id	sid	tid	token	lemma	pos
ap-9724	1	1	acta	acta	PROPN
ap-9724	1	2	polytechnica	polytechnica	PROPN
ap-9724	1	3	https://doi.org/10.14311/ap.2024.64.0519	https://doi.org/10.14311/ap.2024.64.0519	PROPN
ap-9724	1	4	acta	acta	PROPN
ap-9724	1	5	polytechnica	polytechnica	PROPN
ap-9724	1	6	64(6):519–529	64(6):519–529	PROPN
ap-9724	1	7	,	,	PUNCT
ap-9724	1	8	2024	2024	NUM
ap-9724	1	9	©	©	ADP
ap-9724	1	10	2024	2024	NUM
ap-9724	1	11	the	the	DET
ap-9724	1	12	author(s	author(s	NOUN
ap-9724	1	13	)	)	PUNCT
ap-9724	1	14	.	.	PUNCT
ap-9724	2	1	licensed	license	VERB
ap-9724	2	2	under	under	ADP
ap-9724	2	3	a	a	DET
ap-9724	2	4	cc	cc	NOUN
ap-9724	2	5	-	-	PUNCT
ap-9724	2	6	by	by	ADP
ap-9724	2	7	4.0	4.0	NUM
ap-9724	2	8	licence	licence	NOUN
ap-9724	2	9	published	publish	VERB
ap-9724	2	10	by	by	ADP
ap-9724	2	11	the	the	DET
ap-9724	2	12	czech	czech	PROPN
ap-9724	2	13	technical	technical	PROPN
ap-9724	2	14	university	university	PROPN
ap-9724	2	15	in	in	ADP
ap-9724	2	16	prague	prague	PROPN
ap-9724	2	17	performance	performance	NOUN
ap-9724	2	18	improvement	improvement	NOUN
ap-9724	2	19	of	of	ADP
ap-9724	2	20	manipulator	manipulator	NOUN
ap-9724	2	21	actuated	actuate	VERB
ap-9724	2	22	by	by	ADP
ap-9724	2	23	pneumatic	pneumatic	ADJ
ap-9724	2	24	artificial	artificial	ADJ
ap-9724	2	25	muscles	muscle	NOUN
ap-9724	2	26	based	base	VERB
ap-9724	2	27	on	on	ADP
ap-9724	2	28	synergetic	synergetic	ADJ
ap-9724	2	29	control	control	NOUN
ap-9724	2	30	and	and	CCONJ
ap-9724	2	31	social	social	ADJ
ap-9724	2	32	spider	spider	NOUN
ap-9724	2	33	optimisation	optimisation	NOUN
ap-9724	2	34	algorithm	algorithm	PROPN
ap-9724	2	35	alaq	alaq	PROPN
ap-9724	2	36	f.	f.	PROPN
ap-9724	2	37	hasan	hasan	PROPN
ap-9724	2	38	,	,	PUNCT
ap-9724	2	39	hadeer	hadeer	PROPN
ap-9724	2	40	a.	a.	NOUN
ap-9724	2	41	raheem∗	raheem∗	NOUN
ap-9724	2	42	,	,	PUNCT
ap-9724	2	43	rajaa	rajaa	PROPN
ap-9724	2	44	hussein	hussein	PROPN
ap-9724	2	45	middle	middle	PROPN
ap-9724	2	46	technical	technical	PROPN
ap-9724	2	47	university	university	PROPN
ap-9724	2	48	,	,	PUNCT
ap-9724	2	49	technical	technical	ADJ
ap-9724	2	50	engineering	engineering	NOUN
ap-9724	2	51	collage	collage	PROPN
ap-9724	2	52	baghdad	baghdad	PROPN
ap-9724	2	53	,	,	PUNCT
ap-9724	2	54	mechatronics	mechatronic	NOUN
ap-9724	2	55	engineering	engineering	NOUN
ap-9724	2	56	,	,	PUNCT
ap-9724	2	57	8998+qhj	8998+qhj	NUM
ap-9724	2	58	,	,	PUNCT
ap-9724	2	59	baghdad	baghdad	PROPN
ap-9724	2	60	,	,	PUNCT
ap-9724	2	61	iraq	iraq	PROPN
ap-9724	2	62	∗	∗	VERB
ap-9724	2	63	corresponding	correspond	VERB
ap-9724	2	64	author	author	NOUN
ap-9724	2	65	:	:	PUNCT
ap-9724	2	66	hadeerasaadtec@mtu.edu.iq	hadeerasaadtec@mtu.edu.iq	NOUN
ap-9724	2	67	abstract	abstract	NOUN
ap-9724	2	68	.	.	PUNCT
ap-9724	3	1	the	the	DET
ap-9724	3	2	manipulator	manipulator	NOUN
ap-9724	3	3	actuated	actuate	VERB
ap-9724	3	4	by	by	ADP
ap-9724	3	5	pneumatic	pneumatic	ADJ
ap-9724	3	6	artificial	artificial	ADJ
ap-9724	3	7	muscles	muscle	NOUN
ap-9724	3	8	(	(	PUNCT
ap-9724	3	9	pam	pam	NOUN
ap-9724	3	10	)	)	PUNCT
ap-9724	3	11	is	be	AUX
ap-9724	3	12	a	a	DET
ap-9724	3	13	widely	widely	ADV
ap-9724	3	14	used	use	VERB
ap-9724	3	15	type	type	NOUN
ap-9724	3	16	of	of	ADP
ap-9724	3	17	robotic	robotic	ADJ
ap-9724	3	18	arm	arm	NOUN
ap-9724	3	19	in	in	ADP
ap-9724	3	20	industrial	industrial	ADJ
ap-9724	3	21	automation	automation	NOUN
ap-9724	3	22	.	.	PUNCT
ap-9724	4	1	however	however	ADV
ap-9724	4	2	,	,	PUNCT
ap-9724	4	3	its	its	PRON
ap-9724	4	4	performance	performance	NOUN
ap-9724	4	5	can	can	AUX
ap-9724	4	6	be	be	AUX
ap-9724	4	7	limited	limit	VERB
ap-9724	4	8	by	by	ADP
ap-9724	4	9	non	non	ADJ
ap-9724	4	10	-	-	ADJ
ap-9724	4	11	linear	linear	ADJ
ap-9724	4	12	dynamics	dynamic	NOUN
ap-9724	4	13	and	and	CCONJ
ap-9724	4	14	uncertainties	uncertainty	NOUN
ap-9724	4	15	in	in	ADP
ap-9724	4	16	the	the	DET
ap-9724	4	17	system	system	NOUN
ap-9724	4	18	.	.	PUNCT
ap-9724	5	1	to	to	PART
ap-9724	5	2	overcome	overcome	VERB
ap-9724	5	3	these	these	DET
ap-9724	5	4	limitations	limitation	NOUN
ap-9724	5	5	,	,	PUNCT
ap-9724	5	6	this	this	DET
ap-9724	5	7	paper	paper	NOUN
ap-9724	5	8	proposes	propose	VERB
ap-9724	5	9	a	a	DET
ap-9724	5	10	synergetic	synergetic	ADJ
ap-9724	5	11	control	control	NOUN
ap-9724	5	12	strategy	strategy	NOUN
ap-9724	5	13	(	(	PUNCT
ap-9724	5	14	sact	sact	NOUN
ap-9724	5	15	)	)	PUNCT
ap-9724	5	16	to	to	PART
ap-9724	5	17	improve	improve	VERB
ap-9724	5	18	the	the	DET
ap-9724	5	19	performance	performance	NOUN
ap-9724	5	20	of	of	ADP
ap-9724	5	21	the	the	DET
ap-9724	5	22	sact	sact	NOUN
ap-9724	5	23	,	,	PUNCT
ap-9724	5	24	a	a	DET
ap-9724	5	25	social	social	ADJ
ap-9724	5	26	spider	spider	NOUN
ap-9724	5	27	optimisation	optimisation	NOUN
ap-9724	5	28	algorithm	algorithm	NOUN
ap-9724	5	29	(	(	PUNCT
ap-9724	5	30	sso	sso	NOUN
ap-9724	5	31	)	)	PUNCT
ap-9724	5	32	has	have	AUX
ap-9724	5	33	been	be	AUX
ap-9724	5	34	suggested	suggest	VERB
ap-9724	5	35	for	for	ADP
ap-9724	5	36	adjusting	adjust	VERB
ap-9724	5	37	its	its	PRON
ap-9724	5	38	parameters	parameter	NOUN
ap-9724	5	39	.	.	PUNCT
ap-9724	6	1	to	to	PART
ap-9724	6	2	verify	verify	VERB
ap-9724	6	3	the	the	DET
ap-9724	6	4	performance	performance	NOUN
ap-9724	6	5	of	of	ADP
ap-9724	6	6	a	a	DET
ap-9724	6	7	pam	pam	NOUN
ap-9724	6	8	-	-	PUNCT
ap-9724	6	9	actuated	actuate	VERB
ap-9724	6	10	manipulator	manipulator	NOUN
ap-9724	6	11	based	base	VERB
ap-9724	6	12	on	on	ADP
ap-9724	6	13	an	an	DET
ap-9724	6	14	optimal	optimal	ADJ
ap-9724	6	15	sact	sact	NOUN
ap-9724	6	16	controller	controller	NOUN
ap-9724	6	17	,	,	PUNCT
ap-9724	6	18	a	a	DET
ap-9724	6	19	computer	computer	NOUN
ap-9724	6	20	simulation	simulation	NOUN
ap-9724	6	21	study	study	NOUN
ap-9724	6	22	was	be	AUX
ap-9724	6	23	conducted	conduct	VERB
ap-9724	6	24	using	use	VERB
ap-9724	6	25	matlab	matlab	PROPN
ap-9724	6	26	software	software	NOUN
ap-9724	6	27	.	.	PUNCT
ap-9724	7	1	moreover	moreover	ADV
ap-9724	7	2	,	,	PUNCT
ap-9724	7	3	a	a	DET
ap-9724	7	4	comparison	comparison	NOUN
ap-9724	7	5	study	study	NOUN
ap-9724	7	6	between	between	ADP
ap-9724	7	7	the	the	DET
ap-9724	7	8	optimal	optimal	ADJ
ap-9724	7	9	synergetic	synergetic	ADJ
ap-9724	7	10	algorithm	algorithm	NOUN
ap-9724	7	11	control	control	NOUN
ap-9724	7	12	theory	theory	NOUN
ap-9724	7	13	and	and	CCONJ
ap-9724	7	14	the	the	DET
ap-9724	7	15	optimal	optimal	ADJ
ap-9724	7	16	sliding	slide	VERB
ap-9724	7	17	mode	mode	NOUN
ap-9724	7	18	controller	controller	NOUN
ap-9724	7	19	(	(	PUNCT
ap-9724	7	20	smc	smc	PROPN
ap-9724	7	21	)	)	PUNCT
ap-9724	7	22	has	have	AUX
ap-9724	7	23	been	be	AUX
ap-9724	7	24	made	make	VERB
ap-9724	7	25	in	in	ADP
ap-9724	7	26	terms	term	NOUN
ap-9724	7	27	of	of	ADP
ap-9724	7	28	robustness	robustness	NOUN
ap-9724	7	29	and	and	CCONJ
ap-9724	7	30	transient	transient	ADJ
ap-9724	7	31	behaviour	behaviour	NOUN
ap-9724	7	32	characteristics	characteristic	NOUN
ap-9724	7	33	.	.	PUNCT
ap-9724	8	1	the	the	DET
ap-9724	8	2	provided	provide	VERB
ap-9724	8	3	simulation	simulation	NOUN
ap-9724	8	4	results	result	NOUN
ap-9724	8	5	have	have	AUX
ap-9724	8	6	shown	show	VERB
ap-9724	8	7	that	that	SCONJ
ap-9724	8	8	the	the	DET
ap-9724	8	9	sact	sact	NOUN
ap-9724	8	10	controller	controller	NOUN
ap-9724	8	11	exhibited	exhibit	VERB
ap-9724	8	12	quicker	quick	ADJ
ap-9724	8	13	convergence	convergence	NOUN
ap-9724	8	14	towards	towards	ADP
ap-9724	8	15	the	the	DET
ap-9724	8	16	desired	desire	VERB
ap-9724	8	17	trajectory	trajectory	NOUN
ap-9724	8	18	and	and	CCONJ
ap-9724	8	19	maintained	maintain	VERB
ap-9724	8	20	a	a	DET
ap-9724	8	21	lower	low	ADJ
ap-9724	8	22	steadystate	steadystate	NOUN
ap-9724	8	23	error	error	NOUN
ap-9724	8	24	as	as	ADP
ap-9724	8	25	compared	compare	VERB
ap-9724	8	26	to	to	ADP
ap-9724	8	27	the	the	DET
ap-9724	8	28	smc	smc	PROPN
ap-9724	8	29	controller	controller	NOUN
ap-9724	8	30	.	.	PUNCT
ap-9724	9	1	additionally	additionally	ADV
ap-9724	9	2	,	,	PUNCT
ap-9724	9	3	the	the	DET
ap-9724	9	4	sact	sact	NOUN
ap-9724	9	5	controller	controller	NOUN
ap-9724	9	6	demonstrated	demonstrate	VERB
ap-9724	9	7	more	more	ADJ
ap-9724	9	8	resilience	resilience	NOUN
ap-9724	9	9	to	to	ADP
ap-9724	9	10	variations	variation	NOUN
ap-9724	9	11	in	in	ADP
ap-9724	9	12	parameters	parameter	NOUN
ap-9724	9	13	and	and	CCONJ
ap-9724	9	14	showed	show	VERB
ap-9724	9	15	more	more	ADJ
ap-9724	9	16	robust	robust	ADJ
ap-9724	9	17	characteristics	characteristic	NOUN
ap-9724	9	18	.	.	PUNCT
ap-9724	10	1	keywords	keyword	NOUN
ap-9724	10	2	:	:	PUNCT
ap-9724	10	3	pam	pam	NOUN
ap-9724	10	4	-	-	PUNCT
ap-9724	10	5	actuated	actuate	VERB
ap-9724	10	6	manipulator	manipulator	NOUN
ap-9724	10	7	,	,	PUNCT
ap-9724	10	8	synergetic	synergetic	ADJ
ap-9724	10	9	algorithm	algorithm	NOUN
ap-9724	10	10	control	control	NOUN
ap-9724	10	11	theory	theory	NOUN
ap-9724	10	12	,	,	PUNCT
ap-9724	10	13	sliding	slide	VERB
ap-9724	10	14	mode	mode	NOUN
ap-9724	10	15	controller	controller	NOUN
ap-9724	10	16	,	,	PUNCT
ap-9724	10	17	social	social	ADJ
ap-9724	10	18	spider	spider	NOUN
ap-9724	10	19	optimisation	optimisation	NOUN
ap-9724	10	20	algorithm	algorithm	NOUN
ap-9724	10	21	.	.	PUNCT
ap-9724	11	1	1	1	X
ap-9724	11	2	.	.	X
ap-9724	11	3	introduction	introduction	NOUN
ap-9724	11	4	the	the	DET
ap-9724	11	5	actuator	actuator	NOUN
ap-9724	11	6	is	be	AUX
ap-9724	11	7	an	an	DET
ap-9724	11	8	essential	essential	ADJ
ap-9724	11	9	part	part	NOUN
ap-9724	11	10	of	of	ADP
ap-9724	11	11	some	some	DET
ap-9724	11	12	systems	system	NOUN
ap-9724	11	13	that	that	PRON
ap-9724	11	14	is	be	AUX
ap-9724	11	15	responsible	responsible	ADJ
ap-9724	11	16	for	for	ADP
ap-9724	11	17	transferring	transfer	VERB
ap-9724	11	18	energy	energy	NOUN
ap-9724	11	19	from	from	ADP
ap-9724	11	20	one	one	NUM
ap-9724	11	21	form	form	NOUN
ap-9724	11	22	to	to	ADP
ap-9724	11	23	another	another	PRON
ap-9724	11	24	,	,	PUNCT
ap-9724	11	25	e.g.	e.g.	ADV
ap-9724	11	26	the	the	DET
ap-9724	11	27	mechanical	mechanical	ADJ
ap-9724	11	28	motion	motion	NOUN
ap-9724	11	29	interprets	interpret	VERB
ap-9724	11	30	an	an	DET
ap-9724	11	31	explicit	explicit	ADJ
ap-9724	11	32	nature	nature	NOUN
ap-9724	11	33	of	of	ADP
ap-9724	11	34	any	any	DET
ap-9724	11	35	interaction	interaction	NOUN
ap-9724	11	36	between	between	ADP
ap-9724	11	37	the	the	DET
ap-9724	11	38	parts	part	NOUN
ap-9724	11	39	of	of	ADP
ap-9724	11	40	a	a	DET
ap-9724	11	41	system	system	NOUN
ap-9724	11	42	and	and	CCONJ
ap-9724	11	43	its	its	PRON
ap-9724	11	44	environment	environment	NOUN
ap-9724	11	45	.	.	PUNCT
ap-9724	12	1	a	a	DET
ap-9724	12	2	recent	recent	ADJ
ap-9724	12	3	study	study	NOUN
ap-9724	12	4	in	in	ADP
ap-9724	12	5	robotic	robotic	ADJ
ap-9724	12	6	systems	system	NOUN
ap-9724	12	7	technology	technology	NOUN
ap-9724	12	8	suggests	suggest	VERB
ap-9724	12	9	that	that	SCONJ
ap-9724	12	10	the	the	DET
ap-9724	12	11	interface	interface	NOUN
ap-9724	12	12	format	format	NOUN
ap-9724	12	13	,	,	PUNCT
ap-9724	12	14	or	or	CCONJ
ap-9724	12	15	mechanism	mechanism	NOUN
ap-9724	12	16	movement	movement	NOUN
ap-9724	12	17	,	,	PUNCT
ap-9724	12	18	could	could	AUX
ap-9724	12	19	be	be	AUX
ap-9724	12	20	changed	change	VERB
ap-9724	12	21	from	from	ADP
ap-9724	12	22	geared	gear	VERB
ap-9724	12	23	motors	motor	NOUN
ap-9724	12	24	to	to	ADP
ap-9724	12	25	a	a	DET
ap-9724	12	26	softer	soft	ADJ
ap-9724	12	27	biological	biological	ADJ
ap-9724	12	28	idea	idea	NOUN
ap-9724	12	29	of	of	ADP
ap-9724	12	30	bonetendon	bonetendon	ADJ
ap-9724	12	31	-	-	PUNCT
ap-9724	12	32	muscle	muscle	NOUN
ap-9724	12	33	.	.	PUNCT
ap-9724	13	1	this	this	DET
ap-9724	13	2	trend	trend	NOUN
ap-9724	13	3	will	will	AUX
ap-9724	13	4	ensure	ensure	VERB
ap-9724	13	5	that	that	SCONJ
ap-9724	13	6	machines	machine	NOUN
ap-9724	13	7	and	and	CCONJ
ap-9724	13	8	humans	human	NOUN
ap-9724	13	9	interact	interact	VERB
ap-9724	13	10	closely	closely	ADV
ap-9724	13	11	,	,	PUNCT
ap-9724	13	12	as	as	ADV
ap-9724	13	13	well	well	ADV
ap-9724	13	14	as	as	ADP
ap-9724	13	15	that	that	SCONJ
ap-9724	13	16	there	there	PRON
ap-9724	13	17	is	be	VERB
ap-9724	13	18	safety	safety	NOUN
ap-9724	13	19	,	,	PUNCT
ap-9724	13	20	redundancy	redundancy	NOUN
ap-9724	13	21	,	,	PUNCT
ap-9724	13	22	self	self	NOUN
ap-9724	13	23	-	-	PUNCT
ap-9724	13	24	repair	repair	NOUN
ap-9724	13	25	,	,	PUNCT
ap-9724	13	26	functional	functional	ADJ
ap-9724	13	27	and	and	CCONJ
ap-9724	13	28	physical	physical	ADJ
ap-9724	13	29	softness	softness	NOUN
ap-9724	13	30	.	.	PUNCT
ap-9724	14	1	as	as	ADP
ap-9724	14	2	a	a	DET
ap-9724	14	3	result	result	NOUN
ap-9724	14	4	,	,	PUNCT
ap-9724	14	5	any	any	DET
ap-9724	14	6	modern	modern	ADJ
ap-9724	14	7	actuation	actuation	NOUN
ap-9724	14	8	system	system	NOUN
ap-9724	14	9	must	must	AUX
ap-9724	14	10	include	include	VERB
ap-9724	14	11	the	the	DET
ap-9724	14	12	advantageous	advantageous	ADJ
ap-9724	14	13	characteristics	characteristic	NOUN
ap-9724	14	14	of	of	ADP
ap-9724	14	15	traditional	traditional	ADJ
ap-9724	14	16	actuators	actuator	NOUN
ap-9724	14	17	,	,	PUNCT
ap-9724	14	18	including	include	VERB
ap-9724	14	19	correct	correct	ADJ
ap-9724	14	20	design	design	NOUN
ap-9724	14	21	features	feature	NOUN
ap-9724	14	22	,	,	PUNCT
ap-9724	14	23	such	such	ADJ
ap-9724	14	24	as	as	ADP
ap-9724	14	25	the	the	DET
ap-9724	14	26	ratio	ratio	NOUN
ap-9724	14	27	between	between	ADP
ap-9724	14	28	the	the	DET
ap-9724	14	29	force	force	NOUN
ap-9724	14	30	and	and	CCONJ
ap-9724	14	31	the	the	DET
ap-9724	14	32	actuator	actuator	NOUN
ap-9724	14	33	volume	volume	NOUN
ap-9724	14	34	and	and	CCONJ
ap-9724	14	35	extra	extra	ADJ
ap-9724	14	36	operational	operational	ADJ
ap-9724	14	37	life	life	NOUN
ap-9724	14	38	.	.	PUNCT
ap-9724	15	1	the	the	DET
ap-9724	15	2	pneumatic	pneumatic	ADJ
ap-9724	15	3	actuators	actuator	NOUN
ap-9724	15	4	were	be	AUX
ap-9724	15	5	one	one	NUM
ap-9724	15	6	of	of	ADP
ap-9724	15	7	these	these	DET
ap-9724	15	8	modern	modern	ADJ
ap-9724	15	9	actuation	actuation	NOUN
ap-9724	15	10	technologies	technology	NOUN
ap-9724	15	11	,	,	PUNCT
ap-9724	15	12	such	such	ADJ
ap-9724	15	13	as	as	ADP
ap-9724	15	14	cylinders	cylinder	NOUN
ap-9724	15	15	,	,	PUNCT
ap-9724	15	16	which	which	PRON
ap-9724	15	17	are	be	AUX
ap-9724	15	18	widely	widely	ADV
ap-9724	15	19	used	use	VERB
ap-9724	15	20	in	in	ADP
ap-9724	15	21	factory	factory	NOUN
ap-9724	15	22	automation	automation	NOUN
ap-9724	15	23	systems	system	NOUN
ap-9724	15	24	.	.	PUNCT
ap-9724	16	1	recently	recently	ADV
ap-9724	16	2	,	,	PUNCT
ap-9724	16	3	robotics	robotic	NOUN
ap-9724	16	4	has	have	AUX
ap-9724	16	5	begun	begin	VERB
ap-9724	16	6	to	to	PART
ap-9724	16	7	use	use	VERB
ap-9724	16	8	pneumatics	pneumatic	NOUN
ap-9724	16	9	as	as	ADP
ap-9724	16	10	the	the	DET
ap-9724	16	11	main	main	ADJ
ap-9724	16	12	power	power	NOUN
ap-9724	16	13	source	source	NOUN
ap-9724	16	14	of	of	ADP
ap-9724	16	15	motion	motion	NOUN
ap-9724	16	16	.	.	PUNCT
ap-9724	17	1	one	one	NUM
ap-9724	17	2	of	of	ADP
ap-9724	17	3	the	the	DET
ap-9724	17	4	main	main	ADJ
ap-9724	17	5	advantages	advantage	NOUN
ap-9724	17	6	of	of	ADP
ap-9724	17	7	pneumatic	pneumatic	ADJ
ap-9724	17	8	actuators	actuator	NOUN
ap-9724	17	9	is	be	AUX
ap-9724	17	10	their	their	PRON
ap-9724	17	11	low	low	ADJ
ap-9724	17	12	weight	weight	NOUN
ap-9724	17	13	and	and	CCONJ
ap-9724	17	14	their	their	PRON
ap-9724	17	15	inherent	inherent	ADJ
ap-9724	17	16	accommodating	accommodate	VERB
ap-9724	17	17	behaviour	behaviour	NOUN
ap-9724	17	18	as	as	SCONJ
ap-9724	17	19	compared	compare	VERB
ap-9724	17	20	to	to	ADP
ap-9724	17	21	hydraulic	hydraulic	ADJ
ap-9724	17	22	actuators	actuator	NOUN
ap-9724	17	23	[	[	X
ap-9724	17	24	1–3	1–3	NOUN
ap-9724	17	25	]	]	X
ap-9724	17	26	.	.	PUNCT
ap-9724	18	1	one	one	NUM
ap-9724	18	2	of	of	ADP
ap-9724	18	3	the	the	DET
ap-9724	18	4	lesser	lesser	ADV
ap-9724	18	5	known	know	VERB
ap-9724	18	6	types	type	NOUN
ap-9724	18	7	of	of	ADP
ap-9724	18	8	pneumatic	pneumatic	ADJ
ap-9724	18	9	actuator	actuator	NOUN
ap-9724	18	10	is	be	AUX
ap-9724	18	11	the	the	DET
ap-9724	18	12	so	so	ADV
ap-9724	18	13	-	-	PUNCT
ap-9724	18	14	called	call	VERB
ap-9724	18	15	pneumatic	pneumatic	ADJ
ap-9724	18	16	artificial	artificial	ADJ
ap-9724	18	17	muscle	muscle	NOUN
ap-9724	18	18	.	.	PUNCT
ap-9724	19	1	these	these	PRON
ap-9724	19	2	are	be	AUX
ap-9724	19	3	the	the	DET
ap-9724	19	4	inverse	inverse	ADJ
ap-9724	19	5	form	form	NOUN
ap-9724	19	6	of	of	ADP
ap-9724	19	7	the	the	DET
ap-9724	19	8	bellows	bellow	NOUN
ap-9724	19	9	,	,	PUNCT
ap-9724	19	10	i.e.	i.e.	X
ap-9724	19	11	they	they	PRON
ap-9724	19	12	have	have	VERB
ap-9724	19	13	some	some	DET
ap-9724	19	14	similarities	similarity	NOUN
ap-9724	19	15	in	in	ADP
ap-9724	19	16	the	the	DET
ap-9724	19	17	inflation	inflation	NOUN
ap-9724	19	18	process	process	NOUN
ap-9724	19	19	.	.	PUNCT
ap-9724	20	1	their	their	PRON
ap-9724	20	2	force	force	NOUN
ap-9724	20	3	is	be	AUX
ap-9724	20	4	dependent	dependent	ADJ
ap-9724	20	5	on	on	ADP
ap-9724	20	6	pressure	pressure	NOUN
ap-9724	20	7	,	,	PUNCT
ap-9724	20	8	in	in	ADP
ap-9724	20	9	addition	addition	NOUN
ap-9724	20	10	to	to	ADP
ap-9724	20	11	their	their	PRON
ap-9724	20	12	dependence	dependence	NOUN
ap-9724	20	13	on	on	ADP
ap-9724	20	14	the	the	DET
ap-9724	20	15	state	state	NOUN
ap-9724	20	16	of	of	ADP
ap-9724	20	17	inflation	inflation	NOUN
ap-9724	20	18	,	,	PUNCT
ap-9724	20	19	and	and	CCONJ
ap-9724	20	20	that	that	PRON
ap-9724	20	21	creates	create	VERB
ap-9724	20	22	a	a	DET
ap-9724	20	23	second	second	ADJ
ap-9724	20	24	source	source	NOUN
ap-9724	20	25	of	of	ADP
ap-9724	20	26	spring	spring	NOUN
ap-9724	20	27	-	-	PUNCT
ap-9724	20	28	like	like	ADJ
ap-9724	20	29	behaviour	behaviour	NOUN
ap-9724	20	30	.	.	PUNCT
ap-9724	21	1	pam	pam	PROPN
ap-9724	21	2	’s	’s	PART
ap-9724	21	3	weight	weight	NOUN
ap-9724	21	4	is	be	AUX
ap-9724	21	5	extremely	extremely	ADV
ap-9724	21	6	light	light	ADJ
ap-9724	21	7	because	because	SCONJ
ap-9724	21	8	the	the	DET
ap-9724	21	9	element	element	NOUN
ap-9724	21	10	of	of	ADP
ap-9724	21	11	their	their	PRON
ap-9724	21	12	core	core	NOUN
ap-9724	21	13	is	be	AUX
ap-9724	21	14	a	a	DET
ap-9724	21	15	membrane	membrane	NOUN
ap-9724	21	16	,	,	PUNCT
ap-9724	21	17	thus	thus	ADV
ap-9724	21	18	,	,	PUNCT
ap-9724	21	19	compared	compare	VERB
ap-9724	21	20	to	to	ADP
ap-9724	21	21	cylinders	cylinder	NOUN
ap-9724	21	22	,	,	PUNCT
ap-9724	21	23	they	they	PRON
ap-9724	21	24	can	can	AUX
ap-9724	21	25	transfer	transfer	VERB
ap-9724	21	26	the	the	DET
ap-9724	21	27	same	same	ADJ
ap-9724	21	28	amount	amount	NOUN
ap-9724	21	29	of	of	ADP
ap-9724	21	30	energy	energy	NOUN
ap-9724	21	31	,	,	PUNCT
ap-9724	21	32	as	as	ADV
ap-9724	21	33	long	long	ADV
ap-9724	21	34	as	as	SCONJ
ap-9724	21	35	they	they	PRON
ap-9724	21	36	are	be	AUX
ap-9724	21	37	operating	operate	VERB
ap-9724	21	38	at	at	ADP
ap-9724	21	39	the	the	DET
ap-9724	21	40	same	same	ADJ
ap-9724	21	41	ranges	range	NOUN
ap-9724	21	42	of	of	ADP
ap-9724	21	43	pressure	pressure	NOUN
ap-9724	21	44	and	and	CCONJ
ap-9724	21	45	volumes	volume	NOUN
ap-9724	21	46	.	.	PUNCT
ap-9724	22	1	for	for	ADP
ap-9724	22	2	these	these	DET
ap-9724	22	3	reasons	reason	NOUN
ap-9724	22	4	,	,	PUNCT
ap-9724	22	5	pams	pam	NOUN
ap-9724	22	6	have	have	VERB
ap-9724	22	7	great	great	ADJ
ap-9724	22	8	potential	potential	ADJ
ap-9724	22	9	and	and	CCONJ
ap-9724	22	10	advantages	advantage	NOUN
ap-9724	22	11	to	to	PART
ap-9724	22	12	be	be	AUX
ap-9724	22	13	used	use	VERB
ap-9724	22	14	in	in	ADP
ap-9724	22	15	bio	bio	ADJ
ap-9724	22	16	-	-	ADJ
ap-9724	22	17	robotic	robotic	ADJ
ap-9724	22	18	systems	system	NOUN
ap-9724	22	19	with	with	ADP
ap-9724	22	20	reliable	reliable	ADJ
ap-9724	22	21	performance	performance	NOUN
ap-9724	22	22	[	[	X
ap-9724	22	23	4	4	NUM
ap-9724	22	24	]	]	PUNCT
ap-9724	22	25	.	.	PUNCT
ap-9724	23	1	pneumatic	pneumatic	ADJ
ap-9724	23	2	muscle	muscle	NOUN
ap-9724	23	3	-	-	PUNCT
ap-9724	23	4	based	base	VERB
ap-9724	23	5	systems	system	NOUN
ap-9724	23	6	are	be	AUX
ap-9724	23	7	characterised	characterise	VERB
ap-9724	23	8	by	by	ADP
ap-9724	23	9	high	high	ADJ
ap-9724	23	10	complexity	complexity	NOUN
ap-9724	23	11	,	,	PUNCT
ap-9724	23	12	nonlinearity	nonlinearity	NOUN
ap-9724	23	13	,	,	PUNCT
ap-9724	23	14	and	and	CCONJ
ap-9724	23	15	uncertainty	uncertainty	NOUN
ap-9724	23	16	in	in	ADP
ap-9724	23	17	their	their	PRON
ap-9724	23	18	parameters	parameter	NOUN
ap-9724	23	19	.	.	PUNCT
ap-9724	24	1	several	several	ADJ
ap-9724	24	2	researchers	researcher	NOUN
ap-9724	24	3	have	have	AUX
ap-9724	24	4	suggested	suggest	VERB
ap-9724	24	5	various	various	ADJ
ap-9724	24	6	control	control	NOUN
ap-9724	24	7	schemes	scheme	NOUN
ap-9724	24	8	to	to	PART
ap-9724	24	9	tackle	tackle	VERB
ap-9724	24	10	the	the	DET
ap-9724	24	11	control	control	NOUN
ap-9724	24	12	challenges	challenge	NOUN
ap-9724	24	13	of	of	ADP
ap-9724	24	14	pneumatic	pneumatic	ADJ
ap-9724	24	15	muscle	muscle	NOUN
ap-9724	24	16	-	-	PUNCT
ap-9724	24	17	based	base	VERB
ap-9724	24	18	systems	system	NOUN
ap-9724	24	19	.	.	PUNCT
ap-9724	25	1	the	the	DET
ap-9724	25	2	following	follow	VERB
ap-9724	25	3	studies	study	NOUN
ap-9724	25	4	address	address	VERB
ap-9724	25	5	the	the	DET
ap-9724	25	6	control	control	NOUN
ap-9724	25	7	techniques	technique	NOUN
ap-9724	25	8	commonly	commonly	ADV
ap-9724	25	9	used	use	VERB
ap-9724	25	10	to	to	PART
ap-9724	25	11	control	control	VERB
ap-9724	25	12	pam	pam	NOUN
ap-9724	25	13	-	-	PUNCT
ap-9724	25	14	actuated	actuate	VERB
ap-9724	25	15	systems	system	NOUN
ap-9724	25	16	:	:	PUNCT
ap-9724	25	17	•	•	NUM
ap-9724	25	18	al	al	PROPN
ap-9724	25	19	-	-	PUNCT
ap-9724	25	20	jodah	jodah	PROPN
ap-9724	25	21	and	and	CCONJ
ap-9724	25	22	khames	khame	NOUN
ap-9724	26	1	[	[	X
ap-9724	26	2	5	5	NUM
ap-9724	26	3	]	]	PUNCT
ap-9724	26	4	presented	present	VERB
ap-9724	26	5	two	two	NUM
ap-9724	26	6	control	control	NOUN
ap-9724	26	7	strategies	strategy	NOUN
ap-9724	26	8	to	to	PART
ap-9724	26	9	control	control	VERB
ap-9724	26	10	the	the	DET
ap-9724	26	11	angular	angular	ADJ
ap-9724	26	12	position	position	NOUN
ap-9724	26	13	of	of	ADP
ap-9724	26	14	a	a	DET
ap-9724	26	15	single	single	ADJ
ap-9724	26	16	link	link	NOUN
ap-9724	26	17	robotic	robotic	ADJ
ap-9724	26	18	arm	arm	NOUN
ap-9724	26	19	actuated	actuate	VERB
ap-9724	26	20	by	by	ADP
ap-9724	26	21	a	a	DET
ap-9724	26	22	pair	pair	NOUN
ap-9724	26	23	of	of	ADP
ap-9724	26	24	pams	pams	PROPN
ap-9724	26	25	.	.	PUNCT
ap-9724	27	1	the	the	DET
ap-9724	27	2	first	first	ADJ
ap-9724	27	3	one	one	NOUN
ap-9724	27	4	is	be	AUX
ap-9724	27	5	sliding	slide	VERB
ap-9724	27	6	mode	mode	NOUN
ap-9724	27	7	control	control	NOUN
ap-9724	27	8	based	base	VERB
ap-9724	27	9	on	on	ADP
ap-9724	27	10	a	a	DET
ap-9724	27	11	supertwisting	supertwisting	NOUN
ap-9724	27	12	algorithm	algorithm	NOUN
ap-9724	27	13	and	and	CCONJ
ap-9724	27	14	the	the	DET
ap-9724	27	15	other	other	ADJ
ap-9724	27	16	is	be	AUX
ap-9724	27	17	a	a	DET
ap-9724	27	18	classic	classic	ADJ
ap-9724	27	19	sliding	slide	VERB
ap-9724	27	20	mode	mode	NOUN
ap-9724	27	21	control	control	NOUN
ap-9724	27	22	.	.	PUNCT
ap-9724	28	1	the	the	DET
ap-9724	28	2	main	main	ADJ
ap-9724	28	3	objective	objective	NOUN
ap-9724	28	4	of	of	ADP
ap-9724	28	5	this	this	DET
ap-9724	28	6	work	work	NOUN
ap-9724	28	7	is	be	AUX
ap-9724	28	8	to	to	PART
ap-9724	28	9	reduce	reduce	VERB
ap-9724	28	10	the	the	DET
ap-9724	28	11	effect	effect	NOUN
ap-9724	28	12	of	of	ADP
ap-9724	28	13	the	the	DET
ap-9724	28	14	chattering	chatter	VERB
ap-9724	28	15	problem	problem	NOUN
ap-9724	28	16	that	that	PRON
ap-9724	28	17	is	be	AUX
ap-9724	28	18	commonly	commonly	ADV
ap-9724	28	19	associated	associate	VERB
ap-9724	28	20	with	with	ADP
ap-9724	28	21	smc	smc	PROPN
ap-9724	28	22	design	design	PROPN
ap-9724	28	23	.	.	PUNCT
ap-9724	29	1	to	to	PART
ap-9724	29	2	solve	solve	VERB
ap-9724	29	3	this	this	DET
ap-9724	29	4	problem	problem	NOUN
ap-9724	29	5	,	,	PUNCT
ap-9724	29	6	the	the	DET
ap-9724	29	7	researcher	researcher	NOUN
ap-9724	29	8	used	use	VERB
ap-9724	29	9	the	the	DET
ap-9724	29	10	super	super	ADJ
ap-9724	29	11	twistingalgorithm	twistingalgorithm	NOUN
ap-9724	29	12	.	.	PUNCT
ap-9724	30	1	the	the	DET
ap-9724	30	2	computer	computer	NOUN
ap-9724	30	3	simulation	simulation	NOUN
ap-9724	30	4	has	have	AUX
ap-9724	30	5	verified	verify	VERB
ap-9724	30	6	a	a	DET
ap-9724	30	7	low	low	ADJ
ap-9724	30	8	tracking	tracking	NOUN
ap-9724	30	9	error	error	NOUN
ap-9724	30	10	in	in	ADP
ap-9724	30	11	terms	term	NOUN
ap-9724	30	12	of	of	ADP
ap-9724	30	13	a	a	DET
ap-9724	30	14	sliding	slide	VERB
ap-9724	30	15	mode	mode	NOUN
ap-9724	30	16	control	control	NOUN
ap-9724	30	17	based	base	VERB
ap-9724	30	18	on	on	ADP
ap-9724	30	19	the	the	DET
ap-9724	30	20	super	super	ADJ
ap-9724	30	21	-	-	ADJ
ap-9724	30	22	twisting	twisting	ADJ
ap-9724	30	23	algorithm	algorithm	NOUN
ap-9724	30	24	as	as	ADP
ap-9724	30	25	compared	compare	VERB
ap-9724	30	26	to	to	ADP
ap-9724	30	27	classical	classical	ADJ
ap-9724	30	28	sliding	slide	VERB
ap-9724	30	29	mode	mode	NOUN
ap-9724	30	30	control	control	NOUN
ap-9724	30	31	.	.	PUNCT
ap-9724	31	1	moreover	moreover	ADV
ap-9724	31	2	,	,	PUNCT
ap-9724	31	3	a	a	DET
ap-9724	31	4	sliding	slide	VERB
ap-9724	31	5	mode	mode	NOUN
ap-9724	31	6	control	control	NOUN
ap-9724	31	7	based	base	VERB
ap-9724	31	8	on	on	ADP
ap-9724	31	9	the	the	DET
ap-9724	31	10	super519	super519	PROPN
ap-9724	31	11	https://doi.org/10.14311/ap.2024.64.0519	https://doi.org/10.14311/ap.2024.64.0519	PROPN
ap-9724	31	12	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-9724	31	13	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-9724	31	14	a.	a.	PROPN
ap-9724	31	15	f.	f.	PROPN
ap-9724	31	16	hasan	hasan	PROPN
ap-9724	31	17	,	,	PUNCT
ap-9724	31	18	h.	h.	PROPN
ap-9724	31	19	a.	a.	PROPN
ap-9724	31	20	raheem	raheem	PROPN
ap-9724	31	21	,	,	PUNCT
ap-9724	31	22	r.	r.	PROPN
ap-9724	31	23	hussein	hussein	PROPN
ap-9724	31	24	acta	acta	PROPN
ap-9724	31	25	polytechnica	polytechnica	PROPN
ap-9724	31	26	twisting	twisting	NOUN
ap-9724	31	27	algorithm	algorithm	NOUN
ap-9724	31	28	shows	show	VERB
ap-9724	31	29	a	a	DET
ap-9724	31	30	solid	solid	ADJ
ap-9724	31	31	durability	durability	NOUN
ap-9724	31	32	against	against	ADP
ap-9724	31	33	uncertainty	uncertainty	NOUN
ap-9724	31	34	in	in	ADP
ap-9724	31	35	system	system	NOUN
ap-9724	31	36	parameters	parameter	NOUN
ap-9724	31	37	.	.	PUNCT
ap-9724	32	1	•	•	NUM
ap-9724	32	2	scaff	scaff	NOUN
ap-9724	32	3	et	et	PROPN
ap-9724	32	4	al	al	PROPN
ap-9724	32	5	.	.	PUNCT
ap-9724	33	1	[	[	X
ap-9724	33	2	6	6	NUM
ap-9724	33	3	]	]	PUNCT
ap-9724	33	4	used	use	VERB
ap-9724	33	5	a	a	DET
ap-9724	33	6	pid	pid	NOUN
ap-9724	33	7	controller	controller	NOUN
ap-9724	33	8	to	to	PART
ap-9724	33	9	control	control	VERB
ap-9724	33	10	the	the	DET
ap-9724	33	11	angular	angular	ADJ
ap-9724	33	12	position	position	NOUN
ap-9724	33	13	of	of	ADP
ap-9724	33	14	a	a	DET
ap-9724	33	15	single	single	ADJ
ap-9724	33	16	link	link	NOUN
ap-9724	33	17	robotic	robotic	ADJ
ap-9724	33	18	arm	arm	NOUN
ap-9724	33	19	actuated	actuate	VERB
ap-9724	33	20	by	by	ADP
ap-9724	33	21	mckibben	mckibben	PROPN
ap-9724	33	22	pams	pams	PROPN
ap-9724	33	23	and	and	CCONJ
ap-9724	33	24	to	to	PART
ap-9724	33	25	improve	improve	VERB
ap-9724	33	26	the	the	DET
ap-9724	33	27	performance	performance	NOUN
ap-9724	33	28	of	of	ADP
ap-9724	33	29	the	the	DET
ap-9724	33	30	pid	pid	NOUN
ap-9724	33	31	controller	controller	NOUN
ap-9724	33	32	,	,	PUNCT
ap-9724	33	33	they	they	PRON
ap-9724	33	34	used	use	VERB
ap-9724	33	35	simulated	simulated	ADJ
ap-9724	33	36	optimisation	optimisation	NOUN
ap-9724	33	37	algorithm	algorithm	NOUN
ap-9724	33	38	(	(	PUNCT
ap-9724	33	39	soa	soa	PROPN
ap-9724	33	40	)	)	PUNCT
ap-9724	33	41	.	.	PUNCT
ap-9724	34	1	this	this	DET
ap-9724	34	2	study	study	NOUN
ap-9724	34	3	did	do	AUX
ap-9724	34	4	not	not	PART
ap-9724	34	5	show	show	VERB
ap-9724	34	6	the	the	DET
ap-9724	34	7	efficiency	efficiency	NOUN
ap-9724	34	8	of	of	ADP
ap-9724	34	9	the	the	DET
ap-9724	34	10	controlled	control	VERB
ap-9724	34	11	system	system	NOUN
ap-9724	34	12	in	in	ADP
ap-9724	34	13	the	the	DET
ap-9724	34	14	presence	presence	NOUN
ap-9724	34	15	of	of	ADP
ap-9724	34	16	variation	variation	NOUN
ap-9724	34	17	in	in	ADP
ap-9724	34	18	the	the	DET
ap-9724	34	19	parameters	parameter	NOUN
ap-9724	34	20	of	of	ADP
ap-9724	34	21	the	the	DET
ap-9724	34	22	system	system	NOUN
ap-9724	34	23	.	.	PUNCT
ap-9724	35	1	•	•	NUM
ap-9724	35	2	boudoua	boudoua	PROPN
ap-9724	35	3	et	et	PROPN
ap-9724	35	4	al	al	PROPN
ap-9724	35	5	.	.	PUNCT
ap-9724	36	1	[	[	X
ap-9724	36	2	7	7	X
ap-9724	36	3	]	]	PUNCT
ap-9724	36	4	presented	present	VERB
ap-9724	36	5	a	a	DET
ap-9724	36	6	design	design	NOUN
ap-9724	36	7	of	of	ADP
ap-9724	36	8	a	a	DET
ap-9724	36	9	supertwisting	supertwisting	NOUN
ap-9724	36	10	sliding	slide	VERB
ap-9724	36	11	mode	mode	NOUN
ap-9724	36	12	controller	controller	NOUN
ap-9724	36	13	based	base	VERB
ap-9724	36	14	on	on	ADP
ap-9724	36	15	neural	neural	ADJ
ap-9724	36	16	network	network	NOUN
ap-9724	36	17	to	to	PART
ap-9724	36	18	control	control	VERB
ap-9724	36	19	the	the	DET
ap-9724	36	20	angular	angular	ADJ
ap-9724	36	21	position	position	NOUN
ap-9724	36	22	of	of	ADP
ap-9724	36	23	a	a	DET
ap-9724	36	24	pam	pam	NOUN
ap-9724	36	25	robotic	robotic	ADJ
ap-9724	36	26	arm	arm	NOUN
ap-9724	36	27	.	.	PUNCT
ap-9724	37	1	to	to	PART
ap-9724	37	2	estimate	estimate	VERB
ap-9724	37	3	the	the	DET
ap-9724	37	4	unknown	unknown	ADJ
ap-9724	37	5	dynamics	dynamic	NOUN
ap-9724	37	6	of	of	ADP
ap-9724	37	7	the	the	DET
ap-9724	37	8	robot	robot	NOUN
ap-9724	37	9	,	,	PUNCT
ap-9724	37	10	the	the	DET
ap-9724	37	11	study	study	NOUN
ap-9724	37	12	used	use	VERB
ap-9724	37	13	a	a	DET
ap-9724	37	14	two	two	NUM
ap-9724	37	15	-	-	PUNCT
ap-9724	37	16	neural	neural	ADJ
ap-9724	37	17	network	network	NOUN
ap-9724	37	18	layer	layer	NOUN
ap-9724	37	19	with	with	ADP
ap-9724	37	20	online	online	ADJ
ap-9724	37	21	adaptive	adaptive	ADJ
ap-9724	37	22	learning	learning	NOUN
ap-9724	37	23	law	law	NOUN
ap-9724	37	24	.	.	PUNCT
ap-9724	38	1	the	the	DET
ap-9724	38	2	work	work	NOUN
ap-9724	38	3	is	be	AUX
ap-9724	38	4	lacking	lack	VERB
ap-9724	38	5	in	in	ADP
ap-9724	38	6	the	the	DET
ap-9724	38	7	capability	capability	NOUN
ap-9724	38	8	to	to	PART
ap-9724	38	9	remove	remove	VERB
ap-9724	38	10	the	the	DET
ap-9724	38	11	chattering	chatter	VERB
ap-9724	38	12	problem	problem	NOUN
ap-9724	38	13	in	in	ADP
ap-9724	38	14	the	the	DET
ap-9724	38	15	control	control	NOUN
ap-9724	38	16	signal	signal	NOUN
ap-9724	38	17	.	.	PUNCT
ap-9724	39	1	•	•	NUM
ap-9724	39	2	repperger	repperger	X
ap-9724	39	3	et	et	PROPN
ap-9724	39	4	al	al	PROPN
ap-9724	39	5	.	.	PUNCT
ap-9724	40	1	[	[	X
ap-9724	40	2	8	8	NUM
ap-9724	40	3	]	]	PUNCT
ap-9724	40	4	applied	apply	VERB
ap-9724	40	5	the	the	DET
ap-9724	40	6	gain	gain	NOUN
ap-9724	40	7	-	-	PUNCT
ap-9724	40	8	scheduled	schedule	VERB
ap-9724	40	9	controller	controller	NOUN
ap-9724	40	10	to	to	PART
ap-9724	40	11	control	control	VERB
ap-9724	40	12	the	the	DET
ap-9724	40	13	angular	angular	ADJ
ap-9724	40	14	position	position	NOUN
ap-9724	40	15	of	of	ADP
ap-9724	40	16	a	a	DET
ap-9724	40	17	large	large	ADJ
ap-9724	40	18	-	-	PUNCT
ap-9724	40	19	scale	scale	NOUN
ap-9724	40	20	pneumatic	pneumatic	ADJ
ap-9724	40	21	muscle	muscle	NOUN
ap-9724	40	22	actuator	actuator	NOUN
ap-9724	40	23	.	.	PUNCT
ap-9724	41	1	through	through	ADP
ap-9724	41	2	numerous	numerous	ADJ
ap-9724	41	3	experiments	experiment	NOUN
ap-9724	41	4	of	of	ADP
ap-9724	41	5	transient	transient	ADJ
ap-9724	41	6	and	and	CCONJ
ap-9724	41	7	steady	steady	ADJ
ap-9724	41	8	-	-	PUNCT
ap-9724	41	9	state	state	NOUN
ap-9724	41	10	responses	response	NOUN
ap-9724	41	11	,	,	PUNCT
ap-9724	41	12	the	the	DET
ap-9724	41	13	scheduled	schedule	VERB
ap-9724	41	14	gains	gain	NOUN
ap-9724	41	15	had	have	AUX
ap-9724	41	16	been	be	AUX
ap-9724	41	17	established	establish	VERB
ap-9724	41	18	.	.	PUNCT
ap-9724	42	1	the	the	DET
ap-9724	42	2	study	study	NOUN
ap-9724	42	3	did	do	AUX
ap-9724	42	4	not	not	PART
ap-9724	42	5	show	show	VERB
ap-9724	42	6	the	the	DET
ap-9724	42	7	efficiency	efficiency	NOUN
ap-9724	42	8	of	of	ADP
ap-9724	42	9	the	the	DET
ap-9724	42	10	proposed	propose	VERB
ap-9724	42	11	controller	controller	NOUN
ap-9724	42	12	in	in	ADP
ap-9724	42	13	the	the	DET
ap-9724	42	14	presence	presence	NOUN
ap-9724	42	15	of	of	ADP
ap-9724	42	16	variations	variation	NOUN
ap-9724	42	17	in	in	ADP
ap-9724	42	18	the	the	DET
ap-9724	42	19	parameters	parameter	NOUN
ap-9724	42	20	of	of	ADP
ap-9724	42	21	the	the	DET
ap-9724	42	22	system	system	NOUN
ap-9724	42	23	.	.	PUNCT
ap-9724	43	1	•	•	NUM
ap-9724	43	2	enzevaee	enzevaee	NOUN
ap-9724	43	3	et	et	PROPN
ap-9724	43	4	al	al	PROPN
ap-9724	43	5	.	.	PUNCT
ap-9724	44	1	[	[	X
ap-9724	44	2	9	9	NUM
ap-9724	44	3	]	]	PUNCT
ap-9724	44	4	proposed	propose	VERB
ap-9724	44	5	a	a	DET
ap-9724	44	6	fuzzy	fuzzy	ADJ
ap-9724	44	7	logic	logic	NOUN
ap-9724	44	8	controller	controller	NOUN
ap-9724	44	9	based	base	VERB
ap-9724	44	10	on	on	ADP
ap-9724	44	11	an	an	DET
ap-9724	44	12	active	active	ADJ
ap-9724	44	13	force	force	NOUN
ap-9724	44	14	control	control	NOUN
ap-9724	44	15	technique	technique	NOUN
ap-9724	44	16	to	to	PART
ap-9724	44	17	control	control	VERB
ap-9724	44	18	the	the	DET
ap-9724	44	19	angular	angular	ADJ
ap-9724	44	20	position	position	NOUN
ap-9724	44	21	of	of	ADP
ap-9724	44	22	a	a	DET
ap-9724	44	23	manipulator	manipulator	NOUN
ap-9724	44	24	with	with	ADP
ap-9724	44	25	one	one	NUM
ap-9724	44	26	degree	degree	NOUN
ap-9724	44	27	of	of	ADP
ap-9724	44	28	freedom	freedom	NOUN
ap-9724	44	29	.	.	PUNCT
ap-9724	45	1	the	the	DET
ap-9724	45	2	obtained	obtain	VERB
ap-9724	45	3	results	result	NOUN
ap-9724	45	4	of	of	ADP
ap-9724	45	5	the	the	DET
ap-9724	45	6	proposed	propose	VERB
ap-9724	45	7	controller	controller	NOUN
ap-9724	45	8	show	show	VERB
ap-9724	45	9	the	the	DET
ap-9724	45	10	controller	controller	NOUN
ap-9724	45	11	’s	’s	PART
ap-9724	45	12	ability	ability	NOUN
ap-9724	45	13	to	to	PART
ap-9724	45	14	compensate	compensate	VERB
ap-9724	45	15	for	for	ADP
ap-9724	45	16	the	the	DET
ap-9724	45	17	subjected	subject	VERB
ap-9724	45	18	disturbances	disturbance	NOUN
ap-9724	45	19	robustly	robustly	ADV
ap-9724	45	20	.	.	PUNCT
ap-9724	46	1	•	•	NUM
ap-9724	46	2	farag	farag	NOUN
ap-9724	46	3	and	and	CCONJ
ap-9724	46	4	azlan	azlan	NOUN
ap-9724	46	5	[	[	X
ap-9724	46	6	10	10	NUM
ap-9724	46	7	]	]	PUNCT
ap-9724	46	8	applied	apply	VERB
ap-9724	46	9	the	the	DET
ap-9724	46	10	adaptive	adaptive	ADJ
ap-9724	46	11	backstepping	backstepping	NOUN
ap-9724	46	12	controller	controller	NOUN
ap-9724	46	13	to	to	PART
ap-9724	46	14	control	control	VERB
ap-9724	46	15	the	the	DET
ap-9724	46	16	angular	angular	ADJ
ap-9724	46	17	position	position	NOUN
ap-9724	46	18	of	of	ADP
ap-9724	46	19	anthropomorphic	anthropomorphic	ADJ
ap-9724	46	20	robot	robot	NOUN
ap-9724	46	21	hand	hand	NOUN
ap-9724	46	22	at	at	ADP
ap-9724	46	23	pam	pam	NOUN
ap-9724	46	24	actuators	actuator	NOUN
ap-9724	46	25	.	.	PUNCT
ap-9724	47	1	the	the	DET
ap-9724	47	2	adaptive	adaptive	ADJ
ap-9724	47	3	controller	controller	NOUN
ap-9724	47	4	has	have	AUX
ap-9724	47	5	been	be	AUX
ap-9724	47	6	integrated	integrate	VERB
ap-9724	47	7	with	with	ADP
ap-9724	47	8	the	the	DET
ap-9724	47	9	pid	pid	NOUN
ap-9724	47	10	controller	controller	NOUN
ap-9724	47	11	to	to	PART
ap-9724	47	12	form	form	VERB
ap-9724	47	13	a	a	DET
ap-9724	47	14	hybrid	hybrid	ADJ
ap-9724	47	15	controller	controller	NOUN
ap-9724	47	16	.	.	PUNCT
ap-9724	48	1	the	the	DET
ap-9724	48	2	adaptive	adaptive	ADJ
ap-9724	48	3	law	law	NOUN
ap-9724	48	4	has	have	AUX
ap-9724	48	5	been	be	AUX
ap-9724	48	6	obtained	obtain	VERB
ap-9724	48	7	to	to	PART
ap-9724	48	8	estimate	estimate	VERB
ap-9724	48	9	the	the	DET
ap-9724	48	10	uncertainty	uncertainty	NOUN
ap-9724	48	11	in	in	ADP
ap-9724	48	12	the	the	DET
ap-9724	48	13	values	value	NOUN
ap-9724	48	14	of	of	ADP
ap-9724	48	15	the	the	DET
ap-9724	48	16	system	system	NOUN
ap-9724	48	17	parameters	parameter	NOUN
ap-9724	48	18	.	.	PUNCT
ap-9724	49	1	the	the	DET
ap-9724	49	2	simulation	simulation	NOUN
ap-9724	49	3	results	result	NOUN
ap-9724	49	4	have	have	AUX
ap-9724	49	5	validated	validate	VERB
ap-9724	49	6	the	the	DET
ap-9724	49	7	tracking	tracking	NOUN
ap-9724	49	8	performance	performance	NOUN
ap-9724	49	9	based	base	VERB
ap-9724	49	10	on	on	ADP
ap-9724	49	11	the	the	DET
ap-9724	49	12	proposed	propose	VERB
ap-9724	49	13	controller	controller	NOUN
ap-9724	49	14	.	.	PUNCT
ap-9724	50	1	the	the	DET
ap-9724	50	2	synergetic	synergetic	ADJ
ap-9724	50	3	control	control	NOUN
ap-9724	50	4	strategy	strategy	NOUN
ap-9724	50	5	theory	theory	NOUN
ap-9724	50	6	is	be	AUX
ap-9724	50	7	based	base	VERB
ap-9724	50	8	on	on	ADP
ap-9724	50	9	a	a	DET
ap-9724	50	10	state	state	NOUN
ap-9724	50	11	-	-	PUNCT
ap-9724	50	12	space	space	NOUN
ap-9724	50	13	theory	theory	NOUN
ap-9724	50	14	that	that	PRON
ap-9724	50	15	focuses	focus	VERB
ap-9724	50	16	on	on	ADP
ap-9724	50	17	the	the	DET
ap-9724	50	18	design	design	NOUN
ap-9724	50	19	and	and	CCONJ
ap-9724	50	20	control	control	NOUN
ap-9724	50	21	of	of	ADP
ap-9724	50	22	extremely	extremely	ADV
ap-9724	50	23	complicated	complicated	ADJ
ap-9724	50	24	systems	system	NOUN
ap-9724	50	25	.	.	PUNCT
ap-9724	51	1	this	this	DET
ap-9724	51	2	control	control	NOUN
ap-9724	51	3	strategy	strategy	NOUN
ap-9724	51	4	can	can	AUX
ap-9724	51	5	allow	allow	VERB
ap-9724	51	6	the	the	DET
ap-9724	51	7	system	system	NOUN
ap-9724	51	8	’s	’s	PART
ap-9724	51	9	states	state	NOUN
ap-9724	51	10	to	to	PART
ap-9724	51	11	develop	develop	VERB
ap-9724	51	12	on	on	ADP
ap-9724	51	13	the	the	DET
ap-9724	51	14	designer	designer	NOUN
ap-9724	51	15	’s	’s	PART
ap-9724	51	16	selected	select	VERB
ap-9724	51	17	invariant	invariant	ADJ
ap-9724	51	18	manifolds	manifold	NOUN
ap-9724	51	19	while	while	SCONJ
ap-9724	51	20	achieving	achieve	VERB
ap-9724	51	21	the	the	DET
ap-9724	51	22	intended	intend	VERB
ap-9724	51	23	performance	performance	NOUN
ap-9724	51	24	in	in	ADP
ap-9724	51	25	the	the	DET
ap-9724	51	26	presence	presence	NOUN
ap-9724	51	27	of	of	ADP
ap-9724	51	28	uncertainties	uncertainty	NOUN
ap-9724	51	29	and	and	CCONJ
ap-9724	51	30	disruptions	disruption	NOUN
ap-9724	51	31	[	[	X
ap-9724	51	32	11	11	NUM
ap-9724	51	33	]	]	PUNCT
ap-9724	51	34	.	.	PUNCT
ap-9724	52	1	in	in	ADP
ap-9724	52	2	view	view	NOUN
ap-9724	52	3	of	of	ADP
ap-9724	52	4	this	this	DET
ap-9724	52	5	point	point	NOUN
ap-9724	52	6	,	,	PUNCT
ap-9724	52	7	a	a	DET
ap-9724	52	8	brief	brief	ADJ
ap-9724	52	9	discussion	discussion	NOUN
ap-9724	52	10	of	of	ADP
ap-9724	52	11	a	a	DET
ap-9724	52	12	research	research	NOUN
ap-9724	52	13	relevant	relevant	ADJ
ap-9724	52	14	to	to	ADP
ap-9724	52	15	the	the	DET
ap-9724	52	16	synergetic	synergetic	ADJ
ap-9724	52	17	control	control	NOUN
ap-9724	52	18	strategy	strategy	NOUN
ap-9724	52	19	theory	theory	NOUN
ap-9724	52	20	will	will	AUX
ap-9724	52	21	be	be	AUX
ap-9724	52	22	presented	present	VERB
ap-9724	52	23	:	:	PUNCT
ap-9724	52	24	•	•	NUM
ap-9724	52	25	nechadi	nechadi	NOUN
ap-9724	52	26	et	et	PROPN
ap-9724	52	27	al	al	PROPN
ap-9724	52	28	.	.	PUNCT
ap-9724	53	1	[	[	X
ap-9724	53	2	12	12	NUM
ap-9724	53	3	]	]	PUNCT
ap-9724	53	4	proposed	propose	VERB
ap-9724	53	5	a	a	DET
ap-9724	53	6	synergetic	synergetic	ADJ
ap-9724	53	7	control	control	NOUN
ap-9724	53	8	strategy	strategy	NOUN
ap-9724	53	9	to	to	PART
ap-9724	53	10	satisfy	satisfy	VERB
ap-9724	53	11	the	the	DET
ap-9724	53	12	output	output	NOUN
ap-9724	53	13	voltage	voltage	NOUN
ap-9724	53	14	of	of	ADP
ap-9724	53	15	the	the	DET
ap-9724	53	16	dc	dc	PROPN
ap-9724	53	17	-	-	PUNCT
ap-9724	53	18	dc	dc	PROPN
ap-9724	53	19	boost	boost	NOUN
ap-9724	53	20	converter	converter	NOUN
ap-9724	53	21	at	at	ADP
ap-9724	53	22	the	the	DET
ap-9724	53	23	required	require	VERB
ap-9724	53	24	level	level	NOUN
ap-9724	53	25	.	.	PUNCT
ap-9724	54	1	the	the	DET
ap-9724	54	2	proposed	propose	VERB
ap-9724	54	3	controller	controller	NOUN
ap-9724	54	4	shows	show	VERB
ap-9724	54	5	high	high	ADJ
ap-9724	54	6	performance	performance	NOUN
ap-9724	54	7	competence	competence	NOUN
ap-9724	54	8	despite	despite	SCONJ
ap-9724	54	9	the	the	DET
ap-9724	54	10	nonlinear	nonlinear	ADJ
ap-9724	54	11	behaviour	behaviour	NOUN
ap-9724	54	12	of	of	ADP
ap-9724	54	13	the	the	DET
ap-9724	54	14	system	system	NOUN
ap-9724	54	15	.	.	PUNCT
ap-9724	55	1	•	•	NUM
ap-9724	55	2	al	al	PROPN
ap-9724	55	3	-	-	PUNCT
ap-9724	55	4	dujaili	dujaili	NOUN
ap-9724	55	5	et	et	PROPN
ap-9724	55	6	al	al	PROPN
ap-9724	55	7	.	.	PUNCT
ap-9724	56	1	[	[	X
ap-9724	56	2	13	13	NUM
ap-9724	56	3	]	]	PUNCT
ap-9724	56	4	investigated	investigate	VERB
ap-9724	56	5	an	an	DET
ap-9724	56	6	adaptive	adaptive	ADJ
ap-9724	56	7	control	control	NOUN
ap-9724	56	8	design	design	NOUN
ap-9724	56	9	using	use	VERB
ap-9724	56	10	adaptive	adaptive	ADJ
ap-9724	56	11	synergetic	synergetic	ADJ
ap-9724	56	12	control	control	NOUN
ap-9724	56	13	strategy	strategy	NOUN
ap-9724	56	14	figure	figure	NOUN
ap-9724	56	15	1	1	NUM
ap-9724	56	16	.	.	PUNCT
ap-9724	56	17	one	one	NUM
ap-9724	56	18	degree	degree	NOUN
ap-9724	56	19	of	of	ADP
ap-9724	56	20	freedom	freedom	NOUN
ap-9724	56	21	manipulator	manipulator	NOUN
ap-9724	56	22	actuated	actuate	VERB
ap-9724	56	23	by	by	ADP
ap-9724	56	24	pams	pams	PROPN
ap-9724	56	25	.	.	PUNCT
ap-9724	57	1	theory	theory	NOUN
ap-9724	57	2	to	to	PART
ap-9724	57	3	mitigate	mitigate	VERB
ap-9724	57	4	the	the	DET
ap-9724	57	5	effect	effect	NOUN
ap-9724	57	6	of	of	ADP
ap-9724	57	7	vibrations	vibration	NOUN
ap-9724	57	8	in	in	ADP
ap-9724	57	9	a	a	DET
ap-9724	57	10	building	building	NOUN
ap-9724	57	11	structure	structure	NOUN
ap-9724	57	12	due	due	ADP
ap-9724	57	13	to	to	ADP
ap-9724	57	14	earthquake	earthquake	NOUN
ap-9724	57	15	action	action	NOUN
ap-9724	57	16	.	.	PUNCT
ap-9724	58	1	the	the	DET
ap-9724	58	2	study	study	NOUN
ap-9724	58	3	involved	involve	VERB
ap-9724	58	4	a	a	DET
ap-9724	58	5	single	single	ADJ
ap-9724	58	6	-	-	PUNCT
ap-9724	58	7	degree	degree	NOUN
ap-9724	58	8	-	-	PUNCT
ap-9724	58	9	of	of	ADP
ap-9724	58	10	-	-	PUNCT
ap-9724	58	11	freedom	freedom	NOUN
ap-9724	58	12	building	building	NOUN
ap-9724	58	13	,	,	PUNCT
ap-9724	58	14	and	and	CCONJ
ap-9724	58	15	numerical	numerical	PROPN
ap-9724	58	16	simulation	simulation	PROPN
ap-9724	58	17	demonstrated	demonstrate	VERB
ap-9724	58	18	the	the	DET
ap-9724	58	19	ability	ability	NOUN
ap-9724	58	20	of	of	ADP
ap-9724	58	21	the	the	DET
ap-9724	58	22	proposed	propose	VERB
ap-9724	58	23	scheme	scheme	NOUN
ap-9724	58	24	to	to	PART
ap-9724	58	25	significantly	significantly	ADV
ap-9724	58	26	reduce	reduce	VERB
ap-9724	58	27	vibrations	vibration	NOUN
ap-9724	58	28	from	from	ADP
ap-9724	58	29	the	the	DET
ap-9724	58	30	impact	impact	NOUN
ap-9724	58	31	of	of	ADP
ap-9724	58	32	the	the	DET
ap-9724	58	33	earthquake	earthquake	NOUN
ap-9724	58	34	•	•	ADP
ap-9724	58	35	al	al	PROPN
ap-9724	58	36	-	-	PUNCT
ap-9724	58	37	khazraji	khazraji	NOUN
ap-9724	58	38	et	et	PROPN
ap-9724	58	39	al	al	PROPN
ap-9724	58	40	.	.	PUNCT
ap-9724	59	1	[	[	X
ap-9724	59	2	14	14	NUM
ap-9724	59	3	]	]	PUNCT
ap-9724	59	4	presented	present	VERB
ap-9724	59	5	the	the	DET
ap-9724	59	6	design	design	NOUN
ap-9724	59	7	of	of	ADP
ap-9724	59	8	synergetic	synergetic	ADJ
ap-9724	59	9	control	control	NOUN
ap-9724	59	10	strategy	strategy	NOUN
ap-9724	59	11	theory	theory	NOUN
ap-9724	59	12	to	to	PART
ap-9724	59	13	improve	improve	VERB
ap-9724	59	14	the	the	DET
ap-9724	59	15	position	position	NOUN
ap-9724	59	16	tracking	tracking	NOUN
ap-9724	59	17	accuracy	accuracy	NOUN
ap-9724	59	18	of	of	ADP
ap-9724	59	19	a	a	DET
ap-9724	59	20	ball	ball	NOUN
ap-9724	59	21	and	and	CCONJ
ap-9724	59	22	beam	beam	NOUN
ap-9724	59	23	system	system	NOUN
ap-9724	59	24	.	.	PUNCT
ap-9724	60	1	compared	compare	VERB
ap-9724	60	2	to	to	ADP
ap-9724	60	3	a	a	DET
ap-9724	60	4	classic	classic	ADJ
ap-9724	60	5	state	state	NOUN
ap-9724	60	6	feedback	feedback	NOUN
ap-9724	60	7	controller	controller	NOUN
ap-9724	60	8	,	,	PUNCT
ap-9724	60	9	the	the	DET
ap-9724	60	10	synergetic	synergetic	ADJ
ap-9724	60	11	control	control	NOUN
ap-9724	60	12	strategy	strategy	NOUN
ap-9724	60	13	theory	theory	NOUN
ap-9724	60	14	exhibited	exhibit	VERB
ap-9724	60	15	better	well	ADJ
ap-9724	60	16	performance	performance	NOUN
ap-9724	60	17	in	in	ADP
ap-9724	60	18	terms	term	NOUN
ap-9724	60	19	of	of	ADP
ap-9724	60	20	stability	stability	NOUN
ap-9724	60	21	,	,	PUNCT
ap-9724	60	22	robustness	robustness	NOUN
ap-9724	60	23	characteristics	characteristic	NOUN
ap-9724	60	24	,	,	PUNCT
ap-9724	60	25	and	and	CCONJ
ap-9724	60	26	finite	finite	ADJ
ap-9724	60	27	-	-	PUNCT
ap-9724	60	28	time	time	NOUN
ap-9724	60	29	convergence	convergence	NOUN
ap-9724	60	30	of	of	ADP
ap-9724	60	31	position	position	NOUN
ap-9724	60	32	error	error	NOUN
ap-9724	60	33	.	.	PUNCT
ap-9724	61	1	the	the	DET
ap-9724	61	2	major	major	ADJ
ap-9724	61	3	contributions	contribution	NOUN
ap-9724	61	4	addressed	address	VERB
ap-9724	61	5	by	by	ADP
ap-9724	61	6	this	this	DET
ap-9724	61	7	work	work	NOUN
ap-9724	61	8	can	can	AUX
ap-9724	61	9	be	be	AUX
ap-9724	61	10	summed	sum	VERB
ap-9724	61	11	up	up	ADP
ap-9724	61	12	as	as	ADP
ap-9724	61	13	:	:	PUNCT
ap-9724	61	14	•	•	NUM
ap-9724	61	15	developing	develop	VERB
ap-9724	61	16	a	a	DET
ap-9724	61	17	sact	sact	NOUN
ap-9724	61	18	to	to	PART
ap-9724	61	19	control	control	VERB
ap-9724	61	20	the	the	DET
ap-9724	61	21	angular	angular	ADJ
ap-9724	61	22	position	position	NOUN
ap-9724	61	23	of	of	ADP
ap-9724	61	24	a	a	DET
ap-9724	61	25	pam	pam	NOUN
ap-9724	61	26	-	-	PUNCT
ap-9724	61	27	actuated	actuate	VERB
ap-9724	61	28	single	single	ADJ
ap-9724	61	29	link	link	NOUN
ap-9724	61	30	robotic	robotic	ADJ
ap-9724	61	31	arm	arm	NOUN
ap-9724	61	32	,	,	PUNCT
ap-9724	61	33	•	•	NOUN
ap-9724	61	34	optimal	optimal	ADJ
ap-9724	61	35	tuning	tuning	NOUN
ap-9724	61	36	of	of	ADP
ap-9724	61	37	sact	sact	NOUN
ap-9724	61	38	parameters	parameter	NOUN
ap-9724	61	39	to	to	PART
ap-9724	61	40	improve	improve	VERB
ap-9724	61	41	the	the	DET
ap-9724	61	42	performance	performance	NOUN
ap-9724	61	43	of	of	ADP
ap-9724	61	44	an	an	DET
ap-9724	61	45	sact	sact	NOUN
ap-9724	61	46	-	-	PUNCT
ap-9724	61	47	based	base	VERB
ap-9724	61	48	pam	pam	NOUN
ap-9724	61	49	-	-	PUNCT
ap-9724	61	50	actuated	actuate	VERB
ap-9724	61	51	manipulator	manipulator	NOUN
ap-9724	61	52	,	,	PUNCT
ap-9724	61	53	•	•	ADP
ap-9724	61	54	carrying	carry	VERB
ap-9724	61	55	out	out	ADP
ap-9724	61	56	a	a	DET
ap-9724	61	57	comparative	comparative	ADJ
ap-9724	61	58	study	study	NOUN
ap-9724	61	59	between	between	ADP
ap-9724	61	60	sact	sact	NOUN
ap-9724	61	61	and	and	CCONJ
ap-9724	61	62	smc	smc	PROPN
ap-9724	61	63	algorithms	algorithm	NOUN
ap-9724	61	64	in	in	ADP
ap-9724	61	65	terms	term	NOUN
ap-9724	61	66	of	of	ADP
ap-9724	61	67	robustness	robustness	NOUN
ap-9724	61	68	and	and	CCONJ
ap-9724	61	69	transient	transient	ADJ
ap-9724	61	70	behaviour	behaviour	NOUN
ap-9724	61	71	characteristics	characteristic	NOUN
ap-9724	61	72	.	.	PUNCT
ap-9724	62	1	subsequent	subsequent	ADJ
ap-9724	62	2	sections	section	NOUN
ap-9724	62	3	of	of	ADP
ap-9724	62	4	this	this	DET
ap-9724	62	5	paper	paper	NOUN
ap-9724	62	6	are	be	AUX
ap-9724	62	7	organised	organise	VERB
ap-9724	62	8	as	as	SCONJ
ap-9724	62	9	follows	follow	VERB
ap-9724	62	10	:	:	PUNCT
ap-9724	62	11	section	section	NOUN
ap-9724	62	12	2	2	NUM
ap-9724	62	13	presents	present	VERB
ap-9724	62	14	the	the	DET
ap-9724	62	15	modelling	modelling	NOUN
ap-9724	62	16	of	of	ADP
ap-9724	62	17	a	a	DET
ap-9724	62	18	pamactuated	pamactuated	ADJ
ap-9724	62	19	manipulator	manipulator	NOUN
ap-9724	62	20	.	.	PUNCT
ap-9724	63	1	section	section	NOUN
ap-9724	63	2	3	3	NUM
ap-9724	63	3	presents	present	VERB
ap-9724	63	4	the	the	DET
ap-9724	63	5	design	design	NOUN
ap-9724	63	6	and	and	CCONJ
ap-9724	63	7	stability	stability	NOUN
ap-9724	63	8	analysis	analysis	NOUN
ap-9724	63	9	of	of	ADP
ap-9724	63	10	sact	sact	NOUN
ap-9724	63	11	and	and	CCONJ
ap-9724	63	12	smc	smc	PROPN
ap-9724	63	13	algorithms	algorithm	NOUN
ap-9724	63	14	.	.	PUNCT
ap-9724	64	1	in	in	ADP
ap-9724	64	2	addition	addition	NOUN
ap-9724	64	3	,	,	PUNCT
ap-9724	64	4	this	this	DET
ap-9724	64	5	section	section	NOUN
ap-9724	64	6	presents	present	VERB
ap-9724	64	7	the	the	DET
ap-9724	64	8	optimisation	optimisation	NOUN
ap-9724	64	9	problem	problem	NOUN
ap-9724	64	10	and	and	CCONJ
ap-9724	64	11	its	its	PRON
ap-9724	64	12	sso	sso	NOUN
ap-9724	64	13	-	-	PUNCT
ap-9724	64	14	based	base	VERB
ap-9724	64	15	solution	solution	NOUN
ap-9724	64	16	.	.	PUNCT
ap-9724	65	1	section	section	NOUN
ap-9724	65	2	4	4	NUM
ap-9724	65	3	presents	present	VERB
ap-9724	65	4	a	a	DET
ap-9724	65	5	computer	computer	NOUN
ap-9724	65	6	simulation	simulation	NOUN
ap-9724	65	7	to	to	PART
ap-9724	65	8	validate	validate	VERB
ap-9724	65	9	the	the	DET
ap-9724	65	10	performance	performance	NOUN
ap-9724	65	11	of	of	ADP
ap-9724	65	12	the	the	DET
ap-9724	65	13	proposed	propose	VERB
ap-9724	65	14	controllers	controller	NOUN
ap-9724	65	15	.	.	PUNCT
ap-9724	66	1	finally	finally	ADV
ap-9724	66	2	,	,	PUNCT
ap-9724	66	3	the	the	DET
ap-9724	66	4	conclusions	conclusion	NOUN
ap-9724	66	5	reached	reach	VERB
ap-9724	66	6	based	base	VERB
ap-9724	66	7	on	on	ADP
ap-9724	66	8	the	the	DET
ap-9724	66	9	results	result	NOUN
ap-9724	66	10	of	of	ADP
ap-9724	66	11	the	the	DET
ap-9724	66	12	numerical	numerical	PROPN
ap-9724	66	13	simulation	simulation	PROPN
ap-9724	66	14	has	have	AUX
ap-9724	66	15	been	be	AUX
ap-9724	66	16	highlighted	highlight	VERB
ap-9724	66	17	in	in	ADP
ap-9724	66	18	section	section	NOUN
ap-9724	66	19	5	5	NUM
ap-9724	66	20	.	.	SYM
ap-9724	66	21	2	2	NUM
ap-9724	66	22	.	.	NOUN
ap-9724	66	23	mathematical	mathematical	ADJ
ap-9724	66	24	model	model	NOUN
ap-9724	66	25	the	the	DET
ap-9724	66	26	mathematical	mathematical	ADJ
ap-9724	66	27	model	model	NOUN
ap-9724	66	28	of	of	ADP
ap-9724	66	29	a	a	DET
ap-9724	66	30	pam	pam	NOUN
ap-9724	66	31	-	-	PUNCT
ap-9724	66	32	actuated	actuate	VERB
ap-9724	66	33	single	single	ADJ
ap-9724	66	34	link	link	NOUN
ap-9724	66	35	robotic	robotic	ADJ
ap-9724	66	36	arm	arm	NOUN
ap-9724	66	37	had	have	AUX
ap-9724	66	38	been	be	AUX
ap-9724	66	39	derived	derive	VERB
ap-9724	66	40	and	and	CCONJ
ap-9724	66	41	performed	perform	VERB
ap-9724	66	42	previously	previously	ADV
ap-9724	66	43	in	in	ADP
ap-9724	66	44	[	[	X
ap-9724	66	45	5	5	NUM
ap-9724	66	46	,	,	PUNCT
ap-9724	66	47	15	15	NUM
ap-9724	66	48	]	]	PUNCT
ap-9724	66	49	.	.	PUNCT
ap-9724	67	1	figure	figure	NOUN
ap-9724	67	2	1	1	NUM
ap-9724	67	3	illustrates	illustrate	VERB
ap-9724	67	4	the	the	DET
ap-9724	67	5	general	general	ADJ
ap-9724	67	6	520	520	NUM
ap-9724	67	7	vol	vol	NOUN
ap-9724	67	8	.	.	PROPN
ap-9724	68	1	64	64	NUM
ap-9724	68	2	no	no	NOUN
ap-9724	68	3	.	.	PUNCT
ap-9724	69	1	6/2024	6/2024	NUM
ap-9724	69	2	performance	performance	NOUN
ap-9724	69	3	improvement	improvement	NOUN
ap-9724	69	4	of	of	ADP
ap-9724	69	5	manipulator	manipulator	NOUN
ap-9724	69	6	actuated	actuate	VERB
ap-9724	69	7	by	by	ADP
ap-9724	69	8	pneumatic	pneumatic	NOUN
ap-9724	69	9	.	.	PUNCT
ap-9724	69	10	.	.	PUNCT
ap-9724	69	11	.	.	PUNCT
ap-9724	70	1	concept	concept	NOUN
ap-9724	70	2	of	of	ADP
ap-9724	70	3	the	the	DET
ap-9724	70	4	pam	pam	NOUN
ap-9724	70	5	-	-	PUNCT
ap-9724	70	6	actuated	actuate	VERB
ap-9724	70	7	single	single	ADJ
ap-9724	70	8	link	link	NOUN
ap-9724	70	9	robotic	robotic	ADJ
ap-9724	70	10	arm	arm	NOUN
ap-9724	70	11	whereas	whereas	SCONJ
ap-9724	70	12	its	its	PRON
ap-9724	70	13	equation	equation	NOUN
ap-9724	70	14	of	of	ADP
ap-9724	70	15	motion	motion	NOUN
ap-9724	70	16	is	be	AUX
ap-9724	70	17	as	as	SCONJ
ap-9724	70	18	follows	follow	VERB
ap-9724	70	19	:	:	PUNCT
ap-9724	70	20	(	(	PUNCT
ap-9724	70	21	ml2	ml2	NOUN
ap-9724	70	22	+	+	CCONJ
ap-9724	70	23	i)φ̈	i)φ̈	PROPN
ap-9724	71	1	+	+	CCONJ
ap-9724	71	2	mgl	mgl	PROPN
ap-9724	71	3	cos	cos	PROPN
ap-9724	71	4	φ	φ	PROPN
ap-9724	71	5	=	=	SYM
ap-9724	71	6	t	t	PROPN
ap-9724	71	7	,	,	PUNCT
ap-9724	71	8	(	(	PUNCT
ap-9724	71	9	1	1	X
ap-9724	71	10	)	)	PUNCT
ap-9724	71	11	where	where	SCONJ
ap-9724	71	12	the	the	DET
ap-9724	71	13	mass	mass	NOUN
ap-9724	71	14	at	at	ADP
ap-9724	71	15	the	the	DET
ap-9724	71	16	end	end	NOUN
ap-9724	71	17	point	point	NOUN
ap-9724	71	18	of	of	ADP
ap-9724	71	19	the	the	DET
ap-9724	71	20	robotic	robotic	ADJ
ap-9724	71	21	arm	arm	NOUN
ap-9724	71	22	is	be	AUX
ap-9724	71	23	denoted	denote	VERB
ap-9724	71	24	by	by	ADP
ap-9724	71	25	symbol	symbol	NOUN
ap-9724	71	26	m	m	PROPN
ap-9724	71	27	,	,	PUNCT
ap-9724	71	28	the	the	DET
ap-9724	71	29	length	length	NOUN
ap-9724	71	30	of	of	ADP
ap-9724	71	31	the	the	DET
ap-9724	71	32	arm	arm	NOUN
ap-9724	71	33	is	be	AUX
ap-9724	71	34	represented	represent	VERB
ap-9724	71	35	by	by	ADP
ap-9724	71	36	symbol	symbol	NOUN
ap-9724	71	37	l	l	PROPN
ap-9724	71	38	,	,	PUNCT
ap-9724	71	39	the	the	DET
ap-9724	71	40	gravitational	gravitational	ADJ
ap-9724	71	41	acceleration	acceleration	NOUN
ap-9724	71	42	is	be	AUX
ap-9724	71	43	denoted	denote	VERB
ap-9724	71	44	by	by	ADP
ap-9724	71	45	symbol	symbol	NOUN
ap-9724	71	46	g	g	PROPN
ap-9724	71	47	,	,	PUNCT
ap-9724	71	48	the	the	DET
ap-9724	71	49	rotation	rotation	NOUN
ap-9724	71	50	angle	angle	NOUN
ap-9724	71	51	and	and	CCONJ
ap-9724	71	52	angular	angular	ADJ
ap-9724	71	53	acceleration	acceleration	NOUN
ap-9724	71	54	of	of	ADP
ap-9724	71	55	the	the	DET
ap-9724	71	56	arm	arm	NOUN
ap-9724	71	57	are	be	AUX
ap-9724	71	58	denoted	denote	VERB
ap-9724	71	59	by	by	ADP
ap-9724	71	60	the	the	DET
ap-9724	71	61	symbols	symbol	NOUN
ap-9724	71	62	φ	φ	PROPN
ap-9724	71	63	and	and	CCONJ
ap-9724	71	64	φ̈	φ̈	NOUN
ap-9724	71	65	,	,	PUNCT
ap-9724	71	66	respectively	respectively	ADV
ap-9724	71	67	,	,	PUNCT
ap-9724	71	68	the	the	DET
ap-9724	71	69	moment	moment	NOUN
ap-9724	71	70	of	of	ADP
ap-9724	71	71	inertia	inertia	NOUN
ap-9724	71	72	for	for	ADP
ap-9724	71	73	the	the	DET
ap-9724	71	74	robotic	robotic	ADJ
ap-9724	71	75	arm	arm	NOUN
ap-9724	71	76	is	be	AUX
ap-9724	71	77	denoted	denote	VERB
ap-9724	71	78	by	by	ADP
ap-9724	71	79	symbol	symbol	NOUN
ap-9724	71	80	i	i	PROPN
ap-9724	71	81	,	,	PUNCT
ap-9724	71	82	and	and	CCONJ
ap-9724	71	83	lastly	lastly	ADV
ap-9724	71	84	,	,	PUNCT
ap-9724	71	85	t	t	PROPN
ap-9724	71	86	,	,	PUNCT
ap-9724	71	87	which	which	PRON
ap-9724	71	88	stands	stand	VERB
ap-9724	71	89	for	for	ADP
ap-9724	71	90	the	the	DET
ap-9724	71	91	generated	generate	VERB
ap-9724	71	92	torque	torque	NOUN
ap-9724	71	93	by	by	ADP
ap-9724	71	94	the	the	DET
ap-9724	71	95	bicep	bicep	NOUN
ap-9724	71	96	and	and	CCONJ
ap-9724	71	97	tricep	tricep	ADJ
ap-9724	71	98	pams	pam	NOUN
ap-9724	71	99	and	and	CCONJ
ap-9724	71	100	required	require	VERB
ap-9724	71	101	to	to	PART
ap-9724	71	102	rotate	rotate	VERB
ap-9724	71	103	the	the	DET
ap-9724	71	104	link	link	NOUN
ap-9724	71	105	.	.	PUNCT
ap-9724	72	1	the	the	DET
ap-9724	72	2	torque	torque	NOUN
ap-9724	72	3	equation	equation	NOUN
ap-9724	72	4	is	be	AUX
ap-9724	72	5	given	give	VERB
ap-9724	72	6	as	as	ADP
ap-9724	72	7	:	:	PUNCT
ap-9724	72	8	t	t	NOUN
ap-9724	72	9	=	=	SYM
ap-9724	72	10	(	(	PUNCT
ap-9724	72	11	ft	ft	PROPN
ap-9724	72	12	(	(	PUNCT
ap-9724	72	13	.	.	PUNCT
ap-9724	72	14	)	)	PUNCT
ap-9724	73	1	−	−	NOUN
ap-9724	73	2	fb(.))r	fb(.))r	NOUN
ap-9724	73	3	,	,	PUNCT
ap-9724	73	4	(	(	PUNCT
ap-9724	73	5	2	2	NUM
ap-9724	73	6	)	)	PUNCT
ap-9724	73	7	where	where	SCONJ
ap-9724	73	8	,	,	PUNCT
ap-9724	73	9	r	r	NOUN
ap-9724	73	10	is	be	AUX
ap-9724	73	11	the	the	DET
ap-9724	73	12	radius	radius	NOUN
ap-9724	73	13	of	of	ADP
ap-9724	73	14	the	the	DET
ap-9724	73	15	pulley	pulley	NOUN
ap-9724	73	16	and	and	CCONJ
ap-9724	73	17	ft	ft	PROPN
ap-9724	73	18	(	(	PUNCT
ap-9724	73	19	.	.	PUNCT
ap-9724	73	20	)	)	PUNCT
ap-9724	73	21	,	,	PUNCT
ap-9724	73	22	fb	fb	INTJ
ap-9724	73	23	(	(	PUNCT
ap-9724	73	24	.	.	PUNCT
ap-9724	73	25	)	)	PUNCT
ap-9724	73	26	are	be	AUX
ap-9724	73	27	the	the	DET
ap-9724	73	28	tricep	tricep	ADJ
ap-9724	73	29	and	and	CCONJ
ap-9724	73	30	bicep	bicep	NOUN
ap-9724	73	31	forces	force	NOUN
ap-9724	73	32	that	that	PRON
ap-9724	73	33	are	be	AUX
ap-9724	73	34	generated	generate	VERB
ap-9724	73	35	from	from	ADP
ap-9724	73	36	pams	pams	PROPN
ap-9724	73	37	,	,	PUNCT
ap-9724	73	38	respectively	respectively	ADV
ap-9724	73	39	.	.	PUNCT
ap-9724	74	1	the	the	DET
ap-9724	74	2	mathematical	mathematical	ADJ
ap-9724	74	3	model	model	NOUN
ap-9724	74	4	of	of	ADP
ap-9724	74	5	pams	pams	PROPN
ap-9724	74	6	[	[	X
ap-9724	74	7	5	5	NUM
ap-9724	74	8	]	]	PUNCT
ap-9724	74	9	,	,	PUNCT
ap-9724	74	10	which	which	PRON
ap-9724	74	11	have	have	AUX
ap-9724	74	12	been	be	AUX
ap-9724	74	13	used	use	VERB
ap-9724	74	14	to	to	PART
ap-9724	74	15	find	find	VERB
ap-9724	74	16	ft	ft	X
ap-9724	74	17	(	(	PUNCT
ap-9724	74	18	.	.	PUNCT
ap-9724	74	19	)	)	PUNCT
ap-9724	75	1	and	and	CCONJ
ap-9724	75	2	fb	fb	INTJ
ap-9724	75	3	(	(	PUNCT
ap-9724	75	4	.	.	PUNCT
ap-9724	75	5	)	)	PUNCT
ap-9724	75	6	,	,	PUNCT
ap-9724	75	7	had	have	AUX
ap-9724	75	8	been	be	AUX
ap-9724	75	9	derived	derive	VERB
ap-9724	75	10	as	as	SCONJ
ap-9724	75	11	follows	follow	VERB
ap-9724	75	12	:	:	PUNCT
ap-9724	75	13	ft	ft	X
ap-9724	75	14	(	(	PUNCT
ap-9724	75	15	.	.	PUNCT
ap-9724	75	16	)	)	PUNCT
ap-9724	76	1	=	=	SYM
ap-9724	76	2	−kt(xt)xt	−kt(xt)xt	X
ap-9724	77	1	−	−	NOUN
ap-9724	77	2	bt(ẋt)ẋt	bt(ẋt)ẋt	NOUN
ap-9724	77	3	+	+	CCONJ
ap-9724	77	4	pt	pt	NOUN
ap-9724	77	5	,	,	PUNCT
ap-9724	77	6	(	(	PUNCT
ap-9724	77	7	3	3	X
ap-9724	77	8	)	)	PUNCT
ap-9724	77	9	fb	fb	NOUN
ap-9724	77	10	(	(	PUNCT
ap-9724	77	11	.	.	PUNCT
ap-9724	77	12	)	)	PUNCT
ap-9724	78	1	=	=	NOUN
ap-9724	78	2	−kb(xb)xb	−kb(xb)xb	NOUN
ap-9724	78	3	−	−	NOUN
ap-9724	78	4	bb(ẋb)xb	bb(ẋb)xb	NOUN
ap-9724	78	5	+	+	CCONJ
ap-9724	78	6	pb	pb	ADP
ap-9724	78	7	,	,	PUNCT
ap-9724	78	8	(	(	PUNCT
ap-9724	78	9	4	4	X
ap-9724	78	10	)	)	PUNCT
ap-9724	78	11	where	where	SCONJ
ap-9724	78	12	(	(	PUNCT
ap-9724	78	13	t	t	PROPN
ap-9724	78	14	,	,	PUNCT
ap-9724	78	15	b	b	NOUN
ap-9724	78	16	)	)	PUNCT
ap-9724	78	17	stand	stand	NOUN
ap-9724	78	18	for	for	ADP
ap-9724	78	19	the	the	DET
ap-9724	78	20	tricep	tricep	NOUN
ap-9724	78	21	and	and	CCONJ
ap-9724	78	22	bicep	bicep	NOUN
ap-9724	78	23	pams	pams	PROPN
ap-9724	78	24	,	,	PUNCT
ap-9724	78	25	respectively	respectively	ADV
ap-9724	78	26	.	.	PUNCT
ap-9724	79	1	hence	hence	ADV
ap-9724	79	2	,	,	PUNCT
ap-9724	79	3	kt(xt	kt(xt	NOUN
ap-9724	79	4	)	)	PUNCT
ap-9724	79	5	and	and	CCONJ
ap-9724	79	6	kb(xb	kb(xb	PROPN
ap-9724	79	7	)	)	PUNCT
ap-9724	79	8	are	be	AUX
ap-9724	79	9	the	the	DET
ap-9724	79	10	nonlinear	nonlinear	ADJ
ap-9724	79	11	function	function	NOUN
ap-9724	79	12	coefficients	coefficient	NOUN
ap-9724	79	13	of	of	ADP
ap-9724	79	14	the	the	DET
ap-9724	79	15	spring	spring	NOUN
ap-9724	79	16	of	of	ADP
ap-9724	79	17	the	the	DET
ap-9724	79	18	tricep	tricep	NOUN
ap-9724	79	19	and	and	CCONJ
ap-9724	79	20	bicep	bicep	NOUN
ap-9724	79	21	pam	pam	NOUN
ap-9724	79	22	positions	position	NOUN
ap-9724	79	23	,	,	PUNCT
ap-9724	79	24	respectively	respectively	ADV
ap-9724	79	25	.	.	PUNCT
ap-9724	80	1	bt(ẋt	bt(ẋt	ADV
ap-9724	80	2	)	)	PUNCT
ap-9724	80	3	and	and	CCONJ
ap-9724	80	4	bt(ẋt	bt(ẋt	PROPN
ap-9724	80	5	)	)	PUNCT
ap-9724	80	6	are	be	AUX
ap-9724	80	7	the	the	DET
ap-9724	80	8	nonlinear	nonlinear	ADJ
ap-9724	80	9	function	function	NOUN
ap-9724	80	10	coefficients	coefficient	NOUN
ap-9724	80	11	of	of	ADP
ap-9724	80	12	the	the	DET
ap-9724	80	13	damper	damper	NOUN
ap-9724	80	14	of	of	ADP
ap-9724	80	15	the	the	DET
ap-9724	80	16	tricep	tricep	NOUN
ap-9724	80	17	and	and	CCONJ
ap-9724	80	18	bicep	bicep	NOUN
ap-9724	80	19	pam	pam	NOUN
ap-9724	80	20	velocities	velocity	NOUN
ap-9724	80	21	,	,	PUNCT
ap-9724	80	22	respectively	respectively	ADV
ap-9724	80	23	.	.	PUNCT
ap-9724	81	1	xt	xt	PROPN
ap-9724	82	1	and	and	CCONJ
ap-9724	82	2	xb	xb	PROPN
ap-9724	82	3	are	be	AUX
ap-9724	82	4	the	the	DET
ap-9724	82	5	amount	amount	NOUN
ap-9724	82	6	of	of	ADP
ap-9724	82	7	contraction	contraction	NOUN
ap-9724	82	8	in	in	ADP
ap-9724	82	9	the	the	DET
ap-9724	82	10	bicep	bicep	NOUN
ap-9724	82	11	and	and	CCONJ
ap-9724	82	12	tricep	tricep	NOUN
ap-9724	82	13	pams	pams	PROPN
ap-9724	82	14	,	,	PUNCT
ap-9724	82	15	respectively	respectively	ADV
ap-9724	82	16	.	.	PUNCT
ap-9724	83	1	ẋt	ẋt	PROPN
ap-9724	83	2	and	and	CCONJ
ap-9724	83	3	ẋb	ẋb	PROPN
ap-9724	83	4	are	be	AUX
ap-9724	83	5	the	the	DET
ap-9724	83	6	velocities	velocity	NOUN
ap-9724	83	7	of	of	ADP
ap-9724	83	8	tricep	tricep	NOUN
ap-9724	83	9	and	and	CCONJ
ap-9724	83	10	bicep	bicep	ADJ
ap-9724	83	11	pams	pam	NOUN
ap-9724	83	12	in	in	ADP
ap-9724	83	13	the	the	DET
ap-9724	83	14	contraction	contraction	NOUN
ap-9724	83	15	case	case	NOUN
ap-9724	83	16	,	,	PUNCT
ap-9724	83	17	respectively	respectively	ADV
ap-9724	83	18	.	.	PUNCT
ap-9724	84	1	pt	pt	PROPN
ap-9724	84	2	and	and	CCONJ
ap-9724	84	3	pb	pb	PROPN
ap-9724	84	4	are	be	AUX
ap-9724	84	5	the	the	DET
ap-9724	84	6	pressures	pressure	NOUN
ap-9724	84	7	for	for	ADP
ap-9724	84	8	the	the	DET
ap-9724	84	9	two	two	NUM
ap-9724	84	10	pams	pam	NOUN
ap-9724	84	11	[	[	X
ap-9724	84	12	4	4	NUM
ap-9724	84	13	]	]	PUNCT
ap-9724	84	14	.	.	PUNCT
ap-9724	85	1	by	by	ADP
ap-9724	85	2	taking	take	VERB
ap-9724	85	3	into	into	ADP
ap-9724	85	4	consideration	consideration	NOUN
ap-9724	85	5	i	i	NOUN
ap-9724	85	6	=	=	SYM
ap-9724	85	7	(	(	PUNCT
ap-9724	85	8	t	t	PROPN
ap-9724	85	9	,	,	PUNCT
ap-9724	85	10	b	b	NOUN
ap-9724	85	11	)	)	PUNCT
ap-9724	85	12	,	,	PUNCT
ap-9724	85	13	then	then	ADV
ap-9724	85	14	ki(xi	ki(xi	PROPN
ap-9724	85	15	)	)	PUNCT
ap-9724	85	16	and	and	CCONJ
ap-9724	85	17	bi(ẋi	bi(ẋi	NOUN
ap-9724	85	18	)	)	PUNCT
ap-9724	85	19	are	be	AUX
ap-9724	85	20	given	give	VERB
ap-9724	85	21	by	by	ADP
ap-9724	85	22	:	:	PUNCT
ap-9724	85	23	ki(xi	ki(xi	PROPN
ap-9724	85	24	)	)	PUNCT
ap-9724	86	1	=	=	PUNCT
ap-9724	86	2	k1ixi	k1ixi	NOUN
ap-9724	86	3	2	2	NUM
ap-9724	86	4	+	+	CCONJ
ap-9724	86	5	k2ixi	k2ixi	PROPN
ap-9724	86	6	+	+	CCONJ
ap-9724	86	7	k3i	k3i	PROPN
ap-9724	86	8	,	,	PUNCT
ap-9724	86	9	(	(	PUNCT
ap-9724	86	10	5	5	X
ap-9724	86	11	)	)	PUNCT
ap-9724	86	12	bi(ẋi	bi(ẋi	PROPN
ap-9724	86	13	)	)	PUNCT
ap-9724	86	14	=	=	SYM
ap-9724	86	15	b1iẋ	b1iẋ	NOUN
ap-9724	86	16	2	2	NUM
ap-9724	86	17	i	i	NOUN
ap-9724	86	18	+	+	NUM
ap-9724	86	19	b2iẋi	b2iẋi	PROPN
ap-9724	87	1	+	+	CCONJ
ap-9724	87	2	b3i	b3i	NUM
ap-9724	87	3	,	,	PUNCT
ap-9724	87	4	(	(	PUNCT
ap-9724	87	5	6	6	NUM
ap-9724	87	6	)	)	PUNCT
ap-9724	87	7	where	where	SCONJ
ap-9724	87	8	k1i	k1i	X
ap-9724	87	9	,	,	PUNCT
ap-9724	87	10	k2i	k2i	X
ap-9724	87	11	,	,	PUNCT
ap-9724	87	12	k3i	k3i	PROPN
ap-9724	87	13	,	,	PUNCT
ap-9724	87	14	b1i	b1i	PROPN
ap-9724	87	15	,	,	PUNCT
ap-9724	87	16	b2i	b2i	ADJ
ap-9724	87	17	,	,	PUNCT
ap-9724	87	18	b3i	b3i	NOUN
ap-9724	87	19	are	be	AUX
ap-9724	87	20	constants	constant	NOUN
ap-9724	87	21	.	.	PUNCT
ap-9724	88	1	there	there	PRON
ap-9724	88	2	are	be	VERB
ap-9724	88	3	two	two	NUM
ap-9724	88	4	states	state	NOUN
ap-9724	88	5	of	of	ADP
ap-9724	88	6	work	work	NOUN
ap-9724	88	7	for	for	ADP
ap-9724	88	8	these	these	DET
ap-9724	88	9	constants	constant	NOUN
ap-9724	88	10	,	,	PUNCT
ap-9724	88	11	the	the	DET
ap-9724	88	12	first	first	ADJ
ap-9724	88	13	is	be	AUX
ap-9724	88	14	when	when	SCONJ
ap-9724	88	15	the	the	DET
ap-9724	88	16	pam	pam	NOUN
ap-9724	88	17	is	be	AUX
ap-9724	88	18	inflated	inflate	VERB
ap-9724	88	19	,	,	PUNCT
ap-9724	88	20	and	and	CCONJ
ap-9724	88	21	the	the	DET
ap-9724	88	22	second	second	NOUN
ap-9724	88	23	is	be	AUX
ap-9724	88	24	when	when	SCONJ
ap-9724	88	25	the	the	DET
ap-9724	88	26	pam	pam	NOUN
ap-9724	88	27	is	be	AUX
ap-9724	88	28	in	in	ADP
ap-9724	88	29	the	the	DET
ap-9724	88	30	deflated	deflated	ADJ
ap-9724	88	31	state	state	NOUN
ap-9724	88	32	.	.	PUNCT
ap-9724	89	1	the	the	DET
ap-9724	89	2	state	state	NOUN
ap-9724	89	3	of	of	ADP
ap-9724	89	4	the	the	DET
ap-9724	89	5	bicep	bicep	NOUN
ap-9724	89	6	and	and	CCONJ
ap-9724	89	7	tricep	tricep	NOUN
ap-9724	89	8	pams	pam	NOUN
ap-9724	89	9	can	can	AUX
ap-9724	89	10	be	be	AUX
ap-9724	89	11	explained	explain	VERB
ap-9724	89	12	as	as	SCONJ
ap-9724	89	13	follows	follow	VERB
ap-9724	89	14	:	:	PUNCT
ap-9724	89	15	φ̇	φ̇	ADV
ap-9724	89	16	<	<	X
ap-9724	89	17	0	0	PUNCT
ap-9724	89	18	in	in	ADP
ap-9724	89	19	case	case	NOUN
ap-9724	89	20	of	of	ADP
ap-9724	89	21	{	{	PUNCT
ap-9724	89	22	bicep	bicep	ADV
ap-9724	89	23	inflacted	inflacte	VERB
ap-9724	89	24	,	,	PUNCT
ap-9724	89	25	tricep	tricep	NOUN
ap-9724	89	26	deflated	deflate	VERB
ap-9724	89	27	,	,	PUNCT
ap-9724	89	28	φ̇	φ̇	ADV
ap-9724	89	29	>	>	X
ap-9724	89	30	0	0	PUNCT
ap-9724	90	1	in	in	ADP
ap-9724	90	2	case	case	NOUN
ap-9724	90	3	of	of	ADP
ap-9724	90	4	{	{	PUNCT
ap-9724	90	5	bicep	bicep	NOUN
ap-9724	90	6	deflacted	deflacte	VERB
ap-9724	90	7	,	,	PUNCT
ap-9724	90	8	tricep	tricep	NOUN
ap-9724	90	9	inflated	inflate	VERB
ap-9724	90	10	.	.	PUNCT
ap-9724	91	1	(	(	PUNCT
ap-9724	91	2	7	7	NUM
ap-9724	91	3	)	)	PUNCT
ap-9724	91	4	thus	thus	ADV
ap-9724	91	5	,	,	PUNCT
ap-9724	91	6	the	the	DET
ap-9724	91	7	bicep	bicep	NOUN
ap-9724	91	8	and	and	CCONJ
ap-9724	91	9	tricep	tricep	NOUN
ap-9724	91	10	pam	pam	NOUN
ap-9724	91	11	pressure	pressure	NOUN
ap-9724	91	12	equations	equation	NOUN
ap-9724	91	13	can	can	AUX
ap-9724	91	14	be	be	AUX
ap-9724	91	15	written	write	VERB
ap-9724	91	16	as	as	ADP
ap-9724	91	17	:	:	PUNCT
ap-9724	91	18	pt	pt	PROPN
ap-9724	91	19	=	=	SYM
ap-9724	91	20	p0	p0	PROPN
ap-9724	91	21	t	t	PROPN
ap-9724	91	22	+	+	CCONJ
ap-9724	91	23	∆p	∆p	PROPN
ap-9724	91	24	,	,	PUNCT
ap-9724	91	25	(	(	PUNCT
ap-9724	91	26	8)	8)	NUM
ap-9724	91	27	pb	pb	ADP
ap-9724	91	28	=	=	PUNCT
ap-9724	91	29	p0b	p0b	PROPN
ap-9724	91	30	+	+	CCONJ
ap-9724	91	31	∆p	∆p	PROPN
ap-9724	91	32	,	,	PUNCT
ap-9724	91	33	(	(	PUNCT
ap-9724	91	34	9	9	X
ap-9724	91	35	)	)	PUNCT
ap-9724	91	36	where	where	SCONJ
ap-9724	91	37	p0	p0	NOUN
ap-9724	91	38	t	t	PROPN
ap-9724	91	39	and	and	CCONJ
ap-9724	91	40	p0b	p0b	NOUN
ap-9724	91	41	are	be	AUX
ap-9724	91	42	considered	consider	VERB
ap-9724	91	43	to	to	PART
ap-9724	91	44	be	be	AUX
ap-9724	91	45	the	the	DET
ap-9724	91	46	initial	initial	ADJ
ap-9724	91	47	pressures	pressure	NOUN
ap-9724	91	48	.	.	PUNCT
ap-9724	92	1	∆p	∆p	PROPN
ap-9724	92	2	is	be	AUX
ap-9724	92	3	the	the	DET
ap-9724	92	4	difference	difference	NOUN
ap-9724	92	5	between	between	ADP
ap-9724	92	6	the	the	DET
ap-9724	92	7	two	two	NUM
ap-9724	92	8	pressures	pressure	NOUN
ap-9724	92	9	of	of	ADP
ap-9724	92	10	the	the	DET
ap-9724	92	11	tricep	tricep	NOUN
ap-9724	92	12	and	and	CCONJ
ap-9724	92	13	bicep	bicep	NOUN
ap-9724	92	14	which	which	PRON
ap-9724	92	15	would	would	AUX
ap-9724	92	16	be	be	AUX
ap-9724	92	17	the	the	DET
ap-9724	92	18	system	system	NOUN
ap-9724	92	19	’s	’s	PART
ap-9724	92	20	control	control	NOUN
ap-9724	92	21	input	input	NOUN
ap-9724	92	22	.	.	PUNCT
ap-9724	93	1	now	now	ADV
ap-9724	93	2	,	,	PUNCT
ap-9724	93	3	xt	xt	PROPN
ap-9724	93	4	and	and	CCONJ
ap-9724	93	5	xb	xb	PROPN
ap-9724	93	6	are	be	AUX
ap-9724	93	7	the	the	DET
ap-9724	93	8	amounts	amount	NOUN
ap-9724	93	9	of	of	ADP
ap-9724	93	10	muscle	muscle	NOUN
ap-9724	93	11	contraction	contraction	NOUN
ap-9724	93	12	calculated	calculate	VERB
ap-9724	93	13	as	as	ADP
ap-9724	93	14	:	:	PUNCT
ap-9724	93	15	xt	xt	PROPN
ap-9724	93	16	=	=	SYM
ap-9724	93	17	(	(	PUNCT
ap-9724	93	18	π	π	PROPN
ap-9724	93	19	2	2	NUM
ap-9724	93	20	+	+	CCONJ
ap-9724	93	21	φ)r	φ)r	NOUN
ap-9724	93	22	,	,	PUNCT
ap-9724	93	23	ẋt	ẋt	PROPN
ap-9724	93	24	=	=	SYM
ap-9724	93	25	rφ̇	rφ̇	PROPN
ap-9724	93	26	,	,	PUNCT
ap-9724	93	27	(	(	PUNCT
ap-9724	93	28	10	10	NUM
ap-9724	93	29	)	)	PUNCT
ap-9724	93	30	xb	xb	X
ap-9724	94	1	=	=	PUNCT
ap-9724	94	2	(	(	PUNCT
ap-9724	94	3	π	π	PROPN
ap-9724	94	4	2	2	NUM
ap-9724	94	5	−	−	NOUN
ap-9724	94	6	φ)r	φ)r	NOUN
ap-9724	94	7	,	,	PUNCT
ap-9724	94	8	ẋb	ẋb	PROPN
ap-9724	94	9	=	=	SYM
ap-9724	94	10	−rφ̇	−rφ̇	PROPN
ap-9724	94	11	,	,	PUNCT
ap-9724	94	12	(	(	PUNCT
ap-9724	94	13	11	11	NUM
ap-9724	94	14	)	)	PUNCT
ap-9724	94	15	where	where	SCONJ
ap-9724	94	16	π	π	PROPN
ap-9724	94	17	2	2	NUM
ap-9724	94	18	is	be	AUX
ap-9724	94	19	presumed	presume	VERB
ap-9724	94	20	to	to	PART
ap-9724	94	21	be	be	AUX
ap-9724	94	22	the	the	DET
ap-9724	94	23	null	null	ADJ
ap-9724	94	24	position	position	NOUN
ap-9724	94	25	at	at	ADP
ap-9724	94	26	which	which	PRON
ap-9724	94	27	the	the	DET
ap-9724	94	28	value	value	NOUN
ap-9724	94	29	of	of	ADP
ap-9724	94	30	xt	xt	PROPN
ap-9724	94	31	and	and	CCONJ
ap-9724	94	32	xb	xb	PROPN
ap-9724	94	33	is	be	AUX
ap-9724	94	34	zero	zero	NUM
ap-9724	94	35	.	.	PUNCT
ap-9724	95	1	now	now	ADV
ap-9724	95	2	,	,	PUNCT
ap-9724	95	3	substitute	substitute	NOUN
ap-9724	95	4	equations	equation	NOUN
ap-9724	95	5	(	(	PUNCT
ap-9724	95	6	8)	8)	NUM
ap-9724	95	7	and	and	CCONJ
ap-9724	95	8	(	(	PUNCT
ap-9724	95	9	9	9	NUM
ap-9724	95	10	)	)	PUNCT
ap-9724	95	11	in	in	ADP
ap-9724	95	12	equations	equation	NOUN
ap-9724	95	13	(	(	PUNCT
ap-9724	95	14	3	3	NUM
ap-9724	95	15	)	)	PUNCT
ap-9724	95	16	and	and	CCONJ
ap-9724	95	17	(	(	PUNCT
ap-9724	95	18	4	4	NUM
ap-9724	95	19	)	)	PUNCT
ap-9724	95	20	,	,	PUNCT
ap-9724	95	21	then	then	ADV
ap-9724	95	22	substitute	substitute	VERB
ap-9724	95	23	the	the	DET
ap-9724	95	24	resulting	result	VERB
ap-9724	95	25	two	two	NUM
ap-9724	95	26	equations	equation	NOUN
ap-9724	95	27	in	in	ADP
ap-9724	95	28	equation	equation	NOUN
ap-9724	95	29	(	(	PUNCT
ap-9724	95	30	2	2	NUM
ap-9724	95	31	)	)	PUNCT
ap-9724	95	32	,	,	PUNCT
ap-9724	95	33	and	and	CCONJ
ap-9724	95	34	the	the	DET
ap-9724	95	35	resulting	result	VERB
ap-9724	95	36	equation	equation	NOUN
ap-9724	95	37	is	be	AUX
ap-9724	95	38	as	as	SCONJ
ap-9724	95	39	follows	follow	VERB
ap-9724	95	40	:	:	PUNCT
ap-9724	96	1	t	t	NOUN
ap-9724	96	2	=	=	SYM
ap-9724	96	3	(	(	PUNCT
ap-9724	96	4	−	−	PROPN
ap-9724	96	5	kt(xt)xt	kt(xt)xt	PROPN
ap-9724	96	6	−	−	VERB
ap-9724	96	7	bt(ẋt)ẋt	bt(ẋt)ẋt	ADJ
ap-9724	96	8	+	+	NUM
ap-9724	96	9	p0	p0	NOUN
ap-9724	96	10	t	t	NOUN
ap-9724	96	11	+	+	CCONJ
ap-9724	96	12	∆p	∆p	PROPN
ap-9724	96	13	+	+	CCONJ
ap-9724	96	14	kb(xb)xb	kb(xb)xb	PROPN
ap-9724	96	15	+	+	CCONJ
ap-9724	96	16	bb(xb)xb	bb(xb)xb	NOUN
ap-9724	96	17	−	−	NOUN
ap-9724	96	18	p0b	p0b	NOUN
ap-9724	96	19	+	+	CCONJ
ap-9724	96	20	∆p	∆p	PROPN
ap-9724	96	21	)	)	PUNCT
ap-9724	96	22	r.	r.	PROPN
ap-9724	96	23	(	(	PUNCT
ap-9724	96	24	12	12	NUM
ap-9724	96	25	)	)	PUNCT
ap-9724	96	26	then	then	ADV
ap-9724	96	27	,	,	PUNCT
ap-9724	96	28	make	make	VERB
ap-9724	96	29	the	the	DET
ap-9724	96	30	substitution	substitution	NOUN
ap-9724	96	31	of	of	ADP
ap-9724	96	32	both	both	DET
ap-9724	96	33	equations	equation	NOUN
ap-9724	96	34	(	(	PUNCT
ap-9724	96	35	5	5	NUM
ap-9724	96	36	)	)	PUNCT
ap-9724	96	37	and	and	CCONJ
ap-9724	96	38	(	(	PUNCT
ap-9724	96	39	6	6	NUM
ap-9724	96	40	)	)	PUNCT
ap-9724	96	41	in	in	ADP
ap-9724	96	42	equation	equation	NOUN
ap-9724	96	43	(	(	PUNCT
ap-9724	96	44	12	12	NUM
ap-9724	96	45	):	):	PUNCT
ap-9724	96	46	t	t	NOUN
ap-9724	96	47	=	=	SYM
ap-9724	96	48	(	(	PUNCT
ap-9724	96	49	−	−	PROPN
ap-9724	96	50	(	(	PUNCT
ap-9724	96	51	k1tx	k1tx	PROPN
ap-9724	96	52	2	2	NUM
ap-9724	96	53	t	t	NOUN
ap-9724	96	54	+	+	CCONJ
ap-9724	96	55	k2txt	k2txt	PROPN
ap-9724	97	1	+	+	CCONJ
ap-9724	98	1	k3t)xt	k3t)xt	PROPN
ap-9724	98	2	−	−	PROPN
ap-9724	98	3	(	(	PUNCT
ap-9724	98	4	b1tẋ	b1tẋ	NOUN
ap-9724	98	5	2	2	NUM
ap-9724	98	6	t	t	NOUN
ap-9724	98	7	+	+	CCONJ
ap-9724	98	8	b2tẋt	b2tẋt	NOUN
ap-9724	98	9	+	+	CCONJ
ap-9724	98	10	b3t)ẋt	b3t)ẋt	NOUN
ap-9724	98	11	+	+	CCONJ
ap-9724	98	12	p0	p0	NOUN
ap-9724	98	13	t	t	NOUN
ap-9724	98	14	+	+	CCONJ
ap-9724	98	15	∆p	∆p	PROPN
ap-9724	98	16	+	+	CCONJ
ap-9724	98	17	(	(	PUNCT
ap-9724	98	18	k1bx2	k1bx2	NOUN
ap-9724	98	19	b	b	NOUN
ap-9724	98	20	+	+	CCONJ
ap-9724	98	21	k2bxb	k2bxb	VERB
ap-9724	99	1	+	+	NUM
ap-9724	99	2	k3b)xb	k3b)xb	NOUN
ap-9724	99	3	+	+	CCONJ
ap-9724	99	4	(	(	PUNCT
ap-9724	99	5	b1bẋ2	b1bẋ2	PROPN
ap-9724	99	6	b	b	PROPN
ap-9724	99	7	+	+	CCONJ
ap-9724	99	8	b2bẋb	b2bẋb	NOUN
ap-9724	99	9	+	+	CCONJ
ap-9724	99	10	b3b)ẋb	b3b)ẋb	NOUN
ap-9724	99	11	−	−	PROPN
ap-9724	99	12	p0b	p0b	NOUN
ap-9724	99	13	+	+	CCONJ
ap-9724	99	14	∆p	∆p	PROPN
ap-9724	99	15	)	)	PUNCT
ap-9724	99	16	r.	r.	PROPN
ap-9724	99	17	(	(	PUNCT
ap-9724	99	18	13	13	NUM
ap-9724	99	19	)	)	PUNCT
ap-9724	99	20	finally	finally	ADV
ap-9724	99	21	,	,	PUNCT
ap-9724	99	22	substitute	substitute	ADJ
ap-9724	99	23	equations	equation	NOUN
ap-9724	99	24	(	(	PUNCT
ap-9724	99	25	10	10	NUM
ap-9724	99	26	)	)	PUNCT
ap-9724	99	27	and	and	CCONJ
ap-9724	99	28	(	(	PUNCT
ap-9724	99	29	11	11	NUM
ap-9724	99	30	)	)	PUNCT
ap-9724	99	31	in	in	ADP
ap-9724	99	32	equation	equation	NOUN
ap-9724	99	33	(	(	PUNCT
ap-9724	99	34	13	13	NUM
ap-9724	99	35	)	)	PUNCT
ap-9724	99	36	,	,	PUNCT
ap-9724	99	37	then	then	ADV
ap-9724	99	38	substitute	substitute	VERB
ap-9724	99	39	the	the	DET
ap-9724	99	40	resulting	result	VERB
ap-9724	99	41	equation	equation	NOUN
ap-9724	99	42	in	in	ADP
ap-9724	99	43	equation	equation	NOUN
ap-9724	99	44	(	(	PUNCT
ap-9724	99	45	1	1	NUM
ap-9724	99	46	)	)	PUNCT
ap-9724	99	47	,	,	PUNCT
ap-9724	99	48	and	and	CCONJ
ap-9724	99	49	the	the	DET
ap-9724	99	50	resulting	result	VERB
ap-9724	99	51	equation	equation	NOUN
ap-9724	99	52	is	be	AUX
ap-9724	99	53	as	as	SCONJ
ap-9724	99	54	follows	follow	VERB
ap-9724	99	55	:	:	PUNCT
ap-9724	99	56	φ̈	φ̈	PUNCT
ap-9724	99	57	=	=	PUNCT
ap-9724	99	58	δ1φ3	δ1φ3	VERB
ap-9724	99	59	+	+	PUNCT
ap-9724	99	60	δ2φ2	δ2φ2	X
ap-9724	99	61	+	+	ADJ
ap-9724	99	62	δ3φ	δ3φ	ADV
ap-9724	99	63	+	+	CCONJ
ap-9724	99	64	δ4φ̇3	δ4φ̇3	PROPN
ap-9724	99	65	+	+	CCONJ
ap-9724	99	66	δ5φ̇2	δ5φ̇2	NOUN
ap-9724	99	67	+	+	CCONJ
ap-9724	99	68	δ6φ̇	δ6φ̇	ADJ
ap-9724	99	69	+	+	NUM
ap-9724	99	70	δ7	δ7	NOUN
ap-9724	99	71	cos	cos	PROPN
ap-9724	99	72	φ	φ	PROPN
ap-9724	99	73	+	+	CCONJ
ap-9724	99	74	δ8	δ8	NOUN
ap-9724	99	75	+	+	CCONJ
ap-9724	99	76	bu	bu	PROPN
ap-9724	99	77	,	,	PUNCT
ap-9724	99	78	u	u	NOUN
ap-9724	99	79	=	=	PROPN
ap-9724	99	80	∆p	∆p	PROPN
ap-9724	99	81	,	,	PUNCT
ap-9724	99	82	δ1	δ1	NOUN
ap-9724	99	83	=	=	SYM
ap-9724	99	84	−r3(k1b	−r3(k1b	PROPN
ap-9724	100	1	+	+	NUM
ap-9724	101	1	k1	k1	PROPN
ap-9724	101	2	t	t	PROPN
ap-9724	101	3	)	)	PUNCT
ap-9724	101	4	ml2	ml2	NOUN
ap-9724	101	5	+	+	CCONJ
ap-9724	101	6	i	i	PRON
ap-9724	101	7	,	,	PUNCT
ap-9724	101	8	δ2	δ2	VERB
ap-9724	101	9	=	=	SYM
ap-9724	101	10	3πr4	3πr4	NUM
ap-9724	101	11	2	2	NUM
ap-9724	101	12	(	(	PUNCT
ap-9724	101	13	k1b	k1b	PROPN
ap-9724	101	14	−	−	PROPN
ap-9724	101	15	k1	k1	PROPN
ap-9724	101	16	t	t	PROPN
ap-9724	101	17	)	)	PUNCT
ap-9724	101	18	+	+	NUM
ap-9724	101	19	r3(k2b	r3(k2b	PROPN
ap-9724	101	20	−	−	PROPN
ap-9724	101	21	k2	k2	PROPN
ap-9724	101	22	t	t	PROPN
ap-9724	101	23	)	)	PUNCT
ap-9724	101	24	ml2	ml2	PROPN
ap-9724	102	1	+	+	CCONJ
ap-9724	102	2	i	i	PRON
ap-9724	102	3	,	,	PUNCT
ap-9724	102	4	δ3	δ3	PROPN
ap-9724	102	5	=	=	SYM
ap-9724	102	6	−	−	PROPN
ap-9724	102	7	3πr4	3πr4	NUM
ap-9724	102	8	2	2	NUM
ap-9724	102	9	(	(	PUNCT
ap-9724	102	10	k1b	k1b	PROPN
ap-9724	102	11	−	−	PROPN
ap-9724	102	12	k1	k1	PROPN
ap-9724	102	13	t	t	PROPN
ap-9724	102	14	)	)	PUNCT
ap-9724	102	15	ml2	ml2	NOUN
ap-9724	103	1	+	+	CCONJ
ap-9724	103	2	i	i	PRON
ap-9724	103	3	+	+	NUM
ap-9724	103	4	πr3	πr3	NOUN
ap-9724	103	5	(	(	PUNCT
ap-9724	103	6	k2b	k2b	X
ap-9724	103	7	+	+	CCONJ
ap-9724	103	8	k2	k2	PROPN
ap-9724	103	9	t	t	PROPN
ap-9724	103	10	)	)	PUNCT
ap-9724	103	11	+	+	CCONJ
ap-9724	104	1	r2(k3b	r2(k3b	NOUN
ap-9724	104	2	+	+	CCONJ
ap-9724	104	3	k3	k3	PROPN
ap-9724	104	4	t	t	PROPN
ap-9724	104	5	)	)	PUNCT
ap-9724	104	6	ml2	ml2	PROPN
ap-9724	104	7	+	+	CCONJ
ap-9724	104	8	i	i	PRON
ap-9724	104	9	,	,	PUNCT
ap-9724	104	10	δ4	δ4	NOUN
ap-9724	104	11	=	=	SYM
ap-9724	104	12	−r4(b1b	−r4(b1b	PUNCT
ap-9724	104	13	+	+	CCONJ
ap-9724	104	14	b1	b1	PROPN
ap-9724	104	15	t	t	PROPN
ap-9724	104	16	)	)	PUNCT
ap-9724	104	17	ml2	ml2	PROPN
ap-9724	105	1	+	+	CCONJ
ap-9724	105	2	i	i	NOUN
ap-9724	105	3	,	,	PUNCT
ap-9724	105	4	δ5	δ5	NOUN
ap-9724	105	5	=	=	SYM
ap-9724	105	6	r3(b2b	r3(b2b	NOUN
ap-9724	105	7	−	−	PROPN
ap-9724	105	8	b2	b2	PROPN
ap-9724	105	9	t	t	PROPN
ap-9724	105	10	)	)	PUNCT
ap-9724	105	11	ml2	ml2	NOUN
ap-9724	106	1	+	+	CCONJ
ap-9724	106	2	i	i	PRON
ap-9724	106	3	,	,	PUNCT
ap-9724	106	4	δ6	δ6	NOUN
ap-9724	106	5	=	=	SYM
ap-9724	106	6	−r2(b3b	−r2(b3b	NUM
ap-9724	106	7	−	−	PROPN
ap-9724	106	8	b3	b3	PROPN
ap-9724	106	9	t	t	PROPN
ap-9724	106	10	)	)	PUNCT
ap-9724	106	11	ml2	ml2	NOUN
ap-9724	107	1	+	+	CCONJ
ap-9724	107	2	i	i	PROPN
ap-9724	107	3	,	,	PUNCT
ap-9724	107	4	δ7	δ7	NOUN
ap-9724	107	5	=	=	SYM
ap-9724	107	6	glm	glm	PROPN
ap-9724	107	7	ml2	ml2	PROPN
ap-9724	107	8	+	+	CCONJ
ap-9724	107	9	i	i	PRON
ap-9724	107	10	,	,	PUNCT
ap-9724	107	11	δ8	δ8	NOUN
ap-9724	107	12	=	=	SYM
ap-9724	107	13	r(p0b	r(p0b	NOUN
ap-9724	107	14	−	−	PROPN
ap-9724	107	15	p0	p0	NOUN
ap-9724	107	16	t	t	PROPN
ap-9724	107	17	)	)	PUNCT
ap-9724	107	18	+	+	CCONJ
ap-9724	107	19	πr4	πr4	NOUN
ap-9724	107	20	8	8	NUM
ap-9724	107	21	(	(	PUNCT
ap-9724	107	22	k1	k1	PROPN
ap-9724	107	23	t	t	PROPN
ap-9724	107	24	−	−	PROPN
ap-9724	107	25	k1b	k1b	PROPN
ap-9724	107	26	)	)	PUNCT
ap-9724	107	27	ml2	ml2	NOUN
ap-9724	108	1	+	+	CCONJ
ap-9724	108	2	i	i	PRON
ap-9724	108	3	+	+	CCONJ
ap-9724	108	4	πr3	πr3	VERB
ap-9724	108	5	4	4	NUM
ap-9724	108	6	(	(	PUNCT
ap-9724	108	7	k2	k2	PROPN
ap-9724	108	8	t	t	PROPN
ap-9724	108	9	−	−	PROPN
ap-9724	108	10	k2b	k2b	PROPN
ap-9724	108	11	)	)	PUNCT
ap-9724	108	12	+	+	NUM
ap-9724	108	13	πr2	πr2	NOUN
ap-9724	108	14	2	2	NUM
ap-9724	108	15	(	(	PUNCT
ap-9724	108	16	k3	k3	PROPN
ap-9724	109	1	t	t	PROPN
ap-9724	109	2	−	−	PROPN
ap-9724	109	3	k3b	k3b	PROPN
ap-9724	109	4	)	)	PUNCT
ap-9724	109	5	ml2	ml2	NOUN
ap-9724	109	6	+	+	CCONJ
ap-9724	109	7	i	i	PROPN
ap-9724	109	8	,	,	PUNCT
ap-9724	109	9	b	b	X
ap-9724	109	10	=	=	SYM
ap-9724	109	11	2r	2r	NUM
ap-9724	109	12	ml2	ml2	NOUN
ap-9724	110	1	+	+	CCONJ
ap-9724	110	2	i	i	PROPN
ap-9724	110	3	.	.	PUNCT
ap-9724	111	1			NOUN
ap-9724	111	2	(	(	PUNCT
ap-9724	111	3	14	14	NUM
ap-9724	111	4	)	)	PUNCT
ap-9724	111	5	521	521	NUM
ap-9724	111	6	a.	a.	PROPN
ap-9724	111	7	f.	f.	PROPN
ap-9724	111	8	hasan	hasan	PROPN
ap-9724	111	9	,	,	PUNCT
ap-9724	111	10	h.	h.	PROPN
ap-9724	111	11	a.	a.	PROPN
ap-9724	111	12	raheem	raheem	PROPN
ap-9724	111	13	,	,	PUNCT
ap-9724	111	14	r.	r.	PROPN
ap-9724	111	15	hussein	hussein	PROPN
ap-9724	111	16	acta	acta	PROPN
ap-9724	111	17	polytechnica	polytechnica	PROPN
ap-9724	111	18	the	the	DET
ap-9724	111	19	system	system	NOUN
ap-9724	111	20	can	can	AUX
ap-9724	111	21	be	be	AUX
ap-9724	111	22	represented	represent	VERB
ap-9724	111	23	as	as	SCONJ
ap-9724	111	24	follows	follow	VERB
ap-9724	111	25	,	,	PUNCT
ap-9724	111	26	taking	take	VERB
ap-9724	111	27	the	the	DET
ap-9724	111	28	uncertainty	uncertainty	NOUN
ap-9724	111	29	into	into	ADP
ap-9724	111	30	consideration	consideration	NOUN
ap-9724	111	31	:	:	PUNCT
ap-9724	111	32	φ̈	φ̈	X
ap-9724	111	33	=	=	SYM
ap-9724	111	34	f0	f0	PROPN
ap-9724	111	35	+	+	CCONJ
ap-9724	111	36	∆f	∆f	PROPN
ap-9724	111	37	+	+	CCONJ
ap-9724	111	38	bu	bu	PROPN
ap-9724	111	39	,	,	PUNCT
ap-9724	111	40	f0	f0	PROPN
ap-9724	111	41	=	=	PUNCT
ap-9724	111	42	δ1φ3	δ1φ3	VERB
ap-9724	111	43	+	+	PUNCT
ap-9724	111	44	δ2φ2	δ2φ2	X
ap-9724	111	45	+	+	ADJ
ap-9724	111	46	δ3φ	δ3φ	ADV
ap-9724	112	1	+	+	CCONJ
ap-9724	112	2	δ4φ̇3	δ4φ̇3	PROPN
ap-9724	112	3	+	+	CCONJ
ap-9724	112	4	δ5φ̇2	δ5φ̇2	NOUN
ap-9724	112	5	+	+	CCONJ
ap-9724	112	6	δ6φ̇	δ6φ̇	ADJ
ap-9724	112	7	+	+	NUM
ap-9724	112	8	δ7	δ7	NOUN
ap-9724	112	9	cos	cos	PROPN
ap-9724	112	10	φ	φ	PROPN
ap-9724	112	11	+	+	CCONJ
ap-9724	112	12	δ8	δ8	NOUN
ap-9724	112	13	,	,	PUNCT
ap-9724	112	14	∆f	∆f	NOUN
ap-9724	112	15	=	=	SYM
ap-9724	112	16	∆δ1φ3	∆δ1φ3	NOUN
ap-9724	112	17	+	+	CCONJ
ap-9724	112	18	∆δ2φ2	∆δ2φ2	NOUN
ap-9724	112	19	+	+	CCONJ
ap-9724	112	20	∆δ3φ	∆δ3φ	VERB
ap-9724	112	21	+	+	CCONJ
ap-9724	112	22	∆δ4φ̇3	∆δ4φ̇3	PROPN
ap-9724	112	23	+	+	CCONJ
ap-9724	112	24	∆δ5φ̇2	∆δ5φ̇2	PROPN
ap-9724	112	25	+	+	CCONJ
ap-9724	112	26	∆δ6φ̇	∆δ6φ̇	ADJ
ap-9724	112	27	+	+	CCONJ
ap-9724	112	28	∆δ7	∆δ7	PROPN
ap-9724	112	29	cos	cos	PROPN
ap-9724	112	30	φ	φ	PROPN
ap-9724	112	31	+	+	PROPN
ap-9724	112	32	∆δ8	∆δ8	PROPN
ap-9724	112	33	,	,	PUNCT
ap-9724	112	34			NOUN
ap-9724	112	35	(	(	PUNCT
ap-9724	112	36	15	15	NUM
ap-9724	112	37	)	)	PUNCT
ap-9724	112	38	where	where	SCONJ
ap-9724	112	39	δi	δi	PROPN
ap-9724	112	40	is	be	AUX
ap-9724	112	41	the	the	DET
ap-9724	112	42	nominal	nominal	ADJ
ap-9724	112	43	values	value	NOUN
ap-9724	112	44	and	and	CCONJ
ap-9724	112	45	∆δi	∆δi	VERB
ap-9724	112	46	represent	represent	VERB
ap-9724	112	47	the	the	DET
ap-9724	112	48	uncertainty	uncertainty	NOUN
ap-9724	112	49	in	in	ADP
ap-9724	112	50	the	the	DET
ap-9724	112	51	value	value	NOUN
ap-9724	112	52	of	of	ADP
ap-9724	112	53	the	the	DET
ap-9724	112	54	system	system	NOUN
ap-9724	112	55	parameters	parameter	NOUN
ap-9724	112	56	.	.	PUNCT
ap-9724	113	1	3	3	X
ap-9724	113	2	.	.	X
ap-9724	113	3	control	control	PROPN
ap-9724	113	4	theory	theory	NOUN
ap-9724	113	5	two	two	NUM
ap-9724	113	6	control	control	NOUN
ap-9724	113	7	theories	theory	NOUN
ap-9724	113	8	have	have	AUX
ap-9724	113	9	been	be	AUX
ap-9724	113	10	used	use	VERB
ap-9724	113	11	in	in	ADP
ap-9724	113	12	this	this	DET
ap-9724	113	13	work	work	NOUN
ap-9724	113	14	to	to	PART
ap-9724	113	15	control	control	VERB
ap-9724	113	16	the	the	DET
ap-9724	113	17	system	system	NOUN
ap-9724	113	18	with	with	ADP
ap-9724	113	19	a	a	DET
ap-9724	113	20	modern	modern	ADJ
ap-9724	113	21	optimisation	optimisation	NOUN
ap-9724	113	22	algorithm	algorithm	NOUN
ap-9724	113	23	to	to	PART
ap-9724	113	24	obtain	obtain	VERB
ap-9724	113	25	the	the	DET
ap-9724	113	26	optimal	optimal	ADJ
ap-9724	113	27	parameter	parameter	NOUN
ap-9724	113	28	for	for	ADP
ap-9724	113	29	the	the	DET
ap-9724	113	30	controllers	controller	NOUN
ap-9724	113	31	.	.	PUNCT
ap-9724	114	1	3.1	3.1	NUM
ap-9724	114	2	.	.	X
ap-9724	114	3	sliding	slide	VERB
ap-9724	114	4	mode	mode	NOUN
ap-9724	114	5	control	control	NOUN
ap-9724	114	6	(	(	PUNCT
ap-9724	114	7	smc	smc	PROPN
ap-9724	114	8	)	)	PUNCT
ap-9724	114	9	algorithm	algorithm	NOUN
ap-9724	114	10	in	in	ADP
ap-9724	114	11	sliding	slide	VERB
ap-9724	114	12	mode	mode	NOUN
ap-9724	114	13	control	control	NOUN
ap-9724	114	14	,	,	PUNCT
ap-9724	114	15	the	the	DET
ap-9724	114	16	control	control	NOUN
ap-9724	114	17	signal	signal	NOUN
ap-9724	114	18	can	can	AUX
ap-9724	114	19	typically	typically	ADV
ap-9724	114	20	be	be	AUX
ap-9724	114	21	broken	break	VERB
ap-9724	114	22	down	down	ADP
ap-9724	114	23	into	into	ADP
ap-9724	114	24	two	two	NUM
ap-9724	114	25	parts	part	NOUN
ap-9724	114	26	.	.	PUNCT
ap-9724	115	1	the	the	DET
ap-9724	115	2	first	first	ADJ
ap-9724	115	3	part	part	NOUN
ap-9724	115	4	is	be	AUX
ap-9724	115	5	known	know	VERB
ap-9724	115	6	as	as	ADP
ap-9724	115	7	“	"	PUNCT
ap-9724	115	8	the	the	DET
ap-9724	115	9	equivalent	equivalent	ADJ
ap-9724	115	10	control	control	NOUN
ap-9724	115	11	”	"	PUNCT
ap-9724	115	12	,	,	PUNCT
ap-9724	115	13	which	which	PRON
ap-9724	115	14	represents	represent	VERB
ap-9724	115	15	both	both	CCONJ
ap-9724	115	16	the	the	DET
ap-9724	115	17	sliding	slide	VERB
ap-9724	115	18	surface	surface	NOUN
ap-9724	115	19	and	and	CCONJ
ap-9724	115	20	the	the	DET
ap-9724	115	21	system	system	NOUN
ap-9724	115	22	dynamics	dynamic	NOUN
ap-9724	115	23	.	.	PUNCT
ap-9724	116	1	the	the	DET
ap-9724	116	2	other	other	ADJ
ap-9724	116	3	part	part	NOUN
ap-9724	116	4	is	be	AUX
ap-9724	116	5	referred	refer	VERB
ap-9724	116	6	to	to	ADP
ap-9724	116	7	as	as	ADP
ap-9724	116	8	“	"	PUNCT
ap-9724	116	9	the	the	DET
ap-9724	116	10	switching	switch	VERB
ap-9724	116	11	control	control	NOUN
ap-9724	116	12	”	"	PUNCT
ap-9724	116	13	,	,	PUNCT
ap-9724	116	14	which	which	PRON
ap-9724	116	15	maintains	maintain	VERB
ap-9724	116	16	the	the	DET
ap-9724	116	17	system	system	NOUN
ap-9724	116	18	dynamics	dynamic	NOUN
ap-9724	116	19	on	on	ADP
ap-9724	116	20	the	the	DET
ap-9724	116	21	sliding	slide	VERB
ap-9724	116	22	surface	surface	NOUN
ap-9724	117	1	[	[	X
ap-9724	117	2	16	16	NUM
ap-9724	117	3	,	,	PUNCT
ap-9724	117	4	17	17	NUM
ap-9724	117	5	]	]	PUNCT
ap-9724	117	6	.	.	PUNCT
ap-9724	118	1	firstly	firstly	ADV
ap-9724	118	2	,	,	PUNCT
ap-9724	118	3	the	the	DET
ap-9724	118	4	sliding	slide	VERB
ap-9724	118	5	surface	surface	NOUN
ap-9724	118	6	could	could	AUX
ap-9724	118	7	be	be	AUX
ap-9724	118	8	defined	define	VERB
ap-9724	118	9	as	as	ADP
ap-9724	118	10	:	:	PUNCT
ap-9724	118	11	s	s	PART
ap-9724	118	12	=	=	X
ap-9724	118	13	ce	ce	PROPN
ap-9724	118	14	+	+	X
ap-9724	118	15	ė	ė	ADJ
ap-9724	118	16	,	,	PUNCT
ap-9724	118	17	(	(	PUNCT
ap-9724	118	18	16	16	NUM
ap-9724	118	19	)	)	PUNCT
ap-9724	118	20	where	where	SCONJ
ap-9724	118	21	s	s	PRON
ap-9724	118	22	and	and	CCONJ
ap-9724	118	23	c	c	PROPN
ap-9724	118	24	are	be	AUX
ap-9724	118	25	the	the	DET
ap-9724	118	26	sliding	slide	VERB
ap-9724	118	27	surface	surface	NOUN
ap-9724	118	28	and	and	CCONJ
ap-9724	118	29	the	the	DET
ap-9724	118	30	sliding	slide	VERB
ap-9724	118	31	coefficient	coefficient	NOUN
ap-9724	118	32	,	,	PUNCT
ap-9724	118	33	respectively	respectively	ADV
ap-9724	118	34	,	,	PUNCT
ap-9724	118	35	whereas	whereas	SCONJ
ap-9724	118	36	e	e	NOUN
ap-9724	118	37	and	and	CCONJ
ap-9724	118	38	ė	ė	PROPN
ap-9724	118	39	can	can	AUX
ap-9724	118	40	be	be	AUX
ap-9724	118	41	defined	define	VERB
ap-9724	118	42	as	as	ADP
ap-9724	118	43	the	the	DET
ap-9724	118	44	tracking	tracking	NOUN
ap-9724	118	45	error	error	NOUN
ap-9724	118	46	and	and	CCONJ
ap-9724	118	47	the	the	DET
ap-9724	118	48	tracking	tracking	NOUN
ap-9724	118	49	error	error	NOUN
ap-9724	118	50	derivative	derivative	NOUN
ap-9724	118	51	,	,	PUNCT
ap-9724	118	52	respectively	respectively	ADV
ap-9724	118	53	.	.	PUNCT
ap-9724	119	1	these	these	DET
ap-9724	119	2	two	two	NUM
ap-9724	119	3	parameters	parameter	NOUN
ap-9724	119	4	are	be	AUX
ap-9724	119	5	formulated	formulate	VERB
ap-9724	119	6	as	as	ADP
ap-9724	119	7	:	:	PUNCT
ap-9724	119	8	{	{	PUNCT
ap-9724	119	9	e	e	X
ap-9724	119	10	=	=	SYM
ap-9724	119	11	φ	φ	PROPN
ap-9724	119	12	−	−	PROPN
ap-9724	119	13	φr	φr	ADP
ap-9724	119	14	,	,	PUNCT
ap-9724	119	15	ė	ė	ADJ
ap-9724	119	16	=	=	SYM
ap-9724	119	17	φ̇	φ̇	ADJ
ap-9724	119	18	−	−	ADP
ap-9724	119	19	φ̇r	φ̇r	PROPN
ap-9724	119	20	,	,	PUNCT
ap-9724	119	21	(	(	PUNCT
ap-9724	119	22	17	17	NUM
ap-9724	119	23	)	)	PUNCT
ap-9724	119	24	where	where	SCONJ
ap-9724	119	25	φ	φ	PROPN
ap-9724	119	26	and	and	CCONJ
ap-9724	119	27	φr	φr	ADP
ap-9724	119	28	are	be	AUX
ap-9724	119	29	the	the	DET
ap-9724	119	30	actual	actual	ADJ
ap-9724	119	31	trajectory	trajectory	NOUN
ap-9724	119	32	and	and	CCONJ
ap-9724	119	33	the	the	DET
ap-9724	119	34	desired	desire	VERB
ap-9724	119	35	trajectory	trajectory	NOUN
ap-9724	119	36	,	,	PUNCT
ap-9724	119	37	respectively	respectively	ADV
ap-9724	119	38	.	.	PUNCT
ap-9724	120	1	the	the	DET
ap-9724	120	2	time	time	NOUN
ap-9724	120	3	derivative	derivative	NOUN
ap-9724	120	4	of	of	ADP
ap-9724	120	5	equation	equation	NOUN
ap-9724	120	6	(	(	PUNCT
ap-9724	120	7	16	16	NUM
ap-9724	120	8	)	)	PUNCT
ap-9724	120	9	is	be	AUX
ap-9724	120	10	:	:	PUNCT
ap-9724	120	11	ṡ	ṡ	PROPN
ap-9724	120	12	=	=	SYM
ap-9724	120	13	ë	ë	NOUN
ap-9724	120	14	+	+	NUM
ap-9724	120	15	cė	cė	PROPN
ap-9724	120	16	,	,	PUNCT
ap-9724	120	17	ṡ	ṡ	VERB
ap-9724	120	18	=	=	PRON
ap-9724	120	19	φ̈	φ̈	NOUN
ap-9724	120	20	−	−	NUM
ap-9724	120	21	φ̈r	φ̈r	NOUN
ap-9724	120	22	+	+	CCONJ
ap-9724	120	23	cė.	cė.	PROPN
ap-9724	120	24	(	(	PUNCT
ap-9724	120	25	18	18	NUM
ap-9724	120	26	)	)	PUNCT
ap-9724	120	27	as	as	SCONJ
ap-9724	120	28	previously	previously	ADV
ap-9724	120	29	mentioned	mention	VERB
ap-9724	120	30	,	,	PUNCT
ap-9724	120	31	the	the	DET
ap-9724	120	32	control	control	NOUN
ap-9724	120	33	law	law	NOUN
ap-9724	120	34	consists	consist	VERB
ap-9724	120	35	of	of	ADP
ap-9724	120	36	two	two	NUM
ap-9724	120	37	parts	part	NOUN
ap-9724	120	38	,	,	PUNCT
ap-9724	120	39	equivalent	equivalent	ADJ
ap-9724	120	40	and	and	CCONJ
ap-9724	120	41	switching	switching	NOUN
ap-9724	120	42	,	,	PUNCT
ap-9724	120	43	thus	thus	ADV
ap-9724	120	44	:	:	PUNCT
ap-9724	120	45	u	u	NOUN
ap-9724	120	46	=	=	NOUN
ap-9724	120	47	1	1	NUM
ap-9724	120	48	b	b	PROPN
ap-9724	120	49	(	(	PUNCT
ap-9724	120	50	ueq	ueq	ADJ
ap-9724	120	51	+	+	CCONJ
ap-9724	120	52	usw	usw	NOUN
ap-9724	120	53	)	)	PUNCT
ap-9724	120	54	.	.	PUNCT
ap-9724	121	1	(	(	PUNCT
ap-9724	121	2	19	19	NUM
ap-9724	121	3	)	)	PUNCT
ap-9724	121	4	equivalent	equivalent	ADJ
ap-9724	121	5	control	control	NOUN
ap-9724	121	6	,	,	PUNCT
ap-9724	121	7	ueq	ueq	ADV
ap-9724	121	8	,	,	PUNCT
ap-9724	121	9	was	be	AUX
ap-9724	121	10	proposed	propose	VERB
ap-9724	121	11	by	by	ADP
ap-9724	121	12	filipov	filipov	NOUN
ap-9724	121	13	as	as	ADP
ap-9724	121	14	a	a	DET
ap-9724	121	15	means	means	NOUN
ap-9724	121	16	of	of	ADP
ap-9724	121	17	controlling	control	VERB
ap-9724	121	18	the	the	DET
ap-9724	121	19	system	system	NOUN
ap-9724	121	20	without	without	ADP
ap-9724	121	21	taking	take	VERB
ap-9724	121	22	external	external	ADJ
ap-9724	121	23	disturbances	disturbance	NOUN
ap-9724	121	24	and	and	CCONJ
ap-9724	121	25	uncertainties	uncertainty	NOUN
ap-9724	121	26	into	into	ADP
ap-9724	121	27	account	account	NOUN
ap-9724	121	28	.	.	PUNCT
ap-9724	122	1	by	by	ADP
ap-9724	122	2	setting	set	VERB
ap-9724	122	3	the	the	DET
ap-9724	122	4	sliding	slide	VERB
ap-9724	122	5	surface	surface	NOUN
ap-9724	122	6	’s	’s	PART
ap-9724	122	7	derivative	derivative	ADJ
ap-9724	122	8	equation	equation	NOUN
ap-9724	122	9	to	to	ADP
ap-9724	122	10	zero	zero	NUM
ap-9724	122	11	,	,	PUNCT
ap-9724	122	12	to	to	PART
ap-9724	122	13	keep	keep	VERB
ap-9724	122	14	the	the	DET
ap-9724	122	15	controlled	control	VERB
ap-9724	122	16	variable	variable	NOUN
ap-9724	122	17	on	on	ADP
ap-9724	122	18	the	the	DET
ap-9724	122	19	surface	surface	NOUN
ap-9724	122	20	,	,	PUNCT
ap-9724	122	21	the	the	DET
ap-9724	122	22	equivalent	equivalent	ADJ
ap-9724	122	23	component	component	NOUN
ap-9724	122	24	can	can	AUX
ap-9724	122	25	be	be	AUX
ap-9724	122	26	determined	determine	VERB
ap-9724	122	27	based	base	VERB
ap-9724	122	28	on	on	ADP
ap-9724	122	29	the	the	DET
ap-9724	122	30	equation	equation	NOUN
ap-9724	122	31	:	:	PUNCT
ap-9724	122	32	ueq	ueq	ADV
ap-9724	122	33	=	=	SYM
ap-9724	122	34	−fo	−fo	PROPN
ap-9724	122	35	+	+	CCONJ
ap-9724	122	36	φ̈r	φ̈r	NOUN
ap-9724	122	37	−	−	NOUN
ap-9724	122	38	cė.	cė.	NOUN
ap-9724	122	39	(	(	PUNCT
ap-9724	122	40	20	20	NUM
ap-9724	122	41	)	)	PUNCT
ap-9724	122	42	in	in	ADP
ap-9724	122	43	conventional	conventional	ADJ
ap-9724	122	44	smcs	smcs	NOUN
ap-9724	122	45	,	,	PUNCT
ap-9724	122	46	switching	switch	VERB
ap-9724	122	47	control	control	NOUN
ap-9724	122	48	usw	usw	NOUN
ap-9724	122	49	is	be	AUX
ap-9724	122	50	usually	usually	ADV
ap-9724	122	51	defined	define	VERB
ap-9724	122	52	as	as	ADP
ap-9724	122	53	:	:	PUNCT
ap-9724	122	54	usw	usw	NOUN
ap-9724	122	55	=	=	VERB
ap-9724	122	56	−k	−k	PROPN
ap-9724	122	57	sign(s	sign(s	PROPN
ap-9724	122	58	)	)	PUNCT
ap-9724	122	59	,	,	PUNCT
ap-9724	122	60	(	(	PUNCT
ap-9724	122	61	21	21	NUM
ap-9724	122	62	)	)	PUNCT
ap-9724	122	63	where	where	SCONJ
ap-9724	122	64	k	k	PROPN
ap-9724	122	65	and	and	CCONJ
ap-9724	122	66	k	k	PROPN
ap-9724	122	67	sign(s	sign(s	PROPN
ap-9724	122	68	)	)	PUNCT
ap-9724	122	69	are	be	AUX
ap-9724	122	70	the	the	DET
ap-9724	122	71	positive	positive	ADJ
ap-9724	122	72	constant	constant	ADJ
ap-9724	122	73	and	and	CCONJ
ap-9724	122	74	symbolic	symbolic	ADJ
ap-9724	122	75	function	function	NOUN
ap-9724	122	76	,	,	PUNCT
ap-9724	122	77	respectively	respectively	ADV
ap-9724	122	78	,	,	PUNCT
ap-9724	122	79	that	that	PRON
ap-9724	122	80	is	be	AUX
ap-9724	122	81	defined	define	VERB
ap-9724	122	82	by	by	ADP
ap-9724	122	83	:	:	PUNCT
ap-9724	122	84	sign(s	sign(s	NOUN
ap-9724	122	85	)	)	PUNCT
ap-9724	123	1	=	=	PUNCT
ap-9724	124	1			PRON
ap-9724	124	2	−1	−1	ADV
ap-9724	124	3	if	if	SCONJ
ap-9724	124	4	s	s	VERB
ap-9724	124	5	<	<	X
ap-9724	124	6	0	0	NUM
ap-9724	124	7	,	,	PUNCT
ap-9724	124	8	0	0	PUNCT
ap-9724	125	1	if	if	SCONJ
ap-9724	125	2	s	s	VERB
ap-9724	125	3	=	=	NOUN
ap-9724	125	4	0	0	NUM
ap-9724	125	5	,	,	PUNCT
ap-9724	125	6	+1	+1	PRON
ap-9724	125	7	if	if	SCONJ
ap-9724	125	8	s	s	VERB
ap-9724	125	9	>	>	X
ap-9724	125	10	0	0	NUM
ap-9724	125	11	.	.	PUNCT
ap-9724	126	1	(	(	PUNCT
ap-9724	126	2	22	22	NUM
ap-9724	126	3	)	)	PUNCT
ap-9724	126	4	we	we	PRON
ap-9724	126	5	can	can	AUX
ap-9724	126	6	perform	perform	VERB
ap-9724	126	7	the	the	DET
ap-9724	126	8	control	control	NOUN
ap-9724	126	9	law	law	NOUN
ap-9724	126	10	as	as	ADP
ap-9724	126	11	:	:	PUNCT
ap-9724	126	12	u	u	NOUN
ap-9724	126	13	=	=	NOUN
ap-9724	126	14	1	1	NUM
ap-9724	126	15	b	b	X
ap-9724	126	16	(	(	PUNCT
ap-9724	126	17	−fo	−fo	NOUN
ap-9724	126	18	+	+	CCONJ
ap-9724	126	19	φ̈r	φ̈r	NOUN
ap-9724	126	20	−	−	PROPN
ap-9724	126	21	cė	cė	PROPN
ap-9724	126	22	−	−	PROPN
ap-9724	126	23	k	k	PROPN
ap-9724	126	24	sign(s	sign(s	PROPN
ap-9724	126	25	)	)	PUNCT
ap-9724	126	26	)	)	PUNCT
ap-9724	126	27	.	.	PUNCT
ap-9724	127	1	(	(	PUNCT
ap-9724	127	2	23	23	NUM
ap-9724	127	3	)	)	PUNCT
ap-9724	127	4	for	for	ADP
ap-9724	127	5	emphasising	emphasise	VERB
ap-9724	127	6	the	the	DET
ap-9724	127	7	asymptotic	asymptotic	ADJ
ap-9724	127	8	stability	stability	NOUN
ap-9724	127	9	of	of	ADP
ap-9724	127	10	the	the	DET
ap-9724	127	11	pam	pam	NOUN
ap-9724	127	12	system	system	NOUN
ap-9724	127	13	via	via	ADP
ap-9724	127	14	smc	smc	PROPN
ap-9724	127	15	,	,	PUNCT
ap-9724	127	16	the	the	DET
ap-9724	127	17	lyapunov	lyapunov	ADJ
ap-9724	127	18	function	function	NOUN
ap-9724	127	19	has	have	AUX
ap-9724	127	20	been	be	AUX
ap-9724	127	21	determined	determine	VERB
ap-9724	127	22	as	as	ADP
ap-9724	127	23	:	:	PUNCT
ap-9724	127	24	v	v	NOUN
ap-9724	127	25	=	=	SYM
ap-9724	127	26	1	1	NUM
ap-9724	127	27	2s2	2s2	NUM
ap-9724	127	28	.	.	PUNCT
ap-9724	128	1	(	(	PUNCT
ap-9724	128	2	24	24	NUM
ap-9724	128	3	)	)	PUNCT
ap-9724	128	4	taking	take	VERB
ap-9724	128	5	the	the	DET
ap-9724	128	6	first	first	ADJ
ap-9724	128	7	derivative	derivative	NOUN
ap-9724	128	8	of	of	ADP
ap-9724	128	9	time	time	NOUN
ap-9724	128	10	for	for	ADP
ap-9724	128	11	equation	equation	NOUN
ap-9724	128	12	(	(	PUNCT
ap-9724	128	13	24	24	NUM
ap-9724	128	14	)	)	PUNCT
ap-9724	128	15	,	,	PUNCT
ap-9724	128	16	we	we	PRON
ap-9724	128	17	get	get	VERB
ap-9724	128	18	:	:	PUNCT
ap-9724	128	19	v̇	v̇	NOUN
ap-9724	128	20	=	=	SYM
ap-9724	128	21	sṡ	sṡ	PROPN
ap-9724	128	22	,	,	PUNCT
ap-9724	128	23	v̇	v̇	PROPN
ap-9724	129	1	=	=	SYM
ap-9724	129	2	s	s	X
ap-9724	129	3	(	(	PUNCT
ap-9724	129	4	fo	fo	ADP
ap-9724	129	5	+	+	NUM
ap-9724	129	6	∆f	∆f	NOUN
ap-9724	130	1	+	+	CCONJ
ap-9724	130	2	bu	bu	ADP
ap-9724	130	3	−	−	PROPN
ap-9724	130	4	q̈r	q̈r	PROPN
ap-9724	130	5	+	+	NUM
ap-9724	130	6	γė	γė	NOUN
ap-9724	130	7	)	)	PUNCT
ap-9724	130	8	.	.	PUNCT
ap-9724	131	1	(	(	PUNCT
ap-9724	131	2	25	25	NUM
ap-9724	131	3	)	)	PUNCT
ap-9724	131	4	assumption	assumption	NOUN
ap-9724	131	5	1	1	NUM
ap-9724	131	6	:	:	PUNCT
ap-9724	131	7	parametric	parametric	ADJ
ap-9724	131	8	uncertainties	uncertainty	NOUN
ap-9724	131	9	in	in	ADP
ap-9724	131	10	the	the	DET
ap-9724	131	11	system	system	NOUN
ap-9724	131	12	∆f	∆f	PROPN
ap-9724	131	13	are	be	AUX
ap-9724	131	14	assumed	assume	VERB
ap-9724	131	15	to	to	PART
ap-9724	131	16	be	be	AUX
ap-9724	131	17	unknown	unknown	ADJ
ap-9724	131	18	but	but	CCONJ
ap-9724	131	19	bounded	bound	VERB
ap-9724	131	20	|∆f	|∆f	PROPN
ap-9724	131	21	|	|	CCONJ
ap-9724	131	22	≤	≤	NUM
ap-9724	131	23	fmax	fmax	NOUN
ap-9724	131	24	.	.	PUNCT
ap-9724	132	1	now	now	ADV
ap-9724	132	2	,	,	PUNCT
ap-9724	132	3	substituting	substitute	VERB
ap-9724	132	4	equation	equation	NOUN
ap-9724	132	5	(	(	PUNCT
ap-9724	132	6	23	23	NUM
ap-9724	132	7	)	)	PUNCT
ap-9724	132	8	into	into	ADP
ap-9724	132	9	equation	equation	NOUN
ap-9724	132	10	(	(	PUNCT
ap-9724	132	11	25	25	NUM
ap-9724	132	12	)	)	PUNCT
ap-9724	132	13	,	,	PUNCT
ap-9724	132	14	we	we	PRON
ap-9724	132	15	get	get	VERB
ap-9724	132	16	:	:	PUNCT
ap-9724	132	17	v̇	v̇	NOUN
ap-9724	132	18	=	=	SYM
ap-9724	132	19	s	s	X
ap-9724	132	20	(	(	PUNCT
ap-9724	132	21	−k	−k	NOUN
ap-9724	132	22	sign(s	sign(s	PROPN
ap-9724	132	23	)	)	PUNCT
ap-9724	132	24	+	+	CCONJ
ap-9724	132	25	∆f	∆f	NUM
ap-9724	132	26	)	)	PUNCT
ap-9724	132	27	.	.	PUNCT
ap-9724	133	1	(	(	PUNCT
ap-9724	133	2	26	26	NUM
ap-9724	133	3	)	)	PUNCT
ap-9724	133	4	remark	remark	NOUN
ap-9724	133	5	1	1	NUM
ap-9724	133	6	:	:	PUNCT
ap-9724	133	7	according	accord	VERB
ap-9724	133	8	to	to	ADP
ap-9724	133	9	equation	equation	NOUN
ap-9724	133	10	(	(	PUNCT
ap-9724	133	11	26	26	NUM
ap-9724	133	12	)	)	PUNCT
ap-9724	133	13	,	,	PUNCT
ap-9724	133	14	the	the	DET
ap-9724	133	15	stability	stability	NOUN
ap-9724	133	16	of	of	ADP
ap-9724	133	17	the	the	DET
ap-9724	133	18	pam	pam	NOUN
ap-9724	133	19	system	system	NOUN
ap-9724	133	20	based	base	VERB
ap-9724	133	21	on	on	ADP
ap-9724	133	22	smc	smc	PROPN
ap-9724	133	23	is	be	AUX
ap-9724	133	24	ensured	ensure	VERB
ap-9724	133	25	if	if	SCONJ
ap-9724	133	26	k	k	PROPN
ap-9724	133	27	is	be	AUX
ap-9724	133	28	chosen	choose	VERB
ap-9724	133	29	such	such	ADJ
ap-9724	133	30	that	that	SCONJ
ap-9724	133	31	k	k	PROPN
ap-9724	133	32	≥	≥	PROPN
ap-9724	133	33	fmax	fmax	X
ap-9724	133	34	≥	≥	PUNCT
ap-9724	133	35	|∆f	|∆f	ADV
ap-9724	133	36	|	|	ADV
ap-9724	133	37	.	.	PUNCT
ap-9724	134	1	to	to	PART
ap-9724	134	2	mitigate	mitigate	VERB
ap-9724	134	3	the	the	DET
ap-9724	134	4	problem	problem	NOUN
ap-9724	134	5	of	of	ADP
ap-9724	134	6	chattering	chattering	NOUN
ap-9724	134	7	,	,	PUNCT
ap-9724	134	8	which	which	PRON
ap-9724	134	9	is	be	AUX
ap-9724	134	10	a	a	DET
ap-9724	134	11	common	common	ADJ
ap-9724	134	12	issue	issue	NOUN
ap-9724	134	13	in	in	ADP
ap-9724	134	14	a	a	DET
ap-9724	134	15	conventional	conventional	ADJ
ap-9724	134	16	sliding	slide	VERB
ap-9724	134	17	mode	mode	NOUN
ap-9724	134	18	control	control	NOUN
ap-9724	134	19	,	,	PUNCT
ap-9724	134	20	an	an	DET
ap-9724	134	21	approximation	approximation	NOUN
ap-9724	134	22	signum	signum	NOUN
ap-9724	134	23	function	function	NOUN
ap-9724	134	24	is	be	AUX
ap-9724	134	25	used	use	VERB
ap-9724	134	26	as	as	ADP
ap-9724	134	27	a	a	DET
ap-9724	134	28	substitute	substitute	NOUN
ap-9724	134	29	for	for	ADP
ap-9724	134	30	the	the	DET
ap-9724	134	31	sign	sign	NOUN
ap-9724	134	32	function	function	NOUN
ap-9724	134	33	[	[	X
ap-9724	134	34	18	18	NUM
ap-9724	134	35	]	]	SYM
ap-9724	134	36	:	:	PUNCT
ap-9724	134	37	sign(s	sign(s	PROPN
ap-9724	134	38	)	)	PUNCT
ap-9724	134	39	≈	≈	PROPN
ap-9724	134	40	2	2	NUM
ap-9724	134	41	π	π	NOUN
ap-9724	134	42	tanh(βs	tanh(βs	NOUN
ap-9724	134	43	)	)	PUNCT
ap-9724	134	44	,	,	PUNCT
ap-9724	134	45	(	(	PUNCT
ap-9724	134	46	27	27	NUM
ap-9724	134	47	)	)	PUNCT
ap-9724	134	48	where	where	SCONJ
ap-9724	134	49	β	β	PROPN
ap-9724	134	50	is	be	AUX
ap-9724	134	51	a	a	DET
ap-9724	134	52	controller	controller	NOUN
ap-9724	134	53	design	design	NOUN
ap-9724	134	54	parameter	parameter	NOUN
ap-9724	134	55	.	.	PUNCT
ap-9724	135	1	now	now	ADV
ap-9724	135	2	,	,	PUNCT
ap-9724	135	3	we	we	PRON
ap-9724	135	4	can	can	AUX
ap-9724	135	5	perform	perform	VERB
ap-9724	135	6	the	the	DET
ap-9724	135	7	control	control	NOUN
ap-9724	135	8	law	law	NOUN
ap-9724	135	9	as	as	ADP
ap-9724	135	10	:	:	PUNCT
ap-9724	135	11	u	u	NOUN
ap-9724	135	12	=	=	NOUN
ap-9724	135	13	1	1	NUM
ap-9724	135	14	b	b	X
ap-9724	135	15	(	(	PUNCT
ap-9724	135	16	−fo	−fo	NOUN
ap-9724	135	17	+	+	CCONJ
ap-9724	135	18	φ̈r	φ̈r	NOUN
ap-9724	135	19	−	−	PROPN
ap-9724	135	20	cė	cė	PROPN
ap-9724	135	21	−	−	PROPN
ap-9724	136	1	2k	2k	NUM
ap-9724	136	2	π	π	PROPN
ap-9724	136	3	tanh(βs	tanh(βs	PROPN
ap-9724	136	4	)	)	PUNCT
ap-9724	136	5	)	)	PUNCT
ap-9724	136	6	.	.	PUNCT
ap-9724	137	1	(	(	PUNCT
ap-9724	137	2	28	28	NUM
ap-9724	137	3	)	)	PUNCT
ap-9724	137	4	figure	figure	NOUN
ap-9724	137	5	2	2	NUM
ap-9724	137	6	shows	show	VERB
ap-9724	137	7	the	the	DET
ap-9724	137	8	control	control	NOUN
ap-9724	137	9	scheme	scheme	NOUN
ap-9724	137	10	of	of	ADP
ap-9724	137	11	a	a	DET
ap-9724	137	12	pamactuated	pamactuated	ADJ
ap-9724	137	13	manipulator	manipulator	NOUN
ap-9724	137	14	system	system	NOUN
ap-9724	137	15	based	base	VERB
ap-9724	137	16	on	on	ADP
ap-9724	137	17	the	the	DET
ap-9724	137	18	sliding	slide	VERB
ap-9724	137	19	mode	mode	NOUN
ap-9724	137	20	controller	controller	NOUN
ap-9724	137	21	.	.	PUNCT
ap-9724	138	1	3.2	3.2	NUM
ap-9724	138	2	.	.	PUNCT
ap-9724	138	3	synergetic	synergetic	ADJ
ap-9724	138	4	control	control	PROPN
ap-9724	138	5	approach	approach	NOUN
ap-9724	138	6	kolesnikov	kolesnikov	NOUN
ap-9724	139	1	[	[	X
ap-9724	139	2	19	19	NUM
ap-9724	139	3	]	]	PUNCT
ap-9724	139	4	introduced	introduce	VERB
ap-9724	139	5	the	the	DET
ap-9724	139	6	synergetic	synergetic	ADJ
ap-9724	139	7	control	control	NOUN
ap-9724	139	8	approach	approach	NOUN
ap-9724	139	9	,	,	PUNCT
ap-9724	139	10	which	which	PRON
ap-9724	139	11	involves	involve	VERB
ap-9724	139	12	starting	start	VERB
ap-9724	139	13	the	the	DET
ap-9724	139	14	synergetic	synergetic	ADJ
ap-9724	139	15	synthesis	synthesis	NOUN
ap-9724	139	16	process	process	NOUN
ap-9724	139	17	by	by	ADP
ap-9724	139	18	selecting	select	VERB
ap-9724	139	19	a	a	DET
ap-9724	139	20	macro	macro	ADJ
ap-9724	139	21	variable	variable	NOUN
ap-9724	139	22	.	.	PUNCT
ap-9724	140	1	this	this	DET
ap-9724	140	2	variable	variable	NOUN
ap-9724	140	3	is	be	AUX
ap-9724	140	4	a	a	DET
ap-9724	140	5	function	function	NOUN
ap-9724	140	6	of	of	ADP
ap-9724	140	7	the	the	DET
ap-9724	140	8	system	system	NOUN
ap-9724	140	9	states	state	VERB
ap-9724	140	10	:	:	PUNCT
ap-9724	141	1	σ	σ	PROPN
ap-9724	141	2	=	=	SYM
ap-9724	141	3	σ(x	σ(x	PROPN
ap-9724	141	4	,	,	PUNCT
ap-9724	141	5	t	t	PROPN
ap-9724	141	6	)	)	PUNCT
ap-9724	141	7	.	.	PUNCT
ap-9724	142	1	(	(	PUNCT
ap-9724	142	2	29	29	NUM
ap-9724	142	3	)	)	PUNCT
ap-9724	142	4	522	522	NUM
ap-9724	142	5	vol	vol	NOUN
ap-9724	142	6	.	.	PUNCT
ap-9724	143	1	64	64	NUM
ap-9724	143	2	no	no	NOUN
ap-9724	143	3	.	.	PUNCT
ap-9724	144	1	6/2024	6/2024	NUM
ap-9724	144	2	performance	performance	NOUN
ap-9724	144	3	improvement	improvement	NOUN
ap-9724	144	4	of	of	ADP
ap-9724	144	5	manipulator	manipulator	NOUN
ap-9724	144	6	actuated	actuate	VERB
ap-9724	144	7	by	by	ADP
ap-9724	144	8	pneumatic	pneumatic	NOUN
ap-9724	144	9	.	.	PUNCT
ap-9724	144	10	.	.	PUNCT
ap-9724	145	1	.	.	PUNCT
ap-9724	146	1	figure	figure	NOUN
ap-9724	146	2	2	2	NUM
ap-9724	146	3	.	.	PUNCT
ap-9724	146	4	pam	pam	NOUN
ap-9724	146	5	-	-	PUNCT
ap-9724	146	6	actuated	actuate	VERB
ap-9724	146	7	manipulator	manipulator	NOUN
ap-9724	146	8	controlled	control	VERB
ap-9724	146	9	by	by	ADP
ap-9724	146	10	smc	smc	PROPN
ap-9724	146	11	.	.	PUNCT
ap-9724	147	1	the	the	DET
ap-9724	147	2	macro	macro	ADJ
ap-9724	147	3	-	-	ADJ
ap-9724	147	4	variable	variable	ADJ
ap-9724	147	5	value	value	NOUN
ap-9724	147	6	is	be	AUX
ap-9724	147	7	denoted	denote	VERB
ap-9724	147	8	by	by	ADP
ap-9724	147	9	σ	σ	NOUN
ap-9724	147	10	and	and	CCONJ
ap-9724	147	11	this	this	DET
ap-9724	147	12	variable	variable	NOUN
ap-9724	147	13	can	can	AUX
ap-9724	147	14	be	be	AUX
ap-9724	147	15	determined	determine	VERB
ap-9724	147	16	by	by	ADP
ap-9724	147	17	a	a	DET
ap-9724	147	18	user	user	NOUN
ap-9724	147	19	-	-	PUNCT
ap-9724	147	20	defined	define	VERB
ap-9724	147	21	function	function	NOUN
ap-9724	147	22	,	,	PUNCT
ap-9724	147	23	σ(x	σ(x	PROPN
ap-9724	147	24	,	,	PUNCT
ap-9724	147	25	t	t	PROPN
ap-9724	147	26	)	)	PUNCT
ap-9724	147	27	,	,	PUNCT
ap-9724	147	28	a	a	DET
ap-9724	147	29	function	function	NOUN
ap-9724	147	30	of	of	ADP
ap-9724	147	31	time	time	NOUN
ap-9724	147	32	and	and	CCONJ
ap-9724	147	33	system	system	NOUN
ap-9724	147	34	state	state	NOUN
ap-9724	147	35	variable	variable	NOUN
ap-9724	147	36	.	.	PUNCT
ap-9724	148	1	thus	thus	ADV
ap-9724	148	2	,	,	PUNCT
ap-9724	148	3	the	the	DET
ap-9724	148	4	designer	designer	NOUN
ap-9724	148	5	of	of	ADP
ap-9724	148	6	the	the	DET
ap-9724	148	7	control	control	NOUN
ap-9724	148	8	has	have	VERB
ap-9724	148	9	the	the	DET
ap-9724	148	10	flexibility	flexibility	NOUN
ap-9724	148	11	of	of	ADP
ap-9724	148	12	selecting	select	VERB
ap-9724	148	13	the	the	DET
ap-9724	148	14	characteristics	characteristic	NOUN
ap-9724	148	15	of	of	ADP
ap-9724	148	16	the	the	DET
ap-9724	148	17	macro	macro	NOUN
ap-9724	148	18	-	-	NOUN
ap-9724	148	19	variable	variable	NOUN
ap-9724	148	20	based	base	VERB
ap-9724	148	21	on	on	ADP
ap-9724	148	22	various	various	ADJ
ap-9724	148	23	factors	factor	NOUN
ap-9724	148	24	,	,	PUNCT
ap-9724	148	25	such	such	ADJ
ap-9724	148	26	as	as	ADP
ap-9724	148	27	response	response	NOUN
ap-9724	148	28	time	time	NOUN
ap-9724	148	29	,	,	PUNCT
ap-9724	148	30	control	control	NOUN
ap-9724	148	31	parameters	parameter	NOUN
ap-9724	148	32	,	,	PUNCT
ap-9724	148	33	limitations	limitation	NOUN
ap-9724	148	34	of	of	ADP
ap-9724	148	35	the	the	DET
ap-9724	148	36	command	command	NOUN
ap-9724	148	37	,	,	PUNCT
ap-9724	148	38	etc	etc	X
ap-9724	148	39	.	.	X
ap-9724	149	1	the	the	DET
ap-9724	149	2	main	main	ADJ
ap-9724	149	3	objective	objective	NOUN
ap-9724	149	4	of	of	ADP
ap-9724	149	5	the	the	DET
ap-9724	149	6	synergetic	synergetic	ADJ
ap-9724	149	7	control	control	NOUN
ap-9724	149	8	approach	approach	NOUN
ap-9724	149	9	is	be	AUX
ap-9724	149	10	to	to	PART
ap-9724	149	11	push	push	VERB
ap-9724	149	12	the	the	DET
ap-9724	149	13	system	system	NOUN
ap-9724	149	14	states	state	NOUN
ap-9724	149	15	to	to	PART
ap-9724	149	16	work	work	VERB
ap-9724	149	17	on	on	ADP
ap-9724	149	18	the	the	DET
ap-9724	149	19	σ	σ	NOUN
ap-9724	149	20	=	=	SYM
ap-9724	149	21	0	0	NUM
ap-9724	149	22	manifold	manifold	ADJ
ap-9724	149	23	[	[	X
ap-9724	149	24	12	12	NUM
ap-9724	149	25	,	,	PUNCT
ap-9724	149	26	20	20	NUM
ap-9724	149	27	,	,	PUNCT
ap-9724	149	28	21	21	NUM
ap-9724	149	29	]	]	PUNCT
ap-9724	149	30	.	.	PUNCT
ap-9724	150	1	that	that	PRON
ap-9724	150	2	helps	help	VERB
ap-9724	150	3	the	the	DET
ap-9724	150	4	desired	desire	VERB
ap-9724	150	5	macrovariable	macrovariable	ADJ
ap-9724	150	6	dynamic	dynamic	ADJ
ap-9724	150	7	evolution	evolution	NOUN
ap-9724	150	8	to	to	PART
ap-9724	150	9	be	be	AUX
ap-9724	150	10	determined	determine	VERB
ap-9724	150	11	as	as	ADP
ap-9724	150	12	:	:	PUNCT
ap-9724	150	13	λσ̇	λσ̇	PROPN
ap-9724	151	1	+	+	CCONJ
ap-9724	151	2	σ	σ	X
ap-9724	151	3	=	=	SYM
ap-9724	151	4	0	0	PROPN
ap-9724	151	5	.	.	PUNCT
ap-9724	151	6	(	(	PUNCT
ap-9724	151	7	30	30	NUM
ap-9724	151	8	)	)	PUNCT
ap-9724	151	9	when	when	SCONJ
ap-9724	151	10	the	the	DET
ap-9724	151	11	macro	macro	NOUN
ap-9724	151	12	-	-	NOUN
ap-9724	151	13	variable	variable	ADJ
ap-9724	151	14	becomes	become	VERB
ap-9724	151	15	equal	equal	ADJ
ap-9724	151	16	to	to	ADP
ap-9724	151	17	zero	zero	NUM
ap-9724	151	18	,	,	PUNCT
ap-9724	151	19	design	design	NOUN
ap-9724	151	20	parameter	parameter	NOUN
ap-9724	151	21	λ	λ	PROPN
ap-9724	151	22	determines	determine	VERB
ap-9724	151	23	the	the	DET
ap-9724	151	24	speed	speed	NOUN
ap-9724	151	25	at	at	ADP
ap-9724	151	26	which	which	PRON
ap-9724	151	27	the	the	DET
ap-9724	151	28	closed	closed	ADJ
ap-9724	151	29	-	-	PUNCT
ap-9724	151	30	loop	loop	NOUN
ap-9724	151	31	system	system	NOUN
ap-9724	151	32	converges	converge	VERB
ap-9724	151	33	to	to	ADP
ap-9724	151	34	the	the	DET
ap-9724	151	35	manifold	manifold	NOUN
ap-9724	151	36	.	.	PUNCT
ap-9724	152	1	but	but	CCONJ
ap-9724	152	2	,	,	PUNCT
ap-9724	152	3	σ̇	σ̇	NOUN
ap-9724	152	4	defines	define	VERB
ap-9724	152	5	the	the	DET
ap-9724	152	6	derivative	derivative	NOUN
ap-9724	152	7	of	of	ADP
ap-9724	152	8	the	the	DET
ap-9724	152	9	aggregated	aggregate	VERB
ap-9724	152	10	macrovariable	macrovariable	ADJ
ap-9724	152	11	.	.	PUNCT
ap-9724	153	1	then	then	ADV
ap-9724	153	2	,	,	PUNCT
ap-9724	153	3	the	the	DET
ap-9724	153	4	solution	solution	NOUN
ap-9724	153	5	of	of	ADP
ap-9724	153	6	the	the	DET
ap-9724	153	7	differential	differential	ADJ
ap-9724	153	8	equation	equation	NOUN
ap-9724	153	9	is	be	AUX
ap-9724	153	10	obtained	obtain	VERB
ap-9724	153	11	as	as	ADP
ap-9724	153	12	the	the	DET
ap-9724	153	13	following	follow	VERB
ap-9724	153	14	function	function	NOUN
ap-9724	153	15	:	:	PUNCT
ap-9724	153	16	σ(t	σ(t	PROPN
ap-9724	153	17	)	)	PUNCT
ap-9724	154	1	=	=	SYM
ap-9724	154	2	σ0	σ0	PROPN
ap-9724	154	3	e−	e−	PROPN
ap-9724	154	4	t	t	PROPN
ap-9724	154	5	λ	λ	PROPN
ap-9724	154	6	.	.	PUNCT
ap-9724	155	1	(	(	PUNCT
ap-9724	155	2	31	31	NUM
ap-9724	155	3	)	)	PUNCT
ap-9724	155	4	σ(t	σ(t	NOUN
ap-9724	155	5	)	)	PUNCT
ap-9724	155	6	is	be	AUX
ap-9724	155	7	attracted	attract	VERB
ap-9724	155	8	to	to	ADP
ap-9724	155	9	σ	σ	X
ap-9724	155	10	=	=	PROPN
ap-9724	155	11	0	0	NUM
ap-9724	155	12	from	from	ADP
ap-9724	155	13	any	any	DET
ap-9724	155	14	initial	initial	ADJ
ap-9724	155	15	condition	condition	NOUN
ap-9724	155	16	σ0	σ0	NOUN
ap-9724	155	17	.	.	PUNCT
ap-9724	156	1	the	the	DET
ap-9724	156	2	chain	chain	NOUN
ap-9724	156	3	rule	rule	NOUN
ap-9724	156	4	of	of	ADP
ap-9724	156	5	differentiation	differentiation	NOUN
ap-9724	156	6	gives	give	VERB
ap-9724	156	7	:	:	PUNCT
ap-9724	156	8	σ̇	σ̇	NOUN
ap-9724	156	9	=	=	PUNCT
ap-9724	156	10	dσ	dσ	PROPN
ap-9724	156	11	dx	dx	PROPN
ap-9724	156	12	dx	dx	PROPN
ap-9724	156	13	dt	dt	INTJ
ap-9724	156	14	.	.	PUNCT
ap-9724	157	1	(	(	PUNCT
ap-9724	157	2	32	32	NUM
ap-9724	157	3	)	)	PUNCT
ap-9724	157	4	by	by	ADP
ap-9724	157	5	combining	combine	VERB
ap-9724	157	6	equations	equation	NOUN
ap-9724	157	7	(	(	PUNCT
ap-9724	157	8	30	30	NUM
ap-9724	157	9	)	)	PUNCT
ap-9724	157	10	and	and	CCONJ
ap-9724	157	11	(	(	PUNCT
ap-9724	157	12	32	32	NUM
ap-9724	157	13	)	)	PUNCT
ap-9724	157	14	,	,	PUNCT
ap-9724	157	15	we	we	PRON
ap-9724	157	16	obtain	obtain	VERB
ap-9724	157	17	:	:	PUNCT
ap-9724	158	1	λ	λ	PROPN
ap-9724	158	2	dσ	dσ	PROPN
ap-9724	158	3	dx	dx	PROPN
ap-9724	158	4	f(x	f(x	PROPN
ap-9724	158	5	,	,	PUNCT
ap-9724	158	6	u	u	NOUN
ap-9724	158	7	,	,	PUNCT
ap-9724	158	8	t	t	PROPN
ap-9724	158	9	)	)	PUNCT
ap-9724	159	1	+	+	NOUN
ap-9724	159	2	σ	σ	X
ap-9724	159	3	=	=	SYM
ap-9724	159	4	0	0	PROPN
ap-9724	159	5	.	.	PUNCT
ap-9724	160	1	(	(	PUNCT
ap-9724	160	2	33	33	NUM
ap-9724	160	3	)	)	PUNCT
ap-9724	160	4	after	after	ADP
ap-9724	160	5	solving	solve	VERB
ap-9724	160	6	equation	equation	NOUN
ap-9724	160	7	(	(	PUNCT
ap-9724	160	8	33	33	NUM
ap-9724	160	9	)	)	PUNCT
ap-9724	160	10	for	for	ADP
ap-9724	160	11	u	u	NOUN
ap-9724	160	12	,	,	PUNCT
ap-9724	160	13	the	the	DET
ap-9724	160	14	controller	controller	NOUN
ap-9724	160	15	law	law	NOUN
ap-9724	160	16	can	can	AUX
ap-9724	160	17	be	be	AUX
ap-9724	160	18	expressed	express	VERB
ap-9724	160	19	as	as	ADP
ap-9724	160	20	:	:	PUNCT
ap-9724	160	21	u	u	NOUN
ap-9724	160	22	=	=	PROPN
ap-9724	160	23	g(x	g(x	PROPN
ap-9724	160	24	,	,	PUNCT
ap-9724	160	25	σ	σ	PROPN
ap-9724	160	26	,	,	PUNCT
ap-9724	160	27	λ	λ	PROPN
ap-9724	160	28	,	,	PUNCT
ap-9724	160	29	t	t	PROPN
ap-9724	160	30	)	)	PUNCT
ap-9724	160	31	.	.	PUNCT
ap-9724	161	1	(	(	PUNCT
ap-9724	161	2	34	34	NUM
ap-9724	161	3	)	)	PUNCT
ap-9724	161	4	the	the	DET
ap-9724	161	5	equation	equation	NOUN
ap-9724	161	6	demonstrates	demonstrate	VERB
ap-9724	161	7	that	that	SCONJ
ap-9724	161	8	the	the	DET
ap-9724	161	9	controller	controller	NOUN
ap-9724	161	10	’s	’s	PART
ap-9724	161	11	characteristics	characteristic	NOUN
ap-9724	161	12	can	can	AUX
ap-9724	161	13	be	be	AUX
ap-9724	161	14	selected	select	VERB
ap-9724	161	15	by	by	ADP
ap-9724	161	16	the	the	DET
ap-9724	161	17	designer	designer	NOUN
ap-9724	161	18	through	through	ADP
ap-9724	161	19	the	the	DET
ap-9724	161	20	choice	choice	NOUN
ap-9724	161	21	of	of	ADP
ap-9724	161	22	a	a	DET
ap-9724	161	23	particular	particular	ADJ
ap-9724	161	24	control	control	NOUN
ap-9724	161	25	parameter	parameter	NOUN
ap-9724	161	26	λ	λ	PROPN
ap-9724	161	27	and	and	CCONJ
ap-9724	161	28	a	a	DET
ap-9724	161	29	proper	proper	ADJ
ap-9724	161	30	macro	macro	NOUN
ap-9724	161	31	-	-	NOUN
ap-9724	161	32	variable	variable	ADJ
ap-9724	161	33	.	.	PUNCT
ap-9724	162	1	for	for	ADP
ap-9724	162	2	controlling	control	VERB
ap-9724	162	3	a	a	DET
ap-9724	162	4	pam	pam	NOUN
ap-9724	162	5	system	system	NOUN
ap-9724	162	6	by	by	ADP
ap-9724	162	7	using	use	VERB
ap-9724	162	8	a	a	DET
ap-9724	162	9	synergetic	synergetic	ADJ
ap-9724	162	10	control	control	NOUN
ap-9724	162	11	algorithm	algorithm	NOUN
ap-9724	162	12	,	,	PUNCT
ap-9724	162	13	the	the	DET
ap-9724	162	14	following	follow	VERB
ap-9724	162	15	macro	macro	NOUN
ap-9724	162	16	-	-	NOUN
ap-9724	162	17	variable	variable	NOUN
ap-9724	162	18	has	have	AUX
ap-9724	162	19	been	be	AUX
ap-9724	162	20	considered	consider	VERB
ap-9724	162	21	:	:	PUNCT
ap-9724	163	1	σ	σ	NOUN
ap-9724	163	2	=	=	PUNCT
ap-9724	163	3	ė	ė	PROPN
ap-9724	163	4	+	+	X
ap-9724	163	5	γe	γe	X
ap-9724	163	6	.	.	PUNCT
ap-9724	163	7	(	(	PUNCT
ap-9724	163	8	35	35	NUM
ap-9724	163	9	)	)	PUNCT
ap-9724	163	10	now	now	ADV
ap-9724	163	11	,	,	PUNCT
ap-9724	163	12	by	by	ADP
ap-9724	163	13	using	use	VERB
ap-9724	163	14	the	the	DET
ap-9724	163	15	substitution	substitution	NOUN
ap-9724	163	16	of	of	ADP
ap-9724	163	17	equation	equation	NOUN
ap-9724	163	18	(	(	PUNCT
ap-9724	163	19	35	35	NUM
ap-9724	163	20	)	)	PUNCT
ap-9724	163	21	into	into	ADP
ap-9724	163	22	equation	equation	NOUN
ap-9724	163	23	(	(	PUNCT
ap-9724	163	24	30	30	NUM
ap-9724	163	25	)	)	PUNCT
ap-9724	163	26	,	,	PUNCT
ap-9724	163	27	we	we	PRON
ap-9724	163	28	obtain	obtain	VERB
ap-9724	163	29	:	:	PUNCT
ap-9724	163	30	λ(ë	λ(ë	PROPN
ap-9724	163	31	+	+	NUM
ap-9724	163	32	γė	γė	PROPN
ap-9724	163	33	)	)	PUNCT
ap-9724	164	1	+	+	NUM
ap-9724	164	2	σ	σ	X
ap-9724	164	3	=	=	SYM
ap-9724	164	4	0	0	NUM
ap-9724	164	5	,	,	PUNCT
ap-9724	164	6	(	(	PUNCT
ap-9724	164	7	36	36	NUM
ap-9724	164	8	)	)	PUNCT
ap-9724	164	9	then	then	ADV
ap-9724	164	10	,	,	PUNCT
ap-9724	164	11	by	by	ADP
ap-9724	164	12	substituting	substitute	VERB
ap-9724	164	13	equation	equation	NOUN
ap-9724	164	14	(	(	PUNCT
ap-9724	164	15	15	15	NUM
ap-9724	164	16	)	)	PUNCT
ap-9724	164	17	into	into	ADP
ap-9724	164	18	equation	equation	NOUN
ap-9724	164	19	(	(	PUNCT
ap-9724	164	20	36	36	NUM
ap-9724	164	21	)	)	PUNCT
ap-9724	164	22	with	with	ADP
ap-9724	164	23	rearranging	rearrange	VERB
ap-9724	164	24	,	,	PUNCT
ap-9724	164	25	we	we	PRON
ap-9724	164	26	obtain	obtain	VERB
ap-9724	164	27	:	:	PUNCT
ap-9724	164	28	λ(q̈	λ(q̈	NOUN
ap-9724	164	29	−	−	PROPN
ap-9724	164	30	q̈r	q̈r	PROPN
ap-9724	164	31	+	+	NUM
ap-9724	164	32	γė	γė	PROPN
ap-9724	164	33	)	)	PUNCT
ap-9724	165	1	+	+	NUM
ap-9724	165	2	σ	σ	X
ap-9724	165	3	=	=	SYM
ap-9724	165	4	0	0	NUM
ap-9724	165	5	,	,	PUNCT
ap-9724	165	6	λ(fo	λ(fo	PRON
ap-9724	165	7	+	+	CCONJ
ap-9724	165	8	∆f	∆f	NOUN
ap-9724	166	1	+	+	CCONJ
ap-9724	166	2	bu	bu	ADP
ap-9724	166	3	−	−	PROPN
ap-9724	166	4	q̈r	q̈r	PROPN
ap-9724	166	5	+	+	NUM
ap-9724	166	6	γė	γė	PROPN
ap-9724	166	7	)	)	PUNCT
ap-9724	167	1	+	+	NUM
ap-9724	167	2	σ	σ	X
ap-9724	167	3	=	=	SYM
ap-9724	167	4	0	0	NUM
ap-9724	167	5	.	.	PUNCT
ap-9724	168	1	thus	thus	ADV
ap-9724	168	2	,	,	PUNCT
ap-9724	168	3	the	the	DET
ap-9724	168	4	control	control	NOUN
ap-9724	168	5	action	action	NOUN
ap-9724	168	6	equation	equation	NOUN
ap-9724	168	7	becomes	become	VERB
ap-9724	168	8	:	:	PUNCT
ap-9724	168	9	u	u	NOUN
ap-9724	168	10	=	=	NOUN
ap-9724	168	11	1	1	NUM
ap-9724	168	12	b	b	X
ap-9724	168	13	(	(	PUNCT
ap-9724	168	14	−fo	−fo	NOUN
ap-9724	168	15	+	+	CCONJ
ap-9724	168	16	q̈r	q̈r	NOUN
ap-9724	168	17	−	−	NOUN
ap-9724	168	18	γė	γė	PROPN
ap-9724	168	19	)	)	PUNCT
ap-9724	168	20	−	−	PROPN
ap-9724	169	1	σ	σ	NOUN
ap-9724	169	2	λb	λb	INTJ
ap-9724	169	3	.	.	PUNCT
ap-9724	170	1	(	(	PUNCT
ap-9724	170	2	37	37	NUM
ap-9724	170	3	)	)	PUNCT
ap-9724	170	4	for	for	ADP
ap-9724	170	5	emphasising	emphasise	VERB
ap-9724	170	6	the	the	DET
ap-9724	170	7	asymptotic	asymptotic	ADJ
ap-9724	170	8	stability	stability	NOUN
ap-9724	170	9	of	of	ADP
ap-9724	170	10	the	the	DET
ap-9724	170	11	pam	pam	NOUN
ap-9724	170	12	system	system	NOUN
ap-9724	170	13	via	via	ADP
ap-9724	170	14	sact	sact	NOUN
ap-9724	170	15	,	,	PUNCT
ap-9724	170	16	the	the	PRON
ap-9724	170	17	below	below	ADP
ap-9724	170	18	lyapunov	lyapunov	ADJ
ap-9724	170	19	function	function	NOUN
ap-9724	170	20	has	have	AUX
ap-9724	170	21	been	be	AUX
ap-9724	170	22	selected	select	VERB
ap-9724	170	23	:	:	PUNCT
ap-9724	170	24	v	v	NOUN
ap-9724	170	25	=	=	SYM
ap-9724	170	26	1	1	NUM
ap-9724	170	27	2σ2	2σ2	NUM
ap-9724	170	28	.	.	PUNCT
ap-9724	171	1	(	(	PUNCT
ap-9724	171	2	38	38	NUM
ap-9724	171	3	)	)	PUNCT
ap-9724	171	4	by	by	ADP
ap-9724	171	5	taking	take	VERB
ap-9724	171	6	the	the	DET
ap-9724	171	7	derivative	derivative	NOUN
ap-9724	171	8	of	of	ADP
ap-9724	171	9	time	time	NOUN
ap-9724	171	10	for	for	ADP
ap-9724	171	11	equation	equation	NOUN
ap-9724	171	12	(	(	PUNCT
ap-9724	171	13	38	38	NUM
ap-9724	171	14	)	)	PUNCT
ap-9724	171	15	,	,	PUNCT
ap-9724	171	16	we	we	PRON
ap-9724	171	17	get	get	VERB
ap-9724	171	18	:	:	PUNCT
ap-9724	171	19	v̇	v̇	NOUN
ap-9724	171	20	=	=	SYM
ap-9724	171	21	σσ̇	σσ̇	PROPN
ap-9724	171	22	,	,	PUNCT
ap-9724	171	23	v̇	v̇	NOUN
ap-9724	171	24	=	=	SYM
ap-9724	171	25	σ	σ	PROPN
ap-9724	171	26	(	(	PUNCT
ap-9724	171	27	fo	fo	ADP
ap-9724	171	28	+	+	NUM
ap-9724	171	29	∆f	∆f	NOUN
ap-9724	172	1	+	+	CCONJ
ap-9724	172	2	bu	bu	ADP
ap-9724	172	3	−	−	PROPN
ap-9724	172	4	q̈r	q̈r	PROPN
ap-9724	172	5	+	+	NUM
ap-9724	172	6	γė	γė	NOUN
ap-9724	172	7	)	)	PUNCT
ap-9724	172	8	,	,	PUNCT
ap-9724	172	9	(	(	PUNCT
ap-9724	172	10	39	39	NUM
ap-9724	172	11	)	)	PUNCT
ap-9724	172	12	and	and	CCONJ
ap-9724	172	13	by	by	ADP
ap-9724	172	14	substituting	substitute	VERB
ap-9724	172	15	equation	equation	NOUN
ap-9724	172	16	(	(	PUNCT
ap-9724	172	17	37	37	NUM
ap-9724	172	18	)	)	PUNCT
ap-9724	172	19	into	into	ADP
ap-9724	172	20	equation	equation	NOUN
ap-9724	172	21	(	(	PUNCT
ap-9724	172	22	39	39	NUM
ap-9724	172	23	)	)	PUNCT
ap-9724	172	24	,	,	PUNCT
ap-9724	172	25	we	we	PRON
ap-9724	172	26	get	get	VERB
ap-9724	172	27	:	:	PUNCT
ap-9724	173	1	v̇	v̇	NOUN
ap-9724	173	2	=	=	SYM
ap-9724	173	3	σ	σ	PROPN
ap-9724	173	4	(	(	PUNCT
ap-9724	173	5	−σ	−σ	NOUN
ap-9724	173	6	λ	λ	X
ap-9724	173	7	+	+	CCONJ
ap-9724	173	8	∆f	∆f	PROPN
ap-9724	173	9	)	)	PUNCT
ap-9724	173	10	.	.	PUNCT
ap-9724	174	1	(	(	PUNCT
ap-9724	174	2	40	40	NUM
ap-9724	174	3	)	)	PUNCT
ap-9724	174	4	note	note	VERB
ap-9724	174	5	that	that	SCONJ
ap-9724	174	6	for	for	ADP
ap-9724	174	7	all	all	DET
ap-9724	174	8	t	t	PROPN
ap-9724	174	9	≥	≥	NOUN
ap-9724	174	10	0	0	NUM
ap-9724	174	11	,	,	PUNCT
ap-9724	174	12	v	v	NOUN
ap-9724	174	13	is	be	AUX
ap-9724	174	14	positive	positive	ADJ
ap-9724	174	15	definite	definite	ADJ
ap-9724	174	16	and	and	CCONJ
ap-9724	174	17	v̇	v̇	NOUN
ap-9724	174	18	is	be	AUX
ap-9724	174	19	negative	negative	ADJ
ap-9724	174	20	definite	definite	ADJ
ap-9724	174	21	if	if	SCONJ
ap-9724	175	1	and	and	CCONJ
ap-9724	175	2	only	only	ADV
ap-9724	175	3	if	if	SCONJ
ap-9724	175	4	σ	σ	PROPN
ap-9724	175	5	λ	λ	PROPN
ap-9724	175	6	≥	≥	X
ap-9724	175	7	fmax	fmax	X
ap-9724	175	8	≥	≥	PUNCT
ap-9724	176	1	|∆f	|∆f	ADV
ap-9724	176	2	|	|	ADV
ap-9724	176	3	.	.	PUNCT
ap-9724	177	1	figure	figure	NOUN
ap-9724	177	2	3	3	NUM
ap-9724	177	3	shows	show	VERB
ap-9724	177	4	the	the	DET
ap-9724	177	5	control	control	NOUN
ap-9724	177	6	scheme	scheme	NOUN
ap-9724	177	7	of	of	ADP
ap-9724	177	8	a	a	DET
ap-9724	177	9	pam	pam	NOUN
ap-9724	177	10	-	-	PUNCT
ap-9724	177	11	actuated	actuate	VERB
ap-9724	177	12	manipulator	manipulator	NOUN
ap-9724	177	13	system	system	NOUN
ap-9724	177	14	based	base	VERB
ap-9724	177	15	on	on	ADP
ap-9724	177	16	the	the	DET
ap-9724	177	17	synergetic	synergetic	ADJ
ap-9724	177	18	control	control	NOUN
ap-9724	177	19	approach	approach	NOUN
ap-9724	177	20	.	.	PUNCT
ap-9724	178	1	3.3	3.3	NUM
ap-9724	178	2	.	.	PUNCT
ap-9724	179	1	parameters	parameter	NOUN
ap-9724	179	2	optimisation	optimisation	NOUN
ap-9724	179	3	based	base	VERB
ap-9724	179	4	on	on	ADP
ap-9724	179	5	social	social	ADJ
ap-9724	179	6	spider	spider	NOUN
ap-9724	179	7	optimisation	optimisation	NOUN
ap-9724	179	8	algorithm	algorithm	NOUN
ap-9724	179	9	the	the	DET
ap-9724	179	10	sact	sact	NOUN
ap-9724	179	11	design	design	NOUN
ap-9724	179	12	parameters	parameter	NOUN
ap-9724	179	13	must	must	AUX
ap-9724	179	14	be	be	AUX
ap-9724	179	15	modified	modify	VERB
ap-9724	179	16	to	to	PART
ap-9724	179	17	provide	provide	VERB
ap-9724	179	18	the	the	DET
ap-9724	179	19	optimum	optimum	ADJ
ap-9724	179	20	controller	controller	NOUN
ap-9724	179	21	performance	performance	NOUN
ap-9724	179	22	for	for	ADP
ap-9724	179	23	the	the	DET
ap-9724	179	24	pam	pam	NOUN
ap-9724	179	25	-	-	PUNCT
ap-9724	179	26	actuated	actuate	VERB
ap-9724	179	27	manipulator	manipulator	NOUN
ap-9724	179	28	system	system	NOUN
ap-9724	179	29	.	.	PUNCT
ap-9724	180	1	the	the	DET
ap-9724	180	2	trial	trial	NOUN
ap-9724	180	3	-	-	PUNCT
ap-9724	180	4	anderror	anderror	NOUN
ap-9724	180	5	approach	approach	NOUN
ap-9724	180	6	of	of	ADP
ap-9724	180	7	determining	determine	VERB
ap-9724	180	8	or	or	CCONJ
ap-9724	180	9	modifying	modify	VERB
ap-9724	180	10	these	these	DET
ap-9724	180	11	parameters	parameter	NOUN
ap-9724	180	12	is	be	AUX
ap-9724	180	13	inefficient	inefficient	ADJ
ap-9724	180	14	and	and	CCONJ
ap-9724	180	15	fails	fail	VERB
ap-9724	180	16	to	to	PART
ap-9724	180	17	produce	produce	VERB
ap-9724	180	18	optimal	optimal	ADJ
ap-9724	180	19	523	523	NUM
ap-9724	180	20	a.	a.	PROPN
ap-9724	180	21	f.	f.	PROPN
ap-9724	180	22	hasan	hasan	PROPN
ap-9724	180	23	,	,	PUNCT
ap-9724	180	24	h.	h.	PROPN
ap-9724	180	25	a.	a.	PROPN
ap-9724	180	26	raheem	raheem	PROPN
ap-9724	180	27	,	,	PUNCT
ap-9724	180	28	r.	r.	PROPN
ap-9724	180	29	hussein	hussein	PROPN
ap-9724	180	30	acta	acta	PROPN
ap-9724	180	31	polytechnica	polytechnica	PROPN
ap-9724	180	32	figure	figure	NOUN
ap-9724	180	33	3	3	NUM
ap-9724	180	34	.	.	PUNCT
ap-9724	180	35	pam	pam	NOUN
ap-9724	180	36	-	-	PUNCT
ap-9724	180	37	actuated	actuate	VERB
ap-9724	180	38	manipulator	manipulator	NOUN
ap-9724	180	39	controlled	control	VERB
ap-9724	180	40	by	by	ADP
ap-9724	180	41	sact	sact	NOUN
ap-9724	180	42	.	.	PUNCT
ap-9724	181	1	results	result	NOUN
ap-9724	181	2	in	in	ADP
ap-9724	181	3	the	the	DET
ap-9724	181	4	form	form	NOUN
ap-9724	181	5	of	of	ADP
ap-9724	181	6	more	more	ADV
ap-9724	181	7	effectively	effectively	ADV
ap-9724	181	8	dynamic	dynamic	ADJ
ap-9724	181	9	performance	performance	NOUN
ap-9724	181	10	of	of	ADP
ap-9724	181	11	controlled	control	VERB
ap-9724	181	12	systems	system	NOUN
ap-9724	181	13	.	.	PUNCT
ap-9724	182	1	as	as	ADP
ap-9724	182	2	a	a	DET
ap-9724	182	3	result	result	NOUN
ap-9724	182	4	,	,	PUNCT
ap-9724	182	5	the	the	DET
ap-9724	182	6	social	social	ADJ
ap-9724	182	7	spider	spider	NOUN
ap-9724	182	8	optimisation	optimisation	NOUN
ap-9724	182	9	(	(	PUNCT
ap-9724	182	10	sso	sso	NOUN
ap-9724	182	11	)	)	PUNCT
ap-9724	182	12	technique	technique	NOUN
ap-9724	182	13	has	have	AUX
ap-9724	182	14	been	be	AUX
ap-9724	182	15	proposed	propose	VERB
ap-9724	182	16	as	as	ADP
ap-9724	182	17	a	a	DET
ap-9724	182	18	method	method	NOUN
ap-9724	182	19	to	to	PART
ap-9724	182	20	discover	discover	VERB
ap-9724	182	21	the	the	DET
ap-9724	182	22	ideal	ideal	ADJ
ap-9724	182	23	values	value	NOUN
ap-9724	182	24	of	of	ADP
ap-9724	182	25	these	these	DET
ap-9724	182	26	parameters	parameter	NOUN
ap-9724	182	27	in	in	ADP
ap-9724	182	28	order	order	NOUN
ap-9724	182	29	to	to	PART
ap-9724	182	30	ensure	ensure	VERB
ap-9724	182	31	excellent	excellent	ADJ
ap-9724	182	32	performance	performance	NOUN
ap-9724	182	33	of	of	ADP
ap-9724	182	34	the	the	DET
ap-9724	182	35	proposed	propose	VERB
ap-9724	182	36	controllers	controller	NOUN
ap-9724	182	37	in	in	ADP
ap-9724	182	38	terms	term	NOUN
ap-9724	182	39	of	of	ADP
ap-9724	182	40	dynamic	dynamic	ADJ
ap-9724	182	41	response	response	NOUN
ap-9724	182	42	.	.	PUNCT
ap-9724	183	1	the	the	DET
ap-9724	183	2	design	design	NOUN
ap-9724	183	3	parameters	parameter	NOUN
ap-9724	183	4	for	for	ADP
ap-9724	183	5	smc	smc	PROPN
ap-9724	183	6	are	be	AUX
ap-9724	183	7	(	(	PUNCT
ap-9724	183	8	c	c	X
ap-9724	183	9	,	,	PUNCT
ap-9724	183	10	k	k	NOUN
ap-9724	183	11	,	,	PUNCT
ap-9724	183	12	β	β	NOUN
ap-9724	183	13	)	)	PUNCT
ap-9724	183	14	,	,	PUNCT
ap-9724	183	15	while	while	SCONJ
ap-9724	183	16	for	for	ADP
ap-9724	183	17	sact	sact	NOUN
ap-9724	183	18	,	,	PUNCT
ap-9724	183	19	they	they	PRON
ap-9724	183	20	are	be	AUX
ap-9724	183	21	(	(	PUNCT
ap-9724	183	22	γ	γ	X
ap-9724	183	23	,	,	PUNCT
ap-9724	183	24	λ	λ	NOUN
ap-9724	183	25	)	)	PUNCT
ap-9724	183	26	.	.	PUNCT
ap-9724	184	1	erik	erik	PROPN
ap-9724	184	2	cuevas	cuevas	PROPN
ap-9724	184	3	et	et	PROPN
ap-9724	184	4	al	al	PROPN
ap-9724	184	5	.	.	PUNCT
ap-9724	185	1	[	[	X
ap-9724	185	2	22	22	NUM
ap-9724	185	3	]	]	PUNCT
ap-9724	185	4	established	establish	VERB
ap-9724	185	5	the	the	DET
ap-9724	185	6	sso	sso	NOUN
ap-9724	185	7	method	method	NOUN
ap-9724	185	8	,	,	PUNCT
ap-9724	185	9	which	which	PRON
ap-9724	185	10	models	model	VERB
ap-9724	185	11	the	the	DET
ap-9724	185	12	cooperative	cooperative	ADJ
ap-9724	185	13	behaviour	behaviour	NOUN
ap-9724	185	14	of	of	ADP
ap-9724	185	15	social	social	ADJ
ap-9724	185	16	spiders	spider	NOUN
ap-9724	185	17	.	.	PUNCT
ap-9724	186	1	sso	sso	NOUN
ap-9724	186	2	considers	consider	VERB
ap-9724	186	3	two	two	NUM
ap-9724	186	4	search	search	NOUN
ap-9724	186	5	agents	agent	NOUN
ap-9724	186	6	(	(	PUNCT
ap-9724	186	7	spiders	spider	NOUN
ap-9724	186	8	)	)	PUNCT
ap-9724	186	9	,	,	PUNCT
ap-9724	186	10	one	one	NUM
ap-9724	186	11	male	male	NOUN
ap-9724	186	12	and	and	CCONJ
ap-9724	186	13	one	one	NUM
ap-9724	186	14	female	female	NOUN
ap-9724	186	15	.	.	PUNCT
ap-9724	187	1	each	each	DET
ap-9724	187	2	individual	individual	NOUN
ap-9724	187	3	is	be	AUX
ap-9724	187	4	treated	treat	VERB
ap-9724	187	5	with	with	ADP
ap-9724	187	6	a	a	DET
ap-9724	187	7	unique	unique	ADJ
ap-9724	187	8	set	set	NOUN
ap-9724	187	9	of	of	ADP
ap-9724	187	10	evolutionary	evolutionary	ADJ
ap-9724	187	11	operators	operator	NOUN
ap-9724	187	12	based	base	VERB
ap-9724	187	13	on	on	ADP
ap-9724	187	14	its	its	PRON
ap-9724	187	15	gender	gender	NOUN
ap-9724	187	16	,	,	PUNCT
ap-9724	187	17	which	which	PRON
ap-9724	187	18	simulates	simulate	VERB
ap-9724	187	19	various	various	ADJ
ap-9724	187	20	cooperative	cooperative	ADJ
ap-9724	187	21	behaviours	behaviour	NOUN
ap-9724	187	22	present	present	ADJ
ap-9724	187	23	in	in	ADP
ap-9724	187	24	the	the	DET
ap-9724	187	25	colony	colony	NOUN
ap-9724	187	26	.	.	PUNCT
ap-9724	188	1	the	the	DET
ap-9724	188	2	flowchart	flowchart	NOUN
ap-9724	188	3	of	of	ADP
ap-9724	188	4	the	the	DET
ap-9724	188	5	sso	sso	NOUN
ap-9724	188	6	algorithm	algorithm	NOUN
ap-9724	188	7	is	be	AUX
ap-9724	188	8	shown	show	VERB
ap-9724	188	9	in	in	ADP
ap-9724	188	10	figure	figure	NOUN
ap-9724	188	11	4	4	NUM
ap-9724	188	12	.	.	PUNCT
ap-9724	189	1	like	like	ADP
ap-9724	189	2	many	many	ADJ
ap-9724	189	3	metaheuristic	metaheuristic	ADJ
ap-9724	189	4	algorithms	algorithm	NOUN
ap-9724	189	5	,	,	PUNCT
ap-9724	189	6	the	the	DET
ap-9724	189	7	performance	performance	NOUN
ap-9724	189	8	of	of	ADP
ap-9724	189	9	sso	sso	NOUN
ap-9724	189	10	depends	depend	VERB
ap-9724	189	11	on	on	ADP
ap-9724	189	12	its	its	PRON
ap-9724	189	13	parameter	parameter	NOUN
ap-9724	189	14	settings	setting	NOUN
ap-9724	189	15	,	,	PUNCT
ap-9724	189	16	such	such	ADJ
ap-9724	189	17	as	as	ADP
ap-9724	189	18	population	population	NOUN
ap-9724	189	19	size	size	NOUN
ap-9724	189	20	,	,	PUNCT
ap-9724	189	21	neighbourhood	neighbourhood	NOUN
ap-9724	189	22	size	size	NOUN
ap-9724	189	23	,	,	PUNCT
ap-9724	189	24	and	and	CCONJ
ap-9724	189	25	movement	movement	NOUN
ap-9724	189	26	parameters	parameter	NOUN
ap-9724	189	27	.	.	PUNCT
ap-9724	190	1	these	these	DET
ap-9724	190	2	parameters	parameter	NOUN
ap-9724	190	3	often	often	ADV
ap-9724	190	4	require	require	VERB
ap-9724	190	5	fine	fine	ADV
ap-9724	190	6	-	-	PUNCT
ap-9724	190	7	tuning	tuning	NOUN
ap-9724	190	8	to	to	PART
ap-9724	190	9	achieve	achieve	VERB
ap-9724	190	10	good	good	ADJ
ap-9724	190	11	performance	performance	NOUN
ap-9724	190	12	on	on	ADP
ap-9724	190	13	different	different	ADJ
ap-9724	190	14	optimisation	optimisation	NOUN
ap-9724	190	15	problems	problem	NOUN
ap-9724	190	16	.	.	PUNCT
ap-9724	191	1	in	in	ADP
ap-9724	191	2	our	our	PRON
ap-9724	191	3	design	design	NOUN
ap-9724	191	4	,	,	PUNCT
ap-9724	191	5	the	the	DET
ap-9724	191	6	integral	integral	NOUN
ap-9724	191	7	of	of	ADP
ap-9724	191	8	time	time	NOUN
ap-9724	191	9	-	-	PUNCT
ap-9724	191	10	weighted	weight	VERB
ap-9724	191	11	absolute	absolute	ADJ
ap-9724	191	12	error	error	NOUN
ap-9724	191	13	(	(	PUNCT
ap-9724	191	14	itae	itae	PROPN
ap-9724	191	15	)	)	PUNCT
ap-9724	191	16	was	be	AUX
ap-9724	191	17	used	use	VERB
ap-9724	191	18	to	to	PART
ap-9724	191	19	evaluate	evaluate	VERB
ap-9724	191	20	the	the	DET
ap-9724	191	21	cost	cost	NOUN
ap-9724	191	22	of	of	ADP
ap-9724	191	23	each	each	DET
ap-9724	191	24	individual	individual	NOUN
ap-9724	191	25	during	during	ADP
ap-9724	191	26	the	the	DET
ap-9724	191	27	search	search	NOUN
ap-9724	191	28	for	for	ADP
ap-9724	191	29	choosing	choose	VERB
ap-9724	191	30	the	the	DET
ap-9724	191	31	best	good	ADJ
ap-9724	191	32	value	value	NOUN
ap-9724	191	33	with	with	ADP
ap-9724	191	34	minimum	minimum	ADJ
ap-9724	191	35	cost	cost	NOUN
ap-9724	191	36	for	for	ADP
ap-9724	191	37	all	all	DET
ap-9724	191	38	controllers	controller	NOUN
ap-9724	191	39	.	.	PUNCT
ap-9724	192	1	the	the	DET
ap-9724	192	2	mathematical	mathematical	ADJ
ap-9724	192	3	formula	formula	NOUN
ap-9724	192	4	of	of	ADP
ap-9724	192	5	itae	itae	NOUN
ap-9724	192	6	is	be	AUX
ap-9724	192	7	shown	show	VERB
ap-9724	192	8	in	in	ADP
ap-9724	192	9	equation	equation	NOUN
ap-9724	192	10	(	(	PUNCT
ap-9724	192	11	41	41	NUM
ap-9724	192	12	)	)	PUNCT
ap-9724	192	13	.	.	PUNCT
ap-9724	193	1	the	the	DET
ap-9724	193	2	sso	sso	NOUN
ap-9724	193	3	algorithm	algorithm	NOUN
ap-9724	193	4	has	have	AUX
ap-9724	193	5	been	be	AUX
ap-9724	193	6	run	run	VERB
ap-9724	193	7	by	by	ADP
ap-9724	193	8	setting	set	VERB
ap-9724	193	9	several	several	ADJ
ap-9724	193	10	iterations	iteration	NOUN
ap-9724	193	11	equal	equal	ADJ
ap-9724	193	12	to	to	ADP
ap-9724	193	13	32	32	NUM
ap-9724	193	14	,	,	PUNCT
ap-9724	193	15	and	and	CCONJ
ap-9724	193	16	60	60	NUM
ap-9724	193	17	for	for	ADP
ap-9724	193	18	the	the	DET
ap-9724	193	19	number	number	NOUN
ap-9724	193	20	of	of	ADP
ap-9724	193	21	spiders	spider	NOUN
ap-9724	193	22	.	.	PUNCT
ap-9724	194	1	f	f	X
ap-9724	195	1	=	=	SYM
ap-9724	195	2	itae	itae	PROPN
ap-9724	195	3	=	=	SYM
ap-9724	195	4	∫	∫	PROPN
ap-9724	195	5	t	t	PROPN
ap-9724	195	6	0	0	NUM
ap-9724	196	1	t	t	PROPN
ap-9724	196	2	·	·	PUNCT
ap-9724	196	3	|e|	|e|	DET
ap-9724	196	4	dt	dt	X
ap-9724	196	5	.	.	PUNCT
ap-9724	197	1	(	(	PUNCT
ap-9724	197	2	41	41	NUM
ap-9724	197	3	)	)	PUNCT
ap-9724	197	4	4	4	NUM
ap-9724	197	5	.	.	PUNCT
ap-9724	197	6	computer	computer	NOUN
ap-9724	197	7	simulation	simulation	NOUN
ap-9724	197	8	the	the	DET
ap-9724	197	9	physical	physical	ADJ
ap-9724	197	10	parameters	parameter	NOUN
ap-9724	197	11	of	of	ADP
ap-9724	197	12	the	the	DET
ap-9724	197	13	single	single	ADJ
ap-9724	197	14	link	link	NOUN
ap-9724	197	15	robotic	robotic	ADJ
ap-9724	197	16	arm	arm	NOUN
ap-9724	197	17	actuated	actuate	VERB
ap-9724	197	18	by	by	ADP
ap-9724	197	19	pams	pams	PROPN
ap-9724	197	20	are	be	AUX
ap-9724	197	21	listed	list	VERB
ap-9724	197	22	in	in	ADP
ap-9724	197	23	table	table	NOUN
ap-9724	197	24	1	1	NUM
ap-9724	197	25	[	[	X
ap-9724	197	26	5	5	NUM
ap-9724	197	27	,	,	PUNCT
ap-9724	197	28	15	15	NUM
ap-9724	197	29	]	]	PUNCT
ap-9724	197	30	.	.	PUNCT
ap-9724	198	1	a	a	DET
ap-9724	198	2	model	model	NOUN
ap-9724	198	3	of	of	ADP
ap-9724	198	4	the	the	DET
ap-9724	198	5	robot	robot	NOUN
ap-9724	198	6	incorporating	incorporate	VERB
ap-9724	198	7	the	the	DET
ap-9724	198	8	proposed	propose	VERB
ap-9724	198	9	controllers	controller	NOUN
ap-9724	198	10	has	have	AUX
ap-9724	198	11	been	be	AUX
ap-9724	198	12	created	create	VERB
ap-9724	198	13	using	use	VERB
ap-9724	198	14	matlab	matlab	PROPN
ap-9724	198	15	/	/	SYM
ap-9724	198	16	simulink	simulink	PROPN
ap-9724	198	17	and	and	CCONJ
ap-9724	198	18	the	the	DET
ap-9724	198	19	“	"	PUNCT
ap-9724	198	20	ode45	ode45	NOUN
ap-9724	198	21	”	"	PUNCT
ap-9724	198	22	is	be	AUX
ap-9724	198	23	used	use	VERB
ap-9724	198	24	as	as	ADP
ap-9724	198	25	the	the	DET
ap-9724	198	26	numerical	numerical	PROPN
ap-9724	198	27	solver	solver	PROPN
ap-9724	198	28	.	.	PUNCT
ap-9724	199	1	the	the	DET
ap-9724	199	2	results	result	NOUN
ap-9724	199	3	of	of	ADP
ap-9724	199	4	the	the	DET
ap-9724	199	5	optimisation	optimisation	NOUN
ap-9724	199	6	process	process	NOUN
ap-9724	199	7	based	base	VERB
ap-9724	199	8	on	on	ADP
ap-9724	199	9	the	the	DET
ap-9724	199	10	sso	sso	NOUN
ap-9724	199	11	are	be	AUX
ap-9724	199	12	given	give	VERB
ap-9724	199	13	in	in	ADP
ap-9724	199	14	table	table	NOUN
ap-9724	199	15	2	2	NUM
ap-9724	199	16	.	.	PUNCT
ap-9724	200	1	also	also	ADV
ap-9724	200	2	,	,	PUNCT
ap-9724	200	3	the	the	DET
ap-9724	200	4	behaviour	behaviour	NOUN
ap-9724	200	5	of	of	ADP
ap-9724	200	6	the	the	DET
ap-9724	200	7	cost	cost	NOUN
ap-9724	200	8	function	function	NOUN
ap-9724	200	9	during	during	ADP
ap-9724	200	10	the	the	DET
ap-9724	200	11	entire	entire	ADJ
ap-9724	200	12	optimisation	optimisation	NOUN
ap-9724	200	13	process	process	NOUN
ap-9724	200	14	with	with	ADP
ap-9724	200	15	the	the	DET
ap-9724	200	16	design	design	NOUN
ap-9724	200	17	parameters	parameter	NOUN
ap-9724	200	18	for	for	ADP
ap-9724	200	19	both	both	CCONJ
ap-9724	200	20	the	the	DET
ap-9724	200	21	sact	sact	NOUN
ap-9724	200	22	and	and	CCONJ
ap-9724	200	23	smc	smc	PROPN
ap-9724	200	24	controllers	controller	NOUN
ap-9724	200	25	is	be	AUX
ap-9724	200	26	shown	show	VERB
ap-9724	200	27	in	in	ADP
ap-9724	200	28	figure	figure	NOUN
ap-9724	200	29	5	5	NUM
ap-9724	200	30	.	.	PUNCT
ap-9724	201	1	the	the	DET
ap-9724	201	2	desired	desire	VERB
ap-9724	201	3	input	input	NOUN
ap-9724	201	4	signal	signal	NOUN
ap-9724	201	5	applied	apply	VERB
ap-9724	201	6	for	for	ADP
ap-9724	201	7	the	the	DET
ap-9724	201	8	controlled	control	VERB
ap-9724	201	9	system	system	NOUN
ap-9724	201	10	is	be	AUX
ap-9724	201	11	given	give	VERB
ap-9724	201	12	by	by	ADP
ap-9724	201	13	equation	equation	NOUN
ap-9724	201	14	:	:	PUNCT
ap-9724	201	15	φr	φr	ADP
ap-9724	201	16	=	=	SYM
ap-9724	201	17	π	π	PROPN
ap-9724	201	18	2	2	NUM
ap-9724	202	1	+	+	NUM
ap-9724	202	2	0.5	0.5	NUM
ap-9724	202	3	(	(	PUNCT
ap-9724	202	4	sin(2πf1	sin(2πf1	PROPN
ap-9724	202	5	t	t	PROPN
ap-9724	202	6	)	)	PUNCT
ap-9724	203	1	+	+	CCONJ
ap-9724	203	2	sin(2πf2	sin(2πf2	PROPN
ap-9724	203	3	t	t	NOUN
ap-9724	203	4	)	)	PUNCT
ap-9724	204	1	+	+	CCONJ
ap-9724	204	2	sin(2πf3	sin(2πf3	PROPN
ap-9724	204	3	t	t	PROPN
ap-9724	204	4	)	)	PUNCT
ap-9724	204	5	)	)	PUNCT
ap-9724	204	6	,	,	PUNCT
ap-9724	204	7	(	(	PUNCT
ap-9724	204	8	42	42	NUM
ap-9724	204	9	)	)	PUNCT
ap-9724	204	10	where	where	SCONJ
ap-9724	204	11	,	,	PUNCT
ap-9724	204	12	f1	f1	NOUN
ap-9724	204	13	=	=	SYM
ap-9724	204	14	20	20	NUM
ap-9724	204	15	mhz	mhz	NOUN
ap-9724	204	16	,	,	PUNCT
ap-9724	204	17	f2	f2	ADJ
ap-9724	204	18	=	=	NOUN
ap-9724	204	19	50	50	NUM
ap-9724	204	20	mhz	mhz	NOUN
ap-9724	204	21	and	and	CCONJ
ap-9724	204	22	f3	f3	ADJ
ap-9724	204	23	=	=	SYM
ap-9724	204	24	90	90	NUM
ap-9724	204	25	mhz	mhz	NOUN
ap-9724	204	26	.	.	PUNCT
ap-9724	205	1	the	the	DET
ap-9724	205	2	response	response	NOUN
ap-9724	205	3	of	of	ADP
ap-9724	205	4	the	the	DET
ap-9724	205	5	robotic	robotic	ADJ
ap-9724	205	6	system	system	NOUN
ap-9724	205	7	with	with	ADP
ap-9724	205	8	tracking	track	VERB
ap-9724	205	9	behaviour	behaviour	NOUN
ap-9724	205	10	for	for	ADP
ap-9724	205	11	an	an	DET
ap-9724	205	12	angular	angular	ADJ
ap-9724	205	13	position	position	NOUN
ap-9724	205	14	in	in	ADP
ap-9724	205	15	terms	term	NOUN
ap-9724	205	16	of	of	ADP
ap-9724	205	17	an	an	DET
ap-9724	205	18	uncertainty	uncertainty	NOUN
ap-9724	205	19	-	-	PUNCT
ap-9724	205	20	free	free	ADJ
ap-9724	205	21	system	system	NOUN
ap-9724	205	22	is	be	AUX
ap-9724	205	23	shown	show	VERB
ap-9724	205	24	in	in	ADP
ap-9724	205	25	figure	figure	NOUN
ap-9724	205	26	6	6	NUM
ap-9724	205	27	and	and	CCONJ
ap-9724	205	28	the	the	DET
ap-9724	205	29	angular	angular	ADJ
ap-9724	205	30	velocity	velocity	NOUN
ap-9724	205	31	response	response	NOUN
ap-9724	205	32	of	of	ADP
ap-9724	205	33	the	the	DET
ap-9724	205	34	same	same	ADJ
ap-9724	205	35	descriptive	descriptive	ADJ
ap-9724	205	36	system	system	NOUN
ap-9724	205	37	is	be	AUX
ap-9724	205	38	illustrated	illustrate	VERB
ap-9724	205	39	in	in	ADP
ap-9724	205	40	figure	figure	NOUN
ap-9724	205	41	7	7	NUM
ap-9724	205	42	.	.	PUNCT
ap-9724	205	43	figures	figure	NOUN
ap-9724	205	44	8	8	NUM
ap-9724	205	45	and	and	CCONJ
ap-9724	205	46	9	9	NUM
ap-9724	205	47	show	show	VERB
ap-9724	205	48	the	the	DET
ap-9724	205	49	behaviour	behaviour	NOUN
ap-9724	205	50	of	of	ADP
ap-9724	205	51	the	the	DET
ap-9724	205	52	control	control	NOUN
ap-9724	205	53	signals	signal	NOUN
ap-9724	205	54	and	and	CCONJ
ap-9724	205	55	the	the	DET
ap-9724	205	56	error	error	NOUN
ap-9724	205	57	signals	signal	NOUN
ap-9724	205	58	resulting	result	VERB
ap-9724	205	59	from	from	ADP
ap-9724	205	60	the	the	DET
ap-9724	205	61	used	use	VERB
ap-9724	205	62	controllers	controller	NOUN
ap-9724	205	63	,	,	PUNCT
ap-9724	205	64	respectively	respectively	ADV
ap-9724	205	65	.	.	PUNCT
ap-9724	206	1	the	the	DET
ap-9724	206	2	control	control	NOUN
ap-9724	206	3	system	system	NOUN
ap-9724	206	4	’s	’s	PART
ap-9724	206	5	performance	performance	NOUN
ap-9724	206	6	based	base	VERB
ap-9724	206	7	on	on	ADP
ap-9724	206	8	sact	sact	NOUN
ap-9724	206	9	and	and	CCONJ
ap-9724	206	10	smc	smc	PROPN
ap-9724	206	11	is	be	AUX
ap-9724	206	12	reported	report	VERB
ap-9724	206	13	in	in	ADP
ap-9724	206	14	table	table	NOUN
ap-9724	206	15	3	3	NUM
ap-9724	206	16	.	.	PUNCT
ap-9724	207	1	the	the	DET
ap-9724	207	2	evaluation	evaluation	NOUN
ap-9724	207	3	of	of	ADP
ap-9724	207	4	the	the	DET
ap-9724	207	5	performance	performance	NOUN
ap-9724	207	6	is	be	AUX
ap-9724	207	7	based	base	VERB
ap-9724	207	8	on	on	ADP
ap-9724	207	9	root	root	NOUN
ap-9724	207	10	mean	mean	ADJ
ap-9724	207	11	square	square	NOUN
ap-9724	207	12	error	error	NOUN
ap-9724	207	13	,	,	PUNCT
ap-9724	207	14	steady	steady	ADJ
ap-9724	207	15	-	-	PUNCT
ap-9724	207	16	state	state	NOUN
ap-9724	207	17	errorm	errorm	NOUN
ap-9724	207	18	and	and	CCONJ
ap-9724	207	19	settling	settle	VERB
ap-9724	207	20	time	time	NOUN
ap-9724	207	21	.	.	PUNCT
ap-9724	208	1	from	from	ADP
ap-9724	208	2	the	the	DET
ap-9724	208	3	previous	previous	ADJ
ap-9724	208	4	results	result	NOUN
ap-9724	208	5	,	,	PUNCT
ap-9724	208	6	we	we	PRON
ap-9724	208	7	can	can	AUX
ap-9724	208	8	see	see	VERB
ap-9724	208	9	that	that	SCONJ
ap-9724	208	10	the	the	DET
ap-9724	208	11	pam	pam	NOUN
ap-9724	208	12	system	system	NOUN
ap-9724	208	13	based	base	VERB
ap-9724	208	14	on	on	ADP
ap-9724	208	15	sact	sact	NOUN
ap-9724	208	16	was	be	AUX
ap-9724	208	17	able	able	ADJ
ap-9724	208	18	to	to	PART
ap-9724	208	19	complete	complete	VERB
ap-9724	208	20	the	the	DET
ap-9724	208	21	trajectory	trajectory	NOUN
ap-9724	208	22	tracking	tracking	NOUN
ap-9724	208	23	with	with	ADP
ap-9724	208	24	high	high	ADJ
ap-9724	208	25	motion	motion	NOUN
ap-9724	208	26	accuracy	accuracy	NOUN
ap-9724	208	27	as	as	ADP
ap-9724	208	28	compared	compare	VERB
ap-9724	208	29	to	to	ADP
ap-9724	208	30	the	the	DET
ap-9724	208	31	one	one	NUM
ap-9724	208	32	based	base	VERB
ap-9724	208	33	on	on	ADP
ap-9724	208	34	smc	smc	PROPN
ap-9724	208	35	.	.	PUNCT
ap-9724	209	1	after	after	ADP
ap-9724	209	2	evaluating	evaluate	VERB
ap-9724	209	3	the	the	DET
ap-9724	209	4	results	result	NOUN
ap-9724	209	5	in	in	ADP
ap-9724	209	6	terms	term	NOUN
ap-9724	209	7	of	of	ADP
ap-9724	209	8	an	an	DET
ap-9724	209	9	uncertainty	uncertainty	NOUN
ap-9724	209	10	-	-	PUNCT
ap-9724	209	11	free	free	ADJ
ap-9724	209	12	system	system	NOUN
ap-9724	209	13	,	,	PUNCT
ap-9724	209	14	an	an	DET
ap-9724	209	15	uncertainty	uncertainty	NOUN
ap-9724	209	16	within	within	ADP
ap-9724	209	17	10	10	NUM
ap-9724	209	18	%	%	NOUN
ap-9724	209	19	of	of	ADP
ap-9724	209	20	the	the	DET
ap-9724	209	21	nominal	nominal	ADJ
ap-9724	209	22	value	value	NOUN
ap-9724	209	23	was	be	AUX
ap-9724	209	24	applied	apply	VERB
ap-9724	209	25	in	in	ADP
ap-9724	209	26	the	the	DET
ap-9724	209	27	second	second	ADJ
ap-9724	209	28	case	case	NOUN
ap-9724	209	29	.	.	PUNCT
ap-9724	210	1	figures	figure	NOUN
ap-9724	210	2	10	10	NUM
ap-9724	210	3	and	and	CCONJ
ap-9724	210	4	11	11	NUM
ap-9724	210	5	show	show	VERB
ap-9724	210	6	the	the	DET
ap-9724	210	7	tracking	tracking	NOUN
ap-9724	210	8	performance	performance	NOUN
ap-9724	210	9	of	of	ADP
ap-9724	210	10	both	both	CCONJ
ap-9724	210	11	the	the	DET
ap-9724	210	12	angular	angular	ADJ
ap-9724	210	13	position	position	NOUN
ap-9724	210	14	and	and	CCONJ
ap-9724	210	15	velocity	velocity	NOUN
ap-9724	210	16	through	through	ADP
ap-9724	210	17	the	the	DET
ap-9724	210	18	two	two	NUM
ap-9724	210	19	controllers	controller	NOUN
ap-9724	210	20	used	use	VERB
ap-9724	210	21	sequentially	sequentially	ADV
ap-9724	210	22	.	.	PUNCT
ap-9724	211	1	while	while	SCONJ
ap-9724	211	2	figures	figure	NOUN
ap-9724	211	3	12	12	NUM
ap-9724	211	4	and	and	CCONJ
ap-9724	211	5	13	13	NUM
ap-9724	211	6	show	show	VERB
ap-9724	211	7	the	the	DET
ap-9724	211	8	behaviour	behaviour	NOUN
ap-9724	211	9	of	of	ADP
ap-9724	211	10	the	the	DET
ap-9724	211	11	control	control	NOUN
ap-9724	211	12	signal	signal	NOUN
ap-9724	211	13	and	and	CCONJ
ap-9724	211	14	error	error	NOUN
ap-9724	211	15	signal	signal	NOUN
ap-9724	211	16	that	that	PRON
ap-9724	211	17	have	have	AUX
ap-9724	211	18	resulted	result	VERB
ap-9724	211	19	from	from	ADP
ap-9724	211	20	the	the	DET
ap-9724	211	21	applied	apply	VERB
ap-9724	211	22	controllers	controller	NOUN
ap-9724	211	23	.	.	PUNCT
ap-9724	212	1	hence	hence	ADV
ap-9724	212	2	,	,	PUNCT
ap-9724	212	3	from	from	ADP
ap-9724	212	4	the	the	DET
ap-9724	212	5	provided	provide	VERB
ap-9724	212	6	results	result	NOUN
ap-9724	212	7	,	,	PUNCT
ap-9724	212	8	it	it	PRON
ap-9724	212	9	can	can	AUX
ap-9724	212	10	clearly	clearly	ADV
ap-9724	212	11	be	be	AUX
ap-9724	212	12	seen	see	VERB
ap-9724	212	13	that	that	SCONJ
ap-9724	212	14	the	the	DET
ap-9724	212	15	smc	smc	PROPN
ap-9724	212	16	controller	controller	NOUN
ap-9724	212	17	has	have	AUX
ap-9724	212	18	failed	fail	VERB
ap-9724	212	19	to	to	PART
ap-9724	212	20	maintain	maintain	VERB
ap-9724	212	21	the	the	DET
ap-9724	212	22	stability	stability	NOUN
ap-9724	212	23	of	of	ADP
ap-9724	212	24	the	the	DET
ap-9724	212	25	system	system	NOUN
ap-9724	212	26	as	as	SCONJ
ap-9724	212	27	compared	compare	VERB
ap-9724	212	28	to	to	ADP
ap-9724	212	29	the	the	DET
ap-9724	212	30	sact	sact	NOUN
ap-9724	212	31	controller	controller	NOUN
ap-9724	212	32	.	.	PUNCT
ap-9724	213	1	5	5	NUM
ap-9724	213	2	.	.	X
ap-9724	213	3	conclusion	conclusion	NOUN
ap-9724	213	4	in	in	ADP
ap-9724	213	5	this	this	DET
ap-9724	213	6	work	work	NOUN
ap-9724	213	7	,	,	PUNCT
ap-9724	213	8	a	a	DET
ap-9724	213	9	synergetic	synergetic	ADJ
ap-9724	213	10	algorithm	algorithm	NOUN
ap-9724	213	11	control	control	NOUN
ap-9724	213	12	theory	theory	NOUN
ap-9724	213	13	and	and	CCONJ
ap-9724	213	14	a	a	DET
ap-9724	213	15	sliding	slide	VERB
ap-9724	213	16	mode	mode	NOUN
ap-9724	213	17	control	control	NOUN
ap-9724	213	18	method	method	NOUN
ap-9724	213	19	are	be	AUX
ap-9724	213	20	developed	develop	VERB
ap-9724	213	21	for	for	ADP
ap-9724	213	22	tracking	track	VERB
ap-9724	213	23	pam	pam	NOUN
ap-9724	213	24	system	system	NOUN
ap-9724	213	25	control	control	NOUN
ap-9724	213	26	.	.	PUNCT
ap-9724	214	1	these	these	DET
ap-9724	214	2	two	two	NUM
ap-9724	214	3	control	control	NOUN
ap-9724	214	4	theories	theory	NOUN
ap-9724	214	5	with	with	ADP
ap-9724	214	6	their	their	PRON
ap-9724	214	7	control	control	NOUN
ap-9724	214	8	laws	law	NOUN
ap-9724	214	9	were	be	AUX
ap-9724	214	10	used	use	VERB
ap-9724	214	11	to	to	PART
ap-9724	214	12	maintain	maintain	VERB
ap-9724	214	13	the	the	DET
ap-9724	214	14	asymptotic	asymptotic	ADJ
ap-9724	214	15	stability	stability	NOUN
ap-9724	214	16	of	of	ADP
ap-9724	214	17	the	the	DET
ap-9724	214	18	system	system	NOUN
ap-9724	214	19	.	.	PUNCT
ap-9724	215	1	the	the	DET
ap-9724	215	2	robustness	robustness	NOUN
ap-9724	215	3	and	and	CCONJ
ap-9724	215	4	effectiveness	effectiveness	NOUN
ap-9724	215	5	of	of	ADP
ap-9724	215	6	the	the	DET
ap-9724	215	7	proposed	propose	VERB
ap-9724	215	8	control	control	NOUN
ap-9724	215	9	schemes	scheme	NOUN
ap-9724	215	10	have	have	AUX
ap-9724	215	11	been	be	AUX
ap-9724	215	12	verified	verify	VERB
ap-9724	215	13	by	by	ADP
ap-9724	215	14	several	several	ADJ
ap-9724	215	15	simulation	simulation	NOUN
ap-9724	215	16	studies	study	NOUN
ap-9724	215	17	.	.	PUNCT
ap-9724	216	1	according	accord	VERB
ap-9724	216	2	to	to	ADP
ap-9724	216	3	the	the	DET
ap-9724	216	4	simulation	simulation	NOUN
ap-9724	216	5	results	result	NOUN
ap-9724	216	6	,	,	PUNCT
ap-9724	216	7	the	the	DET
ap-9724	216	8	sact	sact	NOUN
ap-9724	216	9	showed	show	VERB
ap-9724	216	10	524	524	NUM
ap-9724	216	11	vol	vol	NOUN
ap-9724	216	12	.	.	PUNCT
ap-9724	217	1	64	64	NUM
ap-9724	217	2	no	no	NOUN
ap-9724	217	3	.	.	PUNCT
ap-9724	218	1	6/2024	6/2024	NUM
ap-9724	218	2	performance	performance	NOUN
ap-9724	218	3	improvement	improvement	NOUN
ap-9724	218	4	of	of	ADP
ap-9724	218	5	manipulator	manipulator	NOUN
ap-9724	218	6	actuated	actuate	VERB
ap-9724	218	7	by	by	ADP
ap-9724	218	8	pneumatic	pneumatic	NOUN
ap-9724	218	9	.	.	PUNCT
ap-9724	218	10	.	.	PUNCT
ap-9724	219	1	.	.	PUNCT
ap-9724	220	1	figure	figure	VERB
ap-9724	220	2	4	4	NUM
ap-9724	220	3	.	.	PUNCT
ap-9724	220	4	sso	sso	PROPN
ap-9724	220	5	flowchart	flowchart	PROPN
ap-9724	220	6	.	.	PUNCT
ap-9724	221	1	parameter	parameter	PROPN
ap-9724	221	2	value	value	NOUN
ap-9724	221	3	unit	unit	NOUN
ap-9724	221	4	m	m	VERB
ap-9724	221	5	20	20	NUM
ap-9724	221	6	kg	kg	NOUN
ap-9724	221	7	l	l	NOUN
ap-9724	221	8	0.5	0.5	NUM
ap-9724	221	9	m	m	NOUN
ap-9724	221	10	i	i	VERB
ap-9724	221	11	1.667	1.667	NUM
ap-9724	221	12	kg	kg	NOUN
ap-9724	222	1	m−2	m−2	PROPN
ap-9724	222	2	g	g	NOUN
ap-9724	222	3	9.81	9.81	NUM
ap-9724	222	4	m	m	NOUN
ap-9724	222	5	s−2	s−2	PROPN
ap-9724	222	6	r	r	NOUN
ap-9724	222	7	0.05	0.05	NUM
ap-9724	222	8	m	m	NOUN
ap-9724	222	9	p0b	p0b	ADJ
ap-9724	222	10	400	400	NUM
ap-9724	222	11	kpa	kpa	PROPN
ap-9724	222	12	p0	p0	PROPN
ap-9724	222	13	t	t	PROPN
ap-9724	222	14	400	400	NUM
ap-9724	222	15	kpa	kpa	NOUN
ap-9724	222	16	table	table	NOUN
ap-9724	222	17	1	1	NUM
ap-9724	222	18	.	.	PUNCT
ap-9724	223	1	the	the	DET
ap-9724	223	2	parameters	parameter	NOUN
ap-9724	223	3	of	of	ADP
ap-9724	223	4	single	single	ADJ
ap-9724	223	5	link	link	NOUN
ap-9724	223	6	robotic	robotic	ADJ
ap-9724	223	7	arm	arm	NOUN
ap-9724	223	8	.	.	PUNCT
ap-9724	224	1	controller	controller	NOUN
ap-9724	224	2	optimal	optimal	ADJ
ap-9724	224	3	values	value	NOUN
ap-9724	224	4	coefficient	coefficient	NOUN
ap-9724	224	5	value	value	NOUN
ap-9724	224	6	sact	sact	NOUN
ap-9724	224	7	γ	γ	PROPN
ap-9724	224	8	1.4558	1.4558	NUM
ap-9724	224	9	λ	λ	PROPN
ap-9724	224	10	0.0055	0.0055	NUM
ap-9724	224	11	smc	smc	PROPN
ap-9724	224	12	c	c	PROPN
ap-9724	224	13	1.5278	1.5278	NUM
ap-9724	224	14	k	k	NOUN
ap-9724	224	15	0.9997	0.9997	NUM
ap-9724	224	16	β	β	X
ap-9724	224	17	17.6440	17.6440	NUM
ap-9724	224	18	table	table	NOUN
ap-9724	224	19	2	2	NUM
ap-9724	224	20	.	.	PUNCT
ap-9724	225	1	the	the	DET
ap-9724	225	2	proposed	propose	VERB
ap-9724	225	3	values	value	NOUN
ap-9724	225	4	of	of	ADP
ap-9724	225	5	the	the	DET
ap-9724	225	6	design	design	NOUN
ap-9724	225	7	parameters	parameter	NOUN
ap-9724	225	8	for	for	ADP
ap-9724	225	9	sact	sact	NOUN
ap-9724	225	10	and	and	CCONJ
ap-9724	225	11	smc	smc	PROPN
ap-9724	225	12	by	by	ADP
ap-9724	225	13	the	the	DET
ap-9724	225	14	sso	sso	NOUN
ap-9724	225	15	algorithm	algorithm	NOUN
ap-9724	225	16	.	.	PUNCT
ap-9724	226	1	525	525	NUM
ap-9724	226	2	a.	a.	PROPN
ap-9724	226	3	f.	f.	PROPN
ap-9724	226	4	hasan	hasan	PROPN
ap-9724	226	5	,	,	PUNCT
ap-9724	226	6	h.	h.	PROPN
ap-9724	226	7	a.	a.	PROPN
ap-9724	226	8	raheem	raheem	PROPN
ap-9724	226	9	,	,	PUNCT
ap-9724	226	10	r.	r.	PROPN
ap-9724	226	11	hussein	hussein	PROPN
ap-9724	226	12	acta	acta	PROPN
ap-9724	226	13	polytechnica	polytechnica	PROPN
ap-9724	226	14	(	(	PUNCT
ap-9724	226	15	a	a	NOUN
ap-9724	226	16	)	)	PUNCT
ap-9724	226	17	.	.	PUNCT
ap-9724	227	1	smc	smc	PROPN
ap-9724	227	2	.	.	PUNCT
ap-9724	227	3	(	(	PUNCT
ap-9724	227	4	b	b	NOUN
ap-9724	227	5	)	)	PUNCT
ap-9724	227	6	.	.	PUNCT
ap-9724	228	1	sact	sact	PROPN
ap-9724	228	2	.	.	PUNCT
ap-9724	229	1	figure	figure	NOUN
ap-9724	229	2	5	5	NUM
ap-9724	229	3	.	.	PUNCT
ap-9724	230	1	evolution	evolution	NOUN
ap-9724	230	2	of	of	ADP
ap-9724	230	3	the	the	DET
ap-9724	230	4	cost	cost	NOUN
ap-9724	230	5	function	function	NOUN
ap-9724	230	6	versus	versus	ADP
ap-9724	230	7	the	the	DET
ap-9724	230	8	iterations	iteration	NOUN
ap-9724	230	9	.	.	PUNCT
ap-9724	231	1	controller	controller	NOUN
ap-9724	231	2	rmse	rmse	NOUN
ap-9724	231	3	settling	settle	VERB
ap-9724	231	4	time	time	NOUN
ap-9724	231	5	[	[	X
ap-9724	231	6	sec	sec	X
ap-9724	231	7	]	]	X
ap-9724	231	8	steady	steady	ADJ
ap-9724	231	9	-	-	PUNCT
ap-9724	231	10	state	state	NOUN
ap-9724	231	11	error	error	NOUN
ap-9724	231	12	[	[	X
ap-9724	231	13	rad	rad	X
ap-9724	231	14	]	]	X
ap-9724	231	15	itae	itae	PROPN
ap-9724	231	16	sact	sact	NOUN
ap-9724	231	17	0.0499	0.0499	NUM
ap-9724	231	18	3.1	3.1	NUM
ap-9724	231	19	1.5	1.5	NUM
ap-9724	231	20	×	×	NOUN
ap-9724	231	21	10−5	10−5	NUM
ap-9724	231	22	324.8	324.8	NUM
ap-9724	231	23	smc	smc	PROPN
ap-9724	231	24	0.1080	0.1080	NUM
ap-9724	231	25	4.6	4.6	NUM
ap-9724	231	26	9.8	9.8	NUM
ap-9724	231	27	×	×	NOUN
ap-9724	231	28	10−5	10−5	NUM
ap-9724	231	29	1	1	NUM
ap-9724	231	30	732	732	NUM
ap-9724	231	31	table	table	NOUN
ap-9724	231	32	3	3	NUM
ap-9724	231	33	.	.	PUNCT
ap-9724	231	34	evaluation	evaluation	NOUN
ap-9724	231	35	of	of	ADP
ap-9724	231	36	pam	pam	NOUN
ap-9724	231	37	-	-	PUNCT
ap-9724	231	38	actuated	actuate	VERB
ap-9724	231	39	manipulator	manipulator	NOUN
ap-9724	231	40	controlled	control	VERB
ap-9724	231	41	using	use	VERB
ap-9724	231	42	sact	sact	PROPN
ap-9724	231	43	and	and	CCONJ
ap-9724	231	44	smc	smc	PROPN
ap-9724	231	45	.	.	PROPN
ap-9724	231	46	figure	figure	PROPN
ap-9724	231	47	6	6	NUM
ap-9724	231	48	.	.	PUNCT
ap-9724	232	1	the	the	DET
ap-9724	232	2	behaviour	behaviour	NOUN
ap-9724	232	3	of	of	ADP
ap-9724	232	4	angular	angular	ADJ
ap-9724	232	5	position	position	NOUN
ap-9724	232	6	without	without	ADP
ap-9724	232	7	uncertainty	uncertainty	NOUN
ap-9724	232	8	.	.	PUNCT
ap-9724	233	1	figure	figure	NOUN
ap-9724	233	2	7	7	NUM
ap-9724	233	3	.	.	PUNCT
ap-9724	234	1	the	the	DET
ap-9724	234	2	behaviour	behaviour	NOUN
ap-9724	234	3	of	of	ADP
ap-9724	234	4	angular	angular	ADJ
ap-9724	234	5	velocity	velocity	NOUN
ap-9724	234	6	without	without	ADP
ap-9724	234	7	uncertainty	uncertainty	NOUN
ap-9724	234	8	.	.	PUNCT
ap-9724	235	1	figure	figure	NOUN
ap-9724	235	2	8	8	NUM
ap-9724	235	3	.	.	PUNCT
ap-9724	236	1	the	the	DET
ap-9724	236	2	behaviour	behaviour	NOUN
ap-9724	236	3	of	of	ADP
ap-9724	236	4	control	control	NOUN
ap-9724	236	5	action	action	NOUN
ap-9724	236	6	without	without	ADP
ap-9724	236	7	uncertainty	uncertainty	NOUN
ap-9724	236	8	.	.	PUNCT
ap-9724	237	1	figure	figure	NOUN
ap-9724	237	2	9	9	NUM
ap-9724	237	3	.	.	PUNCT
ap-9724	238	1	the	the	DET
ap-9724	238	2	behaviour	behaviour	NOUN
ap-9724	238	3	of	of	ADP
ap-9724	238	4	angle	angle	NOUN
ap-9724	238	5	error	error	NOUN
ap-9724	238	6	signal	signal	NOUN
ap-9724	238	7	without	without	ADP
ap-9724	238	8	uncertainty	uncertainty	NOUN
ap-9724	238	9	.	.	PUNCT
ap-9724	239	1	526	526	NUM
ap-9724	239	2	vol	vol	NOUN
ap-9724	239	3	.	.	PUNCT
ap-9724	240	1	64	64	NUM
ap-9724	240	2	no	no	NOUN
ap-9724	240	3	.	.	PUNCT
ap-9724	241	1	6/2024	6/2024	NUM
ap-9724	241	2	performance	performance	NOUN
ap-9724	241	3	improvement	improvement	NOUN
ap-9724	241	4	of	of	ADP
ap-9724	241	5	manipulator	manipulator	NOUN
ap-9724	241	6	actuated	actuate	VERB
ap-9724	241	7	by	by	ADP
ap-9724	241	8	pneumatic	pneumatic	NOUN
ap-9724	241	9	.	.	PUNCT
ap-9724	241	10	.	.	PUNCT
ap-9724	242	1	.	.	PUNCT
ap-9724	243	1	figure	figure	NOUN
ap-9724	243	2	10	10	NUM
ap-9724	243	3	.	.	PUNCT
ap-9724	244	1	the	the	DET
ap-9724	244	2	behaviour	behaviour	NOUN
ap-9724	244	3	of	of	ADP
ap-9724	244	4	angle	angle	NOUN
ap-9724	244	5	error	error	NOUN
ap-9724	244	6	signal	signal	NOUN
ap-9724	244	7	with	with	ADP
ap-9724	244	8	10	10	NUM
ap-9724	244	9	%	%	NOUN
ap-9724	244	10	uncertainty	uncertainty	NOUN
ap-9724	244	11	in	in	ADP
ap-9724	244	12	parameters	parameter	NOUN
ap-9724	244	13	.	.	PUNCT
ap-9724	245	1	figure	figure	VERB
ap-9724	245	2	11	11	NUM
ap-9724	245	3	.	.	PUNCT
ap-9724	246	1	the	the	DET
ap-9724	246	2	behaviour	behaviour	NOUN
ap-9724	246	3	of	of	ADP
ap-9724	246	4	angular	angular	ADJ
ap-9724	246	5	position	position	NOUN
ap-9724	246	6	with	with	ADP
ap-9724	246	7	10	10	NUM
ap-9724	246	8	%	%	NOUN
ap-9724	246	9	uncertainty	uncertainty	NOUN
ap-9724	246	10	in	in	ADP
ap-9724	246	11	parameters	parameter	NOUN
ap-9724	246	12	.	.	PUNCT
ap-9724	247	1	figure	figure	NOUN
ap-9724	247	2	12	12	NUM
ap-9724	247	3	.	.	PUNCT
ap-9724	248	1	the	the	DET
ap-9724	248	2	behaviour	behaviour	NOUN
ap-9724	248	3	of	of	ADP
ap-9724	248	4	angular	angular	ADJ
ap-9724	248	5	velocity	velocity	NOUN
ap-9724	248	6	with	with	ADP
ap-9724	248	7	10	10	NUM
ap-9724	248	8	%	%	NOUN
ap-9724	248	9	uncertainty	uncertainty	NOUN
ap-9724	248	10	in	in	ADP
ap-9724	248	11	parameters	parameter	NOUN
ap-9724	248	12	.	.	PUNCT
ap-9724	249	1	figure	figure	VERB
ap-9724	249	2	13	13	NUM
ap-9724	249	3	.	.	PUNCT
ap-9724	250	1	the	the	DET
ap-9724	250	2	behaviour	behaviour	NOUN
ap-9724	250	3	of	of	ADP
ap-9724	250	4	control	control	NOUN
ap-9724	250	5	action	action	NOUN
ap-9724	250	6	with	with	ADP
ap-9724	250	7	10	10	NUM
ap-9724	250	8	%	%	NOUN
ap-9724	250	9	uncertainty	uncertainty	NOUN
ap-9724	250	10	in	in	ADP
ap-9724	250	11	parameters	parameter	NOUN
ap-9724	250	12	.	.	PUNCT
ap-9724	251	1	a	a	DET
ap-9724	251	2	better	well	ADJ
ap-9724	251	3	tracking	tracking	NOUN
ap-9724	251	4	performance	performance	NOUN
ap-9724	251	5	and	and	CCONJ
ap-9724	251	6	super	super	ADV
ap-9724	251	7	robust	robust	ADJ
ap-9724	251	8	characteristics	characteristic	NOUN
ap-9724	251	9	against	against	ADP
ap-9724	251	10	variations	variation	NOUN
ap-9724	251	11	of	of	ADP
ap-9724	251	12	the	the	DET
ap-9724	251	13	parameter	parameter	NOUN
ap-9724	251	14	’s	’s	PART
ap-9724	251	15	values	value	NOUN
ap-9724	251	16	than	than	ADP
ap-9724	251	17	the	the	DET
ap-9724	251	18	smc	smc	PROPN
ap-9724	251	19	.	.	PUNCT
ap-9724	252	1	the	the	DET
ap-9724	252	2	sample	sample	NOUN
ap-9724	252	3	results	result	NOUN
ap-9724	252	4	obtained	obtain	VERB
ap-9724	252	5	show	show	NOUN
ap-9724	252	6	that	that	SCONJ
ap-9724	252	7	the	the	DET
ap-9724	252	8	sact	sact	NOUN
ap-9724	252	9	has	have	VERB
ap-9724	252	10	a	a	DET
ap-9724	252	11	lower	low	ADJ
ap-9724	252	12	root	root	NOUN
ap-9724	252	13	mean	mean	ADJ
ap-9724	252	14	square	square	ADJ
ap-9724	252	15	error	error	NOUN
ap-9724	252	16	(	(	PUNCT
ap-9724	252	17	rmse	rmse	NOUN
ap-9724	252	18	)	)	PUNCT
ap-9724	252	19	,	,	PUNCT
ap-9724	252	20	53.79	53.79	NUM
ap-9724	252	21	%	%	NOUN
ap-9724	252	22	,	,	PUNCT
ap-9724	252	23	than	than	ADP
ap-9724	252	24	the	the	DET
ap-9724	252	25	smc	smc	PROPN
ap-9724	252	26	.	.	PROPN
ap-9724	253	1	in	in	ADP
ap-9724	253	2	addition	addition	NOUN
ap-9724	253	3	,	,	PUNCT
ap-9724	253	4	a	a	DET
ap-9724	253	5	further	further	ADJ
ap-9724	253	6	performance	performance	NOUN
ap-9724	253	7	improvement	improvement	NOUN
ap-9724	253	8	was	be	AUX
ap-9724	253	9	achieved	achieve	VERB
ap-9724	253	10	with	with	ADP
ap-9724	253	11	the	the	DET
ap-9724	253	12	two	two	NUM
ap-9724	253	13	presented	present	VERB
ap-9724	253	14	control	control	NOUN
ap-9724	253	15	schemes	scheme	NOUN
ap-9724	253	16	by	by	ADP
ap-9724	253	17	using	use	VERB
ap-9724	253	18	the	the	DET
ap-9724	253	19	sso	sso	NOUN
ap-9724	253	20	algorithm	algorithm	NOUN
ap-9724	253	21	.	.	PUNCT
ap-9724	254	1	future	future	ADJ
ap-9724	254	2	research	research	NOUN
ap-9724	254	3	endeavours	endeavour	NOUN
ap-9724	254	4	of	of	ADP
ap-9724	254	5	this	this	DET
ap-9724	254	6	study	study	NOUN
ap-9724	254	7	;	;	PUNCT
ap-9724	254	8	one	one	PRON
ap-9724	254	9	can	can	AUX
ap-9724	254	10	suggest	suggest	VERB
ap-9724	254	11	a	a	DET
ap-9724	254	12	two	two	NUM
ap-9724	254	13	or	or	CCONJ
ap-9724	254	14	three	three	NUM
ap-9724	254	15	degree	degree	NOUN
ap-9724	254	16	of	of	ADP
ap-9724	254	17	freedom	freedom	NOUN
ap-9724	254	18	robot	robot	NOUN
ap-9724	254	19	manipulator	manipulator	NOUN
ap-9724	254	20	and	and	CCONJ
ap-9724	254	21	use	use	VERB
ap-9724	254	22	the	the	DET
ap-9724	254	23	same	same	ADJ
ap-9724	254	24	control	control	NOUN
ap-9724	254	25	techniques	technique	NOUN
ap-9724	254	26	to	to	PART
ap-9724	254	27	show	show	VERB
ap-9724	254	28	the	the	DET
ap-9724	254	29	robustness	robustness	NOUN
ap-9724	254	30	of	of	ADP
ap-9724	254	31	sact	sact	NOUN
ap-9724	254	32	.	.	PUNCT
ap-9724	255	1	another	another	DET
ap-9724	255	2	suggestion	suggestion	NOUN
ap-9724	255	3	is	be	AUX
ap-9724	255	4	to	to	PART
ap-9724	255	5	use	use	VERB
ap-9724	255	6	different	different	ADJ
ap-9724	255	7	optimisation	optimisation	NOUN
ap-9724	255	8	techniques	technique	NOUN
ap-9724	255	9	,	,	PUNCT
ap-9724	255	10	such	such	ADJ
ap-9724	255	11	as	as	ADP
ap-9724	255	12	the	the	DET
ap-9724	255	13	whale	whale	NOUN
ap-9724	255	14	optimisation	optimisation	NOUN
ap-9724	255	15	algorithm	algorithm	NOUN
ap-9724	255	16	(	(	PUNCT
ap-9724	255	17	woa	woa	INTJ
ap-9724	255	18	)	)	PUNCT
ap-9724	256	1	[	[	X
ap-9724	256	2	23	23	NUM
ap-9724	256	3	]	]	PUNCT
ap-9724	256	4	,	,	PUNCT
ap-9724	256	5	spotted	spot	VERB
ap-9724	256	6	hyena	hyena	NOUN
ap-9724	256	7	optimiser	optimiser	NOUN
ap-9724	256	8	(	(	PUNCT
ap-9724	256	9	sho	sho	PROPN
ap-9724	256	10	)	)	PUNCT
ap-9724	257	1	[	[	X
ap-9724	257	2	24	24	NUM
ap-9724	257	3	]	]	PUNCT
ap-9724	257	4	,	,	PUNCT
ap-9724	257	5	and	and	CCONJ
ap-9724	257	6	sparrow	sparrow	NOUN
ap-9724	257	7	search	search	NOUN
ap-9724	257	8	optimisation	optimisation	NOUN
ap-9724	257	9	[	[	X
ap-9724	257	10	25	25	NUM
ap-9724	257	11	]	]	PUNCT
ap-9724	257	12	to	to	PART
ap-9724	257	13	make	make	VERB
ap-9724	257	14	a	a	DET
ap-9724	257	15	comparison	comparison	NOUN
ap-9724	257	16	with	with	ADP
ap-9724	257	17	those	those	PRON
ap-9724	257	18	used	use	VERB
ap-9724	257	19	in	in	ADP
ap-9724	257	20	this	this	DET
ap-9724	257	21	study	study	NOUN
ap-9724	257	22	.	.	PUNCT
ap-9724	258	1	one	one	PRON
ap-9724	258	2	can	can	AUX
ap-9724	258	3	propose	propose	VERB
ap-9724	258	4	other	other	ADJ
ap-9724	258	5	control	control	NOUN
ap-9724	258	6	strategies	strategy	NOUN
ap-9724	258	7	,	,	PUNCT
ap-9724	258	8	such	such	ADJ
ap-9724	258	9	as	as	ADP
ap-9724	258	10	model	model	NOUN
ap-9724	258	11	reference	reference	NOUN
ap-9724	258	12	adaptive	adaptive	ADJ
ap-9724	258	13	control	control	NOUN
ap-9724	258	14	(	(	PUNCT
ap-9724	258	15	mrac	mrac	PROPN
ap-9724	258	16	)	)	PUNCT
ap-9724	258	17	,	,	PUNCT
ap-9724	258	18	observer	observer	NOUN
ap-9724	258	19	-	-	PUNCT
ap-9724	258	20	based	base	VERB
ap-9724	258	21	control	control	NOUN
ap-9724	258	22	,	,	PUNCT
ap-9724	258	23	robust	robust	ADJ
ap-9724	258	24	control	control	NOUN
ap-9724	258	25	,	,	PUNCT
ap-9724	258	26	backstepping	backsteppe	VERB
ap-9724	258	27	control	control	NOUN
ap-9724	258	28	,	,	PUNCT
ap-9724	258	29	active	active	ADJ
ap-9724	258	30	disturbance	disturbance	NOUN
ap-9724	258	31	reject	reject	VERB
ap-9724	258	32	control	control	NOUN
ap-9724	258	33	(	(	PUNCT
ap-9724	258	34	adrc	adrc	NOUN
ap-9724	258	35	)	)	PUNCT
ap-9724	258	36	,	,	PUNCT
ap-9724	258	37	and	and	CCONJ
ap-9724	258	38	nonlinear	nonlinear	PROPN
ap-9724	258	39	pd	pd	PROPN
ap-9724	258	40	control	control	NOUN
ap-9724	258	41	to	to	PART
ap-9724	258	42	further	far	ADV
ap-9724	258	43	improve	improve	VERB
ap-9724	258	44	the	the	DET
ap-9724	258	45	proposed	propose	VERB
ap-9724	258	46	controller	controller	NOUN
ap-9724	258	47	as	as	ADP
ap-9724	258	48	future	future	ADJ
ap-9724	258	49	extension	extension	NOUN
ap-9724	258	50	of	of	ADP
ap-9724	258	51	this	this	DET
ap-9724	258	52	study	study	NOUN
ap-9724	258	53	[	[	X
ap-9724	258	54	26	26	NUM
ap-9724	258	55	–	–	PUNCT
ap-9724	258	56	37	37	NUM
ap-9724	258	57	]	]	PUNCT
ap-9724	258	58	.	.	PUNCT
ap-9724	259	1	references	reference	NOUN
ap-9724	259	2	[	[	X
ap-9724	259	3	1	1	NUM
ap-9724	259	4	]	]	X
ap-9724	259	5	r.	r.	PROPN
ap-9724	259	6	m.	m.	PROPN
ap-9724	259	7	robinson	robinson	PROPN
ap-9724	259	8	,	,	PUNCT
ap-9724	259	9	c.	c.	PROPN
ap-9724	259	10	s.	s.	PROPN
ap-9724	259	11	kothera	kothera	PROPN
ap-9724	259	12	,	,	PUNCT
ap-9724	259	13	r.	r.	PROPN
ap-9724	259	14	m.	m.	PROPN
ap-9724	259	15	sanner	sanner	NOUN
ap-9724	259	16	,	,	PUNCT
ap-9724	259	17	n.	n.	PROPN
ap-9724	259	18	m.	m.	NOUN
ap-9724	259	19	wereley	wereley	PROPN
ap-9724	259	20	.	.	PUNCT
ap-9724	260	1	nonlinear	nonlinear	ADJ
ap-9724	260	2	control	control	NOUN
ap-9724	260	3	of	of	ADP
ap-9724	260	4	robotic	robotic	ADJ
ap-9724	260	5	manipulators	manipulator	NOUN
ap-9724	260	6	driven	drive	VERB
ap-9724	260	7	by	by	ADP
ap-9724	260	8	pneumatic	pneumatic	ADJ
ap-9724	260	9	artificial	artificial	ADJ
ap-9724	260	10	muscles	muscle	NOUN
ap-9724	260	11	.	.	PUNCT
ap-9724	261	1	ieee	ieee	PROPN
ap-9724	261	2	/	/	SYM
ap-9724	261	3	asme	asme	PROPN
ap-9724	261	4	transactions	transaction	NOUN
ap-9724	261	5	on	on	ADP
ap-9724	261	6	mechatronics	mechatronic	NOUN
ap-9724	261	7	21(1):55–68	21(1):55–68	NUM
ap-9724	261	8	,	,	PUNCT
ap-9724	261	9	2016	2016	NUM
ap-9724	261	10	.	.	PUNCT
ap-9724	262	1	https://doi.org/10.1109/tmech.2015.2483520	https://doi.org/10.1109/tmech.2015.2483520	PROPN
ap-9724	262	2	[	[	X
ap-9724	262	3	2	2	NUM
ap-9724	262	4	]	]	X
ap-9724	262	5	h.	h.	PROPN
ap-9724	262	6	khajehsaeid	khajehsaeid	PROPN
ap-9724	262	7	,	,	PUNCT
ap-9724	262	8	b.	b.	PROPN
ap-9724	262	9	esmaeili	esmaeili	PROPN
ap-9724	262	10	,	,	PUNCT
ap-9724	262	11	r.	r.	PROPN
ap-9724	262	12	soleymani	soleymani	PROPN
ap-9724	262	13	,	,	PUNCT
ap-9724	262	14	a.	a.	NOUN
ap-9724	262	15	delkhosh	delkhosh	PROPN
ap-9724	262	16	.	.	PUNCT
ap-9724	263	1	adaptive	adaptive	ADJ
ap-9724	263	2	back	back	ADV
ap-9724	263	3	stepping	step	VERB
ap-9724	263	4	fast	fast	ADJ
ap-9724	263	5	terminal	terminal	NOUN
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ap-9724	263	7	mode	mode	NOUN
ap-9724	263	8	control	control	NOUN
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ap-9724	263	10	robot	robot	NOUN
ap-9724	263	11	manipulators	manipulator	NOUN
ap-9724	263	12	actuated	actuate	VERB
ap-9724	263	13	by	by	ADP
ap-9724	263	14	pneumatic	pneumatic	ADJ
ap-9724	263	15	artificial	artificial	ADJ
ap-9724	263	16	muscles	muscle	NOUN
ap-9724	263	17	:	:	PUNCT
ap-9724	263	18	continuum	continuum	VERB
ap-9724	263	19	modelling	modelling	NOUN
ap-9724	263	20	,	,	PUNCT
ap-9724	263	21	dynamic	dynamic	ADJ
ap-9724	263	22	formulation	formulation	NOUN
ap-9724	263	23	and	and	CCONJ
ap-9724	263	24	controller	controller	NOUN
ap-9724	263	25	design	design	NOUN
ap-9724	263	26	.	.	PUNCT
ap-9724	264	1	meccanica	meccanica	PROPN
ap-9724	264	2	54(8):1203–1217	54(8):1203–1217	NUM
ap-9724	264	3	,	,	PUNCT
ap-9724	264	4	2019	2019	NUM
ap-9724	264	5	.	.	PUNCT
ap-9724	265	1	https://doi.org/10.1007/s11012-019-01012-4	https://doi.org/10.1007/s11012-019-01012-4	NUM
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ap-9724	266	2	3	3	X
ap-9724	266	3	]	]	PUNCT
ap-9724	266	4	m.	m.	NOUN
ap-9724	266	5	khaleel	khaleel	PROPN
ap-9724	266	6	ahmed	ahmed	PROPN
ap-9724	266	7	,	,	PUNCT
ap-9724	266	8	m.	m.	PROPN
ap-9724	266	9	majid	majid	PROPN
ap-9724	266	10	msallam	msallam	PROPN
ap-9724	266	11	.	.	PUNCT
ap-9724	267	1	enhancement	enhancement	NOUN
ap-9724	267	2	performance	performance	NOUN
ap-9724	267	3	of	of	ADP
ap-9724	267	4	hydraulic	hydraulic	ADJ
ap-9724	267	5	actuators	actuator	NOUN
ap-9724	267	6	using	use	VERB
ap-9724	267	7	pso	pso	NOUN
ap-9724	267	8	with	with	ADP
ap-9724	267	9	fopid	fopid	PROPN
ap-9724	267	10	controller	controller	PROPN
ap-9724	267	11	.	.	PUNCT
ap-9724	268	1	journal	journal	PROPN
ap-9724	268	2	of	of	ADP
ap-9724	268	3	mechatronics	mechatronic	NOUN
ap-9724	268	4	and	and	CCONJ
ap-9724	268	5	artificial	artificial	ADJ
ap-9724	268	6	intelligence	intelligence	NOUN
ap-9724	268	7	in	in	ADP
ap-9724	268	8	engineering	engineer	VERB
ap-9724	268	9	2(1):19–29	2(1):19–29	NUM
ap-9724	268	10	,	,	PUNCT
ap-9724	268	11	2021	2021	NUM
ap-9724	268	12	.	.	PUNCT
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ap-9724	269	3	4	4	X
ap-9724	269	4	]	]	PUNCT
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ap-9724	269	6	h.	h.	PROPN
ap-9724	269	7	lilly	lilly	PROPN
ap-9724	269	8	,	,	PUNCT
ap-9724	269	9	l.	l.	PROPN
ap-9724	269	10	yang	yang	PROPN
ap-9724	269	11	.	.	PUNCT
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ap-9724	270	2	mode	mode	NOUN
ap-9724	270	3	tracking	track	VERB
ap-9724	270	4	for	for	ADP
ap-9724	270	5	pneumatic	pneumatic	ADJ
ap-9724	270	6	muscle	muscle	NOUN
ap-9724	270	7	actuators	actuator	NOUN
ap-9724	270	8	in	in	ADP
ap-9724	270	9	opposing	oppose	VERB
ap-9724	270	10	pair	pair	NOUN
ap-9724	270	11	configuration	configuration	NOUN
ap-9724	270	12	.	.	PUNCT
ap-9724	271	1	ieee	ieee	NOUN
ap-9724	271	2	transactions	transaction	NOUN
ap-9724	271	3	on	on	ADP
ap-9724	271	4	control	control	NOUN
ap-9724	271	5	systems	system	NOUN
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ap-9724	271	7	13(4):550–558	13(4):550–558	PROPN
ap-9724	271	8	,	,	PUNCT
ap-9724	271	9	2005	2005	NUM
ap-9724	271	10	.	.	PUNCT
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ap-9724	272	3	5	5	NUM
ap-9724	272	4	]	]	PUNCT
ap-9724	272	5	a.	a.	PROPN
ap-9724	272	6	al	al	PROPN
ap-9724	272	7	-	-	PUNCT
ap-9724	272	8	jodah	jodah	PROPN
ap-9724	272	9	,	,	PUNCT
ap-9724	272	10	l.	l.	PROPN
ap-9724	272	11	khames	khames	PROPN
ap-9724	272	12	.	.	PUNCT
ap-9724	273	1	second	second	ADJ
ap-9724	273	2	order	order	NOUN
ap-9724	273	3	sliding	slide	VERB
ap-9724	273	4	mode	mode	NOUN
ap-9724	273	5	controller	controller	NOUN
ap-9724	273	6	design	design	NOUN
ap-9724	273	7	for	for	ADP
ap-9724	273	8	pneumatic	pneumatic	ADJ
ap-9724	273	9	artificial	artificial	ADJ
ap-9724	273	10	muscle	muscle	NOUN
ap-9724	273	11	.	.	PUNCT
ap-9724	274	1	journal	journal	PROPN
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ap-9724	274	5	,	,	PUNCT
ap-9724	274	6	2018	2018	NUM
ap-9724	274	7	.	.	PUNCT
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ap-9724	275	3	6	6	NUM
ap-9724	275	4	]	]	PUNCT
ap-9724	275	5	w.	w.	NOUN
ap-9724	275	6	scaff	scaff	PROPN
ap-9724	275	7	,	,	PUNCT
ap-9724	275	8	o.	o.	PROPN
ap-9724	275	9	horikawa	horikawa	PROPN
ap-9724	275	10	,	,	PUNCT
ap-9724	275	11	m.	m.	NOUN
ap-9724	275	12	s.	s.	PROPN
ap-9724	275	13	g.	g.	PROPN
ap-9724	275	14	tsuzuki	tsuzuki	PROPN
ap-9724	275	15	.	.	PUNCT
ap-9724	276	1	pneumatic	pneumatic	ADJ
ap-9724	276	2	artificial	artificial	ADJ
ap-9724	276	3	muscle	muscle	NOUN
ap-9724	276	4	optimal	optimal	ADJ
ap-9724	276	5	control	control	NOUN
ap-9724	276	6	with	with	ADP
ap-9724	276	7	simulated	simulate	VERB
ap-9724	276	8	annealing	annealing	NOUN
ap-9724	276	9	.	.	PUNCT
ap-9724	277	1	ifac	ifac	NOUN
ap-9724	277	2	-	-	PUNCT
ap-9724	277	3	papersonline	papersonline	NOUN
ap-9724	277	4	51(27):333–338	51(27):333–338	NUM
ap-9724	277	5	,	,	PUNCT
ap-9724	277	6	2018	2018	NUM
ap-9724	277	7	.	.	PUNCT
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ap-9724	278	3	7	7	X
ap-9724	278	4	]	]	X
ap-9724	278	5	s.	s.	PROPN
ap-9724	278	6	boudoua	boudoua	PROPN
ap-9724	278	7	,	,	PUNCT
ap-9724	278	8	m.	m.	NOUN
ap-9724	278	9	hamerlain	hamerlain	PROPN
ap-9724	278	10	,	,	PUNCT
ap-9724	278	11	f.	f.	PROPN
ap-9724	278	12	hamerlain	hamerlain	PROPN
ap-9724	278	13	.	.	PUNCT
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ap-9724	279	2	twisting	twisting	NOUN
ap-9724	279	3	sliding	slide	VERB
ap-9724	279	4	mode	mode	NOUN
ap-9724	279	5	controller	controller	NOUN
ap-9724	279	6	using	use	VERB
ap-9724	279	7	neural	neural	ADJ
ap-9724	279	8	network	network	NOUN
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ap-9724	279	10	pneumatic	pneumatic	ADJ
ap-9724	279	11	artificial	artificial	ADJ
ap-9724	279	12	muscles	muscle	NOUN
ap-9724	279	13	robot	robot	NOUN
ap-9724	279	14	arm	arm	NOUN
ap-9724	279	15	.	.	PUNCT
ap-9724	280	1	in	in	ADP
ap-9724	280	2	international	international	ADJ
ap-9724	280	3	workshop	workshop	NOUN
ap-9724	280	4	on	on	ADP
ap-9724	280	5	recent	recent	ADJ
ap-9724	280	6	advances	advance	NOUN
ap-9724	280	7	in	in	ADP
ap-9724	280	8	sliding	slide	VERB
ap-9724	280	9	modes	mode	NOUN
ap-9724	280	10	(	(	PUNCT
ap-9724	280	11	rasm	rasm	NOUN
ap-9724	280	12	)	)	PUNCT
ap-9724	280	13	,	,	PUNCT
ap-9724	280	14	pp	pp	ADP
ap-9724	280	15	.	.	PUNCT
ap-9724	281	1	1–6	1–6	NUM
ap-9724	281	2	.	.	NOUN
ap-9724	281	3	2015	2015	NUM
ap-9724	281	4	.	.	PUNCT
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ap-9724	282	2	527	527	NUM
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ap-9724	282	8	https://doi.org/10.1016/j.ifacol.2018.11.618	https://doi.org/10.1016/j.ifacol.2018.11.618	PROPN
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ap-9724	282	10	a.	a.	PROPN
ap-9724	282	11	f.	f.	PROPN
ap-9724	282	12	hasan	hasan	PROPN
ap-9724	282	13	,	,	PUNCT
ap-9724	282	14	h.	h.	PROPN
ap-9724	282	15	a.	a.	PROPN
ap-9724	282	16	raheem	raheem	PROPN
ap-9724	282	17	,	,	PUNCT
ap-9724	282	18	r.	r.	PROPN
ap-9724	282	19	hussein	hussein	PROPN
ap-9724	282	20	acta	acta	PROPN
ap-9724	282	21	polytechnica	polytechnica	PROPN
ap-9724	283	1	[	[	X
ap-9724	283	2	8	8	NUM
ap-9724	283	3	]	]	X
ap-9724	283	4	d.	d.	PROPN
ap-9724	283	5	w.	w.	PROPN
ap-9724	283	6	repperger	repperger	PROPN
ap-9724	283	7	,	,	PUNCT
ap-9724	283	8	c.	c.	PROPN
ap-9724	283	9	a.	a.	PROPN
ap-9724	283	10	phillips	phillips	PROPN
ap-9724	283	11	,	,	PUNCT
ap-9724	283	12	m.	m.	NOUN
ap-9724	283	13	krier	krier	PROPN
ap-9724	283	14	.	.	PUNCT
ap-9724	284	1	controller	controller	NOUN
ap-9724	284	2	design	design	NOUN
ap-9724	284	3	involving	involve	VERB
ap-9724	284	4	gain	gain	NOUN
ap-9724	284	5	scheduling	scheduling	NOUN
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ap-9724	284	7	a	a	DET
ap-9724	284	8	large	large	ADJ
ap-9724	284	9	scale	scale	NOUN
ap-9724	284	10	pneumatic	pneumatic	ADJ
ap-9724	284	11	muscle	muscle	NOUN
ap-9724	284	12	actuator	actuator	NOUN
ap-9724	284	13	.	.	PUNCT
ap-9724	285	1	in	in	ADP
ap-9724	285	2	proceedings	proceeding	NOUN
ap-9724	285	3	of	of	ADP
ap-9724	285	4	the	the	DET
ap-9724	285	5	1999	1999	NUM
ap-9724	285	6	ieee	ieee	NOUN
ap-9724	285	7	conference	conference	NOUN
ap-9724	285	8	on	on	ADP
ap-9724	285	9	control	control	NOUN
ap-9724	285	10	applications	application	NOUN
ap-9724	285	11	,	,	PUNCT
ap-9724	285	12	vol	vol	NOUN
ap-9724	285	13	.	.	PROPN
ap-9724	285	14	1	1	NUM
ap-9724	285	15	,	,	PUNCT
ap-9724	285	16	pp	pp	ADJ
ap-9724	285	17	.	.	PUNCT
ap-9724	286	1	285–290	285–290	NUM
ap-9724	286	2	.	.	PUNCT
ap-9724	287	1	1999	1999	NUM
ap-9724	287	2	.	.	PUNCT
ap-9724	288	1	https://doi.org/10.1109/cca.1999.806643	https://doi.org/10.1109/cca.1999.806643	PROPN
ap-9724	289	1	[	[	X
ap-9724	289	2	9	9	NUM
ap-9724	289	3	]	]	PUNCT
ap-9724	289	4	a.	a.	NOUN
ap-9724	289	5	enzevaee	enzevaee	PROPN
ap-9724	289	6	,	,	PUNCT
ap-9724	289	7	m.	m.	NOUN
ap-9724	289	8	mailah	mailah	PROPN
ap-9724	289	9	,	,	PUNCT
ap-9724	289	10	s.	s.	PROPN
ap-9724	289	11	kazi	kazi	PROPN
ap-9724	289	12	.	.	PUNCT
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ap-9724	290	2	of	of	ADP
ap-9724	290	3	a	a	DET
ap-9724	290	4	single	single	ADJ
ap-9724	290	5	link	link	NOUN
ap-9724	290	6	robot	robot	NOUN
ap-9724	290	7	arm	arm	NOUN
ap-9724	290	8	actuated	actuate	VERB
ap-9724	290	9	by	by	ADP
ap-9724	290	10	pneumatic	pneumatic	ADJ
ap-9724	290	11	artificial	artificial	ADJ
ap-9724	290	12	muscles	muscle	NOUN
ap-9724	290	13	employing	employ	VERB
ap-9724	290	14	active	active	ADJ
ap-9724	290	15	force	force	NOUN
ap-9724	290	16	control	control	NOUN
ap-9724	290	17	and	and	CCONJ
ap-9724	290	18	fuzzy	fuzzy	ADJ
ap-9724	290	19	logic	logic	NOUN
ap-9724	290	20	via	via	ADP
ap-9724	290	21	hardware	hardware	NOUN
ap-9724	290	22	-	-	PUNCT
ap-9724	290	23	in	in	ADP
ap-9724	290	24	-	-	PUNCT
ap-9724	290	25	the	the	DET
ap-9724	290	26	-	-	PUNCT
ap-9724	290	27	loop	loop	NOUN
ap-9724	290	28	-	-	PUNCT
ap-9724	290	29	simulation	simulation	NOUN
ap-9724	290	30	.	.	PUNCT
ap-9724	291	1	jurnal	jurnal	ADJ
ap-9724	291	2	mekanikal	mekanikal	PROPN
ap-9724	291	3	36(2):66–85	36(2):66–85	NUM
ap-9724	291	4	,	,	PUNCT
ap-9724	291	5	2013	2013	NUM
ap-9724	291	6	.	.	PUNCT
ap-9724	292	1	[	[	X
ap-9724	292	2	10	10	NUM
ap-9724	292	3	]	]	PUNCT
ap-9724	292	4	m.	m.	NOUN
ap-9724	292	5	farag	farag	PROPN
ap-9724	292	6	,	,	PUNCT
ap-9724	292	7	n.	n.	PROPN
ap-9724	292	8	z.	z.	PROPN
ap-9724	292	9	azlan	azlan	PROPN
ap-9724	292	10	.	.	PUNCT
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ap-9724	293	2	backstepping	backstepping	NOUN
ap-9724	293	3	position	position	NOUN
ap-9724	293	4	control	control	NOUN
ap-9724	293	5	of	of	ADP
ap-9724	293	6	pneumatic	pneumatic	ADJ
ap-9724	293	7	anthropomorphic	anthropomorphic	ADJ
ap-9724	293	8	robotic	robotic	ADJ
ap-9724	293	9	hand	hand	NOUN
ap-9724	293	10	.	.	PUNCT
ap-9724	294	1	procedia	procedia	PROPN
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ap-9724	294	3	science	science	NOUN
ap-9724	294	4	76:161–167	76:161–167	PROPN
ap-9724	294	5	,	,	PUNCT
ap-9724	294	6	2015	2015	NUM
ap-9724	294	7	.	.	PUNCT
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ap-9724	296	1	[	[	X
ap-9724	296	2	11	11	NUM
ap-9724	296	3	]	]	PUNCT
ap-9724	296	4	s.	s.	PROPN
ap-9724	296	5	m.	m.	PROPN
ap-9724	296	6	mahdi	mahdi	PROPN
ap-9724	296	7	,	,	PUNCT
ap-9724	296	8	n.	n.	PROPN
ap-9724	296	9	q.	q.	PROPN
ap-9724	296	10	yousif	yousif	PROPN
ap-9724	296	11	,	,	PUNCT
ap-9724	296	12	a.	a.	NOUN
ap-9724	296	13	a.	a.	NOUN
ap-9724	296	14	oglah	oglah	PROPN
ap-9724	296	15	,	,	PUNCT
ap-9724	296	16	et	et	PROPN
ap-9724	296	17	al	al	PROPN
ap-9724	296	18	.	.	PROPN
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ap-9724	297	3	motion	motion	NOUN
ap-9724	297	4	control	control	NOUN
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ap-9724	297	6	wearable	wearable	ADJ
ap-9724	297	7	knee	knee	NOUN
ap-9724	297	8	-	-	PUNCT
ap-9724	297	9	assistive	assistive	ADJ
ap-9724	297	10	system	system	NOUN
ap-9724	297	11	:	:	PUNCT
ap-9724	297	12	a	a	DET
ap-9724	297	13	rehabilitation	rehabilitation	NOUN
ap-9724	297	14	of	of	ADP
ap-9724	297	15	disabled	disabled	ADJ
ap-9724	297	16	patients	patient	NOUN
ap-9724	297	17	.	.	PUNCT
ap-9724	298	1	actuators	actuator	NOUN
ap-9724	298	2	11(7):176	11(7):176	PROPN
ap-9724	298	3	,	,	PUNCT
ap-9724	298	4	2022	2022	NUM
ap-9724	298	5	.	.	PUNCT
ap-9724	299	1	https://doi.org/10.3390/act11070176	https://doi.org/10.3390/act11070176	NOUN
ap-9724	299	2	[	[	X
ap-9724	299	3	12	12	NUM
ap-9724	299	4	]	]	X
ap-9724	299	5	e.	e.	PROPN
ap-9724	299	6	nechadi	nechadi	PROPN
ap-9724	299	7	,	,	PUNCT
ap-9724	299	8	m.	m.	NOUN
ap-9724	299	9	n.	n.	PROPN
ap-9724	299	10	harmas	harmas	PROPN
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ap-9724	299	12	n.	n.	PROPN
ap-9724	299	13	essounbouli	essounbouli	PROPN
ap-9724	299	14	,	,	PUNCT
ap-9724	299	15	a.	a.	PROPN
ap-9724	299	16	hamzaoui	hamzaoui	PROPN
ap-9724	299	17	.	.	PUNCT
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ap-9724	300	2	synergetic	synergetic	ADJ
ap-9724	300	3	control	control	NOUN
ap-9724	300	4	based	base	VERB
ap-9724	300	5	bat	bat	NOUN
ap-9724	300	6	algorithm	algorithm	NOUN
ap-9724	300	7	for	for	ADP
ap-9724	300	8	dc	dc	PROPN
ap-9724	300	9	-	-	PUNCT
ap-9724	300	10	dc	dc	PROPN
ap-9724	300	11	boost	boost	NOUN
ap-9724	300	12	converter	converter	NOUN
ap-9724	300	13	.	.	PUNCT
ap-9724	301	1	ifac	ifac	NOUN
ap-9724	301	2	-	-	PUNCT
ap-9724	301	3	papersonline	papersonline	NOUN
ap-9724	301	4	49(12):698–703	49(12):698–703	NUM
ap-9724	301	5	,	,	PUNCT
ap-9724	301	6	2016	2016	NUM
ap-9724	301	7	.	.	PUNCT
ap-9724	302	1	https://doi.org/10.1016/j.ifacol.2016.07.792	https://doi.org/10.1016/j.ifacol.2016.07.792	NOUN
ap-9724	303	1	[	[	X
ap-9724	303	2	13	13	NUM
ap-9724	303	3	]	]	PUNCT
ap-9724	303	4	a.	a.	PROPN
ap-9724	303	5	q.	q.	PROPN
ap-9724	303	6	al	al	PROPN
ap-9724	303	7	-	-	PROPN
ap-9724	303	8	dujaili	dujaili	PROPN
ap-9724	303	9	,	,	PUNCT
ap-9724	303	10	a.	a.	PROPN
ap-9724	303	11	j.	j.	PROPN
ap-9724	303	12	humaidi	humaidi	PROPN
ap-9724	303	13	,	,	PUNCT
ap-9724	303	14	z.	z.	PROPN
ap-9724	303	15	t.	t.	PROPN
ap-9724	303	16	allawi	allawi	PROPN
ap-9724	303	17	,	,	PUNCT
ap-9724	303	18	m.	m.	PROPN
ap-9724	303	19	e.	e.	PROPN
ap-9724	303	20	sadiq	sadiq	PROPN
ap-9724	303	21	.	.	PUNCT
ap-9724	303	22	earthquake	earthquake	NOUN
ap-9724	303	23	hazard	hazard	NOUN
ap-9724	303	24	mitigation	mitigation	NOUN
ap-9724	303	25	for	for	ADP
ap-9724	303	26	uncertain	uncertain	ADJ
ap-9724	303	27	building	building	NOUN
ap-9724	303	28	systems	system	NOUN
ap-9724	303	29	based	base	VERB
ap-9724	303	30	on	on	ADP
ap-9724	303	31	adaptive	adaptive	ADJ
ap-9724	303	32	synergetic	synergetic	ADJ
ap-9724	303	33	control	control	NOUN
ap-9724	303	34	.	.	PUNCT
ap-9724	304	1	applied	apply	VERB
ap-9724	304	2	system	system	NOUN
ap-9724	304	3	innovation	innovation	NOUN
ap-9724	304	4	6(2):34	6(2):34	NOUN
ap-9724	304	5	,	,	PUNCT
ap-9724	304	6	2023	2023	NUM
ap-9724	304	7	.	.	PUNCT
ap-9724	305	1	https://doi.org/10.3390/asi6020034	https://doi.org/10.3390/asi6020034	PRON
ap-9724	306	1	[	[	X
ap-9724	306	2	14	14	NUM
ap-9724	306	3	]	]	X
ap-9724	306	4	h.	h.	PROPN
ap-9724	306	5	al	al	PROPN
ap-9724	306	6	-	-	PUNCT
ap-9724	306	7	khazraji	khazraji	PROPN
ap-9724	306	8	,	,	PUNCT
ap-9724	306	9	k.	k.	PROPN
ap-9724	306	10	albadri	albadri	PROPN
ap-9724	306	11	,	,	PUNCT
ap-9724	306	12	r.	r.	PROPN
ap-9724	306	13	almajeez	almajeez	PROPN
ap-9724	306	14	,	,	PUNCT
ap-9724	306	15	a.	a.	PROPN
ap-9724	306	16	j.	j.	PROPN
ap-9724	306	17	humaidi	humaidi	PROPN
ap-9724	306	18	.	.	PUNCT
ap-9724	307	1	synergetic	synergetic	ADJ
ap-9724	307	2	control	control	NOUN
ap-9724	307	3	-	-	PUNCT
ap-9724	307	4	based	base	VERB
ap-9724	307	5	sea	sea	NOUN
ap-9724	307	6	lion	lion	NOUN
ap-9724	307	7	optimization	optimization	NOUN
ap-9724	307	8	approach	approach	NOUN
ap-9724	307	9	for	for	ADP
ap-9724	307	10	position	position	NOUN
ap-9724	307	11	tracking	tracking	NOUN
ap-9724	307	12	control	control	NOUN
ap-9724	307	13	of	of	ADP
ap-9724	307	14	ball	ball	NOUN
ap-9724	307	15	and	and	CCONJ
ap-9724	307	16	beam	beam	NOUN
ap-9724	307	17	system	system	NOUN
ap-9724	307	18	.	.	PUNCT
ap-9724	308	1	international	international	ADJ
ap-9724	308	2	journal	journal	PROPN
ap-9724	308	3	of	of	ADP
ap-9724	308	4	robotics	robotic	NOUN
ap-9724	308	5	and	and	CCONJ
ap-9724	308	6	control	control	PROPN
ap-9724	308	7	systems	systems	PROPN
ap-9724	308	8	4(4):1547–1560	4(4):1547–1560	PROPN
ap-9724	308	9	,	,	PUNCT
ap-9724	308	10	2024	2024	NUM
ap-9724	308	11	.	.	PUNCT
ap-9724	309	1	https://doi.org/10.31763/ijrcs.v4i4.1551	https://doi.org/10.31763/ijrcs.v4i4.1551	X
ap-9724	310	1	[	[	X
ap-9724	310	2	15	15	NUM
ap-9724	310	3	]	]	X
ap-9724	310	4	d.	d.	PROPN
ap-9724	310	5	w.	w.	PROPN
ap-9724	310	6	repperger	repperger	PROPN
ap-9724	310	7	,	,	PUNCT
ap-9724	310	8	k.	k.	PROPN
ap-9724	310	9	r.	r.	PROPN
ap-9724	310	10	johnson	johnson	PROPN
ap-9724	310	11	,	,	PUNCT
ap-9724	310	12	c.	c.	PROPN
ap-9724	310	13	a.	a.	PROPN
ap-9724	310	14	phillips	phillips	PROPN
ap-9724	310	15	.	.	PUNCT
ap-9724	311	1	vsc	vsc	PROPN
ap-9724	311	2	position	position	NOUN
ap-9724	311	3	tracking	tracking	NOUN
ap-9724	311	4	system	system	NOUN
ap-9724	311	5	involving	involve	VERB
ap-9724	311	6	a	a	DET
ap-9724	311	7	large	large	ADJ
ap-9724	311	8	scale	scale	NOUN
ap-9724	311	9	pneumatic	pneumatic	ADJ
ap-9724	311	10	muscle	muscle	NOUN
ap-9724	311	11	actuator	actuator	NOUN
ap-9724	311	12	.	.	PUNCT
ap-9724	312	1	in	in	ADP
ap-9724	312	2	proceedings	proceeding	NOUN
ap-9724	312	3	of	of	ADP
ap-9724	312	4	the	the	DET
ap-9724	312	5	37th	37th	ADJ
ap-9724	312	6	ieee	ieee	NOUN
ap-9724	312	7	conference	conference	NOUN
ap-9724	312	8	on	on	ADP
ap-9724	312	9	decision	decision	NOUN
ap-9724	312	10	and	and	CCONJ
ap-9724	312	11	control	control	NOUN
ap-9724	312	12	,	,	PUNCT
ap-9724	312	13	vol	vol	NOUN
ap-9724	312	14	.	.	PROPN
ap-9724	312	15	4	4	NUM
ap-9724	312	16	,	,	PUNCT
ap-9724	312	17	pp	pp	ADJ
ap-9724	312	18	.	.	PUNCT
ap-9724	313	1	4302–4307	4302–4307	NUM
ap-9724	313	2	.	.	PUNCT
ap-9724	314	1	1998	1998	NUM
ap-9724	314	2	.	.	PUNCT
ap-9724	315	1	https://doi.org/10.1109/cdc.1998.761982	https://doi.org/10.1109/cdc.1998.761982	NUM
ap-9724	316	1	[	[	X
ap-9724	316	2	16	16	NUM
ap-9724	316	3	]	]	PUNCT
ap-9724	316	4	i̇.	i̇.	NOUN
ap-9724	316	5	haskara	haskara	NOUN
ap-9724	316	6	,	,	PUNCT
ap-9724	316	7	c.	c.	PROPN
ap-9724	316	8	hatipoğlu	hatipoğlu	PROPN
ap-9724	316	9	,	,	PUNCT
ap-9724	316	10	ü.	ü.	NOUN
ap-9724	316	11	özgüner	özgüner	NOUN
ap-9724	316	12	.	.	PUNCT
ap-9724	317	1	variable	variable	ADJ
ap-9724	317	2	structure	structure	NOUN
ap-9724	317	3	systems	system	NOUN
ap-9724	317	4	:	:	PUNCT
ap-9724	317	5	towards	towards	ADP
ap-9724	317	6	the	the	DET
ap-9724	317	7	21st	21st	ADJ
ap-9724	317	8	century	century	NOUN
ap-9724	317	9	,	,	PUNCT
ap-9724	317	10	chap	chap	NOUN
ap-9724	317	11	.	.	PUNCT
ap-9724	318	1	sliding	slide	VERB
ap-9724	318	2	mode	mode	PROPN
ap-9724	318	3	compensation	compensation	NOUN
ap-9724	318	4	,	,	PUNCT
ap-9724	318	5	estimation	estimation	NOUN
ap-9724	318	6	and	and	CCONJ
ap-9724	318	7	optimization	optimization	NOUN
ap-9724	318	8	methods	method	NOUN
ap-9724	318	9	in	in	ADP
ap-9724	318	10	automotive	automotive	ADJ
ap-9724	318	11	control	control	NOUN
ap-9724	318	12	,	,	PUNCT
ap-9724	318	13	pp	pp	X
ap-9724	318	14	.	.	PUNCT
ap-9724	319	1	155–174	155–174	NUM
ap-9724	319	2	.	.	PUNCT
ap-9724	320	1	2007	2007	NUM
ap-9724	320	2	.	.	PUNCT
ap-9724	321	1	https://doi.org/10.1007/3-540-45666-x_7	https://doi.org/10.1007/3-540-45666-x_7	ADJ
ap-9724	321	2	[	[	X
ap-9724	321	3	17	17	NUM
ap-9724	321	4	]	]	PUNCT
ap-9724	321	5	c.-j	c.-j	PROPN
ap-9724	321	6	.	.	PUNCT
ap-9724	322	1	lin	lin	PROPN
ap-9724	322	2	,	,	PUNCT
ap-9724	322	3	t.-y	t.-y	NOUN
ap-9724	322	4	.	.	PUNCT
ap-9724	323	1	sie	sie	PROPN
ap-9724	323	2	,	,	PUNCT
ap-9724	323	3	w.-l	w.-l	PROPN
ap-9724	323	4	.	.	PUNCT
ap-9724	324	1	chu	chu	PROPN
ap-9724	324	2	,	,	PUNCT
ap-9724	324	3	et	et	PROPN
ap-9724	324	4	al	al	PROPN
ap-9724	324	5	.	.	PUNCT
ap-9724	325	1	tracking	track	VERB
ap-9724	325	2	control	control	NOUN
ap-9724	325	3	of	of	ADP
ap-9724	325	4	pneumatic	pneumatic	ADJ
ap-9724	325	5	artificial	artificial	ADJ
ap-9724	325	6	muscle	muscle	NOUN
ap-9724	325	7	-	-	PUNCT
ap-9724	325	8	activated	activate	VERB
ap-9724	325	9	robot	robot	NOUN
ap-9724	325	10	arm	arm	NOUN
ap-9724	325	11	based	base	VERB
ap-9724	325	12	on	on	ADP
ap-9724	325	13	sliding	sliding	ADJ
ap-9724	325	14	-	-	PUNCT
ap-9724	325	15	mode	mode	NOUN
ap-9724	325	16	control	control	NOUN
ap-9724	325	17	.	.	PUNCT
ap-9724	326	1	actuators	actuator	NOUN
ap-9724	326	2	10(3):66	10(3):66	NUM
ap-9724	326	3	,	,	PUNCT
ap-9724	326	4	2021	2021	NUM
ap-9724	326	5	.	.	PUNCT
ap-9724	327	1	https://doi.org/10.3390/act10030066	https://doi.org/10.3390/act10030066	PROPN
ap-9724	327	2	[	[	X
ap-9724	327	3	18	18	NUM
ap-9724	327	4	]	]	PUNCT
ap-9724	327	5	s.	s.	PROPN
ap-9724	327	6	a.	a.	PROPN
ap-9724	327	7	al	al	PROPN
ap-9724	327	8	-	-	PUNCT
ap-9724	327	9	samarraie	samarraie	PROPN
ap-9724	327	10	,	,	PUNCT
ap-9724	327	11	s.	s.	PROPN
ap-9724	327	12	d.	d.	PROPN
ap-9724	327	13	salman	salman	PROPN
ap-9724	327	14	.	.	PUNCT
ap-9724	328	1	backstepping	backsteppe	VERB
ap-9724	328	2	nonlinear	nonlinear	ADJ
ap-9724	328	3	control	control	NOUN
ap-9724	328	4	for	for	ADP
ap-9724	328	5	blood	blood	NOUN
ap-9724	328	6	glucose	glucose	NOUN
ap-9724	328	7	based	base	VERB
ap-9724	328	8	on	on	ADP
ap-9724	328	9	sliding	slide	VERB
ap-9724	328	10	mode	mode	NOUN
ap-9724	328	11	meal	meal	NOUN
ap-9724	328	12	observer	observer	NOUN
ap-9724	328	13	.	.	PUNCT
ap-9724	329	1	al	al	PROPN
ap-9724	329	2	-	-	PUNCT
ap-9724	329	3	nahrain	nahrain	PROPN
ap-9724	329	4	journal	journal	NOUN
ap-9724	329	5	for	for	ADP
ap-9724	329	6	engineering	engineering	NOUN
ap-9724	329	7	sciences	science	NOUN
ap-9724	329	8	21(3):436–444	21(3):436–444	NUM
ap-9724	329	9	,	,	PUNCT
ap-9724	329	10	2018	2018	NUM
ap-9724	329	11	.	.	PUNCT
ap-9724	330	1	https://doi.org/10.29194/njes.21030436	https://doi.org/10.29194/njes.21030436	NOUN
ap-9724	331	1	[	[	X
ap-9724	331	2	19	19	NUM
ap-9724	331	3	]	]	PUNCT
ap-9724	331	4	a.	a.	NOUN
ap-9724	331	5	kolesnikov	kolesnikov	PROPN
ap-9724	331	6	,	,	PUNCT
ap-9724	331	7	r.	r.	PROPN
ap-9724	331	8	dougal	dougal	PROPN
ap-9724	331	9	,	,	PUNCT
ap-9724	331	10	g.	g.	PROPN
ap-9724	331	11	e.	e.	PROPN
ap-9724	331	12	veselov	veselov	PROPN
ap-9724	331	13	,	,	PUNCT
ap-9724	331	14	et	et	PROPN
ap-9724	331	15	al	al	PROPN
ap-9724	331	16	.	.	PROPN
ap-9724	331	17	synergetic	synergetic	ADJ
ap-9724	331	18	control	control	NOUN
ap-9724	331	19	for	for	ADP
ap-9724	331	20	electromechanical	electromechanical	ADJ
ap-9724	331	21	systems	system	NOUN
ap-9724	331	22	.	.	PUNCT
ap-9724	332	1	in	in	ADP
ap-9724	332	2	15th	15th	ADJ
ap-9724	332	3	international	international	ADJ
ap-9724	332	4	symposium	symposium	NOUN
ap-9724	332	5	on	on	ADP
ap-9724	332	6	mathematical	mathematical	ADJ
ap-9724	332	7	theory	theory	NOUN
ap-9724	332	8	of	of	ADP
ap-9724	332	9	networks	network	NOUN
ap-9724	332	10	and	and	CCONJ
ap-9724	332	11	systems	system	NOUN
ap-9724	332	12	,	,	PUNCT
ap-9724	332	13	pp	pp	ADV
ap-9724	332	14	.	.	PUNCT
ap-9724	332	15	1–8	1–8	X
ap-9724	332	16	.	.	PUNCT
ap-9724	332	17	2002	2002	NUM
ap-9724	332	18	.	.	PUNCT
ap-9724	333	1	[	[	X
ap-9724	333	2	20	20	NUM
ap-9724	333	3	]	]	PUNCT
ap-9724	333	4	m.	m.	NOUN
ap-9724	333	5	zhao	zhao	PROPN
ap-9724	333	6	,	,	PUNCT
ap-9724	333	7	t.	t.	PROPN
ap-9724	333	8	wang	wang	PROPN
ap-9724	333	9	.	.	PUNCT
ap-9724	334	1	a	a	DET
ap-9724	334	2	sliding	slide	VERB
ap-9724	334	3	mode	mode	NOUN
ap-9724	334	4	and	and	CCONJ
ap-9724	334	5	synergetic	synergetic	ADJ
ap-9724	334	6	control	control	NOUN
ap-9724	334	7	approaches	approach	NOUN
ap-9724	334	8	applied	apply	VERB
ap-9724	334	9	to	to	ADP
ap-9724	334	10	permanent	permanent	ADJ
ap-9724	334	11	magnet	magnet	NOUN
ap-9724	334	12	synchronous	synchronous	ADJ
ap-9724	334	13	motor	motor	NOUN
ap-9724	334	14	.	.	PUNCT
ap-9724	335	1	journal	journal	PROPN
ap-9724	335	2	of	of	ADP
ap-9724	335	3	physics	physics	PROPN
ap-9724	335	4	:	:	PUNCT
ap-9724	335	5	conference	conference	NOUN
ap-9724	335	6	series	series	NOUN
ap-9724	335	7	1087(4):042012	1087(4):042012	NOUN
ap-9724	335	8	,	,	PUNCT
ap-9724	335	9	2018	2018	NUM
ap-9724	335	10	.	.	PUNCT
ap-9724	336	1	https://doi.org/10.1088/1742-6596/1087/4/042012	https://doi.org/10.1088/1742-6596/1087/4/042012	NOUN
ap-9724	337	1	[	[	X
ap-9724	337	2	21	21	NUM
ap-9724	337	3	]	]	PUNCT
ap-9724	337	4	a.	a.	PROPN
ap-9724	337	5	f.	f.	PROPN
ap-9724	337	6	mutlak	mutlak	PROPN
ap-9724	337	7	,	,	PUNCT
ap-9724	337	8	a.	a.	PROPN
ap-9724	337	9	j.	j.	PROPN
ap-9724	337	10	humaidi	humaidi	PROPN
ap-9724	337	11	.	.	PUNCT
ap-9724	338	1	adaptive	adaptive	ADJ
ap-9724	338	2	synergetic	synergetic	ADJ
ap-9724	338	3	control	control	NOUN
ap-9724	338	4	for	for	ADP
ap-9724	338	5	electronic	electronic	ADJ
ap-9724	338	6	throttle	throttle	NOUN
ap-9724	338	7	valve	valve	NOUN
ap-9724	338	8	system	system	NOUN
ap-9724	338	9	.	.	PUNCT
ap-9724	339	1	international	international	ADJ
ap-9724	339	2	review	review	NOUN
ap-9724	339	3	of	of	ADP
ap-9724	339	4	applied	apply	VERB
ap-9724	339	5	sciences	science	NOUN
ap-9724	339	6	and	and	CCONJ
ap-9724	339	7	engineering	engineering	NOUN
ap-9724	339	8	15(2):211–220	15(2):211–220	NUM
ap-9724	339	9	,	,	PUNCT
ap-9724	339	10	2024	2024	NUM
ap-9724	339	11	.	.	PUNCT
ap-9724	339	12	https://doi.org/10.1556/1848.2023.00706	https://doi.org/10.1556/1848.2023.00706	X
ap-9724	340	1	[	[	X
ap-9724	340	2	22	22	NUM
ap-9724	340	3	]	]	X
ap-9724	340	4	e.	e.	PROPN
ap-9724	340	5	cuevas	cuevas	PROPN
ap-9724	340	6	,	,	PUNCT
ap-9724	340	7	m.	m.	PROPN
ap-9724	340	8	cienfuegos	cienfuegos	PROPN
ap-9724	340	9	,	,	PUNCT
ap-9724	340	10	d.	d.	PROPN
ap-9724	340	11	zaldívar	zaldívar	PROPN
ap-9724	340	12	,	,	PUNCT
ap-9724	340	13	m.	m.	NOUN
ap-9724	340	14	pérez	pérez	NOUN
ap-9724	340	15	-	-	PUNCT
ap-9724	340	16	cisneros	cisneros	PROPN
ap-9724	340	17	.	.	PUNCT
ap-9724	341	1	a	a	DET
ap-9724	341	2	swarm	swarm	NOUN
ap-9724	341	3	optimization	optimization	NOUN
ap-9724	341	4	algorithm	algorithm	NOUN
ap-9724	341	5	inspired	inspire	VERB
ap-9724	341	6	in	in	ADP
ap-9724	341	7	the	the	DET
ap-9724	341	8	behavior	behavior	NOUN
ap-9724	341	9	of	of	ADP
ap-9724	341	10	the	the	DET
ap-9724	341	11	social	social	ADJ
ap-9724	341	12	-	-	PUNCT
ap-9724	341	13	spider	spider	NOUN
ap-9724	341	14	.	.	PUNCT
ap-9724	342	1	expert	expert	NOUN
ap-9724	342	2	systems	system	NOUN
ap-9724	342	3	with	with	ADP
ap-9724	342	4	applications	application	NOUN
ap-9724	342	5	40(16):6374–6384	40(16):6374–6384	NUM
ap-9724	342	6	,	,	PUNCT
ap-9724	342	7	2013	2013	NUM
ap-9724	342	8	.	.	PUNCT
ap-9724	343	1	https://doi.org/10.1016/j.eswa.2013.05.041	https://doi.org/10.1016/j.eswa.2013.05.041	NOUN
ap-9724	343	2	[	[	X
ap-9724	343	3	23	23	NUM
ap-9724	343	4	]	]	X
ap-9724	343	5	n.	n.	PROPN
ap-9724	343	6	rana	rana	PROPN
ap-9724	343	7	,	,	PUNCT
ap-9724	343	8	m.	m.	PROPN
ap-9724	343	9	s.	s.	PROPN
ap-9724	343	10	a.	a.	PROPN
ap-9724	343	11	latiff	latiff	PROPN
ap-9724	343	12	,	,	PUNCT
ap-9724	343	13	s.	s.	PROPN
ap-9724	343	14	m.	m.	PROPN
ap-9724	343	15	abdulhamid	abdulhamid	PROPN
ap-9724	343	16	,	,	PUNCT
ap-9724	343	17	h.	h.	PROPN
ap-9724	343	18	chiroma	chiroma	PROPN
ap-9724	343	19	.	.	PUNCT
ap-9724	344	1	whale	whale	NOUN
ap-9724	344	2	optimization	optimization	NOUN
ap-9724	344	3	algorithm	algorithm	NOUN
ap-9724	344	4	:	:	PUNCT
ap-9724	344	5	a	a	DET
ap-9724	344	6	systematic	systematic	ADJ
ap-9724	344	7	review	review	NOUN
ap-9724	344	8	of	of	ADP
ap-9724	344	9	contemporary	contemporary	ADJ
ap-9724	344	10	applications	application	NOUN
ap-9724	344	11	,	,	PUNCT
ap-9724	344	12	modifications	modification	NOUN
ap-9724	344	13	and	and	CCONJ
ap-9724	344	14	developments	development	NOUN
ap-9724	344	15	.	.	PUNCT
ap-9724	345	1	neural	neural	ADJ
ap-9724	345	2	computing	computing	NOUN
ap-9724	345	3	and	and	CCONJ
ap-9724	345	4	applications	application	NOUN
ap-9724	345	5	32(20):16245–16277	32(20):16245–16277	NUM
ap-9724	345	6	,	,	PUNCT
ap-9724	345	7	2020	2020	NUM
ap-9724	345	8	.	.	PUNCT
ap-9724	346	1	https://doi.org/10.1007/s00521-020-04849-z	https://doi.org/10.1007/s00521-020-04849-z	PROPN
ap-9724	346	2	[	[	X
ap-9724	346	3	24	24	NUM
ap-9724	346	4	]	]	X
ap-9724	346	5	g.	g.	PROPN
ap-9724	346	6	dhiman	dhiman	PROPN
ap-9724	346	7	,	,	PUNCT
ap-9724	346	8	a.	a.	PROPN
ap-9724	346	9	kaur	kaur	PROPN
ap-9724	346	10	.	.	PUNCT
ap-9724	347	1	optimizing	optimize	VERB
ap-9724	347	2	the	the	DET
ap-9724	347	3	design	design	NOUN
ap-9724	347	4	of	of	ADP
ap-9724	347	5	airfoil	airfoil	NOUN
ap-9724	347	6	and	and	CCONJ
ap-9724	347	7	optical	optical	ADJ
ap-9724	347	8	buffer	buffer	NOUN
ap-9724	347	9	problems	problem	NOUN
ap-9724	347	10	using	use	VERB
ap-9724	347	11	spotted	spot	VERB
ap-9724	347	12	hyena	hyena	NOUN
ap-9724	347	13	optimizer	optimizer	NOUN
ap-9724	347	14	.	.	PUNCT
ap-9724	348	1	designs	design	NOUN
ap-9724	348	2	2(3):28	2(3):28	NUM
ap-9724	348	3	,	,	PUNCT
ap-9724	348	4	2018	2018	NUM
ap-9724	348	5	.	.	PUNCT
ap-9724	349	1	https://doi.org/10.3390/designs2030028	https://doi.org/10.3390/designs2030028	ADJ
ap-9724	349	2	[	[	X
ap-9724	349	3	25	25	NUM
ap-9724	349	4	]	]	PUNCT
ap-9724	349	5	h.	h.	PROPN
ap-9724	349	6	al	al	PROPN
ap-9724	349	7	-	-	PUNCT
ap-9724	349	8	khazraji	khazraji	PROPN
ap-9724	349	9	,	,	PUNCT
ap-9724	349	10	k.	k.	PROPN
ap-9724	349	11	al	al	PROPN
ap-9724	349	12	-	-	PUNCT
ap-9724	349	13	badri	badri	PROPN
ap-9724	349	14	,	,	PUNCT
ap-9724	349	15	r.	r.	PROPN
ap-9724	349	16	al	al	PROPN
ap-9724	349	17	-	-	PUNCT
ap-9724	349	18	majeez	majeez	PROPN
ap-9724	349	19	,	,	PUNCT
ap-9724	349	20	a.	a.	PROPN
ap-9724	349	21	j.	j.	PROPN
ap-9724	349	22	humaidi	humaidi	PROPN
ap-9724	349	23	.	.	PUNCT
ap-9724	350	1	synergetic	synergetic	ADJ
ap-9724	350	2	control	control	NOUN
ap-9724	350	3	design	design	NOUN
ap-9724	350	4	based	base	VERB
ap-9724	350	5	sparrow	sparrow	NOUN
ap-9724	350	6	search	search	NOUN
ap-9724	350	7	optimization	optimization	NOUN
ap-9724	350	8	for	for	ADP
ap-9724	350	9	tracking	track	VERB
ap-9724	350	10	control	control	NOUN
ap-9724	350	11	of	of	ADP
ap-9724	350	12	driven	drive	VERB
ap-9724	350	13	-	-	PUNCT
ap-9724	350	14	pendulum	pendulum	NOUN
ap-9724	350	15	system	system	NOUN
ap-9724	350	16	.	.	PUNCT
ap-9724	351	1	journal	journal	PROPN
ap-9724	351	2	of	of	ADP
ap-9724	351	3	robotics	robotic	NOUN
ap-9724	351	4	and	and	CCONJ
ap-9724	351	5	control	control	NOUN
ap-9724	351	6	(	(	PUNCT
ap-9724	351	7	jrc	jrc	PROPN
ap-9724	351	8	)	)	PUNCT
ap-9724	351	9	5(5):1549–1556	5(5):1549–1556	PROPN
ap-9724	351	10	,	,	PUNCT
ap-9724	351	11	2024	2024	NUM
ap-9724	351	12	.	.	PUNCT
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ap-9724	352	2	[	[	X
ap-9724	352	3	26	26	NUM
ap-9724	352	4	]	]	PUNCT
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ap-9724	352	6	j.	j.	PROPN
ap-9724	352	7	humaidi	humaidi	PROPN
ap-9724	352	8	,	,	PUNCT
ap-9724	352	9	a.	a.	PROPN
ap-9724	352	10	h.	h.	PROPN
ap-9724	352	11	hameed	hameed	AUX
ap-9724	352	12	.	.	PUNCT
ap-9724	353	1	robustness	robustness	NOUN
ap-9724	353	2	enhancement	enhancement	NOUN
ap-9724	353	3	of	of	ADP
ap-9724	353	4	mrac	mrac	NOUN
ap-9724	353	5	using	use	VERB
ap-9724	353	6	modification	modification	NOUN
ap-9724	353	7	techniques	technique	NOUN
ap-9724	353	8	for	for	ADP
ap-9724	353	9	speed	speed	NOUN
ap-9724	353	10	control	control	NOUN
ap-9724	353	11	of	of	ADP
ap-9724	353	12	three	three	NUM
ap-9724	353	13	phase	phase	NOUN
ap-9724	353	14	induction	induction	NOUN
ap-9724	353	15	motor	motor	NOUN
ap-9724	353	16	.	.	PUNCT
ap-9724	354	1	journal	journal	PROPN
ap-9724	354	2	of	of	ADP
ap-9724	354	3	electrical	electrical	ADJ
ap-9724	354	4	systems	system	NOUN
ap-9724	354	5	13(4):723–741	13(4):723–741	PROPN
ap-9724	354	6	,	,	PUNCT
ap-9724	354	7	2017	2017	NUM
ap-9724	354	8	.	.	PUNCT
ap-9724	355	1	[	[	X
ap-9724	355	2	27	27	NUM
ap-9724	355	3	]	]	PUNCT
ap-9724	355	4	a.	a.	PROPN
ap-9724	355	5	j.	j.	PROPN
ap-9724	355	6	humaidi	humaidi	PROPN
ap-9724	355	7	,	,	PUNCT
ap-9724	355	8	e.	e.	PROPN
ap-9724	355	9	n.	n.	PROPN
ap-9724	355	10	talaat	talaat	PROPN
ap-9724	355	11	,	,	PUNCT
ap-9724	355	12	m.	m.	PROPN
ap-9724	355	13	r.	r.	PROPN
ap-9724	355	14	hameed	hameed	PROPN
ap-9724	355	15	,	,	PUNCT
ap-9724	355	16	a.	a.	PROPN
ap-9724	355	17	h.	h.	PROPN
ap-9724	355	18	hameed	hameed	PROPN
ap-9724	355	19	.	.	PUNCT
ap-9724	356	1	design	design	NOUN
ap-9724	356	2	of	of	ADP
ap-9724	356	3	adaptive	adaptive	ADJ
ap-9724	356	4	observer	observer	NOUN
ap-9724	356	5	-	-	PUNCT
ap-9724	356	6	based	base	VERB
ap-9724	356	7	backstepping	backstepping	NOUN
ap-9724	356	8	control	control	NOUN
ap-9724	356	9	of	of	ADP
ap-9724	356	10	cart	cart	NOUN
ap-9724	356	11	-	-	PUNCT
ap-9724	356	12	pole	pole	NOUN
ap-9724	356	13	pendulum	pendulum	NOUN
ap-9724	356	14	system	system	NOUN
ap-9724	356	15	.	.	PUNCT
ap-9724	357	1	in	in	ADP
ap-9724	357	2	proceedings	proceeding	NOUN
ap-9724	357	3	of	of	ADP
ap-9724	357	4	2019	2019	NUM
ap-9724	357	5	3rd	3rd	ADJ
ap-9724	357	6	ieee	ieee	NOUN
ap-9724	357	7	international	international	ADJ
ap-9724	357	8	conference	conference	NOUN
ap-9724	357	9	on	on	ADP
ap-9724	357	10	electrical	electrical	ADJ
ap-9724	357	11	,	,	PUNCT
ap-9724	357	12	computer	computer	NOUN
ap-9724	357	13	and	and	CCONJ
ap-9724	357	14	communication	communication	NOUN
ap-9724	357	15	technologies	technology	NOUN
ap-9724	357	16	(	(	PUNCT
ap-9724	357	17	icecct	icecct	NOUN
ap-9724	357	18	)	)	PUNCT
ap-9724	357	19	,	,	PUNCT
ap-9724	357	20	pp	pp	ADP
ap-9724	357	21	.	.	PUNCT
ap-9724	358	1	1–5	1–5	X
ap-9724	358	2	.	.	NOUN
ap-9724	358	3	2019	2019	NUM
ap-9724	358	4	.	.	PUNCT
ap-9724	359	1	https://doi.org/10.1109/icecct.2019.8869179	https://doi.org/10.1109/icecct.2019.8869179	PROPN
ap-9724	360	1	[	[	X
ap-9724	360	2	28	28	NUM
ap-9724	360	3	]	]	X
ap-9724	360	4	a.	a.	PROPN
ap-9724	360	5	s.	s.	PROPN
ap-9724	360	6	aljuboury	aljuboury	PROPN
ap-9724	360	7	,	,	PUNCT
ap-9724	360	8	a.	a.	PROPN
ap-9724	360	9	h.	h.	PROPN
ap-9724	360	10	hameed	hameed	PROPN
ap-9724	360	11	,	,	PUNCT
ap-9724	360	12	a.	a.	PROPN
ap-9724	360	13	r.	r.	PROPN
ap-9724	360	14	ajel	ajel	PROPN
ap-9724	360	15	,	,	PUNCT
ap-9724	360	16	et	et	PROPN
ap-9724	360	17	al	al	PROPN
ap-9724	360	18	.	.	PROPN
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ap-9724	360	20	adaptive	adaptive	ADJ
ap-9724	360	21	control	control	NOUN
ap-9724	360	22	of	of	ADP
ap-9724	360	23	knee	knee	PROPN
ap-9724	360	24	exoskeleton	exoskeleton	PROPN
ap-9724	360	25	-	-	PUNCT
ap-9724	360	26	assistant	assistant	NOUN
ap-9724	360	27	system	system	NOUN
ap-9724	360	28	based	base	VERB
ap-9724	360	29	on	on	ADP
ap-9724	360	30	nonlinear	nonlinear	ADJ
ap-9724	360	31	disturbance	disturbance	NOUN
ap-9724	360	32	observer	observer	NOUN
ap-9724	360	33	.	.	PUNCT
ap-9724	361	1	actuators	actuator	NOUN
ap-9724	361	2	11(3):78	11(3):78	PROPN
ap-9724	361	3	,	,	PUNCT
ap-9724	361	4	2022	2022	NUM
ap-9724	361	5	.	.	PUNCT
ap-9724	362	1	https://doi.org/10.3390/act11030078	https://doi.org/10.3390/act11030078	NOUN
ap-9724	363	1	[	[	X
ap-9724	363	2	29	29	NUM
ap-9724	363	3	]	]	PUNCT
ap-9724	363	4	a.	a.	NOUN
ap-9724	363	5	j.	j.	PROPN
ap-9724	363	6	humaidi	humaidi	PROPN
ap-9724	363	7	,	,	PUNCT
ap-9724	363	8	s.	s.	PROPN
ap-9724	363	9	k.	k.	PROPN
ap-9724	363	10	kadhim	kadhim	PROPN
ap-9724	363	11	,	,	PUNCT
ap-9724	363	12	a.	a.	PROPN
ap-9724	363	13	s.	s.	PROPN
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ap-9724	364	2	adaptive	adaptive	ADJ
ap-9724	364	3	magnetic	magnetic	ADJ
ap-9724	364	4	suspension	suspension	NOUN
ap-9724	364	5	control	control	NOUN
ap-9724	364	6	of	of	ADP
ap-9724	364	7	rotary	rotary	ADJ
ap-9724	364	8	impeller	impeller	NOUN
ap-9724	364	9	for	for	ADP
ap-9724	364	10	artificial	artificial	ADJ
ap-9724	364	11	heart	heart	NOUN
ap-9724	364	12	pump	pump	NOUN
ap-9724	364	13	.	.	PUNCT
ap-9724	365	1	cybernetics	cybernetic	NOUN
ap-9724	365	2	and	and	CCONJ
ap-9724	365	3	systems	system	NOUN
ap-9724	365	4	53(1):141–167	53(1):141–167	PROPN
ap-9724	365	5	,	,	PUNCT
ap-9724	365	6	2022	2022	NUM
ap-9724	365	7	.	.	PUNCT
ap-9724	365	8	https://doi.org/10.1080/01969722.2021.2008686	https://doi.org/10.1080/01969722.2021.2008686	PUNCT
ap-9724	366	1	[	[	X
ap-9724	366	2	30	30	NUM
ap-9724	366	3	]	]	PUNCT
ap-9724	366	4	a.	a.	NOUN
ap-9724	366	5	a.	a.	NOUN
ap-9724	366	6	oglah	oglah	PROPN
ap-9724	366	7	,	,	PUNCT
ap-9724	366	8	m.	m.	NOUN
ap-9724	366	9	m.	m.	PROPN
ap-9724	366	10	msallam	msallam	PROPN
ap-9724	366	11	.	.	PUNCT
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ap-9724	367	2	-	-	PUNCT
ap-9724	367	3	time	time	NOUN
ap-9724	367	4	implementation	implementation	NOUN
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ap-9724	367	6	fuzzy	fuzzy	ADJ
ap-9724	367	7	logic	logic	NOUN
ap-9724	367	8	controller	controller	NOUN
ap-9724	367	9	based	base	VERB
ap-9724	367	10	on	on	ADP
ap-9724	367	11	chicken	chicken	NOUN
ap-9724	367	12	swarm	swarm	NOUN
ap-9724	367	13	optimization	optimization	NOUN
ap-9724	367	14	for	for	ADP
ap-9724	367	15	the	the	DET
ap-9724	367	16	ball	ball	NOUN
ap-9724	367	17	and	and	CCONJ
ap-9724	367	18	plate	plate	NOUN
ap-9724	367	19	system	system	NOUN
ap-9724	367	20	.	.	PUNCT
ap-9724	368	1	international	international	ADJ
ap-9724	368	2	review	review	NOUN
ap-9724	368	3	of	of	ADP
ap-9724	368	4	applied	apply	VERB
ap-9724	368	5	sciences	science	NOUN
ap-9724	368	6	and	and	CCONJ
ap-9724	368	7	engineering	engineer	VERB
ap-9724	368	8	13(3):263–271	13(3):263–271	NUM
ap-9724	368	9	,	,	PUNCT
ap-9724	368	10	2021	2021	NUM
ap-9724	368	11	.	.	PUNCT
ap-9724	369	1	https://doi.org/10.1556/1848.2021.00360	https://doi.org/10.1556/1848.2021.00360	NOUN
ap-9724	370	1	528	528	NUM
ap-9724	370	2	https://doi.org/10.1109/cca.1999.806643	https://doi.org/10.1109/cca.1999.806643	NOUN
ap-9724	370	3	https://doi.org/10.1016/j.procs.2015.12.334	https://doi.org/10.1016/j.procs.2015.12.334	PROPN
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ap-9724	370	5	https://doi.org/10.1016/j.ifacol.2016.07.792	https://doi.org/10.1016/j.ifacol.2016.07.792	NOUN
ap-9724	370	6	https://doi.org/10.3390/asi6020034	https://doi.org/10.3390/asi6020034	PRON
ap-9724	370	7	https://doi.org/10.31763/ijrcs.v4i4.1551	https://doi.org/10.31763/ijrcs.v4i4.1551	PROPN
ap-9724	370	8	https://doi.org/10.1109/cdc.1998.761982	https://doi.org/10.1109/cdc.1998.761982	PRON
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ap-9724	370	10	https://doi.org/10.3390/act10030066	https://doi.org/10.3390/act10030066	PROPN
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ap-9724	370	13	https://doi.org/10.1556/1848.2023.00706	https://doi.org/10.1556/1848.2023.00706	PROPN
ap-9724	370	14	https://doi.org/10.1016/j.eswa.2013.05.041	https://doi.org/10.1016/j.eswa.2013.05.041	NOUN
ap-9724	370	15	https://doi.org/10.1007/s00521-020-04849-z	https://doi.org/10.1007/s00521-020-04849-z	PROPN
ap-9724	370	16	https://doi.org/10.3390/designs2030028	https://doi.org/10.3390/designs2030028	ADJ
ap-9724	370	17	https://doi.org/10.18196/jrc.v5i5.22893	https://doi.org/10.18196/jrc.v5i5.22893	VERB
ap-9724	370	18	https://doi.org/10.1109/icecct.2019.8869179	https://doi.org/10.1109/icecct.2019.8869179	PROPN
ap-9724	370	19	https://doi.org/10.3390/act11030078	https://doi.org/10.3390/act11030078	VERB
ap-9724	370	20	https://doi.org/10.1080/01969722.2021.2008686	https://doi.org/10.1080/01969722.2021.2008686	PUNCT
ap-9724	370	21	https://doi.org/10.1556/1848.2021.00360	https://doi.org/10.1556/1848.2021.00360	NOUN
ap-9724	370	22	vol	vol	NOUN
ap-9724	370	23	.	.	PROPN
ap-9724	371	1	64	64	NUM
ap-9724	371	2	no	no	NOUN
ap-9724	371	3	.	.	PUNCT
ap-9724	372	1	6/2024	6/2024	NUM
ap-9724	372	2	performance	performance	NOUN
ap-9724	372	3	improvement	improvement	NOUN
ap-9724	372	4	of	of	ADP
ap-9724	372	5	manipulator	manipulator	NOUN
ap-9724	372	6	actuated	actuate	VERB
ap-9724	372	7	by	by	ADP
ap-9724	372	8	pneumatic	pneumatic	NOUN
ap-9724	372	9	.	.	PUNCT
ap-9724	372	10	.	.	PUNCT
ap-9724	372	11	.	.	PUNCT
ap-9724	373	1	[	[	X
ap-9724	373	2	31	31	NUM
ap-9724	373	3	]	]	PUNCT
ap-9724	373	4	a.	a.	PROPN
ap-9724	373	5	j.	j.	PROPN
ap-9724	373	6	humaidi	humaidi	PROPN
ap-9724	373	7	,	,	PUNCT
ap-9724	373	8	s.	s.	PROPN
ap-9724	373	9	k.	k.	PROPN
ap-9724	373	10	kadhim	kadhim	PROPN
ap-9724	373	11	,	,	PUNCT
ap-9724	373	12	a.	a.	PROPN
ap-9724	373	13	s.	s.	PROPN
ap-9724	373	14	gataa	gataa	PROPN
ap-9724	373	15	.	.	PUNCT
ap-9724	374	1	development	development	NOUN
ap-9724	374	2	of	of	ADP
ap-9724	374	3	a	a	DET
ap-9724	374	4	novel	novel	ADJ
ap-9724	374	5	optimal	optimal	ADJ
ap-9724	374	6	backstepping	backstepping	NOUN
ap-9724	374	7	control	control	NOUN
ap-9724	374	8	algorithm	algorithm	NOUN
ap-9724	374	9	of	of	ADP
ap-9724	374	10	magnetic	magnetic	ADJ
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ap-9724	376	3	]	]	PUNCT
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ap-9724	376	9	r.	r.	PROPN
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ap-9724	377	7	-	-	PUNCT
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ap-9724	378	20	.	.	PUNCT
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ap-9724	379	2	.	.	PUNCT
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ap-9724	379	4	,	,	PUNCT
ap-9724	379	5	2017	2017	NUM
ap-9724	379	6	.	.	PUNCT
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ap-9724	381	3	]	]	PUNCT
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ap-9724	381	8	m.	m.	PROPN
ap-9724	381	9	r.	r.	PROPN
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ap-9724	382	5	backstepping	backsteppe	VERB
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ap-9724	382	7	to	to	ADP
ap-9724	382	8	ball	ball	NOUN
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ap-9724	382	10	arc	arc	NOUN
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ap-9724	382	15	dynamic	dynamic	ADJ
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ap-9724	382	17	.	.	PUNCT
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ap-9724	383	2	of	of	ADP
ap-9724	383	3	engineering	engineering	NOUN
ap-9724	383	4	science	science	NOUN
ap-9724	383	5	and	and	CCONJ
ap-9724	383	6	technology	technology	NOUN
ap-9724	383	7	13(7):2084–2105	13(7):2084–2105	NUM
ap-9724	383	8	,	,	PUNCT
ap-9724	383	9	2018	2018	NUM
ap-9724	383	10	.	.	PUNCT
ap-9724	384	1	[	[	X
ap-9724	384	2	34	34	NUM
ap-9724	384	3	]	]	PUNCT
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ap-9724	384	5	j.	j.	PROPN
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ap-9724	384	8	a.	a.	NOUN
ap-9724	384	9	i.	i.	PROPN
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ap-9724	385	11	-	-	PUNCT
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ap-9724	385	14	.	.	PUNCT
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ap-9724	386	3	control	control	PROPN
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ap-9724	386	5	and	and	CCONJ
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ap-9724	386	8	,	,	PUNCT
ap-9724	386	9	2019	2019	NUM
ap-9724	386	10	.	.	PUNCT
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ap-9724	387	3	35	35	NUM
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ap-9724	387	5	w.	w.	PROPN
ap-9724	387	6	r.	r.	PROPN
ap-9724	387	7	abdul	abdul	PROPN
ap-9724	387	8	-	-	PUNCT
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ap-9724	388	13	.	.	PUNCT
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ap-9724	389	4	,	,	PUNCT
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ap-9724	390	5	s.	s.	PROPN
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ap-9724	390	8	-	-	PUNCT
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ap-9724	390	11	a.	a.	PROPN
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ap-9724	391	8	,	,	PUNCT
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ap-9724	391	10	.	.	PUNCT
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ap-9724	394	8	-	-	PUNCT
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ap-9724	394	13	.	.	PUNCT
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ap-9724	395	5	,	,	PUNCT
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ap-9724	395	7	.	.	PUNCT
ap-9724	396	1	https://doi.org/10.31436/iiumej.v25i2.3188	https://doi.org/10.31436/iiumej.v25i2.3188	X
ap-9724	396	2	529	529	NUM
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ap-9724	397	29	control	control	NOUN
ap-9724	397	30	approach	approach	NOUN
ap-9724	397	31	3.3	3.3	NUM
ap-9724	397	32	parameters	parameter	NOUN
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ap-9724	397	35	on	on	ADP
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ap-9724	397	37	spider	spider	NOUN
ap-9724	397	38	optimisation	optimisation	NOUN
ap-9724	397	39	algorithm	algorithm	NOUN
ap-9724	397	40	4	4	NUM
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ap-9724	397	42	simulation	simulation	NOUN
ap-9724	397	43	5	5	NUM
ap-9724	397	44	conclusion	conclusion	NOUN
ap-9724	397	45	references	reference	NOUN