id	sid	tid	token	lemma	pos
alkej-123	1	1	4d6963726f736f667420576f7264202d20c7cee1c7d520e6c7edc7e320e6e4e6d1203135342d313434	4d6963726f736f667420576f7264202d20c7cee1c7d520e6c7edc7e320e6e4e6d1203135342d313434	NOUN
alkej-123	1	2	>	>	X
alkej-123	1	3	1	1	NUM
alkej-123	1	4	al	al	PROPN
alkej-123	1	5	-	-	PUNCT
alkej-123	1	6	khwarizmi	khwarizmi	PROPN
alkej-123	1	7	engineering	engineering	PROPN
alkej-123	1	8	journal	journal	PROPN
alkej-123	1	9	al	al	PROPN
alkej-123	1	10	-	-	PUNCT
alkej-123	1	11	khwarizmi	khwarizmi	PROPN
alkej-123	1	12	engineering	engineering	NOUN
alkej-123	1	13	journal	journal	PROPN
alkej-123	1	14	,	,	PUNCT
alkej-123	1	15	vol	vol	NOUN
alkej-123	1	16	.	.	PROPN
alkej-123	1	17	14	14	NUM
alkej-123	1	18	,	,	PUNCT
alkej-123	1	19	no	no	INTJ
alkej-123	1	20	.	.	NOUN
alkej-123	1	21	1	1	NUM
alkej-123	1	22	,	,	PUNCT
alkej-123	1	23	march	march	PROPN
alkej-123	1	24	,	,	PUNCT
alkej-123	1	25	(	(	PUNCT
alkej-123	1	26	2018	2018	NUM
alkej-123	1	27	)	)	PUNCT
alkej-123	1	28	p.p	p.p	PROPN
alkej-123	1	29	.	.	NOUN
alkej-123	1	30	145155	145155	NUM
alkej-123	1	31	design	design	NOUN
alkej-123	1	32	of	of	ADP
alkej-123	1	33	hybrid	hybrid	ADJ
alkej-123	1	34	neural	neural	ADJ
alkej-123	1	35	fuzzy	fuzzy	ADJ
alkej-123	1	36	controller	controller	NOUN
alkej-123	1	37	for	for	ADP
alkej-123	1	38	human	human	ADJ
alkej-123	1	39	robotic	robotic	ADJ
alkej-123	1	40	leg	leg	NOUN
alkej-123	1	41	system	system	NOUN
alkej-123	1	42	ekhlas	ekhla	NOUN
alkej-123	1	43	h.	h.	PROPN
alkej-123	1	44	karam	karam	PROPN
alkej-123	1	45	*	*	PROPN
alkej-123	1	46	ayam	ayam	PROPN
alkej-123	1	47	m.	m.	NOUN
alkej-123	1	48	abbass	abbass	PROPN
alkej-123	1	49	*	*	PROPN
alkej-123	1	50	*	*	PROPN
alkej-123	1	51	noor	noor	PROPN
alkej-123	1	52	s.	s.	PROPN
alkej-123	1	53	abdul	abdul	PROPN
alkej-123	1	54	-	-	PUNCT
alkej-123	1	55	jaleel	jaleel	PROPN
alkej-123	1	56	*	*	PUNCT
alkej-123	1	57	*	*	PUNCT
alkej-123	1	58	*	*	PUNCT
alkej-123	1	59	*	*	PUNCT
alkej-123	1	60	,	,	PUNCT
alkej-123	1	61	*	*	PUNCT
alkej-123	1	62	*	*	PUNCT
alkej-123	1	63	department	department	NOUN
alkej-123	1	64	of	of	ADP
alkej-123	1	65	computer	computer	NOUN
alkej-123	1	66	engineering/	engineering/	NUM
alkej-123	1	67	university	university	NOUN
alkej-123	1	68	of	of	ADP
alkej-123	1	69	al	al	PROPN
alkej-123	1	70	-	-	PUNCT
alkej-123	1	71	mustansyria	mustansyria	PROPN
alkej-123	1	72	*	*	PUNCT
alkej-123	1	73	*	*	PUNCT
alkej-123	1	74	*	*	PUNCT
alkej-123	1	75	department	department	NOUN
alkej-123	1	76	of	of	ADP
alkej-123	1	77	electrical	electrical	ADJ
alkej-123	1	78	engineering/	engineering/	NUM
alkej-123	1	79	university	university	NOUN
alkej-123	1	80	of	of	ADP
alkej-123	1	81	al	al	PROPN
alkej-123	1	82	-	-	PUNCT
alkej-123	1	83	mustansyria	mustansyria	PROPN
alkej-123	1	84	*	*	NOUN
alkej-123	1	85	email	email	NOUN
alkej-123	1	86	:	:	PUNCT
alkej-123	1	87	ekhlashameed@yahoo.co.uk	ekhlashameed@yahoo.co.uk	VERB
alkej-123	1	88	*	*	PUNCT
alkej-123	1	89	*	*	NOUN
alkej-123	1	90	email	email	NOUN
alkej-123	1	91	:	:	PUNCT
alkej-123	1	92	ayammohsen@yahoo.com	ayammohsen@yahoo.com	X
alkej-123	2	1	*	*	PUNCT
alkej-123	2	2	*	*	PUNCT
alkej-123	2	3	*	*	NOUN
alkej-123	2	4	email	email	NOUN
alkej-123	2	5	:	:	PUNCT
alkej-123	2	6	mail_ns1@yhoo.com	mail_ns1@yhoo.com	X
alkej-123	2	7	(	(	PUNCT
alkej-123	2	8	received	receive	VERB
alkej-123	2	9	10	10	NUM
alkej-123	2	10	january	january	PROPN
alkej-123	2	11	2017	2017	NUM
alkej-123	2	12	;	;	PUNCT
alkej-123	2	13	accepted	accept	VERB
alkej-123	2	14	7	7	NUM
alkej-123	2	15	august	august	PROPN
alkej-123	2	16	2017	2017	NUM
alkej-123	2	17	)	)	PUNCT
alkej-123	2	18	https://doi.org/10.22153/kej.2018.08.007	https://doi.org/10.22153/kej.2018.08.007	PUNCT
alkej-123	2	19	abstract	abstract	ADV
alkej-123	2	20	in	in	ADP
alkej-123	2	21	this	this	DET
alkej-123	2	22	paper	paper	NOUN
alkej-123	2	23	,	,	PUNCT
alkej-123	2	24	the	the	DET
alkej-123	2	25	human	human	ADJ
alkej-123	2	26	robotic	robotic	ADJ
alkej-123	2	27	leg	leg	NOUN
alkej-123	2	28	which	which	PRON
alkej-123	2	29	can	can	AUX
alkej-123	2	30	be	be	AUX
alkej-123	2	31	represented	represent	VERB
alkej-123	2	32	mathematically	mathematically	ADV
alkej-123	2	33	by	by	ADP
alkej-123	2	34	single	single	ADJ
alkej-123	2	35	input	input	NOUN
alkej-123	2	36	-	-	PUNCT
alkej-123	2	37	single	single	ADJ
alkej-123	2	38	output	output	NOUN
alkej-123	2	39	(	(	PUNCT
alkej-123	2	40	siso	siso	NOUN
alkej-123	2	41	)	)	PUNCT
alkej-123	2	42	nonlinear	nonlinear	ADJ
alkej-123	2	43	differential	differential	ADJ
alkej-123	2	44	model	model	NOUN
alkej-123	2	45	with	with	ADP
alkej-123	2	46	one	one	NUM
alkej-123	2	47	degree	degree	NOUN
alkej-123	2	48	of	of	ADP
alkej-123	2	49	freedom	freedom	NOUN
alkej-123	2	50	,	,	PUNCT
alkej-123	2	51	is	be	AUX
alkej-123	2	52	analyzed	analyze	VERB
alkej-123	2	53	and	and	CCONJ
alkej-123	2	54	then	then	ADV
alkej-123	2	55	a	a	DET
alkej-123	2	56	simple	simple	ADJ
alkej-123	2	57	hybrid	hybrid	ADJ
alkej-123	2	58	neural	neural	ADJ
alkej-123	2	59	fuzzy	fuzzy	ADJ
alkej-123	2	60	controller	controller	NOUN
alkej-123	2	61	is	be	AUX
alkej-123	2	62	designed	design	VERB
alkej-123	2	63	to	to	PART
alkej-123	2	64	improve	improve	VERB
alkej-123	2	65	the	the	DET
alkej-123	2	66	performance	performance	NOUN
alkej-123	2	67	of	of	ADP
alkej-123	2	68	this	this	DET
alkej-123	2	69	human	human	ADJ
alkej-123	2	70	robotic	robotic	ADJ
alkej-123	2	71	leg	leg	NOUN
alkej-123	2	72	model	model	NOUN
alkej-123	2	73	.	.	PUNCT
alkej-123	3	1	this	this	DET
alkej-123	3	2	controller	controller	NOUN
alkej-123	3	3	consists	consist	VERB
alkej-123	3	4	from	from	ADP
alkej-123	3	5	siso	siso	PROPN
alkej-123	3	6	fuzzy	fuzzy	ADJ
alkej-123	3	7	proportional	proportional	ADJ
alkej-123	3	8	derivative	derivative	ADJ
alkej-123	3	9	(	(	PUNCT
alkej-123	3	10	fpd	fpd	NOUN
alkej-123	3	11	)	)	PUNCT
alkej-123	3	12	controller	controller	NOUN
alkej-123	3	13	with	with	ADP
alkej-123	3	14	nine	nine	NUM
alkej-123	3	15	rules	rule	NOUN
alkej-123	3	16	summing	sum	VERB
alkej-123	3	17	with	with	ADP
alkej-123	3	18	single	single	ADJ
alkej-123	3	19	node	node	ADJ
alkej-123	3	20	neural	neural	ADJ
alkej-123	3	21	integral	integral	ADJ
alkej-123	3	22	derivative	derivative	ADJ
alkej-123	3	23	(	(	PUNCT
alkej-123	3	24	nid	nid	PROPN
alkej-123	3	25	)	)	PUNCT
alkej-123	3	26	controller	controller	NOUN
alkej-123	3	27	with	with	ADP
alkej-123	3	28	nonlinear	nonlinear	ADJ
alkej-123	3	29	function	function	NOUN
alkej-123	3	30	.	.	PUNCT
alkej-123	4	1	the	the	DET
alkej-123	4	2	matlab	matlab	PROPN
alkej-123	4	3	simulation	simulation	NOUN
alkej-123	4	4	results	result	VERB
alkej-123	4	5	for	for	ADP
alkej-123	4	6	nonlinear	nonlinear	ADJ
alkej-123	4	7	robotic	robotic	ADJ
alkej-123	4	8	leg	leg	NOUN
alkej-123	4	9	model	model	NOUN
alkej-123	4	10	with	with	ADP
alkej-123	4	11	the	the	DET
alkej-123	4	12	suggested	suggest	VERB
alkej-123	4	13	controller	controller	NOUN
alkej-123	4	14	showed	show	VERB
alkej-123	4	15	that	that	SCONJ
alkej-123	4	16	the	the	DET
alkej-123	4	17	efficiency	efficiency	NOUN
alkej-123	4	18	of	of	ADP
alkej-123	4	19	this	this	DET
alkej-123	4	20	controller	controller	NOUN
alkej-123	4	21	when	when	SCONJ
alkej-123	4	22	compared	compare	VERB
alkej-123	4	23	with	with	ADP
alkej-123	4	24	the	the	DET
alkej-123	4	25	results	result	NOUN
alkej-123	4	26	of	of	ADP
alkej-123	4	27	the	the	DET
alkej-123	4	28	leg	leg	NOUN
alkej-123	4	29	model	model	NOUN
alkej-123	4	30	that	that	PRON
alkej-123	4	31	is	be	AUX
alkej-123	4	32	controlled	control	VERB
alkej-123	4	33	by	by	ADP
alkej-123	4	34	pi+2d	pi+2d	NOUN
alkej-123	4	35	,	,	PUNCT
alkej-123	4	36	pd+nid	pd+nid	X
alkej-123	4	37	,	,	PUNCT
alkej-123	4	38	and	and	CCONJ
alkej-123	4	39	fpd	fpd	NOUN
alkej-123	4	40	-	-	PUNCT
alkej-123	4	41	id	id	NOUN
alkej-123	4	42	controllers	controller	NOUN
alkej-123	4	43	.	.	PUNCT
alkej-123	5	1	keywords	keyword	NOUN
alkej-123	5	2	:	:	PUNCT
alkej-123	5	3	fuzzy	fuzzy	ADJ
alkej-123	5	4	proportional	proportional	ADJ
alkej-123	5	5	derivative	derivative	ADJ
alkej-123	5	6	controller	controller	NOUN
alkej-123	5	7	,	,	PUNCT
alkej-123	5	8	matlab	matlab	PROPN
alkej-123	5	9	simulation	simulation	NOUN
alkej-123	5	10	results	result	NOUN
alkej-123	5	11	,	,	PUNCT
alkej-123	5	12	nonlinear	nonlinear	ADJ
alkej-123	5	13	differential	differential	PROPN
alkej-123	5	14	leg	leg	NOUN
alkej-123	5	15	model	model	NOUN
alkej-123	5	16	,	,	PUNCT
alkej-123	5	17	pid	pid	NOUN
alkej-123	5	18	controller	controller	NOUN
alkej-123	5	19	,	,	PUNCT
alkej-123	5	20	single	single	ADJ
alkej-123	5	21	node	node	ADJ
alkej-123	5	22	neural	neural	ADJ
alkej-123	5	23	controller	controller	NOUN
alkej-123	5	24	.	.	PUNCT
alkej-123	6	1	1	1	X
alkej-123	6	2	.	.	X
alkej-123	6	3	introduction	introduction	NOUN
alkej-123	6	4	the	the	DET
alkej-123	6	5	classical	classical	ADJ
alkej-123	6	6	robots	robot	NOUN
alkej-123	6	7	are	be	AUX
alkej-123	6	8	commonly	commonly	ADV
alkej-123	6	9	used	use	VERB
alkej-123	6	10	for	for	ADP
alkej-123	6	11	industrial	industrial	ADJ
alkej-123	6	12	automation	automation	NOUN
alkej-123	6	13	and	and	CCONJ
alkej-123	6	14	use	use	NOUN
alkej-123	6	15	in	in	ADP
alkej-123	6	16	applications	application	NOUN
alkej-123	6	17	that	that	PRON
alkej-123	6	18	are	be	AUX
alkej-123	6	19	remote	remote	ADJ
alkej-123	6	20	from	from	ADP
alkej-123	6	21	human	human	ADJ
alkej-123	6	22	life	life	NOUN
alkej-123	6	23	and	and	CCONJ
alkej-123	6	24	activities	activity	NOUN
alkej-123	6	25	.	.	PUNCT
alkej-123	7	1	however	however	ADV
alkej-123	7	2	,	,	PUNCT
alkej-123	7	3	recently	recently	ADV
alkej-123	7	4	the	the	DET
alkej-123	7	5	usage	usage	NOUN
alkej-123	7	6	of	of	ADP
alkej-123	7	7	robots	robot	NOUN
alkej-123	7	8	has	have	AUX
alkej-123	7	9	been	be	AUX
alkej-123	7	10	changed	change	VERB
alkej-123	7	11	from	from	ADP
alkej-123	7	12	industrial	industrial	ADJ
alkej-123	7	13	applications	application	NOUN
alkej-123	7	14	to	to	ADP
alkej-123	7	15	helpful	helpful	ADJ
alkej-123	7	16	for	for	ADP
alkej-123	7	17	human	human	ADJ
alkej-123	7	18	robot	robot	NOUN
alkej-123	7	19	system	system	NOUN
alkej-123	7	20	.	.	PUNCT
alkej-123	8	1	with	with	ADP
alkej-123	8	2	increasing	increase	VERB
alkej-123	8	3	aging	age	VERB
alkej-123	8	4	societies	society	NOUN
alkej-123	8	5	,	,	PUNCT
alkej-123	8	6	robots	robot	NOUN
alkej-123	8	7	that	that	PRON
alkej-123	8	8	used	use	VERB
alkej-123	8	9	to	to	PART
alkej-123	8	10	support	support	VERB
alkej-123	8	11	human	human	NOUN
alkej-123	8	12	in	in	ADP
alkej-123	8	13	his	his	PRON
alkej-123	8	14	activities	activity	NOUN
alkej-123	8	15	in	in	ADP
alkej-123	8	16	daily	daily	ADJ
alkej-123	8	17	environments	environment	NOUN
alkej-123	8	18	such	such	ADJ
alkej-123	8	19	as	as	ADP
alkej-123	8	20	in	in	ADP
alkej-123	8	21	offices	office	NOUN
alkej-123	8	22	,	,	PUNCT
alkej-123	8	23	homes	home	NOUN
alkej-123	8	24	,	,	PUNCT
alkej-123	8	25	school	school	NOUN
alkej-123	8	26	and	and	CCONJ
alkej-123	8	27	hospitals	hospital	NOUN
alkej-123	8	28	are	be	AUX
alkej-123	8	29	expected	expect	VERB
alkej-123	8	30	.	.	PUNCT
alkej-123	9	1	particularly	particularly	ADV
alkej-123	9	2	,	,	PUNCT
alkej-123	9	3	because	because	SCONJ
alkej-123	9	4	of	of	ADP
alkej-123	9	5	anthropomorphism	anthropomorphism	NOUN
alkej-123	9	6	,	,	PUNCT
alkej-123	9	7	helpful	helpful	ADJ
alkej-123	9	8	design	design	NOUN
alkej-123	9	9	for	for	ADP
alkej-123	9	10	humanity	humanity	NOUN
alkej-123	9	11	,	,	PUNCT
alkej-123	9	12	application	application	NOUN
alkej-123	9	13	of	of	ADP
alkej-123	9	14	positioning	positioning	NOUN
alkej-123	9	15	and	and	CCONJ
alkej-123	9	16	movement	movement	NOUN
alkej-123	9	17	,	,	PUNCT
alkej-123	9	18	and	and	CCONJ
alkej-123	9	19	so	so	ADV
alkej-123	9	20	on	on	ADV
alkej-123	9	21	,	,	PUNCT
alkej-123	9	22	powerfully	powerfully	ADV
alkej-123	9	23	expected	expect	VERB
alkej-123	9	24	to	to	PART
alkej-123	9	25	manufacture	manufacture	VERB
alkej-123	9	26	of	of	ADP
alkej-123	9	27	humanoid	humanoid	ADJ
alkej-123	9	28	robots	robot	NOUN
alkej-123	9	29	[	[	X
alkej-123	9	30	1	1	NUM
alkej-123	9	31	]	]	PUNCT
alkej-123	9	32	.	.	PUNCT
alkej-123	10	1	present	present	ADJ
alkej-123	10	2	control	control	NOUN
alkej-123	10	3	techniques	technique	NOUN
alkej-123	10	4	to	to	ADP
alkej-123	10	5	locomotion	locomotion	NOUN
alkej-123	10	6	of	of	ADP
alkej-123	10	7	robotic	robotic	ADJ
alkej-123	10	8	legged	legged	ADJ
alkej-123	10	9	depends	depend	VERB
alkej-123	10	10	on	on	ADP
alkej-123	10	11	centralized	centralized	ADJ
alkej-123	10	12	planning	planning	NOUN
alkej-123	10	13	and	and	CCONJ
alkej-123	10	14	path	path	NOUN
alkej-123	10	15	follow	follow	VERB
alkej-123	10	16	or	or	CCONJ
alkej-123	10	17	corresponding	correspond	VERB
alkej-123	10	18	motion	motion	NOUN
alkej-123	10	19	pattern	pattern	NOUN
alkej-123	10	20	.	.	PUNCT
alkej-123	11	1	central	central	ADJ
alkej-123	11	2	control	control	NOUN
alkej-123	11	3	is	be	AUX
alkej-123	11	4	not	not	PART
alkej-123	11	5	available	available	ADJ
alkej-123	11	6	to	to	ADP
alkej-123	11	7	the	the	DET
alkej-123	11	8	robotic	robotic	ADJ
alkej-123	11	9	help	help	NOUN
alkej-123	11	10	devices	device	NOUN
alkej-123	11	11	that	that	PRON
alkej-123	11	12	make	make	VERB
alkej-123	11	13	integration	integration	NOUN
alkej-123	11	14	with	with	ADP
alkej-123	11	15	humans	human	NOUN
alkej-123	11	16	,	,	PUNCT
alkej-123	11	17	and	and	CCONJ
alkej-123	11	18	correspond	correspond	VERB
alkej-123	11	19	to	to	PART
alkej-123	11	20	predefined	predefine	VERB
alkej-123	11	21	patterns	pattern	NOUN
alkej-123	11	22	strongly	strongly	ADV
alkej-123	11	23	limits	limit	VERB
alkej-123	11	24	from	from	ADP
alkej-123	11	25	user	user	NOUN
alkej-123	11	26	ability	ability	NOUN
alkej-123	11	27	.	.	PUNCT
alkej-123	12	1	by	by	ADP
alkej-123	12	2	difference	difference	NOUN
alkej-123	12	3	,	,	PUNCT
alkej-123	12	4	biological	biological	ADJ
alkej-123	12	5	systems	system	NOUN
alkej-123	12	6	show	show	VERB
alkej-123	12	7	big	big	ADJ
alkej-123	12	8	legged	legged	ADJ
alkej-123	12	9	ability	ability	NOUN
alkej-123	12	10	even	even	ADV
alkej-123	12	11	when	when	SCONJ
alkej-123	12	12	the	the	DET
alkej-123	12	13	system	system	NOUN
alkej-123	12	14	of	of	ADP
alkej-123	12	15	the	the	DET
alkej-123	12	16	central	central	ADJ
alkej-123	12	17	nervous	nervous	NOUN
alkej-123	12	18	is	be	AUX
alkej-123	12	19	separated	separate	VERB
alkej-123	12	20	from	from	ADP
alkej-123	12	21	spinal	spinal	ADJ
alkej-123	12	22	cord	cord	NOUN
alkej-123	12	23	that	that	PRON
alkej-123	12	24	belong	belong	VERB
alkej-123	12	25	to	to	ADP
alkej-123	12	26	these	these	DET
alkej-123	12	27	legged	legged	ADJ
alkej-123	12	28	,	,	PUNCT
alkej-123	12	29	pointing	point	VERB
alkej-123	12	30	that	that	SCONJ
alkej-123	12	31	feedback	feedback	NOUN
alkej-123	12	32	controls	control	NOUN
alkej-123	12	33	of	of	ADP
alkej-123	12	34	neuromuscular	neuromuscular	NOUN
alkej-123	12	35	is	be	AUX
alkej-123	12	36	harnessed	harness	VERB
alkej-123	12	37	for	for	ADP
alkej-123	12	38	encoding	encode	VERB
alkej-123	12	39	stability	stability	NOUN
alkej-123	12	40	,	,	PUNCT
alkej-123	12	41	compatibility	compatibility	NOUN
alkej-123	12	42	,	,	PUNCT
alkej-123	12	43	and	and	CCONJ
alkej-123	12	44	maneuverability	maneuverability	NOUN
alkej-123	12	45	into	into	ADP
alkej-123	12	46	robotic	robotic	ADJ
alkej-123	12	47	legged	legged	ADJ
alkej-123	12	48	systems	system	NOUN
alkej-123	12	49	[	[	X
alkej-123	12	50	2	2	NUM
alkej-123	12	51	]	]	PUNCT
alkej-123	12	52	.	.	PUNCT
alkej-123	13	1	currently	currently	ADV
alkej-123	13	2	,	,	PUNCT
alkej-123	13	3	control	control	NOUN
alkej-123	13	4	systems	system	NOUN
alkej-123	13	5	design	design	NOUN
alkej-123	13	6	is	be	AUX
alkej-123	13	7	done	do	VERB
alkej-123	13	8	by	by	ADP
alkej-123	13	9	a	a	DET
alkej-123	13	10	big	big	ADJ
alkej-123	13	11	number	number	NOUN
alkej-123	13	12	of	of	ADP
alkej-123	13	13	requirements	requirement	NOUN
alkej-123	13	14	caused	cause	VERB
alkej-123	13	15	by	by	ADP
alkej-123	13	16	augmentation	augmentation	NOUN
alkej-123	13	17	of	of	ADP
alkej-123	13	18	competition	competition	NOUN
alkej-123	13	19	,	,	PUNCT
alkej-123	13	20	requirements	requirement	NOUN
alkej-123	13	21	of	of	ADP
alkej-123	13	22	environment	environment	NOUN
alkej-123	13	23	,	,	PUNCT
alkej-123	13	24	energy	energy	NOUN
alkej-123	13	25	and	and	CCONJ
alkej-123	13	26	the	the	DET
alkej-123	13	27	costs	cost	NOUN
alkej-123	13	28	of	of	ADP
alkej-123	13	29	components	component	NOUN
alkej-123	13	30	and	and	CCONJ
alkej-123	13	31	the	the	DET
alkej-123	13	32	request	request	NOUN
alkej-123	13	33	for	for	ADP
alkej-123	13	34	robustness	robustness	NOUN
alkej-123	13	35	,	,	PUNCT
alkej-123	13	36	system	system	NOUN
alkej-123	13	37	of	of	ADP
alkej-123	13	38	error	error	NOUN
alkej-123	13	39	tolerance	tolerance	NOUN
alkej-123	13	40	.	.	PUNCT
alkej-123	14	1	these	these	DET
alkej-123	14	2	considerations	consideration	NOUN
alkej-123	14	3	introduce	introduce	VERB
alkej-123	14	4	extra	extra	ADJ
alkej-123	14	5	ekhlas	ekhla	NOUN
alkej-123	14	6	h.	h.	PROPN
alkej-123	14	7	karam	karam	PROPN
alkej-123	14	8	al	al	PROPN
alkej-123	14	9	-	-	PUNCT
alkej-123	14	10	khwarizmi	khwarizmi	PROPN
alkej-123	14	11	engineering	engineering	NOUN
alkej-123	14	12	journal	journal	PROPN
alkej-123	14	13	,	,	PUNCT
alkej-123	14	14	vol	vol	NOUN
alkej-123	14	15	.	.	PROPN
alkej-123	14	16	14	14	NUM
alkej-123	14	17	,	,	PUNCT
alkej-123	14	18	no	no	INTJ
alkej-123	14	19	.	.	NOUN
alkej-123	14	20	1	1	NUM
alkej-123	14	21	,	,	PUNCT
alkej-123	14	22	p.p	p.p	PROPN
alkej-123	14	23	.	.	NOUN
alkej-123	14	24	145155	145155	NUM
alkej-123	14	25	(	(	PUNCT
alkej-123	14	26	2018	2018	NUM
alkej-123	14	27	)	)	PUNCT
alkej-123	14	28	146	146	NUM
alkej-123	14	29	needs	need	VERB
alkej-123	14	30	for	for	ADP
alkej-123	14	31	effective	effective	ADJ
alkej-123	14	32	process	process	NOUN
alkej-123	14	33	modeling	model	VERB
alkej-123	14	34	techniques	technique	NOUN
alkej-123	14	35	.	.	PUNCT
alkej-123	15	1	several	several	ADJ
alkej-123	15	2	systems	system	NOUN
alkej-123	15	3	are	be	AUX
alkej-123	15	4	not	not	PART
alkej-123	15	5	agreeable	agreeable	ADJ
alkej-123	15	6	to	to	ADP
alkej-123	15	7	traditional	traditional	ADJ
alkej-123	15	8	modeling	modeling	NOUN
alkej-123	15	9	approaches	approach	NOUN
alkej-123	15	10	,	,	PUNCT
alkej-123	15	11	caused	cause	VERB
alkej-123	15	12	when	when	SCONJ
alkej-123	15	13	the	the	DET
alkej-123	15	14	precision	precision	NOUN
alkej-123	15	15	is	be	AUX
alkej-123	15	16	not	not	PART
alkej-123	15	17	found	find	VERB
alkej-123	15	18	,	,	PUNCT
alkej-123	15	19	about	about	ADP
alkej-123	15	20	the	the	DET
alkej-123	15	21	system	system	NOUN
alkej-123	15	22	having	have	VERB
alkej-123	15	23	formal	formal	ADJ
alkej-123	15	24	knowledge	knowledge	NOUN
alkej-123	15	25	,	,	PUNCT
alkej-123	15	26	caused	cause	VERB
alkej-123	15	27	from	from	ADP
alkej-123	15	28	strong	strong	ADJ
alkej-123	15	29	behavior	behavior	NOUN
alkej-123	15	30	for	for	ADP
alkej-123	15	31	nonlinearities	nonlinearitie	NOUN
alkej-123	15	32	,	,	PUNCT
alkej-123	15	33	big	big	ADJ
alkej-123	15	34	degree	degree	NOUN
alkej-123	15	35	of	of	ADP
alkej-123	15	36	suspicion	suspicion	NOUN
alkej-123	15	37	,	,	PUNCT
alkej-123	15	38	or	or	CCONJ
alkej-123	15	39	variance	variance	NOUN
alkej-123	15	40	characteristic	characteristic	ADJ
alkej-123	15	41	of	of	ADP
alkej-123	15	42	the	the	DET
alkej-123	15	43	time	time	NOUN
alkej-123	15	44	[	[	X
alkej-123	15	45	3	3	NUM
alkej-123	15	46	]	]	PUNCT
alkej-123	15	47	.	.	PUNCT
alkej-123	16	1	neural	neural	ADJ
alkej-123	16	2	networks	network	NOUN
alkej-123	16	3	and	and	CCONJ
alkej-123	16	4	fuzzy	fuzzy	ADJ
alkej-123	16	5	logic	logic	NOUN
alkej-123	16	6	systems	system	NOUN
alkej-123	16	7	are	be	AUX
alkej-123	16	8	recently	recently	ADV
alkej-123	16	9	used	use	VERB
alkej-123	16	10	for	for	ADP
alkej-123	16	11	different	different	ADJ
alkej-123	16	12	control	control	NOUN
alkej-123	16	13	problems	problem	NOUN
alkej-123	16	14	with	with	ADP
alkej-123	16	15	acceptable	acceptable	ADJ
alkej-123	16	16	results	result	NOUN
alkej-123	16	17	.	.	PUNCT
alkej-123	17	1	both	both	CCONJ
alkej-123	17	2	the	the	DET
alkej-123	17	3	neural	neural	ADJ
alkej-123	17	4	networks	network	NOUN
alkej-123	17	5	and	and	CCONJ
alkej-123	17	6	fuzzy	fuzzy	ADJ
alkej-123	17	7	logic	logic	NOUN
alkej-123	17	8	systems	system	NOUN
alkej-123	17	9	are	be	AUX
alkej-123	17	10	general	general	ADJ
alkej-123	17	11	approximations	approximation	NOUN
alkej-123	17	12	caused	cause	VERB
alkej-123	17	13	several	several	ADJ
alkej-123	17	14	adaptive	adaptive	ADJ
alkej-123	17	15	control	control	NOUN
alkej-123	17	16	strategies	strategy	NOUN
alkej-123	17	17	for	for	ADP
alkej-123	17	18	nonlinear	nonlinear	ADJ
alkej-123	17	19	systems	system	NOUN
alkej-123	17	20	that	that	PRON
alkej-123	17	21	used	use	VERB
alkej-123	17	22	fuzzy	fuzzy	ADJ
alkej-123	17	23	logic	logic	NOUN
alkej-123	17	24	systems	system	NOUN
alkej-123	17	25	,	,	PUNCT
alkej-123	17	26	or	or	CCONJ
alkej-123	17	27	neural	neural	ADJ
alkej-123	17	28	networks	network	NOUN
alkej-123	17	29	have	have	AUX
alkej-123	17	30	been	be	AUX
alkej-123	17	31	introduced	introduce	VERB
alkej-123	17	32	to	to	PART
alkej-123	17	33	get	get	VERB
alkej-123	17	34	more	more	ADJ
alkej-123	17	35	control	control	NOUN
alkej-123	17	36	performance	performance	NOUN
alkej-123	17	37	[	[	X
alkej-123	17	38	4	4	NUM
alkej-123	17	39	]	]	PUNCT
alkej-123	17	40	.	.	PUNCT
alkej-123	18	1	as	as	ADP
alkej-123	18	2	two	two	NUM
alkej-123	18	3	important	important	ADJ
alkej-123	18	4	strategies	strategy	NOUN
alkej-123	18	5	of	of	ADP
alkej-123	18	6	artificial	artificial	ADJ
alkej-123	18	7	intelligence	intelligence	NOUN
alkej-123	18	8	,	,	PUNCT
alkej-123	18	9	fuzzy	fuzzy	ADJ
alkej-123	18	10	logic	logic	NOUN
alkej-123	18	11	systems	system	NOUN
alkej-123	18	12	and	and	CCONJ
alkej-123	18	13	artificial	artificial	ADJ
alkej-123	18	14	neural	neural	ADJ
alkej-123	18	15	networks	network	NOUN
alkej-123	18	16	(	(	PUNCT
alkej-123	18	17	anns	anns	PROPN
alkej-123	18	18	)	)	PUNCT
alkej-123	18	19	have	have	VERB
alkej-123	18	20	several	several	ADJ
alkej-123	18	21	applications	application	NOUN
alkej-123	18	22	in	in	ADP
alkej-123	18	23	different	different	ADJ
alkej-123	18	24	fields	field	NOUN
alkej-123	18	25	such	such	ADJ
alkej-123	18	26	as	as	ADP
alkej-123	18	27	availability	availability	NOUN
alkej-123	18	28	of	of	ADP
alkej-123	18	29	product	product	NOUN
alkej-123	18	30	,	,	PUNCT
alkej-123	18	31	control	control	NOUN
alkej-123	18	32	systems	system	NOUN
alkej-123	18	33	,	,	PUNCT
alkej-123	18	34	diagnostic	diagnostic	ADJ
alkej-123	18	35	,	,	PUNCT
alkej-123	18	36	observation	observation	NOUN
alkej-123	18	37	,	,	PUNCT
alkej-123	18	38	etc	etc	X
alkej-123	18	39	.	.	X
alkej-123	18	40	they	they	PRON
alkej-123	18	41	developed	develop	VERB
alkej-123	18	42	and	and	CCONJ
alkej-123	18	43	became	become	VERB
alkej-123	18	44	better	well	ADJ
alkej-123	18	45	throughout	throughout	ADP
alkej-123	18	46	the	the	DET
alkej-123	18	47	years	year	NOUN
alkej-123	18	48	for	for	ADP
alkej-123	18	49	adaptation	adaptation	NOUN
alkej-123	18	50	of	of	ADP
alkej-123	18	51	the	the	DET
alkej-123	18	52	rising	rise	VERB
alkej-123	18	53	requirements	requirement	NOUN
alkej-123	18	54	and	and	CCONJ
alkej-123	18	55	the	the	DET
alkej-123	18	56	develop	develop	NOUN
alkej-123	18	57	of	of	ADP
alkej-123	18	58	technology	technology	NOUN
alkej-123	18	59	.	.	PUNCT
alkej-123	19	1	while	while	SCONJ
alkej-123	19	2	these	these	DET
alkej-123	19	3	two	two	NUM
alkej-123	19	4	controllers	controller	NOUN
alkej-123	19	5	have	have	AUX
alkej-123	19	6	been	be	AUX
alkej-123	19	7	frequently	frequently	ADV
alkej-123	19	8	used	use	VERB
alkej-123	19	9	together	together	ADV
alkej-123	19	10	,	,	PUNCT
alkej-123	19	11	explain	explain	VERB
alkej-123	19	12	that	that	SCONJ
alkej-123	19	13	the	the	DET
alkej-123	19	14	concept	concept	NOUN
alkej-123	19	15	of	of	ADP
alkej-123	19	16	a	a	DET
alkej-123	19	17	fusion	fusion	NOUN
alkej-123	19	18	began	begin	VERB
alkej-123	19	19	to	to	PART
alkej-123	19	20	take	take	VERB
alkej-123	19	21	shape	shape	NOUN
alkej-123	19	22	[	[	X
alkej-123	19	23	5	5	NUM
alkej-123	19	24	]	]	PUNCT
alkej-123	19	25	.	.	PUNCT
alkej-123	20	1	the	the	DET
alkej-123	20	2	neuro	neuro	NOUN
alkej-123	20	3	-	-	PUNCT
alkej-123	20	4	fuzzy	fuzzy	ADJ
alkej-123	20	5	system	system	NOUN
alkej-123	20	6	is	be	AUX
alkej-123	20	7	more	more	ADV
alkej-123	20	8	efficient	efficient	ADJ
alkej-123	20	9	and	and	CCONJ
alkej-123	20	10	more	more	ADV
alkej-123	20	11	effective	effective	ADJ
alkej-123	20	12	than	than	ADP
alkej-123	20	13	either	either	CCONJ
alkej-123	20	14	neural	neural	ADJ
alkej-123	20	15	network	network	NOUN
alkej-123	20	16	or	or	CCONJ
alkej-123	20	17	fuzzy	fuzzy	ADJ
alkej-123	20	18	logic	logic	NOUN
alkej-123	20	19	system	system	NOUN
alkej-123	20	20	which	which	PRON
alkej-123	20	21	has	have	AUX
alkej-123	20	22	been	be	AUX
alkej-123	20	23	widely	widely	ADV
alkej-123	20	24	applied	apply	VERB
alkej-123	20	25	in	in	ADP
alkej-123	20	26	control	control	NOUN
alkej-123	20	27	systems	system	NOUN
alkej-123	20	28	,	,	PUNCT
alkej-123	20	29	pattern	pattern	NOUN
alkej-123	20	30	recognition	recognition	NOUN
alkej-123	20	31	,	,	PUNCT
alkej-123	20	32	medicine	medicine	NOUN
alkej-123	20	33	,	,	PUNCT
alkej-123	20	34	expert	expert	NOUN
alkej-123	20	35	system	system	NOUN
alkej-123	20	36	,	,	PUNCT
alkej-123	20	37	and	and	CCONJ
alkej-123	20	38	etc	etc	X
alkej-123	20	39	.	.	X
alkej-123	21	1	the	the	DET
alkej-123	21	2	advantage	advantage	NOUN
alkej-123	21	3	of	of	ADP
alkej-123	21	4	this	this	DET
alkej-123	21	5	controller	controller	NOUN
alkej-123	21	6	is	be	AUX
alkej-123	21	7	the	the	DET
alkej-123	21	8	dealing	deal	VERB
alkej-123	21	9	with	with	ADP
alkej-123	21	10	it	it	PRON
alkej-123	21	11	more	more	ADV
alkej-123	21	12	quickly	quickly	ADV
alkej-123	21	13	than	than	ADP
alkej-123	21	14	other	other	ADJ
alkej-123	21	15	traditional	traditional	ADJ
alkej-123	21	16	controllers	controller	NOUN
alkej-123	21	17	[	[	X
alkej-123	21	18	6	6	NUM
alkej-123	21	19	]	]	PUNCT
alkej-123	21	20	.	.	PUNCT
alkej-123	22	1	different	different	ADJ
alkej-123	22	2	types	type	NOUN
alkej-123	22	3	of	of	ADP
alkej-123	22	4	neuro	neuro	NOUN
alkej-123	22	5	-	-	PUNCT
alkej-123	22	6	fuzzy	fuzzy	ADJ
alkej-123	22	7	have	have	AUX
alkej-123	22	8	been	be	AUX
alkej-123	22	9	shown	show	VERB
alkej-123	22	10	in	in	ADP
alkej-123	22	11	the	the	DET
alkej-123	22	12	literature	literature	NOUN
alkej-123	22	13	.	.	PUNCT
alkej-123	23	1	these	these	DET
alkej-123	23	2	types	type	NOUN
alkej-123	23	3	can	can	AUX
alkej-123	23	4	be	be	AUX
alkej-123	23	5	determined	determine	VERB
alkej-123	23	6	depend	depend	VERB
alkej-123	23	7	on	on	ADP
alkej-123	23	8	the	the	DET
alkej-123	23	9	structure	structure	NOUN
alkej-123	23	10	of	of	ADP
alkej-123	23	11	the	the	DET
alkej-123	23	12	neurofuzzy	neurofuzzy	PROPN
alkej-123	23	13	,	,	PUNCT
alkej-123	23	14	the	the	DET
alkej-123	23	15	fuzzy	fuzzy	ADJ
alkej-123	23	16	model	model	NOUN
alkej-123	23	17	used	use	VERB
alkej-123	23	18	,	,	PUNCT
alkej-123	23	19	and	and	CCONJ
alkej-123	23	20	the	the	DET
alkej-123	23	21	learning	learn	VERB
alkej-123	23	22	algorithm	algorithm	NOUN
alkej-123	23	23	taken	take	VERB
alkej-123	23	24	.	.	PUNCT
alkej-123	24	1	on	on	ADP
alkej-123	24	2	the	the	DET
alkej-123	24	3	first	first	ADJ
alkej-123	24	4	hand	hand	NOUN
alkej-123	24	5	,	,	PUNCT
alkej-123	24	6	corresponding	correspond	VERB
alkej-123	24	7	to	to	ADP
alkej-123	24	8	the	the	DET
alkej-123	24	9	neuro	neuro	NOUN
alkej-123	24	10	-	-	PUNCT
alkej-123	24	11	fuzzy	fuzzy	ADJ
alkej-123	24	12	structure	structure	NOUN
alkej-123	24	13	and	and	CCONJ
alkej-123	24	14	learning	learning	NOUN
alkej-123	24	15	algorithm	algorithm	NOUN
alkej-123	24	16	,	,	PUNCT
alkej-123	24	17	the	the	DET
alkej-123	24	18	most	most	ADV
alkej-123	24	19	usually	usually	ADV
alkej-123	24	20	used	use	VERB
alkej-123	24	21	and	and	CCONJ
alkej-123	24	22	successful	successful	ADJ
alkej-123	24	23	technique	technique	NOUN
alkej-123	24	24	is	be	AUX
alkej-123	24	25	the	the	DET
alkej-123	24	26	feed	feed	NOUN
alkej-123	24	27	-	-	PUNCT
alkej-123	24	28	forward	forward	NOUN
alkej-123	24	29	and	and	CCONJ
alkej-123	24	30	recurrent	recurrent	ADJ
alkej-123	24	31	structure	structure	NOUN
alkej-123	24	32	model	model	NOUN
alkej-123	24	33	using	use	VERB
alkej-123	24	34	the	the	DET
alkej-123	24	35	bp	bp	PROPN
alkej-123	24	36	learning	learning	NOUN
alkej-123	24	37	algorithm	algorithm	NOUN
alkej-123	24	38	.	.	PUNCT
alkej-123	25	1	on	on	ADP
alkej-123	25	2	the	the	DET
alkej-123	25	3	other	other	ADJ
alkej-123	25	4	hand	hand	NOUN
alkej-123	25	5	,	,	PUNCT
alkej-123	25	6	according	accord	VERB
alkej-123	25	7	to	to	ADP
alkej-123	25	8	the	the	DET
alkej-123	25	9	fuzzy	fuzzy	ADJ
alkej-123	25	10	model	model	NOUN
alkej-123	25	11	taken	take	VERB
alkej-123	25	12	,	,	PUNCT
alkej-123	25	13	two	two	NUM
alkej-123	25	14	types	type	NOUN
alkej-123	25	15	of	of	ADP
alkej-123	25	16	fuzzy	fuzzy	ADJ
alkej-123	25	17	models	model	NOUN
alkej-123	25	18	are	be	AUX
alkej-123	25	19	merged	merge	VERB
alkej-123	25	20	with	with	ADP
alkej-123	25	21	a	a	DET
alkej-123	25	22	neural	neural	ADJ
alkej-123	25	23	network	network	NOUN
alkej-123	25	24	to	to	PART
alkej-123	25	25	form	form	VERB
alkej-123	25	26	a	a	DET
alkej-123	25	27	neuro	neuro	NOUN
alkej-123	25	28	-	-	PUNCT
alkej-123	25	29	fuzzy	fuzzy	ADJ
alkej-123	25	30	.	.	PUNCT
alkej-123	26	1	these	these	DET
alkej-123	26	2	two	two	NUM
alkej-123	26	3	models	model	NOUN
alkej-123	26	4	are	be	AUX
alkej-123	26	5	familiar	familiar	ADJ
alkej-123	26	6	as	as	ADP
alkej-123	26	7	takagi	takagi	NOUN
alkej-123	26	8	and	and	CCONJ
alkej-123	26	9	sugeno	sugeno	NOUN
alkej-123	26	10	model	model	NOUN
alkej-123	26	11	and	and	CCONJ
alkej-123	26	12	the	the	DET
alkej-123	26	13	mamdani	mamdani	NOUN
alkej-123	26	14	-	-	PUNCT
alkej-123	26	15	model	model	NOUN
alkej-123	26	16	.	.	PUNCT
alkej-123	27	1	however	however	ADV
alkej-123	27	2	,	,	PUNCT
alkej-123	27	3	mamdani	mamdani	ADJ
alkej-123	27	4	-	-	PUNCT
alkej-123	27	5	model	model	NOUN
alkej-123	27	6	based	base	VERB
alkej-123	27	7	nnf	nnf	NOUN
alkej-123	27	8	represent	represent	VERB
alkej-123	27	9	more	more	ADV
alkej-123	27	10	obvious	obvious	ADJ
alkej-123	27	11	neuro	neuro	NOUN
alkej-123	27	12	-	-	PUNCT
alkej-123	27	13	fuzzy	fuzzy	ADJ
alkej-123	27	14	systems	system	NOUN
alkej-123	27	15	compared	compare	VERB
alkej-123	27	16	with	with	ADP
alkej-123	27	17	tsmodel	tsmodel	NOUN
alkej-123	27	18	based	base	VERB
alkej-123	27	19	nnf	nnf	NOUN
alkej-123	27	20	[	[	X
alkej-123	27	21	7	7	NUM
alkej-123	27	22	]	]	PUNCT
alkej-123	27	23	.	.	PUNCT
alkej-123	28	1	a	a	DET
alkej-123	28	2	simple	simple	ADJ
alkej-123	28	3	hybrid	hybrid	ADJ
alkej-123	28	4	neural	neural	ADJ
alkej-123	28	5	fuzzy	fuzzy	ADJ
alkej-123	28	6	controller	controller	NOUN
alkej-123	28	7	is	be	AUX
alkej-123	28	8	designed	design	VERB
alkej-123	28	9	in	in	ADP
alkej-123	28	10	this	this	DET
alkej-123	28	11	paper	paper	NOUN
alkej-123	28	12	for	for	ADP
alkej-123	28	13	human	human	ADJ
alkej-123	28	14	robotic	robotic	ADJ
alkej-123	28	15	leg	leg	NOUN
alkej-123	28	16	model	model	NOUN
alkej-123	28	17	,	,	PUNCT
alkej-123	28	18	this	this	DET
alkej-123	28	19	controller	controller	NOUN
alkej-123	28	20	consist	consist	VERB
alkej-123	28	21	from	from	ADP
alkej-123	28	22	single	single	ADJ
alkej-123	28	23	node	node	ADJ
alkej-123	28	24	neural	neural	ADJ
alkej-123	28	25	integral	integral	ADJ
alkej-123	28	26	derivative	derivative	ADJ
alkej-123	28	27	(	(	PUNCT
alkej-123	28	28	nid	nid	PROPN
alkej-123	28	29	)	)	PUNCT
alkej-123	28	30	controller	controller	NOUN
alkej-123	28	31	and	and	CCONJ
alkej-123	28	32	single	single	ADJ
alkej-123	28	33	input	input	NOUN
alkej-123	28	34	single	single	ADJ
alkej-123	28	35	output	output	NOUN
alkej-123	28	36	fuzzy	fuzzy	ADJ
alkej-123	28	37	proportional	proportional	ADJ
alkej-123	28	38	derivative	derivative	ADJ
alkej-123	28	39	(	(	PUNCT
alkej-123	28	40	fpd	fpd	NOUN
alkej-123	28	41	)	)	PUNCT
alkej-123	28	42	controller	controller	NOUN
alkej-123	28	43	with	with	ADP
alkej-123	28	44	nine	nine	NUM
alkej-123	28	45	rules	rule	NOUN
alkej-123	28	46	.	.	PUNCT
alkej-123	29	1	the	the	DET
alkej-123	29	2	details	detail	NOUN
alkej-123	29	3	for	for	ADP
alkej-123	29	4	this	this	DET
alkej-123	29	5	design	design	NOUN
alkej-123	29	6	will	will	AUX
alkej-123	29	7	be	be	AUX
alkej-123	29	8	explained	explain	VERB
alkej-123	29	9	in	in	ADP
alkej-123	29	10	the	the	DET
alkej-123	29	11	sections	section	NOUN
alkej-123	29	12	of	of	ADP
alkej-123	29	13	this	this	DET
alkej-123	29	14	paper	paper	NOUN
alkej-123	29	15	.	.	PUNCT
alkej-123	30	1	2	2	X
alkej-123	30	2	.	.	X
alkej-123	30	3	human	human	ADJ
alkej-123	30	4	robotic	robotic	ADJ
alkej-123	30	5	leg	leg	PROPN
alkej-123	30	6	mathematical	mathematical	ADJ
alkej-123	30	7	model	model	NOUN
alkej-123	30	8	the	the	DET
alkej-123	30	9	human	human	ADJ
alkej-123	30	10	robotic	robotic	ADJ
alkej-123	30	11	leg	leg	NOUN
alkej-123	30	12	can	can	AUX
alkej-123	30	13	by	by	SCONJ
alkej-123	30	14	modeled	model	VERB
alkej-123	30	15	depend	depend	NOUN
alkej-123	30	16	on	on	ADP
alkej-123	30	17	the	the	DET
alkej-123	30	18	relation	relation	NOUN
alkej-123	30	19	between	between	ADP
alkej-123	30	20	the	the	DET
alkej-123	30	21	input	input	NOUN
alkej-123	30	22	torque	torque	NOUN
alkej-123	30	23	that	that	PRON
alkej-123	30	24	generated	generate	VERB
alkej-123	30	25	by	by	ADP
alkej-123	30	26	the	the	DET
alkej-123	30	27	muscle	muscle	NOUN
alkej-123	30	28	of	of	ADP
alkej-123	30	29	the	the	DET
alkej-123	30	30	leg	leg	NOUN
alkej-123	30	31	and	and	CCONJ
alkej-123	30	32	the	the	DET
alkej-123	30	33	output	output	NOUN
alkej-123	30	34	of	of	ADP
alkej-123	30	35	the	the	DET
alkej-123	30	36	angular	angular	ADJ
alkej-123	30	37	rotation	rotation	NOUN
alkej-123	30	38	around	around	ADP
alkej-123	30	39	the	the	DET
alkej-123	30	40	hip	hip	NOUN
alkej-123	30	41	joint	joint	NOUN
alkej-123	30	42	[	[	X
alkej-123	30	43	8	8	NUM
alkej-123	30	44	]	]	PUNCT
alkej-123	30	45	.	.	PUNCT
alkej-123	31	1	a	a	DET
alkej-123	31	2	simplified	simplified	ADJ
alkej-123	31	3	human	human	ADJ
alkej-123	31	4	robotic	robotic	ADJ
alkej-123	31	5	leg	leg	NOUN
alkej-123	31	6	cylindrical	cylindrical	ADJ
alkej-123	31	7	model	model	NOUN
alkej-123	31	8	is	be	AUX
alkej-123	31	9	shown	show	VERB
alkej-123	31	10	in	in	ADP
alkej-123	31	11	fig	fig	NOUN
alkej-123	31	12	.	.	PUNCT
alkej-123	32	1	1	1	X
alkej-123	32	2	.	.	X
alkej-123	32	3	fig	fig	NOUN
alkej-123	32	4	.	.	PUNCT
alkej-123	33	1	1	1	X
alkej-123	33	2	.	.	X
alkej-123	34	1	human	human	ADJ
alkej-123	34	2	a	a	DET
alkej-123	34	3	robotic	robotic	ADJ
alkej-123	34	4	leg	leg	NOUN
alkej-123	34	5	cylindrical	cylindrical	ADJ
alkej-123	34	6	model	model	NOUN
alkej-123	34	7	[	[	X
alkej-123	34	8	9	9	NUM
alkej-123	34	9	]	]	PUNCT
alkej-123	34	10	.	.	PUNCT
alkej-123	35	1	the	the	DET
alkej-123	35	2	parameters	parameter	NOUN
alkej-123	35	3	of	of	ADP
alkej-123	35	4	fig	fig	NOUN
alkej-123	35	5	.	.	PUNCT
alkej-123	36	1	1	1	NUM
alkej-123	36	2	are	be	AUX
alkej-123	36	3	defined	define	VERB
alkej-123	36	4	by	by	ADP
alkej-123	36	5	table	table	NOUN
alkej-123	36	6	1	1	NUM
alkej-123	36	7	.	.	PUNCT
alkej-123	36	8	table	table	NOUN
alkej-123	36	9	1	1	NUM
alkej-123	36	10	,	,	PUNCT
alkej-123	36	11	the	the	DET
alkej-123	36	12	parameters	parameter	NOUN
alkej-123	36	13	of	of	ADP
alkej-123	36	14	human	human	ADJ
alkej-123	36	15	robotic	robotic	ADJ
alkej-123	36	16	leg	leg	NOUN
alkej-123	36	17	model	model	NOUN
alkej-123	36	18	.	.	PUNCT
alkej-123	37	1	the	the	DET
alkej-123	37	2	nonlinear	nonlinear	ADJ
alkej-123	37	3	equation	equation	NOUN
alkej-123	37	4	of	of	ADP
alkej-123	37	5	the	the	DET
alkej-123	37	6	dynamic	dynamic	ADJ
alkej-123	37	7	model	model	NOUN
alkej-123	37	8	for	for	ADP
alkej-123	37	9	the	the	DET
alkej-123	37	10	robotic	robotic	ADJ
alkej-123	37	11	human	human	ADJ
alkej-123	37	12	leg	leg	NOUN
alkej-123	37	13	can	can	AUX
alkej-123	37	14	be	be	AUX
alkej-123	37	15	written	write	VERB
alkej-123	37	16	as	as	SCONJ
alkej-123	37	17	follows	follow	VERB
alkej-123	37	18	[	[	X
alkej-123	37	19	9	9	NUM
alkej-123	37	20	,	,	PUNCT
alkej-123	37	21	10	10	NUM
alkej-123	37	22	]	]	SYM
alkej-123	37	23	:	:	PUNCT
alkej-123	37	24	�	�	PROPN
alkej-123	37	25	�	�	PROPN
alkej-123	37	26	�	�	PROPN
alkej-123	37	27	�	�	PROPN
alkej-123	37	28	�	�	PROPN
alkej-123	37	29	�	�	PROPN
alkej-123	37	30	�	�	PROPN
alkej-123	37	31	�	�	PROPN
alkej-123	37	32	�	�	PROPN
alkej-123	37	33	�	�	PROPN
alkej-123	37	34	�	�	PROPN
alkej-123	37	35	�	�	PROPN
alkej-123	37	36	�	�	PROPN
alkej-123	37	37	�	�	PROPN
alkej-123	37	38	�	�	PROPN
alkej-123	37	39	�	�	PROPN
alkej-123	37	40	�	�	PROPN
alkej-123	37	41	�	�	PROPN
alkej-123	37	42	�	�	PROPN
alkej-123	37	43	�	�	PROPN
alkej-123	37	44	�	�	PROPN
alkej-123	37	45	�	�	PROPN
alkej-123	37	46	�	�	PROPN
alkej-123	37	47	�	�	PROPN
alkej-123	37	48	�	�	PROPN
alkej-123	37	49	…	…	PUNCT
alkej-123	37	50	(	(	PUNCT
alkej-123	37	51	1	1	X
alkej-123	37	52	)	)	PUNCT
alkej-123	37	53	where	where	SCONJ
alkej-123	37	54	:	:	PUNCT
alkej-123	37	55	mg	mg	PROPN
alkej-123	37	56	�	�	PROPN
alkej-123	37	57	�	�	PROPN
alkej-123	37	58	sinθ	sinθ	PROPN
alkej-123	37	59	is	be	AUX
alkej-123	37	60	the	the	DET
alkej-123	37	61	component	component	NOUN
alkej-123	37	62	of	of	ADP
alkej-123	37	63	weight	weight	NOUN
alkej-123	37	64	,	,	PUNCT
alkej-123	37	65	d	d	PROPN
alkej-123	37	66	�	�	PROPN
alkej-123	37	67	�	�	PROPN
alkej-123	37	68	�	�	PROPN
alkej-123	37	69	is	be	AUX
alkej-123	37	70	the	the	DET
alkej-123	37	71	damping	damp	VERB
alkej-123	37	72	torque	torque	NOUN
alkej-123	37	73	and	and	CCONJ
alkej-123	37	74	"	"	PUNCT
alkej-123	37	75	�	�	PROPN
alkej-123	37	76	�	�	PROPN
alkej-123	37	77	�	�	PROPN
alkej-123	37	78	�	�	PROPN
alkej-123	37	79	�	�	PROPN
alkej-123	37	80	�	�	PROPN
alkej-123	37	81	#	#	NOUN
alkej-123	37	82	is	be	AUX
alkej-123	37	83	the	the	DET
alkej-123	37	84	inertia	inertia	NOUN
alkej-123	37	85	torque	torque	NOUN
alkej-123	37	86	.	.	PUNCT
alkej-123	38	1	the	the	DET
alkej-123	38	2	state	state	NOUN
alkej-123	38	3	space	space	NOUN
alkej-123	38	4	for	for	ADP
alkej-123	38	5	eq	eq	PROPN
alkej-123	38	6	.	.	PUNCT
alkej-123	39	1	(	(	PUNCT
alkej-123	39	2	1	1	X
alkej-123	39	3	)	)	PUNCT
alkej-123	39	4	is	be	AUX
alkej-123	39	5	:	:	PUNCT
alkej-123	39	6	symbol	symbol	NOUN
alkej-123	39	7	description	description	NOUN
alkej-123	39	8	values	value	NOUN
alkej-123	39	9	tm	tm	ADP
alkej-123	39	10	torque	torque	NOUN
alkej-123	39	11	supplied	supply	VERB
alkej-123	39	12	by	by	ADP
alkej-123	39	13	dc	dc	PROPN
alkej-123	39	14	motor	motor	PROPN
alkej-123	39	15	d	d	PROPN
alkej-123	39	16	viscous	viscous	ADJ
alkej-123	39	17	damping	damp	VERB
alkej-123	39	18	0.1nms	0.1nms	NUM
alkej-123	39	19	/	/	SYM
alkej-123	39	20	ra	ra	PROPN
alkej-123	40	1	d	d	X
alkej-123	40	2	j	j	PROPN
alkej-123	40	3	inertia	inertia	NOUN
alkej-123	40	4	around	around	ADP
alkej-123	40	5	the	the	DET
alkej-123	40	6	hip	hip	NOUN
alkej-123	40	7	joint	joint	ADJ
alkej-123	40	8	0.4	0.4	NUM
alkej-123	40	9	kgm2	kgm2	PROPN
alkej-123	40	10	/	/	SYM
alkej-123	40	11	s2	s2	PROPN
alkej-123	40	12	m	m	PROPN
alkej-123	40	13	mass	mass	NOUN
alkej-123	40	14	of	of	ADP
alkej-123	40	15	the	the	DET
alkej-123	40	16	leg	leg	NOUN
alkej-123	40	17	1	1	NUM
alkej-123	40	18	kg	kg	NOUN
alkej-123	40	19	g	g	NOUN
alkej-123	40	20	acceleration	acceleration	NOUN
alkej-123	40	21	due	due	ADP
alkej-123	40	22	to	to	ADP
alkej-123	40	23	gravity	gravity	NOUN
alkej-123	40	24	creates	create	VERB
alkej-123	40	25	a	a	DET
alkej-123	40	26	nonlinear	nonlinear	ADJ
alkej-123	40	27	torque	torque	NOUN
alkej-123	40	28	9.81	9.81	NUM
alkej-123	40	29	l	l	NOUN
alkej-123	40	30	the	the	DET
alkej-123	40	31	length	length	NOUN
alkej-123	40	32	of	of	ADP
alkej-123	40	33	the	the	DET
alkej-123	40	34	leg	leg	NOUN
alkej-123	40	35	and	and	CCONJ
alkej-123	40	36	the	the	DET
alkej-123	40	37	weight	weight	NOUN
alkej-123	40	38	can	can	AUX
alkej-123	40	39	be	be	AUX
alkej-123	40	40	determine	determine	VERB
alkej-123	40	41	as	as	ADP
alkej-123	40	42	l/2	l/2	NUM
alkej-123	40	43	0.5	0.5	NUM
alkej-123	40	44	m	m	NOUN
alkej-123	40	45	ekhlas	ekhlas	NOUN
alkej-123	40	46	h.	h.	PROPN
alkej-123	40	47	karam	karam	PROPN
alkej-123	40	48	al	al	PROPN
alkej-123	40	49	-	-	PUNCT
alkej-123	40	50	khwarizmi	khwarizmi	PROPN
alkej-123	40	51	engineering	engineering	NOUN
alkej-123	40	52	journal	journal	PROPN
alkej-123	40	53	,	,	PUNCT
alkej-123	40	54	vol	vol	NOUN
alkej-123	40	55	.	.	PROPN
alkej-123	40	56	14	14	NUM
alkej-123	40	57	,	,	PUNCT
alkej-123	40	58	no	no	INTJ
alkej-123	40	59	.	.	NOUN
alkej-123	40	60	1	1	NUM
alkej-123	40	61	,	,	PUNCT
alkej-123	40	62	p.p	p.p	PROPN
alkej-123	40	63	.	.	NOUN
alkej-123	40	64	145155	145155	NUM
alkej-123	40	65	(	(	PUNCT
alkej-123	40	66	2018	2018	NUM
alkej-123	40	67	)	)	PUNCT
alkej-123	40	68	147	147	NUM
alkej-123	40	69	$	$	SYM
alkej-123	40	70	%	%	NOUN
alkej-123	40	71	&	&	CCONJ
alkej-123	40	72	'	'	PUNCT
alkej-123	40	73	%	%	NOUN
alkej-123	40	74	�	�	PROPN
alkej-123	40	75	'	'	PUNCT
alkej-123	40	76	(	(	PUNCT
alkej-123	40	77	�	�	PROPN
alkej-123	40	78	)	)	PUNCT
alkej-123	40	79	0	0	NUM
alkej-123	41	1	1	1	NUM
alkej-123	41	2	,	,	PUNCT
alkej-123	41	3	�	�	PROPN
alkej-123	41	4	&	&	CCONJ
alkej-123	41	5	-	-	PUNCT
alkej-123	41	6	&	&	CCONJ
alkej-123	41	7	./	./	PROPN
alkej-123	41	8	�	�	PROPN
alkej-123	41	9	0	0	PROPN
alkej-123	41	10	�	�	PROPN
alkej-123	41	11	�	�	PROPN
alkej-123	41	12	%	%	PROPN
alkej-123	41	13	&	&	CCONJ
alkej-123	41	14	�	�	PROPN
alkej-123	41	15	,	,	PUNCT
alkej-123	41	16	"	"	PUNCT
alkej-123	41	17	1	1	NUM
alkej-123	41	18	0#2	0#2	NUM
alkej-123	41	19	3	3	NUM
alkej-123	41	20	%	%	NOUN
alkej-123	41	21	&	&	CCONJ
alkej-123	41	22	%	%	PROPN
alkej-123	41	23	�	�	PROPN
alkej-123	41	24	4	4	NUM
alkej-123	41	25	�	�	PROPN
alkej-123	41	26	)	)	PUNCT
alkej-123	41	27	0	0	NUM
alkej-123	41	28	&	&	CCONJ
alkej-123	41	29	0	0	NUM
alkej-123	41	30	2	2	NUM
alkej-123	41	31	�	�	PROPN
alkej-123	41	32	�	�	PROPN
alkej-123	41	33	5	5	NUM
alkej-123	41	34	�	�	PROPN
alkej-123	41	35	61	61	NUM
alkej-123	41	36	07	07	NUM
alkej-123	41	37	3%&%	3%&%	NUM
alkej-123	41	38	�	�	X
alkej-123	41	39	4	4	NUM
alkej-123	41	40	…	…	PUNCT
alkej-123	41	41	(	(	PUNCT
alkej-123	41	42	2	2	NUM
alkej-123	41	43	)	)	PUNCT
alkej-123	41	44	where	where	SCONJ
alkej-123	41	45	:	:	PUNCT
alkej-123	41	46	x1	x1	X
alkej-123	41	47	,	,	PUNCT
alkej-123	41	48	x2	x2	PROPN
alkej-123	41	49	is	be	AUX
alkej-123	41	50	robotic	robotic	ADJ
alkej-123	41	51	leg	leg	NOUN
alkej-123	41	52	angular	angular	ADJ
alkej-123	41	53	position	position	NOUN
alkej-123	41	54	and	and	CCONJ
alkej-123	41	55	velocity	velocity	NOUN
alkej-123	41	56	respectively	respectively	ADV
alkej-123	41	57	.	.	PUNCT
alkej-123	42	1	eq	eq	X
alkej-123	42	2	.	.	PUNCT
alkej-123	43	1	(	(	PUNCT
alkej-123	43	2	1	1	X
alkej-123	43	3	)	)	PUNCT
alkej-123	43	4	can	can	AUX
alkej-123	43	5	be	be	AUX
alkej-123	43	6	linearized	linearize	VERB
alkej-123	43	7	for	for	ADP
alkej-123	43	8	small	small	ADJ
alkej-123	43	9	angle	angle	NOUN
alkej-123	43	10	approximation	approximation	NOUN
alkej-123	43	11	,	,	PUNCT
alkej-123	43	12	the	the	DET
alkej-123	43	13	�	�	PROPN
alkej-123	43	14	variation	variation	NOUN
alkej-123	43	15	is	be	AUX
alkej-123	43	16	small	small	ADJ
alkej-123	43	17	;	;	PUNCT
alkej-123	43	18	therefore	therefore	ADV
alkej-123	43	19	sinθ	sinθ	PROPN
alkej-123	43	20	can	can	AUX
alkej-123	43	21	assume	assume	VERB
alkej-123	43	22	equal	equal	ADJ
alkej-123	43	23	�	�	PROPN
alkej-123	43	24	(	(	PUNCT
alkej-123	43	25	i.	i.	PROPN
alkej-123	43	26	e.	e.	PROPN
alkej-123	43	27	sinθ	sinθ	PROPN
alkej-123	43	28	�	�	PROPN
alkej-123	43	29	�	�	PROPN
alkej-123	43	30	�	�	PROPN
alkej-123	43	31	so	so	SCONJ
alkej-123	43	32	eq	eq	NOUN
alkej-123	43	33	.	.	PUNCT
alkej-123	44	1	(	(	PUNCT
alkej-123	44	2	1	1	X
alkej-123	44	3	)	)	PUNCT
alkej-123	44	4	becomes	become	VERB
alkej-123	44	5	:	:	PUNCT
alkej-123	44	6	�	�	PROPN
alkej-123	44	7	�	�	PROPN
alkej-123	44	8	�	�	PROPN
alkej-123	44	9	�	�	PROPN
alkej-123	44	10	�	�	PROPN
alkej-123	44	11	�	�	PROPN
alkej-123	44	12	�	�	PROPN
alkej-123	44	13	�	�	PROPN
alkej-123	44	14	�	�	PROPN
alkej-123	44	15	�	�	PROPN
alkej-123	44	16	�	�	PROPN
alkej-123	44	17	�	�	PROPN
alkej-123	44	18	�	�	PROPN
alkej-123	44	19	�	�	PROPN
alkej-123	44	20	�	�	PROPN
alkej-123	44	21	�	�	PROPN
alkej-123	44	22	�	�	PROPN
alkej-123	44	23	�	�	PROPN
alkej-123	44	24	�	�	PROPN
alkej-123	44	25	�	�	PROPN
alkej-123	44	26	�	�	PROPN
alkej-123	44	27	�	�	PROPN
alkej-123	44	28	�	�	PROPN
alkej-123	44	29	…	…	PUNCT
alkej-123	44	30	(	(	PUNCT
alkej-123	44	31	3	3	X
alkej-123	44	32	)	)	PUNCT
alkej-123	44	33	the	the	DET
alkej-123	44	34	linear	linear	ADJ
alkej-123	44	35	transfer	transfer	NOUN
alkej-123	44	36	function	function	NOUN
alkej-123	44	37	of	of	ADP
alkej-123	44	38	eq	eq	PROPN
alkej-123	44	39	.	.	PUNCT
alkej-123	45	1	(	(	PUNCT
alkej-123	45	2	3	3	X
alkej-123	45	3	)	)	PUNCT
alkej-123	45	4	is	be	AUX
alkej-123	45	5	given	give	VERB
alkej-123	45	6	by	by	ADP
alkej-123	45	7	:	:	PUNCT
alkej-123	45	8	�	�	PROPN
alkej-123	45	9	�	�	PROPN
alkej-123	45	10	8	8	NUM
alkej-123	45	11	�	�	PROPN
alkej-123	45	12	9	9	NUM
alkej-123	45	13	�	�	PROPN
alkej-123	45	14	8	8	NUM
alkej-123	45	15	�	�	PROPN
alkej-123	45	16	�	�	PROPN
alkej-123	45	17	:	:	PUNCT
alkej-123	45	18	;	;	PUNCT
alkej-123	45	19	8	8	NUM
alkej-123	45	20	�	�	NOUN
alkej-123	45	21	<=	<=	NUM
alkej-123	45	22	;	;	PUNCT
alkej-123	45	23	8<>?@	8<>?@	NUM
alkej-123	45	24	�	�	PROPN
alkej-123	45	25	;	;	PUNCT
alkej-123	45	26	…	…	PUNCT
alkej-123	45	27	(	(	PUNCT
alkej-123	45	28	4	4	NUM
alkej-123	45	29	)	)	PUNCT
alkej-123	45	30	with	with	ADP
alkej-123	45	31	parameter	parameter	NOUN
alkej-123	45	32	given	give	VERB
alkej-123	45	33	by	by	ADP
alkej-123	45	34	table	table	NOUN
alkej-123	45	35	1	1	NUM
alkej-123	45	36	,	,	PUNCT
alkej-123	45	37	eq	eq	NOUN
alkej-123	45	38	.	.	PUNCT
alkej-123	45	39	(	(	PUNCT
alkej-123	45	40	4	4	X
alkej-123	45	41	)	)	PUNCT
alkej-123	45	42	becomes	become	VERB
alkej-123	45	43	:	:	PUNCT
alkej-123	45	44	�	�	PROPN
alkej-123	45	45	�	�	PROPN
alkej-123	45	46	8	8	NUM
alkej-123	45	47	�	�	PROPN
alkej-123	45	48	9	9	NUM
alkej-123	45	49	�	�	PROPN
alkej-123	45	50	8	8	NUM
alkej-123	45	51	�	�	PROPN
alkej-123	45	52	�	�	PROPN
alkej-123	45	53	�	�	PROPN
alkej-123	45	54	.b	.b	PROPN
alkej-123	45	55	8	8	NUM
alkej-123	45	56	�	�	PROPN
alkej-123	45	57	<c.c	<c.c	NOUN
alkej-123	45	58	�	�	PROPN
alkej-123	45	59	b8	b8	PROPN
alkej-123	45	60	<	<	X
alkej-123	45	61	d.&e	d.&e	PROPN
alkej-123	45	62	&	&	CCONJ
alkej-123	45	63	…	…	PUNCT
alkej-123	45	64	(	(	PUNCT
alkej-123	45	65	5	5	X
alkej-123	45	66	)	)	PUNCT
alkej-123	45	67	this	this	DET
alkej-123	45	68	transfer	transfer	NOUN
alkej-123	45	69	equation	equation	NOUN
alkej-123	45	70	has	have	VERB
alkej-123	45	71	two	two	NUM
alkej-123	45	72	complex	complex	ADJ
alkej-123	45	73	poles	pole	NOUN
alkej-123	45	74	(	(	PUNCT
alkej-123	45	75	-0.0125	-0.0125	X
alkej-123	45	76	+	+	NOUN
alkej-123	45	77	2.4761j	2.4761j	NUM
alkej-123	45	78	,	,	PUNCT
alkej-123	45	79	-0.0125	-0.0125	ADJ
alkej-123	45	80	-	-	PUNCT
alkej-123	45	81	2.4761j	2.4761j	NUM
alkej-123	45	82	)	)	PUNCT
alkej-123	45	83	with	with	ADP
alkej-123	45	84	damping	damp	VERB
alkej-123	45	85	ratio	ratio	NOUN
alkej-123	45	86	ζ=0.0050	ζ=0.0050	ADV
alkej-123	45	87	,	,	PUNCT
alkej-123	45	88	the	the	DET
alkej-123	45	89	state	state	NOUN
alkej-123	45	90	space	space	NOUN
alkej-123	45	91	equations	equation	NOUN
alkej-123	45	92	are	be	AUX
alkej-123	45	93	:	:	PUNCT
alkej-123	45	94	$	$	SYM
alkej-123	45	95	%	%	NOUN
alkej-123	45	96	&	&	CCONJ
alkej-123	45	97	'	'	PUNCT
alkej-123	45	98	%	%	NOUN
alkej-123	45	99	�	�	SYM
alkej-123	45	100	'	'	PUNCT
alkej-123	45	101	(	(	PUNCT
alkej-123	45	102	�	�	PROPN
alkej-123	45	103	3	3	NUM
alkej-123	45	104	0	0	NUM
alkej-123	45	105	1,6.131	1,6.131	NUM
alkej-123	45	106	,	,	PUNCT
alkej-123	45	107	0.0254	0.0254	NUM
alkej-123	45	108	3	3	NUM
alkej-123	45	109	%	%	NOUN
alkej-123	45	110	&	&	CCONJ
alkej-123	45	111	%	%	PROPN
alkej-123	45	112	�	�	PROPN
alkej-123	45	113	4	4	NUM
alkej-123	45	114	�	�	PROPN
alkej-123	45	115	3	3	NUM
alkej-123	45	116	02.54	02.54	NUM
alkej-123	45	117	�	�	PROPN
alkej-123	45	118	�	�	PROPN
alkej-123	45	119	5	5	NUM
alkej-123	45	120	�	�	PROPN
alkej-123	45	121	61	61	NUM
alkej-123	45	122	07	07	NUM
alkej-123	45	123	3%&%	3%&%	NUM
alkej-123	45	124	�	�	X
alkej-123	45	125	4	4	NUM
alkej-123	45	126	…	…	PUNCT
alkej-123	45	127	(	(	PUNCT
alkej-123	45	128	6	6	NUM
alkej-123	45	129	)	)	PUNCT
alkej-123	45	130	with	with	ADP
alkej-123	45	131	unity	unity	NOUN
alkej-123	45	132	step	step	NOUN
alkej-123	45	133	input	input	NOUN
alkej-123	45	134	,	,	PUNCT
alkej-123	45	135	the	the	DET
alkej-123	45	136	time	time	NOUN
alkej-123	45	137	response	response	NOUN
alkej-123	45	138	of	of	ADP
alkej-123	45	139	the	the	DET
alkej-123	45	140	leg	leg	NOUN
alkej-123	45	141	linear	linear	NOUN
alkej-123	45	142	and	and	CCONJ
alkej-123	45	143	nonlinear	nonlinear	ADJ
alkej-123	45	144	model	model	NOUN
alkej-123	45	145	is	be	AUX
alkej-123	45	146	shown	show	VERB
alkej-123	45	147	in	in	ADP
alkej-123	45	148	fig	fig	NOUN
alkej-123	45	149	.	.	PUNCT
alkej-123	46	1	2	2	X
alkej-123	46	2	.	.	X
alkej-123	46	3	fig	fig	NOUN
alkej-123	46	4	.	.	PUNCT
alkej-123	47	1	2	2	NUM
alkej-123	47	2	.	.	NOUN
alkej-123	47	3	time	time	NOUN
alkej-123	47	4	response	response	NOUN
alkej-123	47	5	for	for	ADP
alkej-123	47	6	linear	linear	ADJ
alkej-123	47	7	and	and	CCONJ
alkej-123	47	8	nonlinear	nonlinear	ADJ
alkej-123	47	9	model	model	NOUN
alkej-123	47	10	.	.	PUNCT
alkej-123	48	1	this	this	DET
alkej-123	48	2	figure	figure	NOUN
alkej-123	48	3	show	show	VERB
alkej-123	48	4	that	that	SCONJ
alkej-123	48	5	the	the	DET
alkej-123	48	6	leg	leg	NOUN
alkej-123	48	7	model	model	NOUN
alkej-123	48	8	response	response	NOUN
alkej-123	48	9	is	be	AUX
alkej-123	48	10	high	high	ADJ
alkej-123	48	11	oscillation	oscillation	NOUN
alkej-123	48	12	under	under	ADP
alkej-123	48	13	damped	damped	NOUN
alkej-123	48	14	.	.	PUNCT
alkej-123	49	1	in	in	ADP
alkej-123	49	2	order	order	NOUN
alkej-123	49	3	to	to	PART
alkej-123	49	4	reduce	reduce	VERB
alkej-123	49	5	the	the	DET
alkej-123	49	6	oscillation	oscillation	NOUN
alkej-123	49	7	,	,	PUNCT
alkej-123	49	8	a	a	DET
alkej-123	49	9	suitable	suitable	ADJ
alkej-123	49	10	velocity	velocity	NOUN
alkej-123	49	11	feedback	feedback	NOUN
alkej-123	49	12	gain	gain	NOUN
alkej-123	49	13	(	(	PUNCT
alkej-123	49	14	kv=3.74	kv=3.74	ADJ
alkej-123	49	15	)	)	PUNCT
alkej-123	49	16	is	be	AUX
alkej-123	49	17	adding	add	VERB
alkej-123	49	18	to	to	PART
alkej-123	49	19	plant	plant	VERB
alkej-123	49	20	leg	leg	NOUN
alkej-123	49	21	transfer	transfer	NOUN
alkej-123	49	22	function	function	NOUN
alkej-123	49	23	and	and	CCONJ
alkej-123	49	24	hence	hence	ADV
alkej-123	49	25	this	this	DET
alkej-123	49	26	function	function	NOUN
alkej-123	49	27	becomes	become	VERB
alkej-123	49	28	:	:	PUNCT
alkej-123	49	29	�	�	PROPN
alkej-123	49	30	�	�	PROPN
alkej-123	49	31	8	8	NUM
alkej-123	49	32	�	�	PROPN
alkej-123	49	33	9	9	NUM
alkej-123	49	34	�	�	PROPN
alkej-123	49	35	8	8	NUM
alkej-123	49	36	�	�	PROPN
alkej-123	49	37	�	�	PROPN
alkej-123	49	38	�	�	PROPN
alkej-123	49	39	.b	.b	PROPN
alkej-123	49	40	8	8	NUM
alkej-123	49	41	�	�	PROPN
alkej-123	49	42	<	<	NOUN
alkej-123	49	43	�	�	PROPN
alkej-123	49	44	c.c	c.c	PROPN
alkej-123	49	45	�	�	PROPN
alkej-123	49	46	b<	b<	PROPN
alkej-123	49	47	�	�	PROPN
alkej-123	49	48	.bjk	.bjk	NOUN
alkej-123	49	49	�	�	PROPN
alkej-123	49	50	8	8	NUM
alkej-123	49	51	<	<	X
alkej-123	49	52	d.&e	d.&e	PROPN
alkej-123	49	53	&	&	CCONJ
alkej-123	49	54	�	�	PROPN
alkej-123	49	55	�	�	PROPN
alkej-123	49	56	.b	.b	PROPN
alkej-123	49	57	8	8	NUM
alkej-123	49	58	�	�	NOUN
alkej-123	49	59	<l.m8	<l.m8	X
alkej-123	49	60	<	<	X
alkej-123	49	61	d.&e&	d.&e&	PROPN
alkej-123	49	62	…	…	PUNCT
alkej-123	49	63	(7	(7	NOUN
alkej-123	49	64	)	)	PUNCT
alkej-123	49	65	the	the	DET
alkej-123	49	66	damping	damp	VERB
alkej-123	49	67	ratio	ratio	NOUN
alkej-123	49	68	for	for	ADP
alkej-123	49	69	linear	linear	ADJ
alkej-123	49	70	model	model	NOUN
alkej-123	49	71	becomes	become	VERB
alkej-123	49	72	ζ=1.76	ζ=1.76	PROPN
alkej-123	49	73	,	,	PUNCT
alkej-123	49	74	so	so	SCONJ
alkej-123	49	75	the	the	DET
alkej-123	49	76	response	response	NOUN
alkej-123	49	77	of	of	ADP
alkej-123	49	78	unity	unity	NOUN
alkej-123	49	79	step	step	NOUN
alkej-123	49	80	input	input	NOUN
alkej-123	49	81	for	for	ADP
alkej-123	49	82	this	this	DET
alkej-123	49	83	equation	equation	NOUN
alkej-123	49	84	and	and	CCONJ
alkej-123	49	85	for	for	ADP
alkej-123	49	86	the	the	DET
alkej-123	49	87	nonlinear	nonlinear	ADJ
alkej-123	49	88	model	model	NOUN
alkej-123	49	89	become	become	VERB
alkej-123	49	90	over	over	ADP
alkej-123	49	91	damped	damped	NOUN
alkej-123	49	92	as	as	SCONJ
alkej-123	49	93	shown	show	VERB
alkej-123	49	94	in	in	ADP
alkej-123	49	95	fig	fig	NOUN
alkej-123	49	96	.	.	PUNCT
alkej-123	50	1	3	3	X
alkej-123	50	2	.	.	X
alkej-123	50	3	fig	fig	NOUN
alkej-123	50	4	.	.	PUNCT
alkej-123	51	1	3	3	NUM
alkej-123	51	2	.	.	NOUN
alkej-123	51	3	time	time	NOUN
alkej-123	51	4	response	response	NOUN
alkej-123	51	5	for	for	ADP
alkej-123	51	6	linear	linear	ADJ
alkej-123	51	7	and	and	CCONJ
alkej-123	51	8	nonlinear	nonlinear	ADJ
alkej-123	51	9	model	model	NOUN
alkej-123	51	10	with	with	ADP
alkej-123	51	11	velocity	velocity	NOUN
alkej-123	51	12	feedback	feedback	NOUN
alkej-123	51	13	gain	gain	VERB
alkej-123	51	14	kv=	kv=	PROPN
alkej-123	51	15	3.74	3.74	NUM
alkej-123	51	16	3	3	NUM
alkej-123	51	17	.	.	PUNCT
alkej-123	51	18	hybrid	hybrid	ADJ
alkej-123	51	19	neural	neural	ADJ
alkej-123	51	20	fuzzy	fuzzy	ADJ
alkej-123	51	21	controller	controller	NOUN
alkej-123	51	22	design	design	VERB
alkej-123	51	23	the	the	DET
alkej-123	51	24	block	block	NOUN
alkej-123	51	25	diagram	diagram	NOUN
alkej-123	51	26	for	for	ADP
alkej-123	51	27	nonlinear	nonlinear	ADJ
alkej-123	51	28	robotic	robotic	ADJ
alkej-123	51	29	leg	leg	NOUN
alkej-123	51	30	model	model	NOUN
alkej-123	51	31	with	with	ADP
alkej-123	51	32	the	the	DET
alkej-123	51	33	suggested	suggest	VERB
alkej-123	51	34	hybrid	hybrid	NOUN
alkej-123	51	35	like	like	ADP
alkej-123	51	36	neural	neural	ADJ
alkej-123	51	37	fuzzy	fuzzy	ADJ
alkej-123	51	38	controller	controller	NOUN
alkej-123	51	39	is	be	AUX
alkej-123	51	40	shown	show	VERB
alkej-123	51	41	in	in	ADP
alkej-123	51	42	fig	fig	NOUN
alkej-123	51	43	.	.	PUNCT
alkej-123	52	1	4	4	X
alkej-123	52	2	.	.	X
alkej-123	52	3	fig	fig	NOUN
alkej-123	52	4	.	.	PUNCT
alkej-123	53	1	4	4	X
alkej-123	53	2	.	.	X
alkej-123	53	3	the	the	DET
alkej-123	53	4	block	block	NOUN
alkej-123	53	5	diagram	diagram	NOUN
alkej-123	53	6	for	for	ADP
alkej-123	53	7	hybrid	hybrid	ADJ
alkej-123	53	8	neural	neural	ADJ
alkej-123	53	9	fuzzy	fuzzy	ADJ
alkej-123	53	10	controller	controller	NOUN
alkej-123	53	11	for	for	ADP
alkej-123	53	12	human	human	ADJ
alkej-123	53	13	robotic	robotic	ADJ
alkej-123	53	14	leg	leg	NOUN
alkej-123	53	15	.	.	PUNCT
alkej-123	54	1	the	the	DET
alkej-123	54	2	suggested	suggest	VERB
alkej-123	54	3	hybrid	hybrid	ADJ
alkej-123	54	4	controller	controller	NOUN
alkej-123	54	5	consists	consist	VERB
alkej-123	54	6	from	from	ADP
alkej-123	54	7	siso	siso	PROPN
alkej-123	54	8	neural	neural	ADJ
alkej-123	54	9	integral	integral	ADJ
alkej-123	54	10	derivative	derivative	ADJ
alkej-123	54	11	(	(	PUNCT
alkej-123	54	12	nid	nid	PROPN
alkej-123	54	13	)	)	PUNCT
alkej-123	54	14	and	and	CCONJ
alkej-123	54	15	fuzzy	fuzzy	ADJ
alkej-123	54	16	proportional	proportional	ADJ
alkej-123	54	17	derivative	derivative	ADJ
alkej-123	54	18	(	(	PUNCT
alkej-123	54	19	fpd	fpd	NOUN
alkej-123	54	20	)	)	PUNCT
alkej-123	54	21	controller	controller	NOUN
alkej-123	54	22	.	.	PUNCT
alkej-123	55	1	the	the	DET
alkej-123	55	2	first	first	ADJ
alkej-123	55	3	step	step	NOUN
alkej-123	55	4	for	for	ADP
alkej-123	55	5	design	design	NOUN
alkej-123	55	6	this	this	DET
alkej-123	55	7	controller	controller	NOUN
alkej-123	55	8	is	be	AUX
alkej-123	55	9	determine	determine	VERB
alkej-123	55	10	the	the	DET
alkej-123	55	11	proportional	proportional	ADJ
alkej-123	55	12	integral	integral	ADJ
alkej-123	55	13	derivative	derivative	ADJ
alkej-123	55	14	(	(	PUNCT
alkej-123	55	15	pid	pid	NOUN
alkej-123	55	16	)	)	PUNCT
alkej-123	55	17	controller	controller	NOUN
alkej-123	55	18	for	for	ADP
alkej-123	55	19	the	the	DET
alkej-123	55	20	robotic	robotic	ADJ
alkej-123	55	21	leg	leg	NOUN
alkej-123	55	22	based	base	VERB
alkej-123	55	23	on	on	ADP
alkej-123	55	24	the	the	DET
alkej-123	55	25	linear	linear	ADJ
alkej-123	55	26	model	model	NOUN
alkej-123	55	27	of	of	ADP
alkej-123	55	28	the	the	DET
alkej-123	55	29	robotic	robotic	ADJ
alkej-123	55	30	leg	leg	NOUN
alkej-123	55	31	.	.	PUNCT
alkej-123	56	1	generally	generally	ADV
alkej-123	56	2	,	,	PUNCT
alkej-123	56	3	the	the	DET
alkej-123	56	4	equation	equation	NOUN
alkej-123	56	5	of	of	ADP
alkej-123	56	6	the	the	DET
alkej-123	56	7	ideal	ideal	ADJ
alkej-123	56	8	pid	pid	NOUN
alkej-123	56	9	controller	controller	NOUN
alkej-123	56	10	with	with	ADP
alkej-123	56	11	ideal	ideal	ADJ
alkej-123	56	12	form	form	NOUN
alkej-123	56	13	is	be	AUX
alkej-123	56	14	given	give	VERB
alkej-123	56	15	as	as	ADP
alkej-123	56	16	:	:	PUNCT
alkej-123	56	17	n	n	CCONJ
alkej-123	56	18	�	�	PROPN
alkej-123	56	19	�	�	PROPN
alkej-123	56	20	�	�	PROPN
alkej-123	56	21	�	�	PROPN
alkej-123	56	22	�	�	PROPN
alkej-123	56	23	op	op	PROPN
alkej-123	56	24	�	�	PROPN
alkej-123	56	25	jq	jq	PROPN
alkej-123	56	26	8	8	NUM
alkej-123	56	27	�	�	PROPN
alkej-123	56	28	o	o	NOUN
alkej-123	56	29	�	�	PROPN
alkej-123	56	30	�	�	PROPN
alkej-123	56	31	�	�	PROPN
alkej-123	56	32	�	�	PROPN
alkej-123	56	33	�	�	PROPN
alkej-123	56	34	r	r	PROPN
alkej-123	56	35	�	�	PROPN
alkej-123	56	36	�	�	PROPN
alkej-123	56	37	�	�	PROPN
alkej-123	56	38	…	…	PUNCT
alkej-123	56	39	(	(	PUNCT
alkej-123	56	40	8)	8)	NUM
alkej-123	56	41	where	where	SCONJ
alkej-123	56	42	:	:	PUNCT
alkej-123	56	43	e(s	e(s	PROPN
alkej-123	56	44	)	)	PUNCT
alkej-123	56	45	is	be	AUX
alkej-123	56	46	the	the	DET
alkej-123	56	47	error	error	NOUN
alkej-123	56	48	signal	signal	NOUN
alkej-123	56	49	between	between	ADP
alkej-123	56	50	the	the	DET
alkej-123	56	51	desired	desire	VERB
alkej-123	56	52	input	input	NOUN
alkej-123	56	53	and	and	CCONJ
alkej-123	56	54	the	the	DET
alkej-123	56	55	leg	leg	NOUN
alkej-123	56	56	output	output	NOUN
alkej-123	56	57	position	position	NOUN
alkej-123	56	58	,	,	PUNCT
alkej-123	56	59	while	while	SCONJ
alkej-123	56	60	kp	kp	PROPN
alkej-123	56	61	,	,	PUNCT
alkej-123	56	62	ki	ki	PROPN
alkej-123	56	63	,	,	PUNCT
alkej-123	56	64	and	and	CCONJ
alkej-123	56	65	kd	kd	PROPN
alkej-123	56	66	are	be	AUX
alkej-123	56	67	proportional	proportional	ADJ
alkej-123	56	68	,	,	PUNCT
alkej-123	56	69	integral	integral	ADJ
alkej-123	56	70	and	and	CCONJ
alkej-123	56	71	+	+	NUM
alkej-123	56	72	ekhlas	ekhla	NOUN
alkej-123	56	73	h.	h.	PROPN
alkej-123	56	74	karam	karam	PROPN
alkej-123	56	75	al	al	PROPN
alkej-123	56	76	-	-	PUNCT
alkej-123	56	77	khwarizmi	khwarizmi	PROPN
alkej-123	56	78	engineering	engineering	NOUN
alkej-123	56	79	journal	journal	PROPN
alkej-123	56	80	,	,	PUNCT
alkej-123	56	81	vol	vol	NOUN
alkej-123	56	82	.	.	PROPN
alkej-123	56	83	14	14	NUM
alkej-123	56	84	,	,	PUNCT
alkej-123	56	85	no	no	INTJ
alkej-123	56	86	.	.	NOUN
alkej-123	56	87	1	1	NUM
alkej-123	56	88	,	,	PUNCT
alkej-123	56	89	p.p	p.p	PROPN
alkej-123	56	90	.	.	NOUN
alkej-123	56	91	145155	145155	NUM
alkej-123	56	92	(	(	PUNCT
alkej-123	56	93	2018	2018	NUM
alkej-123	56	94	)	)	PUNCT
alkej-123	56	95	148	148	NUM
alkej-123	56	96	derivative	derivative	ADJ
alkej-123	56	97	gain	gain	NOUN
alkej-123	56	98	in	in	ADP
alkej-123	56	99	respectively	respectively	ADV
alkej-123	56	100	,	,	PUNCT
alkej-123	56	101	the	the	DET
alkej-123	56	102	values	value	NOUN
alkej-123	56	103	of	of	ADP
alkej-123	56	104	these	these	DET
alkej-123	56	105	parameters	parameter	NOUN
alkej-123	56	106	are	be	AUX
alkej-123	56	107	determine	determine	NOUN
alkej-123	56	108	by	by	ADP
alkej-123	56	109	launching	launch	VERB
alkej-123	56	110	pid	pid	NOUN
alkej-123	56	111	tuner	tuner	NOUN
alkej-123	56	112	method	method	NOUN
alkej-123	56	113	that	that	PRON
alkej-123	56	114	provide	provide	VERB
alkej-123	56	115	by	by	ADP
alkej-123	56	116	matlab	matlab	PROPN
alkej-123	56	117	simulink	simulink	PROPN
alkej-123	56	118	with	with	ADP
alkej-123	56	119	some	some	DET
alkej-123	56	120	manual	manual	ADJ
alkej-123	56	121	modification	modification	NOUN
alkej-123	56	122	.	.	PUNCT
alkej-123	57	1	eq	eq	ADJ
alkej-123	57	2	.	.	PUNCT
alkej-123	58	1	(	(	PUNCT
alkej-123	58	2	8)	8)	NUM
alkej-123	58	3	can	can	AUX
alkej-123	58	4	be	be	AUX
alkej-123	58	5	written	write	VERB
alkej-123	58	6	as	as	ADP
alkej-123	58	7	:	:	PUNCT
alkej-123	58	8	n	n	CCONJ
alkej-123	58	9	�	�	PROPN
alkej-123	58	10	�	�	PROPN
alkej-123	58	11	�	�	PROPN
alkej-123	58	12	�	�	PROPN
alkej-123	58	13	op	op	NOUN
alkej-123	58	14	"	"	PUNCT
alkej-123	58	15	1	1	NUM
alkej-123	58	16	�	�	PROPN
alkej-123	58	17	&	&	CCONJ
alkej-123	58	18	9q8	9q8	PROPN
alkej-123	58	19	�	�	PROPN
alkej-123	58	20	�	�	PROPN
alkej-123	58	21	�	�	PROPN
alkej-123	58	22	�	�	PROPN
alkej-123	58	23	#	#	SYM
alkej-123	58	24	r	r	NOUN
alkej-123	58	25	�	�	PROPN
alkej-123	58	26	�	�	PROPN
alkej-123	58	27	�	�	PROPN
alkej-123	58	28	…	…	PUNCT
alkej-123	58	29	(	(	PUNCT
alkej-123	58	30	9	9	NUM
alkej-123	58	31	)	)	PUNCT
alkej-123	58	32	where	where	SCONJ
alkej-123	58	33	:	:	PUNCT
alkej-123	58	34	ti	ti	PROPN
alkej-123	58	35	is	be	AUX
alkej-123	58	36	integral	integral	ADJ
alkej-123	58	37	or	or	CCONJ
alkej-123	58	38	reset	reset	ADJ
alkej-123	58	39	time	time	NOUN
alkej-123	58	40	,	,	PUNCT
alkej-123	58	41	and	and	CCONJ
alkej-123	58	42	td	td	NOUN
alkej-123	58	43	is	be	AUX
alkej-123	58	44	derivative	derivative	ADJ
alkej-123	58	45	or	or	CCONJ
alkej-123	58	46	rate	rate	NOUN
alkej-123	58	47	time	time	NOUN
alkej-123	58	48	.	.	PUNCT
alkej-123	59	1	in	in	ADP
alkej-123	59	2	this	this	DET
alkej-123	59	3	paper	paper	NOUN
alkej-123	59	4	,	,	PUNCT
alkej-123	59	5	instead	instead	ADV
alkej-123	59	6	of	of	ADP
alkej-123	59	7	ideal	ideal	ADJ
alkej-123	59	8	pid	pid	NOUN
alkej-123	59	9	controller	controller	NOUN
alkej-123	59	10	we	we	PRON
alkej-123	59	11	use	use	VERB
alkej-123	59	12	pi+2d	pi+2d	NOUN
alkej-123	59	13	and	and	CCONJ
alkej-123	59	14	hence	hence	ADV
alkej-123	59	15	eq	eq	ADP
alkej-123	59	16	.	.	PUNCT
alkej-123	59	17	(	(	PUNCT
alkej-123	59	18	9	9	X
alkej-123	59	19	)	)	PUNCT
alkej-123	59	20	becomes	become	VERB
alkej-123	59	21	:	:	PUNCT
alkej-123	59	22	n	n	CCONJ
alkej-123	59	23	�	�	PROPN
alkej-123	59	24	�	�	PROPN
alkej-123	59	25	�	�	PROPN
alkej-123	59	26	�	�	PROPN
alkej-123	59	27	op	op	NOUN
alkej-123	59	28	"	"	PUNCT
alkej-123	59	29	1	1	NUM
alkej-123	59	30	�	�	PROPN
alkej-123	59	31	&	&	CCONJ
alkej-123	59	32	9q8	9q8	PROPN
alkej-123	59	33	�	�	PROPN
alkej-123	59	34	�	�	PROPN
alkej-123	59	35	�	�	PROPN
alkej-123	59	36	�	�	PROPN
alkej-123	59	37	�	�	PROPN
alkej-123	59	38	�	�	PROPN
alkej-123	59	39	�	�	PROPN
alkej-123	59	40	�	�	NOUN
alkej-123	59	41	#	#	NOUN
alkej-123	59	42	r	r	NOUN
alkej-123	59	43	�	�	PROPN
alkej-123	59	44	�	�	PROPN
alkej-123	59	45	�	�	PROPN
alkej-123	59	46	…	…	PUNCT
alkej-123	59	47	(	(	PUNCT
alkej-123	59	48	10	10	NUM
alkej-123	59	49	)	)	PUNCT
alkej-123	59	50	or	or	CCONJ
alkej-123	59	51	n	n	CCONJ
alkej-123	59	52	�	�	PROPN
alkej-123	59	53	�	�	PROPN
alkej-123	59	54	�	�	PROPN
alkej-123	59	55	�	�	PROPN
alkej-123	59	56	op	op	NOUN
alkej-123	59	57	t	t	PROPN
alkej-123	59	58	�	�	PROPN
alkej-123	59	59	1	1	NUM
alkej-123	59	60	�	�	PROPN
alkej-123	59	61	�	�	PROPN
alkej-123	59	62	�	�	PROPN
alkej-123	59	63	�	�	PROPN
alkej-123	59	64	�	�	PROPN
alkej-123	59	65	�	�	PROPN
alkej-123	59	66	�	�	PROPN
alkej-123	59	67	&	&	CCONJ
alkej-123	59	68	9q8	9q8	PROPN
alkej-123	59	69	�	�	PROPN
alkej-123	59	70	�	�	PROPN
alkej-123	59	71	�	�	PROPN
alkej-123	59	72	�	�	PROPN
alkej-123	59	73	�	�	PROPN
alkej-123	59	74	ur	ur	PROPN
alkej-123	59	75	�	�	PROPN
alkej-123	59	76	�	�	PROPN
alkej-123	59	77	�	�	PROPN
alkej-123	59	78	…	…	PUNCT
alkej-123	59	79	…	…	PUNCT
alkej-123	59	80	(	(	PUNCT
alkej-123	59	81	11	11	NUM
alkej-123	59	82	)	)	PUNCT
alkej-123	59	83	eq	eq	NOUN
alkej-123	59	84	.	.	PUNCT
alkej-123	60	1	(	(	PUNCT
alkej-123	60	2	11	11	NUM
alkej-123	60	3	)	)	PUNCT
alkej-123	60	4	can	can	AUX
alkej-123	60	5	be	be	AUX
alkej-123	60	6	written	write	VERB
alkej-123	60	7	as	as	ADP
alkej-123	60	8	:	:	PUNCT
alkej-123	60	9	n	n	CCONJ
alkej-123	60	10	�	�	PROPN
alkej-123	60	11	�	�	PROPN
alkej-123	60	12	�	�	PROPN
alkej-123	60	13	�	�	PROPN
alkej-123	60	14	op	op	PROPN
alkej-123	60	15	�	�	PROPN
alkej-123	60	16	1	1	NUM
alkej-123	60	17	�	�	PROPN
alkej-123	60	18	�	�	PROPN
alkej-123	60	19	�	�	PROPN
alkej-123	60	20	�	�	PROPN
alkej-123	60	21	�	�	PROPN
alkej-123	60	22	r	r	PROPN
alkej-123	60	23	�	�	PROPN
alkej-123	60	24	�	�	PROPN
alkej-123	60	25	�	�	PROPN
alkej-123	60	26	�	�	PROPN
alkej-123	60	27	op	op	NOUN
alkej-123	60	28	v	v	ADP
alkej-123	60	29	1	1	NUM
alkej-123	60	30	�	�	PROPN
alkej-123	60	31	w	w	PROPN
alkej-123	60	32	�	�	PROPN
alkej-123	60	33	�	�	PROPN
alkej-123	60	34	�	�	PROPN
alkej-123	60	35	�	�	PROPN
alkej-123	60	36	�	�	PROPN
alkej-123	60	37	x	x	SYM
alkej-123	60	38	r	r	PROPN
alkej-123	60	39	�	�	PROPN
alkej-123	60	40	�	�	PROPN
alkej-123	60	41	�	�	PROPN
alkej-123	60	42	�	�	PROPN
alkej-123	60	43	n	n	CCONJ
alkej-123	60	44	&	&	CCONJ
alkej-123	60	45	�	�	PROPN
alkej-123	60	46	�	�	PROPN
alkej-123	60	47	�	�	PROPN
alkej-123	60	48	�	�	PROPN
alkej-123	60	49	n	n	CCONJ
alkej-123	60	50	�	�	PROPN
alkej-123	60	51	�	�	PROPN
alkej-123	60	52	�	�	PROPN
alkej-123	60	53	�	�	PROPN
alkej-123	60	54	…	…	PUNCT
alkej-123	60	55	(	(	PUNCT
alkej-123	60	56	12	12	NUM
alkej-123	60	57	)	)	PUNCT
alkej-123	60	58	the	the	DET
alkej-123	60	59	steps	step	NOUN
alkej-123	60	60	for	for	ADP
alkej-123	60	61	designing	design	VERB
alkej-123	60	62	the	the	DET
alkej-123	60	63	suggested	suggest	VERB
alkej-123	60	64	controller	controller	NOUN
alkej-123	60	65	will	will	AUX
alkej-123	60	66	be	be	AUX
alkej-123	60	67	demonstrate	demonstrate	VERB
alkej-123	60	68	in	in	ADP
alkej-123	60	69	the	the	DET
alkej-123	60	70	following	follow	VERB
alkej-123	60	71	sub	sub	NOUN
alkej-123	60	72	sections	section	NOUN
alkej-123	60	73	.	.	PUNCT
alkej-123	61	1	3.1	3.1	NUM
alkej-123	61	2	fuzzy	fuzzy	ADJ
alkej-123	61	3	proportional	proportional	ADJ
alkej-123	61	4	derivative	derivative	ADJ
alkej-123	61	5	controller	controller	NOUN
alkej-123	61	6	design	design	VERB
alkej-123	61	7	the	the	DET
alkej-123	61	8	first	first	ADJ
alkej-123	61	9	part	part	NOUN
alkej-123	61	10	of	of	ADP
alkej-123	61	11	eq	eq	PROPN
alkej-123	61	12	.	.	PUNCT
alkej-123	62	1	(	(	PUNCT
alkej-123	62	2	12	12	NUM
alkej-123	62	3	)	)	PUNCT
alkej-123	62	4	is	be	AUX
alkej-123	62	5	ideal	ideal	ADJ
alkej-123	62	6	pd	pd	NOUN
alkej-123	62	7	controller	controller	NOUN
alkej-123	62	8	as	as	SCONJ
alkej-123	62	9	given	give	VERB
alkej-123	62	10	by	by	ADP
alkej-123	62	11	:	:	PUNCT
alkej-123	62	12	n	n	CCONJ
alkej-123	63	1	&	&	CCONJ
alkej-123	63	2	�	�	PROPN
alkej-123	63	3	�	�	PROPN
alkej-123	63	4	�	�	PROPN
alkej-123	63	5	�	�	PROPN
alkej-123	63	6	op	op	PROPN
alkej-123	63	7	�	�	PROPN
alkej-123	63	8	1	1	NUM
alkej-123	63	9	�	�	PROPN
alkej-123	63	10	�	�	PROPN
alkej-123	63	11	�	�	PROPN
alkej-123	63	12	�	�	PROPN
alkej-123	63	13	�	�	PROPN
alkej-123	63	14	r	r	PROPN
alkej-123	63	15	�	�	PROPN
alkej-123	63	16	�	�	PROPN
alkej-123	63	17	�	�	PROPN
alkej-123	63	18	…	…	PUNCT
alkej-123	63	19	(	(	PUNCT
alkej-123	63	20	13	13	NUM
alkej-123	63	21	)	)	PUNCT
alkej-123	63	22	this	this	DET
alkej-123	63	23	equation	equation	NOUN
alkej-123	63	24	is	be	AUX
alkej-123	63	25	considered	consider	VERB
alkej-123	63	26	as	as	ADP
alkej-123	63	27	input	input	NOUN
alkej-123	63	28	to	to	ADP
alkej-123	63	29	the	the	DET
alkej-123	63	30	siso	siso	NOUN
alkej-123	63	31	fuzzy	fuzzy	ADJ
alkej-123	63	32	controller	controller	NOUN
alkej-123	63	33	as	as	SCONJ
alkej-123	63	34	shown	show	VERB
alkej-123	63	35	in	in	ADP
alkej-123	63	36	fig	fig	NOUN
alkej-123	63	37	.	.	PUNCT
alkej-123	64	1	5	5	NUM
alkej-123	64	2	after	after	SCONJ
alkej-123	64	3	remove	remove	VERB
alkej-123	64	4	kp	kp	NOUN
alkej-123	64	5	as	as	SCONJ
alkej-123	64	6	given	give	VERB
alkej-123	64	7	by	by	ADP
alkej-123	64	8	:	:	PUNCT
alkej-123	64	9	yw	yw	PROPN
alkej-123	64	10	�	�	PROPN
alkej-123	64	11	�	�	PROPN
alkej-123	64	12	�	�	PROPN
alkej-123	64	13	�	�	PROPN
alkej-123	64	14	�	�	PROPN
alkej-123	64	15	z	z	PROPN
alkej-123	64	16	�	�	PROPN
alkej-123	64	17	�	�	PROPN
alkej-123	64	18	"1	"1	PROPN
alkej-123	64	19	�	�	PROPN
alkej-123	64	20	�	�	PROPN
alkej-123	64	21	�	�	PROPN
alkej-123	64	22	�	�	PROPN
alkej-123	64	23	�	�	PROPN
alkej-123	64	24	�	�	PROPN
alkej-123	64	25	#	#	NOUN
alkej-123	64	26	[	[	X
alkej-123	64	27	�	�	PROPN
alkej-123	64	28	�	�	PROPN
alkej-123	64	29	�	�	PROPN
alkej-123	64	30	�	�	PROPN
alkej-123	64	31	…	…	PUNCT
alkej-123	64	32	(	(	PUNCT
alkej-123	64	33	14	14	NUM
alkej-123	64	34	)	)	PUNCT
alkej-123	64	35	fig	fig	NOUN
alkej-123	64	36	.	.	PUNCT
alkej-123	65	1	5	5	NUM
alkej-123	65	2	.	.	X
alkej-123	65	3	fuzzy	fuzzy	ADJ
alkej-123	65	4	pd	pd	PROPN
alkej-123	65	5	logic	logic	NOUN
alkej-123	65	6	controller	controller	NOUN
alkej-123	65	7	.	.	PUNCT
alkej-123	66	1	the	the	DET
alkej-123	66	2	saturation	saturation	NOUN
alkej-123	66	3	function	function	NOUN
alkej-123	66	4	is	be	AUX
alkej-123	66	5	used	use	VERB
alkej-123	66	6	to	to	PART
alkej-123	66	7	limit	limit	VERB
alkej-123	66	8	any	any	DET
alkej-123	66	9	input	input	NOUN
alkej-123	66	10	signal	signal	NOUN
alkej-123	66	11	to	to	PART
alkej-123	66	12	be	be	AUX
alkej-123	66	13	between	between	ADP
alkej-123	66	14	(	(	PUNCT
alkej-123	66	15	n	n	ADP
alkej-123	66	16	to	to	PART
alkej-123	66	17	–	–	PUNCT
alkej-123	66	18	n	n	CCONJ
alkej-123	66	19	)	)	PUNCT
alkej-123	66	20	,	,	PUNCT
alkej-123	66	21	k	k	X
alkej-123	66	22	]	]	X
alkej-123	66	23	�	�	PROPN
alkej-123	66	24	kp	kp	PROPN
alkej-123	66	25	×o8	×o8	PROPN
alkej-123	66	26	where	where	SCONJ
alkej-123	66	27	ks	ks	PROPN
alkej-123	66	28	is	be	AUX
alkej-123	66	29	selected	select	VERB
alkej-123	66	30	gain	gain	NOUN
alkej-123	66	31	such	such	ADJ
alkej-123	66	32	that	that	SCONJ
alkej-123	66	33	the	the	DET
alkej-123	66	34	value	value	NOUN
alkej-123	66	35	of	of	ADP
alkej-123	66	36	kf	kf	PROPN
alkej-123	66	37	should	should	AUX
alkej-123	66	38	be	be	AUX
alkej-123	66	39	equal	equal	ADJ
alkej-123	66	40	to	to	ADP
alkej-123	66	41	magnitude	magnitude	NOUN
alkej-123	66	42	of	of	ADP
alkej-123	66	43	the	the	DET
alkej-123	66	44	input	input	NOUN
alkej-123	66	45	signal	signal	NOUN
alkej-123	66	46	,	,	PUNCT
alkej-123	66	47	for	for	ADP
alkej-123	66	48	example	example	NOUN
alkej-123	66	49	if	if	SCONJ
alkej-123	66	50	the	the	DET
alkej-123	66	51	input	input	NOUN
alkej-123	66	52	is	be	AUX
alkej-123	66	53	step	step	NOUN
alkej-123	66	54	with	with	ADP
alkej-123	66	55	magnitude	magnitude	NOUN
alkej-123	66	56	10	10	NUM
alkej-123	66	57	,	,	PUNCT
alkej-123	66	58	then	then	ADV
alkej-123	66	59	kf	kf	PROPN
alkej-123	66	60	should	should	AUX
alkej-123	66	61	be	be	AUX
alkej-123	66	62	equal	equal	ADJ
alkej-123	66	63	to10	to10	PROPN
alkej-123	66	64	.	.	PUNCT
alkej-123	67	1	usually	usually	ADV
alkej-123	67	2	,	,	PUNCT
alkej-123	67	3	fuzzy	fuzzy	ADJ
alkej-123	67	4	logic	logic	NOUN
alkej-123	67	5	theory	theory	NOUN
alkej-123	67	6	deals	deal	VERB
alkej-123	67	7	with	with	ADP
alkej-123	67	8	uncertain	uncertain	ADJ
alkej-123	67	9	or	or	CCONJ
alkej-123	67	10	imprecise	imprecise	ADJ
alkej-123	67	11	situation	situation	NOUN
alkej-123	67	12	.	.	PUNCT
alkej-123	68	1	a	a	DET
alkej-123	68	2	variable	variable	NOUN
alkej-123	68	3	in	in	ADP
alkej-123	68	4	fuzzy	fuzzy	ADJ
alkej-123	68	5	logic	logic	NOUN
alkej-123	68	6	has	have	VERB
alkej-123	68	7	sets	set	NOUN
alkej-123	68	8	of	of	ADP
alkej-123	68	9	values	value	NOUN
alkej-123	68	10	which	which	PRON
alkej-123	68	11	are	be	AUX
alkej-123	68	12	characterized	characterize	VERB
alkej-123	68	13	by	by	ADP
alkej-123	68	14	linguistic	linguistic	ADJ
alkej-123	68	15	expressions	expression	NOUN
alkej-123	68	16	,	,	PUNCT
alkej-123	68	17	such	such	ADJ
alkej-123	68	18	negative	negative	ADJ
alkej-123	68	19	,	,	PUNCT
alkej-123	68	20	zero	zero	NUM
alkej-123	68	21	,	,	PUNCT
alkej-123	68	22	positive	positive	ADJ
alkej-123	68	23	,	,	PUNCT
alkej-123	68	24	etc	etc	X
alkej-123	68	25	.	.	X
alkej-123	69	1	these	these	DET
alkej-123	69	2	linguistic	linguistic	ADJ
alkej-123	69	3	expressions	expression	NOUN
alkej-123	69	4	are	be	AUX
alkej-123	69	5	represented	represent	VERB
alkej-123	69	6	numerically	numerically	ADV
alkej-123	69	7	by	by	ADP
alkej-123	69	8	fuzzy	fuzzy	ADJ
alkej-123	69	9	set	set	NOUN
alkej-123	69	10	and	and	CCONJ
alkej-123	69	11	it	it	PRON
alkej-123	69	12	is	be	AUX
alkej-123	69	13	characterized	characterize	VERB
alkej-123	69	14	by	by	ADP
alkej-123	69	15	membership	membership	NOUN
alkej-123	69	16	function	function	NOUN
alkej-123	69	17	that	that	PRON
alkej-123	69	18	varies	vary	VERB
alkej-123	69	19	from	from	ADP
alkej-123	69	20	[	[	X
alkej-123	69	21	0	0	NUM
alkej-123	69	22	to	to	PART
alkej-123	69	23	1	1	NUM
alkej-123	69	24	]	]	PUNCT
alkej-123	69	25	,	,	PUNCT
alkej-123	69	26	which	which	PRON
alkej-123	69	27	given	give	VERB
alkej-123	69	28	element	element	NOUN
alkej-123	69	29	can	can	AUX
alkej-123	69	30	be	be	AUX
alkej-123	69	31	a	a	DET
alkej-123	69	32	member	member	NOUN
alkej-123	69	33	of	of	ADP
alkej-123	69	34	any	any	DET
alkej-123	69	35	fuzzy	fuzzy	ADJ
alkej-123	69	36	set	set	NOUN
alkej-123	69	37	[	[	X
alkej-123	69	38	11	11	NUM
alkej-123	69	39	]	]	PUNCT
alkej-123	69	40	.	.	PUNCT
alkej-123	70	1	in	in	ADP
alkej-123	70	2	general	general	ADJ
alkej-123	70	3	,	,	PUNCT
alkej-123	70	4	the	the	DET
alkej-123	70	5	fuzzy	fuzzy	ADJ
alkej-123	70	6	controller	controller	NOUN
alkej-123	70	7	design	design	NOUN
alkej-123	70	8	consists	consist	VERB
alkej-123	70	9	from	from	ADP
alkej-123	70	10	three	three	NUM
alkej-123	70	11	parts	part	NOUN
alkej-123	70	12	:	:	PUNCT
alkej-123	70	13	3.1.1	3.1.1	NUM
alkej-123	70	14	.	.	PUNCT
alkej-123	71	1	fuzzification	fuzzification	NOUN
alkej-123	71	2	the	the	DET
alkej-123	71	3	input	input	NOUN
alkej-123	71	4	(	(	PUNCT
alkej-123	71	5	crisp	crisp	ADJ
alkej-123	71	6	)	)	PUNCT
alkej-123	71	7	data	datum	NOUN
alkej-123	71	8	is	be	AUX
alkej-123	71	9	fuzzified	fuzzifie	VERB
alkej-123	71	10	according	accord	VERB
alkej-123	71	11	to	to	ADP
alkej-123	71	12	a	a	DET
alkej-123	71	13	selected	select	VERB
alkej-123	71	14	membership	membership	NOUN
alkej-123	71	15	functions	function	NOUN
alkej-123	71	16	.	.	PUNCT
alkej-123	72	1	the	the	DET
alkej-123	72	2	input	input	NOUN
alkej-123	72	3	and	and	CCONJ
alkej-123	72	4	output	output	NOUN
alkej-123	72	5	membership	membership	NOUN
alkej-123	72	6	are	be	AUX
alkej-123	72	7	shown	show	VERB
alkej-123	72	8	in	in	ADP
alkej-123	72	9	fig	fig	NOUN
alkej-123	72	10	.	.	PUNCT
alkej-123	73	1	6	6	NUM
alkej-123	73	2	.	.	X
alkej-123	73	3	(	(	PUNCT
alkej-123	73	4	a	a	X
alkej-123	73	5	)	)	PUNCT
alkej-123	73	6	ekhlas	ekhla	NOUN
alkej-123	73	7	h.	h.	PROPN
alkej-123	73	8	karam	karam	PROPN
alkej-123	73	9	al	al	PROPN
alkej-123	73	10	-	-	PUNCT
alkej-123	73	11	khwarizmi	khwarizmi	PROPN
alkej-123	73	12	engineering	engineering	NOUN
alkej-123	73	13	journal	journal	PROPN
alkej-123	73	14	,	,	PUNCT
alkej-123	73	15	vol	vol	NOUN
alkej-123	73	16	.	.	PROPN
alkej-123	74	1	14	14	NUM
alkej-123	74	2	,	,	PUNCT
alkej-123	74	3	no	no	INTJ
alkej-123	74	4	.	.	NOUN
alkej-123	74	5	1	1	NUM
alkej-123	74	6	,	,	PUNCT
alkej-123	74	7	p.p	p.p	PROPN
alkej-123	74	8	.	.	NOUN
alkej-123	74	9	145155	145155	NUM
alkej-123	74	10	(	(	PUNCT
alkej-123	74	11	2018	2018	NUM
alkej-123	74	12	)	)	PUNCT
alkej-123	74	13	149	149	NUM
alkej-123	74	14	(	(	PUNCT
alkej-123	74	15	b	b	NOUN
alkej-123	74	16	)	)	PUNCT
alkej-123	74	17	fig	fig	NOUN
alkej-123	74	18	.	.	PUNCT
alkej-123	75	1	6	6	X
alkej-123	75	2	.	.	X
alkej-123	75	3	membership	membership	NOUN
alkej-123	75	4	function	function	NOUN
alkej-123	75	5	for	for	ADP
alkej-123	75	6	,	,	PUNCT
alkej-123	75	7	(	(	PUNCT
alkej-123	75	8	a	a	X
alkej-123	75	9	)	)	PUNCT
alkej-123	75	10	input	input	NOUN
alkej-123	75	11	variable	variable	NOUN
alkej-123	75	12	,	,	PUNCT
alkej-123	75	13	(	(	PUNCT
alkej-123	75	14	b	b	X
alkej-123	75	15	)	)	PUNCT
alkej-123	75	16	output	output	NOUN
alkej-123	75	17	variable	variable	NOUN
alkej-123	75	18	.	.	PUNCT
alkej-123	76	1	3.1.2	3.1.2	X
alkej-123	76	2	.	.	PUNCT
alkej-123	76	3	rule	rule	NOUN
alkej-123	76	4	base	base	NOUN
alkej-123	76	5	the	the	DET
alkej-123	76	6	knowledge	knowledge	NOUN
alkej-123	76	7	base	base	NOUN
alkej-123	76	8	of	of	ADP
alkej-123	76	9	the	the	DET
alkej-123	76	10	fuzzy	fuzzy	ADJ
alkej-123	76	11	logic	logic	NOUN
alkej-123	76	12	consists	consist	VERB
alkej-123	76	13	of	of	ADP
alkej-123	76	14	a	a	DET
alkej-123	76	15	set	set	NOUN
alkej-123	76	16	of	of	ADP
alkej-123	76	17	fuzzy	fuzzy	ADJ
alkej-123	76	18	if	if	SCONJ
alkej-123	76	19	(	(	PUNCT
alkej-123	76	20	the	the	DET
alkej-123	76	21	satisfied	satisfied	ADJ
alkej-123	76	22	conditions	condition	NOUN
alkej-123	76	23	set	set	VERB
alkej-123	76	24	)	)	PUNCT
alkej-123	76	25	then	then	ADV
alkej-123	76	26	(	(	PUNCT
alkej-123	76	27	the	the	DET
alkej-123	76	28	inferred	infer	VERB
alkej-123	76	29	consequence	consequence	NOUN
alkej-123	76	30	set	set	NOUN
alkej-123	76	31	)	)	PUNCT
alkej-123	76	32	rules	rule	NOUN
alkej-123	76	33	which	which	PRON
alkej-123	76	34	themselves	themselves	PRON
alkej-123	76	35	consist	consist	VERB
alkej-123	76	36	of	of	ADP
alkej-123	76	37	linguistic	linguistic	ADJ
alkej-123	76	38	set	set	NOUN
alkej-123	76	39	,	,	PUNCT
alkej-123	76	40	associated	associate	VERB
alkej-123	76	41	variables	variable	NOUN
alkej-123	76	42	with	with	ADP
alkej-123	76	43	inputs	input	NOUN
alkej-123	76	44	,	,	PUNCT
alkej-123	76	45	outputs	output	NOUN
alkej-123	76	46	and	and	CCONJ
alkej-123	76	47	fuzzy	fuzzy	ADJ
alkej-123	76	48	operators	operator	NOUN
alkej-123	76	49	like	like	ADP
alkej-123	76	50	or	or	CCONJ
alkej-123	76	51	and	and	CCONJ
alkej-123	76	52	and	and	CCONJ
alkej-123	76	53	[	[	X
alkej-123	76	54	12	12	NUM
alkej-123	76	55	]	]	PUNCT
alkej-123	76	56	.	.	PUNCT
alkej-123	77	1	the	the	DET
alkej-123	77	2	quantitative	quantitative	ADJ
alkej-123	77	3	if	if	SCONJ
alkej-123	77	4	-	-	PUNCT
alkej-123	77	5	then	then	ADV
alkej-123	77	6	rules	rule	NOUN
alkej-123	77	7	of	of	ADP
alkej-123	77	8	our	our	PRON
alkej-123	77	9	fuzzy	fuzzy	ADJ
alkej-123	77	10	controller	controller	NOUN
alkej-123	77	11	are	be	AUX
alkej-123	77	12	described	describe	VERB
alkej-123	77	13	as	as	ADP
alkej-123	77	14	:	:	PUNCT
alkej-123	77	15	r1	r1	PROPN
alkej-123	77	16	:	:	PUNCT
alkej-123	77	17	if	if	SCONJ
alkej-123	77	18	ui(t	ui(t	NOUN
alkej-123	77	19	)	)	PUNCT
alkej-123	77	20	is	be	AUX
alkej-123	77	21	m1	m1	PROPN
alkej-123	77	22	then	then	ADV
alkej-123	77	23	uf(t	uf(t	NOUN
alkej-123	77	24	)	)	PUNCT
alkej-123	77	25	is	be	AUX
alkej-123	77	26	m1	m1	PROPN
alkej-123	77	27	r2	r2	NOUN
alkej-123	77	28	:	:	PUNCT
alkej-123	77	29	if	if	SCONJ
alkej-123	77	30	ui(t	ui(t	NOUN
alkej-123	77	31	)	)	PUNCT
alkej-123	77	32	is	be	AUX
alkej-123	77	33	m2	m2	PROPN
alkej-123	77	34	then	then	ADV
alkej-123	77	35	uf(t	uf(t	NOUN
alkej-123	77	36	)	)	PUNCT
alkej-123	77	37	is	be	AUX
alkej-123	77	38	m2	m2	PROPN
alkej-123	77	39	r3	r3	PROPN
alkej-123	77	40	:	:	PUNCT
alkej-123	77	41	if	if	SCONJ
alkej-123	77	42	ui(t	ui(t	NOUN
alkej-123	77	43	)	)	PUNCT
alkej-123	77	44	is	be	AUX
alkej-123	77	45	m3	m3	PROPN
alkej-123	77	46	then	then	ADV
alkej-123	77	47	uf(t	uf(t	NOUN
alkej-123	77	48	)	)	PUNCT
alkej-123	77	49	is	be	AUX
alkej-123	77	50	m3	m3	PROPN
alkej-123	77	51	r4	r4	PROPN
alkej-123	77	52	:	:	PUNCT
alkej-123	77	53	if	if	SCONJ
alkej-123	77	54	ui(t	ui(t	NOUN
alkej-123	77	55	)	)	PUNCT
alkej-123	77	56	is	be	AUX
alkej-123	77	57	m4	m4	PROPN
alkej-123	77	58	then	then	ADV
alkej-123	77	59	uf(t	uf(t	NOUN
alkej-123	77	60	)	)	PUNCT
alkej-123	77	61	is	be	AUX
alkej-123	77	62	m4	m4	PROPN
alkej-123	77	63	r5	r5	NOUN
alkej-123	77	64	:	:	PUNCT
alkej-123	77	65	if	if	SCONJ
alkej-123	77	66	ui(t	ui(t	NOUN
alkej-123	77	67	)	)	PUNCT
alkej-123	77	68	is	be	AUX
alkej-123	77	69	m5	m5	PROPN
alkej-123	77	70	then	then	ADV
alkej-123	77	71	uf(t	uf(t	NOUN
alkej-123	77	72	)	)	PUNCT
alkej-123	78	1	is	be	AUX
alkej-123	78	2	m5	m5	NOUN
alkej-123	78	3	r6	r6	NOUN
alkej-123	78	4	:	:	PUNCT
alkej-123	78	5	if	if	SCONJ
alkej-123	78	6	ui(t	ui(t	NOUN
alkej-123	78	7	)	)	PUNCT
alkej-123	78	8	is	be	AUX
alkej-123	78	9	m6	m6	ADJ
alkej-123	78	10	then	then	ADV
alkej-123	78	11	uf(t	uf(t	NOUN
alkej-123	78	12	)	)	PUNCT
alkej-123	78	13	is	be	AUX
alkej-123	78	14	m6	m6	ADJ
alkej-123	78	15	r7	r7	NOUN
alkej-123	78	16	:	:	PUNCT
alkej-123	78	17	if	if	SCONJ
alkej-123	78	18	ui(t	ui(t	NOUN
alkej-123	78	19	)	)	PUNCT
alkej-123	78	20	is	be	AUX
alkej-123	78	21	m7	m7	PROPN
alkej-123	78	22	then	then	ADV
alkej-123	78	23	uf(t	uf(t	NOUN
alkej-123	78	24	)	)	PUNCT
alkej-123	79	1	is	be	AUX
alkej-123	79	2	m7	m7	ADJ
alkej-123	79	3	r8	r8	NOUN
alkej-123	79	4	:	:	PUNCT
alkej-123	79	5	if	if	SCONJ
alkej-123	79	6	ui(t	ui(t	NOUN
alkej-123	79	7	)	)	PUNCT
alkej-123	79	8	is	be	AUX
alkej-123	79	9	m8	m8	PROPN
alkej-123	79	10	then	then	ADV
alkej-123	79	11	uf(t	uf(t	NOUN
alkej-123	79	12	)	)	PUNCT
alkej-123	79	13	is	be	AUX
alkej-123	79	14	m8	m8	PROPN
alkej-123	79	15	r9	r9	NOUN
alkej-123	79	16	:	:	PUNCT
alkej-123	79	17	if	if	SCONJ
alkej-123	79	18	ui(t	ui(t	NOUN
alkej-123	79	19	)	)	PUNCT
alkej-123	79	20	is	be	AUX
alkej-123	79	21	m9	m9	PROPN
alkej-123	79	22	then	then	ADV
alkej-123	79	23	uf(t	uf(t	NOUN
alkej-123	79	24	)	)	PUNCT
alkej-123	79	25	is	be	AUX
alkej-123	79	26	m9	m9	PROPN
alkej-123	79	27	where	where	SCONJ
alkej-123	79	28	:	:	PUNCT
alkej-123	79	29	m	m	NOUN
alkej-123	79	30	is	be	AUX
alkej-123	79	31	linguistic	linguistic	ADJ
alkej-123	79	32	terms	term	NOUN
alkej-123	79	33	of	of	ADP
alkej-123	79	34	antecedent	antecedent	NOUN
alkej-123	79	35	fuzzy	fuzzy	ADJ
alkej-123	79	36	set	set	NOUN
alkej-123	79	37	,	,	PUNCT
alkej-123	79	38	they	they	PRON
alkej-123	79	39	mean	mean	VERB
alkej-123	79	40	m1=	m1=	PROPN
alkej-123	79	41	mf1	mf1	PROPN
alkej-123	79	42	,	,	PUNCT
alkej-123	79	43	…	…	PUNCT
alkej-123	79	44	,	,	PUNCT
alkej-123	79	45	m9	m9	PROPN
alkej-123	79	46	=	=	NOUN
alkej-123	79	47	mf9	mf9	NOUN
alkej-123	79	48	.	.	PUNCT
alkej-123	80	1	the	the	DET
alkej-123	80	2	universe	universe	NOUN
alkej-123	80	3	of	of	ADP
alkej-123	80	4	discourse	discourse	NOUN
alkej-123	80	5	from	from	ADP
alkej-123	80	6	-1.2	-1.2	NOUN
alkej-123	80	7	to	to	ADP
alkej-123	80	8	1.2	1.2	NUM
alkej-123	80	9	and	and	CCONJ
alkej-123	80	10	from	from	ADP
alkej-123	80	11	–	–	PUNCT
alkej-123	80	12	20	20	NUM
alkej-123	80	13	to	to	PART
alkej-123	80	14	20	20	NUM
alkej-123	80	15	for	for	ADP
alkej-123	80	16	the	the	DET
alkej-123	80	17	input	input	NOUN
alkej-123	80	18	and	and	CCONJ
alkej-123	80	19	the	the	DET
alkej-123	80	20	output	output	NOUN
alkej-123	80	21	membership	membership	NOUN
alkej-123	80	22	function	function	NOUN
alkej-123	80	23	in	in	ADP
alkej-123	80	24	respectively	respectively	ADV
alkej-123	80	25	as	as	SCONJ
alkej-123	80	26	shown	show	VERB
alkej-123	80	27	in	in	ADP
alkej-123	80	28	fig	fig	NOUN
alkej-123	80	29	.	.	PUNCT
alkej-123	81	1	6	6	NUM
alkej-123	81	2	.	.	X
alkej-123	81	3	3.1.3	3.1.3	NUM
alkej-123	81	4	.	.	PUNCT
alkej-123	81	5	defuzzification	defuzzification	NOUN
alkej-123	81	6	in	in	ADP
alkej-123	81	7	this	this	DET
alkej-123	81	8	step	step	NOUN
alkej-123	81	9	,	,	PUNCT
alkej-123	81	10	the	the	DET
alkej-123	81	11	center	center	NOUN
alkej-123	81	12	of	of	ADP
alkej-123	81	13	mass	mass	NOUN
alkej-123	81	14	(	(	PUNCT
alkej-123	81	15	com	com	NOUN
alkej-123	81	16	)	)	PUNCT
alkej-123	81	17	formula	formula	NOUN
alkej-123	81	18	is	be	AUX
alkej-123	81	19	used	use	VERB
alkej-123	81	20	to	to	PART
alkej-123	81	21	defuzzify	defuzzify	VERB
alkej-123	81	22	the	the	DET
alkej-123	81	23	law	law	NOUN
alkej-123	81	24	of	of	ADP
alkej-123	81	25	the	the	DET
alkej-123	81	26	fuzzy	fuzzy	ADJ
alkej-123	81	27	controller	controller	NOUN
alkej-123	81	28	.	.	PUNCT
alkej-123	82	1	3.2	3.2	NUM
alkej-123	82	2	neural	neural	ADJ
alkej-123	82	3	integral	integral	ADJ
alkej-123	82	4	derivative	derivative	ADJ
alkej-123	82	5	controller	controller	NOUN
alkej-123	82	6	design	design	VERB
alkej-123	82	7	a	a	DET
alkej-123	82	8	neural	neural	ADJ
alkej-123	82	9	network	network	NOUN
alkej-123	82	10	is	be	AUX
alkej-123	82	11	an	an	DET
alkej-123	82	12	interconnected	interconnected	ADJ
alkej-123	82	13	network	network	NOUN
alkej-123	82	14	of	of	ADP
alkej-123	82	15	nodes	node	NOUN
alkej-123	82	16	,	,	PUNCT
alkej-123	82	17	working	working	NOUN
alkej-123	82	18	manner	manner	NOUN
alkej-123	82	19	similar	similar	ADJ
alkej-123	82	20	neurons	neuron	NOUN
alkej-123	82	21	in	in	ADP
alkej-123	82	22	the	the	DET
alkej-123	82	23	human	human	ADJ
alkej-123	82	24	brains	brain	NOUN
alkej-123	82	25	.	.	PUNCT
alkej-123	83	1	each	each	DET
alkej-123	83	2	neurons	neuron	NOUN
alkej-123	83	3	contains	contain	VERB
alkej-123	83	4	a	a	DET
alkej-123	83	5	link	link	NOUN
alkej-123	83	6	collector	collector	NOUN
alkej-123	83	7	that	that	PRON
alkej-123	83	8	collects	collects	AUX
alkej-123	83	9	weighted	weight	VERB
alkej-123	83	10	with	with	ADP
alkej-123	83	11	the	the	DET
alkej-123	83	12	shift	shift	NOUN
alkej-123	83	13	income	income	NOUN
alkej-123	83	14	to	to	PART
alkej-123	83	15	form	form	VERB
alkej-123	83	16	a	a	DET
alkej-123	83	17	numerical	numerical	ADJ
alkej-123	83	18	output	output	NOUN
alkej-123	83	19	of	of	ADP
alkej-123	83	20	neuron	neuron	PROPN
alkej-123	83	21	,	,	PUNCT
alkej-123	83	22	which	which	PRON
alkej-123	83	23	is	be	AUX
alkej-123	83	24	considered	consider	VERB
alkej-123	83	25	as	as	ADP
alkej-123	83	26	lacking	lack	VERB
alkej-123	83	27	in	in	ADP
alkej-123	83	28	movement	movement	NOUN
alkej-123	83	29	with	with	ADP
alkej-123	83	30	neural	neural	ADJ
alkej-123	83	31	network	network	NOUN
alkej-123	83	32	fnn	fnn	NOUN
alkej-123	83	33	(	(	PUNCT
alkej-123	83	34	x	x	NOUN
alkej-123	83	35	)	)	PUNCT
alkej-123	83	36	,	,	PUNCT
alkej-123	83	37	where	where	SCONJ
alkej-123	83	38	x	x	X
alkej-123	83	39	…	…	PUNCT
alkej-123	83	40	…	…	PUNCT
alkej-123	83	41	,	,	PUNCT
alkej-123	83	42	r5	r5	PROPN
alkej-123	83	43	.	.	PUNCT
alkej-123	84	1	multi	multi	ADJ
alkej-123	84	2	-	-	ADJ
alkej-123	84	3	layer	layer	ADJ
alkej-123	84	4	perception	perception	NOUN
alkej-123	84	5	(	(	PUNCT
alkej-123	84	6	mlp	mlp	NOUN
alkej-123	84	7	)	)	PUNCT
alkej-123	84	8	and	and	CCONJ
alkej-123	84	9	radial	radial	ADJ
alkej-123	84	10	basis	basis	NOUN
alkej-123	84	11	function	function	NOUN
alkej-123	84	12	(	(	PUNCT
alkej-123	84	13	rbf	rbf	PROPN
alkej-123	84	14	)	)	PUNCT
alkej-123	84	15	networks	network	NOUN
alkej-123	84	16	are	be	AUX
alkej-123	84	17	the	the	DET
alkej-123	84	18	common	common	ADJ
alkej-123	84	19	traditional	traditional	ADJ
alkej-123	84	20	neural	neural	ADJ
alkej-123	84	21	networks	network	NOUN
alkej-123	84	22	[	[	X
alkej-123	84	23	13	13	NUM
alkej-123	84	24	]	]	PUNCT
alkej-123	84	25	.	.	PUNCT
alkej-123	85	1	in	in	ADP
alkej-123	85	2	this	this	DET
alkej-123	85	3	paper	paper	NOUN
alkej-123	85	4	(	(	PUNCT
alkej-123	85	5	mlp	mlp	NOUN
alkej-123	85	6	)	)	PUNCT
alkej-123	85	7	network	network	NOUN
alkej-123	85	8	is	be	AUX
alkej-123	85	9	used	use	VERB
alkej-123	85	10	,	,	PUNCT
alkej-123	85	11	which	which	PRON
alkej-123	85	12	is	be	AUX
alkej-123	85	13	consist	consist	VERB
alkej-123	85	14	from	from	ADP
alkej-123	85	15	three	three	NUM
alkej-123	85	16	layers	layer	NOUN
alkej-123	85	17	(	(	PUNCT
alkej-123	85	18	input	input	NOUN
alkej-123	85	19	layer	layer	NOUN
alkej-123	85	20	,	,	PUNCT
alkej-123	85	21	hidden	hide	VERB
alkej-123	85	22	layer	layer	NOUN
alkej-123	85	23	and	and	CCONJ
alkej-123	85	24	output	output	NOUN
alkej-123	85	25	layer	layer	NOUN
alkej-123	85	26	)	)	PUNCT
alkej-123	85	27	as	as	SCONJ
alkej-123	85	28	shown	show	VERB
alkej-123	85	29	in	in	ADP
alkej-123	85	30	fig	fig	NOUN
alkej-123	85	31	.	.	PUNCT
alkej-123	86	1	7	7	X
alkej-123	86	2	.	.	X
alkej-123	86	3	fig	fig	NOUN
alkej-123	86	4	.	.	PUNCT
alkej-123	87	1	7	7	X
alkej-123	87	2	.	.	X
alkej-123	87	3	the	the	DET
alkej-123	87	4	single	single	ADJ
alkej-123	87	5	node	node	NOUN
alkej-123	87	6	of	of	ADP
alkej-123	87	7	the	the	DET
alkej-123	87	8	mlp	mlp	NOUN
alkej-123	87	9	where	where	SCONJ
alkej-123	87	10	:	:	PUNCT
alkej-123	87	11	i	i	PRON
alkej-123	87	12	is	be	AUX
alkej-123	87	13	the	the	DET
alkej-123	87	14	neuron	neuron	NOUN
alkej-123	87	15	number	number	NOUN
alkej-123	87	16	and	and	CCONJ
alkej-123	87	17	xk	xk	PROPN
alkej-123	87	18	is	be	AUX
alkej-123	87	19	the	the	DET
alkej-123	87	20	input	input	NOUN
alkej-123	87	21	where	where	SCONJ
alkej-123	87	22	k=1	k=1	NOUN
alkej-123	87	23	,	,	PUNCT
alkej-123	87	24	…	…	PUNCT
alkej-123	87	25	.	.	PROPN
alkej-123	87	26	,	,	PUNCT
alkej-123	87	27	k.	k.	PROPN
alkej-123	87	28	(	(	PUNCT
alkej-123	87	29	ni	ni	PROPN
alkej-123	87	30	)	)	PUNCT
alkej-123	87	31	is	be	AUX
alkej-123	87	32	the	the	DET
alkej-123	87	33	result	result	NOUN
alkej-123	87	34	of	of	ADP
alkej-123	87	35	multiplied	multiply	VERB
alkej-123	87	36	the	the	DET
alkej-123	87	37	inputs	input	NOUN
alkej-123	87	38	by	by	ADP
alkej-123	87	39	weights	weight	NOUN
alkej-123	87	40	which	which	PRON
alkej-123	87	41	is	be	AUX
alkej-123	87	42	summed	sum	VERB
alkej-123	87	43	with	with	ADP
alkej-123	87	44	each	each	DET
alkej-123	87	45	other	other	ADJ
alkej-123	87	46	with	with	ADP
alkej-123	87	47	the	the	DET
alkej-123	87	48	bias	bias	NOUN
alkej-123	87	49	term	term	NOUN
alkej-123	87	50	bi	bi	PROPN
alkej-123	87	51	.	.	PUNCT
alkej-123	88	1	this	this	DET
alkej-123	88	2	result	result	NOUN
alkej-123	88	3	becomes	become	VERB
alkej-123	88	4	the	the	DET
alkej-123	88	5	input	input	NOUN
alkej-123	88	6	of	of	ADP
alkej-123	88	7	the	the	DET
alkej-123	88	8	activation	activation	NOUN
alkej-123	88	9	function	function	NOUN
alkej-123	88	10	(	(	PUNCT
alkej-123	88	11	g	g	NOUN
alkej-123	88	12	)	)	PUNCT
alkej-123	88	13	.	.	PUNCT
alkej-123	89	1	this	this	DET
alkej-123	89	2	function	function	NOUN
alkej-123	89	3	is	be	AUX
alkej-123	89	4	considered	consider	VERB
alkej-123	89	5	to	to	PART
alkej-123	89	6	be	be	AUX
alkej-123	89	7	a	a	DET
alkej-123	89	8	relay	relay	NOUN
alkej-123	89	9	function	function	NOUN
alkej-123	89	10	.	.	PUNCT
alkej-123	90	1	the	the	DET
alkej-123	90	2	sigmoid	sigmoid	NOUN
alkej-123	90	3	function	function	NOUN
alkej-123	90	4	or	or	CCONJ
alkej-123	90	5	tangent	tangent	ADJ
alkej-123	90	6	hyberbolic	hyberbolic	ADJ
alkej-123	90	7	(	(	PUNCT
alkej-123	90	8	tanh	tanh	NOUN
alkej-123	90	9	)	)	PUNCT
alkej-123	90	10	ekhlas	ekhla	NOUN
alkej-123	90	11	h.	h.	PROPN
alkej-123	90	12	karam	karam	PROPN
alkej-123	90	13	al	al	PROPN
alkej-123	90	14	-	-	PUNCT
alkej-123	90	15	khwarizmi	khwarizmi	PROPN
alkej-123	90	16	engineering	engineering	NOUN
alkej-123	90	17	journal	journal	PROPN
alkej-123	90	18	,	,	PUNCT
alkej-123	90	19	vol	vol	NOUN
alkej-123	90	20	.	.	PROPN
alkej-123	90	21	14	14	NUM
alkej-123	90	22	,	,	PUNCT
alkej-123	90	23	no	no	INTJ
alkej-123	90	24	.	.	NOUN
alkej-123	90	25	1	1	NUM
alkej-123	90	26	,	,	PUNCT
alkej-123	90	27	p.p	p.p	PROPN
alkej-123	90	28	.	.	NOUN
alkej-123	90	29	145155	145155	NUM
alkej-123	90	30	(	(	PUNCT
alkej-123	90	31	2018	2018	NUM
alkej-123	90	32	)	)	PUNCT
alkej-123	90	33	150	150	NUM
alkej-123	90	34	are	be	AUX
alkej-123	90	35	widely	widely	ADV
alkej-123	90	36	used	use	VERB
alkej-123	90	37	rather	rather	ADV
alkej-123	90	38	than	than	ADP
alkej-123	90	39	the	the	DET
alkej-123	90	40	relay	relay	NOUN
alkej-123	90	41	function	function	NOUN
alkej-123	90	42	[	[	X
alkej-123	90	43	13	13	NUM
alkej-123	90	44	]	]	PUNCT
alkej-123	90	45	.	.	PUNCT
alkej-123	91	1	the	the	DET
alkej-123	91	2	tangent	tangent	NOUN
alkej-123	91	3	function	function	NOUN
alkej-123	91	4	is	be	AUX
alkej-123	91	5	given	give	VERB
alkej-123	91	6	as	as	ADP
alkej-123	91	7	:	:	PUNCT
alkej-123	91	8	tanh	tanh	PROPN
alkej-123	91	9	�	�	PROPN
alkej-123	91	10	%	%	PROPN
alkej-123	91	11	�	�	PROPN
alkej-123	91	12	�	�	PROPN
alkej-123	91	13	&	&	CCONJ
alkej-123	91	14	bcde	bcde	PROPN
alkej-123	91	15	&	&	CCONJ
alkej-123	91	16	<	<	X
alkej-123	91	17	cde	cde	PROPN
alkej-123	91	18	…	…	PUNCT
alkej-123	91	19	(	(	PUNCT
alkej-123	91	20	15	15	NUM
alkej-123	91	21	)	)	PUNCT
alkej-123	91	22	in	in	ADP
alkej-123	91	23	this	this	DET
alkej-123	91	24	paper	paper	NOUN
alkej-123	91	25	our	our	PRON
alkej-123	91	26	neural	neural	ADJ
alkej-123	91	27	design	design	NOUN
alkej-123	91	28	is	be	AUX
alkej-123	91	29	only	only	ADV
alkej-123	91	30	single	single	ADJ
alkej-123	91	31	node	node	NOUN
alkej-123	91	32	of	of	ADP
alkej-123	91	33	mlp	mlp	PROPN
alkej-123	91	34	networks	network	NOUN
alkej-123	91	35	with	with	ADP
alkej-123	91	36	single	single	ADJ
alkej-123	91	37	input	input	NOUN
alkej-123	91	38	without	without	ADP
alkej-123	91	39	delay	delay	NOUN
alkej-123	91	40	,	,	PUNCT
alkej-123	91	41	the	the	DET
alkej-123	91	42	integral	integral	ADJ
alkej-123	91	43	derivative	derivative	NOUN
alkej-123	91	44	(	(	PUNCT
alkej-123	91	45	i	i	NOUN
alkej-123	91	46	d	d	PROPN
alkej-123	91	47	)	)	PUNCT
alkej-123	91	48	is	be	AUX
alkej-123	91	49	consider	consider	VERB
alkej-123	91	50	as	as	ADP
alkej-123	91	51	input	input	NOUN
alkej-123	91	52	to	to	ADP
alkej-123	91	53	this	this	DET
alkej-123	91	54	neural	neural	ADJ
alkej-123	91	55	controller	controller	NOUN
alkej-123	91	56	as	as	SCONJ
alkej-123	91	57	shown	show	VERB
alkej-123	91	58	in	in	ADP
alkej-123	91	59	fig	fig	NOUN
alkej-123	91	60	.	.	PUNCT
alkej-123	92	1	8	8	NUM
alkej-123	92	2	,	,	PUNCT
alkej-123	92	3	the	the	DET
alkej-123	92	4	output	output	NOUN
alkej-123	92	5	of	of	ADP
alkej-123	92	6	neural	neural	ADJ
alkej-123	92	7	network	network	NOUN
alkej-123	92	8	is	be	AUX
alkej-123	92	9	multiply	multiply	ADV
alkej-123	92	10	by	by	ADP
alkej-123	92	11	proportional	proportional	ADJ
alkej-123	92	12	gain	gain	NOUN
alkej-123	92	13	kp	kp	NOUN
alkej-123	92	14	,	,	PUNCT
alkej-123	92	15	manual	manual	ADJ
alkej-123	92	16	train	train	NOUN
alkej-123	92	17	is	be	AUX
alkej-123	92	18	used	use	VERB
alkej-123	92	19	to	to	PART
alkej-123	92	20	determine	determine	VERB
alkej-123	92	21	the	the	DET
alkej-123	92	22	value	value	NOUN
alkej-123	92	23	of	of	ADP
alkej-123	92	24	the	the	DET
alkej-123	92	25	bias	bias	NOUN
alkej-123	92	26	and	and	CCONJ
alkej-123	92	27	weight	weight	NOUN
alkej-123	92	28	.	.	PUNCT
alkej-123	93	1	fig	fig	NOUN
alkej-123	93	2	.	.	PUNCT
alkej-123	94	1	8	8	NUM
alkej-123	94	2	.	.	X
alkej-123	94	3	single	single	ADJ
alkej-123	94	4	input	input	NOUN
alkej-123	94	5	-	-	PUNCT
alkej-123	94	6	single	single	ADJ
alkej-123	94	7	output	output	NOUN
alkej-123	94	8	nid	nid	PROPN
alkej-123	94	9	controller	controller	PROPN
alkej-123	94	10	4	4	NUM
alkej-123	94	11	.	.	PUNCT
alkej-123	94	12	simulation	simulation	NOUN
alkej-123	94	13	results	result	NOUN
alkej-123	94	14	and	and	CCONJ
alkej-123	94	15	discussion	discussion	NOUN
alkej-123	94	16	in	in	ADP
alkej-123	94	17	this	this	DET
alkej-123	94	18	section	section	NOUN
alkej-123	94	19	,	,	PUNCT
alkej-123	94	20	different	different	ADJ
alkej-123	94	21	simulations	simulation	NOUN
alkej-123	94	22	for	for	ADP
alkej-123	94	23	the	the	DET
alkej-123	94	24	nonlinear	nonlinear	ADJ
alkej-123	94	25	robotic	robotic	ADJ
alkej-123	94	26	leg	leg	NOUN
alkej-123	94	27	model	model	NOUN
alkej-123	94	28	with	with	ADP
alkej-123	94	29	(	(	PUNCT
alkej-123	94	30	pi+2d	pi+2d	NOUN
alkej-123	94	31	,	,	PUNCT
alkej-123	94	32	pd+nid	pd+nid	X
alkej-123	94	33	,	,	PUNCT
alkej-123	94	34	fpd+id	fpd+id	PROPN
alkej-123	94	35	,	,	PUNCT
alkej-123	94	36	and	and	CCONJ
alkej-123	94	37	the	the	DET
alkej-123	94	38	suggested	suggest	VERB
alkej-123	94	39	fpd+nid	fpd+nid	PROPN
alkej-123	94	40	)	)	PUNCT
alkej-123	94	41	are	be	AUX
alkej-123	94	42	carried	carry	VERB
alkej-123	94	43	out	out	ADP
alkej-123	94	44	for	for	ADP
alkej-123	94	45	step	step	NOUN
alkej-123	94	46	and	and	CCONJ
alkej-123	94	47	multi	multi	ADJ
alkej-123	94	48	-	-	ADJ
alkej-123	94	49	step	step	ADJ
alkej-123	94	50	input	input	NOUN
alkej-123	94	51	.	.	PUNCT
alkej-123	95	1	the	the	DET
alkej-123	95	2	matlab	matlab	PROPN
alkej-123	95	3	simulink	simulink	PROPN
alkej-123	95	4	connection	connection	NOUN
alkej-123	95	5	for	for	ADP
alkej-123	95	6	the	the	DET
alkej-123	95	7	nonlinear	nonlinear	ADJ
alkej-123	95	8	leg	leg	NOUN
alkej-123	95	9	model	model	NOUN
alkej-123	95	10	with	with	ADP
alkej-123	95	11	the	the	DET
alkej-123	95	12	suggested	suggest	VERB
alkej-123	95	13	controller	controller	NOUN
alkej-123	95	14	is	be	AUX
alkej-123	95	15	shown	show	VERB
alkej-123	95	16	in	in	ADP
alkej-123	95	17	fig	fig	NOUN
alkej-123	95	18	.	.	PUNCT
alkej-123	96	1	9	9	X
alkej-123	96	2	.	.	X
alkej-123	96	3	fpd+nid	fpd+nid	PROPN
alkej-123	96	4	.	.	PUNCT
alkej-123	97	1	(	(	PUNCT
alkej-123	97	2	a	a	X
alkej-123	97	3	)	)	PUNCT
alkej-123	97	4	(	(	PUNCT
alkej-123	97	5	b	b	X
alkej-123	97	6	)	)	PUNCT
alkej-123	97	7	(	(	PUNCT
alkej-123	97	8	c	c	X
alkej-123	97	9	)	)	PUNCT
alkej-123	97	10	fig	fig	NOUN
alkej-123	97	11	.	.	PUNCT
alkej-123	98	1	9	9	X
alkej-123	98	2	.	.	X
alkej-123	98	3	matlab	matlab	PROPN
alkej-123	98	4	simulink	simulink	PROPN
alkej-123	98	5	connection	connection	NOUN
alkej-123	98	6	for	for	ADP
alkej-123	98	7	the	the	DET
alkej-123	98	8	robotic	robotic	ADJ
alkej-123	98	9	leg	leg	NOUN
alkej-123	98	10	with	with	ADP
alkej-123	98	11	the	the	DET
alkej-123	98	12	suggested	suggest	VERB
alkej-123	98	13	hybrid	hybrid	ADJ
alkej-123	98	14	controller	controller	NOUN
alkej-123	98	15	;	;	PUNCT
alkej-123	98	16	(	(	PUNCT
alkej-123	98	17	a	a	X
alkej-123	98	18	):	):	PUNCT
alkej-123	98	19	complete	complete	ADJ
alkej-123	98	20	connection	connection	NOUN
alkej-123	98	21	;	;	PUNCT
alkej-123	98	22	(	(	PUNCT
alkej-123	98	23	b	b	X
alkej-123	98	24	):	):	PUNCT
alkej-123	98	25	neural	neural	ADJ
alkej-123	98	26	network	network	NOUN
alkej-123	98	27	connection	connection	NOUN
alkej-123	98	28	;	;	PUNCT
alkej-123	98	29	(	(	PUNCT
alkej-123	98	30	c	c	X
alkej-123	98	31	):	):	PUNCT
alkej-123	98	32	nonlinear	nonlinear	ADJ
alkej-123	98	33	leg	leg	NOUN
alkej-123	98	34	model	model	NOUN
alkej-123	98	35	connection	connection	NOUN
alkej-123	98	36	the	the	DET
alkej-123	98	37	controller	controller	NOUN
alkej-123	98	38	's	's	PART
alkej-123	98	39	parameters	parameter	NOUN
alkej-123	98	40	are	be	AUX
alkej-123	98	41	given	give	VERB
alkej-123	98	42	by	by	ADP
alkej-123	98	43	table	table	NOUN
alkej-123	98	44	2	2	NUM
alkej-123	98	45	.	.	PUNCT
alkej-123	98	46	table	table	NOUN
alkej-123	98	47	2	2	NUM
alkej-123	98	48	,	,	PUNCT
alkej-123	98	49	controller	controller	NOUN
alkej-123	98	50	parameters	parameter	NOUN
alkej-123	98	51	.	.	PUNCT
alkej-123	99	1	kp	kp	PROPN
alkej-123	99	2	ti	ti	PROPN
alkej-123	99	3	td	td	PROPN
alkej-123	99	4	ki	ki	PROPN
alkej-123	99	5	kd	kd	PROPN
alkej-123	99	6	wi	wi	PROPN
alkej-123	99	7	bi	bi	PROPN
alkej-123	99	8	14	14	NUM
alkej-123	99	9	2	2	NUM
alkej-123	99	10	0.0357	0.0357	NUM
alkej-123	99	11	24	24	NUM
alkej-123	99	12	0.5	0.5	NUM
alkej-123	99	13	0.1	0.1	NUM
alkej-123	99	14	0.1	0.1	NUM
alkej-123	99	15	the	the	DET
alkej-123	99	16	different	different	ADJ
alkej-123	99	17	simulations	simulation	NOUN
alkej-123	99	18	are	be	AUX
alkej-123	99	19	presented	present	VERB
alkej-123	99	20	as	as	SCONJ
alkej-123	99	21	follows	follow	VERB
alkej-123	99	22	:	:	PUNCT
alkej-123	99	23	i.	i.	PROPN
alkej-123	99	24	simulation	simulation	PROPN
alkej-123	99	25	(	(	PUNCT
alkej-123	99	26	1	1	NUM
alkej-123	99	27	):	):	PUNCT
alkej-123	99	28	in	in	ADP
alkej-123	99	29	this	this	DET
alkej-123	99	30	simulation	simulation	NOUN
alkej-123	99	31	,	,	PUNCT
alkej-123	99	32	the	the	DET
alkej-123	99	33	controlled	control	VERB
alkej-123	99	34	robotic	robotic	ADJ
alkej-123	99	35	leg	leg	NOUN
alkej-123	99	36	is	be	AUX
alkej-123	99	37	tested	test	VERB
alkej-123	99	38	by	by	ADP
alkej-123	99	39	step	step	NOUN
alkej-123	99	40	input	input	NOUN
alkej-123	99	41	with	with	ADP
alkej-123	99	42	magnitude	magnitude	NOUN
alkej-123	99	43	2	2	NUM
alkej-123	99	44	and	and	CCONJ
alkej-123	99	45	the	the	DET
alkej-123	99	46	results	result	NOUN
alkej-123	99	47	of	of	ADP
alkej-123	99	48	this	this	DET
alkej-123	99	49	case	case	NOUN
alkej-123	99	50	(	(	PUNCT
alkej-123	99	51	angular	angular	ADJ
alkej-123	99	52	position	position	NOUN
alkej-123	99	53	,	,	PUNCT
alkej-123	99	54	velocity	velocity	NOUN
alkej-123	99	55	,	,	PUNCT
alkej-123	99	56	error	error	NOUN
alkej-123	99	57	,	,	PUNCT
alkej-123	99	58	and	and	CCONJ
alkej-123	99	59	control	control	NOUN
alkej-123	99	60	signal	signal	PROPN
alkej-123	99	61	)	)	PUNCT
alkej-123	99	62	which	which	PRON
alkej-123	99	63	are	be	AUX
alkej-123	99	64	given	give	VERB
alkej-123	99	65	in	in	ADP
alkej-123	99	66	fig	fig	NOUN
alkej-123	99	67	.	.	PUNCT
alkej-123	100	1	10	10	NUM
alkej-123	100	2	show	show	VERB
alkej-123	100	3	that	that	SCONJ
alkej-123	100	4	the	the	DET
alkej-123	100	5	position	position	NOUN
alkej-123	100	6	and	and	CCONJ
alkej-123	100	7	velocity	velocity	NOUN
alkej-123	100	8	tracking	tracking	NOUN
alkej-123	100	9	is	be	AUX
alkej-123	100	10	fairly	fairly	ADV
alkej-123	100	11	good	good	ADJ
alkej-123	100	12	with	with	ADP
alkej-123	100	13	nearly	nearly	ADV
alkej-123	100	14	zero	zero	NUM
alkej-123	100	15	steady	steady	ADJ
alkej-123	100	16	state	state	NOUN
alkej-123	100	17	error	error	NOUN
alkej-123	100	18	for	for	ADP
alkej-123	100	19	all	all	DET
alkej-123	100	20	controller	controller	NOUN
alkej-123	100	21	specially	specially	ADV
alkej-123	100	22	the	the	DET
alkej-123	100	23	our	our	PRON
alkej-123	100	24	suggested	suggest	VERB
alkej-123	100	25	fpd+nid	fpd+nid	PROPN
alkej-123	100	26	controller	controller	PROPN
alkej-123	100	27	.	.	PUNCT
alkej-123	101	1	(	(	PUNCT
alkej-123	101	2	a	a	X
alkej-123	101	3	)	)	PUNCT
alkej-123	101	4	weight	weight	NOUN
alkej-123	101	5	1	1	NUM
alkej-123	101	6	out	out	ADP
alkej-123	101	7	tansig	tansig	NOUN
alkej-123	101	8	netsum	netsum	PROPN
alkej-123	101	9	.1	.1	NUM
alkej-123	101	10	bias	bias	PROPN
alkej-123	101	11	.1	.1	NUM
alkej-123	101	12	1	1	NUM
alkej-123	101	13	in	in	ADP
alkej-123	101	14	thetadot	thetadot	NOUN
alkej-123	101	15	the	the	DET
alkej-123	101	16	ta	ta	PROPN
alkej-123	101	17	torque	torque	NOUN
alkej-123	101	18	input	input	PROPN
alkej-123	101	19	u(1	u(1	PROPN
alkej-123	101	20	)	)	PUNCT
alkej-123	101	21	u(2	u(2	ADJ
alkej-123	101	22	)	)	PUNCT
alkej-123	101	23	u(3	u(3	PROPN
alkej-123	101	24	)	)	PUNCT
alkej-123	101	25	u(4	u(4	PROPN
alkej-123	101	26	)	)	PUNCT
alkej-123	101	27	u(5	u(5	NOUN
alkej-123	101	28	)	)	PUNCT
alkej-123	101	29	u(6	u(6	NOUN
alkej-123	101	30	)	)	PUNCT
alkej-123	101	31	2	2	NUM
alkej-123	101	32	out2	out2	NOUN
alkej-123	101	33	1	1	NUM
alkej-123	101	34	out1	out1	NOUN
alkej-123	101	35	-cmgl/2	-cmgl/2	PROPN
alkej-123	102	1	.4	.4	NUM
alkej-123	102	2	j	j	PROPN
alkej-123	102	3	1	1	NUM
alkej-123	102	4	s	s	VERB
alkej-123	102	5	integrator1	integrator1	ADJ
alkej-123	102	6	1	1	NUM
alkej-123	102	7	s	s	X
alkej-123	102	8	in	in	ADP
alkej-123	102	9	tegrator	tegrator	NOUN
alkej-123	102	10	.01	.01	NUM
alkej-123	102	11	d	d	NOUN
alkej-123	102	12	interpreted	interpret	VERB
alkej-123	102	13	matlab	matlab	PROPN
alkej-123	102	14	fcn	fcn	PROPN
alkej-123	102	15	(	(	PUNCT
alkej-123	102	16	(	(	PUNCT
alkej-123	102	17	-u(3)*u(4))-(u(2)*sin	-u(3)*u(4))-(u(2)*sin	INTJ
alkej-123	102	18	(	(	PUNCT
alkej-123	102	19	u(5)))+u(6))/u(1	u(5)))+u(6))/u(1	NOUN
alkej-123	102	20	)	)	PUNCT
alkej-123	102	21	1	1	NUM
alkej-123	102	22	in1	in1	NOUN
alkej-123	102	23	ekhlas	ekhla	NOUN
alkej-123	102	24	h.	h.	PROPN
alkej-123	102	25	karam	karam	PROPN
alkej-123	102	26	al	al	PROPN
alkej-123	102	27	-	-	PUNCT
alkej-123	102	28	khwarizmi	khwarizmi	PROPN
alkej-123	102	29	engineering	engineering	NOUN
alkej-123	102	30	journal	journal	PROPN
alkej-123	102	31	,	,	PUNCT
alkej-123	102	32	vol	vol	NOUN
alkej-123	102	33	.	.	PROPN
alkej-123	103	1	14	14	NUM
alkej-123	103	2	,	,	PUNCT
alkej-123	103	3	no	no	INTJ
alkej-123	103	4	.	.	NOUN
alkej-123	103	5	1	1	NUM
alkej-123	103	6	,	,	PUNCT
alkej-123	103	7	p.p	p.p	PROPN
alkej-123	103	8	.	.	NOUN
alkej-123	103	9	145155	145155	NUM
alkej-123	103	10	(	(	PUNCT
alkej-123	103	11	2018	2018	NUM
alkej-123	103	12	)	)	PUNCT
alkej-123	103	13	151	151	NUM
alkej-123	103	14	(	(	PUNCT
alkej-123	103	15	b	b	NOUN
alkej-123	103	16	)	)	PUNCT
alkej-123	103	17	(	(	PUNCT
alkej-123	103	18	c	c	X
alkej-123	103	19	)	)	PUNCT
alkej-123	103	20	(	(	PUNCT
alkej-123	103	21	d	d	X
alkej-123	103	22	)	)	PUNCT
alkej-123	103	23	fig	fig	NOUN
alkej-123	103	24	.	.	PUNCT
alkej-123	104	1	10	10	NUM
alkej-123	104	2	.	.	PUNCT
alkej-123	104	3	simulation	simulation	NOUN
alkej-123	104	4	results	result	VERB
alkej-123	104	5	for	for	ADP
alkej-123	104	6	robotic	robotic	ADJ
alkej-123	104	7	leg	leg	NOUN
alkej-123	104	8	controlled	control	VERB
alkej-123	104	9	by	by	ADP
alkej-123	104	10	(	(	PUNCT
alkej-123	104	11	pi+2d	pi+2d	NOUN
alkej-123	104	12	,	,	PUNCT
alkej-123	104	13	pd+nid	pd+nid	X
alkej-123	104	14	,	,	PUNCT
alkej-123	104	15	fpd+id	fpd+id	PROPN
alkej-123	104	16	,	,	PUNCT
alkej-123	104	17	fpd+nid	fpd+nid	PROPN
alkej-123	104	18	)	)	PUNCT
alkej-123	104	19	with	with	ADP
alkej-123	104	20	step	step	NOUN
alkej-123	104	21	input	input	NOUN
alkej-123	104	22	of	of	ADP
alkej-123	104	23	mag.2	mag.2	NOUN
alkej-123	104	24	:	:	PUNCT
alkej-123	104	25	(	(	PUNCT
alkej-123	104	26	a	a	X
alkej-123	104	27	)	)	PUNCT
alkej-123	104	28	angular	angular	ADJ
alkej-123	104	29	position	position	NOUN
alkej-123	104	30	;	;	PUNCT
alkej-123	104	31	(	(	PUNCT
alkej-123	104	32	b	b	X
alkej-123	104	33	)	)	PUNCT
alkej-123	104	34	angular	angular	ADJ
alkej-123	104	35	velocity	velocity	NOUN
alkej-123	104	36	;	;	PUNCT
alkej-123	104	37	(	(	PUNCT
alkej-123	104	38	c	c	X
alkej-123	104	39	)	)	PUNCT
alkej-123	104	40	error	error	NOUN
alkej-123	104	41	signal	signal	NOUN
alkej-123	104	42	;	;	PUNCT
alkej-123	105	1	(	(	PUNCT
alkej-123	105	2	d	d	X
alkej-123	105	3	)	)	PUNCT
alkej-123	105	4	control	control	PROPN
alkej-123	105	5	signal	signal	PROPN
alkej-123	105	6	ii	ii	PROPN
alkej-123	105	7	.	.	PUNCT
alkej-123	105	8	simulation	simulation	NOUN
alkej-123	105	9	(	(	PUNCT
alkej-123	105	10	2	2	NUM
alkej-123	105	11	):	):	PUNCT
alkej-123	105	12	in	in	ADP
alkej-123	105	13	this	this	DET
alkej-123	105	14	simulation	simulation	NOUN
alkej-123	105	15	,	,	PUNCT
alkej-123	105	16	the	the	DET
alkej-123	105	17	controlled	control	VERB
alkej-123	105	18	robotic	robotic	ADJ
alkej-123	105	19	leg	leg	NOUN
alkej-123	105	20	is	be	AUX
alkej-123	105	21	tested	test	VERB
alkej-123	105	22	by	by	ADP
alkej-123	105	23	unity	unity	NOUN
alkej-123	105	24	step	step	NOUN
alkej-123	105	25	input	input	NOUN
alkej-123	105	26	with	with	ADP
alkej-123	105	27	nonlinear	nonlinear	ADJ
alkej-123	105	28	sinusoidal	sinusoidal	ADJ
alkej-123	105	29	disturbance	disturbance	NOUN
alkej-123	105	30	(	(	PUNCT
alkej-123	105	31	dis=0.1sin(20	dis=0.1sin(20	NOUN
alkej-123	105	32	t	t	NOUN
alkej-123	105	33	)	)	PUNCT
alkej-123	105	34	)	)	PUNCT
alkej-123	106	1	in	in	ADP
alkej-123	106	2	addition	addition	NOUN
alkej-123	106	3	to	to	ADP
alkej-123	106	4	10	10	NUM
alkej-123	106	5	%	%	NOUN
alkej-123	106	6	parameter	parameter	NOUN
alkej-123	106	7	uncertainty	uncertainty	NOUN
alkej-123	106	8	in	in	ADP
alkej-123	106	9	j	j	PROPN
alkej-123	106	10	,	,	PUNCT
alkej-123	106	11	d	d	PROPN
alkej-123	106	12	,	,	PUNCT
alkej-123	106	13	and	and	CCONJ
alkej-123	106	14	m	m	PROPN
alkej-123	106	15	parameters	parameter	NOUN
alkej-123	106	16	are	be	AUX
alkej-123	106	17	introduce	introduce	ADJ
alkej-123	106	18	during	during	ADP
alkej-123	106	19	the	the	DET
alkej-123	106	20	simulation	simulation	NOUN
alkej-123	106	21	period	period	NOUN
alkej-123	106	22	.	.	PUNCT
alkej-123	107	1	the	the	DET
alkej-123	107	2	results	result	NOUN
alkej-123	107	3	of	of	ADP
alkej-123	107	4	this	this	DET
alkej-123	107	5	case	case	NOUN
alkej-123	107	6	are	be	AUX
alkej-123	107	7	illustrate	illustrate	ADJ
alkej-123	107	8	in	in	ADP
alkej-123	107	9	fig	fig	NOUN
alkej-123	107	10	.	.	PUNCT
alkej-123	108	1	11	11	NUM
alkej-123	108	2	,	,	PUNCT
alkej-123	108	3	these	these	DET
alkej-123	108	4	results	result	NOUN
alkej-123	108	5	show	show	VERB
alkej-123	108	6	that	that	SCONJ
alkej-123	108	7	the	the	DET
alkej-123	108	8	robotic	robotic	ADJ
alkej-123	108	9	leg	leg	NOUN
alkej-123	108	10	is	be	AUX
alkej-123	108	11	remain	remain	VERB
alkej-123	108	12	stable	stable	ADJ
alkej-123	108	13	even	even	ADV
alkej-123	108	14	with	with	ADP
alkej-123	108	15	disturbance	disturbance	NOUN
alkej-123	108	16	and	and	CCONJ
alkej-123	108	17	uncertainty	uncertainty	NOUN
alkej-123	108	18	with	with	ADP
alkej-123	108	19	very	very	ADV
alkej-123	108	20	small	small	ADJ
alkej-123	108	21	steady	steady	ADJ
alkej-123	108	22	state	state	NOUN
alkej-123	108	23	error	error	NOUN
alkej-123	108	24	and	and	CCONJ
alkej-123	108	25	the	the	DET
alkej-123	108	26	disturbance	disturbance	NOUN
alkej-123	108	27	is	be	AUX
alkej-123	108	28	remove	remove	VERB
alkej-123	108	29	from	from	ADP
alkej-123	108	30	the	the	DET
alkej-123	108	31	response	response	NOUN
alkej-123	108	32	of	of	ADP
alkej-123	108	33	the	the	DET
alkej-123	108	34	angular	angular	ADJ
alkej-123	108	35	position	position	NOUN
alkej-123	108	36	while	while	SCONJ
alkej-123	108	37	it	it	PRON
alkej-123	108	38	is	be	AUX
alkej-123	108	39	not	not	PART
alkej-123	108	40	rejected	reject	VERB
alkej-123	108	41	very	very	ADV
alkej-123	108	42	well	well	ADV
alkej-123	108	43	from	from	ADP
alkej-123	108	44	the	the	DET
alkej-123	108	45	response	response	NOUN
alkej-123	108	46	of	of	ADP
alkej-123	108	47	the	the	DET
alkej-123	108	48	velocity	velocity	NOUN
alkej-123	108	49	see	see	VERB
alkej-123	108	50	fig.11	fig.11	PROPN
alkej-123	108	51	b.	b.	PROPN
alkej-123	108	52	(	(	PUNCT
alkej-123	108	53	a	a	NOUN
alkej-123	108	54	)	)	PUNCT
alkej-123	108	55	(	(	PUNCT
alkej-123	108	56	b	b	X
alkej-123	108	57	)	)	PUNCT
alkej-123	108	58	(	(	PUNCT
alkej-123	108	59	c	c	X
alkej-123	108	60	)	)	PUNCT
alkej-123	108	61	ekhlas	ekhla	NOUN
alkej-123	108	62	h.	h.	PROPN
alkej-123	108	63	karam	karam	PROPN
alkej-123	108	64	al	al	PROPN
alkej-123	108	65	-	-	PUNCT
alkej-123	108	66	khwarizmi	khwarizmi	PROPN
alkej-123	108	67	engineering	engineering	NOUN
alkej-123	108	68	journal	journal	PROPN
alkej-123	108	69	,	,	PUNCT
alkej-123	108	70	vol	vol	NOUN
alkej-123	108	71	.	.	PROPN
alkej-123	108	72	14	14	NUM
alkej-123	108	73	,	,	PUNCT
alkej-123	108	74	no	no	INTJ
alkej-123	108	75	.	.	NOUN
alkej-123	108	76	1	1	NUM
alkej-123	108	77	,	,	PUNCT
alkej-123	108	78	p.p	p.p	PROPN
alkej-123	108	79	.	.	NOUN
alkej-123	108	80	145155	145155	NUM
alkej-123	108	81	(	(	PUNCT
alkej-123	108	82	2018	2018	NUM
alkej-123	108	83	)	)	PUNCT
alkej-123	108	84	152	152	NUM
alkej-123	108	85	(	(	PUNCT
alkej-123	108	86	d	d	NOUN
alkej-123	108	87	)	)	PUNCT
alkej-123	108	88	fig	fig	NOUN
alkej-123	108	89	.	.	PUNCT
alkej-123	109	1	11	11	NUM
alkej-123	109	2	.	.	X
alkej-123	109	3	unity	unity	NOUN
alkej-123	109	4	step	step	NOUN
alkej-123	109	5	simulation	simulation	NOUN
alkej-123	109	6	results	result	VERB
alkej-123	109	7	with	with	ADP
alkej-123	109	8	nonlinear	nonlinear	ADJ
alkej-123	109	9	sinusoidal	sinusoidal	ADJ
alkej-123	109	10	disturbance	disturbance	NOUN
alkej-123	109	11	and	and	CCONJ
alkej-123	109	12	parameter	parameter	NOUN
alkej-123	109	13	uncertainty	uncertainty	NOUN
alkej-123	109	14	:	:	PUNCT
alkej-123	109	15	(	(	PUNCT
alkej-123	109	16	a	a	X
alkej-123	109	17	)	)	PUNCT
alkej-123	109	18	angular	angular	ADJ
alkej-123	109	19	position	position	NOUN
alkej-123	109	20	;	;	PUNCT
alkej-123	109	21	(	(	PUNCT
alkej-123	109	22	b	b	X
alkej-123	109	23	)	)	PUNCT
alkej-123	109	24	angular	angular	ADJ
alkej-123	109	25	velocity	velocity	NOUN
alkej-123	109	26	;	;	PUNCT
alkej-123	109	27	(	(	PUNCT
alkej-123	109	28	c	c	X
alkej-123	109	29	)	)	PUNCT
alkej-123	109	30	error	error	NOUN
alkej-123	109	31	signal	signal	NOUN
alkej-123	109	32	;	;	PUNCT
alkej-123	109	33	(	(	PUNCT
alkej-123	109	34	d	d	X
alkej-123	109	35	)	)	PUNCT
alkej-123	109	36	control	control	NOUN
alkej-123	109	37	signal	signal	NOUN
alkej-123	109	38	.	.	PUNCT
alkej-123	109	39	.	.	PUNCT
alkej-123	110	1	iii	iii	X
alkej-123	110	2	.	.	PUNCT
alkej-123	111	1	simulation(3	simulation(3	PROPN
alkej-123	111	2	):	):	PUNCT
alkej-123	111	3	in	in	ADP
alkej-123	111	4	this	this	DET
alkej-123	111	5	simulation	simulation	NOUN
alkej-123	111	6	,	,	PUNCT
alkej-123	111	7	the	the	DET
alkej-123	111	8	controlled	control	VERB
alkej-123	111	9	robotic	robotic	ADJ
alkej-123	111	10	leg	leg	NOUN
alkej-123	111	11	is	be	AUX
alkej-123	111	12	tested	test	VERB
alkej-123	111	13	by	by	ADP
alkej-123	111	14	multi	multi	ADJ
alkej-123	111	15	step	step	NOUN
alkej-123	111	16	input	input	NOUN
alkej-123	111	17	without	without	ADP
alkej-123	111	18	disturbance	disturbance	NOUN
alkej-123	111	19	or	or	CCONJ
alkej-123	111	20	parameter	parameter	NOUN
alkej-123	111	21	uncertainty	uncertainty	NOUN
alkej-123	111	22	as	as	SCONJ
alkej-123	111	23	shown	show	VERB
alkej-123	111	24	in	in	ADP
alkej-123	111	25	fig	fig	NOUN
alkej-123	111	26	.	.	PUNCT
alkej-123	112	1	12	12	NUM
alkej-123	112	2	,	,	PUNCT
alkej-123	112	3	and	and	CCONJ
alkej-123	112	4	the	the	DET
alkej-123	112	5	results	result	NOUN
alkej-123	112	6	for	for	ADP
alkej-123	112	7	this	this	DET
alkej-123	112	8	simulation	simulation	NOUN
alkej-123	112	9	are	be	AUX
alkej-123	112	10	shown	show	VERB
alkej-123	112	11	in	in	ADP
alkej-123	112	12	fig	fig	NOUN
alkej-123	112	13	.	.	PUNCT
alkej-123	113	1	13	13	NUM
alkej-123	113	2	,	,	PUNCT
alkej-123	113	3	fig.14	fig.14	NOUN
alkej-123	113	4	,	,	PUNCT
alkej-123	113	5	fig.15	fig.15	NOUN
alkej-123	113	6	,	,	PUNCT
alkej-123	113	7	and	and	CCONJ
alkej-123	113	8	fig.16	fig.16	PROPN
alkej-123	113	9	,	,	PUNCT
alkej-123	113	10	these	these	DET
alkej-123	113	11	results	result	NOUN
alkej-123	113	12	show	show	VERB
alkej-123	113	13	when	when	SCONJ
alkej-123	113	14	sudden	sudden	ADJ
alkej-123	113	15	change	change	NOUN
alkej-123	113	16	occur	occur	VERB
alkej-123	113	17	in	in	ADP
alkej-123	113	18	input	input	NOUN
alkej-123	113	19	signal	signal	NOUN
alkej-123	113	20	and	and	CCONJ
alkej-123	113	21	hence	hence	ADV
alkej-123	113	22	the	the	DET
alkej-123	113	23	mathematical	mathematical	ADJ
alkej-123	113	24	model	model	NOUN
alkej-123	113	25	of	of	ADP
alkej-123	113	26	robotic	robotic	ADJ
alkej-123	113	27	leg	leg	NOUN
alkej-123	113	28	is	be	AUX
alkej-123	113	29	nonlinear	nonlinear	ADJ
alkej-123	113	30	,	,	PUNCT
alkej-123	113	31	the	the	DET
alkej-123	113	32	system	system	NOUN
alkej-123	113	33	become	become	VERB
alkej-123	113	34	unstable	unstable	ADJ
alkej-123	113	35	with	with	ADP
alkej-123	113	36	pi+2d	pi+2d	NOUN
alkej-123	113	37	,	,	PUNCT
alkej-123	113	38	pd+nid	pd+nid	X
alkej-123	113	39	,	,	PUNCT
alkej-123	113	40	and	and	CCONJ
alkej-123	113	41	fpd+id	fpd+id	PROPN
alkej-123	113	42	controllers	controller	NOUN
alkej-123	113	43	while	while	SCONJ
alkej-123	113	44	it	it	PRON
alkej-123	113	45	remain	remain	VERB
alkej-123	113	46	maintain	maintain	VERB
alkej-123	113	47	the	the	DET
alkej-123	113	48	stability	stability	NOUN
alkej-123	113	49	with	with	ADP
alkej-123	113	50	efficient	efficient	ADJ
alkej-123	113	51	performance	performance	NOUN
alkej-123	113	52	with	with	ADP
alkej-123	113	53	the	the	DET
alkej-123	113	54	suggested	suggest	VERB
alkej-123	113	55	fpd+nid	fpd+nid	PROPN
alkej-123	113	56	controller	controller	NOUN
alkej-123	113	57	(	(	PUNCT
alkej-123	113	58	nearly	nearly	ADV
alkej-123	113	59	zero	zero	NUM
alkej-123	113	60	steady	steady	ADJ
alkej-123	113	61	state	state	NOUN
alkej-123	113	62	error	error	NOUN
alkej-123	113	63	with	with	ADP
alkej-123	113	64	no	no	DET
alkej-123	113	65	overshoot	overshoot	NOUN
alkej-123	113	66	and	and	CCONJ
alkej-123	113	67	fast	fast	ADJ
alkej-123	113	68	settling	settling	NOUN
alkej-123	113	69	time	time	NOUN
alkej-123	113	70	)	)	PUNCT
alkej-123	113	71	.	.	PUNCT
alkej-123	114	1	fig	fig	NOUN
alkej-123	114	2	.	.	PUNCT
alkej-123	115	1	12	12	NUM
alkej-123	115	2	.	.	PUNCT
alkej-123	116	1	multi	multi	ADJ
alkej-123	116	2	-	-	ADJ
alkej-123	116	3	step	step	ADJ
alkej-123	116	4	input	input	NOUN
alkej-123	116	5	of	of	ADP
alkej-123	116	6	mag.2	mag.2	PROPN
alkej-123	116	7	.	.	PUNCT
alkej-123	117	1	(	(	PUNCT
alkej-123	117	2	a	a	X
alkej-123	117	3	)	)	PUNCT
alkej-123	117	4	(	(	PUNCT
alkej-123	117	5	b	b	X
alkej-123	117	6	)	)	PUNCT
alkej-123	117	7	fig	fig	NOUN
alkej-123	117	8	.	.	PUNCT
alkej-123	118	1	13	13	NUM
alkej-123	118	2	.	.	PUNCT
alkej-123	118	3	simulation	simulation	NOUN
alkej-123	118	4	results	result	VERB
alkej-123	118	5	for	for	ADP
alkej-123	118	6	robotic	robotic	ADJ
alkej-123	118	7	leg	leg	NOUN
alkej-123	118	8	controlled	control	VERB
alkej-123	118	9	with	with	ADP
alkej-123	118	10	pi+2d	pi+2d	NOUN
alkej-123	118	11	and	and	CCONJ
alkej-123	118	12	multi	multi	ADJ
alkej-123	118	13	-	-	ADJ
alkej-123	118	14	step	step	ADJ
alkej-123	118	15	input	input	NOUN
alkej-123	118	16	of	of	ADP
alkej-123	118	17	mag.2	mag.2	NOUN
alkej-123	118	18	:	:	PUNCT
alkej-123	118	19	(	(	PUNCT
alkej-123	118	20	a	a	X
alkej-123	118	21	)	)	PUNCT
alkej-123	118	22	angular	angular	ADJ
alkej-123	118	23	position	position	NOUN
alkej-123	118	24	,	,	PUNCT
alkej-123	118	25	(	(	PUNCT
alkej-123	118	26	b	b	NOUN
alkej-123	118	27	)	)	PUNCT
alkej-123	118	28	error	error	NOUN
alkej-123	118	29	signal	signal	NOUN
alkej-123	118	30	.	.	PUNCT
alkej-123	119	1	(	(	PUNCT
alkej-123	119	2	a	a	X
alkej-123	119	3	)	)	PUNCT
alkej-123	119	4	ekhlas	ekhla	NOUN
alkej-123	119	5	h.	h.	PROPN
alkej-123	119	6	karam	karam	PROPN
alkej-123	119	7	al	al	PROPN
alkej-123	119	8	-	-	PUNCT
alkej-123	119	9	khwarizmi	khwarizmi	PROPN
alkej-123	119	10	engineering	engineering	NOUN
alkej-123	119	11	journal	journal	PROPN
alkej-123	119	12	,	,	PUNCT
alkej-123	119	13	vol	vol	NOUN
alkej-123	119	14	.	.	PROPN
alkej-123	120	1	14	14	NUM
alkej-123	120	2	,	,	PUNCT
alkej-123	120	3	no	no	INTJ
alkej-123	120	4	.	.	NOUN
alkej-123	120	5	1	1	NUM
alkej-123	120	6	,	,	PUNCT
alkej-123	120	7	p.p	p.p	PROPN
alkej-123	120	8	.	.	NOUN
alkej-123	120	9	145155	145155	NUM
alkej-123	120	10	(	(	PUNCT
alkej-123	120	11	2018	2018	NUM
alkej-123	120	12	)	)	PUNCT
alkej-123	121	1	153	153	NUM
alkej-123	121	2	b	b	NOUN
alkej-123	121	3	)	)	PUNCT
alkej-123	121	4	(	(	PUNCT
alkej-123	121	5	fig	fig	NOUN
alkej-123	121	6	.	.	PUNCT
alkej-123	122	1	14	14	NUM
alkej-123	122	2	.	.	PUNCT
alkej-123	123	1	simulation	simulation	NOUN
alkej-123	123	2	results	result	VERB
alkej-123	123	3	for	for	ADP
alkej-123	123	4	robotic	robotic	ADJ
alkej-123	123	5	leg	leg	NOUN
alkej-123	123	6	controlled	control	VERB
alkej-123	123	7	with	with	ADP
alkej-123	123	8	pd+nid	pd+nid	NOUN
alkej-123	123	9	and	and	CCONJ
alkej-123	123	10	multi	multi	ADJ
alkej-123	123	11	-	-	ADJ
alkej-123	123	12	step	step	ADJ
alkej-123	123	13	input	input	NOUN
alkej-123	123	14	of	of	ADP
alkej-123	123	15	mag.2	mag.2	NOUN
alkej-123	123	16	:	:	PUNCT
alkej-123	123	17	(	(	PUNCT
alkej-123	123	18	a	a	X
alkej-123	123	19	)	)	PUNCT
alkej-123	123	20	angular	angular	ADJ
alkej-123	123	21	position	position	NOUN
alkej-123	123	22	,	,	PUNCT
alkej-123	123	23	(	(	PUNCT
alkej-123	123	24	b	b	NOUN
alkej-123	123	25	)	)	PUNCT
alkej-123	123	26	error	error	NOUN
alkej-123	123	27	signal	signal	NOUN
alkej-123	123	28	.	.	PUNCT
alkej-123	124	1	(	(	PUNCT
alkej-123	124	2	a	a	X
alkej-123	124	3	)	)	PUNCT
alkej-123	124	4	(	(	PUNCT
alkej-123	124	5	b	b	X
alkej-123	124	6	)	)	PUNCT
alkej-123	124	7	fig	fig	NOUN
alkej-123	124	8	.	.	PUNCT
alkej-123	125	1	15	15	NUM
alkej-123	125	2	simulation	simulation	NOUN
alkej-123	125	3	results	result	VERB
alkej-123	125	4	for	for	ADP
alkej-123	125	5	robotic	robotic	ADJ
alkej-123	125	6	leg	leg	NOUN
alkej-123	125	7	controlled	control	VERB
alkej-123	125	8	with	with	ADP
alkej-123	125	9	fpd+id	fpd+id	PROPN
alkej-123	125	10	and	and	CCONJ
alkej-123	125	11	multi	multi	ADJ
alkej-123	125	12	-	-	ADJ
alkej-123	125	13	step	step	ADJ
alkej-123	125	14	input	input	NOUN
alkej-123	125	15	of	of	ADP
alkej-123	125	16	mag.2	mag.2	NOUN
alkej-123	125	17	:	:	PUNCT
alkej-123	125	18	(	(	PUNCT
alkej-123	125	19	a	a	X
alkej-123	125	20	)	)	PUNCT
alkej-123	125	21	angular	angular	ADJ
alkej-123	125	22	position	position	NOUN
alkej-123	125	23	,	,	PUNCT
alkej-123	125	24	(	(	PUNCT
alkej-123	125	25	b	b	NOUN
alkej-123	125	26	)	)	PUNCT
alkej-123	125	27	error	error	NOUN
alkej-123	125	28	signal	signal	NOUN
alkej-123	125	29	.	.	PUNCT
alkej-123	126	1	(	(	PUNCT
alkej-123	126	2	a	a	X
alkej-123	126	3	)	)	PUNCT
alkej-123	126	4	(	(	PUNCT
alkej-123	126	5	b	b	X
alkej-123	126	6	)	)	PUNCT
alkej-123	126	7	fig	fig	NOUN
alkej-123	126	8	.	.	PUNCT
alkej-123	127	1	16	16	NUM
alkej-123	127	2	.	.	PUNCT
alkej-123	128	1	simulation	simulation	NOUN
alkej-123	128	2	results	result	VERB
alkej-123	128	3	for	for	ADP
alkej-123	128	4	robotic	robotic	ADJ
alkej-123	128	5	leg	leg	NOUN
alkej-123	128	6	controlled	control	VERB
alkej-123	128	7	with	with	ADP
alkej-123	128	8	fpd+nid	fpd+nid	PROPN
alkej-123	128	9	and	and	CCONJ
alkej-123	128	10	multi	multi	ADJ
alkej-123	128	11	-	-	ADJ
alkej-123	128	12	step	step	ADJ
alkej-123	128	13	input	input	NOUN
alkej-123	128	14	of	of	ADP
alkej-123	128	15	mag.2	mag.2	NOUN
alkej-123	128	16	:	:	PUNCT
alkej-123	128	17	(	(	PUNCT
alkej-123	128	18	a	a	X
alkej-123	128	19	)	)	PUNCT
alkej-123	128	20	angular	angular	ADJ
alkej-123	128	21	position	position	NOUN
alkej-123	128	22	,	,	PUNCT
alkej-123	128	23	(	(	PUNCT
alkej-123	128	24	b	b	NOUN
alkej-123	128	25	)	)	PUNCT
alkej-123	128	26	error	error	NOUN
alkej-123	128	27	signal	signal	NOUN
alkej-123	128	28	.	.	PUNCT
alkej-123	129	1	5	5	X
alkej-123	129	2	.	.	X
alkej-123	129	3	conclusion	conclusion	NOUN
alkej-123	129	4	a	a	DET
alkej-123	129	5	simple	simple	ADJ
alkej-123	129	6	hybrid	hybrid	ADJ
alkej-123	129	7	neural	neural	ADJ
alkej-123	129	8	fuzzy	fuzzy	ADJ
alkej-123	129	9	controller	controller	NOUN
alkej-123	129	10	is	be	AUX
alkej-123	129	11	designed	design	VERB
alkej-123	129	12	to	to	PART
alkej-123	129	13	improve	improve	VERB
alkej-123	129	14	the	the	DET
alkej-123	129	15	performance	performance	NOUN
alkej-123	129	16	of	of	ADP
alkej-123	129	17	human	human	ADJ
alkej-123	129	18	robotic	robotic	ADJ
alkej-123	129	19	leg	leg	NOUN
alkej-123	129	20	model	model	NOUN
alkej-123	129	21	which	which	PRON
alkej-123	129	22	is	be	AUX
alkej-123	129	23	siso	siso	NOUN
alkej-123	129	24	.	.	PUNCT
alkej-123	130	1	this	this	DET
alkej-123	130	2	controller	controller	NOUN
alkej-123	130	3	consists	consist	VERB
alkej-123	130	4	from	from	ADP
alkej-123	130	5	fuzzy	fuzzy	ADJ
alkej-123	130	6	proportion	proportion	NOUN
alkej-123	130	7	derivative	derivative	NOUN
alkej-123	130	8	(	(	PUNCT
alkej-123	130	9	fpd	fpd	NOUN
alkej-123	130	10	)	)	PUNCT
alkej-123	130	11	controller	controller	NOUN
alkej-123	130	12	and	and	CCONJ
alkej-123	130	13	single	single	ADJ
alkej-123	130	14	node	node	ADJ
alkej-123	130	15	neural	neural	ADJ
alkej-123	130	16	integral	integral	ADJ
alkej-123	130	17	derivative	derivative	ADJ
alkej-123	130	18	(	(	PUNCT
alkej-123	130	19	nid	nid	PROPN
alkej-123	130	20	)	)	PUNCT
alkej-123	130	21	controller	controller	NOUN
alkej-123	130	22	.	.	PUNCT
alkej-123	131	1	the	the	DET
alkej-123	131	2	different	different	ADJ
alkej-123	131	3	simulation	simulation	NOUN
alkej-123	131	4	results	result	VERB
alkej-123	131	5	with	with	ADP
alkej-123	131	6	/	/	PUNCT
alkej-123	131	7	without	without	ADP
alkej-123	131	8	parameter	parameter	NOUN
alkej-123	131	9	uncertainty	uncertainty	NOUN
alkej-123	131	10	and	and	CCONJ
alkej-123	131	11	nonlinear	nonlinear	ADJ
alkej-123	131	12	disturbance	disturbance	NOUN
alkej-123	131	13	show	show	VERB
alkej-123	131	14	that	that	SCONJ
alkej-123	131	15	the	the	DET
alkej-123	131	16	suggested	suggest	VERB
alkej-123	131	17	fpd+nid	fpd+nid	PROPN
alkej-123	131	18	controller	controller	NOUN
alkej-123	131	19	is	be	AUX
alkej-123	131	20	better	well	ADJ
alkej-123	131	21	than	than	ADP
alkej-123	131	22	pi+2d	pi+2d	NOUN
alkej-123	131	23	,	,	PUNCT
alkej-123	131	24	pd+nid	pd+nid	X
alkej-123	131	25	and	and	CCONJ
alkej-123	131	26	fpd+id	fpd+id	PROPN
alkej-123	131	27	controllers	controller	NOUN
alkej-123	131	28	.	.	PUNCT
alkej-123	132	1	ekhlas	ekhlas	PROPN
alkej-123	132	2	h.	h.	PROPN
alkej-123	132	3	karam	karam	PROPN
alkej-123	132	4	al	al	PROPN
alkej-123	132	5	-	-	PUNCT
alkej-123	132	6	khwarizmi	khwarizmi	PROPN
alkej-123	132	7	engineering	engineering	NOUN
alkej-123	132	8	journal	journal	PROPN
alkej-123	132	9	,	,	PUNCT
alkej-123	132	10	vol	vol	NOUN
alkej-123	132	11	.	.	PROPN
alkej-123	132	12	14	14	NUM
alkej-123	132	13	,	,	PUNCT
alkej-123	132	14	no	no	INTJ
alkej-123	132	15	.	.	NOUN
alkej-123	132	16	1	1	NUM
alkej-123	132	17	,	,	PUNCT
alkej-123	132	18	p.p	p.p	PROPN
alkej-123	132	19	.	.	NOUN
alkej-123	132	20	145155	145155	NUM
alkej-123	132	21	(	(	PUNCT
alkej-123	132	22	2018	2018	NUM
alkej-123	132	23	)	)	PUNCT
alkej-123	132	24	154	154	NUM
alkej-123	132	25	6	6	NUM
alkej-123	132	26	.	.	PUNCT
alkej-123	133	1	references	reference	NOUN
alkej-123	133	2	[	[	X
alkej-123	133	3	1	1	X
alkej-123	133	4	]	]	PUNCT
alkej-123	133	5	kenji	kenji	PROPN
alkej-123	133	6	kaneko	kaneko	PROPN
alkej-123	133	7	,	,	PUNCT
alkej-123	133	8	shuuji	shuuji	PROPN
alkej-123	133	9	kajita	kajita	PROPN
alkej-123	133	10	,	,	PUNCT
alkej-123	133	11	fumio	fumio	PROPN
alkej-123	133	12	kanehiro	kanehiro	PROPN
alkej-123	133	13	,	,	PUNCT
alkej-123	133	14	kazuhito	kazuhito	PROPN
alkej-123	133	15	yokoi	yokoi	PROPN
alkej-123	133	16	,	,	PUNCT
alkej-123	133	17	kiyoshi	kiyoshi	PROPN
alkej-123	133	18	fujiwara	fujiwara	PROPN
alkej-123	133	19	,	,	PUNCT
alkej-123	133	20	hirohisa	hirohisa	NOUN
alkej-123	133	21	hirukawa	hirukawa	NOUN
alkej-123	133	22	,	,	PUNCT
alkej-123	133	23	toshikazu	toshikazu	PROPN
alkej-123	133	24	kawasaki	kawasaki	PROPN
alkej-123	133	25	,	,	PUNCT
alkej-123	133	26	masaru	masaru	PROPN
alkej-123	133	27	hirata	hirata	PROPN
alkej-123	133	28	,	,	PUNCT
alkej-123	133	29	and	and	CCONJ
alkej-123	133	30	takakatsu	takakatsu	PROPN
alkej-123	133	31	isozumi	isozumi	PROPN
alkej-123	133	32	,	,	PUNCT
alkej-123	133	33	design	design	NOUN
alkej-123	133	34	of	of	ADP
alkej-123	133	35	advanced	advanced	ADJ
alkej-123	133	36	leg	leg	NOUN
alkej-123	133	37	module	module	NOUN
alkej-123	133	38	for	for	ADP
alkej-123	133	39	humanoid	humanoid	ADJ
alkej-123	133	40	robotics	robotic	NOUN
alkej-123	133	41	,	,	PUNCT
alkej-123	133	42	project	project	NOUN
alkej-123	133	43	of	of	ADP
alkej-123	133	44	meti	meti	PROPN
alkej-123	133	45	,	,	PUNCT
alkej-123	133	46	international	international	ADJ
alkej-123	133	47	conference	conference	NOUN
alkej-123	133	48	on	on	ADP
alkej-123	133	49	robotics	robotic	NOUN
alkej-123	133	50	automation	automation	NOUN
alkej-123	133	51	,	,	PUNCT
alkej-123	133	52	washington	washington	PROPN
alkej-123	133	53	,	,	PUNCT
alkej-123	133	54	dc	dc	PROPN
alkej-123	133	55	,	,	PUNCT
alkej-123	133	56	may	may	AUX
alkej-123	133	57	,	,	PUNCT
alkej-123	133	58	2002	2002	NUM
alkej-123	133	59	.	.	PUNCT
alkej-123	134	1	[	[	X
alkej-123	134	2	2	2	NUM
alkej-123	134	3	]	]	X
alkej-123	134	4	alexander	alexander	PROPN
alkej-123	134	5	schepelmann	schepelmann	PROPN
alkej-123	134	6	,	,	PUNCT
alkej-123	134	7	michael	michael	PROPN
alkej-123	134	8	d.	d.	PROPN
alkej-123	134	9	taylor	taylor	PROPN
alkej-123	134	10	,	,	PUNCT
alkej-123	134	11	hartmut	hartmut	PROPN
alkej-123	134	12	geyer	geyer	NOUN
alkej-123	134	13	,	,	PUNCT
alkej-123	134	14	development	development	NOUN
alkej-123	134	15	of	of	ADP
alkej-123	134	16	a	a	DET
alkej-123	134	17	testbed	testbe	VERB
alkej-123	134	18	for	for	ADP
alkej-123	134	19	robotic	robotic	ADJ
alkej-123	134	20	neuromuscular	neuromuscular	ADJ
alkej-123	134	21	controllers	controller	NOUN
alkej-123	134	22	,	,	PUNCT
alkej-123	134	23	robotics	robotic	NOUN
alkej-123	134	24	:	:	PUNCT
alkej-123	134	25	science	science	NOUN
alkej-123	134	26	and	and	CCONJ
alkej-123	134	27	system	system	NOUN
alkej-123	134	28	viii	viii	PROPN
alkej-123	134	29	,	,	PUNCT
alkej-123	134	30	jan	jan	PROPN
alkej-123	134	31	2012	2012	NUM
alkej-123	134	32	.	.	PUNCT
alkej-123	135	1	[	[	X
alkej-123	135	2	3	3	NUM
alkej-123	135	3	]	]	PUNCT
alkej-123	135	4	a.	a.	NOUN
alkej-123	135	5	abraham	abraham	PROPN
alkej-123	135	6	et	et	PROPN
alkej-123	135	7	al	al	PROPN
alkej-123	135	8	.	.	PROPN
alkej-123	135	9	,	,	PUNCT
alkej-123	135	10	neuro	neuro	NOUN
alkej-123	135	11	-	-	PUNCT
alkej-123	135	12	fuzzy	fuzzy	ADJ
alkej-123	135	13	methods	method	NOUN
alkej-123	135	14	for	for	ADP
alkej-123	135	15	modeling	modeling	NOUN
alkej-123	135	16	and	and	CCONJ
alkej-123	135	17	identification	identification	NOUN
alkej-123	135	18	,	,	PUNCT
alkej-123	135	19	recent	recent	ADJ
alkej-123	135	20	advances	advance	NOUN
alkej-123	135	21	in	in	ADP
alkej-123	135	22	intelligent	intelligent	ADJ
alkej-123	135	23	paradigm	paradigm	NOUN
alkej-123	135	24	and	and	CCONJ
alkej-123	135	25	applications	application	NOUN
alkej-123	135	26	,	,	PUNCT
alkej-123	135	27	springer	springer	NOUN
alkej-123	135	28	-	-	PUNCT
alkej-123	135	29	verlag	verlag	PROPN
alkej-123	135	30	,	,	PUNCT
alkej-123	135	31	berlin	berlin	PROPN
alkej-123	135	32	heidelbe	heidelbe	NOUN
alkej-123	135	33	,	,	PUNCT
alkej-123	135	34	2003	2003	NUM
alkej-123	135	35	.	.	PUNCT
alkej-123	136	1	[	[	X
alkej-123	136	2	4	4	NUM
alkej-123	136	3	]	]	X
alkej-123	136	4	wei	wei	ADJ
alkej-123	136	5	-	-	ADJ
alkej-123	136	6	yen	yen	NOUN
alkej-123	136	7	wanga	wanga	ADJ
alkej-123	136	8	,	,	PUNCT
alkej-123	136	9	yih	yih	PROPN
alkej-123	136	10	-	-	PUNCT
alkej-123	136	11	guang	guang	PROPN
alkej-123	136	12	leub	leub	PROPN
alkej-123	136	13	,	,	PUNCT
alkej-123	136	14	tsu	tsu	PROPN
alkej-123	136	15	-	-	PUNCT
alkej-123	136	16	tian	tian	PROPN
alkej-123	136	17	lee	lee	PROPN
alkej-123	136	18	,	,	PUNCT
alkej-123	136	19	output	output	NOUN
alkej-123	136	20	-	-	PUNCT
alkej-123	136	21	feedback	feedback	NOUN
alkej-123	136	22	control	control	NOUN
alkej-123	136	23	of	of	ADP
alkej-123	136	24	nonlinear	nonlinear	ADJ
alkej-123	136	25	systems	system	NOUN
alkej-123	136	26	using	use	VERB
alkej-123	136	27	direct	direct	ADJ
alkej-123	136	28	adaptive	adaptive	ADJ
alkej-123	136	29	fuzzy	fuzzy	ADJ
alkej-123	136	30	-	-	PUNCT
alkej-123	136	31	neural	neural	ADJ
alkej-123	136	32	controller	controller	NOUN
alkej-123	136	33	,	,	PUNCT
alkej-123	136	34	fuzzy	fuzzy	ADJ
alkej-123	136	35	sets	set	NOUN
alkej-123	136	36	and	and	CCONJ
alkej-123	136	37	systems	system	NOUN
alkej-123	136	38	140	140	NUM
alkej-123	136	39	,	,	PUNCT
alkej-123	136	40	341	341	NUM
alkej-123	136	41	–	–	PUNCT
alkej-123	136	42	358	358	NUM
alkej-123	136	43	,	,	PUNCT
alkej-123	136	44	2003	2003	NUM
alkej-123	136	45	.	.	PUNCT
alkej-123	137	1	[	[	X
alkej-123	137	2	5	5	NUM
alkej-123	137	3	]	]	X
alkej-123	137	4	dr	dr	PROPN
alkej-123	137	5	.	.	PROPN
alkej-123	137	6	zs	zs	PROPN
alkej-123	137	7	.	.	PUNCT
alkej-123	137	8	j.	j.	PROPN
alkej-123	137	9	viharos	viharos	PROPN
alkej-123	137	10	,	,	PUNCT
alkej-123	137	11	k.	k.	PROPN
alkej-123	137	12	b.	b.	PROPN
alkej-123	137	13	kis	kis	PROPN
alkej-123	137	14	,	,	PUNCT
alkej-123	137	15	survey	survey	NOUN
alkej-123	137	16	on	on	ADP
alkej-123	137	17	neuro	neuro	NOUN
alkej-123	137	18	-	-	PUNCT
alkej-123	137	19	fuzzy	fuzzy	ADJ
alkej-123	137	20	systems	system	NOUN
alkej-123	137	21	and	and	CCONJ
alkej-123	137	22	their	their	PRON
alkej-123	137	23	applications	application	NOUN
alkej-123	137	24	in	in	ADP
alkej-123	137	25	technical	technical	ADJ
alkej-123	137	26	diagnostics	diagnostic	NOUN
alkej-123	137	27	,	,	PUNCT
alkej-123	137	28	13th	13th	NOUN
alkej-123	137	29	imekotc10	imekotc10	ADJ
alkej-123	137	30	workshop	workshop	NOUN
alkej-123	137	31	on	on	ADP
alkej-123	137	32	technical	technical	ADJ
alkej-123	137	33	diagnostics	diagnostic	NOUN
alkej-123	137	34	advanced	advance	VERB
alkej-123	137	35	measurement	measurement	NOUN
alkej-123	137	36	tools	tool	NOUN
alkej-123	137	37	in	in	ADP
alkej-123	137	38	technical	technical	ADJ
alkej-123	137	39	diagnostics	diagnostic	NOUN
alkej-123	137	40	for	for	ADP
alkej-123	137	41	systems	system	NOUN
alkej-123	137	42	'	'	PART
alkej-123	137	43	reliability	reliability	NOUN
alkej-123	137	44	and	and	CCONJ
alkej-123	137	45	safety	safety	NOUN
alkej-123	137	46	,	,	PUNCT
alkej-123	137	47	warsaw	warsaw	PROPN
alkej-123	137	48	,	,	PUNCT
alkej-123	137	49	poland	poland	PROPN
alkej-123	137	50	,	,	PUNCT
alkej-123	137	51	june	june	PROPN
alkej-123	137	52	26	26	NUM
alkej-123	137	53	-	-	SYM
alkej-123	137	54	27	27	NUM
alkej-123	137	55	,	,	PUNCT
alkej-123	137	56	2014	2014	NUM
alkej-123	137	57	.	.	PUNCT
alkej-123	138	1	[	[	X
alkej-123	138	2	6	6	NUM
alkej-123	138	3	]	]	PUNCT
alkej-123	138	4	a.	a.	NOUN
alkej-123	138	5	aldair	aldair	PROPN
alkej-123	138	6	and	and	CCONJ
alkej-123	138	7	w.	w.	PROPN
alkej-123	138	8	j.	j.	PROPN
alkej-123	138	9	wang	wang	PROPN
alkej-123	138	10	,	,	PUNCT
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alkej-123	138	12	neuro	neuro	PROPN
alkej-123	138	13	fuzzy	fuzzy	ADJ
alkej-123	138	14	inference	inference	NOUN
alkej-123	138	15	controller	controller	NOUN
alkej-123	138	16	for	for	ADP
alkej-123	138	17	full	full	ADJ
alkej-123	138	18	vehicle	vehicle	NOUN
alkej-123	138	19	nonlinear	nonlinear	ADJ
alkej-123	138	20	active	active	ADJ
alkej-123	138	21	suspension	suspension	NOUN
alkej-123	138	22	systems	system	NOUN
alkej-123	138	23	,	,	PUNCT
alkej-123	138	24	school	school	NOUN
alkej-123	138	25	of	of	ADP
alkej-123	138	26	engineering	engineering	NOUN
alkej-123	138	27	and	and	CCONJ
alkej-123	138	28	design	design	NOUN
alkej-123	138	29	,	,	PUNCT
alkej-123	138	30	iraq	iraq	PROPN
alkej-123	138	31	j.	j.	PROPN
alkej-123	138	32	electrical	electrical	ADJ
alkej-123	138	33	and	and	CCONJ
alkej-123	138	34	electronic	electronic	ADJ
alkej-123	138	35	engineering	engineering	NOUN
alkej-123	138	36	,	,	PUNCT
alkej-123	138	37	vol.6	vol.6	PROPN
alkej-123	138	38	no.2	no.2	PROPN
alkej-123	138	39	,	,	PUNCT
alkej-123	138	40	2010	2010	NUM
alkej-123	138	41	.	.	PUNCT
alkej-123	139	1	[	[	X
alkej-123	139	2	7	7	NUM
alkej-123	139	3	]	]	PUNCT
alkej-123	139	4	a.	a.	NOUN
alkej-123	139	5	fahmy	fahmy	PROPN
alkej-123	139	6	,	,	PUNCT
alkej-123	139	7	a.m.	a.m.	PROPN
alkej-123	139	8	abdel	abdel	PROPN
alkej-123	139	9	ghany	ghany	PROPN
alkej-123	139	10	,	,	PUNCT
alkej-123	139	11	neuro	neuro	NOUN
alkej-123	139	12	-	-	PUNCT
alkej-123	139	13	fuzzy	fuzzy	ADJ
alkej-123	139	14	inverse	inverse	NOUN
alkej-123	139	15	model	model	NOUN
alkej-123	139	16	control	control	NOUN
alkej-123	139	17	structure	structure	NOUN
alkej-123	139	18	of	of	ADP
alkej-123	139	19	robotic	robotic	ADJ
alkej-123	139	20	manipulators	manipulator	NOUN
alkej-123	139	21	utilized	utilize	VERB
alkej-123	139	22	for	for	ADP
alkej-123	139	23	physiotherapy	physiotherapy	NOUN
alkej-123	139	24	applications	application	NOUN
alkej-123	139	25	,	,	PUNCT
alkej-123	139	26	ain	ain	PROPN
alkej-123	139	27	shams	sham	NOUN
alkej-123	139	28	engineering	engineering	NOUN
alkej-123	139	29	journal	journal	NOUN
alkej-123	139	30	,	,	PUNCT
alkej-123	139	31	805–829	805–829	NUM
alkej-123	139	32	,	,	PUNCT
alkej-123	139	33	2013	2013	NUM
alkej-123	139	34	.	.	PUNCT
alkej-123	140	1	[	[	X
alkej-123	140	2	8	8	NUM
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alkej-123	140	4	chun	chun	PROPN
alkej-123	140	5	htooaung	htooaung	PROPN
alkej-123	140	6	,	,	PUNCT
alkej-123	140	7	khinthandarlwin	khinthandarlwin	PROPN
alkej-123	140	8	,	,	PUNCT
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alkej-123	140	10	yin	yin	PROPN
alkej-123	140	11	mon	mon	PROPN
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alkej-123	140	13	,	,	PUNCT
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alkej-123	140	15	motion	motion	NOUN
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alkej-123	140	17	system	system	NOUN
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alkej-123	140	21	arm	arm	NOUN
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alkej-123	140	23	matlab	matlab	PROPN
alkej-123	140	24	,	,	PUNCT
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alkej-123	140	26	academy	academy	PROPN
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alkej-123	140	28	science	science	PROPN
alkej-123	140	29	,	,	PUNCT
alkej-123	140	30	engineering	engineering	NOUN
alkej-123	140	31	and	and	CCONJ
alkej-123	140	32	technology	technology	NOUN
alkej-123	140	33	42	42	NUM
alkej-123	140	34	,	,	PUNCT
alkej-123	140	35	2008	2008	NUM
alkej-123	140	36	.	.	PUNCT
alkej-123	141	1	[	[	X
alkej-123	141	2	9	9	NUM
alkej-123	141	3	]	]	X
alkej-123	141	4	abdur	abdur	PROPN
alkej-123	141	5	raquib	raquib	PROPN
alkej-123	141	6	ridwan	ridwan	PROPN
alkej-123	141	7	,	,	PUNCT
alkej-123	141	8	md	md	PROPN
alkej-123	141	9	.	.	PROPN
alkej-123	141	10	ibnea	ibnea	PROPN
alkej-123	141	11	sina	sina	PROPN
alkej-123	141	12	bony	bony	PROPN
alkej-123	141	13	and	and	CCONJ
alkej-123	141	14	ishtiza	ishtiza	ADJ
alkej-123	141	15	ibne	ibne	NOUN
alkej-123	141	16	azad	azad	NOUN
alkej-123	141	17	,	,	PUNCT
alkej-123	141	18	performance	performance	NOUN
alkej-123	141	19	analysis	analysis	NOUN
alkej-123	141	20	of	of	ADP
alkej-123	141	21	mpc	mpc	NOUN
alkej-123	141	22	in	in	ADP
alkej-123	141	23	the	the	DET
alkej-123	141	24	control	control	NOUN
alkej-123	141	25	of	of	ADP
alkej-123	141	26	a	a	DET
alkej-123	141	27	simple	simple	ADJ
alkej-123	141	28	motorized	motorize	VERB
alkej-123	141	29	nonlinear	nonlinear	ADJ
alkej-123	141	30	model	model	NOUN
alkej-123	141	31	of	of	ADP
alkej-123	141	32	a	a	DET
alkej-123	141	33	robotic	robotic	ADJ
alkej-123	141	34	leg	leg	NOUN
alkej-123	141	35	,	,	PUNCT
alkej-123	141	36	international	international	ADJ
alkej-123	141	37	journal	journal	NOUN
alkej-123	141	38	of	of	ADP
alkej-123	141	39	computer	computer	NOUN
alkej-123	141	40	applications	application	NOUN
alkej-123	141	41	(	(	PUNCT
alkej-123	141	42	0975	0975	NUM
alkej-123	141	43	–	–	PUNCT
alkej-123	141	44	8887	8887	NUM
alkej-123	141	45	)	)	PUNCT
alkej-123	141	46	,	,	PUNCT
alkej-123	141	47	volume	volume	NOUN
alkej-123	141	48	54	54	NUM
alkej-123	141	49	,	,	PUNCT
alkej-123	141	50	no	no	INTJ
alkej-123	141	51	.	.	NOUN
alkej-123	141	52	11	11	NUM
alkej-123	141	53	,	,	PUNCT
alkej-123	141	54	september	september	PROPN
alkej-123	141	55	2012	2012	NUM
alkej-123	141	56	.	.	PUNCT
alkej-123	142	1	[	[	X
alkej-123	142	2	10	10	NUM
alkej-123	142	3	]	]	X
alkej-123	142	4	richard	richard	PROPN
alkej-123	142	5	l.	l.	PROPN
alkej-123	142	6	shell	shell	PROPN
alkej-123	142	7	ernest	ernest	PROPN
alkej-123	142	8	l.	l.	PROPN
alkej-123	142	9	hall	hall	PROPN
alkej-123	142	10	,	,	PUNCT
alkej-123	142	11	handbook	handbook	NOUN
alkej-123	142	12	of	of	ADP
alkej-123	142	13	industrial	industrial	ADJ
alkej-123	142	14	automation	automation	NOUN
alkej-123	142	15	,	,	PUNCT
alkej-123	142	16	university	university	PROPN
alkej-123	142	17	of	of	ADP
alkej-123	142	18	cincinnati	cincinnati	PROPN
alkej-123	142	19	cincinnati	cincinnati	PROPN
alkej-123	142	20	,	,	PUNCT
alkej-123	142	21	ohio	ohio	PROPN
alkej-123	142	22	,	,	PUNCT
alkej-123	142	23	new	new	ADJ
alkej-123	142	24	yourk	yourk	PROPN
alkej-123	142	25	,	,	PUNCT
alkej-123	142	26	2000	2000	NUM
alkej-123	142	27	.	.	PUNCT
alkej-123	143	1	[	[	X
alkej-123	143	2	11	11	NUM
alkej-123	143	3	]	]	PUNCT
alkej-123	143	4	nidhi	nidhi	PROPN
alkej-123	143	5	k.	k.	PROPN
alkej-123	143	6	,	,	PUNCT
alkej-123	143	7	simulation	simulation	NOUN
alkej-123	143	8	studies	study	NOUN
alkej-123	143	9	on	on	ADP
alkej-123	143	10	hybrid	hybrid	ADJ
alkej-123	143	11	fuzzy	fuzzy	ADJ
alkej-123	143	12	-	-	PUNCT
alkej-123	143	13	pi	pi	NOUN
alkej-123	143	14	controllers	controller	NOUN
alkej-123	143	15	for	for	ADP
alkej-123	143	16	dc	dc	PROPN
alkej-123	143	17	motor	motor	PROPN
alkej-123	143	18	control	control	PROPN
alkej-123	143	19	,	,	PUNCT
alkej-123	143	20	master	master	NOUN
alkej-123	143	21	thesis	thesis	NOUN
alkej-123	143	22	of	of	ADP
alkej-123	143	23	engineering	engineering	NOUN
alkej-123	143	24	in	in	ADP
alkej-123	143	25	control	control	PROPN
alkej-123	143	26	&	&	CCONJ
alkej-123	143	27	instrumentation	instrumentation	NOUN
alkej-123	143	28	,	,	PUNCT
alkej-123	143	29	maharishi	maharishi	PROPN
alkej-123	143	30	dayanand	dayanand	PROPN
alkej-123	143	31	university	university	PROPN
alkej-123	143	32	,	,	PUNCT
alkej-123	143	33	rohtak	rohtak	PROPN
alkej-123	143	34	haryana	haryana	PROPN
alkej-123	143	35	,	,	PUNCT
alkej-123	143	36	2006	2006	NUM
alkej-123	143	37	.	.	PUNCT
alkej-123	144	1	[	[	X
alkej-123	144	2	12	12	NUM
alkej-123	144	3	]	]	X
alkej-123	144	4	c.	c.	NOUN
alkej-123	144	5	yen	yen	PROPN
alkej-123	144	6	,	,	PUNCT
alkej-123	144	7	f.	f.	PROPN
alkej-123	144	8	wen	wen	PROPN
alkej-123	144	9	,	,	PUNCT
alkej-123	144	10	and	and	CCONJ
alkej-123	144	11	m.	m.	NOUN
alkej-123	144	12	ouyang	ouyang	PROPN
alkej-123	144	13	,	,	PUNCT
alkej-123	144	14	nonlinear	nonlinear	ADJ
alkej-123	144	15	positioning	positioning	NOUN
alkej-123	144	16	compensator	compensator	NOUN
alkej-123	144	17	of	of	ADP
alkej-123	144	18	a	a	DET
alkej-123	144	19	novel	novel	ADJ
alkej-123	144	20	thin	thin	ADJ
alkej-123	144	21	-	-	PUNCT
alkej-123	144	22	disc	disc	NOUN
alkej-123	144	23	ultrasonic	ultrasonic	ADJ
alkej-123	144	24	motor	motor	NOUN
alkej-123	144	25	using	use	VERB
alkej-123	144	26	fuzzy	fuzzy	ADJ
alkej-123	144	27	sliding	slide	VERB
alkej-123	144	28	mode	mode	NOUN
alkej-123	144	29	control	control	NOUN
alkej-123	144	30	,	,	PUNCT
alkej-123	144	31	international	international	ADJ
alkej-123	144	32	journal	journal	NOUN
alkej-123	144	33	of	of	ADP
alkej-123	144	34	applied	apply	VERB
alkej-123	144	35	science	science	NOUN
alkej-123	144	36	and	and	CCONJ
alkej-123	144	37	engineering	engineering	NOUN
alkej-123	144	38	,	,	PUNCT
alkej-123	144	39	vol	vol	NOUN
alkej-123	144	40	.	.	PROPN
alkej-123	144	41	2	2	NUM
alkej-123	144	42	,	,	PUNCT
alkej-123	144	43	no	no	INTJ
alkej-123	144	44	.	.	NOUN
alkej-123	144	45	3	3	NUM
alkej-123	144	46	,	,	PUNCT
alkej-123	144	47	pp	pp	ADJ
alkej-123	144	48	.	.	PUNCT
alkej-123	145	1	257	257	NUM
alkej-123	145	2	-	-	SYM
alkej-123	145	3	276	276	NUM
alkej-123	145	4	,	,	PUNCT
alkej-123	145	5	2004	2004	NUM
alkej-123	145	6	.	.	PUNCT
alkej-123	146	1	[	[	X
alkej-123	146	2	13	13	NUM
alkej-123	146	3	]	]	PUNCT
alkej-123	146	4	[	[	X
alkej-123	146	5	heikki	heikki	PROPN
alkej-123	146	6	n.	n.	PROPN
alkej-123	146	7	koivo	koivo	PROPN
alkej-123	146	8	,	,	PUNCT
alkej-123	146	9	neural	neural	ADJ
alkej-123	146	10	networks	network	NOUN
alkej-123	146	11	:	:	PUNCT
alkej-123	146	12	basics	basic	NOUN
alkej-123	146	13	using	use	VERB
alkej-123	146	14	matlab	matlab	PROPN
alkej-123	146	15	,	,	PUNCT
alkej-123	146	16	neural	neural	ADJ
alkej-123	146	17	network	network	NOUN
alkej-123	146	18	toolbox	toolbox	NOUN
alkej-123	146	19	,	,	PUNCT
alkej-123	146	20	february	february	PROPN
alkej-123	146	21	1	1	NUM
alkej-123	146	22	,	,	PUNCT
alkej-123	146	23	2008	2008	NUM
alkej-123	146	24	.	.	PUNCT
alkej-123	146	25	)	)	PUNCT
alkej-123	146	26	2018	2018	NUM
alkej-123	146	27	(	(	PUNCT
alkej-123	146	28	144	144	NUM
alkej-123	146	29	-	-	SYM
alkej-123	146	30	154	154	NUM
alkej-123	146	31	،	،	X
alkej-123	146	32	صفحة1د	صفحة1د	PROPN
alkej-123	146	33	،	،	PROPN
alkej-123	146	34	العد14دجلة	العد14دجلة	PROPN
alkej-123	146	35	الخوارزمي	الخوارزمي	PROPN
alkej-123	146	36	الهندسية	الهندسية	PROPN
alkej-123	146	37	المجلم	المجلم	PROPN
alkej-123	146	38	اخالص	اخالص	PROPN
alkej-123	146	39	حميد	حميد	PROPN
alkej-123	146	40	كرم	كرم	PROPN
alkej-123	146	41	155	155	NUM
alkej-123	146	42	تصميم	تصميم	NOUN
alkej-123	146	43	مسيطر	مسيطر	NOUN
alkej-123	146	44	هجين	هجين	VERB
alkej-123	147	1	من	من	DET
alkej-123	147	2	الشبكة	الشبكة	NOUN
alkej-123	147	3	العصبية	العصبية	PROPN
alkej-123	147	4	مع	مع	PROPN
alkej-123	147	5	المسيطر	المسيطر	PROPN
alkej-123	147	6	الضبابي	الضبابي	PROPN
alkej-123	147	7	لنظام	لنظام	PROPN
alkej-123	147	8	ساق	ساق	ADV
alkej-123	147	9	االنسان	االنسان	NOUN
alkej-123	147	10	اخالص	اخالص	X
alkej-123	147	11	حميد	حميد	PROPN
alkej-123	147	12	كرم	كرم	PROPN
alkej-123	147	13	*	*	PUNCT
alkej-123	147	14	ايام	ايام	PROPN
alkej-123	147	15	محسن	محسن	PROPN
alkej-123	147	16	عباس	عباس	VERB
alkej-123	147	17	*	*	PROPN
alkej-123	147	18	*	*	PROPN
alkej-123	147	19	نور	نور	PROPN
alkej-123	147	20	صفاء	صفاء	PROPN
alkej-123	147	21	عبد	عبد	PROPN
alkej-123	147	22	الجليل	الجليل	PROPN
alkej-123	147	23	*	*	PROPN
alkej-123	147	24	*	*	PUNCT
alkej-123	147	25	*	*	PUNCT
alkej-123	147	26	*	*	PUNCT
alkej-123	147	27	,	,	PUNCT
alkej-123	147	28	*	*	PUNCT
alkej-123	147	29	*	*	PUNCT
alkej-123	147	30	قسم	قسم	PRON
alkej-123	147	31	هندسة	هندسة	NOUN
alkej-123	147	32	الحاسوب/	الحاسوب/	NUM
alkej-123	147	33	الجامعة	الجامعة	NOUN
alkej-123	147	34	المستنصرية	المستنصرية	NOUN
alkej-123	147	35	*	*	PUNCT
alkej-123	148	1	*	*	PUNCT
alkej-123	148	2	*	*	PUNCT
alkej-123	148	3	قسم	قسم	PRON
alkej-123	148	4	الهندسة	الهندسة	VERB
alkej-123	148	5	الكهربائية/	الكهربائية/	NUM
alkej-123	148	6	الجامعة	الجامعة	NOUN
alkej-123	148	7	المستنصرية	المستنصرية	NOUN
alkej-123	148	8	ekhlashameed@yahoo.co.uk	ekhlashameed@yahoo.co.uk	PROPN
alkej-123	148	9	*	*	PUNCT
alkej-123	148	10	البريد	البريد	NOUN
alkej-123	148	11	االلكتروني	االلكتروني	NOUN
alkej-123	148	12	:	:	PUNCT
alkej-123	148	13	ayammohsen@yahoo.com	ayammohsen@yahoo.com	X
alkej-123	148	14	*	*	PUNCT
alkej-123	148	15	*	*	PUNCT
alkej-123	148	16	البريد	البريد	PROPN
alkej-123	148	17	االلكتروني	االلكتروني	NOUN
alkej-123	148	18	:	:	PUNCT
alkej-123	148	19	mail_ns1@yhoo.com	mail_ns1@yhoo.com	X
alkej-123	149	1	*	*	PUNCT
alkej-123	149	2	*	*	PUNCT
alkej-123	149	3	*	*	PUNCT
alkej-123	149	4	البريد	البريد	PROPN
alkej-123	149	5	االلكتروني	االلكتروني	NOUN
alkej-123	149	6	:	:	PUNCT
alkej-123	149	7	الخالصة	الخالصة	PROPN
alkej-123	149	8	)	)	PUNCT
alkej-123	149	9	sisoاحادي	sisoاحادي	VERB
alkej-123	149	10	االخراج	االخراج	NOUN
alkej-123	149	11	(	(	PUNCT
alkej-123	149	12	خطي	خطي	NOUN
alkej-123	149	13	احادي	احادي	VERB
alkej-123	149	14	االدخالالطة	االدخالالطة	PROPN
alkej-123	149	15	النموذج	النموذج	PROPN
alkej-123	149	16	التفاضلي	التفاضلي	PROPN
alkej-123	149	17	غير	غير	PROPN
alkej-123	149	18	سافي	سافي	VERB
alkej-123	149	19	هذا	هذا	PROPN
alkej-123	149	20	البحث	البحث	NOUN
alkej-123	149	21	,	,	PUNCT
alkej-123	149	22	الساق	الساق	PROPN
alkej-123	149	23	الروبوتية	الروبوتية	PROPN
alkej-123	149	24	البشرية	البشرية	PROPN
alkej-123	149	25	التي	التي	PROPN
alkej-123	149	26	يمكن	يمكن	PROPN
alkej-123	149	27	ان	ان	AUX
alkej-123	149	28	تمثل	تمثل	PROPN
alkej-123	149	29	رياضيا	رياضيا	VERB
alkej-123	149	30	بو	بو	PRON
alkej-123	149	31	تم	تم	PROPN
alkej-123	149	32	تصميم	تصميم	PROPN
alkej-123	149	33	المسيطر	المسيطر	PROPN
alkej-123	149	34	الضبابي	الضبابي	PROPN
alkej-123	149	35	العصبي	العصبي	PROPN
alkej-123	149	36	الهجين	الهجين	PROPN
alkej-123	149	37	البسيط	البسيط	PROPN
alkej-123	149	38	لتحسين	لتحسين	PROPN
alkej-123	149	39	اداء	اداء	PROPN
alkej-123	149	40	هذا	هذا	PROPN
alkej-123	149	41	الروبوت	الروبوت	PROPN
alkej-123	149	42	.	.	PUNCT
alkej-123	150	1	هذا	هذا	PROPN
alkej-123	150	2	المسيطر	المسيطر	PROPN
alkej-123	150	3	يتكون	يتكون	INTJ
alkej-123	151	1	من	من	PRON
alkej-123	151	2	المسيطر	المسيطر	PROPN
alkej-123	151	3	ومع	ومع	PROPN
alkej-123	151	4	درجة	درجة	ADJ
alkej-123	151	5	واحدة	واحدة	PROPN
alkej-123	152	1	من	من	PRON
alkej-123	152	2	الحرية	الحرية	NOUN
alkej-123	152	3	قد	قد	INTJ
alkej-123	152	4	تم	تم	ADP
alkej-123	152	5	تحليله	تحليله	PROPN
alkej-123	152	6	عقدة	عقدة	PROPN
alkej-123	152	7	يذnid	يذnid	PROPN
alkej-123	152	8	)	)	PUNCT
alkej-123	153	1	ف	ف	PROPN
alkej-123	154	1	مع	مع	PROPN
alkej-123	154	2	المسيطر	المسيطر	PROPN
alkej-123	154	3	العصبي	العصبي	PROPN
alkej-123	154	4	المشتق	المشتق	PROPN
alkej-123	154	5	التكاملي	التكاملي	NOUN
alkej-123	154	6	(	(	PUNCT
alkej-123	154	7	)	)	PUNCT
alkej-123	155	1	مع	مع	PROPN
alkej-123	155	2	تسع	تسع	PROPN
alkej-123	155	3	قواعد	قواعد	PROPN
alkej-123	155	4	تضاsisoاحادي	تضاsisoاحادي	VERB
alkej-123	156	1	االخراج	االخراج	NOUN
alkej-123	156	2	(	(	PUNCT
alkej-123	156	3	-احادي	-احادي	NOUN
alkej-123	156	4	االدخال	االدخال	PROPN
alkej-123	156	5	fdp)الضبابي	fdp)الضبابي	PROPN
alkej-123	156	6	النسبي	النسبي	NOUN
alkej-123	156	7	المشتق	المشتق	NOUN
alkej-123	156	8	(	(	PUNCT
alkej-123	156	9	نتائج	نتائج	PROPN
alkej-123	156	10	المحاكاة	المحاكاة	PROPN
alkej-123	156	11	بالماتالب	بالماتالب	PROPN
alkej-123	156	12	لنموذج	لنموذج	PROPN
alkej-123	156	13	الساق	الساق	PROPN
alkej-123	156	14	الروبوتية	الروبوتية	PROPN
alkej-123	156	15	مع	مع	PROPN
alkej-123	156	16	المسيطر	المسيطر	PROPN
alkej-123	156	17	المقترح	المقترح	VERB
alkej-123	156	18	وضح	وضح	PROPN
alkej-123	156	19	كفاءة	كفاءة	NOUN
alkej-123	156	20	هذا	هذا	PROPN
alkej-123	156	21	المسيطر	المسيطر	PROPN
alkej-123	156	22	عند	عند	PROPN
alkej-123	156	23	مقارنته	مقارنته	VERB
alkej-123	156	24	مع	مع	ADP
alkej-123	156	25	نتائج	نتائج	PROPN
alkej-123	156	26	ان	ان	INTJ
alkej-123	156	27	واحدة	واحدة	PROPN
alkej-123	157	1	مع	مع	PROPN
alkej-123	157	2	دالة	دالة	PROPN
alkej-123	157	3	غير	غير	VERB
alkej-123	157	4	خطية	خطية	PROPN
alkej-123	157	5	.	.	PUNCT
alkej-123	158	1	pi+2d	pi+2d	PROPN
alkej-123	158	2	,	,	PUNCT
alkej-123	158	3	.pd+nid	.pd+nid	PROPN
alkej-123	158	4	,	,	PUNCT
alkej-123	158	5	fpd-id.المسيطرات	fpd-id.المسيطرات	VERB