id	sid	tid	token	lemma	pos
ijassa-1971	1	1	adv	adv	PROPN
ijassa-1971	1	2	syst	syst	PROPN
ijassa-1971	1	3	sci	sci	PROPN
ijassa-1971	1	4	appl	appl	PROPN
ijassa-1971	1	5	2024	2024	NUM
ijassa-1971	1	6	;	;	PUNCT
ijassa-1971	1	7	04:82–93	04:82–93	NUM
ijassa-1971	1	8	published	publish	VERB
ijassa-1971	1	9	online	online	ADV
ijassa-1971	1	10	at	at	ADP
ijassa-1971	1	11	https://ijassa.ipu.ru	https://ijassa.ipu.ru	ADV
ijassa-1971	1	12	.	.	PUNCT
ijassa-1971	2	1	adaptive	adaptive	ADJ
ijassa-1971	2	2	disturbance	disturbance	NOUN
ijassa-1971	2	3	rejection	rejection	NOUN
ijassa-1971	2	4	control	control	NOUN
ijassa-1971	2	5	of	of	ADP
ijassa-1971	2	6	2d	2d	PROPN
ijassa-1971	2	7	crane	crane	NOUN
ijassa-1971	2	8	based	base	VERB
ijassa-1971	2	9	on	on	ADP
ijassa-1971	2	10	drem	drem	PROPN
ijassa-1971	2	11	with	with	ADP
ijassa-1971	2	12	instrumental	instrumental	ADJ
ijassa-1971	2	13	variables	variable	NOUN
ijassa-1971	2	14	vladislav	vladislav	ADJ
ijassa-1971	2	15	petrov1	petrov1	PROPN
ijassa-1971	2	16	,	,	PUNCT
ijassa-1971	2	17	anton	anton	PROPN
ijassa-1971	2	18	glushchenko2	glushchenko2	NOUN
ijassa-1971	2	19	*	*	NOUN
ijassa-1971	2	20	,	,	PUNCT
ijassa-1971	2	21	konstantin	konstantin	PROPN
ijassa-1971	2	22	lastochkin2	lastochkin2	PROPN
ijassa-1971	3	1	1stary	1stary	NUM
ijassa-1971	3	2	oskol	oskol	PROPN
ijassa-1971	3	3	technological	technological	PROPN
ijassa-1971	3	4	institute	institute	NOUN
ijassa-1971	3	5	n.a	n.a	PROPN
ijassa-1971	3	6	.	.	PROPN
ijassa-1971	3	7	a.a.ugarov	a.a.ugarov	PROPN
ijassa-1971	3	8	(	(	PUNCT
ijassa-1971	3	9	branch	branch	NOUN
ijassa-1971	3	10	)	)	PUNCT
ijassa-1971	3	11	nust	nust	PROPN
ijassa-1971	3	12	“	"	PUNCT
ijassa-1971	3	13	misis	misis	NOUN
ijassa-1971	3	14	”	"	PUNCT
ijassa-1971	3	15	,	,	PUNCT
ijassa-1971	3	16	stary	stary	PROPN
ijassa-1971	3	17	oskol	oskol	PROPN
ijassa-1971	3	18	,	,	PUNCT
ijassa-1971	3	19	russia	russia	PROPN
ijassa-1971	3	20	2v.a	2v.a	NUM
ijassa-1971	3	21	.	.	PUNCT
ijassa-1971	4	1	trapeznikov	trapeznikov	PROPN
ijassa-1971	4	2	institute	institute	PROPN
ijassa-1971	4	3	of	of	ADP
ijassa-1971	4	4	control	control	PROPN
ijassa-1971	4	5	sciences	sciences	PROPN
ijassa-1971	4	6	of	of	ADP
ijassa-1971	4	7	russian	russian	ADJ
ijassa-1971	4	8	academy	academy	PROPN
ijassa-1971	4	9	of	of	ADP
ijassa-1971	4	10	sciences	sciences	PROPN
ijassa-1971	4	11	,	,	PUNCT
ijassa-1971	4	12	moscow	moscow	PROPN
ijassa-1971	4	13	,	,	PUNCT
ijassa-1971	4	14	russia	russia	PROPN
ijassa-1971	4	15	abstract	abstract	NOUN
ijassa-1971	4	16	:	:	PUNCT
ijassa-1971	4	17	a	a	DET
ijassa-1971	4	18	problem	problem	NOUN
ijassa-1971	4	19	of	of	ADP
ijassa-1971	4	20	control	control	NOUN
ijassa-1971	4	21	of	of	ADP
ijassa-1971	4	22	uncertain	uncertain	ADJ
ijassa-1971	4	23	2d	2d	NUM
ijassa-1971	4	24	overhead	overhead	ADJ
ijassa-1971	4	25	crane	crane	NOUN
ijassa-1971	4	26	affected	affect	VERB
ijassa-1971	4	27	by	by	ADP
ijassa-1971	4	28	disturbances	disturbance	NOUN
ijassa-1971	4	29	with	with	ADP
ijassa-1971	4	30	unknown	unknown	ADJ
ijassa-1971	4	31	model	model	NOUN
ijassa-1971	4	32	is	be	AUX
ijassa-1971	4	33	considered	consider	VERB
ijassa-1971	4	34	.	.	PUNCT
ijassa-1971	5	1	an	an	DET
ijassa-1971	5	2	adaptive	adaptive	ADJ
ijassa-1971	5	3	controller	controller	NOUN
ijassa-1971	5	4	is	be	AUX
ijassa-1971	5	5	proposed	propose	VERB
ijassa-1971	5	6	to	to	PART
ijassa-1971	5	7	solve	solve	VERB
ijassa-1971	5	8	the	the	DET
ijassa-1971	5	9	above	above	ADV
ijassa-1971	5	10	-	-	PUNCT
ijassa-1971	5	11	mentioned	mention	VERB
ijassa-1971	5	12	problem	problem	NOUN
ijassa-1971	5	13	,	,	PUNCT
ijassa-1971	5	14	which	which	DET
ijassa-1971	5	15	main	main	ADJ
ijassa-1971	5	16	salient	salient	NOUN
ijassa-1971	5	17	feature	feature	NOUN
ijassa-1971	5	18	is	be	AUX
ijassa-1971	5	19	that	that	SCONJ
ijassa-1971	5	20	it	it	PRON
ijassa-1971	5	21	ensures	ensure	VERB
ijassa-1971	5	22	asymptotic	asymptotic	ADJ
ijassa-1971	5	23	convergence	convergence	NOUN
ijassa-1971	5	24	of	of	ADP
ijassa-1971	5	25	errors	error	NOUN
ijassa-1971	5	26	for	for	ADP
ijassa-1971	5	27	both	both	PRON
ijassa-1971	5	28	trolley	trolley	NOUN
ijassa-1971	5	29	position	position	NOUN
ijassa-1971	5	30	and	and	CCONJ
ijassa-1971	5	31	payload	payload	NOUN
ijassa-1971	5	32	swing	swing	NOUN
ijassa-1971	5	33	angle	angle	NOUN
ijassa-1971	5	34	not	not	PART
ijassa-1971	5	35	to	to	ADP
ijassa-1971	5	36	a	a	DET
ijassa-1971	5	37	bounded	bounded	ADJ
ijassa-1971	5	38	set	set	NOUN
ijassa-1971	5	39	,	,	PUNCT
ijassa-1971	5	40	but	but	CCONJ
ijassa-1971	5	41	to	to	ADP
ijassa-1971	5	42	zero	zero	NUM
ijassa-1971	5	43	without	without	ADP
ijassa-1971	5	44	requirement	requirement	NOUN
ijassa-1971	5	45	of	of	ADP
ijassa-1971	5	46	a	a	DET
ijassa-1971	5	47	priori	priori	ADJ
ijassa-1971	5	48	knowledge	knowledge	NOUN
ijassa-1971	5	49	on	on	ADP
ijassa-1971	5	50	bounds	bound	NOUN
ijassa-1971	5	51	of	of	ADP
ijassa-1971	5	52	the	the	DET
ijassa-1971	5	53	system	system	NOUN
ijassa-1971	5	54	parameters	parameter	NOUN
ijassa-1971	5	55	and	and	CCONJ
ijassa-1971	5	56	disturbance	disturbance	NOUN
ijassa-1971	5	57	.	.	PUNCT
ijassa-1971	6	1	first	first	ADV
ijassa-1971	6	2	of	of	ADP
ijassa-1971	6	3	all	all	PRON
ijassa-1971	6	4	,	,	PUNCT
ijassa-1971	6	5	the	the	DET
ijassa-1971	6	6	crane	crane	NOUN
ijassa-1971	6	7	is	be	AUX
ijassa-1971	6	8	represented	represent	VERB
ijassa-1971	6	9	in	in	ADP
ijassa-1971	6	10	the	the	DET
ijassa-1971	6	11	feedback	feedback	NOUN
ijassa-1971	6	12	linearizable	linearizable	ADJ
ijassa-1971	6	13	form	form	NOUN
ijassa-1971	6	14	via	via	ADP
ijassa-1971	6	15	coordinate	coordinate	NOUN
ijassa-1971	6	16	transformations	transformation	NOUN
ijassa-1971	6	17	under	under	ADP
ijassa-1971	6	18	mild	mild	ADJ
ijassa-1971	6	19	assumptions	assumption	NOUN
ijassa-1971	6	20	.	.	PUNCT
ijassa-1971	7	1	then	then	ADV
ijassa-1971	7	2	such	such	ADJ
ijassa-1971	7	3	representation	representation	NOUN
ijassa-1971	7	4	is	be	AUX
ijassa-1971	7	5	parameterized	parameterized	ADJ
ijassa-1971	7	6	in	in	ADP
ijassa-1971	7	7	the	the	DET
ijassa-1971	7	8	form	form	NOUN
ijassa-1971	7	9	of	of	ADP
ijassa-1971	7	10	perturbed	perturb	VERB
ijassa-1971	7	11	linear	linear	ADJ
ijassa-1971	7	12	regression	regression	NOUN
ijassa-1971	7	13	equation	equation	NOUN
ijassa-1971	7	14	,	,	PUNCT
ijassa-1971	7	15	which	which	PRON
ijassa-1971	7	16	parameters	parameter	NOUN
ijassa-1971	7	17	are	be	AUX
ijassa-1971	7	18	exactly	exactly	ADV
ijassa-1971	7	19	identified	identify	VERB
ijassa-1971	7	20	via	via	ADP
ijassa-1971	7	21	application	application	NOUN
ijassa-1971	7	22	of	of	ADP
ijassa-1971	7	23	procedure	procedure	NOUN
ijassa-1971	7	24	,	,	PUNCT
ijassa-1971	7	25	which	which	PRON
ijassa-1971	7	26	has	have	AUX
ijassa-1971	7	27	been	be	AUX
ijassa-1971	7	28	recently	recently	ADV
ijassa-1971	7	29	proposed	propose	VERB
ijassa-1971	7	30	by	by	ADP
ijassa-1971	7	31	the	the	DET
ijassa-1971	7	32	authors	author	NOUN
ijassa-1971	7	33	and	and	CCONJ
ijassa-1971	7	34	is	be	AUX
ijassa-1971	7	35	based	base	VERB
ijassa-1971	7	36	on	on	ADP
ijassa-1971	7	37	the	the	DET
ijassa-1971	7	38	dynamic	dynamic	ADJ
ijassa-1971	7	39	regressor	regressor	NOUN
ijassa-1971	7	40	extension	extension	NOUN
ijassa-1971	7	41	and	and	CCONJ
ijassa-1971	7	42	mixing	mixing	NOUN
ijassa-1971	7	43	method	method	NOUN
ijassa-1971	7	44	and	and	CCONJ
ijassa-1971	7	45	instrumental	instrumental	ADJ
ijassa-1971	7	46	variables	variable	NOUN
ijassa-1971	7	47	approach	approach	NOUN
ijassa-1971	7	48	.	.	PUNCT
ijassa-1971	8	1	obtained	obtain	VERB
ijassa-1971	8	2	parameters	parameter	NOUN
ijassa-1971	8	3	estimates	estimate	NOUN
ijassa-1971	8	4	are	be	AUX
ijassa-1971	8	5	substituted	substitute	VERB
ijassa-1971	8	6	into	into	ADP
ijassa-1971	8	7	derived	derive	VERB
ijassa-1971	8	8	ideal	ideal	ADJ
ijassa-1971	8	9	control	control	NOUN
ijassa-1971	8	10	law	law	NOUN
ijassa-1971	8	11	,	,	PUNCT
ijassa-1971	8	12	and	and	CCONJ
ijassa-1971	8	13	asymptotic	asymptotic	ADJ
ijassa-1971	8	14	stability	stability	NOUN
ijassa-1971	8	15	of	of	ADP
ijassa-1971	8	16	the	the	DET
ijassa-1971	8	17	proposed	propose	VERB
ijassa-1971	8	18	adaptive	adaptive	ADJ
ijassa-1971	8	19	control	control	NOUN
ijassa-1971	8	20	system	system	NOUN
ijassa-1971	8	21	is	be	AUX
ijassa-1971	8	22	rigorously	rigorously	ADV
ijassa-1971	8	23	proved	prove	VERB
ijassa-1971	8	24	.	.	PUNCT
ijassa-1971	9	1	all	all	DET
ijassa-1971	9	2	theoretical	theoretical	ADJ
ijassa-1971	9	3	results	result	NOUN
ijassa-1971	9	4	are	be	AUX
ijassa-1971	9	5	validated	validate	VERB
ijassa-1971	9	6	via	via	ADP
ijassa-1971	9	7	numerical	numerical	ADJ
ijassa-1971	9	8	experiments	experiment	NOUN
ijassa-1971	9	9	.	.	PUNCT
ijassa-1971	10	1	keywords	keyword	NOUN
ijassa-1971	10	2	:	:	PUNCT
ijassa-1971	10	3	2d	2d	NUM
ijassa-1971	10	4	crane	crane	NOUN
ijassa-1971	10	5	,	,	PUNCT
ijassa-1971	10	6	parameter	parameter	NOUN
ijassa-1971	10	7	uncertainty	uncertainty	NOUN
ijassa-1971	10	8	,	,	PUNCT
ijassa-1971	10	9	asymptotic	asymptotic	ADJ
ijassa-1971	10	10	stability	stability	NOUN
ijassa-1971	10	11	,	,	PUNCT
ijassa-1971	10	12	dynamic	dynamic	ADJ
ijassa-1971	10	13	regressor	regressor	NOUN
ijassa-1971	10	14	extension	extension	NOUN
ijassa-1971	10	15	and	and	CCONJ
ijassa-1971	10	16	mixing	mixing	NOUN
ijassa-1971	10	17	,	,	PUNCT
ijassa-1971	10	18	instrumental	instrumental	ADJ
ijassa-1971	10	19	variables	variable	NOUN
ijassa-1971	10	20	1	1	NUM
ijassa-1971	10	21	.	.	PUNCT
ijassa-1971	11	1	introduction	introduction	NOUN
ijassa-1971	11	2	overhead	overhead	ADJ
ijassa-1971	11	3	cranes	crane	NOUN
ijassa-1971	11	4	are	be	AUX
ijassa-1971	11	5	widely	widely	ADV
ijassa-1971	11	6	used	use	VERB
ijassa-1971	11	7	to	to	PART
ijassa-1971	11	8	manipulate	manipulate	VERB
ijassa-1971	11	9	heavy	heavy	ADJ
ijassa-1971	11	10	objects	object	NOUN
ijassa-1971	11	11	at	at	ADP
ijassa-1971	11	12	different	different	ADJ
ijassa-1971	11	13	enterprises	enterprise	NOUN
ijassa-1971	11	14	and	and	CCONJ
ijassa-1971	11	15	construction	construction	NOUN
ijassa-1971	11	16	cites	cite	VERB
ijassa-1971	11	17	.	.	PUNCT
ijassa-1971	12	1	they	they	PRON
ijassa-1971	12	2	usually	usually	ADV
ijassa-1971	12	3	consist	consist	VERB
ijassa-1971	12	4	of	of	ADP
ijassa-1971	12	5	a	a	DET
ijassa-1971	12	6	cart	cart	NOUN
ijassa-1971	12	7	moving	move	VERB
ijassa-1971	12	8	on	on	ADP
ijassa-1971	12	9	a	a	DET
ijassa-1971	12	10	line	line	NOUN
ijassa-1971	12	11	/	/	SYM
ijassa-1971	12	12	plane	plane	NOUN
ijassa-1971	12	13	and	and	CCONJ
ijassa-1971	12	14	a	a	DET
ijassa-1971	12	15	hook	hook	NOUN
ijassa-1971	12	16	suspended	suspend	VERB
ijassa-1971	12	17	to	to	ADP
ijassa-1971	12	18	the	the	DET
ijassa-1971	12	19	cart	cart	NOUN
ijassa-1971	12	20	via	via	ADP
ijassa-1971	12	21	cables	cable	NOUN
ijassa-1971	12	22	.	.	PUNCT
ijassa-1971	13	1	on	on	ADP
ijassa-1971	13	2	the	the	DET
ijassa-1971	13	3	one	one	NUM
ijassa-1971	13	4	hand	hand	NOUN
ijassa-1971	13	5	,	,	PUNCT
ijassa-1971	13	6	as	as	ADP
ijassa-1971	13	7	one	one	NUM
ijassa-1971	13	8	of	of	ADP
ijassa-1971	13	9	the	the	DET
ijassa-1971	13	10	main	main	ADJ
ijassa-1971	13	11	goals	goal	NOUN
ijassa-1971	13	12	of	of	ADP
ijassa-1971	13	13	any	any	DET
ijassa-1971	13	14	enterprise	enterprise	NOUN
ijassa-1971	13	15	is	be	AUX
ijassa-1971	13	16	to	to	PART
ijassa-1971	13	17	increase	increase	VERB
ijassa-1971	13	18	productivity	productivity	NOUN
ijassa-1971	13	19	,	,	PUNCT
ijassa-1971	13	20	then	then	ADV
ijassa-1971	13	21	cranes	crane	NOUN
ijassa-1971	13	22	are	be	AUX
ijassa-1971	13	23	expected	expect	VERB
ijassa-1971	13	24	to	to	PART
ijassa-1971	13	25	move	move	VERB
ijassa-1971	13	26	the	the	DET
ijassa-1971	13	27	payload	payload	NOUN
ijassa-1971	13	28	from	from	ADP
ijassa-1971	13	29	one	one	NUM
ijassa-1971	13	30	position	position	NOUN
ijassa-1971	13	31	to	to	ADP
ijassa-1971	13	32	another	another	PRON
ijassa-1971	13	33	in	in	ADP
ijassa-1971	13	34	minimal	minimal	ADJ
ijassa-1971	13	35	time	time	NOUN
ijassa-1971	13	36	.	.	PUNCT
ijassa-1971	14	1	on	on	ADP
ijassa-1971	14	2	the	the	DET
ijassa-1971	14	3	other	other	ADJ
ijassa-1971	14	4	hand	hand	NOUN
ijassa-1971	14	5	,	,	PUNCT
ijassa-1971	14	6	such	such	ADJ
ijassa-1971	14	7	plants	plant	NOUN
ijassa-1971	14	8	are	be	AUX
ijassa-1971	14	9	underactuated	underactuate	VERB
ijassa-1971	14	10	,	,	PUNCT
ijassa-1971	14	11	thus	thus	ADV
ijassa-1971	14	12	cart	cart	NOUN
ijassa-1971	14	13	movement	movement	NOUN
ijassa-1971	14	14	,	,	PUNCT
ijassa-1971	14	15	as	as	ADV
ijassa-1971	14	16	well	well	ADV
ijassa-1971	14	17	as	as	ADP
ijassa-1971	14	18	exogenous	exogenous	ADJ
ijassa-1971	14	19	disturbances	disturbance	NOUN
ijassa-1971	14	20	,	,	PUNCT
ijassa-1971	14	21	cause	cause	VERB
ijassa-1971	14	22	payload	payload	NOUN
ijassa-1971	14	23	swing	swing	NOUN
ijassa-1971	14	24	,	,	PUNCT
ijassa-1971	14	25	which	which	PRON
ijassa-1971	14	26	deteriorates	deteriorate	VERB
ijassa-1971	14	27	positioning	positioning	NOUN
ijassa-1971	14	28	and	and	CCONJ
ijassa-1971	14	29	overall	overall	ADJ
ijassa-1971	14	30	crane	crane	NOUN
ijassa-1971	14	31	performance	performance	NOUN
ijassa-1971	14	32	.	.	PUNCT
ijassa-1971	15	1	therefore	therefore	ADV
ijassa-1971	15	2	,	,	PUNCT
ijassa-1971	15	3	better	well	ADJ
ijassa-1971	15	4	productivity	productivity	NOUN
ijassa-1971	15	5	can	can	AUX
ijassa-1971	15	6	be	be	AUX
ijassa-1971	15	7	achieved	achieve	VERB
ijassa-1971	15	8	via	via	ADP
ijassa-1971	15	9	application	application	NOUN
ijassa-1971	15	10	of	of	ADP
ijassa-1971	15	11	control	control	NOUN
ijassa-1971	15	12	systems	system	NOUN
ijassa-1971	15	13	that	that	PRON
ijassa-1971	15	14	ensure	ensure	VERB
ijassa-1971	15	15	high	high	ADJ
ijassa-1971	15	16	control	control	NOUN
ijassa-1971	15	17	quality	quality	NOUN
ijassa-1971	15	18	under	under	ADP
ijassa-1971	15	19	above	above	ADV
ijassa-1971	15	20	-	-	PUNCT
ijassa-1971	15	21	mentioned	mention	VERB
ijassa-1971	15	22	conditions	condition	NOUN
ijassa-1971	15	23	[	[	X
ijassa-1971	15	24	7	7	NUM
ijassa-1971	15	25	,	,	PUNCT
ijassa-1971	15	26	22	22	NUM
ijassa-1971	15	27	]	]	PUNCT
ijassa-1971	15	28	.	.	PUNCT
ijassa-1971	16	1	in	in	ADP
ijassa-1971	16	2	this	this	DET
ijassa-1971	16	3	study	study	NOUN
ijassa-1971	16	4	we	we	PRON
ijassa-1971	16	5	restrict	restrict	VERB
ijassa-1971	16	6	our	our	PRON
ijassa-1971	16	7	attention	attention	NOUN
ijassa-1971	16	8	to	to	ADP
ijassa-1971	16	9	2d	2d	NUM
ijassa-1971	16	10	single	single	ADJ
ijassa-1971	16	11	pendulum	pendulum	NOUN
ijassa-1971	16	12	cranes	crane	NOUN
ijassa-1971	16	13	.	.	PUNCT
ijassa-1971	17	1	problem	problem	NOUN
ijassa-1971	17	2	of	of	ADP
ijassa-1971	17	3	such	such	ADJ
ijassa-1971	17	4	plants	plant	NOUN
ijassa-1971	17	5	control	control	NOUN
ijassa-1971	17	6	has	have	AUX
ijassa-1971	17	7	been	be	AUX
ijassa-1971	17	8	paid	pay	VERB
ijassa-1971	17	9	considerable	considerable	ADJ
ijassa-1971	17	10	attention	attention	NOUN
ijassa-1971	17	11	by	by	ADP
ijassa-1971	17	12	the	the	DET
ijassa-1971	17	13	control	control	NOUN
ijassa-1971	17	14	community	community	NOUN
ijassa-1971	17	15	during	during	ADP
ijassa-1971	17	16	several	several	ADJ
ijassa-1971	17	17	past	past	ADJ
ijassa-1971	17	18	decades	decade	NOUN
ijassa-1971	17	19	,	,	PUNCT
ijassa-1971	17	20	and	and	CCONJ
ijassa-1971	17	21	main	main	ADJ
ijassa-1971	17	22	obtained	obtain	VERB
ijassa-1971	17	23	results	result	NOUN
ijassa-1971	17	24	are	be	AUX
ijassa-1971	17	25	condensed	condense	VERB
ijassa-1971	17	26	in	in	ADP
ijassa-1971	17	27	[	[	X
ijassa-1971	17	28	7	7	NUM
ijassa-1971	17	29	]	]	PUNCT
ijassa-1971	17	30	.	.	PUNCT
ijassa-1971	18	1	as	as	SCONJ
ijassa-1971	18	2	sway	sway	NOUN
ijassa-1971	18	3	reduction	reduction	NOUN
ijassa-1971	18	4	is	be	AUX
ijassa-1971	18	5	of	of	ADP
ijassa-1971	18	6	high	high	ADJ
ijassa-1971	18	7	priority	priority	NOUN
ijassa-1971	18	8	,	,	PUNCT
ijassa-1971	18	9	open	open	ADJ
ijassa-1971	18	10	-	-	PUNCT
ijassa-1971	18	11	loop	loop	NOUN
ijassa-1971	18	12	[	[	X
ijassa-1971	18	13	16	16	NUM
ijassa-1971	18	14	]	]	PUNCT
ijassa-1971	18	15	and	and	CCONJ
ijassa-1971	18	16	collocated	collocated	ADJ
ijassa-1971	18	17	control	control	NOUN
ijassa-1971	18	18	[	[	X
ijassa-1971	18	19	11	11	NUM
ijassa-1971	18	20	]	]	PUNCT
ijassa-1971	18	21	strategies	strategy	NOUN
ijassa-1971	18	22	are	be	AUX
ijassa-1971	18	23	not	not	PART
ijassa-1971	18	24	considered	consider	VERB
ijassa-1971	18	25	in	in	ADP
ijassa-1971	18	26	this	this	DET
ijassa-1971	18	27	study	study	NOUN
ijassa-1971	18	28	,	,	PUNCT
ijassa-1971	18	29	and	and	CCONJ
ijassa-1971	18	30	further	far	ADV
ijassa-1971	18	31	only	only	ADV
ijassa-1971	18	32	non	non	ADJ
ijassa-1971	18	33	-	-	ADJ
ijassa-1971	18	34	collocated	collocated	ADJ
ijassa-1971	18	35	ones	one	NOUN
ijassa-1971	18	36	are	be	AUX
ijassa-1971	18	37	of	of	ADP
ijassa-1971	18	38	interest	interest	NOUN
ijassa-1971	18	39	.	.	PUNCT
ijassa-1971	19	1	plenty	plenty	NOUN
ijassa-1971	19	2	of	of	ADP
ijassa-1971	19	3	closed	closed	ADJ
ijassa-1971	19	4	-	-	PUNCT
ijassa-1971	19	5	loop	loop	NOUN
ijassa-1971	19	6	control	control	NOUN
ijassa-1971	19	7	methods	method	NOUN
ijassa-1971	19	8	have	have	AUX
ijassa-1971	19	9	been	be	AUX
ijassa-1971	19	10	exploited	exploit	VERB
ijassa-1971	19	11	for	for	ADP
ijassa-1971	19	12	crane	crane	NOUN
ijassa-1971	19	13	systems	system	NOUN
ijassa-1971	19	14	,	,	PUNCT
ijassa-1971	19	15	e.g.	e.g.	ADV
ijassa-1971	19	16	,	,	PUNCT
ijassa-1971	19	17	gainscheduling	gainschedule	VERB
ijassa-1971	19	18	[	[	PRON
ijassa-1971	19	19	10	10	NUM
ijassa-1971	19	20	]	]	PUNCT
ijassa-1971	19	21	,	,	PUNCT
ijassa-1971	19	22	feedback	feedback	NOUN
ijassa-1971	19	23	linearization	linearization	NOUN
ijassa-1971	19	24	[	[	X
ijassa-1971	19	25	19	19	NUM
ijassa-1971	19	26	]	]	PUNCT
ijassa-1971	19	27	,	,	PUNCT
ijassa-1971	19	28	singular	singular	ADJ
ijassa-1971	19	29	perturbation	perturbation	NOUN
ijassa-1971	19	30	analysis	analysis	NOUN
ijassa-1971	19	31	[	[	X
ijassa-1971	19	32	21	21	NUM
ijassa-1971	19	33	]	]	PUNCT
ijassa-1971	19	34	,	,	PUNCT
ijassa-1971	19	35	predictive	predictive	ADJ
ijassa-1971	19	36	control	control	NOUN
ijassa-1971	20	1	[	[	X
ijassa-1971	20	2	5	5	NUM
ijassa-1971	20	3	,	,	PUNCT
ijassa-1971	20	4	12	12	NUM
ijassa-1971	20	5	]	]	PUNCT
ijassa-1971	20	6	.	.	PUNCT
ijassa-1971	21	1	all	all	DET
ijassa-1971	21	2	these	these	DET
ijassa-1971	21	3	methods	method	NOUN
ijassa-1971	21	4	are	be	AUX
ijassa-1971	21	5	based	base	VERB
ijassa-1971	21	6	on	on	ADP
ijassa-1971	21	7	at	at	ADV
ijassa-1971	21	8	least	least	ADJ
ijassa-1971	21	9	one	one	NUM
ijassa-1971	21	10	of	of	ADP
ijassa-1971	21	11	the	the	DET
ijassa-1971	21	12	following	following	ADJ
ijassa-1971	21	13	restrictive	restrictive	ADJ
ijassa-1971	21	14	assumptions	assumption	NOUN
ijassa-1971	21	15	:	:	PUNCT
ijassa-1971	21	16	the	the	DET
ijassa-1971	21	17	system	system	NOUN
ijassa-1971	21	18	parameters	parameter	NOUN
ijassa-1971	21	19	are	be	AUX
ijassa-1971	21	20	known	know	VERB
ijassa-1971	21	21	,	,	PUNCT
ijassa-1971	21	22	disturbance	disturbance	NOUN
ijassa-1971	21	23	-	-	PUNCT
ijassa-1971	21	24	free	free	ADJ
ijassa-1971	21	25	case	case	NOUN
ijassa-1971	21	26	is	be	AUX
ijassa-1971	21	27	considered	consider	VERB
ijassa-1971	21	28	.	.	PUNCT
ijassa-1971	22	1	∗corresponding	∗corresponde	VERB
ijassa-1971	22	2	author	author	NOUN
ijassa-1971	22	3	:	:	PUNCT
ijassa-1971	22	4	aiglush@ipu.ru	aiglush@ipu.ru	PROPN
ijassa-1971	22	5	adaptive	adaptive	ADJ
ijassa-1971	22	6	disturbance	disturbance	NOUN
ijassa-1971	22	7	rejection	rejection	NOUN
ijassa-1971	22	8	control	control	NOUN
ijassa-1971	22	9	of	of	ADP
ijassa-1971	22	10	2d	2d	PROPN
ijassa-1971	22	11	crane	crane	NOUN
ijassa-1971	22	12	...	...	PUNCT
ijassa-1971	22	13	83	83	NUM
ijassa-1971	22	14	at	at	ADP
ijassa-1971	22	15	present	present	ADJ
ijassa-1971	22	16	,	,	PUNCT
ijassa-1971	22	17	as	as	ADV
ijassa-1971	22	18	far	far	ADV
ijassa-1971	22	19	as	as	SCONJ
ijassa-1971	22	20	parameter	parameter	NOUN
ijassa-1971	22	21	uncertainty	uncertainty	NOUN
ijassa-1971	22	22	and	and	CCONJ
ijassa-1971	22	23	perturbations	perturbation	NOUN
ijassa-1971	22	24	are	be	AUX
ijassa-1971	22	25	concerned	concern	VERB
ijassa-1971	22	26	,	,	PUNCT
ijassa-1971	22	27	the	the	DET
ijassa-1971	22	28	crane	crane	NOUN
ijassa-1971	22	29	control	control	NOUN
ijassa-1971	22	30	problem	problem	NOUN
ijassa-1971	22	31	is	be	AUX
ijassa-1971	22	32	still	still	ADV
ijassa-1971	22	33	a	a	DET
ijassa-1971	22	34	fairly	fairly	ADV
ijassa-1971	22	35	open	open	ADJ
ijassa-1971	22	36	topic	topic	NOUN
ijassa-1971	22	37	.	.	PUNCT
ijassa-1971	23	1	without	without	ADP
ijassa-1971	23	2	being	be	AUX
ijassa-1971	23	3	exhaustive	exhaustive	ADJ
ijassa-1971	23	4	,	,	PUNCT
ijassa-1971	23	5	further	far	ADV
ijassa-1971	23	6	some	some	DET
ijassa-1971	23	7	techniques	technique	NOUN
ijassa-1971	23	8	to	to	PART
ijassa-1971	23	9	cope	cope	VERB
ijassa-1971	23	10	with	with	ADP
ijassa-1971	23	11	the	the	DET
ijassa-1971	23	12	above	above	ADV
ijassa-1971	23	13	-	-	PUNCT
ijassa-1971	23	14	mentioned	mention	VERB
ijassa-1971	23	15	case	case	NOUN
ijassa-1971	23	16	are	be	AUX
ijassa-1971	23	17	considered	consider	VERB
ijassa-1971	23	18	.	.	PUNCT
ijassa-1971	24	1	in	in	ADP
ijassa-1971	24	2	[	[	X
ijassa-1971	24	3	14	14	NUM
ijassa-1971	24	4	]	]	X
ijassa-1971	24	5	a	a	DET
ijassa-1971	24	6	new	new	ADJ
ijassa-1971	24	7	passivity	passivity	NOUN
ijassa-1971	24	8	-	-	PUNCT
ijassa-1971	24	9	based	base	VERB
ijassa-1971	24	10	control	control	NOUN
ijassa-1971	24	11	law	law	NOUN
ijassa-1971	24	12	is	be	AUX
ijassa-1971	24	13	elucidated	elucidate	VERB
ijassa-1971	24	14	,	,	PUNCT
ijassa-1971	24	15	which	which	PRON
ijassa-1971	24	16	includes	include	VERB
ijassa-1971	24	17	both	both	DET
ijassa-1971	24	18	actuated	actuate	VERB
ijassa-1971	24	19	cart	cart	NOUN
ijassa-1971	24	20	and	and	CCONJ
ijassa-1971	24	21	underactuated	underactuated	ADJ
ijassa-1971	24	22	payload	payload	NOUN
ijassa-1971	24	23	positions	position	NOUN
ijassa-1971	24	24	,	,	PUNCT
ijassa-1971	24	25	and	and	CCONJ
ijassa-1971	24	26	the	the	DET
ijassa-1971	24	27	asymptotic	asymptotic	ADJ
ijassa-1971	24	28	stability	stability	NOUN
ijassa-1971	24	29	is	be	AUX
ijassa-1971	24	30	proved	prove	VERB
ijassa-1971	24	31	via	via	ADP
ijassa-1971	24	32	application	application	NOUN
ijassa-1971	24	33	of	of	ADP
ijassa-1971	24	34	lyapunov	lyapunov	PROPN
ijassa-1971	24	35	and	and	CCONJ
ijassa-1971	24	36	lasalle	lasalle	PROPN
ijassa-1971	24	37	’s	’s	PART
ijassa-1971	24	38	invariance	invariance	NOUN
ijassa-1971	24	39	theorem	theorem	VERB
ijassa-1971	24	40	,	,	PUNCT
ijassa-1971	24	41	but	but	CCONJ
ijassa-1971	24	42	the	the	DET
ijassa-1971	24	43	robustness	robustness	NOUN
ijassa-1971	24	44	to	to	ADP
ijassa-1971	24	45	disturbances	disturbance	NOUN
ijassa-1971	24	46	is	be	AUX
ijassa-1971	24	47	shown	show	VERB
ijassa-1971	24	48	only	only	ADV
ijassa-1971	24	49	via	via	ADP
ijassa-1971	24	50	numerical	numerical	ADJ
ijassa-1971	24	51	experiments	experiment	NOUN
ijassa-1971	24	52	.	.	PUNCT
ijassa-1971	25	1	parameter	parameter	NOUN
ijassa-1971	25	2	uncertainty	uncertainty	NOUN
ijassa-1971	25	3	and	and	CCONJ
ijassa-1971	25	4	unknown	unknown	ADJ
ijassa-1971	25	5	perturbations	perturbation	NOUN
ijassa-1971	25	6	are	be	AUX
ijassa-1971	25	7	coped	cope	VERB
ijassa-1971	25	8	with	with	ADP
ijassa-1971	25	9	simultaneously	simultaneously	ADV
ijassa-1971	25	10	using	use	VERB
ijassa-1971	25	11	sliding	slide	VERB
ijassa-1971	25	12	mode	mode	NOUN
ijassa-1971	25	13	control	control	NOUN
ijassa-1971	25	14	(	(	PUNCT
ijassa-1971	25	15	smc	smc	NOUN
ijassa-1971	25	16	)	)	PUNCT
ijassa-1971	25	17	technique	technique	NOUN
ijassa-1971	25	18	[	[	X
ijassa-1971	25	19	4	4	NUM
ijassa-1971	25	20	]	]	PUNCT
ijassa-1971	25	21	in	in	ADP
ijassa-1971	25	22	conjunction	conjunction	NOUN
ijassa-1971	25	23	with	with	ADP
ijassa-1971	25	24	sigmoid	sigmoid	NOUN
ijassa-1971	25	25	function	function	NOUN
ijassa-1971	25	26	to	to	PART
ijassa-1971	25	27	avoid	avoid	VERB
ijassa-1971	25	28	chattering	chatter	VERB
ijassa-1971	25	29	[	[	X
ijassa-1971	25	30	1	1	NUM
ijassa-1971	25	31	]	]	PUNCT
ijassa-1971	25	32	and	and	CCONJ
ijassa-1971	25	33	adaptive	adaptive	ADJ
ijassa-1971	25	34	control	control	NOUN
ijassa-1971	26	1	[	[	X
ijassa-1971	26	2	22	22	NUM
ijassa-1971	26	3	]	]	PUNCT
ijassa-1971	26	4	to	to	PART
ijassa-1971	26	5	relax	relax	VERB
ijassa-1971	26	6	assumption	assumption	NOUN
ijassa-1971	26	7	of	of	ADP
ijassa-1971	26	8	a	a	DET
ijassa-1971	26	9	priori	priori	ADV
ijassa-1971	26	10	known	know	VERB
ijassa-1971	26	11	bounds	bound	NOUN
ijassa-1971	26	12	of	of	ADP
ijassa-1971	26	13	the	the	DET
ijassa-1971	26	14	system	system	NOUN
ijassa-1971	26	15	parameters	parameter	NOUN
ijassa-1971	26	16	and	and	CCONJ
ijassa-1971	26	17	disturbance	disturbance	NOUN
ijassa-1971	26	18	.	.	PUNCT
ijassa-1971	27	1	particularly	particularly	ADV
ijassa-1971	27	2	in	in	ADP
ijassa-1971	27	3	[	[	X
ijassa-1971	27	4	22	22	NUM
ijassa-1971	27	5	]	]	PUNCT
ijassa-1971	27	6	,	,	PUNCT
ijassa-1971	27	7	using	use	VERB
ijassa-1971	27	8	a	a	DET
ijassa-1971	27	9	coordinate	coordinate	NOUN
ijassa-1971	27	10	transformation	transformation	NOUN
ijassa-1971	27	11	,	,	PUNCT
ijassa-1971	27	12	a	a	DET
ijassa-1971	27	13	new	new	ADJ
ijassa-1971	27	14	sliding	slide	VERB
ijassa-1971	27	15	surface	surface	NOUN
ijassa-1971	27	16	is	be	AUX
ijassa-1971	27	17	proposed	propose	VERB
ijassa-1971	27	18	,	,	PUNCT
ijassa-1971	27	19	and	and	CCONJ
ijassa-1971	27	20	uncertainty	uncertainty	NOUN
ijassa-1971	27	21	is	be	AUX
ijassa-1971	27	22	parametrized	parametrize	VERB
ijassa-1971	27	23	as	as	ADP
ijassa-1971	27	24	a	a	DET
ijassa-1971	27	25	linear	linear	ADJ
ijassa-1971	27	26	regression	regression	NOUN
ijassa-1971	27	27	equation	equation	NOUN
ijassa-1971	27	28	,	,	PUNCT
ijassa-1971	27	29	which	which	PRON
ijassa-1971	27	30	parameters	parameter	NOUN
ijassa-1971	27	31	are	be	AUX
ijassa-1971	27	32	then	then	ADV
ijassa-1971	27	33	estimated	estimate	VERB
ijassa-1971	27	34	(	(	PUNCT
ijassa-1971	27	35	exactly	exactly	ADV
ijassa-1971	27	36	,	,	PUNCT
ijassa-1971	27	37	as	as	SCONJ
ijassa-1971	27	38	no	no	DET
ijassa-1971	27	39	disturbances	disturbance	NOUN
ijassa-1971	27	40	were	be	AUX
ijassa-1971	27	41	included	include	VERB
ijassa-1971	27	42	into	into	ADP
ijassa-1971	27	43	initial	initial	ADJ
ijassa-1971	27	44	model	model	NOUN
ijassa-1971	27	45	description	description	NOUN
ijassa-1971	27	46	,	,	PUNCT
ijassa-1971	27	47	while	while	SCONJ
ijassa-1971	27	48	friction	friction	NOUN
ijassa-1971	27	49	was	be	AUX
ijassa-1971	27	50	also	also	ADV
ijassa-1971	27	51	parametrized	parametrized	ADJ
ijassa-1971	27	52	as	as	ADP
ijassa-1971	27	53	a	a	DET
ijassa-1971	27	54	linear	linear	ADJ
ijassa-1971	27	55	regression	regression	NOUN
ijassa-1971	27	56	)	)	PUNCT
ijassa-1971	27	57	.	.	PUNCT
ijassa-1971	28	1	then	then	ADV
ijassa-1971	28	2	obtained	obtain	VERB
ijassa-1971	28	3	uncertainty	uncertainty	NOUN
ijassa-1971	28	4	estimate	estimate	NOUN
ijassa-1971	28	5	is	be	AUX
ijassa-1971	28	6	added	add	VERB
ijassa-1971	28	7	to	to	ADP
ijassa-1971	28	8	the	the	DET
ijassa-1971	28	9	smc	smc	PROPN
ijassa-1971	28	10	-	-	PUNCT
ijassa-1971	28	11	based	base	VERB
ijassa-1971	28	12	control	control	NOUN
ijassa-1971	28	13	law	law	NOUN
ijassa-1971	28	14	with	with	ADP
ijassa-1971	28	15	a	a	DET
ijassa-1971	28	16	negative	negative	ADJ
ijassa-1971	28	17	sign	sign	NOUN
ijassa-1971	28	18	.	.	PUNCT
ijassa-1971	29	1	robustness	robustness	NOUN
ijassa-1971	29	2	to	to	ADP
ijassa-1971	29	3	perturbations	perturbation	NOUN
ijassa-1971	29	4	is	be	AUX
ijassa-1971	29	5	again	again	ADV
ijassa-1971	29	6	shown	show	VERB
ijassa-1971	29	7	only	only	ADV
ijassa-1971	29	8	via	via	ADP
ijassa-1971	29	9	simulation	simulation	NOUN
ijassa-1971	29	10	.	.	PUNCT
ijassa-1971	30	1	in	in	ADP
ijassa-1971	30	2	[	[	X
ijassa-1971	30	3	9	9	NUM
ijassa-1971	30	4	]	]	PUNCT
ijassa-1971	30	5	,	,	PUNCT
ijassa-1971	30	6	using	use	VERB
ijassa-1971	30	7	another	another	DET
ijassa-1971	30	8	coordinate	coordinate	NOUN
ijassa-1971	30	9	transformation	transformation	NOUN
ijassa-1971	30	10	,	,	PUNCT
ijassa-1971	30	11	the	the	DET
ijassa-1971	30	12	original	original	ADJ
ijassa-1971	30	13	system	system	NOUN
ijassa-1971	30	14	is	be	AUX
ijassa-1971	30	15	represented	represent	VERB
ijassa-1971	30	16	as	as	ADP
ijassa-1971	30	17	a	a	DET
ijassa-1971	30	18	chain	chain	NOUN
ijassa-1971	30	19	of	of	ADP
ijassa-1971	30	20	integrators	integrator	NOUN
ijassa-1971	30	21	with	with	ADP
ijassa-1971	30	22	unmatched	unmatched	ADJ
ijassa-1971	30	23	uncertainty	uncertainty	NOUN
ijassa-1971	30	24	.	.	PUNCT
ijassa-1971	31	1	then	then	ADV
ijassa-1971	31	2	controller	controller	NOUN
ijassa-1971	31	3	is	be	AUX
ijassa-1971	31	4	designed	design	VERB
ijassa-1971	31	5	with	with	ADP
ijassa-1971	31	6	the	the	DET
ijassa-1971	31	7	help	help	NOUN
ijassa-1971	31	8	of	of	ADP
ijassa-1971	31	9	backstepping	backsteppe	VERB
ijassa-1971	31	10	approach	approach	NOUN
ijassa-1971	31	11	for	for	ADP
ijassa-1971	31	12	disturbance	disturbance	NOUN
ijassa-1971	31	13	free	free	ADJ
ijassa-1971	31	14	case	case	NOUN
ijassa-1971	31	15	.	.	PUNCT
ijassa-1971	32	1	this	this	DET
ijassa-1971	32	2	result	result	NOUN
ijassa-1971	32	3	has	have	AUX
ijassa-1971	32	4	been	be	AUX
ijassa-1971	32	5	further	far	ADV
ijassa-1971	32	6	improved	improve	VERB
ijassa-1971	32	7	in	in	ADP
ijassa-1971	32	8	[	[	X
ijassa-1971	32	9	20	20	NUM
ijassa-1971	32	10	]	]	PUNCT
ijassa-1971	32	11	,	,	PUNCT
ijassa-1971	32	12	[	[	X
ijassa-1971	32	13	23	23	NUM
ijassa-1971	32	14	]	]	PUNCT
ijassa-1971	32	15	,	,	PUNCT
ijassa-1971	32	16	where	where	SCONJ
ijassa-1971	32	17	the	the	DET
ijassa-1971	32	18	transformation	transformation	NOUN
ijassa-1971	32	19	from	from	ADP
ijassa-1971	32	20	[	[	X
ijassa-1971	32	21	9	9	NUM
ijassa-1971	32	22	]	]	PUNCT
ijassa-1971	32	23	is	be	AUX
ijassa-1971	32	24	augmented	augment	VERB
ijassa-1971	32	25	with	with	ADP
ijassa-1971	32	26	an	an	DET
ijassa-1971	32	27	additional	additional	ADJ
ijassa-1971	32	28	assumption	assumption	NOUN
ijassa-1971	32	29	to	to	PART
ijassa-1971	32	30	represent	represent	VERB
ijassa-1971	32	31	the	the	DET
ijassa-1971	32	32	crane	crane	NOUN
ijassa-1971	32	33	model	model	NOUN
ijassa-1971	32	34	in	in	ADP
ijassa-1971	32	35	the	the	DET
ijassa-1971	32	36	feedback	feedback	NOUN
ijassa-1971	32	37	linearizable	linearizable	ADJ
ijassa-1971	32	38	form	form	NOUN
ijassa-1971	32	39	with	with	ADP
ijassa-1971	32	40	matched	match	VERB
ijassa-1971	32	41	uncertainty	uncertainty	NOUN
ijassa-1971	32	42	.	.	PUNCT
ijassa-1971	33	1	then	then	ADV
ijassa-1971	33	2	smcand	smcand	VERB
ijassa-1971	33	3	backstepping	backstepping	NOUN
ijassa-1971	33	4	-	-	PUNCT
ijassa-1971	33	5	based	base	VERB
ijassa-1971	33	6	controllers	controller	NOUN
ijassa-1971	33	7	with	with	ADP
ijassa-1971	33	8	finite	finite	ADJ
ijassa-1971	33	9	-	-	PUNCT
ijassa-1971	33	10	time	time	NOUN
ijassa-1971	33	11	and	and	CCONJ
ijassa-1971	33	12	extended	extended	ADJ
ijassa-1971	33	13	observers	observer	NOUN
ijassa-1971	33	14	of	of	ADP
ijassa-1971	33	15	bounded	bounded	ADJ
ijassa-1971	33	16	disturbance	disturbance	NOUN
ijassa-1971	33	17	were	be	AUX
ijassa-1971	33	18	designed	design	VERB
ijassa-1971	33	19	.	.	PUNCT
ijassa-1971	34	1	one	one	NUM
ijassa-1971	34	2	of	of	ADP
ijassa-1971	34	3	the	the	DET
ijassa-1971	34	4	main	main	ADJ
ijassa-1971	34	5	drawbacks	drawback	NOUN
ijassa-1971	34	6	of	of	ADP
ijassa-1971	34	7	such	such	ADJ
ijassa-1971	34	8	designs	design	NOUN
ijassa-1971	34	9	from	from	ADP
ijassa-1971	34	10	[	[	X
ijassa-1971	34	11	20	20	NUM
ijassa-1971	34	12	]	]	PUNCT
ijassa-1971	34	13	,	,	PUNCT
ijassa-1971	34	14	[	[	X
ijassa-1971	34	15	23	23	NUM
ijassa-1971	34	16	]	]	PUNCT
ijassa-1971	34	17	is	be	AUX
ijassa-1971	34	18	the	the	DET
ijassa-1971	34	19	requirement	requirement	NOUN
ijassa-1971	34	20	to	to	PART
ijassa-1971	34	21	know	know	VERB
ijassa-1971	34	22	the	the	DET
ijassa-1971	34	23	system	system	NOUN
ijassa-1971	34	24	parameters	parameter	NOUN
ijassa-1971	34	25	for	for	ADP
ijassa-1971	34	26	control	control	NOUN
ijassa-1971	34	27	signal	signal	PROPN
ijassa-1971	34	28	calculation	calculation	NOUN
ijassa-1971	34	29	.	.	PUNCT
ijassa-1971	35	1	the	the	DET
ijassa-1971	35	2	fact	fact	NOUN
ijassa-1971	35	3	that	that	SCONJ
ijassa-1971	35	4	the	the	DET
ijassa-1971	35	5	overhead	overhead	ADJ
ijassa-1971	35	6	crane	crane	NOUN
ijassa-1971	35	7	model	model	NOUN
ijassa-1971	35	8	can	can	AUX
ijassa-1971	35	9	be	be	AUX
ijassa-1971	35	10	represented	represent	VERB
ijassa-1971	35	11	in	in	ADP
ijassa-1971	35	12	feedback	feedback	NOUN
ijassa-1971	35	13	linearizable	linearizable	ADJ
ijassa-1971	35	14	form	form	NOUN
ijassa-1971	35	15	means	mean	VERB
ijassa-1971	35	16	that	that	SCONJ
ijassa-1971	35	17	other	other	ADJ
ijassa-1971	35	18	methods	method	NOUN
ijassa-1971	35	19	apart	apart	ADV
ijassa-1971	35	20	from	from	ADP
ijassa-1971	35	21	smc	smc	PROPN
ijassa-1971	35	22	and	and	CCONJ
ijassa-1971	35	23	backstepping	backstepping	NOUN
ijassa-1971	35	24	can	can	AUX
ijassa-1971	35	25	be	be	AUX
ijassa-1971	35	26	applied	apply	VERB
ijassa-1971	35	27	to	to	PART
ijassa-1971	35	28	solve	solve	VERB
ijassa-1971	35	29	the	the	DET
ijassa-1971	35	30	control	control	NOUN
ijassa-1971	35	31	problem	problem	NOUN
ijassa-1971	35	32	under	under	ADP
ijassa-1971	35	33	consideration	consideration	NOUN
ijassa-1971	35	34	,	,	PUNCT
ijassa-1971	35	35	particularly	particularly	ADV
ijassa-1971	35	36	,	,	PUNCT
ijassa-1971	35	37	adaptive	adaptive	ADJ
ijassa-1971	35	38	control	control	NOUN
ijassa-1971	35	39	methods	method	NOUN
ijassa-1971	35	40	[	[	X
ijassa-1971	35	41	15	15	NUM
ijassa-1971	35	42	]	]	PUNCT
ijassa-1971	35	43	.	.	PUNCT
ijassa-1971	36	1	considering	consider	VERB
ijassa-1971	36	2	them	they	PRON
ijassa-1971	36	3	,	,	PUNCT
ijassa-1971	36	4	firstly	firstly	ADV
ijassa-1971	36	5	,	,	PUNCT
ijassa-1971	36	6	an	an	DET
ijassa-1971	36	7	ideal	ideal	ADJ
ijassa-1971	36	8	control	control	NOUN
ijassa-1971	36	9	law	law	NOUN
ijassa-1971	36	10	is	be	AUX
ijassa-1971	36	11	derived	derive	VERB
ijassa-1971	36	12	,	,	PUNCT
ijassa-1971	36	13	which	which	PRON
ijassa-1971	36	14	guarantees	guarantee	VERB
ijassa-1971	36	15	the	the	DET
ijassa-1971	36	16	control	control	NOUN
ijassa-1971	36	17	goal	goal	NOUN
ijassa-1971	36	18	achievement	achievement	NOUN
ijassa-1971	36	19	under	under	ADP
ijassa-1971	36	20	the	the	DET
ijassa-1971	36	21	assumption	assumption	NOUN
ijassa-1971	36	22	that	that	SCONJ
ijassa-1971	36	23	the	the	DET
ijassa-1971	36	24	system	system	NOUN
ijassa-1971	36	25	parameters	parameter	NOUN
ijassa-1971	36	26	are	be	AUX
ijassa-1971	36	27	known	know	VERB
ijassa-1971	36	28	.	.	PUNCT
ijassa-1971	37	1	secondly	secondly	ADV
ijassa-1971	37	2	,	,	PUNCT
ijassa-1971	37	3	using	use	VERB
ijassa-1971	37	4	certainty	certainty	NOUN
ijassa-1971	37	5	equivalence	equivalence	NOUN
ijassa-1971	37	6	principle	principle	NOUN
ijassa-1971	37	7	,	,	PUNCT
ijassa-1971	37	8	the	the	DET
ijassa-1971	37	9	control	control	PROPN
ijassa-1971	37	10	law	law	PROPN
ijassa-1971	37	11	unknown	unknown	ADJ
ijassa-1971	37	12	parameters	parameter	NOUN
ijassa-1971	37	13	are	be	AUX
ijassa-1971	37	14	substituted	substitute	VERB
ijassa-1971	37	15	with	with	ADP
ijassa-1971	37	16	their	their	PRON
ijassa-1971	37	17	dynamic	dynamic	ADJ
ijassa-1971	37	18	estimates	estimate	NOUN
ijassa-1971	37	19	obtained	obtain	VERB
ijassa-1971	37	20	with	with	ADP
ijassa-1971	37	21	the	the	DET
ijassa-1971	37	22	help	help	NOUN
ijassa-1971	37	23	of	of	ADP
ijassa-1971	37	24	adaptive	adaptive	ADJ
ijassa-1971	37	25	laws	law	NOUN
ijassa-1971	37	26	from	from	ADP
ijassa-1971	37	27	initial	initial	ADJ
ijassa-1971	37	28	system	system	NOUN
ijassa-1971	37	29	parametrizations	parametrization	NOUN
ijassa-1971	37	30	represented	represent	VERB
ijassa-1971	37	31	in	in	ADP
ijassa-1971	37	32	the	the	DET
ijassa-1971	37	33	form	form	NOUN
ijassa-1971	37	34	of	of	ADP
ijassa-1971	37	35	linear	linear	PROPN
ijassa-1971	37	36	regression	regression	NOUN
ijassa-1971	37	37	equations	equation	NOUN
ijassa-1971	37	38	.	.	PUNCT
ijassa-1971	38	1	this	this	DET
ijassa-1971	38	2	principle	principle	NOUN
ijassa-1971	38	3	has	have	AUX
ijassa-1971	38	4	already	already	ADV
ijassa-1971	38	5	been	be	AUX
ijassa-1971	38	6	mentioned	mention	VERB
ijassa-1971	38	7	in	in	ADP
ijassa-1971	38	8	this	this	DET
ijassa-1971	38	9	section	section	NOUN
ijassa-1971	38	10	when	when	SCONJ
ijassa-1971	38	11	approach	approach	NOUN
ijassa-1971	38	12	from	from	ADP
ijassa-1971	38	13	[	[	X
ijassa-1971	38	14	22	22	NUM
ijassa-1971	38	15	]	]	PUNCT
ijassa-1971	38	16	was	be	AUX
ijassa-1971	38	17	described	describe	VERB
ijassa-1971	38	18	.	.	PUNCT
ijassa-1971	39	1	to	to	PART
ijassa-1971	39	2	ensure	ensure	VERB
ijassa-1971	39	3	convergence	convergence	NOUN
ijassa-1971	39	4	of	of	ADP
ijassa-1971	39	5	cart	cart	NOUN
ijassa-1971	39	6	and	and	CCONJ
ijassa-1971	39	7	payload	payload	VERB
ijassa-1971	39	8	position	position	NOUN
ijassa-1971	39	9	errors	error	NOUN
ijassa-1971	39	10	to	to	ADP
ijassa-1971	39	11	zero	zero	NUM
ijassa-1971	39	12	,	,	PUNCT
ijassa-1971	39	13	exact	exact	ADJ
ijassa-1971	39	14	estimates	estimate	NOUN
ijassa-1971	39	15	of	of	ADP
ijassa-1971	39	16	the	the	DET
ijassa-1971	39	17	system	system	NOUN
ijassa-1971	39	18	parameters	parameter	NOUN
ijassa-1971	39	19	are	be	AUX
ijassa-1971	39	20	required	require	VERB
ijassa-1971	39	21	,	,	PUNCT
ijassa-1971	39	22	otherwise	otherwise	ADV
ijassa-1971	39	23	only	only	ADV
ijassa-1971	39	24	uniform	uniform	ADJ
ijassa-1971	39	25	ultimate	ultimate	ADJ
ijassa-1971	39	26	boundedness	boundedness	NOUN
ijassa-1971	39	27	of	of	ADP
ijassa-1971	39	28	mentioned	mention	VERB
ijassa-1971	39	29	errors	error	NOUN
ijassa-1971	39	30	can	can	AUX
ijassa-1971	39	31	be	be	AUX
ijassa-1971	39	32	shown	show	VERB
ijassa-1971	39	33	.	.	PUNCT
ijassa-1971	40	1	but	but	CCONJ
ijassa-1971	40	2	existing	exist	VERB
ijassa-1971	40	3	online	online	ADJ
ijassa-1971	40	4	continuous	continuous	ADJ
ijassa-1971	40	5	-	-	PUNCT
ijassa-1971	40	6	time	time	NOUN
ijassa-1971	40	7	parameter	parameter	NOUN
ijassa-1971	40	8	estimation	estimation	NOUN
ijassa-1971	40	9	laws	law	NOUN
ijassa-1971	40	10	provide	provide	VERB
ijassa-1971	40	11	zero	zero	NUM
ijassa-1971	40	12	identification	identification	NOUN
ijassa-1971	40	13	error	error	NOUN
ijassa-1971	40	14	only	only	ADV
ijassa-1971	40	15	if	if	SCONJ
ijassa-1971	40	16	disturbance	disturbance	NOUN
ijassa-1971	40	17	-	-	PUNCT
ijassa-1971	40	18	free	free	ADJ
ijassa-1971	40	19	case	case	NOUN
ijassa-1971	40	20	is	be	AUX
ijassa-1971	40	21	considered	consider	VERB
ijassa-1971	40	22	(	(	PUNCT
ijassa-1971	40	23	like	like	INTJ
ijassa-1971	40	24	in	in	ADP
ijassa-1971	40	25	[	[	X
ijassa-1971	40	26	22	22	NUM
ijassa-1971	40	27	]	]	PUNCT
ijassa-1971	40	28	)	)	PUNCT
ijassa-1971	40	29	or	or	CCONJ
ijassa-1971	40	30	the	the	DET
ijassa-1971	40	31	external	external	ADJ
ijassa-1971	40	32	perturbations	perturbation	NOUN
ijassa-1971	40	33	are	be	AUX
ijassa-1971	40	34	vanishing	vanish	VERB
ijassa-1971	40	35	to	to	ADP
ijassa-1971	40	36	zero	zero	NUM
ijassa-1971	40	37	or	or	CCONJ
ijassa-1971	40	38	independent	independent	ADJ
ijassa-1971	40	39	with	with	ADP
ijassa-1971	40	40	the	the	DET
ijassa-1971	40	41	regressor	regressor	NOUN
ijassa-1971	40	42	of	of	ADP
ijassa-1971	40	43	the	the	DET
ijassa-1971	40	44	system	system	NOUN
ijassa-1971	40	45	,	,	PUNCT
ijassa-1971	40	46	which	which	PRON
ijassa-1971	40	47	are	be	AUX
ijassa-1971	40	48	far	far	ADV
ijassa-1971	40	49	away	away	ADV
ijassa-1971	40	50	from	from	ADP
ijassa-1971	40	51	practical	practical	ADJ
ijassa-1971	40	52	scenarios	scenario	NOUN
ijassa-1971	40	53	[	[	X
ijassa-1971	40	54	2	2	NUM
ijassa-1971	40	55	,	,	PUNCT
ijassa-1971	40	56	8	8	NUM
ijassa-1971	40	57	,	,	PUNCT
ijassa-1971	40	58	18	18	NUM
ijassa-1971	40	59	]	]	PUNCT
ijassa-1971	40	60	.	.	PUNCT
ijassa-1971	41	1	in	in	ADP
ijassa-1971	41	2	[	[	X
ijassa-1971	41	3	6	6	NUM
ijassa-1971	41	4	]	]	PUNCT
ijassa-1971	41	5	the	the	DET
ijassa-1971	41	6	authors	author	NOUN
ijassa-1971	41	7	have	have	AUX
ijassa-1971	41	8	recently	recently	ADV
ijassa-1971	41	9	proposed	propose	VERB
ijassa-1971	41	10	a	a	DET
ijassa-1971	41	11	new	new	ADJ
ijassa-1971	41	12	method	method	NOUN
ijassa-1971	41	13	of	of	ADP
ijassa-1971	41	14	online	online	ADJ
ijassa-1971	41	15	asymptotic	asymptotic	ADJ
ijassa-1971	41	16	identification	identification	NOUN
ijassa-1971	41	17	of	of	ADP
ijassa-1971	41	18	perturbed	perturb	VERB
ijassa-1971	41	19	linear	linear	PROPN
ijassa-1971	41	20	systems	system	NOUN
ijassa-1971	41	21	,	,	PUNCT
ijassa-1971	41	22	which	which	PRON
ijassa-1971	41	23	is	be	AUX
ijassa-1971	41	24	based	base	VERB
ijassa-1971	41	25	on	on	ADP
ijassa-1971	41	26	dynamic	dynamic	ADJ
ijassa-1971	41	27	regressor	regressor	NOUN
ijassa-1971	41	28	extension	extension	NOUN
ijassa-1971	41	29	and	and	CCONJ
ijassa-1971	41	30	mixing	mix	VERB
ijassa-1971	41	31	procedure	procedure	NOUN
ijassa-1971	41	32	[	[	X
ijassa-1971	41	33	3	3	NUM
ijassa-1971	41	34	]	]	PUNCT
ijassa-1971	41	35	and	and	CCONJ
ijassa-1971	41	36	instrumental	instrumental	ADJ
ijassa-1971	41	37	variables	variable	NOUN
ijassa-1971	41	38	approach	approach	VERB
ijassa-1971	41	39	[	[	X
ijassa-1971	41	40	13	13	NUM
ijassa-1971	41	41	]	]	PUNCT
ijassa-1971	41	42	and	and	CCONJ
ijassa-1971	41	43	ensures	ensure	VERB
ijassa-1971	41	44	online	online	ADJ
ijassa-1971	41	45	exact	exact	ADJ
ijassa-1971	41	46	asymptotic	asymptotic	ADJ
ijassa-1971	41	47	estimation	estimation	NOUN
ijassa-1971	41	48	of	of	ADP
ijassa-1971	41	49	the	the	DET
ijassa-1971	41	50	unknown	unknown	ADJ
ijassa-1971	41	51	parameters	parameter	NOUN
ijassa-1971	41	52	of	of	ADP
ijassa-1971	41	53	linear	linear	PROPN
ijassa-1971	41	54	systems	system	NOUN
ijassa-1971	41	55	in	in	ADP
ijassa-1971	41	56	the	the	DET
ijassa-1971	41	57	perturbed	perturb	VERB
ijassa-1971	41	58	case	case	NOUN
ijassa-1971	41	59	even	even	ADV
ijassa-1971	41	60	if	if	SCONJ
ijassa-1971	41	61	the	the	DET
ijassa-1971	41	62	perturbation	perturbation	NOUN
ijassa-1971	41	63	and	and	CCONJ
ijassa-1971	41	64	regressor	regressor	NOUN
ijassa-1971	41	65	of	of	ADP
ijassa-1971	41	66	the	the	DET
ijassa-1971	41	67	system	system	NOUN
ijassa-1971	41	68	are	be	AUX
ijassa-1971	41	69	dependent	dependent	ADJ
ijassa-1971	41	70	.	.	PUNCT
ijassa-1971	42	1	such	such	ADJ
ijassa-1971	42	2	method	method	NOUN
ijassa-1971	42	3	became	become	VERB
ijassa-1971	42	4	an	an	DET
ijassa-1971	42	5	inspiration	inspiration	NOUN
ijassa-1971	42	6	for	for	ADP
ijassa-1971	42	7	this	this	DET
ijassa-1971	42	8	study	study	NOUN
ijassa-1971	42	9	,	,	PUNCT
ijassa-1971	42	10	as	as	SCONJ
ijassa-1971	42	11	it	it	PRON
ijassa-1971	42	12	allows	allow	VERB
ijassa-1971	42	13	one	one	NUM
ijassa-1971	42	14	to	to	PART
ijassa-1971	42	15	overcome	overcome	VERB
ijassa-1971	42	16	the	the	DET
ijassa-1971	42	17	hindrances	hindrance	NOUN
ijassa-1971	42	18	mentioned	mention	VERB
ijassa-1971	42	19	in	in	ADP
ijassa-1971	42	20	the	the	DET
ijassa-1971	42	21	previous	previous	ADJ
ijassa-1971	42	22	paragraph	paragraph	NOUN
ijassa-1971	42	23	.	.	PUNCT
ijassa-1971	43	1	therefore	therefore	ADV
ijassa-1971	43	2	,	,	PUNCT
ijassa-1971	43	3	in	in	ADP
ijassa-1971	43	4	order	order	NOUN
ijassa-1971	43	5	to	to	PART
ijassa-1971	43	6	overcome	overcome	VERB
ijassa-1971	43	7	the	the	DET
ijassa-1971	43	8	above	above	ADV
ijassa-1971	43	9	-	-	PUNCT
ijassa-1971	43	10	mentioned	mention	VERB
ijassa-1971	43	11	limitations	limitation	NOUN
ijassa-1971	43	12	of	of	ADP
ijassa-1971	43	13	the	the	DET
ijassa-1971	43	14	existing	exist	VERB
ijassa-1971	43	15	methods	method	NOUN
ijassa-1971	43	16	for	for	ADP
ijassa-1971	43	17	the	the	DET
ijassa-1971	43	18	crane	crane	NOUN
ijassa-1971	43	19	control	control	NOUN
ijassa-1971	43	20	,	,	PUNCT
ijassa-1971	43	21	in	in	ADP
ijassa-1971	43	22	this	this	DET
ijassa-1971	43	23	study	study	NOUN
ijassa-1971	43	24	we	we	PRON
ijassa-1971	43	25	apply	apply	VERB
ijassa-1971	43	26	the	the	DET
ijassa-1971	43	27	approach	approach	NOUN
ijassa-1971	43	28	from	from	ADP
ijassa-1971	43	29	[	[	X
ijassa-1971	43	30	6	6	NUM
ijassa-1971	43	31	]	]	PUNCT
ijassa-1971	43	32	to	to	PART
ijassa-1971	43	33	propose	propose	VERB
ijassa-1971	43	34	a	a	DET
ijassa-1971	43	35	control	control	NOUN
ijassa-1971	43	36	method	method	NOUN
ijassa-1971	43	37	,	,	PUNCT
ijassa-1971	43	38	which	which	PRON
ijassa-1971	43	39	exhibits	exhibit	VERB
ijassa-1971	43	40	simultaneously	simultaneously	ADV
ijassa-1971	43	41	the	the	DET
ijassa-1971	43	42	following	follow	VERB
ijassa-1971	43	43	remarkable	remarkable	ADJ
ijassa-1971	43	44	properties	property	NOUN
ijassa-1971	43	45	:	:	PUNCT
ijassa-1971	43	46	p1	p1	NOUN
ijassa-1971	43	47	)	)	PUNCT
ijassa-1971	43	48	it	it	PRON
ijassa-1971	43	49	ensures	ensure	VERB
ijassa-1971	43	50	asymptotic	asymptotic	ADJ
ijassa-1971	43	51	convergence	convergence	NOUN
ijassa-1971	43	52	to	to	ADP
ijassa-1971	43	53	zero	zero	NUM
ijassa-1971	43	54	of	of	ADP
ijassa-1971	43	55	both	both	DET
ijassa-1971	43	56	cart	cart	NOUN
ijassa-1971	43	57	/	/	SYM
ijassa-1971	43	58	payload	payload	NOUN
ijassa-1971	43	59	position	position	NOUN
ijassa-1971	43	60	and	and	CCONJ
ijassa-1971	43	61	parametric	parametric	ADJ
ijassa-1971	43	62	errors	error	NOUN
ijassa-1971	43	63	in	in	ADP
ijassa-1971	43	64	case	case	NOUN
ijassa-1971	43	65	when	when	SCONJ
ijassa-1971	43	66	non	non	ADJ
ijassa-1971	43	67	-	-	ADJ
ijassa-1971	43	68	vanishing	vanishing	ADJ
ijassa-1971	43	69	bounded	bounded	ADJ
ijassa-1971	43	70	disturbance	disturbance	NOUN
ijassa-1971	43	71	with	with	ADP
ijassa-1971	43	72	unknown	unknown	ADJ
ijassa-1971	43	73	model	model	NOUN
ijassa-1971	43	74	affects	affect	VERB
ijassa-1971	43	75	the	the	DET
ijassa-1971	43	76	overhead	overhead	ADJ
ijassa-1971	43	77	crane	crane	NOUN
ijassa-1971	43	78	,	,	PUNCT
ijassa-1971	43	79	copyright	copyright	NOUN
ijassa-1971	43	80	©	©	PROPN
ijassa-1971	43	81	2024	2024	NUM
ijassa-1971	43	82	assa	assa	NOUN
ijassa-1971	43	83	.	.	PUNCT
ijassa-1971	44	1	adv	adv	PROPN
ijassa-1971	44	2	syst	syst	PROPN
ijassa-1971	44	3	sci	sci	PROPN
ijassa-1971	44	4	appl	appl	PROPN
ijassa-1971	44	5	(	(	PUNCT
ijassa-1971	44	6	2024	2024	NUM
ijassa-1971	44	7	)	)	PUNCT
ijassa-1971	44	8	84	84	NUM
ijassa-1971	44	9	v.	v.	ADP
ijassa-1971	44	10	petrov	petrov	PROPN
ijassa-1971	44	11	,	,	PUNCT
ijassa-1971	44	12	a.	a.	NOUN
ijassa-1971	44	13	glushchenko	glushchenko	PROPN
ijassa-1971	44	14	,	,	PUNCT
ijassa-1971	44	15	k.	k.	PROPN
ijassa-1971	44	16	lastochkin	lastochkin	PROPN
ijassa-1971	44	17	p2	p2	PROPN
ijassa-1971	44	18	)	)	PUNCT
ijassa-1971	44	19	it	it	PRON
ijassa-1971	44	20	does	do	AUX
ijassa-1971	44	21	not	not	PART
ijassa-1971	44	22	require	require	VERB
ijassa-1971	44	23	prior	prior	ADJ
ijassa-1971	44	24	knowledge	knowledge	NOUN
ijassa-1971	44	25	of	of	ADP
ijassa-1971	44	26	system	system	NOUN
ijassa-1971	44	27	real	real	ADJ
ijassa-1971	44	28	/	/	SYM
ijassa-1971	44	29	nominal	nominal	ADJ
ijassa-1971	44	30	parameters	parameter	NOUN
ijassa-1971	44	31	and	and	CCONJ
ijassa-1971	44	32	disturbance	disturbance	NOUN
ijassa-1971	44	33	or	or	CCONJ
ijassa-1971	44	34	their	their	PRON
ijassa-1971	44	35	bounds	bound	NOUN
ijassa-1971	44	36	,	,	PUNCT
ijassa-1971	44	37	p3	p3	PROPN
ijassa-1971	44	38	)	)	PUNCT
ijassa-1971	44	39	it	it	PRON
ijassa-1971	44	40	does	do	AUX
ijassa-1971	44	41	not	not	PART
ijassa-1971	44	42	use	use	VERB
ijassa-1971	44	43	smc	smc	NOUN
ijassa-1971	44	44	approach	approach	NOUN
ijassa-1971	44	45	and	and	CCONJ
ijassa-1971	44	46	free	free	ADJ
ijassa-1971	44	47	from	from	ADP
ijassa-1971	44	48	complexity	complexity	NOUN
ijassa-1971	44	49	of	of	ADP
ijassa-1971	44	50	the	the	DET
ijassa-1971	44	51	backstepping	backstepping	NOUN
ijassa-1971	44	52	-	-	PUNCT
ijassa-1971	44	53	based	base	VERB
ijassa-1971	44	54	control	control	NOUN
ijassa-1971	44	55	laws	law	NOUN
ijassa-1971	44	56	.	.	PUNCT
ijassa-1971	45	1	the	the	DET
ijassa-1971	45	2	remaining	remain	VERB
ijassa-1971	45	3	parts	part	NOUN
ijassa-1971	45	4	of	of	ADP
ijassa-1971	45	5	this	this	DET
ijassa-1971	45	6	paper	paper	NOUN
ijassa-1971	45	7	are	be	AUX
ijassa-1971	45	8	organized	organize	VERB
ijassa-1971	45	9	as	as	SCONJ
ijassa-1971	45	10	follows	follow	VERB
ijassa-1971	45	11	.	.	PUNCT
ijassa-1971	46	1	the	the	DET
ijassa-1971	46	2	rigorous	rigorous	ADJ
ijassa-1971	46	3	problem	problem	NOUN
ijassa-1971	46	4	statement	statement	NOUN
ijassa-1971	46	5	is	be	AUX
ijassa-1971	46	6	given	give	VERB
ijassa-1971	46	7	in	in	ADP
ijassa-1971	46	8	in	in	ADP
ijassa-1971	46	9	section	section	PROPN
ijassa-1971	46	10	ii	ii	PROPN
ijassa-1971	46	11	.	.	PUNCT
ijassa-1971	47	1	main	main	ADJ
ijassa-1971	47	2	result	result	NOUN
ijassa-1971	47	3	is	be	AUX
ijassa-1971	47	4	elucidated	elucidate	VERB
ijassa-1971	47	5	in	in	ADP
ijassa-1971	47	6	section	section	PROPN
ijassa-1971	47	7	iii	iii	PROPN
ijassa-1971	47	8	.	.	PUNCT
ijassa-1971	47	9	section	section	NOUN
ijassa-1971	47	10	iv	iv	NUM
ijassa-1971	47	11	presents	present	VERB
ijassa-1971	47	12	the	the	DET
ijassa-1971	47	13	results	result	NOUN
ijassa-1971	47	14	of	of	ADP
ijassa-1971	47	15	the	the	DET
ijassa-1971	47	16	numerical	numerical	ADJ
ijassa-1971	47	17	experiments	experiment	NOUN
ijassa-1971	47	18	followed	follow	VERB
ijassa-1971	47	19	by	by	ADP
ijassa-1971	47	20	the	the	DET
ijassa-1971	47	21	conclusions	conclusion	NOUN
ijassa-1971	47	22	in	in	ADP
ijassa-1971	47	23	section	section	NOUN
ijassa-1971	47	24	v.	v.	CCONJ
ijassa-1971	47	25	finally	finally	ADV
ijassa-1971	47	26	,	,	PUNCT
ijassa-1971	47	27	proofs	proof	NOUN
ijassa-1971	47	28	are	be	AUX
ijassa-1971	47	29	postponed	postpone	VERB
ijassa-1971	47	30	to	to	ADP
ijassa-1971	47	31	appendix	appendix	VERB
ijassa-1971	47	32	.	.	PUNCT
ijassa-1971	48	1	notation	notation	NOUN
ijassa-1971	48	2	.	.	PUNCT
ijassa-1971	49	1	further	far	ADV
ijassa-1971	49	2	the	the	DET
ijassa-1971	49	3	following	follow	VERB
ijassa-1971	49	4	notation	notation	NOUN
ijassa-1971	49	5	is	be	AUX
ijassa-1971	49	6	used	use	VERB
ijassa-1971	49	7	:	:	PUNCT
ijassa-1971	49	8	|.|	|.|	NOUN
ijassa-1971	49	9	is	be	AUX
ijassa-1971	49	10	the	the	DET
ijassa-1971	49	11	absolute	absolute	ADJ
ijassa-1971	49	12	value	value	NOUN
ijassa-1971	49	13	,	,	PUNCT
ijassa-1971	49	14	∥.∥	∥.∥	PUNCT
ijassa-1971	49	15	is	be	AUX
ijassa-1971	49	16	the	the	DET
ijassa-1971	49	17	suitable	suitable	ADJ
ijassa-1971	49	18	norm	norm	NOUN
ijassa-1971	49	19	of	of	ADP
ijassa-1971	49	20	(	(	PUNCT
ijassa-1971	49	21	.	.	PUNCT
ijassa-1971	49	22	)	)	PUNCT
ijassa-1971	49	23	,	,	PUNCT
ijassa-1971	49	24	in×n	in×n	NOUN
ijassa-1971	49	25	=	=	SYM
ijassa-1971	49	26	in	in	SCONJ
ijassa-1971	49	27	is	be	AUX
ijassa-1971	49	28	an	an	DET
ijassa-1971	49	29	identity	identity	NOUN
ijassa-1971	49	30	n×	n×	NOUN
ijassa-1971	49	31	n	n	PRON
ijassa-1971	49	32	matrix	matrix	NOUN
ijassa-1971	49	33	,	,	PUNCT
ijassa-1971	49	34	0n×n	0n×n	NUM
ijassa-1971	49	35	is	be	AUX
ijassa-1971	49	36	a	a	DET
ijassa-1971	49	37	zero	zero	NUM
ijassa-1971	49	38	n×	n×	NOUN
ijassa-1971	49	39	n	n	NOUN
ijassa-1971	49	40	matrix	matrix	NOUN
ijassa-1971	49	41	,	,	PUNCT
ijassa-1971	49	42	0n	0n	NOUN
ijassa-1971	49	43	stands	stand	VERB
ijassa-1971	49	44	for	for	ADP
ijassa-1971	49	45	a	a	DET
ijassa-1971	49	46	zero	zero	NUM
ijassa-1971	49	47	vector	vector	NOUN
ijassa-1971	49	48	of	of	ADP
ijassa-1971	49	49	length	length	NOUN
ijassa-1971	49	50	n	n	PROPN
ijassa-1971	49	51	,	,	PUNCT
ijassa-1971	49	52	det	det	PROPN
ijassa-1971	49	53	{	{	PUNCT
ijassa-1971	49	54	.	.	PUNCT
ijassa-1971	49	55	}	}	PUNCT
ijassa-1971	49	56	stands	stand	VERB
ijassa-1971	49	57	for	for	ADP
ijassa-1971	49	58	a	a	DET
ijassa-1971	49	59	matrix	matrix	NOUN
ijassa-1971	49	60	determinant	determinant	ADJ
ijassa-1971	49	61	,	,	PUNCT
ijassa-1971	49	62	adj	adj	X
ijassa-1971	49	63	{	{	PUNCT
ijassa-1971	49	64	.	.	PUNCT
ijassa-1971	49	65	}	}	PUNCT
ijassa-1971	49	66	represents	represent	VERB
ijassa-1971	49	67	an	an	DET
ijassa-1971	49	68	adjoint	adjoint	NOUN
ijassa-1971	49	69	matrix	matrix	NOUN
ijassa-1971	49	70	.	.	PUNCT
ijassa-1971	50	1	we	we	PRON
ijassa-1971	50	2	also	also	ADV
ijassa-1971	50	3	use	use	VERB
ijassa-1971	50	4	the	the	DET
ijassa-1971	50	5	fact	fact	NOUN
ijassa-1971	50	6	that	that	SCONJ
ijassa-1971	50	7	for	for	ADP
ijassa-1971	50	8	all	all	PRON
ijassa-1971	50	9	(	(	PUNCT
ijassa-1971	50	10	possibly	possibly	ADV
ijassa-1971	50	11	singular	singular	PROPN
ijassa-1971	50	12	)	)	PUNCT
ijassa-1971	50	13	n×	n×	PROPN
ijassa-1971	50	14	n	n	PROPN
ijassa-1971	50	15	matrices	matrix	NOUN
ijassa-1971	50	16	m	m	VERB
ijassa-1971	50	17	the	the	DET
ijassa-1971	50	18	following	follow	VERB
ijassa-1971	50	19	holds	hold	VERB
ijassa-1971	50	20	:	:	PUNCT
ijassa-1971	50	21	adj{m}m	adj{m}m	PUNCT
ijassa-1971	50	22	=	=	PUNCT
ijassa-1971	50	23	det{m}in×n	det{m}in×n	PROPN
ijassa-1971	50	24	and	and	CCONJ
ijassa-1971	50	25	say	say	VERB
ijassa-1971	50	26	that	that	SCONJ
ijassa-1971	50	27	f	f	PROPN
ijassa-1971	50	28	∈	∈	PROPN
ijassa-1971	50	29	lq	lq	VERB
ijassa-1971	50	30	if	if	SCONJ
ijassa-1971	50	31	q	q	NOUN
ijassa-1971	50	32	√	√	VERB
ijassa-1971	50	33	t∫	t∫	PROPN
ijassa-1971	50	34	t0	t0	PROPN
ijassa-1971	50	35	|f	|f	PROPN
ijassa-1971	51	1	(	(	PUNCT
ijassa-1971	51	2	s)|qds	s)|qds	PROPN
ijassa-1971	51	3	<	<	X
ijassa-1971	51	4	∞	∞	PROPN
ijassa-1971	51	5	for	for	ADP
ijassa-1971	51	6	all	all	DET
ijassa-1971	51	7	t	t	PROPN
ijassa-1971	51	8	≥	≥	PROPN
ijassa-1971	51	9	t0	t0	NOUN
ijassa-1971	51	10	.	.	PUNCT
ijassa-1971	52	1	2	2	X
ijassa-1971	52	2	.	.	X
ijassa-1971	52	3	problem	problem	NOUN
ijassa-1971	52	4	statement	statement	NOUN
ijassa-1971	52	5	a	a	DET
ijassa-1971	52	6	mathematical	mathematical	ADJ
ijassa-1971	52	7	model	model	NOUN
ijassa-1971	52	8	of	of	ADP
ijassa-1971	52	9	a	a	DET
ijassa-1971	52	10	2d	2d	NUM
ijassa-1971	52	11	overhead	overhead	ADJ
ijassa-1971	52	12	crane	crane	NOUN
ijassa-1971	52	13	is	be	AUX
ijassa-1971	52	14	considered	consider	VERB
ijassa-1971	52	15	:	:	PUNCT
ijassa-1971	52	16	(	(	PUNCT
ijassa-1971	52	17	m	m	VERB
ijassa-1971	52	18	+	+	NOUN
ijassa-1971	52	19	m	m	X
ijassa-1971	52	20	)	)	PUNCT
ijassa-1971	52	21	q̈1+mlq̈2cos	q̈1+mlq̈2cos	PROPN
ijassa-1971	52	22	(	(	PUNCT
ijassa-1971	52	23	q2)−mlq̇22sin	q2)−mlq̇22sin	NOUN
ijassa-1971	52	24	(	(	PUNCT
ijassa-1971	52	25	q2	q2	NOUN
ijassa-1971	52	26	)	)	PUNCT
ijassa-1971	52	27	=	=	PUNCT
ijassa-1971	53	1	τ	τ	PROPN
ijassa-1971	54	1	+	+	CCONJ
ijassa-1971	54	2	τd	τd	ADJ
ijassa-1971	54	3	,	,	PUNCT
ijassa-1971	54	4	ml2q̈2	ml2q̈2	VERB
ijassa-1971	54	5	+	+	NOUN
ijassa-1971	54	6	mlq̈1cos	mlq̈1cos	X
ijassa-1971	54	7	(	(	PUNCT
ijassa-1971	54	8	q2	q2	NOUN
ijassa-1971	54	9	)	)	PUNCT
ijassa-1971	55	1	+	+	VERB
ijassa-1971	55	2	mglsin	mglsin	X
ijassa-1971	55	3	(	(	PUNCT
ijassa-1971	55	4	q2	q2	NOUN
ijassa-1971	55	5	)	)	PUNCT
ijassa-1971	55	6	=	=	SYM
ijassa-1971	55	7	0	0	NUM
ijassa-1971	55	8	,	,	PUNCT
ijassa-1971	55	9	(	(	PUNCT
ijassa-1971	55	10	2.1	2.1	NUM
ijassa-1971	55	11	)	)	PUNCT
ijassa-1971	55	12	where	where	SCONJ
ijassa-1971	55	13	q1	q1	PROPN
ijassa-1971	55	14	∈	∈	PROPN
ijassa-1971	55	15	r	r	NOUN
ijassa-1971	55	16	stands	stand	VERB
ijassa-1971	55	17	for	for	ADP
ijassa-1971	55	18	a	a	DET
ijassa-1971	55	19	trolley	trolley	NOUN
ijassa-1971	55	20	position	position	NOUN
ijassa-1971	55	21	,	,	PUNCT
ijassa-1971	55	22	q2	q2	PROPN
ijassa-1971	55	23	∈	∈	PROPN
ijassa-1971	55	24	r	r	NOUN
ijassa-1971	55	25	denote	denote	VERB
ijassa-1971	55	26	a	a	DET
ijassa-1971	55	27	payload	payload	NOUN
ijassa-1971	55	28	swing	swing	NOUN
ijassa-1971	55	29	angle	angle	NOUN
ijassa-1971	55	30	,	,	PUNCT
ijassa-1971	55	31	τ	τ	PROPN
ijassa-1971	55	32	∈	∈	PROPN
ijassa-1971	55	33	r	r	NOUN
ijassa-1971	55	34	is	be	AUX
ijassa-1971	55	35	a	a	DET
ijassa-1971	55	36	control	control	NOUN
ijassa-1971	55	37	signal	signal	NOUN
ijassa-1971	55	38	,	,	PUNCT
ijassa-1971	55	39	τd	τd	SCONJ
ijassa-1971	55	40	∈	∈	NOUN
ijassa-1971	55	41	r	r	NOUN
ijassa-1971	55	42	is	be	AUX
ijassa-1971	55	43	an	an	DET
ijassa-1971	55	44	unknown	unknown	ADJ
ijassa-1971	55	45	external	external	ADJ
ijassa-1971	55	46	perturbation	perturbation	NOUN
ijassa-1971	55	47	.	.	PUNCT
ijassa-1971	56	1	the	the	DET
ijassa-1971	56	2	masses	masse	NOUN
ijassa-1971	56	3	of	of	ADP
ijassa-1971	56	4	the	the	DET
ijassa-1971	56	5	trolley	trolley	NOUN
ijassa-1971	56	6	m	m	NOUN
ijassa-1971	56	7	and	and	CCONJ
ijassa-1971	56	8	payload	payload	ADJ
ijassa-1971	56	9	m	m	NOUN
ijassa-1971	56	10	are	be	AUX
ijassa-1971	56	11	unknown	unknown	ADJ
ijassa-1971	56	12	,	,	PUNCT
ijassa-1971	56	13	the	the	DET
ijassa-1971	56	14	gravity	gravity	NOUN
ijassa-1971	56	15	constant	constant	ADJ
ijassa-1971	56	16	g	g	NOUN
ijassa-1971	56	17	and	and	CCONJ
ijassa-1971	56	18	the	the	DET
ijassa-1971	56	19	cable	cable	NOUN
ijassa-1971	56	20	length	length	NOUN
ijassa-1971	56	21	l	l	NOUN
ijassa-1971	56	22	are	be	AUX
ijassa-1971	56	23	known	know	VERB
ijassa-1971	56	24	.	.	PUNCT
ijassa-1971	57	1	the	the	DET
ijassa-1971	57	2	following	follow	VERB
ijassa-1971	57	3	assumptions	assumption	NOUN
ijassa-1971	57	4	are	be	AUX
ijassa-1971	57	5	adopted	adopt	VERB
ijassa-1971	57	6	for	for	ADP
ijassa-1971	57	7	the	the	DET
ijassa-1971	57	8	system	system	NOUN
ijassa-1971	57	9	(	(	PUNCT
ijassa-1971	57	10	2.1	2.1	NUM
ijassa-1971	57	11	)	)	PUNCT
ijassa-1971	57	12	.	.	PUNCT
ijassa-1971	58	1	assumption	assumption	NOUN
ijassa-1971	58	2	1	1	NUM
ijassa-1971	58	3	.	.	PUNCT
ijassa-1971	59	1	the	the	DET
ijassa-1971	59	2	payload	payload	NOUN
ijassa-1971	59	3	swing	swing	NOUN
ijassa-1971	59	4	angle	angle	NOUN
ijassa-1971	59	5	q2	q2	NOUN
ijassa-1971	59	6	is	be	AUX
ijassa-1971	59	7	mechanically	mechanically	ADV
ijassa-1971	59	8	bounded	bound	VERB
ijassa-1971	59	9	,	,	PUNCT
ijassa-1971	59	10	i.e.	i.e.	X
ijassa-1971	59	11	,	,	PUNCT
ijassa-1971	59	12	q2	q2	PROPN
ijassa-1971	59	13	∈	∈	PROPN
ijassa-1971	59	14	(	(	PUNCT
ijassa-1971	59	15	−π	−π	ADV
ijassa-1971	59	16	2	2	NUM
ijassa-1971	59	17	,	,	PUNCT
ijassa-1971	59	18	π	π	PROPN
ijassa-1971	59	19	2	2	NUM
ijassa-1971	59	20	)	)	PUNCT
ijassa-1971	59	21	.	.	PUNCT
ijassa-1971	60	1	assumption	assumption	NOUN
ijassa-1971	60	2	2	2	X
ijassa-1971	60	3	.	.	PUNCT
ijassa-1971	61	1	it	it	PRON
ijassa-1971	61	2	holds	hold	VERB
ijassa-1971	61	3	that	that	SCONJ
ijassa-1971	61	4	l	l	NOUN
ijassa-1971	61	5	g	g	PROPN
ijassa-1971	61	6	cos(q2	cos(q2	NOUN
ijassa-1971	61	7	)	)	PUNCT
ijassa-1971	61	8	q̇22	q̇22	NOUN
ijassa-1971	61	9	≪	≪	ADJ
ijassa-1971	61	10	1	1	NUM
ijassa-1971	61	11	.	.	PUNCT
ijassa-1971	61	12	assumption	assumption	NOUN
ijassa-1971	61	13	3	3	X
ijassa-1971	61	14	.	.	PUNCT
ijassa-1971	62	1	it	it	PRON
ijassa-1971	62	2	holds	hold	VERB
ijassa-1971	62	3	that	that	DET
ijassa-1971	62	4	τ̇d	τ̇d	NOUN
ijassa-1971	62	5	(	(	PUNCT
ijassa-1971	62	6	t	t	NOUN
ijassa-1971	62	7	)	)	PUNCT
ijassa-1971	62	8	∈	∈	PROPN
ijassa-1971	62	9	lp	lp	NOUN
ijassa-1971	62	10	∩	∩	X
ijassa-1971	62	11	l∞	l∞	NOUN
ijassa-1971	62	12	for	for	ADP
ijassa-1971	62	13	1	1	NUM
ijassa-1971	62	14	≤	≤	NOUN
ijassa-1971	62	15	p	p	NOUN
ijassa-1971	62	16	<	<	X
ijassa-1971	62	17	∞.	∞.	PROPN
ijassa-1971	62	18	the	the	DET
ijassa-1971	62	19	control	control	NOUN
ijassa-1971	62	20	goal	goal	NOUN
ijassa-1971	62	21	for	for	ADP
ijassa-1971	62	22	(	(	PUNCT
ijassa-1971	62	23	2.1	2.1	NUM
ijassa-1971	62	24	)	)	PUNCT
ijassa-1971	62	25	is	be	AUX
ijassa-1971	62	26	formulated	formulate	VERB
ijassa-1971	62	27	as	as	ADP
ijassa-1971	62	28	simultaneous	simultaneous	ADJ
ijassa-1971	62	29	stabilization	stabilization	NOUN
ijassa-1971	62	30	of	of	ADP
ijassa-1971	62	31	the	the	DET
ijassa-1971	62	32	payload	payload	NOUN
ijassa-1971	62	33	swing	swing	NOUN
ijassa-1971	62	34	angle	angle	NOUN
ijassa-1971	62	35	q2	q2	NOUN
ijassa-1971	62	36	at	at	ADP
ijassa-1971	62	37	zero	zero	NUM
ijassa-1971	62	38	and	and	CCONJ
ijassa-1971	62	39	asymptotic	asymptotic	ADJ
ijassa-1971	62	40	tracking	tracking	NOUN
ijassa-1971	62	41	of	of	ADP
ijassa-1971	62	42	the	the	DET
ijassa-1971	62	43	reference	reference	NOUN
ijassa-1971	62	44	position	position	NOUN
ijassa-1971	62	45	signal	signal	NOUN
ijassa-1971	62	46	by	by	ADP
ijassa-1971	62	47	the	the	DET
ijassa-1971	62	48	trolley	trolley	NOUN
ijassa-1971	62	49	.	.	PUNCT
ijassa-1971	63	1	considering	consider	VERB
ijassa-1971	63	2	the	the	DET
ijassa-1971	63	3	states	state	NOUN
ijassa-1971	63	4	x1	x1	PROPN
ijassa-1971	63	5	=	=	SYM
ijassa-1971	63	6	q1	q1	PROPN
ijassa-1971	63	7	,	,	PUNCT
ijassa-1971	63	8	x2	x2	PROPN
ijassa-1971	63	9	=	=	PUNCT
ijassa-1971	63	10	q̇1	q̇1	PROPN
ijassa-1971	63	11	,	,	PUNCT
ijassa-1971	63	12	x3	x3	NOUN
ijassa-1971	63	13	=	=	SYM
ijassa-1971	63	14	q2	q2	NOUN
ijassa-1971	63	15	,	,	PUNCT
ijassa-1971	63	16	x4	x4	PROPN
ijassa-1971	63	17	=	=	SYM
ijassa-1971	63	18	q̇2	q̇2	PROPN
ijassa-1971	63	19	,	,	PUNCT
ijassa-1971	63	20	this	this	DET
ijassa-1971	63	21	goal	goal	NOUN
ijassa-1971	63	22	can	can	AUX
ijassa-1971	63	23	be	be	AUX
ijassa-1971	63	24	written	write	VERB
ijassa-1971	63	25	as	as	SCONJ
ijassa-1971	63	26	follows	follow	VERB
ijassa-1971	63	27	:	:	PUNCT
ijassa-1971	63	28	lim	lim	PROPN
ijassa-1971	63	29	t→∞	t→∞	X
ijassa-1971	63	30	∥x	∥x	PROPN
ijassa-1971	63	31	(	(	PUNCT
ijassa-1971	63	32	t)−	t)−	PROPN
ijassa-1971	63	33	xd∥	xd∥	PROPN
ijassa-1971	63	34	=	=	SYM
ijassa-1971	63	35	0	0	PROPN
ijassa-1971	63	36	,	,	PUNCT
ijassa-1971	63	37	(	(	PUNCT
ijassa-1971	63	38	2.2	2.2	NUM
ijassa-1971	63	39	)	)	PUNCT
ijassa-1971	63	40	where	where	SCONJ
ijassa-1971	63	41	xd	xd	ADV
ijassa-1971	63	42	=	=	SYM
ijassa-1971	64	1	[	[	X
ijassa-1971	64	2	x1d	x1d	NOUN
ijassa-1971	64	3	0	0	NUM
ijassa-1971	64	4	0	0	NUM
ijassa-1971	64	5	0]t	0]t	NOUN
ijassa-1971	64	6	.	.	PUNCT
ijassa-1971	65	1	3	3	X
ijassa-1971	65	2	.	.	X
ijassa-1971	65	3	main	main	ADJ
ijassa-1971	65	4	result	result	NOUN
ijassa-1971	65	5	the	the	DET
ijassa-1971	65	6	main	main	ADJ
ijassa-1971	65	7	result	result	NOUN
ijassa-1971	65	8	of	of	ADP
ijassa-1971	65	9	the	the	DET
ijassa-1971	65	10	study	study	NOUN
ijassa-1971	65	11	is	be	AUX
ijassa-1971	65	12	divided	divide	VERB
ijassa-1971	65	13	into	into	ADP
ijassa-1971	65	14	three	three	NUM
ijassa-1971	65	15	parts	part	NOUN
ijassa-1971	65	16	.	.	PUNCT
ijassa-1971	66	1	in	in	ADP
ijassa-1971	66	2	the	the	DET
ijassa-1971	66	3	first	first	ADJ
ijassa-1971	66	4	one	one	NUM
ijassa-1971	66	5	,	,	PUNCT
ijassa-1971	66	6	using	use	VERB
ijassa-1971	66	7	[	[	X
ijassa-1971	66	8	9	9	NUM
ijassa-1971	66	9	]	]	PUNCT
ijassa-1971	66	10	and	and	CCONJ
ijassa-1971	66	11	assumptions	assumption	NOUN
ijassa-1971	66	12	1	1	NUM
ijassa-1971	66	13	and	and	CCONJ
ijassa-1971	66	14	2	2	NUM
ijassa-1971	66	15	,	,	PUNCT
ijassa-1971	66	16	the	the	DET
ijassa-1971	66	17	system	system	NOUN
ijassa-1971	66	18	is	be	AUX
ijassa-1971	66	19	transformed	transform	VERB
ijassa-1971	66	20	into	into	ADP
ijassa-1971	66	21	a	a	DET
ijassa-1971	66	22	feedback	feedback	NOUN
ijassa-1971	66	23	linearizable	linearizable	ADJ
ijassa-1971	66	24	form	form	NOUN
ijassa-1971	66	25	.	.	PUNCT
ijassa-1971	67	1	in	in	ADP
ijassa-1971	67	2	the	the	DET
ijassa-1971	67	3	second	second	ADJ
ijassa-1971	67	4	part	part	NOUN
ijassa-1971	67	5	,	,	PUNCT
ijassa-1971	67	6	an	an	DET
ijassa-1971	67	7	ideal	ideal	ADJ
ijassa-1971	67	8	control	control	NOUN
ijassa-1971	67	9	law	law	NOUN
ijassa-1971	67	10	is	be	AUX
ijassa-1971	67	11	derived	derive	VERB
ijassa-1971	67	12	that	that	PRON
ijassa-1971	67	13	allows	allow	VERB
ijassa-1971	67	14	one	one	PRON
ijassa-1971	67	15	to	to	PART
ijassa-1971	67	16	achieve	achieve	VERB
ijassa-1971	67	17	the	the	DET
ijassa-1971	67	18	stated	state	VERB
ijassa-1971	67	19	goal	goal	NOUN
ijassa-1971	67	20	in	in	ADP
ijassa-1971	67	21	case	case	NOUN
ijassa-1971	67	22	that	that	SCONJ
ijassa-1971	67	23	all	all	DET
ijassa-1971	67	24	plant	plant	NOUN
ijassa-1971	67	25	parameters	parameter	NOUN
ijassa-1971	67	26	are	be	AUX
ijassa-1971	67	27	known	know	VERB
ijassa-1971	67	28	.	.	PUNCT
ijassa-1971	68	1	in	in	ADP
ijassa-1971	68	2	the	the	DET
ijassa-1971	68	3	third	third	ADJ
ijassa-1971	68	4	part	part	NOUN
ijassa-1971	68	5	,	,	PUNCT
ijassa-1971	68	6	a	a	DET
ijassa-1971	68	7	procedure	procedure	NOUN
ijassa-1971	68	8	from	from	ADP
ijassa-1971	68	9	[	[	X
ijassa-1971	68	10	6	6	NUM
ijassa-1971	68	11	]	]	PUNCT
ijassa-1971	68	12	is	be	AUX
ijassa-1971	68	13	used	use	VERB
ijassa-1971	68	14	to	to	PART
ijassa-1971	68	15	form	form	VERB
ijassa-1971	68	16	an	an	DET
ijassa-1971	68	17	estimation	estimation	NOUN
ijassa-1971	68	18	law	law	NOUN
ijassa-1971	68	19	for	for	ADP
ijassa-1971	68	20	exact	exact	ADJ
ijassa-1971	68	21	identification	identification	NOUN
ijassa-1971	68	22	of	of	ADP
ijassa-1971	68	23	parameters	parameter	NOUN
ijassa-1971	68	24	of	of	ADP
ijassa-1971	68	25	the	the	DET
ijassa-1971	68	26	overhead	overhead	ADJ
ijassa-1971	68	27	crane	crane	NOUN
ijassa-1971	68	28	affected	affect	VERB
ijassa-1971	68	29	by	by	ADP
ijassa-1971	68	30	perturbations	perturbation	NOUN
ijassa-1971	68	31	,	,	PUNCT
ijassa-1971	68	32	and	and	CCONJ
ijassa-1971	68	33	then	then	ADV
ijassa-1971	68	34	an	an	DET
ijassa-1971	68	35	adaptive	adaptive	ADJ
ijassa-1971	68	36	control	control	NOUN
ijassa-1971	68	37	system	system	NOUN
ijassa-1971	68	38	is	be	AUX
ijassa-1971	68	39	designed	design	VERB
ijassa-1971	68	40	that	that	PRON
ijassa-1971	68	41	ensures	ensure	VERB
ijassa-1971	68	42	the	the	DET
ijassa-1971	68	43	goal	goal	NOUN
ijassa-1971	68	44	(	(	PUNCT
ijassa-1971	68	45	2.2	2.2	NUM
ijassa-1971	68	46	)	)	PUNCT
ijassa-1971	68	47	achievement	achievement	NOUN
ijassa-1971	68	48	in	in	ADP
ijassa-1971	68	49	case	case	NOUN
ijassa-1971	68	50	of	of	ADP
ijassa-1971	68	51	unknown	unknown	ADJ
ijassa-1971	68	52	crane	crane	NOUN
ijassa-1971	68	53	parameters	parameter	NOUN
ijassa-1971	68	54	.	.	PUNCT
ijassa-1971	69	1	copyright	copyright	NOUN
ijassa-1971	69	2	©	©	PROPN
ijassa-1971	69	3	2024	2024	NUM
ijassa-1971	69	4	assa	assa	NOUN
ijassa-1971	69	5	.	.	PUNCT
ijassa-1971	70	1	adv	adv	PROPN
ijassa-1971	70	2	syst	syst	PROPN
ijassa-1971	70	3	sci	sci	PROPN
ijassa-1971	70	4	appl	appl	PROPN
ijassa-1971	70	5	(	(	PUNCT
ijassa-1971	70	6	2024	2024	NUM
ijassa-1971	70	7	)	)	PUNCT
ijassa-1971	70	8	adaptive	adaptive	ADJ
ijassa-1971	70	9	disturbance	disturbance	NOUN
ijassa-1971	70	10	rejection	rejection	NOUN
ijassa-1971	70	11	control	control	NOUN
ijassa-1971	70	12	of	of	ADP
ijassa-1971	70	13	2d	2d	PROPN
ijassa-1971	70	14	crane	crane	NOUN
ijassa-1971	70	15	...	...	PUNCT
ijassa-1971	70	16	85	85	NUM
ijassa-1971	70	17	3.1	3.1	NUM
ijassa-1971	70	18	.	.	PUNCT
ijassa-1971	70	19	system	system	NOUN
ijassa-1971	70	20	parametrization	parametrization	NOUN
ijassa-1971	70	21	in	in	ADP
ijassa-1971	70	22	this	this	DET
ijassa-1971	70	23	subsection	subsection	NOUN
ijassa-1971	70	24	transformations	transformation	NOUN
ijassa-1971	70	25	from	from	ADP
ijassa-1971	70	26	[	[	X
ijassa-1971	70	27	9	9	NUM
ijassa-1971	70	28	]	]	PUNCT
ijassa-1971	70	29	are	be	AUX
ijassa-1971	70	30	described	describe	VERB
ijassa-1971	70	31	to	to	PART
ijassa-1971	70	32	convert	convert	VERB
ijassa-1971	70	33	the	the	DET
ijassa-1971	70	34	system	system	NOUN
ijassa-1971	70	35	into	into	ADP
ijassa-1971	70	36	a	a	DET
ijassa-1971	70	37	feedback	feedback	NOUN
ijassa-1971	70	38	linearizable	linearizable	ADJ
ijassa-1971	70	39	form	form	NOUN
ijassa-1971	70	40	.	.	PUNCT
ijassa-1971	71	1	the	the	DET
ijassa-1971	71	2	term	term	NOUN
ijassa-1971	71	3	q̈1	q̈1	NOUN
ijassa-1971	71	4	is	be	AUX
ijassa-1971	71	5	expressed	express	VERB
ijassa-1971	71	6	from	from	ADP
ijassa-1971	71	7	the	the	DET
ijassa-1971	71	8	second	second	ADJ
ijassa-1971	71	9	equation	equation	NOUN
ijassa-1971	71	10	of	of	ADP
ijassa-1971	71	11	(	(	PUNCT
ijassa-1971	71	12	2.1	2.1	NUM
ijassa-1971	71	13	):	):	PUNCT
ijassa-1971	71	14	q̈1	q̈1	NOUN
ijassa-1971	71	15	=	=	SYM
ijassa-1971	71	16	−ml2q̈2	−ml2q̈2	PROPN
ijassa-1971	71	17	−mglsin	−mglsin	NOUN
ijassa-1971	71	18	(	(	PUNCT
ijassa-1971	71	19	q2	q2	NOUN
ijassa-1971	71	20	)	)	PUNCT
ijassa-1971	71	21	mlcos	mlcos	PROPN
ijassa-1971	71	22	(	(	PUNCT
ijassa-1971	71	23	q2	q2	NOUN
ijassa-1971	71	24	)	)	PUNCT
ijassa-1971	71	25	=	=	SYM
ijassa-1971	71	26	−gtan	−gtan	PROPN
ijassa-1971	71	27	(	(	PUNCT
ijassa-1971	71	28	q2)−	q2)−	PROPN
ijassa-1971	71	29	lq̈2sec	lq̈2sec	PROPN
ijassa-1971	71	30	(	(	PUNCT
ijassa-1971	71	31	q2	q2	NOUN
ijassa-1971	71	32	)	)	PUNCT
ijassa-1971	71	33	.	.	PUNCT
ijassa-1971	72	1	(	(	PUNCT
ijassa-1971	72	2	3.3	3.3	NUM
ijassa-1971	72	3	)	)	PUNCT
ijassa-1971	72	4	equation	equation	NOUN
ijassa-1971	72	5	(	(	PUNCT
ijassa-1971	72	6	3.3	3.3	NUM
ijassa-1971	72	7	)	)	PUNCT
ijassa-1971	72	8	is	be	AUX
ijassa-1971	72	9	substituted	substitute	VERB
ijassa-1971	72	10	into	into	ADP
ijassa-1971	72	11	(	(	PUNCT
ijassa-1971	72	12	2.1	2.1	NUM
ijassa-1971	72	13	)	)	PUNCT
ijassa-1971	72	14	,	,	PUNCT
ijassa-1971	72	15	and	and	CCONJ
ijassa-1971	72	16	after	after	ADP
ijassa-1971	72	17	series	series	NOUN
ijassa-1971	72	18	of	of	ADP
ijassa-1971	72	19	simple	simple	ADJ
ijassa-1971	72	20	transformations	transformation	NOUN
ijassa-1971	72	21	we	we	PRON
ijassa-1971	72	22	have	have	VERB
ijassa-1971	72	23	:	:	PUNCT
ijassa-1971	72	24	−l	−l	VERB
ijassa-1971	72	25	[	[	X
ijassa-1971	72	26	m	m	NOUN
ijassa-1971	72	27	+	+	ADJ
ijassa-1971	72	28	msin2	msin2	NOUN
ijassa-1971	72	29	(	(	PUNCT
ijassa-1971	72	30	q2	q2	NOUN
ijassa-1971	72	31	)	)	PUNCT
ijassa-1971	72	32	]	]	PUNCT
ijassa-1971	72	33	q̈2	q̈2	VERB
ijassa-1971	72	34	−	−	PROPN
ijassa-1971	73	1	(	(	PUNCT
ijassa-1971	73	2	m	m	VERB
ijassa-1971	73	3	+	+	NOUN
ijassa-1971	73	4	m	m	NOUN
ijassa-1971	73	5	)	)	PUNCT
ijassa-1971	73	6	gsin	gsin	NOUN
ijassa-1971	73	7	(	(	PUNCT
ijassa-1971	74	1	q2)−mlq̇22sin	q2)−mlq̇22sin	NOUN
ijassa-1971	74	2	(	(	PUNCT
ijassa-1971	74	3	q2	q2	NOUN
ijassa-1971	74	4	)	)	PUNCT
ijassa-1971	74	5	cos	cos	PROPN
ijassa-1971	74	6	(	(	PUNCT
ijassa-1971	74	7	q2	q2	NOUN
ijassa-1971	74	8	)	)	PUNCT
ijassa-1971	74	9	=	=	PUNCT
ijassa-1971	75	1	=	=	PUNCT
ijassa-1971	75	2	cos	cos	X
ijassa-1971	75	3	(	(	PUNCT
ijassa-1971	75	4	q2	q2	NOUN
ijassa-1971	75	5	)	)	PUNCT
ijassa-1971	76	1	[	[	X
ijassa-1971	76	2	τ	τ	X
ijassa-1971	76	3	+	+	X
ijassa-1971	76	4	τd	τd	ADP
ijassa-1971	76	5	]	]	X
ijassa-1971	76	6	.	.	PUNCT
ijassa-1971	77	1	(	(	PUNCT
ijassa-1971	77	2	3.4	3.4	NUM
ijassa-1971	77	3	)	)	PUNCT
ijassa-1971	77	4	the	the	DET
ijassa-1971	77	5	leftand	leftand	NOUN
ijassa-1971	77	6	right	right	ADJ
ijassa-1971	77	7	-	-	PUNCT
ijassa-1971	77	8	hand	hand	NOUN
ijassa-1971	77	9	sides	side	NOUN
ijassa-1971	77	10	of	of	ADP
ijassa-1971	77	11	(	(	PUNCT
ijassa-1971	77	12	3.4	3.4	NUM
ijassa-1971	77	13	)	)	PUNCT
ijassa-1971	77	14	is	be	AUX
ijassa-1971	77	15	divided	divide	VERB
ijassa-1971	77	16	by	by	ADP
ijassa-1971	77	17	−l	−l	PROPN
ijassa-1971	77	18	[	[	X
ijassa-1971	77	19	m	m	NOUN
ijassa-1971	77	20	+	+	ADJ
ijassa-1971	77	21	msin2	msin2	NOUN
ijassa-1971	77	22	(	(	PUNCT
ijassa-1971	77	23	q2	q2	NOUN
ijassa-1971	77	24	)	)	PUNCT
ijassa-1971	77	25	]	]	PUNCT
ijassa-1971	77	26	to	to	PART
ijassa-1971	77	27	obtain	obtain	VERB
ijassa-1971	77	28	:	:	PUNCT
ijassa-1971	77	29	q̈2	q̈2	PROPN
ijassa-1971	77	30	=	=	SYM
ijassa-1971	77	31	cos	cos	PROPN
ijassa-1971	77	32	(	(	PUNCT
ijassa-1971	77	33	q2	q2	NOUN
ijassa-1971	77	34	)	)	PUNCT
ijassa-1971	78	1	−l	−l	NOUN
ijassa-1971	78	2	(	(	PUNCT
ijassa-1971	78	3	m	m	VERB
ijassa-1971	78	4	+	+	PROPN
ijassa-1971	78	5	msin2	msin2	NOUN
ijassa-1971	78	6	(	(	PUNCT
ijassa-1971	78	7	q2	q2	NOUN
ijassa-1971	78	8	)	)	PUNCT
ijassa-1971	78	9	)	)	PUNCT
ijassa-1971	79	1	[	[	PUNCT
ijassa-1971	79	2	τ	τ	X
ijassa-1971	79	3	+	+	X
ijassa-1971	79	4	τd	τd	ADP
ijassa-1971	79	5	+	+	CCONJ
ijassa-1971	79	6	(	(	PUNCT
ijassa-1971	79	7	m	m	VERB
ijassa-1971	79	8	+	+	NOUN
ijassa-1971	79	9	m	m	NOUN
ijassa-1971	79	10	)	)	PUNCT
ijassa-1971	79	11	gtan	gtan	ADJ
ijassa-1971	79	12	(	(	PUNCT
ijassa-1971	79	13	q2	q2	NOUN
ijassa-1971	79	14	)	)	PUNCT
ijassa-1971	80	1	+	+	NOUN
ijassa-1971	80	2	mlq̇22sin	mlq̇22sin	NOUN
ijassa-1971	80	3	(	(	PUNCT
ijassa-1971	80	4	q2	q2	NOUN
ijassa-1971	80	5	)	)	PUNCT
ijassa-1971	80	6	]	]	PUNCT
ijassa-1971	80	7	.	.	PUNCT
ijassa-1971	81	1	(	(	PUNCT
ijassa-1971	81	2	3.5	3.5	NUM
ijassa-1971	81	3	)	)	PUNCT
ijassa-1971	81	4	the	the	DET
ijassa-1971	81	5	following	follow	VERB
ijassa-1971	81	6	notation	notation	NOUN
ijassa-1971	81	7	is	be	AUX
ijassa-1971	81	8	introduced	introduce	VERB
ijassa-1971	81	9	:	:	PUNCT
ijassa-1971	81	10	θt	θt	PROPN
ijassa-1971	81	11	=	=	PUNCT
ijassa-1971	82	1	[	[	X
ijassa-1971	82	2	m	m	NOUN
ijassa-1971	82	3	m	m	PRON
ijassa-1971	82	4	]	]	X
ijassa-1971	82	5	,	,	PUNCT
ijassa-1971	82	6	ϕt	ϕt	INTJ
ijassa-1971	82	7	(	(	PUNCT
ijassa-1971	82	8	t	t	NOUN
ijassa-1971	82	9	)	)	PUNCT
ijassa-1971	82	10	=	=	PUNCT
ijassa-1971	83	1	[	[	X
ijassa-1971	83	2	−l	−l	NOUN
ijassa-1971	83	3	−lsin2	−lsin2	PROPN
ijassa-1971	83	4	(	(	PUNCT
ijassa-1971	83	5	q2	q2	NOUN
ijassa-1971	83	6	)	)	PUNCT
ijassa-1971	83	7	]	]	PUNCT
ijassa-1971	83	8	,	,	PUNCT
ijassa-1971	83	9	ωt	ωt	PROPN
ijassa-1971	83	10	(	(	PUNCT
ijassa-1971	83	11	t	t	PROPN
ijassa-1971	83	12	)	)	PUNCT
ijassa-1971	83	13	=	=	PUNCT
ijassa-1971	84	1	[	[	X
ijassa-1971	84	2	gtan	gtan	ADJ
ijassa-1971	84	3	(	(	PUNCT
ijassa-1971	84	4	q2	q2	NOUN
ijassa-1971	84	5	)	)	PUNCT
ijassa-1971	84	6	lq̇22sin	lq̇22sin	PROPN
ijassa-1971	84	7	(	(	PUNCT
ijassa-1971	84	8	q2	q2	NOUN
ijassa-1971	84	9	)	)	PUNCT
ijassa-1971	85	1	+	+	CCONJ
ijassa-1971	85	2	gtan	gtan	ADJ
ijassa-1971	85	3	(	(	PUNCT
ijassa-1971	85	4	q2	q2	NOUN
ijassa-1971	85	5	)	)	PUNCT
ijassa-1971	85	6	]	]	PUNCT
ijassa-1971	85	7	,	,	PUNCT
ijassa-1971	85	8	(	(	PUNCT
ijassa-1971	85	9	3.6	3.6	NUM
ijassa-1971	85	10	)	)	PUNCT
ijassa-1971	85	11	in	in	ADP
ijassa-1971	85	12	order	order	NOUN
ijassa-1971	85	13	to	to	PART
ijassa-1971	85	14	rewrite	rewrite	VERB
ijassa-1971	85	15	(	(	PUNCT
ijassa-1971	85	16	3.5	3.5	NUM
ijassa-1971	85	17	)	)	PUNCT
ijassa-1971	85	18	in	in	ADP
ijassa-1971	85	19	a	a	DET
ijassa-1971	85	20	simpler	simple	ADJ
ijassa-1971	85	21	form	form	NOUN
ijassa-1971	85	22	:	:	PUNCT
ijassa-1971	85	23	q̈2	q̈2	PROPN
ijassa-1971	85	24	=	=	SYM
ijassa-1971	85	25	cos	cos	PROPN
ijassa-1971	85	26	(	(	PUNCT
ijassa-1971	85	27	q2	q2	NOUN
ijassa-1971	85	28	)	)	PUNCT
ijassa-1971	85	29	ϕt	ϕt	PROPN
ijassa-1971	85	30	(	(	PUNCT
ijassa-1971	85	31	t	t	PROPN
ijassa-1971	85	32	)	)	PUNCT
ijassa-1971	85	33	θ	θ	PROPN
ijassa-1971	86	1	[	[	PUNCT
ijassa-1971	86	2	τ	τ	X
ijassa-1971	86	3	+	+	X
ijassa-1971	86	4	τd	τd	ADP
ijassa-1971	86	5	+	+	CCONJ
ijassa-1971	86	6	ωt	ωt	PROPN
ijassa-1971	86	7	(	(	PUNCT
ijassa-1971	86	8	t	t	PROPN
ijassa-1971	86	9	)	)	PUNCT
ijassa-1971	86	10	θ	θ	PROPN
ijassa-1971	86	11	]	]	PUNCT
ijassa-1971	86	12	.	.	PUNCT
ijassa-1971	87	1	(	(	PUNCT
ijassa-1971	87	2	3.7	3.7	NUM
ijassa-1971	87	3	)	)	PUNCT
ijassa-1971	87	4	equations	equation	NOUN
ijassa-1971	87	5	(	(	PUNCT
ijassa-1971	87	6	3.3	3.3	NUM
ijassa-1971	87	7	)	)	PUNCT
ijassa-1971	87	8	and	and	CCONJ
ijassa-1971	87	9	(	(	PUNCT
ijassa-1971	87	10	3.7	3.7	NUM
ijassa-1971	87	11	)	)	PUNCT
ijassa-1971	87	12	are	be	AUX
ijassa-1971	87	13	written	write	VERB
ijassa-1971	87	14	in	in	ADP
ijassa-1971	87	15	a	a	DET
ijassa-1971	87	16	state	state	NOUN
ijassa-1971	87	17	space	space	NOUN
ijassa-1971	87	18	form	form	NOUN
ijassa-1971	87	19	:	:	PUNCT
ijassa-1971	87	20	ẋ1	ẋ1	PROPN
ijassa-1971	87	21	=	=	SYM
ijassa-1971	87	22	x2	x2	PROPN
ijassa-1971	87	23	,	,	PUNCT
ijassa-1971	87	24	ẋ2	ẋ2	PROPN
ijassa-1971	87	25	=	=	SYM
ijassa-1971	87	26	−gtan	−gtan	PROPN
ijassa-1971	87	27	(	(	PUNCT
ijassa-1971	87	28	x3)−	x3)−	PROPN
ijassa-1971	87	29	lusec	lusec	PROPN
ijassa-1971	87	30	(	(	PUNCT
ijassa-1971	87	31	x3	x3	ADJ
ijassa-1971	87	32	)	)	PUNCT
ijassa-1971	87	33	,	,	PUNCT
ijassa-1971	87	34	ẋ3	ẋ3	PROPN
ijassa-1971	87	35	=	=	SYM
ijassa-1971	87	36	x4	x4	PROPN
ijassa-1971	87	37	,	,	PUNCT
ijassa-1971	87	38	ẋ4	ẋ4	PROPN
ijassa-1971	87	39	=	=	SYM
ijassa-1971	87	40	u	u	PROPN
ijassa-1971	87	41	,	,	PUNCT
ijassa-1971	87	42	u	u	NOUN
ijassa-1971	87	43	=	=	SYM
ijassa-1971	87	44	cos(x3	cos(x3	PROPN
ijassa-1971	87	45	)	)	PUNCT
ijassa-1971	88	1	ϕt(t)θ	ϕt(t)θ	PUNCT
ijassa-1971	89	1	[	[	PUNCT
ijassa-1971	89	2	τ	τ	X
ijassa-1971	89	3	+	+	X
ijassa-1971	89	4	τd	τd	ADP
ijassa-1971	89	5	+	+	CCONJ
ijassa-1971	89	6	ωt	ωt	PROPN
ijassa-1971	89	7	(	(	PUNCT
ijassa-1971	89	8	t	t	PROPN
ijassa-1971	89	9	)	)	PUNCT
ijassa-1971	89	10	θ	θ	PROPN
ijassa-1971	89	11	]	]	PUNCT
ijassa-1971	89	12	.	.	PUNCT
ijassa-1971	90	1	(	(	PUNCT
ijassa-1971	90	2	3.8	3.8	NUM
ijassa-1971	90	3	)	)	PUNCT
ijassa-1971	90	4	in	in	ADP
ijassa-1971	90	5	accordance	accordance	NOUN
ijassa-1971	90	6	with	with	ADP
ijassa-1971	90	7	[	[	X
ijassa-1971	90	8	9	9	NUM
ijassa-1971	90	9	]	]	PUNCT
ijassa-1971	90	10	,	,	PUNCT
ijassa-1971	90	11	the	the	DET
ijassa-1971	90	12	following	follow	VERB
ijassa-1971	90	13	coordinate	coordinate	NOUN
ijassa-1971	90	14	transformation	transformation	NOUN
ijassa-1971	90	15	t	t	NOUN
ijassa-1971	90	16	:	:	PUNCT
ijassa-1971	90	17	r4	r4	VERB
ijassa-1971	90	18	7→	7→	NUM
ijassa-1971	90	19	r4	r4	NOUN
ijassa-1971	90	20	is	be	AUX
ijassa-1971	90	21	introduced	introduce	VERB
ijassa-1971	90	22	:	:	PUNCT
ijassa-1971	90	23	p	p	X
ijassa-1971	90	24	=	=	X
ijassa-1971	90	25	t	t	PROPN
ijassa-1971	90	26	(	(	PUNCT
ijassa-1971	90	27	x	x	NOUN
ijassa-1971	90	28	)	)	PUNCT
ijassa-1971	90	29	=	=	SYM
ijassa-1971	91	1	x1	x1	PRON
ijassa-1971	92	1	+	+	NUM
ijassa-1971	92	2	χ	χ	X
ijassa-1971	92	3	(	(	PUNCT
ijassa-1971	92	4	x3	x3	ADJ
ijassa-1971	92	5	)	)	PUNCT
ijassa-1971	92	6	x2	x2	PROPN
ijassa-1971	93	1	+	+	CCONJ
ijassa-1971	93	2	lx4	lx4	VERB
ijassa-1971	93	3	cos(x3	cos(x3	X
ijassa-1971	93	4	)	)	PUNCT
ijassa-1971	94	1	x3	x3	PROPN
ijassa-1971	94	2	x4	x4	PROPN
ijassa-1971	94	3			PROPN
ijassa-1971	94	4	,	,	PUNCT
ijassa-1971	94	5	(	(	PUNCT
ijassa-1971	94	6	3.9	3.9	NUM
ijassa-1971	94	7	)	)	PUNCT
ijassa-1971	94	8	where	where	SCONJ
ijassa-1971	94	9	χ	χ	X
ijassa-1971	94	10	(	(	PUNCT
ijassa-1971	94	11	x3	x3	ADJ
ijassa-1971	94	12	)	)	PUNCT
ijassa-1971	94	13	=	=	SYM
ijassa-1971	95	1	l	l	NOUN
ijassa-1971	95	2	x3∫	x3∫	NUM
ijassa-1971	95	3	0	0	NUM
ijassa-1971	95	4	1	1	NUM
ijassa-1971	95	5	cos(s	cos(s	NOUN
ijassa-1971	95	6	)	)	PUNCT
ijassa-1971	95	7	ds	ds	ADJ
ijassa-1971	95	8	=	=	SYM
ijassa-1971	95	9	l	l	NOUN
ijassa-1971	95	10	·	·	PUNCT
ijassa-1971	95	11	log	log	NOUN
ijassa-1971	95	12	(	(	PUNCT
ijassa-1971	95	13	1+tan(x3	1+tan(x3	NUM
ijassa-1971	95	14	2	2	NUM
ijassa-1971	95	15	)	)	PUNCT
ijassa-1971	95	16	1−tan(x3	1−tan(x3	NUM
ijassa-1971	95	17	2	2	NUM
ijassa-1971	95	18	)	)	PUNCT
ijassa-1971	95	19	)	)	PUNCT
ijassa-1971	95	20	.	.	PUNCT
ijassa-1971	96	1	then	then	ADV
ijassa-1971	96	2	,	,	PUNCT
ijassa-1971	96	3	owing	owe	VERB
ijassa-1971	96	4	to	to	ADP
ijassa-1971	96	5	d	d	PROPN
ijassa-1971	96	6	dt	dt	X
ijassa-1971	97	1	[	[	X
ijassa-1971	97	2	χ	χ	X
ijassa-1971	97	3	(	(	PUNCT
ijassa-1971	97	4	x3	x3	ADJ
ijassa-1971	97	5	)	)	PUNCT
ijassa-1971	97	6	]	]	PUNCT
ijassa-1971	98	1	=	=	PUNCT
ijassa-1971	98	2	l	l	X
ijassa-1971	98	3	ẋ3	ẋ3	PROPN
ijassa-1971	98	4	(	(	PUNCT
ijassa-1971	98	5	tan2	tan2	PROPN
ijassa-1971	98	6	(	(	PUNCT
ijassa-1971	98	7	x3	x3	PROPN
ijassa-1971	98	8	2	2	NUM
ijassa-1971	98	9	)	)	PUNCT
ijassa-1971	98	10	+	+	CCONJ
ijassa-1971	98	11	1	1	X
ijassa-1971	98	12	)	)	PUNCT
ijassa-1971	98	13	(	(	PUNCT
ijassa-1971	98	14	tan2	tan2	PROPN
ijassa-1971	98	15	(	(	PUNCT
ijassa-1971	98	16	x3	x3	PROPN
ijassa-1971	98	17	2	2	NUM
ijassa-1971	98	18	)	)	PUNCT
ijassa-1971	98	19	−	−	PROPN
ijassa-1971	98	20	1	1	X
ijassa-1971	98	21	)	)	PUNCT
ijassa-1971	98	22	=	=	PUNCT
ijassa-1971	98	23	l	l	NOUN
ijassa-1971	98	24	x4	x4	PROPN
ijassa-1971	98	25	cos	cos	PROPN
ijassa-1971	98	26	(	(	PUNCT
ijassa-1971	98	27	x3	x3	PROPN
ijassa-1971	98	28	)	)	PUNCT
ijassa-1971	98	29	,	,	PUNCT
ijassa-1971	98	30	(	(	PUNCT
ijassa-1971	98	31	3.10	3.10	NUM
ijassa-1971	98	32	)	)	PUNCT
ijassa-1971	98	33	copyright	copyright	NOUN
ijassa-1971	98	34	©	©	PROPN
ijassa-1971	98	35	2024	2024	NUM
ijassa-1971	98	36	assa	assa	NOUN
ijassa-1971	98	37	.	.	PUNCT
ijassa-1971	99	1	adv	adv	PROPN
ijassa-1971	99	2	syst	syst	PROPN
ijassa-1971	99	3	sci	sci	PROPN
ijassa-1971	99	4	appl	appl	PROPN
ijassa-1971	99	5	(	(	PUNCT
ijassa-1971	99	6	2024	2024	NUM
ijassa-1971	99	7	)	)	PUNCT
ijassa-1971	99	8	86	86	NUM
ijassa-1971	99	9	v.	v.	ADP
ijassa-1971	99	10	petrov	petrov	PROPN
ijassa-1971	99	11	,	,	PUNCT
ijassa-1971	99	12	a.	a.	NOUN
ijassa-1971	99	13	glushchenko	glushchenko	PROPN
ijassa-1971	99	14	,	,	PUNCT
ijassa-1971	99	15	k.	k.	PROPN
ijassa-1971	99	16	lastochkin	lastochkin	PROPN
ijassa-1971	99	17	it	it	PRON
ijassa-1971	99	18	is	be	AUX
ijassa-1971	99	19	written	write	VERB
ijassa-1971	99	20	with	with	ADP
ijassa-1971	99	21	the	the	DET
ijassa-1971	99	22	help	help	NOUN
ijassa-1971	99	23	of	of	ADP
ijassa-1971	99	24	the	the	DET
ijassa-1971	99	25	new	new	ADJ
ijassa-1971	99	26	coordinates	coordinate	NOUN
ijassa-1971	100	1	that	that	SCONJ
ijassa-1971	100	2	:	:	PUNCT
ijassa-1971	100	3	ṗ1	ṗ1	NOUN
ijassa-1971	100	4	=	=	SYM
ijassa-1971	100	5	p2	p2	NOUN
ijassa-1971	100	6	,	,	PUNCT
ijassa-1971	100	7	ṗ2	ṗ2	PROPN
ijassa-1971	100	8	=	=	SYM
ijassa-1971	100	9	−gtan	−gtan	PROPN
ijassa-1971	100	10	(	(	PUNCT
ijassa-1971	100	11	p3)−	p3)−	PROPN
ijassa-1971	100	12	lusec	lusec	PROPN
ijassa-1971	100	13	(	(	PUNCT
ijassa-1971	100	14	p3	p3	PROPN
ijassa-1971	100	15	)	)	PUNCT
ijassa-1971	101	1	+	+	CCONJ
ijassa-1971	101	2	l	l	PROPN
ijassa-1971	101	3	u+p24tan(p3	u+p24tan(p3	ADJ
ijassa-1971	101	4	)	)	PUNCT
ijassa-1971	101	5	cos(p3	cos(p3	NOUN
ijassa-1971	101	6	)	)	PUNCT
ijassa-1971	101	7	=	=	SYM
ijassa-1971	101	8	tan	tan	PROPN
ijassa-1971	101	9	(	(	PUNCT
ijassa-1971	101	10	p3	p3	PROPN
ijassa-1971	101	11	)	)	PUNCT
ijassa-1971	101	12	(	(	PUNCT
ijassa-1971	101	13	−g	−g	VERB
ijassa-1971	101	14	+	+	CCONJ
ijassa-1971	101	15	lp24	lp24	PROPN
ijassa-1971	101	16	cos(p3	cos(p3	PROPN
ijassa-1971	101	17	)	)	PUNCT
ijassa-1971	101	18	)	)	PUNCT
ijassa-1971	101	19	,	,	PUNCT
ijassa-1971	102	1	ṗ3	ṗ3	NOUN
ijassa-1971	102	2	=	=	PUNCT
ijassa-1971	102	3	p4	p4	ADJ
ijassa-1971	102	4	,	,	PUNCT
ijassa-1971	102	5	ṗ4	ṗ4	PROPN
ijassa-1971	102	6	=	=	NOUN
ijassa-1971	102	7	u.	u.	PROPN
ijassa-1971	102	8	(	(	PUNCT
ijassa-1971	102	9	3.11	3.11	NUM
ijassa-1971	102	10	)	)	PUNCT
ijassa-1971	102	11	then	then	ADV
ijassa-1971	102	12	,	,	PUNCT
ijassa-1971	102	13	following	follow	VERB
ijassa-1971	102	14	[	[	X
ijassa-1971	102	15	9	9	NUM
ijassa-1971	102	16	]	]	PUNCT
ijassa-1971	102	17	,	,	PUNCT
ijassa-1971	102	18	another	another	DET
ijassa-1971	102	19	one	one	NUM
ijassa-1971	102	20	coordinate	coordinate	NOUN
ijassa-1971	102	21	transformation	transformation	NOUN
ijassa-1971	102	22	s	s	NOUN
ijassa-1971	102	23	:	:	PUNCT
ijassa-1971	102	24	r4	r4	VERB
ijassa-1971	102	25	7→	7→	NUM
ijassa-1971	102	26	r4	r4	NOUN
ijassa-1971	102	27	is	be	AUX
ijassa-1971	102	28	introduced	introduce	VERB
ijassa-1971	102	29	:	:	PUNCT
ijassa-1971	102	30	ξ	ξ	X
ijassa-1971	102	31	=	=	SYM
ijassa-1971	102	32	s	s	X
ijassa-1971	102	33	(	(	PUNCT
ijassa-1971	102	34	p	p	NOUN
ijassa-1971	102	35	)	)	PUNCT
ijassa-1971	102	36	=	=	SYM
ijassa-1971	102	37			NOUN
ijassa-1971	102	38	p1	p1	NOUN
ijassa-1971	102	39	p2	p2	PROPN
ijassa-1971	102	40	−gtan	−gtan	PROPN
ijassa-1971	102	41	(	(	PUNCT
ijassa-1971	102	42	p3	p3	PROPN
ijassa-1971	102	43	)	)	PUNCT
ijassa-1971	102	44	−g	−g	NOUN
ijassa-1971	102	45	(	(	PUNCT
ijassa-1971	102	46	1	1	NUM
ijassa-1971	102	47	+	+	NUM
ijassa-1971	102	48	tan2	tan2	PROPN
ijassa-1971	102	49	(	(	PUNCT
ijassa-1971	102	50	p3	p3	PROPN
ijassa-1971	102	51	)	)	PUNCT
ijassa-1971	102	52	)	)	PUNCT
ijassa-1971	102	53	p4	p4	ADJ
ijassa-1971	102	54			PROPN
ijassa-1971	102	55	,	,	PUNCT
ijassa-1971	102	56	(	(	PUNCT
ijassa-1971	102	57	3.12	3.12	NUM
ijassa-1971	102	58	)	)	PUNCT
ijassa-1971	102	59	which	which	PRON
ijassa-1971	102	60	allows	allow	VERB
ijassa-1971	102	61	one	one	NUM
ijassa-1971	102	62	to	to	PART
ijassa-1971	102	63	rewrite	rewrite	VERB
ijassa-1971	102	64	(	(	PUNCT
ijassa-1971	102	65	3.11	3.11	NUM
ijassa-1971	102	66	)	)	PUNCT
ijassa-1971	102	67	as	as	SCONJ
ijassa-1971	102	68	follows	follow	VERB
ijassa-1971	102	69	:	:	PUNCT
ijassa-1971	102	70	ξ̇1	ξ̇1	PROPN
ijassa-1971	102	71	=	=	PUNCT
ijassa-1971	102	72	ξ2	ξ2	NOUN
ijassa-1971	102	73	,	,	PUNCT
ijassa-1971	102	74	ξ̇2	ξ̇2	PROPN
ijassa-1971	102	75	=	=	SYM
ijassa-1971	102	76	ξ3	ξ3	NOUN
ijassa-1971	102	77	−	−	PROPN
ijassa-1971	102	78	lξ3ξ24	lξ3ξ24	PROPN
ijassa-1971	102	79	(	(	PUNCT
ijassa-1971	102	80	g2+ξ23	g2+ξ23	PROPN
ijassa-1971	102	81	)	)	PUNCT
ijassa-1971	102	82	3	3	NUM
ijassa-1971	102	83	2	2	NUM
ijassa-1971	102	84	,	,	PUNCT
ijassa-1971	102	85	ξ̇3	ξ̇3	PROPN
ijassa-1971	102	86	=	=	SYM
ijassa-1971	102	87	ξ4	ξ4	PROPN
ijassa-1971	102	88	,	,	PUNCT
ijassa-1971	102	89	ξ̇4	ξ̇4	PROPN
ijassa-1971	102	90	=	=	SYM
ijassa-1971	102	91	v	v	PROPN
ijassa-1971	102	92	,	,	PUNCT
ijassa-1971	102	93	(	(	PUNCT
ijassa-1971	102	94	3.13	3.13	NUM
ijassa-1971	102	95	)	)	PUNCT
ijassa-1971	102	96	where	where	SCONJ
ijassa-1971	102	97	the	the	DET
ijassa-1971	102	98	following	follow	VERB
ijassa-1971	102	99	notation	notation	NOUN
ijassa-1971	102	100	is	be	AUX
ijassa-1971	102	101	used	use	VERB
ijassa-1971	102	102	:	:	PUNCT
ijassa-1971	102	103	ξ3	ξ3	NOUN
ijassa-1971	102	104	−	−	PROPN
ijassa-1971	102	105	lξ3ξ24	lξ3ξ24	PROPN
ijassa-1971	102	106	(	(	PUNCT
ijassa-1971	102	107	g2+ξ23	g2+ξ23	PROPN
ijassa-1971	102	108	)	)	PUNCT
ijassa-1971	102	109	3	3	NUM
ijassa-1971	102	110	2	2	NUM
ijassa-1971	102	111	=	=	SYM
ijassa-1971	102	112	−gtan	−gtan	PROPN
ijassa-1971	102	113	(	(	PUNCT
ijassa-1971	102	114	p3	p3	PROPN
ijassa-1971	102	115	)	)	PUNCT
ijassa-1971	102	116	+	+	PUNCT
ijassa-1971	103	1	lgtan(p3)g2(1+tan2(p3	lgtan(p3)g2(1+tan2(p3	NUM
ijassa-1971	103	2	)	)	PUNCT
ijassa-1971	103	3	)	)	PUNCT
ijassa-1971	103	4	2	2	NUM
ijassa-1971	103	5	p24	p24	NOUN
ijassa-1971	103	6	(	(	PUNCT
ijassa-1971	103	7	g2+g2tan2(p3	g2+g2tan2(p3	PROPN
ijassa-1971	103	8	)	)	PUNCT
ijassa-1971	103	9	)	)	PUNCT
ijassa-1971	103	10	3	3	NUM
ijassa-1971	103	11	2	2	NUM
ijassa-1971	103	12	=	=	SYM
ijassa-1971	103	13	−gtan	−gtan	PROPN
ijassa-1971	103	14	(	(	PUNCT
ijassa-1971	103	15	p3	p3	PROPN
ijassa-1971	103	16	)	)	PUNCT
ijassa-1971	104	1	+	+	CCONJ
ijassa-1971	104	2	l	l	NOUN
ijassa-1971	104	3	tan(p3)p24	tan(p3)p24	PROPN
ijassa-1971	104	4	cos(p3	cos(p3	PROPN
ijassa-1971	104	5	)	)	PUNCT
ijassa-1971	104	6	,	,	PUNCT
ijassa-1971	104	7	v	v	X
ijassa-1971	104	8	=	=	SYM
ijassa-1971	104	9	−g	−g	NOUN
ijassa-1971	104	10	(	(	PUNCT
ijassa-1971	104	11	tan2	tan2	PROPN
ijassa-1971	104	12	(	(	PUNCT
ijassa-1971	104	13	p3	p3	PROPN
ijassa-1971	104	14	)	)	PUNCT
ijassa-1971	105	1	+	+	CCONJ
ijassa-1971	105	2	1	1	X
ijassa-1971	105	3	)	)	PUNCT
ijassa-1971	106	1	[	[	X
ijassa-1971	106	2	u	u	X
ijassa-1971	106	3	+	+	X
ijassa-1971	106	4	2p24tan	2p24tan	PROPN
ijassa-1971	106	5	(	(	PUNCT
ijassa-1971	106	6	p3	p3	PROPN
ijassa-1971	106	7	)	)	PUNCT
ijassa-1971	106	8	]	]	PUNCT
ijassa-1971	107	1	=	=	PUNCT
ijassa-1971	107	2	=	=	SYM
ijassa-1971	107	3	g	g	PROPN
ijassa-1971	107	4	(	(	PUNCT
ijassa-1971	107	5	ξ	ξ	NOUN
ijassa-1971	107	6	)	)	PUNCT
ijassa-1971	107	7	[	[	PUNCT
ijassa-1971	107	8	cos(x3	cos(x3	NOUN
ijassa-1971	107	9	)	)	PUNCT
ijassa-1971	107	10	ϕt(t)θ	ϕt(t)θ	PUNCT
ijassa-1971	108	1	[	[	PUNCT
ijassa-1971	108	2	τ	τ	X
ijassa-1971	108	3	+	+	X
ijassa-1971	108	4	τd	τd	ADP
ijassa-1971	108	5	+	+	CCONJ
ijassa-1971	108	6	ωt	ωt	PROPN
ijassa-1971	108	7	(	(	PUNCT
ijassa-1971	108	8	t	t	PROPN
ijassa-1971	108	9	)	)	PUNCT
ijassa-1971	108	10	θ	θ	NOUN
ijassa-1971	108	11	]	]	PUNCT
ijassa-1971	109	1	+	+	CCONJ
ijassa-1971	109	2	f	f	X
ijassa-1971	109	3	(	(	PUNCT
ijassa-1971	109	4	ξ	ξ	PROPN
ijassa-1971	109	5	)	)	PUNCT
ijassa-1971	109	6	]	]	PUNCT
ijassa-1971	109	7	,	,	PUNCT
ijassa-1971	109	8	f	f	X
ijassa-1971	109	9	(	(	PUNCT
ijassa-1971	109	10	ξ	ξ	NOUN
ijassa-1971	109	11	)	)	PUNCT
ijassa-1971	109	12	=	=	SYM
ijassa-1971	109	13	2	2	NUM
ijassa-1971	109	14	(	(	PUNCT
ijassa-1971	109	15	tan	tan	PROPN
ijassa-1971	109	16	(	(	PUNCT
ijassa-1971	109	17	atan	atan	PROPN
ijassa-1971	109	18	(	(	PUNCT
ijassa-1971	109	19	−g−1ξ3	−g−1ξ3	NOUN
ijassa-1971	109	20	)	)	PUNCT
ijassa-1971	109	21	)	)	PUNCT
ijassa-1971	109	22	)	)	PUNCT
ijassa-1971	110	1	(	(	PUNCT
ijassa-1971	110	2	ξ4	ξ4	VERB
ijassa-1971	110	3	−g(1+tan2(atan(−g−1ξ3	−g(1+tan2(atan(−g−1ξ3	PROPN
ijassa-1971	110	4	)	)	PUNCT
ijassa-1971	110	5	)	)	PUNCT
ijassa-1971	110	6	)	)	PUNCT
ijassa-1971	110	7	)	)	PUNCT
ijassa-1971	110	8	2	2	NUM
ijassa-1971	110	9	,	,	PUNCT
ijassa-1971	110	10	g	g	PROPN
ijassa-1971	110	11	(	(	PUNCT
ijassa-1971	110	12	ξ	ξ	NOUN
ijassa-1971	110	13	)	)	PUNCT
ijassa-1971	110	14	=	=	SYM
ijassa-1971	110	15	−g	−g	NOUN
ijassa-1971	110	16	(	(	PUNCT
ijassa-1971	110	17	tan2	tan2	PROPN
ijassa-1971	110	18	(	(	PUNCT
ijassa-1971	110	19	atan	atan	PROPN
ijassa-1971	110	20	(	(	PUNCT
ijassa-1971	110	21	−g−1ξ3	−g−1ξ3	NOUN
ijassa-1971	110	22	)	)	PUNCT
ijassa-1971	110	23	)	)	PUNCT
ijassa-1971	111	1	+	+	CCONJ
ijassa-1971	111	2	1	1	NUM
ijassa-1971	111	3	)	)	PUNCT
ijassa-1971	111	4	.	.	PUNCT
ijassa-1971	112	1	(	(	PUNCT
ijassa-1971	112	2	3.14	3.14	NUM
ijassa-1971	112	3	)	)	PUNCT
ijassa-1971	112	4	if	if	SCONJ
ijassa-1971	112	5	assumptions	assumption	NOUN
ijassa-1971	112	6	1	1	NUM
ijassa-1971	112	7	and	and	CCONJ
ijassa-1971	112	8	2	2	NUM
ijassa-1971	112	9	are	be	AUX
ijassa-1971	112	10	met	meet	VERB
ijassa-1971	112	11	,	,	PUNCT
ijassa-1971	112	12	then	then	ADV
ijassa-1971	112	13	it	it	PRON
ijassa-1971	112	14	holds	hold	VERB
ijassa-1971	112	15	for	for	ADP
ijassa-1971	112	16	the	the	DET
ijassa-1971	112	17	second	second	ADJ
ijassa-1971	112	18	term	term	NOUN
ijassa-1971	112	19	from	from	ADP
ijassa-1971	112	20	the	the	DET
ijassa-1971	112	21	second	second	ADJ
ijassa-1971	112	22	equation	equation	NOUN
ijassa-1971	112	23	of	of	ADP
ijassa-1971	112	24	(	(	PUNCT
ijassa-1971	112	25	3.13	3.13	NUM
ijassa-1971	112	26	)	)	PUNCT
ijassa-1971	112	27	that	that	SCONJ
ijassa-1971	112	28	:	:	PUNCT
ijassa-1971	113	1	lξ24	lξ24	PROPN
ijassa-1971	113	2	(	(	PUNCT
ijassa-1971	113	3	g2	g2	PROPN
ijassa-1971	113	4	+	+	CCONJ
ijassa-1971	113	5	ξ23	ξ23	PROPN
ijassa-1971	113	6	)	)	PUNCT
ijassa-1971	113	7	3	3	NUM
ijassa-1971	113	8	2	2	NUM
ijassa-1971	113	9	=	=	SYM
ijassa-1971	113	10	lg2(1	lg2(1	NOUN
ijassa-1971	113	11	+	+	NOUN
ijassa-1971	113	12	tan2	tan2	PROPN
ijassa-1971	113	13	(	(	PUNCT
ijassa-1971	113	14	p3	p3	PROPN
ijassa-1971	113	15	)	)	PUNCT
ijassa-1971	113	16	)	)	PUNCT
ijassa-1971	113	17	2	2	NUM
ijassa-1971	113	18	p24	p24	NOUN
ijassa-1971	113	19	(	(	PUNCT
ijassa-1971	113	20	g2	g2	PROPN
ijassa-1971	113	21	+	+	PROPN
ijassa-1971	113	22	g2tan2	g2tan2	X
ijassa-1971	113	23	(	(	PUNCT
ijassa-1971	113	24	p3	p3	NOUN
ijassa-1971	113	25	)	)	PUNCT
ijassa-1971	113	26	)	)	PUNCT
ijassa-1971	113	27	3	3	NUM
ijassa-1971	113	28	2	2	NUM
ijassa-1971	113	29	=	=	SYM
ijassa-1971	113	30	lp24	lp24	PROPN
ijassa-1971	113	31	g	g	PROPN
ijassa-1971	113	32	cos	cos	PROPN
ijassa-1971	113	33	(	(	PUNCT
ijassa-1971	113	34	p3	p3	PROPN
ijassa-1971	113	35	)	)	PUNCT
ijassa-1971	113	36	=	=	SYM
ijassa-1971	114	1	l	l	NOUN
ijassa-1971	114	2	g	g	NOUN
ijassa-1971	114	3	q̇22	q̇22	PROPN
ijassa-1971	114	4	cos	cos	PROPN
ijassa-1971	114	5	(	(	PUNCT
ijassa-1971	114	6	q2	q2	NOUN
ijassa-1971	114	7	)	)	PUNCT
ijassa-1971	114	8	≪	≪	VERB
ijassa-1971	114	9	1	1	NUM
ijassa-1971	114	10	,	,	PUNCT
ijassa-1971	114	11	(	(	PUNCT
ijassa-1971	114	12	3.15	3.15	NUM
ijassa-1971	114	13	)	)	PUNCT
ijassa-1971	114	14	which	which	PRON
ijassa-1971	114	15	guarantees	guarantee	VERB
ijassa-1971	114	16	that	that	SCONJ
ijassa-1971	114	17	ζ3	ζ3	NOUN
ijassa-1971	114	18	−	−	NOUN
ijassa-1971	114	19	lζ3ζ	lζ3ζ	ADJ
ijassa-1971	114	20	2	2	NUM
ijassa-1971	114	21	4	4	NUM
ijassa-1971	114	22	(	(	PUNCT
ijassa-1971	114	23	g2	g2	PROPN
ijassa-1971	114	24	+	+	CCONJ
ijassa-1971	114	25	ζ23	ζ23	PROPN
ijassa-1971	114	26	)	)	PUNCT
ijassa-1971	114	27	3	3	NUM
ijassa-1971	114	28	2	2	NUM
ijassa-1971	114	29	∆	∆	X
ijassa-1971	114	30	=	=	SYM
ijassa-1971	114	31	ζ3	ζ3	NOUN
ijassa-1971	114	32	and	and	CCONJ
ijassa-1971	114	33	allows	allow	VERB
ijassa-1971	114	34	one	one	NUM
ijassa-1971	114	35	to	to	PART
ijassa-1971	114	36	rewrite	rewrite	VERB
ijassa-1971	114	37	(	(	PUNCT
ijassa-1971	114	38	3.13	3.13	NUM
ijassa-1971	114	39	)	)	PUNCT
ijassa-1971	114	40	as	as	ADP
ijassa-1971	114	41	:	:	PUNCT
ijassa-1971	114	42	ξ̇	ξ̇	NUM
ijassa-1971	114	43	(	(	PUNCT
ijassa-1971	114	44	t	t	NOUN
ijassa-1971	114	45	)	)	PUNCT
ijassa-1971	114	46	=	=	VERB
ijassa-1971	114	47	a0ξ	a0ξ	PROPN
ijassa-1971	114	48	(	(	PUNCT
ijassa-1971	114	49	t	t	PROPN
ijassa-1971	114	50	)	)	PUNCT
ijassa-1971	115	1	+	+	CCONJ
ijassa-1971	115	2	b0	b0	VERB
ijassa-1971	115	3	g	g	PROPN
ijassa-1971	115	4	(	(	PUNCT
ijassa-1971	115	5	ξ	ξ	NOUN
ijassa-1971	115	6	)	)	PUNCT
ijassa-1971	115	7	[	[	PUNCT
ijassa-1971	115	8	cos	cos	X
ijassa-1971	115	9	(	(	PUNCT
ijassa-1971	115	10	x3	x3	PROPN
ijassa-1971	115	11	)	)	PUNCT
ijassa-1971	115	12	ϕt	ϕt	PROPN
ijassa-1971	115	13	(	(	PUNCT
ijassa-1971	115	14	t	t	PROPN
ijassa-1971	115	15	)	)	PUNCT
ijassa-1971	115	16	θ	θ	PROPN
ijassa-1971	115	17	[	[	PUNCT
ijassa-1971	115	18	τ	τ	X
ijassa-1971	115	19	(	(	PUNCT
ijassa-1971	115	20	t	t	PROPN
ijassa-1971	115	21	)	)	PUNCT
ijassa-1971	116	1	+	+	CCONJ
ijassa-1971	116	2	τd	τd	ADP
ijassa-1971	116	3	(	(	PUNCT
ijassa-1971	116	4	t	t	PROPN
ijassa-1971	116	5	)	)	PUNCT
ijassa-1971	116	6	+	+	NUM
ijassa-1971	116	7	ωt	ωt	PROPN
ijassa-1971	116	8	(	(	PUNCT
ijassa-1971	116	9	t	t	PROPN
ijassa-1971	116	10	)	)	PUNCT
ijassa-1971	116	11	θ	θ	NOUN
ijassa-1971	116	12	]	]	PUNCT
ijassa-1971	117	1	+	+	CCONJ
ijassa-1971	117	2	f	f	X
ijassa-1971	117	3	(	(	PUNCT
ijassa-1971	117	4	ξ	ξ	PROPN
ijassa-1971	117	5	)	)	PUNCT
ijassa-1971	117	6	]	]	PUNCT
ijassa-1971	117	7	,	,	PUNCT
ijassa-1971	117	8	(	(	PUNCT
ijassa-1971	117	9	3.16	3.16	NUM
ijassa-1971	117	10	)	)	PUNCT
ijassa-1971	118	1	where	where	SCONJ
ijassa-1971	118	2	a0	a0	NOUN
ijassa-1971	118	3	=	=	PUNCT
ijassa-1971	118	4	[	[	PUNCT
ijassa-1971	118	5	04	04	NUM
ijassa-1971	118	6	i3	i3	NOUN
ijassa-1971	118	7	01×3	01×3	PROPN
ijassa-1971	118	8	]	]	PUNCT
ijassa-1971	118	9	,	,	PUNCT
ijassa-1971	118	10	b0	b0	NOUN
ijassa-1971	118	11	=	=	PUNCT
ijassa-1971	118	12	[	[	PUNCT
ijassa-1971	118	13	03	03	NUM
ijassa-1971	118	14	1	1	NUM
ijassa-1971	118	15	]	]	PUNCT
ijassa-1971	118	16	.	.	PUNCT
ijassa-1971	119	1	copyright	copyright	NOUN
ijassa-1971	119	2	©	©	PROPN
ijassa-1971	119	3	2024	2024	NUM
ijassa-1971	119	4	assa	assa	NOUN
ijassa-1971	119	5	.	.	PUNCT
ijassa-1971	120	1	adv	adv	PROPN
ijassa-1971	120	2	syst	syst	PROPN
ijassa-1971	120	3	sci	sci	PROPN
ijassa-1971	120	4	appl	appl	PROPN
ijassa-1971	120	5	(	(	PUNCT
ijassa-1971	120	6	2024	2024	NUM
ijassa-1971	120	7	)	)	PUNCT
ijassa-1971	120	8	adaptive	adaptive	ADJ
ijassa-1971	120	9	disturbance	disturbance	NOUN
ijassa-1971	120	10	rejection	rejection	NOUN
ijassa-1971	120	11	control	control	NOUN
ijassa-1971	120	12	of	of	ADP
ijassa-1971	120	13	2d	2d	PROPN
ijassa-1971	120	14	crane	crane	NOUN
ijassa-1971	120	15	...	...	PUNCT
ijassa-1971	120	16	87	87	NUM
ijassa-1971	120	17	therefore	therefore	ADV
ijassa-1971	120	18	,	,	PUNCT
ijassa-1971	120	19	in	in	ADP
ijassa-1971	120	20	case	case	NOUN
ijassa-1971	120	21	assumptions	assumption	VERB
ijassa-1971	120	22	1	1	NUM
ijassa-1971	120	23	and	and	CCONJ
ijassa-1971	120	24	2	2	NUM
ijassa-1971	120	25	are	be	AUX
ijassa-1971	120	26	met	meet	VERB
ijassa-1971	120	27	,	,	PUNCT
ijassa-1971	120	28	the	the	DET
ijassa-1971	120	29	original	original	ADJ
ijassa-1971	120	30	problem	problem	NOUN
ijassa-1971	120	31	(	(	PUNCT
ijassa-1971	120	32	2.2	2.2	NUM
ijassa-1971	120	33	)	)	PUNCT
ijassa-1971	120	34	is	be	AUX
ijassa-1971	120	35	reduced	reduce	VERB
ijassa-1971	120	36	to	to	ADP
ijassa-1971	120	37	tracking	tracking	NOUN
ijassa-1971	120	38	of	of	ADP
ijassa-1971	120	39	the	the	DET
ijassa-1971	120	40	following	follow	VERB
ijassa-1971	120	41	reference	reference	NOUN
ijassa-1971	120	42	signal	signal	NOUN
ijassa-1971	120	43	by	by	ADP
ijassa-1971	120	44	the	the	DET
ijassa-1971	120	45	new	new	ADJ
ijassa-1971	120	46	coordinates	coordinate	NOUN
ijassa-1971	120	47	ξ	ξ	NOUN
ijassa-1971	120	48	:	:	PUNCT
ijassa-1971	120	49	ξd	ξd	PROPN
ijassa-1971	120	50	=	=	SYM
ijassa-1971	120	51	s	s	X
ijassa-1971	120	52	(	(	PUNCT
ijassa-1971	120	53	t	t	PROPN
ijassa-1971	120	54	(	(	PUNCT
ijassa-1971	120	55	xd	xd	NOUN
ijassa-1971	120	56	)	)	PUNCT
ijassa-1971	120	57	)	)	PUNCT
ijassa-1971	121	1	=	=	PUNCT
ijassa-1971	121	2	x1d00	x1d00	NOUN
ijassa-1971	121	3	0	0	PUNCT
ijassa-1971	122	1			ADV
ijassa-1971	122	2	in	in	ADP
ijassa-1971	122	3	such	such	DET
ijassa-1971	122	4	a	a	DET
ijassa-1971	122	5	way	way	NOUN
ijassa-1971	122	6	that	that	PRON
ijassa-1971	122	7	lim	lim	PROPN
ijassa-1971	122	8	t→∞	t→∞	ADP
ijassa-1971	122	9	∥ξ	∥ξ	PROPN
ijassa-1971	122	10	(	(	PUNCT
ijassa-1971	122	11	t)−	t)−	PROPN
ijassa-1971	122	12	ξd∥	ξd∥	PROPN
ijassa-1971	122	13	=	=	SYM
ijassa-1971	123	1	0	0	X
ijassa-1971	123	2	.	.	PUNCT
ijassa-1971	124	1	(	(	PUNCT
ijassa-1971	124	2	3.17	3.17	NUM
ijassa-1971	124	3	)	)	PUNCT
ijassa-1971	124	4	since	since	SCONJ
ijassa-1971	124	5	,	,	PUNCT
ijassa-1971	124	6	under	under	ADP
ijassa-1971	124	7	assumption	assumption	NOUN
ijassa-1971	124	8	1	1	NUM
ijassa-1971	124	9	,	,	PUNCT
ijassa-1971	124	10	the	the	DET
ijassa-1971	124	11	transformations	transformation	NOUN
ijassa-1971	124	12	(	(	PUNCT
ijassa-1971	124	13	3.9	3.9	NUM
ijassa-1971	124	14	)	)	PUNCT
ijassa-1971	124	15	and	and	CCONJ
ijassa-1971	124	16	(	(	PUNCT
ijassa-1971	124	17	3.12	3.12	NUM
ijassa-1971	124	18	)	)	PUNCT
ijassa-1971	124	19	are	be	AUX
ijassa-1971	124	20	diffeomorphisms	diffeomorphism	NOUN
ijassa-1971	124	21	,	,	PUNCT
ijassa-1971	124	22	the	the	DET
ijassa-1971	124	23	objectives	objective	NOUN
ijassa-1971	124	24	(	(	PUNCT
ijassa-1971	124	25	2.2	2.2	NUM
ijassa-1971	124	26	)	)	PUNCT
ijassa-1971	124	27	and	and	CCONJ
ijassa-1971	124	28	(	(	PUNCT
ijassa-1971	124	29	3.17	3.17	NUM
ijassa-1971	124	30	)	)	PUNCT
ijassa-1971	124	31	are	be	AUX
ijassa-1971	124	32	equivalent	equivalent	ADJ
ijassa-1971	124	33	.	.	PUNCT
ijassa-1971	125	1	3.2	3.2	NUM
ijassa-1971	125	2	.	.	PUNCT
ijassa-1971	125	3	ideal	ideal	ADJ
ijassa-1971	125	4	control	control	PROPN
ijassa-1971	125	5	law	law	NOUN
ijassa-1971	125	6	derivation	derivation	NOUN
ijassa-1971	125	7	to	to	PART
ijassa-1971	125	8	define	define	VERB
ijassa-1971	125	9	the	the	DET
ijassa-1971	125	10	required	require	VERB
ijassa-1971	125	11	control	control	NOUN
ijassa-1971	125	12	quality	quality	NOUN
ijassa-1971	125	13	for	for	ADP
ijassa-1971	125	14	the	the	DET
ijassa-1971	125	15	system	system	NOUN
ijassa-1971	125	16	(	(	PUNCT
ijassa-1971	125	17	3.16	3.16	NUM
ijassa-1971	125	18	)	)	PUNCT
ijassa-1971	125	19	,	,	PUNCT
ijassa-1971	125	20	the	the	DET
ijassa-1971	125	21	following	follow	VERB
ijassa-1971	125	22	reference	reference	NOUN
ijassa-1971	125	23	model	model	NOUN
ijassa-1971	125	24	is	be	AUX
ijassa-1971	125	25	introduced	introduce	VERB
ijassa-1971	125	26	:	:	PUNCT
ijassa-1971	125	27	ξ̇ref	ξ̇ref	PROPN
ijassa-1971	125	28	(	(	PUNCT
ijassa-1971	125	29	t	t	PROPN
ijassa-1971	125	30	)	)	PUNCT
ijassa-1971	125	31	=	=	SYM
ijassa-1971	125	32	akξref	akξref	NOUN
ijassa-1971	125	33	(	(	PUNCT
ijassa-1971	125	34	t	t	PROPN
ijassa-1971	125	35	)	)	PUNCT
ijassa-1971	126	1	+	+	NUM
ijassa-1971	126	2	b0e	b0e	PROPN
ijassa-1971	126	3	t	t	PROPN
ijassa-1971	126	4	1kx1d	1kx1d	NUM
ijassa-1971	126	5	,	,	PUNCT
ijassa-1971	126	6	(	(	PUNCT
ijassa-1971	126	7	3.18	3.18	NUM
ijassa-1971	126	8	)	)	PUNCT
ijassa-1971	126	9	where	where	SCONJ
ijassa-1971	126	10	k	k	PROPN
ijassa-1971	126	11	∈	∈	PROPN
ijassa-1971	126	12	rn	rn	PROPN
ijassa-1971	126	13	is	be	AUX
ijassa-1971	126	14	a	a	DET
ijassa-1971	126	15	parameter	parameter	NOUN
ijassa-1971	126	16	vector	vector	NOUN
ijassa-1971	126	17	,	,	PUNCT
ijassa-1971	126	18	which	which	PRON
ijassa-1971	126	19	defines	define	VERB
ijassa-1971	126	20	a	a	DET
ijassa-1971	126	21	hurwitz	hurwitz	PROPN
ijassa-1971	126	22	matrix	matrix	NOUN
ijassa-1971	126	23	ak	ak	PROPN
ijassa-1971	126	24	=	=	PROPN
ijassa-1971	126	25	a0	a0	PROPN
ijassa-1971	126	26	+	+	CCONJ
ijassa-1971	126	27	b0k	b0k	PROPN
ijassa-1971	126	28	t.	t.	PROPN
ijassa-1971	126	29	then	then	ADV
ijassa-1971	126	30	the	the	DET
ijassa-1971	126	31	tracking	tracking	NOUN
ijassa-1971	126	32	error	error	NOUN
ijassa-1971	126	33	ξ̃	ξ̃	PROPN
ijassa-1971	126	34	=	=	SYM
ijassa-1971	126	35	ξ	ξ	PROPN
ijassa-1971	126	36	(	(	PUNCT
ijassa-1971	126	37	t)−	t)−	PROPN
ijassa-1971	126	38	ξref	ξref	NOUN
ijassa-1971	126	39	(	(	PUNCT
ijassa-1971	126	40	t	t	PROPN
ijassa-1971	126	41	)	)	PUNCT
ijassa-1971	126	42	is	be	AUX
ijassa-1971	126	43	described	describe	VERB
ijassa-1971	126	44	by	by	ADP
ijassa-1971	126	45	:	:	PUNCT
ijassa-1971	126	46	˙̃ξ	˙̃ξ	PROPN
ijassa-1971	126	47	(	(	PUNCT
ijassa-1971	126	48	t	t	PROPN
ijassa-1971	126	49	)	)	PUNCT
ijassa-1971	126	50	=	=	PROPN
ijassa-1971	126	51	ak	ak	PROPN
ijassa-1971	126	52	ξ̃	ξ̃	PROPN
ijassa-1971	126	53	(	(	PUNCT
ijassa-1971	126	54	t	t	PROPN
ijassa-1971	126	55	)	)	PUNCT
ijassa-1971	126	56	+	+	CCONJ
ijassa-1971	126	57	b0	b0	VERB
ijassa-1971	126	58	g	g	PROPN
ijassa-1971	126	59	(	(	PUNCT
ijassa-1971	126	60	ξ	ξ	NOUN
ijassa-1971	126	61	)	)	PUNCT
ijassa-1971	126	62	[	[	PUNCT
ijassa-1971	126	63	cos(x3	cos(x3	NOUN
ijassa-1971	126	64	)	)	PUNCT
ijassa-1971	126	65	ϕt(t)θ	ϕt(t)θ	PUNCT
ijassa-1971	127	1	[	[	PUNCT
ijassa-1971	127	2	τ	τ	X
ijassa-1971	127	3	(	(	PUNCT
ijassa-1971	127	4	t	t	PROPN
ijassa-1971	127	5	)	)	PUNCT
ijassa-1971	127	6	+	+	CCONJ
ijassa-1971	127	7	τd	τd	ADP
ijassa-1971	127	8	(	(	PUNCT
ijassa-1971	127	9	t	t	PROPN
ijassa-1971	127	10	)	)	PUNCT
ijassa-1971	127	11	+	+	NUM
ijassa-1971	127	12	ωt	ωt	PROPN
ijassa-1971	127	13	(	(	PUNCT
ijassa-1971	127	14	t	t	PROPN
ijassa-1971	127	15	)	)	PUNCT
ijassa-1971	127	16	θ	θ	NOUN
ijassa-1971	127	17	]	]	PUNCT
ijassa-1971	128	1	+	+	CCONJ
ijassa-1971	128	2	f	f	X
ijassa-1971	128	3	(	(	PUNCT
ijassa-1971	128	4	ξ	ξ	PROPN
ijassa-1971	128	5	)	)	PUNCT
ijassa-1971	128	6	]	]	PUNCT
ijassa-1971	129	1	−	−	PROPN
ijassa-1971	129	2	−b0	−b0	PROPN
ijassa-1971	129	3	(	(	PUNCT
ijassa-1971	129	4	ktξ	ktξ	X
ijassa-1971	129	5	(	(	PUNCT
ijassa-1971	129	6	t	t	PROPN
ijassa-1971	129	7	)	)	PUNCT
ijassa-1971	129	8	+	+	NUM
ijassa-1971	129	9	et1kx1d	et1kx1d	PROPN
ijassa-1971	129	10	)	)	PUNCT
ijassa-1971	129	11	.	.	PUNCT
ijassa-1971	130	1	(	(	PUNCT
ijassa-1971	130	2	3.19	3.19	NUM
ijassa-1971	130	3	)	)	PUNCT
ijassa-1971	130	4	to	to	PART
ijassa-1971	130	5	compensate	compensate	VERB
ijassa-1971	130	6	for	for	ADP
ijassa-1971	130	7	all	all	DET
ijassa-1971	130	8	perturbations	perturbation	NOUN
ijassa-1971	130	9	in	in	ADP
ijassa-1971	130	10	equation	equation	NOUN
ijassa-1971	130	11	(	(	PUNCT
ijassa-1971	130	12	3.19	3.19	NUM
ijassa-1971	130	13	)	)	PUNCT
ijassa-1971	130	14	,	,	PUNCT
ijassa-1971	130	15	the	the	DET
ijassa-1971	130	16	control	control	NOUN
ijassa-1971	130	17	law	law	NOUN
ijassa-1971	130	18	is	be	AUX
ijassa-1971	130	19	chosen	choose	VERB
ijassa-1971	130	20	as	as	ADP
ijassa-1971	130	21	:	:	PUNCT
ijassa-1971	130	22	τ	τ	PROPN
ijassa-1971	130	23	(	(	PUNCT
ijassa-1971	130	24	t	t	PROPN
ijassa-1971	130	25	)	)	PUNCT
ijassa-1971	130	26	=	=	PUNCT
ijassa-1971	131	1	ϕt(t)θ	ϕt(t)θ	PUNCT
ijassa-1971	131	2	cos(x3	cos(x3	NOUN
ijassa-1971	131	3	)	)	PUNCT
ijassa-1971	131	4	τb	τb	ADP
ijassa-1971	131	5	(	(	PUNCT
ijassa-1971	131	6	t)−	t)−	PROPN
ijassa-1971	131	7	τdf	τdf	PROPN
ijassa-1971	131	8	(	(	PUNCT
ijassa-1971	131	9	t)−	t)−	PROPN
ijassa-1971	131	10	ωt	ωt	PROPN
ijassa-1971	131	11	(	(	PUNCT
ijassa-1971	131	12	t	t	PROPN
ijassa-1971	131	13	)	)	PUNCT
ijassa-1971	131	14	θ	θ	PROPN
ijassa-1971	131	15	,	,	PUNCT
ijassa-1971	131	16	τb	τb	X
ijassa-1971	131	17	(	(	PUNCT
ijassa-1971	131	18	t	t	NOUN
ijassa-1971	131	19	)	)	PUNCT
ijassa-1971	131	20	=	=	SYM
ijassa-1971	131	21	1	1	NUM
ijassa-1971	131	22	g(ξ	g(ξ	PROPN
ijassa-1971	131	23	)	)	PUNCT
ijassa-1971	131	24	(	(	PUNCT
ijassa-1971	131	25	ktξ	ktξ	NOUN
ijassa-1971	131	26	+	+	CCONJ
ijassa-1971	131	27	et1kx1d	et1kx1d	ADJ
ijassa-1971	131	28	)	)	PUNCT
ijassa-1971	132	1	−	−	PROPN
ijassa-1971	132	2	f	f	PROPN
ijassa-1971	132	3	(	(	PUNCT
ijassa-1971	132	4	ξ	ξ	PROPN
ijassa-1971	132	5	)	)	PUNCT
ijassa-1971	132	6	,	,	PUNCT
ijassa-1971	132	7	(	(	PUNCT
ijassa-1971	132	8	3.20	3.20	NUM
ijassa-1971	132	9	)	)	PUNCT
ijassa-1971	132	10	where	where	SCONJ
ijassa-1971	132	11	τdf	τdf	ADJ
ijassa-1971	132	12	(	(	PUNCT
ijassa-1971	132	13	t	t	NOUN
ijassa-1971	132	14	)	)	PUNCT
ijassa-1971	132	15	denotes	denote	VERB
ijassa-1971	132	16	the	the	DET
ijassa-1971	132	17	filtered	filter	VERB
ijassa-1971	132	18	disturbance	disturbance	NOUN
ijassa-1971	132	19	,	,	PUNCT
ijassa-1971	132	20	τb	τb	X
ijassa-1971	132	21	(	(	PUNCT
ijassa-1971	132	22	t	t	NOUN
ijassa-1971	132	23	)	)	PUNCT
ijassa-1971	132	24	is	be	AUX
ijassa-1971	132	25	a	a	DET
ijassa-1971	132	26	baseline	baseline	ADJ
ijassa-1971	132	27	component	component	NOUN
ijassa-1971	132	28	of	of	ADP
ijassa-1971	132	29	the	the	DET
ijassa-1971	132	30	control	control	NOUN
ijassa-1971	132	31	signal	signal	NOUN
ijassa-1971	132	32	.	.	PUNCT
ijassa-1971	133	1	in	in	ADP
ijassa-1971	133	2	order	order	NOUN
ijassa-1971	133	3	to	to	PART
ijassa-1971	133	4	obtain	obtain	VERB
ijassa-1971	133	5	the	the	DET
ijassa-1971	133	6	filtered	filter	VERB
ijassa-1971	133	7	version	version	NOUN
ijassa-1971	133	8	of	of	ADP
ijassa-1971	133	9	τd	τd	X
ijassa-1971	133	10	(	(	PUNCT
ijassa-1971	133	11	t	t	PROPN
ijassa-1971	133	12	)	)	PUNCT
ijassa-1971	133	13	,	,	PUNCT
ijassa-1971	133	14	the	the	DET
ijassa-1971	133	15	stable	stable	ADJ
ijassa-1971	133	16	first	first	ADJ
ijassa-1971	133	17	order	order	NOUN
ijassa-1971	133	18	filter	filter	NOUN
ijassa-1971	134	1	k	k	PROPN
ijassa-1971	134	2	s+k	s+k	PROPN
ijassa-1971	134	3	[	[	X
ijassa-1971	134	4	.	.	X
ijassa-1971	134	5	]	]	PUNCT
ijassa-1971	134	6	,	,	PUNCT
ijassa-1971	134	7	k	k	X
ijassa-1971	134	8	>	>	X
ijassa-1971	134	9	0	0	NUM
ijassa-1971	134	10	is	be	AUX
ijassa-1971	134	11	applied	apply	VERB
ijassa-1971	134	12	to	to	ADP
ijassa-1971	134	13	the	the	DET
ijassa-1971	134	14	leftand	leftand	NOUN
ijassa-1971	134	15	right	right	ADJ
ijassa-1971	134	16	-	-	PUNCT
ijassa-1971	134	17	hand	hand	NOUN
ijassa-1971	134	18	sides	side	NOUN
ijassa-1971	134	19	of	of	ADP
ijassa-1971	134	20	the	the	DET
ijassa-1971	134	21	first	first	ADJ
ijassa-1971	134	22	equation	equation	NOUN
ijassa-1971	134	23	from	from	ADP
ijassa-1971	134	24	(	(	PUNCT
ijassa-1971	134	25	2.1	2.1	NUM
ijassa-1971	134	26	):	):	PUNCT
ijassa-1971	134	27	(	(	PUNCT
ijassa-1971	134	28	m	m	VERB
ijassa-1971	134	29	+	+	NOUN
ijassa-1971	134	30	m	m	X
ijassa-1971	134	31	)	)	PUNCT
ijassa-1971	135	1	k	k	X
ijassa-1971	135	2	s+k	s+k	PUNCT
ijassa-1971	136	1	[	[	X
ijassa-1971	136	2	q̈1	q̈1	NOUN
ijassa-1971	136	3	]	]	PUNCT
ijassa-1971	137	1	+	+	PROPN
ijassa-1971	137	2	ml	ml	X
ijassa-1971	137	3	k	k	X
ijassa-1971	137	4	s+k	s+k	PUNCT
ijassa-1971	138	1	[	[	X
ijassa-1971	138	2	q̈2cos	q̈2co	NOUN
ijassa-1971	138	3	(	(	PUNCT
ijassa-1971	138	4	q2)]−ml	q2)]−ml	NOUN
ijassa-1971	138	5	k	k	PROPN
ijassa-1971	138	6	s+k	s+k	X
ijassa-1971	138	7	[	[	PUNCT
ijassa-1971	138	8	q̇22sin	q̇22sin	X
ijassa-1971	138	9	(	(	PUNCT
ijassa-1971	138	10	q2	q2	NOUN
ijassa-1971	138	11	)	)	PUNCT
ijassa-1971	138	12	]	]	PUNCT
ijassa-1971	139	1	=	=	PUNCT
ijassa-1971	139	2	k	k	X
ijassa-1971	139	3	s+k	s+k	X
ijassa-1971	140	1	[	[	X
ijassa-1971	140	2	τ	τ	X
ijassa-1971	140	3	]	]	PUNCT
ijassa-1971	141	1	+	+	CCONJ
ijassa-1971	141	2	k	k	PROPN
ijassa-1971	141	3	s+k	s+k	PUNCT
ijassa-1971	142	1	[	[	X
ijassa-1971	142	2	τd	τd	X
ijassa-1971	142	3	]	]	X
ijassa-1971	142	4	,	,	PUNCT
ijassa-1971	142	5	(	(	PUNCT
ijassa-1971	142	6	3.21	3.21	NUM
ijassa-1971	142	7	)	)	PUNCT
ijassa-1971	142	8	having	having	AUX
ijassa-1971	142	9	applied	apply	VERB
ijassa-1971	142	10	the	the	DET
ijassa-1971	142	11	swapping	swap	VERB
ijassa-1971	142	12	lemma	lemma	NOUN
ijassa-1971	142	13	:	:	PUNCT
ijassa-1971	143	1	k	k	X
ijassa-1971	143	2	s+k	s+k	PUNCT
ijassa-1971	144	1	[	[	X
ijassa-1971	144	2	xy	xy	X
ijassa-1971	144	3	]	]	X
ijassa-1971	144	4	=	=	PUNCT
ijassa-1971	144	5	x	x	PUNCT
ijassa-1971	145	1	k	k	X
ijassa-1971	145	2	s+k	s+k	PUNCT
ijassa-1971	146	1	[	[	X
ijassa-1971	146	2	y]−	y]−	NOUN
ijassa-1971	146	3	k	k	X
ijassa-1971	146	4	s+k	s+k	PUNCT
ijassa-1971	146	5	[	[	PUNCT
ijassa-1971	146	6	ẋ	ẋ	PROPN
ijassa-1971	146	7	k	k	X
ijassa-1971	146	8	s+k	s+k	PUNCT
ijassa-1971	147	1	[	[	X
ijassa-1971	147	2	y	y	X
ijassa-1971	147	3	]	]	X
ijassa-1971	147	4	]	]	PUNCT
ijassa-1971	147	5	,	,	PUNCT
ijassa-1971	147	6	we	we	PRON
ijassa-1971	147	7	have	have	VERB
ijassa-1971	147	8	from	from	ADP
ijassa-1971	147	9	(	(	PUNCT
ijassa-1971	147	10	3.21	3.21	NUM
ijassa-1971	147	11	)	)	PUNCT
ijassa-1971	147	12	that	that	PRON
ijassa-1971	147	13	:	:	PUNCT
ijassa-1971	147	14	τdf	τdf	PROPN
ijassa-1971	147	15	(	(	PUNCT
ijassa-1971	147	16	t	t	NOUN
ijassa-1971	147	17	)	)	PUNCT
ijassa-1971	147	18	=	=	SYM
ijassa-1971	147	19	φt	φt	X
ijassa-1971	147	20	(	(	PUNCT
ijassa-1971	147	21	t	t	PROPN
ijassa-1971	147	22	)	)	PUNCT
ijassa-1971	147	23	θ	θ	PROPN
ijassa-1971	148	1	−	−	PROPN
ijassa-1971	148	2	z	z	NOUN
ijassa-1971	148	3	(	(	PUNCT
ijassa-1971	148	4	t	t	PROPN
ijassa-1971	148	5	)	)	PUNCT
ijassa-1971	148	6	,	,	PUNCT
ijassa-1971	148	7	φt	φt	X
ijassa-1971	148	8	(	(	PUNCT
ijassa-1971	148	9	t	t	PROPN
ijassa-1971	148	10	)	)	PUNCT
ijassa-1971	148	11	=	=	PUNCT
ijassa-1971	149	1	[	[	PUNCT
ijassa-1971	149	2	ks	ks	X
ijassa-1971	149	3	s+k	s+k	PROPN
ijassa-1971	150	1	[	[	X
ijassa-1971	150	2	x2	x2	X
ijassa-1971	150	3	]	]	X
ijassa-1971	150	4	ks	ks	X
ijassa-1971	150	5	s+k	s+k	X
ijassa-1971	151	1	[	[	X
ijassa-1971	151	2	x2	x2	X
ijassa-1971	151	3	]	]	X
ijassa-1971	151	4	+	+	NUM
ijassa-1971	151	5	lφ(x	lφ(x	NOUN
ijassa-1971	151	6	)	)	PUNCT
ijassa-1971	151	7	]	]	PUNCT
ijassa-1971	151	8	,	,	PUNCT
ijassa-1971	151	9	z	z	X
ijassa-1971	151	10	(	(	PUNCT
ijassa-1971	151	11	t	t	PROPN
ijassa-1971	151	12	)	)	PUNCT
ijassa-1971	151	13	=	=	PUNCT
ijassa-1971	152	1	k	k	X
ijassa-1971	152	2	s+k	s+k	X
ijassa-1971	153	1	[	[	X
ijassa-1971	153	2	τ	τ	X
ijassa-1971	153	3	]	]	PUNCT
ijassa-1971	153	4	,	,	PUNCT
ijassa-1971	153	5	(	(	PUNCT
ijassa-1971	153	6	3.22	3.22	NUM
ijassa-1971	153	7	)	)	PUNCT
ijassa-1971	153	8	where	where	SCONJ
ijassa-1971	153	9	τdf	τdf	ADJ
ijassa-1971	153	10	(	(	PUNCT
ijassa-1971	153	11	t	t	PROPN
ijassa-1971	153	12	)	)	PUNCT
ijassa-1971	153	13	:	:	PUNCT
ijassa-1971	154	1	=	=	PUNCT
ijassa-1971	154	2	k	k	X
ijassa-1971	154	3	s+k	s+k	PUNCT
ijassa-1971	155	1	[	[	X
ijassa-1971	155	2	τd	τd	X
ijassa-1971	155	3	(	(	PUNCT
ijassa-1971	155	4	t	t	PROPN
ijassa-1971	155	5	)	)	PUNCT
ijassa-1971	155	6	]	]	PUNCT
ijassa-1971	155	7	,	,	PUNCT
ijassa-1971	155	8	φ(x	φ(x	PROPN
ijassa-1971	155	9	)	)	PUNCT
ijassa-1971	155	10	=	=	SYM
ijassa-1971	155	11	cos	cos	X
ijassa-1971	155	12	(	(	PUNCT
ijassa-1971	155	13	x3	x3	ADJ
ijassa-1971	155	14	)	)	PUNCT
ijassa-1971	155	15	ks	k	NOUN
ijassa-1971	155	16	s+k	s+k	PUNCT
ijassa-1971	156	1	[	[	X
ijassa-1971	156	2	x4	x4	X
ijassa-1971	156	3	]	]	X
ijassa-1971	156	4	+	+	CCONJ
ijassa-1971	156	5	k	k	PROPN
ijassa-1971	156	6	s+k	s+k	X
ijassa-1971	156	7	[	[	PUNCT
ijassa-1971	156	8	sin	sin	NOUN
ijassa-1971	156	9	(	(	PUNCT
ijassa-1971	156	10	x3	x3	ADJ
ijassa-1971	156	11	)	)	PUNCT
ijassa-1971	156	12	(	(	PUNCT
ijassa-1971	156	13	x4	x4	ADV
ijassa-1971	156	14	ks	k	NOUN
ijassa-1971	156	15	s+k	s+k	PROPN
ijassa-1971	157	1	[	[	X
ijassa-1971	157	2	x4]−	x4]−	ADJ
ijassa-1971	157	3	x24	x24	NOUN
ijassa-1971	157	4	)	)	PUNCT
ijassa-1971	157	5	]	]	PUNCT
ijassa-1971	157	6	.	.	PUNCT
ijassa-1971	158	1	copyright	copyright	NOUN
ijassa-1971	158	2	©	©	PROPN
ijassa-1971	158	3	2024	2024	NUM
ijassa-1971	158	4	assa	assa	NOUN
ijassa-1971	158	5	.	.	PUNCT
ijassa-1971	159	1	adv	adv	PROPN
ijassa-1971	159	2	syst	syst	PROPN
ijassa-1971	159	3	sci	sci	PROPN
ijassa-1971	159	4	appl	appl	PROPN
ijassa-1971	159	5	(	(	PUNCT
ijassa-1971	159	6	2024	2024	NUM
ijassa-1971	159	7	)	)	PUNCT
ijassa-1971	159	8	88	88	NUM
ijassa-1971	159	9	v.	v.	ADP
ijassa-1971	159	10	petrov	petrov	PROPN
ijassa-1971	159	11	,	,	PUNCT
ijassa-1971	159	12	a.	a.	NOUN
ijassa-1971	159	13	glushchenko	glushchenko	PROPN
ijassa-1971	159	14	,	,	PUNCT
ijassa-1971	159	15	k.	k.	PROPN
ijassa-1971	159	16	lastochkin	lastochkin	VERB
ijassa-1971	159	17	the	the	DET
ijassa-1971	159	18	substitution	substitution	NOUN
ijassa-1971	159	19	of	of	ADP
ijassa-1971	159	20	(	(	PUNCT
ijassa-1971	159	21	3.22	3.22	NUM
ijassa-1971	159	22	)	)	PUNCT
ijassa-1971	159	23	into	into	ADP
ijassa-1971	159	24	(	(	PUNCT
ijassa-1971	159	25	3.20	3.20	NUM
ijassa-1971	159	26	)	)	PUNCT
ijassa-1971	159	27	yields	yield	VERB
ijassa-1971	159	28	the	the	DET
ijassa-1971	159	29	final	final	ADJ
ijassa-1971	159	30	equation	equation	NOUN
ijassa-1971	159	31	for	for	ADP
ijassa-1971	159	32	the	the	DET
ijassa-1971	159	33	ideal	ideal	ADJ
ijassa-1971	159	34	control	control	PROPN
ijassa-1971	159	35	law	law	NOUN
ijassa-1971	159	36	,	,	PUNCT
ijassa-1971	159	37	which	which	PRON
ijassa-1971	159	38	is	be	AUX
ijassa-1971	159	39	applicable	applicable	ADJ
ijassa-1971	159	40	in	in	ADP
ijassa-1971	159	41	case	case	NOUN
ijassa-1971	159	42	all	all	DET
ijassa-1971	159	43	overhead	overhead	ADJ
ijassa-1971	159	44	crane	crane	NOUN
ijassa-1971	159	45	parameters	parameter	NOUN
ijassa-1971	159	46	are	be	AUX
ijassa-1971	159	47	known	know	VERB
ijassa-1971	159	48	:	:	PUNCT
ijassa-1971	159	49	τ	τ	PROPN
ijassa-1971	159	50	(	(	PUNCT
ijassa-1971	159	51	t	t	PROPN
ijassa-1971	159	52	)	)	PUNCT
ijassa-1971	159	53	=	=	PUNCT
ijassa-1971	160	1	ϕt(t)θ	ϕt(t)θ	PUNCT
ijassa-1971	160	2	cos(x3	cos(x3	NOUN
ijassa-1971	160	3	)	)	PUNCT
ijassa-1971	160	4	τb	τb	ADP
ijassa-1971	160	5	(	(	PUNCT
ijassa-1971	160	6	t)−	t)−	PROPN
ijassa-1971	160	7	ωt	ωt	PROPN
ijassa-1971	160	8	(	(	PUNCT
ijassa-1971	160	9	t	t	PROPN
ijassa-1971	160	10	)	)	PUNCT
ijassa-1971	160	11	θ	θ	PROPN
ijassa-1971	161	1	+	+	PUNCT
ijassa-1971	161	2	z	z	PROPN
ijassa-1971	161	3	(	(	PUNCT
ijassa-1971	161	4	t	t	PROPN
ijassa-1971	161	5	)	)	PUNCT
ijassa-1971	161	6	,	,	PUNCT
ijassa-1971	161	7	(	(	PUNCT
ijassa-1971	161	8	3.23	3.23	NUM
ijassa-1971	161	9	)	)	PUNCT
ijassa-1971	162	1	where	where	SCONJ
ijassa-1971	162	2	ω	ω	PROPN
ijassa-1971	162	3	(	(	PUNCT
ijassa-1971	162	4	t	t	PROPN
ijassa-1971	162	5	)	)	PUNCT
ijassa-1971	162	6	=	=	SYM
ijassa-1971	162	7	ω	ω	PROPN
ijassa-1971	162	8	(	(	PUNCT
ijassa-1971	162	9	t	t	PROPN
ijassa-1971	162	10	)	)	PUNCT
ijassa-1971	162	11	+	+	CCONJ
ijassa-1971	162	12	φ	φ	PROPN
ijassa-1971	162	13	(	(	PUNCT
ijassa-1971	162	14	t	t	PROPN
ijassa-1971	162	15	)	)	PUNCT
ijassa-1971	162	16	.	.	PUNCT
ijassa-1971	163	1	if	if	SCONJ
ijassa-1971	163	2	the	the	DET
ijassa-1971	163	3	crane	crane	NOUN
ijassa-1971	163	4	parameters	parameter	NOUN
ijassa-1971	163	5	are	be	AUX
ijassa-1971	163	6	unknown	unknown	ADJ
ijassa-1971	163	7	,	,	PUNCT
ijassa-1971	163	8	they	they	PRON
ijassa-1971	163	9	are	be	AUX
ijassa-1971	163	10	required	require	VERB
ijassa-1971	163	11	to	to	PART
ijassa-1971	163	12	be	be	AUX
ijassa-1971	163	13	estimated	estimate	VERB
ijassa-1971	163	14	to	to	PART
ijassa-1971	163	15	design	design	VERB
ijassa-1971	163	16	an	an	DET
ijassa-1971	163	17	adaptive	adaptive	ADJ
ijassa-1971	163	18	control	control	NOUN
ijassa-1971	163	19	system	system	NOUN
ijassa-1971	163	20	.	.	PUNCT
ijassa-1971	164	1	3.3	3.3	NUM
ijassa-1971	164	2	.	.	PUNCT
ijassa-1971	165	1	adaptive	adaptive	ADJ
ijassa-1971	165	2	control	control	NOUN
ijassa-1971	165	3	system	system	NOUN
ijassa-1971	165	4	design	design	VERB
ijassa-1971	165	5	the	the	DET
ijassa-1971	165	6	unknown	unknown	ADJ
ijassa-1971	165	7	parameters	parameter	NOUN
ijassa-1971	165	8	are	be	AUX
ijassa-1971	165	9	proposed	propose	VERB
ijassa-1971	165	10	to	to	PART
ijassa-1971	165	11	be	be	AUX
ijassa-1971	165	12	identified	identify	VERB
ijassa-1971	165	13	using	use	VERB
ijassa-1971	165	14	the	the	DET
ijassa-1971	165	15	estimation	estimation	NOUN
ijassa-1971	165	16	law	law	NOUN
ijassa-1971	165	17	proposed	propose	VERB
ijassa-1971	165	18	in	in	ADP
ijassa-1971	165	19	[	[	X
ijassa-1971	165	20	6	6	NUM
ijassa-1971	165	21	]	]	PUNCT
ijassa-1971	165	22	.	.	PUNCT
ijassa-1971	166	1	following	follow	VERB
ijassa-1971	166	2	the	the	DET
ijassa-1971	166	3	procedure	procedure	NOUN
ijassa-1971	166	4	from	from	ADP
ijassa-1971	166	5	[	[	X
ijassa-1971	166	6	6	6	NUM
ijassa-1971	166	7	]	]	PUNCT
ijassa-1971	166	8	,	,	PUNCT
ijassa-1971	166	9	an	an	DET
ijassa-1971	166	10	instrumental	instrumental	ADJ
ijassa-1971	166	11	variable	variable	NOUN
ijassa-1971	166	12	is	be	AUX
ijassa-1971	166	13	introduced	introduce	VERB
ijassa-1971	166	14	on	on	ADP
ijassa-1971	166	15	the	the	DET
ijassa-1971	166	16	basis	basis	NOUN
ijassa-1971	166	17	of	of	ADP
ijassa-1971	166	18	the	the	DET
ijassa-1971	166	19	reference	reference	NOUN
ijassa-1971	166	20	model	model	NOUN
ijassa-1971	166	21	(	(	PUNCT
ijassa-1971	166	22	3.18	3.18	NUM
ijassa-1971	166	23	)	)	PUNCT
ijassa-1971	166	24	states	state	NOUN
ijassa-1971	166	25	:	:	PUNCT
ijassa-1971	166	26	ζiv	ζiv	NOUN
ijassa-1971	166	27	(	(	PUNCT
ijassa-1971	166	28	t	t	NOUN
ijassa-1971	166	29	)	)	PUNCT
ijassa-1971	166	30	=	=	PUNCT
ijassa-1971	167	1	[	[	PUNCT
ijassa-1971	167	2	ks	ks	X
ijassa-1971	167	3	s+k	s+k	PROPN
ijassa-1971	168	1	[	[	X
ijassa-1971	168	2	x2ref	x2ref	X
ijassa-1971	168	3	]	]	X
ijassa-1971	168	4	ks	ks	X
ijassa-1971	168	5	s+k	s+k	PUNCT
ijassa-1971	169	1	[	[	X
ijassa-1971	169	2	x2ref	x2ref	X
ijassa-1971	169	3	]	]	PUNCT
ijassa-1971	170	1	+	+	CCONJ
ijassa-1971	170	2	lφ(xref	lφ(xref	ADJ
ijassa-1971	170	3	)	)	PUNCT
ijassa-1971	170	4	]	]	PUNCT
ijassa-1971	171	1	(	(	PUNCT
ijassa-1971	171	2	3.24	3.24	NUM
ijassa-1971	171	3	)	)	PUNCT
ijassa-1971	172	1	where	where	SCONJ
ijassa-1971	172	2	xref	xref	PROPN
ijassa-1971	172	3	(	(	PUNCT
ijassa-1971	172	4	t	t	PROPN
ijassa-1971	172	5	)	)	PUNCT
ijassa-1971	172	6	=	=	SYM
ijassa-1971	172	7	x1ref	x1ref	PROPN
ijassa-1971	172	8	(	(	PUNCT
ijassa-1971	172	9	t)x2ref	t)x2ref	PROPN
ijassa-1971	172	10	(	(	PUNCT
ijassa-1971	172	11	t	t	PROPN
ijassa-1971	172	12	)	)	PUNCT
ijassa-1971	172	13	x3ref	x3ref	PROPN
ijassa-1971	172	14	(	(	PUNCT
ijassa-1971	172	15	t	t	PROPN
ijassa-1971	172	16	)	)	PUNCT
ijassa-1971	172	17	x4ref	x4ref	PROPN
ijassa-1971	172	18	(	(	PUNCT
ijassa-1971	172	19	t	t	NOUN
ijassa-1971	172	20	)	)	PUNCT
ijassa-1971	172	21			PROPN
ijassa-1971	172	22	=	=	SYM
ijassa-1971	172	23	si	si	X
ijassa-1971	172	24	(	(	PUNCT
ijassa-1971	172	25	t	t	NOUN
ijassa-1971	172	26	i	i	PRON
ijassa-1971	172	27	(	(	PUNCT
ijassa-1971	172	28	ξref	ξref	NOUN
ijassa-1971	172	29	)	)	PUNCT
ijassa-1971	172	30	)	)	PUNCT
ijassa-1971	173	1	.	.	PUNCT
ijassa-1971	174	1	using	use	VERB
ijassa-1971	174	2	the	the	DET
ijassa-1971	174	3	instrumental	instrumental	ADJ
ijassa-1971	174	4	variable	variable	NOUN
ijassa-1971	174	5	(	(	PUNCT
ijassa-1971	174	6	3.24	3.24	NUM
ijassa-1971	174	7	)	)	PUNCT
ijassa-1971	174	8	,	,	PUNCT
ijassa-1971	174	9	the	the	DET
ijassa-1971	174	10	regression	regression	NOUN
ijassa-1971	174	11	equation	equation	NOUN
ijassa-1971	174	12	(	(	PUNCT
ijassa-1971	174	13	3.22	3.22	NUM
ijassa-1971	174	14	)	)	PUNCT
ijassa-1971	174	15	is	be	AUX
ijassa-1971	174	16	extended	extend	VERB
ijassa-1971	174	17	with	with	ADP
ijassa-1971	174	18	the	the	DET
ijassa-1971	174	19	help	help	NOUN
ijassa-1971	174	20	of	of	ADP
ijassa-1971	174	21	a	a	DET
ijassa-1971	174	22	filter	filter	NOUN
ijassa-1971	174	23	with	with	ADP
ijassa-1971	174	24	averaging	averaging	NOUN
ijassa-1971	174	25	and	and	CCONJ
ijassa-1971	174	26	a	a	DET
ijassa-1971	174	27	sliding	slide	VERB
ijassa-1971	174	28	window	window	NOUN
ijassa-1971	174	29	filter	filter	NOUN
ijassa-1971	174	30	:	:	PUNCT
ijassa-1971	174	31	ϑ̇	ϑ̇	PROPN
ijassa-1971	174	32	(	(	PUNCT
ijassa-1971	174	33	t	t	NOUN
ijassa-1971	174	34	)	)	PUNCT
ijassa-1971	174	35	=	=	SYM
ijassa-1971	174	36	ζiv	ζiv	NOUN
ijassa-1971	174	37	(	(	PUNCT
ijassa-1971	174	38	t	t	NOUN
ijassa-1971	174	39	)	)	PUNCT
ijassa-1971	174	40	z	z	NOUN
ijassa-1971	174	41	(	(	PUNCT
ijassa-1971	174	42	t)−	t)−	PROPN
ijassa-1971	174	43	ζiv	ζiv	NOUN
ijassa-1971	174	44	(	(	PUNCT
ijassa-1971	174	45	t−	t−	PROPN
ijassa-1971	174	46	t	t	PROPN
ijassa-1971	174	47	)	)	PUNCT
ijassa-1971	174	48	z	z	NOUN
ijassa-1971	174	49	(	(	PUNCT
ijassa-1971	174	50	t−	t−	PROPN
ijassa-1971	174	51	t	t	PROPN
ijassa-1971	174	52	)	)	PUNCT
ijassa-1971	174	53	,	,	PUNCT
ijassa-1971	174	54	ϑ	ϑ	X
ijassa-1971	174	55	(	(	PUNCT
ijassa-1971	174	56	t0	t0	NOUN
ijassa-1971	174	57	)	)	PUNCT
ijassa-1971	175	1	=	=	SYM
ijassa-1971	175	2	0	0	NUM
ijassa-1971	175	3	,	,	PUNCT
ijassa-1971	175	4	ψ̇	ψ̇	PROPN
ijassa-1971	175	5	(	(	PUNCT
ijassa-1971	175	6	t	t	PROPN
ijassa-1971	175	7	)	)	PUNCT
ijassa-1971	175	8	=	=	SYM
ijassa-1971	175	9	ζiv	ζiv	NOUN
ijassa-1971	175	10	(	(	PUNCT
ijassa-1971	175	11	t)φ	t)φ	X
ijassa-1971	175	12	t	t	NOUN
ijassa-1971	175	13	(	(	PUNCT
ijassa-1971	175	14	t)−	t)−	PROPN
ijassa-1971	175	15	ζiv	ζiv	NOUN
ijassa-1971	175	16	(	(	PUNCT
ijassa-1971	175	17	t−	t−	PROPN
ijassa-1971	175	18	t	t	PROPN
ijassa-1971	175	19	)	)	PUNCT
ijassa-1971	175	20	φt	φt	NOUN
ijassa-1971	175	21	(	(	PUNCT
ijassa-1971	175	22	t−	t−	PROPN
ijassa-1971	175	23	t	t	PROPN
ijassa-1971	175	24	)	)	PUNCT
ijassa-1971	175	25	,	,	PUNCT
ijassa-1971	175	26	ψ	ψ	X
ijassa-1971	175	27	(	(	PUNCT
ijassa-1971	175	28	t0	t0	NOUN
ijassa-1971	175	29	)	)	PUNCT
ijassa-1971	175	30	=	=	SYM
ijassa-1971	175	31	02×2	02×2	NUM
ijassa-1971	175	32	,	,	PUNCT
ijassa-1971	175	33	(	(	PUNCT
ijassa-1971	175	34	3.25	3.25	NUM
ijassa-1971	175	35	)	)	PUNCT
ijassa-1971	175	36	ẏ	ẏ	PROPN
ijassa-1971	175	37	(	(	PUNCT
ijassa-1971	175	38	t	t	PROPN
ijassa-1971	175	39	)	)	PUNCT
ijassa-1971	175	40	=	=	PUNCT
ijassa-1971	176	1	−	−	PROPN
ijassa-1971	176	2	1	1	NUM
ijassa-1971	176	3	f	f	PROPN
ijassa-1971	176	4	(	(	PUNCT
ijassa-1971	176	5	t	t	PROPN
ijassa-1971	176	6	)	)	PUNCT
ijassa-1971	176	7	ḟ	ḟ	PROPN
ijassa-1971	176	8	(	(	PUNCT
ijassa-1971	176	9	t	t	PROPN
ijassa-1971	176	10	)	)	PUNCT
ijassa-1971	176	11	(	(	PUNCT
ijassa-1971	176	12	y	y	PROPN
ijassa-1971	176	13	(	(	PUNCT
ijassa-1971	176	14	t)−	t)−	PROPN
ijassa-1971	176	15	ϑ	ϑ	X
ijassa-1971	176	16	(	(	PUNCT
ijassa-1971	176	17	t	t	PROPN
ijassa-1971	176	18	)	)	PUNCT
ijassa-1971	176	19	)	)	PUNCT
ijassa-1971	176	20	,	,	PUNCT
ijassa-1971	176	21	y	y	PROPN
ijassa-1971	176	22	(	(	PUNCT
ijassa-1971	176	23	t0	t0	PROPN
ijassa-1971	176	24	)	)	PUNCT
ijassa-1971	177	1	=	=	SYM
ijassa-1971	177	2	0	0	NUM
ijassa-1971	177	3	,	,	PUNCT
ijassa-1971	177	4	φ̇	φ̇	ADV
ijassa-1971	177	5	(	(	PUNCT
ijassa-1971	177	6	t	t	NOUN
ijassa-1971	177	7	)	)	PUNCT
ijassa-1971	177	8	=	=	PUNCT
ijassa-1971	178	1	−	−	PROPN
ijassa-1971	178	2	1	1	NUM
ijassa-1971	178	3	f	f	PROPN
ijassa-1971	178	4	(	(	PUNCT
ijassa-1971	178	5	t	t	PROPN
ijassa-1971	178	6	)	)	PUNCT
ijassa-1971	178	7	ḟ	ḟ	PROPN
ijassa-1971	178	8	(	(	PUNCT
ijassa-1971	178	9	t	t	PROPN
ijassa-1971	178	10	)	)	PUNCT
ijassa-1971	178	11	(	(	PUNCT
ijassa-1971	178	12	φ	φ	X
ijassa-1971	178	13	(	(	PUNCT
ijassa-1971	178	14	t)−	t)−	PROPN
ijassa-1971	178	15	ψ	ψ	X
ijassa-1971	178	16	(	(	PUNCT
ijassa-1971	178	17	t	t	PROPN
ijassa-1971	178	18	)	)	PUNCT
ijassa-1971	178	19	)	)	PUNCT
ijassa-1971	178	20	,	,	PUNCT
ijassa-1971	178	21	φ	φ	PROPN
ijassa-1971	178	22	(	(	PUNCT
ijassa-1971	178	23	t0	t0	PROPN
ijassa-1971	178	24	)	)	PUNCT
ijassa-1971	178	25	=	=	SYM
ijassa-1971	179	1	02×2	02×2	NUM
ijassa-1971	179	2	,	,	PUNCT
ijassa-1971	179	3	ḟ	ḟ	PROPN
ijassa-1971	179	4	(	(	PUNCT
ijassa-1971	179	5	t	t	PROPN
ijassa-1971	179	6	)	)	PUNCT
ijassa-1971	179	7	=	=	PUNCT
ijassa-1971	180	1	ptp−1	ptp−1	PROPN
ijassa-1971	180	2	,	,	PUNCT
ijassa-1971	180	3	f	f	PROPN
ijassa-1971	180	4	(	(	PUNCT
ijassa-1971	180	5	t0	t0	PROPN
ijassa-1971	180	6	)	)	PUNCT
ijassa-1971	180	7	=	=	SYM
ijassa-1971	181	1	f0	f0	PROPN
ijassa-1971	181	2	>	>	X
ijassa-1971	181	3	0	0	NUM
ijassa-1971	181	4	,	,	PUNCT
ijassa-1971	181	5	(	(	PUNCT
ijassa-1971	181	6	3.26	3.26	NUM
ijassa-1971	181	7	)	)	PUNCT
ijassa-1971	181	8	where	where	SCONJ
ijassa-1971	181	9	t	t	PROPN
ijassa-1971	181	10	>	>	X
ijassa-1971	181	11	0	0	PUNCT
ijassa-1971	181	12	is	be	AUX
ijassa-1971	181	13	a	a	DET
ijassa-1971	181	14	sliding	slide	VERB
ijassa-1971	181	15	window	window	NOUN
ijassa-1971	181	16	width	width	NOUN
ijassa-1971	181	17	,	,	PUNCT
ijassa-1971	181	18	p	p	NOUN
ijassa-1971	181	19	⩾	⩾	NOUN
ijassa-1971	181	20	1	1	NUM
ijassa-1971	181	21	,	,	PUNCT
ijassa-1971	181	22	f0	f0	ADJ
ijassa-1971	181	23	⩾	⩾	PROPN
ijassa-1971	181	24	tp0	tp0	PROPN
ijassa-1971	181	25	stand	stand	VERB
ijassa-1971	181	26	for	for	ADP
ijassa-1971	181	27	the	the	DET
ijassa-1971	181	28	parameters	parameter	NOUN
ijassa-1971	181	29	of	of	ADP
ijassa-1971	181	30	the	the	DET
ijassa-1971	181	31	filter	filter	NOUN
ijassa-1971	181	32	with	with	ADP
ijassa-1971	181	33	averaging	average	VERB
ijassa-1971	181	34	.	.	PUNCT
ijassa-1971	182	1	considering	consider	VERB
ijassa-1971	182	2	that	that	DET
ijassa-1971	182	3	θ	θ	PROPN
ijassa-1971	182	4	=	=	SYM
ijassa-1971	182	5	const	const	PROPN
ijassa-1971	182	6	and	and	CCONJ
ijassa-1971	182	7	applying	apply	VERB
ijassa-1971	182	8	the	the	DET
ijassa-1971	182	9	filters	filter	NOUN
ijassa-1971	182	10	(	(	PUNCT
ijassa-1971	182	11	3.25	3.25	NUM
ijassa-1971	182	12	)	)	PUNCT
ijassa-1971	182	13	and	and	CCONJ
ijassa-1971	182	14	(	(	PUNCT
ijassa-1971	182	15	3.26	3.26	NUM
ijassa-1971	182	16	)	)	PUNCT
ijassa-1971	182	17	,	,	PUNCT
ijassa-1971	182	18	the	the	DET
ijassa-1971	182	19	following	follow	VERB
ijassa-1971	182	20	regression	regression	NOUN
ijassa-1971	182	21	equation	equation	NOUN
ijassa-1971	182	22	is	be	AUX
ijassa-1971	182	23	obtained	obtain	VERB
ijassa-1971	182	24	[	[	PUNCT
ijassa-1971	182	25	6	6	NUM
ijassa-1971	182	26	,	,	PUNCT
ijassa-1971	182	27	proposition	proposition	NOUN
ijassa-1971	182	28	4	4	NUM
ijassa-1971	182	29	]	]	PUNCT
ijassa-1971	182	30	:	:	PUNCT
ijassa-1971	182	31	y	y	PROPN
ijassa-1971	182	32	(	(	PUNCT
ijassa-1971	182	33	t	t	PROPN
ijassa-1971	182	34	)	)	PUNCT
ijassa-1971	182	35	=	=	SYM
ijassa-1971	183	1	φ	φ	PROPN
ijassa-1971	183	2	(	(	PUNCT
ijassa-1971	183	3	t	t	PROPN
ijassa-1971	183	4	)	)	PUNCT
ijassa-1971	183	5	θ	θ	PROPN
ijassa-1971	184	1	+	+	PROPN
ijassa-1971	184	2	w	w	PROPN
ijassa-1971	184	3	(	(	PUNCT
ijassa-1971	184	4	t	t	PROPN
ijassa-1971	184	5	)	)	PUNCT
ijassa-1971	184	6	,	,	PUNCT
ijassa-1971	184	7	(	(	PUNCT
ijassa-1971	184	8	3.27	3.27	NUM
ijassa-1971	184	9	)	)	PUNCT
ijassa-1971	184	10	where	where	SCONJ
ijassa-1971	184	11	the	the	DET
ijassa-1971	184	12	disturbance	disturbance	NOUN
ijassa-1971	184	13	satisfies	satisfy	VERB
ijassa-1971	184	14	following	follow	VERB
ijassa-1971	184	15	equations	equation	NOUN
ijassa-1971	184	16	:	:	PUNCT
ijassa-1971	184	17	ẇ	ẇ	PROPN
ijassa-1971	184	18	(	(	PUNCT
ijassa-1971	184	19	t	t	NOUN
ijassa-1971	184	20	)	)	PUNCT
ijassa-1971	184	21	=	=	PUNCT
ijassa-1971	185	1	−	−	PROPN
ijassa-1971	185	2	1	1	NUM
ijassa-1971	185	3	f	f	PROPN
ijassa-1971	185	4	(	(	PUNCT
ijassa-1971	185	5	t	t	PROPN
ijassa-1971	185	6	)	)	PUNCT
ijassa-1971	185	7	ḟ	ḟ	PROPN
ijassa-1971	185	8	(	(	PUNCT
ijassa-1971	185	9	t	t	PROPN
ijassa-1971	185	10	)	)	PUNCT
ijassa-1971	185	11	(	(	PUNCT
ijassa-1971	185	12	w	w	X
ijassa-1971	185	13	(	(	PUNCT
ijassa-1971	185	14	t)−	t)−	PROPN
ijassa-1971	185	15	ε	ε	PROPN
ijassa-1971	185	16	(	(	PUNCT
ijassa-1971	185	17	t	t	PROPN
ijassa-1971	185	18	)	)	PUNCT
ijassa-1971	185	19	)	)	PUNCT
ijassa-1971	185	20	,	,	PUNCT
ijassa-1971	185	21	w	w	PROPN
ijassa-1971	185	22	(	(	PUNCT
ijassa-1971	185	23	t0	t0	NOUN
ijassa-1971	185	24	)	)	PUNCT
ijassa-1971	185	25	=	=	SYM
ijassa-1971	186	1	0	0	NUM
ijassa-1971	186	2	,	,	PUNCT
ijassa-1971	186	3	ε̇	ε̇	PROPN
ijassa-1971	186	4	(	(	PUNCT
ijassa-1971	186	5	t	t	NOUN
ijassa-1971	186	6	)	)	PUNCT
ijassa-1971	186	7	=	=	SYM
ijassa-1971	186	8	ζiv	ζiv	NOUN
ijassa-1971	186	9	(	(	PUNCT
ijassa-1971	186	10	t)w	t)w	X
ijassa-1971	186	11	(	(	PUNCT
ijassa-1971	186	12	t)−	t)−	PROPN
ijassa-1971	186	13	ζiv	ζiv	NOUN
ijassa-1971	186	14	(	(	PUNCT
ijassa-1971	186	15	t−	t−	PROPN
ijassa-1971	186	16	t	t	PROPN
ijassa-1971	186	17	)	)	PUNCT
ijassa-1971	186	18	w	w	ADP
ijassa-1971	186	19	(	(	PUNCT
ijassa-1971	186	20	t−	t−	PROPN
ijassa-1971	186	21	t	t	PROPN
ijassa-1971	186	22	)	)	PUNCT
ijassa-1971	186	23	,	,	PUNCT
ijassa-1971	186	24	ε	ε	PROPN
ijassa-1971	186	25	(	(	PUNCT
ijassa-1971	186	26	t0	t0	PROPN
ijassa-1971	186	27	)	)	PUNCT
ijassa-1971	186	28	=	=	SYM
ijassa-1971	186	29	0	0	NUM
ijassa-1971	186	30	,	,	PUNCT
ijassa-1971	186	31	(	(	PUNCT
ijassa-1971	186	32	3.28	3.28	NUM
ijassa-1971	186	33	)	)	PUNCT
ijassa-1971	186	34	where	where	SCONJ
ijassa-1971	186	35	,	,	PUNCT
ijassa-1971	186	36	in	in	ADP
ijassa-1971	186	37	order	order	NOUN
ijassa-1971	186	38	to	to	PART
ijassa-1971	186	39	follow	follow	VERB
ijassa-1971	186	40	notation	notation	NOUN
ijassa-1971	186	41	from	from	ADP
ijassa-1971	186	42	[	[	X
ijassa-1971	186	43	6	6	NUM
ijassa-1971	186	44	]	]	PUNCT
ijassa-1971	186	45	,	,	PUNCT
ijassa-1971	186	46	we	we	PRON
ijassa-1971	186	47	introduce	introduce	VERB
ijassa-1971	186	48	w	w	PROPN
ijassa-1971	186	49	(	(	PUNCT
ijassa-1971	186	50	t	t	PROPN
ijassa-1971	186	51	)	)	PUNCT
ijassa-1971	186	52	:	:	PUNCT
ijassa-1971	187	1	=	=	PUNCT
ijassa-1971	187	2	k	k	X
ijassa-1971	187	3	s+k	s+k	PUNCT
ijassa-1971	188	1	[	[	X
ijassa-1971	188	2	τd	τd	X
ijassa-1971	188	3	(	(	PUNCT
ijassa-1971	188	4	t	t	PROPN
ijassa-1971	188	5	)	)	PUNCT
ijassa-1971	188	6	]	]	PUNCT
ijassa-1971	188	7	.	.	PUNCT
ijassa-1971	188	8	multiplication	multiplication	NOUN
ijassa-1971	188	9	of	of	ADP
ijassa-1971	188	10	(	(	PUNCT
ijassa-1971	188	11	3.27	3.27	NUM
ijassa-1971	188	12	)	)	PUNCT
ijassa-1971	188	13	by	by	ADP
ijassa-1971	188	14	adj	adj	X
ijassa-1971	188	15	{	{	PUNCT
ijassa-1971	188	16	φ	φ	PROPN
ijassa-1971	188	17	(	(	PUNCT
ijassa-1971	188	18	t	t	PROPN
ijassa-1971	188	19	)	)	PUNCT
ijassa-1971	188	20	}	}	PUNCT
ijassa-1971	188	21	yields	yield	VERB
ijassa-1971	188	22	a	a	DET
ijassa-1971	188	23	set	set	NOUN
ijassa-1971	188	24	of	of	ADP
ijassa-1971	188	25	scalar	scalar	ADJ
ijassa-1971	188	26	regression	regression	NOUN
ijassa-1971	188	27	equations	equation	NOUN
ijassa-1971	188	28	:	:	PUNCT
ijassa-1971	188	29	y	y	PROPN
ijassa-1971	188	30	(	(	PUNCT
ijassa-1971	188	31	t	t	PROPN
ijassa-1971	188	32	)	)	PUNCT
ijassa-1971	188	33	=	=	SYM
ijassa-1971	188	34	∆	∆	PROPN
ijassa-1971	188	35	(	(	PUNCT
ijassa-1971	188	36	t	t	PROPN
ijassa-1971	188	37	)	)	PUNCT
ijassa-1971	188	38	θ	θ	PROPN
ijassa-1971	189	1	+	+	PROPN
ijassa-1971	189	2	w	w	PROPN
ijassa-1971	189	3	(	(	PUNCT
ijassa-1971	189	4	t	t	PROPN
ijassa-1971	189	5	)	)	PUNCT
ijassa-1971	189	6	,	,	PUNCT
ijassa-1971	189	7	(	(	PUNCT
ijassa-1971	189	8	3.29	3.29	NUM
ijassa-1971	189	9	)	)	PUNCT
ijassa-1971	189	10	copyright	copyright	NOUN
ijassa-1971	189	11	©	©	PROPN
ijassa-1971	189	12	2024	2024	NUM
ijassa-1971	189	13	assa	assa	NOUN
ijassa-1971	189	14	.	.	PUNCT
ijassa-1971	190	1	adv	adv	PROPN
ijassa-1971	190	2	syst	syst	PROPN
ijassa-1971	190	3	sci	sci	PROPN
ijassa-1971	190	4	appl	appl	PROPN
ijassa-1971	190	5	(	(	PUNCT
ijassa-1971	190	6	2024	2024	NUM
ijassa-1971	190	7	)	)	PUNCT
ijassa-1971	190	8	adaptive	adaptive	ADJ
ijassa-1971	190	9	disturbance	disturbance	NOUN
ijassa-1971	190	10	rejection	rejection	NOUN
ijassa-1971	190	11	control	control	NOUN
ijassa-1971	190	12	of	of	ADP
ijassa-1971	190	13	2d	2d	PROPN
ijassa-1971	190	14	crane	crane	NOUN
ijassa-1971	190	15	...	...	PUNCT
ijassa-1971	190	16	89	89	NUM
ijassa-1971	190	17	where	where	SCONJ
ijassa-1971	190	18	y	y	PROPN
ijassa-1971	190	19	(	(	PUNCT
ijassa-1971	190	20	t	t	PROPN
ijassa-1971	190	21	)	)	PUNCT
ijassa-1971	190	22	:	:	PUNCT
ijassa-1971	190	23	=	=	SYM
ijassa-1971	190	24	adj	adj	X
ijassa-1971	190	25	{	{	PUNCT
ijassa-1971	190	26	φ(t	φ(t	PROPN
ijassa-1971	190	27	)	)	PUNCT
ijassa-1971	190	28	1+∥φ(t)∥	1+∥φ(t)∥	NUM
ijassa-1971	190	29	}	}	PUNCT
ijassa-1971	190	30	y	y	PROPN
ijassa-1971	190	31	(	(	PUNCT
ijassa-1971	190	32	t	t	PROPN
ijassa-1971	190	33	)	)	PUNCT
ijassa-1971	190	34	,	,	PUNCT
ijassa-1971	190	35	∆(t	∆(t	NOUN
ijassa-1971	190	36	)	)	PUNCT
ijassa-1971	190	37	:	:	PUNCT
ijassa-1971	190	38	=	=	SYM
ijassa-1971	190	39	det	det	X
ijassa-1971	190	40	{	{	PUNCT
ijassa-1971	190	41	φ(t	φ(t	PROPN
ijassa-1971	190	42	)	)	PUNCT
ijassa-1971	190	43	1+∥φ(t)∥	1+∥φ(t)∥	NUM
ijassa-1971	190	44	}	}	PUNCT
ijassa-1971	190	45	,	,	PUNCT
ijassa-1971	190	46	w	w	PROPN
ijassa-1971	190	47	(	(	PUNCT
ijassa-1971	190	48	t	t	PROPN
ijassa-1971	190	49	)	)	PUNCT
ijassa-1971	190	50	:	:	PUNCT
ijassa-1971	190	51	=	=	SYM
ijassa-1971	190	52	adj	adj	X
ijassa-1971	190	53	{	{	PUNCT
ijassa-1971	190	54	φ(t	φ(t	PROPN
ijassa-1971	190	55	)	)	PUNCT
ijassa-1971	190	56	1+∥φ(t)∥	1+∥φ(t)∥	NUM
ijassa-1971	190	57	}	}	PUNCT
ijassa-1971	190	58	w	w	PROPN
ijassa-1971	190	59	(	(	PUNCT
ijassa-1971	190	60	t	t	PROPN
ijassa-1971	190	61	)	)	PUNCT
ijassa-1971	190	62	.	.	PUNCT
ijassa-1971	191	1	we	we	PRON
ijassa-1971	191	2	are	be	AUX
ijassa-1971	191	3	in	in	ADP
ijassa-1971	191	4	position	position	NOUN
ijassa-1971	191	5	to	to	PART
ijassa-1971	191	6	prove	prove	VERB
ijassa-1971	191	7	the	the	DET
ijassa-1971	191	8	following	follow	VERB
ijassa-1971	191	9	proposition	proposition	NOUN
ijassa-1971	191	10	for	for	ADP
ijassa-1971	191	11	the	the	DET
ijassa-1971	191	12	disturbance	disturbance	NOUN
ijassa-1971	191	13	from	from	ADP
ijassa-1971	191	14	(	(	PUNCT
ijassa-1971	191	15	3.29	3.29	NUM
ijassa-1971	191	16	)	)	PUNCT
ijassa-1971	191	17	.	.	PUNCT
ijassa-1971	192	1	proposition	proposition	NOUN
ijassa-1971	192	2	3.1	3.1	NUM
ijassa-1971	192	3	:	:	PUNCT
ijassa-1971	192	4	if	if	SCONJ
ijassa-1971	192	5	the	the	DET
ijassa-1971	192	6	following	follow	VERB
ijassa-1971	192	7	inequality	inequality	NOUN
ijassa-1971	192	8	holds	hold	VERB
ijassa-1971	192	9	:	:	PUNCT
ijassa-1971	192	10	∀t	∀t	PROPN
ijassa-1971	192	11	⩾	⩾	PROPN
ijassa-1971	192	12	t0	t0	PROPN
ijassa-1971	192	13	∣∣∣∣∣∣	∣∣∣∣∣∣	ADP
ijassa-1971	192	14	t∫	t∫	PROPN
ijassa-1971	192	15	t0	t0	PROPN
ijassa-1971	192	16	ζi	ζi	PROPN
ijassa-1971	192	17	(	(	PUNCT
ijassa-1971	192	18	s)w	s)w	ADJ
ijassa-1971	192	19	(	(	PUNCT
ijassa-1971	192	20	s	s	X
ijassa-1971	192	21	)	)	PUNCT
ijassa-1971	192	22	ds	ds	ADJ
ijassa-1971	192	23	∣∣∣∣∣∣	∣∣∣∣∣∣	PROPN
ijassa-1971	192	24	⩽	⩽	PROPN
ijassa-1971	192	25	c	c	PROPN
ijassa-1971	192	26	<	<	X
ijassa-1971	192	27	∞	∞	NOUN
ijassa-1971	192	28	∀i	∀i	NOUN
ijassa-1971	192	29	=	=	SYM
ijassa-1971	192	30	{	{	PUNCT
ijassa-1971	192	31	1,2	1,2	NUM
ijassa-1971	192	32	}	}	PUNCT
ijassa-1971	192	33	,	,	PUNCT
ijassa-1971	192	34	(	(	PUNCT
ijassa-1971	192	35	3.30	3.30	NUM
ijassa-1971	192	36	)	)	PUNCT
ijassa-1971	192	37	then	then	ADV
ijassa-1971	192	38	i	i	PRON
ijassa-1971	192	39	)	)	PUNCT
ijassa-1971	192	40	wi	wi	PROPN
ijassa-1971	192	41	∈	∈	PROPN
ijassa-1971	192	42	ll	ll	AUX
ijassa-1971	192	43	for	for	ADP
ijassa-1971	192	44	all	all	DET
ijassa-1971	192	45	l	l	NOUN
ijassa-1971	192	46	∈	∈	NOUN
ijassa-1971	192	47	(	(	PUNCT
ijassa-1971	192	48	1	1	NUM
ijassa-1971	192	49	,	,	PUNCT
ijassa-1971	192	50	∞	∞	PROPN
ijassa-1971	192	51	)	)	PUNCT
ijassa-1971	192	52	,	,	PUNCT
ijassa-1971	192	53	ii	ii	PROPN
ijassa-1971	192	54	)	)	PUNCT
ijassa-1971	192	55	there	there	PRON
ijassa-1971	192	56	exists	exist	VERB
ijassa-1971	192	57	a	a	DET
ijassa-1971	192	58	scalar	scalar	ADJ
ijassa-1971	192	59	cw	cw	NOUN
ijassa-1971	192	60	>	>	X
ijassa-1971	192	61	0	0	NUM
ijassa-1971	193	1	such	such	ADJ
ijassa-1971	193	2	that	that	PRON
ijassa-1971	193	3	|wi	|wi	X
ijassa-1971	193	4	(	(	PUNCT
ijassa-1971	193	5	t)|	t)|	INTJ
ijassa-1971	193	6	⩽	⩽	ADJ
ijassa-1971	193	7	cw	cw	NOUN
ijassa-1971	193	8	ḟ	ḟ	PROPN
ijassa-1971	193	9	(	(	PUNCT
ijassa-1971	193	10	t	t	PROPN
ijassa-1971	193	11	)	)	PUNCT
ijassa-1971	193	12	f	f	PROPN
ijassa-1971	193	13	(	(	PUNCT
ijassa-1971	193	14	t	t	PROPN
ijassa-1971	193	15	)	)	PUNCT
ijassa-1971	193	16	<	<	X
ijassa-1971	193	17	∞.	∞.	PROPN
ijassa-1971	193	18	proof	proof	NOUN
ijassa-1971	193	19	proof	proof	NOUN
ijassa-1971	193	20	of	of	ADP
ijassa-1971	193	21	proposition	proposition	NOUN
ijassa-1971	193	22	3.1	3.1	NUM
ijassa-1971	193	23	coincides	coincide	VERB
ijassa-1971	193	24	with	with	ADP
ijassa-1971	193	25	the	the	DET
ijassa-1971	193	26	one	one	NOUN
ijassa-1971	193	27	for	for	ADP
ijassa-1971	193	28	proposition	proposition	NOUN
ijassa-1971	193	29	5	5	NUM
ijassa-1971	193	30	from	from	ADP
ijassa-1971	193	31	[	[	X
ijassa-1971	193	32	6	6	NUM
ijassa-1971	193	33	]	]	PUNCT
ijassa-1971	193	34	.	.	PUNCT
ijassa-1971	194	1	the	the	DET
ijassa-1971	194	2	second	second	ADJ
ijassa-1971	194	3	lyapunov	lyapunov	NOUN
ijassa-1971	194	4	method	method	NOUN
ijassa-1971	194	5	,	,	PUNCT
ijassa-1971	194	6	the	the	DET
ijassa-1971	194	7	perturbation	perturbation	NOUN
ijassa-1971	194	8	properties	property	NOUN
ijassa-1971	194	9	from	from	ADP
ijassa-1971	194	10	proposition	proposition	NOUN
ijassa-1971	194	11	3.1	3.1	NUM
ijassa-1971	194	12	,	,	PUNCT
ijassa-1971	194	13	and	and	CCONJ
ijassa-1971	194	14	the	the	DET
ijassa-1971	194	15	results	result	NOUN
ijassa-1971	194	16	from	from	ADP
ijassa-1971	194	17	[	[	X
ijassa-1971	194	18	6	6	NUM
ijassa-1971	194	19	]	]	PUNCT
ijassa-1971	194	20	jointly	jointly	ADV
ijassa-1971	194	21	motivate	motivate	VERB
ijassa-1971	194	22	introduction	introduction	NOUN
ijassa-1971	194	23	of	of	ADP
ijassa-1971	194	24	the	the	DET
ijassa-1971	194	25	following	follow	VERB
ijassa-1971	194	26	adaptive	adaptive	ADJ
ijassa-1971	194	27	control	control	NOUN
ijassa-1971	194	28	law	law	NOUN
ijassa-1971	194	29	:	:	PUNCT
ijassa-1971	194	30	τ	τ	PROPN
ijassa-1971	194	31	(	(	PUNCT
ijassa-1971	194	32	t	t	PROPN
ijassa-1971	194	33	)	)	PUNCT
ijassa-1971	194	34	=	=	SYM
ijassa-1971	194	35	ϕt(t)θ̂(t	ϕt(t)θ̂(t	NOUN
ijassa-1971	194	36	)	)	PUNCT
ijassa-1971	194	37	cos(x3	cos(x3	NOUN
ijassa-1971	194	38	)	)	PUNCT
ijassa-1971	194	39	τb	τb	ADP
ijassa-1971	194	40	(	(	PUNCT
ijassa-1971	194	41	t)−	t)−	PROPN
ijassa-1971	194	42	ωt	ωt	PROPN
ijassa-1971	194	43	(	(	PUNCT
ijassa-1971	194	44	t	t	PROPN
ijassa-1971	194	45	)	)	PUNCT
ijassa-1971	194	46	θ̂	θ̂	X
ijassa-1971	194	47	(	(	PUNCT
ijassa-1971	194	48	t	t	NOUN
ijassa-1971	194	49	)	)	PUNCT
ijassa-1971	195	1	+	+	SYM
ijassa-1971	195	2	z	z	NOUN
ijassa-1971	195	3	(	(	PUNCT
ijassa-1971	195	4	t	t	PROPN
ijassa-1971	195	5	)	)	PUNCT
ijassa-1971	195	6	,	,	PUNCT
ijassa-1971	195	7	(	(	PUNCT
ijassa-1971	195	8	3.31	3.31	NUM
ijassa-1971	195	9	)	)	PUNCT
ijassa-1971	195	10	where	where	SCONJ
ijassa-1971	195	11	˙̂	˙̂	VERB
ijassa-1971	196	1	θ	θ	PROPN
ijassa-1971	196	2	(	(	PUNCT
ijassa-1971	196	3	t)=−γ∆(t	t)=−γ∆(t	NOUN
ijassa-1971	196	4	)	)	PUNCT
ijassa-1971	196	5	(	(	PUNCT
ijassa-1971	196	6	∆(t	∆(t	NOUN
ijassa-1971	196	7	)	)	PUNCT
ijassa-1971	196	8	θ̂	θ̂	NUM
ijassa-1971	196	9	(	(	PUNCT
ijassa-1971	196	10	t)−	t)−	PROPN
ijassa-1971	196	11	y	y	PROPN
ijassa-1971	196	12	(	(	PUNCT
ijassa-1971	196	13	t	t	PROPN
ijassa-1971	196	14	)	)	PUNCT
ijassa-1971	196	15	)	)	PUNCT
ijassa-1971	196	16	,	,	PUNCT
ijassa-1971	196	17	(	(	PUNCT
ijassa-1971	196	18	3.32	3.32	NUM
ijassa-1971	196	19	)	)	PUNCT
ijassa-1971	196	20	where	where	SCONJ
ijassa-1971	196	21	γ	γ	X
ijassa-1971	196	22	>	>	X
ijassa-1971	196	23	0	0	NUM
ijassa-1971	196	24	are	be	AUX
ijassa-1971	196	25	adaptive	adaptive	ADJ
ijassa-1971	196	26	gains	gain	NOUN
ijassa-1971	196	27	.	.	PUNCT
ijassa-1971	197	1	the	the	DET
ijassa-1971	197	2	properties	property	NOUN
ijassa-1971	197	3	of	of	ADP
ijassa-1971	197	4	the	the	DET
ijassa-1971	197	5	closed	closed	ADJ
ijassa-1971	197	6	-	-	PUNCT
ijassa-1971	197	7	loop	loop	NOUN
ijassa-1971	197	8	adaptive	adaptive	ADJ
ijassa-1971	197	9	control	control	NOUN
ijassa-1971	197	10	system	system	NOUN
ijassa-1971	197	11	are	be	AUX
ijassa-1971	197	12	described	describe	VERB
ijassa-1971	197	13	in	in	ADP
ijassa-1971	197	14	the	the	DET
ijassa-1971	197	15	following	follow	VERB
ijassa-1971	197	16	theorem	theorem	PROPN
ijassa-1971	197	17	.	.	PUNCT
ijassa-1971	197	18	theorem	theorem	NOUN
ijassa-1971	197	19	3.1	3.1	NUM
ijassa-1971	197	20	:	:	PUNCT
ijassa-1971	197	21	let	let	VERB
ijassa-1971	197	22	assumptions	assumption	NOUN
ijassa-1971	197	23	1	1	NUM
ijassa-1971	197	24	-	-	SYM
ijassa-1971	197	25	3	3	NUM
ijassa-1971	197	26	be	be	AUX
ijassa-1971	197	27	met	meet	VERB
ijassa-1971	197	28	and	and	CCONJ
ijassa-1971	197	29	inequality	inequality	NOUN
ijassa-1971	197	30	(	(	PUNCT
ijassa-1971	197	31	3.30	3.30	NUM
ijassa-1971	197	32	)	)	PUNCT
ijassa-1971	197	33	hold	hold	VERB
ijassa-1971	197	34	,	,	PUNCT
ijassa-1971	197	35	then	then	ADV
ijassa-1971	197	36	the	the	DET
ijassa-1971	197	37	goal	goal	NOUN
ijassa-1971	197	38	(	(	PUNCT
ijassa-1971	197	39	2.2	2.2	NUM
ijassa-1971	197	40	)	)	PUNCT
ijassa-1971	197	41	is	be	AUX
ijassa-1971	197	42	achieved	achieve	VERB
ijassa-1971	197	43	.	.	PUNCT
ijassa-1971	198	1	proof	proof	ADJ
ijassa-1971	198	2	proof	proof	NOUN
ijassa-1971	198	3	of	of	ADP
ijassa-1971	198	4	theorem	theorem	ADJ
ijassa-1971	198	5	3.1	3.1	NUM
ijassa-1971	198	6	is	be	AUX
ijassa-1971	198	7	postponed	postpone	VERB
ijassa-1971	198	8	to	to	PART
ijassa-1971	198	9	appendix	appendix	VERB
ijassa-1971	198	10	.	.	PUNCT
ijassa-1971	199	1	owing	owe	VERB
ijassa-1971	199	2	to	to	ADP
ijassa-1971	199	3	the	the	DET
ijassa-1971	199	4	chosen	choose	VERB
ijassa-1971	199	5	structure	structure	NOUN
ijassa-1971	199	6	of	of	ADP
ijassa-1971	199	7	the	the	DET
ijassa-1971	199	8	reference	reference	NOUN
ijassa-1971	199	9	model	model	NOUN
ijassa-1971	199	10	,	,	PUNCT
ijassa-1971	199	11	boundedness	boundedness	NOUN
ijassa-1971	199	12	(	(	PUNCT
ijassa-1971	199	13	asymptotic	asymptotic	ADJ
ijassa-1971	199	14	stability	stability	NOUN
ijassa-1971	199	15	)	)	PUNCT
ijassa-1971	199	16	of	of	ADP
ijassa-1971	199	17	the	the	DET
ijassa-1971	199	18	error	error	NOUN
ijassa-1971	199	19	ξ̃	ξ̃	PROPN
ijassa-1971	199	20	leads	lead	VERB
ijassa-1971	199	21	to	to	ADP
ijassa-1971	199	22	boundedness	boundedness	NOUN
ijassa-1971	199	23	(	(	PUNCT
ijassa-1971	199	24	asymptotic	asymptotic	ADJ
ijassa-1971	199	25	stability	stability	NOUN
ijassa-1971	199	26	)	)	PUNCT
ijassa-1971	199	27	of	of	ADP
ijassa-1971	199	28	the	the	DET
ijassa-1971	199	29	error	error	NOUN
ijassa-1971	199	30	ξ	ξ	X
ijassa-1971	199	31	(	(	PUNCT
ijassa-1971	199	32	t)−	t)−	PROPN
ijassa-1971	199	33	ξd	ξd	PROPN
ijassa-1971	199	34	.	.	PUNCT
ijassa-1971	200	1	thus	thus	ADV
ijassa-1971	200	2	,	,	PUNCT
ijassa-1971	200	3	the	the	DET
ijassa-1971	200	4	control	control	NOUN
ijassa-1971	200	5	law	law	NOUN
ijassa-1971	200	6	(	(	PUNCT
ijassa-1971	200	7	3.31	3.31	NUM
ijassa-1971	200	8	)	)	PUNCT
ijassa-1971	200	9	+	+	CCONJ
ijassa-1971	200	10	(	(	PUNCT
ijassa-1971	200	11	3.32	3.32	NUM
ijassa-1971	200	12	)	)	PUNCT
ijassa-1971	200	13	ensures	ensure	VERB
ijassa-1971	200	14	that	that	SCONJ
ijassa-1971	200	15	the	the	DET
ijassa-1971	200	16	goal	goal	NOUN
ijassa-1971	200	17	(	(	PUNCT
ijassa-1971	200	18	2.2	2.2	NUM
ijassa-1971	200	19	)	)	PUNCT
ijassa-1971	200	20	is	be	AUX
ijassa-1971	200	21	achieved	achieve	VERB
ijassa-1971	200	22	even	even	ADV
ijassa-1971	200	23	when	when	SCONJ
ijassa-1971	200	24	the	the	DET
ijassa-1971	200	25	overhead	overhead	ADJ
ijassa-1971	200	26	crane	crane	NOUN
ijassa-1971	200	27	parameters	parameter	NOUN
ijassa-1971	200	28	are	be	AUX
ijassa-1971	200	29	unknown	unknown	ADJ
ijassa-1971	200	30	.	.	PUNCT
ijassa-1971	201	1	4	4	X
ijassa-1971	201	2	.	.	X
ijassa-1971	201	3	numerical	numerical	ADJ
ijassa-1971	201	4	experiments	experiment	NOUN
ijassa-1971	201	5	the	the	DET
ijassa-1971	201	6	overhead	overhead	ADJ
ijassa-1971	201	7	crane	crane	NOUN
ijassa-1971	201	8	model	model	NOUN
ijassa-1971	201	9	parameters	parameter	NOUN
ijassa-1971	201	10	have	have	AUX
ijassa-1971	201	11	been	be	AUX
ijassa-1971	201	12	picked	pick	VERB
ijassa-1971	201	13	from	from	ADP
ijassa-1971	201	14	the	the	DET
ijassa-1971	201	15	state	state	NOUN
ijassa-1971	201	16	standard	standard	NOUN
ijassa-1971	201	17	of	of	ADP
ijassa-1971	201	18	the	the	DET
ijassa-1971	201	19	russian	russian	PROPN
ijassa-1971	201	20	federation	federation	PROPN
ijassa-1971	201	21	’	'	PUNCT
ijassa-1971	201	22	electric	electric	ADJ
ijassa-1971	201	23	single	single	ADJ
ijassa-1971	201	24	girder	girder	NOUN
ijassa-1971	201	25	overhead	overhead	ADJ
ijassa-1971	201	26	cranes	crane	NOUN
ijassa-1971	201	27	’	'	PUNCT
ijassa-1971	201	28	and	and	CCONJ
ijassa-1971	201	29	had	have	VERB
ijassa-1971	201	30	the	the	DET
ijassa-1971	201	31	following	follow	VERB
ijassa-1971	201	32	values	value	NOUN
ijassa-1971	201	33	:	:	PUNCT
ijassa-1971	201	34	m	m	VERB
ijassa-1971	201	35	=	=	SYM
ijassa-1971	201	36	800	800	NUM
ijassa-1971	201	37	,	,	PUNCT
ijassa-1971	201	38	m	m	VERB
ijassa-1971	201	39	=	=	NOUN
ijassa-1971	201	40	4660	4660	NUM
ijassa-1971	201	41	,	,	PUNCT
ijassa-1971	201	42	l	l	NOUN
ijassa-1971	201	43	=	=	SYM
ijassa-1971	201	44	1	1	NUM
ijassa-1971	201	45	,	,	PUNCT
ijassa-1971	201	46	g	g	NOUN
ijassa-1971	201	47	=	=	NOUN
ijassa-1971	201	48	9.81	9.81	NUM
ijassa-1971	201	49	.	.	PUNCT
ijassa-1971	202	1	(	(	PUNCT
ijassa-1971	202	2	4.33	4.33	NUM
ijassa-1971	202	3	)	)	PUNCT
ijassa-1971	202	4	the	the	DET
ijassa-1971	202	5	disturbance	disturbance	NOUN
ijassa-1971	202	6	was	be	AUX
ijassa-1971	202	7	defined	define	VERB
ijassa-1971	202	8	as	as	ADP
ijassa-1971	202	9	:	:	PUNCT
ijassa-1971	202	10	τd	τd	ADP
ijassa-1971	202	11	(	(	PUNCT
ijassa-1971	202	12	t	t	NOUN
ijassa-1971	202	13	)	)	PUNCT
ijassa-1971	202	14	=	=	SYM
ijassa-1971	202	15	1000e−0.001(t−t0)sin	1000e−0.001(t−t0)sin	NUM
ijassa-1971	202	16	(	(	PUNCT
ijassa-1971	202	17	0.2πt	0.2πt	PROPN
ijassa-1971	202	18	)	)	PUNCT
ijassa-1971	202	19	+	+	CCONJ
ijassa-1971	203	1	500	500	NUM
ijassa-1971	203	2	,	,	PUNCT
ijassa-1971	203	3	(	(	PUNCT
ijassa-1971	203	4	4.34	4.34	NUM
ijassa-1971	203	5	)	)	PUNCT
ijassa-1971	203	6	copyright	copyright	NOUN
ijassa-1971	203	7	©	©	PROPN
ijassa-1971	203	8	2024	2024	NUM
ijassa-1971	203	9	assa	assa	NOUN
ijassa-1971	203	10	.	.	PUNCT
ijassa-1971	204	1	adv	adv	PROPN
ijassa-1971	204	2	syst	syst	PROPN
ijassa-1971	204	3	sci	sci	PROPN
ijassa-1971	204	4	appl	appl	PROPN
ijassa-1971	204	5	(	(	PUNCT
ijassa-1971	204	6	2024	2024	NUM
ijassa-1971	204	7	)	)	PUNCT
ijassa-1971	204	8	90	90	NUM
ijassa-1971	204	9	v.	v.	ADP
ijassa-1971	204	10	petrov	petrov	PROPN
ijassa-1971	204	11	,	,	PUNCT
ijassa-1971	204	12	a.	a.	NOUN
ijassa-1971	204	13	glushchenko	glushchenko	PROPN
ijassa-1971	204	14	,	,	PUNCT
ijassa-1971	204	15	k.	k.	PROPN
ijassa-1971	204	16	lastochkin	lastochkin	PROPN
ijassa-1971	204	17	where	where	SCONJ
ijassa-1971	204	18	the	the	DET
ijassa-1971	204	19	exponential	exponential	NOUN
ijassa-1971	204	20	multiplier	multiplier	ADV
ijassa-1971	204	21	formally	formally	ADV
ijassa-1971	204	22	allows	allow	VERB
ijassa-1971	204	23	one	one	PRON
ijassa-1971	204	24	to	to	PART
ijassa-1971	204	25	meet	meet	VERB
ijassa-1971	204	26	assumption	assumption	NOUN
ijassa-1971	204	27	3	3	NUM
ijassa-1971	204	28	.	.	PUNCT
ijassa-1971	205	1	the	the	DET
ijassa-1971	205	2	reference	reference	NOUN
ijassa-1971	205	3	signal	signal	NOUN
ijassa-1971	205	4	was	be	AUX
ijassa-1971	205	5	formed	form	VERB
ijassa-1971	205	6	using	use	VERB
ijassa-1971	205	7	the	the	DET
ijassa-1971	205	8	following	follow	VERB
ijassa-1971	205	9	function	function	NOUN
ijassa-1971	205	10	:	:	PUNCT
ijassa-1971	206	1	r	r	NOUN
ijassa-1971	206	2	(	(	PUNCT
ijassa-1971	206	3	t	t	NOUN
ijassa-1971	206	4	)	)	PUNCT
ijassa-1971	206	5	=	=	SYM
ijassa-1971	207	1	10sign	10sign	NUM
ijassa-1971	207	2	{	{	PUNCT
ijassa-1971	207	3	sin	sin	NOUN
ijassa-1971	207	4	(	(	PUNCT
ijassa-1971	207	5	0.05π	0.05π	PROPN
ijassa-1971	207	6	)	)	PUNCT
ijassa-1971	207	7	}	}	PUNCT
ijassa-1971	207	8	,	,	PUNCT
ijassa-1971	207	9	ẋ1d	ẋ1d	NOUN
ijassa-1971	207	10	(	(	PUNCT
ijassa-1971	207	11	t	t	NOUN
ijassa-1971	207	12	)	)	PUNCT
ijassa-1971	207	13	=	=	PUNCT
ijassa-1971	208	1	sat|+2	sat|+2	ADP
ijassa-1971	208	2	−2	−2	NOUN
ijassa-1971	208	3	{	{	PUNCT
ijassa-1971	208	4	100	100	NUM
ijassa-1971	208	5	(	(	PUNCT
ijassa-1971	208	6	r	r	NOUN
ijassa-1971	208	7	(	(	PUNCT
ijassa-1971	208	8	t)−	t)−	PROPN
ijassa-1971	208	9	x1d	x1d	PROPN
ijassa-1971	209	1	(	(	PUNCT
ijassa-1971	209	2	t	t	PROPN
ijassa-1971	209	3	)	)	PUNCT
ijassa-1971	209	4	)	)	PUNCT
ijassa-1971	209	5	}	}	PUNCT
ijassa-1971	209	6	.	.	PUNCT
ijassa-1971	210	1	(	(	PUNCT
ijassa-1971	210	2	4.35	4.35	NUM
ijassa-1971	210	3	)	)	PUNCT
ijassa-1971	210	4	the	the	DET
ijassa-1971	210	5	parameters	parameter	NOUN
ijassa-1971	210	6	of	of	ADP
ijassa-1971	210	7	the	the	DET
ijassa-1971	210	8	control	control	NOUN
ijassa-1971	210	9	law	law	NOUN
ijassa-1971	210	10	(	(	PUNCT
ijassa-1971	210	11	3.23	3.23	NUM
ijassa-1971	210	12	)	)	PUNCT
ijassa-1971	210	13	were	be	AUX
ijassa-1971	210	14	chosen	choose	VERB
ijassa-1971	210	15	as	as	SCONJ
ijassa-1971	210	16	follows	follow	VERB
ijassa-1971	210	17	:	:	PUNCT
ijassa-1971	210	18	θ̂(t0	θ̂(t0	NOUN
ijassa-1971	210	19	)	)	PUNCT
ijassa-1971	210	20	=	=	PUNCT
ijassa-1971	211	1	[	[	X
ijassa-1971	211	2	0.5	0.5	NUM
ijassa-1971	211	3	m	m	NOUN
ijassa-1971	211	4	0.1m]t	0.1m]t	NOUN
ijassa-1971	211	5	,	,	PUNCT
ijassa-1971	211	6	kt	kt	PROPN
ijassa-1971	211	7	=	=	PUNCT
ijassa-1971	212	1	[	[	X
ijassa-1971	212	2	−16	−16	PRON
ijassa-1971	212	3	−32	−32	X
ijassa-1971	212	4	−24	−24	ADP
ijassa-1971	212	5	−8	−8	X
ijassa-1971	212	6	]	]	X
ijassa-1971	212	7	,	,	PUNCT
ijassa-1971	212	8	k	k	X
ijassa-1971	212	9	=	=	SYM
ijassa-1971	212	10	1	1	NUM
ijassa-1971	212	11	,	,	PUNCT
ijassa-1971	212	12	p	p	NOUN
ijassa-1971	212	13	=	=	NOUN
ijassa-1971	212	14	1	1	NUM
ijassa-1971	212	15	,	,	PUNCT
ijassa-1971	212	16	t	t	NOUN
ijassa-1971	212	17	=	=	SYM
ijassa-1971	212	18	10	10	NUM
ijassa-1971	212	19	,	,	PUNCT
ijassa-1971	212	20	γ	γ	X
ijassa-1971	212	21	=	=	SYM
ijassa-1971	212	22	104	104	NUM
ijassa-1971	212	23	.	.	PUNCT
ijassa-1971	213	1	(	(	PUNCT
ijassa-1971	213	2	4.36	4.36	NUM
ijassa-1971	213	3	)	)	PUNCT
ijassa-1971	213	4	figure	figure	NOUN
ijassa-1971	213	5	1	1	NUM
ijassa-1971	213	6	shows	show	VERB
ijassa-1971	213	7	behavior	behavior	NOUN
ijassa-1971	213	8	of	of	ADP
ijassa-1971	213	9	the	the	DET
ijassa-1971	213	10	unknown	unknown	ADJ
ijassa-1971	213	11	parameter	parameter	NOUN
ijassa-1971	213	12	estimates	estimate	NOUN
ijassa-1971	213	13	.	.	PUNCT
ijassa-1971	214	1	fig	fig	NOUN
ijassa-1971	214	2	.	.	PUNCT
ijassa-1971	215	1	4.1	4.1	NUM
ijassa-1971	215	2	.	.	PUNCT
ijassa-1971	215	3	behavior	behavior	NOUN
ijassa-1971	215	4	of	of	ADP
ijassa-1971	215	5	θ̂(t	θ̂(t	NOUN
ijassa-1971	215	6	)	)	PUNCT
ijassa-1971	215	7	.	.	PUNCT
ijassa-1971	216	1	figure	figure	VERB
ijassa-1971	216	2	2	2	NUM
ijassa-1971	216	3	presents	present	NOUN
ijassa-1971	216	4	behavior	behavior	NOUN
ijassa-1971	216	5	of	of	ADP
ijassa-1971	216	6	x1	x1	PROPN
ijassa-1971	216	7	,	,	PUNCT
ijassa-1971	216	8	x1d	x1d	PROPN
ijassa-1971	216	9	,	,	PUNCT
ijassa-1971	216	10	ξ̃1	ξ̃1	PROPN
ijassa-1971	216	11	,	,	PUNCT
ijassa-1971	216	12	x3	x3	ADJ
ijassa-1971	216	13	,	,	PUNCT
ijassa-1971	216	14	lξ3ξ24	lξ3ξ24	PROPN
ijassa-1971	216	15	(	(	PUNCT
ijassa-1971	216	16	g2+ξ23	g2+ξ23	PROPN
ijassa-1971	216	17	)	)	PUNCT
ijassa-1971	216	18	3	3	NUM
ijassa-1971	216	19	2	2	NUM
ijassa-1971	216	20	and	and	CCONJ
ijassa-1971	216	21	f	f	PROPN
ijassa-1971	216	22	,	,	PUNCT
ijassa-1971	216	23	ff	ff	INTJ
ijassa-1971	216	24	.	.	PUNCT
ijassa-1971	217	1	fig	fig	NOUN
ijassa-1971	217	2	.	.	PUNCT
ijassa-1971	218	1	4.2	4.2	NUM
ijassa-1971	218	2	.	.	PUNCT
ijassa-1971	219	1	behavior	behavior	NOUN
ijassa-1971	219	2	of	of	ADP
ijassa-1971	219	3	x1	x1	PROPN
ijassa-1971	219	4	,	,	PUNCT
ijassa-1971	219	5	x1d	x1d	PROPN
ijassa-1971	219	6	,	,	PUNCT
ijassa-1971	219	7	ξ̃1	ξ̃1	PROPN
ijassa-1971	219	8	,	,	PUNCT
ijassa-1971	219	9	x3	x3	ADJ
ijassa-1971	219	10	,	,	PUNCT
ijassa-1971	219	11	lξ3ξ	lξ3ξ	X
ijassa-1971	219	12	2	2	NUM
ijassa-1971	219	13	4	4	NUM
ijassa-1971	219	14	(	(	PUNCT
ijassa-1971	219	15	g2+ξ23	g2+ξ23	PROPN
ijassa-1971	219	16	)	)	PUNCT
ijassa-1971	219	17	3	3	NUM
ijassa-1971	219	18	2	2	NUM
ijassa-1971	219	19	and	and	CCONJ
ijassa-1971	219	20	f	f	NOUN
ijassa-1971	219	21	,	,	PUNCT
ijassa-1971	219	22	ff	ff	INTJ
ijassa-1971	219	23	.	.	PUNCT
ijassa-1971	220	1	copyright	copyright	NOUN
ijassa-1971	220	2	©	©	ADP
ijassa-1971	220	3	2024	2024	NUM
ijassa-1971	220	4	assa	assa	NOUN
ijassa-1971	220	5	.	.	PUNCT
ijassa-1971	221	1	adv	adv	PROPN
ijassa-1971	221	2	syst	syst	PROPN
ijassa-1971	221	3	sci	sci	PROPN
ijassa-1971	221	4	appl	appl	PROPN
ijassa-1971	221	5	(	(	PUNCT
ijassa-1971	221	6	2024	2024	NUM
ijassa-1971	221	7	)	)	PUNCT
ijassa-1971	221	8	adaptive	adaptive	ADJ
ijassa-1971	221	9	disturbance	disturbance	NOUN
ijassa-1971	221	10	rejection	rejection	NOUN
ijassa-1971	221	11	control	control	NOUN
ijassa-1971	221	12	of	of	ADP
ijassa-1971	221	13	2d	2d	PROPN
ijassa-1971	221	14	crane	crane	NOUN
ijassa-1971	221	15	...	...	PUNCT
ijassa-1971	221	16	91	91	NUM
ijassa-1971	221	17	the	the	DET
ijassa-1971	221	18	results	result	NOUN
ijassa-1971	221	19	of	of	ADP
ijassa-1971	221	20	conducted	conduct	VERB
ijassa-1971	221	21	experiments	experiment	NOUN
ijassa-1971	221	22	allow	allow	VERB
ijassa-1971	221	23	one	one	PRON
ijassa-1971	221	24	to	to	PART
ijassa-1971	221	25	conclude	conclude	VERB
ijassa-1971	221	26	that	that	SCONJ
ijassa-1971	221	27	the	the	DET
ijassa-1971	221	28	proposed	propose	VERB
ijassa-1971	221	29	control	control	NOUN
ijassa-1971	221	30	system	system	NOUN
ijassa-1971	221	31	ensures	ensure	VERB
ijassa-1971	221	32	goal	goal	NOUN
ijassa-1971	221	33	(	(	PUNCT
ijassa-1971	221	34	2.2	2.2	NUM
ijassa-1971	221	35	)	)	PUNCT
ijassa-1971	221	36	achievement	achievement	NOUN
ijassa-1971	221	37	under	under	ADP
ijassa-1971	221	38	conditions	condition	NOUN
ijassa-1971	221	39	of	of	ADP
ijassa-1971	221	40	parametric	parametric	ADJ
ijassa-1971	221	41	uncertainty	uncertainty	NOUN
ijassa-1971	221	42	.	.	PUNCT
ijassa-1971	222	1	owing	owe	VERB
ijassa-1971	222	2	to	to	ADP
ijassa-1971	222	3	the	the	DET
ijassa-1971	222	4	estimation	estimation	NOUN
ijassa-1971	222	5	of	of	ADP
ijassa-1971	222	6	unknown	unknown	ADJ
ijassa-1971	222	7	parameters	parameter	NOUN
ijassa-1971	222	8	of	of	ADP
ijassa-1971	222	9	the	the	DET
ijassa-1971	222	10	system	system	NOUN
ijassa-1971	222	11	,	,	PUNCT
ijassa-1971	222	12	compensation	compensation	NOUN
ijassa-1971	222	13	of	of	ADP
ijassa-1971	222	14	the	the	DET
ijassa-1971	222	15	disturbance	disturbance	NOUN
ijassa-1971	222	16	is	be	AUX
ijassa-1971	222	17	ensured	ensure	VERB
ijassa-1971	222	18	without	without	ADP
ijassa-1971	222	19	oscillations	oscillation	NOUN
ijassa-1971	222	20	of	of	ADP
ijassa-1971	222	21	the	the	DET
ijassa-1971	222	22	payload	payload	NOUN
ijassa-1971	222	23	swing	swing	NOUN
ijassa-1971	222	24	angle	angle	NOUN
ijassa-1971	222	25	.	.	PUNCT
ijassa-1971	223	1	the	the	DET
ijassa-1971	223	2	above	above	ADV
ijassa-1971	223	3	-	-	PUNCT
ijassa-1971	223	4	given	give	VERB
ijassa-1971	223	5	transients	transient	NOUN
ijassa-1971	223	6	of	of	ADP
ijassa-1971	223	7	lξ3ξ24	lξ3ξ24	PROPN
ijassa-1971	223	8	(	(	PUNCT
ijassa-1971	223	9	g2+ξ23	g2+ξ23	PROPN
ijassa-1971	223	10	)	)	PUNCT
ijassa-1971	223	11	3	3	NUM
ijassa-1971	223	12	2	2	NUM
ijassa-1971	223	13	allow	allow	VERB
ijassa-1971	223	14	one	one	PRON
ijassa-1971	223	15	to	to	PART
ijassa-1971	223	16	conclude	conclude	VERB
ijassa-1971	223	17	that	that	DET
ijassa-1971	223	18	assumption	assumption	NOUN
ijassa-1971	223	19	2	2	NUM
ijassa-1971	223	20	and	and	CCONJ
ijassa-1971	223	21	inequality	inequality	NOUN
ijassa-1971	223	22	(	(	PUNCT
ijassa-1971	223	23	15	15	NUM
ijassa-1971	223	24	)	)	PUNCT
ijassa-1971	223	25	are	be	AUX
ijassa-1971	223	26	met	meet	VERB
ijassa-1971	223	27	.	.	PUNCT
ijassa-1971	224	1	5	5	X
ijassa-1971	224	2	.	.	X
ijassa-1971	224	3	conclusion	conclusion	NOUN
ijassa-1971	224	4	in	in	ADP
ijassa-1971	224	5	this	this	DET
ijassa-1971	224	6	study	study	NOUN
ijassa-1971	224	7	a	a	DET
ijassa-1971	224	8	new	new	ADJ
ijassa-1971	224	9	adaptive	adaptive	ADJ
ijassa-1971	224	10	control	control	NOUN
ijassa-1971	224	11	system	system	NOUN
ijassa-1971	224	12	for	for	ADP
ijassa-1971	224	13	perturbed	perturb	VERB
ijassa-1971	224	14	uncertain	uncertain	ADJ
ijassa-1971	224	15	overhead	overhead	ADJ
ijassa-1971	224	16	crane	crane	NOUN
ijassa-1971	224	17	is	be	AUX
ijassa-1971	224	18	proposed	propose	VERB
ijassa-1971	224	19	,	,	PUNCT
ijassa-1971	224	20	which	which	PRON
ijassa-1971	224	21	,	,	PUNCT
ijassa-1971	224	22	adopting	adopt	VERB
ijassa-1971	224	23	non	non	ADJ
ijassa-1971	224	24	-	-	ADJ
ijassa-1971	224	25	strict	strict	ADJ
ijassa-1971	224	26	assumptions	assumption	NOUN
ijassa-1971	224	27	,	,	PUNCT
ijassa-1971	224	28	simultaneously	simultaneously	ADV
ijassa-1971	224	29	(	(	PUNCT
ijassa-1971	224	30	i	i	NOUN
ijassa-1971	224	31	)	)	PUNCT
ijassa-1971	224	32	ensures	ensure	VERB
ijassa-1971	224	33	asymptotic	asymptotic	ADJ
ijassa-1971	224	34	convergence	convergence	NOUN
ijassa-1971	224	35	to	to	ADP
ijassa-1971	224	36	zero	zero	NUM
ijassa-1971	224	37	of	of	ADP
ijassa-1971	224	38	both	both	DET
ijassa-1971	224	39	cart	cart	NOUN
ijassa-1971	224	40	/	/	SYM
ijassa-1971	224	41	payload	payload	NOUN
ijassa-1971	224	42	position	position	NOUN
ijassa-1971	224	43	and	and	CCONJ
ijassa-1971	224	44	parametric	parametric	ADJ
ijassa-1971	224	45	errors	error	NOUN
ijassa-1971	224	46	in	in	ADP
ijassa-1971	224	47	case	case	NOUN
ijassa-1971	224	48	when	when	SCONJ
ijassa-1971	224	49	nonvanishing	nonvanishe	VERB
ijassa-1971	224	50	bounded	bounded	ADJ
ijassa-1971	224	51	disturbance	disturbance	NOUN
ijassa-1971	224	52	with	with	ADP
ijassa-1971	224	53	unknown	unknown	ADJ
ijassa-1971	224	54	model	model	NOUN
ijassa-1971	224	55	affects	affect	VERB
ijassa-1971	224	56	the	the	DET
ijassa-1971	224	57	overhead	overhead	ADJ
ijassa-1971	224	58	crane	crane	NOUN
ijassa-1971	224	59	,	,	PUNCT
ijassa-1971	224	60	(	(	PUNCT
ijassa-1971	224	61	ii	ii	NOUN
ijassa-1971	224	62	)	)	PUNCT
ijassa-1971	224	63	does	do	AUX
ijassa-1971	224	64	not	not	PART
ijassa-1971	224	65	require	require	VERB
ijassa-1971	224	66	prior	prior	ADJ
ijassa-1971	224	67	knowledge	knowledge	NOUN
ijassa-1971	224	68	of	of	ADP
ijassa-1971	224	69	system	system	NOUN
ijassa-1971	224	70	real	real	ADJ
ijassa-1971	224	71	/	/	SYM
ijassa-1971	224	72	nominal	nominal	ADJ
ijassa-1971	224	73	parameters	parameter	NOUN
ijassa-1971	224	74	and	and	CCONJ
ijassa-1971	224	75	disturbance	disturbance	NOUN
ijassa-1971	224	76	or	or	CCONJ
ijassa-1971	224	77	their	their	PRON
ijassa-1971	224	78	bounds	bound	NOUN
ijassa-1971	224	79	,	,	PUNCT
ijassa-1971	224	80	(	(	PUNCT
ijassa-1971	224	81	iii	iii	X
ijassa-1971	224	82	)	)	PUNCT
ijassa-1971	224	83	does	do	AUX
ijassa-1971	224	84	not	not	PART
ijassa-1971	224	85	use	use	VERB
ijassa-1971	224	86	smc	smc	NOUN
ijassa-1971	224	87	approach	approach	NOUN
ijassa-1971	224	88	and	and	CCONJ
ijassa-1971	224	89	free	free	ADJ
ijassa-1971	224	90	from	from	ADP
ijassa-1971	224	91	complexity	complexity	NOUN
ijassa-1971	224	92	of	of	ADP
ijassa-1971	224	93	the	the	DET
ijassa-1971	224	94	backstepping	backstepping	NOUN
ijassa-1971	224	95	-	-	PUNCT
ijassa-1971	224	96	based	base	VERB
ijassa-1971	224	97	control	control	NOUN
ijassa-1971	224	98	laws	law	NOUN
ijassa-1971	224	99	.	.	PUNCT
ijassa-1971	225	1	conducted	conduct	VERB
ijassa-1971	225	2	numerical	numerical	ADJ
ijassa-1971	225	3	experiments	experiment	NOUN
ijassa-1971	225	4	fully	fully	ADV
ijassa-1971	225	5	validated	validate	VERB
ijassa-1971	225	6	all	all	DET
ijassa-1971	225	7	theoretical	theoretical	ADJ
ijassa-1971	225	8	results	result	NOUN
ijassa-1971	225	9	.	.	PUNCT
ijassa-1971	226	1	acknowledgements	acknowledgement	NOUN
ijassa-1971	226	2	the	the	DET
ijassa-1971	226	3	first	first	ADJ
ijassa-1971	226	4	author	author	NOUN
ijassa-1971	226	5	was	be	AUX
ijassa-1971	226	6	financially	financially	ADV
ijassa-1971	226	7	supported	support	VERB
ijassa-1971	226	8	by	by	ADP
ijassa-1971	226	9	the	the	DET
ijassa-1971	226	10	ministry	ministry	PROPN
ijassa-1971	226	11	of	of	ADP
ijassa-1971	226	12	science	science	PROPN
ijassa-1971	226	13	and	and	CCONJ
ijassa-1971	226	14	higher	high	ADJ
ijassa-1971	226	15	education	education	NOUN
ijassa-1971	226	16	of	of	ADP
ijassa-1971	226	17	the	the	DET
ijassa-1971	226	18	russian	russian	PROPN
ijassa-1971	226	19	federation	federation	PROPN
ijassa-1971	226	20	(	(	PUNCT
ijassa-1971	226	21	state	state	NOUN
ijassa-1971	226	22	assignment	assignment	NOUN
ijassa-1971	226	23	fsme-2023	fsme-2023	NOUN
ijassa-1971	226	24	-	-	PUNCT
ijassa-1971	226	25	0014	0014	NUM
ijassa-1971	226	26	)	)	PUNCT
ijassa-1971	226	27	.	.	PUNCT
ijassa-1971	227	1	a.	a.	PROPN
ijassa-1971	227	2	theorem	theorem	VERB
ijassa-1971	227	3	3.1	3.1	NUM
ijassa-1971	227	4	proof	proof	NOUN
ijassa-1971	227	5	proof	proof	NOUN
ijassa-1971	227	6	proof	proof	NOUN
ijassa-1971	227	7	is	be	AUX
ijassa-1971	227	8	divided	divide	VERB
ijassa-1971	227	9	into	into	ADP
ijassa-1971	227	10	two	two	NUM
ijassa-1971	227	11	steps	step	NOUN
ijassa-1971	227	12	.	.	PUNCT
ijassa-1971	228	1	the	the	DET
ijassa-1971	228	2	first	first	ADJ
ijassa-1971	228	3	one	one	NUM
ijassa-1971	228	4	is	be	AUX
ijassa-1971	228	5	to	to	PART
ijassa-1971	228	6	show	show	VERB
ijassa-1971	228	7	asymptotic	asymptotic	ADJ
ijassa-1971	228	8	convergence	convergence	NOUN
ijassa-1971	228	9	of	of	ADP
ijassa-1971	228	10	parametric	parametric	ADJ
ijassa-1971	228	11	error	error	NOUN
ijassa-1971	228	12	θ̃	θ̃	NOUN
ijassa-1971	228	13	(	(	PUNCT
ijassa-1971	228	14	t	t	NOUN
ijassa-1971	228	15	)	)	PUNCT
ijassa-1971	229	1	=	=	SYM
ijassa-1971	229	2	θ	θ	PROPN
ijassa-1971	229	3	−	−	NOUN
ijassa-1971	229	4	θ̂	θ̂	X
ijassa-1971	229	5	(	(	PUNCT
ijassa-1971	229	6	t	t	NOUN
ijassa-1971	229	7	)	)	PUNCT
ijassa-1971	229	8	to	to	ADP
ijassa-1971	229	9	zero	zero	NUM
ijassa-1971	229	10	.	.	PUNCT
ijassa-1971	230	1	in	in	ADP
ijassa-1971	230	2	the	the	DET
ijassa-1971	230	3	second	second	ADJ
ijassa-1971	230	4	one	one	NOUN
ijassa-1971	230	5	we	we	PRON
ijassa-1971	230	6	prove	prove	VERB
ijassa-1971	230	7	convergence	convergence	NOUN
ijassa-1971	230	8	of	of	ADP
ijassa-1971	230	9	the	the	DET
ijassa-1971	230	10	tracking	tracking	NOUN
ijassa-1971	230	11	error	error	NOUN
ijassa-1971	230	12	ξ̃	ξ̃	PROPN
ijassa-1971	230	13	(	(	PUNCT
ijassa-1971	230	14	t	t	NOUN
ijassa-1971	230	15	)	)	PUNCT
ijassa-1971	230	16	to	to	ADP
ijassa-1971	230	17	zero	zero	NUM
ijassa-1971	230	18	.	.	PUNCT
ijassa-1971	231	1	step	step	NOUN
ijassa-1971	231	2	1	1	NUM
ijassa-1971	231	3	.	.	PUNCT
ijassa-1971	232	1	the	the	DET
ijassa-1971	232	2	differential	differential	ADJ
ijassa-1971	232	3	equation	equation	NOUN
ijassa-1971	232	4	for	for	ADP
ijassa-1971	232	5	the	the	DET
ijassa-1971	232	6	parametric	parametric	ADJ
ijassa-1971	232	7	error	error	NOUN
ijassa-1971	232	8	is	be	AUX
ijassa-1971	232	9	written	write	VERB
ijassa-1971	232	10	as	as	SCONJ
ijassa-1971	232	11	follows	follow	VERB
ijassa-1971	232	12	:	:	PUNCT
ijassa-1971	232	13	˙̃θ	˙̃θ	PROPN
ijassa-1971	232	14	(	(	PUNCT
ijassa-1971	232	15	t	t	NOUN
ijassa-1971	232	16	)	)	PUNCT
ijassa-1971	232	17	=	=	SYM
ijassa-1971	233	1	γ∆(t	γ∆(t	X
ijassa-1971	233	2	)	)	PUNCT
ijassa-1971	233	3	(	(	PUNCT
ijassa-1971	233	4	∆(t	∆(t	NOUN
ijassa-1971	233	5	)	)	PUNCT
ijassa-1971	233	6	θ̂	θ̂	NUM
ijassa-1971	233	7	(	(	PUNCT
ijassa-1971	233	8	t)−	t)−	PROPN
ijassa-1971	233	9	y	y	PROPN
ijassa-1971	233	10	(	(	PUNCT
ijassa-1971	233	11	t	t	PROPN
ijassa-1971	233	12	)	)	PUNCT
ijassa-1971	233	13	)	)	PUNCT
ijassa-1971	234	1	=	=	PUNCT
ijassa-1971	235	1	−	−	PROPN
ijassa-1971	235	2	γ∆2	γ∆2	PROPN
ijassa-1971	235	3	(	(	PUNCT
ijassa-1971	235	4	t	t	NOUN
ijassa-1971	235	5	)	)	PUNCT
ijassa-1971	235	6	θ̃	θ̃	NOUN
ijassa-1971	235	7	(	(	PUNCT
ijassa-1971	235	8	t)−γ∆(t)w	t)−γ∆(t)w	NOUN
ijassa-1971	235	9	(	(	PUNCT
ijassa-1971	235	10	t	t	PROPN
ijassa-1971	235	11	)	)	PUNCT
ijassa-1971	235	12	.	.	PUNCT
ijassa-1971	236	1	(	(	PUNCT
ijassa-1971	236	2	a.37	a.37	PROPN
ijassa-1971	236	3	)	)	PUNCT
ijassa-1971	236	4	following	follow	VERB
ijassa-1971	236	5	theorem	theorem	NOUN
ijassa-1971	236	6	2	2	NUM
ijassa-1971	236	7	from	from	ADP
ijassa-1971	236	8	[	[	X
ijassa-1971	236	9	6	6	NUM
ijassa-1971	236	10	]	]	PUNCT
ijassa-1971	236	11	,	,	PUNCT
ijassa-1971	236	12	in	in	ADP
ijassa-1971	236	13	case	case	NOUN
ijassa-1971	236	14	w	w	PROPN
ijassa-1971	236	15	∈	∈	PROPN
ijassa-1971	236	16	l2	l2	NOUN
ijassa-1971	236	17	and	and	CCONJ
ijassa-1971	236	18	∆	∆	PROPN
ijassa-1971	236	19	/∈	/∈	PUNCT
ijassa-1971	237	1	l2	l2	NOUN
ijassa-1971	237	2	we	we	PRON
ijassa-1971	237	3	have	have	VERB
ijassa-1971	237	4	lim	lim	PROPN
ijassa-1971	237	5	t→∞	t→∞	ADP
ijassa-1971	238	1	θ̃	θ̃	PROPN
ijassa-1971	238	2	(	(	PUNCT
ijassa-1971	238	3	t	t	NOUN
ijassa-1971	238	4	)	)	PUNCT
ijassa-1971	238	5	=	=	SYM
ijassa-1971	238	6	0	0	NUM
ijassa-1971	238	7	,	,	PUNCT
ijassa-1971	238	8	θ̃	θ̃	NOUN
ijassa-1971	238	9	(	(	PUNCT
ijassa-1971	238	10	t	t	NOUN
ijassa-1971	238	11	)	)	PUNCT
ijassa-1971	238	12	∈	∈	PROPN
ijassa-1971	239	1	l∞.	l∞.	ADP
ijassa-1971	239	2	step	step	NOUN
ijassa-1971	239	3	2	2	NUM
ijassa-1971	239	4	.	.	PUNCT
ijassa-1971	240	1	the	the	DET
ijassa-1971	240	2	control	control	PROPN
ijassa-1971	240	3	law	law	NOUN
ijassa-1971	240	4	(	(	PUNCT
ijassa-1971	240	5	3.31	3.31	NUM
ijassa-1971	240	6	)	)	PUNCT
ijassa-1971	240	7	is	be	AUX
ijassa-1971	240	8	substituted	substitute	VERB
ijassa-1971	240	9	into	into	ADP
ijassa-1971	240	10	(	(	PUNCT
ijassa-1971	240	11	3.19	3.19	NUM
ijassa-1971	240	12	)	)	PUNCT
ijassa-1971	240	13	to	to	PART
ijassa-1971	240	14	obtain	obtain	VERB
ijassa-1971	240	15	:	:	PUNCT
ijassa-1971	240	16	˙̃ξ	˙̃ξ	PROPN
ijassa-1971	240	17	(	(	PUNCT
ijassa-1971	240	18	t	t	PROPN
ijassa-1971	240	19	)	)	PUNCT
ijassa-1971	240	20	=	=	PROPN
ijassa-1971	240	21	ak	ak	PROPN
ijassa-1971	240	22	ξ̃	ξ̃	PROPN
ijassa-1971	240	23	(	(	PUNCT
ijassa-1971	240	24	t)−	t)−	PROPN
ijassa-1971	240	25	b0	b0	NOUN
ijassa-1971	240	26	(	(	PUNCT
ijassa-1971	240	27	ktξ	ktξ	X
ijassa-1971	240	28	(	(	PUNCT
ijassa-1971	240	29	t	t	PROPN
ijassa-1971	240	30	)	)	PUNCT
ijassa-1971	241	1	+	+	NUM
ijassa-1971	241	2	et	et	NOUN
ijassa-1971	241	3	1kx1d	1kx1d	NUM
ijassa-1971	241	4	)	)	PUNCT
ijassa-1971	242	1	+	+	PUNCT
ijassa-1971	242	2	+	+	X
ijassa-1971	242	3	b0	b0	VERB
ijassa-1971	242	4	g	g	PROPN
ijassa-1971	242	5	(	(	PUNCT
ijassa-1971	242	6	ξ	ξ	NOUN
ijassa-1971	242	7	)	)	PUNCT
ijassa-1971	242	8	[	[	PUNCT
ijassa-1971	242	9	cos(x3	cos(x3	NOUN
ijassa-1971	242	10	)	)	PUNCT
ijassa-1971	242	11	ϕt(t)θ	ϕt(t)θ	PRON
ijassa-1971	243	1	[	[	PUNCT
ijassa-1971	243	2	ϕt(t)θ̂(t	ϕt(t)θ̂(t	NOUN
ijassa-1971	243	3	)	)	PUNCT
ijassa-1971	243	4	cos(x3	cos(x3	NOUN
ijassa-1971	243	5	)	)	PUNCT
ijassa-1971	244	1	τb	τb	ADP
ijassa-1971	244	2	(	(	PUNCT
ijassa-1971	244	3	t	t	NOUN
ijassa-1971	244	4	)	)	PUNCT
ijassa-1971	244	5	+	+	CCONJ
ijassa-1971	244	6	τ̃d	τ̃d	NUM
ijassa-1971	244	7	(	(	PUNCT
ijassa-1971	244	8	t	t	PROPN
ijassa-1971	244	9	)	)	PUNCT
ijassa-1971	244	10	+	+	NUM
ijassa-1971	244	11	ωt	ωt	PROPN
ijassa-1971	244	12	(	(	PUNCT
ijassa-1971	244	13	t	t	NOUN
ijassa-1971	244	14	)	)	PUNCT
ijassa-1971	244	15	θ̃	θ̃	PROPN
ijassa-1971	244	16	(	(	PUNCT
ijassa-1971	244	17	t	t	PROPN
ijassa-1971	244	18	)	)	PUNCT
ijassa-1971	244	19	]	]	PUNCT
ijassa-1971	245	1	+	+	CCONJ
ijassa-1971	245	2	f	f	X
ijassa-1971	245	3	(	(	PUNCT
ijassa-1971	245	4	ξ	ξ	NOUN
ijassa-1971	245	5	)	)	PUNCT
ijassa-1971	245	6	]	]	PUNCT
ijassa-1971	246	1	=	=	PUNCT
ijassa-1971	246	2	=	=	SYM
ijassa-1971	246	3	ak	ak	PROPN
ijassa-1971	246	4	ξ̃	ξ̃	PROPN
ijassa-1971	246	5	(	(	PUNCT
ijassa-1971	246	6	t	t	PROPN
ijassa-1971	246	7	)	)	PUNCT
ijassa-1971	246	8	+	+	CCONJ
ijassa-1971	246	9	b0	b0	NOUN
ijassa-1971	246	10	g(ξ)cos(x3	g(ξ)cos(x3	NOUN
ijassa-1971	246	11	)	)	PUNCT
ijassa-1971	246	12	ϕt(t)θ	ϕt(t)θ	PRON
ijassa-1971	246	13	[	[	PUNCT
ijassa-1971	246	14	−ϕt(t)θ̃(t	−ϕt(t)θ̃(t	X
ijassa-1971	246	15	)	)	PUNCT
ijassa-1971	246	16	cos(x3	cos(x3	NOUN
ijassa-1971	246	17	)	)	PUNCT
ijassa-1971	246	18	τb	τb	ADP
ijassa-1971	246	19	(	(	PUNCT
ijassa-1971	246	20	t	t	NOUN
ijassa-1971	246	21	)	)	PUNCT
ijassa-1971	246	22	+	+	CCONJ
ijassa-1971	246	23	τ̃d	τ̃d	NUM
ijassa-1971	246	24	(	(	PUNCT
ijassa-1971	246	25	t	t	PROPN
ijassa-1971	246	26	)	)	PUNCT
ijassa-1971	246	27	+	+	NUM
ijassa-1971	246	28	ωt	ωt	PROPN
ijassa-1971	246	29	(	(	PUNCT
ijassa-1971	246	30	t	t	NOUN
ijassa-1971	246	31	)	)	PUNCT
ijassa-1971	246	32	θ̃	θ̃	PROPN
ijassa-1971	246	33	(	(	PUNCT
ijassa-1971	246	34	t	t	PROPN
ijassa-1971	246	35	)	)	PUNCT
ijassa-1971	246	36	]	]	PUNCT
ijassa-1971	246	37	(	(	PUNCT
ijassa-1971	246	38	a.38	a.38	X
ijassa-1971	246	39	)	)	PUNCT
ijassa-1971	246	40	where	where	SCONJ
ijassa-1971	246	41	τ̃d	τ̃d	PROPN
ijassa-1971	246	42	(	(	PUNCT
ijassa-1971	246	43	t	t	NOUN
ijassa-1971	246	44	)	)	PUNCT
ijassa-1971	246	45	=	=	SYM
ijassa-1971	247	1	τd	τd	ADP
ijassa-1971	247	2	(	(	PUNCT
ijassa-1971	247	3	t)−	t)−	PROPN
ijassa-1971	247	4	τdf	τdf	PROPN
ijassa-1971	247	5	(	(	PUNCT
ijassa-1971	247	6	t	t	PROPN
ijassa-1971	247	7	)	)	PUNCT
ijassa-1971	247	8	.	.	PUNCT
ijassa-1971	248	1	copyright	copyright	NOUN
ijassa-1971	248	2	©	©	PROPN
ijassa-1971	248	3	2024	2024	NUM
ijassa-1971	248	4	assa	assa	NOUN
ijassa-1971	248	5	.	.	PUNCT
ijassa-1971	249	1	adv	adv	PROPN
ijassa-1971	249	2	syst	syst	PROPN
ijassa-1971	249	3	sci	sci	PROPN
ijassa-1971	249	4	appl	appl	PROPN
ijassa-1971	249	5	(	(	PUNCT
ijassa-1971	249	6	2024	2024	NUM
ijassa-1971	249	7	)	)	PUNCT
ijassa-1971	249	8	92	92	NUM
ijassa-1971	249	9	v.	v.	ADP
ijassa-1971	249	10	petrov	petrov	PROPN
ijassa-1971	249	11	,	,	PUNCT
ijassa-1971	249	12	a.	a.	NOUN
ijassa-1971	249	13	glushchenko	glushchenko	PROPN
ijassa-1971	249	14	,	,	PUNCT
ijassa-1971	249	15	k.	k.	PROPN
ijassa-1971	249	16	lastochkin	lastochkin	PROPN
ijassa-1971	249	17	then	then	ADV
ijassa-1971	249	18	error	error	NOUN
ijassa-1971	249	19	equations	equation	NOUN
ijassa-1971	249	20	can	can	AUX
ijassa-1971	249	21	be	be	AUX
ijassa-1971	249	22	written	write	VERB
ijassa-1971	249	23	in	in	ADP
ijassa-1971	249	24	the	the	DET
ijassa-1971	249	25	following	follow	VERB
ijassa-1971	249	26	cascade	cascade	NOUN
ijassa-1971	249	27	form	form	NOUN
ijassa-1971	249	28	:	:	PUNCT
ijassa-1971	249	29	˙̃ξ	˙̃ξ	PROPN
ijassa-1971	249	30	(	(	PUNCT
ijassa-1971	249	31	t	t	PROPN
ijassa-1971	249	32	)	)	PUNCT
ijassa-1971	249	33	=	=	SYM
ijassa-1971	249	34	f1	f1	NOUN
ijassa-1971	249	35	(	(	PUNCT
ijassa-1971	249	36	ξ̃	ξ̃	PROPN
ijassa-1971	249	37	,	,	PUNCT
ijassa-1971	249	38	θ̃	θ̃	PROPN
ijassa-1971	249	39	,	,	PUNCT
ijassa-1971	249	40	τ̃d	τ̃d	NOUN
ijassa-1971	249	41	,	,	PUNCT
ijassa-1971	249	42	t	t	PROPN
ijassa-1971	249	43	)	)	PUNCT
ijassa-1971	249	44	,	,	PUNCT
ijassa-1971	249	45	˙̃θ	˙̃θ	PROPN
ijassa-1971	249	46	(	(	PUNCT
ijassa-1971	249	47	t	t	NOUN
ijassa-1971	249	48	)	)	PUNCT
ijassa-1971	249	49	=	=	X
ijassa-1971	250	1	f2	f2	PROPN
ijassa-1971	250	2	(	(	PUNCT
ijassa-1971	250	3	θ̃	θ̃	PROPN
ijassa-1971	250	4	,	,	PUNCT
ijassa-1971	250	5	t	t	PROPN
ijassa-1971	250	6	)	)	PUNCT
ijassa-1971	250	7	,	,	PUNCT
ijassa-1971	250	8	˙̃τ	˙̃τ	PROPN
ijassa-1971	250	9	d	d	X
ijassa-1971	250	10	(	(	PUNCT
ijassa-1971	250	11	t	t	NOUN
ijassa-1971	250	12	)	)	PUNCT
ijassa-1971	250	13	=	=	SYM
ijassa-1971	250	14	f3	f3	PROPN
ijassa-1971	250	15	(	(	PUNCT
ijassa-1971	250	16	τ̃d	τ̃d	PROPN
ijassa-1971	250	17	,	,	PUNCT
ijassa-1971	250	18	t	t	PROPN
ijassa-1971	250	19	)	)	PUNCT
ijassa-1971	250	20	,	,	PUNCT
ijassa-1971	250	21	(	(	PUNCT
ijassa-1971	250	22	a.39	a.39	PROPN
ijassa-1971	250	23	)	)	PUNCT
ijassa-1971	250	24	where	where	SCONJ
ijassa-1971	250	25	f1	f1	PROPN
ijassa-1971	250	26	(	(	PUNCT
ijassa-1971	250	27	ξ̃	ξ̃	PROPN
ijassa-1971	250	28	,	,	PUNCT
ijassa-1971	250	29	θ̃	θ̃	PROPN
ijassa-1971	250	30	,	,	PUNCT
ijassa-1971	250	31	τ̃d	τ̃d	NOUN
ijassa-1971	250	32	,	,	PUNCT
ijassa-1971	250	33	t	t	PROPN
ijassa-1971	250	34	)	)	PUNCT
ijassa-1971	250	35	:	:	PUNCT
ijassa-1971	250	36	=	=	PUNCT
ijassa-1971	250	37	ak	ak	PROPN
ijassa-1971	250	38	ξ̃	ξ̃	PROPN
ijassa-1971	250	39	(	(	PUNCT
ijassa-1971	250	40	t)+	t)+	NOUN
ijassa-1971	250	41	+	+	PROPN
ijassa-1971	250	42	b0	b0	NOUN
ijassa-1971	250	43	g(ξ)cos(x3	g(ξ)cos(x3	NOUN
ijassa-1971	250	44	)	)	PUNCT
ijassa-1971	250	45	ϕt(t)θ	ϕt(t)θ	PRON
ijassa-1971	250	46	[	[	PUNCT
ijassa-1971	250	47	−ϕt(t)θ̃(t	−ϕt(t)θ̃(t	X
ijassa-1971	250	48	)	)	PUNCT
ijassa-1971	250	49	cos(x3	cos(x3	NOUN
ijassa-1971	250	50	)	)	PUNCT
ijassa-1971	250	51	(	(	PUNCT
ijassa-1971	250	52	1	1	NUM
ijassa-1971	250	53	g(ξ̃+ξref	g(ξ̃+ξref	NOUN
ijassa-1971	250	54	)	)	PUNCT
ijassa-1971	250	55	(	(	PUNCT
ijassa-1971	250	56	ktξ̃	ktξ̃	X
ijassa-1971	250	57	(	(	PUNCT
ijassa-1971	250	58	t)+ktξref	t)+ktξref	NOUN
ijassa-1971	250	59	(	(	PUNCT
ijassa-1971	250	60	t)+e	t)+e	NOUN
ijassa-1971	250	61	t	t	PROPN
ijassa-1971	250	62	1kx1d	1kx1d	PROPN
ijassa-1971	250	63	)	)	PUNCT
ijassa-1971	250	64	−f	−f	PROPN
ijassa-1971	250	65	(	(	PUNCT
ijassa-1971	250	66	ξ̃+ξref	ξ̃+ξref	PROPN
ijassa-1971	250	67	)	)	PUNCT
ijassa-1971	250	68	)	)	PUNCT
ijassa-1971	251	1	+	+	CCONJ
ijassa-1971	251	2	+	+	X
ijassa-1971	251	3	τ̃d	τ̃d	X
ijassa-1971	251	4	(	(	PUNCT
ijassa-1971	251	5	t	t	PROPN
ijassa-1971	251	6	)	)	PUNCT
ijassa-1971	251	7	+	+	NUM
ijassa-1971	251	8	ωt	ωt	PROPN
ijassa-1971	251	9	(	(	PUNCT
ijassa-1971	251	10	t	t	NOUN
ijassa-1971	251	11	)	)	PUNCT
ijassa-1971	251	12	θ̃	θ̃	PROPN
ijassa-1971	251	13	(	(	PUNCT
ijassa-1971	251	14	t	t	PROPN
ijassa-1971	251	15	)	)	PUNCT
ijassa-1971	251	16	]	]	PUNCT
ijassa-1971	251	17	,	,	PUNCT
ijassa-1971	251	18	f2	f2	PROPN
ijassa-1971	251	19	(	(	PUNCT
ijassa-1971	251	20	θ̃	θ̃	PROPN
ijassa-1971	251	21	,	,	PUNCT
ijassa-1971	251	22	t	t	NOUN
ijassa-1971	251	23	)	)	PUNCT
ijassa-1971	251	24	:	:	PUNCT
ijassa-1971	252	1	=	=	PUNCT
ijassa-1971	252	2	−γ∆2	−γ∆2	INTJ
ijassa-1971	252	3	(	(	PUNCT
ijassa-1971	252	4	t	t	NOUN
ijassa-1971	252	5	)	)	PUNCT
ijassa-1971	252	6	θ̃	θ̃	NOUN
ijassa-1971	252	7	(	(	PUNCT
ijassa-1971	252	8	t)−γ∆(t)w	t)−γ∆(t)w	NOUN
ijassa-1971	252	9	(	(	PUNCT
ijassa-1971	252	10	t	t	PROPN
ijassa-1971	252	11	)	)	PUNCT
ijassa-1971	252	12	,	,	PUNCT
ijassa-1971	252	13	f3	f3	PROPN
ijassa-1971	252	14	(	(	PUNCT
ijassa-1971	252	15	τ̃d	τ̃d	PROPN
ijassa-1971	252	16	,	,	PUNCT
ijassa-1971	252	17	t	t	PROPN
ijassa-1971	252	18	)	)	PUNCT
ijassa-1971	252	19	:	:	PUNCT
ijassa-1971	253	1	=	=	PUNCT
ijassa-1971	253	2	−kτ̃d	−kτ̃d	X
ijassa-1971	254	1	+	+	CCONJ
ijassa-1971	254	2	τ̇d	τ̇d	PROPN
ijassa-1971	254	3	(	(	PUNCT
ijassa-1971	254	4	t	t	PROPN
ijassa-1971	254	5	)	)	PUNCT
ijassa-1971	254	6	.	.	PUNCT
ijassa-1971	255	1	according	accord	VERB
ijassa-1971	255	2	to	to	ADP
ijassa-1971	255	3	step	step	NOUN
ijassa-1971	255	4	1	1	NUM
ijassa-1971	255	5	,	,	PUNCT
ijassa-1971	255	6	when	when	SCONJ
ijassa-1971	255	7	the	the	DET
ijassa-1971	255	8	premises	premise	NOUN
ijassa-1971	255	9	of	of	ADP
ijassa-1971	255	10	the	the	DET
ijassa-1971	255	11	theorem	theorem	NOUN
ijassa-1971	255	12	under	under	ADP
ijassa-1971	255	13	consideration	consideration	NOUN
ijassa-1971	255	14	are	be	AUX
ijassa-1971	255	15	met	meet	VERB
ijassa-1971	255	16	,	,	PUNCT
ijassa-1971	255	17	we	we	PRON
ijassa-1971	255	18	have	have	VERB
ijassa-1971	255	19	lim	lim	PROPN
ijassa-1971	255	20	t→∞	t→∞	ADP
ijassa-1971	255	21	θ̃	θ̃	PROPN
ijassa-1971	255	22	(	(	PUNCT
ijassa-1971	255	23	t	t	NOUN
ijassa-1971	255	24	)	)	PUNCT
ijassa-1971	255	25	=	=	SYM
ijassa-1971	255	26	0	0	NUM
ijassa-1971	255	27	,	,	PUNCT
ijassa-1971	255	28	and	and	CCONJ
ijassa-1971	255	29	since	since	SCONJ
ijassa-1971	255	30	τ̇d	τ̇d	NOUN
ijassa-1971	255	31	(	(	PUNCT
ijassa-1971	255	32	t	t	NOUN
ijassa-1971	255	33	)	)	PUNCT
ijassa-1971	255	34	∈	∈	PROPN
ijassa-1971	255	35	lp	lp	NOUN
ijassa-1971	255	36	∩	∩	ADJ
ijassa-1971	255	37	l∞	l∞	NOUN
ijassa-1971	255	38	,	,	PUNCT
ijassa-1971	255	39	1	1	NUM
ijassa-1971	255	40	⩽	⩽	NOUN
ijassa-1971	255	41	p	p	PROPN
ijassa-1971	255	42	<	<	PROPN
ijassa-1971	255	43	∞	∞	PROPN
ijassa-1971	255	44	,	,	PUNCT
ijassa-1971	255	45	then	then	ADV
ijassa-1971	255	46	,	,	PUNCT
ijassa-1971	255	47	owing	owe	VERB
ijassa-1971	255	48	to	to	ADP
ijassa-1971	255	49	lemma	lemma	PROPN
ijassa-1971	255	50	2.19	2.19	NUM
ijassa-1971	255	51	from	from	ADP
ijassa-1971	255	52	[	[	X
ijassa-1971	255	53	15	15	NUM
ijassa-1971	255	54	,	,	PUNCT
ijassa-1971	255	55	p.	p.	NOUN
ijassa-1971	255	56	83	83	NUM
ijassa-1971	255	57	]	]	PUNCT
ijassa-1971	255	58	,	,	PUNCT
ijassa-1971	255	59	it	it	PRON
ijassa-1971	255	60	is	be	AUX
ijassa-1971	255	61	also	also	ADV
ijassa-1971	255	62	true	true	ADJ
ijassa-1971	255	63	that	that	SCONJ
ijassa-1971	255	64	lim	lim	PROPN
ijassa-1971	255	65	t→∞	t→∞	PRON
ijassa-1971	255	66	τ̃d	τ̃d	X
ijassa-1971	255	67	(	(	PUNCT
ijassa-1971	255	68	t	t	NOUN
ijassa-1971	255	69	)	)	PUNCT
ijassa-1971	255	70	=	=	NOUN
ijassa-1971	256	1	0	0	X
ijassa-1971	256	2	.	.	PUNCT
ijassa-1971	257	1	then	then	ADV
ijassa-1971	257	2	,	,	PUNCT
ijassa-1971	257	3	as	as	ADP
ijassa-1971	257	4	sup	sup	NOUN
ijassa-1971	257	5	t⩾t0	t⩾t0	NOUN
ijassa-1971	257	6	sup	sup	NOUN
ijassa-1971	257	7	∥θ̃∥⩽θ̃max	∥θ̃∥⩽θ̃max	PROPN
ijassa-1971	257	8	∥∥∥∇θ̃f2	∥∥∥∇θ̃f2	NUM
ijassa-1971	257	9	(	(	PUNCT
ijassa-1971	257	10	t	t	PROPN
ijassa-1971	257	11	,	,	PUNCT
ijassa-1971	257	12	θ̃	θ̃	NOUN
ijassa-1971	257	13	)	)	PUNCT
ijassa-1971	257	14	∥∥∥	∥∥∥	PROPN
ijassa-1971	257	15	<	<	X
ijassa-1971	257	16	∞	∞	PROPN
ijassa-1971	257	17	(	(	PUNCT
ijassa-1971	257	18	because	because	SCONJ
ijassa-1971	257	19	of	of	ADP
ijassa-1971	257	20	normalisation	normalisation	NOUN
ijassa-1971	257	21	in	in	ADP
ijassa-1971	257	22	(	(	PUNCT
ijassa-1971	257	23	3.29	3.29	NUM
ijassa-1971	257	24	)	)	PUNCT
ijassa-1971	257	25	)	)	PUNCT
ijassa-1971	257	26	,	,	PUNCT
ijassa-1971	257	27	following	follow	VERB
ijassa-1971	257	28	theorem	theorem	VERB
ijassa-1971	257	29	3.2	3.2	NUM
ijassa-1971	257	30	from	from	ADP
ijassa-1971	257	31	[	[	X
ijassa-1971	257	32	17	17	NUM
ijassa-1971	257	33	]	]	PUNCT
ijassa-1971	257	34	,	,	PUNCT
ijassa-1971	257	35	it	it	PRON
ijassa-1971	257	36	is	be	AUX
ijassa-1971	257	37	concluded	conclude	VERB
ijassa-1971	257	38	that	that	SCONJ
ijassa-1971	257	39	the	the	DET
ijassa-1971	257	40	error	error	NOUN
ijassa-1971	257	41	ξ̃	ξ̃	PROPN
ijassa-1971	257	42	(	(	PUNCT
ijassa-1971	257	43	t	t	NOUN
ijassa-1971	257	44	)	)	PUNCT
ijassa-1971	257	45	converges	converge	VERB
ijassa-1971	257	46	asymptotically	asymptotically	ADV
ijassa-1971	257	47	to	to	ADP
ijassa-1971	257	48	zero	zero	NUM
ijassa-1971	257	49	,	,	PUNCT
ijassa-1971	257	50	which	which	PRON
ijassa-1971	257	51	was	be	AUX
ijassa-1971	257	52	to	to	PART
ijassa-1971	257	53	be	be	AUX
ijassa-1971	257	54	proved	prove	VERB
ijassa-1971	257	55	.	.	PUNCT
ijassa-1971	258	1	references	reference	NOUN
ijassa-1971	258	2	1	1	NUM
ijassa-1971	258	3	.	.	PUNCT
ijassa-1971	259	1	antipov	antipov	PROPN
ijassa-1971	259	2	,	,	PUNCT
ijassa-1971	259	3	a.	a.	NOUN
ijassa-1971	259	4	,	,	PUNCT
ijassa-1971	259	5	&	&	CCONJ
ijassa-1971	259	6	krasnova	krasnova	PROPN
ijassa-1971	259	7	,	,	PUNCT
ijassa-1971	259	8	s.	s.	PROPN
ijassa-1971	259	9	(	(	PUNCT
ijassa-1971	259	10	2022	2022	NUM
ijassa-1971	259	11	)	)	PUNCT
ijassa-1971	259	12	using	use	VERB
ijassa-1971	259	13	of	of	ADP
ijassa-1971	259	14	sigmoid	sigmoid	NOUN
ijassa-1971	259	15	functions	function	NOUN
ijassa-1971	259	16	in	in	ADP
ijassa-1971	259	17	the	the	DET
ijassa-1971	259	18	control	control	NOUN
ijassa-1971	259	19	system	system	NOUN
ijassa-1971	259	20	of	of	ADP
ijassa-1971	259	21	the	the	DET
ijassa-1971	259	22	overhead	overhead	ADJ
ijassa-1971	259	23	crane	crane	NOUN
ijassa-1971	259	24	,	,	PUNCT
ijassa-1971	259	25	proc	proc	NOUN
ijassa-1971	259	26	.	.	PUNCT
ijassa-1971	260	1	16th	16th	ADJ
ijassa-1971	260	2	international	international	ADJ
ijassa-1971	260	3	conference	conference	NOUN
ijassa-1971	260	4	on	on	ADP
ijassa-1971	260	5	stability	stability	NOUN
ijassa-1971	260	6	and	and	CCONJ
ijassa-1971	260	7	oscillations	oscillation	NOUN
ijassa-1971	260	8	of	of	ADP
ijassa-1971	260	9	nonlinear	nonlinear	ADJ
ijassa-1971	260	10	control	control	NOUN
ijassa-1971	260	11	systems	system	NOUN
ijassa-1971	260	12	(	(	PUNCT
ijassa-1971	260	13	moscow	moscow	PROPN
ijassa-1971	260	14	,	,	PUNCT
ijassa-1971	260	15	russia	russia	PROPN
ijassa-1971	260	16	)	)	PUNCT
ijassa-1971	260	17	,	,	PUNCT
ijassa-1971	260	18	1–4	1–4	PROPN
ijassa-1971	260	19	.	.	PROPN
ijassa-1971	260	20	https://doi.org/10.1109/stab54858.2022.9807588	https://doi.org/10.1109/stab54858.2022.9807588	PROPN
ijassa-1971	260	21	2	2	NUM
ijassa-1971	260	22	.	.	NOUN
ijassa-1971	260	23	aranovskiy	aranovskiy	NOUN
ijassa-1971	260	24	,	,	PUNCT
ijassa-1971	260	25	s.	s.	PROPN
ijassa-1971	260	26	,	,	PUNCT
ijassa-1971	260	27	bobtsov	bobtsov	NOUN
ijassa-1971	260	28	,	,	PUNCT
ijassa-1971	260	29	a.	a.	NOUN
ijassa-1971	260	30	a.	a.	PROPN
ijassa-1971	260	31	,	,	PUNCT
ijassa-1971	260	32	pyrkin	pyrkin	NOUN
ijassa-1971	260	33	,	,	PUNCT
ijassa-1971	260	34	a.	a.	NOUN
ijassa-1971	260	35	a.	a.	PROPN
ijassa-1971	260	36	,	,	PUNCT
ijassa-1971	260	37	ortega	ortega	PROPN
ijassa-1971	260	38	,	,	PUNCT
ijassa-1971	260	39	r.	r.	PROPN
ijassa-1971	260	40	,	,	PUNCT
ijassa-1971	260	41	&	&	CCONJ
ijassa-1971	260	42	chaillet	chaillet	PROPN
ijassa-1971	260	43	,	,	PUNCT
ijassa-1971	260	44	a.	a.	NOUN
ijassa-1971	260	45	(	(	PUNCT
ijassa-1971	260	46	2015	2015	NUM
ijassa-1971	260	47	)	)	PUNCT
ijassa-1971	260	48	flux	flux	NOUN
ijassa-1971	260	49	and	and	CCONJ
ijassa-1971	260	50	position	position	NOUN
ijassa-1971	260	51	observer	observer	NOUN
ijassa-1971	260	52	of	of	ADP
ijassa-1971	260	53	permanent	permanent	ADJ
ijassa-1971	260	54	magnet	magnet	NOUN
ijassa-1971	260	55	synchronous	synchronous	ADJ
ijassa-1971	260	56	motors	motor	NOUN
ijassa-1971	260	57	with	with	ADP
ijassa-1971	260	58	relaxed	relaxed	ADJ
ijassa-1971	260	59	persistency	persistency	NOUN
ijassa-1971	260	60	of	of	ADP
ijassa-1971	260	61	excitation	excitation	NOUN
ijassa-1971	260	62	conditions	condition	NOUN
ijassa-1971	260	63	,	,	PUNCT
ijassa-1971	260	64	ifac	ifac	NOUN
ijassa-1971	260	65	-	-	PUNCT
ijassa-1971	260	66	papersonline	papersonline	NOUN
ijassa-1971	260	67	,	,	PUNCT
ijassa-1971	260	68	48(11	48(11	NUM
ijassa-1971	260	69	)	)	PUNCT
ijassa-1971	260	70	,	,	PUNCT
ijassa-1971	261	1	301–306	301–306	NUM
ijassa-1971	261	2	.	.	PUNCT
ijassa-1971	262	1	https://doi.org/10.1016/j.ifacol.2015.09.202	https://doi.org/10.1016/j.ifacol.2015.09.202	PROPN
ijassa-1971	262	2	3	3	NUM
ijassa-1971	262	3	.	.	NOUN
ijassa-1971	262	4	aranovskiy	aranovskiy	NOUN
ijassa-1971	262	5	,	,	PUNCT
ijassa-1971	262	6	s.	s.	PROPN
ijassa-1971	262	7	,	,	PUNCT
ijassa-1971	262	8	bobtsov	bobtsov	NOUN
ijassa-1971	262	9	,	,	PUNCT
ijassa-1971	262	10	a.	a.	NOUN
ijassa-1971	262	11	,	,	PUNCT
ijassa-1971	262	12	ortega	ortega	PROPN
ijassa-1971	262	13	,	,	PUNCT
ijassa-1971	262	14	r.	r.	PROPN
ijassa-1971	262	15	,	,	PUNCT
ijassa-1971	262	16	&	&	CCONJ
ijassa-1971	262	17	pyrkin	pyrkin	PROPN
ijassa-1971	262	18	,	,	PUNCT
ijassa-1971	262	19	a.	a.	NOUN
ijassa-1971	262	20	(	(	PUNCT
ijassa-1971	262	21	2017	2017	NUM
ijassa-1971	262	22	)	)	PUNCT
ijassa-1971	262	23	performance	performance	NOUN
ijassa-1971	262	24	enhancement	enhancement	NOUN
ijassa-1971	262	25	of	of	ADP
ijassa-1971	262	26	parameter	parameter	NOUN
ijassa-1971	262	27	estimators	estimator	NOUN
ijassa-1971	262	28	via	via	ADP
ijassa-1971	262	29	dynamic	dynamic	ADJ
ijassa-1971	262	30	regressor	regressor	NOUN
ijassa-1971	262	31	extension	extension	NOUN
ijassa-1971	262	32	and	and	CCONJ
ijassa-1971	262	33	mixing	mixing	NOUN
ijassa-1971	262	34	,	,	PUNCT
ijassa-1971	262	35	ieee	ieee	NOUN
ijassa-1971	262	36	transactions	transaction	NOUN
ijassa-1971	262	37	on	on	ADP
ijassa-1971	262	38	automatic	automatic	ADJ
ijassa-1971	262	39	control	control	NOUN
ijassa-1971	262	40	,	,	PUNCT
ijassa-1971	262	41	62(7	62(7	NOUN
ijassa-1971	262	42	)	)	PUNCT
ijassa-1971	262	43	,	,	PUNCT
ijassa-1971	262	44	3546–3550	3546–3550	NUM
ijassa-1971	262	45	.	.	PUNCT
ijassa-1971	263	1	https://doi.org/10.1109/tac.2016.2614889	https://doi.org/10.1109/tac.2016.2614889	ADJ
ijassa-1971	263	2	4	4	NUM
ijassa-1971	263	3	.	.	PUNCT
ijassa-1971	263	4	bartolini	bartolini	NOUN
ijassa-1971	263	5	,	,	PUNCT
ijassa-1971	263	6	g.	g.	PROPN
ijassa-1971	263	7	,	,	PUNCT
ijassa-1971	263	8	pisano	pisano	PROPN
ijassa-1971	263	9	,	,	PUNCT
ijassa-1971	263	10	a.	a.	PROPN
ijassa-1971	263	11	,	,	PUNCT
ijassa-1971	263	12	&	&	CCONJ
ijassa-1971	263	13	usai	usai	PROPN
ijassa-1971	263	14	,	,	PUNCT
ijassa-1971	263	15	e.	e.	PROPN
ijassa-1971	263	16	(	(	PUNCT
ijassa-1971	263	17	2002	2002	NUM
ijassa-1971	263	18	)	)	PUNCT
ijassa-1971	263	19	second	second	ADJ
ijassa-1971	263	20	-	-	PUNCT
ijassa-1971	263	21	order	order	NOUN
ijassa-1971	263	22	sliding	slide	VERB
ijassa-1971	263	23	-	-	PUNCT
ijassa-1971	263	24	mode	mode	NOUN
ijassa-1971	263	25	control	control	NOUN
ijassa-1971	263	26	of	of	ADP
ijassa-1971	263	27	container	container	NOUN
ijassa-1971	263	28	cranes	crane	NOUN
ijassa-1971	263	29	,	,	PUNCT
ijassa-1971	263	30	automatica	automatica	PROPN
ijassa-1971	263	31	,	,	PUNCT
ijassa-1971	263	32	38(10	38(10	PROPN
ijassa-1971	263	33	)	)	PUNCT
ijassa-1971	263	34	,	,	PUNCT
ijassa-1971	263	35	1783–1790	1783–1790	NUM
ijassa-1971	263	36	.	.	PUNCT
ijassa-1971	264	1	https://doi.org/10.1016/s00051098(02)00081-x	https://doi.org/10.1016/s00051098(02)00081-x	NOUN
ijassa-1971	264	2	5	5	X
ijassa-1971	264	3	.	.	PUNCT
ijassa-1971	265	1	chen	chen	PROPN
ijassa-1971	265	2	,	,	PUNCT
ijassa-1971	265	3	h.	h.	PROPN
ijassa-1971	265	4	,	,	PUNCT
ijassa-1971	265	5	fang	fang	PROPN
ijassa-1971	265	6	,	,	PUNCT
ijassa-1971	265	7	y.	y.	PROPN
ijassa-1971	265	8	,	,	PUNCT
ijassa-1971	265	9	&	&	CCONJ
ijassa-1971	265	10	sun	sun	PROPN
ijassa-1971	265	11	,	,	PUNCT
ijassa-1971	265	12	n.	n.	NOUN
ijassa-1971	265	13	(	(	PUNCT
ijassa-1971	265	14	2016	2016	NUM
ijassa-1971	265	15	)	)	PUNCT
ijassa-1971	265	16	a	a	DET
ijassa-1971	265	17	swing	swing	NOUN
ijassa-1971	265	18	constraint	constraint	NOUN
ijassa-1971	265	19	guaranteed	guarantee	VERB
ijassa-1971	265	20	mpc	mpc	NOUN
ijassa-1971	265	21	algorithm	algorithm	NOUN
ijassa-1971	265	22	for	for	ADP
ijassa-1971	265	23	underactuated	underactuated	ADJ
ijassa-1971	265	24	overhead	overhead	ADJ
ijassa-1971	265	25	cranes	crane	NOUN
ijassa-1971	265	26	,	,	PUNCT
ijassa-1971	265	27	ieee	ieee	PROPN
ijassa-1971	265	28	/	/	SYM
ijassa-1971	265	29	asme	asme	PROPN
ijassa-1971	265	30	transactions	transaction	NOUN
ijassa-1971	265	31	on	on	ADP
ijassa-1971	265	32	mechatronics	mechatronic	NOUN
ijassa-1971	265	33	,	,	PUNCT
ijassa-1971	265	34	21(5	21(5	NUM
ijassa-1971	265	35	)	)	PUNCT
ijassa-1971	265	36	,	,	PUNCT
ijassa-1971	265	37	2543–2555	2543–2555	NUM
ijassa-1971	265	38	.	.	PUNCT
ijassa-1971	266	1	https://doi.org/10.1109/tmech.2016.2558202	https://doi.org/10.1109/tmech.2016.2558202	PROPN
ijassa-1971	266	2	6	6	NUM
ijassa-1971	266	3	.	.	PUNCT
ijassa-1971	266	4	glushchenko	glushchenko	PROPN
ijassa-1971	266	5	,	,	PUNCT
ijassa-1971	266	6	a.	a.	NOUN
ijassa-1971	266	7	,	,	PUNCT
ijassa-1971	266	8	&	&	CCONJ
ijassa-1971	266	9	lastochkin	lastochkin	PROPN
ijassa-1971	266	10	,	,	PUNCT
ijassa-1971	266	11	k.	k.	PROPN
ijassa-1971	266	12	(	(	PUNCT
ijassa-1971	266	13	2025	2025	NUM
ijassa-1971	266	14	)	)	PUNCT
ijassa-1971	266	15	instrumental	instrumental	ADJ
ijassa-1971	266	16	variables	variable	NOUN
ijassa-1971	266	17	based	base	VERB
ijassa-1971	266	18	drem	drem	PROPN
ijassa-1971	266	19	for	for	ADP
ijassa-1971	266	20	online	online	ADJ
ijassa-1971	266	21	asymptotic	asymptotic	ADJ
ijassa-1971	266	22	identification	identification	NOUN
ijassa-1971	266	23	of	of	ADP
ijassa-1971	266	24	perturbed	perturb	VERB
ijassa-1971	266	25	linear	linear	PROPN
ijassa-1971	266	26	systems	system	NOUN
ijassa-1971	266	27	,	,	PUNCT
ijassa-1971	266	28	ieee	ieee	NOUN
ijassa-1971	266	29	transactions	transaction	NOUN
ijassa-1971	266	30	on	on	ADP
ijassa-1971	266	31	automatic	automatic	ADJ
ijassa-1971	266	32	control	control	NOUN
ijassa-1971	266	33	,	,	PUNCT
ijassa-1971	266	34	70(2	70(2	PROPN
ijassa-1971	266	35	)	)	PUNCT
ijassa-1971	266	36	.	.	PUNCT
ijassa-1971	267	1	early	early	ADJ
ijassa-1971	267	2	access	access	NOUN
ijassa-1971	267	3	.	.	PUNCT
ijassa-1971	268	1	https://doi.org/10.1109/tac.2024.3463546	https://doi.org/10.1109/tac.2024.3463546	VERB
ijassa-1971	268	2	copyright	copyright	NOUN
ijassa-1971	268	3	©	©	PROPN
ijassa-1971	268	4	2024	2024	NUM
ijassa-1971	268	5	assa	assa	NOUN
ijassa-1971	268	6	.	.	PUNCT
ijassa-1971	269	1	adv	adv	PROPN
ijassa-1971	269	2	syst	syst	PROPN
ijassa-1971	269	3	sci	sci	PROPN
ijassa-1971	269	4	appl	appl	PROPN
ijassa-1971	269	5	(	(	PUNCT
ijassa-1971	269	6	2024	2024	NUM
ijassa-1971	269	7	)	)	PUNCT
ijassa-1971	269	8	adaptive	adaptive	ADJ
ijassa-1971	269	9	disturbance	disturbance	NOUN
ijassa-1971	269	10	rejection	rejection	NOUN
ijassa-1971	269	11	control	control	NOUN
ijassa-1971	269	12	of	of	ADP
ijassa-1971	269	13	2d	2d	PROPN
ijassa-1971	269	14	crane	crane	NOUN
ijassa-1971	269	15	...	...	PUNCT
ijassa-1971	270	1	93	93	NUM
ijassa-1971	270	2	7	7	NUM
ijassa-1971	270	3	.	.	PUNCT
ijassa-1971	270	4	mojallizadeh	mojallizadeh	NOUN
ijassa-1971	270	5	,	,	PUNCT
ijassa-1971	270	6	m.	m.	PROPN
ijassa-1971	270	7	r.	r.	PROPN
ijassa-1971	270	8	,	,	PUNCT
ijassa-1971	270	9	brogliato	brogliato	NOUN
ijassa-1971	270	10	,	,	PUNCT
ijassa-1971	270	11	b.	b.	PROPN
ijassa-1971	270	12	,	,	PUNCT
ijassa-1971	270	13	&	&	CCONJ
ijassa-1971	270	14	prieur	prieur	PROPN
ijassa-1971	270	15	,	,	PUNCT
ijassa-1971	270	16	c.	c.	PROPN
ijassa-1971	270	17	(	(	PUNCT
ijassa-1971	270	18	2023	2023	NUM
ijassa-1971	270	19	)	)	PUNCT
ijassa-1971	270	20	modeling	modeling	NOUN
ijassa-1971	270	21	and	and	CCONJ
ijassa-1971	270	22	control	control	NOUN
ijassa-1971	270	23	of	of	ADP
ijassa-1971	270	24	overhead	overhead	ADJ
ijassa-1971	270	25	cranes	crane	NOUN
ijassa-1971	270	26	:	:	PUNCT
ijassa-1971	270	27	a	a	DET
ijassa-1971	270	28	tutorial	tutorial	ADJ
ijassa-1971	270	29	overview	overview	NOUN
ijassa-1971	270	30	and	and	CCONJ
ijassa-1971	270	31	perspectives	perspective	NOUN
ijassa-1971	270	32	,	,	PUNCT
ijassa-1971	270	33	annual	annual	ADJ
ijassa-1971	270	34	reviews	review	NOUN
ijassa-1971	270	35	in	in	ADP
ijassa-1971	270	36	control	control	NOUN
ijassa-1971	270	37	,	,	PUNCT
ijassa-1971	270	38	56	56	NUM
ijassa-1971	270	39	,	,	PUNCT
ijassa-1971	270	40	100877	100877	NUM
ijassa-1971	270	41	.	.	PUNCT
ijassa-1971	271	1	https://doi.org/10.1016/j.arcontrol.2023.03.002	https://doi.org/10.1016/j.arcontrol.2023.03.002	ADJ
ijassa-1971	271	2	8	8	NUM
ijassa-1971	271	3	.	.	PUNCT
ijassa-1971	271	4	narendra	narendra	PROPN
ijassa-1971	271	5	,	,	PUNCT
ijassa-1971	271	6	k.	k.	PROPN
ijassa-1971	271	7	,	,	PUNCT
ijassa-1971	271	8	&	&	CCONJ
ijassa-1971	271	9	annaswamy	annaswamy	NOUN
ijassa-1971	271	10	,	,	PUNCT
ijassa-1971	271	11	a.	a.	NOUN
ijassa-1971	271	12	(	(	PUNCT
ijassa-1971	271	13	1986	1986	NUM
ijassa-1971	271	14	)	)	PUNCT
ijassa-1971	271	15	robust	robust	ADJ
ijassa-1971	271	16	adaptive	adaptive	ADJ
ijassa-1971	271	17	control	control	NOUN
ijassa-1971	271	18	in	in	ADP
ijassa-1971	271	19	the	the	DET
ijassa-1971	271	20	presence	presence	NOUN
ijassa-1971	271	21	of	of	ADP
ijassa-1971	271	22	bounded	bounded	ADJ
ijassa-1971	271	23	disturbances	disturbance	NOUN
ijassa-1971	271	24	,	,	PUNCT
ijassa-1971	271	25	ieee	ieee	NOUN
ijassa-1971	271	26	transactions	transaction	NOUN
ijassa-1971	271	27	on	on	ADP
ijassa-1971	271	28	automatic	automatic	ADJ
ijassa-1971	271	29	control	control	NOUN
ijassa-1971	271	30	,	,	PUNCT
ijassa-1971	271	31	31(4	31(4	NUM
ijassa-1971	271	32	)	)	PUNCT
ijassa-1971	271	33	,	,	PUNCT
ijassa-1971	271	34	306–315	306–315	NUM
ijassa-1971	271	35	.	.	PUNCT
ijassa-1971	272	1	https://doi.org/10.1109/tac.1986.1104259	https://doi.org/10.1109/tac.1986.1104259	NOUN
ijassa-1971	272	2	9	9	NUM
ijassa-1971	272	3	.	.	X
ijassa-1971	272	4	olfati	olfati	NOUN
ijassa-1971	272	5	-	-	PUNCT
ijassa-1971	272	6	saber	saber	NOUN
ijassa-1971	272	7	,	,	PUNCT
ijassa-1971	272	8	r.	r.	PROPN
ijassa-1971	272	9	(	(	PUNCT
ijassa-1971	272	10	1999	1999	NUM
ijassa-1971	272	11	)	)	PUNCT
ijassa-1971	272	12	fixed	fix	VERB
ijassa-1971	272	13	point	point	NOUN
ijassa-1971	272	14	controllers	controller	NOUN
ijassa-1971	272	15	and	and	CCONJ
ijassa-1971	272	16	stabilization	stabilization	NOUN
ijassa-1971	272	17	of	of	ADP
ijassa-1971	272	18	the	the	DET
ijassa-1971	272	19	cart	cart	NOUN
ijassa-1971	272	20	-	-	PUNCT
ijassa-1971	272	21	pole	pole	NOUN
ijassa-1971	272	22	system	system	NOUN
ijassa-1971	272	23	and	and	CCONJ
ijassa-1971	272	24	the	the	DET
ijassa-1971	272	25	rotating	rotate	VERB
ijassa-1971	272	26	pendulum	pendulum	NOUN
ijassa-1971	272	27	,	,	PUNCT
ijassa-1971	272	28	proc	proc	NOUN
ijassa-1971	272	29	.	.	PUNCT
ijassa-1971	273	1	38th	38th	ADJ
ijassa-1971	273	2	ieee	ieee	NOUN
ijassa-1971	273	3	conference	conference	NOUN
ijassa-1971	273	4	on	on	ADP
ijassa-1971	273	5	decision	decision	NOUN
ijassa-1971	273	6	and	and	CCONJ
ijassa-1971	273	7	control	control	NOUN
ijassa-1971	273	8	,	,	PUNCT
ijassa-1971	273	9	phoenix	phoenix	PROPN
ijassa-1971	273	10	,	,	PUNCT
ijassa-1971	273	11	usa	usa	PROPN
ijassa-1971	273	12	,	,	PUNCT
ijassa-1971	273	13	2	2	NUM
ijassa-1971	273	14	,	,	PUNCT
ijassa-1971	273	15	1174–1181	1174–1181	NUM
ijassa-1971	273	16	.	.	PUNCT
ijassa-1971	273	17	https://doi.org/10.1109/cdc.1999.830086	https://doi.org/10.1109/cdc.1999.830086	PROPN
ijassa-1971	273	18	10	10	NUM
ijassa-1971	273	19	.	.	PUNCT
ijassa-1971	274	1	omar	omar	PROPN
ijassa-1971	274	2	,	,	PUNCT
ijassa-1971	274	3	h.	h.	PROPN
ijassa-1971	274	4	m.	m.	PROPN
ijassa-1971	274	5	,	,	PUNCT
ijassa-1971	274	6	&	&	CCONJ
ijassa-1971	274	7	nayfeh	nayfeh	PROPN
ijassa-1971	274	8	,	,	PUNCT
ijassa-1971	274	9	a.	a.	PROPN
ijassa-1971	274	10	h.	h.	PROPN
ijassa-1971	274	11	(	(	PUNCT
ijassa-1971	274	12	2005	2005	NUM
ijassa-1971	274	13	)	)	PUNCT
ijassa-1971	274	14	gantry	gantry	NOUN
ijassa-1971	274	15	cranes	crane	NOUN
ijassa-1971	274	16	gain	gain	VERB
ijassa-1971	274	17	scheduling	schedule	VERB
ijassa-1971	274	18	feedback	feedback	NOUN
ijassa-1971	274	19	control	control	NOUN
ijassa-1971	274	20	with	with	ADP
ijassa-1971	274	21	friction	friction	NOUN
ijassa-1971	274	22	compensation	compensation	NOUN
ijassa-1971	274	23	,	,	PUNCT
ijassa-1971	274	24	journal	journal	NOUN
ijassa-1971	274	25	of	of	ADP
ijassa-1971	274	26	sound	sound	NOUN
ijassa-1971	274	27	and	and	CCONJ
ijassa-1971	274	28	vibration	vibration	NOUN
ijassa-1971	274	29	,	,	PUNCT
ijassa-1971	274	30	281(1	281(1	NUM
ijassa-1971	274	31	)	)	PUNCT
ijassa-1971	274	32	,	,	PUNCT
ijassa-1971	274	33	1–20	1–20	PROPN
ijassa-1971	274	34	.	.	PUNCT
ijassa-1971	275	1	https://doi.org/10.1016/j.jsv.2004.01.037	https://doi.org/10.1016/j.jsv.2004.01.037	PROPN
ijassa-1971	276	1	11	11	NUM
ijassa-1971	276	2	.	.	X
ijassa-1971	276	3	ouyang	ouyang	PROPN
ijassa-1971	276	4	,	,	PUNCT
ijassa-1971	276	5	h.	h.	PROPN
ijassa-1971	276	6	,	,	PUNCT
ijassa-1971	276	7	zhao	zhao	PROPN
ijassa-1971	276	8	,	,	PUNCT
ijassa-1971	276	9	b.	b.	PROPN
ijassa-1971	276	10	,	,	PUNCT
ijassa-1971	276	11	&	&	CCONJ
ijassa-1971	276	12	zhang	zhang	PROPN
ijassa-1971	276	13	,	,	PUNCT
ijassa-1971	276	14	g.	g.	PROPN
ijassa-1971	276	15	(	(	PUNCT
ijassa-1971	276	16	2021	2021	NUM
ijassa-1971	276	17	)	)	PUNCT
ijassa-1971	276	18	swing	swing	NOUN
ijassa-1971	276	19	reduction	reduction	NOUN
ijassa-1971	276	20	for	for	ADP
ijassa-1971	276	21	doublependulum	doublependulum	NOUN
ijassa-1971	276	22	three	three	NUM
ijassa-1971	276	23	-	-	PUNCT
ijassa-1971	276	24	dimensional	dimensional	ADJ
ijassa-1971	276	25	overhead	overhead	ADJ
ijassa-1971	276	26	cranes	crane	NOUN
ijassa-1971	276	27	using	use	VERB
ijassa-1971	276	28	energy	energy	NOUN
ijassa-1971	276	29	-	-	PUNCT
ijassa-1971	276	30	analysis	analysis	NOUN
ijassa-1971	276	31	-	-	PUNCT
ijassa-1971	276	32	based	base	VERB
ijassa-1971	276	33	control	control	NOUN
ijassa-1971	276	34	method	method	NOUN
ijassa-1971	276	35	,	,	PUNCT
ijassa-1971	276	36	international	international	ADJ
ijassa-1971	276	37	journal	journal	NOUN
ijassa-1971	276	38	of	of	ADP
ijassa-1971	276	39	robust	robust	ADJ
ijassa-1971	276	40	and	and	CCONJ
ijassa-1971	276	41	nonlinear	nonlinear	ADJ
ijassa-1971	276	42	control	control	NOUN
ijassa-1971	276	43	,	,	PUNCT
ijassa-1971	276	44	31(9	31(9	NUM
ijassa-1971	276	45	)	)	PUNCT
ijassa-1971	276	46	,	,	PUNCT
ijassa-1971	276	47	4184–4202	4184–4202	PROPN
ijassa-1971	276	48	.	.	PUNCT
ijassa-1971	277	1	https://doi.org/10.1002/rnc.5466	https://doi.org/10.1002/rnc.5466	PROPN
ijassa-1971	277	2	12	12	NUM
ijassa-1971	277	3	.	.	PUNCT
ijassa-1971	278	1	schindele	schindele	PROPN
ijassa-1971	278	2	,	,	PUNCT
ijassa-1971	278	3	d.	d.	PROPN
ijassa-1971	278	4	,	,	PUNCT
ijassa-1971	278	5	&	&	CCONJ
ijassa-1971	278	6	aschemann	aschemann	PROPN
ijassa-1971	278	7	,	,	PUNCT
ijassa-1971	278	8	h.	h.	PROPN
ijassa-1971	278	9	(	(	PUNCT
ijassa-1971	278	10	2011	2011	NUM
ijassa-1971	278	11	)	)	PUNCT
ijassa-1971	278	12	fast	fast	ADJ
ijassa-1971	278	13	nonlinear	nonlinear	NOUN
ijassa-1971	278	14	mpc	mpc	PROPN
ijassa-1971	278	15	for	for	ADP
ijassa-1971	278	16	an	an	DET
ijassa-1971	278	17	overhead	overhead	ADJ
ijassa-1971	278	18	travelling	travel	VERB
ijassa-1971	278	19	crane	crane	NOUN
ijassa-1971	278	20	,	,	PUNCT
ijassa-1971	278	21	ifac	ifac	NOUN
ijassa-1971	278	22	proceedings	proceeding	NOUN
ijassa-1971	278	23	volumes	volume	NOUN
ijassa-1971	278	24	,	,	PUNCT
ijassa-1971	278	25	44(1	44(1	PROPN
ijassa-1971	278	26	)	)	PUNCT
ijassa-1971	278	27	,	,	PUNCT
ijassa-1971	278	28	7963–7968	7963–7968	NUM
ijassa-1971	278	29	.	.	PUNCT
ijassa-1971	279	1	https://doi.org/10.3182/20110828-6-it-1002.03510	https://doi.org/10.3182/20110828-6-it-1002.03510	PROPN
ijassa-1971	280	1	13	13	NUM
ijassa-1971	280	2	.	.	PUNCT
ijassa-1971	281	1	söderström	söderström	PROPN
ijassa-1971	281	2	,	,	PUNCT
ijassa-1971	281	3	t.	t.	PROPN
ijassa-1971	281	4	,	,	PUNCT
ijassa-1971	281	5	&	&	CCONJ
ijassa-1971	281	6	stoica	stoica	PROPN
ijassa-1971	281	7	,	,	PUNCT
ijassa-1971	281	8	p.	p.	NOUN
ijassa-1971	281	9	(	(	PUNCT
ijassa-1971	281	10	2002	2002	NUM
ijassa-1971	281	11	)	)	PUNCT
ijassa-1971	281	12	instrumental	instrumental	ADJ
ijassa-1971	281	13	variable	variable	ADJ
ijassa-1971	281	14	methods	method	NOUN
ijassa-1971	281	15	for	for	ADP
ijassa-1971	281	16	system	system	NOUN
ijassa-1971	281	17	identification	identification	NOUN
ijassa-1971	281	18	,	,	PUNCT
ijassa-1971	281	19	circuits	circuit	NOUN
ijassa-1971	281	20	,	,	PUNCT
ijassa-1971	281	21	systems	system	NOUN
ijassa-1971	281	22	and	and	CCONJ
ijassa-1971	281	23	signal	signal	NOUN
ijassa-1971	281	24	processing	processing	NOUN
ijassa-1971	281	25	,	,	PUNCT
ijassa-1971	281	26	21(1	21(1	NUM
ijassa-1971	281	27	)	)	PUNCT
ijassa-1971	281	28	,	,	PUNCT
ijassa-1971	281	29	1–9	1–9	NOUN
ijassa-1971	281	30	.	.	PUNCT
ijassa-1971	282	1	https://doi.org/10.1007/bf01211647	https://doi.org/10.1007/bf01211647	PROPN
ijassa-1971	282	2	14	14	NUM
ijassa-1971	282	3	.	.	PUNCT
ijassa-1971	283	1	sun	sun	PROPN
ijassa-1971	283	2	,	,	PUNCT
ijassa-1971	283	3	n.	n.	NOUN
ijassa-1971	283	4	,	,	PUNCT
ijassa-1971	283	5	&	&	CCONJ
ijassa-1971	283	6	fang	fang	X
ijassa-1971	283	7	,	,	PUNCT
ijassa-1971	283	8	y.	y.	PROPN
ijassa-1971	283	9	(	(	PUNCT
ijassa-1971	283	10	2012	2012	NUM
ijassa-1971	283	11	)	)	PUNCT
ijassa-1971	283	12	new	new	ADJ
ijassa-1971	283	13	energy	energy	NOUN
ijassa-1971	283	14	analytical	analytical	ADJ
ijassa-1971	283	15	results	result	NOUN
ijassa-1971	283	16	for	for	ADP
ijassa-1971	283	17	the	the	DET
ijassa-1971	283	18	regulation	regulation	NOUN
ijassa-1971	283	19	of	of	ADP
ijassa-1971	283	20	underactuated	underactuated	ADJ
ijassa-1971	283	21	overhead	overhead	ADJ
ijassa-1971	283	22	cranes	crane	NOUN
ijassa-1971	283	23	:	:	PUNCT
ijassa-1971	283	24	an	an	DET
ijassa-1971	283	25	end	end	NOUN
ijassa-1971	283	26	-	-	PUNCT
ijassa-1971	283	27	effector	effector	NOUN
ijassa-1971	283	28	motion	motion	NOUN
ijassa-1971	283	29	-	-	PUNCT
ijassa-1971	283	30	based	base	VERB
ijassa-1971	283	31	approach	approach	NOUN
ijassa-1971	283	32	,	,	PUNCT
ijassa-1971	283	33	ieee	ieee	NOUN
ijassa-1971	283	34	transactions	transaction	NOUN
ijassa-1971	283	35	on	on	ADP
ijassa-1971	283	36	industrial	industrial	ADJ
ijassa-1971	283	37	electronics	electronic	NOUN
ijassa-1971	283	38	,	,	PUNCT
ijassa-1971	283	39	59(12	59(12	NUM
ijassa-1971	283	40	)	)	PUNCT
ijassa-1971	283	41	,	,	PUNCT
ijassa-1971	283	42	4723–4734	4723–4734	NUM
ijassa-1971	283	43	.	.	PUNCT
ijassa-1971	284	1	https://doi.org/10.1109/tie.2012.2183837	https://doi.org/10.1109/tie.2012.2183837	PROPN
ijassa-1971	284	2	15	15	NUM
ijassa-1971	284	3	.	.	PUNCT
ijassa-1971	285	1	tao	tao	PROPN
ijassa-1971	285	2	,	,	PUNCT
ijassa-1971	285	3	g.	g.	PROPN
ijassa-1971	285	4	(	(	PUNCT
ijassa-1971	285	5	2003	2003	NUM
ijassa-1971	285	6	)	)	PUNCT
ijassa-1971	285	7	adaptive	adaptive	ADJ
ijassa-1971	285	8	control	control	NOUN
ijassa-1971	285	9	design	design	NOUN
ijassa-1971	285	10	and	and	CCONJ
ijassa-1971	285	11	analysis	analysis	NOUN
ijassa-1971	285	12	,	,	PUNCT
ijassa-1971	285	13	john	john	PROPN
ijassa-1971	285	14	wiley	wiley	PROPN
ijassa-1971	285	15	&	&	CCONJ
ijassa-1971	285	16	sons	son	NOUN
ijassa-1971	285	17	.	.	PUNCT
ijassa-1971	286	1	16	16	NUM
ijassa-1971	286	2	.	.	PUNCT
ijassa-1971	287	1	vaughan	vaughan	PROPN
ijassa-1971	287	2	,	,	PUNCT
ijassa-1971	287	3	j.	j.	PROPN
ijassa-1971	287	4	,	,	PUNCT
ijassa-1971	287	5	maleki	maleki	PROPN
ijassa-1971	287	6	,	,	PUNCT
ijassa-1971	287	7	e.	e.	PROPN
ijassa-1971	287	8	,	,	PUNCT
ijassa-1971	287	9	&	&	CCONJ
ijassa-1971	287	10	singhose	singhose	VERB
ijassa-1971	287	11	,	,	PUNCT
ijassa-1971	287	12	w.	w.	PROPN
ijassa-1971	287	13	(	(	PUNCT
ijassa-1971	287	14	2010	2010	NUM
ijassa-1971	287	15	)	)	PUNCT
ijassa-1971	287	16	advantages	advantage	NOUN
ijassa-1971	287	17	of	of	ADP
ijassa-1971	287	18	using	use	VERB
ijassa-1971	287	19	command	command	NOUN
ijassa-1971	287	20	shaping	shaping	NOUN
ijassa-1971	287	21	over	over	ADP
ijassa-1971	287	22	feedback	feedback	NOUN
ijassa-1971	287	23	for	for	ADP
ijassa-1971	287	24	crane	crane	NOUN
ijassa-1971	287	25	control	control	NOUN
ijassa-1971	287	26	,	,	PUNCT
ijassa-1971	287	27	proc	proc	NOUN
ijassa-1971	287	28	.	.	PUNCT
ijassa-1971	288	1	2010	2010	NUM
ijassa-1971	288	2	american	american	PROPN
ijassa-1971	288	3	control	control	PROPN
ijassa-1971	288	4	conference	conference	PROPN
ijassa-1971	288	5	,	,	PUNCT
ijassa-1971	288	6	baltimore	baltimore	PROPN
ijassa-1971	288	7	,	,	PUNCT
ijassa-1971	288	8	md	md	PROPN
ijassa-1971	288	9	,	,	PUNCT
ijassa-1971	288	10	united	united	PROPN
ijassa-1971	288	11	states	states	PROPN
ijassa-1971	288	12	,	,	PUNCT
ijassa-1971	288	13	2308–2313	2308–2313	NUM
ijassa-1971	288	14	.	.	PUNCT
ijassa-1971	289	1	https://doi.org/10.1109/acc.2010.5530548	https://doi.org/10.1109/acc.2010.5530548	NOUN
ijassa-1971	289	2	17	17	NUM
ijassa-1971	289	3	.	.	PUNCT
ijassa-1971	290	1	vidyasagar	vidyasagar	ADJ
ijassa-1971	290	2	,	,	PUNCT
ijassa-1971	290	3	m.	m.	NOUN
ijassa-1971	290	4	(	(	PUNCT
ijassa-1971	290	5	1980	1980	NUM
ijassa-1971	290	6	)	)	PUNCT
ijassa-1971	290	7	decomposition	decomposition	NOUN
ijassa-1971	290	8	techniques	technique	NOUN
ijassa-1971	290	9	for	for	ADP
ijassa-1971	290	10	large	large	ADJ
ijassa-1971	290	11	-	-	PUNCT
ijassa-1971	290	12	scale	scale	NOUN
ijassa-1971	290	13	systems	system	NOUN
ijassa-1971	290	14	with	with	ADP
ijassa-1971	290	15	nonadditive	nonadditive	ADJ
ijassa-1971	290	16	interactions	interaction	NOUN
ijassa-1971	290	17	:	:	PUNCT
ijassa-1971	290	18	stability	stability	NOUN
ijassa-1971	290	19	and	and	CCONJ
ijassa-1971	290	20	stabilizability	stabilizability	NOUN
ijassa-1971	290	21	,	,	PUNCT
ijassa-1971	290	22	ieee	ieee	NOUN
ijassa-1971	290	23	transactions	transaction	NOUN
ijassa-1971	290	24	on	on	ADP
ijassa-1971	290	25	automatic	automatic	ADJ
ijassa-1971	290	26	control	control	NOUN
ijassa-1971	290	27	,	,	PUNCT
ijassa-1971	290	28	25(4	25(4	NOUN
ijassa-1971	290	29	)	)	PUNCT
ijassa-1971	290	30	,	,	PUNCT
ijassa-1971	290	31	773–779	773–779	NUM
ijassa-1971	290	32	.	.	PUNCT
ijassa-1971	291	1	https://doi.org/10.1109/tac.1980.1102422	https://doi.org/10.1109/tac.1980.1102422	PROPN
ijassa-1971	291	2	18	18	NUM
ijassa-1971	291	3	.	.	PUNCT
ijassa-1971	292	1	wang	wang	PROPN
ijassa-1971	292	2	,	,	PUNCT
ijassa-1971	292	3	j.	j.	PROPN
ijassa-1971	292	4	,	,	PUNCT
ijassa-1971	292	5	efimov	efimov	PROPN
ijassa-1971	292	6	,	,	PUNCT
ijassa-1971	292	7	d.	d.	PROPN
ijassa-1971	292	8	,	,	PUNCT
ijassa-1971	292	9	&	&	CCONJ
ijassa-1971	292	10	bobtsov	bobtsov	PROPN
ijassa-1971	292	11	,	,	PUNCT
ijassa-1971	292	12	a.a	a.a	PROPN
ijassa-1971	292	13	.	.	PROPN
ijassa-1971	292	14	(	(	PUNCT
ijassa-1971	292	15	2019	2019	NUM
ijassa-1971	292	16	)	)	PUNCT
ijassa-1971	292	17	on	on	ADP
ijassa-1971	292	18	robust	robust	ADJ
ijassa-1971	292	19	parameter	parameter	NOUN
ijassa-1971	292	20	estimation	estimation	NOUN
ijassa-1971	292	21	in	in	ADP
ijassa-1971	292	22	finitetime	finitetime	NOUN
ijassa-1971	292	23	without	without	ADP
ijassa-1971	292	24	persistence	persistence	NOUN
ijassa-1971	292	25	of	of	ADP
ijassa-1971	292	26	excitation	excitation	NOUN
ijassa-1971	292	27	,	,	PUNCT
ijassa-1971	292	28	ieee	ieee	NOUN
ijassa-1971	292	29	transactions	transaction	NOUN
ijassa-1971	292	30	on	on	ADP
ijassa-1971	292	31	automatic	automatic	ADJ
ijassa-1971	292	32	control	control	NOUN
ijassa-1971	292	33	,	,	PUNCT
ijassa-1971	292	34	65(4	65(4	PROPN
ijassa-1971	292	35	)	)	PUNCT
ijassa-1971	292	36	,	,	PUNCT
ijassa-1971	292	37	1731–1738	1731–1738	NUM
ijassa-1971	292	38	.	.	PUNCT
ijassa-1971	293	1	https://doi.org/10.1109/tac.2019.2932960	https://doi.org/10.1109/tac.2019.2932960	PROPN
ijassa-1971	293	2	19	19	NUM
ijassa-1971	293	3	.	.	PUNCT
ijassa-1971	293	4	wu	wu	PROPN
ijassa-1971	293	5	,	,	PUNCT
ijassa-1971	293	6	x.	x.	PROPN
ijassa-1971	293	7	,	,	PUNCT
ijassa-1971	293	8	&	&	CCONJ
ijassa-1971	293	9	he	he	PRON
ijassa-1971	293	10	,	,	PUNCT
ijassa-1971	293	11	x.	x.	PROPN
ijassa-1971	293	12	(	(	PUNCT
ijassa-1971	293	13	2016	2016	NUM
ijassa-1971	293	14	)	)	PUNCT
ijassa-1971	293	15	partial	partial	ADJ
ijassa-1971	293	16	feedback	feedback	NOUN
ijassa-1971	293	17	linearization	linearization	NOUN
ijassa-1971	293	18	control	control	NOUN
ijassa-1971	293	19	for	for	ADP
ijassa-1971	293	20	3d	3d	PROPN
ijassa-1971	293	21	underactuated	underactuate	VERB
ijassa-1971	293	22	overhead	overhead	ADJ
ijassa-1971	293	23	crane	crane	NOUN
ijassa-1971	293	24	systems	system	NOUN
ijassa-1971	293	25	,	,	PUNCT
ijassa-1971	293	26	isa	isa	NOUN
ijassa-1971	293	27	transactions	transaction	NOUN
ijassa-1971	293	28	,	,	PUNCT
ijassa-1971	293	29	65	65	NUM
ijassa-1971	293	30	,	,	PUNCT
ijassa-1971	293	31	361–370	361–370	NUM
ijassa-1971	293	32	.	.	PUNCT
ijassa-1971	294	1	https://doi.org/10.1016/j.isatra.2016.06.015	https://doi.org/10.1016/j.isatra.2016.06.015	PROPN
ijassa-1971	294	2	20	20	NUM
ijassa-1971	294	3	.	.	PUNCT
ijassa-1971	295	1	wu	wu	PROPN
ijassa-1971	295	2	,	,	PUNCT
ijassa-1971	295	3	x.	x.	PROPN
ijassa-1971	295	4	,	,	PUNCT
ijassa-1971	295	5	xu	xu	PROPN
ijassa-1971	295	6	,	,	PUNCT
ijassa-1971	295	7	k.	k.	PROPN
ijassa-1971	295	8	,	,	PUNCT
ijassa-1971	295	9	&	&	CCONJ
ijassa-1971	295	10	he	he	PRON
ijassa-1971	295	11	,	,	PUNCT
ijassa-1971	295	12	x.	x.	NOUN
ijassa-1971	295	13	(	(	PUNCT
ijassa-1971	295	14	2020	2020	NUM
ijassa-1971	295	15	)	)	PUNCT
ijassa-1971	295	16	disturbance	disturbance	NOUN
ijassa-1971	295	17	-	-	PUNCT
ijassa-1971	295	18	observer	observer	NOUN
ijassa-1971	295	19	-	-	PUNCT
ijassa-1971	295	20	based	base	VERB
ijassa-1971	295	21	nonlinear	nonlinear	ADJ
ijassa-1971	295	22	control	control	NOUN
ijassa-1971	295	23	for	for	ADP
ijassa-1971	295	24	overhead	overhead	ADJ
ijassa-1971	295	25	cranes	crane	NOUN
ijassa-1971	295	26	subject	subject	ADJ
ijassa-1971	295	27	to	to	ADP
ijassa-1971	295	28	uncertain	uncertain	ADJ
ijassa-1971	295	29	disturbances	disturbance	NOUN
ijassa-1971	295	30	,	,	PUNCT
ijassa-1971	295	31	mechanical	mechanical	ADJ
ijassa-1971	295	32	systems	system	NOUN
ijassa-1971	295	33	and	and	CCONJ
ijassa-1971	295	34	signal	signal	NOUN
ijassa-1971	295	35	processing	processing	NOUN
ijassa-1971	295	36	,	,	PUNCT
ijassa-1971	295	37	139	139	NUM
ijassa-1971	295	38	,	,	PUNCT
ijassa-1971	295	39	106631	106631	NUM
ijassa-1971	295	40	.	.	PUNCT
ijassa-1971	296	1	https://doi.org/10.1016/j.ymssp.2020.106631	https://doi.org/10.1016/j.ymssp.2020.106631	PROPN
ijassa-1971	296	2	21	21	NUM
ijassa-1971	296	3	.	.	PUNCT
ijassa-1971	296	4	yu	yu	PROPN
ijassa-1971	296	5	,	,	PUNCT
ijassa-1971	296	6	j.	j.	PROPN
ijassa-1971	296	7	,	,	PUNCT
ijassa-1971	296	8	lewis	lewis	PROPN
ijassa-1971	296	9	,	,	PUNCT
ijassa-1971	296	10	f.	f.	PROPN
ijassa-1971	296	11	l.	l.	PROPN
ijassa-1971	296	12	,	,	PUNCT
ijassa-1971	296	13	&	&	CCONJ
ijassa-1971	296	14	huang	huang	PROPN
ijassa-1971	296	15	,	,	PUNCT
ijassa-1971	296	16	t.	t.	PROPN
ijassa-1971	296	17	(	(	PUNCT
ijassa-1971	296	18	1995	1995	NUM
ijassa-1971	296	19	)	)	PUNCT
ijassa-1971	296	20	nonlinear	nonlinear	ADJ
ijassa-1971	296	21	feedback	feedback	NOUN
ijassa-1971	296	22	control	control	NOUN
ijassa-1971	296	23	of	of	ADP
ijassa-1971	296	24	a	a	DET
ijassa-1971	296	25	gantry	gantry	NOUN
ijassa-1971	296	26	crane	crane	NOUN
ijassa-1971	296	27	,	,	PUNCT
ijassa-1971	296	28	proc	proc	NOUN
ijassa-1971	296	29	.	.	PROPN
ijassa-1971	296	30	1995	1995	NUM
ijassa-1971	296	31	american	american	PROPN
ijassa-1971	296	32	control	control	PROPN
ijassa-1971	296	33	conference	conference	PROPN
ijassa-1971	296	34	,	,	PUNCT
ijassa-1971	296	35	seattle	seattle	PROPN
ijassa-1971	296	36	,	,	PUNCT
ijassa-1971	296	37	usa	usa	PROPN
ijassa-1971	296	38	,	,	PUNCT
ijassa-1971	296	39	6	6	NUM
ijassa-1971	296	40	,	,	PUNCT
ijassa-1971	296	41	4310–4315	4310–4315	PROPN
ijassa-1971	296	42	.	.	PUNCT
ijassa-1971	296	43	https://doi.org/10.1109/acc.1995.532748	https://doi.org/10.1109/acc.1995.532748	VERB
ijassa-1971	297	1	22	22	NUM
ijassa-1971	297	2	.	.	PUNCT
ijassa-1971	298	1	zhang	zhang	PROPN
ijassa-1971	298	2	,	,	PUNCT
ijassa-1971	298	3	m.	m.	NOUN
ijassa-1971	298	4	et	et	PROPN
ijassa-1971	298	5	al	al	PROPN
ijassa-1971	298	6	.	.	PROPN
ijassa-1971	298	7	(	(	PUNCT
ijassa-1971	298	8	2018	2018	NUM
ijassa-1971	298	9	)	)	PUNCT
ijassa-1971	298	10	adaptive	adaptive	ADJ
ijassa-1971	298	11	proportional	proportional	ADJ
ijassa-1971	298	12	-	-	PUNCT
ijassa-1971	298	13	derivative	derivative	NOUN
ijassa-1971	298	14	sliding	slide	VERB
ijassa-1971	298	15	mode	mode	NOUN
ijassa-1971	298	16	control	control	NOUN
ijassa-1971	298	17	law	law	NOUN
ijassa-1971	298	18	with	with	ADP
ijassa-1971	298	19	improved	improved	ADJ
ijassa-1971	298	20	transient	transient	ADJ
ijassa-1971	298	21	performance	performance	NOUN
ijassa-1971	298	22	for	for	ADP
ijassa-1971	298	23	underactuated	underactuated	ADJ
ijassa-1971	298	24	overhead	overhead	ADJ
ijassa-1971	298	25	crane	crane	NOUN
ijassa-1971	298	26	systems	system	NOUN
ijassa-1971	298	27	,	,	PUNCT
ijassa-1971	298	28	ieee	ieee	NOUN
ijassa-1971	298	29	/	/	SYM
ijassa-1971	298	30	caa	caa	PROPN
ijassa-1971	298	31	journal	journal	PROPN
ijassa-1971	298	32	of	of	ADP
ijassa-1971	298	33	automatica	automatica	PROPN
ijassa-1971	298	34	sinica	sinica	PROPN
ijassa-1971	298	35	,	,	PUNCT
ijassa-1971	298	36	5(3	5(3	NUM
ijassa-1971	298	37	)	)	PUNCT
ijassa-1971	298	38	,	,	PUNCT
ijassa-1971	298	39	683–690	683–690	NUM
ijassa-1971	298	40	.	.	NOUN
ijassa-1971	298	41	https://doi.org/10.1109/jas.2018.7511072	https://doi.org/10.1109/jas.2018.7511072	ADP
ijassa-1971	298	42	23	23	NUM
ijassa-1971	298	43	.	.	PUNCT
ijassa-1971	299	1	zhang	zhang	PROPN
ijassa-1971	299	2	,	,	PUNCT
ijassa-1971	299	3	z.	z.	PROPN
ijassa-1971	299	4	et	et	PROPN
ijassa-1971	299	5	al	al	PROPN
ijassa-1971	299	6	.	.	PROPN
ijassa-1971	299	7	(	(	PUNCT
ijassa-1971	299	8	2024	2024	NUM
ijassa-1971	299	9	)	)	PUNCT
ijassa-1971	299	10	eso	eso	NOUN
ijassa-1971	299	11	-	-	PUNCT
ijassa-1971	299	12	based	base	VERB
ijassa-1971	299	13	and	and	CCONJ
ijassa-1971	299	14	ftdo	ftdo	NOUN
ijassa-1971	299	15	-	-	PUNCT
ijassa-1971	299	16	based	base	VERB
ijassa-1971	299	17	anti	anti	ADJ
ijassa-1971	299	18	-	-	ADJ
ijassa-1971	299	19	swing	swing	ADJ
ijassa-1971	299	20	control	control	NOUN
ijassa-1971	299	21	for	for	ADP
ijassa-1971	299	22	overhead	overhead	ADJ
ijassa-1971	299	23	cranes	crane	NOUN
ijassa-1971	299	24	with	with	ADP
ijassa-1971	299	25	external	external	ADJ
ijassa-1971	299	26	disturbance	disturbance	NOUN
ijassa-1971	299	27	,	,	PUNCT
ijassa-1971	299	28	measurement	measurement	NOUN
ijassa-1971	299	29	and	and	CCONJ
ijassa-1971	299	30	control	control	NOUN
ijassa-1971	299	31	,	,	PUNCT
ijassa-1971	299	32	1–10	1–10	NOUN
ijassa-1971	299	33	.	.	PUNCT
ijassa-1971	300	1	early	early	ADJ
ijassa-1971	300	2	access	access	NOUN
ijassa-1971	300	3	.	.	PUNCT
ijassa-1971	301	1	https://doi.org/10.1177/00202940241246608	https://doi.org/10.1177/00202940241246608	NOUN
ijassa-1971	301	2	copyright	copyright	NOUN
ijassa-1971	301	3	©	©	PROPN
ijassa-1971	301	4	2024	2024	NUM
ijassa-1971	301	5	assa	assa	NOUN
ijassa-1971	301	6	.	.	PUNCT
ijassa-1971	302	1	adv	adv	PROPN
ijassa-1971	302	2	syst	syst	PROPN
ijassa-1971	302	3	sci	sci	PROPN
ijassa-1971	302	4	appl	appl	PROPN
ijassa-1971	302	5	(	(	PUNCT
ijassa-1971	302	6	2024	2024	NUM
ijassa-1971	302	7	)	)	PUNCT
ijassa-1971	302	8	introduction	introduction	NOUN
ijassa-1971	302	9	problem	problem	NOUN
ijassa-1971	302	10	statement	statement	NOUN
ijassa-1971	302	11	main	main	ADJ
ijassa-1971	302	12	result	result	NOUN
ijassa-1971	302	13	system	system	NOUN
ijassa-1971	302	14	parametrization	parametrization	NOUN
ijassa-1971	302	15	ideal	ideal	ADJ
ijassa-1971	302	16	control	control	NOUN
ijassa-1971	302	17	law	law	NOUN
ijassa-1971	302	18	derivation	derivation	NOUN
ijassa-1971	302	19	adaptive	adaptive	ADJ
ijassa-1971	302	20	control	control	NOUN
ijassa-1971	302	21	system	system	NOUN
ijassa-1971	302	22	design	design	VERB
ijassa-1971	302	23	numerical	numerical	ADJ
ijassa-1971	302	24	experiments	experiment	NOUN
ijassa-1971	302	25	conclusion	conclusion	NOUN
ijassa-1971	302	26	theorem	theorem	VERB
ijassa-1971	302	27	3.1	3.1	NUM
ijassa-1971	302	28	proof	proof	NOUN