	362	3	optimized	optimize	VERB
ap-8631	362	4	integral	integral	ADJ
ap-8631	362	5	sliding	slide	VERB
ap-8631	362	6	mode	mode	NOUN
ap-8631	362	7	control	control	NOUN
ap-8631	362	8	of	of	ADP
ap-8631	362	9	a	a	DET
ap-8631	362	10	direct	direct	ADJ
ap-8631	362	11	drive	drive	NOUN
ap-8631	362	12	robot	robot	NOUN
ap-8631	362	13	arm	arm	NOUN
ap-8631	362	14	.	.	PUNCT
ap-8631	363	1	in	in	ADP
ap-8631	363	2	2012	2012	NUM
ap-8631	363	3	international	international	ADJ
ap-8631	363	4	conference	conference	NOUN
ap-8631	363	5	on	on	ADP
ap-8631	363	6	control	control	NOUN
ap-8631	363	7	,	,	PUNCT
ap-8631	363	8	automation	automation	NOUN
ap-8631	363	9	and	and	CCONJ
ap-8631	363	10	information	information	NOUN
ap-8631	363	11	sciences	sciences	PROPN
ap-8631	363	12	(	(	PUNCT
ap-8631	363	13	iccais	iccais	PROPN
ap-8631	363	14	)	)	PUNCT
ap-8631	363	15	,	,	PUNCT
ap-8631	363	16	pp	pp	ADJ
ap-8631	363	17	.	.	PUNCT
ap-8631	364	1	328–333	328–333	NUM
ap-8631	364	2	.	.	PUNCT
ap-8631	364	3	2012	2012	NUM
ap-8631	364	4	.	.	PUNCT
ap-8631	365	1	https://doi.org/10.1109/iccais.2012.6466612	https://doi.org/10.1109/iccais.2012.6466612	PROPN
ap-8631	365	2	[	[	PUNCT
ap-8631	365	3	19	19	NUM
ap-8631	365	4	]	]	PUNCT
ap-8631	365	5	a.	a.	NOUN
ap-8631	365	6	humaidi	humaidi	PROPN
ap-8631	365	7	,	,	PUNCT
ap-8631	365	8	m.	m.	NOUN
ap-8631	365	9	hameed	hameed	PROPN
ap-8631	365	10	.	.	PUNCT
ap-8631	366	1	development	development	NOUN
ap-8631	366	2	of	of	ADP
ap-8631	366	3	a	a	DET
ap-8631	366	4	new	new	ADJ
ap-8631	366	5	adaptive	adaptive	ADJ
ap-8631	366	6	backstepping	backstepping	NOUN
ap-8631	366	7	control	control	NOUN
ap-8631	366	8	design	design	NOUN
ap-8631	366	9	for	for	ADP
ap-8631	366	10	a	a	DET
ap-8631	366	11	non	non	ADJ
ap-8631	366	12	-	-	ADJ
ap-8631	366	13	strict	strict	ADJ
ap-8631	366	14	and	and	CCONJ
ap-8631	366	15	under	under	ADV
ap-8631	366	16	-	-	PUNCT
ap-8631	366	17	actuated	actuate	VERB
ap-8631	366	18	system	system	NOUN
ap-8631	366	19	based	base	VERB
ap-8631	366	20	on	on	ADP
ap-8631	366	21	a	a	DET
ap-8631	366	22	pso	pso	NOUN
ap-8631	366	23	tuner	tuner	NOUN
ap-8631	366	24	.	.	PUNCT
ap-8631	367	1	information	information	NOUN
ap-8631	367	2	10(2):38	10(2):38	PROPN
ap-8631	367	3	,	,	PUNCT
ap-8631	367	4	2019	2019	NUM
ap-8631	367	5	.	.	PUNCT
ap-8631	368	1	https://doi.org/10.3390/info10020038	https://doi.org/10.3390/info10020038	PROPN
ap-8631	368	2	[	[	X
ap-8631	368	3	20	20	NUM
ap-8631	368	4	]	]	PUNCT
ap-8631	368	5	a.	a.	PROPN
ap-8631	368	6	al	al	PROPN
ap-8631	368	7	-	-	PUNCT
ap-8631	368	8	qassar	qassar	PROPN
ap-8631	368	9	,	,	PUNCT
ap-8631	368	10	a.	a.	NOUN
ap-8631	368	11	abdulkareem	abdulkareem	PROPN
ap-8631	368	12	,	,	PUNCT
ap-8631	368	13	a.	a.	PROPN
ap-8631	368	14	hasan	hasan	PROPN
ap-8631	368	15	,	,	PUNCT
ap-8631	368	16	et	et	PROPN
ap-8631	368	17	al	al	PROPN
ap-8631	368	18	.	.	PUNCT
ap-8631	369	1	grey	grey	ADJ
ap-8631	369	2	-	-	PUNCT
ap-8631	369	3	wolf	wolf	PROPN
ap-8631	369	4	optimization	optimization	NOUN
ap-8631	369	5	better	well	ADV
ap-8631	369	6	enhances	enhance	VERB
ap-8631	369	7	the	the	DET
ap-8631	369	8	dynamic	dynamic	ADJ
ap-8631	369	9	performance	performance	NOUN
ap-8631	369	10	of	of	ADP
ap-8631	369	11	roll	roll	NOUN
ap-8631	369	12	motion	motion	NOUN
ap-8631	369	13	for	for	ADP
ap-8631	369	14	tail	tail	NOUN
ap-8631	369	15	-	-	PUNCT
ap-8631	369	16	sitter	sitter	NOUN
ap-8631	369	17	vtol	vtol	NOUN
ap-8631	369	18	aircraft	aircraft	NOUN
ap-8631	369	19	guided	guide	VERB
ap-8631	369	20	and	and	CCONJ
ap-8631	369	21	controlled	control	VERB
ap-8631	369	22	by	by	ADP
ap-8631	369	23	stsmc	stsmc	PROPN
ap-8631	369	24	.	.	PUNCT
ap-8631	370	1	journal	journal	PROPN
ap-8631	370	2	of	of	ADP
ap-8631	370	3	engineering	engineering	NOUN
ap-8631	370	4	science	science	NOUN
ap-8631	370	5	and	and	CCONJ
ap-8631	370	6	technology	technology	NOUN
ap-8631	370	7	16:1932–1950	16:1932–1950	NUM
ap-8631	370	8	,	,	PUNCT
ap-8631	370	9	2021	2021	NUM
ap-8631	370	10	.	.	PUNCT
ap-8631	371	1	[	[	X
ap-8631	371	2	21	21	NUM
ap-8631	371	3	]	]	X
ap-8631	371	4	l.	l.	PROPN
ap-8631	371	5	rasheed	rasheed	PROPN
ap-8631	371	6	.	.	PUNCT
ap-8631	372	1	optimal	optimal	ADJ
ap-8631	372	2	tuning	tuning	NOUN
ap-8631	372	3	of	of	ADP
ap-8631	372	4	linear	linear	ADJ
ap-8631	372	5	quadratic	quadratic	ADJ
ap-8631	372	6	regulator	regulator	NOUN
ap-8631	372	7	controller	controller	NOUN
ap-8631	372	8	using	use	VERB
ap-8631	372	9	ant	ant	ADJ
ap-8631	372	10	colony	colony	NOUN
ap-8631	372	11	optimization	optimization	NOUN
ap-8631	372	12	algorithm	algorithm	NOUN
ap-8631	372	13	for	for	ADP
ap-8631	372	14	position	position	NOUN
ap-8631	372	15	control	control	NOUN
ap-8631	372	16	of	of	ADP
ap-8631	372	17	a	a	DET
ap-8631	372	18	permanent	permanent	ADJ
ap-8631	372	19	magnet	magnet	NOUN
ap-8631	372	20	dc	dc	PROPN
ap-8631	372	21	motor	motor	PROPN
ap-8631	372	22	.	.	PUNCT
ap-8631	373	1	iraqui	iraqui	PROPN
ap-8631	373	2	journal	journal	PROPN
ap-8631	373	3	of	of	ADP
ap-8631	373	4	computers	computer	NOUN
ap-8631	373	5	,	,	PUNCT
ap-8631	373	6	cmmunications	cmmunication	NOUN
ap-8631	373	7	,	,	PUNCT
ap-8631	373	8	control	control	NOUN
ap-8631	373	9	and	and	CCONJ
ap-8631	373	10	systems	system	NOUN
ap-8631	373	11	engineering	engineering	NOUN
ap-8631	373	12	20(3):29–41	20(3):29–41	NUM
ap-8631	373	13	,	,	PUNCT
ap-8631	373	14	2020	2020	NUM
ap-8631	373	15	.	.	PUNCT
ap-8631	374	1	https://doi.org/10.33103/uot.ijccce.20.3.3	https://doi.org/10.33103/uot.ijccce.20.3.3	NOUN
ap-8631	375	1	[	[	X
ap-8631	375	2	22	22	NUM
ap-8631	375	3	]	]	X
ap-8631	375	4	s.	s.	PROPN
ap-8631	375	5	got	get	VERB
ap-8631	375	6	,	,	PUNCT
ap-8631	375	7	m.	m.	PROPN
ap-8631	375	8	lee	lee	PROPN
ap-8631	375	9	,	,	PUNCT
ap-8631	375	10	m.	m.	NOUN
ap-8631	375	11	park	park	PROPN
ap-8631	375	12	.	.	PUNCT
ap-8631	376	1	fuzzy	fuzzy	ADJ
ap-8631	376	2	-	-	PUNCT
ap-8631	376	3	sliding	slide	VERB
ap-8631	376	4	mode	mode	NOUN
ap-8631	376	5	control	control	NOUN
ap-8631	376	6	of	of	ADP
ap-8631	376	7	a	a	DET
ap-8631	376	8	polishing	polish	VERB
ap-8631	376	9	robot	robot	NOUN
ap-8631	376	10	based	base	VERB
ap-8631	376	11	on	on	ADP
ap-8631	376	12	genetic	genetic	ADJ
ap-8631	376	13	algorithm	algorithm	NOUN
ap-8631	376	14	.	.	PUNCT
ap-8631	377	1	ksme	ksme	PROPN
ap-8631	377	2	international	international	PROPN
ap-8631	377	3	journal	journal	PROPN
ap-8631	377	4	15:580–591	15:580–591	PROPN
ap-8631	377	5	,	,	PUNCT
ap-8631	377	6	2001	2001	NUM
ap-8631	377	7	.	.	PUNCT
ap-8631	377	8	https://doi.org/10.1007/bf03184374	https://doi.org/10.1007/bf03184374	PUNCT
ap-8631	378	1	[	[	X
ap-8631	378	2	23	23	NUM
ap-8631	378	3	]	]	PUNCT
ap-8631	378	4	s.	s.	PROPN
ap-8631	378	5	m.	m.	PROPN
ap-8631	378	6	mahdi	mahdi	PROPN
ap-8631	378	7	,	,	PUNCT
ap-8631	378	8	n.	n.	PROPN
ap-8631	378	9	q.	q.	PROPN
ap-8631	378	10	yousif	yousif	PROPN
ap-8631	378	11	,	,	PUNCT
ap-8631	378	12	a.	a.	NOUN
ap-8631	378	13	a.	a.	NOUN
ap-8631	378	14	oglah	oglah	PROPN
ap-8631	378	15	,	,	PUNCT
ap-8631	378	16	et	et	PROPN
ap-8631	378	17	al	al	PROPN
ap-8631	378	18	.	.	PROPN
ap-8631	379	1	adaptive	adaptive	PROPN
ap-8631	379	2	synergetic	synergetic	ADJ
ap-8631	379	3	motion	motion	NOUN
ap-8631	379	4	control	control	NOUN
ap-8631	379	5	for	for	ADP
ap-8631	379	6	wearable	wearable	ADJ
ap-8631	379	7	knee	knee	NOUN
ap-8631	379	8	-	-	PUNCT
ap-8631	379	9	assistive	assistive	ADJ
ap-8631	379	10	system	system	NOUN
ap-8631	379	11	:	:	PUNCT
ap-8631	379	12	a	a	DET
ap-8631	379	13	rehabilitation	rehabilitation	NOUN
ap-8631	379	14	of	of	ADP
ap-8631	379	15	disabled	disabled	ADJ
ap-8631	379	16	patients	patient	NOUN
ap-8631	379	17	.	.	PUNCT
ap-8631	380	1	actuators	actuator	NOUN
ap-8631	380	2	11(7):176	11(7):176	PROPN
ap-8631	380	3	,	,	PUNCT
ap-8631	380	4	2022	2022	NUM
ap-8631	380	5	.	.	PUNCT
ap-8631	381	1	https://doi.org/10.3390/act11070176	https://doi.org/10.3390/act11070176	PRON
ap-8631	381	2	[	[	X
ap-8631	381	3	24	24	NUM
ap-8631	381	4	]	]	PUNCT
ap-8631	381	5	a.	a.	NOUN
ap-8631	381	6	j.	j.	PROPN
ap-8631	381	7	humaidi	humaidi	PROPN
ap-8631	381	8	,	,	PUNCT
ap-8631	381	9	a.	a.	NOUN
ap-8631	381	10	a.	a.	PROPN
ap-8631	381	11	mohammed	mohammed	PROPN
ap-8631	381	12	,	,	PUNCT
ap-8631	381	13	a.	a.	PROPN
ap-8631	381	14	h.	h.	PROPN
ap-8631	381	15	hameed	hameed	PROPN
ap-8631	381	16	,	,	PUNCT
ap-8631	381	17	et	et	PROPN
ap-8631	381	18	al	al	PROPN
ap-8631	381	19	.	.	PUNCT
ap-8631	382	1	state	state	PROPN
ap-8631	382	2	estimation	estimation	NOUN
ap-8631	382	3	of	of	ADP
ap-8631	382	4	rotary	rotary	ADJ
ap-8631	382	5	inverted	inverted	ADJ
ap-8631	382	6	pendulum	pendulum	NOUN
ap-8631	382	7	:	:	PUNCT
ap-8631	382	8	a	a	DET
ap-8631	382	9	comparative	comparative	ADJ
ap-8631	382	10	study	study	NOUN
ap-8631	382	11	of	of	ADP
ap-8631	382	12	observers	observer	NOUN
ap-8631	382	13	performance	performance	NOUN
ap-8631	382	14	.	.	PUNCT
ap-8631	383	1	in	in	ADP
ap-8631	383	2	2020	2020	NUM
ap-8631	383	3	ieee	ieee	NOUN
ap-8631	383	4	congreso	congreso	PROPN
ap-8631	383	5	bienal	bienal	PROPN
ap-8631	383	6	de	de	X
ap-8631	383	7	argentina	argentina	PROPN
ap-8631	383	8	(	(	PUNCT
ap-8631	383	9	argencon	argencon	PROPN
ap-8631	383	10	)	)	PUNCT
ap-8631	383	11	,	,	PUNCT
ap-8631	383	12	pp	pp	PROPN
ap-8631	383	13	.	.	PUNCT
ap-8631	384	1	1–7	1–7	X
ap-8631	384	2	.	.	NOUN
ap-8631	384	3	2020	2020	NUM
ap-8631	384	4	.	.	PUNCT
ap-8631	385	1	https	https	NOUN
ap-8631	385	2	:	:	PUNCT
ap-8631	385	3	//doi.org/10.1109	//doi.org/10.1109	VERB
ap-8631	385	4	/	/	SYM
ap-8631	385	5	argencon49523.2020.9505507	argencon49523.2020.9505507	PROPN
ap-8631	386	1	[	[	X
ap-8631	386	2	25	25	NUM
ap-8631	386	3	]	]	PUNCT
ap-8631	386	4	j.	j.	PROPN
ap-8631	386	5	han	han	PROPN
ap-8631	386	6	.	.	PROPN
ap-8631	387	1	from	from	ADP
ap-8631	387	2	pid	pid	NOUN
ap-8631	387	3	to	to	ADP
ap-8631	387	4	active	active	ADJ
ap-8631	387	5	disturbance	disturbance	NOUN
ap-8631	387	6	rejection	rejection	NOUN
ap-8631	387	7	control	control	NOUN
ap-8631	387	8	.	.	PUNCT
ap-8631	388	1	ieee	ieee	NOUN
ap-8631	388	2	transactions	transaction	NOUN
ap-8631	388	3	on	on	ADP
ap-8631	388	4	industrial	industrial	ADJ
ap-8631	388	5	electronics	electronic	NOUN
ap-8631	388	6	56(3):900–906	56(3):900–906	NUM
ap-8631	388	7	,	,	PUNCT
ap-8631	388	8	2009	2009	NUM
ap-8631	388	9	.	.	PUNCT
ap-8631	389	1	https://doi.org/10.1109/tie.2008.2011621	https://doi.org/10.1109/tie.2008.2011621	PROPN
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ap-8631	391	7	.	.	PUNCT
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ap-8631	400	8	,	,	PUNCT
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ap-8631	400	10	.	.	PUNCT
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ap-8631	404	10	[	[	X
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ap-8631	404	18	-	-	PUNCT
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ap-8631	404	21	n.	n.	PROPN
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ap-8631	406	9	.	.	PUNCT
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ap-8631	407	2	[	[	X
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ap-8631	407	4	]	]	PUNCT
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ap-8631	407	18	fractional	fractional	ADJ
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ap-8631	409	8	.	.	PUNCT
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ap-8631	410	2	.	.	PUNCT
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ap-8631	411	13	.	.	PUNCT
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ap-8631	412	12	exoskeleton	exoskeleton	PROPN
ap-8631	412	13	.	.	PUNCT
ap-8631	413	1	asian	asian	ADJ
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ap-8631	413	7	482	482	NUM
ap-8631	413	8	,	,	PUNCT
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ap-8631	413	10	.	.	PUNCT
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ap-8631	415	1	[	[	X
ap-8631	415	2	33	33	NUM
ap-8631	415	3	]	]	PUNCT
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ap-8631	415	7	s.	s.	PROPN
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ap-8631	416	4	pid	pid	NOUN
ap-8631	416	5	controller	controller	NOUN
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ap-8631	417	5	.	.	PUNCT
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ap-8631	422	12	and	and	CCONJ
ap-8631	422	13	devices	device	NOUN
ap-8631	422	14	(	(	PUNCT
ap-8631	422	15	ssd	ssd	NOUN
ap-8631	422	16	)	)	PUNCT
ap-8631	422	17	,	,	PUNCT
ap-8631	422	18	pp	pp	ADP
ap-8631	422	19	.	.	PUNCT
ap-8631	423	1	948–953	948–953	NUM
ap-8631	423	2	.	.	NOUN
ap-8631	423	3	2021	2021	NUM
ap-8631	423	4	.	.	PUNCT
ap-8631	424	1	https://doi.org/10.1109/ssd52085.2021.9429318	https://doi.org/10.1109/ssd52085.2021.9429318	PROPN
ap-8631	425	1	[	[	X
ap-8631	425	2	35	35	NUM
ap-8631	425	3	]	]	X
ap-8631	425	4	d.	d.	PROPN
ap-8631	425	5	li	li	PROPN
ap-8631	425	6	,	,	PUNCT
ap-8631	425	7	p.	p.	PROPN
ap-8631	425	8	ding	ding	PROPN
ap-8631	425	9	,	,	PUNCT
ap-8631	425	10	z.	z.	PROPN
ap-8631	425	11	gao	gao	PROPN
ap-8631	425	12	.	.	PUNCT
ap-8631	426	1	fractional	fractional	ADJ
ap-8631	426	2	active	active	ADJ
ap-8631	426	3	disturbance	disturbance	NOUN
ap-8631	426	4	rejection	rejection	NOUN
ap-8631	426	5	control	control	NOUN
ap-8631	426	6	.	.	PUNCT
ap-8631	427	1	isa	isa	NOUN
ap-8631	427	2	transactions	transaction	NOUN
ap-8631	427	3	62:109–119	62:109–119	NUM
ap-8631	427	4	,	,	PUNCT
ap-8631	427	5	2016	2016	NUM
ap-8631	427	6	.	.	PUNCT
ap-8631	428	1	https://doi.org/10.1016/j.isatra.2016.01.022	https://doi.org/10.1016/j.isatra.2016.01.022	NOUN
ap-8631	429	1	[	[	X
ap-8631	429	2	36	36	NUM
ap-8631	429	3	]	]	X
ap-8631	429	4	j.	j.	PROPN
ap-8631	429	5	song	song	PROPN
ap-8631	429	6	,	,	PUNCT
ap-8631	429	7	j.	j.	PROPN
ap-8631	429	8	lin	lin	PROPN
ap-8631	429	9	,	,	PUNCT
ap-8631	429	10	l.	l.	PROPN
ap-8631	429	11	wang	wang	PROPN
ap-8631	429	12	,	,	PUNCT
ap-8631	429	13	et	et	PROPN
ap-8631	429	14	al	al	PROPN
ap-8631	429	15	.	.	PROPN
ap-8631	430	1	nonlinear	nonlinear	ADJ
ap-8631	430	2	fopid	fopid	NOUN
ap-8631	430	3	and	and	CCONJ
ap-8631	430	4	active	active	ADJ
ap-8631	430	5	disturbance	disturbance	NOUN
ap-8631	430	6	rejection	rejection	NOUN
ap-8631	430	7	hypersonic	hypersonic	ADJ
ap-8631	430	8	vehicle	vehicle	NOUN
ap-8631	430	9	control	control	NOUN
ap-8631	430	10	based	base	VERB
ap-8631	430	11	on	on	ADP
ap-8631	430	12	dem	dem	ADJ
ap-8631	430	13	biogeography	biogeography	NOUN
ap-8631	430	14	-	-	PUNCT
ap-8631	430	15	based	base	VERB
ap-8631	430	16	optimization	optimization	NOUN
ap-8631	430	17	.	.	PUNCT
ap-8631	431	1	journal	journal	PROPN
ap-8631	431	2	of	of	ADP
ap-8631	431	3	aerospace	aerospace	NOUN
ap-8631	431	4	engineering	engineering	NOUN
ap-8631	431	5	30(6):04017079	30(6):04017079	NUM
ap-8631	431	6	,	,	PUNCT
ap-8631	431	7	2017	2017	NUM
ap-8631	431	8	.	.	PUNCT
ap-8631	432	1	https	https	NOUN
ap-8631	432	2	:	:	PUNCT
ap-8631	432	3	//doi.org/10.1061/(asce)as.1943	//doi.org/10.1061/(asce)as.1943	PUNCT
ap-8631	432	4	-	-	PUNCT
ap-8631	433	1	5525.0000786	5525.0000786	NUM
ap-8631	433	2	[	[	X
ap-8631	433	3	37	37	NUM
ap-8631	433	4	]	]	X
ap-8631	433	5	b.	b.	PROPN
ap-8631	433	6	pradhan	pradhan	PROPN
ap-8631	433	7	,	,	PUNCT
ap-8631	433	8	x.	x.	NOUN
ap-8631	433	9	zhou	zhou	PROPN
ap-8631	433	10	,	,	PUNCT
ap-8631	433	11	c.	c.	PROPN
ap-8631	433	12	yang	yang	PROPN
ap-8631	433	13	,	,	PUNCT
ap-8631	433	14	et	et	PROPN
ap-8631	433	15	al	al	PROPN
ap-8631	433	16	.	.	PUNCT
ap-8631	434	1	a	a	DET
ap-8631	434	2	high	high	ADJ
ap-8631	434	3	-	-	PUNCT
ap-8631	434	4	precision	precision	NOUN
ap-8631	434	5	control	control	NOUN
ap-8631	434	6	scheme	scheme	NOUN
ap-8631	434	7	based	base	VERB
ap-8631	434	8	on	on	ADP
ap-8631	434	9	active	active	ADJ
ap-8631	434	10	disturbance	disturbance	NOUN
ap-8631	434	11	rejection	rejection	NOUN
ap-8631	434	12	control	control	NOUN
ap-8631	434	13	for	for	ADP
ap-8631	434	14	a	a	DET
ap-8631	434	15	three	three	NUM
ap-8631	434	16	-	-	PUNCT
ap-8631	434	17	axis	axis	NOUN
ap-8631	434	18	inertially	inertially	NOUN
ap-8631	434	19	stabilized	stabilize	VERB
ap-8631	434	20	platform	platform	NOUN
ap-8631	434	21	for	for	ADP
ap-8631	434	22	aerial	aerial	ADJ
ap-8631	434	23	remote	remote	ADJ
ap-8631	434	24	sensing	sense	VERB
ap-8631	434	25	applications	application	NOUN
ap-8631	434	26	.	.	PUNCT
ap-8631	435	1	journal	journal	NOUN
ap-8631	435	2	of	of	ADP
ap-8631	435	3	sensors	sensor	NOUN
ap-8631	435	4	2018:7295852	2018:7295852	NUM
ap-8631	435	5	,	,	PUNCT
ap-8631	435	6	2018	2018	NUM
ap-8631	435	7	.	.	PUNCT
ap-8631	436	1	https://doi.org/10.1155/2018/7295852	https://doi.org/10.1155/2018/7295852	PROPN
ap-8631	437	1	[	[	X
ap-8631	437	2	38	38	NUM
ap-8631	437	3	]	]	PUNCT
ap-8631	437	4	r.	r.	PROPN
ap-8631	437	5	s.	s.	PROPN
ap-8631	437	6	al	al	PROPN
ap-8631	437	7	-	-	PUNCT
ap-8631	437	8	azzawi	azzawi	PROPN
ap-8631	437	9	,	,	PUNCT
ap-8631	437	10	m.	m.	NOUN
ap-8631	437	11	a.	a.	NOUN
ap-8631	437	12	simaan	simaan	PROPN
ap-8631	437	13	.	.	PUNCT
ap-8631	438	1	on	on	ADP
ap-8631	438	2	the	the	DET
ap-8631	438	3	selection	selection	NOUN
ap-8631	438	4	of	of	ADP
ap-8631	438	5	leader	leader	NOUN
ap-8631	438	6	in	in	ADP
ap-8631	438	7	stackelberg	stackelberg	PROPN
ap-8631	438	8	games	game	NOUN
ap-8631	438	9	with	with	ADP
ap-8631	438	10	parameter	parameter	NOUN
ap-8631	438	11	uncertainty	uncertainty	NOUN
ap-8631	438	12	.	.	PUNCT
ap-8631	439	1	international	international	ADJ
ap-8631	439	2	journal	journal	PROPN
ap-8631	439	3	of	of	ADP
ap-8631	439	4	systems	system	NOUN
ap-8631	439	5	science	science	NOUN
ap-8631	439	6	52(1):86–94	52(1):86–94	NUM
ap-8631	439	7	,	,	PUNCT
ap-8631	439	8	2021	2021	NUM
ap-8631	439	9	.	.	PUNCT
ap-8631	440	1	https://doi.org/10.1080/00207721.2020.1820097	https://doi.org/10.1080/00207721.2020.1820097	PROPN
ap-8631	441	1	[	[	X
ap-8631	441	2	39	39	NUM
ap-8631	441	3	]	]	PUNCT
ap-8631	441	4	p.	p.	NOUN
ap-8631	441	5	chen	chen	PROPN
ap-8631	441	6	,	,	PUNCT
ap-8631	441	7	y.	y.	PROPN
ap-8631	441	8	luo	luo	PROPN
ap-8631	441	9	,	,	PUNCT
ap-8631	441	10	w.	w.	PROPN
ap-8631	441	11	zheng	zheng	PROPN
ap-8631	441	12	,	,	PUNCT
ap-8631	441	13	z.	z.	PROPN
ap-8631	441	14	gao	gao	PROPN
ap-8631	441	15	.	.	PUNCT
ap-8631	442	1	a	a	DET
ap-8631	442	2	new	new	ADJ
ap-8631	442	3	active	active	ADJ
ap-8631	442	4	disturbance	disturbance	NOUN
ap-8631	442	5	rejection	rejection	NOUN
ap-8631	442	6	controller	controller	NOUN
ap-8631	442	7	design	design	NOUN
ap-8631	442	8	based	base	VERB
ap-8631	442	9	on	on	ADP
ap-8631	442	10	fractional	fractional	ADJ
ap-8631	442	11	extended	extended	ADJ
ap-8631	442	12	state	state	NOUN
ap-8631	442	13	observer	observer	NOUN
ap-8631	442	14	.	.	PUNCT
ap-8631	443	1	in	in	ADP
ap-8631	443	2	2019	2019	NUM
ap-8631	443	3	chinese	chinese	PROPN
ap-8631	443	4	control	control	PROPN
ap-8631	443	5	conference	conference	PROPN
ap-8631	443	6	(	(	PUNCT
ap-8631	443	7	ccc	ccc	PROPN
ap-8631	443	8	)	)	PUNCT
ap-8631	443	9	,	,	PUNCT
ap-8631	443	10	pp	pp	PROPN
ap-8631	443	11	.	.	PUNCT
ap-8631	444	1	4276–4281	4276–4281	NUM
ap-8631	444	2	.	.	PUNCT
ap-8631	444	3	2019	2019	NUM
ap-8631	444	4	.	.	PUNCT
ap-8631	445	1	https://doi.org/10.23919/chicc.2019.8865339	https://doi.org/10.23919/chicc.2019.8865339	PROPN
ap-8631	446	1	[	[	X
ap-8631	446	2	40	40	NUM
ap-8631	446	3	]	]	X
ap-8631	446	4	f.	f.	PROPN
ap-8631	446	5	hongqing	hongqing	PROPN
ap-8631	446	6	,	,	PUNCT
ap-8631	446	7	y.	y.	PROPN
ap-8631	446	8	xinjian	xinjian	PROPN
ap-8631	446	9	,	,	PUNCT
ap-8631	446	10	l.	l.	PROPN
ap-8631	446	11	peng	peng	PROPN
ap-8631	446	12	.	.	PUNCT
ap-8631	447	1	active	active	ADJ
ap-8631	447	2	-	-	PUNCT
ap-8631	447	3	disturbance	disturbance	NOUN
ap-8631	447	4	-	-	PUNCT
ap-8631	447	5	rejection	rejection	NOUN
ap-8631	447	6	-	-	PUNCT
ap-8631	447	7	control	control	NOUN
ap-8631	447	8	and	and	CCONJ
ap-8631	447	9	fractional	fractional	ADJ
ap-8631	447	10	-	-	PUNCT
ap-8631	447	11	order	order	NOUN
ap-8631	447	12	-	-	PUNCT
ap-8631	447	13	proportional	proportional	ADJ
ap-8631	447	14	-	-	PUNCT
ap-8631	447	15	integral	integral	ADJ
ap-8631	447	16	-	-	PUNCT
ap-8631	447	17	derivative	derivative	ADJ
ap-8631	447	18	hybrid	hybrid	NOUN
ap-8631	447	19	control	control	NOUN
ap-8631	447	20	for	for	ADP
ap-8631	447	21	hydroturbine	hydroturbine	NOUN
ap-8631	447	22	speed	speed	NOUN
ap-8631	447	23	governor	governor	NOUN
ap-8631	447	24	system	system	NOUN
ap-8631	447	25	.	.	PUNCT
ap-8631	448	1	measurement	measurement	NOUN
ap-8631	448	2	and	and	CCONJ
ap-8631	448	3	control	control	NOUN
ap-8631	448	4	51(5	51(5	NOUN
ap-8631	448	5	-	-	PUNCT
ap-8631	448	6	6):192–201	6):192–201	NUM
ap-8631	448	7	,	,	PUNCT
ap-8631	448	8	2018	2018	NUM
ap-8631	448	9	.	.	PUNCT
ap-8631	449	1	https://doi.org/10.1177/0020294018778312	https://doi.org/10.1177/0020294018778312	X
ap-8631	450	1	[	[	X
ap-8631	450	2	41	41	NUM
ap-8631	450	3	]	]	X
ap-8631	450	4	s.	s.	PROPN
ap-8631	450	5	mefoued	mefoue	VERB
ap-8631	450	6	,	,	PUNCT
ap-8631	450	7	d.	d.	PROPN
ap-8631	450	8	belkhiat	belkhiat	PROPN
ap-8631	450	9	.	.	PUNCT
ap-8631	451	1	a	a	DET
ap-8631	451	2	robust	robust	ADJ
ap-8631	451	3	control	control	NOUN
ap-8631	451	4	scheme	scheme	NOUN
ap-8631	451	5	based	base	VERB
ap-8631	451	6	on	on	ADP
ap-8631	451	7	sliding	slide	VERB
ap-8631	451	8	mode	mode	NOUN
ap-8631	451	9	observer	observer	NOUN
ap-8631	451	10	to	to	PART
ap-8631	451	11	drive	drive	VERB
ap-8631	451	12	a	a	DET
ap-8631	451	13	kneeexoskeleton	kneeexoskeleton	NOUN
ap-8631	451	14	.	.	PUNCT
ap-8631	452	1	asian	asian	ADJ
ap-8631	452	2	journal	journal	PROPN
ap-8631	452	3	of	of	ADP
ap-8631	452	4	control	control	PROPN
ap-8631	452	5	21(1):439–455	21(1):439–455	PROPN
ap-8631	452	6	,	,	PUNCT
ap-8631	452	7	2019	2019	NUM
ap-8631	452	8	.	.	PUNCT
ap-8631	453	1	https://doi.org/10.1002/asjc.1950	https://doi.org/10.1002/asjc.1950	NOUN
ap-8631	454	1	[	[	X
ap-8631	454	2	42	42	NUM
ap-8631	454	3	]	]	PUNCT
ap-8631	454	4	r.	r.	PROPN
ap-8631	454	5	mallat	mallat	PROPN
ap-8631	454	6	,	,	PUNCT
ap-8631	454	7	v.	v.	ADP
ap-8631	454	8	bonnet	bonnet	NOUN
ap-8631	454	9	,	,	PUNCT
ap-8631	454	10	g.	g.	PROPN
ap-8631	454	11	venture	venture	PROPN
ap-8631	454	12	,	,	PUNCT
ap-8631	454	13	et	et	PROPN
ap-8631	454	14	al	al	PROPN
ap-8631	454	15	.	.	PUNCT
ap-8631	454	16	dynamics	dynamic	NOUN
ap-8631	454	17	assessment	assessment	NOUN
ap-8631	454	18	and	and	CCONJ
ap-8631	454	19	minimal	minimal	ADJ
ap-8631	454	20	model	model	NOUN
ap-8631	454	21	of	of	ADP
ap-8631	454	22	an	an	DET
ap-8631	454	23	orthosis	orthosis	NOUN
ap-8631	454	24	-	-	PUNCT
ap-8631	454	25	assisted	assist	VERB
ap-8631	454	26	knee	knee	NOUN
ap-8631	454	27	motion	motion	NOUN
ap-8631	454	28	.	.	PUNCT
ap-8631	455	1	in	in	ADP
ap-8631	455	2	2020	2020	NUM
ap-8631	455	3	8th	8th	ADJ
ap-8631	455	4	ieee	ieee	NOUN
ap-8631	455	5	ras	ras	PROPN
ap-8631	455	6	/	/	SYM
ap-8631	455	7	embs	embs	PROPN
ap-8631	455	8	international	international	ADJ
ap-8631	455	9	conference	conference	NOUN
ap-8631	455	10	for	for	ADP
ap-8631	455	11	biomedical	biomedical	ADJ
ap-8631	455	12	robotics	robotic	NOUN
ap-8631	455	13	and	and	CCONJ
ap-8631	455	14	biomechatronics	biomechatronic	NOUN
ap-8631	455	15	(	(	PUNCT
ap-8631	455	16	biorob	biorob	PROPN
ap-8631	455	17	)	)	PUNCT
ap-8631	455	18	,	,	PUNCT
ap-8631	455	19	pp	pp	ADP
ap-8631	455	20	.	.	PUNCT
ap-8631	456	1	352–357	352–357	NUM
ap-8631	456	2	.	.	PUNCT
ap-8631	457	1	2020	2020	NUM
ap-8631	457	2	.	.	PUNCT
ap-8631	458	1	https	https	NOUN
ap-8631	458	2	:	:	PUNCT
ap-8631	458	3	//doi.org/10.1109	//doi.org/10.1109	VERB
ap-8631	458	4	/	/	SYM
ap-8631	459	1	biorob49111.2020.9224432	biorob49111.2020.9224432	PROPN
ap-8631	460	1	[	[	X
ap-8631	460	2	43	43	NUM
ap-8631	460	3	]	]	X
ap-8631	460	4	p.	p.	NOUN
ap-8631	460	5	a.	a.	NOUN
ap-8631	460	6	mozuca	mozuca	PROPN
ap-8631	460	7	,	,	PUNCT
ap-8631	460	8	j.	j.	PROPN
ap-8631	460	9	d.	d.	PROPN
ap-8631	460	10	gallo	gallo	PROPN
ap-8631	460	11	,	,	PUNCT
ap-8631	460	12	r.	r.	PROPN
ap-8631	460	13	i.	i.	PROPN
ap-8631	460	14	rincon	rincon	PROPN
ap-8631	460	15	,	,	PUNCT
ap-8631	460	16	g.	g.	PROPN
ap-8631	460	17	a.	a.	PROPN
ap-8631	460	18	ramos	ramos	PROPN
ap-8631	460	19	.	.	PUNCT
ap-8631	461	1	performance	performance	NOUN
ap-8631	461	2	of	of	ADP
ap-8631	461	3	different	different	ADJ
ap-8631	461	4	adrc	adrc	NOUN
ap-8631	461	5	based	base	VERB
ap-8631	461	6	control	control	NOUN
ap-8631	461	7	methods	method	NOUN
ap-8631	461	8	in	in	ADP
ap-8631	461	9	a	a	DET
ap-8631	461	10	nonlinear	nonlinear	ADJ
ap-8631	461	11	plant	plant	NOUN
ap-8631	461	12	with	with	ADP
ap-8631	461	13	uncertainties	uncertainty	NOUN
ap-8631	461	14	.	.	PUNCT
ap-8631	462	1	in	in	ADP
ap-8631	462	2	2019	2019	NUM
ap-8631	462	3	ieee	ieee	NOUN
ap-8631	462	4	4th	4th	ADJ
ap-8631	462	5	colombian	colombian	ADJ
ap-8631	462	6	conference	conference	NOUN
ap-8631	462	7	on	on	ADP
ap-8631	462	8	automatic	automatic	ADJ
ap-8631	462	9	control	control	NOUN
ap-8631	462	10	(	(	PUNCT
ap-8631	462	11	ccac	ccac	NOUN
ap-8631	462	12	)	)	PUNCT
ap-8631	462	13	,	,	PUNCT
ap-8631	462	14	pp	pp	ADP
ap-8631	462	15	.	.	PUNCT
ap-8631	463	1	1–6	1–6	NUM
ap-8631	463	2	.	.	NOUN
ap-8631	463	3	2019	2019	NUM
ap-8631	463	4	.	.	PUNCT
ap-8631	464	1	https://doi.org/10.1109/ccac.2019.8921151	https://doi.org/10.1109/ccac.2019.8921151	PROPN
ap-8631	464	2	[	[	X
ap-8631	464	3	44	44	NUM
ap-8631	464	4	]	]	PUNCT
ap-8631	464	5	w.	w.	PROPN
ap-8631	464	6	r.	r.	PROPN
ap-8631	464	7	abdul	abdul	PROPN
ap-8631	464	8	-	-	PUNCT
ap-8631	464	9	adheem	adheem	PROPN
ap-8631	464	10	,	,	PUNCT
ap-8631	464	11	i.	i.	PROPN
ap-8631	464	12	k.	k.	PROPN
ap-8631	464	13	ibraheem	ibraheem	PROPN
ap-8631	464	14	,	,	PUNCT
ap-8631	464	15	a.	a.	PROPN
ap-8631	464	16	j.	j.	PROPN
ap-8631	464	17	humaidi	humaidi	PROPN
ap-8631	464	18	.	.	PUNCT
ap-8631	465	1	model	model	NOUN
ap-8631	465	2	-	-	PUNCT
ap-8631	465	3	free	free	ADJ
ap-8631	465	4	active	active	ADJ
ap-8631	465	5	input	input	NOUN
ap-8631	465	6	–	–	PUNCT
ap-8631	465	7	output	output	NOUN
ap-8631	465	8	feedback	feedback	NOUN
ap-8631	465	9	linearization	linearization	NOUN
ap-8631	465	10	of	of	ADP
ap-8631	465	11	a	a	DET
ap-8631	465	12	single	single	ADJ
ap-8631	465	13	-	-	PUNCT
ap-8631	465	14	link	link	NOUN
ap-8631	465	15	flexible	flexible	ADJ
ap-8631	465	16	joint	joint	ADJ
ap-8631	465	17	manipulator	manipulator	NOUN
ap-8631	465	18	:	:	PUNCT
ap-8631	465	19	an	an	DET
ap-8631	465	20	improved	improve	VERB
ap-8631	465	21	active	active	ADJ
ap-8631	465	22	disturbance	disturbance	NOUN
ap-8631	465	23	rejection	rejection	NOUN
ap-8631	465	24	control	control	NOUN
ap-8631	465	25	approach	approach	NOUN
ap-8631	465	26	.	.	PUNCT
ap-8631	466	1	measurement	measurement	NOUN
ap-8631	466	2	and	and	CCONJ
ap-8631	466	3	control	control	VERB
ap-8631	466	4	54(5	54(5	PROPN
ap-8631	466	5	-	-	PUNCT
ap-8631	466	6	6):856–871	6):856–871	NOUN
ap-8631	466	7	,	,	PUNCT
ap-8631	466	8	2011	2011	NUM
ap-8631	466	9	.	.	PUNCT
ap-8631	467	1	https://doi.org/10.1177/0020294020917171	https://doi.org/10.1177/0020294020917171	X
ap-8631	468	1	[	[	X
ap-8631	468	2	45	45	NUM
ap-8631	468	3	]	]	PUNCT
ap-8631	468	4	x.	x.	PROPN
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ap-8631	468	6	,	,	PUNCT
ap-8631	468	7	d.	d.	PROPN
ap-8631	468	8	li	li	PROPN
ap-8631	468	9	,	,	PUNCT
ap-8631	468	10	z.	z.	PROPN
ap-8631	468	11	gao	gao	PROPN
ap-8631	468	12	,	,	PUNCT
ap-8631	468	13	c.	c.	PROPN
ap-8631	468	14	wang	wang	PROPN
ap-8631	468	15	.	.	PUNCT
ap-8631	469	1	tuning	tune	VERB
ap-8631	469	2	method	method	NOUN
ap-8631	469	3	for	for	ADP
ap-8631	469	4	second	second	ADJ
ap-8631	469	5	-	-	PUNCT
ap-8631	469	6	order	order	NOUN
ap-8631	469	7	active	active	ADJ
ap-8631	469	8	disturbance	disturbance	NOUN
ap-8631	469	9	rejection	rejection	NOUN
ap-8631	469	10	control	control	NOUN
ap-8631	469	11	.	.	PUNCT
ap-8631	470	1	in	in	ADP
ap-8631	470	2	proceedings	proceeding	NOUN
ap-8631	470	3	of	of	ADP
ap-8631	470	4	the	the	DET
ap-8631	470	5	30th	30th	ADJ
ap-8631	470	6	chinese	chinese	PROPN
ap-8631	470	7	control	control	PROPN
ap-8631	470	8	conference	conference	PROPN
ap-8631	470	9	,	,	PUNCT
ap-8631	470	10	pp	pp	X
ap-8631	470	11	.	.	PUNCT
ap-8631	471	1	6322–6327	6322–6327	NUM
ap-8631	471	2	.	.	PUNCT
ap-8631	472	1	2011	2011	NUM
ap-8631	472	2	.	.	PUNCT
ap-8631	473	1	[	[	X
ap-8631	473	2	46	46	NUM
ap-8631	473	3	]	]	X
ap-8631	473	4	r.	r.	PROPN
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ap-8631	473	6	,	,	PUNCT
ap-8631	473	7	e.	e.	PROPN
ap-8631	473	8	c.	c.	PROPN
ap-8631	473	9	de	de	PROPN
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ap-8631	473	11	,	,	PUNCT
ap-8631	473	12	j.	j.	PROPN
ap-8631	473	13	a.	a.	PROPN
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ap-8631	474	1	a	a	DET
ap-8631	474	2	review	review	NOUN
ap-8631	474	3	of	of	ADP
ap-8631	474	4	definitions	definition	NOUN
ap-8631	474	5	for	for	ADP
ap-8631	474	6	fractional	fractional	ADJ
ap-8631	474	7	derivatives	derivative	NOUN
ap-8631	474	8	and	and	CCONJ
ap-8631	474	9	integral	integral	ADJ
ap-8631	474	10	.	.	PUNCT
ap-8631	475	1	mathematical	mathematical	ADJ
ap-8631	475	2	problems	problem	NOUN
ap-8631	475	3	in	in	ADP
ap-8631	475	4	engineering	engineering	NOUN
ap-8631	475	5	2014:238459	2014:238459	NUM
ap-8631	475	6	,	,	PUNCT
ap-8631	475	7	2014	2014	NUM
ap-8631	475	8	.	.	PUNCT
ap-8631	476	1	https://doi.org/10.1155/2014/238459	https://doi.org/10.1155/2014/238459	NOUN
ap-8631	477	1	[	[	X
ap-8631	477	2	47	47	NUM
ap-8631	477	3	]	]	X
ap-8631	477	4	n.	n.	PROPN
ap-8631	477	5	alawad	alawad	PROPN
ap-8631	477	6	,	,	PUNCT
ap-8631	477	7	a.	a.	NOUN
ap-8631	477	8	humaidi	humaidi	PROPN
ap-8631	477	9	,	,	PUNCT
ap-8631	477	10	a.	a.	NOUN
ap-8631	477	11	alaraji	alaraji	PROPN
ap-8631	477	12	.	.	PUNCT
ap-8631	478	1	fractional	fractional	ADJ
ap-8631	478	2	proportional	proportional	ADJ
ap-8631	478	3	derivative	derivative	NOUN
ap-8631	478	4	-	-	PUNCT
ap-8631	478	5	based	base	VERB
ap-8631	478	6	active	active	ADJ
ap-8631	478	7	disturbance	disturbance	NOUN
ap-8631	478	8	rejection	rejection	NOUN
ap-8631	478	9	control	control	NOUN
ap-8631	478	10	of	of	ADP
ap-8631	478	11	knee	knee	NOUN
ap-8631	478	12	exoskeleton	exoskeleton	NOUN
ap-8631	478	13	device	device	NOUN
ap-8631	478	14	for	for	ADP
ap-8631	478	15	rehabilitation	rehabilitation	NOUN
ap-8631	478	16	care	care	NOUN
ap-8631	478	17	.	.	PUNCT
ap-8631	479	1	indonesian	indonesian	ADJ
ap-8631	479	2	journal	journal	PROPN
ap-8631	479	3	of	of	ADP
ap-8631	479	4	electrical	electrical	ADJ
ap-8631	479	5	engineering	engineering	NOUN
ap-8631	479	6	and	and	CCONJ
ap-8631	479	7	computer	computer	NOUN
ap-8631	479	8	science	science	NOUN
ap-8631	479	9	28(3):1405–1413	28(3):1405–1413	PROPN
ap-8631	479	10	,	,	PUNCT
ap-8631	479	11	2014	2014	NUM
ap-8631	479	12	.	.	PUNCT
ap-8631	480	1	https	https	NOUN
ap-8631	480	2	:	:	PUNCT
ap-8631	480	3	//doi.org/10.11591	//doi.org/10.11591	X
ap-8631	480	4	/	/	SYM
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ap-8631	481	2	-	-	NOUN
ap-8631	481	3	1413	1413	NUM
ap-8631	481	4	[	[	X
ap-8631	481	5	48	48	NUM
ap-8631	481	6	]	]	PUNCT
ap-8631	481	7	m.	m.	NOUN
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ap-8631	481	9	,	,	PUNCT
ap-8631	481	10	m.	m.	PROPN
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ap-8631	481	12	-	-	PUNCT
ap-8631	481	13	ghartemani	ghartemani	PROPN
ap-8631	481	14	,	,	PUNCT
ap-8631	481	15	n.	n.	PROPN
ap-8631	481	16	sadati	sadati	PROPN
ap-8631	481	17	,	,	PUNCT
ap-8631	481	18	m.	m.	NOUN
ap-8631	481	19	parniani	parniani	NOUN
ap-8631	481	20	.	.	PUNCT
ap-8631	482	1	design	design	NOUN
ap-8631	482	2	of	of	ADP
ap-8631	482	3	a	a	DET
ap-8631	482	4	fractional	fractional	ADJ
ap-8631	482	5	order	order	NOUN
ap-8631	482	6	pid	pid	NOUN
ap-8631	482	7	controller	controller	NOUN
ap-8631	482	8	for	for	ADP
ap-8631	482	9	an	an	DET
ap-8631	482	10	avr	avr	NOUN
ap-8631	482	11	using	use	VERB
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ap-8631	482	13	swarm	swarm	NOUN
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ap-8631	482	15	.	.	PUNCT
ap-8631	483	1	control	control	NOUN
ap-8631	483	2	engineering	engineering	NOUN
ap-8631	483	3	practice	practice	NOUN
ap-8631	483	4	17(12):1380–1387	17(12):1380–1387	NUM
ap-8631	483	5	,	,	PUNCT
ap-8631	483	6	2009	2009	NUM
ap-8631	483	7	.	.	PUNCT
ap-8631	484	1	https	https	NOUN
ap-8631	484	2	:	:	PUNCT
ap-8631	484	3	//doi.org/10.1016	//doi.org/10.1016	PROPN
ap-8631	484	4	/	/	SYM
ap-8631	484	5	j.conengprac.2009.07.005	j.conengprac.2009.07.005	X
ap-8631	485	1	[	[	X
ap-8631	485	2	49	49	NUM
ap-8631	485	3	]	]	PUNCT
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ap-8631	485	5	humaidi	humaidi	PROPN
ap-8631	485	6	,	,	PUNCT
ap-8631	485	7	h.	h.	PROPN
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ap-8631	485	9	.	.	PUNCT
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ap-8631	486	2	and	and	CCONJ
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ap-8631	486	4	active	active	ADJ
ap-8631	486	5	disturbance	disturbance	NOUN
ap-8631	486	6	rejection	rejection	NOUN
ap-8631	486	7	controllers	controller	NOUN
ap-8631	486	8	for	for	ADP
ap-8631	486	9	single	single	ADJ
ap-8631	486	10	-	-	PUNCT
ap-8631	486	11	link	link	NOUN
ap-8631	486	12	flexible	flexible	ADJ
ap-8631	486	13	joint	joint	ADJ
ap-8631	486	14	robot	robot	NOUN
ap-8631	486	15	manipulator	manipulator	NOUN
ap-8631	486	16	based	base	VERB
ap-8631	486	17	on	on	ADP
ap-8631	486	18	pso	pso	NOUN
ap-8631	486	19	tuner	tuner	NOUN
ap-8631	486	20	.	.	PUNCT
ap-8631	487	1	journal	journal	PROPN
ap-8631	487	2	of	of	ADP
ap-8631	487	3	engineering	engineering	NOUN
ap-8631	487	4	science	science	NOUN
ap-8631	487	5	and	and	CCONJ
ap-8631	487	6	technology	technology	NOUN
ap-8631	487	7	review	review	NOUN
ap-8631	487	8	11(3):133	11(3):133	NUM
ap-8631	487	9	–	–	PUNCT
ap-8631	487	10	138	138	NUM
ap-8631	487	11	,	,	PUNCT
ap-8631	487	12	2018	2018	NUM
ap-8631	487	13	.	.	PUNCT
ap-8631	488	1	https://doi.org/10.25103/jestr.113.18	https://doi.org/10.25103/jestr.113.18	X
ap-8631	489	1	[	[	X
ap-8631	489	2	50	50	NUM
ap-8631	489	3	]	]	PUNCT
ap-8631	489	4	j.-y	j.-y	NOUN
ap-8631	489	5	.	.	PUNCT
ap-8631	490	1	cao	cao	PROPN
ap-8631	490	2	,	,	PUNCT
ap-8631	490	3	j.	j.	PROPN
ap-8631	490	4	liang	liang	PROPN
ap-8631	490	5	,	,	PUNCT
ap-8631	490	6	b.-g	b.-g	PROPN
ap-8631	490	7	.	.	PUNCT
ap-8631	491	1	cao	cao	PROPN
ap-8631	491	2	.	.	PUNCT
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ap-8631	492	3	fractional	fractional	ADJ
ap-8631	492	4	order	order	NOUN
ap-8631	492	5	pid	pid	NOUN
ap-8631	492	6	controllers	controller	NOUN
ap-8631	492	7	based	base	VERB
ap-8631	492	8	on	on	ADP
ap-8631	492	9	genetic	genetic	ADJ
ap-8631	492	10	algorithms	algorithm	NOUN
ap-8631	492	11	.	.	PUNCT
ap-8631	493	1	in	in	ADP
ap-8631	493	2	2005	2005	NUM
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ap-8631	493	4	conference	conference	NOUN
ap-8631	493	5	on	on	ADP
ap-8631	493	6	machine	machine	NOUN
ap-8631	493	7	learning	learning	NOUN
ap-8631	493	8	and	and	CCONJ
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ap-8631	493	10	,	,	PUNCT
ap-8631	493	11	vol	vol	NOUN
ap-8631	493	12	.	.	PROPN
ap-8631	493	13	9	9	NUM
ap-8631	493	14	,	,	PUNCT
ap-8631	493	15	pp	pp	ADJ
ap-8631	493	16	.	.	PUNCT
ap-8631	494	1	5686–5689	5686–5689	NUM
ap-8631	494	2	.	.	NUM
ap-8631	494	3	2005	2005	NUM
ap-8631	494	4	.	.	PUNCT
ap-8631	495	1	https://doi.org/10.1109/icmlc.2005.1527950	https://doi.org/10.1109/icmlc.2005.1527950	PROPN
ap-8631	495	2	[	[	X
ap-8631	495	3	51	51	NUM
ap-8631	495	4	]	]	PUNCT
ap-8631	495	5	m.	m.	NOUN
ap-8631	495	6	y.	y.	PROPN
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ap-8631	495	9	a.	a.	PROPN
ap-8631	495	10	j.	j.	PROPN
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ap-8631	495	13	m.	m.	PROPN
ap-8631	495	14	k.	k.	PROPN
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ap-8631	496	4	of	of	ADP
ap-8631	496	5	backstepping	backsteppe	VERB
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ap-8631	496	8	acrobot	acrobot	NOUN
ap-8631	496	9	system	system	NOUN
ap-8631	496	10	based	base	VERB
ap-8631	496	11	on	on	ADP
ap-8631	496	12	adaptive	adaptive	ADJ
ap-8631	496	13	observer	observer	NOUN
ap-8631	496	14	.	.	PUNCT
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ap-8631	497	2	review	review	NOUN
ap-8631	497	3	of	of	ADP
ap-8631	497	4	electrical	electrical	ADJ
ap-8631	497	5	engineering	engineering	NOUN
ap-8631	497	6	15(4):328–335	15(4):328–335	PROPN
ap-8631	497	7	,	,	PUNCT
ap-8631	497	8	2020	2020	NUM
ap-8631	497	9	.	.	PUNCT
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ap-8631	499	1	[	[	X
ap-8631	499	2	52	52	NUM
ap-8631	499	3	]	]	X
ap-8631	499	4	n.	n.	PROPN
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ap-8631	499	8	humaidi	humaidi	PROPN
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ap-8631	499	10	a.	a.	PROPN
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ap-8631	499	14	.	.	PUNCT
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ap-8631	499	18	rejection	rejection	NOUN
ap-8631	499	19	control	control	NOUN
ap-8631	499	20	for	for	ADP
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ap-8631	500	7	,	,	PUNCT
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ap-8631	500	9	.	.	PUNCT
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ap-8631	501	2	53	53	NUM
ap-8631	501	3	]	]	PUNCT
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ap-8631	501	9	-	-	PUNCT
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ap-8631	501	11	.	.	PUNCT
ap-8631	502	1	on	on	ADP
ap-8631	502	2	the	the	DET
ap-8631	502	3	improved	improved	ADJ
ap-8631	502	4	nonlinear	nonlinear	ADJ
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ap-8631	502	10	controller	controller	NOUN
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ap-8631	502	12	.	.	PUNCT
ap-8631	503	1	international	international	ADJ
ap-8631	503	2	journal	journal	NOUN
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ap-8631	503	6	science	science	NOUN
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ap-8631	503	10	,	,	PUNCT
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ap-8631	503	12	.	.	PUNCT
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ap-8631	505	1	https://doi.org/10.1016/j.mechatronics.2016.06.005	https://doi.org/10.1016/j.mechatronics.2016.06.005	NUM
ap-8631	505	2	https://doi.org/10.1016/j.mechatronics.2016.06.005	https://doi.org/10.1016/j.mechatronics.2016.06.005	NOUN
ap-8631	506	1	https://doi.org/10.1109/ssd52085.2021.9429318	https://doi.org/10.1109/ssd52085.2021.9429318	PROPN
ap-8631	506	2	https://doi.org/10.1016/j.isatra.2016.01.022	https://doi.org/10.1016/j.isatra.2016.01.022	PROPN
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ap-8631	507	1	https://doi.org/10.1155/2018/7295852	https://doi.org/10.1155/2018/7295852	PROPN
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ap-8631	507	4	https://doi.org/10.1177/0020294018778312	https://doi.org/10.1177/0020294018778312	PRON
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ap-8631	507	6	https://doi.org/10.1109/biorob49111.2020.9224432	https://doi.org/10.1109/biorob49111.2020.9224432	NOUN
ap-8631	507	7	https://doi.org/10.1109/biorob49111.2020.9224432	https://doi.org/10.1109/biorob49111.2020.9224432	PROPN
ap-8631	508	1	https://doi.org/10.1109/ccac.2019.8921151	https://doi.org/10.1109/ccac.2019.8921151	PROPN
ap-8631	508	2	https://doi.org/10.1177/0020294020917171	https://doi.org/10.1177/0020294020917171	PROPN
ap-8631	508	3	https://doi.org/10.1155/2014/238459	https://doi.org/10.1155/2014/238459	NOUN
ap-8631	508	4	https://doi.org/10.11591/ijeecs.v28.i3.pp1405-1413	https://doi.org/10.11591/ijeecs.v28.i3.pp1405-1413	AUX
ap-8631	508	5	https://doi.org/10.11591/ijeecs.v28.i3.pp1405-1413	https://doi.org/10.11591/ijeecs.v28.i3.pp1405-1413	PROPN
ap-8631	508	6	https://doi.org/10.1016/j.conengprac.2009.07.005	https://doi.org/10.1016/j.conengprac.2009.07.005	VERB
ap-8631	508	7	https://doi.org/10.1016/j.conengprac.2009.07.005	https://doi.org/10.1016/j.conengprac.2009.07.005	VERB
ap-8631	509	1	https://doi.org/10.25103/jestr.113.18	https://doi.org/10.25103/jestr.113.18	ADP
ap-8631	509	2	https://doi.org/10.1109/icmlc.2005.1527950	https://doi.org/10.1109/icmlc.2005.1527950	PROPN
ap-8631	509	3	https://doi.org/10.15866/iree.v15i4.17827	https://doi.org/10.15866/iree.v15i4.17827	PRON
ap-8631	509	4	https://doi.org/10.18280/mmep.090225	https://doi.org/10.18280/mmep.090225	PUNCT
ap-8631	510	1	https://doi.org/10.14569/ijacsa.2016.071032	https://doi.org/10.14569/ijacsa.2016.071032	PROPN
ap-8631	510	2	n.	n.	PROPN
ap-8631	510	3	a.	a.	PROPN
ap-8631	510	4	al	al	PROPN
ap-8631	510	5	-	-	PUNCT
ap-8631	510	6	awad	awad	PROPN
ap-8631	510	7	,	,	PUNCT
ap-8631	510	8	a.	a.	PROPN
ap-8631	510	9	j.	j.	PROPN
ap-8631	510	10	humaidi	humaidi	PROPN
ap-8631	510	11	,	,	PUNCT
ap-8631	510	12	a.	a.	PROPN
ap-8631	510	13	s.	s.	PROPN
ap-8631	510	14	al	al	PROPN
ap-8631	510	15	-	-	PUNCT
ap-8631	510	16	araji	araji	PROPN
ap-8631	510	17	acta	acta	PROPN
ap-8631	510	18	polytechnica	polytechnica	PROPN
ap-8631	511	1	[	[	X
ap-8631	511	2	54	54	NUM
ap-8631	511	3	]	]	X
ap-8631	511	4	y.	y.	PROPN
ap-8631	511	5	aydin	aydin	PROPN
ap-8631	511	6	,	,	PUNCT
ap-8631	511	7	o.	o.	PROPN
ap-8631	511	8	tokatli	tokatli	PROPN
ap-8631	511	9	,	,	PUNCT
ap-8631	511	10	v.	v.	ADP
ap-8631	511	11	patoglu	patoglu	PROPN
ap-8631	511	12	,	,	PUNCT
ap-8631	511	13	c.	c.	PROPN
ap-8631	511	14	basdogan	basdogan	PROPN
ap-8631	511	15	.	.	PUNCT
ap-8631	512	1	stable	stable	ADJ
ap-8631	512	2	physical	physical	ADJ
ap-8631	512	3	human	human	ADJ
ap-8631	512	4	-	-	PUNCT
ap-8631	512	5	robot	robot	NOUN
ap-8631	512	6	interaction	interaction	NOUN
ap-8631	512	7	using	use	VERB
ap-8631	512	8	fractional	fractional	ADJ
ap-8631	512	9	order	order	NOUN
ap-8631	512	10	admittance	admittance	NOUN
ap-8631	512	11	control	control	NOUN
ap-8631	512	12	.	.	PUNCT
ap-8631	513	1	ieee	ieee	NOUN
ap-8631	513	2	transactions	transaction	NOUN
ap-8631	513	3	on	on	ADP
ap-8631	513	4	haptics	haptic	NOUN
ap-8631	513	5	11(3):464–475	11(3):464–475	PROPN
ap-8631	513	6	,	,	PUNCT
ap-8631	513	7	2018	2018	NUM
ap-8631	513	8	.	.	PUNCT
ap-8631	514	1	https://doi.org/10.1109/toh.2018.2810871	https://doi.org/10.1109/toh.2018.2810871	VERB
ap-8631	515	1	[	[	X
ap-8631	515	2	55	55	NUM
ap-8631	515	3	]	]	PUNCT
ap-8631	515	4	p.	p.	PROPN
ap-8631	515	5	chen	chen	PROPN
ap-8631	515	6	,	,	PUNCT
ap-8631	515	7	y.	y.	PROPN
ap-8631	515	8	luo	luo	PROPN
ap-8631	515	9	,	,	PUNCT
ap-8631	515	10	w.	w.	PROPN
ap-8631	515	11	zheng	zheng	PROPN
ap-8631	515	12	,	,	PUNCT
ap-8631	515	13	et	et	PROPN
ap-8631	516	1	al	al	PROPN
ap-8631	516	2	.	.	PUNCT
ap-8631	516	3	fractional	fractional	ADJ
ap-8631	516	4	order	order	NOUN
ap-8631	516	5	active	active	ADJ
ap-8631	516	6	disturbance	disturbance	NOUN
ap-8631	516	7	rejection	rejection	NOUN
ap-8631	516	8	control	control	NOUN
ap-8631	516	9	with	with	ADP
ap-8631	516	10	the	the	DET
ap-8631	516	11	idea	idea	NOUN
ap-8631	516	12	of	of	ADP
ap-8631	516	13	cascaded	cascade	VERB
ap-8631	516	14	fractional	fractional	ADJ
ap-8631	516	15	order	order	NOUN
ap-8631	516	16	integrator	integrator	NOUN
ap-8631	516	17	equivalence	equivalence	NOUN
ap-8631	516	18	.	.	PUNCT
ap-8631	517	1	isa	isa	PROPN
ap-8631	517	2	transactions	transaction	NOUN
ap-8631	517	3	114:359–369	114:359–369	NUM
ap-8631	517	4	,	,	PUNCT
ap-8631	517	5	2021	2021	NUM
ap-8631	517	6	.	.	PUNCT
ap-8631	518	1	https://doi.org/10.1016/j.isatra.2020.12.030	https://doi.org/10.1016/j.isatra.2020.12.030	NOUN
ap-8631	518	2	[	[	X
ap-8631	518	3	56	56	NUM
ap-8631	518	4	]	]	PUNCT
ap-8631	518	5	m.	m.	PROPN
ap-8631	518	6	q.	q.	PROPN
ap-8631	518	7	kasim	kasim	PROPN
ap-8631	518	8	,	,	PUNCT
ap-8631	518	9	r.	r.	PROPN
ap-8631	518	10	f.	f.	PROPN
ap-8631	518	11	hassan	hassan	PROPN
ap-8631	518	12	,	,	PUNCT
ap-8631	518	13	a.	a.	PROPN
ap-8631	518	14	j.	j.	PROPN
ap-8631	518	15	humaidi	humaidi	PROPN
ap-8631	518	16	,	,	PUNCT
ap-8631	519	1	et	et	PROPN
ap-8631	519	2	al	al	PROPN
ap-8631	519	3	.	.	PROPN
ap-8631	519	4	control	control	PROPN
ap-8631	519	5	algorithm	algorithm	NOUN
ap-8631	519	6	of	of	ADP
ap-8631	519	7	five	five	NUM
ap-8631	519	8	-	-	PUNCT
ap-8631	519	9	level	level	NOUN
ap-8631	519	10	asymmetric	asymmetric	ADJ
ap-8631	519	11	stacked	stack	VERB
ap-8631	519	12	converter	converter	NOUN
ap-8631	519	13	based	base	VERB
ap-8631	519	14	on	on	ADP
ap-8631	519	15	xilinx	xilinx	PROPN
ap-8631	519	16	system	system	PROPN
ap-8631	519	17	generator	generator	PROPN
ap-8631	519	18	.	.	PUNCT
ap-8631	520	1	in	in	ADP
ap-8631	520	2	2021	2021	NUM
ap-8631	520	3	ieee	ieee	NOUN
ap-8631	520	4	9th	9th	ADJ
ap-8631	520	5	conference	conference	NOUN
ap-8631	520	6	on	on	ADP
ap-8631	520	7	systems	system	NOUN
ap-8631	520	8	,	,	PUNCT
ap-8631	520	9	process	process	NOUN
ap-8631	520	10	and	and	CCONJ
ap-8631	520	11	control	control	NOUN
ap-8631	520	12	(	(	PUNCT
ap-8631	520	13	icspc	icspc	NOUN
ap-8631	520	14	2021	2021	NUM
ap-8631	520	15	)	)	PUNCT
ap-8631	520	16	,	,	PUNCT
ap-8631	520	17	pp	pp	ADJ
ap-8631	520	18	.	.	PUNCT
ap-8631	521	1	174–179	174–179	NUM
ap-8631	521	2	.	.	PUNCT
ap-8631	522	1	2021	2021	NUM
ap-8631	522	2	.	.	PUNCT
ap-8631	523	1	https://doi.org/10.1109/icspc53359.2021.9689173	https://doi.org/10.1109/icspc53359.2021.9689173	NOUN
ap-8631	524	1	[	[	X
ap-8631	524	2	57	57	NUM
ap-8631	524	3	]	]	PUNCT
ap-8631	524	4	a.	a.	NOUN
ap-8631	524	5	j.	j.	PROPN
ap-8631	524	6	humaidi	humaidi	PROPN
ap-8631	524	7	,	,	PUNCT
ap-8631	524	8	s.	s.	PROPN
ap-8631	524	9	k.	k.	PROPN
ap-8631	524	10	kadhim	kadhim	PROPN
ap-8631	524	11	,	,	PUNCT
ap-8631	524	12	a.	a.	PROPN
ap-8631	524	13	s.	s.	PROPN
ap-8631	524	14	gataa	gataa	PROPN
ap-8631	524	15	.	.	PUNCT
ap-8631	525	1	optimal	optimal	ADJ
ap-8631	525	2	adaptive	adaptive	ADJ
ap-8631	525	3	magnetic	magnetic	ADJ
ap-8631	525	4	suspension	suspension	NOUN
ap-8631	525	5	control	control	NOUN
ap-8631	525	6	of	of	ADP
ap-8631	525	7	rotary	rotary	ADJ
ap-8631	525	8	impeller	impeller	NOUN
ap-8631	525	9	for	for	ADP
ap-8631	525	10	artificial	artificial	ADJ
ap-8631	525	11	heart	heart	NOUN
ap-8631	525	12	pump	pump	NOUN
ap-8631	525	13	.	.	PUNCT
ap-8631	526	1	cybernetics	cybernetic	NOUN
ap-8631	526	2	and	and	CCONJ
ap-8631	526	3	systems	system	NOUN
ap-8631	526	4	53(1):141–167	53(1):141–167	PROPN
ap-8631	526	5	,	,	PUNCT
ap-8631	526	6	2022	2022	NUM
ap-8631	526	7	.	.	PUNCT
ap-8631	526	8	https://doi.org/10.1080/01969722.2021.2008686	https://doi.org/10.1080/01969722.2021.2008686	PUNCT
ap-8631	527	1	[	[	X
ap-8631	527	2	58	58	NUM
ap-8631	527	3	]	]	X
ap-8631	527	4	o.	o.	PROPN
ap-8631	527	5	wanhab	wanhab	PROPN
ap-8631	527	6	,	,	PUNCT
ap-8631	527	7	a.	a.	PROPN
ap-8631	527	8	al	al	PROPN
ap-8631	527	9	-	-	PUNCT
ap-8631	527	10	araji	araji	NOUN
ap-8631	527	11	.	.	PUNCT
ap-8631	528	1	an	an	DET
ap-8631	528	2	optimal	optimal	ADJ
ap-8631	528	3	path	path	NOUN
ap-8631	528	4	planning	planning	NOUN
ap-8631	528	5	algorithms	algorithm	NOUN
ap-8631	528	6	for	for	ADP
ap-8631	528	7	a	a	DET
ap-8631	528	8	mobile	mobile	ADJ
ap-8631	528	9	robot	robot	NOUN
ap-8631	528	10	.	.	PUNCT
ap-8631	529	1	iraqi	iraqi	ADJ
ap-8631	529	2	journal	journal	PROPN
ap-8631	529	3	of	of	ADP
ap-8631	529	4	computers	computer	NOUN
ap-8631	529	5	,	,	PUNCT
ap-8631	529	6	communications	communication	NOUN
ap-8631	529	7	,	,	PUNCT
ap-8631	529	8	control	control	NOUN
ap-8631	529	9	and	and	CCONJ
ap-8631	529	10	systems	system	NOUN
ap-8631	529	11	engineering	engineering	NOUN
ap-8631	529	12	21(2):44–58	21(2):44–58	NUM
ap-8631	529	13	,	,	PUNCT
ap-8631	529	14	2021	2021	NUM
ap-8631	529	15	.	.	PUNCT
ap-8631	530	1	https://doi.org/10.33103/uot.ijccce.21.2.4	https://doi.org/10.33103/uot.ijccce.21.2.4	NOUN
ap-8631	530	2	[	[	SYM
ap-8631	530	3	59	59	NUM
ap-8631	530	4	]	]	PUNCT
ap-8631	530	5	f.	f.	PROPN
ap-8631	530	6	hussein	hussein	PROPN
ap-8631	530	7	,	,	PUNCT
ap-8631	530	8	s.	s.	PROPN
ap-8631	530	9	raafat	raafat	PROPN
ap-8631	530	10	.	.	PUNCT
ap-8631	531	1	optimal	optimal	ADJ
ap-8631	531	2	linear	linear	ADJ
ap-8631	531	3	quadratic	quadratic	ADJ
ap-8631	531	4	control	control	NOUN
ap-8631	531	5	for	for	ADP
ap-8631	531	6	knee	knee	NOUN
ap-8631	531	7	-	-	PUNCT
ap-8631	531	8	ankle	ankle	NOUN
ap-8631	531	9	orthosis	orthosis	NOUN
ap-8631	531	10	system	system	NOUN
ap-8631	531	11	.	.	PUNCT
ap-8631	532	1	iraqi	iraqi	ADJ
ap-8631	532	2	journal	journal	PROPN
ap-8631	532	3	of	of	ADP
ap-8631	532	4	computers	computer	NOUN
ap-8631	532	5	,	,	PUNCT
ap-8631	532	6	communications	communication	NOUN
ap-8631	532	7	,	,	PUNCT
ap-8631	532	8	control	control	NOUN
ap-8631	532	9	and	and	CCONJ
ap-8631	532	10	systems	system	NOUN
ap-8631	532	11	engineering	engineering	PROPN
ap-8631	532	12	22(2):109–124	22(2):109–124	PROPN
ap-8631	532	13	,	,	PUNCT
ap-8631	532	14	2022	2022	NUM
ap-8631	532	15	.	.	PUNCT
ap-8631	533	1	https://doi.org/10.33103/uot.ijccce.22.2.10	https://doi.org/10.33103/uot.ijccce.22.2.10	PUNCT
ap-8631	533	2	[	[	X
ap-8631	533	3	60	60	NUM
ap-8631	533	4	]	]	X
ap-8631	533	5	n.	n.	PROPN
ap-8631	533	6	alawad	alawad	PROPN
ap-8631	533	7	,	,	PUNCT
ap-8631	533	8	a.	a.	NOUN
ap-8631	533	9	humaidi	humaidi	PROPN
ap-8631	533	10	,	,	PUNCT
ap-8631	533	11	a.	a.	NOUN
ap-8631	533	12	alaraji	alaraji	PROPN
ap-8631	533	13	.	.	PUNCT
ap-8631	534	1	observer	observer	NOUN
ap-8631	534	2	sliding	slide	VERB
ap-8631	534	3	mode	mode	NOUN
ap-8631	534	4	control	control	NOUN
ap-8631	534	5	design	design	NOUN
ap-8631	534	6	for	for	ADP
ap-8631	534	7	lower	low	ADJ
ap-8631	534	8	exoskeleton	exoskeleton	NOUN
ap-8631	534	9	system	system	NOUN
ap-8631	534	10	:	:	PUNCT
ap-8631	534	11	rehabilitation	rehabilitation	NOUN
ap-8631	534	12	case	case	NOUN
ap-8631	534	13	.	.	PUNCT
ap-8631	535	1	journal	journal	PROPN
ap-8631	535	2	of	of	ADP
ap-8631	535	3	robotics	robotic	NOUN
ap-8631	535	4	and	and	CCONJ
ap-8631	535	5	control	control	NOUN
ap-8631	535	6	3(4):476–482	3(4):476–482	PROPN
ap-8631	535	7	,	,	PUNCT
ap-8631	535	8	2022	2022	NUM
ap-8631	535	9	.	.	PUNCT
ap-8631	536	1	https://doi.org/10.18196/jrc.v3i4.15239	https://doi.org/10.18196/jrc.v3i4.15239	NUM
ap-8631	536	2	[	[	X
ap-8631	536	3	61	61	NUM
ap-8631	536	4	]	]	X
ap-8631	536	5	n.	n.	PROPN
ap-8631	536	6	ahmed	ahmed	PROPN
ap-8631	536	7	,	,	PUNCT
ap-8631	536	8	a.	a.	NOUN
ap-8631	536	9	humaidi	humaidi	PROPN
ap-8631	536	10	,	,	PUNCT
ap-8631	536	11	a.	a.	PROPN
ap-8631	536	12	sabah	sabah	PROPN
ap-8631	536	13	.	.	PUNCT
ap-8631	537	1	clinical	clinical	ADJ
ap-8631	537	2	trajectory	trajectory	NOUN
ap-8631	537	3	control	control	NOUN
ap-8631	537	4	for	for	ADP
ap-8631	537	5	lower	low	ADJ
ap-8631	537	6	knee	knee	NOUN
ap-8631	537	7	rehabilitation	rehabilitation	NOUN
ap-8631	537	8	using	use	VERB
ap-8631	537	9	adrc	adrc	DET
ap-8631	537	10	method	method	NOUN
ap-8631	537	11	.	.	PUNCT
ap-8631	538	1	journal	journal	NOUN
ap-8631	538	2	of	of	ADP
ap-8631	538	3	applied	apply	VERB
ap-8631	538	4	research	research	NOUN
ap-8631	538	5	and	and	CCONJ
ap-8631	538	6	technology	technology	NOUN
ap-8631	538	7	20(5):576–583	20(5):576–583	PROPN
ap-8631	538	8	,	,	PUNCT
ap-8631	538	9	2022	2022	NUM
ap-8631	538	10	.	.	PUNCT
ap-8631	539	1	https://doi.org/10.22201/	https://doi.org/10.22201/	NOUN
ap-8631	539	2	icat.24486736e.2022.20.5.1920	icat.24486736e.2022.20.5.1920	NOUN
ap-8631	539	3	[	[	X
ap-8631	539	4	62	62	NUM
ap-8631	539	5	]	]	X
ap-8631	539	6	n.	n.	PROPN
ap-8631	539	7	alawad	alawad	PROPN
ap-8631	539	8	,	,	PUNCT
ap-8631	539	9	a.	a.	NOUN
ap-8631	539	10	humaidi	humaidi	PROPN
ap-8631	539	11	,	,	PUNCT
ap-8631	539	12	a.	a.	PROPN
ap-8631	539	13	al	al	PROPN
ap-8631	539	14	-	-	PUNCT
ap-8631	539	15	obaidi	obaidi	PROPN
ap-8631	539	16	,	,	PUNCT
ap-8631	539	17	a.	a.	PROPN
ap-8631	539	18	alaraj	alaraj	PROPN
ap-8631	539	19	.	.	PUNCT
ap-8631	540	1	active	active	ADJ
ap-8631	540	2	disturbance	disturbance	NOUN
ap-8631	540	3	rejection	rejection	NOUN
ap-8631	540	4	control	control	NOUN
ap-8631	540	5	of	of	ADP
ap-8631	540	6	wearable	wearable	ADJ
ap-8631	540	7	lower	low	ADJ
ap-8631	540	8	limb	limb	NOUN
ap-8631	540	9	system	system	NOUN
ap-8631	540	10	based	base	VERB
ap-8631	540	11	on	on	ADP
ap-8631	540	12	reduced	reduced	ADJ
ap-8631	540	13	eso	eso	NOUN
ap-8631	540	14	.	.	PUNCT
ap-8631	541	1	indonesian	indonesian	ADJ
ap-8631	541	2	journal	journal	PROPN
ap-8631	541	3	of	of	ADP
ap-8631	541	4	science	science	NOUN
ap-8631	541	5	and	and	CCONJ
ap-8631	541	6	technology	technology	NOUN
ap-8631	541	7	7(2):203–218	7(2):203–218	NOUN
ap-8631	541	8	,	,	PUNCT
ap-8631	541	9	2022	2022	NUM
ap-8631	541	10	.	.	PUNCT
ap-8631	542	1	https://doi.org/10.17509/ijost.v7i2.46435	https://doi.org/10.17509/ijost.v7i2.46435	VERB
ap-8631	543	1	[	[	PUNCT
ap-8631	543	2	63	63	NUM
ap-8631	543	3	]	]	PUNCT
ap-8631	543	4	s.	s.	PROPN
ap-8631	543	5	husain	husain	PROPN
ap-8631	543	6	,	,	PUNCT
ap-8631	543	7	m.	m.	NOUN
ap-8631	543	8	kadhim	kadhim	PROPN
ap-8631	543	9	,	,	PUNCT
ap-8631	543	10	a.	a.	PROPN
ap-8631	543	11	al	al	PROPN
ap-8631	543	12	-	-	PUNCT
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ap-8631	543	14	,	,	PUNCT
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ap-8631	543	20	robust	robust	ADJ
ap-8631	543	21	control	control	NOUN
ap-8631	543	22	for	for	ADP
ap-8631	543	23	vehicle	vehicle	NOUN
ap-8631	543	24	steer	steer	NOUN
ap-8631	543	25	-	-	PUNCT
ap-8631	543	26	by	by	ADP
ap-8631	543	27	-	-	PUNCT
ap-8631	543	28	wire	wire	NOUN
ap-8631	543	29	system	system	NOUN
ap-8631	543	30	.	.	PUNCT
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ap-8631	544	2	journal	journal	PROPN
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ap-8631	544	4	science	science	NOUN
ap-8631	544	5	and	and	CCONJ
ap-8631	544	6	technology	technology	NOUN
ap-8631	544	7	8(2):197–216	8(2):197–216	NUM
ap-8631	544	8	,	,	PUNCT
ap-8631	544	9	2023	2023	NUM
ap-8631	544	10	.	.	PUNCT
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ap-8631	546	3	]	]	PUNCT
ap-8631	546	4	n.	n.	PROPN
ap-8631	546	5	a.	a.	PROPN
ap-8631	546	6	al	al	PROPN
ap-8631	546	7	-	-	PUNCT
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ap-8631	546	9	.	.	PUNCT
ap-8631	546	10	model	model	PROPN
ap-8631	546	11	reference	reference	PROPN
ap-8631	546	12	adaptive	adaptive	ADJ
ap-8631	546	13	control	control	NOUN
ap-8631	546	14	-	-	PUNCT
ap-8631	546	15	based	base	VERB
ap-8631	546	16	genetic	genetic	ADJ
ap-8631	546	17	algorithm	algorithm	NOUN
ap-8631	546	18	desing	dese	VERB
ap-8631	546	19	for	for	ADP
ap-8631	546	20	heading	head	VERB
ap-8631	546	21	ship	ship	NOUN
ap-8631	546	22	motion	motion	NOUN
ap-8631	546	23	.	.	PUNCT
ap-8631	547	1	acta	acta	PROPN
ap-8631	547	2	polytechnica	polytechnica	PROPN
ap-8631	547	3	60(3):197–205	60(3):197–205	PROPN
ap-8631	547	4	,	,	PUNCT
ap-8631	547	5	2020	2020	NUM
ap-8631	547	6	.	.	PUNCT
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ap-8631	548	2	170	170	NUM
ap-8631	548	3	https://doi.org/10.1109/toh.2018.2810871	https://doi.org/10.1109/toh.2018.2810871	NOUN
ap-8631	548	4	https://doi.org/10.1016/j.isatra.2020.12.030	https://doi.org/10.1016/j.isatra.2020.12.030	X
ap-8631	548	5	https://doi.org/10.1109/icspc53359.2021.9689173	https://doi.org/10.1109/icspc53359.2021.9689173	NOUN
ap-8631	548	6	https://doi.org/10.1080/01969722.2021.2008686	https://doi.org/10.1080/01969722.2021.2008686	PUNCT
ap-8631	549	1	https://doi.org/10.33103/uot.ijccce.21.2.4	https://doi.org/10.33103/uot.ijccce.21.2.4	X
ap-8631	549	2	https://doi.org/10.33103/uot.ijccce.22.2.10	https://doi.org/10.33103/uot.ijccce.22.2.10	PUNCT
ap-8631	549	3	https://doi.org/10.18196/jrc.v3i4.15239	https://doi.org/10.18196/jrc.v3i4.15239	NUM
ap-8631	549	4	https://doi.org/10.22201/icat.24486736e.2022.20.5.1920	https://doi.org/10.22201/icat.24486736e.2022.20.5.1920	NOUN
ap-8631	549	5	https://doi.org/10.22201/icat.24486736e.2022.20.5.1920	https://doi.org/10.22201/icat.24486736e.2022.20.5.1920	PROPN
ap-8631	549	6	https://doi.org/10.17509/ijost.v7i2.46435	https://doi.org/10.17509/ijost.v7i2.46435	VERB
ap-8631	549	7	https://doi.org/10.17509/ijost.v8i2.54794	https://doi.org/10.17509/ijost.v8i2.54794	NOUN
ap-8631	549	8	https://doi.org/10.14311/ap.2020.60.0197	https://doi.org/10.14311/ap.2020.60.0197	NOUN
ap-8631	549	9	acta	acta	PROPN
ap-8631	549	10	polytechnica	polytechnica	PROPN
ap-8631	549	11	63(3):158–170	63(3):158–170	PROPN
ap-8631	549	12	,	,	PUNCT
ap-8631	549	13	2023	2023	NUM
ap-8631	549	14	1	1	NUM
ap-8631	549	15	introduction	introduction	NOUN
ap-8631	549	16	2	2	NUM
ap-8631	549	17	materials	material	NOUN
ap-8631	549	18	and	and	CCONJ
ap-8631	549	19	methods	method	NOUN
ap-8631	549	20	2.1	2.1	NUM
ap-8631	549	21	modelling	modelling	NOUN
ap-8631	549	22	of	of	ADP
ap-8631	549	23	lower	low	ADJ
ap-8631	549	24	limb	limb	NOUN
ap-8631	549	25	robotic	robotic	ADJ
ap-8631	549	26	rehabilitation	rehabilitation	NOUN
ap-8631	549	27	exoskeleton	exoskeleton	NOUN
ap-8631	549	28	2.2	2.2	NUM
ap-8631	549	29	adrc	adrc	DET
ap-8631	549	30	methodology	methodology	NOUN
ap-8631	549	31	2.2.1	2.2.1	NUM
ap-8631	549	32	linear	linear	NOUN
ap-8631	549	33	adrc	adrc	PROPN
ap-8631	549	34	(	(	PUNCT
ap-8631	549	35	ladrc	ladrc	NOUN
ap-8631	549	36	)	)	PUNCT
ap-8631	549	37	2.2.2	2.2.2	NUM
ap-8631	549	38	fractional	fractional	NOUN
ap-8631	549	39	adrc	adrc	PROPN
ap-8631	549	40	(	(	PUNCT
ap-8631	549	41	fadrc	fadrc	NOUN
ap-8631	549	42	)	)	PUNCT
ap-8631	549	43	3	3	NUM
ap-8631	549	44	stability	stability	NOUN
ap-8631	549	45	analysis	analysis	NOUN
ap-8631	549	46	4	4	NUM
ap-8631	549	47	results	result	NOUN
ap-8631	549	48	and	and	CCONJ
ap-8631	549	49	discussion	discussion	NOUN
ap-8631	549	50	5	5	NUM
ap-8631	549	51	conclusions	conclusion	NOUN
ap-8631	549	52	references	reference	NOUN