id	sid	tid	token	lemma	pos
aiti-3953	1	1	advances	advance	NOUN
aiti-3953	1	2	in	in	ADP
aiti-3953	1	3	technology	technology	NOUN
aiti-3953	1	4	innovation	innovation	NOUN
aiti-3953	1	5	,	,	PUNCT
aiti-3953	1	6	vol	vol	NOUN
aiti-3953	1	7	.	.	PROPN
aiti-3953	2	1	5	5	NUM
aiti-3953	2	2	,	,	PUNCT
aiti-3953	2	3	no	no	INTJ
aiti-3953	2	4	.	.	NOUN
aiti-3953	2	5	2	2	NUM
aiti-3953	2	6	,	,	PUNCT
aiti-3953	2	7	2020	2020	NUM
aiti-3953	2	8	,	,	PUNCT
aiti-3953	2	9	pp	pp	ADJ
aiti-3953	2	10	.	.	PUNCT
aiti-3953	3	1	98	98	NUM
aiti-3953	3	2	-	-	SYM
aiti-3953	3	3	111	111	NUM
aiti-3953	3	4	robust	robust	ADJ
aiti-3953	3	5	lpv	lpv	NOUN
aiti-3953	3	6	control	control	NOUN
aiti-3953	3	7	for	for	ADP
aiti-3953	3	8	attitude	attitude	NOUN
aiti-3953	3	9	stabilization	stabilization	NOUN
aiti-3953	3	10	of	of	ADP
aiti-3953	3	11	a	a	DET
aiti-3953	3	12	quadrotor	quadrotor	NOUN
aiti-3953	3	13	helicopter	helicopter	NOUN
aiti-3953	3	14	under	under	ADP
aiti-3953	3	15	input	input	NOUN
aiti-3953	3	16	saturations	saturation	NOUN
aiti-3953	3	17	seif	seif	PROPN
aiti-3953	3	18	-	-	PUNCT
aiti-3953	3	19	el	el	PROPN
aiti-3953	3	20	-	-	PROPN
aiti-3953	3	21	islam	islam	PROPN
aiti-3953	3	22	hasseni	hasseni	PROPN
aiti-3953	3	23	1	1	NUM
aiti-3953	3	24	,	,	PUNCT
aiti-3953	3	25	*	*	PUNCT
aiti-3953	3	26	,	,	PUNCT
aiti-3953	3	27	latifa	latifa	PROPN
aiti-3953	3	28	abdou	abdou	PROPN
aiti-3953	3	29	2	2	NUM
aiti-3953	3	30	1	1	NUM
aiti-3953	3	31	lmse	lmse	NOUN
aiti-3953	3	32	laboratory	laboratory	NOUN
aiti-3953	3	33	,	,	PUNCT
aiti-3953	3	34	2	2	NUM
aiti-3953	3	35	li3cub	li3cub	NOUN
aiti-3953	3	36	laboratory	laboratory	NOUN
aiti-3953	3	37	,	,	PUNCT
aiti-3953	3	38	electrical	electrical	ADJ
aiti-3953	3	39	engineering	engineering	NOUN
aiti-3953	3	40	department	department	PROPN
aiti-3953	3	41	,	,	PUNCT
aiti-3953	3	42	university	university	PROPN
aiti-3953	3	43	of	of	ADP
aiti-3953	3	44	biskra	biskra	PROPN
aiti-3953	3	45	,	,	PUNCT
aiti-3953	3	46	algeria	algeria	PROPN
aiti-3953	3	47	received	receive	VERB
aiti-3953	3	48	18	18	NUM
aiti-3953	3	49	march	march	NOUN
aiti-3953	3	50	2019	2019	NUM
aiti-3953	3	51	;	;	PUNCT
aiti-3953	3	52	received	receive	VERB
aiti-3953	3	53	in	in	ADP
aiti-3953	3	54	revised	revise	VERB
aiti-3953	3	55	form	form	NOUN
aiti-3953	3	56	29	29	NUM
aiti-3953	3	57	september	september	PROPN
aiti-3953	3	58	2019	2019	NUM
aiti-3953	3	59	;	;	PUNCT
aiti-3953	3	60	accepted	accept	VERB
aiti-3953	3	61	15	15	NUM
aiti-3953	3	62	october	october	PROPN
aiti-3953	3	63	2019	2019	NUM
aiti-3953	3	64	doi	doi	NOUN
aiti-3953	3	65	:	:	PUNCT
aiti-3953	3	66	https://doi.org/10.46604/aiti.2020.3953	https://doi.org/10.46604/aiti.2020.3953	PROPN
aiti-3953	3	67	abstract	abstract	ADV
aiti-3953	3	68	this	this	DET
aiti-3953	3	69	article	article	NOUN
aiti-3953	3	70	investigates	investigate	VERB
aiti-3953	3	71	the	the	DET
aiti-3953	3	72	robust	robust	ADJ
aiti-3953	3	73	stabilization	stabilization	NOUN
aiti-3953	3	74	of	of	ADP
aiti-3953	3	75	the	the	DET
aiti-3953	3	76	rotational	rotational	ADJ
aiti-3953	3	77	subsystem	subsystem	NOUN
aiti-3953	3	78	of	of	ADP
aiti-3953	3	79	a	a	DET
aiti-3953	3	80	quadrotor	quadrotor	NOUN
aiti-3953	3	81	against	against	ADP
aiti-3953	3	82	external	external	ADJ
aiti-3953	3	83	inputs	input	NOUN
aiti-3953	3	84	(	(	PUNCT
aiti-3953	3	85	disturbances	disturbance	NOUN
aiti-3953	3	86	,	,	PUNCT
aiti-3953	3	87	noises	noise	NOUN
aiti-3953	3	88	,	,	PUNCT
aiti-3953	3	89	and	and	CCONJ
aiti-3953	3	90	parametric	parametric	ADJ
aiti-3953	3	91	uncertainties	uncertainty	NOUN
aiti-3953	3	92	)	)	PUNCT
aiti-3953	3	93	by	by	ADP
aiti-3953	3	94	the	the	DET
aiti-3953	3	95	lft	lft	PROPN
aiti-3953	3	96	-	-	PUNCT
aiti-3953	3	97	based	base	VERB
aiti-3953	3	98	lpv	lpv	NOUN
aiti-3953	3	99	technique	technique	NOUN
aiti-3953	3	100	.	.	PUNCT
aiti-3953	4	1	by	by	ADP
aiti-3953	4	2	establishing	establish	VERB
aiti-3953	4	3	the	the	DET
aiti-3953	4	4	lpv	lpv	PROPN
aiti-3953	4	5	attitude	attitude	NOUN
aiti-3953	4	6	model	model	NOUN
aiti-3953	4	7	,	,	PUNCT
aiti-3953	4	8	the	the	DET
aiti-3953	4	9	lpv	lpv	ADJ
aiti-3953	4	10	robust	robust	ADJ
aiti-3953	4	11	controller	controller	NOUN
aiti-3953	4	12	is	be	AUX
aiti-3953	4	13	designed	design	VERB
aiti-3953	4	14	for	for	ADP
aiti-3953	4	15	the	the	DET
aiti-3953	4	16	system	system	NOUN
aiti-3953	4	17	.	.	PUNCT
aiti-3953	5	1	the	the	DET
aiti-3953	5	2	weighting	weighting	NOUN
aiti-3953	5	3	functions	function	NOUN
aiti-3953	5	4	are	be	AUX
aiti-3953	5	5	computed	compute	VERB
aiti-3953	5	6	by	by	ADP
aiti-3953	5	7	cuckoo	cuckoo	NOUN
aiti-3953	5	8	search	search	NOUN
aiti-3953	5	9	,	,	PUNCT
aiti-3953	5	10	a	a	DET
aiti-3953	5	11	meta	meta	ADJ
aiti-3953	5	12	-	-	PUNCT
aiti-3953	5	13	heuristic	heuristic	ADJ
aiti-3953	5	14	optimization	optimization	NOUN
aiti-3953	5	15	algorithm	algorithm	NOUN
aiti-3953	5	16	.	.	PUNCT
aiti-3953	6	1	besides	besides	SCONJ
aiti-3953	6	2	,	,	PUNCT
aiti-3953	6	3	the	the	DET
aiti-3953	6	4	input	input	NOUN
aiti-3953	6	5	saturations	saturation	NOUN
aiti-3953	6	6	are	be	AUX
aiti-3953	6	7	also	also	ADV
aiti-3953	6	8	taken	take	VERB
aiti-3953	6	9	into	into	ADP
aiti-3953	6	10	account	account	NOUN
aiti-3953	6	11	through	through	ADP
aiti-3953	6	12	the	the	DET
aiti-3953	6	13	anti	anti	ADJ
aiti-3953	6	14	-	-	ADJ
aiti-3953	6	15	windup	windup	ADJ
aiti-3953	6	16	compensation	compensation	NOUN
aiti-3953	6	17	technique	technique	NOUN
aiti-3953	6	18	.	.	PUNCT
aiti-3953	7	1	simulation	simulation	NOUN
aiti-3953	7	2	results	result	NOUN
aiti-3953	7	3	show	show	VERB
aiti-3953	7	4	the	the	DET
aiti-3953	7	5	robustness	robustness	NOUN
aiti-3953	7	6	of	of	ADP
aiti-3953	7	7	the	the	DET
aiti-3953	7	8	closed	closed	ADJ
aiti-3953	7	9	-	-	PUNCT
aiti-3953	7	10	loop	loop	NOUN
aiti-3953	7	11	system	system	NOUN
aiti-3953	7	12	against	against	ADP
aiti-3953	7	13	disturbances	disturbance	NOUN
aiti-3953	7	14	,	,	PUNCT
aiti-3953	7	15	measurement	measurement	NOUN
aiti-3953	7	16	noises	noise	NOUN
aiti-3953	7	17	,	,	PUNCT
aiti-3953	7	18	and	and	CCONJ
aiti-3953	7	19	the	the	DET
aiti-3953	7	20	parametric	parametric	ADJ
aiti-3953	7	21	uncertainties	uncertainty	NOUN
aiti-3953	7	22	.	.	PUNCT
aiti-3953	8	1	keywords	keyword	NOUN
aiti-3953	8	2	:	:	PUNCT
aiti-3953	8	3	quadrotor	quadrotor	NOUN
aiti-3953	8	4	,	,	PUNCT
aiti-3953	8	5	lpv	lpv	NOUN
aiti-3953	8	6	systems	system	NOUN
aiti-3953	8	7	,	,	PUNCT
aiti-3953	8	8	optimal	optimal	ADJ
aiti-3953	8	9	weighting	weighting	NOUN
aiti-3953	8	10	functions	function	NOUN
aiti-3953	8	11	,	,	PUNCT
aiti-3953	8	12	cuckoo	cuckoo	NOUN
aiti-3953	8	13	search	search	NOUN
aiti-3953	8	14	,	,	PUNCT
aiti-3953	8	15	input	input	NOUN
aiti-3953	8	16	saturations	saturation	NOUN
aiti-3953	8	17	1	1	NUM
aiti-3953	8	18	.	.	X
aiti-3953	9	1	introduction	introduction	NOUN
aiti-3953	9	2	several	several	ADJ
aiti-3953	9	3	researchers	researcher	NOUN
aiti-3953	9	4	have	have	AUX
aiti-3953	9	5	focused	focus	VERB
aiti-3953	9	6	on	on	ADP
aiti-3953	9	7	quadrotor	quadrotor	NOUN
aiti-3953	9	8	aircraft	aircraft	NOUN
aiti-3953	9	9	because	because	SCONJ
aiti-3953	9	10	of	of	ADP
aiti-3953	9	11	its	its	PRON
aiti-3953	9	12	advantages	advantage	NOUN
aiti-3953	9	13	such	such	ADJ
aiti-3953	9	14	as	as	ADP
aiti-3953	9	15	vertical	vertical	ADJ
aiti-3953	9	16	landing	landing	NOUN
aiti-3953	9	17	and	and	CCONJ
aiti-3953	9	18	stationary	stationary	ADJ
aiti-3953	9	19	flight	flight	NOUN
aiti-3953	10	1	[	[	X
aiti-3953	10	2	1	1	NUM
aiti-3953	10	3	]	]	PUNCT
aiti-3953	10	4	.	.	PUNCT
aiti-3953	11	1	however	however	ADV
aiti-3953	11	2	,	,	PUNCT
aiti-3953	11	3	the	the	DET
aiti-3953	11	4	quadrotor	quadrotor	NOUN
aiti-3953	11	5	is	be	AUX
aiti-3953	11	6	a	a	DET
aiti-3953	11	7	nonlinear	nonlinear	ADJ
aiti-3953	11	8	complex	complex	ADJ
aiti-3953	11	9	vehicle	vehicle	NOUN
aiti-3953	11	10	and	and	CCONJ
aiti-3953	11	11	very	very	ADV
aiti-3953	11	12	sensible	sensible	ADJ
aiti-3953	11	13	,	,	PUNCT
aiti-3953	11	14	which	which	PRON
aiti-3953	11	15	motivates	motivate	VERB
aiti-3953	11	16	the	the	DET
aiti-3953	11	17	researchers	researcher	NOUN
aiti-3953	11	18	to	to	PART
aiti-3953	11	19	develop	develop	VERB
aiti-3953	11	20	robust	robust	ADJ
aiti-3953	11	21	controllers	controller	NOUN
aiti-3953	11	22	.	.	PUNCT
aiti-3953	12	1	in	in	ADP
aiti-3953	12	2	this	this	DET
aiti-3953	12	3	article	article	NOUN
aiti-3953	12	4	,	,	PUNCT
aiti-3953	12	5	the	the	DET
aiti-3953	12	6	development	development	NOUN
aiti-3953	12	7	of	of	ADP
aiti-3953	12	8	a	a	DET
aiti-3953	12	9	robust	robust	ADJ
aiti-3953	12	10	controller	controller	NOUN
aiti-3953	12	11	for	for	ADP
aiti-3953	12	12	the	the	DET
aiti-3953	12	13	quadrotor	quadrotor	NOUN
aiti-3953	12	14	attitude	attitude	NOUN
aiti-3953	12	15	subsystem	subsystem	NOUN
aiti-3953	12	16	is	be	AUX
aiti-3953	12	17	investigated	investigate	VERB
aiti-3953	12	18	.	.	PUNCT
aiti-3953	13	1	recently	recently	ADV
aiti-3953	13	2	,	,	PUNCT
aiti-3953	13	3	researchers	researcher	NOUN
aiti-3953	13	4	have	have	AUX
aiti-3953	13	5	been	be	AUX
aiti-3953	13	6	interested	interested	ADJ
aiti-3953	13	7	in	in	ADP
aiti-3953	13	8	linear	linear	ADJ
aiti-3953	13	9	-	-	PUNCT
aiti-3953	13	10	parameter	parameter	NOUN
aiti-3953	13	11	-	-	PUNCT
aiti-3953	13	12	varying	vary	VERB
aiti-3953	13	13	(	(	PUNCT
aiti-3953	13	14	lpv	lpv	NOUN
aiti-3953	13	15	)	)	PUNCT
aiti-3953	13	16	theory	theory	NOUN
aiti-3953	13	17	because	because	SCONJ
aiti-3953	13	18	of	of	ADP
aiti-3953	13	19	its	its	PRON
aiti-3953	13	20	advantage	advantage	NOUN
aiti-3953	13	21	that	that	SCONJ
aiti-3953	13	22	allowing	allow	VERB
aiti-3953	13	23	them	they	PRON
aiti-3953	13	24	to	to	PART
aiti-3953	13	25	represent	represent	VERB
aiti-3953	13	26	the	the	DET
aiti-3953	13	27	nonlinear	nonlinear	ADJ
aiti-3953	13	28	model	model	NOUN
aiti-3953	13	29	as	as	ADP
aiti-3953	13	30	the	the	DET
aiti-3953	13	31	quasi	quasi	ADJ
aiti-3953	13	32	-	-	ADJ
aiti-3953	13	33	lpv	lpv	ADJ
aiti-3953	13	34	system	system	NOUN
aiti-3953	13	35	.	.	PUNCT
aiti-3953	14	1	there	there	PRON
aiti-3953	14	2	are	be	VERB
aiti-3953	14	3	several	several	ADJ
aiti-3953	14	4	approaches	approach	NOUN
aiti-3953	14	5	to	to	PART
aiti-3953	14	6	develop	develop	VERB
aiti-3953	14	7	the	the	DET
aiti-3953	14	8	lpv	lpv	NOUN
aiti-3953	14	9	system	system	NOUN
aiti-3953	14	10	from	from	ADP
aiti-3953	14	11	its	its	PRON
aiti-3953	14	12	nonlinear	nonlinear	ADJ
aiti-3953	14	13	original	original	ADJ
aiti-3953	14	14	model	model	NOUN
aiti-3953	14	15	.	.	PUNCT
aiti-3953	15	1	the	the	DET
aiti-3953	15	2	common	common	ADJ
aiti-3953	15	3	ones	one	NOUN
aiti-3953	15	4	are	be	AUX
aiti-3953	15	5	the	the	DET
aiti-3953	15	6	polytopic	polytopic	NOUN
aiti-3953	15	7	approach	approach	NOUN
aiti-3953	15	8	[	[	X
aiti-3953	15	9	2	2	X
aiti-3953	15	10	]	]	PUNCT
aiti-3953	15	11	and	and	CCONJ
aiti-3953	15	12	the	the	DET
aiti-3953	15	13	linear	linear	ADJ
aiti-3953	15	14	-	-	PUNCT
aiti-3953	15	15	fractional	fractional	ADJ
aiti-3953	15	16	-	-	PUNCT
aiti-3953	15	17	transformation	transformation	NOUN
aiti-3953	15	18	(	(	PUNCT
aiti-3953	15	19	lft	lft	X
aiti-3953	15	20	)	)	PUNCT
aiti-3953	16	1	[	[	X
aiti-3953	16	2	3	3	NUM
aiti-3953	16	3	]	]	PUNCT
aiti-3953	16	4	.	.	PUNCT
aiti-3953	17	1	in	in	ADP
aiti-3953	17	2	this	this	DET
aiti-3953	17	3	article	article	NOUN
aiti-3953	17	4	,	,	PUNCT
aiti-3953	17	5	the	the	DET
aiti-3953	17	6	lft	lft	PROPN
aiti-3953	17	7	is	be	AUX
aiti-3953	17	8	used	use	VERB
aiti-3953	17	9	because	because	SCONJ
aiti-3953	17	10	it	it	PRON
aiti-3953	17	11	can	can	AUX
aiti-3953	17	12	exact	exact	VERB
aiti-3953	17	13	representative	representative	VERB
aiti-3953	17	14	the	the	DET
aiti-3953	17	15	nonlinear	nonlinear	ADJ
aiti-3953	17	16	model	model	NOUN
aiti-3953	17	17	.	.	PUNCT
aiti-3953	18	1	on	on	ADP
aiti-3953	18	2	the	the	DET
aiti-3953	18	3	other	other	ADJ
aiti-3953	18	4	hand	hand	NOUN
aiti-3953	18	5	,	,	PUNCT
aiti-3953	18	6	one	one	NUM
aiti-3953	18	7	of	of	ADP
aiti-3953	18	8	the	the	DET
aiti-3953	18	9	efficient	efficient	ADJ
aiti-3953	18	10	robust	robust	ADJ
aiti-3953	18	11	controllers	controller	NOUN
aiti-3953	18	12	is	be	AUX
aiti-3953	18	13	the	the	DET
aiti-3953	18	14	h∞	h∞	NOUN
aiti-3953	18	15	,	,	PUNCT
aiti-3953	18	16	which	which	PRON
aiti-3953	18	17	is	be	AUX
aiti-3953	18	18	created	create	VERB
aiti-3953	18	19	for	for	ADP
aiti-3953	18	20	the	the	DET
aiti-3953	18	21	linear	linear	ADJ
aiti-3953	18	22	-	-	PUNCT
aiti-3953	18	23	time	time	NOUN
aiti-3953	18	24	-	-	PUNCT
aiti-3953	18	25	invariant	invariant	ADJ
aiti-3953	18	26	systems	system	NOUN
aiti-3953	18	27	(	(	PUNCT
aiti-3953	18	28	lti	lti	PROPN
aiti-3953	18	29	)	)	PUNCT
aiti-3953	18	30	.	.	PUNCT
aiti-3953	19	1	in	in	ADP
aiti-3953	19	2	the	the	DET
aiti-3953	19	3	lpv	lpv	NOUN
aiti-3953	19	4	case	case	NOUN
aiti-3953	19	5	,	,	PUNCT
aiti-3953	19	6	there	there	PRON
aiti-3953	19	7	are	be	VERB
aiti-3953	19	8	no	no	DET
aiti-3953	19	9	frequency	frequency	NOUN
aiti-3953	19	10	norms	norm	NOUN
aiti-3953	19	11	.	.	PUNCT
aiti-3953	20	1	there	there	PRON
aiti-3953	20	2	is	be	VERB
aiti-3953	20	3	a	a	DET
aiti-3953	20	4	just	just	ADV
aiti-3953	20	5	relative	relative	ADJ
aiti-3953	20	6	gain	gain	NOUN
aiti-3953	20	7	in	in	ADP
aiti-3953	20	8	the	the	DET
aiti-3953	20	9	l2	l2	NOUN
aiti-3953	20	10	sense	sense	NOUN
aiti-3953	20	11	(	(	PUNCT
aiti-3953	20	12	in	in	ADP
aiti-3953	20	13	the	the	DET
aiti-3953	20	14	time	time	NOUN
aiti-3953	20	15	-	-	PUNCT
aiti-3953	20	16	domain	domain	NOUN
aiti-3953	20	17	)	)	PUNCT
aiti-3953	20	18	.	.	PUNCT
aiti-3953	21	1	in	in	ADP
aiti-3953	21	2	the	the	DET
aiti-3953	21	3	lti	lti	PROPN
aiti-3953	21	4	case	case	NOUN
aiti-3953	21	5	,	,	PUNCT
aiti-3953	21	6	the	the	DET
aiti-3953	21	7	l2	l2	NOUN
aiti-3953	21	8	gain	gain	NOUN
aiti-3953	21	9	and	and	CCONJ
aiti-3953	21	10	the	the	DET
aiti-3953	21	11	h∞	h∞	PRON
aiti-3953	21	12	norm	norm	NOUN
aiti-3953	21	13	are	be	AUX
aiti-3953	21	14	equal	equal	ADJ
aiti-3953	21	15	.	.	PUNCT
aiti-3953	22	1	hence	hence	ADV
aiti-3953	22	2	,	,	PUNCT
aiti-3953	22	3	the	the	DET
aiti-3953	22	4	lpv	lpv	NOUN
aiti-3953	22	5	method	method	NOUN
aiti-3953	22	6	via	via	ADP
aiti-3953	22	7	the	the	DET
aiti-3953	22	8	l2	l2	NOUN
aiti-3953	22	9	gain	gain	NOUN
aiti-3953	22	10	concept	concept	NOUN
aiti-3953	22	11	can	can	AUX
aiti-3953	22	12	be	be	AUX
aiti-3953	22	13	seen	see	VERB
aiti-3953	22	14	as	as	ADP
aiti-3953	22	15	the	the	DET
aiti-3953	22	16	extension	extension	NOUN
aiti-3953	22	17	of	of	ADP
aiti-3953	22	18	h∞	h∞	X
aiti-3953	22	19	synthesis	synthesis	NOUN
aiti-3953	22	20	[	[	X
aiti-3953	22	21	4	4	NUM
aiti-3953	22	22	]	]	PUNCT
aiti-3953	22	23	.	.	PUNCT
aiti-3953	23	1	one	one	NUM
aiti-3953	23	2	of	of	ADP
aiti-3953	23	3	the	the	DET
aiti-3953	23	4	existed	exist	VERB
aiti-3953	23	5	problems	problem	NOUN
aiti-3953	23	6	on	on	ADP
aiti-3953	23	7	h∞	h∞	PROPN
aiti-3953	23	8	controller	controller	NOUN
aiti-3953	23	9	design	design	NOUN
aiti-3953	23	10	is	be	AUX
aiti-3953	23	11	weighting	weight	VERB
aiti-3953	23	12	functions	function	NOUN
aiti-3953	23	13	’	'	PUNCT
aiti-3953	23	14	selection	selection	NOUN
aiti-3953	23	15	.	.	PUNCT
aiti-3953	24	1	there	there	PRON
aiti-3953	24	2	are	be	VERB
aiti-3953	24	3	many	many	ADJ
aiti-3953	24	4	structures	structure	NOUN
aiti-3953	24	5	such	such	ADJ
aiti-3953	24	6	as	as	ADP
aiti-3953	24	7	loop	loop	NOUN
aiti-3953	24	8	-	-	PUNCT
aiti-3953	24	9	shaping	shaping	NOUN
aiti-3953	24	10	which	which	PRON
aiti-3953	24	11	is	be	AUX
aiti-3953	24	12	proposed	propose	VERB
aiti-3953	24	13	by	by	ADP
aiti-3953	24	14	mcfarlane	mcfarlane	PROPN
aiti-3953	24	15	and	and	CCONJ
aiti-3953	24	16	glover	glover	NOUN
aiti-3953	25	1	[	[	X
aiti-3953	25	2	5	5	NUM
aiti-3953	25	3	]	]	PUNCT
aiti-3953	25	4	.	.	PUNCT
aiti-3953	26	1	loop	loop	NOUN
aiti-3953	26	2	-	-	PUNCT
aiti-3953	26	3	shaping	shaping	NOUN
aiti-3953	26	4	is	be	AUX
aiti-3953	26	5	the	the	DET
aiti-3953	26	6	simplest	simple	ADJ
aiti-3953	26	7	and	and	CCONJ
aiti-3953	26	8	the	the	DET
aiti-3953	26	9	most	most	ADV
aiti-3953	26	10	commonly	commonly	ADV
aiti-3953	26	11	used	use	VERB
aiti-3953	26	12	method	method	NOUN
aiti-3953	26	13	[	[	X
aiti-3953	26	14	6	6	NUM
aiti-3953	26	15	]	]	PUNCT
aiti-3953	26	16	.	.	PUNCT
aiti-3953	27	1	the	the	DET
aiti-3953	27	2	other	other	ADJ
aiti-3953	27	3	common	common	ADJ
aiti-3953	27	4	structure	structure	NOUN
aiti-3953	27	5	is	be	AUX
aiti-3953	27	6	the	the	DET
aiti-3953	27	7	mixed	mixed	ADJ
aiti-3953	27	8	sensitivity	sensitivity	NOUN
aiti-3953	27	9	structure	structure	NOUN
aiti-3953	27	10	[	[	X
aiti-3953	27	11	7	7	NUM
aiti-3953	27	12	]	]	PUNCT
aiti-3953	27	13	.	.	PUNCT
aiti-3953	28	1	it	it	PRON
aiti-3953	28	2	is	be	AUX
aiti-3953	28	3	very	very	ADV
aiti-3953	28	4	hard	hard	ADJ
aiti-3953	28	5	to	to	PART
aiti-3953	28	6	give	give	VERB
aiti-3953	28	7	a	a	DET
aiti-3953	28	8	general	general	ADJ
aiti-3953	28	9	formula	formula	NOUN
aiti-3953	28	10	for	for	ADP
aiti-3953	28	11	weighting	weight	VERB
aiti-3953	28	12	functions	function	NOUN
aiti-3953	28	13	that	that	PRON
aiti-3953	28	14	work	work	VERB
aiti-3953	28	15	in	in	ADP
aiti-3953	28	16	every	every	DET
aiti-3953	28	17	case	case	NOUN
aiti-3953	28	18	[	[	X
aiti-3953	28	19	8	8	NUM
aiti-3953	28	20	]	]	PUNCT
aiti-3953	28	21	.	.	PUNCT
aiti-3953	29	1	this	this	DET
aiti-3953	29	2	problem	problem	NOUN
aiti-3953	29	3	depends	depend	VERB
aiti-3953	29	4	on	on	ADP
aiti-3953	29	5	experimental	experimental	ADJ
aiti-3953	29	6	skills	skill	NOUN
aiti-3953	29	7	[	[	X
aiti-3953	29	8	9	9	NUM
aiti-3953	29	9	]	]	PUNCT
aiti-3953	29	10	,	,	PUNCT
aiti-3953	29	11	but	but	CCONJ
aiti-3953	29	12	zhou	zhou	PROPN
aiti-3953	29	13	and	and	CCONJ
aiti-3953	29	14	doyle	doyle	PROPN
aiti-3953	29	15	proposed	propose	VERB
aiti-3953	29	16	guidelines	guideline	NOUN
aiti-3953	29	17	to	to	PART
aiti-3953	29	18	adjust	adjust	VERB
aiti-3953	29	19	the	the	DET
aiti-3953	29	20	weighting	weighting	NOUN
aiti-3953	29	21	functions	function	NOUN
aiti-3953	29	22	’	'	PUNCT
aiti-3953	29	23	parameters	parameter	NOUN
aiti-3953	29	24	for	for	ADP
aiti-3953	29	25	a	a	DET
aiti-3953	29	26	siso	siso	NOUN
aiti-3953	29	27	system	system	NOUN
aiti-3953	29	28	[	[	X
aiti-3953	29	29	10	10	NUM
aiti-3953	29	30	]	]	PUNCT
aiti-3953	29	31	.	.	PUNCT
aiti-3953	30	1	in	in	ADP
aiti-3953	30	2	[	[	X
aiti-3953	30	3	11	11	NUM
aiti-3953	30	4	]	]	PUNCT
aiti-3953	30	5	,	,	PUNCT
aiti-3953	30	6	the	the	DET
aiti-3953	30	7	authors	author	NOUN
aiti-3953	30	8	propose	propose	VERB
aiti-3953	30	9	to	to	PART
aiti-3953	30	10	consider	consider	VERB
aiti-3953	30	11	each	each	DET
aiti-3953	30	12	system	system	NOUN
aiti-3953	30	13	as	as	ADP
aiti-3953	30	14	a	a	DET
aiti-3953	30	15	combination	combination	NOUN
aiti-3953	30	16	of	of	ADP
aiti-3953	30	17	first	first	ADJ
aiti-3953	30	18	and	and	CCONJ
aiti-3953	30	19	second	second	ADJ
aiti-3953	30	20	-	-	PUNCT
aiti-3953	30	21	order	order	NOUN
aiti-3953	30	22	sub	sub	NOUN
aiti-3953	30	23	-	-	NOUN
aiti-3953	30	24	systems	system	NOUN
aiti-3953	30	25	,	,	PUNCT
aiti-3953	30	26	which	which	PRON
aiti-3953	30	27	make	make	VERB
aiti-3953	30	28	it	it	PRON
aiti-3953	30	29	easier	easy	ADJ
aiti-3953	30	30	to	to	PART
aiti-3953	30	31	find	find	VERB
aiti-3953	30	32	a	a	DET
aiti-3953	30	33	good	good	ADJ
aiti-3953	30	34	weighting	weighting	NOUN
aiti-3953	30	35	function	function	NOUN
aiti-3953	30	36	to	to	PART
aiti-3953	30	37	be	be	AUX
aiti-3953	30	38	used	use	VERB
aiti-3953	30	39	in	in	ADP
aiti-3953	30	40	h∞	h∞	PROPN
aiti-3953	30	41	control	control	NOUN
aiti-3953	30	42	methodology	methodology	NOUN
aiti-3953	30	43	.	.	PUNCT
aiti-3953	31	1	yet	yet	CCONJ
aiti-3953	31	2	there	there	PRON
aiti-3953	31	3	is	be	VERB
aiti-3953	31	4	no	no	DET
aiti-3953	31	5	general	general	ADJ
aiti-3953	31	6	methodology	methodology	NOUN
aiti-3953	31	7	to	to	PART
aiti-3953	31	8	adjust	adjust	VERB
aiti-3953	31	9	the	the	DET
aiti-3953	31	10	parameters	parameter	NOUN
aiti-3953	31	11	especially	especially	ADV
aiti-3953	31	12	when	when	SCONJ
aiti-3953	31	13	performance	performance	NOUN
aiti-3953	31	14	specification	specification	NOUN
aiti-3953	31	15	is	be	AUX
aiti-3953	31	16	difficult	difficult	ADJ
aiti-3953	31	17	to	to	PART
aiti-3953	31	18	define	define	VERB
aiti-3953	31	19	,	,	PUNCT
aiti-3953	31	20	plus	plus	CCONJ
aiti-3953	31	21	it	it	PRON
aiti-3953	31	22	gets	get	VERB
aiti-3953	31	23	more	more	ADV
aiti-3953	31	24	complex	complex	ADJ
aiti-3953	31	25	for	for	ADP
aiti-3953	31	26	mimo	mimo	PROPN
aiti-3953	31	27	systems	system	NOUN
aiti-3953	31	28	.	.	PUNCT
aiti-3953	32	1	*	*	PUNCT
aiti-3953	32	2	corresponding	correspond	VERB
aiti-3953	32	3	author	author	NOUN
aiti-3953	32	4	.	.	PUNCT
aiti-3953	33	1	e	e	X
aiti-3953	33	2	-	-	NOUN
aiti-3953	33	3	mail	mail	NOUN
aiti-3953	33	4	address	address	NOUN
aiti-3953	33	5	:	:	PUNCT
aiti-3953	33	6	seif.hasseni@univ-biskra.dz	seif.hasseni@univ-biskra.dz	PROPN
aiti-3953	33	7	advances	advance	VERB
aiti-3953	33	8	in	in	ADP
aiti-3953	33	9	technology	technology	NOUN
aiti-3953	33	10	innovation	innovation	NOUN
aiti-3953	33	11	,	,	PUNCT
aiti-3953	33	12	vol	vol	NOUN
aiti-3953	33	13	.	.	PROPN
aiti-3953	33	14	5	5	NUM
aiti-3953	33	15	,	,	PUNCT
aiti-3953	33	16	no	no	INTJ
aiti-3953	33	17	.	.	NOUN
aiti-3953	33	18	2	2	NUM
aiti-3953	33	19	,	,	PUNCT
aiti-3953	33	20	2020	2020	NUM
aiti-3953	33	21	,	,	PUNCT
aiti-3953	33	22	pp	pp	ADJ
aiti-3953	33	23	.	.	PUNCT
aiti-3953	34	1	98	98	NUM
aiti-3953	34	2	-	-	SYM
aiti-3953	34	3	111	111	NUM
aiti-3953	34	4	99	99	NUM
aiti-3953	34	5	on	on	ADP
aiti-3953	34	6	the	the	DET
aiti-3953	34	7	other	other	ADJ
aiti-3953	34	8	side	side	NOUN
aiti-3953	34	9	,	,	PUNCT
aiti-3953	34	10	the	the	DET
aiti-3953	34	11	cuckoo	cuckoo	NOUN
aiti-3953	34	12	search	search	NOUN
aiti-3953	34	13	algorithm	algorithm	NOUN
aiti-3953	34	14	is	be	AUX
aiti-3953	34	15	a	a	DET
aiti-3953	34	16	swarm	swarm	NOUN
aiti-3953	34	17	-	-	PUNCT
aiti-3953	34	18	based	base	VERB
aiti-3953	34	19	optimization	optimization	NOUN
aiti-3953	34	20	algorithm	algorithm	NOUN
aiti-3953	34	21	.	.	PUNCT
aiti-3953	35	1	it	it	PRON
aiti-3953	35	2	is	be	AUX
aiti-3953	35	3	inspired	inspire	VERB
aiti-3953	35	4	by	by	ADP
aiti-3953	35	5	a	a	DET
aiti-3953	35	6	kind	kind	NOUN
aiti-3953	35	7	of	of	ADP
aiti-3953	35	8	bird	bird	NOUN
aiti-3953	35	9	(	(	PUNCT
aiti-3953	35	10	cuckoo	cuckoo	NOUN
aiti-3953	35	11	)	)	PUNCT
aiti-3953	35	12	behavior	behavior	NOUN
aiti-3953	35	13	in	in	ADP
aiti-3953	35	14	dumping	dump	VERB
aiti-3953	35	15	its	its	PRON
aiti-3953	35	16	eggs	egg	NOUN
aiti-3953	35	17	into	into	ADP
aiti-3953	35	18	random	random	ADJ
aiti-3953	35	19	nests	nest	NOUN
aiti-3953	35	20	.	.	PUNCT
aiti-3953	36	1	a	a	DET
aiti-3953	36	2	cuckoo	cuckoo	NOUN
aiti-3953	36	3	never	never	ADV
aiti-3953	36	4	builds	build	VERB
aiti-3953	36	5	its	its	PRON
aiti-3953	36	6	own	own	ADJ
aiti-3953	36	7	nest	nest	NOUN
aiti-3953	36	8	but	but	CCONJ
aiti-3953	36	9	lets	let	VERB
aiti-3953	36	10	other	other	ADJ
aiti-3953	36	11	species	specie	NOUN
aiti-3953	36	12	doing	do	VERB
aiti-3953	36	13	it	it	PRON
aiti-3953	36	14	.	.	PUNCT
aiti-3953	37	1	the	the	DET
aiti-3953	37	2	algorithm	algorithm	NOUN
aiti-3953	37	3	’s	’s	PART
aiti-3953	37	4	essential	essential	ADJ
aiti-3953	37	5	operations	operation	NOUN
aiti-3953	37	6	are	be	AUX
aiti-3953	37	7	the	the	DET
aiti-3953	37	8	global	global	ADJ
aiti-3953	37	9	random	random	ADJ
aiti-3953	37	10	walk	walk	NOUN
aiti-3953	37	11	and	and	CCONJ
aiti-3953	37	12	the	the	DET
aiti-3953	37	13	local	local	ADJ
aiti-3953	37	14	walk	walk	NOUN
aiti-3953	37	15	.	.	PUNCT
aiti-3953	38	1	the	the	DET
aiti-3953	38	2	global	global	ADJ
aiti-3953	38	3	walk	walk	NOUN
aiti-3953	38	4	is	be	AUX
aiti-3953	38	5	similar	similar	ADJ
aiti-3953	38	6	to	to	ADP
aiti-3953	38	7	practical	practical	ADJ
aiti-3953	38	8	swarm	swarm	NOUN
aiti-3953	38	9	optimization	optimization	NOUN
aiti-3953	38	10	(	(	PUNCT
aiti-3953	38	11	pso	pso	NOUN
aiti-3953	38	12	)	)	PUNCT
aiti-3953	38	13	and	and	CCONJ
aiti-3953	38	14	simulated	simulate	VERB
aiti-3953	38	15	annealing	annealing	NOUN
aiti-3953	38	16	(	(	PUNCT
aiti-3953	38	17	sa	sa	NOUN
aiti-3953	38	18	)	)	PUNCT
aiti-3953	38	19	with	with	ADP
aiti-3953	38	20	lévy	lévy	ADJ
aiti-3953	38	21	flight	flight	NOUN
aiti-3953	38	22	transition	transition	NOUN
aiti-3953	38	23	probability	probability	NOUN
aiti-3953	38	24	.	.	PUNCT
aiti-3953	39	1	the	the	DET
aiti-3953	39	2	local	local	ADJ
aiti-3953	39	3	walk	walk	NOUN
aiti-3953	39	4	is	be	AUX
aiti-3953	39	5	a	a	DET
aiti-3953	39	6	differential	differential	ADJ
aiti-3953	39	7	operation	operation	NOUN
aiti-3953	39	8	with	with	ADP
aiti-3953	39	9	such	such	ADJ
aiti-3953	39	10	probability	probability	NOUN
aiti-3953	39	11	,	,	PUNCT
aiti-3953	39	12	so	so	SCONJ
aiti-3953	39	13	it	it	PRON
aiti-3953	39	14	is	be	AUX
aiti-3953	39	15	similar	similar	ADJ
aiti-3953	39	16	to	to	ADP
aiti-3953	39	17	the	the	DET
aiti-3953	39	18	differential	differential	ADJ
aiti-3953	39	19	evolution	evolution	NOUN
aiti-3953	39	20	algorithm	algorithm	NOUN
aiti-3953	39	21	(	(	PUNCT
aiti-3953	39	22	de	de	NOUN
aiti-3953	39	23	)	)	PUNCT
aiti-3953	39	24	.	.	PUNCT
aiti-3953	40	1	therefore	therefore	ADV
aiti-3953	40	2	,	,	PUNCT
aiti-3953	40	3	each	each	DET
aiti-3953	40	4	algorithm	algorithm	NOUN
aiti-3953	40	5	(	(	PUNCT
aiti-3953	40	6	sa	sa	PROPN
aiti-3953	40	7	,	,	PUNCT
aiti-3953	40	8	pso	pso	NOUN
aiti-3953	40	9	,	,	PUNCT
aiti-3953	40	10	and	and	CCONJ
aiti-3953	40	11	de	de	X
aiti-3953	40	12	)	)	PUNCT
aiti-3953	40	13	could	could	AUX
aiti-3953	40	14	be	be	AUX
aiti-3953	40	15	considered	consider	VERB
aiti-3953	40	16	as	as	ADP
aiti-3953	40	17	a	a	DET
aiti-3953	40	18	special	special	ADJ
aiti-3953	40	19	case	case	NOUN
aiti-3953	40	20	of	of	ADP
aiti-3953	40	21	the	the	DET
aiti-3953	40	22	cs	cs	PROPN
aiti-3953	40	23	algorithm	algorithm	NOUN
aiti-3953	40	24	.	.	PUNCT
aiti-3953	41	1	conversely	conversely	ADV
aiti-3953	41	2	,	,	PUNCT
aiti-3953	41	3	cs	cs	PROPN
aiti-3953	41	4	is	be	AUX
aiti-3953	41	5	a	a	DET
aiti-3953	41	6	good	good	ADJ
aiti-3953	41	7	and	and	CCONJ
aiti-3953	41	8	efficient	efficient	ADJ
aiti-3953	41	9	combination	combination	NOUN
aiti-3953	41	10	of	of	ADP
aiti-3953	41	11	sa	sa	PROPN
aiti-3953	41	12	,	,	PUNCT
aiti-3953	41	13	pso	pso	NOUN
aiti-3953	41	14	,	,	PUNCT
aiti-3953	41	15	and	and	CCONJ
aiti-3953	41	16	de	de	ADP
aiti-3953	41	17	in	in	ADP
aiti-3953	41	18	one	one	NUM
aiti-3953	41	19	algorithm	algorithm	NOUN
aiti-3953	41	20	[	[	X
aiti-3953	41	21	12	12	NUM
aiti-3953	41	22	]	]	PUNCT
aiti-3953	41	23	.	.	PUNCT
aiti-3953	42	1	many	many	ADJ
aiti-3953	42	2	researchers	researcher	NOUN
aiti-3953	42	3	have	have	AUX
aiti-3953	42	4	used	use	VERB
aiti-3953	42	5	a	a	DET
aiti-3953	42	6	nature	nature	NOUN
aiti-3953	42	7	-	-	PUNCT
aiti-3953	42	8	inspired	inspire	VERB
aiti-3953	42	9	optimization	optimization	NOUN
aiti-3953	42	10	algorithm	algorithm	NOUN
aiti-3953	42	11	to	to	PART
aiti-3953	42	12	determine	determine	VERB
aiti-3953	42	13	weighting	weighting	NOUN
aiti-3953	42	14	functions	function	NOUN
aiti-3953	42	15	’	'	PUNCT
aiti-3953	42	16	parameters	parameter	NOUN
aiti-3953	42	17	for	for	ADP
aiti-3953	42	18	the	the	DET
aiti-3953	42	19	lpv	lpv	NOUN
aiti-3953	42	20	system	system	NOUN
aiti-3953	42	21	[	[	X
aiti-3953	42	22	13	13	NUM
aiti-3953	42	23	-	-	SYM
aiti-3953	42	24	14	14	NUM
aiti-3953	42	25	]	]	PUNCT
aiti-3953	42	26	.	.	PUNCT
aiti-3953	43	1	this	this	DET
aiti-3953	43	2	approach	approach	NOUN
aiti-3953	43	3	is	be	AUX
aiti-3953	43	4	much	much	ADV
aiti-3953	43	5	more	more	ADV
aiti-3953	43	6	required	require	VERB
aiti-3953	43	7	in	in	ADP
aiti-3953	43	8	the	the	DET
aiti-3953	43	9	mimo	mimo	PROPN
aiti-3953	43	10	systems	systems	PROPN
aiti-3953	43	11	.	.	PUNCT
aiti-3953	44	1	in	in	ADP
aiti-3953	44	2	this	this	DET
aiti-3953	44	3	article	article	NOUN
aiti-3953	44	4	,	,	PUNCT
aiti-3953	44	5	the	the	DET
aiti-3953	44	6	mixed	mixed	ADJ
aiti-3953	44	7	sensitivity	sensitivity	NOUN
aiti-3953	44	8	structure	structure	NOUN
aiti-3953	44	9	is	be	AUX
aiti-3953	44	10	applied	apply	VERB
aiti-3953	44	11	,	,	PUNCT
aiti-3953	44	12	and	and	CCONJ
aiti-3953	44	13	then	then	ADV
aiti-3953	44	14	the	the	DET
aiti-3953	44	15	cuckoo	cuckoo	NOUN
aiti-3953	44	16	search	search	NOUN
aiti-3953	44	17	(	(	PUNCT
aiti-3953	44	18	cs	cs	ADJ
aiti-3953	44	19	)	)	PUNCT
aiti-3953	44	20	algorithm	algorithm	NOUN
aiti-3953	44	21	is	be	AUX
aiti-3953	44	22	exploited	exploit	VERB
aiti-3953	44	23	to	to	PART
aiti-3953	44	24	find	find	VERB
aiti-3953	44	25	optimal	optimal	ADJ
aiti-3953	44	26	weighting	weighting	NOUN
aiti-3953	44	27	functions	function	NOUN
aiti-3953	44	28	’	'	PUNCT
aiti-3953	44	29	parameters	parameter	NOUN
aiti-3953	44	30	.	.	PUNCT
aiti-3953	45	1	the	the	DET
aiti-3953	45	2	second	second	ADJ
aiti-3953	45	3	point	point	NOUN
aiti-3953	45	4	investigated	investigate	VERB
aiti-3953	45	5	in	in	ADP
aiti-3953	45	6	this	this	DET
aiti-3953	45	7	article	article	NOUN
aiti-3953	45	8	is	be	AUX
aiti-3953	45	9	the	the	DET
aiti-3953	45	10	input	input	NOUN
aiti-3953	45	11	saturation	saturation	NOUN
aiti-3953	45	12	.	.	PUNCT
aiti-3953	46	1	it	it	PRON
aiti-3953	46	2	is	be	AUX
aiti-3953	46	3	a	a	DET
aiti-3953	46	4	real	real	ADJ
aiti-3953	46	5	constraint	constraint	NOUN
aiti-3953	46	6	of	of	ADP
aiti-3953	46	7	the	the	DET
aiti-3953	46	8	actuators	actuator	NOUN
aiti-3953	46	9	.	.	PUNCT
aiti-3953	47	1	the	the	DET
aiti-3953	47	2	actuators	actuator	NOUN
aiti-3953	47	3	ca	can	AUX
aiti-3953	47	4	n’t	not	PART
aiti-3953	47	5	provide	provide	VERB
aiti-3953	47	6	additional	additional	ADJ
aiti-3953	47	7	effort	effort	NOUN
aiti-3953	47	8	although	although	SCONJ
aiti-3953	47	9	the	the	DET
aiti-3953	47	10	outputs	output	NOUN
aiti-3953	47	11	do	do	AUX
aiti-3953	47	12	n’t	not	PART
aiti-3953	47	13	reach	reach	VERB
aiti-3953	47	14	the	the	DET
aiti-3953	47	15	reference	reference	NOUN
aiti-3953	47	16	signal	signal	NOUN
aiti-3953	47	17	.	.	PUNCT
aiti-3953	48	1	such	such	DET
aiti-3953	48	2	a	a	DET
aiti-3953	48	3	technique	technique	NOUN
aiti-3953	48	4	called	call	VERB
aiti-3953	48	5	anti	anti	ADJ
aiti-3953	48	6	-	-	ADJ
aiti-3953	48	7	windup	windup	ADJ
aiti-3953	48	8	has	have	AUX
aiti-3953	48	9	been	be	AUX
aiti-3953	48	10	used	use	VERB
aiti-3953	48	11	in	in	ADP
aiti-3953	48	12	[	[	X
aiti-3953	48	13	15	15	NUM
aiti-3953	48	14	]	]	X
aiti-3953	48	15	.	.	PUNCT
aiti-3953	49	1	an	an	DET
aiti-3953	49	2	anti	anti	ADJ
aiti-3953	49	3	-	-	ADJ
aiti-3953	49	4	windup	windup	ADJ
aiti-3953	49	5	compensator	compensator	NOUN
aiti-3953	49	6	has	have	AUX
aiti-3953	49	7	been	be	AUX
aiti-3953	49	8	designed	design	VERB
aiti-3953	49	9	with	with	ADP
aiti-3953	49	10	the	the	DET
aiti-3953	49	11	same	same	ADJ
aiti-3953	49	12	nature	nature	NOUN
aiti-3953	49	13	and	and	CCONJ
aiti-3953	49	14	structure	structure	NOUN
aiti-3953	49	15	of	of	ADP
aiti-3953	49	16	lft	lft	PROPN
aiti-3953	49	17	-	-	PUNCT
aiti-3953	49	18	lpv	lpv	NOUN
aiti-3953	49	19	plant	plant	NOUN
aiti-3953	49	20	to	to	PART
aiti-3953	49	21	reject	reject	VERB
aiti-3953	49	22	the	the	DET
aiti-3953	49	23	input	input	NOUN
aiti-3953	49	24	saturation	saturation	NOUN
aiti-3953	49	25	effect	effect	NOUN
aiti-3953	49	26	[	[	X
aiti-3953	49	27	16	16	NUM
aiti-3953	49	28	]	]	PUNCT
aiti-3953	49	29	.	.	PUNCT
aiti-3953	50	1	the	the	DET
aiti-3953	50	2	article	article	NOUN
aiti-3953	50	3	’s	’s	PART
aiti-3953	50	4	outline	outline	NOUN
aiti-3953	50	5	is	be	AUX
aiti-3953	50	6	as	as	SCONJ
aiti-3953	50	7	follows	follow	VERB
aiti-3953	50	8	;	;	PUNCT
aiti-3953	50	9	in	in	ADP
aiti-3953	50	10	section	section	NOUN
aiti-3953	50	11	2	2	NUM
aiti-3953	50	12	,	,	PUNCT
aiti-3953	50	13	the	the	DET
aiti-3953	50	14	representation	representation	NOUN
aiti-3953	50	15	of	of	ADP
aiti-3953	50	16	the	the	DET
aiti-3953	50	17	quadrotor	quadrotor	NOUN
aiti-3953	50	18	attitude	attitude	NOUN
aiti-3953	50	19	model	model	NOUN
aiti-3953	50	20	as	as	ADP
aiti-3953	50	21	the	the	DET
aiti-3953	50	22	lpv	lpv	NOUN
aiti-3953	50	23	system	system	NOUN
aiti-3953	50	24	and	and	CCONJ
aiti-3953	50	25	the	the	DET
aiti-3953	50	26	synthesis	synthesis	NOUN
aiti-3953	50	27	controller	controller	NOUN
aiti-3953	50	28	are	be	AUX
aiti-3953	50	29	recalled	recall	VERB
aiti-3953	50	30	[	[	X
aiti-3953	50	31	17	17	NUM
aiti-3953	50	32	]	]	PUNCT
aiti-3953	50	33	.	.	PUNCT
aiti-3953	51	1	section	section	NOUN
aiti-3953	51	2	3	3	NUM
aiti-3953	51	3	is	be	AUX
aiti-3953	51	4	about	about	ADP
aiti-3953	51	5	a	a	DET
aiti-3953	51	6	description	description	NOUN
aiti-3953	51	7	of	of	ADP
aiti-3953	51	8	the	the	DET
aiti-3953	51	9	cs	cs	PROPN
aiti-3953	51	10	algorithm	algorithm	PROPN
aiti-3953	51	11	characteristics	characteristic	NOUN
aiti-3953	51	12	.	.	PUNCT
aiti-3953	52	1	besides	besides	SCONJ
aiti-3953	52	2	that	that	PRON
aiti-3953	52	3	,	,	PUNCT
aiti-3953	52	4	the	the	DET
aiti-3953	52	5	optimization	optimization	NOUN
aiti-3953	52	6	of	of	ADP
aiti-3953	52	7	the	the	DET
aiti-3953	52	8	weighting	weighting	NOUN
aiti-3953	52	9	functions	function	NOUN
aiti-3953	52	10	problem	problem	NOUN
aiti-3953	52	11	for	for	ADP
aiti-3953	52	12	the	the	DET
aiti-3953	52	13	nominal	nominal	ADJ
aiti-3953	52	14	system	system	NOUN
aiti-3953	52	15	(	(	PUNCT
aiti-3953	52	16	without	without	ADP
aiti-3953	52	17	considering	consider	VERB
aiti-3953	52	18	the	the	DET
aiti-3953	52	19	input	input	NOUN
aiti-3953	52	20	saturation	saturation	NOUN
aiti-3953	52	21	)	)	PUNCT
aiti-3953	52	22	is	be	AUX
aiti-3953	52	23	discussed	discuss	VERB
aiti-3953	52	24	in	in	ADP
aiti-3953	52	25	section	section	NOUN
aiti-3953	52	26	3.2	3.2	NUM
aiti-3953	52	27	.	.	PUNCT
aiti-3953	53	1	in	in	ADP
aiti-3953	53	2	section	section	NOUN
aiti-3953	53	3	4	4	NUM
aiti-3953	53	4	,	,	PUNCT
aiti-3953	53	5	the	the	DET
aiti-3953	53	6	anti	anti	ADJ
aiti-3953	53	7	-	-	ADJ
aiti-3953	53	8	windup	windup	ADJ
aiti-3953	53	9	compensator	compensator	NOUN
aiti-3953	53	10	design	design	NOUN
aiti-3953	53	11	is	be	AUX
aiti-3953	53	12	investigated	investigate	VERB
aiti-3953	53	13	.	.	PUNCT
aiti-3953	54	1	the	the	DET
aiti-3953	54	2	simulation	simulation	NOUN
aiti-3953	54	3	results	result	NOUN
aiti-3953	54	4	will	will	AUX
aiti-3953	54	5	be	be	AUX
aiti-3953	54	6	shown	show	VERB
aiti-3953	54	7	in	in	ADP
aiti-3953	54	8	section	section	NOUN
aiti-3953	54	9	5	5	NUM
aiti-3953	54	10	,	,	PUNCT
aiti-3953	54	11	and	and	CCONJ
aiti-3953	54	12	finally	finally	ADV
aiti-3953	54	13	,	,	PUNCT
aiti-3953	54	14	the	the	DET
aiti-3953	54	15	conclusion	conclusion	NOUN
aiti-3953	54	16	in	in	ADP
aiti-3953	54	17	section	section	NOUN
aiti-3953	54	18	6	6	NUM
aiti-3953	54	19	.	.	NOUN
aiti-3953	54	20	2	2	NUM
aiti-3953	54	21	.	.	X
aiti-3953	54	22	lft	lft	ADJ
aiti-3953	54	23	-	-	PUNCT
aiti-3953	54	24	lpv	lpv	ADJ
aiti-3953	54	25	controller	controller	NOUN
aiti-3953	54	26	design	design	NOUN
aiti-3953	54	27	in	in	ADP
aiti-3953	54	28	this	this	DET
aiti-3953	54	29	section	section	NOUN
aiti-3953	54	30	,	,	PUNCT
aiti-3953	54	31	the	the	DET
aiti-3953	54	32	control	control	NOUN
aiti-3953	54	33	of	of	ADP
aiti-3953	54	34	the	the	DET
aiti-3953	54	35	quadrotor	quadrotor	NOUN
aiti-3953	54	36	’s	’s	PART
aiti-3953	54	37	attitude	attitude	NOUN
aiti-3953	54	38	by	by	ADP
aiti-3953	54	39	the	the	DET
aiti-3953	54	40	lpv	lpv	NOUN
aiti-3953	54	41	technique	technique	NOUN
aiti-3953	54	42	is	be	AUX
aiti-3953	54	43	recalled	recall	VERB
aiti-3953	54	44	[	[	X
aiti-3953	54	45	17	17	NUM
aiti-3953	54	46	]	]	SYM
aiti-3953	54	47	.	.	PUNCT
aiti-3953	55	1	2.1	2.1	NUM
aiti-3953	55	2	.	.	PUNCT
aiti-3953	55	3	lft	lft	PROPN
aiti-3953	55	4	-	-	PUNCT
aiti-3953	55	5	lpv	lpv	NOUN
aiti-3953	55	6	representation	representation	NOUN
aiti-3953	55	7	of	of	ADP
aiti-3953	55	8	quadrotor	quadrotor	NOUN
aiti-3953	55	9	attitude	attitude	NOUN
aiti-3953	55	10	as	as	SCONJ
aiti-3953	55	11	noticed	notice	VERB
aiti-3953	55	12	previously	previously	ADV
aiti-3953	55	13	,	,	PUNCT
aiti-3953	55	14	this	this	DET
aiti-3953	55	15	work	work	NOUN
aiti-3953	55	16	focusses	focusse	VERB
aiti-3953	55	17	on	on	ADP
aiti-3953	55	18	the	the	DET
aiti-3953	55	19	rotational	rotational	ADJ
aiti-3953	55	20	subsystem	subsystem	NOUN
aiti-3953	55	21	of	of	ADP
aiti-3953	55	22	the	the	DET
aiti-3953	55	23	quadrotor	quadrotor	NOUN
aiti-3953	55	24	,	,	PUNCT
aiti-3953	55	25	the	the	DET
aiti-3953	55	26	framework	framework	NOUN
aiti-3953	55	27	of	of	ADP
aiti-3953	55	28	three	three	NUM
aiti-3953	55	29	degrees	degree	NOUN
aiti-3953	55	30	of	of	ADP
aiti-3953	55	31	freedom	freedom	NOUN
aiti-3953	55	32	system	system	NOUN
aiti-3953	55	33	is	be	AUX
aiti-3953	55	34	presented	present	VERB
aiti-3953	55	35	on	on	ADP
aiti-3953	55	36	fig	fig	NOUN
aiti-3953	55	37	.	.	PUNCT
aiti-3953	56	1	1	1	X
aiti-3953	56	2	.	.	PUNCT
aiti-3953	57	1	the	the	DET
aiti-3953	57	2	angles	angle	NOUN
aiti-3953	57	3	are	be	AUX
aiti-3953	57	4	the	the	DET
aiti-3953	57	5	three	three	NUM
aiti-3953	57	6	degrees	degree	NOUN
aiti-3953	57	7	of	of	ADP
aiti-3953	57	8	freedom	freedom	NOUN
aiti-3953	57	9	;	;	PUNCT
aiti-3953	57	10	roll	roll	NOUN
aiti-3953	57	11	(	(	PUNCT
aiti-3953	57	12	φ	φ	NOUN
aiti-3953	57	13	)	)	PUNCT
aiti-3953	57	14	,	,	PUNCT
aiti-3953	57	15	the	the	DET
aiti-3953	57	16	rotation	rotation	NOUN
aiti-3953	57	17	around	around	ADP
aiti-3953	57	18	the	the	DET
aiti-3953	57	19	x	x	NOUN
aiti-3953	57	20	axis	axis	NOUN
aiti-3953	57	21	;	;	PUNCT
aiti-3953	57	22	pitch	pitch	NOUN
aiti-3953	57	23	(	(	PUNCT
aiti-3953	57	24	θ	θ	NOUN
aiti-3953	57	25	)	)	PUNCT
aiti-3953	57	26	,	,	PUNCT
aiti-3953	57	27	the	the	DET
aiti-3953	57	28	rotation	rotation	NOUN
aiti-3953	57	29	around	around	ADP
aiti-3953	57	30	the	the	DET
aiti-3953	57	31	y	y	PROPN
aiti-3953	57	32	axis	axis	NOUN
aiti-3953	57	33	;	;	PUNCT
aiti-3953	57	34	yaw	yaw	NOUN
aiti-3953	57	35	(	(	PUNCT
aiti-3953	57	36	ψ	ψ	NOUN
aiti-3953	57	37	)	)	PUNCT
aiti-3953	57	38	,	,	PUNCT
aiti-3953	57	39	the	the	DET
aiti-3953	57	40	rotation	rotation	NOUN
aiti-3953	57	41	around	around	ADP
aiti-3953	57	42	the	the	DET
aiti-3953	57	43	z	z	NOUN
aiti-3953	57	44	axis	axis	NOUN
aiti-3953	57	45	.	.	PUNCT
aiti-3953	58	1	fig	fig	NOUN
aiti-3953	58	2	.	.	PUNCT
aiti-3953	59	1	1	1	NUM
aiti-3953	59	2	the	the	DET
aiti-3953	59	3	geometric	geometric	ADJ
aiti-3953	59	4	structure	structure	NOUN
aiti-3953	59	5	of	of	ADP
aiti-3953	59	6	the	the	DET
aiti-3953	59	7	quadrotor	quadrotor	NOUN
aiti-3953	59	8	these	these	DET
aiti-3953	59	9	motions	motion	NOUN
aiti-3953	59	10	are	be	AUX
aiti-3953	59	11	achieved	achieve	VERB
aiti-3953	59	12	by	by	ADP
aiti-3953	59	13	four	four	NUM
aiti-3953	59	14	rotors	rotor	NOUN
aiti-3953	59	15	,	,	PUNCT
aiti-3953	59	16	(	(	PUNCT
aiti-3953	59	17	1	1	NUM
aiti-3953	59	18	4)i	4)i	NUM
aiti-3953	59	19	i	i	PRON
aiti-3953	59	20	m	m	VERB
aiti-3953	59	21			ADJ
aiti-3953	59	22	.	.	PUNCT
aiti-3953	60	1	the	the	DET
aiti-3953	60	2	nonlinear	nonlinear	ADJ
aiti-3953	60	3	dynamic	dynamic	ADJ
aiti-3953	60	4	model	model	NOUN
aiti-3953	60	5	of	of	ADP
aiti-3953	60	6	the	the	DET
aiti-3953	60	7	rotational	rotational	ADJ
aiti-3953	60	8	subsystem	subsystem	NOUN
aiti-3953	60	9	is	be	AUX
aiti-3953	60	10	shown	show	VERB
aiti-3953	60	11	on	on	ADP
aiti-3953	60	12	eqs	eqs	PROPN
aiti-3953	60	13	.	.	PUNCT
aiti-3953	61	1	(	(	PUNCT
aiti-3953	61	2	1)-(2	1)-(2	NUM
aiti-3953	61	3	)	)	PUNCT
aiti-3953	61	4	.	.	PUNCT
aiti-3953	62	1	it	it	PRON
aiti-3953	62	2	has	have	VERB
aiti-3953	62	3	six	six	NUM
aiti-3953	62	4	states	state	NOUN
aiti-3953	62	5	;	;	PUNCT
aiti-3953	62	6	roll	roll	NOUN
aiti-3953	62	7	,	,	PUNCT
aiti-3953	62	8	pitch	pitch	NOUN
aiti-3953	62	9	,	,	PUNCT
aiti-3953	62	10	yaw	yaw	NOUN
aiti-3953	62	11	;	;	PUNCT
aiti-3953	62	12	[	[	PUNCT
aiti-3953	62	13	]	]	X
aiti-3953	62	14			X
aiti-3953	62	15			X
aiti-3953	62	16			NOUN
aiti-3953	62	17	and	and	CCONJ
aiti-3953	62	18	their	their	PRON
aiti-3953	62	19	derivatives	derivative	NOUN
aiti-3953	62	20	;	;	PUNCT
aiti-3953	62	21	[	[	PUNCT
aiti-3953	62	22	]	]	X
aiti-3953	62	23			PROPN
aiti-3953	62	24			X
aiti-3953	62	25			NOUN
aiti-3953	62	26	.	.	PUNCT
aiti-3953	63	1	it	it	PRON
aiti-3953	63	2	has	have	VERB
aiti-3953	63	3	three	three	NUM
aiti-3953	63	4	inputs	input	NOUN
aiti-3953	63	5	]	]	X
aiti-3953	63	6	[	[	X
aiti-3953	63	7	u	u	X
aiti-3953	63	8	u	u	X
aiti-3953	63	9	u	u	PROPN
aiti-3953	63	10			PROPN
aiti-3953	63	11	.	.	PUNCT
aiti-3953	64	1	advances	advance	NOUN
aiti-3953	64	2	in	in	ADP
aiti-3953	64	3	technology	technology	NOUN
aiti-3953	64	4	innovation	innovation	NOUN
aiti-3953	64	5	,	,	PUNCT
aiti-3953	64	6	vol	vol	NOUN
aiti-3953	64	7	.	.	PROPN
aiti-3953	64	8	5	5	NUM
aiti-3953	64	9	,	,	PUNCT
aiti-3953	64	10	no	no	INTJ
aiti-3953	64	11	.	.	NOUN
aiti-3953	64	12	2	2	NUM
aiti-3953	64	13	,	,	PUNCT
aiti-3953	64	14	2020	2020	NUM
aiti-3953	64	15	,	,	PUNCT
aiti-3953	64	16	pp	pp	ADJ
aiti-3953	64	17	.	.	PUNCT
aiti-3953	65	1	98	98	NUM
aiti-3953	65	2	-	-	SYM
aiti-3953	65	3	111	111	NUM
aiti-3953	65	4	100	100	NUM
aiti-3953	65	5	4	4	NUM
aiti-3953	65	6	2	2	NUM
aiti-3953	65	7	3	3	NUM
aiti-3953	65	8	1	1	NUM
aiti-3953	65	9	1	1	NUM
aiti-3953	65	10	2	2	NUM
aiti-3953	65	11	3	3	NUM
aiti-3953	65	12	4	4	NUM
aiti-3953	65	13	(	(	PUNCT
aiti-3953	65	14	)	)	PUNCT
aiti-3953	65	15	(	(	PUNCT
aiti-3953	65	16	)	)	PUNCT
aiti-3953	65	17	1	1	NUM
aiti-3953	65	18	(	(	PUNCT
aiti-3953	65	19	)	)	PUNCT
aiti-3953	66	1	y	y	PROPN
aiti-3953	66	2	z	z	NOUN
aiti-3953	66	3	r	r	NOUN
aiti-3953	66	4	r	r	NOUN
aiti-3953	66	5	x	x	NOUN
aiti-3953	66	6	x	x	PUNCT
aiti-3953	66	7	x	x	X
aiti-3953	66	8	z	z	NOUN
aiti-3953	66	9	x	x	PUNCT
aiti-3953	67	1	r	r	NOUN
aiti-3953	67	2	r	r	NOUN
aiti-3953	67	3	y	y	PROPN
aiti-3953	67	4	y	y	PROPN
aiti-3953	67	5	y	y	PROPN
aiti-3953	67	6	x	x	PUNCT
aiti-3953	67	7	y	y	PROPN
aiti-3953	67	8	z	z	NOUN
aiti-3953	67	9	z	z	NOUN
aiti-3953	68	1	i	i	PRON
aiti-3953	68	2	i	i	PRON
aiti-3953	68	3	j	j	X
aiti-3953	69	1	l	l	NOUN
aiti-3953	69	2	f	f	PROPN
aiti-3953	70	1	f	f	X
aiti-3953	71	1	i	i	PRON
aiti-3953	72	1	i	i	PRON
aiti-3953	73	1	i	i	PRON
aiti-3953	74	1	i	i	PRON
aiti-3953	75	1	i	i	VERB
aiti-3953	75	2	j	j	X
aiti-3953	76	1	l	l	NOUN
aiti-3953	76	2	f	f	PROPN
aiti-3953	77	1	f	f	X
aiti-3953	78	1	i	i	PRON
aiti-3953	78	2	i	i	PRON
aiti-3953	79	1	i	i	PRON
aiti-3953	80	1	i	i	PRON
aiti-3953	81	1	i	i	PRON
aiti-3953	81	2	t	t	X
aiti-3953	82	1	t	t	PROPN
aiti-3953	82	2	t	t	PROPN
aiti-3953	82	3	t	t	PROPN
aiti-3953	83	1	i	i	PRON
aiti-3953	83	2	i	i	VERB
aiti-3953	83	3			PROPN
aiti-3953	83	4			PROPN
aiti-3953	83	5			NOUN
aiti-3953	83	6			X
aiti-3953	83	7			X
aiti-3953	83	8			PROPN
aiti-3953	84	1			PROPN
aiti-3953	84	2			VERB
aiti-3953	84	3			NUM
aiti-3953	85	1			NUM
aiti-3953	85	2			NOUN
aiti-3953	85	3			ADP
aiti-3953	85	4			PROPN
aiti-3953	85	5			PROPN
aiti-3953	85	6			NUM
aiti-3953	85	7			PROPN
aiti-3953	85	8			VERB
aiti-3953	85	9			NOUN
aiti-3953	85	10			NUM
aiti-3953	85	11			NUM
aiti-3953	85	12			PROPN
aiti-3953	85	13			NUM
aiti-3953	85	14			ADJ
aiti-3953	85	15			PUNCT
aiti-3953	85	16			PUNCT
aiti-3953	85	17			NUM
aiti-3953	85	18			NUM
aiti-3953	85	19			PROPN
aiti-3953	85	20			NUM
aiti-3953	85	21			ADV
aiti-3953	85	22			PROPN
aiti-3953	85	23			VERB
aiti-3953	85	24			PROPN
aiti-3953	85	25			NOUN
aiti-3953	85	26	(	(	PUNCT
aiti-3953	85	27	1	1	NUM
aiti-3953	85	28	)	)	PUNCT
aiti-3953	85	29	where	where	SCONJ
aiti-3953	85	30	1	1	NUM
aiti-3953	85	31	2	2	NUM
aiti-3953	85	32	3	3	NUM
aiti-3953	85	33	4r	4r	NOUN
aiti-3953	85	34			X
aiti-3953	86	1			X
aiti-3953	86	2			PROPN
aiti-3953	86	3			PROPN
aiti-3953	86	4			PROPN
aiti-3953	86	5			PROPN
aiti-3953	86	6			VERB
aiti-3953	86	7			NOUN
aiti-3953	86	8	(	(	PUNCT
aiti-3953	86	9	2	2	NUM
aiti-3953	86	10	)	)	PUNCT
aiti-3953	86	11	the	the	DET
aiti-3953	86	12	considered	consider	VERB
aiti-3953	86	13	inputs	input	NOUN
aiti-3953	86	14	are	be	AUX
aiti-3953	86	15	expressed	express	VERB
aiti-3953	86	16	as	as	ADP
aiti-3953	86	17	:	:	PUNCT
aiti-3953	86	18	4	4	NUM
aiti-3953	86	19	2	2	NUM
aiti-3953	86	20	3	3	NUM
aiti-3953	86	21	1	1	NUM
aiti-3953	86	22	1	1	NUM
aiti-3953	86	23	2	2	NUM
aiti-3953	86	24	3	3	NUM
aiti-3953	86	25	2	2	NUM
aiti-3953	86	26	2	2	NUM
aiti-3953	86	27	4	4	NUM
aiti-3953	86	28	2	2	NUM
aiti-3953	86	29	2	2	NUM
aiti-3953	86	30	2	2	NUM
aiti-3953	86	31	3	3	NUM
aiti-3953	86	32	1	1	NUM
aiti-3953	86	33	2	2	NUM
aiti-3953	86	34	2	2	NUM
aiti-3953	86	35	2	2	NUM
aiti-3953	86	36	2	2	NUM
aiti-3953	86	37	4	4	NUM
aiti-3953	86	38	1	1	NUM
aiti-3953	86	39	2	2	NUM
aiti-3953	86	40	3	3	NUM
aiti-3953	86	41	4	4	NUM
aiti-3953	86	42	(	(	PUNCT
aiti-3953	86	43	)	)	PUNCT
aiti-3953	86	44	(	(	PUNCT
aiti-3953	86	45	)	)	PUNCT
aiti-3953	86	46	=	=	SYM
aiti-3953	86	47	(	(	PUNCT
aiti-3953	86	48	)	)	PUNCT
aiti-3953	86	49	u	u	NOUN
aiti-3953	86	50	f	f	PROPN
aiti-3953	86	51	f	f	PROPN
aiti-3953	86	52	u	u	X
aiti-3953	86	53	f	f	PROPN
aiti-3953	86	54	f	f	PROPN
aiti-3953	86	55	u	u	PROPN
aiti-3953	86	56	t	t	PROPN
aiti-3953	86	57	t	t	PROPN
aiti-3953	86	58	t	t	PROPN
aiti-3953	86	59	t	t	PROPN
aiti-3953	87	1	b	b	PROPN
aiti-3953	87	2	b	b	PROPN
aiti-3953	87	3	d	d	PROPN
aiti-3953	87	4			PROPN
aiti-3953	87	5			PROPN
aiti-3953	87	6			NOUN
aiti-3953	87	7			X
aiti-3953	88	1			X
aiti-3953	88	2			X
aiti-3953	88	3			X
aiti-3953	88	4			X
aiti-3953	89	1			X
aiti-3953	89	2			X
aiti-3953	90	1			NUM
aiti-3953	90	2			PROPN
aiti-3953	90	3			PROPN
aiti-3953	90	4			PROPN
aiti-3953	90	5			PROPN
aiti-3953	90	6			PROPN
aiti-3953	90	7			PROPN
aiti-3953	90	8			VERB
aiti-3953	90	9			ADP
aiti-3953	90	10			PROPN
aiti-3953	90	11			NOUN
aiti-3953	90	12			NUM
aiti-3953	90	13			NUM
aiti-3953	90	14			NUM
aiti-3953	90	15			NOUN
aiti-3953	90	16			NUM
aiti-3953	90	17			X
aiti-3953	90	18			PROPN
aiti-3953	90	19			ADP
aiti-3953	90	20			PROPN
aiti-3953	90	21	(	(	PUNCT
aiti-3953	90	22	3	3	NUM
aiti-3953	90	23	)	)	PUNCT
aiti-3953	90	24	table	table	NOUN
aiti-3953	90	25	1	1	NUM
aiti-3953	90	26	os4	os4	NOUN
aiti-3953	90	27	parameters	parameter	NOUN
aiti-3953	90	28	parameter	parameter	VERB
aiti-3953	90	29	description	description	NOUN
aiti-3953	90	30	value	value	NOUN
aiti-3953	90	31	unit	unit	NOUN
aiti-3953	90	32	l	l	NOUN
aiti-3953	90	33	arm	arm	NOUN
aiti-3953	90	34	length	length	NOUN
aiti-3953	91	1	0.23	0.23	NUM
aiti-3953	91	2	m	m	NOUN
aiti-3953	91	3	b	b	NOUN
aiti-3953	91	4	thrust	thrust	NOUN
aiti-3953	91	5	coefficient	coefficient	NOUN
aiti-3953	91	6	3.13	3.13	NUM
aiti-3953	91	7	10	10	NUM
aiti-3953	91	8	-5	-5	NOUN
aiti-3953	91	9	n.s	n.s	PROPN
aiti-3953	91	10	2	2	PROPN
aiti-3953	91	11	d	d	NOUN
aiti-3953	91	12	drag	drag	NOUN
aiti-3953	91	13	coefficient	coefficient	NOUN
aiti-3953	91	14	7.5	7.5	NUM
aiti-3953	91	15	10	10	NUM
aiti-3953	91	16	-7	-7	NOUN
aiti-3953	91	17	n.m.s	n.m.s	NOUN
aiti-3953	91	18	2	2	NUM
aiti-3953	91	19	ix	ix	PROPN
aiti-3953	91	20	,	,	PUNCT
aiti-3953	91	21	iy	iy	PROPN
aiti-3953	91	22	inertia	inertia	NOUN
aiti-3953	91	23	on	on	ADP
aiti-3953	91	24	x	x	PUNCT
aiti-3953	91	25	and	and	CCONJ
aiti-3953	91	26	y	y	PROPN
aiti-3953	91	27	axis	axis	VERB
aiti-3953	91	28	7.5	7.5	NUM
aiti-3953	91	29	10	10	NUM
aiti-3953	91	30	-3	-3	PUNCT
aiti-3953	91	31	kg.m	kg.m	PROPN
aiti-3953	91	32	2	2	NUM
aiti-3953	91	33	iz	iz	NOUN
aiti-3953	91	34	inertia	inertia	NOUN
aiti-3953	91	35	on	on	ADP
aiti-3953	91	36	z	z	NOUN
aiti-3953	91	37	axis	axis	NOUN
aiti-3953	91	38	1.3	1.3	NUM
aiti-3953	91	39	10	10	NUM
aiti-3953	91	40	-2	-2	NOUN
aiti-3953	91	41	kg.m	kg.m	PROPN
aiti-3953	91	42	2	2	NUM
aiti-3953	91	43	jr	jr	PROPN
aiti-3953	91	44	rotor	rotor	NOUN
aiti-3953	91	45	inertia	inertia	NOUN
aiti-3953	91	46	6	6	NUM
aiti-3953	91	47	10	10	NUM
aiti-3953	91	48	-5	-5	ADJ
aiti-3953	91	49	kg.m	kg.m	NOUN
aiti-3953	91	50	2	2	NUM
aiti-3953	91	51	ωi	ωi	NUM
aiti-3953	91	52	rotor	rotor	NOUN
aiti-3953	91	53	speed	speed	NOUN
aiti-3953	91	54	[	[	X
aiti-3953	91	55	0	0	NUM
aiti-3953	91	56	,	,	PUNCT
aiti-3953	91	57	500	500	NUM
aiti-3953	91	58	]	]	PUNCT
aiti-3953	91	59	rad.s	rad.s	PROPN
aiti-3953	91	60	-1	-1	PUNCT
aiti-3953	91	61	table	table	NOUN
aiti-3953	91	62	1	1	NUM
aiti-3953	91	63	shows	show	VERB
aiti-3953	91	64	the	the	DET
aiti-3953	91	65	model	model	NOUN
aiti-3953	91	66	’s	’s	PART
aiti-3953	91	67	parameters	parameter	NOUN
aiti-3953	91	68	from	from	ADP
aiti-3953	91	69	the	the	DET
aiti-3953	91	70	selected	select	VERB
aiti-3953	91	71	project	project	NOUN
aiti-3953	91	72	,	,	PUNCT
aiti-3953	91	73	os4	os4	PROPN
aiti-3953	91	74	[	[	X
aiti-3953	91	75	18	18	NUM
aiti-3953	91	76	]	]	PUNCT
aiti-3953	91	77	.	.	PUNCT
aiti-3953	92	1	by	by	ADP
aiti-3953	92	2	considering	consider	VERB
aiti-3953	92	3	the	the	DET
aiti-3953	92	4	assumption	assumption	NOUN
aiti-3953	92	5	that	that	SCONJ
aiti-3953	92	6	the	the	DET
aiti-3953	92	7	selected	select	VERB
aiti-3953	92	8	system	system	NOUN
aiti-3953	92	9	is	be	AUX
aiti-3953	92	10	symmetric	symmetric	ADJ
aiti-3953	92	11	(	(	PUNCT
aiti-3953	92	12	)	)	PUNCT
aiti-3953	92	13	,	,	PUNCT
aiti-3953	92	14	x	x	PROPN
aiti-3953	92	15	yi	yi	PROPN
aiti-3953	92	16	i	i	VERB
aiti-3953	92	17	the	the	DET
aiti-3953	92	18	yaw	yaw	NOUN
aiti-3953	92	19	model	model	NOUN
aiti-3953	92	20	can	can	AUX
aiti-3953	92	21	be	be	AUX
aiti-3953	92	22	linearized	linearize	VERB
aiti-3953	92	23	as	as	ADP
aiti-3953	92	24	:	:	PUNCT
aiti-3953	92	25	1	1	NUM
aiti-3953	92	26	z	z	NOUN
aiti-3953	92	27	u	u	NOUN
aiti-3953	92	28	i	i	PRON
aiti-3953	92	29			VERB
aiti-3953	92	30			VERB
aiti-3953	92	31	(	(	PUNCT
aiti-3953	92	32	4	4	X
aiti-3953	92	33	)	)	PUNCT
aiti-3953	92	34	there	there	PRON
aiti-3953	92	35	are	be	VERB
aiti-3953	92	36	two	two	NUM
aiti-3953	92	37	subsystems	subsystem	NOUN
aiti-3953	92	38	i.e.	i.e.	ADV
aiti-3953	92	39	,	,	PUNCT
aiti-3953	92	40	the	the	DET
aiti-3953	92	41	roll	roll	NOUN
aiti-3953	92	42	-	-	PUNCT
aiti-3953	92	43	pitch	pitch	NOUN
aiti-3953	92	44	(	(	PUNCT
aiti-3953	92	45	φ	φ	PROPN
aiti-3953	92	46	,	,	PUNCT
aiti-3953	92	47	θ	θ	NOUN
aiti-3953	92	48	)	)	PUNCT
aiti-3953	92	49	subsystem	subsystem	NOUN
aiti-3953	92	50	and	and	CCONJ
aiti-3953	92	51	the	the	DET
aiti-3953	92	52	linear	linear	ADJ
aiti-3953	92	53	one	one	NOUN
aiti-3953	92	54	,	,	PUNCT
aiti-3953	92	55	yaw	yaw	NOUN
aiti-3953	92	56	(	(	PUNCT
aiti-3953	92	57	ψ	ψ	NOUN
aiti-3953	92	58	)	)	PUNCT
aiti-3953	92	59	subsystem	subsystem	NOUN
aiti-3953	92	60	.	.	PUNCT
aiti-3953	93	1	fig	fig	NOUN
aiti-3953	93	2	.	.	PUNCT
aiti-3953	94	1	2	2	NUM
aiti-3953	94	2	show	show	VERB
aiti-3953	94	3	the	the	DET
aiti-3953	94	4	sheme	sheme	NOUN
aiti-3953	94	5	of	of	ADP
aiti-3953	94	6	the	the	DET
aiti-3953	94	7	quadrotor	quadrotor	NOUN
aiti-3953	94	8	attitude	attitude	NOUN
aiti-3953	94	9	.	.	PUNCT
aiti-3953	95	1	after	after	SCONJ
aiti-3953	95	2	some	some	DET
aiti-3953	95	3	mathematical	mathematical	ADJ
aiti-3953	95	4	operations	operation	NOUN
aiti-3953	95	5	(	(	PUNCT
aiti-3953	95	6	for	for	ADP
aiti-3953	95	7	more	more	ADJ
aiti-3953	95	8	details	detail	NOUN
aiti-3953	95	9	see	see	VERB
aiti-3953	95	10	[	[	X
aiti-3953	95	11	17	17	NUM
aiti-3953	95	12	]	]	NUM
aiti-3953	95	13	)	)	PUNCT
aiti-3953	95	14	,	,	PUNCT
aiti-3953	95	15	the	the	DET
aiti-3953	95	16	lpv	lpv	NOUN
aiti-3953	95	17	model	model	NOUN
aiti-3953	95	18	of	of	ADP
aiti-3953	95	19	the	the	DET
aiti-3953	95	20	nonlinear	nonlinear	ADJ
aiti-3953	95	21	subsystem	subsystem	NOUN
aiti-3953	95	22	(	(	PUNCT
aiti-3953	95	23	roll	roll	NOUN
aiti-3953	95	24	-	-	PUNCT
aiti-3953	95	25	pitch	pitch	NOUN
aiti-3953	95	26	)	)	PUNCT
aiti-3953	95	27	with	with	ADP
aiti-3953	95	28	lft	lft	PROPN
aiti-3953	95	29	representation	representation	NOUN
aiti-3953	95	30	is	be	AUX
aiti-3953	95	31	presented	present	VERB
aiti-3953	95	32	as	as	ADP
aiti-3953	95	33	:	:	PUNCT
aiti-3953	95	34	1	1	NUM
aiti-3953	95	35	1	1	NUM
aiti-3953	95	36	1	1	NUM
aiti-3953	95	37	1	1	NUM
aiti-3953	95	38	11	11	NUM
aiti-3953	95	39	d	d	NOUN
aiti-3953	95	40	p	p	X
aiti-3953	95	41	p	p	X
aiti-3953	95	42	p	p	X
aiti-3953	95	43	pp	pp	ADP
aiti-3953	95	44	p	p	PROPN
aiti-3953	96	1	p	p	X
aiti-3953	96	2	p	p	X
aiti-3953	96	3	a	a	DET
aiti-3953	96	4	b	b	NOUN
aiti-3953	96	5	bx	bx	NOUN
aiti-3953	96	6	x	x	PUNCT
aiti-3953	96	7	z	z	NOUN
aiti-3953	96	8	c	c	NOUN
aiti-3953	97	1	d	d	X
aiti-3953	97	2	w	w	PROPN
aiti-3953	97	3	y	y	PROPN
aiti-3953	97	4	c	c	PROPN
aiti-3953	97	5	d	d	PROPN
aiti-3953	97	6	d	d	PUNCT
aiti-3953	97	7	u	u	PRON
aiti-3953	97	8			PROPN
aiti-3953	97	9			PROPN
aiti-3953	97	10			INTJ
aiti-3953	97	11			PROPN
aiti-3953	97	12			ADJ
aiti-3953	97	13			NOUN
aiti-3953	97	14			PROPN
aiti-3953	97	15			NOUN
aiti-3953	97	16			NOUN
aiti-3953	97	17			NOUN
aiti-3953	97	18			NUM
aiti-3953	97	19			NOUN
aiti-3953	97	20			NOUN
aiti-3953	97	21			PROPN
aiti-3953	97	22			NOUN
aiti-3953	97	23			NOUN
aiti-3953	97	24			NOUN
aiti-3953	97	25			NOUN
aiti-3953	97	26			NOUN
aiti-3953	97	27			NOUN
aiti-3953	97	28			NOUN
aiti-3953	97	29			NOUN
aiti-3953	97	30			PROPN
aiti-3953	97	31			AUX
aiti-3953	97	32			NOUN
aiti-3953	97	33			PROPN
aiti-3953	97	34			PROPN
aiti-3953	97	35	(	(	PUNCT
aiti-3953	97	36	5	5	NUM
aiti-3953	97	37	)	)	PUNCT
aiti-3953	97	38	and	and	CCONJ
aiti-3953	97	39	p	p	X
aiti-3953	97	40	pw	pw	X
aiti-3953	97	41	z	z	X
aiti-3953	97	42	(	(	PUNCT
aiti-3953	97	43	6	6	NUM
aiti-3953	97	44	)	)	PUNCT
aiti-3953	97	45	fig	fig	NOUN
aiti-3953	97	46	.	.	PUNCT
aiti-3953	98	1	2	2	NUM
aiti-3953	98	2	lft	lft	ADJ
aiti-3953	98	3	-	-	ADJ
aiti-3953	98	4	lpv	lpv	NOUN
aiti-3953	98	5	scheme	scheme	NOUN
aiti-3953	98	6	of	of	ADP
aiti-3953	98	7	the	the	DET
aiti-3953	98	8	quadrotor	quadrotor	NOUN
aiti-3953	98	9	attitude	attitude	NOUN
aiti-3953	98	10	zρ	zρ	PROPN
aiti-3953	98	11	u	u	NOUN
aiti-3953	98	12	wρ	wρ	PROPN
aiti-3953	98	13	y	y	PROPN
aiti-3953	98	14	quadrotor	quadrotor	PROPN
aiti-3953	98	15	attitude	attitude	NOUN
aiti-3953	98	16	θ	θ	PROPN
aiti-3953	98	17	advances	advance	VERB
aiti-3953	98	18	in	in	ADP
aiti-3953	98	19	technology	technology	NOUN
aiti-3953	98	20	innovation	innovation	NOUN
aiti-3953	98	21	,	,	PUNCT
aiti-3953	98	22	vol	vol	NOUN
aiti-3953	98	23	.	.	PROPN
aiti-3953	98	24	5	5	NUM
aiti-3953	98	25	,	,	PUNCT
aiti-3953	98	26	no	no	INTJ
aiti-3953	98	27	.	.	NOUN
aiti-3953	98	28	2	2	NUM
aiti-3953	98	29	,	,	PUNCT
aiti-3953	98	30	2020	2020	NUM
aiti-3953	98	31	,	,	PUNCT
aiti-3953	98	32	pp	pp	ADJ
aiti-3953	98	33	.	.	PUNCT
aiti-3953	99	1	98	98	NUM
aiti-3953	99	2	-	-	SYM
aiti-3953	99	3	111	111	NUM
aiti-3953	99	4	101	101	NUM
aiti-3953	99	5	where	where	SCONJ
aiti-3953	99	6	the	the	DET
aiti-3953	99	7	elements	element	NOUN
aiti-3953	99	8	of	of	ADP
aiti-3953	99	9	the	the	DET
aiti-3953	99	10	matrices	matrix	NOUN
aiti-3953	99	11	in	in	ADP
aiti-3953	99	12	eq	eq	ADP
aiti-3953	99	13	.	.	PUNCT
aiti-3953	100	1	(	(	PUNCT
aiti-3953	100	2	5	5	X
aiti-3953	100	3	)	)	PUNCT
aiti-3953	100	4	can	can	AUX
aiti-3953	100	5	be	be	AUX
aiti-3953	100	6	obtained	obtain	VERB
aiti-3953	100	7	by	by	ADP
aiti-3953	100	8	:	:	SYM
aiti-3953	100	9	0	0	NUM
aiti-3953	100	10	1	1	NUM
aiti-3953	100	11	0	0	NUM
aiti-3953	100	12	0	0	NUM
aiti-3953	100	13	0	0	NUM
aiti-3953	100	14	0	0	NUM
aiti-3953	100	15	0	0	NUM
aiti-3953	100	16	0	0	NUM
aiti-3953	100	17	0	0	NUM
aiti-3953	100	18	0	0	NUM
aiti-3953	100	19	0	0	NUM
aiti-3953	100	20	1	1	NUM
aiti-3953	100	21	0	0	NUM
aiti-3953	100	22	0	0	NUM
aiti-3953	100	23	0	0	NUM
aiti-3953	100	24	0	0	NUM
aiti-3953	101	1	a	a	DET
aiti-3953	101	2			NUM
aiti-3953	101	3			PROPN
aiti-3953	101	4			NOUN
aiti-3953	101	5			NOUN
aiti-3953	101	6			PROPN
aiti-3953	101	7			NOUN
aiti-3953	101	8			NOUN
aiti-3953	101	9			NOUN
aiti-3953	101	10			NOUN
aiti-3953	101	11			NOUN
aiti-3953	101	12			NOUN
aiti-3953	101	13			NOUN
aiti-3953	101	14			PROPN
aiti-3953	101	15	(	(	PUNCT
aiti-3953	101	16	7	7	NUM
aiti-3953	101	17	)	)	PUNCT
aiti-3953	101	18	0	0	NUM
aiti-3953	101	19	0	0	NUM
aiti-3953	101	20	0	0	NUM
aiti-3953	101	21	0	0	NUM
aiti-3953	101	22	0	0	NUM
aiti-3953	101	23	0	0	NUM
aiti-3953	101	24	0	0	NUM
aiti-3953	101	25	0	0	NUM
aiti-3953	101	26	0	0	NUM
aiti-3953	101	27	0	0	NUM
aiti-3953	101	28	0	0	NUM
aiti-3953	101	29	0	0	NUM
aiti-3953	102	1	y	y	PROPN
aiti-3953	102	2	z	z	NOUN
aiti-3953	102	3	r	r	NOUN
aiti-3953	102	4	x	x	PUNCT
aiti-3953	102	5	x	x	X
aiti-3953	102	6	p	p	X
aiti-3953	102	7	z	z	NOUN
aiti-3953	102	8	x	x	SYM
aiti-3953	103	1	r	r	NOUN
aiti-3953	103	2	y	y	NOUN
aiti-3953	103	3	y	y	INTJ
aiti-3953	104	1	i	i	PRON
aiti-3953	104	2	i	i	INTJ
aiti-3953	105	1	j	j	VERB
aiti-3953	106	1	i	i	PRON
aiti-3953	106	2	i	i	PRON
aiti-3953	107	1	b	b	VERB
aiti-3953	108	1	i	i	PRON
aiti-3953	109	1	i	i	INTJ
aiti-3953	109	2	j	j	VERB
aiti-3953	110	1	i	i	PRON
aiti-3953	110	2	i	i	PRON
aiti-3953	110	3			VERB
aiti-3953	110	4			PROPN
aiti-3953	110	5			PROPN
aiti-3953	110	6			PROPN
aiti-3953	110	7			PROPN
aiti-3953	110	8			ADJ
aiti-3953	110	9			NOUN
aiti-3953	110	10			PROPN
aiti-3953	110	11			NOUN
aiti-3953	110	12			NOUN
aiti-3953	110	13			NOUN
aiti-3953	110	14			NOUN
aiti-3953	110	15			NOUN
aiti-3953	110	16			NOUN
aiti-3953	110	17			NOUN
aiti-3953	110	18			NOUN
aiti-3953	110	19			NOUN
aiti-3953	110	20			NOUN
aiti-3953	110	21			NOUN
aiti-3953	110	22			NOUN
aiti-3953	110	23			NOUN
aiti-3953	110	24			PROPN
aiti-3953	110	25			PROPN
aiti-3953	110	26	(	(	PUNCT
aiti-3953	110	27	8)	8)	NUM
aiti-3953	110	28	1	1	NUM
aiti-3953	110	29	0	0	NUM
aiti-3953	110	30	0	0	NUM
aiti-3953	110	31	0	0	NUM
aiti-3953	110	32	0	0	NUM
aiti-3953	110	33	0	0	NUM
aiti-3953	110	34	0	0	NUM
aiti-3953	110	35	x	x	SYM
aiti-3953	110	36	y	y	NOUN
aiti-3953	110	37	l	l	NOUN
aiti-3953	111	1	i	i	NOUN
aiti-3953	111	2	l	l	NOUN
aiti-3953	112	1	b	b	NOUN
aiti-3953	113	1	i	i	PRON
aiti-3953	113	2			VERB
aiti-3953	113	3			NUM
aiti-3953	113	4			ADJ
aiti-3953	113	5			NOUN
aiti-3953	113	6			PROPN
aiti-3953	113	7			NOUN
aiti-3953	113	8			NOUN
aiti-3953	113	9			NOUN
aiti-3953	113	10			NOUN
aiti-3953	113	11			NOUN
aiti-3953	113	12			NOUN
aiti-3953	113	13			NOUN
aiti-3953	113	14			NOUN
aiti-3953	113	15			NOUN
aiti-3953	113	16			NOUN
aiti-3953	113	17			NOUN
aiti-3953	113	18			NOUN
aiti-3953	113	19			NOUN
aiti-3953	113	20			PROPN
aiti-3953	113	21			PROPN
aiti-3953	113	22	(	(	PUNCT
aiti-3953	113	23	9	9	NUM
aiti-3953	113	24	)	)	PUNCT
aiti-3953	113	25	0	0	NUM
aiti-3953	113	26	0	0	NUM
aiti-3953	113	27	0	0	NUM
aiti-3953	113	28	1	1	NUM
aiti-3953	113	29	0	0	NUM
aiti-3953	113	30	0	0	NUM
aiti-3953	113	31	0	0	NUM
aiti-3953	113	32	1	1	NUM
aiti-3953	113	33	0	0	NUM
aiti-3953	113	34	1	1	NUM
aiti-3953	113	35	0	0	NUM
aiti-3953	113	36	0	0	NUM
aiti-3953	113	37	0	0	NUM
aiti-3953	113	38	1	1	NUM
aiti-3953	113	39	0	0	NUM
aiti-3953	113	40	0	0	NUM
aiti-3953	113	41	pc	pc	NOUN
aiti-3953	113	42			NOUN
aiti-3953	113	43			PROPN
aiti-3953	113	44			ADJ
aiti-3953	113	45			NOUN
aiti-3953	113	46			PROPN
aiti-3953	113	47			NOUN
aiti-3953	113	48			NOUN
aiti-3953	113	49			NOUN
aiti-3953	113	50			NOUN
aiti-3953	113	51			NOUN
aiti-3953	113	52			NOUN
aiti-3953	113	53			NOUN
aiti-3953	113	54			PROPN
aiti-3953	113	55	(	(	PUNCT
aiti-3953	113	56	10	10	NUM
aiti-3953	113	57	)	)	SYM
aiti-3953	113	58	1	1	NUM
aiti-3953	113	59	1	1	NUM
aiti-3953	113	60	0	0	NUM
aiti-3953	113	61	0	0	NUM
aiti-3953	113	62	0	0	NUM
aiti-3953	113	63	0	0	NUM
aiti-3953	113	64	0	0	NUM
aiti-3953	113	65	1	1	NUM
aiti-3953	113	66	0	0	NUM
aiti-3953	113	67	c	c	NOUN
aiti-3953	113	68			PRON
aiti-3953	113	69			NUM
aiti-3953	113	70			NOUN
aiti-3953	113	71			NOUN
aiti-3953	113	72			NOUN
aiti-3953	113	73			NOUN
aiti-3953	113	74			PROPN
aiti-3953	113	75	(	(	PUNCT
aiti-3953	113	76	11	11	NUM
aiti-3953	113	77	)	)	SYM
aiti-3953	113	78	4	4	NUM
aiti-3953	113	79	40	40	NUM
aiti-3953	113	80	xppd	xppd	NOUN
aiti-3953	113	81			NUM
aiti-3953	113	82	(	(	PUNCT
aiti-3953	113	83	12	12	NUM
aiti-3953	113	84	)	)	SYM
aiti-3953	113	85	1	1	NUM
aiti-3953	113	86	4	4	NUM
aiti-3953	113	87	20p	20p	NOUN
aiti-3953	113	88	xd	xd	ADP
aiti-3953	113	89			NUM
aiti-3953	113	90	(	(	PUNCT
aiti-3953	113	91	13	13	NUM
aiti-3953	113	92	)	)	SYM
aiti-3953	113	93	1	1	NUM
aiti-3953	113	94	2	2	NUM
aiti-3953	113	95	40p	40p	NOUN
aiti-3953	113	96	xd	xd	ADV
aiti-3953	113	97			NUM
aiti-3953	113	98	(	(	PUNCT
aiti-3953	113	99	14	14	NUM
aiti-3953	113	100	)	)	PUNCT
aiti-3953	113	101	11	11	NUM
aiti-3953	113	102	2	2	NUM
aiti-3953	113	103	20	20	NUM
aiti-3953	113	104	xd	xd	INTJ
aiti-3953	113	105			NUM
aiti-3953	113	106	(	(	PUNCT
aiti-3953	113	107	15	15	NUM
aiti-3953	113	108	)	)	PUNCT
aiti-3953	113	109	where	where	SCONJ
aiti-3953	113	110	the	the	DET
aiti-3953	113	111	state	state	NOUN
aiti-3953	113	112	vector	vector	NOUN
aiti-3953	113	113	t	t	NOUN
aiti-3953	113	114	x	x	X
aiti-3953	113	115			PROPN
aiti-3953	113	116			PROPN
aiti-3953	113	117			PROPN
aiti-3953	113	118			PROPN
aiti-3953	113	119			PROPN
aiti-3953	113	120			PROPN
aiti-3953	113	121			PROPN
aiti-3953	113	122	,	,	PUNCT
aiti-3953	113	123	the	the	DET
aiti-3953	113	124	input	input	NOUN
aiti-3953	113	125	vector	vector	NOUN
aiti-3953	113	126	t	t	PROPN
aiti-3953	113	127	u	u	NOUN
aiti-3953	113	128	u	u	PROPN
aiti-3953	113	129	u	u	PROPN
aiti-3953	113	130			PROPN
aiti-3953	113	131			PROPN
aiti-3953	113	132			PROPN
aiti-3953	113	133			PROPN
aiti-3953	113	134	,	,	PUNCT
aiti-3953	113	135	the	the	DET
aiti-3953	113	136	outputs	output	NOUN
aiti-3953	113	137			ADJ
aiti-3953	113	138	ty	ty	ADJ
aiti-3953	113	139			PROPN
aiti-3953	113	140			NOUN
aiti-3953	113	141	,	,	PUNCT
aiti-3953	113	142	pz	pz	NOUN
aiti-3953	113	143	and	and	CCONJ
aiti-3953	113	144	pw	pw	PROPN
aiti-3953	113	145	are	be	AUX
aiti-3953	113	146	the	the	DET
aiti-3953	113	147	inputs	input	NOUN
aiti-3953	113	148	and	and	CCONJ
aiti-3953	113	149	outputs	output	NOUN
aiti-3953	113	150	of	of	ADP
aiti-3953	113	151	the	the	DET
aiti-3953	113	152	parameters	parameter	NOUN
aiti-3953	113	153	block	block	VERB
aiti-3953	113	154	,	,	PUNCT
aiti-3953	113	155	1	1	NUM
aiti-3953	113	156	,	,	PUNCT
aiti-3953	113	157	2	2	NUM
aiti-3953	113	158	,	,	PUNCT
aiti-3953	113	159	1	1	NUM
aiti-3953	113	160	,	,	PUNCT
aiti-3953	113	161	2	2	NUM
aiti-3953	113	162	(	(	PUNCT
aiti-3953	113	163	)	)	PUNCT
aiti-3953	113	164	.diag	.diag	PRON
aiti-3953	114	1	p	p	X
aiti-3953	114	2	p	p	X
aiti-3953	114	3	p	p	NOUN
aiti-3953	114	4	p	p	NOUN
aiti-3953	114	5			NUM
aiti-3953	114	6	table	table	NOUN
aiti-3953	114	7	2	2	NUM
aiti-3953	114	8	presents	present	VERB
aiti-3953	114	9	the	the	DET
aiti-3953	114	10	parameter	parameter	NOUN
aiti-3953	114	11	range	range	NOUN
aiti-3953	114	12	of	of	ADP
aiti-3953	114	13	roll	roll	NOUN
aiti-3953	114	14	-	-	PUNCT
aiti-3953	114	15	pitch	pitch	NOUN
aiti-3953	114	16	subsystem	subsystem	NOUN
aiti-3953	114	17	.	.	PUNCT
aiti-3953	115	1	the	the	DET
aiti-3953	115	2	yaw	yaw	NOUN
aiti-3953	115	3	subsystem	subsystem	NOUN
aiti-3953	115	4	is	be	AUX
aiti-3953	115	5	a	a	DET
aiti-3953	115	6	simple	simple	ADJ
aiti-3953	115	7	double	double	ADJ
aiti-3953	115	8	integrator	integrator	NOUN
aiti-3953	115	9	system	system	NOUN
aiti-3953	115	10	with	with	ADP
aiti-3953	115	11	2	2	NUM
aiti-3953	115	12	states	state	NOUN
aiti-3953	115	13			ADJ
aiti-3953	115	14	t	t	PROPN
aiti-3953	115	15			NOUN
aiti-3953	115	16	,	,	PUNCT
aiti-3953	115	17	and	and	CCONJ
aiti-3953	115	18	just	just	ADV
aiti-3953	115	19	one	one	NUM
aiti-3953	115	20	input	input	NOUN
aiti-3953	115	21	(	(	PUNCT
aiti-3953	115	22	)	)	PUNCT
aiti-3953	115	23	.u	.u	PROPN
aiti-3953	115	24	table	table	NOUN
aiti-3953	115	25	2	2	NUM
aiti-3953	115	26	varying	vary	VERB
aiti-3953	115	27	-	-	PUNCT
aiti-3953	115	28	parameters	parameter	NOUN
aiti-3953	115	29	range	range	NOUN
aiti-3953	115	30	parameter	parameter	NOUN
aiti-3953	115	31	description	description	NOUN
aiti-3953	115	32	range	range	VERB
aiti-3953	115	33	1p	1p	NUM
aiti-3953	115	34			NOUN
aiti-3953	115	35	1	1	NUM
aiti-3953	115	36	[	[	SYM
aiti-3953	115	37	2	2	NUM
aiti-3953	115	38	,	,	PUNCT
aiti-3953	115	39	2	2	NUM
aiti-3953	115	40	]	]	PUNCT
aiti-3953	115	41	.rad	.rad	PUNCT
aiti-3953	116	1	s	s	PROPN
aiti-3953	116	2	2p	2p	NUM
aiti-3953	116	3	r	r	SYM
aiti-3953	116	4	1	1	NUM
aiti-3953	116	5	[	[	SYM
aiti-3953	116	6	500	500	NUM
aiti-3953	116	7	,	,	PUNCT
aiti-3953	116	8	500	500	NUM
aiti-3953	116	9	]	]	PUNCT
aiti-3953	116	10	.rad	.rad	PUNCT
aiti-3953	117	1	s	s	PROPN
aiti-3953	117	2	2.2	2.2	NUM
aiti-3953	117	3	.	.	PUNCT
aiti-3953	118	1	the	the	DET
aiti-3953	118	2	controller	controller	NOUN
aiti-3953	118	3	synthesis	synthesis	NOUN
aiti-3953	118	4	in	in	ADP
aiti-3953	118	5	the	the	DET
aiti-3953	118	6	h∞	h∞	PROPN
aiti-3953	118	7	controller	controller	NOUN
aiti-3953	118	8	design	design	NOUN
aiti-3953	118	9	,	,	PUNCT
aiti-3953	118	10	either	either	CCONJ
aiti-3953	118	11	the	the	DET
aiti-3953	118	12	lpv	lpv	NOUN
aiti-3953	118	13	subsystem	subsystem	NOUN
aiti-3953	118	14	(	(	PUNCT
aiti-3953	118	15	roll	roll	NOUN
aiti-3953	118	16	-	-	PUNCT
aiti-3953	118	17	pitch	pitch	NOUN
aiti-3953	118	18	)	)	PUNCT
aiti-3953	118	19	or	or	CCONJ
aiti-3953	118	20	lti	lti	PROPN
aiti-3953	118	21	subsystem	subsystem	NOUN
aiti-3953	118	22	(	(	PUNCT
aiti-3953	118	23	yaw	yaw	PROPN
aiti-3953	118	24	)	)	PUNCT
aiti-3953	118	25	needs	need	VERB
aiti-3953	118	26	to	to	PART
aiti-3953	118	27	interconnect	interconnect	VERB
aiti-3953	118	28	the	the	DET
aiti-3953	118	29	system	system	NOUN
aiti-3953	118	30	with	with	ADP
aiti-3953	118	31	externl	externl	PROPN
aiti-3953	118	32	inputs	input	NOUN
aiti-3953	118	33	(	(	PUNCT
aiti-3953	118	34	disturbances	disturbance	NOUN
aiti-3953	118	35	and	and	CCONJ
aiti-3953	118	36	noises	noise	NOUN
aiti-3953	118	37	)	)	PUNCT
aiti-3953	118	38	and	and	CCONJ
aiti-3953	118	39	the	the	DET
aiti-3953	118	40	actuator	actuator	NOUN
aiti-3953	118	41	dynamics	dynamic	NOUN
aiti-3953	118	42	.	.	PUNCT
aiti-3953	119	1	advances	advance	NOUN
aiti-3953	119	2	in	in	ADP
aiti-3953	119	3	technology	technology	NOUN
aiti-3953	119	4	innovation	innovation	NOUN
aiti-3953	119	5	,	,	PUNCT
aiti-3953	119	6	vol	vol	NOUN
aiti-3953	119	7	.	.	PROPN
aiti-3953	119	8	5	5	NUM
aiti-3953	119	9	,	,	PUNCT
aiti-3953	119	10	no	no	INTJ
aiti-3953	119	11	.	.	NOUN
aiti-3953	119	12	2	2	NUM
aiti-3953	119	13	,	,	PUNCT
aiti-3953	119	14	2020	2020	NUM
aiti-3953	119	15	,	,	PUNCT
aiti-3953	119	16	pp	pp	ADJ
aiti-3953	119	17	.	.	PUNCT
aiti-3953	120	1	98	98	NUM
aiti-3953	120	2	-	-	SYM
aiti-3953	120	3	111	111	NUM
aiti-3953	120	4	102	102	NUM
aiti-3953	120	5	the	the	DET
aiti-3953	120	6	rotor	rotor	NOUN
aiti-3953	120	7	’s	’s	PART
aiti-3953	120	8	dynamic	dynamic	ADJ
aiti-3953	120	9	in	in	ADP
aiti-3953	120	10	the	the	DET
aiti-3953	120	11	selected	select	VERB
aiti-3953	120	12	project	project	NOUN
aiti-3953	120	13	,	,	PUNCT
aiti-3953	120	14	[	[	X
aiti-3953	120	15	18	18	NUM
aiti-3953	120	16	]	]	PUNCT
aiti-3953	120	17	can	can	AUX
aiti-3953	120	18	be	be	AUX
aiti-3953	120	19	expressed	express	VERB
aiti-3953	120	20	as	as	ADP
aiti-3953	120	21	:	:	PUNCT
aiti-3953	120	22	0.936	0.936	NUM
aiti-3953	120	23	(	(	PUNCT
aiti-3953	120	24	)	)	PUNCT
aiti-3953	120	25	0.178	0.178	NUM
aiti-3953	120	26	1	1	NUM
aiti-3953	120	27	i	i	PRON
aiti-3953	120	28	di	di	INTJ
aiti-3953	120	29	act	act	PROPN
aiti-3953	120	30	s	s	PART
aiti-3953	120	31	s	s	X
aiti-3953	120	32			X
aiti-3953	120	33			X
aiti-3953	120	34			NUM
aiti-3953	120	35			PROPN
aiti-3953	120	36			PUNCT
aiti-3953	120	37	(	(	PUNCT
aiti-3953	120	38	16	16	NUM
aiti-3953	120	39	)	)	PUNCT
aiti-3953	120	40	where	where	SCONJ
aiti-3953	120	41	i	i	PROPN
aiti-3953	120	42	is	be	AUX
aiti-3953	120	43	the	the	DET
aiti-3953	120	44	actual	actual	ADJ
aiti-3953	120	45	rotor	rotor	NOUN
aiti-3953	120	46	speed	speed	NOUN
aiti-3953	120	47	,	,	PUNCT
aiti-3953	120	48	di	di	PROPN
aiti-3953	120	49	is	be	AUX
aiti-3953	120	50	the	the	DET
aiti-3953	120	51	desired	desire	VERB
aiti-3953	120	52	rotor	rotor	NOUN
aiti-3953	120	53	speed	speed	NOUN
aiti-3953	120	54	.	.	PUNCT
aiti-3953	121	1	from	from	ADP
aiti-3953	121	2	eq	eq	ADP
aiti-3953	121	3	.	.	PUNCT
aiti-3953	122	1	(	(	PUNCT
aiti-3953	122	2	3	3	NUM
aiti-3953	122	3	)	)	PUNCT
aiti-3953	122	4	,	,	PUNCT
aiti-3953	122	5	it	it	PRON
aiti-3953	122	6	is	be	AUX
aiti-3953	122	7	possible	possible	ADJ
aiti-3953	122	8	to	to	PART
aiti-3953	122	9	extract	extract	VERB
aiti-3953	122	10	the	the	DET
aiti-3953	122	11	inputs	input	NOUN
aiti-3953	122	12	’	'	PUNCT
aiti-3953	122	13	dynamics	dynamic	NOUN
aiti-3953	122	14	.	.	PUNCT
aiti-3953	123	1	the	the	DET
aiti-3953	123	2	actuators	actuator	NOUN
aiti-3953	123	3	’	'	PUNCT
aiti-3953	123	4	dynamic	dynamic	ADJ
aiti-3953	123	5	for	for	ADP
aiti-3953	123	6	each	each	DET
aiti-3953	123	7	input	input	NOUN
aiti-3953	123	8	(	(	PUNCT
aiti-3953	123	9	,	,	PUNCT
aiti-3953	123	10	,	,	PUNCT
aiti-3953	123	11	)	)	PUNCT
aiti-3953	123	12	u	u	NOUN
aiti-3953	123	13	u	u	NOUN
aiti-3953	123	14	u	u	PROPN
aiti-3953	123	15			PROPN
aiti-3953	123	16			NOUN
aiti-3953	123	17	of	of	ADP
aiti-3953	123	18	pitch	pitch	NOUN
aiti-3953	123	19	,	,	PUNCT
aiti-3953	123	20	roll	roll	NOUN
aiti-3953	123	21	,	,	PUNCT
aiti-3953	123	22	and	and	CCONJ
aiti-3953	123	23	yaw	yaw	NOUN
aiti-3953	123	24	controls	control	NOUN
aiti-3953	123	25	can	can	AUX
aiti-3953	123	26	be	be	AUX
aiti-3953	123	27	expressed	express	VERB
aiti-3953	123	28	as	as	ADP
aiti-3953	123	29	:	:	PUNCT
aiti-3953	123	30	2	2	NUM
aiti-3953	123	31	(	(	PUNCT
aiti-3953	123	32	)	)	PUNCT
aiti-3953	123	33	a	a	DET
aiti-3953	123	34	du	du	PROPN
aiti-3953	123	35	act	act	PROPN
aiti-3953	123	36	s	s	PART
aiti-3953	123	37	u	u	X
aiti-3953	123	38	(	(	PUNCT
aiti-3953	123	39	17	17	NUM
aiti-3953	123	40	)	)	PUNCT
aiti-3953	123	41	where	where	SCONJ
aiti-3953	123	42	du	du	PROPN
aiti-3953	123	43	is	be	AUX
aiti-3953	123	44	the	the	DET
aiti-3953	123	45	desired	desire	VERB
aiti-3953	123	46	control	control	NOUN
aiti-3953	123	47	signal	signal	NOUN
aiti-3953	123	48	generated	generate	VERB
aiti-3953	123	49	by	by	ADP
aiti-3953	123	50	the	the	DET
aiti-3953	123	51	controller	controller	NOUN
aiti-3953	123	52	,	,	PUNCT
aiti-3953	123	53	and	and	CCONJ
aiti-3953	123	54	au	au	ADV
aiti-3953	123	55	is	be	AUX
aiti-3953	123	56	the	the	DET
aiti-3953	123	57	actual	actual	ADJ
aiti-3953	123	58	control	control	NOUN
aiti-3953	123	59	signal	signal	PROPN
aiti-3953	123	60	.	.	PUNCT
aiti-3953	124	1	fig	fig	NOUN
aiti-3953	124	2	.	.	PUNCT
aiti-3953	125	1	3	3	NUM
aiti-3953	125	2	lft	lft	ADJ
aiti-3953	125	3	-	-	PUNCT
aiti-3953	125	4	lpv	lpv	NOUN
aiti-3953	125	5	representation	representation	NOUN
aiti-3953	125	6	of	of	ADP
aiti-3953	125	7	closed	closed	ADJ
aiti-3953	125	8	loop	loop	NOUN
aiti-3953	125	9	plant	plant	NOUN
aiti-3953	125	10	-	-	PUNCT
aiti-3953	125	11	controller	controller	NOUN
aiti-3953	125	12	as	as	SCONJ
aiti-3953	125	13	noticed	notice	VERB
aiti-3953	125	14	before	before	ADV
aiti-3953	125	15	,	,	PUNCT
aiti-3953	125	16	both	both	CCONJ
aiti-3953	125	17	the	the	DET
aiti-3953	125	18	plant	plant	NOUN
aiti-3953	125	19	and	and	CCONJ
aiti-3953	125	20	controller	controller	NOUN
aiti-3953	125	21	of	of	ADP
aiti-3953	125	22	the	the	DET
aiti-3953	125	23	roll	roll	NOUN
aiti-3953	125	24	-	-	PUNCT
aiti-3953	125	25	pitch	pitch	NOUN
aiti-3953	125	26	subsystem	subsystem	NOUN
aiti-3953	125	27	are	be	AUX
aiti-3953	125	28	lpv	lpv	VERB
aiti-3953	125	29	with	with	ADP
aiti-3953	125	30	lft	lft	PROPN
aiti-3953	125	31	representation	representation	PROPN
aiti-3953	125	32	(	(	PUNCT
aiti-3953	125	33	fig	fig	NOUN
aiti-3953	125	34	.	.	PUNCT
aiti-3953	126	1	3	3	NUM
aiti-3953	126	2	)	)	PUNCT
aiti-3953	126	3	.	.	PUNCT
aiti-3953	127	1	on	on	ADP
aiti-3953	127	2	the	the	DET
aiti-3953	127	3	contrary	contrary	NOUN
aiti-3953	127	4	,	,	PUNCT
aiti-3953	127	5	the	the	DET
aiti-3953	127	6	yaw	yaw	NOUN
aiti-3953	127	7	subsystem	subsystem	NOUN
aiti-3953	127	8	is	be	AUX
aiti-3953	127	9	a	a	DET
aiti-3953	127	10	simple	simple	ADJ
aiti-3953	127	11	lti	lti	NOUN
aiti-3953	127	12	.	.	PUNCT
aiti-3953	128	1	the	the	DET
aiti-3953	128	2	augmented	augment	VERB
aiti-3953	128	3	plant	plant	NOUN
aiti-3953	128	4	(	(	PUNCT
aiti-3953	128	5	p	p	NOUN
aiti-3953	128	6	)	)	PUNCT
aiti-3953	128	7	includes	include	VERB
aiti-3953	128	8	actuators	actuator	NOUN
aiti-3953	128	9	dynamics	dynamic	NOUN
aiti-3953	128	10	,	,	PUNCT
aiti-3953	128	11	external	external	ADJ
aiti-3953	128	12	inputs	input	NOUN
aiti-3953	128	13	,	,	PUNCT
aiti-3953	128	14	and	and	CCONJ
aiti-3953	128	15	weighting	weight	VERB
aiti-3953	128	16	functions	function	NOUN
aiti-3953	128	17	.	.	PUNCT
aiti-3953	129	1	the	the	DET
aiti-3953	129	2	plant	plant	NOUN
aiti-3953	129	3	’s	’s	PART
aiti-3953	129	4	state	state	NOUN
aiti-3953	129	5	space	space	NOUN
aiti-3953	129	6	is	be	AUX
aiti-3953	129	7	presented	present	VERB
aiti-3953	129	8	in	in	ADP
aiti-3953	129	9	eqs	eqs	PROPN
aiti-3953	129	10	.	.	PUNCT
aiti-3953	130	1	(	(	PUNCT
aiti-3953	130	2	18)-(22	18)-(22	NUM
aiti-3953	130	3	)	)	PUNCT
aiti-3953	130	4	,	,	PUNCT
aiti-3953	130	5	and	and	CCONJ
aiti-3953	130	6	the	the	DET
aiti-3953	130	7	controller	controller	NOUN
aiti-3953	130	8	’s	’s	PART
aiti-3953	130	9	state	state	NOUN
aiti-3953	130	10	space	space	NOUN
aiti-3953	130	11	is	be	AUX
aiti-3953	130	12	expressed	express	VERB
aiti-3953	130	13	as	as	ADP
aiti-3953	130	14	:	:	PUNCT
aiti-3953	130	15	1	1	NUM
aiti-3953	130	16	2p	2p	NUM
aiti-3953	130	17	px	px	NOUN
aiti-3953	130	18	ax	ax	NOUN
aiti-3953	130	19	b	b	PROPN
aiti-3953	130	20	w	w	PROPN
aiti-3953	130	21	b	b	PROPN
aiti-3953	130	22	w	w	PROPN
aiti-3953	130	23	b	b	PROPN
aiti-3953	130	24	u	u	X
aiti-3953	130	25			PROPN
aiti-3953	130	26			PUNCT
aiti-3953	130	27			X
aiti-3953	130	28	(	(	PUNCT
aiti-3953	130	29	18	18	NUM
aiti-3953	130	30	)	)	PUNCT
aiti-3953	130	31	1	1	NUM
aiti-3953	130	32	2p	2p	NOUN
aiti-3953	130	33	p	p	NOUN
aiti-3953	130	34	pp	pp	ADP
aiti-3953	130	35	p	p	PROPN
aiti-3953	131	1	p	p	PROPN
aiti-3953	131	2	pz	pz	NOUN
aiti-3953	131	3	c	c	NOUN
aiti-3953	131	4	x	x	PROPN
aiti-3953	132	1	d	d	X
aiti-3953	132	2	w	w	PROPN
aiti-3953	132	3	d	d	X
aiti-3953	132	4	w	w	PROPN
aiti-3953	132	5	d	d	PROPN
aiti-3953	132	6	u	u	X
aiti-3953	132	7			PROPN
aiti-3953	132	8			PUNCT
aiti-3953	132	9			X
aiti-3953	132	10	(	(	PUNCT
aiti-3953	132	11	19	19	NUM
aiti-3953	132	12	)	)	SYM
aiti-3953	132	13	1	1	NUM
aiti-3953	132	14	1	1	NUM
aiti-3953	132	15	11	11	NUM
aiti-3953	132	16	12p	12p	NOUN
aiti-3953	132	17	pz	pz	NOUN
aiti-3953	132	18	c	c	NOUN
aiti-3953	132	19	x	x	PROPN
aiti-3953	133	1	d	d	X
aiti-3953	133	2	w	w	PROPN
aiti-3953	133	3	d	d	X
aiti-3953	133	4	w	w	PROPN
aiti-3953	133	5	d	d	PROPN
aiti-3953	133	6	u	u	X
aiti-3953	133	7			PROPN
aiti-3953	133	8			PUNCT
aiti-3953	133	9			X
aiti-3953	133	10	(	(	PUNCT
aiti-3953	133	11	20	20	NUM
aiti-3953	133	12	)	)	SYM
aiti-3953	133	13	2	2	NUM
aiti-3953	133	14	2	2	NUM
aiti-3953	133	15	21	21	NUM
aiti-3953	133	16	22p	22p	NOUN
aiti-3953	133	17	py	py	INTJ
aiti-3953	133	18	c	c	NOUN
aiti-3953	133	19	x	x	PUNCT
aiti-3953	134	1	d	d	X
aiti-3953	134	2	w	w	PROPN
aiti-3953	134	3	d	d	X
aiti-3953	134	4	w	w	PROPN
aiti-3953	134	5	d	d	PROPN
aiti-3953	134	6	u	u	X
aiti-3953	134	7			PROPN
aiti-3953	134	8			PUNCT
aiti-3953	134	9			X
aiti-3953	134	10	(	(	PUNCT
aiti-3953	134	11	21	21	NUM
aiti-3953	134	12	)	)	PUNCT
aiti-3953	135	1	p	p	NOUN
aiti-3953	135	2	pw	pw	X
aiti-3953	135	3	z	z	X
aiti-3953	135	4	(	(	PUNCT
aiti-3953	135	5	22	22	NUM
aiti-3953	135	6	)	)	PUNCT
aiti-3953	135	7	where	where	SCONJ
aiti-3953	135	8	x	x	PRON
aiti-3953	135	9	is	be	AUX
aiti-3953	135	10	the	the	DET
aiti-3953	135	11	states	state	NOUN
aiti-3953	135	12	vector	vector	NOUN
aiti-3953	135	13	;	;	PUNCT
aiti-3953	135	14	u	u	NOUN
aiti-3953	135	15	is	be	AUX
aiti-3953	135	16	the	the	DET
aiti-3953	135	17	input	input	NOUN
aiti-3953	135	18	vector	vector	NOUN
aiti-3953	135	19	;	;	PUNCT
aiti-3953	135	20	w	w	NOUN
aiti-3953	135	21	is	be	AUX
aiti-3953	135	22	the	the	DET
aiti-3953	135	23	exogenous	exogenous	ADJ
aiti-3953	135	24	inputs	input	NOUN
aiti-3953	135	25	;	;	PUNCT
aiti-3953	135	26	disturbances	disturbance	NOUN
aiti-3953	135	27	and	and	CCONJ
aiti-3953	135	28	noises	noise	NOUN
aiti-3953	135	29	;	;	PUNCT
aiti-3953	135	30	y	y	PROPN
aiti-3953	135	31	is	be	AUX
aiti-3953	135	32	the	the	DET
aiti-3953	135	33	measured	measured	ADJ
aiti-3953	135	34	outputs	output	NOUN
aiti-3953	135	35	;	;	PUNCT
aiti-3953	135	36	z	z	NOUN
aiti-3953	135	37	is	be	AUX
aiti-3953	135	38	the	the	DET
aiti-3953	135	39	controlled	control	VERB
aiti-3953	135	40	outputs	output	NOUN
aiti-3953	135	41	;	;	PUNCT
aiti-3953	135	42	pz	pz	NOUN
aiti-3953	135	43	and	and	CCONJ
aiti-3953	135	44	pw	pw	PROPN
aiti-3953	135	45	are	be	AUX
aiti-3953	135	46	inputs	input	NOUN
aiti-3953	135	47	and	and	CCONJ
aiti-3953	135	48	outputs	output	NOUN
aiti-3953	135	49	of	of	ADP
aiti-3953	135	50	the	the	DET
aiti-3953	135	51	block	block	NOUN
aiti-3953	135	52	,	,	PUNCT
aiti-3953	135	53	1	1	NUM
aiti-3953	135	54	1	1	NUM
aiti-3953	135	55	2	2	NUM
aiti-3953	135	56	2	2	NUM
aiti-3953	135	57	(	(	PUNCT
aiti-3953	135	58	,	,	PUNCT
aiti-3953	135	59	,	,	PUNCT
aiti-3953	135	60	...	...	PUNCT
aiti-3953	135	61	,	,	PUNCT
aiti-3953	135	62	)	)	PUNCT
aiti-3953	135	63	.r	.r	NOUN
aiti-3953	136	1	r	r	X
aiti-3953	136	2	k	k	X
aiti-3953	136	3	rkdiag	rkdiag	PROPN
aiti-3953	137	1	p	p	PROPN
aiti-3953	138	1	i	i	PRON
aiti-3953	138	2	p	p	X
aiti-3953	139	1	i	i	PRON
aiti-3953	139	2	p	p	PROPN
aiti-3953	139	3	i	i	ADJ
aiti-3953	140	1			NUM
aiti-3953	140	2	1k	1k	NOUN
aiti-3953	140	3	k	k	PROPN
aiti-3953	140	4	k	k	PROPN
aiti-3953	140	5	k	k	PROPN
aiti-3953	140	6	kp	kp	PROPN
aiti-3953	140	7	kpx	kpx	VERB
aiti-3953	140	8	a	a	DET
aiti-3953	140	9	x	x	X
aiti-3953	140	10	b	b	PROPN
aiti-3953	140	11	y	y	PROPN
aiti-3953	140	12	b	b	PROPN
aiti-3953	140	13	w	w	NOUN
aiti-3953	140	14			ADV
aiti-3953	140	15			X
aiti-3953	140	16	(	(	PUNCT
aiti-3953	140	17	23	23	NUM
aiti-3953	140	18	)	)	SYM
aiti-3953	140	19	1	1	NUM
aiti-3953	140	20	11	11	NUM
aiti-3953	140	21	1k	1k	NUM
aiti-3953	141	1	k	k	PROPN
aiti-3953	141	2	k	k	PROPN
aiti-3953	141	3	k	k	PROPN
aiti-3953	141	4	p	p	PROPN
aiti-3953	141	5	kpu	kpu	NOUN
aiti-3953	141	6	c	c	NOUN
aiti-3953	141	7	x	x	PUNCT
aiti-3953	141	8	d	d	X
aiti-3953	141	9	y	y	PROPN
aiti-3953	141	10	d	d	PROPN
aiti-3953	141	11	w	w	VERB
aiti-3953	141	12			ADV
aiti-3953	141	13			X
aiti-3953	141	14	(	(	PUNCT
aiti-3953	141	15	24	24	NUM
aiti-3953	141	16	)	)	PUNCT
aiti-3953	142	1	1kp	1kp	NOUN
aiti-3953	142	2	kp	kp	PROPN
aiti-3953	142	3	k	k	PROPN
aiti-3953	142	4	kp	kp	PROPN
aiti-3953	142	5	kpp	kpp	PROPN
aiti-3953	142	6	kpz	kpz	X
aiti-3953	142	7	c	c	NOUN
aiti-3953	143	1	x	x	PUNCT
aiti-3953	144	1	d	d	X
aiti-3953	144	2	y	y	PROPN
aiti-3953	144	3	d	d	PROPN
aiti-3953	144	4	w	w	VERB
aiti-3953	144	5			ADV
aiti-3953	144	6			X
aiti-3953	144	7	(	(	PUNCT
aiti-3953	144	8	25	25	NUM
aiti-3953	144	9	)	)	PUNCT
aiti-3953	144	10	kp	kp	NOUN
aiti-3953	144	11	kpw	kpw	VERB
aiti-3953	144	12	z	z	PROPN
aiti-3953	145	1	(	(	PUNCT
aiti-3953	145	2	26	26	NUM
aiti-3953	145	3	)	)	PUNCT
aiti-3953	145	4	where	where	SCONJ
aiti-3953	145	5	kx	kx	PROPN
aiti-3953	145	6	is	be	AUX
aiti-3953	145	7	the	the	DET
aiti-3953	145	8	controller	controller	NOUN
aiti-3953	145	9	states	states	PROPN
aiti-3953	145	10	vector	vector	NOUN
aiti-3953	145	11	,	,	PUNCT
aiti-3953	145	12	y	y	PROPN
aiti-3953	145	13	is	be	AUX
aiti-3953	145	14	the	the	DET
aiti-3953	145	15	outputs	output	NOUN
aiti-3953	145	16	from	from	ADP
aiti-3953	145	17	the	the	DET
aiti-3953	145	18	plant	plant	NOUN
aiti-3953	145	19	,	,	PUNCT
aiti-3953	145	20	u	u	NOUN
aiti-3953	145	21	is	be	AUX
aiti-3953	145	22	the	the	DET
aiti-3953	145	23	controller	controller	NOUN
aiti-3953	145	24	outputs	output	NOUN
aiti-3953	145	25	,	,	PUNCT
aiti-3953	145	26	kpz	kpz	NOUN
aiti-3953	145	27	,	,	PUNCT
aiti-3953	145	28	and	and	CCONJ
aiti-3953	145	29	kpw	kpw	PRON
aiti-3953	145	30	are	be	AUX
aiti-3953	145	31	inputs	input	NOUN
aiti-3953	145	32	and	and	CCONJ
aiti-3953	145	33	outputs	output	NOUN
aiti-3953	145	34	of	of	ADP
aiti-3953	145	35	the	the	DET
aiti-3953	145	36	block	block	NOUN
aiti-3953	145	37	parameter	parameter	NOUN
aiti-3953	145	38	.	.	PUNCT
aiti-3953	146	1	zkρ	zkρ	PROPN
aiti-3953	146	2	zρ	zρ	PROPN
aiti-3953	146	3	wkρ	wkρ	PROPN
aiti-3953	146	4	w	w	PROPN
aiti-3953	146	5	u	u	PROPN
aiti-3953	146	6	y	y	PROPN
aiti-3953	146	7	wρ	wρ	NOUN
aiti-3953	146	8	z	z	PROPN
aiti-3953	146	9	p	p	NOUN
aiti-3953	146	10	k	k	PROPN
aiti-3953	146	11	θ	θ	PROPN
aiti-3953	146	12	θ	θ	NOUN
aiti-3953	146	13	advances	advance	NOUN
aiti-3953	146	14	in	in	ADP
aiti-3953	146	15	technology	technology	NOUN
aiti-3953	146	16	innovation	innovation	NOUN
aiti-3953	146	17	,	,	PUNCT
aiti-3953	146	18	vol	vol	NOUN
aiti-3953	146	19	.	.	PROPN
aiti-3953	146	20	5	5	NUM
aiti-3953	146	21	,	,	PUNCT
aiti-3953	146	22	no	no	INTJ
aiti-3953	146	23	.	.	NOUN
aiti-3953	146	24	2	2	NUM
aiti-3953	146	25	,	,	PUNCT
aiti-3953	146	26	2020	2020	NUM
aiti-3953	146	27	,	,	PUNCT
aiti-3953	146	28	pp	pp	ADJ
aiti-3953	146	29	.	.	PUNCT
aiti-3953	147	1	98	98	NUM
aiti-3953	147	2	-	-	SYM
aiti-3953	147	3	111	111	NUM
aiti-3953	147	4	103	103	NUM
aiti-3953	147	5	after	after	ADP
aiti-3953	147	6	getting	get	VERB
aiti-3953	147	7	the	the	DET
aiti-3953	147	8	lpv	lpv	NOUN
aiti-3953	147	9	model	model	NOUN
aiti-3953	147	10	of	of	ADP
aiti-3953	147	11	attitude	attitude	NOUN
aiti-3953	147	12	in	in	ADP
aiti-3953	147	13	section	section	NOUN
aiti-3953	147	14	2.1	2.1	NUM
aiti-3953	147	15	,	,	PUNCT
aiti-3953	147	16	establishing	establish	VERB
aiti-3953	147	17	an	an	DET
aiti-3953	147	18	interconnection	interconnection	NOUN
aiti-3953	147	19	between	between	ADP
aiti-3953	147	20	the	the	DET
aiti-3953	147	21	plant	plant	NOUN
aiti-3953	147	22	and	and	CCONJ
aiti-3953	147	23	the	the	DET
aiti-3953	147	24	different	different	ADJ
aiti-3953	147	25	inputs	input	NOUN
aiti-3953	147	26	is	be	AUX
aiti-3953	147	27	needed	need	VERB
aiti-3953	147	28	.	.	PUNCT
aiti-3953	148	1	the	the	DET
aiti-3953	148	2	inputs	input	NOUN
aiti-3953	148	3	are	be	AUX
aiti-3953	148	4	reference	reference	NOUN
aiti-3953	148	5	signals	signal	NOUN
aiti-3953	148	6	,	,	PUNCT
aiti-3953	148	7	disturbances	disturbance	NOUN
aiti-3953	148	8	,	,	PUNCT
aiti-3953	148	9	and	and	CCONJ
aiti-3953	148	10	noises	noise	NOUN
aiti-3953	148	11	.	.	PUNCT
aiti-3953	149	1	the	the	DET
aiti-3953	149	2	actuator	actuator	NOUN
aiti-3953	149	3	dynamic	dynamic	NOUN
aiti-3953	149	4	is	be	AUX
aiti-3953	149	5	also	also	ADV
aiti-3953	149	6	added	add	VERB
aiti-3953	149	7	by	by	ADP
aiti-3953	149	8	the	the	DET
aiti-3953	149	9	block	block	NOUN
aiti-3953	149	10	act	act	NOUN
aiti-3953	149	11	2	2	NUM
aiti-3953	149	12	as	as	SCONJ
aiti-3953	149	13	shown	show	VERB
aiti-3953	149	14	in	in	ADP
aiti-3953	149	15	eqs	eqs	PROPN
aiti-3953	149	16	.	.	PUNCT
aiti-3953	150	1	(	(	PUNCT
aiti-3953	150	2	16)-(17	16)-(17	NUM
aiti-3953	150	3	)	)	PUNCT
aiti-3953	150	4	.	.	PUNCT
aiti-3953	151	1	furthermore	furthermore	ADV
aiti-3953	151	2	,	,	PUNCT
aiti-3953	151	3	the	the	DET
aiti-3953	151	4	weighting	weighting	NOUN
aiti-3953	151	5	functions	function	NOUN
aiti-3953	151	6	which	which	PRON
aiti-3953	151	7	represent	represent	VERB
aiti-3953	151	8	the	the	DET
aiti-3953	151	9	desired	desire	VERB
aiti-3953	151	10	performance	performance	NOUN
aiti-3953	151	11	are	be	AUX
aiti-3953	151	12	ordered	order	VERB
aiti-3953	151	13	in	in	ADP
aiti-3953	151	14	mixed	mixed	ADJ
aiti-3953	151	15	sensitivity	sensitivity	NOUN
aiti-3953	151	16	structure	structure	NOUN
aiti-3953	151	17	by	by	ADP
aiti-3953	151	18	the	the	DET
aiti-3953	151	19	errors	error	NOUN
aiti-3953	151	20	(	(	PUNCT
aiti-3953	151	21	,	,	PUNCT
aiti-3953	151	22	,	,	PUNCT
aiti-3953	151	23	e	e	NOUN
aiti-3953	151	24			X
aiti-3953	151	25			PROPN
aiti-3953	151	26	)	)	PUNCT
aiti-3953	151	27	and	and	CCONJ
aiti-3953	151	28	the	the	DET
aiti-3953	151	29	input	input	NOUN
aiti-3953	151	30	signals	signal	NOUN
aiti-3953	151	31	(	(	PUNCT
aiti-3953	151	32	,	,	PUNCT
aiti-3953	151	33	,	,	PUNCT
aiti-3953	151	34	u	u	PROPN
aiti-3953	151	35			X
aiti-3953	151	36			NOUN
aiti-3953	151	37	)	)	PUNCT
aiti-3953	151	38	.	.	PUNCT
aiti-3953	152	1	in	in	ADP
aiti-3953	152	2	this	this	DET
aiti-3953	152	3	article	article	NOUN
aiti-3953	152	4	,	,	PUNCT
aiti-3953	152	5	three	three	NUM
aiti-3953	152	6	types	type	NOUN
aiti-3953	152	7	of	of	ADP
aiti-3953	152	8	external	external	ADJ
aiti-3953	152	9	inputs	input	NOUN
aiti-3953	152	10	are	be	AUX
aiti-3953	152	11	considered	consider	VERB
aiti-3953	152	12	,	,	PUNCT
aiti-3953	152	13	i.e.	i.e.	X
aiti-3953	152	14	,	,	PUNCT
aiti-3953	152	15	reference	reference	NOUN
aiti-3953	152	16	signals	signal	NOUN
aiti-3953	152	17	(	(	PUNCT
aiti-3953	152	18	,	,	PUNCT
aiti-3953	152	19	,	,	PUNCT
aiti-3953	152	20	r	r	NUM
aiti-3953	152	21			X
aiti-3953	152	22			PROPN
aiti-3953	152	23	)	)	PUNCT
aiti-3953	152	24	,	,	PUNCT
aiti-3953	152	25	disturbances	disturbance	NOUN
aiti-3953	152	26	(	(	PUNCT
aiti-3953	152	27	,	,	PUNCT
aiti-3953	152	28	,	,	PUNCT
aiti-3953	152	29	d	d	PROPN
aiti-3953	152	30			PROPN
aiti-3953	152	31			PROPN
aiti-3953	152	32	)	)	PUNCT
aiti-3953	152	33	,	,	PUNCT
aiti-3953	152	34	and	and	CCONJ
aiti-3953	152	35	noises	noise	NOUN
aiti-3953	152	36	(	(	PUNCT
aiti-3953	152	37	,	,	PUNCT
aiti-3953	152	38	,	,	PUNCT
aiti-3953	152	39	n	n	NUM
aiti-3953	152	40			X
aiti-3953	152	41			NOUN
aiti-3953	152	42	)	)	PUNCT
aiti-3953	152	43	as	as	SCONJ
aiti-3953	152	44	presented	present	VERB
aiti-3953	152	45	in	in	ADP
aiti-3953	152	46	fig	fig	NOUN
aiti-3953	152	47	.	.	PUNCT
aiti-3953	153	1	4	4	X
aiti-3953	153	2	.	.	X
aiti-3953	153	3	the	the	DET
aiti-3953	153	4	controller	controller	NOUN
aiti-3953	153	5	of	of	ADP
aiti-3953	153	6	each	each	DET
aiti-3953	153	7	subsystem	subsystem	NOUN
aiti-3953	153	8	,	,	PUNCT
aiti-3953	153	9	the	the	DET
aiti-3953	153	10	lti	lti	PROPN
aiti-3953	153	11	controller	controller	NOUN
aiti-3953	153	12	for	for	ADP
aiti-3953	153	13	the	the	DET
aiti-3953	153	14	yaw	yaw	NOUN
aiti-3953	153	15	subsystem	subsystem	NOUN
aiti-3953	153	16	and	and	CCONJ
aiti-3953	153	17	the	the	DET
aiti-3953	153	18	lpv	lpv	NOUN
aiti-3953	153	19	controller	controller	NOUN
aiti-3953	153	20	for	for	ADP
aiti-3953	153	21	the	the	DET
aiti-3953	153	22	roll	roll	NOUN
aiti-3953	153	23	-	-	PUNCT
aiti-3953	153	24	pitch	pitch	NOUN
aiti-3953	153	25	subsystem	subsystem	NOUN
aiti-3953	153	26	,	,	PUNCT
aiti-3953	153	27	will	will	AUX
aiti-3953	153	28	be	be	AUX
aiti-3953	153	29	designed	design	VERB
aiti-3953	153	30	with	with	ADP
aiti-3953	153	31	the	the	DET
aiti-3953	153	32	same	same	ADJ
aiti-3953	153	33	nature	nature	NOUN
aiti-3953	153	34	as	as	ADP
aiti-3953	153	35	the	the	DET
aiti-3953	153	36	plant	plant	NOUN
aiti-3953	153	37	.	.	PUNCT
aiti-3953	154	1	fig	fig	NOUN
aiti-3953	154	2	.	.	PUNCT
aiti-3953	155	1	4	4	NUM
aiti-3953	155	2	closed	close	VERB
aiti-3953	155	3	-	-	PUNCT
aiti-3953	155	4	loop	loop	NOUN
aiti-3953	155	5	plant	plant	NOUN
aiti-3953	155	6	-	-	PUNCT
aiti-3953	155	7	controller	controller	NOUN
aiti-3953	155	8	of	of	ADP
aiti-3953	155	9	the	the	DET
aiti-3953	155	10	quadrotor	quadrotor	NOUN
aiti-3953	155	11	3	3	NUM
aiti-3953	155	12	.	.	PUNCT
aiti-3953	155	13	optimal	optimal	ADJ
aiti-3953	155	14	weighting	weighting	NOUN
aiti-3953	155	15	functions	function	NOUN
aiti-3953	155	16	3.1	3.1	NUM
aiti-3953	155	17	.	.	PUNCT
aiti-3953	156	1	the	the	DET
aiti-3953	156	2	cuckoo	cuckoo	NOUN
aiti-3953	156	3	search	search	NOUN
aiti-3953	156	4	algorithm	algorithm	NOUN
aiti-3953	156	5	the	the	DET
aiti-3953	156	6	cuckoo	cuckoo	NOUN
aiti-3953	156	7	search	search	NOUN
aiti-3953	156	8	(	(	PUNCT
aiti-3953	156	9	cs	cs	ADJ
aiti-3953	156	10	)	)	PUNCT
aiti-3953	156	11	algorithm	algorithm	NOUN
aiti-3953	156	12	is	be	AUX
aiti-3953	156	13	a	a	DET
aiti-3953	156	14	swarm	swarm	NOUN
aiti-3953	156	15	-	-	PUNCT
aiti-3953	156	16	based	base	VERB
aiti-3953	156	17	intelligent	intelligent	ADJ
aiti-3953	156	18	algorithm	algorithm	NOUN
aiti-3953	156	19	.	.	PUNCT
aiti-3953	157	1	it	it	PRON
aiti-3953	157	2	was	be	AUX
aiti-3953	157	3	developed	develop	VERB
aiti-3953	157	4	by	by	ADP
aiti-3953	157	5	yang	yang	PROPN
aiti-3953	157	6	and	and	CCONJ
aiti-3953	157	7	deb	deb	PROPN
aiti-3953	157	8	in	in	ADP
aiti-3953	157	9	2009	2009	NUM
aiti-3953	157	10	[	[	X
aiti-3953	157	11	19	19	NUM
aiti-3953	157	12	]	]	PUNCT
aiti-3953	157	13	and	and	CCONJ
aiti-3953	157	14	inspired	inspire	VERB
aiti-3953	157	15	by	by	ADP
aiti-3953	157	16	the	the	DET
aiti-3953	157	17	cuckoo	cuckoo	NOUN
aiti-3953	157	18	’s	’s	PART
aiti-3953	157	19	behavior	behavior	NOUN
aiti-3953	157	20	in	in	ADP
aiti-3953	157	21	laying	lay	VERB
aiti-3953	157	22	its	its	PRON
aiti-3953	157	23	eggs	egg	NOUN
aiti-3953	157	24	.	.	PUNCT
aiti-3953	158	1	a	a	DET
aiti-3953	158	2	cuckoo	cuckoo	NOUN
aiti-3953	158	3	does	do	AUX
aiti-3953	158	4	n’t	not	PART
aiti-3953	158	5	build	build	VERB
aiti-3953	158	6	its	its	PRON
aiti-3953	158	7	own	own	ADJ
aiti-3953	158	8	nest	nest	NOUN
aiti-3953	158	9	but	but	CCONJ
aiti-3953	158	10	selects	select	VERB
aiti-3953	158	11	another	another	DET
aiti-3953	158	12	species	specie	NOUN
aiti-3953	158	13	’	'	PUNCT
aiti-3953	158	14	nest	nest	NOUN
aiti-3953	158	15	to	to	PART
aiti-3953	158	16	let	let	VERB
aiti-3953	158	17	them	they	PRON
aiti-3953	158	18	brood	brood	VERB
aiti-3953	158	19	young	young	ADJ
aiti-3953	158	20	cuckoos	cuckoo	NOUN
aiti-3953	158	21	.	.	PUNCT
aiti-3953	159	1	in	in	ADP
aiti-3953	159	2	this	this	DET
aiti-3953	159	3	article	article	NOUN
aiti-3953	159	4	,	,	PUNCT
aiti-3953	159	5	a	a	DET
aiti-3953	159	6	simple	simple	ADJ
aiti-3953	159	7	way	way	NOUN
aiti-3953	159	8	of	of	ADP
aiti-3953	159	9	application	application	NOUN
aiti-3953	159	10	of	of	ADP
aiti-3953	159	11	cs	cs	PROPN
aiti-3953	159	12	is	be	AUX
aiti-3953	159	13	used	use	VERB
aiti-3953	159	14	;	;	PUNCT
aiti-3953	159	15	a	a	DET
aiti-3953	159	16	nest	nest	NOUN
aiti-3953	159	17	corresponds	correspond	VERB
aiti-3953	159	18	to	to	ADP
aiti-3953	159	19	a	a	DET
aiti-3953	159	20	cuckoo	cuckoo	NOUN
aiti-3953	159	21	and	and	CCONJ
aiti-3953	159	22	also	also	ADV
aiti-3953	159	23	to	to	ADP
aiti-3953	159	24	an	an	DET
aiti-3953	159	25	egg	egg	NOUN
aiti-3953	159	26	.	.	PUNCT
aiti-3953	160	1	the	the	DET
aiti-3953	160	2	standard	standard	ADJ
aiti-3953	160	3	cs	cs	ADJ
aiti-3953	160	4	procedure	procedure	NOUN
aiti-3953	160	5	strike	strike	VERB
aiti-3953	160	6	a	a	DET
aiti-3953	160	7	balance	balance	NOUN
aiti-3953	160	8	between	between	ADP
aiti-3953	160	9	a	a	DET
aiti-3953	160	10	local	local	ADJ
aiti-3953	160	11	and	and	CCONJ
aiti-3953	160	12	a	a	DET
aiti-3953	160	13	global	global	ADJ
aiti-3953	160	14	random	random	ADJ
aiti-3953	160	15	walk	walk	NOUN
aiti-3953	160	16	.	.	PUNCT
aiti-3953	161	1	the	the	DET
aiti-3953	161	2	global	global	ADJ
aiti-3953	161	3	walk	walk	NOUN
aiti-3953	161	4	is	be	AUX
aiti-3953	161	5	presented	present	VERB
aiti-3953	161	6	by	by	ADP
aiti-3953	161	7	lévy	lévy	ADJ
aiti-3953	161	8	flight	flight	NOUN
aiti-3953	161	9	[	[	X
aiti-3953	161	10	19	19	NUM
aiti-3953	161	11	]	]	PUNCT
aiti-3953	161	12	where	where	SCONJ
aiti-3953	161	13	a	a	DET
aiti-3953	161	14	cuckoo	cuckoo	NOUN
aiti-3953	161	15	searches	search	VERB
aiti-3953	161	16	for	for	ADP
aiti-3953	161	17	a	a	DET
aiti-3953	161	18	new	new	ADJ
aiti-3953	161	19	nest	nest	NOUN
aiti-3953	161	20	.	.	PUNCT
aiti-3953	162	1	furthermore	furthermore	ADV
aiti-3953	162	2	,	,	PUNCT
aiti-3953	162	3	there	there	PRON
aiti-3953	162	4	is	be	VERB
aiti-3953	162	5	a	a	DET
aiti-3953	162	6	probability	probability	NOUN
aiti-3953	162	7	pa	pa	NOUN
aiti-3953	162	8	of	of	ADP
aiti-3953	162	9	cases	case	NOUN
aiti-3953	162	10	where	where	SCONJ
aiti-3953	162	11	the	the	DET
aiti-3953	162	12	host	host	NOUN
aiti-3953	162	13	birds	bird	NOUN
aiti-3953	162	14	discover	discover	VERB
aiti-3953	162	15	that	that	SCONJ
aiti-3953	162	16	the	the	DET
aiti-3953	162	17	eggs	egg	NOUN
aiti-3953	162	18	are	be	AUX
aiti-3953	162	19	not	not	PART
aiti-3953	162	20	theirs	theirs	PRON
aiti-3953	162	21	,	,	PUNCT
aiti-3953	162	22	so	so	ADV
aiti-3953	162	23	they	they	PRON
aiti-3953	162	24	abandon	abandon	VERB
aiti-3953	162	25	the	the	DET
aiti-3953	162	26	eggs	egg	NOUN
aiti-3953	162	27	.	.	PUNCT
aiti-3953	163	1	the	the	DET
aiti-3953	163	2	cuckoo	cuckoo	NOUN
aiti-3953	163	3	seeks	seek	VERB
aiti-3953	163	4	for	for	ADP
aiti-3953	163	5	a	a	DET
aiti-3953	163	6	new	new	ADJ
aiti-3953	163	7	solution	solution	NOUN
aiti-3953	163	8	(	(	PUNCT
aiti-3953	163	9	nest	nest	NOUN
aiti-3953	163	10	)	)	PUNCT
aiti-3953	163	11	far	far	ADV
aiti-3953	163	12	from	from	ADP
aiti-3953	163	13	the	the	DET
aiti-3953	163	14	actual	actual	ADJ
aiti-3953	163	15	solution	solution	NOUN
aiti-3953	163	16	;	;	PUNCT
aiti-3953	163	17	that	that	PRON
aiti-3953	163	18	’s	’	VERB
aiti-3953	163	19	the	the	DET
aiti-3953	163	20	local	local	ADJ
aiti-3953	163	21	random	random	ADJ
aiti-3953	163	22	walk	walk	NOUN
aiti-3953	163	23	.	.	PUNCT
aiti-3953	164	1	algorithm	algorithm	NOUN
aiti-3953	164	2	1	1	NUM
aiti-3953	164	3	:	:	PUNCT
aiti-3953	164	4	improved	improve	VERB
aiti-3953	164	5	cuckoo	cuckoo	NOUN
aiti-3953	164	6	search	search	NOUN
aiti-3953	164	7	1	1	NUM
aiti-3953	164	8	2	2	NUM
aiti-3953	164	9	3	3	NUM
aiti-3953	164	10	4	4	NUM
aiti-3953	164	11	5	5	NUM
aiti-3953	164	12	6	6	NUM
aiti-3953	164	13	7	7	NUM
aiti-3953	164	14	8	8	NUM
aiti-3953	164	15	9	9	NUM
aiti-3953	164	16	10	10	NUM
aiti-3953	164	17	11	11	NUM
aiti-3953	164	18	initialize	initialize	NOUN
aiti-3953	164	19	solutions	solution	NOUN
aiti-3953	164	20	randomly	randomly	ADV
aiti-3953	164	21	;	;	PUNCT
aiti-3953	164	22	while	while	SCONJ
aiti-3953	164	23	max_generation	max_generation	NOUN
aiti-3953	164	24	not	not	PART
aiti-3953	164	25	meet	meet	VERB
aiti-3953	164	26	do	do	AUX
aiti-3953	164	27	search	search	NOUN
aiti-3953	164	28	by	by	ADP
aiti-3953	164	29	fraction	fraction	NOUN
aiti-3953	164	30	(	(	PUNCT
aiti-3953	164	31	pc	pc	NOUN
aiti-3953	164	32	)	)	PUNCT
aiti-3953	164	33	;	;	PUNCT
aiti-3953	164	34	get	get	VERB
aiti-3953	164	35	a	a	DET
aiti-3953	164	36	cuckoo	cuckoo	NOUN
aiti-3953	164	37	randomly	randomly	ADV
aiti-3953	164	38	by	by	ADP
aiti-3953	164	39	lévy	lévy	ADJ
aiti-3953	164	40	flight	flight	NOUN
aiti-3953	164	41	;	;	PUNCT
aiti-3953	164	42	evaluate	evaluate	VERB
aiti-3953	164	43	its	its	PRON
aiti-3953	164	44	fitness	fitness	NOUN
aiti-3953	164	45	fi	fi	NOUN
aiti-3953	164	46	;	;	PUNCT
aiti-3953	164	47	get	get	VERB
aiti-3953	164	48	a	a	DET
aiti-3953	164	49	nest	nest	NOUN
aiti-3953	164	50	randomly	randomly	ADV
aiti-3953	164	51	(	(	PUNCT
aiti-3953	164	52	j	j	NOUN
aiti-3953	164	53	)	)	PUNCT
aiti-3953	164	54	if	if	SCONJ
aiti-3953	164	55	fi	fi	NOUN
aiti-3953	164	56	is	be	AUX
aiti-3953	164	57	better	well	ADJ
aiti-3953	164	58	than	than	SCONJ
aiti-3953	164	59	fj	fj	INTJ
aiti-3953	164	60	replace	replace	VERB
aiti-3953	164	61	the	the	DET
aiti-3953	164	62	worse	bad	ADJ
aiti-3953	164	63	nest(j	nest(j	NOUN
aiti-3953	164	64	)	)	PUNCT
aiti-3953	164	65	by	by	ADP
aiti-3953	164	66	the	the	DET
aiti-3953	164	67	trial	trial	NOUN
aiti-3953	164	68	one	one	NUM
aiti-3953	164	69	;	;	PUNCT
aiti-3953	164	70	end	end	VERB
aiti-3953	164	71	if	if	SCONJ
aiti-3953	164	72	fraction	fraction	NOUN
aiti-3953	164	73	(	(	PUNCT
aiti-3953	164	74	pa	pa	PROPN
aiti-3953	164	75	)	)	PUNCT
aiti-3953	164	76	of	of	ADP
aiti-3953	164	77	worse	bad	ADJ
aiti-3953	164	78	nests	nest	NOUN
aiti-3953	164	79	are	be	AUX
aiti-3953	164	80	abandoned	abandon	VERB
aiti-3953	164	81	and	and	CCONJ
aiti-3953	164	82	build	build	VERB
aiti-3953	164	83	new	new	ADJ
aiti-3953	164	84	ones	one	NOUN
aiti-3953	164	85	;	;	PUNCT
aiti-3953	164	86	end	end	VERB
aiti-3953	164	87	while	while	SCONJ
aiti-3953	164	88	p	p	PROPN
aiti-3953	165	1	+	+	X
aiti-3953	165	2	+	+	PUNCT
aiti-3953	165	3	+	+	PUNCT
aiti-3953	165	4	+	+	CCONJ
aiti-3953	165	5	+	+	CCONJ
aiti-3953	165	6	ze	ze	PROPN
aiti-3953	165	7	zu	zu	ADJ
aiti-3953	165	8	uφ	uφ	PROPN
aiti-3953	165	9	,	,	PUNCT
aiti-3953	165	10	θ	θ	PROPN
aiti-3953	165	11	,	,	PUNCT
aiti-3953	165	12	ψ	ψ	X
aiti-3953	165	13	rφ	rφ	NOUN
aiti-3953	165	14	,	,	PUNCT
aiti-3953	165	15	θ	θ	PROPN
aiti-3953	165	16	,	,	PUNCT
aiti-3953	165	17	ψ	ψ	X
aiti-3953	165	18	φ	φ	PROPN
aiti-3953	165	19	,	,	PUNCT
aiti-3953	165	20	θ	θ	PROPN
aiti-3953	165	21	,	,	PUNCT
aiti-3953	165	22	ψ	ψ	ADJ
aiti-3953	165	23	eφ	eφ	PROPN
aiti-3953	165	24	,	,	PUNCT
aiti-3953	165	25	θ	θ	PROPN
aiti-3953	165	26	,	,	PUNCT
aiti-3953	165	27	ψ	ψ	X
aiti-3953	165	28	dφ	dφ	ADP
aiti-3953	165	29	,	,	PUNCT
aiti-3953	165	30	θ	θ	PROPN
aiti-3953	165	31	,	,	PUNCT
aiti-3953	165	32	ψ	ψ	X
aiti-3953	165	33	nφ	nφ	PROPN
aiti-3953	165	34	,	,	PUNCT
aiti-3953	165	35	θ	θ	PROPN
aiti-3953	165	36	,	,	PUNCT
aiti-3953	165	37	ψ	ψ	X
aiti-3953	165	38	zρ	zρ	PROPN
aiti-3953	165	39	wρ	wρ	PROPN
aiti-3953	165	40	zkρ	zkρ	PROPN
aiti-3953	165	41	wkρ	wkρ	PROPN
aiti-3953	165	42	we	we	PRON
aiti-3953	165	43	act	act	VERB
aiti-3953	165	44	2	2	NUM
aiti-3953	165	45	.	.	PUNCT
aiti-3953	166	1	quadrotor	quadrotor	NOUN
aiti-3953	166	2	attitude	attitude	NOUN
aiti-3953	166	3	θ	θ	PROPN
aiti-3953	166	4	θ	θ	PROPN
aiti-3953	166	5	wu	wu	PROPN
aiti-3953	166	6	k	k	PROPN
aiti-3953	166	7	advances	advance	VERB
aiti-3953	166	8	in	in	ADP
aiti-3953	166	9	technology	technology	NOUN
aiti-3953	166	10	innovation	innovation	NOUN
aiti-3953	166	11	,	,	PUNCT
aiti-3953	166	12	vol	vol	NOUN
aiti-3953	166	13	.	.	PROPN
aiti-3953	166	14	5	5	NUM
aiti-3953	166	15	,	,	PUNCT
aiti-3953	166	16	no	no	INTJ
aiti-3953	166	17	.	.	NOUN
aiti-3953	166	18	2	2	NUM
aiti-3953	166	19	,	,	PUNCT
aiti-3953	166	20	2020	2020	NUM
aiti-3953	166	21	,	,	PUNCT
aiti-3953	166	22	pp	pp	ADJ
aiti-3953	166	23	.	.	PUNCT
aiti-3953	167	1	98	98	NUM
aiti-3953	167	2	-	-	SYM
aiti-3953	167	3	111	111	NUM
aiti-3953	167	4	104	104	NUM
aiti-3953	167	5	the	the	DET
aiti-3953	167	6	improved	improved	ADJ
aiti-3953	167	7	cuckoo	cuckoo	NOUN
aiti-3953	167	8	search	search	NOUN
aiti-3953	167	9	(	(	PUNCT
aiti-3953	167	10	algorithm	algorithm	NOUN
aiti-3953	167	11	1	1	NUM
aiti-3953	167	12	)	)	PUNCT
aiti-3953	167	13	was	be	AUX
aiti-3953	167	14	developed	develop	VERB
aiti-3953	167	15	by	by	ADP
aiti-3953	167	16	ouaarab	ouaarab	NOUN
aiti-3953	167	17	et	et	PROPN
aiti-3953	167	18	al	al	PROPN
aiti-3953	167	19	.	.	PUNCT
aiti-3953	168	1	[	[	X
aiti-3953	168	2	20	20	NUM
aiti-3953	168	3	-	-	SYM
aiti-3953	168	4	21	21	NUM
aiti-3953	168	5	]	]	PUNCT
aiti-3953	168	6	.	.	PUNCT
aiti-3953	169	1	its	its	PRON
aiti-3953	169	2	extension	extension	NOUN
aiti-3953	169	3	to	to	ADP
aiti-3953	169	4	the	the	DET
aiti-3953	169	5	standard	standard	ADJ
aiti-3953	169	6	cs	cs	PROPN
aiti-3953	169	7	is	be	AUX
aiti-3953	169	8	to	to	PART
aiti-3953	169	9	add	add	VERB
aiti-3953	169	10	a	a	DET
aiti-3953	169	11	fraction	fraction	NOUN
aiti-3953	169	12	pc	pc	NOUN
aiti-3953	169	13	of	of	ADP
aiti-3953	169	14	smart	smart	ADJ
aiti-3953	169	15	cuckoos	cuckoo	NOUN
aiti-3953	169	16	which	which	PRON
aiti-3953	169	17	seek	seek	VERB
aiti-3953	169	18	new	new	ADJ
aiti-3953	169	19	solutions	solution	NOUN
aiti-3953	169	20	in	in	ADP
aiti-3953	169	21	other	other	ADJ
aiti-3953	169	22	areas	area	NOUN
aiti-3953	169	23	by	by	ADP
aiti-3953	169	24	lévy	lévy	ADJ
aiti-3953	169	25	flight	flight	NOUN
aiti-3953	169	26	operation	operation	NOUN
aiti-3953	169	27	,	,	PUNCT
aiti-3953	169	28	and	and	CCONJ
aiti-3953	169	29	can	can	AUX
aiti-3953	169	30	be	be	AUX
aiti-3953	169	31	expressed	express	VERB
aiti-3953	169	32	as	as	ADP
aiti-3953	169	33	:	:	PUNCT
aiti-3953	169	34	1	1	NUM
aiti-3953	169	35	(	(	PUNCT
aiti-3953	169	36	)	)	PUNCT
aiti-3953	169	37	t	t	NOUN
aiti-3953	169	38	t	t	NOUN
aiti-3953	170	1	i	i	PRON
aiti-3953	170	2	ix	ix	ADV
aiti-3953	170	3	x	x	PUNCT
aiti-3953	170	4	l	l	PROPN
aiti-3953	170	5			PROPN
aiti-3953	170	6			PRON
aiti-3953	170	7			PUNCT
aiti-3953	170	8	(	(	PUNCT
aiti-3953	170	9	27	27	NUM
aiti-3953	170	10	)	)	PUNCT
aiti-3953	170	11	where	where	SCONJ
aiti-3953	170	12	l	l	NOUN
aiti-3953	170	13	is	be	AUX
aiti-3953	170	14	the	the	DET
aiti-3953	170	15	lévy	lévy	ADJ
aiti-3953	170	16	flight	flight	NOUN
aiti-3953	170	17	function	function	NOUN
aiti-3953	170	18	[	[	X
aiti-3953	170	19	22	22	NUM
aiti-3953	170	20	]	]	PUNCT
aiti-3953	170	21	,	,	PUNCT
aiti-3953	170	22			NUM
aiti-3953	170	23	is	be	AUX
aiti-3953	170	24	the	the	DET
aiti-3953	170	25	scaling	scale	VERB
aiti-3953	170	26	factor	factor	NOUN
aiti-3953	170	27	.	.	PUNCT
aiti-3953	171	1	after	after	ADP
aiti-3953	171	2	getting	get	VERB
aiti-3953	171	3	a	a	DET
aiti-3953	171	4	new	new	ADJ
aiti-3953	171	5	solution	solution	NOUN
aiti-3953	171	6	(	(	PUNCT
aiti-3953	171	7	trial	trial	NOUN
aiti-3953	171	8	one	one	NUM
aiti-3953	171	9	)	)	PUNCT
aiti-3953	171	10	,	,	PUNCT
aiti-3953	171	11	it	it	PRON
aiti-3953	171	12	is	be	AUX
aiti-3953	171	13	compared	compare	VERB
aiti-3953	171	14	with	with	ADP
aiti-3953	171	15	a	a	DET
aiti-3953	171	16	random	random	ADJ
aiti-3953	171	17	one	one	NOUN
aiti-3953	171	18	(	(	PUNCT
aiti-3953	171	19	j	j	NOUN
aiti-3953	171	20	)	)	PUNCT
aiti-3953	171	21	.	.	PUNCT
aiti-3953	172	1	if	if	SCONJ
aiti-3953	172	2	the	the	DET
aiti-3953	172	3	trial	trial	NOUN
aiti-3953	172	4	solution	solution	NOUN
aiti-3953	172	5	is	be	AUX
aiti-3953	172	6	better	well	ADJ
aiti-3953	172	7	than	than	ADP
aiti-3953	172	8	j	j	PROPN
aiti-3953	172	9	(	(	PUNCT
aiti-3953	172	10	the	the	DET
aiti-3953	172	11	worse	bad	ADJ
aiti-3953	172	12	)	)	PUNCT
aiti-3953	172	13	,	,	PUNCT
aiti-3953	172	14	it	it	PRON
aiti-3953	172	15	should	should	AUX
aiti-3953	172	16	be	be	AUX
aiti-3953	172	17	replaced	replace	VERB
aiti-3953	172	18	by	by	ADP
aiti-3953	172	19	the	the	DET
aiti-3953	172	20	new	new	ADJ
aiti-3953	172	21	solution	solution	NOUN
aiti-3953	172	22	.	.	PUNCT
aiti-3953	173	1	in	in	ADP
aiti-3953	173	2	addition	addition	NOUN
aiti-3953	173	3	to	to	ADP
aiti-3953	173	4	the	the	DET
aiti-3953	173	5	fraction	fraction	NOUN
aiti-3953	173	6	pc	pc	NOUN
aiti-3953	173	7	,	,	PUNCT
aiti-3953	173	8	there	there	PRON
aiti-3953	173	9	are	be	VERB
aiti-3953	173	10	other	other	ADJ
aiti-3953	173	11	eggs	egg	NOUN
aiti-3953	173	12	with	with	ADP
aiti-3953	173	13	probability	probability	NOUN
aiti-3953	173	14	pa	pa	PROPN
aiti-3953	173	15	witch	witch	NOUN
aiti-3953	173	16	are	be	AUX
aiti-3953	173	17	abandoned	abandon	VERB
aiti-3953	173	18	by	by	ADP
aiti-3953	173	19	the	the	DET
aiti-3953	173	20	host	host	NOUN
aiti-3953	173	21	birds	bird	NOUN
aiti-3953	173	22	.	.	PUNCT
aiti-3953	174	1	therefore	therefore	ADV
aiti-3953	174	2	,	,	PUNCT
aiti-3953	174	3	the	the	DET
aiti-3953	174	4	cuckoos	cuckoo	NOUN
aiti-3953	174	5	search	search	VERB
aiti-3953	174	6	for	for	ADP
aiti-3953	174	7	new	new	ADJ
aiti-3953	174	8	nests	nest	NOUN
aiti-3953	174	9	in	in	ADP
aiti-3953	174	10	the	the	DET
aiti-3953	174	11	local	local	ADJ
aiti-3953	174	12	area	area	NOUN
aiti-3953	174	13	is	be	AUX
aiti-3953	174	14	:	:	PUNCT
aiti-3953	174	15	1	1	NUM
aiti-3953	174	16	(	(	PUNCT
aiti-3953	174	17	)	)	PUNCT
aiti-3953	174	18	t	t	NOUN
aiti-3953	174	19	t	t	PROPN
aiti-3953	174	20	t	t	PROPN
aiti-3953	175	1	i	i	PRON
aiti-3953	175	2	p	p	X
aiti-3953	175	3	q	q	X
aiti-3953	176	1	at	at	ADP
aiti-3953	176	2	i	i	PRON
aiti-3953	176	3	t	t	NOUN
aiti-3953	176	4	i	i	PRON
aiti-3953	176	5	x	x	X
aiti-3953	176	6	s	s	VERB
aiti-3953	176	7	x	x	X
aiti-3953	176	8	x	x	INTJ
aiti-3953	176	9	if	if	SCONJ
aiti-3953	176	10	r	r	NOUN
aiti-3953	176	11	p	p	X
aiti-3953	176	12	x	x	X
aiti-3953	176	13	x	x	X
aiti-3953	176	14	otherwise	otherwise	ADV
aiti-3953	176	15			VERB
aiti-3953	176	16			ADP
aiti-3953	176	17			ADJ
aiti-3953	176	18			PROPN
aiti-3953	176	19			NUM
aiti-3953	176	20			NUM
aiti-3953	176	21			NUM
aiti-3953	176	22			NOUN
aiti-3953	176	23	(	(	PUNCT
aiti-3953	176	24	28	28	NUM
aiti-3953	176	25	)	)	PUNCT
aiti-3953	176	26	where	where	SCONJ
aiti-3953	176	27	px	px	NOUN
aiti-3953	176	28	and	and	CCONJ
aiti-3953	176	29	qx	qx	PROPN
aiti-3953	176	30	are	be	AUX
aiti-3953	176	31	random	random	ADJ
aiti-3953	176	32	solutions	solution	NOUN
aiti-3953	176	33	different	different	ADJ
aiti-3953	176	34	from	from	ADP
aiti-3953	176	35	ix	ix	PROPN
aiti-3953	176	36	,	,	PUNCT
aiti-3953	176	37	and	and	CCONJ
aiti-3953	176	38	s	s	VERB
aiti-3953	176	39	is	be	AUX
aiti-3953	176	40	a	a	DET
aiti-3953	176	41	scaling	scale	VERB
aiti-3953	176	42	factor	factor	NOUN
aiti-3953	176	43	.	.	PUNCT
aiti-3953	177	1	the	the	DET
aiti-3953	177	2	parameters	parameter	NOUN
aiti-3953	177	3	’	’	PART
aiti-3953	177	4	values	value	NOUN
aiti-3953	177	5	are	be	AUX
aiti-3953	177	6	chosen	choose	VERB
aiti-3953	177	7	on	on	ADP
aiti-3953	177	8	the	the	DET
aiti-3953	177	9	base	base	NOUN
aiti-3953	177	10	of	of	ADP
aiti-3953	177	11	the	the	DET
aiti-3953	177	12	recommendation	recommendation	NOUN
aiti-3953	177	13	of	of	ADP
aiti-3953	177	14	optimal	optimal	ADJ
aiti-3953	177	15	ranges	range	NOUN
aiti-3953	177	16	from	from	ADP
aiti-3953	177	17	experts	expert	NOUN
aiti-3953	177	18	in	in	ADP
aiti-3953	177	19	the	the	DET
aiti-3953	177	20	field	field	NOUN
aiti-3953	177	21	[	[	X
aiti-3953	177	22	20	20	NUM
aiti-3953	177	23	]	]	PUNCT
aiti-3953	177	24	,	,	PUNCT
aiti-3953	177	25	and	and	CCONJ
aiti-3953	177	26	are	be	AUX
aiti-3953	177	27	shown	show	VERB
aiti-3953	177	28	in	in	ADP
aiti-3953	177	29	table	table	NOUN
aiti-3953	177	30	3	3	NUM
aiti-3953	177	31	.	.	PUNCT
aiti-3953	177	32	table	table	NOUN
aiti-3953	177	33	3	3	NUM
aiti-3953	177	34	parameters	parameter	NOUN
aiti-3953	177	35	setting	set	VERB
aiti-3953	177	36	of	of	ADP
aiti-3953	177	37	improved	improve	VERB
aiti-3953	177	38	cs	cs	PROPN
aiti-3953	177	39	parameter	parameter	NOUN
aiti-3953	177	40	value	value	NOUN
aiti-3953	177	41	max_generation	max_generation	NOUN
aiti-3953	177	42	20	20	NUM
aiti-3953	177	43	population	population	NOUN
aiti-3953	177	44	size	size	NOUN
aiti-3953	177	45	50	50	NUM
aiti-3953	177	46	pc	pc	NOUN
aiti-3953	177	47	0.5	0.5	NUM
aiti-3953	177	48	α	α	NOUN
aiti-3953	177	49	0.1	0.1	NUM
aiti-3953	177	50	λ	λ	NOUN
aiti-3953	177	51	1.5	1.5	NUM
aiti-3953	177	52	pa	pa	NOUN
aiti-3953	177	53	0.25	0.25	NUM
aiti-3953	177	54	s	s	NOUN
aiti-3953	177	55	0.2	0.2	NUM
aiti-3953	177	56	3.2	3.2	NUM
aiti-3953	177	57	.	.	PUNCT
aiti-3953	178	1	the	the	DET
aiti-3953	178	2	optimal	optimal	ADJ
aiti-3953	178	3	weighting	weighting	NOUN
aiti-3953	178	4	functions	function	NOUN
aiti-3953	178	5	the	the	DET
aiti-3953	178	6	good	good	ADJ
aiti-3953	178	7	choice	choice	NOUN
aiti-3953	178	8	of	of	ADP
aiti-3953	178	9	weighting	weighting	NOUN
aiti-3953	178	10	functions	function	NOUN
aiti-3953	178	11	significantly	significantly	ADV
aiti-3953	178	12	affects	affect	VERB
aiti-3953	178	13	the	the	DET
aiti-3953	178	14	system	system	NOUN
aiti-3953	178	15	’s	’s	PART
aiti-3953	178	16	nominal	nominal	ADJ
aiti-3953	178	17	performance	performance	NOUN
aiti-3953	178	18	.	.	PUNCT
aiti-3953	179	1	in	in	ADP
aiti-3953	179	2	[	[	X
aiti-3953	179	3	17	17	NUM
aiti-3953	179	4	]	]	PUNCT
aiti-3953	179	5	,	,	PUNCT
aiti-3953	179	6	the	the	DET
aiti-3953	179	7	selection	selection	NOUN
aiti-3953	179	8	of	of	ADP
aiti-3953	179	9	the	the	DET
aiti-3953	179	10	weighting	weighting	NOUN
aiti-3953	179	11	functions	function	NOUN
aiti-3953	179	12	is	be	AUX
aiti-3953	179	13	implemented	implement	VERB
aiti-3953	179	14	by	by	ADP
aiti-3953	179	15	trial	trial	NOUN
aiti-3953	179	16	-	-	PUNCT
aiti-3953	179	17	and	and	CCONJ
aiti-3953	179	18	-	-	PUNCT
aiti-3953	179	19	error	error	NOUN
aiti-3953	179	20	.	.	PUNCT
aiti-3953	180	1	in	in	ADP
aiti-3953	180	2	this	this	DET
aiti-3953	180	3	article	article	NOUN
aiti-3953	180	4	,	,	PUNCT
aiti-3953	180	5	the	the	DET
aiti-3953	180	6	implementation	implementation	NOUN
aiti-3953	180	7	is	be	AUX
aiti-3953	180	8	done	do	VERB
aiti-3953	180	9	by	by	ADP
aiti-3953	180	10	an	an	DET
aiti-3953	180	11	optimal	optimal	ADJ
aiti-3953	180	12	algorithm	algorithm	NOUN
aiti-3953	180	13	(	(	PUNCT
aiti-3953	180	14	cuckoo	cuckoo	NOUN
aiti-3953	180	15	search	search	NOUN
aiti-3953	180	16	)	)	PUNCT
aiti-3953	180	17	.	.	PUNCT
aiti-3953	181	1	the	the	DET
aiti-3953	181	2	weighting	weighting	NOUN
aiti-3953	181	3	functions	function	NOUN
aiti-3953	181	4	are	be	AUX
aiti-3953	181	5	espressed	espresse	VERB
aiti-3953	181	6	as	as	ADP
aiti-3953	181	7	:	:	PUNCT
aiti-3953	181	8	0	0	NUM
aiti-3953	181	9	0	0	NUM
aiti-3953	181	10	0	0	NUM
aiti-3953	181	11	0	0	NUM
aiti-3953	181	12	0	0	NUM
aiti-3953	181	13	0	0	NUM
aiti-3953	181	14	e	e	NOUN
aiti-3953	181	15	e	e	X
aiti-3953	181	16	e	e	X
aiti-3953	181	17	e	e	PROPN
aiti-3953	181	18	w	w	PROPN
aiti-3953	181	19	w	w	PROPN
aiti-3953	181	20	w	w	PROPN
aiti-3953	181	21	w	w	PROPN
aiti-3953	181	22			PROPN
aiti-3953	181	23			PROPN
aiti-3953	181	24			PROPN
aiti-3953	181	25			NOUN
aiti-3953	181	26			PROPN
aiti-3953	181	27			PROPN
aiti-3953	181	28			PROPN
aiti-3953	182	1			INTJ
aiti-3953	182	2			PROPN
aiti-3953	183	1			INTJ
aiti-3953	184	1			PROPN
aiti-3953	184	2			PROPN
aiti-3953	185	1			PROPN
aiti-3953	185	2			NOUN
aiti-3953	185	3	(	(	PUNCT
aiti-3953	185	4	29	29	NUM
aiti-3953	185	5	)	)	PUNCT
aiti-3953	185	6	0	0	NUM
aiti-3953	185	7	0	0	NUM
aiti-3953	185	8	0	0	NUM
aiti-3953	185	9	0	0	NUM
aiti-3953	185	10	0	0	NUM
aiti-3953	185	11	0	0	NUM
aiti-3953	185	12	u	u	NOUN
aiti-3953	185	13	u	u	NOUN
aiti-3953	185	14	u	u	NOUN
aiti-3953	185	15	u	u	PROPN
aiti-3953	185	16	w	w	PROPN
aiti-3953	185	17	w	w	PROPN
aiti-3953	185	18	w	w	PROPN
aiti-3953	185	19	w	w	PROPN
aiti-3953	185	20			PROPN
aiti-3953	185	21			PROPN
aiti-3953	185	22			PROPN
aiti-3953	185	23			NOUN
aiti-3953	185	24			PROPN
aiti-3953	185	25			PROPN
aiti-3953	185	26			PROPN
aiti-3953	186	1			INTJ
aiti-3953	186	2			PROPN
aiti-3953	187	1			INTJ
aiti-3953	188	1			PROPN
aiti-3953	188	2			PROPN
aiti-3953	189	1			PROPN
aiti-3953	189	2			NOUN
aiti-3953	189	3	(	(	PUNCT
aiti-3953	189	4	30	30	NUM
aiti-3953	189	5	)	)	PUNCT
aiti-3953	189	6	because	because	SCONJ
aiti-3953	189	7	the	the	DET
aiti-3953	189	8	pitch	pitch	NOUN
aiti-3953	189	9	and	and	CCONJ
aiti-3953	189	10	the	the	DET
aiti-3953	189	11	roll	roll	NOUN
aiti-3953	189	12	have	have	VERB
aiti-3953	189	13	the	the	DET
aiti-3953	189	14	same	same	ADJ
aiti-3953	189	15	dynamics	dynamic	NOUN
aiti-3953	189	16	,	,	PUNCT
aiti-3953	189	17	their	their	PRON
aiti-3953	189	18	functions	function	NOUN
aiti-3953	189	19	are	be	AUX
aiti-3953	189	20	equal	equal	ADJ
aiti-3953	189	21	.	.	PUNCT
aiti-3953	190	1	the	the	DET
aiti-3953	190	2	weighting	weighting	NOUN
aiti-3953	190	3	function	function	NOUN
aiti-3953	190	4	of	of	ADP
aiti-3953	190	5	error	error	NOUN
aiti-3953	190	6	is	be	AUX
aiti-3953	190	7	considered	consider	VERB
aiti-3953	190	8	as	as	ADP
aiti-3953	190	9	a	a	DET
aiti-3953	190	10	first	first	ADJ
aiti-3953	190	11	-	-	PUNCT
aiti-3953	190	12	order	order	NOUN
aiti-3953	190	13	filter	filter	NOUN
aiti-3953	190	14	.	.	PUNCT
aiti-3953	191	1	the	the	DET
aiti-3953	191	2	weighting	weighting	NOUN
aiti-3953	191	3	function	function	NOUN
aiti-3953	191	4	of	of	ADP
aiti-3953	191	5	the	the	DET
aiti-3953	191	6	control	control	NOUN
aiti-3953	191	7	is	be	AUX
aiti-3953	191	8	considered	consider	VERB
aiti-3953	191	9	as	as	ADP
aiti-3953	191	10	a	a	DET
aiti-3953	191	11	scalar	scalar	ADJ
aiti-3953	191	12	gain	gain	NOUN
aiti-3953	191	13	,	,	PUNCT
aiti-3953	191	14	i.e.	i.e.	X
aiti-3953	191	15	,	,	PUNCT
aiti-3953	191	16	1	1	NUM
aiti-3953	191	17	2	2	NUM
aiti-3953	191	18	1	1	NUM
aiti-3953	191	19	1	1	NUM
aiti-3953	191	20	e	e	NOUN
aiti-3953	191	21	e	e	ADP
aiti-3953	191	22	e	e	X
aiti-3953	191	23	s	s	PROPN
aiti-3953	191	24	w	w	PROPN
aiti-3953	191	25	w	w	PROPN
aiti-3953	191	26	k	k	PROPN
aiti-3953	191	27	s	s	PROPN
aiti-3953	191	28			PROPN
aiti-3953	191	29			PROPN
aiti-3953	191	30			PROPN
aiti-3953	191	31			PROPN
aiti-3953	191	32			ADV
aiti-3953	191	33			PROPN
aiti-3953	191	34			PROPN
aiti-3953	191	35			PUNCT
aiti-3953	191	36	(	(	PUNCT
aiti-3953	191	37	31	31	NUM
aiti-3953	191	38	)	)	PUNCT
aiti-3953	191	39	u	u	NOUN
aiti-3953	191	40	u	u	PROPN
aiti-3953	191	41	uw	uw	PROPN
aiti-3953	191	42	w	w	PROPN
aiti-3953	191	43	k	k	PROPN
aiti-3953	191	44			PROPN
aiti-3953	191	45			PROPN
aiti-3953	191	46	(	(	PUNCT
aiti-3953	191	47	32	32	NUM
aiti-3953	191	48	)	)	PUNCT
aiti-3953	191	49	concerning	concern	VERB
aiti-3953	191	50	the	the	DET
aiti-3953	191	51	yaw	yaw	NOUN
aiti-3953	191	52	subsystem	subsystem	NOUN
aiti-3953	191	53	,	,	PUNCT
aiti-3953	191	54	the	the	DET
aiti-3953	191	55	weighting	weighting	NOUN
aiti-3953	191	56	function	function	NOUN
aiti-3953	191	57	of	of	ADP
aiti-3953	191	58	the	the	DET
aiti-3953	191	59	error	error	NOUN
aiti-3953	191	60	is	be	AUX
aiti-3953	191	61	considered	consider	VERB
aiti-3953	191	62	as	as	ADP
aiti-3953	191	63	a	a	DET
aiti-3953	191	64	first	first	ADJ
aiti-3953	191	65	-	-	PUNCT
aiti-3953	191	66	order	order	NOUN
aiti-3953	191	67	filter	filter	NOUN
aiti-3953	191	68	.	.	PUNCT
aiti-3953	192	1	the	the	DET
aiti-3953	192	2	weighting	weighting	NOUN
aiti-3953	192	3	function	function	NOUN
aiti-3953	192	4	of	of	ADP
aiti-3953	192	5	the	the	DET
aiti-3953	192	6	control	control	NOUN
aiti-3953	192	7	is	be	AUX
aiti-3953	192	8	considered	consider	VERB
aiti-3953	192	9	as	as	ADP
aiti-3953	192	10	a	a	DET
aiti-3953	192	11	simple	simple	ADJ
aiti-3953	192	12	gain	gain	NOUN
aiti-3953	192	13	and	and	CCONJ
aiti-3953	192	14	expressed	express	VERB
aiti-3953	192	15	as	as	ADP
aiti-3953	192	16	:	:	PUNCT
aiti-3953	192	17	advances	advance	NOUN
aiti-3953	192	18	in	in	ADP
aiti-3953	192	19	technology	technology	NOUN
aiti-3953	192	20	innovation	innovation	NOUN
aiti-3953	192	21	,	,	PUNCT
aiti-3953	192	22	vol	vol	NOUN
aiti-3953	192	23	.	.	PROPN
aiti-3953	192	24	5	5	NUM
aiti-3953	192	25	,	,	PUNCT
aiti-3953	192	26	no	no	INTJ
aiti-3953	192	27	.	.	NOUN
aiti-3953	192	28	2	2	NUM
aiti-3953	192	29	,	,	PUNCT
aiti-3953	192	30	2020	2020	NUM
aiti-3953	192	31	,	,	PUNCT
aiti-3953	192	32	pp	pp	ADJ
aiti-3953	192	33	.	.	PUNCT
aiti-3953	193	1	98	98	NUM
aiti-3953	193	2	-	-	SYM
aiti-3953	193	3	111	111	NUM
aiti-3953	193	4	105	105	NUM
aiti-3953	193	5	1	1	NUM
aiti-3953	193	6	2	2	NUM
aiti-3953	193	7	1	1	NUM
aiti-3953	193	8	1	1	NUM
aiti-3953	193	9	e	e	NOUN
aiti-3953	193	10	e	e	PROPN
aiti-3953	193	11	s	s	PROPN
aiti-3953	193	12	w	w	PROPN
aiti-3953	193	13	k	k	PROPN
aiti-3953	193	14	s	s	VERB
aiti-3953	193	15			NOUN
aiti-3953	193	16			NOUN
aiti-3953	193	17			NOUN
aiti-3953	193	18			PROPN
aiti-3953	193	19			NUM
aiti-3953	193	20			X
aiti-3953	193	21	(	(	PUNCT
aiti-3953	193	22	33	33	NUM
aiti-3953	193	23	)	)	PUNCT
aiti-3953	193	24	u	u	NOUN
aiti-3953	193	25	uw	uw	NOUN
aiti-3953	193	26	k	k	PROPN
aiti-3953	194	1			INTJ
aiti-3953	194	2	(	(	PUNCT
aiti-3953	194	3	34	34	NUM
aiti-3953	194	4	)	)	PUNCT
aiti-3953	194	5	the	the	DET
aiti-3953	194	6	parameters	parameter	NOUN
aiti-3953	194	7	’	’	PART
aiti-3953	194	8	selection	selection	NOUN
aiti-3953	194	9	of	of	ADP
aiti-3953	194	10	the	the	DET
aiti-3953	194	11	roll	roll	NOUN
aiti-3953	194	12	-	-	PUNCT
aiti-3953	194	13	pitch	pitch	NOUN
aiti-3953	194	14	subsystem	subsystem	NOUN
aiti-3953	194	15	and	and	CCONJ
aiti-3953	194	16	yaw	yaw	NOUN
aiti-3953	194	17	subsystem	subsystem	NOUN
aiti-3953	194	18	is	be	AUX
aiti-3953	194	19	achieved	achieve	VERB
aiti-3953	194	20	separately	separately	ADV
aiti-3953	194	21	.	.	PUNCT
aiti-3953	195	1	in	in	ADP
aiti-3953	195	2	the	the	DET
aiti-3953	195	3	optimization	optimization	NOUN
aiti-3953	195	4	process	process	NOUN
aiti-3953	195	5	,	,	PUNCT
aiti-3953	195	6	the	the	DET
aiti-3953	195	7	solutions	solution	NOUN
aiti-3953	195	8	of	of	ADP
aiti-3953	195	9	roll	roll	NOUN
aiti-3953	195	10	-	-	PUNCT
aiti-3953	195	11	pitch	pitch	NOUN
aiti-3953	195	12	problem	problem	NOUN
aiti-3953	195	13	and	and	CCONJ
aiti-3953	195	14	yaw	yaw	NOUN
aiti-3953	195	15	problem	problem	NOUN
aiti-3953	195	16	can	can	AUX
aiti-3953	195	17	be	be	AUX
aiti-3953	195	18	obtained	obtain	VERB
aiti-3953	195	19	by	by	ADP
aiti-3953	195	20	:	:	PUNCT
aiti-3953	195	21			ADJ
aiti-3953	195	22	1	1	NOUN
aiti-3953	195	23	2e	2e	NUM
aiti-3953	195	24	us	us	PROPN
aiti-3953	196	1	k	k	PROPN
aiti-3953	196	2	k	k	PROPN
aiti-3953	196	3			PROPN
aiti-3953	196	4			X
aiti-3953	196	5	(	(	PUNCT
aiti-3953	196	6	35	35	NUM
aiti-3953	196	7	)	)	PUNCT
aiti-3953	196	8			NOUN
aiti-3953	196	9	1	1	NOUN
aiti-3953	196	10	2e	2e	VERB
aiti-3953	196	11	us	we	PRON
aiti-3953	197	1	k	k	PROPN
aiti-3953	197	2	k	k	PROPN
aiti-3953	197	3			PROPN
aiti-3953	197	4			X
aiti-3953	197	5	(	(	PUNCT
aiti-3953	197	6	36	36	NUM
aiti-3953	197	7	)	)	PUNCT
aiti-3953	197	8	it	it	PRON
aiti-3953	197	9	should	should	AUX
aiti-3953	197	10	be	be	AUX
aiti-3953	197	11	noticed	notice	VERB
aiti-3953	197	12	that	that	SCONJ
aiti-3953	197	13	the	the	DET
aiti-3953	197	14	solutions	solution	NOUN
aiti-3953	197	15	are	be	AUX
aiti-3953	197	16	presented	present	VERB
aiti-3953	197	17	in	in	ADP
aiti-3953	197	18	real	real	ADV
aiti-3953	197	19	-	-	PUNCT
aiti-3953	197	20	coded	code	VERB
aiti-3953	197	21	.	.	PUNCT
aiti-3953	198	1	the	the	DET
aiti-3953	198	2	optimization	optimization	NOUN
aiti-3953	198	3	process	process	NOUN
aiti-3953	198	4	of	of	ADP
aiti-3953	198	5	each	each	DET
aiti-3953	198	6	problem	problem	NOUN
aiti-3953	198	7	is	be	AUX
aiti-3953	198	8	solved	solve	VERB
aiti-3953	198	9	by	by	ADP
aiti-3953	198	10	the	the	DET
aiti-3953	198	11	presented	present	VERB
aiti-3953	198	12	cs	cs	PROPN
aiti-3953	198	13	optimization	optimization	NOUN
aiti-3953	198	14	algorithm	algorithm	NOUN
aiti-3953	198	15	in	in	ADP
aiti-3953	198	16	section	section	NOUN
aiti-3953	198	17	2	2	NUM
aiti-3953	198	18	.	.	PUNCT
aiti-3953	199	1	the	the	DET
aiti-3953	199	2	fitness	fitness	NOUN
aiti-3953	199	3	functions	function	NOUN
aiti-3953	199	4	are	be	AUX
aiti-3953	199	5	the	the	DET
aiti-3953	199	6	integral	integral	ADJ
aiti-3953	199	7	square	square	NOUN
aiti-3953	199	8	of	of	ADP
aiti-3953	199	9	error	error	NOUN
aiti-3953	199	10	(	(	PUNCT
aiti-3953	199	11	ise	ise	NOUN
aiti-3953	199	12	)	)	PUNCT
aiti-3953	199	13	is	be	AUX
aiti-3953	199	14	used	use	VERB
aiti-3953	199	15	for	for	ADP
aiti-3953	199	16	the	the	DET
aiti-3953	199	17	fitness	fitness	NOUN
aiti-3953	199	18	function	function	NOUN
aiti-3953	199	19	,	,	PUNCT
aiti-3953	199	20	that	that	ADV
aiti-3953	199	21	is	is	ADV
aiti-3953	199	22	,	,	PUNCT
aiti-3953	199	23	2	2	NUM
aiti-3953	199	24	2	2	NUM
aiti-3953	199	25	0	0	NUM
aiti-3953	199	26	0	0	NUM
aiti-3953	200	1	(	(	PUNCT
aiti-3953	200	2	)	)	PUNCT
aiti-3953	200	3	(	(	PUNCT
aiti-3953	200	4	)	)	PUNCT
aiti-3953	200	5	t	t	NOUN
aiti-3953	200	6	t	t	NOUN
aiti-3953	200	7	roll	roll	VERB
aiti-3953	200	8	pitchf	pitchf	NOUN
aiti-3953	200	9	e	e	X
aiti-3953	200	10	d	d	X
aiti-3953	200	11	e	e	X
aiti-3953	200	12	d	d	PUNCT
aiti-3953	200	13			NOUN
aiti-3953	200	14			VERB
aiti-3953	200	15			NOUN
aiti-3953	200	16			NUM
aiti-3953	200	17			PROPN
aiti-3953	200	18			PROPN
aiti-3953	200	19			PUNCT
aiti-3953	200	20	(	(	PUNCT
aiti-3953	200	21	37	37	NUM
aiti-3953	200	22	)	)	PUNCT
aiti-3953	200	23	2	2	NUM
aiti-3953	200	24	0	0	NUM
aiti-3953	200	25	(	(	PUNCT
aiti-3953	200	26	)	)	PUNCT
aiti-3953	200	27	t	t	NOUN
aiti-3953	201	1	yawf	yawf	NOUN
aiti-3953	201	2	e	e	PROPN
aiti-3953	201	3	d	d	PROPN
aiti-3953	201	4			NOUN
aiti-3953	201	5			VERB
aiti-3953	201	6			X
aiti-3953	201	7	(	(	PUNCT
aiti-3953	201	8	38	38	NUM
aiti-3953	201	9	)	)	PUNCT
aiti-3953	201	10	the	the	DET
aiti-3953	201	11	fitness	fitness	NOUN
aiti-3953	201	12	(	(	PUNCT
aiti-3953	201	13	ise	ise	NOUN
aiti-3953	201	14	)	)	PUNCT
aiti-3953	201	15	evolutions	evolution	NOUN
aiti-3953	201	16	of	of	ADP
aiti-3953	201	17	each	each	DET
aiti-3953	201	18	criterion	criterion	NOUN
aiti-3953	201	19	,	,	PUNCT
aiti-3953	201	20	eqs	eqs	X
aiti-3953	201	21	.	.	PUNCT
aiti-3953	202	1	(	(	PUNCT
aiti-3953	202	2	37)-(38	37)-(38	NOUN
aiti-3953	202	3	)	)	PUNCT
aiti-3953	202	4	,	,	PUNCT
aiti-3953	202	5	are	be	AUX
aiti-3953	202	6	presented	present	VERB
aiti-3953	202	7	in	in	ADP
aiti-3953	202	8	fig	fig	NOUN
aiti-3953	202	9	.	.	PUNCT
aiti-3953	203	1	5	5	NUM
aiti-3953	203	2	and	and	CCONJ
aiti-3953	203	3	fig	fig	NOUN
aiti-3953	203	4	.	.	PUNCT
aiti-3953	204	1	6	6	NUM
aiti-3953	204	2	.	.	PUNCT
aiti-3953	204	3	the	the	DET
aiti-3953	204	4	efficiency	efficiency	NOUN
aiti-3953	204	5	of	of	ADP
aiti-3953	204	6	the	the	DET
aiti-3953	204	7	cs	cs	PROPN
aiti-3953	204	8	algorithm	algorithm	NOUN
aiti-3953	204	9	is	be	AUX
aiti-3953	204	10	shown	show	VERB
aiti-3953	204	11	by	by	ADP
aiti-3953	204	12	the	the	DET
aiti-3953	204	13	presented	present	VERB
aiti-3953	204	14	convergences	convergence	NOUN
aiti-3953	204	15	where	where	SCONJ
aiti-3953	204	16	the	the	DET
aiti-3953	204	17	fitness	fitness	NOUN
aiti-3953	204	18	of	of	ADP
aiti-3953	204	19	the	the	DET
aiti-3953	204	20	roll	roll	NOUN
aiti-3953	204	21	-	-	PUNCT
aiti-3953	204	22	pitch	pitch	NOUN
aiti-3953	204	23	subsystem	subsystem	NOUN
aiti-3953	204	24	(	(	PUNCT
aiti-3953	204	25	fig	fig	NOUN
aiti-3953	204	26	.	.	PUNCT
aiti-3953	204	27	5	5	X
aiti-3953	204	28	)	)	PUNCT
aiti-3953	205	1	reaches	reach	VERB
aiti-3953	205	2	its	its	PRON
aiti-3953	205	3	optimal	optimal	ADJ
aiti-3953	205	4	(	(	PUNCT
aiti-3953	205	5	minimum	minimum	NOUN
aiti-3953	205	6	)	)	PUNCT
aiti-3953	205	7	at	at	ADP
aiti-3953	205	8	10	10	NUM
aiti-3953	205	9	th	th	NOUN
aiti-3953	205	10	generation	generation	NOUN
aiti-3953	205	11	,	,	PUNCT
aiti-3953	205	12	and	and	CCONJ
aiti-3953	205	13	the	the	DET
aiti-3953	205	14	fitness	fitness	NOUN
aiti-3953	205	15	of	of	ADP
aiti-3953	205	16	the	the	DET
aiti-3953	205	17	yaw	yaw	NOUN
aiti-3953	205	18	subsystem	subsystem	NOUN
aiti-3953	205	19	(	(	PUNCT
aiti-3953	205	20	fig	fig	NOUN
aiti-3953	205	21	.	.	NOUN
aiti-3953	205	22	6	6	NUM
aiti-3953	205	23	)	)	PUNCT
aiti-3953	205	24	reaches	reach	VERB
aiti-3953	205	25	its	its	PRON
aiti-3953	205	26	optimal	optimal	ADJ
aiti-3953	205	27	(	(	PUNCT
aiti-3953	205	28	minimum	minimum	NOUN
aiti-3953	205	29	)	)	PUNCT
aiti-3953	205	30	at	at	ADP
aiti-3953	205	31	the	the	DET
aiti-3953	205	32	8	8	NUM
aiti-3953	205	33	th	th	NOUN
aiti-3953	205	34	generation	generation	NOUN
aiti-3953	205	35	.	.	PUNCT
aiti-3953	206	1	the	the	DET
aiti-3953	206	2	optimal	optimal	ADJ
aiti-3953	206	3	weighting	weighting	NOUN
aiti-3953	206	4	functions	function	NOUN
aiti-3953	206	5	parameters	parameter	NOUN
aiti-3953	206	6	are	be	AUX
aiti-3953	206	7	presented	present	VERB
aiti-3953	206	8	in	in	ADP
aiti-3953	206	9	table	table	NOUN
aiti-3953	206	10	4	4	NUM
aiti-3953	206	11	.	.	PUNCT
aiti-3953	206	12	fig	fig	NOUN
aiti-3953	206	13	.	.	PUNCT
aiti-3953	207	1	5	5	NUM
aiti-3953	207	2	fitness	fitness	NOUN
aiti-3953	207	3	evolution	evolution	NOUN
aiti-3953	207	4	of	of	ADP
aiti-3953	207	5	the	the	DET
aiti-3953	207	6	roll	roll	NOUN
aiti-3953	207	7	-	-	PUNCT
aiti-3953	207	8	pitch	pitch	NOUN
aiti-3953	207	9	subsystem	subsystem	NOUN
aiti-3953	207	10	(	(	PUNCT
aiti-3953	207	11	iseφ+iseθ	iseφ+iseθ	PROPN
aiti-3953	207	12	)	)	PUNCT
aiti-3953	207	13	fig	fig	NOUN
aiti-3953	207	14	.	.	PUNCT
aiti-3953	208	1	6	6	NUM
aiti-3953	208	2	fitness	fitness	NOUN
aiti-3953	208	3	evolution	evolution	NOUN
aiti-3953	208	4	of	of	ADP
aiti-3953	208	5	the	the	DET
aiti-3953	208	6	yaw	yaw	NOUN
aiti-3953	208	7	subsystem	subsystem	NOUN
aiti-3953	208	8	(	(	PUNCT
aiti-3953	208	9	iseψ	iseψ	NOUN
aiti-3953	208	10	)	)	PUNCT
aiti-3953	208	11	table	table	NOUN
aiti-3953	208	12	4	4	NUM
aiti-3953	208	13	optimal	optimal	ADJ
aiti-3953	208	14	parameters	parameter	NOUN
aiti-3953	208	15	of	of	ADP
aiti-3953	208	16	we	we	PRON
aiti-3953	208	17	and	and	CCONJ
aiti-3953	208	18	wu	wu	PROPN
aiti-3953	208	19	roll	roll	NOUN
aiti-3953	208	20	-	-	PUNCT
aiti-3953	208	21	pitch	pitch	NOUN
aiti-3953	208	22	weφ	weφ	PROPN
aiti-3953	208	23	,	,	PUNCT
aiti-3953	208	24	weθ	weθ	ADP
aiti-3953	208	25	ke	ke	NOUN
aiti-3953	208	26	τ1	τ1	ADP
aiti-3953	208	27	τ2	τ2	NOUN
aiti-3953	208	28	12.66	12.66	NUM
aiti-3953	208	29	3.112	3.112	NUM
aiti-3953	208	30	65.359	65.359	NUM
aiti-3953	208	31	wuφ	wuφ	NOUN
aiti-3953	208	32	,	,	PUNCT
aiti-3953	208	33	wuθ	wuθ	PROPN
aiti-3953	208	34	ku=0.902	ku=0.902	PROPN
aiti-3953	208	35	yaw	yaw	PROPN
aiti-3953	208	36	weψ	weψ	VERB
aiti-3953	208	37	ke	ke	NOUN
aiti-3953	208	38	τ1	τ1	ADP
aiti-3953	208	39	τ2	τ2	NOUN
aiti-3953	208	40	2.5	2.5	NUM
aiti-3953	208	41	0.3388	0.3388	NUM
aiti-3953	208	42	8.8968	8.8968	NUM
aiti-3953	208	43	wuψ	wuψ	NOUN
aiti-3953	208	44	ku=0.28	ku=0.28	PROPN
aiti-3953	208	45	fig	fig	NOUN
aiti-3953	208	46	.	.	PUNCT
aiti-3953	209	1	7	7	NUM
aiti-3953	209	2	presents	present	VERB
aiti-3953	209	3	the	the	DET
aiti-3953	209	4	inverse	inverse	NOUN
aiti-3953	209	5	sensitivity	sensitivity	NOUN
aiti-3953	209	6	functions	function	NOUN
aiti-3953	209	7	of	of	ADP
aiti-3953	209	8	both	both	DET
aiti-3953	209	9	subsystems	subsystem	NOUN
aiti-3953	209	10	.	.	PUNCT
aiti-3953	210	1	the	the	DET
aiti-3953	210	2	presented	present	VERB
aiti-3953	210	3	weights	weight	NOUN
aiti-3953	210	4	are	be	AUX
aiti-3953	210	5	the	the	DET
aiti-3953	210	6	error	error	NOUN
aiti-3953	210	7	weighting	weighting	NOUN
aiti-3953	210	8	functions	function	NOUN
aiti-3953	210	9	ew	ew	ADP
aiti-3953	210	10			NOUN
aiti-3953	210	11	and	and	CCONJ
aiti-3953	210	12	,	,	PUNCT
aiti-3953	210	13	ew	ew	PROPN
aiti-3953	210	14	when	when	SCONJ
aiti-3953	210	15	the	the	DET
aiti-3953	210	16	weights	weight	NOUN
aiti-3953	210	17	in	in	ADP
aiti-3953	210	18	the	the	DET
aiti-3953	210	19	control	control	NOUN
aiti-3953	210	20	criteria	criterion	NOUN
aiti-3953	210	21	(	(	PUNCT
aiti-3953	210	22	uw	uw	X
aiti-3953	210	23			PROPN
aiti-3953	210	24	and	and	CCONJ
aiti-3953	210	25	uw	uw	PROPN
aiti-3953	210	26			NOUN
aiti-3953	210	27	)	)	PUNCT
aiti-3953	210	28	are	be	AUX
aiti-3953	210	29	just	just	ADV
aiti-3953	210	30	scalar	scalar	ADJ
aiti-3953	210	31	gains	gain	NOUN
aiti-3953	210	32	.	.	PUNCT
aiti-3953	211	1	the	the	DET
aiti-3953	211	2	inverse	inverse	NOUN
aiti-3953	211	3	of	of	ADP
aiti-3953	211	4	advances	advance	NOUN
aiti-3953	211	5	in	in	ADP
aiti-3953	211	6	technology	technology	NOUN
aiti-3953	211	7	innovation	innovation	NOUN
aiti-3953	211	8	,	,	PUNCT
aiti-3953	211	9	vol	vol	NOUN
aiti-3953	211	10	.	.	PROPN
aiti-3953	211	11	5	5	NUM
aiti-3953	211	12	,	,	PUNCT
aiti-3953	211	13	no	no	INTJ
aiti-3953	211	14	.	.	NOUN
aiti-3953	211	15	2	2	NUM
aiti-3953	211	16	,	,	PUNCT
aiti-3953	211	17	2020	2020	NUM
aiti-3953	211	18	,	,	PUNCT
aiti-3953	211	19	pp	pp	ADJ
aiti-3953	211	20	.	.	PUNCT
aiti-3953	212	1	98	98	NUM
aiti-3953	212	2	-	-	SYM
aiti-3953	212	3	111	111	NUM
aiti-3953	212	4	106	106	NUM
aiti-3953	212	5	sensitivity	sensitivity	NOUN
aiti-3953	212	6	function	function	NOUN
aiti-3953	212	7	of	of	ADP
aiti-3953	212	8	the	the	DET
aiti-3953	212	9	roll	roll	NOUN
aiti-3953	212	10	-	-	PUNCT
aiti-3953	212	11	pitch	pitch	NOUN
aiti-3953	212	12	subsystem	subsystem	NOUN
aiti-3953	212	13	(	(	PUNCT
aiti-3953	212	14	1	1	NUM
aiti-3953	212	15	/	/	SYM
aiti-3953	212	16	ew	ew	NOUN
aiti-3953	212	17			PROPN
aiti-3953	212	18	)	)	PUNCT
aiti-3953	212	19	is	be	AUX
aiti-3953	212	20	a	a	DET
aiti-3953	212	21	high	high	ADJ
aiti-3953	212	22	pass	pass	NOUN
aiti-3953	212	23	filter	filter	NOUN
aiti-3953	212	24	,	,	PUNCT
aiti-3953	212	25	the	the	DET
aiti-3953	212	26	steady	steady	ADJ
aiti-3953	212	27	-	-	PUNCT
aiti-3953	212	28	state	state	NOUN
aiti-3953	212	29	error	error	NOUN
aiti-3953	212	30	to	to	PART
aiti-3953	212	31	step	step	VERB
aiti-3953	212	32	input	input	NOUN
aiti-3953	212	33	(	(	PUNCT
aiti-3953	212	34	0.078)	0.078)	NOUN
aiti-3953	212	35			NOUN
aiti-3953	212	36	,	,	PUNCT
aiti-3953	212	37	the	the	DET
aiti-3953	212	38	overshoot	overshoot	NOUN
aiti-3953	212	39	magnitude	magnitude	NOUN
aiti-3953	212	40	(	(	PUNCT
aiti-3953	212	41	peak	peak	NOUN
aiti-3953	212	42	sensitivity	sensitivity	NOUN
aiti-3953	212	43	,	,	PUNCT
aiti-3953	212	44	1.65sm	1.65sm	NUM
aiti-3953	212	45			NOUN
aiti-3953	212	46	)	)	PUNCT
aiti-3953	212	47	,	,	PUNCT
aiti-3953	212	48	and	and	CCONJ
aiti-3953	212	49	limit	limit	VERB
aiti-3953	212	50	closed	close	VERB
aiti-3953	212	51	-	-	PUNCT
aiti-3953	212	52	loop	loop	NOUN
aiti-3953	212	53	bandwidth	bandwidth	NOUN
aiti-3953	212	54	/0.1937	/0.1937	PROPN
aiti-3953	212	55	rad	rad	PROPN
aiti-3953	212	56	s	s	PART
aiti-3953	212	57	)	)	PUNCT
aiti-3953	212	58	(	(	PUNCT
aiti-3953	212	59	b	b	NOUN
aiti-3953	212	60			ADJ
aiti-3953	212	61	.	.	PUNCT
aiti-3953	213	1	the	the	DET
aiti-3953	213	2	inverse	inverse	NOUN
aiti-3953	213	3	of	of	ADP
aiti-3953	213	4	the	the	DET
aiti-3953	213	5	sensitivity	sensitivity	NOUN
aiti-3953	213	6	function	function	NOUN
aiti-3953	213	7	of	of	ADP
aiti-3953	213	8	the	the	DET
aiti-3953	213	9	yaw	yaw	NOUN
aiti-3953	213	10	subsystem	subsystem	NOUN
aiti-3953	213	11	(	(	PUNCT
aiti-3953	213	12	1	1	NUM
aiti-3953	213	13	/	/	SYM
aiti-3953	213	14	ew	ew	PROPN
aiti-3953	213	15	)	)	PUNCT
aiti-3953	213	16	is	be	AUX
aiti-3953	213	17	a	a	DET
aiti-3953	213	18	high	high	ADJ
aiti-3953	213	19	pass	pass	NOUN
aiti-3953	213	20	filter	filter	NOUN
aiti-3953	213	21	also	also	ADV
aiti-3953	213	22	,	,	PUNCT
aiti-3953	213	23	the	the	DET
aiti-3953	213	24	steady	steady	ADJ
aiti-3953	213	25	-	-	PUNCT
aiti-3953	213	26	state	state	NOUN
aiti-3953	213	27	error	error	NOUN
aiti-3953	213	28	to	to	PART
aiti-3953	213	29	step	step	VERB
aiti-3953	213	30	input	input	NOUN
aiti-3953	213	31	(	(	PUNCT
aiti-3953	213	32	0.4)	0.4)	NUM
aiti-3953	213	33			NOUN
aiti-3953	213	34	,	,	PUNCT
aiti-3953	213	35	the	the	DET
aiti-3953	213	36	overshoot	overshoot	NOUN
aiti-3953	213	37	magnitude	magnitude	NOUN
aiti-3953	213	38	(	(	PUNCT
aiti-3953	213	39	peak	peak	NOUN
aiti-3953	213	40	sensitivity	sensitivity	NOUN
aiti-3953	213	41	,	,	PUNCT
aiti-3953	213	42	1.55sm	1.55sm	NUM
aiti-3953	213	43			NUM
aiti-3953	213	44	)	)	PUNCT
aiti-3953	213	45	,	,	PUNCT
aiti-3953	213	46	and	and	CCONJ
aiti-3953	213	47	limit	limit	VERB
aiti-3953	213	48	closed	close	VERB
aiti-3953	213	49	-	-	PUNCT
aiti-3953	213	50	loop	loop	NOUN
aiti-3953	213	51	bandwidth	bandwidth	NOUN
aiti-3953	213	52	/0.281	/0.281	PUNCT
aiti-3953	213	53	rad	rad	PROPN
aiti-3953	213	54	s	s	PART
aiti-3953	213	55	)	)	PUNCT
aiti-3953	213	56	(	(	PUNCT
aiti-3953	213	57	b	b	NOUN
aiti-3953	213	58			ADJ
aiti-3953	213	59	.	.	PUNCT
aiti-3953	214	1	these	these	DET
aiti-3953	214	2	results	result	NOUN
aiti-3953	214	3	are	be	AUX
aiti-3953	214	4	in	in	ADP
aiti-3953	214	5	line	line	NOUN
aiti-3953	214	6	with	with	ADP
aiti-3953	214	7	the	the	DET
aiti-3953	214	8	recommended	recommend	VERB
aiti-3953	214	9	guidelines	guideline	NOUN
aiti-3953	214	10	of	of	ADP
aiti-3953	214	11	[	[	X
aiti-3953	214	12	10	10	NUM
aiti-3953	214	13	]	]	PUNCT
aiti-3953	214	14	.	.	PUNCT
aiti-3953	215	1	fig	fig	NOUN
aiti-3953	215	2	.	.	PUNCT
aiti-3953	216	1	7	7	NUM
aiti-3953	216	2	desired	desire	VERB
aiti-3953	216	3	closed	closed	ADJ
aiti-3953	216	4	-	-	PUNCT
aiti-3953	216	5	loop	loop	NOUN
aiti-3953	216	6	performance	performance	NOUN
aiti-3953	216	7	let	let	VERB
aiti-3953	216	8	klpv	klpv	NOUN
aiti-3953	216	9	denote	denote	VERB
aiti-3953	216	10	the	the	DET
aiti-3953	216	11	controller	controller	NOUN
aiti-3953	216	12	of	of	ADP
aiti-3953	216	13	the	the	DET
aiti-3953	216	14	roll	roll	NOUN
aiti-3953	216	15	-	-	PUNCT
aiti-3953	216	16	pitch	pitch	NOUN
aiti-3953	216	17	subsystem	subsystem	NOUN
aiti-3953	216	18	,	,	PUNCT
aiti-3953	216	19	and	and	CCONJ
aiti-3953	216	20	klti	klti	PROPN
aiti-3953	216	21	denote	denote	VERB
aiti-3953	216	22	the	the	DET
aiti-3953	216	23	controller	controller	NOUN
aiti-3953	216	24	of	of	ADP
aiti-3953	216	25	the	the	DET
aiti-3953	216	26	yaw	yaw	NOUN
aiti-3953	216	27	subsystem	subsystem	NOUN
aiti-3953	216	28	,	,	PUNCT
aiti-3953	216	29	they	they	PRON
aiti-3953	216	30	can	can	AUX
aiti-3953	216	31	be	be	AUX
aiti-3953	216	32	expressed	express	VERB
aiti-3953	216	33	as	as	ADP
aiti-3953	216	34	:	:	PUNCT
aiti-3953	216	35	1	1	NUM
aiti-3953	216	36	1	1	NUM
aiti-3953	216	37	1	1	NUM
aiti-3953	216	38	11	11	NUM
aiti-3953	216	39	1	1	NUM
aiti-3953	216	40	1	1	NUM
aiti-3953	216	41	k	k	NOUN
aiti-3953	216	42	k	k	X
aiti-3953	216	43	kp	kp	PROPN
aiti-3953	216	44	lpv	lpv	NOUN
aiti-3953	217	1	k	k	PROPN
aiti-3953	218	1	k	k	PROPN
aiti-3953	218	2	k	k	PROPN
aiti-3953	218	3	p	p	X
aiti-3953	218	4	kp	kp	PROPN
aiti-3953	218	5	kp	kp	PROPN
aiti-3953	218	6	kpp	kpp	PROPN
aiti-3953	218	7	a	a	DET
aiti-3953	218	8	b	b	PROPN
aiti-3953	218	9	b	b	PROPN
aiti-3953	219	1	k	k	PROPN
aiti-3953	219	2	c	c	PROPN
aiti-3953	220	1	d	d	PROPN
aiti-3953	220	2	d	d	X
aiti-3953	220	3	c	c	NOUN
aiti-3953	221	1	d	d	X
aiti-3953	221	2	d	d	X
aiti-3953	222	1			NUM
aiti-3953	222	2			NUM
aiti-3953	222	3			ADJ
aiti-3953	222	4			NOUN
aiti-3953	222	5			PROPN
aiti-3953	222	6			NOUN
aiti-3953	222	7			NOUN
aiti-3953	222	8			NOUN
aiti-3953	222	9			NOUN
aiti-3953	222	10			NOUN
aiti-3953	222	11			PROPN
aiti-3953	222	12	(	(	PUNCT
aiti-3953	222	13	39	39	NUM
aiti-3953	222	14	)	)	PUNCT
aiti-3953	222	15	2	2	NUM
aiti-3953	222	16	2	2	NUM
aiti-3953	222	17	2	2	NUM
aiti-3953	222	18	2	2	NUM
aiti-3953	222	19	k	k	NOUN
aiti-3953	222	20	k	k	PROPN
aiti-3953	222	21	lti	lti	PROPN
aiti-3953	223	1	k	k	PROPN
aiti-3953	223	2	k	k	PROPN
aiti-3953	224	1	a	a	PRON
aiti-3953	224	2	b	b	X
aiti-3953	225	1	k	k	NOUN
aiti-3953	225	2	c	c	PROPN
aiti-3953	226	1	d	d	X
aiti-3953	226	2			PROPN
aiti-3953	226	3			NUM
aiti-3953	226	4			NOUN
aiti-3953	226	5			NOUN
aiti-3953	226	6			NOUN
aiti-3953	226	7			NOUN
aiti-3953	226	8			PROPN
aiti-3953	226	9	(	(	PUNCT
aiti-3953	226	10	40	40	NUM
aiti-3953	226	11	)	)	PUNCT
aiti-3953	226	12	the	the	DET
aiti-3953	226	13	augmented	augment	VERB
aiti-3953	226	14	controller	controller	NOUN
aiti-3953	226	15	k	k	PROPN
aiti-3953	226	16	(	(	PUNCT
aiti-3953	226	17	fig	fig	NOUN
aiti-3953	226	18	.	.	PUNCT
aiti-3953	226	19	4	4	NUM
aiti-3953	226	20	)	)	PUNCT
aiti-3953	226	21	is	be	AUX
aiti-3953	226	22	obtained	obtain	VERB
aiti-3953	226	23	by	by	ADP
aiti-3953	226	24	combining	combine	VERB
aiti-3953	226	25	the	the	DET
aiti-3953	226	26	two	two	NUM
aiti-3953	226	27	controllers	controller	NOUN
aiti-3953	226	28	,	,	PUNCT
aiti-3953	226	29	and	and	CCONJ
aiti-3953	226	30	that	that	PRON
aiti-3953	226	31	is	be	AUX
aiti-3953	226	32	:	:	PUNCT
aiti-3953	226	33	1	1	NUM
aiti-3953	226	34	2	2	NUM
aiti-3953	226	35	0	0	NUM
aiti-3953	226	36	0	0	NUM
aiti-3953	227	1	k	k	NOUN
aiti-3953	228	1	k	k	PROPN
aiti-3953	228	2	k	k	PROPN
aiti-3953	228	3	a	a	DET
aiti-3953	228	4	a	a	DET
aiti-3953	228	5	a	a	DET
aiti-3953	228	6			ADJ
aiti-3953	228	7			NOUN
aiti-3953	228	8			NOUN
aiti-3953	228	9			NOUN
aiti-3953	228	10			NOUN
aiti-3953	228	11			NOUN
aiti-3953	228	12			PROPN
aiti-3953	228	13	(	(	PUNCT
aiti-3953	228	14	41	41	NUM
aiti-3953	228	15	)	)	PUNCT
aiti-3953	228	16	1	1	NUM
aiti-3953	228	17	2	2	NUM
aiti-3953	228	18	0	0	NUM
aiti-3953	228	19	0	0	NUM
aiti-3953	228	20	0	0	NUM
aiti-3953	229	1	kpk	kpk	PROPN
aiti-3953	230	1	k	k	PROPN
aiti-3953	230	2	k	k	PROPN
aiti-3953	231	1	bb	bb	INTJ
aiti-3953	231	2	b	b	PROPN
aiti-3953	231	3	b	b	PROPN
aiti-3953	232	1			NUM
aiti-3953	232	2			PROPN
aiti-3953	232	3			NOUN
aiti-3953	232	4			NOUN
aiti-3953	232	5			NOUN
aiti-3953	232	6			NOUN
aiti-3953	232	7			PROPN
aiti-3953	232	8	(	(	PUNCT
aiti-3953	232	9	42	42	NUM
aiti-3953	232	10	)	)	PUNCT
aiti-3953	232	11	1	1	NUM
aiti-3953	232	12	2	2	NUM
aiti-3953	232	13	0	0	NUM
aiti-3953	232	14	0	0	NUM
aiti-3953	232	15	0	0	NUM
aiti-3953	233	1	k	k	X
aiti-3953	233	2	k	k	PROPN
aiti-3953	234	1	k	k	PROPN
aiti-3953	234	2	kp	kp	PROPN
aiti-3953	234	3	c	c	X
aiti-3953	234	4	c	c	NOUN
aiti-3953	234	5	c	c	PROPN
aiti-3953	234	6	c	c	NOUN
aiti-3953	234	7			PRON
aiti-3953	234	8			NUM
aiti-3953	234	9			ADJ
aiti-3953	234	10			NOUN
aiti-3953	234	11			PROPN
aiti-3953	234	12			NOUN
aiti-3953	234	13			NOUN
aiti-3953	234	14			NOUN
aiti-3953	234	15			NOUN
aiti-3953	234	16			NOUN
aiti-3953	234	17			PROPN
aiti-3953	234	18	(	(	PUNCT
aiti-3953	234	19	43	43	NUM
aiti-3953	234	20	)	)	PUNCT
aiti-3953	234	21	111	111	NUM
aiti-3953	234	22	2	2	NUM
aiti-3953	234	23	1	1	NUM
aiti-3953	234	24	0	0	NUM
aiti-3953	234	25	0	0	NUM
aiti-3953	234	26	0	0	NUM
aiti-3953	234	27	0	0	NUM
aiti-3953	235	1	k	k	PROPN
aiti-3953	235	2	pk	pk	PROPN
aiti-3953	235	3	k	k	PROPN
aiti-3953	235	4	k	k	PROPN
aiti-3953	235	5	kp	kp	PROPN
aiti-3953	235	6	kpp	kpp	PROPN
aiti-3953	235	7	dd	dd	PROPN
aiti-3953	236	1	d	d	NOUN
aiti-3953	236	2	d	d	PROPN
aiti-3953	237	1	d	d	PROPN
aiti-3953	237	2	d	d	X
aiti-3953	237	3			NUM
aiti-3953	237	4			NUM
aiti-3953	237	5			ADJ
aiti-3953	237	6			NOUN
aiti-3953	237	7			PROPN
aiti-3953	237	8			NOUN
aiti-3953	237	9			NOUN
aiti-3953	237	10			NOUN
aiti-3953	237	11			NOUN
aiti-3953	237	12			NOUN
aiti-3953	237	13			PROPN
aiti-3953	237	14	(	(	PUNCT
aiti-3953	237	15	44	44	NUM
aiti-3953	237	16	)	)	PUNCT
aiti-3953	237	17	in	in	ADP
aiti-3953	237	18	this	this	DET
aiti-3953	237	19	stage	stage	NOUN
aiti-3953	237	20	,	,	PUNCT
aiti-3953	237	21	the	the	DET
aiti-3953	237	22	problem	problem	NOUN
aiti-3953	237	23	of	of	ADP
aiti-3953	237	24	the	the	DET
aiti-3953	237	25	optimal	optimal	ADJ
aiti-3953	237	26	weighting	weighting	NOUN
aiti-3953	237	27	functions	function	NOUN
aiti-3953	237	28	’	'	PUNCT
aiti-3953	237	29	parameters	parameter	NOUN
aiti-3953	237	30	is	be	AUX
aiti-3953	237	31	solved	solve	VERB
aiti-3953	237	32	,	,	PUNCT
aiti-3953	237	33	but	but	CCONJ
aiti-3953	237	34	the	the	DET
aiti-3953	237	35	problem	problem	NOUN
aiti-3953	237	36	of	of	ADP
aiti-3953	237	37	the	the	DET
aiti-3953	237	38	input	input	NOUN
aiti-3953	237	39	saturation	saturation	NOUN
aiti-3953	237	40	has	have	AUX
aiti-3953	237	41	not	not	PART
aiti-3953	237	42	been	be	AUX
aiti-3953	237	43	considered	consider	VERB
aiti-3953	237	44	yet	yet	ADV
aiti-3953	237	45	.	.	PUNCT
aiti-3953	238	1	the	the	DET
aiti-3953	238	2	advantage	advantage	NOUN
aiti-3953	238	3	of	of	ADP
aiti-3953	238	4	this	this	DET
aiti-3953	238	5	method	method	NOUN
aiti-3953	238	6	is	be	AUX
aiti-3953	238	7	that	that	SCONJ
aiti-3953	238	8	the	the	DET
aiti-3953	238	9	controller	controller	NOUN
aiti-3953	238	10	design	design	NOUN
aiti-3953	238	11	and	and	CCONJ
aiti-3953	238	12	the	the	DET
aiti-3953	238	13	anti	anti	ADJ
aiti-3953	238	14	-	-	ADJ
aiti-3953	238	15	windup	windup	ADJ
aiti-3953	238	16	compensator	compensator	NOUN
aiti-3953	238	17	synthesis	synthesis	NOUN
aiti-3953	238	18	can	can	AUX
aiti-3953	238	19	be	be	AUX
aiti-3953	238	20	carried	carry	VERB
aiti-3953	238	21	out	out	ADP
aiti-3953	238	22	independently	independently	ADV
aiti-3953	238	23	.	.	PUNCT
aiti-3953	239	1	the	the	DET
aiti-3953	239	2	next	next	ADJ
aiti-3953	239	3	section	section	NOUN
aiti-3953	239	4	is	be	AUX
aiti-3953	239	5	to	to	PART
aiti-3953	239	6	discuss	discuss	VERB
aiti-3953	239	7	the	the	DET
aiti-3953	239	8	anti	anti	ADJ
aiti-3953	239	9	-	-	ADJ
aiti-3953	239	10	windup	windup	ADJ
aiti-3953	239	11	compensator	compensator	NOUN
aiti-3953	239	12	’s	’s	PART
aiti-3953	239	13	design	design	NOUN
aiti-3953	239	14	step	step	NOUN
aiti-3953	239	15	.	.	PUNCT
aiti-3953	240	1	advances	advance	NOUN
aiti-3953	240	2	in	in	ADP
aiti-3953	240	3	technology	technology	NOUN
aiti-3953	240	4	innovation	innovation	NOUN
aiti-3953	240	5	,	,	PUNCT
aiti-3953	240	6	vol	vol	NOUN
aiti-3953	240	7	.	.	PROPN
aiti-3953	240	8	5	5	NUM
aiti-3953	240	9	,	,	PUNCT
aiti-3953	240	10	no	no	INTJ
aiti-3953	240	11	.	.	NOUN
aiti-3953	240	12	2	2	NUM
aiti-3953	240	13	,	,	PUNCT
aiti-3953	240	14	2020	2020	NUM
aiti-3953	240	15	,	,	PUNCT
aiti-3953	240	16	pp	pp	ADJ
aiti-3953	240	17	.	.	PUNCT
aiti-3953	241	1	98	98	NUM
aiti-3953	241	2	-	-	SYM
aiti-3953	241	3	111	111	NUM
aiti-3953	241	4	107	107	NUM
aiti-3953	241	5	4	4	NUM
aiti-3953	241	6	.	.	PUNCT
aiti-3953	241	7	anti	anti	ADJ
aiti-3953	241	8	-	-	ADJ
aiti-3953	241	9	windup	windup	ADJ
aiti-3953	241	10	compensator	compensator	NOUN
aiti-3953	241	11	the	the	DET
aiti-3953	241	12	system	system	NOUN
aiti-3953	241	13	is	be	AUX
aiti-3953	241	14	a	a	DET
aiti-3953	241	15	mini	mini	NOUN
aiti-3953	241	16	-	-	NOUN
aiti-3953	241	17	drone	drone	NOUN
aiti-3953	241	18	which	which	PRON
aiti-3953	241	19	has	have	VERB
aiti-3953	241	20	actuators	actuator	NOUN
aiti-3953	241	21	,	,	PUNCT
aiti-3953	241	22	rotors	rotor	NOUN
aiti-3953	241	23	,	,	PUNCT
aiti-3953	241	24	with	with	ADP
aiti-3953	241	25	low	low	ADJ
aiti-3953	241	26	energy	energy	NOUN
aiti-3953	241	27	consumption	consumption	NOUN
aiti-3953	241	28	.	.	PUNCT
aiti-3953	242	1	if	if	SCONJ
aiti-3953	242	2	the	the	DET
aiti-3953	242	3	input	input	NOUN
aiti-3953	242	4	saturation	saturation	NOUN
aiti-3953	242	5	is	be	AUX
aiti-3953	242	6	imposed	impose	VERB
aiti-3953	242	7	,	,	PUNCT
aiti-3953	242	8	the	the	DET
aiti-3953	242	9	controller	controller	NOUN
aiti-3953	242	10	design	design	NOUN
aiti-3953	242	11	considering	consider	VERB
aiti-3953	242	12	the	the	DET
aiti-3953	242	13	input	input	NOUN
aiti-3953	242	14	saturation	saturation	NOUN
aiti-3953	242	15	is	be	AUX
aiti-3953	242	16	needed	need	VERB
aiti-3953	242	17	to	to	PART
aiti-3953	242	18	stabilize	stabilize	VERB
aiti-3953	242	19	the	the	DET
aiti-3953	242	20	system	system	NOUN
aiti-3953	242	21	.	.	PUNCT
aiti-3953	243	1	the	the	DET
aiti-3953	243	2	saturation	saturation	NOUN
aiti-3953	243	3	function	function	NOUN
aiti-3953	243	4	is	be	AUX
aiti-3953	243	5	presented	present	VERB
aiti-3953	243	6	in	in	ADP
aiti-3953	243	7	eq	eq	ADP
aiti-3953	243	8	.	.	PUNCT
aiti-3953	244	1	(	(	PUNCT
aiti-3953	244	2	45	45	NUM
aiti-3953	244	3	)	)	PUNCT
aiti-3953	244	4	:	:	PUNCT
aiti-3953	244	5	(	(	PUNCT
aiti-3953	244	6	)	)	PUNCT
aiti-3953	244	7	m	m	VERB
aiti-3953	244	8	m	m	VERB
aiti-3953	244	9	m	m	VERB
aiti-3953	244	10	m	m	VERB
aiti-3953	244	11	m	m	VERB
aiti-3953	244	12	m	m	VERB
aiti-3953	244	13	u	u	NOUN
aiti-3953	244	14	if	if	SCONJ
aiti-3953	244	15	u	u	NOUN
aiti-3953	244	16	u	u	NOUN
aiti-3953	244	17	sat	sit	VERB
aiti-3953	244	18	u	u	NOUN
aiti-3953	244	19	u	u	NOUN
aiti-3953	244	20	if	if	SCONJ
aiti-3953	244	21	u	u	PRON
aiti-3953	244	22	u	u	VERB
aiti-3953	244	23	u	u	NOUN
aiti-3953	244	24	u	u	NOUN
aiti-3953	244	25	if	if	SCONJ
aiti-3953	244	26	u	u	PROPN
aiti-3953	244	27	u	u	PRON
aiti-3953	244	28			PROPN
aiti-3953	244	29			PROPN
aiti-3953	244	30			VERB
aiti-3953	244	31			NUM
aiti-3953	244	32			PROPN
aiti-3953	244	33			PROPN
aiti-3953	244	34			PROPN
aiti-3953	244	35			ADJ
aiti-3953	244	36			PRON
aiti-3953	244	37			PROPN
aiti-3953	244	38	(	(	PUNCT
aiti-3953	244	39	45	45	NUM
aiti-3953	244	40	)	)	PUNCT
aiti-3953	244	41	in	in	ADP
aiti-3953	244	42	general	general	ADJ
aiti-3953	244	43	nonlinear	nonlinear	PROPN
aiti-3953	244	44	systems	system	NOUN
aiti-3953	244	45	,	,	PUNCT
aiti-3953	244	46	hyperbolic	hyperbolic	ADJ
aiti-3953	244	47	tangent	tangent	NOUN
aiti-3953	244	48	(	(	PUNCT
aiti-3953	244	49	(	(	PUNCT
aiti-3953	244	50	)	)	PUNCT
aiti-3953	244	51	tanh	tanh	NOUN
aiti-3953	244	52	(	(	PUNCT
aiti-3953	244	53	)	)	PUNCT
aiti-3953	244	54	)	)	PUNCT
aiti-3953	244	55	sat	sit	VERB
aiti-3953	244	56	u	u	PRON
aiti-3953	244	57	u	u	PROPN
aiti-3953	244	58	is	be	AUX
aiti-3953	244	59	used	use	VERB
aiti-3953	244	60	the	the	DET
aiti-3953	244	61	approximate	approximate	ADJ
aiti-3953	244	62	function	function	NOUN
aiti-3953	244	63	of	of	ADP
aiti-3953	244	64	the	the	DET
aiti-3953	244	65	saturation	saturation	NOUN
aiti-3953	244	66	e.g.	e.g.	ADV
aiti-3953	244	67	,	,	PUNCT
aiti-3953	244	68	the	the	DET
aiti-3953	244	69	missile	missile	NOUN
aiti-3953	244	70	control	control	NOUN
aiti-3953	244	71	[	[	X
aiti-3953	244	72	23	23	NUM
aiti-3953	244	73	]	]	PUNCT
aiti-3953	244	74	and	and	CCONJ
aiti-3953	244	75	ship	ship	NOUN
aiti-3953	244	76	control	control	NOUN
aiti-3953	244	77	[	[	X
aiti-3953	244	78	24	24	NUM
aiti-3953	244	79	]	]	PUNCT
aiti-3953	244	80	.	.	PUNCT
aiti-3953	245	1	many	many	ADJ
aiti-3953	245	2	researchers	researcher	NOUN
aiti-3953	245	3	have	have	AUX
aiti-3953	245	4	focused	focus	VERB
aiti-3953	245	5	their	their	PRON
aiti-3953	245	6	attention	attention	NOUN
aiti-3953	245	7	on	on	ADP
aiti-3953	245	8	the	the	DET
aiti-3953	245	9	anti	anti	ADJ
aiti-3953	245	10	-	-	ADJ
aiti-3953	245	11	windup	windup	ADJ
aiti-3953	245	12	problem	problem	NOUN
aiti-3953	245	13	,	,	PUNCT
aiti-3953	245	14	hence	hence	ADV
aiti-3953	245	15	,	,	PUNCT
aiti-3953	245	16	a	a	DET
aiti-3953	245	17	modern	modern	ADJ
aiti-3953	245	18	anti	anti	ADJ
aiti-3953	245	19	-	-	ADJ
aiti-3953	245	20	windup	windup	ADJ
aiti-3953	245	21	compensator	compensator	NOUN
aiti-3953	245	22	design	design	NOUN
aiti-3953	245	23	is	be	AUX
aiti-3953	245	24	developed	develop	VERB
aiti-3953	245	25	for	for	SCONJ
aiti-3953	245	26	the	the	DET
aiti-3953	245	27	lti	lti	PROPN
aiti-3953	245	28	systems	systems	PROPN
aiti-3953	245	29	called	call	VERB
aiti-3953	245	30	coprime	coprime	NOUN
aiti-3953	245	31	factor	factor	NOUN
aiti-3953	245	32	[	[	X
aiti-3953	245	33	25	25	NUM
aiti-3953	245	34	]	]	PUNCT
aiti-3953	245	35	.	.	PUNCT
aiti-3953	246	1	4.1	4.1	NUM
aiti-3953	246	2	.	.	PUNCT
aiti-3953	246	3	theoretical	theoretical	ADJ
aiti-3953	246	4	background	background	NOUN
aiti-3953	246	5	the	the	DET
aiti-3953	246	6	main	main	ADJ
aiti-3953	246	7	advantage	advantage	NOUN
aiti-3953	246	8	of	of	ADP
aiti-3953	246	9	this	this	DET
aiti-3953	246	10	approach	approach	NOUN
aiti-3953	246	11	is	be	AUX
aiti-3953	246	12	that	that	SCONJ
aiti-3953	246	13	the	the	DET
aiti-3953	246	14	controller	controller	NOUN
aiti-3953	246	15	and	and	CCONJ
aiti-3953	246	16	the	the	DET
aiti-3953	246	17	anti	anti	ADJ
aiti-3953	246	18	-	-	ADJ
aiti-3953	246	19	windup	windup	ADJ
aiti-3953	246	20	are	be	AUX
aiti-3953	246	21	designed	design	VERB
aiti-3953	246	22	independently	independently	ADV
aiti-3953	246	23	.	.	PUNCT
aiti-3953	247	1	the	the	DET
aiti-3953	247	2	anti	anti	ADJ
aiti-3953	247	3	-	-	ADJ
aiti-3953	247	4	windup	windup	ADJ
aiti-3953	247	5	compensator	compensator	NOUN
aiti-3953	247	6	has	have	VERB
aiti-3953	247	7	the	the	DET
aiti-3953	247	8	same	same	ADJ
aiti-3953	247	9	nature	nature	NOUN
aiti-3953	247	10	and	and	CCONJ
aiti-3953	247	11	the	the	DET
aiti-3953	247	12	same	same	ADJ
aiti-3953	247	13	representation	representation	NOUN
aiti-3953	247	14	of	of	ADP
aiti-3953	247	15	the	the	DET
aiti-3953	247	16	plant	plant	NOUN
aiti-3953	247	17	and	and	CCONJ
aiti-3953	247	18	the	the	DET
aiti-3953	247	19	controller	controller	NOUN
aiti-3953	247	20	(	(	PUNCT
aiti-3953	247	21	lft	lft	X
aiti-3953	247	22	-	-	PROPN
aiti-3953	247	23	lpv	lpv	NOUN
aiti-3953	247	24	)	)	PUNCT
aiti-3953	247	25	.	.	PUNCT
aiti-3953	248	1	fig	fig	NOUN
aiti-3953	248	2	.	.	PUNCT
aiti-3953	249	1	8	8	NUM
aiti-3953	249	2	general	general	ADJ
aiti-3953	249	3	scheme	scheme	NOUN
aiti-3953	249	4	of	of	ADP
aiti-3953	249	5	the	the	DET
aiti-3953	249	6	coprime	coprime	ADJ
aiti-3953	249	7	factor	factor	NOUN
aiti-3953	249	8	anti	anti	ADJ
aiti-3953	249	9	-	-	ADJ
aiti-3953	249	10	windup	windup	ADJ
aiti-3953	249	11	the	the	DET
aiti-3953	249	12	anti	anti	ADJ
aiti-3953	249	13	-	-	ADJ
aiti-3953	249	14	windup	windup	ADJ
aiti-3953	249	15	compensator	compensator	NOUN
aiti-3953	249	16	is	be	AUX
aiti-3953	249	17	shown	show	VERB
aiti-3953	249	18	in	in	ADP
aiti-3953	249	19	the	the	DET
aiti-3953	249	20	block	block	NOUN
aiti-3953	249	21	diagram	diagram	NOUN
aiti-3953	249	22	(	(	PUNCT
aiti-3953	249	23	fig	fig	NOUN
aiti-3953	249	24	.	.	PUNCT
aiti-3953	250	1	8)	8)	NUM
aiti-3953	250	2	.	.	PUNCT
aiti-3953	251	1	the	the	DET
aiti-3953	251	2	windup	windup	NOUN
aiti-3953	251	3	’s	’s	PART
aiti-3953	251	4	effect	effect	NOUN
aiti-3953	251	5	is	be	AUX
aiti-3953	251	6	rejected	reject	VERB
aiti-3953	251	7	by	by	ADP
aiti-3953	251	8	adding	add	VERB
aiti-3953	251	9	yd	yd	NOUN
aiti-3953	251	10	,	,	PUNCT
aiti-3953	251	11	and	and	CCONJ
aiti-3953	251	12	the	the	DET
aiti-3953	251	13	plant	plant	NOUN
aiti-3953	251	14	can	can	AUX
aiti-3953	251	15	be	be	AUX
aiti-3953	251	16	created	create	VERB
aiti-3953	251	17	as	as	ADP
aiti-3953	251	18	multiplier	multipli	ADJ
aiti-3953	251	19	factors	factor	NOUN
aiti-3953	251	20	.	.	PUNCT
aiti-3953	252	1	to	to	PART
aiti-3953	252	2	design	design	VERB
aiti-3953	252	3	the	the	DET
aiti-3953	252	4	factors	factor	NOUN
aiti-3953	252	5	,	,	PUNCT
aiti-3953	252	6	firstly	firstly	ADV
aiti-3953	252	7	a	a	DET
aiti-3953	252	8	matrix	matrix	NOUN
aiti-3953	252	9	(	(	PUNCT
aiti-3953	252	10	)	)	PUNCT
aiti-3953	252	11	f	f	PROPN
aiti-3953	252	12			NOUN
aiti-3953	252	13	is	be	AUX
aiti-3953	252	14	created	create	VERB
aiti-3953	252	15	according	accord	VERB
aiti-3953	252	16	to	to	ADP
aiti-3953	252	17	some	some	DET
aiti-3953	252	18	lmi	lmi	PROPN
aiti-3953	252	19	conditions	condition	NOUN
aiti-3953	252	20	.	.	PUNCT
aiti-3953	253	1	by	by	ADP
aiti-3953	253	2	putting	put	VERB
aiti-3953	253	3	(	(	PUNCT
aiti-3953	253	4	)	)	PUNCT
aiti-3953	253	5	(	(	PUNCT
aiti-3953	253	6	)	)	PUNCT
aiti-3953	253	7	,	,	PUNCT
aiti-3953	253	8	m	m	VERB
aiti-3953	253	9	f	f	PROPN
aiti-3953	253	10	i	i	VERB
aiti-3953	253	11			NOUN
aiti-3953	253	12			VERB
aiti-3953	253	13	it	it	PRON
aiti-3953	253	14	could	could	AUX
aiti-3953	253	15	be	be	AUX
aiti-3953	253	16	possible	possible	ADJ
aiti-3953	253	17	to	to	PART
aiti-3953	253	18	generate	generate	VERB
aiti-3953	253	19	the	the	DET
aiti-3953	253	20	other	other	ADJ
aiti-3953	253	21	factor	factor	NOUN
aiti-3953	253	22	(	(	PUNCT
aiti-3953	253	23	)	)	PUNCT
aiti-3953	253	24	n	n	NOUN
aiti-3953	253	25			NOUN
aiti-3953	253	26	;	;	PUNCT
aiti-3953	253	27	(	(	PUNCT
aiti-3953	253	28	)	)	PUNCT
aiti-3953	253	29	(	(	PUNCT
aiti-3953	253	30	)	)	PUNCT
aiti-3953	253	31	(	(	PUNCT
aiti-3953	253	32	)	)	PUNCT
aiti-3953	254	1	.n	.n	PROPN
aiti-3953	254	2	g	g	PROPN
aiti-3953	254	3	m	m	NOUN
aiti-3953	254	4			ADP
aiti-3953	254	5			PROPN
aiti-3953	254	6	so	so	ADV
aiti-3953	254	7	,	,	PUNCT
aiti-3953	254	8	the	the	DET
aiti-3953	254	9	plant	plant	NOUN
aiti-3953	254	10	(	(	PUNCT
aiti-3953	254	11	)	)	PUNCT
aiti-3953	254	12	g	g	NOUN
aiti-3953	254	13			NOUN
aiti-3953	254	14	could	could	AUX
aiti-3953	254	15	be	be	AUX
aiti-3953	254	16	presented	present	VERB
aiti-3953	254	17	as	as	ADP
aiti-3953	254	18	multiplier	multipli	ADJ
aiti-3953	254	19	factors	factor	NOUN
aiti-3953	254	20	;	;	PUNCT
aiti-3953	254	21	1	1	NUM
aiti-3953	254	22	(	(	PUNCT
aiti-3953	254	23	)	)	PUNCT
aiti-3953	254	24	(	(	PUNCT
aiti-3953	254	25	)	)	PUNCT
aiti-3953	254	26	(	(	PUNCT
aiti-3953	254	27	)	)	PUNCT
aiti-3953	254	28	.g	.g	PROPN
aiti-3953	255	1	n	n	PRON
aiti-3953	255	2	m	m	VERB
aiti-3953	255	3			ADP
aiti-3953	255	4			ADP
aiti-3953	255	5			PROPN
aiti-3953	255	6			NUM
aiti-3953	255	7	therefore	therefore	ADV
aiti-3953	255	8	,	,	PUNCT
aiti-3953	255	9	the	the	DET
aiti-3953	255	10	design	design	NOUN
aiti-3953	255	11	of	of	ADP
aiti-3953	255	12	the	the	DET
aiti-3953	255	13	anti	anti	ADJ
aiti-3953	255	14	-	-	ADJ
aiti-3953	255	15	windup	windup	ADJ
aiti-3953	255	16	compensator	compensator	NOUN
aiti-3953	255	17	is	be	AUX
aiti-3953	255	18	based	base	VERB
aiti-3953	255	19	on	on	ADP
aiti-3953	255	20	determination	determination	NOUN
aiti-3953	255	21	(	(	PUNCT
aiti-3953	255	22	)	)	PUNCT
aiti-3953	255	23	n	n	NOUN
aiti-3953	255	24			NOUN
aiti-3953	255	25	and	and	CCONJ
aiti-3953	255	26	(	(	PUNCT
aiti-3953	255	27	)	)	PUNCT
aiti-3953	255	28	m	m	VERB
aiti-3953	255	29			ADP
aiti-3953	255	30	of	of	ADP
aiti-3953	255	31	(	(	PUNCT
aiti-3953	255	32	)	)	PUNCT
aiti-3953	255	33	.g	.g	PROPN
aiti-3953	255	34			ADP
aiti-3953	255	35	the	the	DET
aiti-3953	255	36	key	key	NOUN
aiti-3953	255	37	is	be	AUX
aiti-3953	255	38	to	to	PART
aiti-3953	255	39	find	find	VERB
aiti-3953	255	40	(	(	PUNCT
aiti-3953	255	41	)	)	PUNCT
aiti-3953	255	42	f	f	PROPN
aiti-3953	255	43			NOUN
aiti-3953	255	44	that	that	PRON
aiti-3953	255	45	minimize	minimize	VERB
aiti-3953	255	46	the	the	DET
aiti-3953	255	47	2l	2l	NUM
aiti-3953	255	48	gain	gain	NOUN
aiti-3953	255	49	.	.	PUNCT
aiti-3953	256	1	for	for	ADP
aiti-3953	256	2	more	more	ADJ
aiti-3953	256	3	details	detail	NOUN
aiti-3953	256	4	about	about	ADP
aiti-3953	256	5	computing	compute	VERB
aiti-3953	256	6	(	(	PUNCT
aiti-3953	256	7	)	)	PUNCT
aiti-3953	256	8	,	,	PUNCT
aiti-3953	256	9	f	f	PROPN
aiti-3953	256	10			PART
aiti-3953	256	11	see	see	VERB
aiti-3953	256	12	[	[	X
aiti-3953	256	13	16	16	NUM
aiti-3953	256	14	]	]	PUNCT
aiti-3953	256	15	.	.	PUNCT
aiti-3953	257	1	previously	previously	ADV
aiti-3953	257	2	,	,	PUNCT
aiti-3953	257	3	the	the	DET
aiti-3953	257	4	lpv	lpv	NOUN
aiti-3953	257	5	controller	controller	NOUN
aiti-3953	257	6	for	for	ADP
aiti-3953	257	7	the	the	DET
aiti-3953	257	8	nominal	nominal	ADJ
aiti-3953	257	9	system	system	NOUN
aiti-3953	257	10	was	be	AUX
aiti-3953	257	11	designed	design	VERB
aiti-3953	257	12	without	without	ADP
aiti-3953	257	13	considering	consider	VERB
aiti-3953	257	14	the	the	DET
aiti-3953	257	15	saturation	saturation	NOUN
aiti-3953	257	16	.	.	PUNCT
aiti-3953	258	1	as	as	SCONJ
aiti-3953	258	2	mentioned	mention	VERB
aiti-3953	258	3	,	,	PUNCT
aiti-3953	258	4	the	the	DET
aiti-3953	258	5	compensator	compensator	NOUN
aiti-3953	258	6	’s	’s	PART
aiti-3953	258	7	design	design	NOUN
aiti-3953	258	8	is	be	AUX
aiti-3953	258	9	independent	independent	ADJ
aiti-3953	258	10	of	of	ADP
aiti-3953	258	11	the	the	DET
aiti-3953	258	12	controller	controller	NOUN
aiti-3953	258	13	’s	’s	PART
aiti-3953	258	14	design	design	NOUN
aiti-3953	258	15	.	.	PUNCT
aiti-3953	259	1	what	what	PRON
aiti-3953	259	2	’s	’	VERB
aiti-3953	259	3	next	next	ADJ
aiti-3953	259	4	is	be	AUX
aiti-3953	259	5	the	the	DET
aiti-3953	259	6	proof	proof	NOUN
aiti-3953	259	7	:	:	PUNCT
aiti-3953	259	8	by	by	ADP
aiti-3953	259	9	assuming	assume	VERB
aiti-3953	259	10	(	(	PUNCT
aiti-3953	259	11	)	)	PUNCT
aiti-3953	259	12	(	(	PUNCT
aiti-3953	259	13	)	)	PUNCT
aiti-3953	259	14	(	(	PUNCT
aiti-3953	259	15	)	)	PUNCT
aiti-3953	259	16	n	n	CCONJ
aiti-3953	259	17	g	g	NOUN
aiti-3953	259	18	m	m	NOUN
aiti-3953	259	19			ADP
aiti-3953	259	20			PROPN
aiti-3953	259	21	in	in	ADP
aiti-3953	259	22	fig	fig	NOUN
aiti-3953	259	23	.	.	PUNCT
aiti-3953	260	1	8	8	NUM
aiti-3953	260	2	it	it	PRON
aiti-3953	260	3	yields	yield	VERB
aiti-3953	260	4	,	,	PUNCT
aiti-3953	260	5	(	(	PUNCT
aiti-3953	260	6	)	)	PUNCT
aiti-3953	261	1	m	m	VERB
aiti-3953	261	2	mom	mom	NOUN
aiti-3953	261	3	u	u	NOUN
aiti-3953	261	4	u	u	NOUN
aiti-3953	261	5	u	u	X
aiti-3953	261	6	u	u	NOUN
aiti-3953	261	7	m	m	VERB
aiti-3953	261	8	u	u	ADJ
aiti-3953	261	9			PROPN
aiti-3953	261	10			PROPN
aiti-3953	261	11			PROPN
aiti-3953	261	12			NOUN
aiti-3953	261	13	(	(	PUNCT
aiti-3953	261	14	46	46	NUM
aiti-3953	261	15	)	)	PUNCT
aiti-3953	261	16	(	(	PUNCT
aiti-3953	261	17	)	)	PUNCT
aiti-3953	261	18	(	(	PUNCT
aiti-3953	261	19	)	)	PUNCT
aiti-3953	261	20	(	(	PUNCT
aiti-3953	261	21	)	)	PUNCT
aiti-3953	261	22	(	(	PUNCT
aiti-3953	261	23	)	)	PUNCT
aiti-3953	261	24	(	(	PUNCT
aiti-3953	261	25	(	(	PUNCT
aiti-3953	261	26	)	)	PUNCT
aiti-3953	261	27	)	)	PUNCT
aiti-3953	261	28	(	(	PUNCT
aiti-3953	261	29	)	)	PUNCT
aiti-3953	261	30	nom	nom	PROPN
aiti-3953	262	1	d	d	PROPN
aiti-3953	262	2	m	m	PROPN
aiti-3953	262	3	m	m	PROPN
aiti-3953	262	4	nom	nom	PROPN
aiti-3953	262	5	y	y	PROPN
aiti-3953	262	6	y	y	PROPN
aiti-3953	262	7	y	y	PROPN
aiti-3953	262	8	n	n	CCONJ
aiti-3953	262	9	u	u	NOUN
aiti-3953	262	10	g	g	PROPN
aiti-3953	262	11	u	u	PROPN
aiti-3953	262	12	n	n	ADP
aiti-3953	262	13	u	u	NOUN
aiti-3953	262	14	g	g	PROPN
aiti-3953	262	15	u	u	NOUN
aiti-3953	262	16	m	m	VERB
aiti-3953	262	17	u	u	NOUN
aiti-3953	262	18	g	g	PROPN
aiti-3953	262	19	u	u	NOUN
aiti-3953	262	20			ADP
aiti-3953	262	21			ADP
aiti-3953	262	22			X
aiti-3953	262	23			X
aiti-3953	262	24			ADP
aiti-3953	262	25			ADP
aiti-3953	262	26			PROPN
aiti-3953	262	27			ADV
aiti-3953	262	28			PROPN
aiti-3953	262	29			ADJ
aiti-3953	262	30			NUM
aiti-3953	262	31			ADJ
aiti-3953	262	32			PROPN
aiti-3953	262	33			PROPN
aiti-3953	262	34	(	(	PUNCT
aiti-3953	262	35	47	47	NUM
aiti-3953	262	36	)	)	PUNCT
aiti-3953	262	37	where	where	SCONJ
aiti-3953	262	38	nomu	nomu	PROPN
aiti-3953	262	39	is	be	AUX
aiti-3953	262	40	the	the	DET
aiti-3953	262	41	nominal	nominal	ADJ
aiti-3953	262	42	input	input	NOUN
aiti-3953	262	43	generated	generate	VERB
aiti-3953	262	44	by	by	ADP
aiti-3953	262	45	the	the	DET
aiti-3953	262	46	controller	controller	NOUN
aiti-3953	262	47	,	,	PUNCT
aiti-3953	262	48	mu	mu	PROPN
aiti-3953	262	49	is	be	AUX
aiti-3953	262	50	the	the	DET
aiti-3953	262	51	actuator	actuator	NOUN
aiti-3953	262	52	input	input	NOUN
aiti-3953	262	53	.	.	PUNCT
aiti-3953	263	1	nomy	nomy	PROPN
aiti-3953	263	2	is	be	AUX
aiti-3953	263	3	the	the	DET
aiti-3953	263	4	nominal	nominal	ADJ
aiti-3953	263	5	output	output	NOUN
aiti-3953	263	6	.	.	PUNCT
aiti-3953	264	1	y	y	PROPN
aiti-3953	264	2	is	be	AUX
aiti-3953	264	3	the	the	DET
aiti-3953	264	4	actual	actual	ADJ
aiti-3953	264	5	output	output	NOUN
aiti-3953	264	6	,	,	PUNCT
aiti-3953	264	7	du	du	PROPN
aiti-3953	264	8	and	and	CCONJ
aiti-3953	264	9	dy	dy	NOUN
aiti-3953	264	10	are	be	AUX
aiti-3953	264	11	the	the	DET
aiti-3953	264	12	outputs	output	NOUN
aiti-3953	264	13	of	of	ADP
aiti-3953	264	14	the	the	DET
aiti-3953	264	15	anti	anti	ADJ
aiti-3953	264	16	-	-	ADJ
aiti-3953	264	17	windup	windup	ADJ
aiti-3953	264	18	compensator	compensator	NOUN
aiti-3953	264	19	.	.	PUNCT
aiti-3953	265	1	advances	advance	NOUN
aiti-3953	265	2	in	in	ADP
aiti-3953	265	3	technology	technology	NOUN
aiti-3953	265	4	innovation	innovation	NOUN
aiti-3953	265	5	,	,	PUNCT
aiti-3953	265	6	vol	vol	NOUN
aiti-3953	265	7	.	.	PROPN
aiti-3953	265	8	5	5	NUM
aiti-3953	265	9	,	,	PUNCT
aiti-3953	265	10	no	no	INTJ
aiti-3953	265	11	.	.	NOUN
aiti-3953	265	12	2	2	NUM
aiti-3953	265	13	,	,	PUNCT
aiti-3953	265	14	2020	2020	NUM
aiti-3953	265	15	,	,	PUNCT
aiti-3953	265	16	pp	pp	ADJ
aiti-3953	265	17	.	.	PUNCT
aiti-3953	266	1	98	98	NUM
aiti-3953	266	2	-	-	SYM
aiti-3953	266	3	111	111	NUM
aiti-3953	266	4	108	108	NUM
aiti-3953	266	5	the	the	DET
aiti-3953	266	6	anti	anti	ADJ
aiti-3953	266	7	-	-	ADJ
aiti-3953	266	8	windup	windup	ADJ
aiti-3953	266	9	state	state	NOUN
aiti-3953	266	10	-	-	PUNCT
aiti-3953	266	11	space	space	NOUN
aiti-3953	266	12	is	be	AUX
aiti-3953	266	13	presented	present	VERB
aiti-3953	266	14	as	as	ADP
aiti-3953	266	15	:	:	PUNCT
aiti-3953	266	16	(	(	PUNCT
aiti-3953	266	17	)	)	PUNCT
aiti-3953	266	18	(	(	PUNCT
aiti-3953	266	19	)	)	PUNCT
aiti-3953	266	20	(	(	PUNCT
aiti-3953	266	21	)	)	PUNCT
aiti-3953	266	22	(	(	PUNCT
aiti-3953	266	23	)	)	PUNCT
aiti-3953	266	24	(	(	PUNCT
aiti-3953	266	25	)	)	PUNCT
aiti-3953	266	26	u	u	NOUN
aiti-3953	266	27	u	u	NOUN
aiti-3953	266	28	u	u	NOUN
aiti-3953	266	29	u	u	NOUN
aiti-3953	266	30	m	m	PROPN
aiti-3953	266	31	d	d	PROPN
aiti-3953	266	32	y	y	PROPN
aiti-3953	266	33	yu	yu	PROPN
aiti-3953	266	34	y	y	PROPN
aiti-3953	266	35	yu	yu	PROPN
aiti-3953	266	36	a	a	DET
aiti-3953	266	37	fb	fb	INTJ
aiti-3953	266	38	b	b	PROPN
aiti-3953	266	39	w	w	PROPN
aiti-3953	266	40	b	b	PROPN
aiti-3953	266	41	u	u	PROPN
aiti-3953	266	42	z	z	PROPN
aiti-3953	266	43	c	c	NOUN
aiti-3953	266	44	fd	fd	PROPN
aiti-3953	266	45	d	d	X
aiti-3953	266	46	w	w	PROPN
aiti-3953	266	47	d	d	X
aiti-3953	266	48	u	u	NOUN
aiti-3953	267	1	aw	aw	INTJ
aiti-3953	267	2	y	y	NOUN
aiti-3953	267	3	m	m	VERB
aiti-3953	267	4	u	u	NOUN
aiti-3953	267	5	f	f	PROPN
aiti-3953	267	6	u	u	X
aiti-3953	268	1	y	y	PROPN
aiti-3953	268	2	c	c	NOUN
aiti-3953	268	3	fd	fd	PROPN
aiti-3953	268	4	d	d	X
aiti-3953	268	5	w	w	PROPN
aiti-3953	268	6	d	d	X
aiti-3953	268	7	u	u	PROPN
aiti-3953	268	8	w	w	PROPN
aiti-3953	268	9	z	z	PROPN
aiti-3953	268	10			NOUN
aiti-3953	268	11			ADP
aiti-3953	268	12			X
aiti-3953	268	13			NOUN
aiti-3953	268	14			ADP
aiti-3953	268	15			VERB
aiti-3953	268	16			X
aiti-3953	268	17			X
aiti-3953	268	18			X
aiti-3953	268	19			X
aiti-3953	268	20			ADP
aiti-3953	268	21			ADP
aiti-3953	268	22			PROPN
aiti-3953	268	23			X
aiti-3953	268	24			X
aiti-3953	268	25			X
aiti-3953	268	26			ADP
aiti-3953	268	27			PROPN
aiti-3953	268	28			X
aiti-3953	268	29			ADV
aiti-3953	268	30			PROPN
aiti-3953	268	31			ADV
aiti-3953	268	32			PUNCT
aiti-3953	268	33			PUNCT
aiti-3953	268	34			X
aiti-3953	268	35			PROPN
aiti-3953	268	36			PROPN
aiti-3953	268	37			PUNCT
aiti-3953	268	38			NOUN
aiti-3953	268	39			NUM
aiti-3953	268	40			NOUN
aiti-3953	268	41			NUM
aiti-3953	268	42			NUM
aiti-3953	268	43			NOUN
aiti-3953	268	44			NUM
aiti-3953	268	45			PROPN
aiti-3953	268	46			PROPN
aiti-3953	268	47			PUNCT
aiti-3953	268	48			PUNCT
aiti-3953	268	49			PRON
aiti-3953	268	50			NUM
aiti-3953	268	51			PROPN
aiti-3953	268	52			NUM
aiti-3953	268	53			PROPN
aiti-3953	268	54	(	(	PUNCT
aiti-3953	268	55	48	48	NUM
aiti-3953	268	56	)	)	PUNCT
aiti-3953	268	57	4.2	4.2	NUM
aiti-3953	268	58	.	.	PUNCT
aiti-3953	269	1	the	the	DET
aiti-3953	269	2	compensator	compensator	NOUN
aiti-3953	269	3	design	design	NOUN
aiti-3953	269	4	fig	fig	NOUN
aiti-3953	269	5	.	.	PUNCT
aiti-3953	270	1	9	9	NUM
aiti-3953	270	2	implemented	implement	VERB
aiti-3953	270	3	anti	anti	ADJ
aiti-3953	270	4	-	-	ADJ
aiti-3953	270	5	windup	windup	ADJ
aiti-3953	270	6	compensator	compensator	NOUN
aiti-3953	270	7	in	in	ADP
aiti-3953	270	8	the	the	DET
aiti-3953	270	9	case	case	NOUN
aiti-3953	270	10	of	of	ADP
aiti-3953	270	11	the	the	DET
aiti-3953	270	12	stabilization	stabilization	NOUN
aiti-3953	270	13	of	of	ADP
aiti-3953	270	14	the	the	DET
aiti-3953	270	15	quadrotor	quadrotor	NOUN
aiti-3953	270	16	attitude	attitude	NOUN
aiti-3953	270	17	,	,	PUNCT
aiti-3953	270	18	the	the	DET
aiti-3953	270	19	rejecting	rejecting	NOUN
aiti-3953	270	20	of	of	ADP
aiti-3953	270	21	the	the	DET
aiti-3953	270	22	input	input	NOUN
aiti-3953	270	23	saturation	saturation	NOUN
aiti-3953	270	24	’s	’s	PART
aiti-3953	270	25	effect	effect	NOUN
aiti-3953	270	26	is	be	AUX
aiti-3953	270	27	done	do	VERB
aiti-3953	270	28	by	by	ADP
aiti-3953	270	29	the	the	DET
aiti-3953	270	30	form	form	NOUN
aiti-3953	270	31	of	of	ADP
aiti-3953	270	32	internal	internal	ADJ
aiti-3953	270	33	model	model	NOUN
aiti-3953	270	34	control	control	PROPN
aiti-3953	270	35	(	(	PUNCT
aiti-3953	270	36	imc	imc	PROPN
aiti-3953	270	37	)	)	PUNCT
aiti-3953	271	1	[	[	X
aiti-3953	271	2	26	26	NUM
aiti-3953	271	3	]	]	PUNCT
aiti-3953	271	4	.	.	PUNCT
aiti-3953	272	1	that	that	PRON
aiti-3953	272	2	means	mean	VERB
aiti-3953	272	3	(	(	PUNCT
aiti-3953	272	4	)	)	PUNCT
aiti-3953	272	5	0f	0f	PROPN
aiti-3953	272	6			ADP
aiti-3953	272	7			PROPN
aiti-3953	272	8	;	;	PUNCT
aiti-3953	272	9	so	so	CCONJ
aiti-3953	272	10	,	,	PUNCT
aiti-3953	272	11	(	(	PUNCT
aiti-3953	272	12	)	)	PUNCT
aiti-3953	272	13	m	m	VERB
aiti-3953	272	14	i	i	VERB
aiti-3953	272	15			PRON
aiti-3953	272	16	and	and	CCONJ
aiti-3953	272	17	(	(	PUNCT
aiti-3953	273	1	)	)	PUNCT
aiti-3953	273	2	(	(	PUNCT
aiti-3953	273	3	)	)	PUNCT
aiti-3953	273	4	gn	gn	INTJ
aiti-3953	273	5			NOUN
aiti-3953	273	6			NUM
aiti-3953	273	7	.	.	PUNCT
aiti-3953	274	1	the	the	DET
aiti-3953	274	2	only	only	ADJ
aiti-3953	274	3	output	output	NOUN
aiti-3953	274	4	of	of	ADP
aiti-3953	274	5	the	the	DET
aiti-3953	274	6	anti	anti	ADJ
aiti-3953	274	7	-	-	ADJ
aiti-3953	274	8	windup	windup	ADJ
aiti-3953	274	9	compensator	compensator	NOUN
aiti-3953	274	10	is	be	AUX
aiti-3953	274	11	dy	dy	NOUN
aiti-3953	274	12	(	(	PUNCT
aiti-3953	274	13	fig	fig	NOUN
aiti-3953	274	14	.	.	PUNCT
aiti-3953	275	1	9	9	NUM
aiti-3953	275	2	)	)	PUNCT
aiti-3953	275	3	.	.	PUNCT
aiti-3953	276	1	and	and	CCONJ
aiti-3953	276	2	where	where	SCONJ
aiti-3953	276	3	the	the	DET
aiti-3953	276	4	augmented	augment	VERB
aiti-3953	276	5	plant	plant	NOUN
aiti-3953	276	6	,	,	PUNCT
aiti-3953	276	7	(	(	PUNCT
aiti-3953	276	8	)	)	PUNCT
aiti-3953	276	9	g	g	NOUN
aiti-3953	276	10			NOUN
aiti-3953	276	11	,	,	PUNCT
aiti-3953	276	12	contains	contain	VERB
aiti-3953	276	13	the	the	DET
aiti-3953	276	14	plant	plant	NOUN
aiti-3953	276	15	(	(	PUNCT
aiti-3953	276	16	)	)	PUNCT
aiti-3953	276	17	p	p	NOUN
aiti-3953	276	18			NOUN
aiti-3953	276	19	which	which	PRON
aiti-3953	276	20	is	be	AUX
aiti-3953	276	21	the	the	DET
aiti-3953	276	22	lft	lft	PROPN
aiti-3953	276	23	-	-	PUNCT
aiti-3953	276	24	lpv	lpv	NOUN
aiti-3953	276	25	representation	representation	NOUN
aiti-3953	276	26	of	of	ADP
aiti-3953	276	27	the	the	DET
aiti-3953	276	28	quadrotor	quadrotor	NOUN
aiti-3953	276	29	attitude	attitude	NOUN
aiti-3953	276	30	and	and	CCONJ
aiti-3953	276	31	the	the	DET
aiti-3953	276	32	actuators	actuator	NOUN
aiti-3953	276	33	function	function	VERB
aiti-3953	276	34	(	(	PUNCT
aiti-3953	276	35	act	act	NOUN
aiti-3953	276	36	2	2	NUM
aiti-3953	276	37	)	)	PUNCT
aiti-3953	276	38	.	.	PUNCT
aiti-3953	277	1	from	from	ADP
aiti-3953	277	2	table	table	NOUN
aiti-3953	277	3	2	2	NUM
aiti-3953	277	4	,	,	PUNCT
aiti-3953	277	5	the	the	DET
aiti-3953	277	6	rotor	rotor	NOUN
aiti-3953	277	7	’s	’s	PART
aiti-3953	277	8	saturation	saturation	NOUN
aiti-3953	277	9	is	be	AUX
aiti-3953	277	10	10	10	NUM
aiti-3953	277	11	500	500	NUM
aiti-3953	277	12	.i	.i	NOUN
aiti-3953	278	1	rad	rad	PROPN
aiti-3953	278	2	s	s	PROPN
aiti-3953	278	3			PROPN
aiti-3953	278	4			PROPN
aiti-3953	278	5	.	.	PUNCT
aiti-3953	279	1	by	by	ADP
aiti-3953	279	2	combing	comb	VERB
aiti-3953	279	3	it	it	PRON
aiti-3953	279	4	with	with	ADP
aiti-3953	279	5	eq	eq	NOUN
aiti-3953	279	6	.	.	PUNCT
aiti-3953	280	1	(	(	PUNCT
aiti-3953	280	2	3	3	NUM
aiti-3953	280	3	)	)	PUNCT
aiti-3953	280	4	,	,	PUNCT
aiti-3953	280	5	the	the	DET
aiti-3953	280	6	saturation	saturation	NOUN
aiti-3953	280	7	values	value	NOUN
aiti-3953	280	8	are	be	AUX
aiti-3953	280	9	presented	present	VERB
aiti-3953	280	10	as	as	ADP
aiti-3953	280	11	:	:	PUNCT
aiti-3953	280	12	(	(	PUNCT
aiti-3953	280	13	.	.	PUNCT
aiti-3953	280	14	)	)	PUNCT
aiti-3953	281	1	(	(	PUNCT
aiti-3953	281	2	7.825	7.825	NUM
aiti-3953	281	3	,	,	PUNCT
aiti-3953	281	4	7.825	7.825	NUM
aiti-3953	281	5	,	,	PUNCT
aiti-3953	281	6	0.375)sat	0.375)sat	NUM
aiti-3953	281	7	diag	diag	X
aiti-3953	281	8	(	(	PUNCT
aiti-3953	281	9	49	49	NUM
aiti-3953	281	10	)	)	PUNCT
aiti-3953	281	11	5	5	NUM
aiti-3953	281	12	.	.	PUNCT
aiti-3953	282	1	simulation	simulation	NOUN
aiti-3953	282	2	results	result	VERB
aiti-3953	282	3	to	to	PART
aiti-3953	282	4	show	show	VERB
aiti-3953	282	5	the	the	DET
aiti-3953	282	6	efficiency	efficiency	NOUN
aiti-3953	282	7	of	of	ADP
aiti-3953	282	8	the	the	DET
aiti-3953	282	9	designed	design	VERB
aiti-3953	282	10	controller	controller	NOUN
aiti-3953	282	11	,	,	PUNCT
aiti-3953	282	12	the	the	DET
aiti-3953	282	13	controller	controller	NOUN
aiti-3953	282	14	is	be	AUX
aiti-3953	282	15	applied	apply	VERB
aiti-3953	282	16	to	to	ADP
aiti-3953	282	17	the	the	DET
aiti-3953	282	18	nonlinear	nonlinear	ADJ
aiti-3953	282	19	model	model	NOUN
aiti-3953	282	20	itself	itself	PRON
aiti-3953	282	21	(	(	PUNCT
aiti-3953	282	22	eq	eq	NOUN
aiti-3953	282	23	.	.	PUNCT
aiti-3953	283	1	(	(	PUNCT
aiti-3953	283	2	1	1	NUM
aiti-3953	283	3	)	)	PUNCT
aiti-3953	283	4	)	)	PUNCT
aiti-3953	283	5	.	.	PUNCT
aiti-3953	284	1	the	the	DET
aiti-3953	284	2	selected	select	VERB
aiti-3953	284	3	initial	initial	ADJ
aiti-3953	284	4	angles	angle	NOUN
aiti-3953	284	5	are	be	AUX
aiti-3953	284	6	0	0	NUM
aiti-3953	284	7	0	0	NUM
aiti-3953	284	8	0	0	NUM
aiti-3953	284	9	]	]	PUNCT
aiti-3953	284	10	]	]	PUNCT
aiti-3953	284	11	3	3	NUM
aiti-3953	284	12	3	3	NUM
aiti-3953	284	13	3	3	NUM
aiti-3953	284	14	[	[	PUNCT
aiti-3953	284	15	[	[	PUNCT
aiti-3953	284	16	t	t	ADJ
aiti-3953	284	17			PROPN
aiti-3953	284	18			ADJ
aiti-3953	284	19			PROPN
aiti-3953	284	20			PROPN
aiti-3953	284	21			NOUN
aiti-3953	284	22			PROPN
aiti-3953	284	23			PROPN
aiti-3953	284	24	rad	rad	NOUN
aiti-3953	284	25	,	,	PUNCT
aiti-3953	284	26	where	where	SCONJ
aiti-3953	284	27	the	the	DET
aiti-3953	284	28	objective	objective	NOUN
aiti-3953	284	29	is	be	AUX
aiti-3953	284	30	to	to	PART
aiti-3953	284	31	stabilize	stabilize	VERB
aiti-3953	284	32	the	the	DET
aiti-3953	284	33	quadrotor	quadrotor	NOUN
aiti-3953	284	34	at	at	ADP
aiti-3953	284	35	its	its	PRON
aiti-3953	284	36	origin	origin	NOUN
aiti-3953	284	37	0	0	NUM
aiti-3953	284	38	,	,	PUNCT
aiti-3953	284	39	0	0	NUM
aiti-3953	284	40	,	,	PUNCT
aiti-3953	284	41	0	0	NUM
aiti-3953	284	42	)	)	PUNCT
aiti-3953	284	43	(	(	PUNCT
aiti-3953	284	44	.	.	PUNCT
aiti-3953	285	1	in	in	ADP
aiti-3953	285	2	the	the	DET
aiti-3953	285	3	next	next	ADJ
aiti-3953	285	4	simulation	simulation	NOUN
aiti-3953	285	5	,	,	PUNCT
aiti-3953	285	6	the	the	DET
aiti-3953	285	7	nominal	nominal	ADJ
aiti-3953	285	8	performance	performance	NOUN
aiti-3953	285	9	is	be	AUX
aiti-3953	285	10	taken	take	VERB
aiti-3953	285	11	without	without	ADP
aiti-3953	285	12	considering	consider	VERB
aiti-3953	285	13	the	the	DET
aiti-3953	285	14	disturbances	disturbance	NOUN
aiti-3953	285	15	.	.	PUNCT
aiti-3953	286	1	the	the	DET
aiti-3953	286	2	application	application	NOUN
aiti-3953	286	3	of	of	ADP
aiti-3953	286	4	the	the	DET
aiti-3953	286	5	controller	controller	NOUN
aiti-3953	286	6	is	be	AUX
aiti-3953	286	7	done	do	VERB
aiti-3953	286	8	for	for	ADP
aiti-3953	286	9	three	three	NUM
aiti-3953	286	10	modes	mode	NOUN
aiti-3953	286	11	:	:	PUNCT
aiti-3953	286	12	the	the	DET
aiti-3953	286	13	nominal	nominal	ADJ
aiti-3953	286	14	one	one	NUM
aiti-3953	286	15	where	where	SCONJ
aiti-3953	286	16	no	no	DET
aiti-3953	286	17	saturation	saturation	NOUN
aiti-3953	286	18	is	be	AUX
aiti-3953	286	19	introduced	introduce	VERB
aiti-3953	286	20	;	;	PUNCT
aiti-3953	286	21	the	the	DET
aiti-3953	286	22	second	second	ADJ
aiti-3953	286	23	mode	mode	NOUN
aiti-3953	286	24	where	where	SCONJ
aiti-3953	286	25	the	the	DET
aiti-3953	286	26	input	input	NOUN
aiti-3953	286	27	saturation	saturation	NOUN
aiti-3953	286	28	is	be	AUX
aiti-3953	286	29	introduced	introduce	VERB
aiti-3953	286	30	,	,	PUNCT
aiti-3953	286	31	and	and	CCONJ
aiti-3953	286	32	the	the	DET
aiti-3953	286	33	third	third	ADJ
aiti-3953	286	34	mode	mode	NOUN
aiti-3953	286	35	where	where	SCONJ
aiti-3953	286	36	the	the	DET
aiti-3953	286	37	input	input	NOUN
aiti-3953	286	38	saturation	saturation	NOUN
aiti-3953	286	39	is	be	AUX
aiti-3953	286	40	introduced	introduce	VERB
aiti-3953	286	41	by	by	ADP
aiti-3953	286	42	adding	add	VERB
aiti-3953	286	43	the	the	DET
aiti-3953	286	44	anti	anti	ADJ
aiti-3953	286	45	-	-	ADJ
aiti-3953	286	46	windup	windup	ADJ
aiti-3953	286	47	compensator	compensator	NOUN
aiti-3953	286	48	.	.	PUNCT
aiti-3953	287	1	fig	fig	NOUN
aiti-3953	287	2	.	.	PUNCT
aiti-3953	288	1	10	10	NUM
aiti-3953	288	2	presents	present	VERB
aiti-3953	288	3	the	the	DET
aiti-3953	288	4	angles	angle	NOUN
aiti-3953	288	5	’	'	PUNCT
aiti-3953	288	6	dynamics	dynamic	NOUN
aiti-3953	288	7	of	of	ADP
aiti-3953	288	8	the	the	DET
aiti-3953	288	9	three	three	NUM
aiti-3953	288	10	modes	mode	NOUN
aiti-3953	288	11	.	.	PUNCT
aiti-3953	289	1	fig	fig	NOUN
aiti-3953	289	2	.	.	PUNCT
aiti-3953	290	1	11	11	NUM
aiti-3953	290	2	and	and	CCONJ
aiti-3953	290	3	fig	fig	NOUN
aiti-3953	290	4	.	.	PUNCT
aiti-3953	291	1	12	12	NUM
aiti-3953	291	2	present	present	ADJ
aiti-3953	291	3	the	the	DET
aiti-3953	291	4	inputs	input	NOUN
aiti-3953	291	5	and	and	CCONJ
aiti-3953	291	6	its	its	PRON
aiti-3953	291	7	zoom	zoom	NOUN
aiti-3953	291	8	with	with	ADP
aiti-3953	291	9	the	the	DET
aiti-3953	291	10	three	three	NUM
aiti-3953	291	11	modes	mode	NOUN
aiti-3953	291	12	.	.	PUNCT
aiti-3953	292	1	the	the	DET
aiti-3953	292	2	benefit	benefit	NOUN
aiti-3953	292	3	of	of	ADP
aiti-3953	292	4	anti	anti	ADJ
aiti-3953	292	5	-	-	ADJ
aiti-3953	292	6	windup	windup	ADJ
aiti-3953	292	7	compensation	compensation	NOUN
aiti-3953	292	8	is	be	AUX
aiti-3953	292	9	clearly	clearly	ADV
aiti-3953	292	10	shown	show	VERB
aiti-3953	292	11	.	.	PUNCT
aiti-3953	293	1	the	the	DET
aiti-3953	293	2	solid	solid	ADJ
aiti-3953	293	3	line	line	NOUN
aiti-3953	293	4	presents	present	VERB
aiti-3953	293	5	the	the	DET
aiti-3953	293	6	nominal	nominal	ADJ
aiti-3953	293	7	responses	response	NOUN
aiti-3953	293	8	(	(	PUNCT
aiti-3953	293	9	without	without	ADP
aiti-3953	293	10	saturation	saturation	NOUN
aiti-3953	293	11	)	)	PUNCT
aiti-3953	293	12	.	.	PUNCT
aiti-3953	294	1	it	it	PRON
aiti-3953	294	2	’s	’	VERB
aiti-3953	294	3	possible	possible	ADJ
aiti-3953	294	4	to	to	PART
aiti-3953	294	5	observe	observe	VERB
aiti-3953	294	6	a	a	DET
aiti-3953	294	7	swift	swift	ADJ
aiti-3953	294	8	response	response	NOUN
aiti-3953	294	9	and	and	CCONJ
aiti-3953	294	10	short	short	ADJ
aiti-3953	294	11	settling	settling	NOUN
aiti-3953	294	12	time	time	NOUN
aiti-3953	294	13	with	with	ADP
aiti-3953	294	14	impossible	impossible	ADJ
aiti-3953	294	15	input	input	NOUN
aiti-3953	294	16	(	(	PUNCT
aiti-3953	294	17	reaches	reach	VERB
aiti-3953	294	18	100	100	NUM
aiti-3953	294	19	n	n	CCONJ
aiti-3953	294	20	)	)	PUNCT
aiti-3953	294	21	.	.	PUNCT
aiti-3953	295	1	however	however	ADV
aiti-3953	295	2	,	,	PUNCT
aiti-3953	295	3	when	when	SCONJ
aiti-3953	295	4	the	the	DET
aiti-3953	295	5	saturation	saturation	NOUN
aiti-3953	295	6	is	be	AUX
aiti-3953	295	7	introduced	introduce	VERB
aiti-3953	295	8	without	without	ADP
aiti-3953	295	9	anti	anti	ADJ
aiti-3953	295	10	-	-	ADJ
aiti-3953	295	11	windup	windup	ADJ
aiti-3953	295	12	(	(	PUNCT
aiti-3953	295	13	dotted	dotted	ADJ
aiti-3953	295	14	line	line	NOUN
aiti-3953	295	15	)	)	PUNCT
aiti-3953	295	16	,	,	PUNCT
aiti-3953	295	17	it	it	PRON
aiti-3953	295	18	’s	’	VERB
aiti-3953	295	19	possible	possible	ADJ
aiti-3953	295	20	to	to	PART
aiti-3953	295	21	observe	observe	VERB
aiti-3953	295	22	a	a	PRON
aiti-3953	295	23	longer	long	ADV
aiti-3953	295	24	settling	settle	VERB
aiti-3953	295	25	time	time	NOUN
aiti-3953	295	26	and	and	CCONJ
aiti-3953	295	27	bigger	big	ADJ
aiti-3953	295	28	overshoot	overshoot	NOUN
aiti-3953	295	29	than	than	ADP
aiti-3953	295	30	the	the	DET
aiti-3953	295	31	nominal	nominal	ADJ
aiti-3953	295	32	one	one	NUM
aiti-3953	295	33	.	.	PUNCT
aiti-3953	296	1	by	by	ADP
aiti-3953	296	2	adding	add	VERB
aiti-3953	296	3	the	the	DET
aiti-3953	296	4	anti	anti	ADJ
aiti-3953	296	5	-	-	ADJ
aiti-3953	296	6	windup	windup	ADJ
aiti-3953	296	7	compensator	compensator	NOUN
aiti-3953	296	8	(	(	PUNCT
aiti-3953	296	9	dashed	dash	VERB
aiti-3953	296	10	line	line	NOUN
aiti-3953	296	11	)	)	PUNCT
aiti-3953	296	12	,	,	PUNCT
aiti-3953	296	13	the	the	DET
aiti-3953	296	14	responses	response	NOUN
aiti-3953	296	15	are	be	AUX
aiti-3953	296	16	better	well	ADJ
aiti-3953	296	17	than	than	ADP
aiti-3953	296	18	the	the	PRON
aiti-3953	296	19	obtained	obtain	VERB
aiti-3953	296	20	by	by	ADP
aiti-3953	296	21	the	the	DET
aiti-3953	296	22	saturation	saturation	NOUN
aiti-3953	296	23	without	without	ADP
aiti-3953	296	24	anti	anti	ADJ
aiti-3953	296	25	-	-	ADJ
aiti-3953	296	26	windup	windup	ADJ
aiti-3953	296	27	compensator	compensator	NOUN
aiti-3953	296	28	,	,	PUNCT
aiti-3953	296	29	and	and	CCONJ
aiti-3953	296	30	the	the	DET
aiti-3953	296	31	responses	response	NOUN
aiti-3953	296	32	are	be	AUX
aiti-3953	296	33	almost	almost	ADV
aiti-3953	296	34	identical	identical	ADJ
aiti-3953	296	35	to	to	ADP
aiti-3953	296	36	those	those	PRON
aiti-3953	296	37	in	in	ADP
aiti-3953	296	38	the	the	DET
aiti-3953	296	39	nominal	nominal	ADJ
aiti-3953	296	40	responses	response	NOUN
aiti-3953	296	41	.	.	PUNCT
aiti-3953	297	1	in	in	ADP
aiti-3953	297	2	fact	fact	NOUN
aiti-3953	297	3	,	,	PUNCT
aiti-3953	297	4	this	this	PRON
aiti-3953	297	5	is	be	AUX
aiti-3953	297	6	the	the	DET
aiti-3953	297	7	objective	objective	NOUN
aiti-3953	297	8	of	of	ADP
aiti-3953	297	9	the	the	DET
aiti-3953	297	10	anit	anit	PROPN
aiti-3953	297	11	-	-	ADJ
aiti-3953	297	12	windup	windup	NOUN
aiti-3953	297	13	compensator	compensator	NOUN
aiti-3953	297	14	.	.	PUNCT
aiti-3953	298	1	the	the	DET
aiti-3953	298	2	efficiency	efficiency	NOUN
aiti-3953	298	3	of	of	ADP
aiti-3953	298	4	the	the	DET
aiti-3953	298	5	robustness	robustness	NOUN
aiti-3953	298	6	h∞	h∞	DET
aiti-3953	298	7	controller	controller	NOUN
aiti-3953	298	8	is	be	AUX
aiti-3953	298	9	shown	show	VERB
aiti-3953	298	10	against	against	ADP
aiti-3953	298	11	the	the	DET
aiti-3953	298	12	external	external	ADJ
aiti-3953	298	13	inputs	input	NOUN
aiti-3953	298	14	and	and	CCONJ
aiti-3953	298	15	the	the	DET
aiti-3953	298	16	parametric	parametric	ADJ
aiti-3953	298	17	uncertainties	uncertainty	NOUN
aiti-3953	298	18	with	with	ADP
aiti-3953	298	19	taking	take	VERB
aiti-3953	298	20	the	the	DET
aiti-3953	298	21	anti	anti	ADJ
aiti-3953	298	22	-	-	ADJ
aiti-3953	298	23	windup	windup	ADJ
aiti-3953	298	24	compensator	compensator	NOUN
aiti-3953	298	25	.	.	PUNCT
aiti-3953	299	1	permanent	permanent	ADJ
aiti-3953	299	2	measurement	measurement	NOUN
aiti-3953	299	3	noises	noise	NOUN
aiti-3953	299	4	of	of	ADP
aiti-3953	299	5	2	2	NUM
aiti-3953	299	6	(	(	PUNCT
aiti-3953	299	7	0.034	0.034	NUM
aiti-3953	299	8	rad)	rad)	ADJ
aiti-3953	299	9			NOUN
aiti-3953	299	10			PROPN
aiti-3953	299	11	are	be	AUX
aiti-3953	299	12	applied	apply	VERB
aiti-3953	299	13	on	on	ADP
aiti-3953	299	14	all	all	PRON
aiti-3953	299	15	of	of	ADP
aiti-3953	299	16	the	the	DET
aiti-3953	299	17	the	the	DET
aiti-3953	299	18	angles	angle	NOUN
aiti-3953	299	19	.	.	PUNCT
aiti-3953	300	1	+	+	CCONJ
aiti-3953	300	2	g(ρ	g(ρ	PROPN
aiti-3953	300	3	)	)	PUNCT
aiti-3953	300	4	ref	ref	NOUN
aiti-3953	300	5	u	u	NOUN
aiti-3953	301	1	+	+	X
aiti-3953	301	2	um	um	INTJ
aiti-3953	301	3	ũ	ũ	PROPN
aiti-3953	301	4	yd	yd	PROPN
aiti-3953	301	5	ynom	ynom	PROPN
aiti-3953	301	6	y	y	PROPN
aiti-3953	301	7	k(ρ	k(ρ	PROPN
aiti-3953	301	8	)	)	PUNCT
aiti-3953	301	9	n(ρ	n(ρ	PROPN
aiti-3953	301	10	)	)	PUNCT
aiti-3953	301	11	act	act	VERB
aiti-3953	301	12	2	2	NUM
aiti-3953	301	13	p(ρ	p(ρ	NOUN
aiti-3953	301	14	)	)	PUNCT
aiti-3953	301	15	advances	advance	NOUN
aiti-3953	301	16	in	in	ADP
aiti-3953	301	17	technology	technology	NOUN
aiti-3953	301	18	innovation	innovation	NOUN
aiti-3953	301	19	,	,	PUNCT
aiti-3953	301	20	vol	vol	NOUN
aiti-3953	301	21	.	.	PROPN
aiti-3953	302	1	5	5	NUM
aiti-3953	302	2	,	,	PUNCT
aiti-3953	302	3	no	no	INTJ
aiti-3953	302	4	.	.	NOUN
aiti-3953	302	5	2	2	NUM
aiti-3953	302	6	,	,	PUNCT
aiti-3953	302	7	2020	2020	NUM
aiti-3953	302	8	,	,	PUNCT
aiti-3953	302	9	pp	pp	ADJ
aiti-3953	302	10	.	.	PUNCT
aiti-3953	303	1	98	98	NUM
aiti-3953	303	2	-	-	SYM
aiti-3953	303	3	111	111	NUM
aiti-3953	303	4	109	109	NUM
aiti-3953	303	5	the	the	DET
aiti-3953	303	6	input	input	NOUN
aiti-3953	303	7	disturbances	disturbance	NOUN
aiti-3953	303	8	are	be	AUX
aiti-3953	303	9	introduced	introduce	VERB
aiti-3953	303	10	as	as	ADP
aiti-3953	303	11	impulses	impulse	NOUN
aiti-3953	303	12	with	with	ADP
aiti-3953	303	13	0.1	0.1	NUM
aiti-3953	303	14	d	d	NOUN
aiti-3953	303	15	n	n	PRON
aiti-3953	303	16			ADJ
aiti-3953	303	17			NOUN
aiti-3953	303	18	in	in	ADP
aiti-3953	303	19	6	6	NUM
aiti-3953	303	20	,	,	PUNCT
aiti-3953	303	21	6.07	6.07	NUM
aiti-3953	303	22	]	]	PUNCT
aiti-3953	303	23	[	[	PUNCT
aiti-3953	303	24	s	s	X
aiti-3953	303	25	,	,	PUNCT
aiti-3953	303	26	0.1	0.1	NUM
aiti-3953	303	27	d	d	NOUN
aiti-3953	303	28	n	n	NUM
aiti-3953	303	29			NOUN
aiti-3953	303	30			NOUN
aiti-3953	303	31	in	in	ADP
aiti-3953	303	32	10	10	NUM
aiti-3953	303	33	,	,	PUNCT
aiti-3953	303	34	10.07	10.07	NUM
aiti-3953	303	35	]	]	X
aiti-3953	303	36	[	[	PUNCT
aiti-3953	303	37	s	s	X
aiti-3953	303	38	,	,	PUNCT
aiti-3953	303	39	and	and	CCONJ
aiti-3953	303	40	0.02	0.02	NUM
aiti-3953	303	41	.d	.d	NUM
aiti-3953	303	42	n	n	ADP
aiti-3953	303	43	m	m	PROPN
aiti-3953	303	44			PROPN
aiti-3953	303	45	in	in	ADP
aiti-3953	303	46	14	14	NUM
aiti-3953	303	47	,	,	PUNCT
aiti-3953	303	48	14.1	14.1	NUM
aiti-3953	303	49	]	]	PUNCT
aiti-3953	303	50	[	[	PUNCT
aiti-3953	303	51	s.	s.	PROPN
aiti-3953	303	52	the	the	DET
aiti-3953	303	53	simulation	simulation	NOUN
aiti-3953	303	54	results	result	NOUN
aiti-3953	303	55	are	be	AUX
aiti-3953	303	56	presented	present	VERB
aiti-3953	303	57	in	in	ADP
aiti-3953	303	58	fig	fig	NOUN
aiti-3953	303	59	.	.	PUNCT
aiti-3953	304	1	13	13	NUM
aiti-3953	304	2	.	.	PUNCT
aiti-3953	305	1	it	it	PRON
aiti-3953	305	2	is	be	AUX
aiti-3953	305	3	observed	observe	VERB
aiti-3953	305	4	that	that	SCONJ
aiti-3953	305	5	the	the	DET
aiti-3953	305	6	stability	stability	NOUN
aiti-3953	305	7	is	be	AUX
aiti-3953	305	8	kept	keep	VERB
aiti-3953	305	9	despite	despite	SCONJ
aiti-3953	305	10	the	the	DET
aiti-3953	305	11	presence	presence	NOUN
aiti-3953	305	12	of	of	ADP
aiti-3953	305	13	disturbances	disturbance	NOUN
aiti-3953	305	14	and	and	CCONJ
aiti-3953	305	15	noises	noise	NOUN
aiti-3953	305	16	.	.	PROPN
aiti-3953	306	1	fig	fig	NOUN
aiti-3953	306	2	.	.	PUNCT
aiti-3953	307	1	10	10	NUM
aiti-3953	307	2	the	the	DET
aiti-3953	307	3	angles	angle	NOUN
aiti-3953	307	4	responses	response	VERB
aiti-3953	307	5	fig	fig	NOUN
aiti-3953	307	6	.	.	PUNCT
aiti-3953	308	1	11	11	NUM
aiti-3953	308	2	the	the	DET
aiti-3953	308	3	plant	plant	NOUN
aiti-3953	308	4	control	control	NOUN
aiti-3953	308	5	inputs	input	VERB
aiti-3953	308	6	fig	fig	NOUN
aiti-3953	308	7	.	.	PUNCT
aiti-3953	309	1	12	12	NUM
aiti-3953	309	2	the	the	DET
aiti-3953	309	3	plant	plant	NOUN
aiti-3953	309	4	control	control	NOUN
aiti-3953	309	5	inputs	input	NOUN
aiti-3953	309	6	(	(	PUNCT
aiti-3953	309	7	zoom	zoom	NUM
aiti-3953	309	8	)	)	PUNCT
aiti-3953	309	9	by	by	ADP
aiti-3953	309	10	adding	add	VERB
aiti-3953	309	11	50	50	NUM
aiti-3953	309	12	%	%	NOUN
aiti-3953	309	13	of	of	ADP
aiti-3953	309	14	the	the	DET
aiti-3953	309	15	nominal	nominal	ADJ
aiti-3953	309	16	values	value	NOUN
aiti-3953	309	17	of	of	ADP
aiti-3953	309	18	the	the	DET
aiti-3953	309	19	inertia	inertia	NOUN
aiti-3953	309	20	,	,	PUNCT
aiti-3953	309	21	,	,	PUNCT
aiti-3953	309	22	,	,	PUNCT
aiti-3953	309	23	)	)	PUNCT
aiti-3953	309	24	(	(	PUNCT
aiti-3953	309	25	x	x	X
aiti-3953	309	26	y	y	PROPN
aiti-3953	309	27	z	z	NOUN
aiti-3953	309	28	ri	ri	PROPN
aiti-3953	310	1	i	i	PRON
aiti-3953	310	2	i	i	PRON
aiti-3953	310	3	j	j	VERB
aiti-3953	310	4	after	after	ADP
aiti-3953	310	5	5	5	NUM
aiti-3953	310	6	seconds	second	NOUN
aiti-3953	310	7	as	as	ADP
aiti-3953	310	8	uncertainties	uncertainty	NOUN
aiti-3953	310	9	,	,	PUNCT
aiti-3953	310	10	its	its	PRON
aiti-3953	310	11	simulation	simulation	NOUN
aiti-3953	310	12	is	be	AUX
aiti-3953	310	13	shown	show	VERB
aiti-3953	310	14	in	in	ADP
aiti-3953	310	15	fig	fig	NOUN
aiti-3953	310	16	.	.	PUNCT
aiti-3953	311	1	14	14	NUM
aiti-3953	311	2	.	.	PUNCT
aiti-3953	312	1	compared	compare	VERB
aiti-3953	312	2	with	with	ADP
aiti-3953	312	3	the	the	DET
aiti-3953	312	4	nominal	nominal	ADJ
aiti-3953	312	5	system	system	NOUN
aiti-3953	312	6	,	,	PUNCT
aiti-3953	312	7	it	it	PRON
aiti-3953	312	8	is	be	AUX
aiti-3953	312	9	clearly	clearly	ADV
aiti-3953	312	10	noticed	notice	VERB
aiti-3953	312	11	that	that	SCONJ
aiti-3953	312	12	there	there	PRON
aiti-3953	312	13	are	be	VERB
aiti-3953	312	14	no	no	DET
aiti-3953	312	15	big	big	ADJ
aiti-3953	312	16	changes	change	NOUN
aiti-3953	312	17	in	in	ADP
aiti-3953	312	18	the	the	DET
aiti-3953	312	19	responses	response	NOUN
aiti-3953	312	20	.	.	PUNCT
aiti-3953	313	1	in	in	ADP
aiti-3953	313	2	addition	addition	NOUN
aiti-3953	313	3	to	to	ADP
aiti-3953	313	4	disturbances	disturbance	NOUN
aiti-3953	313	5	and	and	CCONJ
aiti-3953	313	6	noises	noise	NOUN
aiti-3953	313	7	,	,	PUNCT
aiti-3953	313	8	the	the	DET
aiti-3953	313	9	system	system	NOUN
aiti-3953	313	10	is	be	AUX
aiti-3953	313	11	robust	robust	ADJ
aiti-3953	313	12	and	and	CCONJ
aiti-3953	313	13	also	also	ADV
aiti-3953	313	14	against	against	ADP
aiti-3953	313	15	the	the	DET
aiti-3953	313	16	parametric	parametric	ADJ
aiti-3953	313	17	uncertainties	uncertainty	NOUN
aiti-3953	313	18	.	.	PUNCT
aiti-3953	314	1	advances	advance	NOUN
aiti-3953	314	2	in	in	ADP
aiti-3953	314	3	technology	technology	NOUN
aiti-3953	314	4	innovation	innovation	NOUN
aiti-3953	314	5	,	,	PUNCT
aiti-3953	314	6	vol	vol	NOUN
aiti-3953	314	7	.	.	PROPN
aiti-3953	314	8	5	5	NUM
aiti-3953	314	9	,	,	PUNCT
aiti-3953	314	10	no	no	INTJ
aiti-3953	314	11	.	.	NOUN
aiti-3953	314	12	2	2	NUM
aiti-3953	314	13	,	,	PUNCT
aiti-3953	314	14	2020	2020	NUM
aiti-3953	314	15	,	,	PUNCT
aiti-3953	314	16	pp	pp	ADJ
aiti-3953	314	17	.	.	PUNCT
aiti-3953	315	1	98	98	NUM
aiti-3953	315	2	-	-	SYM
aiti-3953	315	3	111	111	NUM
aiti-3953	315	4	110	110	NUM
aiti-3953	315	5	fig	fig	NOUN
aiti-3953	315	6	.	.	PUNCT
aiti-3953	316	1	13	13	NUM
aiti-3953	317	1	the	the	DET
aiti-3953	317	2	angles	angle	NOUN
aiti-3953	317	3	responses	response	NOUN
aiti-3953	317	4	with	with	ADP
aiti-3953	317	5	presence	presence	NOUN
aiti-3953	317	6	of	of	ADP
aiti-3953	317	7	input	input	NOUN
aiti-3953	317	8	disturbances	disturbance	NOUN
aiti-3953	317	9	and	and	CCONJ
aiti-3953	317	10	measurement	measurement	NOUN
aiti-3953	317	11	noises	noise	VERB
aiti-3953	317	12	fig	fig	NOUN
aiti-3953	317	13	.	.	PUNCT
aiti-3953	318	1	14	14	NUM
aiti-3953	319	1	the	the	DET
aiti-3953	319	2	angles	angle	NOUN
aiti-3953	319	3	responses	response	NOUN
aiti-3953	319	4	with	with	ADP
aiti-3953	319	5	presence	presence	NOUN
aiti-3953	319	6	of	of	ADP
aiti-3953	319	7	the	the	DET
aiti-3953	319	8	uncertainties	uncertainty	NOUN
aiti-3953	319	9	6	6	NUM
aiti-3953	319	10	.	.	PUNCT
aiti-3953	320	1	conclusions	conclusion	NOUN
aiti-3953	320	2	in	in	ADP
aiti-3953	320	3	this	this	DET
aiti-3953	320	4	article	article	NOUN
aiti-3953	320	5	,	,	PUNCT
aiti-3953	320	6	the	the	DET
aiti-3953	320	7	robust	robust	ADJ
aiti-3953	320	8	control	control	NOUN
aiti-3953	320	9	of	of	ADP
aiti-3953	320	10	a	a	DET
aiti-3953	320	11	quadrotor	quadrotor	NOUN
aiti-3953	320	12	attitude	attitude	NOUN
aiti-3953	320	13	has	have	AUX
aiti-3953	320	14	been	be	AUX
aiti-3953	320	15	carried	carry	VERB
aiti-3953	320	16	out	out	ADP
aiti-3953	320	17	by	by	ADP
aiti-3953	320	18	using	use	VERB
aiti-3953	320	19	an	an	DET
aiti-3953	320	20	lft	lft	NOUN
aiti-3953	320	21	-	-	ADJ
aiti-3953	320	22	lpv	lpv	ADJ
aiti-3953	320	23	h∞	h∞	PRON
aiti-3953	320	24	controller	controller	NOUN
aiti-3953	320	25	.	.	PUNCT
aiti-3953	321	1	two	two	NUM
aiti-3953	321	2	issues	issue	NOUN
aiti-3953	321	3	are	be	AUX
aiti-3953	321	4	discussed	discuss	VERB
aiti-3953	321	5	.	.	PUNCT
aiti-3953	322	1	first	first	ADV
aiti-3953	322	2	,	,	PUNCT
aiti-3953	322	3	the	the	DET
aiti-3953	322	4	weighting	weighting	NOUN
aiti-3953	322	5	functions	function	NOUN
aiti-3953	322	6	selection	selection	NOUN
aiti-3953	322	7	where	where	SCONJ
aiti-3953	322	8	an	an	DET
aiti-3953	322	9	optimization	optimization	NOUN
aiti-3953	322	10	meta	meta	ADJ
aiti-3953	322	11	-	-	PUNCT
aiti-3953	322	12	heuristic	heuristic	ADJ
aiti-3953	322	13	algorithm	algorithm	NOUN
aiti-3953	322	14	is	be	AUX
aiti-3953	322	15	exploited	exploit	VERB
aiti-3953	322	16	,	,	PUNCT
aiti-3953	322	17	cs	cs	PROPN
aiti-3953	322	18	,	,	PUNCT
aiti-3953	322	19	to	to	PART
aiti-3953	322	20	provide	provide	VERB
aiti-3953	322	21	the	the	DET
aiti-3953	322	22	parameters	parameter	NOUN
aiti-3953	322	23	of	of	ADP
aiti-3953	322	24	these	these	DET
aiti-3953	322	25	functions	function	NOUN
aiti-3953	322	26	to	to	PART
aiti-3953	322	27	get	get	VERB
aiti-3953	322	28	optimal	optimal	ADJ
aiti-3953	322	29	performances	performance	NOUN
aiti-3953	322	30	.	.	PUNCT
aiti-3953	323	1	second	second	ADV
aiti-3953	323	2	,	,	PUNCT
aiti-3953	323	3	the	the	DET
aiti-3953	323	4	problem	problem	NOUN
aiti-3953	323	5	of	of	ADP
aiti-3953	323	6	the	the	DET
aiti-3953	323	7	input	input	NOUN
aiti-3953	323	8	saturation	saturation	NOUN
aiti-3953	323	9	which	which	PRON
aiti-3953	323	10	is	be	AUX
aiti-3953	323	11	imposed	impose	VERB
aiti-3953	323	12	by	by	ADP
aiti-3953	323	13	the	the	DET
aiti-3953	323	14	actuators	actuator	NOUN
aiti-3953	323	15	.	.	PUNCT
aiti-3953	324	1	this	this	DET
aiti-3953	324	2	problem	problem	NOUN
aiti-3953	324	3	has	have	AUX
aiti-3953	324	4	been	be	AUX
aiti-3953	324	5	solved	solve	VERB
aiti-3953	324	6	by	by	ADP
aiti-3953	324	7	using	use	VERB
aiti-3953	324	8	an	an	DET
aiti-3953	324	9	anti	anti	ADJ
aiti-3953	324	10	-	-	ADJ
aiti-3953	324	11	windup	windup	ADJ
aiti-3953	324	12	compensator	compensator	NOUN
aiti-3953	324	13	.	.	PUNCT
aiti-3953	325	1	the	the	DET
aiti-3953	325	2	advantage	advantage	NOUN
aiti-3953	325	3	of	of	ADP
aiti-3953	325	4	this	this	DET
aiti-3953	325	5	approach	approach	NOUN
aiti-3953	325	6	is	be	AUX
aiti-3953	325	7	that	that	SCONJ
aiti-3953	325	8	the	the	DET
aiti-3953	325	9	lpv	lpv	NOUN
aiti-3953	325	10	controller	controller	NOUN
aiti-3953	325	11	and	and	CCONJ
aiti-3953	325	12	the	the	DET
aiti-3953	325	13	anti	anti	ADJ
aiti-3953	325	14	-	-	ADJ
aiti-3953	325	15	windup	windup	ADJ
aiti-3953	325	16	compensator	compensator	NOUN
aiti-3953	325	17	could	could	AUX
aiti-3953	325	18	be	be	AUX
aiti-3953	325	19	designed	design	VERB
aiti-3953	325	20	separately	separately	ADV
aiti-3953	325	21	without	without	ADP
aiti-3953	325	22	any	any	DET
aiti-3953	325	23	conflict	conflict	NOUN
aiti-3953	325	24	in	in	ADP
aiti-3953	325	25	the	the	DET
aiti-3953	325	26	system	system	NOUN
aiti-3953	325	27	stability	stability	NOUN
aiti-3953	325	28	’s	’s	PART
aiti-3953	325	29	analysis	analysis	NOUN
aiti-3953	325	30	.	.	PUNCT
aiti-3953	326	1	the	the	DET
aiti-3953	326	2	simulation	simulation	NOUN
aiti-3953	326	3	results	result	NOUN
aiti-3953	326	4	showed	show	VERB
aiti-3953	326	5	that	that	SCONJ
aiti-3953	326	6	the	the	DET
aiti-3953	326	7	system	system	NOUN
aiti-3953	326	8	is	be	AUX
aiti-3953	326	9	robust	robust	ADJ
aiti-3953	326	10	and	and	CCONJ
aiti-3953	326	11	against	against	ADP
aiti-3953	326	12	the	the	DET
aiti-3953	326	13	external	external	ADJ
aiti-3953	326	14	inputs	input	NOUN
aiti-3953	326	15	as	as	ADV
aiti-3953	326	16	well	well	ADV
aiti-3953	326	17	as	as	ADP
aiti-3953	326	18	the	the	DET
aiti-3953	326	19	uncertainties	uncertainty	NOUN
aiti-3953	326	20	.	.	PUNCT
aiti-3953	327	1	conflicts	conflict	NOUN
aiti-3953	327	2	of	of	ADP
aiti-3953	327	3	interest	interest	NOUN
aiti-3953	327	4	the	the	DET
aiti-3953	327	5	authors	author	NOUN
aiti-3953	327	6	declare	declare	VERB
aiti-3953	327	7	no	no	DET
aiti-3953	327	8	conflict	conflict	NOUN
aiti-3953	327	9	of	of	ADP
aiti-3953	327	10	interest	interest	NOUN
aiti-3953	327	11	.	.	PUNCT
aiti-3953	328	1	references	reference	NOUN
aiti-3953	328	2	[	[	X
aiti-3953	328	3	1	1	NUM
aiti-3953	328	4	]	]	PUNCT
aiti-3953	328	5	l.	l.	PROPN
aiti-3953	328	6	carrillo	carrillo	PROPN
aiti-3953	328	7	,	,	PUNCT
aiti-3953	328	8	a.	a.	NOUN
aiti-3953	328	9	lópez	lópez	PROPN
aiti-3953	328	10	,	,	PUNCT
aiti-3953	328	11	r.	r.	PROPN
aiti-3953	328	12	lozano	lozano	PROPN
aiti-3953	328	13	,	,	PUNCT
aiti-3953	328	14	and	and	CCONJ
aiti-3953	328	15	c.	c.	PROPN
aiti-3953	328	16	pégard	pégard	PROPN
aiti-3953	328	17	,	,	PUNCT
aiti-3953	328	18	quad	quad	PROPN
aiti-3953	328	19	rotorcraft	rotorcraft	NOUN
aiti-3953	328	20	control	control	NOUN
aiti-3953	328	21	.	.	PUNCT
aiti-3953	329	1	london	london	PROPN
aiti-3953	329	2	:	:	PUNCT
aiti-3953	329	3	springer	springer	NOUN
aiti-3953	329	4	-	-	PUNCT
aiti-3953	329	5	verlag	verlag	PROPN
aiti-3953	329	6	,	,	PUNCT
aiti-3953	329	7	2013	2013	NUM
aiti-3953	329	8	.	.	PUNCT
aiti-3953	330	1	[	[	X
aiti-3953	330	2	2	2	NUM
aiti-3953	330	3	]	]	PUNCT
aiti-3953	330	4	n.	n.	NOUN
aiti-3953	330	5	vafamand	vafamand	NOUN
aiti-3953	330	6	and	and	CCONJ
aiti-3953	330	7	a.	a.	NOUN
aiti-3953	330	8	khayatian	khayatian	NOUN
aiti-3953	330	9	,	,	PUNCT
aiti-3953	330	10	“	"	PUNCT
aiti-3953	330	11	model	model	NOUN
aiti-3953	330	12	predictive	predictive	NOUN
aiti-3953	330	13	-	-	PUNCT
aiti-3953	330	14	based	base	VERB
aiti-3953	330	15	reset	reset	NOUN
aiti-3953	330	16	gain	gain	NOUN
aiti-3953	330	17	-	-	PUNCT
aiti-3953	330	18	scheduling	schedule	VERB
aiti-3953	330	19	dynamic	dynamic	ADJ
aiti-3953	330	20	control	control	NOUN
aiti-3953	330	21	law	law	NOUN
aiti-3953	330	22	for	for	ADP
aiti-3953	330	23	polytopic	polytopic	NOUN
aiti-3953	330	24	lpv	lpv	PROPN
aiti-3953	330	25	systems	system	NOUN
aiti-3953	330	26	,	,	PUNCT
aiti-3953	330	27	”	"	PUNCT
aiti-3953	330	28	isa	isa	NOUN
aiti-3953	330	29	transactions	transaction	NOUN
aiti-3953	330	30	,	,	PUNCT
aiti-3953	330	31	vol	vol	NOUN
aiti-3953	330	32	.	.	PROPN
aiti-3953	330	33	81	81	NUM
aiti-3953	330	34	,	,	PUNCT
aiti-3953	330	35	pp	pp	ADJ
aiti-3953	330	36	.	.	PUNCT
aiti-3953	331	1	132	132	NUM
aiti-3953	331	2	-	-	SYM
aiti-3953	331	3	140	140	NUM
aiti-3953	331	4	,	,	PUNCT
aiti-3953	331	5	2018	2018	NUM
aiti-3953	331	6	.	.	PUNCT
aiti-3953	332	1	advances	advance	NOUN
aiti-3953	332	2	in	in	ADP
aiti-3953	332	3	technology	technology	NOUN
aiti-3953	332	4	innovation	innovation	NOUN
aiti-3953	332	5	,	,	PUNCT
aiti-3953	332	6	vol	vol	NOUN
aiti-3953	332	7	.	.	PROPN
aiti-3953	332	8	5	5	NUM
aiti-3953	332	9	,	,	PUNCT
aiti-3953	332	10	no	no	INTJ
aiti-3953	332	11	.	.	NOUN
aiti-3953	332	12	2	2	NUM
aiti-3953	332	13	,	,	PUNCT
aiti-3953	332	14	2020	2020	NUM
aiti-3953	332	15	,	,	PUNCT
aiti-3953	332	16	pp	pp	ADJ
aiti-3953	332	17	.	.	PUNCT
aiti-3953	333	1	98	98	NUM
aiti-3953	333	2	-	-	SYM
aiti-3953	333	3	111	111	NUM
aiti-3953	333	4	111	111	NUM
aiti-3953	333	5	[	[	X
aiti-3953	333	6	3	3	NUM
aiti-3953	333	7	]	]	X
aiti-3953	333	8	h.	h.	PROPN
aiti-3953	333	9	behzad	behzad	PROPN
aiti-3953	333	10	,	,	PUNCT
aiti-3953	333	11	a.	a.	NOUN
aiti-3953	333	12	casavola	casavola	PROPN
aiti-3953	333	13	,	,	PUNCT
aiti-3953	333	14	f.	f.	PROPN
aiti-3953	333	15	tedesco	tedesco	PROPN
aiti-3953	333	16	,	,	PUNCT
aiti-3953	333	17	and	and	CCONJ
aiti-3953	333	18	m.	m.	NOUN
aiti-3953	333	19	a.	a.	NOUN
aiti-3953	333	20	sadrnia	sadrnia	PROPN
aiti-3953	333	21	,	,	PUNCT
aiti-3953	333	22	“	"	PUNCT
aiti-3953	333	23	use	use	NOUN
aiti-3953	333	24	of	of	ADP
aiti-3953	333	25	lpv	lpv	PROPN
aiti-3953	333	26	-	-	PUNCT
aiti-3953	333	27	lft	lft	PROPN
aiti-3953	333	28	unknown	unknown	ADJ
aiti-3953	333	29	input	input	NOUN
aiti-3953	333	30	observers	observer	NOUN
aiti-3953	333	31	for	for	ADP
aiti-3953	333	32	the	the	DET
aiti-3953	333	33	design	design	NOUN
aiti-3953	333	34	of	of	ADP
aiti-3953	333	35	fault	fault	NOUN
aiti-3953	333	36	tolerant	tolerant	ADJ
aiti-3953	333	37	sensor	sensor	NOUN
aiti-3953	333	38	reconciliation	reconciliation	NOUN
aiti-3953	333	39	schemes	scheme	NOUN
aiti-3953	333	40	,	,	PUNCT
aiti-3953	333	41	”	"	PUNCT
aiti-3953	333	42	proc	proc	NOUN
aiti-3953	333	43	.	.	PUNCT
aiti-3953	334	1	iranian	iranian	ADJ
aiti-3953	334	2	conference	conference	PROPN
aiti-3953	334	3	on	on	ADP
aiti-3953	334	4	electrical	electrical	ADJ
aiti-3953	334	5	engineering	engineering	NOUN
aiti-3953	334	6	,	,	PUNCT
aiti-3953	334	7	mashhad	mashhad	PROPN
aiti-3953	334	8	,	,	PUNCT
aiti-3953	334	9	iran	iran	PROPN
aiti-3953	334	10	,	,	PUNCT
aiti-3953	334	11	may	may	AUX
aiti-3953	334	12	2018	2018	NUM
aiti-3953	334	13	,	,	PUNCT
aiti-3953	334	14	pp	pp	ADV
aiti-3953	334	15	.	.	PUNCT
aiti-3953	335	1	899	899	NUM
aiti-3953	335	2	-	-	SYM
aiti-3953	335	3	905	905	NUM
aiti-3953	335	4	.	.	PUNCT
aiti-3953	336	1	[	[	X
aiti-3953	336	2	4	4	X
aiti-3953	336	3	]	]	X
aiti-3953	336	4	p.	p.	NOUN
aiti-3953	336	5	apkarian	apkarian	NOUN
aiti-3953	336	6	and	and	CCONJ
aiti-3953	336	7	p.	p.	PROPN
aiti-3953	336	8	gahinet	gahinet	PROPN
aiti-3953	336	9	,	,	PUNCT
aiti-3953	336	10	“	"	PUNCT
aiti-3953	336	11	a	a	DET
aiti-3953	336	12	convex	convex	ADJ
aiti-3953	336	13	characterization	characterization	NOUN
aiti-3953	336	14	of	of	ADP
aiti-3953	336	15	gain	gain	NOUN
aiti-3953	336	16	-	-	PUNCT
aiti-3953	336	17	scheduled	schedule	VERB
aiti-3953	336	18	h∞	h∞	PROPN
aiti-3953	336	19	controllers	controller	NOUN
aiti-3953	336	20	,	,	PUNCT
aiti-3953	336	21	”	"	PUNCT
aiti-3953	336	22	ieee	ieee	NOUN
aiti-3953	336	23	transactions	transaction	NOUN
aiti-3953	336	24	on	on	ADP
aiti-3953	336	25	automatic	automatic	ADJ
aiti-3953	336	26	control	control	NOUN
aiti-3953	336	27	,	,	PUNCT
aiti-3953	336	28	vol	vol	NOUN
aiti-3953	336	29	.	.	PROPN
aiti-3953	336	30	40	40	NUM
aiti-3953	336	31	,	,	PUNCT
aiti-3953	336	32	no	no	INTJ
aiti-3953	336	33	.	.	NOUN
aiti-3953	336	34	5	5	NUM
aiti-3953	336	35	,	,	PUNCT
aiti-3953	336	36	pp	pp	ADJ
aiti-3953	336	37	.	.	PUNCT
aiti-3953	336	38	853	853	NUM
aiti-3953	336	39	-	-	SYM
aiti-3953	336	40	864	864	NUM
aiti-3953	336	41	,	,	PUNCT
aiti-3953	336	42	1995	1995	NUM
aiti-3953	336	43	.	.	PUNCT
aiti-3953	337	1	[	[	X
aiti-3953	337	2	5	5	X
aiti-3953	337	3	]	]	PUNCT
aiti-3953	337	4	d.	d.	PROPN
aiti-3953	337	5	mcfarlane	mcfarlane	PROPN
aiti-3953	337	6	and	and	CCONJ
aiti-3953	337	7	k.	k.	PROPN
aiti-3953	337	8	glover	glover	PROPN
aiti-3953	337	9	,	,	PUNCT
aiti-3953	337	10	robust	robust	ADJ
aiti-3953	337	11	controller	controller	NOUN
aiti-3953	337	12	design	design	NOUN
aiti-3953	337	13	using	use	VERB
aiti-3953	337	14	normalized	normalize	VERB
aiti-3953	337	15	coprime	coprime	ADJ
aiti-3953	337	16	factor	factor	NOUN
aiti-3953	337	17	plant	plant	NOUN
aiti-3953	337	18	descriptions	description	NOUN
aiti-3953	337	19	,	,	PUNCT
aiti-3953	337	20	vol	vol	NOUN
aiti-3953	337	21	.	.	PROPN
aiti-3953	337	22	138	138	NUM
aiti-3953	337	23	of	of	ADP
aiti-3953	337	24	lecture	lecture	NOUN
aiti-3953	337	25	notes	note	NOUN
aiti-3953	337	26	in	in	ADP
aiti-3953	337	27	control	control	NOUN
aiti-3953	337	28	and	and	CCONJ
aiti-3953	337	29	information	information	NOUN
aiti-3953	337	30	sciences	science	NOUN
aiti-3953	337	31	,	,	PUNCT
aiti-3953	337	32	berlin	berlin	PROPN
aiti-3953	337	33	:	:	PUNCT
aiti-3953	337	34	springer	springer	NOUN
aiti-3953	337	35	-	-	PUNCT
aiti-3953	337	36	verlag	verlag	PROPN
aiti-3953	337	37	,	,	PUNCT
aiti-3953	337	38	1990	1990	NUM
aiti-3953	337	39	.	.	PUNCT
aiti-3953	338	1	[	[	X
aiti-3953	338	2	6	6	NUM
aiti-3953	338	3	]	]	PUNCT
aiti-3953	338	4	a.	a.	PROPN
aiti-3953	338	5	d.	d.	PROPN
aiti-3953	338	6	rosaline	rosaline	PROPN
aiti-3953	338	7	and	and	CCONJ
aiti-3953	338	8	s.	s.	PROPN
aiti-3953	338	9	ushakumari	ushakumari	PROPN
aiti-3953	338	10	,	,	PUNCT
aiti-3953	338	11	“	"	PUNCT
aiti-3953	338	12	robust	robust	ADJ
aiti-3953	338	13	loop	loop	NOUN
aiti-3953	338	14	-	-	PUNCT
aiti-3953	338	15	shaping	shape	VERB
aiti-3953	338	16	controller	controller	NOUN
aiti-3953	338	17	for	for	ADP
aiti-3953	338	18	load	load	NOUN
aiti-3953	338	19	frequency	frequency	NOUN
aiti-3953	338	20	control	control	NOUN
aiti-3953	338	21	of	of	ADP
aiti-3953	338	22	an	an	DET
aiti-3953	338	23	uncertain	uncertain	ADJ
aiti-3953	338	24	deregulated	deregulated	ADJ
aiti-3953	338	25	power	power	NOUN
aiti-3953	338	26	system	system	NOUN
aiti-3953	338	27	,	,	PUNCT
aiti-3953	338	28	”	"	PUNCT
aiti-3953	338	29	journal	journal	NOUN
aiti-3953	338	30	of	of	ADP
aiti-3953	338	31	the	the	DET
aiti-3953	338	32	institution	institution	NOUN
aiti-3953	338	33	of	of	ADP
aiti-3953	338	34	engineers	engineer	NOUN
aiti-3953	338	35	(	(	PUNCT
aiti-3953	338	36	india	india	PROPN
aiti-3953	338	37	):	):	PUNCT
aiti-3953	338	38	series	series	PROPN
aiti-3953	338	39	b	b	PROPN
aiti-3953	338	40	,	,	PUNCT
aiti-3953	338	41	vol	vol	NOUN
aiti-3953	338	42	.	.	NOUN
aiti-3953	338	43	100	100	NUM
aiti-3953	338	44	,	,	PUNCT
aiti-3953	338	45	no	no	INTJ
aiti-3953	338	46	.	.	NOUN
aiti-3953	338	47	4	4	NUM
aiti-3953	338	48	,	,	PUNCT
aiti-3953	338	49	pp	pp	ADJ
aiti-3953	338	50	.	.	PUNCT
aiti-3953	338	51	357	357	NUM
aiti-3953	338	52	-	-	SYM
aiti-3953	338	53	369	369	NUM
aiti-3953	338	54	,	,	PUNCT
aiti-3953	338	55	auguest	auguest	VERB
aiti-3953	338	56	2019	2019	NUM
aiti-3953	338	57	.	.	PUNCT
aiti-3953	339	1	[	[	X
aiti-3953	339	2	7	7	X
aiti-3953	339	3	]	]	X
aiti-3953	339	4	l.	l.	PROPN
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aiti-3953	339	6	,	,	PUNCT
aiti-3953	339	7	c.	c.	PROPN
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aiti-3953	339	9	,	,	PUNCT
aiti-3953	339	10	j.	j.	PROPN
aiti-3953	339	11	guo	guo	PROPN
aiti-3953	339	12	,	,	PUNCT
aiti-3953	339	13	and	and	CCONJ
aiti-3953	339	14	h.	h.	PROPN
aiti-3953	339	15	wang	wang	PROPN
aiti-3953	339	16	,	,	PUNCT
aiti-3953	339	17	“	"	PUNCT
aiti-3953	339	18	the	the	DET
aiti-3953	339	19	design	design	NOUN
aiti-3953	339	20	of	of	ADP
aiti-3953	339	21	h∞	h∞	X
aiti-3953	339	22	mixed	mixed	ADJ
aiti-3953	339	23	sensitivity	sensitivity	NOUN
aiti-3953	339	24	controller	controller	NOUN
aiti-3953	339	25	for	for	ADP
aiti-3953	339	26	fin	fin	NOUN
aiti-3953	339	27	/	/	SYM
aiti-3953	339	28	tank	tank	NOUN
aiti-3953	339	29	roll	roll	NOUN
aiti-3953	339	30	stabilizer	stabilizer	NOUN
aiti-3953	339	31	,	,	PUNCT
aiti-3953	339	32	”	"	PUNCT
aiti-3953	339	33	proc	proc	NOUN
aiti-3953	339	34	.	.	PUNCT
aiti-3953	340	1	35	35	NUM
aiti-3953	340	2	th	th	X
aiti-3953	340	3	chinese	chinese	PROPN
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aiti-3953	340	5	conference	conference	PROPN
aiti-3953	340	6	,	,	PUNCT
aiti-3953	340	7	chengdu	chengdu	PROPN
aiti-3953	340	8	,	,	PUNCT
aiti-3953	340	9	china	china	PROPN
aiti-3953	340	10	,	,	PUNCT
aiti-3953	340	11	july	july	PROPN
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aiti-3953	340	13	,	,	PUNCT
aiti-3953	340	14	pp	pp	ADV
aiti-3953	340	15	.	.	PUNCT
aiti-3953	340	16	2929	2929	NUM
aiti-3953	340	17	-	-	SYM
aiti-3953	340	18	2933	2933	NUM
aiti-3953	340	19	.	.	PUNCT
aiti-3953	341	1	[	[	X
aiti-3953	341	2	8	8	X
aiti-3953	341	3	]	]	PUNCT
aiti-3953	341	4	s.	s.	PROPN
aiti-3953	341	5	skogestad	skogestad	PROPN
aiti-3953	341	6	and	and	CCONJ
aiti-3953	341	7	i.	i.	PROPN
aiti-3953	341	8	postlethwaite	postlethwaite	PROPN
aiti-3953	341	9	,	,	PUNCT
aiti-3953	341	10	multivariable	multivariable	ADJ
aiti-3953	341	11	feedback	feedback	NOUN
aiti-3953	341	12	control	control	NOUN
aiti-3953	341	13	,	,	PUNCT
aiti-3953	341	14	analysis	analysis	NOUN
aiti-3953	341	15	and	and	CCONJ
aiti-3953	341	16	design	design	NOUN
aiti-3953	341	17	,	,	PUNCT
aiti-3953	341	18	2	2	NUM
aiti-3953	341	19	nd	nd	NUM
aiti-3953	341	20	ed	ed	NOUN
aiti-3953	341	21	.	.	PUNCT
aiti-3953	342	1	chichester	chichester	PROPN
aiti-3953	342	2	:	:	PUNCT
aiti-3953	342	3	john	john	PROPN
aiti-3953	342	4	wiley	wiley	PROPN
aiti-3953	342	5	&	&	CCONJ
aiti-3953	342	6	sons	son	NOUN
aiti-3953	342	7	,	,	PUNCT
aiti-3953	342	8	2005	2005	NUM
aiti-3953	342	9	.	.	PUNCT
aiti-3953	343	1	[	[	X
aiti-3953	343	2	9	9	NUM
aiti-3953	343	3	]	]	X
aiti-3953	343	4	r.	r.	PROPN
aiti-3953	343	5	w.	w.	PROPN
aiti-3953	343	6	beaven	beaven	PROPN
aiti-3953	343	7	,	,	PUNCT
aiti-3953	343	8	m.	m.	NOUN
aiti-3953	343	9	t.	t.	PROPN
aiti-3953	343	10	wright	wright	PROPN
aiti-3953	343	11	,	,	PUNCT
aiti-3953	343	12	and	and	CCONJ
aiti-3953	343	13	d.	d.	PROPN
aiti-3953	343	14	r.	r.	PROPN
aiti-3953	343	15	seaward	seaward	PROPN
aiti-3953	343	16	,	,	PUNCT
aiti-3953	343	17	“	"	PUNCT
aiti-3953	343	18	weighting	weight	VERB
aiti-3953	343	19	function	function	NOUN
aiti-3953	343	20	selection	selection	NOUN
aiti-3953	343	21	in	in	ADP
aiti-3953	343	22	the	the	DET
aiti-3953	343	23	h∞	h∞	PROPN
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aiti-3953	343	25	process	process	NOUN
aiti-3953	343	26	,	,	PUNCT
aiti-3953	343	27	”	"	PUNCT
aiti-3953	343	28	control	control	NOUN
aiti-3953	343	29	engineering	engineering	NOUN
aiti-3953	343	30	practice	practice	NOUN
aiti-3953	343	31	,	,	PUNCT
aiti-3953	343	32	vol	vol	NOUN
aiti-3953	343	33	.	.	PROPN
aiti-3953	343	34	4	4	NUM
aiti-3953	343	35	,	,	PUNCT
aiti-3953	343	36	no	no	INTJ
aiti-3953	343	37	.	.	NOUN
aiti-3953	343	38	5	5	NUM
aiti-3953	343	39	,	,	PUNCT
aiti-3953	343	40	pp	pp	ADJ
aiti-3953	343	41	.	.	PUNCT
aiti-3953	344	1	625	625	NUM
aiti-3953	344	2	-	-	SYM
aiti-3953	344	3	633	633	NUM
aiti-3953	344	4	,	,	PUNCT
aiti-3953	344	5	may	may	PROPN
aiti-3953	344	6	1996	1996	NUM
aiti-3953	344	7	.	.	PUNCT
aiti-3953	345	1	[	[	X
aiti-3953	345	2	10	10	NUM
aiti-3953	345	3	]	]	PUNCT
aiti-3953	345	4	k.	k.	PROPN
aiti-3953	345	5	zhou	zhou	PROPN
aiti-3953	345	6	and	and	CCONJ
aiti-3953	345	7	j.	j.	PROPN
aiti-3953	345	8	c.	c.	PROPN
aiti-3953	345	9	doyle	doyle	PROPN
aiti-3953	345	10	,	,	PUNCT
aiti-3953	345	11	essentials	essential	NOUN
aiti-3953	345	12	of	of	ADP
aiti-3953	345	13	robust	robust	ADJ
aiti-3953	345	14	control	control	NOUN
aiti-3953	345	15	,	,	PUNCT
aiti-3953	345	16	new	new	PROPN
aiti-3953	345	17	jersey	jersey	PROPN
aiti-3953	345	18	:	:	PUNCT
aiti-3953	345	19	prentice	prentice	PROPN
aiti-3953	345	20	hall	hall	PROPN
aiti-3953	345	21	,	,	PUNCT
aiti-3953	345	22	1998	1998	NUM
aiti-3953	345	23	.	.	PUNCT
aiti-3953	346	1	[	[	X
aiti-3953	346	2	11	11	NUM
aiti-3953	346	3	]	]	PUNCT
aiti-3953	346	4	j.	j.	PROPN
aiti-3953	346	5	hu	hu	PROPN
aiti-3953	346	6	,	,	PUNCT
aiti-3953	346	7	c.	c.	PROPN
aiti-3953	346	8	bohn	bohn	PROPN
aiti-3953	346	9	,	,	PUNCT
aiti-3953	346	10	and	and	CCONJ
aiti-3953	346	11	h.	h.	PROPN
aiti-3953	346	12	r.	r.	PROPN
aiti-3953	346	13	hu	hu	PROPN
aiti-3953	346	14	,	,	PUNCT
aiti-3953	346	15	“	"	PUNCT
aiti-3953	346	16	systematic	systematic	ADJ
aiti-3953	346	17	h∞	h∞	X
aiti-3953	346	18	weighting	weight	VERB
aiti-3953	346	19	function	function	NOUN
aiti-3953	346	20	selection	selection	NOUN
aiti-3953	346	21	and	and	CCONJ
aiti-3953	346	22	its	its	PRON
aiti-3953	346	23	application	application	NOUN
aiti-3953	346	24	to	to	ADP
aiti-3953	346	25	the	the	DET
aiti-3953	346	26	real	real	ADJ
aiti-3953	346	27	-	-	PUNCT
aiti-3953	346	28	time	time	NOUN
aiti-3953	346	29	control	control	NOUN
aiti-3953	346	30	of	of	ADP
aiti-3953	346	31	a	a	DET
aiti-3953	346	32	vertical	vertical	ADJ
aiti-3953	346	33	take	take	VERB
aiti-3953	346	34	-	-	PUNCT
aiti-3953	346	35	off	off	ADP
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aiti-3953	346	37	,	,	PUNCT
aiti-3953	346	38	”	"	PUNCT
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aiti-3953	346	40	engineering	engineering	NOUN
aiti-3953	346	41	practice	practice	NOUN
aiti-3953	346	42	,	,	PUNCT
aiti-3953	346	43	vol	vol	NOUN
aiti-3953	346	44	.	.	PROPN
aiti-3953	346	45	8	8	NUM
aiti-3953	346	46	,	,	PUNCT
aiti-3953	346	47	no	no	INTJ
aiti-3953	346	48	.	.	NOUN
aiti-3953	346	49	3	3	NUM
aiti-3953	346	50	,	,	PUNCT
aiti-3953	346	51	pp	pp	ADJ
aiti-3953	346	52	.	.	PUNCT
aiti-3953	346	53	241	241	NUM
aiti-3953	346	54	-	-	SYM
aiti-3953	346	55	252	252	NUM
aiti-3953	346	56	,	,	PUNCT
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aiti-3953	346	58	2000	2000	NUM
aiti-3953	346	59	.	.	PUNCT
aiti-3953	347	1	[	[	X
aiti-3953	347	2	12	12	NUM
aiti-3953	347	3	]	]	PUNCT
aiti-3953	347	4	x.	x.	PROPN
aiti-3953	347	5	s.	s.	PROPN
aiti-3953	347	6	yang	yang	PROPN
aiti-3953	347	7	,	,	PUNCT
aiti-3953	347	8	nature	nature	NOUN
aiti-3953	347	9	-	-	PUNCT
aiti-3953	347	10	inspired	inspire	VERB
aiti-3953	347	11	optimizations	optimization	NOUN
aiti-3953	347	12	algorithms	algorithm	NOUN
aiti-3953	347	13	,	,	PUNCT
aiti-3953	347	14	x.s	x.s	PROPN
aiti-3953	347	15	.	.	PROPN
aiti-3953	347	16	yang	yang	PROPN
aiti-3953	347	17	(	(	PUNCT
aiti-3953	347	18	ed	ed	NOUN
aiti-3953	347	19	.	.	PUNCT
aiti-3953	347	20	)	)	PUNCT
aiti-3953	347	21	.	.	PUNCT
aiti-3953	348	1	london	london	PROPN
aiti-3953	348	2	:	:	PUNCT
aiti-3953	348	3	elsevier	elsevier	NOUN
aiti-3953	348	4	,	,	PUNCT
aiti-3953	348	5	pp	pp	PROPN
aiti-3953	348	6	.	.	PUNCT
aiti-3953	349	1	129	129	NUM
aiti-3953	349	2	-	-	SYM
aiti-3953	349	3	139	139	NUM
aiti-3953	349	4	,	,	PUNCT
aiti-3953	349	5	2014	2014	NUM
aiti-3953	349	6	.	.	PUNCT
aiti-3953	350	1	[	[	X
aiti-3953	350	2	13	13	NUM
aiti-3953	350	3	]	]	PUNCT
aiti-3953	350	4	a.	a.	NOUN
aiti-3953	350	5	l.	l.	PROPN
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aiti-3953	350	7	,	,	PUNCT
aiti-3953	350	8	o.	o.	PROPN
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aiti-3953	350	10	,	,	PUNCT
aiti-3953	350	11	l.	l.	PROPN
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aiti-3953	350	13	,	,	PUNCT
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aiti-3953	350	15	b.	b.	PROPN
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aiti-3953	350	17	,	,	PUNCT
aiti-3953	350	18	“	"	PUNCT
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aiti-3953	350	34	,	,	PUNCT
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aiti-3953	350	39	,	,	PUNCT
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aiti-3953	350	41	.	.	PROPN
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aiti-3953	350	43	,	,	PUNCT
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aiti-3953	350	45	.	.	NOUN
aiti-3953	350	46	1	1	NUM
aiti-3953	350	47	,	,	PUNCT
aiti-3953	350	48	pp	pp	ADJ
aiti-3953	350	49	.	.	PUNCT
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aiti-3953	351	7	.	.	PUNCT
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aiti-3953	352	2	14	14	NUM
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aiti-3953	352	7	,	,	PUNCT
aiti-3953	352	8	o.	o.	PROPN
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aiti-3953	352	10	,	,	PUNCT
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aiti-3953	352	15	p.	p.	PROPN
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aiti-3953	352	17	,	,	PUNCT
aiti-3953	352	18	“	"	PUNCT
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aiti-3953	352	21	h∞	h∞	X
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aiti-3953	352	28	for	for	ADP
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aiti-3953	352	31	,	,	PUNCT
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aiti-3953	352	35	,	,	PUNCT
aiti-3953	352	36	vol	vol	NOUN
aiti-3953	352	37	.	.	PROPN
aiti-3953	353	1	50	50	NUM
aiti-3953	353	2	,	,	PUNCT
aiti-3953	353	3	no	no	INTJ
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aiti-3953	353	5	1	1	NUM
aiti-3953	353	6	,	,	PUNCT
aiti-3953	353	7	pp	pp	ADJ
aiti-3953	353	8	.	.	PUNCT
aiti-3953	354	1	13802	13802	NUM
aiti-3953	354	2	-	-	SYM
aiti-3953	354	3	3807	3807	NUM
aiti-3953	354	4	,	,	PUNCT
aiti-3953	354	5	july	july	PROPN
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aiti-3953	354	7	.	.	PUNCT
aiti-3953	355	1	[	[	X
aiti-3953	355	2	15	15	NUM
aiti-3953	355	3	]	]	X
aiti-3953	355	4	j.	j.	PROPN
aiti-3953	355	5	fu	fu	PROPN
aiti-3953	355	6	,	,	PUNCT
aiti-3953	355	7	y.	y.	PROPN
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aiti-3953	355	9	,	,	PUNCT
aiti-3953	355	10	and	and	CCONJ
aiti-3953	355	11	t.	t.	PROPN
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aiti-3953	355	13	,	,	PUNCT
aiti-3953	355	14	“	"	PUNCT
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aiti-3953	355	25	-	-	PUNCT
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aiti-3953	355	28	-	-	ADJ
aiti-3953	355	29	agent	agent	ADJ
aiti-3953	355	30	systems	system	NOUN
aiti-3953	355	31	with	with	ADP
aiti-3953	355	32	input	input	NOUN
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aiti-3953	355	34	,	,	PUNCT
aiti-3953	355	35	”	"	PUNCT
aiti-3953	355	36	systems	system	NOUN
aiti-3953	355	37	&	&	CCONJ
aiti-3953	355	38	control	control	PROPN
aiti-3953	355	39	letters	letter	NOUN
aiti-3953	355	40	,	,	PUNCT
aiti-3953	355	41	vol	vol	NOUN
aiti-3953	355	42	.	.	PROPN
aiti-3953	355	43	130	130	NUM
aiti-3953	355	44	,	,	PUNCT
aiti-3953	355	45	pp	pp	ADJ
aiti-3953	355	46	.	.	PUNCT
aiti-3953	356	1	1	1	NUM
aiti-3953	356	2	-	-	SYM
aiti-3953	356	3	6	6	NUM
aiti-3953	356	4	,	,	PUNCT
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aiti-3953	356	7	.	.	PUNCT
aiti-3953	357	1	[	[	X
aiti-3953	357	2	16	16	NUM
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aiti-3953	357	4	e.	e.	PROPN
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aiti-3953	357	6	,	,	PUNCT
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aiti-3953	357	8	c.	c.	PROPN
aiti-3953	357	9	turner	turner	PROPN
aiti-3953	357	10	,	,	PUNCT
aiti-3953	357	11	and	and	CCONJ
aiti-3953	357	12	i.	i.	PROPN
aiti-3953	357	13	postlethwaite	postlethwaite	PROPN
aiti-3953	357	14	,	,	PUNCT
aiti-3953	357	15	“	"	PUNCT
aiti-3953	357	16	coprime	coprime	NOUN
aiti-3953	357	17	factor	factor	NOUN
aiti-3953	357	18	based	base	VERB
aiti-3953	357	19	anti	anti	ADJ
aiti-3953	357	20	-	-	ADJ
aiti-3953	357	21	windup	windup	ADJ
aiti-3953	357	22	synthesis	synthesis	NOUN
aiti-3953	357	23	for	for	ADP
aiti-3953	357	24	parameter	parameter	NOUN
aiti-3953	357	25	-	-	PUNCT
aiti-3953	357	26	dependent	dependent	ADJ
aiti-3953	357	27	systems	system	NOUN
aiti-3953	357	28	,	,	PUNCT
aiti-3953	357	29	”	"	PUNCT
aiti-3953	357	30	systems	system	NOUN
aiti-3953	357	31	&	&	CCONJ
aiti-3953	357	32	control	control	PROPN
aiti-3953	357	33	letters	letter	NOUN
aiti-3953	357	34	,	,	PUNCT
aiti-3953	357	35	vol	vol	NOUN
aiti-3953	357	36	.	.	PROPN
aiti-3953	358	1	58	58	NUM
aiti-3953	358	2	,	,	PUNCT
aiti-3953	358	3	no	no	INTJ
aiti-3953	358	4	.	.	NOUN
aiti-3953	358	5	12	12	NUM
aiti-3953	358	6	,	,	PUNCT
aiti-3953	358	7	pp	pp	ADJ
aiti-3953	358	8	.	.	PUNCT
aiti-3953	359	1	810	810	NUM
aiti-3953	359	2	-	-	SYM
aiti-3953	359	3	817	817	NUM
aiti-3953	359	4	,	,	PUNCT
aiti-3953	359	5	december	december	PROPN
aiti-3953	359	6	2009	2009	NUM
aiti-3953	359	7	.	.	PUNCT
aiti-3953	360	1	[	[	X
aiti-3953	360	2	17	17	NUM
aiti-3953	360	3	]	]	X
aiti-3953	360	4	s.	s.	PROPN
aiti-3953	360	5	hasseni	hasseni	PROPN
aiti-3953	360	6	and	and	CCONJ
aiti-3953	360	7	l.	l.	PROPN
aiti-3953	360	8	abdou	abdou	PROPN
aiti-3953	360	9	,	,	PUNCT
aiti-3953	360	10	“	"	PUNCT
aiti-3953	360	11	robust	robust	ADJ
aiti-3953	360	12	attitude	attitude	NOUN
aiti-3953	360	13	stabilization	stabilization	NOUN
aiti-3953	360	14	of	of	ADP
aiti-3953	360	15	a	a	DET
aiti-3953	360	16	quadrotor	quadrotor	NOUN
aiti-3953	360	17	by	by	ADP
aiti-3953	360	18	using	use	VERB
aiti-3953	360	19	lft	lft	PROPN
aiti-3953	360	20	linear	linear	ADJ
aiti-3953	360	21	-	-	PUNCT
aiti-3953	360	22	parameter	parameter	NOUN
aiti-3953	360	23	-	-	PUNCT
aiti-3953	360	24	varying	vary	VERB
aiti-3953	360	25	h∞	h∞	NOUN
aiti-3953	360	26	,	,	PUNCT
aiti-3953	360	27	”	"	PUNCT
aiti-3953	360	28	proc	proc	NOUN
aiti-3953	360	29	.	.	PUNCT
aiti-3953	361	1	26	26	NUM
aiti-3953	361	2	th	th	PROPN
aiti-3953	361	3	mediterranean	mediterranean	PROPN
aiti-3953	361	4	conference	conference	NOUN
aiti-3953	361	5	on	on	ADP
aiti-3953	361	6	control	control	NOUN
aiti-3953	361	7	and	and	CCONJ
aiti-3953	361	8	automation	automation	NOUN
aiti-3953	361	9	,	,	PUNCT
aiti-3953	361	10	zadar	zadar	PROPN
aiti-3953	361	11	,	,	PUNCT
aiti-3953	361	12	croatia	croatia	PROPN
aiti-3953	361	13	,	,	PUNCT
aiti-3953	361	14	auguest	auguest	VERB
aiti-3953	361	15	2018	2018	NUM
aiti-3953	361	16	,	,	PUNCT
aiti-3953	361	17	pp	pp	ADJ
aiti-3953	361	18	.	.	PUNCT
aiti-3953	362	1	241	241	NUM
aiti-3953	362	2	-	-	SYM
aiti-3953	362	3	246	246	NUM
aiti-3953	362	4	.	.	PUNCT
aiti-3953	363	1	[	[	X
aiti-3953	363	2	18	18	NUM
aiti-3953	363	3	]	]	X
aiti-3953	363	4	s.	s.	PROPN
aiti-3953	363	5	bouabdallah	bouabdallah	PROPN
aiti-3953	363	6	,	,	PUNCT
aiti-3953	363	7	“	"	PUNCT
aiti-3953	363	8	design	design	NOUN
aiti-3953	363	9	and	and	CCONJ
aiti-3953	363	10	control	control	NOUN
aiti-3953	363	11	of	of	ADP
aiti-3953	363	12	quadrotors	quadrotor	NOUN
aiti-3953	363	13	with	with	ADP
aiti-3953	363	14	application	application	NOUN
aiti-3953	363	15	to	to	ADP
aiti-3953	363	16	autonomous	autonomous	ADJ
aiti-3953	363	17	flying	flying	NOUN
aiti-3953	363	18	,	,	PUNCT
aiti-3953	363	19	”	"	PUNCT
aiti-3953	363	20	ph.d	ph.d	PROPN
aiti-3953	363	21	.	.	PUNCT
aiti-3953	364	1	thesis	thesis	NOUN
aiti-3953	364	2	,	,	PUNCT
aiti-3953	364	3	epfl	epfl	PROPN
aiti-3953	364	4	,	,	PUNCT
aiti-3953	364	5	switzerland	switzerland	PROPN
aiti-3953	364	6	,	,	PUNCT
aiti-3953	364	7	2007	2007	NUM
aiti-3953	364	8	.	.	PUNCT
aiti-3953	365	1	[	[	X
aiti-3953	365	2	19	19	NUM
aiti-3953	365	3	]	]	PUNCT
aiti-3953	365	4	x.	x.	NOUN
aiti-3953	365	5	s.	s.	PROPN
aiti-3953	365	6	yang	yang	PROPN
aiti-3953	365	7	and	and	CCONJ
aiti-3953	365	8	s.	s.	PROPN
aiti-3953	365	9	deb	deb	PROPN
aiti-3953	365	10	,	,	PUNCT
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aiti-3953	365	12	cuckoo	cuckoo	NOUN
aiti-3953	365	13	search	search	NOUN
aiti-3953	365	14	via	via	ADP
aiti-3953	365	15	lévy	lévy	ADJ
aiti-3953	365	16	flights	flight	NOUN
aiti-3953	365	17	,	,	PUNCT
aiti-3953	365	18	”	"	PUNCT
aiti-3953	365	19	proc	proc	NOUN
aiti-3953	365	20	.	.	PUNCT
aiti-3953	366	1	world	world	PROPN
aiti-3953	366	2	congress	congress	PROPN
aiti-3953	366	3	on	on	ADP
aiti-3953	366	4	nature	nature	NOUN
aiti-3953	366	5	and	and	CCONJ
aiti-3953	366	6	biologically	biologically	ADV
aiti-3953	366	7	inspired	inspire	VERB
aiti-3953	366	8	computing	computing	NOUN
aiti-3953	366	9	,	,	PUNCT
aiti-3953	366	10	coimbatore	coimbatore	PROPN
aiti-3953	366	11	,	,	PUNCT
aiti-3953	366	12	india	india	PROPN
aiti-3953	366	13	,	,	PUNCT
aiti-3953	366	14	december	december	PROPN
aiti-3953	366	15	2009	2009	NUM
aiti-3953	366	16	,	,	PUNCT
aiti-3953	366	17	pp	pp	ADJ
aiti-3953	366	18	.	.	PUNCT
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aiti-3953	367	2	-	-	SYM
aiti-3953	367	3	214	214	NUM
aiti-3953	367	4	.	.	PUNCT
aiti-3953	368	1	[	[	X
aiti-3953	368	2	20	20	NUM
aiti-3953	368	3	]	]	PUNCT
aiti-3953	368	4	a.	a.	NOUN
aiti-3953	368	5	ouaarab	ouaarab	NOUN
aiti-3953	368	6	,	,	PUNCT
aiti-3953	368	7	b.	b.	NOUN
aiti-3953	368	8	ahiod	ahiod	NOUN
aiti-3953	368	9	,	,	PUNCT
aiti-3953	368	10	and	and	CCONJ
aiti-3953	368	11	x.	x.	PROPN
aiti-3953	368	12	s.	s.	PROPN
aiti-3953	368	13	yang	yang	PROPN
aiti-3953	368	14	,	,	PUNCT
aiti-3953	368	15	“	"	PUNCT
aiti-3953	368	16	discrete	discrete	ADJ
aiti-3953	368	17	cuckoo	cuckoo	NOUN
aiti-3953	368	18	search	search	NOUN
aiti-3953	368	19	algorithm	algorithm	NOUN
aiti-3953	368	20	for	for	ADP
aiti-3953	368	21	the	the	DET
aiti-3953	368	22	travelling	travel	VERB
aiti-3953	368	23	salesman	salesman	NOUN
aiti-3953	368	24	problem	problem	NOUN
aiti-3953	368	25	,	,	PUNCT
aiti-3953	368	26	”	"	PUNCT
aiti-3953	368	27	neural	neural	ADJ
aiti-3953	368	28	computing	computing	NOUN
aiti-3953	368	29	and	and	CCONJ
aiti-3953	368	30	applications	application	NOUN
aiti-3953	368	31	,	,	PUNCT
aiti-3953	368	32	vol	vol	NOUN
aiti-3953	368	33	.	.	PROPN
aiti-3953	368	34	24	24	NUM
aiti-3953	368	35	,	,	PUNCT
aiti-3953	368	36	no	no	INTJ
aiti-3953	368	37	.	.	NOUN
aiti-3953	368	38	7	7	NUM
aiti-3953	368	39	-	-	SYM
aiti-3953	368	40	8	8	NUM
aiti-3953	368	41	,	,	PUNCT
aiti-3953	368	42	pp	pp	ADJ
aiti-3953	368	43	.	.	PUNCT
aiti-3953	368	44	1659	1659	NUM
aiti-3953	368	45	-	-	SYM
aiti-3953	368	46	1669	1669	NUM
aiti-3953	368	47	,	,	PUNCT
aiti-3953	368	48	june	june	PROPN
aiti-3953	368	49	2014	2014	NUM
aiti-3953	368	50	.	.	PUNCT
aiti-3953	369	1	[	[	X
aiti-3953	369	2	21	21	NUM
aiti-3953	369	3	]	]	PUNCT
aiti-3953	369	4	a.	a.	NOUN
aiti-3953	369	5	ouaarab	ouaarab	NOUN
aiti-3953	369	6	,	,	PUNCT
aiti-3953	369	7	b.	b.	NOUN
aiti-3953	369	8	ahiod	ahiod	NOUN
aiti-3953	369	9	,	,	PUNCT
aiti-3953	369	10	and	and	CCONJ
aiti-3953	369	11	x.	x.	PROPN
aiti-3953	369	12	s.	s.	PROPN
aiti-3953	369	13	yang	yang	PROPN
aiti-3953	369	14	,	,	PUNCT
aiti-3953	369	15	“	"	PUNCT
aiti-3953	369	16	improved	improved	ADJ
aiti-3953	369	17	and	and	CCONJ
aiti-3953	369	18	discrete	discrete	ADJ
aiti-3953	369	19	cuckoo	cuckoo	NOUN
aiti-3953	369	20	search	search	NOUN
aiti-3953	369	21	for	for	ADP
aiti-3953	369	22	solving	solve	VERB
aiti-3953	369	23	the	the	DET
aiti-3953	369	24	travelling	travel	VERB
aiti-3953	369	25	salesman	salesman	ADJ
aiti-3953	369	26	problem	problem	NOUN
aiti-3953	369	27	,	,	PUNCT
aiti-3953	369	28	”	"	PUNCT
aiti-3953	369	29	cuckoo	cuckoo	NOUN
aiti-3953	369	30	search	search	NOUN
aiti-3953	369	31	and	and	CCONJ
aiti-3953	369	32	firefly	firefly	NOUN
aiti-3953	369	33	algorithm	algorithm	NOUN
aiti-3953	369	34	,	,	PUNCT
aiti-3953	369	35	theory	theory	NOUN
aiti-3953	369	36	and	and	CCONJ
aiti-3953	369	37	applications	application	NOUN
aiti-3953	369	38	,	,	PUNCT
aiti-3953	369	39	x.	x.	PROPN
aiti-3953	369	40	s.	s.	PROPN
aiti-3953	369	41	yang	yang	PROPN
aiti-3953	369	42	(	(	PUNCT
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aiti-3953	369	44	.	.	PUNCT
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aiti-3953	369	46	.	.	PUNCT
aiti-3953	370	1	cham	cham	PROPN
aiti-3953	370	2	,	,	PUNCT
aiti-3953	370	3	switzerland	switzerland	PROPN
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aiti-3953	370	6	,	,	PUNCT
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aiti-3953	370	8	,	,	PUNCT
aiti-3953	370	9	pp	pp	ADJ
aiti-3953	370	10	.	.	PUNCT
aiti-3953	371	1	63	63	NUM
aiti-3953	371	2	-	-	SYM
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aiti-3953	371	4	.	.	PUNCT
aiti-3953	372	1	[	[	X
aiti-3953	372	2	22	22	NUM
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aiti-3953	372	4	x.	x.	NOUN
aiti-3953	372	5	s.	s.	PROPN
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aiti-3953	372	8	s.	s.	PROPN
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aiti-3953	372	10	,	,	PUNCT
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aiti-3953	372	13	cuckoo	cuckoo	NOUN
aiti-3953	372	14	search	search	NOUN
aiti-3953	372	15	for	for	ADP
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aiti-3953	372	18	,	,	PUNCT
aiti-3953	372	19	”	"	PUNCT
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aiti-3953	372	21	&	&	CCONJ
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aiti-3953	372	23	research	research	NOUN
aiti-3953	372	24	,	,	PUNCT
aiti-3953	372	25	vol	vol	NOUN
aiti-3953	372	26	.	.	PROPN
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aiti-3953	372	28	,	,	PUNCT
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aiti-3953	372	30	.	.	NOUN
aiti-3953	372	31	6	6	NUM
aiti-3953	372	32	,	,	PUNCT
aiti-3953	372	33	pp	pp	ADJ
aiti-3953	372	34	.	.	PUNCT
aiti-3953	372	35	1616	1616	NUM
aiti-3953	372	36	-	-	SYM
aiti-3953	372	37	1624	1624	NUM
aiti-3953	372	38	,	,	PUNCT
aiti-3953	372	39	june	june	PROPN
aiti-3953	372	40	2013	2013	NUM
aiti-3953	372	41	.	.	PUNCT
aiti-3953	373	1	[	[	X
aiti-3953	373	2	23	23	NUM
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aiti-3953	373	4	b.	b.	PROPN
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aiti-3953	373	6	,	,	PUNCT
aiti-3953	373	7	m.	m.	NOUN
aiti-3953	373	8	hou	hou	PROPN
aiti-3953	373	9	,	,	PUNCT
aiti-3953	373	10	and	and	CCONJ
aiti-3953	373	11	y.	y.	PROPN
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aiti-3953	373	13	,	,	PUNCT
aiti-3953	373	14	“	"	PUNCT
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aiti-3953	373	17	of	of	ADP
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aiti-3953	373	21	impact	impact	NOUN
aiti-3953	373	22	angle	angle	NOUN
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aiti-3953	373	24	guidance	guidance	NOUN
aiti-3953	373	25	law	law	NOUN
aiti-3953	373	26	for	for	ADP
aiti-3953	373	27	missiles	missile	NOUN
aiti-3953	373	28	with	with	ADP
aiti-3953	373	29	time	time	NOUN
aiti-3953	373	30	-	-	PUNCT
aiti-3953	373	31	varying	vary	VERB
aiti-3953	373	32	velocities	velocity	NOUN
aiti-3953	373	33	,	,	PUNCT
aiti-3953	373	34	”	"	PUNCT
aiti-3953	373	35	ieee	ieee	NOUN
aiti-3953	373	36	access	access	NOUN
aiti-3953	373	37	,	,	PUNCT
aiti-3953	373	38	vol	vol	NOUN
aiti-3953	373	39	.	.	PROPN
aiti-3953	373	40	7	7	NUM
aiti-3953	373	41	,	,	PUNCT
aiti-3953	373	42	pp	pp	ADJ
aiti-3953	373	43	.	.	PUNCT
aiti-3953	374	1	61717	61717	NUM
aiti-3953	374	2	-	-	SYM
aiti-3953	374	3	61727	61727	NUM
aiti-3953	374	4	,	,	PUNCT
aiti-3953	374	5	may	may	AUX
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aiti-3953	374	7	.	.	PUNCT
aiti-3953	375	1	[	[	X
aiti-3953	375	2	24	24	NUM
aiti-3953	375	3	]	]	PUNCT
aiti-3953	375	4	m.	m.	NOUN
aiti-3953	375	5	li	li	PROPN
aiti-3953	375	6	,	,	PUNCT
aiti-3953	375	7	and	and	CCONJ
aiti-3953	375	8	c.	c.	PROPN
aiti-3953	375	9	liu	liu	PROPN
aiti-3953	375	10	,	,	PUNCT
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aiti-3953	375	12	new	new	ADJ
aiti-3953	375	13	second	second	ADJ
aiti-3953	375	14	order	order	NOUN
aiti-3953	375	15	sliding	slide	VERB
aiti-3953	375	16	mode	mode	NOUN
aiti-3953	375	17	control	control	NOUN
aiti-3953	375	18	design	design	NOUN
aiti-3953	375	19	for	for	ADP
aiti-3953	375	20	course	course	NOUN
aiti-3953	375	21	-	-	PUNCT
aiti-3953	375	22	keeping	keep	VERB
aiti-3953	375	23	control	control	NOUN
aiti-3953	375	24	of	of	ADP
aiti-3953	375	25	ship	ship	NOUN
aiti-3953	375	26	with	with	ADP
aiti-3953	375	27	input	input	NOUN
aiti-3953	375	28	saturation	saturation	NOUN
aiti-3953	375	29	,	,	PUNCT
aiti-3953	375	30	”	"	PUNCT
aiti-3953	375	31	proc	proc	NOUN
aiti-3953	375	32	.	.	PUNCT
aiti-3953	376	1	international	international	ADJ
aiti-3953	376	2	conference	conference	NOUN
aiti-3953	376	3	on	on	ADP
aiti-3953	376	4	advanced	advanced	ADJ
aiti-3953	376	5	mechatronic	mechatronic	NOUN
aiti-3953	376	6	systems	system	NOUN
aiti-3953	376	7	,	,	PUNCT
aiti-3953	376	8	xiamen	xiamen	PROPN
aiti-3953	376	9	,	,	PUNCT
aiti-3953	376	10	china	china	PROPN
aiti-3953	376	11	,	,	PUNCT
aiti-3953	376	12	march	march	PROPN
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aiti-3953	376	14	,	,	PUNCT
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aiti-3953	377	1	462	462	NUM
aiti-3953	377	2	-	-	SYM
aiti-3953	377	3	466	466	NUM
aiti-3953	377	4	.	.	PUNCT
aiti-3953	378	1	[	[	X
aiti-3953	378	2	25	25	NUM
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aiti-3953	378	4	p.	p.	PROPN
aiti-3953	378	5	f.	f.	PROPN
aiti-3953	378	6	weston	weston	PROPN
aiti-3953	378	7	and	and	CCONJ
aiti-3953	378	8	i.	i.	PROPN
aiti-3953	378	9	postlethwaite	postlethwaite	PROPN
aiti-3953	378	10	,	,	PUNCT
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aiti-3953	378	12	linear	linear	ADJ
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aiti-3953	378	15	systems	system	NOUN
aiti-3953	378	16	containing	contain	VERB
aiti-3953	378	17	suturing	suture	VERB
aiti-3953	378	18	actuators	actuator	NOUN
aiti-3953	378	19	,	,	PUNCT
aiti-3953	378	20	”	"	PUNCT
aiti-3953	378	21	automatica	automatica	PROPN
aiti-3953	378	22	,	,	PUNCT
aiti-3953	378	23	vol	vol	NOUN
aiti-3953	378	24	.	.	PROPN
aiti-3953	379	1	36	36	NUM
aiti-3953	379	2	,	,	PUNCT
aiti-3953	379	3	no	no	INTJ
aiti-3953	379	4	.	.	NOUN
aiti-3953	379	5	9	9	NUM
aiti-3953	379	6	,	,	PUNCT
aiti-3953	379	7	pp	pp	ADJ
aiti-3953	379	8	.	.	PUNCT
aiti-3953	380	1	1347	1347	NUM
aiti-3953	380	2	-	-	SYM
aiti-3953	380	3	1354	1354	NUM
aiti-3953	380	4	,	,	PUNCT
aiti-3953	380	5	september	september	PROPN
aiti-3953	380	6	2000	2000	NUM
aiti-3953	380	7	.	.	PUNCT
aiti-3953	381	1	[	[	X
aiti-3953	381	2	26	26	NUM
aiti-3953	381	3	]	]	PUNCT
aiti-3953	381	4	m.	m.	NOUN
aiti-3953	381	5	c.	c.	PROPN
aiti-3953	381	6	turner	turner	PROPN
aiti-3953	381	7	,	,	PUNCT
aiti-3953	381	8	g.	g.	PROPN
aiti-3953	381	9	herrmann	herrmann	PROPN
aiti-3953	381	10	,	,	PUNCT
aiti-3953	381	11	and	and	CCONJ
aiti-3953	381	12	i.	i.	PROPN
aiti-3953	381	13	postlethwaite	postlethwaite	PROPN
aiti-3953	381	14	,	,	PUNCT
aiti-3953	381	15	“	"	PUNCT
aiti-3953	381	16	incorporating	incorporate	VERB
aiti-3953	381	17	robustness	robustness	NOUN
aiti-3953	381	18	requirements	requirement	NOUN
aiti-3953	381	19	into	into	ADP
aiti-3953	381	20	antiwindup	antiwindup	PROPN
aiti-3953	381	21	design	design	NOUN
aiti-3953	381	22	,	,	PUNCT
aiti-3953	381	23	”	"	PUNCT
aiti-3953	381	24	ieee	ieee	NOUN
aiti-3953	381	25	transactions	transaction	NOUN
aiti-3953	381	26	on	on	ADP
aiti-3953	381	27	automatic	automatic	ADJ
aiti-3953	381	28	control	control	NOUN
aiti-3953	381	29	,	,	PUNCT
aiti-3953	381	30	vol	vol	NOUN
aiti-3953	381	31	.	.	PROPN
aiti-3953	381	32	52	52	NUM
aiti-3953	381	33	,	,	PUNCT
aiti-3953	381	34	no	no	INTJ
aiti-3953	381	35	.	.	NOUN
aiti-3953	381	36	10	10	NUM
aiti-3953	381	37	,	,	PUNCT
aiti-3953	381	38	pp	pp	ADJ
aiti-3953	381	39	.	.	PUNCT
aiti-3953	381	40	1842	1842	NUM
aiti-3953	381	41	-	-	SYM
aiti-3953	381	42	1855	1855	NUM
aiti-3953	381	43	,	,	PUNCT
aiti-3953	381	44	2007	2007	NUM
aiti-3953	381	45	.	.	PUNCT
aiti-3953	382	1	copyright	copyright	NOUN
aiti-3953	382	2	©	©	PROPN
aiti-3953	382	3	by	by	ADP
aiti-3953	382	4	the	the	DET
aiti-3953	382	5	authors	author	NOUN
aiti-3953	382	6	.	.	PUNCT
aiti-3953	383	1	licensee	licensee	PROPN
aiti-3953	383	2	taeti	taeti	PROPN
aiti-3953	383	3	,	,	PUNCT
aiti-3953	383	4	taiwan	taiwan	PROPN
aiti-3953	383	5	.	.	PUNCT
aiti-3953	384	1	this	this	DET
aiti-3953	384	2	article	article	NOUN
aiti-3953	384	3	is	be	AUX
aiti-3953	384	4	an	an	DET
aiti-3953	384	5	open	open	ADJ
aiti-3953	384	6	access	access	NOUN
aiti-3953	384	7	article	article	NOUN
aiti-3953	384	8	distributed	distribute	VERB
aiti-3953	384	9	under	under	ADP
aiti-3953	384	10	the	the	DET
aiti-3953	384	11	terms	term	NOUN
aiti-3953	384	12	and	and	CCONJ
aiti-3953	384	13	conditions	condition	NOUN
aiti-3953	384	14	of	of	ADP
aiti-3953	384	15	the	the	DET
aiti-3953	384	16	creative	creative	ADJ
aiti-3953	384	17	commons	common	NOUN
aiti-3953	384	18	attribution	attribution	NOUN
aiti-3953	384	19	(	(	PUNCT
aiti-3953	384	20	cc	cc	NOUN
aiti-3953	384	21	by	by	ADP
aiti-3953	384	22	-	-	PUNCT
aiti-3953	384	23	nc	nc	NOUN
aiti-3953	384	24	)	)	PUNCT
aiti-3953	384	25	license	license	NOUN
aiti-3953	384	26	(	(	PUNCT
aiti-3953	384	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-3953	384	28	)	)	PUNCT
aiti-3953	384	29	.	.	PUNCT