id	sid	tid	token	lemma	pos
aiti-4136	1	1	template	template	NOUN
aiti-4136	1	2	encit2010	encit2010	PROPN
aiti-4136	1	3	advances	advance	VERB
aiti-4136	1	4	in	in	ADP
aiti-4136	1	5	technology	technology	NOUN
aiti-4136	1	6	innovation	innovation	NOUN
aiti-4136	1	7	,	,	PUNCT
aiti-4136	1	8	vol	vol	NOUN
aiti-4136	1	9	.	.	PROPN
aiti-4136	1	10	5	5	NUM
aiti-4136	1	11	,	,	PUNCT
aiti-4136	1	12	no	no	INTJ
aiti-4136	1	13	.	.	NOUN
aiti-4136	1	14	2	2	NUM
aiti-4136	1	15	,	,	PUNCT
aiti-4136	1	16	2020	2020	NUM
aiti-4136	1	17	,	,	PUNCT
aiti-4136	1	18	pp	pp	ADV
aiti-4136	1	19	.	.	PUNCT
aiti-4136	2	1	112	112	NUM
aiti-4136	2	2	-	-	SYM
aiti-4136	2	3	125	125	NUM
aiti-4136	2	4	synthesis	synthesis	NOUN
aiti-4136	2	5	of	of	ADP
aiti-4136	2	6	formation	formation	NOUN
aiti-4136	2	7	control	control	NOUN
aiti-4136	2	8	systems	system	NOUN
aiti-4136	2	9	for	for	ADP
aiti-4136	2	10	multi	multi	ADJ
aiti-4136	2	11	-	-	ADJ
aiti-4136	2	12	agent	agent	ADJ
aiti-4136	2	13	systems	system	NOUN
aiti-4136	2	14	under	under	ADP
aiti-4136	2	15	control	control	NOUN
aiti-4136	2	16	gain	gain	NOUN
aiti-4136	2	17	perturbations	perturbation	NOUN
aiti-4136	2	18	kazuki	kazuki	PROPN
aiti-4136	2	19	miyakoshi	miyakoshi	PROPN
aiti-4136	2	20	1	1	NUM
aiti-4136	2	21	,	,	PUNCT
aiti-4136	2	22	*	*	PUNCT
aiti-4136	2	23	,	,	PUNCT
aiti-4136	2	24	shun	shun	PROPN
aiti-4136	2	25	ito	ito	PROPN
aiti-4136	2	26	1	1	NUM
aiti-4136	2	27	,	,	PUNCT
aiti-4136	2	28	hidetoshi	hidetoshi	ADJ
aiti-4136	2	29	oya	oya	ADJ
aiti-4136	2	30	1	1	NUM
aiti-4136	2	31	,	,	PUNCT
aiti-4136	2	32	yoshikatsu	yoshikatsu	PROPN
aiti-4136	2	33	hoshi	hoshi	PROPN
aiti-4136	2	34	1	1	NUM
aiti-4136	2	35	,	,	PUNCT
aiti-4136	2	36	shunya	shunya	NOUN
aiti-4136	2	37	nagai	nagai	PROPN
aiti-4136	2	38	2	2	NUM
aiti-4136	2	39	1	1	NUM
aiti-4136	2	40	graduate	graduate	NOUN
aiti-4136	2	41	school	school	NOUN
aiti-4136	2	42	of	of	ADP
aiti-4136	2	43	integrative	integrative	ADJ
aiti-4136	2	44	science	science	NOUN
aiti-4136	2	45	and	and	CCONJ
aiti-4136	2	46	engineering	engineering	NOUN
aiti-4136	2	47	,	,	PUNCT
aiti-4136	2	48	tokyo	tokyo	PROPN
aiti-4136	2	49	city	city	NOUN
aiti-4136	2	50	university	university	PROPN
aiti-4136	2	51	,	,	PUNCT
aiti-4136	2	52	tokyo	tokyo	PROPN
aiti-4136	2	53	,	,	PUNCT
aiti-4136	2	54	japan	japan	PROPN
aiti-4136	2	55	2	2	NUM
aiti-4136	2	56	department	department	NOUN
aiti-4136	2	57	of	of	ADP
aiti-4136	2	58	information	information	NOUN
aiti-4136	2	59	systems	system	NOUN
aiti-4136	2	60	creation	creation	NOUN
aiti-4136	2	61	,	,	PUNCT
aiti-4136	2	62	kanagawa	kanagawa	PROPN
aiti-4136	2	63	university	university	PROPN
aiti-4136	2	64	,	,	PUNCT
aiti-4136	2	65	kanagawa	kanagawa	PROPN
aiti-4136	2	66	,	,	PUNCT
aiti-4136	2	67	japan	japan	PROPN
aiti-4136	2	68	received	receive	VERB
aiti-4136	2	69	25	25	NUM
aiti-4136	2	70	april	april	PROPN
aiti-4136	2	71	2019	2019	NUM
aiti-4136	2	72	;	;	PUNCT
aiti-4136	2	73	received	receive	VERB
aiti-4136	2	74	in	in	ADP
aiti-4136	2	75	revised	revise	VERB
aiti-4136	2	76	form	form	NOUN
aiti-4136	2	77	28	28	NUM
aiti-4136	2	78	july	july	PROPN
aiti-4136	2	79	2019	2019	NUM
aiti-4136	2	80	;	;	PUNCT
aiti-4136	2	81	accepted	accept	VERB
aiti-4136	2	82	26	26	NUM
aiti-4136	2	83	november	november	PROPN
aiti-4136	2	84	2019	2019	NUM
aiti-4136	2	85	doi	doi	NOUN
aiti-4136	2	86	:	:	PUNCT
aiti-4136	2	87	https://doi.org/10.46604/aiti.2020.4136	https://doi.org/10.46604/aiti.2020.4136	PROPN
aiti-4136	2	88	abstract	abstract	NOUN
aiti-4136	2	89	this	this	DET
aiti-4136	2	90	paper	paper	NOUN
aiti-4136	2	91	proposed	propose	VERB
aiti-4136	2	92	a	a	DET
aiti-4136	2	93	linear	linear	ADJ
aiti-4136	2	94	matrix	matrix	NOUN
aiti-4136	2	95	inequality	inequality	NOUN
aiti-4136	2	96	(	(	PUNCT
aiti-4136	2	97	lmi)-based	lmi)-base	VERB
aiti-4136	2	98	design	design	NOUN
aiti-4136	2	99	method	method	NOUN
aiti-4136	2	100	of	of	ADP
aiti-4136	2	101	non	non	ADJ
aiti-4136	2	102	-	-	ADJ
aiti-4136	2	103	fragile	fragile	ADJ
aiti-4136	2	104	guaranteed	guarantee	VERB
aiti-4136	2	105	cost	cost	NOUN
aiti-4136	2	106	controllers	controller	NOUN
aiti-4136	2	107	for	for	ADP
aiti-4136	2	108	multi	multi	ADJ
aiti-4136	2	109	-	-	ADJ
aiti-4136	2	110	agent	agent	ADJ
aiti-4136	2	111	systems	system	NOUN
aiti-4136	2	112	(	(	PUNCT
aiti-4136	2	113	mass	mass	PROPN
aiti-4136	2	114	)	)	PUNCT
aiti-4136	2	115	with	with	ADP
aiti-4136	2	116	leader	leader	NOUN
aiti-4136	2	117	-	-	PUNCT
aiti-4136	2	118	follower	follower	NOUN
aiti-4136	2	119	structures	structure	NOUN
aiti-4136	2	120	.	.	PUNCT
aiti-4136	3	1	in	in	ADP
aiti-4136	3	2	the	the	DET
aiti-4136	3	3	guaranteed	guarantee	VERB
aiti-4136	3	4	cost	cost	NOUN
aiti-4136	3	5	control	control	NOUN
aiti-4136	3	6	approach	approach	NOUN
aiti-4136	3	7	,	,	PUNCT
aiti-4136	3	8	the	the	DET
aiti-4136	3	9	resultant	resultant	NOUN
aiti-4136	3	10	controller	controller	NOUN
aiti-4136	3	11	guarantees	guarantee	VERB
aiti-4136	3	12	an	an	DET
aiti-4136	3	13	upper	upper	ADJ
aiti-4136	3	14	bound	bind	VERB
aiti-4136	3	15	on	on	ADP
aiti-4136	3	16	the	the	DET
aiti-4136	3	17	given	give	VERB
aiti-4136	3	18	cost	cost	NOUN
aiti-4136	3	19	function	function	NOUN
aiti-4136	3	20	together	together	ADV
aiti-4136	3	21	with	with	ADP
aiti-4136	3	22	asymptotical	asymptotical	ADJ
aiti-4136	3	23	stability	stability	NOUN
aiti-4136	3	24	for	for	ADP
aiti-4136	3	25	the	the	DET
aiti-4136	3	26	closed	closed	ADJ
aiti-4136	3	27	-	-	PUNCT
aiti-4136	3	28	loop	loop	NOUN
aiti-4136	3	29	system	system	NOUN
aiti-4136	3	30	.	.	PUNCT
aiti-4136	4	1	the	the	DET
aiti-4136	4	2	proposed	propose	VERB
aiti-4136	4	3	non	non	ADJ
aiti-4136	4	4	-	-	ADJ
aiti-4136	4	5	fragile	fragile	ADJ
aiti-4136	4	6	guaranteed	guarantee	VERB
aiti-4136	4	7	cost	cost	NOUN
aiti-4136	4	8	control	control	NOUN
aiti-4136	4	9	system	system	NOUN
aiti-4136	4	10	can	can	AUX
aiti-4136	4	11	achieve	achieve	VERB
aiti-4136	4	12	consensus	consensus	NOUN
aiti-4136	4	13	for	for	ADP
aiti-4136	4	14	mass	mass	NOUN
aiti-4136	4	15	despite	despite	SCONJ
aiti-4136	4	16	control	control	NOUN
aiti-4136	4	17	gain	gain	NOUN
aiti-4136	4	18	perturbations	perturbation	NOUN
aiti-4136	4	19	.	.	PUNCT
aiti-4136	5	1	the	the	DET
aiti-4136	5	2	goal	goal	NOUN
aiti-4136	5	3	is	be	AUX
aiti-4136	5	4	to	to	PART
aiti-4136	5	5	develop	develop	VERB
aiti-4136	5	6	an	an	DET
aiti-4136	5	7	lmi	lmi	PROPN
aiti-4136	5	8	-	-	PUNCT
aiti-4136	5	9	based	base	VERB
aiti-4136	5	10	sufficient	sufficient	ADJ
aiti-4136	5	11	condition	condition	NOUN
aiti-4136	5	12	for	for	ADP
aiti-4136	5	13	the	the	DET
aiti-4136	5	14	existence	existence	NOUN
aiti-4136	5	15	of	of	ADP
aiti-4136	5	16	the	the	DET
aiti-4136	5	17	proposed	propose	VERB
aiti-4136	5	18	non	non	ADJ
aiti-4136	5	19	-	-	ADJ
aiti-4136	5	20	fragile	fragile	ADJ
aiti-4136	5	21	guaranteed	guarantee	VERB
aiti-4136	5	22	cost	cost	NOUN
aiti-4136	5	23	controller	controller	NOUN
aiti-4136	5	24	.	.	PUNCT
aiti-4136	6	1	moreover	moreover	ADV
aiti-4136	6	2	,	,	PUNCT
aiti-4136	6	3	a	a	DET
aiti-4136	6	4	design	design	NOUN
aiti-4136	6	5	problem	problem	NOUN
aiti-4136	6	6	of	of	ADP
aiti-4136	6	7	an	an	DET
aiti-4136	6	8	optimal	optimal	ADJ
aiti-4136	6	9	non	non	ADJ
aiti-4136	6	10	-	-	ADJ
aiti-4136	6	11	fragile	fragile	ADJ
aiti-4136	6	12	guaranteed	guarantee	VERB
aiti-4136	6	13	cost	cost	NOUN
aiti-4136	6	14	controller	controller	NOUN
aiti-4136	6	15	showe	showe	NOUN
aiti-4136	6	16	that	that	SCONJ
aiti-4136	6	17	minimizing	minimize	VERB
aiti-4136	6	18	an	an	DET
aiti-4136	6	19	upper	upper	ADJ
aiti-4136	6	20	bound	bind	VERB
aiti-4136	6	21	on	on	ADP
aiti-4136	6	22	the	the	DET
aiti-4136	6	23	given	give	VERB
aiti-4136	6	24	quadratic	quadratic	ADJ
aiti-4136	6	25	cost	cost	NOUN
aiti-4136	6	26	function	function	NOUN
aiti-4136	6	27	can	can	AUX
aiti-4136	6	28	be	be	AUX
aiti-4136	6	29	reduced	reduce	VERB
aiti-4136	6	30	to	to	PART
aiti-4136	6	31	constrain	constrain	VERB
aiti-4136	6	32	a	a	DET
aiti-4136	6	33	convex	convex	ADJ
aiti-4136	6	34	optimization	optimization	NOUN
aiti-4136	6	35	problem	problem	NOUN
aiti-4136	6	36	.	.	PUNCT
aiti-4136	7	1	finally	finally	ADV
aiti-4136	7	2	,	,	PUNCT
aiti-4136	7	3	numerical	numerical	ADJ
aiti-4136	7	4	examples	example	NOUN
aiti-4136	7	5	were	be	AUX
aiti-4136	7	6	given	give	VERB
aiti-4136	7	7	to	to	PART
aiti-4136	7	8	illustrate	illustrate	VERB
aiti-4136	7	9	the	the	DET
aiti-4136	7	10	effectiveness	effectiveness	NOUN
aiti-4136	7	11	of	of	ADP
aiti-4136	7	12	the	the	DET
aiti-4136	7	13	proposed	propose	VERB
aiti-4136	7	14	non	non	ADJ
aiti-4136	7	15	-	-	ADJ
aiti-4136	7	16	fragile	fragile	ADJ
aiti-4136	7	17	controller	controller	NOUN
aiti-4136	7	18	for	for	ADP
aiti-4136	7	19	mass	mass	NOUN
aiti-4136	7	20	.	.	PUNCT
aiti-4136	8	1	keywords	keyword	NOUN
aiti-4136	8	2	:	:	PUNCT
aiti-4136	8	3	multi	multi	ADJ
aiti-4136	8	4	-	-	ADJ
aiti-4136	8	5	agent	agent	ADJ
aiti-4136	8	6	systems	system	NOUN
aiti-4136	8	7	(	(	PUNCT
aiti-4136	8	8	mass	mass	PROPN
aiti-4136	8	9	)	)	PUNCT
aiti-4136	8	10	,	,	PUNCT
aiti-4136	8	11	consensus	consensus	NOUN
aiti-4136	8	12	,	,	PUNCT
aiti-4136	8	13	control	control	NOUN
aiti-4136	8	14	gain	gain	NOUN
aiti-4136	8	15	perturbations	perturbation	NOUN
aiti-4136	8	16	,	,	PUNCT
aiti-4136	8	17	guaranteed	guarantee	VERB
aiti-4136	8	18	cost	cost	NOUN
aiti-4136	8	19	control	control	NOUN
aiti-4136	8	20	,	,	PUNCT
aiti-4136	8	21	lmis	lmis	ADJ
aiti-4136	8	22	1	1	NUM
aiti-4136	8	23	.	.	PUNCT
aiti-4136	9	1	introduction	introduction	NOUN
aiti-4136	9	2	the	the	DET
aiti-4136	9	3	robustness	robustness	NOUN
aiti-4136	9	4	of	of	ADP
aiti-4136	9	5	control	control	NOUN
aiti-4136	9	6	systems	system	NOUN
aiti-4136	9	7	is	be	AUX
aiti-4136	9	8	an	an	DET
aiti-4136	9	9	important	important	ADJ
aiti-4136	9	10	property	property	NOUN
aiti-4136	9	11	,	,	PUNCT
aiti-4136	9	12	and	and	CCONJ
aiti-4136	9	13	thus	thus	ADV
aiti-4136	9	14	“	"	PUNCT
aiti-4136	9	15	robust	robust	ADJ
aiti-4136	9	16	stability	stability	NOUN
aiti-4136	9	17	analysis	analysis	NOUN
aiti-4136	9	18	”	"	PUNCT
aiti-4136	9	19	and	and	CCONJ
aiti-4136	9	20	“	"	PUNCT
aiti-4136	9	21	robust	robust	ADJ
aiti-4136	9	22	stabilization	stabilization	NOUN
aiti-4136	9	23	problems	problem	NOUN
aiti-4136	9	24	”	"	PUNCT
aiti-4136	9	25	have	have	AUX
aiti-4136	9	26	been	be	AUX
aiti-4136	9	27	well	well	ADV
aiti-4136	9	28	studied	study	VERB
aiti-4136	9	29	for	for	ADP
aiti-4136	9	30	a	a	DET
aiti-4136	9	31	long	long	ADJ
aiti-4136	9	32	time	time	NOUN
aiti-4136	10	1	[	[	X
aiti-4136	10	2	1	1	NUM
aiti-4136	10	3	-	-	SYM
aiti-4136	10	4	2	2	NUM
aiti-4136	10	5	]	]	PUNCT
aiti-4136	10	6	.	.	PUNCT
aiti-4136	11	1	especially	especially	ADV
aiti-4136	11	2	,	,	PUNCT
aiti-4136	11	3	quadratic	quadratic	ADJ
aiti-4136	11	4	stabilizing	stabilizing	NOUN
aiti-4136	11	5	controllers	controller	NOUN
aiti-4136	11	6	and	and	CCONJ
aiti-4136	11	7	control	control	NOUN
aiti-4136	11	8	are	be	AUX
aiti-4136	11	9	typical	typical	ADJ
aiti-4136	11	10	robust	robust	ADJ
aiti-4136	11	11	control	control	NOUN
aiti-4136	11	12	strategies	strategy	NOUN
aiti-4136	11	13	[	[	X
aiti-4136	11	14	3	3	NUM
aiti-4136	11	15	-	-	SYM
aiti-4136	11	16	5	5	NUM
aiti-4136	11	17	]	]	PUNCT
aiti-4136	11	18	.	.	PUNCT
aiti-4136	12	1	furthermore	furthermore	ADV
aiti-4136	12	2	,	,	PUNCT
aiti-4136	12	3	for	for	ADP
aiti-4136	12	4	practical	practical	ADJ
aiti-4136	12	5	situations	situation	NOUN
aiti-4136	12	6	,	,	PUNCT
aiti-4136	12	7	it	it	PRON
aiti-4136	12	8	is	be	AUX
aiti-4136	12	9	desirable	desirable	ADJ
aiti-4136	12	10	to	to	PART
aiti-4136	12	11	design	design	VERB
aiti-4136	12	12	control	control	NOUN
aiti-4136	12	13	systems	system	NOUN
aiti-4136	12	14	that	that	PRON
aiti-4136	12	15	achieve	achieve	VERB
aiti-4136	12	16	not	not	PART
aiti-4136	12	17	only	only	ADV
aiti-4136	12	18	asymptotical	asymptotical	ADJ
aiti-4136	12	19	stability	stability	NOUN
aiti-4136	12	20	but	but	CCONJ
aiti-4136	12	21	also	also	ADV
aiti-4136	12	22	an	an	DET
aiti-4136	12	23	adequate	adequate	ADJ
aiti-4136	12	24	level	level	NOUN
aiti-4136	12	25	of	of	ADP
aiti-4136	12	26	control	control	NOUN
aiti-4136	12	27	performance	performance	NOUN
aiti-4136	12	28	.	.	PUNCT
aiti-4136	13	1	one	one	NUM
aiti-4136	13	2	approach	approach	NOUN
aiti-4136	13	3	to	to	ADP
aiti-4136	13	4	this	this	DET
aiti-4136	13	5	problem	problem	NOUN
aiti-4136	13	6	is	be	AUX
aiti-4136	13	7	“	"	PUNCT
aiti-4136	13	8	the	the	DET
aiti-4136	13	9	guaranteed	guarantee	VERB
aiti-4136	13	10	cost	cost	NOUN
aiti-4136	13	11	control	control	NOUN
aiti-4136	13	12	”	"	PUNCT
aiti-4136	13	13	,	,	PUNCT
aiti-4136	13	14	and	and	CCONJ
aiti-4136	13	15	was	be	AUX
aiti-4136	13	16	introduced	introduce	VERB
aiti-4136	13	17	by	by	ADP
aiti-4136	13	18	chang	chang	PROPN
aiti-4136	13	19	and	and	CCONJ
aiti-4136	13	20	peng	peng	PROPN
aiti-4136	14	1	[	[	X
aiti-4136	14	2	6	6	NUM
aiti-4136	14	3	]	]	PUNCT
aiti-4136	14	4	.	.	PUNCT
aiti-4136	15	1	in	in	ADP
aiti-4136	15	2	the	the	DET
aiti-4136	15	3	guaranteed	guarantee	VERB
aiti-4136	15	4	cost	cost	NOUN
aiti-4136	15	5	control	control	NOUN
aiti-4136	15	6	approach	approach	NOUN
aiti-4136	15	7	,	,	PUNCT
aiti-4136	15	8	a	a	DET
aiti-4136	15	9	cost	cost	NOUN
aiti-4136	15	10	function	function	NOUN
aiti-4136	15	11	corresponding	correspond	VERB
aiti-4136	15	12	to	to	PART
aiti-4136	15	13	control	control	VERB
aiti-4136	15	14	performance	performance	NOUN
aiti-4136	15	15	introduced	introduce	VERB
aiti-4136	15	16	,	,	PUNCT
aiti-4136	15	17	and	and	CCONJ
aiti-4136	15	18	the	the	DET
aiti-4136	15	19	resultant	resultant	NOUN
aiti-4136	15	20	controller	controller	NOUN
aiti-4136	15	21	has	have	VERB
aiti-4136	15	22	the	the	DET
aiti-4136	15	23	advantage	advantage	NOUN
aiti-4136	15	24	of	of	ADP
aiti-4136	15	25	providing	provide	VERB
aiti-4136	15	26	an	an	DET
aiti-4136	15	27	upper	upper	ADJ
aiti-4136	15	28	bound	bind	VERB
aiti-4136	15	29	on	on	ADP
aiti-4136	15	30	the	the	DET
aiti-4136	15	31	given	give	VERB
aiti-4136	15	32	cost	cost	NOUN
aiti-4136	15	33	function	function	NOUN
aiti-4136	15	34	.	.	PUNCT
aiti-4136	16	1	namely	namely	ADV
aiti-4136	16	2	,	,	PUNCT
aiti-4136	16	3	the	the	DET
aiti-4136	16	4	system	system	NOUN
aiti-4136	16	5	performance	performance	NOUN
aiti-4136	16	6	degradation	degradation	NOUN
aiti-4136	16	7	incurred	incur	VERB
aiti-4136	16	8	by	by	ADP
aiti-4136	16	9	the	the	DET
aiti-4136	16	10	uncertainties	uncertainty	NOUN
aiti-4136	16	11	is	be	AUX
aiti-4136	16	12	guaranteed	guarantee	VERB
aiti-4136	16	13	to	to	PART
aiti-4136	16	14	be	be	AUX
aiti-4136	16	15	less	less	ADJ
aiti-4136	16	16	than	than	ADP
aiti-4136	16	17	this	this	DET
aiti-4136	16	18	bound	bind	VERB
aiti-4136	16	19	.	.	PUNCT
aiti-4136	17	1	based	base	VERB
aiti-4136	17	2	on	on	ADP
aiti-4136	17	3	this	this	DET
aiti-4136	17	4	idea	idea	NOUN
aiti-4136	17	5	,	,	PUNCT
aiti-4136	17	6	many	many	ADJ
aiti-4136	17	7	significant	significant	ADJ
aiti-4136	17	8	results	result	NOUN
aiti-4136	17	9	have	have	AUX
aiti-4136	17	10	been	be	AUX
aiti-4136	17	11	presented	present	VERB
aiti-4136	17	12	[	[	PUNCT
aiti-4136	17	13	7	7	NUM
aiti-4136	17	14	-	-	SYM
aiti-4136	17	15	9	9	NUM
aiti-4136	17	16	]	]	PUNCT
aiti-4136	17	17	.	.	PUNCT
aiti-4136	18	1	in	in	ADP
aiti-4136	18	2	the	the	DET
aiti-4136	18	3	work	work	NOUN
aiti-4136	18	4	of	of	ADP
aiti-4136	18	5	petersen	petersen	PROPN
aiti-4136	18	6	and	and	CCONJ
aiti-4136	18	7	mcfarlane	mcfarlane	PROPN
aiti-4136	18	8	[	[	X
aiti-4136	18	9	7	7	NUM
aiti-4136	18	10	]	]	PUNCT
aiti-4136	18	11	,	,	PUNCT
aiti-4136	18	12	the	the	DET
aiti-4136	18	13	parameter	parameter	NOUN
aiti-4136	18	14	-	-	PUNCT
aiti-4136	18	15	dependent	dependent	ADJ
aiti-4136	18	16	riccati	riccati	NOUN
aiti-4136	18	17	equation	equation	NOUN
aiti-4136	18	18	approach	approach	NOUN
aiti-4136	18	19	adopted	adopt	VERB
aiti-4136	18	20	,	,	PUNCT
aiti-4136	18	21	and	and	CCONJ
aiti-4136	18	22	yu	yu	PROPN
aiti-4136	18	23	and	and	CCONJ
aiti-4136	18	24	chu	chu	PROPN
aiti-4136	18	25	have	have	AUX
aiti-4136	18	26	proposed	propose	VERB
aiti-4136	18	27	a	a	DET
aiti-4136	18	28	guaranteed	guarantee	VERB
aiti-4136	18	29	cost	cost	NOUN
aiti-4136	18	30	controller	controller	NOUN
aiti-4136	18	31	design	design	NOUN
aiti-4136	18	32	method	method	NOUN
aiti-4136	18	33	based	base	VERB
aiti-4136	18	34	on	on	ADP
aiti-4136	18	35	linear	linear	ADJ
aiti-4136	18	36	matrix	matrix	NOUN
aiti-4136	18	37	inequalities	inequality	NOUN
aiti-4136	18	38	(	(	PUNCT
aiti-4136	18	39	lmis	lmis	ADJ
aiti-4136	18	40	)	)	PUNCT
aiti-4136	19	1	[	[	X
aiti-4136	19	2	8	8	NUM
aiti-4136	19	3	-	-	SYM
aiti-4136	19	4	9	9	NUM
aiti-4136	19	5	]	]	PUNCT
aiti-4136	19	6	.	.	PUNCT
aiti-4136	20	1	on	on	ADP
aiti-4136	20	2	the	the	DET
aiti-4136	20	3	other	other	ADJ
aiti-4136	20	4	hand	hand	NOUN
aiti-4136	20	5	,	,	PUNCT
aiti-4136	20	6	it	it	PRON
aiti-4136	20	7	is	be	AUX
aiti-4136	20	8	generally	generally	ADV
aiti-4136	20	9	known	know	VERB
aiti-4136	20	10	that	that	SCONJ
aiti-4136	20	11	feedback	feedback	NOUN
aiti-4136	20	12	systems	system	NOUN
aiti-4136	20	13	designed	design	VERB
aiti-4136	20	14	for	for	ADP
aiti-4136	20	15	robustness	robustness	NOUN
aiti-4136	20	16	concerning	concern	VERB
aiti-4136	20	17	parameters	parameter	NOUN
aiti-4136	20	18	in	in	ADP
aiti-4136	20	19	the	the	DET
aiti-4136	20	20	controlled	control	VERB
aiti-4136	20	21	system	system	NOUN
aiti-4136	20	22	may	may	AUX
aiti-4136	20	23	require	require	VERB
aiti-4136	20	24	very	very	ADV
aiti-4136	20	25	accurate	accurate	ADJ
aiti-4136	20	26	controllers	controller	NOUN
aiti-4136	20	27	.	.	PUNCT
aiti-4136	21	1	however	however	ADV
aiti-4136	21	2	,	,	PUNCT
aiti-4136	21	3	uncertainties	uncertainty	NOUN
aiti-4136	21	4	in	in	ADP
aiti-4136	21	5	controllers	controller	NOUN
aiti-4136	21	6	may	may	AUX
aiti-4136	21	7	appear	appear	VERB
aiti-4136	21	8	for	for	ADP
aiti-4136	21	9	imprecision	imprecision	NOUN
aiti-4136	21	10	inherent	inherent	ADJ
aiti-4136	21	11	in	in	ADP
aiti-4136	21	12	conversion	conversion	NOUN
aiti-4136	21	13	and	and	CCONJ
aiti-4136	21	14	roundoff	roundoff	VERB
aiti-4136	21	15	errors	error	NOUN
aiti-4136	21	16	in	in	ADP
aiti-4136	21	17	numerical	numerical	ADJ
aiti-4136	21	18	computations	computation	NOUN
aiti-4136	21	19	.	.	PUNCT
aiti-4136	22	1	furthermore	furthermore	ADV
aiti-4136	22	2	,	,	PUNCT
aiti-4136	22	3	it	it	PRON
aiti-4136	22	4	has	have	AUX
aiti-4136	22	5	pointed	point	VERB
aiti-4136	22	6	out	out	ADP
aiti-4136	22	7	that	that	SCONJ
aiti-4136	22	8	any	any	DET
aiti-4136	22	9	useful	useful	ADJ
aiti-4136	22	10	design	design	NOUN
aiti-4136	22	11	strategy	strategy	NOUN
aiti-4136	22	12	should	should	AUX
aiti-4136	22	13	generate	generate	VERB
aiti-4136	22	14	a	a	DET
aiti-4136	22	15	controller	controller	NOUN
aiti-4136	22	16	which	which	PRON
aiti-4136	22	17	also	also	ADV
aiti-4136	22	18	has	have	VERB
aiti-4136	22	19	a	a	DET
aiti-4136	22	20	sufficient	sufficient	ADJ
aiti-4136	22	21	margin	margin	NOUN
aiti-4136	22	22	for	for	ADP
aiti-4136	22	23	the	the	DET
aiti-4136	22	24	readjustment	readjustment	NOUN
aiti-4136	22	25	of	of	ADP
aiti-4136	22	26	its	its	PRON
aiti-4136	22	27	coefficients	coefficient	NOUN
aiti-4136	23	1	[	[	X
aiti-4136	23	2	10	10	NUM
aiti-4136	23	3	-	-	SYM
aiti-4136	23	4	11	11	NUM
aiti-4136	23	5	]	]	PUNCT
aiti-4136	23	6	.	.	PUNCT
aiti-4136	24	1	in	in	ADP
aiti-4136	24	2	particular	particular	ADJ
aiti-4136	24	3	,	,	PUNCT
aiti-4136	24	4	keel	keel	NOUN
aiti-4136	24	5	and	and	CCONJ
aiti-4136	24	6	bhattacharyya	bhattacharyya	ADJ
aiti-4136	24	7	[	[	X
aiti-4136	24	8	10	10	NUM
aiti-4136	24	9	]	]	PUNCT
aiti-4136	24	10	showed	show	VERB
aiti-4136	24	11	some	some	DET
aiti-4136	24	12	examples	example	NOUN
aiti-4136	24	13	that	that	SCONJ
aiti-4136	24	14	optimum	optimum	ADJ
aiti-4136	24	15	and	and	CCONJ
aiti-4136	24	16	robust	robust	ADJ
aiti-4136	24	17	controllers	controller	NOUN
aiti-4136	24	18	can	can	AUX
aiti-4136	24	19	produce	produce	VERB
aiti-4136	24	20	extremely	extremely	ADV
aiti-4136	24	21	fragile	fragile	ADJ
aiti-4136	24	22	controllers	controller	NOUN
aiti-4136	24	23	,	,	PUNCT
aiti-4136	24	24	concerning	concern	VERB
aiti-4136	24	25	vanishingly	vanishingly	ADV
aiti-4136	24	26	small	small	ADJ
aiti-4136	24	27	perturbations	perturbation	NOUN
aiti-4136	24	28	for	for	ADP
aiti-4136	24	29	parameters	parameter	NOUN
aiti-4136	24	30	of	of	ADP
aiti-4136	24	31	the	the	DET
aiti-4136	24	32	designed	design	VERB
aiti-4136	24	33	controller	controller	NOUN
aiti-4136	24	34	.	.	PUNCT
aiti-4136	25	1	namely	namely	ADV
aiti-4136	25	2	,	,	PUNCT
aiti-4136	25	3	any	any	DET
aiti-4136	25	4	useful	useful	ADJ
aiti-4136	25	5	design	design	NOUN
aiti-4136	25	6	procedure	procedure	NOUN
aiti-4136	25	7	should	should	AUX
aiti-4136	25	8	generate	generate	VERB
aiti-4136	25	9	a	a	DET
aiti-4136	25	10	controller	controller	NOUN
aiti-4136	25	11	which	which	PRON
aiti-4136	25	12	also	also	ADV
aiti-4136	25	13	has	have	VERB
aiti-4136	25	14	sufficient	sufficient	ADJ
aiti-4136	25	15	room	room	NOUN
aiti-4136	25	16	for	for	ADP
aiti-4136	25	17	the	the	DET
aiti-4136	25	18	readjustment	readjustment	NOUN
aiti-4136	25	19	of	of	ADP
aiti-4136	25	20	its	its	PRON
aiti-4136	25	21	coefficients	coefficient	NOUN
aiti-4136	25	22	because	because	SCONJ
aiti-4136	25	23	*	*	PUNCT
aiti-4136	25	24	corresponding	correspond	VERB
aiti-4136	25	25	author	author	NOUN
aiti-4136	25	26	.	.	PUNCT
aiti-4136	26	1	e	e	X
aiti-4136	26	2	-	-	NOUN
aiti-4136	26	3	mail	mail	NOUN
aiti-4136	26	4	address	address	NOUN
aiti-4136	26	5	:	:	PUNCT
aiti-4136	26	6	g1881842@tcu.ac.jp	g1881842@tcu.ac.jp	NOUN
aiti-4136	26	7	advances	advance	NOUN
aiti-4136	26	8	in	in	ADP
aiti-4136	26	9	technology	technology	NOUN
aiti-4136	26	10	innovation	innovation	NOUN
aiti-4136	26	11	,	,	PUNCT
aiti-4136	26	12	vol	vol	NOUN
aiti-4136	26	13	.	.	PROPN
aiti-4136	27	1	5	5	NUM
aiti-4136	27	2	,	,	PUNCT
aiti-4136	27	3	no	no	INTJ
aiti-4136	27	4	.	.	NOUN
aiti-4136	27	5	2	2	NUM
aiti-4136	27	6	,	,	PUNCT
aiti-4136	27	7	2020	2020	NUM
aiti-4136	27	8	,	,	PUNCT
aiti-4136	27	9	pp	pp	ADV
aiti-4136	27	10	.	.	PUNCT
aiti-4136	28	1	112	112	NUM
aiti-4136	28	2	-	-	SYM
aiti-4136	28	3	125	125	NUM
aiti-4136	28	4	113	113	NUM
aiti-4136	28	5	controller	controller	NOUN
aiti-4136	28	6	implementation	implementation	NOUN
aiti-4136	28	7	is	be	AUX
aiti-4136	28	8	subject	subject	ADJ
aiti-4136	28	9	to	to	ADP
aiti-4136	28	10	imprecision	imprecision	NOUN
aiti-4136	28	11	inherent	inherent	ADJ
aiti-4136	28	12	in	in	ADP
aiti-4136	28	13	analog	analog	NOUN
aiti-4136	28	14	-	-	PUNCT
aiti-4136	28	15	digital	digital	ADJ
aiti-4136	28	16	and	and	CCONJ
aiti-4136	28	17	digital	digital	ADJ
aiti-4136	28	18	-	-	PUNCT
aiti-4136	28	19	analog	analog	NOUN
aiti-4136	28	20	conversion	conversion	NOUN
aiti-4136	28	21	.	.	PUNCT
aiti-4136	29	1	finite	finite	PROPN
aiti-4136	29	2	word	word	NOUN
aiti-4136	29	3	length	length	NOUN
aiti-4136	29	4	and	and	CCONJ
aiti-4136	29	5	finite	finite	ADJ
aiti-4136	29	6	resolution	resolution	NOUN
aiti-4136	29	7	measuring	measure	VERB
aiti-4136	29	8	instruments	instrument	NOUN
aiti-4136	29	9	and	and	CCONJ
aiti-4136	29	10	roundoff	roundoff	VERB
aiti-4136	29	11	errors	error	NOUN
aiti-4136	29	12	in	in	ADP
aiti-4136	29	13	numerical	numerical	ADJ
aiti-4136	29	14	computations	computation	NOUN
aiti-4136	29	15	.	.	PUNCT
aiti-4136	30	1	from	from	ADP
aiti-4136	30	2	this	this	DET
aiti-4136	30	3	viewpoint	viewpoint	NOUN
aiti-4136	30	4	,	,	PUNCT
aiti-4136	30	5	there	there	PRON
aiti-4136	30	6	are	be	VERB
aiti-4136	30	7	some	some	DET
aiti-4136	30	8	efforts	effort	NOUN
aiti-4136	30	9	to	to	PART
aiti-4136	30	10	tackle	tackle	VERB
aiti-4136	30	11	the	the	DET
aiti-4136	30	12	design	design	NOUN
aiti-4136	30	13	problem	problem	NOUN
aiti-4136	30	14	of	of	ADP
aiti-4136	30	15	robust	robust	ADJ
aiti-4136	30	16	non	non	ADJ
aiti-4136	30	17	-	-	ADJ
aiti-4136	30	18	fragile	fragile	ADJ
aiti-4136	30	19	controllers	controller	NOUN
aiti-4136	30	20	[	[	X
aiti-4136	30	21	12	12	NUM
aiti-4136	30	22	-	-	SYM
aiti-4136	30	23	14	14	NUM
aiti-4136	30	24	]	]	PUNCT
aiti-4136	30	25	.	.	PUNCT
aiti-4136	31	1	famularo	famularo	NOUN
aiti-4136	31	2	et	et	PROPN
aiti-4136	31	3	al	al	PROPN
aiti-4136	31	4	.	.	PROPN
aiti-4136	31	5	had	have	AUX
aiti-4136	31	6	shown	show	VERB
aiti-4136	31	7	a	a	DET
aiti-4136	31	8	design	design	NOUN
aiti-4136	31	9	method	method	NOUN
aiti-4136	31	10	of	of	ADP
aiti-4136	31	11	a	a	DET
aiti-4136	31	12	robust	robust	ADJ
aiti-4136	31	13	non	non	ADJ
aiti-4136	31	14	-	-	ADJ
aiti-4136	31	15	fragile	fragile	ADJ
aiti-4136	31	16	lq	lq	NOUN
aiti-4136	31	17	controller	controller	NOUN
aiti-4136	31	18	for	for	ADP
aiti-4136	31	19	linear	linear	PROPN
aiti-4136	31	20	systems	system	NOUN
aiti-4136	31	21	with	with	ADP
aiti-4136	31	22	structured	structured	ADJ
aiti-4136	31	23	uncertainties	uncertainty	NOUN
aiti-4136	31	24	in	in	ADP
aiti-4136	31	25	the	the	DET
aiti-4136	31	26	system	system	NOUN
aiti-4136	31	27	matrix	matrix	NOUN
aiti-4136	31	28	[	[	X
aiti-4136	31	29	12	12	NUM
aiti-4136	31	30	]	]	PUNCT
aiti-4136	31	31	.	.	PUNCT
aiti-4136	32	1	additionally	additionally	ADV
aiti-4136	32	2	,	,	PUNCT
aiti-4136	32	3	an	an	DET
aiti-4136	32	4	lmi	lmi	PROPN
aiti-4136	32	5	-	-	PUNCT
aiti-4136	32	6	based	base	VERB
aiti-4136	32	7	design	design	NOUN
aiti-4136	32	8	method	method	NOUN
aiti-4136	32	9	of	of	ADP
aiti-4136	32	10	the	the	DET
aiti-4136	32	11	decentralized	decentralize	VERB
aiti-4136	32	12	guaranteed	guarantee	VERB
aiti-4136	32	13	cost	cost	NOUN
aiti-4136	32	14	controller	controller	NOUN
aiti-4136	32	15	for	for	ADP
aiti-4136	32	16	uncertain	uncertain	ADJ
aiti-4136	32	17	large	large	ADJ
aiti-4136	32	18	-	-	PUNCT
aiti-4136	32	19	scale	scale	NOUN
aiti-4136	32	20	interconnected	interconnect	VERB
aiti-4136	32	21	systems	system	NOUN
aiti-4136	32	22	has	have	AUX
aiti-4136	32	23	been	be	AUX
aiti-4136	32	24	presented	present	VERB
aiti-4136	32	25	[	[	PUNCT
aiti-4136	32	26	13	13	NUM
aiti-4136	32	27	]	]	PUNCT
aiti-4136	32	28	.	.	PUNCT
aiti-4136	33	1	in	in	ADP
aiti-4136	33	2	the	the	DET
aiti-4136	33	3	work	work	NOUN
aiti-4136	33	4	of	of	ADP
aiti-4136	33	5	oya	oya	PROPN
aiti-4136	33	6	et	et	PROPN
aiti-4136	33	7	al	al	PROPN
aiti-4136	33	8	.	.	PUNCT
aiti-4136	34	1	[	[	X
aiti-4136	34	2	14	14	NUM
aiti-4136	34	3	]	]	PUNCT
aiti-4136	34	4	,	,	PUNCT
aiti-4136	34	5	for	for	ADP
aiti-4136	34	6	linear	linear	ADJ
aiti-4136	34	7	continuous	continuous	ADJ
aiti-4136	34	8	-	-	PUNCT
aiti-4136	34	9	time	time	NOUN
aiti-4136	34	10	systems	system	NOUN
aiti-4136	34	11	with	with	ADP
aiti-4136	34	12	structured	structured	ADJ
aiti-4136	34	13	uncertainties	uncertainty	NOUN
aiti-4136	34	14	included	include	VERB
aiti-4136	34	15	in	in	ADP
aiti-4136	34	16	the	the	DET
aiti-4136	34	17	system	system	NOUN
aiti-4136	34	18	matrix	matrix	NOUN
aiti-4136	34	19	and	and	CCONJ
aiti-4136	34	20	the	the	DET
aiti-4136	34	21	input	input	NOUN
aiti-4136	34	22	under	under	ADP
aiti-4136	34	23	multiplicative	multiplicative	ADJ
aiti-4136	34	24	or	or	CCONJ
aiti-4136	34	25	additive	additive	ADJ
aiti-4136	34	26	control	control	NOUN
aiti-4136	34	27	gain	gain	NOUN
aiti-4136	34	28	variations	variation	NOUN
aiti-4136	34	29	,	,	PUNCT
aiti-4136	34	30	an	an	DET
aiti-4136	34	31	lmi	lmi	PROPN
aiti-4136	34	32	-	-	PUNCT
aiti-4136	34	33	based	base	VERB
aiti-4136	34	34	design	design	NOUN
aiti-4136	34	35	method	method	NOUN
aiti-4136	34	36	of	of	ADP
aiti-4136	34	37	a	a	DET
aiti-4136	34	38	robust	robust	ADJ
aiti-4136	34	39	non	non	ADJ
aiti-4136	34	40	-	-	ADJ
aiti-4136	34	41	fragile	fragile	ADJ
aiti-4136	34	42	stabilizing	stabilizing	NOUN
aiti-4136	34	43	controller	controller	NOUN
aiti-4136	34	44	has	have	AUX
aiti-4136	34	45	been	be	AUX
aiti-4136	34	46	proposed	propose	VERB
aiti-4136	34	47	.	.	PUNCT
aiti-4136	35	1	by	by	ADP
aiti-4136	35	2	the	the	DET
aiti-4136	35	3	way	way	NOUN
aiti-4136	35	4	,	,	PUNCT
aiti-4136	35	5	with	with	ADP
aiti-4136	35	6	rapid	rapid	ADJ
aiti-4136	35	7	technological	technological	ADJ
aiti-4136	35	8	development	development	NOUN
aiti-4136	35	9	,	,	PUNCT
aiti-4136	35	10	controlled	control	VERB
aiti-4136	35	11	systems	system	NOUN
aiti-4136	35	12	become	become	VERB
aiti-4136	35	13	large	large	ADJ
aiti-4136	35	14	-	-	PUNCT
aiti-4136	35	15	scale	scale	NOUN
aiti-4136	35	16	and	and	CCONJ
aiti-4136	35	17	complex	complex	NOUN
aiti-4136	35	18	.	.	PUNCT
aiti-4136	36	1	one	one	PRON
aiti-4136	36	2	can	can	AUX
aiti-4136	36	3	see	see	VERB
aiti-4136	36	4	that	that	SCONJ
aiti-4136	36	5	systems	system	NOUN
aiti-4136	36	6	are	be	AUX
aiti-4136	36	7	referred	refer	VERB
aiti-4136	36	8	to	to	ADP
aiti-4136	36	9	as	as	ADP
aiti-4136	36	10	“	"	PUNCT
aiti-4136	36	11	large	large	ADJ
aiti-4136	36	12	-	-	PUNCT
aiti-4136	36	13	scale	scale	NOUN
aiti-4136	36	14	interconnected	interconnected	ADJ
aiti-4136	36	15	systems	system	NOUN
aiti-4136	36	16	”	"	PUNCT
aiti-4136	36	17	.	.	PUNCT
aiti-4136	37	1	for	for	ADP
aiti-4136	37	2	large	large	ADJ
aiti-4136	37	3	-	-	PUNCT
aiti-4136	37	4	scale	scale	NOUN
aiti-4136	37	5	interconnected	interconnected	ADJ
aiti-4136	37	6	systems	system	NOUN
aiti-4136	37	7	,	,	PUNCT
aiti-4136	37	8	“	"	PUNCT
aiti-4136	37	9	centralized	centralized	ADJ
aiti-4136	37	10	control	control	NOUN
aiti-4136	37	11	strategies	strategy	NOUN
aiti-4136	37	12	”	"	PUNCT
aiti-4136	37	13	might	might	AUX
aiti-4136	37	14	be	be	AUX
aiti-4136	37	15	unrealistic	unrealistic	ADJ
aiti-4136	37	16	for	for	ADP
aiti-4136	37	17	physical	physical	ADJ
aiti-4136	37	18	,	,	PUNCT
aiti-4136	37	19	technical	technical	ADJ
aiti-4136	37	20	,	,	PUNCT
aiti-4136	37	21	and	and	CCONJ
aiti-4136	37	22	societal	societal	ADJ
aiti-4136	37	23	reasons	reason	NOUN
aiti-4136	37	24	.	.	PUNCT
aiti-4136	38	1	also	also	ADV
aiti-4136	38	2	,	,	PUNCT
aiti-4136	38	3	one	one	PRON
aiti-4136	38	4	can	can	AUX
aiti-4136	38	5	see	see	VERB
aiti-4136	38	6	that	that	SCONJ
aiti-4136	38	7	“	"	PUNCT
aiti-4136	38	8	decentralized	decentralized	ADJ
aiti-4136	38	9	control	control	NOUN
aiti-4136	38	10	strategies	strategy	NOUN
aiti-4136	38	11	”	"	PUNCT
aiti-4136	38	12	are	be	AUX
aiti-4136	38	13	useful	useful	ADJ
aiti-4136	38	14	.	.	PUNCT
aiti-4136	39	1	many	many	ADJ
aiti-4136	39	2	researchers	researcher	NOUN
aiti-4136	39	3	have	have	AUX
aiti-4136	39	4	studied	study	VERB
aiti-4136	39	5	decentralized	decentralized	ADJ
aiti-4136	39	6	control	control	NOUN
aiti-4136	39	7	for	for	ADP
aiti-4136	39	8	large	large	ADJ
aiti-4136	39	9	-	-	PUNCT
aiti-4136	39	10	scale	scale	NOUN
aiti-4136	39	11	interconnected	interconnected	ADJ
aiti-4136	39	12	systems	system	NOUN
aiti-4136	39	13	(	(	PUNCT
aiti-4136	39	14	see	see	VERB
aiti-4136	39	15	[	[	X
aiti-4136	39	16	15	15	NUM
aiti-4136	39	17	]	]	PUNCT
aiti-4136	39	18	and	and	CCONJ
aiti-4136	39	19	references	reference	NOUN
aiti-4136	39	20	therein	therein	ADV
aiti-4136	39	21	)	)	PUNCT
aiti-4136	39	22	.	.	PUNCT
aiti-4136	40	1	for	for	ADP
aiti-4136	40	2	large	large	ADJ
aiti-4136	40	3	-	-	PUNCT
aiti-4136	40	4	scale	scale	NOUN
aiti-4136	40	5	interconnected	interconnected	ADJ
aiti-4136	40	6	systems	system	NOUN
aiti-4136	40	7	,	,	PUNCT
aiti-4136	40	8	some	some	DET
aiti-4136	40	9	design	design	NOUN
aiti-4136	40	10	methods	method	NOUN
aiti-4136	40	11	for	for	ADP
aiti-4136	40	12	the	the	DET
aiti-4136	40	13	decentralized	decentralize	VERB
aiti-4136	40	14	robust	robust	ADJ
aiti-4136	40	15	control	control	NOUN
aiti-4136	40	16	had	have	AUX
aiti-4136	40	17	been	be	AUX
aiti-4136	40	18	suggested	suggest	VERB
aiti-4136	40	19	[	[	X
aiti-4136	40	20	16	16	NUM
aiti-4136	40	21	-	-	SYM
aiti-4136	40	22	18	18	NUM
aiti-4136	40	23	]	]	PUNCT
aiti-4136	40	24	.	.	PUNCT
aiti-4136	41	1	nagai	nagai	PROPN
aiti-4136	41	2	et	et	PROPN
aiti-4136	41	3	al	al	PROPN
aiti-4136	41	4	.	.	PUNCT
aiti-4136	42	1	[	[	X
aiti-4136	42	2	17	17	NUM
aiti-4136	42	3	]	]	PUNCT
aiti-4136	42	4	proposed	propose	VERB
aiti-4136	42	5	a	a	DET
aiti-4136	42	6	decentralized	decentralized	ADJ
aiti-4136	42	7	variable	variable	NOUN
aiti-4136	42	8	to	to	PART
aiti-4136	42	9	gain	gain	VERB
aiti-4136	42	10	robust	robust	ADJ
aiti-4136	42	11	controller	controller	NOUN
aiti-4136	42	12	for	for	ADP
aiti-4136	42	13	a	a	DET
aiti-4136	42	14	class	class	NOUN
aiti-4136	42	15	of	of	ADP
aiti-4136	42	16	uncertain	uncertain	ADJ
aiti-4136	42	17	large	large	ADJ
aiti-4136	42	18	-	-	PUNCT
aiti-4136	42	19	scale	scale	NOUN
aiti-4136	42	20	interconnected	interconnected	ADJ
aiti-4136	42	21	systems	system	NOUN
aiti-4136	42	22	,	,	PUNCT
aiti-4136	42	23	and	and	CCONJ
aiti-4136	42	24	guaranteed	guarantee	VERB
aiti-4136	42	25	cost	cost	NOUN
aiti-4136	42	26	control	control	NOUN
aiti-4136	42	27	for	for	ADP
aiti-4136	42	28	large	large	ADJ
aiti-4136	42	29	-	-	PUNCT
aiti-4136	42	30	scale	scale	NOUN
aiti-4136	42	31	interconnected	interconnected	ADJ
aiti-4136	42	32	systems	system	NOUN
aiti-4136	42	33	with	with	ADP
aiti-4136	42	34	control	control	NOUN
aiti-4136	42	35	gain	gain	NOUN
aiti-4136	42	36	perturbations	perturbation	NOUN
aiti-4136	42	37	has	have	AUX
aiti-4136	42	38	also	also	ADV
aiti-4136	42	39	been	be	AUX
aiti-4136	42	40	studied	study	VERB
aiti-4136	42	41	in	in	ADP
aiti-4136	42	42	[	[	X
aiti-4136	42	43	18	18	NUM
aiti-4136	42	44	]	]	PUNCT
aiti-4136	42	45	.	.	PUNCT
aiti-4136	43	1	additionally	additionally	ADV
aiti-4136	43	2	,	,	PUNCT
aiti-4136	43	3	formation	formation	NOUN
aiti-4136	43	4	control	control	NOUN
aiti-4136	43	5	for	for	ADP
aiti-4136	43	6	multi	multi	ADJ
aiti-4136	43	7	-	-	ADJ
aiti-4136	43	8	agent	agent	ADJ
aiti-4136	43	9	systems	system	NOUN
aiti-4136	43	10	(	(	PUNCT
aiti-4136	43	11	mass	mass	PROPN
aiti-4136	43	12	)	)	PUNCT
aiti-4136	43	13	is	be	AUX
aiti-4136	43	14	known	know	VERB
aiti-4136	43	15	as	as	ADP
aiti-4136	43	16	one	one	NUM
aiti-4136	43	17	of	of	ADP
aiti-4136	43	18	the	the	DET
aiti-4136	43	19	decentralized	decentralize	VERB
aiti-4136	43	20	control	control	NOUN
aiti-4136	43	21	problems	problem	NOUN
aiti-4136	43	22	and	and	CCONJ
aiti-4136	43	23	has	have	AUX
aiti-4136	43	24	recently	recently	ADV
aiti-4136	43	25	attracted	attract	VERB
aiti-4136	43	26	much	much	ADJ
aiti-4136	43	27	attention	attention	NOUN
aiti-4136	43	28	.	.	PUNCT
aiti-4136	44	1	in	in	ADP
aiti-4136	44	2	general	general	ADJ
aiti-4136	44	3	,	,	PUNCT
aiti-4136	44	4	a	a	DET
aiti-4136	44	5	multi	multi	ADJ
aiti-4136	44	6	-	-	ADJ
aiti-4136	44	7	agent	agent	ADJ
aiti-4136	44	8	system	system	NOUN
aiti-4136	44	9	is	be	AUX
aiti-4136	44	10	a	a	DET
aiti-4136	44	11	loosely	loosely	ADV
aiti-4136	44	12	coupled	couple	VERB
aiti-4136	44	13	network	network	NOUN
aiti-4136	44	14	of	of	ADP
aiti-4136	44	15	multiple	multiple	ADJ
aiti-4136	44	16	interacting	interact	VERB
aiti-4136	44	17	agents	agent	NOUN
aiti-4136	44	18	,	,	PUNCT
aiti-4136	44	19	and	and	CCONJ
aiti-4136	44	20	it	it	PRON
aiti-4136	44	21	is	be	AUX
aiti-4136	44	22	well	well	ADV
aiti-4136	44	23	-	-	PUNCT
aiti-4136	44	24	known	know	VERB
aiti-4136	44	25	that	that	SCONJ
aiti-4136	44	26	mass	mass	NOUN
aiti-4136	44	27	can	can	AUX
aiti-4136	44	28	achieve	achieve	VERB
aiti-4136	44	29	various	various	ADJ
aiti-4136	44	30	tasks	task	NOUN
aiti-4136	44	31	efficiently	efficiently	ADV
aiti-4136	44	32	.	.	PUNCT
aiti-4136	45	1	although	although	SCONJ
aiti-4136	45	2	there	there	PRON
aiti-4136	45	3	are	be	VERB
aiti-4136	45	4	various	various	ADJ
aiti-4136	45	5	topics	topic	NOUN
aiti-4136	45	6	in	in	ADP
aiti-4136	45	7	the	the	DET
aiti-4136	45	8	formation	formation	NOUN
aiti-4136	45	9	control	control	NOUN
aiti-4136	45	10	problem	problem	NOUN
aiti-4136	45	11	for	for	ADP
aiti-4136	45	12	mass	mass	NOUN
aiti-4136	45	13	,	,	PUNCT
aiti-4136	45	14	the	the	DET
aiti-4136	45	15	consensus	consensus	NOUN
aiti-4136	45	16	problem	problem	NOUN
aiti-4136	45	17	has	have	AUX
aiti-4136	45	18	been	be	AUX
aiti-4136	45	19	well	well	ADV
aiti-4136	45	20	focused	focused	ADJ
aiti-4136	45	21	.	.	PUNCT
aiti-4136	46	1	the	the	DET
aiti-4136	46	2	consensus	consensus	NOUN
aiti-4136	46	3	problem	problem	NOUN
aiti-4136	46	4	can	can	AUX
aiti-4136	46	5	be	be	AUX
aiti-4136	46	6	applied	apply	VERB
aiti-4136	46	7	to	to	ADP
aiti-4136	46	8	various	various	ADJ
aiti-4136	46	9	fields	field	NOUN
aiti-4136	46	10	such	such	ADJ
aiti-4136	46	11	as	as	ADP
aiti-4136	46	12	sensor	sensor	NOUN
aiti-4136	46	13	networks	network	NOUN
aiti-4136	46	14	,	,	PUNCT
aiti-4136	46	15	vehicle	vehicle	NOUN
aiti-4136	46	16	formations	formation	NOUN
aiti-4136	46	17	,	,	PUNCT
aiti-4136	46	18	mobile	mobile	ADJ
aiti-4136	46	19	robots	robot	NOUN
aiti-4136	46	20	,	,	PUNCT
aiti-4136	46	21	unmanned	unmanned	ADJ
aiti-4136	46	22	aerial	aerial	ADJ
aiti-4136	46	23	vehicles	vehicle	NOUN
aiti-4136	46	24	,	,	PUNCT
aiti-4136	46	25	and	and	CCONJ
aiti-4136	46	26	so	so	ADV
aiti-4136	46	27	on	on	ADV
aiti-4136	46	28	.	.	PUNCT
aiti-4136	47	1	additionally	additionally	ADV
aiti-4136	47	2	,	,	PUNCT
aiti-4136	47	3	consensus	consensus	NOUN
aiti-4136	47	4	means	mean	VERB
aiti-4136	47	5	that	that	SCONJ
aiti-4136	47	6	states	state	NOUN
aiti-4136	47	7	of	of	ADP
aiti-4136	47	8	all	all	DET
aiti-4136	47	9	agents	agent	NOUN
aiti-4136	47	10	are	be	AUX
aiti-4136	47	11	driven	drive	VERB
aiti-4136	47	12	to	to	ADP
aiti-4136	47	13	a	a	DET
aiti-4136	47	14	common	common	ADJ
aiti-4136	47	15	state	state	NOUN
aiti-4136	47	16	by	by	ADP
aiti-4136	47	17	implementing	implement	VERB
aiti-4136	47	18	distributed	distribute	VERB
aiti-4136	47	19	protocols	protocol	NOUN
aiti-4136	47	20	.	.	PUNCT
aiti-4136	48	1	therefore	therefore	ADV
aiti-4136	48	2	,	,	PUNCT
aiti-4136	48	3	the	the	DET
aiti-4136	48	4	consensus	consensus	NOUN
aiti-4136	48	5	problems	problem	NOUN
aiti-4136	48	6	are	be	AUX
aiti-4136	48	7	one	one	NUM
aiti-4136	48	8	of	of	ADP
aiti-4136	48	9	the	the	DET
aiti-4136	48	10	most	most	ADV
aiti-4136	48	11	important	important	ADJ
aiti-4136	48	12	and	and	CCONJ
aiti-4136	48	13	fundamental	fundamental	ADJ
aiti-4136	48	14	in	in	ADP
aiti-4136	48	15	the	the	DET
aiti-4136	48	16	formation	formation	NOUN
aiti-4136	48	17	,	,	PUNCT
aiti-4136	48	18	and	and	CCONJ
aiti-4136	48	19	lots	lot	NOUN
aiti-4136	48	20	of	of	ADP
aiti-4136	48	21	existing	exist	VERB
aiti-4136	48	22	results	result	NOUN
aiti-4136	48	23	for	for	ADP
aiti-4136	48	24	consensus	consensus	NOUN
aiti-4136	48	25	problems	problem	NOUN
aiti-4136	48	26	have	have	AUX
aiti-4136	48	27	been	be	AUX
aiti-4136	48	28	shown	show	VERB
aiti-4136	48	29	(	(	PUNCT
aiti-4136	49	1	e.g.	e.g.	ADV
aiti-4136	49	2	[	[	X
aiti-4136	49	3	19	19	NUM
aiti-4136	49	4	-	-	SYM
aiti-4136	49	5	22	22	NUM
aiti-4136	49	6	]	]	PUNCT
aiti-4136	49	7	)	)	PUNCT
aiti-4136	49	8	.	.	PUNCT
aiti-4136	50	1	the	the	DET
aiti-4136	50	2	consensus	consensus	NOUN
aiti-4136	50	3	problem	problem	NOUN
aiti-4136	50	4	for	for	ADP
aiti-4136	50	5	a	a	DET
aiti-4136	50	6	network	network	NOUN
aiti-4136	50	7	of	of	ADP
aiti-4136	50	8	first	first	ADJ
aiti-4136	50	9	-	-	PUNCT
aiti-4136	50	10	order	order	NOUN
aiti-4136	50	11	integrators	integrator	NOUN
aiti-4136	50	12	with	with	ADP
aiti-4136	50	13	directed	direct	VERB
aiti-4136	50	14	in	in	ADP
aiti-4136	50	15	the	the	DET
aiti-4136	50	16	formation	formation	NOUN
aiti-4136	50	17	flow	flow	NOUN
aiti-4136	50	18	and	and	CCONJ
aiti-4136	50	19	fixed	fix	VERB
aiti-4136	50	20	/	/	SYM
aiti-4136	50	21	switching	switch	VERB
aiti-4136	50	22	topology	topology	NOUN
aiti-4136	50	23	has	have	AUX
aiti-4136	50	24	been	be	AUX
aiti-4136	50	25	studied	study	VERB
aiti-4136	50	26	in	in	ADP
aiti-4136	50	27	[	[	X
aiti-4136	50	28	19	19	NUM
aiti-4136	50	29	]	]	PUNCT
aiti-4136	50	30	.	.	PUNCT
aiti-4136	51	1	xie	xie	PROPN
aiti-4136	51	2	and	and	CCONJ
aiti-4136	51	3	wang	wang	PROPN
aiti-4136	51	4	have	have	AUX
aiti-4136	51	5	studied	study	VERB
aiti-4136	51	6	convergence	convergence	NOUN
aiti-4136	51	7	analysis	analysis	NOUN
aiti-4136	51	8	of	of	ADP
aiti-4136	51	9	a	a	DET
aiti-4136	51	10	consensus	consensus	NOUN
aiti-4136	51	11	protocol	protocol	NOUN
aiti-4136	51	12	for	for	ADP
aiti-4136	51	13	a	a	DET
aiti-4136	51	14	class	class	NOUN
aiti-4136	51	15	of	of	ADP
aiti-4136	51	16	networks	network	NOUN
aiti-4136	51	17	of	of	ADP
aiti-4136	51	18	dynamic	dynamic	ADJ
aiti-4136	51	19	agents	agent	NOUN
aiti-4136	51	20	with	with	ADP
aiti-4136	51	21	fixed	fix	VERB
aiti-4136	51	22	topology	topology	NOUN
aiti-4136	51	23	.	.	PUNCT
aiti-4136	52	1	furthermore	furthermore	ADV
aiti-4136	52	2	,	,	PUNCT
aiti-4136	52	3	zhai	zhai	PROPN
aiti-4136	52	4	et	et	PROPN
aiti-4136	52	5	al	al	PROPN
aiti-4136	52	6	.	.	PROPN
aiti-4136	52	7	proposed	propose	VERB
aiti-4136	52	8	the	the	DET
aiti-4136	52	9	matrix	matrix	NOUN
aiti-4136	52	10	inequality	inequality	NOUN
aiti-4136	52	11	-	-	PUNCT
aiti-4136	52	12	based	base	VERB
aiti-4136	52	13	stabilization	stabilization	NOUN
aiti-4136	52	14	condition	condition	NOUN
aiti-4136	52	15	and	and	CCONJ
aiti-4136	52	16	consensus	consensus	NOUN
aiti-4136	52	17	algorithm	algorithm	NOUN
aiti-4136	52	18	for	for	ADP
aiti-4136	52	19	mass	mass	NOUN
aiti-4136	52	20	had	have	AUX
aiti-4136	52	21	been	be	AUX
aiti-4136	52	22	presented	present	VERB
aiti-4136	52	23	[	[	PUNCT
aiti-4136	52	24	22	22	NUM
aiti-4136	52	25	]	]	PUNCT
aiti-4136	52	26	.	.	PUNCT
aiti-4136	53	1	ito	ito	PROPN
aiti-4136	53	2	et	et	PROPN
aiti-4136	53	3	al	al	PROPN
aiti-4136	53	4	.	.	PUNCT
aiti-4136	54	1	[	[	X
aiti-4136	54	2	23	23	NUM
aiti-4136	54	3	]	]	PUNCT
aiti-4136	54	4	proposed	propose	VERB
aiti-4136	54	5	an	an	DET
aiti-4136	54	6	adaptive	adaptive	ADJ
aiti-4136	54	7	gain	gain	NOUN
aiti-4136	54	8	controller	controller	NOUN
aiti-4136	54	9	design	design	NOUN
aiti-4136	54	10	method	method	NOUN
aiti-4136	54	11	considering	consider	VERB
aiti-4136	54	12	relative	relative	ADJ
aiti-4136	54	13	distances	distance	NOUN
aiti-4136	54	14	for	for	ADP
aiti-4136	54	15	mass	mass	NOUN
aiti-4136	54	16	.	.	PUNCT
aiti-4136	55	1	although	although	SCONJ
aiti-4136	55	2	the	the	DET
aiti-4136	55	3	existing	exist	VERB
aiti-4136	55	4	result	result	NOUN
aiti-4136	55	5	[	[	X
aiti-4136	55	6	23	23	NUM
aiti-4136	55	7	]	]	PUNCT
aiti-4136	55	8	had	have	AUX
aiti-4136	55	9	dealt	deal	VERB
aiti-4136	55	10	with	with	ADP
aiti-4136	55	11	consensus	consensus	NOUN
aiti-4136	55	12	problems	problem	NOUN
aiti-4136	55	13	for	for	ADP
aiti-4136	55	14	multi	multi	ADJ
aiti-4136	55	15	-	-	ADJ
aiti-4136	55	16	agent	agent	ADJ
aiti-4136	55	17	systems	system	NOUN
aiti-4136	55	18	with	with	ADP
aiti-4136	55	19	a	a	DET
aiti-4136	55	20	leader	leader	NOUN
aiti-4136	55	21	-	-	PUNCT
aiti-4136	55	22	follower	follower	NOUN
aiti-4136	55	23	structure	structure	NOUN
aiti-4136	55	24	,	,	PUNCT
aiti-4136	55	25	control	control	NOUN
aiti-4136	55	26	gain	gain	NOUN
aiti-4136	55	27	perturbations	perturbation	NOUN
aiti-4136	55	28	have	have	AUX
aiti-4136	55	29	not	not	PART
aiti-4136	55	30	been	be	AUX
aiti-4136	55	31	considered	consider	VERB
aiti-4136	55	32	.	.	PUNCT
aiti-4136	56	1	about	about	ADP
aiti-4136	56	2	these	these	DET
aiti-4136	56	3	results	result	NOUN
aiti-4136	56	4	of	of	ADP
aiti-4136	56	5	the	the	DET
aiti-4136	56	6	consensus	consensus	NOUN
aiti-4136	56	7	problem	problem	NOUN
aiti-4136	56	8	for	for	ADP
aiti-4136	56	9	mass	mass	ADJ
aiti-4136	56	10	,	,	PUNCT
aiti-4136	56	11	uncertainties	uncertainty	NOUN
aiti-4136	56	12	in	in	ADP
aiti-4136	56	13	controllers	controller	NOUN
aiti-4136	56	14	were	be	AUX
aiti-4136	56	15	not	not	PART
aiti-4136	56	16	considered	consider	VERB
aiti-4136	56	17	,	,	PUNCT
aiti-4136	56	18	and	and	CCONJ
aiti-4136	56	19	the	the	DET
aiti-4136	56	20	lmi	lmi	PROPN
aiti-4136	56	21	-	-	PUNCT
aiti-4136	56	22	based	base	VERB
aiti-4136	56	23	design	design	NOUN
aiti-4136	56	24	method	method	NOUN
aiti-4136	56	25	of	of	ADP
aiti-4136	56	26	non	non	ADJ
aiti-4136	56	27	-	-	ADJ
aiti-4136	56	28	fragile	fragile	ADJ
aiti-4136	56	29	guaranteed	guarantee	VERB
aiti-4136	56	30	cost	cost	NOUN
aiti-4136	56	31	controllers	controller	NOUN
aiti-4136	56	32	for	for	ADP
aiti-4136	56	33	mass	mass	NOUN
aiti-4136	56	34	with	with	ADP
aiti-4136	56	35	control	control	NOUN
aiti-4136	56	36	gain	gain	NOUN
aiti-4136	56	37	perturbations	perturbation	NOUN
aiti-4136	56	38	has	have	AUX
aiti-4136	56	39	little	little	ADV
aiti-4136	56	40	been	be	AUX
aiti-4136	56	41	considered	consider	VERB
aiti-4136	56	42	as	as	ADV
aiti-4136	56	43	far	far	ADV
aiti-4136	56	44	as	as	SCONJ
aiti-4136	56	45	known	know	VERB
aiti-4136	56	46	.	.	PUNCT
aiti-4136	57	1	from	from	ADP
aiti-4136	57	2	this	this	DET
aiti-4136	57	3	viewpoint	viewpoint	NOUN
aiti-4136	57	4	,	,	PUNCT
aiti-4136	57	5	a	a	DET
aiti-4136	57	6	consensus	consensus	NOUN
aiti-4136	57	7	problem	problem	NOUN
aiti-4136	57	8	for	for	ADP
aiti-4136	57	9	mass	mass	NOUN
aiti-4136	57	10	with	with	ADP
aiti-4136	57	11	leader	leader	NOUN
aiti-4136	57	12	-	-	PUNCT
aiti-4136	57	13	follower	follower	NOUN
aiti-4136	57	14	structures	structure	NOUN
aiti-4136	57	15	was	be	AUX
aiti-4136	57	16	discussed	discuss	VERB
aiti-4136	57	17	,	,	PUNCT
aiti-4136	57	18	and	and	CCONJ
aiti-4136	57	19	an	an	DET
aiti-4136	57	20	lmi	lmi	PROPN
aiti-4136	57	21	-	-	PUNCT
aiti-4136	57	22	based	base	VERB
aiti-4136	57	23	design	design	NOUN
aiti-4136	57	24	method	method	NOUN
aiti-4136	57	25	of	of	ADP
aiti-4136	57	26	a	a	DET
aiti-4136	57	27	non	non	ADJ
aiti-4136	57	28	-	-	ADJ
aiti-4136	57	29	fragile	fragile	ADJ
aiti-4136	57	30	guaranteed	guarantee	VERB
aiti-4136	57	31	cost	cost	NOUN
aiti-4136	57	32	controller	controller	NOUN
aiti-4136	57	33	which	which	PRON
aiti-4136	57	34	was	be	AUX
aiti-4136	57	35	presented	present	VERB
aiti-4136	57	36	guarantees	guarantee	VERB
aiti-4136	57	37	a	a	DET
aiti-4136	57	38	consensus	consensus	NOUN
aiti-4136	57	39	for	for	ADP
aiti-4136	57	40	mass	mass	NOUN
aiti-4136	57	41	.	.	PUNCT
aiti-4136	58	1	in	in	ADP
aiti-4136	58	2	this	this	DET
aiti-4136	58	3	paper	paper	NOUN
aiti-4136	58	4	,	,	PUNCT
aiti-4136	58	5	additive	additive	ADJ
aiti-4136	58	6	control	control	NOUN
aiti-4136	58	7	gain	gain	NOUN
aiti-4136	58	8	perturbations	perturbation	NOUN
aiti-4136	58	9	are	be	AUX
aiti-4136	58	10	dealt	deal	VERB
aiti-4136	58	11	with	with	ADP
aiti-4136	58	12	and	and	CCONJ
aiti-4136	58	13	showed	show	VERB
aiti-4136	58	14	that	that	SCONJ
aiti-4136	58	15	sufficient	sufficient	ADJ
aiti-4136	58	16	conditions	condition	NOUN
aiti-4136	58	17	for	for	ADP
aiti-4136	58	18	the	the	DET
aiti-4136	58	19	existence	existence	NOUN
aiti-4136	58	20	of	of	ADP
aiti-4136	58	21	the	the	DET
aiti-4136	58	22	proposed	propose	VERB
aiti-4136	58	23	non	non	ADJ
aiti-4136	58	24	-	-	ADJ
aiti-4136	58	25	fragile	fragile	ADJ
aiti-4136	58	26	guaranteed	guarantee	VERB
aiti-4136	58	27	cost	cost	NOUN
aiti-4136	58	28	controller	controller	NOUN
aiti-4136	58	29	given	give	VERB
aiti-4136	58	30	in	in	ADP
aiti-4136	58	31	terms	term	NOUN
aiti-4136	58	32	of	of	ADP
aiti-4136	58	33	linear	linear	ADJ
aiti-4136	58	34	matrix	matrix	NOUN
aiti-4136	58	35	inequalities	inequality	NOUN
aiti-4136	58	36	(	(	PUNCT
aiti-4136	58	37	lmis	lmis	ADJ
aiti-4136	58	38	)	)	PUNCT
aiti-4136	58	39	.	.	PUNCT
aiti-4136	59	1	additionally	additionally	ADV
aiti-4136	59	2	,	,	PUNCT
aiti-4136	59	3	a	a	DET
aiti-4136	59	4	design	design	NOUN
aiti-4136	59	5	method	method	NOUN
aiti-4136	59	6	of	of	ADP
aiti-4136	59	7	quadratic	quadratic	ADJ
aiti-4136	59	8	guaranteed	guarantee	VERB
aiti-4136	59	9	cost	cost	NOUN
aiti-4136	59	10	control	control	NOUN
aiti-4136	59	11	-	-	PUNCT
aiti-4136	59	12	based	base	VERB
aiti-4136	59	13	consensus	consensus	NOUN
aiti-4136	59	14	strategy	strategy	NOUN
aiti-4136	59	15	which	which	PRON
aiti-4136	59	16	guarantees	guarantee	VERB
aiti-4136	59	17	the	the	DET
aiti-4136	59	18	upper	upper	ADJ
aiti-4136	59	19	bound	bound	NOUN
aiti-4136	59	20	of	of	ADP
aiti-4136	59	21	a	a	DET
aiti-4136	59	22	given	give	VERB
aiti-4136	59	23	quadratic	quadratic	ADJ
aiti-4136	59	24	cost	cost	NOUN
aiti-4136	59	25	function	function	NOUN
aiti-4136	59	26	is	be	AUX
aiti-4136	59	27	considered	consider	VERB
aiti-4136	59	28	.	.	PUNCT
aiti-4136	60	1	moreover	moreover	ADV
aiti-4136	60	2	,	,	PUNCT
aiti-4136	60	3	the	the	DET
aiti-4136	60	4	optimal	optimal	ADJ
aiti-4136	60	5	guaranteed	guarantee	VERB
aiti-4136	60	6	cost	cost	NOUN
aiti-4136	60	7	control	control	NOUN
aiti-4136	60	8	approach	approach	NOUN
aiti-4136	60	9	which	which	PRON
aiti-4136	60	10	minimizes	minimize	VERB
aiti-4136	60	11	the	the	DET
aiti-4136	60	12	upper	upper	ADJ
aiti-4136	60	13	bound	bind	VERB
aiti-4136	60	14	of	of	ADP
aiti-4136	60	15	the	the	DET
aiti-4136	60	16	quadratic	quadratic	ADJ
aiti-4136	60	17	cost	cost	NOUN
aiti-4136	60	18	function	function	NOUN
aiti-4136	60	19	is	be	AUX
aiti-4136	60	20	discussed	discuss	VERB
aiti-4136	60	21	.	.	PUNCT
aiti-4136	61	1	the	the	DET
aiti-4136	61	2	crucial	crucial	ADJ
aiti-4136	61	3	differences	difference	NOUN
aiti-4136	61	4	between	between	ADP
aiti-4136	61	5	the	the	DET
aiti-4136	61	6	proposed	propose	VERB
aiti-4136	61	7	controller	controller	NOUN
aiti-4136	61	8	synthesis	synthesis	NOUN
aiti-4136	61	9	and	and	CCONJ
aiti-4136	61	10	the	the	DET
aiti-4136	61	11	existing	exist	VERB
aiti-4136	61	12	results	result	NOUN
aiti-4136	61	13	[	[	X
aiti-4136	61	14	19	19	NUM
aiti-4136	61	15	-	-	SYM
aiti-4136	61	16	23	23	NUM
aiti-4136	61	17	]	]	PUNCT
aiti-4136	61	18	are	be	AUX
aiti-4136	61	19	that	that	SCONJ
aiti-4136	61	20	the	the	DET
aiti-4136	61	21	proposed	propose	VERB
aiti-4136	61	22	controller	controller	NOUN
aiti-4136	61	23	perturbations	perturbation	NOUN
aiti-4136	61	24	and	and	CCONJ
aiti-4136	61	25	optimal	optimal	ADJ
aiti-4136	61	26	guaranteed	guarantee	VERB
aiti-4136	61	27	cost	cost	NOUN
aiti-4136	61	28	control	control	NOUN
aiti-4136	61	29	–	–	PUNCT
aiti-4136	61	30	based	base	VERB
aiti-4136	61	31	consensus	consensus	NOUN
aiti-4136	61	32	strategy	strategy	NOUN
aiti-4136	61	33	can	can	AUX
aiti-4136	61	34	be	be	AUX
aiti-4136	61	35	achieved	achieve	VERB
aiti-4136	61	36	.	.	PUNCT
aiti-4136	62	1	besides	besides	SCONJ
aiti-4136	62	2	,	,	PUNCT
aiti-4136	62	3	the	the	DET
aiti-4136	62	4	proposed	propose	VERB
aiti-4136	62	5	non	non	ADJ
aiti-4136	62	6	-	-	ADJ
aiti-4136	62	7	fragile	fragile	ADJ
aiti-4136	62	8	controller	controller	NOUN
aiti-4136	62	9	can	can	AUX
aiti-4136	62	10	easily	easily	ADV
aiti-4136	62	11	be	be	AUX
aiti-4136	62	12	obtained	obtain	VERB
aiti-4136	62	13	by	by	ADP
aiti-4136	62	14	solving	solve	VERB
aiti-4136	62	15	the	the	DET
aiti-4136	62	16	constrained	constrain	VERB
aiti-4136	62	17	convex	convex	NOUN
aiti-4136	62	18	optimization	optimization	NOUN
aiti-4136	62	19	problem	problem	NOUN
aiti-4136	62	20	,	,	PUNCT
aiti-4136	62	21	i.e.	i.e.	X
aiti-4136	62	22	the	the	DET
aiti-4136	62	23	proposed	propose	VERB
aiti-4136	62	24	non	non	ADJ
aiti-4136	62	25	-	-	ADJ
aiti-4136	62	26	fragile	fragile	ADJ
aiti-4136	62	27	guaranteed	guarantee	VERB
aiti-4136	62	28	cost	cost	NOUN
aiti-4136	62	29	control	control	NOUN
aiti-4136	62	30	for	for	ADP
aiti-4136	62	31	a	a	DET
aiti-4136	62	32	consensus	consensus	NOUN
aiti-4136	62	33	is	be	AUX
aiti-4136	62	34	useful	useful	ADJ
aiti-4136	62	35	.	.	PUNCT
aiti-4136	63	1	finally	finally	ADV
aiti-4136	63	2	,	,	PUNCT
aiti-4136	63	3	a	a	DET
aiti-4136	63	4	numerical	numerical	ADJ
aiti-4136	63	5	example	example	NOUN
aiti-4136	63	6	is	be	AUX
aiti-4136	63	7	presented	present	VERB
aiti-4136	63	8	to	to	PART
aiti-4136	63	9	illustrate	illustrate	VERB
aiti-4136	63	10	the	the	DET
aiti-4136	63	11	effectiveness	effectiveness	NOUN
aiti-4136	63	12	of	of	ADP
aiti-4136	63	13	the	the	DET
aiti-4136	63	14	proposed	propose	VERB
aiti-4136	63	15	guaranteed	guarantee	VERB
aiti-4136	63	16	cost	cost	NOUN
aiti-4136	63	17	controller	controller	NOUN
aiti-4136	63	18	for	for	ADP
aiti-4136	63	19	formation	formation	NOUN
aiti-4136	63	20	control	control	NOUN
aiti-4136	63	21	systems	system	NOUN
aiti-4136	63	22	.	.	PUNCT
aiti-4136	64	1	advances	advance	NOUN
aiti-4136	64	2	in	in	ADP
aiti-4136	64	3	technology	technology	NOUN
aiti-4136	64	4	innovation	innovation	NOUN
aiti-4136	64	5	,	,	PUNCT
aiti-4136	64	6	vol	vol	NOUN
aiti-4136	64	7	.	.	PROPN
aiti-4136	64	8	5	5	NUM
aiti-4136	64	9	,	,	PUNCT
aiti-4136	64	10	no	no	INTJ
aiti-4136	64	11	.	.	NOUN
aiti-4136	64	12	2	2	NUM
aiti-4136	64	13	,	,	PUNCT
aiti-4136	64	14	2020	2020	NUM
aiti-4136	64	15	,	,	PUNCT
aiti-4136	64	16	pp	pp	ADV
aiti-4136	64	17	.	.	PUNCT
aiti-4136	65	1	112	112	NUM
aiti-4136	65	2	-	-	SYM
aiti-4136	65	3	125	125	NUM
aiti-4136	65	4	114	114	NUM
aiti-4136	65	5	this	this	DET
aiti-4136	65	6	paper	paper	NOUN
aiti-4136	65	7	is	be	AUX
aiti-4136	65	8	organized	organize	VERB
aiti-4136	65	9	as	as	SCONJ
aiti-4136	65	10	follows	follow	VERB
aiti-4136	65	11	.	.	PUNCT
aiti-4136	66	1	in	in	ADP
aiti-4136	66	2	section	section	NOUN
aiti-4136	66	3	2	2	NUM
aiti-4136	66	4	,	,	PUNCT
aiti-4136	66	5	notation	notation	NOUN
aiti-4136	66	6	and	and	CCONJ
aiti-4136	66	7	two	two	NUM
aiti-4136	66	8	useful	useful	ADJ
aiti-4136	66	9	lemmas	lemma	NOUN
aiti-4136	66	10	which	which	PRON
aiti-4136	66	11	were	be	AUX
aiti-4136	66	12	used	use	VERB
aiti-4136	66	13	in	in	ADP
aiti-4136	66	14	this	this	DET
aiti-4136	66	15	paper	paper	NOUN
aiti-4136	66	16	are	be	AUX
aiti-4136	66	17	shown	show	VERB
aiti-4136	66	18	.	.	PUNCT
aiti-4136	67	1	in	in	ADP
aiti-4136	67	2	section	section	NOUN
aiti-4136	67	3	3	3	NUM
aiti-4136	67	4	,	,	PUNCT
aiti-4136	67	5	the	the	DET
aiti-4136	67	6	main	main	ADJ
aiti-4136	67	7	results	result	NOUN
aiti-4136	67	8	presented	present	VERB
aiti-4136	67	9	.	.	PUNCT
aiti-4136	68	1	namely	namely	ADV
aiti-4136	68	2	,	,	PUNCT
aiti-4136	68	3	an	an	DET
aiti-4136	68	4	lmi	lmi	PROPN
aiti-4136	68	5	-	-	PUNCT
aiti-4136	68	6	based	base	VERB
aiti-4136	68	7	design	design	NOUN
aiti-4136	68	8	method	method	NOUN
aiti-4136	68	9	of	of	ADP
aiti-4136	68	10	a	a	DET
aiti-4136	68	11	guaranteed	guarantee	VERB
aiti-4136	68	12	cost	cost	NOUN
aiti-4136	68	13	controller	controller	NOUN
aiti-4136	68	14	for	for	ADP
aiti-4136	68	15	mass	mass	NOUN
aiti-4136	68	16	under	under	ADP
aiti-4136	68	17	control	control	NOUN
aiti-4136	68	18	gain	gain	NOUN
aiti-4136	68	19	perturbations	perturbation	NOUN
aiti-4136	68	20	.	.	PUNCT
aiti-4136	69	1	additionally	additionally	ADV
aiti-4136	69	2	,	,	PUNCT
aiti-4136	69	3	the	the	DET
aiti-4136	69	4	optimal	optimal	ADJ
aiti-4136	69	5	guaranteed	guarantee	VERB
aiti-4136	69	6	cost	cost	NOUN
aiti-4136	69	7	controller	controller	NOUN
aiti-4136	69	8	which	which	PRON
aiti-4136	69	9	was	be	AUX
aiti-4136	69	10	discussed	discuss	VERB
aiti-4136	69	11	minimizes	minimize	VERB
aiti-4136	69	12	the	the	DET
aiti-4136	69	13	upper	upper	ADJ
aiti-4136	69	14	bound	bind	VERB
aiti-4136	69	15	on	on	ADP
aiti-4136	69	16	a	a	DET
aiti-4136	69	17	given	give	VERB
aiti-4136	69	18	quadratic	quadratic	ADJ
aiti-4136	69	19	cost	cost	NOUN
aiti-4136	69	20	function	function	NOUN
aiti-4136	69	21	.	.	PUNCT
aiti-4136	70	1	finally	finally	ADV
aiti-4136	70	2	,	,	PUNCT
aiti-4136	70	3	simple	simple	ADJ
aiti-4136	70	4	illustrative	illustrative	ADJ
aiti-4136	70	5	examples	example	NOUN
aiti-4136	70	6	were	be	AUX
aiti-4136	70	7	displayed	display	VERB
aiti-4136	70	8	to	to	PART
aiti-4136	70	9	show	show	VERB
aiti-4136	70	10	the	the	DET
aiti-4136	70	11	effectiveness	effectiveness	NOUN
aiti-4136	70	12	of	of	ADP
aiti-4136	70	13	the	the	DET
aiti-4136	70	14	non	non	ADJ
aiti-4136	70	15	-	-	ADJ
aiti-4136	70	16	fragile	fragile	ADJ
aiti-4136	70	17	guaranteed	guarantee	VERB
aiti-4136	70	18	cost	cost	NOUN
aiti-4136	70	19	controller	controller	NOUN
aiti-4136	70	20	developed	develop	VERB
aiti-4136	70	21	in	in	ADP
aiti-4136	70	22	this	this	DET
aiti-4136	70	23	paper	paper	NOUN
aiti-4136	70	24	.	.	PUNCT
aiti-4136	71	1	2	2	X
aiti-4136	71	2	.	.	NUM
aiti-4136	71	3	notations	notation	NOUN
aiti-4136	71	4	and	and	CCONJ
aiti-4136	71	5	lemmas	lemma	VERB
aiti-4136	71	6	the	the	DET
aiti-4136	71	7	following	follow	VERB
aiti-4136	71	8	notations	notation	NOUN
aiti-4136	71	9	were	be	AUX
aiti-4136	71	10	used	use	VERB
aiti-4136	71	11	in	in	ADP
aiti-4136	71	12	this	this	DET
aiti-4136	71	13	paper	paper	NOUN
aiti-4136	71	14	.	.	PUNCT
aiti-4136	72	1	for	for	ADP
aiti-4136	72	2	a	a	DET
aiti-4136	72	3	matrix	matrix	NOUN
aiti-4136	72	4	a	a	PRON
aiti-4136	72	5	,	,	PUNCT
aiti-4136	72	6	the	the	DET
aiti-4136	72	7	inverse	inverse	NOUN
aiti-4136	72	8	matrix	matrix	NOUN
aiti-4136	72	9	a	a	PRON
aiti-4136	72	10	and	and	CCONJ
aiti-4136	72	11	its	its	PRON
aiti-4136	72	12	transpose	transpose	NOUN
aiti-4136	72	13	are	be	AUX
aiti-4136	72	14	denoted	denote	VERB
aiti-4136	72	15	by	by	ADP
aiti-4136	72	16	1a	1a	NUM
aiti-4136	72	17	and	and	CCONJ
aiti-4136	72	18	ta	ta	PROPN
aiti-4136	72	19	,	,	PUNCT
aiti-4136	72	20	respectively	respectively	ADV
aiti-4136	72	21	.	.	PUNCT
aiti-4136	73	1	also	also	ADV
aiti-4136	73	2	,	,	PUNCT
aiti-4136	73	3			PROPN
aiti-4136	73	4	he	he	VERB
aiti-4136	73	5	a	a	DET
aiti-4136	73	6	means	means	NOUN
aiti-4136	73	7	ta	ta	AUX
aiti-4136	73	8	a	a	VERB
aiti-4136	73	9	and	and	CCONJ
aiti-4136	73	10	ni	ni	PROPN
aiti-4136	73	11	represent	represent	VERB
aiti-4136	73	12	n	n	CCONJ
aiti-4136	73	13	-dimensional	-dimensional	ADJ
aiti-4136	73	14	identity	identity	NOUN
aiti-4136	73	15	matrix	matrix	NOUN
aiti-4136	73	16	,	,	PUNCT
aiti-4136	73	17	and	and	CCONJ
aiti-4136	73	18	a	a	DET
aiti-4136	73	19	block	block	NOUN
aiti-4136	73	20	diagonal	diagonal	ADJ
aiti-4136	73	21	matrix	matrix	NOUN
aiti-4136	73	22	is	be	AUX
aiti-4136	73	23	composed	compose	VERB
aiti-4136	73	24	of	of	ADP
aiti-4136	73	25	matrices	matrix	NOUN
aiti-4136	73	26	ia	ia	PROPN
aiti-4136	73	27	for	for	ADP
aiti-4136	73	28	1,2	1,2	NUM
aiti-4136	73	29	,	,	PUNCT
aiti-4136	73	30	,	,	PUNCT
aiti-4136	73	31	i	i	PRON
aiti-4136	73	32	m	m	PUNCT
aiti-4136	73	33	are	be	AUX
aiti-4136	73	34	described	describe	VERB
aiti-4136	73	35	as	as	ADP
aiti-4136	73	36			PROPN
aiti-4136	73	37	1	1	PROPN
aiti-4136	73	38	2diag	2diag	NUM
aiti-4136	73	39	,	,	PUNCT
aiti-4136	73	40	,	,	PUNCT
aiti-4136	73	41	,	,	PUNCT
aiti-4136	73	42	ma	ma	PROPN
aiti-4136	73	43	a	a	DET
aiti-4136	73	44	a	a	X
aiti-4136	73	45	.	.	PUNCT
aiti-4136	74	1	moreover	moreover	ADV
aiti-4136	74	2	,	,	PUNCT
aiti-4136	74	3	real	real	ADJ
aiti-4136	74	4	symmetric	symmetric	ADJ
aiti-4136	74	5	matrix	matrix	NOUN
aiti-4136	74	6	,	,	PUNCT
aiti-4136	74	7	0a	0a	PROPN
aiti-4136	74	8	a	a	DET
aiti-4136	74	9			PROPN
aiti-4136	74	10	(	(	PUNCT
aiti-4136	74	11	resp	resp	NOUN
aiti-4136	74	12	.	.	PUNCT
aiti-4136	75	1	0a	0a	PROPN
aiti-4136	75	2			NUM
aiti-4136	75	3	)	)	PUNCT
aiti-4136	75	4	means	mean	VERB
aiti-4136	75	5	that	that	SCONJ
aiti-4136	75	6	a	a	PRON
aiti-4136	75	7	is	be	AUX
aiti-4136	75	8	positive	positive	ADJ
aiti-4136	75	9	(	(	PUNCT
aiti-4136	75	10	resp	resp	NOUN
aiti-4136	75	11	.	.	PUNCT
aiti-4136	76	1	nonnegative	nonnegative	ADJ
aiti-4136	76	2	)	)	PUNCT
aiti-4136	76	3	definite	definite	ADJ
aiti-4136	76	4	matrix	matrix	NOUN
aiti-4136	76	5	.	.	PUNCT
aiti-4136	77	1	for	for	ADP
aiti-4136	77	2	a	a	DET
aiti-4136	77	3	vector	vector	NOUN
aiti-4136	77	4	a	a	PRON
aiti-4136	77	5	,	,	PUNCT
aiti-4136	77	6	a	a	PRON
aiti-4136	77	7	is	be	AUX
aiti-4136	77	8	euclidian	euclidian	ADJ
aiti-4136	77	9	norm	norm	NOUN
aiti-4136	77	10	,	,	PUNCT
aiti-4136	77	11	and	and	CCONJ
aiti-4136	77	12	a	a	PRON
aiti-4136	77	13	represents	represent	VERB
aiti-4136	77	14	its	its	PRON
aiti-4136	77	15	included	include	VERB
aiti-4136	77	16	norm	norm	NOUN
aiti-4136	77	17	for	for	ADP
aiti-4136	77	18	a	a	DET
aiti-4136	77	19	matrix	matrix	NOUN
aiti-4136	77	20	a	a	PRON
aiti-4136	77	21	.	.	PUNCT
aiti-4136	78	1	the	the	DET
aiti-4136	78	2	symbols	symbol	NOUN
aiti-4136	78	3	“	"	PUNCT
aiti-4136	78	4	*	*	PUNCT
aiti-4136	78	5	”	"	PUNCT
aiti-4136	78	6	and	and	CCONJ
aiti-4136	78	7	“	"	PUNCT
aiti-4136	78	8	”	"	PUNCT
aiti-4136	78	9	mean	mean	VERB
aiti-4136	78	10	symmetric	symmetric	ADJ
aiti-4136	78	11	blocks	block	NOUN
aiti-4136	78	12	in	in	ADP
aiti-4136	78	13	matrix	matrix	NOUN
aiti-4136	78	14	inequalities	inequality	NOUN
aiti-4136	78	15	and	and	CCONJ
aiti-4136	78	16	equality	equality	NOUN
aiti-4136	78	17	by	by	ADP
aiti-4136	78	18	definition	definition	NOUN
aiti-4136	78	19	,	,	PUNCT
aiti-4136	78	20	respectively	respectively	ADV
aiti-4136	78	21	.	.	PUNCT
aiti-4136	79	1	moreover	moreover	ADV
aiti-4136	79	2	,	,	PUNCT
aiti-4136	79	3	the	the	DET
aiti-4136	79	4	kronecker	kronecker	NOUN
aiti-4136	79	5	product	product	NOUN
aiti-4136	79	6	of	of	ADP
aiti-4136	79	7	matrices	matrix	NOUN
aiti-4136	79	8	m	m	VERB
aiti-4136	79	9	na	na	NOUN
aiti-4136	79	10			NOUN
aiti-4136	80	1	and	and	CCONJ
aiti-4136	80	2	p	p	PRON
aiti-4136	80	3	qb	qb	PROPN
aiti-4136	80	4			NOUN
aiti-4136	80	5	is	be	AUX
aiti-4136	80	6	defined	define	VERB
aiti-4136	80	7	as	as	ADP
aiti-4136	80	8	11	11	NUM
aiti-4136	80	9	1	1	NUM
aiti-4136	80	10	1	1	NUM
aiti-4136	80	11	n	n	NUM
aiti-4136	80	12	m	m	PROPN
aiti-4136	80	13	mn	mn	PROPN
aiti-4136	80	14	a	a	DET
aiti-4136	80	15	b	b	PROPN
aiti-4136	80	16	a	a	DET
aiti-4136	80	17	b	b	NOUN
aiti-4136	80	18	a	a	DET
aiti-4136	80	19	b	b	NOUN
aiti-4136	80	20	a	a	DET
aiti-4136	80	21	b	b	NOUN
aiti-4136	80	22	a	a	DET
aiti-4136	80	23	b	b	NOUN
aiti-4136	80	24			NOUN
aiti-4136	81	1			PROPN
aiti-4136	81	2			PROPN
aiti-4136	82	1			PROPN
aiti-4136	82	2			INTJ
aiti-4136	83	1			PROPN
aiti-4136	83	2			PROPN
aiti-4136	84	1			INTJ
aiti-4136	85	1			PROPN
aiti-4136	85	2			PROPN
aiti-4136	86	1			PROPN
aiti-4136	86	2			NOUN
aiti-4136	86	3	(	(	PUNCT
aiti-4136	86	4	1	1	NUM
aiti-4136	86	5	)	)	PUNCT
aiti-4136	86	6	furthermore	furthermore	ADV
aiti-4136	86	7	,	,	PUNCT
aiti-4136	86	8	the	the	DET
aiti-4136	86	9	following	follow	VERB
aiti-4136	86	10	two	two	NUM
aiti-4136	86	11	useful	useful	ADJ
aiti-4136	86	12	lemmas	lemma	NOUN
aiti-4136	86	13	were	be	AUX
aiti-4136	86	14	used	use	VERB
aiti-4136	86	15	in	in	ADP
aiti-4136	86	16	this	this	DET
aiti-4136	86	17	paper	paper	NOUN
aiti-4136	86	18	:	:	PUNCT
aiti-4136	86	19	lemma	lemma	PROPN
aiti-4136	86	20	1	1	NUM
aiti-4136	86	21	(	(	PUNCT
aiti-4136	86	22	schur	schur	NOUN
aiti-4136	86	23	complement	complement	NOUN
aiti-4136	86	24	formula	formula	NOUN
aiti-4136	86	25	[	[	X
aiti-4136	86	26	24	24	NUM
aiti-4136	86	27	]	]	PUNCT
aiti-4136	86	28	):	):	PUNCT
aiti-4136	86	29	for	for	ADP
aiti-4136	86	30	a	a	DET
aiti-4136	86	31	given	give	VERB
aiti-4136	86	32	constant	constant	ADJ
aiti-4136	86	33	real	real	ADJ
aiti-4136	86	34	symmetric	symmetric	ADJ
aiti-4136	86	35	matrix	matrix	NOUN
aiti-4136	86	36			NOUN
aiti-4136	86	37	,	,	PUNCT
aiti-4136	86	38	the	the	DET
aiti-4136	86	39	following	follow	VERB
aiti-4136	86	40	items	item	NOUN
aiti-4136	86	41	are	be	AUX
aiti-4136	86	42	equivalent	equivalent	ADJ
aiti-4136	86	43	:	:	PUNCT
aiti-4136	86	44	(	(	PUNCT
aiti-4136	86	45	i	i	NOUN
aiti-4136	86	46	)	)	PUNCT
aiti-4136	86	47	11	11	NUM
aiti-4136	86	48	12	12	NUM
aiti-4136	86	49	22	22	NUM
aiti-4136	86	50	0	0	NUM
aiti-4136	87	1	*	*	PUNCT
aiti-4136	88	1			NOUN
aiti-4136	89	1			INTJ
aiti-4136	90	1			NOUN
aiti-4136	91	1			NOUN
aiti-4136	91	2			NOUN
aiti-4136	91	3			NOUN
aiti-4136	91	4			PROPN
aiti-4136	91	5			X
aiti-4136	91	6			PROPN
aiti-4136	92	1			PROPN
aiti-4136	92	2			NOUN
aiti-4136	92	3	,	,	PUNCT
aiti-4136	92	4	(	(	PUNCT
aiti-4136	92	5	ii	ii	NOUN
aiti-4136	92	6	)	)	PUNCT
aiti-4136	92	7	11	11	NUM
aiti-4136	93	1	0	0	NUM
aiti-4136	93	2			NOUN
aiti-4136	93	3	and	and	CCONJ
aiti-4136	93	4	1	1	NUM
aiti-4136	93	5	22	22	NUM
aiti-4136	93	6	12	12	NUM
aiti-4136	93	7	11	11	NUM
aiti-4136	93	8	12	12	NUM
aiti-4136	93	9	0t	0t	NOUN
aiti-4136	93	10			NOUN
aiti-4136	93	11			INTJ
aiti-4136	94	1			NOUN
aiti-4136	94	2			INTJ
aiti-4136	94	3	,	,	PUNCT
aiti-4136	94	4	(	(	PUNCT
aiti-4136	94	5	iii	iii	NOUN
aiti-4136	94	6	)	)	PUNCT
aiti-4136	94	7	22	22	NUM
aiti-4136	95	1	0	0	NUM
aiti-4136	95	2			NOUN
aiti-4136	95	3	and	and	CCONJ
aiti-4136	95	4	1	1	NUM
aiti-4136	95	5	11	11	NUM
aiti-4136	95	6	12	12	NUM
aiti-4136	95	7	22	22	NUM
aiti-4136	95	8	12	12	NUM
aiti-4136	95	9	0t	0t	NOUN
aiti-4136	95	10			NOUN
aiti-4136	95	11			INTJ
aiti-4136	96	1			NOUN
aiti-4136	96	2			INTJ
aiti-4136	96	3	.	.	PUNCT
aiti-4136	97	1	lemma	lemma	PROPN
aiti-4136	97	2	2	2	NUM
aiti-4136	98	1	[	[	X
aiti-4136	98	2	14	14	NUM
aiti-4136	98	3	]	]	X
aiti-4136	98	4	:	:	PUNCT
aiti-4136	98	5	for	for	ADP
aiti-4136	98	6	matrices	matrix	NOUN
aiti-4136	98	7	p	p	NOUN
aiti-4136	98	8	and	and	CCONJ
aiti-4136	98	9	h	h	NOUN
aiti-4136	98	10	,	,	PUNCT
aiti-4136	98	11	which	which	PRON
aiti-4136	98	12	have	have	VERB
aiti-4136	98	13	appropriate	appropriate	ADJ
aiti-4136	98	14	dimensions	dimension	NOUN
aiti-4136	98	15	and	and	CCONJ
aiti-4136	98	16	a	a	DET
aiti-4136	98	17	positive	positive	ADJ
aiti-4136	98	18	scalar	scalar	ADJ
aiti-4136	98	19			NUM
aiti-4136	98	20	,	,	PUNCT
aiti-4136	98	21	the	the	DET
aiti-4136	98	22	following	follow	VERB
aiti-4136	98	23	relation	relation	NOUN
aiti-4136	98	24	holds	hold	VERB
aiti-4136	98	25	:	:	PUNCT
aiti-4136	99	1	1	1	NUM
aiti-4136	99	2	t	t	NOUN
aiti-4136	99	3	t	t	NOUN
aiti-4136	99	4	t	t	PROPN
aiti-4136	99	5	tph	tph	PROPN
aiti-4136	99	6	h	h	PROPN
aiti-4136	99	7	p	p	NOUN
aiti-4136	99	8	pp	pp	PROPN
aiti-4136	99	9	h	h	PROPN
aiti-4136	99	10	h	h	PROPN
aiti-4136	99	11			NUM
aiti-4136	99	12			ADJ
aiti-4136	99	13			PROPN
aiti-4136	99	14			PUNCT
aiti-4136	99	15	(	(	PUNCT
aiti-4136	99	16	2	2	NUM
aiti-4136	99	17	)	)	PUNCT
aiti-4136	99	18	3	3	NUM
aiti-4136	99	19	.	.	X
aiti-4136	99	20	problem	problem	NOUN
aiti-4136	99	21	formulation	formulation	NOUN
aiti-4136	99	22	the	the	DET
aiti-4136	99	23	multi	multi	ADJ
aiti-4136	99	24	-	-	ADJ
aiti-4136	99	25	agent	agent	ADJ
aiti-4136	99	26	system	system	NOUN
aiti-4136	99	27	which	which	PRON
aiti-4136	99	28	is	be	AUX
aiti-4136	99	29	considered	consider	VERB
aiti-4136	99	30	is	be	AUX
aiti-4136	99	31	composed	compose	VERB
aiti-4136	99	32	of	of	ADP
aiti-4136	99	33	3	3	NUM
aiti-4136	99	34	agents	agent	NOUN
aiti-4136	99	35	where	where	SCONJ
aiti-4136	99	36	an	an	DET
aiti-4136	99	37	agent	agent	NOUN
aiti-4136	99	38	indexed	index	VERB
aiti-4136	99	39	by	by	ADP
aiti-4136	99	40	1	1	NUM
aiti-4136	99	41	acts	act	NOUN
aiti-4136	99	42	as	as	ADP
aiti-4136	99	43	the	the	DET
aiti-4136	99	44	leader	leader	NOUN
aiti-4136	99	45	and	and	CCONJ
aiti-4136	99	46	the	the	DET
aiti-4136	99	47	other	other	ADJ
aiti-4136	99	48	agents	agent	NOUN
aiti-4136	99	49	indexed	index	VERB
aiti-4136	99	50	by	by	ADP
aiti-4136	99	51	2	2	NUM
aiti-4136	99	52	,	,	PUNCT
aiti-4136	99	53	3	3	NUM
aiti-4136	99	54	,	,	PUNCT
aiti-4136	99	55	respectively	respectively	ADV
aiti-4136	99	56	,	,	PUNCT
aiti-4136	99	57	act	act	VERB
aiti-4136	99	58	as	as	SCONJ
aiti-4136	99	59	the	the	DET
aiti-4136	99	60	followers	follower	NOUN
aiti-4136	99	61	described	describe	VERB
aiti-4136	99	62	as	as	ADP
aiti-4136	99	63	the	the	DET
aiti-4136	99	64	following	follow	VERB
aiti-4136	99	65	state	state	NOUN
aiti-4136	99	66	equation	equation	NOUN
aiti-4136	99	67	:	:	PUNCT
aiti-4136	99	68	(	(	PUNCT
aiti-4136	99	69	)	)	PUNCT
aiti-4136	99	70	(	(	PUNCT
aiti-4136	99	71	)	)	PUNCT
aiti-4136	99	72	(	(	PUNCT
aiti-4136	99	73	)	)	PUNCT
aiti-4136	99	74	i	i	PRON
aiti-4136	100	1	i	i	PRON
aiti-4136	100	2	i	i	VERB
aiti-4136	101	1	d	d	NOUN
aiti-4136	101	2	x	x	SYM
aiti-4136	101	3	t	t	NOUN
aiti-4136	101	4	ax	ax	NOUN
aiti-4136	101	5	t	t	PROPN
aiti-4136	101	6	bu	bu	PROPN
aiti-4136	101	7	t	t	PROPN
aiti-4136	101	8	dt	dt	PROPN
aiti-4136	102	1			PROPN
aiti-4136	102	2			X
aiti-4136	102	3	(	(	PUNCT
aiti-4136	102	4	3	3	X
aiti-4136	102	5	)	)	PUNCT
aiti-4136	102	6	where	where	SCONJ
aiti-4136	102	7			NOUN
aiti-4136	102	8	(1	(1	VERB
aiti-4136	102	9	)	)	PUNCT
aiti-4136	102	10	(	(	PUNCT
aiti-4136	102	11	2	2	X
aiti-4136	102	12	)	)	PUNCT
aiti-4136	102	13	(	(	PUNCT
aiti-4136	102	14	3	3	X
aiti-4136	102	15	)	)	PUNCT
aiti-4136	102	16	(	(	PUNCT
aiti-4136	102	17	4	4	NUM
aiti-4136	102	18	)	)	PUNCT
aiti-4136	102	19	(	(	PUNCT
aiti-4136	102	20	)	)	PUNCT
aiti-4136	102	21	(	(	PUNCT
aiti-4136	102	22	)	)	PUNCT
aiti-4136	102	23	,	,	PUNCT
aiti-4136	102	24	(	(	PUNCT
aiti-4136	102	25	)	)	PUNCT
aiti-4136	102	26	,	,	PUNCT
aiti-4136	102	27	(	(	PUNCT
aiti-4136	102	28	)	)	PUNCT
aiti-4136	102	29	,	,	PUNCT
aiti-4136	102	30	(	(	PUNCT
aiti-4136	102	31	)	)	PUNCT
aiti-4136	102	32	t	t	NOUN
aiti-4136	103	1	i	i	PRON
aiti-4136	103	2	i	i	PRON
aiti-4136	104	1	i	i	PRON
aiti-4136	104	2	i	i	PRON
aiti-4136	105	1	ix	ix	INTJ
aiti-4136	105	2	t	t	PROPN
aiti-4136	106	1	x	x	SYM
aiti-4136	106	2	t	t	X
aiti-4136	106	3	x	x	SYM
aiti-4136	106	4	t	t	NOUN
aiti-4136	106	5	x	x	SYM
aiti-4136	106	6	t	t	NOUN
aiti-4136	106	7	x	x	X
aiti-4136	106	8	t	t	PROPN
aiti-4136	106	9	is	be	AUX
aiti-4136	106	10	the	the	DET
aiti-4136	106	11	state	state	NOUN
aiti-4136	106	12	of	of	ADP
aiti-4136	106	13	i	i	PRON
aiti-4136	106	14	-th	-th	NOUN
aiti-4136	106	15	agent	agent	NOUN
aiti-4136	106	16	and	and	CCONJ
aiti-4136	106	17	elements	element	NOUN
aiti-4136	106	18	,	,	PUNCT
aiti-4136	106	19	(	(	PUNCT
aiti-4136	106	20	1	1	X
aiti-4136	106	21	)	)	PUNCT
aiti-4136	106	22	(	(	PUNCT
aiti-4136	106	23	)	)	PUNCT
aiti-4136	106	24	ix	ix	PROPN
aiti-4136	106	25	t	t	PROPN
aiti-4136	106	26	and	and	CCONJ
aiti-4136	106	27	(	(	PUNCT
aiti-4136	106	28	2	2	NUM
aiti-4136	106	29	)	)	PUNCT
aiti-4136	106	30	(	(	PUNCT
aiti-4136	106	31	)	)	PUNCT
aiti-4136	106	32	ix	ix	PROPN
aiti-4136	106	33	t	t	PROPN
aiti-4136	106	34	(	(	PUNCT
aiti-4136	106	35	resp	resp	NOUN
aiti-4136	106	36	.	.	PUNCT
aiti-4136	107	1	(	(	PUNCT
aiti-4136	107	2	3	3	X
aiti-4136	107	3	)	)	PUNCT
aiti-4136	107	4	(	(	PUNCT
aiti-4136	107	5	)	)	PUNCT
aiti-4136	107	6	ix	ix	PROPN
aiti-4136	107	7	t	t	PROPN
aiti-4136	107	8	and	and	CCONJ
aiti-4136	107	9	(	(	PUNCT
aiti-4136	107	10	4	4	NUM
aiti-4136	107	11	)	)	PUNCT
aiti-4136	107	12	(	(	PUNCT
aiti-4136	107	13	)	)	PUNCT
aiti-4136	107	14	ix	ix	PROPN
aiti-4136	107	15	t	t	PROPN
aiti-4136	107	16	)	)	PUNCT
aiti-4136	107	17	mean	mean	VERB
aiti-4136	107	18	the	the	DET
aiti-4136	107	19	position	position	NOUN
aiti-4136	107	20	and	and	CCONJ
aiti-4136	107	21	velocity	velocity	NOUN
aiti-4136	107	22	on	on	ADP
aiti-4136	107	23	x	x	PUNCT
aiti-4136	107	24	axis	axis	NOUN
aiti-4136	107	25	(	(	PUNCT
aiti-4136	107	26	resp	resp	NOUN
aiti-4136	107	27	.	.	PUNCT
aiti-4136	108	1	y	y	PROPN
aiti-4136	108	2	axis	axis	NOUN
aiti-4136	108	3	)	)	PUNCT
aiti-4136	108	4	,	,	PUNCT
aiti-4136	108	5	4	4	NUM
aiti-4136	108	6	4a	4a	NUM
aiti-4136	108	7			NOUN
aiti-4136	108	8	and	and	CCONJ
aiti-4136	108	9	4	4	NUM
aiti-4136	108	10	2b	2b	NUM
aiti-4136	108	11			NOUN
aiti-4136	108	12	are	be	AUX
aiti-4136	108	13	given	give	VERB
aiti-4136	108	14	by	by	ADP
aiti-4136	108	15	advances	advance	NOUN
aiti-4136	108	16	in	in	ADP
aiti-4136	108	17	technology	technology	NOUN
aiti-4136	108	18	innovation	innovation	NOUN
aiti-4136	108	19	,	,	PUNCT
aiti-4136	108	20	vol	vol	NOUN
aiti-4136	108	21	.	.	PROPN
aiti-4136	108	22	5	5	NUM
aiti-4136	108	23	,	,	PUNCT
aiti-4136	108	24	no	no	INTJ
aiti-4136	108	25	.	.	NOUN
aiti-4136	108	26	2	2	NUM
aiti-4136	108	27	,	,	PUNCT
aiti-4136	108	28	2020	2020	NUM
aiti-4136	108	29	,	,	PUNCT
aiti-4136	108	30	pp	pp	ADV
aiti-4136	108	31	.	.	PUNCT
aiti-4136	109	1	112	112	NUM
aiti-4136	109	2	-	-	SYM
aiti-4136	109	3	125	125	NUM
aiti-4136	110	1	115	115	NUM
aiti-4136	110	2	0	0	NUM
aiti-4136	110	3	1	1	NUM
aiti-4136	110	4	0	0	NUM
aiti-4136	110	5	0	0	NUM
aiti-4136	110	6	0	0	NUM
aiti-4136	110	7	0	0	NUM
aiti-4136	110	8	0	0	NUM
aiti-4136	110	9	0	0	NUM
aiti-4136	110	10	0	0	NUM
aiti-4136	110	11	0	0	NUM
aiti-4136	110	12	1	1	NUM
aiti-4136	110	13	0	0	NUM
aiti-4136	110	14	,	,	PUNCT
aiti-4136	110	15	0	0	NUM
aiti-4136	110	16	0	0	NUM
aiti-4136	110	17	0	0	NUM
aiti-4136	110	18	1	1	NUM
aiti-4136	110	19	0	0	NUM
aiti-4136	110	20	0	0	NUM
aiti-4136	110	21	0	0	NUM
aiti-4136	110	22	0	0	NUM
aiti-4136	110	23	0	0	NUM
aiti-4136	110	24	0	0	NUM
aiti-4136	110	25	0	0	NUM
aiti-4136	110	26	1	1	NUM
aiti-4136	110	27	a	a	DET
aiti-4136	110	28	b	b	PROPN
aiti-4136	110	29			NOUN
aiti-4136	110	30			PROPN
aiti-4136	110	31			NOUN
aiti-4136	110	32			PROPN
aiti-4136	110	33			PROPN
aiti-4136	111	1			PROPN
aiti-4136	112	1			PROPN
aiti-4136	113	1			INTJ
aiti-4136	114	1			PROPN
aiti-4136	115	1			PROPN
aiti-4136	116	1			PROPN
aiti-4136	116	2			NOUN
aiti-4136	117	1			PROPN
aiti-4136	117	2			PROPN
aiti-4136	118	1			INTJ
aiti-4136	119	1			PROPN
aiti-4136	120	1			INTJ
aiti-4136	121	1			PROPN
aiti-4136	122	1			INTJ
aiti-4136	123	1			PROPN
aiti-4136	123	2			PROPN
aiti-4136	124	1			ADJ
aiti-4136	124	2			PROPN
aiti-4136	124	3			PROPN
aiti-4136	124	4			NOUN
aiti-4136	124	5	　 	　 	SPACE
aiti-4136	124	6	(	(	PUNCT
aiti-4136	124	7	4	4	X
aiti-4136	124	8	)	)	PUNCT
aiti-4136	124	9	one	one	PRON
aiti-4136	124	10	can	can	AUX
aiti-4136	124	11	see	see	VERB
aiti-4136	124	12	that	that	SCONJ
aiti-4136	124	13	the	the	DET
aiti-4136	124	14	overall	overall	ADJ
aiti-4136	124	15	system	system	NOUN
aiti-4136	124	16	can	can	AUX
aiti-4136	124	17	be	be	AUX
aiti-4136	124	18	written	write	VERB
aiti-4136	124	19	as	as	ADP
aiti-4136	124	20	(	(	PUNCT
aiti-4136	124	21	)	)	PUNCT
aiti-4136	124	22	(	(	PUNCT
aiti-4136	124	23	)	)	PUNCT
aiti-4136	124	24	(	(	PUNCT
aiti-4136	124	25	)	)	PUNCT
aiti-4136	124	26	t	t	NOUN
aiti-4136	125	1	t	t	NOUN
aiti-4136	125	2	d	d	X
aiti-4136	125	3	x	x	PROPN
aiti-4136	125	4	t	t	PROPN
aiti-4136	125	5	a	a	X
aiti-4136	125	6	x	x	SYM
aiti-4136	125	7	t	t	PROPN
aiti-4136	125	8	b	b	PROPN
aiti-4136	125	9	u	u	X
aiti-4136	125	10	t	t	X
aiti-4136	125	11	dt	dt	NOUN
aiti-4136	125	12			PROPN
aiti-4136	125	13			X
aiti-4136	125	14	(	(	PUNCT
aiti-4136	125	15	5	5	NUM
aiti-4136	125	16	)	)	PUNCT
aiti-4136	125	17	where	where	SCONJ
aiti-4136	125	18			PROPN
aiti-4136	125	19	diag	diag	PRON
aiti-4136	125	20	,	,	PUNCT
aiti-4136	125	21	,	,	PUNCT
aiti-4136	125	22	ta	ta	ADP
aiti-4136	125	23	a	a	DET
aiti-4136	125	24	a	a	DET
aiti-4136	125	25	a	a	NOUN
aiti-4136	125	26	and	and	CCONJ
aiti-4136	125	27			PROPN
aiti-4136	125	28	diag	diag	PROPN
aiti-4136	125	29	,	,	PUNCT
aiti-4136	125	30	,	,	PUNCT
aiti-4136	125	31	tb	tb	PROPN
aiti-4136	125	32	b	b	PROPN
aiti-4136	125	33	b	b	PROPN
aiti-4136	125	34	b	b	PROPN
aiti-4136	125	35	.	.	PUNCT
aiti-4136	126	1	moreover	moreover	ADV
aiti-4136	126	2	,	,	PUNCT
aiti-4136	126	3			NOUN
aiti-4136	126	4	2	2	NOUN
aiti-4136	126	5	3	3	NUM
aiti-4136	126	6	(	(	PUNCT
aiti-4136	126	7	)	)	PUNCT
aiti-4136	126	8	(	(	PUNCT
aiti-4136	126	9	)	)	PUNCT
aiti-4136	126	10	(	(	PUNCT
aiti-4136	126	11	)	)	PUNCT
aiti-4136	126	12	(	(	PUNCT
aiti-4136	126	13	)	)	PUNCT
aiti-4136	126	14	t	t	NOUN
aiti-4136	126	15	t	t	PROPN
aiti-4136	126	16	t	t	PROPN
aiti-4136	126	17	t	t	PROPN
aiti-4136	126	18	lx	lx	ADP
aiti-4136	126	19	t	t	PROPN
aiti-4136	126	20	x	x	PROPN
aiti-4136	126	21	t	t	PROPN
aiti-4136	126	22	x	x	X
aiti-4136	126	23	t	t	NOUN
aiti-4136	126	24	x	x	PUNCT
aiti-4136	126	25	t	t	PROPN
aiti-4136	126	26	and	and	CCONJ
aiti-4136	126	27			NOUN
aiti-4136	126	28	2	2	ADJ
aiti-4136	126	29	3	3	NUM
aiti-4136	126	30	(	(	PUNCT
aiti-4136	126	31	)	)	PUNCT
aiti-4136	126	32	(	(	PUNCT
aiti-4136	126	33	)	)	PUNCT
aiti-4136	126	34	(	(	PUNCT
aiti-4136	126	35	)	)	PUNCT
aiti-4136	126	36	(	(	PUNCT
aiti-4136	126	37	)	)	PUNCT
aiti-4136	126	38	t	t	NOUN
aiti-4136	126	39	t	t	PROPN
aiti-4136	126	40	t	t	PROPN
aiti-4136	127	1	t	t	PROPN
aiti-4136	127	2	lu	lu	PROPN
aiti-4136	127	3	t	t	PROPN
aiti-4136	127	4	u	u	NOUN
aiti-4136	127	5	t	t	PROPN
aiti-4136	127	6	u	u	NOUN
aiti-4136	127	7	t	t	PROPN
aiti-4136	127	8	u	u	X
aiti-4136	127	9	t	t	PROPN
aiti-4136	127	10	in	in	ADP
aiti-4136	127	11	eq	eq	ADP
aiti-4136	127	12	.	.	PUNCT
aiti-4136	128	1	(	(	PUNCT
aiti-4136	128	2	5	5	X
aiti-4136	128	3	)	)	PUNCT
aiti-4136	128	4	are	be	AUX
aiti-4136	128	5	the	the	DET
aiti-4136	128	6	vectors	vector	NOUN
aiti-4136	128	7	of	of	ADP
aiti-4136	128	8	the	the	DET
aiti-4136	128	9	state	state	NOUN
aiti-4136	128	10	and	and	CCONJ
aiti-4136	128	11	the	the	DET
aiti-4136	128	12	control	control	NOUN
aiti-4136	128	13	input	input	NOUN
aiti-4136	128	14	for	for	ADP
aiti-4136	128	15	the	the	DET
aiti-4136	128	16	overall	overall	ADJ
aiti-4136	128	17	system	system	NOUN
aiti-4136	128	18	,	,	PUNCT
aiti-4136	128	19	respectively	respectively	ADV
aiti-4136	128	20	.	.	PUNCT
aiti-4136	129	1	it	it	PRON
aiti-4136	129	2	is	be	AUX
aiti-4136	129	3	well	well	ADV
aiti-4136	129	4	-	-	PUNCT
aiti-4136	129	5	known	know	VERB
aiti-4136	129	6	that	that	SCONJ
aiti-4136	129	7	the	the	DET
aiti-4136	129	8	information	information	NOUN
aiti-4136	129	9	path	path	NOUN
aiti-4136	129	10	between	between	ADP
aiti-4136	129	11	agents	agent	NOUN
aiti-4136	129	12	based	base	VERB
aiti-4136	129	13	on	on	ADP
aiti-4136	129	14	graph	graph	NOUN
aiti-4136	129	15	theory	theory	NOUN
aiti-4136	129	16	,	,	PUNCT
aiti-4136	129	17	and	and	CCONJ
aiti-4136	129	18	the	the	DET
aiti-4136	129	19	topology	topology	NOUN
aiti-4136	129	20	connection	connection	NOUN
aiti-4136	129	21	which	which	PRON
aiti-4136	129	22	is	be	AUX
aiti-4136	129	23	considered	consider	VERB
aiti-4136	129	24	is	be	AUX
aiti-4136	129	25	shown	show	VERB
aiti-4136	129	26	in	in	ADP
aiti-4136	129	27	fig	fig	NOUN
aiti-4136	129	28	.	.	PUNCT
aiti-4136	130	1	1	1	X
aiti-4136	130	2	.	.	X
aiti-4136	130	3	fig	fig	NOUN
aiti-4136	130	4	.	.	PUNCT
aiti-4136	131	1	1	1	NUM
aiti-4136	132	1	the	the	DET
aiti-4136	132	2	topology	topology	NOUN
aiti-4136	132	3	connection	connection	NOUN
aiti-4136	132	4	of	of	ADP
aiti-4136	132	5	agents	agent	NOUN
aiti-4136	132	6	since	since	SCONJ
aiti-4136	132	7	the	the	DET
aiti-4136	132	8	topology	topology	NOUN
aiti-4136	132	9	connection	connection	NOUN
aiti-4136	132	10	can	can	AUX
aiti-4136	132	11	also	also	ADV
aiti-4136	132	12	be	be	AUX
aiti-4136	132	13	expressed	express	VERB
aiti-4136	132	14	by	by	ADP
aiti-4136	132	15	graph	graph	NOUN
aiti-4136	132	16	laplacian	laplacian	ADJ
aiti-4136	132	17	l	l	NOUN
aiti-4136	132	18	defined	define	VERB
aiti-4136	132	19	by	by	ADP
aiti-4136	132	20	the	the	DET
aiti-4136	132	21	adjacency	adjacency	PROPN
aiti-4136	132	22	matrix	matrix	NOUN
aiti-4136	132	23	a	a	PRON
aiti-4136	132	24	and	and	CCONJ
aiti-4136	132	25	the	the	DET
aiti-4136	132	26	degree	degree	NOUN
aiti-4136	132	27	matrix	matrix	NOUN
aiti-4136	132	28	d.	d.	NOUN
aiti-4136	132	29	in	in	ADP
aiti-4136	132	30	the	the	DET
aiti-4136	132	31	topology	topology	NOUN
aiti-4136	132	32	connection	connection	NOUN
aiti-4136	132	33	,	,	PUNCT
aiti-4136	132	34	the	the	DET
aiti-4136	132	35	adjacency	adjacency	NOUN
aiti-4136	132	36	matrix	matrix	NOUN
aiti-4136	132	37	a	a	PRON
aiti-4136	132	38	and	and	CCONJ
aiti-4136	132	39	the	the	DET
aiti-4136	132	40	degree	degree	NOUN
aiti-4136	132	41	matrix	matrix	NOUN
aiti-4136	132	42	d	d	NOUN
aiti-4136	132	43	are	be	AUX
aiti-4136	132	44	given	give	VERB
aiti-4136	132	45	by	by	ADP
aiti-4136	132	46	0	0	NUM
aiti-4136	132	47	0	0	NUM
aiti-4136	132	48	0	0	NUM
aiti-4136	132	49	0	0	NUM
aiti-4136	132	50	0	0	NUM
aiti-4136	132	51	0	0	NUM
aiti-4136	132	52	1	1	NUM
aiti-4136	132	53	0	0	NUM
aiti-4136	132	54	1	1	NUM
aiti-4136	132	55	,	,	PUNCT
aiti-4136	132	56	0	0	NUM
aiti-4136	132	57	2	2	NUM
aiti-4136	132	58	0	0	NUM
aiti-4136	132	59	1	1	NUM
aiti-4136	132	60	1	1	NUM
aiti-4136	132	61	0	0	NUM
aiti-4136	132	62	0	0	NUM
aiti-4136	132	63	0	0	NUM
aiti-4136	132	64	2	2	NUM
aiti-4136	132	65	a	a	PRON
aiti-4136	132	66	d	d	PROPN
aiti-4136	132	67			NOUN
aiti-4136	132	68			PROPN
aiti-4136	132	69			NOUN
aiti-4136	132	70			PROPN
aiti-4136	132	71			PROPN
aiti-4136	133	1			PROPN
aiti-4136	134	1			PROPN
aiti-4136	134	2			PROPN
aiti-4136	135	1			PROPN
aiti-4136	135	2			PUNCT
aiti-4136	136	1			PROPN
aiti-4136	137	1			PROPN
aiti-4136	138	1			INTJ
aiti-4136	139	1			PROPN
aiti-4136	140	1			INTJ
aiti-4136	141	1			PROPN
aiti-4136	141	2			PROPN
aiti-4136	142	1			ADJ
aiti-4136	142	2			PROPN
aiti-4136	142	3			PROPN
aiti-4136	142	4			NOUN
aiti-4136	142	5	　 	　 	SPACE
aiti-4136	142	6	(	(	PUNCT
aiti-4136	142	7	6	6	NUM
aiti-4136	142	8	)	)	PUNCT
aiti-4136	142	9	thus	thus	ADV
aiti-4136	142	10	,	,	PUNCT
aiti-4136	142	11	the	the	DET
aiti-4136	142	12	corresponding	correspond	VERB
aiti-4136	142	13	graph	graph	NOUN
aiti-4136	142	14	laplacian	laplacian	ADJ
aiti-4136	142	15	l	l	NOUN
aiti-4136	142	16	can	can	AUX
aiti-4136	142	17	be	be	AUX
aiti-4136	142	18	described	describe	VERB
aiti-4136	142	19	as	as	ADP
aiti-4136	142	20	0	0	NUM
aiti-4136	142	21	0	0	NUM
aiti-4136	142	22	0	0	NUM
aiti-4136	142	23	1	1	NUM
aiti-4136	142	24	2	2	NUM
aiti-4136	142	25	1	1	NUM
aiti-4136	142	26	1	1	NUM
aiti-4136	142	27	1	1	NUM
aiti-4136	142	28	2	2	NUM
aiti-4136	142	29	l	l	NOUN
aiti-4136	142	30	d	d	NOUN
aiti-4136	142	31	a	a	DET
aiti-4136	142	32			NOUN
aiti-4136	142	33			PROPN
aiti-4136	142	34			PROPN
aiti-4136	142	35			PROPN
aiti-4136	143	1			PROPN
aiti-4136	143	2			PROPN
aiti-4136	143	3			PROPN
aiti-4136	143	4			PROPN
aiti-4136	143	5			PROPN
aiti-4136	143	6			PROPN
aiti-4136	143	7			NOUN
aiti-4136	143	8			NOUN
aiti-4136	143	9			NOUN
aiti-4136	143	10	(	(	PUNCT
aiti-4136	143	11	7	7	NUM
aiti-4136	143	12	)	)	PUNCT
aiti-4136	143	13	now	now	ADV
aiti-4136	143	14	,	,	PUNCT
aiti-4136	143	15	to	to	PART
aiti-4136	143	16	consider	consider	VERB
aiti-4136	143	17	the	the	DET
aiti-4136	143	18	control	control	NOUN
aiti-4136	143	19	gain	gain	VERB
aiti-4136	143	20	perturbations	perturbation	NOUN
aiti-4136	143	21	for	for	ADP
aiti-4136	143	22	the	the	DET
aiti-4136	143	23	i	i	PROPN
aiti-4136	143	24	-th	-th	NOUN
aiti-4136	143	25	agent	agent	NOUN
aiti-4136	143	26	of	of	ADP
aiti-4136	143	27	eq	eq	PROPN
aiti-4136	143	28	.	.	PUNCT
aiti-4136	144	1	(	(	PUNCT
aiti-4136	144	2	3	3	NUM
aiti-4136	144	3	)	)	PUNCT
aiti-4136	144	4	,	,	PUNCT
aiti-4136	144	5	there	there	PRON
aiti-4136	144	6	are	be	VERB
aiti-4136	144	7	the	the	DET
aiti-4136	144	8	following	follow	VERB
aiti-4136	144	9	control	control	NOUN
aiti-4136	144	10	input	input	NOUN
aiti-4136	144	11	:	:	PUNCT
aiti-4136	144	12			PROPN
aiti-4136	144	13			PROPN
aiti-4136	144	14	,	,	PUNCT
aiti-4136	144	15	,	,	PUNCT
aiti-4136	144	16	(	(	PUNCT
aiti-4136	144	17	)	)	PUNCT
aiti-4136	144	18	(	(	PUNCT
aiti-4136	144	19	)	)	PUNCT
aiti-4136	144	20	(	(	PUNCT
aiti-4136	144	21	)	)	PUNCT
aiti-4136	144	22	(	(	PUNCT
aiti-4136	144	23	)	)	PUNCT
aiti-4136	144	24	(	(	PUNCT
aiti-4136	144	25	)	)	PUNCT
aiti-4136	144	26	(	(	PUNCT
aiti-4136	144	27	)	)	PUNCT
aiti-4136	144	28	(	(	PUNCT
aiti-4136	144	29	)	)	PUNCT
aiti-4136	144	30	(	(	PUNCT
aiti-4136	144	31	)	)	PUNCT
aiti-4136	145	1	i	i	PRON
aiti-4136	145	2	i	i	PRON
aiti-4136	146	1	k	k	VERB
aiti-4136	147	1	i	i	PRON
aiti-4136	147	2	f	f	VERB
aiti-4136	148	1	i	i	PRON
aiti-4136	148	2	i	i	PRON
aiti-4136	149	1	i	i	VERB
aiti-4136	149	2	j	j	PROPN
aiti-4136	150	1	j	j	PROPN
aiti-4136	150	2	n	n	CCONJ
aiti-4136	150	3	u	u	NOUN
aiti-4136	150	4	t	t	X
aiti-4136	150	5	u	u	NOUN
aiti-4136	150	6	t	t	PROPN
aiti-4136	150	7	u	u	NOUN
aiti-4136	150	8	t	t	PROPN
aiti-4136	150	9	k	k	PROPN
aiti-4136	150	10	t	t	PROPN
aiti-4136	150	11	x	x	PROPN
aiti-4136	150	12	t	t	PROPN
aiti-4136	150	13	f	f	PROPN
aiti-4136	150	14	t	t	PROPN
aiti-4136	150	15	x	x	SYM
aiti-4136	150	16	t	t	PROPN
aiti-4136	150	17	x	x	SYM
aiti-4136	150	18	t	t	PROPN
aiti-4136	150	19			NOUN
aiti-4136	150	20			PROPN
aiti-4136	150	21			NUM
aiti-4136	150	22			PUNCT
aiti-4136	150	23			X
aiti-4136	150	24	(	(	PUNCT
aiti-4136	150	25	8)	8)	NUM
aiti-4136	150	26	where	where	SCONJ
aiti-4136	150	27	in	in	ADP
aiti-4136	150	28	is	be	AUX
aiti-4136	150	29	the	the	DET
aiti-4136	150	30	set	set	NOUN
aiti-4136	150	31	of	of	ADP
aiti-4136	150	32	neighbors	neighbor	NOUN
aiti-4136	150	33	for	for	ADP
aiti-4136	150	34	the	the	DET
aiti-4136	150	35	i	i	PROPN
aiti-4136	150	36	-th	-th	NOUN
aiti-4136	150	37	agent	agent	NOUN
aiti-4136	150	38	.	.	PUNCT
aiti-4136	151	1	2	2	NUM
aiti-4136	151	2	4	4	NUM
aiti-4136	151	3	(	(	PUNCT
aiti-4136	151	4	)	)	PUNCT
aiti-4136	151	5	k	k	PROPN
aiti-4136	151	6	t	t	PROPN
aiti-4136	151	7			NOUN
aiti-4136	151	8	is	be	AUX
aiti-4136	151	9	the	the	DET
aiti-4136	151	10	state	state	NOUN
aiti-4136	151	11	feedback	feedback	NOUN
aiti-4136	151	12	gain	gain	NOUN
aiti-4136	151	13	matrix	matrix	NOUN
aiti-4136	151	14	and	and	CCONJ
aiti-4136	151	15	2	2	NUM
aiti-4136	151	16	4	4	NUM
aiti-4136	151	17	(	(	PUNCT
aiti-4136	151	18	)	)	PUNCT
aiti-4136	151	19	f	f	PROPN
aiti-4136	151	20	t	t	PROPN
aiti-4136	151	21			NOUN
aiti-4136	151	22	is	be	AUX
aiti-4136	151	23	the	the	DET
aiti-4136	151	24	consensus	consensus	NOUN
aiti-4136	151	25	gain	gain	NOUN
aiti-4136	151	26	matrix	matrix	NOUN
aiti-4136	151	27	.	.	PUNCT
aiti-4136	152	1	these	these	DET
aiti-4136	152	2	gain	gain	NOUN
aiti-4136	152	3	matrices	matrix	NOUN
aiti-4136	152	4	are	be	AUX
aiti-4136	152	5	defined	define	VERB
aiti-4136	152	6	as	as	ADP
aiti-4136	152	7	(	(	PUNCT
aiti-4136	152	8	)	)	PUNCT
aiti-4136	152	9	(	(	PUNCT
aiti-4136	152	10	)	)	PUNCT
aiti-4136	152	11	k	k	PROPN
aiti-4136	152	12	t	t	PROPN
aiti-4136	152	13	k	k	PROPN
aiti-4136	152	14	k	k	PROPN
aiti-4136	152	15	t	t	PROPN
aiti-4136	152	16	(	(	PUNCT
aiti-4136	152	17	9	9	NUM
aiti-4136	152	18	)	)	PUNCT
aiti-4136	152	19	(	(	PUNCT
aiti-4136	152	20	)	)	PUNCT
aiti-4136	153	1	(	(	PUNCT
aiti-4136	153	2	)	)	PUNCT
aiti-4136	153	3	f	f	PROPN
aiti-4136	153	4	t	t	PROPN
aiti-4136	153	5	f	f	PROPN
aiti-4136	153	6	f	f	PROPN
aiti-4136	153	7	t	t	NOUN
aiti-4136	153	8	(	(	PUNCT
aiti-4136	153	9	10	10	NUM
aiti-4136	153	10	)	)	PUNCT
aiti-4136	153	11	note	note	NOUN
aiti-4136	153	12	that	that	SCONJ
aiti-4136	153	13	2	2	NUM
aiti-4136	153	14	4k	4k	NUM
aiti-4136	153	15			NOUN
aiti-4136	153	16	and	and	CCONJ
aiti-4136	153	17	2	2	NUM
aiti-4136	153	18	4f	4f	NUM
aiti-4136	153	19			NOUN
aiti-4136	153	20	are	be	AUX
aiti-4136	153	21	the	the	DET
aiti-4136	153	22	nominal	nominal	ADJ
aiti-4136	153	23	control	control	NOUN
aiti-4136	153	24	gain	gain	NOUN
aiti-4136	153	25	matrices	matrix	NOUN
aiti-4136	153	26	,	,	PUNCT
aiti-4136	153	27	and	and	CCONJ
aiti-4136	153	28	the	the	DET
aiti-4136	153	29	matrices	matrix	NOUN
aiti-4136	153	30	2	2	NUM
aiti-4136	153	31	4	4	NUM
aiti-4136	153	32	(	(	PUNCT
aiti-4136	153	33	)	)	PUNCT
aiti-4136	153	34	k	k	PROPN
aiti-4136	153	35	t	t	PROPN
aiti-4136	153	36			PROPN
aiti-4136	153	37			NOUN
aiti-4136	153	38	and	and	CCONJ
aiti-4136	153	39	2	2	NUM
aiti-4136	153	40	4	4	NUM
aiti-4136	153	41	(	(	PUNCT
aiti-4136	153	42	)	)	PUNCT
aiti-4136	153	43	f	f	PROPN
aiti-4136	153	44	t	t	PROPN
aiti-4136	153	45			PROPN
aiti-4136	153	46			NOUN
aiti-4136	153	47	are	be	AUX
aiti-4136	153	48	unknown	unknown	ADJ
aiti-4136	153	49	time	time	NOUN
aiti-4136	153	50	-	-	PUNCT
aiti-4136	153	51	varying	vary	VERB
aiti-4136	153	52	parameters	parameter	NOUN
aiti-4136	153	53	which	which	PRON
aiti-4136	153	54	satisfy	satisfy	VERB
aiti-4136	153	55	the	the	DET
aiti-4136	153	56	relations	relation	NOUN
aiti-4136	153	57	(	(	PUNCT
aiti-4136	153	58	)	)	PUNCT
aiti-4136	153	59	kk	kk	PROPN
aiti-4136	153	60	t	t	PROPN
aiti-4136	153	61			PROPN
aiti-4136	153	62			PROPN
aiti-4136	153	63	and	and	CCONJ
aiti-4136	153	64	(	(	PUNCT
aiti-4136	153	65	)	)	PUNCT
aiti-4136	153	66	ff	ff	PROPN
aiti-4136	153	67	t	t	PROPN
aiti-4136	153	68			PROPN
aiti-4136	153	69			PROPN
aiti-4136	153	70	.	.	PUNCT
aiti-4136	154	1	one	one	PRON
aiti-4136	154	2	can	can	AUX
aiti-4136	154	3	see	see	VERB
aiti-4136	154	4	that	that	DET
aiti-4136	154	5	additive	additive	ADJ
aiti-4136	154	6	control	control	NOUN
aiti-4136	154	7	gain	gain	NOUN
aiti-4136	154	8	perturbations	perturbation	NOUN
aiti-4136	154	9	were	be	AUX
aiti-4136	154	10	considered	consider	VERB
aiti-4136	154	11	in	in	ADP
aiti-4136	154	12	this	this	DET
aiti-4136	154	13	paper	paper	NOUN
aiti-4136	154	14	.	.	PUNCT
aiti-4136	155	1	additionally	additionally	ADV
aiti-4136	155	2	,	,	PUNCT
aiti-4136	155	3	1	1	NUM
aiti-4136	155	4	k	k	PROPN
aiti-4136	155	5			NOUN
aiti-4136	155	6	and	and	CCONJ
aiti-4136	155	7	1	1	NUM
aiti-4136	155	8	f	f	PROPN
aiti-4136	155	9			NOUN
aiti-4136	155	10	mean	mean	VERB
aiti-4136	155	11	upper	upper	ADJ
aiti-4136	155	12	bounds	bound	NOUN
aiti-4136	155	13	of	of	ADP
aiti-4136	155	14	the	the	DET
aiti-4136	155	15	advances	advance	NOUN
aiti-4136	155	16	in	in	ADP
aiti-4136	155	17	technology	technology	NOUN
aiti-4136	155	18	innovation	innovation	NOUN
aiti-4136	155	19	,	,	PUNCT
aiti-4136	155	20	vol	vol	NOUN
aiti-4136	155	21	.	.	PROPN
aiti-4136	155	22	5	5	NUM
aiti-4136	155	23	,	,	PUNCT
aiti-4136	155	24	no	no	INTJ
aiti-4136	155	25	.	.	NOUN
aiti-4136	155	26	2	2	NUM
aiti-4136	155	27	,	,	PUNCT
aiti-4136	155	28	2020	2020	NUM
aiti-4136	155	29	,	,	PUNCT
aiti-4136	155	30	pp	pp	ADV
aiti-4136	155	31	.	.	PUNCT
aiti-4136	156	1	112	112	NUM
aiti-4136	156	2	-	-	SYM
aiti-4136	156	3	125	125	NUM
aiti-4136	156	4	116	116	NUM
aiti-4136	156	5	control	control	NOUN
aiti-4136	156	6	gain	gain	NOUN
aiti-4136	156	7	perturbations	perturbation	NOUN
aiti-4136	156	8	and	and	CCONJ
aiti-4136	156	9	are	be	AUX
aiti-4136	156	10	known	know	VERB
aiti-4136	156	11	positive	positive	ADJ
aiti-4136	156	12	scalars	scalar	NOUN
aiti-4136	156	13	.	.	PUNCT
aiti-4136	157	1	namely	namely	ADV
aiti-4136	157	2	,	,	PUNCT
aiti-4136	157	3	for	for	ADP
aiti-4136	157	4	the	the	DET
aiti-4136	157	5	overall	overall	ADJ
aiti-4136	157	6	system	system	NOUN
aiti-4136	157	7	of	of	ADP
aiti-4136	157	8	eq	eq	PROPN
aiti-4136	157	9	.	.	PUNCT
aiti-4136	158	1	(	(	PUNCT
aiti-4136	158	2	5	5	X
aiti-4136	158	3	)	)	PUNCT
aiti-4136	158	4	the	the	DET
aiti-4136	158	5	actual	actual	ADJ
aiti-4136	158	6	control	control	NOUN
aiti-4136	158	7	input	input	NOUN
aiti-4136	158	8	implemented	implement	VERB
aiti-4136	158	9	is	be	AUX
aiti-4136	158	10	assumed	assume	VERB
aiti-4136	158	11	to	to	PART
aiti-4136	158	12	be	be	AUX
aiti-4136	158	13	(	(	PUNCT
aiti-4136	158	14	)	)	PUNCT
aiti-4136	158	15	(	(	PUNCT
aiti-4136	158	16	)	)	PUNCT
aiti-4136	158	17	(	(	PUNCT
aiti-4136	158	18	)	)	PUNCT
aiti-4136	158	19	(	(	PUNCT
aiti-4136	158	20	)	)	PUNCT
aiti-4136	158	21	(	(	PUNCT
aiti-4136	158	22	)	)	PUNCT
aiti-4136	158	23	(	(	PUNCT
aiti-4136	158	24	)	)	PUNCT
aiti-4136	159	1	(	(	PUNCT
aiti-4136	159	2	)	)	PUNCT
aiti-4136	160	1	k	k	PROPN
aiti-4136	160	2	f	f	PROPN
aiti-4136	161	1	t	t	PROPN
aiti-4136	161	2	t	t	PROPN
aiti-4136	161	3	u	u	NOUN
aiti-4136	161	4	t	t	PROPN
aiti-4136	161	5	u	u	NOUN
aiti-4136	161	6	t	t	PROPN
aiti-4136	161	7	u	u	NOUN
aiti-4136	161	8	t	t	PROPN
aiti-4136	161	9	k	k	PROPN
aiti-4136	161	10	t	t	PROPN
aiti-4136	161	11	x	x	PROPN
aiti-4136	162	1	t	t	PROPN
aiti-4136	162	2	f	f	PROPN
aiti-4136	162	3	t	t	PROPN
aiti-4136	162	4	x	x	PROPN
aiti-4136	162	5	t	t	PROPN
aiti-4136	162	6			PROPN
aiti-4136	163	1			PROPN
aiti-4136	163	2			X
aiti-4136	163	3	(	(	PUNCT
aiti-4136	163	4	11	11	NUM
aiti-4136	163	5	)	)	PUNCT
aiti-4136	163	6	where	where	SCONJ
aiti-4136	163	7			NOUN
aiti-4136	163	8	2	2	NOUN
aiti-4136	163	9	3	3	NUM
aiti-4136	163	10	(	(	PUNCT
aiti-4136	163	11	)	)	PUNCT
aiti-4136	163	12	(	(	PUNCT
aiti-4136	163	13	)	)	PUNCT
aiti-4136	163	14	(	(	PUNCT
aiti-4136	163	15	)	)	PUNCT
aiti-4136	163	16	(	(	PUNCT
aiti-4136	163	17	)	)	PUNCT
aiti-4136	163	18	(	(	PUNCT
aiti-4136	163	19	,	,	PUNCT
aiti-4136	163	20	)	)	PUNCT
aiti-4136	163	21	t	t	PROPN
aiti-4136	163	22	t	t	PROPN
aiti-4136	163	23	t	t	PROPN
aiti-4136	163	24	t	t	PROPN
aiti-4136	163	25	p	p	X
aiti-4136	164	1	pl	pl	PROPN
aiti-4136	164	2	p	p	PROPN
aiti-4136	164	3	pu	pu	PROPN
aiti-4136	164	4	t	t	PROPN
aiti-4136	164	5	u	u	NOUN
aiti-4136	164	6	t	t	PROPN
aiti-4136	164	7	u	u	NOUN
aiti-4136	164	8	t	t	PROPN
aiti-4136	164	9	u	u	NOUN
aiti-4136	164	10	t	t	PROPN
aiti-4136	164	11	p	p	X
aiti-4136	164	12	k	k	PROPN
aiti-4136	164	13	f	f	PROPN
aiti-4136	164	14			PROPN
aiti-4136	164	15	.	.	PUNCT
aiti-4136	165	1	in	in	ADP
aiti-4136	165	2	eq	eq	ADP
aiti-4136	165	3	.	.	PUNCT
aiti-4136	166	1	(	(	PUNCT
aiti-4136	166	2	11	11	NUM
aiti-4136	166	3	)	)	PUNCT
aiti-4136	166	4	,	,	PUNCT
aiti-4136	166	5	6	6	NUM
aiti-4136	166	6	(	(	PUNCT
aiti-4136	166	7	)	)	PUNCT
aiti-4136	166	8	ku	ku	PROPN
aiti-4136	166	9	t	t	PROPN
aiti-4136	166	10			NOUN
aiti-4136	166	11	can	can	AUX
aiti-4136	166	12	be	be	AUX
aiti-4136	166	13	described	describe	VERB
aiti-4136	166	14	as	as	ADP
aiti-4136	166	15			PROPN
aiti-4136	166	16	3	3	PROPN
aiti-4136	166	17	(	(	PUNCT
aiti-4136	166	18	)	)	PUNCT
aiti-4136	166	19	(	(	PUNCT
aiti-4136	166	20	)	)	PUNCT
aiti-4136	166	21	(	(	PUNCT
aiti-4136	166	22	)	)	PUNCT
aiti-4136	166	23	(	(	PUNCT
aiti-4136	166	24	)	)	PUNCT
aiti-4136	167	1	(	(	PUNCT
aiti-4136	167	2	)	)	PUNCT
aiti-4136	167	3	k	k	PROPN
aiti-4136	167	4	tu	tu	PROPN
aiti-4136	167	5	t	t	PROPN
aiti-4136	168	1	i	i	PRON
aiti-4136	168	2	k	k	PROPN
aiti-4136	168	3	t	t	PROPN
aiti-4136	168	4	x	x	PROPN
aiti-4136	168	5	t	t	PROPN
aiti-4136	168	6	k	k	PROPN
aiti-4136	168	7	t	t	PROPN
aiti-4136	168	8	x	x	PROPN
aiti-4136	168	9	t	t	PROPN
aiti-4136	168	10			NUM
aiti-4136	168	11	(	(	PUNCT
aiti-4136	168	12	12	12	NUM
aiti-4136	168	13	)	)	PUNCT
aiti-4136	168	14	and	and	CCONJ
aiti-4136	168	15	6	6	NUM
aiti-4136	168	16	(	(	PUNCT
aiti-4136	168	17	)	)	PUNCT
aiti-4136	168	18	fu	fu	PROPN
aiti-4136	168	19	t	t	PROPN
aiti-4136	168	20			NOUN
aiti-4136	168	21	is	be	AUX
aiti-4136	168	22	the	the	DET
aiti-4136	168	23	consensus	consensus	NOUN
aiti-4136	168	24	protocol	protocol	NOUN
aiti-4136	168	25	given	give	VERB
aiti-4136	168	26	by	by	ADP
aiti-4136	168	27			NOUN
aiti-4136	168	28			PROPN
aiti-4136	168	29	2	2	NUM
aiti-4136	168	30	3	3	NUM
aiti-4136	168	31	0	0	NUM
aiti-4136	168	32	0	0	NUM
aiti-4136	168	33	0	0	NUM
aiti-4136	168	34	(	(	PUNCT
aiti-4136	168	35	)	)	PUNCT
aiti-4136	168	36	(	(	PUNCT
aiti-4136	168	37	)	)	PUNCT
aiti-4136	168	38	(	(	PUNCT
aiti-4136	168	39	)	)	PUNCT
aiti-4136	168	40	2	2	NUM
aiti-4136	168	41	(	(	PUNCT
aiti-4136	168	42	)	)	PUNCT
aiti-4136	168	43	(	(	PUNCT
aiti-4136	168	44	)	)	PUNCT
aiti-4136	168	45	(	(	PUNCT
aiti-4136	168	46	)	)	PUNCT
aiti-4136	168	47	(	(	PUNCT
aiti-4136	168	48	)	)	PUNCT
aiti-4136	168	49	(	(	PUNCT
aiti-4136	168	50	)	)	PUNCT
aiti-4136	168	51	2	2	NUM
aiti-4136	168	52	(	(	PUNCT
aiti-4136	168	53	)	)	PUNCT
aiti-4136	168	54	(	(	PUNCT
aiti-4136	168	55	)	)	PUNCT
aiti-4136	168	56	(	(	PUNCT
aiti-4136	168	57	)	)	PUNCT
aiti-4136	168	58	(	(	PUNCT
aiti-4136	168	59	)	)	PUNCT
aiti-4136	168	60	(	(	PUNCT
aiti-4136	168	61	)	)	PUNCT
aiti-4136	168	62	(	(	PUNCT
aiti-4136	168	63	)	)	PUNCT
aiti-4136	169	1	l	l	NOUN
aiti-4136	169	2	f	f	PROPN
aiti-4136	170	1	t	t	NOUN
aiti-4136	170	2	x	x	SYM
aiti-4136	170	3	t	t	NOUN
aiti-4136	170	4	u	u	X
aiti-4136	170	5	t	t	PROPN
aiti-4136	170	6	f	f	PROPN
aiti-4136	170	7	t	t	PROPN
aiti-4136	171	1	f	f	PROPN
aiti-4136	171	2	t	t	PROPN
aiti-4136	172	1	f	f	PROPN
aiti-4136	172	2	t	t	PROPN
aiti-4136	173	1	x	x	PROPN
aiti-4136	173	2	t	t	PROPN
aiti-4136	173	3	f	f	PROPN
aiti-4136	174	1	t	t	PROPN
aiti-4136	174	2	f	f	PROPN
aiti-4136	174	3	t	t	PROPN
aiti-4136	174	4	f	f	PROPN
aiti-4136	174	5	t	t	PROPN
aiti-4136	174	6	x	x	SYM
aiti-4136	174	7	t	t	NOUN
aiti-4136	174	8	l	l	NOUN
aiti-4136	174	9	f	f	PROPN
aiti-4136	175	1	t	t	PROPN
aiti-4136	175	2	x	x	SYM
aiti-4136	175	3	t	t	PROPN
aiti-4136	175	4	f	f	PROPN
aiti-4136	175	5	t	t	PROPN
aiti-4136	175	6	x	x	SYM
aiti-4136	175	7	t	t	PROPN
aiti-4136	175	8			NOUN
aiti-4136	175	9			PROPN
aiti-4136	175	10			PROPN
aiti-4136	175	11			PROPN
aiti-4136	175	12			NOUN
aiti-4136	176	1			PROPN
aiti-4136	177	1			PROPN
aiti-4136	177	2			PROPN
aiti-4136	177	3			PROPN
aiti-4136	177	4			NOUN
aiti-4136	178	1			PROPN
aiti-4136	178	2			PROPN
aiti-4136	178	3			VERB
aiti-4136	178	4			NOUN
aiti-4136	178	5			NOUN
aiti-4136	178	6			NOUN
aiti-4136	178	7			NOUN
aiti-4136	179	1			PRON
aiti-4136	179	2			ADJ
aiti-4136	179	3			PROPN
aiti-4136	179	4	(	(	PUNCT
aiti-4136	179	5	13	13	NUM
aiti-4136	179	6	)	)	PUNCT
aiti-4136	179	7	therefore	therefore	ADV
aiti-4136	179	8	,	,	PUNCT
aiti-4136	179	9	the	the	DET
aiti-4136	179	10	actual	actual	ADJ
aiti-4136	179	11	control	control	NOUN
aiti-4136	179	12	input	input	NOUN
aiti-4136	179	13	of	of	ADP
aiti-4136	179	14	eq	eq	PROPN
aiti-4136	179	15	.	.	PUNCT
aiti-4136	180	1	(	(	PUNCT
aiti-4136	180	2	11	11	NUM
aiti-4136	180	3	)	)	PUNCT
aiti-4136	180	4	can	can	AUX
aiti-4136	180	5	be	be	AUX
aiti-4136	180	6	rewritten	rewrite	VERB
aiti-4136	180	7	as	as	ADP
aiti-4136	180	8	(	(	PUNCT
aiti-4136	180	9	)	)	PUNCT
aiti-4136	180	10	0	0	NUM
aiti-4136	180	11	0	0	NUM
aiti-4136	180	12	(	(	PUNCT
aiti-4136	180	13	)	)	PUNCT
aiti-4136	180	14	(	(	PUNCT
aiti-4136	180	15	)	)	PUNCT
aiti-4136	180	16	(	(	PUNCT
aiti-4136	180	17	)	)	PUNCT
aiti-4136	180	18	2	2	NUM
aiti-4136	180	19	(	(	PUNCT
aiti-4136	180	20	)	)	PUNCT
aiti-4136	180	21	(	(	PUNCT
aiti-4136	180	22	)	)	PUNCT
aiti-4136	180	23	(	(	PUNCT
aiti-4136	180	24	)	)	PUNCT
aiti-4136	180	25	(	(	PUNCT
aiti-4136	180	26	)	)	PUNCT
aiti-4136	180	27	(	(	PUNCT
aiti-4136	180	28	)	)	PUNCT
aiti-4136	180	29	(	(	PUNCT
aiti-4136	180	30	)	)	PUNCT
aiti-4136	180	31	2	2	NUM
aiti-4136	180	32	(	(	PUNCT
aiti-4136	180	33	)	)	PUNCT
aiti-4136	181	1	k	k	PROPN
aiti-4136	181	2	t	t	PROPN
aiti-4136	181	3	u	u	X
aiti-4136	181	4	t	t	PROPN
aiti-4136	182	1	f	f	PROPN
aiti-4136	182	2	t	t	PROPN
aiti-4136	183	1	k	k	PROPN
aiti-4136	183	2	t	t	PROPN
aiti-4136	184	1	f	f	PROPN
aiti-4136	184	2	t	t	PROPN
aiti-4136	185	1	f	f	PROPN
aiti-4136	185	2	t	t	PROPN
aiti-4136	186	1	x	x	PROPN
aiti-4136	186	2	t	t	PROPN
aiti-4136	186	3	f	f	PROPN
aiti-4136	187	1	t	t	PROPN
aiti-4136	187	2	f	f	PROPN
aiti-4136	187	3	t	t	PROPN
aiti-4136	188	1	k	k	PROPN
aiti-4136	188	2	t	t	PROPN
aiti-4136	188	3	f	f	PROPN
aiti-4136	188	4	t	t	PROPN
aiti-4136	188	5			NOUN
aiti-4136	188	6			PROPN
aiti-4136	188	7			PROPN
aiti-4136	188	8			PROPN
aiti-4136	189	1			PROPN
aiti-4136	189	2			PROPN
aiti-4136	189	3			SYM
aiti-4136	189	4			PROPN
aiti-4136	189	5			PROPN
aiti-4136	189	6			PROPN
aiti-4136	189	7			NOUN
aiti-4136	189	8			PROPN
aiti-4136	189	9			NOUN
aiti-4136	189	10			NOUN
aiti-4136	189	11	(	(	PUNCT
aiti-4136	189	12	14	14	NUM
aiti-4136	189	13	)	)	PUNCT
aiti-4136	189	14	moreover	moreover	ADV
aiti-4136	189	15	,	,	PUNCT
aiti-4136	189	16	the	the	DET
aiti-4136	189	17	closed	closed	ADJ
aiti-4136	189	18	-	-	PUNCT
aiti-4136	189	19	loop	loop	NOUN
aiti-4136	189	20	system	system	NOUN
aiti-4136	189	21	found	find	VERB
aiti-4136	189	22	is	be	AUX
aiti-4136	189	23	described	describe	VERB
aiti-4136	189	24	as	as	ADP
aiti-4136	189	25			NOUN
aiti-4136	189	26			PROPN
aiti-4136	189	27	2	2	NUM
aiti-4136	189	28	3	3	NUM
aiti-4136	189	29	(	(	PUNCT
aiti-4136	189	30	)	)	PUNCT
aiti-4136	189	31	(	(	PUNCT
aiti-4136	189	32	)	)	PUNCT
aiti-4136	189	33	(	(	PUNCT
aiti-4136	189	34	)	)	PUNCT
aiti-4136	189	35	(	(	PUNCT
aiti-4136	189	36	)	)	PUNCT
aiti-4136	189	37	(	(	PUNCT
aiti-4136	189	38	)	)	PUNCT
aiti-4136	189	39	(	(	PUNCT
aiti-4136	189	40	)	)	PUNCT
aiti-4136	189	41	0	0	NUM
aiti-4136	189	42	0	0	NUM
aiti-4136	189	43	0	0	NUM
aiti-4136	189	44	0	0	NUM
aiti-4136	189	45	(	(	PUNCT
aiti-4136	189	46	)	)	PUNCT
aiti-4136	189	47	0	0	NUM
aiti-4136	189	48	0	0	NUM
aiti-4136	189	49	(	(	PUNCT
aiti-4136	189	50	)	)	PUNCT
aiti-4136	189	51	*	*	PUNCT
aiti-4136	189	52	0	0	PUNCT
aiti-4136	190	1	*	*	PUNCT
aiti-4136	190	2	0	0	PUNCT
aiti-4136	190	3	(	(	PUNCT
aiti-4136	190	4	)	)	PUNCT
aiti-4136	190	5	(	(	PUNCT
aiti-4136	190	6	)	)	PUNCT
aiti-4136	190	7	2	2	NUM
aiti-4136	190	8	(	(	PUNCT
aiti-4136	190	9	)	)	PUNCT
aiti-4136	190	10	(	(	PUNCT
aiti-4136	190	11	)	)	PUNCT
aiti-4136	190	12	(	(	PUNCT
aiti-4136	190	13	)	)	PUNCT
aiti-4136	190	14	*	*	PUNCT
aiti-4136	191	1	*	*	PUNCT
aiti-4136	191	2	*	*	PUNCT
aiti-4136	191	3	*	*	PUNCT
aiti-4136	191	4	(	(	PUNCT
aiti-4136	191	5	)	)	PUNCT
aiti-4136	191	6	(	(	PUNCT
aiti-4136	191	7	)	)	PUNCT
aiti-4136	191	8	(	(	PUNCT
aiti-4136	191	9	)	)	PUNCT
aiti-4136	191	10	2	2	NUM
aiti-4136	191	11	(	(	PUNCT
aiti-4136	191	12	)	)	PUNCT
aiti-4136	191	13	(	(	PUNCT
aiti-4136	191	14	)	)	PUNCT
aiti-4136	191	15	0	0	NUM
aiti-4136	191	16	0	0	NUM
aiti-4136	191	17	t	t	NOUN
aiti-4136	191	18	t	t	PROPN
aiti-4136	191	19	t	t	PROPN
aiti-4136	192	1	t	t	PROPN
aiti-4136	192	2	l	l	NOUN
aiti-4136	192	3	k	k	PROPN
aiti-4136	193	1	f	f	X
aiti-4136	193	2	f	f	PROPN
aiti-4136	194	1	d	d	X
aiti-4136	194	2	x	x	PROPN
aiti-4136	194	3	t	t	PROPN
aiti-4136	194	4	a	a	X
aiti-4136	194	5	x	x	SYM
aiti-4136	194	6	t	t	PROPN
aiti-4136	195	1	b	b	PROPN
aiti-4136	195	2	k	k	PROPN
aiti-4136	195	3	t	t	PROPN
aiti-4136	195	4	x	x	PROPN
aiti-4136	196	1	t	t	PROPN
aiti-4136	196	2	f	f	PROPN
aiti-4136	196	3	t	t	PROPN
aiti-4136	196	4	x	x	SYM
aiti-4136	196	5	t	t	X
aiti-4136	196	6	dt	dt	X
aiti-4136	196	7	a	a	DET
aiti-4136	196	8	b	b	PROPN
aiti-4136	196	9	k	k	PROPN
aiti-4136	196	10	t	t	PROPN
aiti-4136	196	11	x	x	PROPN
aiti-4136	196	12	t	t	PROPN
aiti-4136	196	13	a	a	PRON
aiti-4136	196	14	b	b	PROPN
aiti-4136	197	1	f	f	PROPN
aiti-4136	197	2	t	t	PROPN
aiti-4136	198	1	k	k	PROPN
aiti-4136	198	2	t	t	PROPN
aiti-4136	199	1	f	f	PROPN
aiti-4136	199	2	t	t	PROPN
aiti-4136	200	1	f	f	PROPN
aiti-4136	200	2	t	t	PROPN
aiti-4136	200	3	x	x	PROPN
aiti-4136	200	4	t	t	PROPN
aiti-4136	200	5	a	a	PRON
aiti-4136	200	6	b	b	PROPN
aiti-4136	201	1	f	f	PROPN
aiti-4136	201	2	t	t	PROPN
aiti-4136	202	1	f	f	PROPN
aiti-4136	202	2	t	t	PROPN
aiti-4136	203	1	k	k	PROPN
aiti-4136	203	2	t	t	PROPN
aiti-4136	204	1	f	f	PROPN
aiti-4136	204	2	t	t	PROPN
aiti-4136	204	3	x	x	PROPN
aiti-4136	204	4	t	t	PROPN
aiti-4136	204	5	a	a	DET
aiti-4136	204	6	bf	bf	NOUN
aiti-4136	204	7	a	a	DET
aiti-4136	204	8	bf	bf	NOUN
aiti-4136	205	1	b	b	NOUN
aiti-4136	205	2	bf	bf	NOUN
aiti-4136	205	3	bf	bf	NOUN
aiti-4136	205	4	a	a	DET
aiti-4136	205	5			PROPN
aiti-4136	205	6			ADJ
aiti-4136	205	7			PUNCT
aiti-4136	205	8			NOUN
aiti-4136	205	9			PROPN
aiti-4136	205	10			PROPN
aiti-4136	205	11			VERB
aiti-4136	206	1			PROPN
aiti-4136	206	2			PROPN
aiti-4136	206	3			NOUN
aiti-4136	206	4			PROPN
aiti-4136	206	5			PROPN
aiti-4136	206	6			NOUN
aiti-4136	207	1			PROPN
aiti-4136	207	2			PROPN
aiti-4136	207	3			NOUN
aiti-4136	208	1			INTJ
aiti-4136	209	1			PROPN
aiti-4136	209	2			PROPN
aiti-4136	210	1			PROPN
aiti-4136	210	2			ADV
aiti-4136	210	3			PROPN
aiti-4136	210	4			ADV
aiti-4136	210	5			NOUN
aiti-4136	210	6			NOUN
aiti-4136	211	1			PROPN
aiti-4136	211	2			PROPN
aiti-4136	211	3			NOUN
aiti-4136	212	1			PROPN
aiti-4136	213	1			PROPN
aiti-4136	214	1			INTJ
aiti-4136	215	1			PROPN
aiti-4136	216	1			INTJ
aiti-4136	216	2			PROPN
aiti-4136	216	3			NOUN
aiti-4136	217	1			PROPN
aiti-4136	217	2			PROPN
aiti-4136	217	3			NOUN
aiti-4136	217	4			X
aiti-4136	217	5			PROPN
aiti-4136	217	6			NOUN
aiti-4136	217	7			NOUN
aiti-4136	217	8			NOUN
aiti-4136	217	9			NOUN
aiti-4136	217	10			NOUN
aiti-4136	217	11			NOUN
aiti-4136	217	12			NOUN
aiti-4136	217	13			NOUN
aiti-4136	217	14			NOUN
aiti-4136	217	15			PROPN
aiti-4136	218	1			PROPN
aiti-4136	219	1			PROPN
aiti-4136	220	1			PROPN
aiti-4136	220	2			PROPN
aiti-4136	220	3			PROPN
aiti-4136	220	4			PROPN
aiti-4136	220	5			PROPN
aiti-4136	220	6			PROPN
aiti-4136	220	7			NOUN
aiti-4136	220	8			NOUN
aiti-4136	220	9			VERB
aiti-4136	220	10			NOUN
aiti-4136	220	11			PROPN
aiti-4136	220	12	2	2	NUM
aiti-4136	220	13	3	3	NUM
aiti-4136	220	14	(	(	PUNCT
aiti-4136	220	15	)	)	PUNCT
aiti-4136	220	16	(	(	PUNCT
aiti-4136	220	17	)	)	PUNCT
aiti-4136	220	18	(	(	PUNCT
aiti-4136	220	19	)	)	PUNCT
aiti-4136	220	20	(	(	PUNCT
aiti-4136	220	21	)	)	PUNCT
aiti-4136	220	22	(	(	PUNCT
aiti-4136	220	23	)	)	PUNCT
aiti-4136	220	24	l	l	NOUN
aiti-4136	220	25	t	t	NOUN
aiti-4136	220	26	t	t	PROPN
aiti-4136	220	27	t	t	PROPN
aiti-4136	220	28	x	x	PROPN
aiti-4136	221	1	t	t	PROPN
aiti-4136	222	1	k	k	PROPN
aiti-4136	222	2	t	t	PROPN
aiti-4136	222	3	f	f	PROPN
aiti-4136	222	4	t	t	PROPN
aiti-4136	222	5	x	x	SYM
aiti-4136	222	6	t	t	PROPN
aiti-4136	222	7	x	x	SYM
aiti-4136	222	8	t	t	PROPN
aiti-4136	222	9			NOUN
aiti-4136	222	10			PROPN
aiti-4136	222	11			PROPN
aiti-4136	222	12			PROPN
aiti-4136	222	13			NOUN
aiti-4136	223	1			PROPN
aiti-4136	223	2			PROPN
aiti-4136	223	3			PROPN
aiti-4136	223	4			PROPN
aiti-4136	223	5			PROPN
aiti-4136	224	1			PROPN
aiti-4136	224	2			PROPN
aiti-4136	224	3			NOUN
aiti-4136	225	1			PROPN
aiti-4136	226	1			ADJ
aiti-4136	226	2			NOUN
aiti-4136	226	3			NOUN
aiti-4136	226	4	(	(	PUNCT
aiti-4136	226	5	15	15	NUM
aiti-4136	226	6	)	)	PUNCT
aiti-4136	226	7	where	where	SCONJ
aiti-4136	226	8	4	4	NUM
aiti-4136	226	9	4	4	NUM
aiti-4136	226	10	ka	ka	NOUN
aiti-4136	226	11			NOUN
aiti-4136	226	12	and	and	CCONJ
aiti-4136	226	13	4	4	NUM
aiti-4136	226	14	4	4	NUM
aiti-4136	226	15	fa	fa	NOUN
aiti-4136	226	16			NOUN
aiti-4136	226	17	are	be	AUX
aiti-4136	226	18	given	give	VERB
aiti-4136	226	19	by	by	ADP
aiti-4136	226	20	ka	ka	PROPN
aiti-4136	226	21	a	a	DET
aiti-4136	226	22	bk	bk	NOUN
aiti-4136	226	23			VERB
aiti-4136	226	24	and	and	CCONJ
aiti-4136	226	25	2fa	2fa	ADJ
aiti-4136	226	26	a	a	DET
aiti-4136	226	27	bk	bk	NOUN
aiti-4136	226	28	bf	bf	PROPN
aiti-4136	226	29			PUNCT
aiti-4136	226	30			X
aiti-4136	226	31	,	,	PUNCT
aiti-4136	226	32	respectively	respectively	ADV
aiti-4136	226	33	.	.	PUNCT
aiti-4136	227	1	also	also	ADV
aiti-4136	227	2	,	,	PUNCT
aiti-4136	227	3	(	(	PUNCT
aiti-4136	227	4	)	)	PUNCT
aiti-4136	227	5	tk	tk	PROPN
aiti-4136	227	6	t	t	NOUN
aiti-4136	227	7	and	and	CCONJ
aiti-4136	227	8	(	(	PUNCT
aiti-4136	227	9	)	)	PUNCT
aiti-4136	227	10	tf	tf	PROPN
aiti-4136	227	11	t	t	NOUN
aiti-4136	227	12	are	be	AUX
aiti-4136	227	13	unknown	unknown	ADJ
aiti-4136	227	14	matrices	matrix	NOUN
aiti-4136	227	15	which	which	PRON
aiti-4136	227	16	can	can	AUX
aiti-4136	227	17	be	be	AUX
aiti-4136	227	18	written	write	VERB
aiti-4136	227	19	as	as	ADP
aiti-4136	227	20	(	(	PUNCT
aiti-4136	227	21	)	)	PUNCT
aiti-4136	227	22	0	0	NUM
aiti-4136	227	23	0	0	NUM
aiti-4136	227	24	0	0	NUM
aiti-4136	227	25	0	0	NUM
aiti-4136	227	26	0	0	NUM
aiti-4136	227	27	(	(	PUNCT
aiti-4136	227	28	)	)	PUNCT
aiti-4136	227	29	*	*	PUNCT
aiti-4136	227	30	(	(	PUNCT
aiti-4136	227	31	)	)	PUNCT
aiti-4136	227	32	0	0	NUM
aiti-4136	227	33	,	,	PUNCT
aiti-4136	227	34	(	(	PUNCT
aiti-4136	227	35	)	)	PUNCT
aiti-4136	227	36	(	(	PUNCT
aiti-4136	227	37	)	)	PUNCT
aiti-4136	227	38	2	2	NUM
aiti-4136	227	39	(	(	PUNCT
aiti-4136	227	40	)	)	PUNCT
aiti-4136	227	41	(	(	PUNCT
aiti-4136	227	42	)	)	PUNCT
aiti-4136	228	1	*	*	PUNCT
aiti-4136	228	2	*	*	PUNCT
aiti-4136	228	3	(	(	PUNCT
aiti-4136	228	4	)	)	PUNCT
aiti-4136	228	5	(	(	PUNCT
aiti-4136	228	6	)	)	PUNCT
aiti-4136	228	7	(	(	PUNCT
aiti-4136	228	8	)	)	PUNCT
aiti-4136	228	9	2	2	NUM
aiti-4136	228	10	(	(	PUNCT
aiti-4136	228	11	)	)	PUNCT
aiti-4136	228	12	t	t	NOUN
aiti-4136	229	1	t	t	PROPN
aiti-4136	229	2	k	k	PROPN
aiti-4136	229	3	t	t	PROPN
aiti-4136	230	1	k	k	PROPN
aiti-4136	230	2	t	t	PROPN
aiti-4136	231	1	k	k	PROPN
aiti-4136	231	2	t	t	PROPN
aiti-4136	232	1	f	f	PROPN
aiti-4136	232	2	t	t	PROPN
aiti-4136	233	1	f	f	PROPN
aiti-4136	233	2	t	t	PROPN
aiti-4136	234	1	f	f	PROPN
aiti-4136	234	2	t	t	PROPN
aiti-4136	235	1	f	f	PROPN
aiti-4136	235	2	t	t	PROPN
aiti-4136	236	1	k	k	PROPN
aiti-4136	236	2	t	t	PROPN
aiti-4136	237	1	f	f	PROPN
aiti-4136	237	2	t	t	PROPN
aiti-4136	237	3	f	f	PROPN
aiti-4136	237	4	t	t	PROPN
aiti-4136	237	5	f	f	PROPN
aiti-4136	237	6	t	t	PROPN
aiti-4136	237	7			PROPN
aiti-4136	237	8			PROPN
aiti-4136	237	9			NOUN
aiti-4136	237	10			PROPN
aiti-4136	237	11			PROPN
aiti-4136	238	1			PROPN
aiti-4136	238	2			PROPN
aiti-4136	239	1			PROPN
aiti-4136	239	2			NOUN
aiti-4136	240	1			NUM
aiti-4136	240	2			PUNCT
aiti-4136	240	3			X
aiti-4136	241	1			PROPN
aiti-4136	241	2			PROPN
aiti-4136	241	3			NOUN
aiti-4136	241	4			INTJ
aiti-4136	242	1			PROPN
aiti-4136	243	1			PROPN
aiti-4136	244	1			INTJ
aiti-4136	245	1			PROPN
aiti-4136	245	2			PROPN
aiti-4136	246	1			PROPN
aiti-4136	246	2			PROPN
aiti-4136	246	3			PROPN
aiti-4136	246	4			PROPN
aiti-4136	246	5			NOUN
aiti-4136	246	6			NOUN
aiti-4136	246	7			PROPN
aiti-4136	246	8			NOUN
aiti-4136	246	9	　 	　 	SPACE
aiti-4136	246	10	(	(	PUNCT
aiti-4136	246	11	16	16	NUM
aiti-4136	246	12	)	)	PUNCT
aiti-4136	246	13	now	now	ADV
aiti-4136	246	14	,	,	PUNCT
aiti-4136	246	15	the	the	DET
aiti-4136	246	16	following	follow	VERB
aiti-4136	246	17	quadratic	quadratic	ADJ
aiti-4136	246	18	cost	cost	NOUN
aiti-4136	246	19	function	function	NOUN
aiti-4136	246	20	introduced	introduce	VERB
aiti-4136	246	21	:	:	PUNCT
aiti-4136	246	22			NOUN
aiti-4136	246	23			PROPN
aiti-4136	246	24	0	0	PUNCT
aiti-4136	247	1	(	(	PUNCT
aiti-4136	247	2	)	)	PUNCT
aiti-4136	247	3	(	(	PUNCT
aiti-4136	247	4	)	)	PUNCT
aiti-4136	247	5	(	(	PUNCT
aiti-4136	247	6	)	)	PUNCT
aiti-4136	247	7	(	(	PUNCT
aiti-4136	247	8	)	)	PUNCT
aiti-4136	247	9	(	(	PUNCT
aiti-4136	247	10	)	)	PUNCT
aiti-4136	247	11	(	(	PUNCT
aiti-4136	247	12	)	)	PUNCT
aiti-4136	247	13	t	t	NOUN
aiti-4136	247	14	t	t	PROPN
aiti-4136	247	15	t	t	PROPN
aiti-4136	247	16	t	t	PROPN
aiti-4136	247	17	t	t	PROPN
aiti-4136	247	18	t	t	PROPN
aiti-4136	247	19	k	k	PROPN
aiti-4136	248	1	k	k	PROPN
aiti-4136	248	2	k	k	PROPN
aiti-4136	249	1	f	f	X
aiti-4136	249	2	f	f	X
aiti-4136	250	1	fj	fj	INTJ
aiti-4136	250	2	x	x	X
aiti-4136	250	3	t	t	NOUN
aiti-4136	250	4	q	q	NOUN
aiti-4136	250	5	x	x	X
aiti-4136	250	6	t	t	X
aiti-4136	250	7	u	u	NOUN
aiti-4136	250	8	t	t	PROPN
aiti-4136	250	9	r	r	NOUN
aiti-4136	250	10	u	u	NOUN
aiti-4136	250	11	t	t	X
aiti-4136	250	12	u	u	NOUN
aiti-4136	250	13	t	t	PROPN
aiti-4136	250	14	r	r	NOUN
aiti-4136	250	15	u	u	NOUN
aiti-4136	250	16	t	t	NOUN
aiti-4136	250	17	dt	dt	X
aiti-4136	250	18			VERB
aiti-4136	250	19			PRON
aiti-4136	250	20			X
aiti-4136	250	21			NUM
aiti-4136	250	22	(	(	PUNCT
aiti-4136	250	23	17	17	NUM
aiti-4136	250	24	)	)	PUNCT
aiti-4136	250	25	where	where	SCONJ
aiti-4136	250	26	12	12	NUM
aiti-4136	250	27	12	12	NUM
aiti-4136	250	28	6	6	NUM
aiti-4136	250	29	6	6	NUM
aiti-4136	250	30	,	,	PUNCT
aiti-4136	250	31	tt	tt	PROPN
aiti-4136	250	32	kq	kq	PROPN
aiti-4136	250	33	r	r	PROPN
aiti-4136	250	34			PROPN
aiti-4136	250	35			PROPN
aiti-4136	250	36	,	,	PUNCT
aiti-4136	250	37	and	and	CCONJ
aiti-4136	250	38	6	6	NUM
aiti-4136	250	39	6	6	NUM
aiti-4136	250	40	tfr	tfr	NOUN
aiti-4136	250	41			NOUN
aiti-4136	250	42	are	be	AUX
aiti-4136	250	43	given	give	VERB
aiti-4136	250	44	positive	positive	ADJ
aiti-4136	250	45	-	-	PUNCT
aiti-4136	250	46	definite	definite	ADJ
aiti-4136	250	47	symmetric	symmetric	ADJ
aiti-4136	250	48	matrices	matrix	NOUN
aiti-4136	250	49	that	that	PRON
aiti-4136	250	50	are	be	AUX
aiti-4136	250	51	selected	select	VERB
aiti-4136	250	52	by	by	ADP
aiti-4136	250	53	designers	designer	NOUN
aiti-4136	250	54	.	.	PUNCT
aiti-4136	251	1	from	from	ADP
aiti-4136	251	2	the	the	DET
aiti-4136	251	3	above	above	ADJ
aiti-4136	251	4	discussion	discussion	NOUN
aiti-4136	251	5	,	,	PUNCT
aiti-4136	251	6	the	the	DET
aiti-4136	251	7	control	control	NOUN
aiti-4136	251	8	objective	objective	NOUN
aiti-4136	251	9	in	in	ADP
aiti-4136	251	10	this	this	DET
aiti-4136	251	11	paper	paper	NOUN
aiti-4136	251	12	is	be	AUX
aiti-4136	251	13	to	to	PART
aiti-4136	251	14	design	design	VERB
aiti-4136	251	15	a	a	DET
aiti-4136	251	16	guaranteed	guarantee	VERB
aiti-4136	251	17	cost	cost	NOUN
aiti-4136	251	18	controller	controller	NOUN
aiti-4136	251	19	which	which	PRON
aiti-4136	251	20	minimizes	minimize	VERB
aiti-4136	251	21	the	the	DET
aiti-4136	251	22	upper	upper	ADJ
aiti-4136	251	23	bound	bind	VERB
aiti-4136	251	24	on	on	ADP
aiti-4136	251	25	the	the	DET
aiti-4136	251	26	quadratic	quadratic	ADJ
aiti-4136	251	27	cost	cost	NOUN
aiti-4136	251	28	function	function	NOUN
aiti-4136	251	29	of	of	ADP
aiti-4136	251	30	eq	eq	PROPN
aiti-4136	251	31	.	.	PUNCT
aiti-4136	252	1	(	(	PUNCT
aiti-4136	252	2	17	17	NUM
aiti-4136	252	3	)	)	PUNCT
aiti-4136	252	4	.	.	PUNCT
aiti-4136	253	1	that	that	PRON
aiti-4136	253	2	is	be	AUX
aiti-4136	253	3	to	to	PART
aiti-4136	253	4	derive	derive	VERB
aiti-4136	253	5	gain	gain	NOUN
aiti-4136	253	6	matrices	matrix	NOUN
aiti-4136	253	7	2	2	NUM
aiti-4136	253	8	4k	4k	NUM
aiti-4136	253	9			NOUN
aiti-4136	253	10	and	and	CCONJ
aiti-4136	253	11	2	2	NUM
aiti-4136	253	12	4f	4f	NUM
aiti-4136	253	13			NOUN
aiti-4136	253	14	minimizing	minimize	VERB
aiti-4136	253	15	the	the	DET
aiti-4136	253	16	upper	upper	ADJ
aiti-4136	253	17	bound	bind	VERB
aiti-4136	253	18	on	on	ADP
aiti-4136	253	19	the	the	DET
aiti-4136	253	20	quadratic	quadratic	ADJ
aiti-4136	253	21	cost	cost	NOUN
aiti-4136	253	22	function	function	NOUN
aiti-4136	253	23	of	of	ADP
aiti-4136	253	24	eq	eq	PROPN
aiti-4136	253	25	.	.	PUNCT
aiti-4136	254	1	(	(	PUNCT
aiti-4136	254	2	17	17	NUM
aiti-4136	254	3	)	)	PUNCT
aiti-4136	254	4	.	.	PUNCT
aiti-4136	255	1	advances	advance	NOUN
aiti-4136	255	2	in	in	ADP
aiti-4136	255	3	technology	technology	NOUN
aiti-4136	255	4	innovation	innovation	NOUN
aiti-4136	255	5	,	,	PUNCT
aiti-4136	255	6	vol	vol	NOUN
aiti-4136	255	7	.	.	PROPN
aiti-4136	255	8	5	5	NUM
aiti-4136	255	9	,	,	PUNCT
aiti-4136	255	10	no	no	INTJ
aiti-4136	255	11	.	.	NOUN
aiti-4136	255	12	2	2	NUM
aiti-4136	255	13	,	,	PUNCT
aiti-4136	255	14	2020	2020	NUM
aiti-4136	255	15	,	,	PUNCT
aiti-4136	255	16	pp	pp	ADV
aiti-4136	255	17	.	.	PUNCT
aiti-4136	256	1	112	112	NUM
aiti-4136	256	2	-	-	SYM
aiti-4136	256	3	125	125	NUM
aiti-4136	256	4	117	117	NUM
aiti-4136	256	5	4	4	NUM
aiti-4136	256	6	.	.	PUNCT
aiti-4136	256	7	main	main	ADJ
aiti-4136	256	8	results	result	NOUN
aiti-4136	256	9	in	in	ADP
aiti-4136	256	10	this	this	DET
aiti-4136	256	11	section	section	NOUN
aiti-4136	256	12	,	,	PUNCT
aiti-4136	256	13	a	a	DET
aiti-4136	256	14	design	design	NOUN
aiti-4136	256	15	method	method	NOUN
aiti-4136	256	16	of	of	ADP
aiti-4136	256	17	the	the	DET
aiti-4136	256	18	non	non	ADJ
aiti-4136	256	19	-	-	ADJ
aiti-4136	256	20	fragile	fragile	ADJ
aiti-4136	256	21	controller	controller	NOUN
aiti-4136	256	22	showed	show	VERB
aiti-4136	256	23	based	base	VERB
aiti-4136	256	24	on	on	ADP
aiti-4136	256	25	the	the	DET
aiti-4136	256	26	linear	linear	ADJ
aiti-4136	256	27	matrix	matrix	NOUN
aiti-4136	256	28	inequality	inequality	NOUN
aiti-4136	256	29	(	(	PUNCT
aiti-4136	256	30	lmi	lmi	PROPN
aiti-4136	256	31	)	)	PUNCT
aiti-4136	256	32	framework	framework	NOUN
aiti-4136	256	33	.	.	PUNCT
aiti-4136	257	1	firstly	firstly	ADV
aiti-4136	257	2	,	,	PUNCT
aiti-4136	257	3	the	the	DET
aiti-4136	257	4	following	follow	VERB
aiti-4136	257	5	theorem	theorem	NOUN
aiti-4136	257	6	is	be	AUX
aiti-4136	257	7	given	give	VERB
aiti-4136	257	8	for	for	ADP
aiti-4136	257	9	the	the	DET
aiti-4136	257	10	non	non	ADJ
aiti-4136	257	11	-	-	ADJ
aiti-4136	257	12	fragile	fragile	ADJ
aiti-4136	257	13	controller	controller	NOUN
aiti-4136	257	14	under	under	ADP
aiti-4136	257	15	additive	additive	ADJ
aiti-4136	257	16	control	control	NOUN
aiti-4136	257	17	to	to	PART
aiti-4136	257	18	gain	gain	VERB
aiti-4136	257	19	perturbations	perturbation	NOUN
aiti-4136	257	20	of	of	ADP
aiti-4136	257	21	eq	eq	PROPN
aiti-4136	257	22	.	.	PUNCT
aiti-4136	258	1	(	(	PUNCT
aiti-4136	258	2	11	11	NUM
aiti-4136	258	3	)	)	PUNCT
aiti-4136	258	4	.	.	PUNCT
aiti-4136	259	1	theorem	theorem	ADJ
aiti-4136	259	2	1	1	NUM
aiti-4136	259	3	:	:	PUNCT
aiti-4136	259	4	for	for	ADP
aiti-4136	259	5	the	the	DET
aiti-4136	259	6	overall	overall	ADJ
aiti-4136	259	7	system	system	NOUN
aiti-4136	259	8	of	of	ADP
aiti-4136	259	9	eq	eq	PROPN
aiti-4136	259	10	.	.	PUNCT
aiti-4136	260	1	(	(	PUNCT
aiti-4136	260	2	15	15	NUM
aiti-4136	260	3	)	)	PUNCT
aiti-4136	260	4	with	with	ADP
aiti-4136	260	5	the	the	DET
aiti-4136	260	6	control	control	NOUN
aiti-4136	260	7	input	input	NOUN
aiti-4136	260	8	of	of	ADP
aiti-4136	260	9	eq	eq	PROPN
aiti-4136	260	10	.	.	PUNCT
aiti-4136	261	1	(	(	PUNCT
aiti-4136	261	2	11	11	NUM
aiti-4136	261	3	)	)	PUNCT
aiti-4136	261	4	and	and	CCONJ
aiti-4136	261	5	the	the	DET
aiti-4136	261	6	quadratic	quadratic	ADJ
aiti-4136	261	7	cost	cost	NOUN
aiti-4136	261	8	function	function	NOUN
aiti-4136	261	9	of	of	ADP
aiti-4136	261	10	eq	eq	PROPN
aiti-4136	261	11	.	.	PUNCT
aiti-4136	262	1	(	(	PUNCT
aiti-4136	262	2	17	17	NUM
aiti-4136	262	3	)	)	PUNCT
aiti-4136	262	4	,	,	PUNCT
aiti-4136	262	5	if	if	SCONJ
aiti-4136	262	6	there	there	PRON
aiti-4136	262	7	are	be	VERB
aiti-4136	262	8	symmetric	symmetric	ADJ
aiti-4136	262	9	positive	positive	ADJ
aiti-4136	262	10	definite	definite	ADJ
aiti-4136	262	11	matrix	matrix	NOUN
aiti-4136	262	12	0s	0s	NOUN
aiti-4136	262	13			INTJ
aiti-4136	262	14	,	,	PUNCT
aiti-4136	262	15	matrices	matrice	VERB
aiti-4136	262	16	kw	kw	INTJ
aiti-4136	262	17	and	and	CCONJ
aiti-4136	262	18	fw	fw	NOUN
aiti-4136	262	19	,	,	PUNCT
aiti-4136	262	20	and	and	CCONJ
aiti-4136	262	21	scalars	scalar	VERB
aiti-4136	262	22	0	0	NUM
aiti-4136	262	23	,	,	PUNCT
aiti-4136	262	24	0	0	NUM
aiti-4136	262	25	,	,	PUNCT
aiti-4136	262	26	0	0	NUM
aiti-4136	262	27			NUM
aiti-4136	262	28			NOUN
aiti-4136	262	29			VERB
aiti-4136	262	30			INTJ
aiti-4136	262	31	and	and	CCONJ
aiti-4136	262	32	0	0	NUM
aiti-4136	262	33			VERB
aiti-4136	262	34	satisfying	satisfy	VERB
aiti-4136	262	35	the	the	DET
aiti-4136	262	36	following	follow	VERB
aiti-4136	262	37	lmi	lmi	PROPN
aiti-4136	262	38	condition	condition	NOUN
aiti-4136	262	39	:	:	PUNCT
aiti-4136	263	1			NOUN
aiti-4136	263	2			PROPN
aiti-4136	263	3	122	122	NUM
aiti-4136	263	4	122	122	NUM
aiti-4136	263	5	1	1	NUM
aiti-4136	263	6	1	1	NUM
aiti-4136	263	7	2	2	NUM
aiti-4136	263	8	6	6	NUM
aiti-4136	263	9	1	1	NUM
aiti-4136	263	10	2	2	NUM
aiti-4136	263	11	6	6	NUM
aiti-4136	263	12	12	12	NUM
aiti-4136	263	13	12	12	NUM
aiti-4136	263	14	,	,	PUNCT
aiti-4136	263	15	,	,	PUNCT
aiti-4136	263	16	,	,	PUNCT
aiti-4136	263	17	,	,	PUNCT
aiti-4136	263	18	0	0	NUM
aiti-4136	263	19	0	0	NUM
aiti-4136	264	1	0	0	NUM
aiti-4136	264	2	0	0	NUM
aiti-4136	264	3	0	0	NUM
aiti-4136	264	4	0	0	NUM
aiti-4136	264	5	0	0	NUM
aiti-4136	264	6	0	0	NUM
aiti-4136	264	7	0	0	NUM
aiti-4136	264	8	0	0	NUM
aiti-4136	264	9	0	0	NUM
aiti-4136	264	10	0	0	NUM
aiti-4136	264	11	5	5	NUM
aiti-4136	264	12	0	0	NUM
aiti-4136	264	13	0	0	NUM
aiti-4136	264	14	0	0	NUM
aiti-4136	264	15	0	0	NUM
aiti-4136	264	16	0	0	NUM
aiti-4136	264	17	0	0	NUM
aiti-4136	264	18	0	0	NUM
aiti-4136	264	19	0	0	NUM
aiti-4136	264	20	0	0	NUM
aiti-4136	264	21	0	0	NUM
aiti-4136	264	22	0	0	NUM
aiti-4136	264	23	0	0	NUM
aiti-4136	264	24	0	0	NUM
aiti-4136	264	25	0	0	NUM
aiti-4136	264	26	0	0	NUM
aiti-4136	264	27	0	0	NUM
aiti-4136	264	28	0	0	NUM
aiti-4136	264	29	6	6	NUM
aiti-4136	264	30	0	0	NUM
aiti-4136	264	31	0	0	NUM
aiti-4136	264	32	0	0	NUM
aiti-4136	264	33	0	0	NUM
aiti-4136	264	34	0	0	NUM
aiti-4136	264	35	0	0	NUM
aiti-4136	264	36	0	0	NUM
aiti-4136	264	37	0	0	NUM
aiti-4136	264	38	0	0	NUM
aiti-4136	264	39	0	0	NUM
aiti-4136	264	40	0	0	NUM
aiti-4136	264	41	0	0	NUM
aiti-4136	264	42	0	0	NUM
aiti-4136	264	43	0	0	NUM
aiti-4136	265	1	t	t	NOUN
aiti-4136	265	2	t	t	PROPN
aiti-4136	265	3	t	t	PROPN
aiti-4136	265	4	t	t	PROPN
aiti-4136	265	5	t	t	PROPN
aiti-4136	265	6	t	t	PROPN
aiti-4136	265	7	t	t	PROPN
aiti-4136	265	8	t	t	PROPN
aiti-4136	265	9	k	k	PROPN
aiti-4136	265	10	f	f	PROPN
aiti-4136	265	11	t	t	PROPN
aiti-4136	265	12	t	t	PROPN
aiti-4136	265	13	t	t	PROPN
aiti-4136	265	14	k	k	PROPN
aiti-4136	265	15	f	f	PROPN
aiti-4136	265	16	t	t	PROPN
aiti-4136	265	17	t	t	PROPN
aiti-4136	265	18	t	t	PROPN
aiti-4136	265	19	k	k	PROPN
aiti-4136	265	20	t	t	PROPN
aiti-4136	266	1	f	f	PROPN
aiti-4136	266	2	t	t	PROPN
aiti-4136	266	3	t	t	PROPN
aiti-4136	267	1	k	k	PROPN
aiti-4136	268	1	k	k	PROPN
aiti-4136	269	1	k	k	PROPN
aiti-4136	270	1	f	f	X
aiti-4136	271	1	f	f	PROPN
aiti-4136	271	2	f	f	PROPN
aiti-4136	271	3	t	t	PROPN
aiti-4136	271	4	t	t	PROPN
aiti-4136	271	5	s	s	PROPN
aiti-4136	271	6	w	w	PROPN
aiti-4136	271	7	w	w	PROPN
aiti-4136	271	8	s	s	PROPN
aiti-4136	271	9	s	s	X
aiti-4136	271	10	s	s	NOUN
aiti-4136	271	11	w	w	NOUN
aiti-4136	271	12	w	w	PROPN
aiti-4136	271	13	s	s	PROPN
aiti-4136	271	14	s	s	X
aiti-4136	271	15	s	s	X
aiti-4136	271	16	i	i	PRON
aiti-4136	271	17	s	s	VERB
aiti-4136	271	18	i	i	NOUN
aiti-4136	271	19	s	s	VERB
aiti-4136	271	20	q	q	NOUN
aiti-4136	271	21	w	w	NOUN
aiti-4136	271	22	r	r	NOUN
aiti-4136	272	1	i	i	NOUN
aiti-4136	272	2	w	w	NOUN
aiti-4136	272	3	r	r	NOUN
aiti-4136	273	1	i	i	PRON
aiti-4136	273	2	s	s	VERB
aiti-4136	273	3	i	i	PRON
aiti-4136	273	4	s	s	VERB
aiti-4136	273	5	i	i	PRON
aiti-4136	273	6			NUM
aiti-4136	273	7			NUM
aiti-4136	273	8			NUM
aiti-4136	273	9			PROPN
aiti-4136	273	10			NUM
aiti-4136	273	11			PROPN
aiti-4136	273	12			X
aiti-4136	273	13			PRON
aiti-4136	273	14			NOUN
aiti-4136	273	15			PUNCT
aiti-4136	273	16			PROPN
aiti-4136	273	17			PROPN
aiti-4136	273	18			PROPN
aiti-4136	273	19			NOUN
aiti-4136	273	20			NUM
aiti-4136	274	1			PROPN
aiti-4136	275	1			PROPN
aiti-4136	275	2			PROPN
aiti-4136	275	3			PROPN
aiti-4136	276	1			PRON
aiti-4136	276	2			PROPN
aiti-4136	277	1			PROPN
aiti-4136	278	1			INTJ
aiti-4136	279	1			PROPN
aiti-4136	279	2			PROPN
aiti-4136	280	1			PRON
aiti-4136	280	2			PROPN
aiti-4136	281	1			PROPN
aiti-4136	282	1			INTJ
aiti-4136	282	2			PROPN
aiti-4136	283	1			PROPN
aiti-4136	283	2			PUNCT
aiti-4136	284	1			PROPN
aiti-4136	284	2			PROPN
aiti-4136	284	3			PROPN
aiti-4136	284	4			PROPN
aiti-4136	284	5			PROPN
aiti-4136	284	6			PROPN
aiti-4136	284	7			NOUN
aiti-4136	284	8			PROPN
aiti-4136	284	9			PROPN
aiti-4136	284	10			PROPN
aiti-4136	284	11			PROPN
aiti-4136	284	12			NOUN
aiti-4136	284	13			PROPN
aiti-4136	284	14			PROPN
aiti-4136	284	15			PROPN
aiti-4136	284	16			NOUN
aiti-4136	284	17	(	(	PUNCT
aiti-4136	284	18	18	18	NUM
aiti-4136	284	19	)	)	PUNCT
aiti-4136	284	20			NOUN
aiti-4136	284	21			SYM
aiti-4136	284	22			NOUN
aiti-4136	284	23			SYM
aiti-4136	284	24			NOUN
aiti-4136	284	25			SYM
aiti-4136	284	26			NOUN
aiti-4136	284	27			SYM
aiti-4136	284	28			NOUN
aiti-4136	284	29			SYM
aiti-4136	284	30			NOUN
aiti-4136	284	31			PUNCT
aiti-4136	284	32			NOUN
aiti-4136	284	33			PROPN
aiti-4136	284	34	11	11	NUM
aiti-4136	284	35	12	12	NUM
aiti-4136	284	36	13	13	NUM
aiti-4136	284	37	22	22	NUM
aiti-4136	284	38	23	23	NUM
aiti-4136	284	39	33	33	NUM
aiti-4136	284	40	,	,	PUNCT
aiti-4136	284	41	,	,	PUNCT
aiti-4136	284	42	,	,	PUNCT
aiti-4136	284	43	,	,	PUNCT
aiti-4136	284	44	,	,	PUNCT
aiti-4136	284	45	*	*	PUNCT
aiti-4136	284	46	,	,	PUNCT
aiti-4136	284	47	,	,	PUNCT
aiti-4136	284	48	,	,	PUNCT
aiti-4136	284	49	,	,	PUNCT
aiti-4136	284	50	*	*	PUNCT
aiti-4136	284	51	*	*	PUNCT
aiti-4136	284	52	,	,	PUNCT
aiti-4136	284	53	,	,	PUNCT
aiti-4136	284	54	,	,	PUNCT
aiti-4136	284	55	,	,	PUNCT
aiti-4136	284	56	k	k	PROPN
aiti-4136	285	1	f	f	PROPN
aiti-4136	285	2	f	f	PROPN
aiti-4136	286	1	k	k	PROPN
aiti-4136	286	2	f	f	PROPN
aiti-4136	287	1	k	k	NOUN
aiti-4136	287	2	f	f	PROPN
aiti-4136	288	1	f	f	PROPN
aiti-4136	288	2	k	k	PROPN
aiti-4136	288	3	f	f	PROPN
aiti-4136	288	4	s	s	PROPN
aiti-4136	288	5	w	w	PROPN
aiti-4136	288	6	w	w	PROPN
aiti-4136	288	7	w	w	PROPN
aiti-4136	288	8	s	s	PROPN
aiti-4136	288	9	w	w	PROPN
aiti-4136	288	10	w	w	PROPN
aiti-4136	288	11	s	s	PROPN
aiti-4136	288	12	w	w	PROPN
aiti-4136	288	13	w	w	PROPN
aiti-4136	288	14	w	w	PROPN
aiti-4136	288	15	s	s	PROPN
aiti-4136	288	16	w	w	PROPN
aiti-4136	288	17	w	w	PROPN
aiti-4136	288	18			NUM
aiti-4136	288	19			NUM
aiti-4136	288	20			NUM
aiti-4136	288	21			NUM
aiti-4136	288	22			NUM
aiti-4136	288	23			NUM
aiti-4136	288	24			VERB
aiti-4136	288	25			VERB
aiti-4136	288	26			NUM
aiti-4136	288	27			NOUN
aiti-4136	288	28			PROPN
aiti-4136	288	29			PROPN
aiti-4136	289	1			VERB
aiti-4136	289	2			VERB
aiti-4136	289	3			NOUN
aiti-4136	289	4			PROPN
aiti-4136	289	5			PROPN
aiti-4136	289	6			NOUN
aiti-4136	290	1			NOUN
aiti-4136	290	2	(	(	PUNCT
aiti-4136	290	3	19	19	NUM
aiti-4136	290	4	)	)	PUNCT
aiti-4136	290	5			NOUN
aiti-4136	290	6			PUNCT
aiti-4136	290	7			PROPN
aiti-4136	291	1			PROPN
aiti-4136	291	2			NOUN
aiti-4136	291	3			SYM
aiti-4136	291	4			NOUN
aiti-4136	291	5			SYM
aiti-4136	291	6			NOUN
aiti-4136	291	7			PUNCT
aiti-4136	292	1			PROPN
aiti-4136	292	2	11	11	VERB
aiti-4136	292	3	12	12	NUM
aiti-4136	292	4	13	13	NUM
aiti-4136	292	5	23	23	NUM
aiti-4136	292	6	,	,	PUNCT
aiti-4136	292	7	,	,	PUNCT
aiti-4136	292	8	,	,	PUNCT
aiti-4136	292	9	t	t	PROPN
aiti-4136	292	10	t	t	PROPN
aiti-4136	293	1	k	k	PROPN
aiti-4136	293	2	k	k	PROPN
aiti-4136	294	1	f	f	X
aiti-4136	294	2	f	f	X
aiti-4136	294	3	f	f	X
aiti-4136	294	4	f	f	PROPN
aiti-4136	294	5	fs	fs	INTJ
aiti-4136	294	6	w	w	PROPN
aiti-4136	294	7	he	he	PRON
aiti-4136	294	8	as	as	ADP
aiti-4136	294	9	bw	bw	PROPN
aiti-4136	294	10	w	w	PROPN
aiti-4136	294	11	w	w	PROPN
aiti-4136	294	12	w	w	PROPN
aiti-4136	294	13	b	b	PROPN
aiti-4136	294	14	w	w	NOUN
aiti-4136	295	1	he	he	PRON
aiti-4136	296	1	bw	bw	PROPN
aiti-4136	297	1			NOUN
aiti-4136	298	1			PUNCT
aiti-4136	298	2			PUNCT
aiti-4136	298	3			PROPN
aiti-4136	298	4			VERB
aiti-4136	298	5			NUM
aiti-4136	298	6			NOUN
aiti-4136	298	7			PUNCT
aiti-4136	298	8			NUM
aiti-4136	298	9			NOUN
aiti-4136	298	10	(	(	PUNCT
aiti-4136	298	11	20	20	NUM
aiti-4136	298	12	)	)	PUNCT
aiti-4136	298	13			NOUN
aiti-4136	298	14			SYM
aiti-4136	298	15			NOUN
aiti-4136	298	16			PUNCT
aiti-4136	298	17			PROPN
aiti-4136	299	1			PROPN
aiti-4136	299	2			PROPN
aiti-4136	299	3	22	22	NOUN
aiti-4136	299	4	33	33	NUM
aiti-4136	299	5	,	,	PUNCT
aiti-4136	299	6	,	,	PUNCT
aiti-4136	299	7	,	,	PUNCT
aiti-4136	299	8	,	,	PUNCT
aiti-4136	299	9	,	,	PUNCT
aiti-4136	299	10	,	,	PUNCT
aiti-4136	299	11	,	,	PUNCT
aiti-4136	299	12	,	,	PUNCT
aiti-4136	299	13	2	2	NUM
aiti-4136	299	14	t	t	NOUN
aiti-4136	300	1	k	k	NOUN
aiti-4136	300	2	f	f	PROPN
aiti-4136	301	1	k	k	PROPN
aiti-4136	301	2	f	f	PROPN
aiti-4136	301	3	k	k	PROPN
aiti-4136	301	4	fs	fs	PROPN
aiti-4136	301	5	w	w	PROPN
aiti-4136	301	6	w	w	PROPN
aiti-4136	301	7	s	s	PROPN
aiti-4136	301	8	w	w	PROPN
aiti-4136	301	9	w	w	VERB
aiti-4136	301	10	he	he	PRON
aiti-4136	301	11	as	as	SCONJ
aiti-4136	301	12	bw	bw	PROPN
aiti-4136	301	13	bw	bw	PROPN
aiti-4136	301	14	bb	bb	VERB
aiti-4136	301	15			NUM
aiti-4136	301	16			NUM
aiti-4136	301	17			NUM
aiti-4136	301	18			NUM
aiti-4136	301	19			PROPN
aiti-4136	301	20			PROPN
aiti-4136	302	1			NUM
aiti-4136	302	2			PROPN
aiti-4136	302	3			ADV
aiti-4136	302	4			PUNCT
aiti-4136	302	5			PUNCT
aiti-4136	302	6			X
aiti-4136	302	7	(	(	PUNCT
aiti-4136	302	8	21	21	NUM
aiti-4136	302	9	)	)	PUNCT
aiti-4136	302	10	then	then	ADV
aiti-4136	302	11	the	the	DET
aiti-4136	302	12	upper	upper	ADJ
aiti-4136	302	13	bound	bind	VERB
aiti-4136	302	14	on	on	ADP
aiti-4136	302	15	the	the	DET
aiti-4136	302	16	quadratic	quadratic	ADJ
aiti-4136	302	17	cost	cost	NOUN
aiti-4136	302	18	function	function	NOUN
aiti-4136	302	19	of	of	ADP
aiti-4136	302	20	eq	eq	PROPN
aiti-4136	302	21	.	.	PUNCT
aiti-4136	302	22	(	(	PUNCT
aiti-4136	302	23	17	17	NUM
aiti-4136	302	24	)	)	PUNCT
aiti-4136	302	25	is	be	AUX
aiti-4136	302	26	guaranteed	guarantee	VERB
aiti-4136	302	27	and	and	CCONJ
aiti-4136	302	28	the	the	DET
aiti-4136	302	29	closed	closed	ADJ
aiti-4136	302	30	-	-	PUNCT
aiti-4136	302	31	loop	loop	NOUN
aiti-4136	302	32	system	system	NOUN
aiti-4136	302	33	of	of	ADP
aiti-4136	302	34	eq	eq	PROPN
aiti-4136	302	35	.	.	PUNCT
aiti-4136	303	1	(	(	PUNCT
aiti-4136	303	2	15	15	NUM
aiti-4136	303	3	)	)	PUNCT
aiti-4136	303	4	with	with	ADP
aiti-4136	303	5	gain	gain	NOUN
aiti-4136	303	6	matrices	matrix	NOUN
aiti-4136	303	7	1	1	NUM
aiti-4136	303	8	kk	kk	PROPN
aiti-4136	303	9	w	w	PROPN
aiti-4136	303	10	s	s	PROPN
aiti-4136	303	11			ADJ
aiti-4136	303	12	and	and	CCONJ
aiti-4136	303	13	1	1	NUM
aiti-4136	303	14	ff	ff	NOUN
aiti-4136	303	15	w	w	NOUN
aiti-4136	303	16	s	s	NOUN
aiti-4136	303	17			PROPN
aiti-4136	303	18	are	be	AUX
aiti-4136	303	19	asymptotically	asymptotically	ADV
aiti-4136	303	20	stable	stable	ADJ
aiti-4136	303	21	.	.	PUNCT
aiti-4136	304	1	moreover	moreover	ADV
aiti-4136	304	2	,	,	PUNCT
aiti-4136	304	3	the	the	DET
aiti-4136	304	4	upper	upper	ADJ
aiti-4136	304	5	bound	bind	VERB
aiti-4136	304	6	on	on	ADP
aiti-4136	304	7	the	the	DET
aiti-4136	304	8	quadratic	quadratic	ADJ
aiti-4136	304	9	cost	cost	NOUN
aiti-4136	304	10	function	function	NOUN
aiti-4136	304	11	of	of	ADP
aiti-4136	304	12	eq	eq	PROPN
aiti-4136	304	13	.	.	PUNCT
aiti-4136	305	1	(	(	PUNCT
aiti-4136	305	2	17	17	NUM
aiti-4136	305	3	)	)	PUNCT
aiti-4136	305	4	is	be	AUX
aiti-4136	305	5	given	give	VERB
aiti-4136	305	6	by	by	ADP
aiti-4136	305	7			NOUN
aiti-4136	305	8			PROPN
aiti-4136	305	9	*	*	SYM
aiti-4136	305	10	(	(	PUNCT
aiti-4136	305	11	0	0	NUM
aiti-4136	305	12	)	)	PUNCT
aiti-4136	305	13	(	(	PUNCT
aiti-4136	305	14	0	0	NUM
aiti-4136	305	15	)	)	PUNCT
aiti-4136	305	16	(	(	PUNCT
aiti-4136	305	17	0)tj	0)tj	X
aiti-4136	305	18	x	x	PUNCT
aiti-4136	305	19	x	x	SYM
aiti-4136	305	20	px	px	NOUN
aiti-4136	305	21	.	.	PUNCT
aiti-4136	306	1	proof	proof	NOUN
aiti-4136	306	2	:	:	PUNCT
aiti-4136	306	3	using	use	VERB
aiti-4136	306	4	a	a	DET
aiti-4136	306	5	symmetric	symmetric	ADJ
aiti-4136	306	6	positive	positive	ADJ
aiti-4136	306	7	definite	definite	ADJ
aiti-4136	306	8	matrix	matrix	NOUN
aiti-4136	306	9	4	4	NUM
aiti-4136	306	10	4p	4p	NUM
aiti-4136	306	11			NOUN
aiti-4136	306	12	,	,	PUNCT
aiti-4136	306	13	the	the	DET
aiti-4136	306	14	following	follow	VERB
aiti-4136	306	15	quadratic	quadratic	ADJ
aiti-4136	306	16	function	function	NOUN
aiti-4136	306	17	introduced	introduce	VERB
aiti-4136	306	18	as	as	ADP
aiti-4136	306	19	a	a	DET
aiti-4136	306	20	lyapunov	lyapunov	NOUN
aiti-4136	306	21	function	function	NOUN
aiti-4136	306	22	candidate	candidate	NOUN
aiti-4136	306	23	:	:	PUNCT
aiti-4136	306	24			NOUN
aiti-4136	306	25			PROPN
aiti-4136	306	26			PROPN
aiti-4136	306	27	3	3	NOUN
aiti-4136	306	28	,	,	PUNCT
aiti-4136	306	29	(	(	PUNCT
aiti-4136	306	30	)	)	PUNCT
aiti-4136	306	31	(	(	PUNCT
aiti-4136	306	32	)	)	PUNCT
aiti-4136	306	33	tv	tv	NOUN
aiti-4136	306	34	x	x	X
aiti-4136	307	1	t	t	NOUN
aiti-4136	307	2	x	x	PUNCT
aiti-4136	308	1	t	t	NOUN
aiti-4136	309	1	i	i	PRON
aiti-4136	309	2	p	p	X
aiti-4136	309	3	x	x	X
aiti-4136	309	4	t	t	PROPN
aiti-4136	309	5			PROPN
aiti-4136	309	6	(	(	PUNCT
aiti-4136	309	7	22	22	NUM
aiti-4136	309	8	)	)	PUNCT
aiti-4136	309	9	from	from	ADP
aiti-4136	309	10	eqs	eqs	PROPN
aiti-4136	309	11	.	.	PUNCT
aiti-4136	310	1	(	(	PUNCT
aiti-4136	310	2	5	5	NUM
aiti-4136	310	3	)	)	PUNCT
aiti-4136	310	4	,	,	PUNCT
aiti-4136	310	5	(	(	PUNCT
aiti-4136	310	6	11	11	NUM
aiti-4136	310	7	)	)	PUNCT
aiti-4136	310	8	,	,	PUNCT
aiti-4136	310	9	and	and	CCONJ
aiti-4136	310	10	(	(	PUNCT
aiti-4136	310	11	15	15	NUM
aiti-4136	310	12	)	)	PUNCT
aiti-4136	310	13	,	,	PUNCT
aiti-4136	310	14	the	the	DET
aiti-4136	310	15	time	time	NOUN
aiti-4136	310	16	derivative	derivative	NOUN
aiti-4136	310	17	of	of	ADP
aiti-4136	310	18	the	the	DET
aiti-4136	310	19	quadratic	quadratic	ADJ
aiti-4136	310	20	function	function	NOUN
aiti-4136	310	21	(	(	PUNCT
aiti-4136	310	22	,	,	PUNCT
aiti-4136	310	23	)	)	PUNCT
aiti-4136	310	24	v	v	NOUN
aiti-4136	310	25	x	x	SYM
aiti-4136	310	26	t	t	NOUN
aiti-4136	310	27	which	which	PRON
aiti-4136	310	28	is	be	AUX
aiti-4136	310	29	along	along	ADP
aiti-4136	310	30	the	the	DET
aiti-4136	310	31	trajectory	trajectory	NOUN
aiti-4136	310	32	of	of	ADP
aiti-4136	310	33	the	the	DET
aiti-4136	310	34	closed	closed	ADJ
aiti-4136	310	35	-	-	PUNCT
aiti-4136	310	36	loop	loop	NOUN
aiti-4136	310	37	system	system	NOUN
aiti-4136	310	38	of	of	ADP
aiti-4136	310	39	eq	eq	PROPN
aiti-4136	310	40	.	.	PUNCT
aiti-4136	311	1	(	(	PUNCT
aiti-4136	311	2	15	15	NUM
aiti-4136	311	3	)	)	PUNCT
aiti-4136	311	4	can	can	AUX
aiti-4136	311	5	be	be	AUX
aiti-4136	311	6	computed	compute	VERB
aiti-4136	311	7	as	as	ADP
aiti-4136	311	8			NOUN
aiti-4136	311	9			PROPN
aiti-4136	311	10			NOUN
aiti-4136	312	1			SYM
aiti-4136	312	2			NOUN
aiti-4136	312	3			SYM
aiti-4136	312	4			NOUN
aiti-4136	312	5			NOUN
aiti-4136	312	6			PROPN
aiti-4136	312	7	3	3	NUM
aiti-4136	312	8	3	3	NUM
aiti-4136	312	9	3	3	NUM
aiti-4136	312	10	(	(	PUNCT
aiti-4136	312	11	,	,	PUNCT
aiti-4136	312	12	)	)	PUNCT
aiti-4136	312	13	(	(	PUNCT
aiti-4136	312	14	)	)	PUNCT
aiti-4136	312	15	(	(	PUNCT
aiti-4136	312	16	)	)	PUNCT
aiti-4136	312	17	(	(	PUNCT
aiti-4136	312	18	)	)	PUNCT
aiti-4136	312	19	(	(	PUNCT
aiti-4136	312	20	)	)	PUNCT
aiti-4136	312	21	(	(	PUNCT
aiti-4136	312	22	)	)	PUNCT
aiti-4136	312	23	(	(	PUNCT
aiti-4136	312	24	,	,	PUNCT
aiti-4136	312	25	)	)	PUNCT
aiti-4136	312	26	(	(	PUNCT
aiti-4136	312	27	)	)	PUNCT
aiti-4136	312	28	(	(	PUNCT
aiti-4136	312	29	)	)	PUNCT
aiti-4136	312	30	(	(	PUNCT
aiti-4136	312	31	)	)	PUNCT
aiti-4136	312	32	t	t	NOUN
aiti-4136	312	33	t	t	PROPN
aiti-4136	312	34	t	t	PROPN
aiti-4136	312	35	t	t	PROPN
aiti-4136	312	36	t	t	PROPN
aiti-4136	313	1	t	t	PROPN
aiti-4136	314	1	d	d	X
aiti-4136	314	2	d	d	PROPN
aiti-4136	315	1	d	d	X
aiti-4136	315	2	v	v	NUM
aiti-4136	315	3	x	x	SYM
aiti-4136	315	4	t	t	NOUN
aiti-4136	315	5	x	x	PUNCT
aiti-4136	315	6	t	t	NOUN
aiti-4136	316	1	i	i	PRON
aiti-4136	316	2	p	p	X
aiti-4136	316	3	x	x	X
aiti-4136	316	4	t	t	X
aiti-4136	316	5	x	x	SYM
aiti-4136	316	6	t	t	NOUN
aiti-4136	317	1	i	i	PRON
aiti-4136	317	2	p	p	X
aiti-4136	317	3	x	x	X
aiti-4136	317	4	t	t	NOUN
aiti-4136	317	5	dt	dt	X
aiti-4136	317	6	dt	dt	NOUN
aiti-4136	318	1	dt	dt	X
aiti-4136	318	2	x	x	SYM
aiti-4136	318	3	t	t	X
aiti-4136	318	4	he	he	PRON
aiti-4136	319	1	i	i	PRON
aiti-4136	319	2	p	p	X
aiti-4136	320	1	k	k	PROPN
aiti-4136	321	1	f	f	PROPN
aiti-4136	321	2	b	b	PROPN
aiti-4136	321	3	k	k	PROPN
aiti-4136	321	4	t	t	PROPN
aiti-4136	321	5	f	f	PROPN
aiti-4136	321	6	t	t	PROPN
aiti-4136	321	7	x	x	SYM
aiti-4136	321	8	t	t	PROPN
aiti-4136	321	9			NOUN
aiti-4136	321	10			PROPN
aiti-4136	321	11			NOUN
aiti-4136	321	12			NOUN
aiti-4136	321	13			PROPN
aiti-4136	321	14			ADP
aiti-4136	321	15			ADJ
aiti-4136	321	16			PROPN
aiti-4136	321	17			PROPN
aiti-4136	322	1			PROPN
aiti-4136	322	2			PROPN
aiti-4136	323	1			PROPN
aiti-4136	323	2			PROPN
aiti-4136	323	3			PROPN
aiti-4136	323	4			NOUN
aiti-4136	323	5			PRON
aiti-4136	323	6			NOUN
aiti-4136	323	7			ADJ
aiti-4136	323	8			PROPN
aiti-4136	323	9			PUNCT
aiti-4136	323	10			NOUN
aiti-4136	323	11			NOUN
aiti-4136	323	12			PROPN
aiti-4136	323	13	(	(	PUNCT
aiti-4136	323	14	23	23	NUM
aiti-4136	323	15	)	)	PUNCT
aiti-4136	323	16	where	where	SCONJ
aiti-4136	323	17	12	12	NUM
aiti-4136	323	18	12	12	NUM
aiti-4136	323	19	(	(	PUNCT
aiti-4136	323	20	,	,	PUNCT
aiti-4136	323	21	)	)	PUNCT
aiti-4136	324	1	k	k	PROPN
aiti-4136	324	2	f	f	PROPN
aiti-4136	324	3			PROPN
aiti-4136	324	4			NOUN
aiti-4136	324	5	is	be	AUX
aiti-4136	324	6	the	the	DET
aiti-4136	324	7	matrix	matrix	NOUN
aiti-4136	324	8	described	describe	VERB
aiti-4136	324	9	as	as	ADP
aiti-4136	324	10	0	0	NUM
aiti-4136	324	11	0	0	NUM
aiti-4136	324	12	(	(	PUNCT
aiti-4136	324	13	,	,	PUNCT
aiti-4136	324	14	)	)	PUNCT
aiti-4136	325	1	k	k	PROPN
aiti-4136	326	1	f	f	PROPN
aiti-4136	326	2	f	f	PROPN
aiti-4136	327	1	a	a	PRON
aiti-4136	327	2	k	k	PROPN
aiti-4136	327	3	f	f	PROPN
aiti-4136	327	4	bf	bf	NOUN
aiti-4136	327	5	a	a	DET
aiti-4136	327	6	bf	bf	NOUN
aiti-4136	327	7	bf	bf	NOUN
aiti-4136	327	8	bf	bf	NOUN
aiti-4136	327	9	a	a	DET
aiti-4136	327	10			NOUN
aiti-4136	328	1			NOUN
aiti-4136	329	1			PROPN
aiti-4136	330	1			PROPN
aiti-4136	331	1			PROPN
aiti-4136	331	2			PROPN
aiti-4136	331	3			PROPN
aiti-4136	331	4			PROPN
aiti-4136	332	1			PROPN
aiti-4136	332	2			NOUN
aiti-4136	332	3			NOUN
aiti-4136	332	4			NOUN
aiti-4136	332	5	(	(	PUNCT
aiti-4136	332	6	24	24	NUM
aiti-4136	332	7	)	)	PUNCT
aiti-4136	332	8	advances	advance	NOUN
aiti-4136	332	9	in	in	ADP
aiti-4136	332	10	technology	technology	NOUN
aiti-4136	332	11	innovation	innovation	NOUN
aiti-4136	332	12	,	,	PUNCT
aiti-4136	332	13	vol	vol	NOUN
aiti-4136	332	14	.	.	PROPN
aiti-4136	332	15	5	5	NUM
aiti-4136	332	16	,	,	PUNCT
aiti-4136	332	17	no	no	INTJ
aiti-4136	332	18	.	.	NOUN
aiti-4136	332	19	2	2	NUM
aiti-4136	332	20	,	,	PUNCT
aiti-4136	332	21	2020	2020	NUM
aiti-4136	332	22	,	,	PUNCT
aiti-4136	332	23	pp	pp	ADV
aiti-4136	332	24	.	.	PUNCT
aiti-4136	333	1	112	112	NUM
aiti-4136	333	2	-	-	SYM
aiti-4136	333	3	125	125	NUM
aiti-4136	333	4	118	118	NUM
aiti-4136	333	5	therefore	therefore	ADV
aiti-4136	333	6	,	,	PUNCT
aiti-4136	333	7	if	if	SCONJ
aiti-4136	333	8	there	there	PRON
aiti-4136	333	9	exists	exist	VERB
aiti-4136	333	10	the	the	DET
aiti-4136	333	11	state	state	NOUN
aiti-4136	333	12	feedback	feedback	NOUN
aiti-4136	333	13	gain	gain	NOUN
aiti-4136	333	14	matrix	matrix	NOUN
aiti-4136	333	15	2	2	NUM
aiti-4136	333	16	4k	4k	NUM
aiti-4136	333	17			NOUN
aiti-4136	333	18	,	,	PUNCT
aiti-4136	333	19	consensus	consensus	NOUN
aiti-4136	333	20	gain	gain	NOUN
aiti-4136	333	21	matrix	matrix	NOUN
aiti-4136	333	22	2	2	NUM
aiti-4136	333	23	4f	4f	NUM
aiti-4136	333	24			NOUN
aiti-4136	333	25	and	and	CCONJ
aiti-4136	333	26	the	the	DET
aiti-4136	333	27	symmetric	symmetric	ADJ
aiti-4136	333	28	positive	positive	ADJ
aiti-4136	333	29	definite	definite	ADJ
aiti-4136	333	30	matrix	matrix	NOUN
aiti-4136	333	31	4	4	NUM
aiti-4136	333	32	4p	4p	NUM
aiti-4136	333	33			NOUN
aiti-4136	333	34	which	which	PRON
aiti-4136	333	35	satisfy	satisfy	VERB
aiti-4136	333	36	the	the	DET
aiti-4136	333	37	inequality	inequality	NOUN
aiti-4136	333	38	condition	condition	NOUN
aiti-4136	333	39			NOUN
aiti-4136	333	40			SYM
aiti-4136	333	41			NOUN
aiti-4136	333	42			ADJ
aiti-4136	333	43	3	3	NOUN
aiti-4136	333	44	(	(	PUNCT
aiti-4136	333	45	,	,	PUNCT
aiti-4136	333	46	)	)	PUNCT
aiti-4136	333	47	(	(	PUNCT
aiti-4136	333	48	)	)	PUNCT
aiti-4136	333	49	(	(	PUNCT
aiti-4136	333	50	)	)	PUNCT
aiti-4136	333	51	0	0	NUM
aiti-4136	333	52	t	t	NOUN
aiti-4136	333	53	t	t	X
aiti-4136	333	54	the	the	PRON
aiti-4136	334	1	i	i	PROPN
aiti-4136	334	2	p	p	X
aiti-4136	334	3	k	k	PROPN
aiti-4136	334	4	f	f	PROPN
aiti-4136	334	5	b	b	PROPN
aiti-4136	334	6	k	k	PROPN
aiti-4136	334	7	t	t	PROPN
aiti-4136	334	8	f	f	PROPN
aiti-4136	334	9	t	t	PROPN
aiti-4136	334	10			PROPN
aiti-4136	334	11			PROPN
aiti-4136	334	12			PUNCT
aiti-4136	334	13			PUNCT
aiti-4136	334	14			PROPN
aiti-4136	334	15			PROPN
aiti-4136	334	16			PROPN
aiti-4136	334	17	(	(	PUNCT
aiti-4136	334	18	25	25	NUM
aiti-4136	334	19	)	)	PUNCT
aiti-4136	334	20	then	then	ADV
aiti-4136	334	21	the	the	DET
aiti-4136	334	22	quadratic	quadratic	ADJ
aiti-4136	334	23	function	function	NOUN
aiti-4136	334	24	(	(	PUNCT
aiti-4136	334	25	,	,	PUNCT
aiti-4136	334	26	)	)	PUNCT
aiti-4136	334	27	v	v	NOUN
aiti-4136	334	28	x	x	SYM
aiti-4136	334	29	t	t	PROPN
aiti-4136	334	30	satisfies	satisfy	VERB
aiti-4136	334	31	the	the	DET
aiti-4136	334	32	following	follow	VERB
aiti-4136	334	33	inequality	inequality	NOUN
aiti-4136	334	34	:	:	PUNCT
aiti-4136	334	35	(	(	PUNCT
aiti-4136	334	36	,	,	PUNCT
aiti-4136	334	37	)	)	PUNCT
aiti-4136	334	38	0	0	NUM
aiti-4136	334	39	,	,	PUNCT
aiti-4136	334	40	(	(	PUNCT
aiti-4136	334	41	)	)	PUNCT
aiti-4136	334	42	0	0	PUNCT
aiti-4136	335	1	d	d	NOUN
aiti-4136	335	2	v	v	NUM
aiti-4136	335	3	x	x	SYM
aiti-4136	335	4	t	t	NOUN
aiti-4136	335	5	x	x	SYM
aiti-4136	335	6	t	t	NOUN
aiti-4136	335	7	dt	dt	X
aiti-4136	335	8			PROPN
aiti-4136	335	9			PROPN
aiti-4136	335	10			PROPN
aiti-4136	335	11	(	(	PUNCT
aiti-4136	335	12	26	26	NUM
aiti-4136	335	13	)	)	PUNCT
aiti-4136	335	14	i.e.	i.e.	X
aiti-4136	335	15	the	the	DET
aiti-4136	335	16	quadratic	quadratic	ADJ
aiti-4136	335	17	function	function	NOUN
aiti-4136	335	18	(	(	PUNCT
aiti-4136	335	19	,	,	PUNCT
aiti-4136	335	20	)	)	PUNCT
aiti-4136	335	21	v	v	NOUN
aiti-4136	335	22	x	x	SYM
aiti-4136	335	23	t	t	NOUN
aiti-4136	335	24	becomes	become	VERB
aiti-4136	335	25	a	a	DET
aiti-4136	335	26	lyapunov	lyapunov	ADJ
aiti-4136	335	27	function	function	NOUN
aiti-4136	335	28	for	for	ADP
aiti-4136	335	29	the	the	DET
aiti-4136	335	30	closed	closed	ADJ
aiti-4136	335	31	-	-	PUNCT
aiti-4136	335	32	loop	loop	NOUN
aiti-4136	335	33	system	system	NOUN
aiti-4136	335	34	eq	eq	ADJ
aiti-4136	335	35	.	.	PUNCT
aiti-4136	336	1	(	(	PUNCT
aiti-4136	336	2	15	15	NUM
aiti-4136	336	3	)	)	PUNCT
aiti-4136	336	4	.	.	PUNCT
aiti-4136	337	1	by	by	ADP
aiti-4136	337	2	considering	consider	VERB
aiti-4136	337	3	the	the	DET
aiti-4136	337	4	quadratic	quadratic	ADJ
aiti-4136	337	5	cost	cost	NOUN
aiti-4136	337	6	function	function	NOUN
aiti-4136	337	7	of	of	ADP
aiti-4136	337	8	eq	eq	PROPN
aiti-4136	337	9	.	.	PUNCT
aiti-4136	338	1	(	(	PUNCT
aiti-4136	338	2	17	17	NUM
aiti-4136	338	3	)	)	PUNCT
aiti-4136	338	4	,	,	PUNCT
aiti-4136	338	5	there	there	PRON
aiti-4136	338	6	is	be	VERB
aiti-4136	338	7	an	an	DET
aiti-4136	338	8	inequality	inequality	NOUN
aiti-4136	338	9	condition	condition	NOUN
aiti-4136	338	10	:	:	PUNCT
aiti-4136	338	11			PROPN
aiti-4136	338	12			NOUN
aiti-4136	338	13			PROPN
aiti-4136	338	14	(	(	PUNCT
aiti-4136	338	15	,	,	PUNCT
aiti-4136	338	16	)	)	PUNCT
aiti-4136	338	17	(	(	PUNCT
aiti-4136	338	18	)	)	PUNCT
aiti-4136	338	19	(	(	PUNCT
aiti-4136	338	20	)	)	PUNCT
aiti-4136	338	21	(	(	PUNCT
aiti-4136	338	22	)	)	PUNCT
aiti-4136	338	23	(	(	PUNCT
aiti-4136	338	24	)	)	PUNCT
aiti-4136	338	25	(	(	PUNCT
aiti-4136	338	26	)	)	PUNCT
aiti-4136	338	27	(	(	PUNCT
aiti-4136	338	28	)	)	PUNCT
aiti-4136	338	29	0	0	NUM
aiti-4136	339	1	t	t	NOUN
aiti-4136	339	2	t	t	PROPN
aiti-4136	339	3	t	t	PROPN
aiti-4136	339	4	t	t	PROPN
aiti-4136	339	5	t	t	PROPN
aiti-4136	339	6	t	t	PROPN
aiti-4136	339	7	t	t	PROPN
aiti-4136	339	8	t	t	PROPN
aiti-4136	339	9	t	t	PROPN
aiti-4136	339	10	t	t	PROPN
aiti-4136	339	11	k	k	PROPN
aiti-4136	339	12	t	t	PROPN
aiti-4136	339	13	t	t	PROPN
aiti-4136	340	1	f	f	PROPN
aiti-4136	340	2	tk	tk	PROPN
aiti-4136	340	3	f	f	PROPN
aiti-4136	341	1	he	he	PRON
aiti-4136	341	2	pb	pb	ADP
aiti-4136	341	3	k	k	PROPN
aiti-4136	341	4	t	t	PROPN
aiti-4136	342	1	f	f	PROPN
aiti-4136	342	2	t	t	PROPN
aiti-4136	342	3	q	q	PROPN
aiti-4136	343	1	k	k	PROPN
aiti-4136	343	2	t	t	PROPN
aiti-4136	343	3	r	r	NOUN
aiti-4136	343	4	k	k	PROPN
aiti-4136	343	5	t	t	PROPN
aiti-4136	343	6	f	f	PROPN
aiti-4136	343	7	t	t	PROPN
aiti-4136	343	8	r	r	NOUN
aiti-4136	343	9	f	f	PROPN
aiti-4136	343	10	t	t	NOUN
aiti-4136	343	11			ADV
aiti-4136	343	12			ADJ
aiti-4136	343	13			PROPN
aiti-4136	343	14			PROPN
aiti-4136	343	15			PUNCT
aiti-4136	343	16			PROPN
aiti-4136	343	17			PROPN
aiti-4136	343	18	(	(	PUNCT
aiti-4136	343	19	27	27	NUM
aiti-4136	343	20	)	)	PUNCT
aiti-4136	343	21	instead	instead	ADV
aiti-4136	343	22	of	of	ADP
aiti-4136	343	23	the	the	DET
aiti-4136	343	24	matrix	matrix	NOUN
aiti-4136	343	25	inequality	inequality	NOUN
aiti-4136	343	26	of	of	ADP
aiti-4136	343	27	eq	eq	PROPN
aiti-4136	343	28	.	.	PUNCT
aiti-4136	344	1	(	(	PUNCT
aiti-4136	344	2	25	25	NUM
aiti-4136	344	3	)	)	PUNCT
aiti-4136	344	4	.	.	PUNCT
aiti-4136	345	1	the	the	DET
aiti-4136	345	2	matrix	matrix	NOUN
aiti-4136	345	3	1s	1s	NUM
aiti-4136	345	4	p	p	NOUN
aiti-4136	345	5	introduced	introduce	VERB
aiti-4136	345	6	,	,	PUNCT
aiti-4136	345	7	and	and	CCONJ
aiti-4136	345	8	the	the	DET
aiti-4136	345	9	change	change	NOUN
aiti-4136	345	10	of	of	ADP
aiti-4136	345	11	variables	variable	NOUN
aiti-4136	345	12	kw	kw	INTJ
aiti-4136	345	13	ks	ks	PROPN
aiti-4136	345	14	and	and	CCONJ
aiti-4136	345	15	fw	fw	PROPN
aiti-4136	345	16	fs	fs	PROPN
aiti-4136	345	17	considered	consider	VERB
aiti-4136	345	18	.	.	PUNCT
aiti-4136	346	1	then	then	ADV
aiti-4136	346	2	preand	preand	VERB
aiti-4136	346	3	post	post	ADJ
aiti-4136	346	4	-	-	ADJ
aiti-4136	346	5	multiplying	multiplying	ADJ
aiti-4136	346	6	eq	eq	NOUN
aiti-4136	346	7	.	.	PUNCT
aiti-4136	347	1	(	(	PUNCT
aiti-4136	347	2	25	25	NUM
aiti-4136	347	3	)	)	PUNCT
aiti-4136	347	4	by	by	ADP
aiti-4136	347	5	4	4	NUM
aiti-4136	347	6	4s	4s	NUM
aiti-4136	347	7			NOUN
aiti-4136	347	8	and	and	CCONJ
aiti-4136	347	9	using	use	VERB
aiti-4136	347	10	lemma	lemma	PROPN
aiti-4136	347	11	2	2	NUM
aiti-4136	347	12	,	,	PUNCT
aiti-4136	347	13	there	there	PRON
aiti-4136	347	14	is	be	VERB
aiti-4136	347	15			NOUN
aiti-4136	347	16			PUNCT
aiti-4136	347	17			NOUN
aiti-4136	348	1			SYM
aiti-4136	348	2			NOUN
aiti-4136	348	3			PUNCT
aiti-4136	348	4			NOUN
aiti-4136	348	5			PROPN
aiti-4136	348	6	2	2	NUM
aiti-4136	348	7	25	25	NUM
aiti-4136	348	8	(	(	PUNCT
aiti-4136	348	9	,	,	PUNCT
aiti-4136	348	10	,	,	PUNCT
aiti-4136	348	11	)	)	PUNCT
aiti-4136	348	12	(	(	PUNCT
aiti-4136	348	13	)	)	PUNCT
aiti-4136	348	14	(	(	PUNCT
aiti-4136	348	15	)	)	PUNCT
aiti-4136	348	16	(	(	PUNCT
aiti-4136	348	17	)	)	PUNCT
aiti-4136	348	18	(	(	PUNCT
aiti-4136	348	19	)	)	PUNCT
aiti-4136	348	20	(	(	PUNCT
aiti-4136	348	21	)	)	PUNCT
aiti-4136	348	22	0	0	NUM
aiti-4136	349	1	t	t	NOUN
aiti-4136	349	2	t	t	PROPN
aiti-4136	349	3	t	t	PROPN
aiti-4136	349	4	t	t	PROPN
aiti-4136	349	5	t	t	PROPN
aiti-4136	349	6	t	t	PROPN
aiti-4136	349	7	t	t	PROPN
aiti-4136	350	1	k	k	PROPN
aiti-4136	350	2	f	f	PROPN
aiti-4136	351	1	k	k	PROPN
aiti-4136	351	2	f	f	PROPN
aiti-4136	351	3	t	t	PROPN
aiti-4136	351	4	t	t	PROPN
aiti-4136	351	5	t	t	PROPN
aiti-4136	351	6	t	t	PROPN
aiti-4136	351	7	t	t	PROPN
aiti-4136	351	8	t	t	PROPN
aiti-4136	351	9	t	t	PROPN
aiti-4136	351	10	t	t	PROPN
aiti-4136	351	11	t	t	PROPN
aiti-4136	351	12	t	t	PROPN
aiti-4136	351	13	t	t	PROPN
aiti-4136	351	14	k	k	PROPN
aiti-4136	351	15	t	t	PROPN
aiti-4136	351	16	k	k	PROPN
aiti-4136	351	17	k	k	PROPN
aiti-4136	351	18	t	t	PROPN
aiti-4136	352	1	f	f	PROPN
aiti-4136	352	2	t	t	PROPN
aiti-4136	353	1	f	f	PROPN
aiti-4136	353	2	f	f	PROPN
aiti-4136	353	3	t	t	PROPN
aiti-4136	353	4	s	s	PROPN
aiti-4136	353	5	w	w	PROPN
aiti-4136	353	6	w	w	PROPN
aiti-4136	353	7	b	b	PROPN
aiti-4136	353	8	b	b	PROPN
aiti-4136	353	9	s	s	X
aiti-4136	353	10	s	s	X
aiti-4136	353	11	s	s	X
aiti-4136	353	12	s	s	X
aiti-4136	353	13	s	s	X
aiti-4136	353	14	q	q	X
aiti-4136	353	15	s	s	PROPN
aiti-4136	353	16	w	w	NOUN
aiti-4136	353	17	k	k	PROPN
aiti-4136	353	18	t	t	PROPN
aiti-4136	353	19	s	s	PART
aiti-4136	353	20	r	r	NOUN
aiti-4136	353	21	w	w	PROPN
aiti-4136	353	22	k	k	PROPN
aiti-4136	353	23	t	t	PROPN
aiti-4136	353	24	s	s	PROPN
aiti-4136	353	25	w	w	PROPN
aiti-4136	353	26	f	f	PROPN
aiti-4136	353	27	t	t	PROPN
aiti-4136	353	28	s	s	NOUN
aiti-4136	353	29	r	r	NOUN
aiti-4136	353	30	w	w	PROPN
aiti-4136	353	31	f	f	PROPN
aiti-4136	353	32	t	t	PROPN
aiti-4136	353	33	s	s	PROPN
aiti-4136	353	34			PROPN
aiti-4136	353	35			PROPN
aiti-4136	353	36			NUM
aiti-4136	353	37			NUM
aiti-4136	353	38			NUM
aiti-4136	353	39			PROPN
aiti-4136	353	40			PROPN
aiti-4136	353	41			ADV
aiti-4136	353	42			ADV
aiti-4136	353	43			PROPN
aiti-4136	353	44			PROPN
aiti-4136	353	45			PROPN
aiti-4136	353	46			PROPN
aiti-4136	353	47			PUNCT
aiti-4136	353	48			NOUN
aiti-4136	353	49			PROPN
aiti-4136	353	50			NOUN
aiti-4136	353	51			PROPN
aiti-4136	353	52			PUNCT
aiti-4136	353	53			NOUN
aiti-4136	353	54			X
aiti-4136	353	55			ADJ
aiti-4136	353	56			PROPN
aiti-4136	353	57	(	(	PUNCT
aiti-4136	353	58	28	28	NUM
aiti-4136	353	59	)	)	PUNCT
aiti-4136	353	60	where	where	SCONJ
aiti-4136	353	61	12	12	NUM
aiti-4136	353	62	12	12	NUM
aiti-4136	353	63	(	(	PUNCT
aiti-4136	353	64	,	,	PUNCT
aiti-4136	353	65	,	,	PUNCT
aiti-4136	353	66	)	)	PUNCT
aiti-4136	353	67	k	k	PROPN
aiti-4136	354	1	fs	fs	PROPN
aiti-4136	354	2	w	w	PROPN
aiti-4136	354	3	w	w	PROPN
aiti-4136	354	4			PROPN
aiti-4136	354	5			PROPN
aiti-4136	354	6	is	be	AUX
aiti-4136	354	7	given	give	VERB
aiti-4136	354	8	by	by	ADP
aiti-4136	354	9	11	11	NUM
aiti-4136	354	10	12	12	NUM
aiti-4136	354	11	13	13	NUM
aiti-4136	354	12	3	3	NUM
aiti-4136	354	13	3	3	NUM
aiti-4136	354	14	22	22	NUM
aiti-4136	354	15	23	23	NUM
aiti-4136	354	16	33	33	NUM
aiti-4136	354	17	(	(	PUNCT
aiti-4136	354	18	,	,	PUNCT
aiti-4136	354	19	)	)	PUNCT
aiti-4136	354	20	(	(	PUNCT
aiti-4136	354	21	)	)	PUNCT
aiti-4136	354	22	(	(	PUNCT
aiti-4136	354	23	)	)	PUNCT
aiti-4136	354	24	(	(	PUNCT
aiti-4136	354	25	,	,	PUNCT
aiti-4136	354	26	,	,	PUNCT
aiti-4136	354	27	)	)	PUNCT
aiti-4136	354	28	(	(	PUNCT
aiti-4136	354	29	)	)	PUNCT
aiti-4136	354	30	(	(	PUNCT
aiti-4136	354	31	,	,	PUNCT
aiti-4136	354	32	,	,	PUNCT
aiti-4136	354	33	)	)	PUNCT
aiti-4136	354	34	(	(	PUNCT
aiti-4136	354	35	)	)	PUNCT
aiti-4136	354	36	*	*	PUNCT
aiti-4136	354	37	(	(	PUNCT
aiti-4136	354	38	,	,	PUNCT
aiti-4136	354	39	,	,	PUNCT
aiti-4136	354	40	)	)	PUNCT
aiti-4136	354	41	(	(	PUNCT
aiti-4136	354	42	)	)	PUNCT
aiti-4136	355	1	*	*	PUNCT
aiti-4136	356	1	*	*	PUNCT
aiti-4136	356	2	(	(	PUNCT
aiti-4136	356	3	,	,	PUNCT
aiti-4136	356	4	,	,	PUNCT
aiti-4136	356	5	)	)	PUNCT
aiti-4136	357	1	k	k	PROPN
aiti-4136	358	1	f	f	X
aiti-4136	358	2	f	f	PROPN
aiti-4136	359	1	k	k	PROPN
aiti-4136	359	2	f	f	PROPN
aiti-4136	360	1	k	k	NOUN
aiti-4136	360	2	f	f	PROPN
aiti-4136	361	1	f	f	PROPN
aiti-4136	361	2	k	k	PROPN
aiti-4136	361	3	f	f	PROPN
aiti-4136	361	4	s	s	PROPN
aiti-4136	361	5	w	w	PROPN
aiti-4136	361	6	w	w	PROPN
aiti-4136	361	7	w	w	PROPN
aiti-4136	361	8	s	s	PROPN
aiti-4136	361	9	w	w	PROPN
aiti-4136	361	10	w	w	PROPN
aiti-4136	362	1	i	i	NOUN
aiti-4136	362	2	s	s	VERB
aiti-4136	362	3	p	p	X
aiti-4136	363	1	k	k	PROPN
aiti-4136	363	2	f	f	X
aiti-4136	364	1	i	i	PRON
aiti-4136	364	2	s	s	VERB
aiti-4136	364	3	s	s	PROPN
aiti-4136	364	4	w	w	PROPN
aiti-4136	364	5	w	w	PROPN
aiti-4136	364	6	w	w	PROPN
aiti-4136	364	7	s	s	PROPN
aiti-4136	364	8	w	w	PROPN
aiti-4136	364	9	w	w	PROPN
aiti-4136	364	10			NOUN
aiti-4136	365	1			PROPN
aiti-4136	366	1			PROPN
aiti-4136	367	1			PROPN
aiti-4136	368	1			PROPN
aiti-4136	369	1			INTJ
aiti-4136	370	1			PROPN
aiti-4136	371	1			INTJ
aiti-4136	372	1			PROPN
aiti-4136	372	2			PROPN
aiti-4136	373	1			ADJ
aiti-4136	373	2			NOUN
aiti-4136	374	1			NOUN
aiti-4136	374	2			PUNCT
aiti-4136	375	1			INTJ
aiti-4136	376	1			NOUN
aiti-4136	376	2			PROPN
aiti-4136	376	3			ADJ
aiti-4136	376	4			PROPN
aiti-4136	376	5			VERB
aiti-4136	377	1			NUM
aiti-4136	377	2			NUM
aiti-4136	377	3			NOUN
aiti-4136	377	4			PROPN
aiti-4136	377	5	(	(	PUNCT
aiti-4136	377	6	29	29	NUM
aiti-4136	377	7	)	)	PUNCT
aiti-4136	377	8			NOUN
aiti-4136	377	9			PUNCT
aiti-4136	377	10			PROPN
aiti-4136	378	1			PROPN
aiti-4136	378	2			NOUN
aiti-4136	378	3			SYM
aiti-4136	378	4			NOUN
aiti-4136	378	5			SYM
aiti-4136	378	6			NOUN
aiti-4136	378	7			PUNCT
aiti-4136	379	1			PROPN
aiti-4136	379	2	11	11	VERB
aiti-4136	379	3	12	12	NUM
aiti-4136	379	4	13	13	NUM
aiti-4136	379	5	23	23	NUM
aiti-4136	379	6	,	,	PUNCT
aiti-4136	379	7	,	,	PUNCT
aiti-4136	379	8	,	,	PUNCT
aiti-4136	379	9	t	t	PROPN
aiti-4136	379	10	t	t	PROPN
aiti-4136	380	1	k	k	PROPN
aiti-4136	380	2	k	k	PROPN
aiti-4136	381	1	f	f	X
aiti-4136	381	2	f	f	X
aiti-4136	381	3	f	f	X
aiti-4136	381	4	f	f	PROPN
aiti-4136	381	5	fs	fs	INTJ
aiti-4136	381	6	w	w	PROPN
aiti-4136	381	7	he	he	PRON
aiti-4136	381	8	as	as	ADP
aiti-4136	381	9	bw	bw	PROPN
aiti-4136	381	10	w	w	PROPN
aiti-4136	381	11	w	w	PROPN
aiti-4136	381	12	w	w	PROPN
aiti-4136	381	13	b	b	PROPN
aiti-4136	381	14	w	w	VERB
aiti-4136	381	15	he	he	PRON
aiti-4136	381	16	bw	bw	X
aiti-4136	381	17			PROPN
aiti-4136	381	18			ADJ
aiti-4136	381	19			PROPN
aiti-4136	381	20			PROPN
aiti-4136	381	21			PROPN
aiti-4136	381	22			PROPN
aiti-4136	381	23			PROPN
aiti-4136	381	24			PROPN
aiti-4136	381	25			NOUN
aiti-4136	381	26	(	(	PUNCT
aiti-4136	381	27	30	30	NUM
aiti-4136	381	28	)	)	PUNCT
aiti-4136	381	29			NOUN
aiti-4136	381	30			SYM
aiti-4136	381	31			NOUN
aiti-4136	381	32			PUNCT
aiti-4136	381	33			NOUN
aiti-4136	382	1	22	22	ADJ
aiti-4136	382	2	33	33	NUM
aiti-4136	382	3	,	,	PUNCT
aiti-4136	382	4	,	,	PUNCT
aiti-4136	382	5	,	,	PUNCT
aiti-4136	382	6	,	,	PUNCT
aiti-4136	382	7	2k	2k	PROPN
aiti-4136	382	8	f	f	PROPN
aiti-4136	382	9	k	k	PROPN
aiti-4136	382	10	f	f	PROPN
aiti-4136	382	11	k	k	PROPN
aiti-4136	382	12	fs	fs	PROPN
aiti-4136	382	13	w	w	PROPN
aiti-4136	382	14	w	w	PROPN
aiti-4136	382	15	s	s	PROPN
aiti-4136	382	16	w	w	PROPN
aiti-4136	382	17	w	w	VERB
aiti-4136	382	18	he	he	PRON
aiti-4136	382	19	as	as	ADP
aiti-4136	382	20	bw	bw	PROPN
aiti-4136	382	21	bw	bw	PROPN
aiti-4136	382	22			PROPN
aiti-4136	382	23			PROPN
aiti-4136	382	24			ADV
aiti-4136	382	25			X
aiti-4136	382	26	(	(	PUNCT
aiti-4136	382	27	31	31	NUM
aiti-4136	382	28	)	)	PUNCT
aiti-4136	382	29	one	one	PRON
aiti-4136	382	30	can	can	AUX
aiti-4136	382	31	see	see	VERB
aiti-4136	382	32	that	that	PRON
aiti-4136	382	33	12	12	NUM
aiti-4136	382	34	12	12	NUM
aiti-4136	382	35	(	(	PUNCT
aiti-4136	382	36	,	,	PUNCT
aiti-4136	382	37	,	,	PUNCT
aiti-4136	382	38	,	,	PUNCT
aiti-4136	382	39	,	,	PUNCT
aiti-4136	382	40	)	)	PUNCT
aiti-4136	383	1	k	k	PROPN
aiti-4136	383	2	fs	fs	PROPN
aiti-4136	383	3	w	w	PROPN
aiti-4136	383	4	w	w	PROPN
aiti-4136	383	5			NUM
aiti-4136	383	6			NUM
aiti-4136	383	7			PROPN
aiti-4136	383	8			NOUN
aiti-4136	383	9	can	can	AUX
aiti-4136	383	10	be	be	AUX
aiti-4136	383	11	expressed	express	VERB
aiti-4136	383	12	as	as	ADP
aiti-4136	383	13	(	(	PUNCT
aiti-4136	383	14	,	,	PUNCT
aiti-4136	383	15	,	,	PUNCT
aiti-4136	383	16	,	,	PUNCT
aiti-4136	383	17	,	,	PUNCT
aiti-4136	383	18	)	)	PUNCT
aiti-4136	383	19	(	(	PUNCT
aiti-4136	383	20	,	,	PUNCT
aiti-4136	383	21	,	,	PUNCT
aiti-4136	383	22	)	)	PUNCT
aiti-4136	384	1	(	(	PUNCT
aiti-4136	384	2	)	)	PUNCT
aiti-4136	384	3	t	t	NOUN
aiti-4136	384	4	t	t	AUX
aiti-4136	384	5	tk	tk	PROPN
aiti-4136	385	1	f	f	PROPN
aiti-4136	386	1	k	k	PROPN
aiti-4136	387	1	fs	fs	PROPN
aiti-4136	387	2	w	w	PROPN
aiti-4136	387	3	w	w	PROPN
aiti-4136	387	4	s	s	PROPN
aiti-4136	387	5	w	w	PROPN
aiti-4136	387	6	w	w	PROPN
aiti-4136	387	7	b	b	PROPN
aiti-4136	387	8	b	b	NOUN
aiti-4136	387	9			NUM
aiti-4136	387	10			NUM
aiti-4136	387	11			PROPN
aiti-4136	387	12			PROPN
aiti-4136	387	13			ADV
aiti-4136	387	14			X
aiti-4136	387	15	(	(	PUNCT
aiti-4136	387	16	32	32	NUM
aiti-4136	387	17	)	)	PUNCT
aiti-4136	387	18	therefore	therefore	ADV
aiti-4136	387	19	,	,	PUNCT
aiti-4136	387	20	applying	apply	VERB
aiti-4136	387	21	lemma	lemma	PROPN
aiti-4136	387	22	1	1	NUM
aiti-4136	387	23	to	to	ADP
aiti-4136	387	24	the	the	DET
aiti-4136	387	25	inequality	inequality	NOUN
aiti-4136	387	26	eq	eq	ADP
aiti-4136	387	27	.	.	PUNCT
aiti-4136	388	1	(	(	PUNCT
aiti-4136	388	2	28	28	NUM
aiti-4136	388	3	)	)	PUNCT
aiti-4136	388	4	and	and	CCONJ
aiti-4136	388	5	simple	simple	ADJ
aiti-4136	388	6	algebraic	algebraic	PROPN
aiti-4136	388	7	gives	give	VERB
aiti-4136	388	8			NOUN
aiti-4136	388	9			PUNCT
aiti-4136	388	10	122	122	NUM
aiti-4136	388	11	122	122	NUM
aiti-4136	388	12	1	1	NUM
aiti-4136	388	13	1	1	NUM
aiti-4136	388	14	1	1	NUM
aiti-4136	388	15	,	,	PUNCT
aiti-4136	388	16	,	,	PUNCT
aiti-4136	388	17	,	,	PUNCT
aiti-4136	388	18	,	,	PUNCT
aiti-4136	388	19	0	0	NUM
aiti-4136	388	20	0	0	NUM
aiti-4136	388	21	0	0	NUM
aiti-4136	388	22	0	0	NUM
aiti-4136	388	23	0	0	NUM
aiti-4136	388	24	0	0	NUM
aiti-4136	388	25	0	0	NUM
aiti-4136	388	26	0	0	NUM
aiti-4136	388	27	(	(	PUNCT
aiti-4136	388	28	,	,	PUNCT
aiti-4136	388	29	)	)	PUNCT
aiti-4136	388	30	0	0	NUM
aiti-4136	389	1	5	5	NUM
aiti-4136	389	2	0	0	NUM
aiti-4136	389	3	0	0	NUM
aiti-4136	389	4	0	0	NUM
aiti-4136	389	5	0	0	NUM
aiti-4136	389	6	0	0	NUM
aiti-4136	389	7	0	0	NUM
aiti-4136	389	8	0	0	NUM
aiti-4136	389	9	0	0	NUM
aiti-4136	389	10	0	0	NUM
aiti-4136	389	11	0	0	NUM
aiti-4136	389	12	0	0	NUM
aiti-4136	389	13	0	0	NUM
aiti-4136	390	1	t	t	NOUN
aiti-4136	390	2	t	t	PROPN
aiti-4136	390	3	t	t	PROPN
aiti-4136	390	4	t	t	PROPN
aiti-4136	390	5	t	t	PROPN
aiti-4136	390	6	t	t	PROPN
aiti-4136	390	7	t	t	PROPN
aiti-4136	390	8	t	t	PROPN
aiti-4136	390	9	t	t	PROPN
aiti-4136	390	10	t	t	PROPN
aiti-4136	390	11	tk	tk	PROPN
aiti-4136	391	1	f	f	PROPN
aiti-4136	391	2	k	k	PROPN
aiti-4136	392	1	f	f	PROPN
aiti-4136	392	2	t	t	PROPN
aiti-4136	393	1	k	k	PROPN
aiti-4136	393	2	t	t	PROPN
aiti-4136	394	1	f	f	PROPN
aiti-4136	394	2	t	t	PROPN
aiti-4136	394	3	t	t	PROPN
aiti-4136	395	1	k	k	PROPN
aiti-4136	396	1	k	k	PROPN
aiti-4136	397	1	f	f	X
aiti-4136	398	1	f	f	PROPN
aiti-4136	398	2	s	s	PROPN
aiti-4136	398	3	w	w	PROPN
aiti-4136	398	4	w	w	PROPN
aiti-4136	398	5	s	s	PROPN
aiti-4136	398	6	s	s	X
aiti-4136	398	7	s	s	NOUN
aiti-4136	398	8	w	w	NOUN
aiti-4136	398	9	w	w	PROPN
aiti-4136	398	10	s	s	PROPN
aiti-4136	399	1	i	i	PRON
aiti-4136	399	2	s	s	VERB
aiti-4136	399	3	i	i	INTJ
aiti-4136	400	1	k	k	PROPN
aiti-4136	401	1	f	f	PROPN
aiti-4136	401	2	s	s	X
aiti-4136	401	3	q	q	PROPN
aiti-4136	401	4	w	w	NOUN
aiti-4136	401	5	r	r	NOUN
aiti-4136	401	6	w	w	NOUN
aiti-4136	401	7	r	r	NOUN
aiti-4136	401	8			NUM
aiti-4136	401	9			NUM
aiti-4136	401	10			NUM
aiti-4136	401	11			PROPN
aiti-4136	401	12			NUM
aiti-4136	401	13			PROPN
aiti-4136	401	14			PROPN
aiti-4136	401	15			PROPN
aiti-4136	401	16			PROPN
aiti-4136	401	17			NOUN
aiti-4136	401	18			PROPN
aiti-4136	402	1			PROPN
aiti-4136	403	1			PROPN
aiti-4136	404	1			PROPN
aiti-4136	405	1			INTJ
aiti-4136	406	1			PROPN
aiti-4136	407	1			INTJ
aiti-4136	408	1			PROPN
aiti-4136	409	1			INTJ
aiti-4136	410	1			PROPN
aiti-4136	411	1			INTJ
aiti-4136	412	1			PROPN
aiti-4136	413	1			INTJ
aiti-4136	414	1			PROPN
aiti-4136	415	1			INTJ
aiti-4136	416	1			PROPN
aiti-4136	417	1			INTJ
aiti-4136	418	1			PROPN
aiti-4136	419	1			INTJ
aiti-4136	420	1			PROPN
aiti-4136	421	1			INTJ
aiti-4136	422	1			PROPN
aiti-4136	423	1			INTJ
aiti-4136	424	1			PROPN
aiti-4136	425	1			INTJ
aiti-4136	426	1			PROPN
aiti-4136	427	1			INTJ
aiti-4136	427	2			PROPN
aiti-4136	427	3			NOUN
aiti-4136	428	1			PROPN
aiti-4136	428	2			ADJ
aiti-4136	428	3			PROPN
aiti-4136	428	4			VERB
aiti-4136	428	5			PROPN
aiti-4136	428	6			PROPN
aiti-4136	428	7			ADV
aiti-4136	428	8			NOUN
aiti-4136	428	9			PUNCT
aiti-4136	428	10			PROPN
aiti-4136	428	11			PROPN
aiti-4136	428	12			PROPN
aiti-4136	428	13			PROPN
aiti-4136	428	14	(	(	PUNCT
aiti-4136	428	15	33	33	NUM
aiti-4136	428	16	)	)	PUNCT
aiti-4136	428	17	where	where	SCONJ
aiti-4136	428	18	12	12	NUM
aiti-4136	428	19	12	12	NUM
aiti-4136	428	20	(	(	PUNCT
aiti-4136	428	21	,	,	PUNCT
aiti-4136	428	22	)	)	PUNCT
aiti-4136	428	23	k	k	PROPN
aiti-4136	429	1	f	f	X
aiti-4136	429	2			PROPN
aiti-4136	429	3			PROPN
aiti-4136	429	4			NOUN
aiti-4136	429	5			NOUN
aiti-4136	429	6	is	be	AUX
aiti-4136	429	7	given	give	VERB
aiti-4136	429	8	by	by	ADP
aiti-4136	429	9	advances	advance	NOUN
aiti-4136	429	10	in	in	ADP
aiti-4136	429	11	technology	technology	NOUN
aiti-4136	429	12	innovation	innovation	NOUN
aiti-4136	429	13	,	,	PUNCT
aiti-4136	429	14	vol	vol	NOUN
aiti-4136	429	15	.	.	PROPN
aiti-4136	429	16	5	5	NUM
aiti-4136	429	17	,	,	PUNCT
aiti-4136	429	18	no	no	INTJ
aiti-4136	429	19	.	.	NOUN
aiti-4136	429	20	2	2	NUM
aiti-4136	429	21	,	,	PUNCT
aiti-4136	429	22	2020	2020	NUM
aiti-4136	429	23	,	,	PUNCT
aiti-4136	429	24	pp	pp	ADV
aiti-4136	429	25	.	.	PUNCT
aiti-4136	430	1	112	112	NUM
aiti-4136	430	2	-	-	SYM
aiti-4136	430	3	125	125	NUM
aiti-4136	430	4	119	119	NUM
aiti-4136	430	5	00	00	NUM
aiti-4136	430	6	0	0	NUM
aiti-4136	430	7	00	00	NUM
aiti-4136	430	8	0	0	NUM
aiti-4136	430	9	0	0	NUM
aiti-4136	430	10	0	0	NUM
aiti-4136	430	11	0	0	NUM
aiti-4136	430	12	0	0	NUM
aiti-4136	430	13	00	00	NUM
aiti-4136	430	14	0	0	NUM
aiti-4136	430	15	0	0	NUM
aiti-4136	430	16	0	0	NUM
aiti-4136	430	17	0	0	NUM
aiti-4136	430	18	0	0	NUM
aiti-4136	430	19	(	(	PUNCT
aiti-4136	430	20	,	,	PUNCT
aiti-4136	430	21	)	)	PUNCT
aiti-4136	430	22	00	00	PUNCT
aiti-4136	431	1	0	0	NUM
aiti-4136	431	2	0	0	NUM
aiti-4136	431	3	0	0	NUM
aiti-4136	431	4	0	0	NUM
aiti-4136	431	5	0	0	NUM
aiti-4136	431	6	0	0	NUM
aiti-4136	431	7	(	(	PUNCT
aiti-4136	431	8	)	)	PUNCT
aiti-4136	431	9	0	0	NUM
aiti-4136	431	10	0	0	NUM
aiti-4136	431	11	(	(	PUNCT
aiti-4136	431	12	)	)	PUNCT
aiti-4136	431	13	0	0	NUM
aiti-4136	431	14	0	0	NUM
aiti-4136	432	1	(	(	PUNCT
aiti-4136	432	2	)	)	PUNCT
aiti-4136	432	3	0	0	NUM
aiti-4136	432	4	0	0	NUM
aiti-4136	432	5	0	0	NUM
aiti-4136	432	6	0	0	NUM
aiti-4136	432	7	0	0	NUM
aiti-4136	432	8	0	0	NUM
aiti-4136	433	1	t	t	NOUN
aiti-4136	433	2	t	t	PROPN
aiti-4136	433	3	t	t	PROPN
aiti-4136	433	4	t	t	PROPN
aiti-4136	433	5	t	t	PROPN
aiti-4136	433	6	t	t	PROPN
aiti-4136	433	7	t	t	PROPN
aiti-4136	433	8	t	t	PROPN
aiti-4136	433	9	t	t	PROPN
aiti-4136	433	10	t	t	PROPN
aiti-4136	433	11	t	t	PROPN
aiti-4136	433	12	t	t	PROPN
aiti-4136	433	13	t	t	PROPN
aiti-4136	433	14	s	s	X
aiti-4136	433	15	s	s	NOUN
aiti-4136	433	16	s	s	X
aiti-4136	433	17	s	s	X
aiti-4136	433	18	k	k	X
aiti-4136	433	19	f	f	PROPN
aiti-4136	434	1	k	k	PROPN
aiti-4136	434	2	t	t	PROPN
aiti-4136	435	1	k	k	PROPN
aiti-4136	435	2	t	t	PROPN
aiti-4136	435	3	f	f	PROPN
aiti-4136	435	4	t	t	PROPN
aiti-4136	435	5			NOUN
aiti-4136	435	6			PROPN
aiti-4136	435	7			PROPN
aiti-4136	436	1			PROPN
aiti-4136	436	2			VERB
aiti-4136	436	3			PROPN
aiti-4136	436	4			PROPN
aiti-4136	436	5			NOUN
aiti-4136	436	6			PROPN
aiti-4136	436	7			PROPN
aiti-4136	436	8			PROPN
aiti-4136	436	9			X
aiti-4136	436	10			X
aiti-4136	437	1			INTJ
aiti-4136	437	2			PROPN
aiti-4136	437	3			NOUN
aiti-4136	438	1			PROPN
aiti-4136	439	1			PROPN
aiti-4136	439	2			INTJ
aiti-4136	439	3			PROPN
aiti-4136	440	1			NOUN
aiti-4136	440	2			X
aiti-4136	441	1			INTJ
aiti-4136	442	1			PROPN
aiti-4136	442	2			NOUN
aiti-4136	443	1			PROPN
aiti-4136	444	1			PROPN
aiti-4136	444	2			INTJ
aiti-4136	444	3			PROPN
aiti-4136	445	1			NOUN
aiti-4136	445	2			X
aiti-4136	446	1			INTJ
aiti-4136	447	1			PROPN
aiti-4136	447	2			NOUN
aiti-4136	448	1			PROPN
aiti-4136	449	1			PROPN
aiti-4136	449	2			PROPN
aiti-4136	449	3			PROPN
aiti-4136	449	4			PUNCT
aiti-4136	450	1			PROPN
aiti-4136	450	2			VERB
aiti-4136	450	3			PUNCT
aiti-4136	450	4			PROPN
aiti-4136	450	5			NOUN
aiti-4136	450	6			X
aiti-4136	451	1			INTJ
aiti-4136	451	2			PROPN
aiti-4136	451	3			NOUN
aiti-4136	452	1			PROPN
aiti-4136	453	1			PROPN
aiti-4136	453	2			INTJ
aiti-4136	453	3			PROPN
aiti-4136	454	1			NOUN
aiti-4136	454	2			X
aiti-4136	455	1			INTJ
aiti-4136	456	1			PROPN
aiti-4136	456	2			NOUN
aiti-4136	457	1			PROPN
aiti-4136	458	1			PROPN
aiti-4136	458	2			INTJ
aiti-4136	458	3			PROPN
aiti-4136	459	1			NOUN
aiti-4136	459	2			X
aiti-4136	460	1			INTJ
aiti-4136	461	1			PROPN
aiti-4136	461	2			NOUN
aiti-4136	462	1			PROPN
aiti-4136	462	2			PROPN
aiti-4136	462	3			PROPN
aiti-4136	462	4			NOUN
aiti-4136	463	1			PROPN
aiti-4136	463	2			X
aiti-4136	463	3			X
aiti-4136	464	1			INTJ
aiti-4136	465	1			PROPN
aiti-4136	465	2			NOUN
aiti-4136	466	1			PROPN
aiti-4136	466	2			PROPN
aiti-4136	467	1			NOUN
aiti-4136	467	2			X
aiti-4136	468	1			INTJ
aiti-4136	469	1			PROPN
aiti-4136	469	2			NOUN
aiti-4136	470	1			PROPN
aiti-4136	470	2			PROPN
aiti-4136	470	3			VERB
aiti-4136	471	1			VERB
aiti-4136	471	2			NOUN
aiti-4136	471	3			NOUN
aiti-4136	471	4			PROPN
aiti-4136	471	5			NOUN
aiti-4136	471	6			NOUN
aiti-4136	471	7			NOUN
aiti-4136	471	8			NOUN
aiti-4136	471	9			NOUN
aiti-4136	471	10	0	0	NUM
aiti-4136	471	11	0	0	NUM
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aiti-4136	471	13	0	0	NUM
aiti-4136	471	14	0	0	NUM
aiti-4136	472	1	(	(	PUNCT
aiti-4136	472	2	)	)	PUNCT
aiti-4136	472	3	t	t	NOUN
aiti-4136	472	4	t	t	PROPN
aiti-4136	472	5	tf	tf	X
aiti-4136	472	6	t	t	PROPN
aiti-4136	472	7			NOUN
aiti-4136	472	8			NUM
aiti-4136	473	1			PROPN
aiti-4136	473	2			NOUN
aiti-4136	474	1			PROPN
aiti-4136	474	2			PROPN
aiti-4136	474	3			NOUN
aiti-4136	475	1			PROPN
aiti-4136	475	2			PROPN
aiti-4136	475	3			NOUN
aiti-4136	476	1			PROPN
aiti-4136	476	2			PROPN
aiti-4136	476	3			NOUN
aiti-4136	477	1			PROPN
aiti-4136	477	2			PROPN
aiti-4136	477	3			NOUN
aiti-4136	478	1			PROPN
aiti-4136	478	2			PROPN
aiti-4136	478	3			NOUN
aiti-4136	479	1			PROPN
aiti-4136	479	2			PROPN
aiti-4136	480	1			NOUN
aiti-4136	480	2			X
aiti-4136	480	3			PUNCT
aiti-4136	481	1			VERB
aiti-4136	481	2			NOUN
aiti-4136	481	3			NOUN
aiti-4136	481	4	(	(	PUNCT
aiti-4136	481	5	34	34	NUM
aiti-4136	481	6	)	)	PUNCT
aiti-4136	481	7	thus	thus	ADV
aiti-4136	481	8	,	,	PUNCT
aiti-4136	481	9	one	one	PRON
aiti-4136	481	10	can	can	AUX
aiti-4136	481	11	see	see	VERB
aiti-4136	481	12	from	from	ADP
aiti-4136	481	13	lemma	lemma	PROPN
aiti-4136	481	14	2	2	NUM
aiti-4136	481	15	that	that	SCONJ
aiti-4136	481	16	the	the	DET
aiti-4136	481	17	following	follow	VERB
aiti-4136	481	18	inequality	inequality	NOUN
aiti-4136	481	19	can	can	AUX
aiti-4136	481	20	be	be	AUX
aiti-4136	481	21	obtained	obtain	VERB
aiti-4136	481	22	:	:	PUNCT
aiti-4136	481	23			NOUN
aiti-4136	481	24			PROPN
aiti-4136	481	25	1	1	NUM
aiti-4136	481	26	1	1	NUM
aiti-4136	481	27	122	122	NUM
aiti-4136	481	28	122	122	NUM
aiti-4136	481	29	1	1	NUM
aiti-4136	481	30	1	1	NUM
aiti-4136	481	31	2	2	NUM
aiti-4136	481	32	6	6	NUM
aiti-4136	481	33	1	1	NUM
aiti-4136	481	34	2	2	NUM
aiti-4136	481	35	6	6	NUM
aiti-4136	481	36	,	,	PUNCT
aiti-4136	481	37	,	,	PUNCT
aiti-4136	481	38	,	,	PUNCT
aiti-4136	481	39	,	,	PUNCT
aiti-4136	481	40	(	(	PUNCT
aiti-4136	481	41	)	)	PUNCT
aiti-4136	481	42	0	0	NUM
aiti-4136	481	43	0	0	NUM
aiti-4136	481	44	0	0	NUM
aiti-4136	481	45	0	0	NUM
aiti-4136	481	46	0	0	NUM
aiti-4136	481	47	0	0	NUM
aiti-4136	481	48	0	0	NUM
aiti-4136	481	49	0	0	NUM
aiti-4136	481	50	0	0	NUM
aiti-4136	481	51	5	5	NUM
aiti-4136	481	52	0	0	NUM
aiti-4136	481	53	0	0	NUM
aiti-4136	481	54	0	0	NUM
aiti-4136	481	55	0	0	NUM
aiti-4136	481	56	0	0	NUM
aiti-4136	481	57	0	0	NUM
aiti-4136	481	58	0	0	NUM
aiti-4136	481	59	0	0	NUM
aiti-4136	481	60	0	0	NUM
aiti-4136	481	61	0	0	NUM
aiti-4136	481	62	0	0	NUM
aiti-4136	481	63	0	0	NUM
aiti-4136	481	64	6	6	NUM
aiti-4136	481	65	t	t	NOUN
aiti-4136	481	66	t	t	PROPN
aiti-4136	481	67	t	t	PROPN
aiti-4136	482	1	t	t	PROPN
aiti-4136	482	2	t	t	PROPN
aiti-4136	482	3	t	t	PROPN
aiti-4136	482	4	t	t	PROPN
aiti-4136	482	5	t	t	PROPN
aiti-4136	482	6	k	k	PROPN
aiti-4136	482	7	f	f	PROPN
aiti-4136	482	8	t	t	PROPN
aiti-4136	482	9	t	t	PROPN
aiti-4136	482	10	t	t	PROPN
aiti-4136	482	11	t	t	PROPN
aiti-4136	482	12	t	t	PROPN
aiti-4136	483	1	k	k	PROPN
aiti-4136	483	2	f	f	PROPN
aiti-4136	484	1	t	t	PROPN
aiti-4136	484	2	k	k	PROPN
aiti-4136	484	3	t	t	PROPN
aiti-4136	485	1	f	f	PROPN
aiti-4136	485	2	t	t	PROPN
aiti-4136	485	3	t	t	PROPN
aiti-4136	486	1	k	k	PROPN
aiti-4136	487	1	k	k	PROPN
aiti-4136	488	1	k	k	PROPN
aiti-4136	489	1	f	f	X
aiti-4136	490	1	f	f	X
aiti-4136	490	2	f	f	PROPN
aiti-4136	490	3	s	s	PROPN
aiti-4136	490	4	w	w	PROPN
aiti-4136	490	5	w	w	PROPN
aiti-4136	490	6	s	s	PROPN
aiti-4136	490	7	s	s	NOUN
aiti-4136	490	8	s	s	X
aiti-4136	490	9	s	s	X
aiti-4136	490	10	s	s	NOUN
aiti-4136	490	11	w	w	NOUN
aiti-4136	490	12	w	w	PROPN
aiti-4136	490	13	s	s	PROPN
aiti-4136	491	1	i	i	PRON
aiti-4136	491	2	s	s	VERB
aiti-4136	492	1	i	i	NOUN
aiti-4136	492	2	s	s	VERB
aiti-4136	492	3	q	q	NOUN
aiti-4136	492	4	w	w	NOUN
aiti-4136	493	1	r	r	NOUN
aiti-4136	494	1	i	i	NOUN
aiti-4136	494	2	w	w	NOUN
aiti-4136	494	3	r	r	NOUN
aiti-4136	494	4	i	i	PRON
aiti-4136	494	5			NUM
aiti-4136	494	6			NUM
aiti-4136	494	7			NOUN
aiti-4136	494	8			NUM
aiti-4136	494	9			NUM
aiti-4136	494	10			PROPN
aiti-4136	494	11			NUM
aiti-4136	494	12			PROPN
aiti-4136	494	13			X
aiti-4136	494	14			PRON
aiti-4136	494	15			PROPN
aiti-4136	494	16			PROPN
aiti-4136	494	17			PROPN
aiti-4136	494	18			PROPN
aiti-4136	494	19			PROPN
aiti-4136	494	20			NOUN
aiti-4136	494	21			ADP
aiti-4136	494	22			ADV
aiti-4136	494	23			PROPN
aiti-4136	494	24			PROPN
aiti-4136	495	1			PROPN
aiti-4136	496	1			PROPN
aiti-4136	496	2			PROPN
aiti-4136	497	1			PRON
aiti-4136	497	2			PROPN
aiti-4136	498	1			PROPN
aiti-4136	499	1			INTJ
aiti-4136	500	1			PROPN
aiti-4136	501	1			PROPN
aiti-4136	501	2			PROPN
aiti-4136	501	3			PUNCT
aiti-4136	501	4			PROPN
aiti-4136	502	1			PROPN
aiti-4136	502	2			PROPN
aiti-4136	502	3			PROPN
aiti-4136	502	4			NOUN
aiti-4136	503	1			PROPN
aiti-4136	503	2			PROPN
aiti-4136	503	3			PROPN
aiti-4136	503	4			PROPN
aiti-4136	503	5			PROPN
aiti-4136	503	6			PROPN
aiti-4136	503	7			NOUN
aiti-4136	503	8			NUM
aiti-4136	503	9			NOUN
aiti-4136	503	10	(	(	PUNCT
aiti-4136	503	11	35	35	NUM
aiti-4136	503	12	)	)	PUNCT
aiti-4136	503	13	furthermore	furthermore	ADV
aiti-4136	503	14	,	,	PUNCT
aiti-4136	503	15	by	by	ADP
aiti-4136	503	16	applying	apply	VERB
aiti-4136	503	17	lemma	lemma	PROPN
aiti-4136	503	18	1	1	NUM
aiti-4136	503	19	to	to	ADP
aiti-4136	503	20	the	the	DET
aiti-4136	503	21	inequality	inequality	NOUN
aiti-4136	503	22	of	of	ADP
aiti-4136	503	23	eq	eq	PROPN
aiti-4136	503	24	.	.	PUNCT
aiti-4136	504	1	(	(	PUNCT
aiti-4136	504	2	35	35	NUM
aiti-4136	504	3	)	)	PUNCT
aiti-4136	504	4	,	,	PUNCT
aiti-4136	504	5	the	the	DET
aiti-4136	504	6	inequality	inequality	NOUN
aiti-4136	504	7	of	of	ADP
aiti-4136	504	8	eq	eq	PROPN
aiti-4136	504	9	.	.	PUNCT
aiti-4136	505	1	(	(	PUNCT
aiti-4136	505	2	35	35	NUM
aiti-4136	505	3	)	)	PUNCT
aiti-4136	505	4	which	which	PRON
aiti-4136	505	5	was	be	AUX
aiti-4136	505	6	found	find	VERB
aiti-4136	505	7	is	be	AUX
aiti-4136	505	8	equivalent	equivalent	ADJ
aiti-4136	505	9	to	to	ADP
aiti-4136	505	10	the	the	DET
aiti-4136	505	11	lmi	lmi	PROPN
aiti-4136	505	12	of	of	ADP
aiti-4136	505	13	eq	eq	PROPN
aiti-4136	505	14	.	.	PUNCT
aiti-4136	506	1	(	(	PUNCT
aiti-4136	506	2	18	18	NUM
aiti-4136	506	3	)	)	PUNCT
aiti-4136	506	4	.	.	PUNCT
aiti-4136	507	1	it	it	PRON
aiti-4136	507	2	follows	follow	VERB
aiti-4136	507	3	that	that	SCONJ
aiti-4136	507	4	the	the	DET
aiti-4136	507	5	result	result	NOUN
aiti-4136	507	6	of	of	ADP
aiti-4136	507	7	the	the	DET
aiti-4136	507	8	theorem	theorem	NOUN
aiti-4136	507	9	is	be	AUX
aiti-4136	507	10	true	true	ADJ
aiti-4136	507	11	.	.	PUNCT
aiti-4136	508	1	therefore	therefore	ADV
aiti-4136	508	2	,	,	PUNCT
aiti-4136	508	3	the	the	DET
aiti-4136	508	4	proof	proof	NOUN
aiti-4136	508	5	of	of	ADP
aiti-4136	508	6	theorem	theorem	ADJ
aiti-4136	508	7	1	1	NUM
aiti-4136	508	8	is	be	AUX
aiti-4136	508	9	completed	complete	VERB
aiti-4136	508	10	.	.	PUNCT
aiti-4136	509	1	(	(	PUNCT
aiti-4136	509	2	q.e.d	q.e.d	NOUN
aiti-4136	509	3	)	)	PUNCT
aiti-4136	509	4	theorem	theorem	NOUN
aiti-4136	509	5	1	1	NUM
aiti-4136	509	6	provides	provide	VERB
aiti-4136	509	7	a	a	DET
aiti-4136	509	8	sufficient	sufficient	ADJ
aiti-4136	509	9	condition	condition	NOUN
aiti-4136	509	10	to	to	PART
aiti-4136	509	11	gain	gain	VERB
aiti-4136	509	12	perturbations	perturbation	NOUN
aiti-4136	509	13	of	of	ADP
aiti-4136	509	14	the	the	DET
aiti-4136	509	15	form	form	NOUN
aiti-4136	509	16	of	of	ADP
aiti-4136	509	17	eq	eq	PROPN
aiti-4136	509	18	.	.	PUNCT
aiti-4136	510	1	(	(	PUNCT
aiti-4136	510	2	15	15	NUM
aiti-4136	510	3	)	)	PUNCT
aiti-4136	510	4	for	for	ADP
aiti-4136	510	5	the	the	DET
aiti-4136	510	6	existence	existence	NOUN
aiti-4136	510	7	of	of	ADP
aiti-4136	510	8	the	the	DET
aiti-4136	510	9	guaranteed	guarantee	VERB
aiti-4136	510	10	cost	cost	NOUN
aiti-4136	510	11	controller	controller	NOUN
aiti-4136	510	12	which	which	PRON
aiti-4136	510	13	is	be	AUX
aiti-4136	510	14	under	under	ADP
aiti-4136	510	15	control	control	NOUN
aiti-4136	510	16	.	.	PUNCT
aiti-4136	511	1	next	next	ADV
aiti-4136	511	2	,	,	PUNCT
aiti-4136	511	3	the	the	DET
aiti-4136	511	4	theorem	theorem	NOUN
aiti-4136	511	5	for	for	ADP
aiti-4136	511	6	the	the	DET
aiti-4136	511	7	optimal	optimal	ADJ
aiti-4136	511	8	guaranteed	guarantee	VERB
aiti-4136	511	9	cost	cost	NOUN
aiti-4136	511	10	controller	controller	NOUN
aiti-4136	511	11	is	be	AUX
aiti-4136	511	12	showed	show	VERB
aiti-4136	511	13	.	.	PUNCT
aiti-4136	512	1	the	the	DET
aiti-4136	512	2	lmi	lmi	PROPN
aiti-4136	512	3	of	of	ADP
aiti-4136	512	4	eq	eq	PROPN
aiti-4136	512	5	.	.	PUNCT
aiti-4136	513	1	(	(	PUNCT
aiti-4136	513	2	18	18	NUM
aiti-4136	513	3	)	)	PUNCT
aiti-4136	513	4	defines	define	VERB
aiti-4136	513	5	a	a	DET
aiti-4136	513	6	convex	convex	NOUN
aiti-4136	513	7	solution	solution	NOUN
aiti-4136	513	8	set	set	NOUN
aiti-4136	513	9	,	,	PUNCT
aiti-4136	513	10	and	and	CCONJ
aiti-4136	513	11	thus	thus	ADV
aiti-4136	513	12	various	various	ADJ
aiti-4136	513	13	efficient	efficient	ADJ
aiti-4136	513	14	convex	convex	NOUN
aiti-4136	513	15	optimization	optimization	NOUN
aiti-4136	513	16	algorithms	algorithm	NOUN
aiti-4136	513	17	can	can	AUX
aiti-4136	513	18	be	be	AUX
aiti-4136	513	19	adapted	adapt	VERB
aiti-4136	513	20	to	to	PART
aiti-4136	513	21	test	test	VERB
aiti-4136	513	22	whether	whether	SCONJ
aiti-4136	513	23	the	the	DET
aiti-4136	513	24	lmis	lmi	NOUN
aiti-4136	513	25	are	be	AUX
aiti-4136	513	26	solvable	solvable	ADJ
aiti-4136	513	27	and	and	CCONJ
aiti-4136	513	28	whether	whether	SCONJ
aiti-4136	513	29	they	they	PRON
aiti-4136	513	30	generate	generate	VERB
aiti-4136	513	31	particular	particular	ADJ
aiti-4136	513	32	solutions	solution	NOUN
aiti-4136	513	33	.	.	PUNCT
aiti-4136	514	1	moreover	moreover	ADV
aiti-4136	514	2	,	,	PUNCT
aiti-4136	514	3	the	the	DET
aiti-4136	514	4	parametrized	parametrized	ADJ
aiti-4136	514	5	representation	representation	NOUN
aiti-4136	514	6	exploited	exploit	VERB
aiti-4136	514	7	to	to	PART
aiti-4136	514	8	design	design	VERB
aiti-4136	514	9	the	the	DET
aiti-4136	514	10	guaranteed	guarantee	VERB
aiti-4136	514	11	cost	cost	NOUN
aiti-4136	514	12	controller	controller	NOUN
aiti-4136	514	13	with	with	ADP
aiti-4136	514	14	some	some	DET
aiti-4136	514	15	additional	additional	ADJ
aiti-4136	514	16	requirements	requirement	NOUN
aiti-4136	514	17	,	,	PUNCT
aiti-4136	514	18	its	its	PRON
aiti-4136	514	19	solutions	solution	NOUN
aiti-4136	514	20	parametrize	parametrize	VERB
aiti-4136	514	21	the	the	DET
aiti-4136	514	22	set	set	NOUN
aiti-4136	514	23	of	of	ADP
aiti-4136	514	24	guaranteed	guarantee	VERB
aiti-4136	514	25	cost	cost	NOUN
aiti-4136	514	26	controllers	controller	NOUN
aiti-4136	514	27	.	.	PUNCT
aiti-4136	515	1	in	in	ADP
aiti-4136	515	2	particular	particular	ADJ
aiti-4136	515	3	,	,	PUNCT
aiti-4136	515	4	the	the	DET
aiti-4136	515	5	optimal	optimal	ADJ
aiti-4136	515	6	guaranteed	guarantee	VERB
aiti-4136	515	7	cost	cost	NOUN
aiti-4136	515	8	controller	controller	NOUN
aiti-4136	515	9	which	which	PRON
aiti-4136	515	10	minimizes	minimize	VERB
aiti-4136	515	11	the	the	DET
aiti-4136	515	12	upper	upper	ADJ
aiti-4136	515	13	bound	bind	VERB
aiti-4136	515	14	on	on	ADP
aiti-4136	515	15	the	the	DET
aiti-4136	515	16	quadratic	quadratic	ADJ
aiti-4136	515	17	cost	cost	NOUN
aiti-4136	515	18	function	function	NOUN
aiti-4136	515	19	of	of	ADP
aiti-4136	515	20	eq	eq	PROPN
aiti-4136	515	21	.	.	PUNCT
aiti-4136	516	1	(	(	PUNCT
aiti-4136	516	2	17	17	NUM
aiti-4136	516	3	)	)	PUNCT
aiti-4136	516	4	can	can	AUX
aiti-4136	516	5	be	be	AUX
aiti-4136	516	6	obtained	obtain	VERB
aiti-4136	516	7	by	by	ADP
aiti-4136	516	8	solving	solve	VERB
aiti-4136	516	9	a	a	DET
aiti-4136	516	10	certain	certain	ADJ
aiti-4136	516	11	optimization	optimization	NOUN
aiti-4136	516	12	problem	problem	NOUN
aiti-4136	516	13	.	.	PUNCT
aiti-4136	517	1	the	the	DET
aiti-4136	517	2	upper	upper	ADJ
aiti-4136	517	3	bound	bind	VERB
aiti-4136	517	4	on	on	ADP
aiti-4136	517	5	the	the	DET
aiti-4136	517	6	quadratic	quadratic	ADJ
aiti-4136	517	7	cost	cost	NOUN
aiti-4136	517	8	function	function	NOUN
aiti-4136	517	9	of	of	ADP
aiti-4136	517	10	eq	eq	PROPN
aiti-4136	517	11	.	.	PUNCT
aiti-4136	518	1	(	(	PUNCT
aiti-4136	518	2	17	17	NUM
aiti-4136	518	3	)	)	PUNCT
aiti-4136	518	4	depends	depend	VERB
aiti-4136	518	5	on	on	ADP
aiti-4136	518	6	the	the	DET
aiti-4136	518	7	initial	initial	ADJ
aiti-4136	518	8	value	value	NOUN
aiti-4136	518	9	of	of	ADP
aiti-4136	518	10	the	the	DET
aiti-4136	518	11	overall	overall	ADJ
aiti-4136	518	12	system	system	NOUN
aiti-4136	518	13	.	.	PUNCT
aiti-4136	519	1	thus	thus	ADV
aiti-4136	519	2	,	,	PUNCT
aiti-4136	519	3	the	the	DET
aiti-4136	519	4	complementary	complementary	ADJ
aiti-4136	519	5	variable	variable	NOUN
aiti-4136	519	6			PROPN
aiti-4136	519	7	which	which	PRON
aiti-4136	519	8	was	be	AUX
aiti-4136	519	9	introduced	introduce	VERB
aiti-4136	519	10	satisfies	satisfie	NOUN
aiti-4136	519	11	the	the	DET
aiti-4136	519	12	following	follow	VERB
aiti-4136	519	13	lmi	lmi	PROPN
aiti-4136	519	14	:	:	PUNCT
aiti-4136	519	15	(	(	PUNCT
aiti-4136	519	16	0	0	NUM
aiti-4136	519	17	)	)	PUNCT
aiti-4136	519	18	0	0	NUM
aiti-4136	520	1	(	(	PUNCT
aiti-4136	520	2	0	0	NUM
aiti-4136	520	3	)	)	PUNCT
aiti-4136	520	4	tx	tx	NOUN
aiti-4136	520	5	x	x	SYM
aiti-4136	521	1	s	s	AUX
aiti-4136	521	2			NOUN
aiti-4136	521	3			ADJ
aiti-4136	521	4			PUNCT
aiti-4136	521	5			PROPN
aiti-4136	521	6			NOUN
aiti-4136	521	7			NOUN
aiti-4136	521	8	(	(	PUNCT
aiti-4136	521	9	36	36	NUM
aiti-4136	521	10	)	)	PUNCT
aiti-4136	521	11	one	one	PRON
aiti-4136	521	12	can	can	AUX
aiti-4136	521	13	easily	easily	ADV
aiti-4136	521	14	see	see	VERB
aiti-4136	521	15	that	that	SCONJ
aiti-4136	521	16	the	the	DET
aiti-4136	521	17	minimization	minimization	NOUN
aiti-4136	521	18	of	of	ADP
aiti-4136	521	19			PROPN
aiti-4136	521	20	is	be	AUX
aiti-4136	521	21	equivalent	equivalent	ADJ
aiti-4136	521	22	to	to	ADP
aiti-4136	521	23	the	the	DET
aiti-4136	521	24	minimization	minimization	NOUN
aiti-4136	521	25	of	of	ADP
aiti-4136	521	26	the	the	DET
aiti-4136	521	27	upper	upper	ADJ
aiti-4136	521	28	bound	bind	VERB
aiti-4136	521	29	on	on	ADP
aiti-4136	521	30	the	the	DET
aiti-4136	521	31	quadratic	quadratic	ADJ
aiti-4136	521	32	cost	cost	NOUN
aiti-4136	521	33	function	function	NOUN
aiti-4136	521	34	of	of	ADP
aiti-4136	521	35	eq	eq	PROPN
aiti-4136	521	36	.	.	PUNCT
aiti-4136	522	1	(	(	PUNCT
aiti-4136	522	2	17	17	NUM
aiti-4136	522	3	)	)	PUNCT
aiti-4136	522	4	.	.	PUNCT
aiti-4136	523	1	consequently	consequently	ADV
aiti-4136	523	2	,	,	PUNCT
aiti-4136	523	3	the	the	DET
aiti-4136	523	4	following	follow	VERB
aiti-4136	523	5	theorem	theorem	NOUN
aiti-4136	523	6	developed	develop	VERB
aiti-4136	523	7	:	:	PUNCT
aiti-4136	523	8	theorem	theorem	ADJ
aiti-4136	523	9	2	2	NUM
aiti-4136	523	10	:	:	PUNCT
aiti-4136	523	11	consider	consider	VERB
aiti-4136	523	12	the	the	DET
aiti-4136	523	13	overall	overall	ADJ
aiti-4136	523	14	system	system	NOUN
aiti-4136	523	15	of	of	ADP
aiti-4136	523	16	eq	eq	PROPN
aiti-4136	523	17	.	.	PUNCT
aiti-4136	524	1	(	(	PUNCT
aiti-4136	524	2	5	5	NUM
aiti-4136	524	3	)	)	PUNCT
aiti-4136	524	4	with	with	ADP
aiti-4136	524	5	control	control	NOUN
aiti-4136	524	6	gain	gain	NOUN
aiti-4136	524	7	perturbations	perturbation	NOUN
aiti-4136	524	8	,	,	PUNCT
aiti-4136	524	9	the	the	DET
aiti-4136	524	10	quadratic	quadratic	ADJ
aiti-4136	524	11	cost	cost	NOUN
aiti-4136	524	12	function	function	NOUN
aiti-4136	524	13	of	of	ADP
aiti-4136	524	14	eq	eq	PROPN
aiti-4136	524	15	.	.	PUNCT
aiti-4136	525	1	(	(	PUNCT
aiti-4136	525	2	17	17	NUM
aiti-4136	525	3	)	)	PUNCT
aiti-4136	525	4	and	and	CCONJ
aiti-4136	525	5	the	the	DET
aiti-4136	525	6	control	control	NOUN
aiti-4136	525	7	input	input	NOUN
aiti-4136	525	8	of	of	ADP
aiti-4136	525	9	eq	eq	PROPN
aiti-4136	525	10	.	.	PUNCT
aiti-4136	526	1	(	(	PUNCT
aiti-4136	526	2	11	11	NUM
aiti-4136	526	3	)	)	PUNCT
aiti-4136	526	4	.	.	PUNCT
aiti-4136	527	1	if	if	SCONJ
aiti-4136	527	2	there	there	PRON
aiti-4136	527	3	exists	exist	VERB
aiti-4136	527	4	solutions	solution	NOUN
aiti-4136	527	5	of	of	ADP
aiti-4136	527	6	the	the	DET
aiti-4136	527	7	following	follow	VERB
aiti-4136	527	8	constrained	constrain	VERB
aiti-4136	527	9	convex	convex	NOUN
aiti-4136	527	10	optimization	optimization	NOUN
aiti-4136	527	11	problem	problem	NOUN
aiti-4136	527	12	:	:	PUNCT
aiti-4136	527	13	0	0	NUM
aiti-4136	527	14	,	,	PUNCT
aiti-4136	527	15	,	,	PUNCT
aiti-4136	527	16	,	,	PUNCT
aiti-4136	527	17	0	0	NUM
aiti-4136	527	18	,	,	PUNCT
aiti-4136	527	19	0	0	NUM
aiti-4136	527	20	,	,	PUNCT
aiti-4136	527	21	0	0	NUM
aiti-4136	527	22	,	,	PUNCT
aiti-4136	527	23	0	0	NUM
aiti-4136	527	24	,	,	PUNCT
aiti-4136	527	25	0	0	NUM
aiti-4136	527	26	minimize	minimize	VERB
aiti-4136	527	27	[	[	PUNCT
aiti-4136	527	28	]	]	X
aiti-4136	527	29	subject	subject	NOUN
aiti-4136	527	30	to	to	ADP
aiti-4136	527	31	eqs.(18	eqs.(18	PROPN
aiti-4136	527	32	)	)	PUNCT
aiti-4136	527	33	and	and	CCONJ
aiti-4136	527	34	(	(	PUNCT
aiti-4136	527	35	34	34	NUM
aiti-4136	527	36	)	)	PUNCT
aiti-4136	527	37			PROPN
aiti-4136	528	1			INTJ
aiti-4136	529	1			PROPN
aiti-4136	530	1			INTJ
aiti-4136	531	1			VERB
aiti-4136	532	1	k	k	PROPN
aiti-4136	532	2	fs	fs	PROPN
aiti-4136	532	3	w	w	PROPN
aiti-4136	532	4	w	w	PROPN
aiti-4136	532	5			NUM
aiti-4136	532	6			NUM
aiti-4136	532	7			NOUN
aiti-4136	532	8			CCONJ
aiti-4136	532	9			PROPN
aiti-4136	532	10			X
aiti-4136	532	11	(	(	PUNCT
aiti-4136	532	12	37	37	NUM
aiti-4136	532	13	)	)	PUNCT
aiti-4136	532	14	then	then	ADV
aiti-4136	532	15	the	the	DET
aiti-4136	532	16	control	control	NOUN
aiti-4136	532	17	input	input	NOUN
aiti-4136	532	18	of	of	ADP
aiti-4136	532	19	eq	eq	PROPN
aiti-4136	532	20	.	.	PUNCT
aiti-4136	533	1	(	(	PUNCT
aiti-4136	533	2	11	11	NUM
aiti-4136	533	3	)	)	PUNCT
aiti-4136	533	4	is	be	AUX
aiti-4136	533	5	an	an	DET
aiti-4136	533	6	optimal	optimal	ADJ
aiti-4136	533	7	guaranteed	guarantee	VERB
aiti-4136	533	8	cost	cost	NOUN
aiti-4136	533	9	control	control	NOUN
aiti-4136	533	10	which	which	PRON
aiti-4136	533	11	minimizes	minimize	VERB
aiti-4136	533	12	the	the	DET
aiti-4136	533	13	upper	upper	ADJ
aiti-4136	533	14	bound	bind	VERB
aiti-4136	533	15	on	on	ADP
aiti-4136	533	16	the	the	DET
aiti-4136	533	17	quadratic	quadratic	ADJ
aiti-4136	533	18	cost	cost	NOUN
aiti-4136	533	19	function	function	NOUN
aiti-4136	533	20	of	of	ADP
aiti-4136	533	21	eq	eq	PROPN
aiti-4136	533	22	.	.	PUNCT
aiti-4136	534	1	(	(	PUNCT
aiti-4136	534	2	17	17	NUM
aiti-4136	534	3	)	)	PUNCT
aiti-4136	534	4	.	.	PUNCT
aiti-4136	535	1	proof	proof	NOUN
aiti-4136	535	2	:	:	PUNCT
aiti-4136	535	3	since	since	SCONJ
aiti-4136	535	4	the	the	DET
aiti-4136	535	5	minimization	minimization	NOUN
aiti-4136	535	6	of	of	ADP
aiti-4136	535	7			PROPN
aiti-4136	535	8	is	be	AUX
aiti-4136	535	9	equivalent	equivalent	ADJ
aiti-4136	535	10	to	to	ADP
aiti-4136	535	11	the	the	DET
aiti-4136	535	12	minimization	minimization	NOUN
aiti-4136	535	13	of	of	ADP
aiti-4136	535	14	the	the	DET
aiti-4136	535	15	upper	upper	ADJ
aiti-4136	535	16	bound	bind	VERB
aiti-4136	535	17	on	on	ADP
aiti-4136	535	18	the	the	DET
aiti-4136	535	19	quadratic	quadratic	ADJ
aiti-4136	535	20	cost	cost	NOUN
aiti-4136	535	21	function	function	NOUN
aiti-4136	535	22	of	of	ADP
aiti-4136	535	23	eq	eq	PROPN
aiti-4136	535	24	.	.	PUNCT
aiti-4136	536	1	(	(	PUNCT
aiti-4136	536	2	17	17	NUM
aiti-4136	536	3	)	)	PUNCT
aiti-4136	536	4	,	,	PUNCT
aiti-4136	536	5	the	the	DET
aiti-4136	536	6	result	result	NOUN
aiti-4136	536	7	of	of	ADP
aiti-4136	536	8	theorem	theorem	ADJ
aiti-4136	536	9	2	2	NUM
aiti-4136	536	10	is	be	AUX
aiti-4136	536	11	obtained	obtain	VERB
aiti-4136	536	12	by	by	ADP
aiti-4136	536	13	adopting	adopt	VERB
aiti-4136	536	14	a	a	DET
aiti-4136	536	15	similar	similar	ADJ
aiti-4136	536	16	way	way	NOUN
aiti-4136	536	17	to	to	ADP
aiti-4136	536	18	the	the	DET
aiti-4136	536	19	proof	proof	NOUN
aiti-4136	536	20	of	of	ADP
aiti-4136	536	21	theorem	theorem	NOUN
aiti-4136	536	22	1	1	NUM
aiti-4136	536	23	and	and	CCONJ
aiti-4136	536	24	the	the	DET
aiti-4136	536	25	existing	exist	VERB
aiti-4136	536	26	results	result	NOUN
aiti-4136	536	27	(	(	PUNCT
aiti-4136	536	28	e.g.	e.g.	ADV
aiti-4136	536	29	[	[	X
aiti-4136	536	30	13	13	NUM
aiti-4136	536	31	-	-	SYM
aiti-4136	536	32	14	14	NUM
aiti-4136	536	33	,	,	PUNCT
aiti-4136	536	34	25	25	NUM
aiti-4136	536	35	]	]	PUNCT
aiti-4136	536	36	)	)	PUNCT
aiti-4136	536	37	.	.	PUNCT
aiti-4136	537	1	advances	advance	NOUN
aiti-4136	537	2	in	in	ADP
aiti-4136	537	3	technology	technology	NOUN
aiti-4136	537	4	innovation	innovation	NOUN
aiti-4136	537	5	,	,	PUNCT
aiti-4136	537	6	vol	vol	NOUN
aiti-4136	537	7	.	.	PROPN
aiti-4136	537	8	5	5	NUM
aiti-4136	537	9	,	,	PUNCT
aiti-4136	537	10	no	no	INTJ
aiti-4136	537	11	.	.	NOUN
aiti-4136	537	12	2	2	NUM
aiti-4136	537	13	,	,	PUNCT
aiti-4136	537	14	2020	2020	NUM
aiti-4136	537	15	,	,	PUNCT
aiti-4136	537	16	pp	pp	ADV
aiti-4136	537	17	.	.	PUNCT
aiti-4136	538	1	112	112	NUM
aiti-4136	538	2	-	-	SYM
aiti-4136	538	3	125	125	NUM
aiti-4136	538	4	120	120	NUM
aiti-4136	538	5	remark	remark	NOUN
aiti-4136	538	6	1	1	NUM
aiti-4136	538	7	:	:	PUNCT
aiti-4136	538	8	in	in	ADP
aiti-4136	538	9	this	this	DET
aiti-4136	538	10	paper	paper	NOUN
aiti-4136	538	11	,	,	PUNCT
aiti-4136	538	12	a	a	DET
aiti-4136	538	13	design	design	NOUN
aiti-4136	538	14	problem	problem	NOUN
aiti-4136	538	15	of	of	ADP
aiti-4136	538	16	non	non	ADJ
aiti-4136	538	17	-	-	ADJ
aiti-4136	538	18	fragile	fragile	ADJ
aiti-4136	538	19	guaranteed	guarantee	VERB
aiti-4136	538	20	cost	cost	NOUN
aiti-4136	538	21	controllers	controller	NOUN
aiti-4136	538	22	which	which	PRON
aiti-4136	538	23	achieve	achieve	VERB
aiti-4136	538	24	consensus	consensus	NOUN
aiti-4136	538	25	for	for	ADP
aiti-4136	538	26	multiagent	multiagent	NOUN
aiti-4136	538	27	systems	system	NOUN
aiti-4136	538	28	(	(	PUNCT
aiti-4136	538	29	mass	mass	PROPN
aiti-4136	538	30	)	)	PUNCT
aiti-4136	538	31	with	with	ADP
aiti-4136	538	32	leader	leader	NOUN
aiti-4136	538	33	-	-	PUNCT
aiti-4136	538	34	follower	follower	NOUN
aiti-4136	538	35	structures	structure	NOUN
aiti-4136	538	36	was	be	AUX
aiti-4136	538	37	studied	study	VERB
aiti-4136	538	38	,	,	PUNCT
aiti-4136	538	39	and	and	CCONJ
aiti-4136	538	40	for	for	ADP
aiti-4136	538	41	simplicity	simplicity	NOUN
aiti-4136	538	42	mass	mass	NOUN
aiti-4136	538	43	composed	compose	VERB
aiti-4136	538	44	of	of	ADP
aiti-4136	538	45	3	3	NUM
aiti-4136	538	46	agents	agent	NOUN
aiti-4136	538	47	had	have	AUX
aiti-4136	538	48	been	be	AUX
aiti-4136	538	49	considered	consider	VERB
aiti-4136	538	50	.	.	PUNCT
aiti-4136	539	1	additionally	additionally	ADV
aiti-4136	539	2	,	,	PUNCT
aiti-4136	539	3	lmi	lmi	PROPN
aiti-4136	539	4	-	-	PUNCT
aiti-4136	539	5	based	base	VERB
aiti-4136	539	6	design	design	NOUN
aiti-4136	539	7	for	for	ADP
aiti-4136	539	8	optimal	optimal	ADJ
aiti-4136	539	9	non	non	ADJ
aiti-4136	539	10	-	-	ADJ
aiti-4136	539	11	fragile	fragile	ADJ
aiti-4136	539	12	guaranteed	guarantee	VERB
aiti-4136	539	13	cost	cost	NOUN
aiti-4136	539	14	control	control	NOUN
aiti-4136	539	15	had	have	AUX
aiti-4136	539	16	also	also	ADV
aiti-4136	539	17	been	be	AUX
aiti-4136	539	18	discussed	discuss	VERB
aiti-4136	539	19	.	.	PUNCT
aiti-4136	540	1	one	one	PRON
aiti-4136	540	2	can	can	AUX
aiti-4136	540	3	easily	easily	ADV
aiti-4136	540	4	see	see	VERB
aiti-4136	540	5	that	that	SCONJ
aiti-4136	540	6	the	the	DET
aiti-4136	540	7	proposed	propose	VERB
aiti-4136	540	8	controller	controller	NOUN
aiti-4136	540	9	design	design	NOUN
aiti-4136	540	10	approach	approach	NOUN
aiti-4136	540	11	applies	apply	VERB
aiti-4136	540	12	to	to	ADP
aiti-4136	540	13	mass	mass	NOUN
aiti-4136	540	14	without	without	ADP
aiti-4136	540	15	leaders	leader	NOUN
aiti-4136	540	16	,	,	PUNCT
aiti-4136	540	17	and	and	CCONJ
aiti-4136	540	18	the	the	DET
aiti-4136	540	19	proposed	propose	VERB
aiti-4136	540	20	non	non	ADJ
aiti-4136	540	21	-	-	ADJ
aiti-4136	540	22	fragile	fragile	ADJ
aiti-4136	540	23	controller	controller	NOUN
aiti-4136	540	24	can	can	AUX
aiti-4136	540	25	be	be	AUX
aiti-4136	540	26	extended	extend	VERB
aiti-4136	540	27	to	to	ADP
aiti-4136	540	28	mass	mass	NOUN
aiti-4136	540	29	composed	compose	VERB
aiti-4136	540	30	of	of	ADP
aiti-4136	540	31	more	more	ADJ
aiti-4136	540	32	than	than	ADP
aiti-4136	540	33	3	3	NUM
aiti-4136	540	34	agents	agent	NOUN
aiti-4136	540	35	.	.	PUNCT
aiti-4136	541	1	5	5	X
aiti-4136	541	2	.	.	NOUN
aiti-4136	541	3	numerical	numerical	ADJ
aiti-4136	541	4	examples	example	NOUN
aiti-4136	541	5	to	to	PART
aiti-4136	541	6	demonstrate	demonstrate	VERB
aiti-4136	541	7	the	the	DET
aiti-4136	541	8	efficiency	efficiency	NOUN
aiti-4136	541	9	of	of	ADP
aiti-4136	541	10	the	the	DET
aiti-4136	541	11	proposed	propose	VERB
aiti-4136	541	12	non	non	ADJ
aiti-4136	541	13	-	-	ADJ
aiti-4136	541	14	fragile	fragile	ADJ
aiti-4136	541	15	stabilizing	stabilizing	NOUN
aiti-4136	541	16	controller	controller	NOUN
aiti-4136	541	17	,	,	PUNCT
aiti-4136	541	18	a	a	DET
aiti-4136	541	19	simple	simple	ADJ
aiti-4136	541	20	example	example	NOUN
aiti-4136	541	21	had	have	AUX
aiti-4136	541	22	been	be	AUX
aiti-4136	541	23	run	run	VERB
aiti-4136	541	24	.	.	PUNCT
aiti-4136	542	1	in	in	ADP
aiti-4136	542	2	this	this	DET
aiti-4136	542	3	example	example	NOUN
aiti-4136	542	4	,	,	PUNCT
aiti-4136	542	5	the	the	DET
aiti-4136	542	6	non	non	ADJ
aiti-4136	542	7	-	-	ADJ
aiti-4136	542	8	fragile	fragile	ADJ
aiti-4136	542	9	controller	controller	NOUN
aiti-4136	542	10	under	under	ADP
aiti-4136	542	11	the	the	DET
aiti-4136	542	12	control	control	NOUN
aiti-4136	542	13	gain	gain	NOUN
aiti-4136	542	14	perturbations	perturbation	NOUN
aiti-4136	542	15	is	be	AUX
aiti-4136	542	16	considered	consider	VERB
aiti-4136	542	17	.	.	PUNCT
aiti-4136	543	1	also	also	ADV
aiti-4136	543	2	,	,	PUNCT
aiti-4136	543	3	the	the	DET
aiti-4136	543	4	simulation	simulation	NOUN
aiti-4136	543	5	results	result	NOUN
aiti-4136	543	6	are	be	AUX
aiti-4136	543	7	shown	show	VERB
aiti-4136	543	8	for	for	ADP
aiti-4136	543	9	the	the	DET
aiti-4136	543	10	proposed	propose	VERB
aiti-4136	543	11	robust	robust	ADJ
aiti-4136	543	12	stabilizing	stabilizing	NOUN
aiti-4136	543	13	controller	controller	NOUN
aiti-4136	543	14	designed	design	VERB
aiti-4136	543	15	without	without	ADP
aiti-4136	543	16	thinking	think	VERB
aiti-4136	543	17	of	of	ADP
aiti-4136	543	18	control	control	NOUN
aiti-4136	543	19	gain	gain	VERB
aiti-4136	543	20	perturbations	perturbation	NOUN
aiti-4136	543	21	.	.	PUNCT
aiti-4136	544	1	the	the	DET
aiti-4136	544	2	control	control	NOUN
aiti-4136	544	3	problem	problem	NOUN
aiti-4136	544	4	considered	consider	VERB
aiti-4136	544	5	here	here	ADV
aiti-4136	544	6	is	be	AUX
aiti-4136	544	7	not	not	PART
aiti-4136	544	8	necessarily	necessarily	ADV
aiti-4136	544	9	practical	practical	ADJ
aiti-4136	544	10	.	.	PUNCT
aiti-4136	545	1	however	however	ADV
aiti-4136	545	2	,	,	PUNCT
aiti-4136	545	3	the	the	DET
aiti-4136	545	4	simulation	simulation	NOUN
aiti-4136	545	5	results	result	NOUN
aiti-4136	545	6	stated	state	VERB
aiti-4136	545	7	below	below	ADP
aiti-4136	545	8	illustrate	illustrate	VERB
aiti-4136	545	9	the	the	DET
aiti-4136	545	10	distinct	distinct	ADJ
aiti-4136	545	11	feature	feature	NOUN
aiti-4136	545	12	of	of	ADP
aiti-4136	545	13	the	the	DET
aiti-4136	545	14	proposed	propose	VERB
aiti-4136	545	15	non	non	ADJ
aiti-4136	545	16	-	-	ADJ
aiti-4136	545	17	fragile	fragile	ADJ
aiti-4136	545	18	controller	controller	NOUN
aiti-4136	545	19	,	,	PUNCT
aiti-4136	545	20	i.e.	i.e.	X
aiti-4136	545	21	the	the	DET
aiti-4136	545	22	proposed	propose	VERB
aiti-4136	545	23	non	non	ADJ
aiti-4136	545	24	-	-	ADJ
aiti-4136	545	25	fragile	fragile	ADJ
aiti-4136	545	26	controller	controller	NOUN
aiti-4136	545	27	was	be	AUX
aiti-4136	545	28	compared	compare	VERB
aiti-4136	545	29	with	with	ADP
aiti-4136	545	30	the	the	DET
aiti-4136	545	31	conventional	conventional	ADJ
aiti-4136	545	32	consensus	consensus	NOUN
aiti-4136	545	33	controller	controller	NOUN
aiti-4136	545	34	which	which	PRON
aiti-4136	545	35	was	be	AUX
aiti-4136	545	36	designed	design	VERB
aiti-4136	545	37	by	by	ADP
aiti-4136	545	38	ignoring	ignore	VERB
aiti-4136	545	39	controller	controller	NOUN
aiti-4136	545	40	gain	gain	VERB
aiti-4136	545	41	perturbations	perturbation	NOUN
aiti-4136	545	42	.	.	PUNCT
aiti-4136	546	1	consider	consider	VERB
aiti-4136	546	2	the	the	DET
aiti-4136	546	3	multi	multi	ADJ
aiti-4136	546	4	-	-	ADJ
aiti-4136	546	5	agent	agent	ADJ
aiti-4136	546	6	system	system	NOUN
aiti-4136	546	7	of	of	ADP
aiti-4136	546	8	eq	eq	PROPN
aiti-4136	546	9	.	.	PUNCT
aiti-4136	547	1	(	(	PUNCT
aiti-4136	547	2	5	5	NUM
aiti-4136	547	3	)	)	PUNCT
aiti-4136	547	4	.	.	PUNCT
aiti-4136	548	1	in	in	ADP
aiti-4136	548	2	this	this	DET
aiti-4136	548	3	example	example	NOUN
aiti-4136	548	4	,	,	PUNCT
aiti-4136	548	5	13.5	13.5	NUM
aiti-4136	548	6	10k	10k	NUM
aiti-4136	548	7			PROPN
aiti-4136	548	8			NOUN
aiti-4136	548	9	and	and	CCONJ
aiti-4136	548	10	13.5	13.5	NUM
aiti-4136	548	11	10f	10f	PROPN
aiti-4136	548	12			PROPN
aiti-4136	548	13			PROPN
aiti-4136	548	14	is	be	AUX
aiti-4136	548	15	assumed	assume	VERB
aiti-4136	548	16	,	,	PUNCT
aiti-4136	548	17	respectively	respectively	ADV
aiti-4136	548	18	.	.	PUNCT
aiti-4136	549	1	the	the	DET
aiti-4136	549	2	initial	initial	ADJ
aiti-4136	549	3	state	state	NOUN
aiti-4136	549	4	for	for	ADP
aiti-4136	549	5	agent	agent	NOUN
aiti-4136	549	6	(	(	PUNCT
aiti-4136	549	7	0)ix	0)ix	NOUN
aiti-4136	549	8	and	and	CCONJ
aiti-4136	549	9	target	target	NOUN
aiti-4136	549	10	value	value	NOUN
aiti-4136	549	11	*	*	PUNCT
aiti-4136	549	12	ix	ix	PROPN
aiti-4136	549	13	were	be	AUX
aiti-4136	549	14	chosen	choose	VERB
aiti-4136	549	15	to	to	PART
aiti-4136	549	16	be	be	AUX
aiti-4136	549	17	2	2	NUM
aiti-4136	549	18	3	3	NUM
aiti-4136	549	19	4	4	NUM
aiti-4136	549	20	0	0	NUM
aiti-4136	549	21	3	3	NUM
aiti-4136	549	22	3	3	NUM
aiti-4136	549	23	3	3	NUM
aiti-4136	549	24	6	6	NUM
aiti-4136	549	25	(	(	PUNCT
aiti-4136	549	26	0	0	NUM
aiti-4136	549	27	)	)	PUNCT
aiti-4136	549	28	,	,	PUNCT
aiti-4136	549	29	(	(	PUNCT
aiti-4136	549	30	0	0	NUM
aiti-4136	549	31	)	)	PUNCT
aiti-4136	549	32	,	,	PUNCT
aiti-4136	549	33	(	(	PUNCT
aiti-4136	549	34	0	0	X
aiti-4136	549	35	)	)	PUNCT
aiti-4136	549	36	3	3	NUM
aiti-4136	549	37	3	3	NUM
aiti-4136	549	38	1	1	NUM
aiti-4136	549	39	2	2	NUM
aiti-4136	549	40	2	2	NUM
aiti-4136	549	41	1	1	NUM
aiti-4136	549	42	lx	lx	NOUN
aiti-4136	549	43	x	x	X
aiti-4136	549	44	x	x	SYM
aiti-4136	549	45			NOUN
aiti-4136	549	46			ADJ
aiti-4136	549	47			NOUN
aiti-4136	549	48			PROPN
aiti-4136	550	1			NOUN
aiti-4136	551	1			PROPN
aiti-4136	551	2			PROPN
aiti-4136	552	1			PROPN
aiti-4136	553	1			PROPN
aiti-4136	554	1			INTJ
aiti-4136	555	1			PROPN
aiti-4136	555	2			PROPN
aiti-4136	556	1			PRON
aiti-4136	556	2			PROPN
aiti-4136	557	1			PROPN
aiti-4136	558	1			PROPN
aiti-4136	559	1			PROPN
aiti-4136	559	2			VERB
aiti-4136	560	1			PROPN
aiti-4136	561	1			PROPN
aiti-4136	562	1			PROPN
aiti-4136	563	1			INTJ
aiti-4136	563	2			PROPN
aiti-4136	563	3			PROPN
aiti-4136	564	1			PROPN
aiti-4136	564	2			NOUN
aiti-4136	565	1			PROPN
aiti-4136	565	2			PROPN
aiti-4136	566	1			PROPN
aiti-4136	567	1			INTJ
aiti-4136	568	1			PROPN
aiti-4136	568	2			PROPN
aiti-4136	569	1			NOUN
aiti-4136	569	2			NOUN
aiti-4136	569	3			PROPN
aiti-4136	569	4			NOUN
aiti-4136	569	5			PROPN
aiti-4136	569	6			NOUN
aiti-4136	569	7	　 　 	　 　 	SPACE
aiti-4136	569	8	(	(	PUNCT
aiti-4136	569	9	38	38	NUM
aiti-4136	569	10	)	)	PUNCT
aiti-4136	569	11	*	*	PUNCT
aiti-4136	570	1	*	*	PUNCT
aiti-4136	570	2	*	*	PUNCT
aiti-4136	570	3	2	2	NUM
aiti-4136	570	4	3	3	NUM
aiti-4136	570	5	0	0	NUM
aiti-4136	570	6	1	1	NUM
aiti-4136	570	7	1	1	NUM
aiti-4136	570	8	0	0	NUM
aiti-4136	570	9	0	0	NUM
aiti-4136	570	10	0	0	NUM
aiti-4136	570	11	,	,	PUNCT
aiti-4136	570	12	,	,	PUNCT
aiti-4136	570	13	0	0	NUM
aiti-4136	570	14	1	1	NUM
aiti-4136	570	15	1	1	NUM
aiti-4136	570	16	0	0	NUM
aiti-4136	570	17	0	0	NUM
aiti-4136	570	18	0	0	NUM
aiti-4136	570	19	lx	lx	NOUN
aiti-4136	570	20	x	x	X
aiti-4136	570	21	x	x	SYM
aiti-4136	570	22			NOUN
aiti-4136	570	23			ADJ
aiti-4136	570	24			NOUN
aiti-4136	570	25			PROPN
aiti-4136	570	26			NOUN
aiti-4136	570	27			PROPN
aiti-4136	571	1			PROPN
aiti-4136	571	2			PROPN
aiti-4136	572	1			PROPN
aiti-4136	573	1			INTJ
aiti-4136	574	1			PROPN
aiti-4136	575	1			INTJ
aiti-4136	576	1			PROPN
aiti-4136	577	1			INTJ
aiti-4136	578	1			PROPN
aiti-4136	579	1			PROPN
aiti-4136	580	1			PROPN
aiti-4136	580	2			VERB
aiti-4136	581	1			PROPN
aiti-4136	582	1			PROPN
aiti-4136	583	1			PROPN
aiti-4136	584	1			INTJ
aiti-4136	585	1			PROPN
aiti-4136	585	2			PROPN
aiti-4136	585	3			PROPN
aiti-4136	585	4			NOUN
aiti-4136	585	5			PROPN
aiti-4136	585	6			PROPN
aiti-4136	586	1			PROPN
aiti-4136	587	1			PROPN
aiti-4136	588	1			INTJ
aiti-4136	589	1			PROPN
aiti-4136	589	2			PROPN
aiti-4136	590	1			ADJ
aiti-4136	590	2			PROPN
aiti-4136	590	3			PROPN
aiti-4136	590	4			NOUN
aiti-4136	590	5			PROPN
aiti-4136	590	6			NOUN
aiti-4136	590	7	　 　 	　 　 	SPACE
aiti-4136	590	8	(	(	PUNCT
aiti-4136	590	9	39	39	NUM
aiti-4136	590	10	)	)	PUNCT
aiti-4136	590	11	as	as	SCONJ
aiti-4136	590	12	shown	show	VERB
aiti-4136	590	13	in	in	ADP
aiti-4136	590	14	the	the	DET
aiti-4136	590	15	image	image	NOUN
aiti-4136	590	16	in	in	ADP
aiti-4136	590	17	fig	fig	NOUN
aiti-4136	590	18	.	.	PUNCT
aiti-4136	591	1	2	2	X
aiti-4136	591	2	.	.	PUNCT
aiti-4136	591	3	additionally	additionally	ADV
aiti-4136	591	4	,	,	PUNCT
aiti-4136	591	5	the	the	DET
aiti-4136	591	6	weighting	weighting	NOUN
aiti-4136	591	7	parameters	parameter	NOUN
aiti-4136	591	8	q	q	X
aiti-4136	591	9	,	,	PUNCT
aiti-4136	591	10	kr	kr	PROPN
aiti-4136	591	11	,	,	PUNCT
aiti-4136	591	12	fr	fr	PROPN
aiti-4136	591	13	were	be	AUX
aiti-4136	591	14	set	set	VERB
aiti-4136	591	15	as	as	ADP
aiti-4136	591	16	1.0q	1.0q	NUM
aiti-4136	591	17			NUM
aiti-4136	591	18	,	,	PUNCT
aiti-4136	591	19	12.0	12.0	NUM
aiti-4136	591	20	10kr	10kr	ADJ
aiti-4136	591	21			PROPN
aiti-4136	591	22			NOUN
aiti-4136	591	23	,	,	PUNCT
aiti-4136	591	24	and	and	CCONJ
aiti-4136	591	25	12.0	12.0	NUM
aiti-4136	591	26	10fr	10fr	NOUN
aiti-4136	591	27			PROPN
aiti-4136	591	28			NOUN
aiti-4136	591	29	.	.	PUNCT
aiti-4136	592	1	here	here	ADV
aiti-4136	592	2	,	,	PUNCT
aiti-4136	592	3	unknown	unknown	ADJ
aiti-4136	592	4	parameter	parameter	NOUN
aiti-4136	592	5	(	(	PUNCT
aiti-4136	592	6	)	)	PUNCT
aiti-4136	592	7	k	k	PROPN
aiti-4136	592	8	t	t	NOUN
aiti-4136	592	9	and	and	CCONJ
aiti-4136	592	10	(	(	PUNCT
aiti-4136	592	11	)	)	PUNCT
aiti-4136	592	12	f	f	PROPN
aiti-4136	592	13	t	t	NOUN
aiti-4136	592	14	is	be	AUX
aiti-4136	592	15	given	give	VERB
aiti-4136	592	16	as	as	ADP
aiti-4136	592	17			NOUN
aiti-4136	592	18	1	1	NOUN
aiti-4136	593	1	1	1	NUM
aiti-4136	593	2	1	1	NUM
aiti-4136	593	3	1	1	NUM
aiti-4136	593	4	1	1	NUM
aiti-4136	593	5	8.0	8.0	NUM
aiti-4136	593	6	10	10	NUM
aiti-4136	593	7	1.0	1.0	NUM
aiti-4136	593	8	exp	exp	NOUN
aiti-4136	593	9	(	(	PUNCT
aiti-4136	593	10	0.1	0.1	NUM
aiti-4136	593	11	)	)	PUNCT
aiti-4136	593	12	cos(10.0	cos(10.0	NOUN
aiti-4136	593	13	)	)	PUNCT
aiti-4136	593	14	1	1	NUM
aiti-4136	593	15	1	1	NUM
aiti-4136	593	16	1	1	NUM
aiti-4136	593	17	1	1	NUM
aiti-4136	593	18	kk	kk	NOUN
aiti-4136	593	19	t	t	NOUN
aiti-4136	593	20	t	t	PROPN
aiti-4136	594	1			ADV
aiti-4136	594	2			NOUN
aiti-4136	594	3			NOUN
aiti-4136	594	4			PUNCT
aiti-4136	595	1			NUM
aiti-4136	595	2			PROPN
aiti-4136	595	3			PROPN
aiti-4136	595	4			PROPN
aiti-4136	595	5			PROPN
aiti-4136	595	6			PROPN
aiti-4136	595	7			NUM
aiti-4136	595	8			PRON
aiti-4136	595	9			ADJ
aiti-4136	595	10			NOUN
aiti-4136	595	11	(	(	PUNCT
aiti-4136	595	12	40	40	NUM
aiti-4136	595	13	)	)	PUNCT
aiti-4136	595	14			NOUN
aiti-4136	595	15	1	1	VERB
aiti-4136	596	1	1	1	NUM
aiti-4136	596	2	1	1	NUM
aiti-4136	596	3	1	1	NUM
aiti-4136	596	4	1	1	NUM
aiti-4136	596	5	8.0	8.0	NUM
aiti-4136	596	6	10	10	NUM
aiti-4136	596	7	1.0	1.0	NUM
aiti-4136	596	8	exp	exp	NOUN
aiti-4136	596	9	(	(	PUNCT
aiti-4136	596	10	0.1	0.1	NUM
aiti-4136	596	11	)	)	PUNCT
aiti-4136	596	12	cos(10.0	cos(10.0	NOUN
aiti-4136	596	13	)	)	PUNCT
aiti-4136	596	14	1	1	NUM
aiti-4136	596	15	1	1	NUM
aiti-4136	596	16	1	1	NUM
aiti-4136	596	17	1	1	NUM
aiti-4136	596	18	kf	kf	NOUN
aiti-4136	596	19	t	t	NOUN
aiti-4136	596	20	t	t	PROPN
aiti-4136	597	1			ADV
aiti-4136	597	2			NOUN
aiti-4136	597	3			NOUN
aiti-4136	597	4			PUNCT
aiti-4136	598	1			NUM
aiti-4136	598	2			PROPN
aiti-4136	598	3			PROPN
aiti-4136	598	4			PROPN
aiti-4136	598	5			PROPN
aiti-4136	598	6			PROPN
aiti-4136	598	7			NUM
aiti-4136	598	8			PRON
aiti-4136	598	9			PROPN
aiti-4136	598	10			NOUN
aiti-4136	598	11	(	(	PUNCT
aiti-4136	598	12	41	41	NUM
aiti-4136	598	13	)	)	PUNCT
aiti-4136	598	14	fig	fig	NOUN
aiti-4136	598	15	.	.	PUNCT
aiti-4136	599	1	2	2	NUM
aiti-4136	599	2	trajectories	trajectory	NOUN
aiti-4136	599	3	for	for	ADP
aiti-4136	599	4	each	each	DET
aiti-4136	599	5	agent	agent	NOUN
aiti-4136	599	6	in	in	ADP
aiti-4136	599	7	the	the	DET
aiti-4136	599	8	state	state	NOUN
aiti-4136	599	9	space	space	NOUN
aiti-4136	599	10	advances	advance	NOUN
aiti-4136	599	11	in	in	ADP
aiti-4136	599	12	technology	technology	NOUN
aiti-4136	599	13	innovation	innovation	NOUN
aiti-4136	599	14	,	,	PUNCT
aiti-4136	599	15	vol	vol	NOUN
aiti-4136	599	16	.	.	PROPN
aiti-4136	599	17	5	5	NUM
aiti-4136	599	18	,	,	PUNCT
aiti-4136	599	19	no	no	INTJ
aiti-4136	599	20	.	.	NOUN
aiti-4136	599	21	2	2	NUM
aiti-4136	599	22	,	,	PUNCT
aiti-4136	599	23	2020	2020	NUM
aiti-4136	599	24	,	,	PUNCT
aiti-4136	599	25	pp	pp	ADV
aiti-4136	599	26	.	.	PUNCT
aiti-4136	600	1	112	112	NUM
aiti-4136	600	2	-	-	SYM
aiti-4136	600	3	125	125	NUM
aiti-4136	600	4	121	121	NUM
aiti-4136	600	5	by	by	ADP
aiti-4136	600	6	applying	apply	VERB
aiti-4136	600	7	theorem	theorem	ADJ
aiti-4136	600	8	2	2	NUM
aiti-4136	600	9	and	and	CCONJ
aiti-4136	600	10	solving	solve	VERB
aiti-4136	600	11	the	the	DET
aiti-4136	600	12	constrained	constrain	VERB
aiti-4136	600	13	convex	convex	NOUN
aiti-4136	600	14	optimization	optimization	NOUN
aiti-4136	600	15	problem	problem	NOUN
aiti-4136	600	16	eq	eq	ADJ
aiti-4136	600	17	.	.	PUNCT
aiti-4136	601	1	(	(	PUNCT
aiti-4136	601	2	36	36	NUM
aiti-4136	601	3	)	)	PUNCT
aiti-4136	601	4	,	,	PUNCT
aiti-4136	601	5	there	there	PRON
aiti-4136	601	6	are	be	VERB
aiti-4136	601	7	the	the	DET
aiti-4136	601	8	following	follow	VERB
aiti-4136	601	9	values	value	NOUN
aiti-4136	601	10	for	for	ADP
aiti-4136	601	11	the	the	DET
aiti-4136	601	12	lmi	lmi	PROPN
aiti-4136	601	13	solution	solution	NOUN
aiti-4136	601	14	:	:	PUNCT
aiti-4136	601	15	1	1	NUM
aiti-4136	601	16	1	1	NUM
aiti-4136	601	17	3	3	NUM
aiti-4136	601	18	2	2	NUM
aiti-4136	601	19	1	1	NUM
aiti-4136	601	20	2	2	NUM
aiti-4136	601	21	2	2	NUM
aiti-4136	601	22	1	1	NUM
aiti-4136	601	23	1	1	NUM
aiti-4136	601	24	1	1	NUM
aiti-4136	601	25	2.6795	2.6795	NUM
aiti-4136	601	26	10	10	NUM
aiti-4136	601	27	1.0585	1.0585	NUM
aiti-4136	601	28	10	10	NUM
aiti-4136	601	29	2.7372	2.7372	NUM
aiti-4136	601	30	10	10	NUM
aiti-4136	601	31	2.9836	2.9836	NUM
aiti-4136	601	32	10	10	NUM
aiti-4136	601	33	*	*	PUNCT
aiti-4136	601	34	4.4751	4.4751	NUM
aiti-4136	601	35	10	10	NUM
aiti-4136	601	36	2.3603	2.3603	NUM
aiti-4136	601	37	10	10	NUM
aiti-4136	601	38	1.1958	1.1958	NUM
aiti-4136	601	39	10	10	NUM
aiti-4136	602	1	*	*	PUNCT
aiti-4136	603	1	*	*	PUNCT
aiti-4136	603	2	3.5287	3.5287	NUM
aiti-4136	603	3	10	10	NUM
aiti-4136	603	4	1.5169	1.5169	NUM
aiti-4136	603	5	10	10	NUM
aiti-4136	603	6	*	*	PUNCT
aiti-4136	604	1	*	*	PUNCT
aiti-4136	604	2	*	*	PUNCT
aiti-4136	604	3	3.4045	3.4045	NUM
aiti-4136	604	4	10	10	NUM
aiti-4136	604	5	s	s	PART
aiti-4136	604	6			PROPN
aiti-4136	604	7			PROPN
aiti-4136	604	8			PROPN
aiti-4136	604	9			PROPN
aiti-4136	604	10			PROPN
aiti-4136	604	11			PROPN
aiti-4136	604	12			PROPN
aiti-4136	604	13			PROPN
aiti-4136	604	14			PROPN
aiti-4136	604	15			PROPN
aiti-4136	604	16			NOUN
aiti-4136	604	17			PROPN
aiti-4136	604	18			PROPN
aiti-4136	604	19			PROPN
aiti-4136	604	20			PROPN
aiti-4136	604	21			PROPN
aiti-4136	604	22			PROPN
aiti-4136	604	23			PROPN
aiti-4136	604	24			PROPN
aiti-4136	605	1			PROPN
aiti-4136	605	2			PROPN
aiti-4136	605	3			PROPN
aiti-4136	606	1			NUM
aiti-4136	606	2			VERB
aiti-4136	606	3			PROPN
aiti-4136	606	4			PROPN
aiti-4136	606	5			PROPN
aiti-4136	606	6			PROPN
aiti-4136	606	7			PROPN
aiti-4136	606	8			NOUN
aiti-4136	607	1			PROPN
aiti-4136	607	2			NOUN
aiti-4136	607	3	(	(	PUNCT
aiti-4136	607	4	42	42	NUM
aiti-4136	607	5	)	)	PUNCT
aiti-4136	607	6	1	1	NUM
aiti-4136	607	7	3	3	NUM
aiti-4136	607	8	2	2	NUM
aiti-4136	607	9	4	4	NUM
aiti-4136	607	10	3	3	NUM
aiti-4136	607	11	3	3	NUM
aiti-4136	607	12	2.3088	2.3088	NUM
aiti-4136	607	13	10	10	NUM
aiti-4136	607	14	4.5315	4.5315	NUM
aiti-4136	607	15	2.9135	2.9135	NUM
aiti-4136	607	16	10	10	NUM
aiti-4136	607	17	1.2169	1.2169	NUM
aiti-4136	607	18	10	10	NUM
aiti-4136	607	19	8.8730	8.8730	NUM
aiti-4136	607	20	10	10	NUM
aiti-4136	607	21	8.2894	8.2894	NUM
aiti-4136	607	22	10	10	NUM
aiti-4136	607	23	2.3342	2.3342	NUM
aiti-4136	607	24	10	10	NUM
aiti-4136	607	25	4.4138	4.4138	NUM
aiti-4136	607	26	kw	kw	NOUN
aiti-4136	607	27			PROPN
aiti-4136	607	28			PROPN
aiti-4136	607	29			PROPN
aiti-4136	607	30			PROPN
aiti-4136	607	31			PROPN
aiti-4136	607	32			PROPN
aiti-4136	607	33			NOUN
aiti-4136	607	34			PROPN
aiti-4136	607	35			PROPN
aiti-4136	607	36			NOUN
aiti-4136	607	37			PROPN
aiti-4136	607	38			PROPN
aiti-4136	607	39			PROPN
aiti-4136	608	1			PROPN
aiti-4136	608	2			VERB
aiti-4136	608	3			PROPN
aiti-4136	608	4			PROPN
aiti-4136	608	5			PROPN
aiti-4136	608	6			PROPN
aiti-4136	608	7			NOUN
aiti-4136	608	8	(	(	PUNCT
aiti-4136	608	9	43	43	NUM
aiti-4136	608	10	)	)	PUNCT
aiti-4136	608	11	9	9	NUM
aiti-4136	608	12	9	9	NUM
aiti-4136	608	13	10	10	NUM
aiti-4136	608	14	9	9	NUM
aiti-4136	608	15	10	10	NUM
aiti-4136	608	16	9	9	NUM
aiti-4136	608	17	10	10	NUM
aiti-4136	608	18	8	8	NUM
aiti-4136	608	19	1.1693	1.1693	NUM
aiti-4136	608	20	10	10	NUM
aiti-4136	608	21	6.4972	6.4972	NUM
aiti-4136	608	22	10	10	NUM
aiti-4136	608	23	4.4497	4.4497	NUM
aiti-4136	608	24	10	10	NUM
aiti-4136	608	25	7.0950	7.0950	NUM
aiti-4136	608	26	10	10	NUM
aiti-4136	608	27	2.3135	2.3135	NUM
aiti-4136	608	28	10	10	NUM
aiti-4136	608	29	5.8497	5.8497	NUM
aiti-4136	608	30	10	10	NUM
aiti-4136	609	1	6.6781	6.6781	NUM
aiti-4136	609	2	10	10	NUM
aiti-4136	609	3	6.1563	6.1563	NUM
aiti-4136	609	4	10	10	NUM
aiti-4136	609	5	fw	fw	ADJ
aiti-4136	609	6			PROPN
aiti-4136	609	7			PROPN
aiti-4136	609	8			PROPN
aiti-4136	609	9			PROPN
aiti-4136	609	10			PROPN
aiti-4136	609	11			PROPN
aiti-4136	609	12			PROPN
aiti-4136	609	13			PROPN
aiti-4136	609	14			NOUN
aiti-4136	609	15			PROPN
aiti-4136	609	16			PROPN
aiti-4136	609	17			PROPN
aiti-4136	609	18			PROPN
aiti-4136	609	19			PROPN
aiti-4136	609	20			PROPN
aiti-4136	609	21			PROPN
aiti-4136	609	22			PROPN
aiti-4136	610	1			PROPN
aiti-4136	610	2			PROPN
aiti-4136	610	3			PROPN
aiti-4136	610	4			VERB
aiti-4136	610	5			PROPN
aiti-4136	610	6			VERB
aiti-4136	610	7			PROPN
aiti-4136	610	8			ADP
aiti-4136	610	9			NOUN
aiti-4136	610	10	(	(	PUNCT
aiti-4136	610	11	44	44	NUM
aiti-4136	610	12	)	)	PUNCT
aiti-4136	610	13	1	1	NUM
aiti-4136	610	14	26.1981	26.1981	NUM
aiti-4136	610	15	10	10	NUM
aiti-4136	610	16	,	,	PUNCT
aiti-4136	610	17	1.3859	1.3859	NUM
aiti-4136	610	18	,	,	PUNCT
aiti-4136	610	19	5.0597	5.0597	NUM
aiti-4136	610	20	,	,	PUNCT
aiti-4136	610	21	6.8027	6.8027	NUM
aiti-4136	610	22	,	,	PUNCT
aiti-4136	610	23	3.5265	3.5265	NUM
aiti-4136	610	24	10	10	NUM
aiti-4136	610	25			NUM
aiti-4136	610	26			NOUN
aiti-4136	610	27			PUNCT
aiti-4136	610	28			NUM
aiti-4136	610	29			NOUN
aiti-4136	611	1			NOUN
aiti-4136	612	1			NOUN
aiti-4136	613	1			PRON
aiti-4136	614	1			PROPN
aiti-4136	614	2			NOUN
aiti-4136	614	3	(	(	PUNCT
aiti-4136	614	4	45	45	NUM
aiti-4136	614	5	)	)	PUNCT
aiti-4136	614	6	therefore	therefore	ADV
aiti-4136	614	7	,	,	PUNCT
aiti-4136	614	8	the	the	DET
aiti-4136	614	9	feedback	feedback	NOUN
aiti-4136	614	10	gain	gain	NOUN
aiti-4136	614	11	matrix	matrix	NOUN
aiti-4136	614	12	and	and	CCONJ
aiti-4136	614	13	the	the	DET
aiti-4136	614	14	consensus	consensus	NOUN
aiti-4136	614	15	can	can	AUX
aiti-4136	614	16	be	be	AUX
aiti-4136	614	17	calculated	calculate	VERB
aiti-4136	614	18	as	as	ADP
aiti-4136	614	19	1	1	NUM
aiti-4136	614	20	1	1	NUM
aiti-4136	614	21	1	1	NUM
aiti-4136	614	22	1	1	NUM
aiti-4136	614	23	1	1	NUM
aiti-4136	614	24	1	1	NUM
aiti-4136	614	25	4.2765	4.2765	NUM
aiti-4136	614	26	1.1199	1.1199	NUM
aiti-4136	614	27	10	10	NUM
aiti-4136	614	28	9.2459	9.2459	NUM
aiti-4136	614	29	10	10	NUM
aiti-4136	614	30	4.6627	4.6627	NUM
aiti-4136	614	31	10	10	NUM
aiti-4136	614	32	1.7296	1.7296	NUM
aiti-4136	614	33	10	10	NUM
aiti-4136	614	34	3.7704	3.7704	NUM
aiti-4136	614	35	10	10	NUM
aiti-4136	614	36	7.0206	7.0206	NUM
aiti-4136	614	37	1.6257	1.6257	NUM
aiti-4136	614	38	10	10	NUM
aiti-4136	614	39	k	k	PROPN
aiti-4136	614	40			PROPN
aiti-4136	614	41			PROPN
aiti-4136	614	42			PROPN
aiti-4136	614	43			PROPN
aiti-4136	614	44			NOUN
aiti-4136	614	45			ADP
aiti-4136	614	46			PROPN
aiti-4136	614	47			PROPN
aiti-4136	614	48			PROPN
aiti-4136	614	49			PROPN
aiti-4136	614	50			PROPN
aiti-4136	614	51			PROPN
aiti-4136	615	1			PROPN
aiti-4136	615	2			PROPN
aiti-4136	615	3			PROPN
aiti-4136	615	4			VERB
aiti-4136	615	5			PROPN
aiti-4136	615	6			PROPN
aiti-4136	615	7			ADP
aiti-4136	615	8			NOUN
aiti-4136	615	9	(	(	PUNCT
aiti-4136	615	10	46	46	NUM
aiti-4136	615	11	)	)	PUNCT
aiti-4136	615	12	9	9	NUM
aiti-4136	615	13	8	8	NUM
aiti-4136	615	14	9	9	NUM
aiti-4136	615	15	8	8	NUM
aiti-4136	615	16	8	8	NUM
aiti-4136	615	17	8	8	NUM
aiti-4136	615	18	7	7	NUM
aiti-4136	615	19	7	7	NUM
aiti-4136	615	20	4.1277	4.1277	NUM
aiti-4136	615	21	10	10	NUM
aiti-4136	615	22	1.4406	1.4406	NUM
aiti-4136	615	23	10	10	NUM
aiti-4136	615	24	8.2922	8.2922	NUM
aiti-4136	615	25	10	10	NUM
aiti-4136	615	26	2.4390	2.4390	NUM
aiti-4136	615	27	10	10	NUM
aiti-4136	615	28	2.9470	2.9470	NUM
aiti-4136	615	29	10	10	NUM
aiti-4136	615	30	1.9930	1.9930	NUM
aiti-4136	615	31	10	10	NUM
aiti-4136	615	32	1.0160	1.0160	NUM
aiti-4136	615	33	10	10	NUM
aiti-4136	615	34	2.2850	2.2850	NUM
aiti-4136	615	35	10	10	NUM
aiti-4136	615	36	f	f	PROPN
aiti-4136	615	37			PROPN
aiti-4136	615	38			PROPN
aiti-4136	615	39			PROPN
aiti-4136	615	40			PROPN
aiti-4136	615	41			PROPN
aiti-4136	615	42			PROPN
aiti-4136	615	43			PROPN
aiti-4136	615	44			PROPN
aiti-4136	615	45			NOUN
aiti-4136	615	46			PROPN
aiti-4136	615	47			PROPN
aiti-4136	615	48			PROPN
aiti-4136	615	49			PROPN
aiti-4136	615	50			PROPN
aiti-4136	615	51			PROPN
aiti-4136	616	1			PROPN
aiti-4136	616	2			PROPN
aiti-4136	616	3			PROPN
aiti-4136	616	4			VERB
aiti-4136	616	5			PROPN
aiti-4136	616	6			VERB
aiti-4136	616	7			PROPN
aiti-4136	616	8			ADP
aiti-4136	616	9			NOUN
aiti-4136	616	10	(	(	PUNCT
aiti-4136	616	11	47	47	NUM
aiti-4136	616	12	)	)	PUNCT
aiti-4136	616	13	on	on	ADP
aiti-4136	616	14	the	the	DET
aiti-4136	616	15	other	other	ADJ
aiti-4136	616	16	hand	hand	NOUN
aiti-4136	616	17	,	,	PUNCT
aiti-4136	616	18	the	the	DET
aiti-4136	616	19	gain	gain	NOUN
aiti-4136	616	20	matrices	matrice	VERB
aiti-4136	616	21	for	for	ADP
aiti-4136	616	22	the	the	DET
aiti-4136	616	23	conventional	conventional	ADJ
aiti-4136	616	24	consensus	consensus	NOUN
aiti-4136	616	25	controller	controller	NOUN
aiti-4136	616	26	can	can	AUX
aiti-4136	616	27	be	be	AUX
aiti-4136	616	28	obtained	obtain	VERB
aiti-4136	616	29	as	as	ADP
aiti-4136	616	30	1	1	NUM
aiti-4136	616	31	5	5	NUM
aiti-4136	616	32	6	6	NUM
aiti-4136	616	33	5	5	NUM
aiti-4136	616	34	6	6	NUM
aiti-4136	616	35	1	1	NUM
aiti-4136	616	36	1.2613	1.2613	NUM
aiti-4136	616	37	7.7305	7.7305	NUM
aiti-4136	616	38	10	10	NUM
aiti-4136	616	39	1.1617	1.1617	NUM
aiti-4136	616	40	10	10	NUM
aiti-4136	616	41	6.6800	6.6800	NUM
aiti-4136	616	42	10	10	NUM
aiti-4136	616	43	1.6130	1.6130	NUM
aiti-4136	616	44	10	10	NUM
aiti-4136	616	45	4.7165	4.7165	NUM
aiti-4136	616	46	10	10	NUM
aiti-4136	616	47	1.2615	1.2615	NUM
aiti-4136	616	48	7.7315	7.7315	NUM
aiti-4136	616	49	10	10	NUM
aiti-4136	616	50	k	k	PROPN
aiti-4136	616	51			PROPN
aiti-4136	616	52			PROPN
aiti-4136	616	53			PROPN
aiti-4136	616	54			PROPN
aiti-4136	616	55			PROPN
aiti-4136	616	56			PROPN
aiti-4136	616	57			NOUN
aiti-4136	616	58			ADP
aiti-4136	616	59			PROPN
aiti-4136	616	60			PROPN
aiti-4136	616	61			PROPN
aiti-4136	617	1			PROPN
aiti-4136	617	2			PROPN
aiti-4136	618	1			PROPN
aiti-4136	619	1			PROPN
aiti-4136	619	2			AUX
aiti-4136	619	3			PROPN
aiti-4136	619	4			PROPN
aiti-4136	619	5			PROPN
aiti-4136	619	6			ADP
aiti-4136	619	7			NOUN
aiti-4136	619	8	(	(	PUNCT
aiti-4136	619	9	48	48	NUM
aiti-4136	619	10	)	)	PUNCT
aiti-4136	619	11	4	4	NUM
aiti-4136	619	12	6	6	NUM
aiti-4136	619	13	6	6	NUM
aiti-4136	619	14	6	6	NUM
aiti-4136	619	15	5	5	NUM
aiti-4136	619	16	6	6	NUM
aiti-4136	619	17	6	6	NUM
aiti-4136	619	18	6	6	NUM
aiti-4136	619	19	2.0593	2.0593	NUM
aiti-4136	619	20	10	10	NUM
aiti-4136	619	21	7.9111	7.9111	NUM
aiti-4136	619	22	10	10	NUM
aiti-4136	619	23	4.2830	4.2830	NUM
aiti-4136	619	24	10	10	NUM
aiti-4136	619	25	9.4814	9.4814	NUM
aiti-4136	619	26	10	10	NUM
aiti-4136	619	27	4.7420	4.7420	NUM
aiti-4136	619	28	10	10	NUM
aiti-4136	619	29	1.7697	1.7697	NUM
aiti-4136	619	30	10	10	NUM
aiti-4136	619	31	2.3861	2.3861	NUM
aiti-4136	619	32	10	10	NUM
aiti-4136	619	33	1.5674	1.5674	NUM
aiti-4136	619	34	10	10	NUM
aiti-4136	619	35	f	f	PROPN
aiti-4136	619	36			PROPN
aiti-4136	619	37			PROPN
aiti-4136	619	38			PROPN
aiti-4136	619	39			PROPN
aiti-4136	619	40			PROPN
aiti-4136	619	41			PROPN
aiti-4136	619	42			PROPN
aiti-4136	619	43			PROPN
aiti-4136	619	44			NOUN
aiti-4136	619	45			PROPN
aiti-4136	619	46			PROPN
aiti-4136	619	47			PROPN
aiti-4136	619	48			PROPN
aiti-4136	619	49			PROPN
aiti-4136	619	50			PROPN
aiti-4136	620	1			PROPN
aiti-4136	621	1			PROPN
aiti-4136	621	2			AUX
aiti-4136	621	3			PROPN
aiti-4136	621	4			VERB
aiti-4136	621	5			PROPN
aiti-4136	621	6			ADP
aiti-4136	621	7			NOUN
aiti-4136	621	8	(	(	PUNCT
aiti-4136	621	9	49	49	NUM
aiti-4136	621	10	)	)	PUNCT
aiti-4136	621	11	note	note	NOUN
aiti-4136	621	12	that	that	SCONJ
aiti-4136	621	13	the	the	DET
aiti-4136	621	14	gain	gain	NOUN
aiti-4136	621	15	matrices	matrix	NOUN
aiti-4136	621	16	of	of	ADP
aiti-4136	621	17	eq	eq	NOUN
aiti-4136	621	18	.	.	PUNCT
aiti-4136	622	1	(	(	PUNCT
aiti-4136	622	2	47	47	NUM
aiti-4136	622	3	)	)	PUNCT
aiti-4136	622	4	and	and	CCONJ
aiti-4136	622	5	(	(	PUNCT
aiti-4136	622	6	48	48	NUM
aiti-4136	622	7	)	)	PUNCT
aiti-4136	622	8	in	in	ADP
aiti-4136	622	9	the	the	DET
aiti-4136	622	10	conventional	conventional	ADJ
aiti-4136	622	11	controller	controller	NOUN
aiti-4136	622	12	can	can	AUX
aiti-4136	622	13	be	be	AUX
aiti-4136	622	14	designed	design	VERB
aiti-4136	622	15	by	by	ADP
aiti-4136	622	16	solving	solve	VERB
aiti-4136	622	17	lmi	lmi	PROPN
aiti-4136	622	18	of	of	ADP
aiti-4136	622	19	eq	eq	PROPN
aiti-4136	622	20	.	.	PUNCT
aiti-4136	623	1	(	(	PUNCT
aiti-4136	623	2	a.1	a.1	NOUN
aiti-4136	623	3	)	)	PUNCT
aiti-4136	623	4	in	in	ADP
aiti-4136	623	5	appendix	appendix	NOUN
aiti-4136	623	6	and	and	CCONJ
aiti-4136	623	7	theorem	theorem	ADJ
aiti-4136	623	8	a.1	a.1	NOUN
aiti-4136	623	9	,	,	PUNCT
aiti-4136	623	10	and	and	CCONJ
aiti-4136	623	11	it	it	PRON
aiti-4136	623	12	shows	show	VERB
aiti-4136	623	13	an	an	DET
aiti-4136	623	14	lmi	lmi	PROPN
aiti-4136	623	15	-	-	PUNCT
aiti-4136	623	16	based	base	VERB
aiti-4136	623	17	design	design	NOUN
aiti-4136	623	18	method	method	NOUN
aiti-4136	623	19	of	of	ADP
aiti-4136	623	20	the	the	DET
aiti-4136	623	21	conventional	conventional	ADJ
aiti-4136	623	22	consensus	consensus	NOUN
aiti-4136	623	23	controller	controller	NOUN
aiti-4136	623	24	.	.	PUNCT
aiti-4136	624	1	the	the	DET
aiti-4136	624	2	conventional	conventional	ADJ
aiti-4136	624	3	controller	controller	NOUN
aiti-4136	624	4	is	be	AUX
aiti-4136	624	5	designed	design	VERB
aiti-4136	624	6	by	by	ADP
aiti-4136	624	7	considering	consider	VERB
aiti-4136	624	8	the	the	DET
aiti-4136	624	9	stabilization	stabilization	NOUN
aiti-4136	624	10	of	of	ADP
aiti-4136	624	11	the	the	DET
aiti-4136	624	12	closed	closed	ADJ
aiti-4136	624	13	-	-	PUNCT
aiti-4136	624	14	loop	loop	NOUN
aiti-4136	624	15	system	system	NOUN
aiti-4136	624	16	of	of	ADP
aiti-4136	624	17	eq	eq	PROPN
aiti-4136	624	18	.	.	PUNCT
aiti-4136	625	1	(	(	PUNCT
aiti-4136	625	2	a.2	a.2	NUM
aiti-4136	625	3	)	)	PUNCT
aiti-4136	625	4	.	.	PUNCT
aiti-4136	626	1	fig	fig	NOUN
aiti-4136	626	2	.	.	PUNCT
aiti-4136	627	1	3	3	NUM
aiti-4136	627	2	time	time	NOUN
aiti-4136	627	3	histories	history	NOUN
aiti-4136	627	4	of	of	ADP
aiti-4136	627	5	the	the	DET
aiti-4136	627	6	x	x	NOUN
aiti-4136	627	7	-	-	NOUN
aiti-4136	627	8	position	position	ADJ
aiti-4136	627	9	fig	fig	NOUN
aiti-4136	627	10	.	.	PUNCT
aiti-4136	628	1	4	4	NUM
aiti-4136	628	2	time	time	NOUN
aiti-4136	628	3	histories	history	NOUN
aiti-4136	628	4	of	of	ADP
aiti-4136	628	5	the	the	DET
aiti-4136	628	6	control	control	NOUN
aiti-4136	628	7	input	input	NOUN
aiti-4136	628	8	for	for	ADP
aiti-4136	628	9	x	x	NOUN
aiti-4136	628	10	-	-	NOUN
aiti-4136	628	11	direction	direction	NOUN
aiti-4136	628	12	the	the	DET
aiti-4136	628	13	results	result	NOUN
aiti-4136	628	14	of	of	ADP
aiti-4136	628	15	the	the	DET
aiti-4136	628	16	simulation	simulation	NOUN
aiti-4136	628	17	of	of	ADP
aiti-4136	628	18	this	this	DET
aiti-4136	628	19	example	example	NOUN
aiti-4136	628	20	were	be	AUX
aiti-4136	628	21	depicted	depict	VERB
aiti-4136	628	22	in	in	ADP
aiti-4136	628	23	figs	fig	NOUN
aiti-4136	628	24	.	.	PUNCT
aiti-4136	629	1	(	(	PUNCT
aiti-4136	629	2	3)-(10	3)-(10	NUM
aiti-4136	629	3	)	)	PUNCT
aiti-4136	629	4	.	.	PUNCT
aiti-4136	630	1	fig	fig	NOUN
aiti-4136	630	2	.	.	PUNCT
aiti-4136	631	1	3	3	NUM
aiti-4136	631	2	(	(	PUNCT
aiti-4136	631	3	resp	resp	NOUN
aiti-4136	631	4	.	.	PUNCT
aiti-4136	631	5	fig	fig	NOUN
aiti-4136	631	6	.	.	PUNCT
aiti-4136	632	1	5	5	X
aiti-4136	632	2	)	)	PUNCT
aiti-4136	632	3	shows	show	VERB
aiti-4136	632	4	the	the	DET
aiti-4136	632	5	time	time	NOUN
aiti-4136	632	6	histories	history	NOUN
aiti-4136	632	7	of	of	ADP
aiti-4136	632	8	the	the	DET
aiti-4136	632	9	x	x	NOUN
aiti-4136	632	10	-	-	NOUN
aiti-4136	632	11	position	position	NOUN
aiti-4136	632	12	(	(	PUNCT
aiti-4136	632	13	resp	resp	NOUN
aiti-4136	632	14	.	.	PUNCT
aiti-4136	633	1	y	y	NOUN
aiti-4136	633	2	-	-	PUNCT
aiti-4136	633	3	position	position	NOUN
aiti-4136	633	4	)	)	PUNCT
aiti-4136	633	5	,	,	PUNCT
aiti-4136	633	6	and	and	CCONJ
aiti-4136	633	7	fig	fig	NOUN
aiti-4136	633	8	.	.	PUNCT
aiti-4136	634	1	4	4	NUM
aiti-4136	634	2	(	(	PUNCT
aiti-4136	634	3	resp	resp	NOUN
aiti-4136	634	4	.	.	PUNCT
aiti-4136	635	1	fig	fig	NOUN
aiti-4136	635	2	.	.	PUNCT
aiti-4136	636	1	6	6	NUM
aiti-4136	636	2	)	)	PUNCT
aiti-4136	636	3	presents	present	VERB
aiti-4136	636	4	those	those	PRON
aiti-4136	636	5	of	of	ADP
aiti-4136	636	6	the	the	DET
aiti-4136	636	7	control	control	NOUN
aiti-4136	636	8	input	input	NOUN
aiti-4136	636	9	for	for	ADP
aiti-4136	636	10	x	x	NOUN
aiti-4136	636	11	-	-	NOUN
aiti-4136	636	12	direction(resp	direction(resp	NOUN
aiti-4136	636	13	.	.	PUNCT
aiti-4136	637	1	y	y	NOUN
aiti-4136	637	2	-	-	PUNCT
aiti-4136	637	3	position	position	NOUN
aiti-4136	637	4	)	)	PUNCT
aiti-4136	637	5	.	.	PUNCT
aiti-4136	638	1	in	in	ADP
aiti-4136	638	2	these	these	DET
aiti-4136	638	3	figures	figure	NOUN
aiti-4136	638	4	,	,	PUNCT
aiti-4136	638	5	the	the	DET
aiti-4136	638	6	transient	transient	ADJ
aiti-4136	638	7	time	time	NOUN
aiti-4136	638	8	-	-	PUNCT
aiti-4136	638	9	response	response	NOUN
aiti-4136	638	10	,	,	PUNCT
aiti-4136	638	11	the	the	DET
aiti-4136	638	12	manipulated	manipulate	VERB
aiti-4136	638	13	control	control	NOUN
aiti-4136	638	14	input	input	NOUN
aiti-4136	638	15	,	,	PUNCT
aiti-4136	638	16	and	and	CCONJ
aiti-4136	638	17	the	the	DET
aiti-4136	638	18	actual	actual	ADJ
aiti-4136	638	19	control	control	NOUN
aiti-4136	638	20	input	input	NOUN
aiti-4136	638	21	generated	generate	VERB
aiti-4136	638	22	advances	advance	NOUN
aiti-4136	638	23	in	in	ADP
aiti-4136	638	24	technology	technology	NOUN
aiti-4136	638	25	innovation	innovation	NOUN
aiti-4136	638	26	,	,	PUNCT
aiti-4136	638	27	vol	vol	NOUN
aiti-4136	638	28	.	.	PROPN
aiti-4136	638	29	5	5	NUM
aiti-4136	638	30	,	,	PUNCT
aiti-4136	638	31	no	no	INTJ
aiti-4136	638	32	.	.	NOUN
aiti-4136	638	33	2	2	NUM
aiti-4136	638	34	,	,	PUNCT
aiti-4136	638	35	2020	2020	NUM
aiti-4136	638	36	,	,	PUNCT
aiti-4136	638	37	pp	pp	ADV
aiti-4136	638	38	.	.	PUNCT
aiti-4136	639	1	112	112	NUM
aiti-4136	639	2	-	-	SYM
aiti-4136	639	3	125	125	NUM
aiti-4136	639	4	122	122	NUM
aiti-4136	639	5	by	by	ADP
aiti-4136	639	6	the	the	DET
aiti-4136	639	7	proposed	propose	VERB
aiti-4136	639	8	consensus	consensus	NOUN
aiti-4136	639	9	controller	controller	NOUN
aiti-4136	639	10	,	,	PUNCT
aiti-4136	639	11	i.e.	i.e.	X
aiti-4136	639	12	figs	fig	NOUN
aiti-4136	639	13	.	.	PUNCT
aiti-4136	640	1	(	(	PUNCT
aiti-4136	640	2	3)-(6	3)-(6	NUM
aiti-4136	640	3	)	)	PUNCT
aiti-4136	640	4	are	be	AUX
aiti-4136	640	5	the	the	DET
aiti-4136	640	6	results	result	NOUN
aiti-4136	640	7	for	for	ADP
aiti-4136	640	8	the	the	DET
aiti-4136	640	9	proposed	propose	VERB
aiti-4136	640	10	consensus	consensus	NOUN
aiti-4136	640	11	controller	controller	NOUN
aiti-4136	640	12	which	which	PRON
aiti-4136	640	13	is	be	AUX
aiti-4136	640	14	based	base	VERB
aiti-4136	640	15	on	on	ADP
aiti-4136	640	16	a	a	DET
aiti-4136	640	17	guaranteed	guarantee	VERB
aiti-4136	640	18	cost	cost	NOUN
aiti-4136	640	19	control	control	NOUN
aiti-4136	640	20	strategy	strategy	NOUN
aiti-4136	640	21	.	.	PUNCT
aiti-4136	641	1	additionally	additionally	ADV
aiti-4136	641	2	,	,	PUNCT
aiti-4136	641	3	the	the	DET
aiti-4136	641	4	figures	figure	NOUN
aiti-4136	641	5	(	(	PUNCT
aiti-4136	641	6	figs	fig	NOUN
aiti-4136	641	7	.	.	PUNCT
aiti-4136	642	1	(	(	PUNCT
aiti-4136	642	2	7)-(10	7)-(10	X
aiti-4136	642	3	)	)	PUNCT
aiti-4136	642	4	show	show	NOUN
aiti-4136	642	5	time	time	NOUN
aiti-4136	642	6	histories	history	NOUN
aiti-4136	642	7	of	of	ADP
aiti-4136	642	8	the	the	DET
aiti-4136	642	9	state	state	NOUN
aiti-4136	642	10	and	and	CCONJ
aiti-4136	642	11	the	the	DET
aiti-4136	642	12	control	control	NOUN
aiti-4136	642	13	input	input	NOUN
aiti-4136	642	14	which	which	PRON
aiti-4136	642	15	were	be	AUX
aiti-4136	642	16	generated	generate	VERB
aiti-4136	642	17	by	by	ADP
aiti-4136	642	18	the	the	DET
aiti-4136	642	19	conventional	conventional	ADJ
aiti-4136	642	20	consensus	consensus	NOUN
aiti-4136	642	21	controller	controller	NOUN
aiti-4136	642	22	.	.	PUNCT
aiti-4136	643	1	fig	fig	NOUN
aiti-4136	643	2	.	.	PUNCT
aiti-4136	644	1	7	7	NUM
aiti-4136	644	2	and	and	CCONJ
aiti-4136	644	3	fig	fig	NOUN
aiti-4136	644	4	.	.	PUNCT
aiti-4136	645	1	8	8	NUM
aiti-4136	645	2	(	(	PUNCT
aiti-4136	645	3	resp	resp	NOUN
aiti-4136	645	4	.	.	PUNCT
aiti-4136	646	1	fig	fig	NOUN
aiti-4136	646	2	.	.	PUNCT
aiti-4136	647	1	9	9	NUM
aiti-4136	647	2	and	and	CCONJ
aiti-4136	647	3	fig	fig	NOUN
aiti-4136	647	4	.	.	PUNCT
aiti-4136	648	1	10	10	NUM
aiti-4136	648	2	)	)	PUNCT
aiti-4136	648	3	represent	represent	VERB
aiti-4136	648	4	the	the	DET
aiti-4136	648	5	time	time	NOUN
aiti-4136	648	6	histories	history	NOUN
aiti-4136	648	7	of	of	ADP
aiti-4136	648	8	the	the	DET
aiti-4136	648	9	x	x	NOUN
aiti-4136	648	10	-	-	NOUN
aiti-4136	648	11	position	position	NOUN
aiti-4136	648	12	and	and	CCONJ
aiti-4136	648	13	one	one	NUM
aiti-4136	648	14	of	of	ADP
aiti-4136	648	15	the	the	DET
aiti-4136	648	16	control	control	NOUN
aiti-4136	648	17	input	input	NOUN
aiti-4136	648	18	for	for	ADP
aiti-4136	648	19	x	x	NOUN
aiti-4136	648	20	-	-	NOUN
aiti-4136	648	21	direction	direction	NOUN
aiti-4136	648	22	(	(	PUNCT
aiti-4136	648	23	resp	resp	NOUN
aiti-4136	648	24	.	.	PUNCT
aiti-4136	649	1	the	the	DET
aiti-4136	649	2	time	time	NOUN
aiti-4136	649	3	histories	history	NOUN
aiti-4136	649	4	of	of	ADP
aiti-4136	649	5	the	the	DET
aiti-4136	649	6	y	y	NOUN
aiti-4136	649	7	-	-	PUNCT
aiti-4136	649	8	position	position	NOUN
aiti-4136	649	9	and	and	CCONJ
aiti-4136	649	10	one	one	NUM
aiti-4136	649	11	of	of	ADP
aiti-4136	649	12	the	the	DET
aiti-4136	649	13	control	control	NOUN
aiti-4136	649	14	input	input	NOUN
aiti-4136	649	15	for	for	ADP
aiti-4136	649	16	y	y	NOUN
aiti-4136	649	17	-	-	PUNCT
aiti-4136	649	18	direction	direction	NOUN
aiti-4136	649	19	)	)	PUNCT
aiti-4136	649	20	,	,	PUNCT
aiti-4136	649	21	respectively	respectively	ADV
aiti-4136	649	22	.	.	PUNCT
aiti-4136	650	1	fig	fig	NOUN
aiti-4136	650	2	.	.	PUNCT
aiti-4136	651	1	5	5	NUM
aiti-4136	651	2	time	time	NOUN
aiti-4136	651	3	histories	history	NOUN
aiti-4136	651	4	of	of	ADP
aiti-4136	651	5	the	the	DET
aiti-4136	651	6	y	y	NOUN
aiti-4136	651	7	-	-	PUNCT
aiti-4136	651	8	position	position	NOUN
aiti-4136	651	9	fig	fig	NOUN
aiti-4136	651	10	.	.	PUNCT
aiti-4136	652	1	6	6	NUM
aiti-4136	652	2	time	time	NOUN
aiti-4136	652	3	histories	history	NOUN
aiti-4136	652	4	of	of	ADP
aiti-4136	652	5	the	the	DET
aiti-4136	652	6	control	control	NOUN
aiti-4136	652	7	input	input	NOUN
aiti-4136	652	8	for	for	ADP
aiti-4136	652	9	y	y	NOUN
aiti-4136	652	10	-	-	PUNCT
aiti-4136	652	11	direction	direction	NOUN
aiti-4136	652	12	fig	fig	NOUN
aiti-4136	652	13	.	.	PUNCT
aiti-4136	653	1	7	7	NUM
aiti-4136	653	2	transient	transient	ADJ
aiti-4136	653	3	time	time	NOUN
aiti-4136	653	4	-	-	PUNCT
aiti-4136	653	5	response	response	NOUN
aiti-4136	653	6	of	of	ADP
aiti-4136	653	7	the	the	DET
aiti-4136	653	8	x	x	NOUN
aiti-4136	653	9	-	-	NOUN
aiti-4136	653	10	position	position	ADJ
aiti-4136	653	11	fig	fig	NOUN
aiti-4136	653	12	.	.	PUNCT
aiti-4136	653	13	8	8	NUM
aiti-4136	653	14	time	time	NOUN
aiti-4136	653	15	histories	history	NOUN
aiti-4136	653	16	of	of	ADP
aiti-4136	653	17	the	the	DET
aiti-4136	653	18	control	control	NOUN
aiti-4136	653	19	input	input	NOUN
aiti-4136	653	20	x	x	NOUN
aiti-4136	653	21	-	-	NOUN
aiti-4136	653	22	direction	direction	NOUN
aiti-4136	653	23	fig	fig	NOUN
aiti-4136	653	24	.	.	PUNCT
aiti-4136	654	1	9	9	NUM
aiti-4136	654	2	transient	transient	ADJ
aiti-4136	654	3	time	time	NOUN
aiti-4136	654	4	-	-	PUNCT
aiti-4136	654	5	response	response	NOUN
aiti-4136	654	6	of	of	ADP
aiti-4136	654	7	the	the	DET
aiti-4136	654	8	y	y	NOUN
aiti-4136	654	9	-	-	PUNCT
aiti-4136	654	10	position	position	NOUN
aiti-4136	654	11	fig	fig	NOUN
aiti-4136	654	12	.	.	PUNCT
aiti-4136	655	1	10	10	NUM
aiti-4136	655	2	time	time	NOUN
aiti-4136	655	3	histories	history	NOUN
aiti-4136	655	4	of	of	ADP
aiti-4136	655	5	the	the	DET
aiti-4136	655	6	control	control	NOUN
aiti-4136	655	7	input	input	NOUN
aiti-4136	655	8	y	y	NOUN
aiti-4136	655	9	-	-	PUNCT
aiti-4136	655	10	direction	direction	NOUN
aiti-4136	655	11	advances	advance	NOUN
aiti-4136	655	12	in	in	ADP
aiti-4136	655	13	technology	technology	NOUN
aiti-4136	655	14	innovation	innovation	NOUN
aiti-4136	655	15	,	,	PUNCT
aiti-4136	655	16	vol	vol	NOUN
aiti-4136	655	17	.	.	PROPN
aiti-4136	656	1	5	5	NUM
aiti-4136	656	2	,	,	PUNCT
aiti-4136	656	3	no	no	INTJ
aiti-4136	656	4	.	.	NOUN
aiti-4136	656	5	2	2	NUM
aiti-4136	656	6	,	,	PUNCT
aiti-4136	656	7	2020	2020	NUM
aiti-4136	656	8	,	,	PUNCT
aiti-4136	656	9	pp	pp	ADV
aiti-4136	656	10	.	.	PUNCT
aiti-4136	657	1	112	112	NUM
aiti-4136	657	2	-	-	SYM
aiti-4136	657	3	125	125	NUM
aiti-4136	657	4	123	123	NUM
aiti-4136	657	5	from	from	ADP
aiti-4136	657	6	figs	fig	NOUN
aiti-4136	657	7	.	.	PUNCT
aiti-4136	658	1	(	(	PUNCT
aiti-4136	658	2	2)-(10	2)-(10	NOUN
aiti-4136	658	3	)	)	PUNCT
aiti-4136	658	4	,	,	PUNCT
aiti-4136	658	5	the	the	DET
aiti-4136	658	6	proposed	propose	VERB
aiti-4136	658	7	non	non	ADJ
aiti-4136	658	8	-	-	ADJ
aiti-4136	658	9	fragile	fragile	ADJ
aiti-4136	658	10	controller	controller	NOUN
aiti-4136	658	11	which	which	PRON
aiti-4136	658	12	was	be	AUX
aiti-4136	658	13	found	find	VERB
aiti-4136	658	14	stabilizes	stabilize	VERB
aiti-4136	658	15	the	the	DET
aiti-4136	658	16	uncertain	uncertain	ADJ
aiti-4136	658	17	linear	linear	NOUN
aiti-4136	658	18	system	system	NOUN
aiti-4136	658	19	eq	eq	ADJ
aiti-4136	658	20	.	.	PUNCT
aiti-4136	659	1	(	(	PUNCT
aiti-4136	659	2	5	5	NUM
aiti-4136	659	3	)	)	PUNCT
aiti-4136	659	4	under	under	ADP
aiti-4136	659	5	the	the	DET
aiti-4136	659	6	control	control	NOUN
aiti-4136	659	7	gain	gain	VERB
aiti-4136	659	8	perturbation	perturbation	NOUN
aiti-4136	659	9	eq	eq	ADJ
aiti-4136	659	10	.	.	PUNCT
aiti-4136	660	1	(	(	PUNCT
aiti-4136	660	2	41	41	NUM
aiti-4136	660	3	)	)	PUNCT
aiti-4136	660	4	.	.	PUNCT
aiti-4136	661	1	furthermore	furthermore	ADV
aiti-4136	661	2	,	,	PUNCT
aiti-4136	661	3	the	the	DET
aiti-4136	661	4	proposed	propose	VERB
aiti-4136	661	5	non	non	ADJ
aiti-4136	661	6	-	-	ADJ
aiti-4136	661	7	fragile	fragile	ADJ
aiti-4136	661	8	control	control	NOUN
aiti-4136	661	9	strategy	strategy	NOUN
aiti-4136	661	10	can	can	AUX
aiti-4136	661	11	achieve	achieve	VERB
aiti-4136	661	12	the	the	DET
aiti-4136	661	13	consensus	consensus	NOUN
aiti-4136	661	14	for	for	ADP
aiti-4136	661	15	multi	multi	ADJ
aiti-4136	661	16	-	-	ADJ
aiti-4136	661	17	agent	agent	ADJ
aiti-4136	661	18	systems	system	NOUN
aiti-4136	661	19	despite	despite	SCONJ
aiti-4136	661	20	control	control	NOUN
aiti-4136	661	21	gain	gain	NOUN
aiti-4136	661	22	perturbations	perturbation	NOUN
aiti-4136	661	23	.	.	PUNCT
aiti-4136	662	1	on	on	ADP
aiti-4136	662	2	the	the	DET
aiti-4136	662	3	other	other	ADJ
aiti-4136	662	4	hand	hand	NOUN
aiti-4136	662	5	,	,	PUNCT
aiti-4136	662	6	the	the	DET
aiti-4136	662	7	conventional	conventional	ADJ
aiti-4136	662	8	controller	controller	NOUN
aiti-4136	662	9	was	be	AUX
aiti-4136	662	10	found	find	VERB
aiti-4136	662	11	can	can	AUX
aiti-4136	662	12	not	not	PART
aiti-4136	662	13	achieve	achieve	VERB
aiti-4136	662	14	consensus	consensus	NOUN
aiti-4136	662	15	because	because	SCONJ
aiti-4136	662	16	of	of	ADP
aiti-4136	662	17	the	the	DET
aiti-4136	662	18	controller	controller	NOUN
aiti-4136	662	19	gain	gain	VERB
aiti-4136	662	20	perturbations	perturbation	NOUN
aiti-4136	662	21	are	be	AUX
aiti-4136	662	22	ignored	ignore	VERB
aiti-4136	662	23	in	in	ADP
aiti-4136	662	24	the	the	DET
aiti-4136	662	25	controller	controller	NOUN
aiti-4136	662	26	design	design	NOUN
aiti-4136	662	27	stage	stage	NOUN
aiti-4136	662	28	.	.	PUNCT
aiti-4136	663	1	therefore	therefore	ADV
aiti-4136	663	2	,	,	PUNCT
aiti-4136	663	3	the	the	DET
aiti-4136	663	4	effectiveness	effectiveness	NOUN
aiti-4136	663	5	of	of	ADP
aiti-4136	663	6	the	the	DET
aiti-4136	663	7	proposed	propose	VERB
aiti-4136	663	8	non	non	ADJ
aiti-4136	663	9	-	-	ADJ
aiti-4136	663	10	fragile	fragile	ADJ
aiti-4136	663	11	stabilizing	stabilizing	NOUN
aiti-4136	663	12	controller	controller	NOUN
aiti-4136	663	13	is	be	AUX
aiti-4136	663	14	shown	show	VERB
aiti-4136	663	15	.	.	PUNCT
aiti-4136	664	1	6	6	X
aiti-4136	664	2	.	.	PUNCT
aiti-4136	664	3	conclusions	conclusion	NOUN
aiti-4136	664	4	this	this	DET
aiti-4136	664	5	study	study	NOUN
aiti-4136	664	6	had	have	AUX
aiti-4136	664	7	dealt	deal	VERB
aiti-4136	664	8	with	with	ADP
aiti-4136	664	9	a	a	DET
aiti-4136	664	10	design	design	NOUN
aiti-4136	664	11	problem	problem	NOUN
aiti-4136	664	12	of	of	ADP
aiti-4136	664	13	a	a	DET
aiti-4136	664	14	non	non	ADJ
aiti-4136	664	15	-	-	ADJ
aiti-4136	664	16	fragile	fragile	ADJ
aiti-4136	664	17	guaranteed	guarantee	VERB
aiti-4136	664	18	cost	cost	NOUN
aiti-4136	664	19	controller	controller	NOUN
aiti-4136	664	20	achieving	achieve	VERB
aiti-4136	664	21	consensus	consensus	NOUN
aiti-4136	664	22	for	for	ADP
aiti-4136	664	23	mass	mass	NOUN
aiti-4136	664	24	with	with	ADP
aiti-4136	664	25	leader	leader	NOUN
aiti-4136	664	26	-	-	PUNCT
aiti-4136	664	27	follower	follower	NOUN
aiti-4136	664	28	structures	structure	NOUN
aiti-4136	664	29	.	.	PUNCT
aiti-4136	665	1	sufficient	sufficient	ADJ
aiti-4136	665	2	conditions	condition	NOUN
aiti-4136	665	3	had	have	AUX
aiti-4136	665	4	been	be	AUX
aiti-4136	665	5	shown	show	VERB
aiti-4136	665	6	for	for	ADP
aiti-4136	665	7	the	the	DET
aiti-4136	665	8	existence	existence	NOUN
aiti-4136	665	9	of	of	ADP
aiti-4136	665	10	the	the	DET
aiti-4136	665	11	proposed	propose	VERB
aiti-4136	665	12	non	non	ADJ
aiti-4136	665	13	-	-	ADJ
aiti-4136	665	14	fragile	fragile	ADJ
aiti-4136	665	15	guaranteed	guarantee	VERB
aiti-4136	665	16	controller	controller	NOUN
aiti-4136	665	17	can	can	AUX
aiti-4136	665	18	be	be	AUX
aiti-4136	665	19	reduced	reduce	VERB
aiti-4136	665	20	to	to	ADP
aiti-4136	665	21	the	the	DET
aiti-4136	665	22	solvability	solvability	NOUN
aiti-4136	665	23	of	of	ADP
aiti-4136	665	24	lmis	lmis	ADJ
aiti-4136	665	25	.	.	PUNCT
aiti-4136	666	1	furthermore	furthermore	ADV
aiti-4136	666	2	,	,	PUNCT
aiti-4136	666	3	the	the	DET
aiti-4136	666	4	optimal	optimal	ADJ
aiti-4136	666	5	non	non	ADJ
aiti-4136	666	6	-	-	ADJ
aiti-4136	666	7	fragile	fragile	ADJ
aiti-4136	666	8	guaranteed	guarantee	VERB
aiti-4136	666	9	cost	cost	NOUN
aiti-4136	666	10	controller	controller	NOUN
aiti-4136	666	11	,	,	PUNCT
aiti-4136	666	12	which	which	PRON
aiti-4136	666	13	minimizes	minimize	VERB
aiti-4136	666	14	the	the	DET
aiti-4136	666	15	upper	upper	ADJ
aiti-4136	666	16	bound	bind	VERB
aiti-4136	666	17	on	on	ADP
aiti-4136	666	18	a	a	DET
aiti-4136	666	19	given	give	VERB
aiti-4136	666	20	quadratic	quadratic	ADJ
aiti-4136	666	21	cost	cost	NOUN
aiti-4136	666	22	function	function	NOUN
aiti-4136	666	23	had	have	AUX
aiti-4136	666	24	been	be	AUX
aiti-4136	666	25	presented	present	VERB
aiti-4136	666	26	.	.	PUNCT
aiti-4136	667	1	finally	finally	ADV
aiti-4136	667	2	,	,	PUNCT
aiti-4136	667	3	simple	simple	ADJ
aiti-4136	667	4	numerical	numerical	ADJ
aiti-4136	667	5	examples	example	NOUN
aiti-4136	667	6	were	be	AUX
aiti-4136	667	7	given	give	VERB
aiti-4136	667	8	to	to	PART
aiti-4136	667	9	illustrate	illustrate	VERB
aiti-4136	667	10	the	the	DET
aiti-4136	667	11	effectiveness	effectiveness	NOUN
aiti-4136	667	12	of	of	ADP
aiti-4136	667	13	the	the	DET
aiti-4136	667	14	proposed	propose	VERB
aiti-4136	667	15	formation	formation	NOUN
aiti-4136	667	16	control	control	NOUN
aiti-4136	667	17	system	system	NOUN
aiti-4136	667	18	.	.	PUNCT
aiti-4136	668	1	the	the	DET
aiti-4136	668	2	simulation	simulation	NOUN
aiti-4136	668	3	result	result	NOUN
aiti-4136	668	4	had	have	AUX
aiti-4136	668	5	shown	show	VERB
aiti-4136	668	6	that	that	SCONJ
aiti-4136	668	7	the	the	DET
aiti-4136	668	8	closed	closed	ADJ
aiti-4136	668	9	-	-	PUNCT
aiti-4136	668	10	loop	loop	NOUN
aiti-4136	668	11	system	system	NOUN
aiti-4136	668	12	was	be	AUX
aiti-4136	668	13	well	well	ADV
aiti-4136	668	14	stabilized	stabilize	VERB
aiti-4136	668	15	despite	despite	SCONJ
aiti-4136	668	16	control	control	NOUN
aiti-4136	668	17	gain	gain	NOUN
aiti-4136	668	18	variations	variation	NOUN
aiti-4136	668	19	.	.	PUNCT
aiti-4136	669	1	besides	besides	SCONJ
aiti-4136	669	2	,	,	PUNCT
aiti-4136	669	3	the	the	DET
aiti-4136	669	4	consensus	consensus	NOUN
aiti-4136	669	5	for	for	ADP
aiti-4136	669	6	mass	mass	NOUN
aiti-4136	669	7	can	can	AUX
aiti-4136	669	8	be	be	AUX
aiti-4136	669	9	achieved	achieve	VERB
aiti-4136	669	10	by	by	ADP
aiti-4136	669	11	the	the	DET
aiti-4136	669	12	proposed	propose	VERB
aiti-4136	669	13	non	non	ADJ
aiti-4136	669	14	-	-	ADJ
aiti-4136	669	15	fragile	fragile	ADJ
aiti-4136	669	16	controller	controller	NOUN
aiti-4136	669	17	.	.	PUNCT
aiti-4136	670	1	additionally	additionally	ADV
aiti-4136	670	2	,	,	PUNCT
aiti-4136	670	3	the	the	DET
aiti-4136	670	4	proposed	propose	VERB
aiti-4136	670	5	optimal	optimal	ADJ
aiti-4136	670	6	guaranteed	guarantee	VERB
aiti-4136	670	7	cost	cost	NOUN
aiti-4136	670	8	controller	controller	NOUN
aiti-4136	670	9	which	which	PRON
aiti-4136	670	10	had	have	AUX
aiti-4136	670	11	been	be	AUX
aiti-4136	670	12	shown	show	VERB
aiti-4136	670	13	can	can	AUX
aiti-4136	670	14	be	be	AUX
aiti-4136	670	15	designed	design	VERB
aiti-4136	670	16	by	by	ADP
aiti-4136	670	17	solving	solve	VERB
aiti-4136	670	18	the	the	DET
aiti-4136	670	19	constrained	constrain	VERB
aiti-4136	670	20	convex	convex	NOUN
aiti-4136	670	21	optimization	optimization	NOUN
aiti-4136	670	22	problem	problem	NOUN
aiti-4136	670	23	.	.	PUNCT
aiti-4136	671	1	namely	namely	ADV
aiti-4136	671	2	,	,	PUNCT
aiti-4136	671	3	the	the	DET
aiti-4136	671	4	proposed	propose	VERB
aiti-4136	671	5	nonfragile	nonfragile	NOUN
aiti-4136	671	6	controller	controller	NOUN
aiti-4136	671	7	can	can	AUX
aiti-4136	671	8	easily	easily	ADV
aiti-4136	671	9	be	be	AUX
aiti-4136	671	10	obtained	obtain	VERB
aiti-4136	671	11	by	by	ADP
aiti-4136	671	12	using	use	VERB
aiti-4136	671	13	software	software	NOUN
aiti-4136	671	14	such	such	ADJ
aiti-4136	671	15	as	as	ADP
aiti-4136	671	16	matlab	matlab	PROPN
aiti-4136	671	17	’s	’s	PART
aiti-4136	671	18	lmi	lmi	PROPN
aiti-4136	671	19	control	control	PROPN
aiti-4136	671	20	toolbox	toolbox	PROPN
aiti-4136	671	21	and	and	CCONJ
aiti-4136	671	22	scilab	scilab	PROPN
aiti-4136	671	23	’s	’s	PART
aiti-4136	671	24	lmitool	lmitool	NOUN
aiti-4136	671	25	.	.	PUNCT
aiti-4136	672	1	it	it	PRON
aiti-4136	672	2	is	be	AUX
aiti-4136	672	3	worth	worth	ADJ
aiti-4136	672	4	pointing	point	VERB
aiti-4136	672	5	out	out	ADP
aiti-4136	672	6	that	that	SCONJ
aiti-4136	672	7	this	this	DET
aiti-4136	672	8	paper	paper	NOUN
aiti-4136	672	9	did	do	AUX
aiti-4136	672	10	n’t	not	PART
aiti-4136	672	11	take	take	VERB
aiti-4136	672	12	into	into	ADP
aiti-4136	672	13	account	account	NOUN
aiti-4136	672	14	the	the	DET
aiti-4136	672	15	time	time	NOUN
aiti-4136	672	16	delay	delay	NOUN
aiti-4136	672	17	that	that	PRON
aiti-4136	672	18	occurred	occur	VERB
aiti-4136	672	19	when	when	SCONJ
aiti-4136	672	20	control	control	NOUN
aiti-4136	672	21	was	be	AUX
aiti-4136	672	22	performed	perform	VERB
aiti-4136	672	23	via	via	ADP
aiti-4136	672	24	a	a	DET
aiti-4136	672	25	network	network	NOUN
aiti-4136	672	26	.	.	PUNCT
aiti-4136	673	1	therefore	therefore	ADV
aiti-4136	673	2	,	,	PUNCT
aiti-4136	673	3	there	there	PRON
aiti-4136	673	4	is	be	VERB
aiti-4136	673	5	room	room	NOUN
aiti-4136	673	6	for	for	ADP
aiti-4136	673	7	expansion	expansion	NOUN
aiti-4136	673	8	to	to	ADP
aiti-4136	673	9	the	the	DET
aiti-4136	673	10	control	control	NOUN
aiti-4136	673	11	system	system	NOUN
aiti-4136	673	12	for	for	ADP
aiti-4136	673	13	systems	system	NOUN
aiti-4136	673	14	with	with	ADP
aiti-4136	673	15	delays	delay	NOUN
aiti-4136	673	16	.	.	PUNCT
aiti-4136	674	1	furthermore	furthermore	ADV
aiti-4136	674	2	,	,	PUNCT
aiti-4136	674	3	future	future	ADJ
aiti-4136	674	4	research	research	NOUN
aiti-4136	674	5	subjects	subject	NOUN
aiti-4136	674	6	include	include	VERB
aiti-4136	674	7	some	some	DET
aiti-4136	674	8	extensions	extension	NOUN
aiti-4136	674	9	of	of	ADP
aiti-4136	674	10	the	the	DET
aiti-4136	674	11	proposed	propose	VERB
aiti-4136	674	12	design	design	NOUN
aiti-4136	674	13	approach	approach	NOUN
aiti-4136	674	14	to	to	ADP
aiti-4136	674	15	a	a	DET
aiti-4136	674	16	broad	broad	ADJ
aiti-4136	674	17	class	class	NOUN
aiti-4136	674	18	of	of	ADP
aiti-4136	674	19	systems	system	NOUN
aiti-4136	674	20	such	such	ADJ
aiti-4136	674	21	as	as	ADP
aiti-4136	674	22	discrete	discrete	ADJ
aiti-4136	674	23	-	-	PUNCT
aiti-4136	674	24	time	time	NOUN
aiti-4136	674	25	systems	system	NOUN
aiti-4136	674	26	and	and	CCONJ
aiti-4136	674	27	output	output	NOUN
aiti-4136	674	28	feedback	feedback	NOUN
aiti-4136	674	29	systems	system	NOUN
aiti-4136	674	30	.	.	PUNCT
aiti-4136	675	1	additionally	additionally	ADV
aiti-4136	675	2	,	,	PUNCT
aiti-4136	675	3	the	the	DET
aiti-4136	675	4	proposed	propose	VERB
aiti-4136	675	5	controller	controller	NOUN
aiti-4136	675	6	synthesis	synthesis	NOUN
aiti-4136	675	7	will	will	AUX
aiti-4136	675	8	be	be	AUX
aiti-4136	675	9	extented	extente	VERB
aiti-4136	675	10	to	to	PART
aiti-4136	675	11	formation	formation	VERB
aiti-4136	675	12	control	control	NOUN
aiti-4136	675	13	for	for	ADP
aiti-4136	675	14	mass	mass	NOUN
aiti-4136	675	15	consisting	consist	VERB
aiti-4136	675	16	of	of	ADP
aiti-4136	675	17	more	more	ADJ
aiti-4136	675	18	general	general	ADJ
aiti-4136	675	19	agent	agent	NOUN
aiti-4136	675	20	’s	’s	PART
aiti-4136	675	21	dynamics	dynamic	NOUN
aiti-4136	675	22	.	.	PUNCT
aiti-4136	676	1	conflicts	conflict	NOUN
aiti-4136	676	2	of	of	ADP
aiti-4136	676	3	interest	interest	NOUN
aiti-4136	676	4	the	the	DET
aiti-4136	676	5	authors	author	NOUN
aiti-4136	676	6	declare	declare	VERB
aiti-4136	676	7	no	no	DET
aiti-4136	676	8	conflict	conflict	NOUN
aiti-4136	676	9	of	of	ADP
aiti-4136	676	10	interest	interest	NOUN
aiti-4136	676	11	.	.	PUNCT
aiti-4136	677	1	appendix	appendix	NOUN
aiti-4136	677	2	in	in	ADP
aiti-4136	677	3	this	this	DET
aiti-4136	677	4	appendix	appendix	NOUN
aiti-4136	677	5	,	,	PUNCT
aiti-4136	677	6	an	an	DET
aiti-4136	677	7	lmi	lmi	PROPN
aiti-4136	677	8	-	-	PUNCT
aiti-4136	677	9	based	base	VERB
aiti-4136	677	10	design	design	NOUN
aiti-4136	677	11	method	method	NOUN
aiti-4136	677	12	of	of	ADP
aiti-4136	677	13	the	the	DET
aiti-4136	677	14	conventional	conventional	ADJ
aiti-4136	677	15	consensus	consensus	NOUN
aiti-4136	677	16	controller	controller	NOUN
aiti-4136	677	17	which	which	PRON
aiti-4136	677	18	is	be	AUX
aiti-4136	677	19	showed	show	VERB
aiti-4136	677	20	was	be	AUX
aiti-4136	677	21	obtained	obtain	VERB
aiti-4136	677	22	by	by	ADP
aiti-4136	677	23	ignoring	ignore	VERB
aiti-4136	677	24	control	control	NOUN
aiti-4136	677	25	gain	gain	NOUN
aiti-4136	677	26	perturbations	perturbation	NOUN
aiti-4136	677	27	.	.	PUNCT
aiti-4136	678	1	namely	namely	ADV
aiti-4136	678	2	,	,	PUNCT
aiti-4136	678	3	for	for	ADP
aiti-4136	678	4	i	i	PRON
aiti-4136	678	5	-th	-th	NOUN
aiti-4136	678	6	agent	agent	NOUN
aiti-4136	678	7	of	of	ADP
aiti-4136	678	8	eq	eq	PROPN
aiti-4136	678	9	.	.	PUNCT
aiti-4136	679	1	(	(	PUNCT
aiti-4136	679	2	3	3	NUM
aiti-4136	679	3	)	)	PUNCT
aiti-4136	679	4	,	,	PUNCT
aiti-4136	679	5	the	the	DET
aiti-4136	679	6	following	follow	VERB
aiti-4136	679	7	control	control	NOUN
aiti-4136	679	8	input	input	NOUN
aiti-4136	679	9	is	be	AUX
aiti-4136	679	10	considered	consider	VERB
aiti-4136	679	11	:	:	PUNCT
aiti-4136	679	12			PROPN
aiti-4136	679	13			PROPN
aiti-4136	679	14	,	,	PUNCT
aiti-4136	679	15	,	,	PUNCT
aiti-4136	679	16	(	(	PUNCT
aiti-4136	679	17	)	)	PUNCT
aiti-4136	679	18	(	(	PUNCT
aiti-4136	679	19	)	)	PUNCT
aiti-4136	679	20	(	(	PUNCT
aiti-4136	679	21	)	)	PUNCT
aiti-4136	679	22	(	(	PUNCT
aiti-4136	679	23	)	)	PUNCT
aiti-4136	679	24	(	(	PUNCT
aiti-4136	679	25	)	)	PUNCT
aiti-4136	679	26	(	(	PUNCT
aiti-4136	679	27	)	)	PUNCT
aiti-4136	680	1	i	i	PRON
aiti-4136	680	2	i	i	PRON
aiti-4136	681	1	k	k	VERB
aiti-4136	682	1	i	i	PRON
aiti-4136	682	2	f	f	VERB
aiti-4136	683	1	i	i	PRON
aiti-4136	683	2	i	i	PRON
aiti-4136	684	1	i	i	VERB
aiti-4136	684	2	j	j	PROPN
aiti-4136	685	1	j	j	PROPN
aiti-4136	685	2	n	n	CCONJ
aiti-4136	685	3	u	u	NOUN
aiti-4136	685	4	t	t	X
aiti-4136	685	5	u	u	NOUN
aiti-4136	685	6	t	t	PROPN
aiti-4136	685	7	u	u	NOUN
aiti-4136	685	8	t	t	X
aiti-4136	685	9	kx	kx	PROPN
aiti-4136	686	1	t	t	PROPN
aiti-4136	686	2	f	f	PROPN
aiti-4136	686	3	x	x	SYM
aiti-4136	686	4	t	t	PROPN
aiti-4136	686	5	x	x	SYM
aiti-4136	686	6	t	t	PROPN
aiti-4136	686	7			NOUN
aiti-4136	686	8			PROPN
aiti-4136	686	9			NUM
aiti-4136	686	10			PUNCT
aiti-4136	686	11			X
aiti-4136	686	12	(	(	PUNCT
aiti-4136	686	13	a.1	a.1	NOUN
aiti-4136	686	14	)	)	PUNCT
aiti-4136	686	15	thus	thus	ADV
aiti-4136	686	16	,	,	PUNCT
aiti-4136	686	17	the	the	DET
aiti-4136	686	18	closed	closed	ADJ
aiti-4136	686	19	-	-	PUNCT
aiti-4136	686	20	loop	loop	NOUN
aiti-4136	686	21	system	system	NOUN
aiti-4136	686	22	can	can	AUX
aiti-4136	686	23	be	be	AUX
aiti-4136	686	24	described	describe	VERB
aiti-4136	686	25	as	as	ADP
aiti-4136	686	26			NOUN
aiti-4136	686	27			PROPN
aiti-4136	686	28	2	2	NUM
aiti-4136	686	29	3	3	NUM
aiti-4136	686	30	2	2	NUM
aiti-4136	686	31	3	3	NUM
aiti-4136	686	32	(	(	PUNCT
aiti-4136	686	33	)	)	PUNCT
aiti-4136	686	34	(	(	PUNCT
aiti-4136	686	35	)	)	PUNCT
aiti-4136	686	36	(	(	PUNCT
aiti-4136	686	37	)	)	PUNCT
aiti-4136	686	38	(	(	PUNCT
aiti-4136	686	39	)	)	PUNCT
aiti-4136	686	40	0	0	NUM
aiti-4136	686	41	0	0	NUM
aiti-4136	686	42	0	0	NUM
aiti-4136	686	43	0	0	NUM
aiti-4136	686	44	0	0	NUM
aiti-4136	686	45	0	0	NUM
aiti-4136	686	46	(	(	PUNCT
aiti-4136	686	47	)	)	PUNCT
aiti-4136	686	48	*	*	PUNCT
aiti-4136	686	49	0	0	PUNCT
aiti-4136	687	1	*	*	SYM
aiti-4136	687	2	0	0	NUM
aiti-4136	687	3	2	2	NUM
aiti-4136	687	4	(	(	PUNCT
aiti-4136	687	5	)	)	PUNCT
aiti-4136	687	6	*	*	PUNCT
aiti-4136	688	1	*	*	PUNCT
aiti-4136	688	2	*	*	PUNCT
aiti-4136	688	3	*	*	PUNCT
aiti-4136	688	4	2	2	NUM
aiti-4136	688	5	(	(	PUNCT
aiti-4136	688	6	)	)	PUNCT
aiti-4136	688	7	0	0	NUM
aiti-4136	688	8	0	0	NUM
aiti-4136	688	9	(	(	PUNCT
aiti-4136	688	10	)	)	PUNCT
aiti-4136	688	11	(	(	PUNCT
aiti-4136	688	12	)	)	PUNCT
aiti-4136	688	13	(	(	PUNCT
aiti-4136	688	14	)	)	PUNCT
aiti-4136	688	15			PROPN
aiti-4136	688	16			ADV
aiti-4136	688	17			PUNCT
aiti-4136	688	18			NOUN
aiti-4136	688	19			PROPN
aiti-4136	688	20			PROPN
aiti-4136	688	21			VERB
aiti-4136	688	22			PROPN
aiti-4136	688	23			PROPN
aiti-4136	689	1			NOUN
aiti-4136	689	2			PROPN
aiti-4136	689	3			PROPN
aiti-4136	689	4			NOUN
aiti-4136	690	1			PROPN
aiti-4136	690	2			PROPN
aiti-4136	690	3			NOUN
aiti-4136	691	1			INTJ
aiti-4136	692	1			PROPN
aiti-4136	692	2			PROPN
aiti-4136	693	1			PROPN
aiti-4136	693	2			ADV
aiti-4136	693	3			PROPN
aiti-4136	693	4			ADV
aiti-4136	693	5			NOUN
aiti-4136	693	6			NOUN
aiti-4136	694	1			PROPN
aiti-4136	694	2			PROPN
aiti-4136	694	3			NOUN
aiti-4136	695	1			PROPN
aiti-4136	696	1			PROPN
aiti-4136	697	1			INTJ
aiti-4136	698	1			PROPN
aiti-4136	699	1			INTJ
aiti-4136	699	2			PROPN
aiti-4136	699	3			NOUN
aiti-4136	700	1			PROPN
aiti-4136	700	2			PROPN
aiti-4136	700	3			NOUN
aiti-4136	700	4			X
aiti-4136	700	5			PROPN
aiti-4136	700	6			NOUN
aiti-4136	700	7			NOUN
aiti-4136	700	8			NOUN
aiti-4136	700	9			NOUN
aiti-4136	700	10			NOUN
aiti-4136	701	1			NOUN
aiti-4136	701	2			NOUN
aiti-4136	701	3			NOUN
aiti-4136	701	4			VERB
aiti-4136	701	5			PROPN
aiti-4136	701	6			PROPN
aiti-4136	701	7			PROPN
aiti-4136	701	8			NOUN
aiti-4136	702	1			PROPN
aiti-4136	703	1			PROPN
aiti-4136	703	2			PROPN
aiti-4136	703	3			PROPN
aiti-4136	703	4			NOUN
aiti-4136	704	1			PROPN
aiti-4136	704	2			PROPN
aiti-4136	704	3			VERB
aiti-4136	704	4			NOUN
aiti-4136	704	5			NOUN
aiti-4136	704	6			NOUN
aiti-4136	704	7			NOUN
aiti-4136	705	1	t	t	NOUN
aiti-4136	705	2	t	t	NOUN
aiti-4136	705	3	t	t	PROPN
aiti-4136	705	4	t	t	PROPN
aiti-4136	705	5	l	l	NOUN
aiti-4136	706	1	k	k	X
aiti-4136	706	2	l	l	PUNCT
aiti-4136	706	3	f	f	X
aiti-4136	707	1	f	f	PROPN
aiti-4136	707	2	d	d	X
aiti-4136	707	3	x	x	PROPN
aiti-4136	707	4	t	t	PROPN
aiti-4136	707	5	a	a	X
aiti-4136	707	6	x	x	SYM
aiti-4136	707	7	t	t	PROPN
aiti-4136	707	8	b	b	PROPN
aiti-4136	707	9	k	k	X
aiti-4136	707	10	x	x	SYM
aiti-4136	708	1	t	t	NOUN
aiti-4136	708	2	f	f	X
aiti-4136	708	3	x	x	SYM
aiti-4136	708	4	t	t	X
aiti-4136	708	5	dt	dt	X
aiti-4136	708	6	a	a	DET
aiti-4136	708	7	b	b	X
aiti-4136	708	8	k	k	X
aiti-4136	708	9	x	x	SYM
aiti-4136	708	10	t	t	PROPN
aiti-4136	708	11	a	a	DET
aiti-4136	708	12	b	b	NOUN
aiti-4136	709	1	f	f	X
aiti-4136	710	1	k	k	NOUN
aiti-4136	710	2	f	f	PROPN
aiti-4136	710	3	f	f	PROPN
aiti-4136	710	4	x	x	SYM
aiti-4136	710	5	t	t	PROPN
aiti-4136	710	6	a	a	DET
aiti-4136	710	7	b	b	NOUN
aiti-4136	711	1	f	f	X
aiti-4136	711	2	f	f	PROPN
aiti-4136	712	1	k	k	PROPN
aiti-4136	712	2	f	f	PROPN
aiti-4136	712	3	x	x	SYM
aiti-4136	712	4	t	t	PROPN
aiti-4136	712	5	a	a	DET
aiti-4136	712	6	x	x	SYM
aiti-4136	712	7	t	t	NOUN
aiti-4136	712	8	bf	bf	NOUN
aiti-4136	712	9	a	a	DET
aiti-4136	712	10	bf	bf	NOUN
aiti-4136	713	1	x	x	SYM
aiti-4136	713	2	t	t	NOUN
aiti-4136	713	3	bf	bf	NOUN
aiti-4136	713	4	bf	bf	NOUN
aiti-4136	713	5	a	a	DET
aiti-4136	713	6	x	x	X
aiti-4136	713	7	t	t	NOUN
aiti-4136	713	8	(	(	PUNCT
aiti-4136	713	9	a.2	a.2	PUNCT
aiti-4136	713	10	)	)	PUNCT
aiti-4136	713	11	and	and	CCONJ
aiti-4136	713	12	the	the	DET
aiti-4136	713	13	following	follow	VERB
aiti-4136	713	14	lmi	lmi	PROPN
aiti-4136	713	15	-	-	PUNCT
aiti-4136	713	16	based	base	VERB
aiti-4136	713	17	design	design	NOUN
aiti-4136	713	18	method	method	NOUN
aiti-4136	713	19	of	of	ADP
aiti-4136	713	20	the	the	DET
aiti-4136	713	21	conventional	conventional	ADJ
aiti-4136	713	22	consensus	consensus	NOUN
aiti-4136	713	23	controller	controller	NOUN
aiti-4136	713	24	can	can	AUX
aiti-4136	713	25	be	be	AUX
aiti-4136	713	26	developed	develop	VERB
aiti-4136	713	27	:	:	PUNCT
aiti-4136	713	28	advances	advance	NOUN
aiti-4136	713	29	in	in	ADP
aiti-4136	713	30	technology	technology	NOUN
aiti-4136	713	31	innovation	innovation	NOUN
aiti-4136	713	32	,	,	PUNCT
aiti-4136	713	33	vol	vol	NOUN
aiti-4136	713	34	.	.	PROPN
aiti-4136	714	1	5	5	NUM
aiti-4136	714	2	,	,	PUNCT
aiti-4136	714	3	no	no	INTJ
aiti-4136	714	4	.	.	NOUN
aiti-4136	714	5	2	2	NUM
aiti-4136	714	6	,	,	PUNCT
aiti-4136	714	7	2020	2020	NUM
aiti-4136	714	8	,	,	PUNCT
aiti-4136	714	9	pp	pp	ADV
aiti-4136	714	10	.	.	PUNCT
aiti-4136	715	1	112	112	NUM
aiti-4136	715	2	-	-	SYM
aiti-4136	715	3	125	125	NUM
aiti-4136	715	4	124	124	NUM
aiti-4136	715	5	theorem	theorem	ADJ
aiti-4136	715	6	a-1	a-1	NOUN
aiti-4136	715	7	:	:	PUNCT
aiti-4136	715	8	consider	consider	VERB
aiti-4136	715	9	the	the	DET
aiti-4136	715	10	overall	overall	ADJ
aiti-4136	715	11	system	system	NOUN
aiti-4136	715	12	of	of	ADP
aiti-4136	715	13	eq	eq	PROPN
aiti-4136	715	14	.	.	PUNCT
aiti-4136	716	1	(	(	PUNCT
aiti-4136	716	2	5	5	NUM
aiti-4136	716	3	)	)	PUNCT
aiti-4136	716	4	and	and	CCONJ
aiti-4136	716	5	the	the	DET
aiti-4136	716	6	control	control	NOUN
aiti-4136	716	7	input	input	NOUN
aiti-4136	716	8	of	of	ADP
aiti-4136	716	9	eq	eq	PROPN
aiti-4136	716	10	.	.	PUNCT
aiti-4136	717	1	(	(	PUNCT
aiti-4136	717	2	a.1	a.1	NOUN
aiti-4136	717	3	)	)	PUNCT
aiti-4136	717	4	.	.	PUNCT
aiti-4136	718	1	if	if	SCONJ
aiti-4136	718	2	there	there	PRON
aiti-4136	718	3	exists	exist	VERB
aiti-4136	718	4	a	a	DET
aiti-4136	718	5	symmetric	symmetric	ADJ
aiti-4136	718	6	positive	positive	ADJ
aiti-4136	718	7	definite	definite	ADJ
aiti-4136	718	8	matrix	matrix	NOUN
aiti-4136	718	9	0s	0s	NOUN
aiti-4136	718	10			INTJ
aiti-4136	718	11	,	,	PUNCT
aiti-4136	718	12	matrices	matrice	VERB
aiti-4136	718	13	kw	kw	INTJ
aiti-4136	718	14	and	and	CCONJ
aiti-4136	718	15	fw	fw	PROPN
aiti-4136	718	16	will	will	AUX
aiti-4136	718	17	satisfy	satisfy	VERB
aiti-4136	718	18	the	the	DET
aiti-4136	718	19	following	follow	VERB
aiti-4136	718	20	lmi	lmi	PROPN
aiti-4136	718	21	condition	condition	NOUN
aiti-4136	718	22	:	:	PUNCT
aiti-4136	718	23			PROPN
aiti-4136	718	24			PROPN
aiti-4136	718	25			NOUN
aiti-4136	718	26			SYM
aiti-4136	718	27			NOUN
aiti-4136	718	28			PUNCT
aiti-4136	719	1			PROPN
aiti-4136	719	2			PROPN
aiti-4136	719	3			PROPN
aiti-4136	719	4			PROPN
aiti-4136	719	5			PROPN
aiti-4136	719	6			X
aiti-4136	719	7	*	*	PUNCT
aiti-4136	719	8	2	2	NUM
aiti-4136	719	9	0	0	NUM
aiti-4136	720	1	*	*	PUNCT
aiti-4136	720	2	*	*	PUNCT
aiti-4136	720	3	2	2	NUM
aiti-4136	720	4	t	t	NOUN
aiti-4136	720	5	t	t	NOUN
aiti-4136	721	1	k	k	NOUN
aiti-4136	722	1	f	f	PROPN
aiti-4136	723	1	f	f	PROPN
aiti-4136	724	1	k	k	PROPN
aiti-4136	724	2	f	f	PROPN
aiti-4136	725	1	f	f	PROPN
aiti-4136	725	2	k	k	PROPN
aiti-4136	726	1	f	f	PROPN
aiti-4136	726	2	he	he	PRON
aiti-4136	726	3	as	as	SCONJ
aiti-4136	726	4	bw	bw	PROPN
aiti-4136	726	5	bw	bw	PROPN
aiti-4136	726	6	bw	bw	VERB
aiti-4136	726	7	he	he	PRON
aiti-4136	726	8	as	as	ADP
aiti-4136	726	9	bw	bw	PROPN
aiti-4136	726	10	bw	bw	PROPN
aiti-4136	727	1	he	he	PRON
aiti-4136	727	2	bw	bw	VERB
aiti-4136	727	3	he	he	PRON
aiti-4136	727	4	as	as	SCONJ
aiti-4136	727	5	bw	bw	PROPN
aiti-4136	727	6	bw	bw	PROPN
aiti-4136	727	7			NOUN
aiti-4136	727	8			VERB
aiti-4136	727	9			PROPN
aiti-4136	727	10			PROPN
aiti-4136	727	11			PROPN
aiti-4136	727	12			PROPN
aiti-4136	727	13			VERB
aiti-4136	727	14			VERB
aiti-4136	727	15			PROPN
aiti-4136	727	16			PUNCT
aiti-4136	727	17			PROPN
aiti-4136	728	1			PROPN
aiti-4136	728	2			PROPN
aiti-4136	729	1			PROPN
aiti-4136	730	1			PROPN
aiti-4136	730	2			PROPN
aiti-4136	730	3	(	(	PUNCT
aiti-4136	730	4	a.3	a.3	X
aiti-4136	730	5	)	)	PUNCT
aiti-4136	730	6	then	then	ADV
aiti-4136	730	7	the	the	DET
aiti-4136	730	8	closed	closed	ADJ
aiti-4136	730	9	-	-	PUNCT
aiti-4136	730	10	loop	loop	NOUN
aiti-4136	730	11	system	system	NOUN
aiti-4136	730	12	of	of	ADP
aiti-4136	730	13	eq	eq	PROPN
aiti-4136	730	14	.	.	PUNCT
aiti-4136	730	15	(	(	PUNCT
aiti-4136	730	16	a.2	a.2	PUNCT
aiti-4136	730	17	)	)	PUNCT
aiti-4136	730	18	with	with	ADP
aiti-4136	730	19	gain	gain	NOUN
aiti-4136	730	20	matrices	matrix	NOUN
aiti-4136	730	21	1	1	NUM
aiti-4136	730	22	kk	kk	PROPN
aiti-4136	730	23	w	w	PROPN
aiti-4136	730	24	s	s	PROPN
aiti-4136	730	25	and	and	CCONJ
aiti-4136	730	26	1	1	NUM
aiti-4136	730	27	ff	ff	NOUN
aiti-4136	730	28	w	w	NOUN
aiti-4136	730	29	s	s	NOUN
aiti-4136	730	30			PROPN
aiti-4136	730	31	are	be	AUX
aiti-4136	730	32	asymptotically	asymptotically	ADV
aiti-4136	730	33	stable	stable	ADJ
aiti-4136	730	34	.	.	PUNCT
aiti-4136	731	1	proof	proof	NOUN
aiti-4136	731	2	:	:	PUNCT
aiti-4136	731	3	the	the	DET
aiti-4136	731	4	result	result	NOUN
aiti-4136	731	5	of	of	ADP
aiti-4136	731	6	theorem	theorem	ADJ
aiti-4136	731	7	a.1	a.1	PUNCT
aiti-4136	731	8	can	can	AUX
aiti-4136	731	9	easily	easily	ADV
aiti-4136	731	10	be	be	AUX
aiti-4136	731	11	obtained	obtain	VERB
aiti-4136	731	12	by	by	ADP
aiti-4136	731	13	using	use	VERB
aiti-4136	731	14	a	a	DET
aiti-4136	731	15	similar	similar	ADJ
aiti-4136	731	16	way	way	NOUN
aiti-4136	731	17	to	to	ADP
aiti-4136	731	18	the	the	DET
aiti-4136	731	19	proof	proof	NOUN
aiti-4136	731	20	of	of	ADP
aiti-4136	731	21	theorem	theorem	NOUN
aiti-4136	731	22	1	1	NUM
aiti-4136	731	23	.	.	PUNCT
aiti-4136	731	24	references	reference	NOUN
aiti-4136	732	1	[	[	X
aiti-4136	732	2	1	1	NUM
aiti-4136	732	3	]	]	PUNCT
aiti-4136	732	4	k.	k.	PROPN
aiti-4136	732	5	zhou	zhou	PROPN
aiti-4136	732	6	,	,	PUNCT
aiti-4136	732	7	j.	j.	PROPN
aiti-4136	732	8	c.	c.	PROPN
aiti-4136	732	9	doyle	doyle	PROPN
aiti-4136	732	10	,	,	PUNCT
aiti-4136	732	11	and	and	CCONJ
aiti-4136	732	12	k.	k.	PROPN
aiti-4136	732	13	glover	glover	PROPN
aiti-4136	732	14	,	,	PUNCT
aiti-4136	732	15	robust	robust	ADJ
aiti-4136	732	16	and	and	CCONJ
aiti-4136	732	17	optimal	optimal	ADJ
aiti-4136	732	18	control	control	NOUN
aiti-4136	732	19	,	,	PUNCT
aiti-4136	732	20	prentice	prentice	NOUN
aiti-4136	732	21	hall	hall	NOUN
aiti-4136	732	22	,	,	PUNCT
aiti-4136	732	23	1996	1996	NUM
aiti-4136	732	24	.	.	PUNCT
aiti-4136	733	1	[	[	X
aiti-4136	733	2	2	2	NUM
aiti-4136	733	3	]	]	PUNCT
aiti-4136	733	4	k.	k.	PROPN
aiti-4136	733	5	zhou	zhou	PROPN
aiti-4136	733	6	,	,	PUNCT
aiti-4136	733	7	essentials	essential	NOUN
aiti-4136	733	8	of	of	ADP
aiti-4136	733	9	robust	robust	ADJ
aiti-4136	733	10	control	control	NOUN
aiti-4136	733	11	,	,	PUNCT
aiti-4136	733	12	prentice	prentice	NOUN
aiti-4136	733	13	hall	hall	NOUN
aiti-4136	733	14	,	,	PUNCT
aiti-4136	733	15	1998	1998	NUM
aiti-4136	733	16	.	.	PUNCT
aiti-4136	734	1	[	[	X
aiti-4136	734	2	3	3	X
aiti-4136	734	3	]	]	X
aiti-4136	734	4	b.	b.	PROPN
aiti-4136	734	5	r.	r.	PROPN
aiti-4136	734	6	barmish	barmish	PROPN
aiti-4136	734	7	,	,	PUNCT
aiti-4136	734	8	“	"	PUNCT
aiti-4136	734	9	stabilization	stabilization	NOUN
aiti-4136	734	10	of	of	ADP
aiti-4136	734	11	uncertain	uncertain	ADJ
aiti-4136	734	12	systems	system	NOUN
aiti-4136	734	13	via	via	ADP
aiti-4136	734	14	linear	linear	PROPN
aiti-4136	734	15	control	control	NOUN
aiti-4136	734	16	,	,	PUNCT
aiti-4136	734	17	”	"	PUNCT
aiti-4136	734	18	ieee	ieee	NOUN
aiti-4136	734	19	transaction	transaction	NOUN
aiti-4136	734	20	on	on	ADP
aiti-4136	734	21	automat	automat	PROPN
aiti-4136	734	22	control	control	NOUN
aiti-4136	734	23	,	,	PUNCT
aiti-4136	734	24	vol	vol	NOUN
aiti-4136	734	25	.	.	PROPN
aiti-4136	734	26	28	28	NUM
aiti-4136	734	27	,	,	PUNCT
aiti-4136	734	28	no	no	INTJ
aiti-4136	734	29	.	.	NOUN
aiti-4136	734	30	8	8	NUM
aiti-4136	734	31	,	,	PUNCT
aiti-4136	734	32	pp	pp	ADJ
aiti-4136	734	33	.	.	PUNCT
aiti-4136	735	1	848	848	NUM
aiti-4136	735	2	-	-	SYM
aiti-4136	735	3	850	850	NUM
aiti-4136	735	4	,	,	PUNCT
aiti-4136	735	5	1983	1983	NUM
aiti-4136	735	6	.	.	PUNCT
aiti-4136	736	1	[	[	X
aiti-4136	736	2	4	4	NUM
aiti-4136	736	3	]	]	X
aiti-4136	736	4	i.	i.	PROPN
aiti-4136	736	5	r.	r.	PROPN
aiti-4136	736	6	petersen	petersen	PROPN
aiti-4136	736	7	and	and	CCONJ
aiti-4136	736	8	c.	c.	PROPN
aiti-4136	736	9	v.	v.	PROPN
aiti-4136	736	10	hollot	hollot	PROPN
aiti-4136	736	11	,	,	PUNCT
aiti-4136	736	12	“	"	PUNCT
aiti-4136	736	13	a	a	DET
aiti-4136	736	14	riccati	riccati	NOUN
aiti-4136	736	15	equation	equation	NOUN
aiti-4136	736	16	approach	approach	NOUN
aiti-4136	736	17	to	to	ADP
aiti-4136	736	18	the	the	DET
aiti-4136	736	19	stabilization	stabilization	NOUN
aiti-4136	736	20	of	of	ADP
aiti-4136	736	21	uncertain	uncertain	ADJ
aiti-4136	736	22	linear	linear	NOUN
aiti-4136	736	23	systems	system	NOUN
aiti-4136	736	24	,	,	PUNCT
aiti-4136	736	25	”	"	PUNCT
aiti-4136	736	26	automatica	automatica	PROPN
aiti-4136	736	27	,	,	PUNCT
aiti-4136	736	28	vol	vol	NOUN
aiti-4136	736	29	.	.	PROPN
aiti-4136	737	1	22	22	NUM
aiti-4136	737	2	,	,	PUNCT
aiti-4136	737	3	no	no	INTJ
aiti-4136	737	4	.	.	NOUN
aiti-4136	737	5	4	4	NUM
aiti-4136	737	6	,	,	PUNCT
aiti-4136	737	7	pp	pp	ADJ
aiti-4136	737	8	.	.	PUNCT
aiti-4136	738	1	397	397	NUM
aiti-4136	738	2	-	-	SYM
aiti-4136	738	3	411	411	NUM
aiti-4136	738	4	,	,	PUNCT
aiti-4136	738	5	1986	1986	NUM
aiti-4136	738	6	.	.	PUNCT
aiti-4136	739	1	[	[	X
aiti-4136	739	2	5	5	X
aiti-4136	739	3	]	]	PUNCT
aiti-4136	739	4	p.	p.	NOUN
aiti-4136	739	5	p.	p.	NOUN
aiti-4136	739	6	khargonekar	khargonekar	PROPN
aiti-4136	739	7	,	,	PUNCT
aiti-4136	739	8	i.	i.	PROPN
aiti-4136	739	9	r.	r.	PROPN
aiti-4136	739	10	petersen	petersen	PROPN
aiti-4136	739	11	,	,	PUNCT
aiti-4136	739	12	and	and	CCONJ
aiti-4136	739	13	k.	k.	PROPN
aiti-4136	739	14	zhou	zhou	PROPN
aiti-4136	739	15	,	,	PUNCT
aiti-4136	739	16	“	"	PUNCT
aiti-4136	739	17	robust	robust	ADJ
aiti-4136	739	18	stabilization	stabilization	NOUN
aiti-4136	739	19	of	of	ADP
aiti-4136	739	20	uncertain	uncertain	ADJ
aiti-4136	739	21	linear	linear	ADJ
aiti-4136	739	22	systems	system	NOUN
aiti-4136	739	23	:	:	PUNCT
aiti-4136	739	24	quadratic	quadratic	ADJ
aiti-4136	739	25	stabilizability	stabilizability	NOUN
aiti-4136	739	26	and	and	CCONJ
aiti-4136	739	27	control	control	NOUN
aiti-4136	739	28	theory	theory	NOUN
aiti-4136	739	29	,	,	PUNCT
aiti-4136	739	30	”	"	PUNCT
aiti-4136	739	31	ieee	ieee	NOUN
aiti-4136	739	32	transaction	transaction	NOUN
aiti-4136	739	33	on	on	ADP
aiti-4136	739	34	automatic	automatic	ADJ
aiti-4136	739	35	contrtol	contrtol	NOUN
aiti-4136	739	36	,	,	PUNCT
aiti-4136	739	37	vol	vol	NOUN
aiti-4136	739	38	.	.	PROPN
aiti-4136	739	39	35	35	NUM
aiti-4136	739	40	,	,	PUNCT
aiti-4136	739	41	no	no	INTJ
aiti-4136	739	42	.	.	NOUN
aiti-4136	739	43	3	3	NUM
aiti-4136	739	44	,	,	PUNCT
aiti-4136	739	45	pp	pp	ADJ
aiti-4136	739	46	.	.	PUNCT
aiti-4136	740	1	356	356	NUM
aiti-4136	740	2	-	-	SYM
aiti-4136	740	3	361	361	NUM
aiti-4136	740	4	,	,	PUNCT
aiti-4136	740	5	1990	1990	NUM
aiti-4136	740	6	.	.	PUNCT
aiti-4136	741	1	[	[	X
aiti-4136	741	2	6	6	NUM
aiti-4136	741	3	]	]	PUNCT
aiti-4136	741	4	s.	s.	PROPN
aiti-4136	741	5	s.	s.	PROPN
aiti-4136	741	6	l.	l.	PROPN
aiti-4136	741	7	chang	chang	PROPN
aiti-4136	741	8	and	and	CCONJ
aiti-4136	741	9	t.	t.	PROPN
aiti-4136	741	10	k.	k.	PROPN
aiti-4136	741	11	c.	c.	PROPN
aiti-4136	741	12	peng	peng	PROPN
aiti-4136	741	13	,	,	PUNCT
aiti-4136	741	14	“	"	PUNCT
aiti-4136	741	15	adaptive	adaptive	ADJ
aiti-4136	741	16	guaranteed	guarantee	VERB
aiti-4136	741	17	cost	cost	NOUN
aiti-4136	741	18	control	control	NOUN
aiti-4136	741	19	of	of	ADP
aiti-4136	741	20	systems	system	NOUN
aiti-4136	741	21	with	with	ADP
aiti-4136	741	22	uncertain	uncertain	ADJ
aiti-4136	741	23	parameters	parameter	NOUN
aiti-4136	741	24	,	,	PUNCT
aiti-4136	741	25	”	"	PUNCT
aiti-4136	741	26	ieee	ieee	NOUN
aiti-4136	741	27	transaction	transaction	NOUN
aiti-4136	741	28	on	on	ADP
aiti-4136	741	29	automatic	automatic	ADJ
aiti-4136	741	30	control	control	NOUN
aiti-4136	741	31	,	,	PUNCT
aiti-4136	741	32	vol	vol	NOUN
aiti-4136	741	33	.	.	PROPN
aiti-4136	742	1	17	17	NUM
aiti-4136	742	2	,	,	PUNCT
aiti-4136	742	3	no	no	INTJ
aiti-4136	742	4	.	.	NOUN
aiti-4136	742	5	4	4	NUM
aiti-4136	742	6	,	,	PUNCT
aiti-4136	742	7	pp	pp	ADJ
aiti-4136	742	8	.	.	PUNCT
aiti-4136	743	1	474	474	NUM
aiti-4136	743	2	-	-	SYM
aiti-4136	743	3	483	483	NUM
aiti-4136	743	4	,	,	PUNCT
aiti-4136	743	5	1972	1972	NUM
aiti-4136	743	6	.	.	PUNCT
aiti-4136	744	1	[	[	X
aiti-4136	744	2	7	7	X
aiti-4136	744	3	]	]	X
aiti-4136	744	4	i.	i.	PROPN
aiti-4136	744	5	r.	r.	PROPN
aiti-4136	744	6	petersen	petersen	PROPN
aiti-4136	744	7	and	and	CCONJ
aiti-4136	744	8	d.	d.	PROPN
aiti-4136	744	9	c.	c.	PROPN
aiti-4136	744	10	mcfarlane	mcfarlane	PROPN
aiti-4136	744	11	,	,	PUNCT
aiti-4136	744	12	“	"	PUNCT
aiti-4136	744	13	optimal	optimal	ADJ
aiti-4136	744	14	guaranteed	guarantee	VERB
aiti-4136	744	15	cost	cost	NOUN
aiti-4136	744	16	control	control	NOUN
aiti-4136	744	17	and	and	CCONJ
aiti-4136	744	18	filtering	filter	VERB
aiti-4136	744	19	for	for	ADP
aiti-4136	744	20	uncertain	uncertain	ADJ
aiti-4136	744	21	linear	linear	NOUN
aiti-4136	744	22	systems	system	NOUN
aiti-4136	744	23	,	,	PUNCT
aiti-4136	744	24	”	"	PUNCT
aiti-4136	744	25	ieee	ieee	NOUN
aiti-4136	744	26	transaction	transaction	NOUN
aiti-4136	744	27	on	on	ADP
aiti-4136	744	28	automatic	automatic	ADJ
aiti-4136	744	29	control	control	NOUN
aiti-4136	744	30	,	,	PUNCT
aiti-4136	744	31	vol	vol	NOUN
aiti-4136	744	32	.	.	PROPN
aiti-4136	744	33	39	39	NUM
aiti-4136	744	34	,	,	PUNCT
aiti-4136	744	35	no	no	INTJ
aiti-4136	744	36	.	.	NOUN
aiti-4136	744	37	9	9	NUM
aiti-4136	744	38	,	,	PUNCT
aiti-4136	744	39	pp	pp	ADJ
aiti-4136	744	40	.	.	PUNCT
aiti-4136	744	41	1971	1971	NUM
aiti-4136	744	42	-	-	SYM
aiti-4136	744	43	1977	1977	NUM
aiti-4136	744	44	,	,	PUNCT
aiti-4136	744	45	1994	1994	NUM
aiti-4136	744	46	.	.	PUNCT
aiti-4136	745	1	[	[	X
aiti-4136	745	2	8	8	NUM
aiti-4136	745	3	]	]	PUNCT
aiti-4136	745	4	l.	l.	PROPN
aiti-4136	745	5	yu	yu	PROPN
aiti-4136	745	6	and	and	CCONJ
aiti-4136	745	7	j.	j.	PROPN
aiti-4136	745	8	chu	chu	PROPN
aiti-4136	745	9	,	,	PUNCT
aiti-4136	745	10	“	"	PUNCT
aiti-4136	745	11	optimal	optimal	ADJ
aiti-4136	745	12	guaranteed	guarantee	VERB
aiti-4136	745	13	cost	cost	NOUN
aiti-4136	745	14	control	control	NOUN
aiti-4136	745	15	of	of	ADP
aiti-4136	745	16	linear	linear	PROPN
aiti-4136	745	17	systems	system	NOUN
aiti-4136	745	18	:	:	PUNCT
aiti-4136	745	19	lmi	lmi	PROPN
aiti-4136	745	20	approach	approach	NOUN
aiti-4136	745	21	,	,	PUNCT
aiti-4136	745	22	”	"	PUNCT
aiti-4136	745	23	proc	proc	NOUN
aiti-4136	745	24	.	.	PUNCT
aiti-4136	746	1	14th	14th	ADJ
aiti-4136	746	2	ifac	ifac	NOUN
aiti-4136	746	3	world	world	PROPN
aiti-4136	746	4	congress	congress	PROPN
aiti-4136	746	5	,	,	PUNCT
aiti-4136	746	6	beijing	beijing	PROPN
aiti-4136	746	7	,	,	PUNCT
aiti-4136	746	8	china	china	PROPN
aiti-4136	746	9	1999	1999	NUM
aiti-4136	746	10	,	,	PUNCT
aiti-4136	746	11	pp	pp	ADV
aiti-4136	746	12	.	.	PUNCT
aiti-4136	747	1	541	541	NUM
aiti-4136	747	2	-	-	SYM
aiti-4136	747	3	546	546	NUM
aiti-4136	747	4	.	.	PUNCT
aiti-4136	748	1	[	[	X
aiti-4136	748	2	9	9	NUM
aiti-4136	748	3	]	]	PUNCT
aiti-4136	748	4	l.	l.	PROPN
aiti-4136	748	5	yu	yu	PROPN
aiti-4136	748	6	and	and	CCONJ
aiti-4136	748	7	j.	j.	PROPN
aiti-4136	748	8	chu	chu	PROPN
aiti-4136	748	9	,	,	PUNCT
aiti-4136	748	10	“	"	PUNCT
aiti-4136	748	11	an	an	DET
aiti-4136	748	12	lmi	lmi	PROPN
aiti-4136	748	13	approach	approach	NOUN
aiti-4136	748	14	to	to	ADP
aiti-4136	748	15	guaranteed	guarantee	VERB
aiti-4136	748	16	cost	cost	NOUN
aiti-4136	748	17	control	control	NOUN
aiti-4136	748	18	of	of	ADP
aiti-4136	748	19	linear	linear	ADJ
aiti-4136	748	20	uncertain	uncertain	ADJ
aiti-4136	748	21	time	time	NOUN
aiti-4136	748	22	delay	delay	NOUN
aiti-4136	748	23	systems	system	NOUN
aiti-4136	748	24	,	,	PUNCT
aiti-4136	748	25	”	"	PUNCT
aiti-4136	748	26	automatica	automatica	PROPN
aiti-4136	748	27	,	,	PUNCT
aiti-4136	748	28	vol	vol	NOUN
aiti-4136	748	29	.	.	PROPN
aiti-4136	748	30	35	35	NUM
aiti-4136	748	31	,	,	PUNCT
aiti-4136	748	32	no	no	INTJ
aiti-4136	748	33	.	.	NOUN
aiti-4136	748	34	6	6	NUM
aiti-4136	748	35	,	,	PUNCT
aiti-4136	748	36	pp	pp	ADJ
aiti-4136	748	37	.	.	PUNCT
aiti-4136	748	38	1155	1155	NUM
aiti-4136	748	39	-	-	SYM
aiti-4136	748	40	1159	1159	NUM
aiti-4136	748	41	,	,	PUNCT
aiti-4136	748	42	1999	1999	NUM
aiti-4136	748	43	.	.	PUNCT
aiti-4136	749	1	[	[	X
aiti-4136	749	2	10	10	NUM
aiti-4136	749	3	]	]	X
aiti-4136	749	4	l.	l.	PROPN
aiti-4136	749	5	h.	h.	PROPN
aiti-4136	749	6	keel	keel	PROPN
aiti-4136	749	7	and	and	CCONJ
aiti-4136	749	8	s.	s.	PROPN
aiti-4136	749	9	p.	p.	PROPN
aiti-4136	749	10	bhattacharyya	bhattacharyya	PROPN
aiti-4136	749	11	,	,	PUNCT
aiti-4136	749	12	“	"	PUNCT
aiti-4136	749	13	robust	robust	ADJ
aiti-4136	749	14	,	,	PUNCT
aiti-4136	749	15	fragile	fragile	ADJ
aiti-4136	749	16	,	,	PUNCT
aiti-4136	749	17	or	or	CCONJ
aiti-4136	749	18	optimal	optimal	ADJ
aiti-4136	749	19	?	?	PUNCT
aiti-4136	749	20	,	,	PUNCT
aiti-4136	749	21	”	"	PUNCT
aiti-4136	749	22	ieee	ieee	NOUN
aiti-4136	749	23	transaction	transaction	NOUN
aiti-4136	749	24	on	on	ADP
aiti-4136	749	25	automatic	automatic	ADJ
aiti-4136	749	26	control	control	NOUN
aiti-4136	749	27	,	,	PUNCT
aiti-4136	749	28	vol	vol	NOUN
aiti-4136	749	29	.	.	PROPN
aiti-4136	749	30	42	42	NUM
aiti-4136	749	31	,	,	PUNCT
aiti-4136	749	32	no	no	INTJ
aiti-4136	749	33	.	.	NOUN
aiti-4136	749	34	8	8	NUM
aiti-4136	749	35	,	,	PUNCT
aiti-4136	749	36	pp	pp	ADJ
aiti-4136	749	37	.	.	PUNCT
aiti-4136	750	1	1098	1098	NUM
aiti-4136	750	2	-	-	SYM
aiti-4136	750	3	1105	1105	NUM
aiti-4136	750	4	,	,	PUNCT
aiti-4136	750	5	1997	1997	NUM
aiti-4136	750	6	.	.	PUNCT
aiti-4136	751	1	[	[	X
aiti-4136	751	2	11	11	NUM
aiti-4136	751	3	]	]	X
aiti-4136	751	4	p.	p.	NOUN
aiti-4136	751	5	dorato	dorato	NOUN
aiti-4136	751	6	,	,	PUNCT
aiti-4136	751	7	“	"	PUNCT
aiti-4136	751	8	non	non	ADJ
aiti-4136	751	9	-	-	ADJ
aiti-4136	751	10	fragile	fragile	ADJ
aiti-4136	751	11	controller	controller	NOUN
aiti-4136	751	12	design	design	NOUN
aiti-4136	751	13	:	:	PUNCT
aiti-4136	751	14	an	an	DET
aiti-4136	751	15	overview	overview	NOUN
aiti-4136	751	16	,	,	PUNCT
aiti-4136	751	17	”	"	PUNCT
aiti-4136	751	18	proc	proc	NOUN
aiti-4136	751	19	.	.	PUNCT
aiti-4136	752	1	american	american	PROPN
aiti-4136	752	2	control	control	PROPN
aiti-4136	752	3	conference	conference	PROPN
aiti-4136	752	4	,	,	PUNCT
aiti-4136	752	5	philadelphia	philadelphia	PROPN
aiti-4136	752	6	,	,	PUNCT
aiti-4136	752	7	pennsylvania	pennsylvania	PROPN
aiti-4136	752	8	,	,	PUNCT
aiti-4136	752	9	usa	usa	PROPN
aiti-4136	752	10	,	,	PUNCT
aiti-4136	752	11	pp	pp	PROPN
aiti-4136	752	12	.	.	PUNCT
aiti-4136	753	1	2829	2829	NUM
aiti-4136	753	2	-	-	SYM
aiti-4136	753	3	2831	2831	NUM
aiti-4136	753	4	,	,	PUNCT
aiti-4136	753	5	1998	1998	NUM
aiti-4136	753	6	.	.	PUNCT
aiti-4136	754	1	[	[	X
aiti-4136	754	2	12	12	NUM
aiti-4136	754	3	]	]	X
aiti-4136	754	4	d.	d.	PROPN
aiti-4136	754	5	famularo	famularo	PROPN
aiti-4136	754	6	,	,	PUNCT
aiti-4136	754	7	p.	p.	NOUN
aiti-4136	754	8	dorato	dorato	PROPN
aiti-4136	754	9	,	,	PUNCT
aiti-4136	754	10	c.	c.	PROPN
aiti-4136	754	11	t.	t.	PROPN
aiti-4136	754	12	abdallah	abdallah	PROPN
aiti-4136	754	13	,	,	PUNCT
aiti-4136	754	14	w.	w.	PROPN
aiti-4136	754	15	m.	m.	PROPN
aiti-4136	754	16	haddad	haddad	PROPN
aiti-4136	754	17	,	,	PUNCT
aiti-4136	754	18	and	and	CCONJ
aiti-4136	754	19	a.	a.	PROPN
aiti-4136	754	20	jadbabaie	jadbabaie	PROPN
aiti-4136	754	21	,	,	PUNCT
aiti-4136	754	22	“	"	PUNCT
aiti-4136	754	23	robust	robust	ADJ
aiti-4136	754	24	non	non	ADJ
aiti-4136	754	25	-	-	ADJ
aiti-4136	754	26	fragile	fragile	ADJ
aiti-4136	754	27	lq	lq	NOUN
aiti-4136	754	28	controllers	controller	NOUN
aiti-4136	754	29	:	:	PUNCT
aiti-4136	754	30	the	the	DET
aiti-4136	754	31	static	static	ADJ
aiti-4136	754	32	state	state	NOUN
aiti-4136	754	33	feedback	feedback	NOUN
aiti-4136	754	34	case	case	NOUN
aiti-4136	754	35	,	,	PUNCT
aiti-4136	754	36	”	"	PUNCT
aiti-4136	754	37	interational	interational	ADJ
aiti-4136	754	38	journal	journal	NOUN
aiti-4136	754	39	of	of	ADP
aiti-4136	754	40	control	control	NOUN
aiti-4136	754	41	,	,	PUNCT
aiti-4136	754	42	vol	vol	NOUN
aiti-4136	754	43	.	.	PROPN
aiti-4136	755	1	73	73	NUM
aiti-4136	755	2	,	,	PUNCT
aiti-4136	755	3	no	no	INTJ
aiti-4136	755	4	.	.	NOUN
aiti-4136	755	5	2	2	NUM
aiti-4136	755	6	,	,	PUNCT
aiti-4136	755	7	pp	pp	ADJ
aiti-4136	755	8	.	.	PUNCT
aiti-4136	756	1	159	159	NUM
aiti-4136	756	2	-	-	SYM
aiti-4136	756	3	165	165	NUM
aiti-4136	756	4	,	,	PUNCT
aiti-4136	756	5	2000	2000	NUM
aiti-4136	756	6	.	.	PUNCT
aiti-4136	757	1	[	[	X
aiti-4136	757	2	13	13	NUM
aiti-4136	757	3	]	]	X
aiti-4136	757	4	h.	h.	PROPN
aiti-4136	757	5	mukaidani	mukaidani	PROPN
aiti-4136	757	6	,	,	PUNCT
aiti-4136	757	7	y.	y.	PROPN
aiti-4136	757	8	takato	takato	PROPN
aiti-4136	757	9	,	,	PUNCT
aiti-4136	757	10	y.	y.	PROPN
aiti-4136	757	11	tanaka	tanaka	PROPN
aiti-4136	757	12	,	,	PUNCT
aiti-4136	757	13	and	and	CCONJ
aiti-4136	757	14	k.	k.	PROPN
aiti-4136	757	15	mizukami	mizukami	PROPN
aiti-4136	757	16	,	,	PUNCT
aiti-4136	757	17	“	"	PUNCT
aiti-4136	757	18	the	the	DET
aiti-4136	757	19	guaranteed	guarantee	VERB
aiti-4136	757	20	cost	cost	NOUN
aiti-4136	757	21	control	control	NOUN
aiti-4136	757	22	for	for	ADP
aiti-4136	757	23	uncertain	uncertain	ADJ
aiti-4136	757	24	large	large	ADJ
aiti-4136	757	25	-	-	PUNCT
aiti-4136	757	26	scale	scale	NOUN
aiti-4136	757	27	interconnected	interconnected	ADJ
aiti-4136	757	28	systems	system	NOUN
aiti-4136	757	29	,	,	PUNCT
aiti-4136	757	30	”	"	PUNCT
aiti-4136	757	31	proc	proc	NOUN
aiti-4136	757	32	.	.	PUNCT
aiti-4136	758	1	the	the	DET
aiti-4136	758	2	15th	15th	ADJ
aiti-4136	758	3	ifac	ifac	NOUN
aiti-4136	758	4	world	world	PROPN
aiti-4136	758	5	congress	congress	PROPN
aiti-4136	758	6	,	,	PUNCT
aiti-4136	758	7	pp	pp	X
aiti-4136	758	8	.	.	PUNCT
aiti-4136	759	1	265	265	NUM
aiti-4136	759	2	-	-	SYM
aiti-4136	759	3	270	270	NUM
aiti-4136	759	4	,	,	PUNCT
aiti-4136	759	5	2002	2002	NUM
aiti-4136	759	6	.	.	PUNCT
aiti-4136	760	1	[	[	X
aiti-4136	760	2	14	14	NUM
aiti-4136	760	3	]	]	X
aiti-4136	760	4	h.	h.	PROPN
aiti-4136	760	5	oya	oya	PROPN
aiti-4136	760	6	,	,	PUNCT
aiti-4136	760	7	k.	k.	PROPN
aiti-4136	760	8	hagino	hagino	PROPN
aiti-4136	760	9	,	,	PUNCT
aiti-4136	760	10	and	and	CCONJ
aiti-4136	760	11	h.	h.	PROPN
aiti-4136	760	12	mukaidani	mukaidani	PROPN
aiti-4136	760	13	,	,	PUNCT
aiti-4136	760	14	“	"	PUNCT
aiti-4136	760	15	robust	robust	ADJ
aiti-4136	760	16	non	non	ADJ
aiti-4136	760	17	-	-	ADJ
aiti-4136	760	18	fragile	fragile	ADJ
aiti-4136	760	19	controllers	controller	NOUN
aiti-4136	760	20	for	for	ADP
aiti-4136	760	21	uncertain	uncertain	ADJ
aiti-4136	760	22	linear	linear	ADJ
aiti-4136	760	23	continuous	continuous	ADJ
aiti-4136	760	24	-	-	PUNCT
aiti-4136	760	25	time	time	NOUN
aiti-4136	760	26	systems	system	NOUN
aiti-4136	760	27	,	,	PUNCT
aiti-4136	760	28	”	"	PUNCT
aiti-4136	760	29	proc	proc	NOUN
aiti-4136	760	30	.	.	PUNCT
aiti-4136	761	1	the	the	DET
aiti-4136	761	2	31st	31st	ADJ
aiti-4136	761	3	annual	annual	ADJ
aiti-4136	761	4	conference	conference	NOUN
aiti-4136	761	5	of	of	ADP
aiti-4136	761	6	ieee	ieee	PROPN
aiti-4136	761	7	industrial	industrial	ADJ
aiti-4136	761	8	society	society	NOUN
aiti-4136	761	9	(	(	PUNCT
aiti-4136	761	10	iecon2005	iecon2005	PROPN
aiti-4136	761	11	)	)	PUNCT
aiti-4136	761	12	,	,	PUNCT
aiti-4136	761	13	raleigh	raleigh	PROPN
aiti-4136	761	14	,	,	PUNCT
aiti-4136	761	15	nc	nc	PROPN
aiti-4136	761	16	,	,	PUNCT
aiti-4136	761	17	usa	usa	PROPN
aiti-4136	761	18	,	,	PUNCT
aiti-4136	761	19	pp	pp	ADJ
aiti-4136	761	20	.	.	PUNCT
aiti-4136	762	1	1	1	NUM
aiti-4136	762	2	-	-	SYM
aiti-4136	762	3	6	6	NUM
aiti-4136	762	4	,	,	PUNCT
aiti-4136	762	5	2005	2005	NUM
aiti-4136	762	6	.	.	PUNCT
aiti-4136	763	1	[	[	X
aiti-4136	763	2	15	15	NUM
aiti-4136	763	3	]	]	X
aiti-4136	763	4	d.	d.	PROPN
aiti-4136	763	5	d.	d.	PROPN
aiti-4136	763	6	siljak	siljak	PROPN
aiti-4136	763	7	,	,	PUNCT
aiti-4136	763	8	decentralized	decentralized	ADJ
aiti-4136	763	9	control	control	NOUN
aiti-4136	763	10	of	of	ADP
aiti-4136	763	11	complex	complex	ADJ
aiti-4136	763	12	systems	system	NOUN
aiti-4136	763	13	,	,	PUNCT
aiti-4136	763	14	courier	courier	NOUN
aiti-4136	763	15	corporation	corporation	NOUN
aiti-4136	763	16	,	,	PUNCT
aiti-4136	763	17	1991	1991	NUM
aiti-4136	763	18	.	.	PUNCT
aiti-4136	764	1	[	[	X
aiti-4136	764	2	16	16	NUM
aiti-4136	764	3	]	]	PUNCT
aiti-4136	764	4	z.	z.	PROPN
aiti-4136	764	5	gong	gong	PROPN
aiti-4136	764	6	,	,	PUNCT
aiti-4136	764	7	“	"	PUNCT
aiti-4136	764	8	decentralized	decentralize	VERB
aiti-4136	764	9	robust	robust	ADJ
aiti-4136	764	10	control	control	NOUN
aiti-4136	764	11	of	of	ADP
aiti-4136	764	12	uncertain	uncertain	ADJ
aiti-4136	764	13	interconnected	interconnected	ADJ
aiti-4136	764	14	systems	system	NOUN
aiti-4136	764	15	with	with	ADP
aiti-4136	764	16	prescribed	prescribed	ADJ
aiti-4136	764	17	degree	degree	NOUN
aiti-4136	764	18	of	of	ADP
aiti-4136	764	19	exponential	exponential	ADJ
aiti-4136	764	20	convergence	convergence	NOUN
aiti-4136	764	21	,	,	PUNCT
aiti-4136	764	22	”	"	PUNCT
aiti-4136	764	23	ieee	ieee	NOUN
aiti-4136	764	24	transaction	transaction	NOUN
aiti-4136	764	25	on	on	ADP
aiti-4136	764	26	automatic	automatic	ADJ
aiti-4136	764	27	control	control	NOUN
aiti-4136	764	28	,	,	PUNCT
aiti-4136	764	29	vol	vol	NOUN
aiti-4136	764	30	.	.	PROPN
aiti-4136	764	31	40	40	NUM
aiti-4136	764	32	,	,	PUNCT
aiti-4136	764	33	no	no	INTJ
aiti-4136	764	34	.	.	NOUN
aiti-4136	764	35	4	4	NUM
aiti-4136	764	36	,	,	PUNCT
aiti-4136	764	37	pp	pp	ADJ
aiti-4136	764	38	.	.	PUNCT
aiti-4136	765	1	704	704	NUM
aiti-4136	765	2	-	-	SYM
aiti-4136	765	3	707	707	NUM
aiti-4136	765	4	,	,	PUNCT
aiti-4136	765	5	1995	1995	NUM
aiti-4136	765	6	.	.	PUNCT
aiti-4136	766	1	[	[	X
aiti-4136	766	2	17	17	NUM
aiti-4136	766	3	]	]	PUNCT
aiti-4136	766	4	s.	s.	PROPN
aiti-4136	766	5	nagai	nagai	PROPN
aiti-4136	766	6	,	,	PUNCT
aiti-4136	766	7	h.	h.	PROPN
aiti-4136	766	8	oya	oya	PROPN
aiti-4136	766	9	,	,	PUNCT
aiti-4136	766	10	t.	t.	PROPN
aiti-4136	766	11	kubo	kubo	PROPN
aiti-4136	766	12	,	,	PUNCT
aiti-4136	766	13	and	and	CCONJ
aiti-4136	766	14	t.	t.	PROPN
aiti-4136	766	15	matsuki	matsuki	NOUN
aiti-4136	766	16	,	,	PUNCT
aiti-4136	766	17	“	"	PUNCT
aiti-4136	766	18	synthesis	synthesis	NOUN
aiti-4136	766	19	of	of	ADP
aiti-4136	766	20	decentralized	decentralize	VERB
aiti-4136	766	21	variable	variable	ADJ
aiti-4136	766	22	gain	gain	VERB
aiti-4136	766	23	robust	robust	ADJ
aiti-4136	766	24	controllers	controller	NOUN
aiti-4136	766	25	for	for	ADP
aiti-4136	766	26	a	a	DET
aiti-4136	766	27	class	class	NOUN
aiti-4136	766	28	of	of	ADP
aiti-4136	766	29	large	large	ADJ
aiti-4136	766	30	-	-	PUNCT
aiti-4136	766	31	scale	scale	NOUN
aiti-4136	766	32	interconnected	interconnected	ADJ
aiti-4136	766	33	systems	system	NOUN
aiti-4136	766	34	with	with	ADP
aiti-4136	766	35	mismatched	mismatched	ADJ
aiti-4136	766	36	uncertainties	uncertainty	NOUN
aiti-4136	766	37	,	,	PUNCT
aiti-4136	766	38	”	"	PUNCT
aiti-4136	766	39	international	international	ADJ
aiti-4136	766	40	journal	journal	NOUN
aiti-4136	766	41	of	of	ADP
aiti-4136	766	42	system	system	NOUN
aiti-4136	766	43	science	science	NOUN
aiti-4136	766	44	,	,	PUNCT
aiti-4136	766	45	vol	vol	NOUN
aiti-4136	766	46	.	.	PROPN
aiti-4136	766	47	48	48	NUM
aiti-4136	766	48	,	,	PUNCT
aiti-4136	766	49	no	no	INTJ
aiti-4136	766	50	.	.	NOUN
aiti-4136	766	51	8	8	NUM
aiti-4136	766	52	,	,	PUNCT
aiti-4136	766	53	pp	pp	ADJ
aiti-4136	766	54	.	.	PUNCT
aiti-4136	766	55	1616	1616	NUM
aiti-4136	766	56	-	-	SYM
aiti-4136	766	57	1623	1623	NUM
aiti-4136	766	58	,	,	PUNCT
aiti-4136	766	59	2017	2017	NUM
aiti-4136	766	60	.	.	PUNCT
aiti-4136	767	1	[	[	X
aiti-4136	767	2	18	18	NUM
aiti-4136	767	3	]	]	X
aiti-4136	767	4	h.	h.	PROPN
aiti-4136	767	5	mukaidani	mukaidani	PROPN
aiti-4136	767	6	,	,	PUNCT
aiti-4136	767	7	y.	y.	PROPN
aiti-4136	767	8	tanaka	tanaka	PROPN
aiti-4136	767	9	,	,	PUNCT
aiti-4136	767	10	and	and	CCONJ
aiti-4136	767	11	k.	k.	PROPN
aiti-4136	767	12	mizukami	mizukami	PROPN
aiti-4136	767	13	,	,	PUNCT
aiti-4136	767	14	“	"	PUNCT
aiti-4136	767	15	guaranteed	guarantee	VERB
aiti-4136	767	16	cost	cost	NOUN
aiti-4136	767	17	control	control	NOUN
aiti-4136	767	18	for	for	ADP
aiti-4136	767	19	large	large	ADJ
aiti-4136	767	20	-	-	PUNCT
aiti-4136	767	21	scale	scale	NOUN
aiti-4136	767	22	systems	system	NOUN
aiti-4136	767	23	under	under	ADP
aiti-4136	767	24	control	control	NOUN
aiti-4136	767	25	gain	gain	NOUN
aiti-4136	767	26	perturbations	perturbation	NOUN
aiti-4136	767	27	,	,	PUNCT
aiti-4136	767	28	”	"	PUNCT
aiti-4136	767	29	electrical	electrical	ADJ
aiti-4136	767	30	engineering	engineering	NOUN
aiti-4136	767	31	in	in	ADP
aiti-4136	767	32	japan	japan	PROPN
aiti-4136	767	33	,	,	PUNCT
aiti-4136	767	34	vol	vol	NOUN
aiti-4136	767	35	.	.	PROPN
aiti-4136	768	1	146	146	NUM
aiti-4136	768	2	,	,	PUNCT
aiti-4136	768	3	no	no	INTJ
aiti-4136	768	4	.	.	NOUN
aiti-4136	768	5	4	4	NUM
aiti-4136	768	6	,	,	PUNCT
aiti-4136	768	7	pp	pp	ADJ
aiti-4136	768	8	.	.	PUNCT
aiti-4136	769	1	43	43	NUM
aiti-4136	769	2	-	-	SYM
aiti-4136	769	3	57	57	NUM
aiti-4136	769	4	,	,	PUNCT
aiti-4136	769	5	2004	2004	NUM
aiti-4136	769	6	.	.	PUNCT
aiti-4136	770	1	advances	advance	NOUN
aiti-4136	770	2	in	in	ADP
aiti-4136	770	3	technology	technology	NOUN
aiti-4136	770	4	innovation	innovation	NOUN
aiti-4136	770	5	,	,	PUNCT
aiti-4136	770	6	vol	vol	NOUN
aiti-4136	770	7	.	.	PROPN
aiti-4136	770	8	5	5	NUM
aiti-4136	770	9	,	,	PUNCT
aiti-4136	770	10	no	no	INTJ
aiti-4136	770	11	.	.	NOUN
aiti-4136	770	12	2	2	NUM
aiti-4136	770	13	,	,	PUNCT
aiti-4136	770	14	2020	2020	NUM
aiti-4136	770	15	,	,	PUNCT
aiti-4136	770	16	pp	pp	ADV
aiti-4136	770	17	.	.	PUNCT
aiti-4136	771	1	112	112	NUM
aiti-4136	771	2	-	-	SYM
aiti-4136	771	3	125	125	NUM
aiti-4136	771	4	125	125	NUM
aiti-4136	771	5	[	[	SYM
aiti-4136	771	6	19	19	NUM
aiti-4136	771	7	]	]	X
aiti-4136	771	8	r.	r.	PROPN
aiti-4136	771	9	olfati	olfati	PROPN
aiti-4136	771	10	-	-	PUNCT
aiti-4136	771	11	saber	saber	NOUN
aiti-4136	771	12	and	and	CCONJ
aiti-4136	771	13	r.	r.	PROPN
aiti-4136	771	14	m.	m.	PROPN
aiti-4136	771	15	murray	murray	PROPN
aiti-4136	771	16	,	,	PUNCT
aiti-4136	771	17	“	"	PUNCT
aiti-4136	771	18	consensus	consensus	NOUN
aiti-4136	771	19	problems	problem	NOUN
aiti-4136	771	20	in	in	ADP
aiti-4136	771	21	networks	network	NOUN
aiti-4136	771	22	of	of	ADP
aiti-4136	771	23	agents	agent	NOUN
aiti-4136	771	24	with	with	ADP
aiti-4136	771	25	switching	switch	VERB
aiti-4136	771	26	topology	topology	NOUN
aiti-4136	771	27	and	and	CCONJ
aiti-4136	771	28	timedelays	timedelay	NOUN
aiti-4136	771	29	,	,	PUNCT
aiti-4136	771	30	”	"	PUNCT
aiti-4136	771	31	ieee	ieee	NOUN
aiti-4136	771	32	transaction	transaction	NOUN
aiti-4136	771	33	on	on	ADP
aiti-4136	771	34	automatic	automatic	ADJ
aiti-4136	771	35	control	control	NOUN
aiti-4136	771	36	,	,	PUNCT
aiti-4136	771	37	vol	vol	NOUN
aiti-4136	771	38	.	.	PROPN
aiti-4136	771	39	49	49	NUM
aiti-4136	771	40	,	,	PUNCT
aiti-4136	771	41	no	no	INTJ
aiti-4136	771	42	.	.	NOUN
aiti-4136	771	43	9	9	NUM
aiti-4136	771	44	,	,	PUNCT
aiti-4136	771	45	pp	pp	ADJ
aiti-4136	771	46	.	.	PUNCT
aiti-4136	772	1	1520	1520	NUM
aiti-4136	772	2	-	-	SYM
aiti-4136	772	3	1533	1533	NUM
aiti-4136	772	4	,	,	PUNCT
aiti-4136	772	5	2004	2004	NUM
aiti-4136	772	6	.	.	PUNCT
aiti-4136	773	1	[	[	X
aiti-4136	773	2	20	20	NUM
aiti-4136	773	3	]	]	X
aiti-4136	773	4	g.	g.	PROPN
aiti-4136	773	5	xie	xie	PROPN
aiti-4136	773	6	and	and	CCONJ
aiti-4136	773	7	l.	l.	PROPN
aiti-4136	773	8	wang	wang	PROPN
aiti-4136	773	9	,	,	PUNCT
aiti-4136	773	10	“	"	PUNCT
aiti-4136	773	11	consensus	consensus	NOUN
aiti-4136	773	12	control	control	NOUN
aiti-4136	773	13	for	for	ADP
aiti-4136	773	14	a	a	DET
aiti-4136	773	15	class	class	NOUN
aiti-4136	773	16	of	of	ADP
aiti-4136	773	17	networks	network	NOUN
aiti-4136	773	18	of	of	ADP
aiti-4136	773	19	dynamic	dynamic	ADJ
aiti-4136	773	20	agents	agent	NOUN
aiti-4136	773	21	:	:	PUNCT
aiti-4136	773	22	fixed	fix	VERB
aiti-4136	773	23	topology	topology	NOUN
aiti-4136	773	24	,	,	PUNCT
aiti-4136	773	25	”	"	PUNCT
aiti-4136	773	26	proc	proc	NOUN
aiti-4136	773	27	.	.	PUNCT
aiti-4136	774	1	the	the	DET
aiti-4136	774	2	44th	44th	ADJ
aiti-4136	774	3	ieee	ieee	NOUN
aiti-4136	774	4	conference	conference	NOUN
aiti-4136	774	5	on	on	ADP
aiti-4136	774	6	decision	decision	NOUN
aiti-4136	774	7	and	and	CCONJ
aiti-4136	774	8	control	control	NOUN
aiti-4136	774	9	,	,	PUNCT
aiti-4136	774	10	and	and	CCONJ
aiti-4136	774	11	the	the	DET
aiti-4136	774	12	european	european	PROPN
aiti-4136	774	13	control	control	PROPN
aiti-4136	774	14	conference	conference	PROPN
aiti-4136	774	15	2005	2005	NUM
aiti-4136	774	16	,	,	PUNCT
aiti-4136	774	17	seville	seville	NOUN
aiti-4136	774	18	,	,	PUNCT
aiti-4136	774	19	spain	spain	PROPN
aiti-4136	774	20	,	,	PUNCT
aiti-4136	774	21	2005	2005	NUM
aiti-4136	774	22	,	,	PUNCT
aiti-4136	774	23	pp	pp	ADJ
aiti-4136	774	24	.	.	PUNCT
aiti-4136	774	25	96101	96101	NUM
aiti-4136	774	26	.	.	PUNCT
aiti-4136	775	1	[	[	X
aiti-4136	775	2	21	21	NUM
aiti-4136	775	3	]	]	X
aiti-4136	775	4	y.	y.	PROPN
aiti-4136	775	5	zhang	zhang	PROPN
aiti-4136	775	6	and	and	CCONJ
aiti-4136	775	7	y.	y.	PROPN
aiti-4136	775	8	p.	p.	PROPN
aiti-4136	775	9	tian	tian	PROPN
aiti-4136	775	10	,	,	PUNCT
aiti-4136	775	11	“	"	PUNCT
aiti-4136	775	12	consentability	consentability	NOUN
aiti-4136	775	13	and	and	CCONJ
aiti-4136	775	14	protocol	protocol	NOUN
aiti-4136	775	15	design	design	NOUN
aiti-4136	775	16	of	of	ADP
aiti-4136	775	17	multiagent	multiagent	NOUN
aiti-4136	775	18	systems	system	NOUN
aiti-4136	775	19	with	with	ADP
aiti-4136	775	20	stochastic	stochastic	ADJ
aiti-4136	775	21	switching	switching	NOUN
aiti-4136	775	22	topology	topology	NOUN
aiti-4136	775	23	,	,	PUNCT
aiti-4136	775	24	”	"	PUNCT
aiti-4136	775	25	automatica	automatica	PROPN
aiti-4136	775	26	,	,	PUNCT
aiti-4136	775	27	vol	vol	NOUN
aiti-4136	775	28	.	.	PROPN
aiti-4136	776	1	45	45	NUM
aiti-4136	776	2	,	,	PUNCT
aiti-4136	776	3	no	no	INTJ
aiti-4136	776	4	.	.	NOUN
aiti-4136	776	5	5	5	NUM
aiti-4136	776	6	,	,	PUNCT
aiti-4136	776	7	pp	pp	ADJ
aiti-4136	776	8	.	.	PUNCT
aiti-4136	777	1	1195	1195	NUM
aiti-4136	777	2	-	-	SYM
aiti-4136	777	3	1201	1201	NUM
aiti-4136	777	4	,	,	PUNCT
aiti-4136	777	5	2009	2009	NUM
aiti-4136	777	6	.	.	PUNCT
aiti-4136	778	1	[	[	X
aiti-4136	778	2	22	22	NUM
aiti-4136	778	3	]	]	X
aiti-4136	778	4	g.	g.	PROPN
aiti-4136	778	5	zhai	zhai	PROPN
aiti-4136	778	6	,	,	PUNCT
aiti-4136	778	7	s.	s.	PROPN
aiti-4136	778	8	okuno	okuno	PROPN
aiti-4136	778	9	,	,	PUNCT
aiti-4136	778	10	j.	j.	PROPN
aiti-4136	778	11	imae	imae	PROPN
aiti-4136	778	12	,	,	PUNCT
aiti-4136	778	13	and	and	CCONJ
aiti-4136	778	14	t.	t.	PROPN
aiti-4136	778	15	kobayashi	kobayashi	PROPN
aiti-4136	778	16	,	,	PUNCT
aiti-4136	778	17	“	"	PUNCT
aiti-4136	778	18	a	a	DET
aiti-4136	778	19	matrix	matrix	NOUN
aiti-4136	778	20	inequality	inequality	NOUN
aiti-4136	778	21	based	base	VERB
aiti-4136	778	22	design	design	NOUN
aiti-4136	778	23	method	method	NOUN
aiti-4136	778	24	for	for	ADP
aiti-4136	778	25	consensus	consensus	NOUN
aiti-4136	778	26	problems	problem	NOUN
aiti-4136	778	27	in	in	ADP
aiti-4136	778	28	multi	multi	ADJ
aiti-4136	778	29	-	-	ADJ
aiti-4136	778	30	agent	agent	ADJ
aiti-4136	778	31	aystems	aystem	NOUN
aiti-4136	778	32	,	,	PUNCT
aiti-4136	778	33	”	"	PUNCT
aiti-4136	778	34	internationl	internationl	NOUN
aiti-4136	778	35	journal	journal	NOUN
aiti-4136	778	36	of	of	ADP
aiti-4136	778	37	application	application	NOUN
aiti-4136	778	38	mathematics	mathematic	NOUN
aiti-4136	778	39	and	and	CCONJ
aiti-4136	778	40	computer	computer	NOUN
aiti-4136	778	41	science	science	NOUN
aiti-4136	778	42	,	,	PUNCT
aiti-4136	778	43	vol	vol	NOUN
aiti-4136	778	44	.	.	PROPN
aiti-4136	778	45	19	19	NUM
aiti-4136	778	46	,	,	PUNCT
aiti-4136	778	47	no	no	INTJ
aiti-4136	778	48	.	.	NOUN
aiti-4136	778	49	4	4	NUM
aiti-4136	778	50	,	,	PUNCT
aiti-4136	778	51	pp	pp	ADJ
aiti-4136	778	52	.	.	PUNCT
aiti-4136	778	53	639646	639646	NUM
aiti-4136	778	54	,	,	PUNCT
aiti-4136	778	55	2009	2009	NUM
aiti-4136	778	56	.	.	PUNCT
aiti-4136	779	1	[	[	X
aiti-4136	779	2	23	23	NUM
aiti-4136	779	3	]	]	PUNCT
aiti-4136	779	4	s.	s.	PROPN
aiti-4136	779	5	ito	ito	PROPN
aiti-4136	779	6	,	,	PUNCT
aiti-4136	779	7	k.	k.	PROPN
aiti-4136	779	8	miyakoshi	miyakoshi	PROPN
aiti-4136	779	9	,	,	PUNCT
aiti-4136	779	10	h.	h.	PROPN
aiti-4136	779	11	oya	oya	PROPN
aiti-4136	779	12	,	,	PUNCT
aiti-4136	779	13	y.	y.	PROPN
aiti-4136	779	14	hoshi	hoshi	PROPN
aiti-4136	779	15	,	,	PUNCT
aiti-4136	779	16	and	and	CCONJ
aiti-4136	779	17	s.	s.	PROPN
aiti-4136	779	18	nagai	nagai	PROPN
aiti-4136	779	19	,	,	PUNCT
aiti-4136	779	20	“	"	PUNCT
aiti-4136	779	21	consensus	consensus	NOUN
aiti-4136	779	22	via	via	ADP
aiti-4136	779	23	adaptive	adaptive	ADJ
aiti-4136	779	24	gain	gain	NOUN
aiti-4136	779	25	controllers	controller	NOUN
aiti-4136	779	26	considering	consider	VERB
aiti-4136	779	27	relative	relative	ADJ
aiti-4136	779	28	distances	distance	NOUN
aiti-4136	779	29	for	for	ADP
aiti-4136	779	30	multi	multi	ADJ
aiti-4136	779	31	-	-	ADJ
aiti-4136	779	32	agent	agent	ADJ
aiti-4136	779	33	systems	system	NOUN
aiti-4136	779	34	,	,	PUNCT
aiti-4136	779	35	”	"	PUNCT
aiti-4136	779	36	advcances	advcance	NOUN
aiti-4136	779	37	in	in	ADP
aiti-4136	779	38	technology	technology	NOUN
aiti-4136	779	39	innovation	innovation	NOUN
aiti-4136	779	40	,	,	PUNCT
aiti-4136	779	41	vol	vol	NOUN
aiti-4136	779	42	.	.	PROPN
aiti-4136	779	43	4	4	NUM
aiti-4136	779	44	,	,	PUNCT
aiti-4136	779	45	no	no	INTJ
aiti-4136	779	46	.	.	NOUN
aiti-4136	779	47	4	4	NUM
aiti-4136	779	48	,	,	PUNCT
aiti-4136	779	49	pp	pp	ADJ
aiti-4136	779	50	.	.	PUNCT
aiti-4136	780	1	234	234	NUM
aiti-4136	780	2	-	-	SYM
aiti-4136	780	3	246	246	NUM
aiti-4136	780	4	,	,	PUNCT
aiti-4136	780	5	august	august	PROPN
aiti-4136	780	6	2019	2019	NUM
aiti-4136	780	7	.	.	PUNCT
aiti-4136	781	1	[	[	X
aiti-4136	781	2	24	24	NUM
aiti-4136	781	3	]	]	PUNCT
aiti-4136	781	4	s.	s.	PROPN
aiti-4136	781	5	boyd	boyd	PROPN
aiti-4136	781	6	,	,	PUNCT
aiti-4136	781	7	l.	l.	PROPN
aiti-4136	781	8	el	el	PROPN
aiti-4136	781	9	ghaoui	ghaoui	PROPN
aiti-4136	781	10	,	,	PUNCT
aiti-4136	781	11	e.	e.	PROPN
aiti-4136	781	12	feron	feron	PROPN
aiti-4136	781	13	,	,	PUNCT
aiti-4136	781	14	and	and	CCONJ
aiti-4136	781	15	v.	v.	ADP
aiti-4136	781	16	balakrishnan	balakrishnan	PROPN
aiti-4136	781	17	,	,	PUNCT
aiti-4136	781	18	linear	linear	ADJ
aiti-4136	781	19	matrix	matrix	NOUN
aiti-4136	781	20	inequalities	inequality	NOUN
aiti-4136	781	21	in	in	ADP
aiti-4136	781	22	system	system	NOUN
aiti-4136	781	23	and	and	CCONJ
aiti-4136	781	24	control	control	NOUN
aiti-4136	781	25	theory	theory	NOUN
aiti-4136	781	26	,	,	PUNCT
aiti-4136	781	27	siam	siam	ADJ
aiti-4136	781	28	studies	study	NOUN
aiti-4136	781	29	in	in	ADP
aiti-4136	781	30	applied	applied	ADJ
aiti-4136	781	31	mathmatics	mathmatic	NOUN
aiti-4136	781	32	,	,	PUNCT
aiti-4136	781	33	1994	1994	NUM
aiti-4136	781	34	.	.	PUNCT
aiti-4136	782	1	[	[	X
aiti-4136	782	2	25	25	NUM
aiti-4136	782	3	]	]	X
aiti-4136	782	4	h.	h.	PROPN
aiti-4136	782	5	oya	oya	PROPN
aiti-4136	782	6	,	,	PUNCT
aiti-4136	782	7	k.	k.	PROPN
aiti-4136	782	8	hagino	hagino	PROPN
aiti-4136	782	9	and	and	CCONJ
aiti-4136	782	10	h.	h.	PROPN
aiti-4136	782	11	mukaidani	mukaidani	PROPN
aiti-4136	782	12	,	,	PUNCT
aiti-4136	782	13	“	"	PUNCT
aiti-4136	782	14	guaranteed	guarantee	VERB
aiti-4136	782	15	.	.	PUNCT
aiti-4136	783	1	cost	cost	NOUN
aiti-4136	783	2	control	control	NOUN
aiti-4136	783	3	for	for	ADP
aiti-4136	783	4	uncertain	uncertain	ADJ
aiti-4136	783	5	.	.	PUNCT
aiti-4136	784	1	linear	linear	ADJ
aiti-4136	784	2	continuous	continuous	ADJ
aiti-4136	784	3	-	-	PUNCT
aiti-4136	784	4	time	time	NOUN
aiti-4136	784	5	.	.	PUNCT
aiti-4136	785	1	systems	system	NOUN
aiti-4136	785	2	.	.	PUNCT
aiti-4136	786	1	under	under	ADP
aiti-4136	786	2	conrtol	conrtol	NOUN
aiti-4136	786	3	gain	gain	NOUN
aiti-4136	786	4	perturbations	perturbation	NOUN
aiti-4136	786	5	,	,	PUNCT
aiti-4136	786	6	”	"	PUNCT
aiti-4136	786	7	(	(	PUNCT
aiti-4136	786	8	in	in	ADP
aiti-4136	786	9	japanese	japanese	PROPN
aiti-4136	786	10	)	)	PUNCT
aiti-4136	786	11	trans	trans	PROPN
aiti-4136	786	12	.	.	PROPN
aiti-4136	786	13	of	of	ADP
aiti-4136	786	14	jsme(c	jsme(c	PROPN
aiti-4136	786	15	)	)	PUNCT
aiti-4136	786	16	,	,	PUNCT
aiti-4136	786	17	vol	vol	NOUN
aiti-4136	786	18	.	.	PROPN
aiti-4136	786	19	72	72	NUM
aiti-4136	786	20	,	,	PUNCT
aiti-4136	786	21	no	no	INTJ
aiti-4136	786	22	.	.	NOUN
aiti-4136	786	23	713	713	NUM
aiti-4136	786	24	,	,	PUNCT
aiti-4136	786	25	pp	pp	ADJ
aiti-4136	786	26	.	.	PUNCT
aiti-4136	787	1	92	92	NUM
aiti-4136	787	2	-	-	SYM
aiti-4136	787	3	101	101	NUM
aiti-4136	787	4	,	,	PUNCT
aiti-4136	787	5	2006	2006	NUM
aiti-4136	787	6	.	.	PUNCT
aiti-4136	788	1	copyright	copyright	NOUN
aiti-4136	788	2	©	©	PROPN
aiti-4136	788	3	by	by	ADP
aiti-4136	788	4	the	the	DET
aiti-4136	788	5	authors	author	NOUN
aiti-4136	788	6	.	.	PUNCT
aiti-4136	789	1	licensee	licensee	PROPN
aiti-4136	789	2	taeti	taeti	PROPN
aiti-4136	789	3	,	,	PUNCT
aiti-4136	789	4	taiwan	taiwan	PROPN
aiti-4136	789	5	.	.	PUNCT
aiti-4136	790	1	this	this	DET
aiti-4136	790	2	article	article	NOUN
aiti-4136	790	3	is	be	AUX
aiti-4136	790	4	an	an	DET
aiti-4136	790	5	open	open	ADJ
aiti-4136	790	6	access	access	NOUN
aiti-4136	790	7	article	article	NOUN
aiti-4136	790	8	distributed	distribute	VERB
aiti-4136	790	9	under	under	ADP
aiti-4136	790	10	the	the	DET
aiti-4136	790	11	terms	term	NOUN
aiti-4136	790	12	and	and	CCONJ
aiti-4136	790	13	conditions	condition	NOUN
aiti-4136	790	14	of	of	ADP
aiti-4136	790	15	the	the	DET
aiti-4136	790	16	creative	creative	ADJ
aiti-4136	790	17	commons	common	NOUN
aiti-4136	790	18	attribution	attribution	NOUN
aiti-4136	790	19	(	(	PUNCT
aiti-4136	790	20	cc	cc	NOUN
aiti-4136	790	21	by	by	ADP
aiti-4136	790	22	-	-	PUNCT
aiti-4136	790	23	nc	nc	NOUN
aiti-4136	790	24	)	)	PUNCT
aiti-4136	790	25	license	license	NOUN
aiti-4136	790	26	(	(	PUNCT
aiti-4136	790	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-4136	790	28	)	)	PUNCT
aiti-4136	790	29	.	.	PUNCT