id	sid	tid	token	lemma	pos
aiti-11232	1	1	microsoft	microsoft	PROPN
aiti-11232	1	2	word	word	NOUN
aiti-11232	1	3	6	6	NUM
aiti-11232	1	4	-	-	PUNCT
aiti-11232	1	5	v8n2(2023)-aiti#11232(150	v8n2(2023)-aiti#11232(150	NOUN
aiti-11232	1	6	-	-	PUNCT
aiti-11232	1	7	161).docx	161).docx	NUM
aiti-11232	1	8	advances	advance	NOUN
aiti-11232	1	9	in	in	ADP
aiti-11232	1	10	technology	technology	NOUN
aiti-11232	1	11	innovation	innovation	NOUN
aiti-11232	1	12	,	,	PUNCT
aiti-11232	1	13	vol	vol	NOUN
aiti-11232	1	14	.	.	PROPN
aiti-11232	1	15	8	8	NUM
aiti-11232	1	16	,	,	PUNCT
aiti-11232	1	17	no	no	INTJ
aiti-11232	1	18	.	.	NOUN
aiti-11232	1	19	2	2	NUM
aiti-11232	1	20	,	,	PUNCT
aiti-11232	1	21	2023	2023	NUM
aiti-11232	1	22	,	,	PUNCT
aiti-11232	1	23	pp	pp	ADJ
aiti-11232	1	24	.	.	PUNCT
aiti-11232	2	1	150	150	NUM
aiti-11232	2	2	-	-	SYM
aiti-11232	2	3	161	161	NUM
aiti-11232	2	4	state	state	NOUN
aiti-11232	2	5	estimation	estimation	NOUN
aiti-11232	2	6	and	and	CCONJ
aiti-11232	2	7	optimal	optimal	ADJ
aiti-11232	2	8	control	control	NOUN
aiti-11232	2	9	of	of	ADP
aiti-11232	2	10	four	four	NUM
aiti-11232	2	11	-	-	PUNCT
aiti-11232	2	12	tank	tank	NOUN
aiti-11232	2	13	system	system	NOUN
aiti-11232	2	14	with	with	ADP
aiti-11232	2	15	stochastic	stochastic	ADJ
aiti-11232	2	16	approximation	approximation	NOUN
aiti-11232	2	17	approach	approach	NOUN
aiti-11232	2	18	xian	xian	PROPN
aiti-11232	2	19	wen	wen	PROPN
aiti-11232	2	20	sim1	sim1	PROPN
aiti-11232	2	21	,	,	PUNCT
aiti-11232	2	22	sie	sie	PROPN
aiti-11232	2	23	long	long	ADJ
aiti-11232	2	24	kek1	kek1	PROPN
aiti-11232	2	25	,	,	PUNCT
aiti-11232	2	26	*	*	PROPN
aiti-11232	2	27	,	,	PUNCT
aiti-11232	2	28	sy	sy	PROPN
aiti-11232	2	29	yi	yi	PROPN
aiti-11232	2	30	sim2	sim2	PROPN
aiti-11232	2	31	,	,	PUNCT
aiti-11232	2	32	jiao	jiao	PROPN
aiti-11232	2	33	li3	li3	PROPN
aiti-11232	2	34	1department	1department	NUM
aiti-11232	2	35	of	of	ADP
aiti-11232	2	36	mathematics	mathematic	NOUN
aiti-11232	2	37	and	and	CCONJ
aiti-11232	2	38	statistics	statistic	NOUN
aiti-11232	2	39	,	,	PUNCT
aiti-11232	2	40	universiti	universiti	PROPN
aiti-11232	2	41	tun	tun	PROPN
aiti-11232	2	42	hussein	hussein	PROPN
aiti-11232	2	43	onn	onn	PROPN
aiti-11232	2	44	malaysia	malaysia	PROPN
aiti-11232	2	45	,	,	PUNCT
aiti-11232	2	46	johor	johor	PROPN
aiti-11232	2	47	,	,	PUNCT
aiti-11232	2	48	malaysia	malaysia	PROPN
aiti-11232	2	49	2department	2department	NUM
aiti-11232	2	50	of	of	ADP
aiti-11232	2	51	electrical	electrical	ADJ
aiti-11232	2	52	engineering	engineering	NOUN
aiti-11232	2	53	,	,	PUNCT
aiti-11232	2	54	universiti	universiti	PROPN
aiti-11232	2	55	tun	tun	PROPN
aiti-11232	2	56	hussein	hussein	PROPN
aiti-11232	2	57	onn	onn	PROPN
aiti-11232	2	58	malaysia	malaysia	PROPN
aiti-11232	2	59	,	,	PUNCT
aiti-11232	2	60	johor	johor	PROPN
aiti-11232	2	61	,	,	PUNCT
aiti-11232	2	62	malaysia	malaysia	PROPN
aiti-11232	2	63	3school	3school	NUM
aiti-11232	2	64	of	of	ADP
aiti-11232	2	65	mathematics	mathematic	NOUN
aiti-11232	2	66	and	and	CCONJ
aiti-11232	2	67	statistics	statistic	NOUN
aiti-11232	2	68	,	,	PUNCT
aiti-11232	2	69	changsha	changsha	PROPN
aiti-11232	2	70	university	university	PROPN
aiti-11232	2	71	of	of	ADP
aiti-11232	2	72	science	science	NOUN
aiti-11232	2	73	and	and	CCONJ
aiti-11232	2	74	technology	technology	NOUN
aiti-11232	2	75	,	,	PUNCT
aiti-11232	2	76	hunan	hunan	PROPN
aiti-11232	2	77	,	,	PUNCT
aiti-11232	2	78	china	china	PROPN
aiti-11232	2	79	received	receive	VERB
aiti-11232	2	80	28	28	NUM
aiti-11232	2	81	november	november	PROPN
aiti-11232	2	82	2022	2022	NUM
aiti-11232	2	83	;	;	PUNCT
aiti-11232	2	84	received	receive	VERB
aiti-11232	2	85	in	in	ADP
aiti-11232	2	86	revised	revise	VERB
aiti-11232	2	87	form	form	NOUN
aiti-11232	2	88	20	20	NUM
aiti-11232	2	89	february	february	NOUN
aiti-11232	2	90	2023	2023	NUM
aiti-11232	2	91	;	;	PUNCT
aiti-11232	2	92	accepted	accept	VERB
aiti-11232	2	93	26	26	NUM
aiti-11232	2	94	february	february	PROPN
aiti-11232	2	95	2023	2023	NUM
aiti-11232	2	96	doi	doi	NOUN
aiti-11232	2	97	:	:	PUNCT
aiti-11232	2	98	https://doi.org/10.46604/aiti.2023.11232	https://doi.org/10.46604/aiti.2023.11232	PROPN
aiti-11232	2	99	abstract	abstract	ADJ
aiti-11232	2	100	this	this	DET
aiti-11232	2	101	study	study	NOUN
aiti-11232	2	102	aims	aim	VERB
aiti-11232	2	103	to	to	PART
aiti-11232	2	104	optimally	optimally	ADV
aiti-11232	2	105	control	control	VERB
aiti-11232	2	106	the	the	DET
aiti-11232	2	107	level	level	NOUN
aiti-11232	2	108	of	of	ADP
aiti-11232	2	109	a	a	DET
aiti-11232	2	110	four	four	NUM
aiti-11232	2	111	-	-	PUNCT
aiti-11232	2	112	tank	tank	NOUN
aiti-11232	2	113	system	system	NOUN
aiti-11232	2	114	at	at	ADP
aiti-11232	2	115	the	the	DET
aiti-11232	2	116	steady	steady	ADJ
aiti-11232	2	117	state	state	NOUN
aiti-11232	2	118	in	in	ADP
aiti-11232	2	119	the	the	DET
aiti-11232	2	120	random	random	ADJ
aiti-11232	2	121	disturbance	disturbance	NOUN
aiti-11232	2	122	environment	environment	NOUN
aiti-11232	2	123	using	use	VERB
aiti-11232	2	124	the	the	DET
aiti-11232	2	125	stochastic	stochastic	ADJ
aiti-11232	2	126	approximation	approximation	NOUN
aiti-11232	2	127	(	(	PUNCT
aiti-11232	2	128	sa	sa	NOUN
aiti-11232	2	129	)	)	PUNCT
aiti-11232	2	130	approach	approach	NOUN
aiti-11232	2	131	.	.	PUNCT
aiti-11232	3	1	firstly	firstly	ADV
aiti-11232	3	2	,	,	PUNCT
aiti-11232	3	3	the	the	DET
aiti-11232	3	4	stochastic	stochastic	ADJ
aiti-11232	3	5	optimal	optimal	ADJ
aiti-11232	3	6	control	control	NOUN
aiti-11232	3	7	problem	problem	NOUN
aiti-11232	3	8	of	of	ADP
aiti-11232	3	9	an	an	DET
aiti-11232	3	10	equivalent	equivalent	ADJ
aiti-11232	3	11	discrete	discrete	ADJ
aiti-11232	3	12	-	-	PUNCT
aiti-11232	3	13	time	time	NOUN
aiti-11232	3	14	is	be	AUX
aiti-11232	3	15	introduced	introduce	VERB
aiti-11232	3	16	,	,	PUNCT
aiti-11232	3	17	where	where	SCONJ
aiti-11232	3	18	the	the	DET
aiti-11232	3	19	voltages	voltage	NOUN
aiti-11232	3	20	to	to	ADP
aiti-11232	3	21	the	the	DET
aiti-11232	3	22	pumps	pump	NOUN
aiti-11232	3	23	are	be	AUX
aiti-11232	3	24	the	the	DET
aiti-11232	3	25	control	control	NOUN
aiti-11232	3	26	inputs	input	NOUN
aiti-11232	3	27	.	.	PUNCT
aiti-11232	4	1	by	by	ADP
aiti-11232	4	2	minimizing	minimize	VERB
aiti-11232	4	3	the	the	DET
aiti-11232	4	4	sum	sum	NOUN
aiti-11232	4	5	of	of	ADP
aiti-11232	4	6	squared	square	VERB
aiti-11232	4	7	errors	error	NOUN
aiti-11232	4	8	,	,	PUNCT
aiti-11232	4	9	the	the	DET
aiti-11232	4	10	liquid	liquid	ADJ
aiti-11232	4	11	levels	level	NOUN
aiti-11232	4	12	are	be	AUX
aiti-11232	4	13	estimated	estimate	VERB
aiti-11232	4	14	.	.	PUNCT
aiti-11232	5	1	then	then	ADV
aiti-11232	5	2	,	,	PUNCT
aiti-11232	5	3	first	first	ADJ
aiti-11232	5	4	-	-	PUNCT
aiti-11232	5	5	order	order	NOUN
aiti-11232	5	6	necessary	necessary	ADJ
aiti-11232	5	7	conditions	condition	NOUN
aiti-11232	5	8	are	be	AUX
aiti-11232	5	9	derived	derive	VERB
aiti-11232	5	10	by	by	ADP
aiti-11232	5	11	defining	define	VERB
aiti-11232	5	12	the	the	DET
aiti-11232	5	13	hamiltonian	hamiltonian	ADJ
aiti-11232	5	14	function	function	NOUN
aiti-11232	5	15	.	.	PUNCT
aiti-11232	6	1	thus	thus	ADV
aiti-11232	6	2	,	,	PUNCT
aiti-11232	6	3	the	the	DET
aiti-11232	6	4	optimal	optimal	ADJ
aiti-11232	6	5	voltages	voltage	NOUN
aiti-11232	6	6	are	be	AUX
aiti-11232	6	7	calculated	calculate	VERB
aiti-11232	6	8	based	base	VERB
aiti-11232	6	9	on	on	ADP
aiti-11232	6	10	the	the	DET
aiti-11232	6	11	estimated	estimate	VERB
aiti-11232	6	12	liquid	liquid	ADJ
aiti-11232	6	13	levels	level	NOUN
aiti-11232	6	14	to	to	PART
aiti-11232	6	15	update	update	VERB
aiti-11232	6	16	the	the	DET
aiti-11232	6	17	gradient	gradient	NOUN
aiti-11232	6	18	of	of	ADP
aiti-11232	6	19	the	the	DET
aiti-11232	6	20	cost	cost	NOUN
aiti-11232	6	21	function	function	NOUN
aiti-11232	6	22	.	.	PUNCT
aiti-11232	7	1	finally	finally	ADV
aiti-11232	7	2	,	,	PUNCT
aiti-11232	7	3	for	for	ADP
aiti-11232	7	4	illustration	illustration	NOUN
aiti-11232	7	5	,	,	PUNCT
aiti-11232	7	6	parameters	parameter	NOUN
aiti-11232	7	7	in	in	ADP
aiti-11232	7	8	the	the	DET
aiti-11232	7	9	system	system	NOUN
aiti-11232	7	10	are	be	AUX
aiti-11232	7	11	considered	consider	VERB
aiti-11232	7	12	and	and	CCONJ
aiti-11232	7	13	a	a	DET
aiti-11232	7	14	simulation	simulation	NOUN
aiti-11232	7	15	is	be	AUX
aiti-11232	7	16	conducted	conduct	VERB
aiti-11232	7	17	.	.	PUNCT
aiti-11232	8	1	the	the	DET
aiti-11232	8	2	simulation	simulation	NOUN
aiti-11232	8	3	results	result	NOUN
aiti-11232	8	4	show	show	VERB
aiti-11232	8	5	that	that	SCONJ
aiti-11232	8	6	the	the	DET
aiti-11232	8	7	state	state	NOUN
aiti-11232	8	8	estimation	estimation	NOUN
aiti-11232	8	9	and	and	CCONJ
aiti-11232	8	10	control	control	NOUN
aiti-11232	8	11	law	law	NOUN
aiti-11232	8	12	design	design	NOUN
aiti-11232	8	13	can	can	AUX
aiti-11232	8	14	perform	perform	VERB
aiti-11232	8	15	well	well	ADV
aiti-11232	8	16	,	,	PUNCT
aiti-11232	8	17	and	and	CCONJ
aiti-11232	8	18	the	the	DET
aiti-11232	8	19	liquid	liquid	ADJ
aiti-11232	8	20	levels	level	NOUN
aiti-11232	8	21	are	be	AUX
aiti-11232	8	22	addressed	address	VERB
aiti-11232	8	23	along	along	ADP
aiti-11232	8	24	the	the	DET
aiti-11232	8	25	steady	steady	ADJ
aiti-11232	8	26	state	state	NOUN
aiti-11232	8	27	.	.	PUNCT
aiti-11232	9	1	in	in	ADP
aiti-11232	9	2	conclusion	conclusion	NOUN
aiti-11232	9	3	,	,	PUNCT
aiti-11232	9	4	the	the	DET
aiti-11232	9	5	applicability	applicability	NOUN
aiti-11232	9	6	of	of	ADP
aiti-11232	9	7	the	the	DET
aiti-11232	9	8	sa	sa	PROPN
aiti-11232	9	9	approach	approach	NOUN
aiti-11232	9	10	for	for	ADP
aiti-11232	9	11	handling	handle	VERB
aiti-11232	9	12	a	a	DET
aiti-11232	9	13	four	four	NUM
aiti-11232	9	14	-	-	PUNCT
aiti-11232	9	15	tank	tank	NOUN
aiti-11232	9	16	system	system	NOUN
aiti-11232	9	17	with	with	ADP
aiti-11232	9	18	random	random	ADJ
aiti-11232	9	19	disturbances	disturbance	NOUN
aiti-11232	9	20	is	be	AUX
aiti-11232	9	21	demonstrated	demonstrate	VERB
aiti-11232	9	22	.	.	PUNCT
aiti-11232	10	1	keywords	keyword	NOUN
aiti-11232	10	2	:	:	PUNCT
aiti-11232	10	3	four	four	NUM
aiti-11232	10	4	-	-	PUNCT
aiti-11232	10	5	tank	tank	NOUN
aiti-11232	10	6	system	system	NOUN
aiti-11232	10	7	,	,	PUNCT
aiti-11232	10	8	nonlinear	nonlinear	ADJ
aiti-11232	10	9	optimal	optimal	ADJ
aiti-11232	10	10	control	control	NOUN
aiti-11232	10	11	,	,	PUNCT
aiti-11232	10	12	stochastic	stochastic	ADJ
aiti-11232	10	13	approximation	approximation	NOUN
aiti-11232	10	14	,	,	PUNCT
aiti-11232	10	15	state	state	NOUN
aiti-11232	10	16	estimation	estimation	NOUN
aiti-11232	10	17	1	1	NUM
aiti-11232	10	18	.	.	PUNCT
aiti-11232	10	19	introduction	introduction	NOUN
aiti-11232	10	20	water	water	NOUN
aiti-11232	10	21	tank	tank	NOUN
aiti-11232	10	22	systems	system	NOUN
aiti-11232	10	23	have	have	AUX
aiti-11232	10	24	been	be	AUX
aiti-11232	10	25	widely	widely	ADV
aiti-11232	10	26	studied	study	VERB
aiti-11232	10	27	in	in	ADP
aiti-11232	10	28	engineering	engineering	NOUN
aiti-11232	10	29	,	,	PUNCT
aiti-11232	10	30	such	such	ADJ
aiti-11232	10	31	as	as	ADP
aiti-11232	10	32	mechanical	mechanical	ADJ
aiti-11232	10	33	and	and	CCONJ
aiti-11232	10	34	chemical	chemical	NOUN
aiti-11232	10	35	systems	system	NOUN
aiti-11232	10	36	.	.	PUNCT
aiti-11232	11	1	in	in	ADP
aiti-11232	11	2	particular	particular	ADJ
aiti-11232	11	3	,	,	PUNCT
aiti-11232	11	4	a	a	DET
aiti-11232	11	5	four	four	NUM
aiti-11232	11	6	-	-	PUNCT
aiti-11232	11	7	tank	tank	NOUN
aiti-11232	11	8	system	system	NOUN
aiti-11232	11	9	,	,	PUNCT
aiti-11232	11	10	which	which	PRON
aiti-11232	11	11	is	be	AUX
aiti-11232	11	12	a	a	DET
aiti-11232	11	13	standard	standard	ADJ
aiti-11232	11	14	nonlinear	nonlinear	ADJ
aiti-11232	11	15	dynamical	dynamical	ADJ
aiti-11232	11	16	system	system	NOUN
aiti-11232	11	17	,	,	PUNCT
aiti-11232	11	18	has	have	VERB
aiti-11232	11	19	a	a	DET
aiti-11232	11	20	more	more	ADV
aiti-11232	11	21	complex	complex	ADJ
aiti-11232	11	22	liquid	liquid	ADJ
aiti-11232	11	23	-	-	PUNCT
aiti-11232	11	24	level	level	NOUN
aiti-11232	11	25	control	control	NOUN
aiti-11232	11	26	problem	problem	NOUN
aiti-11232	11	27	than	than	ADP
aiti-11232	11	28	two	two	NUM
aiti-11232	11	29	and	and	CCONJ
aiti-11232	11	30	three	three	NUM
aiti-11232	11	31	-	-	PUNCT
aiti-11232	11	32	tank	tank	NOUN
aiti-11232	11	33	systems	system	NOUN
aiti-11232	11	34	.	.	PUNCT
aiti-11232	12	1	considering	consider	VERB
aiti-11232	12	2	the	the	DET
aiti-11232	12	3	interconnected	interconnected	ADJ
aiti-11232	12	4	structure	structure	NOUN
aiti-11232	12	5	between	between	ADP
aiti-11232	12	6	the	the	DET
aiti-11232	12	7	inputs	input	NOUN
aiti-11232	12	8	and	and	CCONJ
aiti-11232	12	9	outputs	output	NOUN
aiti-11232	12	10	in	in	ADP
aiti-11232	12	11	these	these	DET
aiti-11232	12	12	four	four	NUM
aiti-11232	12	13	tanks	tank	NOUN
aiti-11232	12	14	,	,	PUNCT
aiti-11232	12	15	changing	change	VERB
aiti-11232	12	16	a	a	DET
aiti-11232	12	17	single	single	ADJ
aiti-11232	12	18	input	input	NOUN
aiti-11232	12	19	to	to	PART
aiti-11232	12	20	control	control	VERB
aiti-11232	12	21	the	the	DET
aiti-11232	12	22	system	system	NOUN
aiti-11232	12	23	output	output	NOUN
aiti-11232	12	24	is	be	AUX
aiti-11232	12	25	complex	complex	ADJ
aiti-11232	12	26	,	,	PUNCT
aiti-11232	12	27	and	and	CCONJ
aiti-11232	12	28	the	the	DET
aiti-11232	12	29	stabilization	stabilization	NOUN
aiti-11232	12	30	of	of	ADP
aiti-11232	12	31	the	the	DET
aiti-11232	12	32	system	system	NOUN
aiti-11232	12	33	changes	change	VERB
aiti-11232	12	34	once	once	ADV
aiti-11232	12	35	a	a	DET
aiti-11232	12	36	single	single	ADJ
aiti-11232	12	37	input	input	NOUN
aiti-11232	12	38	is	be	AUX
aiti-11232	12	39	changed	change	VERB
aiti-11232	12	40	.	.	PUNCT
aiti-11232	13	1	the	the	DET
aiti-11232	13	2	four	four	NUM
aiti-11232	13	3	-	-	PUNCT
aiti-11232	13	4	tank	tank	NOUN
aiti-11232	13	5	system	system	NOUN
aiti-11232	13	6	with	with	ADP
aiti-11232	13	7	coupling	coupling	NOUN
aiti-11232	13	8	effects	effect	NOUN
aiti-11232	13	9	between	between	ADP
aiti-11232	13	10	the	the	DET
aiti-11232	13	11	input	input	NOUN
aiti-11232	13	12	and	and	CCONJ
aiti-11232	13	13	output	output	NOUN
aiti-11232	13	14	causes	cause	VERB
aiti-11232	13	15	complex	complex	ADJ
aiti-11232	13	16	nonlinear	nonlinear	ADJ
aiti-11232	13	17	behavior	behavior	NOUN
aiti-11232	13	18	,	,	PUNCT
aiti-11232	13	19	and	and	CCONJ
aiti-11232	13	20	this	this	DET
aiti-11232	13	21	nonlinear	nonlinear	ADJ
aiti-11232	13	22	process	process	NOUN
aiti-11232	13	23	is	be	AUX
aiti-11232	13	24	troublesome	troublesome	ADJ
aiti-11232	13	25	to	to	PART
aiti-11232	13	26	manage	manage	VERB
aiti-11232	13	27	.	.	PUNCT
aiti-11232	14	1	thus	thus	ADV
aiti-11232	14	2	,	,	PUNCT
aiti-11232	14	3	it	it	PRON
aiti-11232	14	4	is	be	AUX
aiti-11232	14	5	challenging	challenge	VERB
aiti-11232	14	6	to	to	PART
aiti-11232	14	7	stabilize	stabilize	VERB
aiti-11232	14	8	the	the	DET
aiti-11232	14	9	response	response	NOUN
aiti-11232	14	10	output	output	NOUN
aiti-11232	14	11	from	from	ADP
aiti-11232	14	12	a	a	DET
aiti-11232	14	13	four	four	NUM
aiti-11232	14	14	-	-	PUNCT
aiti-11232	14	15	tank	tank	NOUN
aiti-11232	14	16	system	system	NOUN
aiti-11232	14	17	that	that	PRON
aiti-11232	14	18	is	be	AUX
aiti-11232	14	19	a	a	DET
aiti-11232	14	20	multiple	multiple	ADJ
aiti-11232	14	21	-	-	PUNCT
aiti-11232	14	22	input	input	NOUN
aiti-11232	14	23	multiple	multiple	ADJ
aiti-11232	14	24	-	-	PUNCT
aiti-11232	14	25	output	output	NOUN
aiti-11232	14	26	(	(	PUNCT
aiti-11232	14	27	mimo	mimo	PROPN
aiti-11232	14	28	)	)	PUNCT
aiti-11232	14	29	process	process	NOUN
aiti-11232	14	30	[	[	X
aiti-11232	14	31	1	1	NUM
aiti-11232	14	32	-	-	SYM
aiti-11232	14	33	2	2	NUM
aiti-11232	14	34	]	]	PUNCT
aiti-11232	14	35	.	.	PUNCT
aiti-11232	15	1	moreover	moreover	ADV
aiti-11232	15	2	,	,	PUNCT
aiti-11232	15	3	most	most	ADJ
aiti-11232	15	4	industrial	industrial	ADJ
aiti-11232	15	5	processes	process	NOUN
aiti-11232	15	6	have	have	VERB
aiti-11232	15	7	the	the	DET
aiti-11232	15	8	problem	problem	NOUN
aiti-11232	15	9	of	of	ADP
aiti-11232	15	10	controlling	control	VERB
aiti-11232	15	11	the	the	DET
aiti-11232	15	12	liquid	liquid	ADJ
aiti-11232	15	13	level	level	NOUN
aiti-11232	15	14	in	in	ADP
aiti-11232	15	15	the	the	DET
aiti-11232	15	16	tanks	tank	NOUN
aiti-11232	15	17	.	.	PUNCT
aiti-11232	16	1	typically	typically	ADV
aiti-11232	16	2	,	,	PUNCT
aiti-11232	16	3	liquids	liquid	NOUN
aiti-11232	16	4	used	use	VERB
aiti-11232	16	5	in	in	ADP
aiti-11232	16	6	chemical	chemical	ADJ
aiti-11232	16	7	plants	plant	NOUN
aiti-11232	16	8	and	and	CCONJ
aiti-11232	16	9	in	in	ADP
aiti-11232	16	10	mixing	mix	VERB
aiti-11232	16	11	treatments	treatment	NOUN
aiti-11232	16	12	in	in	ADP
aiti-11232	16	13	tanks	tank	NOUN
aiti-11232	16	14	must	must	AUX
aiti-11232	16	15	be	be	AUX
aiti-11232	16	16	controlled	control	VERB
aiti-11232	16	17	at	at	ADP
aiti-11232	16	18	a	a	DET
aiti-11232	16	19	steady	steady	ADJ
aiti-11232	16	20	-	-	PUNCT
aiti-11232	16	21	state	state	NOUN
aiti-11232	16	22	height	height	NOUN
aiti-11232	16	23	,	,	PUNCT
aiti-11232	16	24	and	and	CCONJ
aiti-11232	16	25	the	the	DET
aiti-11232	16	26	flow	flow	NOUN
aiti-11232	16	27	between	between	ADP
aiti-11232	16	28	tanks	tank	NOUN
aiti-11232	16	29	should	should	AUX
aiti-11232	16	30	be	be	AUX
aiti-11232	16	31	regulated	regulate	VERB
aiti-11232	16	32	[	[	PUNCT
aiti-11232	16	33	3	3	NUM
aiti-11232	16	34	]	]	PUNCT
aiti-11232	16	35	at	at	ADP
aiti-11232	16	36	the	the	DET
aiti-11232	16	37	desired	desire	VERB
aiti-11232	16	38	level	level	NOUN
aiti-11232	16	39	.	.	PUNCT
aiti-11232	17	1	the	the	DET
aiti-11232	17	2	various	various	ADJ
aiti-11232	17	3	applications	application	NOUN
aiti-11232	17	4	of	of	ADP
aiti-11232	17	5	liquid	liquid	NOUN
aiti-11232	17	6	-	-	PUNCT
aiti-11232	17	7	level	level	NOUN
aiti-11232	17	8	control	control	NOUN
aiti-11232	17	9	,	,	PUNCT
aiti-11232	17	10	including	include	VERB
aiti-11232	17	11	nuclear	nuclear	ADJ
aiti-11232	17	12	power	power	NOUN
aiti-11232	17	13	plants	plant	NOUN
aiti-11232	17	14	[	[	X
aiti-11232	17	15	4	4	NUM
aiti-11232	17	16	]	]	PUNCT
aiti-11232	17	17	,	,	PUNCT
aiti-11232	17	18	food	food	NOUN
aiti-11232	17	19	processing	processing	NOUN
aiti-11232	17	20	[	[	X
aiti-11232	17	21	5	5	NUM
aiti-11232	17	22	]	]	PUNCT
aiti-11232	17	23	,	,	PUNCT
aiti-11232	17	24	and	and	CCONJ
aiti-11232	17	25	beverages	beverage	NOUN
aiti-11232	17	26	and	and	CCONJ
aiti-11232	17	27	pharmaceuticals	pharmaceutical	NOUN
aiti-11232	17	28	[	[	X
aiti-11232	17	29	6	6	NUM
aiti-11232	17	30	]	]	PUNCT
aiti-11232	17	31	,	,	PUNCT
aiti-11232	17	32	have	have	AUX
aiti-11232	17	33	been	be	AUX
aiti-11232	17	34	well	well	ADV
aiti-11232	17	35	-	-	PUNCT
aiti-11232	17	36	presented	present	VERB
aiti-11232	17	37	in	in	ADP
aiti-11232	17	38	the	the	DET
aiti-11232	17	39	literature	literature	NOUN
aiti-11232	17	40	.	.	PUNCT
aiti-11232	18	1	for	for	ADP
aiti-11232	18	2	simplicity	simplicity	NOUN
aiti-11232	18	3	,	,	PUNCT
aiti-11232	18	4	a	a	DET
aiti-11232	18	5	four	four	NUM
aiti-11232	18	6	-	-	PUNCT
aiti-11232	18	7	tank	tank	NOUN
aiti-11232	18	8	system	system	NOUN
aiti-11232	18	9	consisting	consist	VERB
aiti-11232	18	10	of	of	ADP
aiti-11232	18	11	four	four	NUM
aiti-11232	18	12	interconnected	interconnected	ADJ
aiti-11232	18	13	tanks	tank	NOUN
aiti-11232	18	14	and	and	CCONJ
aiti-11232	18	15	two	two	NUM
aiti-11232	18	16	pumps	pump	NOUN
aiti-11232	18	17	are	be	AUX
aiti-11232	18	18	considered	consider	VERB
aiti-11232	18	19	.	.	PUNCT
aiti-11232	19	1	this	this	DET
aiti-11232	19	2	system	system	NOUN
aiti-11232	19	3	aims	aim	VERB
aiti-11232	19	4	to	to	PART
aiti-11232	19	5	control	control	VERB
aiti-11232	19	6	the	the	DET
aiti-11232	19	7	liquid	liquid	ADJ
aiti-11232	19	8	level	level	NOUN
aiti-11232	19	9	in	in	ADP
aiti-11232	19	10	the	the	DET
aiti-11232	19	11	two	two	NUM
aiti-11232	19	12	lower	low	ADJ
aiti-11232	19	13	tanks	tank	NOUN
aiti-11232	19	14	using	use	VERB
aiti-11232	19	15	two	two	NUM
aiti-11232	19	16	pumps	pump	NOUN
aiti-11232	19	17	.	.	PUNCT
aiti-11232	20	1	the	the	DET
aiti-11232	20	2	inputs	input	NOUN
aiti-11232	20	3	of	of	ADP
aiti-11232	20	4	the	the	DET
aiti-11232	20	5	process	process	NOUN
aiti-11232	20	6	are	be	AUX
aiti-11232	20	7	the	the	DET
aiti-11232	20	8	voltage	voltage	NOUN
aiti-11232	20	9	of	of	ADP
aiti-11232	20	10	the	the	DET
aiti-11232	20	11	pumps	pump	NOUN
aiti-11232	20	12	,	,	PUNCT
aiti-11232	20	13	and	and	CCONJ
aiti-11232	20	14	the	the	DET
aiti-11232	20	15	outputs	output	NOUN
aiti-11232	20	16	are	be	AUX
aiti-11232	20	17	the	the	DET
aiti-11232	20	18	liquid	liquid	ADJ
aiti-11232	20	19	levels	level	NOUN
aiti-11232	20	20	in	in	ADP
aiti-11232	20	21	the	the	DET
aiti-11232	20	22	lower	low	ADJ
aiti-11232	20	23	two	two	NUM
aiti-11232	20	24	tanks	tank	NOUN
aiti-11232	20	25	[	[	X
aiti-11232	20	26	7	7	NUM
aiti-11232	20	27	-	-	SYM
aiti-11232	20	28	8	8	NUM
aiti-11232	20	29	]	]	PUNCT
aiti-11232	20	30	.	.	PUNCT
aiti-11232	21	1	these	these	DET
aiti-11232	21	2	two	two	NUM
aiti-11232	21	3	pumps	pump	NOUN
aiti-11232	21	4	convey	convey	VERB
aiti-11232	21	5	liquid	liquid	NOUN
aiti-11232	21	6	from	from	ADP
aiti-11232	21	7	a	a	DET
aiti-11232	21	8	basin	basin	NOUN
aiti-11232	21	9	to	to	ADP
aiti-11232	21	10	four	four	NUM
aiti-11232	21	11	overhead	overhead	ADV
aiti-11232	21	12	*	*	PUNCT
aiti-11232	21	13	corresponding	correspond	VERB
aiti-11232	21	14	author	author	NOUN
aiti-11232	21	15	.	.	PUNCT
aiti-11232	22	1	e	e	X
aiti-11232	22	2	-	-	NOUN
aiti-11232	22	3	mail	mail	NOUN
aiti-11232	22	4	address	address	NOUN
aiti-11232	22	5	:	:	PUNCT
aiti-11232	22	6	slkek@uthm.edu.my	slkek@uthm.edu.my	NOUN
aiti-11232	22	7	advances	advance	NOUN
aiti-11232	22	8	in	in	ADP
aiti-11232	22	9	technology	technology	NOUN
aiti-11232	22	10	innovation	innovation	NOUN
aiti-11232	22	11	,	,	PUNCT
aiti-11232	22	12	vol	vol	NOUN
aiti-11232	22	13	.	.	PROPN
aiti-11232	22	14	8	8	NUM
aiti-11232	22	15	,	,	PUNCT
aiti-11232	22	16	no	no	INTJ
aiti-11232	22	17	.	.	NOUN
aiti-11232	22	18	2	2	NUM
aiti-11232	22	19	,	,	PUNCT
aiti-11232	22	20	2023	2023	NUM
aiti-11232	22	21	,	,	PUNCT
aiti-11232	22	22	pp	pp	ADJ
aiti-11232	22	23	.	.	PUNCT
aiti-11232	23	1	150	150	NUM
aiti-11232	23	2	-	-	SYM
aiti-11232	23	3	161	161	NUM
aiti-11232	23	4	151	151	NUM
aiti-11232	23	5	tanks	tank	NOUN
aiti-11232	23	6	.	.	PUNCT
aiti-11232	24	1	the	the	DET
aiti-11232	24	2	liquid	liquid	NOUN
aiti-11232	24	3	is	be	AUX
aiti-11232	24	4	freely	freely	ADV
aiti-11232	24	5	drained	drain	VERB
aiti-11232	24	6	from	from	ADP
aiti-11232	24	7	the	the	DET
aiti-11232	24	8	two	two	NUM
aiti-11232	24	9	upper	upper	ADJ
aiti-11232	24	10	-	-	PUNCT
aiti-11232	24	11	level	level	NOUN
aiti-11232	24	12	tanks	tank	NOUN
aiti-11232	24	13	into	into	ADP
aiti-11232	24	14	the	the	DET
aiti-11232	24	15	two	two	NUM
aiti-11232	24	16	bottom	bottom	ADJ
aiti-11232	24	17	-	-	PUNCT
aiti-11232	24	18	level	level	NOUN
aiti-11232	24	19	tanks	tank	NOUN
aiti-11232	24	20	.	.	PUNCT
aiti-11232	25	1	then	then	ADV
aiti-11232	25	2	,	,	PUNCT
aiti-11232	25	3	the	the	DET
aiti-11232	25	4	liquid	liquid	ADJ
aiti-11232	25	5	levels	level	NOUN
aiti-11232	25	6	in	in	ADP
aiti-11232	25	7	the	the	DET
aiti-11232	25	8	two	two	NUM
aiti-11232	25	9	bottom	bottom	ADJ
aiti-11232	25	10	tanks	tank	NOUN
aiti-11232	25	11	are	be	AUX
aiti-11232	25	12	measured	measure	VERB
aiti-11232	25	13	.	.	PUNCT
aiti-11232	26	1	in	in	ADP
aiti-11232	26	2	such	such	DET
aiti-11232	26	3	a	a	DET
aiti-11232	26	4	piping	piping	NOUN
aiti-11232	26	5	system	system	NOUN
aiti-11232	26	6	,	,	PUNCT
aiti-11232	26	7	each	each	DET
aiti-11232	26	8	pump	pump	NOUN
aiti-11232	26	9	affects	affect	VERB
aiti-11232	26	10	the	the	DET
aiti-11232	26	11	liquid	liquid	ADJ
aiti-11232	26	12	levels	level	NOUN
aiti-11232	26	13	in	in	ADP
aiti-11232	26	14	both	both	CCONJ
aiti-11232	26	15	the	the	DET
aiti-11232	26	16	measured	measure	VERB
aiti-11232	26	17	tanks	tank	NOUN
aiti-11232	26	18	.	.	PUNCT
aiti-11232	27	1	a	a	DET
aiti-11232	27	2	portion	portion	NOUN
aiti-11232	27	3	of	of	ADP
aiti-11232	27	4	the	the	DET
aiti-11232	27	5	flow	flow	NOUN
aiti-11232	27	6	from	from	ADP
aiti-11232	27	7	the	the	DET
aiti-11232	27	8	pumps	pump	NOUN
aiti-11232	27	9	is	be	AUX
aiti-11232	27	10	directed	direct	VERB
aiti-11232	27	11	to	to	ADP
aiti-11232	27	12	one	one	NUM
aiti-11232	27	13	of	of	ADP
aiti-11232	27	14	the	the	DET
aiti-11232	27	15	tanks	tank	NOUN
aiti-11232	27	16	at	at	ADP
aiti-11232	27	17	the	the	DET
aiti-11232	27	18	bottom	bottom	ADJ
aiti-11232	27	19	level	level	NOUN
aiti-11232	27	20	,	,	PUNCT
aiti-11232	27	21	while	while	SCONJ
aiti-11232	27	22	the	the	DET
aiti-11232	27	23	rest	rest	NOUN
aiti-11232	27	24	of	of	ADP
aiti-11232	27	25	the	the	DET
aiti-11232	27	26	flow	flow	NOUN
aiti-11232	27	27	from	from	ADP
aiti-11232	27	28	the	the	DET
aiti-11232	27	29	pumps	pump	NOUN
aiti-11232	27	30	is	be	AUX
aiti-11232	27	31	directed	direct	VERB
aiti-11232	27	32	to	to	ADP
aiti-11232	27	33	the	the	DET
aiti-11232	27	34	overhead	overhead	ADJ
aiti-11232	27	35	tank	tank	NOUN
aiti-11232	27	36	,	,	PUNCT
aiti-11232	27	37	which	which	PRON
aiti-11232	27	38	drains	drain	VERB
aiti-11232	27	39	freely	freely	ADV
aiti-11232	27	40	into	into	ADP
aiti-11232	27	41	the	the	DET
aiti-11232	27	42	other	other	ADJ
aiti-11232	27	43	tanks	tank	NOUN
aiti-11232	27	44	at	at	ADP
aiti-11232	27	45	the	the	DET
aiti-11232	27	46	bottom	bottom	ADJ
aiti-11232	27	47	level	level	NOUN
aiti-11232	27	48	.	.	PUNCT
aiti-11232	28	1	the	the	DET
aiti-11232	28	2	amount	amount	NOUN
aiti-11232	28	3	of	of	ADP
aiti-11232	28	4	flow	flow	NOUN
aiti-11232	28	5	between	between	ADP
aiti-11232	28	6	the	the	DET
aiti-11232	28	7	inputs	input	NOUN
aiti-11232	28	8	and	and	CCONJ
aiti-11232	28	9	the	the	DET
aiti-11232	28	10	outputs	output	NOUN
aiti-11232	28	11	can	can	AUX
aiti-11232	28	12	vary	vary	VERB
aiti-11232	28	13	by	by	ADP
aiti-11232	28	14	adjusting	adjust	VERB
aiti-11232	28	15	the	the	DET
aiti-11232	28	16	bypass	bypass	NOUN
aiti-11232	28	17	valves	valve	NOUN
aiti-11232	28	18	of	of	ADP
aiti-11232	28	19	the	the	DET
aiti-11232	28	20	system	system	NOUN
aiti-11232	28	21	[	[	X
aiti-11232	28	22	9	9	NUM
aiti-11232	28	23	-	-	SYM
aiti-11232	28	24	10	10	NUM
aiti-11232	28	25	]	]	PUNCT
aiti-11232	28	26	.	.	PUNCT
aiti-11232	29	1	several	several	ADJ
aiti-11232	29	2	practical	practical	ADJ
aiti-11232	29	3	studies	study	NOUN
aiti-11232	29	4	have	have	AUX
aiti-11232	29	5	been	be	AUX
aiti-11232	29	6	conducted	conduct	VERB
aiti-11232	29	7	on	on	ADP
aiti-11232	29	8	the	the	DET
aiti-11232	29	9	control	control	NOUN
aiti-11232	29	10	of	of	ADP
aiti-11232	29	11	the	the	DET
aiti-11232	29	12	four	four	NUM
aiti-11232	29	13	-	-	PUNCT
aiti-11232	29	14	tank	tank	NOUN
aiti-11232	29	15	systems	system	NOUN
aiti-11232	29	16	.	.	PUNCT
aiti-11232	30	1	proportional	proportional	ADJ
aiti-11232	30	2	-	-	PUNCT
aiti-11232	30	3	integral	integral	ADJ
aiti-11232	30	4	-	-	PUNCT
aiti-11232	30	5	derivative	derivative	ADJ
aiti-11232	30	6	(	(	PUNCT
aiti-11232	30	7	pid	pid	NOUN
aiti-11232	30	8	)	)	PUNCT
aiti-11232	30	9	,	,	PUNCT
aiti-11232	30	10	model	model	NOUN
aiti-11232	30	11	predictive	predictive	ADJ
aiti-11232	30	12	control	control	PROPN
aiti-11232	30	13	(	(	PUNCT
aiti-11232	30	14	mpc	mpc	NOUN
aiti-11232	30	15	)	)	PUNCT
aiti-11232	30	16	,	,	PUNCT
aiti-11232	30	17	and	and	CCONJ
aiti-11232	30	18	fuzzy	fuzzy	ADJ
aiti-11232	30	19	modified	modify	VERB
aiti-11232	30	20	model	model	NOUN
aiti-11232	30	21	reference	reference	NOUN
aiti-11232	30	22	adaptive	adaptive	ADJ
aiti-11232	30	23	control	control	NOUN
aiti-11232	30	24	(	(	PUNCT
aiti-11232	30	25	fmmrac	fmmrac	NOUN
aiti-11232	30	26	)	)	PUNCT
aiti-11232	30	27	were	be	AUX
aiti-11232	30	28	implemented	implement	VERB
aiti-11232	30	29	to	to	PART
aiti-11232	30	30	control	control	VERB
aiti-11232	30	31	a	a	DET
aiti-11232	30	32	four	four	NUM
aiti-11232	30	33	-	-	PUNCT
aiti-11232	30	34	tank	tank	NOUN
aiti-11232	30	35	system	system	NOUN
aiti-11232	30	36	[	[	X
aiti-11232	30	37	11	11	NUM
aiti-11232	30	38	]	]	PUNCT
aiti-11232	30	39	.	.	PUNCT
aiti-11232	31	1	the	the	DET
aiti-11232	31	2	system	system	NOUN
aiti-11232	31	3	’s	’s	PART
aiti-11232	31	4	performance	performance	NOUN
aiti-11232	31	5	was	be	AUX
aiti-11232	31	6	analyzed	analyze	VERB
aiti-11232	31	7	using	use	VERB
aiti-11232	31	8	conventional	conventional	ADJ
aiti-11232	31	9	proportional	proportional	ADJ
aiti-11232	31	10	-	-	PUNCT
aiti-11232	31	11	integral	integral	ADJ
aiti-11232	31	12	(	(	PUNCT
aiti-11232	31	13	pi	pi	NOUN
aiti-11232	31	14	)	)	PUNCT
aiti-11232	31	15	and	and	CCONJ
aiti-11232	31	16	hybrid	hybrid	ADJ
aiti-11232	31	17	fuzzy	fuzzy	ADJ
aiti-11232	31	18	pi	pi	NOUN
aiti-11232	31	19	controllers	controller	NOUN
aiti-11232	31	20	.	.	PUNCT
aiti-11232	32	1	linear	linear	ADJ
aiti-11232	32	2	quadratic	quadratic	ADJ
aiti-11232	32	3	regulator	regulator	NOUN
aiti-11232	32	4	(	(	PUNCT
aiti-11232	32	5	lqr	lqr	PROPN
aiti-11232	32	6	)	)	PUNCT
aiti-11232	32	7	,	,	PUNCT
aiti-11232	32	8	linear	linear	ADJ
aiti-11232	32	9	quadratic	quadratic	ADJ
aiti-11232	32	10	gaussian	gaussian	NOUN
aiti-11232	32	11	regulator	regulator	NOUN
aiti-11232	32	12	(	(	PUNCT
aiti-11232	32	13	lqgr	lqgr	PROPN
aiti-11232	32	14	)	)	PUNCT
aiti-11232	32	15	,	,	PUNCT
aiti-11232	32	16	and	and	CCONJ
aiti-11232	32	17	h2	h2	NOUN
aiti-11232	32	18	and	and	CCONJ
aiti-11232	32	19	h∞	h∞	NOUN
aiti-11232	32	20	controllers	controller	NOUN
aiti-11232	33	1	[	[	X
aiti-11232	33	2	12	12	NUM
aiti-11232	33	3	]	]	PUNCT
aiti-11232	33	4	were	be	AUX
aiti-11232	33	5	applied	apply	VERB
aiti-11232	33	6	to	to	PART
aiti-11232	33	7	manage	manage	VERB
aiti-11232	33	8	the	the	DET
aiti-11232	33	9	four	four	NUM
aiti-11232	33	10	-	-	PUNCT
aiti-11232	33	11	tank	tank	NOUN
aiti-11232	33	12	system	system	NOUN
aiti-11232	33	13	separately	separately	ADV
aiti-11232	33	14	.	.	PUNCT
aiti-11232	34	1	then	then	ADV
aiti-11232	34	2	,	,	PUNCT
aiti-11232	34	3	compare	compare	VERB
aiti-11232	34	4	their	their	PRON
aiti-11232	34	5	performances	performance	NOUN
aiti-11232	34	6	in	in	ADP
aiti-11232	34	7	terms	term	NOUN
aiti-11232	34	8	of	of	ADP
aiti-11232	34	9	disturbance	disturbance	NOUN
aiti-11232	34	10	rejection	rejection	NOUN
aiti-11232	34	11	to	to	PART
aiti-11232	34	12	study	study	VERB
aiti-11232	34	13	the	the	DET
aiti-11232	34	14	effects	effect	NOUN
aiti-11232	34	15	of	of	ADP
aiti-11232	34	16	these	these	DET
aiti-11232	34	17	control	control	NOUN
aiti-11232	34	18	systems	system	NOUN
aiti-11232	34	19	on	on	ADP
aiti-11232	34	20	the	the	DET
aiti-11232	34	21	four	four	NUM
aiti-11232	34	22	-	-	PUNCT
aiti-11232	34	23	tank	tank	NOUN
aiti-11232	34	24	system	system	NOUN
aiti-11232	34	25	.	.	PUNCT
aiti-11232	35	1	moreover	moreover	ADV
aiti-11232	35	2	,	,	PUNCT
aiti-11232	35	3	a	a	DET
aiti-11232	35	4	distributed	distribute	VERB
aiti-11232	35	5	control	control	NOUN
aiti-11232	35	6	and	and	CCONJ
aiti-11232	35	7	estimation	estimation	NOUN
aiti-11232	35	8	method	method	NOUN
aiti-11232	35	9	[	[	X
aiti-11232	35	10	13	13	NUM
aiti-11232	35	11	]	]	PUNCT
aiti-11232	35	12	was	be	AUX
aiti-11232	35	13	designed	design	VERB
aiti-11232	35	14	for	for	ADP
aiti-11232	35	15	a	a	DET
aiti-11232	35	16	multivariate	multivariate	NOUN
aiti-11232	35	17	four	four	NUM
aiti-11232	35	18	-	-	PUNCT
aiti-11232	35	19	tank	tank	NOUN
aiti-11232	35	20	process	process	NOUN
aiti-11232	35	21	,	,	PUNCT
aiti-11232	35	22	whereas	whereas	SCONJ
aiti-11232	35	23	active	active	ADJ
aiti-11232	35	24	disturbance	disturbance	NOUN
aiti-11232	35	25	rejection	rejection	NOUN
aiti-11232	35	26	techniques	technique	NOUN
aiti-11232	35	27	[	[	X
aiti-11232	35	28	14	14	NUM
aiti-11232	35	29	]	]	PUNCT
aiti-11232	35	30	and	and	CCONJ
aiti-11232	35	31	disturbance	disturbance	NOUN
aiti-11232	35	32	observers	observer	NOUN
aiti-11232	36	1	[	[	X
aiti-11232	36	2	15	15	NUM
aiti-11232	36	3	]	]	PUNCT
aiti-11232	36	4	were	be	AUX
aiti-11232	36	5	proposed	propose	VERB
aiti-11232	36	6	for	for	ADP
aiti-11232	36	7	studying	study	VERB
aiti-11232	36	8	four	four	NUM
aiti-11232	36	9	-	-	PUNCT
aiti-11232	36	10	tank	tank	NOUN
aiti-11232	36	11	systems	system	NOUN
aiti-11232	36	12	in	in	ADP
aiti-11232	36	13	the	the	DET
aiti-11232	36	14	presence	presence	NOUN
aiti-11232	36	15	of	of	ADP
aiti-11232	36	16	random	random	ADJ
aiti-11232	36	17	disturbances	disturbance	NOUN
aiti-11232	36	18	.	.	PUNCT
aiti-11232	37	1	furthermore	furthermore	ADV
aiti-11232	37	2	,	,	PUNCT
aiti-11232	37	3	some	some	DET
aiti-11232	37	4	studies	study	NOUN
aiti-11232	37	5	have	have	AUX
aiti-11232	37	6	been	be	AUX
aiti-11232	37	7	conducted	conduct	VERB
aiti-11232	37	8	on	on	ADP
aiti-11232	37	9	tank	tank	NOUN
aiti-11232	37	10	systems	system	NOUN
aiti-11232	37	11	using	use	VERB
aiti-11232	37	12	the	the	DET
aiti-11232	37	13	simultaneous	simultaneous	ADJ
aiti-11232	37	14	perturbation	perturbation	NOUN
aiti-11232	37	15	stochastic	stochastic	NOUN
aiti-11232	37	16	approximation	approximation	NOUN
aiti-11232	37	17	(	(	PUNCT
aiti-11232	37	18	spsa	spsa	NOUN
aiti-11232	37	19	)	)	PUNCT
aiti-11232	37	20	method	method	NOUN
aiti-11232	37	21	.	.	PUNCT
aiti-11232	38	1	for	for	ADP
aiti-11232	38	2	example	example	NOUN
aiti-11232	38	3	,	,	PUNCT
aiti-11232	38	4	the	the	DET
aiti-11232	38	5	water	water	NOUN
aiti-11232	38	6	cooling	cooling	NOUN
aiti-11232	38	7	of	of	ADP
aiti-11232	38	8	sulfuric	sulfuric	ADJ
aiti-11232	38	9	acid	acid	NOUN
aiti-11232	38	10	in	in	ADP
aiti-11232	38	11	a	a	DET
aiti-11232	38	12	two	two	NUM
aiti-11232	38	13	-	-	PUNCT
aiti-11232	38	14	tank	tank	NOUN
aiti-11232	38	15	system	system	NOUN
aiti-11232	38	16	was	be	AUX
aiti-11232	38	17	studied	study	VERB
aiti-11232	38	18	using	use	VERB
aiti-11232	38	19	the	the	DET
aiti-11232	38	20	spsa	spsa	NOUN
aiti-11232	38	21	technique	technique	NOUN
aiti-11232	38	22	,	,	PUNCT
aiti-11232	38	23	where	where	SCONJ
aiti-11232	38	24	a	a	DET
aiti-11232	38	25	neural	neural	ADJ
aiti-11232	38	26	model	model	NOUN
aiti-11232	38	27	and	and	CCONJ
aiti-11232	38	28	a	a	DET
aiti-11232	38	29	model	model	NOUN
aiti-11232	38	30	-	-	PUNCT
aiti-11232	38	31	based	base	VERB
aiti-11232	38	32	predictive	predictive	ADJ
aiti-11232	38	33	neural	neural	ADJ
aiti-11232	38	34	pid	pid	NOUN
aiti-11232	38	35	controller	controller	NOUN
aiti-11232	38	36	were	be	AUX
aiti-11232	38	37	developed	develop	VERB
aiti-11232	38	38	[	[	X
aiti-11232	38	39	16	16	NUM
aiti-11232	38	40	]	]	PUNCT
aiti-11232	38	41	.	.	PUNCT
aiti-11232	39	1	a	a	DET
aiti-11232	39	2	novel	novel	ADJ
aiti-11232	39	3	optimization	optimization	NOUN
aiti-11232	39	4	method	method	NOUN
aiti-11232	39	5	based	base	VERB
aiti-11232	39	6	on	on	ADP
aiti-11232	39	7	the	the	DET
aiti-11232	39	8	spsa	spsa	NOUN
aiti-11232	39	9	approach	approach	NOUN
aiti-11232	39	10	was	be	AUX
aiti-11232	39	11	proposed	propose	VERB
aiti-11232	39	12	to	to	PART
aiti-11232	39	13	maximize	maximize	VERB
aiti-11232	39	14	the	the	DET
aiti-11232	39	15	control	control	NOUN
aiti-11232	39	16	performance	performance	NOUN
aiti-11232	39	17	of	of	ADP
aiti-11232	39	18	steam	steam	NOUN
aiti-11232	39	19	-	-	PUNCT
aiti-11232	39	20	generator	generator	NOUN
aiti-11232	39	21	level	level	NOUN
aiti-11232	39	22	control	control	NOUN
aiti-11232	40	1	[	[	X
aiti-11232	40	2	17	17	NUM
aiti-11232	40	3	]	]	PUNCT
aiti-11232	40	4	.	.	PUNCT
aiti-11232	41	1	the	the	DET
aiti-11232	41	2	spsa	spsa	NOUN
aiti-11232	41	3	method	method	NOUN
aiti-11232	41	4	was	be	AUX
aiti-11232	41	5	also	also	ADV
aiti-11232	41	6	developed	develop	VERB
aiti-11232	41	7	and	and	CCONJ
aiti-11232	41	8	implemented	implement	VERB
aiti-11232	41	9	on	on	ADP
aiti-11232	41	10	a	a	DET
aiti-11232	41	11	dual	dual	ADJ
aiti-11232	41	12	-	-	PUNCT
aiti-11232	41	13	tank	tank	NOUN
aiti-11232	41	14	liquid	liquid	NOUN
aiti-11232	41	15	-	-	PUNCT
aiti-11232	41	16	level	level	NOUN
aiti-11232	41	17	control	control	NOUN
aiti-11232	41	18	system	system	NOUN
aiti-11232	41	19	to	to	PART
aiti-11232	41	20	improve	improve	VERB
aiti-11232	41	21	the	the	DET
aiti-11232	41	22	performance	performance	NOUN
aiti-11232	41	23	of	of	ADP
aiti-11232	41	24	a	a	DET
aiti-11232	41	25	pid	pid	NOUN
aiti-11232	41	26	control	control	NOUN
aiti-11232	41	27	system	system	NOUN
aiti-11232	41	28	for	for	ADP
aiti-11232	41	29	parameter	parameter	NOUN
aiti-11232	41	30	optimization	optimization	NOUN
aiti-11232	41	31	in	in	ADP
aiti-11232	41	32	the	the	DET
aiti-11232	41	33	tank	tank	NOUN
aiti-11232	41	34	model	model	NOUN
aiti-11232	41	35	and	and	CCONJ
aiti-11232	41	36	actual	actual	ADJ
aiti-11232	41	37	equipment	equipment	NOUN
aiti-11232	41	38	[	[	X
aiti-11232	41	39	18	18	NUM
aiti-11232	41	40	]	]	PUNCT
aiti-11232	41	41	.	.	PUNCT
aiti-11232	42	1	in	in	ADP
aiti-11232	42	2	addition	addition	NOUN
aiti-11232	42	3	,	,	PUNCT
aiti-11232	42	4	the	the	DET
aiti-11232	42	5	spsa	spsa	NOUN
aiti-11232	42	6	method	method	NOUN
aiti-11232	42	7	was	be	AUX
aiti-11232	42	8	applied	apply	VERB
aiti-11232	42	9	to	to	PART
aiti-11232	42	10	optimize	optimize	VERB
aiti-11232	42	11	the	the	DET
aiti-11232	42	12	trajectories	trajectory	NOUN
aiti-11232	42	13	of	of	ADP
aiti-11232	42	14	good	good	ADJ
aiti-11232	42	15	placement	placement	NOUN
aiti-11232	42	16	in	in	ADP
aiti-11232	42	17	the	the	DET
aiti-11232	42	18	reservoir	reservoir	NOUN
aiti-11232	42	19	management	management	PROPN
aiti-11232	42	20	optimization	optimization	NOUN
aiti-11232	42	21	problem	problem	NOUN
aiti-11232	42	22	[	[	X
aiti-11232	42	23	19	19	NUM
aiti-11232	42	24	]	]	PUNCT
aiti-11232	42	25	.	.	PUNCT
aiti-11232	43	1	however	however	ADV
aiti-11232	43	2	,	,	PUNCT
aiti-11232	43	3	few	few	ADJ
aiti-11232	43	4	studies	study	NOUN
aiti-11232	43	5	used	use	VERB
aiti-11232	43	6	the	the	DET
aiti-11232	43	7	sa	sa	NOUN
aiti-11232	43	8	technique	technique	NOUN
aiti-11232	43	9	to	to	PART
aiti-11232	43	10	manage	manage	VERB
aiti-11232	43	11	four	four	NUM
aiti-11232	43	12	-	-	PUNCT
aiti-11232	43	13	tank	tank	NOUN
aiti-11232	43	14	systems	system	NOUN
aiti-11232	43	15	.	.	PUNCT
aiti-11232	44	1	therefore	therefore	ADV
aiti-11232	44	2	,	,	PUNCT
aiti-11232	44	3	this	this	DET
aiti-11232	44	4	study	study	NOUN
aiti-11232	44	5	aims	aim	VERB
aiti-11232	44	6	to	to	PART
aiti-11232	44	7	explore	explore	VERB
aiti-11232	44	8	the	the	DET
aiti-11232	44	9	application	application	NOUN
aiti-11232	44	10	of	of	ADP
aiti-11232	44	11	the	the	DET
aiti-11232	44	12	sa	sa	PROPN
aiti-11232	44	13	approach	approach	NOUN
aiti-11232	44	14	[	[	X
aiti-11232	44	15	20	20	NUM
aiti-11232	44	16	]	]	PUNCT
aiti-11232	44	17	for	for	ADP
aiti-11232	44	18	controlling	control	VERB
aiti-11232	44	19	a	a	DET
aiti-11232	44	20	four	four	NUM
aiti-11232	44	21	-	-	PUNCT
aiti-11232	44	22	tank	tank	NOUN
aiti-11232	44	23	system	system	NOUN
aiti-11232	44	24	with	with	ADP
aiti-11232	44	25	random	random	ADJ
aiti-11232	44	26	disturbances	disturbance	NOUN
aiti-11232	44	27	,	,	PUNCT
aiti-11232	44	28	which	which	PRON
aiti-11232	44	29	might	might	AUX
aiti-11232	44	30	occur	occur	VERB
aiti-11232	44	31	from	from	ADP
aiti-11232	44	32	measurement	measurement	NOUN
aiti-11232	44	33	and	and	CCONJ
aiti-11232	44	34	human	human	ADJ
aiti-11232	44	35	errors	error	NOUN
aiti-11232	44	36	.	.	PUNCT
aiti-11232	45	1	since	since	SCONJ
aiti-11232	45	2	the	the	DET
aiti-11232	45	3	actual	actual	ADJ
aiti-11232	45	4	state	state	NOUN
aiti-11232	45	5	of	of	ADP
aiti-11232	45	6	the	the	DET
aiti-11232	45	7	system	system	NOUN
aiti-11232	45	8	,	,	PUNCT
aiti-11232	45	9	which	which	PRON
aiti-11232	45	10	is	be	AUX
aiti-11232	45	11	the	the	DET
aiti-11232	45	12	water	water	NOUN
aiti-11232	45	13	level	level	NOUN
aiti-11232	45	14	in	in	ADP
aiti-11232	45	15	the	the	DET
aiti-11232	45	16	tank	tank	NOUN
aiti-11232	45	17	,	,	PUNCT
aiti-11232	45	18	is	be	AUX
aiti-11232	45	19	uncertain	uncertain	ADJ
aiti-11232	45	20	in	in	ADP
aiti-11232	45	21	the	the	DET
aiti-11232	45	22	presence	presence	NOUN
aiti-11232	45	23	of	of	ADP
aiti-11232	45	24	random	random	ADJ
aiti-11232	45	25	disturbances	disturbance	NOUN
aiti-11232	45	26	,	,	PUNCT
aiti-11232	45	27	estimating	estimate	VERB
aiti-11232	45	28	the	the	DET
aiti-11232	45	29	water	water	NOUN
aiti-11232	45	30	level	level	NOUN
aiti-11232	45	31	in	in	ADP
aiti-11232	45	32	the	the	DET
aiti-11232	45	33	tank	tank	NOUN
aiti-11232	45	34	will	will	AUX
aiti-11232	45	35	be	be	AUX
aiti-11232	45	36	difficult	difficult	ADJ
aiti-11232	45	37	.	.	PUNCT
aiti-11232	46	1	in	in	ADP
aiti-11232	46	2	this	this	DET
aiti-11232	46	3	situation	situation	NOUN
aiti-11232	46	4	,	,	PUNCT
aiti-11232	46	5	researchers	researcher	NOUN
aiti-11232	46	6	are	be	AUX
aiti-11232	46	7	motivated	motivated	ADJ
aiti-11232	46	8	to	to	PART
aiti-11232	46	9	propose	propose	VERB
aiti-11232	46	10	a	a	DET
aiti-11232	46	11	computational	computational	ADJ
aiti-11232	46	12	approach	approach	NOUN
aiti-11232	46	13	based	base	VERB
aiti-11232	46	14	on	on	ADP
aiti-11232	46	15	the	the	DET
aiti-11232	46	16	sa	sa	PROPN
aiti-11232	46	17	approach	approach	NOUN
aiti-11232	46	18	to	to	PART
aiti-11232	46	19	handle	handle	VERB
aiti-11232	46	20	the	the	DET
aiti-11232	46	21	state	state	NOUN
aiti-11232	46	22	estimation	estimation	NOUN
aiti-11232	46	23	of	of	ADP
aiti-11232	46	24	the	the	DET
aiti-11232	46	25	system	system	NOUN
aiti-11232	46	26	and	and	CCONJ
aiti-11232	46	27	control	control	VERB
aiti-11232	46	28	the	the	DET
aiti-11232	46	29	water	water	NOUN
aiti-11232	46	30	level	level	NOUN
aiti-11232	46	31	at	at	ADP
aiti-11232	46	32	a	a	DET
aiti-11232	46	33	steady	steady	ADJ
aiti-11232	46	34	state	state	NOUN
aiti-11232	46	35	as	as	ADP
aiti-11232	46	36	the	the	DET
aiti-11232	46	37	main	main	ADJ
aiti-11232	46	38	contribution	contribution	NOUN
aiti-11232	46	39	to	to	ADP
aiti-11232	46	40	this	this	DET
aiti-11232	46	41	study	study	NOUN
aiti-11232	46	42	.	.	PUNCT
aiti-11232	47	1	this	this	DET
aiti-11232	47	2	computational	computational	ADJ
aiti-11232	47	3	algorithm	algorithm	NOUN
aiti-11232	47	4	is	be	AUX
aiti-11232	47	5	known	know	VERB
aiti-11232	47	6	as	as	ADP
aiti-11232	47	7	the	the	DET
aiti-11232	47	8	stochastic	stochastic	ADJ
aiti-11232	47	9	approximation	approximation	NOUN
aiti-11232	47	10	for	for	ADP
aiti-11232	47	11	state	state	NOUN
aiti-11232	47	12	-	-	PUNCT
aiti-11232	47	13	control	control	NOUN
aiti-11232	47	14	(	(	PUNCT
aiti-11232	47	15	sasc	sasc	NOUN
aiti-11232	47	16	)	)	PUNCT
aiti-11232	47	17	algorithm	algorithm	NOUN
aiti-11232	47	18	.	.	PUNCT
aiti-11232	48	1	firstly	firstly	ADV
aiti-11232	48	2	,	,	PUNCT
aiti-11232	48	3	a	a	DET
aiti-11232	48	4	loss	loss	NOUN
aiti-11232	48	5	function	function	NOUN
aiti-11232	48	6	is	be	AUX
aiti-11232	48	7	defined	define	VERB
aiti-11232	48	8	,	,	PUNCT
aiti-11232	48	9	where	where	SCONJ
aiti-11232	48	10	the	the	DET
aiti-11232	48	11	differences	difference	NOUN
aiti-11232	48	12	between	between	ADP
aiti-11232	48	13	the	the	DET
aiti-11232	48	14	actual	actual	ADJ
aiti-11232	48	15	and	and	CCONJ
aiti-11232	48	16	estimated	estimate	VERB
aiti-11232	48	17	output	output	NOUN
aiti-11232	48	18	are	be	AUX
aiti-11232	48	19	minimized	minimize	VERB
aiti-11232	48	20	.	.	PUNCT
aiti-11232	49	1	then	then	ADV
aiti-11232	49	2	,	,	PUNCT
aiti-11232	49	3	the	the	DET
aiti-11232	49	4	sa	sa	NOUN
aiti-11232	49	5	updating	update	VERB
aiti-11232	49	6	rule	rule	NOUN
aiti-11232	49	7	is	be	AUX
aiti-11232	49	8	derived	derive	VERB
aiti-11232	49	9	for	for	ADP
aiti-11232	49	10	obtaining	obtain	VERB
aiti-11232	49	11	state	state	NOUN
aiti-11232	49	12	estimates	estimate	NOUN
aiti-11232	49	13	after	after	SCONJ
aiti-11232	49	14	the	the	DET
aiti-11232	49	15	first	first	ADJ
aiti-11232	49	16	-	-	PUNCT
aiti-11232	49	17	order	order	NOUN
aiti-11232	49	18	necessary	necessary	ADJ
aiti-11232	49	19	condition	condition	NOUN
aiti-11232	49	20	is	be	AUX
aiti-11232	49	21	satisfied	satisfied	ADJ
aiti-11232	49	22	.	.	PUNCT
aiti-11232	50	1	in	in	ADP
aiti-11232	50	2	addition	addition	NOUN
aiti-11232	50	3	,	,	PUNCT
aiti-11232	50	4	a	a	DET
aiti-11232	50	5	stochastic	stochastic	ADJ
aiti-11232	50	6	optimization	optimization	NOUN
aiti-11232	50	7	problem	problem	NOUN
aiti-11232	50	8	is	be	AUX
aiti-11232	50	9	introduced	introduce	VERB
aiti-11232	50	10	to	to	PART
aiti-11232	50	11	minimize	minimize	VERB
aiti-11232	50	12	the	the	DET
aiti-11232	50	13	cost	cost	NOUN
aiti-11232	50	14	function	function	NOUN
aiti-11232	50	15	when	when	SCONJ
aiti-11232	50	16	a	a	DET
aiti-11232	50	17	sequence	sequence	NOUN
aiti-11232	50	18	of	of	ADP
aiti-11232	50	19	control	control	NOUN
aiti-11232	50	20	inputs	input	NOUN
aiti-11232	50	21	can	can	AUX
aiti-11232	50	22	be	be	AUX
aiti-11232	50	23	determined	determine	VERB
aiti-11232	50	24	to	to	PART
aiti-11232	50	25	stabilize	stabilize	VERB
aiti-11232	50	26	the	the	DET
aiti-11232	50	27	system	system	NOUN
aiti-11232	50	28	.	.	PUNCT
aiti-11232	51	1	thus	thus	ADV
aiti-11232	51	2	,	,	PUNCT
aiti-11232	51	3	the	the	DET
aiti-11232	51	4	hamiltonian	hamiltonian	ADJ
aiti-11232	51	5	function	function	NOUN
aiti-11232	51	6	is	be	AUX
aiti-11232	51	7	defined	define	VERB
aiti-11232	51	8	,	,	PUNCT
aiti-11232	51	9	and	and	CCONJ
aiti-11232	51	10	the	the	DET
aiti-11232	51	11	optimality	optimality	NOUN
aiti-11232	51	12	conditions	condition	NOUN
aiti-11232	51	13	are	be	AUX
aiti-11232	51	14	derived	derive	VERB
aiti-11232	51	15	.	.	PUNCT
aiti-11232	52	1	on	on	ADP
aiti-11232	52	2	this	this	DET
aiti-11232	52	3	basis	basis	NOUN
aiti-11232	52	4	,	,	PUNCT
aiti-11232	52	5	the	the	DET
aiti-11232	52	6	control	control	NOUN
aiti-11232	52	7	law	law	NOUN
aiti-11232	52	8	is	be	AUX
aiti-11232	52	9	designed	design	VERB
aiti-11232	52	10	through	through	ADP
aiti-11232	52	11	the	the	DET
aiti-11232	52	12	sa	sa	PROPN
aiti-11232	52	13	updating	update	VERB
aiti-11232	52	14	rule	rule	NOUN
aiti-11232	52	15	based	base	VERB
aiti-11232	52	16	on	on	ADP
aiti-11232	52	17	state	state	NOUN
aiti-11232	52	18	estimates	estimate	NOUN
aiti-11232	52	19	.	.	PUNCT
aiti-11232	53	1	in	in	ADP
aiti-11232	53	2	this	this	DET
aiti-11232	53	3	study	study	NOUN
aiti-11232	53	4	,	,	PUNCT
aiti-11232	53	5	the	the	DET
aiti-11232	53	6	performance	performance	NOUN
aiti-11232	53	7	of	of	ADP
aiti-11232	53	8	the	the	DET
aiti-11232	53	9	sasc	sasc	PROPN
aiti-11232	53	10	algorithm	algorithm	NOUN
aiti-11232	53	11	is	be	AUX
aiti-11232	53	12	given	give	VERB
aiti-11232	53	13	by	by	ADP
aiti-11232	53	14	mean	mean	ADJ
aiti-11232	53	15	squared	square	VERB
aiti-11232	53	16	errors	error	NOUN
aiti-11232	53	17	(	(	PUNCT
aiti-11232	53	18	mse	mse	NOUN
aiti-11232	53	19	)	)	PUNCT
aiti-11232	53	20	for	for	ADP
aiti-11232	53	21	state	state	NOUN
aiti-11232	53	22	estimation	estimation	NOUN
aiti-11232	53	23	and	and	CCONJ
aiti-11232	53	24	the	the	DET
aiti-11232	53	25	cost	cost	NOUN
aiti-11232	53	26	function	function	NOUN
aiti-11232	53	27	for	for	ADP
aiti-11232	53	28	the	the	DET
aiti-11232	53	29	control	control	NOUN
aiti-11232	53	30	effort	effort	NOUN
aiti-11232	53	31	.	.	PUNCT
aiti-11232	54	1	for	for	ADP
aiti-11232	54	2	illustration	illustration	NOUN
aiti-11232	54	3	,	,	PUNCT
aiti-11232	54	4	the	the	DET
aiti-11232	54	5	values	value	NOUN
aiti-11232	54	6	of	of	ADP
aiti-11232	54	7	parameters	parameter	NOUN
aiti-11232	54	8	in	in	ADP
aiti-11232	54	9	the	the	DET
aiti-11232	54	10	system	system	NOUN
aiti-11232	54	11	are	be	AUX
aiti-11232	54	12	considered	consider	VERB
aiti-11232	54	13	,	,	PUNCT
aiti-11232	54	14	and	and	CCONJ
aiti-11232	54	15	the	the	DET
aiti-11232	54	16	four	four	NUM
aiti-11232	54	17	-	-	PUNCT
aiti-11232	54	18	tank	tank	NOUN
aiti-11232	54	19	system	system	NOUN
aiti-11232	54	20	’s	’s	PART
aiti-11232	54	21	discrete	discrete	ADJ
aiti-11232	54	22	-	-	PUNCT
aiti-11232	54	23	time	time	NOUN
aiti-11232	54	24	stochastic	stochastic	ADJ
aiti-11232	54	25	optimal	optimal	ADJ
aiti-11232	54	26	control	control	NOUN
aiti-11232	54	27	problem	problem	NOUN
aiti-11232	54	28	is	be	AUX
aiti-11232	54	29	solved	solve	VERB
aiti-11232	54	30	iteratively	iteratively	ADV
aiti-11232	54	31	using	use	VERB
aiti-11232	54	32	the	the	DET
aiti-11232	54	33	sasc	sasc	PROPN
aiti-11232	54	34	algorithm	algorithm	NOUN
aiti-11232	54	35	.	.	PUNCT
aiti-11232	55	1	finally	finally	ADV
aiti-11232	55	2	,	,	PUNCT
aiti-11232	55	3	the	the	DET
aiti-11232	55	4	simulation	simulation	NOUN
aiti-11232	55	5	results	result	NOUN
aiti-11232	55	6	are	be	AUX
aiti-11232	55	7	presented	present	VERB
aiti-11232	55	8	and	and	CCONJ
aiti-11232	55	9	discussed	discuss	VERB
aiti-11232	55	10	after	after	ADP
aiti-11232	55	11	being	be	AUX
aiti-11232	55	12	compared	compare	VERB
aiti-11232	55	13	with	with	ADP
aiti-11232	55	14	the	the	DET
aiti-11232	55	15	results	result	NOUN
aiti-11232	55	16	from	from	ADP
aiti-11232	55	17	the	the	DET
aiti-11232	55	18	extended	extended	ADJ
aiti-11232	55	19	kalman	kalman	NOUN
aiti-11232	55	20	filter	filter	PROPN
aiti-11232	55	21	(	(	PUNCT
aiti-11232	55	22	ekf	ekf	PROPN
aiti-11232	55	23	)	)	PUNCT
aiti-11232	55	24	.	.	PUNCT
aiti-11232	56	1	the	the	DET
aiti-11232	56	2	rest	rest	NOUN
aiti-11232	56	3	of	of	ADP
aiti-11232	56	4	this	this	DET
aiti-11232	56	5	paper	paper	NOUN
aiti-11232	56	6	is	be	AUX
aiti-11232	56	7	organized	organize	VERB
aiti-11232	56	8	as	as	SCONJ
aiti-11232	56	9	follows	follow	VERB
aiti-11232	56	10	.	.	PUNCT
aiti-11232	57	1	section	section	NOUN
aiti-11232	57	2	2	2	NUM
aiti-11232	57	3	describes	describe	VERB
aiti-11232	57	4	the	the	DET
aiti-11232	57	5	mathematical	mathematical	ADJ
aiti-11232	57	6	model	model	NOUN
aiti-11232	57	7	of	of	ADP
aiti-11232	57	8	a	a	DET
aiti-11232	57	9	four	four	NUM
aiti-11232	57	10	-	-	PUNCT
aiti-11232	57	11	tank	tank	NOUN
aiti-11232	57	12	system	system	NOUN
aiti-11232	57	13	and	and	CCONJ
aiti-11232	57	14	defines	define	VERB
aiti-11232	57	15	the	the	DET
aiti-11232	57	16	system	system	NOUN
aiti-11232	57	17	’s	’s	PART
aiti-11232	57	18	discrete	discrete	ADJ
aiti-11232	57	19	-	-	PUNCT
aiti-11232	57	20	time	time	NOUN
aiti-11232	57	21	nonlinear	nonlinear	ADJ
aiti-11232	57	22	stochastic	stochastic	ADJ
aiti-11232	57	23	optimal	optimal	ADJ
aiti-11232	57	24	control	control	NOUN
aiti-11232	57	25	problem	problem	NOUN
aiti-11232	57	26	.	.	PUNCT
aiti-11232	58	1	section	section	NOUN
aiti-11232	58	2	3	3	NUM
aiti-11232	58	3	explains	explain	VERB
aiti-11232	58	4	state	state	NOUN
aiti-11232	58	5	estimation	estimation	NOUN
aiti-11232	58	6	and	and	CCONJ
aiti-11232	58	7	control	control	NOUN
aiti-11232	58	8	law	law	NOUN
aiti-11232	58	9	design	design	NOUN
aiti-11232	58	10	using	use	VERB
aiti-11232	58	11	the	the	DET
aiti-11232	58	12	sa	sa	PROPN
aiti-11232	58	13	algorithm	algorithm	NOUN
aiti-11232	58	14	,	,	PUNCT
aiti-11232	58	15	and	and	CCONJ
aiti-11232	58	16	the	the	DET
aiti-11232	58	17	iterative	iterative	ADJ
aiti-11232	58	18	procedure	procedure	NOUN
aiti-11232	58	19	with	with	ADP
aiti-11232	58	20	the	the	DET
aiti-11232	58	21	sa	sa	NOUN
aiti-11232	58	22	updating	update	VERB
aiti-11232	58	23	scheme	scheme	NOUN
aiti-11232	58	24	is	be	AUX
aiti-11232	58	25	summarized	summarize	VERB
aiti-11232	58	26	as	as	ADP
aiti-11232	58	27	the	the	DET
aiti-11232	58	28	sasc	sasc	PROPN
aiti-11232	58	29	algorithm	algorithm	NOUN
aiti-11232	58	30	.	.	PUNCT
aiti-11232	59	1	section	section	NOUN
aiti-11232	59	2	4	4	NUM
aiti-11232	59	3	presents	present	NOUN
aiti-11232	59	4	and	and	CCONJ
aiti-11232	59	5	discusses	discuss	VERB
aiti-11232	59	6	simulation	simulation	NOUN
aiti-11232	59	7	results	result	NOUN
aiti-11232	59	8	obtained	obtain	VERB
aiti-11232	59	9	using	use	VERB
aiti-11232	59	10	the	the	DET
aiti-11232	59	11	sasc	sasc	PROPN
aiti-11232	59	12	algorithm	algorithm	NOUN
aiti-11232	59	13	.	.	PUNCT
aiti-11232	60	1	finally	finally	ADV
aiti-11232	60	2	,	,	PUNCT
aiti-11232	60	3	section	section	NOUN
aiti-11232	60	4	5	5	NUM
aiti-11232	60	5	presents	present	VERB
aiti-11232	60	6	a	a	DET
aiti-11232	60	7	concluding	conclude	VERB
aiti-11232	60	8	remark	remark	NOUN
aiti-11232	60	9	.	.	PUNCT
aiti-11232	61	1	advances	advance	NOUN
aiti-11232	61	2	in	in	ADP
aiti-11232	61	3	technology	technology	NOUN
aiti-11232	61	4	innovation	innovation	NOUN
aiti-11232	61	5	,	,	PUNCT
aiti-11232	61	6	vol	vol	NOUN
aiti-11232	61	7	.	.	PROPN
aiti-11232	61	8	8	8	NUM
aiti-11232	61	9	,	,	PUNCT
aiti-11232	61	10	no	no	INTJ
aiti-11232	61	11	.	.	NOUN
aiti-11232	61	12	2	2	NUM
aiti-11232	61	13	,	,	PUNCT
aiti-11232	61	14	2023	2023	NUM
aiti-11232	61	15	,	,	PUNCT
aiti-11232	61	16	pp	pp	ADJ
aiti-11232	61	17	.	.	PUNCT
aiti-11232	62	1	150	150	NUM
aiti-11232	62	2	-	-	SYM
aiti-11232	62	3	161	161	NUM
aiti-11232	62	4	152	152	NUM
aiti-11232	62	5	2	2	NUM
aiti-11232	62	6	.	.	PUNCT
aiti-11232	62	7	problem	problem	NOUN
aiti-11232	62	8	description	description	NOUN
aiti-11232	62	9	consider	consider	VERB
aiti-11232	62	10	a	a	DET
aiti-11232	62	11	four	four	NUM
aiti-11232	62	12	-	-	PUNCT
aiti-11232	62	13	tank	tank	NOUN
aiti-11232	62	14	system	system	NOUN
aiti-11232	62	15	[	[	X
aiti-11232	62	16	2	2	NUM
aiti-11232	62	17	-	-	SYM
aiti-11232	62	18	3	3	NUM
aiti-11232	62	19	]	]	PUNCT
aiti-11232	62	20	consisting	consist	VERB
aiti-11232	62	21	of	of	ADP
aiti-11232	62	22	four	four	NUM
aiti-11232	62	23	connected	connected	ADJ
aiti-11232	62	24	tanks	tank	NOUN
aiti-11232	62	25	and	and	CCONJ
aiti-11232	62	26	two	two	NUM
aiti-11232	62	27	pumps	pump	NOUN
aiti-11232	62	28	,	,	PUNCT
aiti-11232	62	29	as	as	SCONJ
aiti-11232	62	30	shown	show	VERB
aiti-11232	62	31	in	in	ADP
aiti-11232	62	32	fig	fig	NOUN
aiti-11232	62	33	.	.	PUNCT
aiti-11232	63	1	1	1	X
aiti-11232	63	2	.	.	X
aiti-11232	63	3	pump	pump	VERB
aiti-11232	63	4	1	1	NUM
aiti-11232	63	5	extracts	extract	NOUN
aiti-11232	63	6	liquid	liquid	NOUN
aiti-11232	63	7	from	from	ADP
aiti-11232	63	8	the	the	DET
aiti-11232	63	9	basin	basin	NOUN
aiti-11232	63	10	below	below	ADV
aiti-11232	63	11	and	and	CCONJ
aiti-11232	63	12	pumps	pump	VERB
aiti-11232	63	13	it	it	PRON
aiti-11232	63	14	to	to	ADP
aiti-11232	63	15	tanks	tank	NOUN
aiti-11232	63	16	1	1	NUM
aiti-11232	63	17	and	and	CCONJ
aiti-11232	63	18	4	4	NUM
aiti-11232	63	19	,	,	PUNCT
aiti-11232	63	20	whereas	whereas	SCONJ
aiti-11232	63	21	pump	pump	NOUN
aiti-11232	63	22	2	2	NUM
aiti-11232	63	23	pumps	pump	NOUN
aiti-11232	63	24	liquid	liquid	NOUN
aiti-11232	63	25	from	from	ADP
aiti-11232	63	26	the	the	DET
aiti-11232	63	27	basin	basin	NOUN
aiti-11232	63	28	below	below	ADV
aiti-11232	63	29	to	to	ADP
aiti-11232	63	30	tanks	tank	NOUN
aiti-11232	63	31	2	2	NUM
aiti-11232	63	32	and	and	CCONJ
aiti-11232	63	33	3	3	NUM
aiti-11232	63	34	.	.	NOUN
aiti-11232	63	35	denote	denote	PROPN
aiti-11232	63	36	�	�	PROPN
aiti-11232	63	37	�	�	PROPN
aiti-11232	63	38	,	,	PUNCT
aiti-11232	63	39	�	�	PROPN
aiti-11232	63	40	�	�	PROPN
aiti-11232	63	41	,	,	PUNCT
aiti-11232	63	42	�	�	PROPN
aiti-11232	63	43	�	�	PROPN
aiti-11232	63	44	,	,	PUNCT
aiti-11232	63	45	and	and	CCONJ
aiti-11232	63	46	�	�	PROPN
aiti-11232	63	47	�	�	PROPN
aiti-11232	63	48	as	as	ADP
aiti-11232	63	49	the	the	DET
aiti-11232	63	50	liquid	liquid	ADJ
aiti-11232	63	51	level	level	NOUN
aiti-11232	63	52	of	of	ADP
aiti-11232	63	53	tanks	tank	NOUN
aiti-11232	63	54	1	1	NUM
aiti-11232	63	55	,	,	PUNCT
aiti-11232	63	56	2	2	NUM
aiti-11232	63	57	,	,	PUNCT
aiti-11232	63	58	3	3	NUM
aiti-11232	63	59	,	,	PUNCT
aiti-11232	63	60	and	and	CCONJ
aiti-11232	63	61	4	4	NUM
aiti-11232	63	62	,	,	PUNCT
aiti-11232	63	63	respectively	respectively	ADV
aiti-11232	63	64	,	,	PUNCT
aiti-11232	63	65	while	while	SCONJ
aiti-11232	63	66	�	�	PROPN
aiti-11232	63	67	�	�	PROPN
aiti-11232	63	68	and	and	CCONJ
aiti-11232	63	69	�	�	PROPN
aiti-11232	63	70	�	�	PROPN
aiti-11232	63	71	are	be	AUX
aiti-11232	63	72	the	the	DET
aiti-11232	63	73	flow	flow	NOUN
aiti-11232	63	74	parameters	parameter	NOUN
aiti-11232	63	75	of	of	ADP
aiti-11232	63	76	pumps	pump	NOUN
aiti-11232	63	77	1	1	NUM
aiti-11232	63	78	and	and	CCONJ
aiti-11232	63	79	2	2	NUM
aiti-11232	63	80	.	.	X
aiti-11232	63	81	fig	fig	NOUN
aiti-11232	63	82	.	.	PUNCT
aiti-11232	64	1	1	1	NUM
aiti-11232	64	2	four	four	NUM
aiti-11232	64	3	tanks	tank	NOUN
aiti-11232	64	4	system	system	NOUN
aiti-11232	64	5	suppose	suppose	VERB
aiti-11232	64	6	�	�	PROPN
aiti-11232	64	7	�	�	PROPN
aiti-11232	64	8	�	�	PROPN
aiti-11232	64	9	,	,	PUNCT
aiti-11232	64	10	�	�	PROPN
aiti-11232	64	11	�	�	PROPN
aiti-11232	64	12	�	�	PROPN
aiti-11232	64	13	,	,	PUNCT
aiti-11232	64	14	�	�	PROPN
aiti-11232	64	15	�	�	PROPN
aiti-11232	64	16	�	�	PROPN
aiti-11232	64	17	,	,	PUNCT
aiti-11232	64	18	and	and	CCONJ
aiti-11232	64	19	�	�	PROPN
aiti-11232	64	20	�	�	PROPN
aiti-11232	64	21	�	�	PROPN
aiti-11232	64	22	are	be	AUX
aiti-11232	64	23	the	the	DET
aiti-11232	64	24	flows	flow	NOUN
aiti-11232	64	25	into	into	ADP
aiti-11232	64	26	tanks	tank	NOUN
aiti-11232	64	27	1	1	NUM
aiti-11232	64	28	,	,	PUNCT
aiti-11232	64	29	2	2	NUM
aiti-11232	64	30	,	,	PUNCT
aiti-11232	64	31	3	3	NUM
aiti-11232	64	32	,	,	PUNCT
aiti-11232	64	33	and	and	CCONJ
aiti-11232	64	34	4	4	NUM
aiti-11232	64	35	,	,	PUNCT
aiti-11232	64	36	respectively	respectively	ADV
aiti-11232	64	37	,	,	PUNCT
aiti-11232	64	38	while	while	SCONJ
aiti-11232	64	39	�	�	PROPN
aiti-11232	64	40	�	�	PROPN
aiti-11232	64	41	�	�	PROPN
aiti-11232	64	42	�	�	PROPN
aiti-11232	64	43	and	and	CCONJ
aiti-11232	64	44	�	�	PROPN
aiti-11232	64	45	�	�	PROPN
aiti-11232	64	46	�	�	PROPN
aiti-11232	64	47	�	�	PROPN
aiti-11232	64	48	represent	represent	VERB
aiti-11232	64	49	the	the	DET
aiti-11232	64	50	flow	flow	NOUN
aiti-11232	64	51	out	out	ADP
aiti-11232	64	52	of	of	ADP
aiti-11232	64	53	the	the	DET
aiti-11232	64	54	electrical	electrical	ADJ
aiti-11232	64	55	pumps	pump	NOUN
aiti-11232	64	56	1	1	NUM
aiti-11232	64	57	and	and	CCONJ
aiti-11232	64	58	2	2	NUM
aiti-11232	64	59	.	.	PUNCT
aiti-11232	65	1	the	the	DET
aiti-11232	65	2	flows	flow	NOUN
aiti-11232	65	3	into	into	ADP
aiti-11232	65	4	tanks	tank	NOUN
aiti-11232	65	5	1	1	NUM
aiti-11232	65	6	and	and	CCONJ
aiti-11232	65	7	4	4	NUM
aiti-11232	65	8	are	be	AUX
aiti-11232	65	9	equal	equal	ADJ
aiti-11232	65	10	to	to	ADP
aiti-11232	65	11	the	the	DET
aiti-11232	65	12	flow	flow	NOUN
aiti-11232	65	13	out	out	ADP
aiti-11232	65	14	of	of	ADP
aiti-11232	65	15	electrical	electrical	ADJ
aiti-11232	65	16	pump	pump	NOUN
aiti-11232	65	17	1	1	NUM
aiti-11232	65	18	,	,	PUNCT
aiti-11232	65	19	whereas	whereas	SCONJ
aiti-11232	65	20	those	those	PRON
aiti-11232	65	21	into	into	ADP
aiti-11232	65	22	tanks	tank	NOUN
aiti-11232	65	23	2	2	NUM
aiti-11232	65	24	and	and	CCONJ
aiti-11232	65	25	3	3	NUM
aiti-11232	65	26	are	be	AUX
aiti-11232	65	27	equal	equal	ADJ
aiti-11232	65	28	to	to	ADP
aiti-11232	65	29	electrical	electrical	ADJ
aiti-11232	65	30	pump	pump	NOUN
aiti-11232	65	31	2	2	NUM
aiti-11232	65	32	.	.	PUNCT
aiti-11232	66	1	the	the	DET
aiti-11232	66	2	relations	relation	NOUN
aiti-11232	66	3	between	between	ADP
aiti-11232	66	4	the	the	DET
aiti-11232	66	5	flows	flow	NOUN
aiti-11232	66	6	at	at	ADP
aiti-11232	66	7	each	each	DET
aiti-11232	66	8	outlet	outlet	NOUN
aiti-11232	66	9	pipe	pipe	NOUN
aiti-11232	66	10	and	and	CCONJ
aiti-11232	66	11	the	the	DET
aiti-11232	66	12	total	total	ADJ
aiti-11232	66	13	flows	flow	NOUN
aiti-11232	66	14	from	from	ADP
aiti-11232	66	15	pumps	pump	NOUN
aiti-11232	66	16	1	1	NUM
aiti-11232	66	17	and	and	CCONJ
aiti-11232	66	18	2	2	NUM
aiti-11232	66	19	depend	depend	VERB
aiti-11232	66	20	on	on	ADP
aiti-11232	66	21	the	the	DET
aiti-11232	66	22	flow	flow	NOUN
aiti-11232	66	23	parameters	parameter	NOUN
aiti-11232	66	24	�	�	PROPN
aiti-11232	66	25	�	�	PROPN
aiti-11232	66	26	and	and	CCONJ
aiti-11232	66	27	�	�	PROPN
aiti-11232	66	28	�	�	PROPN
aiti-11232	66	29	are	be	AUX
aiti-11232	66	30	given	give	VERB
aiti-11232	66	31	as	as	SCONJ
aiti-11232	66	32	follows	follow	VERB
aiti-11232	66	33	[	[	X
aiti-11232	66	34	6	6	NUM
aiti-11232	66	35	]	]	PUNCT
aiti-11232	66	36	,	,	PUNCT
aiti-11232	66	37	1	1	NUM
aiti-11232	66	38	1	1	NUM
aiti-11232	66	39	1pumpq	1pumpq	NUM
aiti-11232	66	40	kv=	kv=	PROPN
aiti-11232	66	41	(	(	PUNCT
aiti-11232	66	42	1	1	NUM
aiti-11232	66	43	)	)	PUNCT
aiti-11232	66	44	2	2	NUM
aiti-11232	66	45	2	2	NUM
aiti-11232	66	46	2pumpq	2pumpq	NUM
aiti-11232	66	47	k	k	X
aiti-11232	66	48	v=	v=	NOUN
aiti-11232	66	49	(	(	PUNCT
aiti-11232	66	50	2	2	NUM
aiti-11232	66	51	)	)	PUNCT
aiti-11232	66	52	1	1	NUM
aiti-11232	66	53	1	1	NUM
aiti-11232	66	54	1	1	NUM
aiti-11232	66	55	1	1	NUM
aiti-11232	66	56	in	in	ADP
aiti-11232	66	57	q	q	PROPN
aiti-11232	66	58	k	k	PROPN
aiti-11232	66	59	v	v	X
aiti-11232	66	60	γ=	γ=	PROPN
aiti-11232	66	61	(	(	PUNCT
aiti-11232	66	62	3	3	NUM
aiti-11232	66	63	)	)	SYM
aiti-11232	66	64	2	2	NUM
aiti-11232	66	65	2	2	NUM
aiti-11232	66	66	2	2	NUM
aiti-11232	66	67	2	2	NUM
aiti-11232	66	68	in	in	ADP
aiti-11232	66	69	q	q	PROPN
aiti-11232	66	70	k	k	PROPN
aiti-11232	66	71	v	v	X
aiti-11232	66	72	γ=	γ=	PROPN
aiti-11232	66	73	(	(	PUNCT
aiti-11232	66	74	4	4	NUM
aiti-11232	66	75	)	)	PUNCT
aiti-11232	66	76	(	(	PUNCT
aiti-11232	66	77	)	)	SYM
aiti-11232	66	78	3	3	NUM
aiti-11232	66	79	2	2	NUM
aiti-11232	66	80	2	2	NUM
aiti-11232	66	81	21	21	NUM
aiti-11232	66	82	in	in	ADP
aiti-11232	66	83	q	q	PROPN
aiti-11232	66	84	k	k	PROPN
aiti-11232	66	85	v	v	X
aiti-11232	66	86	γ=	γ=	ADV
aiti-11232	66	87	−	−	PROPN
aiti-11232	67	1	(	(	PUNCT
aiti-11232	67	2	5	5	NUM
aiti-11232	67	3	)	)	PUNCT
aiti-11232	67	4	(	(	PUNCT
aiti-11232	67	5	)	)	SYM
aiti-11232	67	6	4	4	NUM
aiti-11232	67	7	1	1	NUM
aiti-11232	67	8	1	1	NUM
aiti-11232	67	9	11	11	NUM
aiti-11232	67	10	in	in	ADP
aiti-11232	67	11	q	q	PROPN
aiti-11232	68	1	k	k	PROPN
aiti-11232	68	2	v	v	X
aiti-11232	68	3	γ=	γ=	ADV
aiti-11232	68	4	−	−	PROPN
aiti-11232	68	5	(	(	PUNCT
aiti-11232	68	6	6	6	NUM
aiti-11232	68	7	)	)	PUNCT
aiti-11232	68	8	where	where	SCONJ
aiti-11232	68	9	�	�	PROPN
aiti-11232	68	10	and	and	CCONJ
aiti-11232	68	11	�	�	PROPN
aiti-11232	68	12	are	be	AUX
aiti-11232	68	13	the	the	DET
aiti-11232	68	14	pump	pump	NOUN
aiti-11232	68	15	coefficients	coefficient	NOUN
aiti-11232	68	16	,	,	PUNCT
aiti-11232	68	17	while	while	SCONJ
aiti-11232	68	18	�	�	PROPN
aiti-11232	68	19	�	�	PROPN
aiti-11232	68	20	and	and	CCONJ
aiti-11232	68	21	�	�	PROPN
aiti-11232	68	22	�	�	PROPN
aiti-11232	68	23	are	be	AUX
aiti-11232	68	24	the	the	DET
aiti-11232	68	25	input	input	NOUN
aiti-11232	68	26	voltages	voltage	NOUN
aiti-11232	68	27	to	to	ADP
aiti-11232	68	28	the	the	DET
aiti-11232	68	29	pumps	pump	NOUN
aiti-11232	68	30	.	.	PUNCT
aiti-11232	69	1	the	the	DET
aiti-11232	69	2	flow	flow	NOUN
aiti-11232	69	3	out	out	ADP
aiti-11232	69	4	of	of	ADP
aiti-11232	69	5	tanks	tank	NOUN
aiti-11232	69	6	is	be	AUX
aiti-11232	69	7	given	give	VERB
aiti-11232	69	8	by	by	ADP
aiti-11232	69	9	torricelli	torricelli	PROPN
aiti-11232	69	10	’s	’s	PART
aiti-11232	69	11	principle	principle	NOUN
aiti-11232	69	12	by	by	ADP
aiti-11232	69	13	using	use	VERB
aiti-11232	69	14	bernoulli	bernoulli	PROPN
aiti-11232	69	15	’s	’s	PART
aiti-11232	69	16	equation	equation	NOUN
aiti-11232	69	17	[	[	X
aiti-11232	69	18	7	7	NUM
aiti-11232	69	19	]	]	PUNCT
aiti-11232	69	20	,	,	PUNCT
aiti-11232	69	21	1	1	NUM
aiti-11232	69	22	1	1	NUM
aiti-11232	69	23	1	1	NUM
aiti-11232	69	24	2	2	NUM
aiti-11232	69	25	out	out	ADP
aiti-11232	69	26	q	q	PROPN
aiti-11232	69	27	a	a	DET
aiti-11232	69	28	gl=	gl=	NOUN
aiti-11232	69	29	(	(	PUNCT
aiti-11232	69	30	7	7	X
aiti-11232	69	31	)	)	PUNCT
aiti-11232	69	32	advances	advance	NOUN
aiti-11232	69	33	in	in	ADP
aiti-11232	69	34	technology	technology	NOUN
aiti-11232	69	35	innovation	innovation	NOUN
aiti-11232	69	36	,	,	PUNCT
aiti-11232	69	37	vol	vol	NOUN
aiti-11232	69	38	.	.	PROPN
aiti-11232	69	39	8	8	NUM
aiti-11232	69	40	,	,	PUNCT
aiti-11232	69	41	no	no	INTJ
aiti-11232	69	42	.	.	NOUN
aiti-11232	69	43	2	2	NUM
aiti-11232	69	44	,	,	PUNCT
aiti-11232	69	45	2023	2023	NUM
aiti-11232	69	46	,	,	PUNCT
aiti-11232	69	47	pp	pp	ADJ
aiti-11232	69	48	.	.	PUNCT
aiti-11232	70	1	150	150	NUM
aiti-11232	70	2	-	-	SYM
aiti-11232	70	3	161	161	NUM
aiti-11232	70	4	153	153	NUM
aiti-11232	70	5	2	2	NUM
aiti-11232	70	6	2	2	NUM
aiti-11232	70	7	2	2	NUM
aiti-11232	70	8	2	2	NUM
aiti-11232	70	9	out	out	ADP
aiti-11232	70	10	q	q	PROPN
aiti-11232	70	11	a	a	DET
aiti-11232	70	12	gl=	gl=	NOUN
aiti-11232	70	13	(	(	PUNCT
aiti-11232	70	14	8)	8)	NUM
aiti-11232	70	15	3	3	NUM
aiti-11232	70	16	3	3	NUM
aiti-11232	70	17	3	3	NUM
aiti-11232	70	18	2	2	NUM
aiti-11232	70	19	out	out	ADP
aiti-11232	70	20	q	q	PROPN
aiti-11232	70	21	a	a	DET
aiti-11232	70	22	gl=	gl=	NOUN
aiti-11232	70	23	(	(	PUNCT
aiti-11232	70	24	9	9	NUM
aiti-11232	70	25	)	)	SYM
aiti-11232	70	26	4	4	NUM
aiti-11232	70	27	4	4	NUM
aiti-11232	70	28	4	4	NUM
aiti-11232	70	29	2	2	NUM
aiti-11232	70	30	out	out	ADP
aiti-11232	70	31	q	q	PROPN
aiti-11232	70	32	a	a	DET
aiti-11232	70	33	gl=	gl=	NOUN
aiti-11232	70	34	(	(	PUNCT
aiti-11232	70	35	10	10	NUM
aiti-11232	70	36	)	)	PUNCT
aiti-11232	70	37	where	where	SCONJ
aiti-11232	70	38	�	�	PROPN
aiti-11232	70	39	�	�	PROPN
aiti-11232	70	40	,	,	PUNCT
aiti-11232	70	41	�	�	PROPN
aiti-11232	70	42	�	�	PROPN
aiti-11232	70	43	,	,	PUNCT
aiti-11232	70	44	�	�	PROPN
aiti-11232	70	45	�	�	PROPN
aiti-11232	70	46	,	,	PUNCT
aiti-11232	70	47	and	and	CCONJ
aiti-11232	70	48	�	�	PROPN
aiti-11232	70	49	�	�	PROPN
aiti-11232	70	50	are	be	AUX
aiti-11232	70	51	the	the	DET
aiti-11232	70	52	cross	cross	NOUN
aiti-11232	70	53	-	-	NOUN
aiti-11232	70	54	section	section	NOUN
aiti-11232	70	55	of	of	ADP
aiti-11232	70	56	the	the	DET
aiti-11232	70	57	outlet	outlet	NOUN
aiti-11232	70	58	pipe	pipe	NOUN
aiti-11232	70	59	of	of	ADP
aiti-11232	70	60	tanks	tank	NOUN
aiti-11232	70	61	1	1	NUM
aiti-11232	70	62	,	,	PUNCT
aiti-11232	70	63	2	2	NUM
aiti-11232	70	64	,	,	PUNCT
aiti-11232	70	65	3	3	NUM
aiti-11232	70	66	,	,	PUNCT
aiti-11232	70	67	and	and	CCONJ
aiti-11232	70	68	4	4	NUM
aiti-11232	70	69	,	,	PUNCT
aiti-11232	70	70	while	while	SCONJ
aiti-11232	70	71	g	g	PROPN
aiti-11232	70	72	is	be	AUX
aiti-11232	70	73	the	the	DET
aiti-11232	70	74	acceleration	acceleration	NOUN
aiti-11232	70	75	due	due	ADP
aiti-11232	70	76	to	to	ADP
aiti-11232	70	77	gravity	gravity	NOUN
aiti-11232	70	78	.	.	PUNCT
aiti-11232	71	1	the	the	DET
aiti-11232	71	2	mathematical	mathematical	ADJ
aiti-11232	71	3	model	model	NOUN
aiti-11232	71	4	of	of	ADP
aiti-11232	71	5	the	the	DET
aiti-11232	71	6	four	four	NUM
aiti-11232	71	7	-	-	PUNCT
aiti-11232	71	8	tank	tank	NOUN
aiti-11232	71	9	system	system	NOUN
aiti-11232	71	10	is	be	AUX
aiti-11232	71	11	described	describe	VERB
aiti-11232	71	12	by	by	ADP
aiti-11232	71	13	the	the	DET
aiti-11232	71	14	mass	mass	PROPN
aiti-11232	71	15	balance	balance	NOUN
aiti-11232	71	16	equation	equation	NOUN
aiti-11232	71	17	[	[	X
aiti-11232	71	18	11	11	NUM
aiti-11232	71	19	-	-	SYM
aiti-11232	71	20	12	12	NUM
aiti-11232	71	21	]	]	PUNCT
aiti-11232	71	22	given	give	VERB
aiti-11232	71	23	by	by	ADP
aiti-11232	71	24	tank	tank	NOUN
aiti-11232	71	25	1	1	NUM
aiti-11232	71	26	:	:	SYM
aiti-11232	71	27	1	1	NUM
aiti-11232	71	28	1	1	NUM
aiti-11232	71	29	1	1	NUM
aiti-11232	71	30	3	3	NUM
aiti-11232	71	31	1	1	NUM
aiti-11232	71	32	in	in	ADP
aiti-11232	71	33	out	out	ADP
aiti-11232	71	34	out	out	ADP
aiti-11232	71	35	dl	dl	PROPN
aiti-11232	71	36	a	a	DET
aiti-11232	71	37	q	q	X
aiti-11232	71	38	q	q	X
aiti-11232	71	39	q	q	NOUN
aiti-11232	71	40	dt	dt	X
aiti-11232	72	1	=	=	PUNCT
aiti-11232	73	1	+	+	NUM
aiti-11232	73	2	−	−	PROPN
aiti-11232	73	3	(	(	PUNCT
aiti-11232	73	4	11	11	NUM
aiti-11232	73	5	)	)	PUNCT
aiti-11232	73	6	tank	tank	NOUN
aiti-11232	73	7	2	2	NUM
aiti-11232	73	8	:	:	SYM
aiti-11232	73	9	2	2	NUM
aiti-11232	73	10	2	2	NUM
aiti-11232	73	11	2	2	NUM
aiti-11232	73	12	4	4	NUM
aiti-11232	73	13	2	2	NUM
aiti-11232	73	14	in	in	ADP
aiti-11232	73	15	out	out	ADP
aiti-11232	73	16	out	out	ADP
aiti-11232	73	17	dl	dl	PROPN
aiti-11232	73	18	a	a	DET
aiti-11232	73	19	q	q	X
aiti-11232	73	20	q	q	X
aiti-11232	73	21	q	q	NOUN
aiti-11232	73	22	dt	dt	X
aiti-11232	74	1	=	=	PUNCT
aiti-11232	75	1	+	+	NUM
aiti-11232	75	2	−	−	PROPN
aiti-11232	75	3	(	(	PUNCT
aiti-11232	75	4	12	12	NUM
aiti-11232	75	5	)	)	PUNCT
aiti-11232	75	6	tank	tank	NOUN
aiti-11232	75	7	3	3	NUM
aiti-11232	75	8	:	:	SYM
aiti-11232	75	9	3	3	NUM
aiti-11232	75	10	3	3	NUM
aiti-11232	75	11	3	3	NUM
aiti-11232	75	12	3	3	NUM
aiti-11232	75	13	in	in	ADP
aiti-11232	75	14	out	out	ADP
aiti-11232	75	15	dl	dl	PROPN
aiti-11232	75	16	a	a	DET
aiti-11232	75	17	q	q	NOUN
aiti-11232	75	18	q	q	NOUN
aiti-11232	75	19	dt	dt	X
aiti-11232	75	20	=	=	SYM
aiti-11232	75	21	−	−	PROPN
aiti-11232	75	22	(	(	PUNCT
aiti-11232	75	23	13	13	NUM
aiti-11232	75	24	)	)	PUNCT
aiti-11232	75	25	tank	tank	NOUN
aiti-11232	75	26	4	4	NUM
aiti-11232	75	27	:	:	SYM
aiti-11232	75	28	4	4	NUM
aiti-11232	75	29	4	4	NUM
aiti-11232	75	30	4	4	NUM
aiti-11232	75	31	4	4	NUM
aiti-11232	75	32	in	in	ADP
aiti-11232	75	33	out	out	ADP
aiti-11232	75	34	dl	dl	PROPN
aiti-11232	75	35	a	a	DET
aiti-11232	75	36	q	q	NOUN
aiti-11232	75	37	q	q	NOUN
aiti-11232	75	38	dt	dt	X
aiti-11232	75	39	=	=	SYM
aiti-11232	75	40	−	−	PROPN
aiti-11232	75	41	(	(	PUNCT
aiti-11232	75	42	14	14	NUM
aiti-11232	75	43	)	)	PUNCT
aiti-11232	75	44	where	where	SCONJ
aiti-11232	75	45	�	�	PROPN
aiti-11232	75	46	�	�	PROPN
aiti-11232	75	47	,	,	PUNCT
aiti-11232	75	48	�	�	PROPN
aiti-11232	75	49	�	�	PROPN
aiti-11232	75	50	,	,	PUNCT
aiti-11232	75	51	�	�	PROPN
aiti-11232	75	52	�	�	PROPN
aiti-11232	75	53	,	,	PUNCT
aiti-11232	75	54	and	and	CCONJ
aiti-11232	75	55	�	�	PROPN
aiti-11232	75	56	�	�	PROPN
aiti-11232	75	57	are	be	AUX
aiti-11232	75	58	the	the	DET
aiti-11232	75	59	area	area	NOUN
aiti-11232	75	60	of	of	ADP
aiti-11232	75	61	the	the	DET
aiti-11232	75	62	cross	cross	NOUN
aiti-11232	75	63	-	-	NOUN
aiti-11232	75	64	section	section	NOUN
aiti-11232	75	65	of	of	ADP
aiti-11232	75	66	tanks	tank	NOUN
aiti-11232	75	67	1	1	NUM
aiti-11232	75	68	,	,	PUNCT
aiti-11232	75	69	2	2	NUM
aiti-11232	75	70	,	,	PUNCT
aiti-11232	75	71	3	3	NUM
aiti-11232	75	72	,	,	PUNCT
aiti-11232	75	73	and	and	CCONJ
aiti-11232	75	74	4	4	NUM
aiti-11232	75	75	,	,	PUNCT
aiti-11232	75	76	respectively	respectively	ADV
aiti-11232	75	77	.	.	PUNCT
aiti-11232	76	1	eqs	eqs	PROPN
aiti-11232	76	2	.	.	PUNCT
aiti-11232	77	1	(	(	PUNCT
aiti-11232	77	2	11)-(14	11)-(14	NOUN
aiti-11232	77	3	)	)	PUNCT
aiti-11232	77	4	show	show	VERB
aiti-11232	77	5	that	that	SCONJ
aiti-11232	77	6	the	the	DET
aiti-11232	77	7	net	net	ADJ
aiti-11232	77	8	change	change	NOUN
aiti-11232	77	9	in	in	ADP
aiti-11232	77	10	the	the	DET
aiti-11232	77	11	volume	volume	NOUN
aiti-11232	77	12	in	in	ADP
aiti-11232	77	13	a	a	DET
aiti-11232	77	14	tank	tank	NOUN
aiti-11232	77	15	is	be	AUX
aiti-11232	77	16	equal	equal	ADJ
aiti-11232	77	17	to	to	ADP
aiti-11232	77	18	the	the	DET
aiti-11232	77	19	difference	difference	NOUN
aiti-11232	77	20	between	between	ADP
aiti-11232	77	21	the	the	DET
aiti-11232	77	22	volume	volume	NOUN
aiti-11232	77	23	entering	enter	VERB
aiti-11232	77	24	and	and	CCONJ
aiti-11232	77	25	leaving	leave	VERB
aiti-11232	77	26	the	the	DET
aiti-11232	77	27	tank	tank	NOUN
aiti-11232	77	28	.	.	PUNCT
aiti-11232	78	1	by	by	ADP
aiti-11232	78	2	substituting	substitute	VERB
aiti-11232	78	3	eqs	eqs	PROPN
aiti-11232	78	4	.	.	PUNCT
aiti-11232	79	1	(	(	PUNCT
aiti-11232	79	2	3)-(10	3)-(10	NUM
aiti-11232	79	3	)	)	PUNCT
aiti-11232	79	4	into	into	ADP
aiti-11232	79	5	eqs	eqs	PROPN
aiti-11232	79	6	.	.	PUNCT
aiti-11232	80	1	(	(	PUNCT
aiti-11232	80	2	11)-(14	11)-(14	NOUN
aiti-11232	80	3	)	)	PUNCT
aiti-11232	80	4	,	,	PUNCT
aiti-11232	80	5	the	the	DET
aiti-11232	80	6	dynamics	dynamic	NOUN
aiti-11232	80	7	of	of	ADP
aiti-11232	80	8	the	the	DET
aiti-11232	80	9	four	four	NUM
aiti-11232	80	10	-	-	PUNCT
aiti-11232	80	11	tank	tank	NOUN
aiti-11232	80	12	system	system	NOUN
aiti-11232	80	13	are	be	AUX
aiti-11232	80	14	given	give	VERB
aiti-11232	80	15	as	as	SCONJ
aiti-11232	80	16	follows	follow	VERB
aiti-11232	80	17	,	,	PUNCT
aiti-11232	80	18	31	31	NUM
aiti-11232	80	19	1	1	NUM
aiti-11232	80	20	1	1	NUM
aiti-11232	80	21	1	1	NUM
aiti-11232	80	22	1	1	NUM
aiti-11232	80	23	3	3	NUM
aiti-11232	80	24	1	1	NUM
aiti-11232	80	25	1	1	NUM
aiti-11232	80	26	1	1	NUM
aiti-11232	80	27	1	1	NUM
aiti-11232	80	28	2	2	NUM
aiti-11232	80	29	2	2	NUM
aiti-11232	80	30	adl	adl	NOUN
aiti-11232	80	31	a	a	PROPN
aiti-11232	80	32	k	k	PROPN
aiti-11232	80	33	gl	gl	PROPN
aiti-11232	80	34	gl	gl	PROPN
aiti-11232	80	35	v	v	ADP
aiti-11232	80	36	dt	dt	PROPN
aiti-11232	80	37	a	a	PRON
aiti-11232	80	38	a	a	DET
aiti-11232	80	39	a	a	DET
aiti-11232	80	40	γ	γ	X
aiti-11232	80	41	=	=	SYM
aiti-11232	80	42	−	−	PROPN
aiti-11232	81	1	+	+	CCONJ
aiti-11232	81	2	+	+	CCONJ
aiti-11232	81	3	(	(	PUNCT
aiti-11232	81	4	15	15	NUM
aiti-11232	81	5	)	)	SYM
aiti-11232	81	6	2	2	NUM
aiti-11232	81	7	2	2	NUM
aiti-11232	81	8	4	4	NUM
aiti-11232	81	9	2	2	NUM
aiti-11232	81	10	2	2	NUM
aiti-11232	81	11	2	2	NUM
aiti-11232	81	12	4	4	NUM
aiti-11232	81	13	2	2	NUM
aiti-11232	81	14	2	2	NUM
aiti-11232	81	15	2	2	NUM
aiti-11232	81	16	2	2	NUM
aiti-11232	81	17	2	2	NUM
aiti-11232	81	18	2	2	NUM
aiti-11232	81	19	dl	dl	NOUN
aiti-11232	81	20	a	a	DET
aiti-11232	81	21	a	a	PRON
aiti-11232	81	22	k	k	PROPN
aiti-11232	81	23	gl	gl	PROPN
aiti-11232	81	24	gl	gl	PROPN
aiti-11232	81	25	v	v	ADP
aiti-11232	81	26	dt	dt	PROPN
aiti-11232	81	27	a	a	PRON
aiti-11232	81	28	a	a	DET
aiti-11232	81	29	a	a	DET
aiti-11232	81	30	γ	γ	X
aiti-11232	81	31	=	=	SYM
aiti-11232	81	32	−	−	PROPN
aiti-11232	82	1	+	+	CCONJ
aiti-11232	82	2	+	+	CCONJ
aiti-11232	82	3	(	(	PUNCT
aiti-11232	82	4	16	16	NUM
aiti-11232	82	5	)	)	PUNCT
aiti-11232	82	6	(	(	PUNCT
aiti-11232	82	7	)	)	PUNCT
aiti-11232	82	8	2	2	NUM
aiti-11232	82	9	23	23	NUM
aiti-11232	82	10	3	3	NUM
aiti-11232	82	11	3	3	NUM
aiti-11232	82	12	2	2	NUM
aiti-11232	82	13	3	3	NUM
aiti-11232	82	14	3	3	NUM
aiti-11232	82	15	1	1	NUM
aiti-11232	82	16	2	2	NUM
aiti-11232	82	17	kdl	kdl	PROPN
aiti-11232	82	18	a	a	DET
aiti-11232	82	19	gl	gl	PROPN
aiti-11232	82	20	v	v	ADP
aiti-11232	82	21	dt	dt	PROPN
aiti-11232	82	22	a	a	PRON
aiti-11232	82	23	a	a	DET
aiti-11232	82	24	γ−	γ−	PROPN
aiti-11232	82	25	=	=	PUNCT
aiti-11232	82	26	−	−	PROPN
aiti-11232	83	1	+	+	CCONJ
aiti-11232	83	2	(	(	PUNCT
aiti-11232	83	3	17	17	NUM
aiti-11232	83	4	)	)	PUNCT
aiti-11232	83	5	(	(	PUNCT
aiti-11232	83	6	)	)	SYM
aiti-11232	83	7	1	1	NUM
aiti-11232	83	8	14	14	NUM
aiti-11232	83	9	4	4	NUM
aiti-11232	83	10	4	4	NUM
aiti-11232	83	11	1	1	NUM
aiti-11232	83	12	4	4	NUM
aiti-11232	83	13	4	4	NUM
aiti-11232	83	14	1	1	NUM
aiti-11232	83	15	2	2	NUM
aiti-11232	83	16	kdl	kdl	PROPN
aiti-11232	83	17	a	a	DET
aiti-11232	83	18	gl	gl	PROPN
aiti-11232	83	19	v	v	ADP
aiti-11232	83	20	dt	dt	PROPN
aiti-11232	83	21	a	a	PRON
aiti-11232	83	22	a	a	DET
aiti-11232	83	23	γ−	γ−	PROPN
aiti-11232	83	24	=	=	PUNCT
aiti-11232	83	25	−	−	PROPN
aiti-11232	83	26	+	+	CCONJ
aiti-11232	83	27	(	(	PUNCT
aiti-11232	83	28	18	18	NUM
aiti-11232	83	29	)	)	PUNCT
aiti-11232	83	30	define	define	VERB
aiti-11232	83	31	the	the	DET
aiti-11232	83	32	state	state	NOUN
aiti-11232	83	33	variable	variable	ADJ
aiti-11232	83	34	�	�	PROPN
aiti-11232	83	35	=	=	SYM
aiti-11232	83	36	�	�	PROPN
aiti-11232	83	37	�	�	PROPN
aiti-11232	83	38	�	�	PROPN
aiti-11232	83	39	,	,	PUNCT
aiti-11232	83	40	�	�	PROPN
aiti-11232	83	41	�	�	PROPN
aiti-11232	83	42	,	,	PUNCT
aiti-11232	83	43	�	�	PROPN
aiti-11232	83	44	�	�	PROPN
aiti-11232	83	45	,	,	PUNCT
aiti-11232	83	46	�	�	PROPN
aiti-11232	83	47	�	�	PROPN
aiti-11232	83	48	�	�	PROPN
aiti-11232	83	49	�	�	PROPN
aiti-11232	83	50	with	with	ADP
aiti-11232	83	51	�	�	PROPN
aiti-11232	83	52	�	�	PROPN
aiti-11232	83	53	=	=	SYM
aiti-11232	83	54	�	�	PROPN
aiti-11232	83	55	�	�	PROPN
aiti-11232	83	56	,	,	PUNCT
aiti-11232	83	57	�	�	PROPN
aiti-11232	83	58	�	�	PROPN
aiti-11232	83	59	=	=	SYM
aiti-11232	83	60	�	�	PROPN
aiti-11232	83	61	�	�	PROPN
aiti-11232	83	62	,	,	PUNCT
aiti-11232	83	63	�	�	PROPN
aiti-11232	83	64	�	�	PROPN
aiti-11232	83	65	=	=	SYM
aiti-11232	83	66	�	�	PROPN
aiti-11232	83	67	�	�	PROPN
aiti-11232	83	68	,	,	PUNCT
aiti-11232	83	69	and	and	CCONJ
aiti-11232	83	70	�	�	PROPN
aiti-11232	83	71	�	�	PROPN
aiti-11232	83	72	=	=	SYM
aiti-11232	83	73	�	�	PROPN
aiti-11232	83	74	�	�	PROPN
aiti-11232	83	75	,	,	PUNCT
aiti-11232	83	76	and	and	CCONJ
aiti-11232	83	77	let	let	VERB
aiti-11232	83	78	the	the	DET
aiti-11232	83	79	control	control	NOUN
aiti-11232	83	80	variable	variable	ADJ
aiti-11232	83	81	�	�	PROPN
aiti-11232	83	82	=	=	SYM
aiti-11232	83	83	�	�	PROPN
aiti-11232	83	84	�	�	PROPN
aiti-11232	83	85	�	�	PROPN
aiti-11232	83	86	,	,	PUNCT
aiti-11232	83	87	�	�	PROPN
aiti-11232	83	88	�	�	PROPN
aiti-11232	83	89	�	�	PROPN
aiti-11232	83	90	�	�	PROPN
aiti-11232	83	91	with	with	ADP
aiti-11232	83	92	�	�	PROPN
aiti-11232	83	93	�	�	PROPN
aiti-11232	83	94	=	=	SYM
aiti-11232	83	95	�	�	PROPN
aiti-11232	83	96	�	�	PROPN
aiti-11232	83	97	and	and	CCONJ
aiti-11232	83	98	�	�	PROPN
aiti-11232	83	99	�	�	PROPN
aiti-11232	83	100	=	=	SYM
aiti-11232	83	101	�	�	PROPN
aiti-11232	83	102	�	�	PROPN
aiti-11232	83	103	,	,	PUNCT
aiti-11232	83	104	the	the	DET
aiti-11232	83	105	dynamics	dynamic	NOUN
aiti-11232	83	106	of	of	ADP
aiti-11232	83	107	the	the	DET
aiti-11232	83	108	four	four	NUM
aiti-11232	83	109	-	-	PUNCT
aiti-11232	83	110	tank	tank	NOUN
aiti-11232	83	111	system	system	NOUN
aiti-11232	83	112	in	in	ADP
aiti-11232	83	113	eqs	eqs	PROPN
aiti-11232	83	114	.	.	PUNCT
aiti-11232	84	1	(	(	PUNCT
aiti-11232	84	2	15)-(18	15)-(18	NUM
aiti-11232	84	3	)	)	PUNCT
aiti-11232	84	4	can	can	AUX
aiti-11232	84	5	be	be	AUX
aiti-11232	84	6	formulated	formulate	VERB
aiti-11232	84	7	in	in	ADP
aiti-11232	84	8	its	its	PRON
aiti-11232	84	9	equivalent	equivalent	ADJ
aiti-11232	84	10	discrete	discrete	ADJ
aiti-11232	84	11	-	-	PUNCT
aiti-11232	84	12	time	time	NOUN
aiti-11232	84	13	state	state	NOUN
aiti-11232	84	14	equation	equation	NOUN
aiti-11232	84	15	[	[	X
aiti-11232	84	16	21	21	NUM
aiti-11232	84	17	]	]	PUNCT
aiti-11232	84	18	,	,	PUNCT
aiti-11232	84	19	(	(	PUNCT
aiti-11232	84	20	)	)	PUNCT
aiti-11232	84	21	(	(	PUNCT
aiti-11232	84	22	)	)	PUNCT
aiti-11232	84	23	(	(	PUNCT
aiti-11232	84	24	)	)	PUNCT
aiti-11232	84	25	1	1	NUM
aiti-11232	84	26	,	,	PUNCT
aiti-11232	84	27	x	x	PROPN
aiti-11232	85	1	k	k	NOUN
aiti-11232	85	2	f	f	PROPN
aiti-11232	85	3	x	x	X
aiti-11232	85	4	k	k	X
aiti-11232	85	5	u	u	NOUN
aiti-11232	85	6	k+	k+	NOUN
aiti-11232	85	7	=	=	SYM
aiti-11232	85	8			PROPN
aiti-11232	85	9			PROPN
aiti-11232	85	10			PROPN
aiti-11232	85	11	(	(	PUNCT
aiti-11232	85	12	19	19	NUM
aiti-11232	85	13	)	)	PUNCT
aiti-11232	85	14	where	where	SCONJ
aiti-11232	85	15	�	�	PROPN
aiti-11232	85	16	=	=	SYM
aiti-11232	85	17	�	�	PROPN
aiti-11232	85	18	�	�	PROPN
aiti-11232	85	19	�	�	PROPN
aiti-11232	85	20	,	,	PUNCT
aiti-11232	85	21	�	�	PROPN
aiti-11232	85	22	�	�	PROPN
aiti-11232	85	23	,	,	PUNCT
aiti-11232	85	24	�	�	PROPN
aiti-11232	85	25	�	�	PROPN
aiti-11232	85	26	,	,	PUNCT
aiti-11232	85	27	�	�	PROPN
aiti-11232	85	28	�	�	PROPN
aiti-11232	85	29	�	�	PROPN
aiti-11232	85	30	�	�	PROPN
aiti-11232	85	31	:	:	PUNCT
aiti-11232	85	32	ℜ	ℜ	PROPN
aiti-11232	85	33	�	�	PROPN
aiti-11232	85	34	×	×	PROPN
aiti-11232	85	35	ℜ	ℜ	PROPN
aiti-11232	85	36	�	�	PROPN
aiti-11232	85	37	→	→	SYM
aiti-11232	85	38	ℜ	ℜ	PROPN
aiti-11232	85	39	�	�	PROPN
aiti-11232	85	40	is	be	AUX
aiti-11232	85	41	the	the	DET
aiti-11232	85	42	system	system	NOUN
aiti-11232	85	43	dynamics	dynamic	NOUN
aiti-11232	85	44	given	give	VERB
aiti-11232	85	45	by	by	ADP
aiti-11232	85	46	31	31	NUM
aiti-11232	85	47	1	1	NUM
aiti-11232	85	48	1	1	NUM
aiti-11232	85	49	1	1	NUM
aiti-11232	85	50	1	1	NUM
aiti-11232	85	51	1	1	NUM
aiti-11232	85	52	3	3	NUM
aiti-11232	85	53	1	1	NUM
aiti-11232	85	54	1	1	NUM
aiti-11232	85	55	1	1	NUM
aiti-11232	85	56	1	1	NUM
aiti-11232	85	57	2	2	NUM
aiti-11232	85	58	2	2	NUM
aiti-11232	85	59	aa	aa	NOUN
aiti-11232	85	60	k	k	PROPN
aiti-11232	85	61	f	f	PROPN
aiti-11232	85	62	x	x	SYM
aiti-11232	85	63	gx	gx	PROPN
aiti-11232	85	64	gx	gx	PROPN
aiti-11232	85	65	u	u	PROPN
aiti-11232	85	66	a	a	DET
aiti-11232	85	67	a	a	DET
aiti-11232	85	68	a	a	DET
aiti-11232	85	69	γ	γ	X
aiti-11232	85	70	τ	τ	PROPN
aiti-11232	85	71			NOUN
aiti-11232	85	72			NOUN
aiti-11232	85	73	=	=	PUNCT
aiti-11232	86	1	+	+	CCONJ
aiti-11232	86	2	−	−	X
aiti-11232	87	1	+	+	CCONJ
aiti-11232	88	1	+	+	ADJ
aiti-11232	88	2			ADJ
aiti-11232	88	3			CCONJ
aiti-11232	89	1			PROPN
aiti-11232	89	2			NOUN
aiti-11232	89	3	(	(	PUNCT
aiti-11232	89	4	20	20	NUM
aiti-11232	89	5	)	)	PUNCT
aiti-11232	89	6	advances	advance	NOUN
aiti-11232	89	7	in	in	ADP
aiti-11232	89	8	technology	technology	NOUN
aiti-11232	89	9	innovation	innovation	NOUN
aiti-11232	89	10	,	,	PUNCT
aiti-11232	89	11	vol	vol	NOUN
aiti-11232	89	12	.	.	PROPN
aiti-11232	89	13	8	8	NUM
aiti-11232	89	14	,	,	PUNCT
aiti-11232	89	15	no	no	INTJ
aiti-11232	89	16	.	.	NOUN
aiti-11232	89	17	2	2	NUM
aiti-11232	89	18	,	,	PUNCT
aiti-11232	89	19	2023	2023	NUM
aiti-11232	89	20	,	,	PUNCT
aiti-11232	89	21	pp	pp	ADJ
aiti-11232	89	22	.	.	PUNCT
aiti-11232	90	1	150	150	NUM
aiti-11232	90	2	-	-	SYM
aiti-11232	90	3	161	161	NUM
aiti-11232	90	4	154	154	NUM
aiti-11232	90	5	2	2	NUM
aiti-11232	90	6	4	4	NUM
aiti-11232	90	7	2	2	NUM
aiti-11232	90	8	2	2	NUM
aiti-11232	90	9	2	2	NUM
aiti-11232	90	10	2	2	NUM
aiti-11232	90	11	2	2	NUM
aiti-11232	90	12	4	4	NUM
aiti-11232	90	13	2	2	NUM
aiti-11232	90	14	2	2	NUM
aiti-11232	90	15	2	2	NUM
aiti-11232	90	16	2	2	NUM
aiti-11232	90	17	2	2	NUM
aiti-11232	90	18	2	2	NUM
aiti-11232	90	19	a	a	DET
aiti-11232	90	20	a	a	DET
aiti-11232	90	21	k	k	X
aiti-11232	90	22	f	f	PROPN
aiti-11232	90	23	x	x	SYM
aiti-11232	90	24	gx	gx	PROPN
aiti-11232	90	25	gx	gx	PROPN
aiti-11232	90	26	u	u	PROPN
aiti-11232	90	27	a	a	DET
aiti-11232	90	28	a	a	DET
aiti-11232	90	29	a	a	DET
aiti-11232	90	30	γ	γ	X
aiti-11232	90	31	τ	τ	PROPN
aiti-11232	90	32			NOUN
aiti-11232	90	33			NOUN
aiti-11232	90	34	=	=	PUNCT
aiti-11232	91	1	+	+	CCONJ
aiti-11232	91	2	−	−	X
aiti-11232	92	1	+	+	CCONJ
aiti-11232	92	2	+	+	ADJ
aiti-11232	92	3			ADJ
aiti-11232	92	4			CCONJ
aiti-11232	92	5			PROPN
aiti-11232	92	6			NOUN
aiti-11232	92	7	(	(	PUNCT
aiti-11232	92	8	21	21	NUM
aiti-11232	92	9	)	)	PUNCT
aiti-11232	92	10	(	(	PUNCT
aiti-11232	92	11	)	)	PUNCT
aiti-11232	92	12	2	2	NUM
aiti-11232	92	13	23	23	NUM
aiti-11232	92	14	3	3	NUM
aiti-11232	92	15	3	3	NUM
aiti-11232	92	16	3	3	NUM
aiti-11232	92	17	2	2	NUM
aiti-11232	92	18	3	3	NUM
aiti-11232	92	19	3	3	NUM
aiti-11232	92	20	12	12	NUM
aiti-11232	92	21	ka	ka	PROPN
aiti-11232	92	22	f	f	PROPN
aiti-11232	92	23	x	x	PROPN
aiti-11232	92	24	gx	gx	PROPN
aiti-11232	92	25	u	u	PROPN
aiti-11232	92	26	a	a	DET
aiti-11232	92	27	a	a	DET
aiti-11232	92	28	γ	γ	X
aiti-11232	92	29	τ	τ	PROPN
aiti-11232	92	30			NOUN
aiti-11232	92	31			NOUN
aiti-11232	92	32	=	=	PUNCT
aiti-11232	93	1	+	+	CCONJ
aiti-11232	94	1	−	−	PROPN
aiti-11232	94	2	+	+	ADJ
aiti-11232	94	3			PROPN
aiti-11232	94	4			CCONJ
aiti-11232	94	5			PROPN
aiti-11232	94	6			NOUN
aiti-11232	94	7	(	(	PUNCT
aiti-11232	94	8	22	22	NUM
aiti-11232	94	9	)	)	PUNCT
aiti-11232	94	10	(	(	PUNCT
aiti-11232	94	11	)	)	SYM
aiti-11232	94	12	1	1	NUM
aiti-11232	94	13	14	14	NUM
aiti-11232	94	14	4	4	NUM
aiti-11232	94	15	4	4	NUM
aiti-11232	94	16	4	4	NUM
aiti-11232	94	17	1	1	NUM
aiti-11232	94	18	4	4	NUM
aiti-11232	94	19	4	4	NUM
aiti-11232	94	20	12	12	NUM
aiti-11232	95	1	ka	ka	PROPN
aiti-11232	95	2	f	f	PROPN
aiti-11232	95	3	x	x	PROPN
aiti-11232	95	4	gx	gx	PROPN
aiti-11232	95	5	u	u	PROPN
aiti-11232	95	6	a	a	PRON
aiti-11232	95	7	a	a	DET
aiti-11232	95	8	γ	γ	X
aiti-11232	95	9	τ	τ	PROPN
aiti-11232	95	10			NOUN
aiti-11232	95	11			NOUN
aiti-11232	95	12	=	=	PUNCT
aiti-11232	96	1	+	+	CCONJ
aiti-11232	97	1	−	−	PROPN
aiti-11232	97	2	+	+	ADJ
aiti-11232	97	3			PROPN
aiti-11232	97	4			CCONJ
aiti-11232	97	5			PROPN
aiti-11232	97	6			NOUN
aiti-11232	97	7	(	(	PUNCT
aiti-11232	97	8	23	23	NUM
aiti-11232	97	9	)	)	PUNCT
aiti-11232	97	10	with	with	ADP
aiti-11232	97	11	�	�	PROPN
aiti-11232	97	12	as	as	ADP
aiti-11232	97	13	the	the	DET
aiti-11232	97	14	sampling	sampling	NOUN
aiti-11232	97	15	time	time	NOUN
aiti-11232	97	16	.	.	PUNCT
aiti-11232	98	1	the	the	DET
aiti-11232	98	2	output	output	NOUN
aiti-11232	98	3	variable	variable	ADJ
aiti-11232	98	4	�	�	PROPN
aiti-11232	98	5	=	=	SYM
aiti-11232	98	6	�	�	PROPN
aiti-11232	98	7	�	�	PROPN
aiti-11232	98	8	�	�	PROPN
aiti-11232	98	9	,	,	PUNCT
aiti-11232	98	10	�	�	PROPN
aiti-11232	98	11	�	�	PROPN
aiti-11232	98	12	�	�	PROPN
aiti-11232	98	13	�	�	PROPN
aiti-11232	98	14	is	be	AUX
aiti-11232	98	15	defined	define	VERB
aiti-11232	98	16	by	by	ADP
aiti-11232	98	17	(	(	PUNCT
aiti-11232	98	18	)	)	PUNCT
aiti-11232	98	19	(	(	PUNCT
aiti-11232	98	20	)	)	PUNCT
aiti-11232	98	21	y	y	PROPN
aiti-11232	99	1	k	k	NOUN
aiti-11232	99	2	h	h	NOUN
aiti-11232	99	3	x	x	PROPN
aiti-11232	99	4	k=	k=	INTJ
aiti-11232	100	1			PROPN
aiti-11232	100	2			PROPN
aiti-11232	100	3			PROPN
aiti-11232	100	4	(	(	PUNCT
aiti-11232	100	5	24	24	NUM
aiti-11232	100	6	)	)	PUNCT
aiti-11232	100	7	where	where	SCONJ
aiti-11232	100	8	the	the	DET
aiti-11232	100	9	output	output	NOUN
aiti-11232	100	10	measurement	measurement	NOUN
aiti-11232	100	11	channel	channel	NOUN
aiti-11232	100	12	ℎ	ℎ	PROPN
aiti-11232	100	13	=	=	SYM
aiti-11232	100	14	�	�	PROPN
aiti-11232	100	15	ℎ	ℎ	PROPN
aiti-11232	100	16	�	�	PROPN
aiti-11232	100	17	,	,	PUNCT
aiti-11232	100	18	ℎ	ℎ	PROPN
aiti-11232	100	19	�	�	PROPN
aiti-11232	100	20	�	�	PROPN
aiti-11232	100	21	�	�	PROPN
aiti-11232	100	22	:	:	PUNCT
aiti-11232	100	23	ℜ	ℜ	PROPN
aiti-11232	100	24	�	�	PROPN
aiti-11232	100	25	→	→	SYM
aiti-11232	100	26	ℜ	ℜ	PROPN
aiti-11232	100	27	�	�	PROPN
aiti-11232	100	28	is	be	AUX
aiti-11232	100	29	1	1	NUM
aiti-11232	100	30	1	1	NUM
aiti-11232	100	31	h	h	NOUN
aiti-11232	100	32	x=	x=	PUNCT
aiti-11232	101	1	(	(	PUNCT
aiti-11232	101	2	25	25	NUM
aiti-11232	101	3	)	)	SYM
aiti-11232	101	4	2	2	NUM
aiti-11232	101	5	2	2	NUM
aiti-11232	101	6	h	h	NOUN
aiti-11232	101	7	x=	x=	PUNCT
aiti-11232	102	1	(	(	PUNCT
aiti-11232	102	2	26	26	NUM
aiti-11232	102	3	)	)	PUNCT
aiti-11232	102	4	which	which	PRON
aiti-11232	102	5	represents	represent	VERB
aiti-11232	102	6	the	the	DET
aiti-11232	102	7	solution	solution	NOUN
aiti-11232	102	8	for	for	ADP
aiti-11232	102	9	the	the	DET
aiti-11232	102	10	liquid	liquid	ADJ
aiti-11232	102	11	level	level	NOUN
aiti-11232	102	12	of	of	ADP
aiti-11232	102	13	tank	tank	NOUN
aiti-11232	102	14	1	1	NUM
aiti-11232	102	15	and	and	CCONJ
aiti-11232	102	16	2	2	NUM
aiti-11232	102	17	as	as	ADP
aiti-11232	102	18	�	�	PROPN
aiti-11232	102	19	�	�	PROPN
aiti-11232	102	20	�	�	PROPN
aiti-11232	102	21	�	�	PROPN
aiti-11232	102	22	and	and	CCONJ
aiti-11232	102	23	�	�	PROPN
aiti-11232	102	24	�	�	PROPN
aiti-11232	102	25	�	�	PROPN
aiti-11232	102	26	�	�	PROPN
aiti-11232	102	27	,	,	PUNCT
aiti-11232	102	28	respectively	respectively	ADV
aiti-11232	102	29	.	.	PUNCT
aiti-11232	103	1	therefore	therefore	ADV
aiti-11232	103	2	,	,	PUNCT
aiti-11232	103	3	the	the	DET
aiti-11232	103	4	discrete	discrete	ADJ
aiti-11232	103	5	-	-	PUNCT
aiti-11232	103	6	time	time	NOUN
aiti-11232	103	7	system	system	NOUN
aiti-11232	103	8	[	[	X
aiti-11232	103	9	22	22	NUM
aiti-11232	103	10	]	]	PUNCT
aiti-11232	103	11	consists	consist	VERB
aiti-11232	103	12	of	of	ADP
aiti-11232	103	13	eqs	eqs	PROPN
aiti-11232	103	14	.	.	PUNCT
aiti-11232	104	1	(	(	PUNCT
aiti-11232	104	2	19	19	NUM
aiti-11232	104	3	)	)	PUNCT
aiti-11232	104	4	and	and	CCONJ
aiti-11232	104	5	(	(	PUNCT
aiti-11232	104	6	24	24	NUM
aiti-11232	104	7	)	)	PUNCT
aiti-11232	104	8	,	,	PUNCT
aiti-11232	104	9	which	which	PRON
aiti-11232	104	10	are	be	AUX
aiti-11232	104	11	disturbed	disturb	VERB
aiti-11232	104	12	by	by	ADP
aiti-11232	104	13	random	random	ADJ
aiti-11232	104	14	noises	noise	NOUN
aiti-11232	104	15	,	,	PUNCT
aiti-11232	104	16	are	be	AUX
aiti-11232	104	17	denoted	denote	VERB
aiti-11232	104	18	as	as	ADP
aiti-11232	104	19	(	(	PUNCT
aiti-11232	104	20	)	)	PUNCT
aiti-11232	104	21	(	(	PUNCT
aiti-11232	104	22	)	)	PUNCT
aiti-11232	104	23	(	(	PUNCT
aiti-11232	104	24	)	)	PUNCT
aiti-11232	104	25	(	(	PUNCT
aiti-11232	104	26	)	)	PUNCT
aiti-11232	104	27	1	1	NUM
aiti-11232	104	28	,	,	PUNCT
aiti-11232	104	29	x	x	PROPN
aiti-11232	105	1	k	k	NOUN
aiti-11232	105	2	f	f	PROPN
aiti-11232	105	3	x	x	X
aiti-11232	105	4	k	k	PROPN
aiti-11232	105	5	u	u	X
aiti-11232	105	6	k	k	PROPN
aiti-11232	105	7	g	g	NOUN
aiti-11232	105	8	kω+	kω+	NOUN
aiti-11232	105	9	=	=	SYM
aiti-11232	106	1	+	+	NUM
aiti-11232	106	2			PROPN
aiti-11232	106	3			PROPN
aiti-11232	106	4			PROPN
aiti-11232	106	5	(	(	PUNCT
aiti-11232	106	6	27	27	NUM
aiti-11232	106	7	)	)	PUNCT
aiti-11232	106	8	(	(	PUNCT
aiti-11232	106	9	)	)	PUNCT
aiti-11232	106	10	(	(	PUNCT
aiti-11232	106	11	)	)	PUNCT
aiti-11232	106	12	(	(	PUNCT
aiti-11232	106	13	)	)	PUNCT
aiti-11232	106	14	y	y	PROPN
aiti-11232	107	1	k	k	NOUN
aiti-11232	107	2	h	h	NOUN
aiti-11232	108	1	x	x	X
aiti-11232	108	2	k	k	PROPN
aiti-11232	109	1	kη=	kη=	PROPN
aiti-11232	110	1	+	+	PROPN
aiti-11232	110	2			PROPN
aiti-11232	110	3			PROPN
aiti-11232	110	4			PROPN
aiti-11232	110	5	(	(	PUNCT
aiti-11232	110	6	28	28	NUM
aiti-11232	110	7	)	)	PUNCT
aiti-11232	110	8	where	where	SCONJ
aiti-11232	110	9	g	g	PROPN
aiti-11232	110	10	is	be	AUX
aiti-11232	110	11	a	a	DET
aiti-11232	110	12	4	4	NUM
aiti-11232	110	13	×	×	NOUN
aiti-11232	110	14	4	4	NUM
aiti-11232	110	15	coefficient	coefficient	NOUN
aiti-11232	110	16	matrix	matrix	NOUN
aiti-11232	110	17	,	,	PUNCT
aiti-11232	110	18	whereas	whereas	SCONJ
aiti-11232	110	19	!	!	PUNCT
aiti-11232	110	20	�	�	PROPN
aiti-11232	110	21	�	�	PROPN
aiti-11232	110	22	∈	∈	PROPN
aiti-11232	110	23	ℛ	ℛ	PROPN
aiti-11232	110	24	�	�	PROPN
aiti-11232	110	25	,	,	PUNCT
aiti-11232	110	26	=	=	NOUN
aiti-11232	110	27	0,1	0,1	NUM
aiti-11232	110	28	,	,	PUNCT
aiti-11232	110	29	⋯	⋯	NOUN
aiti-11232	110	30	,	,	PUNCT
aiti-11232	110	31	'	'	PUNCT
aiti-11232	110	32	−	−	PROPN
aiti-11232	110	33	1	1	NUM
aiti-11232	110	34	,	,	PUNCT
aiti-11232	110	35	and	and	CCONJ
aiti-11232	110	36	)	)	PUNCT
aiti-11232	110	37	�	�	PROPN
aiti-11232	110	38	�	�	PROPN
aiti-11232	110	39	∈	∈	PROPN
aiti-11232	110	40	ℛ	ℛ	PROPN
aiti-11232	110	41	�	�	PROPN
aiti-11232	110	42	,	,	PUNCT
aiti-11232	110	43	=	=	NOUN
aiti-11232	110	44	0,1	0,1	NUM
aiti-11232	110	45	,	,	PUNCT
aiti-11232	110	46	⋯	⋯	VERB
aiti-11232	110	47	,	,	PUNCT
aiti-11232	110	48	'	'	PUNCT
aiti-11232	110	49	,	,	PUNCT
aiti-11232	110	50	are	be	AUX
aiti-11232	110	51	the	the	DET
aiti-11232	110	52	additive	additive	ADJ
aiti-11232	110	53	gaussian	gaussian	ADJ
aiti-11232	110	54	white	white	ADJ
aiti-11232	110	55	noises	noise	NOUN
aiti-11232	110	56	with	with	ADP
aiti-11232	110	57	zero	zero	NUM
aiti-11232	110	58	mean	mean	NOUN
aiti-11232	110	59	,	,	PUNCT
aiti-11232	110	60	and	and	CCONJ
aiti-11232	110	61	their	their	PRON
aiti-11232	110	62	respective	respective	ADJ
aiti-11232	110	63	covariance	covariance	NOUN
aiti-11232	110	64	matrices	matrix	NOUN
aiti-11232	110	65	are	be	AUX
aiti-11232	110	66	given	give	VERB
aiti-11232	110	67	by	by	ADP
aiti-11232	110	68	*	*	PUNCT
aiti-11232	110	69	+	+	CCONJ
aiti-11232	110	70	∈	∈	PROPN
aiti-11232	110	71	ℛ	ℛ	PROPN
aiti-11232	110	72	�	�	PROPN
aiti-11232	110	73	×	×	NOUN
aiti-11232	110	74	�	�	PROPN
aiti-11232	110	75	and	and	CCONJ
aiti-11232	110	76	,	,	PUNCT
aiti-11232	110	77	∈	∈	PROPN
aiti-11232	110	78	ℛ	ℛ	PROPN
aiti-11232	110	79	�	�	PROPN
aiti-11232	110	80	×	×	NOUN
aiti-11232	110	81	�	�	PROPN
aiti-11232	110	82	.	.	PUNCT
aiti-11232	111	1	(	(	PUNCT
aiti-11232	111	2	)	)	PUNCT
aiti-11232	111	3	00x	00x	NOUN
aiti-11232	111	4	x=	x=	PUNCT
aiti-11232	112	1	(	(	PUNCT
aiti-11232	112	2	29	29	NUM
aiti-11232	112	3	)	)	PUNCT
aiti-11232	112	4	the	the	DET
aiti-11232	112	5	initial	initial	ADJ
aiti-11232	112	6	state	state	NOUN
aiti-11232	112	7	eq	eq	ADJ
aiti-11232	112	8	.	.	PUNCT
aiti-11232	113	1	(	(	PUNCT
aiti-11232	113	2	29	29	NUM
aiti-11232	113	3	)	)	PUNCT
aiti-11232	113	4	is	be	AUX
aiti-11232	113	5	a	a	DET
aiti-11232	113	6	random	random	ADJ
aiti-11232	113	7	vector	vector	NOUN
aiti-11232	113	8	with	with	ADP
aiti-11232	113	9	the	the	DET
aiti-11232	113	10	mean	mean	ADJ
aiti-11232	113	11	and	and	CCONJ
aiti-11232	113	12	state	state	NOUN
aiti-11232	113	13	error	error	NOUN
aiti-11232	113	14	covariance	covariance	NOUN
aiti-11232	113	15	matrix	matrix	NOUN
aiti-11232	113	16	are	be	AUX
aiti-11232	113	17	,	,	PUNCT
aiti-11232	113	18	respectively	respectively	ADV
aiti-11232	113	19	,	,	PUNCT
aiti-11232	113	20	given	give	VERB
aiti-11232	113	21	by	by	ADP
aiti-11232	113	22	(	(	PUNCT
aiti-11232	113	23	)	)	PUNCT
aiti-11232	113	24	0	0	NUM
aiti-11232	113	25	0e	0e	NOUN
aiti-11232	113	26	x	x	X
aiti-11232	113	27	x=	x=	X
aiti-11232	113	28	(	(	PUNCT
aiti-11232	113	29	30	30	NUM
aiti-11232	113	30	)	)	PUNCT
aiti-11232	113	31	(	(	PUNCT
aiti-11232	113	32	)	)	PUNCT
aiti-11232	113	33	(	(	PUNCT
aiti-11232	113	34	)	)	PUNCT
aiti-11232	113	35	0	0	NUM
aiti-11232	113	36	0	0	NUM
aiti-11232	113	37	0	0	NUM
aiti-11232	113	38	0	0	NUM
aiti-11232	113	39	0	0	NUM
aiti-11232	113	40	t	t	NOUN
aiti-11232	113	41	e	e	NOUN
aiti-11232	113	42	x	x	PUNCT
aiti-11232	113	43	x	x	SYM
aiti-11232	113	44	x	x	SYM
aiti-11232	113	45	x	x	X
aiti-11232	113	46	m	m	X
aiti-11232	113	47	−	−	PROPN
aiti-11232	113	48	−	−	PROPN
aiti-11232	113	49	=	=	PUNCT
aiti-11232	113	50			PROPN
aiti-11232	113	51			PROPN
aiti-11232	113	52	(	(	PUNCT
aiti-11232	113	53	31	31	NUM
aiti-11232	113	54	)	)	PUNCT
aiti-11232	113	55	where	where	SCONJ
aiti-11232	113	56	./	./	PUNCT
aiti-11232	113	57	∈	∈	PROPN
aiti-11232	113	58	ℛ	ℛ	PROPN
aiti-11232	113	59	�	�	PROPN
aiti-11232	113	60	×	×	NOUN
aiti-11232	113	61	�	�	PROPN
aiti-11232	113	62	is	be	AUX
aiti-11232	113	63	a	a	DET
aiti-11232	113	64	positive	positive	ADJ
aiti-11232	113	65	definite	definite	ADJ
aiti-11232	113	66	matrix	matrix	NOUN
aiti-11232	113	67	and	and	CCONJ
aiti-11232	113	68	01	01	NUM
aiti-11232	113	69	2	2	NUM
aiti-11232	113	70	is	be	AUX
aiti-11232	113	71	the	the	DET
aiti-11232	113	72	expectation	expectation	NOUN
aiti-11232	113	73	operator	operator	NOUN
aiti-11232	113	74	.	.	PUNCT
aiti-11232	114	1	it	it	PRON
aiti-11232	114	2	is	be	AUX
aiti-11232	114	3	assumed	assume	VERB
aiti-11232	114	4	that	that	SCONJ
aiti-11232	114	5	the	the	DET
aiti-11232	114	6	initial	initial	ADJ
aiti-11232	114	7	state	state	NOUN
aiti-11232	114	8	,	,	PUNCT
aiti-11232	114	9	process	process	NOUN
aiti-11232	114	10	noise	noise	NOUN
aiti-11232	114	11	,	,	PUNCT
aiti-11232	114	12	and	and	CCONJ
aiti-11232	114	13	measurement	measurement	NOUN
aiti-11232	114	14	noise	noise	NOUN
aiti-11232	114	15	are	be	AUX
aiti-11232	114	16	statistically	statistically	ADV
aiti-11232	114	17	independent	independent	ADJ
aiti-11232	114	18	.	.	PUNCT
aiti-11232	115	1	here	here	ADV
aiti-11232	115	2	,	,	PUNCT
aiti-11232	115	3	the	the	DET
aiti-11232	115	4	aim	aim	NOUN
aiti-11232	115	5	is	be	AUX
aiti-11232	115	6	to	to	PART
aiti-11232	115	7	determine	determine	VERB
aiti-11232	115	8	a	a	DET
aiti-11232	115	9	set	set	NOUN
aiti-11232	115	10	of	of	ADP
aiti-11232	115	11	admissible	admissible	ADJ
aiti-11232	115	12	control	control	NOUN
aiti-11232	115	13	sequences	sequence	NOUN
aiti-11232	115	14	�	�	PROPN
aiti-11232	115	15	�	�	PROPN
aiti-11232	115	16	�	�	PROPN
aiti-11232	115	17	∈	∈	PROPN
aiti-11232	115	18	ℛ	ℛ	PROPN
aiti-11232	115	19	�	�	PROPN
aiti-11232	115	20	,	,	PUNCT
aiti-11232	115	21	=	=	NOUN
aiti-11232	115	22	0,1	0,1	NUM
aiti-11232	115	23	,	,	PUNCT
aiti-11232	115	24	⋯	⋯	NOUN
aiti-11232	115	25	,	,	PUNCT
aiti-11232	115	26	'	'	PUNCT
aiti-11232	115	27	−	−	PROPN
aiti-11232	115	28	1	1	NUM
aiti-11232	115	29	,	,	PUNCT
aiti-11232	116	1	such	such	ADJ
aiti-11232	116	2	that	that	SCONJ
aiti-11232	116	3	the	the	DET
aiti-11232	116	4	following	follow	VERB
aiti-11232	116	5	expected	expect	VERB
aiti-11232	116	6	cost	cost	NOUN
aiti-11232	116	7	function	function	NOUN
aiti-11232	116	8	(	(	PUNCT
aiti-11232	116	9	)	)	PUNCT
aiti-11232	116	10	(	(	PUNCT
aiti-11232	116	11	)	)	PUNCT
aiti-11232	116	12	(	(	PUNCT
aiti-11232	116	13	)	)	PUNCT
aiti-11232	116	14	(	(	PUNCT
aiti-11232	116	15	)	)	PUNCT
aiti-11232	116	16	1	1	NUM
aiti-11232	116	17	0	0	NUM
aiti-11232	116	18	,	,	PUNCT
aiti-11232	116	19	n	n	PROPN
aiti-11232	116	20	k	k	PROPN
aiti-11232	116	21	j	j	PROPN
aiti-11232	116	22	u	u	X
aiti-11232	116	23	e	e	X
aiti-11232	116	24	x	x	PROPN
aiti-11232	116	25	n	n	X
aiti-11232	116	26	l	l	NOUN
aiti-11232	116	27	x	x	X
aiti-11232	116	28	k	k	PUNCT
aiti-11232	116	29	u	u	X
aiti-11232	116	30	kϕ	kϕ	NOUN
aiti-11232	116	31	−	−	NOUN
aiti-11232	116	32	=	=	PUNCT
aiti-11232	116	33			NOUN
aiti-11232	116	34			PROPN
aiti-11232	117	1	=	=	PUNCT
aiti-11232	118	1	+	+	NOUN
aiti-11232	118	2			PROPN
aiti-11232	118	3			ADJ
aiti-11232	118	4			PROPN
aiti-11232	118	5			PROPN
aiti-11232	118	6			PROPN
aiti-11232	118	7			PROPN
aiti-11232	118	8			VERB
aiti-11232	118	9			PROPN
aiti-11232	118	10			PROPN
aiti-11232	118	11			PROPN
aiti-11232	118	12			X
aiti-11232	118	13	(	(	PUNCT
aiti-11232	118	14	32	32	NUM
aiti-11232	118	15	)	)	PUNCT
aiti-11232	118	16	is	be	AUX
aiti-11232	118	17	minimized	minimize	VERB
aiti-11232	118	18	over	over	ADP
aiti-11232	118	19	the	the	DET
aiti-11232	118	20	dynamical	dynamical	ADJ
aiti-11232	118	21	system	system	NOUN
aiti-11232	118	22	given	give	VERB
aiti-11232	118	23	in	in	ADP
aiti-11232	118	24	eqs	eqs	PROPN
aiti-11232	118	25	.	.	PUNCT
aiti-11232	119	1	(	(	PUNCT
aiti-11232	119	2	27	27	NUM
aiti-11232	119	3	)	)	PUNCT
aiti-11232	119	4	and	and	CCONJ
aiti-11232	119	5	(	(	PUNCT
aiti-11232	119	6	28	28	NUM
aiti-11232	119	7	)	)	PUNCT
aiti-11232	119	8	,	,	PUNCT
aiti-11232	119	9	where	where	SCONJ
aiti-11232	119	10	3	3	X
aiti-11232	119	11	:	:	SYM
aiti-11232	119	12	ℜ	ℜ	PROPN
aiti-11232	119	13	�	�	PROPN
aiti-11232	119	14	→	→	SYM
aiti-11232	119	15	ℛ	ℛ	PROPN
aiti-11232	119	16	is	be	AUX
aiti-11232	119	17	the	the	DET
aiti-11232	119	18	terminal	terminal	ADJ
aiti-11232	119	19	cost	cost	NOUN
aiti-11232	119	20	and	and	CCONJ
aiti-11232	119	21	4	4	NUM
aiti-11232	119	22	:	:	PUNCT
aiti-11232	119	23	ℜ	ℜ	PROPN
aiti-11232	119	24	�	�	PROPN
aiti-11232	119	25	×	×	PROPN
aiti-11232	119	26	ℜ	ℜ	PROPN
aiti-11232	119	27	�	�	PROPN
aiti-11232	119	28	→	→	SYM
aiti-11232	119	29	ℛ	ℛ	PROPN
aiti-11232	119	30	is	be	AUX
aiti-11232	119	31	the	the	DET
aiti-11232	119	32	cost	cost	NOUN
aiti-11232	119	33	under	under	ADP
aiti-11232	119	34	summation	summation	NOUN
aiti-11232	119	35	.	.	PUNCT
aiti-11232	120	1	this	this	DET
aiti-11232	120	2	problem	problem	NOUN
aiti-11232	120	3	is	be	AUX
aiti-11232	120	4	known	know	VERB
aiti-11232	120	5	as	as	ADP
aiti-11232	120	6	the	the	DET
aiti-11232	120	7	discrete	discrete	ADJ
aiti-11232	120	8	-	-	PUNCT
aiti-11232	120	9	time	time	NOUN
aiti-11232	120	10	nonlinear	nonlinear	ADJ
aiti-11232	120	11	stochastic	stochastic	ADJ
aiti-11232	120	12	optimal	optimal	ADJ
aiti-11232	120	13	control	control	NOUN
aiti-11232	120	14	problem	problem	NOUN
aiti-11232	120	15	for	for	ADP
aiti-11232	120	16	the	the	DET
aiti-11232	120	17	four	four	NUM
aiti-11232	120	18	-	-	PUNCT
aiti-11232	120	19	tank	tank	NOUN
aiti-11232	120	20	system	system	NOUN
aiti-11232	120	21	and	and	CCONJ
aiti-11232	120	22	is	be	AUX
aiti-11232	120	23	referred	refer	VERB
aiti-11232	120	24	to	to	ADP
aiti-11232	120	25	as	as	ADP
aiti-11232	120	26	problem	problem	NOUN
aiti-11232	120	27	(	(	PUNCT
aiti-11232	120	28	p	p	NOUN
aiti-11232	120	29	)	)	PUNCT
aiti-11232	120	30	.	.	PUNCT
aiti-11232	121	1	3	3	X
aiti-11232	121	2	.	.	X
aiti-11232	121	3	stochastic	stochastic	ADJ
aiti-11232	121	4	approximation	approximation	NOUN
aiti-11232	121	5	(	(	PUNCT
aiti-11232	121	6	sa	sa	NOUN
aiti-11232	121	7	)	)	PUNCT
aiti-11232	121	8	approach	approach	NOUN
aiti-11232	121	9	now	now	ADV
aiti-11232	121	10	,	,	PUNCT
aiti-11232	121	11	consider	consider	VERB
aiti-11232	121	12	the	the	DET
aiti-11232	121	13	following	follow	VERB
aiti-11232	121	14	recursive	recursive	ADJ
aiti-11232	121	15	equation	equation	NOUN
aiti-11232	121	16	,	,	PUNCT
aiti-11232	121	17	1i	1i	NOUN
aiti-11232	122	1	i	i	PRON
aiti-11232	122	2	i	i	PRON
aiti-11232	123	1	i	i	PRON
aiti-11232	123	2	a	a	DET
aiti-11232	123	3	gθ	gθ	X
aiti-11232	123	4	θ+	θ+	NOUN
aiti-11232	123	5	=	=	SYM
aiti-11232	124	1	−	−	PROPN
aiti-11232	124	2	×	×	NOUN
aiti-11232	124	3	(	(	PUNCT
aiti-11232	124	4	33	33	NUM
aiti-11232	124	5	)	)	PUNCT
aiti-11232	124	6	advances	advance	NOUN
aiti-11232	124	7	in	in	ADP
aiti-11232	124	8	technology	technology	NOUN
aiti-11232	124	9	innovation	innovation	NOUN
aiti-11232	124	10	,	,	PUNCT
aiti-11232	124	11	vol	vol	NOUN
aiti-11232	124	12	.	.	PROPN
aiti-11232	124	13	8	8	NUM
aiti-11232	124	14	,	,	PUNCT
aiti-11232	124	15	no	no	INTJ
aiti-11232	124	16	.	.	NOUN
aiti-11232	124	17	2	2	NUM
aiti-11232	124	18	,	,	PUNCT
aiti-11232	124	19	2023	2023	NUM
aiti-11232	124	20	,	,	PUNCT
aiti-11232	124	21	pp	pp	ADJ
aiti-11232	124	22	.	.	PUNCT
aiti-11232	125	1	150	150	NUM
aiti-11232	125	2	-	-	SYM
aiti-11232	125	3	161	161	NUM
aiti-11232	125	4	155	155	NUM
aiti-11232	125	5	where	where	SCONJ
aiti-11232	125	6	5	5	NUM
aiti-11232	125	7	�	�	PROPN
aiti-11232	125	8	is	be	AUX
aiti-11232	125	9	the	the	DET
aiti-11232	125	10	set	set	NOUN
aiti-11232	125	11	of	of	ADP
aiti-11232	125	12	parameters	parameter	NOUN
aiti-11232	125	13	to	to	PART
aiti-11232	125	14	be	be	AUX
aiti-11232	125	15	estimated	estimate	VERB
aiti-11232	125	16	,	,	PUNCT
aiti-11232	125	17	6	6	NUM
aiti-11232	125	18	�	�	NOUN
aiti-11232	125	19	=	=	SYM
aiti-11232	125	20	6	6	NUM
aiti-11232	125	21	�	�	PROPN
aiti-11232	125	22	5	5	NUM
aiti-11232	125	23	�	�	NOUN
aiti-11232	125	24	�	�	PROPN
aiti-11232	125	25	is	be	AUX
aiti-11232	125	26	the	the	DET
aiti-11232	125	27	stochastic	stochastic	ADJ
aiti-11232	125	28	gradient	gradient	NOUN
aiti-11232	125	29	,	,	PUNCT
aiti-11232	125	30	and	and	CCONJ
aiti-11232	125	31	�	�	PROPN
aiti-11232	125	32	�	�	PROPN
aiti-11232	125	33	is	be	AUX
aiti-11232	125	34	the	the	DET
aiti-11232	125	35	gain	gain	NOUN
aiti-11232	125	36	sequence	sequence	NOUN
aiti-11232	125	37	.	.	PUNCT
aiti-11232	126	1	this	this	DET
aiti-11232	126	2	equation	equation	NOUN
aiti-11232	126	3	is	be	AUX
aiti-11232	126	4	known	know	VERB
aiti-11232	126	5	as	as	ADP
aiti-11232	126	6	the	the	DET
aiti-11232	126	7	sa	sa	PROPN
aiti-11232	126	8	approach	approach	NOUN
aiti-11232	126	9	[	[	X
aiti-11232	126	10	20	20	NUM
aiti-11232	126	11	]	]	PUNCT
aiti-11232	126	12	.	.	PUNCT
aiti-11232	127	1	thus	thus	ADV
aiti-11232	127	2	,	,	PUNCT
aiti-11232	127	3	the	the	DET
aiti-11232	127	4	state	state	NOUN
aiti-11232	127	5	estimation	estimation	NOUN
aiti-11232	127	6	and	and	CCONJ
aiti-11232	127	7	the	the	DET
aiti-11232	127	8	optimal	optimal	ADJ
aiti-11232	127	9	control	control	NOUN
aiti-11232	127	10	design	design	NOUN
aiti-11232	127	11	based	base	VERB
aiti-11232	127	12	on	on	ADP
aiti-11232	127	13	the	the	DET
aiti-11232	127	14	sa	sa	PROPN
aiti-11232	127	15	approach	approach	NOUN
aiti-11232	127	16	will	will	AUX
aiti-11232	127	17	be	be	AUX
aiti-11232	127	18	further	far	ADV
aiti-11232	127	19	discussed	discuss	VERB
aiti-11232	127	20	.	.	PUNCT
aiti-11232	128	1	3.1	3.1	NUM
aiti-11232	128	2	.	.	PUNCT
aiti-11232	129	1	state	state	NOUN
aiti-11232	129	2	estimation	estimation	NOUN
aiti-11232	129	3	consider	consider	VERB
aiti-11232	129	4	the	the	DET
aiti-11232	129	5	state	state	NOUN
aiti-11232	129	6	mean	mean	VERB
aiti-11232	129	7	propagation	propagation	NOUN
aiti-11232	130	1	[	[	X
aiti-11232	130	2	23	23	NUM
aiti-11232	130	3	-	-	SYM
aiti-11232	130	4	24	24	NUM
aiti-11232	130	5	]	]	PUNCT
aiti-11232	130	6	for	for	ADP
aiti-11232	130	7	eqs	eqs	PROPN
aiti-11232	130	8	.	.	PUNCT
aiti-11232	131	1	(	(	PUNCT
aiti-11232	131	2	27	27	NUM
aiti-11232	131	3	)	)	PUNCT
aiti-11232	131	4	and	and	CCONJ
aiti-11232	131	5	(	(	PUNCT
aiti-11232	131	6	28	28	NUM
aiti-11232	131	7	)	)	PUNCT
aiti-11232	131	8	,	,	PUNCT
aiti-11232	131	9	given	give	VERB
aiti-11232	131	10	by	by	ADP
aiti-11232	131	11	(	(	PUNCT
aiti-11232	131	12	)	)	PUNCT
aiti-11232	131	13	(	(	PUNCT
aiti-11232	131	14	)	)	PUNCT
aiti-11232	131	15	(	(	PUNCT
aiti-11232	131	16	)	)	PUNCT
aiti-11232	131	17	1	1	NUM
aiti-11232	131	18	,	,	PUNCT
aiti-11232	131	19	x	x	PROPN
aiti-11232	132	1	k	k	NOUN
aiti-11232	132	2	f	f	PROPN
aiti-11232	132	3	x	x	X
aiti-11232	132	4	k	k	X
aiti-11232	132	5	u	u	NOUN
aiti-11232	132	6	k+	k+	NOUN
aiti-11232	132	7	=	=	SYM
aiti-11232	132	8			PROPN
aiti-11232	132	9			PROPN
aiti-11232	132	10			PROPN
aiti-11232	132	11	(	(	PUNCT
aiti-11232	132	12	34	34	NUM
aiti-11232	132	13	)	)	PUNCT
aiti-11232	132	14	(	(	PUNCT
aiti-11232	132	15	)	)	PUNCT
aiti-11232	132	16	(	(	PUNCT
aiti-11232	132	17	)	)	PUNCT
aiti-11232	132	18	y	y	PROPN
aiti-11232	132	19	k	k	NOUN
aiti-11232	132	20	h	h	NOUN
aiti-11232	132	21	x	x	PROPN
aiti-11232	132	22	k=	k=	INTJ
aiti-11232	132	23			PROPN
aiti-11232	132	24			PROPN
aiti-11232	132	25			PROPN
aiti-11232	132	26	(	(	PUNCT
aiti-11232	132	27	35	35	NUM
aiti-11232	132	28	)	)	PUNCT
aiti-11232	132	29	where	where	SCONJ
aiti-11232	132	30	�	�	NOUN
aiti-11232	132	31	̅	̅	NOUN
aiti-11232	132	32	�	�	PROPN
aiti-11232	132	33	�	�	PROPN
aiti-11232	132	34	and	and	CCONJ
aiti-11232	132	35	�	�	PROPN
aiti-11232	132	36	8	8	NUM
aiti-11232	132	37	�	�	PROPN
aiti-11232	132	38	�	�	PROPN
aiti-11232	132	39	are	be	AUX
aiti-11232	132	40	the	the	DET
aiti-11232	132	41	expected	expect	VERB
aiti-11232	132	42	state	state	NOUN
aiti-11232	132	43	sequence	sequence	NOUN
aiti-11232	132	44	and	and	CCONJ
aiti-11232	132	45	the	the	DET
aiti-11232	132	46	expected	expect	VERB
aiti-11232	132	47	output	output	NOUN
aiti-11232	132	48	sequence	sequence	NOUN
aiti-11232	132	49	,	,	PUNCT
aiti-11232	132	50	respectively	respectively	ADV
aiti-11232	132	51	.	.	PUNCT
aiti-11232	132	52	to	to	PART
aiti-11232	132	53	find	find	VERB
aiti-11232	132	54	the	the	DET
aiti-11232	132	55	optimal	optimal	ADJ
aiti-11232	132	56	state	state	NOUN
aiti-11232	132	57	estimate	estimate	NOUN
aiti-11232	132	58	,	,	PUNCT
aiti-11232	132	59	introduce	introduce	VERB
aiti-11232	132	60	the	the	DET
aiti-11232	132	61	following	following	NOUN
aiti-11232	132	62	weighted	weight	VERB
aiti-11232	132	63	least	least	ADJ
aiti-11232	132	64	-	-	PUNCT
aiti-11232	132	65	squares	square	NOUN
aiti-11232	132	66	problem	problem	NOUN
aiti-11232	132	67	[	[	X
aiti-11232	132	68	21	21	NUM
aiti-11232	132	69	-	-	SYM
aiti-11232	132	70	22	22	NUM
aiti-11232	132	71	]	]	PUNCT
aiti-11232	132	72	,	,	PUNCT
aiti-11232	132	73	(	(	PUNCT
aiti-11232	132	74	)	)	PUNCT
aiti-11232	132	75	(	(	PUNCT
aiti-11232	132	76	)	)	PUNCT
aiti-11232	132	77	(	(	PUNCT
aiti-11232	132	78	)	)	PUNCT
aiti-11232	132	79	(	(	PUNCT
aiti-11232	132	80	)	)	PUNCT
aiti-11232	132	81	(	(	PUNCT
aiti-11232	132	82	)	)	PUNCT
aiti-11232	132	83	(	(	PUNCT
aiti-11232	132	84	)	)	PUNCT
aiti-11232	132	85	{	{	PUNCT
aiti-11232	132	86	}	}	PUNCT
aiti-11232	132	87	(	(	PUNCT
aiti-11232	132	88	)	)	PUNCT
aiti-11232	132	89	(	(	PUNCT
aiti-11232	132	90	)	)	PUNCT
aiti-11232	132	91	{	{	PUNCT
aiti-11232	132	92	}	}	PUNCT
aiti-11232	132	93	(	(	PUNCT
aiti-11232	132	94	)	)	PUNCT
aiti-11232	132	95	(	(	PUNCT
aiti-11232	132	96	)	)	PUNCT
aiti-11232	132	97	(	(	PUNCT
aiti-11232	132	98	)	)	PUNCT
aiti-11232	132	99	{	{	PUNCT
aiti-11232	132	100	}	}	PUNCT
aiti-11232	132	101	1	1	NUM
aiti-11232	132	102	0	0	NUM
aiti-11232	132	103	1	1	NUM
aiti-11232	132	104	1	1	NUM
aiti-11232	132	105	min	min	NOUN
aiti-11232	132	106	2	2	NUM
aiti-11232	132	107	1	1	NUM
aiti-11232	132	108	2	2	NUM
aiti-11232	132	109	t	t	NOUN
aiti-11232	132	110	sse	sse	NOUN
aiti-11232	132	111	x	x	PROPN
aiti-11232	133	1	t	t	PROPN
aiti-11232	133	2	j	j	PROPN
aiti-11232	134	1	x	x	X
aiti-11232	134	2	x	x	PUNCT
aiti-11232	134	3	k	k	NOUN
aiti-11232	134	4	x	x	X
aiti-11232	135	1	k	k	NOUN
aiti-11232	135	2	m	m	VERB
aiti-11232	135	3	x	x	VERB
aiti-11232	135	4	k	k	NOUN
aiti-11232	135	5	x	x	X
aiti-11232	136	1	k	k	NOUN
aiti-11232	136	2	y	y	PROPN
aiti-11232	136	3	k	k	PROPN
aiti-11232	136	4	h	h	NOUN
aiti-11232	137	1	x	x	PUNCT
aiti-11232	137	2	k	k	NOUN
aiti-11232	138	1	r	r	NOUN
aiti-11232	138	2	y	y	PROPN
aiti-11232	138	3	k	k	NOUN
aiti-11232	138	4	h	h	NOUN
aiti-11232	139	1	x	x	X
aiti-11232	139	2	kη	kη	PROPN
aiti-11232	139	3	−	−	PROPN
aiti-11232	140	1	−	−	PROPN
aiti-11232	140	2	=	=	SYM
aiti-11232	140	3	−	−	PROPN
aiti-11232	140	4	−	−	NOUN
aiti-11232	140	5			X
aiti-11232	140	6			PROPN
aiti-11232	140	7			PROPN
aiti-11232	140	8			PROPN
aiti-11232	140	9			VERB
aiti-11232	140	10			PROPN
aiti-11232	140	11	+	+	CCONJ
aiti-11232	140	12	−	−	PROPN
aiti-11232	140	13	−	−	NOUN
aiti-11232	140	14			X
aiti-11232	140	15			PROPN
aiti-11232	140	16			PROPN
aiti-11232	140	17			PROPN
aiti-11232	140	18			VERB
aiti-11232	140	19			PROPN
aiti-11232	140	20	(	(	PUNCT
aiti-11232	140	21	36	36	NUM
aiti-11232	140	22	)	)	PUNCT
aiti-11232	140	23	where	where	SCONJ
aiti-11232	140	24	9	9	NUM
aiti-11232	140	25	:	:	PUNCT
aiti-11232	140	26	:	:	PUNCT
aiti-11232	140	27	;	;	PUNCT
aiti-11232	140	28	is	be	AUX
aiti-11232	140	29	the	the	DET
aiti-11232	140	30	sum	sum	NOUN
aiti-11232	140	31	of	of	ADP
aiti-11232	140	32	squares	square	NOUN
aiti-11232	140	33	error	error	NOUN
aiti-11232	140	34	,	,	PUNCT
aiti-11232	140	35	./	./	PROPN
aiti-11232	140	36	is	be	AUX
aiti-11232	140	37	the	the	DET
aiti-11232	140	38	initial	initial	ADJ
aiti-11232	140	39	state	state	NOUN
aiti-11232	140	40	error	error	NOUN
aiti-11232	140	41	covariance	covariance	NOUN
aiti-11232	140	42	,	,	PUNCT
aiti-11232	140	43	and	and	CCONJ
aiti-11232	140	44	,	,	PUNCT
aiti-11232	140	45	is	be	AUX
aiti-11232	140	46	the	the	DET
aiti-11232	140	47	output	output	NOUN
aiti-11232	140	48	noise	noise	NOUN
aiti-11232	140	49	covariance	covariance	NOUN
aiti-11232	140	50	.	.	PUNCT
aiti-11232	141	1	by	by	ADP
aiti-11232	141	2	taking	take	VERB
aiti-11232	141	3	the	the	DET
aiti-11232	141	4	first	first	ADJ
aiti-11232	141	5	-	-	PUNCT
aiti-11232	141	6	order	order	NOUN
aiti-11232	141	7	derivative	derivative	NOUN
aiti-11232	141	8	,	,	PUNCT
aiti-11232	141	9	the	the	DET
aiti-11232	141	10	gradient	gradient	NOUN
aiti-11232	141	11	of	of	ADP
aiti-11232	141	12	the	the	DET
aiti-11232	141	13	sum	sum	NOUN
aiti-11232	141	14	squares	square	NOUN
aiti-11232	141	15	of	of	ADP
aiti-11232	141	16	errors	error	NOUN
aiti-11232	141	17	is	be	AUX
aiti-11232	141	18	defined	define	VERB
aiti-11232	141	19	by	by	ADP
aiti-11232	141	20	(	(	PUNCT
aiti-11232	141	21	)	)	PUNCT
aiti-11232	141	22	(	(	PUNCT
aiti-11232	141	23	)	)	PUNCT
aiti-11232	141	24	(	(	PUNCT
aiti-11232	141	25	)	)	PUNCT
aiti-11232	141	26	(	(	PUNCT
aiti-11232	141	27	)	)	PUNCT
aiti-11232	141	28	(	(	PUNCT
aiti-11232	141	29	)	)	PUNCT
aiti-11232	141	30	(	(	PUNCT
aiti-11232	141	31	)	)	PUNCT
aiti-11232	141	32	(	(	PUNCT
aiti-11232	141	33	)	)	PUNCT
aiti-11232	141	34	{	{	PUNCT
aiti-11232	141	35	}	}	PUNCT
aiti-11232	141	36	11	11	NUM
aiti-11232	141	37	0	0	NUM
aiti-11232	141	38	t	t	NOUN
aiti-11232	141	39	x	x	PUNCT
aiti-11232	141	40	ssej	ssej	PROPN
aiti-11232	141	41	x	x	NOUN
aiti-11232	141	42	m	m	VERB
aiti-11232	141	43	x	x	X
aiti-11232	141	44	k	k	NOUN
aiti-11232	141	45	x	x	X
aiti-11232	142	1	k	k	NOUN
aiti-11232	142	2	c	c	NOUN
aiti-11232	142	3	r	r	NOUN
aiti-11232	142	4	y	y	PROPN
aiti-11232	142	5	k	k	NOUN
aiti-11232	142	6	h	h	NOUN
aiti-11232	143	1	x	x	X
aiti-11232	143	2	kη	kη	PROPN
aiti-11232	143	3	−−	−−	NOUN
aiti-11232	143	4	∇	∇	X
aiti-11232	143	5	=	=	PUNCT
aiti-11232	143	6	−	−	PROPN
aiti-11232	144	1	−	−	NOUN
aiti-11232	145	1	−	−	NOUN
aiti-11232	145	2			X
aiti-11232	145	3			PROPN
aiti-11232	145	4			PROPN
aiti-11232	145	5			PROPN
aiti-11232	145	6			VERB
aiti-11232	145	7			PROPN
aiti-11232	145	8	(	(	PUNCT
aiti-11232	145	9	37	37	NUM
aiti-11232	145	10	)	)	PUNCT
aiti-11232	145	11	where	where	SCONJ
aiti-11232	145	12	<	<	X
aiti-11232	145	13	=	=	PUNCT
aiti-11232	145	14	=	=	NOUN
aiti-11232	145	15	ℎ	ℎ	PROPN
aiti-11232	145	16	=	=	SYM
aiti-11232	145	17	�	�	PROPN
aiti-11232	145	18	⁄	⁄	PROPN
aiti-11232	145	19	.	.	PUNCT
aiti-11232	146	1	thus	thus	ADV
aiti-11232	146	2	,	,	PUNCT
aiti-11232	146	3	by	by	ADP
aiti-11232	146	4	using	use	VERB
aiti-11232	146	5	the	the	DET
aiti-11232	146	6	sa	sa	PROPN
aiti-11232	146	7	approach	approach	NOUN
aiti-11232	146	8	[	[	X
aiti-11232	146	9	20	20	NUM
aiti-11232	146	10	]	]	PUNCT
aiti-11232	146	11	in	in	ADP
aiti-11232	146	12	eq	eq	ADP
aiti-11232	146	13	.	.	PUNCT
aiti-11232	147	1	(	(	PUNCT
aiti-11232	147	2	33	33	NUM
aiti-11232	147	3	)	)	PUNCT
aiti-11232	147	4	,	,	PUNCT
aiti-11232	147	5	the	the	DET
aiti-11232	147	6	optimal	optimal	ADJ
aiti-11232	147	7	state	state	NOUN
aiti-11232	147	8	estimate	estimate	NOUN
aiti-11232	147	9	is	be	AUX
aiti-11232	147	10	obtained	obtain	VERB
aiti-11232	147	11	from	from	ADP
aiti-11232	147	12	(	(	PUNCT
aiti-11232	147	13	)	)	PUNCT
aiti-11232	147	14	(	(	PUNCT
aiti-11232	147	15	)	)	PUNCT
aiti-11232	147	16	(	(	PUNCT
aiti-11232	147	17	)	)	PUNCT
aiti-11232	147	18	1	1	NUM
aiti-11232	147	19	1	1	NUM
aiti-11232	147	20	,	,	PUNCT
aiti-11232	147	21	ˆ	ˆ	PRON
aiti-11232	147	22	ˆ	ˆ	NOUN
aiti-11232	148	1	i	i	PRON
aiti-11232	148	2	i	i	PRON
aiti-11232	149	1	i	i	PRON
aiti-11232	149	2	i	i	VERB
aiti-11232	149	3	x	x	VERB
aiti-11232	149	4	sse	sse	INTJ
aiti-11232	149	5	x	x	PUNCT
aiti-11232	150	1	k	k	NOUN
aiti-11232	150	2	x	x	X
aiti-11232	150	3	k	k	X
aiti-11232	150	4	a	a	DET
aiti-11232	150	5	j	j	PROPN
aiti-11232	150	6	x	x	X
aiti-11232	150	7	k	k	PROPN
aiti-11232	150	8	+	+	CCONJ
aiti-11232	150	9			PROPN
aiti-11232	150	10	=	=	NOUN
aiti-11232	150	11	−	−	PROPN
aiti-11232	150	12	×∇	×∇	NOUN
aiti-11232	150	13			NOUN
aiti-11232	150	14			PROPN
aiti-11232	150	15	(	(	PUNCT
aiti-11232	150	16	38	38	NUM
aiti-11232	150	17	)	)	PUNCT
aiti-11232	150	18	where	where	SCONJ
aiti-11232	150	19	�	�	PROPN
aiti-11232	150	20	?	?	PROPN
aiti-11232	150	21	,	,	PUNCT
aiti-11232	150	22	�	�	PROPN
aiti-11232	150	23	>	>	X
aiti-11232	150	24	0	0	NUM
aiti-11232	150	25	is	be	AUX
aiti-11232	150	26	the	the	DET
aiti-11232	150	27	learning	learning	NOUN
aiti-11232	150	28	rate	rate	NOUN
aiti-11232	150	29	and	and	CCONJ
aiti-11232	150	30	the	the	DET
aiti-11232	150	31	optimal	optimal	ADJ
aiti-11232	150	32	output	output	NOUN
aiti-11232	150	33	estimate	estimate	NOUN
aiti-11232	150	34	is	be	AUX
aiti-11232	150	35	determined	determine	VERB
aiti-11232	150	36	by	by	ADP
aiti-11232	150	37	(	(	PUNCT
aiti-11232	150	38	)	)	PUNCT
aiti-11232	150	39	(	(	PUNCT
aiti-11232	150	40	)	)	PUNCT
aiti-11232	150	41	ˆ	ˆ	NOUN
aiti-11232	150	42	ˆ	ˆ	NOUN
aiti-11232	151	1	i	i	PRON
aiti-11232	152	1	i	i	INTJ
aiti-11232	152	2	y	y	VERB
aiti-11232	152	3	k	k	NOUN
aiti-11232	152	4	h	h	NOUN
aiti-11232	152	5	x	x	X
aiti-11232	152	6	k	k	VERB
aiti-11232	152	7	=	=	NOUN
aiti-11232	152	8			PROPN
aiti-11232	152	9			PROPN
aiti-11232	152	10	(	(	PUNCT
aiti-11232	152	11	39	39	NUM
aiti-11232	152	12	)	)	PUNCT
aiti-11232	152	13	remarks	remark	VERB
aiti-11232	152	14	:	:	PUNCT
aiti-11232	152	15	the	the	DET
aiti-11232	152	16	state	state	NOUN
aiti-11232	152	17	estimate	estimate	NOUN
aiti-11232	152	18	�	�	NOUN
aiti-11232	152	19	a	a	PRON
aiti-11232	152	20	is	be	AUX
aiti-11232	152	21	the	the	DET
aiti-11232	152	22	optimal	optimal	ADJ
aiti-11232	152	23	state	state	NOUN
aiti-11232	152	24	estimate	estimate	NOUN
aiti-11232	152	25	,	,	PUNCT
aiti-11232	152	26	which	which	PRON
aiti-11232	152	27	minimizes	minimize	VERB
aiti-11232	152	28	the	the	DET
aiti-11232	152	29	sum	sum	NOUN
aiti-11232	152	30	of	of	ADP
aiti-11232	152	31	squares	square	NOUN
aiti-11232	152	32	of	of	ADP
aiti-11232	152	33	error	error	NOUN
aiti-11232	152	34	9	9	NUM
aiti-11232	152	35	:	:	PUNCT
aiti-11232	152	36	:	:	PUNCT
aiti-11232	152	37	;	;	PUNCT
aiti-11232	152	38	.	.	PUNCT
aiti-11232	153	1	the	the	DET
aiti-11232	153	2	norm	norm	NOUN
aiti-11232	153	3	of	of	ADP
aiti-11232	153	4	the	the	DET
aiti-11232	153	5	state	state	NOUN
aiti-11232	153	6	estimate	estimate	NOUN
aiti-11232	153	7	�	�	NOUN
aiti-11232	153	8	a	a	NOUN
aiti-11232	153	9	and	and	CCONJ
aiti-11232	153	10	the	the	DET
aiti-11232	153	11	state	state	NOUN
aiti-11232	153	12	mean	mean	PROPN
aiti-11232	153	13	�	�	NOUN
aiti-11232	153	14	̅	̅	NOUN
aiti-11232	153	15	is	be	AUX
aiti-11232	153	16	relatively	relatively	ADV
aiti-11232	153	17	close	close	ADJ
aiti-11232	153	18	within	within	ADP
aiti-11232	153	19	a	a	DET
aiti-11232	153	20	small	small	ADJ
aiti-11232	153	21	tolerance	tolerance	NOUN
aiti-11232	153	22	.	.	PUNCT
aiti-11232	154	1	using	use	VERB
aiti-11232	154	2	the	the	DET
aiti-11232	154	3	sa	sa	PROPN
aiti-11232	154	4	approach	approach	NOUN
aiti-11232	154	5	for	for	ADP
aiti-11232	154	6	state	state	NOUN
aiti-11232	154	7	estimation	estimation	NOUN
aiti-11232	154	8	does	do	AUX
aiti-11232	154	9	not	not	PART
aiti-11232	154	10	need	need	VERB
aiti-11232	154	11	the	the	DET
aiti-11232	154	12	state	state	NOUN
aiti-11232	154	13	error	error	NOUN
aiti-11232	154	14	covariance	covariance	NOUN
aiti-11232	154	15	matrix	matrix	NOUN
aiti-11232	154	16	equation	equation	NOUN
aiti-11232	154	17	as	as	SCONJ
aiti-11232	154	18	derived	derive	VERB
aiti-11232	154	19	in	in	ADP
aiti-11232	154	20	the	the	DET
aiti-11232	154	21	kalman	kalman	NOUN
aiti-11232	154	22	filtering	filter	VERB
aiti-11232	154	23	approach	approach	NOUN
aiti-11232	154	24	[	[	X
aiti-11232	154	25	21	21	NUM
aiti-11232	154	26	-	-	SYM
aiti-11232	154	27	22	22	NUM
aiti-11232	154	28	]	]	PUNCT
aiti-11232	154	29	.	.	PUNCT
aiti-11232	155	1	3.2	3.2	NUM
aiti-11232	155	2	.	.	PUNCT
aiti-11232	155	3	optimality	optimality	NOUN
aiti-11232	155	4	conditions	condition	NOUN
aiti-11232	155	5	refer	refer	VERB
aiti-11232	155	6	to	to	ADP
aiti-11232	155	7	the	the	DET
aiti-11232	155	8	problem	problem	NOUN
aiti-11232	155	9	(	(	PUNCT
aiti-11232	155	10	p	p	NOUN
aiti-11232	155	11	)	)	PUNCT
aiti-11232	155	12	,	,	PUNCT
aiti-11232	155	13	the	the	DET
aiti-11232	155	14	expected	expect	VERB
aiti-11232	155	15	cost	cost	NOUN
aiti-11232	155	16	function	function	NOUN
aiti-11232	155	17	[	[	X
aiti-11232	155	18	24	24	NUM
aiti-11232	155	19	]	]	PUNCT
aiti-11232	155	20	in	in	ADP
aiti-11232	155	21	eq	eq	ADP
aiti-11232	155	22	.	.	PUNCT
aiti-11232	156	1	(	(	PUNCT
aiti-11232	156	2	32	32	NUM
aiti-11232	156	3	)	)	PUNCT
aiti-11232	156	4	can	can	AUX
aiti-11232	156	5	be	be	AUX
aiti-11232	156	6	defined	define	VERB
aiti-11232	156	7	by	by	ADP
aiti-11232	156	8	(	(	PUNCT
aiti-11232	156	9	)	)	PUNCT
aiti-11232	156	10	(	(	PUNCT
aiti-11232	156	11	)	)	PUNCT
aiti-11232	156	12	(	(	PUNCT
aiti-11232	156	13	)	)	PUNCT
aiti-11232	156	14	(	(	PUNCT
aiti-11232	156	15	)	)	PUNCT
aiti-11232	156	16	1	1	NUM
aiti-11232	156	17	0	0	NUM
aiti-11232	156	18	,	,	PUNCT
aiti-11232	156	19	n	n	PROPN
aiti-11232	156	20	k	k	PROPN
aiti-11232	156	21	j	j	PROPN
aiti-11232	156	22	u	u	NOUN
aiti-11232	156	23	x	x	PROPN
aiti-11232	156	24	n	n	ADP
aiti-11232	156	25	l	l	NOUN
aiti-11232	157	1	x	x	X
aiti-11232	157	2	k	k	PUNCT
aiti-11232	157	3	u	u	X
aiti-11232	157	4	kϕ	kϕ	NOUN
aiti-11232	157	5	−	−	NOUN
aiti-11232	157	6	=	=	PUNCT
aiti-11232	158	1	=	=	PUNCT
aiti-11232	159	1	+	+	NOUN
aiti-11232	159	2			PROPN
aiti-11232	159	3			ADJ
aiti-11232	159	4			PROPN
aiti-11232	159	5			PROPN
aiti-11232	159	6			PROPN
aiti-11232	159	7			VERB
aiti-11232	159	8			X
aiti-11232	159	9	(	(	PUNCT
aiti-11232	159	10	40	40	NUM
aiti-11232	159	11	)	)	PUNCT
aiti-11232	159	12	and	and	CCONJ
aiti-11232	159	13	the	the	DET
aiti-11232	159	14	state	state	NOUN
aiti-11232	159	15	propagation	propagation	NOUN
aiti-11232	159	16	from	from	ADP
aiti-11232	159	17	eq	eq	ADP
aiti-11232	159	18	.	.	PUNCT
aiti-11232	159	19	(	(	PUNCT
aiti-11232	159	20	34	34	NUM
aiti-11232	159	21	)	)	PUNCT
aiti-11232	159	22	is	be	AUX
aiti-11232	159	23	considered	consider	VERB
aiti-11232	159	24	.	.	PUNCT
aiti-11232	160	1	define	define	VERB
aiti-11232	160	2	the	the	DET
aiti-11232	160	3	hamiltonian	hamiltonian	ADJ
aiti-11232	160	4	function	function	NOUN
aiti-11232	160	5	[	[	X
aiti-11232	160	6	19	19	NUM
aiti-11232	160	7	]	]	PUNCT
aiti-11232	160	8	,	,	PUNCT
aiti-11232	160	9	(	(	PUNCT
aiti-11232	160	10	)	)	PUNCT
aiti-11232	160	11	(	(	PUNCT
aiti-11232	160	12	)	)	PUNCT
aiti-11232	160	13	(	(	PUNCT
aiti-11232	160	14	)	)	PUNCT
aiti-11232	160	15	(	(	PUNCT
aiti-11232	160	16	)	)	PUNCT
aiti-11232	160	17	(	(	PUNCT
aiti-11232	160	18	)	)	PUNCT
aiti-11232	160	19	(	(	PUNCT
aiti-11232	160	20	)	)	PUNCT
aiti-11232	160	21	ˆ	ˆ	X
aiti-11232	160	22	,	,	PUNCT
aiti-11232	160	23	1	1	NUM
aiti-11232	160	24	,	,	PUNCT
aiti-11232	160	25	t	t	PROPN
aiti-11232	160	26	h	h	NOUN
aiti-11232	160	27	u	u	NOUN
aiti-11232	160	28	l	l	NOUN
aiti-11232	160	29	x	x	X
aiti-11232	160	30	k	k	X
aiti-11232	160	31	u	u	X
aiti-11232	160	32	k	k	PROPN
aiti-11232	160	33	p	p	X
aiti-11232	160	34	k	k	PROPN
aiti-11232	160	35	f	f	PROPN
aiti-11232	160	36	x	x	X
aiti-11232	160	37	k	k	X
aiti-11232	160	38	u	u	X
aiti-11232	160	39	k=	k=	X
aiti-11232	161	1	+	+	CCONJ
aiti-11232	161	2	+	+	ADJ
aiti-11232	161	3			PROPN
aiti-11232	161	4			ADJ
aiti-11232	161	5			PROPN
aiti-11232	161	6			PROPN
aiti-11232	161	7			PROPN
aiti-11232	161	8			VERB
aiti-11232	161	9			PROPN
aiti-11232	161	10	(	(	PUNCT
aiti-11232	161	11	41	41	NUM
aiti-11232	161	12	)	)	PUNCT
aiti-11232	161	13	where	where	SCONJ
aiti-11232	161	14	b	b	X
aiti-11232	161	15	�	�	PROPN
aiti-11232	161	16	�	�	PROPN
aiti-11232	161	17	∈	∈	PROPN
aiti-11232	161	18	ℛ	ℛ	PROPN
aiti-11232	161	19	�	�	PROPN
aiti-11232	161	20	,	,	PUNCT
aiti-11232	161	21	=	=	NOUN
aiti-11232	161	22	0,1	0,1	NUM
aiti-11232	161	23	,	,	PUNCT
aiti-11232	161	24	⋯	⋯	VERB
aiti-11232	161	25	,	,	PUNCT
aiti-11232	161	26	'	'	PUNCT
aiti-11232	161	27	is	be	AUX
aiti-11232	161	28	the	the	DET
aiti-11232	161	29	costate	costate	ADJ
aiti-11232	161	30	sequence	sequence	NOUN
aiti-11232	161	31	to	to	PART
aiti-11232	161	32	be	be	AUX
aiti-11232	161	33	determined	determine	VERB
aiti-11232	161	34	later	later	ADV
aiti-11232	161	35	.	.	PUNCT
aiti-11232	162	1	thus	thus	ADV
aiti-11232	162	2	,	,	PUNCT
aiti-11232	162	3	the	the	DET
aiti-11232	162	4	augmented	augment	VERB
aiti-11232	162	5	cost	cost	NOUN
aiti-11232	162	6	function	function	NOUN
aiti-11232	162	7	becomes	become	VERB
aiti-11232	162	8	(	(	PUNCT
aiti-11232	162	9	)	)	PUNCT
aiti-11232	162	10	(	(	PUNCT
aiti-11232	162	11	)	)	PUNCT
aiti-11232	162	12	(	(	PUNCT
aiti-11232	162	13	)	)	PUNCT
aiti-11232	162	14	(	(	PUNCT
aiti-11232	162	15	)	)	PUNCT
aiti-11232	162	16	(	(	PUNCT
aiti-11232	162	17	)	)	PUNCT
aiti-11232	162	18	1	1	NUM
aiti-11232	162	19	0	0	NUM
aiti-11232	162	20	1	1	NUM
aiti-11232	162	21	1	1	NUM
aiti-11232	162	22	n	n	ADP
aiti-11232	162	23	t	t	NOUN
aiti-11232	162	24	k	k	X
aiti-11232	162	25	j	j	PROPN
aiti-11232	162	26	u	u	PROPN
aiti-11232	162	27	x	x	PROPN
aiti-11232	162	28	n	n	ADP
aiti-11232	162	29	h	h	NOUN
aiti-11232	163	1	k	k	NOUN
aiti-11232	164	1	p	p	X
aiti-11232	164	2	k	k	X
aiti-11232	164	3	x	x	INTJ
aiti-11232	164	4	kϕ	kϕ	INTJ
aiti-11232	164	5	−	−	NOUN
aiti-11232	165	1	=	=	NOUN
aiti-11232	166	1	′	′	NUM
aiti-11232	167	1	=	=	PUNCT
aiti-11232	168	1	+	+	CCONJ
aiti-11232	168	2	−	−	X
aiti-11232	169	1	+	+	CCONJ
aiti-11232	169	2	+	+	ADJ
aiti-11232	169	3			PROPN
aiti-11232	169	4			PROPN
aiti-11232	169	5			PROPN
aiti-11232	169	6			X
aiti-11232	169	7	(	(	PUNCT
aiti-11232	169	8	42	42	X
aiti-11232	169	9	)	)	PUNCT
aiti-11232	169	10	advances	advance	NOUN
aiti-11232	169	11	in	in	ADP
aiti-11232	169	12	technology	technology	NOUN
aiti-11232	169	13	innovation	innovation	NOUN
aiti-11232	169	14	,	,	PUNCT
aiti-11232	169	15	vol	vol	NOUN
aiti-11232	169	16	.	.	PROPN
aiti-11232	169	17	8	8	NUM
aiti-11232	169	18	,	,	PUNCT
aiti-11232	169	19	no	no	INTJ
aiti-11232	169	20	.	.	NOUN
aiti-11232	169	21	2	2	NUM
aiti-11232	169	22	,	,	PUNCT
aiti-11232	169	23	2023	2023	NUM
aiti-11232	169	24	,	,	PUNCT
aiti-11232	169	25	pp	pp	ADJ
aiti-11232	169	26	.	.	PUNCT
aiti-11232	170	1	150	150	NUM
aiti-11232	170	2	-	-	SYM
aiti-11232	170	3	161	161	NUM
aiti-11232	170	4	156	156	NUM
aiti-11232	170	5	examining	examine	VERB
aiti-11232	170	6	the	the	DET
aiti-11232	170	7	increment	increment	NOUN
aiti-11232	170	8	in	in	ADP
aiti-11232	170	9	the	the	DET
aiti-11232	170	10	augmented	augment	VERB
aiti-11232	170	11	cost	cost	NOUN
aiti-11232	170	12	function	function	NOUN
aiti-11232	170	13	9′	9′	NUM
aiti-11232	170	14	due	due	ADP
aiti-11232	170	15	to	to	ADP
aiti-11232	170	16	increments	increment	NOUN
aiti-11232	170	17	in	in	ADP
aiti-11232	170	18	all	all	DET
aiti-11232	170	19	variables	variable	NOUN
aiti-11232	170	20	,	,	PUNCT
aiti-11232	170	21	which	which	PRON
aiti-11232	170	22	are	be	AUX
aiti-11232	170	23	�	�	PROPN
aiti-11232	170	24	̅	̅	NOUN
aiti-11232	170	25	�	�	PROPN
aiti-11232	170	26	�	�	PROPN
aiti-11232	170	27	,	,	PUNCT
aiti-11232	170	28	b	b	PROPN
aiti-11232	170	29	�	�	PROPN
aiti-11232	170	30	�	�	PROPN
aiti-11232	170	31	,	,	PUNCT
aiti-11232	170	32	and	and	CCONJ
aiti-11232	170	33	�	�	PROPN
aiti-11232	170	34	�	�	PROPN
aiti-11232	170	35	�	�	PROPN
aiti-11232	170	36	according	accord	VERB
aiti-11232	170	37	to	to	ADP
aiti-11232	170	38	the	the	DET
aiti-11232	170	39	lagrange	lagrange	ADJ
aiti-11232	170	40	multiplier	multipli	ADJ
aiti-11232	170	41	theory	theory	NOUN
aiti-11232	170	42	,	,	PUNCT
aiti-11232	170	43	this	this	DET
aiti-11232	170	44	increment	increment	NOUN
aiti-11232	170	45	d9′	d9′	PROPN
aiti-11232	170	46	should	should	AUX
aiti-11232	170	47	be	be	AUX
aiti-11232	170	48	zero	zero	NUM
aiti-11232	170	49	at	at	ADP
aiti-11232	170	50	a	a	DET
aiti-11232	170	51	constrained	constrain	VERB
aiti-11232	170	52	minimum	minimum	NOUN
aiti-11232	170	53	[	[	X
aiti-11232	170	54	21	21	NUM
aiti-11232	170	55	-	-	SYM
aiti-11232	170	56	22	22	NUM
aiti-11232	170	57	]	]	PUNCT
aiti-11232	170	58	.	.	PUNCT
aiti-11232	171	1	thus	thus	ADV
aiti-11232	171	2	,	,	PUNCT
aiti-11232	171	3	taking	take	VERB
aiti-11232	171	4	the	the	DET
aiti-11232	171	5	first	first	ADJ
aiti-11232	171	6	-	-	PUNCT
aiti-11232	171	7	order	order	NOUN
aiti-11232	171	8	derivative	derivative	NOUN
aiti-11232	171	9	of	of	ADP
aiti-11232	171	10	the	the	DET
aiti-11232	171	11	augmented	augment	VERB
aiti-11232	171	12	cost	cost	NOUN
aiti-11232	171	13	function	function	NOUN
aiti-11232	171	14	and	and	CCONJ
aiti-11232	171	15	hamiltonian	hamiltonian	ADJ
aiti-11232	171	16	function	function	NOUN
aiti-11232	171	17	,	,	PUNCT
aiti-11232	171	18	the	the	DET
aiti-11232	171	19	following	follow	VERB
aiti-11232	171	20	optimality	optimality	NOUN
aiti-11232	171	21	conditions	condition	NOUN
aiti-11232	171	22	are	be	AUX
aiti-11232	171	23	derived	derive	VERB
aiti-11232	171	24	.	.	PUNCT
aiti-11232	172	1	(	(	PUNCT
aiti-11232	172	2	a	a	X
aiti-11232	172	3	)	)	PUNCT
aiti-11232	172	4	stationary	stationary	ADJ
aiti-11232	172	5	condition	condition	NOUN
aiti-11232	172	6	(	(	PUNCT
aiti-11232	172	7	)	)	PUNCT
aiti-11232	172	8	(	(	PUNCT
aiti-11232	172	9	)	)	PUNCT
aiti-11232	172	10	(	(	PUNCT
aiti-11232	172	11	)	)	PUNCT
aiti-11232	172	12	(	(	PUNCT
aiti-11232	172	13	)	)	PUNCT
aiti-11232	172	14	(	(	PUNCT
aiti-11232	172	15	)	)	PUNCT
aiti-11232	172	16	(	(	PUNCT
aiti-11232	172	17	)	)	PUNCT
aiti-11232	172	18	(	(	PUNCT
aiti-11232	172	19	)	)	PUNCT
aiti-11232	172	20	ˆ	ˆ	PROPN
aiti-11232	172	21	,	,	PUNCT
aiti-11232	172	22	,	,	PUNCT
aiti-11232	172	23	1	1	NUM
aiti-11232	172	24	0	0	NUM
aiti-11232	172	25	t	t	NOUN
aiti-11232	172	26	u	u	NOUN
aiti-11232	172	27	k	k	PROPN
aiti-11232	172	28	u	u	X
aiti-11232	172	29	k	k	PROPN
aiti-11232	172	30	l	l	NOUN
aiti-11232	172	31	x	x	X
aiti-11232	173	1	k	k	X
aiti-11232	173	2	u	u	X
aiti-11232	174	1	k	k	PROPN
aiti-11232	174	2	f	f	PROPN
aiti-11232	174	3	x	x	X
aiti-11232	174	4	k	k	PROPN
aiti-11232	174	5	u	u	X
aiti-11232	174	6	k	k	PROPN
aiti-11232	174	7	p	p	PROPN
aiti-11232	174	8	k∇	k∇	PROPN
aiti-11232	174	9	+	+	CCONJ
aiti-11232	174	10	∇	∇	X
aiti-11232	174	11	+	+	X
aiti-11232	175	1	=	=	SYM
aiti-11232	175	2			ADJ
aiti-11232	175	3			ADJ
aiti-11232	175	4			PROPN
aiti-11232	175	5			PROPN
aiti-11232	175	6			PROPN
aiti-11232	175	7			VERB
aiti-11232	175	8			PROPN
aiti-11232	175	9	(	(	PUNCT
aiti-11232	175	10	43	43	NUM
aiti-11232	175	11	)	)	PUNCT
aiti-11232	175	12	(	(	PUNCT
aiti-11232	175	13	b	b	X
aiti-11232	175	14	)	)	PUNCT
aiti-11232	175	15	state	state	NOUN
aiti-11232	175	16	equation	equation	NOUN
aiti-11232	175	17	(	(	PUNCT
aiti-11232	175	18	)	)	PUNCT
aiti-11232	175	19	(	(	PUNCT
aiti-11232	175	20	)	)	PUNCT
aiti-11232	175	21	(	(	PUNCT
aiti-11232	175	22	)	)	PUNCT
aiti-11232	175	23	ˆ1	ˆ1	NOUN
aiti-11232	175	24	,	,	PUNCT
aiti-11232	175	25	x	x	X
aiti-11232	175	26	k	k	NOUN
aiti-11232	175	27	f	f	PROPN
aiti-11232	175	28	x	x	X
aiti-11232	175	29	k	k	X
aiti-11232	175	30	u	u	NOUN
aiti-11232	175	31	k+	k+	NOUN
aiti-11232	175	32	=	=	SYM
aiti-11232	175	33			PROPN
aiti-11232	175	34			PROPN
aiti-11232	175	35			PROPN
aiti-11232	175	36	(	(	PUNCT
aiti-11232	175	37	44	44	NUM
aiti-11232	175	38	)	)	PUNCT
aiti-11232	175	39	(	(	PUNCT
aiti-11232	175	40	c	c	X
aiti-11232	175	41	)	)	PUNCT
aiti-11232	175	42	costate	costate	VERB
aiti-11232	175	43	equation	equation	NOUN
aiti-11232	175	44	(	(	PUNCT
aiti-11232	175	45	)	)	PUNCT
aiti-11232	175	46	(	(	PUNCT
aiti-11232	175	47	)	)	PUNCT
aiti-11232	175	48	(	(	PUNCT
aiti-11232	175	49	)	)	PUNCT
aiti-11232	175	50	(	(	PUNCT
aiti-11232	175	51	)	)	PUNCT
aiti-11232	175	52	(	(	PUNCT
aiti-11232	175	53	)	)	PUNCT
aiti-11232	175	54	(	(	PUNCT
aiti-11232	175	55	)	)	PUNCT
aiti-11232	175	56	(	(	PUNCT
aiti-11232	175	57	)	)	PUNCT
aiti-11232	175	58	(	(	PUNCT
aiti-11232	175	59	)	)	PUNCT
aiti-11232	175	60	ˆ	ˆ	PROPN
aiti-11232	175	61	,	,	PUNCT
aiti-11232	175	62	,	,	PUNCT
aiti-11232	175	63	1	1	NUM
aiti-11232	175	64	t	t	NOUN
aiti-11232	175	65	x	x	X
aiti-11232	175	66	k	k	NOUN
aiti-11232	175	67	x	x	X
aiti-11232	175	68	k	k	PROPN
aiti-11232	176	1	p	p	X
aiti-11232	176	2	k	k	PROPN
aiti-11232	176	3	l	l	PUNCT
aiti-11232	176	4	x	x	X
aiti-11232	177	1	k	k	X
aiti-11232	177	2	u	u	X
aiti-11232	177	3	k	k	PROPN
aiti-11232	177	4	f	f	PROPN
aiti-11232	177	5	x	x	X
aiti-11232	177	6	k	k	PROPN
aiti-11232	177	7	u	u	X
aiti-11232	178	1	k	k	PROPN
aiti-11232	178	2	p	p	X
aiti-11232	178	3	k=	k=	X
aiti-11232	178	4	∇	∇	X
aiti-11232	178	5	+	+	CCONJ
aiti-11232	178	6	∇	∇	X
aiti-11232	178	7	+	+	X
aiti-11232	178	8			PROPN
aiti-11232	178	9			ADJ
aiti-11232	178	10			PROPN
aiti-11232	178	11			PROPN
aiti-11232	178	12			PROPN
aiti-11232	178	13			VERB
aiti-11232	178	14			PROPN
aiti-11232	178	15	(	(	PUNCT
aiti-11232	178	16	45	45	NUM
aiti-11232	178	17	)	)	PUNCT
aiti-11232	178	18	(	(	PUNCT
aiti-11232	178	19	d	d	X
aiti-11232	178	20	)	)	PUNCT
aiti-11232	178	21	output	output	NOUN
aiti-11232	178	22	equation	equation	NOUN
aiti-11232	178	23	(	(	PUNCT
aiti-11232	178	24	)	)	PUNCT
aiti-11232	178	25	(	(	PUNCT
aiti-11232	178	26	)	)	PUNCT
aiti-11232	179	1	y	y	PROPN
aiti-11232	179	2	k	k	NOUN
aiti-11232	179	3	h	h	NOUN
aiti-11232	179	4	x	x	PROPN
aiti-11232	179	5	k=	k=	INTJ
aiti-11232	180	1			PROPN
aiti-11232	180	2			PROPN
aiti-11232	180	3			PROPN
aiti-11232	180	4	(	(	PUNCT
aiti-11232	180	5	46	46	NUM
aiti-11232	180	6	)	)	PUNCT
aiti-11232	180	7	(	(	PUNCT
aiti-11232	180	8	e	e	NOUN
aiti-11232	180	9	)	)	PUNCT
aiti-11232	180	10	boundary	boundary	ADJ
aiti-11232	180	11	conditions	condition	NOUN
aiti-11232	180	12	(	(	PUNCT
aiti-11232	180	13	)	)	PUNCT
aiti-11232	180	14	0	0	NUM
aiti-11232	180	15	ˆ	ˆ	X
aiti-11232	180	16	0x	0x	NOUN
aiti-11232	180	17	x=	x=	PUNCT
aiti-11232	181	1	(	(	PUNCT
aiti-11232	181	2	47	47	NUM
aiti-11232	181	3	)	)	PUNCT
aiti-11232	181	4	(	(	PUNCT
aiti-11232	181	5	)	)	PUNCT
aiti-11232	181	6	(	(	PUNCT
aiti-11232	181	7	)	)	PUNCT
aiti-11232	181	8	(	(	PUNCT
aiti-11232	181	9	)	)	PUNCT
aiti-11232	181	10	x	x	SYM
aiti-11232	181	11	n	n	CCONJ
aiti-11232	181	12	p	p	NOUN
aiti-11232	181	13	n	n	CCONJ
aiti-11232	181	14	x	x	PUNCT
aiti-11232	181	15	nϕ=	nϕ=	ADJ
aiti-11232	181	16	∇	∇	X
aiti-11232	181	17			PROPN
aiti-11232	181	18			PROPN
aiti-11232	181	19			PROPN
aiti-11232	181	20	(	(	PUNCT
aiti-11232	181	21	48	48	NUM
aiti-11232	181	22	)	)	PUNCT
aiti-11232	181	23	remark	remark	NOUN
aiti-11232	181	24	:	:	PUNCT
aiti-11232	181	25	for	for	ADP
aiti-11232	181	26	the	the	DET
aiti-11232	181	27	sake	sake	NOUN
aiti-11232	181	28	of	of	ADP
aiti-11232	181	29	convenience	convenience	NOUN
aiti-11232	181	30	,	,	PUNCT
aiti-11232	181	31	the	the	DET
aiti-11232	181	32	following	follow	VERB
aiti-11232	181	33	standard	standard	ADJ
aiti-11232	181	34	cost	cost	NOUN
aiti-11232	181	35	function	function	NOUN
aiti-11232	181	36	in	in	ADP
aiti-11232	181	37	quadratic	quadratic	ADJ
aiti-11232	181	38	criterion	criterion	NOUN
aiti-11232	181	39	[	[	X
aiti-11232	181	40	23	23	NUM
aiti-11232	181	41	-	-	SYM
aiti-11232	181	42	24	24	NUM
aiti-11232	181	43	]	]	PUNCT
aiti-11232	181	44	could	could	AUX
aiti-11232	181	45	be	be	AUX
aiti-11232	181	46	calculated	calculate	VERB
aiti-11232	181	47	(	(	PUNCT
aiti-11232	181	48	)	)	PUNCT
aiti-11232	181	49	(	(	PUNCT
aiti-11232	181	50	)	)	PUNCT
aiti-11232	181	51	(	(	PUNCT
aiti-11232	181	52	)	)	PUNCT
aiti-11232	181	53	(	(	PUNCT
aiti-11232	181	54	)	)	PUNCT
aiti-11232	181	55	1	1	NUM
aiti-11232	181	56	2	2	NUM
aiti-11232	181	57	t	t	NOUN
aiti-11232	181	58	x	x	SYM
aiti-11232	181	59	n	n	PROPN
aiti-11232	181	60	x	x	SYM
aiti-11232	181	61	n	n	PROPN
aiti-11232	181	62	s	s	PART
aiti-11232	181	63	n	n	NOUN
aiti-11232	181	64	x	x	PROPN
aiti-11232	181	65	nφ	nφ	PROPN
aiti-11232	181	66	=	=	SYM
aiti-11232	181	67			PROPN
aiti-11232	181	68			PROPN
aiti-11232	181	69			PROPN
aiti-11232	181	70	(	(	PUNCT
aiti-11232	181	71	49	49	NUM
aiti-11232	181	72	)	)	PUNCT
aiti-11232	181	73	(	(	PUNCT
aiti-11232	181	74	)	)	PUNCT
aiti-11232	181	75	(	(	PUNCT
aiti-11232	181	76	)	)	PUNCT
aiti-11232	181	77	(	(	PUNCT
aiti-11232	181	78	)	)	PUNCT
aiti-11232	181	79	(	(	PUNCT
aiti-11232	181	80	)	)	PUNCT
aiti-11232	181	81	(	(	PUNCT
aiti-11232	181	82	)	)	PUNCT
aiti-11232	181	83	(	(	PUNCT
aiti-11232	181	84	)	)	PUNCT
aiti-11232	181	85	1	1	NUM
aiti-11232	181	86	,	,	PUNCT
aiti-11232	181	87	2	2	NUM
aiti-11232	181	88	t	t	NOUN
aiti-11232	181	89	t	t	NOUN
aiti-11232	181	90	l	l	NOUN
aiti-11232	181	91	x	x	X
aiti-11232	182	1	k	k	PUNCT
aiti-11232	182	2	u	u	X
aiti-11232	182	3	k	k	PROPN
aiti-11232	182	4	x	x	X
aiti-11232	182	5	k	k	PROPN
aiti-11232	182	6	qx	qx	PROPN
aiti-11232	182	7	k	k	PROPN
aiti-11232	182	8	u	u	PROPN
aiti-11232	183	1	k	k	PROPN
aiti-11232	183	2	ru	ru	PROPN
aiti-11232	183	3	k	k	VERB
aiti-11232	183	4	=	=	PROPN
aiti-11232	183	5	+	+	PROPN
aiti-11232	183	6			PROPN
aiti-11232	183	7			PROPN
aiti-11232	183	8			PROPN
aiti-11232	183	9			VERB
aiti-11232	183	10			PROPN
aiti-11232	183	11	(	(	PUNCT
aiti-11232	183	12	50	50	NUM
aiti-11232	183	13	)	)	PUNCT
aiti-11232	183	14	when	when	SCONJ
aiti-11232	183	15	a	a	DET
aiti-11232	183	16	proper	proper	ADJ
aiti-11232	183	17	cost	cost	NOUN
aiti-11232	183	18	function	function	NOUN
aiti-11232	183	19	is	be	AUX
aiti-11232	183	20	not	not	PART
aiti-11232	183	21	provided	provide	VERB
aiti-11232	183	22	.	.	PUNCT
aiti-11232	184	1	thus	thus	ADV
aiti-11232	184	2	,	,	PUNCT
aiti-11232	184	3	the	the	DET
aiti-11232	184	4	necessary	necessary	ADJ
aiti-11232	184	5	conditions	condition	NOUN
aiti-11232	184	6	are	be	AUX
aiti-11232	184	7	simple	simple	ADJ
aiti-11232	184	8	.	.	PUNCT
aiti-11232	185	1	3.3	3.3	NUM
aiti-11232	185	2	.	.	PUNCT
aiti-11232	186	1	optimal	optimal	ADJ
aiti-11232	186	2	control	control	NOUN
aiti-11232	186	3	design	design	NOUN
aiti-11232	186	4	define	define	VERB
aiti-11232	186	5	an	an	DET
aiti-11232	186	6	equivalent	equivalent	ADJ
aiti-11232	186	7	stochastic	stochastic	ADJ
aiti-11232	186	8	optimization	optimization	NOUN
aiti-11232	186	9	problem	problem	NOUN
aiti-11232	186	10	[	[	X
aiti-11232	186	11	20	20	NUM
aiti-11232	186	12	]	]	PUNCT
aiti-11232	186	13	to	to	ADP
aiti-11232	186	14	problem	problem	NOUN
aiti-11232	186	15	(	(	PUNCT
aiti-11232	186	16	p	p	NOUN
aiti-11232	186	17	)	)	PUNCT
aiti-11232	186	18	,	,	PUNCT
aiti-11232	186	19	and	and	CCONJ
aiti-11232	186	20	this	this	DET
aiti-11232	186	21	problem	problem	NOUN
aiti-11232	186	22	is	be	AUX
aiti-11232	186	23	regarded	regard	VERB
aiti-11232	186	24	as	as	ADP
aiti-11232	186	25	the	the	DET
aiti-11232	186	26	problem	problem	NOUN
aiti-11232	186	27	(	(	PUNCT
aiti-11232	186	28	q	q	NOUN
aiti-11232	186	29	)	)	PUNCT
aiti-11232	186	30	,	,	PUNCT
aiti-11232	186	31	given	give	VERB
aiti-11232	186	32	by	by	ADP
aiti-11232	186	33	(	(	PUNCT
aiti-11232	186	34	)	)	PUNCT
aiti-11232	186	35	minimize	minimize	VERB
aiti-11232	186	36	j	j	PROPN
aiti-11232	186	37	u′→	u′→	PROPN
aiti-11232	186	38	(	(	PUNCT
aiti-11232	186	39	51	51	NUM
aiti-11232	186	40	)	)	PUNCT
aiti-11232	186	41	where	where	SCONJ
aiti-11232	186	42	the	the	DET
aiti-11232	186	43	necessary	necessary	ADJ
aiti-11232	186	44	conditions	condition	NOUN
aiti-11232	186	45	in	in	ADP
aiti-11232	186	46	eqs	eqs	PROPN
aiti-11232	186	47	.	.	PUNCT
aiti-11232	187	1	(	(	PUNCT
aiti-11232	187	2	44	44	NUM
aiti-11232	187	3	)	)	PUNCT
aiti-11232	187	4	and	and	CCONJ
aiti-11232	187	5	(	(	PUNCT
aiti-11232	187	6	45	45	NUM
aiti-11232	187	7	)	)	PUNCT
aiti-11232	187	8	are	be	AUX
aiti-11232	187	9	satisfied	satisfied	ADJ
aiti-11232	187	10	.	.	PUNCT
aiti-11232	188	1	hence	hence	ADV
aiti-11232	188	2	,	,	PUNCT
aiti-11232	188	3	solving	solve	VERB
aiti-11232	188	4	the	the	DET
aiti-11232	188	5	problem	problem	NOUN
aiti-11232	188	6	(	(	PUNCT
aiti-11232	188	7	q	q	X
aiti-11232	188	8	)	)	PUNCT
aiti-11232	188	9	would	would	AUX
aiti-11232	188	10	allow	allow	VERB
aiti-11232	188	11	the	the	DET
aiti-11232	188	12	design	design	NOUN
aiti-11232	188	13	of	of	ADP
aiti-11232	188	14	the	the	DET
aiti-11232	188	15	control	control	NOUN
aiti-11232	188	16	law	law	NOUN
aiti-11232	188	17	.	.	PUNCT
aiti-11232	189	1	by	by	ADP
aiti-11232	189	2	this	this	PRON
aiti-11232	189	3	,	,	PUNCT
aiti-11232	189	4	the	the	DET
aiti-11232	189	5	gradient	gradient	NOUN
aiti-11232	189	6	of	of	ADP
aiti-11232	189	7	the	the	DET
aiti-11232	189	8	objective	objective	ADJ
aiti-11232	189	9	function	function	NOUN
aiti-11232	189	10	in	in	ADP
aiti-11232	189	11	eq	eq	ADP
aiti-11232	189	12	.	.	PUNCT
aiti-11232	190	1	(	(	PUNCT
aiti-11232	190	2	42	42	NUM
aiti-11232	190	3	)	)	PUNCT
aiti-11232	190	4	is	be	AUX
aiti-11232	190	5	expressed	express	VERB
aiti-11232	190	6	by	by	ADP
aiti-11232	190	7	(	(	PUNCT
aiti-11232	190	8	)	)	PUNCT
aiti-11232	190	9	(	(	PUNCT
aiti-11232	190	10	)	)	PUNCT
aiti-11232	190	11	u	u	NOUN
aiti-11232	190	12	u	u	NOUN
aiti-11232	190	13	j	j	PROPN
aiti-11232	190	14	u	u	NOUN
aiti-11232	190	15	h	h	NOUN
aiti-11232	190	16	k′∇	k′∇	PROPN
aiti-11232	190	17	=	=	SYM
aiti-11232	190	18	∇	∇	X
aiti-11232	190	19	(	(	PUNCT
aiti-11232	190	20	52	52	NUM
aiti-11232	190	21	)	)	PUNCT
aiti-11232	190	22	where	where	SCONJ
aiti-11232	190	23	(	(	PUNCT
aiti-11232	190	24	)	)	PUNCT
aiti-11232	190	25	(	(	PUNCT
aiti-11232	190	26	)	)	PUNCT
aiti-11232	190	27	(	(	PUNCT
aiti-11232	190	28	)	)	PUNCT
aiti-11232	190	29	(	(	PUNCT
aiti-11232	190	30	)	)	PUNCT
aiti-11232	190	31	(	(	PUNCT
aiti-11232	190	32	)	)	PUNCT
aiti-11232	190	33	ˆ	ˆ	PROPN
aiti-11232	190	34	,	,	PUNCT
aiti-11232	190	35	,	,	PUNCT
aiti-11232	190	36	1	1	NUM
aiti-11232	190	37	t	t	NOUN
aiti-11232	190	38	u	u	X
aiti-11232	190	39	u	u	X
aiti-11232	190	40	u	u	NOUN
aiti-11232	190	41	h	h	NOUN
aiti-11232	190	42	l	l	NOUN
aiti-11232	190	43	x	x	X
aiti-11232	191	1	k	k	PUNCT
aiti-11232	191	2	u	u	X
aiti-11232	192	1	k	k	PROPN
aiti-11232	192	2	f	f	PROPN
aiti-11232	192	3	x	x	X
aiti-11232	192	4	k	k	PROPN
aiti-11232	192	5	u	u	X
aiti-11232	193	1	k	k	PROPN
aiti-11232	193	2	p	p	X
aiti-11232	193	3	k∇	k∇	PROPN
aiti-11232	193	4	=	=	PUNCT
aiti-11232	193	5	∇	∇	X
aiti-11232	193	6	+	+	X
aiti-11232	193	7	∇	∇	X
aiti-11232	194	1	+	+	X
aiti-11232	194	2			PROPN
aiti-11232	194	3			ADJ
aiti-11232	194	4			PROPN
aiti-11232	194	5			PROPN
aiti-11232	194	6			PROPN
aiti-11232	194	7			VERB
aiti-11232	194	8			PROPN
aiti-11232	194	9	(	(	PUNCT
aiti-11232	194	10	53	53	NUM
aiti-11232	194	11	)	)	PUNCT
aiti-11232	194	12	and	and	CCONJ
aiti-11232	194	13	the	the	DET
aiti-11232	194	14	necessary	necessary	ADJ
aiti-11232	194	15	condition	condition	NOUN
aiti-11232	194	16	for	for	ADP
aiti-11232	194	17	the	the	DET
aiti-11232	194	18	problem	problem	NOUN
aiti-11232	194	19	(	(	PUNCT
aiti-11232	194	20	q	q	X
aiti-11232	194	21	)	)	PUNCT
aiti-11232	194	22	is	be	AUX
aiti-11232	194	23	given	give	VERB
aiti-11232	194	24	by	by	ADP
aiti-11232	194	25	eq	eq	PROPN
aiti-11232	194	26	.	.	PUNCT
aiti-11232	195	1	(	(	PUNCT
aiti-11232	195	2	43	43	NUM
aiti-11232	195	3	)	)	PUNCT
aiti-11232	195	4	.	.	PUNCT
aiti-11232	196	1	hence	hence	ADV
aiti-11232	196	2	,	,	PUNCT
aiti-11232	196	3	the	the	DET
aiti-11232	196	4	control	control	NOUN
aiti-11232	196	5	law	law	NOUN
aiti-11232	196	6	is	be	AUX
aiti-11232	196	7	updated	update	VERB
aiti-11232	196	8	from	from	ADP
aiti-11232	196	9	(	(	PUNCT
aiti-11232	196	10	)	)	PUNCT
aiti-11232	196	11	(	(	PUNCT
aiti-11232	196	12	)	)	PUNCT
aiti-11232	196	13	(	(	PUNCT
aiti-11232	196	14	)	)	PUNCT
aiti-11232	196	15	1	1	NUM
aiti-11232	196	16	2	2	NUM
aiti-11232	196	17	,	,	PUNCT
aiti-11232	196	18	i	i	PRON
aiti-11232	196	19	i	i	PRON
aiti-11232	197	1	i	i	PRON
aiti-11232	197	2	i	i	VERB
aiti-11232	198	1	u	u	VERB
aiti-11232	198	2	u	u	VERB
aiti-11232	198	3	k	k	PROPN
aiti-11232	198	4	u	u	X
aiti-11232	199	1	k	k	PROPN
aiti-11232	199	2	a	a	DET
aiti-11232	199	3	j	j	PROPN
aiti-11232	199	4	u	u	X
aiti-11232	199	5	k	k	PROPN
aiti-11232	200	1	+	+	CCONJ
aiti-11232	200	2			PROPN
aiti-11232	200	3	′=	′=	NUM
aiti-11232	200	4	−	−	NOUN
aiti-11232	200	5	×∇	×∇	NOUN
aiti-11232	200	6			VERB
aiti-11232	200	7			PROPN
aiti-11232	200	8	(	(	PUNCT
aiti-11232	200	9	54	54	NUM
aiti-11232	200	10	)	)	PUNCT
aiti-11232	200	11	advances	advance	NOUN
aiti-11232	200	12	in	in	ADP
aiti-11232	200	13	technology	technology	NOUN
aiti-11232	200	14	innovation	innovation	NOUN
aiti-11232	200	15	,	,	PUNCT
aiti-11232	200	16	vol	vol	NOUN
aiti-11232	200	17	.	.	PROPN
aiti-11232	200	18	8	8	NUM
aiti-11232	200	19	,	,	PUNCT
aiti-11232	200	20	no	no	INTJ
aiti-11232	200	21	.	.	NOUN
aiti-11232	200	22	2	2	NUM
aiti-11232	200	23	,	,	PUNCT
aiti-11232	200	24	2023	2023	NUM
aiti-11232	200	25	,	,	PUNCT
aiti-11232	200	26	pp	pp	ADJ
aiti-11232	200	27	.	.	PUNCT
aiti-11232	201	1	150	150	NUM
aiti-11232	201	2	-	-	SYM
aiti-11232	201	3	161	161	NUM
aiti-11232	201	4	157	157	NUM
aiti-11232	201	5	where	where	SCONJ
aiti-11232	201	6	�	�	PROPN
aiti-11232	201	7	�	�	PROPN
aiti-11232	201	8	,	,	PUNCT
aiti-11232	201	9	�	�	PROPN
aiti-11232	201	10	>	>	X
aiti-11232	201	11	0	0	NUM
aiti-11232	201	12	is	be	AUX
aiti-11232	201	13	the	the	DET
aiti-11232	201	14	learning	learning	NOUN
aiti-11232	201	15	rate	rate	NOUN
aiti-11232	201	16	.	.	PUNCT
aiti-11232	202	1	here	here	ADV
aiti-11232	202	2	,	,	PUNCT
aiti-11232	202	3	the	the	DET
aiti-11232	202	4	principle	principle	NOUN
aiti-11232	202	5	of	of	ADP
aiti-11232	202	6	separation	separation	NOUN
aiti-11232	202	7	is	be	AUX
aiti-11232	202	8	assumed	assume	VERB
aiti-11232	202	9	to	to	PART
aiti-11232	202	10	be	be	AUX
aiti-11232	202	11	satisfied	satisfied	ADJ
aiti-11232	202	12	when	when	SCONJ
aiti-11232	202	13	applying	apply	VERB
aiti-11232	202	14	the	the	DET
aiti-11232	202	15	sa	sa	NOUN
aiti-11232	202	16	approach	approach	NOUN
aiti-11232	202	17	[	[	X
aiti-11232	202	18	20	20	NUM
aiti-11232	202	19	]	]	PUNCT
aiti-11232	202	20	for	for	ADP
aiti-11232	202	21	state	state	NOUN
aiti-11232	202	22	estimation	estimation	NOUN
aiti-11232	202	23	and	and	CCONJ
aiti-11232	202	24	optimal	optimal	ADJ
aiti-11232	202	25	control	control	NOUN
aiti-11232	202	26	design	design	NOUN
aiti-11232	202	27	.	.	PUNCT
aiti-11232	203	1	this	this	DET
aiti-11232	203	2	statement	statement	NOUN
aiti-11232	203	3	is	be	AUX
aiti-11232	203	4	true	true	ADJ
aiti-11232	203	5	for	for	ADP
aiti-11232	203	6	solving	solve	VERB
aiti-11232	203	7	stochastic	stochastic	ADJ
aiti-11232	203	8	optimal	optimal	ADJ
aiti-11232	203	9	control	control	NOUN
aiti-11232	203	10	problems	problem	NOUN
aiti-11232	203	11	.	.	PUNCT
aiti-11232	204	1	3.4	3.4	NUM
aiti-11232	204	2	.	.	PUNCT
aiti-11232	204	3	sa	sa	PROPN
aiti-11232	204	4	for	for	ADP
aiti-11232	204	5	state	state	NOUN
aiti-11232	204	6	-	-	PUNCT
aiti-11232	204	7	control	control	NOUN
aiti-11232	204	8	algorithm	algorithm	NOUN
aiti-11232	204	9	from	from	ADP
aiti-11232	204	10	the	the	DET
aiti-11232	204	11	discussion	discussion	NOUN
aiti-11232	204	12	above	above	ADV
aiti-11232	204	13	,	,	PUNCT
aiti-11232	204	14	the	the	DET
aiti-11232	204	15	computational	computational	ADJ
aiti-11232	204	16	procedure	procedure	NOUN
aiti-11232	204	17	for	for	ADP
aiti-11232	204	18	applying	apply	VERB
aiti-11232	204	19	the	the	DET
aiti-11232	204	20	sa	sa	NOUN
aiti-11232	204	21	approach	approach	NOUN
aiti-11232	204	22	to	to	ADP
aiti-11232	204	23	state	state	NOUN
aiti-11232	204	24	estimation	estimation	NOUN
aiti-11232	204	25	and	and	CCONJ
aiti-11232	204	26	control	control	NOUN
aiti-11232	204	27	law	law	NOUN
aiti-11232	204	28	design	design	NOUN
aiti-11232	204	29	is	be	AUX
aiti-11232	204	30	summarized	summarize	VERB
aiti-11232	204	31	as	as	ADP
aiti-11232	204	32	an	an	DET
aiti-11232	204	33	iterative	iterative	NOUN
aiti-11232	204	34	algorithm	algorithm	NOUN
aiti-11232	204	35	named	name	VERB
aiti-11232	204	36	the	the	DET
aiti-11232	204	37	sasc	sasc	PROPN
aiti-11232	204	38	algorithm	algorithm	NOUN
aiti-11232	204	39	.	.	PUNCT
aiti-11232	205	1	the	the	DET
aiti-11232	205	2	steps	step	NOUN
aiti-11232	205	3	of	of	ADP
aiti-11232	205	4	the	the	DET
aiti-11232	205	5	sasc	sasc	PROPN
aiti-11232	205	6	algorithm	algorithm	NOUN
aiti-11232	205	7	are	be	AUX
aiti-11232	205	8	as	as	SCONJ
aiti-11232	205	9	follows	follow	VERB
aiti-11232	205	10	:	:	PUNCT
aiti-11232	205	11	data	datum	NOUN
aiti-11232	205	12	:	:	PUNCT
aiti-11232	205	13	given	give	VERB
aiti-11232	205	14	�	�	PROPN
aiti-11232	205	15	,	,	PUNCT
aiti-11232	205	16	ℎ	ℎ	PROPN
aiti-11232	205	17	,	,	PUNCT
aiti-11232	205	18	f	f	PROPN
aiti-11232	205	19	,	,	PUNCT
aiti-11232	205	20	3	3	NUM
aiti-11232	205	21	,	,	PUNCT
aiti-11232	205	22	4	4	NUM
aiti-11232	205	23	,	,	PUNCT
aiti-11232	205	24	'	'	PUNCT
aiti-11232	205	25	,	,	PUNCT
aiti-11232	205	26	./	./	PROPN
aiti-11232	205	27	,	,	PUNCT
aiti-11232	205	28	g+	g+	NOUN
aiti-11232	205	29	,	,	PUNCT
aiti-11232	205	30	,	,	PUNCT
aiti-11232	205	31	-	-	PUNCT
aiti-11232	205	32	,	,	PUNCT
aiti-11232	205	33	�	�	PROPN
aiti-11232	205	34	�	�	PROPN
aiti-11232	205	35	,	,	PUNCT
aiti-11232	205	36	�	�	PROPN
aiti-11232	205	37	�	�	PROPN
aiti-11232	205	38	,	,	PUNCT
aiti-11232	205	39	and	and	CCONJ
aiti-11232	205	40	�	�	PROPN
aiti-11232	205	41	.	.	PUNCT
aiti-11232	206	1	step	step	NOUN
aiti-11232	206	2	0	0	NUM
aiti-11232	206	3	:	:	PUNCT
aiti-11232	206	4	determine	determine	VERB
aiti-11232	206	5	the	the	DET
aiti-11232	206	6	initial	initial	ADJ
aiti-11232	206	7	control	control	PROPN
aiti-11232	206	8	�	�	PROPN
aiti-11232	206	9	�	�	PROPN
aiti-11232	206	10	�	�	PROPN
aiti-11232	206	11	/	/	SYM
aiti-11232	206	12	=	=	SYM
aiti-11232	206	13	�	�	PROPN
aiti-11232	206	14	/	/	SYM
aiti-11232	206	15	for	for	ADP
aiti-11232	206	16	=	=	NOUN
aiti-11232	206	17	0,1	0,1	NUM
aiti-11232	206	18	,	,	PUNCT
aiti-11232	206	19	⋯	⋯	VERB
aiti-11232	206	20	,	,	PUNCT
aiti-11232	206	21	'	'	PUNCT
aiti-11232	206	22	−	−	PROPN
aiti-11232	206	23	1	1	NUM
aiti-11232	206	24	and	and	CCONJ
aiti-11232	206	25	the	the	DET
aiti-11232	206	26	initial	initial	ADJ
aiti-11232	206	27	state	state	NOUN
aiti-11232	206	28	�	�	PROPN
aiti-11232	206	29	a	a	PRON
aiti-11232	206	30	�	�	PROPN
aiti-11232	206	31	�	�	PROPN
aiti-11232	206	32	/	/	SYM
aiti-11232	206	33	=	=	SYM
aiti-11232	206	34	�	�	PROPN
aiti-11232	206	35	/	/	SYM
aiti-11232	206	36	for	for	ADP
aiti-11232	206	37	=	=	NOUN
aiti-11232	206	38	0,1	0,1	NUM
aiti-11232	206	39	,	,	PUNCT
aiti-11232	206	40	⋯	⋯	NOUN
aiti-11232	206	41	,	,	PUNCT
aiti-11232	206	42	'	'	PUNCT
aiti-11232	206	43	set	set	VERB
aiti-11232	206	44	the	the	DET
aiti-11232	206	45	tolerance	tolerance	NOUN
aiti-11232	206	46	h	h	NOUN
aiti-11232	206	47	and	and	CCONJ
aiti-11232	206	48	the	the	DET
aiti-11232	206	49	iteration	iteration	NOUN
aiti-11232	207	1	i	i	X
aiti-11232	207	2	=	=	NOUN
aiti-11232	207	3	0	0	X
aiti-11232	207	4	.	.	PUNCT
aiti-11232	208	1	step	step	NOUN
aiti-11232	208	2	1	1	NUM
aiti-11232	208	3	:	:	PUNCT
aiti-11232	208	4	calculate	calculate	VERB
aiti-11232	208	5	the	the	DET
aiti-11232	208	6	sum	sum	NOUN
aiti-11232	208	7	of	of	ADP
aiti-11232	208	8	squares	square	NOUN
aiti-11232	208	9	error	error	NOUN
aiti-11232	208	10	9::;1	9::;1	PROPN
aiti-11232	208	11	�	�	PROPN
aiti-11232	208	12	a	a	PRON
aiti-11232	208	13	�	�	PROPN
aiti-11232	208	14	�	�	PROPN
aiti-11232	208	15	�	�	PROPN
aiti-11232	208	16	2	2	NUM
aiti-11232	208	17	from	from	ADP
aiti-11232	208	18	eq	eq	ADP
aiti-11232	208	19	.	.	PUNCT
aiti-11232	209	1	(	(	PUNCT
aiti-11232	209	2	36	36	NUM
aiti-11232	209	3	)	)	PUNCT
aiti-11232	209	4	,	,	PUNCT
aiti-11232	209	5	and	and	CCONJ
aiti-11232	209	6	the	the	DET
aiti-11232	209	7	stochastic	stochastic	ADJ
aiti-11232	209	8	gradient	gradient	NOUN
aiti-11232	209	9	∇k9::;1	∇k9::;1	PROPN
aiti-11232	209	10	�	�	PROPN
aiti-11232	209	11	a	a	PRON
aiti-11232	209	12	�	�	PROPN
aiti-11232	209	13	�	�	PROPN
aiti-11232	209	14	�	�	PROPN
aiti-11232	209	15	2	2	NUM
aiti-11232	209	16	from	from	ADP
aiti-11232	209	17	eq	eq	ADP
aiti-11232	209	18	.	.	PUNCT
aiti-11232	210	1	(	(	PUNCT
aiti-11232	210	2	37	37	NUM
aiti-11232	210	3	)	)	PUNCT
aiti-11232	210	4	,	,	PUNCT
aiti-11232	210	5	respectively	respectively	ADV
aiti-11232	210	6	.	.	PUNCT
aiti-11232	211	1	step	step	NOUN
aiti-11232	211	2	2	2	NUM
aiti-11232	211	3	:	:	PUNCT
aiti-11232	211	4	update	update	VERB
aiti-11232	211	5	the	the	DET
aiti-11232	211	6	state	state	NOUN
aiti-11232	211	7	estimate	estimate	NOUN
aiti-11232	211	8	�	�	PROPN
aiti-11232	211	9	a	a	DET
aiti-11232	211	10	�	�	PROPN
aiti-11232	211	11	�	�	PROPN
aiti-11232	211	12	�	�	PROPN
aiti-11232	211	13	l	l	NOUN
aiti-11232	211	14	�	�	PROPN
aiti-11232	211	15	from	from	ADP
aiti-11232	211	16	eq	eq	PROPN
aiti-11232	211	17	.	.	PUNCT
aiti-11232	212	1	(	(	PUNCT
aiti-11232	212	2	38	38	NUM
aiti-11232	212	3	)	)	PUNCT
aiti-11232	212	4	.	.	PUNCT
aiti-11232	213	1	step	step	NOUN
aiti-11232	213	2	3	3	NUM
aiti-11232	213	3	:	:	PUNCT
aiti-11232	213	4	compute	compute	VERB
aiti-11232	213	5	the	the	DET
aiti-11232	213	6	output	output	NOUN
aiti-11232	213	7	estimate	estimate	NOUN
aiti-11232	213	8	�	�	PROPN
aiti-11232	213	9	a	a	DET
aiti-11232	213	10	�	�	PROPN
aiti-11232	213	11	�	�	PROPN
aiti-11232	213	12	�	�	PROPN
aiti-11232	213	13	from	from	ADP
aiti-11232	213	14	eq	eq	PROPN
aiti-11232	213	15	.	.	PUNCT
aiti-11232	214	1	(	(	PUNCT
aiti-11232	214	2	39	39	NUM
aiti-11232	214	3	)	)	PUNCT
aiti-11232	214	4	.	.	PUNCT
aiti-11232	215	1	step	step	NOUN
aiti-11232	215	2	4	4	NUM
aiti-11232	215	3	:	:	PUNCT
aiti-11232	215	4	solve	solve	VERB
aiti-11232	215	5	the	the	DET
aiti-11232	215	6	state	state	NOUN
aiti-11232	215	7	equation	equation	NOUN
aiti-11232	215	8	forward	forward	ADV
aiti-11232	215	9	in	in	ADP
aiti-11232	215	10	time	time	NOUN
aiti-11232	215	11	from	from	ADP
aiti-11232	215	12	eq	eq	NOUN
aiti-11232	215	13	.	.	PUNCT
aiti-11232	216	1	(	(	PUNCT
aiti-11232	216	2	44	44	NUM
aiti-11232	216	3	)	)	PUNCT
aiti-11232	216	4	with	with	ADP
aiti-11232	216	5	the	the	DET
aiti-11232	216	6	given	give	VERB
aiti-11232	216	7	initial	initial	ADJ
aiti-11232	216	8	state	state	NOUN
aiti-11232	216	9	�	�	NOUN
aiti-11232	216	10	̅/	̅/	NOUN
aiti-11232	216	11	to	to	PART
aiti-11232	216	12	obtain	obtain	VERB
aiti-11232	216	13	the	the	DET
aiti-11232	216	14	state	state	NOUN
aiti-11232	216	15	solution	solution	NOUN
aiti-11232	216	16	�	�	NOUN
aiti-11232	216	17	̅	̅	NOUN
aiti-11232	216	18	�	�	PROPN
aiti-11232	216	19	�	�	PROPN
aiti-11232	216	20	�	�	PROPN
aiti-11232	216	21	.	.	PUNCT
aiti-11232	217	1	step	step	NOUN
aiti-11232	217	2	5	5	NUM
aiti-11232	217	3	:	:	PUNCT
aiti-11232	217	4	solve	solve	VERB
aiti-11232	217	5	the	the	DET
aiti-11232	217	6	costate	costate	ADJ
aiti-11232	217	7	equation	equation	NOUN
aiti-11232	217	8	backward	backward	ADV
aiti-11232	217	9	in	in	ADP
aiti-11232	217	10	time	time	NOUN
aiti-11232	217	11	from	from	ADP
aiti-11232	217	12	eq	eq	NOUN
aiti-11232	217	13	.	.	PUNCT
aiti-11232	218	1	(	(	PUNCT
aiti-11232	218	2	45	45	NUM
aiti-11232	218	3	)	)	PUNCT
aiti-11232	218	4	with	with	ADP
aiti-11232	218	5	the	the	DET
aiti-11232	218	6	given	give	VERB
aiti-11232	218	7	final	final	ADJ
aiti-11232	218	8	costate	costate	NOUN
aiti-11232	218	9	b	b	PROPN
aiti-11232	218	10	�	�	PROPN
aiti-11232	218	11	'	'	PUNCT
aiti-11232	218	12	�	�	PROPN
aiti-11232	218	13	to	to	PART
aiti-11232	218	14	provide	provide	VERB
aiti-11232	218	15	the	the	DET
aiti-11232	218	16	costate	costate	ADJ
aiti-11232	218	17	solution	solution	NOUN
aiti-11232	218	18	b	b	PROPN
aiti-11232	218	19	�	�	PROPN
aiti-11232	218	20	�	�	PROPN
aiti-11232	218	21	�	�	PROPN
aiti-11232	218	22	.	.	PUNCT
aiti-11232	219	1	step	step	NOUN
aiti-11232	219	2	6	6	NUM
aiti-11232	219	3	:	:	PUNCT
aiti-11232	219	4	compute	compute	VERB
aiti-11232	219	5	the	the	DET
aiti-11232	219	6	output	output	NOUN
aiti-11232	219	7	measurement	measurement	NOUN
aiti-11232	219	8	�	�	PROPN
aiti-11232	219	9	8	8	NUM
aiti-11232	219	10	�	�	PROPN
aiti-11232	219	11	�	�	PROPN
aiti-11232	219	12	�	�	PROPN
aiti-11232	219	13	from	from	ADP
aiti-11232	219	14	eq	eq	PROPN
aiti-11232	219	15	.	.	PUNCT
aiti-11232	220	1	(	(	PUNCT
aiti-11232	220	2	46	46	NUM
aiti-11232	220	3	)	)	PUNCT
aiti-11232	220	4	.	.	PUNCT
aiti-11232	221	1	step	step	NOUN
aiti-11232	221	2	7	7	NUM
aiti-11232	221	3	:	:	PUNCT
aiti-11232	221	4	calculate	calculate	VERB
aiti-11232	221	5	the	the	DET
aiti-11232	221	6	cost	cost	NOUN
aiti-11232	221	7	function	function	NOUN
aiti-11232	221	8	91	91	NUM
aiti-11232	221	9	�	�	PROPN
aiti-11232	221	10	�	�	PROPN
aiti-11232	221	11	�	�	PROPN
aiti-11232	221	12	2	2	NUM
aiti-11232	221	13	�	�	PROPN
aiti-11232	221	14	from	from	ADP
aiti-11232	221	15	eq	eq	PROPN
aiti-11232	221	16	.	.	PUNCT
aiti-11232	222	1	(	(	PUNCT
aiti-11232	222	2	42	42	NUM
aiti-11232	222	3	)	)	PUNCT
aiti-11232	223	1	and	and	CCONJ
aiti-11232	223	2	calculate	calculate	VERB
aiti-11232	223	3	the	the	DET
aiti-11232	223	4	stochastic	stochastic	ADJ
aiti-11232	223	5	gradient	gradient	NOUN
aiti-11232	223	6	∇	∇	X
aiti-11232	223	7	�	�	PROPN
aiti-11232	223	8	91	91	NUM
aiti-11232	223	9	�	�	PROPN
aiti-11232	223	10	�	�	PROPN
aiti-11232	223	11	�	�	PROPN
aiti-11232	223	12	2	2	NUM
aiti-11232	223	13	�	�	PROPN
aiti-11232	223	14	from	from	ADP
aiti-11232	223	15	eq	eq	PROPN
aiti-11232	223	16	.	.	PUNCT
aiti-11232	224	1	(	(	PUNCT
aiti-11232	224	2	53	53	NUM
aiti-11232	224	3	)	)	PUNCT
aiti-11232	224	4	.	.	PUNCT
aiti-11232	225	1	step	step	NOUN
aiti-11232	225	2	8	8	NUM
aiti-11232	225	3	:	:	PUNCT
aiti-11232	225	4	update	update	VERB
aiti-11232	225	5	the	the	DET
aiti-11232	225	6	control	control	NOUN
aiti-11232	225	7	law	law	PROPN
aiti-11232	225	8	�	�	PROPN
aiti-11232	225	9	�	�	PROPN
aiti-11232	225	10	�	�	PROPN
aiti-11232	225	11	�	�	PROPN
aiti-11232	225	12	l	l	NOUN
aiti-11232	225	13	�	�	PROPN
aiti-11232	225	14	from	from	ADP
aiti-11232	225	15	eq	eq	PROPN
aiti-11232	225	16	.	.	PUNCT
aiti-11232	226	1	(	(	PUNCT
aiti-11232	226	2	54	54	NUM
aiti-11232	226	3	)	)	PUNCT
aiti-11232	226	4	.	.	PUNCT
aiti-11232	227	1	step	step	NOUN
aiti-11232	227	2	9	9	NUM
aiti-11232	227	3	:	:	PUNCT
aiti-11232	227	4	test	test	VERB
aiti-11232	227	5	the	the	DET
aiti-11232	227	6	convergence	convergence	NOUN
aiti-11232	227	7	.	.	PUNCT
aiti-11232	228	1	if	if	SCONJ
aiti-11232	228	2	�	�	PROPN
aiti-11232	228	3	a	a	DET
aiti-11232	228	4	�	�	PROPN
aiti-11232	228	5	�	�	PROPN
aiti-11232	228	6	�	�	PROPN
aiti-11232	228	7	l	l	NOUN
aiti-11232	228	8	�	�	PROPN
aiti-11232	228	9	=	=	SYM
aiti-11232	228	10	�	�	PROPN
aiti-11232	228	11	a	a	PROPN
aiti-11232	228	12	�	�	PROPN
aiti-11232	228	13	�	�	PROPN
aiti-11232	228	14	�	�	PROPN
aiti-11232	228	15	and	and	CCONJ
aiti-11232	228	16	�	�	PROPN
aiti-11232	228	17	�	�	PROPN
aiti-11232	228	18	�	�	PROPN
aiti-11232	228	19	�	�	PROPN
aiti-11232	228	20	l	l	NOUN
aiti-11232	228	21	�	�	PROPN
aiti-11232	228	22	=	=	SYM
aiti-11232	228	23	�	�	PROPN
aiti-11232	228	24	�	�	PROPN
aiti-11232	228	25	�	�	PROPN
aiti-11232	228	26	�	�	PROPN
aiti-11232	228	27	within	within	ADP
aiti-11232	228	28	a	a	DET
aiti-11232	228	29	given	give	VERB
aiti-11232	228	30	tolerance	tolerance	NOUN
aiti-11232	228	31	h	h	NOUN
aiti-11232	228	32	,	,	PUNCT
aiti-11232	228	33	stop	stop	VERB
aiti-11232	228	34	,	,	PUNCT
aiti-11232	228	35	else	else	ADV
aiti-11232	228	36	set	set	VERB
aiti-11232	228	37	the	the	DET
aiti-11232	228	38	iteration	iteration	NOUN
aiti-11232	229	1	i	i	PRON
aiti-11232	229	2	=	=	VERB
aiti-11232	230	1	i	i	PRON
aiti-11232	230	2	+	+	CCONJ
aiti-11232	230	3	1	1	NUM
aiti-11232	231	1	and	and	CCONJ
aiti-11232	231	2	go	go	VERB
aiti-11232	231	3	to	to	PART
aiti-11232	231	4	step	step	VERB
aiti-11232	231	5	1	1	NUM
aiti-11232	231	6	.	.	PUNCT
aiti-11232	232	1	remarks	remark	VERB
aiti-11232	232	2	:	:	PUNCT
aiti-11232	232	3	from	from	ADP
aiti-11232	232	4	the	the	DET
aiti-11232	232	5	steps	step	NOUN
aiti-11232	232	6	of	of	ADP
aiti-11232	232	7	the	the	DET
aiti-11232	232	8	sasc	sasc	PROPN
aiti-11232	232	9	algorithm	algorithm	NOUN
aiti-11232	232	10	,	,	PUNCT
aiti-11232	232	11	the	the	DET
aiti-11232	232	12	initial	initial	ADJ
aiti-11232	232	13	value	value	NOUN
aiti-11232	232	14	of	of	ADP
aiti-11232	232	15	the	the	DET
aiti-11232	232	16	state	state	NOUN
aiti-11232	232	17	and	and	CCONJ
aiti-11232	232	18	control	control	NOUN
aiti-11232	232	19	can	can	AUX
aiti-11232	232	20	be	be	AUX
aiti-11232	232	21	set	set	VERB
aiti-11232	232	22	to	to	ADP
aiti-11232	232	23	a	a	DET
aiti-11232	232	24	zero	zero	NUM
aiti-11232	232	25	vector	vector	NOUN
aiti-11232	232	26	in	in	ADP
aiti-11232	232	27	step	step	NOUN
aiti-11232	232	28	0	0	NUM
aiti-11232	232	29	.	.	PUNCT
aiti-11232	233	1	the	the	DET
aiti-11232	233	2	state	state	NOUN
aiti-11232	233	3	estimation	estimation	NOUN
aiti-11232	233	4	procedure	procedure	NOUN
aiti-11232	233	5	is	be	AUX
aiti-11232	233	6	implemented	implement	VERB
aiti-11232	233	7	from	from	ADP
aiti-11232	233	8	step	step	NOUN
aiti-11232	233	9	1	1	NUM
aiti-11232	233	10	to	to	PART
aiti-11232	233	11	step	step	VERB
aiti-11232	233	12	3	3	NUM
aiti-11232	233	13	,	,	PUNCT
aiti-11232	233	14	and	and	CCONJ
aiti-11232	233	15	the	the	DET
aiti-11232	233	16	two	two	NUM
aiti-11232	233	17	-	-	PUNCT
aiti-11232	233	18	point	point	NOUN
aiti-11232	233	19	boundary	boundary	ADJ
aiti-11232	233	20	-	-	PUNCT
aiti-11232	233	21	value	value	NOUN
aiti-11232	233	22	problem	problem	NOUN
aiti-11232	233	23	is	be	AUX
aiti-11232	233	24	solved	solve	VERB
aiti-11232	233	25	from	from	ADP
aiti-11232	233	26	step	step	NOUN
aiti-11232	233	27	4	4	NUM
aiti-11232	233	28	to	to	PART
aiti-11232	233	29	step	step	VERB
aiti-11232	233	30	5	5	NUM
aiti-11232	233	31	.	.	PUNCT
aiti-11232	234	1	while	while	SCONJ
aiti-11232	234	2	the	the	DET
aiti-11232	234	3	optimal	optimal	ADJ
aiti-11232	234	4	control	control	NOUN
aiti-11232	234	5	law	law	NOUN
aiti-11232	234	6	is	be	AUX
aiti-11232	234	7	designed	design	VERB
aiti-11232	234	8	from	from	ADP
aiti-11232	234	9	step	step	NOUN
aiti-11232	234	10	7	7	NUM
aiti-11232	234	11	to	to	PART
aiti-11232	234	12	step	step	VERB
aiti-11232	234	13	8	8	NUM
aiti-11232	234	14	,	,	PUNCT
aiti-11232	234	15	and	and	CCONJ
aiti-11232	234	16	the	the	DET
aiti-11232	234	17	appropriate	appropriate	ADJ
aiti-11232	234	18	stopping	stopping	NOUN
aiti-11232	234	19	criteria	criterion	NOUN
aiti-11232	234	20	for	for	ADP
aiti-11232	234	21	the	the	DET
aiti-11232	234	22	iteration	iteration	NOUN
aiti-11232	234	23	can	can	AUX
aiti-11232	234	24	be	be	AUX
aiti-11232	234	25	set	set	VERB
aiti-11232	234	26	in	in	ADP
aiti-11232	234	27	step	step	NOUN
aiti-11232	234	28	9	9	NUM
aiti-11232	234	29	.	.	NOUN
aiti-11232	234	30	4	4	NUM
aiti-11232	234	31	.	.	X
aiti-11232	234	32	simulation	simulation	NOUN
aiti-11232	234	33	results	result	VERB
aiti-11232	234	34	table	table	VERB
aiti-11232	234	35	1	1	NUM
aiti-11232	234	36	parameters	parameter	NOUN
aiti-11232	234	37	in	in	ADP
aiti-11232	234	38	problem	problem	NOUN
aiti-11232	234	39	(	(	PUNCT
aiti-11232	234	40	p	p	NOUN
aiti-11232	234	41	)	)	PUNCT
aiti-11232	234	42	system	system	NOUN
aiti-11232	234	43	parameters	parameter	NOUN
aiti-11232	234	44	values	value	VERB
aiti-11232	234	45	the	the	DET
aiti-11232	234	46	cross	cross	ADJ
aiti-11232	234	47	-	-	ADJ
aiti-11232	234	48	sectional	sectional	ADJ
aiti-11232	234	49	area	area	NOUN
aiti-11232	234	50	of	of	ADP
aiti-11232	234	51	the	the	DET
aiti-11232	234	52	outlet	outlet	NOUN
aiti-11232	234	53	hole	hole	NOUN
aiti-11232	234	54	for	for	ADP
aiti-11232	234	55	the	the	DET
aiti-11232	234	56	tanks	tank	NOUN
aiti-11232	234	57	�	�	NOUN
aiti-11232	234	58	�	�	PROPN
aiti-11232	234	59	=	=	PROPN
aiti-11232	234	60	0.071	0.071	NUM
aiti-11232	234	61	pq	pq	NOUN
aiti-11232	234	62	�	�	PROPN
aiti-11232	234	63	,	,	PUNCT
aiti-11232	234	64	�	�	PROPN
aiti-11232	234	65	�	�	PROPN
aiti-11232	234	66	=	=	PROPN
aiti-11232	234	67	0.057	0.057	NUM
aiti-11232	234	68	pq	pq	NOUN
aiti-11232	234	69	�	�	PROPN
aiti-11232	234	70	,	,	PUNCT
aiti-11232	234	71	�	�	PROPN
aiti-11232	234	72	�	�	PROPN
aiti-11232	234	73	=	=	PROPN
aiti-11232	234	74	0.071	0.071	NUM
aiti-11232	234	75	pq	pq	NOUN
aiti-11232	234	76	�	�	PROPN
aiti-11232	234	77	,	,	PUNCT
aiti-11232	234	78	�	�	PROPN
aiti-11232	234	79	�	�	PROPN
aiti-11232	234	80	=	=	PROPN
aiti-11232	234	81	0.057	0.057	NUM
aiti-11232	234	82	pq	pq	NOUN
aiti-11232	234	83	�	�	PROPN
aiti-11232	234	84	the	the	DET
aiti-11232	234	85	cross	cross	ADJ
aiti-11232	234	86	-	-	ADJ
aiti-11232	234	87	sectional	sectional	ADJ
aiti-11232	234	88	area	area	NOUN
aiti-11232	234	89	of	of	ADP
aiti-11232	234	90	the	the	DET
aiti-11232	234	91	tanks	tank	NOUN
aiti-11232	234	92	�	�	NOUN
aiti-11232	234	93	�	�	PROPN
aiti-11232	234	94	=	=	SYM
aiti-11232	234	95	28	28	NUM
aiti-11232	234	96	pq	pq	NOUN
aiti-11232	234	97	�	�	PROPN
aiti-11232	234	98	,	,	PUNCT
aiti-11232	234	99	�	�	PROPN
aiti-11232	234	100	�	�	PROPN
aiti-11232	234	101	=	=	SYM
aiti-11232	234	102	32	32	NUM
aiti-11232	234	103	pq	pq	NOUN
aiti-11232	234	104	�	�	PROPN
aiti-11232	234	105	,	,	PUNCT
aiti-11232	234	106	�	�	PROPN
aiti-11232	234	107	�	�	PROPN
aiti-11232	234	108	=	=	SYM
aiti-11232	234	109	28	28	NUM
aiti-11232	234	110	pq	pq	NOUN
aiti-11232	234	111	�	�	PROPN
aiti-11232	234	112	,	,	PUNCT
aiti-11232	234	113	�	�	PROPN
aiti-11232	234	114	�	�	PROPN
aiti-11232	234	115	=	=	SYM
aiti-11232	234	116	32	32	NUM
aiti-11232	234	117	pq	pq	NOUN
aiti-11232	234	118	�	�	PROPN
aiti-11232	234	119	pump	pump	NOUN
aiti-11232	234	120	proportionality	proportionality	NOUN
aiti-11232	234	121	constants	constant	NOUN
aiti-11232	234	122	�	�	PROPN
aiti-11232	234	123	=	=	PROPN
aiti-11232	234	124	3.14	3.14	NUM
aiti-11232	234	125	pq	pq	NOUN
aiti-11232	234	126	�	�	PROPN
aiti-11232	234	127	/x	/x	NOUN
aiti-11232	234	128	:	:	PUNCT
aiti-11232	234	129	,	,	PUNCT
aiti-11232	234	130	�	�	PROPN
aiti-11232	234	131	=	=	SYM
aiti-11232	234	132	6.29	6.29	NUM
aiti-11232	234	133	pq	pq	NOUN
aiti-11232	234	134	�	�	PROPN
aiti-11232	234	135	/x	/x	NOUN
aiti-11232	234	136	:	:	PUNCT
aiti-11232	234	137	flow	flow	NOUN
aiti-11232	234	138	coefficient	coefficient	NOUN
aiti-11232	234	139	of	of	ADP
aiti-11232	234	140	the	the	DET
aiti-11232	234	141	pumps	pump	NOUN
aiti-11232	234	142	�	�	NOUN
aiti-11232	234	143	�	�	X
aiti-11232	234	144	=	=	SYM
aiti-11232	234	145	0.35	0.35	NUM
aiti-11232	234	146	,	,	PUNCT
aiti-11232	234	147	�	�	PROPN
aiti-11232	234	148	�	�	NOUN
aiti-11232	234	149	=	=	SYM
aiti-11232	234	150	1.35	1.35	NUM
aiti-11232	234	151	gravitational	gravitational	ADJ
aiti-11232	234	152	acceleration	acceleration	NOUN
aiti-11232	235	1	6	6	NUM
aiti-11232	235	2	=	=	SYM
aiti-11232	235	3	981	981	NUM
aiti-11232	235	4	pq/	pq/	NOUN
aiti-11232	235	5	[	[	X
aiti-11232	235	6	�	�	PROPN
aiti-11232	235	7	initial	initial	ADJ
aiti-11232	235	8	liquid	liquid	ADJ
aiti-11232	235	9	level	level	NOUN
aiti-11232	235	10	�	�	PROPN
aiti-11232	235	11	�	�	PROPN
aiti-11232	235	12	�	�	PROPN
aiti-11232	235	13	0	0	NUM
aiti-11232	235	14	�	�	PROPN
aiti-11232	235	15	=	=	SYM
aiti-11232	235	16	10.43	10.43	NUM
aiti-11232	235	17	,	,	PUNCT
aiti-11232	235	18	�	�	PROPN
aiti-11232	235	19	�	�	PROPN
aiti-11232	235	20	�	�	PROPN
aiti-11232	235	21	0	0	NUM
aiti-11232	235	22	�	�	PROPN
aiti-11232	235	23	=	=	SYM
aiti-11232	235	24	15.98	15.98	NUM
aiti-11232	235	25	,	,	PUNCT
aiti-11232	235	26	�	�	PROPN
aiti-11232	235	27	�	�	PROPN
aiti-11232	235	28	�	�	PROPN
aiti-11232	235	29	0	0	NUM
aiti-11232	235	30	�	�	PROPN
aiti-11232	235	31	=	=	NOUN
aiti-11232	235	32	6.6	6.6	NUM
aiti-11232	235	33	,	,	PUNCT
aiti-11232	235	34	�	�	PROPN
aiti-11232	235	35	�	�	PROPN
aiti-11232	235	36	�	�	PROPN
aiti-11232	235	37	0	0	NUM
aiti-11232	235	38	�	�	PROPN
aiti-11232	235	39	=	=	SYM
aiti-11232	235	40	9.57	9.57	NUM
aiti-11232	235	41	estimation	estimation	NOUN
aiti-11232	235	42	and	and	CCONJ
aiti-11232	235	43	control	control	NOUN
aiti-11232	235	44	parameters	parameter	NOUN
aiti-11232	235	45	values	value	NOUN
aiti-11232	235	46	sampling	sample	VERB
aiti-11232	235	47	time	time	NOUN
aiti-11232	235	48	�	�	PROPN
aiti-11232	235	49	=	=	SYM
aiti-11232	235	50	0.1	0.1	NUM
aiti-11232	235	51	[	[	PUNCT
aiti-11232	235	52	final	final	ADJ
aiti-11232	235	53	time	time	NOUN
aiti-11232	235	54	step	step	NOUN
aiti-11232	235	55	'	'	PUNCT
aiti-11232	235	56	=	=	SYM
aiti-11232	235	57	80	80	NUM
aiti-11232	235	58	weighting	weighting	NOUN
aiti-11232	235	59	matrices	matrix	NOUN
aiti-11232	235	60	\	\	NOUN
aiti-11232	235	61	]	]	PUNCT
aiti-11232	235	62	=	=	SYM
aiti-11232	235	63	�	�	PROPN
aiti-11232	235	64	̂×	̂×	NOUN
aiti-11232	235	65	�	�	PROPN
aiti-11232	235	66	,	,	PUNCT
aiti-11232	235	67	g	g	PROPN
aiti-11232	235	68	=	=	PROPN
aiti-11232	235	69	di	di	NOUN
aiti-11232	235	70	�	�	PROPN
aiti-11232	235	71	6	6	NUM
aiti-11232	235	72	�	�	NOUN
aiti-11232	235	73	10	10	NUM
aiti-11232	235	74	,	,	PUNCT
aiti-11232	235	75	10	10	NUM
aiti-11232	235	76	,	,	PUNCT
aiti-11232	235	77	10	10	NUM
aiti-11232	235	78	_	_	NOUN
aiti-11232	235	79	,	,	PUNCT
aiti-11232	235	80	10	10	NUM
aiti-11232	235	81	_	_	NOUN
aiti-11232	235	82	�	�	NOUN
aiti-11232	235	83	,	,	PUNCT
aiti-11232	235	84	,	,	PUNCT
aiti-11232	235	85	=	=	PROPN
aiti-11232	235	86	100`	100`	NUM
aiti-11232	235	87	�	�	PROPN
aiti-11232	235	88	×	×	NOUN
aiti-11232	235	89	�	�	PROPN
aiti-11232	235	90	covariance	covariance	NOUN
aiti-11232	235	91	matrices	matrix	NOUN
aiti-11232	235	92	./	./	PUNCT
aiti-11232	236	1	=	=	SYM
aiti-11232	236	2	0.2`	0.2`	PROPN
aiti-11232	236	3	�	�	PROPN
aiti-11232	236	4	×	×	PROPN
aiti-11232	236	5	�	�	PROPN
aiti-11232	236	6	,	,	PUNCT
aiti-11232	236	7	g+	g+	NOUN
aiti-11232	236	8	=	=	SYM
aiti-11232	236	9	0.01`	0.01`	NUM
aiti-11232	236	10	�	�	PROPN
aiti-11232	236	11	×	×	NOUN
aiti-11232	236	12	�	�	PROPN
aiti-11232	236	13	,	,	PUNCT
aiti-11232	236	14	,	,	PUNCT
aiti-11232	236	15	=	=	SYM
aiti-11232	236	16	0.01`	0.01`	NUM
aiti-11232	236	17	�	�	PROPN
aiti-11232	236	18	×	×	NOUN
aiti-11232	236	19	�	�	PROPN
aiti-11232	236	20	advances	advance	NOUN
aiti-11232	236	21	in	in	ADP
aiti-11232	236	22	technology	technology	NOUN
aiti-11232	236	23	innovation	innovation	NOUN
aiti-11232	236	24	,	,	PUNCT
aiti-11232	236	25	vol	vol	NOUN
aiti-11232	236	26	.	.	PROPN
aiti-11232	236	27	8	8	NUM
aiti-11232	236	28	,	,	PUNCT
aiti-11232	236	29	no	no	INTJ
aiti-11232	236	30	.	.	NOUN
aiti-11232	236	31	2	2	NUM
aiti-11232	236	32	,	,	PUNCT
aiti-11232	236	33	2023	2023	NUM
aiti-11232	236	34	,	,	PUNCT
aiti-11232	236	35	pp	pp	ADJ
aiti-11232	236	36	.	.	PUNCT
aiti-11232	237	1	150	150	NUM
aiti-11232	237	2	-	-	SYM
aiti-11232	237	3	161	161	NUM
aiti-11232	237	4	158	158	NUM
aiti-11232	237	5	consider	consider	VERB
aiti-11232	237	6	the	the	DET
aiti-11232	237	7	system	system	NOUN
aiti-11232	237	8	parameters	parameter	NOUN
aiti-11232	237	9	for	for	ADP
aiti-11232	237	10	the	the	DET
aiti-11232	237	11	four	four	NUM
aiti-11232	237	12	-	-	PUNCT
aiti-11232	237	13	tank	tank	NOUN
aiti-11232	237	14	system	system	NOUN
aiti-11232	237	15	[	[	X
aiti-11232	237	16	3	3	NUM
aiti-11232	237	17	,	,	PUNCT
aiti-11232	237	18	9	9	NUM
aiti-11232	237	19	]	]	PUNCT
aiti-11232	237	20	,	,	PUNCT
aiti-11232	237	21	and	and	CCONJ
aiti-11232	237	22	the	the	DET
aiti-11232	237	23	estimation	estimation	NOUN
aiti-11232	237	24	and	and	CCONJ
aiti-11232	237	25	control	control	NOUN
aiti-11232	237	26	parameters	parameter	NOUN
aiti-11232	237	27	defined	define	VERB
aiti-11232	237	28	for	for	ADP
aiti-11232	237	29	the	the	DET
aiti-11232	237	30	problem	problem	NOUN
aiti-11232	237	31	(	(	PUNCT
aiti-11232	237	32	p	p	NOUN
aiti-11232	237	33	)	)	PUNCT
aiti-11232	237	34	listed	list	VERB
aiti-11232	237	35	in	in	ADP
aiti-11232	237	36	table	table	NOUN
aiti-11232	237	37	1	1	NUM
aiti-11232	237	38	.	.	PUNCT
aiti-11232	237	39	using	use	VERB
aiti-11232	237	40	these	these	DET
aiti-11232	237	41	parameters	parameter	NOUN
aiti-11232	237	42	,	,	PUNCT
aiti-11232	237	43	an	an	DET
aiti-11232	237	44	illustrative	illustrative	ADJ
aiti-11232	237	45	example	example	NOUN
aiti-11232	237	46	of	of	ADP
aiti-11232	237	47	the	the	DET
aiti-11232	237	48	simulation	simulation	NOUN
aiti-11232	237	49	of	of	ADP
aiti-11232	237	50	the	the	DET
aiti-11232	237	51	four	four	NUM
aiti-11232	237	52	-	-	PUNCT
aiti-11232	237	53	tank	tank	NOUN
aiti-11232	237	54	system	system	NOUN
aiti-11232	237	55	is	be	AUX
aiti-11232	237	56	studied	study	VERB
aiti-11232	237	57	to	to	PART
aiti-11232	237	58	demonstrate	demonstrate	VERB
aiti-11232	237	59	the	the	DET
aiti-11232	237	60	practicality	practicality	NOUN
aiti-11232	237	61	of	of	ADP
aiti-11232	237	62	the	the	DET
aiti-11232	237	63	sasc	sasc	PROPN
aiti-11232	237	64	algorithm	algorithm	NOUN
aiti-11232	237	65	.	.	PUNCT
aiti-11232	238	1	the	the	DET
aiti-11232	238	2	simulation	simulation	NOUN
aiti-11232	238	3	of	of	ADP
aiti-11232	238	4	this	this	DET
aiti-11232	238	5	study	study	NOUN
aiti-11232	238	6	is	be	AUX
aiti-11232	238	7	conducted	conduct	VERB
aiti-11232	238	8	in	in	ADP
aiti-11232	238	9	the	the	DET
aiti-11232	238	10	environment	environment	NOUN
aiti-11232	238	11	of	of	ADP
aiti-11232	238	12	the	the	DET
aiti-11232	238	13	gnu	gnu	PROPN
aiti-11232	238	14	octave	octave	PROPN
aiti-11232	238	15	7.2.0	7.2.0	PROPN
aiti-11232	238	16	.	.	PUNCT
aiti-11232	238	17	table	table	NOUN
aiti-11232	238	18	2	2	NUM
aiti-11232	238	19	presents	present	VERB
aiti-11232	238	20	the	the	DET
aiti-11232	238	21	simulation	simulation	NOUN
aiti-11232	238	22	results	result	VERB
aiti-11232	238	23	for	for	ADP
aiti-11232	238	24	controlling	control	VERB
aiti-11232	238	25	the	the	DET
aiti-11232	238	26	four	four	NUM
aiti-11232	238	27	-	-	PUNCT
aiti-11232	238	28	tank	tank	NOUN
aiti-11232	238	29	system	system	NOUN
aiti-11232	238	30	with	with	ADP
aiti-11232	238	31	random	random	ADJ
aiti-11232	238	32	disturbances	disturbance	NOUN
aiti-11232	238	33	.	.	PUNCT
aiti-11232	239	1	the	the	DET
aiti-11232	239	2	implementation	implementation	NOUN
aiti-11232	239	3	of	of	ADP
aiti-11232	239	4	the	the	DET
aiti-11232	239	5	sasc	sasc	PROPN
aiti-11232	239	6	algorithm	algorithm	NOUN
aiti-11232	239	7	required	require	VERB
aiti-11232	239	8	1,254	1,254	NUM
aiti-11232	239	9	iterations	iteration	NOUN
aiti-11232	239	10	to	to	PART
aiti-11232	239	11	achieve	achieve	VERB
aiti-11232	239	12	convergence	convergence	NOUN
aiti-11232	239	13	.	.	PUNCT
aiti-11232	240	1	for	for	ADP
aiti-11232	240	2	benchmark	benchmark	NOUN
aiti-11232	240	3	purposes	purpose	NOUN
aiti-11232	240	4	,	,	PUNCT
aiti-11232	240	5	the	the	DET
aiti-11232	240	6	results	result	NOUN
aiti-11232	240	7	of	of	ADP
aiti-11232	240	8	the	the	DET
aiti-11232	240	9	sasc	sasc	PROPN
aiti-11232	240	10	algorithm	algorithm	NOUN
aiti-11232	240	11	were	be	AUX
aiti-11232	240	12	compared	compare	VERB
aiti-11232	240	13	with	with	ADP
aiti-11232	240	14	results	result	NOUN
aiti-11232	240	15	from	from	ADP
aiti-11232	240	16	the	the	DET
aiti-11232	240	17	ekf	ekf	NOUN
aiti-11232	240	18	algorithm	algorithm	NOUN
aiti-11232	240	19	since	since	SCONJ
aiti-11232	240	20	the	the	DET
aiti-11232	240	21	ekf	ekf	PROPN
aiti-11232	240	22	algorithm	algorithm	NOUN
aiti-11232	240	23	is	be	AUX
aiti-11232	240	24	the	the	DET
aiti-11232	240	25	standard	standard	ADJ
aiti-11232	240	26	technique	technique	NOUN
aiti-11232	240	27	for	for	ADP
aiti-11232	240	28	nonlinear	nonlinear	ADJ
aiti-11232	240	29	filtering	filtering	NOUN
aiti-11232	240	30	and	and	CCONJ
aiti-11232	240	31	estimation	estimation	NOUN
aiti-11232	240	32	.	.	PUNCT
aiti-11232	241	1	the	the	DET
aiti-11232	241	2	optimal	optimal	ADJ
aiti-11232	241	3	cost	cost	NOUN
aiti-11232	241	4	of	of	ADP
aiti-11232	241	5	3.4959	3.4959	NUM
aiti-11232	241	6	×	×	NOUN
aiti-11232	241	7	107	107	NUM
aiti-11232	241	8	units	unit	NOUN
aiti-11232	241	9	obtained	obtain	VERB
aiti-11232	241	10	using	use	VERB
aiti-11232	241	11	the	the	DET
aiti-11232	241	12	sasc	sasc	PROPN
aiti-11232	241	13	algorithm	algorithm	NOUN
aiti-11232	241	14	was	be	AUX
aiti-11232	241	15	1.15	1.15	NUM
aiti-11232	241	16	%	%	NOUN
aiti-11232	241	17	less	less	ADJ
aiti-11232	241	18	than	than	ADP
aiti-11232	241	19	the	the	DET
aiti-11232	241	20	optimal	optimal	ADJ
aiti-11232	241	21	cost	cost	NOUN
aiti-11232	241	22	given	give	VERB
aiti-11232	241	23	by	by	ADP
aiti-11232	241	24	the	the	DET
aiti-11232	241	25	ekf	ekf	PROPN
aiti-11232	241	26	algorithm	algorithm	NOUN
aiti-11232	241	27	.	.	PUNCT
aiti-11232	242	1	this	this	DET
aiti-11232	242	2	reduction	reduction	NOUN
aiti-11232	242	3	demonstrated	demonstrate	VERB
aiti-11232	242	4	the	the	DET
aiti-11232	242	5	practical	practical	ADJ
aiti-11232	242	6	application	application	NOUN
aiti-11232	242	7	of	of	ADP
aiti-11232	242	8	the	the	DET
aiti-11232	242	9	sasc	sasc	PROPN
aiti-11232	242	10	algorithm	algorithm	NOUN
aiti-11232	242	11	in	in	ADP
aiti-11232	242	12	minimizing	minimize	VERB
aiti-11232	242	13	the	the	DET
aiti-11232	242	14	cost	cost	NOUN
aiti-11232	242	15	function	function	NOUN
aiti-11232	242	16	of	of	ADP
aiti-11232	242	17	the	the	DET
aiti-11232	242	18	system	system	NOUN
aiti-11232	242	19	.	.	PUNCT
aiti-11232	243	1	however	however	ADV
aiti-11232	243	2	,	,	PUNCT
aiti-11232	243	3	the	the	DET
aiti-11232	243	4	performance	performance	NOUN
aiti-11232	243	5	of	of	ADP
aiti-11232	243	6	the	the	DET
aiti-11232	243	7	sasc	sasc	PROPN
aiti-11232	243	8	algorithm	algorithm	NOUN
aiti-11232	243	9	for	for	ADP
aiti-11232	243	10	state	state	NOUN
aiti-11232	243	11	estimation	estimation	NOUN
aiti-11232	243	12	,	,	PUNCT
aiti-11232	243	13	measured	measure	VERB
aiti-11232	243	14	through	through	ADP
aiti-11232	243	15	the	the	DET
aiti-11232	243	16	sum	sum	NOUN
aiti-11232	243	17	of	of	ADP
aiti-11232	243	18	squares	square	NOUN
aiti-11232	243	19	error	error	NOUN
aiti-11232	243	20	(	(	PUNCT
aiti-11232	243	21	sse	sse	NOUN
aiti-11232	243	22	)	)	PUNCT
aiti-11232	243	23	and	and	CCONJ
aiti-11232	243	24	the	the	DET
aiti-11232	243	25	mse	mse	PROPN
aiti-11232	243	26	,	,	PUNCT
aiti-11232	243	27	was	be	AUX
aiti-11232	243	28	98.7	98.7	NUM
aiti-11232	243	29	%	%	NOUN
aiti-11232	243	30	more	more	ADV
aiti-11232	243	31	accurate	accurate	ADJ
aiti-11232	243	32	than	than	ADP
aiti-11232	243	33	that	that	PRON
aiti-11232	243	34	of	of	ADP
aiti-11232	243	35	the	the	DET
aiti-11232	243	36	ekf	ekf	PROPN
aiti-11232	243	37	algorithm	algorithm	NOUN
aiti-11232	243	38	.	.	PUNCT
aiti-11232	244	1	therefore	therefore	ADV
aiti-11232	244	2	,	,	PUNCT
aiti-11232	244	3	the	the	DET
aiti-11232	244	4	efficiency	efficiency	NOUN
aiti-11232	244	5	and	and	CCONJ
aiti-11232	244	6	accuracy	accuracy	NOUN
aiti-11232	244	7	of	of	ADP
aiti-11232	244	8	the	the	DET
aiti-11232	244	9	sasc	sasc	PROPN
aiti-11232	244	10	algorithm	algorithm	NOUN
aiti-11232	244	11	for	for	ADP
aiti-11232	244	12	solving	solve	VERB
aiti-11232	244	13	the	the	DET
aiti-11232	244	14	discrete	discrete	ADJ
aiti-11232	244	15	-	-	PUNCT
aiti-11232	244	16	time	time	NOUN
aiti-11232	244	17	nonlinear	nonlinear	ADJ
aiti-11232	244	18	stochastic	stochastic	ADJ
aiti-11232	244	19	optimal	optimal	ADJ
aiti-11232	244	20	control	control	NOUN
aiti-11232	244	21	of	of	ADP
aiti-11232	244	22	the	the	DET
aiti-11232	244	23	four	four	NUM
aiti-11232	244	24	-	-	PUNCT
aiti-11232	244	25	tank	tank	NOUN
aiti-11232	244	26	system	system	NOUN
aiti-11232	244	27	were	be	AUX
aiti-11232	244	28	demonstrated	demonstrate	VERB
aiti-11232	244	29	.	.	PUNCT
aiti-11232	245	1	table	table	NOUN
aiti-11232	245	2	2	2	NUM
aiti-11232	245	3	simulation	simulation	NOUN
aiti-11232	245	4	result	result	NOUN
aiti-11232	245	5	algorithm	algorithm	PROPN
aiti-11232	245	6	optimal	optimal	ADJ
aiti-11232	245	7	cost	cost	NOUN
aiti-11232	245	8	sse	sse	PROPN
aiti-11232	245	9	mse	mse	PROPN
aiti-11232	245	10	ekf	ekf	PROPN
aiti-11232	246	1	3.5366	3.5366	NUM
aiti-11232	246	2	×	×	NOUN
aiti-11232	246	3	107	107	NUM
aiti-11232	246	4	2.307386	2.307386	NUM
aiti-11232	246	5	×	×	NOUN
aiti-11232	246	6	10–1	10–1	PROPN
aiti-11232	246	7	2.884233	2.884233	NUM
aiti-11232	246	8	×	×	NOUN
aiti-11232	246	9	10–3	10–3	PROPN
aiti-11232	246	10	sasc	sasc	NOUN
aiti-11232	246	11	3.4959	3.4959	NUM
aiti-11232	246	12	×	×	NOUN
aiti-11232	246	13	107	107	NUM
aiti-11232	246	14	3.091891	3.091891	NUM
aiti-11232	246	15	×	×	NOUN
aiti-11232	246	16	10–3	10–3	PROPN
aiti-11232	246	17	3.864864	3.864864	NUM
aiti-11232	246	18	×	×	NOUN
aiti-11232	246	19	10–5	10–5	NUM
aiti-11232	246	20	fig	fig	NOUN
aiti-11232	246	21	.	.	PUNCT
aiti-11232	246	22	2	2	NUM
aiti-11232	246	23	shows	show	VERB
aiti-11232	246	24	the	the	DET
aiti-11232	246	25	final	final	ADJ
aiti-11232	246	26	output	output	NOUN
aiti-11232	246	27	trajectories	trajectory	NOUN
aiti-11232	246	28	when	when	SCONJ
aiti-11232	246	29	the	the	DET
aiti-11232	246	30	sasc	sasc	PROPN
aiti-11232	246	31	algorithm	algorithm	NOUN
aiti-11232	246	32	achieved	achieve	VERB
aiti-11232	246	33	convergence	convergence	NOUN
aiti-11232	246	34	.	.	PUNCT
aiti-11232	247	1	the	the	DET
aiti-11232	247	2	liquid	liquid	ADJ
aiti-11232	247	3	level	level	NOUN
aiti-11232	247	4	in	in	ADP
aiti-11232	247	5	tank	tank	NOUN
aiti-11232	247	6	1	1	NUM
aiti-11232	247	7	,	,	PUNCT
aiti-11232	247	8	in	in	ADP
aiti-11232	247	9	which	which	PRON
aiti-11232	247	10	y	y	PROPN
aiti-11232	247	11	�	�	PROPN
aiti-11232	247	12	represents	represent	VERB
aiti-11232	247	13	the	the	DET
aiti-11232	247	14	actual	actual	ADJ
aiti-11232	247	15	liquid	liquid	ADJ
aiti-11232	247	16	level	level	NOUN
aiti-11232	247	17	and	and	CCONJ
aiti-11232	247	18	yb	yb	PROPN
aiti-11232	247	19	�	�	PROPN
aiti-11232	247	20	is	be	AUX
aiti-11232	247	21	the	the	DET
aiti-11232	247	22	estimated	estimate	VERB
aiti-11232	247	23	liquid	liquid	ADJ
aiti-11232	247	24	level	level	NOUN
aiti-11232	247	25	in	in	ADP
aiti-11232	247	26	tank	tank	NOUN
aiti-11232	247	27	1	1	NUM
aiti-11232	247	28	,	,	PUNCT
aiti-11232	247	29	which	which	PRON
aiti-11232	247	30	was	be	AUX
aiti-11232	247	31	reduced	reduce	VERB
aiti-11232	247	32	from	from	ADP
aiti-11232	247	33	10.43	10.43	NUM
aiti-11232	247	34	cm	cm	NOUN
aiti-11232	247	35	and	and	CCONJ
aiti-11232	247	36	reached	reach	VERB
aiti-11232	247	37	about	about	ADV
aiti-11232	247	38	4.5	4.5	NUM
aiti-11232	247	39	cm	cm	NOUN
aiti-11232	247	40	after	after	ADP
aiti-11232	247	41	2	2	NUM
aiti-11232	247	42	seconds	second	NOUN
aiti-11232	247	43	at	at	ADP
aiti-11232	247	44	the	the	DET
aiti-11232	247	45	final	final	ADJ
aiti-11232	247	46	time	time	NOUN
aiti-11232	247	47	of	of	ADP
aiti-11232	247	48	the	the	DET
aiti-11232	247	49	iteration	iteration	NOUN
aiti-11232	247	50	.	.	PUNCT
aiti-11232	248	1	while	while	SCONJ
aiti-11232	248	2	the	the	DET
aiti-11232	248	3	liquid	liquid	ADJ
aiti-11232	248	4	level	level	NOUN
aiti-11232	248	5	in	in	ADP
aiti-11232	248	6	tank	tank	NOUN
aiti-11232	248	7	2	2	NUM
aiti-11232	248	8	,	,	PUNCT
aiti-11232	248	9	in	in	ADP
aiti-11232	248	10	which	which	PRON
aiti-11232	248	11	y	y	PROPN
aiti-11232	248	12	�	�	PROPN
aiti-11232	248	13	represents	represent	VERB
aiti-11232	248	14	the	the	DET
aiti-11232	248	15	actual	actual	ADJ
aiti-11232	248	16	liquid	liquid	ADJ
aiti-11232	248	17	level	level	NOUN
aiti-11232	248	18	and	and	CCONJ
aiti-11232	248	19	yb	yb	PROPN
aiti-11232	248	20	�	�	PROPN
aiti-11232	248	21	is	be	AUX
aiti-11232	248	22	the	the	DET
aiti-11232	248	23	estimated	estimate	VERB
aiti-11232	248	24	liquid	liquid	ADJ
aiti-11232	248	25	level	level	NOUN
aiti-11232	248	26	in	in	ADP
aiti-11232	248	27	tank	tank	NOUN
aiti-11232	248	28	2	2	NUM
aiti-11232	248	29	,	,	PUNCT
aiti-11232	248	30	which	which	PRON
aiti-11232	248	31	reached	reach	VERB
aiti-11232	248	32	about	about	ADV
aiti-11232	248	33	37.5	37.5	NUM
aiti-11232	248	34	cm	cm	NOUN
aiti-11232	248	35	after	after	ADP
aiti-11232	248	36	2	2	NUM
aiti-11232	248	37	seconds	second	NOUN
aiti-11232	248	38	at	at	ADP
aiti-11232	248	39	the	the	DET
aiti-11232	248	40	final	final	ADJ
aiti-11232	248	41	time	time	NOUN
aiti-11232	248	42	of	of	ADP
aiti-11232	248	43	the	the	DET
aiti-11232	248	44	iteration	iteration	NOUN
aiti-11232	248	45	after	after	ADP
aiti-11232	248	46	increasing	increase	VERB
aiti-11232	248	47	from	from	ADP
aiti-11232	248	48	15.98	15.98	NUM
aiti-11232	248	49	cm	cm	NOUN
aiti-11232	248	50	.	.	PUNCT
aiti-11232	249	1	in	in	ADP
aiti-11232	249	2	the	the	DET
aiti-11232	249	3	random	random	ADJ
aiti-11232	249	4	disturbance	disturbance	NOUN
aiti-11232	249	5	situation	situation	NOUN
aiti-11232	249	6	,	,	PUNCT
aiti-11232	249	7	it	it	PRON
aiti-11232	249	8	was	be	AUX
aiti-11232	249	9	challenging	challenge	VERB
aiti-11232	249	10	to	to	PART
aiti-11232	249	11	maintain	maintain	VERB
aiti-11232	249	12	the	the	DET
aiti-11232	249	13	steady	steady	ADJ
aiti-11232	249	14	state	state	NOUN
aiti-11232	249	15	of	of	ADP
aiti-11232	249	16	the	the	DET
aiti-11232	249	17	liquid	liquid	ADJ
aiti-11232	249	18	level	level	NOUN
aiti-11232	249	19	in	in	ADP
aiti-11232	249	20	tanks	tank	NOUN
aiti-11232	249	21	1	1	NUM
aiti-11232	249	22	and	and	CCONJ
aiti-11232	249	23	2	2	NUM
aiti-11232	249	24	.	.	PUNCT
aiti-11232	250	1	however	however	ADV
aiti-11232	250	2	,	,	PUNCT
aiti-11232	250	3	the	the	DET
aiti-11232	250	4	final	final	ADJ
aiti-11232	250	5	liquid	liquid	ADJ
aiti-11232	250	6	levels	level	NOUN
aiti-11232	250	7	in	in	ADP
aiti-11232	250	8	both	both	DET
aiti-11232	250	9	tanks	tank	NOUN
aiti-11232	250	10	1	1	NUM
aiti-11232	250	11	and	and	CCONJ
aiti-11232	250	12	2	2	NUM
aiti-11232	250	13	were	be	AUX
aiti-11232	250	14	approximately	approximately	ADV
aiti-11232	250	15	determined	determine	VERB
aiti-11232	250	16	in	in	ADP
aiti-11232	250	17	a	a	DET
aiti-11232	250	18	satisfactory	satisfactory	ADJ
aiti-11232	250	19	form	form	NOUN
aiti-11232	250	20	by	by	ADP
aiti-11232	250	21	using	use	VERB
aiti-11232	250	22	the	the	DET
aiti-11232	250	23	sasc	sasc	PROPN
aiti-11232	250	24	algorithm	algorithm	NOUN
aiti-11232	250	25	.	.	PUNCT
aiti-11232	251	1	(	(	PUNCT
aiti-11232	251	2	a	a	X
aiti-11232	251	3	)	)	PUNCT
aiti-11232	251	4	output	output	NOUN
aiti-11232	251	5	trajectory	trajectory	NOUN
aiti-11232	251	6	y	y	PROPN
aiti-11232	251	7	�	�	PROPN
aiti-11232	251	8	–	–	PUNCT
aiti-11232	251	9	the	the	DET
aiti-11232	251	10	liquid	liquid	ADJ
aiti-11232	251	11	level	level	NOUN
aiti-11232	251	12	in	in	ADP
aiti-11232	251	13	tank	tank	NOUN
aiti-11232	251	14	1	1	NUM
aiti-11232	251	15	(	(	PUNCT
aiti-11232	251	16	b	b	NOUN
aiti-11232	251	17	)	)	PUNCT
aiti-11232	251	18	output	output	NOUN
aiti-11232	251	19	trajectory	trajectory	NOUN
aiti-11232	251	20	y	y	PROPN
aiti-11232	251	21	�	�	PROPN
aiti-11232	251	22	–	–	PUNCT
aiti-11232	251	23	the	the	DET
aiti-11232	251	24	liquid	liquid	ADJ
aiti-11232	251	25	level	level	NOUN
aiti-11232	251	26	in	in	ADP
aiti-11232	251	27	tank	tank	NOUN
aiti-11232	251	28	2	2	NUM
aiti-11232	251	29	fig	fig	NOUN
aiti-11232	251	30	.	.	PUNCT
aiti-11232	252	1	2	2	NUM
aiti-11232	252	2	final	final	ADJ
aiti-11232	252	3	output	output	NOUN
aiti-11232	252	4	trajectories	trajectory	NOUN
aiti-11232	252	5	and	and	CCONJ
aiti-11232	252	6	real	real	ADJ
aiti-11232	252	7	output	output	NOUN
aiti-11232	252	8	trajectories	trajectorie	VERB
aiti-11232	252	9	the	the	DET
aiti-11232	252	10	final	final	ADJ
aiti-11232	252	11	state	state	NOUN
aiti-11232	252	12	trajectories	trajectory	NOUN
aiti-11232	252	13	are	be	AUX
aiti-11232	252	14	shown	show	VERB
aiti-11232	252	15	in	in	ADP
aiti-11232	252	16	fig	fig	NOUN
aiti-11232	252	17	.	.	PUNCT
aiti-11232	253	1	3	3	X
aiti-11232	253	2	.	.	X
aiti-11232	254	1	the	the	DET
aiti-11232	254	2	liquid	liquid	ADJ
aiti-11232	254	3	levels	level	NOUN
aiti-11232	254	4	in	in	ADP
aiti-11232	254	5	tanks	tank	NOUN
aiti-11232	254	6	1	1	NUM
aiti-11232	254	7	and	and	CCONJ
aiti-11232	254	8	2	2	NUM
aiti-11232	254	9	exhibited	exhibit	VERB
aiti-11232	254	10	fluctuation	fluctuation	NOUN
aiti-11232	254	11	behaviors	behavior	NOUN
aiti-11232	254	12	disturbed	disturb	VERB
aiti-11232	254	13	by	by	ADP
aiti-11232	254	14	random	random	ADJ
aiti-11232	254	15	noise	noise	NOUN
aiti-11232	254	16	and	and	CCONJ
aiti-11232	254	17	were	be	AUX
aiti-11232	254	18	not	not	PART
aiti-11232	254	19	easy	easy	ADJ
aiti-11232	254	20	to	to	PART
aiti-11232	254	21	measure	measure	VERB
aiti-11232	254	22	smoothly	smoothly	ADV
aiti-11232	254	23	.	.	PUNCT
aiti-11232	255	1	using	use	VERB
aiti-11232	255	2	the	the	DET
aiti-11232	255	3	sasc	sasc	PROPN
aiti-11232	255	4	algorithm	algorithm	NOUN
aiti-11232	255	5	,	,	PUNCT
aiti-11232	255	6	these	these	DET
aiti-11232	255	7	trajectories	trajectory	NOUN
aiti-11232	255	8	were	be	AUX
aiti-11232	255	9	estimated	estimate	VERB
aiti-11232	255	10	acceptedly	acceptedly	ADV
aiti-11232	255	11	,	,	PUNCT
aiti-11232	255	12	and	and	CCONJ
aiti-11232	255	13	their	their	PRON
aiti-11232	255	14	trajectories	trajectory	NOUN
aiti-11232	255	15	were	be	AUX
aiti-11232	255	16	approximately	approximately	ADV
aiti-11232	255	17	measured	measure	VERB
aiti-11232	255	18	.	.	PUNCT
aiti-11232	256	1	conversely	conversely	ADV
aiti-11232	256	2	,	,	PUNCT
aiti-11232	256	3	the	the	DET
aiti-11232	256	4	liquid	liquid	ADJ
aiti-11232	256	5	levels	level	NOUN
aiti-11232	256	6	in	in	ADP
aiti-11232	256	7	tanks	tank	NOUN
aiti-11232	256	8	3	3	NUM
aiti-11232	256	9	and	and	CCONJ
aiti-11232	256	10	4	4	NUM
aiti-11232	256	11	were	be	AUX
aiti-11232	256	12	unaffected	unaffected	ADJ
aiti-11232	256	13	by	by	ADP
aiti-11232	256	14	random	random	ADJ
aiti-11232	256	15	disturbances	disturbance	NOUN
aiti-11232	256	16	.	.	PUNCT
aiti-11232	257	1	this	this	PRON
aiti-11232	257	2	is	be	AUX
aiti-11232	257	3	because	because	SCONJ
aiti-11232	257	4	their	their	PRON
aiti-11232	257	5	trajectories	trajectory	NOUN
aiti-11232	257	6	were	be	AUX
aiti-11232	257	7	smoothly	smoothly	ADV
aiti-11232	257	8	predicted	predict	VERB
aiti-11232	257	9	at	at	ADP
aiti-11232	257	10	their	their	PRON
aiti-11232	257	11	respective	respective	ADJ
aiti-11232	257	12	steady	steady	ADJ
aiti-11232	257	13	states	state	NOUN
aiti-11232	257	14	approximately	approximately	ADV
aiti-11232	257	15	along	along	ADP
aiti-11232	257	16	with	with	ADP
aiti-11232	257	17	zero	zero	NUM
aiti-11232	257	18	.	.	PUNCT
aiti-11232	258	1	advances	advance	NOUN
aiti-11232	258	2	in	in	ADP
aiti-11232	258	3	technology	technology	NOUN
aiti-11232	258	4	innovation	innovation	NOUN
aiti-11232	258	5	,	,	PUNCT
aiti-11232	258	6	vol	vol	NOUN
aiti-11232	258	7	.	.	PROPN
aiti-11232	258	8	8	8	NUM
aiti-11232	258	9	,	,	PUNCT
aiti-11232	258	10	no	no	INTJ
aiti-11232	258	11	.	.	NOUN
aiti-11232	258	12	2	2	NUM
aiti-11232	258	13	,	,	PUNCT
aiti-11232	258	14	2023	2023	NUM
aiti-11232	258	15	,	,	PUNCT
aiti-11232	258	16	pp	pp	ADJ
aiti-11232	258	17	.	.	PUNCT
aiti-11232	259	1	150	150	NUM
aiti-11232	259	2	-	-	SYM
aiti-11232	259	3	161	161	NUM
aiti-11232	259	4	159	159	NUM
aiti-11232	259	5	fig	fig	NOUN
aiti-11232	259	6	.	.	PUNCT
aiti-11232	260	1	4	4	NUM
aiti-11232	260	2	shows	show	VERB
aiti-11232	260	3	the	the	DET
aiti-11232	260	4	final	final	ADJ
aiti-11232	260	5	control	control	NOUN
aiti-11232	260	6	trajectories	trajectory	NOUN
aiti-11232	260	7	for	for	ADP
aiti-11232	260	8	regulating	regulate	VERB
aiti-11232	260	9	the	the	DET
aiti-11232	260	10	liquid	liquid	ADJ
aiti-11232	260	11	levels	level	NOUN
aiti-11232	260	12	in	in	ADP
aiti-11232	260	13	the	the	DET
aiti-11232	260	14	tanks	tank	NOUN
aiti-11232	260	15	.	.	PUNCT
aiti-11232	261	1	the	the	DET
aiti-11232	261	2	optimal	optimal	ADJ
aiti-11232	261	3	input	input	NOUN
aiti-11232	261	4	voltage	voltage	NOUN
aiti-11232	261	5	to	to	PART
aiti-11232	261	6	pump	pump	VERB
aiti-11232	261	7	1	1	NUM
aiti-11232	261	8	increased	increase	VERB
aiti-11232	261	9	from	from	ADP
aiti-11232	261	10	-270	-270	PROPN
aiti-11232	261	11	v	v	NOUN
aiti-11232	261	12	to	to	ADP
aiti-11232	261	13	0	0	NUM
aiti-11232	261	14	v	v	NOUN
aiti-11232	261	15	,	,	PUNCT
aiti-11232	261	16	and	and	CCONJ
aiti-11232	261	17	the	the	DET
aiti-11232	261	18	optimal	optimal	ADJ
aiti-11232	261	19	input	input	NOUN
aiti-11232	261	20	voltage	voltage	NOUN
aiti-11232	261	21	of	of	ADP
aiti-11232	261	22	pump	pump	NOUN
aiti-11232	261	23	2	2	NUM
aiti-11232	261	24	decreased	decrease	VERB
aiti-11232	261	25	from	from	ADP
aiti-11232	261	26	182	182	NUM
aiti-11232	261	27	v	v	NOUN
aiti-11232	261	28	to	to	ADP
aiti-11232	261	29	0	0	NUM
aiti-11232	261	30	v.	v.	ADP
aiti-11232	261	31	these	these	DET
aiti-11232	261	32	control	control	NOUN
aiti-11232	261	33	efforts	effort	NOUN
aiti-11232	261	34	effectively	effectively	ADV
aiti-11232	261	35	maintained	maintain	VERB
aiti-11232	261	36	liquid	liquid	ADJ
aiti-11232	261	37	levels	level	NOUN
aiti-11232	261	38	at	at	ADP
aiti-11232	261	39	approximately	approximately	ADV
aiti-11232	261	40	zero	zero	NUM
aiti-11232	261	41	after	after	ADP
aiti-11232	261	42	2	2	NUM
aiti-11232	261	43	seconds	second	NOUN
aiti-11232	261	44	.	.	PUNCT
aiti-11232	262	1	therefore	therefore	ADV
aiti-11232	262	2	,	,	PUNCT
aiti-11232	262	3	the	the	DET
aiti-11232	262	4	optimal	optimal	ADJ
aiti-11232	262	5	solution	solution	NOUN
aiti-11232	262	6	to	to	ADP
aiti-11232	262	7	the	the	DET
aiti-11232	262	8	four	four	NUM
aiti-11232	262	9	-	-	PUNCT
aiti-11232	262	10	tank	tank	NOUN
aiti-11232	262	11	problem	problem	NOUN
aiti-11232	262	12	was	be	AUX
aiti-11232	262	13	obtained	obtain	VERB
aiti-11232	262	14	satisfactorily	satisfactorily	ADV
aiti-11232	262	15	when	when	SCONJ
aiti-11232	262	16	stationary	stationary	ADJ
aiti-11232	262	17	conditions	condition	NOUN
aiti-11232	262	18	were	be	AUX
aiti-11232	262	19	satisfied	satisfied	ADJ
aiti-11232	262	20	,	,	PUNCT
aiti-11232	262	21	as	as	SCONJ
aiti-11232	262	22	shown	show	VERB
aiti-11232	262	23	in	in	ADP
aiti-11232	262	24	fig	fig	NOUN
aiti-11232	262	25	.	.	PUNCT
aiti-11232	263	1	5	5	NUM
aiti-11232	263	2	.	.	X
aiti-11232	263	3	(	(	PUNCT
aiti-11232	263	4	a	a	X
aiti-11232	263	5	)	)	PUNCT
aiti-11232	263	6	state	state	NOUN
aiti-11232	263	7	trajectory	trajectory	NOUN
aiti-11232	263	8	�	�	PROPN
aiti-11232	263	9	�	�	PROPN
aiti-11232	263	10	–	–	PUNCT
aiti-11232	263	11	the	the	DET
aiti-11232	263	12	liquid	liquid	ADJ
aiti-11232	263	13	level	level	NOUN
aiti-11232	263	14	in	in	ADP
aiti-11232	263	15	tank	tank	NOUN
aiti-11232	263	16	1	1	NUM
aiti-11232	263	17	(	(	PUNCT
aiti-11232	263	18	b	b	NOUN
aiti-11232	263	19	)	)	PUNCT
aiti-11232	263	20	state	state	NOUN
aiti-11232	263	21	trajectory	trajectory	NOUN
aiti-11232	263	22	�	�	PROPN
aiti-11232	263	23	�	�	PROPN
aiti-11232	263	24	–	–	PUNCT
aiti-11232	263	25	the	the	DET
aiti-11232	263	26	liquid	liquid	ADJ
aiti-11232	263	27	level	level	NOUN
aiti-11232	263	28	in	in	ADP
aiti-11232	263	29	tank	tank	NOUN
aiti-11232	263	30	2	2	NUM
aiti-11232	263	31	(	(	PUNCT
aiti-11232	263	32	c	c	NOUN
aiti-11232	263	33	)	)	PUNCT
aiti-11232	263	34	state	state	NOUN
aiti-11232	263	35	trajectory	trajectory	NOUN
aiti-11232	263	36	�	�	PROPN
aiti-11232	263	37	�	�	PROPN
aiti-11232	263	38	–	–	PUNCT
aiti-11232	263	39	the	the	DET
aiti-11232	263	40	liquid	liquid	ADJ
aiti-11232	263	41	level	level	NOUN
aiti-11232	263	42	in	in	ADP
aiti-11232	263	43	tank	tank	NOUN
aiti-11232	263	44	3	3	NUM
aiti-11232	263	45	(	(	PUNCT
aiti-11232	263	46	d	d	NOUN
aiti-11232	263	47	)	)	PUNCT
aiti-11232	263	48	state	state	NOUN
aiti-11232	263	49	trajectory	trajectory	NOUN
aiti-11232	263	50	�	�	PROPN
aiti-11232	263	51	�	�	PROPN
aiti-11232	263	52	–	–	PUNCT
aiti-11232	263	53	the	the	DET
aiti-11232	263	54	liquid	liquid	ADJ
aiti-11232	263	55	level	level	NOUN
aiti-11232	263	56	in	in	ADP
aiti-11232	263	57	tank	tank	NOUN
aiti-11232	263	58	4	4	NUM
aiti-11232	263	59	fig	fig	NOUN
aiti-11232	263	60	.	.	PUNCT
aiti-11232	264	1	3	3	NUM
aiti-11232	264	2	final	final	ADJ
aiti-11232	264	3	state	state	NOUN
aiti-11232	264	4	trajectory	trajectory	NOUN
aiti-11232	264	5	and	and	CCONJ
aiti-11232	264	6	real	real	ADJ
aiti-11232	264	7	state	state	NOUN
aiti-11232	264	8	trajectory	trajectory	NOUN
aiti-11232	264	9	fig	fig	NOUN
aiti-11232	264	10	.	.	PUNCT
aiti-11232	265	1	4	4	NUM
aiti-11232	265	2	final	final	ADJ
aiti-11232	265	3	control	control	NOUN
aiti-11232	265	4	trajectories	trajectorie	VERB
aiti-11232	265	5	fig	fig	NOUN
aiti-11232	265	6	.	.	PUNCT
aiti-11232	266	1	5	5	NUM
aiti-11232	266	2	stationary	stationary	ADJ
aiti-11232	266	3	conditions	condition	NOUN
aiti-11232	266	4	5	5	NUM
aiti-11232	266	5	.	.	PUNCT
aiti-11232	266	6	concluding	conclude	VERB
aiti-11232	266	7	remarks	remark	NOUN
aiti-11232	266	8	optimizing	optimize	VERB
aiti-11232	266	9	and	and	CCONJ
aiti-11232	266	10	controlling	control	VERB
aiti-11232	266	11	the	the	DET
aiti-11232	266	12	four	four	NUM
aiti-11232	266	13	-	-	PUNCT
aiti-11232	266	14	tank	tank	NOUN
aiti-11232	266	15	system	system	NOUN
aiti-11232	266	16	with	with	ADP
aiti-11232	266	17	random	random	ADJ
aiti-11232	266	18	disturbances	disturbance	NOUN
aiti-11232	266	19	through	through	ADP
aiti-11232	266	20	the	the	DET
aiti-11232	266	21	sa	sa	PROPN
aiti-11232	266	22	approach	approach	NOUN
aiti-11232	266	23	were	be	AUX
aiti-11232	266	24	discussed	discuss	VERB
aiti-11232	266	25	in	in	ADP
aiti-11232	266	26	this	this	DET
aiti-11232	266	27	study	study	NOUN
aiti-11232	266	28	.	.	PUNCT
aiti-11232	267	1	firstly	firstly	ADV
aiti-11232	267	2	,	,	PUNCT
aiti-11232	267	3	the	the	DET
aiti-11232	267	4	discrete	discrete	ADJ
aiti-11232	267	5	-	-	PUNCT
aiti-11232	267	6	time	time	NOUN
aiti-11232	267	7	stochastic	stochastic	ADJ
aiti-11232	267	8	optimal	optimal	ADJ
aiti-11232	267	9	control	control	NOUN
aiti-11232	267	10	problem	problem	NOUN
aiti-11232	267	11	for	for	ADP
aiti-11232	267	12	the	the	DET
aiti-11232	267	13	four	four	NUM
aiti-11232	267	14	-	-	PUNCT
aiti-11232	267	15	tank	tank	NOUN
aiti-11232	267	16	system	system	NOUN
aiti-11232	267	17	was	be	AUX
aiti-11232	267	18	described	describe	VERB
aiti-11232	267	19	by	by	ADP
aiti-11232	267	20	considering	consider	VERB
aiti-11232	267	21	the	the	DET
aiti-11232	267	22	presence	presence	NOUN
aiti-11232	267	23	of	of	ADP
aiti-11232	267	24	random	random	ADJ
aiti-11232	267	25	disturbances	disturbance	NOUN
aiti-11232	267	26	.	.	PUNCT
aiti-11232	268	1	subsequently	subsequently	ADV
aiti-11232	268	2	,	,	PUNCT
aiti-11232	268	3	by	by	ADP
aiti-11232	268	4	applying	apply	VERB
aiti-11232	268	5	the	the	DET
aiti-11232	268	6	sa	sa	PROPN
aiti-11232	268	7	approach	approach	NOUN
aiti-11232	268	8	,	,	PUNCT
aiti-11232	268	9	the	the	DET
aiti-11232	268	10	iterative	iterative	NOUN
aiti-11232	268	11	algorithm	algorithm	NOUN
aiti-11232	268	12	,	,	PUNCT
aiti-11232	268	13	namely	namely	ADV
aiti-11232	268	14	the	the	DET
aiti-11232	268	15	sasc	sasc	PROPN
aiti-11232	268	16	approach	approach	NOUN
aiti-11232	268	17	,	,	PUNCT
aiti-11232	268	18	was	be	AUX
aiti-11232	268	19	proposed	propose	VERB
aiti-11232	268	20	to	to	PART
aiti-11232	268	21	estimate	estimate	VERB
aiti-11232	268	22	the	the	DET
aiti-11232	268	23	state	state	NOUN
aiti-11232	268	24	dynamics	dynamic	NOUN
aiti-11232	268	25	and	and	CCONJ
aiti-11232	268	26	to	to	PART
aiti-11232	268	27	design	design	VERB
aiti-11232	268	28	the	the	DET
aiti-11232	268	29	optimal	optimal	ADJ
aiti-11232	268	30	control	control	NOUN
aiti-11232	268	31	law	law	NOUN
aiti-11232	268	32	.	.	PUNCT
aiti-11232	269	1	therefore	therefore	ADV
aiti-11232	269	2	,	,	PUNCT
aiti-11232	269	3	the	the	DET
aiti-11232	269	4	state	state	NOUN
aiti-11232	269	5	estimation	estimation	NOUN
aiti-11232	269	6	advances	advance	VERB
aiti-11232	269	7	in	in	ADP
aiti-11232	269	8	technology	technology	NOUN
aiti-11232	269	9	innovation	innovation	NOUN
aiti-11232	269	10	,	,	PUNCT
aiti-11232	269	11	vol	vol	NOUN
aiti-11232	269	12	.	.	PROPN
aiti-11232	269	13	8	8	NUM
aiti-11232	269	14	,	,	PUNCT
aiti-11232	269	15	no	no	INTJ
aiti-11232	269	16	.	.	NOUN
aiti-11232	269	17	2	2	NUM
aiti-11232	269	18	,	,	PUNCT
aiti-11232	269	19	2023	2023	NUM
aiti-11232	269	20	,	,	PUNCT
aiti-11232	269	21	pp	pp	ADJ
aiti-11232	269	22	.	.	PUNCT
aiti-11232	270	1	150	150	NUM
aiti-11232	270	2	-	-	SYM
aiti-11232	270	3	161	161	NUM
aiti-11232	270	4	160	160	NUM
aiti-11232	270	5	of	of	ADP
aiti-11232	270	6	the	the	DET
aiti-11232	270	7	system	system	NOUN
aiti-11232	270	8	was	be	AUX
aiti-11232	270	9	satisfactorily	satisfactorily	ADV
aiti-11232	270	10	handled	handle	VERB
aiti-11232	270	11	,	,	PUNCT
aiti-11232	270	12	and	and	CCONJ
aiti-11232	270	13	the	the	DET
aiti-11232	270	14	optimal	optimal	ADJ
aiti-11232	270	15	control	control	NOUN
aiti-11232	270	16	law	law	NOUN
aiti-11232	270	17	,	,	PUNCT
aiti-11232	270	18	which	which	PRON
aiti-11232	270	19	was	be	AUX
aiti-11232	270	20	thoroughly	thoroughly	ADV
aiti-11232	270	21	designed	design	VERB
aiti-11232	270	22	based	base	VERB
aiti-11232	270	23	on	on	ADP
aiti-11232	270	24	the	the	DET
aiti-11232	270	25	sa	sa	PROPN
aiti-11232	270	26	updating	updating	NOUN
aiti-11232	270	27	rule	rule	NOUN
aiti-11232	270	28	,	,	PUNCT
aiti-11232	270	29	was	be	AUX
aiti-11232	270	30	applied	apply	VERB
aiti-11232	270	31	to	to	PART
aiti-11232	270	32	minimize	minimize	VERB
aiti-11232	270	33	the	the	DET
aiti-11232	270	34	performance	performance	NOUN
aiti-11232	270	35	index	index	NOUN
aiti-11232	270	36	of	of	ADP
aiti-11232	270	37	the	the	DET
aiti-11232	270	38	system	system	NOUN
aiti-11232	270	39	.	.	PUNCT
aiti-11232	271	1	for	for	ADP
aiti-11232	271	2	illustration	illustration	NOUN
aiti-11232	271	3	,	,	PUNCT
aiti-11232	271	4	researchers	researcher	NOUN
aiti-11232	271	5	studied	study	VERB
aiti-11232	271	6	the	the	DET
aiti-11232	271	7	control	control	NOUN
aiti-11232	271	8	problem	problem	NOUN
aiti-11232	271	9	of	of	ADP
aiti-11232	271	10	a	a	DET
aiti-11232	271	11	four	four	NUM
aiti-11232	271	12	-	-	PUNCT
aiti-11232	271	13	tank	tank	NOUN
aiti-11232	271	14	system	system	NOUN
aiti-11232	271	15	with	with	ADP
aiti-11232	271	16	given	give	VERB
aiti-11232	271	17	parameters	parameter	NOUN
aiti-11232	271	18	.	.	PUNCT
aiti-11232	272	1	the	the	DET
aiti-11232	272	2	simulation	simulation	NOUN
aiti-11232	272	3	results	result	NOUN
aiti-11232	272	4	showed	show	VERB
aiti-11232	272	5	that	that	SCONJ
aiti-11232	272	6	the	the	DET
aiti-11232	272	7	system	system	NOUN
aiti-11232	272	8	was	be	AUX
aiti-11232	272	9	stabilized	stabilize	VERB
aiti-11232	272	10	and	and	CCONJ
aiti-11232	272	11	controlled	control	VERB
aiti-11232	272	12	in	in	ADP
aiti-11232	272	13	a	a	DET
aiti-11232	272	14	stochastic	stochastic	ADJ
aiti-11232	272	15	environment	environment	NOUN
aiti-11232	272	16	after	after	ADP
aiti-11232	272	17	using	use	VERB
aiti-11232	272	18	the	the	DET
aiti-11232	272	19	sasc	sasc	PROPN
aiti-11232	272	20	algorithm	algorithm	NOUN
aiti-11232	272	21	proposed	propose	VERB
aiti-11232	272	22	.	.	PUNCT
aiti-11232	273	1	these	these	DET
aiti-11232	273	2	results	result	NOUN
aiti-11232	273	3	were	be	AUX
aiti-11232	273	4	also	also	ADV
aiti-11232	273	5	compared	compare	VERB
aiti-11232	273	6	with	with	ADP
aiti-11232	273	7	results	result	NOUN
aiti-11232	273	8	from	from	ADP
aiti-11232	273	9	the	the	DET
aiti-11232	273	10	ekf	ekf	NOUN
aiti-11232	273	11	technique	technique	NOUN
aiti-11232	273	12	,	,	PUNCT
aiti-11232	273	13	and	and	CCONJ
aiti-11232	273	14	a	a	DET
aiti-11232	273	15	discussion	discussion	NOUN
aiti-11232	273	16	was	be	AUX
aiti-11232	273	17	given	give	VERB
aiti-11232	273	18	.	.	PUNCT
aiti-11232	274	1	in	in	ADP
aiti-11232	274	2	conclusion	conclusion	NOUN
aiti-11232	274	3	,	,	PUNCT
aiti-11232	274	4	the	the	DET
aiti-11232	274	5	efficiency	efficiency	NOUN
aiti-11232	274	6	and	and	CCONJ
aiti-11232	274	7	accuracy	accuracy	NOUN
aiti-11232	274	8	of	of	ADP
aiti-11232	274	9	the	the	DET
aiti-11232	274	10	sasc	sasc	PROPN
aiti-11232	274	11	algorithm	algorithm	NOUN
aiti-11232	274	12	are	be	AUX
aiti-11232	274	13	demonstrated	demonstrate	VERB
aiti-11232	274	14	.	.	PUNCT
aiti-11232	275	1	for	for	ADP
aiti-11232	275	2	future	future	ADJ
aiti-11232	275	3	research	research	NOUN
aiti-11232	275	4	,	,	PUNCT
aiti-11232	275	5	it	it	PRON
aiti-11232	275	6	is	be	AUX
aiti-11232	275	7	recommended	recommend	VERB
aiti-11232	275	8	to	to	PART
aiti-11232	275	9	apply	apply	VERB
aiti-11232	275	10	recent	recent	ADJ
aiti-11232	275	11	variants	variant	NOUN
aiti-11232	275	12	of	of	ADP
aiti-11232	275	13	the	the	DET
aiti-11232	275	14	sa	sa	PROPN
aiti-11232	275	15	approach	approach	NOUN
aiti-11232	275	16	,	,	PUNCT
aiti-11232	275	17	like	like	ADP
aiti-11232	275	18	the	the	DET
aiti-11232	275	19	adam	adam	PROPN
aiti-11232	275	20	algorithm	algorithm	PROPN
aiti-11232	275	21	,	,	PUNCT
aiti-11232	275	22	for	for	ADP
aiti-11232	275	23	solving	solve	VERB
aiti-11232	275	24	the	the	DET
aiti-11232	275	25	stochastic	stochastic	ADJ
aiti-11232	275	26	optimal	optimal	ADJ
aiti-11232	275	27	control	control	NOUN
aiti-11232	275	28	problem	problem	NOUN
aiti-11232	275	29	of	of	ADP
aiti-11232	275	30	the	the	DET
aiti-11232	275	31	four	four	NUM
aiti-11232	275	32	-	-	PUNCT
aiti-11232	275	33	tank	tank	NOUN
aiti-11232	275	34	system	system	NOUN
aiti-11232	275	35	so	so	SCONJ
aiti-11232	275	36	that	that	SCONJ
aiti-11232	275	37	more	more	ADV
aiti-11232	275	38	acceptable	acceptable	ADJ
aiti-11232	275	39	results	result	NOUN
aiti-11232	275	40	can	can	AUX
aiti-11232	275	41	be	be	AUX
aiti-11232	275	42	determined	determine	VERB
aiti-11232	275	43	.	.	PUNCT
aiti-11232	276	1	in	in	ADP
aiti-11232	276	2	this	this	DET
aiti-11232	276	3	way	way	NOUN
aiti-11232	276	4	,	,	PUNCT
aiti-11232	276	5	the	the	DET
aiti-11232	276	6	water	water	NOUN
aiti-11232	276	7	level	level	NOUN
aiti-11232	276	8	at	at	ADP
aiti-11232	276	9	the	the	DET
aiti-11232	276	10	steady	steady	ADJ
aiti-11232	276	11	state	state	NOUN
aiti-11232	276	12	will	will	AUX
aiti-11232	276	13	be	be	AUX
aiti-11232	276	14	identified	identify	VERB
aiti-11232	276	15	in	in	ADP
aiti-11232	276	16	fewer	few	ADJ
aiti-11232	276	17	iteration	iteration	NOUN
aiti-11232	276	18	numbers	number	NOUN
aiti-11232	276	19	,	,	PUNCT
aiti-11232	276	20	where	where	SCONJ
aiti-11232	276	21	the	the	DET
aiti-11232	276	22	algorithm	algorithm	NOUN
aiti-11232	276	23	provides	provide	VERB
aiti-11232	276	24	an	an	DET
aiti-11232	276	25	iterative	iterative	NOUN
aiti-11232	276	26	solution	solution	NOUN
aiti-11232	276	27	that	that	PRON
aiti-11232	276	28	can	can	AUX
aiti-11232	276	29	converge	converge	VERB
aiti-11232	276	30	faster	fast	ADV
aiti-11232	276	31	.	.	PUNCT
aiti-11232	277	1	hence	hence	ADV
aiti-11232	277	2	,	,	PUNCT
aiti-11232	277	3	the	the	DET
aiti-11232	277	4	practicality	practicality	NOUN
aiti-11232	277	5	and	and	CCONJ
aiti-11232	277	6	usefulness	usefulness	NOUN
aiti-11232	277	7	of	of	ADP
aiti-11232	277	8	the	the	DET
aiti-11232	277	9	algorithm	algorithm	NOUN
aiti-11232	277	10	will	will	AUX
aiti-11232	277	11	be	be	AUX
aiti-11232	277	12	recommended	recommend	VERB
aiti-11232	277	13	.	.	PUNCT
aiti-11232	278	1	acknowledgment	acknowledgment	NOUN
aiti-11232	278	2	this	this	DET
aiti-11232	278	3	research	research	NOUN
aiti-11232	278	4	was	be	AUX
aiti-11232	278	5	supported	support	VERB
aiti-11232	278	6	by	by	ADP
aiti-11232	278	7	the	the	DET
aiti-11232	278	8	universiti	universiti	PROPN
aiti-11232	278	9	tun	tun	PROPN
aiti-11232	278	10	hussein	hussein	PROPN
aiti-11232	278	11	onn	onn	PROPN
aiti-11232	278	12	malaysia	malaysia	PROPN
aiti-11232	278	13	(	(	PUNCT
aiti-11232	278	14	uthm	uthm	NOUN
aiti-11232	278	15	)	)	PUNCT
aiti-11232	278	16	through	through	ADP
aiti-11232	278	17	tier	tier	NOUN
aiti-11232	278	18	1	1	NUM
aiti-11232	278	19	(	(	PUNCT
aiti-11232	278	20	vot	vot	PROPN
aiti-11232	278	21	q121	q121	NUM
aiti-11232	278	22	)	)	PUNCT
aiti-11232	278	23	.	.	PUNCT
aiti-11232	279	1	conflicts	conflict	NOUN
aiti-11232	279	2	of	of	ADP
aiti-11232	279	3	interest	interest	NOUN
aiti-11232	279	4	the	the	DET
aiti-11232	279	5	authors	author	NOUN
aiti-11232	279	6	declare	declare	VERB
aiti-11232	279	7	no	no	DET
aiti-11232	279	8	conflicts	conflict	NOUN
aiti-11232	279	9	of	of	ADP
aiti-11232	279	10	interest	interest	NOUN
aiti-11232	279	11	.	.	PUNCT
aiti-11232	280	1	references	reference	NOUN
aiti-11232	280	2	[	[	X
aiti-11232	280	3	1	1	X
aiti-11232	280	4	]	]	PUNCT
aiti-11232	280	5	j.	j.	PROPN
aiti-11232	280	6	k.	k.	PROPN
aiti-11232	280	7	pradhan	pradhan	PROPN
aiti-11232	280	8	,	,	PUNCT
aiti-11232	280	9	a.	a.	PROPN
aiti-11232	280	10	ghosh	ghosh	PROPN
aiti-11232	280	11	,	,	PUNCT
aiti-11232	280	12	and	and	CCONJ
aiti-11232	280	13	c.	c.	PROPN
aiti-11232	280	14	n.	n.	PROPN
aiti-11232	280	15	bhende	bhende	PROPN
aiti-11232	280	16	,	,	PUNCT
aiti-11232	280	17	“	"	PUNCT
aiti-11232	280	18	two	two	NUM
aiti-11232	280	19	-	-	PUNCT
aiti-11232	280	20	degree	degree	NOUN
aiti-11232	280	21	-	-	PUNCT
aiti-11232	280	22	of	of	ADP
aiti-11232	280	23	-	-	PUNCT
aiti-11232	280	24	freedom	freedom	NOUN
aiti-11232	280	25	multi	multi	ADJ
aiti-11232	280	26	-	-	ADJ
aiti-11232	280	27	input	input	ADJ
aiti-11232	280	28	multi	multi	ADJ
aiti-11232	280	29	-	-	ADJ
aiti-11232	280	30	output	output	ADJ
aiti-11232	280	31	proportional	proportional	ADJ
aiti-11232	280	32	–	–	PUNCT
aiti-11232	280	33	integral	integral	ADJ
aiti-11232	280	34	–	–	PUNCT
aiti-11232	280	35	derivative	derivative	ADJ
aiti-11232	280	36	control	control	NOUN
aiti-11232	280	37	design	design	NOUN
aiti-11232	280	38	:	:	PUNCT
aiti-11232	280	39	application	application	NOUN
aiti-11232	280	40	to	to	ADP
aiti-11232	280	41	quadruple	quadruple	NOUN
aiti-11232	280	42	-	-	PUNCT
aiti-11232	280	43	tank	tank	NOUN
aiti-11232	280	44	system	system	NOUN
aiti-11232	280	45	,	,	PUNCT
aiti-11232	280	46	”	"	PUNCT
aiti-11232	280	47	proceedings	proceeding	NOUN
aiti-11232	280	48	of	of	ADP
aiti-11232	280	49	the	the	DET
aiti-11232	280	50	institution	institution	NOUN
aiti-11232	280	51	of	of	ADP
aiti-11232	280	52	mechanical	mechanical	ADJ
aiti-11232	280	53	engineers	engineer	NOUN
aiti-11232	280	54	,	,	PUNCT
aiti-11232	280	55	part	part	NOUN
aiti-11232	280	56	i	i	PRON
aiti-11232	280	57	:	:	PUNCT
aiti-11232	280	58	journal	journal	PROPN
aiti-11232	280	59	of	of	ADP
aiti-11232	280	60	systems	system	NOUN
aiti-11232	280	61	and	and	CCONJ
aiti-11232	280	62	control	control	PROPN
aiti-11232	280	63	engineering	engineering	PROPN
aiti-11232	280	64	,	,	PUNCT
aiti-11232	280	65	vol	vol	NOUN
aiti-11232	280	66	.	.	PROPN
aiti-11232	280	67	233	233	NUM
aiti-11232	280	68	,	,	PUNCT
aiti-11232	280	69	no	no	INTJ
aiti-11232	280	70	.	.	NOUN
aiti-11232	280	71	3	3	NUM
aiti-11232	280	72	,	,	PUNCT
aiti-11232	280	73	pp	pp	ADJ
aiti-11232	280	74	.	.	PUNCT
aiti-11232	281	1	303	303	NUM
aiti-11232	281	2	-	-	SYM
aiti-11232	281	3	319	319	NUM
aiti-11232	281	4	,	,	PUNCT
aiti-11232	281	5	march	march	PROPN
aiti-11232	281	6	2019	2019	NUM
aiti-11232	281	7	.	.	PUNCT
aiti-11232	282	1	[	[	X
aiti-11232	282	2	2	2	NUM
aiti-11232	282	3	]	]	PUNCT
aiti-11232	282	4	b.	b.	PROPN
aiti-11232	282	5	a.	a.	PROPN
aiti-11232	282	6	kumar	kumar	PROPN
aiti-11232	282	7	,	,	PUNCT
aiti-11232	282	8	r.	r.	PROPN
aiti-11232	282	9	jeyabharathi	jeyabharathi	PROPN
aiti-11232	282	10	,	,	PUNCT
aiti-11232	282	11	s.	s.	PROPN
aiti-11232	282	12	surendhar	surendhar	PROPN
aiti-11232	282	13	,	,	PUNCT
aiti-11232	282	14	s.	s.	PROPN
aiti-11232	282	15	senthilrani	senthilrani	PROPN
aiti-11232	282	16	,	,	PUNCT
aiti-11232	282	17	and	and	CCONJ
aiti-11232	282	18	s.	s.	PROPN
aiti-11232	282	19	gayathri	gayathri	PROPN
aiti-11232	282	20	,	,	PUNCT
aiti-11232	282	21	“	"	PUNCT
aiti-11232	282	22	control	control	NOUN
aiti-11232	282	23	of	of	ADP
aiti-11232	282	24	four	four	NUM
aiti-11232	282	25	tank	tank	NOUN
aiti-11232	282	26	system	system	NOUN
aiti-11232	282	27	using	use	VERB
aiti-11232	282	28	model	model	NOUN
aiti-11232	282	29	predictive	predictive	ADJ
aiti-11232	282	30	controller	controller	NOUN
aiti-11232	282	31	,	,	PUNCT
aiti-11232	282	32	”	"	PUNCT
aiti-11232	282	33	ieee	ieee	PROPN
aiti-11232	282	34	international	international	ADJ
aiti-11232	282	35	conference	conference	NOUN
aiti-11232	282	36	on	on	ADP
aiti-11232	282	37	system	system	NOUN
aiti-11232	282	38	,	,	PUNCT
aiti-11232	282	39	computation	computation	NOUN
aiti-11232	282	40	,	,	PUNCT
aiti-11232	282	41	automation	automation	NOUN
aiti-11232	282	42	and	and	CCONJ
aiti-11232	282	43	networking	networking	NOUN
aiti-11232	282	44	,	,	PUNCT
aiti-11232	282	45	pp	pp	ADJ
aiti-11232	282	46	.	.	PUNCT
aiti-11232	283	1	1	1	NUM
aiti-11232	283	2	-	-	SYM
aiti-11232	283	3	5	5	NUM
aiti-11232	283	4	,	,	PUNCT
aiti-11232	283	5	march	march	PROPN
aiti-11232	283	6	2019	2019	NUM
aiti-11232	283	7	.	.	PUNCT
aiti-11232	284	1	[	[	X
aiti-11232	284	2	3	3	X
aiti-11232	284	3	]	]	X
aiti-11232	284	4	g.	g.	NOUN
aiti-11232	284	5	rigatos	rigato	NOUN
aiti-11232	284	6	,	,	PUNCT
aiti-11232	284	7	g.	g.	PROPN
aiti-11232	284	8	cuccurullo	cuccurullo	PROPN
aiti-11232	284	9	,	,	PUNCT
aiti-11232	284	10	p.	p.	PROPN
aiti-11232	284	11	siano	siano	PROPN
aiti-11232	284	12	,	,	PUNCT
aiti-11232	284	13	k.	k.	PROPN
aiti-11232	284	14	busawon	busawon	VERB
aiti-11232	284	15	,	,	PUNCT
aiti-11232	284	16	and	and	CCONJ
aiti-11232	284	17	m.	m.	NOUN
aiti-11232	284	18	abbaszadeh	abbaszadeh	PROPN
aiti-11232	284	19	,	,	PUNCT
aiti-11232	284	20	“	"	PUNCT
aiti-11232	284	21	nonlinear	nonlinear	ADJ
aiti-11232	284	22	optimal	optimal	ADJ
aiti-11232	284	23	control	control	NOUN
aiti-11232	284	24	for	for	ADP
aiti-11232	284	25	the	the	DET
aiti-11232	284	26	quadruple	quadruple	PROPN
aiti-11232	284	27	water	water	NOUN
aiti-11232	284	28	tank	tank	NOUN
aiti-11232	284	29	system	system	NOUN
aiti-11232	284	30	,	,	PUNCT
aiti-11232	284	31	”	"	PUNCT
aiti-11232	284	32	aip	aip	PROPN
aiti-11232	284	33	conference	conference	NOUN
aiti-11232	284	34	proceedings	proceeding	NOUN
aiti-11232	284	35	,	,	PUNCT
aiti-11232	284	36	vol	vol	NOUN
aiti-11232	284	37	.	.	PUNCT
aiti-11232	284	38	2293	2293	NUM
aiti-11232	284	39	,	,	PUNCT
aiti-11232	284	40	no	no	INTJ
aiti-11232	285	1	.	.	NOUN
aiti-11232	285	2	1	1	NUM
aiti-11232	285	3	,	,	PUNCT
aiti-11232	285	4	article	article	NOUN
aiti-11232	285	5	no	no	NOUN
aiti-11232	285	6	.	.	PROPN
aiti-11232	285	7	310005	310005	NUM
aiti-11232	285	8	,	,	PUNCT
aiti-11232	285	9	november	november	PROPN
aiti-11232	285	10	2020	2020	NUM
aiti-11232	285	11	.	.	PUNCT
aiti-11232	286	1	[	[	X
aiti-11232	286	2	4	4	X
aiti-11232	286	3	]	]	PUNCT
aiti-11232	286	4	l.	l.	PROPN
aiti-11232	286	5	zhang	zhang	PROPN
aiti-11232	286	6	,	,	PUNCT
aiti-11232	286	7	h.	h.	PROPN
aiti-11232	286	8	xie	xie	PROPN
aiti-11232	286	9	,	,	PUNCT
aiti-11232	286	10	q.	q.	PROPN
aiti-11232	286	11	duan	duan	PROPN
aiti-11232	286	12	,	,	PUNCT
aiti-11232	286	13	c.	c.	PROPN
aiti-11232	286	14	lu	lu	PROPN
aiti-11232	286	15	,	,	PUNCT
aiti-11232	286	16	j.	j.	PROPN
aiti-11232	286	17	li	li	PROPN
aiti-11232	286	18	,	,	PUNCT
aiti-11232	286	19	and	and	CCONJ
aiti-11232	286	20	z.	z.	PROPN
aiti-11232	286	21	lv	lv	PROPN
aiti-11232	286	22	,	,	PUNCT
aiti-11232	286	23	“	"	PUNCT
aiti-11232	286	24	power	power	NOUN
aiti-11232	286	25	level	level	NOUN
aiti-11232	286	26	control	control	NOUN
aiti-11232	286	27	of	of	ADP
aiti-11232	286	28	nuclear	nuclear	ADJ
aiti-11232	286	29	power	power	NOUN
aiti-11232	286	30	plant	plant	NOUN
aiti-11232	286	31	based	base	VERB
aiti-11232	286	32	on	on	ADP
aiti-11232	286	33	asymptotical	asymptotical	ADJ
aiti-11232	286	34	state	state	NOUN
aiti-11232	286	35	observer	observer	NOUN
aiti-11232	286	36	under	under	ADP
aiti-11232	286	37	neutron	neutron	NOUN
aiti-11232	286	38	sensor	sensor	NOUN
aiti-11232	286	39	fault	fault	NOUN
aiti-11232	286	40	,	,	PUNCT
aiti-11232	286	41	”	"	PUNCT
aiti-11232	286	42	science	science	NOUN
aiti-11232	286	43	and	and	CCONJ
aiti-11232	286	44	technology	technology	NOUN
aiti-11232	286	45	of	of	ADP
aiti-11232	286	46	nuclear	nuclear	ADJ
aiti-11232	286	47	installations	installation	NOUN
aiti-11232	286	48	,	,	PUNCT
aiti-11232	286	49	vol	vol	NOUN
aiti-11232	286	50	.	.	PROPN
aiti-11232	286	51	2021	2021	NUM
aiti-11232	286	52	,	,	PUNCT
aiti-11232	286	53	article	article	NOUN
aiti-11232	286	54	no	no	NOUN
aiti-11232	286	55	.	.	PROPN
aiti-11232	286	56	8833729	8833729	NUM
aiti-11232	286	57	,	,	PUNCT
aiti-11232	286	58	2021	2021	NUM
aiti-11232	286	59	.	.	PUNCT
aiti-11232	287	1	[	[	X
aiti-11232	287	2	5	5	X
aiti-11232	287	3	]	]	X
aiti-11232	287	4	n.	n.	PROPN
aiti-11232	287	5	a.	a.	PROPN
aiti-11232	287	6	al	al	PROPN
aiti-11232	287	7	-	-	PUNCT
aiti-11232	287	8	awad	awad	PROPN
aiti-11232	287	9	,	,	PUNCT
aiti-11232	287	10	“	"	PUNCT
aiti-11232	287	11	optimal	optimal	ADJ
aiti-11232	287	12	control	control	NOUN
aiti-11232	287	13	of	of	ADP
aiti-11232	287	14	quadruple	quadruple	NOUN
aiti-11232	287	15	tank	tank	NOUN
aiti-11232	287	16	system	system	NOUN
aiti-11232	287	17	using	use	VERB
aiti-11232	287	18	genetic	genetic	ADJ
aiti-11232	287	19	algorithm	algorithm	NOUN
aiti-11232	287	20	,	,	PUNCT
aiti-11232	287	21	”	"	PUNCT
aiti-11232	287	22	international	international	ADJ
aiti-11232	287	23	journal	journal	NOUN
aiti-11232	287	24	of	of	ADP
aiti-11232	287	25	computing	computing	NOUN
aiti-11232	287	26	and	and	CCONJ
aiti-11232	287	27	digital	digital	ADJ
aiti-11232	287	28	systems	system	NOUN
aiti-11232	287	29	,	,	PUNCT
aiti-11232	287	30	vol	vol	NOUN
aiti-11232	287	31	.	.	PROPN
aiti-11232	287	32	8	8	NUM
aiti-11232	287	33	,	,	PUNCT
aiti-11232	287	34	no	no	INTJ
aiti-11232	287	35	.	.	NOUN
aiti-11232	287	36	1	1	NUM
aiti-11232	287	37	,	,	PUNCT
aiti-11232	287	38	pp	pp	ADJ
aiti-11232	287	39	.	.	PUNCT
aiti-11232	288	1	51	51	NUM
aiti-11232	288	2	-	-	SYM
aiti-11232	288	3	59	59	NUM
aiti-11232	288	4	,	,	PUNCT
aiti-11232	288	5	january	january	PROPN
aiti-11232	288	6	2019	2019	NUM
aiti-11232	288	7	.	.	PUNCT
aiti-11232	289	1	[	[	X
aiti-11232	289	2	6	6	NUM
aiti-11232	289	3	]	]	X
aiti-11232	289	4	r.	r.	PROPN
aiti-11232	289	5	kashyap	kashyap	PROPN
aiti-11232	289	6	,	,	PUNCT
aiti-11232	289	7	n.	n.	PROPN
aiti-11232	289	8	jaggi	jaggi	PROPN
aiti-11232	289	9	,	,	PUNCT
aiti-11232	289	10	and	and	CCONJ
aiti-11232	289	11	b.	b.	PROPN
aiti-11232	289	12	pratap	pratap	PROPN
aiti-11232	289	13	,	,	PUNCT
aiti-11232	289	14	“	"	PUNCT
aiti-11232	289	15	robust	robust	ADJ
aiti-11232	289	16	controller	controller	NOUN
aiti-11232	289	17	design	design	NOUN
aiti-11232	289	18	and	and	CCONJ
aiti-11232	289	19	performance	performance	NOUN
aiti-11232	289	20	analysis	analysis	NOUN
aiti-11232	289	21	of	of	ADP
aiti-11232	289	22	four	four	NUM
aiti-11232	289	23	-	-	PUNCT
aiti-11232	289	24	tank	tank	NOUN
aiti-11232	289	25	coupled	couple	VERB
aiti-11232	289	26	system	system	NOUN
aiti-11232	289	27	,	,	PUNCT
aiti-11232	289	28	”	"	PUNCT
aiti-11232	289	29	1st	1st	ADJ
aiti-11232	289	30	international	international	ADJ
aiti-11232	289	31	conference	conference	NOUN
aiti-11232	289	32	on	on	ADP
aiti-11232	289	33	signal	signal	ADJ
aiti-11232	289	34	processing	processing	NOUN
aiti-11232	289	35	,	,	PUNCT
aiti-11232	289	36	vlsi	vlsi	NOUN
aiti-11232	289	37	and	and	CCONJ
aiti-11232	289	38	communication	communication	NOUN
aiti-11232	289	39	engineering	engineering	NOUN
aiti-11232	289	40	,	,	PUNCT
aiti-11232	289	41	pp	pp	ADJ
aiti-11232	289	42	.	.	PUNCT
aiti-11232	290	1	1	1	NUM
aiti-11232	290	2	-	-	SYM
aiti-11232	290	3	6	6	NUM
aiti-11232	290	4	,	,	PUNCT
aiti-11232	290	5	march	march	PROPN
aiti-11232	290	6	2019	2019	NUM
aiti-11232	290	7	.	.	PUNCT
aiti-11232	291	1	[	[	X
aiti-11232	291	2	7	7	X
aiti-11232	291	3	]	]	PUNCT
aiti-11232	291	4	s.	s.	PROPN
aiti-11232	291	5	a.	a.	PROPN
aiti-11232	291	6	panahi	panahi	PROPN
aiti-11232	291	7	and	and	CCONJ
aiti-11232	291	8	s.	s.	PROPN
aiti-11232	291	9	b.	b.	PROPN
aiti-11232	291	10	m.	m.	PROPN
aiti-11232	291	11	noor	noor	PROPN
aiti-11232	291	12	,	,	PUNCT
aiti-11232	291	13	“	"	PUNCT
aiti-11232	291	14	model	model	NOUN
aiti-11232	291	15	predictive	predictive	ADJ
aiti-11232	291	16	control	control	NOUN
aiti-11232	291	17	design	design	NOUN
aiti-11232	291	18	for	for	ADP
aiti-11232	291	19	a	a	DET
aiti-11232	291	20	nonlinear	nonlinear	ADJ
aiti-11232	291	21	four	four	NUM
aiti-11232	291	22	-	-	PUNCT
aiti-11232	291	23	tank	tank	NOUN
aiti-11232	291	24	system	system	NOUN
aiti-11232	291	25	,	,	PUNCT
aiti-11232	291	26	”	"	PUNCT
aiti-11232	291	27	ifac	ifac	NOUN
aiti-11232	291	28	proceedings	proceeding	NOUN
aiti-11232	291	29	volumes	volume	NOUN
aiti-11232	291	30	,	,	PUNCT
aiti-11232	291	31	vol	vol	NOUN
aiti-11232	291	32	.	.	PROPN
aiti-11232	292	1	43	43	NUM
aiti-11232	292	2	,	,	PUNCT
aiti-11232	292	3	no	no	INTJ
aiti-11232	292	4	.	.	NOUN
aiti-11232	292	5	8	8	NUM
aiti-11232	292	6	,	,	PUNCT
aiti-11232	292	7	pp	pp	ADJ
aiti-11232	292	8	.	.	PUNCT
aiti-11232	293	1	382	382	NUM
aiti-11232	293	2	-	-	SYM
aiti-11232	293	3	387	387	NUM
aiti-11232	293	4	,	,	PUNCT
aiti-11232	293	5	2010	2010	NUM
aiti-11232	293	6	.	.	PUNCT
aiti-11232	294	1	[	[	X
aiti-11232	294	2	8	8	NUM
aiti-11232	294	3	]	]	X
aiti-11232	294	4	r.	r.	PROPN
aiti-11232	294	5	hedjar	hedjar	PROPN
aiti-11232	294	6	and	and	CCONJ
aiti-11232	294	7	m.	m.	PROPN
aiti-11232	294	8	bounkhel	bounkhel	PROPN
aiti-11232	294	9	,	,	PUNCT
aiti-11232	294	10	“	"	PUNCT
aiti-11232	294	11	wireless	wireless	ADJ
aiti-11232	294	12	model	model	NOUN
aiti-11232	294	13	predictive	predictive	PROPN
aiti-11232	294	14	control	control	PROPN
aiti-11232	294	15	:	:	PUNCT
aiti-11232	294	16	application	application	NOUN
aiti-11232	294	17	to	to	ADP
aiti-11232	294	18	water	water	NOUN
aiti-11232	294	19	-	-	PUNCT
aiti-11232	294	20	level	level	NOUN
aiti-11232	294	21	system	system	NOUN
aiti-11232	294	22	,	,	PUNCT
aiti-11232	294	23	”	"	PUNCT
aiti-11232	294	24	advances	advance	NOUN
aiti-11232	294	25	in	in	ADP
aiti-11232	294	26	mechanical	mechanical	ADJ
aiti-11232	294	27	engineering	engineering	NOUN
aiti-11232	294	28	,	,	PUNCT
aiti-11232	294	29	vol	vol	NOUN
aiti-11232	294	30	.	.	PROPN
aiti-11232	294	31	8	8	NUM
aiti-11232	294	32	,	,	PUNCT
aiti-11232	294	33	no	no	INTJ
aiti-11232	294	34	.	.	NOUN
aiti-11232	294	35	4	4	NUM
aiti-11232	294	36	,	,	PUNCT
aiti-11232	294	37	pp	pp	ADJ
aiti-11232	294	38	.	.	PUNCT
aiti-11232	295	1	1	1	NUM
aiti-11232	295	2	-	-	SYM
aiti-11232	295	3	13	13	NUM
aiti-11232	295	4	,	,	PUNCT
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aiti-11232	295	6	.	.	PUNCT
aiti-11232	296	1	[	[	X
aiti-11232	296	2	9	9	NUM
aiti-11232	296	3	]	]	PUNCT
aiti-11232	296	4	p.	p.	NOUN
aiti-11232	296	5	prasad	prasad	PROPN
aiti-11232	296	6	,	,	PUNCT
aiti-11232	296	7	“	"	PUNCT
aiti-11232	296	8	the	the	DET
aiti-11232	296	9	performance	performance	NOUN
aiti-11232	296	10	analysis	analysis	NOUN
aiti-11232	296	11	of	of	ADP
aiti-11232	296	12	four	four	NUM
aiti-11232	296	13	tank	tank	NOUN
aiti-11232	296	14	system	system	NOUN
aiti-11232	296	15	for	for	ADP
aiti-11232	296	16	conventional	conventional	ADJ
aiti-11232	296	17	controller	controller	NOUN
aiti-11232	296	18	and	and	CCONJ
aiti-11232	296	19	hybrid	hybrid	NOUN
aiti-11232	296	20	controller	controller	NOUN
aiti-11232	296	21	,	,	PUNCT
aiti-11232	296	22	”	"	PUNCT
aiti-11232	296	23	international	international	ADJ
aiti-11232	296	24	research	research	NOUN
aiti-11232	296	25	journal	journal	NOUN
aiti-11232	296	26	of	of	ADP
aiti-11232	296	27	engineering	engineering	NOUN
aiti-11232	296	28	and	and	CCONJ
aiti-11232	296	29	technology	technology	NOUN
aiti-11232	296	30	,	,	PUNCT
aiti-11232	296	31	vol	vol	NOUN
aiti-11232	296	32	.	.	PROPN
aiti-11232	297	1	3	3	NUM
aiti-11232	297	2	,	,	PUNCT
aiti-11232	297	3	no	no	INTJ
aiti-11232	297	4	.	.	NOUN
aiti-11232	297	5	6	6	NUM
aiti-11232	297	6	,	,	PUNCT
aiti-11232	297	7	pp	pp	ADJ
aiti-11232	297	8	.	.	PUNCT
aiti-11232	298	1	2182	2182	NUM
aiti-11232	298	2	-	-	SYM
aiti-11232	298	3	2187	2187	NUM
aiti-11232	298	4	,	,	PUNCT
aiti-11232	298	5	june	june	PROPN
aiti-11232	298	6	2016	2016	NUM
aiti-11232	298	7	.	.	PUNCT
aiti-11232	299	1	[	[	X
aiti-11232	299	2	10	10	NUM
aiti-11232	299	3	]	]	PUNCT
aiti-11232	299	4	k.	k.	PROPN
aiti-11232	299	5	h.	h.	PROPN
aiti-11232	299	6	johansson	johansson	PROPN
aiti-11232	299	7	,	,	PUNCT
aiti-11232	299	8	“	"	PUNCT
aiti-11232	299	9	the	the	DET
aiti-11232	299	10	quadruple	quadruple	NOUN
aiti-11232	299	11	-	-	PUNCT
aiti-11232	299	12	tank	tank	NOUN
aiti-11232	299	13	process	process	NOUN
aiti-11232	299	14	:	:	PUNCT
aiti-11232	299	15	a	a	DET
aiti-11232	299	16	multivariable	multivariable	ADJ
aiti-11232	299	17	laboratory	laboratory	NOUN
aiti-11232	299	18	process	process	NOUN
aiti-11232	299	19	with	with	ADP
aiti-11232	299	20	an	an	DET
aiti-11232	299	21	adjustable	adjustable	ADJ
aiti-11232	299	22	zero	zero	NUM
aiti-11232	299	23	,	,	PUNCT
aiti-11232	299	24	”	"	PUNCT
aiti-11232	299	25	ieee	ieee	NOUN
aiti-11232	299	26	transactions	transaction	NOUN
aiti-11232	299	27	on	on	ADP
aiti-11232	299	28	control	control	NOUN
aiti-11232	299	29	systems	system	NOUN
aiti-11232	299	30	technology	technology	NOUN
aiti-11232	299	31	,	,	PUNCT
aiti-11232	299	32	vol	vol	NOUN
aiti-11232	299	33	.	.	PROPN
aiti-11232	299	34	8	8	NUM
aiti-11232	299	35	,	,	PUNCT
aiti-11232	299	36	no	no	INTJ
aiti-11232	299	37	.	.	NOUN
aiti-11232	299	38	3	3	NUM
aiti-11232	299	39	,	,	PUNCT
aiti-11232	299	40	pp	pp	ADJ
aiti-11232	299	41	.	.	PUNCT
aiti-11232	300	1	456	456	NUM
aiti-11232	300	2	-	-	SYM
aiti-11232	300	3	465	465	NUM
aiti-11232	300	4	,	,	PUNCT
aiti-11232	300	5	may	may	AUX
aiti-11232	300	6	2000	2000	NUM
aiti-11232	300	7	.	.	PUNCT
aiti-11232	301	1	[	[	X
aiti-11232	301	2	11	11	NUM
aiti-11232	301	3	]	]	PUNCT
aiti-11232	301	4	s.	s.	PROPN
aiti-11232	301	5	b.	b.	PROPN
aiti-11232	301	6	prusty	prusty	PROPN
aiti-11232	301	7	,	,	PUNCT
aiti-11232	301	8	u.	u.	PROPN
aiti-11232	301	9	c.	c.	PROPN
aiti-11232	301	10	pati	pati	PROPN
aiti-11232	301	11	,	,	PUNCT
aiti-11232	301	12	and	and	CCONJ
aiti-11232	301	13	k.	k.	PROPN
aiti-11232	301	14	k.	k.	PROPN
aiti-11232	301	15	mahapatra	mahapatra	PROPN
aiti-11232	301	16	,	,	PUNCT
aiti-11232	301	17	“	"	PUNCT
aiti-11232	301	18	model	model	NOUN
aiti-11232	301	19	based	base	VERB
aiti-11232	301	20	predictive	predictive	ADJ
aiti-11232	301	21	control	control	NOUN
aiti-11232	301	22	of	of	ADP
aiti-11232	301	23	the	the	DET
aiti-11232	301	24	four	four	NUM
aiti-11232	301	25	tank	tank	NOUN
aiti-11232	301	26	system	system	NOUN
aiti-11232	301	27	,	,	PUNCT
aiti-11232	301	28	”	"	PUNCT
aiti-11232	301	29	advances	advance	NOUN
aiti-11232	301	30	in	in	ADP
aiti-11232	301	31	system	system	NOUN
aiti-11232	301	32	optimization	optimization	NOUN
aiti-11232	301	33	and	and	CCONJ
aiti-11232	301	34	control	control	NOUN
aiti-11232	301	35	,	,	PUNCT
aiti-11232	301	36	vol	vol	NOUN
aiti-11232	301	37	.	.	PROPN
aiti-11232	301	38	509	509	NUM
aiti-11232	301	39	,	,	PUNCT
aiti-11232	301	40	pp	pp	ADJ
aiti-11232	301	41	.	.	PUNCT
aiti-11232	302	1	249	249	NUM
aiti-11232	302	2	-	-	SYM
aiti-11232	302	3	260	260	NUM
aiti-11232	302	4	,	,	PUNCT
aiti-11232	302	5	2019	2019	NUM
aiti-11232	302	6	.	.	PUNCT
aiti-11232	303	1	[	[	X
aiti-11232	303	2	12	12	NUM
aiti-11232	303	3	]	]	X
aiti-11232	303	4	w.	w.	PROPN
aiti-11232	303	5	a.	a.	PROPN
aiti-11232	303	6	altabey	altabey	PROPN
aiti-11232	303	7	,	,	PUNCT
aiti-11232	303	8	“	"	PUNCT
aiti-11232	303	9	model	model	VERB
aiti-11232	303	10	optimal	optimal	ADJ
aiti-11232	303	11	control	control	NOUN
aiti-11232	303	12	of	of	ADP
aiti-11232	303	13	the	the	DET
aiti-11232	303	14	four	four	NUM
aiti-11232	303	15	tank	tank	NOUN
aiti-11232	303	16	system	system	NOUN
aiti-11232	303	17	,	,	PUNCT
aiti-11232	303	18	”	"	PUNCT
aiti-11232	303	19	international	international	ADJ
aiti-11232	303	20	journal	journal	NOUN
aiti-11232	303	21	of	of	ADP
aiti-11232	303	22	systems	system	NOUN
aiti-11232	303	23	science	science	NOUN
aiti-11232	303	24	and	and	CCONJ
aiti-11232	303	25	applied	applied	ADJ
aiti-11232	303	26	mathematics	mathematic	NOUN
aiti-11232	303	27	,	,	PUNCT
aiti-11232	303	28	vol	vol	NOUN
aiti-11232	303	29	.	.	PROPN
aiti-11232	303	30	1	1	NUM
aiti-11232	303	31	,	,	PUNCT
aiti-11232	303	32	no	no	INTJ
aiti-11232	303	33	.	.	NOUN
aiti-11232	303	34	4	4	NUM
aiti-11232	303	35	,	,	PUNCT
aiti-11232	303	36	pp	pp	ADJ
aiti-11232	303	37	.	.	PUNCT
aiti-11232	304	1	30	30	NUM
aiti-11232	304	2	-	-	SYM
aiti-11232	304	3	41	41	NUM
aiti-11232	304	4	,	,	PUNCT
aiti-11232	304	5	november	november	PROPN
aiti-11232	304	6	2016	2016	NUM
aiti-11232	304	7	.	.	PUNCT
aiti-11232	305	1	[	[	X
aiti-11232	305	2	13	13	NUM
aiti-11232	305	3	]	]	PUNCT
aiti-11232	305	4	a.	a.	PROPN
aiti-11232	305	5	k.	k.	PROPN
aiti-11232	305	6	ali	ali	PROPN
aiti-11232	305	7	and	and	CCONJ
aiti-11232	305	8	m.	m.	PROPN
aiti-11232	305	9	s.	s.	PROPN
aiti-11232	305	10	mahmoud	mahmoud	PROPN
aiti-11232	305	11	,	,	PUNCT
aiti-11232	305	12	“	"	PUNCT
aiti-11232	305	13	distributed	distribute	VERB
aiti-11232	305	14	estimation	estimation	NOUN
aiti-11232	305	15	and	and	CCONJ
aiti-11232	305	16	control	control	NOUN
aiti-11232	305	17	of	of	ADP
aiti-11232	305	18	a	a	DET
aiti-11232	305	19	four	four	NUM
aiti-11232	305	20	-	-	PUNCT
aiti-11232	305	21	tank	tank	NOUN
aiti-11232	305	22	process	process	NOUN
aiti-11232	305	23	,	,	PUNCT
aiti-11232	305	24	”	"	PUNCT
aiti-11232	305	25	global	global	ADJ
aiti-11232	305	26	journal	journal	NOUN
aiti-11232	305	27	of	of	ADP
aiti-11232	305	28	engineering	engineering	NOUN
aiti-11232	305	29	and	and	CCONJ
aiti-11232	305	30	technology	technology	NOUN
aiti-11232	305	31	advances	advance	NOUN
aiti-11232	305	32	,	,	PUNCT
aiti-11232	305	33	vol	vol	NOUN
aiti-11232	305	34	.	.	PROPN
aiti-11232	305	35	9	9	NUM
aiti-11232	305	36	,	,	PUNCT
aiti-11232	305	37	no	no	INTJ
aiti-11232	305	38	.	.	NOUN
aiti-11232	305	39	3	3	NUM
aiti-11232	305	40	,	,	PUNCT
aiti-11232	305	41	pp	pp	ADJ
aiti-11232	305	42	.	.	PUNCT
aiti-11232	306	1	133	133	NUM
aiti-11232	306	2	-	-	SYM
aiti-11232	306	3	142	142	NUM
aiti-11232	306	4	,	,	PUNCT
aiti-11232	306	5	december	december	PROPN
aiti-11232	306	6	2021	2021	NUM
aiti-11232	306	7	.	.	PUNCT
aiti-11232	307	1	advances	advance	NOUN
aiti-11232	307	2	in	in	ADP
aiti-11232	307	3	technology	technology	NOUN
aiti-11232	307	4	innovation	innovation	NOUN
aiti-11232	307	5	,	,	PUNCT
aiti-11232	307	6	vol	vol	NOUN
aiti-11232	307	7	.	.	PROPN
aiti-11232	307	8	8	8	NUM
aiti-11232	307	9	,	,	PUNCT
aiti-11232	307	10	no	no	INTJ
aiti-11232	307	11	.	.	NOUN
aiti-11232	307	12	2	2	NUM
aiti-11232	307	13	,	,	PUNCT
aiti-11232	307	14	2023	2023	NUM
aiti-11232	307	15	,	,	PUNCT
aiti-11232	307	16	pp	pp	ADJ
aiti-11232	307	17	.	.	PUNCT
aiti-11232	308	1	150	150	NUM
aiti-11232	308	2	-	-	SYM
aiti-11232	308	3	161	161	NUM
aiti-11232	308	4	161	161	NUM
aiti-11232	308	5	[	[	X
aiti-11232	308	6	14	14	NUM
aiti-11232	308	7	]	]	PUNCT
aiti-11232	308	8	x.	x.	NOUN
aiti-11232	308	9	meng	meng	PROPN
aiti-11232	308	10	,	,	PUNCT
aiti-11232	308	11	h.	h.	PROPN
aiti-11232	308	12	yu	yu	PROPN
aiti-11232	308	13	,	,	PUNCT
aiti-11232	308	14	j.	j.	PROPN
aiti-11232	308	15	zhang	zhang	PROPN
aiti-11232	308	16	,	,	PUNCT
aiti-11232	308	17	t.	t.	PROPN
aiti-11232	308	18	xu	xu	PROPN
aiti-11232	308	19	,	,	PUNCT
aiti-11232	308	20	and	and	CCONJ
aiti-11232	308	21	h.	h.	PROPN
aiti-11232	308	22	wu	wu	PROPN
aiti-11232	308	23	,	,	PUNCT
aiti-11232	308	24	“	"	PUNCT
aiti-11232	308	25	liquid	liquid	ADJ
aiti-11232	308	26	level	level	NOUN
aiti-11232	308	27	control	control	NOUN
aiti-11232	308	28	of	of	ADP
aiti-11232	308	29	four	four	NUM
aiti-11232	308	30	-	-	PUNCT
aiti-11232	308	31	tank	tank	NOUN
aiti-11232	308	32	system	system	NOUN
aiti-11232	308	33	based	base	VERB
aiti-11232	308	34	on	on	ADP
aiti-11232	308	35	active	active	ADJ
aiti-11232	308	36	disturbance	disturbance	NOUN
aiti-11232	308	37	rejection	rejection	NOUN
aiti-11232	308	38	technology	technology	NOUN
aiti-11232	308	39	,	,	PUNCT
aiti-11232	308	40	”	"	PUNCT
aiti-11232	308	41	measurement	measurement	NOUN
aiti-11232	308	42	,	,	PUNCT
aiti-11232	308	43	vol	vol	NOUN
aiti-11232	308	44	.	.	PROPN
aiti-11232	308	45	175	175	NUM
aiti-11232	308	46	,	,	PUNCT
aiti-11232	308	47	article	article	NOUN
aiti-11232	308	48	no	no	NOUN
aiti-11232	308	49	.	.	PROPN
aiti-11232	308	50	109146	109146	NUM
aiti-11232	308	51	,	,	PUNCT
aiti-11232	308	52	april	april	PROPN
aiti-11232	308	53	2021	2021	NUM
aiti-11232	308	54	.	.	PUNCT
aiti-11232	309	1	[	[	X
aiti-11232	309	2	15	15	NUM
aiti-11232	309	3	]	]	PUNCT
aiti-11232	309	4	x.	x.	NOUN
aiti-11232	309	5	meng	meng	PROPN
aiti-11232	309	6	,	,	PUNCT
aiti-11232	309	7	h.	h.	PROPN
aiti-11232	309	8	yu	yu	PROPN
aiti-11232	309	9	,	,	PUNCT
aiti-11232	309	10	t.	t.	PROPN
aiti-11232	309	11	xu	xu	PROPN
aiti-11232	309	12	,	,	PUNCT
aiti-11232	309	13	and	and	CCONJ
aiti-11232	309	14	h.	h.	PROPN
aiti-11232	309	15	wu	wu	PROPN
aiti-11232	309	16	,	,	PUNCT
aiti-11232	309	17	“	"	PUNCT
aiti-11232	309	18	disturbance	disturbance	NOUN
aiti-11232	309	19	observer	observer	NOUN
aiti-11232	309	20	and	and	CCONJ
aiti-11232	309	21	l2	l2	NOUN
aiti-11232	309	22	-	-	PUNCT
aiti-11232	309	23	gain	gain	NOUN
aiti-11232	309	24	-	-	PUNCT
aiti-11232	309	25	based	base	VERB
aiti-11232	309	26	state	state	NOUN
aiti-11232	309	27	error	error	NOUN
aiti-11232	309	28	feedback	feedback	NOUN
aiti-11232	309	29	linearization	linearization	NOUN
aiti-11232	309	30	control	control	NOUN
aiti-11232	309	31	for	for	ADP
aiti-11232	309	32	the	the	DET
aiti-11232	309	33	quadruple	quadruple	NOUN
aiti-11232	309	34	-	-	PUNCT
aiti-11232	309	35	tank	tank	NOUN
aiti-11232	309	36	liquid	liquid	NOUN
aiti-11232	309	37	-	-	PUNCT
aiti-11232	309	38	level	level	NOUN
aiti-11232	309	39	system	system	NOUN
aiti-11232	309	40	,	,	PUNCT
aiti-11232	309	41	”	"	PUNCT
aiti-11232	309	42	energies	energy	NOUN
aiti-11232	309	43	,	,	PUNCT
aiti-11232	309	44	vol	vol	NOUN
aiti-11232	309	45	.	.	PROPN
aiti-11232	309	46	13	13	NUM
aiti-11232	309	47	,	,	PUNCT
aiti-11232	309	48	no	no	INTJ
aiti-11232	309	49	.	.	NOUN
aiti-11232	309	50	20	20	NUM
aiti-11232	309	51	,	,	PUNCT
aiti-11232	309	52	article	article	NOUN
aiti-11232	309	53	no	no	NOUN
aiti-11232	309	54	.	.	PROPN
aiti-11232	309	55	5500	5500	NUM
aiti-11232	309	56	,	,	PUNCT
aiti-11232	309	57	october	october	PROPN
aiti-11232	309	58	2020	2020	NUM
aiti-11232	309	59	.	.	PUNCT
aiti-11232	310	1	[	[	X
aiti-11232	310	2	16	16	NUM
aiti-11232	310	3	]	]	X
aiti-11232	310	4	c.	c.	PROPN
aiti-11232	310	5	renotte	renotte	PROPN
aiti-11232	310	6	,	,	PUNCT
aiti-11232	310	7	a.	a.	NOUN
aiti-11232	310	8	v.	v.	ADP
aiti-11232	310	9	wouwer	wouwer	NOUN
aiti-11232	310	10	,	,	PUNCT
aiti-11232	310	11	and	and	CCONJ
aiti-11232	310	12	m.	m.	PROPN
aiti-11232	310	13	remy	remy	PROPN
aiti-11232	310	14	,	,	PUNCT
aiti-11232	310	15	“	"	PUNCT
aiti-11232	310	16	neural	neural	ADJ
aiti-11232	310	17	modeling	modeling	NOUN
aiti-11232	310	18	and	and	CCONJ
aiti-11232	310	19	control	control	NOUN
aiti-11232	310	20	of	of	ADP
aiti-11232	310	21	a	a	DET
aiti-11232	310	22	heat	heat	NOUN
aiti-11232	310	23	exchanger	exchanger	NOUN
aiti-11232	310	24	based	base	VERB
aiti-11232	310	25	on	on	ADP
aiti-11232	310	26	spsa	spsa	NOUN
aiti-11232	310	27	techniques	technique	NOUN
aiti-11232	310	28	,	,	PUNCT
aiti-11232	310	29	”	"	PUNCT
aiti-11232	310	30	proceedings	proceeding	NOUN
aiti-11232	310	31	of	of	ADP
aiti-11232	310	32	the	the	DET
aiti-11232	310	33	2000	2000	NUM
aiti-11232	310	34	american	american	PROPN
aiti-11232	310	35	control	control	PROPN
aiti-11232	310	36	conference	conference	PROPN
aiti-11232	310	37	,	,	PUNCT
aiti-11232	310	38	vol	vol	NOUN
aiti-11232	310	39	.	.	PROPN
aiti-11232	310	40	5	5	NUM
aiti-11232	310	41	,	,	PUNCT
aiti-11232	310	42	pp	pp	ADJ
aiti-11232	310	43	.	.	PUNCT
aiti-11232	311	1	3299	3299	NUM
aiti-11232	311	2	-	-	SYM
aiti-11232	311	3	3303	3303	NUM
aiti-11232	311	4	,	,	PUNCT
aiti-11232	311	5	june	june	PROPN
aiti-11232	311	6	2000	2000	NUM
aiti-11232	311	7	.	.	PUNCT
aiti-11232	312	1	[	[	X
aiti-11232	312	2	17	17	NUM
aiti-11232	312	3	]	]	PUNCT
aiti-11232	312	4	x.	x.	PROPN
aiti-11232	312	5	kong	kong	PROPN
aiti-11232	312	6	,	,	PUNCT
aiti-11232	312	7	x.	x.	PROPN
aiti-11232	312	8	wang	wang	PROPN
aiti-11232	312	9	,	,	PUNCT
aiti-11232	312	10	and	and	CCONJ
aiti-11232	312	11	z.	z.	PROPN
aiti-11232	312	12	ma	ma	PROPN
aiti-11232	312	13	,	,	PUNCT
aiti-11232	312	14	“	"	PUNCT
aiti-11232	312	15	a	a	DET
aiti-11232	312	16	novel	novel	ADJ
aiti-11232	312	17	method	method	NOUN
aiti-11232	312	18	for	for	ADP
aiti-11232	312	19	controller	controller	NOUN
aiti-11232	312	20	parameters	parameter	NOUN
aiti-11232	312	21	optimization	optimization	NOUN
aiti-11232	312	22	of	of	ADP
aiti-11232	312	23	steam	steam	NOUN
aiti-11232	312	24	generator	generator	NOUN
aiti-11232	312	25	level	level	NOUN
aiti-11232	312	26	control	control	NOUN
aiti-11232	312	27	,	,	PUNCT
aiti-11232	312	28	”	"	PUNCT
aiti-11232	312	29	21st	21st	ADJ
aiti-11232	312	30	international	international	ADJ
aiti-11232	312	31	conference	conference	NOUN
aiti-11232	312	32	on	on	ADP
aiti-11232	312	33	nuclear	nuclear	ADJ
aiti-11232	312	34	engineering	engineering	NOUN
aiti-11232	312	35	,	,	PUNCT
aiti-11232	312	36	article	article	NOUN
aiti-11232	312	37	no	no	NOUN
aiti-11232	312	38	.	.	PROPN
aiti-11232	312	39	16294	16294	NUM
aiti-11232	312	40	,	,	PUNCT
aiti-11232	312	41	july	july	PROPN
aiti-11232	312	42	-	-	PUNCT
aiti-11232	312	43	august	august	PROPN
aiti-11232	312	44	2013	2013	NUM
aiti-11232	312	45	.	.	PUNCT
aiti-11232	313	1	[	[	X
aiti-11232	313	2	18	18	NUM
aiti-11232	313	3	]	]	X
aiti-11232	313	4	i.	i.	PROPN
aiti-11232	313	5	kong	kong	PROPN
aiti-11232	313	6	,	,	PUNCT
aiti-11232	313	7	i.	i.	PROPN
aiti-11232	313	8	qian	qian	PROPN
aiti-11232	313	9	,	,	PUNCT
aiti-11232	313	10	and	and	CCONJ
aiti-11232	313	11	i.	i.	PROPN
aiti-11232	313	12	wang	wang	PROPN
aiti-11232	313	13	,	,	PUNCT
aiti-11232	313	14	“	"	PUNCT
aiti-11232	313	15	spsa	spsa	NOUN
aiti-11232	313	16	-	-	PUNCT
aiti-11232	313	17	based	base	VERB
aiti-11232	313	18	pid	pid	NOUN
aiti-11232	313	19	parameters	parameter	NOUN
aiti-11232	313	20	optimization	optimization	NOUN
aiti-11232	313	21	for	for	ADP
aiti-11232	313	22	a	a	DET
aiti-11232	313	23	dual	dual	ADJ
aiti-11232	313	24	-	-	PUNCT
aiti-11232	313	25	tank	tank	NOUN
aiti-11232	313	26	liquid	liquid	NOUN
aiti-11232	313	27	-	-	PUNCT
aiti-11232	313	28	level	level	NOUN
aiti-11232	313	29	control	control	NOUN
aiti-11232	313	30	system	system	NOUN
aiti-11232	313	31	,	,	PUNCT
aiti-11232	313	32	”	"	PUNCT
aiti-11232	313	33	ieee	ieee	PROPN
aiti-11232	313	34	international	international	ADJ
aiti-11232	313	35	conference	conference	NOUN
aiti-11232	313	36	on	on	ADP
aiti-11232	313	37	industrial	industrial	ADJ
aiti-11232	313	38	engineering	engineering	NOUN
aiti-11232	313	39	and	and	CCONJ
aiti-11232	313	40	engineering	engineering	NOUN
aiti-11232	313	41	management	management	NOUN
aiti-11232	313	42	,	,	PUNCT
aiti-11232	313	43	pp	pp	ADP
aiti-11232	313	44	.	.	PUNCT
aiti-11232	313	45	1463	1463	NUM
aiti-11232	313	46	-	-	SYM
aiti-11232	313	47	1467	1467	NUM
aiti-11232	313	48	,	,	PUNCT
aiti-11232	313	49	december	december	PROPN
aiti-11232	313	50	2016	2016	NUM
aiti-11232	313	51	.	.	PUNCT
aiti-11232	314	1	[	[	X
aiti-11232	314	2	19	19	NUM
aiti-11232	314	3	]	]	PUNCT
aiti-11232	314	4	m.	m.	NOUN
aiti-11232	314	5	jesmani	jesmani	PROPN
aiti-11232	314	6	,	,	PUNCT
aiti-11232	314	7	b.	b.	PROPN
aiti-11232	314	8	jafarpour	jafarpour	PROPN
aiti-11232	314	9	,	,	PUNCT
aiti-11232	314	10	m.	m.	PROPN
aiti-11232	314	11	c.	c.	PROPN
aiti-11232	314	12	bellout	bellout	PROPN
aiti-11232	314	13	,	,	PUNCT
aiti-11232	314	14	and	and	CCONJ
aiti-11232	314	15	b.	b.	PROPN
aiti-11232	314	16	foss	foss	PROPN
aiti-11232	314	17	,	,	PUNCT
aiti-11232	314	18	“	"	PUNCT
aiti-11232	314	19	a	a	DET
aiti-11232	314	20	reduced	reduce	VERB
aiti-11232	314	21	random	random	ADJ
aiti-11232	314	22	sampling	sampling	NOUN
aiti-11232	314	23	strategy	strategy	NOUN
aiti-11232	314	24	for	for	ADP
aiti-11232	314	25	fast	fast	ADJ
aiti-11232	314	26	robust	robust	ADJ
aiti-11232	314	27	well	well	INTJ
aiti-11232	314	28	placement	placement	NOUN
aiti-11232	314	29	optimization	optimization	NOUN
aiti-11232	314	30	,	,	PUNCT
aiti-11232	314	31	”	"	PUNCT
aiti-11232	314	32	journal	journal	NOUN
aiti-11232	314	33	of	of	ADP
aiti-11232	314	34	petroleum	petroleum	NOUN
aiti-11232	314	35	science	science	NOUN
aiti-11232	314	36	and	and	CCONJ
aiti-11232	314	37	engineering	engineering	NOUN
aiti-11232	314	38	,	,	PUNCT
aiti-11232	314	39	vol	vol	NOUN
aiti-11232	314	40	.	.	PROPN
aiti-11232	314	41	184	184	NUM
aiti-11232	314	42	,	,	PUNCT
aiti-11232	314	43	article	article	NOUN
aiti-11232	314	44	no	no	NOUN
aiti-11232	314	45	.	.	PROPN
aiti-11232	314	46	106414	106414	NUM
aiti-11232	314	47	,	,	PUNCT
aiti-11232	314	48	january	january	PROPN
aiti-11232	314	49	2020	2020	NUM
aiti-11232	314	50	.	.	PUNCT
aiti-11232	315	1	[	[	X
aiti-11232	315	2	20	20	NUM
aiti-11232	315	3	]	]	PUNCT
aiti-11232	315	4	j.	j.	PROPN
aiti-11232	315	5	c.	c.	PROPN
aiti-11232	315	6	spall	spall	PROPN
aiti-11232	315	7	,	,	PUNCT
aiti-11232	315	8	introduction	introduction	NOUN
aiti-11232	315	9	to	to	ADP
aiti-11232	315	10	stochastic	stochastic	ADJ
aiti-11232	315	11	search	search	NOUN
aiti-11232	315	12	and	and	CCONJ
aiti-11232	315	13	optimization	optimization	NOUN
aiti-11232	315	14	:	:	PUNCT
aiti-11232	315	15	estimation	estimation	NOUN
aiti-11232	315	16	,	,	PUNCT
aiti-11232	315	17	simulation	simulation	NOUN
aiti-11232	315	18	,	,	PUNCT
aiti-11232	315	19	and	and	CCONJ
aiti-11232	315	20	control	control	NOUN
aiti-11232	315	21	,	,	PUNCT
aiti-11232	315	22	1st	1st	ADJ
aiti-11232	315	23	ed	ed	NOUN
aiti-11232	315	24	.	.	PROPN
aiti-11232	315	25	,	,	PUNCT
aiti-11232	315	26	hoboken	hoboken	PROPN
aiti-11232	315	27	:	:	PUNCT
aiti-11232	315	28	wiley	wiley	PROPN
aiti-11232	315	29	-	-	PUNCT
aiti-11232	315	30	interscience	interscience	NOUN
aiti-11232	315	31	,	,	PUNCT
aiti-11232	315	32	2003	2003	NUM
aiti-11232	315	33	.	.	PUNCT
aiti-11232	316	1	[	[	X
aiti-11232	316	2	21	21	NUM
aiti-11232	316	3	]	]	PUNCT
aiti-11232	316	4	a.	a.	PROPN
aiti-11232	316	5	e.	e.	PROPN
aiti-11232	316	6	bryson	bryson	PROPN
aiti-11232	316	7	and	and	CCONJ
aiti-11232	316	8	y.	y.	PROPN
aiti-11232	316	9	c.	c.	PROPN
aiti-11232	316	10	ho	ho	PROPN
aiti-11232	316	11	,	,	PUNCT
aiti-11232	316	12	applied	apply	VERB
aiti-11232	316	13	optimal	optimal	ADJ
aiti-11232	316	14	control	control	NOUN
aiti-11232	316	15	:	:	PUNCT
aiti-11232	316	16	optimization	optimization	NOUN
aiti-11232	316	17	,	,	PUNCT
aiti-11232	316	18	estimation	estimation	NOUN
aiti-11232	316	19	,	,	PUNCT
aiti-11232	316	20	and	and	CCONJ
aiti-11232	316	21	control	control	NOUN
aiti-11232	316	22	,	,	PUNCT
aiti-11232	316	23	1st	1st	ADJ
aiti-11232	316	24	ed	ed	NOUN
aiti-11232	316	25	.	.	PROPN
aiti-11232	316	26	,	,	PUNCT
aiti-11232	316	27	new	new	PROPN
aiti-11232	316	28	york	york	PROPN
aiti-11232	316	29	:	:	PUNCT
aiti-11232	316	30	taylor	taylor	PROPN
aiti-11232	316	31	and	and	CCONJ
aiti-11232	316	32	francis	francis	PROPN
aiti-11232	316	33	,	,	PUNCT
aiti-11232	316	34	1975	1975	NUM
aiti-11232	316	35	.	.	PUNCT
aiti-11232	317	1	[	[	X
aiti-11232	317	2	22	22	NUM
aiti-11232	317	3	]	]	X
aiti-11232	317	4	f.	f.	PROPN
aiti-11232	317	5	l.	l.	PROPN
aiti-11232	317	6	lewis	lewis	PROPN
aiti-11232	317	7	,	,	PUNCT
aiti-11232	317	8	d.	d.	PROPN
aiti-11232	317	9	l.	l.	PROPN
aiti-11232	317	10	vrabie	vrabie	PROPN
aiti-11232	317	11	,	,	PUNCT
aiti-11232	317	12	and	and	CCONJ
aiti-11232	317	13	v.	v.	ADP
aiti-11232	317	14	l.	l.	PROPN
aiti-11232	317	15	syrmos	syrmos	PROPN
aiti-11232	317	16	,	,	PUNCT
aiti-11232	317	17	optimal	optimal	ADJ
aiti-11232	317	18	control	control	NOUN
aiti-11232	317	19	,	,	PUNCT
aiti-11232	317	20	3rd	3rd	ADJ
aiti-11232	317	21	ed	ed	NOUN
aiti-11232	317	22	.	.	PROPN
aiti-11232	317	23	,	,	PUNCT
aiti-11232	317	24	hoboken	hoboken	PROPN
aiti-11232	317	25	:	:	PUNCT
aiti-11232	317	26	john	john	PROPN
aiti-11232	317	27	wiley	wiley	PROPN
aiti-11232	317	28	&	&	CCONJ
aiti-11232	317	29	sons	son	NOUN
aiti-11232	317	30	,	,	PUNCT
aiti-11232	317	31	2012	2012	NUM
aiti-11232	317	32	.	.	PUNCT
aiti-11232	318	1	[	[	X
aiti-11232	318	2	23	23	NUM
aiti-11232	318	3	]	]	X
aiti-11232	318	4	d.	d.	PROPN
aiti-11232	318	5	e.	e.	PROPN
aiti-11232	318	6	kirk	kirk	PROPN
aiti-11232	318	7	,	,	PUNCT
aiti-11232	318	8	optimal	optimal	ADJ
aiti-11232	318	9	control	control	NOUN
aiti-11232	318	10	theory	theory	NOUN
aiti-11232	318	11	:	:	PUNCT
aiti-11232	318	12	an	an	DET
aiti-11232	318	13	introduction	introduction	NOUN
aiti-11232	318	14	,	,	PUNCT
aiti-11232	318	15	new	new	PROPN
aiti-11232	318	16	york	york	PROPN
aiti-11232	318	17	:	:	PUNCT
aiti-11232	318	18	dover	dover	PROPN
aiti-11232	318	19	publications	publications	PROPN
aiti-11232	318	20	mineola	mineola	PROPN
aiti-11232	318	21	,	,	PUNCT
aiti-11232	318	22	2004	2004	NUM
aiti-11232	318	23	.	.	PUNCT
aiti-11232	319	1	[	[	X
aiti-11232	319	2	24	24	NUM
aiti-11232	319	3	]	]	PUNCT
aiti-11232	319	4	k.	k.	PROPN
aiti-11232	319	5	l.	l.	PROPN
aiti-11232	319	6	teo	teo	PROPN
aiti-11232	319	7	,	,	PUNCT
aiti-11232	319	8	b.	b.	PROPN
aiti-11232	319	9	li	li	PROPN
aiti-11232	319	10	,	,	PUNCT
aiti-11232	319	11	c.	c.	PROPN
aiti-11232	319	12	yu	yu	PROPN
aiti-11232	319	13	,	,	PUNCT
aiti-11232	319	14	and	and	CCONJ
aiti-11232	319	15	v.	v.	ADP
aiti-11232	319	16	rehbock	rehbock	NOUN
aiti-11232	319	17	,	,	PUNCT
aiti-11232	319	18	applied	apply	VERB
aiti-11232	319	19	and	and	CCONJ
aiti-11232	319	20	computational	computational	ADJ
aiti-11232	319	21	optimal	optimal	ADJ
aiti-11232	319	22	control	control	NOUN
aiti-11232	319	23	:	:	PUNCT
aiti-11232	319	24	a	a	DET
aiti-11232	319	25	control	control	NOUN
aiti-11232	319	26	parametrization	parametrization	NOUN
aiti-11232	319	27	approach	approach	NOUN
aiti-11232	319	28	,	,	PUNCT
aiti-11232	319	29	1st	1st	ADJ
aiti-11232	319	30	ed	ed	NOUN
aiti-11232	319	31	.	.	PROPN
aiti-11232	319	32	,	,	PUNCT
aiti-11232	319	33	switzerland	switzerland	PROPN
aiti-11232	319	34	:	:	PUNCT
aiti-11232	319	35	springer	springer	NOUN
aiti-11232	319	36	cham	cham	PROPN
aiti-11232	319	37	,	,	PUNCT
aiti-11232	319	38	2021	2021	NUM
aiti-11232	319	39	.	.	PUNCT
aiti-11232	320	1	copyright	copyright	NOUN
aiti-11232	320	2	©	©	PROPN
aiti-11232	320	3	by	by	ADP
aiti-11232	320	4	the	the	DET
aiti-11232	320	5	authors	author	NOUN
aiti-11232	320	6	.	.	PUNCT
aiti-11232	321	1	licensee	licensee	PROPN
aiti-11232	321	2	taeti	taeti	PROPN
aiti-11232	321	3	,	,	PUNCT
aiti-11232	321	4	taiwan	taiwan	PROPN
aiti-11232	321	5	.	.	PUNCT
aiti-11232	322	1	this	this	DET
aiti-11232	322	2	article	article	NOUN
aiti-11232	322	3	is	be	AUX
aiti-11232	322	4	an	an	DET
aiti-11232	322	5	open	open	ADJ
aiti-11232	322	6	access	access	NOUN
aiti-11232	322	7	article	article	NOUN
aiti-11232	322	8	distributed	distribute	VERB
aiti-11232	322	9	under	under	ADP
aiti-11232	322	10	the	the	DET
aiti-11232	322	11	terms	term	NOUN
aiti-11232	322	12	and	and	CCONJ
aiti-11232	322	13	conditions	condition	NOUN
aiti-11232	322	14	of	of	ADP
aiti-11232	322	15	the	the	DET
aiti-11232	322	16	creative	creative	ADJ
aiti-11232	322	17	commons	common	NOUN
aiti-11232	322	18	attribution	attribution	NOUN
aiti-11232	322	19	(	(	PUNCT
aiti-11232	322	20	cc	cc	NOUN
aiti-11232	322	21	by	by	ADP
aiti-11232	322	22	-	-	PUNCT
aiti-11232	322	23	nc	nc	NOUN
aiti-11232	322	24	)	)	PUNCT
aiti-11232	322	25	license	license	NOUN
aiti-11232	322	26	(	(	PUNCT
aiti-11232	322	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-11232	322	28	)	)	PUNCT
aiti-11232	322	29	.	.	PUNCT