id	sid	tid	token	lemma	pos
ap-973	1	1	ap08_3.vp	ap08_3.vp	NOUN
ap-973	1	2	1	1	NUM
ap-973	1	3	introduction	introduction	NOUN
ap-973	1	4	brushless	brushless	NOUN
ap-973	1	5	direct	direct	ADJ
ap-973	1	6	-	-	PUNCT
ap-973	1	7	current	current	ADJ
ap-973	1	8	motors	motor	NOUN
ap-973	1	9	(	(	PUNCT
ap-973	1	10	bldcs	bldc	NOUN
ap-973	1	11	)	)	PUNCT
ap-973	1	12	are	be	AUX
ap-973	1	13	so	so	ADV
ap-973	1	14	named	name	VERB
ap-973	1	15	because	because	SCONJ
ap-973	1	16	they	they	PRON
ap-973	1	17	have	have	VERB
ap-973	1	18	a	a	DET
ap-973	1	19	straight	straight	ADJ
ap-973	1	20	-	-	PUNCT
ap-973	1	21	line	line	NOUN
ap-973	1	22	speed	speed	NOUN
ap-973	1	23	-	-	PUNCT
ap-973	1	24	torque	torque	NOUN
ap-973	1	25	curve	curve	NOUN
ap-973	1	26	like	like	ADP
ap-973	1	27	their	their	PRON
ap-973	1	28	mechanically	mechanically	ADV
ap-973	1	29	commutated	commutate	VERB
ap-973	1	30	counterparts	counterpart	NOUN
ap-973	1	31	,	,	PUNCT
ap-973	1	32	permanent	permanent	ADJ
ap-973	1	33	-	-	PUNCT
ap-973	1	34	magnet	magnet	NOUN
ap-973	1	35	direct	direct	NOUN
ap-973	1	36	-	-	PUNCT
ap-973	1	37	current	current	ADJ
ap-973	1	38	(	(	PUNCT
ap-973	1	39	pmdc	pmdc	ADJ
ap-973	1	40	)	)	PUNCT
ap-973	1	41	motors	motor	NOUN
ap-973	1	42	.	.	PUNCT
ap-973	2	1	in	in	ADP
ap-973	2	2	pmdc	pmdc	PROPN
ap-973	2	3	motors	motors	PROPN
ap-973	2	4	,	,	PUNCT
ap-973	2	5	the	the	DET
ap-973	2	6	magnets	magnet	NOUN
ap-973	2	7	are	be	AUX
ap-973	2	8	stationary	stationary	ADJ
ap-973	2	9	and	and	CCONJ
ap-973	2	10	the	the	DET
ap-973	2	11	current	current	ADJ
ap-973	2	12	-	-	PUNCT
ap-973	2	13	carrying	carry	VERB
ap-973	2	14	coils	coil	NOUN
ap-973	2	15	rotate	rotate	VERB
ap-973	2	16	.	.	PUNCT
ap-973	3	1	the	the	DET
ap-973	3	2	current	current	ADJ
ap-973	3	3	direction	direction	NOUN
ap-973	3	4	is	be	AUX
ap-973	3	5	changed	change	VERB
ap-973	3	6	using	use	VERB
ap-973	3	7	a	a	DET
ap-973	3	8	mechanical	mechanical	ADJ
ap-973	3	9	commutation	commutation	NOUN
ap-973	3	10	process	process	NOUN
ap-973	3	11	.	.	PUNCT
ap-973	4	1	a	a	DET
ap-973	4	2	brushless	brushless	NOUN
ap-973	4	3	dc	dc	PROPN
ap-973	4	4	motor	motor	NOUN
ap-973	4	5	,	,	PUNCT
ap-973	4	6	on	on	ADP
ap-973	4	7	the	the	DET
ap-973	4	8	other	other	ADJ
ap-973	4	9	hand	hand	NOUN
ap-973	4	10	has	have	VERB
ap-973	4	11	a	a	DET
ap-973	4	12	rotor	rotor	NOUN
ap-973	4	13	with	with	ADP
ap-973	4	14	permanent	permanent	ADJ
ap-973	4	15	magnets	magnet	NOUN
ap-973	4	16	and	and	CCONJ
ap-973	4	17	a	a	DET
ap-973	4	18	stator	stator	NOUN
ap-973	4	19	with	with	ADP
ap-973	4	20	windings	winding	NOUN
ap-973	4	21	(	(	PUNCT
ap-973	4	22	the	the	DET
ap-973	4	23	magnets	magnet	NOUN
ap-973	4	24	rotate	rotate	VERB
ap-973	4	25	and	and	CCONJ
ap-973	4	26	the	the	DET
ap-973	4	27	current	current	ADJ
ap-973	4	28	-	-	PUNCT
ap-973	4	29	carrying	carry	VERB
ap-973	4	30	coils	coil	NOUN
ap-973	4	31	are	be	AUX
ap-973	4	32	stationary	stationary	ADJ
ap-973	4	33	)	)	PUNCT
ap-973	4	34	.	.	PUNCT
ap-973	5	1	it	it	PRON
ap-973	5	2	is	be	AUX
ap-973	5	3	essentially	essentially	ADV
ap-973	5	4	a	a	DET
ap-973	5	5	dc	dc	PROPN
ap-973	5	6	motor	motor	NOUN
ap-973	5	7	turned	turn	VERB
ap-973	5	8	inside	inside	ADV
ap-973	5	9	out	out	ADV
ap-973	5	10	.	.	PUNCT
ap-973	6	1	the	the	DET
ap-973	6	2	brushes	brush	NOUN
ap-973	6	3	and	and	CCONJ
ap-973	6	4	commutator	commutator	NOUN
ap-973	6	5	have	have	AUX
ap-973	6	6	been	be	AUX
ap-973	6	7	eliminated	eliminate	VERB
ap-973	6	8	and	and	CCONJ
ap-973	6	9	the	the	DET
ap-973	6	10	windings	winding	NOUN
ap-973	6	11	are	be	AUX
ap-973	6	12	connected	connect	VERB
ap-973	6	13	to	to	ADP
ap-973	6	14	the	the	DET
ap-973	6	15	control	control	NOUN
ap-973	6	16	electronics	electronic	NOUN
ap-973	6	17	.	.	PUNCT
ap-973	7	1	the	the	DET
ap-973	7	2	control	control	NOUN
ap-973	7	3	electronics	electronic	NOUN
ap-973	7	4	replace	replace	VERB
ap-973	7	5	the	the	DET
ap-973	7	6	function	function	NOUN
ap-973	7	7	of	of	ADP
ap-973	7	8	the	the	DET
ap-973	7	9	commutator	commutator	NOUN
ap-973	7	10	and	and	CCONJ
ap-973	7	11	energize	energize	VERB
ap-973	7	12	the	the	DET
ap-973	7	13	proper	proper	ADJ
ap-973	7	14	winding	winding	NOUN
ap-973	7	15	.	.	PUNCT
ap-973	8	1	the	the	DET
ap-973	8	2	energized	energized	ADJ
ap-973	8	3	stator	stator	NOUN
ap-973	8	4	winding	winding	NOUN
ap-973	8	5	leads	lead	VERB
ap-973	8	6	the	the	DET
ap-973	8	7	rotor	rotor	NOUN
ap-973	8	8	magnet	magnet	NOUN
ap-973	8	9	,	,	PUNCT
ap-973	8	10	and	and	CCONJ
ap-973	8	11	switches	switch	NOUN
ap-973	8	12	just	just	ADV
ap-973	8	13	as	as	SCONJ
ap-973	8	14	the	the	DET
ap-973	8	15	rotor	rotor	NOUN
ap-973	8	16	aligns	align	VERB
ap-973	8	17	with	with	ADP
ap-973	8	18	the	the	DET
ap-973	8	19	stator	stator	NOUN
ap-973	8	20	[	[	X
ap-973	8	21	1	1	NUM
ap-973	8	22	]	]	PUNCT
ap-973	8	23	.	.	PUNCT
ap-973	9	1	bldc	bldc	PROPN
ap-973	9	2	motor	motor	PROPN
ap-973	9	3	control	control	NOUN
ap-973	9	4	requires	require	VERB
ap-973	9	5	knowledge	knowledge	NOUN
ap-973	9	6	of	of	ADP
ap-973	9	7	the	the	DET
ap-973	9	8	rotor	rotor	NOUN
ap-973	9	9	position	position	NOUN
ap-973	9	10	and	and	CCONJ
ap-973	9	11	mechanism	mechanism	NOUN
ap-973	9	12	in	in	ADP
ap-973	9	13	order	order	NOUN
ap-973	9	14	to	to	PART
ap-973	9	15	commutate	commutate	VERB
ap-973	9	16	the	the	DET
ap-973	9	17	motor	motor	NOUN
ap-973	9	18	.	.	PUNCT
ap-973	10	1	to	to	PART
ap-973	10	2	sense	sense	VERB
ap-973	10	3	the	the	DET
ap-973	10	4	rotor	rotor	NOUN
ap-973	10	5	position	position	NOUN
ap-973	10	6	,	,	PUNCT
ap-973	10	7	bldc	bldc	PROPN
ap-973	10	8	motors	motors	PROPN
ap-973	10	9	use	use	VERB
ap-973	10	10	hall	hall	NOUN
ap-973	10	11	effect	effect	NOUN
ap-973	10	12	sensors	sensor	NOUN
ap-973	10	13	to	to	PART
ap-973	10	14	provide	provide	VERB
ap-973	10	15	absolute	absolute	ADJ
ap-973	10	16	position	position	NOUN
ap-973	10	17	sensing	sense	VERB
ap-973	10	18	.	.	PUNCT
ap-973	11	1	this	this	DET
ap-973	11	2	results	result	NOUN
ap-973	11	3	in	in	ADP
ap-973	11	4	more	more	ADJ
ap-973	11	5	wires	wire	NOUN
ap-973	11	6	and	and	CCONJ
ap-973	11	7	higher	high	ADJ
ap-973	11	8	cost	cost	NOUN
ap-973	11	9	.	.	PUNCT
ap-973	12	1	bldc	bldc	PROPN
ap-973	12	2	motors	motors	PROPN
ap-973	12	3	can	can	AUX
ap-973	12	4	be	be	AUX
ap-973	12	5	designed	design	VERB
ap-973	12	6	into	into	ADP
ap-973	12	7	systems	system	NOUN
ap-973	12	8	that	that	PRON
ap-973	12	9	are	be	AUX
ap-973	12	10	sensor	sensor	NOUN
ap-973	12	11	-	-	PUNCT
ap-973	12	12	based	base	VERB
ap-973	12	13	or	or	CCONJ
ap-973	12	14	sensorless	sensorless	NOUN
ap-973	12	15	.	.	PUNCT
ap-973	13	1	sensorless	sensorless	PROPN
ap-973	13	2	bldc	bldc	PROPN
ap-973	13	3	control	control	PROPN
ap-973	13	4	eliminates	eliminate	VERB
ap-973	13	5	the	the	DET
ap-973	13	6	need	need	NOUN
ap-973	13	7	for	for	ADP
ap-973	13	8	hall	hall	NOUN
ap-973	13	9	effect	effect	NOUN
ap-973	13	10	sensors	sensor	NOUN
ap-973	13	11	,	,	PUNCT
ap-973	13	12	using	use	VERB
ap-973	13	13	the	the	DET
ap-973	13	14	back	back	NOUN
ap-973	13	15	-	-	PUNCT
ap-973	13	16	emf	emf	NOUN
ap-973	13	17	(	(	PUNCT
ap-973	13	18	electromotive	electromotive	ADJ
ap-973	13	19	force	force	NOUN
ap-973	13	20	)	)	PUNCT
ap-973	13	21	of	of	ADP
ap-973	13	22	the	the	DET
ap-973	13	23	motor	motor	NOUN
ap-973	13	24	instead	instead	ADV
ap-973	13	25	to	to	PART
ap-973	13	26	estimate	estimate	VERB
ap-973	13	27	the	the	DET
ap-973	13	28	rotor	rotor	NOUN
ap-973	13	29	position	position	NOUN
ap-973	13	30	.	.	PUNCT
ap-973	14	1	sensorless	sensorless	NOUN
ap-973	14	2	control	control	NOUN
ap-973	14	3	is	be	AUX
ap-973	14	4	essential	essential	ADJ
ap-973	14	5	for	for	ADP
ap-973	14	6	low	low	ADJ
ap-973	14	7	-	-	PUNCT
ap-973	14	8	cost	cost	NOUN
ap-973	14	9	variable	variable	ADJ
ap-973	14	10	speed	speed	NOUN
ap-973	14	11	applications	application	NOUN
ap-973	14	12	such	such	ADJ
ap-973	14	13	as	as	ADP
ap-973	14	14	fans	fan	NOUN
ap-973	14	15	and	and	CCONJ
ap-973	14	16	pumps	pump	VERB
ap-973	14	17	[	[	X
ap-973	14	18	2	2	NUM
ap-973	14	19	]	]	PUNCT
ap-973	14	20	.	.	PUNCT
ap-973	15	1	brushless	brushless	PROPN
ap-973	15	2	dc	dc	PROPN
ap-973	15	3	(	(	PUNCT
ap-973	15	4	bldc	bldc	PROPN
ap-973	15	5	)	)	PUNCT
ap-973	15	6	motors	motor	NOUN
ap-973	15	7	are	be	AUX
ap-973	15	8	widely	widely	ADV
ap-973	15	9	-	-	PUNCT
ap-973	15	10	used	use	VERB
ap-973	15	11	in	in	ADP
ap-973	15	12	industrial	industrial	ADJ
ap-973	15	13	applications	application	NOUN
ap-973	15	14	such	such	ADJ
ap-973	15	15	as	as	ADP
ap-973	15	16	machine	machine	NOUN
ap-973	15	17	tool	tool	NOUN
ap-973	15	18	drives	drive	NOUN
ap-973	15	19	,	,	PUNCT
ap-973	15	20	computer	computer	NOUN
ap-973	15	21	peripherals	peripheral	NOUN
ap-973	15	22	,	,	PUNCT
ap-973	15	23	robotics	robotic	NOUN
ap-973	15	24	and	and	CCONJ
ap-973	15	25	electric	electric	ADJ
ap-973	15	26	propulsion	propulsion	NOUN
ap-973	15	27	.	.	PUNCT
ap-973	16	1	bldc	bldc	PROPN
ap-973	16	2	motors	motor	NOUN
ap-973	16	3	have	have	VERB
ap-973	16	4	many	many	ADJ
ap-973	16	5	advantages	advantage	NOUN
ap-973	16	6	.	.	PUNCT
ap-973	17	1	many	many	ADJ
ap-973	17	2	of	of	ADP
ap-973	17	3	these	these	PRON
ap-973	17	4	are	be	AUX
ap-973	17	5	due	due	ADJ
ap-973	17	6	to	to	ADP
ap-973	17	7	the	the	DET
ap-973	17	8	reduced	reduce	VERB
ap-973	17	9	maintenance	maintenance	NOUN
ap-973	17	10	of	of	ADP
ap-973	17	11	bldc	bldc	PROPN
ap-973	17	12	motors	motors	PROPN
ap-973	17	13	(	(	PUNCT
ap-973	17	14	no	no	DET
ap-973	17	15	brushes	brush	NOUN
ap-973	17	16	)	)	PUNCT
ap-973	17	17	,	,	PUNCT
ap-973	17	18	better	well	ADJ
ap-973	17	19	speed	speed	NOUN
ap-973	17	20	versus	versus	ADP
ap-973	17	21	torque	torque	NOUN
ap-973	17	22	characteristics	characteristic	NOUN
ap-973	17	23	,	,	PUNCT
ap-973	17	24	high	high	ADJ
ap-973	17	25	dynamic	dynamic	ADJ
ap-973	17	26	response	response	NOUN
ap-973	17	27	,	,	PUNCT
ap-973	17	28	long	long	ADV
ap-973	17	29	operating	operating	NOUN
ap-973	17	30	life	life	NOUN
ap-973	17	31	,	,	PUNCT
ap-973	17	32	noiseless	noiseless	ADJ
ap-973	17	33	operation	operation	NOUN
ap-973	17	34	,	,	PUNCT
ap-973	17	35	higher	high	ADJ
ap-973	17	36	speed	speed	NOUN
ap-973	17	37	ranges	range	NOUN
ap-973	17	38	,	,	PUNCT
ap-973	17	39	compact	compact	ADJ
ap-973	17	40	size	size	NOUN
ap-973	17	41	,	,	PUNCT
ap-973	17	42	controllability	controllability	NOUN
ap-973	17	43	,	,	PUNCT
ap-973	17	44	high	high	ADJ
ap-973	17	45	torque	torque	NOUN
ap-973	17	46	to	to	PART
ap-973	17	47	volume	volume	VERB
ap-973	17	48	ratio	ratio	NOUN
ap-973	17	49	,	,	PUNCT
ap-973	17	50	high	high	ADJ
ap-973	17	51	efficiency	efficiency	NOUN
ap-973	17	52	and	and	CCONJ
ap-973	17	53	low	low	ADJ
ap-973	17	54	moment	moment	NOUN
ap-973	17	55	of	of	ADP
ap-973	17	56	inertia	inertia	NOUN
ap-973	17	57	.	.	PUNCT
ap-973	18	1	2	2	NUM
ap-973	18	2	cascaded	cascade	VERB
ap-973	18	3	control	control	NOUN
ap-973	18	4	feedback	feedback	NOUN
ap-973	18	5	is	be	AUX
ap-973	18	6	both	both	CCONJ
ap-973	18	7	a	a	DET
ap-973	18	8	mechanical	mechanical	ADJ
ap-973	18	9	,	,	PUNCT
ap-973	18	10	process	process	NOUN
ap-973	18	11	and	and	CCONJ
ap-973	18	12	a	a	DET
ap-973	18	13	signal	signal	ADJ
ap-973	18	14	mediated	mediate	VERB
ap-973	18	15	response	response	NOUN
ap-973	18	16	that	that	PRON
ap-973	18	17	is	be	AUX
ap-973	18	18	looped	loop	VERB
ap-973	18	19	back	back	ADV
ap-973	18	20	to	to	PART
ap-973	18	21	control	control	VERB
ap-973	18	22	the	the	DET
ap-973	18	23	system	system	NOUN
ap-973	18	24	within	within	ADP
ap-973	18	25	itself	itself	PRON
ap-973	18	26	.	.	PUNCT
ap-973	19	1	this	this	DET
ap-973	19	2	loop	loop	NOUN
ap-973	19	3	is	be	AUX
ap-973	19	4	called	call	VERB
ap-973	19	5	the	the	DET
ap-973	19	6	feedback	feedback	NOUN
ap-973	19	7	loop	loop	NOUN
ap-973	19	8	.	.	PUNCT
ap-973	20	1	a	a	DET
ap-973	20	2	control	control	NOUN
ap-973	20	3	system	system	NOUN
ap-973	20	4	usually	usually	ADV
ap-973	20	5	has	have	VERB
ap-973	20	6	input	input	NOUN
ap-973	20	7	and	and	CCONJ
ap-973	20	8	output	output	NOUN
ap-973	20	9	to	to	ADP
ap-973	20	10	the	the	DET
ap-973	20	11	system	system	NOUN
ap-973	20	12	.	.	PUNCT
ap-973	21	1	when	when	SCONJ
ap-973	21	2	the	the	DET
ap-973	21	3	output	output	NOUN
ap-973	21	4	of	of	ADP
ap-973	21	5	the	the	DET
ap-973	21	6	system	system	NOUN
ap-973	21	7	is	be	AUX
ap-973	21	8	fed	feed	VERB
ap-973	21	9	back	back	ADV
ap-973	21	10	into	into	ADP
ap-973	21	11	the	the	DET
ap-973	21	12	system	system	NOUN
ap-973	21	13	as	as	ADP
ap-973	21	14	part	part	NOUN
ap-973	21	15	of	of	ADP
ap-973	21	16	its	its	PRON
ap-973	21	17	input	input	NOUN
ap-973	21	18	,	,	PUNCT
ap-973	21	19	it	it	PRON
ap-973	21	20	is	be	AUX
ap-973	21	21	called	call	VERB
ap-973	21	22	the	the	DET
ap-973	21	23	“	"	PUNCT
ap-973	21	24	feedback	feedback	NOUN
ap-973	21	25	”	"	PUNCT
ap-973	21	26	.	.	PUNCT
ap-973	22	1	cascade	cascade	NOUN
ap-973	22	2	control	control	NOUN
ap-973	22	3	is	be	AUX
ap-973	22	4	used	use	VERB
ap-973	22	5	to	to	PART
ap-973	22	6	enable	enable	VERB
ap-973	22	7	a	a	DET
ap-973	22	8	process	process	NOUN
ap-973	22	9	having	have	VERB
ap-973	22	10	multiple	multiple	ADJ
ap-973	22	11	lags	lag	NOUN
ap-973	22	12	to	to	PART
ap-973	22	13	be	be	AUX
ap-973	22	14	controlled	control	VERB
ap-973	22	15	with	with	ADP
ap-973	22	16	the	the	DET
ap-973	22	17	fastest	fast	ADJ
ap-973	22	18	possible	possible	ADJ
ap-973	22	19	response	response	NOUN
ap-973	22	20	to	to	PART
ap-973	22	21	process	process	VERB
ap-973	22	22	disturbances	disturbance	NOUN
ap-973	22	23	including	include	VERB
ap-973	22	24	set	set	VERB
ap-973	22	25	point	point	NOUN
ap-973	22	26	changes	change	NOUN
ap-973	22	27	.	.	PUNCT
ap-973	23	1	cascade	cascade	NOUN
ap-973	23	2	control	control	NOUN
ap-973	23	3	is	be	AUX
ap-973	23	4	widely	widely	ADV
ap-973	23	5	used	use	VERB
ap-973	23	6	in	in	ADP
ap-973	23	7	industrial	industrial	ADJ
ap-973	23	8	processes	process	NOUN
ap-973	23	9	.	.	PUNCT
ap-973	24	1	conventional	conventional	ADJ
ap-973	24	2	cascade	cascade	NOUN
ap-973	24	3	schemes	scheme	NOUN
ap-973	24	4	have	have	VERB
ap-973	24	5	two	two	NUM
ap-973	24	6	distinct	distinct	ADJ
ap-973	24	7	features	feature	NOUN
ap-973	24	8	with	with	ADP
ap-973	24	9	two	two	NUM
ap-973	24	10	nested	nest	VERB
ap-973	24	11	©	©	PROPN
ap-973	24	12	czech	czech	PROPN
ap-973	24	13	technical	technical	PROPN
ap-973	24	14	university	university	PROPN
ap-973	24	15	publishing	publishing	NOUN
ap-973	24	16	house	house	NOUN
ap-973	24	17	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-973	24	18	7	7	NUM
ap-973	24	19	acta	acta	PROPN
ap-973	24	20	polytechnica	polytechnica	PROPN
ap-973	24	21	vol	vol	NOUN
ap-973	24	22	.	.	PUNCT
ap-973	25	1	48	48	NUM
ap-973	25	2	no	no	NOUN
ap-973	25	3	.	.	PUNCT
ap-973	26	1	3/2008	3/2008	NUM
ap-973	26	2	a	a	DET
ap-973	26	3	proportional	proportional	ADJ
ap-973	26	4	integral	integral	ADJ
ap-973	26	5	derivative	derivative	ADJ
ap-973	26	6	(	(	PUNCT
ap-973	26	7	pid	pid	NOUN
ap-973	26	8	)	)	PUNCT
ap-973	26	9	feedback	feedback	NOUN
ap-973	26	10	control	control	NOUN
ap-973	26	11	without	without	ADP
ap-973	26	12	a	a	DET
ap-973	26	13	subsidiary	subsidiary	NOUN
ap-973	26	14	speed	speed	NOUN
ap-973	26	15	loop	loop	NOUN
ap-973	26	16	m.	m.	NOUN
ap-973	26	17	aboelhassan	aboelhassan	PROPN
ap-973	26	18	the	the	DET
ap-973	26	19	aim	aim	NOUN
ap-973	26	20	of	of	ADP
ap-973	26	21	this	this	DET
ap-973	26	22	investigation	investigation	NOUN
ap-973	26	23	is	be	AUX
ap-973	26	24	to	to	PART
ap-973	26	25	design	design	VERB
ap-973	26	26	and	and	CCONJ
ap-973	26	27	describe	describe	VERB
ap-973	26	28	the	the	DET
ap-973	26	29	essential	essential	ADJ
ap-973	26	30	features	feature	NOUN
ap-973	26	31	of	of	ADP
ap-973	26	32	a	a	DET
ap-973	26	33	brushless	brushless	NOUN
ap-973	26	34	direct	direct	ADJ
ap-973	26	35	-	-	PUNCT
ap-973	26	36	current	current	ADJ
ap-973	26	37	(	(	PUNCT
ap-973	26	38	bldc	bldc	PROPN
ap-973	26	39	)	)	PUNCT
ap-973	26	40	motor	motor	NOUN
ap-973	26	41	.	.	PUNCT
ap-973	27	1	the	the	DET
ap-973	27	2	static	static	ADJ
ap-973	27	3	and	and	CCONJ
ap-973	27	4	dynamical	dynamical	ADJ
ap-973	27	5	state	state	NOUN
ap-973	27	6	of	of	ADP
ap-973	27	7	the	the	DET
ap-973	27	8	bldc	bldc	PROPN
ap-973	27	9	-	-	PUNCT
ap-973	27	10	motor	motor	NOUN
ap-973	27	11	is	be	AUX
ap-973	27	12	designed	design	VERB
ap-973	27	13	and	and	CCONJ
ap-973	27	14	calculated	calculate	VERB
ap-973	27	15	.	.	PUNCT
ap-973	28	1	within	within	ADP
ap-973	28	2	this	this	DET
ap-973	28	3	frame	frame	NOUN
ap-973	28	4	-	-	PUNCT
ap-973	28	5	work	work	NOUN
ap-973	28	6	,	,	PUNCT
ap-973	28	7	it	it	PRON
ap-973	28	8	has	have	AUX
ap-973	28	9	been	be	AUX
ap-973	28	10	shown	show	VERB
ap-973	28	11	that	that	SCONJ
ap-973	28	12	while	while	SCONJ
ap-973	28	13	working	work	VERB
ap-973	28	14	with	with	ADP
ap-973	28	15	the	the	DET
ap-973	28	16	p	p	NOUN
ap-973	28	17	-	-	PUNCT
ap-973	28	18	controller	controller	NOUN
ap-973	28	19	in	in	ADP
ap-973	28	20	conjunction	conjunction	NOUN
ap-973	28	21	with	with	ADP
ap-973	28	22	the	the	DET
ap-973	28	23	subsidiary	subsidiary	NOUN
ap-973	28	24	speed	speed	NOUN
ap-973	28	25	loop	loop	NOUN
ap-973	28	26	and	and	CCONJ
ap-973	28	27	pd	pd	NOUN
ap-973	28	28	-	-	NOUN
ap-973	28	29	controller	controller	NOUN
ap-973	28	30	(	(	PUNCT
ap-973	28	31	with	with	ADP
ap-973	28	32	non	non	ADJ
ap-973	28	33	-	-	ADJ
ap-973	28	34	zero	zero	NUM
ap-973	28	35	error	error	NOUN
ap-973	28	36	in	in	ADP
ap-973	28	37	a	a	DET
ap-973	28	38	steady	steady	ADJ
ap-973	28	39	state	state	NOUN
ap-973	28	40	)	)	PUNCT
ap-973	28	41	without	without	ADP
ap-973	28	42	a	a	DET
ap-973	28	43	subsidiary	subsidiary	NOUN
ap-973	28	44	speed	speed	NOUN
ap-973	28	45	loop	loop	NOUN
ap-973	28	46	,	,	PUNCT
ap-973	28	47	there	there	PRON
ap-973	28	48	is	be	VERB
ap-973	28	49	pid	pid	ADJ
ap-973	28	50	-	-	NOUN
ap-973	28	51	controller	controller	NOUN
ap-973	28	52	without	without	ADP
ap-973	28	53	a	a	DET
ap-973	28	54	subsidiary	subsidiary	NOUN
ap-973	28	55	speed	speed	NOUN
ap-973	28	56	loop	loop	NOUN
ap-973	28	57	which	which	PRON
ap-973	28	58	has	have	VERB
ap-973	28	59	zero	zero	NUM
ap-973	28	60	error	error	NOUN
ap-973	28	61	in	in	ADP
ap-973	28	62	a	a	DET
ap-973	28	63	steady	steady	ADJ
ap-973	28	64	state	state	NOUN
ap-973	28	65	.	.	PUNCT
ap-973	29	1	the	the	DET
ap-973	29	2	last	last	ADJ
ap-973	29	3	part	part	NOUN
ap-973	29	4	of	of	ADP
ap-973	29	5	this	this	DET
ap-973	29	6	paper	paper	NOUN
ap-973	29	7	is	be	AUX
ap-973	29	8	dedicated	dedicate	VERB
ap-973	29	9	to	to	ADP
ap-973	29	10	a	a	DET
ap-973	29	11	simulation	simulation	NOUN
ap-973	29	12	of	of	ADP
ap-973	29	13	the	the	DET
ap-973	29	14	circle	circle	NOUN
ap-973	29	15	rounds	round	NOUN
ap-973	29	16	of	of	ADP
ap-973	29	17	p	p	NOUN
ap-973	29	18	and	and	CCONJ
ap-973	29	19	pid	pid	NOUN
ap-973	29	20	controllers	controller	NOUN
ap-973	29	21	with	with	ADP
ap-973	29	22	and	and	CCONJ
ap-973	29	23	without	without	ADP
ap-973	29	24	a	a	DET
ap-973	29	25	subsidiary	subsidiary	NOUN
ap-973	29	26	speed	speed	NOUN
ap-973	29	27	loop	loop	NOUN
ap-973	29	28	in	in	ADP
ap-973	29	29	matlab	matlab	PROPN
ap-973	29	30	–	–	PUNCT
ap-973	29	31	simulink	simulink	NOUN
ap-973	29	32	to	to	PART
ap-973	29	33	decide	decide	VERB
ap-973	29	34	which	which	PRON
ap-973	29	35	of	of	ADP
ap-973	29	36	these	these	DET
ap-973	29	37	controllers	controller	NOUN
ap-973	29	38	is	be	AUX
ap-973	29	39	suitable	suitable	ADJ
ap-973	29	40	,	,	PUNCT
ap-973	29	41	available	available	ADJ
ap-973	29	42	and	and	CCONJ
ap-973	29	43	reliable	reliable	ADJ
ap-973	29	44	with	with	ADP
ap-973	29	45	a	a	DET
ap-973	29	46	bldc	bldc	PROPN
ap-973	29	47	-	-	PUNCT
ap-973	29	48	motor	motor	NOUN
ap-973	29	49	and	and	CCONJ
ap-973	29	50	their	their	PRON
ap-973	29	51	application	application	NOUN
ap-973	29	52	in	in	ADP
ap-973	29	53	cutting	cut	VERB
ap-973	29	54	tool	tool	NOUN
ap-973	29	55	machines	machine	NOUN
ap-973	29	56	in	in	ADP
ap-973	29	57	general	general	ADJ
ap-973	29	58	.	.	PUNCT
ap-973	30	1	keywords	keyword	NOUN
ap-973	30	2	:	:	PUNCT
ap-973	30	3	pid	pid	NOUN
ap-973	30	4	-	-	PUNCT
ap-973	30	5	controller	controller	NOUN
ap-973	30	6	,	,	PUNCT
ap-973	30	7	p	p	NOUN
ap-973	30	8	-	-	PUNCT
ap-973	30	9	controller	controller	NOUN
ap-973	30	10	,	,	PUNCT
ap-973	30	11	pd	pd	NOUN
ap-973	30	12	-	-	NOUN
ap-973	30	13	controller	controller	NOUN
ap-973	30	14	,	,	PUNCT
ap-973	30	15	feedback	feedback	NOUN
ap-973	30	16	control	control	NOUN
ap-973	30	17	,	,	PUNCT
ap-973	30	18	disturbance	disturbance	NOUN
ap-973	30	19	observer	observer	PROPN
ap-973	30	20	.	.	PUNCT
ap-973	31	1	fig	fig	NOUN
ap-973	31	2	.	.	PUNCT
ap-973	32	1	1	1	NUM
ap-973	32	2	:	:	PUNCT
ap-973	32	3	block	block	NOUN
ap-973	32	4	diagram	diagram	NOUN
ap-973	32	5	of	of	ADP
ap-973	32	6	the	the	DET
ap-973	32	7	p	p	NOUN
ap-973	32	8	-	-	PUNCT
ap-973	32	9	controller	controller	NOUN
ap-973	32	10	with	with	ADP
ap-973	32	11	the	the	DET
ap-973	32	12	subsidiary	subsidiary	NOUN
ap-973	32	13	speed	speed	NOUN
ap-973	32	14	loop	loop	NOUN
ap-973	32	15	feedback	feedback	NOUN
ap-973	32	16	control	control	NOUN
ap-973	32	17	loops	loop	NOUN
ap-973	32	18	.	.	PUNCT
ap-973	33	1	there	there	PRON
ap-973	33	2	is	be	VERB
ap-973	33	3	a	a	DET
ap-973	33	4	secondary	secondary	ADJ
ap-973	33	5	control	control	NOUN
ap-973	33	6	loop	loop	NOUN
ap-973	33	7	located	locate	VERB
ap-973	33	8	inside	inside	ADP
ap-973	33	9	the	the	DET
ap-973	33	10	primary	primary	ADJ
ap-973	33	11	control	control	PROPN
ap-973	33	12	loop	loop	PROPN
ap-973	33	13	.	.	PUNCT
ap-973	34	1	the	the	DET
ap-973	34	2	primary	primary	ADJ
ap-973	34	3	loop	loop	NOUN
ap-973	34	4	controller	controller	NOUN
ap-973	34	5	is	be	AUX
ap-973	34	6	used	use	VERB
ap-973	34	7	to	to	PART
ap-973	34	8	calculate	calculate	VERB
ap-973	34	9	the	the	DET
ap-973	34	10	setpoint	setpoint	NOUN
ap-973	34	11	for	for	ADP
ap-973	34	12	the	the	DET
ap-973	34	13	inner	inner	ADJ
ap-973	34	14	(	(	PUNCT
ap-973	34	15	secondary	secondary	ADJ
ap-973	34	16	)	)	PUNCT
ap-973	34	17	control	control	PROPN
ap-973	34	18	loop	loop	PROPN
ap-973	34	19	.	.	PUNCT
ap-973	35	1	the	the	DET
ap-973	35	2	inner	inner	ADJ
ap-973	35	3	loop	loop	NOUN
ap-973	35	4	(	(	PUNCT
ap-973	35	5	secondary	secondary	ADJ
ap-973	35	6	,	,	PUNCT
ap-973	35	7	slave	slave	NOUN
ap-973	35	8	loop	loop	NOUN
ap-973	35	9	)	)	PUNCT
ap-973	35	10	in	in	ADP
ap-973	35	11	a	a	DET
ap-973	35	12	cascade	cascade	NOUN
ap-973	35	13	-	-	PUNCT
ap-973	35	14	control	control	NOUN
ap-973	35	15	strategy	strategy	NOUN
ap-973	35	16	should	should	AUX
ap-973	35	17	be	be	AUX
ap-973	35	18	tuned	tune	VERB
ap-973	35	19	before	before	ADP
ap-973	35	20	the	the	DET
ap-973	35	21	outer	outer	ADJ
ap-973	35	22	loop	loop	NOUN
ap-973	35	23	(	(	PUNCT
ap-973	35	24	primary	primary	ADJ
ap-973	35	25	,	,	PUNCT
ap-973	35	26	master	master	NOUN
ap-973	35	27	loop	loop	PROPN
ap-973	35	28	)	)	PUNCT
ap-973	35	29	.	.	PUNCT
ap-973	36	1	after	after	SCONJ
ap-973	36	2	the	the	DET
ap-973	36	3	inner	inner	ADJ
ap-973	36	4	loop	loop	NOUN
ap-973	36	5	is	be	AUX
ap-973	36	6	tuned	tune	VERB
ap-973	36	7	and	and	CCONJ
ap-973	36	8	closed	close	VERB
ap-973	36	9	,	,	PUNCT
ap-973	36	10	the	the	DET
ap-973	36	11	outer	outer	ADJ
ap-973	36	12	loop	loop	NOUN
ap-973	36	13	should	should	AUX
ap-973	36	14	be	be	AUX
ap-973	36	15	tuned	tune	VERB
ap-973	36	16	using	use	VERB
ap-973	36	17	knowledge	knowledge	NOUN
ap-973	36	18	of	of	ADP
ap-973	36	19	the	the	DET
ap-973	36	20	dynamics	dynamic	NOUN
ap-973	36	21	of	of	ADP
ap-973	36	22	the	the	DET
ap-973	36	23	inner	inner	ADJ
ap-973	36	24	loop	loop	NOUN
ap-973	36	25	.	.	PUNCT
ap-973	37	1	the	the	DET
ap-973	37	2	most	most	ADV
ap-973	37	3	common	common	ADJ
ap-973	37	4	use	use	NOUN
ap-973	37	5	of	of	ADP
ap-973	37	6	a	a	DET
ap-973	37	7	cascaded	cascade	VERB
ap-973	37	8	control	control	NOUN
ap-973	37	9	structure	structure	NOUN
ap-973	37	10	is	be	AUX
ap-973	37	11	:	:	PUNCT
ap-973	37	12	inner	inner	ADJ
ap-973	37	13	current	current	ADJ
ap-973	37	14	closed	closed	ADJ
ap-973	37	15	loop	loop	NOUN
ap-973	37	16	followed	follow	VERB
ap-973	37	17	by	by	ADP
ap-973	37	18	speed	speed	NOUN
ap-973	37	19	loop	loop	NOUN
ap-973	37	20	and	and	CCONJ
ap-973	37	21	outermost	outermost	ADJ
ap-973	37	22	position	position	NOUN
ap-973	37	23	loop	loop	NOUN
ap-973	37	24	superimposed	superimpose	VERB
ap-973	37	25	on	on	ADP
ap-973	37	26	the	the	DET
ap-973	37	27	speed	speed	NOUN
ap-973	37	28	loop	loop	NOUN
ap-973	37	29	.	.	PUNCT
ap-973	38	1	block	block	NOUN
ap-973	38	2	diagrams	diagram	NOUN
ap-973	38	3	of	of	ADP
ap-973	38	4	a	a	DET
ap-973	38	5	close	close	ADJ
ap-973	38	6	-	-	PUNCT
ap-973	38	7	loop	loop	NOUN
ap-973	38	8	position	position	NOUN
ap-973	38	9	control	control	NOUN
ap-973	38	10	system	system	NOUN
ap-973	38	11	with	with	ADP
ap-973	38	12	p	p	NOUN
ap-973	38	13	,	,	PUNCT
ap-973	38	14	pid	pid	NOUN
ap-973	38	15	and	and	CCONJ
ap-973	38	16	pd	pd	PROPN
ap-973	38	17	controllers	controller	NOUN
ap-973	38	18	with	with	ADP
ap-973	38	19	-	-	PUNCT
ap-973	38	20	without	without	ADP
ap-973	38	21	a	a	DET
ap-973	38	22	subsidiary	subsidiary	NOUN
ap-973	38	23	speed	speed	NOUN
ap-973	38	24	loop	loop	NOUN
ap-973	38	25	are	be	AUX
ap-973	38	26	shown	show	VERB
ap-973	38	27	in	in	ADP
ap-973	38	28	fig	fig	NOUN
ap-973	38	29	.	.	PUNCT
ap-973	39	1	1	1	NUM
ap-973	39	2	,	,	PUNCT
ap-973	39	3	fig	fig	NOUN
ap-973	39	4	.	.	PUNCT
ap-973	40	1	2	2	NUM
ap-973	40	2	,	,	PUNCT
ap-973	40	3	and	and	CCONJ
ap-973	40	4	fig	fig	NOUN
ap-973	40	5	.	.	PUNCT
ap-973	41	1	3	3	NUM
ap-973	41	2	.	.	NOUN
ap-973	41	3	3	3	NUM
ap-973	41	4	comparison	comparison	NOUN
ap-973	41	5	of	of	ADP
ap-973	41	6	p	p	X
ap-973	41	7	,	,	PUNCT
ap-973	41	8	pd	pd	PROPN
ap-973	41	9	,	,	PUNCT
ap-973	41	10	pid	pid	NOUN
ap-973	41	11	controllers	controller	NOUN
ap-973	41	12	with	with	ADP
ap-973	41	13	-	-	PUNCT
ap-973	41	14	without	without	ADP
ap-973	41	15	the	the	DET
ap-973	41	16	subsidiary	subsidiary	NOUN
ap-973	41	17	speed	speed	PROPN
ap-973	41	18	loop	loop	PROPN
ap-973	41	19	3.1	3.1	NUM
ap-973	41	20	proportional	proportional	ADJ
ap-973	41	21	control	control	NOUN
ap-973	41	22	proportional	proportional	ADJ
ap-973	41	23	control	control	NOUN
ap-973	41	24	is	be	AUX
ap-973	41	25	denoted	denote	VERB
ap-973	41	26	by	by	ADP
ap-973	41	27	the	the	DET
ap-973	41	28	p	p	NOUN
ap-973	41	29	-	-	PUNCT
ap-973	41	30	term	term	NOUN
ap-973	41	31	in	in	ADP
ap-973	41	32	the	the	DET
ap-973	41	33	pid	pid	NOUN
ap-973	41	34	controller	controller	NOUN
ap-973	41	35	.	.	PUNCT
ap-973	42	1	it	it	PRON
ap-973	42	2	used	use	VERB
ap-973	42	3	when	when	SCONJ
ap-973	42	4	the	the	DET
ap-973	42	5	controller	controller	NOUN
ap-973	42	6	action	action	NOUN
ap-973	42	7	is	be	AUX
ap-973	42	8	to	to	PART
ap-973	42	9	be	be	AUX
ap-973	42	10	proportional	proportional	ADJ
ap-973	42	11	to	to	ADP
ap-973	42	12	the	the	DET
ap-973	42	13	size	size	NOUN
ap-973	42	14	of	of	ADP
ap-973	42	15	the	the	DET
ap-973	42	16	process	process	NOUN
ap-973	42	17	error	error	NOUN
ap-973	42	18	signal	signal	NOUN
ap-973	42	19	e	e	PROPN
ap-973	42	20	t	t	NOUN
ap-973	42	21	r	r	NOUN
ap-973	42	22	t	t	PROPN
ap-973	42	23	y	y	PROPN
ap-973	42	24	tm	tm	PROPN
ap-973	42	25	(	(	PUNCT
ap-973	42	26	)	)	PUNCT
ap-973	42	27	(	(	PUNCT
ap-973	42	28	)	)	PUNCT
ap-973	42	29	(	(	PUNCT
ap-973	42	30	)	)	PUNCT
ap-973	42	31	�	�	PROPN
ap-973	42	32	�	�	PROPN
ap-973	42	33	.	.	PUNCT
ap-973	43	1	the	the	DET
ap-973	43	2	time	time	NOUN
ap-973	43	3	and	and	CCONJ
ap-973	43	4	laplace	laplace	NOUN
ap-973	43	5	domain	domain	NOUN
ap-973	43	6	representations	representation	NOUN
ap-973	43	7	for	for	ADP
ap-973	43	8	proportional	proportional	ADJ
ap-973	43	9	control	control	NOUN
ap-973	43	10	are	be	AUX
ap-973	43	11	given	give	VERB
ap-973	43	12	as	as	ADP
ap-973	43	13	[	[	X
ap-973	43	14	3	3	NUM
ap-973	43	15	]	]	NUM
ap-973	43	16	:	:	PUNCT
ap-973	43	17	time	time	NOUN
ap-973	43	18	domain	domain	NOUN
ap-973	43	19	u	u	NOUN
ap-973	43	20	t	t	PROPN
ap-973	43	21	k	k	PROPN
ap-973	43	22	e	e	PROPN
ap-973	43	23	tc	tc	NUM
ap-973	43	24	v	v	NOUN
ap-973	43	25	(	(	PUNCT
ap-973	43	26	)	)	PUNCT
ap-973	43	27	(	(	PUNCT
ap-973	43	28	)	)	PUNCT
ap-973	43	29	�	�	PROPN
ap-973	43	30	,	,	PUNCT
ap-973	43	31	(	(	PUNCT
ap-973	43	32	1	1	X
ap-973	43	33	)	)	PUNCT
ap-973	43	34	laplace	laplace	NOUN
ap-973	43	35	domain	domain	NOUN
ap-973	43	36	u	u	PROPN
ap-973	43	37	s	s	PART
ap-973	43	38	k	k	PROPN
ap-973	43	39	e	e	PROPN
ap-973	43	40	sc	sc	PROPN
ap-973	43	41	v	v	PROPN
ap-973	43	42	(	(	PUNCT
ap-973	43	43	)	)	PUNCT
ap-973	43	44	(	(	PUNCT
ap-973	43	45	)	)	PUNCT
ap-973	43	46	�	�	PROPN
ap-973	43	47	,	,	PUNCT
ap-973	43	48	(	(	PUNCT
ap-973	43	49	2	2	X
ap-973	43	50	)	)	PUNCT
ap-973	43	51	where	where	SCONJ
ap-973	43	52	kv	kv	PROPN
ap-973	43	53	is	be	AUX
ap-973	43	54	the	the	DET
ap-973	43	55	proportional	proportional	ADJ
ap-973	43	56	gain	gain	NOUN
ap-973	43	57	.	.	PUNCT
ap-973	44	1	fig	fig	NOUN
ap-973	44	2	.	.	PUNCT
ap-973	45	1	4	4	X
ap-973	45	2	.	.	X
ap-973	45	3	shows	show	VERB
ap-973	45	4	the	the	DET
ap-973	45	5	block	block	NOUN
ap-973	45	6	diagrams	diagram	NOUN
ap-973	45	7	for	for	ADP
ap-973	45	8	proportional	proportional	ADJ
ap-973	45	9	control	control	NOUN
ap-973	45	10	.	.	PUNCT
ap-973	46	1	3.2	3.2	NUM
ap-973	46	2	proportional	proportional	ADJ
ap-973	46	3	and	and	CCONJ
ap-973	46	4	derivative	derivative	ADJ
ap-973	46	5	control	control	NOUN
ap-973	46	6	a	a	DET
ap-973	46	7	property	property	NOUN
ap-973	46	8	of	of	ADP
ap-973	46	9	derivative	derivative	ADJ
ap-973	46	10	control	control	NOUN
ap-973	46	11	that	that	PRON
ap-973	46	12	should	should	AUX
ap-973	46	13	be	be	AUX
ap-973	46	14	noted	note	VERB
ap-973	46	15	arises	arise	VERB
ap-973	46	16	when	when	SCONJ
ap-973	46	17	the	the	DET
ap-973	46	18	controller	controller	NOUN
ap-973	46	19	input	input	NOUN
ap-973	46	20	error	error	NOUN
ap-973	46	21	signal	signal	NOUN
ap-973	46	22	becomes	become	VERB
ap-973	46	23	constant	constant	ADJ
ap-973	46	24	but	but	CCONJ
ap-973	46	25	not	not	PART
ap-973	46	26	necessarily	necessarily	ADV
ap-973	46	27	zero	zero	NUM
ap-973	46	28	,	,	PUNCT
ap-973	46	29	as	as	SCONJ
ap-973	46	30	might	might	AUX
ap-973	46	31	occur	occur	VERB
ap-973	46	32	in	in	ADP
ap-973	46	33	steady	steady	ADJ
ap-973	46	34	state	state	NOUN
ap-973	46	35	process	process	NOUN
ap-973	46	36	conditions	condition	NOUN
ap-973	46	37	.	.	PUNCT
ap-973	47	1	in	in	ADP
ap-973	47	2	these	these	DET
ap-973	47	3	circumstances	circumstance	NOUN
ap-973	47	4	,	,	PUNCT
ap-973	47	5	the	the	DET
ap-973	47	6	derivative	derivative	NOUN
ap-973	47	7	of	of	ADP
ap-973	47	8	the	the	DET
ap-973	47	9	constant	constant	ADJ
ap-973	47	10	error	error	NOUN
ap-973	47	11	signal	signal	NOUN
ap-973	47	12	is	be	AUX
ap-973	47	13	zero	zero	NUM
ap-973	47	14	and	and	CCONJ
ap-973	47	15	the	the	DET
ap-973	47	16	derivative	derivative	ADJ
ap-973	47	17	controller	controller	NOUN
ap-973	47	18	produces	produce	VERB
ap-973	47	19	no	no	DET
ap-973	47	20	control	control	NOUN
ap-973	47	21	signal	signal	NOUN
ap-973	47	22	.	.	PUNCT
ap-973	48	1	consequently	consequently	ADV
ap-973	48	2	,	,	PUNCT
ap-973	48	3	the	the	DET
ap-973	48	4	controller	controller	NOUN
ap-973	48	5	takes	take	VERB
ap-973	48	6	no	no	DET
ap-973	48	7	action	action	NOUN
ap-973	48	8	and	and	CCONJ
ap-973	48	9	is	be	AUX
ap-973	48	10	unable	unable	ADJ
ap-973	48	11	to	to	PART
ap-973	48	12	correct	correct	VERB
ap-973	48	13	for	for	ADP
ap-973	48	14	steady	steady	ADJ
ap-973	48	15	state	state	NOUN
ap-973	48	16	offsets	offset	NOUN
ap-973	48	17	,	,	PUNCT
ap-973	48	18	for	for	ADP
ap-973	48	19	example	example	NOUN
ap-973	48	20	.	.	PUNCT
ap-973	49	1	to	to	PART
ap-973	49	2	avoid	avoid	VERB
ap-973	49	3	the	the	DET
ap-973	49	4	controller	controller	NOUN
ap-973	49	5	settling	settle	VERB
ap-973	49	6	into	into	ADP
ap-973	49	7	a	a	DET
ap-973	49	8	somnambulant	somnambulant	ADJ
ap-973	49	9	state	state	NOUN
ap-973	49	10	,	,	PUNCT
ap-973	49	11	the	the	DET
ap-973	49	12	derivative	derivative	ADJ
ap-973	49	13	control	control	NOUN
ap-973	49	14	term	term	NOUN
ap-973	49	15	is	be	AUX
ap-973	49	16	always	always	ADV
ap-973	49	17	used	use	VERB
ap-973	49	18	in	in	ADP
ap-973	49	19	combination	combination	NOUN
ap-973	49	20	with	with	ADP
ap-973	49	21	a	a	DET
ap-973	49	22	proportional	proportional	ADJ
ap-973	49	23	term	term	NOUN
ap-973	49	24	.	.	PUNCT
ap-973	50	1	this	this	DET
ap-973	50	2	combination	combination	NOUN
ap-973	50	3	is	be	AUX
ap-973	50	4	called	call	VERB
ap-973	50	5	proportional	proportional	ADJ
ap-973	50	6	and	and	CCONJ
ap-973	50	7	derivative	derivative	ADJ
ap-973	50	8	control	control	NOUN
ap-973	50	9	,	,	PUNCT
ap-973	50	10	or	or	CCONJ
ap-973	50	11	pd	pd	PROPN
ap-973	50	12	control	control	NOUN
ap-973	50	13	.	.	PUNCT
ap-973	51	1	the	the	DET
ap-973	51	2	formulae	formulae	NOUN
ap-973	51	3	for	for	ADP
ap-973	51	4	simple	simple	ADJ
ap-973	51	5	pd	pd	PROPN
ap-973	51	6	controllers	controller	NOUN
ap-973	51	7	are	be	AUX
ap-973	51	8	given	give	VERB
ap-973	51	9	as	as	ADP
ap-973	51	10	[	[	X
ap-973	51	11	3	3	NUM
ap-973	51	12	]	]	NUM
ap-973	51	13	:	:	PUNCT
ap-973	51	14	time	time	NOUN
ap-973	51	15	domain	domain	NOUN
ap-973	51	16	u	u	NOUN
ap-973	51	17	t	t	PROPN
ap-973	51	18	k	k	PROPN
ap-973	51	19	e	e	PROPN
ap-973	51	20	t	t	PROPN
ap-973	51	21	k	k	PROPN
ap-973	51	22	e	e	PROPN
ap-973	51	23	tc	tc	NOUN
ap-973	51	24	v	v	NUM
ap-973	51	25	d	d	PROPN
ap-973	51	26	(	(	PUNCT
ap-973	51	27	)	)	PUNCT
ap-973	51	28	(	(	PUNCT
ap-973	51	29	)	)	PUNCT
ap-973	51	30	�	�	PROPN
ap-973	51	31	�	�	PROPN
ap-973	51	32	d	d	PROPN
ap-973	51	33	d	d	PROPN
ap-973	51	34	,	,	PUNCT
ap-973	51	35	(	(	PUNCT
ap-973	51	36	3	3	X
ap-973	51	37	)	)	PUNCT
ap-973	51	38	laplace	laplace	NOUN
ap-973	51	39	domain	domain	NOUN
ap-973	51	40	u	u	PROPN
ap-973	51	41	s	s	PROPN
ap-973	51	42	k	k	X
ap-973	51	43	k	k	PROPN
ap-973	51	44	s	s	PROPN
ap-973	51	45	e	e	X
ap-973	51	46	sc	sc	PROPN
ap-973	51	47	v	v	X
ap-973	51	48	d	d	PROPN
ap-973	51	49	(	(	PUNCT
ap-973	51	50	)	)	PUNCT
ap-973	51	51	[	[	PUNCT
ap-973	51	52	]	]	X
ap-973	51	53	(	(	PUNCT
ap-973	51	54	)	)	PUNCT
ap-973	51	55	�	�	PROPN
ap-973	51	56	�	�	PROPN
ap-973	51	57	,	,	PUNCT
ap-973	51	58	(	(	PUNCT
ap-973	51	59	4	4	X
ap-973	51	60	)	)	PUNCT
ap-973	51	61	where	where	SCONJ
ap-973	51	62	kv	kv	PROPN
ap-973	51	63	is	be	AUX
ap-973	51	64	the	the	DET
ap-973	51	65	proportional	proportional	ADJ
ap-973	51	66	gain	gain	NOUN
ap-973	51	67	and	and	CCONJ
ap-973	51	68	kd	kd	PROPN
ap-973	51	69	is	be	AUX
ap-973	51	70	the	the	DET
ap-973	51	71	derivative	derivative	ADJ
ap-973	51	72	gain	gain	NOUN
ap-973	51	73	.	.	PUNCT
ap-973	52	1	8	8	NUM
ap-973	53	1	©	©	PROPN
ap-973	53	2	czech	czech	PROPN
ap-973	53	3	technical	technical	PROPN
ap-973	53	4	university	university	PROPN
ap-973	53	5	publishing	publishing	NOUN
ap-973	53	6	house	house	NOUN
ap-973	53	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-973	53	8	acta	acta	PROPN
ap-973	53	9	polytechnica	polytechnica	PROPN
ap-973	53	10	vol	vol	NOUN
ap-973	53	11	.	.	PUNCT
ap-973	54	1	48	48	NUM
ap-973	54	2	no	no	NOUN
ap-973	54	3	.	.	PUNCT
ap-973	55	1	3/2008	3/2008	NUM
ap-973	55	2	fig	fig	NOUN
ap-973	55	3	.	.	PUNCT
ap-973	56	1	2	2	NUM
ap-973	56	2	:	:	PUNCT
ap-973	56	3	block	block	NOUN
ap-973	56	4	diagram	diagram	NOUN
ap-973	56	5	of	of	ADP
ap-973	56	6	the	the	DET
ap-973	56	7	pid	pid	NOUN
ap-973	56	8	-	-	NOUN
ap-973	56	9	controller	controller	NOUN
ap-973	56	10	without	without	ADP
ap-973	56	11	the	the	DET
ap-973	56	12	subsidiary	subsidiary	NOUN
ap-973	56	13	speed	speed	PROPN
ap-973	56	14	loop	loop	PROPN
ap-973	56	15	fig	fig	NOUN
ap-973	56	16	.	.	PUNCT
ap-973	57	1	3	3	NUM
ap-973	57	2	:	:	PUNCT
ap-973	57	3	block	block	NOUN
ap-973	57	4	diagram	diagram	NOUN
ap-973	57	5	of	of	ADP
ap-973	57	6	the	the	DET
ap-973	57	7	pd	pd	NOUN
ap-973	57	8	-	-	NOUN
ap-973	57	9	controller	controller	NOUN
ap-973	57	10	without	without	ADP
ap-973	57	11	the	the	DET
ap-973	57	12	subsidiary	subsidiary	NOUN
ap-973	57	13	speed	speed	PROPN
ap-973	57	14	loop	loop	PROPN
ap-973	57	15	fig	fig	NOUN
ap-973	57	16	.	.	PUNCT
ap-973	58	1	4	4	NUM
ap-973	58	2	:	:	PUNCT
ap-973	58	3	block	block	NOUN
ap-973	58	4	diagrams	diagram	NOUN
ap-973	58	5	:	:	PUNCT
ap-973	58	6	proportional	proportional	ADJ
ap-973	58	7	control	control	NOUN
ap-973	58	8	term	term	NOUN
ap-973	58	9	3.3	3.3	NUM
ap-973	58	10	parallel	parallel	ADJ
ap-973	58	11	pid	pid	NOUN
ap-973	58	12	controllers	controller	NOUN
ap-973	58	13	the	the	DET
ap-973	58	14	family	family	NOUN
ap-973	58	15	of	of	ADP
ap-973	58	16	pid	pid	NOUN
ap-973	58	17	controllers	controller	NOUN
ap-973	58	18	is	be	AUX
ap-973	58	19	constructed	construct	VERB
ap-973	58	20	from	from	ADP
ap-973	58	21	various	various	ADJ
ap-973	58	22	combinations	combination	NOUN
ap-973	58	23	of	of	ADP
ap-973	58	24	the	the	DET
ap-973	58	25	proportional	proportional	ADJ
ap-973	58	26	,	,	PUNCT
ap-973	58	27	integral	integral	ADJ
ap-973	58	28	and	and	CCONJ
ap-973	58	29	derivative	derivative	ADJ
ap-973	58	30	terms	term	NOUN
ap-973	58	31	as	as	SCONJ
ap-973	58	32	required	require	VERB
ap-973	58	33	to	to	PART
ap-973	58	34	meet	meet	VERB
ap-973	58	35	specific	specific	ADJ
ap-973	58	36	performance	performance	NOUN
ap-973	58	37	requirements	requirement	NOUN
ap-973	58	38	.	.	PUNCT
ap-973	59	1	the	the	DET
ap-973	59	2	formula	formula	NOUN
ap-973	59	3	for	for	ADP
ap-973	59	4	the	the	DET
ap-973	59	5	basic	basic	ADJ
ap-973	59	6	parallel	parallel	ADJ
ap-973	59	7	pid	pid	NOUN
ap-973	59	8	controller	controller	NOUN
ap-973	59	9	is	be	AUX
ap-973	59	10	(	(	PUNCT
ap-973	59	11	transfer	transfer	NOUN
ap-973	59	12	function	function	NOUN
ap-973	59	13	pid	pid	NOUN
ap-973	59	14	controller	controller	NOUN
ap-973	59	15	formula	formula	NOUN
ap-973	59	16	)	)	PUNCT
ap-973	60	1	u	u	NOUN
ap-973	61	1	t	t	NOUN
ap-973	62	1	k	k	PROPN
ap-973	62	2	k	k	PROPN
ap-973	62	3	s	s	X
ap-973	62	4	k	k	PROPN
ap-973	62	5	s	s	X
ap-973	62	6	e	e	X
ap-973	62	7	sc	sc	NOUN
ap-973	63	1	p	p	X
ap-973	63	2	i	i	PRON
ap-973	63	3	d	d	PROPN
ap-973	63	4	(	(	PUNCT
ap-973	63	5	)	)	PUNCT
ap-973	63	6	[	[	PUNCT
ap-973	63	7	]	]	X
ap-973	63	8	(	(	PUNCT
ap-973	63	9	)	)	PUNCT
ap-973	63	10	�	�	PROPN
ap-973	63	11	�	�	PROPN
ap-973	63	12	�	�	PROPN
ap-973	63	13	1	1	NUM
ap-973	63	14	.	.	PUNCT
ap-973	64	1	(	(	PUNCT
ap-973	64	2	5	5	NUM
ap-973	64	3	)	)	PUNCT
ap-973	64	4	time	time	NOUN
ap-973	64	5	-	-	PUNCT
ap-973	64	6	domain	domain	NOUN
ap-973	64	7	pid	pid	NOUN
ap-973	64	8	controller	controller	NOUN
ap-973	64	9	formula	formula	VERB
ap-973	64	10	u	u	NOUN
ap-973	64	11	t	t	NOUN
ap-973	64	12	k	k	PROPN
ap-973	64	13	e	e	PROPN
ap-973	64	14	t	t	PROPN
ap-973	65	1	k	k	X
ap-973	65	2	e	e	PROPN
ap-973	66	1	d	d	X
ap-973	66	2	k	k	PROPN
ap-973	66	3	e	e	PROPN
ap-973	66	4	tc	tc	NOUN
ap-973	66	5	p	p	NOUN
ap-973	67	1	d	d	NOUN
ap-973	68	1	i	i	PRON
ap-973	68	2	t	t	PROPN
ap-973	68	3	(	(	PUNCT
ap-973	68	4	)	)	PUNCT
ap-973	68	5	(	(	PUNCT
ap-973	68	6	)	)	PUNCT
ap-973	68	7	(	(	PUNCT
ap-973	68	8	)	)	PUNCT
ap-973	68	9	�	�	PROPN
ap-973	68	10	�	�	PROPN
ap-973	68	11	�	�	PROPN
ap-973	68	12	�	�	PROPN
ap-973	68	13	�	�	PROPN
ap-973	68	14	�	�	PROPN
ap-973	68	15	d	d	PROPN
ap-973	68	16	d	d	PROPN
ap-973	68	17	.	.	PUNCT
ap-973	69	1	(	(	PUNCT
ap-973	69	2	6	6	NUM
ap-973	69	3	)	)	PUNCT
ap-973	69	4	this	this	DET
ap-973	69	5	controller	controller	NOUN
ap-973	69	6	formula	formula	NOUN
ap-973	69	7	is	be	AUX
ap-973	69	8	often	often	ADV
ap-973	69	9	called	call	VERB
ap-973	69	10	the	the	DET
ap-973	69	11	textbook	textbook	NOUN
ap-973	69	12	pid	pid	NOUN
ap-973	69	13	controller	controller	NOUN
ap-973	69	14	form	form	NOUN
ap-973	69	15	,	,	PUNCT
ap-973	69	16	because	because	SCONJ
ap-973	69	17	it	it	PRON
ap-973	69	18	does	do	AUX
ap-973	69	19	not	not	PART
ap-973	69	20	incorporate	incorporate	VERB
ap-973	69	21	any	any	PRON
ap-973	69	22	of	of	ADP
ap-973	69	23	the	the	DET
ap-973	69	24	modifications	modification	NOUN
ap-973	69	25	that	that	PRON
ap-973	69	26	are	be	AUX
ap-973	69	27	usually	usually	ADV
ap-973	69	28	implemented	implement	VERB
ap-973	69	29	to	to	PART
ap-973	69	30	give	give	VERB
ap-973	69	31	a	a	DET
ap-973	69	32	working	work	VERB
ap-973	69	33	pid	pid	NOUN
ap-973	69	34	controller	controller	NOUN
ap-973	69	35	.	.	PUNCT
ap-973	70	1	for	for	ADP
ap-973	70	2	example	example	NOUN
ap-973	70	3	,	,	PUNCT
ap-973	70	4	the	the	DET
ap-973	70	5	derivative	derivative	ADJ
ap-973	70	6	term	term	NOUN
ap-973	70	7	is	be	AUX
ap-973	70	8	not	not	PART
ap-973	70	9	usually	usually	ADV
ap-973	70	10	implemented	implement	VERB
ap-973	70	11	in	in	ADP
ap-973	70	12	the	the	DET
ap-973	70	13	pure	pure	ADJ
ap-973	70	14	form	form	NOUN
ap-973	70	15	due	due	ADP
ap-973	70	16	to	to	ADP
ap-973	70	17	adverse	adverse	ADJ
ap-973	70	18	noise	noise	NOUN
ap-973	70	19	amplification	amplification	NOUN
ap-973	70	20	properties	property	NOUN
ap-973	70	21	.	.	PUNCT
ap-973	71	1	other	other	ADJ
ap-973	71	2	modifications	modification	NOUN
ap-973	71	3	that	that	PRON
ap-973	71	4	are	be	AUX
ap-973	71	5	introduced	introduce	VERB
ap-973	71	6	into	into	ADP
ap-973	71	7	the	the	DET
ap-973	71	8	textbook	textbook	NOUN
ap-973	71	9	form	form	NOUN
ap-973	71	10	of	of	ADP
ap-973	71	11	pid	pid	NOUN
ap-973	71	12	control	control	NOUN
ap-973	71	13	include	include	VERB
ap-973	71	14	those	those	PRON
ap-973	71	15	used	use	VERB
ap-973	71	16	to	to	PART
ap-973	71	17	deal	deal	VERB
ap-973	71	18	with	with	ADP
ap-973	71	19	so	so	ADV
ap-973	71	20	-	-	PUNCT
ap-973	71	21	called	call	VERB
ap-973	71	22	kick	kick	NOUN
ap-973	71	23	behavior	behavior	NOUN
ap-973	71	24	,	,	PUNCT
ap-973	71	25	which	which	PRON
ap-973	71	26	arises	arise	VERB
ap-973	71	27	because	because	SCONJ
ap-973	71	28	the	the	DET
ap-973	71	29	textbook	textbook	NOUN
ap-973	71	30	pid	pid	NOUN
ap-973	71	31	controller	controller	NOUN
ap-973	71	32	operates	operate	VERB
ap-973	71	33	directly	directly	ADV
ap-973	71	34	on	on	ADP
ap-973	71	35	the	the	DET
ap-973	71	36	reference	reference	NOUN
ap-973	71	37	error	error	NOUN
ap-973	71	38	signal	signal	NOUN
ap-973	71	39	.	.	PUNCT
ap-973	72	1	this	this	DET
ap-973	72	2	parallel	parallel	ADJ
ap-973	72	3	or	or	CCONJ
ap-973	72	4	textbook	textbook	NOUN
ap-973	72	5	formula	formula	NOUN
ap-973	72	6	is	be	AUX
ap-973	72	7	also	also	ADV
ap-973	72	8	known	know	VERB
ap-973	72	9	as	as	ADP
ap-973	72	10	a	a	DET
ap-973	72	11	decoupled	decouple	VERB
ap-973	72	12	pid	pid	NOUN
ap-973	72	13	form	form	NOUN
ap-973	72	14	.	.	PUNCT
ap-973	73	1	this	this	PRON
ap-973	73	2	is	be	AUX
ap-973	73	3	because	because	SCONJ
ap-973	73	4	the	the	DET
ap-973	73	5	pid	pid	NOUN
ap-973	73	6	controller	controller	NOUN
ap-973	73	7	has	have	VERB
ap-973	73	8	three	three	NUM
ap-973	73	9	decoupled	decouple	VERB
ap-973	73	10	parallel	parallel	ADJ
ap-973	73	11	paths	path	NOUN
ap-973	73	12	.	.	PUNCT
ap-973	74	1	as	as	SCONJ
ap-973	74	2	can	can	AUX
ap-973	74	3	be	be	AUX
ap-973	74	4	seen	see	VERB
ap-973	74	5	from	from	ADP
ap-973	74	6	the	the	DET
ap-973	74	7	figure	figure	NOUN
ap-973	74	8	,	,	PUNCT
ap-973	74	9	a	a	DET
ap-973	74	10	numerical	numerical	ADJ
ap-973	74	11	change	change	NOUN
ap-973	74	12	in	in	ADP
ap-973	74	13	any	any	DET
ap-973	74	14	individual	individual	ADJ
ap-973	74	15	coefficient	coefficient	NOUN
ap-973	74	16	,	,	PUNCT
ap-973	74	17	kp	kp	PROPN
ap-973	74	18	,	,	PUNCT
ap-973	74	19	ki	ki	PROPN
ap-973	74	20	or	or	CCONJ
ap-973	74	21	kd	kd	PROPN
ap-973	74	22	,	,	PUNCT
ap-973	74	23	changes	change	VERB
ap-973	74	24	only	only	ADV
ap-973	74	25	the	the	DET
ap-973	74	26	size	size	NOUN
ap-973	74	27	of	of	ADP
ap-973	74	28	the	the	DET
ap-973	74	29	contribution	contribution	NOUN
ap-973	74	30	in	in	ADP
ap-973	74	31	the	the	DET
ap-973	74	32	path	path	NOUN
ap-973	74	33	of	of	ADP
ap-973	74	34	the	the	DET
ap-973	74	35	term	term	NOUN
ap-973	74	36	.	.	PUNCT
ap-973	75	1	for	for	ADP
ap-973	75	2	example	example	NOUN
ap-973	75	3	,	,	PUNCT
ap-973	75	4	if	if	SCONJ
ap-973	75	5	the	the	DET
ap-973	75	6	value	value	NOUN
ap-973	75	7	of	of	ADP
ap-973	75	8	kd	kd	PROPN
ap-973	75	9	is	be	AUX
ap-973	75	10	changed	change	VERB
ap-973	75	11	,	,	PUNCT
ap-973	75	12	then	then	ADV
ap-973	75	13	only	only	ADV
ap-973	75	14	the	the	DET
ap-973	75	15	size	size	NOUN
ap-973	75	16	of	of	ADP
ap-973	75	17	the	the	DET
ap-973	75	18	derivative	derivative	ADJ
ap-973	75	19	action	action	NOUN
ap-973	75	20	changes	change	NOUN
ap-973	75	21	,	,	PUNCT
ap-973	75	22	and	and	CCONJ
ap-973	75	23	this	this	DET
ap-973	75	24	change	change	NOUN
ap-973	75	25	is	be	AUX
ap-973	75	26	decoupled	decouple	VERB
ap-973	75	27	and	and	CCONJ
ap-973	75	28	independent	independent	ADJ
ap-973	75	29	from	from	ADP
ap-973	75	30	the	the	DET
ap-973	75	31	size	size	NOUN
ap-973	75	32	of	of	ADP
ap-973	75	33	the	the	DET
ap-973	75	34	proportional	proportional	ADJ
ap-973	75	35	and	and	CCONJ
ap-973	75	36	integral	integral	ADJ
ap-973	75	37	terms	term	NOUN
ap-973	75	38	.	.	PUNCT
ap-973	76	1	this	this	DET
ap-973	76	2	decoupling	decoupling	NOUN
ap-973	76	3	of	of	ADP
ap-973	76	4	the	the	DET
ap-973	76	5	three	three	NUM
ap-973	76	6	terms	term	NOUN
ap-973	76	7	is	be	AUX
ap-973	76	8	a	a	DET
ap-973	76	9	consequence	consequence	NOUN
ap-973	76	10	of	of	ADP
ap-973	76	11	the	the	DET
ap-973	76	12	parallel	parallel	ADJ
ap-973	76	13	architecture	architecture	NOUN
ap-973	76	14	of	of	ADP
ap-973	76	15	the	the	DET
ap-973	76	16	pid	pid	NOUN
ap-973	76	17	controller	controller	NOUN
ap-973	76	18	.	.	PUNCT
ap-973	77	1	the	the	DET
ap-973	77	2	block	block	NOUN
ap-973	77	3	diagram	diagram	NOUN
ap-973	77	4	of	of	ADP
ap-973	77	5	p	p	X
ap-973	77	6	,	,	PUNCT
ap-973	77	7	pd	pd	PROPN
ap-973	77	8	,	,	PUNCT
ap-973	77	9	pid	pid	NOUN
ap-973	77	10	controllers	controller	NOUN
ap-973	77	11	with	with	ADP
ap-973	77	12	-	-	PUNCT
ap-973	77	13	without	without	ADP
ap-973	77	14	the	the	DET
ap-973	77	15	subsidiary	subsidiary	NOUN
ap-973	77	16	speed	speed	NOUN
ap-973	77	17	loop	loop	NOUN
ap-973	77	18	is	be	AUX
ap-973	77	19	given	give	VERB
ap-973	77	20	in	in	ADP
ap-973	77	21	fig	fig	NOUN
ap-973	77	22	.	.	PUNCT
ap-973	78	1	5	5	NUM
ap-973	78	2	.	.	X
ap-973	78	3	©	©	PROPN
ap-973	78	4	czech	czech	PROPN
ap-973	78	5	technical	technical	PROPN
ap-973	78	6	university	university	PROPN
ap-973	78	7	publishing	publishing	NOUN
ap-973	78	8	house	house	NOUN
ap-973	78	9	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-973	78	10	9	9	NUM
ap-973	78	11	acta	acta	PROPN
ap-973	78	12	polytechnica	polytechnica	PROPN
ap-973	78	13	vol	vol	NOUN
ap-973	78	14	.	.	PUNCT
ap-973	79	1	48	48	NUM
ap-973	79	2	no	no	NOUN
ap-973	79	3	.	.	PUNCT
ap-973	80	1	3/2008	3/2008	NUM
ap-973	80	2	fig	fig	NOUN
ap-973	80	3	.	.	PUNCT
ap-973	81	1	5	5	NUM
ap-973	81	2	.	.	X
ap-973	81	3	block	block	NOUN
ap-973	81	4	diagram	diagram	NOUN
ap-973	81	5	of	of	ADP
ap-973	81	6	the	the	DET
ap-973	81	7	p	p	NOUN
ap-973	81	8	-	-	PUNCT
ap-973	81	9	controller	controller	NOUN
ap-973	81	10	,	,	PUNCT
ap-973	81	11	pd	pd	NOUN
ap-973	81	12	-	-	NOUN
ap-973	81	13	controller	controller	NOUN
ap-973	81	14	and	and	CCONJ
ap-973	81	15	pidcontroller	pidcontroller	NOUN
ap-973	81	16	with	with	NOUN
ap-973	81	17	-	-	PUNCT
ap-973	81	18	without	without	ADP
ap-973	81	19	the	the	DET
ap-973	81	20	subsidiary	subsidiary	NOUN
ap-973	81	21	speed	speed	PROPN
ap-973	81	22	loop	loop	PROPN
ap-973	81	23	fig	fig	NOUN
ap-973	81	24	.	.	PUNCT
ap-973	82	1	6	6	NUM
ap-973	82	2	:	:	PUNCT
ap-973	82	3	step	step	NOUN
ap-973	82	4	disturbance	disturbance	NOUN
ap-973	82	5	of	of	ADP
ap-973	82	6	p	p	X
ap-973	82	7	,	,	PUNCT
ap-973	82	8	pd	pd	PROPN
ap-973	82	9	and	and	CCONJ
ap-973	82	10	pid	pid	NOUN
ap-973	82	11	controllers	controller	NOUN
ap-973	82	12	with	with	ADP
ap-973	82	13	-	-	PUNCT
ap-973	82	14	without	without	ADJ
ap-973	82	15	subsidiary	subsidiary	NOUN
ap-973	82	16	speed	speed	NOUN
ap-973	82	17	loop	loop	NOUN
ap-973	82	18	4	4	NUM
ap-973	82	19	simulation	simulation	NOUN
ap-973	82	20	of	of	ADP
ap-973	82	21	the	the	DET
ap-973	82	22	circle	circle	NOUN
ap-973	82	23	rounds	round	NOUN
ap-973	82	24	of	of	ADP
ap-973	82	25	the	the	DET
ap-973	82	26	two	two	NUM
ap-973	82	27	regulators	regulator	NOUN
ap-973	82	28	in	in	ADP
ap-973	82	29	matlab	matlab	PROPN
ap-973	82	30	-	-	PUNCT
ap-973	82	31	simulink	simulink	PROPN
ap-973	82	32	to	to	PART
ap-973	82	33	simulate	simulate	VERB
ap-973	82	34	the	the	DET
ap-973	82	35	circle	circle	NOUN
ap-973	82	36	rounds	round	NOUN
ap-973	82	37	we	we	PRON
ap-973	82	38	have	have	VERB
ap-973	82	39	two	two	NUM
ap-973	82	40	drives	drive	NOUN
ap-973	82	41	.	.	PUNCT
ap-973	83	1	the	the	DET
ap-973	83	2	first	first	ADJ
ap-973	83	3	moves	move	NOUN
ap-973	83	4	on	on	ADP
ap-973	83	5	the	the	DET
ap-973	83	6	x	x	NOUN
ap-973	83	7	axis	axis	NOUN
ap-973	83	8	and	and	CCONJ
ap-973	83	9	it	it	PRON
ap-973	83	10	has	have	VERB
ap-973	83	11	a	a	DET
ap-973	83	12	sine	sine	ADJ
ap-973	83	13	signal	signal	NOUN
ap-973	83	14	.	.	PUNCT
ap-973	84	1	the	the	DET
ap-973	84	2	second	second	NOUN
ap-973	84	3	is	be	AUX
ap-973	84	4	on	on	ADP
ap-973	84	5	the	the	DET
ap-973	84	6	y	y	PROPN
ap-973	84	7	axis	axis	NOUN
ap-973	84	8	and	and	CCONJ
ap-973	84	9	has	have	VERB
ap-973	84	10	cosine	cosine	NOUN
ap-973	84	11	signal	signal	NOUN
ap-973	84	12	.	.	PUNCT
ap-973	85	1	if	if	SCONJ
ap-973	85	2	these	these	DET
ap-973	85	3	two	two	NUM
ap-973	85	4	drives	drive	NOUN
ap-973	85	5	have	have	VERB
ap-973	85	6	the	the	DET
ap-973	85	7	same	same	ADJ
ap-973	85	8	gain	gain	NOUN
ap-973	85	9	values	value	NOUN
ap-973	85	10	,	,	PUNCT
ap-973	85	11	then	then	ADV
ap-973	85	12	they	they	PRON
ap-973	85	13	will	will	AUX
ap-973	85	14	have	have	VERB
ap-973	85	15	a	a	DET
ap-973	85	16	circular	circular	ADJ
ap-973	85	17	movement	movement	NOUN
ap-973	85	18	,	,	PUNCT
ap-973	85	19	or	or	CCONJ
ap-973	85	20	else	else	ADV
ap-973	85	21	elliptical	elliptical	ADJ
ap-973	85	22	.	.	PUNCT
ap-973	86	1	the	the	DET
ap-973	86	2	two	two	NUM
ap-973	86	3	drives	drive	NOUN
ap-973	86	4	should	should	AUX
ap-973	86	5	be	be	AUX
ap-973	86	6	the	the	DET
ap-973	86	7	same	same	ADJ
ap-973	86	8	in	in	ADP
ap-973	86	9	the	the	DET
ap-973	86	10	same	same	ADJ
ap-973	86	11	axis	axis	NOUN
ap-973	86	12	x	x	X
ap-973	86	13	and	and	CCONJ
ap-973	86	14	y	y	PROPN
ap-973	86	15	respectively	respectively	ADV
ap-973	86	16	.	.	PUNCT
ap-973	87	1	a	a	DET
ap-973	87	2	block	block	NOUN
ap-973	87	3	diagram	diagram	NOUN
ap-973	87	4	of	of	ADP
ap-973	87	5	two	two	NUM
ap-973	87	6	drives	drive	NOUN
ap-973	87	7	with	with	ADP
ap-973	87	8	a	a	DET
ap-973	87	9	p_controller	p_controller	NOUN
ap-973	87	10	in	in	ADP
ap-973	87	11	conjunction	conjunction	NOUN
ap-973	87	12	with	with	ADP
ap-973	87	13	the	the	DET
ap-973	87	14	subsidiary	subsidiary	NOUN
ap-973	87	15	speed	speed	NOUN
ap-973	87	16	loop	loop	NOUN
ap-973	87	17	or	or	CCONJ
ap-973	87	18	a	a	DET
ap-973	87	19	pid	pid	NOUN
ap-973	87	20	-	-	PUNCT
ap-973	87	21	controller	controller	NOUN
ap-973	87	22	without	without	ADP
ap-973	87	23	a	a	DET
ap-973	87	24	subsidiary	subsidiary	NOUN
ap-973	87	25	speed	speed	NOUN
ap-973	87	26	loop	loop	NOUN
ap-973	87	27	is	be	AUX
ap-973	87	28	shown	show	VERB
ap-973	87	29	in	in	ADP
ap-973	87	30	fig	fig	NOUN
ap-973	87	31	.	.	PUNCT
ap-973	88	1	8	8	NUM
ap-973	88	2	.	.	X
ap-973	88	3	5	5	NUM
ap-973	88	4	conclusion	conclusion	NOUN
ap-973	88	5	the	the	DET
ap-973	88	6	simulation	simulation	NOUN
ap-973	88	7	of	of	ADP
ap-973	88	8	two	two	NUM
ap-973	88	9	drives	drive	NOUN
ap-973	88	10	with	with	ADP
ap-973	88	11	the	the	DET
ap-973	88	12	same	same	ADJ
ap-973	88	13	frequency	frequency	NOUN
ap-973	88	14	of	of	ADP
ap-973	88	15	20	20	NUM
ap-973	88	16	rad	rad	NOUN
ap-973	88	17	/	/	SYM
ap-973	88	18	s	s	PART
ap-973	88	19	has	have	AUX
ap-973	88	20	been	be	AUX
ap-973	88	21	configured	configure	VERB
ap-973	88	22	and	and	CCONJ
ap-973	88	23	initialized	initialize	VERB
ap-973	88	24	in	in	ADP
ap-973	88	25	matlab	matlab	PROPN
ap-973	88	26	-	-	PUNCT
ap-973	88	27	simulink	simulink	NOUN
ap-973	88	28	.	.	PUNCT
ap-973	89	1	if	if	SCONJ
ap-973	89	2	these	these	DET
ap-973	89	3	two	two	NUM
ap-973	89	4	drives	drive	NOUN
ap-973	89	5	have	have	VERB
ap-973	89	6	the	the	DET
ap-973	89	7	same	same	ADJ
ap-973	89	8	values	value	NOUN
ap-973	89	9	of	of	ADP
ap-973	89	10	the	the	DET
ap-973	89	11	gain	gain	NOUN
ap-973	89	12	kv	kv	PROPN
ap-973	89	13	,	,	PUNCT
ap-973	89	14	they	they	PRON
ap-973	89	15	will	will	AUX
ap-973	89	16	have	have	VERB
ap-973	89	17	a	a	DET
ap-973	89	18	circular	circular	ADJ
ap-973	89	19	movement	movement	NOUN
ap-973	89	20	,	,	PUNCT
ap-973	89	21	or	or	CCONJ
ap-973	89	22	else	else	ADV
ap-973	89	23	an	an	DET
ap-973	89	24	elliptical	elliptical	ADJ
ap-973	89	25	movement	movement	NOUN
ap-973	89	26	.	.	PUNCT
ap-973	90	1	the	the	DET
ap-973	90	2	increase	increase	NOUN
ap-973	90	3	or	or	CCONJ
ap-973	90	4	decrease	decrease	NOUN
ap-973	90	5	in	in	ADP
ap-973	90	6	the	the	DET
ap-973	90	7	frequency	frequency	NOUN
ap-973	90	8	of	of	ADP
ap-973	90	9	the	the	DET
ap-973	90	10	sine	sine	NOUN
ap-973	90	11	and	and	CCONJ
ap-973	90	12	cosine	cosine	NOUN
ap-973	90	13	signal	signal	NOUN
ap-973	90	14	has	have	VERB
ap-973	90	15	a	a	DET
ap-973	90	16	profound	profound	ADJ
ap-973	90	17	effect	effect	NOUN
ap-973	90	18	on	on	ADP
ap-973	90	19	the	the	DET
ap-973	90	20	radius	radius	NOUN
ap-973	90	21	of	of	ADP
ap-973	90	22	the	the	DET
ap-973	90	23	circle	circle	NOUN
ap-973	90	24	.	.	PUNCT
ap-973	91	1	thus	thus	ADV
ap-973	91	2	decreasing	decrease	VERB
ap-973	91	3	frequency	frequency	NOUN
ap-973	91	4	results	result	VERB
ap-973	91	5	an	an	DET
ap-973	91	6	increase	increase	NOUN
ap-973	91	7	in	in	ADP
ap-973	91	8	the	the	DET
ap-973	91	9	radius	radius	NOUN
ap-973	91	10	circle	circle	NOUN
ap-973	91	11	,	,	PUNCT
ap-973	91	12	because	because	SCONJ
ap-973	91	13	of	of	ADP
ap-973	91	14	the	the	DET
ap-973	91	15	frequency	frequency	NOUN
ap-973	91	16	bandwidth	bandwidth	NOUN
ap-973	91	17	of	of	ADP
ap-973	91	18	the	the	DET
ap-973	91	19	drive	drive	NOUN
ap-973	91	20	.	.	PUNCT
ap-973	92	1	a	a	DET
ap-973	92	2	comparison	comparison	NOUN
ap-973	92	3	(	(	PUNCT
ap-973	92	4	shown	show	VERB
ap-973	92	5	in	in	ADP
ap-973	92	6	(	(	PUNCT
ap-973	92	7	fig	fig	NOUN
ap-973	92	8	.	.	PUNCT
ap-973	93	1	6	6	NUM
ap-973	93	2	:))	:))	PROPN
ap-973	93	3	of	of	ADP
ap-973	93	4	p	p	PROPN
ap-973	93	5	,	,	PUNCT
ap-973	93	6	pd	pd	PROPN
ap-973	93	7	,	,	PUNCT
ap-973	93	8	pid	pid	NOUN
ap-973	93	9	controllers	controller	NOUN
ap-973	93	10	with	with	ADP
ap-973	93	11	-	-	PUNCT
ap-973	93	12	without	without	ADP
ap-973	93	13	the	the	DET
ap-973	93	14	subsidiary	subsidiary	NOUN
ap-973	93	15	speed	speed	NOUN
ap-973	93	16	loop	loop	NOUN
ap-973	93	17	shows	show	VERB
ap-973	93	18	that	that	SCONJ
ap-973	93	19	p	p	PROPN
ap-973	93	20	and	and	CCONJ
ap-973	93	21	pid	pid	NOUN
ap-973	93	22	controllers	controller	NOUN
ap-973	93	23	have	have	VERB
ap-973	93	24	zero	zero	NUM
ap-973	93	25	error	error	NOUN
ap-973	93	26	(	(	PUNCT
ap-973	93	27	y	y	PROPN
ap-973	93	28	w	w	PROPN
ap-973	93	29	�	�	PROPN
ap-973	93	30	�	�	PROPN
ap-973	93	31	�	�	PROPN
ap-973	93	32	)	)	PUNCT
ap-973	93	33	in	in	ADP
ap-973	93	34	a	a	DET
ap-973	93	35	steady	steady	ADJ
ap-973	93	36	state	state	NOUN
ap-973	93	37	,	,	PUNCT
ap-973	93	38	but	but	CCONJ
ap-973	93	39	the	the	DET
ap-973	93	40	pd	pd	PROPN
ap-973	93	41	-	-	PUNCT
ap-973	93	42	controller	controller	NOUN
ap-973	93	43	has	have	VERB
ap-973	93	44	non	non	ADJ
ap-973	93	45	-	-	ADJ
ap-973	93	46	zero	zero	NUM
ap-973	93	47	error	error	NOUN
ap-973	93	48	.	.	PUNCT
ap-973	94	1	acknowledgments	acknowledgment	NOUN
ap-973	94	2	the	the	DET
ap-973	94	3	research	research	NOUN
ap-973	94	4	described	describe	VERB
ap-973	94	5	in	in	ADP
ap-973	94	6	the	the	DET
ap-973	94	7	paper	paper	NOUN
ap-973	94	8	was	be	AUX
ap-973	94	9	supervised	supervise	VERB
ap-973	94	10	by	by	ADP
ap-973	94	11	prof	prof	PROPN
ap-973	94	12	.	.	PUNCT
ap-973	95	1	ing	ing	PROPN
ap-973	95	2	.	.	PROPN
ap-973	95	3	jiří	jiří	PROPN
ap-973	95	4	skalický	skalický	PROPN
ap-973	95	5	,	,	PUNCT
ap-973	95	6	csc	csc	PROPN
ap-973	95	7	.	.	PUNCT
ap-973	96	1	vut	vut	PROPN
ap-973	96	2	in	in	ADP
ap-973	96	3	brno	brno	NOUN
ap-973	96	4	.	.	PUNCT
ap-973	97	1	it	it	PRON
ap-973	97	2	has	have	AUX
ap-973	97	3	been	be	AUX
ap-973	97	4	supported	support	VERB
ap-973	97	5	by	by	ADP
ap-973	97	6	research	research	NOUN
ap-973	97	7	program	program	NOUN
ap-973	97	8	msm	msm	NOUN
ap-973	97	9	0021630516	0021630516	NUM
ap-973	97	10	.	.	PUNCT
ap-973	98	1	10	10	NUM
ap-973	98	2	©	©	PROPN
ap-973	98	3	czech	czech	PROPN
ap-973	98	4	technical	technical	PROPN
ap-973	98	5	university	university	PROPN
ap-973	98	6	publishing	publishing	NOUN
ap-973	98	7	house	house	NOUN
ap-973	98	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-973	98	9	acta	acta	PROPN
ap-973	98	10	polytechnica	polytechnica	PROPN
ap-973	98	11	vol	vol	NOUN
ap-973	98	12	.	.	PUNCT
ap-973	99	1	48	48	NUM
ap-973	99	2	no	no	NOUN
ap-973	99	3	.	.	PUNCT
ap-973	100	1	3/2008	3/2008	NUM
ap-973	100	2	fig	fig	NOUN
ap-973	100	3	.	.	PUNCT
ap-973	101	1	8	8	NUM
ap-973	101	2	:	:	PUNCT
ap-973	101	3	block	block	NOUN
ap-973	101	4	diagram	diagram	NOUN
ap-973	101	5	of	of	ADP
ap-973	101	6	the	the	DET
ap-973	101	7	circle	circle	NOUN
ap-973	101	8	rounds	round	VERB
ap-973	101	9	for	for	ADP
ap-973	101	10	the	the	DET
ap-973	101	11	p	p	NOUN
ap-973	101	12	-	-	PUNCT
ap-973	101	13	controller	controller	NOUN
ap-973	101	14	and	and	CCONJ
ap-973	101	15	the	the	DET
ap-973	101	16	state	state	NOUN
ap-973	101	17	feedback	feedback	NOUN
ap-973	101	18	controller	controller	NOUN
ap-973	101	19	fig	fig	NOUN
ap-973	101	20	.	.	PUNCT
ap-973	102	1	7	7	NUM
ap-973	102	2	:	:	PUNCT
ap-973	102	3	step	step	NOUN
ap-973	102	4	response	response	NOUN
ap-973	102	5	of	of	ADP
ap-973	102	6	p	p	PROPN
ap-973	102	7	,	,	PUNCT
ap-973	102	8	pd	pd	PROPN
ap-973	102	9	a	a	DET
ap-973	102	10	pid	pid	NOUN
ap-973	102	11	controllers	controller	NOUN
ap-973	102	12	with	with	ADP
ap-973	102	13	-	-	PUNCT
ap-973	102	14	without	without	ADJ
ap-973	102	15	subsidiary	subsidiary	NOUN
ap-973	102	16	speed	speed	NOUN
ap-973	102	17	loop	loop	NOUN
ap-973	102	18	references	reference	NOUN
ap-973	102	19	[	[	X
ap-973	102	20	1	1	NUM
ap-973	102	21	]	]	X
ap-973	102	22	duane	duane	PROPN
ap-973	102	23	,	,	PUNCT
ap-973	102	24	d.	d.	PROPN
ap-973	102	25	,	,	PUNCT
ap-973	102	26	douglas	douglas	PROPN
ap-973	102	27	,	,	PUNCT
ap-973	102	28	w.	w.	PROPN
ap-973	102	29	:	:	PUNCT
ap-973	102	30	electronically	electronically	ADV
ap-973	102	31	commutated	commutate	VERB
ap-973	102	32	motors	motor	NOUN
ap-973	102	33	,	,	PUNCT
ap-973	102	34	2001	2001	NUM
ap-973	102	35	.	.	PUNCT
ap-973	103	1	[	[	X
ap-973	103	2	2	2	NUM
ap-973	103	3	]	]	PUNCT
ap-973	103	4	information	information	NOUN
ap-973	103	5	on	on	ADP
ap-973	103	6	url	url	NOUN
ap-973	103	7	:	:	PUNCT
ap-973	103	8	http://robotika.cz/wiki/bldcmotor	http://robotika.cz/wiki/bldcmotor	NUM
ap-973	103	9	.	.	PUNCT
ap-973	104	1	[	[	X
ap-973	104	2	3	3	X
ap-973	104	3	]	]	X
ap-973	104	4	michael	michael	PROPN
ap-973	104	5	,	,	PUNCT
ap-973	104	6	a.	a.	PROPN
ap-973	104	7	,	,	PUNCT
ap-973	104	8	mohammad	mohammad	PROPN
ap-973	104	9	,	,	PUNCT
ap-973	104	10	h.	h.	PROPN
ap-973	104	11	:	:	PUNCT
ap-973	104	12	pid	pid	PROPN
ap-973	104	13	control	control	NOUN
ap-973	104	14	.	.	PUNCT
ap-973	105	1	new	new	ADJ
ap-973	105	2	identification	identification	NOUN
ap-973	105	3	and	and	CCONJ
ap-973	105	4	design	design	NOUN
ap-973	105	5	methods	method	NOUN
ap-973	105	6	,	,	PUNCT
ap-973	105	7	2006	2006	NUM
ap-973	105	8	.	.	PUNCT
ap-973	106	1	mustafa	mustafa	PROPN
ap-973	106	2	aboelhassan	aboelhassan	PROPN
ap-973	106	3	e	e	NOUN
ap-973	106	4	-	-	NOUN
ap-973	106	5	mail	mail	NOUN
ap-973	106	6	:	:	PUNCT
ap-973	107	1	xaboel01@stud.feec.vutbr.cz	xaboel01@stud.feec.vutbr.cz	PROPN
ap-973	107	2	dept	dept	PROPN
ap-973	107	3	.	.	PROPN
ap-973	107	4	of	of	ADP
ap-973	107	5	power	power	NOUN
ap-973	107	6	electrical	electrical	ADJ
ap-973	107	7	and	and	CCONJ
ap-973	107	8	electronic	electronic	ADJ
ap-973	107	9	engineering	engineering	NOUN
ap-973	107	10	brno	brno	PROPN
ap-973	107	11	university	university	PROPN
ap-973	107	12	of	of	ADP
ap-973	107	13	technology	technology	NOUN
ap-973	107	14	technická	technická	NOUN
ap-973	107	15	8	8	NUM
ap-973	107	16	602	602	NUM
ap-973	107	17	00	00	NUM
ap-973	107	18	brno	brno	NOUN
ap-973	107	19	,	,	PUNCT
ap-973	107	20	czech	czech	PROPN
ap-973	107	21	republic	republic	NOUN
ap-973	107	22	©	©	PROPN
ap-973	107	23	czech	czech	PROPN
ap-973	107	24	technical	technical	PROPN
ap-973	107	25	university	university	PROPN
ap-973	107	26	publishing	publishing	NOUN
ap-973	107	27	house	house	NOUN
ap-973	107	28	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-973	107	29	11	11	NUM
ap-973	107	30	acta	acta	PROPN
ap-973	107	31	polytechnica	polytechnica	PROPN
ap-973	107	32	vol	vol	NOUN
ap-973	107	33	.	.	PUNCT
ap-973	108	1	48	48	NUM
ap-973	108	2	no	no	NOUN
ap-973	108	3	.	.	PUNCT
ap-973	109	1	3/2008	3/2008	NUM
ap-973	109	2	fig	fig	NOUN
ap-973	109	3	.	.	PUNCT
ap-973	110	1	9	9	NUM
ap-973	110	2	:	:	PUNCT
ap-973	110	3	circle	circle	NOUN
ap-973	110	4	rounds	round	NOUN
ap-973	110	5	of	of	ADP
ap-973	110	6	the	the	DET
ap-973	110	7	p	p	ADJ
ap-973	110	8	controller	controller	NOUN
ap-973	110	9	with	with	ADP
ap-973	110	10	the	the	DET
ap-973	110	11	subsidiary	subsidiary	NOUN
ap-973	110	12	speed	speed	NOUN
ap-973	110	13	loop	loop	NOUN
ap-973	110	14	and	and	CCONJ
ap-973	110	15	with	with	ADP
ap-973	110	16	the	the	DET
ap-973	110	17	same	same	ADJ
ap-973	110	18	gain	gain	NOUN
ap-973	110	19	values	value	NOUN
ap-973	110	20	(	(	PUNCT
ap-973	110	21	freq	freq	PROPN
ap-973	110	22	.	.	PUNCT
ap-973	111	1	sin	sin	PROPN
ap-973	111	2	�	�	PROPN
ap-973	111	3	20	20	NUM
ap-973	111	4	rad	rad	PROPN
ap-973	111	5	/	/	SYM
ap-973	111	6	s	s	NOUN
ap-973	111	7	)	)	PUNCT
ap-973	111	8	fig	fig	NOUN
ap-973	111	9	.	.	PUNCT
ap-973	112	1	10	10	NUM
ap-973	112	2	:	:	PUNCT
ap-973	112	3	circle	circle	NOUN
ap-973	112	4	rounds	round	NOUN
ap-973	112	5	of	of	ADP
ap-973	112	6	the	the	DET
ap-973	112	7	pid	pid	NOUN
ap-973	112	8	controller	controller	NOUN
ap-973	112	9	without	without	ADP
ap-973	112	10	the	the	DET
ap-973	112	11	subsidiary	subsidiary	NOUN
ap-973	112	12	speed	speed	NOUN
ap-973	112	13	loop	loop	NOUN
ap-973	112	14	and	and	CCONJ
ap-973	112	15	with	with	ADP
ap-973	112	16	the	the	DET
ap-973	112	17	same	same	ADJ
ap-973	112	18	gain	gain	NOUN
ap-973	112	19	values	value	NOUN
ap-973	112	20	(	(	PUNCT
ap-973	112	21	freq	freq	PROPN
ap-973	112	22	.	.	PUNCT
ap-973	113	1	sin	sin	PROPN
ap-973	113	2	�	�	PROPN
ap-973	113	3	20	20	NUM
ap-973	113	4	rad	rad	PROPN
ap-973	113	5	/	/	SYM
ap-973	113	6	s	s	PART
ap-973	113	7	)	)	PUNCT