id	sid	tid	token	lemma	pos
alkej-192	1	1	speed	speed	NOUN
alkej-192	1	2	control	control	NOUN
alkej-192	1	3	system	system	NOUN
alkej-192	1	4	al	al	PROPN
alkej-192	1	5	-	-	PUNCT
alkej-192	1	6	khwarizmi	khwarizmi	PROPN
alkej-192	1	7	engineering	engineering	PROPN
alkej-192	1	8	journal	journal	PROPN
alkej-192	1	9	al	al	PROPN
alkej-192	1	10	-	-	PUNCT
alkej-192	1	11	khwarizmi	khwarizmi	PROPN
alkej-192	1	12	engineering	engineering	NOUN
alkej-192	1	13	journal	journal	PROPN
alkej-192	1	14	,	,	PUNCT
alkej-192	1	15	vol	vol	NOUN
alkej-192	1	16	.	.	PROPN
alkej-192	1	17	10	10	NUM
alkej-192	1	18	,	,	PUNCT
alkej-192	1	19	no	no	INTJ
alkej-192	1	20	.	.	NOUN
alkej-192	1	21	1	1	NUM
alkej-192	1	22	,	,	PUNCT
alkej-192	1	23	p.p	p.p	PROPN
alkej-192	1	24	.	.	NOUN
alkej-192	1	25	7282	7282	NUM
alkej-192	1	26	(	(	PUNCT
alkej-192	1	27	2014	2014	NUM
alkej-192	1	28	)	)	PUNCT
alkej-192	1	29	design	design	NOUN
alkej-192	1	30	of	of	ADP
alkej-192	1	31	nonlinear	nonlinear	ADJ
alkej-192	1	32	pid	pid	NOUN
alkej-192	1	33	neural	neural	ADJ
alkej-192	1	34	controller	controller	NOUN
alkej-192	1	35	for	for	ADP
alkej-192	1	36	the	the	DET
alkej-192	1	37	speed	speed	NOUN
alkej-192	1	38	control	control	NOUN
alkej-192	1	39	of	of	ADP
alkej-192	1	40	a	a	DET
alkej-192	1	41	permanent	permanent	ADJ
alkej-192	1	42	magnet	magnet	NOUN
alkej-192	1	43	dc	dc	PROPN
alkej-192	1	44	motor	motor	NOUN
alkej-192	1	45	model	model	NOUN
alkej-192	1	46	based	base	VERB
alkej-192	1	47	on	on	ADP
alkej-192	1	48	optimization	optimization	NOUN
alkej-192	1	49	algorithm	algorithm	NOUN
alkej-192	1	50	ahmed	ahmed	PROPN
alkej-192	1	51	sabah	sabah	PROPN
alkej-192	1	52	al	al	PROPN
alkej-192	1	53	-	-	PUNCT
alkej-192	1	54	araji	araji	PROPN
alkej-192	1	55	department	department	PROPN
alkej-192	1	56	of	of	ADP
alkej-192	1	57	control	control	PROPN
alkej-192	1	58	and	and	CCONJ
alkej-192	1	59	systems	system	NOUN
alkej-192	1	60	engineering	engineering	NOUN
alkej-192	1	61	/	/	SYM
alkej-192	1	62	university	university	NOUN
alkej-192	1	63	of	of	ADP
alkej-192	1	64	technology	technology	NOUN
alkej-192	1	65	e	e	NOUN
alkej-192	1	66	-	-	NOUN
alkej-192	1	67	mail	mail	NOUN
alkej-192	1	68	:	:	PUNCT
alkej-192	1	69	ahmedsas2040@yahoo.com	ahmedsas2040@yahoo.com	X
alkej-192	2	1	(	(	PUNCT
alkej-192	2	2	received	receive	VERB
alkej-192	2	3	18	18	NUM
alkej-192	2	4	december	december	PROPN
alkej-192	2	5	2013	2013	NUM
alkej-192	2	6	;	;	PUNCT
alkej-192	2	7	accepted	accept	VERB
alkej-192	2	8	24	24	NUM
alkej-192	2	9	march	march	NOUN
alkej-192	2	10	2014	2014	NUM
alkej-192	2	11	)	)	PUNCT
alkej-192	2	12	abstract	abstract	ADV
alkej-192	2	13	in	in	ADP
alkej-192	2	14	this	this	DET
alkej-192	2	15	paper	paper	NOUN
alkej-192	2	16	,	,	PUNCT
alkej-192	2	17	the	the	DET
alkej-192	2	18	speed	speed	NOUN
alkej-192	2	19	control	control	NOUN
alkej-192	2	20	of	of	ADP
alkej-192	2	21	the	the	DET
alkej-192	2	22	real	real	ADJ
alkej-192	2	23	dc	dc	PROPN
alkej-192	2	24	motor	motor	NOUN
alkej-192	2	25	is	be	AUX
alkej-192	2	26	experimentally	experimentally	ADV
alkej-192	2	27	investigated	investigate	VERB
alkej-192	2	28	using	use	VERB
alkej-192	2	29	nonlinear	nonlinear	ADJ
alkej-192	2	30	pid	pid	NOUN
alkej-192	2	31	neural	neural	ADJ
alkej-192	2	32	network	network	NOUN
alkej-192	2	33	controller	controller	NOUN
alkej-192	2	34	.	.	PUNCT
alkej-192	3	1	as	as	ADP
alkej-192	3	2	a	a	DET
alkej-192	3	3	simple	simple	ADJ
alkej-192	3	4	and	and	CCONJ
alkej-192	3	5	fast	fast	ADJ
alkej-192	3	6	tuning	tuning	NOUN
alkej-192	3	7	algorithm	algorithm	NOUN
alkej-192	3	8	,	,	PUNCT
alkej-192	3	9	two	two	NUM
alkej-192	3	10	optimization	optimization	NOUN
alkej-192	3	11	techniques	technique	NOUN
alkej-192	3	12	are	be	AUX
alkej-192	3	13	used	use	VERB
alkej-192	3	14	;	;	PUNCT
alkej-192	3	15	trial	trial	NOUN
alkej-192	3	16	and	and	CCONJ
alkej-192	3	17	error	error	NOUN
alkej-192	3	18	method	method	NOUN
alkej-192	3	19	and	and	CCONJ
alkej-192	3	20	particle	particle	NOUN
alkej-192	3	21	swarm	swarm	NOUN
alkej-192	3	22	optimization	optimization	NOUN
alkej-192	3	23	pso	pso	NOUN
alkej-192	3	24	algorithm	algorithm	NOUN
alkej-192	3	25	in	in	ADP
alkej-192	3	26	order	order	NOUN
alkej-192	3	27	to	to	PART
alkej-192	3	28	tune	tune	VERB
alkej-192	3	29	the	the	DET
alkej-192	3	30	nonlinear	nonlinear	ADJ
alkej-192	3	31	pid	pid	NOUN
alkej-192	3	32	neural	neural	ADJ
alkej-192	3	33	controller	controller	NOUN
alkej-192	3	34	's	's	PART
alkej-192	3	35	parameters	parameter	NOUN
alkej-192	3	36	and	and	CCONJ
alkej-192	3	37	to	to	PART
alkej-192	3	38	find	find	VERB
alkej-192	3	39	best	good	ADJ
alkej-192	3	40	speed	speed	NOUN
alkej-192	3	41	response	response	NOUN
alkej-192	3	42	of	of	ADP
alkej-192	3	43	the	the	DET
alkej-192	3	44	dc	dc	PROPN
alkej-192	3	45	motor	motor	NOUN
alkej-192	3	46	.	.	PUNCT
alkej-192	4	1	to	to	PART
alkej-192	4	2	save	save	VERB
alkej-192	4	3	time	time	NOUN
alkej-192	4	4	in	in	ADP
alkej-192	4	5	the	the	DET
alkej-192	4	6	real	real	ADJ
alkej-192	4	7	system	system	NOUN
alkej-192	4	8	,	,	PUNCT
alkej-192	4	9	a	a	DET
alkej-192	4	10	matlab	matlab	PROPN
alkej-192	4	11	simulation	simulation	NOUN
alkej-192	4	12	package	package	NOUN
alkej-192	4	13	is	be	AUX
alkej-192	4	14	used	use	VERB
alkej-192	4	15	to	to	PART
alkej-192	4	16	carry	carry	VERB
alkej-192	4	17	out	out	ADP
alkej-192	4	18	these	these	DET
alkej-192	4	19	algorithms	algorithm	NOUN
alkej-192	4	20	to	to	PART
alkej-192	4	21	tune	tune	VERB
alkej-192	4	22	and	and	CCONJ
alkej-192	4	23	find	find	VERB
alkej-192	4	24	the	the	DET
alkej-192	4	25	best	good	ADJ
alkej-192	4	26	values	value	NOUN
alkej-192	4	27	of	of	ADP
alkej-192	4	28	the	the	DET
alkej-192	4	29	nonlinear	nonlinear	ADJ
alkej-192	4	30	pid	pid	NOUN
alkej-192	4	31	parameters	parameter	NOUN
alkej-192	4	32	.	.	PUNCT
alkej-192	5	1	then	then	ADV
alkej-192	5	2	these	these	DET
alkej-192	5	3	parameters	parameter	NOUN
alkej-192	5	4	are	be	AUX
alkej-192	5	5	used	use	VERB
alkej-192	5	6	in	in	ADP
alkej-192	5	7	the	the	DET
alkej-192	5	8	designed	design	VERB
alkej-192	5	9	real	real	ADJ
alkej-192	5	10	time	time	NOUN
alkej-192	5	11	nonlinear	nonlinear	PROPN
alkej-192	5	12	pid	pid	NOUN
alkej-192	5	13	controller	controller	NOUN
alkej-192	5	14	system	system	NOUN
alkej-192	5	15	based	base	VERB
alkej-192	5	16	on	on	ADP
alkej-192	5	17	labview	labview	NOUN
alkej-192	5	18	package	package	NOUN
alkej-192	5	19	.	.	PUNCT
alkej-192	6	1	simulation	simulation	NOUN
alkej-192	6	2	and	and	CCONJ
alkej-192	6	3	experimental	experimental	ADJ
alkej-192	6	4	results	result	NOUN
alkej-192	6	5	are	be	AUX
alkej-192	6	6	compared	compare	VERB
alkej-192	6	7	with	with	ADP
alkej-192	6	8	each	each	DET
alkej-192	6	9	other	other	ADJ
alkej-192	6	10	and	and	CCONJ
alkej-192	6	11	showed	show	VERB
alkej-192	6	12	the	the	DET
alkej-192	6	13	effectiveness	effectiveness	NOUN
alkej-192	6	14	of	of	ADP
alkej-192	6	15	the	the	DET
alkej-192	6	16	proposed	propose	VERB
alkej-192	6	17	control	control	NOUN
alkej-192	6	18	algorithm	algorithm	NOUN
alkej-192	6	19	in	in	ADP
alkej-192	6	20	terms	term	NOUN
alkej-192	6	21	of	of	ADP
alkej-192	6	22	fast	fast	ADJ
alkej-192	6	23	and	and	CCONJ
alkej-192	6	24	smooth	smooth	ADJ
alkej-192	6	25	dynamic	dynamic	ADJ
alkej-192	6	26	response	response	NOUN
alkej-192	6	27	for	for	ADP
alkej-192	6	28	the	the	DET
alkej-192	6	29	speed	speed	NOUN
alkej-192	6	30	control	control	NOUN
alkej-192	6	31	of	of	ADP
alkej-192	6	32	the	the	DET
alkej-192	6	33	real	real	ADJ
alkej-192	6	34	dc	dc	PROPN
alkej-192	6	35	motor	motor	NOUN
alkej-192	6	36	.	.	PUNCT
alkej-192	7	1	keywords	keyword	NOUN
alkej-192	7	2	:	:	PUNCT
alkej-192	7	3	nonlinear	nonlinear	ADJ
alkej-192	7	4	pid	pid	NOUN
alkej-192	7	5	controller	controller	NOUN
alkej-192	7	6	,	,	PUNCT
alkej-192	7	7	dc	dc	PROPN
alkej-192	7	8	motor	motor	NOUN
alkej-192	7	9	,	,	PUNCT
alkej-192	7	10	particle	particle	NOUN
alkej-192	7	11	swarm	swarm	NOUN
alkej-192	7	12	optimization	optimization	NOUN
alkej-192	7	13	,	,	PUNCT
alkej-192	7	14	neural	neural	ADJ
alkej-192	7	15	networks	network	NOUN
alkej-192	7	16	,	,	PUNCT
alkej-192	7	17	matlab	matlab	PROPN
alkej-192	7	18	,	,	PUNCT
alkej-192	7	19	labview	labview	NOUN
alkej-192	7	20	.	.	PUNCT
alkej-192	8	1	1	1	X
alkej-192	8	2	.	.	X
alkej-192	8	3	introduction	introduction	NOUN
alkej-192	8	4	direct	direct	ADJ
alkej-192	8	5	current	current	ADJ
alkej-192	8	6	(	(	PUNCT
alkej-192	8	7	dc	dc	PROPN
alkej-192	8	8	)	)	PUNCT
alkej-192	8	9	motors	motor	NOUN
alkej-192	8	10	have	have	AUX
alkej-192	8	11	been	be	AUX
alkej-192	8	12	widely	widely	ADV
alkej-192	8	13	used	use	VERB
alkej-192	8	14	in	in	ADP
alkej-192	8	15	many	many	ADJ
alkej-192	8	16	industrial	industrial	ADJ
alkej-192	8	17	applications	application	NOUN
alkej-192	8	18	such	such	ADJ
alkej-192	8	19	as	as	ADP
alkej-192	8	20	electric	electric	ADJ
alkej-192	8	21	vehicles	vehicle	NOUN
alkej-192	8	22	,	,	PUNCT
alkej-192	8	23	steel	steel	NOUN
alkej-192	8	24	rolling	rolling	NOUN
alkej-192	8	25	mills	mill	NOUN
alkej-192	8	26	,	,	PUNCT
alkej-192	8	27	electric	electric	ADJ
alkej-192	8	28	cranes	crane	NOUN
alkej-192	8	29	,	,	PUNCT
alkej-192	8	30	fans	fan	NOUN
alkej-192	8	31	,	,	PUNCT
alkej-192	8	32	pumps	pump	NOUN
alkej-192	8	33	,	,	PUNCT
alkej-192	8	34	hoists	hoist	NOUN
alkej-192	8	35	,	,	PUNCT
alkej-192	8	36	printing	printing	NOUN
alkej-192	8	37	presses	press	NOUN
alkej-192	8	38	and	and	CCONJ
alkej-192	8	39	robotic	robotic	ADJ
alkej-192	8	40	manipulators	manipulator	NOUN
alkej-192	8	41	due	due	ADJ
alkej-192	8	42	to	to	ADP
alkej-192	8	43	precise	precise	ADJ
alkej-192	8	44	,	,	PUNCT
alkej-192	8	45	wide	wide	ADJ
alkej-192	8	46	,	,	PUNCT
alkej-192	8	47	simple	simple	ADJ
alkej-192	8	48	and	and	CCONJ
alkej-192	8	49	continuous	continuous	ADJ
alkej-192	8	50	control	control	NOUN
alkej-192	8	51	characteristics	characteristic	NOUN
alkej-192	8	52	based	base	VERB
alkej-192	8	53	armature	armature	NOUN
alkej-192	8	54	control	control	NOUN
alkej-192	8	55	method	method	NOUN
alkej-192	8	56	for	for	ADP
alkej-192	8	57	the	the	DET
alkej-192	8	58	speed	speed	NOUN
alkej-192	8	59	control	control	NOUN
alkej-192	8	60	[	[	X
alkej-192	8	61	1	1	NUM
alkej-192	8	62	]	]	PUNCT
alkej-192	8	63	.	.	PUNCT
alkej-192	9	1	many	many	ADJ
alkej-192	9	2	industrial	industrial	ADJ
alkej-192	9	3	applications	application	NOUN
alkej-192	9	4	use	use	VERB
alkej-192	9	5	pid	pid	NOUN
alkej-192	9	6	control	control	NOUN
alkej-192	9	7	to	to	PART
alkej-192	9	8	maintain	maintain	VERB
alkej-192	9	9	constant	constant	ADJ
alkej-192	9	10	process	process	NOUN
alkej-192	9	11	variable	variable	NOUN
alkej-192	9	12	.	.	PUNCT
alkej-192	10	1	the	the	DET
alkej-192	10	2	output	output	NOUN
alkej-192	10	3	of	of	ADP
alkej-192	10	4	pid	pid	NOUN
alkej-192	10	5	controllers	controller	NOUN
alkej-192	10	6	(	(	PUNCT
alkej-192	10	7	proportionalintegrative	proportionalintegrative	ADJ
alkej-192	10	8	derivative	derivative	ADJ
alkej-192	10	9	controllers	controller	NOUN
alkej-192	10	10	)	)	PUNCT
alkej-192	10	11	is	be	AUX
alkej-192	10	12	a	a	DET
alkej-192	10	13	linear	linear	ADJ
alkej-192	10	14	combination	combination	NOUN
alkej-192	10	15	of	of	ADP
alkej-192	10	16	the	the	DET
alkej-192	10	17	input	input	NOUN
alkej-192	10	18	,	,	PUNCT
alkej-192	10	19	the	the	DET
alkej-192	10	20	derivative	derivative	NOUN
alkej-192	10	21	of	of	ADP
alkej-192	10	22	the	the	DET
alkej-192	10	23	input	input	NOUN
alkej-192	10	24	and	and	CCONJ
alkej-192	10	25	the	the	DET
alkej-192	10	26	integral	integral	NOUN
alkej-192	10	27	of	of	ADP
alkej-192	10	28	the	the	DET
alkej-192	10	29	input	input	NOUN
alkej-192	10	30	therefore	therefore	ADV
alkej-192	10	31	it	it	PRON
alkej-192	10	32	is	be	AUX
alkej-192	10	33	widely	widely	ADV
alkej-192	10	34	used	use	VERB
alkej-192	10	35	and	and	CCONJ
alkej-192	10	36	enjoys	enjoy	VERB
alkej-192	10	37	significant	significant	ADJ
alkej-192	10	38	popularity	popularity	NOUN
alkej-192	10	39	,	,	PUNCT
alkej-192	10	40	because	because	SCONJ
alkej-192	10	41	of	of	ADP
alkej-192	10	42	its	its	PRON
alkej-192	10	43	simplicity	simplicity	NOUN
alkej-192	10	44	,	,	PUNCT
alkej-192	10	45	effectiveness	effectiveness	NOUN
alkej-192	10	46	and	and	CCONJ
alkej-192	10	47	robustness	robustness	NOUN
alkej-192	10	48	[	[	X
alkej-192	10	49	2	2	NUM
alkej-192	10	50	]	]	PUNCT
alkej-192	10	51	.	.	PUNCT
alkej-192	11	1	however	however	ADV
alkej-192	11	2	,	,	PUNCT
alkej-192	11	3	pid	pid	DET
alkej-192	11	4	controller	controller	NOUN
alkej-192	11	5	is	be	AUX
alkej-192	11	6	sensitive	sensitive	ADJ
alkej-192	11	7	to	to	PART
alkej-192	11	8	plant	plant	NOUN
alkej-192	11	9	parameter	parameter	NOUN
alkej-192	11	10	variations	variation	NOUN
alkej-192	11	11	and	and	CCONJ
alkej-192	11	12	the	the	DET
alkej-192	11	13	controller	controller	NOUN
alkej-192	11	14	gains	gain	NOUN
alkej-192	11	15	must	must	AUX
alkej-192	11	16	be	be	AUX
alkej-192	11	17	carefully	carefully	ADV
alkej-192	11	18	selected	select	VERB
alkej-192	11	19	for	for	ADP
alkej-192	11	20	a	a	DET
alkej-192	11	21	desired	desire	VERB
alkej-192	11	22	response	response	NOUN
alkej-192	11	23	.	.	PUNCT
alkej-192	12	1	in	in	ADP
alkej-192	12	2	order	order	NOUN
alkej-192	12	3	to	to	PART
alkej-192	12	4	overcome	overcome	VERB
alkej-192	12	5	these	these	DET
alkej-192	12	6	problems	problem	NOUN
alkej-192	12	7	,	,	PUNCT
alkej-192	12	8	many	many	ADJ
alkej-192	12	9	control	control	NOUN
alkej-192	12	10	techniques	technique	NOUN
alkej-192	12	11	,	,	PUNCT
alkej-192	12	12	include	include	VERB
alkej-192	12	13	the	the	DET
alkej-192	12	14	adaptive	adaptive	ADJ
alkej-192	12	15	control	control	NOUN
alkej-192	12	16	,	,	PUNCT
alkej-192	12	17	variable	variable	ADJ
alkej-192	12	18	structure	structure	NOUN
alkej-192	12	19	control	control	NOUN
alkej-192	12	20	and	and	CCONJ
alkej-192	12	21	robust	robust	ADJ
alkej-192	12	22	control	control	NOUN
alkej-192	12	23	have	have	AUX
alkej-192	12	24	been	be	AUX
alkej-192	12	25	applied	apply	VERB
alkej-192	12	26	in	in	ADP
alkej-192	12	27	dc	dc	PROPN
alkej-192	12	28	motor	motor	NOUN
alkej-192	12	29	speed	speed	NOUN
alkej-192	13	1	[	[	X
alkej-192	13	2	3	3	NUM
alkej-192	13	3	]	]	PUNCT
alkej-192	13	4	.	.	PUNCT
alkej-192	14	1	several	several	ADJ
alkej-192	14	2	years	year	NOUN
alkej-192	14	3	ago	ago	ADV
alkej-192	14	4	,	,	PUNCT
alkej-192	14	5	the	the	DET
alkej-192	14	6	neural	neural	ADJ
alkej-192	14	7	networks	network	NOUN
alkej-192	14	8	are	be	AUX
alkej-192	14	9	used	use	VERB
alkej-192	14	10	in	in	ADP
alkej-192	14	11	a	a	DET
alkej-192	14	12	speed	speed	NOUN
alkej-192	14	13	control	control	NOUN
alkej-192	14	14	loop	loop	NOUN
alkej-192	14	15	applied	apply	VERB
alkej-192	14	16	to	to	ADP
alkej-192	14	17	a	a	DET
alkej-192	14	18	dc	dc	PROPN
alkej-192	14	19	motor	motor	NOUN
alkej-192	14	20	and	and	CCONJ
alkej-192	14	21	the	the	DET
alkej-192	14	22	learning	learning	NOUN
alkej-192	14	23	capability	capability	NOUN
alkej-192	14	24	of	of	ADP
alkej-192	14	25	neural	neural	ADJ
alkej-192	14	26	networks	network	NOUN
alkej-192	14	27	implemented	implement	VERB
alkej-192	14	28	an	an	DET
alkej-192	14	29	auto	auto	NOUN
alkej-192	14	30	-	-	PUNCT
alkej-192	14	31	adaptive	adaptive	ADJ
alkej-192	14	32	control	control	NOUN
alkej-192	14	33	structure	structure	NOUN
alkej-192	14	34	to	to	PART
alkej-192	14	35	learn	learn	VERB
alkej-192	14	36	the	the	DET
alkej-192	14	37	dynamic	dynamic	ADJ
alkej-192	14	38	behavior	behavior	NOUN
alkej-192	14	39	of	of	ADP
alkej-192	14	40	the	the	DET
alkej-192	14	41	silicon	silicon	NOUN
alkej-192	14	42	-	-	PUNCT
alkej-192	14	43	controlled	control	VERB
alkej-192	14	44	rectifier	rectifier	NOUN
alkej-192	14	45	(	(	PUNCT
alkej-192	14	46	scr)-driven	scr)-driven	VERB
alkej-192	14	47	dc	dc	PROPN
alkej-192	14	48	motor	motor	NOUN
alkej-192	14	49	[	[	X
alkej-192	14	50	4	4	NUM
alkej-192	14	51	]	]	PUNCT
alkej-192	14	52	.	.	PUNCT
alkej-192	15	1	a	a	DET
alkej-192	15	2	novel	novel	NOUN
alkej-192	15	3	improved	improve	VERB
alkej-192	15	4	pid	pid	NOUN
alkej-192	15	5	algorithm	algorithm	NOUN
alkej-192	15	6	based	base	VERB
alkej-192	15	7	on	on	ADP
alkej-192	15	8	recurrent	recurrent	ADJ
alkej-192	15	9	wavelet	wavelet	NOUN
alkej-192	15	10	neural	neural	ADJ
alkej-192	15	11	network	network	NOUN
alkej-192	15	12	was	be	AUX
alkej-192	15	13	proposed	propose	VERB
alkej-192	15	14	in	in	ADP
alkej-192	15	15	[	[	X
alkej-192	15	16	5	5	NUM
alkej-192	15	17	]	]	PUNCT
alkej-192	15	18	,	,	PUNCT
alkej-192	15	19	which	which	PRON
alkej-192	15	20	combines	combine	VERB
alkej-192	15	21	the	the	DET
alkej-192	15	22	capability	capability	NOUN
alkej-192	15	23	of	of	ADP
alkej-192	15	24	artificial	artificial	ADJ
alkej-192	15	25	neural	neural	ADJ
alkej-192	15	26	networks	network	NOUN
alkej-192	15	27	for	for	ADP
alkej-192	15	28	learning	learn	VERB
alkej-192	15	29	the	the	DET
alkej-192	15	30	process	process	NOUN
alkej-192	15	31	and	and	CCONJ
alkej-192	15	32	the	the	DET
alkej-192	15	33	capability	capability	NOUN
alkej-192	15	34	of	of	ADP
alkej-192	15	35	wavelet	wavelet	NOUN
alkej-192	15	36	decomposition	decomposition	NOUN
alkej-192	15	37	for	for	ADP
alkej-192	15	38	identification	identification	NOUN
alkej-192	15	39	and	and	CCONJ
alkej-192	15	40	control	control	NOUN
alkej-192	15	41	of	of	ADP
alkej-192	15	42	dynamic	dynamic	ADJ
alkej-192	15	43	systems	system	NOUN
alkej-192	15	44	.	.	PUNCT
alkej-192	16	1	in	in	ADP
alkej-192	16	2	[	[	X
alkej-192	16	3	6	6	NUM
alkej-192	16	4	]	]	PUNCT
alkej-192	16	5	a	a	DET
alkej-192	16	6	novel	novel	ADJ
alkej-192	16	7	adaptive	adaptive	ADJ
alkej-192	16	8	neuro	neuro	NOUN
alkej-192	16	9	-	-	PUNCT
alkej-192	16	10	fuzzy	fuzzy	ADJ
alkej-192	16	11	controller	controller	NOUN
alkej-192	16	12	was	be	AUX
alkej-192	16	13	applied	apply	VERB
alkej-192	16	14	on	on	ADP
alkej-192	16	15	transverse	transverse	NOUN
alkej-192	16	16	flux	flux	PROPN
alkej-192	16	17	linear	linear	PROPN
alkej-192	16	18	motor	motor	NOUN
alkej-192	16	19	for	for	ADP
alkej-192	16	20	controlling	control	VERB
alkej-192	16	21	its	its	PRON
alkej-192	16	22	speed	speed	NOUN
alkej-192	16	23	where	where	SCONJ
alkej-192	16	24	the	the	DET
alkej-192	16	25	proposed	propose	VERB
alkej-192	16	26	controller	controller	NOUN
alkej-192	16	27	presented	present	VERB
alkej-192	16	28	fuzzy	fuzzy	ADJ
alkej-192	16	29	logic	logic	NOUN
alkej-192	16	30	controller	controller	NOUN
alkej-192	16	31	(	(	PUNCT
alkej-192	16	32	flc	flc	PROPN
alkej-192	16	33	)	)	PUNCT
alkej-192	16	34	with	with	ADP
alkej-192	16	35	self	self	NOUN
alkej-192	16	36	tuning	tune	VERB
alkej-192	16	37	scaling	scale	VERB
alkej-192	16	38	factors	factor	NOUN
alkej-192	16	39	based	base	VERB
alkej-192	16	40	on	on	ADP
alkej-192	16	41	artificial	artificial	ADJ
alkej-192	16	42	neural	neural	ADJ
alkej-192	16	43	network	network	NOUN
alkej-192	16	44	structure	structure	NOUN
alkej-192	16	45	.	.	PUNCT
alkej-192	17	1	also	also	ADV
alkej-192	17	2	,	,	PUNCT
alkej-192	17	3	a	a	DET
alkej-192	17	4	direct	direct	ADJ
alkej-192	17	5	nonlinear	nonlinear	ADJ
alkej-192	17	6	adaptive	adaptive	ADJ
alkej-192	17	7	state	state	NOUN
alkej-192	17	8	regulator	regulator	NOUN
alkej-192	17	9	was	be	AUX
alkej-192	17	10	derived	derive	VERB
alkej-192	17	11	based	base	VERB
alkej-192	17	12	on	on	ADP
alkej-192	17	13	dynamic	dynamic	ADJ
alkej-192	17	14	neural	neural	ADJ
alkej-192	17	15	networks	network	NOUN
alkej-192	17	16	mailto:ahmedsas2040@yahoo.com	mailto:ahmedsas2040@yahoo.com	PROPN
alkej-192	17	17	ahmed	ahmed	PROPN
alkej-192	17	18	sabah	sabah	PROPN
alkej-192	17	19	al	al	PROPN
alkej-192	17	20	-	-	PROPN
alkej-192	17	21	araji	araji	PROPN
alkej-192	17	22	al	al	PROPN
alkej-192	17	23	-	-	PUNCT
alkej-192	17	24	khwarizmi	khwarizmi	PROPN
alkej-192	17	25	engineering	engineering	NOUN
alkej-192	17	26	journal	journal	PROPN
alkej-192	17	27	,	,	PUNCT
alkej-192	17	28	vol	vol	NOUN
alkej-192	17	29	.	.	PROPN
alkej-192	17	30	10	10	NUM
alkej-192	17	31	,	,	PUNCT
alkej-192	17	32	no	no	INTJ
alkej-192	17	33	.	.	NOUN
alkej-192	17	34	1	1	NUM
alkej-192	17	35	,	,	PUNCT
alkej-192	17	36	p.p	p.p	PROPN
alkej-192	17	37	.	.	NOUN
alkej-192	17	38	7282	7282	NUM
alkej-192	17	39	(	(	PUNCT
alkej-192	17	40	2014	2014	NUM
alkej-192	17	41	)	)	PUNCT
alkej-192	17	42	73	73	NUM
alkej-192	17	43	and	and	CCONJ
alkej-192	17	44	it	it	PRON
alkej-192	17	45	was	be	AUX
alkej-192	17	46	applied	apply	VERB
alkej-192	17	47	to	to	PART
alkej-192	17	48	control	control	VERB
alkej-192	17	49	the	the	DET
alkej-192	17	50	speed	speed	NOUN
alkej-192	17	51	of	of	ADP
alkej-192	17	52	a	a	DET
alkej-192	17	53	nonlinearized	nonlinearize	VERB
alkej-192	17	54	dc	dc	PROPN
alkej-192	17	55	motor	motor	NOUN
alkej-192	17	56	and	and	CCONJ
alkej-192	17	57	the	the	DET
alkej-192	17	58	control	control	NOUN
alkej-192	17	59	algorithm	algorithm	NOUN
alkej-192	17	60	was	be	AUX
alkej-192	17	61	that	that	SCONJ
alkej-192	17	62	it	it	PRON
alkej-192	17	63	covers	cover	VERB
alkej-192	17	64	the	the	DET
alkej-192	17	65	situation	situation	NOUN
alkej-192	17	66	where	where	SCONJ
alkej-192	17	67	the	the	DET
alkej-192	17	68	magnetic	magnetic	ADJ
alkej-192	17	69	flux	flux	NOUN
alkej-192	17	70	continuously	continuously	ADV
alkej-192	17	71	varies	vary	VERB
alkej-192	17	72	was	be	AUX
alkej-192	17	73	presented	present	VERB
alkej-192	17	74	in	in	ADP
alkej-192	17	75	[	[	X
alkej-192	17	76	7	7	NUM
alkej-192	17	77	]	]	PUNCT
alkej-192	17	78	.	.	PUNCT
alkej-192	18	1	in	in	ADP
alkej-192	18	2	addition	addition	NOUN
alkej-192	18	3	to	to	ADP
alkej-192	18	4	that	that	PRON
alkej-192	18	5	,	,	PUNCT
alkej-192	18	6	dc	dc	PROPN
alkej-192	18	7	series	series	PROPN
alkej-192	18	8	motors	motors	PROPN
alkej-192	18	9	were	be	AUX
alkej-192	18	10	preferred	prefer	VERB
alkej-192	18	11	for	for	ADP
alkej-192	18	12	mechatronic	mechatronic	ADJ
alkej-192	18	13	applications	application	NOUN
alkej-192	18	14	requiring	require	VERB
alkej-192	18	15	high	high	ADJ
alkej-192	18	16	torque	torque	NOUN
alkej-192	18	17	/	/	SYM
alkej-192	18	18	speed	speed	NOUN
alkej-192	18	19	ratios	ratio	NOUN
alkej-192	18	20	.	.	PUNCT
alkej-192	19	1	the	the	DET
alkej-192	19	2	design	design	NOUN
alkej-192	19	3	and	and	CCONJ
alkej-192	19	4	implementation	implementation	NOUN
alkej-192	19	5	of	of	ADP
alkej-192	19	6	an	an	DET
alkej-192	19	7	open	open	ADJ
alkej-192	19	8	loop	loop	NOUN
alkej-192	19	9	dc	dc	PROPN
alkej-192	19	10	motor	motor	NOUN
alkej-192	19	11	speed	speed	NOUN
alkej-192	19	12	control	control	NOUN
alkej-192	19	13	that	that	PRON
alkej-192	19	14	was	be	AUX
alkej-192	19	15	based	base	VERB
alkej-192	19	16	on	on	ADP
alkej-192	19	17	a	a	DET
alkej-192	19	18	micro	micro	NOUN
alkej-192	19	19	-	-	NOUN
alkej-192	19	20	controller	controller	NOUN
alkej-192	19	21	and	and	CCONJ
alkej-192	19	22	insulated	insulated	ADJ
alkej-192	19	23	-	-	PUNCT
alkej-192	19	24	gate_bipolar_transistor‎	gate_bipolar_transistor‎	NOUN
alkej-192	19	25	(	(	PUNCT
alkej-192	19	26	igbt	igbt	PROPN
alkej-192	19	27	)	)	PUNCT
alkej-192	19	28	drive	drive	ADJ
alkej-192	19	29	stage	stage	NOUN
alkej-192	19	30	that	that	PRON
alkej-192	19	31	can	can	AUX
alkej-192	19	32	predict	predict	VERB
alkej-192	19	33	the	the	DET
alkej-192	19	34	dynamic	dynamic	ADJ
alkej-192	19	35	behavior	behavior	NOUN
alkej-192	19	36	of	of	ADP
alkej-192	19	37	systems	system	NOUN
alkej-192	19	38	consisting	consist	VERB
alkej-192	19	39	of	of	ADP
alkej-192	19	40	mechanical	mechanical	ADJ
alkej-192	19	41	and	and	CCONJ
alkej-192	19	42	electronic	electronic	ADJ
alkej-192	19	43	modules	module	NOUN
alkej-192	19	44	was	be	AUX
alkej-192	19	45	very	very	ADV
alkej-192	19	46	desirable	desirable	ADJ
alkej-192	19	47	as	as	SCONJ
alkej-192	19	48	explained	explain	VERB
alkej-192	19	49	in	in	ADP
alkej-192	19	50	[	[	X
alkej-192	19	51	8	8	NUM
alkej-192	19	52	]	]	PUNCT
alkej-192	19	53	.	.	PUNCT
alkej-192	20	1	there	there	PRON
alkej-192	20	2	is	be	VERB
alkej-192	20	3	other	other	ADJ
alkej-192	20	4	technique	technique	NOUN
alkej-192	20	5	for	for	ADP
alkej-192	20	6	speed	speed	NOUN
alkej-192	20	7	control	control	NOUN
alkej-192	20	8	of	of	ADP
alkej-192	20	9	the	the	DET
alkej-192	20	10	dc	dc	PROPN
alkej-192	20	11	motor	motor	NOUN
alkej-192	20	12	,	,	PUNCT
alkej-192	20	13	a	a	DET
alkej-192	20	14	new	new	ADJ
alkej-192	20	15	method	method	NOUN
alkej-192	20	16	of	of	ADP
alkej-192	20	17	tuning	tune	VERB
alkej-192	20	18	proportional	proportional	ADJ
alkej-192	20	19	integral	integral	ADJ
alkej-192	20	20	(	(	PUNCT
alkej-192	20	21	pi	pi	NOUN
alkej-192	20	22	)	)	PUNCT
alkej-192	20	23	coefficients	coefficient	NOUN
alkej-192	20	24	for	for	ADP
alkej-192	20	25	a	a	DET
alkej-192	20	26	permanent	permanent	ADJ
alkej-192	20	27	magnet	magnet	NOUN
alkej-192	20	28	dc	dc	PROPN
alkej-192	20	29	motor	motor	NOUN
alkej-192	20	30	drives	drive	NOUN
alkej-192	20	31	was	be	AUX
alkej-192	20	32	explained	explain	VERB
alkej-192	20	33	in	in	ADP
alkej-192	20	34	[	[	X
alkej-192	20	35	9	9	NUM
alkej-192	20	36	]	]	PUNCT
alkej-192	20	37	,	,	PUNCT
alkej-192	20	38	where	where	SCONJ
alkej-192	20	39	artificial	artificial	ADJ
alkej-192	20	40	neural	neural	ADJ
alkej-192	20	41	network	network	NOUN
alkej-192	20	42	was	be	AUX
alkej-192	20	43	used	use	VERB
alkej-192	20	44	to	to	PART
alkej-192	20	45	identify	identify	VERB
alkej-192	20	46	the	the	DET
alkej-192	20	47	whole	whole	ADJ
alkej-192	20	48	system	system	NOUN
alkej-192	20	49	using	use	VERB
alkej-192	20	50	maximum	maximum	ADJ
alkej-192	20	51	overshoot	overshoot	NOUN
alkej-192	20	52	and	and	CCONJ
alkej-192	20	53	settling	settling	NOUN
alkej-192	20	54	time	time	NOUN
alkej-192	20	55	.	.	PUNCT
alkej-192	21	1	the	the	DET
alkej-192	21	2	fundamental	fundamental	ADJ
alkej-192	21	3	essence	essence	NOUN
alkej-192	21	4	of	of	ADP
alkej-192	21	5	the	the	DET
alkej-192	21	6	motivation	motivation	NOUN
alkej-192	21	7	of	of	ADP
alkej-192	21	8	this	this	DET
alkej-192	21	9	work	work	NOUN
alkej-192	21	10	is	be	AUX
alkej-192	21	11	that	that	SCONJ
alkej-192	21	12	the	the	DET
alkej-192	21	13	tuning	tuning	NOUN
alkej-192	21	14	of	of	ADP
alkej-192	21	15	the	the	DET
alkej-192	21	16	nonlinear	nonlinear	ADJ
alkej-192	21	17	pid	pid	NOUN
alkej-192	21	18	controller	controller	NOUN
alkej-192	21	19	in	in	ADP
alkej-192	21	20	the	the	DET
alkej-192	21	21	real	real	ADJ
alkej-192	21	22	time	time	NOUN
alkej-192	21	23	requires	require	VERB
alkej-192	21	24	a	a	DET
alkej-192	21	25	great	great	ADJ
alkej-192	21	26	effort	effort	NOUN
alkej-192	21	27	and	and	CCONJ
alkej-192	21	28	needs	need	VERB
alkej-192	21	29	more	more	ADJ
alkej-192	21	30	time	time	NOUN
alkej-192	21	31	;	;	PUNCT
alkej-192	21	32	therefore	therefore	ADV
alkej-192	21	33	,	,	PUNCT
alkej-192	21	34	the	the	DET
alkej-192	21	35	nonlinear	nonlinear	ADJ
alkej-192	21	36	pid	pid	NOUN
alkej-192	21	37	controller	controller	NOUN
alkej-192	21	38	is	be	AUX
alkej-192	21	39	first	first	ADV
alkej-192	21	40	carried	carry	VERB
alkej-192	21	41	out	out	ADP
alkej-192	21	42	using	use	VERB
alkej-192	21	43	the	the	DET
alkej-192	21	44	matlab	matlab	PROPN
alkej-192	21	45	simulation	simulation	NOUN
alkej-192	21	46	package	package	NOUN
alkej-192	21	47	which	which	PRON
alkej-192	21	48	is	be	AUX
alkej-192	21	49	very	very	ADV
alkej-192	21	50	time	time	NOUN
alkej-192	21	51	saving	save	VERB
alkej-192	21	52	and	and	CCONJ
alkej-192	21	53	gives	give	VERB
alkej-192	21	54	close	close	ADJ
alkej-192	21	55	parameter	parameter	NOUN
alkej-192	21	56	approximation	approximation	NOUN
alkej-192	21	57	for	for	ADP
alkej-192	21	58	application	application	NOUN
alkej-192	21	59	in	in	ADP
alkej-192	21	60	the	the	DET
alkej-192	21	61	real	real	ADJ
alkej-192	21	62	time	time	NOUN
alkej-192	21	63	system	system	NOUN
alkej-192	21	64	based	base	VERB
alkej-192	21	65	on	on	ADP
alkej-192	21	66	labview	labview	NOUN
alkej-192	21	67	package	package	NOUN
alkej-192	21	68	at	at	ADP
alkej-192	21	69	the	the	DET
alkej-192	21	70	end	end	NOUN
alkej-192	21	71	.	.	PUNCT
alkej-192	22	1	in	in	ADP
alkej-192	22	2	this	this	DET
alkej-192	22	3	paper	paper	NOUN
alkej-192	22	4	,	,	PUNCT
alkej-192	22	5	experimental	experimental	ADJ
alkej-192	22	6	investigation	investigation	NOUN
alkej-192	22	7	is	be	AUX
alkej-192	22	8	carried	carry	VERB
alkej-192	22	9	out	out	ADP
alkej-192	22	10	for	for	ADP
alkej-192	22	11	the	the	DET
alkej-192	22	12	appropriate	appropriate	ADJ
alkej-192	22	13	tuning	tuning	NOUN
alkej-192	22	14	parameters	parameter	NOUN
alkej-192	22	15	of	of	ADP
alkej-192	22	16	the	the	DET
alkej-192	22	17	nonlinear	nonlinear	ADJ
alkej-192	22	18	pid	pid	NOUN
alkej-192	22	19	neural	neural	ADJ
alkej-192	22	20	controller	controller	NOUN
alkej-192	22	21	that	that	PRON
alkej-192	22	22	controls	control	VERB
alkej-192	22	23	the	the	DET
alkej-192	22	24	speed	speed	NOUN
alkej-192	22	25	of	of	ADP
alkej-192	22	26	a	a	DET
alkej-192	22	27	dc	dc	PROPN
alkej-192	22	28	motor	motor	NOUN
alkej-192	22	29	using	use	VERB
alkej-192	22	30	two	two	NUM
alkej-192	22	31	techniques	technique	NOUN
alkej-192	22	32	:	:	PUNCT
alkej-192	22	33	trial	trial	NOUN
alkej-192	22	34	and	and	CCONJ
alkej-192	22	35	error	error	NOUN
alkej-192	22	36	method	method	NOUN
alkej-192	22	37	and	and	CCONJ
alkej-192	22	38	pso	pso	NOUN
alkej-192	22	39	to	to	PART
alkej-192	22	40	obtain	obtain	VERB
alkej-192	22	41	the	the	DET
alkej-192	22	42	best	good	ADJ
alkej-192	22	43	speed	speed	NOUN
alkej-192	22	44	response	response	NOUN
alkej-192	22	45	achievable	achievable	ADJ
alkej-192	22	46	based	base	VERB
alkej-192	22	47	on	on	ADP
alkej-192	22	48	a	a	DET
alkej-192	22	49	matlab	matlab	PROPN
alkej-192	22	50	simulation	simulation	NOUN
alkej-192	22	51	package	package	NOUN
alkej-192	22	52	.	.	PUNCT
alkej-192	23	1	these	these	DET
alkej-192	23	2	parameters	parameter	NOUN
alkej-192	23	3	are	be	AUX
alkej-192	23	4	then	then	ADV
alkej-192	23	5	applied	apply	VERB
alkej-192	23	6	in	in	ADP
alkej-192	23	7	the	the	DET
alkej-192	23	8	designed	design	VERB
alkej-192	23	9	real	real	ADJ
alkej-192	23	10	time	time	NOUN
alkej-192	23	11	nonlinear	nonlinear	PROPN
alkej-192	23	12	pid	pid	NOUN
alkej-192	23	13	controller	controller	NOUN
alkej-192	23	14	based	base	VERB
alkej-192	23	15	on	on	ADP
alkej-192	23	16	labview	labview	NOUN
alkej-192	23	17	package	package	NOUN
alkej-192	23	18	and	and	CCONJ
alkej-192	23	19	the	the	DET
alkej-192	23	20	results	result	NOUN
alkej-192	23	21	obtained	obtain	VERB
alkej-192	23	22	are	be	AUX
alkej-192	23	23	compared	compare	VERB
alkej-192	23	24	against	against	ADP
alkej-192	23	25	those	those	PRON
alkej-192	23	26	of	of	ADP
alkej-192	23	27	the	the	DET
alkej-192	23	28	simulation	simulation	NOUN
alkej-192	23	29	.	.	PUNCT
alkej-192	24	1	the	the	DET
alkej-192	24	2	remainder	remainder	NOUN
alkej-192	24	3	of	of	ADP
alkej-192	24	4	this	this	DET
alkej-192	24	5	paper	paper	NOUN
alkej-192	24	6	is	be	AUX
alkej-192	24	7	organized	organize	VERB
alkej-192	24	8	as	as	SCONJ
alkej-192	24	9	follows	follow	VERB
alkej-192	24	10	:	:	PUNCT
alkej-192	24	11	section	section	NOUN
alkej-192	24	12	two	two	NUM
alkej-192	24	13	,	,	PUNCT
alkej-192	24	14	describes	describe	VERB
alkej-192	24	15	the	the	DET
alkej-192	24	16	mathematical	mathematical	ADJ
alkej-192	24	17	model	model	NOUN
alkej-192	24	18	of	of	ADP
alkej-192	24	19	the	the	DET
alkej-192	24	20	dc	dc	PROPN
alkej-192	24	21	motor	motor	NOUN
alkej-192	24	22	speed	speed	NOUN
alkej-192	24	23	system	system	NOUN
alkej-192	24	24	.	.	PUNCT
alkej-192	25	1	in	in	ADP
alkej-192	25	2	section	section	NOUN
alkej-192	25	3	three	three	NUM
alkej-192	25	4	,	,	PUNCT
alkej-192	25	5	the	the	DET
alkej-192	25	6	proposed	propose	VERB
alkej-192	25	7	nonlinear	nonlinear	PROPN
alkej-192	25	8	pid	pid	NOUN
alkej-192	25	9	neural	neural	ADJ
alkej-192	25	10	controller	controller	NOUN
alkej-192	25	11	approach	approach	NOUN
alkej-192	25	12	and	and	CCONJ
alkej-192	25	13	tuning	tune	VERB
alkej-192	25	14	algorithm	algorithm	NOUN
alkej-192	25	15	are	be	AUX
alkej-192	25	16	derived	derive	VERB
alkej-192	25	17	.	.	PUNCT
alkej-192	26	1	the	the	DET
alkej-192	26	2	simulation	simulation	NOUN
alkej-192	26	3	results	result	NOUN
alkej-192	26	4	(	(	PUNCT
alkej-192	26	5	matlab	matlab	PROPN
alkej-192	26	6	)	)	PUNCT
alkej-192	26	7	of	of	ADP
alkej-192	26	8	the	the	DET
alkej-192	26	9	proposed	propose	VERB
alkej-192	26	10	controller	controller	NOUN
alkej-192	26	11	are	be	AUX
alkej-192	26	12	presented	present	VERB
alkej-192	26	13	in	in	ADP
alkej-192	26	14	section	section	NOUN
alkej-192	26	15	four	four	NUM
alkej-192	26	16	.	.	PUNCT
alkej-192	26	17	hardware	hardware	NOUN
alkej-192	26	18	design	design	NOUN
alkej-192	26	19	and	and	CCONJ
alkej-192	26	20	real	real	ADJ
alkej-192	26	21	time	time	NOUN
alkej-192	26	22	results	result	NOUN
alkej-192	26	23	based	base	VERB
alkej-192	26	24	on	on	ADP
alkej-192	26	25	labview	labview	NOUN
alkej-192	26	26	package	package	NOUN
alkej-192	26	27	are	be	AUX
alkej-192	26	28	presented	present	VERB
alkej-192	26	29	in	in	ADP
alkej-192	26	30	section	section	NOUN
alkej-192	26	31	five	five	NUM
alkej-192	26	32	and	and	CCONJ
alkej-192	26	33	the	the	DET
alkej-192	26	34	conclusions	conclusion	NOUN
alkej-192	26	35	are	be	AUX
alkej-192	26	36	drawn	draw	VERB
alkej-192	26	37	in	in	ADP
alkej-192	26	38	section	section	NOUN
alkej-192	26	39	six	six	NUM
alkej-192	26	40	.	.	NOUN
alkej-192	27	1	2	2	NUM
alkej-192	27	2	.	.	X
alkej-192	27	3	permanent	permanent	ADJ
alkej-192	27	4	magnet	magnet	NOUN
alkej-192	27	5	dc	dc	PROPN
alkej-192	27	6	motor	motor	PROPN
alkej-192	27	7	model	model	NOUN
alkej-192	27	8	a	a	DET
alkej-192	27	9	permanent	permanent	ADJ
alkej-192	27	10	magnet	magnet	NOUN
alkej-192	27	11	dc	dc	PROPN
alkej-192	27	12	motor	motor	NOUN
alkej-192	27	13	model	model	NOUN
alkej-192	27	14	can	can	AUX
alkej-192	27	15	be	be	AUX
alkej-192	27	16	derived	derive	VERB
alkej-192	27	17	using	use	VERB
alkej-192	27	18	the	the	DET
alkej-192	27	19	linear	linear	ADJ
alkej-192	27	20	dynamic	dynamic	ADJ
alkej-192	27	21	equations	equation	NOUN
alkej-192	27	22	with	with	ADP
alkej-192	27	23	a	a	DET
alkej-192	27	24	two	two	NUM
alkej-192	27	25	mass	mass	NOUN
alkej-192	27	26	model	model	NOUN
alkej-192	27	27	equivalent	equivalent	ADJ
alkej-192	27	28	system	system	NOUN
alkej-192	27	29	[	[	X
alkej-192	27	30	10	10	NUM
alkej-192	27	31	]	]	X
alkej-192	27	32	:	:	PUNCT
alkej-192	27	33	mb	mb	ADP
alkej-192	27	34	a	a	DET
alkej-192	27	35	aaaa	aaaa	NOUN
alkej-192	27	36	k	k	PROPN
alkej-192	27	37	dt	dt	X
alkej-192	27	38	di	di	PROPN
alkej-192	27	39	lirv	lirv	PROPN
alkej-192	27	40			PROPN
alkej-192	28	1	…	…	PUNCT
alkej-192	28	2	(	(	PUNCT
alkej-192	28	3	1	1	X
alkej-192	28	4	)	)	PUNCT
alkej-192	28	5	atmmm	atmmm	PROPN
alkej-192	28	6	m	m	VERB
alkej-192	28	7	m	m	VERB
alkej-192	28	8	ikb	ikb	ADJ
alkej-192	28	9	dt	dt	X
alkej-192	28	10	dw	dw	PROPN
alkej-192	28	11	j	j	PROPN
alkej-192	28	12			NUM
alkej-192	28	13			PROPN
alkej-192	28	14	…	…	PUNCT
alkej-192	28	15	(	(	PUNCT
alkej-192	28	16	2	2	NUM
alkej-192	28	17	)	)	PUNCT
alkej-192	28	18	where	where	SCONJ
alkej-192	28	19	ra	ra	PROPN
alkej-192	28	20	,	,	PUNCT
alkej-192	28	21	la	la	PROPN
alkej-192	28	22	,	,	PUNCT
alkej-192	28	23	kb	kb	PROPN
alkej-192	28	24	,	,	PUNCT
alkej-192	28	25	kt	kt	PROPN
alkej-192	28	26	are	be	AUX
alkej-192	28	27	the	the	DET
alkej-192	28	28	dc	dc	PROPN
alkej-192	28	29	motor	motor	NOUN
alkej-192	28	30	parameters	parameter	NOUN
alkej-192	28	31	.	.	PUNCT
alkej-192	29	1	va	va	PROPN
alkej-192	29	2	,	,	PUNCT
alkej-192	29	3	ia	ia	PROPN
alkej-192	29	4	are	be	AUX
alkej-192	29	5	the	the	DET
alkej-192	29	6	dc	dc	PROPN
alkej-192	29	7	motor	motor	NOUN
alkej-192	29	8	voltage	voltage	NOUN
alkej-192	29	9	and	and	CCONJ
alkej-192	29	10	current	current	ADJ
alkej-192	29	11	respectively	respectively	ADV
alkej-192	29	12	.	.	PUNCT
alkej-192	30	1	ωm	ωm	X
alkej-192	30	2	is	be	AUX
alkej-192	30	3	motor	motor	NOUN
alkej-192	30	4	speed	speed	NOUN
alkej-192	30	5	.	.	PUNCT
alkej-192	31	1	τm	τm	ADP
alkej-192	31	2	the	the	DET
alkej-192	31	3	motor	motor	NOUN
alkej-192	31	4	torque	torque	NOUN
alkej-192	31	5	.	.	PUNCT
alkej-192	32	1	jm	jm	PROPN
alkej-192	32	2	the	the	DET
alkej-192	32	3	motor	motor	NOUN
alkej-192	32	4	inertia	inertia	NOUN
alkej-192	32	5	.	.	PUNCT
alkej-192	33	1	bm	bm	PROPN
alkej-192	33	2	the	the	DET
alkej-192	33	3	damping	damp	VERB
alkej-192	33	4	coefficient	coefficient	NOUN
alkej-192	33	5	.	.	PUNCT
alkej-192	34	1	by	by	ADP
alkej-192	34	2	taking	take	VERB
alkej-192	34	3	the	the	DET
alkej-192	34	4	laplace	laplace	NOUN
alkej-192	34	5	transformation	transformation	NOUN
alkej-192	34	6	of	of	ADP
alkej-192	34	7	the	the	DET
alkej-192	34	8	equations	equation	NOUN
alkej-192	34	9	(	(	PUNCT
alkej-192	34	10	1	1	NUM
alkej-192	34	11	and	and	CCONJ
alkej-192	34	12	2	2	NUM
alkej-192	34	13	)	)	PUNCT
alkej-192	34	14	.	.	PUNCT
alkej-192	34	15	)	)	PUNCT
alkej-192	35	1	(	(	PUNCT
alkej-192	35	2	)	)	PUNCT
alkej-192	35	3	(	(	PUNCT
alkej-192	35	4	)	)	PUNCT
alkej-192	35	5	(	(	PUNCT
alkej-192	35	6	)	)	PUNCT
alkej-192	35	7	(	(	PUNCT
alkej-192	35	8	skssilsirsv	skssilsirsv	PROPN
alkej-192	35	9	mbaaaaa	mbaaaaa	PROPN
alkej-192	35	10			PROPN
alkej-192	35	11	…	…	PUNCT
alkej-192	35	12	(	(	PUNCT
alkej-192	35	13	3	3	NUM
alkej-192	35	14	)	)	PUNCT
alkej-192	35	15	where	where	SCONJ
alkej-192	35	16	)	)	PUNCT
alkej-192	35	17	(	(	PUNCT
alkej-192	35	18	sk	sk	ADP
alkej-192	35	19	mb	mb	PROPN
alkej-192	35	20	is	be	AUX
alkej-192	35	21	e.m.f	e.m.f	NOUN
alkej-192	35	22	.	.	PUNCT
alkej-192	35	23	)	)	PUNCT
alkej-192	35	24	)	)	PUNCT
alkej-192	35	25	(	(	PUNCT
alkej-192	35	26	(	(	PUNCT
alkej-192	35	27	)	)	PUNCT
alkej-192	35	28	(	(	PUNCT
alkej-192	35	29	)	)	PUNCT
alkej-192	35	30	(	(	PUNCT
alkej-192	35	31	slrsisksv	slrsisksv	NOUN
alkej-192	35	32	aaamba	aaamba	PROPN
alkej-192	35	33			NOUN
alkej-192	35	34			X
alkej-192	35	35	…	…	PUNCT
alkej-192	35	36	(	(	PUNCT
alkej-192	35	37	4	4	NUM
alkej-192	35	38	)	)	PUNCT
alkej-192	35	39	)	)	PUNCT
alkej-192	35	40	(	(	PUNCT
alkej-192	35	41	)	)	PUNCT
alkej-192	35	42	(	(	PUNCT
alkej-192	35	43	)	)	PUNCT
alkej-192	35	44	(	(	PUNCT
alkej-192	35	45	)	)	PUNCT
alkej-192	35	46	(	(	PUNCT
alkej-192	35	47	sikssbssj	sikssbssj	NOUN
alkej-192	35	48	atmmmmm	atmmmmm	ADV
alkej-192	35	49			NUM
alkej-192	35	50			NOUN
alkej-192	35	51	…	…	PUNCT
alkej-192	35	52	(	(	PUNCT
alkej-192	35	53	5	5	NUM
alkej-192	35	54	)	)	PUNCT
alkej-192	35	55	)	)	PUNCT
alkej-192	35	56	(	(	PUNCT
alkej-192	35	57	)	)	PUNCT
alkej-192	35	58	)	)	PUNCT
alkej-192	35	59	(	(	PUNCT
alkej-192	35	60	(	(	PUNCT
alkej-192	35	61	sbsjs	sbsjs	NOUN
alkej-192	35	62	mmmm	mmmm	NOUN
alkej-192	35	63			PROPN
alkej-192	35	64			X
alkej-192	35	65	…	…	PUNCT
alkej-192	35	66	(	(	PUNCT
alkej-192	35	67	6	6	NUM
alkej-192	35	68	)	)	PUNCT
alkej-192	35	69	the	the	DET
alkej-192	35	70	block	block	NOUN
alkej-192	35	71	diagram	diagram	NOUN
alkej-192	35	72	of	of	ADP
alkej-192	35	73	the	the	DET
alkej-192	35	74	dc	dc	PROPN
alkej-192	35	75	motor	motor	NOUN
alkej-192	35	76	model	model	NOUN
alkej-192	35	77	is	be	AUX
alkej-192	35	78	shown	show	VERB
alkej-192	35	79	in	in	ADP
alkej-192	35	80	fig	fig	NOUN
alkej-192	35	81	.	.	PUNCT
alkej-192	36	1	1	1	X
alkej-192	36	2	.	.	X
alkej-192	36	3	fig	fig	NOUN
alkej-192	36	4	.	.	PUNCT
alkej-192	37	1	1	1	X
alkej-192	37	2	.	.	X
alkej-192	37	3	block	block	NOUN
alkej-192	37	4	diagram	diagram	NOUN
alkej-192	37	5	of	of	ADP
alkej-192	37	6	the	the	DET
alkej-192	37	7	dc	dc	PROPN
alkej-192	37	8	motor	motor	PROPN
alkej-192	37	9	model	model	PROPN
alkej-192	37	10	.	.	PUNCT
alkej-192	38	1	tk	tk	PROPN
alkej-192	38	2	1)/	1)/	PROPN
alkej-192	38	3	(	(	PUNCT
alkej-192	38	4	1	1	NUM
alkej-192	38	5	sbj	sbj	NUM
alkej-192	38	6	b	b	NOUN
alkej-192	38	7	mm	mm	INTJ
alkej-192	38	8	m	m	PROPN
alkej-192	38	9	1)/	1)/	PROPN
alkej-192	38	10	(	(	PUNCT
alkej-192	38	11	1	1	NUM
alkej-192	38	12	srl	srl	NOUN
alkej-192	38	13	r	r	VERB
alkej-192	38	14	aa	aa	NOUN
alkej-192	38	15	a	a	NOUN
alkej-192	38	16	)	)	PUNCT
alkej-192	38	17	(	(	PUNCT
alkej-192	38	18	sva	sva	X
alkej-192	38	19	+	+	CCONJ
alkej-192	38	20	bk	bk	INTJ
alkej-192	38	21	)	)	PUNCT
alkej-192	38	22	(	(	PUNCT
alkej-192	38	23	swm	swm	NOUN
alkej-192	38	24	)	)	PUNCT
alkej-192	38	25	(	(	PUNCT
alkej-192	38	26	sia	sia	PROPN
alkej-192	38	27	)	)	PUNCT
alkej-192	38	28	(	(	PUNCT
alkej-192	38	29	sm	sm	NOUN
alkej-192	38	30	ahmed	ahmed	PROPN
alkej-192	38	31	sabah	sabah	PROPN
alkej-192	38	32	al	al	PROPN
alkej-192	38	33	-	-	PROPN
alkej-192	38	34	araji	araji	PROPN
alkej-192	38	35	al	al	PROPN
alkej-192	38	36	-	-	PUNCT
alkej-192	38	37	khwarizmi	khwarizmi	PROPN
alkej-192	38	38	engineering	engineering	NOUN
alkej-192	38	39	journal	journal	PROPN
alkej-192	38	40	,	,	PUNCT
alkej-192	38	41	vol	vol	NOUN
alkej-192	38	42	.	.	PROPN
alkej-192	38	43	10	10	NUM
alkej-192	38	44	,	,	PUNCT
alkej-192	38	45	no	no	INTJ
alkej-192	38	46	.	.	NOUN
alkej-192	38	47	1	1	NUM
alkej-192	38	48	,	,	PUNCT
alkej-192	38	49	p.p	p.p	PROPN
alkej-192	38	50	.	.	NOUN
alkej-192	38	51	7282	7282	NUM
alkej-192	38	52	(	(	PUNCT
alkej-192	38	53	2014	2014	NUM
alkej-192	38	54	)	)	PUNCT
alkej-192	38	55	74	74	NUM
alkej-192	38	56	the	the	DET
alkej-192	38	57	parameters	parameter	NOUN
alkej-192	38	58	of	of	ADP
alkej-192	38	59	the	the	DET
alkej-192	38	60	permanent	permanent	ADJ
alkej-192	38	61	magnet	magnet	NOUN
alkej-192	38	62	dc	dc	PROPN
alkej-192	38	63	motor	motor	NOUN
alkej-192	38	64	implemented	implement	VERB
alkej-192	38	65	in	in	ADP
alkej-192	38	66	the	the	DET
alkej-192	38	67	designed	design	VERB
alkej-192	38	68	system	system	NOUN
alkej-192	38	69	are	be	AUX
alkej-192	38	70	shown	show	VERB
alkej-192	38	71	in	in	ADP
alkej-192	38	72	table	table	NOUN
alkej-192	38	73	(	(	PUNCT
alkej-192	38	74	1	1	NUM
alkej-192	38	75	)	)	PUNCT
alkej-192	39	1	[	[	X
alkej-192	39	2	11	11	NUM
alkej-192	39	3	]	]	PUNCT
alkej-192	39	4	.	.	PUNCT
alkej-192	40	1	table	table	NOUN
alkej-192	40	2	1	1	NUM
alkej-192	40	3	,	,	PUNCT
alkej-192	40	4	parameters	parameter	NOUN
alkej-192	40	5	of	of	ADP
alkej-192	40	6	the	the	DET
alkej-192	40	7	dc	dc	PROPN
alkej-192	40	8	motor	motor	NOUN
alkej-192	40	9	.	.	PUNCT
alkej-192	41	1	real	real	ADJ
alkej-192	41	2	parameter	parameter	NOUN
alkej-192	41	3	of	of	ADP
alkej-192	41	4	dc	dc	PROPN
alkej-192	41	5	motor	motor	NOUN
alkej-192	41	6	values	value	NOUN
alkej-192	41	7	armature	armature	NOUN
alkej-192	41	8	resistance	resistance	NOUN
alkej-192	41	9	ra	ra	PROPN
alkej-192	41	10	0.56	0.56	PROPN
alkej-192	41	11	armature	armature	NOUN
alkej-192	41	12	inductance	inductance	NOUN
alkej-192	41	13	la	la	PROPN
alkej-192	41	14	0.023h	0.023h	NOUN
alkej-192	41	15	inertia	inertia	NOUN
alkej-192	41	16	constant	constant	ADJ
alkej-192	41	17	j	j	PROPN
alkej-192	41	18	0.083	0.083	NUM
alkej-192	41	19	nm/(rad	nm/(rad	PROPN
alkej-192	41	20	/	/	SYM
alkej-192	41	21	s	s	PART
alkej-192	41	22	2	2	NUM
alkej-192	41	23	)	)	PUNCT
alkej-192	41	24	damping	damp	VERB
alkej-192	41	25	constant	constant	ADJ
alkej-192	41	26	b	b	PROPN
alkej-192	41	27	0.006	0.006	NUM
alkej-192	41	28	nm/(rad	nm/(rad	NOUN
alkej-192	41	29	/	/	SYM
alkej-192	41	30	s	s	NOUN
alkej-192	41	31	)	)	PUNCT
alkej-192	41	32	torque	torque	NOUN
alkej-192	41	33	constant	constant	ADJ
alkej-192	41	34	kt	kt	PROPN
alkej-192	41	35	0.43	0.43	NUM
alkej-192	41	36	nm	nm	NOUN
alkej-192	41	37	/	/	SYM
alkej-192	41	38	a	a	DET
alkej-192	41	39	back	back	NOUN
alkej-192	41	40	emf	emf	NOUN
alkej-192	41	41	constant	constant	ADJ
alkej-192	41	42	kb	kb	PROPN
alkej-192	41	43	0.43	0.43	NUM
alkej-192	41	44	v/(rad	v/(rad	NUM
alkej-192	41	45	/	/	SYM
alkej-192	41	46	sec	sec	PROPN
alkej-192	41	47	)	)	PUNCT
alkej-192	41	48	speed	speed	NOUN
alkej-192	41	49	250	250	NUM
alkej-192	41	50	rpm	rpm	NOUN
alkej-192	41	51	or	or	CCONJ
alkej-192	41	52	26	26	NUM
alkej-192	41	53	rad	rad	PROPN
alkej-192	41	54	/	/	SYM
alkej-192	41	55	sec	sec	PROPN
alkej-192	41	56	dc	dc	PROPN
alkej-192	41	57	supply	supply	NOUN
alkej-192	41	58	12	12	NUM
alkej-192	41	59	volt	volt	NOUN
alkej-192	41	60	armature	armature	NOUN
alkej-192	41	61	current	current	PROPN
alkej-192	41	62	ia	ia	PROPN
alkej-192	41	63	0.4	0.4	NUM
alkej-192	41	64	a	a	DET
alkej-192	41	65	3	3	NUM
alkej-192	41	66	.	.	PUNCT
alkej-192	41	67	control	control	NOUN
alkej-192	41	68	methodology	methodology	NOUN
alkej-192	41	69	based	base	VERB
alkej-192	41	70	on	on	ADP
alkej-192	41	71	optimization	optimization	NOUN
alkej-192	41	72	algorithms	algorithm	VERB
alkej-192	41	73	the	the	DET
alkej-192	41	74	feedback	feedback	NOUN
alkej-192	41	75	pid	pid	NOUN
alkej-192	41	76	neural	neural	ADJ
alkej-192	41	77	controller	controller	NOUN
alkej-192	41	78	is	be	AUX
alkej-192	41	79	very	very	ADV
alkej-192	41	80	important	important	ADJ
alkej-192	41	81	because	because	SCONJ
alkej-192	41	82	it	it	PRON
alkej-192	41	83	is	be	AUX
alkej-192	41	84	necessary	necessary	ADJ
alkej-192	41	85	to	to	PART
alkej-192	41	86	stabilize	stabilize	VERB
alkej-192	41	87	the	the	DET
alkej-192	41	88	tracking	tracking	NOUN
alkej-192	41	89	error	error	NOUN
alkej-192	41	90	of	of	ADP
alkej-192	41	91	the	the	DET
alkej-192	41	92	dc	dc	PROPN
alkej-192	41	93	motor	motor	NOUN
alkej-192	41	94	speed	speed	NOUN
alkej-192	41	95	when	when	SCONJ
alkej-192	41	96	the	the	DET
alkej-192	41	97	speed	speed	NOUN
alkej-192	41	98	of	of	ADP
alkej-192	41	99	the	the	DET
alkej-192	41	100	dc	dc	PROPN
alkej-192	41	101	motor	motor	NOUN
alkej-192	41	102	is	be	AUX
alkej-192	41	103	drifted	drift	VERB
alkej-192	41	104	from	from	ADP
alkej-192	41	105	the	the	DET
alkej-192	41	106	desired	desire	VERB
alkej-192	41	107	speed	speed	NOUN
alkej-192	41	108	.	.	PUNCT
alkej-192	42	1	the	the	DET
alkej-192	42	2	proposed	propose	VERB
alkej-192	42	3	structure	structure	NOUN
alkej-192	42	4	of	of	ADP
alkej-192	42	5	the	the	DET
alkej-192	42	6	nonlinear	nonlinear	ADJ
alkej-192	42	7	pid	pid	NOUN
alkej-192	42	8	neural	neural	ADJ
alkej-192	42	9	controller	controller	NOUN
alkej-192	42	10	can	can	AUX
alkej-192	42	11	be	be	AUX
alkej-192	42	12	given	give	VERB
alkej-192	42	13	in	in	ADP
alkej-192	42	14	the	the	DET
alkej-192	42	15	form	form	NOUN
alkej-192	42	16	of	of	ADP
alkej-192	42	17	block	block	NOUN
alkej-192	42	18	diagram	diagram	NOUN
alkej-192	42	19	,	,	PUNCT
alkej-192	42	20	as	as	SCONJ
alkej-192	42	21	shown	show	VERB
alkej-192	42	22	in	in	ADP
alkej-192	42	23	fig	fig	NOUN
alkej-192	42	24	.	.	PUNCT
alkej-192	43	1	2	2	X
alkej-192	43	2	.	.	X
alkej-192	43	3	the	the	DET
alkej-192	43	4	trial	trial	NOUN
alkej-192	43	5	and	and	CCONJ
alkej-192	43	6	error	error	NOUN
alkej-192	43	7	method	method	NOUN
alkej-192	43	8	and	and	CCONJ
alkej-192	43	9	particle	particle	NOUN
alkej-192	43	10	swarm	swarm	NOUN
alkej-192	43	11	optimization	optimization	NOUN
alkej-192	43	12	will	will	AUX
alkej-192	43	13	generate	generate	VERB
alkej-192	43	14	the	the	DET
alkej-192	43	15	optimal	optimal	ADJ
alkej-192	43	16	parameters	parameter	NOUN
alkej-192	43	17	for	for	ADP
alkej-192	43	18	the	the	DET
alkej-192	43	19	nonlinear	nonlinear	ADJ
alkej-192	43	20	pid	pid	NOUN
alkej-192	43	21	neural	neural	ADJ
alkej-192	43	22	controller	controller	NOUN
alkej-192	43	23	in	in	ADP
alkej-192	43	24	order	order	NOUN
alkej-192	43	25	to	to	PART
alkej-192	43	26	obtain	obtain	VERB
alkej-192	43	27	best	good	ADJ
alkej-192	43	28	control	control	NOUN
alkej-192	43	29	signal	signal	NOUN
alkej-192	43	30	that	that	PRON
alkej-192	43	31	will	will	AUX
alkej-192	43	32	minimize	minimize	VERB
alkej-192	43	33	the	the	DET
alkej-192	43	34	tracking	tracking	NOUN
alkej-192	43	35	error	error	NOUN
alkej-192	43	36	of	of	ADP
alkej-192	43	37	the	the	DET
alkej-192	43	38	dc	dc	PROPN
alkej-192	43	39	motor	motor	NOUN
alkej-192	43	40	speed	speed	NOUN
alkej-192	43	41	.	.	PUNCT
alkej-192	44	1	fig	fig	NOUN
alkej-192	44	2	.	.	PUNCT
alkej-192	45	1	2	2	X
alkej-192	45	2	.	.	X
alkej-192	45	3	the	the	DET
alkej-192	45	4	proposed	propose	VERB
alkej-192	45	5	block	block	NOUN
alkej-192	45	6	diagram	diagram	NOUN
alkej-192	45	7	of	of	ADP
alkej-192	45	8	nonlinear	nonlinear	ADJ
alkej-192	45	9	pid	pid	NOUN
alkej-192	45	10	controller	controller	NOUN
alkej-192	45	11	.	.	PUNCT
alkej-192	46	1	the	the	DET
alkej-192	46	2	proposed	propose	VERB
alkej-192	46	3	nonlinear	nonlinear	PROPN
alkej-192	46	4	pid	pid	NOUN
alkej-192	46	5	neural	neural	ADJ
alkej-192	46	6	controller	controller	NOUN
alkej-192	46	7	has	have	VERB
alkej-192	46	8	the	the	DET
alkej-192	46	9	characteristics	characteristic	NOUN
alkej-192	46	10	of	of	ADP
alkej-192	46	11	control	control	NOUN
alkej-192	46	12	agility	agility	NOUN
alkej-192	46	13	,	,	PUNCT
alkej-192	46	14	strong	strong	ADJ
alkej-192	46	15	adaptability	adaptability	NOUN
alkej-192	46	16	,	,	PUNCT
alkej-192	46	17	good	good	ADJ
alkej-192	46	18	dynamic	dynamic	ADJ
alkej-192	46	19	characteristic	characteristic	NOUN
alkej-192	46	20	and	and	CCONJ
alkej-192	46	21	robustness	robustness	NOUN
alkej-192	46	22	because	because	SCONJ
alkej-192	46	23	it	it	PRON
alkej-192	46	24	is	be	AUX
alkej-192	46	25	based	base	VERB
alkej-192	46	26	on	on	ADP
alkej-192	46	27	a	a	DET
alkej-192	46	28	conventional	conventional	ADJ
alkej-192	46	29	pid	pid	NOUN
alkej-192	46	30	controller	controller	NOUN
alkej-192	46	31	that	that	PRON
alkej-192	46	32	consists	consist	VERB
alkej-192	46	33	of	of	ADP
alkej-192	46	34	three	three	NUM
alkej-192	46	35	terms	term	NOUN
alkej-192	46	36	:	:	PUNCT
alkej-192	46	37	proportional	proportional	ADJ
alkej-192	46	38	,	,	PUNCT
alkej-192	46	39	integral	integral	ADJ
alkej-192	46	40	and	and	CCONJ
alkej-192	46	41	derivative	derivative	ADJ
alkej-192	46	42	where	where	SCONJ
alkej-192	46	43	the	the	DET
alkej-192	46	44	standard	standard	ADJ
alkej-192	46	45	form	form	NOUN
alkej-192	46	46	of	of	ADP
alkej-192	46	47	a	a	DET
alkej-192	46	48	pid	pid	NOUN
alkej-192	46	49	controller	controller	NOUN
alkej-192	46	50	is	be	AUX
alkej-192	46	51	given	give	VERB
alkej-192	46	52	in	in	ADP
alkej-192	46	53	the	the	DET
alkej-192	46	54	sdomain	sdomain	NOUN
alkej-192	46	55	as	as	ADP
alkej-192	46	56	equation	equation	NOUN
alkej-192	46	57	(	(	PUNCT
alkej-192	46	58	7	7	NUM
alkej-192	46	59	)	)	PUNCT
alkej-192	47	1	[	[	X
alkej-192	47	2	12	12	NUM
alkej-192	47	3	]	]	PUNCT
alkej-192	47	4	.	.	PUNCT
alkej-192	48	1	sk	sk	PROPN
alkej-192	48	2	s	s	PROPN
alkej-192	48	3	k	k	PROPN
alkej-192	48	4	kdipsgc	kdipsgc	PROPN
alkej-192	49	1	d	d	X
alkej-192	49	2	i	i	PRON
alkej-192	49	3	p	p	PROPN
alkej-192	49	4			NOUN
alkej-192	49	5	)	)	PUNCT
alkej-192	49	6	(	(	PUNCT
alkej-192	49	7	…	…	PUNCT
alkej-192	49	8	(	(	PUNCT
alkej-192	49	9	7	7	NUM
alkej-192	49	10	)	)	PUNCT
alkej-192	49	11	where	where	SCONJ
alkej-192	49	12	kp	kp	PROPN
alkej-192	49	13	,	,	PUNCT
alkej-192	49	14	ki	ki	PROPN
alkej-192	49	15	and	and	CCONJ
alkej-192	49	16	kd	kd	PROPN
alkej-192	49	17	are	be	AUX
alkej-192	49	18	called	call	VERB
alkej-192	49	19	the	the	DET
alkej-192	49	20	proportional	proportional	ADJ
alkej-192	49	21	gain	gain	NOUN
alkej-192	49	22	,	,	PUNCT
alkej-192	49	23	the	the	DET
alkej-192	49	24	integral	integral	ADJ
alkej-192	49	25	gain	gain	NOUN
alkej-192	49	26	and	and	CCONJ
alkej-192	49	27	the	the	DET
alkej-192	49	28	derivative	derivative	ADJ
alkej-192	49	29	gain	gain	NOUN
alkej-192	49	30	respectively	respectively	ADV
alkej-192	49	31	.	.	PUNCT
alkej-192	50	1	the	the	DET
alkej-192	50	2	proposed	propose	VERB
alkej-192	50	3	nonlinear	nonlinear	PROPN
alkej-192	50	4	pid	pid	NOUN
alkej-192	50	5	neural	neural	ADJ
alkej-192	50	6	controller	controller	NOUN
alkej-192	50	7	scheme	scheme	NOUN
alkej-192	50	8	is	be	AUX
alkej-192	50	9	based	base	VERB
alkej-192	50	10	on	on	ADP
alkej-192	50	11	the	the	DET
alkej-192	50	12	discrete	discrete	ADJ
alkej-192	50	13	-	-	PUNCT
alkej-192	50	14	time	time	NOUN
alkej-192	50	15	pid	pid	NOUN
alkej-192	50	16	as	as	ADP
alkej-192	50	17	equation	equation	NOUN
alkej-192	50	18	(	(	PUNCT
alkej-192	50	19	8)	8)	NUM
alkej-192	50	20	.	.	PUNCT
alkej-192	50	21	)	)	PUNCT
alkej-192	51	1	]	]	PUNCT
alkej-192	51	2	(	(	PUNCT
alkej-192	51	3	[	[	X
alkej-192	51	4	)	)	PUNCT
alkej-192	51	5	]	]	X
alkej-192	51	6	1()([)1	1()([)1	NUM
alkej-192	51	7	(	(	PUNCT
alkej-192	51	8	)	)	PUNCT
alkej-192	51	9	(	(	PUNCT
alkej-192	51	10	kekikekekpkuku	kekikekekpkuku	VERB
alkej-192	51	11			NUM
alkej-192	51	12	)	)	PUNCT
alkej-192	51	13	]	]	X
alkej-192	51	14	2()1(2	2()1(2	X
alkej-192	51	15	)	)	PUNCT
alkej-192	51	16	(	(	PUNCT
alkej-192	51	17	[	[	PUNCT
alkej-192	51	18			NOUN
alkej-192	51	19	kekekekd	kekekekd	NOUN
alkej-192	51	20	…	…	PUNCT
alkej-192	51	21	(	(	PUNCT
alkej-192	51	22	8)	8)	NUM
alkej-192	51	23	therefore	therefore	ADV
alkej-192	51	24	,	,	PUNCT
alkej-192	51	25	the	the	DET
alkej-192	51	26	tuning	tuning	NOUN
alkej-192	51	27	pid	pid	NOUN
alkej-192	51	28	input	input	NOUN
alkej-192	51	29	vector	vector	NOUN
alkej-192	51	30	consists	consist	VERB
alkej-192	51	31	of	of	ADP
alkej-192	51	32	)	)	PUNCT
alkej-192	51	33	(	(	PUNCT
alkej-192	51	34	ke	ke	NOUN
alkej-192	51	35	,	,	PUNCT
alkej-192	51	36	)	)	PUNCT
alkej-192	51	37	1	1	NUM
alkej-192	51	38	(	(	PUNCT
alkej-192	51	39	ke	ke	INTJ
alkej-192	51	40	,	,	PUNCT
alkej-192	51	41	)	)	PUNCT
alkej-192	51	42	2	2	NUM
alkej-192	51	43	(	(	PUNCT
alkej-192	51	44	ke	ke	NUM
alkej-192	51	45	and	and	CCONJ
alkej-192	51	46	)	)	PUNCT
alkej-192	51	47	1	1	NUM
alkej-192	51	48	(	(	PUNCT
alkej-192	51	49	ku	ku	NOUN
alkej-192	51	50	,	,	PUNCT
alkej-192	51	51	where	where	SCONJ
alkej-192	51	52	)	)	PUNCT
alkej-192	51	53	(	(	PUNCT
alkej-192	51	54	ke	ke	NOUN
alkej-192	51	55	and	and	CCONJ
alkej-192	51	56	)	)	PUNCT
alkej-192	51	57	1	1	NUM
alkej-192	51	58	(	(	PUNCT
alkej-192	51	59	ku	ku	PROPN
alkej-192	51	60	denote	denote	VERB
alkej-192	51	61	the	the	DET
alkej-192	51	62	input	input	NOUN
alkej-192	51	63	error	error	NOUN
alkej-192	51	64	signals	signal	NOUN
alkej-192	51	65	and	and	CCONJ
alkej-192	51	66	the	the	DET
alkej-192	51	67	pid	pid	NOUN
alkej-192	51	68	output	output	NOUN
alkej-192	51	69	signal	signal	NOUN
alkej-192	51	70	respectively	respectively	ADV
alkej-192	51	71	.	.	PUNCT
alkej-192	52	1	the	the	DET
alkej-192	52	2	nonlinear	nonlinear	ADJ
alkej-192	52	3	pid	pid	NOUN
alkej-192	52	4	neural	neural	ADJ
alkej-192	52	5	controller	controller	NOUN
alkej-192	52	6	for	for	ADP
alkej-192	52	7	speed	speed	NOUN
alkej-192	52	8	of	of	ADP
alkej-192	52	9	dc	dc	PROPN
alkej-192	52	10	motor	motor	NOUN
alkej-192	52	11	system	system	NOUN
alkej-192	52	12	can	can	AUX
alkej-192	52	13	be	be	AUX
alkej-192	52	14	shown	show	VERB
alkej-192	52	15	in	in	ADP
alkej-192	52	16	fig	fig	NOUN
alkej-192	52	17	.	.	PUNCT
alkej-192	53	1	3	3	X
alkej-192	53	2	.	.	X
alkej-192	53	3	dc	dc	PROPN
alkej-192	53	4	motor	motor	PROPN
alkej-192	53	5	model	model	PROPN
alkej-192	53	6	nonlinear	nonlinear	PROPN
alkej-192	53	7	pid	pid	PROPN
alkej-192	53	8	controller	controller	NOUN
alkej-192	53	9	particle	particle	NOUN
alkej-192	53	10	swarm	swarm	NOUN
alkej-192	53	11	optimization	optimization	NOUN
alkej-192	53	12	algorithm	algorithm	NOUN
alkej-192	53	13	kp	kp	PROPN
alkej-192	53	14	ki	ki	PROPN
alkej-192	53	15	kd	kd	PROPN
alkej-192	53	16	desired	desire	VERB
alkej-192	53	17	speed	speed	NOUN
alkej-192	53	18	e(k	e(k	NOUN
alkej-192	53	19	)	)	PUNCT
alkej-192	53	20	u(k	u(k	PROPN
alkej-192	53	21	)	)	PUNCT
alkej-192	53	22	speed	speed	NOUN
alkej-192	53	23	output	output	NOUN
alkej-192	53	24	+	+	CCONJ
alkej-192	53	25	u(k-1	u(k-1	NOUN
alkej-192	53	26	)	)	PUNCT
alkej-192	53	27	gain	gain	VERB
alkej-192	53	28	mapping	mapping	NOUN
alkej-192	53	29	ahmed	ahmed	PROPN
alkej-192	53	30	sabah	sabah	PROPN
alkej-192	53	31	al	al	PROPN
alkej-192	53	32	-	-	PROPN
alkej-192	53	33	araji	araji	PROPN
alkej-192	53	34	al	al	PROPN
alkej-192	53	35	-	-	PUNCT
alkej-192	53	36	khwarizmi	khwarizmi	PROPN
alkej-192	53	37	engineering	engineering	NOUN
alkej-192	53	38	journal	journal	PROPN
alkej-192	53	39	,	,	PUNCT
alkej-192	53	40	vol	vol	NOUN
alkej-192	53	41	.	.	PROPN
alkej-192	54	1	10	10	NUM
alkej-192	54	2	,	,	PUNCT
alkej-192	54	3	no	no	INTJ
alkej-192	54	4	.	.	NOUN
alkej-192	54	5	1	1	NUM
alkej-192	54	6	,	,	PUNCT
alkej-192	54	7	p.p	p.p	PROPN
alkej-192	54	8	.	.	NOUN
alkej-192	54	9	7282	7282	NUM
alkej-192	54	10	(	(	PUNCT
alkej-192	54	11	2014	2014	NUM
alkej-192	54	12	)	)	PUNCT
alkej-192	54	13	75	75	NUM
alkej-192	54	14	fig	fig	NOUN
alkej-192	54	15	.	.	PUNCT
alkej-192	55	1	3	3	X
alkej-192	55	2	.	.	X
alkej-192	55	3	the	the	DET
alkej-192	55	4	nonlinear	nonlinear	ADJ
alkej-192	55	5	pid	pid	NOUN
alkej-192	55	6	neural	neural	ADJ
alkej-192	55	7	feedback	feedback	NOUN
alkej-192	55	8	controller	controller	NOUN
alkej-192	55	9	structure	structure	NOUN
alkej-192	55	10	.	.	PUNCT
alkej-192	56	1	the	the	DET
alkej-192	56	2	proposed	propose	VERB
alkej-192	56	3	control	control	NOUN
alkej-192	56	4	law	law	NOUN
alkej-192	56	5	of	of	ADP
alkej-192	56	6	the	the	DET
alkej-192	56	7	feedback	feedback	NOUN
alkej-192	56	8	control	control	NOUN
alkej-192	56	9	signal	signal	NOUN
alkej-192	56	10	(	(	PUNCT
alkej-192	56	11	u	u	NOUN
alkej-192	56	12	)	)	PUNCT
alkej-192	56	13	can	can	AUX
alkej-192	56	14	be	be	AUX
alkej-192	56	15	proposed	propose	VERB
alkej-192	56	16	as	as	SCONJ
alkej-192	56	17	follows	follow	VERB
alkej-192	56	18	:	:	PUNCT
alkej-192	56	19	oku	oku	PROPN
alkej-192	56	20	5	5	NUM
alkej-192	56	21	)	)	PUNCT
alkej-192	56	22	(	(	PUNCT
alkej-192	56	23			NUM
alkej-192	56	24	…	…	PUNCT
alkej-192	56	25	(	(	PUNCT
alkej-192	56	26	9	9	NUM
alkej-192	56	27	)	)	PUNCT
alkej-192	56	28	o	o	NOUN
alkej-192	56	29	is	be	AUX
alkej-192	56	30	the	the	DET
alkej-192	56	31	output	output	NOUN
alkej-192	56	32	of	of	ADP
alkej-192	56	33	the	the	DET
alkej-192	56	34	neural	neural	ADJ
alkej-192	56	35	network	network	NOUN
alkej-192	56	36	that	that	PRON
alkej-192	56	37	can	can	AUX
alkej-192	56	38	be	be	AUX
alkej-192	56	39	obtained	obtain	VERB
alkej-192	56	40	from	from	ADP
alkej-192	56	41	non	non	ADJ
alkej-192	56	42	-	-	ADJ
alkej-192	56	43	linear	linear	ADJ
alkej-192	56	44	sigmoid	sigmoid	NOUN
alkej-192	56	45	activation	activation	NOUN
alkej-192	56	46	function	function	NOUN
alkej-192	56	47	and	and	CCONJ
alkej-192	56	48	multiple	multiple	ADJ
alkej-192	56	49	by	by	ADP
alkej-192	56	50	scaling	scale	VERB
alkej-192	56	51	factor	factor	NOUN
alkej-192	56	52	that	that	PRON
alkej-192	56	53	is	be	AUX
alkej-192	56	54	equal	equal	ADJ
alkej-192	56	55	to	to	ADP
alkej-192	56	56	5	5	NUM
alkej-192	56	57	.	.	PUNCT
alkej-192	57	1	the	the	DET
alkej-192	57	2	nonlinear	nonlinear	ADJ
alkej-192	57	3	relationship	relationship	NOUN
alkej-192	57	4	of	of	ADP
alkej-192	57	5	the	the	DET
alkej-192	57	6	sigmoid	sigmoid	NOUN
alkej-192	57	7	function	function	NOUN
alkej-192	57	8	can	can	AUX
alkej-192	57	9	be	be	AUX
alkej-192	57	10	presented	present	VERB
alkej-192	57	11	in	in	ADP
alkej-192	57	12	the	the	DET
alkej-192	57	13	following	follow	VERB
alkej-192	57	14	equation	equation	NOUN
alkej-192	57	15	:	:	PUNCT
alkej-192	57	16	1	1	NUM
alkej-192	57	17	1	1	NUM
alkej-192	57	18	2	2	NUM
alkej-192	57	19			NOUN
alkej-192	57	20			ADV
alkej-192	57	21			PRON
alkej-192	57	22	nete	nete	NOUN
alkej-192	57	23	o	o	NOUN
alkej-192	57	24	…	…	PUNCT
alkej-192	57	25	(	(	PUNCT
alkej-192	57	26	10	10	NUM
alkej-192	57	27	)	)	PUNCT
alkej-192	57	28	net	net	NOUN
alkej-192	57	29	is	be	AUX
alkej-192	57	30	calculated	calculate	VERB
alkej-192	57	31	from	from	ADP
alkej-192	57	32	this	this	DET
alkej-192	57	33	equation	equation	NOUN
alkej-192	57	34	:	:	PUNCT
alkej-192	57	35			NOUN
alkej-192	57	36	)	)	PUNCT
alkej-192	57	37	(	(	PUNCT
alkej-192	57	38	)	)	PUNCT
alkej-192	57	39	]	]	SYM
alkej-192	57	40	1	1	NUM
alkej-192	57	41	(	(	PUNCT
alkej-192	57	42	)	)	PUNCT
alkej-192	57	43	(	(	PUNCT
alkej-192	57	44	[	[	NOUN
alkej-192	57	45	)	)	PUNCT
alkej-192	57	46	(	(	PUNCT
alkej-192	57	47	kkiekekekpknet	kkiekekekpknet	PROPN
alkej-192	57	48	)	)	PUNCT
alkej-192	57	49	]	]	X
alkej-192	58	1	2()1(2	2()1(2	NUM
alkej-192	58	2	)	)	PUNCT
alkej-192	58	3	(	(	PUNCT
alkej-192	58	4	[	[	PUNCT
alkej-192	58	5			ADV
alkej-192	58	6	kekekekd	kekekekd	NOUN
alkej-192	58	7	...	...	PUNCT
alkej-192	58	8	(	(	PUNCT
alkej-192	58	9	11	11	NUM
alkej-192	58	10	)	)	PUNCT
alkej-192	58	11	the	the	DET
alkej-192	58	12	control	control	NOUN
alkej-192	58	13	parameters	parameter	NOUN
alkej-192	58	14	kikp	kikp	ADJ
alkej-192	58	15	,	,	PUNCT
alkej-192	58	16	and	and	CCONJ
alkej-192	58	17	kd	kd	PROPN
alkej-192	58	18	of	of	ADP
alkej-192	58	19	the	the	DET
alkej-192	58	20	nonlinear	nonlinear	ADJ
alkej-192	58	21	pid	pid	NOUN
alkej-192	58	22	neural	neural	ADJ
alkej-192	58	23	controller	controller	NOUN
alkej-192	58	24	are	be	AUX
alkej-192	58	25	adjusted	adjust	VERB
alkej-192	58	26	using	use	VERB
alkej-192	58	27	trial	trial	NOUN
alkej-192	58	28	and	and	CCONJ
alkej-192	58	29	error	error	NOUN
alkej-192	58	30	method	method	NOUN
alkej-192	58	31	and	and	CCONJ
alkej-192	58	32	particle	particle	NOUN
alkej-192	58	33	swarm	swarm	NOUN
alkej-192	58	34	optimization	optimization	NOUN
alkej-192	58	35	.	.	PUNCT
alkej-192	59	1	3.1	3.1	NUM
alkej-192	59	2	.	.	PUNCT
alkej-192	59	3	learning	learn	VERB
alkej-192	59	4	particle	particle	NOUN
alkej-192	59	5	swarm	swarm	NOUN
alkej-192	59	6	optimization	optimization	NOUN
alkej-192	59	7	algorithm	algorithm	NOUN
alkej-192	59	8	particle	particle	NOUN
alkej-192	59	9	swarm	swarm	NOUN
alkej-192	59	10	optimization	optimization	NOUN
alkej-192	59	11	(	(	PUNCT
alkej-192	59	12	pso	pso	NOUN
alkej-192	59	13	)	)	PUNCT
alkej-192	59	14	is	be	AUX
alkej-192	59	15	a	a	DET
alkej-192	59	16	kind	kind	NOUN
alkej-192	59	17	of	of	ADP
alkej-192	59	18	algorithm	algorithm	NOUN
alkej-192	59	19	to	to	PART
alkej-192	59	20	search	search	VERB
alkej-192	59	21	for	for	ADP
alkej-192	59	22	the	the	DET
alkej-192	59	23	best	good	ADJ
alkej-192	59	24	solution	solution	NOUN
alkej-192	59	25	by	by	ADP
alkej-192	59	26	simulating	simulate	VERB
alkej-192	59	27	the	the	DET
alkej-192	59	28	movement	movement	NOUN
alkej-192	59	29	and	and	CCONJ
alkej-192	59	30	flocking	flocking	NOUN
alkej-192	59	31	of	of	ADP
alkej-192	59	32	birds	bird	NOUN
alkej-192	59	33	.	.	PUNCT
alkej-192	60	1	pso	pso	NOUN
alkej-192	60	2	algorithms	algorithm	NOUN
alkej-192	60	3	use	use	VERB
alkej-192	60	4	a	a	DET
alkej-192	60	5	population	population	NOUN
alkej-192	60	6	of	of	ADP
alkej-192	60	7	individual	individual	NOUN
alkej-192	60	8	(	(	PUNCT
alkej-192	60	9	called	call	VERB
alkej-192	60	10	particles	particle	NOUN
alkej-192	60	11	)	)	PUNCT
alkej-192	60	12	“	"	PUNCT
alkej-192	60	13	flies	fly	NOUN
alkej-192	60	14	”	"	PUNCT
alkej-192	60	15	over	over	ADP
alkej-192	60	16	the	the	DET
alkej-192	60	17	solution	solution	NOUN
alkej-192	60	18	space	space	NOUN
alkej-192	60	19	in	in	ADP
alkej-192	60	20	search	search	NOUN
alkej-192	60	21	for	for	ADP
alkej-192	60	22	the	the	DET
alkej-192	60	23	optimal	optimal	ADJ
alkej-192	60	24	solution	solution	NOUN
alkej-192	60	25	[	[	X
alkej-192	60	26	13	13	NUM
alkej-192	60	27	]	]	PUNCT
alkej-192	60	28	.	.	PUNCT
alkej-192	61	1	each	each	DET
alkej-192	61	2	particle	particle	NOUN
alkej-192	61	3	has	have	VERB
alkej-192	61	4	its	its	PRON
alkej-192	61	5	own	own	ADJ
alkej-192	61	6	position	position	NOUN
alkej-192	61	7	and	and	CCONJ
alkej-192	61	8	velocity	velocity	NOUN
alkej-192	61	9	to	to	PART
alkej-192	61	10	move	move	VERB
alkej-192	61	11	around	around	ADP
alkej-192	61	12	the	the	DET
alkej-192	61	13	search	search	NOUN
alkej-192	61	14	space	space	NOUN
alkej-192	61	15	.	.	PUNCT
alkej-192	62	1	the	the	DET
alkej-192	62	2	particles	particle	NOUN
alkej-192	62	3	are	be	AUX
alkej-192	62	4	evaluated	evaluate	VERB
alkej-192	62	5	using	use	VERB
alkej-192	62	6	a	a	DET
alkej-192	62	7	fitness	fitness	NOUN
alkej-192	62	8	function	function	NOUN
alkej-192	62	9	to	to	PART
alkej-192	62	10	see	see	VERB
alkej-192	62	11	how	how	SCONJ
alkej-192	62	12	close	close	ADJ
alkej-192	62	13	they	they	PRON
alkej-192	62	14	are	be	AUX
alkej-192	62	15	to	to	ADP
alkej-192	62	16	the	the	DET
alkej-192	62	17	optimal	optimal	ADJ
alkej-192	62	18	solution	solution	NOUN
alkej-192	62	19	[	[	X
alkej-192	62	20	14	14	NUM
alkej-192	62	21	]	]	PUNCT
alkej-192	62	22	.	.	PUNCT
alkej-192	63	1	the	the	DET
alkej-192	63	2	previous	previous	ADJ
alkej-192	63	3	best	good	ADJ
alkej-192	63	4	value	value	NOUN
alkej-192	63	5	is	be	AUX
alkej-192	63	6	called	call	VERB
alkej-192	63	7	as	as	ADV
alkej-192	63	8	pbest	pbest	NOUN
alkej-192	63	9	.	.	PUNCT
alkej-192	64	1	thus	thus	ADV
alkej-192	64	2	,	,	PUNCT
alkej-192	64	3	pbest	pbest	NOUN
alkej-192	64	4	is	be	AUX
alkej-192	64	5	related	relate	VERB
alkej-192	64	6	only	only	ADV
alkej-192	64	7	to	to	ADP
alkej-192	64	8	a	a	DET
alkej-192	64	9	particular	particular	ADJ
alkej-192	64	10	particle	particle	NOUN
alkej-192	64	11	.	.	PUNCT
alkej-192	65	1	it	it	PRON
alkej-192	65	2	also	also	ADV
alkej-192	65	3	has	have	VERB
alkej-192	65	4	another	another	DET
alkej-192	65	5	value	value	NOUN
alkej-192	65	6	called	call	VERB
alkej-192	65	7	gbest	gbest	NOUN
alkej-192	65	8	,	,	PUNCT
alkej-192	65	9	which	which	PRON
alkej-192	65	10	is	be	AUX
alkej-192	65	11	the	the	DET
alkej-192	65	12	best	good	ADJ
alkej-192	65	13	value	value	NOUN
alkej-192	65	14	of	of	ADP
alkej-192	65	15	all	all	DET
alkej-192	65	16	the	the	DET
alkej-192	65	17	particles	particle	NOUN
alkej-192	65	18	pbest	pb	ADJ
alkej-192	65	19	in	in	ADP
alkej-192	65	20	the	the	DET
alkej-192	65	21	swarm	swarm	NOUN
alkej-192	65	22	.	.	PUNCT
alkej-192	66	1	the	the	DET
alkej-192	66	2	nonlinear	nonlinear	ADJ
alkej-192	66	3	pid	pid	NOUN
alkej-192	66	4	neural	neural	ADJ
alkej-192	66	5	controller	controller	NOUN
alkej-192	66	6	with	with	ADP
alkej-192	66	7	nine	nine	NUM
alkej-192	66	8	weights	weight	NOUN
alkej-192	66	9	parameters	parameter	NOUN
alkej-192	66	10	and	and	CCONJ
alkej-192	66	11	the	the	DET
alkej-192	66	12	matrix	matrix	NOUN
alkej-192	66	13	is	be	AUX
alkej-192	66	14	rewritten	rewrite	VERB
alkej-192	66	15	as	as	ADP
alkej-192	66	16	an	an	DET
alkej-192	66	17	array	array	NOUN
alkej-192	66	18	to	to	PART
alkej-192	66	19	form	form	VERB
alkej-192	66	20	a	a	DET
alkej-192	66	21	particle	particle	NOUN
alkej-192	66	22	.	.	PUNCT
alkej-192	67	1	particles	particle	NOUN
alkej-192	67	2	are	be	AUX
alkej-192	67	3	then	then	ADV
alkej-192	67	4	initialized	initialize	VERB
alkej-192	67	5	randomly	randomly	ADV
alkej-192	67	6	and	and	CCONJ
alkej-192	67	7	updated	update	VERB
alkej-192	67	8	afterwards	afterwards	ADV
alkej-192	67	9	according	accord	VERB
alkej-192	67	10	to	to	ADP
alkej-192	67	11	equations	equation	NOUN
alkej-192	67	12	(	(	PUNCT
alkej-192	67	13	12	12	NUM
alkej-192	67	14	,	,	PUNCT
alkej-192	67	15	13	13	NUM
alkej-192	67	16	,	,	PUNCT
alkej-192	67	17	14	14	NUM
alkej-192	67	18	,	,	PUNCT
alkej-192	67	19	15	15	NUM
alkej-192	67	20	,	,	PUNCT
alkej-192	67	21	16	16	NUM
alkej-192	67	22	and	and	CCONJ
alkej-192	67	23	17	17	NUM
alkej-192	67	24	)	)	PUNCT
alkej-192	67	25	in	in	ADP
alkej-192	67	26	order	order	NOUN
alkej-192	67	27	to	to	PART
alkej-192	67	28	tune	tune	VERB
alkej-192	67	29	the	the	DET
alkej-192	67	30	pid	pid	NOUN
alkej-192	67	31	parameters	parameter	NOUN
alkej-192	67	32	:	:	PUNCT
alkej-192	67	33	)	)	PUNCT
alkej-192	67	34	(	(	PUNCT
alkej-192	67	35	)	)	PUNCT
alkej-192	67	36	(	(	PUNCT
alkej-192	67	37	)	)	PUNCT
alkej-192	67	38	(	(	PUNCT
alkej-192	67	39	2211	2211	NUM
alkej-192	67	40	1	1	NUM
alkej-192	68	1	k	k	NOUN
alkej-192	68	2	m	m	VERB
alkej-192	68	3	kk	kk	INTJ
alkej-192	68	4	m	m	VERB
alkej-192	68	5	k	k	NOUN
alkej-192	68	6	m	m	VERB
alkej-192	68	7	k	k	NOUN
alkej-192	68	8	m	m	VERB
alkej-192	68	9	k	k	NOUN
alkej-192	68	10	m	m	VERB
alkej-192	68	11	kpgbestrckppbestrckpkp	kpgbestrckppbestrckpkp	PROPN
alkej-192	68	12			PROPN
alkej-192	68	13			PROPN
alkej-192	68	14	…	…	PUNCT
alkej-192	68	15	(	(	PUNCT
alkej-192	68	16	12	12	NUM
alkej-192	68	17	)	)	PUNCT
alkej-192	68	18	11	11	NUM
alkej-192	68	19			PROPN
alkej-192	68	20			PROPN
alkej-192	69	1	k	k	NOUN
alkej-192	69	2	m	m	VERB
alkej-192	69	3	k	k	NOUN
alkej-192	69	4	m	m	VERB
alkej-192	69	5	k	k	X
alkej-192	69	6	m	m	VERB
alkej-192	69	7	kpkpkp	kpkpkp	X
alkej-192	69	8	…	…	PUNCT
alkej-192	69	9	(	(	PUNCT
alkej-192	69	10	13	13	NUM
alkej-192	69	11	)	)	PUNCT
alkej-192	69	12	)	)	PUNCT
alkej-192	69	13	(	(	PUNCT
alkej-192	69	14	)	)	PUNCT
alkej-192	69	15	(	(	PUNCT
alkej-192	69	16	)	)	PUNCT
alkej-192	69	17	(	(	PUNCT
alkej-192	69	18	2211	2211	NUM
alkej-192	69	19	1	1	NUM
alkej-192	69	20	k	k	NOUN
alkej-192	69	21	m	m	VERB
alkej-192	69	22	kk	kk	INTJ
alkej-192	69	23	m	m	VERB
alkej-192	69	24	k	k	NOUN
alkej-192	69	25	m	m	VERB
alkej-192	69	26	k	k	NOUN
alkej-192	69	27	m	m	VERB
alkej-192	69	28	k	k	NOUN
alkej-192	69	29	m	m	VERB
alkej-192	69	30	kigbestrckipbestrckiki	kigbestrckipbestrckiki	PROPN
alkej-192	69	31			X
alkej-192	69	32			PROPN
alkej-192	69	33	…	…	PUNCT
alkej-192	69	34	(	(	PUNCT
alkej-192	69	35	14	14	NUM
alkej-192	69	36	)	)	SYM
alkej-192	69	37	11	11	NUM
alkej-192	69	38			PROPN
alkej-192	69	39			PROPN
alkej-192	70	1	k	k	NOUN
alkej-192	70	2	m	m	VERB
alkej-192	70	3	k	k	NOUN
alkej-192	70	4	m	m	VERB
alkej-192	70	5	k	k	VERB
alkej-192	70	6	m	m	VERB
alkej-192	70	7	kikiki	kikiki	ADJ
alkej-192	70	8	…	…	PUNCT
alkej-192	70	9	(	(	PUNCT
alkej-192	70	10	15	15	NUM
alkej-192	70	11	)	)	PUNCT
alkej-192	70	12	)	)	PUNCT
alkej-192	70	13	(	(	PUNCT
alkej-192	70	14	)	)	PUNCT
alkej-192	70	15	(	(	PUNCT
alkej-192	70	16	)	)	PUNCT
alkej-192	70	17	(	(	PUNCT
alkej-192	70	18	2211	2211	NUM
alkej-192	70	19	1	1	NUM
alkej-192	70	20	k	k	NOUN
alkej-192	70	21	m	m	VERB
alkej-192	70	22	kk	kk	INTJ
alkej-192	70	23	m	m	VERB
alkej-192	70	24	k	k	NOUN
alkej-192	70	25	m	m	VERB
alkej-192	70	26	k	k	NOUN
alkej-192	70	27	m	m	VERB
alkej-192	70	28	k	k	NOUN
alkej-192	70	29	m	m	VERB
alkej-192	70	30	kdgbestrckdpbestrckdkd	kdgbestrckdpbestrckdkd	ADJ
alkej-192	70	31			X
alkej-192	70	32			X
alkej-192	70	33	…	…	PUNCT
alkej-192	70	34	(	(	PUNCT
alkej-192	70	35	16	16	NUM
alkej-192	70	36	)	)	SYM
alkej-192	70	37	11	11	NUM
alkej-192	70	38			PROPN
alkej-192	70	39			PROPN
alkej-192	71	1	k	k	NOUN
alkej-192	71	2	m	m	VERB
alkej-192	71	3	k	k	NOUN
alkej-192	71	4	m	m	VERB
alkej-192	71	5	k	k	NOUN
alkej-192	71	6	m	m	VERB
alkej-192	71	7	kdkdkd	kdkdkd	ADJ
alkej-192	71	8	…	…	PUNCT
alkej-192	71	9	(	(	PUNCT
alkej-192	71	10	17	17	NUM
alkej-192	71	11	)	)	PUNCT
alkej-192	71	12	popm	popm	NOUN
alkej-192	71	13	,	,	PUNCT
alkej-192	72	1	.....	.....	PROPN
alkej-192	73	1	3,2,1	3,2,1	PROPN
alkej-192	73	2	where	where	SCONJ
alkej-192	73	3	pop	pop	NOUN
alkej-192	73	4	is	be	AUX
alkej-192	73	5	number	number	NOUN
alkej-192	73	6	of	of	ADP
alkej-192	73	7	particles	particle	NOUN
alkej-192	73	8	.	.	PUNCT
alkej-192	74	1	k	k	PROPN
alkej-192	74	2	mk	mk	PROPN
alkej-192	74	3	is	be	AUX
alkej-192	74	4	the	the	DET
alkej-192	74	5	weight	weight	NOUN
alkej-192	74	6	of	of	ADP
alkej-192	74	7	particle	particle	NOUN
alkej-192	74	8	m	m	PROPN
alkej-192	74	9	at	at	ADP
alkej-192	74	10	k	k	PROPN
alkej-192	74	11	th	th	X
alkej-192	74	12	iteration	iteration	NOUN
alkej-192	74	13	.	.	PUNCT
alkej-192	75	1	c1	c1	PROPN
alkej-192	75	2	and	and	CCONJ
alkej-192	75	3	c2	c2	PROPN
alkej-192	75	4	are	be	AUX
alkej-192	75	5	the	the	DET
alkej-192	75	6	acceleration	acceleration	NOUN
alkej-192	75	7	constants	constant	NOUN
alkej-192	75	8	with	with	ADP
alkej-192	75	9	positive	positive	ADJ
alkej-192	75	10	values	value	NOUN
alkej-192	75	11	equal	equal	ADJ
alkej-192	75	12	to	to	ADP
alkej-192	75	13	1.55	1.55	NUM
alkej-192	75	14	.	.	PUNCT
alkej-192	76	1	r1	r1	PROPN
alkej-192	76	2	and	and	CCONJ
alkej-192	76	3	r2	r2	PROPN
alkej-192	76	4	are	be	AUX
alkej-192	76	5	random	random	ADJ
alkej-192	76	6	numbers	number	NOUN
alkej-192	76	7	between	between	ADP
alkej-192	76	8	0	0	NUM
alkej-192	76	9	and	and	CCONJ
alkej-192	76	10	1	1	NUM
alkej-192	76	11	.	.	X
alkej-192	76	12	mpbest	mpbest	NOUN
alkej-192	76	13	is	be	AUX
alkej-192	76	14	best	well	ADV
alkej-192	76	15	previous	previous	ADJ
alkej-192	76	16	weight	weight	NOUN
alkej-192	76	17	of	of	ADP
alkej-192	76	18	m	m	PROPN
alkej-192	76	19	th	th	X
alkej-192	76	20	particle	particle	NOUN
alkej-192	76	21	.	.	PUNCT
alkej-192	77	1	gbest	gbest	PROPN
alkej-192	77	2	is	be	AUX
alkej-192	77	3	best	good	ADJ
alkej-192	77	4	particle	particle	NOUN
alkej-192	77	5	among	among	ADP
alkej-192	77	6	all	all	DET
alkej-192	77	7	the	the	DET
alkej-192	77	8	particle	particle	NOUN
alkej-192	77	9	in	in	ADP
alkej-192	77	10	the	the	DET
alkej-192	77	11	population	population	NOUN
alkej-192	77	12	.	.	PUNCT
alkej-192	78	1			PROPN
alkej-192	78	2	is	be	AUX
alkej-192	78	3	the	the	DET
alkej-192	78	4	inertia	inertia	NOUN
alkej-192	78	5	weight	weight	NOUN
alkej-192	78	6	factor	factor	NOUN
alkej-192	78	7	and	and	CCONJ
alkej-192	78	8	it	it	PRON
alkej-192	78	9	is	be	AUX
alkej-192	78	10	equal	equal	ADJ
alkej-192	78	11	to	to	ADP
alkej-192	78	12	0.75	0.75	NUM
alkej-192	78	13	.	.	PUNCT
alkej-192	79	1	mean	mean	VERB
alkej-192	79	2	square	square	ADJ
alkej-192	79	3	error	error	NOUN
alkej-192	79	4	(	(	PUNCT
alkej-192	79	5	mse	mse	NOUN
alkej-192	79	6	)	)	PUNCT
alkej-192	79	7	function	function	NOUN
alkej-192	79	8	for	for	ADP
alkej-192	79	9	dc	dc	PROPN
alkej-192	79	10	motor	motor	NOUN
alkej-192	79	11	speed	speed	NOUN
alkej-192	79	12	system	system	NOUN
alkej-192	79	13	is	be	AUX
alkej-192	79	14	chosen	choose	VERB
alkej-192	79	15	as	as	ADP
alkej-192	79	16	criterion	criterion	NOUN
alkej-192	79	17	for	for	ADP
alkej-192	79	18	estimating	estimate	VERB
alkej-192	79	19	the	the	DET
alkej-192	79	20	model	model	NOUN
alkej-192	79	21	performance	performance	NOUN
alkej-192	79	22	and	and	CCONJ
alkej-192	79	23	an	an	DET
alkej-192	79	24	objective	objective	ADJ
alkej-192	79	25	function	function	NOUN
alkej-192	79	26	to	to	PART
alkej-192	79	27	be	be	AUX
alkej-192	79	28	minimized	minimize	VERB
alkej-192	79	29	as	as	ADP
alkej-192	79	30	equation	equation	NOUN
alkej-192	79	31	(	(	PUNCT
alkej-192	79	32	18	18	NUM
alkej-192	79	33	):	):	SYM
alkej-192	79	34	2	2	NUM
alkej-192	79	35	1	1	NUM
alkej-192	79	36	)	)	PUNCT
alkej-192	79	37	)	)	PUNCT
alkej-192	79	38	(	(	PUNCT
alkej-192	79	39	)	)	PUNCT
alkej-192	79	40	(	(	PUNCT
alkej-192	79	41	(	(	PUNCT
alkej-192	79	42	1	1	NUM
alkej-192	79	43			NUM
alkej-192	79	44			NUM
alkej-192	79	45			PROPN
alkej-192	79	46	n	n	PROPN
alkej-192	79	47	j	j	PROPN
alkej-192	79	48	jtspeedoutpujeddesiredspe	jtspeedoutpujeddesiredspe	PROPN
alkej-192	79	49	n	n	PRON
alkej-192	79	50	mse	mse	NOUN
alkej-192	79	51	...	...	PUNCT
alkej-192	80	1	(	(	PUNCT
alkej-192	80	2	18	18	NUM
alkej-192	80	3	)	)	PUNCT
alkej-192	80	4	o	o	NOUN
alkej-192	81	1	h	h	INTJ
alkej-192	81	2	kp	kp	PROPN
alkej-192	81	3	ki	ki	PROPN
alkej-192	81	4	kd	kd	PROPN
alkej-192	81	5	)	)	PUNCT
alkej-192	81	6	(	(	PUNCT
alkej-192	81	7	ke	ke	NOUN
alkej-192	81	8	)	)	PUNCT
alkej-192	81	9	2	2	NUM
alkej-192	81	10	(	(	PUNCT
alkej-192	81	11	ke	ke	NOUN
alkej-192	81	12	×	×	NOUN
alkej-192	81	13	)	)	PUNCT
alkej-192	81	14	(	(	PUNCT
alkej-192	81	15	ku	ku	PROPN
alkej-192	81	16	)	)	PUNCT
alkej-192	81	17	1	1	NUM
alkej-192	81	18	(	(	PUNCT
alkej-192	81	19	ku	ku	NOUN
alkej-192	82	1	+	+	PROPN
alkej-192	83	1	+	+	CCONJ
alkej-192	83	2	-2	-2	INTJ
alkej-192	83	3	+1	+1	INTJ
alkej-192	84	1	+1	+1	INTJ
alkej-192	84	2	+1	+1	NOUN
alkej-192	85	1	+	+	CCONJ
alkej-192	85	2	+1	+1	PROPN
alkej-192	85	3	-1	-1	PUNCT
alkej-192	85	4	)	)	PUNCT
alkej-192	85	5	1	1	NUM
alkej-192	86	1	(	(	PUNCT
alkej-192	86	2	ke	ke	NUM
alkej-192	86	3	+1	+1	ADJ
alkej-192	86	4	scaling	scale	VERB
alkej-192	86	5	factor	factor	NOUN
alkej-192	86	6	ahmed	ahmed	PROPN
alkej-192	86	7	sabah	sabah	PROPN
alkej-192	86	8	al	al	PROPN
alkej-192	86	9	-	-	PROPN
alkej-192	86	10	araji	araji	PROPN
alkej-192	86	11	al	al	PROPN
alkej-192	86	12	-	-	PUNCT
alkej-192	86	13	khwarizmi	khwarizmi	PROPN
alkej-192	86	14	engineering	engineering	NOUN
alkej-192	86	15	journal	journal	PROPN
alkej-192	86	16	,	,	PUNCT
alkej-192	86	17	vol	vol	NOUN
alkej-192	86	18	.	.	PROPN
alkej-192	86	19	10	10	NUM
alkej-192	86	20	,	,	PUNCT
alkej-192	86	21	no	no	INTJ
alkej-192	86	22	.	.	NOUN
alkej-192	86	23	1	1	NUM
alkej-192	86	24	,	,	PUNCT
alkej-192	86	25	p.p	p.p	PROPN
alkej-192	86	26	.	.	NOUN
alkej-192	86	27	7282	7282	NUM
alkej-192	86	28	(	(	PUNCT
alkej-192	86	29	2014	2014	NUM
alkej-192	86	30	)	)	PUNCT
alkej-192	86	31	76	76	NUM
alkej-192	86	32	where	where	SCONJ
alkej-192	86	33	n	n	PRON
alkej-192	86	34	is	be	AUX
alkej-192	86	35	the	the	DET
alkej-192	86	36	number	number	NOUN
alkej-192	86	37	of	of	ADP
alkej-192	86	38	samples	sample	NOUN
alkej-192	86	39	and	and	CCONJ
alkej-192	86	40	equal	equal	ADJ
alkej-192	86	41	to	to	ADP
alkej-192	86	42	1000	1000	NUM
alkej-192	86	43	.	.	PUNCT
alkej-192	87	1	the	the	DET
alkej-192	87	2	number	number	NOUN
alkej-192	87	3	of	of	ADP
alkej-192	87	4	dimension	dimension	NOUN
alkej-192	87	5	in	in	ADP
alkej-192	87	6	particle	particle	NOUN
alkej-192	87	7	swarm	swarm	NOUN
alkej-192	87	8	optimization	optimization	NOUN
alkej-192	87	9	is	be	AUX
alkej-192	87	10	equal	equal	ADJ
alkej-192	87	11	to	to	ADP
alkej-192	87	12	three	three	NUM
alkej-192	87	13	because	because	SCONJ
alkej-192	87	14	the	the	DET
alkej-192	87	15	nonlinear	nonlinear	ADJ
alkej-192	87	16	pid	pid	NOUN
alkej-192	87	17	has	have	VERB
alkej-192	87	18	three	three	NUM
alkej-192	87	19	parameters	parameter	NOUN
alkej-192	87	20	.	.	PUNCT
alkej-192	88	1	the	the	DET
alkej-192	88	2	mean	mean	ADJ
alkej-192	88	3	square	square	ADJ
alkej-192	88	4	error	error	NOUN
alkej-192	88	5	function	function	NOUN
alkej-192	88	6	is	be	AUX
alkej-192	88	7	chosen	choose	VERB
alkej-192	88	8	as	as	ADP
alkej-192	88	9	criterion	criterion	NOUN
alkej-192	88	10	for	for	ADP
alkej-192	88	11	estimating	estimate	VERB
alkej-192	88	12	the	the	DET
alkej-192	88	13	model	model	NOUN
alkej-192	88	14	performance	performance	NOUN
alkej-192	88	15	as	as	ADP
alkej-192	88	16	in	in	ADP
alkej-192	88	17	equation	equation	NOUN
alkej-192	88	18	(	(	PUNCT
alkej-192	88	19	18	18	NUM
alkej-192	88	20	)	)	PUNCT
alkej-192	88	21	.	.	PUNCT
alkej-192	89	1	the	the	DET
alkej-192	89	2	steps	step	NOUN
alkej-192	89	3	of	of	ADP
alkej-192	89	4	pso	pso	NOUN
alkej-192	89	5	for	for	ADP
alkej-192	89	6	nonlinear	nonlinear	ADJ
alkej-192	89	7	pid	pid	NOUN
alkej-192	89	8	neural	neural	ADJ
alkej-192	89	9	controller	controller	NOUN
alkej-192	89	10	can	can	AUX
alkej-192	89	11	be	be	AUX
alkej-192	89	12	described	describe	VERB
alkej-192	89	13	as	as	SCONJ
alkej-192	89	14	follows	follow	VERB
alkej-192	89	15	:	:	PUNCT
alkej-192	89	16	step1	step1	PROPN
alkej-192	89	17	initial	initial	ADJ
alkej-192	89	18	searching	searching	NOUN
alkej-192	89	19	points	point	NOUN
alkej-192	89	20	0kp	0kp	NOUN
alkej-192	89	21	,	,	PUNCT
alkej-192	89	22	0ki	0ki	NOUN
alkej-192	89	23	,	,	PUNCT
alkej-192	89	24	0kd	0kd	NOUN
alkej-192	89	25	,	,	PUNCT
alkej-192	89	26	0kp	0kp	NOUN
alkej-192	89	27	,	,	PUNCT
alkej-192	89	28	0ki	0ki	NOUN
alkej-192	89	29	and	and	CCONJ
alkej-192	89	30	0kd	0kd	NOUN
alkej-192	89	31	of	of	ADP
alkej-192	89	32	each	each	DET
alkej-192	89	33	particle	particle	NOUN
alkej-192	89	34	are	be	AUX
alkej-192	89	35	usually	usually	ADV
alkej-192	89	36	generated	generate	VERB
alkej-192	89	37	randomly	randomly	ADV
alkej-192	89	38	within	within	ADP
alkej-192	89	39	the	the	DET
alkej-192	89	40	allowable	allowable	ADJ
alkej-192	89	41	range	range	NOUN
alkej-192	89	42	.	.	PUNCT
alkej-192	90	1	note	note	VERB
alkej-192	90	2	that	that	SCONJ
alkej-192	90	3	the	the	DET
alkej-192	90	4	dimension	dimension	NOUN
alkej-192	90	5	of	of	ADP
alkej-192	90	6	search	search	NOUN
alkej-192	90	7	space	space	NOUN
alkej-192	90	8	consists	consist	VERB
alkej-192	90	9	of	of	ADP
alkej-192	90	10	all	all	DET
alkej-192	90	11	the	the	DET
alkej-192	90	12	parameters	parameter	NOUN
alkej-192	90	13	used	use	VERB
alkej-192	90	14	in	in	ADP
alkej-192	90	15	the	the	DET
alkej-192	90	16	nonlinear	nonlinear	ADJ
alkej-192	90	17	pid	pid	NOUN
alkej-192	90	18	neural	neural	ADJ
alkej-192	90	19	controller	controller	NOUN
alkej-192	90	20	,	,	PUNCT
alkej-192	90	21	as	as	SCONJ
alkej-192	90	22	shown	show	VERB
alkej-192	90	23	in	in	ADP
alkej-192	90	24	fig	fig	NOUN
alkej-192	90	25	.	.	PUNCT
alkej-192	91	1	2	2	X
alkej-192	91	2	.	.	X
alkej-192	91	3	the	the	DET
alkej-192	91	4	current	current	ADJ
alkej-192	91	5	searching	searching	NOUN
alkej-192	91	6	point	point	NOUN
alkej-192	91	7	is	be	AUX
alkej-192	91	8	set	set	VERB
alkej-192	91	9	to	to	PART
alkej-192	91	10	pbest	pbest	VERB
alkej-192	91	11	for	for	ADP
alkej-192	91	12	each	each	DET
alkej-192	91	13	particle	particle	NOUN
alkej-192	91	14	.	.	PUNCT
alkej-192	92	1	the	the	DET
alkej-192	92	2	best	well	ADV
alkej-192	92	3	-	-	PUNCT
alkej-192	92	4	evaluated	evaluate	VERB
alkej-192	92	5	value	value	NOUN
alkej-192	92	6	of	of	ADP
alkej-192	92	7	pbest	pbest	NOUN
alkej-192	92	8	is	be	AUX
alkej-192	92	9	set	set	VERB
alkej-192	92	10	to	to	PART
alkej-192	92	11	gbest	gbest	VERB
alkej-192	92	12	and	and	CCONJ
alkej-192	92	13	the	the	DET
alkej-192	92	14	particle	particle	NOUN
alkej-192	92	15	number	number	NOUN
alkej-192	92	16	with	with	ADP
alkej-192	92	17	the	the	DET
alkej-192	92	18	best	good	ADJ
alkej-192	92	19	value	value	NOUN
alkej-192	92	20	is	be	AUX
alkej-192	92	21	stored	store	VERB
alkej-192	92	22	.	.	PUNCT
alkej-192	93	1	step2	step2	PROPN
alkej-192	93	2	the	the	DET
alkej-192	93	3	objective	objective	ADJ
alkej-192	93	4	function	function	NOUN
alkej-192	93	5	value	value	NOUN
alkej-192	93	6	is	be	AUX
alkej-192	93	7	calculated	calculate	VERB
alkej-192	93	8	for	for	ADP
alkej-192	93	9	each	each	DET
alkej-192	93	10	particle	particle	NOUN
alkej-192	93	11	by	by	ADP
alkej-192	93	12	using	use	VERB
alkej-192	93	13	equation	equation	NOUN
alkej-192	93	14	(	(	PUNCT
alkej-192	93	15	18	18	NUM
alkej-192	93	16	)	)	PUNCT
alkej-192	93	17	.	.	PUNCT
alkej-192	94	1	if	if	SCONJ
alkej-192	94	2	the	the	DET
alkej-192	94	3	value	value	NOUN
alkej-192	94	4	is	be	AUX
alkej-192	94	5	better	well	ADJ
alkej-192	94	6	than	than	ADP
alkej-192	94	7	the	the	DET
alkej-192	94	8	current	current	ADJ
alkej-192	94	9	pbest	pbest	NOUN
alkej-192	94	10	of	of	ADP
alkej-192	94	11	the	the	DET
alkej-192	94	12	particle	particle	NOUN
alkej-192	94	13	,	,	PUNCT
alkej-192	94	14	the	the	DET
alkej-192	94	15	pbest	pb	ADJ
alkej-192	94	16	value	value	NOUN
alkej-192	94	17	is	be	AUX
alkej-192	94	18	replaced	replace	VERB
alkej-192	94	19	by	by	ADP
alkej-192	94	20	the	the	DET
alkej-192	94	21	current	current	ADJ
alkej-192	94	22	value	value	NOUN
alkej-192	94	23	.	.	PUNCT
alkej-192	95	1	if	if	SCONJ
alkej-192	95	2	the	the	DET
alkej-192	95	3	best	good	ADJ
alkej-192	95	4	value	value	NOUN
alkej-192	95	5	of	of	ADP
alkej-192	95	6	pbest	pbest	NOUN
alkej-192	95	7	is	be	AUX
alkej-192	95	8	better	well	ADJ
alkej-192	95	9	than	than	ADP
alkej-192	95	10	the	the	DET
alkej-192	95	11	current	current	ADJ
alkej-192	95	12	gbest	gbest	NOUN
alkej-192	95	13	,	,	PUNCT
alkej-192	95	14	gbest	gb	ADJ
alkej-192	95	15	is	be	AUX
alkej-192	95	16	replaced	replace	VERB
alkej-192	95	17	by	by	ADP
alkej-192	95	18	the	the	DET
alkej-192	95	19	best	good	ADJ
alkej-192	95	20	value	value	NOUN
alkej-192	95	21	and	and	CCONJ
alkej-192	95	22	the	the	DET
alkej-192	95	23	particle	particle	NOUN
alkej-192	95	24	number	number	NOUN
alkej-192	95	25	with	with	ADP
alkej-192	95	26	the	the	DET
alkej-192	95	27	best	good	ADJ
alkej-192	95	28	value	value	NOUN
alkej-192	95	29	is	be	AUX
alkej-192	95	30	stored	store	VERB
alkej-192	95	31	.	.	PUNCT
alkej-192	96	1	step3	step3	PROPN
alkej-192	96	2	the	the	DET
alkej-192	96	3	current	current	ADJ
alkej-192	96	4	searching	searching	NOUN
alkej-192	96	5	point	point	NOUN
alkej-192	96	6	of	of	ADP
alkej-192	96	7	each	each	DET
alkej-192	96	8	particle	particle	NOUN
alkej-192	96	9	is	be	AUX
alkej-192	96	10	updated	update	VERB
alkej-192	96	11	using	use	VERB
alkej-192	96	12	equations	equation	NOUN
alkej-192	96	13	(	(	PUNCT
alkej-192	96	14	12	12	NUM
alkej-192	96	15	,	,	PUNCT
alkej-192	96	16	13	13	NUM
alkej-192	96	17	,	,	PUNCT
alkej-192	96	18	14	14	NUM
alkej-192	96	19	,	,	PUNCT
alkej-192	96	20	15	15	NUM
alkej-192	96	21	,	,	PUNCT
alkej-192	96	22	16	16	NUM
alkej-192	96	23	and	and	CCONJ
alkej-192	96	24	17	17	NUM
alkej-192	96	25	)	)	PUNCT
alkej-192	96	26	.	.	PUNCT
alkej-192	97	1	step4	step4	PROPN
alkej-192	98	1	if	if	SCONJ
alkej-192	98	2	the	the	DET
alkej-192	98	3	current	current	ADJ
alkej-192	98	4	iteration	iteration	NOUN
alkej-192	98	5	number	number	NOUN
alkej-192	98	6	reaches	reach	VERB
alkej-192	98	7	the	the	DET
alkej-192	98	8	predetermined	predetermined	ADJ
alkej-192	98	9	maximum	maximum	ADJ
alkej-192	98	10	iteration	iteration	NOUN
alkej-192	98	11	number	number	NOUN
alkej-192	98	12	,	,	PUNCT
alkej-192	98	13	then	then	ADV
alkej-192	98	14	exit	exit	NOUN
alkej-192	98	15	.	.	PUNCT
alkej-192	99	1	otherwise	otherwise	ADV
alkej-192	99	2	,	,	PUNCT
alkej-192	99	3	return	return	VERB
alkej-192	99	4	to	to	PART
alkej-192	99	5	step	step	NOUN
alkej-192	99	6	2	2	NUM
alkej-192	99	7	.	.	NOUN
alkej-192	99	8	4	4	NUM
alkej-192	99	9	.	.	X
alkej-192	99	10	simulation	simulation	NOUN
alkej-192	99	11	results	result	VERB
alkej-192	99	12	this	this	DET
alkej-192	99	13	section	section	NOUN
alkej-192	99	14	discusses	discuss	VERB
alkej-192	99	15	the	the	DET
alkej-192	99	16	mapping	mapping	NOUN
alkej-192	99	17	between	between	ADP
alkej-192	99	18	the	the	DET
alkej-192	99	19	real	real	ADJ
alkej-192	99	20	process	process	NOUN
alkej-192	99	21	and	and	CCONJ
alkej-192	99	22	the	the	DET
alkej-192	99	23	simulation	simulation	NOUN
alkej-192	99	24	carried	carry	VERB
alkej-192	99	25	out	out	ADP
alkej-192	99	26	using	use	VERB
alkej-192	99	27	matlab	matlab	PROPN
alkej-192	99	28	package	package	NOUN
alkej-192	99	29	.	.	PUNCT
alkej-192	100	1	the	the	DET
alkej-192	100	2	proposed	propose	VERB
alkej-192	100	3	nonlinear	nonlinear	PROPN
alkej-192	100	4	pid	pid	NOUN
alkej-192	100	5	neural	neural	ADJ
alkej-192	100	6	controller	controller	NOUN
alkej-192	100	7	in	in	ADP
alkej-192	100	8	conjunction	conjunction	NOUN
alkej-192	100	9	with	with	ADP
alkej-192	100	10	the	the	DET
alkej-192	100	11	input	input	NOUN
alkej-192	100	12	voltage	voltage	NOUN
alkej-192	100	13	to	to	ADP
alkej-192	100	14	the	the	DET
alkej-192	100	15	dc	dc	PROPN
alkej-192	100	16	motor	motor	PROPN
alkej-192	100	17	unit	unit	NOUN
alkej-192	100	18	which	which	PRON
alkej-192	100	19	has	have	VERB
alkej-192	100	20	a	a	DET
alkej-192	100	21	linear	linear	ADJ
alkej-192	100	22	relationship	relationship	NOUN
alkej-192	100	23	with	with	ADP
alkej-192	100	24	saturation	saturation	NOUN
alkej-192	100	25	transfer	transfer	NOUN
alkej-192	100	26	function	function	NOUN
alkej-192	100	27	has	have	VERB
alkej-192	100	28	a	a	DET
alkej-192	100	29	slope	slope	NOUN
alkej-192	100	30	equal	equal	ADJ
alkej-192	100	31	to	to	ADP
alkej-192	100	32	(	(	PUNCT
alkej-192	100	33	12/5	12/5	NUM
alkej-192	100	34	)	)	PUNCT
alkej-192	100	35	.	.	PUNCT
alkej-192	101	1	this	this	DET
alkej-192	101	2	slope	slope	NOUN
alkej-192	101	3	is	be	AUX
alkej-192	101	4	used	use	VERB
alkej-192	101	5	as	as	ADP
alkej-192	101	6	a	a	DET
alkej-192	101	7	mapping	mapping	NOUN
alkej-192	101	8	gain	gain	NOUN
alkej-192	101	9	to	to	PART
alkej-192	101	10	limit	limit	VERB
alkej-192	101	11	the	the	DET
alkej-192	101	12	motor	motor	NOUN
alkej-192	101	13	drive	drive	NOUN
alkej-192	101	14	voltage	voltage	NOUN
alkej-192	101	15	to	to	ADP
alkej-192	101	16	12volts	12volts	NUM
alkej-192	101	17	which	which	PRON
alkej-192	101	18	is	be	AUX
alkej-192	101	19	chosen	choose	VERB
alkej-192	101	20	in	in	ADP
alkej-192	101	21	accordance	accordance	NOUN
alkej-192	101	22	with	with	ADP
alkej-192	101	23	the	the	DET
alkej-192	101	24	dc	dc	PROPN
alkej-192	101	25	motor	motor	PROPN
alkej-192	101	26	modeling	modeling	NOUN
alkej-192	101	27	description	description	NOUN
alkej-192	101	28	.	.	PUNCT
alkej-192	102	1	to	to	PART
alkej-192	102	2	investigate	investigate	VERB
alkej-192	102	3	the	the	DET
alkej-192	102	4	open	open	ADJ
alkej-192	102	5	loop	loop	NOUN
alkej-192	102	6	response	response	NOUN
alkej-192	102	7	of	of	ADP
alkej-192	102	8	the	the	DET
alkej-192	102	9	dc	dc	PROPN
alkej-192	102	10	motor	motor	NOUN
alkej-192	102	11	system	system	NOUN
alkej-192	102	12	,	,	PUNCT
alkej-192	102	13	the	the	DET
alkej-192	102	14	open	open	ADJ
alkej-192	102	15	loop	loop	NOUN
alkej-192	102	16	step	step	NOUN
alkej-192	102	17	response	response	NOUN
alkej-192	102	18	of	of	ADP
alkej-192	102	19	the	the	DET
alkej-192	102	20	speed	speed	NOUN
alkej-192	102	21	of	of	ADP
alkej-192	102	22	the	the	DET
alkej-192	102	23	dc	dc	PROPN
alkej-192	102	24	motor	motor	NOUN
alkej-192	102	25	is	be	AUX
alkej-192	102	26	shown	show	VERB
alkej-192	102	27	in	in	ADP
alkej-192	102	28	fig	fig	NOUN
alkej-192	102	29	.	.	PUNCT
alkej-192	103	1	4	4	X
alkej-192	103	2	.	.	X
alkej-192	103	3	when	when	SCONJ
alkej-192	103	4	applying	apply	VERB
alkej-192	103	5	a	a	DET
alkej-192	103	6	step	step	NOUN
alkej-192	103	7	change	change	NOUN
alkej-192	103	8	in	in	ADP
alkej-192	103	9	the	the	DET
alkej-192	103	10	input	input	NOUN
alkej-192	103	11	voltage	voltage	NOUN
alkej-192	103	12	of	of	ADP
alkej-192	103	13	the	the	DET
alkej-192	103	14	motor	motor	NOUN
alkej-192	103	15	equal	equal	ADJ
alkej-192	103	16	to	to	ADP
alkej-192	103	17	(	(	PUNCT
alkej-192	103	18	0.438	0.438	NUM
alkej-192	103	19	)	)	PUNCT
alkej-192	103	20	volt	volt	NOUN
alkej-192	103	21	,	,	PUNCT
alkej-192	103	22	it	it	PRON
alkej-192	103	23	will	will	AUX
alkej-192	103	24	increase	increase	VERB
alkej-192	103	25	the	the	DET
alkej-192	103	26	motor	motor	NOUN
alkej-192	103	27	speed	speed	NOUN
alkej-192	103	28	by	by	ADP
alkej-192	103	29	1	1	NUM
alkej-192	103	30	rad	rad	PROPN
alkej-192	103	31	/	/	PROPN
alkej-192	103	32	sec	sec	PROPN
alkej-192	103	33	with	with	ADP
alkej-192	103	34	reference	reference	NOUN
alkej-192	103	35	to	to	ADP
alkej-192	103	36	its	its	PRON
alkej-192	103	37	speed	speed	NOUN
alkej-192	103	38	at	at	ADP
alkej-192	103	39	the	the	DET
alkej-192	103	40	initial	initial	ADJ
alkej-192	103	41	condition	condition	NOUN
alkej-192	103	42	which	which	PRON
alkej-192	103	43	is	be	AUX
alkej-192	103	44	equal	equal	ADJ
alkej-192	103	45	to	to	ADP
alkej-192	103	46	zero	zero	NUM
alkej-192	103	47	rad	rad	PROPN
alkej-192	103	48	/	/	SYM
alkej-192	103	49	sec	sec	PROPN
alkej-192	103	50	.	.	PUNCT
alkej-192	104	1	the	the	DET
alkej-192	104	2	settling	settling	NOUN
alkej-192	104	3	time	time	NOUN
alkej-192	104	4	for	for	ADP
alkej-192	104	5	the	the	DET
alkej-192	104	6	speed	speed	NOUN
alkej-192	104	7	of	of	ADP
alkej-192	104	8	the	the	DET
alkej-192	104	9	dc	dc	PROPN
alkej-192	104	10	motor	motor	NOUN
alkej-192	104	11	is	be	AUX
alkej-192	104	12	equal	equal	ADJ
alkej-192	104	13	to	to	ADP
alkej-192	104	14	1.2sec	1.2sec	NUM
alkej-192	104	15	and	and	CCONJ
alkej-192	104	16	the	the	DET
alkej-192	104	17	time	time	NOUN
alkej-192	104	18	constant	constant	ADJ
alkej-192	104	19	is	be	AUX
alkej-192	104	20	equal	equal	ADJ
alkej-192	104	21	to	to	ADP
alkej-192	104	22	0.082sec	0.082sec	PROPN
alkej-192	104	23	.	.	PUNCT
alkej-192	105	1	therefore	therefore	ADV
alkej-192	105	2	the	the	DET
alkej-192	105	3	sampling	sample	VERB
alkej-192	105	4	interval	interval	NOUN
alkej-192	105	5	for	for	ADP
alkej-192	105	6	the	the	DET
alkej-192	105	7	dc	dc	PROPN
alkej-192	105	8	motor	motor	NOUN
alkej-192	105	9	speed	speed	NOUN
alkej-192	105	10	control	control	NOUN
alkej-192	105	11	is	be	AUX
alkej-192	105	12	chosen	choose	VERB
alkej-192	105	13	to	to	PART
alkej-192	105	14	be	be	AUX
alkej-192	105	15	0.01sec	0.01sec	NOUN
alkej-192	105	16	using	use	VERB
alkej-192	105	17	shannon	shannon	PROPN
alkej-192	105	18	theory	theory	PROPN
alkej-192	105	19	.	.	PUNCT
alkej-192	106	1	fig	fig	NOUN
alkej-192	106	2	.	.	PUNCT
alkej-192	107	1	4	4	X
alkej-192	107	2	.	.	NOUN
alkej-192	107	3	step	step	NOUN
alkej-192	107	4	response	response	NOUN
alkej-192	107	5	of	of	ADP
alkej-192	107	6	open	open	ADJ
alkej-192	107	7	loop	loop	PROPN
alkej-192	107	8	dc	dc	PROPN
alkej-192	107	9	motor	motor	NOUN
alkej-192	107	10	system	system	NOUN
alkej-192	107	11	.	.	PUNCT
alkej-192	108	1	the	the	DET
alkej-192	108	2	proposed	propose	VERB
alkej-192	108	3	nonlinear	nonlinear	PROPN
alkej-192	108	4	pid	pid	NOUN
alkej-192	108	5	neural	neural	ADJ
alkej-192	108	6	controller	controller	NOUN
alkej-192	108	7	scheme	scheme	NOUN
alkej-192	108	8	as	as	ADP
alkej-192	108	9	in	in	ADP
alkej-192	108	10	fig	fig	NOUN
alkej-192	108	11	.	.	PUNCT
alkej-192	109	1	2	2	NUM
alkej-192	109	2	,	,	PUNCT
alkej-192	109	3	is	be	AUX
alkej-192	109	4	applied	apply	VERB
alkej-192	109	5	to	to	ADP
alkej-192	109	6	the	the	DET
alkej-192	109	7	dc	dc	PROPN
alkej-192	109	8	motor	motor	NOUN
alkej-192	109	9	model	model	NOUN
alkej-192	109	10	and	and	CCONJ
alkej-192	109	11	it	it	PRON
alkej-192	109	12	used	use	VERB
alkej-192	109	13	two	two	NUM
alkej-192	109	14	algorithms	algorithm	NOUN
alkej-192	109	15	for	for	ADP
alkej-192	109	16	tuning	tune	VERB
alkej-192	109	17	the	the	DET
alkej-192	109	18	parameters	parameter	NOUN
alkej-192	109	19	of	of	ADP
alkej-192	109	20	the	the	DET
alkej-192	109	21	controller	controller	NOUN
alkej-192	109	22	;	;	PUNCT
alkej-192	109	23	first	first	ADJ
alkej-192	109	24	algorithm	algorithm	NOUN
alkej-192	109	25	is	be	AUX
alkej-192	109	26	trial	trial	NOUN
alkej-192	109	27	and	and	CCONJ
alkej-192	109	28	error	error	NOUN
alkej-192	109	29	method	method	NOUN
alkej-192	109	30	where	where	SCONJ
alkej-192	109	31	executing	execute	VERB
alkej-192	109	32	many	many	ADJ
alkej-192	109	33	trial	trial	NOUN
alkej-192	109	34	runs	run	NOUN
alkej-192	109	35	to	to	PART
alkej-192	109	36	find	find	VERB
alkej-192	109	37	the	the	DET
alkej-192	109	38	well	well	ADJ
alkej-192	109	39	system	system	NOUN
alkej-192	109	40	response	response	NOUN
alkej-192	109	41	by	by	ADP
alkej-192	109	42	varying	vary	VERB
alkej-192	109	43	the	the	DET
alkej-192	109	44	parameters	parameter	NOUN
alkej-192	109	45	of	of	ADP
alkej-192	109	46	the	the	DET
alkej-192	109	47	pid	pid	NOUN
alkej-192	109	48	controller	controller	NOUN
alkej-192	109	49	and	and	CCONJ
alkej-192	109	50	it	it	PRON
alkej-192	109	51	has	have	AUX
alkej-192	109	52	taken	take	VERB
alkej-192	109	53	a	a	DET
alkej-192	109	54	long	long	ADJ
alkej-192	109	55	time	time	NOUN
alkej-192	109	56	to	to	PART
alkej-192	109	57	produce	produce	VERB
alkej-192	109	58	the	the	DET
alkej-192	109	59	achievable	achievable	ADJ
alkej-192	109	60	system	system	NOUN
alkej-192	109	61	response	response	NOUN
alkej-192	109	62	.	.	PUNCT
alkej-192	110	1	but	but	CCONJ
alkej-192	110	2	the	the	DET
alkej-192	110	3	second	second	ADJ
alkej-192	110	4	algorithm	algorithm	NOUN
alkej-192	110	5	is	be	AUX
alkej-192	110	6	pso	pso	NOUN
alkej-192	110	7	and	and	CCONJ
alkej-192	110	8	applying	apply	VERB
alkej-192	110	9	the	the	DET
alkej-192	110	10	steps	step	NOUN
alkej-192	110	11	of	of	ADP
alkej-192	110	12	the	the	DET
alkej-192	110	13	proposed	propose	VERB
alkej-192	110	14	learning	learn	VERB
alkej-192	110	15	algorithm	algorithm	NOUN
alkej-192	110	16	for	for	ADP
alkej-192	110	17	tuning	tune	VERB
alkej-192	110	18	pid	pid	NOUN
alkej-192	110	19	controller	controller	NOUN
alkej-192	110	20	's	's	PART
alkej-192	110	21	parameters	parameter	NOUN
alkej-192	110	22	to	to	PART
alkej-192	110	23	find	find	VERB
alkej-192	110	24	the	the	DET
alkej-192	110	25	best	good	ADJ
alkej-192	110	26	system	system	NOUN
alkej-192	110	27	response	response	NOUN
alkej-192	110	28	at	at	ADP
alkej-192	110	29	only	only	ADV
alkej-192	110	30	one	one	NUM
alkej-192	110	31	run	run	NOUN
alkej-192	110	32	where	where	SCONJ
alkej-192	110	33	the	the	DET
alkej-192	110	34	pso	pso	NOUN
alkej-192	110	35	algorithm	algorithm	NOUN
alkej-192	110	36	is	be	AUX
alkej-192	110	37	set	set	VERB
alkej-192	110	38	to	to	ADP
alkej-192	110	39	the	the	DET
alkej-192	110	40	following	follow	VERB
alkej-192	110	41	parameters	parameter	NOUN
alkej-192	110	42	:	:	PUNCT
alkej-192	110	43	population	population	NOUN
alkej-192	110	44	of	of	ADP
alkej-192	110	45	particle	particle	NOUN
alkej-192	110	46	is	be	AUX
alkej-192	110	47	equal	equal	ADJ
alkej-192	110	48	to	to	ADP
alkej-192	110	49	25	25	NUM
alkej-192	110	50	.	.	PUNCT
alkej-192	111	1	number	number	NOUN
alkej-192	111	2	of	of	ADP
alkej-192	111	3	iteration	iteration	NOUN
alkej-192	111	4	is	be	AUX
alkej-192	111	5	equal	equal	ADJ
alkej-192	111	6	to	to	ADP
alkej-192	111	7	100	100	NUM
alkej-192	111	8	.	.	PUNCT
alkej-192	112	1	number	number	NOUN
alkej-192	112	2	of	of	ADP
alkej-192	112	3	weight	weight	NOUN
alkej-192	112	4	in	in	ADP
alkej-192	112	5	each	each	DET
alkej-192	112	6	particle	particle	NOUN
alkej-192	112	7	is	be	AUX
alkej-192	112	8	equal	equal	ADJ
alkej-192	112	9	to	to	ADP
alkej-192	112	10	3	3	NUM
alkej-192	112	11	because	because	SCONJ
alkej-192	112	12	there	there	PRON
alkej-192	112	13	are	be	VERB
alkej-192	112	14	three	three	NUM
alkej-192	112	15	parameters	parameter	NOUN
alkej-192	112	16	of	of	ADP
alkej-192	112	17	pid	pid	NOUN
alkej-192	112	18	controller	controller	NOUN
alkej-192	112	19	.	.	PUNCT
alkej-192	113	1	the	the	DET
alkej-192	113	2	nonlinear	nonlinear	ADJ
alkej-192	113	3	pid	pid	NOUN
alkej-192	113	4	neural	neural	ADJ
alkej-192	113	5	controller	controller	NOUN
alkej-192	113	6	parameters	parameter	NOUN
alkej-192	113	7	that	that	PRON
alkej-192	113	8	are	be	AUX
alkej-192	113	9	obtained	obtain	VERB
alkej-192	113	10	from	from	ADP
alkej-192	113	11	the	the	DET
alkej-192	113	12	simulation	simulation	NOUN
alkej-192	113	13	package	package	NOUN
alkej-192	113	14	that	that	PRON
alkej-192	113	15	give	give	VERB
alkej-192	113	16	the	the	DET
alkej-192	113	17	best	good	ADJ
alkej-192	113	18	system	system	NOUN
alkej-192	113	19	responses	response	NOUN
alkej-192	113	20	are	be	AUX
alkej-192	113	21	shown	show	VERB
alkej-192	113	22	in	in	ADP
alkej-192	113	23	table	table	NOUN
alkej-192	113	24	(	(	PUNCT
alkej-192	113	25	2	2	NUM
alkej-192	113	26	)	)	PUNCT
alkej-192	113	27	.	.	PUNCT
alkej-192	114	1	table	table	NOUN
alkej-192	114	2	2	2	NUM
alkej-192	114	3	,	,	PUNCT
alkej-192	115	1	pid	pid	NOUN
alkej-192	115	2	controller	controller	NOUN
alkej-192	115	3	parameters	parameter	NOUN
alkej-192	115	4	.	.	PUNCT
alkej-192	116	1	tuning	tune	VERB
alkej-192	116	2	algorithm	algorithm	NOUN
alkej-192	116	3	kp	kp	PROPN
alkej-192	116	4	ki	ki	PROPN
alkej-192	116	5	kd	kd	PROPN
alkej-192	116	6	trial	trial	NOUN
alkej-192	116	7	and	and	CCONJ
alkej-192	116	8	error	error	NOUN
alkej-192	116	9	35	35	NUM
alkej-192	116	10	2.1	2.1	NUM
alkej-192	116	11	3.2	3.2	NUM
alkej-192	116	12	pso	pso	NOUN
alkej-192	116	13	42.8047	42.8047	NUM
alkej-192	116	14	1.6147	1.6147	NUM
alkej-192	116	15	0.9996	0.9996	NUM
alkej-192	116	16	0	0	NUM
alkej-192	116	17	0.2	0.2	NUM
alkej-192	116	18	0.4	0.4	NUM
alkej-192	116	19	0.6	0.6	NUM
alkej-192	116	20	0.8	0.8	NUM
alkej-192	116	21	1	1	NUM
alkej-192	116	22	1.2	1.2	NUM
alkej-192	116	23	1.4	1.4	NUM
alkej-192	116	24	0	0	NUM
alkej-192	116	25	0.2	0.2	NUM
alkej-192	116	26	0.4	0.4	NUM
alkej-192	116	27	0.6	0.6	NUM
alkej-192	116	28	0.8	0.8	NUM
alkej-192	116	29	1	1	NUM
alkej-192	116	30	1.2	1.2	NUM
alkej-192	116	31	samples	sample	NOUN
alkej-192	116	32	(	(	PUNCT
alkej-192	116	33	sec	sec	PROPN
alkej-192	116	34	)	)	PUNCT
alkej-192	116	35	s	s	PART
alkej-192	116	36	p	p	X
alkej-192	116	37	e	e	X
alkej-192	116	38	e	e	NOUN
alkej-192	117	1	d	d	X
alkej-192	117	2	o	o	X
alkej-192	117	3	f	f	X
alkej-192	118	1	d	d	X
alkej-192	118	2	c	c	NOUN
alkej-192	118	3	m	m	VERB
alkej-192	118	4	o	o	NOUN
alkej-192	118	5	to	to	ADP
alkej-192	118	6	r	r	NOUN
alkej-192	118	7	(	(	PUNCT
alkej-192	118	8	r	r	NOUN
alkej-192	118	9	a	a	PROPN
alkej-192	118	10	d	d	NOUN
alkej-192	118	11	/s	/s	X
alkej-192	118	12	e	e	PROPN
alkej-192	118	13	c	c	NOUN
alkej-192	118	14	)	)	PUNCT
alkej-192	118	15	ahmed	ahmed	PROPN
alkej-192	118	16	sabah	sabah	PROPN
alkej-192	118	17	al	al	PROPN
alkej-192	118	18	-	-	PROPN
alkej-192	118	19	araji	araji	PROPN
alkej-192	118	20	al	al	PROPN
alkej-192	118	21	-	-	PUNCT
alkej-192	118	22	khwarizmi	khwarizmi	PROPN
alkej-192	118	23	engineering	engineering	NOUN
alkej-192	118	24	journal	journal	PROPN
alkej-192	118	25	,	,	PUNCT
alkej-192	118	26	vol	vol	NOUN
alkej-192	118	27	.	.	PROPN
alkej-192	118	28	10	10	NUM
alkej-192	118	29	,	,	PUNCT
alkej-192	118	30	no	no	INTJ
alkej-192	118	31	.	.	NOUN
alkej-192	118	32	1	1	NUM
alkej-192	118	33	,	,	PUNCT
alkej-192	118	34	p.p	p.p	PROPN
alkej-192	118	35	.	.	NOUN
alkej-192	118	36	7282	7282	NUM
alkej-192	118	37	(	(	PUNCT
alkej-192	118	38	2014	2014	NUM
alkej-192	118	39	)	)	PUNCT
alkej-192	118	40	77	77	NUM
alkej-192	118	41	from	from	ADP
alkej-192	118	42	the	the	DET
alkej-192	118	43	simulation	simulation	NOUN
alkej-192	118	44	results	result	NOUN
alkej-192	118	45	,	,	PUNCT
alkej-192	118	46	the	the	DET
alkej-192	118	47	closed	closed	ADJ
alkej-192	118	48	loop	loop	NOUN
alkej-192	118	49	time	time	NOUN
alkej-192	118	50	response	response	NOUN
alkej-192	118	51	of	of	ADP
alkej-192	118	52	the	the	DET
alkej-192	118	53	dc	dc	PROPN
alkej-192	118	54	motor	motor	NOUN
alkej-192	118	55	speed	speed	NOUN
alkej-192	118	56	control	control	NOUN
alkej-192	118	57	system	system	NOUN
alkej-192	118	58	with	with	ADP
alkej-192	118	59	nonlinear	nonlinear	ADJ
alkej-192	118	60	pid	pid	NOUN
alkej-192	118	61	neural	neural	ADJ
alkej-192	118	62	controller	controller	NOUN
alkej-192	118	63	based	base	VERB
alkej-192	118	64	on	on	ADP
alkej-192	118	65	pso	pso	NOUN
alkej-192	118	66	algorithm	algorithm	NOUN
alkej-192	118	67	is	be	AUX
alkej-192	118	68	illustrated	illustrate	VERB
alkej-192	118	69	in	in	ADP
alkej-192	118	70	figs	fig	NOUN
alkej-192	118	71	.	.	PUNCT
alkej-192	119	1	5a	5a	NUM
alkej-192	119	2	,	,	PUNCT
alkej-192	119	3	5b	5b	NUM
alkej-192	119	4	and	and	CCONJ
alkej-192	119	5	5c	5c	NUM
alkej-192	119	6	for	for	ADP
alkej-192	119	7	the	the	DET
alkej-192	119	8	initial	initial	ADJ
alkej-192	119	9	speed	speed	NOUN
alkej-192	119	10	of	of	ADP
alkej-192	119	11	zero	zero	NUM
alkej-192	119	12	rad	rad	PROPN
alkej-192	119	13	/	/	SYM
alkej-192	119	14	sec	sec	PROPN
alkej-192	119	15	.	.	PROPN
alkej-192	119	16	fig	fig	PROPN
alkej-192	119	17	.	.	PUNCT
alkej-192	120	1	5a	5a	NUM
alkej-192	120	2	.	.	PUNCT
alkej-192	121	1	the	the	DET
alkej-192	121	2	speed	speed	NOUN
alkej-192	121	3	output	output	NOUN
alkej-192	121	4	of	of	ADP
alkej-192	121	5	the	the	DET
alkej-192	121	6	dc	dc	PROPN
alkej-192	121	7	motor	motor	NOUN
alkej-192	121	8	.	.	PUNCT
alkej-192	121	9	0	0	NUM
alkej-192	121	10	1	1	NUM
alkej-192	121	11	2	2	NUM
alkej-192	121	12	3	3	NUM
alkej-192	121	13	4	4	NUM
alkej-192	121	14	5	5	NUM
alkej-192	121	15	6	6	NUM
alkej-192	121	16	7	7	NUM
alkej-192	121	17	8	8	NUM
alkej-192	121	18	9	9	NUM
alkej-192	121	19	10	10	NUM
alkej-192	121	20	0	0	NUM
alkej-192	121	21	2	2	NUM
alkej-192	121	22	4	4	NUM
alkej-192	121	23	6	6	NUM
alkej-192	121	24	8	8	NUM
alkej-192	121	25	10	10	NUM
alkej-192	121	26	12	12	NUM
alkej-192	121	27	samples	sample	NOUN
alkej-192	121	28	(	(	PUNCT
alkej-192	121	29	sec	sec	PROPN
alkej-192	121	30	)	)	PUNCT
alkej-192	121	31	c	c	NOUN
alkej-192	122	1	o	o	NOUN
alkej-192	122	2	n	n	PRON
alkej-192	122	3	tr	tr	NOUN
alkej-192	122	4	o	o	PROPN
alkej-192	122	5	l	l	NOUN
alkej-192	122	6	a	a	PRON
alkej-192	122	7	c	c	NOUN
alkej-192	122	8	ti	ti	NOUN
alkej-192	122	9	o	o	NOUN
alkej-192	122	10	n	n	PROPN
alkej-192	122	11	(	(	PUNCT
alkej-192	122	12	v	v	NOUN
alkej-192	122	13	o	o	NOUN
alkej-192	122	14	lt	lt	PRON
alkej-192	122	15	)	)	PUNCT
alkej-192	122	16	fig	fig	NOUN
alkej-192	122	17	.	.	PUNCT
alkej-192	123	1	5b	5b	NUM
alkej-192	123	2	.	.	PUNCT
alkej-192	124	1	the	the	DET
alkej-192	124	2	control	control	NOUN
alkej-192	124	3	action	action	NOUN
alkej-192	124	4	.	.	PUNCT
alkej-192	125	1	figure	figure	NOUN
alkej-192	125	2	5a	5a	NUM
alkej-192	125	3	shows	show	VERB
alkej-192	125	4	the	the	DET
alkej-192	125	5	response	response	NOUN
alkej-192	125	6	of	of	ADP
alkej-192	125	7	the	the	DET
alkej-192	125	8	dc	dc	PROPN
alkej-192	125	9	motor	motor	NOUN
alkej-192	125	10	speed	speed	NOUN
alkej-192	125	11	output	output	NOUN
alkej-192	125	12	to	to	ADP
alkej-192	125	13	a	a	DET
alkej-192	125	14	steps	step	NOUN
alkej-192	125	15	change	change	NOUN
alkej-192	125	16	,	,	PUNCT
alkej-192	125	17	it	it	PRON
alkej-192	125	18	had	have	VERB
alkej-192	125	19	small	small	ADJ
alkej-192	125	20	over	over	ADP
alkej-192	125	21	shoot	shoot	NOUN
alkej-192	125	22	at	at	ADP
alkej-192	125	23	first	first	ADJ
alkej-192	125	24	step	step	NOUN
alkej-192	125	25	(	(	PUNCT
alkej-192	125	26	2.82	2.82	NUM
alkej-192	125	27	)	)	PUNCT
alkej-192	125	28	rad	rad	PROPN
alkej-192	125	29	/	/	SYM
alkej-192	125	30	sec	sec	PROPN
alkej-192	125	31	and	and	CCONJ
alkej-192	125	32	no	no	ADV
alkej-192	125	33	over	over	ADP
alkej-192	125	34	shoots	shoot	NOUN
alkej-192	125	35	in	in	ADP
alkej-192	125	36	the	the	DET
alkej-192	125	37	other	other	ADJ
alkej-192	125	38	steps	step	NOUN
alkej-192	125	39	as	as	ADV
alkej-192	125	40	well	well	ADV
alkej-192	125	41	as	as	ADP
alkej-192	125	42	the	the	DET
alkej-192	125	43	steady	steady	ADJ
alkej-192	125	44	-	-	PUNCT
alkej-192	125	45	state	state	NOUN
alkej-192	125	46	error	error	NOUN
alkej-192	125	47	is	be	AUX
alkej-192	125	48	equal	equal	ADJ
alkej-192	125	49	to	to	ADP
alkej-192	125	50	zero	zero	NUM
alkej-192	125	51	in	in	ADP
alkej-192	125	52	each	each	DET
alkej-192	125	53	steps	step	NOUN
alkej-192	125	54	when	when	SCONJ
alkej-192	125	55	the	the	DET
alkej-192	125	56	desired	desire	VERB
alkej-192	125	57	change	change	NOUN
alkej-192	125	58	in	in	ADP
alkej-192	125	59	speed	speed	NOUN
alkej-192	125	60	is	be	AUX
alkej-192	125	61	(	(	PUNCT
alkej-192	125	62	25	25	NUM
alkej-192	125	63	,	,	PUNCT
alkej-192	125	64	75	75	NUM
alkej-192	125	65	,	,	PUNCT
alkej-192	125	66	125	125	NUM
alkej-192	125	67	,	,	PUNCT
alkej-192	125	68	75	75	NUM
alkej-192	125	69	and	and	CCONJ
alkej-192	125	70	25	25	NUM
alkej-192	125	71	)	)	PUNCT
alkej-192	125	72	r.p.m	r.p.m	NOUN
alkej-192	125	73	as	as	ADP
alkej-192	125	74	(	(	PUNCT
alkej-192	125	75	2.84	2.84	NUM
alkej-192	125	76	,	,	PUNCT
alkej-192	125	77	8.52	8.52	NUM
alkej-192	125	78	,	,	PUNCT
alkej-192	125	79	14.2	14.2	NUM
alkej-192	125	80	,	,	PUNCT
alkej-192	125	81	8.52	8.52	NUM
alkej-192	125	82	and	and	CCONJ
alkej-192	125	83	2.84	2.84	NUM
alkej-192	125	84	)	)	PUNCT
alkej-192	125	85	rad	rad	PROPN
alkej-192	125	86	/	/	SYM
alkej-192	125	87	sec	sec	PROPN
alkej-192	125	88	respectively	respectively	ADV
alkej-192	125	89	.	.	PUNCT
alkej-192	126	1	the	the	DET
alkej-192	126	2	nonlinear	nonlinear	ADJ
alkej-192	126	3	pid	pid	NOUN
alkej-192	126	4	neural	neural	ADJ
alkej-192	126	5	control	control	NOUN
alkej-192	126	6	action	action	NOUN
alkej-192	126	7	response	response	NOUN
alkej-192	126	8	is	be	AUX
alkej-192	126	9	shown	show	VERB
alkej-192	126	10	in	in	ADP
alkej-192	126	11	fig	fig	NOUN
alkej-192	126	12	.	.	PUNCT
alkej-192	127	1	5b	5b	NOUN
alkej-192	127	2	that	that	PRON
alkej-192	127	3	it	it	PRON
alkej-192	127	4	had	have	VERB
alkej-192	127	5	few	few	ADJ
alkej-192	127	6	spikes	spike	NOUN
alkej-192	127	7	in	in	ADP
alkej-192	127	8	response	response	NOUN
alkej-192	127	9	to	to	ADP
alkej-192	127	10	the	the	DET
alkej-192	127	11	desired	desire	VERB
alkej-192	127	12	step	step	NOUN
alkej-192	127	13	change	change	NOUN
alkej-192	127	14	in	in	ADP
alkej-192	127	15	motor	motor	NOUN
alkej-192	127	16	speed	speed	NOUN
alkej-192	127	17	with	with	ADP
alkej-192	127	18	very	very	ADV
alkej-192	127	19	small	small	ADJ
alkej-192	127	20	oscillation	oscillation	NOUN
alkej-192	127	21	in	in	ADP
alkej-192	127	22	order	order	NOUN
alkej-192	127	23	to	to	PART
alkej-192	127	24	keep	keep	VERB
alkej-192	127	25	the	the	DET
alkej-192	127	26	speed	speed	NOUN
alkej-192	127	27	output	output	NOUN
alkej-192	127	28	of	of	ADP
alkej-192	127	29	the	the	DET
alkej-192	127	30	dc	dc	PROPN
alkej-192	127	31	motor	motor	NOUN
alkej-192	127	32	within	within	ADP
alkej-192	127	33	desired	desire	VERB
alkej-192	127	34	range	range	NOUN
alkej-192	127	35	.	.	PUNCT
alkej-192	128	1	the	the	DET
alkej-192	128	2	error	error	NOUN
alkej-192	128	3	between	between	ADP
alkej-192	128	4	the	the	DET
alkej-192	128	5	desired	desire	VERB
alkej-192	128	6	speed	speed	NOUN
alkej-192	128	7	and	and	CCONJ
alkej-192	128	8	the	the	DET
alkej-192	128	9	actual	actual	ADJ
alkej-192	128	10	speed	speed	NOUN
alkej-192	128	11	output	output	NOUN
alkej-192	128	12	of	of	ADP
alkej-192	128	13	the	the	DET
alkej-192	128	14	dc	dc	PROPN
alkej-192	128	15	motor	motor	NOUN
alkej-192	128	16	is	be	AUX
alkej-192	128	17	shown	show	VERB
alkej-192	128	18	in	in	ADP
alkej-192	128	19	fig	fig	NOUN
alkej-192	128	20	.	.	PUNCT
alkej-192	129	1	5c	5c	NUM
alkej-192	130	1	and	and	CCONJ
alkej-192	130	2	it	it	PRON
alkej-192	130	3	is	be	AUX
alkej-192	130	4	very	very	ADV
alkej-192	130	5	small	small	ADJ
alkej-192	130	6	in	in	ADP
alkej-192	130	7	the	the	DET
alkej-192	130	8	transient	transient	NOUN
alkej-192	130	9	and	and	CCONJ
alkej-192	130	10	becomes	become	VERB
alkej-192	130	11	very	very	ADV
alkej-192	130	12	close	close	ADJ
alkej-192	130	13	to	to	ADP
alkej-192	130	14	zero	zero	NUM
alkej-192	130	15	in	in	ADP
alkej-192	130	16	steady	steady	ADJ
alkej-192	130	17	state	state	NOUN
alkej-192	130	18	.	.	PUNCT
alkej-192	131	1	0	0	NUM
alkej-192	132	1	1	1	NUM
alkej-192	132	2	2	2	NUM
alkej-192	132	3	3	3	NUM
alkej-192	132	4	4	4	NUM
alkej-192	132	5	5	5	NUM
alkej-192	132	6	6	6	NUM
alkej-192	132	7	7	7	NUM
alkej-192	132	8	8	8	NUM
alkej-192	132	9	9	9	NUM
alkej-192	132	10	10	10	NUM
alkej-192	133	1	-6	-6	INTJ
alkej-192	133	2	-4	-4	INTJ
alkej-192	134	1	-2	-2	NOUN
alkej-192	134	2	0	0	NUM
alkej-192	134	3	2	2	NUM
alkej-192	134	4	4	4	NUM
alkej-192	134	5	6	6	NUM
alkej-192	134	6	samples	sample	NOUN
alkej-192	134	7	(	(	PUNCT
alkej-192	134	8	sec	sec	PROPN
alkej-192	134	9	)	)	PUNCT
alkej-192	134	10	s	s	PART
alkej-192	134	11	p	p	X
alkej-192	134	12	e	e	X
alkej-192	134	13	e	e	X
alkej-192	134	14	d	d	X
alkej-192	134	15	e	e	NOUN
alkej-192	134	16	r	r	NOUN
alkej-192	134	17	r	r	NOUN
alkej-192	134	18	o	o	NOUN
alkej-192	134	19	r	r	NOUN
alkej-192	134	20	(	(	PUNCT
alkej-192	134	21	r	r	NOUN
alkej-192	134	22	a	a	PROPN
alkej-192	134	23	d	d	NOUN
alkej-192	134	24	/s	/s	X
alkej-192	134	25	e	e	PROPN
alkej-192	134	26	c	c	X
alkej-192	134	27	)	)	PUNCT
alkej-192	134	28	fig	fig	NOUN
alkej-192	134	29	.	.	PUNCT
alkej-192	135	1	5c	5c	NOUN
alkej-192	135	2	.	.	PUNCT
alkej-192	136	1	the	the	DET
alkej-192	136	2	speed	speed	NOUN
alkej-192	136	3	error	error	NOUN
alkej-192	136	4	.	.	PUNCT
alkej-192	137	1	the	the	DET
alkej-192	137	2	fundamental	fundamental	ADJ
alkej-192	137	3	essence	essence	NOUN
alkej-192	137	4	for	for	ADP
alkej-192	137	5	applying	apply	VERB
alkej-192	137	6	the	the	DET
alkej-192	137	7	proposed	propose	VERB
alkej-192	137	8	control	control	NOUN
alkej-192	137	9	algorithm	algorithm	NOUN
alkej-192	137	10	based	base	VERB
alkej-192	137	11	on	on	ADP
alkej-192	137	12	pso	pso	NOUN
alkej-192	137	13	is	be	AUX
alkej-192	137	14	to	to	PART
alkej-192	137	15	minimize	minimize	VERB
alkej-192	137	16	the	the	DET
alkej-192	137	17	tracking	tracking	NOUN
alkej-192	137	18	speed	speed	NOUN
alkej-192	137	19	error	error	NOUN
alkej-192	137	20	and	and	CCONJ
alkej-192	137	21	to	to	PART
alkej-192	137	22	obtain	obtain	VERB
alkej-192	137	23	smoothness	smoothness	NOUN
alkej-192	137	24	of	of	ADP
alkej-192	137	25	the	the	DET
alkej-192	137	26	control	control	NOUN
alkej-192	137	27	signal	signal	NOUN
alkej-192	137	28	in	in	ADP
alkej-192	137	29	comparison	comparison	NOUN
alkej-192	137	30	with	with	ADP
alkej-192	137	31	trial	trial	NOUN
alkej-192	137	32	and	and	CCONJ
alkej-192	137	33	error	error	NOUN
alkej-192	137	34	method	method	NOUN
alkej-192	137	35	in	in	ADP
alkej-192	137	36	terms	term	NOUN
alkej-192	137	37	of	of	ADP
alkej-192	137	38	time	time	NOUN
alkej-192	137	39	saving	save	VERB
alkej-192	137	40	and	and	CCONJ
alkej-192	137	41	obtaining	obtain	VERB
alkej-192	137	42	an	an	DET
alkej-192	137	43	optimal	optimal	ADJ
alkej-192	137	44	control	control	NOUN
alkej-192	137	45	parameters	parameter	NOUN
alkej-192	137	46	of	of	ADP
alkej-192	137	47	the	the	DET
alkej-192	137	48	nonlinear	nonlinear	ADJ
alkej-192	137	49	pid	pid	NOUN
alkej-192	137	50	neural	neural	ADJ
alkej-192	137	51	controller	controller	NOUN
alkej-192	137	52	with	with	ADP
alkej-192	137	53	best	good	ADJ
alkej-192	137	54	speed	speed	NOUN
alkej-192	137	55	response	response	NOUN
alkej-192	137	56	.	.	PUNCT
alkej-192	138	1	5	5	X
alkej-192	138	2	.	.	X
alkej-192	138	3	hardware	hardware	NOUN
alkej-192	138	4	design	design	NOUN
alkej-192	138	5	and	and	CCONJ
alkej-192	138	6	real	real	ADJ
alkej-192	138	7	time	time	NOUN
alkej-192	138	8	results	result	NOUN
alkej-192	138	9	in	in	ADP
alkej-192	138	10	this	this	DET
alkej-192	138	11	section	section	NOUN
alkej-192	138	12	,	,	PUNCT
alkej-192	138	13	the	the	DET
alkej-192	138	14	experimental	experimental	ADJ
alkej-192	138	15	setup	setup	NOUN
alkej-192	138	16	for	for	ADP
alkej-192	138	17	the	the	DET
alkej-192	138	18	real	real	ADJ
alkej-192	138	19	-	-	PUNCT
alkej-192	138	20	time	time	NOUN
alkej-192	138	21	speed	speed	NOUN
alkej-192	138	22	control	control	NOUN
alkej-192	138	23	of	of	ADP
alkej-192	138	24	the	the	DET
alkej-192	138	25	dc	dc	PROPN
alkej-192	138	26	motor	motor	NOUN
alkej-192	138	27	is	be	AUX
alkej-192	138	28	shown	show	VERB
alkej-192	138	29	in	in	ADP
alkej-192	138	30	fig	fig	NOUN
alkej-192	138	31	.	.	PUNCT
alkej-192	139	1	6	6	NUM
alkej-192	139	2	.	.	PUNCT
alkej-192	139	3	the	the	DET
alkej-192	139	4	setup	setup	NOUN
alkej-192	139	5	consists	consist	VERB
alkej-192	139	6	of	of	ADP
alkej-192	139	7	:	:	PUNCT
alkej-192	139	8			PRON
alkej-192	139	9	the	the	DET
alkej-192	139	10	permanent	permanent	ADJ
alkej-192	139	11	magnet	magnet	NOUN
alkej-192	139	12	dc	dc	PROPN
alkej-192	139	13	motor	motor	PROPN
alkej-192	139	14	and	and	CCONJ
alkej-192	139	15	dc	dc	PROPN
alkej-192	139	16	tacho	tacho	PROPN
alkej-192	139	17	generator	generator	PROPN
alkej-192	139	18	with	with	ADP
alkej-192	139	19	a	a	DET
alkej-192	139	20	sensitivity	sensitivity	NOUN
alkej-192	139	21	figure	figure	NOUN
alkej-192	139	22	equal	equal	ADJ
alkej-192	139	23	to	to	ADP
alkej-192	139	24	20mv	20mv	NOUN
alkej-192	139	25	/	/	SYM
alkej-192	139	26	rad	rad	PROPN
alkej-192	139	27	/	/	SYM
alkej-192	139	28	sec	sec	PROPN
alkej-192	139	29	.	.	PUNCT
alkej-192	140	1	the	the	DET
alkej-192	140	2	motor	motor	NOUN
alkej-192	140	3	has	have	VERB
alkej-192	140	4	a	a	DET
alkej-192	140	5	speed	speed	NOUN
alkej-192	140	6	range	range	NOUN
alkej-192	140	7	of	of	ADP
alkej-192	140	8	operation	operation	NOUN
alkej-192	140	9	"	"	PUNCT
alkej-192	140	10	0	0	NUM
alkej-192	140	11	rad	rad	PROPN
alkej-192	140	12	/	/	SYM
alkej-192	140	13	sec	sec	PROPN
alkej-192	140	14	to	to	ADP
alkej-192	140	15	26	26	NUM
alkej-192	140	16	rad	rad	PROPN
alkej-192	140	17	/	/	SYM
alkej-192	140	18	sec	sec	PROPN
alkej-192	140	19	"	"	PUNCT
alkej-192	140	20	.	.	PUNCT
alkej-192	141	1			PROPN
alkej-192	141	2	dc	dc	PROPN
alkej-192	141	3	power	power	NOUN
alkej-192	141	4	supply	supply	NOUN
alkej-192	141	5	that	that	PRON
alkej-192	141	6	provides	provide	VERB
alkej-192	141	7	power	power	NOUN
alkej-192	141	8	to	to	ADP
alkej-192	141	9	the	the	DET
alkej-192	141	10	motor	motor	NOUN
alkej-192	141	11	and	and	CCONJ
alkej-192	141	12	the	the	DET
alkej-192	141	13	rest	rest	NOUN
alkej-192	141	14	of	of	ADP
alkej-192	141	15	the	the	DET
alkej-192	141	16	circuitry	circuitry	NOUN
alkej-192	141	17	.	.	PUNCT
alkej-192	142	1			X
alkej-192	143	1	the	the	DET
alkej-192	143	2	data	data	NOUN
alkej-192	143	3	acquisition	acquisition	NOUN
alkej-192	143	4	device	device	NOUN
alkej-192	143	5	from	from	ADP
alkej-192	143	6	national	national	ADJ
alkej-192	143	7	instrument	instrument	PROPN
alkej-192	143	8	ni	ni	PROPN
alkej-192	143	9	company	company	NOUN
alkej-192	143	10	.	.	PUNCT
alkej-192	144	1			PROPN
alkej-192	144	2	motor	motor	PROPN
alkej-192	144	3	drive	drive	PROPN
alkej-192	144	4	board	board	NOUN
alkej-192	144	5	based	base	VERB
alkej-192	144	6	on	on	ADP
alkej-192	144	7	lm324	lm324	ADJ
alkej-192	144	8	operational	operational	ADJ
alkej-192	144	9	amplifiers	amplifier	NOUN
alkej-192	144	10	.	.	PUNCT
alkej-192	145	1	0	0	NUM
alkej-192	145	2	1	1	NUM
alkej-192	145	3	2	2	NUM
alkej-192	145	4	3	3	NUM
alkej-192	145	5	4	4	NUM
alkej-192	145	6	5	5	NUM
alkej-192	145	7	6	6	NUM
alkej-192	145	8	7	7	NUM
alkej-192	145	9	8	8	NUM
alkej-192	145	10	9	9	NUM
alkej-192	145	11	10	10	NUM
alkej-192	145	12	0	0	NUM
alkej-192	145	13	2	2	NUM
alkej-192	145	14	4	4	NUM
alkej-192	145	15	6	6	NUM
alkej-192	145	16	8	8	NUM
alkej-192	145	17	10	10	NUM
alkej-192	145	18	12	12	NUM
alkej-192	145	19	14	14	NUM
alkej-192	145	20	samples	sample	NOUN
alkej-192	145	21	(	(	PUNCT
alkej-192	145	22	sec	sec	PROPN
alkej-192	145	23	)	)	PUNCT
alkej-192	145	24	s	s	PART
alkej-192	145	25	p	p	X
alkej-192	145	26	e	e	X
alkej-192	145	27	e	e	NOUN
alkej-192	146	1	d	d	X
alkej-192	146	2	o	o	X
alkej-192	146	3	f	f	X
alkej-192	147	1	d	d	X
alkej-192	147	2	c	c	NOUN
alkej-192	147	3	m	m	VERB
alkej-192	147	4	o	o	NOUN
alkej-192	147	5	to	to	ADP
alkej-192	147	6	r	r	NOUN
alkej-192	147	7	(	(	PUNCT
alkej-192	147	8	r	r	NOUN
alkej-192	147	9	a	a	PROPN
alkej-192	147	10	d	d	NOUN
alkej-192	147	11	/s	/s	X
alkej-192	147	12	e	e	PROPN
alkej-192	147	13	c	c	NOUN
alkej-192	147	14	)	)	PUNCT
alkej-192	147	15	actual	actual	ADJ
alkej-192	147	16	speed	speed	NOUN
alkej-192	147	17	output	output	NOUN
alkej-192	147	18	desired	desire	VERB
alkej-192	147	19	speed	speed	NOUN
alkej-192	147	20	ahmed	ahmed	PROPN
alkej-192	147	21	sabah	sabah	PROPN
alkej-192	147	22	al	al	PROPN
alkej-192	147	23	-	-	PROPN
alkej-192	147	24	araji	araji	PROPN
alkej-192	147	25	al	al	PROPN
alkej-192	147	26	-	-	PUNCT
alkej-192	147	27	khwarizmi	khwarizmi	PROPN
alkej-192	147	28	engineering	engineering	NOUN
alkej-192	147	29	journal	journal	PROPN
alkej-192	147	30	,	,	PUNCT
alkej-192	147	31	vol	vol	NOUN
alkej-192	147	32	.	.	PROPN
alkej-192	147	33	10	10	NUM
alkej-192	147	34	,	,	PUNCT
alkej-192	147	35	no	no	INTJ
alkej-192	147	36	.	.	NOUN
alkej-192	147	37	1	1	NUM
alkej-192	147	38	,	,	PUNCT
alkej-192	147	39	p.p	p.p	PROPN
alkej-192	147	40	.	.	NOUN
alkej-192	147	41	7282	7282	NUM
alkej-192	147	42	(	(	PUNCT
alkej-192	147	43	2014	2014	NUM
alkej-192	147	44	)	)	PUNCT
alkej-192	147	45	78	78	NUM
alkej-192	147	46	fig	fig	NOUN
alkej-192	147	47	.	.	PUNCT
alkej-192	148	1	6	6	NUM
alkej-192	148	2	.	.	PUNCT
alkej-192	148	3	the	the	DET
alkej-192	148	4	experimental	experimental	ADJ
alkej-192	148	5	work	work	NOUN
alkej-192	148	6	in	in	ADP
alkej-192	148	7	the	the	DET
alkej-192	148	8	real	real	ADJ
alkej-192	148	9	-	-	PUNCT
alkej-192	148	10	time	time	NOUN
alkej-192	148	11	speed	speed	NOUN
alkej-192	148	12	control	control	NOUN
alkej-192	148	13	.	.	PUNCT
alkej-192	149	1	in	in	ADP
alkej-192	149	2	the	the	DET
alkej-192	149	3	real	real	ADJ
alkej-192	149	4	time	time	NOUN
alkej-192	149	5	computer	computer	NOUN
alkej-192	149	6	control	control	NOUN
alkej-192	149	7	system	system	NOUN
alkej-192	149	8	based	base	VERB
alkej-192	149	9	on	on	ADP
alkej-192	149	10	labview	labview	NOUN
alkej-192	149	11	package	package	NOUN
alkej-192	149	12	,	,	PUNCT
alkej-192	149	13	the	the	DET
alkej-192	149	14	fine	fine	ADJ
alkej-192	149	15	tuned	tune	VERB
alkej-192	149	16	parameters	parameter	NOUN
alkej-192	149	17	of	of	ADP
alkej-192	149	18	the	the	DET
alkej-192	149	19	nonlinear	nonlinear	ADJ
alkej-192	149	20	pid	pid	NOUN
alkej-192	149	21	neural	neural	ADJ
alkej-192	149	22	controller	controller	NOUN
alkej-192	149	23	that	that	PRON
alkej-192	149	24	have	have	AUX
alkej-192	149	25	been	be	AUX
alkej-192	149	26	obtained	obtain	VERB
alkej-192	149	27	from	from	ADP
alkej-192	149	28	the	the	DET
alkej-192	149	29	simulation	simulation	NOUN
alkej-192	149	30	based	base	VERB
alkej-192	149	31	on	on	ADP
alkej-192	149	32	pso	pso	NOUN
alkej-192	149	33	algorithm	algorithm	NOUN
alkej-192	149	34	are	be	AUX
alkej-192	149	35	applied	apply	VERB
alkej-192	149	36	in	in	ADP
alkej-192	149	37	the	the	DET
alkej-192	149	38	real	real	ADJ
alkej-192	149	39	time	time	NOUN
alkej-192	149	40	computer	computer	NOUN
alkej-192	149	41	controller	controller	NOUN
alkej-192	149	42	with	with	ADP
alkej-192	149	43	sampling	sample	VERB
alkej-192	149	44	time	time	NOUN
alkej-192	149	45	equal	equal	ADJ
alkej-192	149	46	to	to	ADP
alkej-192	149	47	0.01sec	0.01sec	NOUN
alkej-192	149	48	.	.	PUNCT
alkej-192	150	1	the	the	DET
alkej-192	150	2	computer	computer	NOUN
alkej-192	150	3	code	code	NOUN
alkej-192	150	4	and	and	CCONJ
alkej-192	150	5	front	front	ADJ
alkej-192	150	6	panel	panel	NOUN
alkej-192	150	7	diagram	diagram	NOUN
alkej-192	150	8	of	of	ADP
alkej-192	150	9	the	the	DET
alkej-192	150	10	control	control	NOUN
alkej-192	150	11	algorithm	algorithm	NOUN
alkej-192	150	12	have	have	AUX
alkej-192	150	13	been	be	AUX
alkej-192	150	14	written	write	VERB
alkej-192	150	15	in	in	ADP
alkej-192	150	16	the	the	DET
alkej-192	150	17	labview	labview	NOUN
alkej-192	150	18	,	,	PUNCT
alkej-192	150	19	as	as	SCONJ
alkej-192	150	20	shown	show	VERB
alkej-192	150	21	in	in	ADP
alkej-192	150	22	fig	fig	NOUN
alkej-192	150	23	.	.	PUNCT
alkej-192	151	1	7	7	X
alkej-192	151	2	.	.	X
alkej-192	151	3	fig	fig	NOUN
alkej-192	151	4	.	.	PUNCT
alkej-192	152	1	7	7	X
alkej-192	152	2	.	.	X
alkej-192	152	3	labview	labview	NOUN
alkej-192	152	4	control	control	NOUN
alkej-192	152	5	algorithm	algorithm	PROPN
alkej-192	152	6	(	(	PUNCT
alkej-192	152	7	a	a	DET
alkej-192	152	8	)	)	PUNCT
alkej-192	152	9	front	front	ADJ
alkej-192	152	10	panel	panel	NOUN
alkej-192	152	11	diagram	diagram	NOUN
alkej-192	152	12	;	;	PUNCT
alkej-192	152	13	(	(	PUNCT
alkej-192	152	14	b	b	X
alkej-192	152	15	)	)	PUNCT
alkej-192	152	16	computer	computer	NOUN
alkej-192	152	17	code	code	NOUN
alkej-192	152	18	program	program	NOUN
alkej-192	152	19	.	.	PUNCT
alkej-192	153	1	power	power	NOUN
alkej-192	153	2	supply	supply	NOUN
alkej-192	153	3	driver	driver	NOUN
alkej-192	153	4	motor	motor	PROPN
alkej-192	153	5	dc	dc	PROPN
alkej-192	153	6	motor	motor	PROPN
alkej-192	153	7	ni	ni	PROPN
alkej-192	153	8	-	-	PUNCT
alkej-192	153	9	daqmx	daqmx	NOUN
alkej-192	153	10	-	-	PUNCT
alkej-192	153	11	usb	usb	NOUN
alkej-192	153	12	6009	6009	NUM
alkej-192	153	13	device	device	NOUN
alkej-192	153	14	electronic	electronic	ADJ
alkej-192	153	15	circuit	circuit	NOUN
alkej-192	153	16	digital	digital	PROPN
alkej-192	153	17	avo	avo	PROPN
alkej-192	153	18	meter	meter	NOUN
alkej-192	153	19	tacho	tacho	PROPN
alkej-192	153	20	gen	gen	PROPN
alkej-192	153	21	.	.	PROPN
alkej-192	153	22	front	front	PROPN
alkej-192	153	23	panel	panel	NOUN
alkej-192	153	24	diagram	diagram	NOUN
alkej-192	153	25	of	of	ADP
alkej-192	153	26	labview	labview	NOUN
alkej-192	153	27	package	package	NOUN
alkej-192	153	28	data	datum	NOUN
alkej-192	153	29	usb	usb	NOUN
alkej-192	153	30	cable	cable	NOUN
alkej-192	153	31	a	a	DET
alkej-192	153	32	b	b	NOUN
alkej-192	153	33	ahmed	ahmed	PROPN
alkej-192	153	34	sabah	sabah	PROPN
alkej-192	153	35	al	al	PROPN
alkej-192	153	36	-	-	PROPN
alkej-192	153	37	araji	araji	PROPN
alkej-192	153	38	al	al	PROPN
alkej-192	153	39	-	-	PUNCT
alkej-192	153	40	khwarizmi	khwarizmi	PROPN
alkej-192	153	41	engineering	engineering	NOUN
alkej-192	153	42	journal	journal	PROPN
alkej-192	153	43	,	,	PUNCT
alkej-192	153	44	vol	vol	NOUN
alkej-192	153	45	.	.	PROPN
alkej-192	153	46	10	10	NUM
alkej-192	153	47	,	,	PUNCT
alkej-192	153	48	no	no	INTJ
alkej-192	153	49	.	.	NOUN
alkej-192	153	50	1	1	NUM
alkej-192	153	51	,	,	PUNCT
alkej-192	153	52	p.p	p.p	PROPN
alkej-192	153	53	.	.	NOUN
alkej-192	153	54	7282	7282	NUM
alkej-192	153	55	(	(	PUNCT
alkej-192	153	56	2014	2014	NUM
alkej-192	153	57	)	)	PUNCT
alkej-192	153	58	79	79	NUM
alkej-192	153	59	figure	figure	NOUN
alkej-192	153	60	8	8	NUM
alkej-192	153	61	shows	show	VERB
alkej-192	153	62	the	the	DET
alkej-192	153	63	electronic	electronic	ADJ
alkej-192	153	64	circuit	circuit	NOUN
alkej-192	153	65	diagram	diagram	NOUN
alkej-192	153	66	design	design	NOUN
alkej-192	153	67	for	for	ADP
alkej-192	153	68	the	the	DET
alkej-192	153	69	speed	speed	NOUN
alkej-192	153	70	control	control	NOUN
alkej-192	153	71	system	system	NOUN
alkej-192	153	72	and	and	CCONJ
alkej-192	153	73	it	it	PRON
alkej-192	153	74	consists	consist	VERB
alkej-192	153	75	of	of	ADP
alkej-192	153	76	multi	multi	ADJ
alkej-192	153	77	-	-	NOUN
alkej-192	153	78	stage	stage	NOUN
alkej-192	153	79	as	as	SCONJ
alkej-192	153	80	follows	follow	VERB
alkej-192	153	81	:	:	PUNCT
alkej-192	153	82	the	the	DET
alkej-192	153	83	first	first	ADJ
alkej-192	153	84	stage	stage	NOUN
alkej-192	153	85	is	be	AUX
alkej-192	153	86	signal	signal	ADJ
alkej-192	153	87	conditioning	conditioning	NOUN
alkej-192	153	88	circuit	circuit	NOUN
alkej-192	153	89	that	that	PRON
alkej-192	153	90	includes	include	VERB
alkej-192	153	91	a	a	DET
alkej-192	153	92	voltage	voltage	NOUN
alkej-192	153	93	follower	follower	NOUN
alkej-192	153	94	with	with	ADP
alkej-192	153	95	unity	unity	NOUN
alkej-192	153	96	gain	gain	NOUN
alkej-192	153	97	to	to	PART
alkej-192	153	98	avoid	avoid	VERB
alkej-192	153	99	the	the	DET
alkej-192	153	100	attenuation	attenuation	NOUN
alkej-192	153	101	in	in	ADP
alkej-192	153	102	the	the	DET
alkej-192	153	103	feedback	feedback	NOUN
alkej-192	153	104	signal	signal	NOUN
alkej-192	153	105	of	of	ADP
alkej-192	153	106	the	the	DET
alkej-192	153	107	tacho	tacho	PROPN
alkej-192	153	108	generator	generator	NOUN
alkej-192	153	109	and	and	CCONJ
alkej-192	153	110	the	the	DET
alkej-192	153	111	first	first	ADJ
alkej-192	153	112	order	order	NOUN
alkej-192	153	113	low	low	ADJ
alkej-192	153	114	pass	pass	NOUN
alkej-192	153	115	filter	filter	NOUN
alkej-192	153	116	stage	stage	NOUN
alkej-192	153	117	that	that	PRON
alkej-192	153	118	has	have	VERB
alkej-192	153	119	a	a	DET
alkej-192	153	120	cutoff	cutoff	NOUN
alkej-192	153	121	frequency	frequency	NOUN
alkej-192	153	122	of	of	ADP
alkej-192	153	123	10hz	10hz	NOUN
alkej-192	153	124	which	which	PRON
alkej-192	153	125	will	will	AUX
alkej-192	153	126	remove	remove	VERB
alkej-192	153	127	noise	noise	NOUN
alkej-192	153	128	components	component	NOUN
alkej-192	153	129	possible	possible	ADJ
alkej-192	153	130	to	to	PART
alkej-192	153	131	occur	occur	VERB
alkej-192	153	132	in	in	ADP
alkej-192	153	133	the	the	DET
alkej-192	153	134	sensor	sensor	NOUN
alkej-192	153	135	outputs	output	NOUN
alkej-192	153	136	especially	especially	ADV
alkej-192	153	137	within	within	ADP
alkej-192	153	138	mains	main	NOUN
alkej-192	153	139	supply	supply	NOUN
alkej-192	153	140	frequency	frequency	NOUN
alkej-192	153	141	at	at	ADP
alkej-192	153	142	50hz	50hz	NOUN
alkej-192	153	143	.	.	PUNCT
alkej-192	154	1	this	this	DET
alkej-192	154	2	filter	filter	NOUN
alkej-192	154	3	removes	remove	VERB
alkej-192	154	4	noise	noise	NOUN
alkej-192	154	5	components	component	NOUN
alkej-192	154	6	within	within	ADP
alkej-192	154	7	mains	main	NOUN
alkej-192	154	8	frequency	frequency	NOUN
alkej-192	154	9	effectively	effectively	ADV
alkej-192	154	10	from	from	ADP
alkej-192	154	11	the	the	DET
alkej-192	154	12	tacho	tacho	PROPN
alkej-192	154	13	generator	generator	PROPN
alkej-192	154	14	output	output	NOUN
alkej-192	154	15	prior	prior	ADV
alkej-192	154	16	to	to	ADP
alkej-192	154	17	delivering	deliver	VERB
alkej-192	154	18	it	it	PRON
alkej-192	154	19	to	to	ADP
alkej-192	154	20	the	the	DET
alkej-192	154	21	level	level	NOUN
alkej-192	154	22	conditioning	conditioning	NOUN
alkej-192	154	23	amplifier	amplifier	NOUN
alkej-192	154	24	with	with	ADP
alkej-192	154	25	unity	unity	NOUN
alkej-192	154	26	gain	gain	NOUN
alkej-192	154	27	.	.	PUNCT
alkej-192	155	1	this	this	DET
alkej-192	155	2	amplifier	amplifier	NOUN
alkej-192	155	3	is	be	AUX
alkej-192	155	4	built	build	VERB
alkej-192	155	5	using	use	VERB
alkej-192	155	6	lm324	lm324	ADV
alkej-192	155	7	quad	quad	ADJ
alkej-192	155	8	operational	operational	ADJ
alkej-192	155	9	amplifier	amplifier	NOUN
alkej-192	156	1	[	[	X
alkej-192	156	2	15	15	NUM
alkej-192	156	3	]	]	PUNCT
alkej-192	156	4	.	.	PUNCT
alkej-192	157	1	the	the	DET
alkej-192	157	2	output	output	NOUN
alkej-192	157	3	of	of	ADP
alkej-192	157	4	this	this	DET
alkej-192	157	5	amplifier	amplifier	NOUN
alkej-192	157	6	is	be	AUX
alkej-192	157	7	fed	feed	VERB
alkej-192	157	8	to	to	ADP
alkej-192	157	9	the	the	DET
alkej-192	157	10	analog	analog	NOUN
alkej-192	157	11	to	to	ADP
alkej-192	157	12	digital	digital	ADJ
alkej-192	157	13	converter	converter	NOUN
alkej-192	157	14	adc	adc	PROPN
alkej-192	157	15	14	14	NUM
alkej-192	157	16	bit	bit	NOUN
alkej-192	157	17	high	high	ADJ
alkej-192	157	18	speed	speed	NOUN
alkej-192	157	19	low	low	ADJ
alkej-192	157	20	power	power	NOUN
alkej-192	157	21	successive	successive	ADJ
alkej-192	157	22	approximation	approximation	NOUN
alkej-192	157	23	converter	converter	NOUN
alkej-192	157	24	of	of	ADP
alkej-192	157	25	the	the	DET
alkej-192	157	26	ni	ni	ADJ
alkej-192	157	27	-	-	PUNCT
alkej-192	157	28	daqmx	daqmx	NOUN
alkej-192	157	29	-	-	PUNCT
alkej-192	157	30	usb	usb	NOUN
alkej-192	157	31	6009	6009	NUM
alkej-192	157	32	device	device	NOUN
alkej-192	157	33	with	with	ADP
alkej-192	157	34	range	range	NOUN
alkej-192	157	35	of	of	ADP
alkej-192	157	36	input	input	NOUN
alkej-192	157	37	voltage	voltage	NOUN
alkej-192	157	38	from	from	ADP
alkej-192	157	39	0	0	NUM
alkej-192	157	40	to	to	PART
alkej-192	157	41	5	5	NUM
alkej-192	157	42	volt	volt	NOUN
alkej-192	157	43	as	as	ADP
alkej-192	157	44	second	second	ADJ
alkej-192	157	45	stage	stage	NOUN
alkej-192	157	46	.	.	PUNCT
alkej-192	158	1	inside	inside	ADP
alkej-192	158	2	the	the	DET
alkej-192	158	3	personal	personal	ADJ
alkej-192	158	4	computer	computer	NOUN
alkej-192	158	5	,	,	PUNCT
alkej-192	158	6	labview	labview	NOUN
alkej-192	158	7	software	software	NOUN
alkej-192	158	8	instructions	instruction	NOUN
alkej-192	158	9	compares	compare	VERB
alkej-192	158	10	the	the	DET
alkej-192	158	11	sensed	sensed	ADJ
alkej-192	158	12	speed	speed	NOUN
alkej-192	158	13	signal	signal	NOUN
alkej-192	158	14	received	receive	VERB
alkej-192	158	15	via	via	ADP
alkej-192	158	16	this	this	DET
alkej-192	158	17	interface	interface	NOUN
alkej-192	158	18	with	with	ADP
alkej-192	158	19	the	the	DET
alkej-192	158	20	set	set	NOUN
alkej-192	158	21	point	point	NOUN
alkej-192	158	22	desired	desire	VERB
alkej-192	158	23	speed	speed	NOUN
alkej-192	158	24	.	.	PUNCT
alkej-192	159	1	the	the	DET
alkej-192	159	2	resulting	result	VERB
alkej-192	159	3	error	error	NOUN
alkej-192	159	4	is	be	AUX
alkej-192	159	5	given	give	VERB
alkej-192	159	6	as	as	ADP
alkej-192	159	7	an	an	DET
alkej-192	159	8	input	input	NOUN
alkej-192	159	9	to	to	ADP
alkej-192	159	10	the	the	DET
alkej-192	159	11	nonlinear	nonlinear	ADJ
alkej-192	159	12	pid	pid	NOUN
alkej-192	159	13	neural	neural	ADJ
alkej-192	159	14	controller	controller	NOUN
alkej-192	159	15	that	that	PRON
alkej-192	159	16	has	have	AUX
alkej-192	159	17	been	be	AUX
alkej-192	159	18	built	build	VERB
alkej-192	159	19	in	in	ADP
alkej-192	159	20	the	the	DET
alkej-192	159	21	labview	labview	NOUN
alkej-192	159	22	package	package	NOUN
alkej-192	159	23	.	.	PUNCT
alkej-192	160	1	the	the	DET
alkej-192	160	2	nonlinear	nonlinear	ADJ
alkej-192	160	3	pid	pid	NOUN
alkej-192	160	4	neural	neural	ADJ
alkej-192	160	5	controller	controller	NOUN
alkej-192	160	6	attempts	attempt	VERB
alkej-192	160	7	to	to	PART
alkej-192	160	8	reduce	reduce	VERB
alkej-192	160	9	the	the	DET
alkej-192	160	10	error	error	NOUN
alkej-192	160	11	to	to	ADP
alkej-192	160	12	zero	zero	NUM
alkej-192	160	13	by	by	ADP
alkej-192	160	14	changing	change	VERB
alkej-192	160	15	the	the	DET
alkej-192	160	16	control	control	NOUN
alkej-192	160	17	action	action	NOUN
alkej-192	160	18	“	"	PUNCT
alkej-192	160	19	input	input	NOUN
alkej-192	160	20	voltage	voltage	NOUN
alkej-192	160	21	to	to	ADP
alkej-192	160	22	the	the	DET
alkej-192	160	23	dc	dc	PROPN
alkej-192	160	24	motor	motor	NOUN
alkej-192	160	25	”	"	PUNCT
alkej-192	160	26	which	which	PRON
alkej-192	160	27	is	be	AUX
alkej-192	160	28	in	in	ADP
alkej-192	160	29	the	the	DET
alkej-192	160	30	form	form	NOUN
alkej-192	160	31	of	of	ADP
alkej-192	160	32	real	real	ADJ
alkej-192	160	33	data	datum	NOUN
alkej-192	160	34	varying	vary	VERB
alkej-192	160	35	within	within	ADP
alkej-192	160	36	"	"	PUNCT
alkej-192	160	37	0	0	NUM
alkej-192	160	38	to	to	PART
alkej-192	160	39	5	5	NUM
alkej-192	160	40	"	"	PUNCT
alkej-192	160	41	.	.	PUNCT
alkej-192	161	1	these	these	DET
alkej-192	161	2	data	datum	NOUN
alkej-192	161	3	are	be	AUX
alkej-192	161	4	sent	send	VERB
alkej-192	161	5	to	to	ADP
alkej-192	161	6	the	the	DET
alkej-192	161	7	motor	motor	NOUN
alkej-192	161	8	drive	drive	NOUN
alkej-192	161	9	electronics	electronic	NOUN
alkej-192	161	10	through	through	ADP
alkej-192	161	11	the	the	DET
alkej-192	161	12	usb	usb	NOUN
alkej-192	161	13	connector	connector	NOUN
alkej-192	161	14	to	to	ADP
alkej-192	161	15	digital	digital	VERB
alkej-192	161	16	to	to	PART
alkej-192	161	17	analog	analog	VERB
alkej-192	161	18	converter	converter	NOUN
alkej-192	161	19	dac	dac	NOUN
alkej-192	161	20	12	12	NUM
alkej-192	161	21	bit	bit	NOUN
alkej-192	161	22	of	of	ADP
alkej-192	161	23	the	the	DET
alkej-192	161	24	ni	ni	ADJ
alkej-192	161	25	-	-	PUNCT
alkej-192	161	26	daqmx	daqmx	NOUN
alkej-192	161	27	-	-	PUNCT
alkej-192	161	28	usb	usb	NOUN
alkej-192	161	29	6009	6009	NUM
alkej-192	161	30	device	device	NOUN
alkej-192	161	31	with	with	ADP
alkej-192	161	32	range	range	NOUN
alkej-192	161	33	of	of	ADP
alkej-192	161	34	output	output	NOUN
alkej-192	161	35	voltage	voltage	NOUN
alkej-192	161	36	from	from	ADP
alkej-192	161	37	0	0	NUM
alkej-192	161	38	to	to	PART
alkej-192	161	39	5	5	NUM
alkej-192	161	40	volt	volt	NOUN
alkej-192	161	41	as	as	ADP
alkej-192	161	42	third	third	ADJ
alkej-192	161	43	stage	stage	NOUN
alkej-192	161	44	.	.	PUNCT
alkej-192	162	1	the	the	DET
alkej-192	162	2	output	output	NOUN
alkej-192	162	3	of	of	ADP
alkej-192	162	4	this	this	DET
alkej-192	162	5	dac	dac	NOUN
alkej-192	162	6	is	be	AUX
alkej-192	162	7	sent	send	VERB
alkej-192	162	8	to	to	ADP
alkej-192	162	9	an	an	DET
alkej-192	162	10	op	op	NOUN
alkej-192	162	11	-	-	PUNCT
alkej-192	162	12	amp	amp	NOUN
alkej-192	162	13	based	base	VERB
alkej-192	162	14	amplifier	amplifier	NOUN
alkej-192	162	15	that	that	PRON
alkej-192	162	16	has	have	VERB
alkej-192	162	17	a	a	DET
alkej-192	162	18	gain	gain	NOUN
alkej-192	162	19	of	of	ADP
alkej-192	162	20	"	"	PUNCT
alkej-192	162	21	2.4	2.4	NUM
alkej-192	162	22	"	"	PUNCT
alkej-192	162	23	as	as	ADP
alkej-192	162	24	fourth	fourth	ADJ
alkej-192	162	25	stage	stage	NOUN
alkej-192	162	26	.	.	PUNCT
alkej-192	163	1	this	this	DET
alkej-192	163	2	amplifier	amplifier	NOUN
alkej-192	163	3	is	be	AUX
alkej-192	163	4	also	also	ADV
alkej-192	163	5	built	build	VERB
alkej-192	163	6	using	use	VERB
alkej-192	163	7	lm324	lm324	PROPN
alkej-192	163	8	operational	operational	ADJ
alkej-192	163	9	amplifier	amplifier	NOUN
alkej-192	163	10	.	.	PUNCT
alkej-192	164	1	to	to	PART
alkej-192	164	2	remove	remove	VERB
alkej-192	164	3	the	the	DET
alkej-192	164	4	nonlinear	nonlinear	ADJ
alkej-192	164	5	effect	effect	NOUN
alkej-192	164	6	“	"	PUNCT
alkej-192	164	7	dead	dead	ADJ
alkej-192	164	8	zone	zone	NOUN
alkej-192	164	9	”	"	PUNCT
alkej-192	164	10	in	in	ADP
alkej-192	164	11	the	the	DET
alkej-192	164	12	modeling	modeling	NOUN
alkej-192	164	13	of	of	ADP
alkej-192	164	14	the	the	DET
alkej-192	164	15	dc	dc	PROPN
alkej-192	164	16	motor	motor	NOUN
alkej-192	164	17	system	system	NOUN
alkej-192	164	18	,	,	PUNCT
alkej-192	164	19	a	a	DET
alkej-192	164	20	small	small	ADJ
alkej-192	164	21	dc	dc	PROPN
alkej-192	164	22	drive	drive	NOUN
alkej-192	164	23	voltage	voltage	NOUN
alkej-192	164	24	is	be	AUX
alkej-192	164	25	added	add	VERB
alkej-192	164	26	to	to	ADP
alkej-192	164	27	the	the	DET
alkej-192	164	28	motor	motor	NOUN
alkej-192	164	29	in	in	ADP
alkej-192	164	30	order	order	NOUN
alkej-192	164	31	to	to	PART
alkej-192	164	32	minimize	minimize	VERB
alkej-192	164	33	its	its	PRON
alkej-192	164	34	effect	effect	NOUN
alkej-192	164	35	as	as	SCONJ
alkej-192	164	36	shown	show	VERB
alkej-192	164	37	in	in	ADP
alkej-192	164	38	the	the	DET
alkej-192	164	39	motor	motor	NOUN
alkej-192	164	40	drive	drive	PROPN
alkej-192	164	41	electronic	electronic	ADJ
alkej-192	164	42	circuit	circuit	NOUN
alkej-192	164	43	design	design	NOUN
alkej-192	164	44	in	in	ADP
alkej-192	164	45	the	the	DET
alkej-192	164	46	fifth	fifth	ADJ
alkej-192	164	47	stage	stage	NOUN
alkej-192	164	48	.	.	PUNCT
alkej-192	165	1	the	the	DET
alkej-192	165	2	output	output	NOUN
alkej-192	165	3	of	of	ADP
alkej-192	165	4	this	this	DET
alkej-192	165	5	amplifier	amplifier	NOUN
alkej-192	165	6	is	be	AUX
alkej-192	165	7	fed	feed	VERB
alkej-192	165	8	to	to	ADP
alkej-192	165	9	the	the	DET
alkej-192	165	10	motor	motor	NOUN
alkej-192	165	11	drive	drive	NOUN
alkej-192	165	12	stage	stage	NOUN
alkej-192	165	13	to	to	PART
alkej-192	165	14	furnish	furnish	VERB
alkej-192	165	15	the	the	DET
alkej-192	165	16	final	final	ADJ
alkej-192	165	17	output	output	NOUN
alkej-192	165	18	required	require	VERB
alkej-192	165	19	to	to	PART
alkej-192	165	20	drive	drive	VERB
alkej-192	165	21	the	the	DET
alkej-192	165	22	dc	dc	PROPN
alkej-192	165	23	motor	motor	NOUN
alkej-192	165	24	as	as	ADP
alkej-192	165	25	sixth	sixth	ADJ
alkej-192	165	26	stage	stage	NOUN
alkej-192	165	27	.	.	PUNCT
alkej-192	166	1	the	the	DET
alkej-192	166	2	motor	motor	NOUN
alkej-192	166	3	accepts	accept	VERB
alkej-192	166	4	drive	drive	NOUN
alkej-192	166	5	voltages	voltage	NOUN
alkej-192	166	6	ranging	range	VERB
alkej-192	166	7	from	from	ADP
alkej-192	166	8	"	"	PUNCT
alkej-192	166	9	0v	0v	NOUN
alkej-192	166	10	to	to	ADP
alkej-192	166	11	12v	12v	NUM
alkej-192	166	12	"	"	PUNCT
alkej-192	166	13	which	which	PRON
alkej-192	166	14	will	will	AUX
alkej-192	166	15	drive	drive	VERB
alkej-192	166	16	the	the	DET
alkej-192	166	17	motor	motor	NOUN
alkej-192	166	18	through	through	ADP
alkej-192	166	19	the	the	DET
alkej-192	166	20	speed	speed	NOUN
alkej-192	166	21	range	range	NOUN
alkej-192	166	22	of	of	ADP
alkej-192	166	23	"	"	PUNCT
alkej-192	166	24	0	0	NUM
alkej-192	166	25	rad	rad	PROPN
alkej-192	166	26	/	/	SYM
alkej-192	166	27	sec	sec	PROPN
alkej-192	166	28	to	to	ADP
alkej-192	166	29	26	26	NUM
alkej-192	166	30	rad	rad	PROPN
alkej-192	166	31	/	/	SYM
alkej-192	166	32	sec	sec	PROPN
alkej-192	166	33	"	"	PUNCT
alkej-192	166	34	.	.	PUNCT
alkej-192	167	1	the	the	DET
alkej-192	167	2	speed	speed	NOUN
alkej-192	167	3	response	response	NOUN
alkej-192	167	4	of	of	ADP
alkej-192	167	5	the	the	DET
alkej-192	167	6	dc	dc	PROPN
alkej-192	167	7	motor	motor	NOUN
alkej-192	167	8	in	in	ADP
alkej-192	167	9	real	real	ADJ
alkej-192	167	10	time	time	NOUN
alkej-192	167	11	is	be	AUX
alkej-192	167	12	shown	show	VERB
alkej-192	167	13	in	in	ADP
alkej-192	167	14	fig.9a	fig.9a	PROPN
alkej-192	167	15	.	.	PUNCT
alkej-192	168	1	it	it	PRON
alkej-192	168	2	can	can	AUX
alkej-192	168	3	be	be	AUX
alkej-192	168	4	seen	see	VERB
alkej-192	168	5	that	that	SCONJ
alkej-192	168	6	it	it	PRON
alkej-192	168	7	is	be	AUX
alkej-192	168	8	a	a	DET
alkej-192	168	9	fast	fast	ADJ
alkej-192	168	10	response	response	NOUN
alkej-192	168	11	with	with	ADP
alkej-192	168	12	oscillation	oscillation	NOUN
alkej-192	168	13	output	output	NOUN
alkej-192	168	14	value	value	NOUN
alkej-192	168	15	in	in	ADP
alkej-192	168	16	the	the	DET
alkej-192	168	17	range	range	NOUN
alkej-192	168	18	of	of	ADP
alkej-192	168	19	(	(	PUNCT
alkej-192	168	20	sec))/(02.0	sec))/(02.0	X
alkej-192	168	21	rad	rad	ADJ
alkej-192	168	22	.	.	PUNCT
alkej-192	169	1	the	the	DET
alkej-192	169	2	response	response	NOUN
alkej-192	169	3	of	of	ADP
alkej-192	169	4	the	the	DET
alkej-192	169	5	feedback	feedback	NOUN
alkej-192	169	6	nonlinear	nonlinear	ADJ
alkej-192	169	7	pid	pid	NOUN
alkej-192	169	8	neural	neural	ADJ
alkej-192	169	9	control	control	NOUN
alkej-192	169	10	action	action	NOUN
alkej-192	169	11	is	be	AUX
alkej-192	169	12	shown	show	VERB
alkej-192	169	13	in	in	ADP
alkej-192	169	14	fig	fig	NOUN
alkej-192	169	15	.	.	PUNCT
alkej-192	170	1	9b	9b	NOUN
alkej-192	170	2	.	.	PUNCT
alkej-192	171	1	it	it	PRON
alkej-192	171	2	has	have	VERB
alkej-192	171	3	many	many	ADJ
alkej-192	171	4	spikes	spike	NOUN
alkej-192	171	5	during	during	ADP
alkej-192	171	6	the	the	DET
alkej-192	171	7	step	step	NOUN
alkej-192	171	8	change	change	NOUN
alkej-192	171	9	in	in	ADP
alkej-192	171	10	the	the	DET
alkej-192	171	11	desired	desire	VERB
alkej-192	171	12	speed	speed	NOUN
alkej-192	171	13	and	and	CCONJ
alkej-192	171	14	a	a	DET
alkej-192	171	15	small	small	ADJ
alkej-192	171	16	oscillation	oscillation	NOUN
alkej-192	171	17	can	can	AUX
alkej-192	171	18	also	also	ADV
alkej-192	171	19	be	be	AUX
alkej-192	171	20	observed	observe	VERB
alkej-192	171	21	.	.	PUNCT
alkej-192	172	1	this	this	DET
alkej-192	172	2	action	action	NOUN
alkej-192	172	3	of	of	ADP
alkej-192	172	4	the	the	DET
alkej-192	172	5	controller	controller	NOUN
alkej-192	172	6	has	have	AUX
alkej-192	172	7	kept	keep	VERB
alkej-192	172	8	the	the	DET
alkej-192	172	9	speed	speed	NOUN
alkej-192	172	10	of	of	ADP
alkej-192	172	11	the	the	DET
alkej-192	172	12	dc	dc	PROPN
alkej-192	172	13	motor	motor	NOUN
alkej-192	172	14	within	within	ADP
alkej-192	172	15	the	the	DET
alkej-192	172	16	desired	desire	VERB
alkej-192	172	17	value	value	NOUN
alkej-192	172	18	with	with	ADP
alkej-192	172	19	minimum	minimum	ADJ
alkej-192	172	20	tracking	tracking	NOUN
alkej-192	172	21	speed	speed	NOUN
alkej-192	172	22	error	error	NOUN
alkej-192	172	23	.	.	PUNCT
alkej-192	173	1	the	the	DET
alkej-192	173	2	tracking	tracking	NOUN
alkej-192	173	3	error	error	NOUN
alkej-192	173	4	between	between	ADP
alkej-192	173	5	the	the	DET
alkej-192	173	6	desired	desire	VERB
alkej-192	173	7	speed	speed	NOUN
alkej-192	173	8	and	and	CCONJ
alkej-192	173	9	the	the	DET
alkej-192	173	10	actual	actual	ADJ
alkej-192	173	11	speed	speed	NOUN
alkej-192	173	12	output	output	NOUN
alkej-192	173	13	of	of	ADP
alkej-192	173	14	the	the	DET
alkej-192	173	15	dc	dc	PROPN
alkej-192	173	16	motor	motor	NOUN
alkej-192	173	17	which	which	PRON
alkej-192	173	18	was	be	AUX
alkej-192	173	19	very	very	ADV
alkej-192	173	20	small	small	ADJ
alkej-192	173	21	in	in	ADP
alkej-192	173	22	the	the	DET
alkej-192	173	23	transient	transient	ADJ
alkej-192	173	24	state	state	NOUN
alkej-192	173	25	and	and	CCONJ
alkej-192	173	26	had	have	VERB
alkej-192	173	27	steady	steady	ADJ
alkej-192	173	28	state	state	NOUN
alkej-192	173	29	value	value	NOUN
alkej-192	173	30	equal	equal	ADJ
alkej-192	173	31	to	to	ADP
alkej-192	173	32	sec))/(02.0	sec))/(02.0	PROPN
alkej-192	173	33	rad	rad	ADJ
alkej-192	173	34	,	,	PUNCT
alkej-192	173	35	is	be	AUX
alkej-192	173	36	shown	show	VERB
alkej-192	173	37	in	in	ADP
alkej-192	173	38	fig	fig	NOUN
alkej-192	173	39	.	.	PUNCT
alkej-192	174	1	9c	9c	X
alkej-192	174	2	.	.	PUNCT
alkej-192	175	1	in	in	ADP
alkej-192	175	2	fact	fact	NOUN
alkej-192	175	3	,	,	PUNCT
alkej-192	175	4	there	there	PRON
alkej-192	175	5	are	be	VERB
alkej-192	175	6	small	small	ADJ
alkej-192	175	7	differences	difference	NOUN
alkej-192	175	8	in	in	ADP
alkej-192	175	9	results	result	NOUN
alkej-192	175	10	between	between	ADP
alkej-192	175	11	the	the	DET
alkej-192	175	12	real	real	ADJ
alkej-192	175	13	time	time	NOUN
alkej-192	175	14	control	control	NOUN
alkej-192	175	15	action	action	NOUN
alkej-192	175	16	and	and	CCONJ
alkej-192	175	17	the	the	DET
alkej-192	175	18	simulation	simulation	NOUN
alkej-192	175	19	control	control	NOUN
alkej-192	175	20	action	action	NOUN
alkej-192	175	21	because	because	SCONJ
alkej-192	175	22	in	in	ADP
alkej-192	175	23	the	the	DET
alkej-192	175	24	real	real	ADJ
alkej-192	175	25	time	time	NOUN
alkej-192	175	26	there	there	PRON
alkej-192	175	27	were	be	VERB
alkej-192	175	28	accumulation	accumulation	NOUN
alkej-192	175	29	errors	error	NOUN
alkej-192	175	30	such	such	ADJ
alkej-192	175	31	as	as	ADP
alkej-192	175	32	undesirable	undesirable	ADJ
alkej-192	175	33	characteristics	characteristic	NOUN
alkej-192	175	34	of	of	ADP
alkej-192	175	35	speed	speed	NOUN
alkej-192	175	36	sensor	sensor	NOUN
alkej-192	175	37	(	(	PUNCT
alkej-192	175	38	tacho	tacho	PROPN
alkej-192	175	39	generator	generator	PROPN
alkej-192	175	40	)	)	PUNCT
alkej-192	175	41	"	"	PUNCT
alkej-192	175	42	non	non	ADJ
alkej-192	175	43	-	-	ADJ
alkej-192	175	44	linearity	linearity	ADJ
alkej-192	175	45	,	,	PUNCT
alkej-192	175	46	drift	drift	NOUN
alkej-192	175	47	,	,	PUNCT
alkej-192	175	48	and	and	CCONJ
alkej-192	175	49	offset	offset	VERB
alkej-192	175	50	"	"	PUNCT
alkej-192	175	51	,	,	PUNCT
alkej-192	175	52	offset	offset	VERB
alkej-192	175	53	u1a	u1a	ADV
alkej-192	175	54	lm324ad	lm324ad	PROPN
alkej-192	175	55	3	3	NUM
alkej-192	175	56	2	2	NUM
alkej-192	175	57	11	11	NUM
alkej-192	175	58	4	4	NUM
alkej-192	175	59	1	1	NUM
alkej-192	175	60	u1c	u1c	ADJ
alkej-192	175	61	lm324ad	lm324ad	VERB
alkej-192	175	62	10	10	NUM
alkej-192	175	63	9	9	NUM
alkej-192	175	64	11	11	NUM
alkej-192	175	65	4	4	NUM
alkej-192	175	66	8r1	8r1	NUM
alkej-192	175	67	1.59kω	1.59kω	NUM
alkej-192	175	68	r174.1kω	r174.1kω	PROPN
alkej-192	175	69	c1	c1	PROPN
alkej-192	175	70	10µf	10µf	PROPN
alkej-192	175	71	u1d	u1d	PROPN
alkej-192	175	72	lm324ad	lm324ad	PROPN
alkej-192	175	73	12	12	NUM
alkej-192	175	74	13	13	NUM
alkej-192	175	75	11	11	NUM
alkej-192	175	76	4	4	NUM
alkej-192	175	77	14	14	NUM
alkej-192	175	78	vcc	vcc	PROPN
alkej-192	175	79	12v	12v	NOUN
alkej-192	176	1	r10	r10	PROPN
alkej-192	176	2	4kω	4kω	ADJ
alkej-192	176	3	dz	dz	PROPN
alkej-192	176	4	5volt	5volt	NUM
alkej-192	176	5	c3	c3	NOUN
alkej-192	176	6	10µf	10µf	NOUN
alkej-192	176	7	10kω	10kω	ADJ
alkej-192	176	8	key	key	ADJ
alkej-192	176	9	=	=	NOUN
alkej-192	176	10	a	a	DET
alkej-192	176	11	50	50	NUM
alkej-192	176	12	%	%	NOUN
alkej-192	176	13	r3	r3	PROPN
alkej-192	176	14	10kω	10kω	PROPN
alkej-192	176	15	r44.1kω	r44.1kω	PROPN
alkej-192	176	16	r5	r5	PROPN
alkej-192	176	17	10kω	10kω	PROPN
alkej-192	177	1	r6	r6	PROPN
alkej-192	177	2	100kωu2a	100kωu2a	NUM
alkej-192	177	3	lm324ad	lm324ad	NOUN
alkej-192	177	4	3	3	NUM
alkej-192	177	5	2	2	NUM
alkej-192	177	6	11	11	NUM
alkej-192	177	7	4	4	NUM
alkej-192	177	8	1	1	NUM
alkej-192	177	9	r7	r7	PROPN
alkej-192	177	10	100kω	100kω	PROPN
alkej-192	177	11	r9	r9	VERB
alkej-192	177	12	100kω	100kω	ADJ
alkej-192	177	13	r8	r8	PROPN
alkej-192	177	14	100kω	100kω	ADJ
alkej-192	177	15	r11	r11	NOUN
alkej-192	177	16	50kω	50kω	NOUN
alkej-192	178	1	u2b	u2b	PROPN
alkej-192	178	2	lm324ad	lm324ad	PROPN
alkej-192	178	3	5	5	NUM
alkej-192	178	4	6	6	NUM
alkej-192	178	5	11	11	NUM
alkej-192	178	6	4	4	NUM
alkej-192	178	7	7	7	NUM
alkej-192	178	8	bus1bus1	bus1bus1	PROPN
alkej-192	178	9	bus1	bus1	PROPN
alkej-192	178	10	bus2	bus2	PROPN
alkej-192	178	11	bus3	bus3	PROPN
alkej-192	178	12	ni	ni	PROPN
alkej-192	178	13	-	-	PROPN
alkej-192	178	14	daqmxusb	daqmxusb	PROPN
alkej-192	178	15	6009	6009	NUM
alkej-192	178	16	device	device	NOUN
alkej-192	178	17	signal	signal	NOUN
alkej-192	178	18	from	from	ADP
alkej-192	178	19	tacho	tacho	PROPN
alkej-192	178	20	-	-	PUNCT
alkej-192	178	21	generator	generator	NOUN
alkej-192	178	22	signal	signal	NOUN
alkej-192	178	23	to	to	ADP
alkej-192	178	24	dc	dc	PROPN
alkej-192	178	25	motor	motor	PROPN
alkej-192	178	26	driver	driver	PROPN
alkej-192	178	27	cct	cct	PROPN
alkej-192	178	28	fig	fig	PROPN
alkej-192	178	29	.	.	PUNCT
alkej-192	179	1	8	8	NUM
alkej-192	179	2	.	.	PUNCT
alkej-192	180	1	the	the	DET
alkej-192	180	2	schematic	schematic	ADJ
alkej-192	180	3	diagram	diagram	NOUN
alkej-192	180	4	of	of	ADP
alkej-192	180	5	the	the	DET
alkej-192	180	6	electronic	electronic	ADJ
alkej-192	180	7	control	control	NOUN
alkej-192	180	8	circuit	circuit	NOUN
alkej-192	180	9	.	.	PUNCT
alkej-192	181	1	analog	analog	NOUN
alkej-192	181	2	input	input	NOUN
alkej-192	181	3	analog	analog	NOUN
alkej-192	181	4	output	output	NOUN
alkej-192	181	5	ahmed	ahmed	PROPN
alkej-192	181	6	sabah	sabah	PROPN
alkej-192	181	7	al	al	PROPN
alkej-192	181	8	-	-	PROPN
alkej-192	181	9	araji	araji	PROPN
alkej-192	181	10	al	al	PROPN
alkej-192	181	11	-	-	PUNCT
alkej-192	181	12	khwarizmi	khwarizmi	PROPN
alkej-192	181	13	engineering	engineering	NOUN
alkej-192	181	14	journal	journal	PROPN
alkej-192	181	15	,	,	PUNCT
alkej-192	181	16	vol	vol	NOUN
alkej-192	181	17	.	.	PROPN
alkej-192	181	18	10	10	NUM
alkej-192	181	19	,	,	PUNCT
alkej-192	181	20	no	no	INTJ
alkej-192	181	21	.	.	NOUN
alkej-192	181	22	1	1	NUM
alkej-192	181	23	,	,	PUNCT
alkej-192	181	24	p.p	p.p	PROPN
alkej-192	181	25	.	.	NOUN
alkej-192	181	26	7282	7282	NUM
alkej-192	181	27	(	(	PUNCT
alkej-192	181	28	2014	2014	NUM
alkej-192	181	29	)	)	PUNCT
alkej-192	181	30	80	80	NUM
alkej-192	181	31	in	in	ADP
alkej-192	181	32	the	the	DET
alkej-192	181	33	operational	operational	ADJ
alkej-192	181	34	amplifier	amplifier	ADJ
alkej-192	181	35	output	output	NOUN
alkej-192	181	36	,	,	PUNCT
alkej-192	181	37	and	and	CCONJ
alkej-192	181	38	the	the	DET
alkej-192	181	39	quantization	quantization	NOUN
alkej-192	181	40	error	error	NOUN
alkej-192	181	41	of	of	ADP
alkej-192	181	42	the	the	DET
alkej-192	181	43	analog	analog	NOUN
alkej-192	181	44	to	to	ADP
alkej-192	181	45	digital	digital	PROPN
alkej-192	181	46	and	and	CCONJ
alkej-192	181	47	digital	digital	ADJ
alkej-192	181	48	to	to	ADP
alkej-192	181	49	analogue	analogue	NOUN
alkej-192	181	50	converters	converter	NOUN
alkej-192	181	51	;	;	PUNCT
alkej-192	181	52	therefore	therefore	ADV
alkej-192	181	53	,	,	PUNCT
alkej-192	181	54	the	the	DET
alkej-192	181	55	results	result	NOUN
alkej-192	181	56	in	in	ADP
alkej-192	181	57	the	the	DET
alkej-192	181	58	real	real	ADJ
alkej-192	181	59	time	time	NOUN
alkej-192	181	60	have	have	VERB
alkej-192	181	61	small	small	ADJ
alkej-192	181	62	oscillation	oscillation	NOUN
alkej-192	181	63	in	in	ADP
alkej-192	181	64	the	the	DET
alkej-192	181	65	actual	actual	ADJ
alkej-192	181	66	speed	speed	NOUN
alkej-192	181	67	output	output	NOUN
alkej-192	181	68	of	of	ADP
alkej-192	181	69	the	the	DET
alkej-192	181	70	dc	dc	PROPN
alkej-192	181	71	motor	motor	NOUN
alkej-192	181	72	as	as	SCONJ
alkej-192	181	73	it	it	PRON
alkej-192	181	74	is	be	AUX
alkej-192	181	75	equal	equal	ADJ
alkej-192	181	76	to	to	ADP
alkej-192	181	77	sec))/(02.0	sec))/(02.0	PROPN
alkej-192	181	78	rad	rad	ADJ
alkej-192	181	79	.	.	PUNCT
alkej-192	181	80	.	.	PUNCT
alkej-192	182	1	fig	fig	NOUN
alkej-192	182	2	.	.	PUNCT
alkej-192	183	1	9	9	X
alkej-192	183	2	.	.	X
alkej-192	183	3	(	(	PUNCT
alkej-192	183	4	a	a	X
alkej-192	183	5	)	)	PUNCT
alkej-192	183	6	actual	actual	ADJ
alkej-192	183	7	speed	speed	NOUN
alkej-192	183	8	of	of	ADP
alkej-192	183	9	dc	dc	PROPN
alkej-192	183	10	motor	motor	NOUN
alkej-192	183	11	;	;	PUNCT
alkej-192	183	12	(	(	PUNCT
alkej-192	183	13	b	b	X
alkej-192	183	14	)	)	PUNCT
alkej-192	183	15	actual	actual	ADJ
alkej-192	183	16	control	control	NOUN
alkej-192	183	17	action	action	NOUN
alkej-192	183	18	;	;	PUNCT
alkej-192	183	19	(	(	PUNCT
alkej-192	183	20	c	c	X
alkej-192	183	21	)	)	PUNCT
alkej-192	183	22	speed	speed	NOUN
alkej-192	183	23	error	error	NOUN
alkej-192	183	24	of	of	ADP
alkej-192	183	25	dc	dc	PROPN
alkej-192	183	26	motor	motor	NOUN
alkej-192	183	27	.	.	PUNCT
alkej-192	184	1	a	a	DET
alkej-192	184	2	b	b	NOUN
alkej-192	184	3	c	c	PROPN
alkej-192	184	4	ahmed	ahmed	PROPN
alkej-192	184	5	sabah	sabah	PROPN
alkej-192	184	6	al	al	PROPN
alkej-192	184	7	-	-	PROPN
alkej-192	184	8	araji	araji	PROPN
alkej-192	184	9	al	al	PROPN
alkej-192	184	10	-	-	PUNCT
alkej-192	184	11	khwarizmi	khwarizmi	PROPN
alkej-192	184	12	engineering	engineering	NOUN
alkej-192	184	13	journal	journal	PROPN
alkej-192	184	14	,	,	PUNCT
alkej-192	184	15	vol	vol	NOUN
alkej-192	184	16	.	.	PROPN
alkej-192	184	17	10	10	NUM
alkej-192	184	18	,	,	PUNCT
alkej-192	184	19	no	no	INTJ
alkej-192	184	20	.	.	NOUN
alkej-192	184	21	1	1	NUM
alkej-192	184	22	,	,	PUNCT
alkej-192	184	23	p.p	p.p	PROPN
alkej-192	184	24	.	.	NOUN
alkej-192	184	25	7282	7282	NUM
alkej-192	184	26	(	(	PUNCT
alkej-192	184	27	2014	2014	NUM
alkej-192	184	28	)	)	PUNCT
alkej-192	184	29	81	81	NUM
alkej-192	184	30	6	6	NUM
alkej-192	184	31	.	.	PUNCT
alkej-192	185	1	conclusions	conclusion	NOUN
alkej-192	185	2	nonlinear	nonlinear	VERB
alkej-192	185	3	pid	pid	NOUN
alkej-192	185	4	neural	neural	ADJ
alkej-192	185	5	speed	speed	NOUN
alkej-192	185	6	control	control	NOUN
alkej-192	185	7	methodology	methodology	NOUN
alkej-192	185	8	for	for	ADP
alkej-192	185	9	the	the	DET
alkej-192	185	10	permanent	permanent	ADJ
alkej-192	185	11	magnet	magnet	NOUN
alkej-192	185	12	dc	dc	PROPN
alkej-192	185	13	motor	motor	NOUN
alkej-192	185	14	model	model	NOUN
alkej-192	185	15	has	have	AUX
alkej-192	185	16	been	be	AUX
alkej-192	185	17	presented	present	VERB
alkej-192	185	18	in	in	ADP
alkej-192	185	19	this	this	DET
alkej-192	185	20	paper	paper	NOUN
alkej-192	185	21	.	.	PUNCT
alkej-192	186	1	it	it	PRON
alkej-192	186	2	has	have	AUX
alkej-192	186	3	been	be	AUX
alkej-192	186	4	designed	design	VERB
alkej-192	186	5	and	and	CCONJ
alkej-192	186	6	tested	test	VERB
alkej-192	186	7	using	use	VERB
alkej-192	186	8	matlab	matlab	PROPN
alkej-192	186	9	package	package	NOUN
alkej-192	186	10	and	and	CCONJ
alkej-192	186	11	carried	carry	VERB
alkej-192	186	12	out	out	ADP
alkej-192	186	13	on	on	ADP
alkej-192	186	14	real	real	ADJ
alkej-192	186	15	dc	dc	PROPN
alkej-192	186	16	motor	motor	NOUN
alkej-192	186	17	using	use	VERB
alkej-192	186	18	labview	labview	NOUN
alkej-192	186	19	package	package	NOUN
alkej-192	186	20	.	.	PUNCT
alkej-192	187	1	simulation	simulation	NOUN
alkej-192	187	2	results	result	NOUN
alkej-192	187	3	and	and	CCONJ
alkej-192	187	4	real	real	ADJ
alkej-192	187	5	time	time	NOUN
alkej-192	187	6	computer	computer	NOUN
alkej-192	187	7	control	control	NOUN
alkej-192	187	8	results	result	NOUN
alkej-192	187	9	show	show	VERB
alkej-192	187	10	evidently	evidently	ADV
alkej-192	187	11	that	that	SCONJ
alkej-192	187	12	the	the	DET
alkej-192	187	13	proposed	propose	VERB
alkej-192	187	14	nonlinear	nonlinear	PROPN
alkej-192	187	15	pid	pid	NOUN
alkej-192	187	16	neural	neural	ADJ
alkej-192	187	17	controller	controller	NOUN
alkej-192	187	18	model	model	NOUN
alkej-192	187	19	has	have	AUX
alkej-192	187	20	demonstrated	demonstrate	VERB
alkej-192	187	21	the	the	DET
alkej-192	187	22	capability	capability	NOUN
alkej-192	187	23	of	of	ADP
alkej-192	187	24	tracking	track	VERB
alkej-192	187	25	desired	desire	VERB
alkej-192	187	26	speed	speed	NOUN
alkej-192	187	27	and	and	CCONJ
alkej-192	187	28	effective	effective	ADJ
alkej-192	187	29	minimization	minimization	NOUN
alkej-192	187	30	of	of	ADP
alkej-192	187	31	the	the	DET
alkej-192	187	32	tracking	tracking	NOUN
alkej-192	187	33	speed	speed	NOUN
alkej-192	187	34	errors	error	NOUN
alkej-192	187	35	of	of	ADP
alkej-192	187	36	the	the	DET
alkej-192	187	37	real	real	ADJ
alkej-192	187	38	dc	dc	PROPN
alkej-192	187	39	motor	motor	NOUN
alkej-192	187	40	model	model	NOUN
alkej-192	187	41	as	as	ADV
alkej-192	187	42	well	well	ADV
alkej-192	187	43	as	as	SCONJ
alkej-192	187	44	it	it	PRON
alkej-192	187	45	has	have	VERB
alkej-192	187	46	the	the	DET
alkej-192	187	47	capability	capability	NOUN
alkej-192	187	48	of	of	ADP
alkej-192	187	49	generating	generate	VERB
alkej-192	187	50	smooth	smooth	ADJ
alkej-192	187	51	and	and	CCONJ
alkej-192	187	52	suitable	suitable	ADJ
alkej-192	187	53	voltage	voltage	NOUN
alkej-192	187	54	control	control	NOUN
alkej-192	187	55	action	action	NOUN
alkej-192	187	56	7	7	NUM
alkej-192	187	57	.	.	PUNCT
alkej-192	187	58	references	reference	NOUN
alkej-192	187	59	[	[	X
alkej-192	187	60	1	1	NUM
alkej-192	187	61	]	]	PUNCT
alkej-192	187	62	b.	b.	PROPN
alkej-192	187	63	omar	omar	PROPN
alkej-192	187	64	,	,	PUNCT
alkej-192	187	65	a.	a.	NOUN
alkej-192	187	66	haikal	haikal	PROPN
alkej-192	187	67	and	and	CCONJ
alkej-192	187	68	f.	f.	PROPN
alkej-192	187	69	areed	areed	PROPN
alkej-192	187	70	,	,	PUNCT
alkej-192	187	71	design	design	VERB
alkej-192	187	72	adaptive	adaptive	ADJ
alkej-192	187	73	neuro	neuro	NOUN
alkej-192	187	74	-	-	PUNCT
alkej-192	187	75	fuzzy	fuzzy	ADJ
alkej-192	187	76	speed	speed	NOUN
alkej-192	187	77	controller	controller	NOUN
alkej-192	187	78	for	for	ADP
alkej-192	187	79	an	an	DET
alkej-192	187	80	electro	electro	ADJ
alkej-192	187	81	-	-	PUNCT
alkej-192	187	82	mechanical	mechanical	ADJ
alkej-192	187	83	system	system	NOUN
alkej-192	187	84	.	.	PUNCT
alkej-192	188	1	ain	ain	PROPN
alkej-192	188	2	shams	sham	VERB
alkej-192	188	3	engineering	engineering	NOUN
alkej-192	188	4	journal	journal	PROPN
alkej-192	188	5	.	.	PUNCT
alkej-192	189	1	vol	vol	NOUN
alkej-192	189	2	.	.	PROPN
alkej-192	190	1	2	2	NUM
alkej-192	190	2	,	,	PUNCT
alkej-192	190	3	(	(	PUNCT
alkej-192	190	4	2011	2011	NUM
alkej-192	190	5	)	)	PUNCT
alkej-192	190	6	,	,	PUNCT
alkej-192	191	1	pp	pp	ADP
alkej-192	191	2	.	.	PUNCT
alkej-192	192	1	99107	99107	NUM
alkej-192	192	2	.	.	PUNCT
alkej-192	193	1	[	[	X
alkej-192	193	2	2	2	X
alkej-192	193	3	]	]	PUNCT
alkej-192	193	4	t.	t.	PROPN
alkej-192	193	5	hagglund	hagglund	PROPN
alkej-192	193	6	,	,	PUNCT
alkej-192	193	7	k.	k.	PROPN
alkej-192	193	8	astrom	astrom	PROPN
alkej-192	193	9	,	,	PUNCT
alkej-192	193	10	automatic	automatic	ADJ
alkej-192	193	11	tuning	tuning	NOUN
alkej-192	193	12	of	of	ADP
alkej-192	193	13	pid	pid	NOUN
alkej-192	193	14	controllers	controller	NOUN
alkej-192	193	15	.	.	PUNCT
alkej-192	194	1	in	in	ADP
alkej-192	194	2	w.s	w.s	PROPN
alkej-192	194	3	.	.	PROPN
alkej-192	194	4	levine	levine	PROPN
alkej-192	194	5	(	(	PUNCT
alkej-192	194	6	ed	ed	NOUN
alkej-192	194	7	)	)	PUNCT
alkej-192	194	8	,	,	PUNCT
alkej-192	194	9	the	the	DET
alkej-192	194	10	control	control	NOUN
alkej-192	194	11	handbook	handbook	NOUN
alkej-192	194	12	,	,	PUNCT
alkej-192	194	13	crc	crc	NOUN
alkej-192	194	14	press	press	PROPN
alkej-192	194	15	,	,	PUNCT
alkej-192	194	16	boca	boca	PROPN
alkej-192	194	17	raton	raton	PROPN
alkej-192	194	18	,	,	PUNCT
alkej-192	194	19	fl	fl	PROPN
alkej-192	194	20	,	,	PUNCT
alkej-192	194	21	1996	1996	NUM
alkej-192	194	22	,	,	PUNCT
alkej-192	194	23	pp	pp	ADV
alkej-192	194	24	.	.	PUNCT
alkej-192	195	1	817	817	NUM
alkej-192	195	2	-	-	SYM
alkej-192	195	3	826	826	NUM
alkej-192	195	4	.	.	PUNCT
alkej-192	196	1	[	[	X
alkej-192	196	2	3	3	X
alkej-192	196	3	]	]	X
alkej-192	196	4	d.	d.	PROPN
alkej-192	196	5	kukolj	kukolj	PROPN
alkej-192	196	6	,	,	PUNCT
alkej-192	196	7	s.	s.	PROPN
alkej-192	196	8	kuzmanovic	kuzmanovic	PROPN
alkej-192	196	9	and	and	CCONJ
alkej-192	196	10	e.	e.	PROPN
alkej-192	196	11	levi	levi	PROPN
alkej-192	196	12	,	,	PUNCT
alkej-192	196	13	design	design	NOUN
alkej-192	196	14	of	of	ADP
alkej-192	196	15	a	a	DET
alkej-192	196	16	pid	pid	ADJ
alkej-192	196	17	-	-	PUNCT
alkej-192	196	18	like	like	ADJ
alkej-192	196	19	compound	compound	NOUN
alkej-192	196	20	fuzzy	fuzzy	ADJ
alkej-192	196	21	logic	logic	NOUN
alkej-192	196	22	controller	controller	NOUN
alkej-192	196	23	.	.	PUNCT
alkej-192	197	1	engineering	engineering	NOUN
alkej-192	197	2	applications	application	NOUN
alkej-192	197	3	of	of	ADP
alkej-192	197	4	artificial	artificial	ADJ
alkej-192	197	5	intelligence	intelligence	NOUN
alkej-192	197	6	.	.	PUNCT
alkej-192	198	1	vol	vol	NOUN
alkej-192	198	2	.	.	PROPN
alkej-192	199	1	14	14	NUM
alkej-192	199	2	,	,	PUNCT
alkej-192	199	3	(	(	PUNCT
alkej-192	199	4	2001	2001	NUM
alkej-192	199	5	)	)	PUNCT
alkej-192	199	6	,	,	PUNCT
alkej-192	200	1	pp	pp	ADP
alkej-192	200	2	.	.	PUNCT
alkej-192	201	1	785	785	NUM
alkej-192	201	2	-	-	SYM
alkej-192	201	3	803	803	NUM
alkej-192	201	4	.	.	PUNCT
alkej-192	202	1	[	[	X
alkej-192	202	2	4	4	X
alkej-192	202	3	]	]	PUNCT
alkej-192	202	4	l.	l.	PROPN
alkej-192	202	5	eduardo	eduardo	PROPN
alkej-192	202	6	and	and	CCONJ
alkej-192	202	7	g.	g.	PROPN
alkej-192	202	8	torres	torres	PROPN
alkej-192	202	9	,	,	PUNCT
alkej-192	202	10	simulation	simulation	NOUN
alkej-192	202	11	of	of	ADP
alkej-192	202	12	a	a	DET
alkej-192	202	13	neural	neural	ADJ
alkej-192	202	14	net	net	ADJ
alkej-192	202	15	controller	controller	NOUN
alkej-192	202	16	for	for	ADP
alkej-192	202	17	motor	motor	NOUN
alkej-192	202	18	drives	drive	NOUN
alkej-192	202	19	.	.	PUNCT
alkej-192	203	1	mathematics	mathematic	NOUN
alkej-192	203	2	and	and	CCONJ
alkej-192	203	3	computers	computer	NOUN
alkej-192	203	4	in	in	ADP
alkej-192	203	5	simulation	simulation	NOUN
alkej-192	203	6	.	.	PUNCT
alkej-192	204	1	vol	vol	NOUN
alkej-192	204	2	.	.	PROPN
alkej-192	205	1	38	38	NUM
alkej-192	205	2	,	,	PUNCT
alkej-192	205	3	(	(	PUNCT
alkej-192	205	4	1995	1995	NUM
alkej-192	205	5	)	)	PUNCT
alkej-192	205	6	,	,	PUNCT
alkej-192	206	1	pp	pp	PROPN
alkej-192	206	2	.	.	PUNCT
alkej-192	207	1	311	311	NUM
alkej-192	207	2	-	-	SYM
alkej-192	207	3	322	322	NUM
alkej-192	207	4	.	.	PUNCT
alkej-192	208	1	[	[	X
alkej-192	208	2	5	5	X
alkej-192	208	3	]	]	PUNCT
alkej-192	208	4	m.	m.	NOUN
alkej-192	208	5	li	li	PROPN
alkej-192	208	6	and	and	CCONJ
alkej-192	208	7	d.	d.	PROPN
alkej-192	208	8	liu	liu	PROPN
alkej-192	208	9	,	,	PUNCT
alkej-192	208	10	a	a	DET
alkej-192	208	11	novel	novel	ADJ
alkej-192	208	12	adaptive	adaptive	NOUN
alkej-192	208	13	selftuned	selftune	VERB
alkej-192	208	14	pid	pid	NOUN
alkej-192	208	15	controller	controller	NOUN
alkej-192	208	16	based	base	VERB
alkej-192	208	17	on	on	ADP
alkej-192	208	18	recurrentwavelet	recurrentwavelet	NOUN
alkej-192	208	19	-	-	PUNCT
alkej-192	208	20	neural	neural	ADJ
alkej-192	208	21	-	-	PUNCT
alkej-192	208	22	network	network	NOUN
alkej-192	208	23	for	for	ADP
alkej-192	208	24	pmsm	pmsm	NOUN
alkej-192	208	25	speed	speed	NOUN
alkej-192	208	26	servo	servo	NOUN
alkej-192	208	27	drive	drive	NOUN
alkej-192	208	28	system	system	NOUN
alkej-192	208	29	.	.	PUNCT
alkej-192	209	1	procedia	procedia	PROPN
alkej-192	209	2	engineering	engineering	PROPN
alkej-192	209	3	.	.	PUNCT
alkej-192	210	1	vol	vol	NOUN
alkej-192	210	2	.	.	PROPN
alkej-192	210	3	15	15	NUM
alkej-192	210	4	,	,	PUNCT
alkej-192	210	5	(	(	PUNCT
alkej-192	210	6	2011	2011	NUM
alkej-192	210	7	)	)	PUNCT
alkej-192	210	8	,	,	PUNCT
alkej-192	210	9	pp	pp	PROPN
alkej-192	210	10	.	.	PUNCT
alkej-192	211	1	282	282	NUM
alkej-192	211	2	-	-	SYM
alkej-192	211	3	287	287	NUM
alkej-192	211	4	.	.	PUNCT
alkej-192	212	1	[	[	X
alkej-192	212	2	6	6	NUM
alkej-192	212	3	]	]	PUNCT
alkej-192	212	4	h.	h.	PROPN
alkej-192	212	5	hasanien	hasanien	PROPN
alkej-192	212	6	,	,	PUNCT
alkej-192	212	7	s.	s.	PROPN
alkej-192	212	8	muyeen	muyeen	PROPN
alkej-192	212	9	and	and	CCONJ
alkej-192	212	10	j.	j.	PROPN
alkej-192	212	11	tamura	tamura	PROPN
alkej-192	212	12	,	,	PUNCT
alkej-192	212	13	speed	speed	NOUN
alkej-192	212	14	control	control	NOUN
alkej-192	212	15	of	of	ADP
alkej-192	212	16	permanent	permanent	ADJ
alkej-192	212	17	magnet	magnet	NOUN
alkej-192	212	18	excitation	excitation	NOUN
alkej-192	212	19	transverse	transverse	NOUN
alkej-192	212	20	flux	flux	PROPN
alkej-192	212	21	linear	linear	PROPN
alkej-192	212	22	motor	motor	NOUN
alkej-192	212	23	by	by	ADP
alkej-192	212	24	using	use	VERB
alkej-192	212	25	adaptive	adaptive	ADJ
alkej-192	212	26	neuro	neuro	NOUN
alkej-192	212	27	-	-	PUNCT
alkej-192	212	28	fuzzy	fuzzy	ADJ
alkej-192	212	29	controller	controller	NOUN
alkej-192	212	30	.	.	PUNCT
alkej-192	213	1	energy	energy	NOUN
alkej-192	213	2	conversion	conversion	NOUN
alkej-192	213	3	and	and	CCONJ
alkej-192	213	4	management	management	NOUN
alkej-192	213	5	.	.	PUNCT
alkej-192	214	1	vol	vol	NOUN
alkej-192	214	2	.	.	PROPN
alkej-192	215	1	51	51	NUM
alkej-192	215	2	,	,	PUNCT
alkej-192	215	3	(	(	PUNCT
alkej-192	215	4	2010	2010	NUM
alkej-192	215	5	)	)	PUNCT
alkej-192	215	6	,	,	PUNCT
alkej-192	216	1	pp	pp	ADP
alkej-192	216	2	.	.	PUNCT
alkej-192	217	1	2762	2762	NUM
alkej-192	217	2	-	-	SYM
alkej-192	217	3	2768	2768	NUM
alkej-192	217	4	.	.	PUNCT
alkej-192	218	1	[	[	X
alkej-192	218	2	7	7	X
alkej-192	218	3	]	]	X
alkej-192	218	4	t.	t.	PROPN
alkej-192	218	5	kara	kara	PROPN
alkej-192	218	6	and	and	CCONJ
alkej-192	218	7	i.	i.	PROPN
alkej-192	218	8	lyas	lyas	PROPN
alkej-192	218	9	,	,	PUNCT
alkej-192	218	10	nonlinear	nonlinear	ADJ
alkej-192	218	11	modeling	modeling	NOUN
alkej-192	218	12	and	and	CCONJ
alkej-192	218	13	identification	identification	NOUN
alkej-192	218	14	of	of	ADP
alkej-192	218	15	a	a	DET
alkej-192	218	16	dc	dc	PROPN
alkej-192	218	17	motor	motor	NOUN
alkej-192	218	18	for	for	ADP
alkej-192	218	19	bidirectional	bidirectional	ADJ
alkej-192	218	20	operation	operation	NOUN
alkej-192	218	21	with	with	ADP
alkej-192	218	22	real	real	ADJ
alkej-192	218	23	time	time	NOUN
alkej-192	218	24	experiments	experiment	NOUN
alkej-192	218	25	.	.	PUNCT
alkej-192	219	1	energy	energy	NOUN
alkej-192	219	2	conversion	conversion	NOUN
alkej-192	219	3	and	and	CCONJ
alkej-192	219	4	management	management	NOUN
alkej-192	219	5	.	.	PUNCT
alkej-192	220	1	vol	vol	NOUN
alkej-192	220	2	.	.	PROPN
alkej-192	221	1	45	45	NUM
alkej-192	221	2	,	,	PUNCT
alkej-192	221	3	(	(	PUNCT
alkej-192	221	4	2004	2004	NUM
alkej-192	221	5	)	)	PUNCT
alkej-192	221	6	,	,	PUNCT
alkej-192	221	7	pp	pp	PROPN
alkej-192	221	8	.	.	PUNCT
alkej-192	222	1	10871106	10871106	NUM
alkej-192	222	2	.	.	PUNCT
alkej-192	223	1	[	[	X
alkej-192	223	2	8	8	NUM
alkej-192	223	3	]	]	X
alkej-192	223	4	p.	p.	NOUN
alkej-192	223	5	strwart	strwart	PROPN
alkej-192	223	6	,	,	PUNCT
alkej-192	223	7	d.	d.	PROPN
alkej-192	223	8	glagwin	glagwin	PROPN
alkej-192	223	9	,	,	PUNCT
alkej-192	223	10	j.	j.	PROPN
alkej-192	223	11	stewart	stewart	PROPN
alkej-192	223	12	and	and	CCONJ
alkej-192	223	13	r.	r.	PROPN
alkej-192	223	14	cowley	cowley	PROPN
alkej-192	223	15	,	,	PUNCT
alkej-192	223	16	generator	generator	NOUN
alkej-192	223	17	voltage	voltage	NOUN
alkej-192	223	18	stabilization	stabilization	NOUN
alkej-192	223	19	for	for	ADP
alkej-192	223	20	series	series	NOUN
alkej-192	223	21	-	-	PUNCT
alkej-192	223	22	hybrid	hybrid	ADJ
alkej-192	223	23	electric	electric	ADJ
alkej-192	223	24	vehicles	vehicle	NOUN
alkej-192	223	25	.	.	PUNCT
alkej-192	224	1	the	the	DET
alkej-192	224	2	instrumentation	instrumentation	NOUN
alkej-192	224	3	,	,	PUNCT
alkej-192	224	4	systems	system	NOUN
alkej-192	224	5	and	and	CCONJ
alkej-192	224	6	automation	automation	NOUN
alkej-192	224	7	society	society	NOUN
alkej-192	224	8	.	.	PUNCT
alkej-192	225	1	vol	vol	NOUN
alkej-192	225	2	.	.	PUNCT
alkej-192	226	1	47	47	NUM
alkej-192	226	2	,	,	PUNCT
alkej-192	226	3	(	(	PUNCT
alkej-192	226	4	2008	2008	NUM
alkej-192	226	5	)	)	PUNCT
alkej-192	226	6	,	,	PUNCT
alkej-192	227	1	pp	pp	PROPN
alkej-192	227	2	.	.	PUNCT
alkej-192	228	1	222	222	NUM
alkej-192	228	2	-	-	SYM
alkej-192	228	3	228	228	NUM
alkej-192	228	4	.	.	PUNCT
alkej-192	229	1	[	[	X
alkej-192	229	2	9	9	NUM
alkej-192	229	3	]	]	PUNCT
alkej-192	229	4	m.	m.	NOUN
alkej-192	229	5	demirtas	demirta	NOUN
alkej-192	229	6	,	,	PUNCT
alkej-192	229	7	off	off	ADP
alkej-192	229	8	-	-	PUNCT
alkej-192	229	9	line	line	NOUN
alkej-192	229	10	tuning	tuning	NOUN
alkej-192	229	11	of	of	ADP
alkej-192	229	12	a	a	DET
alkej-192	229	13	pi	pi	NOUN
alkej-192	229	14	speed	speed	NOUN
alkej-192	229	15	controller	controller	NOUN
alkej-192	229	16	for	for	ADP
alkej-192	229	17	a	a	DET
alkej-192	229	18	permanent	permanent	ADJ
alkej-192	229	19	magnet	magnet	NOUN
alkej-192	229	20	brushless	brushless	NOUN
alkej-192	229	21	dc	dc	PROPN
alkej-192	229	22	motor	motor	NOUN
alkej-192	229	23	using	use	VERB
alkej-192	229	24	dsp	dsp	PROPN
alkej-192	229	25	.	.	PUNCT
alkej-192	230	1	energy	energy	NOUN
alkej-192	230	2	conversion	conversion	NOUN
alkej-192	230	3	and	and	CCONJ
alkej-192	230	4	management	management	NOUN
alkej-192	230	5	.	.	PUNCT
alkej-192	231	1	vol	vol	NOUN
alkej-192	231	2	.	.	PROPN
alkej-192	232	1	52	52	NUM
alkej-192	232	2	,	,	PUNCT
alkej-192	232	3	(	(	PUNCT
alkej-192	232	4	2011	2011	NUM
alkej-192	232	5	)	)	PUNCT
alkej-192	232	6	,	,	PUNCT
alkej-192	233	1	pp	pp	ADP
alkej-192	233	2	.	.	PUNCT
alkej-192	234	1	264273	264273	NUM
alkej-192	234	2	.	.	PUNCT
alkej-192	235	1	[	[	X
alkej-192	235	2	10	10	NUM
alkej-192	235	3	]	]	PUNCT
alkej-192	235	4	k.	k.	PROPN
alkej-192	235	5	ogata	ogata	PROPN
alkej-192	235	6	.	.	PUNCT
alkej-192	236	1	modern	modern	ADJ
alkej-192	236	2	control	control	PROPN
alkej-192	236	3	engineering	engineering	NOUN
alkej-192	236	4	.	.	PUNCT
alkej-192	237	1	4th	4th	ADJ
alkej-192	237	2	edition	edition	NOUN
alkej-192	237	3	,	,	PUNCT
alkej-192	237	4	by	by	ADP
alkej-192	237	5	addisonwesley	addisonwesley	ADJ
alkej-192	237	6	publishing	publishing	NOUN
alkej-192	237	7	company	company	NOUN
alkej-192	237	8	,	,	PUNCT
alkej-192	237	9	inc	inc	PROPN
alkej-192	237	10	.	.	PROPN
alkej-192	237	11	2003	2003	NUM
alkej-192	237	12	.	.	PUNCT
alkej-192	238	1	[	[	X
alkej-192	238	2	11	11	NUM
alkej-192	238	3	]	]	PUNCT
alkej-192	238	4	internet	internet	NOUN
alkej-192	238	5	website	website	NOUN
alkej-192	238	6	www.feedbackinstruments.com/dcmotordatasheet	www.feedbackinstruments.com/dcmotordatasheet	PROPN
alkej-192	238	7	.	.	PUNCT
alkej-192	239	1	text	text	NOUN
alkej-192	239	2	manual	manual	NOUN
alkej-192	239	3	.	.	PUNCT
alkej-192	240	1	accessed	access	VERB
alkej-192	240	2	sept	sept	PROPN
alkej-192	240	3	.	.	PROPN
alkej-192	240	4	2013	2013	NUM
alkej-192	240	5	.	.	PUNCT
alkej-192	241	1	[	[	X
alkej-192	241	2	12	12	NUM
alkej-192	241	3	]	]	X
alkej-192	241	4	q.	q.	PROPN
alkej-192	241	5	zhong	zhong	PROPN
alkej-192	241	6	,	,	PUNCT
alkej-192	241	7	robust	robust	ADJ
alkej-192	241	8	control	control	NOUN
alkej-192	241	9	of	of	ADP
alkej-192	241	10	time	time	NOUN
alkej-192	241	11	-	-	PUNCT
alkej-192	241	12	delay	delay	NOUN
alkej-192	241	13	systems	system	NOUN
alkej-192	241	14	.	.	PUNCT
alkej-192	242	1	springer	springer	PROPN
alkej-192	242	2	–	–	PUNCT
alkej-192	242	3	verlag	verlag	PROPN
alkej-192	242	4	london	london	PROPN
alkej-192	242	5	limited	limit	VERB
alkej-192	242	6	2006	2006	NUM
alkej-192	242	7	[	[	X
alkej-192	242	8	13	13	NUM
alkej-192	242	9	]	]	X
alkej-192	242	10	c.	c.	PROPN
alkej-192	242	11	zhang	zhang	PROPN
alkej-192	242	12	,	,	PUNCT
alkej-192	242	13	m.	m.	PROPN
alkej-192	242	14	wu	wu	PROPN
alkej-192	242	15	and	and	CCONJ
alkej-192	242	16	l.	l.	PROPN
alkej-192	242	17	luan	luan	PROPN
alkej-192	242	18	,	,	PUNCT
alkej-192	242	19	an	an	DET
alkej-192	242	20	optimal	optimal	ADJ
alkej-192	242	21	pso	pso	NOUN
alkej-192	242	22	distributed	distribute	VERB
alkej-192	242	23	precoding	precoding	NOUN
alkej-192	242	24	algorithm	algorithm	NOUN
alkej-192	242	25	in	in	ADP
alkej-192	242	26	qrd	qrd	NOUN
alkej-192	242	27	-	-	PUNCT
alkej-192	242	28	based	base	VERB
alkej-192	242	29	multi	multi	ADJ
alkej-192	242	30	-	-	ADJ
alkej-192	242	31	relay	relay	ADJ
alkej-192	242	32	system	system	NOUN
alkej-192	242	33	.	.	PUNCT
alkej-192	243	1	future	future	ADJ
alkej-192	243	2	generation	generation	NOUN
alkej-192	243	3	computer	computer	NOUN
alkej-192	243	4	systems	system	NOUN
alkej-192	243	5	.	.	PUNCT
alkej-192	244	1	vol	vol	NOUN
alkej-192	244	2	.	.	PROPN
alkej-192	244	3	29	29	NUM
alkej-192	244	4	,	,	PUNCT
alkej-192	244	5	(	(	PUNCT
alkej-192	244	6	2013	2013	NUM
alkej-192	244	7	)	)	PUNCT
alkej-192	244	8	,	,	PUNCT
alkej-192	244	9	pp	pp	ADP
alkej-192	244	10	.	.	PUNCT
alkej-192	245	1	107	107	NUM
alkej-192	245	2	-	-	SYM
alkej-192	245	3	113	113	NUM
alkej-192	245	4	.	.	PUNCT
alkej-192	246	1	[	[	X
alkej-192	246	2	14	14	NUM
alkej-192	246	3	]	]	X
alkej-192	246	4	h.	h.	PROPN
alkej-192	246	5	di	di	PROPN
alkej-192	246	6	,	,	PUNCT
alkej-192	246	7	s.	s.	PROPN
alkej-192	246	8	ali	ali	PROPN
alkej-192	246	9	and	and	CCONJ
alkej-192	246	10	d.	d.	PROPN
alkej-192	246	11	yun	yun	PROPN
alkej-192	246	12	-	-	PUNCT
alkej-192	246	13	feng	feng	PROPN
alkej-192	246	14	,	,	PUNCT
alkej-192	246	15	an	an	DET
alkej-192	246	16	improved	improved	ADJ
alkej-192	246	17	particle	particle	NOUN
alkej-192	246	18	swarm	swarm	NOUN
alkej-192	246	19	optimization	optimization	NOUN
alkej-192	246	20	for	for	ADP
alkej-192	246	21	parametric	parametric	ADJ
alkej-192	246	22	optimization	optimization	NOUN
alkej-192	246	23	of	of	ADP
alkej-192	246	24	flexible	flexible	ADJ
alkej-192	246	25	satellite	satellite	NOUN
alkej-192	246	26	controller	controller	NOUN
alkej-192	246	27	.	.	PUNCT
alkej-192	246	28	applied	apply	VERB
alkej-192	246	29	mathmetics	mathmetic	NOUN
alkej-192	246	30	and	and	CCONJ
alkej-192	246	31	computation	computation	NOUN
alkej-192	246	32	.	.	PUNCT
alkej-192	247	1	vol	vol	NOUN
alkej-192	247	2	.	.	PROPN
alkej-192	248	1	217	217	NUM
alkej-192	248	2	,	,	PUNCT
alkej-192	248	3	(	(	PUNCT
alkej-192	248	4	2011	2011	NUM
alkej-192	248	5	)	)	PUNCT
alkej-192	248	6	,	,	PUNCT
alkej-192	248	7	pp	pp	ADP
alkej-192	248	8	.	.	PUNCT
alkej-192	248	9	8512	8512	NUM
alkej-192	248	10	-	-	SYM
alkej-192	248	11	8521	8521	NUM
alkej-192	248	12	.	.	PUNCT
alkej-192	249	1	[	[	X
alkej-192	249	2	15	15	NUM
alkej-192	249	3	]	]	X
alkej-192	249	4	s.	s.	PROPN
alkej-192	249	5	faulkenberry	faulkenberry	PROPN
alkej-192	249	6	,	,	PUNCT
alkej-192	249	7	introduction	introduction	NOUN
alkej-192	249	8	to	to	ADP
alkej-192	249	9	operational	operational	ADJ
alkej-192	249	10	amplifiers	amplifier	NOUN
alkej-192	249	11	with	with	ADP
alkej-192	249	12	linear	linear	PROPN
alkej-192	249	13	circuit	circuit	NOUN
alkej-192	249	14	applications	application	NOUN
alkej-192	249	15	.	.	PUNCT
alkej-192	250	1	john	john	PROPN
alkej-192	250	2	-	-	PUNCT
alkej-192	250	3	wiley	wiley	PROPN
alkej-192	250	4	inc	inc	PROPN
alkej-192	251	1	.	.	PROPN
alkej-192	251	2	1986	1986	NUM
alkej-192	251	3	.	.	PUNCT
alkej-192	252	1	http://www.feedback-instruments.com/dcmotordatasheet	http://www.feedback-instruments.com/dcmotordatasheet	PRON
alkej-192	252	2	http://www.feedback-instruments.com/dcmotordatasheet	http://www.feedback-instruments.com/dcmotordatasheet	X
alkej-192	252	3	(	(	PUNCT
alkej-192	252	4	2014	2014	NUM
alkej-192	252	5	)	)	PUNCT
alkej-192	252	6	7282	7282	NUM
alkej-192	252	7	،	،	NOUN
alkej-192	252	8	صفحة	صفحة	PROPN
alkej-192	252	9	1	1	NUM
alkej-192	252	10	،	،	X
alkej-192	252	11	العدد10دمجلة	العدد10دمجلة	PROPN
alkej-192	252	12	الخوارزمي	الخوارزمي	PROPN
alkej-192	252	13	الهندسية	الهندسية	PROPN
alkej-192	252	14	المجل	المجل	PROPN
alkej-192	252	15	احمد	احمد	PROPN
alkej-192	252	16	صباح	صباح	PROPN
alkej-192	252	17	االعرجي	االعرجي	PROPN
alkej-192	252	18	82	82	NUM
alkej-192	252	19	مر	مر	PROPN
alkej-192	252	20	تصميم	تصميم	PROPN
alkej-192	252	21	مسيطر	مسيطر	PROPN
alkej-192	252	22	عصبي	عصبي	PROPN
alkej-192	252	23	تناسبي	تناسبي	PROPN
alkej-192	252	24	تكاملي	تكاملي	PROPN
alkej-192	252	25	تفاضلي	تفاضلي	PROPN
alkej-192	252	26	الخطي	الخطي	PROPN
alkej-192	252	27	للسيطرة	للسيطرة	PROPN
alkej-192	252	28	على	على	PROPN
alkej-192	252	29	سرعة	سرعة	VERB
alkej-192	252	30	محرك	محرك	PROPN
alkej-192	252	31	تيار	تيار	PROPN
alkej-192	252	32	مست	مست	PROPN
alkej-192	252	33	ثابت	ثابت	PROPN
alkej-192	252	34	المغناطيسية	المغناطيسية	PROPN
alkej-192	252	35	مبنيا	مبنيا	PROPN
alkej-192	252	36	على	على	PROPN
alkej-192	252	37	أساس	أساس	PROPN
alkej-192	252	38	الخوارزمية	الخوارزمية	ADJ
alkej-192	252	39	األمثلية	األمثلية	PROPN
alkej-192	252	40	أحمد	أحمد	VERB
alkej-192	252	41	صباح	صباح	ADJ
alkej-192	252	42	االعرجي	االعرجي	ADJ
alkej-192	252	43	الجامعة	الجامعة	NOUN
alkej-192	252	44	التكنولوجية	التكنولوجية	NOUN
alkej-192	252	45	/قسم	/قسم	PROPN
alkej-192	252	46	هندسة	هندسة	NOUN
alkej-192	252	47	السيطرة	السيطرة	PROPN
alkej-192	252	48	والنظم	والنظم	PROPN
alkej-192	252	49	ahmedsas2040@yahoo.com	ahmedsas2040@yahoo.com	X
alkej-192	252	50	:	:	PUNCT
alkej-192	252	51	البريد	البريد	VERB
alkej-192	252	52	االلكتروني	االلكتروني	PROPN
alkej-192	252	53	الخالصة	الخالصة	PROPN
alkej-192	252	54	تم	تم	NOUN
alkej-192	252	55	.	.	PUNCT
alkej-192	253	1	المحرك	المحرك	PROPN
alkej-192	253	2	التيار	التيار	PROPN
alkej-192	253	3	المستمر	المستمر	PROPN
alkej-192	253	4	بشكل	بشكل	NOUN
alkej-192	253	5	تجريبي	تجريبي	VERB
alkej-192	253	6	باستخدام	باستخدام	PROPN
alkej-192	253	7	المسيطر	المسيطر	PROPN
alkej-192	253	8	العصبي	العصبي	PROPN
alkej-192	253	9	التناسبي	التناسبي	PROPN
alkej-192	253	10	التكاملي	التكاملي	PROPN
alkej-192	253	11	التفاضلي	التفاضلي	NOUN
alkej-192	253	12	الالخطيفي	الالخطيفي	ADJ
alkej-192	253	13	هذا	هذا	NOUN
alkej-192	253	14	البحث	البحث	PROPN
alkej-192	253	15	تمت	تمت	NOUN
alkej-192	253	16	السيطرة	السيطرة	PROPN
alkej-192	253	17	على	على	PROPN
alkej-192	253	18	سرعة	سرعة	VERB
alkej-192	253	19	الالخطي	الالخطي	PROPN
alkej-192	253	20	إليجاد	إليجاد	PROPN
alkej-192	253	21	استخدام	استخدام	PROPN
alkej-192	253	22	طريقة	طريقة	PROPN
alkej-192	253	23	التجربة	التجربة	PROPN
alkej-192	253	24	والخطأ	والخطأ	PROPN
alkej-192	253	25	وتقنية	وتقنية	NOUN
alkej-192	253	26	حشد	حشد	PROPN
alkej-192	253	27	الجسيمات	الجسيمات	VERB
alkej-192	253	28	األمثلية	األمثلية	PROPN
alkej-192	253	29	لسهولة	لسهولة	PROPN
alkej-192	253	30	وسرعة	وسرعة	PROPN
alkej-192	253	31	تنغيم	تنغيم	PROPN
alkej-192	253	32	عناصر	عناصر	PROPN
alkej-192	253	33	المسيطر	المسيطر	PROPN
alkej-192	253	34	العصبي	العصبي	PROPN
alkej-192	253	35	التناسبي	التناسبي	PROPN
alkej-192	253	36	التكاملي	التكاملي	PROPN
alkej-192	253	37	التفاضلي	التفاضلي	NOUN
alkej-192	253	38	.ة	.ة	PROPN
alkej-192	254	1	المحرك	المحرك	PROPN
alkej-192	254	2	التيار	التيار	PROPN
alkej-192	254	3	المستمرأفضل	المستمرأفضل	PROPN
alkej-192	254	4	استجابة	استجابة	PROPN
alkej-192	254	5	لسرع	لسرع	PROPN
alkej-192	254	6	لتنفيذ	لتنفيذ	PROPN
alkej-192	254	7	خوارزمية	خوارزمية	PROPN
alkej-192	254	8	التنغيم	التنغيم	PROPN
alkej-192	254	9	لعناصر	لعناصر	PROPN
alkej-192	254	10	المسيطر	المسيطر	PROPN
alkej-192	254	11	الالخطي	الالخطي	PROPN
alkej-192	254	12	وبعد	وبعد	PROPN
alkej-192	254	13	ذلك	ذلك	PROPN
alkej-192	254	14	تم	تم	PROPN
alkej-192	254	15	استخدام	استخدام	PROPN
alkej-192	254	16	هذه	هذه	PROPN
alkej-192	254	17	(	(	PUNCT
alkej-192	254	18	matlab)تم	matlab)تم	NOUN
alkej-192	254	19	استخدام	استخدام	NOUN
alkej-192	254	20	الحقيبة	الحقيبة	PROPN
alkej-192	254	21	البرمجية	البرمجية	PROPN
alkej-192	254	22	,	,	PUNCT
alkej-192	254	23	لتوفير	لتوفير	PROPN
alkej-192	254	24	الزمن	الزمن	ADV
alkej-192	254	25	في	في	DET
alkej-192	254	26	النظام	النظام	PROPN
alkej-192	254	27	الحقيقي	الحقيقي	PROPN
alkej-192	254	28	(	(	PUNCT
alkej-192	254	29	.	.	PUNCT
alkej-192	255	1	labview)العناصر	labview)العناصر	NOUN
alkej-192	255	2	في	في	PRON
alkej-192	255	3	تصميم	تصميم	PROPN
alkej-192	255	4	المسيطر	المسيطر	PROPN
alkej-192	255	5	الالخطي	الالخطي	PROPN
alkej-192	255	6	للنظام	للنظام	VERB
alkej-192	255	7	في	في	ADP
alkej-192	255	8	الزمن	الزمن	PROPN
alkej-192	255	9	الحقيقي	الحقيقي	PROPN
alkej-192	255	10	باستخدام	باستخدام	PROPN
alkej-192	255	11	الحقيبة	الحقيبة	PROPN
alkej-192	255	12	البرمجية	البرمجية	PROPN
alkej-192	255	13	لسرعة	لسرعة	PROPN
alkej-192	255	14	المحرك	المحرك	PROPN
alkej-192	255	15	التيار	التيار	PROPN
alkej-192	255	16	رح	رح	ADP
alkej-192	255	17	من	من	NUM
alkej-192	255	18	حيث	حيث	PROPN
alkej-192	255	19	سرعة	سرعة	VERB
alkej-192	255	20	ونعومة	ونعومة	PROPN
alkej-192	255	21	االستجابةمع	االستجابةمع	PROPN
alkej-192	255	22	النتائج	النتائج	PROPN
alkej-192	255	23	التجريبية	التجريبية	PROPN
alkej-192	255	24	وتبين	وتبين	PROPN
alkej-192	255	25	كفاءة	كفاءة	NOUN
alkej-192	255	26	تأثير	تأثير	VERB
alkej-192	255	27	الخوارزمية	الخوارزمية	PROPN
alkej-192	255	28	المسيطر	المسيطر	PROPN
alkej-192	255	29	المقت	المقت	PROPN
alkej-192	255	30	لقد	لقد	PROPN
alkej-192	255	31	تم	تم	PROPN
alkej-192	255	32	مقارنة	مقارنة	PROPN
alkej-192	255	33	نتائج	نتائج	PROPN
alkej-192	255	34	المحاكاة	المحاكاة	PROPN
alkej-192	255	35	.	.	PUNCT
alkej-192	256	1	المستمر	المستمر	PROPN
alkej-192	256	2	الحقيقي	الحقيقي	PROPN
alkej-192	256	3	mailto:ahmedsas2040@yahoo.com	mailto:ahmedsas2040@yahoo.com	PROPN