id	sid	tid	token	lemma	pos
alkej-155	1	1	سعد	سعد	PROPN
alkej-155	1	2	زغلول	زغلول	PROPN
alkej-155	1	3	al	al	PROPN
alkej-155	1	4	-	-	PUNCT
alkej-155	1	5	khwarizmi	khwarizmi	PROPN
alkej-155	1	6	engineering	engineering	PROPN
alkej-155	1	7	journal	journal	PROPN
alkej-155	1	8	al	al	PROPN
alkej-155	1	9	-	-	PUNCT
alkej-155	1	10	khwarizmi	khwarizmi	PROPN
alkej-155	1	11	engineering	engineering	NOUN
alkej-155	1	12	journal	journal	PROPN
alkej-155	1	13	,	,	PUNCT
alkej-155	1	14	vol	vol	NOUN
alkej-155	1	15	.	.	PROPN
alkej-155	1	16	8	8	NUM
alkej-155	1	17	,	,	PUNCT
alkej-155	1	18	no	no	INTJ
alkej-155	1	19	.	.	NOUN
alkej-155	1	20	1	1	NUM
alkej-155	1	21	,	,	PUNCT
alkej-155	1	22	p.p	p.p	PROPN
alkej-155	1	23	.	.	PROPN
alkej-155	1	24	19	19	NUM
alkej-155	1	25	-	-	SYM
alkej-155	1	26	28	28	NUM
alkej-155	1	27	(	(	PUNCT
alkej-155	1	28	2013	2013	NUM
alkej-155	1	29	)	)	PUNCT
alkej-155	1	30	tuning	tune	VERB
alkej-155	1	31	pid	pid	NOUN
alkej-155	1	32	controller	controller	NOUN
alkej-155	1	33	by	by	ADP
alkej-155	1	34	neural	neural	ADJ
alkej-155	1	35	network	network	NOUN
alkej-155	1	36	for	for	ADP
alkej-155	1	37	robot	robot	NOUN
alkej-155	1	38	manipulator	manipulator	NOUN
alkej-155	1	39	trajectory	trajectory	NOUN
alkej-155	1	40	tracking	tracking	NOUN
alkej-155	1	41	saad	saad	PROPN
alkej-155	1	42	zaghlul	zaghlul	PROPN
alkej-155	1	43	saeed	saeed	PROPN
alkej-155	1	44	al	al	PROPN
alkej-155	1	45	-	-	PUNCT
alkej-155	1	46	khayyt	khayyt	PROPN
alkej-155	1	47	department	department	PROPN
alkej-155	1	48	of	of	ADP
alkej-155	1	49	mechatronics	mechatronic	NOUN
alkej-155	1	50	engineering/	engineering/	NUM
alkej-155	1	51	college	college	NOUN
alkej-155	1	52	of	of	ADP
alkej-155	1	53	engineering/	engineering/	NUM
alkej-155	1	54	mosul	mosul	PROPN
alkej-155	1	55	university	university	NOUN
alkej-155	1	56	email	email	NOUN
alkej-155	1	57	:	:	PUNCT
alkej-155	1	58	alkhyaat@yahoo.com	alkhyaat@yahoo.com	X
alkej-155	1	59	(	(	PUNCT
alkej-155	1	60	received	receive	VERB
alkej-155	1	61	7	7	NUM
alkej-155	1	62	may	may	PROPN
alkej-155	1	63	2012	2012	NUM
alkej-155	1	64	;	;	PUNCT
alkej-155	1	65	accepted	accept	VERB
alkej-155	1	66	18	18	NUM
alkej-155	1	67	february	february	NOUN
alkej-155	1	68	2013	2013	NUM
alkej-155	1	69	)	)	PUNCT
alkej-155	1	70	abstract	abstract	ADJ
alkej-155	1	71	ziegler	ziegler	PROPN
alkej-155	1	72	and	and	CCONJ
alkej-155	1	73	nichols	nichols	PROPN
alkej-155	1	74	proposed	propose	VERB
alkej-155	1	75	the	the	DET
alkej-155	1	76	well	well	ADV
alkej-155	1	77	-	-	PUNCT
alkej-155	1	78	known	know	VERB
alkej-155	1	79	ziegler	ziegler	PROPN
alkej-155	1	80	-	-	PUNCT
alkej-155	1	81	nichols	nichols	PROPN
alkej-155	1	82	method	method	NOUN
alkej-155	1	83	to	to	PART
alkej-155	1	84	tune	tune	VERB
alkej-155	1	85	the	the	DET
alkej-155	1	86	coefficients	coefficient	NOUN
alkej-155	1	87	of	of	ADP
alkej-155	1	88	pid	pid	NOUN
alkej-155	1	89	controller	controller	NOUN
alkej-155	1	90	.	.	PUNCT
alkej-155	2	1	this	this	DET
alkej-155	2	2	tuning	tuning	NOUN
alkej-155	2	3	method	method	NOUN
alkej-155	2	4	is	be	AUX
alkej-155	2	5	simple	simple	ADJ
alkej-155	2	6	and	and	CCONJ
alkej-155	2	7	gives	give	VERB
alkej-155	2	8	fixed	fix	VERB
alkej-155	2	9	values	value	NOUN
alkej-155	2	10	for	for	ADP
alkej-155	2	11	the	the	DET
alkej-155	2	12	coefficients	coefficient	NOUN
alkej-155	2	13	which	which	PRON
alkej-155	2	14	make	make	VERB
alkej-155	2	15	pid	pid	NOUN
alkej-155	2	16	controller	controller	NOUN
alkej-155	2	17	have	have	VERB
alkej-155	2	18	weak	weak	ADJ
alkej-155	2	19	adaptabilities	adaptability	NOUN
alkej-155	2	20	for	for	ADP
alkej-155	2	21	the	the	DET
alkej-155	2	22	model	model	NOUN
alkej-155	2	23	parameters	parameter	NOUN
alkej-155	2	24	variation	variation	NOUN
alkej-155	2	25	and	and	CCONJ
alkej-155	2	26	changing	change	VERB
alkej-155	2	27	in	in	ADP
alkej-155	2	28	operating	operating	NOUN
alkej-155	2	29	conditions	condition	NOUN
alkej-155	2	30	.	.	PUNCT
alkej-155	3	1	in	in	ADP
alkej-155	3	2	order	order	NOUN
alkej-155	3	3	to	to	PART
alkej-155	3	4	achieve	achieve	VERB
alkej-155	3	5	adaptive	adaptive	ADJ
alkej-155	3	6	controller	controller	NOUN
alkej-155	3	7	,	,	PUNCT
alkej-155	3	8	the	the	DET
alkej-155	3	9	neural	neural	ADJ
alkej-155	3	10	network	network	NOUN
alkej-155	3	11	(	(	PUNCT
alkej-155	3	12	nn	nn	NOUN
alkej-155	3	13	)	)	PUNCT
alkej-155	3	14	self	self	NOUN
alkej-155	3	15	-	-	PUNCT
alkej-155	3	16	tuning	tune	VERB
alkej-155	3	17	pid	pid	NOUN
alkej-155	3	18	control	control	NOUN
alkej-155	3	19	is	be	AUX
alkej-155	3	20	proposed	propose	VERB
alkej-155	3	21	in	in	ADP
alkej-155	3	22	this	this	DET
alkej-155	3	23	paper	paper	NOUN
alkej-155	3	24	which	which	PRON
alkej-155	3	25	combines	combine	VERB
alkej-155	3	26	conventional	conventional	ADJ
alkej-155	3	27	pid	pid	NOUN
alkej-155	3	28	controller	controller	NOUN
alkej-155	3	29	and	and	CCONJ
alkej-155	3	30	neural	neural	ADJ
alkej-155	3	31	network	network	NOUN
alkej-155	3	32	learning	learn	VERB
alkej-155	3	33	capabilities	capability	NOUN
alkej-155	3	34	.	.	PUNCT
alkej-155	4	1	the	the	DET
alkej-155	4	2	proportional	proportional	ADJ
alkej-155	4	3	,	,	PUNCT
alkej-155	4	4	integral	integral	ADJ
alkej-155	4	5	and	and	CCONJ
alkej-155	4	6	derivative	derivative	ADJ
alkej-155	4	7	(	(	PUNCT
alkej-155	4	8	kp	kp	PROPN
alkej-155	4	9	,	,	PUNCT
alkej-155	4	10	ki	ki	PROPN
alkej-155	4	11	,	,	PUNCT
alkej-155	4	12	kd	kd	PROPN
alkej-155	4	13	)	)	PUNCT
alkej-155	4	14	gains	gain	NOUN
alkej-155	4	15	are	be	AUX
alkej-155	4	16	self	self	NOUN
alkej-155	4	17	tuned	tune	VERB
alkej-155	4	18	on	on	ADP
alkej-155	4	19	-	-	PUNCT
alkej-155	4	20	line	line	NOUN
alkej-155	4	21	by	by	ADP
alkej-155	4	22	the	the	DET
alkej-155	4	23	nn	nn	PROPN
alkej-155	4	24	output	output	NOUN
alkej-155	4	25	which	which	PRON
alkej-155	4	26	is	be	AUX
alkej-155	4	27	obtained	obtain	VERB
alkej-155	4	28	due	due	ADP
alkej-155	4	29	to	to	ADP
alkej-155	4	30	the	the	DET
alkej-155	4	31	error	error	NOUN
alkej-155	4	32	value	value	NOUN
alkej-155	4	33	on	on	ADP
alkej-155	4	34	the	the	DET
alkej-155	4	35	desired	desire	VERB
alkej-155	4	36	output	output	NOUN
alkej-155	4	37	of	of	ADP
alkej-155	4	38	the	the	DET
alkej-155	4	39	system	system	NOUN
alkej-155	4	40	under	under	ADP
alkej-155	4	41	control	control	NOUN
alkej-155	4	42	.	.	PUNCT
alkej-155	5	1	the	the	DET
alkej-155	5	2	conventional	conventional	ADJ
alkej-155	5	3	pid	pid	NOUN
alkej-155	5	4	controller	controller	NOUN
alkej-155	5	5	in	in	ADP
alkej-155	5	6	the	the	DET
alkej-155	5	7	robot	robot	NOUN
alkej-155	5	8	manipulator	manipulator	NOUN
alkej-155	5	9	is	be	AUX
alkej-155	5	10	replaced	replace	VERB
alkej-155	5	11	by	by	ADP
alkej-155	5	12	nn	nn	INTJ
alkej-155	5	13	self	self	NOUN
alkej-155	5	14	tuning	tune	VERB
alkej-155	5	15	pid	pid	NOUN
alkej-155	5	16	controller	controller	NOUN
alkej-155	5	17	so	so	SCONJ
alkej-155	5	18	as	as	SCONJ
alkej-155	5	19	to	to	PART
alkej-155	5	20	achieve	achieve	VERB
alkej-155	5	21	trajectory	trajectory	NOUN
alkej-155	5	22	tracking	tracking	NOUN
alkej-155	5	23	with	with	ADP
alkej-155	5	24	minimum	minimum	ADJ
alkej-155	5	25	steady	steady	ADJ
alkej-155	5	26	-	-	PUNCT
alkej-155	5	27	state	state	NOUN
alkej-155	5	28	error	error	NOUN
alkej-155	5	29	and	and	CCONJ
alkej-155	5	30	improving	improve	VERB
alkej-155	5	31	the	the	DET
alkej-155	5	32	dynamic	dynamic	ADJ
alkej-155	5	33	behavior	behavior	NOUN
alkej-155	5	34	(	(	PUNCT
alkej-155	5	35	overshoot	overshoot	NOUN
alkej-155	5	36	)	)	PUNCT
alkej-155	5	37	.	.	PUNCT
alkej-155	6	1	the	the	DET
alkej-155	6	2	simulation	simulation	NOUN
alkej-155	6	3	results	result	NOUN
alkej-155	6	4	showed	show	VERB
alkej-155	6	5	that	that	SCONJ
alkej-155	6	6	the	the	DET
alkej-155	6	7	proposed	propose	VERB
alkej-155	6	8	controller	controller	NOUN
alkej-155	6	9	has	have	VERB
alkej-155	6	10	strong	strong	ADJ
alkej-155	6	11	self	self	NOUN
alkej-155	6	12	-	-	PUNCT
alkej-155	6	13	adaptability	adaptability	NOUN
alkej-155	6	14	over	over	ADP
alkej-155	6	15	the	the	DET
alkej-155	6	16	conventional	conventional	ADJ
alkej-155	6	17	pid	pid	NOUN
alkej-155	6	18	controller	controller	NOUN
alkej-155	6	19	.	.	PUNCT
alkej-155	7	1	keywords	keyword	NOUN
alkej-155	7	2	:	:	PUNCT
alkej-155	7	3	pid	pid	NOUN
alkej-155	7	4	controller	controller	NOUN
alkej-155	7	5	,	,	PUNCT
alkej-155	7	6	neural	neural	ADJ
alkej-155	7	7	network	network	NOUN
alkej-155	7	8	,	,	PUNCT
alkej-155	7	9	self	self	NOUN
alkej-155	7	10	tuning	tuning	NOUN
alkej-155	7	11	controller	controller	NOUN
alkej-155	7	12	,	,	PUNCT
alkej-155	7	13	robot	robot	NOUN
alkej-155	7	14	manipulator	manipulator	NOUN
alkej-155	7	15	,	,	PUNCT
alkej-155	7	16	trajectory	trajectory	NOUN
alkej-155	7	17	tracking	tracking	NOUN
alkej-155	7	18	.	.	PUNCT
alkej-155	8	1	1	1	X
alkej-155	8	2	.	.	X
alkej-155	8	3	introduction	introduction	NOUN
alkej-155	8	4	robotics	robotic	NOUN
alkej-155	8	5	has	have	AUX
alkej-155	8	6	become	become	VERB
alkej-155	8	7	recently	recently	ADV
alkej-155	8	8	an	an	DET
alkej-155	8	9	interesting	interesting	ADJ
alkej-155	8	10	area	area	NOUN
alkej-155	8	11	of	of	ADP
alkej-155	8	12	research	research	NOUN
alkej-155	8	13	,	,	PUNCT
alkej-155	8	14	especially	especially	ADV
alkej-155	8	15	the	the	DET
alkej-155	8	16	robot	robot	NOUN
alkej-155	8	17	manipulator	manipulator	NOUN
alkej-155	8	18	control	control	NOUN
alkej-155	8	19	.	.	PUNCT
alkej-155	9	1	industrial	industrial	ADJ
alkej-155	9	2	robot	robot	NOUN
alkej-155	9	3	manipulators	manipulator	NOUN
alkej-155	9	4	of	of	ADP
alkej-155	9	5	high	high	ADJ
alkej-155	9	6	accuracy	accuracy	NOUN
alkej-155	9	7	require	require	VERB
alkej-155	9	8	complicated	complicated	ADJ
alkej-155	9	9	methods	method	NOUN
alkej-155	9	10	of	of	ADP
alkej-155	9	11	control	control	NOUN
alkej-155	9	12	.	.	PUNCT
alkej-155	10	1	a	a	DET
alkej-155	10	2	robot	robot	NOUN
alkej-155	10	3	manipulator	manipulator	NOUN
alkej-155	10	4	is	be	AUX
alkej-155	10	5	a	a	DET
alkej-155	10	6	nonlinear	nonlinear	ADJ
alkej-155	10	7	system	system	NOUN
alkej-155	10	8	with	with	ADP
alkej-155	10	9	high	high	ADJ
alkej-155	10	10	coupling	coupling	NOUN
alkej-155	10	11	terms	term	NOUN
alkej-155	10	12	whose	whose	DET
alkej-155	10	13	dynamics	dynamic	NOUN
alkej-155	10	14	consists	consist	VERB
alkej-155	10	15	of	of	ADP
alkej-155	10	16	uncertainty	uncertainty	NOUN
alkej-155	10	17	and	and	CCONJ
alkej-155	10	18	is	be	AUX
alkej-155	10	19	encountered	encounter	VERB
alkej-155	10	20	with	with	ADP
alkej-155	10	21	payload	payload	ADJ
alkej-155	10	22	changes	change	NOUN
alkej-155	10	23	,	,	PUNCT
alkej-155	10	24	friction	friction	NOUN
alkej-155	10	25	and	and	CCONJ
alkej-155	10	26	disturbance	disturbance	NOUN
alkej-155	11	1	[	[	X
alkej-155	11	2	1	1	NUM
alkej-155	11	3	]	]	PUNCT
alkej-155	11	4	.	.	PUNCT
alkej-155	11	5	applying	apply	VERB
alkej-155	11	6	a	a	DET
alkej-155	11	7	control	control	NOUN
alkej-155	11	8	technique	technique	NOUN
alkej-155	11	9	is	be	AUX
alkej-155	11	10	important	important	ADJ
alkej-155	11	11	to	to	PART
alkej-155	11	12	guarantee	guarantee	VERB
alkej-155	11	13	high	high	ADJ
alkej-155	11	14	efficiency	efficiency	NOUN
alkej-155	11	15	and	and	CCONJ
alkej-155	11	16	lower	low	ADJ
alkej-155	11	17	error	error	NOUN
alkej-155	11	18	for	for	ADP
alkej-155	11	19	the	the	DET
alkej-155	11	20	motion	motion	NOUN
alkej-155	11	21	of	of	ADP
alkej-155	11	22	the	the	DET
alkej-155	11	23	robot	robot	NOUN
alkej-155	11	24	.	.	PUNCT
alkej-155	12	1	research	research	NOUN
alkej-155	12	2	of	of	ADP
alkej-155	12	3	modern	modern	ADJ
alkej-155	12	4	control	control	NOUN
alkej-155	12	5	theory	theory	NOUN
alkej-155	12	6	is	be	AUX
alkej-155	12	7	prompted	prompt	VERB
alkej-155	12	8	recently	recently	ADV
alkej-155	12	9	and	and	CCONJ
alkej-155	12	10	many	many	ADJ
alkej-155	12	11	methods	method	NOUN
alkej-155	12	12	have	have	AUX
alkej-155	12	13	been	be	AUX
alkej-155	12	14	proposed	propose	VERB
alkej-155	12	15	for	for	ADP
alkej-155	12	16	the	the	DET
alkej-155	12	17	design	design	NOUN
alkej-155	12	18	of	of	ADP
alkej-155	12	19	controllers	controller	NOUN
alkej-155	12	20	.	.	PUNCT
alkej-155	13	1	pid	pid	NOUN
alkej-155	13	2	controller	controller	NOUN
alkej-155	13	3	is	be	AUX
alkej-155	13	4	considered	consider	VERB
alkej-155	13	5	the	the	DET
alkej-155	13	6	most	most	ADV
alkej-155	13	7	control	control	NOUN
alkej-155	13	8	technique	technique	NOUN
alkej-155	13	9	that	that	PRON
alkej-155	13	10	is	be	AUX
alkej-155	13	11	widely	widely	ADV
alkej-155	13	12	used	use	VERB
alkej-155	13	13	in	in	ADP
alkej-155	13	14	control	control	NOUN
alkej-155	13	15	applications	application	NOUN
alkej-155	13	16	.	.	PUNCT
alkej-155	14	1	it	it	PRON
alkej-155	14	2	provides	provide	VERB
alkej-155	14	3	robust	robust	ADJ
alkej-155	14	4	and	and	CCONJ
alkej-155	14	5	reliable	reliable	ADJ
alkej-155	14	6	performance	performance	NOUN
alkej-155	14	7	for	for	ADP
alkej-155	14	8	most	most	ADJ
alkej-155	14	9	systems	system	NOUN
alkej-155	14	10	if	if	SCONJ
alkej-155	14	11	the	the	DET
alkej-155	14	12	coefficients	coefficient	NOUN
alkej-155	14	13	are	be	AUX
alkej-155	14	14	tuned	tune	VERB
alkej-155	14	15	properly	properly	ADV
alkej-155	14	16	[	[	X
alkej-155	14	17	2	2	NUM
alkej-155	14	18	]	]	PUNCT
alkej-155	14	19	.	.	PUNCT
alkej-155	15	1	among	among	ADP
alkej-155	15	2	the	the	DET
alkej-155	15	3	existing	exist	VERB
alkej-155	15	4	tuning	tuning	NOUN
alkej-155	15	5	techniques	technique	NOUN
alkej-155	15	6	,	,	PUNCT
alkej-155	15	7	the	the	DET
alkej-155	15	8	zieglernichols	zieglernichol	NOUN
alkej-155	15	9	formula	formula	NOUN
alkej-155	15	10	may	may	AUX
alkej-155	15	11	be	be	AUX
alkej-155	15	12	the	the	DET
alkej-155	15	13	most	most	ADV
alkej-155	15	14	well	well	ADV
alkej-155	15	15	-	-	PUNCT
alkej-155	15	16	known	know	VERB
alkej-155	15	17	method	method	NOUN
alkej-155	15	18	.	.	PUNCT
alkej-155	16	1	but	but	CCONJ
alkej-155	16	2	tuning	tuning	NOUN
alkej-155	16	3	is	be	AUX
alkej-155	16	4	laborious	laborious	ADJ
alkej-155	16	5	and	and	CCONJ
alkej-155	16	6	timeconsuming	timeconsuming	ADJ
alkej-155	16	7	,	,	PUNCT
alkej-155	16	8	particularly	particularly	ADV
alkej-155	16	9	for	for	ADP
alkej-155	16	10	processes	process	NOUN
alkej-155	16	11	with	with	ADP
alkej-155	16	12	serious	serious	ADJ
alkej-155	16	13	nonlinearities	nonlinearitie	NOUN
alkej-155	16	14	.	.	PUNCT
alkej-155	17	1	therefore	therefore	ADV
alkej-155	17	2	,	,	PUNCT
alkej-155	17	3	this	this	DET
alkej-155	17	4	method	method	NOUN
alkej-155	17	5	usually	usually	ADV
alkej-155	17	6	needs	need	VERB
alkej-155	17	7	retuning	retune	VERB
alkej-155	17	8	before	before	ADP
alkej-155	17	9	being	be	AUX
alkej-155	17	10	used	use	VERB
alkej-155	17	11	to	to	PART
alkej-155	17	12	control	control	VERB
alkej-155	17	13	industrial	industrial	ADJ
alkej-155	17	14	process	process	NOUN
alkej-155	17	15	[	[	X
alkej-155	17	16	3	3	NUM
alkej-155	17	17	]	]	PUNCT
alkej-155	17	18	.	.	PUNCT
alkej-155	18	1	however	however	ADV
alkej-155	18	2	pid	pid	DET
alkej-155	18	3	controllers	controller	NOUN
alkej-155	18	4	can	can	AUX
alkej-155	18	5	not	not	PART
alkej-155	18	6	provide	provide	VERB
alkej-155	18	7	a	a	DET
alkej-155	18	8	general	general	ADJ
alkej-155	18	9	solution	solution	NOUN
alkej-155	18	10	to	to	ADP
alkej-155	18	11	all	all	DET
alkej-155	18	12	control	control	NOUN
alkej-155	18	13	problems	problem	NOUN
alkej-155	18	14	when	when	SCONJ
alkej-155	18	15	the	the	DET
alkej-155	18	16	processes	process	NOUN
alkej-155	18	17	are	be	AUX
alkej-155	18	18	complex	complex	ADJ
alkej-155	18	19	and	and	CCONJ
alkej-155	18	20	time	time	NOUN
alkej-155	18	21	-	-	PUNCT
alkej-155	18	22	variant	variant	NOUN
alkej-155	18	23	,	,	PUNCT
alkej-155	18	24	with	with	ADP
alkej-155	18	25	delays	delay	NOUN
alkej-155	18	26	and	and	CCONJ
alkej-155	18	27	non	non	ADJ
alkej-155	18	28	-	-	ADJ
alkej-155	18	29	linearity	linearity	ADJ
alkej-155	18	30	,	,	PUNCT
alkej-155	18	31	often	often	ADV
alkej-155	18	32	with	with	ADP
alkej-155	18	33	poorly	poorly	ADV
alkej-155	18	34	defined	define	VERB
alkej-155	18	35	dynamics	dynamic	NOUN
alkej-155	18	36	and	and	CCONJ
alkej-155	18	37	measurement	measurement	NOUN
alkej-155	18	38	noise	noise	NOUN
alkej-155	18	39	[	[	X
alkej-155	18	40	4	4	NUM
alkej-155	18	41	]	]	PUNCT
alkej-155	18	42	.	.	PUNCT
alkej-155	19	1	therefore	therefore	ADV
alkej-155	19	2	,	,	PUNCT
alkej-155	19	3	an	an	DET
alkej-155	19	4	operator	operator	NOUN
alkej-155	19	5	is	be	AUX
alkej-155	19	6	still	still	ADV
alkej-155	19	7	needed	need	VERB
alkej-155	19	8	to	to	PART
alkej-155	19	9	have	have	VERB
alkej-155	19	10	control	control	NOUN
alkej-155	19	11	over	over	ADP
alkej-155	19	12	the	the	DET
alkej-155	19	13	plant	plant	NOUN
alkej-155	19	14	.	.	PUNCT
alkej-155	20	1	to	to	PART
alkej-155	20	2	enhance	enhance	VERB
alkej-155	20	3	the	the	DET
alkej-155	20	4	capabilities	capability	NOUN
alkej-155	20	5	of	of	ADP
alkej-155	20	6	traditional	traditional	ADJ
alkej-155	20	7	pid	pid	NOUN
alkej-155	20	8	tuning	tuning	NOUN
alkej-155	20	9	techniques	technique	NOUN
alkej-155	20	10	,	,	PUNCT
alkej-155	20	11	several	several	ADJ
alkej-155	20	12	methods	method	NOUN
alkej-155	20	13	such	such	ADJ
alkej-155	20	14	as	as	ADP
alkej-155	20	15	embedding	embed	VERB
alkej-155	20	16	the	the	DET
alkej-155	20	17	lyapunov	lyapunov	ADJ
alkej-155	20	18	stability	stability	NOUN
alkej-155	20	19	criterion	criterion	NOUN
alkej-155	21	1	[	[	X
alkej-155	21	2	5	5	NUM
alkej-155	21	3	]	]	PUNCT
alkej-155	21	4	,	,	PUNCT
alkej-155	21	5	the	the	DET
alkej-155	21	6	neural	neural	ADJ
alkej-155	21	7	networks	network	NOUN
alkej-155	21	8	[	[	X
alkej-155	21	9	6	6	NUM
alkej-155	21	10	-	-	SYM
alkej-155	21	11	12	12	NUM
alkej-155	21	12	]	]	PUNCT
alkej-155	21	13	,	,	PUNCT
alkej-155	21	14	the	the	DET
alkej-155	21	15	fuzzy	fuzzy	ADJ
alkej-155	21	16	logic	logic	NOUN
alkej-155	21	17	controllers	controller	NOUN
alkej-155	21	18	[	[	PUNCT
alkej-155	21	19	13	13	NUM
alkej-155	21	20	-	-	SYM
alkej-155	21	21	15	15	NUM
alkej-155	21	22	]	]	PUNCT
alkej-155	21	23	,	,	PUNCT
alkej-155	21	24	and	and	CCONJ
alkej-155	21	25	the	the	DET
alkej-155	21	26	genetic	genetic	ADJ
alkej-155	21	27	algorithm	algorithm	NOUN
alkej-155	21	28	(	(	PUNCT
alkej-155	21	29	ga	ga	NOUN
alkej-155	21	30	)	)	PUNCT
alkej-155	22	1	[	[	X
alkej-155	22	2	16,17	16,17	NUM
alkej-155	22	3	]	]	PUNCT
alkej-155	22	4	have	have	AUX
alkej-155	22	5	been	be	AUX
alkej-155	22	6	developed	develop	VERB
alkej-155	22	7	recently	recently	ADV
alkej-155	22	8	to	to	PART
alkej-155	22	9	tune	tune	VERB
alkej-155	22	10	the	the	DET
alkej-155	22	11	parameters	parameter	NOUN
alkej-155	22	12	of	of	ADP
alkej-155	22	13	pid	pid	NOUN
alkej-155	22	14	controllers	controller	NOUN
alkej-155	22	15	.	.	PUNCT
alkej-155	23	1	in	in	ADP
alkej-155	23	2	these	these	DET
alkej-155	23	3	previous	previous	ADJ
alkej-155	23	4	works	work	NOUN
alkej-155	23	5	,	,	PUNCT
alkej-155	23	6	it	it	PRON
alkej-155	23	7	was	be	AUX
alkej-155	23	8	shown	show	VERB
alkej-155	23	9	that	that	SCONJ
alkej-155	23	10	better	well	ADJ
alkej-155	23	11	control	control	NOUN
alkej-155	23	12	performance	performance	NOUN
alkej-155	23	13	can	can	AUX
alkej-155	23	14	be	be	AUX
alkej-155	23	15	achieved	achieve	VERB
alkej-155	23	16	in	in	ADP
alkej-155	23	17	comparison	comparison	NOUN
alkej-155	23	18	with	with	ADP
alkej-155	23	19	the	the	DET
alkej-155	23	20	ziegler	ziegler	PROPN
alkej-155	23	21	-	-	PUNCT
alkej-155	23	22	nichols	nichols	PROPN
alkej-155	23	23	method	method	NOUN
alkej-155	23	24	.	.	PUNCT
alkej-155	24	1	however	however	ADV
alkej-155	24	2	if	if	SCONJ
alkej-155	24	3	pid	pid	NOUN
alkej-155	24	4	controller	controller	NOUN
alkej-155	24	5	parameters	parameter	NOUN
alkej-155	24	6	are	be	AUX
alkej-155	24	7	tuned	tune	VERB
alkej-155	24	8	off	off	ADP
alkej-155	24	9	-	-	PUNCT
alkej-155	24	10	line	line	NOUN
alkej-155	24	11	,	,	PUNCT
alkej-155	24	12	these	these	DET
alkej-155	24	13	controllers	controller	NOUN
alkej-155	24	14	will	will	AUX
alkej-155	24	15	not	not	PART
alkej-155	24	16	maintain	maintain	VERB
alkej-155	24	17	the	the	DET
alkej-155	24	18	desired	desire	VERB
alkej-155	24	19	control	control	NOUN
alkej-155	24	20	performance	performance	NOUN
alkej-155	24	21	and	and	CCONJ
alkej-155	24	22	stability	stability	NOUN
alkej-155	24	23	during	during	ADP
alkej-155	24	24	operation	operation	NOUN
alkej-155	24	25	[	[	X
alkej-155	24	26	18	18	NUM
alkej-155	24	27	]	]	PUNCT
alkej-155	24	28	.	.	PUNCT
alkej-155	25	1	thus	thus	ADV
alkej-155	25	2	on	on	ADP
alkej-155	25	3	-	-	PUNCT
alkej-155	25	4	line	line	NOUN
alkej-155	25	5	tuning	tuning	NOUN
alkej-155	25	6	is	be	AUX
alkej-155	25	7	proposed	propose	VERB
alkej-155	25	8	in	in	ADP
alkej-155	25	9	the	the	DET
alkej-155	25	10	works	work	NOUN
alkej-155	25	11	of	of	ADP
alkej-155	25	12	[	[	X
alkej-155	25	13	7,9,12	7,9,12	PROPN
alkej-155	25	14	]	]	PUNCT
alkej-155	25	15	using	use	VERB
alkej-155	25	16	multilayered	multilayere	VERB
alkej-155	25	17	neural	neural	ADJ
alkej-155	25	18	network	network	NOUN
alkej-155	25	19	with	with	ADP
alkej-155	25	20	mailto:alkhyaat@yahoo.com	mailto:alkhyaat@yahoo.com	PROPN
alkej-155	25	21	saad	saad	PROPN
alkej-155	25	22	zaghlul	zaghlul	PROPN
alkej-155	25	23	saeed	saeed	PROPN
alkej-155	25	24	al	al	PROPN
alkej-155	25	25	-	-	PUNCT
alkej-155	25	26	khwarizmi	khwarizmi	PROPN
alkej-155	25	27	engineering	engineering	NOUN
alkej-155	25	28	journal	journal	PROPN
alkej-155	25	29	,	,	PUNCT
alkej-155	25	30	vol	vol	NOUN
alkej-155	25	31	.	.	PROPN
alkej-155	26	1	9	9	NUM
alkej-155	26	2	,	,	PUNCT
alkej-155	26	3	no	no	INTJ
alkej-155	26	4	.	.	NOUN
alkej-155	26	5	1	1	NUM
alkej-155	26	6	,	,	PUNCT
alkej-155	26	7	p.p	p.p	PROPN
alkej-155	26	8	.	.	PROPN
alkej-155	26	9	19	19	NUM
alkej-155	26	10	-	-	SYM
alkej-155	26	11	28	28	NUM
alkej-155	26	12	(	(	PUNCT
alkej-155	26	13	2013	2013	NUM
alkej-155	26	14	)	)	PUNCT
alkej-155	26	15	20	20	NUM
alkej-155	26	16	model	model	NOUN
alkej-155	26	17	reference	reference	NOUN
alkej-155	26	18	and	and	CCONJ
alkej-155	26	19	also	also	ADV
alkej-155	26	20	occasionally	occasionally	ADV
alkej-155	26	21	with	with	ADP
alkej-155	26	22	estimator	estimator	NOUN
alkej-155	26	23	.	.	PUNCT
alkej-155	27	1	also	also	ADV
alkej-155	27	2	for	for	ADP
alkej-155	27	3	pid	pid	NOUN
alkej-155	27	4	gains	gain	NOUN
alkej-155	27	5	tuning	tuning	NOUN
alkej-155	27	6	of	of	ADP
alkej-155	27	7	nonlinear	nonlinear	ADJ
alkej-155	27	8	multivariable	multivariable	ADJ
alkej-155	27	9	systems	system	NOUN
alkej-155	27	10	,	,	PUNCT
alkej-155	27	11	gas	gas	NOUN
alkej-155	27	12	offers	offer	VERB
alkej-155	27	13	a	a	DET
alkej-155	27	14	solution	solution	NOUN
alkej-155	27	15	in	in	ADP
alkej-155	27	16	combination	combination	NOUN
alkej-155	27	17	with	with	ADP
alkej-155	27	18	multilayered	multilayere	VERB
alkej-155	27	19	several	several	ADJ
alkej-155	27	20	neural	neural	ADJ
alkej-155	27	21	networks	network	NOUN
alkej-155	27	22	for	for	ADP
alkej-155	27	23	each	each	DET
alkej-155	27	24	design	design	NOUN
alkej-155	27	25	criterion	criterion	NOUN
alkej-155	27	26	in	in	ADP
alkej-155	27	27	addition	addition	NOUN
alkej-155	27	28	to	to	ADP
alkej-155	27	29	the	the	DET
alkej-155	27	30	iterations	iteration	NOUN
alkej-155	27	31	involved	involve	VERB
alkej-155	27	32	in	in	ADP
alkej-155	27	33	the	the	DET
alkej-155	27	34	algorithm	algorithm	NOUN
alkej-155	27	35	[	[	X
alkej-155	27	36	17	17	NUM
alkej-155	27	37	]	]	PUNCT
alkej-155	27	38	.	.	PUNCT
alkej-155	28	1	neural	neural	ADJ
alkej-155	28	2	network	network	PROPN
alkej-155	28	3	(	(	PUNCT
alkej-155	28	4	nn	nn	NOUN
alkej-155	28	5	)	)	PUNCT
alkej-155	28	6	has	have	VERB
alkej-155	28	7	a	a	DET
alkej-155	28	8	strong	strong	ADJ
alkej-155	28	9	selfadaptability	selfadaptability	NOUN
alkej-155	28	10	,	,	PUNCT
alkej-155	28	11	learning	learn	VERB
alkej-155	28	12	ability	ability	NOUN
alkej-155	28	13	,	,	PUNCT
alkej-155	28	14	and	and	CCONJ
alkej-155	28	15	nonlinear	nonlinear	ADJ
alkej-155	28	16	mapping	mapping	NOUN
alkej-155	28	17	capability	capability	NOUN
alkej-155	28	18	.	.	PUNCT
alkej-155	29	1	to	to	PART
alkej-155	29	2	work	work	VERB
alkej-155	29	3	on	on	ADP
alkej-155	29	4	-	-	PUNCT
alkej-155	29	5	line	line	NOUN
alkej-155	29	6	is	be	AUX
alkej-155	29	7	actually	actually	ADV
alkej-155	29	8	a	a	DET
alkej-155	29	9	challenging	challenging	ADJ
alkej-155	29	10	task	task	NOUN
alkej-155	29	11	for	for	ADP
alkej-155	29	12	strongly	strongly	ADV
alkej-155	29	13	nonlinear	nonlinear	ADJ
alkej-155	29	14	systems	system	NOUN
alkej-155	29	15	and	and	CCONJ
alkej-155	29	16	frequently	frequently	ADV
alkej-155	29	17	considered	consider	VERB
alkej-155	29	18	important	important	ADJ
alkej-155	29	19	than	than	ADP
alkej-155	29	20	off	off	ADP
alkej-155	29	21	-	-	PUNCT
alkej-155	29	22	line	line	NOUN
alkej-155	29	23	.	.	PUNCT
alkej-155	30	1	in	in	ADP
alkej-155	30	2	on	on	ADP
alkej-155	30	3	-	-	PUNCT
alkej-155	30	4	line	line	NOUN
alkej-155	30	5	procedure	procedure	NOUN
alkej-155	30	6	,	,	PUNCT
alkej-155	30	7	data	datum	NOUN
alkej-155	30	8	is	be	AUX
alkej-155	30	9	simultaneously	simultaneously	ADV
alkej-155	30	10	used	use	VERB
alkej-155	30	11	to	to	PART
alkej-155	30	12	get	get	VERB
alkej-155	30	13	current	current	ADJ
alkej-155	30	14	output	output	NOUN
alkej-155	30	15	and	and	CCONJ
alkej-155	30	16	to	to	PART
alkej-155	30	17	optimize	optimize	VERB
alkej-155	30	18	the	the	DET
alkej-155	30	19	parameters	parameter	NOUN
alkej-155	30	20	at	at	ADP
alkej-155	30	21	the	the	DET
alkej-155	30	22	same	same	ADJ
alkej-155	30	23	time	time	NOUN
alkej-155	30	24	[	[	X
alkej-155	30	25	19	19	NUM
alkej-155	30	26	]	]	PUNCT
alkej-155	30	27	.	.	PUNCT
alkej-155	31	1	in	in	ADP
alkej-155	31	2	order	order	NOUN
alkej-155	31	3	to	to	PART
alkej-155	31	4	achieve	achieve	VERB
alkej-155	31	5	good	good	ADJ
alkej-155	31	6	control	control	NOUN
alkej-155	31	7	performance	performance	NOUN
alkej-155	31	8	,	,	PUNCT
alkej-155	31	9	the	the	DET
alkej-155	31	10	nn	nn	PROPN
alkej-155	31	11	self	self	NOUN
alkej-155	31	12	tuning	tune	VERB
alkej-155	31	13	pid	pid	NOUN
alkej-155	31	14	controller	controller	NOUN
alkej-155	31	15	method	method	NOUN
alkej-155	31	16	is	be	AUX
alkej-155	31	17	proposed	propose	VERB
alkej-155	31	18	.	.	PUNCT
alkej-155	32	1	this	this	DET
alkej-155	32	2	method	method	NOUN
alkej-155	32	3	combines	combine	VERB
alkej-155	32	4	conventional	conventional	ADJ
alkej-155	32	5	pid	pid	NOUN
alkej-155	32	6	controller	controller	NOUN
alkej-155	32	7	and	and	CCONJ
alkej-155	32	8	single	single	ADJ
alkej-155	32	9	layer	layer	NOUN
alkej-155	32	10	nn	nn	PROPN
alkej-155	32	11	.	.	PROPN
alkej-155	32	12	the	the	DET
alkej-155	32	13	nn	nn	PROPN
alkej-155	32	14	tunes	tune	NOUN
alkej-155	32	15	the	the	DET
alkej-155	32	16	kp	kp	PROPN
alkej-155	32	17	,	,	PUNCT
alkej-155	32	18	ki	ki	PROPN
alkej-155	32	19	,	,	PUNCT
alkej-155	32	20	and	and	CCONJ
alkej-155	32	21	kd	kd	PROPN
alkej-155	32	22	gains	gain	NOUN
alkej-155	32	23	of	of	ADP
alkej-155	32	24	the	the	DET
alkej-155	32	25	pid	pid	NOUN
alkej-155	32	26	controller	controller	NOUN
alkej-155	32	27	in	in	ADP
alkej-155	32	28	on	on	ADP
alkej-155	32	29	-	-	PUNCT
alkej-155	32	30	line	line	NOUN
alkej-155	32	31	procedure	procedure	NOUN
alkej-155	32	32	.	.	PUNCT
alkej-155	33	1	by	by	ADP
alkej-155	33	2	doing	do	VERB
alkej-155	33	3	so	so	ADV
alkej-155	33	4	,	,	PUNCT
alkej-155	33	5	we	we	PRON
alkej-155	33	6	overcame	overcome	VERB
alkej-155	33	7	the	the	DET
alkej-155	33	8	tuning	tuning	NOUN
alkej-155	33	9	limitation	limitation	NOUN
alkej-155	33	10	of	of	ADP
alkej-155	33	11	pid	pid	NOUN
alkej-155	33	12	controller	controller	NOUN
alkej-155	33	13	using	use	VERB
alkej-155	33	14	classical	classical	ADJ
alkej-155	33	15	tuning	tuning	NOUN
alkej-155	33	16	methods	method	NOUN
alkej-155	33	17	.	.	PUNCT
alkej-155	34	1	2	2	X
alkej-155	34	2	.	.	X
alkej-155	34	3	neural	neural	ADJ
alkej-155	34	4	network	network	NOUN
alkej-155	34	5	pid	pid	NOUN
alkej-155	34	6	self	self	NOUN
alkej-155	34	7	tuning	tune	VERB
alkej-155	34	8	for	for	ADP
alkej-155	34	9	undetermined	undetermined	ADJ
alkej-155	34	10	system	system	NOUN
alkej-155	34	11	’s	’s	PART
alkej-155	34	12	model	model	NOUN
alkej-155	34	13	,	,	PUNCT
alkej-155	34	14	experimental	experimental	ADJ
alkej-155	34	15	methods	method	NOUN
alkej-155	34	16	such	such	ADJ
alkej-155	34	17	as	as	ADP
alkej-155	34	18	ziegler	ziegler	PROPN
alkej-155	34	19	-	-	PUNCT
alkej-155	34	20	nichols	nichols	PROPN
alkej-155	34	21	tuning	tuning	NOUN
alkej-155	34	22	rules	rule	NOUN
alkej-155	34	23	may	may	AUX
alkej-155	34	24	be	be	AUX
alkej-155	34	25	used	use	VERB
alkej-155	34	26	to	to	PART
alkej-155	34	27	design	design	VERB
alkej-155	34	28	pid	pid	NOUN
alkej-155	34	29	controller	controller	NOUN
alkej-155	34	30	.	.	PUNCT
alkej-155	35	1	let	let	VERB
alkej-155	35	2	the	the	DET
alkej-155	35	3	transfer	transfer	NOUN
alkej-155	35	4	function	function	NOUN
alkej-155	35	5	of	of	ADP
alkej-155	35	6	a	a	DET
alkej-155	35	7	pid	pid	NOUN
alkej-155	35	8	controller	controller	NOUN
alkej-155	35	9	be	be	AUX
alkej-155	35	10	written	write	VERB
alkej-155	35	11	as	as	ADP
alkej-155	35	12	)	)	PUNCT
alkej-155	35	13	τs	τs	ADP
alkej-155	35	14	τs	τs	ADP
alkej-155	35	15	11(kp	11(kp	NUM
alkej-155	35	16	)	)	PUNCT
alkej-155	35	17	(	(	PUNCT
alkej-155	36	1	d	d	X
alkej-155	36	2	i	i	PRON
alkej-155	36	3	+	+	PROPN
alkej-155	36	4	+	+	PROPN
alkej-155	36	5	=	=	ADJ
alkej-155	36	6	sgc	sgc	X
alkej-155	36	7	…	…	PUNCT
alkej-155	36	8	(	(	PUNCT
alkej-155	36	9	1	1	NUM
alkej-155	36	10	)	)	PUNCT
alkej-155	36	11	where	where	SCONJ
alkej-155	36	12	kp	kp	NOUN
alkej-155	36	13	,	,	PUNCT
alkej-155	36	14	τi	τi	VERB
alkej-155	36	15	,	,	PUNCT
alkej-155	36	16	τd	τd	SCONJ
alkej-155	36	17	are	be	AUX
alkej-155	36	18	the	the	DET
alkej-155	36	19	proportional	proportional	ADJ
alkej-155	36	20	gain	gain	NOUN
alkej-155	36	21	,	,	PUNCT
alkej-155	36	22	the	the	DET
alkej-155	36	23	integral	integral	ADJ
alkej-155	36	24	time	time	NOUN
alkej-155	36	25	,	,	PUNCT
alkej-155	36	26	and	and	CCONJ
alkej-155	36	27	the	the	DET
alkej-155	36	28	derivative	derivative	ADJ
alkej-155	36	29	time	time	NOUN
alkej-155	36	30	,	,	PUNCT
alkej-155	36	31	respectively	respectively	ADV
alkej-155	36	32	[	[	X
alkej-155	36	33	20	20	NUM
alkej-155	36	34	]	]	PUNCT
alkej-155	36	35	.	.	PUNCT
alkej-155	37	1	initially	initially	ADV
alkej-155	37	2	the	the	DET
alkej-155	37	3	derivative	derivative	ADJ
alkej-155	37	4	and	and	CCONJ
alkej-155	37	5	integral	integral	ADJ
alkej-155	37	6	terms	term	NOUN
alkej-155	37	7	are	be	AUX
alkej-155	37	8	set	set	VERB
alkej-155	37	9	to	to	ADP
alkej-155	37	10	zero	zero	NUM
alkej-155	37	11	.	.	PUNCT
alkej-155	38	1	the	the	DET
alkej-155	38	2	proportional	proportional	ADJ
alkej-155	38	3	gain	gain	NOUN
alkej-155	38	4	is	be	AUX
alkej-155	38	5	increased	increase	VERB
alkej-155	38	6	from	from	ADP
alkej-155	38	7	zero	zero	NUM
alkej-155	38	8	to	to	ADP
alkej-155	38	9	a	a	DET
alkej-155	38	10	critical	critical	ADJ
alkej-155	38	11	gain	gain	NOUN
alkej-155	38	12	value	value	NOUN
alkej-155	38	13	(	(	PUNCT
alkej-155	38	14	kcr	kcr	NOUN
alkej-155	38	15	)	)	PUNCT
alkej-155	38	16	where	where	SCONJ
alkej-155	38	17	the	the	DET
alkej-155	38	18	system	system	NOUN
alkej-155	38	19	exhibits	exhibit	VERB
alkej-155	38	20	sustained	sustained	ADJ
alkej-155	38	21	oscillations	oscillation	NOUN
alkej-155	38	22	.	.	PUNCT
alkej-155	39	1	using	use	VERB
alkej-155	39	2	the	the	DET
alkej-155	39	3	value	value	NOUN
alkej-155	39	4	of	of	ADP
alkej-155	39	5	critical	critical	ADJ
alkej-155	39	6	gain	gain	NOUN
alkej-155	39	7	(	(	PUNCT
alkej-155	39	8	kcr	kcr	NOUN
alkej-155	39	9	)	)	PUNCT
alkej-155	39	10	and	and	CCONJ
alkej-155	39	11	the	the	DET
alkej-155	39	12	period	period	NOUN
alkej-155	39	13	of	of	ADP
alkej-155	39	14	oscillation	oscillation	NOUN
alkej-155	39	15	(	(	PUNCT
alkej-155	39	16	pcr	pcr	NOUN
alkej-155	39	17	)	)	PUNCT
alkej-155	39	18	,	,	PUNCT
alkej-155	39	19	the	the	DET
alkej-155	39	20	value	value	NOUN
alkej-155	39	21	of	of	ADP
alkej-155	39	22	parameters	parameter	NOUN
alkej-155	39	23	kp	kp	PROPN
alkej-155	39	24	,	,	PUNCT
alkej-155	39	25	τi	τi	VERB
alkej-155	39	26	,	,	PUNCT
alkej-155	39	27	τd	τd	SCONJ
alkej-155	39	28	are	be	AUX
alkej-155	39	29	determined	determine	VERB
alkej-155	39	30	according	accord	VERB
alkej-155	39	31	to	to	ADP
alkej-155	39	32	the	the	DET
alkej-155	39	33	formulas	formula	NOUN
alkej-155	39	34	given	give	VERB
alkej-155	39	35	in	in	ADP
alkej-155	39	36	table	table	NOUN
alkej-155	39	37	1	1	NUM
alkej-155	39	38	.	.	PUNCT
alkej-155	39	39	table	table	NOUN
alkej-155	39	40	1	1	NUM
alkej-155	39	41	,	,	PUNCT
alkej-155	39	42	ziegler	ziegler	PROPN
alkej-155	39	43	-	-	PUNCT
alkej-155	39	44	nichols	nichols	PROPN
alkej-155	39	45	tuning	tuning	NOUN
alkej-155	39	46	rules	rule	NOUN
alkej-155	39	47	based	base	VERB
alkej-155	39	48	on	on	ADP
alkej-155	39	49	critical	critical	ADJ
alkej-155	39	50	gain	gain	NOUN
alkej-155	39	51	and	and	CCONJ
alkej-155	39	52	period	period	NOUN
alkej-155	39	53	of	of	ADP
alkej-155	39	54	oscillation	oscillation	NOUN
alkej-155	39	55	[	[	X
alkej-155	39	56	20	20	NUM
alkej-155	39	57	]	]	PUNCT
alkej-155	39	58	.	.	PUNCT
alkej-155	40	1	controller	controller	PROPN
alkej-155	40	2	kp	kp	PROPN
alkej-155	40	3	τi	τi	VERB
alkej-155	40	4	τd	τd	ADP
alkej-155	40	5	p	p	PROPN
alkej-155	40	6	0.5	0.5	NUM
alkej-155	40	7	kcr	kcr	NOUN
alkej-155	40	8	∞	∞	PROPN
alkej-155	40	9	0	0	NUM
alkej-155	41	1	pi	pi	NOUN
alkej-155	41	2	0.45	0.45	NUM
alkej-155	41	3	kcr	kcr	NOUN
alkej-155	41	4	1/12	1/12	NUM
alkej-155	41	5	pcr	pcr	NOUN
alkej-155	41	6	0	0	NUM
alkej-155	42	1	pid	pid	NOUN
alkej-155	42	2	0.6	0.6	NUM
alkej-155	42	3	kcr	kcr	NOUN
alkej-155	42	4	0.5	0.5	NUM
alkej-155	42	5	pcr	pcr	PROPN
alkej-155	42	6	0.125	0.125	NUM
alkej-155	42	7	pcr	pcr	NOUN
alkej-155	42	8	generally	generally	ADV
alkej-155	42	9	for	for	ADP
alkej-155	42	10	robot	robot	NOUN
alkej-155	42	11	arm	arm	NOUN
alkej-155	42	12	,	,	PUNCT
alkej-155	42	13	the	the	DET
alkej-155	42	14	only	only	ADJ
alkej-155	42	15	way	way	NOUN
alkej-155	42	16	to	to	PART
alkej-155	42	17	build	build	VERB
alkej-155	42	18	a	a	DET
alkej-155	42	19	high	high	ADJ
alkej-155	42	20	-	-	PUNCT
alkej-155	42	21	performance	performance	NOUN
alkej-155	42	22	control	control	NOUN
alkej-155	42	23	system	system	NOUN
alkej-155	42	24	is	be	AUX
alkej-155	42	25	to	to	PART
alkej-155	42	26	make	make	VERB
alkej-155	42	27	use	use	NOUN
alkej-155	42	28	of	of	ADP
alkej-155	42	29	feedback	feedback	NOUN
alkej-155	42	30	from	from	ADP
alkej-155	42	31	joint	joint	ADJ
alkej-155	42	32	sensors	sensor	NOUN
alkej-155	42	33	.	.	PUNCT
alkej-155	43	1	typically	typically	ADV
alkej-155	43	2	,	,	PUNCT
alkej-155	43	3	this	this	DET
alkej-155	43	4	feedback	feedback	NOUN
alkej-155	43	5	is	be	AUX
alkej-155	43	6	used	use	VERB
alkej-155	43	7	to	to	PART
alkej-155	43	8	compute	compute	VERB
alkej-155	43	9	any	any	DET
alkej-155	43	10	servo	servo	NOUN
alkej-155	43	11	error	error	NOUN
alkej-155	43	12	by	by	ADP
alkej-155	43	13	finding	find	VERB
alkej-155	43	14	the	the	DET
alkej-155	43	15	difference	difference	NOUN
alkej-155	43	16	between	between	ADP
alkej-155	43	17	the	the	DET
alkej-155	43	18	desired	desire	VERB
alkej-155	43	19	and	and	CCONJ
alkej-155	43	20	the	the	DET
alkej-155	43	21	actual	actual	ADJ
alkej-155	43	22	position	position	NOUN
alkej-155	43	23	and	and	CCONJ
alkej-155	43	24	that	that	SCONJ
alkej-155	43	25	between	between	ADP
alkej-155	43	26	the	the	DET
alkej-155	43	27	desired	desire	VERB
alkej-155	43	28	and	and	CCONJ
alkej-155	43	29	the	the	DET
alkej-155	43	30	actual	actual	ADJ
alkej-155	43	31	velocity	velocity	NOUN
alkej-155	43	32	.	.	PUNCT
alkej-155	44	1	this	this	DET
alkej-155	44	2	paper	paper	NOUN
alkej-155	44	3	proposes	propose	VERB
alkej-155	44	4	two	two	NUM
alkej-155	44	5	inputs	input	NOUN
alkej-155	44	6	–	–	PUNCT
alkej-155	44	7	single	single	ADJ
alkej-155	44	8	output	output	NOUN
alkej-155	44	9	self	self	NOUN
alkej-155	44	10	tuning	tuning	NOUN
alkej-155	44	11	of	of	ADP
alkej-155	44	12	a	a	DET
alkej-155	44	13	pid	pid	NOUN
alkej-155	44	14	controller	controller	NOUN
alkej-155	44	15	as	as	SCONJ
alkej-155	44	16	shown	show	VERB
alkej-155	44	17	in	in	ADP
alkej-155	44	18	fig.1	fig.1	PROPN
alkej-155	44	19	.	.	PUNCT
alkej-155	45	1	the	the	DET
alkej-155	45	2	controller	controller	NOUN
alkej-155	45	3	design	design	NOUN
alkej-155	45	4	uses	use	VERB
alkej-155	45	5	the	the	DET
alkej-155	45	6	desired	desire	VERB
alkej-155	45	7	trajectory	trajectory	NOUN
alkej-155	45	8	and	and	CCONJ
alkej-155	45	9	the	the	DET
alkej-155	45	10	error	error	NOUN
alkej-155	45	11	as	as	ADP
alkej-155	45	12	inputs	input	NOUN
alkej-155	45	13	to	to	ADP
alkej-155	45	14	self	self	NOUN
alkej-155	45	15	tuning	tuning	NOUN
alkej-155	45	16	,	,	PUNCT
alkej-155	45	17	and	and	CCONJ
alkej-155	45	18	the	the	DET
alkej-155	45	19	nn	nn	PROPN
alkej-155	45	20	output	output	NOUN
alkej-155	45	21	(	(	PUNCT
alkej-155	45	22	y(t	y(t	NOUN
alkej-155	45	23	)	)	PUNCT
alkej-155	45	24	)	)	PUNCT
alkej-155	45	25	as	as	ADP
alkej-155	45	26	output	output	NOUN
alkej-155	45	27	.	.	PUNCT
alkej-155	46	1	the	the	DET
alkej-155	46	2	error	error	NOUN
alkej-155	46	3	signal	signal	NOUN
alkej-155	46	4	(	(	PUNCT
alkej-155	46	5	e	e	NOUN
alkej-155	46	6	)	)	PUNCT
alkej-155	46	7	is	be	AUX
alkej-155	46	8	defined	define	VERB
alkej-155	46	9	as	as	ADP
alkej-155	46	10	the	the	DET
alkej-155	46	11	difference	difference	NOUN
alkej-155	46	12	between	between	ADP
alkej-155	46	13	the	the	DET
alkej-155	46	14	desired	desire	VERB
alkej-155	46	15	position	position	NOUN
alkej-155	46	16	(	(	PUNCT
alkej-155	46	17	θr	θr	NOUN
alkej-155	46	18	)	)	PUNCT
alkej-155	46	19	and	and	CCONJ
alkej-155	46	20	actual	actual	ADJ
alkej-155	46	21	position	position	NOUN
alkej-155	46	22	(	(	PUNCT
alkej-155	46	23	θ	θ	NOUN
alkej-155	46	24	)	)	PUNCT
alkej-155	46	25	of	of	ADP
alkej-155	46	26	joint	joint	ADJ
alkej-155	46	27	angle	angle	NOUN
alkej-155	46	28	for	for	ADP
alkej-155	46	29	robot	robot	NOUN
alkej-155	46	30	arm	arm	NOUN
alkej-155	46	31	.	.	PUNCT
alkej-155	47	1	the	the	DET
alkej-155	47	2	nn	nn	PROPN
alkej-155	47	3	output	output	NOUN
alkej-155	47	4	is	be	AUX
alkej-155	47	5	added	add	VERB
alkej-155	47	6	to	to	ADP
alkej-155	47	7	the	the	DET
alkej-155	47	8	conventional	conventional	ADJ
alkej-155	47	9	pid	pid	NOUN
alkej-155	47	10	controller	controller	NOUN
alkej-155	47	11	to	to	PART
alkej-155	47	12	adjust	adjust	VERB
alkej-155	47	13	the	the	DET
alkej-155	47	14	gains	gain	NOUN
alkej-155	47	15	of	of	ADP
alkej-155	47	16	the	the	DET
alkej-155	47	17	pid	pid	NOUN
alkej-155	47	18	controller	controller	NOUN
alkej-155	47	19	on	on	ADP
alkej-155	47	20	-	-	PUNCT
alkej-155	47	21	line	line	NOUN
alkej-155	47	22	according	accord	VERB
alkej-155	47	23	to	to	ADP
alkej-155	47	24	the	the	DET
alkej-155	47	25	change	change	NOUN
alkej-155	47	26	of	of	ADP
alkej-155	47	27	the	the	DET
alkej-155	47	28	error	error	NOUN
alkej-155	47	29	signal	signal	NOUN
alkej-155	47	30	.	.	PUNCT
alkej-155	48	1	this	this	PRON
alkej-155	48	2	ensures	ensure	VERB
alkej-155	48	3	that	that	SCONJ
alkej-155	48	4	the	the	DET
alkej-155	48	5	nn	nn	PROPN
alkej-155	48	6	will	will	AUX
alkej-155	48	7	provide	provide	VERB
alkej-155	48	8	the	the	DET
alkej-155	48	9	required	require	VERB
alkej-155	48	10	change	change	NOUN
alkej-155	48	11	in	in	ADP
alkej-155	48	12	the	the	DET
alkej-155	48	13	control	control	NOUN
alkej-155	48	14	signal	signal	NOUN
alkej-155	48	15	(	(	PUNCT
alkej-155	48	16	u	u	NOUN
alkej-155	48	17	)	)	PUNCT
alkej-155	48	18	on	on	ADP
alkej-155	48	19	-	-	PUNCT
alkej-155	48	20	line	line	NOUN
alkej-155	48	21	.	.	PUNCT
alkej-155	49	1	now	now	ADV
alkej-155	49	2	the	the	DET
alkej-155	49	3	control	control	NOUN
alkej-155	49	4	action	action	NOUN
alkej-155	49	5	of	of	ADP
alkej-155	49	6	the	the	DET
alkej-155	49	7	pid	pid	NOUN
alkej-155	49	8	controller	controller	NOUN
alkej-155	49	9	after	after	ADP
alkej-155	49	10	using	use	VERB
alkej-155	49	11	the	the	DET
alkej-155	49	12	nn	nn	PROPN
alkej-155	49	13	output	output	NOUN
alkej-155	49	14	(	(	PUNCT
alkej-155	49	15	y(t	y(t	NOUN
alkej-155	49	16	)	)	PUNCT
alkej-155	49	17	)	)	PUNCT
alkej-155	49	18	can	can	AUX
alkej-155	49	19	be	be	AUX
alkej-155	49	20	described	describe	VERB
alkej-155	49	21	as	as	ADP
alkej-155	49	22	:	:	PUNCT
alkej-155	49	23	dt	dt	PROPN
alkej-155	49	24	e(t)dkdteke(t)ku	e(t)dkdteke(t)ku	PROPN
alkej-155	49	25	dnninnpnn	dnninnpnn	X
alkej-155	49	26	∫	∫	PROPN
alkej-155	50	1	+	+	PROPN
alkej-155	50	2	+	+	PROPN
alkej-155	50	3	=	=	X
alkej-155	50	4	…	…	PUNCT
alkej-155	50	5	(	(	PUNCT
alkej-155	50	6	2	2	NUM
alkej-155	50	7	)	)	PUNCT
alkej-155	50	8	where	where	SCONJ
alkej-155	50	9	kpnn	kpnn	PROPN
alkej-155	50	10	,	,	PUNCT
alkej-155	50	11	kinn	kinn	PROPN
alkej-155	50	12	,	,	PUNCT
alkej-155	50	13	and	and	CCONJ
alkej-155	50	14	kdnn	kdnn	NOUN
alkej-155	50	15	are	be	AUX
alkej-155	50	16	the	the	DET
alkej-155	50	17	new	new	ADJ
alkej-155	50	18	gains	gain	NOUN
alkej-155	50	19	of	of	ADP
alkej-155	50	20	pid	pid	NOUN
alkej-155	50	21	self	self	NOUN
alkej-155	50	22	tuning	tune	VERB
alkej-155	50	23	controller	controller	NOUN
alkej-155	50	24	and	and	CCONJ
alkej-155	50	25	equal	equal	ADJ
alkej-155	50	26	to	to	ADP
alkej-155	50	27	:	:	PUNCT
alkej-155	50	28	kpnn	kpnn	PROPN
alkej-155	50	29	=	=	SYM
alkej-155	50	30	y(t	y(t	PROPN
alkej-155	50	31	)	)	PUNCT
alkej-155	50	32	·	·	PUNCT
alkej-155	51	1	kp	kp	INTJ
alkej-155	51	2	,	,	PUNCT
alkej-155	51	3	kinn	kinn	NOUN
alkej-155	51	4	=	=	SYM
alkej-155	51	5	y(t	y(t	PROPN
alkej-155	51	6	)	)	PUNCT
alkej-155	51	7	·	·	PUNCT
alkej-155	52	1	ki	ki	INTJ
alkej-155	52	2	,	,	PUNCT
alkej-155	52	3	kdnn	kdnn	NOUN
alkej-155	52	4	=	=	SYM
alkej-155	52	5	y(t	y(t	PROPN
alkej-155	52	6	)	)	PUNCT
alkej-155	52	7	·	·	PUNCT
alkej-155	53	1	kd	kd	PROPN
alkej-155	53	2	.	.	PUNCT
alkej-155	53	3	fig	fig	PROPN
alkej-155	53	4	.	.	PUNCT
alkej-155	54	1	1	1	X
alkej-155	54	2	.	.	NUM
alkej-155	54	3	proposed	propose	VERB
alkej-155	54	4	neural	neural	ADJ
alkej-155	54	5	network	network	NOUN
alkej-155	54	6	self	self	NOUN
alkej-155	54	7	-	-	PUNCT
alkej-155	54	8	tuning	tune	VERB
alkej-155	54	9	pid	pid	NOUN
alkej-155	54	10	controller	controller	NOUN
alkej-155	54	11	.	.	PUNCT
alkej-155	55	1	3	3	X
alkej-155	55	2	.	.	X
alkej-155	55	3	adaptive	adaptive	ADJ
alkej-155	55	4	linear	linear	PROPN
alkej-155	55	5	network	network	NOUN
alkej-155	55	6	the	the	DET
alkej-155	55	7	adaline	adaline	NOUN
alkej-155	55	8	has	have	AUX
alkej-155	55	9	been	be	AUX
alkej-155	55	10	and	and	CCONJ
alkej-155	55	11	one	one	NUM
alkej-155	55	12	of	of	ADP
alkej-155	55	13	the	the	DET
alkej-155	55	14	most	most	ADV
alkej-155	55	15	widely	widely	ADV
alkej-155	55	16	used	use	VERB
alkej-155	55	17	neural	neural	ADJ
alkej-155	55	18	networks	network	NOUN
alkej-155	55	19	found	find	VERB
alkej-155	55	20	in	in	ADP
alkej-155	55	21	practical	practical	ADJ
alkej-155	55	22	applications	application	NOUN
alkej-155	55	23	.	.	PUNCT
alkej-155	56	1	however	however	ADV
alkej-155	56	2	,	,	PUNCT
alkej-155	56	3	as	as	SCONJ
alkej-155	56	4	single	single	ADJ
alkej-155	56	5	-	-	PUNCT
alkej-155	56	6	layer	layer	NOUN
alkej-155	56	7	linear	linear	NOUN
alkej-155	56	8	networks	network	NOUN
alkej-155	56	9	are	be	AUX
alkej-155	56	10	just	just	ADV
alkej-155	56	11	as	as	ADV
alkej-155	56	12	capable	capable	ADJ
alkej-155	56	13	as	as	ADP
alkej-155	56	14	multilayer	multilayer	ADJ
alkej-155	56	15	linear	linear	PROPN
alkej-155	56	16	networks	network	NOUN
alkej-155	56	17	.	.	PUNCT
alkej-155	57	1	a	a	DET
alkej-155	57	2	linear	linear	PROPN
alkej-155	57	3	neuron	neuron	NOUN
alkej-155	57	4	uses	use	VERB
alkej-155	57	5	linear	linear	PROPN
alkej-155	57	6	transfer	transfer	NOUN
alkej-155	57	7	function	function	NOUN
alkej-155	57	8	termed	term	VERB
alkej-155	57	9	purelin	purelin	NOUN
alkej-155	57	10	which	which	PRON
alkej-155	57	11	simply	simply	ADV
alkej-155	57	12	returning	return	VERB
alkej-155	57	13	the	the	DET
alkej-155	57	14	value	value	NOUN
alkej-155	57	15	passed	pass	VERB
alkej-155	57	16	to	to	ADP
alkej-155	57	17	it	it	PRON
alkej-155	57	18	.	.	PUNCT
alkej-155	58	1	the	the	DET
alkej-155	58	2	adaline	adaline	NOUN
alkej-155	58	3	network	network	NOUN
alkej-155	58	4	shown	show	VERB
alkej-155	58	5	in	in	ADP
alkej-155	58	6	fig.2	fig.2	PROPN
alkej-155	58	7	below	below	ADV
alkej-155	58	8	has	have	VERB
alkej-155	58	9	one	one	NUM
alkej-155	58	10	layer	layer	NOUN
alkej-155	58	11	of	of	ADP
alkej-155	58	12	s	s	NOUN
alkej-155	58	13	neurons	neuron	NOUN
alkej-155	58	14	connected	connect	VERB
alkej-155	58	15	to	to	ADP
alkej-155	58	16	r	r	NOUN
alkej-155	58	17	inputs	input	NOUN
alkej-155	58	18	through	through	ADP
alkej-155	58	19	a	a	DET
alkej-155	58	20	matrix	matrix	NOUN
alkej-155	58	21	of	of	ADP
alkej-155	58	22	weights	weight	NOUN
alkej-155	58	23	w	w	PROPN
alkej-155	59	1	[	[	X
alkej-155	59	2	21	21	NUM
alkej-155	59	3	]	]	PUNCT
alkej-155	59	4	.	.	PUNCT
alkej-155	60	1	the	the	DET
alkej-155	60	2	output	output	NOUN
alkej-155	60	3	is	be	AUX
alkej-155	60	4	obtained	obtain	VERB
alkej-155	60	5	as	as	ADP
alkej-155	60	6	:	:	PUNCT
alkej-155	60	7	saad	saad	PROPN
alkej-155	60	8	zaghlul	zaghlul	PROPN
alkej-155	60	9	saeed	saeed	PROPN
alkej-155	60	10	al	al	PROPN
alkej-155	60	11	-	-	PUNCT
alkej-155	60	12	khwarizmi	khwarizmi	PROPN
alkej-155	60	13	engineering	engineering	NOUN
alkej-155	60	14	journal	journal	PROPN
alkej-155	60	15	,	,	PUNCT
alkej-155	60	16	vol	vol	NOUN
alkej-155	60	17	.	.	PROPN
alkej-155	60	18	9	9	NUM
alkej-155	60	19	,	,	PUNCT
alkej-155	60	20	no	no	INTJ
alkej-155	60	21	.	.	NOUN
alkej-155	60	22	1	1	NUM
alkej-155	60	23	,	,	PUNCT
alkej-155	60	24	p.p	p.p	PROPN
alkej-155	60	25	.	.	PROPN
alkej-155	60	26	19	19	NUM
alkej-155	60	27	-	-	SYM
alkej-155	60	28	28	28	NUM
alkej-155	60	29	(	(	PUNCT
alkej-155	60	30	2013	2013	NUM
alkej-155	60	31	)	)	PUNCT
alkej-155	60	32	21	21	NUM
alkej-155	60	33	a	a	DET
alkej-155	60	34	=	=	X
alkej-155	60	35	purelin	purelin	NOUN
alkej-155	60	36	(	(	PUNCT
alkej-155	60	37	w	w	NOUN
alkej-155	60	38	·	·	PUNCT
alkej-155	60	39	p	p	X
alkej-155	61	1	+	+	NUM
alkej-155	61	2	b	b	NOUN
alkej-155	61	3	)	)	PUNCT
alkej-155	61	4	=	=	PUNCT
alkej-155	62	1	w	w	PROPN
alkej-155	62	2	·	·	PUNCT
alkej-155	62	3	p	p	X
alkej-155	63	1	+	+	PROPN
alkej-155	63	2	b	b	NOUN
alkej-155	63	3	…	…	PUNCT
alkej-155	63	4	(	(	PUNCT
alkej-155	63	5	3	3	NUM
alkej-155	63	6	)	)	PUNCT
alkej-155	63	7	where	where	SCONJ
alkej-155	63	8	a	a	DET
alkej-155	63	9	=	=	NOUN
alkej-155	63	10	network	network	NOUN
alkej-155	63	11	output	output	NOUN
alkej-155	63	12	vector	vector	NOUN
alkej-155	63	13	of	of	ADP
alkej-155	63	14	s	s	NOUN
alkej-155	63	15	rows	row	NOUN
alkej-155	63	16	,	,	PUNCT
alkej-155	63	17	w	w	NOUN
alkej-155	63	18	=	=	SYM
alkej-155	63	19	weight	weight	NOUN
alkej-155	63	20	matrix	matrix	NOUN
alkej-155	63	21	of	of	ADP
alkej-155	63	22	s	s	NOUN
alkej-155	63	23	rows	row	NOUN
alkej-155	63	24	and	and	CCONJ
alkej-155	63	25	p	p	NOUN
alkej-155	63	26	columns	column	NOUN
alkej-155	63	27	,	,	PUNCT
alkej-155	63	28	b	b	NOUN
alkej-155	63	29	=	=	NOUN
alkej-155	63	30	bias	bias	NOUN
alkej-155	63	31	vector	vector	NOUN
alkej-155	63	32	of	of	ADP
alkej-155	63	33	s	s	NOUN
alkej-155	63	34	rows	row	NOUN
alkej-155	63	35	.	.	PUNCT
alkej-155	64	1	this	this	DET
alkej-155	64	2	neuron	neuron	NOUN
alkej-155	64	3	can	can	AUX
alkej-155	64	4	be	be	AUX
alkej-155	64	5	trained	train	VERB
alkej-155	64	6	to	to	PART
alkej-155	64	7	learn	learn	VERB
alkej-155	64	8	an	an	DET
alkej-155	64	9	affine	affine	NOUN
alkej-155	64	10	function	function	NOUN
alkej-155	64	11	of	of	ADP
alkej-155	64	12	its	its	PRON
alkej-155	64	13	inputs	input	NOUN
alkej-155	64	14	,	,	PUNCT
alkej-155	64	15	or	or	CCONJ
alkej-155	64	16	to	to	PART
alkej-155	64	17	find	find	VERB
alkej-155	64	18	a	a	DET
alkej-155	64	19	linear	linear	ADJ
alkej-155	64	20	approximation	approximation	NOUN
alkej-155	64	21	to	to	ADP
alkej-155	64	22	a	a	DET
alkej-155	64	23	nonlinear	nonlinear	ADJ
alkej-155	64	24	function	function	NOUN
alkej-155	64	25	.	.	PUNCT
alkej-155	65	1	the	the	DET
alkej-155	65	2	least	least	ADJ
alkej-155	65	3	mean	mean	ADJ
alkej-155	65	4	square	square	ADJ
alkej-155	65	5	error	error	NOUN
alkej-155	65	6	algorithm	algorithm	NOUN
alkej-155	65	7	adjusts	adjust	VERB
alkej-155	65	8	the	the	DET
alkej-155	65	9	weights	weight	NOUN
alkej-155	65	10	and	and	CCONJ
alkej-155	65	11	biases	bias	NOUN
alkej-155	65	12	of	of	ADP
alkej-155	65	13	the	the	DET
alkej-155	65	14	adaline	adaline	NOUN
alkej-155	65	15	so	so	SCONJ
alkej-155	65	16	as	as	SCONJ
alkej-155	65	17	to	to	PART
alkej-155	65	18	minimize	minimize	VERB
alkej-155	65	19	this	this	DET
alkej-155	65	20	mean	mean	ADJ
alkej-155	65	21	square	square	NOUN
alkej-155	65	22	error	error	NOUN
alkej-155	65	23	.	.	PUNCT
alkej-155	66	1	fig	fig	NOUN
alkej-155	66	2	.	.	PUNCT
alkej-155	67	1	2	2	X
alkej-155	67	2	.	.	X
alkej-155	67	3	the	the	DET
alkej-155	67	4	adaline	adaline	NOUN
alkej-155	67	5	network	network	NOUN
alkej-155	67	6	architecture	architecture	NOUN
alkej-155	67	7	.	.	PUNCT
alkej-155	68	1	adaptive	adaptive	ADJ
alkej-155	68	2	filtering	filtering	NOUN
alkej-155	68	3	is	be	AUX
alkej-155	68	4	one	one	NUM
alkej-155	68	5	of	of	ADP
alkej-155	68	6	its	its	PRON
alkej-155	68	7	major	major	ADJ
alkej-155	68	8	application	application	NOUN
alkej-155	68	9	areas	area	NOUN
alkej-155	68	10	.	.	PUNCT
alkej-155	69	1	a	a	DET
alkej-155	69	2	tapped	tap	VERB
alkej-155	69	3	delay	delay	NOUN
alkej-155	69	4	line	line	NOUN
alkej-155	69	5	can	can	AUX
alkej-155	69	6	be	be	AUX
alkej-155	69	7	combined	combine	VERB
alkej-155	69	8	with	with	ADP
alkej-155	69	9	an	an	DET
alkej-155	69	10	adaline	adaline	NOUN
alkej-155	69	11	network	network	NOUN
alkej-155	69	12	to	to	PART
alkej-155	69	13	create	create	VERB
alkej-155	69	14	the	the	DET
alkej-155	69	15	adaptive	adaptive	ADJ
alkej-155	69	16	filter	filter	NOUN
alkej-155	69	17	.	.	PUNCT
alkej-155	70	1	this	this	DET
alkej-155	70	2	adaptive	adaptive	ADJ
alkej-155	70	3	filter	filter	NOUN
alkej-155	70	4	is	be	AUX
alkej-155	70	5	used	use	VERB
alkej-155	70	6	to	to	PART
alkej-155	70	7	predict	predict	VERB
alkej-155	70	8	the	the	DET
alkej-155	70	9	next	next	ADJ
alkej-155	70	10	value	value	NOUN
alkej-155	70	11	of	of	ADP
alkej-155	70	12	a	a	DET
alkej-155	70	13	stationary	stationary	ADJ
alkej-155	70	14	random	random	ADJ
alkej-155	70	15	process	process	NOUN
alkej-155	70	16	,	,	PUNCT
alkej-155	70	17	p(t	p(t	NOUN
alkej-155	70	18	)	)	PUNCT
alkej-155	70	19	.	.	PUNCT
alkej-155	71	1	we	we	PRON
alkej-155	71	2	use	use	VERB
alkej-155	71	3	the	the	DET
alkej-155	71	4	network	network	NOUN
alkej-155	71	5	shown	show	VERB
alkej-155	71	6	below	below	ADV
alkej-155	71	7	to	to	PART
alkej-155	71	8	do	do	VERB
alkej-155	71	9	this	this	PRON
alkej-155	71	10	(	(	PUNCT
alkej-155	71	11	fig.3	fig.3	PROPN
alkej-155	71	12	)	)	PUNCT
alkej-155	71	13	.	.	PUNCT
alkej-155	72	1	the	the	DET
alkej-155	72	2	network	network	NOUN
alkej-155	72	3	changes	change	VERB
alkej-155	72	4	the	the	DET
alkej-155	72	5	weights	weight	NOUN
alkej-155	72	6	on	on	ADP
alkej-155	72	7	each	each	DET
alkej-155	72	8	time	time	NOUN
alkej-155	72	9	step	step	NOUN
alkej-155	72	10	so	so	SCONJ
alkej-155	72	11	as	as	SCONJ
alkej-155	72	12	to	to	PART
alkej-155	72	13	minimize	minimize	VERB
alkej-155	72	14	the	the	DET
alkej-155	72	15	error	error	NOUN
alkej-155	72	16	e(t	e(t	NOUN
alkej-155	72	17	)	)	PUNCT
alkej-155	72	18	.	.	PUNCT
alkej-155	73	1	if	if	SCONJ
alkej-155	73	2	this	this	DET
alkej-155	73	3	error	error	NOUN
alkej-155	73	4	is	be	AUX
alkej-155	73	5	zero	zero	NUM
alkej-155	73	6	,	,	PUNCT
alkej-155	73	7	then	then	ADV
alkej-155	73	8	the	the	DET
alkej-155	73	9	network	network	NOUN
alkej-155	73	10	output	output	NOUN
alkej-155	73	11	a(t	a(t	PROPN
alkej-155	73	12	)	)	PUNCT
alkej-155	73	13	is	be	AUX
alkej-155	73	14	exactly	exactly	ADV
alkej-155	73	15	equal	equal	ADJ
alkej-155	73	16	to	to	ADP
alkej-155	73	17	p(t	p(t	NOUN
alkej-155	73	18	)	)	PUNCT
alkej-155	73	19	,	,	PUNCT
alkej-155	73	20	and	and	CCONJ
alkej-155	73	21	the	the	DET
alkej-155	73	22	network	network	NOUN
alkej-155	73	23	did	do	VERB
alkej-155	73	24	its	its	PRON
alkej-155	73	25	prediction	prediction	NOUN
alkej-155	73	26	properly	properly	ADV
alkej-155	73	27	.	.	PUNCT
alkej-155	74	1	fig	fig	NOUN
alkej-155	74	2	.	.	PUNCT
alkej-155	75	1	3	3	X
alkej-155	75	2	.	.	X
alkej-155	75	3	adaptive	adaptive	ADJ
alkej-155	75	4	filter	filter	NOUN
alkej-155	75	5	based	base	VERB
alkej-155	75	6	on	on	ADP
alkej-155	75	7	adaline	adaline	NOUN
alkej-155	75	8	network	network	NOUN
alkej-155	75	9	[	[	X
alkej-155	75	10	21	21	NUM
alkej-155	75	11	]	]	PUNCT
alkej-155	75	12	.	.	PUNCT
alkej-155	76	1	in	in	ADP
alkej-155	76	2	the	the	DET
alkej-155	76	3	proposed	propose	VERB
alkej-155	76	4	controller	controller	NOUN
alkej-155	76	5	,	,	PUNCT
alkej-155	76	6	the	the	DET
alkej-155	76	7	error	error	NOUN
alkej-155	76	8	signal	signal	NOUN
alkej-155	76	9	(	(	PUNCT
alkej-155	76	10	e(t	e(t	NOUN
alkej-155	76	11	)	)	PUNCT
alkej-155	76	12	)	)	PUNCT
alkej-155	76	13	is	be	AUX
alkej-155	76	14	defined	define	VERB
alkej-155	76	15	as	as	ADP
alkej-155	76	16	the	the	DET
alkej-155	76	17	difference	difference	NOUN
alkej-155	76	18	between	between	ADP
alkej-155	76	19	the	the	DET
alkej-155	76	20	desired	desire	VERB
alkej-155	76	21	position	position	NOUN
alkej-155	76	22	(	(	PUNCT
alkej-155	76	23	θr	θr	NOUN
alkej-155	76	24	)	)	PUNCT
alkej-155	76	25	and	and	CCONJ
alkej-155	76	26	actual	actual	ADJ
alkej-155	76	27	position	position	NOUN
alkej-155	76	28	(	(	PUNCT
alkej-155	76	29	θ	θ	NOUN
alkej-155	76	30	)	)	PUNCT
alkej-155	76	31	of	of	ADP
alkej-155	76	32	joint	joint	ADJ
alkej-155	76	33	angle	angle	NOUN
alkej-155	76	34	for	for	ADP
alkej-155	76	35	robot	robot	NOUN
alkej-155	76	36	arm	arm	NOUN
alkej-155	76	37	.	.	PUNCT
alkej-155	77	1	the	the	DET
alkej-155	77	2	network	network	NOUN
alkej-155	77	3	,	,	PUNCT
alkej-155	77	4	once	once	ADV
alkej-155	77	5	initialized	initialize	VERB
alkej-155	77	6	and	and	CCONJ
alkej-155	77	7	operating	operate	VERB
alkej-155	77	8	,	,	PUNCT
alkej-155	77	9	adapts	adapt	VERB
alkej-155	77	10	at	at	ADP
alkej-155	77	11	each	each	DET
alkej-155	77	12	time	time	NOUN
alkej-155	77	13	step	step	NOUN
alkej-155	77	14	on	on	ADP
alkej-155	77	15	-	-	PUNCT
alkej-155	77	16	line	line	NOUN
alkej-155	77	17	to	to	PART
alkej-155	77	18	minimize	minimize	VERB
alkej-155	77	19	the	the	DET
alkej-155	77	20	error	error	NOUN
alkej-155	77	21	and	and	CCONJ
alkej-155	77	22	in	in	ADP
alkej-155	77	23	a	a	DET
alkej-155	77	24	relatively	relatively	ADV
alkej-155	77	25	short	short	ADJ
alkej-155	77	26	time	time	NOUN
alkej-155	77	27	is	be	AUX
alkej-155	77	28	able	able	ADJ
alkej-155	77	29	to	to	PART
alkej-155	77	30	predict	predict	VERB
alkej-155	77	31	the	the	DET
alkej-155	77	32	required	require	VERB
alkej-155	77	33	output	output	NOUN
alkej-155	77	34	(	(	PUNCT
alkej-155	77	35	y(t	y(t	NOUN
alkej-155	77	36	)	)	PUNCT
alkej-155	77	37	)	)	PUNCT
alkej-155	77	38	.	.	PUNCT
alkej-155	78	1	saad	saad	PROPN
alkej-155	78	2	zaghlul	zaghlul	PROPN
alkej-155	78	3	saeed	saeed	PROPN
alkej-155	78	4	al	al	PROPN
alkej-155	78	5	-	-	PUNCT
alkej-155	78	6	khwarizmi	khwarizmi	PROPN
alkej-155	78	7	engineering	engineering	NOUN
alkej-155	78	8	journal	journal	PROPN
alkej-155	78	9	,	,	PUNCT
alkej-155	78	10	vol	vol	NOUN
alkej-155	78	11	.	.	PROPN
alkej-155	78	12	9	9	NUM
alkej-155	78	13	,	,	PUNCT
alkej-155	78	14	no	no	INTJ
alkej-155	78	15	.	.	NOUN
alkej-155	78	16	1	1	NUM
alkej-155	78	17	,	,	PUNCT
alkej-155	78	18	p.p	p.p	PROPN
alkej-155	78	19	.	.	PROPN
alkej-155	78	20	19	19	NUM
alkej-155	78	21	-	-	SYM
alkej-155	78	22	28	28	NUM
alkej-155	78	23	(	(	PUNCT
alkej-155	78	24	2013	2013	NUM
alkej-155	78	25	)	)	PUNCT
alkej-155	78	26	22	22	NUM
alkej-155	78	27	4	4	NUM
alkej-155	78	28	.	.	PUNCT
alkej-155	79	1	manipulator	manipulator	NOUN
alkej-155	79	2	’s	’s	PART
alkej-155	79	3	dynamic	dynamic	ADJ
alkej-155	79	4	equations	equation	NOUN
alkej-155	79	5	the	the	DET
alkej-155	79	6	complete	complete	ADJ
alkej-155	79	7	algorithm	algorithm	NOUN
alkej-155	79	8	for	for	ADP
alkej-155	79	9	computing	compute	VERB
alkej-155	79	10	joint	joint	ADJ
alkej-155	79	11	torques	torque	NOUN
alkej-155	79	12	from	from	ADP
alkej-155	79	13	the	the	DET
alkej-155	79	14	motion	motion	NOUN
alkej-155	79	15	of	of	ADP
alkej-155	79	16	the	the	DET
alkej-155	79	17	joints	joint	NOUN
alkej-155	79	18	is	be	AUX
alkej-155	79	19	composed	compose	VERB
alkej-155	79	20	of	of	ADP
alkej-155	79	21	two	two	NUM
alkej-155	79	22	parts	part	NOUN
alkej-155	79	23	.	.	PUNCT
alkej-155	80	1	first	first	ADV
alkej-155	80	2	,	,	PUNCT
alkej-155	80	3	link	link	NOUN
alkej-155	80	4	velocities	velocity	NOUN
alkej-155	80	5	and	and	CCONJ
alkej-155	80	6	accelerations	acceleration	NOUN
alkej-155	80	7	are	be	AUX
alkej-155	80	8	iteratively	iteratively	ADV
alkej-155	80	9	computed	compute	VERB
alkej-155	80	10	from	from	ADP
alkej-155	80	11	link	link	NOUN
alkej-155	80	12	1	1	NUM
alkej-155	80	13	out	out	ADP
alkej-155	80	14	to	to	PART
alkej-155	80	15	link	link	VERB
alkej-155	80	16	n	n	PRON
alkej-155	80	17	and	and	CCONJ
alkej-155	80	18	the	the	DET
alkej-155	80	19	newton−euler	newton−euler	NUM
alkej-155	80	20	equations	equation	NOUN
alkej-155	80	21	are	be	AUX
alkej-155	80	22	applied	apply	VERB
alkej-155	80	23	to	to	ADP
alkej-155	80	24	each	each	DET
alkej-155	80	25	link	link	NOUN
alkej-155	80	26	.	.	PUNCT
alkej-155	81	1	second	second	ADJ
alkej-155	81	2	,	,	PUNCT
alkej-155	81	3	forces	force	NOUN
alkej-155	81	4	and	and	CCONJ
alkej-155	81	5	torques	torque	NOUN
alkej-155	81	6	of	of	ADP
alkej-155	81	7	interaction	interaction	NOUN
alkej-155	81	8	and	and	CCONJ
alkej-155	81	9	joint	joint	ADJ
alkej-155	81	10	actuator	actuator	NOUN
alkej-155	81	11	torques	torque	NOUN
alkej-155	81	12	are	be	AUX
alkej-155	81	13	computed	compute	VERB
alkej-155	81	14	recursively	recursively	ADV
alkej-155	81	15	from	from	ADP
alkej-155	81	16	link	link	NOUN
alkej-155	81	17	n	n	CCONJ
alkej-155	81	18	back	back	ADV
alkej-155	81	19	to	to	PART
alkej-155	81	20	link	link	VERB
alkej-155	81	21	1	1	NUM
alkej-155	81	22	.	.	PUNCT
alkej-155	82	1	the	the	DET
alkej-155	82	2	dynamic	dynamic	ADJ
alkej-155	82	3	equation	equation	NOUN
alkej-155	82	4	,	,	PUNCT
alkej-155	82	5	which	which	PRON
alkej-155	82	6	is	be	AUX
alkej-155	82	7	a	a	DET
alkej-155	82	8	function	function	NOUN
alkej-155	82	9	of	of	ADP
alkej-155	82	10	joints	joint	NOUN
alkej-155	82	11	angle	angle	NOUN
alkej-155	82	12	position	position	NOUN
alkej-155	82	13	(	(	PUNCT
alkej-155	82	14	θ	θ	NOUN
alkej-155	82	15	)	)	PUNCT
alkej-155	82	16	,	,	PUNCT
alkej-155	82	17	can	can	AUX
alkej-155	82	18	be	be	AUX
alkej-155	82	19	written	write	VERB
alkej-155	82	20	in	in	ADP
alkej-155	82	21	the	the	DET
alkej-155	82	22	form	form	NOUN
alkej-155	82	23	[	[	X
alkej-155	82	24	22	22	NUM
alkej-155	82	25	]	]	X
alkej-155	82	26	:	:	PUNCT
alkej-155	82	27	(	(	PUNCT
alkej-155	82	28	)	)	PUNCT
alkej-155	82	29	(	(	PUNCT
alkej-155	82	30	)	)	PUNCT
alkej-155	82	31	(	(	PUNCT
alkej-155	82	32	)	)	PUNCT
alkej-155	82	33	)	)	PUNCT
alkej-155	83	1	θf(θgθθ	θf(θgθθ	PROPN
alkej-155	83	2	,	,	PUNCT
alkej-155	83	3	v	v	NOUN
alkej-155	83	4	θθm	θθm	NOUN
alkej-155	83	5	&	&	CCONJ
alkej-155	83	6	&	&	PROPN
alkej-155	83	7	&	&	PROPN
alkej-155	83	8	&	&	CCONJ
alkej-155	83	9	+	+	PROPN
alkej-155	83	10	+	+	PROPN
alkej-155	83	11	+	+	ADJ
alkej-155	83	12	=	=	ADJ
alkej-155	83	13	τ	τ	X
alkej-155	83	14	…	…	PUNCT
alkej-155	83	15	(	(	PUNCT
alkej-155	83	16	4	4	NUM
alkej-155	83	17	)	)	PUNCT
alkej-155	83	18	where	where	SCONJ
alkej-155	83	19	m(θ	m(θ	NOUN
alkej-155	83	20	)	)	PUNCT
alkej-155	83	21	is	be	AUX
alkej-155	83	22	the	the	DET
alkej-155	83	23	n	n	NOUN
alkej-155	83	24	x	x	SYM
alkej-155	83	25	n	n	DET
alkej-155	83	26	mass	mass	ADJ
alkej-155	83	27	matrix	matrix	NOUN
alkej-155	83	28	of	of	ADP
alkej-155	83	29	the	the	DET
alkej-155	83	30	manipulator	manipulator	NOUN
alkej-155	83	31	,	,	PUNCT
alkej-155	83	32	(	(	PUNCT
alkej-155	83	33	)	)	PUNCT
alkej-155	83	34	θθ	θθ	X
alkej-155	83	35	,	,	PUNCT
alkej-155	83	36	v	v	PROPN
alkej-155	83	37	&	&	CCONJ
alkej-155	83	38	is	be	AUX
alkej-155	83	39	an	an	DET
alkej-155	83	40	n	n	NOUN
alkej-155	83	41	x	x	SYM
alkej-155	83	42	1	1	NUM
alkej-155	83	43	vector	vector	NOUN
alkej-155	83	44	of	of	ADP
alkej-155	83	45	centrifugal	centrifugal	PROPN
alkej-155	83	46	and	and	CCONJ
alkej-155	83	47	coriolis	coriolis	PROPN
alkej-155	83	48	terms	term	NOUN
alkej-155	83	49	,	,	PUNCT
alkej-155	83	50	g(θ	g(θ	PROPN
alkej-155	83	51	)	)	PUNCT
alkej-155	83	52	is	be	AUX
alkej-155	83	53	an	an	DET
alkej-155	83	54	n	n	NOUN
alkej-155	83	55	x	x	SYM
alkej-155	83	56	1	1	NUM
alkej-155	83	57	vector	vector	NOUN
alkej-155	83	58	of	of	ADP
alkej-155	83	59	gravity	gravity	NOUN
alkej-155	83	60	terms	term	NOUN
alkej-155	83	61	,	,	PUNCT
alkej-155	83	62	f(θ	f(θ	PROPN
alkej-155	83	63	&	&	CCONJ
alkej-155	83	64	)	)	PUNCT
alkej-155	83	65	is	be	AUX
alkej-155	83	66	an	an	DET
alkej-155	83	67	n	n	NOUN
alkej-155	83	68	x	x	SYM
alkej-155	83	69	1	1	NUM
alkej-155	83	70	vector	vector	NOUN
alkej-155	83	71	of	of	ADP
alkej-155	83	72	friction	friction	NOUN
alkej-155	83	73	,	,	PUNCT
alkej-155	83	74	and	and	CCONJ
alkej-155	83	75	τ	τ	PROPN
alkej-155	83	76	is	be	AUX
alkej-155	83	77	an	an	DET
alkej-155	83	78	n	n	NOUN
alkej-155	83	79	x	x	SYM
alkej-155	83	80	1	1	NUM
alkej-155	83	81	vector	vector	NOUN
alkej-155	83	82	of	of	ADP
alkej-155	83	83	joints	joint	NOUN
alkej-155	83	84	torque	torque	NOUN
alkej-155	83	85	.	.	PUNCT
alkej-155	84	1	for	for	ADP
alkej-155	84	2	two	two	NUM
alkej-155	84	3	-	-	PUNCT
alkej-155	84	4	link	link	NOUN
alkej-155	84	5	planar	planar	ADJ
alkej-155	84	6	manipulator	manipulator	NOUN
alkej-155	84	7	(	(	PUNCT
alkej-155	84	8	fig.4	fig.4	PROPN
alkej-155	84	9	)	)	PUNCT
alkej-155	84	10	,	,	PUNCT
alkej-155	84	11	the	the	DET
alkej-155	84	12	above	above	ADJ
alkej-155	84	13	matrices	matrix	NOUN
alkej-155	84	14	become	become	VERB
alkej-155	84	15	:	:	PUNCT
alkej-155	84	16	(	(	PUNCT
alkej-155	84	17	)	)	PUNCT
alkej-155	85	1			PROPN
alkej-155	85	2			PROPN
alkej-155	85	3			PROPN
alkej-155	85	4			PROPN
alkej-155	85	5			PROPN
alkej-155	85	6			PROPN
alkej-155	85	7			PROPN
alkej-155	85	8			PROPN
alkej-155	85	9			PROPN
alkej-155	85	10			ADJ
alkej-155	85	11			ADJ
alkej-155	85	12			ADJ
alkej-155	85	13			ADJ
alkej-155	85	14			ADJ
alkej-155	85	15			ADJ
alkej-155	85	16			ADJ
alkej-155	85	17			NUM
alkej-155	85	18			NOUN
alkej-155	85	19	+	+	X
alkej-155	86	1	+	+	PUNCT
alkej-155	87	1	+	+	ADJ
alkej-155	87	2	+	+	ADJ
alkej-155	87	3	+	+	ADJ
alkej-155	87	4	=	=	SYM
alkej-155	87	5	2	2	NUM
alkej-155	87	6	2l2	2l2	NUM
alkej-155	87	7	m	m	NOUN
alkej-155	87	8	)	)	PUNCT
alkej-155	87	9	2cos(θ2l1l2m2	2cos(θ2l1l2m2	NUM
alkej-155	87	10	2l2	2l2	NUM
alkej-155	87	11	m	m	NOUN
alkej-155	87	12	)	)	PUNCT
alkej-155	87	13	2cos(θ2l1l2	2cos(θ2l1l2	NUM
alkej-155	87	14	m	m	NOUN
alkej-155	87	15	2	2	NUM
alkej-155	87	16	2l2	2l2	NUM
alkej-155	87	17	m	m	NOUN
alkej-155	87	18	)	)	PUNCT
alkej-155	87	19	2cos(θ2l1l22	2cos(θ2l1l22	PROPN
alkej-155	87	20	m	m	PROPN
alkej-155	87	21	2	2	NUM
alkej-155	87	22	2l2m2	2l2m2	NUM
alkej-155	87	23	1l	1l	NUM
alkej-155	87	24	)	)	PUNCT
alkej-155	88	1	2m1(m	2m1(m	NUM
alkej-155	88	2	θm	θm	ADP
alkej-155	88	3			PROPN
alkej-155	88	4			PROPN
alkej-155	88	5			PROPN
alkej-155	89	1			PROPN
alkej-155	89	2			PROPN
alkej-155	89	3			PROPN
alkej-155	89	4			PROPN
alkej-155	89	5			ADJ
alkej-155	89	6			ADJ
alkej-155	89	7			ADJ
alkej-155	89	8			ADJ
alkej-155	89	9			ADJ
alkej-155	89	10			NUM
alkej-155	89	11			PROPN
alkej-155	89	12	−−	−−	NOUN
alkej-155	89	13	=	=	SYM
alkej-155	89	14	2	2	NUM
alkej-155	89	15	1θ	1θ	NUM
alkej-155	89	16	)	)	PUNCT
alkej-155	89	17	2	2	NUM
alkej-155	89	18	sin(θ2l1l2	sin(θ2l1l2	NUM
alkej-155	89	19	m	m	PROPN
alkej-155	89	20	2θ1θ	2θ1θ	NOUN
alkej-155	89	21	)	)	PUNCT
alkej-155	89	22	2sin(θ2l1l22	2sin(θ2l1l22	NUM
alkej-155	89	23	m	m	NOUN
alkej-155	89	24	)	)	PUNCT
alkej-155	89	25	2	2	NUM
alkej-155	89	26	sin(θ2	sin(θ2	PROPN
alkej-155	89	27	2θ2l1l2	2θ2l1l2	NUM
alkej-155	89	28	m	m	NOUN
alkej-155	89	29	)	)	PUNCT
alkej-155	89	30	θv(θ	θv(θ	PUNCT
alkej-155	89	31	(	(	PUNCT
alkej-155	89	32	&	&	CCONJ
alkej-155	89	33	&	&	CCONJ
alkej-155	89	34	&	&	CCONJ
alkej-155	89	35	&	&	CCONJ
alkej-155	89	36	&	&	CCONJ
alkej-155	89	37			PROPN
alkej-155	89	38			PROPN
alkej-155	89	39			PROPN
alkej-155	89	40			PROPN
alkej-155	89	41			PROPN
alkej-155	89	42			PROPN
alkej-155	89	43			PROPN
alkej-155	89	44			ADJ
alkej-155	89	45			ADJ
alkej-155	89	46			ADJ
alkej-155	89	47			ADJ
alkej-155	89	48			ADJ
alkej-155	89	49			NUM
alkej-155	89	50			NOUN
alkej-155	89	51	+	+	X
alkej-155	90	1	+	+	PUNCT
alkej-155	91	1	+	+	ADJ
alkej-155	91	2	+	+	X
alkej-155	91	3	=	=	SYM
alkej-155	91	4	)	)	PUNCT
alkej-155	91	5	2θ1cos(θ2lg2	2θ1cos(θ2lg2	NUM
alkej-155	91	6	m	m	NOUN
alkej-155	91	7	)	)	PUNCT
alkej-155	91	8	2θ1cos(θ2lg2	2θ1cos(θ2lg2	NUM
alkej-155	91	9	m	m	NOUN
alkej-155	91	10	)	)	PUNCT
alkej-155	91	11	1cos(θ1l)g2m1(m	1cos(θ1l)g2m1(m	NUM
alkej-155	91	12	g(q	g(q	X
alkej-155	91	13	)	)	PUNCT
alkej-155	91	14			PROPN
alkej-155	91	15			PROPN
alkej-155	91	16			PROPN
alkej-155	91	17			PROPN
alkej-155	91	18			ADJ
alkej-155	91	19			ADJ
alkej-155	91	20			NUM
alkej-155	91	21			NOUN
alkej-155	91	22	=	=	SYM
alkej-155	91	23	2θkμ0	2θkμ0	NUM
alkej-155	91	24	01θkμ)θf	01θkμ)θf	NOUN
alkej-155	91	25	(	(	PUNCT
alkej-155	91	26	&	&	CCONJ
alkej-155	91	27	&	&	CCONJ
alkej-155	91	28	&	&	CCONJ
alkej-155	91	29	where	where	SCONJ
alkej-155	91	30	m1	m1	PROPN
alkej-155	91	31	&	&	CCONJ
alkej-155	91	32	m2	m2	PROPN
alkej-155	91	33	=	=	PROPN
alkej-155	91	34	mass	mass	PROPN
alkej-155	91	35	of	of	ADP
alkej-155	91	36	link	link	NOUN
alkej-155	91	37	one	one	NUM
alkej-155	91	38	and	and	CCONJ
alkej-155	91	39	two	two	NUM
alkej-155	91	40	respectively	respectively	ADV
alkej-155	91	41	,	,	PUNCT
alkej-155	91	42	l1	l1	PROPN
alkej-155	91	43	&	&	CCONJ
alkej-155	91	44	l2	l2	PROPN
alkej-155	91	45	=	=	SYM
alkej-155	91	46	length	length	NOUN
alkej-155	91	47	of	of	ADP
alkej-155	91	48	link	link	NOUN
alkej-155	91	49	one	one	NUM
alkej-155	91	50	and	and	CCONJ
alkej-155	91	51	two	two	NUM
alkej-155	91	52	respectively	respectively	ADV
alkej-155	91	53	,	,	PUNCT
alkej-155	91	54	μk	μk	CCONJ
alkej-155	91	55	=	=	NOUN
alkej-155	91	56	coefficient	coefficient	NOUN
alkej-155	91	57	of	of	ADP
alkej-155	91	58	kinetic	kinetic	ADJ
alkej-155	91	59	friction	friction	NOUN
alkej-155	91	60	.	.	PUNCT
alkej-155	92	1	fig	fig	NOUN
alkej-155	92	2	.	.	PUNCT
alkej-155	93	1	4	4	NUM
alkej-155	93	2	.	.	X
alkej-155	93	3	two	two	NUM
alkej-155	93	4	-	-	PUNCT
alkej-155	93	5	link	link	NOUN
alkej-155	93	6	planar	planar	ADJ
alkej-155	93	7	manipulator	manipulator	NOUN
alkej-155	93	8	with	with	ADP
alkej-155	93	9	point	point	NOUN
alkej-155	93	10	masses	masse	NOUN
alkej-155	93	11	at	at	ADP
alkej-155	93	12	distal	distal	ADJ
alkej-155	93	13	ends	end	NOUN
alkej-155	93	14	links	link	NOUN
alkej-155	93	15	.	.	PUNCT
alkej-155	94	1	5	5	X
alkej-155	94	2	.	.	X
alkej-155	94	3	simulation	simulation	NOUN
alkej-155	94	4	and	and	CCONJ
alkej-155	94	5	results	result	VERB
alkej-155	94	6	simulation	simulation	NOUN
alkej-155	94	7	results	result	NOUN
alkej-155	94	8	are	be	AUX
alkej-155	94	9	obtained	obtain	VERB
alkej-155	94	10	so	so	SCONJ
alkej-155	94	11	as	as	SCONJ
alkej-155	94	12	to	to	PART
alkej-155	94	13	test	test	VERB
alkej-155	94	14	the	the	DET
alkej-155	94	15	proposed	propose	VERB
alkej-155	94	16	nn	nn	NOUN
alkej-155	94	17	self	self	NOUN
alkej-155	94	18	tuning	tune	VERB
alkej-155	94	19	pid	pid	NOUN
alkej-155	94	20	controller	controller	NOUN
alkej-155	94	21	.	.	PUNCT
alkej-155	95	1	we	we	PRON
alkej-155	95	2	compared	compare	VERB
alkej-155	95	3	the	the	DET
alkej-155	95	4	results	result	NOUN
alkej-155	95	5	of	of	ADP
alkej-155	95	6	pid	pid	NOUN
alkej-155	95	7	classical	classical	ADJ
alkej-155	95	8	tuning	tuning	NOUN
alkej-155	95	9	method	method	NOUN
alkej-155	95	10	and	and	CCONJ
alkej-155	95	11	nn	nn	ADP
alkej-155	95	12	self	self	NOUN
alkej-155	95	13	tuning	tuning	NOUN
alkej-155	95	14	method	method	NOUN
alkej-155	95	15	in	in	ADP
alkej-155	95	16	terms	term	NOUN
alkej-155	95	17	of	of	ADP
alkej-155	95	18	overshoot	overshoot	NOUN
alkej-155	95	19	,	,	PUNCT
alkej-155	95	20	transient	transient	ADJ
alkej-155	95	21	response	response	NOUN
alkej-155	95	22	,	,	PUNCT
alkej-155	95	23	and	and	CCONJ
alkej-155	95	24	steady	steady	ADJ
alkej-155	95	25	state	state	NOUN
alkej-155	95	26	error	error	NOUN
alkej-155	95	27	.	.	PUNCT
alkej-155	96	1	the	the	DET
alkej-155	96	2	tracking	tracking	NOUN
alkej-155	96	3	path	path	NOUN
alkej-155	96	4	from	from	ADP
alkej-155	96	5	the	the	DET
alkej-155	96	6	initial	initial	ADJ
alkej-155	96	7	position	position	NOUN
alkej-155	96	8	to	to	ADP
alkej-155	96	9	the	the	DET
alkej-155	96	10	final	final	ADJ
alkej-155	96	11	position	position	NOUN
alkej-155	96	12	is	be	AUX
alkej-155	96	13	considered	consider	VERB
alkej-155	96	14	in	in	ADP
alkej-155	96	15	this	this	DET
alkej-155	96	16	paper	paper	NOUN
alkej-155	96	17	.	.	PUNCT
alkej-155	97	1	a	a	DET
alkej-155	97	2	tapped	tap	VERB
alkej-155	97	3	delay	delay	NOUN
alkej-155	97	4	of	of	ADP
alkej-155	97	5	4	4	NUM
alkej-155	97	6	is	be	AUX
alkej-155	97	7	used	use	VERB
alkej-155	97	8	for	for	ADP
alkej-155	97	9	all	all	DET
alkej-155	97	10	simulations	simulation	NOUN
alkej-155	97	11	.	.	PUNCT
alkej-155	98	1	all	all	DET
alkej-155	98	2	simulations	simulation	NOUN
alkej-155	98	3	were	be	AUX
alkej-155	98	4	presented	present	VERB
alkej-155	98	5	using	use	VERB
alkej-155	98	6	matlab	matlab	PROPN
alkej-155	98	7	and	and	CCONJ
alkej-155	98	8	simulink	simulink	PROPN
alkej-155	98	9	,	,	PUNCT
alkej-155	98	10	which	which	PRON
alkej-155	98	11	are	be	AUX
alkej-155	98	12	used	use	VERB
alkej-155	98	13	widely	widely	ADV
alkej-155	98	14	in	in	ADP
alkej-155	98	15	control	control	NOUN
alkej-155	98	16	applications	application	NOUN
alkej-155	98	17	.	.	PUNCT
alkej-155	99	1	the	the	DET
alkej-155	99	2	time	time	NOUN
alkej-155	99	3	step	step	NOUN
alkej-155	99	4	used	use	VERB
alkej-155	99	5	in	in	ADP
alkej-155	99	6	simulation	simulation	NOUN
alkej-155	99	7	is	be	AUX
alkej-155	99	8	0.001	0.001	NUM
alkej-155	99	9	second	second	NOUN
alkej-155	99	10	.	.	PUNCT
alkej-155	100	1	at	at	ADP
alkej-155	100	2	first	first	ADV
alkej-155	100	3	,	,	PUNCT
alkej-155	100	4	the	the	DET
alkej-155	100	5	response	response	NOUN
alkej-155	100	6	of	of	ADP
alkej-155	100	7	step	step	NOUN
alkej-155	100	8	desired	desire	VERB
alkej-155	100	9	joint	joint	ADJ
alkej-155	100	10	angle	angle	NOUN
alkej-155	100	11	position	position	NOUN
alkej-155	100	12	input	input	NOUN
alkej-155	100	13	is	be	AUX
alkej-155	100	14	tested	test	VERB
alkej-155	100	15	for	for	ADP
alkej-155	100	16	single	single	ADJ
alkej-155	100	17	-	-	PUNCT
alkej-155	100	18	link	link	NOUN
alkej-155	100	19	robot	robot	NOUN
alkej-155	100	20	manipulator	manipulator	NOUN
alkej-155	101	1	[	[	X
alkej-155	101	2	23	23	NUM
alkej-155	101	3	]	]	PUNCT
alkej-155	101	4	.	.	PUNCT
alkej-155	102	1	the	the	DET
alkej-155	102	2	dynamic	dynamic	ADJ
alkej-155	102	3	equation	equation	NOUN
alkej-155	102	4	is	be	AUX
alkej-155	102	5	given	give	VERB
alkej-155	102	6	as	as	ADP
alkej-155	102	7	τ=++	τ=++	PROPN
alkej-155	102	8	)	)	PUNCT
alkej-155	102	9	(	(	PUNCT
alkej-155	102	10	sin102	sin102	NOUN
alkej-155	102	11	θ	θ	PROPN
alkej-155	102	12	td	td	NOUN
alkej-155	102	13	θd	θd	INTJ
alkej-155	102	14	td	td	NOUN
alkej-155	102	15	θd	θd	PROPN
alkej-155	102	16	2	2	NUM
alkej-155	102	17	2	2	NUM
alkej-155	102	18	…	…	PUNCT
alkej-155	102	19	(	(	PUNCT
alkej-155	102	20	5	5	X
alkej-155	102	21	)	)	PUNCT
alkej-155	102	22	large	large	ADJ
alkej-155	102	23	overshoot	overshoot	NOUN
alkej-155	102	24	,	,	PUNCT
alkej-155	102	25	settling	settle	VERB
alkej-155	102	26	time	time	NOUN
alkej-155	102	27	,	,	PUNCT
alkej-155	102	28	and	and	CCONJ
alkej-155	102	29	steady	steady	ADJ
alkej-155	102	30	state	state	NOUN
alkej-155	102	31	error	error	NOUN
alkej-155	102	32	are	be	AUX
alkej-155	102	33	obtained	obtain	VERB
alkej-155	102	34	for	for	ADP
alkej-155	102	35	conventional	conventional	ADJ
alkej-155	102	36	pid	pid	NOUN
alkej-155	102	37	controller	controller	NOUN
alkej-155	102	38	as	as	SCONJ
alkej-155	102	39	shown	show	VERB
alkej-155	102	40	in	in	ADP
alkej-155	102	41	fig.5	fig.5	PROPN
alkej-155	102	42	.	.	PUNCT
alkej-155	103	1	pid	pid	NOUN
alkej-155	103	2	gains	gain	NOUN
alkej-155	103	3	are	be	AUX
alkej-155	103	4	:	:	PUNCT
alkej-155	103	5	kp=45	kp=45	PROPN
alkej-155	103	6	,	,	PUNCT
alkej-155	103	7	ki=65	ki=65	PROPN
alkej-155	103	8	and	and	CCONJ
alkej-155	103	9	kd=	kd=	PROPN
alkej-155	103	10	4	4	NUM
alkej-155	103	11	.	.	PUNCT
alkej-155	104	1	the	the	DET
alkej-155	104	2	proposed	propose	VERB
alkej-155	104	3	nn	nn	PROPN
alkej-155	104	4	self	self	NOUN
alkej-155	104	5	tuning	tuning	NOUN
alkej-155	104	6	improves	improve	VERB
alkej-155	104	7	the	the	DET
alkej-155	104	8	response	response	NOUN
alkej-155	104	9	through	through	ADP
alkej-155	104	10	reducing	reduce	VERB
alkej-155	104	11	the	the	DET
alkej-155	104	12	settling	settling	NOUN
alkej-155	104	13	time	time	NOUN
alkej-155	104	14	,	,	PUNCT
alkej-155	104	15	overshoot	overshoot	NOUN
alkej-155	104	16	,	,	PUNCT
alkej-155	104	17	and	and	CCONJ
alkej-155	104	18	steady	steady	ADJ
alkej-155	104	19	state	state	NOUN
alkej-155	104	20	error	error	NOUN
alkej-155	104	21	.	.	PUNCT
alkej-155	105	1	the	the	DET
alkej-155	105	2	output	output	NOUN
alkej-155	105	3	of	of	ADP
alkej-155	105	4	the	the	DET
alkej-155	105	5	nn	nn	PROPN
alkej-155	105	6	is	be	AUX
alkej-155	105	7	increased	increase	VERB
alkej-155	105	8	so	so	ADV
alkej-155	105	9	as	as	SCONJ
alkej-155	105	10	to	to	PART
alkej-155	105	11	reduce	reduce	VERB
alkej-155	105	12	the	the	DET
alkej-155	105	13	error	error	NOUN
alkej-155	105	14	as	as	SCONJ
alkej-155	105	15	shown	show	VERB
alkej-155	105	16	in	in	ADP
alkej-155	105	17	fig.6	fig.6	PROPN
alkej-155	105	18	.	.	PUNCT
alkej-155	106	1	pid	pid	NOUN
alkej-155	106	2	gains	gain	NOUN
alkej-155	106	3	are	be	AUX
alkej-155	106	4	:	:	PUNCT
alkej-155	106	5	kp=45	kp=45	PROPN
alkej-155	106	6	and	and	CCONJ
alkej-155	106	7	kd=	kd=	PROPN
alkej-155	106	8	4	4	NUM
alkej-155	106	9	.	.	PUNCT
alkej-155	107	1	the	the	DET
alkej-155	107	2	transient	transient	ADJ
alkej-155	107	3	mean	mean	VERB
alkej-155	107	4	square	square	ADJ
alkej-155	107	5	error	error	NOUN
alkej-155	107	6	(	(	PUNCT
alkej-155	107	7	mse	mse	NOUN
alkej-155	107	8	)	)	PUNCT
alkej-155	107	9	and	and	CCONJ
alkej-155	107	10	root	root	NOUN
alkej-155	107	11	mean	mean	PROPN
alkej-155	107	12	square	square	PROPN
alkej-155	107	13	(	(	PUNCT
alkej-155	107	14	rms	rm	NOUN
alkej-155	107	15	)	)	PUNCT
alkej-155	107	16	error	error	NOUN
alkej-155	107	17	are	be	AUX
alkej-155	107	18	reduced	reduce	VERB
alkej-155	107	19	from	from	ADP
alkej-155	107	20	(	(	PUNCT
alkej-155	107	21	0.03138	0.03138	NUM
alkej-155	107	22	)	)	PUNCT
alkej-155	107	23	and	and	CCONJ
alkej-155	107	24	(	(	PUNCT
alkej-155	107	25	0.14349	0.14349	NUM
alkej-155	107	26	)	)	PUNCT
alkej-155	107	27	to	to	ADP
alkej-155	107	28	(	(	PUNCT
alkej-155	107	29	0.00978	0.00978	NUM
alkej-155	107	30	)	)	PUNCT
alkej-155	107	31	and	and	CCONJ
alkej-155	107	32	(	(	PUNCT
alkej-155	107	33	0.09887	0.09887	NUM
alkej-155	107	34	)	)	PUNCT
alkej-155	107	35	,	,	PUNCT
alkej-155	107	36	respectively	respectively	ADV
alkej-155	107	37	.	.	PUNCT
alkej-155	108	1	the	the	DET
alkej-155	108	2	results	result	NOUN
alkej-155	108	3	of	of	ADP
alkej-155	108	4	comparison	comparison	NOUN
alkej-155	108	5	are	be	AUX
alkej-155	108	6	presented	present	VERB
alkej-155	108	7	in	in	ADP
alkej-155	108	8	table	table	NOUN
alkej-155	108	9	2	2	NUM
alkej-155	108	10	.	.	PUNCT
alkej-155	109	1	saad	saad	PROPN
alkej-155	109	2	zaghlul	zaghlul	PROPN
alkej-155	109	3	saeed	saeed	PROPN
alkej-155	109	4	al	al	PROPN
alkej-155	109	5	-	-	PUNCT
alkej-155	109	6	khwarizmi	khwarizmi	PROPN
alkej-155	109	7	engineering	engineering	NOUN
alkej-155	109	8	journal	journal	PROPN
alkej-155	109	9	,	,	PUNCT
alkej-155	109	10	vol	vol	NOUN
alkej-155	109	11	.	.	PROPN
alkej-155	109	12	9	9	NUM
alkej-155	109	13	,	,	PUNCT
alkej-155	109	14	no	no	INTJ
alkej-155	109	15	.	.	NOUN
alkej-155	109	16	1	1	NUM
alkej-155	109	17	,	,	PUNCT
alkej-155	109	18	p.p	p.p	PROPN
alkej-155	109	19	.	.	PROPN
alkej-155	109	20	19	19	NUM
alkej-155	109	21	-	-	SYM
alkej-155	109	22	28	28	NUM
alkej-155	109	23	(	(	PUNCT
alkej-155	109	24	2013	2013	NUM
alkej-155	109	25	)	)	PUNCT
alkej-155	109	26	23	23	NUM
alkej-155	109	27	0	0	NUM
alkej-155	109	28	1	1	NUM
alkej-155	109	29	2	2	NUM
alkej-155	109	30	3	3	NUM
alkej-155	109	31	4	4	NUM
alkej-155	109	32	50	50	NUM
alkej-155	109	33	0.2	0.2	NUM
alkej-155	109	34	0.4	0.4	NUM
alkej-155	109	35	0.6	0.6	NUM
alkej-155	109	36	0.8	0.8	NUM
alkej-155	109	37	1	1	NUM
alkej-155	109	38	1.2	1.2	NUM
alkej-155	109	39	1.4	1.4	NUM
alkej-155	109	40	time	time	NOUN
alkej-155	109	41	,	,	PUNCT
alkej-155	109	42	s	s	VERB
alkej-155	109	43	po	po	X
alkej-155	109	44	si	si	PROPN
alkej-155	109	45	tio	tio	PROPN
alkej-155	109	46	n	n	CCONJ
alkej-155	109	47	,	,	PUNCT
alkej-155	110	1	ra	ra	PROPN
alkej-155	110	2	d	d	NOUN
alkej-155	110	3	pid	pid	NOUN
alkej-155	110	4	controller	controller	NOUN
alkej-155	110	5	proposed	propose	VERB
alkej-155	110	6	controller	controller	NOUN
alkej-155	110	7	fig	fig	NOUN
alkej-155	110	8	.	.	PUNCT
alkej-155	111	1	5	5	NUM
alkej-155	111	2	.	.	X
alkej-155	111	3	response	response	NOUN
alkej-155	111	4	for	for	ADP
alkej-155	111	5	step	step	NOUN
alkej-155	111	6	input	input	NOUN
alkej-155	111	7	of	of	ADP
alkej-155	111	8	conventional	conventional	ADJ
alkej-155	111	9	pid	pid	NOUN
alkej-155	111	10	and	and	CCONJ
alkej-155	111	11	proposed	propose	VERB
alkej-155	111	12	nn	nn	PROPN
alkej-155	111	13	self	self	NOUN
alkej-155	111	14	tuning	tuning	NOUN
alkej-155	111	15	of	of	ADP
alkej-155	111	16	pid	pid	PROPN
alkej-155	111	17	.	.	PROPN
alkej-155	111	18	0	0	NUM
alkej-155	112	1	1	1	NUM
alkej-155	112	2	2	2	NUM
alkej-155	112	3	3	3	NUM
alkej-155	112	4	4	4	NUM
alkej-155	112	5	5	5	NUM
alkej-155	112	6	0	0	NUM
alkej-155	112	7	20	20	NUM
alkej-155	112	8	40	40	NUM
alkej-155	112	9	60	60	NUM
alkej-155	112	10	80	80	NUM
alkej-155	112	11	100	100	NUM
alkej-155	112	12	120	120	NUM
alkej-155	112	13	time	time	NOUN
alkej-155	112	14	,	,	PUNCT
alkej-155	112	15	s	s	PROPN
alkej-155	112	16	y	y	PROPN
alkej-155	112	17	(	(	PUNCT
alkej-155	112	18	t	t	PROPN
alkej-155	112	19	)	)	PUNCT
alkej-155	112	20	fig	fig	NOUN
alkej-155	112	21	.	.	PUNCT
alkej-155	113	1	6	6	NUM
alkej-155	113	2	.	.	X
alkej-155	113	3	variation	variation	NOUN
alkej-155	113	4	of	of	ADP
alkej-155	113	5	nn	nn	X
alkej-155	113	6	output	output	NOUN
alkej-155	113	7	(	(	PUNCT
alkej-155	113	8	y(t	y(t	NOUN
alkej-155	113	9	)	)	PUNCT
alkej-155	113	10	)	)	PUNCT
alkej-155	113	11	for	for	ADP
alkej-155	113	12	desired	desire	VERB
alkej-155	113	13	step	step	NOUN
alkej-155	113	14	input	input	NOUN
alkej-155	113	15	.	.	PUNCT
alkej-155	114	1	table	table	NOUN
alkej-155	114	2	2	2	NUM
alkej-155	114	3	,	,	PUNCT
alkej-155	114	4	results	result	NOUN
alkej-155	114	5	of	of	ADP
alkej-155	114	6	comparison	comparison	NOUN
alkej-155	114	7	for	for	ADP
alkej-155	114	8	single	single	ADJ
alkej-155	114	9	-	-	PUNCT
alkej-155	114	10	link	link	NOUN
alkej-155	114	11	robot	robot	NOUN
alkej-155	114	12	manipulator	manipulator	NOUN
alkej-155	114	13	.	.	PUNCT
alkej-155	115	1	controller	controller	NOUN
alkej-155	115	2	delay	delay	VERB
alkej-155	115	3	time	time	NOUN
alkej-155	115	4	(	(	PUNCT
alkej-155	115	5	sec	sec	PROPN
alkej-155	115	6	.	.	PUNCT
alkej-155	115	7	)	)	PUNCT
alkej-155	115	8	rise	rise	VERB
alkej-155	115	9	time	time	NOUN
alkej-155	115	10	(	(	PUNCT
alkej-155	115	11	sec	sec	PROPN
alkej-155	115	12	.	.	PUNCT
alkej-155	115	13	)	)	PUNCT
alkej-155	116	1	maximum	maximum	ADJ
alkej-155	116	2	overshoot	overshoot	NOUN
alkej-155	116	3	%	%	NOUN
alkej-155	116	4	settling	settling	NOUN
alkej-155	116	5	time	time	NOUN
alkej-155	116	6	(	(	PUNCT
alkej-155	116	7	sec	sec	PROPN
alkej-155	116	8	.	.	PUNCT
alkej-155	116	9	)	)	PUNCT
alkej-155	116	10	mse	mse	PROPN
alkej-155	116	11	(	(	PUNCT
alkej-155	116	12	rad	rad	PROPN
alkej-155	116	13	)	)	PUNCT
alkej-155	116	14	rms	rm	NOUN
alkej-155	116	15	(	(	PUNCT
alkej-155	116	16	rad	rad	PROPN
alkej-155	116	17	)	)	PUNCT
alkej-155	116	18	pid	pid	NOUN
alkej-155	116	19	0.1810	0.1810	NUM
alkej-155	116	20	0.31	0.31	NUM
alkej-155	116	21	28.8	28.8	NUM
alkej-155	116	22	1.500	1.500	NUM
alkej-155	116	23	0.03138	0.03138	NUM
alkej-155	116	24	0.14349	0.14349	NUM
alkej-155	116	25	proposed	propose	VERB
alkej-155	116	26	nn	nn	PROPN
alkej-155	116	27	self	self	NOUN
alkej-155	116	28	tuning	tune	VERB
alkej-155	116	29	pid	pid	NOUN
alkej-155	116	30	0.0657	0.0657	NUM
alkej-155	116	31	0.267	0.267	NUM
alkej-155	116	32	0.00978	0.00978	NUM
alkej-155	116	33	0.09887	0.09887	NUM
alkej-155	116	34	then	then	ADV
alkej-155	116	35	two	two	NUM
alkej-155	116	36	-	-	PUNCT
alkej-155	116	37	link	link	NOUN
alkej-155	116	38	robot	robot	NOUN
alkej-155	116	39	arm	arm	NOUN
alkej-155	116	40	is	be	AUX
alkej-155	116	41	considered	consider	VERB
alkej-155	116	42	to	to	PART
alkej-155	116	43	follow	follow	VERB
alkej-155	116	44	a	a	DET
alkej-155	116	45	circular	circular	ADJ
alkej-155	116	46	trajectory	trajectory	NOUN
alkej-155	116	47	(	(	PUNCT
alkej-155	116	48	figs	fig	NOUN
alkej-155	116	49	7	7	NUM
alkej-155	116	50	-	-	SYM
alkej-155	116	51	10	10	NUM
alkej-155	116	52	)	)	PUNCT
alkej-155	116	53	.	.	PUNCT
alkej-155	117	1	the	the	DET
alkej-155	117	2	robot	robot	NOUN
alkej-155	117	3	links	link	NOUN
alkej-155	117	4	’	'	PUNCT
alkej-155	117	5	parameters	parameter	NOUN
alkej-155	117	6	are	be	AUX
alkej-155	117	7	presented	present	VERB
alkej-155	117	8	in	in	ADP
alkej-155	117	9	table	table	NOUN
alkej-155	117	10	3	3	NUM
alkej-155	117	11	.	.	PUNCT
alkej-155	117	12	when	when	SCONJ
alkej-155	117	13	the	the	DET
alkej-155	117	14	controller	controller	NOUN
alkej-155	117	15	is	be	AUX
alkej-155	117	16	pd	pd	NOUN
alkej-155	117	17	only	only	ADV
alkej-155	117	18	as	as	SCONJ
alkej-155	117	19	in	in	ADP
alkej-155	117	20	[	[	PUNCT
alkej-155	117	21	24	24	NUM
alkej-155	117	22	]	]	PUNCT
alkej-155	117	23	,	,	PUNCT
alkej-155	117	24	the	the	DET
alkej-155	117	25	system	system	NOUN
alkej-155	117	26	has	have	VERB
alkej-155	117	27	bad	bad	ADJ
alkej-155	117	28	tracking	tracking	NOUN
alkej-155	117	29	.	.	PUNCT
alkej-155	118	1	therefore	therefore	ADV
alkej-155	118	2	pid	pid	PRON
alkej-155	118	3	controller	controller	NOUN
alkej-155	118	4	is	be	AUX
alkej-155	118	5	used	use	VERB
alkej-155	118	6	and	and	CCONJ
alkej-155	118	7	the	the	DET
alkej-155	118	8	proportional	proportional	ADJ
alkej-155	118	9	gain	gain	NOUN
alkej-155	118	10	(	(	PUNCT
alkej-155	118	11	kp	kp	INTJ
alkej-155	118	12	)	)	PUNCT
alkej-155	118	13	is	be	AUX
alkej-155	118	14	increased	increase	VERB
alkej-155	118	15	to	to	ADP
alkej-155	118	16	ten	ten	NUM
alkej-155	118	17	times	time	NOUN
alkej-155	118	18	.	.	PUNCT
alkej-155	119	1	the	the	DET
alkej-155	119	2	pid	pid	NOUN
alkej-155	119	3	gains	gain	NOUN
alkej-155	119	4	are	be	AUX
alkej-155	119	5	:	:	PUNCT
alkej-155	119	6	kp	kp	PROPN
alkej-155	119	7	=	=	PUNCT
alkej-155	120	1	[	[	X
alkej-155	120	2	310	310	NUM
alkej-155	120	3	0	0	NUM
alkej-155	120	4	;	;	PUNCT
alkej-155	120	5	0	0	NUM
alkej-155	120	6	450	450	NUM
alkej-155	120	7	]	]	PUNCT
alkej-155	120	8	,	,	PUNCT
alkej-155	120	9	ki=[400	ki=[400	NOUN
alkej-155	120	10	0	0	NUM
alkej-155	120	11	;	;	PUNCT
alkej-155	120	12	0	0	NUM
alkej-155	120	13	635	635	NUM
alkej-155	120	14	]	]	PUNCT
alkej-155	120	15	,	,	PUNCT
alkej-155	120	16	and	and	CCONJ
alkej-155	120	17	kd	kd	X
alkej-155	120	18	=	=	PUNCT
alkej-155	121	1	[	[	X
alkej-155	121	2	60	60	NUM
alkej-155	121	3	0	0	NUM
alkej-155	121	4	;	;	PUNCT
alkej-155	121	5	0	0	NUM
alkej-155	121	6	80	80	NUM
alkej-155	121	7	]	]	PUNCT
alkej-155	121	8	.	.	PUNCT
alkej-155	122	1	the	the	DET
alkej-155	122	2	actual	actual	ADJ
alkej-155	122	3	trajectories	trajectory	NOUN
alkej-155	122	4	for	for	ADP
alkej-155	122	5	link	link	NOUN
alkej-155	122	6	1	1	NUM
alkej-155	122	7	and	and	CCONJ
alkej-155	122	8	link	link	NOUN
alkej-155	122	9	2	2	NUM
alkej-155	122	10	are	be	AUX
alkej-155	122	11	shown	show	VERB
alkej-155	122	12	in	in	ADP
alkej-155	122	13	figs	fig	NOUN
alkej-155	122	14	8.a	8.a	NUM
alkej-155	122	15	and	and	CCONJ
alkej-155	122	16	9.a	9.a	NUM
alkej-155	122	17	,	,	PUNCT
alkej-155	122	18	respectively	respectively	ADV
alkej-155	122	19	.	.	PUNCT
alkej-155	123	1	the	the	DET
alkej-155	123	2	system	system	NOUN
alkej-155	123	3	has	have	VERB
alkej-155	123	4	transient	transient	ADJ
alkej-155	123	5	rms	rm	NOUN
alkej-155	123	6	error	error	NOUN
alkej-155	123	7	of	of	ADP
alkej-155	123	8	(	(	PUNCT
alkej-155	123	9	0.02445	0.02445	NUM
alkej-155	123	10	)	)	PUNCT
alkej-155	123	11	for	for	ADP
alkej-155	123	12	link	link	NOUN
alkej-155	123	13	1	1	NUM
alkej-155	123	14	and	and	CCONJ
alkej-155	123	15	(	(	PUNCT
alkej-155	123	16	0.02333	0.02333	NUM
alkej-155	123	17	)	)	PUNCT
alkej-155	123	18	for	for	ADP
alkej-155	123	19	link	link	NOUN
alkej-155	123	20	2	2	NUM
alkej-155	123	21	,	,	PUNCT
alkej-155	123	22	respectively	respectively	ADV
alkej-155	123	23	as	as	SCONJ
alkej-155	123	24	shown	show	VERB
alkej-155	123	25	in	in	ADP
alkej-155	123	26	figs	fig	NOUN
alkej-155	123	27	8.c	8.c	NUM
alkej-155	123	28	and	and	CCONJ
alkej-155	123	29	9.c	9.c	NUM
alkej-155	123	30	.	.	PUNCT
alkej-155	124	1	the	the	DET
alkej-155	124	2	proposed	propose	VERB
alkej-155	124	3	nn	nn	PROPN
alkej-155	124	4	self	self	NOUN
alkej-155	124	5	tuning	tune	VERB
alkej-155	124	6	control	control	NOUN
alkej-155	124	7	structure	structure	NOUN
alkej-155	124	8	uses	use	VERB
alkej-155	124	9	separate	separate	ADJ
alkej-155	124	10	network	network	NOUN
alkej-155	124	11	for	for	ADP
alkej-155	124	12	each	each	DET
alkej-155	124	13	link	link	NOUN
alkej-155	124	14	.	.	PUNCT
alkej-155	125	1	this	this	PRON
alkej-155	125	2	improves	improve	VERB
alkej-155	125	3	the	the	DET
alkej-155	125	4	obtained	obtain	VERB
alkej-155	125	5	trajectory	trajectory	NOUN
alkej-155	125	6	because	because	SCONJ
alkej-155	125	7	any	any	DET
alkej-155	125	8	noise	noise	NOUN
alkej-155	125	9	or	or	CCONJ
alkej-155	125	10	disturbance	disturbance	NOUN
alkej-155	125	11	if	if	SCONJ
alkej-155	125	12	it	it	PRON
alkej-155	125	13	is	be	AUX
alkej-155	125	14	subjected	subject	VERB
alkej-155	125	15	to	to	ADP
alkej-155	125	16	one	one	NUM
alkej-155	125	17	link	link	NOUN
alkej-155	125	18	will	will	AUX
alkej-155	125	19	not	not	PART
alkej-155	125	20	affect	affect	VERB
alkej-155	125	21	on	on	ADP
alkej-155	125	22	the	the	DET
alkej-155	125	23	other	other	ADJ
alkej-155	125	24	.	.	PUNCT
alkej-155	126	1	the	the	DET
alkej-155	126	2	results	result	NOUN
alkej-155	126	3	for	for	ADP
alkej-155	126	4	the	the	DET
alkej-155	126	5	proposed	propose	VERB
alkej-155	126	6	nn	nn	PROPN
alkej-155	126	7	self	self	NOUN
alkej-155	126	8	-	-	PUNCT
alkej-155	126	9	tuning	tuning	NOUN
alkej-155	126	10	are	be	AUX
alkej-155	126	11	shown	show	VERB
alkej-155	126	12	in	in	ADP
alkej-155	126	13	figs	fig	NOUN
alkej-155	126	14	8.b	8.b	NUM
alkej-155	126	15	and	and	CCONJ
alkej-155	126	16	9.b	9.b	NUM
alkej-155	126	17	.	.	PUNCT
alkej-155	127	1	the	the	DET
alkej-155	127	2	transient	transient	PROPN
alkej-155	127	3	rms	rm	NOUN
alkej-155	127	4	tracking	tracking	NOUN
alkej-155	127	5	error	error	NOUN
alkej-155	127	6	is	be	AUX
alkej-155	127	7	reduced	reduce	VERB
alkej-155	127	8	to	to	ADP
alkej-155	127	9	(	(	PUNCT
alkej-155	127	10	0.02077	0.02077	NUM
alkej-155	127	11	)	)	PUNCT
alkej-155	127	12	for	for	ADP
alkej-155	127	13	link	link	NOUN
alkej-155	127	14	1	1	NUM
alkej-155	127	15	and	and	CCONJ
alkej-155	127	16	(	(	PUNCT
alkej-155	127	17	0.037045	0.037045	NUM
alkej-155	127	18	)	)	PUNCT
alkej-155	127	19	for	for	ADP
alkej-155	127	20	link	link	NOUN
alkej-155	127	21	2	2	NUM
alkej-155	127	22	,	,	PUNCT
alkej-155	127	23	respectively	respectively	ADV
alkej-155	127	24	as	as	SCONJ
alkej-155	127	25	shown	show	VERB
alkej-155	127	26	in	in	ADP
alkej-155	127	27	figs	fig	NOUN
alkej-155	127	28	8.c	8.c	NUM
alkej-155	127	29	and	and	CCONJ
alkej-155	127	30	9.c	9.c	NUM
alkej-155	127	31	.	.	PUNCT
alkej-155	128	1	also	also	ADV
alkej-155	128	2	the	the	DET
alkej-155	128	3	percentage	percentage	NOUN
alkej-155	128	4	error	error	NOUN
alkej-155	128	5	after	after	ADP
alkej-155	128	6	16	16	NUM
alkej-155	128	7	seconds	second	NOUN
alkej-155	128	8	of	of	ADP
alkej-155	128	9	time	time	NOUN
alkej-155	128	10	is	be	AUX
alkej-155	128	11	reduced	reduce	VERB
alkej-155	128	12	from	from	ADP
alkej-155	128	13	(	(	PUNCT
alkej-155	128	14	1.17	1.17	NUM
alkej-155	128	15	)	)	PUNCT
alkej-155	128	16	to	to	ADP
alkej-155	128	17	(	(	PUNCT
alkej-155	128	18	0.014	0.014	NUM
alkej-155	128	19	)	)	PUNCT
alkej-155	128	20	and	and	CCONJ
alkej-155	128	21	from	from	ADP
alkej-155	128	22	(	(	PUNCT
alkej-155	128	23	0.91	0.91	NUM
alkej-155	128	24	)	)	PUNCT
alkej-155	128	25	to	to	ADP
alkej-155	128	26	(	(	PUNCT
alkej-155	128	27	0.002	0.002	NUM
alkej-155	128	28	)	)	PUNCT
alkej-155	128	29	for	for	ADP
alkej-155	128	30	link	link	NOUN
alkej-155	128	31	1	1	NUM
alkej-155	128	32	and	and	CCONJ
alkej-155	128	33	link	link	VERB
alkej-155	128	34	2	2	NUM
alkej-155	128	35	,	,	PUNCT
alkej-155	128	36	respectively	respectively	ADV
alkej-155	128	37	.	.	PUNCT
alkej-155	129	1	the	the	DET
alkej-155	129	2	desired	desire	VERB
alkej-155	129	3	circular	circular	ADJ
alkej-155	129	4	trajectory	trajectory	NOUN
alkej-155	129	5	performance	performance	NOUN
alkej-155	129	6	of	of	ADP
alkej-155	129	7	the	the	DET
alkej-155	129	8	proposed	propose	VERB
alkej-155	129	9	controller	controller	NOUN
alkej-155	129	10	is	be	AUX
alkej-155	129	11	shown	show	VERB
alkej-155	129	12	in	in	ADP
alkej-155	129	13	fig.10a	fig.10a	PROPN
alkej-155	129	14	.	.	PUNCT
alkej-155	130	1	the	the	DET
alkej-155	130	2	obtained	obtain	VERB
alkej-155	130	3	trajectory	trajectory	NOUN
alkej-155	130	4	after	after	SCONJ
alkej-155	130	5	two	two	NUM
alkej-155	130	6	cycles	cycle	NOUN
alkej-155	130	7	of	of	ADP
alkej-155	130	8	learning	learning	NOUN
alkej-155	130	9	is	be	AUX
alkej-155	130	10	presented	present	VERB
alkej-155	130	11	in	in	ADP
alkej-155	130	12	fig.10b	fig.10b	NOUN
alkej-155	130	13	.	.	PUNCT
alkej-155	131	1	the	the	DET
alkej-155	131	2	simulation	simulation	NOUN
alkej-155	131	3	results	result	NOUN
alkej-155	131	4	are	be	AUX
alkej-155	131	5	summarized	summarize	VERB
alkej-155	131	6	in	in	ADP
alkej-155	131	7	table	table	NOUN
alkej-155	131	8	4	4	NUM
alkej-155	131	9	.	.	PUNCT
alkej-155	132	1	saad	saad	PROPN
alkej-155	132	2	zaghlul	zaghlul	PROPN
alkej-155	132	3	saeed	saeed	PROPN
alkej-155	132	4	al	al	PROPN
alkej-155	132	5	-	-	PUNCT
alkej-155	132	6	khwarizmi	khwarizmi	PROPN
alkej-155	132	7	engineering	engineering	NOUN
alkej-155	132	8	journal	journal	PROPN
alkej-155	132	9	,	,	PUNCT
alkej-155	132	10	vol	vol	NOUN
alkej-155	132	11	.	.	PROPN
alkej-155	132	12	9	9	NUM
alkej-155	132	13	,	,	PUNCT
alkej-155	132	14	no	no	INTJ
alkej-155	132	15	.	.	NOUN
alkej-155	132	16	1	1	NUM
alkej-155	132	17	,	,	PUNCT
alkej-155	132	18	p.p	p.p	PROPN
alkej-155	132	19	.	.	PROPN
alkej-155	132	20	19	19	NUM
alkej-155	132	21	-	-	SYM
alkej-155	132	22	28	28	NUM
alkej-155	132	23	(	(	PUNCT
alkej-155	132	24	2013	2013	NUM
alkej-155	132	25	)	)	PUNCT
alkej-155	132	26	24	24	NUM
alkej-155	132	27	fig	fig	NOUN
alkej-155	132	28	.	.	PUNCT
alkej-155	133	1	7	7	X
alkej-155	133	2	.	.	X
alkej-155	133	3	simulation	simulation	NOUN
alkej-155	133	4	diagram	diagram	PROPN
alkej-155	133	5	for	for	ADP
alkej-155	133	6	robot	robot	NOUN
alkej-155	133	7	manipulator	manipulator	NOUN
alkej-155	133	8	.	.	PUNCT
alkej-155	134	1	table	table	NOUN
alkej-155	134	2	3	3	NUM
alkej-155	134	3	,	,	PUNCT
alkej-155	134	4	robot	robot	NOUN
alkej-155	134	5	’s	’s	PART
alkej-155	134	6	links	link	NOUN
alkej-155	134	7	parameters	parameter	NOUN
alkej-155	134	8	[	[	X
alkej-155	134	9	24	24	NUM
alkej-155	134	10	]	]	PUNCT
alkej-155	134	11	.	.	PUNCT
alkej-155	135	1	link	link	NOUN
alkej-155	135	2	mass	mass	PROPN
alkej-155	135	3	(	(	PUNCT
alkej-155	135	4	kg	kg	NOUN
alkej-155	135	5	)	)	PUNCT
alkej-155	135	6	length	length	NOUN
alkej-155	135	7	(	(	PUNCT
alkej-155	135	8	m	m	NOUN
alkej-155	135	9	)	)	PUNCT
alkej-155	135	10	friction	friction	NOUN
alkej-155	135	11	,	,	PUNCT
alkej-155	135	12	μk	μk	PROPN
alkej-155	135	13	kp	kp	PROPN
alkej-155	135	14	kd	kd	PROPN
alkej-155	135	15	1	1	NUM
alkej-155	135	16	1	1	NUM
alkej-155	135	17	1	1	NUM
alkej-155	135	18	0.3	0.3	NUM
alkej-155	135	19	31	31	NUM
alkej-155	135	20	60	60	NUM
alkej-155	135	21	2	2	NUM
alkej-155	135	22	1	1	NUM
alkej-155	135	23	2	2	NUM
alkej-155	135	24	0.3	0.3	NUM
alkej-155	135	25	45	45	NUM
alkej-155	135	26	80	80	NUM
alkej-155	135	27	table	table	NOUN
alkej-155	135	28	4	4	NUM
alkej-155	135	29	,	,	PUNCT
alkej-155	135	30	results	result	NOUN
alkej-155	135	31	of	of	ADP
alkej-155	135	32	comparison	comparison	NOUN
alkej-155	135	33	for	for	ADP
alkej-155	135	34	two	two	NUM
alkej-155	135	35	-	-	PUNCT
alkej-155	135	36	link	link	NOUN
alkej-155	135	37	robot	robot	NOUN
alkej-155	135	38	manipulator	manipulator	NOUN
alkej-155	135	39	.	.	PUNCT
alkej-155	136	1	controller	controller	NOUN
alkej-155	136	2	performance	performance	NOUN
alkej-155	136	3	(	(	PUNCT
alkej-155	136	4	rad	rad	NOUN
alkej-155	136	5	)	)	PUNCT
alkej-155	136	6	link	link	VERB
alkej-155	136	7	1	1	NUM
alkej-155	136	8	link	link	NOUN
alkej-155	136	9	2	2	NUM
alkej-155	136	10	pid	pid	NOUN
alkej-155	136	11	rms	rm	NOUN
alkej-155	136	12	error	error	NOUN
alkej-155	136	13	0.02445	0.02445	NOUN
alkej-155	136	14	0.02333	0.02333	NUM
alkej-155	136	15	error	error	NOUN
alkej-155	136	16	after	after	ADP
alkej-155	136	17	16	16	NUM
alkej-155	136	18	sec	sec	PROPN
alkej-155	136	19	.	.	PUNCT
alkej-155	137	1	0.01614	0.01614	NUM
alkej-155	137	2	0.01521	0.01521	NUM
alkej-155	137	3	error	error	NOUN
alkej-155	137	4	after	after	ADP
alkej-155	137	5	16	16	NUM
alkej-155	137	6	sec	sec	PROPN
alkej-155	137	7	.	.	PUNCT
alkej-155	138	1	%	%	NOUN
alkej-155	139	1	1.17	1.17	NUM
alkej-155	139	2	0.91	0.91	NUM
alkej-155	139	3	proposed	propose	VERB
alkej-155	139	4	nn	nn	PROPN
alkej-155	139	5	self	self	NOUN
alkej-155	139	6	tuning	tune	VERB
alkej-155	139	7	pid	pid	NOUN
alkej-155	139	8	rms	rm	NOUN
alkej-155	139	9	error	error	NOUN
alkej-155	139	10	0.02077	0.02077	NUM
alkej-155	139	11	0.037045	0.037045	NUM
alkej-155	139	12	error	error	NOUN
alkej-155	139	13	after	after	ADP
alkej-155	139	14	16	16	NUM
alkej-155	139	15	sec	sec	PROPN
alkej-155	139	16	.	.	PROPN
alkej-155	140	1	1.9202e-04	1.9202e-04	NUM
alkej-155	140	2	3.7218e-05	3.7218e-05	NUM
alkej-155	140	3	error	error	NOUN
alkej-155	140	4	after	after	ADP
alkej-155	140	5	16	16	NUM
alkej-155	140	6	sec	sec	PROPN
alkej-155	140	7	.	.	PUNCT
alkej-155	141	1	%	%	NOUN
alkej-155	141	2	0.014	0.014	NUM
alkej-155	141	3	0.002	0.002	NUM
alkej-155	141	4	saad	saad	PROPN
alkej-155	141	5	zaghlul	zaghlul	PROPN
alkej-155	141	6	saeed	saeed	PROPN
alkej-155	141	7	al	al	PROPN
alkej-155	141	8	-	-	PUNCT
alkej-155	141	9	khwarizmi	khwarizmi	PROPN
alkej-155	141	10	engineering	engineering	NOUN
alkej-155	141	11	journal	journal	PROPN
alkej-155	141	12	,	,	PUNCT
alkej-155	141	13	vol	vol	NOUN
alkej-155	141	14	.	.	PROPN
alkej-155	141	15	9	9	NUM
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alkej-155	141	18	.	.	NOUN
alkej-155	141	19	1	1	NUM
alkej-155	141	20	,	,	PUNCT
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alkej-155	141	22	.	.	PROPN
alkej-155	141	23	19	19	NUM
alkej-155	141	24	-	-	SYM
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alkej-155	141	26	(	(	PUNCT
alkej-155	141	27	2013	2013	NUM
alkej-155	141	28	)	)	PUNCT
alkej-155	142	1	25	25	NUM
alkej-155	142	2	0	0	NUM
alkej-155	142	3	4	4	NUM
alkej-155	142	4	8	8	NUM
alkej-155	142	5	12	12	NUM
alkej-155	142	6	16	16	NUM
alkej-155	142	7	20	20	NUM
alkej-155	142	8	-1.6	-1.6	NUM
alkej-155	142	9	-1.4	-1.4	PROPN
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alkej-155	142	11	-1	-1	PROPN
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alkej-155	142	13	-0.6	-0.6	X
alkej-155	142	14	-0.4	-0.4	X
alkej-155	142	15	-0.2	-0.2	PROPN
alkej-155	142	16	0	0	NUM
alkej-155	142	17	0.2	0.2	NUM
alkej-155	142	18	time	time	NOUN
alkej-155	142	19	,	,	PUNCT
alkej-155	142	20	s	s	PROPN
alkej-155	142	21	po	po	PROPN
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alkej-155	142	25	,	,	PUNCT
alkej-155	142	26	ra	ra	PROPN
alkej-155	142	27	d	d	PROPN
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alkej-155	142	29	position	position	NOUN
alkej-155	142	30	pid	pid	NOUN
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alkej-155	142	32	a	a	DET
alkej-155	142	33	0	0	NUM
alkej-155	142	34	4	4	NUM
alkej-155	142	35	8	8	NUM
alkej-155	142	36	12	12	NUM
alkej-155	142	37	16	16	NUM
alkej-155	142	38	20	20	NUM
alkej-155	142	39	-1.4	-1.4	NOUN
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alkej-155	142	41	-1	-1	PROPN
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alkej-155	142	43	-0.6	-0.6	X
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alkej-155	142	45	-0.2	-0.2	PROPN
alkej-155	142	46	0	0	NUM
alkej-155	142	47	0.2	0.2	NUM
alkej-155	142	48	time	time	NOUN
alkej-155	142	49	,	,	PUNCT
alkej-155	142	50	s	s	VERB
alkej-155	142	51	po	po	X
alkej-155	142	52	si	si	PROPN
alkej-155	142	53	tio	tio	PROPN
alkej-155	142	54	n	n	CCONJ
alkej-155	142	55	,	,	PUNCT
alkej-155	142	56	ra	ra	PROPN
alkej-155	143	1	d	d	PROPN
alkej-155	143	2	desired	desire	VERB
alkej-155	143	3	position	position	NOUN
alkej-155	143	4	proposed	propose	VERB
alkej-155	143	5	controller	controller	NOUN
alkej-155	143	6	b	b	NOUN
alkej-155	143	7	0	0	NUM
alkej-155	143	8	4	4	NUM
alkej-155	143	9	8	8	NUM
alkej-155	143	10	12	12	NUM
alkej-155	143	11	16	16	NUM
alkej-155	143	12	20	20	NUM
alkej-155	143	13	-0.1	-0.1	NOUN
alkej-155	143	14	-0.05	-0.05	NOUN
alkej-155	143	15	0	0	NUM
alkej-155	143	16	0.05	0.05	NUM
alkej-155	143	17	0.1	0.1	NUM
alkej-155	143	18	0.15	0.15	NUM
alkej-155	143	19	proposed	propose	VERB
alkej-155	143	20	controller	controller	NOUN
alkej-155	143	21	pid	pid	NOUN
alkej-155	143	22	controller	controller	NOUN
alkej-155	143	23	er	er	INTJ
alkej-155	143	24	ro	ro	PUNCT
alkej-155	143	25	r	r	PROPN
alkej-155	143	26	,	,	PUNCT
alkej-155	143	27	ra	ra	PROPN
alkej-155	143	28	d	d	PRON
alkej-155	143	29	time	time	NOUN
alkej-155	143	30	,	,	PUNCT
alkej-155	143	31	s	s	PROPN
alkej-155	143	32	c	c	NOUN
alkej-155	143	33	fig	fig	NOUN
alkej-155	143	34	.	.	PUNCT
alkej-155	144	1	8	8	X
alkej-155	144	2	.	.	X
alkej-155	144	3	link	link	VERB
alkej-155	144	4	1	1	NUM
alkej-155	144	5	performance	performance	NOUN
alkej-155	144	6	for	for	ADP
alkej-155	144	7	desired	desire	VERB
alkej-155	144	8	trajectory	trajectory	NOUN
alkej-155	144	9	.	.	PUNCT
alkej-155	144	10	0	0	NUM
alkej-155	145	1	4	4	NUM
alkej-155	145	2	8	8	NUM
alkej-155	145	3	12	12	NUM
alkej-155	145	4	16	16	NUM
alkej-155	145	5	20	20	NUM
alkej-155	145	6	0	0	NUM
alkej-155	145	7	0.5	0.5	NUM
alkej-155	145	8	1	1	NUM
alkej-155	145	9	1.5	1.5	NUM
alkej-155	145	10	2	2	NUM
alkej-155	145	11	time	time	NOUN
alkej-155	145	12	,	,	PUNCT
alkej-155	145	13	s	s	VERB
alkej-155	145	14	po	po	X
alkej-155	145	15	si	si	PROPN
alkej-155	145	16	tio	tio	PROPN
alkej-155	145	17	n	n	CCONJ
alkej-155	145	18	,	,	PUNCT
alkej-155	145	19	ra	ra	PROPN
alkej-155	146	1	d	d	PROPN
alkej-155	146	2	desired	desire	VERB
alkej-155	146	3	position	position	NOUN
alkej-155	146	4	pid	pid	NOUN
alkej-155	146	5	controller	controller	NOUN
alkej-155	146	6	a	a	DET
alkej-155	146	7	0	0	NUM
alkej-155	146	8	4	4	NUM
alkej-155	146	9	8	8	NUM
alkej-155	146	10	12	12	NUM
alkej-155	146	11	16	16	NUM
alkej-155	146	12	20	20	NUM
alkej-155	146	13	0	0	NUM
alkej-155	146	14	0.5	0.5	NUM
alkej-155	146	15	1	1	NUM
alkej-155	146	16	1.5	1.5	NUM
alkej-155	146	17	2	2	NUM
alkej-155	146	18	time	time	NOUN
alkej-155	146	19	,	,	PUNCT
alkej-155	146	20	s	s	VERB
alkej-155	146	21	po	po	X
alkej-155	146	22	si	si	PROPN
alkej-155	146	23	tio	tio	PROPN
alkej-155	146	24	n	n	CCONJ
alkej-155	146	25	,	,	PUNCT
alkej-155	146	26	ra	ra	PROPN
alkej-155	147	1	d	d	PROPN
alkej-155	147	2	desired	desire	VERB
alkej-155	147	3	position	position	NOUN
alkej-155	147	4	proposed	propose	VERB
alkej-155	147	5	controller	controller	NOUN
alkej-155	147	6	b	b	NOUN
alkej-155	147	7	0	0	NUM
alkej-155	147	8	4	4	NUM
alkej-155	147	9	8	8	NUM
alkej-155	147	10	12	12	NUM
alkej-155	147	11	16	16	NUM
alkej-155	147	12	20	20	NUM
alkej-155	147	13	-0.05	-0.05	NUM
alkej-155	147	14	0	0	NUM
alkej-155	147	15	0.05	0.05	NUM
alkej-155	147	16	0.1	0.1	NUM
alkej-155	147	17	0.15	0.15	NUM
alkej-155	147	18	0.2	0.2	NUM
alkej-155	147	19	time	time	NOUN
alkej-155	147	20	,	,	PUNCT
alkej-155	147	21	s	s	VERB
alkej-155	147	22	er	er	INTJ
alkej-155	147	23	ro	ro	X
alkej-155	147	24	r	r	NOUN
alkej-155	147	25	,	,	PUNCT
alkej-155	147	26	ra	ra	PROPN
alkej-155	148	1	d	d	NOUN
alkej-155	148	2	pid	pid	NOUN
alkej-155	148	3	controller	controller	NOUN
alkej-155	148	4	proposed	propose	VERB
alkej-155	148	5	controller	controller	NOUN
alkej-155	148	6	c	c	PROPN
alkej-155	148	7	fig	fig	NOUN
alkej-155	148	8	.	.	PUNCT
alkej-155	149	1	9	9	X
alkej-155	149	2	.	.	X
alkej-155	149	3	link	link	VERB
alkej-155	149	4	2	2	NUM
alkej-155	149	5	performance	performance	NOUN
alkej-155	149	6	for	for	ADP
alkej-155	149	7	desired	desire	VERB
alkej-155	149	8	trajectory	trajectory	NOUN
alkej-155	149	9	.	.	PUNCT
alkej-155	150	1	saad	saad	PROPN
alkej-155	150	2	zaghlul	zaghlul	PROPN
alkej-155	150	3	saeed	saeed	PROPN
alkej-155	150	4	al	al	PROPN
alkej-155	150	5	-	-	PUNCT
alkej-155	150	6	khwarizmi	khwarizmi	PROPN
alkej-155	150	7	engineering	engineering	NOUN
alkej-155	150	8	journal	journal	PROPN
alkej-155	150	9	,	,	PUNCT
alkej-155	150	10	vol	vol	NOUN
alkej-155	150	11	.	.	PROPN
alkej-155	150	12	9	9	NUM
alkej-155	150	13	,	,	PUNCT
alkej-155	150	14	no	no	INTJ
alkej-155	150	15	.	.	NOUN
alkej-155	150	16	1	1	NUM
alkej-155	150	17	,	,	PUNCT
alkej-155	150	18	p.p	p.p	PROPN
alkej-155	150	19	.	.	PROPN
alkej-155	150	20	19	19	NUM
alkej-155	150	21	-	-	SYM
alkej-155	150	22	28	28	NUM
alkej-155	150	23	(	(	PUNCT
alkej-155	150	24	2013	2013	NUM
alkej-155	150	25	)	)	PUNCT
alkej-155	150	26	26	26	NUM
alkej-155	150	27	1.8	1.8	NUM
alkej-155	150	28	2	2	NUM
alkej-155	150	29	2.2	2.2	NUM
alkej-155	150	30	2.4	2.4	NUM
alkej-155	150	31	2.6	2.6	NUM
alkej-155	150	32	2.8	2.8	NUM
alkej-155	150	33	3	3	NUM
alkej-155	150	34	3.2	3.2	NUM
alkej-155	150	35	-0.6	-0.6	NOUN
alkej-155	150	36	-0.4	-0.4	X
alkej-155	150	37	-0.2	-0.2	PROPN
alkej-155	150	38	0	0	NUM
alkej-155	150	39	0.2	0.2	NUM
alkej-155	150	40	0.4	0.4	NUM
alkej-155	150	41	0.6	0.6	NUM
alkej-155	150	42	x	x	NOUN
alkej-155	150	43	,	,	PUNCT
alkej-155	150	44	m	m	VERB
alkej-155	150	45	y	y	PROPN
alkej-155	150	46	,	,	PUNCT
alkej-155	150	47	m	m	VERB
alkej-155	150	48	a	a	DET
alkej-155	150	49	1.8	1.8	NUM
alkej-155	150	50	2	2	NUM
alkej-155	150	51	2.2	2.2	NUM
alkej-155	150	52	2.4	2.4	NUM
alkej-155	150	53	2.6	2.6	NUM
alkej-155	150	54	2.8	2.8	NUM
alkej-155	150	55	3	3	NUM
alkej-155	150	56	3.2	3.2	NUM
alkej-155	150	57	-	-	SYM
alkej-155	150	58	0.6	0.6	NUM
alkej-155	150	59	-0.4	-0.4	NUM
alkej-155	150	60	-0.2	-0.2	NOUN
alkej-155	150	61	0	0	NUM
alkej-155	150	62	0.2	0.2	NUM
alkej-155	150	63	0.4	0.4	NUM
alkej-155	150	64	0.6	0.6	NUM
alkej-155	150	65	x	x	NOUN
alkej-155	150	66	,	,	PUNCT
alkej-155	150	67	m	m	VERB
alkej-155	150	68	y	y	PROPN
alkej-155	150	69	,	,	PUNCT
alkej-155	150	70	m	m	PROPN
alkej-155	150	71	b	b	NOUN
alkej-155	150	72	fig	fig	NOUN
alkej-155	150	73	.	.	PUNCT
alkej-155	151	1	10	10	NUM
alkej-155	151	2	.	.	PUNCT
alkej-155	151	3	circular	circular	ADJ
alkej-155	151	4	trajectory	trajectory	NOUN
alkej-155	151	5	.	.	PUNCT
alkej-155	152	1	a	a	DET
alkej-155	152	2	-	-	PUNCT
alkej-155	152	3	trajectory	trajectory	NOUN
alkej-155	152	4	for	for	ADP
alkej-155	152	5	20	20	NUM
alkej-155	152	6	sec	sec	PROPN
alkej-155	152	7	.	.	PUNCT
alkej-155	152	8	;	;	PUNCT
alkej-155	152	9	btrajectory	btrajectory	NOUN
alkej-155	152	10	after	after	ADP
alkej-155	152	11	2	2	NUM
alkej-155	152	12	cycles	cycle	NOUN
alkej-155	152	13	of	of	ADP
alkej-155	152	14	learning	learn	VERB
alkej-155	152	15	6	6	NUM
alkej-155	152	16	.	.	PUNCT
alkej-155	153	1	conclusion	conclusion	NOUN
alkej-155	153	2	neural	neural	ADJ
alkej-155	153	3	network	network	NOUN
alkej-155	153	4	self	self	NOUN
alkej-155	153	5	tuning	tune	VERB
alkej-155	153	6	pid	pid	NOUN
alkej-155	153	7	controller	controller	NOUN
alkej-155	153	8	provides	provide	VERB
alkej-155	153	9	a	a	DET
alkej-155	153	10	different	different	ADJ
alkej-155	153	11	way	way	NOUN
alkej-155	153	12	to	to	PART
alkej-155	153	13	approach	approach	VERB
alkej-155	153	14	a	a	DET
alkej-155	153	15	control	control	NOUN
alkej-155	153	16	problem	problem	NOUN
alkej-155	153	17	.	.	PUNCT
alkej-155	154	1	this	this	DET
alkej-155	154	2	method	method	NOUN
alkej-155	154	3	focuses	focus	VERB
alkej-155	154	4	on	on	ADP
alkej-155	154	5	what	what	PRON
alkej-155	154	6	the	the	DET
alkej-155	154	7	system	system	NOUN
alkej-155	154	8	should	should	AUX
alkej-155	154	9	do	do	AUX
alkej-155	154	10	rather	rather	ADV
alkej-155	154	11	than	than	ADP
alkej-155	154	12	trying	try	VERB
alkej-155	154	13	to	to	PART
alkej-155	154	14	model	model	VERB
alkej-155	154	15	how	how	SCONJ
alkej-155	154	16	it	it	PRON
alkej-155	154	17	works	work	VERB
alkej-155	154	18	.	.	PUNCT
alkej-155	155	1	one	one	PRON
alkej-155	155	2	can	can	AUX
alkej-155	155	3	concentrate	concentrate	VERB
alkej-155	155	4	on	on	ADP
alkej-155	155	5	solving	solve	VERB
alkej-155	155	6	the	the	DET
alkej-155	155	7	problem	problem	NOUN
alkej-155	155	8	rather	rather	ADV
alkej-155	155	9	than	than	ADP
alkej-155	155	10	trying	try	VERB
alkej-155	155	11	to	to	PART
alkej-155	155	12	model	model	VERB
alkej-155	155	13	the	the	DET
alkej-155	155	14	system	system	NOUN
alkej-155	155	15	mathematically	mathematically	ADV
alkej-155	155	16	,	,	PUNCT
alkej-155	155	17	if	if	SCONJ
alkej-155	155	18	that	that	PRON
alkej-155	155	19	is	be	AUX
alkej-155	155	20	even	even	ADV
alkej-155	155	21	possible	possible	ADJ
alkej-155	155	22	.	.	PUNCT
alkej-155	156	1	the	the	DET
alkej-155	156	2	application	application	NOUN
alkej-155	156	3	of	of	ADP
alkej-155	156	4	a	a	DET
alkej-155	156	5	nn	nn	X
alkej-155	156	6	tuning	tuning	NOUN
alkej-155	156	7	to	to	ADP
alkej-155	156	8	nominal	nominal	ADJ
alkej-155	156	9	controller	controller	NOUN
alkej-155	156	10	designed	design	VERB
alkej-155	156	11	using	use	VERB
alkej-155	156	12	ziegler	ziegler	PROPN
alkej-155	156	13	-	-	PUNCT
alkej-155	156	14	nichols	nichols	PROPN
alkej-155	156	15	tuning	tuning	NOUN
alkej-155	156	16	rules	rule	NOUN
alkej-155	156	17	is	be	AUX
alkej-155	156	18	studied	study	VERB
alkej-155	156	19	in	in	ADP
alkej-155	156	20	this	this	DET
alkej-155	156	21	paper	paper	NOUN
alkej-155	156	22	.	.	PUNCT
alkej-155	157	1	it	it	PRON
alkej-155	157	2	is	be	AUX
alkej-155	157	3	shown	show	VERB
alkej-155	157	4	that	that	SCONJ
alkej-155	157	5	the	the	DET
alkej-155	157	6	addition	addition	NOUN
alkej-155	157	7	of	of	ADP
alkej-155	157	8	a	a	DET
alkej-155	157	9	nn	nn	X
alkej-155	157	10	tuning	tuning	NOUN
alkej-155	157	11	improves	improve	VERB
alkej-155	157	12	the	the	DET
alkej-155	157	13	response	response	NOUN
alkej-155	157	14	of	of	ADP
alkej-155	157	15	a	a	DET
alkej-155	157	16	nominal	nominal	ADJ
alkej-155	157	17	pid	pid	NOUN
alkej-155	157	18	controlled	control	VERB
alkej-155	157	19	system	system	NOUN
alkej-155	157	20	through	through	ADP
alkej-155	157	21	gradual	gradual	ADJ
alkej-155	157	22	increase	increase	NOUN
alkej-155	157	23	in	in	ADP
alkej-155	157	24	the	the	DET
alkej-155	157	25	controller	controller	NOUN
alkej-155	157	26	gains	gain	NOUN
alkej-155	157	27	.	.	PUNCT
alkej-155	158	1	the	the	DET
alkej-155	158	2	advantage	advantage	NOUN
alkej-155	158	3	of	of	ADP
alkej-155	158	4	the	the	DET
alkej-155	158	5	nn	nn	PROPN
alkej-155	158	6	self	self	NOUN
alkej-155	158	7	tuning	tuning	NOUN
alkej-155	158	8	is	be	AUX
alkej-155	158	9	its	its	PRON
alkej-155	158	10	adaptively	adaptively	ADV
alkej-155	158	11	due	due	ADJ
alkej-155	158	12	to	to	ADP
alkej-155	158	13	on	on	ADP
alkej-155	158	14	-	-	PUNCT
alkej-155	158	15	line	line	NOUN
alkej-155	158	16	training	training	NOUN
alkej-155	158	17	which	which	PRON
alkej-155	158	18	provides	provide	VERB
alkej-155	158	19	auto	auto	NOUN
alkej-155	158	20	-	-	PUNCT
alkej-155	158	21	tuning	tuning	NOUN
alkej-155	158	22	and	and	CCONJ
alkej-155	158	23	reducing	reduce	VERB
alkej-155	158	24	the	the	DET
alkej-155	158	25	amount	amount	NOUN
alkej-155	158	26	of	of	ADP
alkej-155	158	27	tuning	tuning	NOUN
alkej-155	158	28	required	require	VERB
alkej-155	158	29	.	.	PUNCT
alkej-155	159	1	at	at	ADP
alkej-155	159	2	the	the	DET
alkej-155	159	3	beginning	beginning	NOUN
alkej-155	159	4	of	of	ADP
alkej-155	159	5	simulation	simulation	NOUN
alkej-155	159	6	,	,	PUNCT
alkej-155	159	7	the	the	DET
alkej-155	159	8	error	error	NOUN
alkej-155	159	9	is	be	AUX
alkej-155	159	10	maximum	maximum	ADJ
alkej-155	159	11	because	because	SCONJ
alkej-155	159	12	the	the	DET
alkej-155	159	13	nn	nn	PROPN
alkej-155	159	14	is	be	AUX
alkej-155	159	15	not	not	PART
alkej-155	159	16	learned	learn	VERB
alkej-155	159	17	yet	yet	ADV
alkej-155	159	18	.	.	PUNCT
alkej-155	160	1	but	but	CCONJ
alkej-155	160	2	after	after	ADP
alkej-155	160	3	1	1	NUM
alkej-155	160	4	second	second	NOUN
alkej-155	160	5	of	of	ADP
alkej-155	160	6	time	time	NOUN
alkej-155	160	7	,	,	PUNCT
alkej-155	160	8	the	the	DET
alkej-155	160	9	error	error	NOUN
alkej-155	160	10	is	be	AUX
alkej-155	160	11	reduced	reduce	VERB
alkej-155	160	12	quickly	quickly	ADV
alkej-155	160	13	and	and	CCONJ
alkej-155	160	14	the	the	DET
alkej-155	160	15	robot	robot	NOUN
alkej-155	160	16	starts	starts	AUX
alkej-155	160	17	follow	follow	VERB
alkej-155	160	18	the	the	DET
alkej-155	160	19	desired	desire	VERB
alkej-155	160	20	trajectory	trajectory	NOUN
alkej-155	160	21	efficiently	efficiently	ADV
alkej-155	160	22	.	.	PUNCT
alkej-155	161	1	simulation	simulation	NOUN
alkej-155	161	2	studies	study	NOUN
alkej-155	161	3	show	show	VERB
alkej-155	161	4	that	that	SCONJ
alkej-155	161	5	the	the	DET
alkej-155	161	6	proposed	propose	VERB
alkej-155	161	7	nn	nn	NOUN
alkej-155	161	8	self	self	NOUN
alkej-155	161	9	tuning	tuning	NOUN
alkej-155	161	10	provides	provide	VERB
alkej-155	161	11	excellent	excellent	ADJ
alkej-155	161	12	tracking	tracking	NOUN
alkej-155	161	13	and	and	CCONJ
alkej-155	161	14	robustness	robustness	NOUN
alkej-155	161	15	in	in	ADP
alkej-155	161	16	the	the	DET
alkej-155	161	17	presence	presence	NOUN
alkej-155	161	18	of	of	ADP
alkej-155	161	19	system	system	NOUN
alkej-155	161	20	nonlinearity	nonlinearity	NOUN
alkej-155	161	21	,	,	PUNCT
alkej-155	161	22	since	since	SCONJ
alkej-155	161	23	the	the	DET
alkej-155	161	24	nn	nn	PROPN
alkej-155	161	25	is	be	AUX
alkej-155	161	26	trained	train	VERB
alkej-155	161	27	on	on	ADP
alkej-155	161	28	-	-	PUNCT
alkej-155	161	29	line	line	NOUN
alkej-155	161	30	,	,	PUNCT
alkej-155	161	31	therefore	therefore	ADV
alkej-155	161	32	any	any	DET
alkej-155	161	33	changes	change	NOUN
alkej-155	161	34	in	in	ADP
alkej-155	161	35	system	system	NOUN
alkej-155	161	36	parameters	parameter	NOUN
alkej-155	161	37	will	will	AUX
alkej-155	161	38	cause	cause	VERB
alkej-155	161	39	the	the	DET
alkej-155	161	40	nn	nn	NOUN
alkej-155	161	41	to	to	PART
alkej-155	161	42	provide	provide	VERB
alkej-155	161	43	the	the	DET
alkej-155	161	44	appropriate	appropriate	ADJ
alkej-155	161	45	change	change	NOUN
alkej-155	161	46	in	in	ADP
alkej-155	161	47	the	the	DET
alkej-155	161	48	control	control	NOUN
alkej-155	161	49	signal	signal	NOUN
alkej-155	161	50	to	to	PART
alkej-155	161	51	resume	resume	VERB
alkej-155	161	52	the	the	DET
alkej-155	161	53	effect	effect	NOUN
alkej-155	161	54	.	.	PUNCT
alkej-155	162	1	on	on	ADP
alkej-155	162	2	the	the	DET
alkej-155	162	3	other	other	ADJ
alkej-155	162	4	side	side	NOUN
alkej-155	162	5	,	,	PUNCT
alkej-155	162	6	we	we	PRON
alkej-155	162	7	proved	prove	VERB
alkej-155	162	8	that	that	SCONJ
alkej-155	162	9	the	the	DET
alkej-155	162	10	proposed	propose	VERB
alkej-155	162	11	controller	controller	NOUN
alkej-155	162	12	is	be	AUX
alkej-155	162	13	more	more	ADV
alkej-155	162	14	efficient	efficient	ADJ
alkej-155	162	15	to	to	PART
alkej-155	162	16	control	control	VERB
alkej-155	162	17	the	the	DET
alkej-155	162	18	robot	robot	NOUN
alkej-155	162	19	manipulator	manipulator	NOUN
alkej-155	162	20	to	to	PART
alkej-155	162	21	follow	follow	VERB
alkej-155	162	22	the	the	DET
alkej-155	162	23	desired	desire	VERB
alkej-155	162	24	trajectory	trajectory	NOUN
alkej-155	162	25	compared	compare	VERB
alkej-155	162	26	to	to	ADP
alkej-155	162	27	classical	classical	ADJ
alkej-155	162	28	tuning	tuning	NOUN
alkej-155	162	29	method	method	NOUN
alkej-155	162	30	of	of	ADP
alkej-155	162	31	pid	pid	NOUN
alkej-155	162	32	controller	controller	NOUN
alkej-155	162	33	.	.	PUNCT
alkej-155	163	1	7	7	X
alkej-155	163	2	.	.	NUM
alkej-155	163	3	references	reference	NOUN
alkej-155	163	4	[	[	X
alkej-155	163	5	1	1	NUM
alkej-155	163	6	]	]	X
alkej-155	163	7	spong	spong	PROPN
alkej-155	163	8	,	,	PUNCT
alkej-155	163	9	m.	m.	PROPN
alkej-155	163	10	w.	w.	PROPN
alkej-155	163	11	and	and	CCONJ
alkej-155	163	12	vidiasagar	vidiasagar	NOUN
alkej-155	163	13	,	,	PUNCT
alkej-155	163	14	m.	m.	NOUN
alkej-155	163	15	,	,	PUNCT
alkej-155	163	16	"	"	PUNCT
alkej-155	163	17	robot	robot	NOUN
alkej-155	163	18	modeling	modeling	NOUN
alkej-155	163	19	and	and	CCONJ
alkej-155	163	20	control	control	NOUN
alkej-155	163	21	"	"	PUNCT
alkej-155	163	22	,	,	PUNCT
alkej-155	163	23	wiley	wiley	PROPN
alkej-155	163	24	,	,	PUNCT
alkej-155	163	25	new	new	PROPN
alkej-155	163	26	york	york	PROPN
alkej-155	163	27	,	,	PUNCT
alkej-155	163	28	1989	1989	NUM
alkej-155	163	29	,	,	PUNCT
alkej-155	163	30	pp.231	pp.231	PROPN
alkej-155	163	31	.	.	PUNCT
alkej-155	164	1	[	[	X
alkej-155	164	2	2	2	NUM
alkej-155	164	3	]	]	X
alkej-155	164	4	tao	tao	PROPN
alkej-155	164	5	ai	ai	PROPN
alkej-155	164	6	,	,	PUNCT
alkej-155	164	7	jun	jun	PROPN
alkej-155	164	8	-	-	PUNCT
alkej-155	164	9	qi	qi	PROPN
alkej-155	164	10	yu	yu	PROPN
alkej-155	164	11	,	,	PUNCT
alkej-155	164	12	yan	yan	PROPN
alkej-155	164	13	-	-	PUNCT
alkej-155	164	14	feng	feng	PROPN
alkej-155	164	15	liu	liu	PROPN
alkej-155	164	16	,	,	PUNCT
alkej-155	164	17	and	and	CCONJ
alkej-155	164	18	jiang	jiang	PROPN
alkej-155	164	19	zhou	zhou	PROPN
alkej-155	164	20	,	,	PUNCT
alkej-155	164	21	"	"	PUNCT
alkej-155	164	22	study	study	NOUN
alkej-155	164	23	on	on	ADP
alkej-155	164	24	neural	neural	ADJ
alkej-155	164	25	network	network	NOUN
alkej-155	164	26	self	self	NOUN
alkej-155	164	27	-	-	PUNCT
alkej-155	164	28	tuning	tune	VERB
alkej-155	164	29	pid	pid	NOUN
alkej-155	164	30	control	control	NOUN
alkej-155	164	31	for	for	ADP
alkej-155	164	32	temperature	temperature	NOUN
alkej-155	164	33	of	of	ADP
alkej-155	164	34	active	active	ADJ
alkej-155	164	35	solar	solar	ADJ
alkej-155	164	36	house	house	NOUN
alkej-155	164	37	heating	heating	NOUN
alkej-155	164	38	system	system	NOUN
alkej-155	164	39	"	"	PUNCT
alkej-155	164	40	,	,	PUNCT
alkej-155	164	41	ieee	ieee	PROPN
alkej-155	164	42	2nd	2nd	ADJ
alkej-155	164	43	international	international	ADJ
alkej-155	164	44	workshop	workshop	NOUN
alkej-155	164	45	on	on	ADP
alkej-155	164	46	intelligent	intelligent	ADJ
alkej-155	164	47	systems	system	NOUN
alkej-155	164	48	and	and	CCONJ
alkej-155	164	49	applications	application	NOUN
alkej-155	164	50	,	,	PUNCT
alkej-155	164	51	2010	2010	NUM
alkej-155	164	52	,	,	PUNCT
alkej-155	164	53	pp.1	pp.1	NOUN
alkej-155	164	54	-	-	PUNCT
alkej-155	164	55	4	4	NUM
alkej-155	164	56	.	.	PUNCT
alkej-155	165	1	[	[	X
alkej-155	165	2	3	3	NUM
alkej-155	165	3	]	]	X
alkej-155	165	4	gawthrop	gawthrop	NOUN
alkej-155	165	5	,	,	PUNCT
alkej-155	165	6	p.	p.	PROPN
alkej-155	165	7	j.	j.	PROPN
alkej-155	165	8	and	and	CCONJ
alkej-155	165	9	nomikos	nomikos	PROPN
alkej-155	165	10	,	,	PUNCT
alkej-155	165	11	p.e	p.e	PROPN
alkej-155	165	12	.	.	PROPN
alkej-155	165	13	,	,	PUNCT
alkej-155	165	14	"	"	PUNCT
alkej-155	165	15	automatic	automatic	ADJ
alkej-155	165	16	tuning	tuning	NOUN
alkej-155	165	17	of	of	ADP
alkej-155	165	18	commercial	commercial	ADJ
alkej-155	165	19	pid	pid	NOUN
alkej-155	165	20	controllers	controller	NOUN
alkej-155	165	21	for	for	ADP
alkej-155	165	22	single	single	ADJ
alkej-155	165	23	-	-	PUNCT
alkej-155	165	24	loop	loop	NOUN
alkej-155	165	25	and	and	CCONJ
alkej-155	165	26	multiloop	multiloop	NOUN
alkej-155	165	27	applications	application	NOUN
alkej-155	165	28	"	"	PUNCT
alkej-155	165	29	,	,	PUNCT
alkej-155	165	30	ieee	ieee	NOUN
alkej-155	165	31	control	control	PROPN
alkej-155	165	32	systems	systems	PROPN
alkej-155	165	33	magazine	magazine	NOUN
alkej-155	165	34	,	,	PUNCT
alkej-155	165	35	vol	vol	NOUN
alkej-155	165	36	.	.	PROPN
alkej-155	165	37	10	10	NUM
alkej-155	165	38	,	,	PUNCT
alkej-155	165	39	1990	1990	NUM
alkej-155	165	40	,	,	PUNCT
alkej-155	165	41	pp.34	pp.34	NOUN
alkej-155	165	42	-	-	PUNCT
alkej-155	165	43	42	42	NUM
alkej-155	165	44	.	.	PUNCT
alkej-155	166	1	[	[	X
alkej-155	166	2	4	4	NUM
alkej-155	166	3	]	]	X
alkej-155	166	4	jing	je	VERB
alkej-155	166	5	-	-	PUNCT
alkej-155	166	6	chug	chug	VERB
alkej-155	166	7	shen	shen	NOUN
alkej-155	166	8	and	and	CCONJ
alkej-155	166	9	huann	huann	PROPN
alkej-155	166	10	-	-	PUNCT
alkej-155	166	11	keng	keng	PROPN
alkej-155	166	12	chiang	chiang	PROPN
alkej-155	166	13	,	,	PUNCT
alkej-155	166	14	"	"	PUNCT
alkej-155	166	15	pid	pid	NOUN
alkej-155	166	16	tuning	tune	VERB
alkej-155	166	17	rules	rule	NOUN
alkej-155	166	18	for	for	ADP
alkej-155	166	19	second	second	ADJ
alkej-155	166	20	order	order	NOUN
alkej-155	166	21	systems	system	NOUN
alkej-155	166	22	"	"	PUNCT
alkej-155	166	23	,	,	PUNCT
alkej-155	166	24	ieee	ieee	NOUN
alkej-155	166	25	5th	5th	ADJ
alkej-155	166	26	asian	asian	ADJ
alkej-155	166	27	control	control	NOUN
alkej-155	166	28	conference	conference	NOUN
alkej-155	166	29	,	,	PUNCT
alkej-155	166	30	vol.1	vol.1	PROPN
alkej-155	166	31	,	,	PUNCT
alkej-155	166	32	2004	2004	NUM
alkej-155	166	33	,	,	PUNCT
alkej-155	166	34	pp.472	pp.472	NOUN
alkej-155	166	35	-	-	NOUN
alkej-155	166	36	477	477	NUM
alkej-155	166	37	.	.	PUNCT
alkej-155	167	1	[	[	X
alkej-155	167	2	5	5	NUM
alkej-155	167	3	]	]	X
alkej-155	167	4	han	han	PROPN
alkej-155	167	5	-	-	PUNCT
alkej-155	167	6	pang	pang	PROPN
alkej-155	167	7	huang	huang	PROPN
alkej-155	167	8	and	and	CCONJ
alkej-155	167	9	ching	ching	PROPN
alkej-155	167	10	-	-	PUNCT
alkej-155	167	11	hung	hung	PROPN
alkej-155	167	12	lin	lin	PROPN
alkej-155	167	13	,	,	PUNCT
alkej-155	167	14	"	"	PUNCT
alkej-155	167	15	a	a	DET
alkej-155	167	16	stable	stable	ADJ
alkej-155	167	17	on	on	ADP
alkej-155	167	18	-	-	PUNCT
alkej-155	167	19	line	line	NOUN
alkej-155	167	20	self	self	NOUN
alkej-155	167	21	-	-	PUNCT
alkej-155	167	22	tuning	tune	VERB
alkej-155	167	23	optimal	optimal	ADJ
alkej-155	167	24	pid	pid	NOUN
alkej-155	167	25	controller	controller	NOUN
alkej-155	167	26	for	for	ADP
alkej-155	167	27	a	a	DET
alkej-155	167	28	class	class	NOUN
alkej-155	167	29	of	of	ADP
alkej-155	167	30	unknown	unknown	ADJ
alkej-155	167	31	system	system	NOUN
alkej-155	167	32	"	"	PUNCT
alkej-155	167	33	,	,	PUNCT
alkej-155	167	34	asian	asian	ADJ
alkej-155	167	35	journal	journal	NOUN
alkej-155	167	36	of	of	ADP
alkej-155	167	37	control	control	NOUN
alkej-155	167	38	,	,	PUNCT
alkej-155	167	39	vol	vol	NOUN
alkej-155	167	40	.	.	PROPN
alkej-155	167	41	9	9	NUM
alkej-155	167	42	,	,	PUNCT
alkej-155	167	43	no	no	INTJ
alkej-155	167	44	.	.	NOUN
alkej-155	167	45	2	2	NUM
alkej-155	167	46	,	,	PUNCT
alkej-155	167	47	pp	pp	ADJ
alkej-155	167	48	.	.	PUNCT
alkej-155	168	1	151	151	NUM
alkej-155	168	2	-	-	SYM
alkej-155	168	3	162	162	NUM
alkej-155	168	4	,	,	PUNCT
alkej-155	168	5	2007	2007	NUM
alkej-155	168	6	.	.	PUNCT
alkej-155	169	1	[	[	X
alkej-155	169	2	6	6	NUM
alkej-155	169	3	]	]	X
alkej-155	169	4	al	al	PROPN
alkej-155	169	5	-	-	PUNCT
alkej-155	169	6	zohairy	zohairy	NUM
alkej-155	169	7	,	,	PUNCT
alkej-155	169	8	t.	t.	NOUN
alkej-155	169	9	a.	a.	NOUN
alkej-155	169	10	,	,	PUNCT
alkej-155	169	11	"	"	PUNCT
alkej-155	169	12	adaptive	adaptive	ADJ
alkej-155	169	13	control	control	NOUN
alkej-155	169	14	of	of	ADP
alkej-155	169	15	nonlinear	nonlinear	ADJ
alkej-155	169	16	multivariable	multivariable	ADJ
alkej-155	169	17	dynamical	dynamical	ADJ
alkej-155	169	18	systems	system	NOUN
alkej-155	169	19	using	use	VERB
alkej-155	169	20	rbf	rbf	PROPN
alkej-155	169	21	neural	neural	ADJ
alkej-155	169	22	network	network	NOUN
alkej-155	169	23	"	"	PUNCT
alkej-155	169	24	,	,	PUNCT
alkej-155	169	25	canadian	canadian	ADJ
alkej-155	169	26	journal	journal	NOUN
alkej-155	169	27	on	on	ADP
alkej-155	169	28	automation	automation	NOUN
alkej-155	169	29	,	,	PUNCT
alkej-155	169	30	control	control	NOUN
alkej-155	169	31	and	and	CCONJ
alkej-155	169	32	intelligent	intelligent	ADJ
alkej-155	169	33	systems	system	NOUN
alkej-155	169	34	,	,	PUNCT
alkej-155	169	35	vol.2	vol.2	PROPN
alkej-155	169	36	,	,	PUNCT
alkej-155	169	37	no.1	no.1	NUM
alkej-155	169	38	,	,	PUNCT
alkej-155	169	39	2001	2001	NUM
alkej-155	169	40	,	,	PUNCT
alkej-155	169	41	pp.925	pp.925	PROPN
alkej-155	169	42	.	.	PUNCT
alkej-155	170	1	[	[	X
alkej-155	170	2	7	7	NUM
alkej-155	170	3	]	]	X
alkej-155	170	4	pirabakaran	pirabakaran	NOUN
alkej-155	170	5	,	,	PUNCT
alkej-155	170	6	k.	k.	PROPN
alkej-155	170	7	and	and	CCONJ
alkej-155	170	8	becerra	becerra	PROPN
alkej-155	170	9	,	,	PUNCT
alkej-155	170	10	v.m	v.m	PROPN
alkej-155	170	11	.	.	PROPN
alkej-155	170	12	,	,	PUNCT
alkej-155	170	13	"	"	PUNCT
alkej-155	170	14	pid	pid	NOUN
alkej-155	170	15	autotuning	autotune	VERB
alkej-155	170	16	using	use	VERB
alkej-155	170	17	neural	neural	ADJ
alkej-155	170	18	networks	network	NOUN
alkej-155	170	19	and	and	CCONJ
alkej-155	170	20	model	model	NOUN
alkej-155	170	21	reference	reference	PROPN
alkej-155	170	22	adaptive	adaptive	PROPN
alkej-155	170	23	control	control	NOUN
alkej-155	170	24	"	"	PUNCT
alkej-155	170	25	,	,	PUNCT
alkej-155	170	26	15th	15th	ADJ
alkej-155	170	27	triennial	triennial	ADJ
alkej-155	170	28	world	world	PROPN
alkej-155	170	29	congress	congress	PROPN
alkej-155	170	30	,	,	PUNCT
alkej-155	170	31	barcelona	barcelona	PROPN
alkej-155	170	32	,	,	PUNCT
alkej-155	170	33	spain	spain	PROPN
alkej-155	170	34	,	,	PUNCT
alkej-155	170	35	2002	2002	NUM
alkej-155	170	36	.	.	PUNCT
alkej-155	171	1	[	[	X
alkej-155	171	2	8	8	NUM
alkej-155	171	3	]	]	X
alkej-155	171	4	gao	gao	PROPN
alkej-155	171	5	zhenhai	zhenhai	PROPN
alkej-155	171	6	and	and	CCONJ
alkej-155	171	7	zhu	zhu	PROPN
alkej-155	171	8	bo	bo	PROPN
alkej-155	171	9	,	,	PUNCT
alkej-155	171	10	"	"	PUNCT
alkej-155	171	11	vehicle	vehicle	NOUN
alkej-155	171	12	lane	lane	NOUN
alkej-155	171	13	keeping	keeping	NOUN
alkej-155	171	14	of	of	ADP
alkej-155	171	15	adaptive	adaptive	ADJ
alkej-155	171	16	pid	pid	NOUN
alkej-155	171	17	control	control	NOUN
alkej-155	171	18	with	with	ADP
alkej-155	171	19	bp	bp	PROPN
alkej-155	171	20	saad	saad	PROPN
alkej-155	171	21	zaghlul	zaghlul	PROPN
alkej-155	171	22	saeed	saeed	PROPN
alkej-155	171	23	al	al	PROPN
alkej-155	171	24	-	-	PUNCT
alkej-155	171	25	khwarizmi	khwarizmi	PROPN
alkej-155	171	26	engineering	engineering	NOUN
alkej-155	171	27	journal	journal	PROPN
alkej-155	171	28	,	,	PUNCT
alkej-155	171	29	vol	vol	NOUN
alkej-155	171	30	.	.	PROPN
alkej-155	171	31	9	9	NUM
alkej-155	171	32	,	,	PUNCT
alkej-155	171	33	no	no	INTJ
alkej-155	171	34	.	.	NOUN
alkej-155	171	35	1	1	NUM
alkej-155	171	36	,	,	PUNCT
alkej-155	171	37	p.p	p.p	PROPN
alkej-155	171	38	.	.	PROPN
alkej-155	171	39	19	19	NUM
alkej-155	171	40	-	-	SYM
alkej-155	171	41	28	28	NUM
alkej-155	171	42	(	(	PUNCT
alkej-155	171	43	2013	2013	NUM
alkej-155	171	44	)	)	PUNCT
alkej-155	171	45	27	27	NUM
alkej-155	171	46	neural	neural	ADJ
alkej-155	171	47	network	network	NOUN
alkej-155	171	48	'	'	PUNCT
alkej-155	171	49	self	self	NOUN
alkej-155	171	50	-	-	PUNCT
alkej-155	171	51	tuning	tuning	NOUN
alkej-155	171	52	"	"	PUNCT
alkej-155	171	53	,	,	PUNCT
alkej-155	171	54	ieee	ieee	NOUN
alkej-155	171	55	proceedings	proceeding	NOUN
alkej-155	171	56	on	on	ADP
alkej-155	171	57	intelligent	intelligent	ADJ
alkej-155	171	58	vehicles	vehicle	NOUN
alkej-155	171	59	symposium	symposium	NOUN
alkej-155	171	60	,	,	PUNCT
alkej-155	171	61	2005	2005	NUM
alkej-155	171	62	,	,	PUNCT
alkej-155	171	63	pp.84	pp.84	NOUN
alkej-155	171	64	-	-	PUNCT
alkej-155	171	65	87	87	NUM
alkej-155	171	66	.	.	PUNCT
alkej-155	172	1	[	[	X
alkej-155	172	2	9	9	NUM
alkej-155	172	3	]	]	SYM
alkej-155	172	4	cordova	cordova	PROPN
alkej-155	172	5	,	,	PUNCT
alkej-155	172	6	h.	h.	PROPN
alkej-155	172	7	,	,	PUNCT
alkej-155	172	8	wijaya	wijaya	PROPN
alkej-155	172	9	,	,	PUNCT
alkej-155	172	10	a.	a.	PROPN
alkej-155	172	11	f.	f.	PROPN
alkej-155	172	12	,	,	PUNCT
alkej-155	172	13	"	"	PUNCT
alkej-155	172	14	self	self	NOUN
alkej-155	172	15	-	-	PUNCT
alkej-155	172	16	tuning	tune	VERB
alkej-155	172	17	pid	pid	NOUN
alkej-155	172	18	neural	neural	ADJ
alkej-155	172	19	network	network	NOUN
alkej-155	172	20	controller	controller	NOUN
alkej-155	172	21	to	to	PART
alkej-155	172	22	control	control	VERB
alkej-155	172	23	nonlinear	nonlinear	ADJ
alkej-155	172	24	ph	ph	ADJ
alkej-155	172	25	neutralization	neutralization	NOUN
alkej-155	172	26	in	in	ADP
alkej-155	172	27	waste	waste	NOUN
alkej-155	172	28	water	water	NOUN
alkej-155	172	29	treatment	treatment	NOUN
alkej-155	172	30	"	"	PUNCT
alkej-155	172	31	,	,	PUNCT
alkej-155	172	32	the	the	DET
alkej-155	172	33	journal	journal	NOUN
alkej-155	172	34	for	for	ADP
alkej-155	172	35	technology	technology	NOUN
alkej-155	172	36	and	and	CCONJ
alkej-155	172	37	science	science	NOUN
alkej-155	172	38	,	,	PUNCT
alkej-155	172	39	vol	vol	NOUN
alkej-155	172	40	.	.	PROPN
alkej-155	172	41	18	18	NUM
alkej-155	172	42	,	,	PUNCT
alkej-155	172	43	no	no	INTJ
alkej-155	172	44	.	.	NOUN
alkej-155	172	45	3	3	NUM
alkej-155	172	46	,	,	PUNCT
alkej-155	172	47	2007	2007	NUM
alkej-155	172	48	.	.	PUNCT
alkej-155	173	1	[	[	X
alkej-155	173	2	10	10	NUM
alkej-155	173	3	]	]	X
alkej-155	173	4	jiangjiang	jiangjiang	PROPN
alkej-155	173	5	wang	wang	PROPN
alkej-155	173	6	,	,	PUNCT
alkej-155	173	7	chunfa	chunfa	PROPN
alkej-155	173	8	zhang	zhang	PROPN
alkej-155	173	9	,	,	PUNCT
alkej-155	173	10	and	and	CCONJ
alkej-155	173	11	youyin	youyin	PROPN
alkej-155	173	12	jing	jing	PROPN
alkej-155	173	13	,	,	PUNCT
alkej-155	173	14	"	"	PUNCT
alkej-155	173	15	adaptive	adaptive	ADJ
alkej-155	173	16	pid	pid	NOUN
alkej-155	173	17	control	control	NOUN
alkej-155	173	18	with	with	ADP
alkej-155	173	19	bp	bp	PROPN
alkej-155	173	20	neural	neural	ADJ
alkej-155	173	21	network	network	NOUN
alkej-155	173	22	self	self	NOUN
alkej-155	173	23	-	-	PUNCT
alkej-155	173	24	tuning	tuning	NOUN
alkej-155	173	25	in	in	ADP
alkej-155	173	26	exhaust	exhaust	ADJ
alkej-155	173	27	temperature	temperature	NOUN
alkej-155	173	28	of	of	ADP
alkej-155	173	29	micro	micro	ADJ
alkej-155	173	30	gas	gas	NOUN
alkej-155	173	31	turbine	turbine	NOUN
alkej-155	173	32	"	"	PUNCT
alkej-155	173	33	,	,	PUNCT
alkej-155	173	34	ieee	ieee	NOUN
alkej-155	173	35	conference	conference	NOUN
alkej-155	173	36	on	on	ADP
alkej-155	173	37	industrial	industrial	ADJ
alkej-155	173	38	electronics	electronic	NOUN
alkej-155	173	39	and	and	CCONJ
alkej-155	173	40	applications	application	NOUN
alkej-155	173	41	,	,	PUNCT
alkej-155	173	42	2008	2008	NUM
alkej-155	173	43	,	,	PUNCT
alkej-155	173	44	pp.532	pp.532	NOUN
alkej-155	173	45	-	-	NOUN
alkej-155	173	46	537	537	NUM
alkej-155	173	47	.	.	PUNCT
alkej-155	174	1	[	[	X
alkej-155	174	2	11	11	NUM
alkej-155	174	3	]	]	X
alkej-155	174	4	qing	qing	NOUN
alkej-155	174	5	-	-	PUNCT
alkej-155	174	6	song	song	NOUN
alkej-155	174	7	lin	lin	PROPN
alkej-155	174	8	,	,	PUNCT
alkej-155	174	9	yu	yu	PROPN
alkej-155	174	10	-	-	PROPN
alkej-155	174	11	fei	fei	PROPN
alkej-155	174	12	yao	yao	PROPN
alkej-155	174	13	and	and	CCONJ
alkej-155	174	14	jun	jun	PROPN
alkej-155	174	15	-	-	PROPN
alkej-155	174	16	xiao	xiao	PROPN
alkej-155	174	17	wang	wang	PROPN
alkej-155	174	18	,	,	PUNCT
alkej-155	174	19	"	"	PUNCT
alkej-155	174	20	simulation	simulation	NOUN
alkej-155	174	21	and	and	CCONJ
alkej-155	174	22	application	application	NOUN
alkej-155	174	23	of	of	ADP
alkej-155	174	24	neural	neural	ADJ
alkej-155	174	25	network	network	NOUN
alkej-155	174	26	pid	pid	NOUN
alkej-155	174	27	auto	auto	NOUN
alkej-155	174	28	-	-	PUNCT
alkej-155	174	29	tuning	tune	VERB
alkej-155	174	30	controller	controller	NOUN
alkej-155	174	31	in	in	ADP
alkej-155	174	32	servo	servo	NOUN
alkej-155	174	33	-	-	PUNCT
alkej-155	174	34	system	system	NOUN
alkej-155	174	35	"	"	PUNCT
alkej-155	174	36	,	,	PUNCT
alkej-155	174	37	ieee	ieee	PROPN
alkej-155	174	38	2nd	2nd	ADJ
alkej-155	174	39	international	international	ADJ
alkej-155	174	40	workshop	workshop	NOUN
alkej-155	174	41	on	on	ADP
alkej-155	174	42	database	database	NOUN
alkej-155	174	43	technology	technology	NOUN
alkej-155	174	44	and	and	CCONJ
alkej-155	174	45	applications	application	NOUN
alkej-155	174	46	,	,	PUNCT
alkej-155	174	47	2010	2010	NUM
alkej-155	174	48	,	,	PUNCT
alkej-155	174	49	pp.1	pp.1	NOUN
alkej-155	174	50	-	-	PUNCT
alkej-155	174	51	4	4	NUM
alkej-155	174	52	.	.	PUNCT
alkej-155	175	1	[	[	X
alkej-155	175	2	12	12	NUM
alkej-155	175	3	]	]	PUNCT
alkej-155	175	4	hendookolaei	hendookolaei	NOUN
alkej-155	175	5	,	,	PUNCT
alkej-155	175	6	a.	a.	NOUN
alkej-155	175	7	and	and	CCONJ
alkej-155	175	8	ahmadi	ahmadi	PROPN
alkej-155	175	9	,	,	PUNCT
alkej-155	175	10	n.	n.	PROPN
alkej-155	175	11	a.	a.	NOUN
alkej-155	175	12	,	,	PUNCT
alkej-155	175	13	"	"	PUNCT
alkej-155	175	14	pid	pid	NOUN
alkej-155	175	15	controller	controller	NOUN
alkej-155	175	16	with	with	ADP
alkej-155	175	17	neural	neural	ADJ
alkej-155	175	18	auto	auto	NOUN
alkej-155	175	19	tuner	tuner	NOUN
alkej-155	175	20	applied	apply	VERB
alkej-155	175	21	in	in	ADP
alkej-155	175	22	drum	drum	NOUN
alkej-155	175	23	type	type	NOUN
alkej-155	175	24	boilers	boiler	NOUN
alkej-155	175	25	"	"	PUNCT
alkej-155	175	26	,	,	PUNCT
alkej-155	175	27	canadian	canadian	ADJ
alkej-155	175	28	journal	journal	NOUN
alkej-155	175	29	on	on	ADP
alkej-155	175	30	electrical	electrical	ADJ
alkej-155	175	31	and	and	CCONJ
alkej-155	175	32	electronics	electronic	NOUN
alkej-155	175	33	engineering	engineering	NOUN
alkej-155	175	34	,	,	PUNCT
alkej-155	175	35	vol	vol	NOUN
alkej-155	175	36	.	.	PROPN
alkej-155	176	1	3	3	NUM
alkej-155	176	2	,	,	PUNCT
alkej-155	176	3	no	no	INTJ
alkej-155	176	4	.	.	NOUN
alkej-155	176	5	6	6	NUM
alkej-155	176	6	,	,	PUNCT
alkej-155	176	7	2012	2012	NUM
alkej-155	176	8	.	.	PUNCT
alkej-155	177	1	[	[	X
alkej-155	177	2	13	13	NUM
alkej-155	177	3	]	]	X
alkej-155	177	4	copeland	copeland	PROPN
alkej-155	177	5	,	,	PUNCT
alkej-155	177	6	r.	r.	PROPN
alkej-155	177	7	p.	p.	PROPN
alkej-155	177	8	and	and	CCONJ
alkej-155	177	9	rattan	rattan	PROPN
alkej-155	177	10	,	,	PUNCT
alkej-155	177	11	k.	k.	PROPN
alkej-155	177	12	s.	s.	PROPN
alkej-155	177	13	,	,	PUNCT
alkej-155	177	14	"	"	PUNCT
alkej-155	177	15	a	a	DET
alkej-155	177	16	fuzzy	fuzzy	ADJ
alkej-155	177	17	supervisor	supervisor	NOUN
alkej-155	177	18	for	for	ADP
alkej-155	177	19	pd	pd	PROPN
alkej-155	177	20	control	control	NOUN
alkej-155	177	21	of	of	ADP
alkej-155	177	22	unknown	unknown	ADJ
alkej-155	177	23	systems	system	NOUN
alkej-155	177	24	"	"	PUNCT
alkej-155	177	25	,	,	PUNCT
alkej-155	177	26	ieee	ieee	PROPN
alkej-155	177	27	international	international	ADJ
alkej-155	177	28	symposium	symposium	NOUN
alkej-155	177	29	on	on	ADP
alkej-155	177	30	intelligent	intelligent	ADJ
alkej-155	177	31	control	control	NOUN
alkej-155	177	32	,	,	PUNCT
alkej-155	177	33	1994	1994	NUM
alkej-155	177	34	,	,	PUNCT
alkej-155	177	35	pp.22	pp.22	NOUN
alkej-155	177	36	-	-	PUNCT
alkej-155	177	37	26	26	NUM
alkej-155	177	38	.	.	PUNCT
alkej-155	178	1	[	[	X
alkej-155	178	2	14	14	NUM
alkej-155	178	3	]	]	SYM
alkej-155	178	4	algreer	algreer	NOUN
alkej-155	178	5	,	,	PUNCT
alkej-155	178	6	m.m.f	m.m.f	ADJ
alkej-155	178	7	.	.	PUNCT
alkej-155	178	8	and	and	CCONJ
alkej-155	178	9	kuraz	kuraz	PROPN
alkej-155	178	10	,	,	PUNCT
alkej-155	178	11	y.r.m	y.r.m	PROPN
alkej-155	178	12	.	.	PROPN
alkej-155	178	13	,	,	PUNCT
alkej-155	178	14	"	"	PUNCT
alkej-155	178	15	design	design	VERB
alkej-155	178	16	fuzzy	fuzzy	ADJ
alkej-155	178	17	self	self	NOUN
alkej-155	178	18	tuning	tuning	NOUN
alkej-155	178	19	of	of	ADP
alkej-155	178	20	pid	pid	NOUN
alkej-155	178	21	controller	controller	NOUN
alkej-155	178	22	for	for	ADP
alkej-155	178	23	chopper	chopper	NOUN
alkej-155	178	24	-	-	PUNCT
alkej-155	178	25	fed	feed	VERB
alkej-155	178	26	dc	dc	PROPN
alkej-155	178	27	motor	motor	PROPN
alkej-155	178	28	drive	drive	PROPN
alkej-155	178	29	"	"	PUNCT
alkej-155	178	30	,	,	PUNCT
alkej-155	178	31	alrafidian	alrafidian	ADJ
alkej-155	178	32	engineering	engineering	NOUN
alkej-155	178	33	,	,	PUNCT
alkej-155	178	34	vol.16	vol.16	PROPN
alkej-155	178	35	,	,	PUNCT
alkej-155	178	36	no.2	no.2	PROPN
alkej-155	178	37	,	,	PUNCT
alkej-155	178	38	2008	2008	NUM
alkej-155	178	39	,	,	PUNCT
alkej-155	178	40	pp.54	pp.54	NOUN
alkej-155	178	41	-	-	PUNCT
alkej-155	178	42	66	66	NUM
alkej-155	178	43	.	.	PUNCT
alkej-155	179	1	[	[	X
alkej-155	179	2	15	15	NUM
alkej-155	179	3	]	]	X
alkej-155	179	4	ataei	ataei	NOUN
alkej-155	179	5	,	,	PUNCT
alkej-155	179	6	m.	m.	NOUN
alkej-155	179	7	and	and	CCONJ
alkej-155	179	8	shafiei	shafiei	PROPN
alkej-155	179	9	s.	s.	PROPN
alkej-155	179	10	e.	e.	PROPN
alkej-155	179	11	,	,	PUNCT
alkej-155	179	12	"	"	PUNCT
alkej-155	179	13	sliding	slide	VERB
alkej-155	179	14	mode	mode	ADJ
alkej-155	179	15	pid	pid	ADJ
alkej-155	179	16	-	-	PUNCT
alkej-155	179	17	controller	controller	NOUN
alkej-155	179	18	design	design	NOUN
alkej-155	179	19	for	for	ADP
alkej-155	179	20	robot	robot	NOUN
alkej-155	179	21	manipulators	manipulator	NOUN
alkej-155	179	22	by	by	ADP
alkej-155	179	23	using	use	VERB
alkej-155	179	24	fuzzy	fuzzy	ADJ
alkej-155	179	25	tuning	tuning	NOUN
alkej-155	179	26	approach	approach	NOUN
alkej-155	179	27	"	"	PUNCT
alkej-155	179	28	,	,	PUNCT
alkej-155	179	29	27th	27th	ADJ
alkej-155	179	30	chinese	chinese	PROPN
alkej-155	179	31	control	control	PROPN
alkej-155	179	32	conference	conference	PROPN
alkej-155	179	33	,	,	PUNCT
alkej-155	179	34	kunming	kunming	PROPN
alkej-155	179	35	,	,	PUNCT
alkej-155	179	36	china	china	PROPN
alkej-155	179	37	,	,	PUNCT
alkej-155	179	38	2008	2008	NUM
alkej-155	179	39	,	,	PUNCT
alkej-155	179	40	pp.170174	pp.170174	PROPN
alkej-155	179	41	.	.	PUNCT
alkej-155	180	1	[	[	X
alkej-155	180	2	16	16	NUM
alkej-155	180	3	]	]	X
alkej-155	180	4	chia	chia	PROPN
alkej-155	180	5	-	-	PUNCT
alkej-155	180	6	ju	ju	PROPN
alkej-155	180	7	wu	wu	PROPN
alkej-155	180	8	,	,	PUNCT
alkej-155	180	9	"	"	PUNCT
alkej-155	180	10	genetic	genetic	ADJ
alkej-155	180	11	tuning	tuning	NOUN
alkej-155	180	12	of	of	ADP
alkej-155	180	13	pid	pid	NOUN
alkej-155	180	14	controllers	controller	NOUN
alkej-155	180	15	using	use	VERB
alkej-155	180	16	a	a	DET
alkej-155	180	17	neural	neural	ADJ
alkej-155	180	18	network	network	NOUN
alkej-155	180	19	model	model	NOUN
alkej-155	180	20	:	:	PUNCT
alkej-155	180	21	a	a	DET
alkej-155	180	22	seesaw	seesaw	NOUN
alkej-155	180	23	example	example	NOUN
alkej-155	180	24	"	"	PUNCT
alkej-155	180	25	,	,	PUNCT
alkej-155	180	26	journal	journal	NOUN
alkej-155	180	27	of	of	ADP
alkej-155	180	28	intelligent	intelligent	ADJ
alkej-155	180	29	and	and	CCONJ
alkej-155	180	30	robotic	robotic	ADJ
alkej-155	180	31	systems	system	NOUN
alkej-155	180	32	,	,	PUNCT
alkej-155	180	33	vol.25	vol.25	ADJ
alkej-155	180	34	,	,	PUNCT
alkej-155	180	35	1999	1999	NUM
alkej-155	180	36	,	,	PUNCT
alkej-155	180	37	pp.4359	pp.4359	PROPN
alkej-155	180	38	.	.	PUNCT
alkej-155	181	1	[	[	X
alkej-155	181	2	17	17	NUM
alkej-155	181	3	]	]	X
alkej-155	181	4	azevedo	azevedo	PROPN
alkej-155	181	5	,	,	PUNCT
alkej-155	181	6	ana	ana	PROPN
alkej-155	181	7	b.	b.	PROPN
alkej-155	181	8	and	and	CCONJ
alkej-155	181	9	ruano	ruano	PROPN
alkej-155	181	10	,	,	PUNCT
alkej-155	181	11	antonio	antonio	PROPN
alkej-155	181	12	e.	e.	PROPN
alkej-155	181	13	,	,	PUNCT
alkej-155	181	14	"	"	PUNCT
alkej-155	181	15	neural	neural	ADJ
alkej-155	181	16	networks	network	NOUN
alkej-155	181	17	pid	pid	NOUN
alkej-155	181	18	autotuning	autotune	VERB
alkej-155	181	19	with	with	ADP
alkej-155	181	20	online	online	ADJ
alkej-155	181	21	adaptation	adaptation	NOUN
alkej-155	181	22	"	"	PUNCT
alkej-155	181	23	,	,	PUNCT
alkej-155	181	24	16th	16th	ADJ
alkej-155	181	25	imags	imag	NOUN
alkej-155	181	26	world	world	NOUN
alkej-155	181	27	congree	congree	NOUN
alkej-155	181	28	,	,	PUNCT
alkej-155	181	29	2000	2000	NUM
alkej-155	181	30	.	.	PUNCT
alkej-155	182	1	[	[	X
alkej-155	182	2	18	18	NUM
alkej-155	182	3	]	]	X
alkej-155	182	4	kui	kui	PROPN
alkej-155	182	5	zhang	zhang	PROPN
alkej-155	182	6	and	and	CCONJ
alkej-155	182	7	xinyan	xinyan	PROPN
alkej-155	182	8	an	an	NOUN
alkej-155	182	9	,	,	PUNCT
alkej-155	182	10	"	"	PUNCT
alkej-155	182	11	design	design	NOUN
alkej-155	182	12	of	of	ADP
alkej-155	182	13	multivariable	multivariable	ADJ
alkej-155	182	14	self	self	NOUN
alkej-155	182	15	-	-	PUNCT
alkej-155	182	16	tuning	tune	VERB
alkej-155	182	17	pid	pid	NOUN
alkej-155	182	18	controllers	controller	NOUN
alkej-155	182	19	via	via	ADP
alkej-155	182	20	quasi	quasi	ADJ
alkej-155	182	21	-	-	ADJ
alkej-155	182	22	diagonal	diagonal	ADJ
alkej-155	182	23	recurrent	recurrent	ADJ
alkej-155	182	24	wavelet	wavelet	NOUN
alkej-155	182	25	neural	neural	ADJ
alkej-155	182	26	network	network	NOUN
alkej-155	182	27	"	"	PUNCT
alkej-155	182	28	,	,	PUNCT
alkej-155	182	29	2nd	2nd	ADJ
alkej-155	182	30	international	international	ADJ
alkej-155	182	31	conference	conference	NOUN
alkej-155	182	32	on	on	ADP
alkej-155	182	33	intelligent	intelligent	ADJ
alkej-155	182	34	human	human	ADJ
alkej-155	182	35	machine	machine	NOUN
alkej-155	182	36	systems	system	NOUN
alkej-155	182	37	and	and	CCONJ
alkej-155	182	38	cybernetics	cybernetic	NOUN
alkej-155	182	39	,	,	PUNCT
alkej-155	182	40	vol.2	vol.2	PROPN
alkej-155	182	41	,	,	PUNCT
alkej-155	182	42	2010	2010	NUM
alkej-155	182	43	,	,	PUNCT
alkej-155	182	44	pp.95	pp.95	NOUN
alkej-155	182	45	-	-	PUNCT
alkej-155	182	46	99	99	NUM
alkej-155	182	47	.	.	PUNCT
alkej-155	183	1	[	[	X
alkej-155	183	2	19	19	NUM
alkej-155	183	3	]	]	PUNCT
alkej-155	183	4	selami	selami	PROPN
alkej-155	183	5	,	,	PUNCT
alkej-155	183	6	b.	b.	PROPN
alkej-155	183	7	and	and	CCONJ
alkej-155	183	8	musa	musa	PROPN
alkej-155	183	9	,	,	PUNCT
alkej-155	183	10	a.	a.	NOUN
alkej-155	183	11	,	,	PUNCT
alkej-155	183	12	"	"	PUNCT
alkej-155	183	13	a	a	DET
alkej-155	183	14	new	new	ADJ
alkej-155	183	15	rbf	rbf	PROPN
alkej-155	183	16	network	network	NOUN
alkej-155	183	17	based	base	VERB
alkej-155	183	18	sliding	sliding	ADJ
alkej-155	183	19	-	-	PUNCT
alkej-155	183	20	mode	mode	NOUN
alkej-155	183	21	control	control	NOUN
alkej-155	183	22	of	of	ADP
alkej-155	183	23	nonlinear	nonlinear	ADJ
alkej-155	183	24	systems	system	NOUN
alkej-155	183	25	"	"	PUNCT
alkej-155	183	26	,	,	PUNCT
alkej-155	183	27	international	international	ADJ
alkej-155	183	28	multi	multi	ADJ
alkej-155	183	29	conference	conference	NOUN
alkej-155	183	30	on	on	ADP
alkej-155	183	31	computer	computer	NOUN
alkej-155	183	32	science	science	NOUN
alkej-155	183	33	and	and	CCONJ
alkej-155	183	34	information	information	NOUN
alkej-155	183	35	technology	technology	NOUN
alkej-155	183	36	,	,	PUNCT
alkej-155	183	37	vol.4	vol.4	PROPN
alkej-155	183	38	,	,	PUNCT
alkej-155	183	39	2009	2009	NUM
alkej-155	183	40	,	,	PUNCT
alkej-155	183	41	pp.1116	pp.1116	PROPN
alkej-155	183	42	.	.	PUNCT
alkej-155	184	1	[	[	X
alkej-155	184	2	20	20	NUM
alkej-155	184	3	]	]	X
alkej-155	184	4	ogata	ogata	PROPN
alkej-155	184	5	,	,	PUNCT
alkej-155	184	6	k.	k.	PROPN
alkej-155	184	7	,	,	PUNCT
alkej-155	184	8	"	"	PUNCT
alkej-155	184	9	modern	modern	ADJ
alkej-155	184	10	control	control	NOUN
alkej-155	184	11	engineering	engineering	NOUN
alkej-155	184	12	"	"	PUNCT
alkej-155	184	13	,	,	PUNCT
alkej-155	184	14	prentic	prentic	ADJ
alkej-155	184	15	-	-	PUNCT
alkej-155	184	16	hall	hall	NOUN
alkej-155	184	17	,	,	PUNCT
alkej-155	184	18	inc	inc	PROPN
alkej-155	184	19	.	.	PROPN
alkej-155	184	20	,	,	PUNCT
alkej-155	184	21	2002	2002	NUM
alkej-155	184	22	.	.	PUNCT
alkej-155	185	1	[	[	X
alkej-155	185	2	21	21	NUM
alkej-155	185	3	]	]	X
alkej-155	185	4	howard	howard	PROPN
alkej-155	185	5	demnth	demnth	PROPN
alkej-155	185	6	and	and	CCONJ
alkej-155	185	7	mark	mark	PROPN
alkej-155	185	8	beale	beale	PROPN
alkej-155	185	9	,	,	PUNCT
alkej-155	185	10	"	"	PUNCT
alkej-155	185	11	neural	neural	ADJ
alkej-155	185	12	network	network	NOUN
alkej-155	185	13	toolbox	toolbox	NOUN
alkej-155	185	14	"	"	PUNCT
alkej-155	185	15	,	,	PUNCT
alkej-155	185	16	the	the	DET
alkej-155	185	17	math	math	NOUN
alkej-155	185	18	works	works	PROPN
alkej-155	185	19	,	,	PUNCT
alkej-155	185	20	inc	inc	PROPN
alkej-155	185	21	.	.	PROPN
alkej-155	185	22	,	,	PUNCT
alkej-155	185	23	2008	2008	NUM
alkej-155	185	24	,	,	PUNCT
alkej-155	185	25	pp.327	pp.327	NOUN
alkej-155	185	26	-	-	PUNCT
alkej-155	185	27	337	337	NUM
alkej-155	185	28	.	.	PUNCT
alkej-155	186	1	[	[	X
alkej-155	186	2	22	22	NUM
alkej-155	186	3	]	]	PUNCT
alkej-155	186	4	craige	craige	NOUN
alkej-155	186	5	,	,	PUNCT
alkej-155	186	6	john	john	PROPN
alkej-155	186	7	j.	j.	PROPN
alkej-155	186	8	,	,	PUNCT
alkej-155	186	9	"	"	PUNCT
alkej-155	186	10	introduction	introduction	NOUN
alkej-155	186	11	to	to	ADP
alkej-155	186	12	robotics	robotic	NOUN
alkej-155	186	13	:	:	PUNCT
alkej-155	186	14	mechanics	mechanic	NOUN
alkej-155	186	15	and	and	CCONJ
alkej-155	186	16	control	control	NOUN
alkej-155	186	17	"	"	PUNCT
alkej-155	186	18	,	,	PUNCT
alkej-155	186	19	prentice	prentice	NOUN
alkej-155	186	20	-	-	PUNCT
alkej-155	186	21	hell	hell	PROPN
alkej-155	186	22	,	,	PUNCT
alkej-155	186	23	inc	inc	PROPN
alkej-155	186	24	.	.	PROPN
alkej-155	186	25	,	,	PUNCT
alkej-155	186	26	2005	2005	NUM
alkej-155	186	27	,	,	PUNCT
alkej-155	186	28	pp.180	pp.180	NOUN
alkej-155	186	29	.	.	PUNCT
alkej-155	187	1	[	[	X
alkej-155	187	2	23	23	NUM
alkej-155	187	3	]	]	X
alkej-155	187	4	lehuy	lehuy	NOUN
alkej-155	187	5	,	,	PUNCT
alkej-155	187	6	h.	h.	PROPN
alkej-155	187	7	and	and	CCONJ
alkej-155	187	8	sybille	sybille	PROPN
alkej-155	187	9	,	,	PUNCT
alkej-155	187	10	g.	g.	PROPN
alkej-155	187	11	,	,	PUNCT
alkej-155	187	12	"	"	PUNCT
alkej-155	187	13	matlab	matlab	PROPN
alkej-155	187	14	help	help	NOUN
alkej-155	187	15	ver.7	ver.7	PROPN
alkej-155	187	16	"	"	PUNCT
alkej-155	187	17	,	,	PUNCT
alkej-155	187	18	math	math	NOUN
alkej-155	187	19	works	works	PROPN
alkej-155	187	20	,	,	PUNCT
alkej-155	187	21	inc	inc	PROPN
alkej-155	187	22	.	.	PROPN
alkej-155	187	23	,	,	PUNCT
alkej-155	187	24	2004	2004	NUM
alkej-155	187	25	.	.	PUNCT
alkej-155	188	1	[	[	X
alkej-155	188	2	24	24	NUM
alkej-155	188	3	]	]	SYM
alkej-155	188	4	heredia	heredia	PROPN
alkej-155	188	5	,	,	PUNCT
alkej-155	188	6	a.	a.	PROPN
alkej-155	188	7	and	and	CCONJ
alkej-155	188	8	wen	wen	PROPN
alkej-155	188	9	yu	yu	PROPN
alkej-155	188	10	,	,	PUNCT
alkej-155	188	11	"	"	PUNCT
alkej-155	188	12	a	a	DET
alkej-155	188	13	high	high	ADJ
alkej-155	188	14	-	-	PUNCT
alkej-155	188	15	gain	gain	NOUN
alkej-155	188	16	observer	observer	NOUN
alkej-155	188	17	-	-	PUNCT
alkej-155	188	18	based	base	VERB
alkej-155	188	19	pd	pd	PROPN
alkej-155	188	20	control	control	NOUN
alkej-155	188	21	for	for	ADP
alkej-155	188	22	robot	robot	NOUN
alkej-155	188	23	manipulator	manipulator	NOUN
alkej-155	188	24	"	"	PUNCT
alkej-155	188	25	,	,	PUNCT
alkej-155	188	26	american	american	PROPN
alkej-155	188	27	control	control	PROPN
alkej-155	188	28	conference	conference	PROPN
alkej-155	188	29	,	,	PUNCT
alkej-155	188	30	chicago	chicago	PROPN
alkej-155	188	31	,	,	PUNCT
alkej-155	188	32	usa	usa	PROPN
alkej-155	188	33	,	,	PUNCT
alkej-155	188	34	vol.4	vol.4	PROPN
alkej-155	188	35	,	,	PUNCT
alkej-155	188	36	2000	2000	NUM
alkej-155	188	37	,	,	PUNCT
alkej-155	188	38	pp.2518	pp.2518	PROPN
alkej-155	188	39	-	-	PUNCT
alkej-155	188	40	2522	2522	NUM
alkej-155	188	41	.	.	PUNCT
alkej-155	188	42	)	)	PUNCT
alkej-155	188	43	2013	2013	NUM
alkej-155	188	44	(	(	PUNCT
alkej-155	188	45	1928	1928	NUM
alkej-155	188	46	،	،	NOUN
alkej-155	188	47	صفحة	صفحة	PROPN
alkej-155	188	48	1	1	NUM
alkej-155	188	49	،	،	X
alkej-155	188	50	العدد9مجلة	العدد9مجلة	NOUN
alkej-155	188	51	الخوارزمي	الخوارزمي	VERB
alkej-155	188	52	الھندسیة	الھندسیة	PROPN
alkej-155	188	53	المجلد	المجلد	PROPN
alkej-155	188	54	سعد	سعد	PROPN
alkej-155	188	55	زغلول	زغلول	PROPN
alkej-155	188	56	سعید	سعید	PROPN
alkej-155	188	57	28	28	NUM
alkej-155	188	58	التفاضلي	التفاضلي	ADJ
alkej-155	188	59	بالشبكة	بالشبكة	NOUN
alkej-155	188	60	العصبية	العصبية	PROPN
alkej-155	189	1	لتتبع	لتتبع	PROPN
alkej-155	190	1	مسار	مسار	PROPN
alkej-155	191	1	ذراع	ذراع	PROPN
alkej-155	191	2	روبوت	روبوت	ADJ
alkej-155	191	3	-	-	PUNCT
alkej-155	191	4	التكاملي	التكاملي	NOUN
alkej-155	191	5	-	-	PUNCT
alkej-155	191	6	موالفة	موالفة	PROPN
alkej-155	191	7	المسيطر	المسيطر	PROPN
alkej-155	191	8	التناسبي	التناسبي	PROPN
alkej-155	191	9	سعد	سعد	PROPN
alkej-155	191	10	زغلول	زغلول	PROPN
alkej-155	191	11	سعید	سعید	PROPN
alkej-155	191	12	الخیاط	الخیاط	PROPN
alkej-155	191	13	جامعة	جامعة	PROPN
alkej-155	191	14	الموصل	الموصل	PROPN
alkej-155	191	15	/كلیة	/كلیة	PART
alkej-155	191	16	الھندسة	الھندسة	PROPN
alkej-155	191	17	/قسم	/قسم	PUNCT
alkej-155	191	18	ھندسة	ھندسة	PROPN
alkej-155	191	19	المیكاترونكس	المیكاترونكس	ADP
alkej-155	191	20	t@yahoo.comaalkhya	t@yahoo.comaalkhya	NUM
alkej-155	191	21	:	:	PUNCT
alkej-155	192	1	البرید	البرید	NOUN
alkej-155	192	2	األلكتروني	األلكتروني	ADJ
alkej-155	192	3	الخالصة	الخالصة	PROPN
alkej-155	192	4	pidالطریقة	pidالطریقة	NOUN
alkej-155	192	5	بسیطة	بسیطة	VERB
alkej-155	192	6	و	و	PRON
alkej-155	192	7	تعطي	تعطي	X
alkej-155	192	8	قیم	قیم	PUNCT
alkej-155	193	1	ثابتة	ثابتة	PROPN
alkej-155	193	2	للمعامالت	للمعامالت	PROPN
alkej-155	193	3	مما	مما	PROPN
alkej-155	193	4	یجعل	یجعل	PROPN
alkej-155	193	5	المسیطر	المسیطر	NOUN
alkej-155	193	6	.	.	PUNCT
alkej-155	194	1	pidطریقة	pidطریقة	PROPN
alkej-155	194	2	لتولیف	لتولیف	PROPN
alkej-155	194	3	معامالت	معامالت	PROPN
alkej-155	194	4	المسیطر	المسیطر	PROPN
alkej-155	194	5	nichols	nichols	PROPN
alkej-155	194	6	و	و	PROPN
alkej-155	194	7	zieglerاقترح	zieglerاقترح	PROPN
alkej-155	194	8	الباحثان	الباحثان	PROPN
alkej-155	194	9	ة	ة	ADP
alkej-155	194	10	بالشبك	بالشبك	NOUN
alkej-155	194	11	pidلكي	pidلكي	NOUN
alkej-155	194	12	ینجز	ینجز	NOUN
alkej-155	194	13	مسیطر	مسیطر	NOUN
alkej-155	194	14	متكیف	متكیف	PROPN
alkej-155	194	15	،	،	PROPN
alkej-155	194	16	تم	تم	NOUN
alkej-155	194	17	اقتراح	اقتراح	PROPN
alkej-155	195	1	في	في	SCONJ
alkej-155	195	2	ھذا	ھذا	PROPN
alkej-155	195	3	البحث	البحث	PROPN
alkej-155	195	4	موالفة	موالفة	PROPN
alkej-155	195	5	المسیطر	المسیطر	PROPN
alkej-155	196	1	.ضعیفا	.ضعیفا	PROPN
alkej-155	196	2	في	في	SCONJ
alkej-155	196	3	التكیف	التكیف	PROPN
alkej-155	196	4	للتغیر	للتغیر	VERB
alkej-155	196	5	في	في	X
alkej-155	197	1	خواص	خواص	ADV
alkej-155	197	2	المنظومة	المنظومة	ADP
alkej-155	197	3	و	و	PRON
alkej-155	197	4	ظروف	ظروف	NOUN
alkej-155	197	5	التشغیل	التشغیل	NOUN
alkej-155	197	6	یمكن	یمكن	NOUN
alkej-155	197	7	ان	ان	ADP
alkej-155	197	8	kp	kp	PROPN
alkej-155	197	9	،	،	PROPN
alkej-155	197	10	ki	ki	PROPN
alkej-155	197	11	،	،	PROPN
alkej-155	197	12	kdو	kdو	X
alkej-155	197	13	ھي	ھي	ADV
alkej-155	197	14	المكاسب	المكاسب	X
alkej-155	197	15	pidان	pidان	ADJ
alkej-155	197	16	معامالت	معامالت	ADJ
alkej-155	197	17	المسیطر	المسیطر	NOUN
alkej-155	197	18	.	.	PUNCT
alkej-155	198	1	التقلیدي	التقلیدي	ADV
alkej-155	198	2	مع	مع	INTJ
alkej-155	198	3	قابلیة	قابلیة	NUM
alkej-155	198	4	التعلم	التعلم	PROPN
alkej-155	198	5	للشبكة	للشبكة	PROPN
alkej-155	198	6	العصبیة	العصبیة	NOUN
alkej-155	198	7	pidو	pidو	VERB
alkej-155	198	8	الذي	الذي	PROPN
alkej-155	198	9	یجمع	یجمع	PROPN
alkej-155	198	10	المسیطر	المسیطر	NOUN
alkej-155	198	11	(	(	PUNCT
alkej-155	198	12	nn)العصبیة	nn)العصبیة	NOUN
alkej-155	198	13	التقلیدي	التقلیدي	PROPN
alkej-155	198	14	لذراع	لذراع	PROPN
alkej-155	198	15	الروبوت	الروبوت	PROPN
alkej-155	198	16	pidتم	pidتم	PROPN
alkej-155	198	17	استبدال	استبدال	PROPN
alkej-155	198	18	المسیطر	المسیطر	PROPN
alkej-155	198	19	.	.	PUNCT
alkej-155	199	1	تولف	تولف	PROPN
alkej-155	199	2	أنیا	أنیا	ADJ
alkej-155	199	3	بواسطة	بواسطة	ADJ
alkej-155	199	4	إخراج	إخراج	NOUN
alkej-155	199	5	الشبكة	الشبكة	NOUN
alkej-155	199	6	العصبیة	العصبیة	NOUN
alkej-155	199	7	الذي	الذي	PROPN
alkej-155	199	8	ینتج	ینتج	VERB
alkej-155	199	9	تبعا	تبعا	NOUN
alkej-155	199	10	للخطأ	للخطأ	NOUN
alkej-155	199	11	في	في	ADP
alkej-155	199	12	إخراج	إخراج	NOUN
alkej-155	199	13	المنظومة	المنظومة	ADP
alkej-155	199	14	تحت	تحت	PROPN
alkej-155	199	15	السیطرة	السیطرة	PROPN
alkej-155	199	16	استخدمت	استخدمت	PROPN
alkej-155	199	17	المماثلة	المماثلة	PROPN
alkej-155	199	18	عبر	عبر	PROPN
alkej-155	199	19	الحاسوب	الحاسوب	PROPN
alkej-155	199	20	اآللي	اآللي	NOUN
alkej-155	199	21	و	و	PRON
alkej-155	199	22	أظھرت	أظھرت	PROPN
alkej-155	199	23	النتائج	النتائج	PROPN
alkej-155	199	24	ان	ان	ADV
alkej-155	199	25	)	)	PUNCT
alkej-155	199	26	.	.	PUNCT
alkej-155	200	1	تجاوز	تجاوز	PROPN
alkej-155	200	2	الحد(بالمسیطر	الحد(بالمسیطر	PROPN
alkej-155	200	3	المقترح	المقترح	NOUN
alkej-155	200	4	لكي	لكي	NOUN
alkej-155	200	5	ینجز	ینجز	PROPN
alkej-155	200	6	تتبع	تتبع	PROPN
alkej-155	200	7	المسار	المسار	NOUN
alkej-155	200	8	بأقل	بأقل	VERB
alkej-155	200	9	خطأ	خطأ	PROPN
alkej-155	200	10	و	و	PRON
alkej-155	200	11	تحسین	تحسین	VERB
alkej-155	200	12	التصرف	التصرف	NOUN
alkej-155	200	13	الدینامیكي	الدینامیكي	PROPN
alkej-155	200	14	.	.	PUNCT
alkej-155	201	1	التقلیدي	التقلیدي	PROPN
alkej-155	201	2	pidالمسیطر	pidالمسیطر	NOUN
alkej-155	201	3	المقترح	المقترح	NOUN
alkej-155	201	4	یمتلك	یمتلك	NOUN
alkej-155	201	5	تكیفا	تكیفا	PROPN
alkej-155	201	6	ذاتیا	ذاتیا	PROPN
alkej-155	201	7	متفوقا	متفوقا	NOUN
alkej-155	201	8	على	على	NOUN
alkej-155	201	9	المسیطر	المسیطر	NOUN