id	sid	tid	token	lemma	pos
aiti-9252	1	1	1___aiti#9252___155	1___aiti#9252___155	NUM
aiti-9252	1	2	-	-	SYM
aiti-9252	1	3	168	168	NUM
aiti-9252	1	4	advances	advance	NOUN
aiti-9252	1	5	in	in	ADP
aiti-9252	1	6	technology	technology	NOUN
aiti-9252	1	7	innovation	innovation	NOUN
aiti-9252	1	8	,	,	PUNCT
aiti-9252	1	9	vol	vol	NOUN
aiti-9252	1	10	.	.	PROPN
aiti-9252	1	11	7	7	NUM
aiti-9252	1	12	,	,	PUNCT
aiti-9252	1	13	no	no	INTJ
aiti-9252	1	14	.	.	NOUN
aiti-9252	1	15	3	3	NUM
aiti-9252	1	16	,	,	PUNCT
aiti-9252	1	17	2022	2022	NUM
aiti-9252	1	18	,	,	PUNCT
aiti-9252	1	19	pp	pp	ADJ
aiti-9252	1	20	.	.	PUNCT
aiti-9252	1	21	155	155	NUM
aiti-9252	1	22	-	-	SYM
aiti-9252	1	23	168	168	NUM
aiti-9252	1	24	observer	observer	NOUN
aiti-9252	1	25	-	-	PUNCT
aiti-9252	1	26	based	base	VERB
aiti-9252	1	27	quadratic	quadratic	ADJ
aiti-9252	1	28	guaranteed	guarantee	VERB
aiti-9252	1	29	cost	cost	NOUN
aiti-9252	1	30	control	control	NOUN
aiti-9252	1	31	for	for	ADP
aiti-9252	1	32	linear	linear	ADJ
aiti-9252	1	33	uncertain	uncertain	ADJ
aiti-9252	1	34	systems	system	NOUN
aiti-9252	1	35	with	with	ADP
aiti-9252	1	36	control	control	NOUN
aiti-9252	1	37	gain	gain	NOUN
aiti-9252	1	38	variation	variation	NOUN
aiti-9252	1	39	satoshi	satoshi	PROPN
aiti-9252	1	40	hayakawa	hayakawa	PROPN
aiti-9252	1	41	*	*	PROPN
aiti-9252	1	42	,	,	PUNCT
aiti-9252	1	43	yoshikatsu	yoshikatsu	PROPN
aiti-9252	1	44	hoshi	hoshi	PROPN
aiti-9252	1	45	,	,	PUNCT
aiti-9252	1	46	hidetoshi	hidetoshi	ADJ
aiti-9252	1	47	oya	oya	PROPN
aiti-9252	1	48	graduate	graduate	PROPN
aiti-9252	1	49	school	school	NOUN
aiti-9252	1	50	of	of	ADP
aiti-9252	1	51	integrative	integrative	ADJ
aiti-9252	1	52	science	science	NOUN
aiti-9252	1	53	and	and	CCONJ
aiti-9252	1	54	engineering	engineering	NOUN
aiti-9252	1	55	,	,	PUNCT
aiti-9252	1	56	tokyo	tokyo	PROPN
aiti-9252	1	57	city	city	NOUN
aiti-9252	1	58	university	university	PROPN
aiti-9252	1	59	,	,	PUNCT
aiti-9252	1	60	tokyo	tokyo	PROPN
aiti-9252	1	61	,	,	PUNCT
aiti-9252	1	62	japan	japan	PROPN
aiti-9252	1	63	received	receive	VERB
aiti-9252	1	64	11	11	NUM
aiti-9252	1	65	january	january	PROPN
aiti-9252	1	66	2022	2022	NUM
aiti-9252	1	67	;	;	PUNCT
aiti-9252	1	68	received	receive	VERB
aiti-9252	1	69	in	in	ADP
aiti-9252	1	70	revised	revise	VERB
aiti-9252	1	71	form	form	NOUN
aiti-9252	1	72	23	23	NUM
aiti-9252	1	73	april	april	PROPN
aiti-9252	1	74	2022	2022	NUM
aiti-9252	1	75	;	;	PUNCT
aiti-9252	1	76	accepted	accept	VERB
aiti-9252	1	77	24	24	NUM
aiti-9252	1	78	april	april	PROPN
aiti-9252	1	79	2022	2022	NUM
aiti-9252	1	80	doi	doi	NOUN
aiti-9252	1	81	:	:	PUNCT
aiti-9252	1	82	https://doi.org/10.46604/aiti.2022.9252	https://doi.org/10.46604/aiti.2022.9252	PROPN
aiti-9252	1	83	abstract	abstract	NOUN
aiti-9252	1	84	this	this	DET
aiti-9252	1	85	study	study	NOUN
aiti-9252	1	86	proposes	propose	VERB
aiti-9252	1	87	a	a	DET
aiti-9252	1	88	method	method	NOUN
aiti-9252	1	89	for	for	ADP
aiti-9252	1	90	designing	design	VERB
aiti-9252	1	91	observer	observer	NOUN
aiti-9252	1	92	-	-	PUNCT
aiti-9252	1	93	based	base	VERB
aiti-9252	1	94	quadratic	quadratic	ADJ
aiti-9252	1	95	guaranteed	guarantee	VERB
aiti-9252	1	96	cost	cost	NOUN
aiti-9252	1	97	controllers	controller	NOUN
aiti-9252	1	98	for	for	ADP
aiti-9252	1	99	linear	linear	ADJ
aiti-9252	1	100	uncertain	uncertain	ADJ
aiti-9252	1	101	systems	system	NOUN
aiti-9252	1	102	with	with	ADP
aiti-9252	1	103	control	control	NOUN
aiti-9252	1	104	gain	gain	NOUN
aiti-9252	1	105	variations	variation	NOUN
aiti-9252	1	106	.	.	PUNCT
aiti-9252	2	1	in	in	ADP
aiti-9252	2	2	the	the	DET
aiti-9252	2	3	proposed	propose	VERB
aiti-9252	2	4	approach	approach	NOUN
aiti-9252	2	5	,	,	PUNCT
aiti-9252	2	6	an	an	DET
aiti-9252	2	7	observer	observer	NOUN
aiti-9252	2	8	is	be	AUX
aiti-9252	2	9	designed	design	VERB
aiti-9252	2	10	,	,	PUNCT
aiti-9252	2	11	and	and	CCONJ
aiti-9252	2	12	then	then	ADV
aiti-9252	2	13	a	a	DET
aiti-9252	2	14	feedback	feedback	NOUN
aiti-9252	2	15	controller	controller	NOUN
aiti-9252	2	16	that	that	PRON
aiti-9252	2	17	ensures	ensure	VERB
aiti-9252	2	18	the	the	DET
aiti-9252	2	19	upper	upper	ADJ
aiti-9252	2	20	bound	bind	VERB
aiti-9252	2	21	on	on	ADP
aiti-9252	2	22	the	the	DET
aiti-9252	2	23	given	give	VERB
aiti-9252	2	24	quadratic	quadratic	ADJ
aiti-9252	2	25	cost	cost	NOUN
aiti-9252	2	26	function	function	NOUN
aiti-9252	2	27	is	be	AUX
aiti-9252	2	28	derived	derive	VERB
aiti-9252	2	29	.	.	PUNCT
aiti-9252	3	1	this	this	DET
aiti-9252	3	2	study	study	NOUN
aiti-9252	3	3	shows	show	VERB
aiti-9252	3	4	that	that	SCONJ
aiti-9252	3	5	sufficient	sufficient	ADJ
aiti-9252	3	6	conditions	condition	NOUN
aiti-9252	3	7	for	for	ADP
aiti-9252	3	8	the	the	DET
aiti-9252	3	9	existence	existence	NOUN
aiti-9252	3	10	of	of	ADP
aiti-9252	3	11	the	the	DET
aiti-9252	3	12	observer	observer	NOUN
aiti-9252	3	13	-	-	PUNCT
aiti-9252	3	14	based	base	VERB
aiti-9252	3	15	quadratic	quadratic	ADJ
aiti-9252	3	16	guaranteed	guarantee	VERB
aiti-9252	3	17	cost	cost	NOUN
aiti-9252	3	18	controller	controller	NOUN
aiti-9252	3	19	are	be	AUX
aiti-9252	3	20	given	give	VERB
aiti-9252	3	21	in	in	ADP
aiti-9252	3	22	terms	term	NOUN
aiti-9252	3	23	of	of	ADP
aiti-9252	3	24	linear	linear	ADJ
aiti-9252	3	25	matrix	matrix	NOUN
aiti-9252	3	26	inequalities	inequality	NOUN
aiti-9252	3	27	.	.	PUNCT
aiti-9252	4	1	a	a	DET
aiti-9252	4	2	sub	sub	ADJ
aiti-9252	4	3	-	-	ADJ
aiti-9252	4	4	optimal	optimal	ADJ
aiti-9252	4	5	quadratic	quadratic	ADJ
aiti-9252	4	6	guaranteed	guarantee	VERB
aiti-9252	4	7	cost	cost	NOUN
aiti-9252	4	8	control	control	NOUN
aiti-9252	4	9	strategy	strategy	NOUN
aiti-9252	4	10	is	be	AUX
aiti-9252	4	11	also	also	ADV
aiti-9252	4	12	discussed	discuss	VERB
aiti-9252	4	13	.	.	PUNCT
aiti-9252	5	1	finally	finally	ADV
aiti-9252	5	2	,	,	PUNCT
aiti-9252	5	3	the	the	DET
aiti-9252	5	4	effectiveness	effectiveness	NOUN
aiti-9252	5	5	of	of	ADP
aiti-9252	5	6	the	the	DET
aiti-9252	5	7	proposed	propose	VERB
aiti-9252	5	8	controller	controller	NOUN
aiti-9252	5	9	is	be	AUX
aiti-9252	5	10	illustrated	illustrate	VERB
aiti-9252	5	11	by	by	ADP
aiti-9252	5	12	a	a	DET
aiti-9252	5	13	numerical	numerical	ADJ
aiti-9252	5	14	example	example	NOUN
aiti-9252	5	15	.	.	PUNCT
aiti-9252	6	1	the	the	DET
aiti-9252	6	2	result	result	NOUN
aiti-9252	6	3	shows	show	VERB
aiti-9252	6	4	that	that	SCONJ
aiti-9252	6	5	the	the	DET
aiti-9252	6	6	proposed	propose	VERB
aiti-9252	6	7	controller	controller	NOUN
aiti-9252	6	8	is	be	AUX
aiti-9252	6	9	more	more	ADV
aiti-9252	6	10	effective	effective	ADJ
aiti-9252	6	11	than	than	ADP
aiti-9252	6	12	conventional	conventional	ADJ
aiti-9252	6	13	methods	method	NOUN
aiti-9252	6	14	even	even	ADV
aiti-9252	6	15	if	if	SCONJ
aiti-9252	6	16	system	system	NOUN
aiti-9252	6	17	uncertainties	uncertainty	NOUN
aiti-9252	6	18	and	and	CCONJ
aiti-9252	6	19	control	control	NOUN
aiti-9252	6	20	gain	gain	NOUN
aiti-9252	6	21	variations	variation	NOUN
aiti-9252	6	22	exist	exist	VERB
aiti-9252	6	23	.	.	PUNCT
aiti-9252	7	1	keywords	keyword	NOUN
aiti-9252	7	2	:	:	PUNCT
aiti-9252	7	3	polytopic	polytopic	NOUN
aiti-9252	7	4	uncertainty	uncertainty	NOUN
aiti-9252	7	5	,	,	PUNCT
aiti-9252	7	6	quadratic	quadratic	ADJ
aiti-9252	7	7	guaranteed	guarantee	VERB
aiti-9252	7	8	cost	cost	NOUN
aiti-9252	7	9	control	control	NOUN
aiti-9252	7	10	,	,	PUNCT
aiti-9252	7	11	observer	observer	NOUN
aiti-9252	7	12	-	-	PUNCT
aiti-9252	7	13	based	base	VERB
aiti-9252	7	14	controller	controller	NOUN
aiti-9252	7	15	,	,	PUNCT
aiti-9252	7	16	control	control	NOUN
aiti-9252	7	17	gain	gain	NOUN
aiti-9252	7	18	variation	variation	NOUN
aiti-9252	7	19	,	,	PUNCT
aiti-9252	7	20	linear	linear	ADJ
aiti-9252	7	21	matrix	matrix	NOUN
aiti-9252	7	22	inequality	inequality	NOUN
aiti-9252	7	23	(	(	PUNCT
aiti-9252	7	24	lmi	lmi	PROPN
aiti-9252	7	25	)	)	PUNCT
aiti-9252	7	26	1	1	NUM
aiti-9252	7	27	.	.	PUNCT
aiti-9252	7	28	introduction	introduction	NOUN
aiti-9252	7	29	in	in	ADP
aiti-9252	7	30	the	the	DET
aiti-9252	7	31	design	design	NOUN
aiti-9252	7	32	of	of	ADP
aiti-9252	7	33	control	control	NOUN
aiti-9252	7	34	systems	system	NOUN
aiti-9252	7	35	for	for	ADP
aiti-9252	7	36	dynamical	dynamical	ADJ
aiti-9252	7	37	systems	system	NOUN
aiti-9252	7	38	,	,	PUNCT
aiti-9252	7	39	it	it	PRON
aiti-9252	7	40	is	be	AUX
aiti-9252	7	41	necessary	necessary	ADJ
aiti-9252	7	42	to	to	PART
aiti-9252	7	43	derive	derive	VERB
aiti-9252	7	44	a	a	DET
aiti-9252	7	45	mathematical	mathematical	ADJ
aiti-9252	7	46	model	model	NOUN
aiti-9252	7	47	for	for	ADP
aiti-9252	7	48	the	the	DET
aiti-9252	7	49	controlled	control	VERB
aiti-9252	7	50	system	system	NOUN
aiti-9252	7	51	.	.	PUNCT
aiti-9252	8	1	if	if	SCONJ
aiti-9252	8	2	the	the	DET
aiti-9252	8	3	mathematical	mathematical	ADJ
aiti-9252	8	4	model	model	NOUN
aiti-9252	8	5	represents	represent	VERB
aiti-9252	8	6	the	the	DET
aiti-9252	8	7	control	control	NOUN
aiti-9252	8	8	system	system	NOUN
aiti-9252	8	9	precisely	precisely	ADV
aiti-9252	8	10	,	,	PUNCT
aiti-9252	8	11	then	then	ADV
aiti-9252	8	12	the	the	DET
aiti-9252	8	13	desired	desire	VERB
aiti-9252	8	14	control	control	NOUN
aiti-9252	8	15	system	system	NOUN
aiti-9252	8	16	can	can	AUX
aiti-9252	8	17	be	be	AUX
aiti-9252	8	18	designed	design	VERB
aiti-9252	8	19	by	by	ADP
aiti-9252	8	20	various	various	ADJ
aiti-9252	8	21	control	control	NOUN
aiti-9252	8	22	design	design	NOUN
aiti-9252	8	23	strategies	strategy	NOUN
aiti-9252	8	24	.	.	PUNCT
aiti-9252	9	1	however	however	ADV
aiti-9252	9	2	,	,	PUNCT
aiti-9252	9	3	it	it	PRON
aiti-9252	9	4	is	be	AUX
aiti-9252	9	5	unavoidable	unavoidable	ADJ
aiti-9252	9	6	that	that	SCONJ
aiti-9252	9	7	there	there	PRON
aiti-9252	9	8	are	be	VERB
aiti-9252	9	9	some	some	DET
aiti-9252	9	10	gaps	gap	NOUN
aiti-9252	9	11	between	between	ADP
aiti-9252	9	12	an	an	DET
aiti-9252	9	13	original	original	ADJ
aiti-9252	9	14	controlled	control	VERB
aiti-9252	9	15	system	system	NOUN
aiti-9252	9	16	and	and	CCONJ
aiti-9252	9	17	its	its	PRON
aiti-9252	9	18	mathematical	mathematical	ADJ
aiti-9252	9	19	model	model	NOUN
aiti-9252	9	20	,	,	PUNCT
aiti-9252	9	21	and	and	CCONJ
aiti-9252	9	22	these	these	DET
aiti-9252	9	23	gaps	gap	NOUN
aiti-9252	9	24	are	be	AUX
aiti-9252	9	25	known	know	VERB
aiti-9252	9	26	as	as	ADP
aiti-9252	9	27	“	"	PUNCT
aiti-9252	9	28	uncertainty	uncertainty	NOUN
aiti-9252	9	29	.	.	PUNCT
aiti-9252	9	30	”	"	PUNCT
aiti-9252	10	1	therefore	therefore	ADV
aiti-9252	10	2	,	,	PUNCT
aiti-9252	10	3	robust	robust	ADJ
aiti-9252	10	4	controller	controller	NOUN
aiti-9252	10	5	design	design	NOUN
aiti-9252	10	6	methods	method	NOUN
aiti-9252	10	7	that	that	PRON
aiti-9252	10	8	can	can	AUX
aiti-9252	10	9	explicitly	explicitly	ADV
aiti-9252	10	10	deal	deal	VERB
aiti-9252	10	11	with	with	ADP
aiti-9252	10	12	uncertainties	uncertainty	NOUN
aiti-9252	10	13	have	have	AUX
aiti-9252	10	14	been	be	AUX
aiti-9252	10	15	well	well	ADV
aiti-9252	10	16	studied	study	VERB
aiti-9252	10	17	.	.	PUNCT
aiti-9252	11	1	a	a	DET
aiti-9252	11	2	large	large	ADJ
aiti-9252	11	3	number	number	NOUN
aiti-9252	11	4	of	of	ADP
aiti-9252	11	5	robust	robust	ADJ
aiti-9252	11	6	control	control	NOUN
aiti-9252	11	7	strategies	strategy	NOUN
aiti-9252	11	8	have	have	AUX
aiti-9252	11	9	been	be	AUX
aiti-9252	11	10	proposed	propose	VERB
aiti-9252	11	11	[	[	PUNCT
aiti-9252	11	12	1	1	NUM
aiti-9252	11	13	-	-	SYM
aiti-9252	11	14	3	3	NUM
aiti-9252	11	15	]	]	PUNCT
aiti-9252	11	16	.	.	PUNCT
aiti-9252	12	1	most	most	ADJ
aiti-9252	12	2	conventional	conventional	ADJ
aiti-9252	12	3	robust	robust	ADJ
aiti-9252	12	4	controllers	controller	NOUN
aiti-9252	12	5	have	have	AUX
aiti-9252	12	6	been	be	AUX
aiti-9252	12	7	designed	design	VERB
aiti-9252	12	8	by	by	ADP
aiti-9252	12	9	solving	solve	VERB
aiti-9252	12	10	linear	linear	ADJ
aiti-9252	12	11	matrix	matrix	NOUN
aiti-9252	12	12	inequalities	inequality	NOUN
aiti-9252	12	13	(	(	PUNCT
aiti-9252	12	14	lmis	lmis	ADJ
aiti-9252	12	15	)	)	PUNCT
aiti-9252	12	16	and	and	CCONJ
aiti-9252	12	17	have	have	VERB
aiti-9252	12	18	fixed	fix	VERB
aiti-9252	12	19	gains	gain	NOUN
aiti-9252	12	20	that	that	PRON
aiti-9252	12	21	are	be	AUX
aiti-9252	12	22	designed	design	VERB
aiti-9252	12	23	by	by	ADP
aiti-9252	12	24	considering	consider	VERB
aiti-9252	12	25	the	the	DET
aiti-9252	12	26	worst	bad	ADJ
aiti-9252	12	27	-	-	PUNCT
aiti-9252	12	28	case	case	NOUN
aiti-9252	12	29	variation	variation	NOUN
aiti-9252	12	30	for	for	ADP
aiti-9252	12	31	uncertainties	uncertainty	NOUN
aiti-9252	12	32	.	.	PUNCT
aiti-9252	13	1	in	in	ADP
aiti-9252	13	2	fact	fact	NOUN
aiti-9252	13	3	,	,	PUNCT
aiti-9252	13	4	it	it	PRON
aiti-9252	13	5	is	be	AUX
aiti-9252	13	6	desirable	desirable	ADJ
aiti-9252	13	7	to	to	PART
aiti-9252	13	8	design	design	VERB
aiti-9252	13	9	robust	robust	ADJ
aiti-9252	13	10	control	control	NOUN
aiti-9252	13	11	systems	system	NOUN
aiti-9252	13	12	with	with	ADP
aiti-9252	13	13	not	not	PART
aiti-9252	13	14	only	only	ADV
aiti-9252	13	15	robust	robust	ADJ
aiti-9252	13	16	stability	stability	NOUN
aiti-9252	13	17	but	but	CCONJ
aiti-9252	13	18	also	also	ADV
aiti-9252	13	19	satisfactory	satisfactory	ADJ
aiti-9252	13	20	control	control	NOUN
aiti-9252	13	21	performance	performance	NOUN
aiti-9252	13	22	.	.	PUNCT
aiti-9252	14	1	to	to	PART
aiti-9252	14	2	achieve	achieve	VERB
aiti-9252	14	3	this	this	PRON
aiti-9252	14	4	,	,	PUNCT
aiti-9252	14	5	chang	chang	PROPN
aiti-9252	14	6	and	and	CCONJ
aiti-9252	14	7	peng	peng	PROPN
aiti-9252	15	1	[	[	X
aiti-9252	15	2	4	4	X
aiti-9252	15	3	]	]	PUNCT
aiti-9252	15	4	proposed	propose	VERB
aiti-9252	15	5	guaranteed	guarantee	VERB
aiti-9252	15	6	cost	cost	NOUN
aiti-9252	15	7	control	control	NOUN
aiti-9252	15	8	.	.	PUNCT
aiti-9252	16	1	in	in	ADP
aiti-9252	16	2	this	this	DET
aiti-9252	16	3	design	design	NOUN
aiti-9252	16	4	method	method	NOUN
aiti-9252	16	5	,	,	PUNCT
aiti-9252	16	6	there	there	PRON
aiti-9252	16	7	is	be	VERB
aiti-9252	16	8	an	an	DET
aiti-9252	16	9	upper	upper	ADJ
aiti-9252	16	10	bound	bind	VERB
aiti-9252	16	11	on	on	ADP
aiti-9252	16	12	a	a	DET
aiti-9252	16	13	given	give	VERB
aiti-9252	16	14	performance	performance	NOUN
aiti-9252	16	15	index	index	NOUN
aiti-9252	16	16	.	.	PUNCT
aiti-9252	17	1	the	the	DET
aiti-9252	17	2	degradation	degradation	NOUN
aiti-9252	17	3	of	of	ADP
aiti-9252	17	4	the	the	DET
aiti-9252	17	5	system	system	NOUN
aiti-9252	17	6	performance	performance	NOUN
aiti-9252	17	7	caused	cause	VERB
aiti-9252	17	8	by	by	ADP
aiti-9252	17	9	uncertainties	uncertainty	NOUN
aiti-9252	17	10	is	be	AUX
aiti-9252	17	11	guaranteed	guarantee	VERB
aiti-9252	17	12	to	to	PART
aiti-9252	17	13	be	be	AUX
aiti-9252	17	14	below	below	ADP
aiti-9252	17	15	this	this	DET
aiti-9252	17	16	bound	bind	VERB
aiti-9252	17	17	.	.	PUNCT
aiti-9252	18	1	many	many	ADJ
aiti-9252	18	2	studies	study	NOUN
aiti-9252	18	3	have	have	AUX
aiti-9252	18	4	adopted	adopt	VERB
aiti-9252	18	5	this	this	DET
aiti-9252	18	6	concept	concept	NOUN
aiti-9252	18	7	[	[	X
aiti-9252	18	8	5	5	NUM
aiti-9252	18	9	-	-	SYM
aiti-9252	18	10	7	7	NUM
aiti-9252	18	11	]	]	PUNCT
aiti-9252	18	12	.	.	PUNCT
aiti-9252	19	1	in	in	ADP
aiti-9252	19	2	the	the	DET
aiti-9252	19	3	work	work	NOUN
aiti-9252	19	4	of	of	ADP
aiti-9252	19	5	moheimani	moheimani	PROPN
aiti-9252	19	6	and	and	CCONJ
aiti-9252	19	7	peterson	peterson	NOUN
aiti-9252	19	8	[	[	X
aiti-9252	19	9	6	6	NUM
aiti-9252	19	10	]	]	PUNCT
aiti-9252	19	11	,	,	PUNCT
aiti-9252	19	12	the	the	DET
aiti-9252	19	13	riccati	riccati	PROPN
aiti-9252	19	14	equation	equation	NOUN
aiti-9252	19	15	approach	approach	NOUN
aiti-9252	19	16	[	[	X
aiti-9252	19	17	5	5	NUM
aiti-9252	19	18	]	]	PUNCT
aiti-9252	19	19	was	be	AUX
aiti-9252	19	20	extended	extend	VERB
aiti-9252	19	21	to	to	ADP
aiti-9252	19	22	uncertain	uncertain	ADJ
aiti-9252	19	23	time	time	NOUN
aiti-9252	19	24	-	-	PUNCT
aiti-9252	19	25	delay	delay	NOUN
aiti-9252	19	26	systems	system	NOUN
aiti-9252	19	27	,	,	PUNCT
aiti-9252	19	28	and	and	CCONJ
aiti-9252	19	29	a	a	DET
aiti-9252	19	30	guaranteed	guarantee	VERB
aiti-9252	19	31	cost	cost	NOUN
aiti-9252	19	32	controller	controller	NOUN
aiti-9252	19	33	design	design	NOUN
aiti-9252	19	34	method	method	NOUN
aiti-9252	19	35	that	that	PRON
aiti-9252	19	36	solves	solve	VERB
aiti-9252	19	37	a	a	DET
aiti-9252	19	38	certain	certain	ADJ
aiti-9252	19	39	parameter	parameter	NOUN
aiti-9252	19	40	-	-	PUNCT
aiti-9252	19	41	dependent	dependent	ADJ
aiti-9252	19	42	riccati	riccati	NOUN
aiti-9252	19	43	equation	equation	NOUN
aiti-9252	19	44	was	be	AUX
aiti-9252	19	45	proposed	propose	VERB
aiti-9252	19	46	.	.	PUNCT
aiti-9252	20	1	yu	yu	PROPN
aiti-9252	20	2	and	and	CCONJ
aiti-9252	20	3	chu	chu	VERB
aiti-9252	21	1	[	[	X
aiti-9252	21	2	7	7	NUM
aiti-9252	21	3	]	]	PUNCT
aiti-9252	21	4	proposed	propose	VERB
aiti-9252	21	5	a	a	DET
aiti-9252	21	6	design	design	NOUN
aiti-9252	21	7	method	method	NOUN
aiti-9252	21	8	for	for	ADP
aiti-9252	21	9	guaranteed	guarantee	VERB
aiti-9252	21	10	cost	cost	NOUN
aiti-9252	21	11	controllers	controller	NOUN
aiti-9252	21	12	for	for	ADP
aiti-9252	21	13	linear	linear	ADJ
aiti-9252	21	14	uncertain	uncertain	ADJ
aiti-9252	21	15	time	time	NOUN
aiti-9252	21	16	-	-	PUNCT
aiti-9252	21	17	delay	delay	NOUN
aiti-9252	21	18	systems	system	NOUN
aiti-9252	21	19	that	that	PRON
aiti-9252	21	20	uses	use	VERB
aiti-9252	21	21	the	the	DET
aiti-9252	21	22	lmi	lmi	PROPN
aiti-9252	21	23	approach	approach	NOUN
aiti-9252	21	24	.	.	PUNCT
aiti-9252	22	1	studies	study	NOUN
aiti-9252	22	2	on	on	ADP
aiti-9252	22	3	robust	robust	ADJ
aiti-9252	22	4	control	control	NOUN
aiti-9252	22	5	generally	generally	ADV
aiti-9252	22	6	assume	assume	VERB
aiti-9252	22	7	that	that	SCONJ
aiti-9252	22	8	the	the	DET
aiti-9252	22	9	full	full	ADJ
aiti-9252	22	10	state	state	NOUN
aiti-9252	22	11	of	of	ADP
aiti-9252	22	12	the	the	DET
aiti-9252	22	13	controlled	control	VERB
aiti-9252	22	14	systems	system	NOUN
aiti-9252	22	15	can	can	AUX
aiti-9252	22	16	be	be	AUX
aiti-9252	22	17	measured	measure	VERB
aiti-9252	22	18	.	.	PUNCT
aiti-9252	23	1	however	however	ADV
aiti-9252	23	2	,	,	PUNCT
aiti-9252	23	3	in	in	ADP
aiti-9252	23	4	practice	practice	NOUN
aiti-9252	23	5	,	,	PUNCT
aiti-9252	23	6	the	the	DET
aiti-9252	23	7	full	full	ADJ
aiti-9252	23	8	state	state	NOUN
aiti-9252	23	9	of	of	ADP
aiti-9252	23	10	systems	system	NOUN
aiti-9252	23	11	can	can	AUX
aiti-9252	23	12	not	not	PART
aiti-9252	23	13	be	be	AUX
aiti-9252	23	14	obtained	obtain	VERB
aiti-9252	23	15	due	due	ADJ
aiti-9252	23	16	to	to	ADP
aiti-9252	23	17	practical	practical	ADJ
aiti-9252	23	18	constraints	constraint	NOUN
aiti-9252	23	19	.	.	PUNCT
aiti-9252	24	1	to	to	PART
aiti-9252	24	2	overcome	overcome	VERB
aiti-9252	24	3	this	this	DET
aiti-9252	24	4	problem	problem	NOUN
aiti-9252	24	5	,	,	PUNCT
aiti-9252	24	6	some	some	DET
aiti-9252	24	7	observer	observer	NOUN
aiti-9252	24	8	-	-	PUNCT
aiti-9252	24	9	based	base	VERB
aiti-9252	24	10	quadratic	quadratic	ADJ
aiti-9252	24	11	stabilizing	stabilizing	NOUN
aiti-9252	24	12	controllers	controller	NOUN
aiti-9252	24	13	have	have	AUX
aiti-9252	24	14	been	be	AUX
aiti-9252	24	15	presented	present	VERB
aiti-9252	24	16	[	[	PUNCT
aiti-9252	24	17	8	8	NUM
aiti-9252	24	18	-	-	SYM
aiti-9252	24	19	11	11	NUM
aiti-9252	24	20	]	]	PUNCT
aiti-9252	24	21	.	.	PUNCT
aiti-9252	25	1	for	for	ADP
aiti-9252	25	2	example	example	NOUN
aiti-9252	25	3	,	,	PUNCT
aiti-9252	25	4	oya	oya	NOUN
aiti-9252	25	5	and	and	CCONJ
aiti-9252	25	6	hagino	hagino	NOUN
aiti-9252	25	7	[	[	X
aiti-9252	25	8	10	10	NUM
aiti-9252	25	9	]	]	PUNCT
aiti-9252	25	10	proposed	propose	VERB
aiti-9252	25	11	an	an	DET
aiti-9252	25	12	observer	observer	NOUN
aiti-9252	25	13	-	-	PUNCT
aiti-9252	25	14	based	base	VERB
aiti-9252	25	15	guaranteed	guarantee	VERB
aiti-9252	25	16	cost	cost	NOUN
aiti-9252	25	17	controller	controller	NOUN
aiti-9252	25	18	for	for	ADP
aiti-9252	25	19	polytopic	polytopic	ADJ
aiti-9252	25	20	uncertain	uncertain	ADJ
aiti-9252	25	21	systems	system	NOUN
aiti-9252	25	22	.	.	PUNCT
aiti-9252	26	1	the	the	DET
aiti-9252	26	2	polytopic	polytopic	NOUN
aiti-9252	26	3	representation	representation	NOUN
aiti-9252	26	4	allows	allow	VERB
aiti-9252	26	5	the	the	DET
aiti-9252	26	6	structure	structure	NOUN
aiti-9252	26	7	of	of	ADP
aiti-9252	26	8	uncertainties	uncertainty	NOUN
aiti-9252	26	9	to	to	PART
aiti-9252	26	10	be	be	AUX
aiti-9252	26	11	directly	directly	ADV
aiti-9252	26	12	represented	represent	VERB
aiti-9252	26	13	.	.	PUNCT
aiti-9252	27	1	*	*	PUNCT
aiti-9252	27	2	corresponding	correspond	VERB
aiti-9252	27	3	author	author	NOUN
aiti-9252	27	4	.	.	PUNCT
aiti-9252	28	1	e	e	X
aiti-9252	28	2	-	-	NOUN
aiti-9252	28	3	mail	mail	NOUN
aiti-9252	28	4	address	address	NOUN
aiti-9252	28	5	:	:	PUNCT
aiti-9252	28	6	itustellar00@gmail.com	itustellar00@gmail.com	X
aiti-9252	28	7	advances	advance	NOUN
aiti-9252	28	8	in	in	ADP
aiti-9252	28	9	technology	technology	NOUN
aiti-9252	28	10	innovation	innovation	NOUN
aiti-9252	28	11	,	,	PUNCT
aiti-9252	28	12	vol	vol	NOUN
aiti-9252	28	13	.	.	PROPN
aiti-9252	28	14	7	7	NUM
aiti-9252	28	15	,	,	PUNCT
aiti-9252	28	16	no	no	INTJ
aiti-9252	28	17	.	.	NOUN
aiti-9252	28	18	3	3	NUM
aiti-9252	28	19	,	,	PUNCT
aiti-9252	28	20	2022	2022	NUM
aiti-9252	28	21	,	,	PUNCT
aiti-9252	28	22	pp	pp	ADJ
aiti-9252	28	23	.	.	PUNCT
aiti-9252	29	1	155	155	NUM
aiti-9252	29	2	-	-	SYM
aiti-9252	29	3	168	168	NUM
aiti-9252	29	4	on	on	ADP
aiti-9252	29	5	the	the	DET
aiti-9252	29	6	other	other	ADJ
aiti-9252	29	7	hand	hand	NOUN
aiti-9252	29	8	,	,	PUNCT
aiti-9252	29	9	keel	keel	NOUN
aiti-9252	29	10	and	and	CCONJ
aiti-9252	29	11	bhattacharyya	bhattacharyya	ADJ
aiti-9252	30	1	[	[	X
aiti-9252	30	2	12	12	NUM
aiti-9252	30	3	]	]	PUNCT
aiti-9252	30	4	pointed	point	VERB
aiti-9252	30	5	out	out	ADP
aiti-9252	30	6	that	that	SCONJ
aiti-9252	30	7	it	it	PRON
aiti-9252	30	8	is	be	AUX
aiti-9252	30	9	necessary	necessary	ADJ
aiti-9252	30	10	for	for	SCONJ
aiti-9252	30	11	a	a	DET
aiti-9252	30	12	controller	controller	NOUN
aiti-9252	30	13	to	to	PART
aiti-9252	30	14	tolerate	tolerate	VERB
aiti-9252	30	15	some	some	DET
aiti-9252	30	16	uncertainty	uncertainty	NOUN
aiti-9252	30	17	when	when	SCONJ
aiti-9252	30	18	the	the	DET
aiti-9252	30	19	control	control	NOUN
aiti-9252	30	20	input	input	NOUN
aiti-9252	30	21	is	be	AUX
aiti-9252	30	22	implemented	implement	VERB
aiti-9252	30	23	.	.	PUNCT
aiti-9252	31	1	controller	controller	NOUN
aiti-9252	31	2	implementation	implementation	NOUN
aiti-9252	31	3	involves	involve	VERB
aiti-9252	31	4	the	the	DET
aiti-9252	31	5	uncertainties	uncertainty	NOUN
aiti-9252	31	6	inherent	inherent	ADJ
aiti-9252	31	7	in	in	ADP
aiti-9252	31	8	analog	analog	NOUN
aiti-9252	31	9	-	-	PUNCT
aiti-9252	31	10	to	to	ADP
aiti-9252	31	11	-	-	PUNCT
aiti-9252	31	12	digital	digital	ADJ
aiti-9252	31	13	and	and	CCONJ
aiti-9252	31	14	digital	digital	ADJ
aiti-9252	31	15	-	-	PUNCT
aiti-9252	31	16	to	to	ADP
aiti-9252	31	17	-	-	PUNCT
aiti-9252	31	18	analog	analog	NOUN
aiti-9252	31	19	conversion	conversion	NOUN
aiti-9252	31	20	and	and	CCONJ
aiti-9252	31	21	roundoff	roundoff	VERB
aiti-9252	31	22	errors	error	NOUN
aiti-9252	31	23	in	in	ADP
aiti-9252	31	24	numerical	numerical	ADJ
aiti-9252	31	25	computations	computation	NOUN
aiti-9252	31	26	.	.	PUNCT
aiti-9252	32	1	thus	thus	ADV
aiti-9252	32	2	,	,	PUNCT
aiti-9252	32	3	a	a	DET
aiti-9252	32	4	nonzero	nonzero	ADJ
aiti-9252	32	5	margin	margin	NOUN
aiti-9252	32	6	of	of	ADP
aiti-9252	32	7	tolerance	tolerance	NOUN
aiti-9252	32	8	is	be	AUX
aiti-9252	32	9	required	require	VERB
aiti-9252	32	10	for	for	ADP
aiti-9252	32	11	the	the	DET
aiti-9252	32	12	controller	controller	NOUN
aiti-9252	32	13	design	design	NOUN
aiti-9252	32	14	.	.	PUNCT
aiti-9252	33	1	many	many	ADJ
aiti-9252	33	2	design	design	NOUN
aiti-9252	33	3	methods	method	NOUN
aiti-9252	33	4	that	that	PRON
aiti-9252	33	5	consider	consider	VERB
aiti-9252	33	6	control	control	NOUN
aiti-9252	33	7	gain	gain	NOUN
aiti-9252	33	8	variation	variation	NOUN
aiti-9252	33	9	have	have	AUX
aiti-9252	33	10	been	be	AUX
aiti-9252	33	11	proposed	propose	VERB
aiti-9252	33	12	[	[	PUNCT
aiti-9252	33	13	13	13	NUM
aiti-9252	33	14	-	-	SYM
aiti-9252	33	15	16	16	NUM
aiti-9252	33	16	]	]	PUNCT
aiti-9252	33	17	.	.	PUNCT
aiti-9252	34	1	yang	yang	PROPN
aiti-9252	34	2	et	et	PROPN
aiti-9252	34	3	al	al	PROPN
aiti-9252	34	4	.	.	PUNCT
aiti-9252	35	1	[	[	X
aiti-9252	35	2	13	13	NUM
aiti-9252	35	3	]	]	PUNCT
aiti-9252	35	4	proposed	propose	VERB
aiti-9252	35	5	a	a	DET
aiti-9252	35	6	design	design	NOUN
aiti-9252	35	7	method	method	NOUN
aiti-9252	35	8	for	for	ADP
aiti-9252	35	9	�	�	PROPN
aiti-9252	35	10	�	�	PROPN
aiti-9252	35	11	control	control	NOUN
aiti-9252	35	12	for	for	ADP
aiti-9252	35	13	linear	linear	PROPN
aiti-9252	35	14	systems	system	NOUN
aiti-9252	35	15	with	with	ADP
aiti-9252	35	16	addition	addition	NOUN
aiti-9252	35	17	control	control	NOUN
aiti-9252	35	18	gain	gain	VERB
aiti-9252	35	19	variation	variation	NOUN
aiti-9252	35	20	.	.	PUNCT
aiti-9252	36	1	famularo	famularo	NOUN
aiti-9252	36	2	et	et	PROPN
aiti-9252	36	3	al	al	PROPN
aiti-9252	36	4	.	.	PUNCT
aiti-9252	37	1	[	[	X
aiti-9252	37	2	14	14	NUM
aiti-9252	37	3	]	]	PUNCT
aiti-9252	37	4	considered	consider	VERB
aiti-9252	37	5	not	not	PART
aiti-9252	37	6	only	only	ADV
aiti-9252	37	7	control	control	NOUN
aiti-9252	37	8	gain	gain	VERB
aiti-9252	37	9	variations	variation	NOUN
aiti-9252	37	10	but	but	CCONJ
aiti-9252	37	11	also	also	ADV
aiti-9252	37	12	the	the	DET
aiti-9252	37	13	uncertainty	uncertainty	NOUN
aiti-9252	37	14	of	of	ADP
aiti-9252	37	15	the	the	DET
aiti-9252	37	16	system	system	NOUN
aiti-9252	37	17	matrix	matrix	NOUN
aiti-9252	37	18	.	.	PUNCT
aiti-9252	38	1	oya	oya	PROPN
aiti-9252	38	2	et	et	PROPN
aiti-9252	38	3	al	al	PROPN
aiti-9252	38	4	.	.	PUNCT
aiti-9252	39	1	[	[	X
aiti-9252	39	2	15	15	NUM
aiti-9252	39	3	]	]	PUNCT
aiti-9252	39	4	proposed	propose	VERB
aiti-9252	39	5	a	a	DET
aiti-9252	39	6	design	design	NOUN
aiti-9252	39	7	method	method	NOUN
aiti-9252	39	8	for	for	ADP
aiti-9252	39	9	a	a	DET
aiti-9252	39	10	robust	robust	ADJ
aiti-9252	39	11	controller	controller	NOUN
aiti-9252	39	12	for	for	ADP
aiti-9252	39	13	linear	linear	ADJ
aiti-9252	39	14	uncertain	uncertain	ADJ
aiti-9252	39	15	systems	system	NOUN
aiti-9252	39	16	with	with	ADP
aiti-9252	39	17	control	control	NOUN
aiti-9252	39	18	gain	gain	NOUN
aiti-9252	39	19	perturbation	perturbation	NOUN
aiti-9252	39	20	.	.	PUNCT
aiti-9252	40	1	however	however	ADV
aiti-9252	40	2	,	,	PUNCT
aiti-9252	40	3	the	the	DET
aiti-9252	40	4	problem	problem	NOUN
aiti-9252	40	5	of	of	ADP
aiti-9252	40	6	observer	observer	NOUN
aiti-9252	40	7	-	-	PUNCT
aiti-9252	40	8	based	base	VERB
aiti-9252	40	9	quadratic	quadratic	ADJ
aiti-9252	40	10	guaranteed	guarantee	VERB
aiti-9252	40	11	cost	cost	NOUN
aiti-9252	40	12	control	control	NOUN
aiti-9252	40	13	for	for	ADP
aiti-9252	40	14	linear	linear	ADJ
aiti-9252	40	15	uncertain	uncertain	ADJ
aiti-9252	40	16	systems	system	NOUN
aiti-9252	40	17	with	with	ADP
aiti-9252	40	18	control	control	NOUN
aiti-9252	40	19	gain	gain	NOUN
aiti-9252	40	20	variation	variation	NOUN
aiti-9252	40	21	has	have	AUX
aiti-9252	40	22	not	not	PART
aiti-9252	40	23	been	be	AUX
aiti-9252	40	24	discussed	discuss	VERB
aiti-9252	40	25	.	.	PUNCT
aiti-9252	41	1	this	this	DET
aiti-9252	41	2	study	study	NOUN
aiti-9252	41	3	proposes	propose	VERB
aiti-9252	41	4	a	a	DET
aiti-9252	41	5	method	method	NOUN
aiti-9252	41	6	for	for	ADP
aiti-9252	41	7	designing	design	VERB
aiti-9252	41	8	an	an	DET
aiti-9252	41	9	observer	observer	NOUN
aiti-9252	41	10	-	-	PUNCT
aiti-9252	41	11	based	base	VERB
aiti-9252	41	12	guaranteed	guarantee	VERB
aiti-9252	41	13	cost	cost	NOUN
aiti-9252	41	14	controller	controller	NOUN
aiti-9252	41	15	for	for	ADP
aiti-9252	41	16	linear	linear	ADJ
aiti-9252	41	17	uncertain	uncertain	ADJ
aiti-9252	41	18	systems	system	NOUN
aiti-9252	41	19	with	with	ADP
aiti-9252	41	20	control	control	NOUN
aiti-9252	41	21	gain	gain	NOUN
aiti-9252	41	22	variation	variation	NOUN
aiti-9252	41	23	.	.	PUNCT
aiti-9252	42	1	in	in	ADP
aiti-9252	42	2	this	this	DET
aiti-9252	42	3	study	study	NOUN
aiti-9252	42	4	,	,	PUNCT
aiti-9252	42	5	the	the	DET
aiti-9252	42	6	design	design	NOUN
aiti-9252	42	7	approach	approach	NOUN
aiti-9252	42	8	is	be	AUX
aiti-9252	42	9	separated	separate	VERB
aiti-9252	42	10	into	into	ADP
aiti-9252	42	11	two	two	NUM
aiti-9252	42	12	steps	step	NOUN
aiti-9252	42	13	[	[	X
aiti-9252	42	14	10	10	NUM
aiti-9252	42	15	,	,	PUNCT
aiti-9252	42	16	17	17	NUM
aiti-9252	42	17	]	]	PUNCT
aiti-9252	42	18	.	.	PUNCT
aiti-9252	43	1	in	in	ADP
aiti-9252	43	2	the	the	DET
aiti-9252	43	3	first	first	ADJ
aiti-9252	43	4	step	step	NOUN
aiti-9252	43	5	,	,	PUNCT
aiti-9252	43	6	an	an	DET
aiti-9252	43	7	observer	observer	NOUN
aiti-9252	43	8	is	be	AUX
aiti-9252	43	9	designed	design	VERB
aiti-9252	43	10	;	;	PUNCT
aiti-9252	43	11	in	in	ADP
aiti-9252	43	12	the	the	DET
aiti-9252	43	13	second	second	ADJ
aiti-9252	43	14	step	step	NOUN
aiti-9252	43	15	,	,	PUNCT
aiti-9252	43	16	a	a	DET
aiti-9252	43	17	feedback	feedback	NOUN
aiti-9252	43	18	controller	controller	NOUN
aiti-9252	43	19	that	that	PRON
aiti-9252	43	20	guarantees	guarantee	VERB
aiti-9252	43	21	the	the	DET
aiti-9252	43	22	upper	upper	ADJ
aiti-9252	43	23	bound	bind	VERB
aiti-9252	43	24	on	on	ADP
aiti-9252	43	25	the	the	DET
aiti-9252	43	26	given	give	VERB
aiti-9252	43	27	quadratic	quadratic	ADJ
aiti-9252	43	28	cost	cost	NOUN
aiti-9252	43	29	function	function	NOUN
aiti-9252	43	30	is	be	AUX
aiti-9252	43	31	derived	derive	VERB
aiti-9252	43	32	.	.	PUNCT
aiti-9252	44	1	sufficient	sufficient	ADJ
aiti-9252	44	2	conditions	condition	NOUN
aiti-9252	44	3	for	for	ADP
aiti-9252	44	4	the	the	DET
aiti-9252	44	5	existence	existence	NOUN
aiti-9252	44	6	of	of	ADP
aiti-9252	44	7	the	the	DET
aiti-9252	44	8	proposed	propose	VERB
aiti-9252	44	9	controller	controller	NOUN
aiti-9252	44	10	are	be	AUX
aiti-9252	44	11	given	give	VERB
aiti-9252	44	12	in	in	ADP
aiti-9252	44	13	terms	term	NOUN
aiti-9252	44	14	of	of	ADP
aiti-9252	44	15	lmis	lmis	ADJ
aiti-9252	44	16	.	.	PUNCT
aiti-9252	45	1	the	the	DET
aiti-9252	45	2	proposed	propose	VERB
aiti-9252	45	3	control	control	NOUN
aiti-9252	45	4	system	system	NOUN
aiti-9252	45	5	can	can	AUX
aiti-9252	45	6	thus	thus	ADV
aiti-9252	45	7	be	be	AUX
aiti-9252	45	8	designed	design	VERB
aiti-9252	45	9	using	use	VERB
aiti-9252	45	10	software	software	NOUN
aiti-9252	45	11	such	such	ADJ
aiti-9252	45	12	as	as	ADP
aiti-9252	45	13	matlab	matlab	PROPN
aiti-9252	45	14	’s	’s	PART
aiti-9252	45	15	lmi	lmi	PROPN
aiti-9252	45	16	control	control	PROPN
aiti-9252	45	17	toolbox	toolbox	PROPN
aiti-9252	45	18	and	and	CCONJ
aiti-9252	45	19	scilab	scilab	PROPN
aiti-9252	45	20	’s	’s	PART
aiti-9252	45	21	lmitool	lmitool	NOUN
aiti-9252	45	22	.	.	PUNCT
aiti-9252	46	1	2	2	X
aiti-9252	46	2	.	.	X
aiti-9252	46	3	preliminaries	preliminary	NOUN
aiti-9252	46	4	this	this	DET
aiti-9252	46	5	section	section	NOUN
aiti-9252	46	6	presents	present	VERB
aiti-9252	46	7	two	two	NUM
aiti-9252	46	8	lemmas	lemma	NOUN
aiti-9252	46	9	that	that	PRON
aiti-9252	46	10	are	be	AUX
aiti-9252	46	11	used	use	VERB
aiti-9252	46	12	in	in	ADP
aiti-9252	46	13	this	this	DET
aiti-9252	46	14	study	study	NOUN
aiti-9252	46	15	.	.	PUNCT
aiti-9252	47	1	lemma	lemma	PROPN
aiti-9252	47	2	1	1	NUM
aiti-9252	47	3	shows	show	VERB
aiti-9252	47	4	the	the	DET
aiti-9252	47	5	relation	relation	NOUN
aiti-9252	47	6	between	between	ADP
aiti-9252	47	7	matrices	matrix	NOUN
aiti-9252	47	8	and	and	CCONJ
aiti-9252	47	9	a	a	DET
aiti-9252	47	10	positive	positive	ADJ
aiti-9252	47	11	constant	constant	NOUN
aiti-9252	47	12	.	.	PUNCT
aiti-9252	48	1	lemma	lemma	PROPN
aiti-9252	48	2	2	2	PROPN
aiti-9252	48	3	is	be	AUX
aiti-9252	48	4	the	the	DET
aiti-9252	48	5	schur	schur	PROPN
aiti-9252	48	6	complement	complement	PROPN
aiti-9252	48	7	formula	formula	NOUN
aiti-9252	48	8	.	.	PUNCT
aiti-9252	49	1	lemma	lemma	PROPN
aiti-9252	49	2	1	1	NUM
aiti-9252	50	1	[	[	X
aiti-9252	50	2	16	16	NUM
aiti-9252	50	3	]	]	X
aiti-9252	50	4	:	:	PUNCT
aiti-9252	50	5	for	for	ADP
aiti-9252	50	6	matrices	matrix	NOUN
aiti-9252	50	7	p	p	NOUN
aiti-9252	50	8	and	and	CCONJ
aiti-9252	50	9	h	h	NOUN
aiti-9252	50	10	that	that	PRON
aiti-9252	50	11	have	have	VERB
aiti-9252	50	12	appropriate	appropriate	ADJ
aiti-9252	50	13	dimensions	dimension	NOUN
aiti-9252	50	14	,	,	PUNCT
aiti-9252	50	15	the	the	DET
aiti-9252	50	16	following	follow	VERB
aiti-9252	50	17	formula	formula	NOUN
aiti-9252	50	18	is	be	AUX
aiti-9252	50	19	obtained	obtain	VERB
aiti-9252	50	20	.	.	PUNCT
aiti-9252	51	1	1	1	NUM
aiti-9252	51	2	t	t	NOUN
aiti-9252	51	3	t	t	NOUN
aiti-9252	51	4	t	t	PROPN
aiti-9252	51	5	t	t	PROPN
aiti-9252	51	6	ph	ph	PROPN
aiti-9252	51	7	h	h	NOUN
aiti-9252	51	8	p	p	NOUN
aiti-9252	51	9	pp	pp	INTJ
aiti-9252	51	10	h	h	NOUN
aiti-9252	51	11	h+	h+	X
aiti-9252	52	1	≤	≤	X
aiti-9252	52	2	+	+	ADP
aiti-9252	52	3	γ	γ	X
aiti-9252	52	4	γ	γ	X
aiti-9252	52	5	(	(	PUNCT
aiti-9252	52	6	1	1	NUM
aiti-9252	52	7	)	)	PUNCT
aiti-9252	52	8	where	where	SCONJ
aiti-9252	52	9	�	�	PROPN
aiti-9252	52	10	is	be	AUX
aiti-9252	52	11	a	a	DET
aiti-9252	52	12	positive	positive	ADJ
aiti-9252	52	13	constant	constant	NOUN
aiti-9252	52	14	.	.	PUNCT
aiti-9252	53	1	lemma	lemma	PROPN
aiti-9252	53	2	2	2	PROPN
aiti-9252	53	3	(	(	PUNCT
aiti-9252	53	4	schur	schur	NOUN
aiti-9252	53	5	complement	complement	NOUN
aiti-9252	53	6	formula	formula	NOUN
aiti-9252	53	7	[	[	X
aiti-9252	53	8	16	16	NUM
aiti-9252	53	9	]	]	PUNCT
aiti-9252	53	10	):	):	PUNCT
aiti-9252	53	11	for	for	ADP
aiti-9252	53	12	a	a	DET
aiti-9252	53	13	given	give	VERB
aiti-9252	53	14	constant	constant	ADJ
aiti-9252	53	15	real	real	ADJ
aiti-9252	53	16	symmetric	symmetric	ADJ
aiti-9252	53	17	matrix	matrix	NOUN
aiti-9252	53	18	ξ	ξ	PROPN
aiti-9252	53	19	,	,	PUNCT
aiti-9252	53	20	the	the	DET
aiti-9252	53	21	following	follow	VERB
aiti-9252	53	22	items	item	NOUN
aiti-9252	53	23	are	be	AUX
aiti-9252	53	24	equivalent	equivalent	ADJ
aiti-9252	53	25	.	.	PUNCT
aiti-9252	54	1	11	11	NUM
aiti-9252	54	2	12	12	NUM
aiti-9252	54	3	12	12	NUM
aiti-9252	54	4	22	22	NUM
aiti-9252	54	5	(	(	PUNCT
aiti-9252	54	6	i	i	NOUN
aiti-9252	54	7	)	)	PUNCT
aiti-9252	54	8	0	0	NUM
aiti-9252	55	1	t	t	PROPN
aiti-9252	55	2	ξ	ξ	PROPN
aiti-9252	55	3	ξ	ξ	PROPN
aiti-9252	55	4			PUNCT
aiti-9252	56	1	ξ	ξ	X
aiti-9252	56	2	=	=	PUNCT
aiti-9252	56	3	>	>	SYM
aiti-9252	56	4			PROPN
aiti-9252	56	5			PROPN
aiti-9252	56	6	ξ	ξ	PROPN
aiti-9252	56	7	ξ	ξ	NOUN
aiti-9252	56	8			PUNCT
aiti-9252	57	1	(	(	PUNCT
aiti-9252	57	2	2	2	NUM
aiti-9252	57	3	)	)	PUNCT
aiti-9252	57	4	1	1	NUM
aiti-9252	57	5	11	11	NUM
aiti-9252	57	6	22	22	NUM
aiti-9252	57	7	12	12	NUM
aiti-9252	57	8	11	11	NUM
aiti-9252	57	9	12(ii	12(ii	NUM
aiti-9252	57	10	)	)	PUNCT
aiti-9252	57	11	0	0	NUM
aiti-9252	57	12	and	and	CCONJ
aiti-9252	57	13	0	0	NUM
aiti-9252	57	14	t	t	NOUN
aiti-9252	57	15	−ξ	−ξ	NOUN
aiti-9252	57	16	>	>	X
aiti-9252	58	1	ξ	ξ	PROPN
aiti-9252	58	2	−	−	PROPN
aiti-9252	58	3	ξ	ξ	X
aiti-9252	58	4	ξ	ξ	X
aiti-9252	58	5	ξ	ξ	X
aiti-9252	58	6	>	>	X
aiti-9252	58	7	(	(	PUNCT
aiti-9252	58	8	3	3	NUM
aiti-9252	58	9	)	)	PUNCT
aiti-9252	58	10	1	1	NUM
aiti-9252	58	11	22	22	NUM
aiti-9252	58	12	11	11	NUM
aiti-9252	58	13	12	12	NUM
aiti-9252	58	14	22	22	NUM
aiti-9252	58	15	12(iii	12(iii	NUM
aiti-9252	58	16	)	)	PUNCT
aiti-9252	58	17	0	0	PUNCT
aiti-9252	59	1	and	and	CCONJ
aiti-9252	59	2	0t−ξ	0t−ξ	VERB
aiti-9252	59	3	>	>	X
aiti-9252	60	1	ξ	ξ	X
aiti-9252	60	2	−	−	PROPN
aiti-9252	60	3	ξ	ξ	X
aiti-9252	60	4	ξ	ξ	X
aiti-9252	60	5	ξ	ξ	X
aiti-9252	60	6	>	>	X
aiti-9252	60	7	(	(	PUNCT
aiti-9252	60	8	4	4	NUM
aiti-9252	60	9	)	)	PUNCT
aiti-9252	60	10	3	3	NUM
aiti-9252	60	11	.	.	X
aiti-9252	60	12	problem	problem	NOUN
aiti-9252	60	13	formulation	formulation	NOUN
aiti-9252	60	14	this	this	DET
aiti-9252	60	15	study	study	NOUN
aiti-9252	60	16	considers	consider	VERB
aiti-9252	60	17	the	the	DET
aiti-9252	60	18	linear	linear	ADJ
aiti-9252	60	19	uncertain	uncertain	ADJ
aiti-9252	60	20	system	system	NOUN
aiti-9252	60	21	described	describe	VERB
aiti-9252	60	22	by	by	ADP
aiti-9252	60	23	the	the	DET
aiti-9252	60	24	following	following	NOUN
aiti-9252	60	25	:	:	PUNCT
aiti-9252	60	26	(	(	PUNCT
aiti-9252	60	27	)	)	PUNCT
aiti-9252	60	28	(	(	PUNCT
aiti-9252	60	29	)	)	PUNCT
aiti-9252	60	30	(	(	PUNCT
aiti-9252	60	31	)	)	PUNCT
aiti-9252	60	32	(	(	PUNCT
aiti-9252	60	33	)	)	PUNCT
aiti-9252	60	34	x	x	SYM
aiti-9252	60	35	t	t	PROPN
aiti-9252	60	36	a	a	DET
aiti-9252	60	37	x	x	SYM
aiti-9252	60	38	t	t	PROPN
aiti-9252	60	39	b	b	PROPN
aiti-9252	60	40	u	u	NOUN
aiti-9252	60	41	t=	t=	ADJ
aiti-9252	61	1	+	+	PROPN
aiti-9252	61	2	ɺ	ɺ	PROPN
aiti-9252	61	3	θ	θ	X
aiti-9252	61	4	(	(	PUNCT
aiti-9252	61	5	5	5	NUM
aiti-9252	61	6	)	)	PUNCT
aiti-9252	61	7	(	(	PUNCT
aiti-9252	61	8	)	)	PUNCT
aiti-9252	61	9	(	(	PUNCT
aiti-9252	61	10	)	)	PUNCT
aiti-9252	61	11	y	y	PROPN
aiti-9252	61	12	t	t	PROPN
aiti-9252	61	13	cx	cx	PROPN
aiti-9252	61	14	t=	t=	NUM
aiti-9252	61	15	(	(	PUNCT
aiti-9252	61	16	6	6	NUM
aiti-9252	61	17	)	)	PUNCT
aiti-9252	61	18	where	where	SCONJ
aiti-9252	61	19	�	�	PROPN
aiti-9252	61	20	∈	∈	PROPN
aiti-9252	61	21	ℝ	ℝ	PROPN
aiti-9252	61	22	�	�	PROPN
aiti-9252	61	23	×	×	NOUN
aiti-9252	61	24	and	and	CCONJ
aiti-9252	61	25	�	�	PROPN
aiti-9252	61	26	∈	∈	PROPN
aiti-9252	61	27	ℝ	ℝ	PROPN
aiti-9252	61	28	�	�	PROPN
aiti-9252	61	29	×	×	NOUN
aiti-9252	61	30	�	�	PROPN
aiti-9252	61	31	denote	denote	VERB
aiti-9252	61	32	the	the	DET
aiti-9252	61	33	known	know	VERB
aiti-9252	61	34	nominal	nominal	ADJ
aiti-9252	61	35	matrices	matrix	NOUN
aiti-9252	61	36	,	,	PUNCT
aiti-9252	61	37	and	and	CCONJ
aiti-9252	61	38	(	(	PUNCT
aiti-9252	61	39	�	�	NOUN
aiti-9252	61	40	)	)	PUNCT
aiti-9252	61	41	∈	∈	PROPN
aiti-9252	61	42	ℝ	ℝ	PROPN
aiti-9252	61	43	�	�	PROPN
aiti-9252	61	44	,	,	PUNCT
aiti-9252	61	45	�	�	PROPN
aiti-9252	61	46	(	(	PUNCT
aiti-9252	61	47	�	�	PROPN
aiti-9252	61	48	)	)	PUNCT
aiti-9252	61	49	∈	∈	PROPN
aiti-9252	61	50	ℝ	ℝ	PROPN
aiti-9252	61	51	,	,	PUNCT
aiti-9252	61	52	and	and	CCONJ
aiti-9252	61	53	�	�	PROPN
aiti-9252	61	54	(	(	PUNCT
aiti-9252	61	55	�	�	PROPN
aiti-9252	61	56	)	)	PUNCT
aiti-9252	61	57	∈	∈	PROPN
aiti-9252	61	58	ℝ	ℝ	PROPN
aiti-9252	61	59	�	�	PROPN
aiti-9252	61	60	are	be	AUX
aiti-9252	61	61	the	the	DET
aiti-9252	61	62	vectors	vector	NOUN
aiti-9252	61	63	of	of	ADP
aiti-9252	61	64	the	the	DET
aiti-9252	61	65	state	state	NOUN
aiti-9252	61	66	,	,	PUNCT
aiti-9252	61	67	control	control	NOUN
aiti-9252	61	68	input	input	NOUN
aiti-9252	61	69	,	,	PUNCT
aiti-9252	61	70	and	and	CCONJ
aiti-9252	61	71	output	output	NOUN
aiti-9252	61	72	,	,	PUNCT
aiti-9252	61	73	respectively	respectively	ADV
aiti-9252	61	74	.	.	PUNCT
aiti-9252	62	1	the	the	DET
aiti-9252	62	2	full	full	ADJ
aiti-9252	62	3	state	state	NOUN
aiti-9252	62	4	can	can	AUX
aiti-9252	62	5	not	not	PART
aiti-9252	62	6	be	be	AUX
aiti-9252	62	7	measured	measure	VERB
aiti-9252	62	8	.	.	PUNCT
aiti-9252	63	1	in	in	ADP
aiti-9252	63	2	eq	eq	ADP
aiti-9252	63	3	.	.	PUNCT
aiti-9252	63	4	(	(	PUNCT
aiti-9252	63	5	5	5	NUM
aiti-9252	63	6	)	)	PUNCT
aiti-9252	63	7	,	,	PUNCT
aiti-9252	63	8	�	�	PROPN
aiti-9252	63	9	(	(	PUNCT
aiti-9252	63	10	�	�	PROPN
aiti-9252	63	11	)	)	PUNCT
aiti-9252	63	12	is	be	AUX
aiti-9252	63	13	supposed	suppose	VERB
aiti-9252	63	14	to	to	PART
aiti-9252	63	15	have	have	VERB
aiti-9252	63	16	appropriate	appropriate	ADJ
aiti-9252	63	17	dimensions	dimension	NOUN
aiti-9252	63	18	and	and	CCONJ
aiti-9252	63	19	the	the	DET
aiti-9252	63	20	following	follow	VERB
aiti-9252	63	21	structure	structure	NOUN
aiti-9252	63	22	:	:	PUNCT
aiti-9252	63	23	156	156	NUM
aiti-9252	63	24	advances	advance	NOUN
aiti-9252	63	25	in	in	ADP
aiti-9252	63	26	technology	technology	NOUN
aiti-9252	63	27	innovation	innovation	NOUN
aiti-9252	63	28	,	,	PUNCT
aiti-9252	63	29	vol	vol	NOUN
aiti-9252	63	30	.	.	PROPN
aiti-9252	64	1	7	7	NUM
aiti-9252	64	2	,	,	PUNCT
aiti-9252	64	3	no	no	INTJ
aiti-9252	64	4	.	.	NOUN
aiti-9252	64	5	3	3	NUM
aiti-9252	64	6	,	,	PUNCT
aiti-9252	64	7	2022	2022	NUM
aiti-9252	64	8	,	,	PUNCT
aiti-9252	64	9	pp	pp	ADJ
aiti-9252	64	10	.	.	PUNCT
aiti-9252	65	1	155	155	NUM
aiti-9252	65	2	-	-	SYM
aiti-9252	65	3	168	168	NUM
aiti-9252	65	4	1	1	NUM
aiti-9252	65	5	(	(	PUNCT
aiti-9252	65	6	)	)	PUNCT
aiti-9252	66	1	n	n	CCONJ
aiti-9252	67	1	k	k	NOUN
aiti-9252	68	1	k	k	PROPN
aiti-9252	68	2	k	k	PROPN
aiti-9252	69	1	a	a	DET
aiti-9252	69	2	a	a	DET
aiti-9252	69	3	a	a	NOUN
aiti-9252	69	4	=	=	SYM
aiti-9252	69	5	=	=	PUNCT
aiti-9252	69	6	+	+	ADJ
aiti-9252	69	7	∑θ	∑θ	PROPN
aiti-9252	69	8	θ	θ	PROPN
aiti-9252	69	9	(	(	PUNCT
aiti-9252	69	10	7	7	NUM
aiti-9252	69	11	)	)	PUNCT
aiti-9252	69	12	in	in	ADP
aiti-9252	69	13	eq	eq	ADP
aiti-9252	69	14	.	.	PUNCT
aiti-9252	69	15	(	(	PUNCT
aiti-9252	69	16	7	7	NUM
aiti-9252	69	17	)	)	PUNCT
aiti-9252	69	18	,	,	PUNCT
aiti-9252	69	19	the	the	DET
aiti-9252	69	20	matrix	matrix	NOUN
aiti-9252	69	21	�	�	PROPN
aiti-9252	69	22	∈	∈	PROPN
aiti-9252	69	23	ℝ	ℝ	PROPN
aiti-9252	69	24	�	�	PROPN
aiti-9252	69	25	×	×	NOUN
aiti-9252	69	26	�	�	PROPN
aiti-9252	69	27	represents	represent	VERB
aiti-9252	69	28	the	the	DET
aiti-9252	69	29	known	know	VERB
aiti-9252	69	30	nominal	nominal	ADJ
aiti-9252	69	31	value	value	NOUN
aiti-9252	69	32	for	for	ADP
aiti-9252	69	33	system	system	NOUN
aiti-9252	69	34	parameters	parameter	NOUN
aiti-9252	69	35	,	,	PUNCT
aiti-9252	69	36	and	and	CCONJ
aiti-9252	69	37	the	the	DET
aiti-9252	69	38	matrix	matrix	NOUN
aiti-9252	69	39	ak	ak	PROPN
aiti-9252	69	40	,	,	PUNCT
aiti-9252	69	41	k	k	PROPN
aiti-9252	70	1	=	=	SYM
aiti-9252	70	2	1	1	NUM
aiti-9252	70	3	,	,	PUNCT
aiti-9252	70	4	2	2	NUM
aiti-9252	70	5	,	,	PUNCT
aiti-9252	70	6	…	…	PUNCT
aiti-9252	70	7	…	…	PUNCT
aiti-9252	70	8	,	,	PUNCT
aiti-9252	70	9	n	n	CCONJ
aiti-9252	70	10	,	,	PUNCT
aiti-9252	70	11	denotes	denote	VERB
aiti-9252	70	12	the	the	DET
aiti-9252	70	13	structure	structure	NOUN
aiti-9252	70	14	of	of	ADP
aiti-9252	70	15	the	the	DET
aiti-9252	70	16	uncertainties	uncertainty	NOUN
aiti-9252	70	17	.	.	PUNCT
aiti-9252	71	1	the	the	DET
aiti-9252	71	2	parameter	parameter	PROPN
aiti-9252	71	3	�	�	PROPN
aiti-9252	71	4	�	�	PROPN
aiti-9252	71	5	(	(	PUNCT
aiti-9252	71	6	�	�	PROPN
aiti-9252	71	7	�	�	PROPN
aiti-9252	71	8	,	,	PUNCT
aiti-9252	71	9	…	…	PUNCT
aiti-9252	71	10	…	…	PUNCT
aiti-9252	71	11	,	,	PUNCT
aiti-9252	71	12	�	�	PROPN
aiti-9252	71	13	�	�	PROPN
aiti-9252	71	14	)	)	PUNCT
aiti-9252	71	15	�	�	PROPN
aiti-9252	71	16	represents	represent	VERB
aiti-9252	71	17	unknown	unknown	ADJ
aiti-9252	71	18	parameters	parameter	NOUN
aiti-9252	71	19	that	that	PRON
aiti-9252	71	20	belong	belong	VERB
aiti-9252	71	21	to	to	ADP
aiti-9252	71	22	the	the	DET
aiti-9252	71	23	following	follow	VERB
aiti-9252	71	24	parameter	parameter	NOUN
aiti-9252	71	25	set	set	PROPN
aiti-9252	71	26	:	:	PUNCT
aiti-9252	71	27	1	1	NUM
aiti-9252	71	28	|	|	ADV
aiti-9252	71	29	1	1	NUM
aiti-9252	71	30	,	,	PUNCT
aiti-9252	71	31	0	0	NUM
aiti-9252	71	32	for	for	ADP
aiti-9252	71	33	1	1	NUM
aiti-9252	71	34	,	,	PUNCT
aiti-9252	71	35	,	,	PUNCT
aiti-9252	71	36	n	n	CCONJ
aiti-9252	71	37	n	n	CCONJ
aiti-9252	71	38	k	k	NOUN
aiti-9252	71	39	k	k	PROPN
aiti-9252	71	40	k	k	PROPN
aiti-9252	71	41	k	k	PROPN
aiti-9252	72	1	nθ	nθ	NOUN
aiti-9252	72	2	θ	θ	PROPN
aiti-9252	72	3	θ	θ	X
aiti-9252	72	4	=	=	PUNCT
aiti-9252	72	5			ADJ
aiti-9252	72	6			PROPN
aiti-9252	72	7	∆	∆	X
aiti-9252	73	1	∈	∈	PROPN
aiti-9252	73	2	=	=	SYM
aiti-9252	73	3	≥	≥	NUM
aiti-9252	73	4	=	=	NOUN
aiti-9252	73	5			ADP
aiti-9252	73	6			PROPN
aiti-9252	73	7			ADJ
aiti-9252	73	8			PUNCT
aiti-9252	73	9			NOUN
aiti-9252	73	10	∑≜	∑≜	PROPN
aiti-9252	73	11	ℝ	ℝ	PROPN
aiti-9252	73	12	…	…	PUNCT
aiti-9252	73	13	(	(	PUNCT
aiti-9252	73	14	8)	8)	NUM
aiti-9252	73	15	furthermore	furthermore	ADV
aiti-9252	73	16	,	,	PUNCT
aiti-9252	73	17	for	for	ADP
aiti-9252	73	18	∀	∀	NUM
aiti-9252	73	19	�	�	PROPN
aiti-9252	73	20	∈	∈	PROPN
aiti-9252	73	21	∆	∆	PROPN
aiti-9252	73	22	,	,	PUNCT
aiti-9252	73	23	it	it	PRON
aiti-9252	73	24	is	be	AUX
aiti-9252	73	25	assumed	assume	VERB
aiti-9252	73	26	that	that	SCONJ
aiti-9252	73	27	the	the	DET
aiti-9252	73	28	pair	pair	NOUN
aiti-9252	73	29	(	(	PUNCT
aiti-9252	73	30	�	�	PROPN
aiti-9252	73	31	(	(	PUNCT
aiti-9252	73	32	�	�	PROPN
aiti-9252	73	33	)	)	PUNCT
aiti-9252	73	34	,	,	PUNCT
aiti-9252	73	35	�	�	PROPN
aiti-9252	73	36	)	)	PUNCT
aiti-9252	73	37	and	and	CCONJ
aiti-9252	73	38	(	(	PUNCT
aiti-9252	73	39	�	�	PROPN
aiti-9252	73	40	,	,	PUNCT
aiti-9252	73	41	�	�	PROPN
aiti-9252	73	42	(	(	PUNCT
aiti-9252	73	43	�	�	PROPN
aiti-9252	73	44	)	)	PUNCT
aiti-9252	73	45	)	)	PUNCT
aiti-9252	73	46	are	be	AUX
aiti-9252	73	47	controllable	controllable	ADJ
aiti-9252	73	48	and	and	CCONJ
aiti-9252	73	49	observable	observable	ADJ
aiti-9252	73	50	respectively	respectively	ADV
aiti-9252	73	51	.	.	PUNCT
aiti-9252	74	1	now	now	ADV
aiti-9252	74	2	the	the	DET
aiti-9252	74	3	following	follow	VERB
aiti-9252	74	4	full	full	ADJ
aiti-9252	74	5	-	-	PUNCT
aiti-9252	74	6	state	state	NOUN
aiti-9252	74	7	observer	observer	NOUN
aiti-9252	74	8	is	be	AUX
aiti-9252	74	9	introduced	introduce	VERB
aiti-9252	74	10	:	:	PUNCT
aiti-9252	74	11	ˆ	ˆ	DET
aiti-9252	74	12	ˆ	ˆ	NOUN
aiti-9252	74	13	ˆ	ˆ	ADJ
aiti-9252	74	14	(	(	PUNCT
aiti-9252	74	15	)	)	PUNCT
aiti-9252	74	16	(	(	PUNCT
aiti-9252	74	17	)	)	PUNCT
aiti-9252	74	18	(	(	PUNCT
aiti-9252	74	19	)	)	PUNCT
aiti-9252	74	20	(	(	PUNCT
aiti-9252	74	21	)	)	PUNCT
aiti-9252	74	22	(	(	PUNCT
aiti-9252	74	23	(	(	PUNCT
aiti-9252	74	24	)	)	PUNCT
aiti-9252	74	25	(	(	PUNCT
aiti-9252	74	26	)	)	PUNCT
aiti-9252	74	27	)	)	PUNCT
aiti-9252	74	28	x	x	X
aiti-9252	74	29	t	t	NOUN
aiti-9252	74	30	ax	ax	NOUN
aiti-9252	74	31	t	t	PROPN
aiti-9252	74	32	bu	bu	PROPN
aiti-9252	74	33	t	t	PROPN
aiti-9252	75	1	g	g	PROPN
aiti-9252	76	1	t	t	PROPN
aiti-9252	76	2	y	y	PROPN
aiti-9252	76	3	t	t	PROPN
aiti-9252	76	4	cx	cx	NOUN
aiti-9252	76	5	t=	t=	PRON
aiti-9252	77	1	+	+	X
aiti-9252	77	2	+	+	CCONJ
aiti-9252	77	3	−ɺ	−ɺ	ADJ
aiti-9252	77	4	(	(	PUNCT
aiti-9252	77	5	9	9	NUM
aiti-9252	77	6	)	)	PUNCT
aiti-9252	77	7	where	where	SCONJ
aiti-9252	77	8	�	�	PROPN
aiti-9252	77	9	(	(	PUNCT
aiti-9252	77	10	�	�	PROPN
aiti-9252	77	11	)	)	PUNCT
aiti-9252	77	12	∈	∈	PROPN
aiti-9252	77	13	ℝ	ℝ	PROPN
aiti-9252	77	14	�	�	PROPN
aiti-9252	77	15	×	×	NOUN
aiti-9252	77	16	�	�	PROPN
aiti-9252	77	17	is	be	AUX
aiti-9252	77	18	the	the	DET
aiti-9252	77	19	observer	observer	NOUN
aiti-9252	77	20	gain	gain	NOUN
aiti-9252	77	21	matrix	matrix	NOUN
aiti-9252	77	22	which	which	PRON
aiti-9252	77	23	is	be	AUX
aiti-9252	77	24	described	describe	VERB
aiti-9252	77	25	as	as	ADP
aiti-9252	77	26	:	:	PUNCT
aiti-9252	77	27	(	(	PUNCT
aiti-9252	77	28	)	)	PUNCT
aiti-9252	78	1	(	(	PUNCT
aiti-9252	78	2	)	)	PUNCT
aiti-9252	78	3	g	g	NOUN
aiti-9252	78	4	t	t	PROPN
aiti-9252	78	5	g	g	NOUN
aiti-9252	78	6	g	g	PROPN
aiti-9252	78	7	t=	t=	PRON
aiti-9252	78	8	+	+	CCONJ
aiti-9252	78	9	∆	∆	X
aiti-9252	78	10	(	(	PUNCT
aiti-9252	78	11	10	10	NUM
aiti-9252	78	12	)	)	PUNCT
aiti-9252	78	13	(	(	PUNCT
aiti-9252	78	14	)	)	PUNCT
aiti-9252	78	15	gg	gg	PROPN
aiti-9252	78	16	t∆	t∆	PROPN
aiti-9252	78	17	≤ε	≤ε	NOUN
aiti-9252	78	18	(	(	PUNCT
aiti-9252	78	19	11	11	NUM
aiti-9252	78	20	)	)	PUNCT
aiti-9252	78	21	in	in	ADP
aiti-9252	78	22	eqs	eqs	PROPN
aiti-9252	78	23	.	.	PUNCT
aiti-9252	79	1	(	(	PUNCT
aiti-9252	79	2	10	10	NUM
aiti-9252	79	3	)	)	PUNCT
aiti-9252	79	4	and	and	CCONJ
aiti-9252	79	5	(	(	PUNCT
aiti-9252	79	6	11	11	NUM
aiti-9252	79	7	)	)	PUNCT
aiti-9252	79	8	,	,	PUNCT
aiti-9252	79	9	�	�	PROPN
aiti-9252	79	10	(	(	PUNCT
aiti-9252	79	11	�	�	PROPN
aiti-9252	79	12	)	)	PUNCT
aiti-9252	79	13	∈	∈	PROPN
aiti-9252	79	14	ℝ	ℝ	PROPN
aiti-9252	79	15	�	�	PROPN
aiti-9252	79	16	×	×	NOUN
aiti-9252	79	17	�	�	PROPN
aiti-9252	79	18	shows	show	VERB
aiti-9252	79	19	the	the	DET
aiti-9252	79	20	uncertainty	uncertainty	NOUN
aiti-9252	79	21	for	for	ADP
aiti-9252	79	22	the	the	DET
aiti-9252	79	23	observer	observer	NOUN
aiti-9252	79	24	gain	gain	NOUN
aiti-9252	79	25	matrix	matrix	NOUN
aiti-9252	79	26	,	,	PUNCT
aiti-9252	79	27	and	and	CCONJ
aiti-9252	79	28	�	�	PROPN
aiti-9252	79	29	�	�	PROPN
aiti-9252	79	30	is	be	AUX
aiti-9252	79	31	a	a	DET
aiti-9252	79	32	known	know	VERB
aiti-9252	79	33	constant	constant	NOUN
aiti-9252	79	34	that	that	PRON
aiti-9252	79	35	represents	represent	VERB
aiti-9252	79	36	the	the	DET
aiti-9252	79	37	upper	upper	ADJ
aiti-9252	79	38	bound	bind	VERB
aiti-9252	79	39	for	for	ADP
aiti-9252	79	40	∆	∆	PROPN
aiti-9252	79	41	�	�	PROPN
aiti-9252	79	42	(	(	PUNCT
aiti-9252	79	43	�	�	PROPN
aiti-9252	79	44	)	)	PUNCT
aiti-9252	79	45	.	.	PUNCT
aiti-9252	80	1	in	in	ADP
aiti-9252	80	2	other	other	ADJ
aiti-9252	80	3	words	word	NOUN
aiti-9252	80	4	,	,	PUNCT
aiti-9252	80	5	∆	∆	PROPN
aiti-9252	80	6	�	�	PROPN
aiti-9252	80	7	(	(	PUNCT
aiti-9252	80	8	�	�	NOUN
aiti-9252	80	9	)	)	PUNCT
aiti-9252	80	10	fluctuates	fluctuate	NOUN
aiti-9252	80	11	in	in	ADP
aiti-9252	80	12	the	the	DET
aiti-9252	80	13	range	range	NOUN
aiti-9252	80	14	given	give	VERB
aiti-9252	80	15	in	in	ADP
aiti-9252	80	16	eq	eq	ADP
aiti-9252	80	17	.	.	PUNCT
aiti-9252	81	1	(	(	PUNCT
aiti-9252	81	2	11	11	NUM
aiti-9252	81	3	)	)	PUNCT
aiti-9252	81	4	.	.	PUNCT
aiti-9252	82	1	the	the	DET
aiti-9252	82	2	actual	actual	ADJ
aiti-9252	82	3	control	control	NOUN
aiti-9252	82	4	input	input	PROPN
aiti-9252	82	5	�	�	PROPN
aiti-9252	82	6	(	(	PUNCT
aiti-9252	82	7	�	�	PROPN
aiti-9252	82	8	)	)	PUNCT
aiti-9252	82	9	is	be	AUX
aiti-9252	82	10	defined	define	VERB
aiti-9252	82	11	as	as	ADP
aiti-9252	82	12	:	:	PUNCT
aiti-9252	82	13	ˆ	ˆ	PROPN
aiti-9252	82	14	(	(	PUNCT
aiti-9252	82	15	)	)	PUNCT
aiti-9252	82	16	(	(	PUNCT
aiti-9252	82	17	)	)	PUNCT
aiti-9252	82	18	(	(	PUNCT
aiti-9252	82	19	)	)	PUNCT
aiti-9252	82	20	u	u	NOUN
aiti-9252	82	21	t	t	PROPN
aiti-9252	82	22	k	k	NOUN
aiti-9252	82	23	t	t	PROPN
aiti-9252	82	24	x	x	SYM
aiti-9252	82	25	t−≜	t−≜	PROPN
aiti-9252	82	26	(	(	PUNCT
aiti-9252	82	27	12	12	NUM
aiti-9252	82	28	)	)	PUNCT
aiti-9252	82	29	where	where	SCONJ
aiti-9252	82	30	(	(	PUNCT
aiti-9252	82	31	�	�	NOUN
aiti-9252	82	32	)	)	PUNCT
aiti-9252	82	33	∈	∈	PROPN
aiti-9252	82	34	ℝ	ℝ	PROPN
aiti-9252	82	35	×	×	NOUN
aiti-9252	82	36	�	�	PROPN
aiti-9252	82	37	is	be	AUX
aiti-9252	82	38	the	the	DET
aiti-9252	82	39	control	control	NOUN
aiti-9252	82	40	gain	gain	NOUN
aiti-9252	82	41	matrix	matrix	NOUN
aiti-9252	82	42	which	which	PRON
aiti-9252	82	43	satisfies	satisfy	VERB
aiti-9252	82	44	the	the	DET
aiti-9252	82	45	following	follow	VERB
aiti-9252	82	46	relation	relation	NOUN
aiti-9252	82	47	:	:	PUNCT
aiti-9252	82	48	(	(	PUNCT
aiti-9252	82	49	)	)	PUNCT
aiti-9252	82	50	(	(	PUNCT
aiti-9252	82	51	)	)	PUNCT
aiti-9252	83	1	k	k	PROPN
aiti-9252	83	2	t	t	PROPN
aiti-9252	83	3	k	k	PROPN
aiti-9252	84	1	k	k	X
aiti-9252	84	2	t=	t=	PRON
aiti-9252	84	3	+	+	CCONJ
aiti-9252	84	4	∆	∆	X
aiti-9252	84	5	(	(	PUNCT
aiti-9252	84	6	13	13	NUM
aiti-9252	84	7	)	)	PUNCT
aiti-9252	84	8	(	(	PUNCT
aiti-9252	84	9	)	)	PUNCT
aiti-9252	84	10	kk	kk	PROPN
aiti-9252	84	11	t∆	t∆	PROPN
aiti-9252	84	12	≤	≤	NUM
aiti-9252	84	13	ε	ε	PROPN
aiti-9252	84	14	(	(	PUNCT
aiti-9252	84	15	14	14	NUM
aiti-9252	84	16	)	)	PUNCT
aiti-9252	84	17	in	in	ADP
aiti-9252	84	18	eq	eq	ADP
aiti-9252	84	19	.	.	PUNCT
aiti-9252	85	1	(	(	PUNCT
aiti-9252	85	2	14	14	NUM
aiti-9252	85	3	)	)	PUNCT
aiti-9252	85	4	,	,	PUNCT
aiti-9252	85	5	(	(	PUNCT
aiti-9252	85	6	�	�	NOUN
aiti-9252	85	7	)	)	PUNCT
aiti-9252	85	8	∈	∈	PROPN
aiti-9252	85	9	ℝ	ℝ	PROPN
aiti-9252	85	10	×	×	NOUN
aiti-9252	85	11	�	�	NOUN
aiti-9252	85	12	represents	represent	VERB
aiti-9252	85	13	the	the	DET
aiti-9252	85	14	uncertainty	uncertainty	NOUN
aiti-9252	85	15	of	of	ADP
aiti-9252	85	16	the	the	DET
aiti-9252	85	17	controller	controller	NOUN
aiti-9252	85	18	gain	gain	NOUN
aiti-9252	85	19	matrix	matrix	NOUN
aiti-9252	85	20	,	,	PUNCT
aiti-9252	85	21	and	and	CCONJ
aiti-9252	85	22	the	the	DET
aiti-9252	85	23	known	know	VERB
aiti-9252	85	24	constant	constant	ADJ
aiti-9252	85	25	�	�	PROPN
aiti-9252	85	26	!	!	PROPN
aiti-9252	85	27	is	be	AUX
aiti-9252	85	28	the	the	DET
aiti-9252	85	29	upper	upper	ADJ
aiti-9252	85	30	bound	bind	VERB
aiti-9252	85	31	for	for	ADP
aiti-9252	85	32	∆	∆	PROPN
aiti-9252	85	33	(	(	PUNCT
aiti-9252	85	34	�	�	PROPN
aiti-9252	85	35	)	)	PUNCT
aiti-9252	85	36	.	.	PUNCT
aiti-9252	86	1	in	in	ADP
aiti-9252	86	2	this	this	DET
aiti-9252	86	3	study	study	NOUN
aiti-9252	86	4	,	,	PUNCT
aiti-9252	86	5	the	the	DET
aiti-9252	86	6	control	control	NOUN
aiti-9252	86	7	input	input	NOUN
aiti-9252	86	8	with	with	ADP
aiti-9252	86	9	∆	∆	PROPN
aiti-9252	86	10	(	(	PUNCT
aiti-9252	86	11	�	�	PROPN
aiti-9252	86	12	)	)	PUNCT
aiti-9252	86	13	is	be	AUX
aiti-9252	86	14	considered	consider	VERB
aiti-9252	86	15	so	so	ADV
aiti-9252	86	16	as	as	SCONJ
aiti-9252	86	17	to	to	PART
aiti-9252	86	18	design	design	VERB
aiti-9252	86	19	the	the	DET
aiti-9252	86	20	observer	observer	NOUN
aiti-9252	86	21	-	-	PUNCT
aiti-9252	86	22	based	base	VERB
aiti-9252	86	23	quadratic	quadratic	ADJ
aiti-9252	86	24	guaranteed	guarantee	VERB
aiti-9252	86	25	cost	cost	NOUN
aiti-9252	86	26	controller	controller	NOUN
aiti-9252	86	27	under	under	ADP
aiti-9252	86	28	control	control	NOUN
aiti-9252	86	29	gain	gain	NOUN
aiti-9252	86	30	variation	variation	NOUN
aiti-9252	86	31	.	.	PUNCT
aiti-9252	87	1	namely	namely	ADV
aiti-9252	87	2	,	,	PUNCT
aiti-9252	87	3	the	the	DET
aiti-9252	87	4	manipulated	manipulate	VERB
aiti-9252	87	5	control	control	NOUN
aiti-9252	87	6	input	input	NOUN
aiti-9252	87	7	for	for	ADP
aiti-9252	87	8	the	the	DET
aiti-9252	87	9	uncertain	uncertain	ADJ
aiti-9252	87	10	linear	linear	NOUN
aiti-9252	87	11	system	system	NOUN
aiti-9252	87	12	in	in	ADP
aiti-9252	87	13	eqs	eqs	PROPN
aiti-9252	87	14	.	.	PUNCT
aiti-9252	88	1	(	(	PUNCT
aiti-9252	88	2	5	5	NUM
aiti-9252	88	3	)	)	PUNCT
aiti-9252	88	4	and	and	CCONJ
aiti-9252	88	5	(	(	PUNCT
aiti-9252	88	6	6	6	NUM
aiti-9252	88	7	)	)	PUNCT
aiti-9252	88	8	is	be	AUX
aiti-9252	88	9	�	�	PROPN
aiti-9252	88	10	(	(	PUNCT
aiti-9252	88	11	�	�	PROPN
aiti-9252	88	12	)	)	PUNCT
aiti-9252	88	13	≜	≜	NOUN
aiti-9252	88	14	#	#	NOUN
aiti-9252	88	15	$	$	SYM
aiti-9252	88	16	(	(	PUNCT
aiti-9252	88	17	�	�	PROPN
aiti-9252	88	18	)	)	PUNCT
aiti-9252	88	19	.	.	PUNCT
aiti-9252	89	1	fig	fig	NOUN
aiti-9252	89	2	.	.	PUNCT
aiti-9252	90	1	1	1	NUM
aiti-9252	90	2	shows	show	VERB
aiti-9252	90	3	the	the	DET
aiti-9252	90	4	configuration	configuration	NOUN
aiti-9252	90	5	of	of	ADP
aiti-9252	90	6	the	the	DET
aiti-9252	90	7	proposed	propose	VERB
aiti-9252	90	8	control	control	NOUN
aiti-9252	90	9	system	system	NOUN
aiti-9252	90	10	.	.	PUNCT
aiti-9252	91	1	fig	fig	NOUN
aiti-9252	91	2	.	.	PUNCT
aiti-9252	92	1	1	1	NUM
aiti-9252	92	2	configuration	configuration	NOUN
aiti-9252	92	3	of	of	ADP
aiti-9252	92	4	the	the	DET
aiti-9252	92	5	proposed	propose	VERB
aiti-9252	92	6	control	control	NOUN
aiti-9252	92	7	system	system	NOUN
aiti-9252	92	8	157	157	NUM
aiti-9252	92	9	advances	advance	NOUN
aiti-9252	92	10	in	in	ADP
aiti-9252	92	11	technology	technology	NOUN
aiti-9252	92	12	innovation	innovation	NOUN
aiti-9252	92	13	,	,	PUNCT
aiti-9252	92	14	vol	vol	NOUN
aiti-9252	92	15	.	.	PROPN
aiti-9252	93	1	7	7	NUM
aiti-9252	93	2	,	,	PUNCT
aiti-9252	93	3	no	no	INTJ
aiti-9252	93	4	.	.	NOUN
aiti-9252	93	5	3	3	NUM
aiti-9252	93	6	,	,	PUNCT
aiti-9252	93	7	2022	2022	NUM
aiti-9252	93	8	,	,	PUNCT
aiti-9252	93	9	pp	pp	ADJ
aiti-9252	93	10	.	.	PUNCT
aiti-9252	94	1	155	155	NUM
aiti-9252	94	2	-	-	SYM
aiti-9252	94	3	168	168	NUM
aiti-9252	94	4	for	for	ADP
aiti-9252	94	5	the	the	DET
aiti-9252	94	6	linear	linear	ADJ
aiti-9252	94	7	uncertain	uncertain	ADJ
aiti-9252	94	8	system	system	NOUN
aiti-9252	94	9	given	give	VERB
aiti-9252	94	10	in	in	ADP
aiti-9252	94	11	eqs	eqs	PROPN
aiti-9252	94	12	.	.	PUNCT
aiti-9252	95	1	(	(	PUNCT
aiti-9252	95	2	5	5	NUM
aiti-9252	95	3	)	)	PUNCT
aiti-9252	95	4	and	and	CCONJ
aiti-9252	95	5	(	(	PUNCT
aiti-9252	95	6	6	6	NUM
aiti-9252	95	7	)	)	PUNCT
aiti-9252	95	8	,	,	PUNCT
aiti-9252	95	9	the	the	DET
aiti-9252	95	10	following	follow	VERB
aiti-9252	95	11	quadratic	quadratic	ADJ
aiti-9252	95	12	cost	cost	NOUN
aiti-9252	95	13	function	function	NOUN
aiti-9252	95	14	is	be	AUX
aiti-9252	95	15	defined	define	VERB
aiti-9252	95	16	:	:	PUNCT
aiti-9252	95	17	{	{	PUNCT
aiti-9252	95	18	}	}	PUNCT
aiti-9252	95	19	0	0	NUM
aiti-9252	96	1	(	(	PUNCT
aiti-9252	96	2	)	)	PUNCT
aiti-9252	96	3	(	(	PUNCT
aiti-9252	96	4	)	)	PUNCT
aiti-9252	96	5	(	(	PUNCT
aiti-9252	96	6	)	)	PUNCT
aiti-9252	96	7	(	(	PUNCT
aiti-9252	96	8	)	)	PUNCT
aiti-9252	96	9	t	t	NOUN
aiti-9252	96	10	tj	tj	X
aiti-9252	96	11	x	x	X
aiti-9252	96	12	t	t	NOUN
aiti-9252	96	13	q	q	NOUN
aiti-9252	96	14	x	x	SYM
aiti-9252	96	15	t	t	X
aiti-9252	96	16	u	u	NOUN
aiti-9252	96	17	t	t	PROPN
aiti-9252	96	18	r	r	NOUN
aiti-9252	96	19	u	u	NOUN
aiti-9252	96	20	t	t	PROPN
aiti-9252	96	21	d	d	NOUN
aiti-9252	96	22	t	t	NOUN
aiti-9252	96	23	∞	∞	NUM
aiti-9252	96	24	=	=	PUNCT
aiti-9252	97	1	+	+	NUM
aiti-9252	97	2	∫	∫	PROPN
aiti-9252	97	3	(	(	PUNCT
aiti-9252	97	4	15	15	NUM
aiti-9252	97	5	)	)	PUNCT
aiti-9252	97	6	where	where	SCONJ
aiti-9252	97	7	the	the	DET
aiti-9252	97	8	weighting	weighting	NOUN
aiti-9252	97	9	matrices	matrix	NOUN
aiti-9252	97	10	%	%	NOUN
aiti-9252	97	11	∈	∈	PROPN
aiti-9252	97	12	ℝ	ℝ	PROPN
aiti-9252	97	13	�	�	PROPN
aiti-9252	97	14	×	×	NOUN
aiti-9252	97	15	�	�	PROPN
aiti-9252	97	16	and	and	CCONJ
aiti-9252	97	17	&	&	CCONJ
aiti-9252	97	18	∈	∈	PROPN
aiti-9252	97	19	ℝ	ℝ	PROPN
aiti-9252	97	20	×	×	NOUN
aiti-9252	97	21	are	be	AUX
aiti-9252	97	22	positive	positive	ADJ
aiti-9252	97	23	definite	definite	ADJ
aiti-9252	97	24	and	and	CCONJ
aiti-9252	97	25	can	can	AUX
aiti-9252	97	26	be	be	AUX
aiti-9252	97	27	selected	select	VERB
aiti-9252	97	28	by	by	ADP
aiti-9252	97	29	designers	designer	NOUN
aiti-9252	97	30	.	.	PUNCT
aiti-9252	98	1	by	by	ADP
aiti-9252	98	2	introducing	introduce	VERB
aiti-9252	98	3	an	an	DET
aiti-9252	98	4	estimation	estimation	NOUN
aiti-9252	98	5	error	error	NOUN
aiti-9252	98	6	vector	vector	NOUN
aiti-9252	98	7	'	'	PUNCT
aiti-9252	98	8	(	(	PUNCT
aiti-9252	98	9	�	�	NOUN
aiti-9252	98	10	)	)	PUNCT
aiti-9252	98	11	≜	≜	NOUN
aiti-9252	98	12	(	(	PUNCT
aiti-9252	98	13	�	�	NOUN
aiti-9252	98	14	)	)	PUNCT
aiti-9252	98	15	#	#	NOUN
aiti-9252	98	16	$	$	SYM
aiti-9252	98	17	(	(	PUNCT
aiti-9252	98	18	�	�	PROPN
aiti-9252	98	19	)	)	PUNCT
aiti-9252	98	20	,	,	PUNCT
aiti-9252	98	21	from	from	ADP
aiti-9252	98	22	eqs	eqs	PROPN
aiti-9252	98	23	.	.	PUNCT
aiti-9252	99	1	(	(	PUNCT
aiti-9252	99	2	5	5	NUM
aiti-9252	99	3	)	)	PUNCT
aiti-9252	99	4	and	and	CCONJ
aiti-9252	99	5	(	(	PUNCT
aiti-9252	99	6	9	9	NUM
aiti-9252	99	7	)	)	PUNCT
aiti-9252	99	8	,	,	PUNCT
aiti-9252	99	9	the	the	DET
aiti-9252	99	10	following	follow	VERB
aiti-9252	99	11	estimation	estimation	NOUN
aiti-9252	99	12	error	error	NOUN
aiti-9252	99	13	system	system	NOUN
aiti-9252	99	14	is	be	AUX
aiti-9252	99	15	obtained	obtain	VERB
aiti-9252	99	16	:	:	PUNCT
aiti-9252	99	17	ˆ	ˆ	NOUN
aiti-9252	99	18	(	(	PUNCT
aiti-9252	99	19	)	)	PUNCT
aiti-9252	99	20	(	(	PUNCT
aiti-9252	99	21	(	(	PUNCT
aiti-9252	99	22	)	)	PUNCT
aiti-9252	99	23	(	(	PUNCT
aiti-9252	99	24	)	)	PUNCT
aiti-9252	99	25	)	)	PUNCT
aiti-9252	100	1	(	(	PUNCT
aiti-9252	100	2	)	)	PUNCT
aiti-9252	100	3	(	(	PUNCT
aiti-9252	100	4	)	)	PUNCT
aiti-9252	100	5	(	(	PUNCT
aiti-9252	100	6	)	)	PUNCT
aiti-9252	100	7	ee	ee	PROPN
aiti-9252	100	8	t	t	PROPN
aiti-9252	100	9	a	a	DET
aiti-9252	100	10	g	g	NOUN
aiti-9252	100	11	t	t	NOUN
aiti-9252	100	12	c	c	NOUN
aiti-9252	100	13	e	e	NOUN
aiti-9252	100	14	t	t	PROPN
aiti-9252	100	15	a	a	DET
aiti-9252	100	16	x	x	X
aiti-9252	100	17	t=	t=	NOUN
aiti-9252	101	1	−	−	PROPN
aiti-9252	102	1	+	+	NOUN
aiti-9252	102	2	ɺ	ɺ	PROPN
aiti-9252	102	3	θ	θ	X
aiti-9252	102	4	θ	θ	NOUN
aiti-9252	102	5	(	(	PUNCT
aiti-9252	102	6	16	16	NUM
aiti-9252	102	7	)	)	PUNCT
aiti-9252	102	8	where	where	SCONJ
aiti-9252	102	9	�	�	PROPN
aiti-9252	102	10	(	(	PUNCT
aiti-9252	102	11	(	(	PUNCT
aiti-9252	102	12	�	�	NOUN
aiti-9252	102	13	)	)	PUNCT
aiti-9252	102	14	is	be	AUX
aiti-9252	102	15	the	the	DET
aiti-9252	102	16	matrix	matrix	NOUN
aiti-9252	102	17	given	give	VERB
aiti-9252	102	18	by	by	ADP
aiti-9252	102	19	�	�	PROPN
aiti-9252	102	20	(	(	PUNCT
aiti-9252	102	21	(	(	PUNCT
aiti-9252	102	22	�	�	NOUN
aiti-9252	102	23	)	)	PUNCT
aiti-9252	102	24	≜	≜	NOUN
aiti-9252	102	25	�	�	PROPN
aiti-9252	102	26	(	(	PUNCT
aiti-9252	102	27	�	�	NOUN
aiti-9252	102	28	)	)	PUNCT
aiti-9252	102	29	#	#	NOUN
aiti-9252	102	30	�	�	PROPN
aiti-9252	102	31	.	.	PUNCT
aiti-9252	103	1	moreover	moreover	ADV
aiti-9252	103	2	,	,	PUNCT
aiti-9252	103	3	an	an	DET
aiti-9252	103	4	augmented	augment	VERB
aiti-9252	103	5	vector	vector	NOUN
aiti-9252	103	6	(	(	PUNCT
aiti-9252	103	7	(	(	PUNCT
aiti-9252	103	8	�	�	NOUN
aiti-9252	103	9	)	)	PUNCT
aiti-9252	103	10	≜	≜	NOUN
aiti-9252	103	11	(	(	PUNCT
aiti-9252	103	12	$	$	SYM
aiti-9252	103	13	(	(	PUNCT
aiti-9252	103	14	�	�	NOUN
aiti-9252	103	15	)	)	PUNCT
aiti-9252	103	16	'	'	PUNCT
aiti-9252	103	17	(	(	PUNCT
aiti-9252	103	18	�	�	PROPN
aiti-9252	103	19	)	)	PUNCT
aiti-9252	103	20	)	)	PUNCT
aiti-9252	103	21	�	�	PROPN
aiti-9252	103	22	is	be	AUX
aiti-9252	103	23	introduced	introduce	VERB
aiti-9252	103	24	.	.	PUNCT
aiti-9252	104	1	then	then	ADV
aiti-9252	104	2	,	,	PUNCT
aiti-9252	104	3	from	from	ADP
aiti-9252	104	4	eqs	eqs	PROPN
aiti-9252	104	5	.	.	PUNCT
aiti-9252	105	1	(	(	PUNCT
aiti-9252	105	2	5	5	NUM
aiti-9252	105	3	)	)	PUNCT
aiti-9252	105	4	,	,	PUNCT
aiti-9252	105	5	(	(	PUNCT
aiti-9252	105	6	6	6	NUM
aiti-9252	105	7	)	)	PUNCT
aiti-9252	105	8	,	,	PUNCT
aiti-9252	105	9	(	(	PUNCT
aiti-9252	105	10	9	9	NUM
aiti-9252	105	11	)	)	PUNCT
aiti-9252	105	12	,	,	PUNCT
aiti-9252	105	13	(	(	PUNCT
aiti-9252	105	14	13	13	NUM
aiti-9252	105	15	)	)	PUNCT
aiti-9252	105	16	,	,	PUNCT
aiti-9252	105	17	and	and	CCONJ
aiti-9252	105	18	(	(	PUNCT
aiti-9252	105	19	16	16	NUM
aiti-9252	105	20	)	)	PUNCT
aiti-9252	105	21	,	,	PUNCT
aiti-9252	105	22	the	the	DET
aiti-9252	105	23	following	follow	VERB
aiti-9252	105	24	augmented	augment	VERB
aiti-9252	105	25	system	system	NOUN
aiti-9252	105	26	is	be	AUX
aiti-9252	105	27	derived	derive	VERB
aiti-9252	105	28	:	:	PUNCT
aiti-9252	105	29	(	(	PUNCT
aiti-9252	105	30	)	)	PUNCT
aiti-9252	105	31	(	(	PUNCT
aiti-9252	105	32	)	)	PUNCT
aiti-9252	105	33	(	(	PUNCT
aiti-9252	105	34	)	)	PUNCT
aiti-9252	105	35	e	e	X
aiti-9252	105	36	ex	ex	X
aiti-9252	105	37	t	t	PROPN
aiti-9252	105	38	x	x	PUNCT
aiti-9252	105	39	t=	t=	NOUN
aiti-9252	105	40	ωɺ	ωɺ	NUM
aiti-9252	105	41	θ	θ	PROPN
aiti-9252	105	42	(	(	PUNCT
aiti-9252	105	43	17	17	NUM
aiti-9252	105	44	)	)	PUNCT
aiti-9252	105	45	(	(	PUNCT
aiti-9252	105	46	)	)	PUNCT
aiti-9252	105	47	(	(	PUNCT
aiti-9252	105	48	)	)	PUNCT
aiti-9252	105	49	(	(	PUNCT
aiti-9252	105	50	)	)	PUNCT
aiti-9252	105	51	(	(	PUNCT
aiti-9252	105	52	)	)	PUNCT
aiti-9252	105	53	(	(	PUNCT
aiti-9252	105	54	)	)	PUNCT
aiti-9252	105	55	(	(	PUNCT
aiti-9252	105	56	)	)	PUNCT
aiti-9252	105	57	e	e	X
aiti-9252	105	58	a	a	X
aiti-9252	105	59	bk	bk	ADP
aiti-9252	105	60	t	t	PROPN
aiti-9252	105	61	g	g	PROPN
aiti-9252	105	62	t	t	PROPN
aiti-9252	105	63	c	c	PROPN
aiti-9252	105	64	a	a	DET
aiti-9252	105	65	a	a	DET
aiti-9252	105	66	g	g	NOUN
aiti-9252	105	67	t	t	NOUN
aiti-9252	105	68	c	c	NOUN
aiti-9252	106	1	−	−	PROPN
aiti-9252	106	2			PROPN
aiti-9252	107	1	ω	ω	NUM
aiti-9252	107	2	=	=	SYM
aiti-9252	107	3			NOUN
aiti-9252	107	4	−	−	PROPN
aiti-9252	107	5			PUNCT
aiti-9252	108	1	θ	θ	X
aiti-9252	108	2	θ	θ	PUNCT
aiti-9252	108	3	θ	θ	X
aiti-9252	108	4	(	(	PUNCT
aiti-9252	108	5	18	18	NUM
aiti-9252	108	6	)	)	PUNCT
aiti-9252	108	7	moreover	moreover	ADV
aiti-9252	108	8	,	,	PUNCT
aiti-9252	108	9	by	by	ADP
aiti-9252	108	10	using	use	VERB
aiti-9252	108	11	the	the	DET
aiti-9252	108	12	estimated	estimate	VERB
aiti-9252	108	13	error	error	NOUN
aiti-9252	108	14	vector	vector	NOUN
aiti-9252	108	15	'	'	PUNCT
aiti-9252	108	16	(	(	PUNCT
aiti-9252	108	17	�	�	PROPN
aiti-9252	108	18	)	)	PUNCT
aiti-9252	108	19	,	,	PUNCT
aiti-9252	108	20	the	the	DET
aiti-9252	108	21	control	control	NOUN
aiti-9252	108	22	input	input	NOUN
aiti-9252	108	23	in	in	ADP
aiti-9252	108	24	eq	eq	ADP
aiti-9252	108	25	.	.	PUNCT
aiti-9252	109	1	(	(	PUNCT
aiti-9252	109	2	12	12	NUM
aiti-9252	109	3	)	)	PUNCT
aiti-9252	109	4	,	,	PUNCT
aiti-9252	109	5	and	and	CCONJ
aiti-9252	109	6	the	the	DET
aiti-9252	109	7	augmented	augment	VERB
aiti-9252	109	8	vector	vector	NOUN
aiti-9252	109	9	(	(	PUNCT
aiti-9252	109	10	(	(	PUNCT
aiti-9252	109	11	�	�	PROPN
aiti-9252	109	12	)	)	PUNCT
aiti-9252	109	13	,	,	PUNCT
aiti-9252	109	14	the	the	DET
aiti-9252	109	15	quadratic	quadratic	ADJ
aiti-9252	109	16	cost	cost	NOUN
aiti-9252	109	17	function	function	NOUN
aiti-9252	109	18	in	in	ADP
aiti-9252	109	19	eq	eq	ADP
aiti-9252	109	20	.	.	PUNCT
aiti-9252	109	21	(	(	PUNCT
aiti-9252	109	22	15	15	NUM
aiti-9252	109	23	)	)	PUNCT
aiti-9252	109	24	can	can	AUX
aiti-9252	109	25	be	be	AUX
aiti-9252	109	26	rewritten	rewrite	VERB
aiti-9252	109	27	as	as	SCONJ
aiti-9252	109	28	follows	follow	VERB
aiti-9252	109	29	:	:	PUNCT
aiti-9252	109	30	0	0	PUNCT
aiti-9252	110	1	(	(	PUNCT
aiti-9252	110	2	)	)	PUNCT
aiti-9252	110	3	(	(	PUNCT
aiti-9252	110	4	)	)	PUNCT
aiti-9252	110	5	(	(	PUNCT
aiti-9252	110	6	)	)	PUNCT
aiti-9252	110	7	e	e	NOUN
aiti-9252	110	8	t	t	NOUN
aiti-9252	110	9	x	x	X
aiti-9252	110	10	e	e	NOUN
aiti-9252	110	11	ej	ej	PROPN
aiti-9252	110	12	x	x	SYM
aiti-9252	110	13	t	t	PROPN
aiti-9252	110	14	t	t	PROPN
aiti-9252	111	1	x	x	SYM
aiti-9252	111	2	t	t	PROPN
aiti-9252	111	3	d	d	X
aiti-9252	111	4	t	t	PROPN
aiti-9252	111	5	∞	∞	NUM
aiti-9252	111	6	=	=	SYM
aiti-9252	111	7	γ∫	γ∫	PROPN
aiti-9252	111	8	(	(	PUNCT
aiti-9252	111	9	19	19	NUM
aiti-9252	111	10	)	)	PUNCT
aiti-9252	111	11	(	(	PUNCT
aiti-9252	111	12	)	)	PUNCT
aiti-9252	111	13	(	(	PUNCT
aiti-9252	111	14	)	)	PUNCT
aiti-9252	111	15	(	(	PUNCT
aiti-9252	111	16	)	)	PUNCT
aiti-9252	111	17	tq	tq	INTJ
aiti-9252	112	1	k	k	PROPN
aiti-9252	112	2	t	t	PROPN
aiti-9252	112	3	r	r	NOUN
aiti-9252	112	4	k	k	PROPN
aiti-9252	112	5	t	t	PROPN
aiti-9252	112	6	q	q	PROPN
aiti-9252	112	7	t	t	PROPN
aiti-9252	112	8	q	q	X
aiti-9252	112	9	q	q	NOUN
aiti-9252	112	10			NOUN
aiti-9252	112	11	+γ	+γ	ADJ
aiti-9252	112	12	=	=	PUNCT
aiti-9252	112	13			NOUN
aiti-9252	112	14			NOUN
aiti-9252	112	15			VERB
aiti-9252	112	16			PRON
aiti-9252	112	17			PUNCT
aiti-9252	113	1	(	(	PUNCT
aiti-9252	113	2	20	20	NUM
aiti-9252	113	3	)	)	PUNCT
aiti-9252	113	4	note	note	VERB
aiti-9252	113	5	that	that	SCONJ
aiti-9252	113	6	because	because	SCONJ
aiti-9252	113	7	the	the	DET
aiti-9252	113	8	weighting	weighting	NOUN
aiti-9252	113	9	matrices	matrix	NOUN
aiti-9252	113	10	%	%	NOUN
aiti-9252	113	11	∈	∈	PROPN
aiti-9252	113	12	ℝ	ℝ	PROPN
aiti-9252	113	13	�	�	PROPN
aiti-9252	113	14	×	×	NOUN
aiti-9252	113	15	�	�	PROPN
aiti-9252	113	16	and	and	CCONJ
aiti-9252	113	17	&	&	CCONJ
aiti-9252	113	18	∈	∈	PROPN
aiti-9252	113	19	ℝ	ℝ	PROPN
aiti-9252	113	20	×	×	NOUN
aiti-9252	113	21	in	in	ADP
aiti-9252	113	22	eq	eq	ADP
aiti-9252	113	23	.	.	PUNCT
aiti-9252	114	1	(	(	PUNCT
aiti-9252	114	2	18	18	NUM
aiti-9252	114	3	)	)	PUNCT
aiti-9252	114	4	are	be	AUX
aiti-9252	114	5	positive	positive	ADJ
aiti-9252	114	6	definite	definite	ADJ
aiti-9252	114	7	,	,	PUNCT
aiti-9252	114	8	the	the	DET
aiti-9252	114	9	matrix	matrix	NOUN
aiti-9252	114	10	γ	γ	X
aiti-9252	114	11	(	(	PUNCT
aiti-9252	114	12	�	�	PROPN
aiti-9252	114	13	)	)	PUNCT
aiti-9252	114	14	in	in	ADP
aiti-9252	114	15	eq	eq	ADP
aiti-9252	114	16	.	.	PUNCT
aiti-9252	115	1	(	(	PUNCT
aiti-9252	115	2	20	20	NUM
aiti-9252	115	3	)	)	PUNCT
aiti-9252	115	4	is	be	AUX
aiti-9252	115	5	semi	semi	ADJ
aiti-9252	115	6	-	-	ADJ
aiti-9252	115	7	positive	positive	ADJ
aiti-9252	115	8	definite	definite	NOUN
aiti-9252	115	9	.	.	PUNCT
aiti-9252	116	1	applying	apply	VERB
aiti-9252	116	2	lemma	lemma	PROPN
aiti-9252	116	3	2	2	NUM
aiti-9252	116	4	to	to	ADP
aiti-9252	116	5	eq	eq	NOUN
aiti-9252	116	6	.	.	PUNCT
aiti-9252	117	1	(	(	PUNCT
aiti-9252	117	2	20	20	NUM
aiti-9252	117	3	)	)	PUNCT
aiti-9252	117	4	,	,	PUNCT
aiti-9252	117	5	the	the	DET
aiti-9252	117	6	semi	semi	ADJ
aiti-9252	117	7	-	-	ADJ
aiti-9252	117	8	positive	positive	ADJ
aiti-9252	117	9	definiteness	definiteness	NOUN
aiti-9252	117	10	of	of	ADP
aiti-9252	117	11	the	the	DET
aiti-9252	117	12	matrix	matrix	NOUN
aiti-9252	117	13	γ	γ	X
aiti-9252	117	14	(	(	PUNCT
aiti-9252	117	15	�	�	PROPN
aiti-9252	117	16	)	)	PUNCT
aiti-9252	117	17	can	can	AUX
aiti-9252	117	18	be	be	AUX
aiti-9252	117	19	obtained	obtain	VERB
aiti-9252	117	20	as	as	ADP
aiti-9252	117	21	follows	follow	VERB
aiti-9252	117	22	:	:	PUNCT
aiti-9252	117	23	1	1	NUM
aiti-9252	117	24	(	(	PUNCT
aiti-9252	117	25	)	)	PUNCT
aiti-9252	117	26	(	(	PUNCT
aiti-9252	117	27	)	)	PUNCT
aiti-9252	117	28	(	(	PUNCT
aiti-9252	117	29	)	)	PUNCT
aiti-9252	117	30	(	(	PUNCT
aiti-9252	117	31	)	)	PUNCT
aiti-9252	117	32	t	t	NOUN
aiti-9252	117	33	t	t	PROPN
aiti-9252	117	34	q	q	PROPN
aiti-9252	117	35	k	k	PROPN
aiti-9252	117	36	t	t	PROPN
aiti-9252	117	37	rk	rk	NOUN
aiti-9252	118	1	t	t	PROPN
aiti-9252	118	2	qq	qq	NOUN
aiti-9252	118	3	q	q	PROPN
aiti-9252	119	1	k	k	PROPN
aiti-9252	119	2	t	t	PROPN
aiti-9252	119	3	rk	rk	NOUN
aiti-9252	119	4	t	t	PROPN
aiti-9252	119	5	−+	−+	NOUN
aiti-9252	119	6	−	−	PROPN
aiti-9252	120	1	=	=	PUNCT
aiti-9252	120	2	(	(	PUNCT
aiti-9252	120	3	21	21	NUM
aiti-9252	120	4	)	)	PUNCT
aiti-9252	120	5	the	the	DET
aiti-9252	120	6	definition	definition	NOUN
aiti-9252	120	7	of	of	ADP
aiti-9252	120	8	an	an	DET
aiti-9252	120	9	observer	observer	NOUN
aiti-9252	120	10	-	-	PUNCT
aiti-9252	120	11	based	base	VERB
aiti-9252	120	12	quadratic	quadratic	ADJ
aiti-9252	120	13	guaranteed	guarantee	VERB
aiti-9252	120	14	cost	cost	NOUN
aiti-9252	120	15	control	control	NOUN
aiti-9252	120	16	is	be	AUX
aiti-9252	120	17	as	as	SCONJ
aiti-9252	120	18	follows	follow	VERB
aiti-9252	120	19	.	.	PUNCT
aiti-9252	121	1	definition	definition	NOUN
aiti-9252	121	2	:	:	PUNCT
aiti-9252	121	3	the	the	DET
aiti-9252	121	4	control	control	NOUN
aiti-9252	121	5	input	input	NOUN
aiti-9252	121	6	in	in	ADP
aiti-9252	121	7	eq	eq	ADP
aiti-9252	121	8	.	.	PUNCT
aiti-9252	122	1	(	(	PUNCT
aiti-9252	122	2	12	12	NUM
aiti-9252	122	3	)	)	PUNCT
aiti-9252	122	4	is	be	AUX
aiti-9252	122	5	an	an	DET
aiti-9252	122	6	observer	observer	NOUN
aiti-9252	122	7	-	-	PUNCT
aiti-9252	122	8	based	base	VERB
aiti-9252	122	9	quadratic	quadratic	ADJ
aiti-9252	122	10	guaranteed	guarantee	VERB
aiti-9252	122	11	cost	cost	NOUN
aiti-9252	122	12	control	control	NOUN
aiti-9252	122	13	for	for	ADP
aiti-9252	122	14	the	the	DET
aiti-9252	122	15	linear	linear	ADJ
aiti-9252	122	16	uncertain	uncertain	ADJ
aiti-9252	122	17	system	system	NOUN
aiti-9252	122	18	in	in	ADP
aiti-9252	122	19	eqs	eqs	PROPN
aiti-9252	122	20	.	.	PUNCT
aiti-9252	123	1	(	(	PUNCT
aiti-9252	123	2	5	5	NUM
aiti-9252	123	3	)	)	PUNCT
aiti-9252	123	4	and	and	CCONJ
aiti-9252	123	5	(	(	PUNCT
aiti-9252	123	6	6	6	NUM
aiti-9252	123	7	)	)	PUNCT
aiti-9252	123	8	and	and	CCONJ
aiti-9252	123	9	the	the	DET
aiti-9252	123	10	quadratic	quadratic	ADJ
aiti-9252	123	11	cost	cost	NOUN
aiti-9252	123	12	function	function	NOUN
aiti-9252	123	13	in	in	ADP
aiti-9252	123	14	eq	eq	ADP
aiti-9252	123	15	.	.	PUNCT
aiti-9252	124	1	(	(	PUNCT
aiti-9252	124	2	19	19	NUM
aiti-9252	124	3	)	)	PUNCT
aiti-9252	124	4	provided	provide	VERB
aiti-9252	124	5	that	that	SCONJ
aiti-9252	124	6	the	the	DET
aiti-9252	124	7	closed	closed	ADJ
aiti-9252	124	8	-	-	PUNCT
aiti-9252	124	9	loop	loop	NOUN
aiti-9252	124	10	system	system	NOUN
aiti-9252	124	11	in	in	ADP
aiti-9252	124	12	eq	eq	ADP
aiti-9252	124	13	.	.	PUNCT
aiti-9252	125	1	(	(	PUNCT
aiti-9252	125	2	17	17	NUM
aiti-9252	125	3	)	)	PUNCT
aiti-9252	125	4	is	be	AUX
aiti-9252	125	5	asymptotically	asymptotically	ADV
aiti-9252	125	6	stable	stable	ADJ
aiti-9252	125	7	for	for	ADP
aiti-9252	125	8	∀	∀	NUM
aiti-9252	125	9	�	�	PROPN
aiti-9252	125	10	∈	∈	PROPN
aiti-9252	125	11	∆	∆	PROPN
aiti-9252	125	12	and	and	CCONJ
aiti-9252	125	13	there	there	PRON
aiti-9252	125	14	exists	exist	VERB
aiti-9252	125	15	a	a	DET
aiti-9252	125	16	positive	positive	ADJ
aiti-9252	125	17	constant	constant	ADJ
aiti-9252	126	1	+	+	NOUN
aiti-9252	126	2	∗	∗	NOUN
aiti-9252	126	3	(	(	PUNCT
aiti-9252	126	4	(	(	PUNCT
aiti-9252	126	5	(	(	PUNCT
aiti-9252	126	6	0	0	NUM
aiti-9252	126	7	)	)	PUNCT
aiti-9252	126	8	)	)	PUNCT
aiti-9252	126	9	that	that	SCONJ
aiti-9252	126	10	satisfies	satisfy	VERB
aiti-9252	126	11	./0	./0	PUNCT
aiti-9252	126	12	≤	≤	ADJ
aiti-9252	127	1	+	+	CCONJ
aiti-9252	127	2	∗	∗	NOUN
aiti-9252	127	3	(	(	PUNCT
aiti-9252	127	4	(	(	PUNCT
aiti-9252	127	5	(	(	PUNCT
aiti-9252	127	6	0	0	NUM
aiti-9252	127	7	)	)	PUNCT
aiti-9252	127	8	)	)	PUNCT
aiti-9252	127	9	.	.	PUNCT
aiti-9252	128	1	from	from	ADP
aiti-9252	128	2	the	the	DET
aiti-9252	128	3	above	above	ADJ
aiti-9252	128	4	discussion	discussion	NOUN
aiti-9252	128	5	,	,	PUNCT
aiti-9252	128	6	the	the	DET
aiti-9252	128	7	objective	objective	NOUN
aiti-9252	128	8	of	of	ADP
aiti-9252	128	9	this	this	DET
aiti-9252	128	10	study	study	NOUN
aiti-9252	128	11	is	be	AUX
aiti-9252	128	12	to	to	PART
aiti-9252	128	13	design	design	VERB
aiti-9252	128	14	the	the	DET
aiti-9252	128	15	observer	observer	NOUN
aiti-9252	128	16	gain	gain	NOUN
aiti-9252	128	17	matrix	matrix	NOUN
aiti-9252	128	18	and	and	CCONJ
aiti-9252	128	19	the	the	DET
aiti-9252	128	20	control	control	NOUN
aiti-9252	128	21	gain	gain	NOUN
aiti-9252	128	22	matrix	matrix	NOUN
aiti-9252	128	23	that	that	PRON
aiti-9252	128	24	guarantee	guarantee	VERB
aiti-9252	128	25	the	the	DET
aiti-9252	128	26	upper	upper	ADJ
aiti-9252	128	27	bound	bind	VERB
aiti-9252	128	28	on	on	ADP
aiti-9252	128	29	the	the	DET
aiti-9252	128	30	quadratic	quadratic	ADJ
aiti-9252	128	31	cost	cost	NOUN
aiti-9252	128	32	function	function	NOUN
aiti-9252	128	33	in	in	ADP
aiti-9252	128	34	eq	eq	ADP
aiti-9252	128	35	.	.	PUNCT
aiti-9252	129	1	(	(	PUNCT
aiti-9252	129	2	19	19	NUM
aiti-9252	129	3	)	)	PUNCT
aiti-9252	129	4	.	.	PUNCT
aiti-9252	130	1	4	4	X
aiti-9252	130	2	.	.	X
aiti-9252	130	3	main	main	ADJ
aiti-9252	130	4	results	result	NOUN
aiti-9252	130	5	this	this	DET
aiti-9252	130	6	section	section	NOUN
aiti-9252	130	7	shows	show	VERB
aiti-9252	130	8	an	an	DET
aiti-9252	130	9	lmi	lmi	PROPN
aiti-9252	130	10	-	-	PUNCT
aiti-9252	130	11	based	base	VERB
aiti-9252	130	12	design	design	NOUN
aiti-9252	130	13	method	method	NOUN
aiti-9252	130	14	for	for	ADP
aiti-9252	130	15	the	the	DET
aiti-9252	130	16	observer	observer	NOUN
aiti-9252	130	17	gain	gain	NOUN
aiti-9252	130	18	matrix	matrix	NOUN
aiti-9252	130	19	�	�	PROPN
aiti-9252	130	20	∈	∈	PROPN
aiti-9252	130	21	ℝ	ℝ	PROPN
aiti-9252	130	22	�	�	PROPN
aiti-9252	130	23	×	×	NOUN
aiti-9252	130	24	�	�	PROPN
aiti-9252	130	25	and	and	CCONJ
aiti-9252	130	26	the	the	DET
aiti-9252	130	27	control	control	NOUN
aiti-9252	130	28	gain	gain	VERB
aiti-9252	130	29	matrix	matrix	NOUN
aiti-9252	130	30	∈	∈	NOUN
aiti-9252	130	31	ℝ	ℝ	PROPN
aiti-9252	130	32	×	×	NOUN
aiti-9252	130	33	�	�	PROPN
aiti-9252	130	34	that	that	PRON
aiti-9252	130	35	ensures	ensure	VERB
aiti-9252	130	36	the	the	DET
aiti-9252	130	37	upper	upper	ADJ
aiti-9252	130	38	bound	bound	NOUN
aiti-9252	130	39	of	of	ADP
aiti-9252	130	40	the	the	DET
aiti-9252	130	41	quadratic	quadratic	ADJ
aiti-9252	130	42	cost	cost	NOUN
aiti-9252	130	43	function	function	NOUN
aiti-9252	130	44	.	.	PUNCT
aiti-9252	131	1	it	it	PRON
aiti-9252	131	2	is	be	AUX
aiti-9252	131	3	difficult	difficult	ADJ
aiti-9252	131	4	to	to	PART
aiti-9252	131	5	design	design	VERB
aiti-9252	131	6	both	both	DET
aiti-9252	131	7	gain	gain	NOUN
aiti-9252	131	8	matrices	matrix	NOUN
aiti-9252	131	9	simultaneously	simultaneously	ADV
aiti-9252	131	10	because	because	SCONJ
aiti-9252	131	11	of	of	ADP
aiti-9252	131	12	the	the	DET
aiti-9252	131	13	uncertainty	uncertainty	NOUN
aiti-9252	131	14	parameters	parameter	NOUN
aiti-9252	131	15	.	.	PUNCT
aiti-9252	132	1	thus	thus	ADV
aiti-9252	132	2	,	,	PUNCT
aiti-9252	132	3	the	the	DET
aiti-9252	132	4	observer	observer	NOUN
aiti-9252	132	5	gain	gain	NOUN
aiti-9252	132	6	matrix	matrix	NOUN
aiti-9252	132	7	�	�	PROPN
aiti-9252	132	8	is	be	AUX
aiti-9252	132	9	first	first	ADV
aiti-9252	132	10	designed	design	VERB
aiti-9252	132	11	,	,	PUNCT
aiti-9252	132	12	and	and	CCONJ
aiti-9252	132	13	then	then	ADV
aiti-9252	132	14	the	the	DET
aiti-9252	132	15	control	control	NOUN
aiti-9252	132	16	gain	gain	NOUN
aiti-9252	132	17	matrix	matrix	NOUN
aiti-9252	132	18	is	be	AUX
aiti-9252	132	19	determined	determine	VERB
aiti-9252	132	20	.	.	PUNCT
aiti-9252	133	1	158	158	NUM
aiti-9252	133	2	advances	advance	NOUN
aiti-9252	133	3	in	in	ADP
aiti-9252	133	4	technology	technology	NOUN
aiti-9252	133	5	innovation	innovation	NOUN
aiti-9252	133	6	,	,	PUNCT
aiti-9252	133	7	vol	vol	NOUN
aiti-9252	133	8	.	.	PROPN
aiti-9252	133	9	7	7	NUM
aiti-9252	133	10	,	,	PUNCT
aiti-9252	133	11	no	no	INTJ
aiti-9252	133	12	.	.	NOUN
aiti-9252	133	13	3	3	NUM
aiti-9252	133	14	,	,	PUNCT
aiti-9252	133	15	2022	2022	NUM
aiti-9252	133	16	,	,	PUNCT
aiti-9252	133	17	pp	pp	ADJ
aiti-9252	133	18	.	.	PUNCT
aiti-9252	133	19	155	155	NUM
aiti-9252	133	20	-	-	SYM
aiti-9252	133	21	168	168	NUM
aiti-9252	133	22	4.1	4.1	NUM
aiti-9252	133	23	.	.	PUNCT
aiti-9252	134	1	design	design	NOUN
aiti-9252	134	2	of	of	ADP
aiti-9252	134	3	observer	observer	NOUN
aiti-9252	134	4	gain	gain	NOUN
aiti-9252	134	5	matrix	matrix	NOUN
aiti-9252	134	6	this	this	DET
aiti-9252	134	7	study	study	NOUN
aiti-9252	134	8	considers	consider	VERB
aiti-9252	134	9	the	the	DET
aiti-9252	134	10	design	design	NOUN
aiti-9252	134	11	of	of	ADP
aiti-9252	134	12	the	the	DET
aiti-9252	134	13	observer	observer	NOUN
aiti-9252	134	14	gain	gain	NOUN
aiti-9252	134	15	matrix	matrix	NOUN
aiti-9252	134	16	�	�	NOUN
aiti-9252	134	17	that	that	PRON
aiti-9252	134	18	stabilizes	stabilize	VERB
aiti-9252	134	19	the	the	DET
aiti-9252	134	20	following	follow	VERB
aiti-9252	134	21	system	system	NOUN
aiti-9252	134	22	obtained	obtain	VERB
aiti-9252	134	23	by	by	ADP
aiti-9252	134	24	ignoring	ignore	VERB
aiti-9252	134	25	the	the	DET
aiti-9252	134	26	estimate	estimate	NOUN
aiti-9252	134	27	$	$	SYM
aiti-9252	134	28	(	(	PUNCT
aiti-9252	134	29	�	�	PROPN
aiti-9252	134	30	)	)	PUNCT
aiti-9252	134	31	in	in	ADP
aiti-9252	134	32	eq	eq	ADP
aiti-9252	134	33	.	.	PUNCT
aiti-9252	135	1	(	(	PUNCT
aiti-9252	135	2	16	16	NUM
aiti-9252	135	3	)	)	PUNCT
aiti-9252	135	4	:	:	PUNCT
aiti-9252	135	5	(	(	PUNCT
aiti-9252	135	6	)	)	PUNCT
aiti-9252	135	7	(	(	PUNCT
aiti-9252	135	8	(	(	PUNCT
aiti-9252	135	9	)	)	PUNCT
aiti-9252	135	10	(	(	PUNCT
aiti-9252	135	11	)	)	PUNCT
aiti-9252	135	12	)	)	PUNCT
aiti-9252	136	1	(	(	PUNCT
aiti-9252	136	2	)	)	PUNCT
aiti-9252	136	3	e	e	X
aiti-9252	136	4	t	t	PROPN
aiti-9252	136	5	a	a	DET
aiti-9252	136	6	g	g	NOUN
aiti-9252	136	7	t	t	NOUN
aiti-9252	136	8	c	c	NOUN
aiti-9252	136	9	e	e	NOUN
aiti-9252	136	10	t=	t=	NOUN
aiti-9252	136	11	−ɺ	−ɺ	ADJ
aiti-9252	136	12	θ	θ	PROPN
aiti-9252	136	13	(	(	PUNCT
aiti-9252	136	14	22	22	NUM
aiti-9252	136	15	)	)	PUNCT
aiti-9252	136	16	now	now	ADV
aiti-9252	136	17	,	,	PUNCT
aiti-9252	136	18	let	let	VERB
aiti-9252	136	19	2	2	NUM
aiti-9252	136	20	�	�	NOUN
aiti-9252	136	21	('̅	('̅	NUM
aiti-9252	136	22	)	)	PUNCT
aiti-9252	136	23	≜	≜	NOUN
aiti-9252	136	24	'	'	PART
aiti-9252	136	25	̅	̅	NOUN
aiti-9252	136	26	�	�	NOUN
aiti-9252	136	27	(	(	PUNCT
aiti-9252	136	28	�	�	NOUN
aiti-9252	136	29	)4('̅	)4('̅	PROPN
aiti-9252	136	30	(	(	PUNCT
aiti-9252	136	31	�	�	PROPN
aiti-9252	136	32	)	)	PUNCT
aiti-9252	136	33	be	be	VERB
aiti-9252	136	34	a	a	DET
aiti-9252	136	35	lyapunov	lyapunov	ADJ
aiti-9252	136	36	function	function	NOUN
aiti-9252	136	37	candidate	candidate	NOUN
aiti-9252	136	38	.	.	PUNCT
aiti-9252	137	1	4	4	NUM
aiti-9252	137	2	(	(	PUNCT
aiti-9252	137	3	∈	∈	PROPN
aiti-9252	137	4	ℝ	ℝ	PROPN
aiti-9252	137	5	�	�	PROPN
aiti-9252	137	6	×	×	NOUN
aiti-9252	137	7	�	�	PROPN
aiti-9252	137	8	is	be	AUX
aiti-9252	137	9	a	a	DET
aiti-9252	137	10	symmetric	symmetric	ADJ
aiti-9252	137	11	positive	positive	ADJ
aiti-9252	137	12	definite	definite	ADJ
aiti-9252	137	13	matrix	matrix	NOUN
aiti-9252	137	14	.	.	PUNCT
aiti-9252	138	1	from	from	ADP
aiti-9252	138	2	lemma	lemma	PROPN
aiti-9252	138	3	1	1	NUM
aiti-9252	138	4	,	,	PUNCT
aiti-9252	138	5	lemma	lemma	PROPN
aiti-9252	138	6	2	2	NUM
aiti-9252	138	7	,	,	PUNCT
aiti-9252	138	8	and	and	CCONJ
aiti-9252	138	9	a	a	DET
aiti-9252	138	10	previously	previously	ADV
aiti-9252	138	11	reported	report	VERB
aiti-9252	138	12	result	result	NOUN
aiti-9252	138	13	[	[	X
aiti-9252	138	14	1	1	NUM
aiti-9252	138	15	]	]	PUNCT
aiti-9252	138	16	,	,	PUNCT
aiti-9252	138	17	a	a	DET
aiti-9252	138	18	sufficient	sufficient	ADJ
aiti-9252	138	19	condition	condition	NOUN
aiti-9252	138	20	for	for	ADP
aiti-9252	138	21	the	the	DET
aiti-9252	138	22	asymptotical	asymptotical	ADJ
aiti-9252	138	23	stability	stability	NOUN
aiti-9252	138	24	of	of	ADP
aiti-9252	138	25	the	the	DET
aiti-9252	138	26	system	system	NOUN
aiti-9252	138	27	in	in	ADP
aiti-9252	138	28	eq	eq	ADP
aiti-9252	138	29	.	.	PUNCT
aiti-9252	139	1	(	(	PUNCT
aiti-9252	139	2	22	22	NUM
aiti-9252	139	3	)	)	PUNCT
aiti-9252	139	4	is	be	AUX
aiti-9252	139	5	obtained	obtain	VERB
aiti-9252	139	6	as	as	SCONJ
aiti-9252	139	7	follows	follow	VERB
aiti-9252	139	8	:	:	PUNCT
aiti-9252	139	9	vex	vex	X
aiti-9252	139	10	(	(	PUNCT
aiti-9252	139	11	)	)	PUNCT
aiti-9252	139	12	(	(	PUNCT
aiti-9252	139	13	)	)	PUNCT
aiti-9252	139	14	0	0	NUM
aiti-9252	139	15	,	,	PUNCT
aiti-9252	139	16	t	t	PROPN
aiti-9252	139	17	t	t	PROPN
aiti-9252	139	18	t	t	PROPN
aiti-9252	139	19	t	t	X
aiti-9252	139	20	e	e	X
aiti-9252	139	21	e	e	X
aiti-9252	139	22	e	e	X
aiti-9252	139	23	e	e	X
aiti-9252	139	24	g	g	PROPN
aiti-9252	139	25	e	e	X
aiti-9252	139	26	g	g	PROPN
aiti-9252	139	27	e	e	PROPN
aiti-9252	139	28	n	n	PROPN
aiti-9252	139	29	y	y	PROPN
aiti-9252	139	30	a	a	DET
aiti-9252	139	31	a	a	DET
aiti-9252	139	32	y	y	NOUN
aiti-9252	139	33	h	h	NOUN
aiti-9252	140	1	c	c	NOUN
aiti-9252	140	2	c	c	NOUN
aiti-9252	141	1	h	h	NOUN
aiti-9252	142	1	c	c	NOUN
aiti-9252	142	2	c	c	NOUN
aiti-9252	142	3	y	y	PROPN
aiti-9252	142	4	y	y	INTJ
aiti-9252	143	1	i	i	PRON
aiti-9252	143	2	θ	θ	VERB
aiti-9252	143	3	θ	θ	NOUN
aiti-9252	143	4	γ	γ	X
aiti-9252	143	5	ε	ε	PROPN
aiti-9252	143	6	θ	θ	PROPN
aiti-9252	143	7	ε	ε	PROPN
aiti-9252	143	8	γ	γ	X
aiti-9252	143	9			PROPN
aiti-9252	143	10	+	+	NOUN
aiti-9252	144	1	−	−	PROPN
aiti-9252	144	2	−	−	PROPN
aiti-9252	145	1	+	+	CCONJ
aiti-9252	145	2	<	<	X
aiti-9252	145	3	∀	∀	X
aiti-9252	145	4	∈	∈	NOUN
aiti-9252	145	5	∆	∆	PROPN
aiti-9252	145	6			NOUN
aiti-9252	145	7	−	−	PROPN
aiti-9252	145	8			PUNCT
aiti-9252	146	1	(	(	PUNCT
aiti-9252	146	2	23	23	NUM
aiti-9252	146	3	)	)	PUNCT
aiti-9252	146	4	from	from	ADP
aiti-9252	146	5	eq	eq	ADP
aiti-9252	146	6	.	.	PUNCT
aiti-9252	147	1	(	(	PUNCT
aiti-9252	147	2	23	23	NUM
aiti-9252	147	3	)	)	PUNCT
aiti-9252	147	4	,	,	PUNCT
aiti-9252	147	5	the	the	DET
aiti-9252	147	6	observer	observer	NOUN
aiti-9252	147	7	gain	gain	NOUN
aiti-9252	147	8	matrix	matrix	NOUN
aiti-9252	147	9	�	�	PROPN
aiti-9252	147	10	can	can	AUX
aiti-9252	147	11	be	be	AUX
aiti-9252	147	12	easily	easily	ADV
aiti-9252	147	13	designed	design	VERB
aiti-9252	147	14	as	as	SCONJ
aiti-9252	147	15	follows	follow	VERB
aiti-9252	147	16	:	:	PUNCT
aiti-9252	147	17	1	1	NUM
aiti-9252	147	18	e	e	NOUN
aiti-9252	147	19	eg	eg	PROPN
aiti-9252	147	20	y	y	PROPN
aiti-9252	147	21	h	h	PROPN
aiti-9252	147	22	−=	−=	VERB
aiti-9252	148	1	(	(	PUNCT
aiti-9252	148	2	24	24	NUM
aiti-9252	148	3	)	)	PUNCT
aiti-9252	148	4	4.2	4.2	NUM
aiti-9252	148	5	.	.	PUNCT
aiti-9252	149	1	design	design	NOUN
aiti-9252	149	2	of	of	ADP
aiti-9252	149	3	control	control	NOUN
aiti-9252	149	4	gain	gain	NOUN
aiti-9252	149	5	matrix	matrix	NOUN
aiti-9252	149	6	in	in	ADP
aiti-9252	149	7	this	this	DET
aiti-9252	149	8	section	section	NOUN
aiti-9252	149	9	,	,	PUNCT
aiti-9252	149	10	the	the	DET
aiti-9252	149	11	control	control	NOUN
aiti-9252	149	12	gain	gain	VERB
aiti-9252	149	13	matrix	matrix	NOUN
aiti-9252	149	14	that	that	PRON
aiti-9252	149	15	minimizes	minimize	VERB
aiti-9252	149	16	the	the	DET
aiti-9252	149	17	upper	upper	ADJ
aiti-9252	149	18	bound	bind	VERB
aiti-9252	149	19	on	on	ADP
aiti-9252	149	20	the	the	DET
aiti-9252	149	21	quadratic	quadratic	ADJ
aiti-9252	149	22	cost	cost	NOUN
aiti-9252	149	23	function	function	NOUN
aiti-9252	149	24	in	in	ADP
aiti-9252	149	25	eq	eq	ADP
aiti-9252	149	26	.	.	PUNCT
aiti-9252	150	1	(	(	PUNCT
aiti-9252	150	2	19	19	NUM
aiti-9252	150	3	)	)	PUNCT
aiti-9252	150	4	is	be	AUX
aiti-9252	150	5	designed	design	VERB
aiti-9252	150	6	.	.	PUNCT
aiti-9252	151	1	the	the	DET
aiti-9252	151	2	following	follow	VERB
aiti-9252	151	3	quadratic	quadratic	ADJ
aiti-9252	151	4	function	function	NOUN
aiti-9252	151	5	is	be	AUX
aiti-9252	151	6	introduced	introduce	VERB
aiti-9252	151	7	as	as	ADP
aiti-9252	151	8	a	a	DET
aiti-9252	151	9	lyapunov	lyapunov	NOUN
aiti-9252	151	10	function	function	NOUN
aiti-9252	151	11	candidate	candidate	NOUN
aiti-9252	151	12	:	:	PUNCT
aiti-9252	151	13	(	(	PUNCT
aiti-9252	151	14	)	)	PUNCT
aiti-9252	151	15	(	(	PUNCT
aiti-9252	151	16	)	)	PUNCT
aiti-9252	151	17	(	(	PUNCT
aiti-9252	151	18	)	)	PUNCT
aiti-9252	151	19	t	t	NOUN
aiti-9252	152	1	k	k	X
aiti-9252	152	2	e	e	X
aiti-9252	152	3	e	e	X
aiti-9252	152	4	ex	ex	X
aiti-9252	152	5	x	x	X
aiti-9252	152	6	t	t	NOUN
aiti-9252	152	7	x	x	SYM
aiti-9252	152	8	tλ≜v	tλ≜v	X
aiti-9252	152	9	(	(	PUNCT
aiti-9252	152	10	25	25	NUM
aiti-9252	152	11	)	)	PUNCT
aiti-9252	152	12	where	where	SCONJ
aiti-9252	152	13	λ	λ	PROPN
aiti-9252	152	14	∈	∈	PROPN
aiti-9252	152	15	ℝ6	ℝ6	PROPN
aiti-9252	152	16	�	�	PROPN
aiti-9252	152	17	×6	×6	ADJ
aiti-9252	152	18	�	�	PROPN
aiti-9252	152	19	is	be	AUX
aiti-9252	152	20	a	a	DET
aiti-9252	152	21	symmetric	symmetric	ADJ
aiti-9252	152	22	positive	positive	ADJ
aiti-9252	152	23	definite	definite	ADJ
aiti-9252	152	24	matrix	matrix	NOUN
aiti-9252	152	25	.	.	PUNCT
aiti-9252	153	1	the	the	DET
aiti-9252	153	2	time	time	NOUN
aiti-9252	153	3	derivative	derivative	NOUN
aiti-9252	153	4	of	of	ADP
aiti-9252	153	5	the	the	DET
aiti-9252	153	6	quadratic	quadratic	ADJ
aiti-9252	153	7	function	function	NOUN
aiti-9252	153	8	2	2	NUM
aiti-9252	153	9	!	!	PUNCT
aiti-9252	153	10	(	(	PUNCT
aiti-9252	153	11	(	(	PUNCT
aiti-9252	153	12	)	)	PUNCT
aiti-9252	153	13	along	along	ADP
aiti-9252	153	14	the	the	DET
aiti-9252	153	15	trajectory	trajectory	NOUN
aiti-9252	153	16	of	of	ADP
aiti-9252	153	17	the	the	DET
aiti-9252	153	18	augmented	augment	VERB
aiti-9252	153	19	system	system	NOUN
aiti-9252	153	20	in	in	ADP
aiti-9252	153	21	eq	eq	ADP
aiti-9252	153	22	.	.	PUNCT
aiti-9252	154	1	(	(	PUNCT
aiti-9252	154	2	17	17	NUM
aiti-9252	154	3	)	)	PUNCT
aiti-9252	154	4	can	can	AUX
aiti-9252	154	5	be	be	AUX
aiti-9252	154	6	computed	compute	VERB
aiti-9252	154	7	as	as	ADP
aiti-9252	154	8	:	:	PUNCT
aiti-9252	154	9	(	(	PUNCT
aiti-9252	154	10	)	)	PUNCT
aiti-9252	154	11	(	(	PUNCT
aiti-9252	154	12	)	)	PUNCT
aiti-9252	154	13	(	(	PUNCT
aiti-9252	154	14	(	(	PUNCT
aiti-9252	154	15	)	)	PUNCT
aiti-9252	154	16	(	(	PUNCT
aiti-9252	154	17	)	)	PUNCT
aiti-9252	154	18	)	)	PUNCT
aiti-9252	155	1	(	(	PUNCT
aiti-9252	155	2	)	)	PUNCT
aiti-9252	155	3	t	t	NOUN
aiti-9252	155	4	t	t	NOUN
aiti-9252	155	5	k	k	X
aiti-9252	155	6	e	e	X
aiti-9252	155	7	e	e	X
aiti-9252	155	8	ex	ex	X
aiti-9252	155	9	x	x	X
aiti-9252	155	10	t	t	X
aiti-9252	155	11	x	x	PUNCT
aiti-9252	155	12	t=	t=	PROPN
aiti-9252	155	13	ω	ω	NUM
aiti-9252	155	14	λ	λ	X
aiti-9252	155	15	+	+	CCONJ
aiti-9252	155	16	λωɺ	λωɺ	NUM
aiti-9252	155	17	θ	θ	PROPN
aiti-9252	155	18	θv	θv	PROPN
aiti-9252	155	19	(	(	PUNCT
aiti-9252	155	20	26	26	NUM
aiti-9252	155	21	)	)	PUNCT
aiti-9252	155	22	because	because	SCONJ
aiti-9252	155	23	the	the	DET
aiti-9252	155	24	matrix	matrix	NOUN
aiti-9252	155	25	γ	γ	X
aiti-9252	155	26	(	(	PUNCT
aiti-9252	155	27	�	�	PROPN
aiti-9252	155	28	)	)	PUNCT
aiti-9252	155	29	in	in	ADP
aiti-9252	155	30	eq	eq	ADP
aiti-9252	155	31	.	.	PUNCT
aiti-9252	156	1	(	(	PUNCT
aiti-9252	156	2	20	20	NUM
aiti-9252	156	3	)	)	PUNCT
aiti-9252	156	4	is	be	AUX
aiti-9252	156	5	semi	semi	ADV
aiti-9252	156	6	positive	positive	ADJ
aiti-9252	156	7	definite	definite	ADJ
aiti-9252	156	8	,	,	PUNCT
aiti-9252	156	9	the	the	DET
aiti-9252	156	10	following	follow	VERB
aiti-9252	156	11	inequality	inequality	NOUN
aiti-9252	156	12	is	be	AUX
aiti-9252	156	13	considered	consider	VERB
aiti-9252	156	14	:	:	PUNCT
aiti-9252	156	15	vex	vex	X
aiti-9252	156	16	(	(	PUNCT
aiti-9252	156	17	)	)	PUNCT
aiti-9252	156	18	(	(	PUNCT
aiti-9252	156	19	)	)	PUNCT
aiti-9252	156	20	(	(	PUNCT
aiti-9252	156	21	)	)	PUNCT
aiti-9252	156	22	0	0	NUM
aiti-9252	156	23	,	,	PUNCT
aiti-9252	156	24	t	t	PROPN
aiti-9252	156	25	tω	tω	INTJ
aiti-9252	157	1	λ	λ	X
aiti-9252	157	2	+	+	CCONJ
aiti-9252	157	3	λ	λ	X
aiti-9252	157	4	ω	ω	PROPN
aiti-9252	157	5	+	+	CCONJ
aiti-9252	157	6	γ	γ	X
aiti-9252	157	7	<	<	X
aiti-9252	157	8	∀	∀	X
aiti-9252	157	9	∈	∈	NOUN
aiti-9252	157	10	∆θ	∆θ	PROPN
aiti-9252	157	11	θ	θ	PROPN
aiti-9252	157	12	θ	θ	PROPN
aiti-9252	157	13	(	(	PUNCT
aiti-9252	157	14	27	27	NUM
aiti-9252	157	15	)	)	PUNCT
aiti-9252	157	16	if	if	SCONJ
aiti-9252	157	17	a	a	DET
aiti-9252	157	18	symmetric	symmetric	ADJ
aiti-9252	157	19	positive	positive	ADJ
aiti-9252	157	20	definite	definite	ADJ
aiti-9252	157	21	matrix	matrix	NOUN
aiti-9252	157	22	λ	λ	NOUN
aiti-9252	157	23	and	and	CCONJ
aiti-9252	157	24	a	a	DET
aiti-9252	157	25	control	control	NOUN
aiti-9252	157	26	gain	gain	NOUN
aiti-9252	157	27	matrix	matrix	NOUN
aiti-9252	157	28	that	that	PRON
aiti-9252	157	29	satisfy	satisfy	VERB
aiti-9252	157	30	the	the	DET
aiti-9252	157	31	matrix	matrix	NOUN
aiti-9252	157	32	inequality	inequality	NOUN
aiti-9252	157	33	in	in	ADP
aiti-9252	157	34	eq	eq	ADP
aiti-9252	157	35	.	.	PUNCT
aiti-9252	158	1	(	(	PUNCT
aiti-9252	158	2	27	27	NUM
aiti-9252	158	3	)	)	PUNCT
aiti-9252	158	4	exist	exist	VERB
aiti-9252	158	5	,	,	PUNCT
aiti-9252	158	6	then	then	ADV
aiti-9252	158	7	the	the	DET
aiti-9252	158	8	following	follow	VERB
aiti-9252	158	9	relation	relation	NOUN
aiti-9252	158	10	holds	hold	VERB
aiti-9252	158	11	:	:	PUNCT
aiti-9252	158	12	(	(	PUNCT
aiti-9252	158	13	)	)	PUNCT
aiti-9252	158	14	(	(	PUNCT
aiti-9252	158	15	)	)	PUNCT
aiti-9252	158	16	(	(	PUNCT
aiti-9252	158	17	)	)	PUNCT
aiti-9252	158	18	(	(	PUNCT
aiti-9252	158	19	)	)	PUNCT
aiti-9252	158	20	0	0	NUM
aiti-9252	158	21	t	t	NOUN
aiti-9252	158	22	k	k	X
aiti-9252	158	23	e	e	X
aiti-9252	158	24	e	e	X
aiti-9252	158	25	ex	ex	X
aiti-9252	158	26	x	x	X
aiti-9252	158	27	t	t	PROPN
aiti-9252	158	28	t	t	PROPN
aiti-9252	158	29	x	x	X
aiti-9252	158	30	t	t	PROPN
aiti-9252	158	31	<	<	X
aiti-9252	158	32	−	−	PROPN
aiti-9252	158	33	γ	γ	X
aiti-9252	158	34	<	<	X
aiti-9252	158	35	ɺv	ɺv	PROPN
aiti-9252	158	36	(	(	PUNCT
aiti-9252	158	37	28	28	NUM
aiti-9252	158	38	)	)	PUNCT
aiti-9252	158	39	namely	namely	ADV
aiti-9252	158	40	,	,	PUNCT
aiti-9252	158	41	the	the	DET
aiti-9252	158	42	augmented	augment	VERB
aiti-9252	158	43	system	system	NOUN
aiti-9252	158	44	in	in	ADP
aiti-9252	158	45	eq	eq	ADP
aiti-9252	158	46	.	.	PUNCT
aiti-9252	159	1	(	(	PUNCT
aiti-9252	159	2	17	17	NUM
aiti-9252	159	3	)	)	PUNCT
aiti-9252	159	4	is	be	AUX
aiti-9252	159	5	quadratically	quadratically	ADV
aiti-9252	159	6	stable	stable	ADJ
aiti-9252	159	7	and	and	CCONJ
aiti-9252	159	8	(	(	PUNCT
aiti-9252	159	9	(	(	PUNCT
aiti-9252	159	10	∞	∞	PROPN
aiti-9252	159	11	)	)	PUNCT
aiti-9252	159	12	�	�	PROPN
aiti-9252	159	13	0	0	NUM
aiti-9252	159	14	holds	hold	NOUN
aiti-9252	159	15	.	.	PUNCT
aiti-9252	160	1	from	from	ADP
aiti-9252	160	2	'	'	PUNCT
aiti-9252	160	3	(	(	PUNCT
aiti-9252	160	4	�	�	NOUN
aiti-9252	160	5	)	)	PUNCT
aiti-9252	160	6	≜	≜	NOUN
aiti-9252	160	7	(	(	PUNCT
aiti-9252	160	8	�	�	NOUN
aiti-9252	160	9	)	)	PUNCT
aiti-9252	160	10	#	#	NOUN
aiti-9252	160	11	$	$	SYM
aiti-9252	160	12	(	(	PUNCT
aiti-9252	160	13	�	�	PROPN
aiti-9252	160	14	)	)	PUNCT
aiti-9252	160	15	,	,	PUNCT
aiti-9252	160	16	the	the	DET
aiti-9252	160	17	asymptotical	asymptotical	ADJ
aiti-9252	160	18	stability	stability	NOUN
aiti-9252	160	19	of	of	ADP
aiti-9252	160	20	the	the	DET
aiti-9252	160	21	linear	linear	ADJ
aiti-9252	160	22	uncertain	uncertain	ADJ
aiti-9252	160	23	system	system	NOUN
aiti-9252	160	24	in	in	ADP
aiti-9252	160	25	eqs	eqs	PROPN
aiti-9252	160	26	.	.	PUNCT
aiti-9252	161	1	(	(	PUNCT
aiti-9252	161	2	5	5	NUM
aiti-9252	161	3	)	)	PUNCT
aiti-9252	161	4	and	and	CCONJ
aiti-9252	161	5	(	(	PUNCT
aiti-9252	161	6	6	6	NUM
aiti-9252	161	7	)	)	PUNCT
aiti-9252	161	8	is	be	AUX
aiti-9252	161	9	ensured	ensure	VERB
aiti-9252	161	10	.	.	PUNCT
aiti-9252	162	1	furthermore	furthermore	ADV
aiti-9252	162	2	,	,	PUNCT
aiti-9252	162	3	by	by	ADP
aiti-9252	162	4	integrating	integrate	VERB
aiti-9252	162	5	both	both	DET
aiti-9252	162	6	sides	side	NOUN
aiti-9252	162	7	of	of	ADP
aiti-9252	162	8	the	the	DET
aiti-9252	162	9	inequality	inequality	NOUN
aiti-9252	162	10	in	in	ADP
aiti-9252	162	11	eq	eq	ADP
aiti-9252	162	12	.	.	PUNCT
aiti-9252	163	1	(	(	PUNCT
aiti-9252	163	2	27	27	NUM
aiti-9252	163	3	)	)	PUNCT
aiti-9252	163	4	from	from	ADP
aiti-9252	163	5	0	0	NUM
aiti-9252	163	6	to	to	ADP
aiti-9252	163	7	∞	∞	PROPN
aiti-9252	163	8	,	,	PUNCT
aiti-9252	163	9	the	the	DET
aiti-9252	163	10	following	follow	VERB
aiti-9252	163	11	equation	equation	NOUN
aiti-9252	163	12	can	can	AUX
aiti-9252	163	13	be	be	AUX
aiti-9252	163	14	obtained	obtain	VERB
aiti-9252	163	15	:	:	PUNCT
aiti-9252	163	16	*	*	PUNCT
aiti-9252	163	17	0	0	PUNCT
aiti-9252	163	18	(	(	PUNCT
aiti-9252	163	19	)	)	PUNCT
aiti-9252	163	20	(	(	PUNCT
aiti-9252	163	21	)	)	PUNCT
aiti-9252	163	22	(	(	PUNCT
aiti-9252	163	23	0	0	NUM
aiti-9252	163	24	)	)	PUNCT
aiti-9252	163	25	(	(	PUNCT
aiti-9252	163	26	0	0	NUM
aiti-9252	163	27	)	)	PUNCT
aiti-9252	163	28	(	(	PUNCT
aiti-9252	163	29	(	(	PUNCT
aiti-9252	163	30	0	0	NUM
aiti-9252	163	31	)	)	PUNCT
aiti-9252	163	32	)	)	PUNCT
aiti-9252	164	1	e	e	X
aiti-9252	164	2	t	t	NOUN
aiti-9252	164	3	t	t	X
aiti-9252	164	4	e	e	X
aiti-9252	164	5	e	e	X
aiti-9252	164	6	e	e	X
aiti-9252	164	7	e	e	PRON
aiti-9252	164	8	exj	exj	NOUN
aiti-9252	164	9	x	x	PROPN
aiti-9252	164	10	t	t	NOUN
aiti-9252	164	11	x	x	X
aiti-9252	164	12	t	t	NOUN
aiti-9252	164	13	dt	dt	X
aiti-9252	165	1	x	x	PUNCT
aiti-9252	165	2	x	x	PUNCT
aiti-9252	165	3	x	x	SYM
aiti-9252	165	4	∞	∞	NUM
aiti-9252	165	5	=	=	SYM
aiti-9252	165	6	λ	λ	X
aiti-9252	165	7	<	<	X
aiti-9252	165	8	λ	λ	PROPN
aiti-9252	165	9	=	=	PROPN
aiti-9252	165	10	∫	∫	PROPN
aiti-9252	165	11	j	j	PROPN
aiti-9252	165	12	(	(	PUNCT
aiti-9252	165	13	29	29	NUM
aiti-9252	165	14	)	)	PUNCT
aiti-9252	165	15	therefore	therefore	ADV
aiti-9252	165	16	,	,	PUNCT
aiti-9252	165	17	if	if	SCONJ
aiti-9252	165	18	matrices	matrix	NOUN
aiti-9252	165	19	λ	λ	NOUN
aiti-9252	165	20	and	and	CCONJ
aiti-9252	165	21	that	that	PRON
aiti-9252	165	22	satisfy	satisfy	VERB
aiti-9252	165	23	the	the	DET
aiti-9252	165	24	lmi	lmi	PROPN
aiti-9252	165	25	in	in	ADP
aiti-9252	165	26	eq	eq	ADP
aiti-9252	165	27	.	.	PUNCT
aiti-9252	166	1	(	(	PUNCT
aiti-9252	166	2	27	27	NUM
aiti-9252	166	3	)	)	PUNCT
aiti-9252	166	4	exist	exist	VERB
aiti-9252	166	5	,	,	PUNCT
aiti-9252	166	6	the	the	DET
aiti-9252	166	7	asymptotical	asymptotical	ADJ
aiti-9252	166	8	stability	stability	NOUN
aiti-9252	166	9	of	of	ADP
aiti-9252	166	10	the	the	DET
aiti-9252	166	11	system	system	NOUN
aiti-9252	166	12	in	in	ADP
aiti-9252	166	13	eqs	eqs	PROPN
aiti-9252	166	14	.	.	PUNCT
aiti-9252	167	1	(	(	PUNCT
aiti-9252	167	2	5	5	NUM
aiti-9252	167	3	)	)	PUNCT
aiti-9252	167	4	and	and	CCONJ
aiti-9252	167	5	(	(	PUNCT
aiti-9252	167	6	6	6	NUM
aiti-9252	167	7	)	)	PUNCT
aiti-9252	167	8	is	be	AUX
aiti-9252	167	9	ensured	ensure	VERB
aiti-9252	167	10	and	and	CCONJ
aiti-9252	167	11	the	the	DET
aiti-9252	167	12	upper	upper	ADJ
aiti-9252	167	13	bound	bind	VERB
aiti-9252	167	14	on	on	ADP
aiti-9252	167	15	the	the	DET
aiti-9252	167	16	quadratic	quadratic	ADJ
aiti-9252	167	17	cost	cost	NOUN
aiti-9252	167	18	function	function	NOUN
aiti-9252	167	19	in	in	ADP
aiti-9252	167	20	eq	eq	ADP
aiti-9252	167	21	.	.	PUNCT
aiti-9252	168	1	(	(	PUNCT
aiti-9252	168	2	19	19	NUM
aiti-9252	168	3	)	)	PUNCT
aiti-9252	168	4	is	be	AUX
aiti-9252	168	5	given	give	VERB
aiti-9252	168	6	by	by	ADP
aiti-9252	168	7	eq	eq	PROPN
aiti-9252	168	8	.	.	PUNCT
aiti-9252	169	1	(	(	PUNCT
aiti-9252	169	2	29	29	NUM
aiti-9252	169	3	)	)	PUNCT
aiti-9252	169	4	.	.	PUNCT
aiti-9252	170	1	159	159	NUM
aiti-9252	170	2	advances	advance	NOUN
aiti-9252	170	3	in	in	ADP
aiti-9252	170	4	technology	technology	NOUN
aiti-9252	170	5	innovation	innovation	NOUN
aiti-9252	170	6	,	,	PUNCT
aiti-9252	170	7	vol	vol	NOUN
aiti-9252	170	8	.	.	PROPN
aiti-9252	170	9	7	7	NUM
aiti-9252	170	10	,	,	PUNCT
aiti-9252	170	11	no	no	INTJ
aiti-9252	170	12	.	.	NOUN
aiti-9252	170	13	3	3	NUM
aiti-9252	170	14	,	,	PUNCT
aiti-9252	170	15	2022	2022	NUM
aiti-9252	170	16	,	,	PUNCT
aiti-9252	170	17	pp	pp	ADJ
aiti-9252	170	18	.	.	PUNCT
aiti-9252	170	19	155	155	NUM
aiti-9252	170	20	-	-	SYM
aiti-9252	170	21	168	168	NUM
aiti-9252	170	22	now	now	ADV
aiti-9252	170	23	,	,	PUNCT
aiti-9252	170	24	by	by	ADP
aiti-9252	170	25	introducing	introduce	VERB
aiti-9252	170	26	the	the	DET
aiti-9252	170	27	auxiliary	auxiliary	ADJ
aiti-9252	170	28	parameter	parameter	NOUN
aiti-9252	170	29	8	8	NUM
aiti-9252	170	30	∈	∈	PROPN
aiti-9252	170	31	ℝ	ℝ	PROPN
aiti-9252	170	32	�	�	PROPN
aiti-9252	170	33	,	,	PUNCT
aiti-9252	170	34	the	the	DET
aiti-9252	170	35	following	follow	VERB
aiti-9252	170	36	matrix	matrix	NOUN
aiti-9252	170	37	is	be	AUX
aiti-9252	170	38	considered	consider	VERB
aiti-9252	170	39	(	(	PUNCT
aiti-9252	170	40	remark	remark	NOUN
aiti-9252	170	41	1	1	NUM
aiti-9252	170	42	)	)	PUNCT
aiti-9252	170	43	:	:	PUNCT
aiti-9252	170	44	(	(	PUNCT
aiti-9252	170	45	)	)	PUNCT
aiti-9252	170	46	(	(	PUNCT
aiti-9252	170	47	)	)	PUNCT
aiti-9252	170	48	(	(	PUNCT
aiti-9252	170	49	)	)	PUNCT
aiti-9252	170	50	t	t	PROPN
aiti-9252	170	51	nq	nq	INTJ
aiti-9252	171	1	i	i	PROPN
aiti-9252	171	2	k	k	PROPN
aiti-9252	171	3	t	t	PROPN
aiti-9252	172	1	rk	rk	PROPN
aiti-9252	172	2	t	t	PROPN
aiti-9252	172	3	q	q	PROPN
aiti-9252	172	4	t	t	PROPN
aiti-9252	172	5	q	q	X
aiti-9252	172	6	q	q	PROPN
aiti-9252	172	7			PROPN
aiti-9252	172	8	+	+	PUNCT
aiti-9252	173	1	+	+	NOUN
aiti-9252	173	2	γ	γ	X
aiti-9252	173	3	=	=	SYM
aiti-9252	173	4			NOUN
aiti-9252	173	5			NOUN
aiti-9252	173	6			VERB
aiti-9252	173	7			PRON
aiti-9252	173	8			PUNCT
aiti-9252	174	1	δ	δ	PROPN
aiti-9252	174	2	δ	δ	PROPN
aiti-9252	174	3	(	(	PUNCT
aiti-9252	174	4	30	30	NUM
aiti-9252	174	5	)	)	PUNCT
aiti-9252	174	6	from	from	ADP
aiti-9252	174	7	eqs	eqs	PROPN
aiti-9252	174	8	.	.	PUNCT
aiti-9252	175	1	(	(	PUNCT
aiti-9252	175	2	20	20	NUM
aiti-9252	175	3	)	)	PUNCT
aiti-9252	175	4	and	and	CCONJ
aiti-9252	175	5	(	(	PUNCT
aiti-9252	175	6	30	30	NUM
aiti-9252	175	7	)	)	PUNCT
aiti-9252	175	8	,	,	PUNCT
aiti-9252	175	9	the	the	DET
aiti-9252	175	10	relation	relation	NOUN
aiti-9252	175	11	γ9	γ9	PROPN
aiti-9252	175	12	(	(	PUNCT
aiti-9252	175	13	�	�	NOUN
aiti-9252	175	14	)	)	PUNCT
aiti-9252	175	15	#	#	NOUN
aiti-9252	175	16	γ	γ	X
aiti-9252	175	17	(	(	PUNCT
aiti-9252	175	18	�	�	PROPN
aiti-9252	175	19	)	)	PUNCT
aiti-9252	175	20	≥	≥	NOUN
aiti-9252	175	21	0	0	NUM
aiti-9252	175	22	holds	hold	NOUN
aiti-9252	175	23	.	.	PUNCT
aiti-9252	176	1	therefore	therefore	ADV
aiti-9252	176	2	,	,	PUNCT
aiti-9252	176	3	the	the	DET
aiti-9252	176	4	inequality	inequality	NOUN
aiti-9252	176	5	in	in	ADP
aiti-9252	176	6	eq	eq	ADP
aiti-9252	176	7	.	.	PUNCT
aiti-9252	177	1	(	(	PUNCT
aiti-9252	177	2	27	27	NUM
aiti-9252	177	3	)	)	PUNCT
aiti-9252	177	4	also	also	ADV
aiti-9252	177	5	holds	hold	VERB
aiti-9252	177	6	provided	provide	VERB
aiti-9252	177	7	that	that	SCONJ
aiti-9252	177	8	the	the	DET
aiti-9252	177	9	following	follow	VERB
aiti-9252	177	10	condition	condition	NOUN
aiti-9252	177	11	is	be	AUX
aiti-9252	177	12	satisfied	satisfied	ADJ
aiti-9252	177	13	:	:	PUNCT
aiti-9252	177	14	vex	vex	X
aiti-9252	177	15	(	(	PUNCT
aiti-9252	177	16	)	)	PUNCT
aiti-9252	177	17	(	(	PUNCT
aiti-9252	178	1	)	)	PUNCT
aiti-9252	178	2	(	(	PUNCT
aiti-9252	178	3	)	)	PUNCT
aiti-9252	178	4	0,t	0,t	NOUN
aiti-9252	178	5	tω	tω	INTJ
aiti-9252	179	1	λ	λ	INTJ
aiti-9252	179	2	+	+	CCONJ
aiti-9252	179	3	λ	λ	X
aiti-9252	179	4	ω	ω	PROPN
aiti-9252	179	5	+	+	CCONJ
aiti-9252	179	6	γ	γ	X
aiti-9252	179	7	<	<	X
aiti-9252	179	8	∀	∀	X
aiti-9252	179	9	∈	∈	NOUN
aiti-9252	179	10	∆δθ	∆δθ	NOUN
aiti-9252	179	11	θ	θ	NOUN
aiti-9252	179	12	θ	θ	X
aiti-9252	179	13	(	(	PUNCT
aiti-9252	179	14	31	31	NUM
aiti-9252	179	15	)	)	PUNCT
aiti-9252	179	16	here	here	ADV
aiti-9252	179	17	,	,	PUNCT
aiti-9252	179	18	;	;	PUNCT
aiti-9252	179	19	≜	≜	NOUN
aiti-9252	179	20	diag(@	diag(@	PROPN
aiti-9252	179	21	,	,	PUNCT
aiti-9252	179	22	@	@	ADP
aiti-9252	179	23	(	(	PUNCT
aiti-9252	179	24	)	)	PUNCT
aiti-9252	179	25	≜	≜	NOUN
aiti-9252	179	26	λa	λa	ADP
aiti-9252	179	27	�	�	PROPN
aiti-9252	179	28	(@	(@	NOUN
aiti-9252	179	29	,	,	PUNCT
aiti-9252	179	30	@	@	ADP
aiti-9252	179	31	(	(	PUNCT
aiti-9252	179	32	>	>	SYM
aiti-9252	179	33	0	0	NUM
aiti-9252	179	34	∈	∈	PROPN
aiti-9252	179	35	ℝ	ℝ	PROPN
aiti-9252	179	36	�	�	PROPN
aiti-9252	179	37	×	×	NOUN
aiti-9252	179	38	�	�	PROPN
aiti-9252	179	39	)	)	PUNCT
aiti-9252	179	40	and	and	CCONJ
aiti-9252	179	41	c	c	NOUN
aiti-9252	179	42	≜	≜	NOUN
aiti-9252	179	43	@	@	ADP
aiti-9252	179	44	are	be	AUX
aiti-9252	179	45	defined	define	VERB
aiti-9252	179	46	.	.	PUNCT
aiti-9252	180	1	then	then	ADV
aiti-9252	180	2	,	,	PUNCT
aiti-9252	180	3	preand	preand	VERB
aiti-9252	180	4	post	post	ADJ
aiti-9252	180	5	-	-	ADJ
aiti-9252	180	6	multiplying	multiplying	ADJ
aiti-9252	180	7	eq	eq	NOUN
aiti-9252	180	8	.	.	PUNCT
aiti-9252	181	1	(	(	PUNCT
aiti-9252	181	2	31	31	NUM
aiti-9252	181	3	)	)	PUNCT
aiti-9252	181	4	by	by	ADP
aiti-9252	181	5	;	;	PUNCT
aiti-9252	181	6	,	,	PUNCT
aiti-9252	181	7	the	the	DET
aiti-9252	181	8	condition	condition	NOUN
aiti-9252	181	9	in	in	ADP
aiti-9252	181	10	eq	eq	ADP
aiti-9252	181	11	.	.	PUNCT
aiti-9252	182	1	(	(	PUNCT
aiti-9252	182	2	31	31	NUM
aiti-9252	182	3	)	)	PUNCT
aiti-9252	182	4	can	can	AUX
aiti-9252	182	5	be	be	AUX
aiti-9252	182	6	written	write	VERB
aiti-9252	182	7	as	as	ADP
aiti-9252	182	8	:	:	PUNCT
aiti-9252	182	9	vex	vex	X
aiti-9252	182	10	(	(	PUNCT
aiti-9252	182	11	)	)	PUNCT
aiti-9252	182	12	(	(	PUNCT
aiti-9252	182	13	)	)	PUNCT
aiti-9252	182	14	(	(	PUNCT
aiti-9252	182	15	)	)	PUNCT
aiti-9252	182	16	0,t	0,t	PROPN
aiti-9252	182	17	tω	tω	NOUN
aiti-9252	183	1	+	+	CCONJ
aiti-9252	183	2	ω	ω	PROPN
aiti-9252	183	3	+	+	CCONJ
aiti-9252	183	4	γ	γ	X
aiti-9252	183	5	<	<	X
aiti-9252	183	6	∀	∀	X
aiti-9252	183	7	∈	∈	NOUN
aiti-9252	183	8	∆δθ	∆δθ	NOUN
aiti-9252	184	1	θ	θ	NOUN
aiti-9252	184	2	θs	θs	VERB
aiti-9252	184	3	s	s	X
aiti-9252	184	4	s	s	X
aiti-9252	184	5	s	s	X
aiti-9252	184	6	(	(	PUNCT
aiti-9252	184	7	32	32	NUM
aiti-9252	184	8	)	)	PUNCT
aiti-9252	184	9	the	the	DET
aiti-9252	184	10	inequality	inequality	NOUN
aiti-9252	184	11	in	in	ADP
aiti-9252	184	12	eq	eq	ADP
aiti-9252	184	13	.	.	PUNCT
aiti-9252	185	1	(	(	PUNCT
aiti-9252	185	2	32	32	NUM
aiti-9252	185	3	)	)	PUNCT
aiti-9252	185	4	is	be	AUX
aiti-9252	185	5	organized	organize	VERB
aiti-9252	185	6	as	as	SCONJ
aiti-9252	185	7	follows	follow	VERB
aiti-9252	185	8	:	:	PUNCT
aiti-9252	185	9	11	11	NUM
aiti-9252	185	10	12	12	NUM
aiti-9252	185	11	vex	vex	NOUN
aiti-9252	185	12	12	12	NUM
aiti-9252	185	13	22	22	NUM
aiti-9252	185	14	(	(	PUNCT
aiti-9252	185	15	)	)	PUNCT
aiti-9252	185	16	(	(	PUNCT
aiti-9252	185	17	,	,	PUNCT
aiti-9252	185	18	)	)	PUNCT
aiti-9252	185	19	0	0	NUM
aiti-9252	186	1	0	0	NUM
aiti-9252	186	2	0	0	NUM
aiti-9252	186	3	,	,	PUNCT
aiti-9252	186	4	0	0	NUM
aiti-9252	186	5	0	0	NUM
aiti-9252	186	6	(	(	PUNCT
aiti-9252	186	7	,	,	PUNCT
aiti-9252	186	8	)	)	PUNCT
aiti-9252	186	9	(	(	PUNCT
aiti-9252	186	10	,	,	PUNCT
aiti-9252	186	11	)	)	PUNCT
aiti-9252	186	12	t	t	PROPN
aiti-9252	186	13	n	n	NOUN
aiti-9252	186	14	t	t	X
aiti-9252	186	15	e	e	X
aiti-9252	186	16	e	e	PROPN
aiti-9252	186	17	t	t	PROPN
aiti-9252	186	18	t	t	PROPN
aiti-9252	186	19	s	s	PART
aiti-9252	186	20	sq	sq	INTJ
aiti-9252	187	1	i	i	NOUN
aiti-9252	187	2	q	q	PROPN
aiti-9252	187	3	s	s	PROPN
aiti-9252	187	4	sq	sq	INTJ
aiti-9252	187	5	qt	qt	PROPN
aiti-9252	187	6	t	t	PROPN
aiti-9252	187	7	ψ	ψ	X
aiti-9252	187	8	ψ	ψ	X
aiti-9252	187	9	+	+	X
aiti-9252	187	10	+	+	CCONJ
aiti-9252	187	11	<	<	X
aiti-9252	187	12	∀	∀	X
aiti-9252	187	13	∈	∈	NOUN
aiti-9252	187	14	∆	∆	X
aiti-9252	187	15	ψ	ψ	X
aiti-9252	187	16	ψ	ψ	PART
aiti-9252	187	17			PROPN
aiti-9252	187	18			PROPN
aiti-9252	187	19			PROPN
aiti-9252	187	20			PROPN
aiti-9252	187	21			PROPN
aiti-9252	187	22			PROPN
aiti-9252	187	23			PROPN
aiti-9252	187	24			PROPN
aiti-9252	187	25			NOUN
aiti-9252	187	26			NOUN
aiti-9252	187	27			NOUN
aiti-9252	187	28			NOUN
aiti-9252	187	29			NOUN
aiti-9252	187	30			NOUN
aiti-9252	187	31			PRON
aiti-9252	187	32			VERB
aiti-9252	187	33			PUNCT
aiti-9252	188	1			NOUN
aiti-9252	188	2			VERB
aiti-9252	188	3			PUNCT
aiti-9252	189	1	θ	θ	X
aiti-9252	189	2	δ	δ	NOUN
aiti-9252	189	3	θ	θ	NOUN
aiti-9252	189	4	θ	θ	X
aiti-9252	189	5	θ	θ	X
aiti-9252	189	6	(	(	PUNCT
aiti-9252	189	7	33	33	NUM
aiti-9252	189	8	)	)	SYM
aiti-9252	189	9	1	1	NUM
aiti-9252	189	10	1	1	NUM
aiti-9252	189	11	(	(	PUNCT
aiti-9252	189	12	)	)	PUNCT
aiti-9252	189	13	(	(	PUNCT
aiti-9252	189	14	)	)	PUNCT
aiti-9252	189	15	(	(	PUNCT
aiti-9252	189	16	)	)	PUNCT
aiti-9252	189	17	(	(	PUNCT
aiti-9252	189	18	)	)	PUNCT
aiti-9252	189	19	(	(	PUNCT
aiti-9252	189	20	)	)	PUNCT
aiti-9252	189	21	t	t	NOUN
aiti-9252	189	22	t	t	PROPN
aiti-9252	189	23	t	t	PROPN
aiti-9252	189	24	t	t	PROPN
aiti-9252	189	25	t	t	PROPN
aiti-9252	189	26	t	t	PROPN
aiti-9252	189	27	t	t	PROPN
aiti-9252	189	28	a	a	DET
aiti-9252	189	29	s	s	NOUN
aiti-9252	189	30	s	s	PROPN
aiti-9252	189	31	a	a	DET
aiti-9252	189	32	b	b	PROPN
aiti-9252	189	33	b	b	PROPN
aiti-9252	189	34	s	s	PROPN
aiti-9252	189	35	k	k	PROPN
aiti-9252	189	36	t	t	PROPN
aiti-9252	189	37	b	b	PROPN
aiti-9252	189	38	b	b	PROPN
aiti-9252	189	39	k	k	PROPN
aiti-9252	189	40	t	t	PROPN
aiti-9252	189	41	s	s	PART
aiti-9252	189	42	s	s	X
aiti-9252	189	43	k	k	X
aiti-9252	189	44	t	t	PROPN
aiti-9252	189	45	r	r	NOUN
aiti-9252	189	46	k	k	PROPN
aiti-9252	189	47	t	t	PROPN
aiti-9252	189	48	sψ	sψ	PROPN
aiti-9252	189	49	=	=	PROPN
aiti-9252	190	1	+	+	CCONJ
aiti-9252	190	2	−	−	PROPN
aiti-9252	191	1	−	−	NUM
aiti-9252	191	2	−	−	PROPN
aiti-9252	191	3	∆	∆	PROPN
aiti-9252	191	4	−	−	PROPN
aiti-9252	192	1	∆	∆	PROPN
aiti-9252	193	1	+	+	PROPN
aiti-9252	193	2	w	w	PROPN
aiti-9252	193	3	w	w	PROPN
aiti-9252	193	4	(	(	PUNCT
aiti-9252	193	5	34	34	NUM
aiti-9252	193	6	)	)	PUNCT
aiti-9252	193	7	12	12	NUM
aiti-9252	193	8	(	(	PUNCT
aiti-9252	193	9	,	,	PUNCT
aiti-9252	193	10	)	)	PUNCT
aiti-9252	193	11	(	(	PUNCT
aiti-9252	193	12	)	)	PUNCT
aiti-9252	193	13	(	(	PUNCT
aiti-9252	193	14	)	)	PUNCT
aiti-9252	193	15	t	t	NOUN
aiti-9252	193	16	e	e	X
aiti-9252	193	17	e	e	X
aiti-9252	193	18	et	et	PROPN
aiti-9252	193	19	sa	sa	PROPN
aiti-9252	193	20	gcs	gcs	PROPN
aiti-9252	193	21	g	g	PROPN
aiti-9252	193	22	t	t	PROPN
aiti-9252	193	23	csψ	csψ	NOUN
aiti-9252	193	24	=	=	PUNCT
aiti-9252	194	1	+	+	PUNCT
aiti-9252	194	2	+	+	CCONJ
aiti-9252	194	3	∆θ	∆θ	PROPN
aiti-9252	194	4	θ	θ	PROPN
aiti-9252	194	5	(	(	PUNCT
aiti-9252	194	6	35	35	NUM
aiti-9252	194	7	)	)	PUNCT
aiti-9252	194	8	22	22	NUM
aiti-9252	194	9	(	(	PUNCT
aiti-9252	194	10	,	,	PUNCT
aiti-9252	194	11	)	)	PUNCT
aiti-9252	194	12	(	(	PUNCT
aiti-9252	194	13	)	)	PUNCT
aiti-9252	194	14	(	(	PUNCT
aiti-9252	194	15	)	)	PUNCT
aiti-9252	194	16	(	(	PUNCT
aiti-9252	194	17	)	)	PUNCT
aiti-9252	194	18	(	(	PUNCT
aiti-9252	194	19	)	)	PUNCT
aiti-9252	194	20	t	t	NOUN
aiti-9252	194	21	t	t	PROPN
aiti-9252	194	22	t	t	PROPN
aiti-9252	194	23	t	t	PROPN
aiti-9252	194	24	t	t	X
aiti-9252	194	25	e	e	X
aiti-9252	194	26	e	e	X
aiti-9252	194	27	e	e	X
aiti-9252	194	28	e	e	X
aiti-9252	194	29	e	e	X
aiti-9252	194	30	et	et	PROPN
aiti-9252	194	31	a	a	DET
aiti-9252	194	32	s	s	NOUN
aiti-9252	194	33	s	s	X
aiti-9252	194	34	a	a	DET
aiti-9252	194	35	gcs	gcs	PROPN
aiti-9252	194	36	s	s	PROPN
aiti-9252	194	37	c	c	NOUN
aiti-9252	194	38	g	g	PROPN
aiti-9252	194	39	s	s	PROPN
aiti-9252	194	40	c	c	NOUN
aiti-9252	194	41	g	g	PROPN
aiti-9252	194	42	t	t	PROPN
aiti-9252	194	43	g	g	PROPN
aiti-9252	194	44	t	t	PROPN
aiti-9252	194	45	csψ	csψ	NOUN
aiti-9252	194	46	=	=	PUNCT
aiti-9252	195	1	+	+	NUM
aiti-9252	195	2	−	−	PROPN
aiti-9252	196	1	−	−	NUM
aiti-9252	196	2	−	−	PROPN
aiti-9252	196	3	∆	∆	PROPN
aiti-9252	197	1	−	−	PROPN
aiti-9252	197	2	∆θ	∆θ	PROPN
aiti-9252	197	3	θ	θ	PROPN
aiti-9252	197	4	θ	θ	PROPN
aiti-9252	197	5	(	(	PUNCT
aiti-9252	197	6	36	36	NUM
aiti-9252	197	7	)	)	PUNCT
aiti-9252	197	8	using	use	VERB
aiti-9252	197	9	lemma	lemma	PROPN
aiti-9252	197	10	1	1	NUM
aiti-9252	197	11	and	and	CCONJ
aiti-9252	197	12	lemma	lemma	PROPN
aiti-9252	197	13	2	2	NUM
aiti-9252	197	14	,	,	PUNCT
aiti-9252	197	15	the	the	DET
aiti-9252	197	16	inequality	inequality	NOUN
aiti-9252	197	17	of	of	ADP
aiti-9252	197	18	eq	eq	PROPN
aiti-9252	197	19	.	.	PUNCT
aiti-9252	198	1	(	(	PUNCT
aiti-9252	198	2	33	33	NUM
aiti-9252	198	3	)	)	PUNCT
aiti-9252	198	4	can	can	AUX
aiti-9252	198	5	be	be	AUX
aiti-9252	198	6	described	describe	VERB
aiti-9252	198	7	as	as	SCONJ
aiti-9252	198	8	follows	follow	VERB
aiti-9252	198	9	:	:	PUNCT
aiti-9252	198	10	11	11	NUM
aiti-9252	198	11	12	12	NUM
aiti-9252	198	12	*	*	SYM
aiti-9252	198	13	12	12	NUM
aiti-9252	198	14	22	22	NUM
aiti-9252	198	15	vex	vex	NOUN
aiti-9252	198	16	1	1	NUM
aiti-9252	198	17	2	2	NUM
aiti-9252	198	18	(	(	PUNCT
aiti-9252	198	19	)	)	PUNCT
aiti-9252	198	20	0	0	NUM
aiti-9252	198	21	0	0	NUM
aiti-9252	198	22	(	(	PUNCT
aiti-9252	198	23	)	)	PUNCT
aiti-9252	198	24	(	(	PUNCT
aiti-9252	198	25	)	)	PUNCT
aiti-9252	198	26	0	0	NUM
aiti-9252	198	27	0	0	NUM
aiti-9252	198	28	,	,	PUNCT
aiti-9252	198	29	0	0	NUM
aiti-9252	198	30	0	0	NUM
aiti-9252	198	31	0	0	NUM
aiti-9252	198	32	t	t	NOUN
aiti-9252	198	33	t	t	NOUN
aiti-9252	198	34	t	t	X
aiti-9252	198	35	e	e	X
aiti-9252	198	36	e	e	X
aiti-9252	198	37	k	k	PROPN
aiti-9252	198	38	m	m	PROPN
aiti-9252	198	39	s	s	NOUN
aiti-9252	198	40	s	s	X
aiti-9252	198	41	s	s	X
aiti-9252	198	42	s	s	X
aiti-9252	198	43	r	r	NOUN
aiti-9252	198	44	i	i	PRON
aiti-9252	198	45	−	−	PROPN
aiti-9252	198	46			VERB
aiti-9252	198	47	ψ	ψ	ADP
aiti-9252	198	48	ψ	ψ	NOUN
aiti-9252	198	49			NOUN
aiti-9252	198	50			NOUN
aiti-9252	198	51			PROPN
aiti-9252	198	52			PROPN
aiti-9252	198	53			PROPN
aiti-9252	198	54			PROPN
aiti-9252	198	55			PROPN
aiti-9252	199	1	ψ	ψ	NOUN
aiti-9252	199	2	ψ	ψ	NOUN
aiti-9252	199	3	+	+	CCONJ
aiti-9252	199	4	γ	γ	X
aiti-9252	199	5	<	<	X
aiti-9252	199	6	∀	∀	NOUN
aiti-9252	199	7	∈	∈	NOUN
aiti-9252	199	8	∆	∆	PROPN
aiti-9252	199	9			NOUN
aiti-9252	199	10			NOUN
aiti-9252	199	11			NOUN
aiti-9252	200	1			NOUN
aiti-9252	200	2			VERB
aiti-9252	200	3			NOUN
aiti-9252	200	4			PUNCT
aiti-9252	201	1			NOUN
aiti-9252	201	2			PUNCT
aiti-9252	201	3			NOUN
aiti-9252	202	1	−	−	NOUN
aiti-9252	202	2	+	+	NOUN
aiti-9252	202	3			NOUN
aiti-9252	202	4			PUNCT
aiti-9252	203	1	δ	δ	X
aiti-9252	203	2	θ	θ	NOUN
aiti-9252	203	3	θ	θ	PUNCT
aiti-9252	203	4	θ	θ	PUNCT
aiti-9252	203	5	θ	θ	NOUN
aiti-9252	203	6	ξε	ξε	NOUN
aiti-9252	203	7	w	w	PROPN
aiti-9252	203	8	w	w	PROPN
aiti-9252	203	9	(	(	PUNCT
aiti-9252	203	10	37	37	NUM
aiti-9252	203	11	)	)	SYM
aiti-9252	203	12	2	2	NUM
aiti-9252	203	13	2	2	NUM
aiti-9252	203	14	11	11	NUM
aiti-9252	203	15	1k	1k	NUM
aiti-9252	203	16	g	g	PROPN
aiti-9252	203	17	n	n	PROPN
aiti-9252	203	18	t	t	PROPN
aiti-9252	203	19	t	t	NOUN
aiti-9252	203	20	t	t	X
aiti-9252	203	21	ta	ta	X
aiti-9252	203	22	s	s	PROPN
aiti-9252	203	23	sa	sa	PROPN
aiti-9252	204	1	b	b	PROPN
aiti-9252	204	2	b	b	PROPN
aiti-9252	205	1	bb	bb	INTJ
aiti-9252	205	2	i	i	PRON
aiti-9252	205	3	ss	ss	VERB
aiti-9252	205	4	ssψ	ssψ	NOUN
aiti-9252	206	1	=	=	PUNCT
aiti-9252	207	1	+	+	CCONJ
aiti-9252	207	2	−	−	PROPN
aiti-9252	208	1	−	−	PROPN
aiti-9252	209	1	+	+	CCONJ
aiti-9252	209	2	+	+	PUNCT
aiti-9252	210	1	+	+	CCONJ
aiti-9252	210	2	+	+	CCONJ
aiti-9252	210	3	ε	ε	PROPN
aiti-9252	210	4	α	α	PROPN
aiti-9252	210	5	η	η	PROPN
aiti-9252	210	6	ε	ε	PROPN
aiti-9252	210	7	α	α	PROPN
aiti-9252	210	8	ξ	ξ	PROPN
aiti-9252	210	9	w	w	PROPN
aiti-9252	210	10	w	w	PROPN
aiti-9252	210	11	(	(	PUNCT
aiti-9252	210	12	38	38	NUM
aiti-9252	210	13	)	)	PUNCT
aiti-9252	210	14	12	12	NUM
aiti-9252	210	15	(	(	PUNCT
aiti-9252	210	16	)	)	PUNCT
aiti-9252	210	17	(	(	PUNCT
aiti-9252	210	18	)	)	PUNCT
aiti-9252	210	19	t	t	NOUN
aiti-9252	210	20	e	e	X
aiti-9252	210	21	e	e	X
aiti-9252	210	22	sa	sa	PROPN
aiti-9252	210	23	g	g	PROPN
aiti-9252	210	24	c	c	PROPN
aiti-9252	210	25	sψ	sψ	PROPN
aiti-9252	210	26	=	=	PUNCT
aiti-9252	211	1	+	+	NUM
aiti-9252	211	2	θ	θ	PROPN
aiti-9252	211	3	θ	θ	PROPN
aiti-9252	211	4	(	(	PUNCT
aiti-9252	211	5	39	39	NUM
aiti-9252	211	6	)	)	PUNCT
aiti-9252	211	7	2	2	NUM
aiti-9252	211	8	22	22	NUM
aiti-9252	211	9	1	1	NUM
aiti-9252	211	10	(	(	PUNCT
aiti-9252	211	11	)	)	PUNCT
aiti-9252	211	12	(	(	PUNCT
aiti-9252	211	13	)	)	PUNCT
aiti-9252	211	14	(	(	PUNCT
aiti-9252	211	15	)	)	PUNCT
aiti-9252	211	16	1	1	NUM
aiti-9252	211	17	g	g	NOUN
aiti-9252	211	18	t	t	PROPN
aiti-9252	211	19	t	t	PROPN
aiti-9252	211	20	t	t	PROPN
aiti-9252	211	21	t	t	X
aiti-9252	211	22	e	e	X
aiti-9252	211	23	e	e	X
aiti-9252	211	24	e	e	X
aiti-9252	211	25	e	e	X
aiti-9252	211	26	n	n	X
aiti-9252	211	27	e	e	X
aiti-9252	211	28	e	e	X
aiti-9252	211	29	t	t	PROPN
aiti-9252	211	30	e	e	X
aiti-9252	211	31	e	e	X
aiti-9252	211	32	a	a	DET
aiti-9252	211	33	s	s	X
aiti-9252	211	34	s	s	X
aiti-9252	211	35	a	a	PRON
aiti-9252	211	36	g	g	NOUN
aiti-9252	211	37	c	c	NOUN
aiti-9252	211	38	s	s	NOUN
aiti-9252	211	39	s	s	NOUN
aiti-9252	211	40	c	c	NOUN
aiti-9252	211	41	g	g	NOUN
aiti-9252	212	1	i	i	PRON
aiti-9252	212	2	s	s	VERB
aiti-9252	212	3	c	c	NOUN
aiti-9252	212	4	c	c	NOUN
aiti-9252	212	5	s	s	X
aiti-9252	212	6	s	s	X
aiti-9252	212	7	c	c	NOUN
aiti-9252	212	8	c	c	NOUN
aiti-9252	212	9	s	s	PART
aiti-9252	213	1	=	=	PUNCT
aiti-9252	213	2	+	+	NUM
aiti-9252	213	3	−	−	PROPN
aiti-9252	213	4	−	−	PROPN
aiti-9252	214	1	+	+	CCONJ
aiti-9252	214	2	+	+	PUNCT
aiti-9252	214	3	+	+	NUM
aiti-9252	214	4	ψ	ψ	NOUN
aiti-9252	214	5	θ	θ	NOUN
aiti-9252	214	6	θ	θ	X
aiti-9252	214	7	θ	θ	X
aiti-9252	214	8	β	β	X
aiti-9252	214	9	ε	ε	PROPN
aiti-9252	214	10	β	β	X
aiti-9252	214	11	η	η	PROPN
aiti-9252	214	12	(	(	PUNCT
aiti-9252	214	13	40	40	NUM
aiti-9252	214	14	)	)	PUNCT
aiti-9252	214	15	note	note	VERB
aiti-9252	214	16	that	that	SCONJ
aiti-9252	214	17	γ9∗	γ9∗	PROPN
aiti-9252	214	18	in	in	ADP
aiti-9252	214	19	eq	eq	ADP
aiti-9252	214	20	.	.	PUNCT
aiti-9252	215	1	(	(	PUNCT
aiti-9252	215	2	37	37	NUM
aiti-9252	215	3	)	)	PUNCT
aiti-9252	215	4	is	be	AUX
aiti-9252	215	5	the	the	DET
aiti-9252	215	6	matrix	matrix	NOUN
aiti-9252	215	7	expressed	express	VERB
aiti-9252	215	8	as	as	ADP
aiti-9252	215	9	:	:	PUNCT
aiti-9252	215	10	*	*	PUNCT
aiti-9252	215	11	nq	nq	INTJ
aiti-9252	216	1	i	i	PRON
aiti-9252	216	2	q	q	NOUN
aiti-9252	216	3	q	q	X
aiti-9252	216	4	q	q	NOUN
aiti-9252	217	1	+	+	CCONJ
aiti-9252	217	2	γ	γ	PROPN
aiti-9252	217	3			PROPN
aiti-9252	217	4			PROPN
aiti-9252	217	5			NOUN
aiti-9252	217	6			VERB
aiti-9252	217	7			NOUN
aiti-9252	217	8			PUNCT
aiti-9252	218	1	≜δ	≜δ	PROPN
aiti-9252	218	2	δ	δ	PROPN
aiti-9252	218	3	(	(	PUNCT
aiti-9252	218	4	41	41	NUM
aiti-9252	218	5	)	)	PUNCT
aiti-9252	218	6	160	160	NUM
aiti-9252	218	7	advances	advance	NOUN
aiti-9252	218	8	in	in	ADP
aiti-9252	218	9	technology	technology	NOUN
aiti-9252	218	10	innovation	innovation	NOUN
aiti-9252	218	11	,	,	PUNCT
aiti-9252	218	12	vol	vol	NOUN
aiti-9252	218	13	.	.	PROPN
aiti-9252	218	14	7	7	NUM
aiti-9252	218	15	,	,	PUNCT
aiti-9252	218	16	no	no	INTJ
aiti-9252	218	17	.	.	NOUN
aiti-9252	218	18	3	3	NUM
aiti-9252	218	19	,	,	PUNCT
aiti-9252	218	20	2022	2022	NUM
aiti-9252	218	21	,	,	PUNCT
aiti-9252	218	22	pp	pp	ADJ
aiti-9252	218	23	.	.	PUNCT
aiti-9252	219	1	155	155	NUM
aiti-9252	219	2	-	-	SYM
aiti-9252	219	3	168	168	NUM
aiti-9252	219	4	one	one	NOUN
aiti-9252	219	5	can	can	AUX
aiti-9252	219	6	easily	easily	ADV
aiti-9252	219	7	see	see	VERB
aiti-9252	219	8	that	that	SCONJ
aiti-9252	219	9	the	the	DET
aiti-9252	219	10	matrix	matrix	NOUN
aiti-9252	219	11	γ9∗	γ9∗	NOUN
aiti-9252	219	12	is	be	AUX
aiti-9252	219	13	positive	positive	ADJ
aiti-9252	219	14	definite	definite	ADJ
aiti-9252	219	15	because	because	SCONJ
aiti-9252	219	16	its	its	PRON
aiti-9252	219	17	positive	positive	ADJ
aiti-9252	219	18	definiteness	definiteness	NOUN
aiti-9252	219	19	is	be	AUX
aiti-9252	219	20	equivalent	equivalent	ADJ
aiti-9252	219	21	to	to	PART
aiti-9252	219	22	%	%	NOUN
aiti-9252	220	1	+	+	CCONJ
aiti-9252	220	2	δf	δf	NOUN
aiti-9252	220	3	�	�	PROPN
aiti-9252	220	4	#	#	NOUN
aiti-9252	220	5	%	%	NOUN
aiti-9252	220	6	%	%	INTJ
aiti-9252	220	7	a	a	DET
aiti-9252	220	8	�	�	PROPN
aiti-9252	220	9	%	%	NOUN
aiti-9252	220	10	�	�	PROPN
aiti-9252	220	11	δf	δf	ADP
aiti-9252	220	12	�	�	PROPN
aiti-9252	220	13	>	>	X
aiti-9252	220	14	0	0	NUM
aiti-9252	220	15	.	.	PUNCT
aiti-9252	221	1	because	because	SCONJ
aiti-9252	221	2	the	the	DET
aiti-9252	221	3	matrix	matrix	NOUN
aiti-9252	221	4	γ9∗	γ9∗	NOUN
aiti-9252	221	5	is	be	AUX
aiti-9252	221	6	a	a	DET
aiti-9252	221	7	positive	positive	ADJ
aiti-9252	221	8	definite	definite	ADJ
aiti-9252	221	9	,	,	PUNCT
aiti-9252	221	10	lemma	lemma	PROPN
aiti-9252	221	11	2	2	NUM
aiti-9252	221	12	can	can	AUX
aiti-9252	221	13	be	be	AUX
aiti-9252	221	14	applied	apply	VERB
aiti-9252	221	15	to	to	ADP
aiti-9252	221	16	the	the	DET
aiti-9252	221	17	inequality	inequality	NOUN
aiti-9252	221	18	condition	condition	NOUN
aiti-9252	221	19	in	in	ADP
aiti-9252	221	20	eq	eq	ADP
aiti-9252	221	21	.	.	PUNCT
aiti-9252	222	1	(	(	PUNCT
aiti-9252	222	2	37	37	NUM
aiti-9252	222	3	)	)	PUNCT
aiti-9252	222	4	.	.	PUNCT
aiti-9252	223	1	as	as	ADP
aiti-9252	223	2	a	a	DET
aiti-9252	223	3	result	result	NOUN
aiti-9252	223	4	,	,	PUNCT
aiti-9252	223	5	the	the	DET
aiti-9252	223	6	following	follow	VERB
aiti-9252	223	7	condition	condition	NOUN
aiti-9252	223	8	is	be	AUX
aiti-9252	223	9	obtained	obtain	VERB
aiti-9252	223	10	:	:	PUNCT
aiti-9252	223	11	(	(	PUNCT
aiti-9252	223	12	)	)	PUNCT
aiti-9252	223	13	11	11	NUM
aiti-9252	223	14	12	12	NUM
aiti-9252	223	15	2212	2212	NUM
aiti-9252	223	16	1	1	NUM
aiti-9252	223	17	2	2	NUM
aiti-9252	223	18	vex	vex	NOUN
aiti-9252	223	19	1	1	NUM
aiti-9252	223	20	*	*	NOUN
aiti-9252	223	21	00	00	PUNCT
aiti-9252	223	22	(	(	PUNCT
aiti-9252	223	23	)	)	PUNCT
aiti-9252	223	24	0	0	NUM
aiti-9252	223	25	(	(	PUNCT
aiti-9252	223	26	)	)	PUNCT
aiti-9252	223	27	00	00	NUM
aiti-9252	223	28	0	0	NUM
aiti-9252	223	29	0	0	NUM
aiti-9252	223	30	(	(	PUNCT
aiti-9252	223	31	)	)	PUNCT
aiti-9252	223	32	0	0	NUM
aiti-9252	223	33	00	00	NUM
aiti-9252	223	34	0	0	NUM
aiti-9252	224	1	000	000	NUM
aiti-9252	224	2	0	0	NUM
aiti-9252	224	3	0	0	NUM
aiti-9252	224	4	0	0	NUM
aiti-9252	224	5	0000	0000	NUM
aiti-9252	224	6	0	0	NUM
aiti-9252	224	7	(	(	PUNCT
aiti-9252	224	8	)	)	PUNCT
aiti-9252	224	9	0	0	NUM
aiti-9252	225	1	0	0	NUM
aiti-9252	225	2	0	0	NUM
aiti-9252	225	3	0,000	0,000	NUM
aiti-9252	225	4	0	0	NUM
aiti-9252	225	5	0	0	NUM
aiti-9252	225	6	00	00	NUM
aiti-9252	225	7	00	00	NUM
aiti-9252	225	8	0	0	NUM
aiti-9252	225	9	0	0	NUM
aiti-9252	225	10	0	0	NUM
aiti-9252	225	11	000	000	NUM
aiti-9252	225	12	00	00	NUM
aiti-9252	225	13	0	0	NUM
aiti-9252	225	14	0	0	NUM
aiti-9252	225	15	0	0	NUM
aiti-9252	225	16	0	0	NUM
aiti-9252	225	17	0	0	NUM
aiti-9252	225	18	0	0	NUM
aiti-9252	225	19	0	0	NUM
aiti-9252	225	20	0	0	NUM
aiti-9252	225	21	0	0	NUM
aiti-9252	225	22	0	0	NUM
aiti-9252	225	23	0	0	NUM
aiti-9252	225	24	0	0	NUM
aiti-9252	226	1	−	−	NOUN
aiti-9252	227	1	−	−	NOUN
aiti-9252	228	1	−	−	PROPN
aiti-9252	228	2	γ	γ	X
aiti-9252	228	3	ψ	ψ	X
aiti-9252	228	4	ψ	ψ	X
aiti-9252	228	5	ψψ	ψψ	ADP
aiti-9252	228	6	−	−	PROPN
aiti-9252	228	7	+	+	CCONJ
aiti-9252	228	8	−	−	PROPN
aiti-9252	228	9	−ψ	−ψ	NOUN
aiti-9252	228	10	=	=	PUNCT
aiti-9252	228	11	<	<	X
aiti-9252	228	12	−	−	PROPN
aiti-9252	228	13	−	−	NOUN
aiti-9252	228	14	∀	∀	NOUN
aiti-9252	228	15	∈	∈	NOUN
aiti-9252	228	16	∆	∆	PROPN
aiti-9252	228	17			PROPN
aiti-9252	228	18			PROPN
aiti-9252	228	19			NOUN
aiti-9252	228	20			NOUN
aiti-9252	228	21			NOUN
aiti-9252	228	22			NOUN
aiti-9252	228	23			NOUN
aiti-9252	228	24			NOUN
aiti-9252	228	25			NOUN
aiti-9252	228	26			NOUN
aiti-9252	228	27			NOUN
aiti-9252	228	28			NOUN
aiti-9252	228	29			NOUN
aiti-9252	228	30			NOUN
aiti-9252	228	31			NOUN
aiti-9252	228	32			NOUN
aiti-9252	228	33			NOUN
aiti-9252	228	34			NOUN
aiti-9252	228	35			NOUN
aiti-9252	228	36			NOUN
aiti-9252	228	37			NOUN
aiti-9252	228	38			NOUN
aiti-9252	228	39			NOUN
aiti-9252	228	40			NOUN
aiti-9252	228	41			NOUN
aiti-9252	228	42			NOUN
aiti-9252	228	43			VERB
aiti-9252	228	44			PRON
aiti-9252	228	45			PUNCT
aiti-9252	228	46	δ	δ	NOUN
aiti-9252	228	47	θ	θ	PUNCT
aiti-9252	228	48	ε	ε	PROPN
aiti-9252	228	49	θθ	θθ	VERB
aiti-9252	228	50	ξε	ξε	PROPN
aiti-9252	228	51	αε	αε	ADP
aiti-9252	228	52	ξθ	ξθ	PROPN
aiti-9252	228	53	β	β	PROPN
aiti-9252	228	54	η	η	PROPN
aiti-9252	228	55	θ	θ	PROPN
aiti-9252	228	56	t	t	PROPN
aiti-9252	228	57	k	k	X
aiti-9252	228	58	tt	tt	PROPN
aiti-9252	228	59	t	t	PROPN
aiti-9252	228	60	eee	eee	PROPN
aiti-9252	228	61	k	k	PROPN
aiti-9252	228	62	m	m	VERB
aiti-9252	228	63	nk	nk	PROPN
aiti-9252	228	64	n	n	PROPN
aiti-9252	228	65	e	e	NOUN
aiti-9252	228	66	l	l	X
aiti-9252	228	67	e	e	X
aiti-9252	228	68	l	l	NOUN
aiti-9252	228	69	e	e	X
aiti-9252	228	70	ss	ss	NOUN
aiti-9252	228	71	s	s	VERB
aiti-9252	228	72	ss	ss	NOUN
aiti-9252	228	73	cs	cs	PROPN
aiti-9252	228	74	c	c	NOUN
aiti-9252	228	75	r	r	NOUN
aiti-9252	229	1	i	i	PRON
aiti-9252	229	2	is	be	AUX
aiti-9252	229	3	is	be	AUX
aiti-9252	229	4	cs	cs	PROPN
aiti-9252	230	1	i	i	PRON
aiti-9252	230	2	cs	cs	VERB
aiti-9252	231	1	i	i	PRON
aiti-9252	231	2	s	s	VERB
aiti-9252	231	3	s	s	PROPN
aiti-9252	231	4	w	w	PROPN
aiti-9252	231	5	w	w	PROPN
aiti-9252	231	6	(	(	PUNCT
aiti-9252	231	7	42	42	NUM
aiti-9252	231	8	)	)	PUNCT
aiti-9252	231	9	2	2	NUM
aiti-9252	231	10	11	11	NUM
aiti-9252	231	11	t	t	NOUN
aiti-9252	231	12	t	t	PROPN
aiti-9252	231	13	t	t	PROPN
aiti-9252	231	14	t	t	PROPN
aiti-9252	231	15	g	g	NOUN
aiti-9252	231	16	na	na	ADP
aiti-9252	231	17	s	s	NOUN
aiti-9252	231	18	s	s	PROPN
aiti-9252	231	19	a	a	PRON
aiti-9252	231	20	b	b	PROPN
aiti-9252	231	21	b	b	PROPN
aiti-9252	231	22	b	b	PROPN
aiti-9252	231	23	b	b	PROPN
aiti-9252	231	24	iψ	iψ	VERB
aiti-9252	232	1	=	=	SYM
aiti-9252	233	1	+	+	NUM
aiti-9252	233	2	−	−	ADP
aiti-9252	233	3	−	−	PROPN
aiti-9252	234	1	+	+	CCONJ
aiti-9252	234	2	+	+	ADJ
aiti-9252	234	3	α	α	PROPN
aiti-9252	234	4	η	η	PROPN
aiti-9252	234	5	εw	εw	ADP
aiti-9252	234	6	w	w	PROPN
aiti-9252	234	7	(	(	PUNCT
aiti-9252	234	8	43	43	NUM
aiti-9252	234	9	)	)	PUNCT
aiti-9252	234	10	12	12	NUM
aiti-9252	234	11	(	(	PUNCT
aiti-9252	234	12	)	)	PUNCT
aiti-9252	234	13	(	(	PUNCT
aiti-9252	234	14	)	)	PUNCT
aiti-9252	234	15	t	t	PROPN
aiti-9252	234	16	e	e	PROPN
aiti-9252	234	17	esa	esa	PROPN
aiti-9252	234	18	g	g	PROPN
aiti-9252	234	19	c	c	PROPN
aiti-9252	234	20	sψ	sψ	PROPN
aiti-9252	234	21	=	=	PUNCT
aiti-9252	235	1	+	+	NUM
aiti-9252	235	2	θ	θ	PROPN
aiti-9252	235	3	θ	θ	PROPN
aiti-9252	235	4	(	(	PUNCT
aiti-9252	235	5	44	44	NUM
aiti-9252	235	6	)	)	SYM
aiti-9252	235	7	2	2	NUM
aiti-9252	235	8	22	22	NUM
aiti-9252	235	9	(	(	PUNCT
aiti-9252	235	10	)	)	PUNCT
aiti-9252	235	11	(	(	PUNCT
aiti-9252	235	12	)	)	PUNCT
aiti-9252	235	13	(	(	PUNCT
aiti-9252	235	14	)	)	PUNCT
aiti-9252	235	15	t	t	NOUN
aiti-9252	235	16	t	t	NOUN
aiti-9252	235	17	t	t	X
aiti-9252	235	18	e	e	X
aiti-9252	235	19	e	e	X
aiti-9252	235	20	e	e	X
aiti-9252	235	21	e	e	X
aiti-9252	235	22	g	g	NOUN
aiti-9252	235	23	na	na	ADP
aiti-9252	235	24	s	s	NOUN
aiti-9252	235	25	s	s	X
aiti-9252	235	26	a	a	DET
aiti-9252	235	27	g	g	NOUN
aiti-9252	235	28	c	c	NOUN
aiti-9252	235	29	s	s	NOUN
aiti-9252	235	30	s	s	NOUN
aiti-9252	235	31	c	c	NOUN
aiti-9252	235	32	g	g	NOUN
aiti-9252	235	33	iψ	iψ	NOUN
aiti-9252	235	34	=	=	SYM
aiti-9252	236	1	+	+	CCONJ
aiti-9252	236	2	−	−	NOUN
aiti-9252	237	1	−	−	PROPN
aiti-9252	237	2	+	+	NOUN
aiti-9252	237	3	θ	θ	NOUN
aiti-9252	237	4	θ	θ	NOUN
aiti-9252	237	5	θ	θ	X
aiti-9252	237	6	β	β	X
aiti-9252	237	7	ε	ε	PROPN
aiti-9252	237	8	(	(	PUNCT
aiti-9252	237	9	45	45	NUM
aiti-9252	237	10	)	)	PUNCT
aiti-9252	237	11	the	the	DET
aiti-9252	237	12	condition	condition	NOUN
aiti-9252	237	13	in	in	ADP
aiti-9252	237	14	eq	eq	ADP
aiti-9252	237	15	.	.	PUNCT
aiti-9252	238	1	(	(	PUNCT
aiti-9252	238	2	42	42	NUM
aiti-9252	238	3	)	)	PUNCT
aiti-9252	238	4	is	be	AUX
aiti-9252	238	5	an	an	DET
aiti-9252	238	6	lmi	lmi	PROPN
aiti-9252	238	7	for	for	ADP
aiti-9252	238	8	;	;	PUNCT
aiti-9252	238	9	>	>	X
aiti-9252	238	10	0,c	0,c	NOUN
aiti-9252	238	11	,	,	PUNCT
aiti-9252	238	12	g	g	PROPN
aiti-9252	238	13	>	>	X
aiti-9252	238	14	0	0	NUM
aiti-9252	238	15	,	,	PUNCT
aiti-9252	238	16	h	h	NOUN
aiti-9252	238	17	>	>	X
aiti-9252	238	18	0	0	PROPN
aiti-9252	238	19	,	,	PUNCT
aiti-9252	238	20	i	i	PRON
aiti-9252	238	21	>	>	X
aiti-9252	238	22	0	0	PUNCT
aiti-9252	238	23	and	and	CCONJ
aiti-9252	238	24	j	j	PROPN
aiti-9252	238	25	>	>	X
aiti-9252	238	26	0	0	X
aiti-9252	238	27	.	.	PUNCT
aiti-9252	239	1	if	if	SCONJ
aiti-9252	239	2	the	the	DET
aiti-9252	239	3	solution	solution	NOUN
aiti-9252	239	4	;	;	PUNCT
aiti-9252	239	5	>	>	X
aiti-9252	239	6	0,c	0,c	NOUN
aiti-9252	239	7	,	,	PUNCT
aiti-9252	239	8	g	g	PROPN
aiti-9252	239	9	>	>	X
aiti-9252	239	10	0	0	NUM
aiti-9252	239	11	,	,	PUNCT
aiti-9252	239	12	h	h	NOUN
aiti-9252	239	13	>	>	X
aiti-9252	239	14	0	0	PROPN
aiti-9252	239	15	,	,	PUNCT
aiti-9252	239	16	i	i	PRON
aiti-9252	239	17	>	>	X
aiti-9252	239	18	0	0	PUNCT
aiti-9252	239	19	and	and	CCONJ
aiti-9252	239	20	j	j	PROPN
aiti-9252	239	21	>	>	X
aiti-9252	239	22	0	0	NUM
aiti-9252	239	23	of	of	ADP
aiti-9252	239	24	the	the	DET
aiti-9252	239	25	lmi	lmi	PROPN
aiti-9252	239	26	in	in	ADP
aiti-9252	239	27	eq	eq	ADP
aiti-9252	239	28	.	.	PUNCT
aiti-9252	240	1	(	(	PUNCT
aiti-9252	240	2	42	42	NUM
aiti-9252	240	3	)	)	PUNCT
aiti-9252	240	4	exists	exist	VERB
aiti-9252	240	5	,	,	PUNCT
aiti-9252	240	6	an	an	DET
aiti-9252	240	7	observer	observer	NOUN
aiti-9252	240	8	-	-	PUNCT
aiti-9252	240	9	based	base	VERB
aiti-9252	240	10	quadratic	quadratic	ADJ
aiti-9252	240	11	guaranteed	guarantee	VERB
aiti-9252	240	12	cost	cost	NOUN
aiti-9252	240	13	control	control	NOUN
aiti-9252	240	14	law	law	NOUN
aiti-9252	240	15	is	be	AUX
aiti-9252	240	16	obtained	obtain	VERB
aiti-9252	240	17	as	as	ADP
aiti-9252	240	18	follows	follow	VERB
aiti-9252	240	19	:	:	PUNCT
aiti-9252	240	20	ˆ	ˆ	X
aiti-9252	240	21	(	(	PUNCT
aiti-9252	240	22	)	)	PUNCT
aiti-9252	240	23	(	(	PUNCT
aiti-9252	240	24	)	)	PUNCT
aiti-9252	240	25	u	u	NOUN
aiti-9252	241	1	t	t	NOUN
aiti-9252	241	2	k	k	NOUN
aiti-9252	241	3	x	x	SYM
aiti-9252	241	4	t−≜	t−≜	PROPN
aiti-9252	241	5	(	(	PUNCT
aiti-9252	241	6	46	46	NUM
aiti-9252	241	7	)	)	PUNCT
aiti-9252	241	8	1	1	NUM
aiti-9252	242	1	k	k	NOUN
aiti-9252	242	2	s	s	X
aiti-9252	242	3	−=	−=	VERB
aiti-9252	242	4	w	w	PROPN
aiti-9252	242	5	(	(	PUNCT
aiti-9252	242	6	47	47	NUM
aiti-9252	242	7	)	)	PUNCT
aiti-9252	242	8	from	from	ADP
aiti-9252	242	9	the	the	DET
aiti-9252	242	10	above	above	NOUN
aiti-9252	242	11	,	,	PUNCT
aiti-9252	242	12	the	the	DET
aiti-9252	242	13	following	follow	VERB
aiti-9252	242	14	theorem	theorem	NOUN
aiti-9252	242	15	for	for	ADP
aiti-9252	242	16	designing	design	VERB
aiti-9252	242	17	the	the	DET
aiti-9252	242	18	observer	observer	NOUN
aiti-9252	242	19	-	-	PUNCT
aiti-9252	242	20	based	base	VERB
aiti-9252	242	21	quadratic	quadratic	ADJ
aiti-9252	242	22	guaranteed	guarantee	VERB
aiti-9252	242	23	cost	cost	NOUN
aiti-9252	242	24	controller	controller	NOUN
aiti-9252	242	25	is	be	AUX
aiti-9252	242	26	obtained	obtain	VERB
aiti-9252	242	27	:	:	PUNCT
aiti-9252	242	28	theorem	theorem	NOUN
aiti-9252	242	29	1	1	NUM
aiti-9252	242	30	:	:	PUNCT
aiti-9252	242	31	by	by	ADP
aiti-9252	242	32	solving	solve	VERB
aiti-9252	242	33	the	the	DET
aiti-9252	242	34	lmi	lmi	PROPN
aiti-9252	242	35	in	in	ADP
aiti-9252	242	36	eq	eq	ADP
aiti-9252	242	37	.	.	PUNCT
aiti-9252	243	1	(	(	PUNCT
aiti-9252	243	2	23	23	NUM
aiti-9252	243	3	)	)	PUNCT
aiti-9252	243	4	,	,	PUNCT
aiti-9252	243	5	the	the	DET
aiti-9252	243	6	observer	observer	NOUN
aiti-9252	243	7	gain	gain	NOUN
aiti-9252	243	8	matrix	matrix	NOUN
aiti-9252	243	9	�	�	PROPN
aiti-9252	243	10	is	be	AUX
aiti-9252	243	11	derived	derive	VERB
aiti-9252	243	12	as	as	ADP
aiti-9252	243	13	�	�	PROPN
aiti-9252	243	14	�	�	PROPN
aiti-9252	243	15	4(a	4(a	NUM
aiti-9252	243	16	�	�	PROPN
aiti-9252	243	17	�	�	PROPN
aiti-9252	243	18	(	(	PUNCT
aiti-9252	243	19	in	in	ADP
aiti-9252	243	20	advance	advance	NOUN
aiti-9252	243	21	.	.	PUNCT
aiti-9252	244	1	if	if	SCONJ
aiti-9252	244	2	there	there	PRON
aiti-9252	244	3	exists	exist	VERB
aiti-9252	244	4	the	the	DET
aiti-9252	244	5	solution	solution	NOUN
aiti-9252	244	6	;	;	PUNCT
aiti-9252	244	7	>	>	X
aiti-9252	244	8	0,c	0,c	NOUN
aiti-9252	244	9	,	,	PUNCT
aiti-9252	244	10	g	g	PROPN
aiti-9252	244	11	>	>	X
aiti-9252	244	12	0	0	NUM
aiti-9252	244	13	,	,	PUNCT
aiti-9252	244	14	h	h	NOUN
aiti-9252	244	15	>	>	X
aiti-9252	244	16	0	0	PROPN
aiti-9252	244	17	,	,	PUNCT
aiti-9252	244	18	i	i	PRON
aiti-9252	244	19	>	>	X
aiti-9252	244	20	0	0	PUNCT
aiti-9252	244	21	and	and	CCONJ
aiti-9252	244	22	j	j	PROPN
aiti-9252	244	23	>	>	X
aiti-9252	244	24	0	0	PUNCT
aiti-9252	244	25	for	for	ADP
aiti-9252	244	26	∃8	∃8	NOUN
aiti-9252	244	27	>	>	X
aiti-9252	244	28	0	0	PUNCT
aiti-9252	245	1	satisfying	satisfy	VERB
aiti-9252	245	2	the	the	DET
aiti-9252	245	3	lmi	lmi	PROPN
aiti-9252	245	4	,	,	PUNCT
aiti-9252	245	5	vex	vex	PROPN
aiti-9252	245	6	(	(	PUNCT
aiti-9252	245	7	)	)	PUNCT
aiti-9252	245	8	0,ψ	0,ψ	PROPN
aiti-9252	245	9	<	<	X
aiti-9252	245	10	∀	∀	PUNCT
aiti-9252	245	11	∈	∈	NOUN
aiti-9252	245	12	∆θ	∆θ	PROPN
aiti-9252	245	13	θ	θ	PROPN
aiti-9252	245	14	(	(	PUNCT
aiti-9252	245	15	48	48	NUM
aiti-9252	245	16	)	)	PUNCT
aiti-9252	245	17	then	then	ADV
aiti-9252	245	18	the	the	DET
aiti-9252	245	19	control	control	NOUN
aiti-9252	245	20	gain	gain	NOUN
aiti-9252	245	21	matrix	matrix	NOUN
aiti-9252	245	22	can	can	AUX
aiti-9252	245	23	be	be	AUX
aiti-9252	245	24	computed	compute	VERB
aiti-9252	245	25	as	as	ADP
aiti-9252	245	26	�	�	PROPN
aiti-9252	245	27	c@a	c@a	PROPN
aiti-9252	245	28	�	�	PROPN
aiti-9252	245	29	and	and	CCONJ
aiti-9252	245	30	the	the	DET
aiti-9252	245	31	control	control	PROPN
aiti-9252	245	32	law	law	PROPN
aiti-9252	245	33	�	�	PROPN
aiti-9252	245	34	(	(	PUNCT
aiti-9252	245	35	�	�	PROPN
aiti-9252	245	36	)	)	PUNCT
aiti-9252	245	37	�	�	PROPN
aiti-9252	245	38	#	#	NOUN
aiti-9252	245	39	$	$	SYM
aiti-9252	245	40	(	(	PUNCT
aiti-9252	245	41	�	�	NOUN
aiti-9252	245	42	)	)	PUNCT
aiti-9252	245	43	becomes	become	VERB
aiti-9252	245	44	an	an	DET
aiti-9252	245	45	observer	observer	NOUN
aiti-9252	245	46	-	-	PUNCT
aiti-9252	245	47	based	base	VERB
aiti-9252	245	48	quadratic	quadratic	ADJ
aiti-9252	245	49	guaranteed	guarantee	VERB
aiti-9252	245	50	cost	cost	NOUN
aiti-9252	245	51	control	control	NOUN
aiti-9252	245	52	.	.	PUNCT
aiti-9252	246	1	4.3	4.3	NUM
aiti-9252	246	2	.	.	PUNCT
aiti-9252	247	1	sub	sub	ADJ
aiti-9252	247	2	-	-	ADJ
aiti-9252	247	3	optimal	optimal	ADJ
aiti-9252	247	4	guaranteed	guarantee	VERB
aiti-9252	247	5	cost	cost	NOUN
aiti-9252	247	6	control	control	NOUN
aiti-9252	247	7	because	because	SCONJ
aiti-9252	247	8	the	the	DET
aiti-9252	247	9	lmi	lmi	PROPN
aiti-9252	247	10	in	in	ADP
aiti-9252	247	11	eq	eq	ADP
aiti-9252	247	12	.	.	PUNCT
aiti-9252	248	1	(	(	PUNCT
aiti-9252	248	2	42	42	NUM
aiti-9252	248	3	)	)	PUNCT
aiti-9252	248	4	has	have	VERB
aiti-9252	248	5	a	a	DET
aiti-9252	248	6	convex	convex	ADJ
aiti-9252	248	7	solution	solution	NOUN
aiti-9252	248	8	;	;	PUNCT
aiti-9252	248	9	>	>	X
aiti-9252	248	10	0,c	0,c	NOUN
aiti-9252	248	11	,	,	PUNCT
aiti-9252	248	12	g	g	PROPN
aiti-9252	248	13	>	>	X
aiti-9252	248	14	0	0	NUM
aiti-9252	248	15	,	,	PUNCT
aiti-9252	248	16	h	h	NOUN
aiti-9252	248	17	>	>	X
aiti-9252	248	18	0	0	PROPN
aiti-9252	248	19	,	,	PUNCT
aiti-9252	248	20	i	i	PRON
aiti-9252	248	21	>	>	X
aiti-9252	248	22	0	0	PUNCT
aiti-9252	248	23	and	and	CCONJ
aiti-9252	248	24	j	j	PROPN
aiti-9252	248	25	>	>	X
aiti-9252	248	26	0	0	PROPN
aiti-9252	248	27	,	,	PUNCT
aiti-9252	248	28	it	it	PRON
aiti-9252	248	29	can	can	AUX
aiti-9252	248	30	be	be	AUX
aiti-9252	248	31	optimized	optimize	VERB
aiti-9252	248	32	by	by	ADP
aiti-9252	248	33	using	use	VERB
aiti-9252	248	34	software	software	NOUN
aiti-9252	248	35	such	such	ADJ
aiti-9252	248	36	as	as	ADP
aiti-9252	248	37	matlab	matlab	PROPN
aiti-9252	248	38	’s	’s	PART
aiti-9252	248	39	robust	robust	ADJ
aiti-9252	248	40	control	control	NOUN
aiti-9252	248	41	toolbox	toolbox	NOUN
aiti-9252	248	42	.	.	PUNCT
aiti-9252	249	1	in	in	ADP
aiti-9252	249	2	this	this	DET
aiti-9252	249	3	section	section	NOUN
aiti-9252	249	4	,	,	PUNCT
aiti-9252	249	5	the	the	DET
aiti-9252	249	6	following	follow	VERB
aiti-9252	249	7	optimization	optimization	NOUN
aiti-9252	249	8	problem	problem	NOUN
aiti-9252	249	9	is	be	AUX
aiti-9252	249	10	considered	consider	VERB
aiti-9252	249	11	:	:	PUNCT
aiti-9252	249	12	,	,	PUNCT
aiti-9252	249	13	,	,	PUNCT
aiti-9252	249	14	,	,	PUNCT
aiti-9252	249	15	,	,	PUNCT
aiti-9252	249	16	,	,	PUNCT
aiti-9252	249	17	*	*	PUNCT
aiti-9252	249	18	(	(	PUNCT
aiti-9252	249	19	(	(	PUNCT
aiti-9252	249	20	0	0	NUM
aiti-9252	249	21	)	)	PUNCT
aiti-9252	249	22	)	)	PUNCT
aiti-9252	249	23	subject	subject	ADJ
aiti-9252	249	24	to	to	ADP
aiti-9252	249	25	eq	eq	PROPN
aiti-9252	249	26	.	.	PUNCT
aiti-9252	250	1	(	(	PUNCT
aiti-9252	250	2	42	42	NUM
aiti-9252	250	3	)	)	PUNCT
aiti-9252	250	4	and	and	CCONJ
aiti-9252	250	5	0	0	NUM
aiti-9252	250	6	,	,	PUNCT
aiti-9252	250	7	0	0	NUM
aiti-9252	250	8	,	,	PUNCT
aiti-9252	250	9	0	0	NUM
aiti-9252	250	10	,	,	PUNCT
aiti-9252	250	11	0	0	NUM
aiti-9252	250	12	,	,	PUNCT
aiti-9252	250	13	0minimize	0minimize	NUM
aiti-9252	250	14	e	e	X
aiti-9252	250	15	x	x	X
aiti-9252	250	16	>	>	X
aiti-9252	250	17	>	>	X
aiti-9252	250	18	>	>	X
aiti-9252	250	19	>	>	X
aiti-9252	250	20	>	>	X
aiti-9252	250	21	α	α	X
aiti-9252	250	22	β	β	X
aiti-9252	250	23	η	η	PROPN
aiti-9252	250	24	ξ	ξ	PROPN
aiti-9252	250	25	α	α	PROPN
aiti-9252	250	26	β	β	X
aiti-9252	250	27	η	η	X
aiti-9252	250	28	ξ	ξ	PROPN
aiti-9252	250	29	s	s	PROPN
aiti-9252	250	30	w	w	PROPN
aiti-9252	250	31	j	j	PROPN
aiti-9252	250	32	s	s	X
aiti-9252	250	33	(	(	PUNCT
aiti-9252	250	34	49	49	NUM
aiti-9252	250	35	)	)	PUNCT
aiti-9252	250	36	161	161	NUM
aiti-9252	250	37	advances	advance	NOUN
aiti-9252	250	38	in	in	ADP
aiti-9252	250	39	technology	technology	NOUN
aiti-9252	250	40	innovation	innovation	NOUN
aiti-9252	250	41	,	,	PUNCT
aiti-9252	250	42	vol	vol	NOUN
aiti-9252	250	43	.	.	PROPN
aiti-9252	251	1	7	7	NUM
aiti-9252	251	2	,	,	PUNCT
aiti-9252	251	3	no	no	INTJ
aiti-9252	251	4	.	.	NOUN
aiti-9252	251	5	3	3	NUM
aiti-9252	251	6	,	,	PUNCT
aiti-9252	251	7	2022	2022	NUM
aiti-9252	251	8	,	,	PUNCT
aiti-9252	251	9	pp	pp	ADJ
aiti-9252	251	10	.	.	PUNCT
aiti-9252	252	1	155	155	NUM
aiti-9252	252	2	-	-	SYM
aiti-9252	252	3	168	168	NUM
aiti-9252	252	4	if	if	SCONJ
aiti-9252	252	5	the	the	DET
aiti-9252	252	6	optimization	optimization	NOUN
aiti-9252	252	7	problem	problem	NOUN
aiti-9252	252	8	in	in	ADP
aiti-9252	252	9	eq	eq	ADP
aiti-9252	252	10	.	.	PUNCT
aiti-9252	253	1	(	(	PUNCT
aiti-9252	253	2	49	49	NUM
aiti-9252	253	3	)	)	PUNCT
aiti-9252	253	4	is	be	AUX
aiti-9252	253	5	solved	solve	VERB
aiti-9252	253	6	,	,	PUNCT
aiti-9252	253	7	then	then	ADV
aiti-9252	253	8	a	a	DET
aiti-9252	253	9	sub	sub	ADJ
aiti-9252	253	10	-	-	ADJ
aiti-9252	253	11	optimal	optimal	ADJ
aiti-9252	253	12	observer	observer	NOUN
aiti-9252	253	13	-	-	PUNCT
aiti-9252	253	14	based	base	VERB
aiti-9252	253	15	quadratic	quadratic	ADJ
aiti-9252	253	16	guaranteed	guarantee	VERB
aiti-9252	253	17	cost	cost	NOUN
aiti-9252	253	18	control	control	NOUN
aiti-9252	253	19	can	can	AUX
aiti-9252	253	20	be	be	AUX
aiti-9252	253	21	obtained	obtain	VERB
aiti-9252	253	22	.	.	PUNCT
aiti-9252	254	1	however	however	ADV
aiti-9252	254	2	,	,	PUNCT
aiti-9252	254	3	the	the	DET
aiti-9252	254	4	upper	upper	ADJ
aiti-9252	254	5	bound	bound	ADJ
aiti-9252	254	6	+	+	NOUN
aiti-9252	254	7	∗	∗	NOUN
aiti-9252	254	8	(	(	PUNCT
aiti-9252	254	9	(	(	PUNCT
aiti-9252	254	10	(	(	PUNCT
aiti-9252	254	11	0	0	NUM
aiti-9252	254	12	)	)	PUNCT
aiti-9252	254	13	)	)	PUNCT
aiti-9252	254	14	in	in	ADP
aiti-9252	254	15	eq	eq	ADP
aiti-9252	254	16	.	.	PUNCT
aiti-9252	255	1	(	(	PUNCT
aiti-9252	255	2	49	49	NUM
aiti-9252	255	3	)	)	PUNCT
aiti-9252	255	4	depends	depend	VERB
aiti-9252	255	5	on	on	ADP
aiti-9252	255	6	the	the	DET
aiti-9252	255	7	initial	initial	ADJ
aiti-9252	255	8	augmented	augment	VERB
aiti-9252	255	9	vector	vector	NOUN
aiti-9252	255	10	(	(	PUNCT
aiti-9252	255	11	(	(	PUNCT
aiti-9252	255	12	0	0	NUM
aiti-9252	255	13	)	)	PUNCT
aiti-9252	255	14	.	.	PUNCT
aiti-9252	256	1	note	note	VERB
aiti-9252	256	2	that	that	SCONJ
aiti-9252	256	3	the	the	DET
aiti-9252	256	4	error	error	NOUN
aiti-9252	256	5	'	'	PUNCT
aiti-9252	256	6	(	(	PUNCT
aiti-9252	256	7	0	0	NUM
aiti-9252	256	8	)	)	PUNCT
aiti-9252	256	9	can	can	AUX
aiti-9252	256	10	not	not	PART
aiti-9252	256	11	be	be	AUX
aiti-9252	256	12	utilized	utilize	VERB
aiti-9252	256	13	because	because	SCONJ
aiti-9252	256	14	the	the	DET
aiti-9252	256	15	initial	initial	ADJ
aiti-9252	256	16	state	state	NOUN
aiti-9252	256	17	(	(	PUNCT
aiti-9252	256	18	0	0	NUM
aiti-9252	256	19	)	)	PUNCT
aiti-9252	256	20	can	can	AUX
aiti-9252	256	21	not	not	PART
aiti-9252	256	22	be	be	AUX
aiti-9252	256	23	completely	completely	ADV
aiti-9252	256	24	observed	observe	VERB
aiti-9252	256	25	.	.	PUNCT
aiti-9252	257	1	thus	thus	ADV
aiti-9252	257	2	,	,	PUNCT
aiti-9252	257	3	to	to	PART
aiti-9252	257	4	avoid	avoid	VERB
aiti-9252	257	5	this	this	DET
aiti-9252	257	6	dependence	dependence	NOUN
aiti-9252	257	7	,	,	PUNCT
aiti-9252	257	8	it	it	PRON
aiti-9252	257	9	is	be	AUX
aiti-9252	257	10	assumed	assume	VERB
aiti-9252	257	11	that	that	SCONJ
aiti-9252	257	12	the	the	DET
aiti-9252	257	13	initial	initial	ADJ
aiti-9252	257	14	vector	vector	NOUN
aiti-9252	257	15	(	(	PUNCT
aiti-9252	257	16	(	(	PUNCT
aiti-9252	257	17	0	0	NUM
aiti-9252	257	18	)	)	PUNCT
aiti-9252	257	19	is	be	AUX
aiti-9252	257	20	a	a	DET
aiti-9252	257	21	random	random	ADJ
aiti-9252	257	22	vector	vector	NOUN
aiti-9252	257	23	that	that	PRON
aiti-9252	257	24	satisfies	satisfy	VERB
aiti-9252	257	25	em	em	PRON
aiti-9252	257	26	(	(	PUNCT
aiti-9252	257	27	(	(	PUNCT
aiti-9252	257	28	0	0	NUM
aiti-9252	257	29	)	)	PUNCT
aiti-9252	257	30	(	(	PUNCT
aiti-9252	257	31	�	�	PROPN
aiti-9252	257	32	(	(	PUNCT
aiti-9252	257	33	0)n	0)n	PROPN
aiti-9252	257	34	�	�	PROPN
aiti-9252	257	35	f6	f6	PROPN
aiti-9252	257	36	�	�	PROPN
aiti-9252	257	37	and	and	CCONJ
aiti-9252	257	38	em	em	PRON
aiti-9252	257	39	(	(	PUNCT
aiti-9252	257	40	(	(	PUNCT
aiti-9252	257	41	0)n	0)n	X
aiti-9252	257	42	�	�	PROPN
aiti-9252	257	43	0	0	NUM
aiti-9252	257	44	.	.	PUNCT
aiti-9252	258	1	then	then	ADV
aiti-9252	258	2	,	,	PUNCT
aiti-9252	258	3	the	the	DET
aiti-9252	258	4	upper	upper	ADJ
aiti-9252	258	5	bound	bind	VERB
aiti-9252	258	6	on	on	ADP
aiti-9252	258	7	the	the	DET
aiti-9252	258	8	quadratic	quadratic	ADJ
aiti-9252	258	9	cost	cost	NOUN
aiti-9252	258	10	function	function	NOUN
aiti-9252	258	11	in	in	ADP
aiti-9252	258	12	eq	eq	ADP
aiti-9252	258	13	.	.	PUNCT
aiti-9252	259	1	(	(	PUNCT
aiti-9252	259	2	29	29	NUM
aiti-9252	259	3	)	)	PUNCT
aiti-9252	259	4	is	be	AUX
aiti-9252	259	5	given	give	VERB
aiti-9252	259	6	as	as	ADP
aiti-9252	259	7	op+∗q	op+∗q	PROPN
aiti-9252	259	8	(	(	PUNCT
aiti-9252	259	9	(	(	PUNCT
aiti-9252	259	10	0)rs	0)rs	PROPN
aiti-9252	259	11	�	�	PROPN
aiti-9252	259	12	tu{λ	tu{λ	PROPN
aiti-9252	259	13	}	}	PUNCT
aiti-9252	259	14	.	.	PUNCT
aiti-9252	260	1	therefore	therefore	ADV
aiti-9252	260	2	,	,	PUNCT
aiti-9252	260	3	the	the	DET
aiti-9252	260	4	minimization	minimization	NOUN
aiti-9252	260	5	problem	problem	NOUN
aiti-9252	260	6	of	of	ADP
aiti-9252	260	7	tu{λ	tu{λ	ADJ
aiti-9252	260	8	}	}	PUNCT
aiti-9252	260	9	minimized	minimized	ADJ
aiti-9252	260	10	subject	subject	NOUN
aiti-9252	260	11	to	to	ADP
aiti-9252	260	12	the	the	DET
aiti-9252	260	13	lmi	lmi	PROPN
aiti-9252	260	14	constraint	constraint	NOUN
aiti-9252	260	15	in	in	ADP
aiti-9252	260	16	eq	eq	ADP
aiti-9252	260	17	.	.	PUNCT
aiti-9252	261	1	(	(	PUNCT
aiti-9252	261	2	42	42	NUM
aiti-9252	261	3	)	)	PUNCT
aiti-9252	261	4	can	can	AUX
aiti-9252	261	5	be	be	AUX
aiti-9252	261	6	derived	derive	VERB
aiti-9252	261	7	.	.	PUNCT
aiti-9252	262	1	moreover	moreover	ADV
aiti-9252	262	2	,	,	PUNCT
aiti-9252	262	3	by	by	ADP
aiti-9252	262	4	introducing	introduce	VERB
aiti-9252	262	5	a	a	DET
aiti-9252	262	6	complementary	complementary	ADJ
aiti-9252	262	7	variable	variable	NOUN
aiti-9252	262	8	∑	∑	PUNCT
aiti-9252	262	9	∈	∈	PROPN
aiti-9252	262	10	ℝ6	ℝ6	PROPN
aiti-9252	262	11	�	�	PROPN
aiti-9252	262	12	×6	×6	PROPN
aiti-9252	262	13	�	�	PROPN
aiti-9252	262	14	,	,	PUNCT
aiti-9252	262	15	which	which	PRON
aiti-9252	262	16	is	be	AUX
aiti-9252	262	17	a	a	DET
aiti-9252	262	18	symmetric	symmetric	ADJ
aiti-9252	262	19	positive	positive	ADJ
aiti-9252	262	20	definite	definite	ADJ
aiti-9252	262	21	matrix	matrix	NOUN
aiti-9252	262	22	,	,	PUNCT
aiti-9252	262	23	the	the	DET
aiti-9252	262	24	following	follow	VERB
aiti-9252	262	25	relation	relation	NOUN
aiti-9252	262	26	is	be	AUX
aiti-9252	262	27	considered	consider	VERB
aiti-9252	262	28	:	:	PUNCT
aiti-9252	262	29	2	2	NUM
aiti-9252	262	30	2	2	NUM
aiti-9252	262	31	0	0	NUM
aiti-9252	262	32	0n	0n	NOUN
aiti-9252	263	1	n	n	CCONJ
aiti-9252	264	1	i	i	PRON
aiti-9252	265	1	i	i	PRON
aiti-9252	265	2	σ	σ	PROPN
aiti-9252	265	3			PROPN
aiti-9252	266	1	σ	σ	PROPN
aiti-9252	266	2	≥	≥	PROPN
aiti-9252	266	3	λ	λ	X
aiti-9252	266	4	>	>	X
aiti-9252	266	5	⇔	⇔	X
aiti-9252	266	6	≥	≥	PROPN
aiti-9252	266	7			VERB
aiti-9252	266	8			NOUN
aiti-9252	266	9	s	s	NOUN
aiti-9252	266	10	(	(	PUNCT
aiti-9252	266	11	50	50	NUM
aiti-9252	266	12	)	)	PUNCT
aiti-9252	266	13	then	then	ADV
aiti-9252	266	14	,	,	PUNCT
aiti-9252	266	15	the	the	DET
aiti-9252	266	16	minimization	minimization	NOUN
aiti-9252	266	17	problem	problem	NOUN
aiti-9252	266	18	of	of	ADP
aiti-9252	266	19	tu{λ	tu{λ	PROPN
aiti-9252	266	20	}	}	PUNCT
aiti-9252	266	21	can	can	AUX
aiti-9252	266	22	be	be	AUX
aiti-9252	266	23	transformed	transform	VERB
aiti-9252	266	24	into	into	ADP
aiti-9252	266	25	that	that	PRON
aiti-9252	266	26	of	of	ADP
aiti-9252	266	27	tu{∑	tu{∑	PROPN
aiti-9252	266	28	}	}	PUNCT
aiti-9252	266	29	because	because	SCONJ
aiti-9252	266	30	the	the	DET
aiti-9252	266	31	condition	condition	NOUN
aiti-9252	266	32	in	in	ADP
aiti-9252	266	33	eq	eq	ADP
aiti-9252	266	34	.	.	PUNCT
aiti-9252	267	1	(	(	PUNCT
aiti-9252	267	2	50	50	NUM
aiti-9252	267	3	)	)	PUNCT
aiti-9252	267	4	is	be	AUX
aiti-9252	267	5	an	an	DET
aiti-9252	267	6	lmi	lmi	PROPN
aiti-9252	267	7	in	in	ADP
aiti-9252	267	8	∑	∑	PROPN
aiti-9252	267	9	and	and	CCONJ
aiti-9252	267	10	;	;	PUNCT
aiti-9252	267	11	.	.	PUNCT
aiti-9252	268	1	consequently	consequently	ADV
aiti-9252	268	2	,	,	PUNCT
aiti-9252	268	3	the	the	DET
aiti-9252	268	4	optimization	optimization	NOUN
aiti-9252	268	5	problem	problem	NOUN
aiti-9252	268	6	in	in	ADP
aiti-9252	268	7	eq	eq	ADP
aiti-9252	268	8	.	.	PUNCT
aiti-9252	269	1	(	(	PUNCT
aiti-9252	269	2	49	49	NUM
aiti-9252	269	3	)	)	PUNCT
aiti-9252	269	4	can	can	AUX
aiti-9252	269	5	be	be	AUX
aiti-9252	269	6	reduced	reduce	VERB
aiti-9252	269	7	to	to	ADP
aiti-9252	269	8	the	the	DET
aiti-9252	269	9	following	follow	VERB
aiti-9252	269	10	constrained	constrain	VERB
aiti-9252	269	11	convex	convex	NOUN
aiti-9252	269	12	optimization	optimization	NOUN
aiti-9252	269	13	problem	problem	NOUN
aiti-9252	269	14	:	:	PUNCT
aiti-9252	269	15	,	,	PUNCT
aiti-9252	269	16	,	,	PUNCT
aiti-9252	269	17	,	,	PUNCT
aiti-9252	269	18	,	,	PUNCT
aiti-9252	269	19	,	,	PUNCT
aiti-9252	269	20	,	,	PUNCT
aiti-9252	269	21	{	{	PUNCT
aiti-9252	269	22	}	}	PUNCT
aiti-9252	269	23	subject	subject	ADJ
aiti-9252	269	24	to	to	ADP
aiti-9252	269	25	eqs	eqs	PROPN
aiti-9252	269	26	.	.	PUNCT
aiti-9252	270	1	(	(	PUNCT
aiti-9252	270	2	42	42	NUM
aiti-9252	270	3	)	)	PUNCT
aiti-9252	270	4	and	and	CCONJ
aiti-9252	270	5	(	(	PUNCT
aiti-9252	270	6	50	50	NUM
aiti-9252	270	7	)	)	PUNCT
aiti-9252	270	8	and	and	CCONJ
aiti-9252	270	9	0	0	NUM
aiti-9252	270	10	,	,	PUNCT
aiti-9252	270	11	0	0	NUM
aiti-9252	270	12	,	,	PUNCT
aiti-9252	270	13	0	0	NUM
aiti-9252	270	14	,	,	PUNCT
aiti-9252	270	15	0	0	NUM
aiti-9252	270	16	,	,	PUNCT
aiti-9252	270	17	0minimize	0minimize	NUM
aiti-9252	270	18	tr	tr	PROPN
aiti-9252	270	19	σ	σ	PROPN
aiti-9252	270	20	σ	σ	PROPN
aiti-9252	270	21	>	>	PUNCT
aiti-9252	270	22	>	>	X
aiti-9252	270	23	>	>	X
aiti-9252	270	24	>	>	X
aiti-9252	270	25	>	>	X
aiti-9252	270	26	α	α	X
aiti-9252	270	27	β	β	X
aiti-9252	270	28	η	η	PROPN
aiti-9252	270	29	ξ	ξ	PROPN
aiti-9252	270	30	α	α	PROPN
aiti-9252	270	31	β	β	X
aiti-9252	270	32	η	η	X
aiti-9252	270	33	ξ	ξ	PROPN
aiti-9252	270	34	s	s	PROPN
aiti-9252	270	35	w	w	PROPN
aiti-9252	270	36	s	s	X
aiti-9252	270	37	(	(	PUNCT
aiti-9252	270	38	51	51	NUM
aiti-9252	270	39	)	)	PUNCT
aiti-9252	270	40	finally	finally	ADV
aiti-9252	270	41	,	,	PUNCT
aiti-9252	270	42	the	the	DET
aiti-9252	270	43	following	follow	VERB
aiti-9252	270	44	theorem	theorem	NOUN
aiti-9252	270	45	can	can	AUX
aiti-9252	270	46	be	be	AUX
aiti-9252	270	47	obtained	obtain	VERB
aiti-9252	270	48	:	:	PUNCT
aiti-9252	270	49	theorem	theorem	NOUN
aiti-9252	270	50	2	2	NUM
aiti-9252	270	51	:	:	PUNCT
aiti-9252	270	52	if	if	SCONJ
aiti-9252	270	53	there	there	PRON
aiti-9252	270	54	exists	exist	VERB
aiti-9252	270	55	the	the	DET
aiti-9252	270	56	solution	solution	NOUN
aiti-9252	270	57	;	;	PUNCT
aiti-9252	270	58	>	>	X
aiti-9252	270	59	0,c	0,c	NOUN
aiti-9252	270	60	,	,	PUNCT
aiti-9252	270	61	g	g	PROPN
aiti-9252	270	62	>	>	X
aiti-9252	270	63	0	0	NUM
aiti-9252	270	64	,	,	PUNCT
aiti-9252	270	65	h	h	NOUN
aiti-9252	270	66	>	>	X
aiti-9252	270	67	0	0	PROPN
aiti-9252	270	68	,	,	PUNCT
aiti-9252	270	69	i	i	PRON
aiti-9252	270	70	>	>	X
aiti-9252	270	71	0	0	PUNCT
aiti-9252	270	72	and	and	CCONJ
aiti-9252	270	73	j	j	PROPN
aiti-9252	270	74	>	>	X
aiti-9252	270	75	0	0	NUM
aiti-9252	270	76	that	that	PRON
aiti-9252	270	77	satisfies	satisfy	VERB
aiti-9252	270	78	the	the	DET
aiti-9252	270	79	constrained	constrain	VERB
aiti-9252	270	80	convex	convex	NOUN
aiti-9252	270	81	optimization	optimization	NOUN
aiti-9252	270	82	problem	problem	NOUN
aiti-9252	270	83	in	in	ADP
aiti-9252	270	84	eq	eq	ADP
aiti-9252	270	85	.	.	PUNCT
aiti-9252	270	86	(	(	PUNCT
aiti-9252	270	87	51	51	NUM
aiti-9252	270	88	)	)	PUNCT
aiti-9252	270	89	,	,	PUNCT
aiti-9252	270	90	there	there	PRON
aiti-9252	270	91	exists	exist	VERB
aiti-9252	270	92	a	a	DET
aiti-9252	270	93	sub	sub	ADJ
aiti-9252	270	94	-	-	ADJ
aiti-9252	270	95	optimal	optimal	ADJ
aiti-9252	270	96	observer	observer	NOUN
aiti-9252	270	97	-	-	PUNCT
aiti-9252	270	98	based	base	VERB
aiti-9252	270	99	quadratic	quadratic	ADJ
aiti-9252	270	100	guaranteed	guarantee	VERB
aiti-9252	270	101	cost	cost	NOUN
aiti-9252	270	102	control	control	NOUN
aiti-9252	270	103	.	.	PUNCT
aiti-9252	271	1	note	note	VERB
aiti-9252	271	2	that	that	SCONJ
aiti-9252	271	3	by	by	ADP
aiti-9252	271	4	using	use	VERB
aiti-9252	271	5	the	the	DET
aiti-9252	271	6	solution	solution	NOUN
aiti-9252	271	7	of	of	ADP
aiti-9252	271	8	the	the	DET
aiti-9252	271	9	lmi	lmi	PROPN
aiti-9252	271	10	in	in	ADP
aiti-9252	271	11	eq	eq	ADP
aiti-9252	271	12	.	.	PUNCT
aiti-9252	272	1	(	(	PUNCT
aiti-9252	272	2	23	23	NUM
aiti-9252	272	3	)	)	PUNCT
aiti-9252	272	4	,	,	PUNCT
aiti-9252	272	5	the	the	DET
aiti-9252	272	6	observer	observer	NOUN
aiti-9252	272	7	gain	gain	NOUN
aiti-9252	272	8	matrix	matrix	NOUN
aiti-9252	272	9	�	�	PROPN
aiti-9252	272	10	is	be	AUX
aiti-9252	272	11	derived	derive	VERB
aiti-9252	272	12	as	as	ADP
aiti-9252	272	13	�	�	PROPN
aiti-9252	272	14	�	�	PROPN
aiti-9252	272	15	4(a	4(a	NUM
aiti-9252	272	16	�	�	PROPN
aiti-9252	272	17	�	�	PROPN
aiti-9252	272	18	(	(	PUNCT
aiti-9252	272	19	in	in	ADP
aiti-9252	272	20	advance	advance	NOUN
aiti-9252	272	21	.	.	PUNCT
aiti-9252	273	1	if	if	SCONJ
aiti-9252	273	2	the	the	DET
aiti-9252	273	3	solution	solution	NOUN
aiti-9252	273	4	to	to	ADP
aiti-9252	273	5	the	the	DET
aiti-9252	273	6	constrained	constrain	VERB
aiti-9252	273	7	convex	convex	NOUN
aiti-9252	273	8	optimization	optimization	NOUN
aiti-9252	273	9	problem	problem	NOUN
aiti-9252	273	10	is	be	AUX
aiti-9252	273	11	obtained	obtain	VERB
aiti-9252	273	12	,	,	PUNCT
aiti-9252	273	13	the	the	DET
aiti-9252	273	14	control	control	NOUN
aiti-9252	273	15	gain	gain	NOUN
aiti-9252	273	16	matrix	matrix	NOUN
aiti-9252	273	17	can	can	AUX
aiti-9252	273	18	be	be	AUX
aiti-9252	273	19	computed	compute	VERB
aiti-9252	273	20	as	as	ADP
aiti-9252	273	21	�	�	PROPN
aiti-9252	273	22	c@a	c@a	PROPN
aiti-9252	273	23	�	�	PROPN
aiti-9252	273	24	.	.	PUNCT
aiti-9252	274	1	therefore	therefore	ADV
aiti-9252	274	2	,	,	PUNCT
aiti-9252	274	3	the	the	DET
aiti-9252	274	4	control	control	PROPN
aiti-9252	274	5	law	law	PROPN
aiti-9252	274	6	�	�	PROPN
aiti-9252	274	7	(	(	PUNCT
aiti-9252	274	8	�	�	PROPN
aiti-9252	274	9	)	)	PUNCT
aiti-9252	274	10	�	�	PROPN
aiti-9252	274	11	#	#	NOUN
aiti-9252	274	12	$	$	SYM
aiti-9252	274	13	(	(	PUNCT
aiti-9252	274	14	�	�	PROPN
aiti-9252	274	15	)	)	PUNCT
aiti-9252	274	16	is	be	AUX
aiti-9252	274	17	a	a	DET
aiti-9252	274	18	sub	sub	ADJ
aiti-9252	274	19	-	-	ADJ
aiti-9252	274	20	optimal	optimal	ADJ
aiti-9252	274	21	observer	observer	NOUN
aiti-9252	274	22	-	-	PUNCT
aiti-9252	274	23	based	base	VERB
aiti-9252	274	24	guaranteed	guarantee	VERB
aiti-9252	274	25	cost	cost	NOUN
aiti-9252	274	26	control	control	NOUN
aiti-9252	274	27	.	.	PUNCT
aiti-9252	275	1	remark	remark	NOUN
aiti-9252	275	2	1	1	NUM
aiti-9252	275	3	:	:	PUNCT
aiti-9252	276	1	this	this	DET
aiti-9252	276	2	study	study	NOUN
aiti-9252	276	3	introduced	introduce	VERB
aiti-9252	276	4	the	the	DET
aiti-9252	276	5	auxiliary	auxiliary	ADJ
aiti-9252	276	6	parameter	parameter	NOUN
aiti-9252	276	7	8	8	NUM
aiti-9252	276	8	in	in	ADP
aiti-9252	276	9	eq	eq	ADP
aiti-9252	276	10	.	.	PUNCT
aiti-9252	277	1	(	(	PUNCT
aiti-9252	277	2	30	30	NUM
aiti-9252	277	3	)	)	PUNCT
aiti-9252	277	4	.	.	PUNCT
aiti-9252	278	1	if	if	SCONJ
aiti-9252	278	2	8	8	NUM
aiti-9252	278	3	is	be	AUX
aiti-9252	278	4	zero	zero	NUM
aiti-9252	278	5	,	,	PUNCT
aiti-9252	278	6	the	the	DET
aiti-9252	278	7	positive	positive	ADJ
aiti-9252	278	8	definiteness	definiteness	NOUN
aiti-9252	278	9	of	of	ADP
aiti-9252	278	10	the	the	DET
aiti-9252	278	11	matrix	matrix	NOUN
aiti-9252	278	12	γ9∗	γ9∗	PROPN
aiti-9252	278	13	is	be	AUX
aiti-9252	278	14	reduced	reduce	VERB
aiti-9252	278	15	to	to	ADP
aiti-9252	278	16	the	the	DET
aiti-9252	278	17	relation	relation	NOUN
aiti-9252	278	18	%	%	NOUN
aiti-9252	278	19	#	#	NOUN
aiti-9252	278	20	%	%	INTJ
aiti-9252	278	21	%	%	INTJ
aiti-9252	278	22	a	a	DET
aiti-9252	278	23	�	�	PROPN
aiti-9252	278	24	%	%	NOUN
aiti-9252	278	25	�	�	PROPN
aiti-9252	278	26	0	0	NUM
aiti-9252	278	27	.	.	PUNCT
aiti-9252	279	1	then	then	ADV
aiti-9252	279	2	,	,	PUNCT
aiti-9252	279	3	lemma	lemma	PROPN
aiti-9252	279	4	2	2	NUM
aiti-9252	279	5	can	can	AUX
aiti-9252	279	6	not	not	PART
aiti-9252	279	7	be	be	AUX
aiti-9252	279	8	applied	apply	VERB
aiti-9252	279	9	to	to	ADP
aiti-9252	279	10	the	the	DET
aiti-9252	279	11	inequality	inequality	NOUN
aiti-9252	279	12	in	in	ADP
aiti-9252	279	13	eq	eq	ADP
aiti-9252	279	14	.	.	PUNCT
aiti-9252	280	1	(	(	PUNCT
aiti-9252	280	2	37	37	NUM
aiti-9252	280	3	)	)	PUNCT
aiti-9252	280	4	.	.	PUNCT
aiti-9252	281	1	if	if	SCONJ
aiti-9252	281	2	the	the	DET
aiti-9252	281	3	parameter	parameter	NOUN
aiti-9252	281	4	8	8	NUM
aiti-9252	281	5	is	be	AUX
aiti-9252	281	6	a	a	DET
aiti-9252	281	7	positive	positive	ADJ
aiti-9252	281	8	scalar	scalar	NOUN
aiti-9252	281	9	,	,	PUNCT
aiti-9252	281	10	then	then	ADV
aiti-9252	281	11	the	the	DET
aiti-9252	281	12	lmi	lmi	PROPN
aiti-9252	281	13	in	in	ADP
aiti-9252	281	14	eq	eq	ADP
aiti-9252	281	15	.	.	PUNCT
aiti-9252	282	1	(	(	PUNCT
aiti-9252	282	2	42	42	NUM
aiti-9252	282	3	)	)	PUNCT
aiti-9252	282	4	can	can	AUX
aiti-9252	282	5	be	be	AUX
aiti-9252	282	6	obtained	obtain	VERB
aiti-9252	282	7	.	.	PUNCT
aiti-9252	283	1	however	however	ADV
aiti-9252	283	2	,	,	PUNCT
aiti-9252	283	3	if	if	SCONJ
aiti-9252	283	4	the	the	DET
aiti-9252	283	5	parameter	parameter	NOUN
aiti-9252	283	6	8	8	NUM
aiti-9252	283	7	is	be	AUX
aiti-9252	283	8	set	set	VERB
aiti-9252	283	9	to	to	ADP
aiti-9252	283	10	a	a	DET
aiti-9252	283	11	larger	large	ADJ
aiti-9252	283	12	value	value	NOUN
aiti-9252	283	13	,	,	PUNCT
aiti-9252	283	14	the	the	DET
aiti-9252	283	15	result	result	NOUN
aiti-9252	283	16	will	will	AUX
aiti-9252	283	17	be	be	AUX
aiti-9252	283	18	more	more	ADV
aiti-9252	283	19	conservative	conservative	ADJ
aiti-9252	283	20	.	.	PUNCT
aiti-9252	284	1	therefore	therefore	ADV
aiti-9252	284	2	,	,	PUNCT
aiti-9252	284	3	8	8	NUM
aiti-9252	284	4	is	be	AUX
aiti-9252	284	5	set	set	VERB
aiti-9252	284	6	to	to	PART
aiti-9252	284	7	be	be	AUX
aiti-9252	284	8	small	small	ADJ
aiti-9252	284	9	as	as	ADP
aiti-9252	284	10	possible	possible	ADJ
aiti-9252	284	11	.	.	PUNCT
aiti-9252	285	1	5	5	X
aiti-9252	285	2	.	.	X
aiti-9252	285	3	simulation	simulation	NOUN
aiti-9252	285	4	this	this	DET
aiti-9252	285	5	section	section	NOUN
aiti-9252	285	6	demonstrates	demonstrate	VERB
aiti-9252	285	7	the	the	DET
aiti-9252	285	8	effectiveness	effectiveness	NOUN
aiti-9252	285	9	of	of	ADP
aiti-9252	285	10	the	the	DET
aiti-9252	285	11	proposed	propose	VERB
aiti-9252	285	12	method	method	NOUN
aiti-9252	285	13	.	.	PUNCT
aiti-9252	286	1	as	as	ADP
aiti-9252	286	2	an	an	DET
aiti-9252	286	3	example	example	NOUN
aiti-9252	286	4	,	,	PUNCT
aiti-9252	286	5	the	the	DET
aiti-9252	286	6	following	follow	VERB
aiti-9252	286	7	aircraft	aircraft	NOUN
aiti-9252	286	8	model	model	NOUN
aiti-9252	286	9	is	be	AUX
aiti-9252	286	10	considered	consider	VERB
aiti-9252	286	11	[	[	X
aiti-9252	286	12	18	18	NUM
aiti-9252	286	13	]	]	SYM
aiti-9252	286	14	:	:	PUNCT
aiti-9252	286	15	0.091	0.091	NUM
aiti-9252	286	16	0.097	0.097	NUM
aiti-9252	286	17	0	0	NUM
aiti-9252	286	18	1	1	NUM
aiti-9252	286	19	0	0	NUM
aiti-9252	286	20	0	0	NUM
aiti-9252	286	21	0	0	NUM
aiti-9252	286	22	0	0	NUM
aiti-9252	286	23	0	0	NUM
aiti-9252	286	24	0	0	NUM
aiti-9252	286	25	1	1	NUM
aiti-9252	286	26	0	0	NUM
aiti-9252	286	27	0	0	NUM
aiti-9252	286	28	0	0	NUM
aiti-9252	286	29	0	0	NUM
aiti-9252	286	30	0	0	NUM
aiti-9252	287	1	5.43	5.43	NUM
aiti-9252	287	2	0	0	NUM
aiti-9252	287	3	0.686	0.686	NUM
aiti-9252	287	4	3.62	3.62	NUM
aiti-9252	287	5	2.87	2.87	NUM
aiti-9252	287	6	0.638	0.638	NUM
aiti-9252	287	7	0	0	NUM
aiti-9252	287	8	0	0	NUM
aiti-9252	287	9	(	(	PUNCT
aiti-9252	287	10	)	)	PUNCT
aiti-9252	287	11	(	(	PUNCT
aiti-9252	287	12	)	)	PUNCT
aiti-9252	287	13	(	(	PUNCT
aiti-9252	287	14	)	)	PUNCT
aiti-9252	287	15	0.56	0.56	NUM
aiti-9252	287	16	0	0	NUM
aiti-9252	287	17	0	0	NUM
aiti-9252	287	18	0.122	0.122	NUM
aiti-9252	287	19	0.127	0.127	NUM
aiti-9252	287	20	0.459	0.459	NUM
aiti-9252	287	21	0	0	NUM
aiti-9252	287	22	0	0	NUM
aiti-9252	287	23	0	0	NUM
aiti-9252	287	24	0	0	NUM
aiti-9252	287	25	0	0	NUM
aiti-9252	287	26	0	0	NUM
aiti-9252	287	27	10	10	NUM
aiti-9252	287	28	0	0	NUM
aiti-9252	287	29	10	10	NUM
aiti-9252	287	30	0	0	NUM
aiti-9252	287	31	0	0	NUM
aiti-9252	287	32	0	0	NUM
aiti-9252	287	33	0	0	NUM
aiti-9252	287	34	0	0	NUM
aiti-9252	287	35	0	0	NUM
aiti-9252	287	36	10	10	NUM
aiti-9252	287	37	0	0	NUM
aiti-9252	287	38	10	10	NUM
aiti-9252	287	39	x	x	SYM
aiti-9252	287	40	t	t	NOUN
aiti-9252	287	41	x	x	SYM
aiti-9252	287	42	t	t	PROPN
aiti-9252	287	43	u	u	NOUN
aiti-9252	287	44	t	t	NOUN
aiti-9252	287	45	−	−	NOUN
aiti-9252	287	46	−	−	VERB
aiti-9252	287	47			PROPN
aiti-9252	287	48			PROPN
aiti-9252	287	49			PROPN
aiti-9252	287	50			NOUN
aiti-9252	287	51			NOUN
aiti-9252	287	52			NOUN
aiti-9252	287	53			NOUN
aiti-9252	287	54			NOUN
aiti-9252	287	55			NOUN
aiti-9252	287	56			NOUN
aiti-9252	287	57			NOUN
aiti-9252	287	58			NOUN
aiti-9252	287	59			NOUN
aiti-9252	287	60			VERB
aiti-9252	288	1	−	−	NOUN
aiti-9252	288	2	−	−	NOUN
aiti-9252	289	1	=	=	SYM
aiti-9252	289	2	+	+	ADJ
aiti-9252	289	3			NOUN
aiti-9252	289	4			NOUN
aiti-9252	289	5			NOUN
aiti-9252	289	6			NOUN
aiti-9252	289	7	+	+	CCONJ
aiti-9252	289	8	−	−	ADJ
aiti-9252	289	9			NOUN
aiti-9252	289	10			NOUN
aiti-9252	289	11			NOUN
aiti-9252	289	12			NOUN
aiti-9252	289	13			NOUN
aiti-9252	289	14			VERB
aiti-9252	289	15	−	−	ADJ
aiti-9252	289	16			NOUN
aiti-9252	289	17			NOUN
aiti-9252	289	18			NOUN
aiti-9252	289	19			NOUN
aiti-9252	289	20			NOUN
aiti-9252	289	21			PROPN
aiti-9252	289	22	−	−	PROPN
aiti-9252	289	23			PUNCT
aiti-9252	290	1			NOUN
aiti-9252	290	2			PUNCT
aiti-9252	291	1	ɺ	ɺ	PROPN
aiti-9252	291	2	ω	ω	PROPN
aiti-9252	291	3	(	(	PUNCT
aiti-9252	291	4	52	52	NUM
aiti-9252	291	5	)	)	PUNCT
aiti-9252	291	6	(	(	PUNCT
aiti-9252	291	7	)	)	PUNCT
aiti-9252	291	8	(	(	PUNCT
aiti-9252	291	9	)	)	PUNCT
aiti-9252	291	10	0	0	NUM
aiti-9252	291	11	1	1	NUM
aiti-9252	291	12	0	0	NUM
aiti-9252	291	13	0	0	NUM
aiti-9252	291	14	0	0	NUM
aiti-9252	291	15	0	0	NUM
aiti-9252	292	1	(	(	PUNCT
aiti-9252	292	2	)	)	PUNCT
aiti-9252	292	3	y	y	PROPN
aiti-9252	292	4	t	t	PROPN
aiti-9252	292	5	x	x	SYM
aiti-9252	292	6	t=	t=	PROPN
aiti-9252	292	7	(	(	PUNCT
aiti-9252	292	8	53	53	NUM
aiti-9252	292	9	)	)	PUNCT
aiti-9252	292	10	where	where	SCONJ
aiti-9252	292	11	the	the	DET
aiti-9252	292	12	parameter	parameter	NOUN
aiti-9252	292	13	y	y	PROPN
aiti-9252	292	14	represents	represent	VERB
aiti-9252	292	15	the	the	DET
aiti-9252	292	16	uncertainties	uncertainty	NOUN
aiti-9252	292	17	and	and	CCONJ
aiti-9252	292	18	is	be	AUX
aiti-9252	292	19	assumed	assume	VERB
aiti-9252	292	20	to	to	PART
aiti-9252	292	21	vary	vary	VERB
aiti-9252	292	22	in	in	ADP
aiti-9252	292	23	the	the	DET
aiti-9252	292	24	range	range	NOUN
aiti-9252	292	25	of	of	ADP
aiti-9252	292	26	m#1.01.0n	m#1.01.0n	NOUN
aiti-9252	292	27	.	.	PUNCT
aiti-9252	293	1	let	let	VERB
aiti-9252	293	2	case	case	NOUN
aiti-9252	293	3	1	1	NUM
aiti-9252	293	4	and	and	CCONJ
aiti-9252	293	5	case	case	NOUN
aiti-9252	293	6	2	2	NUM
aiti-9252	293	7	be	be	AUX
aiti-9252	293	8	y	y	PROPN
aiti-9252	293	9	�	�	PROPN
aiti-9252	293	10	#	#	SYM
aiti-9252	293	11	1.0	1.0	NUM
aiti-9252	293	12	and	and	CCONJ
aiti-9252	293	13	y	y	PROPN
aiti-9252	293	14	�	�	PROPN
aiti-9252	293	15	1.0	1.0	NUM
aiti-9252	293	16	,	,	PUNCT
aiti-9252	293	17	respectively	respectively	ADV
aiti-9252	293	18	;	;	PUNCT
aiti-9252	293	19	these	these	DET
aiti-9252	293	20	two	two	NUM
aiti-9252	293	21	cases	case	NOUN
aiti-9252	293	22	are	be	AUX
aiti-9252	293	23	the	the	DET
aiti-9252	293	24	worst	bad	ADJ
aiti-9252	293	25	cases	case	NOUN
aiti-9252	293	26	of	of	ADP
aiti-9252	293	27	the	the	DET
aiti-9252	293	28	uncertainties	uncertainty	NOUN
aiti-9252	293	29	.	.	PUNCT
aiti-9252	294	1	it	it	PRON
aiti-9252	294	2	is	be	AUX
aiti-9252	294	3	assumed	assume	VERB
aiti-9252	294	4	that	that	SCONJ
aiti-9252	294	5	the	the	DET
aiti-9252	294	6	initial	initial	ADJ
aiti-9252	294	7	state	state	NOUN
aiti-9252	294	8	and	and	CCONJ
aiti-9252	294	9	the	the	DET
aiti-9252	294	10	initial	initial	ADJ
aiti-9252	294	11	estimate	estimate	NOUN
aiti-9252	294	12	are	be	AUX
aiti-9252	294	13	(	(	PUNCT
aiti-9252	294	14	0	0	NUM
aiti-9252	294	15	)	)	PUNCT
aiti-9252	294	16	�	�	NOUN
aiti-9252	294	17	(	(	PUNCT
aiti-9252	294	18	1.0	1.0	NUM
aiti-9252	294	19	0	0	NUM
aiti-9252	294	20	0	0	NUM
aiti-9252	294	21	0	0	NUM
aiti-9252	294	22	0	0	NUM
aiti-9252	294	23	0	0	NUM
aiti-9252	294	24	)	)	PUNCT
aiti-9252	294	25	�	�	PROPN
aiti-9252	294	26	and	and	CCONJ
aiti-9252	294	27	$	$	SYM
aiti-9252	294	28	(	(	PUNCT
aiti-9252	294	29	0	0	NUM
aiti-9252	294	30	)	)	PUNCT
aiti-9252	294	31	�	�	NOUN
aiti-9252	294	32	(	(	PUNCT
aiti-9252	294	33	0	0	NUM
aiti-9252	294	34	0	0	NUM
aiti-9252	294	35	0	0	NUM
aiti-9252	294	36	0	0	NUM
aiti-9252	294	37	0	0	NUM
aiti-9252	294	38	0	0	NUM
aiti-9252	294	39	)	)	PUNCT
aiti-9252	294	40	�	�	PROPN
aiti-9252	294	41	,	,	PUNCT
aiti-9252	294	42	respectively	respectively	ADV
aiti-9252	294	43	.	.	PUNCT
aiti-9252	295	1	the	the	DET
aiti-9252	295	2	state	state	NOUN
aiti-9252	295	3	variables	variable	NOUN
aiti-9252	295	4	are	be	AUX
aiti-9252	295	5	162	162	NUM
aiti-9252	295	6	advances	advance	NOUN
aiti-9252	295	7	in	in	ADP
aiti-9252	295	8	technology	technology	NOUN
aiti-9252	295	9	innovation	innovation	NOUN
aiti-9252	295	10	,	,	PUNCT
aiti-9252	295	11	vol	vol	NOUN
aiti-9252	295	12	.	.	PROPN
aiti-9252	296	1	7	7	NUM
aiti-9252	296	2	,	,	PUNCT
aiti-9252	296	3	no	no	INTJ
aiti-9252	296	4	.	.	NOUN
aiti-9252	296	5	3	3	NUM
aiti-9252	296	6	,	,	PUNCT
aiti-9252	296	7	2022	2022	NUM
aiti-9252	296	8	,	,	PUNCT
aiti-9252	296	9	pp	pp	ADJ
aiti-9252	296	10	.	.	PUNCT
aiti-9252	297	1	155	155	NUM
aiti-9252	297	2	-	-	SYM
aiti-9252	297	3	168	168	NUM
aiti-9252	297	4	shown	show	VERB
aiti-9252	297	5	in	in	ADP
aiti-9252	297	6	table	table	NOUN
aiti-9252	297	7	1	1	NUM
aiti-9252	297	8	.	.	PUNCT
aiti-9252	298	1	this	this	DET
aiti-9252	298	2	simulation	simulation	NOUN
aiti-9252	298	3	sets	set	VERB
aiti-9252	298	4	the	the	DET
aiti-9252	298	5	weighting	weighting	NOUN
aiti-9252	298	6	matrix	matrix	NOUN
aiti-9252	298	7	of	of	ADP
aiti-9252	298	8	the	the	DET
aiti-9252	298	9	quadratic	quadratic	ADJ
aiti-9252	298	10	cost	cost	NOUN
aiti-9252	298	11	function	function	NOUN
aiti-9252	298	12	,	,	PUNCT
aiti-9252	298	13	the	the	DET
aiti-9252	298	14	parameter	parameter	NOUN
aiti-9252	298	15	8	8	NUM
aiti-9252	298	16	,	,	PUNCT
aiti-9252	298	17	and	and	CCONJ
aiti-9252	298	18	the	the	DET
aiti-9252	298	19	variations	variation	NOUN
aiti-9252	298	20	of	of	ADP
aiti-9252	298	21	and	and	CCONJ
aiti-9252	298	22	�	�	PROPN
aiti-9252	298	23	as	as	SCONJ
aiti-9252	298	24	follows	follow	VERB
aiti-9252	298	25	:	:	PUNCT
aiti-9252	298	26	5	5	NUM
aiti-9252	298	27	6	6	NUM
aiti-9252	298	28	21.0	21.0	NUM
aiti-9252	298	29	,	,	PUNCT
aiti-9252	298	30	4	4	NUM
aiti-9252	298	31	.0	.0	NUM
aiti-9252	298	32	,	,	PUNCT
aiti-9252	298	33	1	1	NUM
aiti-9252	298	34	.0	.0	NUM
aiti-9252	298	35	10q	10q	NOUN
aiti-9252	299	1	i	i	PRON
aiti-9252	299	2	r	r	VERB
aiti-9252	299	3	i	i	PRON
aiti-9252	299	4	−=	−=	VERB
aiti-9252	299	5	=	=	PUNCT
aiti-9252	300	1	=	=	SYM
aiti-9252	300	2	×δ	×δ	X
aiti-9252	300	3	(	(	PUNCT
aiti-9252	300	4	54	54	NUM
aiti-9252	300	5	)	)	PUNCT
aiti-9252	300	6	1	1	NUM
aiti-9252	300	7	1	1	NUM
aiti-9252	300	8	1	1	NUM
aiti-9252	300	9	1	1	NUM
aiti-9252	300	10	1	1	NUM
aiti-9252	300	11	1	1	NUM
aiti-9252	300	12	(	(	PUNCT
aiti-9252	300	13	)	)	PUNCT
aiti-9252	300	14	0	0	NUM
aiti-9252	300	15	.1(1	.1(1	PUNCT
aiti-9252	301	1	.0	.0	NUM
aiti-9252	302	1	|	|	ADV
aiti-9252	303	1	c	c	NOUN
aiti-9252	303	2	o	o	NOUN
aiti-9252	303	3	s	s	X
aiti-9252	303	4	(	(	PUNCT
aiti-9252	303	5	1	1	NUM
aiti-9252	303	6	0	0	NUM
aiti-9252	303	7	)	)	PUNCT
aiti-9252	303	8	|	|	CCONJ
aiti-9252	303	9	)	)	PUNCT
aiti-9252	303	10	1	1	NUM
aiti-9252	303	11	1	1	NUM
aiti-9252	303	12	1	1	NUM
aiti-9252	303	13	1	1	NUM
aiti-9252	303	14	1	1	NUM
aiti-9252	303	15	1	1	NUM
aiti-9252	303	16	tk	tk	NOUN
aiti-9252	303	17	t	t	PROPN
aiti-9252	303	18	e	e	NOUN
aiti-9252	303	19	t−	t−	PROPN
aiti-9252	303	20			PROPN
aiti-9252	303	21			PROPN
aiti-9252	303	22			NOUN
aiti-9252	303	23			VERB
aiti-9252	303	24			ADV
aiti-9252	303	25			PUNCT
aiti-9252	303	26	∆	∆	X
aiti-9252	304	1	=	=	PUNCT
aiti-9252	304	2	−	−	PROPN
aiti-9252	304	3	π	π	PROPN
aiti-9252	304	4	(	(	PUNCT
aiti-9252	304	5	55	55	NUM
aiti-9252	304	6	)	)	SYM
aiti-9252	304	7	1	1	NUM
aiti-9252	304	8	1	1	NUM
aiti-9252	304	9	1	1	NUM
aiti-9252	304	10	1	1	NUM
aiti-9252	304	11	1	1	NUM
aiti-9252	304	12	1	1	NUM
aiti-9252	304	13	(	(	PUNCT
aiti-9252	304	14	)	)	PUNCT
aiti-9252	304	15	0	0	NUM
aiti-9252	304	16	.1(1	.1(1	PUNCT
aiti-9252	304	17	.0	.0	NUM
aiti-9252	305	1	|	|	ADV
aiti-9252	305	2	co	co	NOUN
aiti-9252	305	3	s	s	X
aiti-9252	305	4	(	(	PUNCT
aiti-9252	305	5	1	1	NUM
aiti-9252	305	6	0	0	NUM
aiti-9252	305	7	)	)	PUNCT
aiti-9252	305	8	|	|	ADV
aiti-9252	305	9	)	)	PUNCT
aiti-9252	305	10	(	(	PUNCT
aiti-9252	305	11	)	)	PUNCT
aiti-9252	305	12	t	t	NOUN
aiti-9252	305	13	tg	tg	PROPN
aiti-9252	305	14	t	t	PROPN
aiti-9252	305	15	e	e	X
aiti-9252	305	16	t−∆	t−∆	X
aiti-9252	305	17	=	=	SYM
aiti-9252	305	18	−	−	PROPN
aiti-9252	305	19	π	π	PROPN
aiti-9252	305	20	(	(	PUNCT
aiti-9252	305	21	56	56	NUM
aiti-9252	305	22	)	)	PUNCT
aiti-9252	305	23	in	in	ADP
aiti-9252	305	24	addition	addition	NOUN
aiti-9252	305	25	,	,	PUNCT
aiti-9252	305	26	�	�	PROPN
aiti-9252	305	27	!	!	PROPN
aiti-9252	305	28	and	and	CCONJ
aiti-9252	305	29	�	�	PROPN
aiti-9252	305	30	�	�	PROPN
aiti-9252	305	31	are	be	AUX
aiti-9252	305	32	set	set	VERB
aiti-9252	305	33	as	as	ADP
aiti-9252	305	34	�	�	PROPN
aiti-9252	305	35	!	!	PUNCT
aiti-9252	305	36	�	�	PROPN
aiti-9252	305	37	0.35	0.35	NUM
aiti-9252	305	38	and	and	CCONJ
aiti-9252	305	39	�	�	PROPN
aiti-9252	305	40	�	�	PROPN
aiti-9252	305	41	�	�	PROPN
aiti-9252	305	42	0.25	0.25	NUM
aiti-9252	305	43	,	,	PUNCT
aiti-9252	305	44	respectively	respectively	ADV
aiti-9252	305	45	.	.	PUNCT
aiti-9252	306	1	by	by	ADP
aiti-9252	306	2	solving	solve	VERB
aiti-9252	306	3	the	the	DET
aiti-9252	306	4	lmi	lmi	PROPN
aiti-9252	306	5	condition	condition	NOUN
aiti-9252	306	6	in	in	ADP
aiti-9252	306	7	eq	eq	ADP
aiti-9252	306	8	.	.	PUNCT
aiti-9252	307	1	(	(	PUNCT
aiti-9252	307	2	23	23	NUM
aiti-9252	307	3	)	)	PUNCT
aiti-9252	307	4	,	,	PUNCT
aiti-9252	307	5	the	the	DET
aiti-9252	307	6	observer	observer	NOUN
aiti-9252	307	7	gain	gain	NOUN
aiti-9252	307	8	matrix	matrix	NOUN
aiti-9252	307	9	�	�	PROPN
aiti-9252	307	10	is	be	AUX
aiti-9252	307	11	derived	derive	VERB
aiti-9252	307	12	as	as	ADP
aiti-9252	307	13	:	:	PUNCT
aiti-9252	307	14	(	(	PUNCT
aiti-9252	307	15	)	)	PUNCT
aiti-9252	307	16	10.9786	10.9786	NUM
aiti-9252	307	17	9.4665	9.4665	NUM
aiti-9252	307	18	59.8127	59.8127	NUM
aiti-9252	307	19	11.6423	11.6423	NUM
aiti-9252	307	20	14.4855	14.4855	NUM
aiti-9252	307	21	3.4610	3.4610	NUM
aiti-9252	307	22	t	t	NOUN
aiti-9252	308	1	g	g	NOUN
aiti-9252	308	2	=	=	PUNCT
aiti-9252	308	3	−	−	PROPN
aiti-9252	309	1	−	−	PROPN
aiti-9252	309	2	−	−	PROPN
aiti-9252	309	3	(	(	PUNCT
aiti-9252	309	4	57	57	NUM
aiti-9252	309	5	)	)	PUNCT
aiti-9252	309	6	then	then	ADV
aiti-9252	309	7	,	,	PUNCT
aiti-9252	309	8	by	by	ADP
aiti-9252	309	9	applying	apply	VERB
aiti-9252	309	10	theorem	theorem	ADJ
aiti-9252	309	11	2	2	NUM
aiti-9252	309	12	and	and	CCONJ
aiti-9252	309	13	solving	solve	VERB
aiti-9252	309	14	the	the	DET
aiti-9252	309	15	constrained	constrain	VERB
aiti-9252	309	16	convex	convex	NOUN
aiti-9252	309	17	optimization	optimization	NOUN
aiti-9252	309	18	problem	problem	NOUN
aiti-9252	309	19	,	,	PUNCT
aiti-9252	309	20	the	the	DET
aiti-9252	309	21	control	control	NOUN
aiti-9252	309	22	gain	gain	NOUN
aiti-9252	309	23	matrix	matrix	NOUN
aiti-9252	309	24	is	be	AUX
aiti-9252	309	25	obtained	obtain	VERB
aiti-9252	309	26	as	as	ADP
aiti-9252	309	27	:	:	PUNCT
aiti-9252	309	28	51.3273	51.3273	NUM
aiti-9252	309	29	1.5326	1.5326	NUM
aiti-9252	309	30	3.7102	3.7102	NUM
aiti-9252	309	31	34.5183	34.5183	NUM
aiti-9252	309	32	1.7920	1.7920	NUM
aiti-9252	310	1	1.3725	1.3725	NUM
aiti-9252	310	2	162.0656	162.0656	NUM
aiti-9252	310	3	7.9559	7.9559	NUM
aiti-9252	310	4	0.2540	0.2540	NUM
aiti-9252	310	5	124.4227	124.4227	NUM
aiti-9252	310	6	1.3723	1.3723	NUM
aiti-9252	310	7	5.1444	5.1444	NUM
aiti-9252	310	8	k	k	NOUN
aiti-9252	310	9	−	−	VERB
aiti-9252	310	10			PUNCT
aiti-9252	311	1	=	=	NOUN
aiti-9252	311	2			NOUN
aiti-9252	311	3	−	−	NUM
aiti-9252	311	4	−	−	NOUN
aiti-9252	311	5			PUNCT
aiti-9252	311	6	(	(	PUNCT
aiti-9252	311	7	58	58	NUM
aiti-9252	311	8	)	)	PUNCT
aiti-9252	311	9	consequently	consequently	ADV
aiti-9252	311	10	,	,	PUNCT
aiti-9252	311	11	the	the	DET
aiti-9252	311	12	upper	upper	ADJ
aiti-9252	311	13	bound	bind	VERB
aiti-9252	311	14	on	on	ADP
aiti-9252	311	15	the	the	DET
aiti-9252	311	16	quadratic	quadratic	ADJ
aiti-9252	311	17	cost	cost	NOUN
aiti-9252	311	18	function	function	NOUN
aiti-9252	311	19	op+∗q	op+∗q	NOUN
aiti-9252	311	20	(	(	PUNCT
aiti-9252	311	21	(	(	PUNCT
aiti-9252	311	22	0)rs	0)rs	PROPN
aiti-9252	311	23	is	be	AUX
aiti-9252	311	24	obtained	obtain	VERB
aiti-9252	311	25	as	as	ADP
aiti-9252	311	26	op+∗q	op+∗q	PROPN
aiti-9252	311	27	(	(	PUNCT
aiti-9252	311	28	(	(	PUNCT
aiti-9252	311	29	0)rs	0)rs	PROPN
aiti-9252	311	30	�	�	PROPN
aiti-9252	311	31	6.4975	6.4975	NUM
aiti-9252	311	32	×	×	NOUN
aiti-9252	311	33	10c	10c	NOUN
aiti-9252	311	34	.	.	PUNCT
aiti-9252	312	1	this	this	DET
aiti-9252	312	2	simulation	simulation	NOUN
aiti-9252	312	3	compares	compare	VERB
aiti-9252	312	4	the	the	DET
aiti-9252	312	5	results	result	NOUN
aiti-9252	312	6	of	of	ADP
aiti-9252	312	7	the	the	DET
aiti-9252	312	8	proposed	propose	VERB
aiti-9252	312	9	method	method	NOUN
aiti-9252	312	10	,	,	PUNCT
aiti-9252	312	11	the	the	DET
aiti-9252	312	12	conventional	conventional	ADJ
aiti-9252	312	13	linear	linear	ADJ
aiti-9252	312	14	quadratic	quadratic	ADJ
aiti-9252	312	15	regulator	regulator	NOUN
aiti-9252	312	16	(	(	PUNCT
aiti-9252	312	17	lqr	lqr	PROPN
aiti-9252	312	18	)	)	PUNCT
aiti-9252	312	19	,	,	PUNCT
aiti-9252	312	20	and	and	CCONJ
aiti-9252	312	21	the	the	DET
aiti-9252	312	22	work	work	NOUN
aiti-9252	312	23	of	of	ADP
aiti-9252	312	24	oya	oya	PROPN
aiti-9252	312	25	et	et	PROPN
aiti-9252	312	26	al	al	PROPN
aiti-9252	312	27	.	.	PUNCT
aiti-9252	313	1	[	[	X
aiti-9252	313	2	10	10	NUM
aiti-9252	313	3	]	]	PUNCT
aiti-9252	313	4	.	.	PUNCT
aiti-9252	314	1	oya	oya	PROPN
aiti-9252	314	2	et	et	PROPN
aiti-9252	314	3	al	al	PROPN
aiti-9252	314	4	.	.	PUNCT
aiti-9252	315	1	[	[	X
aiti-9252	315	2	10	10	NUM
aiti-9252	315	3	]	]	PUNCT
aiti-9252	315	4	proposed	propose	VERB
aiti-9252	315	5	a	a	DET
aiti-9252	315	6	method	method	NOUN
aiti-9252	315	7	for	for	ADP
aiti-9252	315	8	designing	design	VERB
aiti-9252	315	9	observer	observer	NOUN
aiti-9252	315	10	-	-	PUNCT
aiti-9252	315	11	based	base	VERB
aiti-9252	315	12	quadratic	quadratic	ADJ
aiti-9252	315	13	guaranteed	guarantee	VERB
aiti-9252	315	14	cost	cost	NOUN
aiti-9252	315	15	control	control	NOUN
aiti-9252	315	16	for	for	ADP
aiti-9252	315	17	uncertain	uncertain	ADJ
aiti-9252	315	18	systems	system	NOUN
aiti-9252	315	19	.	.	PUNCT
aiti-9252	316	1	the	the	DET
aiti-9252	316	2	control	control	NOUN
aiti-9252	316	3	gain	gain	NOUN
aiti-9252	316	4	matrix	matrix	NOUN
aiti-9252	316	5	in	in	ADP
aiti-9252	316	6	eq	eq	PROPN
aiti-9252	316	7	.	.	PUNCT
aiti-9252	317	1	(	(	PUNCT
aiti-9252	317	2	59	59	NUM
aiti-9252	317	3	)	)	PUNCT
aiti-9252	317	4	is	be	AUX
aiti-9252	317	5	the	the	DET
aiti-9252	317	6	result	result	NOUN
aiti-9252	317	7	obtained	obtain	VERB
aiti-9252	317	8	by	by	ADP
aiti-9252	317	9	using	use	VERB
aiti-9252	317	10	the	the	DET
aiti-9252	317	11	lqr	lqr	NOUN
aiti-9252	317	12	:	:	PUNCT
aiti-9252	317	13	0.5272	0.5272	NUM
aiti-9252	317	14	0.2315	0.2315	NUM
aiti-9252	318	1	0.2673	0.2673	NUM
aiti-9252	318	2	0.4336	0.4336	NUM
aiti-9252	318	3	0.1570	0.1570	NUM
aiti-9252	318	4	0.0223	0.0223	NUM
aiti-9252	318	5	0.3295	0.3295	NUM
aiti-9252	318	6	0.0495	0.0495	NUM
aiti-9252	318	7	0.0857	0.0857	NUM
aiti-9252	318	8	0.6478	0.6478	NUM
aiti-9252	318	9	0.0223	0.0223	NUM
aiti-9252	318	10	0.1270	0.1270	NUM
aiti-9252	318	11	k	k	NOUN
aiti-9252	318	12	−	−	VERB
aiti-9252	318	13			PUNCT
aiti-9252	319	1	=	=	SYM
aiti-9252	319	2			NOUN
aiti-9252	319	3	−	−	PROPN
aiti-9252	319	4			PUNCT
aiti-9252	320	1	(	(	PUNCT
aiti-9252	320	2	59	59	NUM
aiti-9252	320	3	)	)	PUNCT
aiti-9252	320	4	�	�	PROPN
aiti-9252	320	5	d	d	PROPN
aiti-9252	320	6	in	in	ADP
aiti-9252	320	7	eq	eq	ADP
aiti-9252	320	8	.	.	PUNCT
aiti-9252	321	1	(	(	PUNCT
aiti-9252	321	2	60	60	NUM
aiti-9252	321	3	)	)	PUNCT
aiti-9252	321	4	and	and	CCONJ
aiti-9252	321	5	d	d	X
aiti-9252	321	6	in	in	ADP
aiti-9252	321	7	eq	eq	ADP
aiti-9252	321	8	.	.	PUNCT
aiti-9252	322	1	(	(	PUNCT
aiti-9252	322	2	61	61	NUM
aiti-9252	322	3	)	)	PUNCT
aiti-9252	322	4	are	be	AUX
aiti-9252	322	5	the	the	DET
aiti-9252	322	6	observer	observer	NOUN
aiti-9252	322	7	gain	gain	NOUN
aiti-9252	322	8	matrix	matrix	NOUN
aiti-9252	322	9	and	and	CCONJ
aiti-9252	322	10	the	the	DET
aiti-9252	322	11	control	control	NOUN
aiti-9252	322	12	gain	gain	NOUN
aiti-9252	322	13	matrix	matrix	NOUN
aiti-9252	322	14	obtained	obtain	VERB
aiti-9252	322	15	from	from	ADP
aiti-9252	322	16	the	the	DET
aiti-9252	322	17	design	design	NOUN
aiti-9252	322	18	method	method	NOUN
aiti-9252	322	19	in	in	ADP
aiti-9252	322	20	the	the	DET
aiti-9252	322	21	work	work	NOUN
aiti-9252	322	22	of	of	ADP
aiti-9252	322	23	oya	oya	PROPN
aiti-9252	322	24	et	et	PROPN
aiti-9252	322	25	al	al	PROPN
aiti-9252	322	26	.	.	PUNCT
aiti-9252	323	1	[	[	X
aiti-9252	323	2	10	10	NUM
aiti-9252	323	3	]	]	NUM
aiti-9252	323	4	:	:	PUNCT
aiti-9252	323	5	(	(	PUNCT
aiti-9252	323	6	)	)	PUNCT
aiti-9252	323	7	4	4	NUM
aiti-9252	323	8	.7663	.7663	NOUN
aiti-9252	323	9	4	4	NUM
aiti-9252	323	10	.7328	.7328	NOUN
aiti-9252	323	11	33.2626	33.2626	NUM
aiti-9252	323	12	6	6	NUM
aiti-9252	323	13	.0968	.0968	SYM
aiti-9252	323	14	6	6	NUM
aiti-9252	323	15	.2544	.2544	NOUN
aiti-9252	323	16	1	1	NUM
aiti-9252	323	17	.2644	.2644	PUNCT
aiti-9252	323	18	t	t	PROPN
aiti-9252	323	19	rh	rh	PROPN
aiti-9252	323	20	=	=	PUNCT
aiti-9252	324	1	−	−	PROPN
aiti-9252	324	2	−	−	PROPN
aiti-9252	324	3	−	−	PROPN
aiti-9252	324	4	(	(	PUNCT
aiti-9252	324	5	60	60	NUM
aiti-9252	324	6	)	)	PUNCT
aiti-9252	324	7	9.6020	9.6020	NUM
aiti-9252	324	8	27.1407	27.1407	NUM
aiti-9252	324	9	15.0468	15.0468	NUM
aiti-9252	325	1	6.3814	6.3814	NUM
aiti-9252	325	2	3.2967	3.2967	NUM
aiti-9252	325	3	0.8400	0.8400	NUM
aiti-9252	325	4	4.0787	4.0787	NUM
aiti-9252	325	5	6.3076	6.3076	NUM
aiti-9252	325	6	3.9832	3.9832	NUM
aiti-9252	325	7	5	5	NUM
aiti-9252	325	8	.2499	.2499	NOUN
aiti-9252	325	9	0	0	PUNCT
aiti-9252	326	1	.8400	.8400	NOUN
aiti-9252	326	2	0.6510	0.6510	NUM
aiti-9252	326	3	rk	rk	NOUN
aiti-9252	326	4	−	−	VERB
aiti-9252	326	5			PUNCT
aiti-9252	327	1	=	=	SYM
aiti-9252	327	2			NOUN
aiti-9252	327	3	−	−	PROPN
aiti-9252	327	4			PUNCT
aiti-9252	328	1	(	(	PUNCT
aiti-9252	328	2	61	61	NUM
aiti-9252	328	3	)	)	PUNCT
aiti-9252	328	4	figs	fig	NOUN
aiti-9252	328	5	.	.	PUNCT
aiti-9252	329	1	2	2	NUM
aiti-9252	329	2	-	-	SYM
aiti-9252	329	3	5	5	NUM
aiti-9252	329	4	and	and	CCONJ
aiti-9252	329	5	figs	fig	NOUN
aiti-9252	329	6	.	.	PUNCT
aiti-9252	330	1	6	6	NUM
aiti-9252	330	2	-	-	SYM
aiti-9252	330	3	9	9	NUM
aiti-9252	330	4	show	show	VERB
aiti-9252	330	5	the	the	DET
aiti-9252	330	6	results	result	NOUN
aiti-9252	330	7	of	of	ADP
aiti-9252	330	8	the	the	DET
aiti-9252	330	9	lqr	lqr	NOUN
aiti-9252	330	10	and	and	CCONJ
aiti-9252	330	11	the	the	DET
aiti-9252	330	12	method	method	NOUN
aiti-9252	330	13	of	of	ADP
aiti-9252	330	14	oya	oya	PROPN
aiti-9252	330	15	et	et	PROPN
aiti-9252	330	16	al	al	PROPN
aiti-9252	330	17	.	.	PUNCT
aiti-9252	331	1	[	[	X
aiti-9252	331	2	10	10	NUM
aiti-9252	331	3	]	]	PUNCT
aiti-9252	331	4	.	.	PUNCT
aiti-9252	332	1	from	from	ADP
aiti-9252	332	2	the	the	DET
aiti-9252	332	3	results	result	NOUN
aiti-9252	332	4	,	,	PUNCT
aiti-9252	332	5	the	the	DET
aiti-9252	332	6	lqr	lqr	NOUN
aiti-9252	332	7	and	and	CCONJ
aiti-9252	332	8	the	the	DET
aiti-9252	332	9	method	method	NOUN
aiti-9252	332	10	of	of	ADP
aiti-9252	332	11	oya	oya	PROPN
aiti-9252	332	12	et	et	PROPN
aiti-9252	332	13	al	al	PROPN
aiti-9252	332	14	.	.	PUNCT
aiti-9252	333	1	[	[	X
aiti-9252	333	2	10	10	NUM
aiti-9252	333	3	]	]	PUNCT
aiti-9252	333	4	did	do	AUX
aiti-9252	333	5	not	not	PART
aiti-9252	333	6	achieve	achieve	VERB
aiti-9252	333	7	asymptotical	asymptotical	ADJ
aiti-9252	333	8	stability	stability	NOUN
aiti-9252	333	9	.	.	PUNCT
aiti-9252	334	1	figs	fig	NOUN
aiti-9252	334	2	.	.	PUNCT
aiti-9252	335	1	6	6	NUM
aiti-9252	335	2	and	and	CCONJ
aiti-9252	335	3	7	7	NUM
aiti-9252	335	4	show	show	VERB
aiti-9252	335	5	that	that	SCONJ
aiti-9252	335	6	the	the	DET
aiti-9252	335	7	state	state	NOUN
aiti-9252	335	8	diverged	diverge	VERB
aiti-9252	335	9	in	in	ADP
aiti-9252	335	10	case	case	NOUN
aiti-9252	335	11	1	1	NUM
aiti-9252	335	12	by	by	ADP
aiti-9252	335	13	the	the	DET
aiti-9252	335	14	method	method	NOUN
aiti-9252	335	15	of	of	ADP
aiti-9252	335	16	oya	oya	PROPN
aiti-9252	335	17	et	et	PROPN
aiti-9252	335	18	al	al	PROPN
aiti-9252	335	19	.	.	PUNCT
aiti-9252	336	1	[	[	X
aiti-9252	336	2	10	10	NUM
aiti-9252	336	3	]	]	PUNCT
aiti-9252	336	4	.	.	PUNCT
aiti-9252	337	1	control	control	NOUN
aiti-9252	337	2	gain	gain	NOUN
aiti-9252	337	3	variation	variation	NOUN
aiti-9252	337	4	was	be	AUX
aiti-9252	337	5	not	not	PART
aiti-9252	337	6	considered	consider	VERB
aiti-9252	337	7	in	in	ADP
aiti-9252	337	8	the	the	DET
aiti-9252	337	9	work	work	NOUN
aiti-9252	337	10	of	of	ADP
aiti-9252	337	11	oya	oya	PROPN
aiti-9252	337	12	et	et	PROPN
aiti-9252	337	13	al	al	PROPN
aiti-9252	337	14	.	.	PUNCT
aiti-9252	338	1	[	[	X
aiti-9252	338	2	10	10	NUM
aiti-9252	338	3	]	]	PUNCT
aiti-9252	338	4	,	,	PUNCT
aiti-9252	338	5	and	and	CCONJ
aiti-9252	338	6	thus	thus	ADV
aiti-9252	338	7	the	the	DET
aiti-9252	338	8	system	system	NOUN
aiti-9252	338	9	could	could	AUX
aiti-9252	338	10	not	not	PART
aiti-9252	338	11	be	be	AUX
aiti-9252	338	12	stabilized	stabilize	VERB
aiti-9252	338	13	.	.	PUNCT
aiti-9252	339	1	table	table	NOUN
aiti-9252	339	2	1	1	NUM
aiti-9252	339	3	state	state	NOUN
aiti-9252	339	4	variables	variable	NOUN
aiti-9252	339	5	of	of	ADP
aiti-9252	339	6	example	example	NOUN
aiti-9252	339	7	aircraft	aircraft	NOUN
aiti-9252	339	8	�	�	PROPN
aiti-9252	339	9	(	(	PUNCT
aiti-9252	339	10	�	�	NOUN
aiti-9252	339	11	)	)	PUNCT
aiti-9252	339	12	dimensionless	dimensionless	NOUN
aiti-9252	339	13	slide	slide	NOUN
aiti-9252	339	14	-	-	PUNCT
aiti-9252	339	15	slip	slip	NOUN
aiti-9252	339	16	velocity	velocity	NOUN
aiti-9252	339	17	(	(	PUNCT
aiti-9252	339	18	dsv	dsv	NOUN
aiti-9252	339	19	)	)	PUNCT
aiti-9252	339	20	6	6	NUM
aiti-9252	339	21	(	(	PUNCT
aiti-9252	339	22	�	�	NOUN
aiti-9252	339	23	)	)	PUNCT
aiti-9252	339	24	roll	roll	NOUN
aiti-9252	339	25	c	c	PROPN
aiti-9252	339	26	(	(	PUNCT
aiti-9252	339	27	�	�	NOUN
aiti-9252	339	28	)	)	PUNCT
aiti-9252	339	29	roll	roll	NOUN
aiti-9252	339	30	rate	rate	NOUN
aiti-9252	339	31	e	e	PROPN
aiti-9252	339	32	(	(	PUNCT
aiti-9252	339	33	�	�	NOUN
aiti-9252	339	34	)	)	PUNCT
aiti-9252	339	35	yaw	yaw	NOUN
aiti-9252	339	36	rate	rate	NOUN
aiti-9252	339	37	f	f	PROPN
aiti-9252	339	38	(	(	PUNCT
aiti-9252	339	39	�	�	NOUN
aiti-9252	339	40	)	)	PUNCT
aiti-9252	339	41	aileron	aileron	NOUN
aiti-9252	339	42	angle	angle	NOUN
aiti-9252	339	43	g	g	PROPN
aiti-9252	339	44	(	(	PUNCT
aiti-9252	339	45	�	�	NOUN
aiti-9252	339	46	)	)	PUNCT
aiti-9252	339	47	rudder	rudder	NOUN
aiti-9252	339	48	angle	angle	NOUN
aiti-9252	339	49	163	163	NUM
aiti-9252	339	50	advances	advance	NOUN
aiti-9252	339	51	in	in	ADP
aiti-9252	339	52	technology	technology	NOUN
aiti-9252	339	53	innovation	innovation	NOUN
aiti-9252	339	54	,	,	PUNCT
aiti-9252	339	55	vol	vol	NOUN
aiti-9252	339	56	.	.	PROPN
aiti-9252	340	1	7	7	NUM
aiti-9252	340	2	,	,	PUNCT
aiti-9252	340	3	no	no	INTJ
aiti-9252	340	4	.	.	NOUN
aiti-9252	340	5	3	3	NUM
aiti-9252	340	6	,	,	PUNCT
aiti-9252	340	7	2022	2022	NUM
aiti-9252	340	8	,	,	PUNCT
aiti-9252	340	9	pp	pp	ADJ
aiti-9252	340	10	.	.	PUNCT
aiti-9252	341	1	155	155	NUM
aiti-9252	341	2	-	-	SYM
aiti-9252	341	3	168	168	NUM
aiti-9252	341	4	fig	fig	NOUN
aiti-9252	341	5	.	.	PUNCT
aiti-9252	342	1	2	2	NUM
aiti-9252	342	2	time	time	NOUN
aiti-9252	342	3	histories	history	NOUN
aiti-9252	342	4	of	of	ADP
aiti-9252	342	5	�	�	PROPN
aiti-9252	342	6	(	(	PUNCT
aiti-9252	342	7	�	�	PROPN
aiti-9252	342	8	)	)	PUNCT
aiti-9252	342	9	#	#	NOUN
aiti-9252	342	10	c	c	PROPN
aiti-9252	342	11	(	(	PUNCT
aiti-9252	342	12	�	�	PROPN
aiti-9252	342	13	)	)	PUNCT
aiti-9252	342	14	by	by	ADP
aiti-9252	342	15	lqr	lqr	NOUN
aiti-9252	342	16	(	(	PUNCT
aiti-9252	342	17	case	case	NOUN
aiti-9252	342	18	1	1	NUM
aiti-9252	342	19	)	)	PUNCT
aiti-9252	342	20	fig	fig	NOUN
aiti-9252	342	21	.	.	PUNCT
aiti-9252	343	1	3	3	NUM
aiti-9252	343	2	time	time	NOUN
aiti-9252	343	3	histories	history	NOUN
aiti-9252	343	4	of	of	ADP
aiti-9252	343	5	e	e	PROPN
aiti-9252	343	6	(	(	PUNCT
aiti-9252	343	7	�	�	NOUN
aiti-9252	343	8	)	)	PUNCT
aiti-9252	343	9	#	#	NOUN
aiti-9252	343	10	g	g	NOUN
aiti-9252	343	11	(	(	PUNCT
aiti-9252	343	12	�	�	PROPN
aiti-9252	343	13	)	)	PUNCT
aiti-9252	343	14	by	by	ADP
aiti-9252	343	15	lqr	lqr	NOUN
aiti-9252	343	16	(	(	PUNCT
aiti-9252	343	17	case	case	NOUN
aiti-9252	343	18	1	1	NUM
aiti-9252	343	19	)	)	PUNCT
aiti-9252	343	20	fig	fig	NOUN
aiti-9252	343	21	.	.	PUNCT
aiti-9252	343	22	4	4	NUM
aiti-9252	343	23	time	time	NOUN
aiti-9252	343	24	histories	history	NOUN
aiti-9252	343	25	of	of	ADP
aiti-9252	343	26	�	�	PROPN
aiti-9252	343	27	(	(	PUNCT
aiti-9252	343	28	�	�	PROPN
aiti-9252	343	29	)	)	PUNCT
aiti-9252	343	30	#	#	NOUN
aiti-9252	343	31	c	c	PROPN
aiti-9252	343	32	(	(	PUNCT
aiti-9252	343	33	�	�	PROPN
aiti-9252	343	34	)	)	PUNCT
aiti-9252	343	35	by	by	ADP
aiti-9252	343	36	lqr	lqr	NOUN
aiti-9252	343	37	(	(	PUNCT
aiti-9252	343	38	case	case	NOUN
aiti-9252	343	39	2	2	NUM
aiti-9252	343	40	)	)	PUNCT
aiti-9252	343	41	fig	fig	NOUN
aiti-9252	343	42	.	.	PUNCT
aiti-9252	343	43	5	5	NUM
aiti-9252	343	44	time	time	NOUN
aiti-9252	343	45	histories	history	NOUN
aiti-9252	343	46	of	of	ADP
aiti-9252	343	47	e	e	PROPN
aiti-9252	343	48	(	(	PUNCT
aiti-9252	343	49	�	�	NOUN
aiti-9252	343	50	)	)	PUNCT
aiti-9252	343	51	#	#	NOUN
aiti-9252	343	52	g	g	NOUN
aiti-9252	343	53	(	(	PUNCT
aiti-9252	343	54	�	�	PROPN
aiti-9252	343	55	)	)	PUNCT
aiti-9252	343	56	by	by	ADP
aiti-9252	343	57	lqr	lqr	NOUN
aiti-9252	343	58	(	(	PUNCT
aiti-9252	343	59	case	case	NOUN
aiti-9252	343	60	2	2	NUM
aiti-9252	343	61	)	)	PUNCT
aiti-9252	343	62	fig	fig	NOUN
aiti-9252	343	63	.	.	PUNCT
aiti-9252	344	1	6	6	NUM
aiti-9252	344	2	time	time	NOUN
aiti-9252	344	3	histories	history	NOUN
aiti-9252	344	4	of	of	ADP
aiti-9252	344	5	�	�	PROPN
aiti-9252	344	6	(	(	PUNCT
aiti-9252	344	7	�	�	PROPN
aiti-9252	344	8	)	)	PUNCT
aiti-9252	344	9	#	#	NOUN
aiti-9252	344	10	c	c	PROPN
aiti-9252	344	11	(	(	PUNCT
aiti-9252	344	12	�	�	PROPN
aiti-9252	344	13	)	)	PUNCT
aiti-9252	344	14	by	by	ADP
aiti-9252	344	15	the	the	DET
aiti-9252	344	16	method	method	NOUN
aiti-9252	344	17	of	of	ADP
aiti-9252	344	18	oya	oya	PROPN
aiti-9252	344	19	et	et	PROPN
aiti-9252	344	20	al	al	PROPN
aiti-9252	344	21	.	.	PUNCT
aiti-9252	345	1	[	[	X
aiti-9252	345	2	10	10	NUM
aiti-9252	345	3	]	]	PUNCT
aiti-9252	345	4	(	(	PUNCT
aiti-9252	345	5	case	case	NOUN
aiti-9252	345	6	1	1	NUM
aiti-9252	345	7	)	)	PUNCT
aiti-9252	345	8	fig	fig	NOUN
aiti-9252	345	9	.	.	PUNCT
aiti-9252	346	1	7	7	NUM
aiti-9252	346	2	time	time	NOUN
aiti-9252	346	3	histories	history	NOUN
aiti-9252	346	4	of	of	ADP
aiti-9252	346	5	e	e	PROPN
aiti-9252	346	6	(	(	PUNCT
aiti-9252	346	7	�	�	NOUN
aiti-9252	346	8	)	)	PUNCT
aiti-9252	346	9	#	#	NOUN
aiti-9252	346	10	g	g	NOUN
aiti-9252	346	11	(	(	PUNCT
aiti-9252	346	12	�	�	PROPN
aiti-9252	346	13	)	)	PUNCT
aiti-9252	346	14	by	by	ADP
aiti-9252	346	15	the	the	DET
aiti-9252	346	16	method	method	NOUN
aiti-9252	346	17	of	of	ADP
aiti-9252	346	18	oya	oya	PROPN
aiti-9252	346	19	et	et	PROPN
aiti-9252	346	20	al	al	PROPN
aiti-9252	346	21	.	.	PUNCT
aiti-9252	347	1	[	[	X
aiti-9252	347	2	10	10	NUM
aiti-9252	347	3	]	]	PUNCT
aiti-9252	347	4	(	(	PUNCT
aiti-9252	347	5	case	case	NOUN
aiti-9252	347	6	1	1	NUM
aiti-9252	347	7	)	)	PUNCT
aiti-9252	347	8	fig	fig	NOUN
aiti-9252	347	9	.	.	PUNCT
aiti-9252	347	10	8	8	NUM
aiti-9252	347	11	time	time	NOUN
aiti-9252	347	12	histories	history	NOUN
aiti-9252	347	13	of	of	ADP
aiti-9252	347	14	�	�	PROPN
aiti-9252	347	15	(	(	PUNCT
aiti-9252	347	16	�	�	PROPN
aiti-9252	347	17	)	)	PUNCT
aiti-9252	347	18	#	#	NOUN
aiti-9252	347	19	c	c	PROPN
aiti-9252	347	20	(	(	PUNCT
aiti-9252	347	21	�	�	PROPN
aiti-9252	347	22	)	)	PUNCT
aiti-9252	347	23	by	by	ADP
aiti-9252	347	24	the	the	DET
aiti-9252	347	25	method	method	NOUN
aiti-9252	347	26	of	of	ADP
aiti-9252	347	27	oya	oya	PROPN
aiti-9252	347	28	et	et	PROPN
aiti-9252	347	29	al	al	PROPN
aiti-9252	347	30	.	.	PUNCT
aiti-9252	348	1	[	[	X
aiti-9252	348	2	10	10	NUM
aiti-9252	348	3	]	]	PUNCT
aiti-9252	348	4	(	(	PUNCT
aiti-9252	348	5	case	case	NOUN
aiti-9252	348	6	2	2	NUM
aiti-9252	348	7	)	)	PUNCT
aiti-9252	348	8	fig	fig	NOUN
aiti-9252	348	9	.	.	PUNCT
aiti-9252	349	1	9	9	NUM
aiti-9252	349	2	time	time	NOUN
aiti-9252	349	3	histories	history	NOUN
aiti-9252	349	4	of	of	ADP
aiti-9252	349	5	e	e	PROPN
aiti-9252	349	6	(	(	PUNCT
aiti-9252	349	7	�	�	NOUN
aiti-9252	349	8	)	)	PUNCT
aiti-9252	349	9	#	#	NOUN
aiti-9252	349	10	g	g	NOUN
aiti-9252	349	11	(	(	PUNCT
aiti-9252	349	12	�	�	PROPN
aiti-9252	349	13	)	)	PUNCT
aiti-9252	349	14	by	by	ADP
aiti-9252	349	15	the	the	DET
aiti-9252	349	16	method	method	NOUN
aiti-9252	349	17	of	of	ADP
aiti-9252	349	18	oya	oya	PROPN
aiti-9252	349	19	et	et	PROPN
aiti-9252	349	20	al	al	PROPN
aiti-9252	349	21	.	.	PUNCT
aiti-9252	350	1	[	[	X
aiti-9252	350	2	10	10	NUM
aiti-9252	350	3	]	]	PUNCT
aiti-9252	350	4	(	(	PUNCT
aiti-9252	350	5	case	case	NOUN
aiti-9252	350	6	2	2	NUM
aiti-9252	350	7	)	)	PUNCT
aiti-9252	350	8	164	164	NUM
aiti-9252	350	9	advances	advance	NOUN
aiti-9252	350	10	in	in	ADP
aiti-9252	350	11	technology	technology	NOUN
aiti-9252	350	12	innovation	innovation	NOUN
aiti-9252	350	13	,	,	PUNCT
aiti-9252	350	14	vol	vol	NOUN
aiti-9252	350	15	.	.	PROPN
aiti-9252	351	1	7	7	NUM
aiti-9252	351	2	,	,	PUNCT
aiti-9252	351	3	no	no	INTJ
aiti-9252	351	4	.	.	NOUN
aiti-9252	351	5	3	3	NUM
aiti-9252	351	6	,	,	PUNCT
aiti-9252	351	7	2022	2022	NUM
aiti-9252	351	8	,	,	PUNCT
aiti-9252	351	9	pp	pp	ADJ
aiti-9252	351	10	.	.	PUNCT
aiti-9252	352	1	155	155	NUM
aiti-9252	352	2	-	-	SYM
aiti-9252	352	3	168	168	NUM
aiti-9252	352	4	on	on	ADP
aiti-9252	352	5	the	the	DET
aiti-9252	352	6	other	other	ADJ
aiti-9252	352	7	hand	hand	NOUN
aiti-9252	352	8	,	,	PUNCT
aiti-9252	352	9	figs	fig	NOUN
aiti-9252	352	10	.	.	PUNCT
aiti-9252	353	1	10	10	NUM
aiti-9252	353	2	-	-	SYM
aiti-9252	353	3	14	14	NUM
aiti-9252	353	4	show	show	VERB
aiti-9252	353	5	the	the	DET
aiti-9252	353	6	results	result	NOUN
aiti-9252	353	7	for	for	ADP
aiti-9252	353	8	the	the	DET
aiti-9252	353	9	proposed	propose	VERB
aiti-9252	353	10	controller	controller	NOUN
aiti-9252	353	11	design	design	NOUN
aiti-9252	353	12	method	method	NOUN
aiti-9252	353	13	.	.	PUNCT
aiti-9252	354	1	as	as	SCONJ
aiti-9252	354	2	shown	show	VERB
aiti-9252	354	3	,	,	PUNCT
aiti-9252	354	4	even	even	ADV
aiti-9252	354	5	in	in	ADP
aiti-9252	354	6	the	the	DET
aiti-9252	354	7	presence	presence	NOUN
aiti-9252	354	8	of	of	ADP
aiti-9252	354	9	system	system	NOUN
aiti-9252	354	10	uncertainties	uncertainty	NOUN
aiti-9252	354	11	and	and	CCONJ
aiti-9252	354	12	control	control	NOUN
aiti-9252	354	13	gain	gain	NOUN
aiti-9252	354	14	variation	variation	NOUN
aiti-9252	354	15	,	,	PUNCT
aiti-9252	354	16	the	the	DET
aiti-9252	354	17	proposed	propose	VERB
aiti-9252	354	18	method	method	NOUN
aiti-9252	354	19	achieved	achieve	VERB
aiti-9252	354	20	asymptotic	asymptotic	ADJ
aiti-9252	354	21	stability	stability	NOUN
aiti-9252	354	22	.	.	PUNCT
aiti-9252	355	1	this	this	PRON
aiti-9252	355	2	demonstrates	demonstrate	VERB
aiti-9252	355	3	the	the	DET
aiti-9252	355	4	effectiveness	effectiveness	NOUN
aiti-9252	355	5	of	of	ADP
aiti-9252	355	6	the	the	DET
aiti-9252	355	7	proposed	propose	VERB
aiti-9252	355	8	quadratic	quadratic	ADJ
aiti-9252	355	9	guaranteed	guarantee	VERB
aiti-9252	355	10	cost	cost	NOUN
aiti-9252	355	11	controller	controller	NOUN
aiti-9252	355	12	.	.	PUNCT
aiti-9252	356	1	fig	fig	NOUN
aiti-9252	356	2	.	.	PUNCT
aiti-9252	357	1	10	10	NUM
aiti-9252	357	2	time	time	NOUN
aiti-9252	357	3	histories	history	NOUN
aiti-9252	357	4	of	of	ADP
aiti-9252	357	5	�	�	PROPN
aiti-9252	357	6	(	(	PUNCT
aiti-9252	357	7	�	�	PROPN
aiti-9252	357	8	)	)	PUNCT
aiti-9252	357	9	#	#	NOUN
aiti-9252	357	10	c	c	PROPN
aiti-9252	357	11	(	(	PUNCT
aiti-9252	357	12	�	�	PROPN
aiti-9252	357	13	)	)	PUNCT
aiti-9252	357	14	by	by	ADP
aiti-9252	357	15	the	the	DET
aiti-9252	357	16	proposed	propose	VERB
aiti-9252	357	17	method	method	NOUN
aiti-9252	357	18	(	(	PUNCT
aiti-9252	357	19	case	case	NOUN
aiti-9252	357	20	1	1	NUM
aiti-9252	357	21	)	)	PUNCT
aiti-9252	357	22	fig	fig	NOUN
aiti-9252	357	23	.	.	PUNCT
aiti-9252	358	1	11	11	NUM
aiti-9252	358	2	time	time	NOUN
aiti-9252	358	3	histories	history	NOUN
aiti-9252	358	4	of	of	ADP
aiti-9252	358	5	e	e	PROPN
aiti-9252	358	6	(	(	PUNCT
aiti-9252	358	7	�	�	NOUN
aiti-9252	358	8	)	)	PUNCT
aiti-9252	358	9	#	#	NOUN
aiti-9252	358	10	g	g	NOUN
aiti-9252	358	11	(	(	PUNCT
aiti-9252	358	12	�	�	PROPN
aiti-9252	358	13	)	)	PUNCT
aiti-9252	358	14	by	by	ADP
aiti-9252	358	15	the	the	DET
aiti-9252	358	16	proposed	propose	VERB
aiti-9252	358	17	method	method	NOUN
aiti-9252	358	18	(	(	PUNCT
aiti-9252	358	19	case	case	NOUN
aiti-9252	358	20	1	1	NUM
aiti-9252	358	21	)	)	PUNCT
aiti-9252	358	22	fig	fig	NOUN
aiti-9252	358	23	.	.	PUNCT
aiti-9252	359	1	12	12	NUM
aiti-9252	359	2	time	time	NOUN
aiti-9252	359	3	histories	history	NOUN
aiti-9252	359	4	of	of	ADP
aiti-9252	359	5	�	�	PROPN
aiti-9252	359	6	(	(	PUNCT
aiti-9252	359	7	�	�	PROPN
aiti-9252	359	8	)	)	PUNCT
aiti-9252	359	9	#	#	NOUN
aiti-9252	359	10	c	c	PROPN
aiti-9252	359	11	(	(	PUNCT
aiti-9252	359	12	�	�	PROPN
aiti-9252	359	13	)	)	PUNCT
aiti-9252	359	14	by	by	ADP
aiti-9252	359	15	the	the	DET
aiti-9252	359	16	proposed	propose	VERB
aiti-9252	359	17	method	method	NOUN
aiti-9252	359	18	(	(	PUNCT
aiti-9252	359	19	case	case	NOUN
aiti-9252	359	20	2	2	NUM
aiti-9252	359	21	)	)	PUNCT
aiti-9252	359	22	fig	fig	NOUN
aiti-9252	359	23	.	.	PUNCT
aiti-9252	360	1	13	13	NUM
aiti-9252	360	2	time	time	NOUN
aiti-9252	360	3	histories	history	NOUN
aiti-9252	360	4	of	of	ADP
aiti-9252	360	5	e	e	PROPN
aiti-9252	360	6	(	(	PUNCT
aiti-9252	360	7	�	�	NOUN
aiti-9252	360	8	)	)	PUNCT
aiti-9252	360	9	#	#	NOUN
aiti-9252	360	10	g	g	NOUN
aiti-9252	360	11	(	(	PUNCT
aiti-9252	360	12	�	�	PROPN
aiti-9252	360	13	)	)	PUNCT
aiti-9252	360	14	by	by	ADP
aiti-9252	360	15	the	the	DET
aiti-9252	360	16	proposed	propose	VERB
aiti-9252	360	17	method	method	NOUN
aiti-9252	360	18	(	(	PUNCT
aiti-9252	360	19	case	case	NOUN
aiti-9252	360	20	2	2	NUM
aiti-9252	360	21	)	)	PUNCT
aiti-9252	360	22	fig	fig	NOUN
aiti-9252	360	23	.	.	PUNCT
aiti-9252	361	1	14	14	NUM
aiti-9252	361	2	time	time	NOUN
aiti-9252	361	3	histories	history	NOUN
aiti-9252	361	4	of	of	ADP
aiti-9252	361	5	the	the	DET
aiti-9252	361	6	input	input	NOUN
aiti-9252	361	7	by	by	ADP
aiti-9252	361	8	the	the	DET
aiti-9252	361	9	proposed	propose	VERB
aiti-9252	361	10	method	method	NOUN
aiti-9252	361	11	6	6	NUM
aiti-9252	361	12	.	.	PUNCT
aiti-9252	362	1	conclusions	conclusion	NOUN
aiti-9252	362	2	this	this	DET
aiti-9252	362	3	study	study	NOUN
aiti-9252	362	4	proposed	propose	VERB
aiti-9252	362	5	a	a	DET
aiti-9252	362	6	method	method	NOUN
aiti-9252	362	7	for	for	ADP
aiti-9252	362	8	designing	design	VERB
aiti-9252	362	9	an	an	DET
aiti-9252	362	10	observer	observer	NOUN
aiti-9252	362	11	-	-	PUNCT
aiti-9252	362	12	based	base	VERB
aiti-9252	362	13	quadratic	quadratic	ADJ
aiti-9252	362	14	guaranteed	guarantee	VERB
aiti-9252	362	15	cost	cost	NOUN
aiti-9252	362	16	controller	controller	NOUN
aiti-9252	362	17	for	for	ADP
aiti-9252	362	18	linear	linear	ADJ
aiti-9252	362	19	uncertain	uncertain	ADJ
aiti-9252	362	20	systems	system	NOUN
aiti-9252	362	21	with	with	ADP
aiti-9252	362	22	control	control	NOUN
aiti-9252	362	23	gain	gain	NOUN
aiti-9252	362	24	variation	variation	NOUN
aiti-9252	362	25	.	.	PUNCT
aiti-9252	363	1	in	in	ADP
aiti-9252	363	2	the	the	DET
aiti-9252	363	3	proposed	propose	VERB
aiti-9252	363	4	approach	approach	NOUN
aiti-9252	363	5	,	,	PUNCT
aiti-9252	363	6	the	the	DET
aiti-9252	363	7	observer	observer	NOUN
aiti-9252	363	8	gain	gain	NOUN
aiti-9252	363	9	matrix	matrix	NOUN
aiti-9252	363	10	was	be	AUX
aiti-9252	363	11	first	first	ADV
aiti-9252	363	12	designed	design	VERB
aiti-9252	363	13	,	,	PUNCT
aiti-9252	363	14	and	and	CCONJ
aiti-9252	363	15	then	then	ADV
aiti-9252	363	16	the	the	DET
aiti-9252	363	17	control	control	NOUN
aiti-9252	363	18	gain	gain	NOUN
aiti-9252	363	19	matrix	matrix	NOUN
aiti-9252	363	20	was	be	AUX
aiti-9252	363	21	determined	determine	VERB
aiti-9252	363	22	.	.	PUNCT
aiti-9252	364	1	the	the	DET
aiti-9252	364	2	design	design	NOUN
aiti-9252	364	3	parameter	parameter	NOUN
aiti-9252	364	4	8	8	NUM
aiti-9252	364	5	was	be	AUX
aiti-9252	364	6	introduced	introduce	VERB
aiti-9252	364	7	.	.	PUNCT
aiti-9252	365	1	the	the	DET
aiti-9252	365	2	design	design	NOUN
aiti-9252	365	3	of	of	ADP
aiti-9252	365	4	an	an	DET
aiti-9252	365	5	observer	observer	NOUN
aiti-9252	365	6	-	-	PUNCT
aiti-9252	365	7	based	base	VERB
aiti-9252	365	8	quadratic	quadratic	ADJ
aiti-9252	365	9	guaranteed	guarantee	VERB
aiti-9252	365	10	cost	cost	NOUN
aiti-9252	365	11	controller	controller	NOUN
aiti-9252	365	12	was	be	AUX
aiti-9252	365	13	reduced	reduce	VERB
aiti-9252	365	14	to	to	ADP
aiti-9252	365	15	an	an	DET
aiti-9252	365	16	lmi	lmi	PROPN
aiti-9252	365	17	condition	condition	NOUN
aiti-9252	365	18	.	.	PUNCT
aiti-9252	366	1	moreover	moreover	ADV
aiti-9252	366	2	,	,	PUNCT
aiti-9252	366	3	a	a	DET
aiti-9252	366	4	robust	robust	ADJ
aiti-9252	366	5	sub	sub	ADJ
aiti-9252	366	6	-	-	ADJ
aiti-9252	366	7	optimal	optimal	ADJ
aiti-9252	366	8	guaranteed	guarantee	VERB
aiti-9252	366	9	cost	cost	NOUN
aiti-9252	366	10	controller	controller	NOUN
aiti-9252	366	11	was	be	AUX
aiti-9252	366	12	investigated	investigate	VERB
aiti-9252	366	13	.	.	PUNCT
aiti-9252	367	1	the	the	DET
aiti-9252	367	2	results	result	NOUN
aiti-9252	367	3	of	of	ADP
aiti-9252	367	4	this	this	DET
aiti-9252	367	5	study	study	NOUN
aiti-9252	367	6	are	be	AUX
aiti-9252	367	7	a	a	DET
aiti-9252	367	8	natural	natural	ADJ
aiti-9252	367	9	extension	extension	NOUN
aiti-9252	367	10	of	of	ADP
aiti-9252	367	11	those	those	PRON
aiti-9252	367	12	in	in	ADP
aiti-9252	367	13	the	the	DET
aiti-9252	367	14	work	work	NOUN
aiti-9252	367	15	of	of	ADP
aiti-9252	367	16	oya	oya	PROPN
aiti-9252	367	17	et	et	PROPN
aiti-9252	367	18	al	al	PROPN
aiti-9252	367	19	.	.	PUNCT
aiti-9252	368	1	[	[	X
aiti-9252	368	2	10	10	NUM
aiti-9252	368	3	]	]	PUNCT
aiti-9252	368	4	.	.	PUNCT
aiti-9252	369	1	although	although	SCONJ
aiti-9252	369	2	the	the	DET
aiti-9252	369	3	uncertainty	uncertainty	NOUN
aiti-9252	369	4	in	in	ADP
aiti-9252	369	5	the	the	DET
aiti-9252	369	6	input	input	NOUN
aiti-9252	369	7	165	165	NUM
aiti-9252	369	8	advances	advance	NOUN
aiti-9252	369	9	in	in	ADP
aiti-9252	369	10	technology	technology	NOUN
aiti-9252	369	11	innovation	innovation	NOUN
aiti-9252	369	12	,	,	PUNCT
aiti-9252	369	13	vol	vol	NOUN
aiti-9252	369	14	.	.	PROPN
aiti-9252	369	15	7	7	NUM
aiti-9252	369	16	,	,	PUNCT
aiti-9252	369	17	no	no	INTJ
aiti-9252	369	18	.	.	NOUN
aiti-9252	369	19	3	3	NUM
aiti-9252	369	20	,	,	PUNCT
aiti-9252	369	21	2022	2022	NUM
aiti-9252	369	22	,	,	PUNCT
aiti-9252	369	23	pp	pp	ADJ
aiti-9252	369	24	.	.	PUNCT
aiti-9252	369	25	155	155	NUM
aiti-9252	369	26	-	-	SYM
aiti-9252	369	27	168	168	NUM
aiti-9252	369	28	matrix	matrix	NOUN
aiti-9252	369	29	has	have	AUX
aiti-9252	369	30	been	be	AUX
aiti-9252	369	31	considered	consider	VERB
aiti-9252	369	32	in	in	ADP
aiti-9252	369	33	the	the	DET
aiti-9252	369	34	work	work	NOUN
aiti-9252	369	35	of	of	ADP
aiti-9252	369	36	oya	oya	PROPN
aiti-9252	369	37	et	et	PROPN
aiti-9252	369	38	al	al	PROPN
aiti-9252	369	39	.	.	PUNCT
aiti-9252	370	1	[	[	X
aiti-9252	370	2	10	10	NUM
aiti-9252	370	3	]	]	PUNCT
aiti-9252	370	4	,	,	PUNCT
aiti-9252	370	5	the	the	DET
aiti-9252	370	6	proposed	propose	VERB
aiti-9252	370	7	design	design	NOUN
aiti-9252	370	8	method	method	NOUN
aiti-9252	370	9	can	can	AUX
aiti-9252	370	10	be	be	AUX
aiti-9252	370	11	easily	easily	ADV
aiti-9252	370	12	applied	apply	VERB
aiti-9252	370	13	to	to	ADP
aiti-9252	370	14	such	such	DET
aiti-9252	370	15	a	a	DET
aiti-9252	370	16	problem	problem	NOUN
aiti-9252	370	17	.	.	PUNCT
aiti-9252	371	1	by	by	ADP
aiti-9252	371	2	introducing	introduce	VERB
aiti-9252	371	3	additional	additional	ADJ
aiti-9252	371	4	actuator	actuator	NOUN
aiti-9252	371	5	dynamics	dynamic	NOUN
aiti-9252	371	6	and	and	CCONJ
aiti-9252	371	7	constituting	constitute	VERB
aiti-9252	371	8	an	an	DET
aiti-9252	371	9	augmented	augment	VERB
aiti-9252	371	10	system	system	NOUN
aiti-9252	371	11	,	,	PUNCT
aiti-9252	371	12	the	the	DET
aiti-9252	371	13	uncertainties	uncertainty	NOUN
aiti-9252	371	14	in	in	ADP
aiti-9252	371	15	the	the	DET
aiti-9252	371	16	input	input	NOUN
aiti-9252	371	17	matrix	matrix	NOUN
aiti-9252	371	18	are	be	AUX
aiti-9252	371	19	embedded	embed	VERB
aiti-9252	371	20	in	in	ADP
aiti-9252	371	21	the	the	DET
aiti-9252	371	22	system	system	NOUN
aiti-9252	371	23	matrix	matrix	NOUN
aiti-9252	371	24	of	of	ADP
aiti-9252	371	25	the	the	DET
aiti-9252	371	26	augmented	augment	VERB
aiti-9252	371	27	system	system	NOUN
aiti-9252	371	28	.	.	PUNCT
aiti-9252	372	1	in	in	ADP
aiti-9252	372	2	future	future	ADJ
aiti-9252	372	3	work	work	NOUN
aiti-9252	372	4	,	,	PUNCT
aiti-9252	372	5	the	the	DET
aiti-9252	372	6	proposed	propose	VERB
aiti-9252	372	7	adaptive	adaptive	ADJ
aiti-9252	372	8	robust	robust	ADJ
aiti-9252	372	9	controller	controller	NOUN
aiti-9252	372	10	synthesis	synthesis	NOUN
aiti-9252	372	11	will	will	AUX
aiti-9252	372	12	be	be	AUX
aiti-9252	372	13	extended	extend	VERB
aiti-9252	372	14	to	to	ADP
aiti-9252	372	15	a	a	DET
aiti-9252	372	16	broad	broad	ADJ
aiti-9252	372	17	class	class	NOUN
aiti-9252	372	18	of	of	ADP
aiti-9252	372	19	systems	system	NOUN
aiti-9252	372	20	,	,	PUNCT
aiti-9252	372	21	including	include	VERB
aiti-9252	372	22	uncertain	uncertain	ADJ
aiti-9252	372	23	linear	linear	NOUN
aiti-9252	372	24	systems	system	NOUN
aiti-9252	372	25	with	with	ADP
aiti-9252	372	26	time	time	NOUN
aiti-9252	372	27	delays	delay	NOUN
aiti-9252	372	28	and	and	CCONJ
aiti-9252	372	29	decentralized	decentralized	ADJ
aiti-9252	372	30	control	control	NOUN
aiti-9252	372	31	for	for	ADP
aiti-9252	372	32	large	large	ADJ
aiti-9252	372	33	-	-	PUNCT
aiti-9252	372	34	scale	scale	NOUN
aiti-9252	372	35	interconnected	interconnected	ADJ
aiti-9252	372	36	systems	system	NOUN
aiti-9252	372	37	.	.	PUNCT
aiti-9252	373	1	in	in	ADP
aiti-9252	373	2	the	the	DET
aiti-9252	373	3	proposed	propose	VERB
aiti-9252	373	4	design	design	NOUN
aiti-9252	373	5	method	method	NOUN
aiti-9252	373	6	,	,	PUNCT
aiti-9252	373	7	if	if	SCONJ
aiti-9252	373	8	the	the	DET
aiti-9252	373	9	parameter	parameter	NOUN
aiti-9252	373	10	8	8	NUM
aiti-9252	373	11	is	be	AUX
aiti-9252	373	12	set	set	VERB
aiti-9252	373	13	to	to	ADP
aiti-9252	373	14	a	a	DET
aiti-9252	373	15	larger	large	ADJ
aiti-9252	373	16	value	value	NOUN
aiti-9252	373	17	,	,	PUNCT
aiti-9252	373	18	the	the	DET
aiti-9252	373	19	result	result	NOUN
aiti-9252	373	20	will	will	AUX
aiti-9252	373	21	be	be	AUX
aiti-9252	373	22	more	more	ADV
aiti-9252	373	23	conservative	conservative	ADJ
aiti-9252	373	24	.	.	PUNCT
aiti-9252	374	1	therefore	therefore	ADV
aiti-9252	374	2	,	,	PUNCT
aiti-9252	374	3	reducing	reduce	VERB
aiti-9252	374	4	conservatism	conservatism	NOUN
aiti-9252	374	5	should	should	AUX
aiti-9252	374	6	also	also	ADV
aiti-9252	374	7	be	be	AUX
aiti-9252	374	8	considered	consider	VERB
aiti-9252	374	9	.	.	PUNCT
aiti-9252	375	1	conflicts	conflict	NOUN
aiti-9252	375	2	of	of	ADP
aiti-9252	375	3	interest	interest	NOUN
aiti-9252	375	4	the	the	DET
aiti-9252	375	5	authors	author	NOUN
aiti-9252	375	6	declare	declare	VERB
aiti-9252	375	7	no	no	DET
aiti-9252	375	8	conflicts	conflict	NOUN
aiti-9252	375	9	of	of	ADP
aiti-9252	375	10	interest	interest	NOUN
aiti-9252	375	11	.	.	PUNCT
aiti-9252	376	1	references	reference	NOUN
aiti-9252	376	2	[	[	X
aiti-9252	376	3	1	1	NUM
aiti-9252	376	4	]	]	X
aiti-9252	376	5	h.	h.	PROPN
aiti-9252	376	6	oya	oya	PROPN
aiti-9252	376	7	,	,	PUNCT
aiti-9252	376	8	et	et	PROPN
aiti-9252	376	9	al	al	PROPN
aiti-9252	376	10	.	.	PROPN
aiti-9252	376	11	,	,	PUNCT
aiti-9252	376	12	“	"	PUNCT
aiti-9252	376	13	observer	observer	NOUN
aiti-9252	376	14	-	-	PUNCT
aiti-9252	376	15	based	base	VERB
aiti-9252	376	16	robust	robust	ADJ
aiti-9252	376	17	control	control	NOUN
aiti-9252	376	18	giving	give	VERB
aiti-9252	376	19	consideration	consideration	NOUN
aiti-9252	376	20	to	to	PART
aiti-9252	376	21	transient	transient	VERB
aiti-9252	376	22	behavior	behavior	NOUN
aiti-9252	376	23	for	for	ADP
aiti-9252	376	24	linear	linear	PROPN
aiti-9252	376	25	systems	system	NOUN
aiti-9252	376	26	with	with	ADP
aiti-9252	376	27	structured	structured	ADJ
aiti-9252	376	28	uncertainties	uncertainty	NOUN
aiti-9252	376	29	,	,	PUNCT
aiti-9252	376	30	”	"	PUNCT
aiti-9252	376	31	international	international	ADJ
aiti-9252	376	32	journal	journal	NOUN
aiti-9252	376	33	of	of	ADP
aiti-9252	376	34	control	control	NOUN
aiti-9252	376	35	,	,	PUNCT
aiti-9252	376	36	vol	vol	NOUN
aiti-9252	376	37	.	.	PROPN
aiti-9252	377	1	75	75	NUM
aiti-9252	377	2	,	,	PUNCT
aiti-9252	377	3	no	no	INTJ
aiti-9252	377	4	.	.	NOUN
aiti-9252	377	5	15	15	NUM
aiti-9252	377	6	,	,	PUNCT
aiti-9252	377	7	pp	pp	ADJ
aiti-9252	377	8	.	.	PUNCT
aiti-9252	378	1	1231	1231	NUM
aiti-9252	378	2	-	-	SYM
aiti-9252	378	3	1240	1240	NUM
aiti-9252	378	4	,	,	PUNCT
aiti-9252	378	5	october	october	PROPN
aiti-9252	378	6	2002	2002	NUM
aiti-9252	378	7	.	.	PUNCT
aiti-9252	379	1	[	[	X
aiti-9252	379	2	2	2	X
aiti-9252	379	3	]	]	X
aiti-9252	379	4	h.	h.	PROPN
aiti-9252	379	5	oya	oya	PROPN
aiti-9252	379	6	,	,	PUNCT
aiti-9252	379	7	et	et	PROPN
aiti-9252	379	8	al	al	PROPN
aiti-9252	379	9	.	.	PROPN
aiti-9252	379	10	,	,	PUNCT
aiti-9252	379	11	“	"	PUNCT
aiti-9252	379	12	adaptive	adaptive	ADJ
aiti-9252	379	13	robust	robust	ADJ
aiti-9252	379	14	control	control	NOUN
aiti-9252	379	15	scheme	scheme	NOUN
aiti-9252	379	16	for	for	ADP
aiti-9252	379	17	linear	linear	PROPN
aiti-9252	379	18	systems	system	NOUN
aiti-9252	379	19	with	with	ADP
aiti-9252	379	20	structure	structure	NOUN
aiti-9252	379	21	uncertainties	uncertainty	NOUN
aiti-9252	379	22	,	,	PUNCT
aiti-9252	379	23	”	"	PUNCT
aiti-9252	379	24	ieice	ieice	NOUN
aiti-9252	379	25	transactions	transaction	NOUN
aiti-9252	379	26	on	on	ADP
aiti-9252	379	27	fundamentals	fundamental	NOUN
aiti-9252	379	28	of	of	ADP
aiti-9252	379	29	electronics	electronic	NOUN
aiti-9252	379	30	,	,	PUNCT
aiti-9252	379	31	communications	communication	NOUN
aiti-9252	379	32	,	,	PUNCT
aiti-9252	379	33	and	and	CCONJ
aiti-9252	379	34	computer	computer	NOUN
aiti-9252	379	35	sciences	science	NOUN
aiti-9252	379	36	,	,	PUNCT
aiti-9252	379	37	vol	vol	NOUN
aiti-9252	379	38	.	.	PUNCT
aiti-9252	379	39	e87	e87	PROPN
aiti-9252	379	40	-	-	PUNCT
aiti-9252	379	41	a	a	NOUN
aiti-9252	379	42	,	,	PUNCT
aiti-9252	379	43	no	no	INTJ
aiti-9252	379	44	.	.	NOUN
aiti-9252	379	45	8	8	NUM
aiti-9252	379	46	,	,	PUNCT
aiti-9252	379	47	pp	pp	ADJ
aiti-9252	379	48	.	.	PUNCT
aiti-9252	379	49	2168	2168	NUM
aiti-9252	379	50	-	-	SYM
aiti-9252	379	51	2173	2173	NUM
aiti-9252	379	52	,	,	PUNCT
aiti-9252	379	53	august	august	PROPN
aiti-9252	379	54	2004	2004	NUM
aiti-9252	379	55	.	.	PUNCT
aiti-9252	380	1	[	[	X
aiti-9252	380	2	3	3	X
aiti-9252	380	3	]	]	X
aiti-9252	380	4	h.	h.	PROPN
aiti-9252	380	5	oya	oya	PROPN
aiti-9252	380	6	,	,	PUNCT
aiti-9252	380	7	et	et	PROPN
aiti-9252	380	8	al	al	PROPN
aiti-9252	380	9	.	.	PROPN
aiti-9252	380	10	,	,	PUNCT
aiti-9252	380	11	“	"	PUNCT
aiti-9252	380	12	robust	robust	ADJ
aiti-9252	380	13	control	control	NOUN
aiti-9252	380	14	giving	give	VERB
aiti-9252	380	15	consideration	consideration	NOUN
aiti-9252	380	16	to	to	ADP
aiti-9252	380	17	time	time	NOUN
aiti-9252	380	18	response	response	NOUN
aiti-9252	380	19	for	for	ADP
aiti-9252	380	20	a	a	DET
aiti-9252	380	21	linear	linear	ADJ
aiti-9252	380	22	systems	system	NOUN
aiti-9252	380	23	with	with	ADP
aiti-9252	380	24	uncertainties	uncertainty	NOUN
aiti-9252	380	25	,	,	PUNCT
aiti-9252	380	26	”	"	PUNCT
aiti-9252	380	27	transactions	transaction	NOUN
aiti-9252	380	28	of	of	ADP
aiti-9252	380	29	the	the	DET
aiti-9252	380	30	institute	institute	PROPN
aiti-9252	380	31	of	of	ADP
aiti-9252	380	32	systems	system	NOUN
aiti-9252	380	33	,	,	PUNCT
aiti-9252	380	34	control	control	NOUN
aiti-9252	380	35	,	,	PUNCT
aiti-9252	380	36	and	and	CCONJ
aiti-9252	380	37	information	information	NOUN
aiti-9252	380	38	engineers	engineer	NOUN
aiti-9252	380	39	,	,	PUNCT
aiti-9252	380	40	vol	vol	NOUN
aiti-9252	380	41	.	.	PROPN
aiti-9252	380	42	15	15	NUM
aiti-9252	380	43	,	,	PUNCT
aiti-9252	380	44	no	no	INTJ
aiti-9252	380	45	.	.	NOUN
aiti-9252	380	46	8	8	NUM
aiti-9252	380	47	,	,	PUNCT
aiti-9252	380	48	pp	pp	ADJ
aiti-9252	380	49	.	.	PUNCT
aiti-9252	381	1	404	404	NUM
aiti-9252	381	2	-	-	SYM
aiti-9252	381	3	412	412	NUM
aiti-9252	381	4	,	,	PUNCT
aiti-9252	381	5	august	august	PROPN
aiti-9252	381	6	2002	2002	NUM
aiti-9252	381	7	.	.	PUNCT
aiti-9252	382	1	[	[	X
aiti-9252	382	2	4	4	X
aiti-9252	382	3	]	]	PUNCT
aiti-9252	382	4	s.	s.	PROPN
aiti-9252	382	5	s.	s.	PROPN
aiti-9252	382	6	chang	chang	PROPN
aiti-9252	382	7	,	,	PUNCT
aiti-9252	382	8	et	et	PROPN
aiti-9252	382	9	al	al	PROPN
aiti-9252	382	10	.	.	PROPN
aiti-9252	382	11	,	,	PUNCT
aiti-9252	382	12	“	"	PUNCT
aiti-9252	382	13	adaptive	adaptive	ADJ
aiti-9252	382	14	guaranteed	guarantee	VERB
aiti-9252	382	15	cost	cost	NOUN
aiti-9252	382	16	control	control	NOUN
aiti-9252	382	17	of	of	ADP
aiti-9252	382	18	systems	system	NOUN
aiti-9252	382	19	with	with	ADP
aiti-9252	382	20	uncertain	uncertain	ADJ
aiti-9252	382	21	parameters	parameter	NOUN
aiti-9252	382	22	,	,	PUNCT
aiti-9252	382	23	”	"	PUNCT
aiti-9252	382	24	ieee	ieee	NOUN
aiti-9252	382	25	transactions	transaction	NOUN
aiti-9252	382	26	on	on	ADP
aiti-9252	382	27	automatic	automatic	ADJ
aiti-9252	382	28	control	control	NOUN
aiti-9252	382	29	,	,	PUNCT
aiti-9252	382	30	vol	vol	NOUN
aiti-9252	382	31	.	.	PROPN
aiti-9252	382	32	17	17	NUM
aiti-9252	382	33	,	,	PUNCT
aiti-9252	382	34	no	no	INTJ
aiti-9252	382	35	.	.	NOUN
aiti-9252	382	36	4	4	NUM
aiti-9252	382	37	,	,	PUNCT
aiti-9252	382	38	pp	pp	ADJ
aiti-9252	382	39	.	.	PUNCT
aiti-9252	383	1	474	474	NUM
aiti-9252	383	2	-	-	SYM
aiti-9252	383	3	483	483	NUM
aiti-9252	383	4	,	,	PUNCT
aiti-9252	383	5	august	august	PROPN
aiti-9252	383	6	1972	1972	NUM
aiti-9252	383	7	.	.	PUNCT
aiti-9252	384	1	[	[	X
aiti-9252	384	2	5	5	X
aiti-9252	384	3	]	]	PUNCT
aiti-9252	384	4	s.	s.	PROPN
aiti-9252	384	5	o.	o.	PROPN
aiti-9252	384	6	r.	r.	PROPN
aiti-9252	384	7	moheimani	moheimani	PROPN
aiti-9252	384	8	,	,	PUNCT
aiti-9252	384	9	et	et	PROPN
aiti-9252	384	10	al	al	PROPN
aiti-9252	384	11	.	.	PROPN
aiti-9252	384	12	,	,	PUNCT
aiti-9252	384	13	“	"	PUNCT
aiti-9252	384	14	optimal	optimal	ADJ
aiti-9252	384	15	quadratic	quadratic	ADJ
aiti-9252	384	16	guaranteed	guarantee	VERB
aiti-9252	384	17	cost	cost	NOUN
aiti-9252	384	18	control	control	NOUN
aiti-9252	384	19	of	of	ADP
aiti-9252	384	20	a	a	DET
aiti-9252	384	21	class	class	NOUN
aiti-9252	384	22	of	of	ADP
aiti-9252	384	23	uncertain	uncertain	ADJ
aiti-9252	384	24	time	time	NOUN
aiti-9252	384	25	-	-	PUNCT
aiti-9252	384	26	delay	delay	NOUN
aiti-9252	384	27	systems	system	NOUN
aiti-9252	384	28	,	,	PUNCT
aiti-9252	384	29	”	"	PUNCT
aiti-9252	384	30	iee	iee	PROPN
aiti-9252	384	31	proceedings	proceeding	NOUN
aiti-9252	384	32	—	—	PUNCT
aiti-9252	384	33	control	control	NOUN
aiti-9252	384	34	theory	theory	NOUN
aiti-9252	384	35	and	and	CCONJ
aiti-9252	384	36	applications	application	NOUN
aiti-9252	384	37	,	,	PUNCT
aiti-9252	384	38	vol	vol	NOUN
aiti-9252	384	39	.	.	PUNCT
aiti-9252	385	1	144	144	NUM
aiti-9252	385	2	,	,	PUNCT
aiti-9252	385	3	no	no	INTJ
aiti-9252	385	4	.	.	NOUN
aiti-9252	385	5	2	2	NUM
aiti-9252	385	6	,	,	PUNCT
aiti-9252	385	7	pp	pp	ADJ
aiti-9252	385	8	.	.	PUNCT
aiti-9252	386	1	183	183	NUM
aiti-9252	386	2	-	-	SYM
aiti-9252	386	3	188	188	NUM
aiti-9252	386	4	,	,	PUNCT
aiti-9252	386	5	march	march	PROPN
aiti-9252	386	6	1997	1997	NUM
aiti-9252	386	7	.	.	PUNCT
aiti-9252	387	1	[	[	X
aiti-9252	387	2	6	6	NUM
aiti-9252	387	3	]	]	PUNCT
aiti-9252	387	4	i.	i.	PROPN
aiti-9252	387	5	r.	r.	PROPN
aiti-9252	387	6	petersen	petersen	PROPN
aiti-9252	387	7	,	,	PUNCT
aiti-9252	387	8	et	et	PROPN
aiti-9252	387	9	al	al	PROPN
aiti-9252	387	10	.	.	PROPN
aiti-9252	387	11	,	,	PUNCT
aiti-9252	387	12	“	"	PUNCT
aiti-9252	387	13	optimal	optimal	ADJ
aiti-9252	387	14	guaranteed	guarantee	VERB
aiti-9252	387	15	cost	cost	NOUN
aiti-9252	387	16	control	control	NOUN
aiti-9252	387	17	and	and	CCONJ
aiti-9252	387	18	filtering	filter	VERB
aiti-9252	387	19	for	for	ADP
aiti-9252	387	20	uncertain	uncertain	ADJ
aiti-9252	387	21	linear	linear	NOUN
aiti-9252	387	22	systems	system	NOUN
aiti-9252	387	23	,	,	PUNCT
aiti-9252	387	24	”	"	PUNCT
aiti-9252	387	25	iee	iee	PROPN
aiti-9252	387	26	transactions	transaction	NOUN
aiti-9252	387	27	on	on	ADP
aiti-9252	387	28	automatic	automatic	ADJ
aiti-9252	387	29	control	control	NOUN
aiti-9252	387	30	,	,	PUNCT
aiti-9252	387	31	vol	vol	NOUN
aiti-9252	387	32	.	.	PROPN
aiti-9252	387	33	39	39	NUM
aiti-9252	387	34	,	,	PUNCT
aiti-9252	387	35	no	no	INTJ
aiti-9252	387	36	.	.	NOUN
aiti-9252	387	37	9	9	NUM
aiti-9252	387	38	,	,	PUNCT
aiti-9252	387	39	pp.1971	pp.1971	PROPN
aiti-9252	387	40	-	-	SYM
aiti-9252	387	41	1977	1977	NUM
aiti-9252	387	42	,	,	PUNCT
aiti-9252	387	43	september	september	PROPN
aiti-9252	387	44	1994	1994	NUM
aiti-9252	387	45	.	.	PUNCT
aiti-9252	388	1	[	[	X
aiti-9252	388	2	7	7	X
aiti-9252	388	3	]	]	X
aiti-9252	388	4	l.	l.	PROPN
aiti-9252	388	5	yu	yu	PROPN
aiti-9252	388	6	,	,	PUNCT
aiti-9252	388	7	et	et	PROPN
aiti-9252	388	8	al	al	PROPN
aiti-9252	388	9	.	.	PROPN
aiti-9252	388	10	,	,	PUNCT
aiti-9252	388	11	“	"	PUNCT
aiti-9252	388	12	an	an	DET
aiti-9252	388	13	lmi	lmi	PROPN
aiti-9252	388	14	approach	approach	NOUN
aiti-9252	388	15	to	to	ADP
aiti-9252	388	16	guaranteed	guarantee	VERB
aiti-9252	388	17	cost	cost	NOUN
aiti-9252	388	18	control	control	NOUN
aiti-9252	388	19	of	of	ADP
aiti-9252	388	20	linear	linear	ADJ
aiti-9252	388	21	uncertain	uncertain	ADJ
aiti-9252	388	22	time	time	NOUN
aiti-9252	388	23	delay	delay	NOUN
aiti-9252	388	24	systems	system	NOUN
aiti-9252	388	25	,	,	PUNCT
aiti-9252	388	26	”	"	PUNCT
aiti-9252	388	27	automatica	automatica	PROPN
aiti-9252	388	28	,	,	PUNCT
aiti-9252	388	29	vol	vol	NOUN
aiti-9252	388	30	.	.	PROPN
aiti-9252	388	31	35	35	NUM
aiti-9252	388	32	,	,	PUNCT
aiti-9252	388	33	no	no	INTJ
aiti-9252	388	34	.	.	NOUN
aiti-9252	388	35	6	6	NUM
aiti-9252	388	36	,	,	PUNCT
aiti-9252	388	37	pp	pp	ADJ
aiti-9252	388	38	.	.	PUNCT
aiti-9252	389	1	1155	1155	NUM
aiti-9252	389	2	-	-	SYM
aiti-9252	389	3	1159	1159	NUM
aiti-9252	389	4	,	,	PUNCT
aiti-9252	389	5	june	june	PROPN
aiti-9252	389	6	1999	1999	NUM
aiti-9252	389	7	.	.	PUNCT
aiti-9252	390	1	[	[	X
aiti-9252	390	2	8	8	X
aiti-9252	390	3	]	]	PUNCT
aiti-9252	390	4	s.	s.	PROPN
aiti-9252	390	5	h.	h.	PROPN
aiti-9252	390	6	park	park	PROPN
aiti-9252	390	7	,	,	PUNCT
aiti-9252	390	8	et	et	PROPN
aiti-9252	390	9	al	al	PROPN
aiti-9252	390	10	.	.	PROPN
aiti-9252	390	11	,	,	PUNCT
aiti-9252	390	12	“	"	PUNCT
aiti-9252	390	13	h∞	h∞	X
aiti-9252	390	14	control	control	NOUN
aiti-9252	390	15	with	with	ADP
aiti-9252	390	16	performance	performance	NOUN
aiti-9252	390	17	bound	bind	VERB
aiti-9252	390	18	for	for	ADP
aiti-9252	390	19	a	a	DET
aiti-9252	390	20	class	class	NOUN
aiti-9252	390	21	of	of	ADP
aiti-9252	390	22	uncertain	uncertain	ADJ
aiti-9252	390	23	linear	linear	NOUN
aiti-9252	390	24	systems	system	NOUN
aiti-9252	390	25	,	,	PUNCT
aiti-9252	390	26	”	"	PUNCT
aiti-9252	390	27	automatica	automatica	PROPN
aiti-9252	390	28	,	,	PUNCT
aiti-9252	390	29	vol	vol	NOUN
aiti-9252	390	30	.	.	PROPN
aiti-9252	390	31	30	30	NUM
aiti-9252	390	32	,	,	PUNCT
aiti-9252	390	33	no	no	INTJ
aiti-9252	390	34	.	.	NOUN
aiti-9252	390	35	12	12	NUM
aiti-9252	390	36	,	,	PUNCT
aiti-9252	390	37	pp	pp	ADJ
aiti-9252	390	38	.	.	PUNCT
aiti-9252	391	1	2009	2009	NUM
aiti-9252	391	2	-	-	SYM
aiti-9252	391	3	2012	2012	NUM
aiti-9252	391	4	,	,	PUNCT
aiti-9252	391	5	april	april	PROPN
aiti-9252	391	6	1994	1994	NUM
aiti-9252	391	7	.	.	PUNCT
aiti-9252	392	1	[	[	X
aiti-9252	392	2	9	9	NUM
aiti-9252	392	3	]	]	X
aiti-9252	392	4	r.	r.	PROPN
aiti-9252	392	5	petersen	petersen	PROPN
aiti-9252	392	6	,	,	PUNCT
aiti-9252	392	7	“	"	PUNCT
aiti-9252	392	8	a	a	DET
aiti-9252	392	9	riccati	riccati	NOUN
aiti-9252	392	10	equation	equation	NOUN
aiti-9252	392	11	approach	approach	NOUN
aiti-9252	392	12	to	to	ADP
aiti-9252	392	13	the	the	DET
aiti-9252	392	14	design	design	NOUN
aiti-9252	392	15	of	of	ADP
aiti-9252	392	16	stabilizing	stabilizing	NOUN
aiti-9252	392	17	controllers	controller	NOUN
aiti-9252	392	18	and	and	CCONJ
aiti-9252	392	19	observers	observer	NOUN
aiti-9252	392	20	for	for	ADP
aiti-9252	392	21	a	a	DET
aiti-9252	392	22	class	class	NOUN
aiti-9252	392	23	of	of	ADP
aiti-9252	392	24	uncertain	uncertain	ADJ
aiti-9252	392	25	linear	linear	NOUN
aiti-9252	392	26	systems	system	NOUN
aiti-9252	392	27	,	,	PUNCT
aiti-9252	392	28	”	"	PUNCT
aiti-9252	392	29	ieee	ieee	NOUN
aiti-9252	392	30	transactions	transaction	NOUN
aiti-9252	392	31	on	on	ADP
aiti-9252	392	32	automatic	automatic	ADJ
aiti-9252	392	33	control	control	NOUN
aiti-9252	392	34	,	,	PUNCT
aiti-9252	392	35	vol	vol	NOUN
aiti-9252	392	36	.	.	PROPN
aiti-9252	392	37	30	30	NUM
aiti-9252	392	38	,	,	PUNCT
aiti-9252	392	39	no	no	INTJ
aiti-9252	392	40	.	.	NOUN
aiti-9252	392	41	9	9	NUM
aiti-9252	392	42	,	,	PUNCT
aiti-9252	392	43	pp	pp	ADJ
aiti-9252	392	44	.	.	PUNCT
aiti-9252	393	1	904	904	NUM
aiti-9252	393	2	-	-	SYM
aiti-9252	393	3	907	907	NUM
aiti-9252	393	4	,	,	PUNCT
aiti-9252	393	5	september	september	PROPN
aiti-9252	393	6	1985	1985	NUM
aiti-9252	393	7	.	.	PUNCT
aiti-9252	394	1	[	[	X
aiti-9252	394	2	10	10	NUM
aiti-9252	394	3	]	]	X
aiti-9252	394	4	h.	h.	PROPN
aiti-9252	394	5	oya	oya	PROPN
aiti-9252	394	6	,	,	PUNCT
aiti-9252	394	7	et	et	PROPN
aiti-9252	394	8	al	al	PROPN
aiti-9252	394	9	.	.	PROPN
aiti-9252	394	10	,	,	PUNCT
aiti-9252	394	11	“	"	PUNCT
aiti-9252	394	12	observer	observer	NOUN
aiti-9252	394	13	-	-	PUNCT
aiti-9252	394	14	based	base	VERB
aiti-9252	394	15	guaranteed	guarantee	VERB
aiti-9252	394	16	cost	cost	NOUN
aiti-9252	394	17	control	control	NOUN
aiti-9252	394	18	for	for	ADP
aiti-9252	394	19	polytopic	polytopic	ADJ
aiti-9252	394	20	uncertain	uncertain	ADJ
aiti-9252	394	21	systems	system	NOUN
aiti-9252	394	22	,	,	PUNCT
aiti-9252	394	23	”	"	PUNCT
aiti-9252	394	24	the	the	DET
aiti-9252	394	25	japan	japan	PROPN
aiti-9252	394	26	society	society	PROPN
aiti-9252	394	27	of	of	ADP
aiti-9252	394	28	mechanical	mechanical	ADJ
aiti-9252	394	29	engineers	engineer	NOUN
aiti-9252	394	30	,	,	PUNCT
aiti-9252	394	31	vol	vol	NOUN
aiti-9252	394	32	.	.	PROPN
aiti-9252	394	33	71	71	NUM
aiti-9252	394	34	,	,	PUNCT
aiti-9252	394	35	no	no	INTJ
aiti-9252	394	36	.	.	NOUN
aiti-9252	394	37	710	710	NUM
aiti-9252	394	38	,	,	PUNCT
aiti-9252	394	39	pp	pp	ADJ
aiti-9252	394	40	.	.	PUNCT
aiti-9252	394	41	89	89	NUM
aiti-9252	394	42	-	-	SYM
aiti-9252	394	43	98	98	NUM
aiti-9252	394	44	,	,	PUNCT
aiti-9252	394	45	october	october	PROPN
aiti-9252	394	46	2005	2005	NUM
aiti-9252	394	47	.	.	PUNCT
aiti-9252	395	1	[	[	X
aiti-9252	395	2	11	11	NUM
aiti-9252	395	3	]	]	PUNCT
aiti-9252	395	4	s.	s.	PROPN
aiti-9252	395	5	nagai	nagai	PROPN
aiti-9252	395	6	,	,	PUNCT
aiti-9252	395	7	et	et	PROPN
aiti-9252	395	8	al	al	PROPN
aiti-9252	395	9	.	.	PROPN
aiti-9252	395	10	,	,	PUNCT
aiti-9252	395	11	“	"	PUNCT
aiti-9252	395	12	a	a	DET
aiti-9252	395	13	point	point	NOUN
aiti-9252	395	14	memory	memory	NOUN
aiti-9252	395	15	observer	observer	NOUN
aiti-9252	395	16	with	with	ADP
aiti-9252	395	17	adjustable	adjustable	ADJ
aiti-9252	395	18	parameters	parameter	NOUN
aiti-9252	395	19	for	for	ADP
aiti-9252	395	20	a	a	DET
aiti-9252	395	21	class	class	NOUN
aiti-9252	395	22	of	of	ADP
aiti-9252	395	23	uncertain	uncertain	ADJ
aiti-9252	395	24	linear	linear	NOUN
aiti-9252	395	25	systems	system	NOUN
aiti-9252	395	26	with	with	ADP
aiti-9252	395	27	state	state	NOUN
aiti-9252	395	28	delay	delay	NOUN
aiti-9252	395	29	,	,	PUNCT
aiti-9252	395	30	”	"	PUNCT
aiti-9252	395	31	proceedings	proceeding	NOUN
aiti-9252	395	32	of	of	ADP
aiti-9252	395	33	engineering	engineering	NOUN
aiti-9252	395	34	and	and	CCONJ
aiti-9252	395	35	technology	technology	NOUN
aiti-9252	395	36	innovation	innovation	NOUN
aiti-9252	395	37	,	,	PUNCT
aiti-9252	395	38	vol	vol	NOUN
aiti-9252	395	39	.	.	PROPN
aiti-9252	395	40	11	11	NUM
aiti-9252	395	41	,	,	PUNCT
aiti-9252	395	42	pp	pp	ADJ
aiti-9252	395	43	.	.	PUNCT
aiti-9252	396	1	38	38	NUM
aiti-9252	396	2	-	-	SYM
aiti-9252	396	3	45	45	NUM
aiti-9252	396	4	,	,	PUNCT
aiti-9252	396	5	january	january	PROPN
aiti-9252	396	6	2019	2019	NUM
aiti-9252	396	7	.	.	PUNCT
aiti-9252	397	1	[	[	X
aiti-9252	397	2	12	12	NUM
aiti-9252	397	3	]	]	X
aiti-9252	397	4	l.	l.	PROPN
aiti-9252	397	5	h.	h.	PROPN
aiti-9252	397	6	keel	keel	PROPN
aiti-9252	397	7	,	,	PUNCT
aiti-9252	397	8	et	et	PROPN
aiti-9252	397	9	al	al	PROPN
aiti-9252	397	10	.	.	PROPN
aiti-9252	397	11	,	,	PUNCT
aiti-9252	397	12	“	"	PUNCT
aiti-9252	397	13	robust	robust	ADJ
aiti-9252	397	14	,	,	PUNCT
aiti-9252	397	15	fragile	fragile	ADJ
aiti-9252	397	16	,	,	PUNCT
aiti-9252	397	17	or	or	CCONJ
aiti-9252	397	18	optimal	optimal	ADJ
aiti-9252	397	19	?	?	PUNCT
aiti-9252	397	20	”	"	PUNCT
aiti-9252	397	21	ieee	ieee	NOUN
aiti-9252	397	22	transactions	transaction	NOUN
aiti-9252	397	23	on	on	ADP
aiti-9252	397	24	automatic	automatic	ADJ
aiti-9252	397	25	control	control	NOUN
aiti-9252	397	26	,	,	PUNCT
aiti-9252	397	27	vol	vol	NOUN
aiti-9252	397	28	.	.	PROPN
aiti-9252	397	29	42	42	NUM
aiti-9252	397	30	,	,	PUNCT
aiti-9252	397	31	no	no	INTJ
aiti-9252	397	32	.	.	NOUN
aiti-9252	397	33	8	8	NUM
aiti-9252	397	34	,	,	PUNCT
aiti-9252	397	35	pp	pp	ADJ
aiti-9252	397	36	.	.	PUNCT
aiti-9252	397	37	1098	1098	NUM
aiti-9252	397	38	-	-	SYM
aiti-9252	397	39	1105	1105	NUM
aiti-9252	397	40	,	,	PUNCT
aiti-9252	397	41	august	august	PROPN
aiti-9252	397	42	1997	1997	NUM
aiti-9252	397	43	.	.	PUNCT
aiti-9252	398	1	[	[	X
aiti-9252	398	2	13	13	NUM
aiti-9252	398	3	]	]	X
aiti-9252	398	4	g.	g.	PROPN
aiti-9252	398	5	h.	h.	PROPN
aiti-9252	398	6	yang	yang	PROPN
aiti-9252	398	7	,	,	PUNCT
aiti-9252	398	8	et	et	PROPN
aiti-9252	398	9	al	al	PROPN
aiti-9252	398	10	.	.	PROPN
aiti-9252	398	11	,	,	PUNCT
aiti-9252	398	12	“	"	PUNCT
aiti-9252	398	13	h∞	h∞	X
aiti-9252	398	14	control	control	NOUN
aiti-9252	398	15	for	for	ADP
aiti-9252	398	16	linear	linear	PROPN
aiti-9252	398	17	systems	system	NOUN
aiti-9252	398	18	with	with	ADP
aiti-9252	398	19	additive	additive	ADJ
aiti-9252	398	20	controller	controller	NOUN
aiti-9252	398	21	gain	gain	NOUN
aiti-9252	398	22	variations	variation	NOUN
aiti-9252	398	23	,	,	PUNCT
aiti-9252	398	24	”	"	PUNCT
aiti-9252	398	25	international	international	ADJ
aiti-9252	398	26	journal	journal	NOUN
aiti-9252	398	27	of	of	ADP
aiti-9252	398	28	control	control	NOUN
aiti-9252	398	29	,	,	PUNCT
aiti-9252	398	30	vol	vol	NOUN
aiti-9252	398	31	.	.	PROPN
aiti-9252	399	1	73	73	NUM
aiti-9252	399	2	,	,	PUNCT
aiti-9252	399	3	no	no	INTJ
aiti-9252	399	4	.	.	NOUN
aiti-9252	399	5	16	16	NUM
aiti-9252	399	6	,	,	PUNCT
aiti-9252	399	7	pp	pp	ADJ
aiti-9252	399	8	.	.	PUNCT
aiti-9252	400	1	1500	1500	NUM
aiti-9252	400	2	-	-	SYM
aiti-9252	400	3	1506	1506	NUM
aiti-9252	400	4	,	,	PUNCT
aiti-9252	400	5	february	february	PROPN
aiti-9252	400	6	2000	2000	NUM
aiti-9252	400	7	.	.	PUNCT
aiti-9252	401	1	[	[	X
aiti-9252	401	2	14	14	NUM
aiti-9252	401	3	]	]	X
aiti-9252	401	4	d.	d.	PROPN
aiti-9252	401	5	famularo	famularo	PROPN
aiti-9252	401	6	,	,	PUNCT
aiti-9252	401	7	et	et	PROPN
aiti-9252	401	8	al	al	PROPN
aiti-9252	401	9	.	.	PROPN
aiti-9252	401	10	,	,	PUNCT
aiti-9252	401	11	“	"	PUNCT
aiti-9252	401	12	robust	robust	ADJ
aiti-9252	401	13	non	non	ADJ
aiti-9252	401	14	-	-	ADJ
aiti-9252	401	15	fragile	fragile	ADJ
aiti-9252	401	16	lq	lq	NOUN
aiti-9252	401	17	controllers	controller	NOUN
aiti-9252	401	18	:	:	PUNCT
aiti-9252	401	19	the	the	DET
aiti-9252	401	20	static	static	ADJ
aiti-9252	401	21	state	state	NOUN
aiti-9252	401	22	feedback	feedback	NOUN
aiti-9252	401	23	case	case	NOUN
aiti-9252	401	24	,	,	PUNCT
aiti-9252	401	25	”	"	PUNCT
aiti-9252	401	26	proceedings	proceeding	NOUN
aiti-9252	401	27	of	of	ADP
aiti-9252	401	28	the	the	DET
aiti-9252	401	29	1998	1998	NUM
aiti-9252	401	30	american	american	PROPN
aiti-9252	401	31	control	control	PROPN
aiti-9252	401	32	conference	conference	PROPN
aiti-9252	401	33	,	,	PUNCT
aiti-9252	401	34	vol	vol	NOUN
aiti-9252	401	35	.	.	PROPN
aiti-9252	401	36	2	2	NUM
aiti-9252	401	37	,	,	PUNCT
aiti-9252	401	38	pp	pp	ADJ
aiti-9252	401	39	.	.	PUNCT
aiti-9252	402	1	1109	1109	NUM
aiti-9252	402	2	-	-	SYM
aiti-9252	402	3	1113	1113	NUM
aiti-9252	402	4	,	,	PUNCT
aiti-9252	402	5	june	june	PROPN
aiti-9252	402	6	1998	1998	NUM
aiti-9252	402	7	.	.	PUNCT
aiti-9252	403	1	[	[	X
aiti-9252	403	2	15	15	NUM
aiti-9252	403	3	]	]	X
aiti-9252	403	4	h.	h.	PROPN
aiti-9252	403	5	oya	oya	PROPN
aiti-9252	403	6	,	,	PUNCT
aiti-9252	403	7	et	et	PROPN
aiti-9252	403	8	al	al	PROPN
aiti-9252	403	9	.	.	PROPN
aiti-9252	403	10	,	,	PUNCT
aiti-9252	403	11	“	"	PUNCT
aiti-9252	403	12	guaranteed	guarantee	VERB
aiti-9252	403	13	cost	cost	NOUN
aiti-9252	403	14	control	control	NOUN
aiti-9252	403	15	for	for	ADP
aiti-9252	403	16	uncertain	uncertain	ADJ
aiti-9252	403	17	linear	linear	ADJ
aiti-9252	403	18	continuous	continuous	ADJ
aiti-9252	403	19	-	-	PUNCT
aiti-9252	403	20	time	time	NOUN
aiti-9252	403	21	systems	system	NOUN
aiti-9252	403	22	under	under	ADP
aiti-9252	403	23	control	control	NOUN
aiti-9252	403	24	gain	gain	NOUN
aiti-9252	403	25	perturbations	perturbation	NOUN
aiti-9252	403	26	,	,	PUNCT
aiti-9252	403	27	”	"	PUNCT
aiti-9252	403	28	the	the	DET
aiti-9252	403	29	japan	japan	PROPN
aiti-9252	403	30	society	society	PROPN
aiti-9252	403	31	of	of	ADP
aiti-9252	403	32	mechanical	mechanical	ADJ
aiti-9252	403	33	engineers	engineer	NOUN
aiti-9252	403	34	,	,	PUNCT
aiti-9252	403	35	vol	vol	NOUN
aiti-9252	403	36	.	.	PROPN
aiti-9252	403	37	72	72	NUM
aiti-9252	403	38	,	,	PUNCT
aiti-9252	403	39	no	no	INTJ
aiti-9252	403	40	.	.	NOUN
aiti-9252	403	41	713	713	NUM
aiti-9252	403	42	,	,	PUNCT
aiti-9252	403	43	pp	pp	ADJ
aiti-9252	403	44	.	.	PUNCT
aiti-9252	404	1	72	72	NUM
aiti-9252	404	2	-	-	SYM
aiti-9252	404	3	101	101	NUM
aiti-9252	404	4	,	,	PUNCT
aiti-9252	404	5	january	january	PROPN
aiti-9252	404	6	2006	2006	NUM
aiti-9252	404	7	.	.	PUNCT
aiti-9252	405	1	[	[	X
aiti-9252	405	2	16	16	NUM
aiti-9252	405	3	]	]	PUNCT
aiti-9252	405	4	k.	k.	PROPN
aiti-9252	405	5	miyakoshi	miyakoshi	PROPN
aiti-9252	405	6	,	,	PUNCT
aiti-9252	405	7	et	et	PROPN
aiti-9252	405	8	al	al	PROPN
aiti-9252	405	9	.	.	PROPN
aiti-9252	405	10	,	,	PUNCT
aiti-9252	405	11	“	"	PUNCT
aiti-9252	405	12	synthesis	synthesis	NOUN
aiti-9252	405	13	of	of	ADP
aiti-9252	405	14	formation	formation	NOUN
aiti-9252	405	15	control	control	NOUN
aiti-9252	405	16	systems	system	NOUN
aiti-9252	405	17	for	for	ADP
aiti-9252	405	18	multi	multi	ADJ
aiti-9252	405	19	-	-	ADJ
aiti-9252	405	20	agent	agent	ADJ
aiti-9252	405	21	systems	system	NOUN
aiti-9252	405	22	under	under	ADP
aiti-9252	405	23	control	control	NOUN
aiti-9252	405	24	gain	gain	NOUN
aiti-9252	405	25	perturbations	perturbation	NOUN
aiti-9252	405	26	,	,	PUNCT
aiti-9252	405	27	”	"	PUNCT
aiti-9252	405	28	advances	advance	NOUN
aiti-9252	405	29	in	in	ADP
aiti-9252	405	30	technology	technology	NOUN
aiti-9252	405	31	innovation	innovation	NOUN
aiti-9252	405	32	,	,	PUNCT
aiti-9252	405	33	vol	vol	NOUN
aiti-9252	405	34	.	.	PROPN
aiti-9252	405	35	5	5	NUM
aiti-9252	405	36	,	,	PUNCT
aiti-9252	405	37	no	no	INTJ
aiti-9252	405	38	.	.	NOUN
aiti-9252	405	39	2	2	NUM
aiti-9252	405	40	,	,	PUNCT
aiti-9252	405	41	pp	pp	ADJ
aiti-9252	405	42	.	.	PUNCT
aiti-9252	406	1	112	112	NUM
aiti-9252	406	2	-	-	SYM
aiti-9252	406	3	125	125	NUM
aiti-9252	406	4	,	,	PUNCT
aiti-9252	406	5	april	april	PROPN
aiti-9252	406	6	2020	2020	NUM
aiti-9252	406	7	.	.	PUNCT
aiti-9252	407	1	[	[	X
aiti-9252	407	2	17	17	NUM
aiti-9252	407	3	]	]	X
aiti-9252	407	4	d.	d.	PROPN
aiti-9252	407	5	rosinová	rosinová	PROPN
aiti-9252	407	6	,	,	PUNCT
aiti-9252	407	7	et	et	PROPN
aiti-9252	407	8	al	al	PROPN
aiti-9252	407	9	.	.	PROPN
aiti-9252	407	10	,	,	PUNCT
aiti-9252	407	11	“	"	PUNCT
aiti-9252	407	12	output	output	NOUN
aiti-9252	407	13	feedback	feedback	NOUN
aiti-9252	407	14	stabilization	stabilization	NOUN
aiti-9252	407	15	of	of	ADP
aiti-9252	407	16	linear	linear	ADJ
aiti-9252	407	17	uncertain	uncertain	ADJ
aiti-9252	407	18	discrete	discrete	ADJ
aiti-9252	407	19	systems	system	NOUN
aiti-9252	407	20	with	with	ADP
aiti-9252	407	21	guaranteed	guarantee	VERB
aiti-9252	407	22	cost	cost	NOUN
aiti-9252	407	23	,	,	PUNCT
aiti-9252	407	24	”	"	PUNCT
aiti-9252	407	25	15th	15th	ADJ
aiti-9252	407	26	triennial	triennial	ADJ
aiti-9252	407	27	world	world	NOUN
aiti-9252	407	28	congress	congress	PROPN
aiti-9252	407	29	,	,	PUNCT
aiti-9252	407	30	vol	vol	NOUN
aiti-9252	407	31	.	.	PROPN
aiti-9252	407	32	35	35	NUM
aiti-9252	407	33	,	,	PUNCT
aiti-9252	407	34	no	no	INTJ
aiti-9252	407	35	.	.	NOUN
aiti-9252	407	36	1	1	NUM
aiti-9252	407	37	,	,	PUNCT
aiti-9252	407	38	pp	pp	ADJ
aiti-9252	407	39	.	.	PUNCT
aiti-9252	408	1	211	211	NUM
aiti-9252	408	2	-	-	SYM
aiti-9252	408	3	215	215	NUM
aiti-9252	408	4	,	,	PUNCT
aiti-9252	408	5	july	july	PROPN
aiti-9252	408	6	2002	2002	NUM
aiti-9252	408	7	.	.	PUNCT
aiti-9252	409	1	[	[	X
aiti-9252	409	2	18	18	NUM
aiti-9252	409	3	]	]	PUNCT
aiti-9252	409	4	m.	m.	NOUN
aiti-9252	409	5	noton	noton	PROPN
aiti-9252	409	6	,	,	PUNCT
aiti-9252	409	7	modern	modern	ADJ
aiti-9252	409	8	control	control	NOUN
aiti-9252	409	9	engineering	engineering	PROPN
aiti-9252	409	10	,	,	PUNCT
aiti-9252	409	11	new	new	PROPN
aiti-9252	409	12	york	york	PROPN
aiti-9252	409	13	:	:	PUNCT
aiti-9252	409	14	pergamon	pergamon	PROPN
aiti-9252	409	15	press	press	PROPN
aiti-9252	409	16	,	,	PUNCT
aiti-9252	409	17	1972	1972	NUM
aiti-9252	409	18	.	.	PUNCT
aiti-9252	410	1	[	[	X
aiti-9252	410	2	19	19	NUM
aiti-9252	410	3	]	]	X
aiti-9252	410	4	s.	s.	PROPN
aiti-9252	410	5	nagai	nagai	PROPN
aiti-9252	410	6	,	,	PUNCT
aiti-9252	410	7	et	et	PROPN
aiti-9252	410	8	al	al	PROPN
aiti-9252	410	9	.	.	PROPN
aiti-9252	410	10	,	,	PUNCT
aiti-9252	410	11	“	"	PUNCT
aiti-9252	410	12	synthesis	synthesis	NOUN
aiti-9252	410	13	of	of	ADP
aiti-9252	410	14	decentralized	decentralize	VERB
aiti-9252	410	15	variable	variable	ADJ
aiti-9252	410	16	gain	gain	VERB
aiti-9252	410	17	robust	robust	ADJ
aiti-9252	410	18	controllers	controller	NOUN
aiti-9252	410	19	with	with	ADP
aiti-9252	410	20	guaranteed	guarantee	VERB
aiti-9252	410	21	l2	l2	NOUN
aiti-9252	410	22	gain	gain	VERB
aiti-9252	410	23	performance	performance	NOUN
aiti-9252	410	24	for	for	ADP
aiti-9252	410	25	a	a	DET
aiti-9252	410	26	class	class	NOUN
aiti-9252	410	27	of	of	ADP
aiti-9252	410	28	uncertain	uncertain	ADJ
aiti-9252	410	29	large	large	ADJ
aiti-9252	410	30	-	-	PUNCT
aiti-9252	410	31	scale	scale	NOUN
aiti-9252	410	32	interconnected	interconnected	ADJ
aiti-9252	410	33	systems	system	NOUN
aiti-9252	410	34	,	,	PUNCT
aiti-9252	410	35	”	"	PUNCT
aiti-9252	410	36	journal	journal	NOUN
aiti-9252	410	37	of	of	ADP
aiti-9252	410	38	control	control	PROPN
aiti-9252	410	39	science	science	NOUN
aiti-9252	410	40	and	and	CCONJ
aiti-9252	410	41	engineering	engineering	NOUN
aiti-9252	410	42	,	,	PUNCT
aiti-9252	410	43	vol	vol	NOUN
aiti-9252	410	44	.	.	NOUN
aiti-9252	410	45	2015	2015	NUM
aiti-9252	410	46	,	,	PUNCT
aiti-9252	410	47	article	article	NOUN
aiti-9252	410	48	no	no	NOUN
aiti-9252	410	49	.	.	PROPN
aiti-9252	410	50	342867	342867	NUM
aiti-9252	410	51	,	,	PUNCT
aiti-9252	410	52	2015	2015	NUM
aiti-9252	410	53	.	.	PUNCT
aiti-9252	411	1	copyright	copyright	NOUN
aiti-9252	411	2	©	©	PROPN
aiti-9252	411	3	by	by	ADP
aiti-9252	411	4	the	the	DET
aiti-9252	411	5	authors	author	NOUN
aiti-9252	411	6	.	.	PUNCT
aiti-9252	412	1	licensee	licensee	PROPN
aiti-9252	412	2	taeti	taeti	PROPN
aiti-9252	412	3	,	,	PUNCT
aiti-9252	412	4	taiwan	taiwan	PROPN
aiti-9252	412	5	.	.	PUNCT
aiti-9252	413	1	this	this	DET
aiti-9252	413	2	article	article	NOUN
aiti-9252	413	3	is	be	AUX
aiti-9252	413	4	an	an	DET
aiti-9252	413	5	open	open	ADJ
aiti-9252	413	6	access	access	NOUN
aiti-9252	413	7	article	article	NOUN
aiti-9252	413	8	distributed	distribute	VERB
aiti-9252	413	9	under	under	ADP
aiti-9252	413	10	the	the	DET
aiti-9252	413	11	terms	term	NOUN
aiti-9252	413	12	and	and	CCONJ
aiti-9252	413	13	conditions	condition	NOUN
aiti-9252	413	14	of	of	ADP
aiti-9252	413	15	the	the	DET
aiti-9252	413	16	creative	creative	ADJ
aiti-9252	413	17	commons	common	NOUN
aiti-9252	413	18	attribution	attribution	NOUN
aiti-9252	413	19	(	(	PUNCT
aiti-9252	413	20	cc	cc	NOUN
aiti-9252	413	21	by	by	ADP
aiti-9252	413	22	-	-	PUNCT
aiti-9252	413	23	nc	nc	NOUN
aiti-9252	413	24	)	)	PUNCT
aiti-9252	413	25	license	license	NOUN
aiti-9252	413	26	(	(	PUNCT
aiti-9252	413	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-9252	413	28	)	)	PUNCT
aiti-9252	413	29	.	.	PUNCT
aiti-9252	414	1	166	166	NUM
aiti-9252	414	2	advances	advance	NOUN
aiti-9252	414	3	in	in	ADP
aiti-9252	414	4	technology	technology	NOUN
aiti-9252	414	5	innovation	innovation	NOUN
aiti-9252	414	6	,	,	PUNCT
aiti-9252	414	7	vol	vol	NOUN
aiti-9252	414	8	.	.	PROPN
aiti-9252	414	9	7	7	NUM
aiti-9252	414	10	,	,	PUNCT
aiti-9252	414	11	no	no	INTJ
aiti-9252	414	12	.	.	NOUN
aiti-9252	414	13	3	3	NUM
aiti-9252	414	14	,	,	PUNCT
aiti-9252	414	15	2022	2022	NUM
aiti-9252	414	16	,	,	PUNCT
aiti-9252	414	17	pp	pp	ADJ
aiti-9252	414	18	.	.	PUNCT
aiti-9252	414	19	155	155	NUM
aiti-9252	414	20	-	-	SYM
aiti-9252	414	21	168	168	NUM
aiti-9252	414	22	appendix	appendix	NOUN
aiti-9252	414	23	in	in	ADP
aiti-9252	414	24	this	this	DET
aiti-9252	414	25	appendix	appendix	NOUN
aiti-9252	414	26	,	,	PUNCT
aiti-9252	414	27	the	the	DET
aiti-9252	414	28	extension	extension	NOUN
aiti-9252	414	29	to	to	PART
aiti-9252	414	30	ℒ6	ℒ6	PROPN
aiti-9252	414	31	gain	gain	VERB
aiti-9252	414	32	performance	performance	NOUN
aiti-9252	414	33	is	be	AUX
aiti-9252	414	34	discussed	discuss	VERB
aiti-9252	414	35	.	.	PUNCT
aiti-9252	415	1	the	the	DET
aiti-9252	415	2	following	follow	VERB
aiti-9252	415	3	uncertain	uncertain	ADJ
aiti-9252	415	4	system	system	NOUN
aiti-9252	415	5	is	be	AUX
aiti-9252	415	6	considered	consider	VERB
aiti-9252	415	7	:	:	PUNCT
aiti-9252	415	8	(	(	PUNCT
aiti-9252	415	9	)	)	PUNCT
aiti-9252	415	10	(	(	PUNCT
aiti-9252	415	11	)	)	PUNCT
aiti-9252	415	12	(	(	PUNCT
aiti-9252	415	13	)	)	PUNCT
aiti-9252	415	14	(	(	PUNCT
aiti-9252	415	15	)	)	PUNCT
aiti-9252	415	16	(	(	PUNCT
aiti-9252	415	17	)	)	PUNCT
aiti-9252	415	18	xx	xx	PROPN
aiti-9252	415	19	t	t	PROPN
aiti-9252	415	20	a	a	DET
aiti-9252	415	21	x	x	SYM
aiti-9252	415	22	t	t	PROPN
aiti-9252	415	23	b	b	PROPN
aiti-9252	415	24	u	u	NOUN
aiti-9252	415	25	t	t	PROPN
aiti-9252	415	26	d	d	NOUN
aiti-9252	415	27	t=	t=	PRON
aiti-9252	416	1	+	+	X
aiti-9252	416	2	+	+	ADJ
aiti-9252	416	3	ɺ	ɺ	PROPN
aiti-9252	416	4	θ	θ	PROPN
aiti-9252	416	5	ω	ω	PROPN
aiti-9252	416	6	(	(	PUNCT
aiti-9252	416	7	a1	a1	PROPN
aiti-9252	416	8	)	)	PUNCT
aiti-9252	416	9	(	(	PUNCT
aiti-9252	416	10	)	)	PUNCT
aiti-9252	416	11	(	(	PUNCT
aiti-9252	416	12	)	)	PUNCT
aiti-9252	416	13	(	(	PUNCT
aiti-9252	416	14	)	)	PUNCT
aiti-9252	416	15	zz	zz	PROPN
aiti-9252	417	1	t	t	NOUN
aiti-9252	417	2	c	c	NOUN
aiti-9252	417	3	x	x	SYM
aiti-9252	417	4	t	t	PROPN
aiti-9252	417	5	d	d	NOUN
aiti-9252	417	6	t=	t=	PRON
aiti-9252	417	7	+	+	PROPN
aiti-9252	417	8	ɺ	ɺ	PROPN
aiti-9252	417	9	ω	ω	PROPN
aiti-9252	417	10	(	(	PUNCT
aiti-9252	417	11	a2	a2	PROPN
aiti-9252	417	12	)	)	PUNCT
aiti-9252	417	13	where	where	SCONJ
aiti-9252	417	14	(	(	PUNCT
aiti-9252	417	15	�	�	NOUN
aiti-9252	417	16	)	)	PUNCT
aiti-9252	417	17	∈	∈	PROPN
aiti-9252	417	18	ℝ	ℝ	PROPN
aiti-9252	417	19	�	�	PROPN
aiti-9252	417	20	,	,	PUNCT
aiti-9252	417	21	�	�	PROPN
aiti-9252	417	22	(	(	PUNCT
aiti-9252	417	23	�	�	PROPN
aiti-9252	417	24	)	)	PUNCT
aiti-9252	417	25	∈	∈	PROPN
aiti-9252	417	26	ℝ	ℝ	PROPN
aiti-9252	417	27	,	,	PUNCT
aiti-9252	417	28	i	i	PROPN
aiti-9252	417	29	(	(	PUNCT
aiti-9252	417	30	�	�	PROPN
aiti-9252	417	31	)	)	PUNCT
aiti-9252	417	32	∈	∈	PROPN
aiti-9252	417	33	ℝ	ℝ	PROPN
aiti-9252	417	34	�	�	PROPN
aiti-9252	417	35	,	,	PUNCT
aiti-9252	417	36	and	and	CCONJ
aiti-9252	417	37	y	y	PROPN
aiti-9252	417	38	(	(	PUNCT
aiti-9252	417	39	�	�	PROPN
aiti-9252	417	40	)	)	PUNCT
aiti-9252	417	41	∈	∈	PROPN
aiti-9252	418	1	ℝj	ℝj	PROPN
aiti-9252	418	2	are	be	AUX
aiti-9252	418	3	the	the	DET
aiti-9252	418	4	vectors	vector	NOUN
aiti-9252	418	5	of	of	ADP
aiti-9252	418	6	the	the	DET
aiti-9252	418	7	state	state	NOUN
aiti-9252	418	8	,	,	PUNCT
aiti-9252	418	9	input	input	NOUN
aiti-9252	418	10	,	,	PUNCT
aiti-9252	418	11	output	output	NOUN
aiti-9252	418	12	,	,	PUNCT
aiti-9252	418	13	and	and	CCONJ
aiti-9252	418	14	disturbance	disturbance	NOUN
aiti-9252	418	15	,	,	PUNCT
aiti-9252	418	16	respectively	respectively	ADV
aiti-9252	418	17	.	.	PUNCT
aiti-9252	419	1	the	the	DET
aiti-9252	419	2	following	follow	VERB
aiti-9252	419	3	full	full	ADJ
aiti-9252	419	4	-	-	PUNCT
aiti-9252	419	5	state	state	NOUN
aiti-9252	419	6	observer	observer	NOUN
aiti-9252	419	7	is	be	AUX
aiti-9252	419	8	introduced	introduce	VERB
aiti-9252	419	9	:	:	PUNCT
aiti-9252	419	10	ˆ	ˆ	DET
aiti-9252	419	11	ˆ	ˆ	NOUN
aiti-9252	419	12	ˆ	ˆ	ADJ
aiti-9252	419	13	(	(	PUNCT
aiti-9252	419	14	)	)	PUNCT
aiti-9252	419	15	(	(	PUNCT
aiti-9252	419	16	)	)	PUNCT
aiti-9252	419	17	(	(	PUNCT
aiti-9252	419	18	)	)	PUNCT
aiti-9252	419	19	(	(	PUNCT
aiti-9252	419	20	)	)	PUNCT
aiti-9252	419	21	(	(	PUNCT
aiti-9252	419	22	(	(	PUNCT
aiti-9252	419	23	)	)	PUNCT
aiti-9252	419	24	(	(	PUNCT
aiti-9252	419	25	)	)	PUNCT
aiti-9252	419	26	)	)	PUNCT
aiti-9252	419	27	x	x	X
aiti-9252	419	28	t	t	NOUN
aiti-9252	419	29	ax	ax	NOUN
aiti-9252	419	30	t	t	PROPN
aiti-9252	419	31	bu	bu	PROPN
aiti-9252	419	32	t	t	PROPN
aiti-9252	419	33	g	g	PROPN
aiti-9252	419	34	t	t	PROPN
aiti-9252	419	35	z	z	PROPN
aiti-9252	419	36	t	t	PROPN
aiti-9252	419	37	cx	cx	NOUN
aiti-9252	419	38	t=	t=	PRON
aiti-9252	420	1	+	+	X
aiti-9252	420	2	+	+	CCONJ
aiti-9252	420	3	−ɺ	−ɺ	PROPN
aiti-9252	420	4	(	(	PUNCT
aiti-9252	420	5	a3	a3	PROPN
aiti-9252	420	6	)	)	PUNCT
aiti-9252	420	7	let	let	VERB
aiti-9252	420	8	the	the	DET
aiti-9252	420	9	input	input	NOUN
aiti-9252	420	10	�	�	PROPN
aiti-9252	420	11	(	(	PUNCT
aiti-9252	420	12	�	�	PROPN
aiti-9252	420	13	)	)	PUNCT
aiti-9252	420	14	,	,	PUNCT
aiti-9252	420	15	the	the	DET
aiti-9252	420	16	estimation	estimation	NOUN
aiti-9252	420	17	error	error	NOUN
aiti-9252	420	18	'	'	PUNCT
aiti-9252	420	19	(	(	PUNCT
aiti-9252	420	20	�	�	PROPN
aiti-9252	420	21	)	)	PUNCT
aiti-9252	420	22	and	and	CCONJ
aiti-9252	420	23	the	the	DET
aiti-9252	420	24	augmented	augment	VERB
aiti-9252	420	25	vector	vector	NOUN
aiti-9252	420	26	(	(	PUNCT
aiti-9252	420	27	(	(	PUNCT
aiti-9252	420	28	�	�	NOUN
aiti-9252	420	29	)	)	PUNCT
aiti-9252	420	30	be	be	VERB
aiti-9252	420	31	�	�	PROPN
aiti-9252	420	32	(	(	PUNCT
aiti-9252	420	33	�	�	NOUN
aiti-9252	420	34	)	)	PUNCT
aiti-9252	420	35	≜	≜	NOUN
aiti-9252	420	36	#	#	NOUN
aiti-9252	420	37	(	(	PUNCT
aiti-9252	420	38	�	�	PROPN
aiti-9252	420	39	)	)	PUNCT
aiti-9252	420	40	$	$	SYM
aiti-9252	420	41	(	(	PUNCT
aiti-9252	420	42	�	�	PROPN
aiti-9252	420	43	)	)	PUNCT
aiti-9252	420	44	,	,	PUNCT
aiti-9252	420	45	'	'	PUNCT
aiti-9252	420	46	(	(	PUNCT
aiti-9252	420	47	�	�	NOUN
aiti-9252	420	48	)	)	PUNCT
aiti-9252	420	49	≜	≜	NOUN
aiti-9252	420	50	(	(	PUNCT
aiti-9252	420	51	�	�	NOUN
aiti-9252	420	52	)	)	PUNCT
aiti-9252	420	53	#	#	NOUN
aiti-9252	420	54	$	$	SYM
aiti-9252	420	55	(	(	PUNCT
aiti-9252	420	56	�	�	PROPN
aiti-9252	420	57	)	)	PUNCT
aiti-9252	420	58	,	,	PUNCT
aiti-9252	420	59	and	and	CCONJ
aiti-9252	420	60	(	(	PUNCT
aiti-9252	420	61	(	(	PUNCT
aiti-9252	420	62	�	�	NOUN
aiti-9252	420	63	)	)	PUNCT
aiti-9252	420	64	≜	≜	NOUN
aiti-9252	420	65	(	(	PUNCT
aiti-9252	420	66	$	$	SYM
aiti-9252	420	67	(	(	PUNCT
aiti-9252	420	68	�	�	NOUN
aiti-9252	420	69	)	)	PUNCT
aiti-9252	420	70	'	'	PUNCT
aiti-9252	420	71	(	(	PUNCT
aiti-9252	420	72	�	�	PROPN
aiti-9252	420	73	)	)	PUNCT
aiti-9252	420	74	)	)	PUNCT
aiti-9252	420	75	�	�	PROPN
aiti-9252	420	76	,	,	PUNCT
aiti-9252	420	77	respectively	respectively	ADV
aiti-9252	420	78	.	.	PUNCT
aiti-9252	421	1	the	the	DET
aiti-9252	421	2	augmented	augment	VERB
aiti-9252	421	3	system	system	NOUN
aiti-9252	421	4	and	and	CCONJ
aiti-9252	421	5	the	the	DET
aiti-9252	421	6	estimation	estimation	NOUN
aiti-9252	421	7	error	error	NOUN
aiti-9252	421	8	system	system	NOUN
aiti-9252	421	9	can	can	AUX
aiti-9252	421	10	be	be	AUX
aiti-9252	421	11	obtained	obtain	VERB
aiti-9252	421	12	as	as	ADP
aiti-9252	421	13	follows	follow	VERB
aiti-9252	421	14	:	:	PUNCT
aiti-9252	421	15	ˆ	ˆ	X
aiti-9252	421	16	(	(	PUNCT
aiti-9252	421	17	)	)	PUNCT
aiti-9252	421	18	(	(	PUNCT
aiti-9252	421	19	(	(	PUNCT
aiti-9252	421	20	)	)	PUNCT
aiti-9252	421	21	(	(	PUNCT
aiti-9252	421	22	)	)	PUNCT
aiti-9252	421	23	)	)	PUNCT
aiti-9252	422	1	(	(	PUNCT
aiti-9252	422	2	)	)	PUNCT
aiti-9252	422	3	(	(	PUNCT
aiti-9252	422	4	)	)	PUNCT
aiti-9252	422	5	(	(	PUNCT
aiti-9252	422	6	)	)	PUNCT
aiti-9252	422	7	(	(	PUNCT
aiti-9252	422	8	(	(	PUNCT
aiti-9252	422	9	)	)	PUNCT
aiti-9252	422	10	)	)	PUNCT
aiti-9252	422	11	(	(	PUNCT
aiti-9252	422	12	)	)	PUNCT
aiti-9252	422	13	e	e	X
aiti-9252	422	14	x	x	PUNCT
aiti-9252	422	15	ze	ze	AUX
aiti-9252	422	16	t	t	PROPN
aiti-9252	422	17	a	a	DET
aiti-9252	422	18	g	g	NOUN
aiti-9252	422	19	t	t	NOUN
aiti-9252	422	20	c	c	NOUN
aiti-9252	422	21	e	e	NOUN
aiti-9252	422	22	t	t	PROPN
aiti-9252	422	23	a	a	PRON
aiti-9252	422	24	x	x	SYM
aiti-9252	422	25	t	t	NOUN
aiti-9252	423	1	d	d	X
aiti-9252	423	2	g	g	PROPN
aiti-9252	423	3	t	t	PROPN
aiti-9252	423	4	d	d	NOUN
aiti-9252	423	5	t=	t=	NOUN
aiti-9252	423	6	−	−	PROPN
aiti-9252	424	1	+	+	CCONJ
aiti-9252	424	2	+	+	NUM
aiti-9252	424	3	−ɺ	−ɺ	ADJ
aiti-9252	424	4	θ	θ	PROPN
aiti-9252	424	5	θ	θ	PROPN
aiti-9252	424	6	ω	ω	PROPN
aiti-9252	424	7	(	(	PUNCT
aiti-9252	424	8	a4	a4	PROPN
aiti-9252	424	9	)	)	PUNCT
aiti-9252	424	10	(	(	PUNCT
aiti-9252	424	11	)	)	PUNCT
aiti-9252	424	12	(	(	PUNCT
aiti-9252	424	13	)	)	PUNCT
aiti-9252	424	14	(	(	PUNCT
aiti-9252	424	15	)	)	PUNCT
aiti-9252	424	16	(	(	PUNCT
aiti-9252	424	17	)	)	PUNCT
aiti-9252	424	18	e	e	X
aiti-9252	424	19	ex	ex	X
aiti-9252	424	20	t	t	PROPN
aiti-9252	424	21	x	x	X
aiti-9252	424	22	t	t	PROPN
aiti-9252	424	23	t=	t=	PROPN
aiti-9252	425	1	ω	ω	PROPN
aiti-9252	426	1	+	+	PROPN
aiti-9252	426	2	ɺ	ɺ	PROPN
aiti-9252	426	3	θ	θ	X
aiti-9252	426	4	ωd	ωd	X
aiti-9252	426	5	(	(	PUNCT
aiti-9252	426	6	a5	a5	PROPN
aiti-9252	426	7	)	)	PUNCT
aiti-9252	426	8	(	(	PUNCT
aiti-9252	426	9	)	)	PUNCT
aiti-9252	426	10	(	(	PUNCT
aiti-9252	426	11	)	)	PUNCT
aiti-9252	426	12	(	(	PUNCT
aiti-9252	426	13	)	)	PUNCT
aiti-9252	426	14	(	(	PUNCT
aiti-9252	426	15	)	)	PUNCT
aiti-9252	426	16	(	(	PUNCT
aiti-9252	426	17	)	)	PUNCT
aiti-9252	426	18	(	(	PUNCT
aiti-9252	426	19	)	)	PUNCT
aiti-9252	426	20	e	e	X
aiti-9252	426	21	a	a	PRON
aiti-9252	426	22	b	b	X
aiti-9252	426	23	k	k	PROPN
aiti-9252	426	24	t	t	PROPN
aiti-9252	426	25	g	g	PROPN
aiti-9252	426	26	t	t	PROPN
aiti-9252	426	27	c	c	PROPN
aiti-9252	426	28	a	a	DET
aiti-9252	426	29	a	a	DET
aiti-9252	426	30	g	g	NOUN
aiti-9252	426	31	t	t	NOUN
aiti-9252	426	32	c	c	NOUN
aiti-9252	426	33	−	−	PROPN
aiti-9252	426	34	ω	ω	PROPN
aiti-9252	426	35	=	=	SYM
aiti-9252	426	36	−	−	PROPN
aiti-9252	426	37			PROPN
aiti-9252	426	38			PROPN
aiti-9252	426	39			NOUN
aiti-9252	426	40			VERB
aiti-9252	426	41			PRON
aiti-9252	426	42			PUNCT
aiti-9252	427	1	θ	θ	X
aiti-9252	427	2	θ	θ	PUNCT
aiti-9252	427	3	θ	θ	X
aiti-9252	427	4	(	(	PUNCT
aiti-9252	427	5	a6	a6	NOUN
aiti-9252	427	6	)	)	PUNCT
aiti-9252	427	7	(	(	PUNCT
aiti-9252	427	8	)	)	PUNCT
aiti-9252	427	9	(	(	PUNCT
aiti-9252	427	10	)	)	PUNCT
aiti-9252	427	11	(	(	PUNCT
aiti-9252	427	12	)	)	PUNCT
aiti-9252	427	13	z	z	X
aiti-9252	428	1	x	x	PUNCT
aiti-9252	428	2	z	z	NOUN
aiti-9252	429	1	g	g	PROPN
aiti-9252	429	2	t	t	PROPN
aiti-9252	430	1	d	d	X
aiti-9252	430	2	t	t	PROPN
aiti-9252	430	3	d	d	X
aiti-9252	430	4	g	g	PROPN
aiti-9252	430	5	t	t	PROPN
aiti-9252	430	6	d	d	NOUN
aiti-9252	430	7	=	=	PUNCT
aiti-9252	430	8	−	−	PROPN
aiti-9252	430	9			PROPN
aiti-9252	430	10			PROPN
aiti-9252	430	11			NOUN
aiti-9252	430	12			VERB
aiti-9252	430	13			NOUN
aiti-9252	430	14			PUNCT
aiti-9252	431	1	d	d	X
aiti-9252	431	2	(	(	PUNCT
aiti-9252	431	3	a7	a7	PROPN
aiti-9252	431	4	)	)	PUNCT
aiti-9252	431	5	please	please	INTJ
aiti-9252	431	6	refer	refer	VERB
aiti-9252	431	7	to	to	ADP
aiti-9252	431	8	the	the	DET
aiti-9252	431	9	work	work	NOUN
aiti-9252	431	10	of	of	ADP
aiti-9252	431	11	nagai	nagai	PROPN
aiti-9252	431	12	et	et	PROPN
aiti-9252	431	13	al	al	PROPN
aiti-9252	431	14	.	.	PUNCT
aiti-9252	432	1	[	[	X
aiti-9252	432	2	19	19	NUM
aiti-9252	432	3	]	]	PUNCT
aiti-9252	432	4	for	for	ADP
aiti-9252	432	5	a	a	DET
aiti-9252	432	6	definition	definition	NOUN
aiti-9252	432	7	and	and	CCONJ
aiti-9252	432	8	a	a	DET
aiti-9252	432	9	lemma	lemma	PROPN
aiti-9252	432	10	about	about	ADP
aiti-9252	432	11	ℒ6	ℒ6	PROPN
aiti-9252	432	12	gain	gain	VERB
aiti-9252	432	13	performance	performance	NOUN
aiti-9252	432	14	.	.	PUNCT
aiti-9252	433	1	the	the	DET
aiti-9252	433	2	observer	observer	NOUN
aiti-9252	433	3	gain	gain	NOUN
aiti-9252	433	4	matrix	matrix	NOUN
aiti-9252	433	5	�	�	NOUN
aiti-9252	433	6	is	be	AUX
aiti-9252	433	7	designed	design	VERB
aiti-9252	433	8	as	as	ADP
aiti-9252	433	9	eq	eq	ADP
aiti-9252	433	10	.	.	PUNCT
aiti-9252	434	1	(	(	PUNCT
aiti-9252	434	2	24	24	NUM
aiti-9252	434	3	)	)	PUNCT
aiti-9252	434	4	in	in	ADP
aiti-9252	434	5	section	section	NOUN
aiti-9252	434	6	4.1	4.1	NUM
aiti-9252	434	7	.	.	PUNCT
aiti-9252	435	1	to	to	PART
aiti-9252	435	2	design	design	VERB
aiti-9252	435	3	control	control	NOUN
aiti-9252	435	4	gain	gain	NOUN
aiti-9252	435	5	matrix	matrix	NOUN
aiti-9252	436	1	,	,	PUNCT
aiti-9252	436	2	the	the	DET
aiti-9252	436	3	following	follow	VERB
aiti-9252	436	4	lyapunov	lyapunov	NOUN
aiti-9252	436	5	function	function	NOUN
aiti-9252	436	6	and	and	CCONJ
aiti-9252	436	7	hamiltonian	hamiltonian	NOUN
aiti-9252	436	8	are	be	AUX
aiti-9252	436	9	defined	define	VERB
aiti-9252	436	10	:	:	PUNCT
aiti-9252	436	11	(	(	PUNCT
aiti-9252	436	12	)	)	PUNCT
aiti-9252	436	13	(	(	PUNCT
aiti-9252	436	14	)	)	PUNCT
aiti-9252	436	15	(	(	PUNCT
aiti-9252	436	16	)	)	PUNCT
aiti-9252	436	17	t	t	NOUN
aiti-9252	436	18	k	k	X
aiti-9252	436	19	e	e	X
aiti-9252	436	20	e	e	X
aiti-9252	436	21	ex	ex	X
aiti-9252	436	22	x	x	X
aiti-9252	436	23	t	t	NOUN
aiti-9252	436	24	x	x	SYM
aiti-9252	436	25	tλ≜v	tλ≜v	PUNCT
aiti-9252	436	26	(	(	PUNCT
aiti-9252	436	27	a8	a8	PROPN
aiti-9252	436	28	)	)	PUNCT
aiti-9252	436	29	*	*	PUNCT
aiti-9252	436	30	2	2	NUM
aiti-9252	436	31	(	(	PUNCT
aiti-9252	436	32	,	,	PUNCT
aiti-9252	436	33	)	)	PUNCT
aiti-9252	436	34	(	(	PUNCT
aiti-9252	436	35	)	)	PUNCT
aiti-9252	436	36	z	z	NOUN
aiti-9252	436	37	(	(	PUNCT
aiti-9252	436	38	)	)	PUNCT
aiti-9252	436	39	(	(	PUNCT
aiti-9252	436	40	)	)	PUNCT
aiti-9252	436	41	(	(	PUNCT
aiti-9252	436	42	)	)	PUNCT
aiti-9252	436	43	(	(	PUNCT
aiti-9252	436	44	)	)	PUNCT
aiti-9252	436	45	(	(	PUNCT
aiti-9252	436	46	)	)	PUNCT
aiti-9252	436	47	t	t	NOUN
aiti-9252	436	48	t	t	X
aiti-9252	436	49	e	e	X
aiti-9252	436	50	k	k	X
aiti-9252	436	51	eh	eh	INTJ
aiti-9252	436	52	x	x	SYM
aiti-9252	436	53	t	t	PROPN
aiti-9252	436	54	x	x	SYM
aiti-9252	436	55	t	t	PROPN
aiti-9252	436	56	z	z	PROPN
aiti-9252	436	57	t	t	PROPN
aiti-9252	436	58	t	t	PROPN
aiti-9252	436	59	t+	t+	PUNCT
aiti-9252	436	60	−ɺ≜	−ɺ≜	PROPN
aiti-9252	436	61	γ	γ	PROPN
aiti-9252	436	62	ω	ω	PROPN
aiti-9252	436	63	ωv	ωv	PROPN
aiti-9252	436	64	(	(	PUNCT
aiti-9252	436	65	a9	a9	PROPN
aiti-9252	436	66	)	)	PUNCT
aiti-9252	436	67	here	here	ADV
aiti-9252	436	68	,	,	PUNCT
aiti-9252	436	69	(	(	PUNCT
aiti-9252	436	70	�	�	PROPN
aiti-9252	436	71	∗)6	∗)6	PROPN
aiti-9252	436	72	≜	≜	NOUN
aiti-9252	436	73	�	�	PROPN
aiti-9252	436	74	and	and	CCONJ
aiti-9252	436	75	(	(	PUNCT
aiti-9252	436	76	�	�	NOUN
aiti-9252	436	77	)	)	PUNCT
aiti-9252	436	78	≜	≜	NOUN
aiti-9252	436	79	(	(	PUNCT
aiti-9252	436	80	f	f	PROPN
aiti-9252	436	81	�	�	PROPN
aiti-9252	436	82	f	f	PROPN
aiti-9252	436	83	�	�	PROPN
aiti-9252	436	84	)	)	PUNCT
aiti-9252	436	85	k/$(l)((l)m	k/$(l)((l)m	PROPN
aiti-9252	436	86	�	�	PROPN
aiti-9252	436	87	n	n	CCONJ
aiti-9252	436	88	(	(	PUNCT
aiti-9252	436	89	(	(	PUNCT
aiti-9252	436	90	�	�	NOUN
aiti-9252	436	91	)	)	PUNCT
aiti-9252	436	92	are	be	AUX
aiti-9252	436	93	introduced	introduce	VERB
aiti-9252	436	94	.	.	PUNCT
aiti-9252	437	1	furthermore	furthermore	ADV
aiti-9252	437	2	,	,	PUNCT
aiti-9252	437	3	the	the	DET
aiti-9252	437	4	following	follow	VERB
aiti-9252	437	5	equation	equation	NOUN
aiti-9252	437	6	can	can	AUX
aiti-9252	437	7	be	be	AUX
aiti-9252	437	8	obtained	obtain	VERB
aiti-9252	437	9	:	:	PUNCT
aiti-9252	437	10	(	(	PUNCT
aiti-9252	437	11	)	)	PUNCT
aiti-9252	437	12	(	(	PUNCT
aiti-9252	437	13	)	)	PUNCT
aiti-9252	437	14	(	(	PUNCT
aiti-9252	437	15	)	)	PUNCT
aiti-9252	437	16	(	(	PUNCT
aiti-9252	437	17	)	)	PUNCT
aiti-9252	437	18	(	(	PUNCT
aiti-9252	437	19	,	,	PUNCT
aiti-9252	437	20	)	)	PUNCT
aiti-9252	437	21	(	(	PUNCT
aiti-9252	437	22	)	)	PUNCT
aiti-9252	437	23	(	(	PUNCT
aiti-9252	437	24	)	)	PUNCT
aiti-9252	437	25	(	(	PUNCT
aiti-9252	437	26	)	)	PUNCT
aiti-9252	437	27	(	(	PUNCT
aiti-9252	437	28	)	)	PUNCT
aiti-9252	437	29	t	t	NOUN
aiti-9252	437	30	t	t	PROPN
aiti-9252	437	31	t	t	PROPN
aiti-9252	437	32	t	t	PROPN
aiti-9252	437	33	t	t	PROPN
aiti-9252	437	34	zt	zt	PROPN
aiti-9252	437	35	t	t	PROPN
aiti-9252	437	36	e	e	X
aiti-9252	437	37	e	e	PROPN
aiti-9252	437	38	e	e	PROPN
aiti-9252	437	39	t	t	PROPN
aiti-9252	437	40	t	t	PROPN
aiti-9252	437	41	t	t	PROPN
aiti-9252	437	42	z	z	PROPN
aiti-9252	437	43	z	z	PROPN
aiti-9252	437	44	z	z	NOUN
aiti-9252	438	1	p	p	NOUN
aiti-9252	439	1	c	c	NOUN
aiti-9252	439	2	c	c	NOUN
aiti-9252	439	3	t	t	NOUN
aiti-9252	439	4	c	c	PROPN
aiti-9252	440	1	d	d	X
aiti-9252	440	2	x	x	SYM
aiti-9252	440	3	t	t	NOUN
aiti-9252	440	4	h	h	NOUN
aiti-9252	440	5	x	x	SYM
aiti-9252	440	6	t	t	PROPN
aiti-9252	440	7	x	x	SYM
aiti-9252	440	8	t	t	PROPN
aiti-9252	440	9	t	t	X
aiti-9252	440	10	tt	tt	X
aiti-9252	440	11	d	d	X
aiti-9252	440	12	c	c	PROPN
aiti-9252	441	1	d	d	X
aiti-9252	441	2	d	d	X
aiti-9252	441	3	i	i	PRON
aiti-9252	441	4			VERB
aiti-9252	441	5			PROPN
aiti-9252	441	6			PROPN
aiti-9252	441	7			PROPN
aiti-9252	441	8			X
aiti-9252	441	9			PROPN
aiti-9252	441	10			PROPN
aiti-9252	441	11			PROPN
aiti-9252	441	12			PROPN
aiti-9252	441	13			NOUN
aiti-9252	441	14			NOUN
aiti-9252	441	15			PUNCT
aiti-9252	441	16			NOUN
aiti-9252	441	17			NOUN
aiti-9252	441	18			NOUN
aiti-9252	441	19			VERB
aiti-9252	441	20			NOUN
aiti-9252	441	21			PUNCT
aiti-9252	441	22			NOUN
aiti-9252	441	23			PUNCT
aiti-9252	442	1	λ	λ	X
aiti-9252	442	2	ω	ω	PROPN
aiti-9252	443	1	+	+	X
aiti-9252	443	2	ω	ω	NUM
aiti-9252	443	3	λ	λ	NOUN
aiti-9252	443	4	+	+	NOUN
aiti-9252	443	5	λ	λ	X
aiti-9252	443	6	+	+	NOUN
aiti-9252	443	7	=	=	SYM
aiti-9252	443	8	λ	λ	NOUN
aiti-9252	443	9	+	+	NOUN
aiti-9252	443	10	−	−	PROPN
aiti-9252	443	11	θ	θ	SYM
aiti-9252	444	1	θ	θ	PROPN
aiti-9252	444	2	ω	ω	NUM
aiti-9252	444	3	ωγ	ωγ	ADP
aiti-9252	444	4	t	t	PROPN
aiti-9252	444	5	t	t	PROPN
aiti-9252	444	6	d	d	X
aiti-9252	444	7	t	t	PROPN
aiti-9252	444	8	d	d	X
aiti-9252	444	9	t	t	PROPN
aiti-9252	444	10	(	(	PUNCT
aiti-9252	444	11	a10	a10	NOUN
aiti-9252	444	12	)	)	PUNCT
aiti-9252	444	13	to	to	PART
aiti-9252	444	14	satisfy	satisfy	VERB
aiti-9252	444	15	�	�	PROPN
aiti-9252	444	16	(	(	PUNCT
aiti-9252	444	17	(	(	PUNCT
aiti-9252	444	18	,	,	PUNCT
aiti-9252	444	19	�	�	PROPN
aiti-9252	444	20	)	)	PUNCT
aiti-9252	444	21	<	<	X
aiti-9252	444	22	0	0	NUM
aiti-9252	444	23	,	,	PUNCT
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aiti-9252	444	25	following	follow	VERB
aiti-9252	444	26	inequality	inequality	NOUN
aiti-9252	444	27	is	be	AUX
aiti-9252	444	28	considered	consider	VERB
aiti-9252	444	29	:	:	PUNCT
aiti-9252	444	30	vex	vex	VERB
aiti-9252	444	31	(	(	PUNCT
aiti-9252	444	32	)	)	PUNCT
aiti-9252	444	33	(	(	PUNCT
aiti-9252	444	34	)	)	PUNCT
aiti-9252	444	35	(	(	PUNCT
aiti-9252	444	36	)	)	PUNCT
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aiti-9252	444	38	,	,	PUNCT
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aiti-9252	444	42	t	t	PROPN
aiti-9252	444	43	t	t	PROPN
aiti-9252	444	44	t	t	PROPN
aiti-9252	444	45	t	t	PROPN
aiti-9252	444	46	z	z	PROPN
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aiti-9252	444	48	t	t	PROPN
aiti-9252	444	49	t	t	PROPN
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aiti-9252	444	51	z	z	PROPN
aiti-9252	444	52	z	z	NOUN
aiti-9252	445	1	p	p	NOUN
aiti-9252	446	1	c	c	NOUN
aiti-9252	446	2	c	c	NOUN
aiti-9252	446	3	t	t	NOUN
aiti-9252	446	4	c	c	PROPN
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aiti-9252	446	6	t	t	PROPN
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aiti-9252	447	3	i	i	PRON
aiti-9252	447	4	λ	λ	PROPN
aiti-9252	447	5	ω	ω	PROPN
aiti-9252	448	1	+	+	X
aiti-9252	448	2	ω	ω	NUM
aiti-9252	448	3	λ	λ	NOUN
aiti-9252	448	4	+	+	NOUN
aiti-9252	448	5	λ	λ	X
aiti-9252	448	6	+	+	CCONJ
aiti-9252	448	7	<	<	X
aiti-9252	448	8	∀	∀	X
aiti-9252	448	9	∈	∈	NOUN
aiti-9252	448	10	∆	∆	X
aiti-9252	448	11	λ	λ	X
aiti-9252	448	12	+	+	CCONJ
aiti-9252	448	13	−	−	PROPN
aiti-9252	448	14			PROPN
aiti-9252	448	15			PROPN
aiti-9252	448	16			NOUN
aiti-9252	448	17			NOUN
aiti-9252	448	18			NOUN
aiti-9252	448	19			VERB
aiti-9252	448	20			PRON
aiti-9252	448	21			PUNCT
aiti-9252	449	1	θ	θ	X
aiti-9252	449	2	θ	θ	PUNCT
aiti-9252	449	3	θ	θ	PUNCT
aiti-9252	449	4	γ	γ	X
aiti-9252	449	5	t	t	PROPN
aiti-9252	449	6	t	t	PROPN
aiti-9252	449	7	d	d	X
aiti-9252	449	8	t	t	PROPN
aiti-9252	449	9	d	d	X
aiti-9252	449	10	t	t	PROPN
aiti-9252	449	11	(	(	PUNCT
aiti-9252	449	12	a11	a11	PROPN
aiti-9252	449	13	)	)	PUNCT
aiti-9252	449	14	;	;	PUNCT
aiti-9252	449	15	≜	≜	NOUN
aiti-9252	449	16	diag(@	diag(@	PROPN
aiti-9252	449	17	,	,	PUNCT
aiti-9252	449	18	@	@	ADP
aiti-9252	449	19	(	(	PUNCT
aiti-9252	449	20	)	)	PUNCT
aiti-9252	449	21	≜	≜	NOUN
aiti-9252	449	22	λa	λa	ADP
aiti-9252	449	23	�	�	PROPN
aiti-9252	449	24	(@	(@	NOUN
aiti-9252	449	25	,	,	PUNCT
aiti-9252	449	26	@	@	ADP
aiti-9252	449	27	(	(	PUNCT
aiti-9252	449	28	>	>	SYM
aiti-9252	449	29	0	0	NUM
aiti-9252	449	30	∈	∈	PROPN
aiti-9252	449	31	ℝ	ℝ	PROPN
aiti-9252	449	32	�	�	PROPN
aiti-9252	449	33	×	×	NOUN
aiti-9252	449	34	�	�	PROPN
aiti-9252	449	35	)	)	PUNCT
aiti-9252	449	36	and	and	CCONJ
aiti-9252	449	37	c	c	NOUN
aiti-9252	449	38	≜	≜	NOUN
aiti-9252	449	39	@	@	ADP
aiti-9252	449	40	are	be	AUX
aiti-9252	449	41	defined	define	VERB
aiti-9252	449	42	,	,	PUNCT
aiti-9252	449	43	then	then	ADV
aiti-9252	449	44	preand	preand	VERB
aiti-9252	449	45	post	post	ADJ
aiti-9252	449	46	-	-	ADJ
aiti-9252	449	47	multiplying	multiply	VERB
aiti-9252	449	48	both	both	DET
aiti-9252	449	49	sides	side	NOUN
aiti-9252	449	50	of	of	ADP
aiti-9252	449	51	eq	eq	PROPN
aiti-9252	449	52	.	.	PUNCT
aiti-9252	450	1	(	(	PUNCT
aiti-9252	450	2	a11	a11	PROPN
aiti-9252	450	3	)	)	PUNCT
aiti-9252	450	4	by	by	ADP
aiti-9252	450	5	diagq	diagq	NOUN
aiti-9252	450	6	;	;	PUNCT
aiti-9252	450	7	,	,	PUNCT
aiti-9252	450	8	fjr	fjr	VERB
aiti-9252	450	9	and	and	CCONJ
aiti-9252	450	10	using	use	VERB
aiti-9252	450	11	lemmas	lemmas	PROPN
aiti-9252	450	12	1	1	NUM
aiti-9252	450	13	and	and	CCONJ
aiti-9252	450	14	2	2	NUM
aiti-9252	450	15	,	,	PUNCT
aiti-9252	450	16	the	the	DET
aiti-9252	450	17	following	follow	VERB
aiti-9252	450	18	theorem	theorem	NOUN
aiti-9252	450	19	is	be	AUX
aiti-9252	450	20	obtained	obtain	VERB
aiti-9252	450	21	:	:	PUNCT
aiti-9252	450	22	167	167	NUM
aiti-9252	450	23	advances	advance	NOUN
aiti-9252	450	24	in	in	ADP
aiti-9252	450	25	technology	technology	NOUN
aiti-9252	450	26	innovation	innovation	NOUN
aiti-9252	450	27	,	,	PUNCT
aiti-9252	450	28	vol	vol	NOUN
aiti-9252	450	29	.	.	PROPN
aiti-9252	450	30	7	7	NUM
aiti-9252	450	31	,	,	PUNCT
aiti-9252	450	32	no	no	INTJ
aiti-9252	450	33	.	.	NOUN
aiti-9252	450	34	3	3	NUM
aiti-9252	450	35	,	,	PUNCT
aiti-9252	450	36	2022	2022	NUM
aiti-9252	450	37	,	,	PUNCT
aiti-9252	450	38	pp	pp	ADJ
aiti-9252	450	39	.	.	PUNCT
aiti-9252	451	1	155	155	NUM
aiti-9252	451	2	-	-	SYM
aiti-9252	451	3	168	168	NUM
aiti-9252	451	4	theorem	theorem	VERB
aiti-9252	451	5	a	a	PRON
aiti-9252	451	6	:	:	PUNCT
aiti-9252	451	7	the	the	DET
aiti-9252	451	8	system	system	NOUN
aiti-9252	451	9	in	in	ADP
aiti-9252	451	10	eqs	eqs	PROPN
aiti-9252	451	11	.	.	PUNCT
aiti-9252	452	1	(	(	PUNCT
aiti-9252	452	2	a1	a1	NOUN
aiti-9252	452	3	)	)	PUNCT
aiti-9252	452	4	and	and	CCONJ
aiti-9252	452	5	(	(	PUNCT
aiti-9252	452	6	a2	a2	PROPN
aiti-9252	452	7	)	)	PUNCT
aiti-9252	452	8	is	be	AUX
aiti-9252	452	9	asymptotically	asymptotically	ADV
aiti-9252	452	10	stable	stable	ADJ
aiti-9252	452	11	if	if	SCONJ
aiti-9252	452	12	there	there	PRON
aiti-9252	452	13	exists	exist	VERB
aiti-9252	452	14	a	a	DET
aiti-9252	452	15	solution	solution	NOUN
aiti-9252	452	16	;	;	PUNCT
aiti-9252	452	17	>	>	X
aiti-9252	452	18	0,c	0,c	NOUN
aiti-9252	452	19	,	,	PUNCT
aiti-9252	452	20	g	g	PROPN
aiti-9252	452	21	>	>	X
aiti-9252	452	22	0	0	NUM
aiti-9252	452	23	,	,	PUNCT
aiti-9252	452	24	h	h	NOUN
aiti-9252	452	25	>	>	X
aiti-9252	452	26	0	0	PROPN
aiti-9252	452	27	,	,	PUNCT
aiti-9252	452	28	i	i	PRON
aiti-9252	452	29	>	>	X
aiti-9252	452	30	0	0	PROPN
aiti-9252	452	31	,	,	PUNCT
aiti-9252	452	32	p	p	X
aiti-9252	452	33	>	>	X
aiti-9252	452	34	0	0	PUNCT
aiti-9252	452	35	and	and	CCONJ
aiti-9252	452	36	j	j	PROPN
aiti-9252	452	37	>	>	X
aiti-9252	452	38	0	0	PUNCT
aiti-9252	453	1	satisfying	satisfy	VERB
aiti-9252	453	2	the	the	DET
aiti-9252	453	3	following	follow	VERB
aiti-9252	453	4	lmi	lmi	PROPN
aiti-9252	453	5	:	:	PUNCT
aiti-9252	453	6	11	11	NUM
aiti-9252	453	7	12	12	NUM
aiti-9252	453	8	22	22	NUM
aiti-9252	453	9	12	12	NUM
aiti-9252	453	10	(	(	PUNCT
aiti-9252	453	11	)	)	PUNCT
aiti-9252	453	12	0	0	NUM
aiti-9252	453	13	0	0	NUM
aiti-9252	453	14	0	0	NUM
aiti-9252	453	15	0	0	NUM
aiti-9252	453	16	(	(	PUNCT
aiti-9252	453	17	)	)	PUNCT
aiti-9252	453	18	0	0	NUM
aiti-9252	453	19	0	0	NUM
aiti-9252	453	20	(	(	PUNCT
aiti-9252	453	21	)	)	PUNCT
aiti-9252	453	22	0	0	NUM
aiti-9252	453	23	0	0	NUM
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aiti-9252	453	25	00	00	NUM
aiti-9252	453	26	0	0	NUM
aiti-9252	453	27	0	0	NUM
aiti-9252	453	28	00	00	NUM
aiti-9252	453	29	0	0	NUM
aiti-9252	453	30	0	0	NUM
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aiti-9252	453	32	)	)	PUNCT
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aiti-9252	453	35	0	0	NUM
aiti-9252	453	36	0	0	NUM
aiti-9252	453	37	00	00	NUM
aiti-9252	453	38	0	0	NUM
aiti-9252	453	39	000000	000000	NUM
aiti-9252	453	40	0	0	NUM
aiti-9252	453	41	00	00	NUM
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aiti-9252	453	44	0	0	NUM
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aiti-9252	453	47	00	00	NUM
aiti-9252	453	48	0000	0000	NUM
aiti-9252	454	1	t	t	NOUN
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aiti-9252	455	2	t	t	X
aiti-9252	455	3	tt	tt	PROPN
aiti-9252	455	4	x	x	PROPN
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aiti-9252	455	6	e	e	X
aiti-9252	455	7	z	z	NOUN
aiti-9252	455	8	e	e	X
aiti-9252	455	9	ee	ee	PROPN
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aiti-9252	455	15	t	t	PROPN
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aiti-9252	455	18	z	z	NOUN
aiti-9252	455	19	x	x	PUNCT
aiti-9252	455	20	z	z	NOUN
aiti-9252	455	21	z	z	NOUN
aiti-9252	455	22	e	e	NOUN
aiti-9252	455	23	z	z	NOUN
aiti-9252	455	24	z	z	PROPN
aiti-9252	455	25	pz	pz	PROPN
aiti-9252	455	26	z	z	PROPN
aiti-9252	455	27	e	e	PROPN
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aiti-9252	455	29	n	n	CCONJ
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aiti-9252	455	31	l	l	X
aiti-9252	455	32	e	e	X
aiti-9252	455	33	l	l	NOUN
aiti-9252	455	34	l	l	NOUN
aiti-9252	455	35	z	z	NOUN
aiti-9252	455	36	l	l	NOUN
aiti-9252	455	37	z	z	NOUN
aiti-9252	455	38	gd	gd	PROPN
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aiti-9252	455	43	d	d	X
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aiti-9252	455	45	s	s	VERB
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aiti-9252	456	5	s	s	X
aiti-9252	456	6	cs	cs	PROPN
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aiti-9252	457	1	d	d	X
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aiti-9252	457	5	i	i	PROPN
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aiti-9252	457	8	d	d	X
aiti-9252	457	9	cs	cs	PROPN
aiti-9252	457	10	cs	cs	PROPN
aiti-9252	457	11	ics	ics	PROPN
aiti-9252	458	1	i	i	PRON
aiti-9252	458	2	s	s	VERB
aiti-9252	458	3	i	i	PRON
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aiti-9252	459	1	i	i	PRON
aiti-9252	459	2	i	i	INTJ
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aiti-9252	460	2	i	i	PRON
aiti-9252	460	3	d	d	VERB
aiti-9252	460	4			VERB
aiti-9252	460	5	+	+	NOUN
aiti-9252	460	6	ψ	ψ	X
aiti-9252	460	7	ψ	ψ	X
aiti-9252	460	8	ψ	ψ	X
aiti-9252	460	9	−	−	X
aiti-9252	461	1	+	+	NOUN
aiti-9252	461	2	ψ	ψ	X
aiti-9252	461	3	−	−	PROPN
aiti-9252	461	4	+	+	CCONJ
aiti-9252	461	5	−+	−+	PROPN
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aiti-9252	461	8	=	=	PUNCT
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aiti-9252	462	12	η	η	PROPN
aiti-9252	462	13	ξ	ξ	X
aiti-9252	462	14	λ	λ	X
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aiti-9252	462	17	,	,	PUNCT
aiti-9252	462	18			PROPN
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aiti-9252	462	21			NOUN
aiti-9252	462	22			NOUN
aiti-9252	462	23			NOUN
aiti-9252	462	24			NOUN
aiti-9252	462	25			NOUN
aiti-9252	462	26			NOUN
aiti-9252	462	27			NOUN
aiti-9252	462	28			NOUN
aiti-9252	462	29			NOUN
aiti-9252	462	30			NOUN
aiti-9252	462	31			NOUN
aiti-9252	462	32			NOUN
aiti-9252	462	33			NOUN
aiti-9252	462	34			NOUN
aiti-9252	462	35	<	<	X
aiti-9252	462	36			NOUN
aiti-9252	462	37			NOUN
aiti-9252	462	38			NOUN
aiti-9252	462	39			NOUN
aiti-9252	462	40			NOUN
aiti-9252	462	41			NOUN
aiti-9252	462	42			NOUN
aiti-9252	462	43			NOUN
aiti-9252	462	44			NOUN
aiti-9252	462	45			NOUN
aiti-9252	462	46			NOUN
aiti-9252	462	47			NOUN
aiti-9252	462	48			NOUN
aiti-9252	462	49			NOUN
aiti-9252	462	50			NOUN
aiti-9252	462	51			NOUN
aiti-9252	462	52			PUNCT
aiti-9252	462	53	∀	∀	PUNCT
aiti-9252	463	1	∈∆θ	∈∆θ	NOUN
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aiti-9252	463	3	a12	a12	PROPN
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aiti-9252	463	5	2	2	NUM
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aiti-9252	463	9	t	t	PROPN
aiti-9252	463	10	t	t	PROPN
aiti-9252	463	11	t	t	PROPN
aiti-9252	463	12	g	g	PROPN
aiti-9252	463	13	n	n	ADP
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aiti-9252	463	15	na	na	X
aiti-9252	463	16	s	s	PROPN
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aiti-9252	463	19	b	b	PROPN
aiti-9252	463	20	b	b	PROPN
aiti-9252	463	21	b	b	NOUN
aiti-9252	464	1	i	i	PRON
aiti-9252	464	2	iψ	iψ	VERB
aiti-9252	464	3	=	=	PUNCT
aiti-9252	465	1	+	+	CCONJ
aiti-9252	465	2	−	−	ADP
aiti-9252	465	3	−	−	PROPN
aiti-9252	466	1	+	+	CCONJ
aiti-9252	466	2	+	+	CCONJ
aiti-9252	466	3	+	+	ADJ
aiti-9252	466	4	α	α	PROPN
aiti-9252	466	5	η	η	PROPN
aiti-9252	466	6	ε	ε	PROPN
aiti-9252	466	7	ξεw	ξεw	PROPN
aiti-9252	466	8	w	w	PROPN
aiti-9252	466	9	(	(	PUNCT
aiti-9252	466	10	a13	a13	PROPN
aiti-9252	466	11	)	)	PUNCT
aiti-9252	466	12	12	12	NUM
aiti-9252	466	13	(	(	PUNCT
aiti-9252	466	14	)	)	PUNCT
aiti-9252	466	15	(	(	PUNCT
aiti-9252	466	16	)	)	PUNCT
aiti-9252	466	17	t	t	PROPN
aiti-9252	466	18	e	e	PROPN
aiti-9252	466	19	esa	esa	PROPN
aiti-9252	466	20	gcsψ	gcsψ	PROPN
aiti-9252	466	21	=	=	PUNCT
aiti-9252	467	1	+	+	PROPN
aiti-9252	467	2	θ	θ	PROPN
aiti-9252	467	3	θ	θ	PROPN
aiti-9252	467	4	(	(	PUNCT
aiti-9252	467	5	a14	a14	PROPN
aiti-9252	467	6	)	)	PUNCT
aiti-9252	467	7	2	2	NUM
aiti-9252	467	8	2	2	NUM
aiti-9252	467	9	22	22	NUM
aiti-9252	467	10	(	(	PUNCT
aiti-9252	467	11	)	)	PUNCT
aiti-9252	467	12	(	(	PUNCT
aiti-9252	467	13	)	)	PUNCT
aiti-9252	467	14	(	(	PUNCT
aiti-9252	467	15	)	)	PUNCT
aiti-9252	467	16	g	g	PROPN
aiti-9252	467	17	g	g	PROPN
aiti-9252	467	18	t	t	PROPN
aiti-9252	467	19	t	t	NOUN
aiti-9252	467	20	t	t	X
aiti-9252	467	21	e	e	X
aiti-9252	467	22	e	e	X
aiti-9252	467	23	e	e	X
aiti-9252	467	24	e	e	X
aiti-9252	467	25	n	n	ADV
aiti-9252	467	26	na	na	ADP
aiti-9252	467	27	s	s	NOUN
aiti-9252	467	28	s	s	X
aiti-9252	467	29	a	a	DET
aiti-9252	467	30	gcs	gcs	PROPN
aiti-9252	467	31	s	s	PROPN
aiti-9252	467	32	c	c	NOUN
aiti-9252	467	33	g	g	NOUN
aiti-9252	468	1	i	i	PRON
aiti-9252	468	2	iψ	iψ	VERB
aiti-9252	468	3	=	=	PUNCT
aiti-9252	469	1	+	+	CCONJ
aiti-9252	469	2	−	−	ADP
aiti-9252	469	3	−	−	PROPN
aiti-9252	470	1	+	+	CCONJ
aiti-9252	471	1	+	+	NUM
aiti-9252	471	2	θ	θ	PROPN
aiti-9252	471	3	θ	θ	NOUN
aiti-9252	471	4	θ	θ	X
aiti-9252	471	5	βε	βε	INTJ
aiti-9252	471	6	λε	λε	X
aiti-9252	471	7	(	(	PUNCT
aiti-9252	471	8	a15	a15	NOUN
aiti-9252	471	9	)	)	PUNCT
aiti-9252	471	10	by	by	ADP
aiti-9252	471	11	solving	solve	VERB
aiti-9252	471	12	the	the	DET
aiti-9252	471	13	lmi	lmi	PROPN
aiti-9252	471	14	in	in	ADP
aiti-9252	471	15	eq	eq	ADP
aiti-9252	471	16	.	.	PUNCT
aiti-9252	472	1	(	(	PUNCT
aiti-9252	472	2	23	23	NUM
aiti-9252	472	3	)	)	PUNCT
aiti-9252	472	4	in	in	ADP
aiti-9252	472	5	advance	advance	NOUN
aiti-9252	472	6	,	,	PUNCT
aiti-9252	472	7	the	the	DET
aiti-9252	472	8	observer	observer	NOUN
aiti-9252	472	9	gain	gain	NOUN
aiti-9252	472	10	matrix	matrix	NOUN
aiti-9252	472	11	�	�	PROPN
aiti-9252	472	12	is	be	AUX
aiti-9252	472	13	derived	derive	VERB
aiti-9252	472	14	as	as	ADP
aiti-9252	472	15	�	�	PROPN
aiti-9252	472	16	�	�	PROPN
aiti-9252	472	17	4(a	4(a	NUM
aiti-9252	472	18	�	�	PROPN
aiti-9252	472	19	�	�	PROPN
aiti-9252	472	20	(	(	PUNCT
aiti-9252	472	21	.	.	PUNCT
aiti-9252	473	1	if	if	SCONJ
aiti-9252	473	2	the	the	DET
aiti-9252	473	3	solution	solution	NOUN
aiti-9252	473	4	of	of	ADP
aiti-9252	473	5	the	the	DET
aiti-9252	473	6	lmi	lmi	PROPN
aiti-9252	473	7	condition	condition	NOUN
aiti-9252	473	8	in	in	ADP
aiti-9252	473	9	eq	eq	ADP
aiti-9252	473	10	.	.	PUNCT
aiti-9252	474	1	(	(	PUNCT
aiti-9252	474	2	a12	a12	PROPN
aiti-9252	474	3	)	)	PUNCT
aiti-9252	474	4	is	be	AUX
aiti-9252	474	5	obtained	obtain	VERB
aiti-9252	474	6	,	,	PUNCT
aiti-9252	474	7	then	then	ADV
aiti-9252	474	8	the	the	DET
aiti-9252	474	9	control	control	NOUN
aiti-9252	474	10	gain	gain	NOUN
aiti-9252	474	11	matrix	matrix	NOUN
aiti-9252	474	12	can	can	AUX
aiti-9252	474	13	be	be	AUX
aiti-9252	474	14	computed	compute	VERB
aiti-9252	474	15	as	as	ADP
aiti-9252	474	16	�	�	PROPN
aiti-9252	474	17	c@a	c@a	PROPN
aiti-9252	474	18	�	�	PROPN
aiti-9252	474	19	.	.	PUNCT
aiti-9252	475	1	therefore	therefore	ADV
aiti-9252	475	2	,	,	PUNCT
aiti-9252	475	3	the	the	DET
aiti-9252	475	4	control	control	PROPN
aiti-9252	475	5	law	law	PROPN
aiti-9252	475	6	�	�	PROPN
aiti-9252	475	7	(	(	PUNCT
aiti-9252	475	8	�	�	PROPN
aiti-9252	475	9	)	)	PUNCT
aiti-9252	475	10	�	�	PROPN
aiti-9252	475	11	#	#	NOUN
aiti-9252	475	12	$	$	SYM
aiti-9252	475	13	(	(	PUNCT
aiti-9252	475	14	�	�	PROPN
aiti-9252	475	15	)	)	PUNCT
aiti-9252	475	16	is	be	AUX
aiti-9252	475	17	the	the	DET
aiti-9252	475	18	observer	observer	NOUN
aiti-9252	475	19	-	-	PUNCT
aiti-9252	475	20	based	base	VERB
aiti-9252	475	21	control	control	NOUN
aiti-9252	475	22	.	.	PUNCT
aiti-9252	476	1	168	168	NUM