id	sid	tid	token	lemma	pos
ijassa-808	1	1	adv	adv	PROPN
ijassa-808	1	2	syst	syst	PROPN
ijassa-808	1	3	sci	sci	PROPN
ijassa-808	1	4	appl	appl	PROPN
ijassa-808	1	5	2021	2021	NUM
ijassa-808	1	6	;	;	PUNCT
ijassa-808	1	7	01	01	NUM
ijassa-808	1	8	;	;	PUNCT
ijassa-808	1	9	1	1	NUM
ijassa-808	1	10	-	-	SYM
ijassa-808	1	11	10	10	NUM
ijassa-808	1	12	published	publish	VERB
ijassa-808	1	13	online	online	ADV
ijassa-808	1	14	at	at	ADP
ijassa-808	1	15	https://ijassa.ipu.ru	https://ijassa.ipu.ru	ADV
ijassa-808	1	16	.	.	PUNCT
ijassa-808	2	1	the	the	DET
ijassa-808	2	2	optimal	optimal	ADJ
ijassa-808	2	3	control	control	NOUN
ijassa-808	2	4	of	of	ADP
ijassa-808	2	5	the	the	DET
ijassa-808	2	6	vessel	vessel	NOUN
ijassa-808	2	7	’s	’s	PART
ijassa-808	2	8	automatic	automatic	ADJ
ijassa-808	2	9	dynamic	dynamic	ADJ
ijassa-808	2	10	positioning	positioning	NOUN
ijassa-808	2	11	system	system	NOUN
ijassa-808	2	12	under	under	ADP
ijassa-808	2	13	deviation	deviation	NOUN
ijassa-808	2	14	vadim	vadim	PROPN
ijassa-808	2	15	kramar	kramar	PROPN
ijassa-808	2	16	1	1	PROPN
ijassa-808	2	17	,	,	PUNCT
ijassa-808	2	18	vasilii	vasilii	NOUN
ijassa-808	2	19	alchakov2	alchakov2	PROPN
ijassa-808	2	20	,	,	PUNCT
ijassa-808	2	21	alexander	alexander	PROPN
ijassa-808	2	22	osadchenko3	osadchenko3	PROPN
ijassa-808	2	23	*	*	PROPN
ijassa-808	2	24	1	1	NUM
ijassa-808	2	25	)	)	PUNCT
ijassa-808	2	26	sevastopol	sevastopol	PROPN
ijassa-808	2	27	state	state	PROPN
ijassa-808	2	28	university	university	PROPN
ijassa-808	2	29	,	,	PUNCT
ijassa-808	2	30	sevastopol	sevastopol	PROPN
ijassa-808	2	31	,	,	PUNCT
ijassa-808	2	32	russia	russia	PROPN
ijassa-808	2	33	e	e	NOUN
ijassa-808	2	34	-	-	NOUN
ijassa-808	2	35	mail	mail	NOUN
ijassa-808	2	36	:	:	PUNCT
ijassa-808	2	37	kramarv@mail.ru	kramarv@mail.ru	PROPN
ijassa-808	2	38	2	2	NUM
ijassa-808	2	39	)	)	PUNCT
ijassa-808	2	40	sevastopol	sevastopol	PROPN
ijassa-808	2	41	state	state	PROPN
ijassa-808	2	42	university	university	PROPN
ijassa-808	2	43	,	,	PUNCT
ijassa-808	2	44	sevastopol	sevastopol	PROPN
ijassa-808	2	45	,	,	PUNCT
ijassa-808	2	46	russia	russia	PROPN
ijassa-808	2	47	e	e	NOUN
ijassa-808	2	48	-	-	NOUN
ijassa-808	2	49	mail	mail	NOUN
ijassa-808	2	50	:	:	PUNCT
ijassa-808	2	51	alchakov@sevsu.ru	alchakov@sevsu.ru	PRON
ijassa-808	2	52	3	3	X
ijassa-808	2	53	)	)	PUNCT
ijassa-808	2	54	sevastopol	sevastopol	PROPN
ijassa-808	2	55	state	state	PROPN
ijassa-808	2	56	university	university	PROPN
ijassa-808	2	57	,	,	PUNCT
ijassa-808	2	58	sevastopol	sevastopol	PROPN
ijassa-808	2	59	,	,	PUNCT
ijassa-808	2	60	russia	russia	PROPN
ijassa-808	2	61	e	e	NOUN
ijassa-808	2	62	-	-	NOUN
ijassa-808	2	63	mail	mail	NOUN
ijassa-808	2	64	:	:	PUNCT
ijassa-808	2	65	aeosadchenko@rambler.ru	aeosadchenko@rambler.ru	VERB
ijassa-808	3	1	abstract	abstract	NOUN
ijassa-808	3	2	:	:	PUNCT
ijassa-808	3	3	an	an	DET
ijassa-808	3	4	optimal	optimal	ADJ
ijassa-808	3	5	algorithm	algorithm	NOUN
ijassa-808	3	6	for	for	ADP
ijassa-808	3	7	linear	linear	PROPN
ijassa-808	3	8	control	control	NOUN
ijassa-808	3	9	of	of	ADP
ijassa-808	3	10	the	the	DET
ijassa-808	3	11	unmanned	unmanned	ADJ
ijassa-808	3	12	vessel	vessel	NOUN
ijassa-808	3	13	dynamic	dynamic	ADJ
ijassa-808	3	14	positioning	positioning	NOUN
ijassa-808	3	15	system	system	NOUN
ijassa-808	3	16	with	with	ADP
ijassa-808	3	17	provision	provision	NOUN
ijassa-808	3	18	for	for	ADP
ijassa-808	3	19	vessel	vessel	NOUN
ijassa-808	3	20	characteristics	characteristic	NOUN
ijassa-808	3	21	,	,	PUNCT
ijassa-808	3	22	equipment	equipment	NOUN
ijassa-808	3	23	,	,	PUNCT
ijassa-808	3	24	and	and	CCONJ
ijassa-808	3	25	the	the	DET
ijassa-808	3	26	process	process	NOUN
ijassa-808	3	27	has	have	AUX
ijassa-808	3	28	been	be	AUX
ijassa-808	3	29	developed	develop	VERB
ijassa-808	3	30	.	.	PUNCT
ijassa-808	4	1	a	a	DET
ijassa-808	4	2	block	block	NOUN
ijassa-808	4	3	diagram	diagram	NOUN
ijassa-808	4	4	for	for	ADP
ijassa-808	4	5	the	the	DET
ijassa-808	4	6	automatic	automatic	ADJ
ijassa-808	4	7	dynamic	dynamic	ADJ
ijassa-808	4	8	positioning	positioning	NOUN
ijassa-808	4	9	system	system	NOUN
ijassa-808	4	10	has	have	AUX
ijassa-808	4	11	been	be	AUX
ijassa-808	4	12	suggested	suggest	VERB
ijassa-808	4	13	which	which	PRON
ijassa-808	4	14	allows	allow	VERB
ijassa-808	4	15	presenting	present	VERB
ijassa-808	4	16	a	a	DET
ijassa-808	4	17	necessary	necessary	ADJ
ijassa-808	4	18	set	set	NOUN
ijassa-808	4	19	of	of	ADP
ijassa-808	4	20	devices	device	NOUN
ijassa-808	4	21	for	for	ADP
ijassa-808	4	22	its	its	PRON
ijassa-808	4	23	technical	technical	ADJ
ijassa-808	4	24	implementation	implementation	NOUN
ijassa-808	4	25	.	.	PUNCT
ijassa-808	5	1	keywords	keyword	NOUN
ijassa-808	5	2	:	:	PUNCT
ijassa-808	5	3	automatic	automatic	ADJ
ijassa-808	5	4	dynamic	dynamic	ADJ
ijassa-808	5	5	positioning	positioning	NOUN
ijassa-808	5	6	system	system	NOUN
ijassa-808	5	7	,	,	PUNCT
ijassa-808	5	8	deviation	deviation	NOUN
ijassa-808	5	9	,	,	PUNCT
ijassa-808	5	10	control	control	NOUN
ijassa-808	5	11	system	system	NOUN
ijassa-808	5	12	,	,	PUNCT
ijassa-808	5	13	vessel	vessel	NOUN
ijassa-808	5	14	,	,	PUNCT
ijassa-808	5	15	the	the	DET
ijassa-808	5	16	optimal	optimal	ADJ
ijassa-808	5	17	control	control	NOUN
ijassa-808	5	18	1	1	NUM
ijassa-808	5	19	.	.	PUNCT
ijassa-808	5	20	introduction	introduction	NOUN
ijassa-808	5	21	automatic	automatic	ADJ
ijassa-808	5	22	dynamic	dynamic	ADJ
ijassa-808	5	23	positioning	positioning	NOUN
ijassa-808	5	24	systems	system	NOUN
ijassa-808	5	25	or	or	CCONJ
ijassa-808	5	26	position	position	NOUN
ijassa-808	5	27	-	-	PUNCT
ijassa-808	5	28	keeping	keep	VERB
ijassa-808	5	29	systems	system	NOUN
ijassa-808	5	30	are	be	AUX
ijassa-808	5	31	the	the	DET
ijassa-808	5	32	main	main	ADJ
ijassa-808	5	33	part	part	NOUN
ijassa-808	5	34	of	of	ADP
ijassa-808	5	35	unmanned	unmanned	ADJ
ijassa-808	5	36	vessels	vessel	NOUN
ijassa-808	5	37	that	that	PRON
ijassa-808	5	38	are	be	AUX
ijassa-808	5	39	developed	develop	VERB
ijassa-808	5	40	in	in	ADP
ijassa-808	5	41	modern	modern	ADJ
ijassa-808	5	42	practice	practice	NOUN
ijassa-808	5	43	.	.	PUNCT
ijassa-808	6	1	vessel	vessel	NOUN
ijassa-808	6	2	movement	movement	NOUN
ijassa-808	6	3	while	while	SCONJ
ijassa-808	6	4	station	station	NOUN
ijassa-808	6	5	keeping	keeping	NOUN
ijassa-808	6	6	is	be	AUX
ijassa-808	6	7	due	due	ADJ
ijassa-808	6	8	not	not	PART
ijassa-808	6	9	only	only	ADV
ijassa-808	6	10	to	to	ADP
ijassa-808	6	11	the	the	DET
ijassa-808	6	12	type	type	NOUN
ijassa-808	6	13	or	or	CCONJ
ijassa-808	6	14	nature	nature	NOUN
ijassa-808	6	15	of	of	ADP
ijassa-808	6	16	the	the	DET
ijassa-808	6	17	external	external	ADJ
ijassa-808	6	18	influence	influence	NOUN
ijassa-808	6	19	(	(	PUNCT
ijassa-808	6	20	wind	wind	NOUN
ijassa-808	6	21	,	,	PUNCT
ijassa-808	6	22	current	current	ADJ
ijassa-808	6	23	,	,	PUNCT
ijassa-808	6	24	sea	sea	NOUN
ijassa-808	6	25	disturbance	disturbance	NOUN
ijassa-808	6	26	,	,	PUNCT
ijassa-808	6	27	the	the	DET
ijassa-808	6	28	propulsive	propulsive	ADJ
ijassa-808	6	29	force	force	NOUN
ijassa-808	6	30	of	of	ADP
ijassa-808	6	31	the	the	DET
ijassa-808	6	32	steering	steering	NOUN
ijassa-808	6	33	)	)	PUNCT
ijassa-808	6	34	but	but	CCONJ
ijassa-808	6	35	also	also	ADV
ijassa-808	6	36	the	the	DET
ijassa-808	6	37	type	type	NOUN
ijassa-808	6	38	of	of	ADP
ijassa-808	6	39	the	the	DET
ijassa-808	6	40	performed	perform	VERB
ijassa-808	6	41	action	action	NOUN
ijassa-808	6	42	since	since	SCONJ
ijassa-808	6	43	it	it	PRON
ijassa-808	6	44	can	can	AUX
ijassa-808	6	45	change	change	VERB
ijassa-808	6	46	dynamic	dynamic	ADJ
ijassa-808	6	47	properties	property	NOUN
ijassa-808	6	48	of	of	ADP
ijassa-808	6	49	the	the	DET
ijassa-808	6	50	vessel	vessel	NOUN
ijassa-808	7	1	[	[	X
ijassa-808	7	2	1–3	1–3	NOUN
ijassa-808	7	3	,	,	PUNCT
ijassa-808	7	4	10	10	NUM
ijassa-808	7	5	]	]	PUNCT
ijassa-808	7	6	.	.	PUNCT
ijassa-808	8	1	when	when	SCONJ
ijassa-808	8	2	the	the	DET
ijassa-808	8	3	vessel	vessel	NOUN
ijassa-808	8	4	is	be	AUX
ijassa-808	8	5	under	under	ADP
ijassa-808	8	6	the	the	DET
ijassa-808	8	7	action	action	NOUN
ijassa-808	8	8	of	of	ADP
ijassa-808	8	9	current	current	ADJ
ijassa-808	8	10	,	,	PUNCT
ijassa-808	8	11	wind	wind	NOUN
ijassa-808	8	12	,	,	PUNCT
ijassa-808	8	13	sea	sea	NOUN
ijassa-808	8	14	disturbance	disturbance	NOUN
ijassa-808	8	15	–	–	PUNCT
ijassa-808	8	16	manual	manual	ADJ
ijassa-808	8	17	control	control	NOUN
ijassa-808	8	18	,	,	PUNCT
ijassa-808	8	19	if	if	SCONJ
ijassa-808	8	20	high	high	ADJ
ijassa-808	8	21	accuracy	accuracy	NOUN
ijassa-808	8	22	of	of	ADP
ijassa-808	8	23	keeping	keep	VERB
ijassa-808	8	24	the	the	DET
ijassa-808	8	25	station	station	NOUN
ijassa-808	8	26	is	be	AUX
ijassa-808	8	27	required	require	VERB
ijassa-808	8	28	,	,	PUNCT
ijassa-808	8	29	becomes	become	VERB
ijassa-808	8	30	almost	almost	ADV
ijassa-808	8	31	impossible	impossible	ADJ
ijassa-808	8	32	.	.	PUNCT
ijassa-808	9	1	there	there	PRON
ijassa-808	9	2	is	be	VERB
ijassa-808	9	3	consequently	consequently	ADV
ijassa-808	9	4	a	a	DET
ijassa-808	9	5	need	need	NOUN
ijassa-808	9	6	for	for	ADP
ijassa-808	9	7	automatic	automatic	ADJ
ijassa-808	9	8	dynamic	dynamic	ADJ
ijassa-808	9	9	positioning	positioning	NOUN
ijassa-808	9	10	system	system	NOUN
ijassa-808	9	11	development	development	NOUN
ijassa-808	9	12	.	.	PUNCT
ijassa-808	10	1	the	the	DET
ijassa-808	10	2	main	main	ADJ
ijassa-808	10	3	tasks	task	NOUN
ijassa-808	10	4	of	of	ADP
ijassa-808	10	5	dynamic	dynamic	ADJ
ijassa-808	10	6	positioning	positioning	NOUN
ijassa-808	10	7	system	system	NOUN
ijassa-808	10	8	(	(	PUNCT
ijassa-808	10	9	stabilization	stabilization	NOUN
ijassa-808	10	10	of	of	ADP
ijassa-808	10	11	horizontal	horizontal	ADJ
ijassa-808	10	12	shifts	shift	NOUN
ijassa-808	10	13	of	of	ADP
ijassa-808	10	14	the	the	DET
ijassa-808	10	15	ship	ship	NOUN
ijassa-808	10	16	with	with	ADP
ijassa-808	10	17	the	the	DET
ijassa-808	10	18	required	require	VERB
ijassa-808	10	19	accuracy	accuracy	NOUN
ijassa-808	10	20	;	;	PUNCT
ijassa-808	10	21	vessel	vessel	NOUN
ijassa-808	10	22	control	control	NOUN
ijassa-808	10	23	by	by	ADP
ijassa-808	10	24	the	the	DET
ijassa-808	10	25	heading	head	VERB
ijassa-808	10	26	angle	angle	NOUN
ijassa-808	10	27	so	so	SCONJ
ijassa-808	10	28	that	that	SCONJ
ijassa-808	10	29	its	its	PRON
ijassa-808	10	30	current	current	ADJ
ijassa-808	10	31	value	value	NOUN
ijassa-808	10	32	φ	φ	PROPN
ijassa-808	10	33	align	align	VERB
ijassa-808	10	34	with	with	ADP
ijassa-808	10	35	its	its	PRON
ijassa-808	10	36	optimal	optimal	ADJ
ijassa-808	10	37	value	value	NOUN
ijassa-808	10	38	φ	φ	NOUN
ijassa-808	10	39	*	*	PROPN
ijassa-808	10	40	with	with	ADP
ijassa-808	10	41	the	the	DET
ijassa-808	10	42	required	require	VERB
ijassa-808	10	43	accuracy	accuracy	NOUN
ijassa-808	10	44	,	,	PUNCT
ijassa-808	10	45	which	which	PRON
ijassa-808	10	46	ensures	ensure	VERB
ijassa-808	10	47	minimal	minimal	ADJ
ijassa-808	10	48	energy	energy	NOUN
ijassa-808	10	49	consumption	consumption	NOUN
ijassa-808	10	50	while	while	SCONJ
ijassa-808	10	51	steering	steering	NOUN
ijassa-808	10	52	etc	etc	X
ijassa-808	10	53	.	.	PUNCT
ijassa-808	10	54	)	)	PUNCT
ijassa-808	11	1	[	[	X
ijassa-808	11	2	4	4	NUM
ijassa-808	11	3	]	]	PUNCT
ijassa-808	11	4	,	,	PUNCT
ijassa-808	11	5	inaccuracy	inaccuracy	NOUN
ijassa-808	11	6	in	in	ADP
ijassa-808	11	7	the	the	DET
ijassa-808	11	8	calculations	calculation	NOUN
ijassa-808	11	9	of	of	ADP
ijassa-808	11	10	perturbation	perturbation	NOUN
ijassa-808	11	11	strengths	strength	NOUN
ijassa-808	11	12	from	from	ADP
ijassa-808	11	13	wind	wind	NOUN
ijassa-808	11	14	forcing	forcing	NOUN
ijassa-808	11	15	and	and	CCONJ
ijassa-808	11	16	current	current	ADJ
ijassa-808	11	17	predetermines	predetermine	NOUN
ijassa-808	11	18	system	system	NOUN
ijassa-808	11	19	design	design	NOUN
ijassa-808	11	20	.	.	PUNCT
ijassa-808	12	1	principles	principle	NOUN
ijassa-808	12	2	for	for	ADP
ijassa-808	12	3	system	system	NOUN
ijassa-808	12	4	designing	designing	NOUN
ijassa-808	12	5	,	,	PUNCT
ijassa-808	12	6	its	its	PRON
ijassa-808	12	7	structure	structure	NOUN
ijassa-808	12	8	,	,	PUNCT
ijassa-808	12	9	performance	performance	NOUN
ijassa-808	12	10	,	,	PUNCT
ijassa-808	12	11	properties	property	NOUN
ijassa-808	12	12	are	be	AUX
ijassa-808	12	13	mainly	mainly	ADV
ijassa-808	12	14	defined	define	VERB
ijassa-808	12	15	by	by	ADP
ijassa-808	12	16	the	the	DET
ijassa-808	12	17	control	control	NOUN
ijassa-808	12	18	object	object	NOUN
ijassa-808	12	19	–	–	PUNCT
ijassa-808	12	20	the	the	DET
ijassa-808	12	21	vessel	vessel	NOUN
ijassa-808	12	22	,	,	PUNCT
ijassa-808	12	23	its	its	PRON
ijassa-808	12	24	mathematical	mathematical	ADJ
ijassa-808	12	25	model	model	NOUN
ijassa-808	12	26	,	,	PUNCT
ijassa-808	12	27	and	and	CCONJ
ijassa-808	12	28	control	control	NOUN
ijassa-808	12	29	problems	problem	NOUN
ijassa-808	12	30	.	.	PUNCT
ijassa-808	13	1	existing	exist	VERB
ijassa-808	13	2	methods	method	NOUN
ijassa-808	13	3	of	of	ADP
ijassa-808	13	4	dynamic	dynamic	ADJ
ijassa-808	13	5	positioning	positioning	NOUN
ijassa-808	13	6	systems	system	NOUN
ijassa-808	13	7	design	design	NOUN
ijassa-808	13	8	are	be	AUX
ijassa-808	13	9	based	base	VERB
ijassa-808	13	10	on	on	ADP
ijassa-808	13	11	the	the	DET
ijassa-808	13	12	application	application	NOUN
ijassa-808	13	13	of	of	ADP
ijassa-808	13	14	mimo	mimo	PROPN
ijassa-808	13	15	pid	pid	PROPN
ijassa-808	13	16	controllers	controller	NOUN
ijassa-808	13	17	[	[	X
ijassa-808	13	18	6	6	NUM
ijassa-808	13	19	,	,	PUNCT
ijassa-808	13	20	9	9	NUM
ijassa-808	13	21	]	]	PUNCT
ijassa-808	13	22	,	,	PUNCT
ijassa-808	13	23	neural	neural	ADJ
ijassa-808	13	24	networks	network	NOUN
ijassa-808	13	25	[	[	X
ijassa-808	13	26	12	12	NUM
ijassa-808	13	27	]	]	PUNCT
ijassa-808	13	28	,	,	PUNCT
ijassa-808	13	29	and	and	CCONJ
ijassa-808	13	30	fuzzy	fuzzy	ADJ
ijassa-808	13	31	logic	logic	NOUN
ijassa-808	13	32	controllers	controller	NOUN
ijassa-808	14	1	[	[	X
ijassa-808	14	2	11	11	NUM
ijassa-808	14	3	]	]	PUNCT
ijassa-808	14	4	,	,	PUNCT
ijassa-808	14	5	as	as	ADV
ijassa-808	14	6	well	well	ADV
ijassa-808	14	7	as	as	ADP
ijassa-808	14	8	approaches	approach	NOUN
ijassa-808	14	9	that	that	PRON
ijassa-808	14	10	rely	rely	VERB
ijassa-808	14	11	on	on	ADP
ijassa-808	14	12	the	the	DET
ijassa-808	14	13	application	application	NOUN
ijassa-808	14	14	of	of	ADP
ijassa-808	14	15	adaptive	adaptive	ADJ
ijassa-808	15	1	[	[	X
ijassa-808	15	2	5	5	NUM
ijassa-808	15	3	]	]	PUNCT
ijassa-808	15	4	and	and	CCONJ
ijassa-808	15	5	hybrid	hybrid	ADJ
ijassa-808	15	6	[	[	X
ijassa-808	15	7	7	7	NUM
ijassa-808	15	8	]	]	ADJ
ijassa-808	15	9	controllers	controller	NOUN
ijassa-808	15	10	.	.	PUNCT
ijassa-808	16	1	ways	way	NOUN
ijassa-808	16	2	of	of	ADP
ijassa-808	16	3	angle	angle	NOUN
ijassa-808	16	4	speed	speed	NOUN
ijassa-808	16	5	control	control	NOUN
ijassa-808	16	6	and	and	CCONJ
ijassa-808	16	7	vessel	vessel	NOUN
ijassa-808	16	8	heading	head	VERB
ijassa-808	16	9	under	under	ADP
ijassa-808	16	10	“	"	PUNCT
ijassa-808	16	11	strong	strong	ADJ
ijassa-808	16	12	”	"	PUNCT
ijassa-808	16	13	maneuvers	maneuver	NOUN
ijassa-808	16	14	using	use	VERB
ijassa-808	16	15	the	the	DET
ijassa-808	16	16	method	method	NOUN
ijassa-808	16	17	of	of	ADP
ijassa-808	16	18	final	final	ADJ
ijassa-808	16	19	conditions	condition	NOUN
ijassa-808	16	20	are	be	AUX
ijassa-808	16	21	suggested	suggest	VERB
ijassa-808	16	22	in	in	ADP
ijassa-808	16	23	the	the	DET
ijassa-808	16	24	article	article	NOUN
ijassa-808	16	25	.	.	PUNCT
ijassa-808	17	1	many	many	ADJ
ijassa-808	17	2	control	control	NOUN
ijassa-808	17	3	methods	method	NOUN
ijassa-808	17	4	are	be	AUX
ijassa-808	17	5	based	base	VERB
ijassa-808	17	6	on	on	ADP
ijassa-808	17	7	the	the	DET
ijassa-808	17	8	principle	principle	NOUN
ijassa-808	17	9	of	of	ADP
ijassa-808	17	10	optimal	optimal	ADJ
ijassa-808	17	11	control	control	NOUN
ijassa-808	17	12	and	and	CCONJ
ijassa-808	17	13	kalman	kalman	PROPN
ijassa-808	17	14	filtering	filtering	PROPN
ijassa-808	17	15	theory	theory	NOUN
ijassa-808	17	16	[	[	X
ijassa-808	17	17	1	1	NUM
ijassa-808	17	18	]	]	PUNCT
ijassa-808	17	19	.	.	PUNCT
ijassa-808	18	1	questions	question	NOUN
ijassa-808	18	2	of	of	ADP
ijassa-808	18	3	designing	design	VERB
ijassa-808	18	4	a	a	DET
ijassa-808	18	5	block	block	NOUN
ijassa-808	18	6	diagram	diagram	NOUN
ijassa-808	18	7	of	of	ADP
ijassa-808	18	8	the	the	DET
ijassa-808	18	9	automatic	automatic	ADJ
ijassa-808	18	10	dynamic	dynamic	ADJ
ijassa-808	18	11	positioning	positioning	NOUN
ijassa-808	18	12	system	system	NOUN
ijassa-808	18	13	and	and	CCONJ
ijassa-808	18	14	optimal	optimal	ADJ
ijassa-808	18	15	linear	linear	ADJ
ijassa-808	18	16	control	control	NOUN
ijassa-808	18	17	of	of	ADP
ijassa-808	18	18	unmanned	unmanned	ADJ
ijassa-808	18	19	vessels	vessel	NOUN
ijassa-808	18	20	under	under	ADP
ijassa-808	18	21	deviation	deviation	NOUN
ijassa-808	18	22	are	be	AUX
ijassa-808	18	23	considered	consider	VERB
ijassa-808	18	24	in	in	ADP
ijassa-808	18	25	this	this	DET
ijassa-808	18	26	article	article	NOUN
ijassa-808	18	27	.	.	PUNCT
ijassa-808	19	1	*	*	PUNCT
ijassa-808	19	2	corresponding	correspond	VERB
ijassa-808	19	3	author	author	NOUN
ijassa-808	19	4	:	:	PUNCT
ijassa-808	19	5	aeosadchenko@rambler.ru	aeosadchenko@rambler.ru	PROPN
ijassa-808	19	6	2	2	NUM
ijassa-808	19	7	v.	v.	ADP
ijassa-808	19	8	kramar	kramar	PROPN
ijassa-808	19	9	,	,	PUNCT
ijassa-808	19	10	v.	v.	ADP
ijassa-808	19	11	alchakov	alchakov	PROPN
ijassa-808	19	12	,	,	PUNCT
ijassa-808	19	13	a.	a.	PROPN
ijassa-808	19	14	osadchenko	osadchenko	PROPN
ijassa-808	19	15	copyright	copyright	NOUN
ijassa-808	20	1	©	©	PROPN
ijassa-808	20	2	2021	2021	NUM
ijassa-808	20	3	assa	assa	NOUN
ijassa-808	20	4	.	.	PUNCT
ijassa-808	21	1	adv	adv	PROPN
ijassa-808	21	2	.	.	PUNCT
ijassa-808	22	1	in	in	ADP
ijassa-808	22	2	systems	system	NOUN
ijassa-808	22	3	science	science	NOUN
ijassa-808	22	4	and	and	CCONJ
ijassa-808	22	5	appl	appl	NOUN
ijassa-808	22	6	.	.	PUNCT
ijassa-808	23	1	(	(	PUNCT
ijassa-808	23	2	2021	2021	NUM
ijassa-808	23	3	)	)	PUNCT
ijassa-808	23	4	2	2	NUM
ijassa-808	23	5	.	.	X
ijassa-808	24	1	a	a	DET
ijassa-808	24	2	block	block	NOUN
ijassa-808	24	3	diagram	diagram	NOUN
ijassa-808	24	4	of	of	ADP
ijassa-808	24	5	automatic	automatic	ADJ
ijassa-808	24	6	position	position	NOUN
ijassa-808	24	7	-	-	PUNCT
ijassa-808	24	8	keeping	keep	VERB
ijassa-808	24	9	system	system	NOUN
ijassa-808	24	10	position	position	NOUN
ijassa-808	24	11	-	-	PUNCT
ijassa-808	24	12	keeping	keeping	NOUN
ijassa-808	24	13	is	be	AUX
ijassa-808	24	14	possible	possible	ADJ
ijassa-808	24	15	with	with	ADP
ijassa-808	24	16	the	the	DET
ijassa-808	24	17	use	use	NOUN
ijassa-808	24	18	of	of	ADP
ijassa-808	24	19	two	two	NUM
ijassa-808	24	20	active	active	ADJ
ijassa-808	24	21	control	control	NOUN
ijassa-808	24	22	means	mean	NOUN
ijassa-808	24	23	(	(	PUNCT
ijassa-808	24	24	acm	acm	PROPN
ijassa-808	24	25	)	)	PUNCT
ijassa-808	24	26	,	,	PUNCT
ijassa-808	24	27	each	each	PRON
ijassa-808	24	28	of	of	ADP
ijassa-808	24	29	them	they	PRON
ijassa-808	24	30	can	can	AUX
ijassa-808	24	31	have	have	VERB
ijassa-808	24	32	two	two	NUM
ijassa-808	24	33	control	control	NOUN
ijassa-808	24	34	responses	response	NOUN
ijassa-808	24	35	2,1	2,1	NUM
ijassa-808	24	36	,	,	PUNCT
ijassa-808	24	37	,	,	PUNCT
ijassa-808	24	38	,	,	PUNCT
ijassa-808	24	39	=	=	NOUN
ijassa-808	24	40	ip	ip	NOUN
ijassa-808	24	41	ii	ii	NOUN
ijassa-808	24	42			NOUN
ijassa-808	24	43	,	,	PUNCT
ijassa-808	24	44	where	where	SCONJ
ijassa-808	24	45	ip	ip	ADJ
ijassa-808	24	46	–	–	PUNCT
ijassa-808	24	47	force	force	NOUN
ijassa-808	24	48	intensity	intensity	NOUN
ijassa-808	24	49	value	value	NOUN
ijassa-808	24	50	,	,	PUNCT
ijassa-808	24	51	i	i	PROPN
ijassa-808	24	52	–	–	PUNCT
ijassa-808	24	53	acm	acm	PROPN
ijassa-808	24	54	turn	turn	NOUN
ijassa-808	24	55	angles	angle	NOUN
ijassa-808	24	56	.	.	PUNCT
ijassa-808	25	1	the	the	DET
ijassa-808	25	2	vessel	vessel	NOUN
ijassa-808	25	3	control	control	NOUN
ijassa-808	25	4	must	must	AUX
ijassa-808	25	5	be	be	AUX
ijassa-808	25	6	performed	perform	VERB
ijassa-808	25	7	to	to	ADP
ijassa-808	25	8	the	the	DET
ijassa-808	25	9	coordinates	coordinate	NOUN
ijassa-808	25	10	yx	yx	NOUN
ijassa-808	25	11	,	,	PUNCT
ijassa-808	25	12	and	and	CCONJ
ijassa-808	25	13	the	the	DET
ijassa-808	25	14	heading	head	VERB
ijassa-808	25	15	angle	angle	NOUN
ijassa-808	25	16			PROPN
ijassa-808	25	17	.	.	PUNCT
ijassa-808	26	1	this	this	PRON
ijassa-808	26	2	indicates	indicate	VERB
ijassa-808	26	3	the	the	DET
ijassa-808	26	4	need	need	NOUN
ijassa-808	26	5	for	for	ADP
ijassa-808	26	6	introducing	introduce	VERB
ijassa-808	26	7	intermediate	intermediate	ADJ
ijassa-808	26	8	control	control	NOUN
ijassa-808	26	9	responses	response	NOUN
ijassa-808	26	10	,	,	PUNCT
ijassa-808	26	11	which	which	PRON
ijassa-808	26	12	are	be	AUX
ijassa-808	26	13	vessel	vessel	ADJ
ijassa-808	26	14	axisdirection	axisdirection	NOUN
ijassa-808	26	15	forces	force	NOUN
ijassa-808	26	16	yyxy	yyxy	NOUN
ijassa-808	26	17	ff	ff	INTJ
ijassa-808	26	18	,	,	PUNCT
ijassa-808	26	19	and	and	CCONJ
ijassa-808	26	20	the	the	DET
ijassa-808	26	21	yawing	yaw	VERB
ijassa-808	26	22	moment	moment	NOUN
ijassa-808	26	23	zym	zym	INTJ
ijassa-808	26	24	that	that	PRON
ijassa-808	26	25	must	must	AUX
ijassa-808	26	26	be	be	AUX
ijassa-808	26	27	compensated	compensate	VERB
ijassa-808	26	28	by	by	ADP
ijassa-808	26	29	the	the	DET
ijassa-808	26	30	acm	acm	PROPN
ijassa-808	26	31	,	,	PUNCT
ijassa-808	26	32	and	and	CCONJ
ijassa-808	26	33	the	the	DET
ijassa-808	26	34	ones	one	NOUN
ijassa-808	26	35	in	in	ADP
ijassa-808	26	36	the	the	DET
ijassa-808	26	37	system	system	NOUN
ijassa-808	26	38	must	must	AUX
ijassa-808	26	39	be	be	AUX
ijassa-808	26	40	converted	convert	VERB
ijassa-808	26	41	into	into	ADP
ijassa-808	26	42	real	real	ADJ
ijassa-808	26	43	control	control	NOUN
ijassa-808	26	44	response	response	NOUN
ijassa-808	26	45	2211	2211	NUM
ijassa-808	26	46	,	,	PUNCT
ijassa-808	26	47	,	,	PUNCT
ijassa-808	26	48	,	,	PUNCT
ijassa-808	26	49			ADV
ijassa-808	26	50	pp	pp	ADV
ijassa-808	26	51	.	.	PUNCT
ijassa-808	27	1	thus	thus	ADV
ijassa-808	27	2	,	,	PUNCT
ijassa-808	27	3	a	a	DET
ijassa-808	27	4	device	device	NOUN
ijassa-808	27	5	that	that	PRON
ijassa-808	27	6	can	can	AUX
ijassa-808	27	7	perform	perform	VERB
ijassa-808	27	8	a	a	DET
ijassa-808	27	9	one	one	NUM
ijassa-808	27	10	-	-	PUNCT
ijassa-808	27	11	to	to	ADP
ijassa-808	27	12	-	-	PUNCT
ijassa-808	27	13	one	one	NUM
ijassa-808	27	14	transformation	transformation	NOUN
ijassa-808	27	15	of	of	ADP
ijassa-808	27	16	these	these	DET
ijassa-808	27	17	controls	control	NOUN
ijassa-808	27	18	is	be	AUX
ijassa-808	27	19	needed	need	VERB
ijassa-808	27	20	.	.	PUNCT
ijassa-808	28	1	coordination	coordination	NOUN
ijassa-808	28	2	of	of	ADP
ijassa-808	28	3	both	both	CCONJ
ijassa-808	28	4	digital	digital	ADJ
ijassa-808	28	5	and	and	CCONJ
ijassa-808	28	6	analog	analog	ADJ
ijassa-808	28	7	elements	element	NOUN
ijassa-808	28	8	must	must	AUX
ijassa-808	28	9	be	be	AUX
ijassa-808	28	10	performed	perform	VERB
ijassa-808	28	11	by	by	ADP
ijassa-808	28	12	digital	digital	PROPN
ijassa-808	28	13	-	-	PUNCT
ijassa-808	28	14	to	to	ADP
ijassa-808	28	15	-	-	PUNCT
ijassa-808	28	16	analog	analog	NOUN
ijassa-808	28	17	(	(	PUNCT
ijassa-808	28	18	dac	dac	NOUN
ijassa-808	28	19	)	)	PUNCT
ijassa-808	28	20	and	and	CCONJ
ijassa-808	28	21	analog	analog	NOUN
ijassa-808	28	22	-	-	PUNCT
ijassa-808	28	23	to	to	ADP
ijassa-808	28	24	-	-	PUNCT
ijassa-808	28	25	digital	digital	ADJ
ijassa-808	28	26	(	(	PUNCT
ijassa-808	28	27	adc	adc	NOUN
ijassa-808	28	28	)	)	PUNCT
ijassa-808	28	29	converters	converter	NOUN
ijassa-808	28	30	.	.	PUNCT
ijassa-808	29	1	the	the	DET
ijassa-808	29	2	system	system	NOUN
ijassa-808	29	3	must	must	AUX
ijassa-808	29	4	also	also	ADV
ijassa-808	29	5	contain	contain	VERB
ijassa-808	29	6	a	a	DET
ijassa-808	29	7	deviation	deviation	NOUN
ijassa-808	29	8	control	control	NOUN
ijassa-808	29	9	unit	unit	NOUN
ijassa-808	29	10	(	(	PUNCT
ijassa-808	29	11	dcu	dcu	PROPN
ijassa-808	29	12	)	)	PUNCT
ijassa-808	29	13	and	and	CCONJ
ijassa-808	29	14	a	a	DET
ijassa-808	29	15	vessel	vessel	ADJ
ijassa-808	29	16	horizontal	horizontal	ADJ
ijassa-808	29	17	shifts	shift	NOUN
ijassa-808	29	18	measurement	measurement	NOUN
ijassa-808	29	19	system	system	NOUN
ijassa-808	29	20	along	along	ADP
ijassa-808	29	21	with	with	ADP
ijassa-808	29	22	a	a	DET
ijassa-808	29	23	coordinates	coordinate	NOUN
ijassa-808	29	24	calculator	calculator	NOUN
ijassa-808	29	25	.	.	PUNCT
ijassa-808	30	1	a	a	DET
ijassa-808	30	2	general	general	ADJ
ijassa-808	30	3	block	block	NOUN
ijassa-808	30	4	diagram	diagram	NOUN
ijassa-808	30	5	of	of	ADP
ijassa-808	30	6	the	the	DET
ijassa-808	30	7	automatic	automatic	ADJ
ijassa-808	30	8	vessel	vessel	NOUN
ijassa-808	30	9	position	position	NOUN
ijassa-808	30	10	-	-	PUNCT
ijassa-808	30	11	keeping	keep	VERB
ijassa-808	30	12	system	system	NOUN
ijassa-808	30	13	is	be	AUX
ijassa-808	30	14	shown	show	VERB
ijassa-808	30	15	in	in	ADP
ijassa-808	30	16	fig	fig	NOUN
ijassa-808	30	17	.	.	PUNCT
ijassa-808	31	1	1	1	X
ijassa-808	31	2	.	.	X
ijassa-808	31	3	the	the	DET
ijassa-808	31	4	object	object	NOUN
ijassa-808	31	5	of	of	ADP
ijassa-808	31	6	control	control	NOUN
ijassa-808	31	7	(	(	PUNCT
ijassa-808	31	8	o	o	NOUN
ijassa-808	31	9	)	)	PUNCT
ijassa-808	31	10	is	be	AUX
ijassa-808	31	11	the	the	DET
ijassa-808	31	12	vessel	vessel	NOUN
ijassa-808	31	13	.	.	PUNCT
ijassa-808	32	1	variables	variable	NOUN
ijassa-808	32	2			PROPN
ijassa-808	32	3	,	,	PUNCT
ijassa-808	32	4	,	,	PUNCT
ijassa-808	32	5	characterize	characterize	VERB
ijassa-808	32	6	motions	motion	NOUN
ijassa-808	32	7	of	of	ADP
ijassa-808	32	8	the	the	DET
ijassa-808	32	9	vessel	vessel	NOUN
ijassa-808	32	10	and	and	CCONJ
ijassa-808	32	11	are	be	AUX
ijassa-808	32	12	disturbers	disturber	NOUN
ijassa-808	32	13	for	for	ADP
ijassa-808	32	14	the	the	DET
ijassa-808	32	15	sonar	sonar	ADJ
ijassa-808	32	16	sensors	sensor	NOUN
ijassa-808	32	17	system	system	NOUN
ijassa-808	32	18	(	(	PUNCT
ijassa-808	32	19	ss	ss	NOUN
ijassa-808	32	20	)	)	PUNCT
ijassa-808	32	21	.	.	PUNCT
ijassa-808	33	1	external	external	ADJ
ijassa-808	33	2	disturbance	disturbance	NOUN
ijassa-808	33	3	influence	influence	NOUN
ijassa-808	33	4	on	on	ADP
ijassa-808	33	5	the	the	DET
ijassa-808	33	6	vessel	vessel	NOUN
ijassa-808	33	7	in	in	ADP
ijassa-808	33	8	the	the	DET
ijassa-808	33	9	form	form	NOUN
ijassa-808	33	10	of	of	ADP
ijassa-808	33	11	wind	wind	NOUN
ijassa-808	33	12	,	,	PUNCT
ijassa-808	33	13	current	current	ADJ
ijassa-808	33	14	,	,	PUNCT
ijassa-808	33	15	sea	sea	NOUN
ijassa-808	33	16	disturbance	disturbance	NOUN
ijassa-808	33	17	is	be	AUX
ijassa-808	33	18	characterized	characterize	VERB
ijassa-808	33	19	by	by	ADP
ijassa-808	33	20	the	the	DET
ijassa-808	33	21	variables	variable	NOUN
ijassa-808	33	22			ADJ
ijassa-808	33	23	–	–	PUNCT
ijassa-808	33	24	direction	direction	NOUN
ijassa-808	33	25	of	of	ADP
ijassa-808	33	26	current	current	ADJ
ijassa-808	33	27	relative	relative	NOUN
ijassa-808	33	28	to	to	ADP
ijassa-808	33	29	a	a	DET
ijassa-808	33	30	fore	fore	NOUN
ijassa-808	33	31	-	-	PUNCT
ijassa-808	33	32	and	and	CCONJ
ijassa-808	33	33	-	-	PUNCT
ijassa-808	33	34	aft	aft	NOUN
ijassa-808	33	35	axis	axis	NOUN
ijassa-808	33	36	of	of	ADP
ijassa-808	33	37	the	the	DET
ijassa-808	33	38	vessel	vessel	NOUN
ijassa-808	33	39	,	,	PUNCT
ijassa-808	33	40			NOUN
ijassa-808	33	41	–	–	PUNCT
ijassa-808	33	42	wind	wind	NOUN
ijassa-808	33	43	direction	direction	NOUN
ijassa-808	33	44	,	,	PUNCT
ijassa-808	33	45	tb	tb	ADP
ijassa-808	33	46			PROPN
ijassa-808	33	47	,	,	PUNCT
ijassa-808	33	48	–	–	PUNCT
ijassa-808	33	49	wind	wind	NOUN
ijassa-808	33	50	speed	speed	NOUN
ijassa-808	33	51	and	and	CCONJ
ijassa-808	33	52	current	current	ADJ
ijassa-808	33	53	speed	speed	NOUN
ijassa-808	33	54	respectively	respectively	ADV
ijassa-808	33	55	,	,	PUNCT
ijassa-808	33	56	f	f	PROPN
ijassa-808	33	57	–	–	PUNCT
ijassa-808	33	58	uncontrolled	uncontrolled	ADJ
ijassa-808	33	59	disturbance	disturbance	NOUN
ijassa-808	33	60	,	,	PUNCT
ijassa-808	33	61	which	which	PRON
ijassa-808	33	62	characterizes	characterize	VERB
ijassa-808	33	63	the	the	DET
ijassa-808	33	64	sea	sea	NOUN
ijassa-808	33	65	forces	force	NOUN
ijassa-808	33	66	and	and	CCONJ
ijassa-808	33	67	moments	moment	NOUN
ijassa-808	33	68	.	.	PUNCT
ijassa-808	34	1	control	control	NOUN
ijassa-808	34	2	actions	action	NOUN
ijassa-808	34	3	on	on	ADP
ijassa-808	34	4	the	the	DET
ijassa-808	34	5	vessel	vessel	NOUN
ijassa-808	34	6	are	be	AUX
ijassa-808	34	7	thrust	thrust	VERB
ijassa-808	34	8	forces	force	NOUN
ijassa-808	34	9	of	of	ADP
ijassa-808	34	10	the	the	DET
ijassa-808	34	11	acm	acm	NOUN
ijassa-808	34	12	21	21	NUM
ijassa-808	34	13	,	,	PUNCT
ijassa-808	34	14	pp	pp	ADV
ijassa-808	34	15	and	and	CCONJ
ijassa-808	34	16	their	their	PRON
ijassa-808	34	17	steering	steering	NOUN
ijassa-808	34	18	angles	angle	VERB
ijassa-808	34	19	21,	21,	X
ijassa-808	34	20	.	.	PUNCT
ijassa-808	35	1	sonar	sonar	ADJ
ijassa-808	35	2	sensors	sensor	NOUN
ijassa-808	35	3	system	system	NOUN
ijassa-808	35	4	is	be	AUX
ijassa-808	35	5	intended	intend	VERB
ijassa-808	35	6	for	for	ADP
ijassa-808	35	7	measuring	measure	VERB
ijassa-808	35	8	vessel	vessel	ADJ
ijassa-808	35	9	horizontal	horizontal	ADJ
ijassa-808	35	10	shifts	shift	NOUN
ijassa-808	35	11	,	,	PUNCT
ijassa-808	35	12	presented	present	VERB
ijassa-808	35	13	in	in	ADP
ijassa-808	35	14	the	the	DET
ijassa-808	35	15	form	form	NOUN
ijassa-808	35	16	of	of	ADP
ijassa-808	35	17	variables	variable	NOUN
ijassa-808	35	18	4321	4321	NUM
ijassa-808	35	19	,	,	PUNCT
ijassa-808	35	20	,	,	PUNCT
ijassa-808	35	21	,	,	PUNCT
ijassa-808	35	22			PRON
ijassa-808	35	23	which	which	PRON
ijassa-808	35	24	are	be	AUX
ijassa-808	35	25	parameters	parameter	NOUN
ijassa-808	35	26	for	for	ADP
ijassa-808	35	27	calculation	calculation	NOUN
ijassa-808	35	28	of	of	ADP
ijassa-808	35	29	the	the	DET
ijassa-808	35	30	coordinates	coordinate	NOUN
ijassa-808	35	31	yx	yx	NOUN
ijassa-808	35	32	,	,	PUNCT
ijassa-808	35	33	by	by	ADP
ijassa-808	35	34	coordinates	coordinate	NOUN
ijassa-808	35	35	calculator	calculator	NOUN
ijassa-808	35	36	(	(	PUNCT
ijassa-808	35	37	cc	cc	NOUN
ijassa-808	35	38	)	)	PUNCT
ijassa-808	35	39	.	.	PUNCT
ijassa-808	36	1	variables	variable	NOUN
ijassa-808	36	2			PROPN
ijassa-808	36	3	,	,	PUNCT
ijassa-808	36	4	,	,	PUNCT
ijassa-808	36	5	that	that	PRON
ijassa-808	36	6	define	define	VERB
ijassa-808	36	7	the	the	DET
ijassa-808	36	8	motion	motion	NOUN
ijassa-808	36	9	of	of	ADP
ijassa-808	36	10	the	the	DET
ijassa-808	36	11	vessel	vessel	NOUN
ijassa-808	36	12	are	be	AUX
ijassa-808	36	13	used	use	VERB
ijassa-808	36	14	as	as	ADP
ijassa-808	36	15	additional	additional	ADJ
ijassa-808	36	16	variables	variable	NOUN
ijassa-808	36	17	for	for	ADP
ijassa-808	36	18	calculations	calculation	NOUN
ijassa-808	36	19	of	of	ADP
ijassa-808	36	20	the	the	DET
ijassa-808	36	21	coordinates	coordinate	NOUN
ijassa-808	36	22	yx	yx	NOUN
ijassa-808	36	23	,	,	PUNCT
ijassa-808	36	24	.	.	PUNCT
ijassa-808	37	1	they	they	PRON
ijassa-808	37	2	can	can	AUX
ijassa-808	37	3	be	be	AUX
ijassa-808	37	4	measured	measure	VERB
ijassa-808	37	5	and	and	CCONJ
ijassa-808	37	6	are	be	AUX
ijassa-808	37	7	disturbances	disturbance	NOUN
ijassa-808	37	8	.	.	PUNCT
ijassa-808	38	1	the	the	DET
ijassa-808	38	2	deviation	deviation	NOUN
ijassa-808	38	3	control	control	NOUN
ijassa-808	38	4	unit	unit	NOUN
ijassa-808	38	5	generates	generate	VERB
ijassa-808	38	6	intermediate	intermediate	ADJ
ijassa-808	38	7	control	control	NOUN
ijassa-808	38	8	actions	action	NOUN
ijassa-808	38	9	000	000	NUM
ijassa-808	38	10	,	,	PUNCT
ijassa-808	38	11	,	,	PUNCT
ijassa-808	38	12	zyyyxy	zyyyxy	PROPN
ijassa-808	38	13	mff	mff	NOUN
ijassa-808	38	14	in	in	ADP
ijassa-808	38	15	the	the	DET
ijassa-808	38	16	function	function	NOUN
ijassa-808	38	17	of	of	ADP
ijassa-808	38	18	deviations	deviation	NOUN
ijassa-808	38	19	of	of	ADP
ijassa-808	38	20	horizontal	horizontal	ADJ
ijassa-808	38	21	shifts	shift	NOUN
ijassa-808	38	22	yx	yx	NOUN
ijassa-808	38	23	,	,	PUNCT
ijassa-808	38	24	and	and	CCONJ
ijassa-808	38	25	deviations	deviation	NOUN
ijassa-808	38	26	of	of	ADP
ijassa-808	38	27	the	the	DET
ijassa-808	38	28	heading	head	VERB
ijassa-808	38	29	angle	angle	NOUN
ijassa-808	38	30	from	from	ADP
ijassa-808	38	31	the	the	DET
ijassa-808	38	32	optimal	optimal	ADJ
ijassa-808	38	33	value	value	NOUN
ijassa-808	38	34	*	*	PUNCT
ijassa-808	38	35			PROPN
ijassa-808	38	36	.	.	PUNCT
ijassa-808	39	1	the	the	DET
ijassa-808	39	2	choice	choice	NOUN
ijassa-808	39	3	of	of	ADP
ijassa-808	39	4	these	these	DET
ijassa-808	39	5	control	control	NOUN
ijassa-808	39	6	is	be	AUX
ijassa-808	39	7	a	a	DET
ijassa-808	39	8	separate	separate	ADJ
ijassa-808	39	9	task	task	NOUN
ijassa-808	39	10	.	.	PUNCT
ijassa-808	40	1	thrust	thrust	VERB
ijassa-808	40	2	block	block	NOUN
ijassa-808	40	3	optimizer	optimizer	NOUN
ijassa-808	40	4	unit	unit	NOUN
ijassa-808	40	5	(	(	PUNCT
ijassa-808	40	6	ot	ot	INTJ
ijassa-808	40	7	)	)	PUNCT
ijassa-808	40	8	performs	perform	VERB
ijassa-808	40	9	an	an	DET
ijassa-808	40	10	optimal	optimal	ADJ
ijassa-808	40	11	conversion	conversion	NOUN
ijassa-808	40	12	of	of	ADP
ijassa-808	40	13	intermediate	intermediate	ADJ
ijassa-808	40	14	controls	control	NOUN
ijassa-808	40	15	zyyyxy	zyyyxy	PROPN
ijassa-808	40	16	mff	mff	PROPN
ijassa-808	40	17	,	,	PUNCT
ijassa-808	40	18	,	,	PUNCT
ijassa-808	40	19	,	,	PUNCT
ijassa-808	40	20	presented	present	VERB
ijassa-808	40	21	in	in	ADP
ijassa-808	40	22	digital	digital	ADJ
ijassa-808	40	23	form	form	NOUN
ijassa-808	40	24	,	,	PUNCT
ijassa-808	40	25	into	into	ADP
ijassa-808	40	26	controls	control	NOUN
ijassa-808	40	27	20201010	20201010	NUM
ijassa-808	40	28	,	,	PUNCT
ijassa-808	40	29	,	,	PUNCT
ijassa-808	40	30	,	,	PUNCT
ijassa-808	40	31			ADP
ijassa-808	40	32	pp	pp	ADP
ijassa-808	40	33	that	that	PRON
ijassa-808	40	34	are	be	AUX
ijassa-808	40	35	also	also	ADV
ijassa-808	40	36	presented	present	VERB
ijassa-808	40	37	in	in	ADP
ijassa-808	40	38	digital	digital	ADJ
ijassa-808	40	39	form	form	NOUN
ijassa-808	40	40	.	.	PUNCT
ijassa-808	41	1	the	the	DET
ijassa-808	41	2	optimal	optimal	ADJ
ijassa-808	41	3	control	control	NOUN
ijassa-808	41	4	of	of	ADP
ijassa-808	41	5	the	the	DET
ijassa-808	41	6	vessel	vessel	NOUN
ijassa-808	41	7	’s	’s	PART
ijassa-808	41	8	automatic	automatic	ADJ
ijassa-808	41	9	dynamic	dynamic	ADJ
ijassa-808	41	10	positioning	positioning	NOUN
ijassa-808	41	11	system	system	NOUN
ijassa-808	41	12	...	...	PUNCT
ijassa-808	41	13	3	3	NUM
ijassa-808	41	14	copyright	copyright	NOUN
ijassa-808	41	15	©	©	PROPN
ijassa-808	41	16	2021	2021	NUM
ijassa-808	41	17	assa	assa	NOUN
ijassa-808	41	18	.	.	PUNCT
ijassa-808	42	1	adv	adv	PROPN
ijassa-808	42	2	.	.	PUNCT
ijassa-808	43	1	in	in	ADP
ijassa-808	43	2	systems	system	NOUN
ijassa-808	43	3	science	science	NOUN
ijassa-808	43	4	and	and	CCONJ
ijassa-808	43	5	appl	appl	NOUN
ijassa-808	43	6	.	.	PUNCT
ijassa-808	44	1	(	(	PUNCT
ijassa-808	44	2	2021	2021	NUM
ijassa-808	44	3	)	)	PUNCT
ijassa-808	44	4	fig	fig	NOUN
ijassa-808	44	5	.	.	PUNCT
ijassa-808	45	1	2.1	2.1	NUM
ijassa-808	45	2	.	.	PUNCT
ijassa-808	46	1	the	the	DET
ijassa-808	46	2	general	general	ADJ
ijassa-808	46	3	architecture	architecture	NOUN
ijassa-808	46	4	of	of	ADP
ijassa-808	46	5	the	the	DET
ijassa-808	46	6	system	system	NOUN
ijassa-808	46	7	of	of	ADP
ijassa-808	46	8	the	the	DET
ijassa-808	46	9	automatic	automatic	ADJ
ijassa-808	46	10	hold	hold	NOUN
ijassa-808	46	11	of	of	ADP
ijassa-808	46	12	an	an	DET
ijassa-808	46	13	unmanned	unmanned	ADJ
ijassa-808	46	14	vessel	vessel	NOUN
ijassa-808	46	15	automatic	automatic	ADJ
ijassa-808	46	16	gear	gear	NOUN
ijassa-808	46	17	(	(	PUNCT
ijassa-808	46	18	ag	ag	PROPN
ijassa-808	46	19	)	)	PUNCT
ijassa-808	46	20	tracks	track	VERB
ijassa-808	46	21	the	the	DET
ijassa-808	46	22	forces	force	NOUN
ijassa-808	46	23	of	of	ADP
ijassa-808	46	24	thrusts	thrust	NOUN
ijassa-808	46	25	2010	2010	NUM
ijassa-808	46	26	,	,	PUNCT
ijassa-808	46	27	pp	pp	ADV
ijassa-808	46	28	and	and	CCONJ
ijassa-808	46	29	their	their	PRON
ijassa-808	46	30	turn	turn	NOUN
ijassa-808	46	31	angles	angle	VERB
ijassa-808	46	32	2010	2010	NUM
ijassa-808	46	33	,	,	PUNCT
ijassa-808	46	34			PRON
ijassa-808	46	35	,	,	PUNCT
ijassa-808	46	36	presented	present	VERB
ijassa-808	46	37	in	in	ADP
ijassa-808	46	38	analog	analog	NOUN
ijassa-808	46	39	form	form	NOUN
ijassa-808	46	40	,	,	PUNCT
ijassa-808	46	41	into	into	ADP
ijassa-808	46	42	real	real	ADJ
ijassa-808	46	43	thrusts	thrust	NOUN
ijassa-808	46	44	and	and	CCONJ
ijassa-808	46	45	turn	turn	VERB
ijassa-808	46	46	angles	angle	NOUN
ijassa-808	46	47	acm	acm	NOUN
ijassa-808	46	48	2211	2211	NUM
ijassa-808	46	49	,	,	PUNCT
ijassa-808	46	50	,	,	PUNCT
ijassa-808	46	51	,	,	PUNCT
ijassa-808	46	52			ADV
ijassa-808	46	53	pp	pp	ADV
ijassa-808	46	54	.	.	PUNCT
ijassa-808	47	1	the	the	DET
ijassa-808	47	2	connection	connection	NOUN
ijassa-808	47	3	between	between	ADP
ijassa-808	47	4	ot	ot	NOUN
ijassa-808	47	5	and	and	CCONJ
ijassa-808	47	6	ag	ag	PROPN
ijassa-808	47	7	is	be	AUX
ijassa-808	47	8	accomplished	accomplish	VERB
ijassa-808	47	9	by	by	ADP
ijassa-808	47	10	dac	dac	PROPN
ijassa-808	47	11	.	.	PUNCT
ijassa-808	48	1	optimization	optimization	NOUN
ijassa-808	48	2	unit	unit	NOUN
ijassa-808	48	3	by	by	ADP
ijassa-808	48	4	heading	head	VERB
ijassa-808	48	5	angle	angle	NOUN
ijassa-808	48	6	from	from	ADP
ijassa-808	48	7	measured	measure	VERB
ijassa-808	48	8	magnitude	magnitude	NOUN
ijassa-808	48	9			ADJ
ijassa-808	48	10	,	,	PUNCT
ijassa-808	48	11	,	,	PUNCT
ijassa-808	48	12	,	,	PUNCT
ijassa-808	48	13	,	,	PUNCT
ijassa-808	48	14	tb	tb	PROPN
ijassa-808	48	15	calculates	calculate	VERB
ijassa-808	48	16	the	the	DET
ijassa-808	48	17	optimal	optimal	ADJ
ijassa-808	48	18	value	value	NOUN
ijassa-808	48	19	of	of	ADP
ijassa-808	48	20	heading	head	VERB
ijassa-808	48	21	angle	angle	NOUN
ijassa-808	48	22	*	*	PUNCT
ijassa-808	48	23			ADJ
ijassa-808	48	24	to	to	ADP
ijassa-808	48	25	the	the	DET
ijassa-808	48	26	direction	direction	NOUN
ijassa-808	48	27	of	of	ADP
ijassa-808	48	28	wind	wind	NOUN
ijassa-808	48	29	effect	effect	NOUN
ijassa-808	48	30	and	and	CCONJ
ijassa-808	48	31	current	current	ADJ
ijassa-808	48	32	.	.	PUNCT
ijassa-808	49	1	it	it	PRON
ijassa-808	49	2	determines	determine	VERB
ijassa-808	49	3	the	the	DET
ijassa-808	49	4	value	value	NOUN
ijassa-808	49	5	of	of	ADP
ijassa-808	49	6	force	force	NOUN
ijassa-808	49	7	projection	projection	PROPN
ijassa-808	49	8	ybtxbt	ybtxbt	PROPN
ijassa-808	49	9	ff	ff	NOUN
ijassa-808	49	10	,	,	PUNCT
ijassa-808	49	11	and	and	CCONJ
ijassa-808	49	12	moment	moment	NOUN
ijassa-808	49	13	zbtm	zbtm	INTJ
ijassa-808	49	14	from	from	ADP
ijassa-808	49	15	the	the	DET
ijassa-808	49	16	wind	wind	NOUN
ijassa-808	49	17	and	and	CCONJ
ijassa-808	49	18	current	current	ADJ
ijassa-808	49	19	.	.	PUNCT
ijassa-808	50	1	a	a	DET
ijassa-808	50	2	block	block	NOUN
ijassa-808	50	3	diagram	diagram	NOUN
ijassa-808	50	4	of	of	ADP
ijassa-808	50	5	the	the	DET
ijassa-808	50	6	automatic	automatic	ADJ
ijassa-808	50	7	position	position	NOUN
ijassa-808	50	8	-	-	PUNCT
ijassa-808	50	9	keeping	keep	VERB
ijassa-808	50	10	system	system	NOUN
ijassa-808	50	11	assumes	assume	VERB
ijassa-808	50	12	the	the	DET
ijassa-808	50	13	following	follow	VERB
ijassa-808	50	14	parameters	parameter	NOUN
ijassa-808	50	15	to	to	PART
ijassa-808	50	16	be	be	AUX
ijassa-808	50	17	measurable	measurable	ADJ
ijassa-808	50	18	:	:	PUNCT
ijassa-808	50	19	wind	wind	NOUN
ijassa-808	50	20	angle	angle	NOUN
ijassa-808	50	21	and	and	CCONJ
ijassa-808	50	22	current	current	ADJ
ijassa-808	50	23	angle	angle	NOUN
ijassa-808	50	24	to	to	ADP
ijassa-808	50	25	the	the	DET
ijassa-808	50	26	center	center	ADJ
ijassa-808	50	27	plane	plane	NOUN
ijassa-808	50	28	of	of	ADP
ijassa-808	50	29	the	the	DET
ijassa-808	50	30	vessel	vessel	NOUN
ijassa-808	50	31	,	,	PUNCT
ijassa-808	50	32	wind	wind	NOUN
ijassa-808	50	33	speed	speed	NOUN
ijassa-808	50	34	and	and	CCONJ
ijassa-808	50	35	current	current	ADJ
ijassa-808	50	36	speed	speed	NOUN
ijassa-808	50	37	,	,	PUNCT
ijassa-808	50	38	horizontal	horizontal	ADJ
ijassa-808	50	39	shifts	shift	NOUN
ijassa-808	50	40	,	,	PUNCT
ijassa-808	50	41	vessel	vessel	NOUN
ijassa-808	50	42	relative	relative	ADJ
ijassa-808	50	43	azimuth	azimuth	ADV
ijassa-808	50	44	.	.	PUNCT
ijassa-808	51	1	to	to	PART
ijassa-808	51	2	design	design	VERB
ijassa-808	51	3	an	an	DET
ijassa-808	51	4	automatic	automatic	ADJ
ijassa-808	51	5	position	position	NOUN
ijassa-808	51	6	-	-	PUNCT
ijassa-808	51	7	keeping	keep	VERB
ijassa-808	51	8	system	system	NOUN
ijassa-808	51	9	,	,	PUNCT
ijassa-808	51	10	it	it	PRON
ijassa-808	51	11	is	be	AUX
ijassa-808	51	12	necessary	necessary	ADJ
ijassa-808	51	13	to	to	PART
ijassa-808	51	14	know	know	VERB
ijassa-808	51	15	many	many	ADJ
ijassa-808	51	16	design	design	NOUN
ijassa-808	51	17	and	and	CCONJ
ijassa-808	51	18	hydrodynamic	hydrodynamic	ADJ
ijassa-808	51	19	parameters	parameter	NOUN
ijassa-808	51	20	.	.	PUNCT
ijassa-808	52	1	3	3	X
ijassa-808	52	2	.	.	X
ijassa-808	52	3	system	system	NOUN
ijassa-808	52	4	model	model	NOUN
ijassa-808	52	5	and	and	CCONJ
ijassa-808	52	6	problem	problem	NOUN
ijassa-808	52	7	formulation	formulation	NOUN
ijassa-808	52	8	the	the	DET
ijassa-808	52	9	mathematical	mathematical	ADJ
ijassa-808	52	10	model	model	NOUN
ijassa-808	52	11	of	of	ADP
ijassa-808	52	12	the	the	DET
ijassa-808	52	13	vessel	vessel	NOUN
ijassa-808	52	14	can	can	AUX
ijassa-808	52	15	be	be	AUX
ijassa-808	52	16	presented	present	VERB
ijassa-808	52	17	in	in	ADP
ijassa-808	52	18	different	different	ADJ
ijassa-808	52	19	forms	form	NOUN
ijassa-808	52	20	.	.	PUNCT
ijassa-808	53	1	the	the	DET
ijassa-808	53	2	spatial	spatial	ADJ
ijassa-808	53	3	motion	motion	NOUN
ijassa-808	53	4	of	of	ADP
ijassa-808	53	5	the	the	DET
ijassa-808	53	6	vessel	vessel	NOUN
ijassa-808	53	7	considering	consider	VERB
ijassa-808	53	8	all	all	DET
ijassa-808	53	9	the	the	DET
ijassa-808	53	10	coordinates	coordinate	NOUN
ijassa-808	53	11	correlations	correlation	NOUN
ijassa-808	53	12	and	and	CCONJ
ijassa-808	53	13	vessel	vessel	NOUN
ijassa-808	53	14	motion	motion	NOUN
ijassa-808	53	15	is	be	AUX
ijassa-808	53	16	described	describe	VERB
ijassa-808	53	17	by	by	ADP
ijassa-808	53	18	a	a	DET
ijassa-808	53	19	complex	complex	ADJ
ijassa-808	53	20	nonlinear	nonlinear	ADJ
ijassa-808	53	21	nonstationary	nonstationary	ADJ
ijassa-808	53	22	system	system	NOUN
ijassa-808	53	23	of	of	ADP
ijassa-808	53	24	differential	differential	ADJ
ijassa-808	53	25	equations	equation	NOUN
ijassa-808	53	26	.	.	PUNCT
ijassa-808	54	1	the	the	DET
ijassa-808	54	2	use	use	NOUN
ijassa-808	54	3	of	of	ADP
ijassa-808	54	4	such	such	DET
ijassa-808	54	5	a	a	DET
ijassa-808	54	6	model	model	NOUN
ijassa-808	54	7	for	for	ADP
ijassa-808	54	8	solving	solve	VERB
ijassa-808	54	9	vessel	vessel	NOUN
ijassa-808	54	10	motion	motion	NOUN
ijassa-808	54	11	optimization	optimization	NOUN
ijassa-808	54	12	problems	problem	NOUN
ijassa-808	54	13	in	in	ADP
ijassa-808	54	14	the	the	DET
ijassa-808	54	15	modes	mode	NOUN
ijassa-808	54	16	of	of	ADP
ijassa-808	54	17	position	position	NOUN
ijassa-808	54	18	-	-	PUNCT
ijassa-808	54	19	keeping	keeping	NOUN
ijassa-808	54	20	currently	currently	ADV
ijassa-808	54	21	presents	present	VERB
ijassa-808	54	22	insuperable	insuperable	ADJ
ijassa-808	54	23	theoretical	theoretical	ADJ
ijassa-808	54	24	difficulties	difficulty	NOUN
ijassa-808	54	25	.	.	PUNCT
ijassa-808	55	1	the	the	DET
ijassa-808	55	2	position	position	NOUN
ijassa-808	55	3	-	-	PUNCT
ijassa-808	55	4	keeping	keep	VERB
ijassa-808	55	5	regime	regime	NOUN
ijassa-808	55	6	is	be	AUX
ijassa-808	55	7	characterized	characterize	VERB
ijassa-808	55	8	by	by	ADP
ijassa-808	55	9	many	many	ADJ
ijassa-808	55	10	favorable	favorable	ADJ
ijassa-808	55	11	features	feature	NOUN
ijassa-808	55	12	:	:	PUNCT
ijassa-808	55	13	1	1	X
ijassa-808	55	14	)	)	PUNCT
ijassa-808	55	15	the	the	DET
ijassa-808	55	16	coordinates	coordinate	NOUN
ijassa-808	55	17	of	of	ADP
ijassa-808	55	18	vessel	vessel	NOUN
ijassa-808	55	19	position	position	NOUN
ijassa-808	55	20	and	and	CCONJ
ijassa-808	55	21	their	their	PRON
ijassa-808	55	22	velocity	velocity	NOUN
ijassa-808	55	23	change	change	NOUN
ijassa-808	55	24	in	in	ADP
ijassa-808	55	25	proximity	proximity	NOUN
ijassa-808	55	26	to	to	ADP
ijassa-808	55	27	zero	zero	NUM
ijassa-808	55	28	values	value	NOUN
ijassa-808	55	29	;	;	PUNCT
ijassa-808	55	30	2	2	X
ijassa-808	55	31	)	)	PUNCT
ijassa-808	55	32	all	all	DET
ijassa-808	55	33	types	type	NOUN
ijassa-808	55	34	of	of	ADP
ijassa-808	55	35	vessel	vessel	NOUN
ijassa-808	55	36	motions	motion	NOUN
ijassa-808	55	37	must	must	AUX
ijassa-808	55	38	be	be	AUX
ijassa-808	55	39	insignificant	insignificant	ADJ
ijassa-808	55	40	;	;	PUNCT
ijassa-808	55	41	3	3	X
ijassa-808	55	42	)	)	PUNCT
ijassa-808	55	43	the	the	DET
ijassa-808	55	44	vessel	vessel	NOUN
ijassa-808	55	45	heading	head	VERB
ijassa-808	55	46	angle	angle	NOUN
ijassa-808	55	47	in	in	ADP
ijassa-808	55	48	a	a	DET
ijassa-808	55	49	time	time	NOUN
ijassa-808	55	50	of	of	ADP
ijassa-808	55	51	vessel	vessel	NOUN
ijassa-808	55	52	control	control	NOUN
ijassa-808	55	53	process	process	NOUN
ijassa-808	55	54	can	can	AUX
ijassa-808	55	55	be	be	AUX
ijassa-808	55	56	considered	consider	VERB
ijassa-808	55	57	constant	constant	ADJ
ijassa-808	55	58	,	,	PUNCT
ijassa-808	55	59	equal	equal	ADJ
ijassa-808	55	60	to	to	ADP
ijassa-808	55	61	some	some	DET
ijassa-808	55	62	required	require	VERB
ijassa-808	55	63	value	value	NOUN
ijassa-808	55	64	.	.	PUNCT
ijassa-808	56	1	neglecting	neglect	VERB
ijassa-808	56	2	the	the	DET
ijassa-808	56	3	influence	influence	NOUN
ijassa-808	56	4	of	of	ADP
ijassa-808	56	5	the	the	DET
ijassa-808	56	6	oscillatory	oscillatory	ADJ
ijassa-808	56	7	motion	motion	NOUN
ijassa-808	56	8	and	and	CCONJ
ijassa-808	56	9	performing	perform	VERB
ijassa-808	56	10	linearization	linearization	NOUN
ijassa-808	56	11	of	of	ADP
ijassa-808	56	12	ship	ship	NOUN
ijassa-808	56	13	motion	motion	NOUN
ijassa-808	56	14	control	control	NOUN
ijassa-808	56	15	,	,	PUNCT
ijassa-808	56	16	neglecting	neglect	VERB
ijassa-808	56	17	also	also	ADV
ijassa-808	56	18	the	the	DET
ijassa-808	56	19	influence	influence	NOUN
ijassa-808	56	20	of	of	ADP
ijassa-808	56	21	the	the	DET
ijassa-808	56	22	equipment	equipment	NOUN
ijassa-808	56	23	on	on	ADP
ijassa-808	56	24	the	the	DET
ijassa-808	56	25	dynamics	dynamic	NOUN
ijassa-808	56	26	of	of	ADP
ijassa-808	56	27	vessel	vessel	NOUN
ijassa-808	56	28	motion	motion	NOUN
ijassa-808	56	29	,	,	PUNCT
ijassa-808	56	30	neglecting	neglect	VERB
ijassa-808	56	31	the	the	DET
ijassa-808	56	32	influence	influence	NOUN
ijassa-808	56	33	of	of	ADP
ijassa-808	56	34	hydrodynamic	hydrodynamic	ADJ
ijassa-808	56	35	coefficient	coefficient	NOUN
ijassa-808	56	36	26	26	PROPN
ijassa-808	57	1	[	[	X
ijassa-808	57	2	4	4	NUM
ijassa-808	57	3	,	,	PUNCT
ijassa-808	57	4	10	10	NUM
ijassa-808	57	5	]	]	PUNCT
ijassa-808	57	6	,	,	PUNCT
ijassa-808	57	7	we	we	PRON
ijassa-808	57	8	get	get	VERB
ijassa-808	57	9	a	a	DET
ijassa-808	57	10	simplified	simplified	ADJ
ijassa-808	57	11	vessel	vessel	NOUN
ijassa-808	57	12	motion	motion	NOUN
ijassa-808	57	13	model	model	NOUN
ijassa-808	57	14	in	in	ADP
ijassa-808	57	15	the	the	DET
ijassa-808	57	16	horizontal	horizontal	ADJ
ijassa-808	57	17	plane	plane	NOUN
ijassa-808	57	18	in	in	ADP
ijassa-808	57	19	the	the	DET
ijassa-808	57	20	aligned	align	VERB
ijassa-808	57	21	with	with	ADP
ijassa-808	57	22	the	the	DET
ijassa-808	57	23	vessel	vessel	NOUN
ijassa-808	57	24	coordinate	coordinate	NOUN
ijassa-808	57	25	system	system	NOUN
ijassa-808	57	26	in	in	ADP
ijassa-808	57	27	the	the	DET
ijassa-808	57	28	form	form	NOUN
ijassa-808	57	29	of	of	ADP
ijassa-808	57	30	:	:	PUNCT
ijassa-808	57	31	4	4	NUM
ijassa-808	57	32	v.	v.	ADP
ijassa-808	57	33	kramar	kramar	PROPN
ijassa-808	57	34	,	,	PUNCT
ijassa-808	57	35	v.	v.	ADP
ijassa-808	57	36	alchakov	alchakov	PROPN
ijassa-808	57	37	,	,	PUNCT
ijassa-808	58	1	a.	a.	PROPN
ijassa-808	58	2	osadchenko	osadchenko	PROPN
ijassa-808	58	3	copyright	copyright	NOUN
ijassa-808	58	4	©	©	PROPN
ijassa-808	58	5	2021	2021	NUM
ijassa-808	58	6	assa	assa	NOUN
ijassa-808	58	7	.	.	PUNCT
ijassa-808	59	1	adv	adv	PROPN
ijassa-808	59	2	.	.	PUNCT
ijassa-808	60	1	in	in	ADP
ijassa-808	60	2	systems	system	NOUN
ijassa-808	60	3	science	science	NOUN
ijassa-808	60	4	and	and	CCONJ
ijassa-808	60	5	appl	appl	NOUN
ijassa-808	60	6	.	.	PUNCT
ijassa-808	61	1	(	(	PUNCT
ijassa-808	61	2	2021	2021	NUM
ijassa-808	61	3	)	)	PUNCT
ijassa-808	62	1			X
ijassa-808	62	2			X
ijassa-808	62	3			NUM
ijassa-808	62	4			NOUN
ijassa-808	62	5			PROPN
ijassa-808	62	6	=	=	PUNCT
ijassa-808	62	7	+	+	SYM
ijassa-808	62	8	=	=	ADJ
ijassa-808	62	9	+	+	SYM
ijassa-808	62	10	=	=	ADJ
ijassa-808	62	11	+	+	NUM
ijassa-808	62	12	zz	zz	PROPN
ijassa-808	62	13	y	y	NOUN
ijassa-808	62	14	x	x	PUNCT
ijassa-808	62	15	mj	mj	PROPN
ijassa-808	62	16	fym	fym	PROPN
ijassa-808	62	17	fxm	fxm	PROPN
ijassa-808	62	18			NUM
ijassa-808	62	19			ADJ
ijassa-808	62	20			ADJ
ijassa-808	62	21			NOUN
ijassa-808	62	22			NOUN
ijassa-808	62	23			NOUN
ijassa-808	62	24	)	)	PUNCT
ijassa-808	62	25	(	(	PUNCT
ijassa-808	62	26	)	)	PUNCT
ijassa-808	62	27	(	(	PUNCT
ijassa-808	62	28	)	)	PUNCT
ijassa-808	62	29	(	(	PUNCT
ijassa-808	62	30	66	66	NUM
ijassa-808	62	31	22	22	NUM
ijassa-808	62	32	11	11	NUM
ijassa-808	62	33	,	,	PUNCT
ijassa-808	62	34	(	(	PUNCT
ijassa-808	62	35	1	1	X
ijassa-808	62	36	)	)	PUNCT
ijassa-808	62	37	where	where	SCONJ
ijassa-808	62	38	m	m	VERB
ijassa-808	62	39	–	–	PUNCT
ijassa-808	62	40	vessel	vessel	NOUN
ijassa-808	62	41	mass	mass	PROPN
ijassa-808	62	42	,	,	PUNCT
ijassa-808	62	43	zj	zj	PROPN
ijassa-808	62	44	–	–	PUNCT
ijassa-808	62	45	body	body	NOUN
ijassa-808	62	46	centroidal	centroidal	ADJ
ijassa-808	62	47	moment	moment	NOUN
ijassa-808	62	48	of	of	ADP
ijassa-808	62	49	inertia	inertia	NOUN
ijassa-808	62	50	as	as	ADP
ijassa-808	62	51	regard	regard	NOUN
ijassa-808	62	52	to	to	ADP
ijassa-808	62	53	the	the	DET
ijassa-808	62	54	z	z	NOUN
ijassa-808	62	55	-	-	PUNCT
ijassa-808	62	56	axis	axis	ADJ
ijassa-808	62	57	,	,	PUNCT
ijassa-808	62	58	662211	662211	NUM
ijassa-808	62	59	,	,	PUNCT
ijassa-808	62	60	,	,	PUNCT
ijassa-808	62	61			PROPN
ijassa-808	62	62	–	–	PUNCT
ijassa-808	62	63	hydrodynamical	hydrodynamical	ADJ
ijassa-808	62	64	coefficient	coefficient	NOUN
ijassa-808	62	65	.	.	PUNCT
ijassa-808	63	1	it	it	PRON
ijassa-808	63	2	is	be	AUX
ijassa-808	63	3	also	also	ADV
ijassa-808	63	4	possible	possible	ADJ
ijassa-808	63	5	to	to	PART
ijassa-808	63	6	present	present	VERB
ijassa-808	63	7	the	the	DET
ijassa-808	63	8	vessel	vessel	NOUN
ijassa-808	63	9	motion	motion	NOUN
ijassa-808	63	10	model	model	NOUN
ijassa-808	63	11	in	in	ADP
ijassa-808	63	12	the	the	DET
ijassa-808	63	13	fixed	fix	VERB
ijassa-808	63	14	coordinate	coordinate	NOUN
ijassa-808	63	15	system	system	NOUN
ijassa-808	63	16	.	.	PUNCT
ijassa-808	64	1	in	in	ADP
ijassa-808	64	2	addition	addition	NOUN
ijassa-808	64	3	to	to	ADP
ijassa-808	64	4	the	the	DET
ijassa-808	64	5	system	system	NOUN
ijassa-808	64	6	(	(	PUNCT
ijassa-808	64	7	1	1	X
ijassa-808	64	8	)	)	PUNCT
ijassa-808	64	9	let	let	VERB
ijassa-808	64	10	us	we	PRON
ijassa-808	64	11	introduce	introduce	VERB
ijassa-808	64	12	constraint	constraint	NOUN
ijassa-808	64	13	equations	equation	NOUN
ijassa-808	64	14			NUM
ijassa-808	64	15			NUM
ijassa-808	64	16			NOUN
ijassa-808	64	17			PROPN
ijassa-808	64	18	+	+	PROPN
ijassa-808	64	19	−=	−=	VERB
ijassa-808	64	20	+	+	NOUN
ijassa-808	64	21	=	=	SYM
ijassa-808	64	22			NUM
ijassa-808	64	23			PROPN
ijassa-808	64	24	cossin	cossin	NOUN
ijassa-808	64	25	sincos	sincos	PROPN
ijassa-808	64	26			NUM
ijassa-808	65	1			NUM
ijassa-808	65	2	y	y	PROPN
ijassa-808	65	3	x	x	X
ijassa-808	65	4	,	,	PUNCT
ijassa-808	65	5	(	(	PUNCT
ijassa-808	65	6	2	2	X
ijassa-808	65	7	)	)	PUNCT
ijassa-808	65	8	where	where	SCONJ
ijassa-808	65	9			ADV
ijassa-808	65	10	,	,	PUNCT
ijassa-808	65	11	–	–	PUNCT
ijassa-808	65	12	coordinates	coordinate	NOUN
ijassa-808	65	13	of	of	ADP
ijassa-808	65	14	a	a	DET
ijassa-808	65	15	fixed	fix	VERB
ijassa-808	65	16	coordinate	coordinate	NOUN
ijassa-808	65	17	system	system	NOUN
ijassa-808	65	18	connected	connect	VERB
ijassa-808	65	19	with	with	ADP
ijassa-808	65	20	the	the	DET
ijassa-808	65	21	vessel	vessel	NOUN
ijassa-808	65	22	center	center	NOUN
ijassa-808	65	23	of	of	ADP
ijassa-808	65	24	gravity	gravity	NOUN
ijassa-808	65	25	.	.	PUNCT
ijassa-808	66	1	let	let	VERB
ijassa-808	66	2	us	we	PRON
ijassa-808	66	3	find	find	VERB
ijassa-808	66	4	second	second	ADJ
ijassa-808	66	5	derivatives	derivative	NOUN
ijassa-808	66	6	of	of	ADP
ijassa-808	66	7	coordinates	coordinate	NOUN
ijassa-808	66	8	:	:	PUNCT
ijassa-808	66	9			NUM
ijassa-808	66	10			NUM
ijassa-808	67	1			NOUN
ijassa-808	67	2			PROPN
ijassa-808	68	1	−−+−=	−−+−=	X
ijassa-808	68	2	+	+	ADV
ijassa-808	68	3	−+=	−+=	ADJ
ijassa-808	68	4			X
ijassa-808	68	5			PROPN
ijassa-808	68	6	sincoscossin	sincoscossin	PROPN
ijassa-808	68	7	cossinsincos	cossinsincos	PROPN
ijassa-808	68	8			PUNCT
ijassa-808	68	9			PROPN
ijassa-808	68	10	y	y	PROPN
ijassa-808	68	11	x	x	X
ijassa-808	68	12	.	.	PUNCT
ijassa-808	69	1	(	(	PUNCT
ijassa-808	69	2	3	3	X
ijassa-808	69	3	)	)	PUNCT
ijassa-808	69	4	substituted	substitute	VERB
ijassa-808	69	5	(	(	PUNCT
ijassa-808	69	6	2	2	NUM
ijassa-808	69	7	)	)	PUNCT
ijassa-808	69	8	,	,	PUNCT
ijassa-808	69	9	(	(	PUNCT
ijassa-808	69	10	3	3	X
ijassa-808	69	11	)	)	PUNCT
ijassa-808	69	12	to	to	ADP
ijassa-808	69	13	(	(	PUNCT
ijassa-808	69	14	1	1	NUM
ijassa-808	69	15	)	)	PUNCT
ijassa-808	69	16	,	,	PUNCT
ijassa-808	69	17	we	we	PRON
ijassa-808	69	18	get	get	VERB
ijassa-808	69	19	:	:	PUNCT
ijassa-808	69	20			NUM
ijassa-808	69	21			X
ijassa-808	69	22			NUM
ijassa-808	69	23			NOUN
ijassa-808	69	24			PROPN
ijassa-808	69	25	=	=	PUNCT
ijassa-808	69	26	+	+	NUM
ijassa-808	69	27	=	=	PUNCT
ijassa-808	69	28	+	+	NOUN
ijassa-808	69	29	−+	−+	NOUN
ijassa-808	69	30	=	=	SYM
ijassa-808	69	31	+	+	NOUN
ijassa-808	69	32	+	+	ADJ
ijassa-808	69	33	+	+	ADJ
ijassa-808	69	34	zz	zz	PROPN
ijassa-808	69	35	y	y	NOUN
ijassa-808	69	36	x	x	PROPN
ijassa-808	69	37	mj	mj	PROPN
ijassa-808	69	38	fmm	fmm	PROPN
ijassa-808	69	39	fmm	fmm	PROPN
ijassa-808	69	40			PROPN
ijassa-808	70	1			PROPN
ijassa-808	70	2			VERB
ijassa-808	70	3			NOUN
ijassa-808	70	4			PROPN
ijassa-808	70	5			PROPN
ijassa-808	70	6	)	)	PUNCT
ijassa-808	70	7	(	(	PUNCT
ijassa-808	70	8	sin)(cos	sin)(cos	PROPN
ijassa-808	70	9	)	)	PUNCT
ijassa-808	70	10	(	(	PUNCT
ijassa-808	70	11	sin)(cos	sin)(cos	PROPN
ijassa-808	70	12	)	)	PUNCT
ijassa-808	70	13	(	(	PUNCT
ijassa-808	70	14	66	66	NUM
ijassa-808	70	15	*	*	SYM
ijassa-808	70	16	22	22	NUM
ijassa-808	70	17	*	*	SYM
ijassa-808	70	18	22	22	NUM
ijassa-808	70	19	*	*	SYM
ijassa-808	70	20	11	11	NUM
ijassa-808	70	21	*	*	SYM
ijassa-808	70	22	11	11	NUM
ijassa-808	70	23	,	,	PUNCT
ijassa-808	70	24	(	(	PUNCT
ijassa-808	70	25	4	4	NUM
ijassa-808	70	26	)	)	PUNCT
ijassa-808	71	1	where	where	SCONJ
ijassa-808	71	2	:	:	PUNCT
ijassa-808	71	3	,	,	PUNCT
ijassa-808	71	4	cossin)sin	cossin)sin	PROPN
ijassa-808	71	5	(	(	PUNCT
ijassa-808	71	6	,	,	PUNCT
ijassa-808	71	7	sincos)cos	sincos)co	NOUN
ijassa-808	71	8	(	(	PUNCT
ijassa-808	71	9	*	*	PUNCT
ijassa-808	71	10	*	*	PUNCT
ijassa-808	71	11	*	*	PUNCT
ijassa-808	71	12	*	*	PUNCT
ijassa-808	71	13	*	*	PUNCT
ijassa-808	71	14	*	*	PUNCT
ijassa-808	71	15			PROPN
ijassa-808	71	16			PROPN
ijassa-808	71	17	++	++	NOUN
ijassa-808	71	18	−+	−+	NOUN
ijassa-808	71	19	and	and	CCONJ
ijassa-808	71	20	variables	variable	NOUN
ijassa-808	71	21			PROPN
ijassa-808	71	22	,	,	PUNCT
ijassa-808	71	23	,	,	PUNCT
ijassa-808	71	24	–	–	PUNCT
ijassa-808	71	25	the	the	DET
ijassa-808	71	26	deviations	deviation	NOUN
ijassa-808	71	27	from	from	ADP
ijassa-808	71	28	the	the	DET
ijassa-808	71	29	set	set	NOUN
ijassa-808	71	30	values	value	NOUN
ijassa-808	71	31	*	*	PUNCT
ijassa-808	71	32	00	00	PUNCT
ijassa-808	71	33	,	,	PUNCT
ijassa-808	71	34	0	0	NUM
ijassa-808	71	35			NUM
ijassa-808	71	36	=	=	SYM
ijassa-808	71	37	=	=	SYM
ijassa-808	71	38	=	=	NOUN
ijassa-808	71	39	.	.	PUNCT
ijassa-808	71	40	system	system	NOUN
ijassa-808	71	41	(	(	PUNCT
ijassa-808	71	42	4	4	X
ijassa-808	71	43	)	)	PUNCT
ijassa-808	71	44	can	can	AUX
ijassa-808	71	45	be	be	AUX
ijassa-808	71	46	represented	represent	VERB
ijassa-808	71	47	as	as	ADP
ijassa-808	71	48	:	:	PUNCT
ijassa-808	71	49			NUM
ijassa-808	71	50			NUM
ijassa-808	71	51			NUM
ijassa-808	71	52			NUM
ijassa-808	71	53			NUM
ijassa-808	71	54			NUM
ijassa-808	71	55			NUM
ijassa-808	71	56			NOUN
ijassa-808	71	57			PROPN
ijassa-808	71	58	=	=	PUNCT
ijassa-808	72	1	+	+	NOUN
ijassa-808	72	2			ADJ
ijassa-808	72	3	+	+	CCONJ
ijassa-808	72	4	+	+	ADJ
ijassa-808	72	5	=	=	SYM
ijassa-808	72	6	+	+	NOUN
ijassa-808	72	7			CCONJ
ijassa-808	72	8	−	−	PROPN
ijassa-808	72	9	+	+	PROPN
ijassa-808	72	10	=	=	NOUN
ijassa-808	72	11	z	z	NOUN
ijassa-808	72	12	xy	xy	PROPN
ijassa-808	73	1	yx	yx	INTJ
ijassa-808	73	2	m	m	PROPN
ijassa-808	73	3	c	c	PROPN
ijassa-808	73	4	f	f	PROPN
ijassa-808	73	5	сссс	сссс	PROPN
ijassa-808	73	6	f	f	PROPN
ijassa-808	73	7	сссс	сссс	PROPN
ijassa-808	73	8	с	с	PROPN
ijassa-808	73	9	f	f	PROPN
ijassa-808	73	10	ccccc	ccccc	PROPN
ijassa-808	73	11	cc	cc	PROPN
ijassa-808	73	12	f	f	PROPN
ijassa-808	73	13	сссс	сссс	PROPN
ijassa-808	73	14	с	с	PROPN
ijassa-808	73	15	3	3	NUM
ijassa-808	73	16	21212121	21212121	NUM
ijassa-808	73	17	1	1	NUM
ijassa-808	73	18	21212	21212	NUM
ijassa-808	73	19	21	21	NUM
ijassa-808	73	20	2121	2121	NUM
ijassa-808	73	21	2	2	NUM
ijassa-808	73	22	1	1	NUM
ijassa-808	73	23	1	1	NUM
ijassa-808	73	24	)	)	PUNCT
ijassa-808	73	25	(	(	PUNCT
ijassa-808	73	26			ADJ
ijassa-808	73	27			NUM
ijassa-808	73	28			NOUN
ijassa-808	73	29			NOUN
ijassa-808	73	30			NOUN
ijassa-808	73	31			NOUN
ijassa-808	73	32	,	,	PUNCT
ijassa-808	73	33	(	(	PUNCT
ijassa-808	73	34	5	5	X
ijassa-808	73	35	)	)	PUNCT
ijassa-808	74	1	where	where	SCONJ
ijassa-808	74	2	1	1	NUM
ijassa-808	74	3	*	*	SYM
ijassa-808	74	4	11	11	NUM
ijassa-808	74	5	cos	cos	NOUN
ijassa-808	74	6	)	)	PUNCT
ijassa-808	74	7	(	(	PUNCT
ijassa-808	74	8	cm	cm	NOUN
ijassa-808	74	9	=	=	PROPN
ijassa-808	74	10	+	+	PROPN
ijassa-808	74	11			VERB
ijassa-808	74	12	,	,	PUNCT
ijassa-808	74	13	1	1	NUM
ijassa-808	74	14	*	*	SYM
ijassa-808	74	15	11	11	NUM
ijassa-808	74	16	sin	sin	NOUN
ijassa-808	74	17	)	)	PUNCT
ijassa-808	74	18	(	(	PUNCT
ijassa-808	74	19	cm	cm	NOUN
ijassa-808	74	20	=+	=+	NOUN
ijassa-808	74	21			VERB
ijassa-808	74	22	,	,	PUNCT
ijassa-808	74	23	2	2	NUM
ijassa-808	74	24	*	*	SYM
ijassa-808	74	25	22	22	NUM
ijassa-808	74	26	cos	cos	NOUN
ijassa-808	74	27	)	)	PUNCT
ijassa-808	74	28	(	(	PUNCT
ijassa-808	74	29	cm	cm	NOUN
ijassa-808	74	30	=	=	PROPN
ijassa-808	74	31	+	+	PROPN
ijassa-808	74	32			VERB
ijassa-808	74	33	,	,	PUNCT
ijassa-808	74	34	2	2	NUM
ijassa-808	74	35	*	*	SYM
ijassa-808	74	36	22	22	NUM
ijassa-808	74	37	sin	sin	NOUN
ijassa-808	74	38	)	)	PUNCT
ijassa-808	74	39	(	(	PUNCT
ijassa-808	74	40	cm	cm	NOUN
ijassa-808	74	41	=+	=+	NOUN
ijassa-808	74	42			VERB
ijassa-808	74	43	,	,	PUNCT
ijassa-808	74	44	366	366	NUM
ijassa-808	74	45	cj	cj	NOUN
ijassa-808	74	46	z	z	NOUN
ijassa-808	74	47	=	=	PUNCT
ijassa-808	74	48	+	+	NOUN
ijassa-808	74	49			X
ijassa-808	74	50	.	.	PUNCT
ijassa-808	75	1	model	model	NOUN
ijassa-808	75	2	(	(	PUNCT
ijassa-808	75	3	1	1	NUM
ijassa-808	75	4	)	)	PUNCT
ijassa-808	75	5	in	in	ADP
ijassa-808	75	6	the	the	DET
ijassa-808	75	7	connection	connection	NOUN
ijassa-808	75	8	with	with	ADP
ijassa-808	75	9	the	the	DET
ijassa-808	75	10	vessel	vessel	NOUN
ijassa-808	75	11	frame	frame	NOUN
ijassa-808	75	12	of	of	ADP
ijassa-808	75	13	the	the	DET
ijassa-808	75	14	axis	axis	NOUN
ijassa-808	75	15	,	,	PUNCT
ijassa-808	75	16	reflects	reflect	VERB
ijassa-808	75	17	only	only	ADV
ijassa-808	75	18	the	the	DET
ijassa-808	75	19	inertial	inertial	ADJ
ijassa-808	75	20	properties	property	NOUN
ijassa-808	75	21	of	of	ADP
ijassa-808	75	22	the	the	DET
ijassa-808	75	23	object	object	NOUN
ijassa-808	75	24	.	.	PUNCT
ijassa-808	76	1	coordinate	coordinate	NOUN
ijassa-808	76	2	motions	motion	NOUN
ijassa-808	76	3	are	be	AUX
ijassa-808	76	4	independent	independent	ADJ
ijassa-808	76	5	.	.	PUNCT
ijassa-808	77	1	this	this	DET
ijassa-808	77	2	vessel	vessel	NOUN
ijassa-808	77	3	motion	motion	NOUN
ijassa-808	77	4	model	model	NOUN
ijassa-808	77	5	reflects	reflect	VERB
ijassa-808	77	6	the	the	DET
ijassa-808	77	7	main	main	ADJ
ijassa-808	77	8	properties	property	NOUN
ijassa-808	77	9	of	of	ADP
ijassa-808	77	10	the	the	DET
ijassa-808	77	11	object	object	NOUN
ijassa-808	77	12	in	in	ADP
ijassa-808	77	13	the	the	DET
ijassa-808	77	14	position	position	NOUN
ijassa-808	77	15	-	-	PUNCT
ijassa-808	77	16	keeping	keep	VERB
ijassa-808	77	17	mode	mode	NOUN
ijassa-808	77	18	under	under	ADP
ijassa-808	77	19	the	the	DET
ijassa-808	77	20	effect	effect	NOUN
ijassa-808	77	21	of	of	ADP
ijassa-808	77	22	external	external	ADJ
ijassa-808	77	23	disturbance	disturbance	NOUN
ijassa-808	77	24	forces	force	NOUN
ijassa-808	77	25	,	,	PUNCT
ijassa-808	77	26	presented	present	VERB
ijassa-808	77	27	in	in	ADP
ijassa-808	77	28	the	the	DET
ijassa-808	77	29	form	form	NOUN
ijassa-808	77	30	of	of	ADP
ijassa-808	77	31	force	force	NOUN
ijassa-808	77	32	projection	projection	NOUN
ijassa-808	77	33	and	and	CCONJ
ijassa-808	77	34	the	the	DET
ijassa-808	77	35	moment	moment	NOUN
ijassa-808	77	36	as	as	SCONJ
ijassa-808	77	37	regards	regard	VERB
ijassa-808	77	38	the	the	DET
ijassa-808	77	39	z	z	NOUN
ijassa-808	77	40	-	-	PUNCT
ijassa-808	77	41	axis	axis	NOUN
ijassa-808	77	42	.	.	PUNCT
ijassa-808	78	1	apart	apart	ADV
ijassa-808	78	2	from	from	ADP
ijassa-808	78	3	the	the	DET
ijassa-808	78	4	disturbance	disturbance	NOUN
ijassa-808	78	5	forces	force	NOUN
ijassa-808	78	6	,	,	PUNCT
ijassa-808	78	7	the	the	DET
ijassa-808	78	8	control	control	NOUN
ijassa-808	78	9	force	force	NOUN
ijassa-808	78	10	will	will	AUX
ijassa-808	78	11	affect	affect	VERB
ijassa-808	78	12	the	the	DET
ijassa-808	78	13	acm	acm	NOUN
ijassa-808	78	14	.	.	PUNCT
ijassa-808	79	1	the	the	DET
ijassa-808	79	2	optimal	optimal	ADJ
ijassa-808	79	3	control	control	NOUN
ijassa-808	79	4	of	of	ADP
ijassa-808	79	5	the	the	DET
ijassa-808	79	6	vessel	vessel	NOUN
ijassa-808	79	7	’s	’s	PART
ijassa-808	79	8	automatic	automatic	ADJ
ijassa-808	79	9	dynamic	dynamic	ADJ
ijassa-808	79	10	positioning	positioning	NOUN
ijassa-808	79	11	system	system	NOUN
ijassa-808	79	12	...	...	PUNCT
ijassa-808	79	13	5	5	NUM
ijassa-808	79	14	copyright	copyright	NOUN
ijassa-808	79	15	©	©	PROPN
ijassa-808	79	16	2021	2021	NUM
ijassa-808	79	17	assa	assa	NOUN
ijassa-808	79	18	.	.	PUNCT
ijassa-808	80	1	adv	adv	PROPN
ijassa-808	80	2	.	.	PUNCT
ijassa-808	81	1	in	in	ADP
ijassa-808	81	2	systems	system	NOUN
ijassa-808	81	3	science	science	NOUN
ijassa-808	81	4	and	and	CCONJ
ijassa-808	81	5	appl	appl	NOUN
ijassa-808	81	6	.	.	PUNCT
ijassa-808	82	1	(	(	PUNCT
ijassa-808	82	2	2021	2021	NUM
ijassa-808	82	3	)	)	PUNCT
ijassa-808	82	4	if	if	SCONJ
ijassa-808	82	5	we	we	PRON
ijassa-808	82	6	present	present	VERB
ijassa-808	82	7	these	these	DET
ijassa-808	82	8	forces	force	NOUN
ijassa-808	82	9	in	in	ADP
ijassa-808	82	10	the	the	DET
ijassa-808	82	11	form	form	NOUN
ijassa-808	82	12	of	of	ADP
ijassa-808	82	13	projection	projection	NOUN
ijassa-808	82	14	of	of	ADP
ijassa-808	82	15	forces	force	NOUN
ijassa-808	82	16	and	and	CCONJ
ijassa-808	82	17	moment	moment	NOUN
ijassa-808	82	18	,	,	PUNCT
ijassa-808	82	19	then	then	ADV
ijassa-808	82	20	a	a	DET
ijassa-808	82	21	simplified	simplified	ADJ
ijassa-808	82	22	vessel	vessel	NOUN
ijassa-808	82	23	motion	motion	NOUN
ijassa-808	82	24	model	model	NOUN
ijassa-808	82	25	in	in	ADP
ijassa-808	82	26	the	the	DET
ijassa-808	82	27	horizontal	horizontal	ADJ
ijassa-808	82	28	plane	plane	NOUN
ijassa-808	82	29	will	will	AUX
ijassa-808	82	30	have	have	VERB
ijassa-808	82	31	the	the	DET
ijassa-808	82	32	form	form	NOUN
ijassa-808	82	33	:	:	PUNCT
ijassa-808	82	34			NUM
ijassa-808	82	35			X
ijassa-808	82	36			NUM
ijassa-808	82	37			NOUN
ijassa-808	82	38			PROPN
ijassa-808	82	39	+	+	NOUN
ijassa-808	82	40	=	=	ADJ
ijassa-808	82	41	+	+	X
ijassa-808	82	42	+	+	ADJ
ijassa-808	82	43	=	=	ADJ
ijassa-808	82	44	+	+	X
ijassa-808	82	45	+	+	ADJ
ijassa-808	82	46	=	=	ADJ
ijassa-808	82	47	+	+	NUM
ijassa-808	82	48	zzyz	zzyz	PROPN
ijassa-808	82	49	yyy	yyy	PROPN
ijassa-808	82	50	xxy	xxy	PROPN
ijassa-808	82	51	mmj	mmj	PROPN
ijassa-808	82	52	ffym	ffym	PROPN
ijassa-808	82	53	ffxm	ffxm	PROPN
ijassa-808	82	54			PUNCT
ijassa-808	82	55			X
ijassa-808	82	56			ADJ
ijassa-808	82	57			NOUN
ijassa-808	82	58			NOUN
ijassa-808	82	59			NOUN
ijassa-808	82	60	)	)	PUNCT
ijassa-808	82	61	(	(	PUNCT
ijassa-808	82	62	)	)	PUNCT
ijassa-808	82	63	(	(	PUNCT
ijassa-808	82	64	)	)	PUNCT
ijassa-808	82	65	(	(	PUNCT
ijassa-808	82	66	66	66	NUM
ijassa-808	82	67	22	22	NUM
ijassa-808	82	68	11	11	NUM
ijassa-808	82	69	.	.	PUNCT
ijassa-808	83	1	(	(	PUNCT
ijassa-808	83	2	6	6	X
ijassa-808	83	3	)	)	PUNCT
ijassa-808	83	4	forces	force	NOUN
ijassa-808	83	5	and	and	CCONJ
ijassa-808	83	6	moment	moment	NOUN
ijassa-808	83	7	projection	projection	NOUN
ijassa-808	83	8	values	value	NOUN
ijassa-808	83	9	,	,	PUNCT
ijassa-808	83	10	created	create	VERB
ijassa-808	83	11	by	by	ADP
ijassa-808	83	12	acm	acm	PROPN
ijassa-808	83	13	,	,	PUNCT
ijassa-808	83	14	depend	depend	VERB
ijassa-808	83	15	on	on	ADP
ijassa-808	83	16	the	the	DET
ijassa-808	83	17	number	number	NOUN
ijassa-808	83	18	of	of	ADP
ijassa-808	83	19	acm	acm	NOUN
ijassa-808	83	20	,	,	PUNCT
ijassa-808	83	21	their	their	PRON
ijassa-808	83	22	placement	placement	NOUN
ijassa-808	83	23	on	on	ADP
ijassa-808	83	24	the	the	DET
ijassa-808	83	25	vessel	vessel	NOUN
ijassa-808	83	26	,	,	PUNCT
ijassa-808	83	27	thrusts	thrust	VERB
ijassa-808	83	28	values	value	NOUN
ijassa-808	83	29	created	create	VERB
ijassa-808	83	30	by	by	ADP
ijassa-808	83	31	them	they	PRON
ijassa-808	83	32	,	,	PUNCT
ijassa-808	83	33	and	and	CCONJ
ijassa-808	83	34	their	their	PRON
ijassa-808	83	35	turn	turn	NOUN
ijassa-808	83	36	angles	angle	NOUN
ijassa-808	83	37	as	as	SCONJ
ijassa-808	83	38	regards	regard	VERB
ijassa-808	83	39	the	the	DET
ijassa-808	83	40	center	center	ADJ
ijassa-808	83	41	plane	plane	NOUN
ijassa-808	83	42	of	of	ADP
ijassa-808	83	43	the	the	DET
ijassa-808	83	44	vessel	vessel	NOUN
ijassa-808	83	45	.	.	PUNCT
ijassa-808	84	1	for	for	ADP
ijassa-808	84	2	two	two	NUM
ijassa-808	84	3	acm	acm	NOUN
ijassa-808	84	4	:	:	PUNCT
ijassa-808	84	5			NUM
ijassa-808	84	6			X
ijassa-808	84	7			NUM
ijassa-808	84	8			NOUN
ijassa-808	84	9			PROPN
ijassa-808	84	10	+	+	PROPN
ijassa-808	84	11	+	+	ADJ
ijassa-808	84	12	+	+	ADJ
ijassa-808	84	13	=	=	ADJ
ijassa-808	84	14	+	+	ADJ
ijassa-808	84	15	=	=	ADJ
ijassa-808	84	16	+	+	NOUN
ijassa-808	84	17	=	=	NOUN
ijassa-808	84	18	222111222111	222111222111	NUM
ijassa-808	84	19	2211	2211	NUM
ijassa-808	84	20	2211	2211	NUM
ijassa-808	84	21	sinsincoscos	sinsincosco	NOUN
ijassa-808	84	22	sinsin	sinsin	VERB
ijassa-808	84	23	coscos	coscos	X
ijassa-808	84	24			X
ijassa-808	84	25			VERB
ijassa-808	84	26			VERB
ijassa-808	84	27	pxpxpypym	pxpxpypym	NOUN
ijassa-808	84	28	ppf	ppf	PROPN
ijassa-808	84	29	ppf	ppf	PROPN
ijassa-808	84	30	zy	zy	PROPN
ijassa-808	84	31	yy	yy	INTJ
ijassa-808	84	32	xy	xy	PROPN
ijassa-808	84	33	,	,	PUNCT
ijassa-808	84	34	(	(	PUNCT
ijassa-808	84	35	7	7	X
ijassa-808	84	36	)	)	PUNCT
ijassa-808	84	37	where	where	SCONJ
ijassa-808	84	38	21	21	NUM
ijassa-808	84	39	,	,	PUNCT
ijassa-808	84	40	pp	pp	CCONJ
ijassa-808	84	41	–	–	PUNCT
ijassa-808	84	42	acm	acm	NOUN
ijassa-808	84	43	thrusts	thrust	VERB
ijassa-808	84	44	values	value	NOUN
ijassa-808	84	45	;	;	PUNCT
ijassa-808	84	46	2121	2121	NUM
ijassa-808	84	47	,	,	PUNCT
ijassa-808	84	48	,	,	PUNCT
ijassa-808	84	49	,	,	PUNCT
ijassa-808	84	50	yyxx	yyxx	PROPN
ijassa-808	84	51	–	–	PUNCT
ijassa-808	84	52	coordinates	coordinate	NOUN
ijassa-808	84	53	of	of	ADP
ijassa-808	84	54	acm	acm	NOUN
ijassa-808	84	55	placement	placement	NOUN
ijassa-808	84	56	on	on	ADP
ijassa-808	84	57	the	the	DET
ijassa-808	84	58	vessel	vessel	NOUN
ijassa-808	84	59	;	;	PUNCT
ijassa-808	84	60	21,	21,	X
ijassa-808	84	61	–	–	PUNCT
ijassa-808	84	62	acm	acm	NOUN
ijassa-808	84	63	turn	turn	NOUN
ijassa-808	84	64	angles	angle	NOUN
ijassa-808	84	65	.	.	PUNCT
ijassa-808	85	1	forces	force	NOUN
ijassa-808	85	2	projection	projection	NOUN
ijassa-808	85	3	yx	yx	PROPN
ijassa-808	85	4	ff	ff	NOUN
ijassa-808	85	5	,	,	PUNCT
ijassa-808	85	6	and	and	CCONJ
ijassa-808	85	7	moment	moment	NOUN
ijassa-808	85	8	zm	zm	PROPN
ijassa-808	85	9	represent	represent	VERB
ijassa-808	85	10	the	the	DET
ijassa-808	85	11	algebraic	algebraic	ADJ
ijassa-808	85	12	sum	sum	NOUN
ijassa-808	85	13	of	of	ADP
ijassa-808	85	14	projections	projection	NOUN
ijassa-808	85	15	of	of	ADP
ijassa-808	85	16	forces	force	NOUN
ijassa-808	85	17	and	and	CCONJ
ijassa-808	85	18	moments	moment	NOUN
ijassa-808	85	19	from	from	ADP
ijassa-808	85	20	wind	wind	NOUN
ijassa-808	85	21	,	,	PUNCT
ijassa-808	85	22	current	current	ADJ
ijassa-808	85	23	,	,	PUNCT
ijassa-808	85	24	and	and	CCONJ
ijassa-808	85	25	sea	sea	NOUN
ijassa-808	85	26	disturbance	disturbance	NOUN
ijassa-808	85	27	.	.	PUNCT
ijassa-808	86	1	4	4	X
ijassa-808	86	2	.	.	X
ijassa-808	86	3	synthesis	synthesis	NOUN
ijassa-808	86	4	of	of	ADP
ijassa-808	86	5	the	the	DET
ijassa-808	86	6	optimal	optimal	ADJ
ijassa-808	86	7	linear	linear	PROPN
ijassa-808	86	8	control	control	NOUN
ijassa-808	86	9	for	for	ADP
ijassa-808	86	10	the	the	DET
ijassa-808	86	11	synthesis	synthesis	NOUN
ijassa-808	86	12	problem	problem	NOUN
ijassa-808	86	13	,	,	PUNCT
ijassa-808	86	14	we	we	PRON
ijassa-808	86	15	shall	shall	AUX
ijassa-808	86	16	accept	accept	VERB
ijassa-808	86	17	an	an	DET
ijassa-808	86	18	object	object	NOUN
ijassa-808	86	19	model	model	NOUN
ijassa-808	86	20	in	in	ADP
ijassa-808	86	21	the	the	DET
ijassa-808	86	22	form	form	NOUN
ijassa-808	86	23	(	(	PUNCT
ijassa-808	86	24	6	6	NUM
ijassa-808	86	25	)	)	PUNCT
ijassa-808	86	26	,	,	PUNCT
ijassa-808	86	27	assuming	assume	VERB
ijassa-808	86	28	that	that	SCONJ
ijassa-808	86	29	:	:	PUNCT
ijassa-808	86	30	xmm	xmm	PROPN
ijassa-808	87	1	=	=	PROPN
ijassa-808	88	1	+	+	PROPN
ijassa-808	88	2	11	11	NUM
ijassa-808	88	3	,	,	PUNCT
ijassa-808	88	4	ymm	ymm	NOUN
ijassa-808	89	1	=	=	PUNCT
ijassa-808	89	2	+	+	NUM
ijassa-808	89	3	22	22	NUM
ijassa-808	89	4	,	,	PUNCT
ijassa-808	89	5	zz	zz	PROPN
ijassa-808	89	6	mj	mj	NOUN
ijassa-808	89	7	=	=	PROPN
ijassa-808	90	1	+	+	CCONJ
ijassa-808	90	2	66	66	NOUN
ijassa-808	90	3	,	,	PUNCT
ijassa-808	90	4	0	0	NUM
ijassa-808	90	5	xyxy	xyxy	NUM
ijassa-808	91	1	ff	ff	NOUN
ijassa-808	91	2	=	=	SYM
ijassa-808	91	3	,	,	PUNCT
ijassa-808	91	4	0	0	NUM
ijassa-808	91	5	yyyy	yyyy	PROPN
ijassa-808	91	6	ff	ff	PROPN
ijassa-808	92	1	=	=	PUNCT
ijassa-808	92	2	,	,	PUNCT
ijassa-808	92	3	0	0	NUM
ijassa-808	92	4	zyzy	zyzy	PROPN
ijassa-808	92	5	mm	mm	PROPN
ijassa-808	92	6	=	=	PUNCT
ijassa-808	92	7	.	.	PUNCT
ijassa-808	93	1	it	it	PRON
ijassa-808	93	2	means	mean	VERB
ijassa-808	93	3	that	that	SCONJ
ijassa-808	93	4	we	we	PRON
ijassa-808	93	5	shall	shall	AUX
ijassa-808	93	6	design	design	VERB
ijassa-808	93	7	a	a	DET
ijassa-808	93	8	control	control	NOUN
ijassa-808	93	9	contour	contour	NOUN
ijassa-808	93	10	,	,	PUNCT
ijassa-808	93	11	which	which	PRON
ijassa-808	93	12	works	work	VERB
ijassa-808	93	13	on	on	ADP
ijassa-808	93	14	the	the	DET
ijassa-808	93	15	principle	principle	NOUN
ijassa-808	93	16	of	of	ADP
ijassa-808	93	17	removal	removal	NOUN
ijassa-808	93	18	of	of	ADP
ijassa-808	93	19	random	random	ADJ
ijassa-808	93	20	deflections	deflection	NOUN
ijassa-808	93	21	of	of	ADP
ijassa-808	93	22	variables	variable	NOUN
ijassa-808	93	23	from	from	ADP
ijassa-808	93	24	the	the	DET
ijassa-808	93	25	required	require	VERB
ijassa-808	93	26	values	value	NOUN
ijassa-808	93	27	.	.	PUNCT
ijassa-808	94	1	a	a	DET
ijassa-808	94	2	mathematical	mathematical	ADJ
ijassa-808	94	3	model	model	NOUN
ijassa-808	94	4	of	of	ADP
ijassa-808	94	5	the	the	DET
ijassa-808	94	6	control	control	NOUN
ijassa-808	94	7	object	object	NOUN
ijassa-808	94	8	can	can	AUX
ijassa-808	94	9	be	be	AUX
ijassa-808	94	10	given	give	VERB
ijassa-808	94	11	by	by	ADP
ijassa-808	94	12	:	:	PUNCT
ijassa-808	94	13			NUM
ijassa-808	94	14			NUM
ijassa-808	94	15			NOUN
ijassa-808	94	16			NOUN
ijassa-808	94	17			INTJ
ijassa-808	95	1			PROPN
ijassa-808	95	2	+	+	NOUN
ijassa-808	95	3	=	=	ADJ
ijassa-808	95	4	+	+	ADJ
ijassa-808	95	5	=	=	ADJ
ijassa-808	95	6	+	+	ADJ
ijassa-808	95	7	=	=	NOUN
ijassa-808	95	8	zzyz	zzyz	PROPN
ijassa-808	95	9	yyyy	yyyy	PROPN
ijassa-808	95	10	xxyx	xxyx	PROPN
ijassa-808	95	11	mmm	mmm	INTJ
ijassa-808	95	12	ffym	ffym	PROPN
ijassa-808	95	13	ffxm	ffxm	VERB
ijassa-808	95	14	0	0	NUM
ijassa-808	95	15	0	0	NUM
ijassa-808	95	16	0	0	NUM
ijassa-808	95	17			NOUN
ijassa-808	95	18			NOUN
ijassa-808	95	19			NOUN
ijassa-808	95	20	.	.	PUNCT
ijassa-808	96	1	(	(	PUNCT
ijassa-808	96	2	8)	8)	NUM
ijassa-808	96	3	we	we	PRON
ijassa-808	96	4	shall	shall	AUX
ijassa-808	96	5	accept	accept	VERB
ijassa-808	96	6	limitations	limitation	NOUN
ijassa-808	96	7	on	on	ADP
ijassa-808	96	8	vessel	vessel	ADJ
ijassa-808	96	9	horizontal	horizontal	ADJ
ijassa-808	96	10	shifts	shift	NOUN
ijassa-808	96	11	:	:	PUNCT
ijassa-808	96	12	222	222	NUM
ijassa-808	96	13	ryx	ryx	NOUN
ijassa-808	96	14	+	+	X
ijassa-808	96	15	,	,	PUNCT
ijassa-808	96	16	(	(	PUNCT
ijassa-808	96	17	9	9	X
ijassa-808	96	18	)	)	PUNCT
ijassa-808	96	19	where	where	SCONJ
ijassa-808	96	20	r	r	NOUN
ijassa-808	96	21	–	–	PUNCT
ijassa-808	96	22	circle	circle	NOUN
ijassa-808	96	23	radius	radius	NOUN
ijassa-808	96	24	,	,	PUNCT
ijassa-808	96	25	which	which	PRON
ijassa-808	96	26	determines	determine	VERB
ijassa-808	96	27	legitimate	legitimate	ADJ
ijassa-808	96	28	vessel	vessel	ADJ
ijassa-808	96	29	horizontal	horizontal	ADJ
ijassa-808	96	30	shifts	shift	NOUN
ijassa-808	96	31	.	.	PUNCT
ijassa-808	97	1	for	for	ADP
ijassa-808	97	2	an	an	DET
ijassa-808	97	3	object	object	NOUN
ijassa-808	97	4	(	(	PUNCT
ijassa-808	97	5	8)	8)	NUM
ijassa-808	97	6	with	with	ADP
ijassa-808	97	7	limitations	limitation	NOUN
ijassa-808	97	8	(	(	PUNCT
ijassa-808	97	9	9	9	X
ijassa-808	97	10	)	)	PUNCT
ijassa-808	97	11	let	let	VERB
ijassa-808	97	12	us	we	PRON
ijassa-808	97	13	consider	consider	VERB
ijassa-808	97	14	a	a	DET
ijassa-808	97	15	problem	problem	NOUN
ijassa-808	97	16	of	of	ADP
ijassa-808	97	17	synthesis	synthesis	NOUN
ijassa-808	97	18	of	of	ADP
ijassa-808	97	19	the	the	DET
ijassa-808	97	20	optimal	optimal	ADJ
ijassa-808	97	21	linear	linear	PROPN
ijassa-808	97	22	control	control	NOUN
ijassa-808	97	23	under	under	ADP
ijassa-808	97	24	random	random	ADJ
ijassa-808	97	25	stationary	stationary	ADJ
ijassa-808	97	26	perturbations	perturbation	NOUN
ijassa-808	97	27	.	.	PUNCT
ijassa-808	98	1	as	as	ADP
ijassa-808	98	2	optimal	optimal	ADJ
ijassa-808	98	3	control	control	NOUN
ijassa-808	98	4	under	under	ADP
ijassa-808	98	5	random	random	ADJ
ijassa-808	98	6	perturbations	perturbation	NOUN
ijassa-808	98	7	criterion	criterion	NOUN
ijassa-808	98	8	,	,	PUNCT
ijassa-808	98	9	when	when	SCONJ
ijassa-808	98	10	the	the	DET
ijassa-808	98	11	full	full	ADJ
ijassa-808	98	12	-	-	PUNCT
ijassa-808	98	13	time	time	NOUN
ijassa-808	98	14	of	of	ADP
ijassa-808	98	15	the	the	DET
ijassa-808	98	16	control	control	NOUN
ijassa-808	98	17	is	be	AUX
ijassa-808	98	18	big	big	ADJ
ijassa-808	98	19	enough	enough	ADV
ijassa-808	98	20	,	,	PUNCT
ijassa-808	98	21	we	we	PRON
ijassa-808	98	22	shall	shall	AUX
ijassa-808	98	23	accept	accept	VERB
ijassa-808	98	24	the	the	DET
ijassa-808	98	25	root	root	NOUN
ijassa-808	98	26	-	-	PUNCT
ijassa-808	98	27	mean	mean	ADJ
ijassa-808	98	28	-	-	PUNCT
ijassa-808	98	29	square	square	NOUN
ijassa-808	98	30	criterion	criterion	NOUN
ijassa-808	98	31	,	,	PUNCT
ijassa-808	98	32	which	which	PRON
ijassa-808	98	33	depends	depend	VERB
ijassa-808	98	34	on	on	ADP
ijassa-808	98	35	the	the	DET
ijassa-808	98	36	control	control	NOUN
ijassa-808	98	37	coordinates	coordinate	NOUN
ijassa-808	98	38			PUNCT
ijassa-808	99	1	+	+	PUNCT
ijassa-808	99	2	+	+	ADJ
ijassa-808	99	3	+	+	ADJ
ijassa-808	99	4	+	+	ADJ
ijassa-808	99	5	+	+	ADJ
ijassa-808	99	6	=	=	SYM
ijassa-808	99	7	→	→	PROPN
ijassa-808	99	8	t	t	PROPN
ijassa-808	99	9	zyyyxy	zyyyxy	PROPN
ijassa-808	99	10	t	t	PROPN
ijassa-808	99	11	dtmmfmfmmymxm	dtmmfmfmmymxm	PROPN
ijassa-808	99	12	t	t	PROPN
ijassa-808	99	13	j	j	PROPN
ijassa-808	99	14	0	0	NUM
ijassa-808	99	15	02	02	NUM
ijassa-808	99	16	6	6	NUM
ijassa-808	99	17	02	02	NUM
ijassa-808	99	18	5	5	NUM
ijassa-808	99	19	02	02	NUM
ijassa-808	99	20	4	4	NUM
ijassa-808	99	21	22	22	NUM
ijassa-808	99	22	3	3	NUM
ijassa-808	99	23	22	22	NUM
ijassa-808	99	24	2	2	NUM
ijassa-808	99	25	22	22	NUM
ijassa-808	99	26	1	1	NUM
ijassa-808	99	27	)	)	PUNCT
ijassa-808	99	28	(	(	PUNCT
ijassa-808	99	29	1	1	NUM
ijassa-808	99	30	lim	lim	NOUN
ijassa-808	99	31	222	222	NUM
ijassa-808	99	32			PROPN
ijassa-808	99	33	,	,	PUNCT
ijassa-808	99	34	(	(	PUNCT
ijassa-808	99	35	10	10	NUM
ijassa-808	99	36	)	)	PUNCT
ijassa-808	99	37	where	where	SCONJ
ijassa-808	99	38	)	)	PUNCT
ijassa-808	99	39	6,,2,1	6,,2,1	X
ijassa-808	99	40	(	(	PUNCT
ijassa-808	99	41	=imi	=imi	X
ijassa-808	99	42	–	–	PUNCT
ijassa-808	99	43	weight	weight	NOUN
ijassa-808	99	44	coefficients	coefficient	NOUN
ijassa-808	99	45	,	,	PUNCT
ijassa-808	99	46	which	which	PRON
ijassa-808	99	47	determine	determine	VERB
ijassa-808	99	48	the	the	DET
ijassa-808	99	49	contribution	contribution	NOUN
ijassa-808	99	50	of	of	ADP
ijassa-808	99	51	each	each	DET
ijassa-808	99	52	sum	sum	NOUN
ijassa-808	99	53	and	and	CCONJ
ijassa-808	99	54	in	in	ADP
ijassa-808	99	55	the	the	DET
ijassa-808	99	56	quality	quality	NOUN
ijassa-808	99	57	criterion	criterion	NOUN
ijassa-808	99	58	value	value	NOUN
ijassa-808	99	59	;	;	PUNCT
ijassa-808	99	60	t	t	X
ijassa-808	99	61	–	–	PUNCT
ijassa-808	99	62	the	the	DET
ijassa-808	99	63	full	full	ADJ
ijassa-808	99	64	time	time	NOUN
ijassa-808	99	65	of	of	ADP
ijassa-808	99	66	the	the	DET
ijassa-808	99	67	control	control	NOUN
ijassa-808	99	68	.	.	PUNCT
ijassa-808	100	1	let	let	VERB
ijassa-808	100	2	us	we	PRON
ijassa-808	100	3	convert	convert	VERB
ijassa-808	100	4	inequality	inequality	NOUN
ijassa-808	100	5	(	(	PUNCT
ijassa-808	100	6	9	9	NUM
ijassa-808	100	7	)	)	PUNCT
ijassa-808	100	8	into	into	ADP
ijassa-808	100	9	equality	equality	NOUN
ijassa-808	100	10	constraint	constraint	NOUN
ijassa-808	100	11	by	by	ADP
ijassa-808	100	12	extending	extend	VERB
ijassa-808	100	13	the	the	DET
ijassa-808	100	14	number	number	NOUN
ijassa-808	100	15	of	of	ADP
ijassa-808	100	16	variables	variable	NOUN
ijassa-808	100	17	.	.	PUNCT
ijassa-808	101	1	for	for	ADP
ijassa-808	101	2	this	this	DET
ijassa-808	101	3	purpose	purpose	NOUN
ijassa-808	101	4	,	,	PUNCT
ijassa-808	101	5	let	let	VERB
ijassa-808	101	6	us	we	PRON
ijassa-808	101	7	introduce	introduce	VERB
ijassa-808	101	8	an	an	DET
ijassa-808	101	9	additional	additional	ADJ
ijassa-808	101	10	real	real	ADJ
ijassa-808	101	11	variable	variable	NOUN
ijassa-808	101	12	)	)	PUNCT
ijassa-808	101	13	,	,	PUNCT
ijassa-808	101	14	(	(	PUNCT
ijassa-808	101	15	1	1	NUM
ijassa-808	101	16	−v	−v	NOUN
ijassa-808	101	17	,	,	PUNCT
ijassa-808	101	18	nonlinear	nonlinear	ADJ
ijassa-808	101	19	conversion	conversion	NOUN
ijassa-808	101	20	1v	1v	NUM
ijassa-808	101	21	e	e	NOUN
ijassa-808	101	22	,	,	PUNCT
ijassa-808	101	23	and	and	CCONJ
ijassa-808	101	24	write	write	VERB
ijassa-808	101	25	over	over	ADP
ijassa-808	101	26	(	(	PUNCT
ijassa-808	101	27	9	9	NUM
ijassa-808	101	28	)	)	PUNCT
ijassa-808	101	29	in	in	ADP
ijassa-808	101	30	the	the	DET
ijassa-808	101	31	form	form	NOUN
ijassa-808	101	32	of	of	ADP
ijassa-808	101	33	equivalent	equivalent	ADJ
ijassa-808	101	34	constraint	constraint	NOUN
ijassa-808	101	35	6	6	NUM
ijassa-808	101	36	v.	v.	ADP
ijassa-808	101	37	kramar	kramar	PROPN
ijassa-808	101	38	,	,	PUNCT
ijassa-808	101	39	v.	v.	ADP
ijassa-808	101	40	alchakov	alchakov	PROPN
ijassa-808	101	41	,	,	PUNCT
ijassa-808	101	42	a.	a.	PROPN
ijassa-808	101	43	osadchenko	osadchenko	PROPN
ijassa-808	101	44	copyright	copyright	NOUN
ijassa-808	101	45	©	©	PROPN
ijassa-808	101	46	2021	2021	NUM
ijassa-808	101	47	assa	assa	NOUN
ijassa-808	101	48	.	.	PUNCT
ijassa-808	102	1	adv	adv	PROPN
ijassa-808	102	2	.	.	PUNCT
ijassa-808	103	1	in	in	ADP
ijassa-808	103	2	systems	system	NOUN
ijassa-808	103	3	science	science	NOUN
ijassa-808	103	4	and	and	CCONJ
ijassa-808	103	5	appl	appl	NOUN
ijassa-808	103	6	.	.	PUNCT
ijassa-808	104	1	(	(	PUNCT
ijassa-808	104	2	2021	2021	NUM
ijassa-808	104	3	)	)	PUNCT
ijassa-808	104	4	02221	02221	NUM
ijassa-808	105	1	=	=	PUNCT
ijassa-808	105	2	+	+	NOUN
ijassa-808	105	3	+	+	ADJ
ijassa-808	105	4	−	−	PROPN
ijassa-808	105	5	yxre	yxre	NOUN
ijassa-808	105	6	v	v	NOUN
ijassa-808	105	7	.	.	PUNCT
ijassa-808	106	1	(	(	PUNCT
ijassa-808	106	2	11	11	NUM
ijassa-808	106	3	)	)	PUNCT
ijassa-808	106	4	to	to	PART
ijassa-808	106	5	minimize	minimize	VERB
ijassa-808	106	6	the	the	DET
ijassa-808	106	7	performance	performance	NOUN
ijassa-808	106	8	functional	functional	ADJ
ijassa-808	106	9	(	(	PUNCT
ijassa-808	106	10	10	10	NUM
ijassa-808	106	11	)	)	PUNCT
ijassa-808	106	12	under	under	ADP
ijassa-808	106	13	constraints	constraint	NOUN
ijassa-808	106	14	(	(	PUNCT
ijassa-808	106	15	8)	8)	NUM
ijassa-808	106	16	,	,	PUNCT
ijassa-808	106	17	(	(	PUNCT
ijassa-808	106	18	11	11	NUM
ijassa-808	106	19	)	)	PUNCT
ijassa-808	106	20	let	let	VERB
ijassa-808	106	21	us	we	PRON
ijassa-808	106	22	make	make	VERB
ijassa-808	106	23	use	use	NOUN
ijassa-808	106	24	of	of	ADP
ijassa-808	106	25	the	the	DET
ijassa-808	106	26	lagrange	lagrange	NOUN
ijassa-808	106	27	multiplier	multipli	ADJ
ijassa-808	106	28	method	method	NOUN
ijassa-808	106	29	and	and	CCONJ
ijassa-808	106	30	the	the	DET
ijassa-808	106	31	necessary	necessary	ADJ
ijassa-808	106	32	conditions	condition	NOUN
ijassa-808	106	33	in	in	ADP
ijassa-808	106	34	the	the	DET
ijassa-808	106	35	form	form	NOUN
ijassa-808	106	36	of	of	ADP
ijassa-808	106	37	the	the	DET
ijassa-808	106	38	euler	euler	NOUN
ijassa-808	106	39	-	-	PUNCT
ijassa-808	106	40	poisson	poisson	NOUN
ijassa-808	106	41	equation	equation	NOUN
ijassa-808	106	42	.	.	PUNCT
ijassa-808	107	1	lagrange	lagrange	PROPN
ijassa-808	107	2	function	function	NOUN
ijassa-808	107	3	will	will	AUX
ijassa-808	107	4	be	be	AUX
ijassa-808	107	5	written	write	VERB
ijassa-808	107	6	in	in	ADP
ijassa-808	107	7	the	the	DET
ijassa-808	107	8	form	form	NOUN
ijassa-808	107	9	of	of	ADP
ijassa-808	107	10	)	)	PUNCT
ijassa-808	107	11	,	,	PUNCT
ijassa-808	107	12	(	(	PUNCT
ijassa-808	107	13	)	)	PUNCT
ijassa-808	107	14	(	(	PUNCT
ijassa-808	107	15	)	)	PUNCT
ijassa-808	107	16	(	(	PUNCT
ijassa-808	107	17	)	)	PUNCT
ijassa-808	107	18	(	(	PUNCT
ijassa-808	107	19	222	222	NUM
ijassa-808	107	20	4	4	NUM
ijassa-808	107	21	0	0	NUM
ijassa-808	107	22	3	3	NUM
ijassa-808	107	23	0	0	NUM
ijassa-808	107	24	2	2	NUM
ijassa-808	107	25	0	0	NUM
ijassa-808	107	26	1	1	NUM
ijassa-808	107	27	02	02	NUM
ijassa-808	107	28	6	6	NUM
ijassa-808	107	29	02	02	NUM
ijassa-808	107	30	5	5	NUM
ijassa-808	107	31	02	02	NUM
ijassa-808	107	32	4	4	NUM
ijassa-808	107	33	22	22	NUM
ijassa-808	107	34	3	3	NUM
ijassa-808	107	35	22	22	NUM
ijassa-808	107	36	2	2	NUM
ijassa-808	107	37	22	22	NUM
ijassa-808	107	38	1	1	NUM
ijassa-808	107	39	1	1	NUM
ijassa-808	107	40	222	222	NUM
ijassa-808	107	41	yxre	yxre	NOUN
ijassa-808	107	42	mmmffymff	mmmffymff	PROPN
ijassa-808	107	43	xmmmfmfmmymxml	xmmmfmfmmymxml	PROPN
ijassa-808	107	44	v	v	ADP
ijassa-808	107	45	zzyzyyyyxxy	zzyzyyyyxxy	NOUN
ijassa-808	107	46	xzyyyxy	xzyyyxy	PROPN
ijassa-808	108	1	+	+	PROPN
ijassa-808	109	1	+	+	PROPN
ijassa-808	109	2	−+	−+	ADJ
ijassa-808	109	3	+	+	ADJ
ijassa-808	109	4	−−+−−+−−	−−+−−+−−	PROPN
ijassa-808	109	5	−++++++=	−++++++=	ADJ
ijassa-808	109	6			ADJ
ijassa-808	109	7			X
ijassa-808	109	8			PROPN
ijassa-808	109	9			PROPN
ijassa-808	109	10			NOUN
ijassa-808	109	11	(	(	PUNCT
ijassa-808	109	12	12	12	NUM
ijassa-808	109	13	)	)	PUNCT
ijassa-808	109	14	where	where	SCONJ
ijassa-808	109	15	)	)	PUNCT
ijassa-808	109	16	4,3,2,1	4,3,2,1	NUM
ijassa-808	109	17	(	(	PUNCT
ijassa-808	109	18	=	=	VERB
ijassa-808	109	19	jj	jj	ADJ
ijassa-808	109	20	–	–	PUNCT
ijassa-808	109	21	lagrange	lagrange	ADJ
ijassa-808	109	22	indefinite	indefinite	ADJ
ijassa-808	109	23	multipliers	multiplier	NOUN
ijassa-808	109	24	,	,	PUNCT
ijassa-808	109	25	some	some	DET
ijassa-808	109	26	functions	function	NOUN
ijassa-808	109	27	of	of	ADP
ijassa-808	109	28	time	time	NOUN
ijassa-808	109	29	.	.	PUNCT
ijassa-808	110	1	necessary	necessary	ADJ
ijassa-808	110	2	conditions	condition	NOUN
ijassa-808	110	3	for	for	ADP
ijassa-808	110	4	the	the	DET
ijassa-808	110	5	minimum	minimum	ADJ
ijassa-808	110	6	criterion	criterion	NOUN
ijassa-808	110	7	(	(	PUNCT
ijassa-808	110	8	10	10	NUM
ijassa-808	110	9	)	)	PUNCT
ijassa-808	110	10	in	in	ADP
ijassa-808	110	11	the	the	DET
ijassa-808	110	12	form	form	NOUN
ijassa-808	110	13	of	of	ADP
ijassa-808	110	14	the	the	DET
ijassa-808	110	15	euler	euler	NOUN
ijassa-808	110	16	-	-	PUNCT
ijassa-808	110	17	poisson	poisson	NOUN
ijassa-808	110	18	equation	equation	NOUN
ijassa-808	110	19	will	will	AUX
ijassa-808	110	20	be	be	AUX
ijassa-808	110	21	given	give	VERB
ijassa-808	110	22	by	by	ADP
ijassa-808	110	23			NUM
ijassa-808	110	24			NUM
ijassa-808	110	25			NUM
ijassa-808	110	26			NUM
ijassa-808	110	27			NUM
ijassa-808	110	28			NUM
ijassa-808	110	29			NUM
ijassa-808	110	30			NUM
ijassa-808	110	31			NUM
ijassa-808	110	32			NUM
ijassa-808	110	33			NUM
ijassa-808	110	34			NUM
ijassa-808	110	35			NUM
ijassa-808	110	36			NUM
ijassa-808	110	37			NUM
ijassa-808	110	38			NUM
ijassa-808	110	39			NUM
ijassa-808	110	40			NUM
ijassa-808	110	41			PROPN
ijassa-808	110	42	=	=	PROPN
ijassa-808	110	43	−−	−−	NOUN
ijassa-808	110	44	=	=	SYM
ijassa-808	110	45	−	−	PROPN
ijassa-808	110	46	=	=	NOUN
ijassa-808	110	47	−	−	NOUN
ijassa-808	110	48	=	=	NOUN
ijassa-808	110	49	−	−	X
ijassa-808	110	50	=	=	NOUN
ijassa-808	110	51	−−	−−	NOUN
ijassa-808	110	52	=	=	SYM
ijassa-808	110	53	−−	−−	NOUN
ijassa-808	110	54	=	=	NOUN
ijassa-808	110	55	−−	−−	NOUN
ijassa-808	110	56	=	=	SYM
ijassa-808	110	57	+	+	X
ijassa-808	110	58	=	=	ADJ
ijassa-808	110	59	+	+	NOUN
ijassa-808	110	60	+	+	X
ijassa-808	110	61	=	=	ADJ
ijassa-808	110	62	+	+	NOUN
ijassa-808	110	63	+	+	NOUN
ijassa-808	110	64	0)()10	0)()10	NUM
ijassa-808	110	65	02)9	02)9	PRON
ijassa-808	110	66	02)8	02)8	NUM
ijassa-808	110	67	02)7	02)7	NUM
ijassa-808	110	68	0)6	0)6	NUM
ijassa-808	110	69	0)5	0)5	NUM
ijassa-808	110	70	0)4	0)4	PROPN
ijassa-808	110	71	02)3	02)3	NUM
ijassa-808	110	72	022)2	022)2	NOUN
ijassa-808	110	73	022)1	022)1	NOUN
ijassa-808	110	74	222	222	NUM
ijassa-808	110	75	4	4	NUM
ijassa-808	110	76	3	3	NUM
ijassa-808	110	77	02	02	NUM
ijassa-808	110	78	6	6	NUM
ijassa-808	110	79	2	2	NUM
ijassa-808	110	80	02	02	NUM
ijassa-808	110	81	5	5	NUM
ijassa-808	110	82	1	1	NUM
ijassa-808	110	83	02	02	NUM
ijassa-808	110	84	4	4	NUM
ijassa-808	110	85	0	0	NUM
ijassa-808	110	86	0	0	NUM
ijassa-808	110	87	0	0	NUM
ijassa-808	110	88	3	3	NUM
ijassa-808	110	89	2	2	NUM
ijassa-808	110	90	3	3	NUM
ijassa-808	110	91	24	24	NUM
ijassa-808	110	92	2	2	NUM
ijassa-808	110	93	2	2	NUM
ijassa-808	110	94	14	14	NUM
ijassa-808	110	95	2	2	NUM
ijassa-808	110	96	1	1	NUM
ijassa-808	110	97	yxr	yxr	NOUN
ijassa-808	110	98	mm	mm	NOUN
ijassa-808	110	99	fm	fm	NOUN
ijassa-808	110	100	fm	fm	PROPN
ijassa-808	110	101	mmm	mmm	PROPN
ijassa-808	110	102	ffym	ffym	PROPN
ijassa-808	110	103	ffxm	ffxm	PROPN
ijassa-808	110	104	mm	mm	PROPN
ijassa-808	110	105	myym	myym	NOUN
ijassa-808	110	106	mxxm	mxxm	NOUN
ijassa-808	111	1	zy	zy	PROPN
ijassa-808	111	2	yy	yy	PROPN
ijassa-808	111	3	xy	xy	PROPN
ijassa-808	111	4	zzyz	zzyz	PROPN
ijassa-808	111	5	yyyy	yyyy	PROPN
ijassa-808	111	6	xxyx	xxyx	PROPN
ijassa-808	111	7	z	z	PROPN
ijassa-808	111	8	y	y	PROPN
ijassa-808	111	9	x	x	PROPN
ijassa-808	111	10			X
ijassa-808	111	11			ADJ
ijassa-808	111	12			ADJ
ijassa-808	111	13			ADJ
ijassa-808	111	14			PROPN
ijassa-808	111	15			PROPN
ijassa-808	111	16			ADJ
ijassa-808	111	17			PROPN
ijassa-808	111	18			NOUN
ijassa-808	111	19			NOUN
ijassa-808	111	20			NOUN
ijassa-808	111	21			NOUN
ijassa-808	111	22			NOUN
ijassa-808	111	23			NOUN
ijassa-808	111	24	.	.	PUNCT
ijassa-808	112	1	(	(	PUNCT
ijassa-808	112	2	13	13	NUM
ijassa-808	112	3	)	)	PUNCT
ijassa-808	112	4	it	it	PRON
ijassa-808	112	5	should	should	AUX
ijassa-808	112	6	be	be	AUX
ijassa-808	112	7	noted	note	VERB
ijassa-808	112	8	that	that	SCONJ
ijassa-808	112	9	the	the	DET
ijassa-808	112	10	last	last	ADJ
ijassa-808	112	11	equation	equation	NOUN
ijassa-808	112	12	in	in	ADP
ijassa-808	112	13	(	(	PUNCT
ijassa-808	112	14	13	13	NUM
ijassa-808	112	15	)	)	PUNCT
ijassa-808	112	16	appeared	appear	VERB
ijassa-808	112	17	due	due	ADJ
ijassa-808	112	18	to	to	ADP
ijassa-808	112	19	constraints	constraint	NOUN
ijassa-808	112	20	(	(	PUNCT
ijassa-808	112	21	12	12	NUM
ijassa-808	112	22	)	)	PUNCT
ijassa-808	112	23	under	under	ADP
ijassa-808	112	24	differentiation	differentiation	NOUN
ijassa-808	112	25	of	of	ADP
ijassa-808	112	26	the	the	DET
ijassa-808	112	27	last	last	ADJ
ijassa-808	112	28	term	term	NOUN
ijassa-808	112	29	in	in	ADP
ijassa-808	112	30	(	(	PUNCT
ijassa-808	112	31	13	13	NUM
ijassa-808	112	32	)	)	PUNCT
ijassa-808	112	33	by	by	ADP
ijassa-808	112	34	4	4	NUM
ijassa-808	112	35	and	and	CCONJ
ijassa-808	112	36	1v	1v	NUM
ijassa-808	112	37	combination	combination	NOUN
ijassa-808	112	38	of	of	ADP
ijassa-808	112	39	the	the	DET
ijassa-808	112	40	obtained	obtain	VERB
ijassa-808	112	41	correlations	correlation	NOUN
ijassa-808	112	42	into	into	ADP
ijassa-808	112	43	one	one	NUM
ijassa-808	112	44	equation	equation	NOUN
ijassa-808	112	45	.	.	PUNCT
ijassa-808	113	1	this	this	DET
ijassa-808	113	2	equation	equation	NOUN
ijassa-808	113	3	is	be	AUX
ijassa-808	113	4	satisfied	satisfied	ADJ
ijassa-808	113	5	under	under	ADP
ijassa-808	113	6	any	any	DET
ijassa-808	113	7	yx	yx	NOUN
ijassa-808	113	8	,	,	PUNCT
ijassa-808	113	9	if	if	SCONJ
ijassa-808	113	10	04	04	NUM
ijassa-808	113	11	=	=	NOUN
ijassa-808	113	12			NOUN
ijassa-808	113	13	or	or	CCONJ
ijassa-808	113	14	under	under	ADP
ijassa-808	113	15	any	any	DET
ijassa-808	113	16	finite	finite	NOUN
ijassa-808	113	17	4	4	NUM
ijassa-808	113	18	,	,	PUNCT
ijassa-808	113	19	if	if	SCONJ
ijassa-808	113	20	0222	0222	NUM
ijassa-808	113	21	=	=	SYM
ijassa-808	113	22	+	+	NOUN
ijassa-808	113	23	−	−	NOUN
ijassa-808	113	24	yxr	yxr	NOUN
ijassa-808	113	25	.	.	PUNCT
ijassa-808	114	1	the	the	DET
ijassa-808	114	2	last	last	ADJ
ijassa-808	114	3	condition	condition	NOUN
ijassa-808	114	4	corresponds	correspond	VERB
ijassa-808	114	5	with	with	ADP
ijassa-808	114	6	the	the	DET
ijassa-808	114	7	presence	presence	NOUN
ijassa-808	114	8	of	of	ADP
ijassa-808	114	9	the	the	DET
ijassa-808	114	10	vessel	vessel	NOUN
ijassa-808	114	11	in	in	ADP
ijassa-808	114	12	the	the	DET
ijassa-808	114	13	boundary	boundary	NOUN
ijassa-808	114	14	of	of	ADP
ijassa-808	114	15	the	the	DET
ijassa-808	114	16	admissible	admissible	ADJ
ijassa-808	114	17	deviation	deviation	NOUN
ijassa-808	114	18	domain	domain	NOUN
ijassa-808	114	19	.	.	PUNCT
ijassa-808	115	1	from	from	ADP
ijassa-808	115	2	a	a	DET
ijassa-808	115	3	physical	physical	ADJ
ijassa-808	115	4	standpoint	standpoint	NOUN
ijassa-808	115	5	,	,	PUNCT
ijassa-808	115	6	it	it	PRON
ijassa-808	115	7	can	can	AUX
ijassa-808	115	8	not	not	PART
ijassa-808	115	9	be	be	AUX
ijassa-808	115	10	realized	realize	VERB
ijassa-808	115	11	for	for	ADP
ijassa-808	115	12	a	a	DET
ijassa-808	115	13	long	long	ADJ
ijassa-808	115	14	time	time	NOUN
ijassa-808	115	15	,	,	PUNCT
ijassa-808	115	16	as	as	SCONJ
ijassa-808	115	17	the	the	DET
ijassa-808	115	18	vessel	vessel	NOUN
ijassa-808	115	19	under	under	ADP
ijassa-808	115	20	the	the	DET
ijassa-808	115	21	reduced	reduce	VERB
ijassa-808	115	22	output	output	NOUN
ijassa-808	115	23	of	of	ADP
ijassa-808	115	24	the	the	DET
ijassa-808	115	25	acm	acm	NOUN
ijassa-808	115	26	can	can	AUX
ijassa-808	115	27	only	only	ADV
ijassa-808	115	28	cross	cross	VERB
ijassa-808	115	29	this	this	DET
ijassa-808	115	30	boundary	boundary	NOUN
ijassa-808	115	31	.	.	PUNCT
ijassa-808	116	1	thus	thus	ADV
ijassa-808	116	2	,	,	PUNCT
ijassa-808	116	3	there	there	PRON
ijassa-808	116	4	is	be	VERB
ijassa-808	116	5	no	no	DET
ijassa-808	116	6	need	need	NOUN
ijassa-808	116	7	to	to	PART
ijassa-808	116	8	switch	switch	VERB
ijassa-808	116	9	over	over	ADP
ijassa-808	116	10	controls	control	NOUN
ijassa-808	116	11	and	and	CCONJ
ijassa-808	117	1	04	04	NUM
ijassa-808	117	2	=	=	NOUN
ijassa-808	117	3			X
ijassa-808	117	4	must	must	AUX
ijassa-808	117	5	be	be	AUX
ijassa-808	117	6	set	set	VERB
ijassa-808	117	7	.	.	PUNCT
ijassa-808	118	1	it	it	PRON
ijassa-808	118	2	means	mean	VERB
ijassa-808	118	3	,	,	PUNCT
ijassa-808	118	4	that	that	SCONJ
ijassa-808	118	5	constraints	constraint	NOUN
ijassa-808	118	6	(	(	PUNCT
ijassa-808	118	7	8)	8)	NUM
ijassa-808	118	8	and	and	CCONJ
ijassa-808	118	9	equivalent	equivalent	ADJ
ijassa-808	118	10	to	to	ADP
ijassa-808	118	11	them	they	PRON
ijassa-808	118	12	(	(	PUNCT
ijassa-808	118	13	11	11	NUM
ijassa-808	118	14	)	)	PUNCT
ijassa-808	118	15	can	can	AUX
ijassa-808	118	16	be	be	AUX
ijassa-808	118	17	disregarded	disregard	VERB
ijassa-808	118	18	under	under	ADP
ijassa-808	118	19	the	the	DET
ijassa-808	118	20	synthesis	synthesis	NOUN
ijassa-808	118	21	of	of	ADP
ijassa-808	118	22	optimal	optimal	ADJ
ijassa-808	118	23	controls	control	NOUN
ijassa-808	118	24	.	.	PUNCT
ijassa-808	119	1	it	it	PRON
ijassa-808	119	2	is	be	AUX
ijassa-808	119	3	enough	enough	ADJ
ijassa-808	119	4	to	to	PART
ijassa-808	119	5	have	have	VERB
ijassa-808	119	6	optimal	optimal	ADJ
ijassa-808	119	7	controls	control	NOUN
ijassa-808	119	8	when	when	SCONJ
ijassa-808	119	9	the	the	DET
ijassa-808	119	10	vessel	vessel	NOUN
ijassa-808	119	11	faces	face	VERB
ijassa-808	119	12	admissible	admissible	ADJ
ijassa-808	119	13	boundaries	boundary	NOUN
ijassa-808	119	14	.	.	PUNCT
ijassa-808	120	1	the	the	DET
ijassa-808	120	2	synthesis	synthesis	NOUN
ijassa-808	120	3	of	of	ADP
ijassa-808	120	4	optimal	optimal	ADJ
ijassa-808	120	5	linear	linear	ADJ
ijassa-808	120	6	controls	control	NOUN
ijassa-808	120	7	satisfies	satisfy	VERB
ijassa-808	120	8	these	these	DET
ijassa-808	120	9	conditions	condition	NOUN
ijassa-808	120	10	.	.	PUNCT
ijassa-808	121	1	at	at	ADP
ijassa-808	121	2	that	that	PRON
ijassa-808	121	3	,	,	PUNCT
ijassa-808	121	4	the	the	DET
ijassa-808	121	5	set	set	NOUN
ijassa-808	121	6	of	of	ADP
ijassa-808	121	7	equations	equation	NOUN
ijassa-808	121	8	(	(	PUNCT
ijassa-808	121	9	13	13	NUM
ijassa-808	121	10	)	)	PUNCT
ijassa-808	121	11	falls	fall	VERB
ijassa-808	121	12	into	into	ADP
ijassa-808	121	13	three	three	NUM
ijassa-808	121	14	independent	independent	ADJ
ijassa-808	121	15	subsystems	subsystem	NOUN
ijassa-808	121	16	:	:	PUNCT
ijassa-808	121	17	1	1	X
ijassa-808	121	18	)	)	PUNCT
ijassa-808	121	19	equations	equation	NOUN
ijassa-808	121	20	number	number	NOUN
ijassa-808	121	21	(	(	PUNCT
ijassa-808	121	22	1	1	NUM
ijassa-808	121	23	)	)	PUNCT
ijassa-808	121	24	,	,	PUNCT
ijassa-808	121	25	(	(	PUNCT
ijassa-808	121	26	4	4	NUM
ijassa-808	121	27	)	)	PUNCT
ijassa-808	121	28	,	,	PUNCT
ijassa-808	121	29	(	(	PUNCT
ijassa-808	121	30	7	7	NUM
ijassa-808	121	31	)	)	PUNCT
ijassa-808	121	32	;	;	PUNCT
ijassa-808	121	33	2	2	X
ijassa-808	121	34	)	)	PUNCT
ijassa-808	121	35	equations	equation	NOUN
ijassa-808	121	36	number	number	NOUN
ijassa-808	121	37	(	(	PUNCT
ijassa-808	121	38	2	2	NUM
ijassa-808	121	39	)	)	PUNCT
ijassa-808	121	40	,	,	PUNCT
ijassa-808	121	41	(	(	PUNCT
ijassa-808	121	42	5	5	NUM
ijassa-808	121	43	)	)	PUNCT
ijassa-808	121	44	,	,	PUNCT
ijassa-808	121	45	(	(	PUNCT
ijassa-808	121	46	8)	8)	NUM
ijassa-808	121	47	;	;	PUNCT
ijassa-808	121	48	3	3	NUM
ijassa-808	121	49	)	)	PUNCT
ijassa-808	121	50	equations	equation	NOUN
ijassa-808	121	51	number	number	NOUN
ijassa-808	121	52	(	(	PUNCT
ijassa-808	121	53	3	3	NUM
ijassa-808	121	54	)	)	PUNCT
ijassa-808	121	55	,	,	PUNCT
ijassa-808	121	56	(	(	PUNCT
ijassa-808	121	57	6	6	NUM
ijassa-808	121	58	)	)	PUNCT
ijassa-808	121	59	,	,	PUNCT
ijassa-808	121	60	(	(	PUNCT
ijassa-808	121	61	9	9	NUM
ijassa-808	121	62	)	)	PUNCT
ijassa-808	121	63	,	,	PUNCT
ijassa-808	121	64	when	when	SCONJ
ijassa-808	121	65	04	04	NUM
ijassa-808	121	66	=	=	NOUN
ijassa-808	121	67			X
ijassa-808	121	68	.	.	PUNCT
ijassa-808	122	1	each	each	DET
ijassa-808	122	2	subsystem	subsystem	NOUN
ijassa-808	122	3	gives	give	VERB
ijassa-808	122	4	equations	equation	NOUN
ijassa-808	122	5	for	for	ADP
ijassa-808	122	6	extremals	extremal	NOUN
ijassa-808	122	7	which	which	PRON
ijassa-808	122	8	correspond	correspond	VERB
ijassa-808	122	9	to	to	ADP
ijassa-808	122	10	the	the	DET
ijassa-808	122	11	coordinates	coordinate	NOUN
ijassa-808	122	12	and	and	CCONJ
ijassa-808	122	13	controls	control	VERB
ijassa-808	122	14	xxx	xxx	PROPN
ijassa-808	122	15	fpmmxmpmm	fpmmxmpmm	VERB
ijassa-808	122	16	22	22	NUM
ijassa-808	122	17	4	4	NUM
ijassa-808	122	18	2	2	NUM
ijassa-808	122	19	1	1	NUM
ijassa-808	122	20	42	42	NUM
ijassa-808	122	21	4	4	NUM
ijassa-808	122	22	2	2	NUM
ijassa-808	122	23	)	)	PUNCT
ijassa-808	122	24	(	(	PUNCT
ijassa-808	123	1	=	=	SYM
ijassa-808	123	2	+	+	NUM
ijassa-808	123	3	,	,	PUNCT
ijassa-808	123	4	(	(	PUNCT
ijassa-808	123	5	14	14	NUM
ijassa-808	123	6	)	)	PUNCT
ijassa-808	123	7	xxyx	xxyx	NOUN
ijassa-808	123	8	fmfmpmm	fmfmpmm	VERB
ijassa-808	123	9	2	2	NUM
ijassa-808	123	10	1	1	NUM
ijassa-808	123	11	02	02	NUM
ijassa-808	123	12	1	1	NUM
ijassa-808	123	13	42	42	NUM
ijassa-808	123	14	4	4	NUM
ijassa-808	123	15	2	2	NUM
ijassa-808	123	16	)	)	PUNCT
ijassa-808	123	17	(	(	PUNCT
ijassa-808	123	18	−=+	−=+	NOUN
ijassa-808	123	19	,	,	PUNCT
ijassa-808	123	20	(	(	PUNCT
ijassa-808	123	21	15	15	NUM
ijassa-808	123	22	)	)	PUNCT
ijassa-808	123	23	yyy	yyy	NOUN
ijassa-808	123	24	fpmmympmm	fpmmympmm	VERB
ijassa-808	123	25	22	22	NUM
ijassa-808	123	26	5	5	NUM
ijassa-808	123	27	2	2	NUM
ijassa-808	123	28	2	2	NUM
ijassa-808	123	29	42	42	NUM
ijassa-808	123	30	3	3	NUM
ijassa-808	123	31	2	2	NUM
ijassa-808	123	32	)	)	PUNCT
ijassa-808	123	33	(	(	PUNCT
ijassa-808	123	34	=	=	SYM
ijassa-808	123	35	+	+	NUM
ijassa-808	123	36	,	,	PUNCT
ijassa-808	123	37	(	(	PUNCT
ijassa-808	123	38	16	16	NUM
ijassa-808	123	39	)	)	PUNCT
ijassa-808	123	40	yyyy	yyyy	NOUN
ijassa-808	123	41	fmfmpmm	fmfmpmm	VERB
ijassa-808	123	42	2	2	NUM
ijassa-808	123	43	2	2	NUM
ijassa-808	123	44	02	02	NUM
ijassa-808	123	45	2	2	NUM
ijassa-808	123	46	42	42	NUM
ijassa-808	123	47	5	5	NUM
ijassa-808	123	48	2	2	NUM
ijassa-808	123	49	)	)	PUNCT
ijassa-808	123	50	(	(	PUNCT
ijassa-808	123	51	−=+	−=+	NOUN
ijassa-808	123	52	,	,	PUNCT
ijassa-808	123	53	(	(	PUNCT
ijassa-808	123	54	17	17	NUM
ijassa-808	123	55	)	)	PUNCT
ijassa-808	123	56	the	the	DET
ijassa-808	123	57	optimal	optimal	ADJ
ijassa-808	123	58	control	control	NOUN
ijassa-808	123	59	of	of	ADP
ijassa-808	123	60	the	the	DET
ijassa-808	123	61	vessel	vessel	NOUN
ijassa-808	123	62	’s	’s	PART
ijassa-808	123	63	automatic	automatic	ADJ
ijassa-808	123	64	dynamic	dynamic	ADJ
ijassa-808	123	65	positioning	positioning	NOUN
ijassa-808	123	66	system	system	NOUN
ijassa-808	123	67	...	...	PUNCT
ijassa-808	123	68	7	7	NUM
ijassa-808	123	69	copyright	copyright	NOUN
ijassa-808	123	70	©	©	PROPN
ijassa-808	123	71	2021	2021	NUM
ijassa-808	123	72	assa	assa	NOUN
ijassa-808	123	73	.	.	PUNCT
ijassa-808	124	1	adv	adv	PROPN
ijassa-808	124	2	.	.	PUNCT
ijassa-808	125	1	in	in	ADP
ijassa-808	125	2	systems	system	NOUN
ijassa-808	125	3	science	science	NOUN
ijassa-808	125	4	and	and	CCONJ
ijassa-808	125	5	appl	appl	NOUN
ijassa-808	125	6	.	.	PUNCT
ijassa-808	126	1	(	(	PUNCT
ijassa-808	126	2	2021	2021	NUM
ijassa-808	126	3	)	)	PUNCT
ijassa-808	126	4	zzz	zzz	PROPN
ijassa-808	126	5	mpmmmpmm	mpmmmpmm	VERB
ijassa-808	126	6	22	22	NUM
ijassa-808	126	7	6	6	NUM
ijassa-808	126	8	2	2	NUM
ijassa-808	126	9	3	3	NUM
ijassa-808	126	10	42	42	NUM
ijassa-808	126	11	5	5	NUM
ijassa-808	126	12	2	2	NUM
ijassa-808	126	13	)	)	PUNCT
ijassa-808	126	14	(	(	PUNCT
ijassa-808	127	1	=	=	X
ijassa-808	127	2	+	+	X
ijassa-808	127	3			ADJ
ijassa-808	127	4	,	,	PUNCT
ijassa-808	127	5	(	(	PUNCT
ijassa-808	127	6	18	18	NUM
ijassa-808	127	7	)	)	PUNCT
ijassa-808	127	8	zzyz	zzyz	NOUN
ijassa-808	127	9	mmmmpmm	mmmmpmm	NOUN
ijassa-808	127	10	2	2	NUM
ijassa-808	127	11	3	3	NUM
ijassa-808	127	12	02	02	NUM
ijassa-808	127	13	3	3	NUM
ijassa-808	127	14	42	42	NUM
ijassa-808	127	15	6	6	NUM
ijassa-808	127	16	2	2	NUM
ijassa-808	127	17	)	)	PUNCT
ijassa-808	127	18	(	(	PUNCT
ijassa-808	127	19	−=+	−=+	NOUN
ijassa-808	127	20	,	,	PUNCT
ijassa-808	127	21	(	(	PUNCT
ijassa-808	127	22	19	19	NUM
ijassa-808	127	23	)	)	PUNCT
ijassa-808	127	24	where	where	SCONJ
ijassa-808	127	25	dt	dt	PROPN
ijassa-808	128	1	d	d	X
ijassa-808	128	2	p	p	X
ijassa-808	128	3	=	=	PUNCT
ijassa-808	128	4	–	–	PUNCT
ijassa-808	128	5	operator	operator	NOUN
ijassa-808	128	6	of	of	ADP
ijassa-808	128	7	differentiation	differentiation	NOUN
ijassa-808	128	8	.	.	PUNCT
ijassa-808	129	1	controls	control	NOUN
ijassa-808	129	2	(	(	PUNCT
ijassa-808	129	3	15	15	NUM
ijassa-808	129	4	)	)	PUNCT
ijassa-808	129	5	,	,	PUNCT
ijassa-808	129	6	(	(	PUNCT
ijassa-808	129	7	17	17	NUM
ijassa-808	129	8	)	)	PUNCT
ijassa-808	129	9	,	,	PUNCT
ijassa-808	129	10	(	(	PUNCT
ijassa-808	129	11	19	19	NUM
ijassa-808	129	12	)	)	PUNCT
ijassa-808	129	13	cause	cause	VERB
ijassa-808	129	14	unstable	unstable	ADJ
ijassa-808	129	15	coordinates	coordinate	NOUN
ijassa-808	129	16	motion	motion	NOUN
ijassa-808	129	17	.	.	PUNCT
ijassa-808	130	1	for	for	ADP
ijassa-808	130	2	control	control	NOUN
ijassa-808	130	3	synthesis	synthesis	NOUN
ijassa-808	130	4	,	,	PUNCT
ijassa-808	130	5	which	which	PRON
ijassa-808	130	6	ensures	ensure	VERB
ijassa-808	130	7	stable	stable	ADJ
ijassa-808	130	8	extremals	extremal	NOUN
ijassa-808	130	9	motions	motion	NOUN
ijassa-808	130	10	,	,	PUNCT
ijassa-808	130	11	let	let	VERB
ijassa-808	130	12	us	we	PRON
ijassa-808	130	13	make	make	VERB
ijassa-808	130	14	use	use	NOUN
ijassa-808	130	15	of	of	ADP
ijassa-808	130	16	the	the	DET
ijassa-808	130	17	results	result	NOUN
ijassa-808	130	18	[	[	X
ijassa-808	130	19	8	8	NUM
ijassa-808	130	20	]	]	PUNCT
ijassa-808	130	21	.	.	PUNCT
ijassa-808	131	1	for	for	ADP
ijassa-808	131	2	perturbances	perturbance	NOUN
ijassa-808	131	3	,	,	PUNCT
ijassa-808	131	4	set	set	VERB
ijassa-808	131	5	by	by	ADP
ijassa-808	131	6	correlation	correlation	NOUN
ijassa-808	131	7	functions	function	NOUN
ijassa-808	131	8	of	of	ADP
ijassa-808	131	9	the	the	DET
ijassa-808	131	10	form	form	NOUN
ijassa-808	131	11	)	)	PUNCT
ijassa-808	131	12	3,2,1	3,2,1	NUM
ijassa-808	131	13	(	(	PUNCT
ijassa-808	131	14	,	,	PUNCT
ijassa-808	131	15	)	)	PUNCT
ijassa-808	131	16	(	(	PUNCT
ijassa-808	131	17	=	=	X
ijassa-808	131	18	=	=	SYM
ijassa-808	131	19	−	−	PROPN
ijassa-808	131	20	iek	iek	NUM
ijassa-808	131	21	i	i	PROPN
ijassa-808	131	22	,	,	PUNCT
ijassa-808	131	23	we	we	PRON
ijassa-808	131	24	get	get	VERB
ijassa-808	131	25	control	control	NOUN
ijassa-808	131	26	laws	law	NOUN
ijassa-808	131	27	in	in	ADP
ijassa-808	131	28	the	the	DET
ijassa-808	131	29	form	form	NOUN
ijassa-808	131	30	of	of	ADP
ijassa-808	131	31	xpy	xpy	PROPN
ijassa-808	131	32	mm	mm	PROPN
ijassa-808	131	33	y	y	PROPN
ijassa-808	131	34	pmf	pmf	PROPN
ijassa-808	131	35	x	x	PROPN
ijassa-808	131	36	xxy	xxy	PROPN
ijassa-808	131	37	)	)	PUNCT
ijassa-808	132	1	]	]	PUNCT
ijassa-808	132	2	(	(	PUNCT
ijassa-808	132	3	)	)	PUNCT
ijassa-808	132	4	(	(	PUNCT
ijassa-808	132	5	[	[	PUNCT
ijassa-808	132	6	12	12	NUM
ijassa-808	132	7	1	1	NUM
ijassa-808	132	8	2	2	NUM
ijassa-808	132	9	4	4	NUM
ijassa-808	132	10	1220	1220	NUM
ijassa-808	132	11			NOUN
ijassa-808	132	12			X
ijassa-808	132	13	−=	−=	VERB
ijassa-808	132	14	,	,	PUNCT
ijassa-808	132	15	(	(	PUNCT
ijassa-808	132	16	20	20	NUM
ijassa-808	132	17	)	)	PUNCT
ijassa-808	132	18	ypy	ypy	NOUN
ijassa-808	132	19	mm	mm	INTJ
ijassa-808	132	20	y	y	PROPN
ijassa-808	132	21	pmf	pmf	PROPN
ijassa-808	132	22	y	y	PROPN
ijassa-808	132	23	yyy	yyy	PROPN
ijassa-808	132	24	)	)	PUNCT
ijassa-808	133	1	]	]	PUNCT
ijassa-808	133	2	(	(	PUNCT
ijassa-808	133	3	)	)	PUNCT
ijassa-808	133	4	(	(	PUNCT
ijassa-808	133	5	[	[	PUNCT
ijassa-808	133	6	32	32	NUM
ijassa-808	133	7	2	2	NUM
ijassa-808	133	8	2	2	NUM
ijassa-808	133	9	5	5	NUM
ijassa-808	133	10	2420	2420	NUM
ijassa-808	133	11			NOUN
ijassa-808	133	12			X
ijassa-808	133	13	−=	−=	VERB
ijassa-808	133	14	,	,	PUNCT
ijassa-808	133	15	(	(	PUNCT
ijassa-808	133	16	21	21	NUM
ijassa-808	133	17	)	)	PUNCT
ijassa-808	133	18			ADJ
ijassa-808	133	19			NOUN
ijassa-808	133	20			X
ijassa-808	133	21	)	)	PUNCT
ijassa-808	133	22	]	]	PUNCT
ijassa-808	133	23	(	(	PUNCT
ijassa-808	133	24	)	)	PUNCT
ijassa-808	133	25	(	(	PUNCT
ijassa-808	133	26	[	[	PUNCT
ijassa-808	133	27	52	52	NUM
ijassa-808	133	28	3	3	NUM
ijassa-808	133	29	2	2	NUM
ijassa-808	133	30	3620	3620	NUM
ijassa-808	133	31	py	py	INTJ
ijassa-808	133	32	mm	mm	PROPN
ijassa-808	133	33	y	y	PROPN
ijassa-808	133	34	pmm	pmm	PROPN
ijassa-808	133	35	z	z	PROPN
ijassa-808	133	36	zzy	zzy	PROPN
ijassa-808	133	37	−=	−=	X
ijassa-808	133	38	,	,	PUNCT
ijassa-808	133	39	(	(	PUNCT
ijassa-808	133	40	22	22	NUM
ijassa-808	133	41	)	)	PUNCT
ijassa-808	134	1	where	where	SCONJ
ijassa-808	134	2	xx	xx	INTJ
ijassa-808	134	3	mm	mm	INTJ
ijassa-808	134	4	m	m	VERB
ijassa-808	134	5	p	p	NOUN
ijassa-808	134	6	mm	mm	INTJ
ijassa-808	134	7	m	m	PROPN
ijassa-808	134	8	ppy	ppy	NOUN
ijassa-808	134	9	4	4	NUM
ijassa-808	134	10	1	1	NUM
ijassa-808	134	11	4	4	NUM
ijassa-808	134	12	12	12	NUM
ijassa-808	134	13	1	1	NUM
ijassa-808	134	14	2	2	NUM
ijassa-808	134	15	)	)	PUNCT
ijassa-808	134	16	(	(	PUNCT
ijassa-808	134	17	+	+	PROPN
ijassa-808	134	18	+	+	NOUN
ijassa-808	134	19	=	=	SYM
ijassa-808	134	20	;	;	PUNCT
ijassa-808	134	21	xx	xx	NUM
ijassa-808	134	22	mm	mm	INTJ
ijassa-808	134	23	m	m	VERB
ijassa-808	134	24	mm	mm	INTJ
ijassa-808	134	25	m	m	NOUN
ijassa-808	134	26	y	y	NOUN
ijassa-808	134	27	4	4	NUM
ijassa-808	134	28	1	1	NUM
ijassa-808	134	29	1	1	NUM
ijassa-808	134	30	4	4	NUM
ijassa-808	134	31	12	12	NUM
ijassa-808	134	32	112	112	NUM
ijassa-808	134	33	2	2	NUM
ijassa-808	134	34	)	)	PUNCT
ijassa-808	134	35	(	(	PUNCT
ijassa-808	134	36	+	+	ADV
ijassa-808	134	37	−=	−=	NUM
ijassa-808	134	38			ADV
ijassa-808	134	39	;	;	PUNCT
ijassa-808	134	40	yy	yy	INTJ
ijassa-808	134	41	mm	mm	INTJ
ijassa-808	134	42	m	m	VERB
ijassa-808	134	43	p	p	NOUN
ijassa-808	135	1	mm	mm	INTJ
ijassa-808	135	2	m	m	PROPN
ijassa-808	135	3	ppy	ppy	NOUN
ijassa-808	135	4	5	5	NUM
ijassa-808	135	5	2	2	NUM
ijassa-808	135	6	5	5	NUM
ijassa-808	135	7	22	22	NUM
ijassa-808	135	8	3	3	NUM
ijassa-808	135	9	2	2	NUM
ijassa-808	135	10	)	)	PUNCT
ijassa-808	135	11	(	(	PUNCT
ijassa-808	136	1	+	+	PROPN
ijassa-808	136	2	+	+	NOUN
ijassa-808	136	3	=	=	SYM
ijassa-808	136	4	;	;	PUNCT
ijassa-808	136	5	yy	yy	INTJ
ijassa-808	136	6	mm	mm	INTJ
ijassa-808	136	7	m	m	VERB
ijassa-808	136	8	mm	mm	INTJ
ijassa-808	136	9	m	m	VERB
ijassa-808	136	10	y	y	NOUN
ijassa-808	136	11	5	5	NUM
ijassa-808	136	12	2	2	NUM
ijassa-808	136	13	2	2	NUM
ijassa-808	136	14	5	5	NUM
ijassa-808	136	15	22	22	NUM
ijassa-808	136	16	224	224	NUM
ijassa-808	136	17	2	2	NUM
ijassa-808	136	18	)	)	PUNCT
ijassa-808	136	19	(	(	PUNCT
ijassa-808	136	20	+	+	ADV
ijassa-808	136	21	−=	−=	NOUN
ijassa-808	136	22			ADV
ijassa-808	136	23	;	;	PUNCT
ijassa-808	136	24	zz	zz	PROPN
ijassa-808	136	25	mm	mm	INTJ
ijassa-808	136	26	m	m	VERB
ijassa-808	136	27	p	p	NOUN
ijassa-808	137	1	mm	mm	INTJ
ijassa-808	137	2	m	m	PROPN
ijassa-808	137	3	ppy	ppy	PROPN
ijassa-808	137	4	6	6	NUM
ijassa-808	137	5	3	3	NUM
ijassa-808	137	6	6	6	NUM
ijassa-808	137	7	32	32	NUM
ijassa-808	137	8	5	5	NUM
ijassa-808	137	9	2	2	NUM
ijassa-808	137	10	)	)	PUNCT
ijassa-808	137	11	(	(	PUNCT
ijassa-808	137	12	+	+	PROPN
ijassa-808	137	13	+	+	NOUN
ijassa-808	137	14	=	=	SYM
ijassa-808	137	15	;	;	PUNCT
ijassa-808	137	16	zz	zz	PROPN
ijassa-808	137	17	mm	mm	INTJ
ijassa-808	137	18	m	m	VERB
ijassa-808	137	19	mm	mm	INTJ
ijassa-808	137	20	m	m	NOUN
ijassa-808	137	21	y	y	PROPN
ijassa-808	137	22	6	6	NUM
ijassa-808	137	23	3	3	NUM
ijassa-808	137	24	3	3	NUM
ijassa-808	137	25	6	6	NUM
ijassa-808	137	26	32	32	NUM
ijassa-808	137	27	336	336	NUM
ijassa-808	137	28	2	2	NUM
ijassa-808	137	29	)	)	PUNCT
ijassa-808	137	30	(	(	PUNCT
ijassa-808	137	31	+	+	ADV
ijassa-808	137	32	−=	−=	NOUN
ijassa-808	137	33			X
ijassa-808	137	34	.	.	PUNCT
ijassa-808	138	1	for	for	ADP
ijassa-808	138	2	perturbances	perturbance	NOUN
ijassa-808	138	3	,	,	PUNCT
ijassa-808	138	4	set	set	VERB
ijassa-808	138	5	by	by	ADP
ijassa-808	138	6	correlations	correlation	NOUN
ijassa-808	138	7	functions	function	NOUN
ijassa-808	138	8	of	of	ADP
ijassa-808	138	9	the	the	DET
ijassa-808	138	10	form	form	NOUN
ijassa-808	138	11	of	of	ADP
ijassa-808	138	12	3,2,1),sin(cos	3,2,1),sin(cos	NUM
ijassa-808	138	13	)	)	PUNCT
ijassa-808	138	14	(	(	PUNCT
ijassa-808	138	15	=	=	PUNCT
ijassa-808	138	16	+	+	NOUN
ijassa-808	138	17	=	=	SYM
ijassa-808	138	18	−	−	PROPN
ijassa-808	138	19	iedk	iedk	NOUN
ijassa-808	139	1	i	i	PRON
ijassa-808	139	2	i	i	PRON
ijassa-808	140	1	i	i	PRON
ijassa-808	140	2	ii	ii	VERB
ijassa-808	141	1	i	i	NOUN
ijassa-808	141	2			NUM
ijassa-808	141	3			NOUN
ijassa-808	141	4			X
ijassa-808	141	5			NOUN
ijassa-808	141	6			VERB
ijassa-808	141	7	we	we	PRON
ijassa-808	141	8	will	will	AUX
ijassa-808	141	9	have	have	VERB
ijassa-808	141	10	x	x	SYM
ijassa-808	141	11	pbam	pbam	VERB
ijassa-808	141	12	py	py	PROPN
ijassa-808	141	13	pmf	pmf	PROPN
ijassa-808	141	14	xxy	xxy	PROPN
ijassa-808	141	15	]	]	PUNCT
ijassa-808	141	16	)	)	PUNCT
ijassa-808	141	17	(	(	PUNCT
ijassa-808	141	18	)	)	PUNCT
ijassa-808	141	19	(	(	PUNCT
ijassa-808	141	20	[	[	PUNCT
ijassa-808	141	21	11	11	NUM
ijassa-808	141	22	2	2	NUM
ijassa-808	141	23	4	4	NUM
ijassa-808	141	24	120	120	NUM
ijassa-808	141	25	+	+	CCONJ
ijassa-808	141	26	−=	−=	ADP
ijassa-808	141	27	,	,	PUNCT
ijassa-808	141	28	(	(	PUNCT
ijassa-808	141	29	23	23	NUM
ijassa-808	141	30	)	)	PUNCT
ijassa-808	141	31	where	where	SCONJ
ijassa-808	141	32	2	2	NUM
ijassa-808	141	33	1	1	NUM
ijassa-808	141	34	1	1	NUM
ijassa-808	141	35	11	11	NUM
ijassa-808	141	36	cca	cca	NOUN
ijassa-808	141	37			NOUN
ijassa-808	141	38			NOUN
ijassa-808	141	39	+	+	PROPN
ijassa-808	141	40	=	=	SYM
ijassa-808	141	41	;	;	PUNCT
ijassa-808	141	42	1	1	NUM
ijassa-808	141	43	2	2	NUM
ijassa-808	141	44	1	1	NUM
ijassa-808	141	45			NOUN
ijassa-808	141	46	c	c	NOUN
ijassa-808	141	47	b	b	PROPN
ijassa-808	141	48	=	=	PUNCT
ijassa-808	141	49	;	;	PUNCT
ijassa-808	141	50	coefficients	coefficient	NOUN
ijassa-808	141	51	21,cc	21,cc	NUM
ijassa-808	141	52	are	be	AUX
ijassa-808	141	53	determined	determine	VERB
ijassa-808	141	54	from	from	ADP
ijassa-808	141	55	the	the	DET
ijassa-808	141	56	equation	equation	NOUN
ijassa-808	141	57	21	21	NUM
ijassa-808	141	58	112	112	NUM
ijassa-808	141	59	2	2	NUM
ijassa-808	141	60	11	11	NUM
ijassa-808	141	61	)	)	PUNCT
ijassa-808	141	62	(	(	PUNCT
ijassa-808	141	63	)	)	PUNCT
ijassa-808	141	64	(	(	PUNCT
ijassa-808	141	65	jcc	jcc	PROPN
ijassa-808	141	66	jy	jy	PROPN
ijassa-808	141	67	jmx	jmx	PROPN
ijassa-808	142	1	+	+	PROPN
ijassa-808	142	2	=	=	PROPN
ijassa-808	143	1	−	−	PROPN
ijassa-808	143	2	−	−	NUM
ijassa-808	143	3			NOUN
ijassa-808	143	4			NOUN
ijassa-808	143	5	,	,	PUNCT
ijassa-808	143	6	y	y	PROPN
ijassa-808	143	7	pbam	pbam	PROPN
ijassa-808	143	8	py	py	PROPN
ijassa-808	143	9	pmf	pmf	PROPN
ijassa-808	143	10	yyy	yyy	PROPN
ijassa-808	143	11	]	]	PUNCT
ijassa-808	143	12	)	)	PUNCT
ijassa-808	143	13	(	(	PUNCT
ijassa-808	143	14	)	)	PUNCT
ijassa-808	143	15	(	(	PUNCT
ijassa-808	143	16	[	[	PUNCT
ijassa-808	143	17	22	22	NUM
ijassa-808	143	18	2	2	NUM
ijassa-808	143	19	5	5	NUM
ijassa-808	143	20	320	320	NUM
ijassa-808	143	21	+	+	CCONJ
ijassa-808	143	22	−=	−=	NOUN
ijassa-808	143	23	,	,	PUNCT
ijassa-808	143	24	(	(	PUNCT
ijassa-808	143	25	24	24	NUM
ijassa-808	143	26	)	)	PUNCT
ijassa-808	143	27	where	where	SCONJ
ijassa-808	143	28	22	22	NUM
ijassa-808	143	29	,	,	PUNCT
ijassa-808	143	30	ba	ba	PROPN
ijassa-808	143	31	are	be	AUX
ijassa-808	143	32	determined	determine	VERB
ijassa-808	143	33	from	from	ADP
ijassa-808	143	34	the	the	DET
ijassa-808	143	35	expressions	expression	NOUN
ijassa-808	143	36	4	4	NUM
ijassa-808	143	37	2	2	NUM
ijassa-808	143	38	2	2	NUM
ijassa-808	143	39	32	32	NUM
ijassa-808	143	40	cca	cca	NOUN
ijassa-808	143	41			NOUN
ijassa-808	143	42			NOUN
ijassa-808	143	43	+	+	PROPN
ijassa-808	143	44	=	=	SYM
ijassa-808	143	45	;	;	PUNCT
ijassa-808	143	46	2	2	NUM
ijassa-808	143	47	4	4	NUM
ijassa-808	143	48	2	2	NUM
ijassa-808	143	49			NOUN
ijassa-808	143	50	c	c	NOUN
ijassa-808	143	51	b	b	PROPN
ijassa-808	143	52	=	=	PUNCT
ijassa-808	143	53	;	;	PUNCT
ijassa-808	143	54	43	43	NUM
ijassa-808	143	55	224	224	NUM
ijassa-808	143	56	2	2	NUM
ijassa-808	143	57	22	22	NUM
ijassa-808	143	58	)	)	PUNCT
ijassa-808	143	59	(	(	PUNCT
ijassa-808	143	60	)	)	PUNCT
ijassa-808	143	61	(	(	PUNCT
ijassa-808	143	62	jcc	jcc	PROPN
ijassa-808	143	63	jy	jy	PROPN
ijassa-808	143	64	jmy	jmy	VERB
ijassa-808	143	65	+	+	PROPN
ijassa-808	143	66	=	=	X
ijassa-808	144	1	−	−	ADP
ijassa-808	144	2	−	−	NUM
ijassa-808	144	3			NOUN
ijassa-808	144	4			NOUN
ijassa-808	144	5	,	,	PUNCT
ijassa-808	144	6			PROPN
ijassa-808	144	7	]	]	PUNCT
ijassa-808	144	8	)	)	PUNCT
ijassa-808	144	9	(	(	PUNCT
ijassa-808	144	10	)	)	PUNCT
ijassa-808	144	11	(	(	PUNCT
ijassa-808	144	12	[	[	PUNCT
ijassa-808	144	13	33	33	NUM
ijassa-808	144	14	2	2	NUM
ijassa-808	144	15	6	6	NUM
ijassa-808	144	16	520	520	NUM
ijassa-808	144	17	pbam	pbam	NOUN
ijassa-808	144	18	py	py	PROPN
ijassa-808	144	19	pmm	pmm	PROPN
ijassa-808	144	20	zzy	zzy	PROPN
ijassa-808	144	21	+	+	CCONJ
ijassa-808	144	22	−=	−=	X
ijassa-808	144	23	,	,	PUNCT
ijassa-808	144	24	(	(	PUNCT
ijassa-808	144	25	25	25	NUM
ijassa-808	144	26	)	)	PUNCT
ijassa-808	144	27	8	8	NUM
ijassa-808	144	28	v.	v.	ADP
ijassa-808	144	29	kramar	kramar	PROPN
ijassa-808	144	30	,	,	PUNCT
ijassa-808	144	31	v.	v.	ADP
ijassa-808	144	32	alchakov	alchakov	PROPN
ijassa-808	144	33	,	,	PUNCT
ijassa-808	144	34	a.	a.	PROPN
ijassa-808	144	35	osadchenko	osadchenko	PROPN
ijassa-808	144	36	copyright	copyright	NOUN
ijassa-808	145	1	©	©	PROPN
ijassa-808	145	2	2021	2021	NUM
ijassa-808	145	3	assa	assa	NOUN
ijassa-808	145	4	.	.	PUNCT
ijassa-808	146	1	adv	adv	PROPN
ijassa-808	146	2	.	.	PUNCT
ijassa-808	147	1	in	in	ADP
ijassa-808	147	2	systems	system	NOUN
ijassa-808	147	3	science	science	NOUN
ijassa-808	147	4	and	and	CCONJ
ijassa-808	147	5	appl	appl	NOUN
ijassa-808	147	6	.	.	PUNCT
ijassa-808	148	1	(	(	PUNCT
ijassa-808	148	2	2021	2021	NUM
ijassa-808	148	3	)	)	PUNCT
ijassa-808	148	4	where	where	SCONJ
ijassa-808	148	5	33,ba	33,ba	NUM
ijassa-808	148	6	are	be	AUX
ijassa-808	148	7	determined	determine	VERB
ijassa-808	148	8	from	from	ADP
ijassa-808	148	9	the	the	DET
ijassa-808	148	10	expressions	expression	NOUN
ijassa-808	148	11	6	6	NUM
ijassa-808	148	12	3	3	NUM
ijassa-808	148	13	3	3	NUM
ijassa-808	148	14	53	53	NUM
ijassa-808	148	15	cca	cca	NOUN
ijassa-808	148	16			NOUN
ijassa-808	148	17			NOUN
ijassa-808	148	18	+	+	PROPN
ijassa-808	148	19	=	=	SYM
ijassa-808	148	20	;	;	PUNCT
ijassa-808	148	21	3	3	NUM
ijassa-808	148	22	6	6	NUM
ijassa-808	148	23	3	3	NUM
ijassa-808	148	24			NOUN
ijassa-808	148	25	c	c	NOUN
ijassa-808	148	26	b	b	PROPN
ijassa-808	148	27	=	=	PUNCT
ijassa-808	148	28	;	;	PUNCT
ijassa-808	148	29	65	65	NUM
ijassa-808	148	30	334	334	NUM
ijassa-808	148	31	2	2	NUM
ijassa-808	148	32	33	33	NUM
ijassa-808	148	33	)	)	PUNCT
ijassa-808	148	34	(	(	PUNCT
ijassa-808	148	35	)	)	PUNCT
ijassa-808	148	36	(	(	PUNCT
ijassa-808	148	37	jcc	jcc	PROPN
ijassa-808	148	38	jy	jy	PROPN
ijassa-808	148	39	jmz	jmz	PROPN
ijassa-808	148	40	+	+	PROPN
ijassa-808	148	41	=	=	PROPN
ijassa-808	149	1	−	−	PROPN
ijassa-808	149	2	−	−	NUM
ijassa-808	149	3			NOUN
ijassa-808	149	4			X
ijassa-808	149	5	.	.	PUNCT
ijassa-808	150	1	for	for	ADP
ijassa-808	150	2	a	a	DET
ijassa-808	150	3	complete	complete	ADJ
ijassa-808	150	4	definition	definition	NOUN
ijassa-808	150	5	of	of	ADP
ijassa-808	150	6	optimal	optimal	ADJ
ijassa-808	150	7	control	control	NOUN
ijassa-808	150	8	laws	law	NOUN
ijassa-808	150	9	(	(	PUNCT
ijassa-808	150	10	20	20	NUM
ijassa-808	150	11	)	)	PUNCT
ijassa-808	150	12	–	–	PUNCT
ijassa-808	150	13	(	(	PUNCT
ijassa-808	150	14	25	25	NUM
ijassa-808	150	15	)	)	PUNCT
ijassa-808	150	16	it	it	PRON
ijassa-808	150	17	is	be	AUX
ijassa-808	150	18	necessary	necessary	ADJ
ijassa-808	150	19	to	to	PART
ijassa-808	150	20	find	find	VERB
ijassa-808	150	21	weight	weight	NOUN
ijassa-808	150	22	coefficients	coefficient	NOUN
ijassa-808	150	23	)	)	PUNCT
ijassa-808	151	1	6,,2,1	6,,2,1	NUM
ijassa-808	151	2	(	(	PUNCT
ijassa-808	151	3	=imi	=imi	X
ijassa-808	151	4	.	.	PUNCT
ijassa-808	151	5	deviation	deviation	NOUN
ijassa-808	151	6	control	control	NOUN
ijassa-808	151	7	block	block	NOUN
ijassa-808	151	8	which	which	PRON
ijassa-808	151	9	realizes	realize	VERB
ijassa-808	151	10	optimal	optimal	ADJ
ijassa-808	151	11	linear	linear	PROPN
ijassa-808	151	12	control	control	NOUN
ijassa-808	151	13	laws	law	NOUN
ijassa-808	151	14	(	(	PUNCT
ijassa-808	151	15	20	20	NUM
ijassa-808	151	16	)	)	PUNCT
ijassa-808	151	17	,	,	PUNCT
ijassa-808	151	18	(	(	PUNCT
ijassa-808	151	19	21	21	NUM
ijassa-808	151	20	)	)	PUNCT
ijassa-808	151	21	,	,	PUNCT
ijassa-808	151	22	(	(	PUNCT
ijassa-808	151	23	22	22	NUM
ijassa-808	151	24	)	)	PUNCT
ijassa-808	151	25	or	or	CCONJ
ijassa-808	151	26	(	(	PUNCT
ijassa-808	151	27	23	23	NUM
ijassa-808	151	28	)	)	PUNCT
ijassa-808	151	29	,	,	PUNCT
ijassa-808	151	30	(	(	PUNCT
ijassa-808	151	31	24	24	NUM
ijassa-808	151	32	)	)	PUNCT
ijassa-808	151	33	,	,	PUNCT
ijassa-808	151	34	(	(	PUNCT
ijassa-808	151	35	25	25	NUM
ijassa-808	151	36	)	)	PUNCT
ijassa-808	151	37	,	,	PUNCT
ijassa-808	151	38	is	be	AUX
ijassa-808	151	39	comparatively	comparatively	ADV
ijassa-808	151	40	complex	complex	ADJ
ijassa-808	151	41	,	,	PUNCT
ijassa-808	151	42	as	as	SCONJ
ijassa-808	151	43	it	it	PRON
ijassa-808	151	44	requires	require	VERB
ijassa-808	151	45	second	second	ADJ
ijassa-808	151	46	differential	differential	ADJ
ijassa-808	151	47	coefficient	coefficient	NOUN
ijassa-808	151	48	coordinates	coordinate	NOUN
ijassa-808	151	49	measuring	measure	VERB
ijassa-808	151	50	.	.	PUNCT
ijassa-808	152	1	from	from	ADP
ijassa-808	152	2	system	system	NOUN
ijassa-808	152	3	engineering	engineering	NOUN
ijassa-808	152	4	,	,	PUNCT
ijassa-808	152	5	for	for	ADP
ijassa-808	152	6	inertial	inertial	ADJ
ijassa-808	152	7	objects	object	NOUN
ijassa-808	152	8	control	control	NOUN
ijassa-808	152	9	experience	experience	NOUN
ijassa-808	152	10	,	,	PUNCT
ijassa-808	152	11	it	it	PRON
ijassa-808	152	12	is	be	AUX
ijassa-808	152	13	known	know	VERB
ijassa-808	152	14	that	that	SCONJ
ijassa-808	152	15	control	control	NOUN
ijassa-808	152	16	of	of	ADP
ijassa-808	152	17	such	such	ADJ
ijassa-808	152	18	objects	object	NOUN
ijassa-808	152	19	is	be	AUX
ijassa-808	152	20	quite	quite	ADV
ijassa-808	152	21	efficient	efficient	ADJ
ijassa-808	152	22	when	when	SCONJ
ijassa-808	152	23	the	the	DET
ijassa-808	152	24	deviation	deviation	NOUN
ijassa-808	152	25	signal	signal	VERB
ijassa-808	152	26	and	and	CCONJ
ijassa-808	152	27	its	its	PRON
ijassa-808	152	28	first	first	ADJ
ijassa-808	152	29	-	-	PUNCT
ijassa-808	152	30	order	order	NOUN
ijassa-808	152	31	derivative	derivative	NOUN
ijassa-808	152	32	are	be	AUX
ijassa-808	152	33	used	use	VERB
ijassa-808	152	34	.	.	PUNCT
ijassa-808	153	1	hence	hence	ADV
ijassa-808	153	2	,	,	PUNCT
ijassa-808	153	3	control	control	NOUN
ijassa-808	153	4	can	can	AUX
ijassa-808	153	5	be	be	AUX
ijassa-808	153	6	set	set	VERB
ijassa-808	153	7	in	in	ADP
ijassa-808	153	8	proportional	proportional	ADJ
ijassa-808	153	9	-	-	PUNCT
ijassa-808	153	10	differential	differential	NOUN
ijassa-808	153	11	form	form	NOUN
ijassa-808	153	12	.	.	PUNCT
ijassa-808	154	1	the	the	DET
ijassa-808	154	2	optimal	optimal	ADJ
ijassa-808	154	3	stop	stop	NOUN
ijassa-808	154	4	values	value	NOUN
ijassa-808	154	5	will	will	AUX
ijassa-808	154	6	be	be	AUX
ijassa-808	154	7	determined	determine	VERB
ijassa-808	154	8	by	by	ADP
ijassa-808	154	9	the	the	DET
ijassa-808	154	10	relations	relation	NOUN
ijassa-808	154	11	[	[	X
ijassa-808	154	12	4	4	NUM
ijassa-808	154	13	]	]	SYM
ijassa-808	154	14	:	:	PUNCT
ijassa-808	154	15			NUM
ijassa-808	154	16			NUM
ijassa-808	154	17			NUM
ijassa-808	154	18			NUM
ijassa-808	155	1			NUM
ijassa-808	155	2			NUM
ijassa-808	155	3			NUM
ijassa-808	155	4			NOUN
ijassa-808	155	5			PROPN
ijassa-808	155	6	−−+−	−−+−	VERB
ijassa-808	155	7	−+−+−−	−+−+−−	PROPN
ijassa-808	155	8	=	=	PUNCT
ijassa-808	155	9	−−+−	−−+−	VERB
ijassa-808	155	10	−+−+−−	−+−+−−	PROPN
ijassa-808	155	11	=	=	NOUN
ijassa-808	155	12	=	=	SYM
ijassa-808	155	13	2112	2112	NUM
ijassa-808	155	14	2	2	NUM
ijassa-808	155	15	12	12	NUM
ijassa-808	155	16	2	2	NUM
ijassa-808	155	17	21	21	NUM
ijassa-808	155	18	2	2	NUM
ijassa-808	155	19	1	1	NUM
ijassa-808	155	20	2	2	NUM
ijassa-808	155	21	2112	2112	NUM
ijassa-808	155	22	2	2	NUM
ijassa-808	155	23	12	12	NUM
ijassa-808	155	24	2	2	NUM
ijassa-808	155	25	21	21	NUM
ijassa-808	155	26	2	2	NUM
ijassa-808	155	27	2	2	NUM
ijassa-808	155	28	1	1	NUM
ijassa-808	155	29	)	)	PUNCT
ijassa-808	155	30	(	(	PUNCT
ijassa-808	155	31	)	)	PUNCT
ijassa-808	155	32	(	(	PUNCT
ijassa-808	155	33	)	)	PUNCT
ijassa-808	155	34	(	(	PUNCT
ijassa-808	155	35	)	)	PUNCT
ijassa-808	155	36	(	(	PUNCT
ijassa-808	155	37	)	)	PUNCT
ijassa-808	155	38	(	(	PUNCT
ijassa-808	155	39	)	)	PUNCT
ijassa-808	155	40	(	(	PUNCT
ijassa-808	155	41	xxmfxfxm	xxmfxfxm	PROPN
ijassa-808	155	42	mfxfxmxxfmfx	mfxfxmxxfmfx	PROPN
ijassa-808	155	43	p	p	PROPN
ijassa-808	155	44	xxmfxfxm	xxmfxfxm	PROPN
ijassa-808	155	45	mfxfxmxxffxm	mfxfxmxxffxm	PROPN
ijassa-808	156	1	p	p	PROPN
ijassa-808	156	2	zyyz	zyyz	VERB
ijassa-808	156	3	zyyzxzy	zyyzxzy	PROPN
ijassa-808	156	4	zyyz	zyyz	VERB
ijassa-808	156	5	zyyzxyz	zyyzxyz	NOUN
ijassa-808	156	6	.	.	PUNCT
ijassa-808	157	1	(	(	PUNCT
ijassa-808	157	2	26	26	NUM
ijassa-808	157	3	)	)	PUNCT
ijassa-808	157	4	the	the	DET
ijassa-808	157	5	rotation	rotation	NOUN
ijassa-808	157	6	angles	angle	NOUN
ijassa-808	157	7	are	be	AUX
ijassa-808	157	8	determined	determine	VERB
ijassa-808	157	9	by	by	ADP
ijassa-808	157	10	the	the	DET
ijassa-808	157	11	relations	relation	NOUN
ijassa-808	158	1	[	[	X
ijassa-808	158	2	4	4	NUM
ijassa-808	158	3	]	]	SYM
ijassa-808	158	4	:	:	PUNCT
ijassa-808	158	5			NUM
ijassa-808	158	6			NUM
ijassa-808	158	7			X
ijassa-808	158	8			NUM
ijassa-808	158	9			NUM
ijassa-808	158	10			NOUN
ijassa-808	158	11			PROPN
ijassa-808	158	12	−	−	NOUN
ijassa-808	158	13	−	−	PROPN
ijassa-808	158	14	=	=	SYM
ijassa-808	159	1	−	−	PROPN
ijassa-808	159	2	−	−	PROPN
ijassa-808	159	3	=	=	SYM
ijassa-808	159	4	)	)	PUNCT
ijassa-808	159	5	(	(	PUNCT
ijassa-808	159	6	)	)	PUNCT
ijassa-808	159	7	(	(	PUNCT
ijassa-808	159	8	2	2	NUM
ijassa-808	159	9	)	)	PUNCT
ijassa-808	159	10	(	(	PUNCT
ijassa-808	159	11	)	)	PUNCT
ijassa-808	159	12	(	(	PUNCT
ijassa-808	159	13	2	2	NUM
ijassa-808	159	14	21	21	NUM
ijassa-808	159	15	1	1	NUM
ijassa-808	159	16	2	2	NUM
ijassa-808	159	17	21	21	NUM
ijassa-808	159	18	2	2	NUM
ijassa-808	159	19	1	1	NUM
ijassa-808	159	20	xxf	xxf	NOUN
ijassa-808	159	21	mfx	mfx	NOUN
ijassa-808	159	22	arctg	arctg	VERB
ijassa-808	159	23	xxf	xxf	PROPN
ijassa-808	159	24	fxm	fxm	PROPN
ijassa-808	159	25	arctg	arctg	PROPN
ijassa-808	159	26	x	x	X
ijassa-808	159	27	zy	zy	PROPN
ijassa-808	159	28	x	x	SYM
ijassa-808	159	29	yz	yz	X
ijassa-808	159	30			NOUN
ijassa-808	159	31			X
ijassa-808	159	32	;	;	PUNCT
ijassa-808	159	33	(	(	PUNCT
ijassa-808	159	34	27	27	NUM
ijassa-808	159	35	)	)	PUNCT
ijassa-808	159	36	where	where	SCONJ
ijassa-808	159	37	2,1	2,1	NUM
ijassa-808	159	38	,	,	PUNCT
ijassa-808	159	39	=	=	NOUN
ijassa-808	159	40	ixi	ixi	NOUN
ijassa-808	159	41	are	be	AUX
ijassa-808	159	42	the	the	DET
ijassa-808	159	43	coordinates	coordinate	NOUN
ijassa-808	159	44	of	of	ADP
ijassa-808	159	45	the	the	DET
ijassa-808	159	46	stops	stop	NOUN
ijassa-808	159	47	.	.	PUNCT
ijassa-808	160	1	let	let	VERB
ijassa-808	160	2	us	we	PRON
ijassa-808	160	3	cite	cite	VERB
ijassa-808	160	4	the	the	DET
ijassa-808	160	5	results	result	NOUN
ijassa-808	160	6	of	of	ADP
ijassa-808	160	7	the	the	DET
ijassa-808	160	8	study	study	NOUN
ijassa-808	160	9	of	of	ADP
ijassa-808	160	10	the	the	DET
ijassa-808	160	11	dynamics	dynamic	NOUN
ijassa-808	160	12	of	of	ADP
ijassa-808	160	13	the	the	DET
ijassa-808	160	14	automatic	automatic	ADJ
ijassa-808	160	15	position	position	NOUN
ijassa-808	160	16	-	-	PUNCT
ijassa-808	160	17	keeping	keep	VERB
ijassa-808	160	18	system	system	NOUN
ijassa-808	160	19	.	.	PUNCT
ijassa-808	161	1	the	the	DET
ijassa-808	161	2	model	model	NOUN
ijassa-808	161	3	under	under	ADP
ijassa-808	161	4	study	study	NOUN
ijassa-808	161	5	performed	perform	VERB
ijassa-808	161	6	the	the	DET
ijassa-808	161	7	calculation	calculation	NOUN
ijassa-808	161	8	of	of	ADP
ijassa-808	161	9	optimal	optimal	ADJ
ijassa-808	161	10	values	value	NOUN
ijassa-808	161	11	of	of	ADP
ijassa-808	161	12	controls	control	NOUN
ijassa-808	161	13	,	,	PUNCT
ijassa-808	161	14	presented	present	VERB
ijassa-808	161	15	in	in	ADP
ijassa-808	161	16	the	the	DET
ijassa-808	161	17	form	form	NOUN
ijassa-808	161	18	of	of	ADP
ijassa-808	161	19	projections	projection	NOUN
ijassa-808	161	20	of	of	ADP
ijassa-808	161	21	forces	force	NOUN
ijassa-808	161	22	and	and	CCONJ
ijassa-808	161	23	moment	moment	NOUN
ijassa-808	161	24	on	on	ADP
ijassa-808	161	25	vessel	vessel	ADJ
ijassa-808	161	26	coordinate	coordinate	NOUN
ijassa-808	161	27	axes	axis	NOUN
ijassa-808	161	28	with	with	ADP
ijassa-808	161	29	the	the	DET
ijassa-808	161	30	subsequent	subsequent	ADJ
ijassa-808	161	31	calculation	calculation	NOUN
ijassa-808	161	32	of	of	ADP
ijassa-808	161	33	the	the	DET
ijassa-808	161	34	stop	stop	NOUN
ijassa-808	161	35	values	value	NOUN
ijassa-808	161	36	21	21	NUM
ijassa-808	161	37	,	,	PUNCT
ijassa-808	161	38	pp	pp	CCONJ
ijassa-808	161	39	(	(	PUNCT
ijassa-808	161	40	see	see	VERB
ijassa-808	161	41	fig	fig	NOUN
ijassa-808	161	42	.	.	PUNCT
ijassa-808	162	1	4.1	4.1	NUM
ijassa-808	162	2	)	)	PUNCT
ijassa-808	162	3	and	and	CCONJ
ijassa-808	162	4	their	their	PRON
ijassa-808	162	5	rotation	rotation	NOUN
ijassa-808	162	6	angles	angle	VERB
ijassa-808	162	7	21,	21,	NUM
ijassa-808	162	8	(	(	PUNCT
ijassa-808	162	9	see	see	VERB
ijassa-808	162	10	fig	fig	NOUN
ijassa-808	162	11	.	.	PUNCT
ijassa-808	163	1	4.2	4.2	NUM
ijassa-808	163	2	)	)	PUNCT
ijassa-808	163	3	.	.	PUNCT
ijassa-808	164	1	the	the	DET
ijassa-808	164	2	studies	study	NOUN
ijassa-808	164	3	were	be	AUX
ijassa-808	164	4	conducted	conduct	VERB
ijassa-808	164	5	for	for	ADP
ijassa-808	164	6	the	the	DET
ijassa-808	164	7	vessel	vessel	NOUN
ijassa-808	164	8	of	of	ADP
ijassa-808	164	9	the	the	DET
ijassa-808	164	10	length	length	NOUN
ijassa-808	164	11	of	of	ADP
ijassa-808	164	12	ml	ml	PROPN
ijassa-808	164	13	104=	104=	NUM
ijassa-808	164	14	and	and	CCONJ
ijassa-808	164	15	mass	mass	NOUN
ijassa-808	164	16	of	of	ADP
ijassa-808	164	17	тm	тm	PROPN
ijassa-808	164	18	7,734=	7,734=	NUM
ijassa-808	164	19	,	,	PUNCT
ijassa-808	164	20	which	which	PRON
ijassa-808	164	21	has	have	VERB
ijassa-808	164	22	the	the	DET
ijassa-808	164	23	following	following	ADJ
ijassa-808	164	24	characteristics	characteristic	NOUN
ijassa-808	164	25	:	:	PUNCT
ijassa-808	164	26	21	21	NUM
ijassa-808	164	27	11	11	NUM
ijassa-808	164	28	22	22	NUM
ijassa-808	164	29	stm	stm	PROPN
ijassa-808	164	30	−=	−=	NOUN
ijassa-808	164	31	;	;	PUNCT
ijassa-808	164	32	21	21	NUM
ijassa-808	164	33	22	22	NUM
ijassa-808	164	34	410	410	NUM
ijassa-808	164	35	stm	stm	PROPN
ijassa-808	164	36	−=	−=	NOUN
ijassa-808	164	37	;	;	PUNCT
ijassa-808	164	38	215	215	NUM
ijassa-808	164	39	66	66	NUM
ijassa-808	164	40	102,2	102,2	NUM
ijassa-808	164	41	stm	stm	PROPN
ijassa-808	164	42	−=	−=	PROPN
ijassa-808	164	43	;	;	PUNCT
ijassa-808	164	44	24109,48	24109,48	NUM
ijassa-808	164	45	sтмj	sтмj	NOUN
ijassa-808	164	46	z	z	NOUN
ijassa-808	164	47	=	=	NOUN
ijassa-808	164	48	.	.	PUNCT
ijassa-808	165	1	fig	fig	NOUN
ijassa-808	165	2	.	.	PUNCT
ijassa-808	166	1	4.1	4.1	NUM
ijassa-808	166	2	,	,	PUNCT
ijassa-808	166	3	4.2	4.2	NUM
ijassa-808	166	4	shows	show	VERB
ijassa-808	166	5	the	the	DET
ijassa-808	166	6	results	result	NOUN
ijassa-808	166	7	of	of	ADP
ijassa-808	166	8	the	the	DET
ijassa-808	166	9	calculations	calculation	NOUN
ijassa-808	166	10	of	of	ADP
ijassa-808	166	11	thrust	thrust	ADJ
ijassa-808	166	12	change	change	NOUN
ijassa-808	166	13	of	of	ADP
ijassa-808	166	14	the	the	DET
ijassa-808	166	15	vessel	vessel	PROPN
ijassa-808	166	16	acm	acm	PROPN
ijassa-808	166	17	,	,	PUNCT
ijassa-808	166	18	provided	provide	VERB
ijassa-808	166	19	that	that	SCONJ
ijassa-808	166	20	the	the	DET
ijassa-808	166	21	following	follow	VERB
ijassa-808	166	22	conditions	condition	NOUN
ijassa-808	166	23	for	for	ADP
ijassa-808	166	24	vessel	vessel	NOUN
ijassa-808	166	25	deviation	deviation	NOUN
ijassa-808	166	26	in	in	ADP
ijassa-808	166	27	the	the	DET
ijassa-808	166	28	set	set	VERB
ijassa-808	166	29	time	time	NOUN
ijassa-808	166	30	interval	interval	NOUN
ijassa-808	166	31	600t	600t	NUM
ijassa-808	166	32	s	s	NOUN
ijassa-808	166	33	are	be	AUX
ijassa-808	166	34	met	meet	VERB
ijassa-808	166	35	:	:	PUNCT
ijassa-808	166	36	15,0x	15,0x	NUM
ijassa-808	166	37	m	m	NOUN
ijassa-808	166	38	,	,	PUNCT
ijassa-808	166	39	05,0y	05,0y	PROPN
ijassa-808	166	40	m	m	PROPN
ijassa-808	166	41	,	,	PUNCT
ijassa-808	166	42	2,0	2,0	PROPN
ijassa-808	166	43	rad	rad	NOUN
ijassa-808	166	44	.	.	PUNCT
ijassa-808	167	1	the	the	DET
ijassa-808	167	2	optimal	optimal	ADJ
ijassa-808	167	3	control	control	NOUN
ijassa-808	167	4	of	of	ADP
ijassa-808	167	5	the	the	DET
ijassa-808	167	6	vessel	vessel	NOUN
ijassa-808	167	7	’s	’s	PART
ijassa-808	167	8	automatic	automatic	ADJ
ijassa-808	167	9	dynamic	dynamic	ADJ
ijassa-808	167	10	positioning	positioning	NOUN
ijassa-808	167	11	system	system	NOUN
ijassa-808	167	12	...	...	PUNCT
ijassa-808	167	13	9	9	NUM
ijassa-808	167	14	copyright	copyright	NOUN
ijassa-808	167	15	©	©	PROPN
ijassa-808	167	16	2021	2021	NUM
ijassa-808	167	17	assa	assa	NOUN
ijassa-808	167	18	.	.	PUNCT
ijassa-808	168	1	adv	adv	PROPN
ijassa-808	168	2	.	.	PUNCT
ijassa-808	169	1	in	in	ADP
ijassa-808	169	2	systems	system	NOUN
ijassa-808	169	3	science	science	NOUN
ijassa-808	169	4	and	and	CCONJ
ijassa-808	169	5	appl	appl	NOUN
ijassa-808	169	6	.	.	PUNCT
ijassa-808	170	1	(	(	PUNCT
ijassa-808	170	2	2021	2021	NUM
ijassa-808	170	3	)	)	PUNCT
ijassa-808	170	4	fig	fig	NOUN
ijassa-808	170	5	4.1	4.1	NUM
ijassa-808	170	6	.	.	PUNCT
ijassa-808	171	1	thrusts	thrust	VERB
ijassa-808	171	2	change	change	VERB
ijassa-808	171	3	p1(t	p1(t	NOUN
ijassa-808	171	4	)	)	PUNCT
ijassa-808	171	5	,	,	PUNCT
ijassa-808	171	6	p2(t	p2(t	PROPN
ijassa-808	171	7	)	)	PUNCT
ijassa-808	171	8	fig	fig	NOUN
ijassa-808	171	9	4.2	4.2	NUM
ijassa-808	171	10	.	.	PUNCT
ijassa-808	172	1	angles	angle	NOUN
ijassa-808	172	2	change	change	NOUN
ijassa-808	172	3	α1(t	α1(t	NOUN
ijassa-808	172	4	)	)	PUNCT
ijassa-808	172	5	,	,	PUNCT
ijassa-808	172	6	α2(t	α2(t	NUM
ijassa-808	172	7	)	)	PUNCT
ijassa-808	172	8	5	5	NUM
ijassa-808	172	9	.	.	PUNCT
ijassa-808	172	10	conclusions	conclusion	NOUN
ijassa-808	172	11	a	a	DET
ijassa-808	172	12	block	block	NOUN
ijassa-808	172	13	diagram	diagram	NOUN
ijassa-808	172	14	of	of	ADP
ijassa-808	172	15	the	the	DET
ijassa-808	172	16	automatic	automatic	ADJ
ijassa-808	172	17	vessel	vessel	NOUN
ijassa-808	172	18	position	position	NOUN
ijassa-808	172	19	-	-	PUNCT
ijassa-808	172	20	keeping	keep	VERB
ijassa-808	172	21	system	system	NOUN
ijassa-808	172	22	and	and	CCONJ
ijassa-808	172	23	the	the	DET
ijassa-808	172	24	development	development	NOUN
ijassa-808	172	25	of	of	ADP
ijassa-808	172	26	optimal	optimal	ADJ
ijassa-808	172	27	linear	linear	PROPN
ijassa-808	172	28	control	control	NOUN
ijassa-808	172	29	laws	law	NOUN
ijassa-808	172	30	of	of	ADP
ijassa-808	172	31	unmanned	unmanned	ADJ
ijassa-808	172	32	coastal	coastal	ADJ
ijassa-808	172	33	vessels	vessel	NOUN
ijassa-808	172	34	under	under	ADP
ijassa-808	172	35	deviation	deviation	NOUN
ijassa-808	172	36	was	be	AUX
ijassa-808	172	37	suggested	suggest	VERB
ijassa-808	172	38	.	.	PUNCT
ijassa-808	173	1	a	a	DET
ijassa-808	173	2	designed	design	VERB
ijassa-808	173	3	block	block	NOUN
ijassa-808	173	4	diagram	diagram	NOUN
ijassa-808	173	5	and	and	CCONJ
ijassa-808	173	6	algorithms	algorithm	NOUN
ijassa-808	173	7	of	of	ADP
ijassa-808	173	8	its	its	PRON
ijassa-808	173	9	implementation	implementation	NOUN
ijassa-808	173	10	allow	allow	VERB
ijassa-808	173	11	presenting	present	VERB
ijassa-808	173	12	a	a	DET
ijassa-808	173	13	necessary	necessary	ADJ
ijassa-808	173	14	complex	complex	NOUN
ijassa-808	173	15	of	of	ADP
ijassa-808	173	16	devices	device	NOUN
ijassa-808	173	17	for	for	ADP
ijassa-808	173	18	its	its	PRON
ijassa-808	173	19	technical	technical	ADJ
ijassa-808	173	20	implementation	implementation	NOUN
ijassa-808	173	21	.	.	PUNCT
ijassa-808	174	1	an	an	DET
ijassa-808	174	2	automatic	automatic	ADJ
ijassa-808	174	3	vessel	vessel	NOUN
ijassa-808	174	4	position	position	NOUN
ijassa-808	174	5	-	-	PUNCT
ijassa-808	174	6	keeping	keep	VERB
ijassa-808	174	7	system	system	NOUN
ijassa-808	174	8	represents	represent	VERB
ijassa-808	174	9	a	a	DET
ijassa-808	174	10	digital	digital	ADJ
ijassa-808	174	11	-	-	PUNCT
ijassa-808	174	12	to	to	ADP
ijassa-808	174	13	-	-	PUNCT
ijassa-808	174	14	analog	analog	NOUN
ijassa-808	174	15	complex	complex	NOUN
ijassa-808	174	16	.	.	PUNCT
ijassa-808	175	1	a	a	DET
ijassa-808	175	2	digital	digital	ADJ
ijassa-808	175	3	part	part	NOUN
ijassa-808	175	4	of	of	ADP
ijassa-808	175	5	the	the	DET
ijassa-808	175	6	system	system	NOUN
ijassa-808	175	7	performs	perform	VERB
ijassa-808	175	8	control	control	NOUN
ijassa-808	175	9	laws	law	NOUN
ijassa-808	175	10	generation	generation	NOUN
ijassa-808	175	11	,	,	PUNCT
ijassa-808	175	12	problems	problem	VERB
ijassa-808	175	13	solution	solution	NOUN
ijassa-808	175	14	of	of	ADP
ijassa-808	175	15	optimization	optimization	NOUN
ijassa-808	175	16	of	of	ADP
ijassa-808	175	17	variables	variables	PROPN
ijassa-808	175	18	conversion	conversion	NOUN
ijassa-808	175	19	,	,	PUNCT
ijassa-808	175	20	makes	make	VERB
ijassa-808	175	21	calculations	calculation	NOUN
ijassa-808	175	22	of	of	ADP
ijassa-808	175	23	vessel	vessel	ADJ
ijassa-808	175	24	horizontal	horizontal	ADJ
ijassa-808	175	25	shifts	shift	NOUN
ijassa-808	175	26	based	base	VERB
ijassa-808	175	27	on	on	ADP
ijassa-808	175	28	the	the	DET
ijassa-808	175	29	measurement	measurement	NOUN
ijassa-808	175	30	system	system	NOUN
ijassa-808	175	31	data	datum	NOUN
ijassa-808	175	32	.	.	PUNCT
ijassa-808	176	1	an	an	DET
ijassa-808	176	2	analog	analog	NOUN
ijassa-808	176	3	part	part	NOUN
ijassa-808	176	4	represents	represent	VERB
ijassa-808	176	5	an	an	DET
ijassa-808	176	6	automated	automate	VERB
ijassa-808	176	7	control	control	NOUN
ijassa-808	176	8	actions	action	NOUN
ijassa-808	176	9	task	task	NOUN
ijassa-808	176	10	drive	drive	NOUN
ijassa-808	176	11	and	and	CCONJ
ijassa-808	176	12	the	the	DET
ijassa-808	176	13	control	control	NOUN
ijassa-808	176	14	object	object	NOUN
ijassa-808	176	15	.	.	PUNCT
ijassa-808	177	1	an	an	DET
ijassa-808	177	2	optimal	optimal	ADJ
ijassa-808	177	3	linear	linear	PROPN
ijassa-808	177	4	control	control	NOUN
ijassa-808	177	5	law	law	NOUN
ijassa-808	177	6	suggested	suggest	VERB
ijassa-808	177	7	in	in	ADP
ijassa-808	177	8	the	the	DET
ijassa-808	177	9	study	study	NOUN
ijassa-808	177	10	allows	allow	VERB
ijassa-808	177	11	for	for	ADP
ijassa-808	177	12	effective	effective	ADJ
ijassa-808	177	13	position	position	NOUN
ijassa-808	177	14	-	-	PUNCT
ijassa-808	177	15	keeping	keeping	NOUN
ijassa-808	177	16	.	.	PUNCT
ijassa-808	178	1	10	10	NUM
ijassa-808	178	2	v.	v.	ADP
ijassa-808	178	3	kramar	kramar	PROPN
ijassa-808	178	4	,	,	PUNCT
ijassa-808	178	5	v.	v.	ADP
ijassa-808	178	6	alchakov	alchakov	PROPN
ijassa-808	178	7	,	,	PUNCT
ijassa-808	178	8	a.	a.	PROPN
ijassa-808	178	9	osadchenko	osadchenko	PROPN
ijassa-808	178	10	copyright	copyright	NOUN
ijassa-808	178	11	©	©	PROPN
ijassa-808	178	12	2021	2021	NUM
ijassa-808	178	13	assa	assa	NOUN
ijassa-808	178	14	.	.	PUNCT
ijassa-808	179	1	adv	adv	PROPN
ijassa-808	179	2	.	.	PUNCT
ijassa-808	180	1	in	in	ADP
ijassa-808	180	2	systems	system	NOUN
ijassa-808	180	3	science	science	NOUN
ijassa-808	180	4	and	and	CCONJ
ijassa-808	180	5	appl	appl	NOUN
ijassa-808	180	6	.	.	PUNCT
ijassa-808	181	1	(	(	PUNCT
ijassa-808	181	2	2021	2021	NUM
ijassa-808	181	3	)	)	PUNCT
ijassa-808	181	4	acknowledgments	acknowledgment	NOUN
ijassa-808	181	5	studies	study	NOUN
ijassa-808	181	6	were	be	AUX
ijassa-808	181	7	supported	support	VERB
ijassa-808	181	8	by	by	ADP
ijassa-808	181	9	the	the	DET
ijassa-808	181	10	ministry	ministry	PROPN
ijassa-808	181	11	of	of	ADP
ijassa-808	181	12	education	education	PROPN
ijassa-808	181	13	and	and	CCONJ
ijassa-808	181	14	science	science	NOUN
ijassa-808	181	15	of	of	ADP
ijassa-808	181	16	the	the	DET
ijassa-808	181	17	russian	russian	PROPN
ijassa-808	181	18	federation	federation	PROPN
ijassa-808	181	19	(	(	PUNCT
ijassa-808	181	20	project	project	NOUN
ijassa-808	181	21	rfmefi57817x0259	rfmefi57817x0259	NOUN
ijassa-808	181	22	)	)	PUNCT
ijassa-808	181	23	.	.	PUNCT
ijassa-808	182	1	references	reference	NOUN
ijassa-808	182	2	1	1	NUM
ijassa-808	182	3	.	.	PUNCT
ijassa-808	183	1	balchen	balchen	PROPN
ijassa-808	183	2	,	,	PUNCT
ijassa-808	183	3	j.	j.	PROPN
ijassa-808	183	4	g.	g.	PROPN
ijassa-808	183	5	,	,	PUNCT
ijassa-808	183	6	n.	n.	PROPN
ijassa-808	183	7	a.	a.	PROPN
ijassa-808	183	8	jenssen	jenssen	PROPN
ijassa-808	183	9	,	,	PUNCT
ijassa-808	183	10	e.	e.	PROPN
ijassa-808	183	11	mathisen	mathisen	PROPN
ijassa-808	183	12	,	,	PUNCT
ijassa-808	183	13	and	and	CCONJ
ijassa-808	183	14	saelid	saelid	NOUN
ijassa-808	183	15	,	,	PUNCT
ijassa-808	183	16	s.	s.	PROPN
ijassa-808	183	17	(	(	PUNCT
ijassa-808	183	18	1980	1980	NUM
ijassa-808	183	19	)	)	PUNCT
ijassa-808	183	20	a	a	DET
ijassa-808	183	21	dynamic	dynamic	ADJ
ijassa-808	183	22	positioning	positioning	NOUN
ijassa-808	183	23	system	system	NOUN
ijassa-808	183	24	based	base	VERB
ijassa-808	183	25	on	on	ADP
ijassa-808	183	26	kalman	kalman	PROPN
ijassa-808	183	27	filtering	filtering	NOUN
ijassa-808	183	28	and	and	CCONJ
ijassa-808	183	29	optimal	optimal	ADJ
ijassa-808	183	30	control	control	NOUN
ijassa-808	183	31	,	,	PUNCT
ijassa-808	183	32	modeling	modeling	NOUN
ijassa-808	183	33	,	,	PUNCT
ijassa-808	183	34	identification	identification	NOUN
ijassa-808	183	35	and	and	CCONJ
ijassa-808	183	36	control	control	NOUN
ijassa-808	183	37	,	,	PUNCT
ijassa-808	183	38	1(3	1(3	NUM
ijassa-808	183	39	)	)	PUNCT
ijassa-808	183	40	,	,	PUNCT
ijassa-808	183	41	135–163	135–163	NUM
ijassa-808	183	42	.	.	NOUN
ijassa-808	183	43	2	2	NUM
ijassa-808	183	44	.	.	X
ijassa-808	183	45	fossen	fossen	VERB
ijassa-808	183	46	,	,	PUNCT
ijassa-808	183	47	t.	t.	PROPN
ijassa-808	183	48	i.	i.	PROPN
ijassa-808	183	49	(	(	PUNCT
ijassa-808	183	50	2011	2011	NUM
ijassa-808	183	51	)	)	PUNCT
ijassa-808	183	52	handbook	handbook	NOUN
ijassa-808	183	53	of	of	ADP
ijassa-808	183	54	marine	marine	ADJ
ijassa-808	183	55	craft	craft	NOUN
ijassa-808	183	56	hydrodynamics	hydrodynamic	NOUN
ijassa-808	183	57	and	and	CCONJ
ijassa-808	183	58	motion	motion	NOUN
ijassa-808	183	59	control	control	NOUN
ijassa-808	183	60	.	.	PUNCT
ijassa-808	184	1	john	john	PROPN
ijassa-808	184	2	wiley	wiley	PROPN
ijassa-808	184	3	&	&	CCONJ
ijassa-808	184	4	sons	son	NOUN
ijassa-808	184	5	.	.	PUNCT
ijassa-808	185	1	3	3	X
ijassa-808	185	2	.	.	X
ijassa-808	185	3	fossen	fossen	VERB
ijassa-808	185	4	,	,	PUNCT
ijassa-808	185	5	thor	thor	PROPN
ijassa-808	185	6	i.	i.	PROPN
ijassa-808	185	7	(	(	PUNCT
ijassa-808	185	8	1994	1994	NUM
ijassa-808	185	9	)	)	PUNCT
ijassa-808	185	10	guidance	guidance	NOUN
ijassa-808	185	11	and	and	CCONJ
ijassa-808	185	12	control	control	NOUN
ijassa-808	185	13	of	of	ADP
ijassa-808	185	14	ocean	ocean	NOUN
ijassa-808	185	15	marine	marine	ADJ
ijassa-808	185	16	vehicles	vehicle	NOUN
ijassa-808	185	17	.	.	PUNCT
ijassa-808	186	1	john	john	PROPN
ijassa-808	186	2	wiley	wiley	PROPN
ijassa-808	186	3	and	and	CCONJ
ijassa-808	186	4	sons	sons	PROPN
ijassa-808	186	5	ltd	ltd	PROPN
ijassa-808	186	6	.	.	PROPN
ijassa-808	186	7	new	new	PROPN
ijassa-808	186	8	york	york	PROPN
ijassa-808	186	9	.	.	PUNCT
ijassa-808	187	1	4	4	X
ijassa-808	187	2	.	.	X
ijassa-808	187	3	kramar	kramar	PROPN
ijassa-808	187	4	,	,	PUNCT
ijassa-808	187	5	v.	v.	PROPN
ijassa-808	187	6	(	(	PUNCT
ijassa-808	187	7	2018	2018	NUM
ijassa-808	187	8	)	)	PUNCT
ijassa-808	187	9	the	the	DET
ijassa-808	187	10	construction	construction	NOUN
ijassa-808	187	11	principle	principle	NOUN
ijassa-808	187	12	and	and	CCONJ
ijassa-808	187	13	system	system	NOUN
ijassa-808	187	14	architecture	architecture	NOUN
ijassa-808	187	15	of	of	ADP
ijassa-808	187	16	the	the	DET
ijassa-808	187	17	automatic	automatic	ADJ
ijassa-808	187	18	hold	hold	NOUN
ijassa-808	187	19	system	system	NOUN
ijassa-808	187	20	of	of	ADP
ijassa-808	187	21	an	an	DET
ijassa-808	187	22	unmanned	unmanned	ADJ
ijassa-808	187	23	vessel	vessel	NOUN
ijassa-808	187	24	,	,	PUNCT
ijassa-808	187	25	proceedings	proceeding	NOUN
ijassa-808	187	26	of	of	ADP
ijassa-808	187	27	the	the	DET
ijassa-808	187	28	international	international	ADJ
ijassa-808	187	29	multi	multi	NOUN
ijassa-808	187	30	-	-	NOUN
ijassa-808	187	31	conference	conference	NOUN
ijassa-808	187	32	on	on	ADP
ijassa-808	187	33	industrial	industrial	ADJ
ijassa-808	187	34	engineering	engineering	NOUN
ijassa-808	187	35	and	and	CCONJ
ijassa-808	187	36	modern	modern	ADJ
ijassa-808	187	37	technologies	technology	NOUN
ijassa-808	187	38	,	,	PUNCT
ijassa-808	187	39	fareastcon	fareastcon	NOUN
ijassa-808	187	40	,	,	PUNCT
ijassa-808	187	41	vladivostok	vladivostok	NOUN
ijassa-808	187	42	,	,	PUNCT
ijassa-808	187	43	russian	russian	ADJ
ijassa-808	187	44	federation	federation	PROPN
ijassa-808	187	45	.	.	PUNCT
ijassa-808	188	1	doi	doi	NOUN
ijassa-808	188	2	:	:	PUNCT
ijassa-808	188	3	10.1109	10.1109	NUM
ijassa-808	188	4	/	/	SYM
ijassa-808	188	5	fareastcon.2018.8602791	fareastcon.2018.8602791	NOUN
ijassa-808	188	6	.	.	PROPN
ijassa-808	189	1	5	5	NUM
ijassa-808	189	2	.	.	X
ijassa-808	189	3	lennon	lennon	PROPN
ijassa-808	189	4	,	,	PUNCT
ijassa-808	189	5	w.	w.	PROPN
ijassa-808	189	6	k.	k.	PROPN
ijassa-808	189	7	,	,	PUNCT
ijassa-808	189	8	and	and	CCONJ
ijassa-808	189	9	passino	passino	NOUN
ijassa-808	189	10	,	,	PUNCT
ijassa-808	189	11	k.	k.	PROPN
ijassa-808	189	12	m.	m.	PROPN
ijassa-808	189	13	(	(	PUNCT
ijassa-808	189	14	1997	1997	NUM
ijassa-808	189	15	)	)	PUNCT
ijassa-808	189	16	strategies	strategy	NOUN
ijassa-808	189	17	for	for	ADP
ijassa-808	189	18	genetic	genetic	ADJ
ijassa-808	189	19	adaptive	adaptive	ADJ
ijassa-808	189	20	control	control	NOUN
ijassa-808	189	21	,	,	PUNCT
ijassa-808	189	22	proceedings	proceeding	NOUN
ijassa-808	189	23	of	of	ADP
ijassa-808	189	24	the	the	DET
ijassa-808	189	25	conference	conference	NOUN
ijassa-808	189	26	on	on	ADP
ijassa-808	189	27	decision	decision	NOUN
ijassa-808	189	28	and	and	CCONJ
ijassa-808	189	29	control	control	NOUN
ijassa-808	189	30	,	,	PUNCT
ijassa-808	189	31	san	san	PROPN
ijassa-808	189	32	diego	diego	PROPN
ijassa-808	189	33	,	,	PUNCT
ijassa-808	189	34	california	california	PROPN
ijassa-808	189	35	,	,	PUNCT
ijassa-808	189	36	usa	usa	PROPN
ijassa-808	189	37	.	.	PROPN
ijassa-808	189	38	doi	doi	PROPN
ijassa-808	189	39	:	:	PUNCT
ijassa-808	189	40	10.1016	10.1016	NUM
ijassa-808	189	41	/	/	SYM
ijassa-808	189	42	s0952	s0952	PROPN
ijassa-808	189	43	-	-	PUNCT
ijassa-808	189	44	1976(98)00051	1976(98)00051	NUM
ijassa-808	189	45	-	-	SYM
ijassa-808	189	46	7	7	NUM
ijassa-808	189	47	.	.	NOUN
ijassa-808	189	48	6	6	NUM
ijassa-808	189	49	.	.	X
ijassa-808	190	1	martin	martin	PROPN
ijassa-808	190	2	,	,	PUNCT
ijassa-808	190	3	p.	p.	NOUN
ijassa-808	190	4	and	and	CCONJ
ijassa-808	190	5	katebi	katebi	PROPN
ijassa-808	190	6	,	,	PUNCT
ijassa-808	190	7	r.	r.	PROPN
ijassa-808	190	8	(	(	PUNCT
ijassa-808	190	9	2005	2005	NUM
ijassa-808	190	10	)	)	PUNCT
ijassa-808	190	11	multivariable	multivariable	ADJ
ijassa-808	190	12	pid	pid	NOUN
ijassa-808	190	13	tuning	tuning	NOUN
ijassa-808	190	14	of	of	ADP
ijassa-808	190	15	dynamic	dynamic	ADJ
ijassa-808	190	16	ship	ship	NOUN
ijassa-808	190	17	positioning	positioning	NOUN
ijassa-808	190	18	control	control	NOUN
ijassa-808	190	19	systems	system	NOUN
ijassa-808	190	20	,	,	PUNCT
ijassa-808	190	21	journal	journal	NOUN
ijassa-808	190	22	of	of	ADP
ijassa-808	190	23	marine	marine	ADJ
ijassa-808	190	24	engineering	engineering	NOUN
ijassa-808	190	25	and	and	CCONJ
ijassa-808	190	26	technology	technology	NOUN
ijassa-808	190	27	,	,	PUNCT
ijassa-808	190	28	1(a7):11_24	1(a7):11_24	NUM
ijassa-808	190	29	.	.	PUNCT
ijassa-808	191	1	doi	doi	NOUN
ijassa-808	191	2	:	:	PUNCT
ijassa-808	191	3	10.1080/20464177.2005.11020190	10.1080/20464177.2005.11020190	NUM
ijassa-808	191	4	.	.	NOUN
ijassa-808	192	1	7	7	X
ijassa-808	192	2	.	.	X
ijassa-808	192	3	nguyen	nguyen	PROPN
ijassa-808	192	4	,	,	PUNCT
ijassa-808	192	5	t.d	t.d	PROPN
ijassa-808	192	6	.	.	PROPN
ijassa-808	192	7	,	,	PUNCT
ijassa-808	192	8	quek	quek	PROPN
ijassa-808	192	9	,	,	PUNCT
ijassa-808	192	10	s.t	s.t	PROPN
ijassa-808	192	11	.	.	PROPN
ijassa-808	192	12	,	,	PUNCT
ijassa-808	192	13	sorensen	sorensen	PROPN
ijassa-808	192	14	,	,	PUNCT
ijassa-808	192	15	a.	a.	PROPN
ijassa-808	192	16	j.	j.	PROPN
ijassa-808	192	17	(	(	PUNCT
ijassa-808	192	18	2007	2007	NUM
ijassa-808	192	19	)	)	PUNCT
ijassa-808	192	20	design	design	NOUN
ijassa-808	192	21	of	of	ADP
ijassa-808	192	22	hybrid	hybrid	ADJ
ijassa-808	192	23	controller	controller	NOUN
ijassa-808	192	24	for	for	ADP
ijassa-808	192	25	dynamic	dynamic	ADJ
ijassa-808	192	26	positioning	positioning	NOUN
ijassa-808	192	27	from	from	ADP
ijassa-808	192	28	calm	calm	NOUN
ijassa-808	192	29	to	to	ADP
ijassa-808	192	30	extreme	extreme	ADJ
ijassa-808	192	31	sea	sea	NOUN
ijassa-808	192	32	condition	condition	NOUN
ijassa-808	192	33	,	,	PUNCT
ijassa-808	192	34	automatica	automatica	PROPN
ijassa-808	192	35	(	(	PUNCT
ijassa-808	192	36	journal	journal	NOUN
ijassa-808	192	37	of	of	ADP
ijassa-808	192	38	ifac	ifac	NOUN
ijassa-808	192	39	)	)	PUNCT
ijassa-808	192	40	,	,	PUNCT
ijassa-808	192	41	43(5):768_785	43(5):768_785	NUM
ijassa-808	192	42	,	,	PUNCT
ijassa-808	192	43	2007	2007	NUM
ijassa-808	192	44	.	.	PUNCT
ijassa-808	193	1	doi	doi	NOUN
ijassa-808	193	2	:	:	PUNCT
ijassa-808	193	3	10.1016	10.1016	NUM
ijassa-808	193	4	/	/	SYM
ijassa-808	193	5	j.automatica.2006.11.017	j.automatica.2006.11.017	CCONJ
ijassa-808	193	6	.	.	NOUN
ijassa-808	193	7	8	8	NUM
ijassa-808	193	8	.	.	PUNCT
ijassa-808	194	1	petrov	petrov	PROPN
ijassa-808	194	2	,	,	PUNCT
ijassa-808	194	3	y.	y.	PROPN
ijassa-808	194	4	(	(	PUNCT
ijassa-808	194	5	1973	1973	NUM
ijassa-808	194	6	)	)	PUNCT
ijassa-808	194	7	optimization	optimization	NOUN
ijassa-808	194	8	of	of	ADP
ijassa-808	194	9	controllable	controllable	ADJ
ijassa-808	194	10	systems	system	NOUN
ijassa-808	194	11	that	that	PRON
ijassa-808	194	12	are	be	AUX
ijassa-808	194	13	affected	affect	VERB
ijassa-808	194	14	by	by	ADP
ijassa-808	194	15	wind	wind	NOUN
ijassa-808	194	16	and	and	CCONJ
ijassa-808	194	17	sea	sea	NOUN
ijassa-808	194	18	waves	wave	NOUN
ijassa-808	194	19	,	,	PUNCT
ijassa-808	194	20	sudostroenie	sudostroenie	PROPN
ijassa-808	195	1	[	[	X
ijassa-808	195	2	in	in	ADP
ijassa-808	195	3	russian	russian	PROPN
ijassa-808	195	4	]	]	PUNCT
ijassa-808	195	5	.	.	PUNCT
ijassa-808	195	6	9	9	X
ijassa-808	195	7	.	.	X
ijassa-808	195	8	sorensen	sorensen	PROPN
ijassa-808	195	9	,	,	PUNCT
ijassa-808	195	10	a.j	a.j	PROPN
ijassa-808	195	11	.	.	PROPN
ijassa-808	195	12	,	,	PUNCT
ijassa-808	195	13	sagatun	sagatun	PROPN
ijassa-808	195	14	,	,	PUNCT
ijassa-808	195	15	s.i	s.i	PROPN
ijassa-808	195	16	.	.	PROPN
ijassa-808	195	17	and	and	CCONJ
ijassa-808	195	18	fossen	fossen	PROPN
ijassa-808	195	19	,	,	PUNCT
ijassa-808	195	20	t.i	t.i	PROPN
ijassa-808	195	21	.	.	PROPN
ijassa-808	195	22	(	(	PUNCT
ijassa-808	195	23	1996	1996	NUM
ijassa-808	195	24	)	)	PUNCT
ijassa-808	195	25	design	design	NOUN
ijassa-808	195	26	of	of	ADP
ijassa-808	195	27	a	a	DET
ijassa-808	195	28	dynamic	dynamic	ADJ
ijassa-808	195	29	positioning	positioning	NOUN
ijassa-808	195	30	system	system	NOUN
ijassa-808	195	31	using	use	VERB
ijassa-808	195	32	model	model	NOUN
ijassa-808	195	33	-	-	PUNCT
ijassa-808	195	34	based	base	VERB
ijassa-808	195	35	control	control	NOUN
ijassa-808	195	36	,	,	PUNCT
ijassa-808	195	37	control	control	PROPN
ijassa-808	195	38	eng	eng	PROPN
ijassa-808	195	39	.	.	PROPN
ijassa-808	195	40	practice	practice	PROPN
ijassa-808	195	41	,	,	PUNCT
ijassa-808	195	42	4(3	4(3	NUM
ijassa-808	195	43	)	)	PUNCT
ijassa-808	195	44	,	,	PUNCT
ijassa-808	195	45	359–368	359–368	NUM
ijassa-808	195	46	.	.	PUNCT
ijassa-808	196	1	doi	doi	NOUN
ijassa-808	196	2	:	:	PUNCT
ijassa-808	196	3	10.1016/09670661(96)00013	10.1016/09670661(96)00013	NUM
ijassa-808	196	4	-	-	SYM
ijassa-808	196	5	5	5	NUM
ijassa-808	196	6	.	.	NOUN
ijassa-808	196	7	10	10	NUM
ijassa-808	196	8	.	.	PUNCT
ijassa-808	197	1	vadim	vadim	PROPN
ijassa-808	197	2	,	,	PUNCT
ijassa-808	197	3	k.	k.	PROPN
ijassa-808	197	4	(	(	PUNCT
ijassa-808	197	5	2015	2015	NUM
ijassa-808	197	6	)	)	PUNCT
ijassa-808	197	7	investigation	investigation	NOUN
ijassa-808	197	8	of	of	ADP
ijassa-808	197	9	changes	change	NOUN
ijassa-808	197	10	and	and	CCONJ
ijassa-808	197	11	development	development	NOUN
ijassa-808	197	12	of	of	ADP
ijassa-808	197	13	a	a	DET
ijassa-808	197	14	mathematical	mathematical	ADJ
ijassa-808	197	15	model	model	NOUN
ijassa-808	197	16	for	for	ADP
ijassa-808	197	17	a	a	DET
ijassa-808	197	18	drilling	drilling	NOUN
ijassa-808	197	19	vessel	vessel	NOUN
ijassa-808	197	20	,	,	PUNCT
ijassa-808	197	21	annals	annal	NOUN
ijassa-808	197	22	of	of	ADP
ijassa-808	197	23	daaam	daaam	NOUN
ijassa-808	197	24	and	and	CCONJ
ijassa-808	197	25	proceedings	proceeding	NOUN
ijassa-808	197	26	of	of	ADP
ijassa-808	197	27	the	the	DET
ijassa-808	197	28	international	international	ADJ
ijassa-808	197	29	daaam	daaam	NOUN
ijassa-808	197	30	symposium	symposium	NOUN
ijassa-808	197	31	volume	volume	NOUN
ijassa-808	197	32	2015	2015	NUM
ijassa-808	197	33	-	-	SYM
ijassa-808	197	34	january	january	PROPN
ijassa-808	197	35	,	,	PUNCT
ijassa-808	197	36	2015	2015	NUM
ijassa-808	197	37	,	,	PUNCT
ijassa-808	197	38	49–55	49–55	NUM
ijassa-808	197	39	.	.	PUNCT
ijassa-808	198	1	doi	doi	NOUN
ijassa-808	198	2	:	:	PUNCT
ijassa-808	198	3	10.2507/26th.daaam.proceedings.007	10.2507/26th.daaam.proceedings.007	ADJ
ijassa-808	198	4	.	.	PUNCT
ijassa-808	199	1	11	11	NUM
ijassa-808	199	2	.	.	PUNCT
ijassa-808	200	1	cao	cao	PROPN
ijassa-808	200	2	,	,	PUNCT
ijassa-808	200	3	y.	y.	PROPN
ijassa-808	200	4	,	,	PUNCT
ijassa-808	200	5	lee	lee	PROPN
ijassa-808	200	6	,	,	PUNCT
ijassa-808	200	7	t.	t.	PROPN
ijassa-808	200	8	(	(	PUNCT
ijassa-808	200	9	2003	2003	NUM
ijassa-808	200	10	)	)	PUNCT
ijassa-808	200	11	maneuvering	maneuvering	NOUN
ijassa-808	200	12	of	of	ADP
ijassa-808	200	13	surface	surface	NOUN
ijassa-808	200	14	vessel	vessel	NOUN
ijassa-808	200	15	using	use	VERB
ijassa-808	200	16	a	a	DET
ijassa-808	200	17	fuzzy	fuzzy	ADJ
ijassa-808	200	18	logic	logic	NOUN
ijassa-808	200	19	controller	controller	NOUN
ijassa-808	200	20	,	,	PUNCT
ijassa-808	200	21	journal	journal	NOUN
ijassa-808	200	22	of	of	ADP
ijassa-808	200	23	ship	ship	NOUN
ijassa-808	200	24	research	research	NOUN
ijassa-808	200	25	,	,	PUNCT
ijassa-808	200	26	47(2	47(2	PROPN
ijassa-808	200	27	)	)	PUNCT
ijassa-808	200	28	,	,	PUNCT
ijassa-808	200	29	101–130	101–130	NUM
ijassa-808	200	30	.	.	PROPN
ijassa-808	200	31	12	12	NUM
ijassa-808	200	32	.	.	PUNCT
ijassa-808	201	1	lee	lee	PROPN
ijassa-808	201	2	,	,	PUNCT
ijassa-808	201	3	z.	z.	PROPN
ijassa-808	201	4	h.	h.	PROPN
ijassa-808	201	5	,	,	PUNCT
ijassa-808	201	6	cao	cao	PROPN
ijassa-808	201	7	,	,	PUNCT
ijassa-808	201	8	y.	y.	PROPN
ijassa-808	201	9	and	and	CCONJ
ijassa-808	201	10	lin	lin	PROPN
ijassa-808	201	11	,	,	PUNCT
ijassa-808	201	12	y.	y.	PROPN
ijassa-808	201	13	(	(	PUNCT
ijassa-808	201	14	2001	2001	NUM
ijassa-808	201	15	)	)	PUNCT
ijassa-808	201	16	application	application	NOUN
ijassa-808	201	17	of	of	ADP
ijassa-808	201	18	an	an	DET
ijassa-808	201	19	on	on	ADP
ijassa-808	201	20	-	-	PUNCT
ijassa-808	201	21	line	line	NOUN
ijassa-808	201	22	training	training	NOUN
ijassa-808	201	23	predictor	predictor	NOUN
ijassa-808	201	24	/	/	SYM
ijassa-808	201	25	controller	controller	NOUN
ijassa-808	201	26	to	to	ADP
ijassa-808	201	27	dynamic	dynamic	ADJ
ijassa-808	201	28	positioning	positioning	NOUN
ijassa-808	201	29	of	of	ADP
ijassa-808	201	30	floating	float	VERB
ijassa-808	201	31	structures	structure	NOUN
ijassa-808	201	32	,	,	PUNCT
ijassa-808	201	33	tamkang	tamkang	PROPN
ijassa-808	201	34	journal	journal	PROPN
ijassa-808	201	35	of	of	ADP
ijassa-808	201	36	science	science	NOUN
ijassa-808	201	37	and	and	CCONJ
ijassa-808	201	38	engineering	engineering	NOUN
ijassa-808	201	39	,	,	PUNCT
ijassa-808	201	40	4(3	4(3	NUM
ijassa-808	201	41	)	)	PUNCT
ijassa-808	201	42	,	,	PUNCT
ijassa-808	201	43	141–154	141–154	NUM
ijassa-808	201	44	.	.	NOUN
ijassa-808	201	45	1	1	NUM
ijassa-808	201	46	.	.	X
ijassa-808	201	47	introduction	introduction	NOUN
ijassa-808	201	48	2	2	NUM
ijassa-808	201	49	.	.	PUNCT
ijassa-808	201	50	a	a	DET
ijassa-808	201	51	block	block	NOUN
ijassa-808	201	52	diagram	diagram	NOUN
ijassa-808	201	53	of	of	ADP
ijassa-808	201	54	automatic	automatic	ADJ
ijassa-808	201	55	position	position	NOUN
ijassa-808	201	56	-	-	PUNCT
ijassa-808	201	57	keeping	keep	VERB
ijassa-808	201	58	system	system	NOUN
ijassa-808	201	59	3	3	NUM
ijassa-808	201	60	.	.	PUNCT
ijassa-808	201	61	system	system	NOUN
ijassa-808	201	62	model	model	NOUN
ijassa-808	201	63	and	and	CCONJ
ijassa-808	201	64	problem	problem	NOUN
ijassa-808	201	65	formulation	formulation	NOUN
ijassa-808	201	66	4	4	NUM
ijassa-808	201	67	.	.	PUNCT
ijassa-808	201	68	synthesis	synthesis	NOUN
ijassa-808	201	69	of	of	ADP
ijassa-808	201	70	the	the	DET
ijassa-808	201	71	optimal	optimal	ADJ
ijassa-808	201	72	linear	linear	PROPN
ijassa-808	201	73	control	control	NOUN
ijassa-808	201	74	5	5	NUM
ijassa-808	201	75	.	.	PUNCT
ijassa-808	202	1	conclusions	conclusion	NOUN
ijassa-808	202	2	acknowledgments	acknowledgment	NOUN