id	sid	tid	token	lemma	pos
alkej-236	1	1	7284	7284	NUM
alkej-236	1	2	al	al	PROPN
alkej-236	1	3	-	-	PUNCT
alkej-236	1	4	khwarizmi	khwarizmi	PROPN
alkej-236	1	5	engineering	engineering	NOUN
alkej-236	1	6	journal	journal	NOUN
alkej-236	1	7	,	,	PUNCT
alkej-236	1	8	vol	vol	NOUN
alkej-236	1	9	.	.	PROPN
alkej-236	1	10	11	11	NUM
alkej-236	1	11	,	,	PUNCT
alkej-236	1	12	no	no	INTJ
alkej-236	1	13	.	.	NOUN
alkej-236	1	14	3	3	NUM
alkej-236	1	15	,	,	PUNCT
alkej-236	1	16	p.p	p.p	PROPN
alkej-236	1	17	.	.	NOUN
alkej-236	1	18	integral	integral	ADJ
alkej-236	1	19	sliding	slide	VERB
alkej-236	1	20	mode	mode	NOUN
alkej-236	1	21	control	control	NOUN
alkej-236	1	22	design	design	NOUN
alkej-236	1	23	for	for	ADP
alkej-236	1	24	electronic	electronic	ADJ
alkej-236	1	25	throttle	throttle	NOUN
alkej-236	1	26	valve	valve	NOUN
alkej-236	1	27	shibly	shibly	ADV
alkej-236	1	28	ahmed	ahme	VERB
alkej-236	1	29	al	al	PROPN
alkej-236	1	30	*	*	PROPN
alkej-236	1	31	,	,	PUNCT
alkej-236	1	32	*	*	PUNCT
alkej-236	1	33	*	*	PUNCT
alkej-236	1	34	,	,	PUNCT
alkej-236	1	35	*	*	PUNCT
alkej-236	1	36	*	*	PUNCT
alkej-236	1	37	*	*	PUNCT
alkej-236	1	38	department	department	PROPN
alkej-236	1	39	of	of	ADP
alkej-236	1	40	(	(	PUNCT
alkej-236	1	41	received	receive	VERB
alkej-236	1	42	abstract	abstract	ADJ
alkej-236	1	43	one	one	NUM
alkej-236	1	44	of	of	ADP
alkej-236	1	45	the	the	DET
alkej-236	1	46	major	major	ADJ
alkej-236	1	47	components	component	NOUN
alkej-236	1	48	in	in	ADP
alkej-236	1	49	an	an	DET
alkej-236	1	50	automobile	automobile	NOUN
alkej-236	1	51	engine	engine	NOUN
alkej-236	1	52	is	be	AUX
alkej-236	1	53	the	the	DET
alkej-236	1	54	throttle	throttle	NOUN
alkej-236	1	55	valve	valve	NOUN
alkej-236	1	56	part	part	NOUN
alkej-236	1	57	.	.	PUNCT
alkej-236	2	1	it	it	PRON
alkej-236	2	2	is	be	AUX
alkej-236	2	3	used	use	VERB
alkej-236	2	4	to	to	PART
alkej-236	2	5	keep	keep	VERB
alkej-236	2	6	up	up	ADP
alkej-236	2	7	with	with	ADP
alkej-236	2	8	emissions	emission	NOUN
alkej-236	2	9	and	and	CCONJ
alkej-236	2	10	fuel	fuel	NOUN
alkej-236	2	11	efficiency	efficiency	NOUN
alkej-236	2	12	low	low	ADJ
alkej-236	2	13	.	.	PUNCT
alkej-236	3	1	design	design	VERB
alkej-236	3	2	a	a	DET
alkej-236	3	3	control	control	NOUN
alkej-236	3	4	system	system	NOUN
alkej-236	3	5	to	to	ADP
alkej-236	3	6	technology	technology	NOUN
alkej-236	3	7	.	.	PUNCT
alkej-236	4	1	the	the	DET
alkej-236	4	2	non	non	ADJ
alkej-236	4	3	-	-	ADJ
alkej-236	4	4	smoothness	smoothness	ADJ
alkej-236	4	5	nonlinearity	nonlinearity	NOUN
alkej-236	4	6	in	in	ADP
alkej-236	4	7	throttle	throttle	NOUN
alkej-236	4	8	valve	valve	NOUN
alkej-236	4	9	model	model	NOUN
alkej-236	4	10	are	be	AUX
alkej-236	4	11	due	due	ADJ
alkej-236	4	12	to	to	ADP
alkej-236	4	13	the	the	DET
alkej-236	4	14	friction	friction	NOUN
alkej-236	4	15	model	model	NOUN
alkej-236	4	16	and	and	CCONJ
alkej-236	4	17	the	the	DET
alkej-236	4	18	nonlinear	nonlinear	ADJ
alkej-236	4	19	spring	spring	NOUN
alkej-236	4	20	,	,	PUNCT
alkej-236	4	21	the	the	DET
alkej-236	4	22	uncertainty	uncertainty	NOUN
alkej-236	4	23	in	in	ADP
alkej-236	4	24	system	system	NOUN
alkej-236	4	25	parameters	parameter	NOUN
alkej-236	4	26	and	and	CCONJ
alkej-236	4	27	non	non	ADJ
alkej-236	4	28	designing	design	VERB
alkej-236	4	29	a	a	DET
alkej-236	4	30	throttle	throttle	NOUN
alkej-236	4	31	plate	plate	NOUN
alkej-236	4	32	controller	controller	NOUN
alkej-236	4	33	.	.	PUNCT
alkej-236	5	1	in	in	ADP
alkej-236	5	2	this	this	DET
alkej-236	5	3	work	work	NOUN
alkej-236	5	4	,	,	PUNCT
alkej-236	5	5	the	the	DET
alkej-236	5	6	theory	theory	NOUN
alkej-236	5	7	of	of	ADP
alkej-236	5	8	the	the	DET
alkej-236	5	9	integral	integral	ADJ
alkej-236	5	10	sliding	slide	VERB
alkej-236	5	11	mode	mode	NOUN
alkej-236	5	12	control	control	NOUN
alkej-236	5	13	(	(	PUNCT
alkej-236	5	14	ismc	ismc	NOUN
alkej-236	5	15	)	)	PUNCT
alkej-236	5	16	is	be	AUX
alkej-236	5	17	utilized	utilize	VERB
alkej-236	5	18	to	to	PART
alkej-236	5	19	design	design	VERB
alkej-236	5	20	a	a	DET
alkej-236	5	21	robust	robust	ADJ
alkej-236	5	22	controller	controller	NOUN
alkej-236	5	23	for	for	ADP
alkej-236	5	24	the	the	DET
alkej-236	5	25	electronic	electronic	ADJ
alkej-236	5	26	throttle	throttle	NOUN
alkej-236	5	27	valve	valve	NOUN
alkej-236	5	28	(	(	PUNCT
alkej-236	5	29	etv	etv	NOUN
alkej-236	5	30	)	)	PUNCT
alkej-236	5	31	system	system	NOUN
alkej-236	5	32	.	.	PUNCT
alkej-236	6	1	from	from	ADP
alkej-236	6	2	the	the	DET
alkej-236	6	3	first	first	ADJ
alkej-236	6	4	the	the	DET
alkej-236	6	5	nominal	nominal	ADJ
alkej-236	6	6	system	system	NOUN
alkej-236	6	7	model	model	NOUN
alkej-236	6	8	,	,	PUNCT
alkej-236	6	9	this	this	DET
alkej-236	6	10	model	model	NOUN
alkej-236	6	11	is	be	AUX
alkej-236	6	12	not	not	PART
alkej-236	6	13	affected	affect	VERB
alkej-236	6	14	by	by	ADP
alkej-236	6	15	system	system	NOUN
alkej-236	6	16	parameters	parameter	NOUN
alkej-236	6	17	uncertainty	uncertainty	NOUN
alkej-236	6	18	and	and	CCONJ
alkej-236	6	19	the	the	DET
alkej-236	6	20	non	non	NOUN
alkej-236	6	21	nonlinearities	nonlinearitie	NOUN
alkej-236	6	22	.	.	PUNCT
alkej-236	7	1	this	this	PRON
alkej-236	7	2	is	be	AUX
alkej-236	7	3	a	a	DET
alkej-236	7	4	consequence	consequence	NOUN
alkej-236	7	5	of	of	ADP
alkej-236	7	6	applying	apply	VERB
alkej-236	7	7	the	the	DET
alkej-236	7	8	integral	integral	ADJ
alkej-236	7	9	sliding	slide	VERB
alkej-236	7	10	mode	mode	NOUN
alkej-236	7	11	control	control	NOUN
alkej-236	7	12	.	.	PUNCT
alkej-236	8	1	first	first	ADV
alkej-236	8	2	is	be	AUX
alkej-236	8	3	the	the	DET
alkej-236	8	4	nominal	nominal	ADJ
alkej-236	8	5	control	control	NOUN
alkej-236	8	6	which	which	PRON
alkej-236	8	7	is	be	AUX
alkej-236	8	8	used	use	VERB
alkej-236	8	9	to	to	PART
alkej-236	8	10	control	control	VERB
alkej-236	8	11	the	the	DET
alkej-236	8	12	nominal	nominal	ADJ
alkej-236	8	13	system	system	NOUN
alkej-236	8	14	,	,	PUNCT
alkej-236	8	15	while	while	SCONJ
alkej-236	8	16	the	the	DET
alkej-236	8	17	second	second	NOUN
alkej-236	8	18	is	be	AUX
alkej-236	8	19	a	a	DET
alkej-236	8	20	discontinuous	discontinuous	ADJ
alkej-236	8	21	part	part	NOUN
alkej-236	8	22	which	which	PRON
alkej-236	8	23	is	be	AUX
alkej-236	8	24	used	use	VERB
alkej-236	8	25	to	to	PART
alkej-236	8	26	eliminate	eliminate	VERB
alkej-236	8	27	the	the	DET
alkej-236	8	28	effects	effect	NOUN
alkej-236	8	29	of	of	ADP
alkej-236	8	30	the	the	DET
alkej-236	8	31	parameters	parameter	NOUN
alkej-236	8	32	uncertainty	uncertainty	NOUN
alkej-236	8	33	and	and	CCONJ
alkej-236	8	34	the	the	DET
alkej-236	8	35	non	non	NOUN
alkej-236	8	36	these	these	DET
alkej-236	8	37	features	feature	NOUN
alkej-236	8	38	for	for	ADP
alkej-236	8	39	the	the	DET
alkej-236	8	40	ismc	ismc	NOUN
alkej-236	8	41	are	be	AUX
alkej-236	8	42	proved	prove	VERB
alkej-236	8	43	mathematically	mathematically	ADV
alkej-236	8	44	and	and	CCONJ
alkej-236	8	45	demonstrated	demonstrate	VERB
alkej-236	8	46	numerically	numerically	ADV
alkej-236	8	47	via	via	ADP
alkej-236	8	48	seven	seven	NUM
alkej-236	8	49	numerical	numerical	ADJ
alkej-236	8	50	simulations	simulation	NOUN
alkej-236	8	51	and	and	CCONJ
alkej-236	8	52	for	for	ADP
alkej-236	8	53	different	different	ADJ
alkej-236	8	54	desired	desire	VERB
alkej-236	8	55	trajectories	trajectory	NOUN
alkej-236	8	56	.	.	PUNCT
alkej-236	9	1	the	the	DET
alkej-236	9	2	simulation	simulation	NOUN
alkej-236	9	3	results	result	NOUN
alkej-236	9	4	clarify	clarify	VERB
alkej-236	9	5	that	that	SCONJ
alkej-236	9	6	for	for	ADP
alkej-236	9	7	different	different	ADJ
alkej-236	9	8	system	system	NOUN
alkej-236	9	9	parameters	parameter	NOUN
alkej-236	9	10	,	,	PUNCT
alkej-236	9	11	the	the	DET
alkej-236	9	12	etv	etv	NOUN
alkej-236	9	13	behaves	behave	VERB
alkej-236	9	14	as	as	ADP
alkej-236	9	15	a	a	DET
alkej-236	9	16	nominal	nominal	ADJ
alkej-236	9	17	system	system	NOUN
alkej-236	9	18	.	.	PUNCT
alkej-236	10	1	this	this	PRON
alkej-236	10	2	enables	enable	VERB
alkej-236	10	3	to	to	PART
alkej-236	10	4	freely	freely	ADV
alkej-236	10	5	and	and	CCONJ
alkej-236	10	6	precisely	precisely	ADV
alkej-236	10	7	select	select	VERB
alkej-236	10	8	the	the	DET
alkej-236	10	9	system	system	NOUN
alkej-236	10	10	response	response	NOUN
alkej-236	10	11	characteristics	characteristic	NOUN
alkej-236	10	12	and	and	CCONJ
alkej-236	10	13	the	the	DET
alkej-236	10	14	time	time	NOUN
alkej-236	10	15	required	require	VERB
alkej-236	10	16	for	for	ADP
alkej-236	10	17	the	the	DET
alkej-236	10	18	throttle	throttle	NOUN
alkej-236	10	19	angle	angle	NOUN
alkej-236	10	20	to	to	PART
alkej-236	10	21	reach	reach	VERB
alkej-236	10	22	the	the	DET
alkej-236	10	23	desired	desire	VERB
alkej-236	10	24	value	value	NOUN
alkej-236	10	25	.	.	PUNCT
alkej-236	11	1	moreover	moreover	ADV
alkej-236	11	2	the	the	DET
alkej-236	11	3	ability	ability	NOUN
alkej-236	11	4	to	to	PART
alkej-236	11	5	deal	deal	VERB
alkej-236	11	6	with	with	ADP
alkej-236	11	7	the	the	DET
alkej-236	11	8	chattering	chatter	VERB
alkej-236	11	9	problem	problem	NOUN
alkej-236	11	10	is	be	AUX
alkej-236	11	11	demonstrated	demonstrate	VERB
alkej-236	11	12	through	through	ADP
alkej-236	11	13	the	the	DET
alkej-236	11	14	worked	work	VERB
alkej-236	11	15	simulation	simulation	NOUN
alkej-236	11	16	tests	test	NOUN
alkej-236	11	17	,	,	PUNCT
alkej-236	11	18	where	where	SCONJ
alkej-236	11	19	the	the	DET
alkej-236	11	20	chattering	chattering	NOUN
alkej-236	11	21	is	be	AUX
alkej-236	11	22	eliminated	eliminate	VERB
alkej-236	11	23	via	via	ADP
alkej-236	11	24	approximating	approximate	VERB
alkej-236	11	25	the	the	DET
alkej-236	11	26	signum	signum	ADJ
alkej-236	11	27	function	function	NOUN
alkej-236	11	28	by	by	ADP
alkej-236	11	29	arc	arc	NOUN
alkej-236	11	30	tan	tan	PROPN
alkej-236	11	31	function	function	NOUN
alkej-236	11	32	.	.	PUNCT
alkej-236	12	1	keywords	keyword	NOUN
alkej-236	12	2	:	:	PUNCT
alkej-236	12	3	electronic	electronic	ADJ
alkej-236	12	4	throttle	throttle	NOUN
alkej-236	12	5	valve	valve	NOUN
alkej-236	12	6	,	,	PUNCT
alkej-236	12	7	nonlinear	nonlinear	ADJ
alkej-236	12	8	spring	spring	NOUN
alkej-236	12	9	model	model	NOUN
alkej-236	12	10	,	,	PUNCT
alkej-236	12	11	integral	integral	ADJ
alkej-236	12	12	sliding	slide	VERB
alkej-236	12	13	mode	mode	NOUN
alkej-236	12	14	control	control	NOUN
alkej-236	12	15	,	,	PUNCT
alkej-236	12	16	non	non	X
alkej-236	12	17	1	1	NUM
alkej-236	12	18	.	.	PUNCT
alkej-236	12	19	introduction	introduction	NOUN
alkej-236	12	20	one	one	NUM
alkej-236	12	21	of	of	ADP
alkej-236	12	22	the	the	DET
alkej-236	12	23	key	key	ADJ
alkej-236	12	24	components	component	NOUN
alkej-236	12	25	in	in	ADP
alkej-236	12	26	an	an	DET
alkej-236	12	27	automobile	automobile	NOUN
alkej-236	12	28	engine	engine	NOUN
alkej-236	12	29	is	be	AUX
alkej-236	12	30	the	the	DET
alkej-236	12	31	throttle	throttle	NOUN
alkej-236	12	32	valve	valve	NOUN
alkej-236	12	33	part	part	NOUN
alkej-236	12	34	.	.	PUNCT
alkej-236	13	1	throttle	throttle	NOUN
alkej-236	13	2	valve	valve	NOUN
alkej-236	13	3	consists	consist	VERB
alkej-236	13	4	of	of	ADP
alkej-236	13	5	a	a	DET
alkej-236	13	6	throttle	throttle	NOUN
alkej-236	13	7	plate	plate	NOUN
alkej-236	13	8	,	,	PUNCT
alkej-236	13	9	a	a	DET
alkej-236	13	10	motor	motor	NOUN
alkej-236	13	11	causes	cause	VERB
alkej-236	13	12	the	the	DET
alkej-236	13	13	plate	plate	NOUN
alkej-236	13	14	to	to	PART
alkej-236	13	15	rotate	rotate	VERB
alkej-236	13	16	in	in	ADP
alkej-236	13	17	angular	angular	ADJ
alkej-236	13	18	position	position	NOUN
alkej-236	13	19	and	and	CCONJ
alkej-236	13	20	return	return	VERB
alkej-236	13	21	spring	spring	NOUN
alkej-236	13	22	.	.	PUNCT
alkej-236	14	1	the	the	DET
alkej-236	14	2	joint	joint	NOUN
alkej-236	14	3	between	between	ADP
alkej-236	14	4	the	the	DET
alkej-236	14	5	motor	motor	NOUN
alkej-236	14	6	and	and	CCONJ
alkej-236	14	7	the	the	DET
alkej-236	14	8	throttle	throttle	NOUN
alkej-236	14	9	plate	plate	NOUN
alkej-236	14	10	is	be	AUX
alkej-236	14	11	considered	consider	VERB
alkej-236	14	12	rigid	rigid	ADJ
alkej-236	14	13	.	.	PUNCT
alkej-236	15	1	the	the	DET
alkej-236	15	2	opening	opening	NOUN
alkej-236	15	3	angle	angle	NOUN
alkej-236	15	4	of	of	ADP
alkej-236	15	5	a	a	DET
alkej-236	15	6	throttle	throttle	NOUN
alkej-236	15	7	plate	plate	NOUN
alkej-236	15	8	allows	allow	VERB
alkej-236	15	9	the	the	DET
alkej-236	15	10	air	air	NOUN
alkej-236	15	11	to	to	PART
alkej-236	15	12	flow	flow	VERB
alkej-236	15	13	to	to	ADP
alkej-236	15	14	the	the	DET
alkej-236	15	15	engine	engine	NOUN
alkej-236	15	16	.	.	PUNCT
alkej-236	16	1	its	its	PRON
alkej-236	16	2	function	function	NOUN
alkej-236	16	3	is	be	AUX
alkej-236	16	4	to	to	PART
alkej-236	16	5	adjust	adjust	VERB
alkej-236	16	6	the	the	DET
alkej-236	16	7	air	air	PROPN
alkej-236	16	8	khwarizmi	khwarizmi	PROPN
alkej-236	16	9	engineering	engineering	PROPN
alkej-236	16	10	journal	journal	PROPN
alkej-236	16	11	,	,	PUNCT
alkej-236	16	12	vol	vol	NOUN
alkej-236	16	13	.	.	PROPN
alkej-236	17	1	11	11	NUM
alkej-236	17	2	,	,	PUNCT
alkej-236	17	3	no	no	INTJ
alkej-236	17	4	.	.	NOUN
alkej-236	17	5	3	3	NUM
alkej-236	17	6	,	,	PUNCT
alkej-236	17	7	p.p	p.p	PROPN
alkej-236	17	8	.	.	NOUN
alkej-236	17	9	7284	7284	NUM
alkej-236	17	10	(	(	PUNCT
alkej-236	17	11	2015	2015	NUM
alkej-236	17	12	)	)	PUNCT
alkej-236	17	13	integral	integral	ADJ
alkej-236	17	14	sliding	slide	VERB
alkej-236	17	15	mode	mode	NOUN
alkej-236	17	16	control	control	NOUN
alkej-236	17	17	design	design	NOUN
alkej-236	17	18	for	for	ADP
alkej-236	17	19	electronic	electronic	ADJ
alkej-236	17	20	throttle	throttle	NOUN
alkej-236	17	21	valve	valve	NOUN
alkej-236	17	22	system	system	NOUN
alkej-236	17	23	shibly	shibly	ADV
alkej-236	17	24	ahmed	ahmed	PROPN
alkej-236	17	25	al	al	PROPN
alkej-236	17	26	-	-	PROPN
alkej-236	17	27	samarraie	samarraie	PROPN
alkej-236	17	28	*	*	PUNCT
alkej-236	17	29	alaq	alaq	PROPN
alkej-236	17	30	sabah	sabah	PROPN
alkej-236	17	31	badri	badri	PROPN
alkej-236	17	32	*	*	PROPN
alkej-236	17	33	*	*	PROPN
alkej-236	17	34	mustafa	mustafa	PROPN
alkej-236	17	35	h.	h.	PROPN
alkej-236	17	36	mishary	mishary	PROPN
alkej-236	17	37	*	*	PUNCT
alkej-236	17	38	*	*	PUNCT
alkej-236	17	39	*	*	PUNCT
alkej-236	17	40	*	*	PUNCT
alkej-236	17	41	,	,	PUNCT
alkej-236	17	42	*	*	PUNCT
alkej-236	17	43	*	*	PUNCT
alkej-236	17	44	,	,	PUNCT
alkej-236	17	45	*	*	PUNCT
alkej-236	17	46	*	*	PUNCT
alkej-236	17	47	*	*	PUNCT
alkej-236	17	48	department	department	PROPN
alkej-236	17	49	of	of	ADP
alkej-236	17	50	control	control	NOUN
alkej-236	17	51	and	and	CCONJ
alkej-236	17	52	systems	system	NOUN
alkej-236	17	53	engineering/	engineering/	NUM
alkej-236	17	54	university	university	NOUN
alkej-236	17	55	of	of	ADP
alkej-236	17	56	technology	technology	NOUN
alkej-236	17	57	*	*	NOUN
alkej-236	17	58	email	email	NOUN
alkej-236	17	59	:	:	PUNCT
alkej-236	18	1	dr.shiblyahmed@yahoo.com	dr.shiblyahmed@yahoo.com	X
alkej-236	18	2	*	*	PUNCT
alkej-236	18	3	*	*	NOUN
alkej-236	18	4	email	email	NOUN
alkej-236	18	5	:	:	PUNCT
alkej-236	18	6	alaqsabah@yahoo.com	alaqsabah@yahoo.com	X
alkej-236	19	1	*	*	PUNCT
alkej-236	19	2	*	*	PUNCT
alkej-236	19	3	*	*	NOUN
alkej-236	19	4	email	email	NOUN
alkej-236	19	5	:	:	PUNCT
alkej-236	19	6	albmustafa@yahoo.com	albmustafa@yahoo.com	X
alkej-236	20	1	(	(	PUNCT
alkej-236	20	2	received	receive	VERB
alkej-236	20	3	13	13	NUM
alkej-236	20	4	august	august	PROPN
alkej-236	20	5	2014	2014	NUM
alkej-236	20	6	;	;	PUNCT
alkej-236	20	7	accepted	accept	VERB
alkej-236	20	8	18	18	NUM
alkej-236	20	9	may	may	PROPN
alkej-236	20	10	2015	2015	NUM
alkej-236	20	11	)	)	PUNCT
alkej-236	20	12	one	one	NUM
alkej-236	20	13	of	of	ADP
alkej-236	20	14	the	the	DET
alkej-236	20	15	major	major	ADJ
alkej-236	20	16	components	component	NOUN
alkej-236	20	17	in	in	ADP
alkej-236	20	18	an	an	DET
alkej-236	20	19	automobile	automobile	NOUN
alkej-236	20	20	engine	engine	NOUN
alkej-236	20	21	is	be	AUX
alkej-236	20	22	the	the	DET
alkej-236	20	23	throttle	throttle	NOUN
alkej-236	20	24	valve	valve	NOUN
alkej-236	20	25	part	part	NOUN
alkej-236	20	26	.	.	PUNCT
alkej-236	21	1	it	it	PRON
alkej-236	21	2	is	be	AUX
alkej-236	21	3	used	use	VERB
alkej-236	21	4	to	to	PART
alkej-236	21	5	keep	keep	VERB
alkej-236	21	6	up	up	ADP
alkej-236	21	7	with	with	ADP
alkej-236	21	8	emissions	emission	NOUN
alkej-236	21	9	and	and	CCONJ
alkej-236	21	10	fuel	fuel	NOUN
alkej-236	21	11	efficiency	efficiency	NOUN
alkej-236	21	12	low	low	ADJ
alkej-236	21	13	.	.	PUNCT
alkej-236	22	1	design	design	VERB
alkej-236	22	2	a	a	DET
alkej-236	22	3	control	control	NOUN
alkej-236	22	4	system	system	NOUN
alkej-236	22	5	to	to	ADP
alkej-236	22	6	the	the	DET
alkej-236	22	7	throttle	throttle	NOUN
alkej-236	22	8	valve	valve	NOUN
alkej-236	22	9	is	be	AUX
alkej-236	22	10	newly	newly	ADV
alkej-236	22	11	common	common	ADJ
alkej-236	22	12	requirement	requirement	NOUN
alkej-236	22	13	trend	trend	NOUN
alkej-236	22	14	in	in	ADP
alkej-236	22	15	automotive	automotive	ADJ
alkej-236	22	16	smoothness	smoothness	ADJ
alkej-236	22	17	nonlinearity	nonlinearity	NOUN
alkej-236	22	18	in	in	ADP
alkej-236	22	19	throttle	throttle	NOUN
alkej-236	22	20	valve	valve	NOUN
alkej-236	22	21	model	model	NOUN
alkej-236	22	22	are	be	AUX
alkej-236	22	23	due	due	ADJ
alkej-236	22	24	to	to	ADP
alkej-236	22	25	the	the	DET
alkej-236	22	26	friction	friction	NOUN
alkej-236	22	27	model	model	NOUN
alkej-236	22	28	and	and	CCONJ
alkej-236	22	29	the	the	DET
alkej-236	22	30	nonlinear	nonlinear	ADJ
alkej-236	22	31	spring	spring	NOUN
alkej-236	22	32	,	,	PUNCT
alkej-236	22	33	the	the	DET
alkej-236	22	34	uncertainty	uncertainty	NOUN
alkej-236	22	35	in	in	ADP
alkej-236	22	36	system	system	NOUN
alkej-236	22	37	parameters	parameter	NOUN
alkej-236	22	38	and	and	CCONJ
alkej-236	22	39	non	non	ADJ
alkej-236	22	40	-	-	ADJ
alkej-236	22	41	satisfying	satisfy	VERB
alkej-236	22	42	the	the	DET
alkej-236	22	43	matching	matching	NOUN
alkej-236	22	44	condition	condition	NOUN
alkej-236	22	45	are	be	AUX
alkej-236	22	46	the	the	DET
alkej-236	22	47	main	main	ADJ
alkej-236	22	48	obstacles	obstacle	NOUN
alkej-236	22	49	when	when	SCONJ
alkej-236	22	50	in	in	ADP
alkej-236	22	51	this	this	DET
alkej-236	22	52	work	work	NOUN
alkej-236	22	53	,	,	PUNCT
alkej-236	22	54	the	the	DET
alkej-236	22	55	theory	theory	NOUN
alkej-236	22	56	of	of	ADP
alkej-236	22	57	the	the	DET
alkej-236	22	58	integral	integral	ADJ
alkej-236	22	59	sliding	slide	VERB
alkej-236	22	60	mode	mode	NOUN
alkej-236	22	61	control	control	NOUN
alkej-236	22	62	(	(	PUNCT
alkej-236	22	63	ismc	ismc	NOUN
alkej-236	22	64	)	)	PUNCT
alkej-236	22	65	is	be	AUX
alkej-236	22	66	utilized	utilize	VERB
alkej-236	22	67	to	to	PART
alkej-236	22	68	design	design	VERB
alkej-236	22	69	a	a	DET
alkej-236	22	70	robust	robust	ADJ
alkej-236	22	71	controller	controller	NOUN
alkej-236	22	72	for	for	ADP
alkej-236	22	73	the	the	DET
alkej-236	22	74	electronic	electronic	ADJ
alkej-236	22	75	throttle	throttle	NOUN
alkej-236	22	76	valve	valve	NOUN
alkej-236	22	77	(	(	PUNCT
alkej-236	22	78	etv	etv	NOUN
alkej-236	22	79	)	)	PUNCT
alkej-236	22	80	system	system	NOUN
alkej-236	22	81	.	.	PUNCT
alkej-236	23	1	from	from	ADP
alkej-236	23	2	the	the	DET
alkej-236	23	3	first	first	ADJ
alkej-236	23	4	instant	instant	NOUN
alkej-236	23	5	,	,	PUNCT
alkej-236	23	6	the	the	DET
alkej-236	23	7	electronic	electronic	ADJ
alkej-236	23	8	throttle	throttle	NOUN
alkej-236	23	9	valve	valve	NOUN
alkej-236	23	10	dynamics	dynamic	NOUN
alkej-236	23	11	is	be	AUX
alkej-236	23	12	represented	represent	VERB
alkej-236	23	13	by	by	ADP
alkej-236	23	14	the	the	DET
alkej-236	23	15	nominal	nominal	ADJ
alkej-236	23	16	system	system	NOUN
alkej-236	23	17	model	model	NOUN
alkej-236	23	18	,	,	PUNCT
alkej-236	23	19	this	this	DET
alkej-236	23	20	model	model	NOUN
alkej-236	23	21	is	be	AUX
alkej-236	23	22	not	not	PART
alkej-236	23	23	affected	affect	VERB
alkej-236	23	24	by	by	ADP
alkej-236	23	25	system	system	NOUN
alkej-236	23	26	parameters	parameter	NOUN
alkej-236	23	27	uncertainty	uncertainty	NOUN
alkej-236	23	28	and	and	CCONJ
alkej-236	23	29	the	the	DET
alkej-236	23	30	non	non	NOUN
alkej-236	23	31	nonlinearities	nonlinearitie	NOUN
alkej-236	23	32	.	.	PUNCT
alkej-236	24	1	this	this	PRON
alkej-236	24	2	is	be	AUX
alkej-236	24	3	a	a	DET
alkej-236	24	4	consequence	consequence	NOUN
alkej-236	24	5	of	of	ADP
alkej-236	24	6	applying	apply	VERB
alkej-236	24	7	the	the	DET
alkej-236	24	8	integral	integral	ADJ
alkej-236	24	9	sliding	slide	VERB
alkej-236	24	10	mode	mode	NOUN
alkej-236	24	11	control	control	NOUN
alkej-236	24	12	.	.	PUNCT
alkej-236	25	1	the	the	DET
alkej-236	25	2	ismc	ismc	NOUN
alkej-236	25	3	consists	consist	VERB
alkej-236	25	4	of	of	ADP
alkej-236	25	5	two	two	NUM
alkej-236	25	6	part	part	NOUN
alkej-236	25	7	;	;	PUNCT
alkej-236	25	8	the	the	DET
alkej-236	25	9	first	first	ADJ
alkej-236	25	10	is	be	AUX
alkej-236	25	11	the	the	DET
alkej-236	25	12	nominal	nominal	ADJ
alkej-236	25	13	control	control	NOUN
alkej-236	25	14	which	which	PRON
alkej-236	25	15	is	be	AUX
alkej-236	25	16	used	use	VERB
alkej-236	25	17	to	to	PART
alkej-236	25	18	control	control	VERB
alkej-236	25	19	the	the	DET
alkej-236	25	20	nominal	nominal	ADJ
alkej-236	25	21	system	system	NOUN
alkej-236	25	22	,	,	PUNCT
alkej-236	25	23	while	while	SCONJ
alkej-236	25	24	the	the	DET
alkej-236	25	25	second	second	NOUN
alkej-236	25	26	is	be	AUX
alkej-236	25	27	a	a	DET
alkej-236	25	28	discontinuous	discontinuous	ADJ
alkej-236	25	29	part	part	NOUN
alkej-236	25	30	which	which	PRON
alkej-236	25	31	is	be	AUX
alkej-236	25	32	used	use	VERB
alkej-236	25	33	to	to	PART
alkej-236	25	34	eliminate	eliminate	VERB
alkej-236	25	35	the	the	DET
alkej-236	25	36	effects	effect	NOUN
alkej-236	25	37	of	of	ADP
alkej-236	25	38	the	the	DET
alkej-236	25	39	parameters	parameter	NOUN
alkej-236	25	40	uncertainty	uncertainty	NOUN
alkej-236	25	41	and	and	CCONJ
alkej-236	25	42	the	the	DET
alkej-236	25	43	non	non	ADJ
alkej-236	25	44	-	-	ADJ
alkej-236	25	45	smooth	smooth	ADJ
alkej-236	25	46	nonlinearities	nonlinearitie	NOUN
alkej-236	25	47	fro	fro	VERB
alkej-236	25	48	these	these	DET
alkej-236	25	49	features	feature	NOUN
alkej-236	25	50	for	for	ADP
alkej-236	25	51	the	the	DET
alkej-236	25	52	ismc	ismc	NOUN
alkej-236	25	53	are	be	AUX
alkej-236	25	54	proved	prove	VERB
alkej-236	25	55	mathematically	mathematically	ADV
alkej-236	25	56	and	and	CCONJ
alkej-236	25	57	demonstrated	demonstrate	VERB
alkej-236	25	58	numerically	numerically	ADV
alkej-236	25	59	via	via	ADP
alkej-236	25	60	seven	seven	NUM
alkej-236	25	61	numerical	numerical	ADJ
alkej-236	25	62	simulations	simulation	NOUN
alkej-236	25	63	and	and	CCONJ
alkej-236	25	64	for	for	ADP
alkej-236	25	65	different	different	ADJ
alkej-236	25	66	desired	desire	VERB
alkej-236	25	67	trajectories	trajectory	NOUN
alkej-236	25	68	.	.	PUNCT
alkej-236	26	1	the	the	DET
alkej-236	26	2	simulation	simulation	NOUN
alkej-236	26	3	results	result	NOUN
alkej-236	26	4	clarify	clarify	VERB
alkej-236	26	5	that	that	SCONJ
alkej-236	26	6	for	for	ADP
alkej-236	26	7	different	different	ADJ
alkej-236	26	8	system	system	NOUN
alkej-236	26	9	parameters	parameter	NOUN
alkej-236	26	10	,	,	PUNCT
alkej-236	26	11	the	the	DET
alkej-236	26	12	etv	etv	NOUN
alkej-236	26	13	as	as	ADP
alkej-236	26	14	a	a	DET
alkej-236	26	15	nominal	nominal	ADJ
alkej-236	26	16	system	system	NOUN
alkej-236	26	17	.	.	PUNCT
alkej-236	27	1	this	this	PRON
alkej-236	27	2	enables	enable	VERB
alkej-236	27	3	to	to	PART
alkej-236	27	4	freely	freely	ADV
alkej-236	27	5	and	and	CCONJ
alkej-236	27	6	precisely	precisely	ADV
alkej-236	27	7	select	select	VERB
alkej-236	27	8	the	the	DET
alkej-236	27	9	system	system	NOUN
alkej-236	27	10	response	response	NOUN
alkej-236	27	11	characteristics	characteristic	NOUN
alkej-236	27	12	and	and	CCONJ
alkej-236	27	13	the	the	DET
alkej-236	27	14	time	time	NOUN
alkej-236	27	15	required	require	VERB
alkej-236	27	16	for	for	ADP
alkej-236	27	17	the	the	DET
alkej-236	27	18	throttle	throttle	NOUN
alkej-236	27	19	angle	angle	NOUN
alkej-236	27	20	to	to	PART
alkej-236	27	21	reach	reach	VERB
alkej-236	27	22	the	the	DET
alkej-236	27	23	desired	desire	VERB
alkej-236	27	24	value	value	NOUN
alkej-236	27	25	.	.	PUNCT
alkej-236	28	1	moreover	moreover	ADV
alkej-236	28	2	the	the	DET
alkej-236	28	3	ability	ability	NOUN
alkej-236	28	4	to	to	PART
alkej-236	28	5	deal	deal	VERB
alkej-236	28	6	with	with	ADP
alkej-236	28	7	the	the	DET
alkej-236	28	8	chattering	chatter	VERB
alkej-236	28	9	problem	problem	NOUN
alkej-236	28	10	is	be	AUX
alkej-236	28	11	the	the	DET
alkej-236	28	12	worked	work	VERB
alkej-236	28	13	simulation	simulation	NOUN
alkej-236	28	14	tests	test	NOUN
alkej-236	28	15	,	,	PUNCT
alkej-236	28	16	where	where	SCONJ
alkej-236	28	17	the	the	DET
alkej-236	28	18	chattering	chattering	NOUN
alkej-236	28	19	is	be	AUX
alkej-236	28	20	eliminated	eliminate	VERB
alkej-236	28	21	via	via	ADP
alkej-236	28	22	approximating	approximate	VERB
alkej-236	28	23	the	the	DET
alkej-236	28	24	signum	signum	ADJ
alkej-236	28	25	electronic	electronic	ADJ
alkej-236	28	26	throttle	throttle	NOUN
alkej-236	28	27	valve	valve	NOUN
alkej-236	28	28	,	,	PUNCT
alkej-236	28	29	nonlinear	nonlinear	ADJ
alkej-236	28	30	spring	spring	NOUN
alkej-236	28	31	model	model	NOUN
alkej-236	28	32	,	,	PUNCT
alkej-236	28	33	integral	integral	ADJ
alkej-236	28	34	sliding	slide	VERB
alkej-236	28	35	mode	mode	NOUN
alkej-236	28	36	control	control	NOUN
alkej-236	28	37	,	,	PUNCT
alkej-236	28	38	non	non	ADJ
alkej-236	28	39	one	one	NUM
alkej-236	28	40	of	of	ADP
alkej-236	28	41	the	the	DET
alkej-236	28	42	key	key	ADJ
alkej-236	28	43	components	component	NOUN
alkej-236	28	44	in	in	ADP
alkej-236	28	45	an	an	DET
alkej-236	28	46	automobile	automobile	NOUN
alkej-236	28	47	throttle	throttle	NOUN
alkej-236	28	48	valve	valve	NOUN
alkej-236	28	49	consists	consist	VERB
alkej-236	28	50	of	of	ADP
alkej-236	28	51	a	a	DET
alkej-236	28	52	throttle	throttle	NOUN
alkej-236	28	53	plate	plate	NOUN
alkej-236	28	54	,	,	PUNCT
alkej-236	28	55	a	a	DET
alkej-236	28	56	motor	motor	NOUN
alkej-236	28	57	causes	cause	VERB
alkej-236	28	58	the	the	DET
alkej-236	28	59	plate	plate	NOUN
alkej-236	28	60	to	to	PART
alkej-236	28	61	rotate	rotate	VERB
alkej-236	28	62	in	in	ADP
alkej-236	28	63	angular	angular	ADJ
alkej-236	28	64	position	position	NOUN
alkej-236	28	65	and	and	CCONJ
alkej-236	28	66	return	return	VERB
alkej-236	28	67	joint	joint	NOUN
alkej-236	28	68	between	between	ADP
alkej-236	28	69	the	the	DET
alkej-236	28	70	motor	motor	NOUN
alkej-236	28	71	and	and	CCONJ
alkej-236	28	72	the	the	DET
alkej-236	28	73	throttle	throttle	NOUN
alkej-236	28	74	plate	plate	NOUN
alkej-236	28	75	is	be	AUX
alkej-236	28	76	considered	consider	VERB
alkej-236	28	77	rigid	rigid	ADJ
alkej-236	28	78	.	.	PUNCT
alkej-236	29	1	the	the	DET
alkej-236	29	2	opening	opening	NOUN
alkej-236	29	3	angle	angle	NOUN
alkej-236	29	4	of	of	ADP
alkej-236	29	5	a	a	DET
alkej-236	29	6	throttle	throttle	NOUN
alkej-236	29	7	plate	plate	NOUN
alkej-236	29	8	allows	allow	VERB
alkej-236	29	9	the	the	DET
alkej-236	29	10	air	air	NOUN
alkej-236	29	11	to	to	PART
alkej-236	29	12	flow	flow	VERB
alkej-236	29	13	to	to	ADP
alkej-236	29	14	he	he	PRON
alkej-236	29	15	engine	engine	NOUN
alkej-236	29	16	.	.	PUNCT
alkej-236	30	1	its	its	PRON
alkej-236	30	2	function	function	NOUN
alkej-236	30	3	is	be	AUX
alkej-236	30	4	to	to	PART
alkej-236	30	5	adjust	adjust	VERB
alkej-236	30	6	the	the	DET
alkej-236	30	7	air	air	NOUN
alkej-236	30	8	–	–	PUNCT
alkej-236	30	9	fuel	fuel	NOUN
alkej-236	30	10	ratio	ratio	NOUN
alkej-236	30	11	during	during	ADP
alkej-236	30	12	combustion	combustion	NOUN
alkej-236	30	13	by	by	ADP
alkej-236	30	14	changing	change	VERB
alkej-236	30	15	the	the	DET
alkej-236	30	16	opening	opening	NOUN
alkej-236	30	17	angle	angle	NOUN
alkej-236	30	18	of	of	ADP
alkej-236	30	19	the	the	DET
alkej-236	30	20	valve	valve	NOUN
alkej-236	30	21	plate	plate	NOUN
alkej-236	30	22	,	,	PUNCT
alkej-236	30	23	through	through	ADP
alkej-236	30	24	which	which	PRON
alkej-236	30	25	there	there	PRON
alkej-236	30	26	exists	exist	VERB
alkej-236	30	27	airflow	airflow	NOUN
alkej-236	30	28	.	.	PUNCT
alkej-236	31	1	engine	engine	NOUN
alkej-236	31	2	efficiency	efficiency	NOUN
alkej-236	31	3	and	and	CCONJ
alkej-236	31	4	emissions	emission	NOUN
alkej-236	31	5	are	be	AUX
alkej-236	31	6	affected	affect	VERB
alkej-236	31	7	by	by	ADP
alkej-236	31	8	the	the	DET
alkej-236	31	9	control	control	NOUN
alkej-236	31	10	of	of	ADP
alkej-236	31	11	the	the	DET
alkej-236	31	12	throttle	throttle	NOUN
alkej-236	31	13	plate	plate	NOUN
alkej-236	31	14	,	,	PUNCT
alkej-236	31	15	in	in	ADP
alkej-236	31	16	particular	particular	ADJ
alkej-236	31	17	its	its	PRON
alkej-236	31	18	angular	angular	ADJ
alkej-236	31	19	position	position	NOUN
alkej-236	31	20	.	.	PUNCT
alkej-236	32	1	depending	depend	VERB
alkej-236	32	2	on	on	ADP
alkej-236	32	3	the	the	DET
alkej-236	32	4	current	current	ADJ
alkej-236	32	5	engine	engine	NOUN
alkej-236	32	6	load	load	NOUN
alkej-236	32	7	,	,	PUNCT
alkej-236	32	8	the	the	DET
alkej-236	32	9	angular	angular	ADJ
alkej-236	32	10	position	position	NOUN
alkej-236	32	11	must	must	AUX
alkej-236	32	12	track	track	VERB
alkej-236	32	13	a	a	DET
alkej-236	32	14	trajectory	trajectory	NOUN
alkej-236	32	15	as	as	SCONJ
alkej-236	32	16	determined	determine	VERB
alkej-236	32	17	by	by	ADP
alkej-236	32	18	the	the	DET
alkej-236	32	19	accelerator	accelerator	NOUN
alkej-236	33	1	[	[	X
alkej-236	33	2	1	1	NUM
alkej-236	33	3	]	]	PUNCT
alkej-236	33	4	.	.	PUNCT
alkej-236	34	1	the	the	DET
alkej-236	34	2	electronic	electronic	ADJ
alkej-236	34	3	throttling	throttling	NOUN
alkej-236	34	4	valve	valve	NOUN
alkej-236	34	5	is	be	AUX
alkej-236	34	6	shown	show	VERB
alkej-236	34	7	in	in	ADP
alkej-236	34	8	figure	figure	NOUN
alkej-236	34	9	(	(	PUNCT
alkej-236	34	10	1	1	NUM
alkej-236	34	11	)	)	PUNCT
alkej-236	34	12	.	.	PUNCT
alkej-236	35	1	al	al	PROPN
alkej-236	35	2	-	-	PUNCT
alkej-236	35	3	khwarizmi	khwarizmi	PROPN
alkej-236	35	4	engineering	engineering	NOUN
alkej-236	35	5	journal	journal	PROPN
alkej-236	35	6	(	(	PUNCT
alkej-236	35	7	2015	2015	NUM
alkej-236	35	8	)	)	PUNCT
alkej-236	35	9	integral	integral	ADJ
alkej-236	35	10	sliding	slide	VERB
alkej-236	35	11	mode	mode	NOUN
alkej-236	35	12	control	control	NOUN
alkej-236	35	13	design	design	NOUN
alkej-236	35	14	for	for	ADP
alkej-236	35	15	electronic	electronic	ADJ
alkej-236	35	16	throttle	throttle	NOUN
alkej-236	35	17	valve	valve	VERB
alkej-236	35	18	alaq	alaq	PROPN
alkej-236	35	19	sabah	sabah	PROPN
alkej-236	35	20	badri	badri	PROPN
alkej-236	35	21	*	*	PROPN
alkej-236	35	22	*	*	PROPN
alkej-236	35	23	of	of	ADP
alkej-236	35	24	technology	technology	NOUN
alkej-236	35	25	one	one	NUM
alkej-236	35	26	of	of	ADP
alkej-236	35	27	the	the	DET
alkej-236	35	28	major	major	ADJ
alkej-236	35	29	components	component	NOUN
alkej-236	35	30	in	in	ADP
alkej-236	35	31	an	an	DET
alkej-236	35	32	automobile	automobile	NOUN
alkej-236	35	33	engine	engine	NOUN
alkej-236	35	34	is	be	AUX
alkej-236	35	35	the	the	DET
alkej-236	35	36	throttle	throttle	NOUN
alkej-236	35	37	valve	valve	NOUN
alkej-236	35	38	part	part	NOUN
alkej-236	35	39	.	.	PUNCT
alkej-236	36	1	it	it	PRON
alkej-236	36	2	is	be	AUX
alkej-236	36	3	used	use	VERB
alkej-236	36	4	to	to	PART
alkej-236	36	5	keep	keep	VERB
alkej-236	36	6	up	up	ADP
alkej-236	36	7	with	with	ADP
alkej-236	36	8	emissions	emission	NOUN
alkej-236	36	9	the	the	DET
alkej-236	36	10	throttle	throttle	NOUN
alkej-236	36	11	valve	valve	NOUN
alkej-236	36	12	is	be	AUX
alkej-236	36	13	newly	newly	ADV
alkej-236	36	14	common	common	ADJ
alkej-236	36	15	requirement	requirement	NOUN
alkej-236	36	16	trend	trend	NOUN
alkej-236	36	17	in	in	ADP
alkej-236	36	18	automotive	automotive	ADJ
alkej-236	36	19	smoothness	smoothness	ADJ
alkej-236	36	20	nonlinearity	nonlinearity	NOUN
alkej-236	36	21	in	in	ADP
alkej-236	36	22	throttle	throttle	NOUN
alkej-236	36	23	valve	valve	NOUN
alkej-236	36	24	model	model	NOUN
alkej-236	36	25	are	be	AUX
alkej-236	36	26	due	due	ADJ
alkej-236	36	27	to	to	ADP
alkej-236	36	28	the	the	DET
alkej-236	36	29	friction	friction	NOUN
alkej-236	36	30	model	model	NOUN
alkej-236	36	31	and	and	CCONJ
alkej-236	36	32	the	the	DET
alkej-236	36	33	nonlinear	nonlinear	ADJ
alkej-236	36	34	ing	ing	ADJ
alkej-236	36	35	condition	condition	NOUN
alkej-236	36	36	are	be	AUX
alkej-236	36	37	the	the	DET
alkej-236	36	38	main	main	ADJ
alkej-236	36	39	obstacles	obstacle	NOUN
alkej-236	36	40	when	when	SCONJ
alkej-236	36	41	in	in	ADP
alkej-236	36	42	this	this	DET
alkej-236	36	43	work	work	NOUN
alkej-236	36	44	,	,	PUNCT
alkej-236	36	45	the	the	DET
alkej-236	36	46	theory	theory	NOUN
alkej-236	36	47	of	of	ADP
alkej-236	36	48	the	the	DET
alkej-236	36	49	integral	integral	ADJ
alkej-236	36	50	sliding	slide	VERB
alkej-236	36	51	mode	mode	NOUN
alkej-236	36	52	control	control	NOUN
alkej-236	36	53	(	(	PUNCT
alkej-236	36	54	ismc	ismc	NOUN
alkej-236	36	55	)	)	PUNCT
alkej-236	36	56	is	be	AUX
alkej-236	36	57	utilized	utilize	VERB
alkej-236	36	58	to	to	PART
alkej-236	36	59	design	design	VERB
alkej-236	36	60	a	a	DET
alkej-236	36	61	robust	robust	ADJ
alkej-236	36	62	controller	controller	NOUN
alkej-236	36	63	for	for	ADP
alkej-236	36	64	the	the	DET
alkej-236	36	65	instant	instant	NOUN
alkej-236	36	66	,	,	PUNCT
alkej-236	36	67	the	the	DET
alkej-236	36	68	electronic	electronic	ADJ
alkej-236	36	69	throttle	throttle	NOUN
alkej-236	36	70	valve	valve	NOUN
alkej-236	36	71	dynamics	dynamic	NOUN
alkej-236	36	72	is	be	AUX
alkej-236	36	73	represented	represent	VERB
alkej-236	36	74	by	by	ADP
alkej-236	36	75	the	the	DET
alkej-236	36	76	nominal	nominal	ADJ
alkej-236	36	77	system	system	NOUN
alkej-236	36	78	model	model	NOUN
alkej-236	36	79	,	,	PUNCT
alkej-236	36	80	this	this	DET
alkej-236	36	81	model	model	NOUN
alkej-236	36	82	is	be	AUX
alkej-236	36	83	not	not	PART
alkej-236	36	84	affected	affect	VERB
alkej-236	36	85	by	by	ADP
alkej-236	36	86	system	system	NOUN
alkej-236	36	87	parameters	parameter	NOUN
alkej-236	36	88	uncertainty	uncertainty	NOUN
alkej-236	36	89	and	and	CCONJ
alkej-236	36	90	the	the	DET
alkej-236	36	91	non	non	ADJ
alkej-236	36	92	-	-	ADJ
alkej-236	36	93	smooth	smooth	ADJ
alkej-236	36	94	the	the	DET
alkej-236	36	95	ismc	ismc	NOUN
alkej-236	36	96	consists	consist	VERB
alkej-236	36	97	of	of	ADP
alkej-236	36	98	two	two	NUM
alkej-236	36	99	part	part	NOUN
alkej-236	36	100	;	;	PUNCT
alkej-236	36	101	the	the	DET
alkej-236	36	102	first	first	ADJ
alkej-236	36	103	is	be	AUX
alkej-236	36	104	the	the	DET
alkej-236	36	105	nominal	nominal	ADJ
alkej-236	36	106	control	control	NOUN
alkej-236	36	107	which	which	PRON
alkej-236	36	108	is	be	AUX
alkej-236	36	109	used	use	VERB
alkej-236	36	110	to	to	PART
alkej-236	36	111	control	control	VERB
alkej-236	36	112	the	the	DET
alkej-236	36	113	nominal	nominal	ADJ
alkej-236	36	114	system	system	NOUN
alkej-236	36	115	,	,	PUNCT
alkej-236	36	116	while	while	SCONJ
alkej-236	36	117	the	the	DET
alkej-236	36	118	second	second	NOUN
alkej-236	36	119	is	be	AUX
alkej-236	36	120	a	a	DET
alkej-236	36	121	discontinuous	discontinuous	ADJ
alkej-236	36	122	part	part	NOUN
alkej-236	36	123	which	which	DET
alkej-236	36	124	smooth	smooth	ADJ
alkej-236	36	125	nonlinearities	nonlinearitie	NOUN
alkej-236	36	126	from	from	ADP
alkej-236	36	127	system	system	NOUN
alkej-236	36	128	model	model	NOUN
alkej-236	36	129	.	.	PUNCT
alkej-236	37	1	these	these	DET
alkej-236	37	2	features	feature	NOUN
alkej-236	37	3	for	for	ADP
alkej-236	37	4	the	the	DET
alkej-236	37	5	ismc	ismc	NOUN
alkej-236	37	6	are	be	AUX
alkej-236	37	7	proved	prove	VERB
alkej-236	37	8	mathematically	mathematically	ADV
alkej-236	37	9	and	and	CCONJ
alkej-236	37	10	demonstrated	demonstrate	VERB
alkej-236	37	11	numerically	numerically	ADV
alkej-236	37	12	via	via	ADP
alkej-236	37	13	seven	seven	NUM
alkej-236	37	14	numerical	numerical	ADJ
alkej-236	37	15	simulations	simulation	NOUN
alkej-236	37	16	and	and	CCONJ
alkej-236	37	17	for	for	ADP
alkej-236	37	18	different	different	ADJ
alkej-236	37	19	desired	desire	VERB
alkej-236	37	20	trajectories	trajectory	NOUN
alkej-236	37	21	.	.	PUNCT
alkej-236	38	1	the	the	DET
alkej-236	38	2	simulation	simulation	NOUN
alkej-236	38	3	results	result	NOUN
alkej-236	38	4	clarify	clarify	VERB
alkej-236	38	5	that	that	SCONJ
alkej-236	38	6	for	for	ADP
alkej-236	38	7	different	different	ADJ
alkej-236	38	8	system	system	NOUN
alkej-236	38	9	parameters	parameter	NOUN
alkej-236	38	10	,	,	PUNCT
alkej-236	38	11	the	the	DET
alkej-236	38	12	etv	etv	NOUN
alkej-236	38	13	as	as	ADP
alkej-236	38	14	a	a	DET
alkej-236	38	15	nominal	nominal	ADJ
alkej-236	38	16	system	system	NOUN
alkej-236	38	17	.	.	PUNCT
alkej-236	39	1	this	this	PRON
alkej-236	39	2	enables	enable	VERB
alkej-236	39	3	to	to	PART
alkej-236	39	4	freely	freely	ADV
alkej-236	39	5	and	and	CCONJ
alkej-236	39	6	precisely	precisely	ADV
alkej-236	39	7	select	select	VERB
alkej-236	39	8	the	the	DET
alkej-236	39	9	system	system	NOUN
alkej-236	39	10	response	response	NOUN
alkej-236	39	11	characteristics	characteristic	NOUN
alkej-236	39	12	and	and	CCONJ
alkej-236	39	13	the	the	DET
alkej-236	39	14	time	time	NOUN
alkej-236	39	15	required	require	VERB
alkej-236	39	16	for	for	ADP
alkej-236	39	17	the	the	DET
alkej-236	39	18	throttle	throttle	NOUN
alkej-236	39	19	angle	angle	NOUN
alkej-236	39	20	to	to	PART
alkej-236	39	21	reach	reach	VERB
alkej-236	39	22	the	the	DET
alkej-236	39	23	desired	desire	VERB
alkej-236	39	24	value	value	NOUN
alkej-236	39	25	.	.	PUNCT
alkej-236	40	1	moreover	moreover	ADV
alkej-236	40	2	the	the	DET
alkej-236	40	3	ability	ability	NOUN
alkej-236	40	4	to	to	PART
alkej-236	40	5	deal	deal	VERB
alkej-236	40	6	with	with	ADP
alkej-236	40	7	the	the	DET
alkej-236	40	8	chattering	chatter	VERB
alkej-236	40	9	problem	problem	NOUN
alkej-236	40	10	is	be	AUX
alkej-236	40	11	the	the	DET
alkej-236	40	12	worked	work	VERB
alkej-236	40	13	simulation	simulation	NOUN
alkej-236	40	14	tests	test	NOUN
alkej-236	40	15	,	,	PUNCT
alkej-236	40	16	where	where	SCONJ
alkej-236	40	17	the	the	DET
alkej-236	40	18	chattering	chattering	NOUN
alkej-236	40	19	is	be	AUX
alkej-236	40	20	eliminated	eliminate	VERB
alkej-236	40	21	via	via	ADP
alkej-236	40	22	approximating	approximate	VERB
alkej-236	40	23	the	the	DET
alkej-236	40	24	signum	signum	ADJ
alkej-236	40	25	electronic	electronic	ADJ
alkej-236	40	26	throttle	throttle	NOUN
alkej-236	40	27	valve	valve	NOUN
alkej-236	40	28	,	,	PUNCT
alkej-236	40	29	nonlinear	nonlinear	ADJ
alkej-236	40	30	spring	spring	NOUN
alkej-236	40	31	model	model	NOUN
alkej-236	40	32	,	,	PUNCT
alkej-236	40	33	integral	integral	ADJ
alkej-236	40	34	sliding	slide	VERB
alkej-236	40	35	mode	mode	NOUN
alkej-236	40	36	control	control	NOUN
alkej-236	40	37	,	,	PUNCT
alkej-236	40	38	non	non	ADJ
alkej-236	40	39	-	-	ADJ
alkej-236	40	40	smooth	smooth	ADJ
alkej-236	40	41	model	model	NOUN
alkej-236	40	42	.	.	PUNCT
alkej-236	41	1	ratio	ratio	NOUN
alkej-236	41	2	during	during	ADP
alkej-236	41	3	combustion	combustion	NOUN
alkej-236	41	4	by	by	ADP
alkej-236	41	5	changing	change	VERB
alkej-236	41	6	the	the	DET
alkej-236	41	7	opening	opening	NOUN
alkej-236	41	8	angle	angle	NOUN
alkej-236	41	9	of	of	ADP
alkej-236	41	10	the	the	DET
alkej-236	41	11	valve	valve	NOUN
alkej-236	41	12	plate	plate	NOUN
alkej-236	41	13	,	,	PUNCT
alkej-236	41	14	through	through	ADP
alkej-236	41	15	which	which	PRON
alkej-236	41	16	there	there	PRON
alkej-236	41	17	exists	exist	VERB
alkej-236	41	18	airflow	airflow	NOUN
alkej-236	41	19	.	.	PUNCT
alkej-236	42	1	engine	engine	NOUN
alkej-236	42	2	efficiency	efficiency	NOUN
alkej-236	42	3	and	and	CCONJ
alkej-236	42	4	emissions	emission	NOUN
alkej-236	42	5	are	be	AUX
alkej-236	42	6	affected	affect	VERB
alkej-236	42	7	by	by	ADP
alkej-236	42	8	the	the	DET
alkej-236	42	9	control	control	NOUN
alkej-236	42	10	of	of	ADP
alkej-236	42	11	the	the	DET
alkej-236	42	12	throttle	throttle	NOUN
alkej-236	42	13	plate	plate	NOUN
alkej-236	42	14	,	,	PUNCT
alkej-236	42	15	in	in	ADP
alkej-236	42	16	its	its	PRON
alkej-236	42	17	angular	angular	ADJ
alkej-236	42	18	position	position	NOUN
alkej-236	42	19	.	.	PUNCT
alkej-236	43	1	depending	depend	VERB
alkej-236	43	2	on	on	ADP
alkej-236	43	3	the	the	DET
alkej-236	43	4	current	current	ADJ
alkej-236	43	5	engine	engine	NOUN
alkej-236	43	6	load	load	NOUN
alkej-236	43	7	,	,	PUNCT
alkej-236	43	8	the	the	DET
alkej-236	43	9	angular	angular	ADJ
alkej-236	43	10	position	position	NOUN
alkej-236	43	11	must	must	AUX
alkej-236	43	12	track	track	VERB
alkej-236	43	13	a	a	DET
alkej-236	43	14	trajectory	trajectory	NOUN
alkej-236	43	15	as	as	SCONJ
alkej-236	43	16	determined	determine	VERB
alkej-236	43	17	by	by	ADP
alkej-236	43	18	the	the	DET
alkej-236	43	19	accelerator	accelerator	NOUN
alkej-236	44	1	[	[	X
alkej-236	44	2	1	1	NUM
alkej-236	44	3	]	]	PUNCT
alkej-236	44	4	.	.	PUNCT
alkej-236	45	1	the	the	DET
alkej-236	45	2	electronic	electronic	ADJ
alkej-236	45	3	throttling	throttling	NOUN
alkej-236	45	4	valve	valve	NOUN
alkej-236	45	5	is	be	AUX
alkej-236	45	6	shown	show	VERB
alkej-236	45	7	in	in	ADP
alkej-236	45	8	shibly	shibly	PROPN
alkej-236	45	9	ahmed	ahmed	PROPN
alkej-236	45	10	al	al	PROPN
alkej-236	45	11	-	-	PROPN
alkej-236	45	12	samarraie	samarraie	PROPN
alkej-236	45	13	al	al	PROPN
alkej-236	45	14	-	-	PUNCT
alkej-236	45	15	khwarizmi	khwarizmi	PROPN
alkej-236	45	16	engineering	engineering	NOUN
alkej-236	45	17	journal	journal	PROPN
alkej-236	45	18	,	,	PUNCT
alkej-236	45	19	vol	vol	NOUN
alkej-236	45	20	.	.	PROPN
alkej-236	46	1	11	11	NUM
alkej-236	46	2	,	,	PUNCT
alkej-236	46	3	no	no	INTJ
alkej-236	46	4	.	.	NOUN
alkej-236	46	5	3	3	NUM
alkej-236	46	6	,	,	PUNCT
alkej-236	46	7	p.p	p.p	PROPN
alkej-236	46	8	.	.	NOUN
alkej-236	46	9	110	110	NUM
alkej-236	46	10	(	(	PUNCT
alkej-236	46	11	2015	2015	NUM
alkej-236	46	12	)	)	PUNCT
alkej-236	46	13	73	73	NUM
alkej-236	46	14	fig	fig	NOUN
alkej-236	46	15	.	.	PUNCT
alkej-236	47	1	1	1	X
alkej-236	47	2	.	.	X
alkej-236	47	3	electronic	electronic	ADJ
alkej-236	47	4	throttle	throttle	NOUN
alkej-236	47	5	valve	valve	NOUN
alkej-236	47	6	[	[	X
alkej-236	47	7	2	2	NUM
alkej-236	47	8	]	]	PUNCT
alkej-236	47	9	.	.	PUNCT
alkej-236	48	1	the	the	DET
alkej-236	48	2	electronic	electronic	ADJ
alkej-236	48	3	throttle	throttle	NOUN
alkej-236	48	4	valve	valve	NOUN
alkej-236	48	5	is	be	AUX
alkej-236	48	6	an	an	DET
alkej-236	48	7	electromechanical	electromechanical	ADJ
alkej-236	48	8	system	system	NOUN
alkej-236	48	9	with	with	ADP
alkej-236	48	10	a	a	DET
alkej-236	48	11	dc	dc	PROPN
alkej-236	48	12	motor	motor	NOUN
alkej-236	48	13	as	as	ADP
alkej-236	48	14	the	the	DET
alkej-236	48	15	actuating	actuate	VERB
alkej-236	48	16	torque	torque	NOUN
alkej-236	48	17	provider	provider	NOUN
alkej-236	48	18	.	.	PUNCT
alkej-236	49	1	due	due	ADP
alkej-236	49	2	to	to	ADP
alkej-236	49	3	the	the	DET
alkej-236	49	4	presence	presence	NOUN
alkej-236	49	5	of	of	ADP
alkej-236	49	6	the	the	DET
alkej-236	49	7	non	non	ADJ
alkej-236	49	8	-	-	ADJ
alkej-236	49	9	smooth	smooth	ADJ
alkej-236	49	10	nonlinearities	nonlinearitie	NOUN
alkej-236	49	11	in	in	ADP
alkej-236	49	12	the	the	DET
alkej-236	49	13	electronic	electronic	ADJ
alkej-236	49	14	throttle	throttle	NOUN
alkej-236	49	15	valve	valve	NOUN
alkej-236	49	16	system	system	NOUN
alkej-236	49	17	model	model	NOUN
alkej-236	49	18	and	and	CCONJ
alkej-236	49	19	the	the	DET
alkej-236	49	20	uncertainty	uncertainty	NOUN
alkej-236	49	21	in	in	ADP
alkej-236	49	22	system	system	NOUN
alkej-236	49	23	model	model	NOUN
alkej-236	49	24	parameters	parameter	NOUN
alkej-236	49	25	the	the	DET
alkej-236	49	26	objective	objective	NOUN
alkej-236	49	27	of	of	ADP
alkej-236	49	28	designing	design	VERB
alkej-236	49	29	a	a	DET
alkej-236	49	30	successful	successful	ADJ
alkej-236	49	31	controller	controller	NOUN
alkej-236	49	32	is	be	AUX
alkej-236	49	33	a	a	DET
alkej-236	49	34	challenging	challenging	ADJ
alkej-236	49	35	problem	problem	NOUN
alkej-236	49	36	.	.	PUNCT
alkej-236	50	1	moreover	moreover	ADV
alkej-236	50	2	these	these	DET
alkej-236	50	3	nonlinearities	nonlinearitie	NOUN
alkej-236	50	4	and	and	CCONJ
alkej-236	50	5	the	the	DET
alkej-236	50	6	uncertainty	uncertainty	NOUN
alkej-236	50	7	in	in	ADP
alkej-236	50	8	system	system	NOUN
alkej-236	50	9	model	model	NOUN
alkej-236	50	10	do	do	AUX
alkej-236	50	11	not	not	PART
alkej-236	50	12	lie	lie	VERB
alkej-236	50	13	in	in	ADP
alkej-236	50	14	the	the	DET
alkej-236	50	15	control	control	NOUN
alkej-236	50	16	input	input	PROPN
alkej-236	50	17	channel	channel	NOUN
alkej-236	50	18	which	which	PRON
alkej-236	50	19	adds	add	VERB
alkej-236	50	20	another	another	DET
alkej-236	50	21	problem	problem	NOUN
alkej-236	50	22	named	name	VERB
alkej-236	50	23	as	as	ADP
alkej-236	50	24	the	the	DET
alkej-236	50	25	matching	matching	NOUN
alkej-236	50	26	condition	condition	NOUN
alkej-236	50	27	.	.	PUNCT
alkej-236	51	1	many	many	ADJ
alkej-236	51	2	authors	author	NOUN
alkej-236	51	3	used	use	VERB
alkej-236	51	4	the	the	DET
alkej-236	51	5	sliding	slide	VERB
alkej-236	51	6	mode	mode	NOUN
alkej-236	51	7	control	control	NOUN
alkej-236	51	8	theory	theory	NOUN
alkej-236	51	9	for	for	ADP
alkej-236	51	10	controlling	control	VERB
alkej-236	51	11	the	the	DET
alkej-236	51	12	throttle	throttle	NOUN
alkej-236	51	13	control	control	NOUN
alkej-236	51	14	system	system	NOUN
alkej-236	51	15	.	.	PUNCT
alkej-236	52	1	all	all	PRON
alkej-236	52	2	of	of	ADP
alkej-236	52	3	them	they	PRON
alkej-236	52	4	overcome	overcome	VERB
alkej-236	52	5	the	the	DET
alkej-236	52	6	main	main	ADJ
alkej-236	52	7	problem	problem	NOUN
alkej-236	52	8	(	(	PUNCT
alkej-236	52	9	model	model	NOUN
alkej-236	52	10	nonlinearity	nonlinearity	NOUN
alkej-236	52	11	)	)	PUNCT
alkej-236	52	12	using	use	VERB
alkej-236	52	13	sliding	slide	VERB
alkej-236	52	14	mode	mode	NOUN
alkej-236	52	15	control	control	NOUN
alkej-236	52	16	theory	theory	NOUN
alkej-236	52	17	as	as	ADP
alkej-236	52	18	a	a	DET
alkej-236	52	19	robust	robust	ADJ
alkej-236	52	20	tool	tool	NOUN
alkej-236	52	21	with	with	ADP
alkej-236	52	22	respect	respect	NOUN
alkej-236	52	23	to	to	ADP
alkej-236	52	24	uncertainty	uncertainty	NOUN
alkej-236	52	25	and	and	CCONJ
alkej-236	52	26	nonlinearities	nonlinearitie	NOUN
alkej-236	52	27	in	in	ADP
alkej-236	52	28	system	system	NOUN
alkej-236	52	29	model	model	NOUN
alkej-236	52	30	.	.	PUNCT
alkej-236	53	1	due	due	ADP
alkej-236	53	2	to	to	ADP
alkej-236	53	3	the	the	DET
alkej-236	53	4	existence	existence	NOUN
alkej-236	53	5	of	of	ADP
alkej-236	53	6	nonlinearities	nonlinearitie	NOUN
alkej-236	53	7	including	include	VERB
alkej-236	53	8	stick	stick	NOUN
alkej-236	53	9	–	–	PUNCT
alkej-236	53	10	slip	slip	NOUN
alkej-236	53	11	friction	friction	NOUN
alkej-236	53	12	,	,	PUNCT
alkej-236	53	13	backlash	backlash	NOUN
alkej-236	53	14	,	,	PUNCT
alkej-236	53	15	and	and	CCONJ
alkej-236	53	16	a	a	DET
alkej-236	53	17	discontinuous	discontinuous	ADJ
alkej-236	53	18	nonlinear	nonlinear	ADJ
alkej-236	53	19	spring	spring	NOUN
alkej-236	53	20	,	,	PUNCT
alkej-236	53	21	the	the	DET
alkej-236	53	22	sliding	slide	VERB
alkej-236	53	23	mode	mode	NOUN
alkej-236	53	24	control	control	NOUN
alkej-236	53	25	theory	theory	NOUN
alkej-236	53	26	is	be	AUX
alkej-236	53	27	utilized	utilize	VERB
alkej-236	53	28	to	to	PART
alkej-236	53	29	design	design	VERB
alkej-236	53	30	a	a	DET
alkej-236	53	31	robust	robust	ADJ
alkej-236	53	32	controller	controller	NOUN
alkej-236	53	33	that	that	PRON
alkej-236	53	34	will	will	AUX
alkej-236	53	35	force	force	VERB
alkej-236	53	36	the	the	DET
alkej-236	53	37	throttle	throttle	NOUN
alkej-236	53	38	angle	angle	NOUN
alkej-236	53	39	to	to	PART
alkej-236	53	40	follow	follow	VERB
alkej-236	53	41	the	the	DET
alkej-236	53	42	desired	desire	VERB
alkej-236	53	43	trajectory	trajectory	NOUN
alkej-236	54	1	[	[	X
alkej-236	54	2	3	3	NUM
alkej-236	54	3	]	]	PUNCT
alkej-236	54	4	.	.	PUNCT
alkej-236	55	1	mercorelli	mercorelli	PROPN
alkej-236	56	1	[	[	X
alkej-236	56	2	1	1	X
alkej-236	56	3	]	]	PUNCT
alkej-236	56	4	show	show	VERB
alkej-236	56	5	the	the	DET
alkej-236	56	6	robustness	robustness	NOUN
alkej-236	56	7	of	of	ADP
alkej-236	56	8	the	the	DET
alkej-236	56	9	tracking	tracking	NOUN
alkej-236	56	10	the	the	DET
alkej-236	56	11	desired	desire	VERB
alkej-236	56	12	angle	angle	NOUN
alkej-236	56	13	,	,	PUNCT
alkej-236	56	14	is	be	AUX
alkej-236	56	15	addressed	address	VERB
alkej-236	56	16	using	use	VERB
alkej-236	56	17	a	a	DET
alkej-236	56	18	minimum	minimum	ADJ
alkej-236	56	19	variance	variance	NOUN
alkej-236	56	20	control	control	NOUN
alkej-236	56	21	approach	approach	NOUN
alkej-236	56	22	.	.	PUNCT
alkej-236	57	1	this	this	DET
alkej-236	57	2	paper	paper	NOUN
alkej-236	57	3	presents	present	VERB
alkej-236	57	4	feasible	feasible	ADJ
alkej-236	57	5	real	real	ADJ
alkej-236	57	6	-	-	PUNCT
alkej-236	57	7	time	time	NOUN
alkej-236	57	8	self	self	NOUN
alkej-236	57	9	-	-	PUNCT
alkej-236	57	10	tuning	tuning	NOUN
alkej-236	57	11	of	of	ADP
alkej-236	57	12	an	an	DET
alkej-236	57	13	approximated	approximate	VERB
alkej-236	57	14	proportional	proportional	ADJ
alkej-236	57	15	derivative	derivative	ADJ
alkej-236	57	16	pd	pd	NOUN
alkej-236	57	17	regulator	regulator	NOUN
alkej-236	57	18	.	.	PUNCT
alkej-236	58	1	the	the	DET
alkej-236	58	2	saturation	saturation	NOUN
alkej-236	58	3	function	function	NOUN
alkej-236	58	4	for	for	ADP
alkej-236	58	5	the	the	DET
alkej-236	58	6	proportional	proportional	ADJ
alkej-236	58	7	and	and	CCONJ
alkej-236	58	8	the	the	DET
alkej-236	58	9	integral	integral	ADJ
alkej-236	58	10	terms	term	NOUN
alkej-236	58	11	in	in	ADP
alkej-236	58	12	the	the	DET
alkej-236	58	13	control	control	NOUN
alkej-236	58	14	law	law	NOUN
alkej-236	58	15	was	be	AUX
alkej-236	58	16	used	use	VERB
alkej-236	58	17	by	by	ADP
alkej-236	58	18	al	al	PROPN
alkej-236	58	19	-	-	PROPN
alkej-236	58	20	samarraie	samarraie	PROPN
alkej-236	58	21	[	[	X
alkej-236	58	22	3	3	X
alkej-236	58	23	]	]	PUNCT
alkej-236	58	24	to	to	PART
alkej-236	58	25	force	force	VERB
alkej-236	58	26	the	the	DET
alkej-236	58	27	state	state	NOUN
alkej-236	58	28	to	to	PART
alkej-236	58	29	slide	slide	VERB
alkej-236	58	30	along	along	ADP
alkej-236	58	31	the	the	DET
alkej-236	58	32	switching	switch	VERB
alkej-236	58	33	manifold	manifold	NOUN
alkej-236	58	34	.	.	PUNCT
alkej-236	59	1	the	the	DET
alkej-236	59	2	benefit	benefit	NOUN
alkej-236	59	3	of	of	ADP
alkej-236	59	4	nonlinear	nonlinear	ADJ
alkej-236	59	5	integral	integral	ADJ
alkej-236	59	6	term	term	NOUN
alkej-236	59	7	is	be	AUX
alkej-236	59	8	to	to	PART
alkej-236	59	9	remove	remove	VERB
alkej-236	59	10	the	the	DET
alkej-236	59	11	chattering	chattering	NOUN
alkej-236	59	12	and	and	CCONJ
alkej-236	59	13	to	to	PART
alkej-236	59	14	minimize	minimize	VERB
alkej-236	59	15	the	the	DET
alkej-236	59	16	steady	steady	ADJ
alkej-236	59	17	state	state	NOUN
alkej-236	59	18	error	error	NOUN
alkej-236	59	19	that	that	PRON
alkej-236	59	20	happened	happen	VERB
alkej-236	59	21	due	due	ADP
alkej-236	59	22	to	to	ADP
alkej-236	59	23	the	the	DET
alkej-236	59	24	existence	existence	NOUN
alkej-236	59	25	of	of	ADP
alkej-236	59	26	the	the	DET
alkej-236	59	27	external	external	ADJ
alkej-236	59	28	disturbances	disturbance	NOUN
alkej-236	59	29	.	.	PUNCT
alkej-236	60	1	al	al	PROPN
alkej-236	60	2	-	-	PROPN
alkej-236	60	3	samarraie	samarraie	PROPN
alkej-236	60	4	and	and	CCONJ
alkej-236	60	5	abbas	abbas	NOUN
alkej-236	61	1	[	[	X
alkej-236	61	2	4	4	X
alkej-236	61	3	]	]	PUNCT
alkej-236	61	4	show	show	VERB
alkej-236	61	5	the	the	DET
alkej-236	61	6	effectiveness	effectiveness	NOUN
alkej-236	61	7	of	of	ADP
alkej-236	61	8	using	use	VERB
alkej-236	61	9	a	a	DET
alkej-236	61	10	nonlinear	nonlinear	ADJ
alkej-236	61	11	pid	pid	NOUN
alkej-236	61	12	controller	controller	NOUN
alkej-236	61	13	to	to	PART
alkej-236	61	14	force	force	VERB
alkej-236	61	15	the	the	DET
alkej-236	61	16	throttle	throttle	NOUN
alkej-236	61	17	angle	angle	NOUN
alkej-236	61	18	to	to	PART
alkej-236	61	19	track	track	VERB
alkej-236	61	20	the	the	DET
alkej-236	61	21	desired	desire	VERB
alkej-236	61	22	reference	reference	NOUN
alkej-236	61	23	.	.	PUNCT
alkej-236	62	1	the	the	DET
alkej-236	62	2	result	result	NOUN
alkej-236	62	3	showed	show	VERB
alkej-236	62	4	the	the	DET
alkej-236	62	5	ability	ability	NOUN
alkej-236	62	6	of	of	ADP
alkej-236	62	7	the	the	DET
alkej-236	62	8	nonlinear	nonlinear	ADJ
alkej-236	62	9	pid	pid	NOUN
alkej-236	62	10	controller	controller	NOUN
alkej-236	62	11	to	to	PART
alkej-236	62	12	work	work	VERB
alkej-236	62	13	in	in	ADP
alkej-236	62	14	the	the	DET
alkej-236	62	15	complete	complete	ADJ
alkej-236	62	16	system	system	NOUN
alkej-236	62	17	model	model	NOUN
alkej-236	62	18	without	without	ADP
alkej-236	62	19	simplification	simplification	NOUN
alkej-236	62	20	and	and	CCONJ
alkej-236	62	21	showed	show	VERB
alkej-236	62	22	that	that	SCONJ
alkej-236	62	23	the	the	DET
alkej-236	62	24	controller	controller	NOUN
alkej-236	62	25	is	be	AUX
alkej-236	62	26	robust	robust	ADJ
alkej-236	62	27	to	to	ADP
alkej-236	62	28	the	the	DET
alkej-236	62	29	variations	variation	NOUN
alkej-236	62	30	of	of	ADP
alkej-236	62	31	system	system	NOUN
alkej-236	62	32	parameters	parameter	NOUN
alkej-236	62	33	.	.	PUNCT
alkej-236	63	1	an	an	DET
alkej-236	63	2	observer	observer	NOUN
alkej-236	63	3	-	-	PUNCT
alkej-236	63	4	based	base	VERB
alkej-236	63	5	sliding	sliding	ADJ
alkej-236	63	6	-	-	PUNCT
alkej-236	63	7	mode	mode	NOUN
alkej-236	63	8	controller	controller	NOUN
alkej-236	63	9	with	with	ADP
alkej-236	63	10	specific	specific	ADJ
alkej-236	63	11	transient	transient	ADJ
alkej-236	63	12	response	response	NOUN
alkej-236	63	13	for	for	ADP
alkej-236	63	14	the	the	DET
alkej-236	63	15	etv	etv	NOUN
alkej-236	63	16	system	system	NOUN
alkej-236	63	17	was	be	AUX
alkej-236	63	18	designed	design	VERB
alkej-236	63	19	by	by	ADP
alkej-236	63	20	nakano	nakano	PROPN
alkej-236	63	21	et	et	PROPN
alkej-236	63	22	.	.	PUNCT
alkej-236	64	1	al	al	PROPN
alkej-236	64	2	.	.	PROPN
alkej-236	64	3	,	,	PUNCT
alkej-236	65	1	[	[	X
alkej-236	65	2	5	5	NUM
alkej-236	65	3	]	]	PUNCT
alkej-236	65	4	.	.	PUNCT
alkej-236	66	1	by	by	ADP
alkej-236	66	2	using	use	VERB
alkej-236	66	3	a	a	DET
alkej-236	66	4	function	function	NOUN
alkej-236	66	5	-	-	PUNCT
alkej-236	66	6	augmented	augment	VERB
alkej-236	66	7	sliding	slide	VERB
alkej-236	66	8	hyper	hyper	ADJ
alkej-236	66	9	-	-	NOUN
alkej-236	66	10	plane	plane	NOUN
alkej-236	66	11	,	,	PUNCT
alkej-236	66	12	it	it	PRON
alkej-236	66	13	is	be	AUX
alkej-236	66	14	ensured	ensure	VERB
alkej-236	66	15	that	that	SCONJ
alkej-236	66	16	the	the	DET
alkej-236	66	17	output	output	NOUN
alkej-236	66	18	tracking	track	VERB
alkej-236	66	19	error	error	NOUN
alkej-236	66	20	converges	converge	NOUN
alkej-236	66	21	to	to	ADP
alkej-236	66	22	zero	zero	NUM
alkej-236	66	23	in	in	ADP
alkej-236	66	24	a	a	DET
alkej-236	66	25	finite	finite	ADJ
alkej-236	66	26	time	time	NOUN
alkej-236	66	27	.	.	PUNCT
alkej-236	67	1	based	base	VERB
alkej-236	67	2	on	on	ADP
alkej-236	67	3	a	a	DET
alkej-236	67	4	dynamic	dynamic	ADJ
alkej-236	67	5	lugre	lugre	NOUN
alkej-236	67	6	model	model	NOUN
alkej-236	67	7	to	to	PART
alkej-236	67	8	represent	represent	VERB
alkej-236	67	9	friction	friction	NOUN
alkej-236	67	10	effects	effect	NOUN
alkej-236	67	11	,	,	PUNCT
alkej-236	67	12	witty	witty	ADJ
alkej-236	67	13	et	et	NOUN
alkej-236	67	14	.	.	PUNCT
alkej-236	68	1	al	al	PROPN
alkej-236	68	2	.	.	PROPN
alkej-236	68	3	,	,	PUNCT
alkej-236	69	1	[	[	X
alkej-236	69	2	6	6	NUM
alkej-236	69	3	]	]	PUNCT
alkej-236	69	4	developed	develop	VERB
alkej-236	69	5	a	a	DET
alkej-236	69	6	dynamic	dynamic	ADJ
alkej-236	69	7	model	model	NOUN
alkej-236	69	8	for	for	ADP
alkej-236	69	9	an	an	DET
alkej-236	69	10	electronic	electronic	ADJ
alkej-236	69	11	throttle	throttle	NOUN
alkej-236	69	12	valve	valve	NOUN
alkej-236	69	13	.	.	PUNCT
alkej-236	70	1	an	an	DET
alkej-236	70	2	adaptive	adaptive	ADJ
alkej-236	70	3	pulse	pulse	NOUN
alkej-236	70	4	controller	controller	NOUN
alkej-236	70	5	is	be	AUX
alkej-236	70	6	applied	apply	VERB
alkej-236	70	7	to	to	PART
alkej-236	70	8	achieve	achieve	VERB
alkej-236	70	9	precise	precise	ADJ
alkej-236	70	10	throttle	throttle	NOUN
alkej-236	70	11	positioning	positioning	NOUN
alkej-236	70	12	.	.	PUNCT
alkej-236	71	1	horn	horn	NOUN
alkej-236	71	2	et	et	PROPN
alkej-236	71	3	.	.	PUNCT
alkej-236	72	1	al	al	PROPN
alkej-236	72	2	.	.	PROPN
alkej-236	72	3	,	,	PUNCT
alkej-236	73	1	[	[	X
alkej-236	73	2	7	7	X
alkej-236	73	3	]	]	PUNCT
alkej-236	73	4	use	use	VERB
alkej-236	73	5	two	two	NUM
alkej-236	73	6	control	control	NOUN
alkej-236	73	7	strategies	strategy	NOUN
alkej-236	73	8	,	,	PUNCT
alkej-236	73	9	the	the	DET
alkej-236	73	10	integral	integral	ADJ
alkej-236	73	11	sliding	sliding	ADJ
alkej-236	73	12	-	-	PUNCT
alkej-236	73	13	mode	mode	NOUN
alkej-236	73	14	controller	controller	NOUN
alkej-236	73	15	as	as	ADV
alkej-236	73	16	well	well	ADV
alkej-236	73	17	as	as	ADP
alkej-236	73	18	the	the	DET
alkej-236	73	19	super	super	ADJ
alkej-236	73	20	-	-	ADJ
alkej-236	73	21	twisting	twisting	ADJ
alkej-236	73	22	algorithm	algorithm	NOUN
alkej-236	73	23	,	,	PUNCT
alkej-236	73	24	that	that	SCONJ
alkej-236	73	25	,	,	PUNCT
alkej-236	73	26	once	once	ADV
alkej-236	73	27	tuned	tune	VERB
alkej-236	73	28	,	,	PUNCT
alkej-236	73	29	they	they	PRON
alkej-236	73	30	lead	lead	VERB
alkej-236	73	31	to	to	ADP
alkej-236	73	32	accurate	accurate	ADJ
alkej-236	73	33	tracking	tracking	NOUN
alkej-236	73	34	interpretation	interpretation	NOUN
alkej-236	73	35	over	over	ADP
alkej-236	73	36	the	the	DET
alkej-236	73	37	whole	whole	ADJ
alkej-236	73	38	range	range	NOUN
alkej-236	73	39	of	of	ADP
alkej-236	73	40	process	process	NOUN
alkej-236	73	41	.	.	PUNCT
alkej-236	74	1	a	a	DET
alkej-236	74	2	harmony	harmony	NOUN
alkej-236	74	3	search	search	NOUN
alkej-236	74	4	algorithm	algorithm	NOUN
alkej-236	74	5	-	-	PUNCT
alkej-236	74	6	based	base	VERB
alkej-236	74	7	fuzzy	fuzzy	ADJ
alkej-236	74	8	-	-	PUNCT
alkej-236	74	9	pid	pid	NOUN
alkej-236	74	10	controller	controller	NOUN
alkej-236	74	11	for	for	ADP
alkej-236	74	12	electronic	electronic	ADJ
alkej-236	74	13	throttle	throttle	NOUN
alkej-236	74	14	valve	valve	NOUN
alkej-236	74	15	was	be	AUX
alkej-236	74	16	used	use	VERB
alkej-236	74	17	by	by	ADP
alkej-236	74	18	wang	wang	PROPN
alkej-236	74	19	et	et	PROPN
alkej-236	74	20	.	.	PUNCT
alkej-236	75	1	al	al	PROPN
alkej-236	75	2	.	.	PROPN
alkej-236	75	3	,	,	PUNCT
alkej-236	76	1	[	[	X
alkej-236	76	2	8	8	NUM
alkej-236	76	3	]	]	PUNCT
alkej-236	76	4	to	to	PART
alkej-236	76	5	improve	improve	VERB
alkej-236	76	6	the	the	DET
alkej-236	76	7	responsiveness	responsiveness	NOUN
alkej-236	76	8	of	of	ADP
alkej-236	76	9	etc	etc	X
alkej-236	76	10	.	.	PUNCT
alkej-236	77	1	the	the	DET
alkej-236	77	2	controller	controller	NOUN
alkej-236	77	3	gains	gain	NOUN
alkej-236	77	4	are	be	AUX
alkej-236	77	5	identified	identify	VERB
alkej-236	77	6	by	by	ADP
alkej-236	77	7	using	use	VERB
alkej-236	77	8	fuzzy	fuzzy	ADJ
alkej-236	77	9	rules	rule	NOUN
alkej-236	77	10	.	.	PUNCT
alkej-236	78	1	the	the	DET
alkej-236	78	2	model	model	NOUN
alkej-236	78	3	of	of	ADP
alkej-236	78	4	the	the	DET
alkej-236	78	5	etv	etv	NOUN
alkej-236	78	6	is	be	AUX
alkej-236	78	7	improved	improve	VERB
alkej-236	78	8	and	and	CCONJ
alkej-236	78	9	the	the	DET
alkej-236	78	10	discrete	discrete	ADJ
alkej-236	78	11	-	-	PUNCT
alkej-236	78	12	time	time	NOUN
alkej-236	78	13	sliding	slide	VERB
alkej-236	78	14	mode	mode	NOUN
alkej-236	78	15	controller	controller	NOUN
alkej-236	78	16	together	together	ADV
alkej-236	78	17	with	with	ADP
alkej-236	78	18	the	the	DET
alkej-236	78	19	sliding	slide	VERB
alkej-236	78	20	mode	mode	NOUN
alkej-236	78	21	observer	observer	NOUN
alkej-236	78	22	is	be	AUX
alkej-236	78	23	designed	design	VERB
alkej-236	78	24	ozguner	ozgun	ADJ
alkej-236	78	25	et	et	NOUN
alkej-236	78	26	.	.	PUNCT
alkej-236	79	1	al	al	PROPN
alkej-236	79	2	.	.	PROPN
alkej-236	79	3	,	,	PUNCT
alkej-236	80	1	[	[	X
alkej-236	80	2	9	9	NUM
alkej-236	80	3	]	]	PUNCT
alkej-236	80	4	,	,	PUNCT
alkej-236	80	5	to	to	PART
alkej-236	80	6	control	control	VERB
alkej-236	80	7	the	the	DET
alkej-236	80	8	etv	etv	NOUN
alkej-236	80	9	which	which	PRON
alkej-236	80	10	show	show	VERB
alkej-236	80	11	the	the	DET
alkej-236	80	12	successful	successful	ADJ
alkej-236	80	13	rejection	rejection	NOUN
alkej-236	80	14	of	of	ADP
alkej-236	80	15	the	the	DET
alkej-236	80	16	parameter	parameter	NOUN
alkej-236	80	17	uncertainty	uncertainty	NOUN
alkej-236	80	18	and	and	CCONJ
alkej-236	80	19	external	external	ADJ
alkej-236	80	20	disturbance	disturbance	NOUN
alkej-236	80	21	.	.	PUNCT
alkej-236	81	1	dagci	dagci	NOUN
alkej-236	81	2	et	et	PROPN
alkej-236	81	3	.	.	PUNCT
alkej-236	82	1	al	al	PROPN
alkej-236	82	2	.	.	PROPN
alkej-236	82	3	,	,	PUNCT
alkej-236	83	1	[	[	X
alkej-236	83	2	10	10	NUM
alkej-236	83	3	]	]	PUNCT
alkej-236	83	4	recover	recover	VERB
alkej-236	83	5	non	non	ADJ
alkej-236	83	6	-	-	ADJ
alkej-236	83	7	smooth	smooth	ADJ
alkej-236	83	8	nonlinearities	nonlinearitie	NOUN
alkej-236	83	9	,	,	PUNCT
alkej-236	83	10	stickslip	stickslip	VERB
alkej-236	83	11	friction	friction	NOUN
alkej-236	83	12	,	,	PUNCT
alkej-236	83	13	a	a	DET
alkej-236	83	14	nonlinear	nonlinear	ADJ
alkej-236	83	15	spring	spring	NOUN
alkej-236	83	16	and	and	CCONJ
alkej-236	83	17	gear	gear	NOUN
alkej-236	83	18	backlash	backlash	NOUN
alkej-236	83	19	,	,	PUNCT
alkej-236	83	20	to	to	PART
alkej-236	83	21	design	design	VERB
alkej-236	83	22	robust	robust	ADJ
alkej-236	83	23	controller	controller	NOUN
alkej-236	83	24	to	to	PART
alkej-236	83	25	control	control	VERB
alkej-236	83	26	the	the	DET
alkej-236	83	27	etv	etv	NOUN
alkej-236	83	28	.	.	PUNCT
alkej-236	84	1	pan	pan	PROPN
alkej-236	84	2	et	et	PROPN
alkej-236	84	3	.	.	PUNCT
alkej-236	85	1	al	al	PROPN
alkej-236	85	2	.	.	PROPN
alkej-236	85	3	,	,	PUNCT
alkej-236	86	1	[	[	X
alkej-236	86	2	11	11	NUM
alkej-236	86	3	]	]	PUNCT
alkej-236	86	4	utilize	utilize	VERB
alkej-236	86	5	a	a	DET
alkej-236	86	6	variable	variable	ADJ
alkej-236	86	7	structure	structure	NOUN
alkej-236	86	8	(	(	PUNCT
alkej-236	86	9	vs	vs	NOUN
alkej-236	86	10	)	)	PUNCT
alkej-236	86	11	controller	controller	NOUN
alkej-236	86	12	based	base	VERB
alkej-236	86	13	on	on	ADP
alkej-236	86	14	backstepping	backsteppe	VERB
alkej-236	86	15	approach	approach	NOUN
alkej-236	86	16	and	and	CCONJ
alkej-236	86	17	a	a	DET
alkej-236	86	18	sliding	slide	VERB
alkej-236	86	19	mode	mode	NOUN
alkej-236	86	20	observer	observer	NOUN
alkej-236	86	21	with	with	ADP
alkej-236	86	22	equivalent	equivalent	ADJ
alkej-236	86	23	control	control	NOUN
alkej-236	86	24	to	to	PART
alkej-236	86	25	design	design	VERB
alkej-236	86	26	a	a	DET
alkej-236	86	27	controller	controller	NOUN
alkej-236	86	28	for	for	ADP
alkej-236	86	29	the	the	DET
alkej-236	86	30	etv	etv	NOUN
alkej-236	86	31	.	.	PUNCT
alkej-236	87	1	it	it	PRON
alkej-236	87	2	has	have	AUX
alkej-236	87	3	been	be	AUX
alkej-236	87	4	proved	prove	VERB
alkej-236	87	5	that	that	SCONJ
alkej-236	87	6	in	in	ADP
alkej-236	87	7	spite	spite	NOUN
alkej-236	87	8	of	of	ADP
alkej-236	87	9	existing	exist	VERB
alkej-236	87	10	non	non	ADJ
alkej-236	87	11	-	-	ADJ
alkej-236	87	12	smooth	smooth	ADJ
alkej-236	87	13	nonlinearities	nonlinearitie	NOUN
alkej-236	87	14	and	and	CCONJ
alkej-236	87	15	unmatched	unmatched	ADJ
alkej-236	87	16	parameter	parameter	NOUN
alkej-236	87	17	uncertainty	uncertainty	NOUN
alkej-236	87	18	the	the	DET
alkej-236	87	19	(	(	PUNCT
alkej-236	87	20	vs	vs	ADJ
alkej-236	87	21	)	)	PUNCT
alkej-236	87	22	controller	controller	NOUN
alkej-236	87	23	with	with	ADP
alkej-236	87	24	the	the	DET
alkej-236	87	25	observer	observer	NOUN
alkej-236	87	26	guaranteed	guarantee	VERB
alkej-236	87	27	accurate	accurate	ADJ
alkej-236	87	28	tracking	tracking	NOUN
alkej-236	87	29	to	to	PART
alkej-236	87	30	reference	reference	VERB
alkej-236	87	31	angle	angle	NOUN
alkej-236	88	1	[	[	X
alkej-236	88	2	11	11	NUM
alkej-236	88	3	]	]	PUNCT
alkej-236	88	4	.	.	PUNCT
alkej-236	89	1	the	the	DET
alkej-236	89	2	main	main	ADJ
alkej-236	89	3	challenging	challenging	ADJ
alkej-236	89	4	problems	problem	NOUN
alkej-236	89	5	in	in	ADP
alkej-236	89	6	designing	design	VERB
alkej-236	89	7	a	a	DET
alkej-236	89	8	controller	controller	NOUN
alkej-236	89	9	for	for	ADP
alkej-236	89	10	the	the	DET
alkej-236	89	11	electronic	electronic	ADJ
alkej-236	89	12	throttle	throttle	NOUN
alkej-236	89	13	valve	valve	NOUN
alkej-236	89	14	are	be	AUX
alkej-236	89	15	;	;	PUNCT
alkej-236	89	16	a	a	X
alkej-236	89	17	)	)	PUNCT
alkej-236	89	18	the	the	DET
alkej-236	89	19	non	non	ADJ
alkej-236	89	20	-	-	ADJ
alkej-236	89	21	smooth	smooth	ADJ
alkej-236	89	22	nonlinearity	nonlinearity	NOUN
alkej-236	89	23	in	in	ADP
alkej-236	89	24	its	its	PRON
alkej-236	89	25	model	model	NOUN
alkej-236	89	26	due	due	ADP
alkej-236	89	27	to	to	ADP
alkej-236	89	28	the	the	DET
alkej-236	89	29	friction	friction	NOUN
alkej-236	89	30	model	model	NOUN
alkej-236	89	31	and	and	CCONJ
alkej-236	89	32	the	the	DET
alkej-236	89	33	nonlinear	nonlinear	ADJ
alkej-236	89	34	spring	spring	NOUN
alkej-236	89	35	,	,	PUNCT
alkej-236	89	36	b	b	X
alkej-236	89	37	)	)	PUNCT
alkej-236	89	38	the	the	DET
alkej-236	89	39	uncertainty	uncertainty	NOUN
alkej-236	89	40	in	in	ADP
alkej-236	89	41	system	system	NOUN
alkej-236	89	42	model	model	NOUN
alkej-236	89	43	parameters	parameter	NOUN
alkej-236	89	44	and	and	CCONJ
alkej-236	89	45	c	c	X
alkej-236	89	46	)	)	PUNCT
alkej-236	89	47	the	the	DET
alkej-236	89	48	electronic	electronic	ADJ
alkej-236	89	49	throttle	throttle	NOUN
alkej-236	89	50	valve	valve	NOUN
alkej-236	89	51	model	model	NOUN
alkej-236	89	52	does	do	AUX
alkej-236	89	53	not	not	PART
alkej-236	89	54	satisfy	satisfy	VERB
alkej-236	89	55	the	the	DET
alkej-236	89	56	matching	matching	NOUN
alkej-236	89	57	condition	condition	NOUN
alkej-236	89	58	.	.	PUNCT
alkej-236	90	1	the	the	DET
alkej-236	90	2	first	first	ADJ
alkej-236	90	3	and	and	CCONJ
alkej-236	90	4	second	second	ADJ
alkej-236	90	5	problems	problem	NOUN
alkej-236	90	6	can	can	AUX
alkej-236	90	7	be	be	AUX
alkej-236	90	8	solved	solve	VERB
alkej-236	90	9	via	via	ADP
alkej-236	90	10	the	the	DET
alkej-236	90	11	sliding	slide	VERB
alkej-236	90	12	mode	mode	NOUN
alkej-236	90	13	control	control	NOUN
alkej-236	90	14	method	method	NOUN
alkej-236	90	15	,	,	PUNCT
alkej-236	90	16	since	since	SCONJ
alkej-236	90	17	it	it	PRON
alkej-236	90	18	can	can	AUX
alkej-236	90	19	deal	deal	VERB
alkej-236	90	20	with	with	ADP
alkej-236	90	21	these	these	DET
alkej-236	90	22	types	type	NOUN
alkej-236	90	23	of	of	ADP
alkej-236	90	24	non	non	ADJ
alkej-236	90	25	-	-	ADJ
alkej-236	90	26	smooth	smooth	ADJ
alkej-236	90	27	nonlinearity	nonlinearity	NOUN
alkej-236	90	28	in	in	ADP
alkej-236	90	29	affecting	affect	VERB
alkej-236	90	30	system	system	NOUN
alkej-236	90	31	behavior	behavior	NOUN
alkej-236	90	32	.	.	PUNCT
alkej-236	91	1	the	the	DET
alkej-236	91	2	third	third	ADJ
alkej-236	91	3	problem	problem	NOUN
alkej-236	91	4	which	which	PRON
alkej-236	91	5	is	be	AUX
alkej-236	91	6	frequently	frequently	ADV
alkej-236	91	7	arises	arise	VERB
alkej-236	91	8	in	in	ADP
alkej-236	91	9	the	the	DET
alkej-236	91	10	electromechanical	electromechanical	ADJ
alkej-236	91	11	system	system	NOUN
alkej-236	91	12	where	where	SCONJ
alkej-236	91	13	the	the	DET
alkej-236	91	14	uncertainty	uncertainty	NOUN
alkej-236	91	15	in	in	ADP
alkej-236	91	16	system	system	NOUN
alkej-236	91	17	model	model	NOUN
alkej-236	91	18	and	and	CCONJ
alkej-236	91	19	the	the	DET
alkej-236	91	20	disturbances	disturbance	NOUN
alkej-236	91	21	does	do	AUX
alkej-236	91	22	not	not	PART
alkej-236	91	23	appear	appear	VERB
alkej-236	91	24	in	in	ADP
alkej-236	91	25	the	the	DET
alkej-236	91	26	control	control	NOUN
alkej-236	91	27	channel	channel	PROPN
alkej-236	91	28	.	.	PUNCT
alkej-236	92	1	the	the	DET
alkej-236	92	2	performance	performance	NOUN
alkej-236	92	3	of	of	ADP
alkej-236	92	4	the	the	DET
alkej-236	92	5	etv	etv	PROPN
alkej-236	92	6	control	control	PROPN
alkej-236	92	7	system	system	NOUN
alkej-236	92	8	is	be	AUX
alkej-236	92	9	the	the	DET
alkej-236	92	10	main	main	ADJ
alkej-236	92	11	goal	goal	NOUN
alkej-236	92	12	behind	behind	ADP
alkej-236	92	13	the	the	DET
alkej-236	92	14	works	work	NOUN
alkej-236	92	15	presented	present	VERB
alkej-236	92	16	above	above	ADV
alkej-236	92	17	.	.	PUNCT
alkej-236	93	1	by	by	ADP
alkej-236	93	2	shibly	shibly	PROPN
alkej-236	93	3	ahmed	ahmed	PROPN
alkej-236	93	4	al	al	PROPN
alkej-236	93	5	-	-	PROPN
alkej-236	93	6	samarraie	samarraie	PROPN
alkej-236	93	7	al	al	PROPN
alkej-236	93	8	-	-	PUNCT
alkej-236	93	9	khwarizmi	khwarizmi	PROPN
alkej-236	93	10	engineering	engineering	NOUN
alkej-236	93	11	journal	journal	PROPN
alkej-236	93	12	,	,	PUNCT
alkej-236	93	13	vol	vol	NOUN
alkej-236	93	14	.	.	PROPN
alkej-236	93	15	11	11	NUM
alkej-236	93	16	,	,	PUNCT
alkej-236	93	17	no	no	INTJ
alkej-236	93	18	.	.	NOUN
alkej-236	93	19	3	3	NUM
alkej-236	93	20	,	,	PUNCT
alkej-236	93	21	p.p	p.p	PROPN
alkej-236	93	22	.	.	NOUN
alkej-236	93	23	110	110	NUM
alkej-236	93	24	(	(	PUNCT
alkej-236	93	25	2015	2015	NUM
alkej-236	93	26	)	)	PUNCT
alkej-236	93	27	74	74	NUM
alkej-236	93	28	performance	performance	NOUN
alkej-236	93	29	we	we	PRON
alkej-236	93	30	mean	mean	VERB
alkej-236	93	31	the	the	DET
alkej-236	93	32	dynamic	dynamic	ADJ
alkej-236	93	33	characteristics	characteristic	NOUN
alkej-236	93	34	of	of	ADP
alkej-236	93	35	the	the	DET
alkej-236	93	36	throttle	throttle	NOUN
alkej-236	93	37	angle	angle	NOUN
alkej-236	93	38	response	response	NOUN
alkej-236	93	39	where	where	SCONJ
alkej-236	93	40	it	it	PRON
alkej-236	93	41	is	be	AUX
alkej-236	93	42	required	require	VERB
alkej-236	93	43	to	to	PART
alkej-236	93	44	reach	reach	VERB
alkej-236	93	45	the	the	DET
alkej-236	93	46	desired	desire	VERB
alkej-236	93	47	value	value	NOUN
alkej-236	93	48	without	without	ADP
alkej-236	93	49	overshot	overshot	PROPN
alkej-236	93	50	and	and	CCONJ
alkej-236	93	51	with	with	ADP
alkej-236	93	52	minimum	minimum	ADJ
alkej-236	93	53	time	time	NOUN
alkej-236	93	54	.	.	PUNCT
alkej-236	94	1	to	to	PART
alkej-236	94	2	do	do	VERB
alkej-236	94	3	that	that	PRON
alkej-236	94	4	the	the	DET
alkej-236	94	5	integral	integral	ADJ
alkej-236	94	6	sliding	slide	VERB
alkej-236	94	7	mode	mode	NOUN
alkej-236	94	8	controller	controller	NOUN
alkej-236	94	9	is	be	AUX
alkej-236	94	10	utilized	utilize	VERB
alkej-236	94	11	in	in	ADP
alkej-236	94	12	this	this	DET
alkej-236	94	13	work	work	NOUN
alkej-236	94	14	to	to	PART
alkej-236	94	15	precisely	precisely	ADV
alkej-236	94	16	force	force	VERB
alkej-236	94	17	the	the	DET
alkej-236	94	18	throttle	throttle	NOUN
alkej-236	94	19	angle	angle	NOUN
alkej-236	94	20	to	to	PART
alkej-236	94	21	follow	follow	VERB
alkej-236	94	22	the	the	DET
alkej-236	94	23	desired	desire	VERB
alkej-236	94	24	value	value	NOUN
alkej-236	94	25	with	with	ADP
alkej-236	94	26	desired	desire	VERB
alkej-236	94	27	dynamic	dynamic	ADJ
alkej-236	94	28	characteristics	characteristic	NOUN
alkej-236	94	29	from	from	ADP
alkej-236	94	30	the	the	DET
alkej-236	94	31	first	first	ADJ
alkej-236	94	32	instant	instant	NOUN
alkej-236	94	33	and	and	CCONJ
alkej-236	94	34	desired	desire	VERB
alkej-236	94	35	time	time	NOUN
alkej-236	94	36	period	period	NOUN
alkej-236	94	37	required	require	VERB
alkej-236	94	38	to	to	PART
alkej-236	94	39	reach	reach	VERB
alkej-236	94	40	the	the	DET
alkej-236	94	41	reference	reference	NOUN
alkej-236	94	42	value	value	NOUN
alkej-236	94	43	.	.	PUNCT
alkej-236	95	1	2	2	X
alkej-236	95	2	.	.	X
alkej-236	95	3	mathematical	mathematical	ADJ
alkej-236	95	4	model	model	NOUN
alkej-236	95	5	the	the	DET
alkej-236	95	6	mathematical	mathematical	ADJ
alkej-236	95	7	model	model	NOUN
alkej-236	95	8	for	for	ADP
alkej-236	95	9	the	the	DET
alkej-236	95	10	electronic	electronic	ADJ
alkej-236	95	11	throttle	throttle	NOUN
alkej-236	95	12	valve	valve	NOUN
alkej-236	95	13	which	which	PRON
alkej-236	95	14	considered	consider	VERB
alkej-236	95	15	in	in	ADP
alkej-236	95	16	the	the	DET
alkej-236	95	17	present	present	ADJ
alkej-236	95	18	work	work	NOUN
alkej-236	95	19	is	be	AUX
alkej-236	95	20	taken	take	VERB
alkej-236	95	21	from	from	ADP
alkej-236	95	22	reference	reference	NOUN
alkej-236	95	23	[	[	X
alkej-236	95	24	11	11	NUM
alkej-236	95	25	]	]	PUNCT
alkej-236	95	26	.	.	PUNCT
alkej-236	96	1	in	in	ADP
alkej-236	96	2	terms	term	NOUN
alkej-236	96	3	of	of	ADP
alkej-236	96	4	the	the	DET
alkej-236	96	5	valve	valve	NOUN
alkej-236	96	6	plate	plate	NOUN
alkej-236	96	7	position	position	NOUN
alkej-236	96	8	θ	θ	PROPN
alkej-236	96	9	,	,	PUNCT
alkej-236	96	10	the	the	DET
alkej-236	96	11	rotor	rotor	NOUN
alkej-236	96	12	angular	angular	PROPN
alkej-236	96	13	velocity	velocity	PROPN
alkej-236	96	14	ω	ω	PROPN
alkej-236	96	15	,	,	PUNCT
alkej-236	96	16	and	and	CCONJ
alkej-236	96	17	the	the	DET
alkej-236	96	18	current	current	NOUN
alkej-236	96	19	i	i	PRON
alkej-236	96	20	induced	induce	VERB
alkej-236	96	21	through	through	ADP
alkej-236	96	22	the	the	DET
alkej-236	96	23	dc	dc	PROPN
alkej-236	96	24	motor	motor	NOUN
alkej-236	96	25	windings	winding	NOUN
alkej-236	96	26	,	,	PUNCT
alkej-236	96	27	the	the	DET
alkej-236	96	28	electronic	electronic	ADJ
alkej-236	96	29	throttle	throttle	NOUN
alkej-236	96	30	valve	valve	NOUN
alkej-236	96	31	mathematical	mathematical	ADJ
alkej-236	96	32	model	model	NOUN
alkej-236	96	33	is	be	AUX
alkej-236	96	34	given	give	VERB
alkej-236	96	35	by	by	ADP
alkej-236	96	36	[	[	PUNCT
alkej-236	96	37	11	11	NUM
alkej-236	96	38	]	]	PUNCT
alkej-236	96	39	;	;	PUNCT
alkej-236	96	40	�	�	PROPN
alkej-236	96	41	�	�	PROPN
alkej-236	96	42	�	�	PROPN
alkej-236	96	43	=	=	SYM
alkej-236	96	44	�	�	PROPN
alkej-236	96	45	�	�	PROPN
alkej-236	96	46	�	�	PROPN
alkej-236	96	47	�	�	PROPN
alkej-236	96	48	�	�	PROPN
alkej-236	96	49	�	�	PROPN
alkej-236	96	50	=	=	SYM
alkej-236	96	51	−	−	PROPN
alkej-236	96	52	�	�	PROPN
alkej-236	96	53	�	�	PROPN
alkej-236	96	54	�	�	PROPN
alkej-236	96	55	�	�	PROPN
alkej-236	96	56	�	�	PROPN
alkej-236	96	57	�	�	PROPN
alkej-236	96	58	�	�	PROPN
alkej-236	96	59	�	�	PROPN
alkej-236	96	60	+	+	SYM
alkej-236	96	61	�	�	PROPN
alkej-236	96	62	�	�	PROPN
alkej-236	96	63	�	�	PROPN
alkej-236	96	64	�	�	PROPN
alkej-236	96	65	�	�	PROPN
alkej-236	96	66	�	�	PROPN
alkej-236	96	67	�	�	PROPN
alkej-236	96	68	−	−	PROPN
alkej-236	96	69	�	�	PROPN
alkej-236	96	70	�	�	PROPN
alkej-236	96	71	�	�	PROPN
alkej-236	96	72	�	�	PROPN
alkej-236	96	73	�	�	PROPN
alkej-236	96	74	�	�	PROPN
alkej-236	96	75	�	�	PROPN
alkej-236	96	76	�	�	PROPN
alkej-236	96	77	−	−	PROPN
alkej-236	96	78	�	�	PROPN
alkej-236	96	79	�	�	PROPN
alkej-236	96	80	�	�	PROPN
alkej-236	96	81	�	�	PROPN
alkej-236	96	82	�	�	PROPN
alkej-236	96	83	�	�	PROPN
alkej-236	96	84	�	�	PROPN
alkej-236	96	85	�	�	PROPN
alkej-236	96	86	�	�	PROPN
alkej-236	96	87	�	�	PROPN
alkej-236	96	88	�	�	PROPN
alkej-236	96	89	�	�	PROPN
alkej-236	96	90	�	�	PROPN
alkej-236	96	91	=	=	SYM
alkej-236	96	92	−	−	PROPN
alkej-236	96	93	�	�	PROPN
alkej-236	96	94	�	�	PROPN
alkej-236	96	95	�	�	PROPN
alkej-236	96	96	−	−	PROPN
alkej-236	96	97	�	�	PROPN
alkej-236	96	98	�	�	PROPN
alkej-236	96	99	�	�	PROPN
alkej-236	96	100	+	+	CCONJ
alkej-236	96	101	�	�	PROPN
alkej-236	96	102	!	!	PUNCT
alkej-236	96	103	"	"	PUNCT
alkej-236	96	104	#	#	NOUN
alkej-236	96	105	"	"	PUNCT
alkej-236	96	106	$	$	NUM
alkej-236	96	107	…	…	PUNCT
alkej-236	96	108	(	(	PUNCT
alkej-236	96	109	1	1	NUM
alkej-236	96	110	)	)	PUNCT
alkej-236	96	111	where	where	SCONJ
alkej-236	96	112	u	u	NOUN
alkej-236	96	113	is	be	AUX
alkej-236	96	114	the	the	DET
alkej-236	96	115	input	input	NOUN
alkej-236	96	116	voltage	voltage	NOUN
alkej-236	96	117	to	to	ADP
alkej-236	96	118	the	the	DET
alkej-236	96	119	dc	dc	PROPN
alkej-236	96	120	motor	motor	NOUN
alkej-236	96	121	,	,	PUNCT
alkej-236	96	122	t&	t&	PROPN
alkej-236	96	123	�	�	PROPN
alkej-236	96	124	ω	ω	NUM
alkej-236	96	125	�	�	PROPN
alkej-236	96	126	and	and	CCONJ
alkej-236	96	127	t'(	t'(	PROPN
alkej-236	96	128	�	�	PROPN
alkej-236	96	129	θ	θ	NOUN
alkej-236	96	130	�	�	PROPN
alkej-236	96	131	are	be	AUX
alkej-236	96	132	the	the	DET
alkej-236	96	133	stick	stick	NOUN
alkej-236	96	134	–	–	PUNCT
alkej-236	96	135	slip	slip	VERB
alkej-236	96	136	friction	friction	NOUN
alkej-236	96	137	torque	torque	NOUN
alkej-236	96	138	and	and	CCONJ
alkej-236	96	139	the	the	DET
alkej-236	96	140	nonlinear	nonlinear	ADJ
alkej-236	96	141	spring	spring	NOUN
alkej-236	96	142	torque	torque	NOUN
alkej-236	96	143	respectively	respectively	ADV
alkej-236	96	144	.	.	PUNCT
alkej-236	97	1	the	the	DET
alkej-236	97	2	frictional	frictional	ADJ
alkej-236	97	3	torque	torque	NOUN
alkej-236	97	4	and	and	CCONJ
alkej-236	97	5	the	the	DET
alkej-236	97	6	nonlinear	nonlinear	ADJ
alkej-236	97	7	spring	spring	NOUN
alkej-236	97	8	torque	torque	NOUN
alkej-236	97	9	are	be	AUX
alkej-236	97	10	plotted	plot	VERB
alkej-236	97	11	in	in	ADP
alkej-236	97	12	figs	fig	NOUN
alkej-236	97	13	,	,	PUNCT
alkej-236	97	14	(	(	PUNCT
alkej-236	97	15	2	2	NUM
alkej-236	97	16	)	)	PUNCT
alkej-236	97	17	and	and	CCONJ
alkej-236	97	18	(	(	PUNCT
alkej-236	97	19	3	3	X
alkej-236	97	20	)	)	PUNCT
alkej-236	97	21	respectively	respectively	ADV
alkej-236	97	22	and	and	CCONJ
alkej-236	97	23	defined	define	VERB
alkej-236	97	24	mathematically	mathematically	ADV
alkej-236	97	25	as	as	SCONJ
alkej-236	97	26	follows	follow	VERB
alkej-236	97	27	[	[	X
alkej-236	97	28	11	11	NUM
alkej-236	97	29	]	]	PUNCT
alkej-236	97	30	;	;	PUNCT
alkej-236	97	31	�	�	PROPN
alkej-236	97	32	�	�	PROPN
alkej-236	97	33	�	�	PROPN
alkej-236	97	34	�	�	PROPN
alkej-236	97	35	=	=	PUNCT
alkej-236	97	36	)	)	PUNCT
alkej-236	97	37	*	*	PUNCT
alkej-236	97	38	�	�	PROPN
alkej-236	97	39	,	,	PUNCT
alkej-236	97	40	>	>	X
alkej-236	97	41	0	0	NUM
alkej-236	97	42	0	0	NUM
alkej-236	97	43	,	,	PUNCT
alkej-236	97	44	=	=	NOUN
alkej-236	97	45	0	0	NUM
alkej-236	98	1	−	−	NOUN
alkej-236	98	2	*	*	PUNCT
alkej-236	98	3	�	�	PROPN
alkej-236	98	4	,	,	PUNCT
alkej-236	98	5	<	<	X
alkej-236	98	6	0	0	NUM
alkej-236	98	7	�	�	PROPN
alkej-236	98	8	=	=	PUNCT
alkej-236	98	9	*	*	PUNCT
alkej-236	98	10	�	�	PROPN
alkej-236	98	11	/01	/01	SYM
alkej-236	98	12	�	�	PROPN
alkej-236	98	13	�	�	PROPN
alkej-236	98	14	…	…	PUNCT
alkej-236	98	15	(	(	PUNCT
alkej-236	98	16	2	2	NUM
alkej-236	98	17	)	)	PUNCT
alkej-236	98	18	and	and	CCONJ
alkej-236	98	19	�	�	PROPN
alkej-236	98	20	�	�	PROPN
alkej-236	98	21	�	�	PROPN
alkej-236	98	22	�	�	PROPN
alkej-236	98	23	�	�	PROPN
alkej-236	98	24	�	�	PROPN
alkej-236	98	25	=	=	SYM
alkej-236	98	26	2	2	NUM
alkej-236	98	27	3	3	NUM
alkej-236	98	28	+	+	SYM
alkej-236	98	29	4	4	NUM
alkej-236	98	30	�	�	PROPN
alkej-236	98	31	�	�	PROPN
alkej-236	98	32	−	−	PROPN
alkej-236	98	33	�	�	PROPN
alkej-236	98	34	5	5	NUM
alkej-236	98	35	�	�	PROPN
alkej-236	98	36	�	�	PROPN
alkej-236	98	37	6	6	NUM
alkej-236	98	38	�	�	NOUN
alkej-236	98	39	5	5	NUM
alkej-236	98	40	<	<	X
alkej-236	98	41	�	�	PROPN
alkej-236	98	42	<	<	X
alkej-236	98	43	�	�	PROPN
alkej-236	98	44	789−3	789−3	NUM
alkej-236	98	45	−4	−4	X
alkej-236	98	46	�	�	PROPN
alkej-236	98	47	�	�	PROPN
alkej-236	98	48	5	5	NUM
alkej-236	98	49	−	−	PROPN
alkej-236	98	50	�	�	PROPN
alkej-236	98	51	�	�	PROPN
alkej-236	98	52	�	�	PROPN
alkej-236	98	53	6	6	NUM
alkej-236	98	54	�	�	NOUN
alkej-236	98	55	7	7	NUM
alkej-236	98	56	:	:	PUNCT
alkej-236	98	57	;	;	PUNCT
alkej-236	98	58	<	<	X
alkej-236	98	59	�	�	PROPN
alkej-236	98	60	<	<	X
alkej-236	98	61	�	�	PROPN
alkej-236	98	62	5	5	NUM
alkej-236	98	63	�	�	PROPN
alkej-236	98	64	=	=	SYM
alkej-236	98	65	4	4	NUM
alkej-236	98	66	�	�	PROPN
alkej-236	98	67	�	�	PROPN
alkej-236	98	68	−	−	PROPN
alkej-236	98	69	�	�	PROPN
alkej-236	98	70	5	5	NUM
alkej-236	98	71	�	�	NOUN
alkej-236	98	72	+	+	CCONJ
alkej-236	98	73	3	3	NUM
alkej-236	98	74	/01	/01	SYM
alkej-236	98	75	�	�	PROPN
alkej-236	98	76	�	�	PROPN
alkej-236	98	77	−	−	PROPN
alkej-236	98	78	�	�	PROPN
alkej-236	98	79	5	5	NUM
alkej-236	98	80	�	�	NOUN
alkej-236	98	81	…	…	PUNCT
alkej-236	98	82	(	(	PUNCT
alkej-236	98	83	3	3	X
alkej-236	98	84	)	)	PUNCT
alkej-236	98	85	fig	fig	NOUN
alkej-236	98	86	.	.	PUNCT
alkej-236	99	1	2	2	NUM
alkej-236	99	2	.	.	NOUN
alkej-236	99	3	coulomb	coulomb	NOUN
alkej-236	99	4	friction	friction	NOUN
alkej-236	100	1	[	[	X
alkej-236	100	2	11	11	NUM
alkej-236	100	3	]	]	PUNCT
alkej-236	100	4	.	.	PUNCT
alkej-236	101	1	fig	fig	NOUN
alkej-236	101	2	.	.	PUNCT
alkej-236	102	1	3	3	X
alkej-236	102	2	.	.	PUNCT
alkej-236	102	3	nonlinear	nonlinear	ADJ
alkej-236	102	4	spring	spring	NOUN
alkej-236	103	1	[	[	X
alkej-236	103	2	11	11	NUM
alkej-236	103	3	]	]	PUNCT
alkej-236	103	4	.	.	PUNCT
alkej-236	104	1	the	the	DET
alkej-236	104	2	physical	physical	ADJ
alkej-236	104	3	parameters	parameter	NOUN
alkej-236	104	4	that	that	PRON
alkej-236	104	5	appear	appear	VERB
alkej-236	104	6	in	in	ADP
alkej-236	104	7	the	the	DET
alkej-236	104	8	mathematical	mathematical	ADJ
alkej-236	104	9	model	model	NOUN
alkej-236	104	10	are	be	AUX
alkej-236	104	11	defined	define	VERB
alkej-236	104	12	in	in	ADP
alkej-236	104	13	table	table	NOUN
alkej-236	104	14	(	(	PUNCT
alkej-236	104	15	1	1	NUM
alkej-236	104	16	)	)	PUNCT
alkej-236	104	17	.	.	PUNCT
alkej-236	105	1	table	table	NOUN
alkej-236	105	2	1	1	NUM
alkej-236	105	3	,	,	PUNCT
alkej-236	105	4	etv	etv	NOUN
alkej-236	105	5	parameters	parameter	NOUN
alkej-236	105	6	[	[	X
alkej-236	105	7	11	11	NUM
alkej-236	105	8	]	]	PUNCT
alkej-236	105	9	.	.	PUNCT
alkej-236	106	1	parameters	parameter	NOUN
alkej-236	106	2	definition	definition	NOUN
alkej-236	106	3	�	�	PROPN
alkej-236	106	4	gear	gear	NOUN
alkej-236	106	5	ratio	ratio	NOUN
alkej-236	106	6	of	of	ADP
alkej-236	106	7	the	the	DET
alkej-236	106	8	intermediate	intermediate	ADJ
alkej-236	106	9	gear	gear	NOUN
alkej-236	106	10	to	to	ADP
alkej-236	106	11	the	the	DET
alkej-236	106	12	pinion	pinion	NOUN
alkej-236	106	13	gear	gear	NOUN
alkej-236	106	14	�	�	PROPN
alkej-236	106	15	�	�	PROPN
alkej-236	106	16	sector	sector	NOUN
alkej-236	106	17	gear	gear	NOUN
alkej-236	106	18	ratio	ratio	NOUN
alkej-236	106	19	to	to	ADP
alkej-236	106	20	the	the	DET
alkej-236	106	21	intermediate	intermediate	ADJ
alkej-236	106	22	gear	gear	NOUN
alkej-236	106	23	<	<	X
alkej-236	106	24	=	=	NOUN
alkej-236	106	25	5=	5=	NUM
alkej-236	106	26	the	the	DET
alkej-236	106	27	total	total	ADJ
alkej-236	106	28	etv	etv	NOUN
alkej-236	106	29	system	system	NOUN
alkej-236	106	30	damping	damp	VERB
alkej-236	106	31	>	>	PUNCT
alkej-236	107	1	=	=	PROPN
alkej-236	107	2	5=	5=	NUM
alkej-236	107	3	the	the	DET
alkej-236	107	4	total	total	ADJ
alkej-236	107	5	etv	etv	NOUN
alkej-236	107	6	system	system	NOUN
alkej-236	107	7	inertia	inertia	NOUN
alkej-236	107	8	�	�	PROPN
alkej-236	107	9	=	=	SYM
alkej-236	107	10	motor	motor	NOUN
alkej-236	107	11	torque	torque	NOUN
alkej-236	107	12	constant	constant	ADJ
alkej-236	107	13	�	�	PROPN
alkej-236	107	14	?	?	PUNCT
alkej-236	107	15	motor	motor	NOUN
alkej-236	107	16	back	back	ADP
alkej-236	107	17	emf	emf	NOUN
alkej-236	107	18	constant	constant	ADJ
alkej-236	107	19	@	@	ADP
alkej-236	107	20	motor	motor	PROPN
alkej-236	107	21	inductance	inductance	PROPN
alkej-236	107	22	a	a	DET
alkej-236	107	23	motor	motor	NOUN
alkej-236	107	24	resistance	resistance	NOUN
alkej-236	107	25	*	*	PUNCT
alkej-236	107	26	�	�	PROPN
alkej-236	107	27	positive	positive	ADJ
alkej-236	107	28	constant	constant	NOUN
alkej-236	107	29	in	in	ADP
alkej-236	107	30	coulomb	coulomb	NOUN
alkej-236	107	31	friction	friction	NOUN
alkej-236	107	32	3	3	NUM
alkej-236	107	33	spring	spring	NOUN
alkej-236	107	34	offset	offset	NOUN
alkej-236	107	35	4	4	NUM
alkej-236	107	36	spring	spring	NOUN
alkej-236	107	37	gain	gain	NOUN
alkej-236	107	38	4	4	NUM
alkej-236	107	39	�	�	PROPN
alkej-236	107	40	spring	spring	NOUN
alkej-236	107	41	limit	limit	NOUN
alkej-236	107	42	stop	stop	VERB
alkej-236	107	43	gain	gain	VERB
alkej-236	107	44	�	�	NOUN
alkej-236	107	45	789	789	NUM
alkej-236	107	46	spring	spring	NOUN
alkej-236	107	47	maximum	maximum	ADJ
alkej-236	107	48	position	position	NOUN
alkej-236	107	49	�	�	NOUN
alkej-236	107	50	7	7	NUM
alkej-236	107	51	:	:	PUNCT
alkej-236	107	52	;	;	PUNCT
alkej-236	107	53	spring	spring	NOUN
alkej-236	107	54	minimum	minimum	NOUN
alkej-236	107	55	position	position	NOUN
alkej-236	107	56	�	�	NOUN
alkej-236	107	57	5	5	NUM
alkej-236	107	58	spring	spring	NOUN
alkej-236	107	59	default	default	NOUN
alkej-236	107	60	position	position	NOUN
alkej-236	107	61	to	to	PART
alkej-236	107	62	write	write	VERB
alkej-236	107	63	the	the	DET
alkej-236	107	64	etv	etv	NOUN
alkej-236	107	65	model	model	NOUN
alkej-236	107	66	in	in	ADP
alkej-236	107	67	state	state	NOUN
alkej-236	107	68	space	space	NOUN
alkej-236	107	69	form	form	NOUN
alkej-236	107	70	,	,	PUNCT
alkej-236	107	71	define	define	VERB
alkej-236	107	72	b	b	PROPN
alkej-236	107	73	=	=	SYM
alkej-236	107	74	�	�	PROPN
alkej-236	107	75	,	,	PUNCT
alkej-236	107	76	b	b	X
alkej-236	107	77	�	�	PROPN
alkej-236	107	78	=	=	SYM
alkej-236	107	79	�	�	PROPN
alkej-236	107	80	�	�	PROPN
alkej-236	107	81	=	=	SYM
alkej-236	107	82	�	�	PROPN
alkej-236	107	83	�	�	PROPN
alkej-236	107	84	�	�	PROPN
alkej-236	107	85	�	�	PROPN
alkej-236	107	86	�	�	PROPN
alkej-236	107	87	,	,	PUNCT
alkej-236	107	88	and	and	CCONJ
alkej-236	107	89	bc	bc	PROPN
alkej-236	107	90	=	=	PROPN
alkej-236	107	91	�	�	PROPN
alkej-236	107	92	.	.	PUNCT
alkej-236	108	1	accordingly	accordingly	ADV
alkej-236	108	2	the	the	DET
alkej-236	108	3	etv	etv	PROPN
alkej-236	108	4	model	model	NOUN
alkej-236	108	5	,	,	PUNCT
alkej-236	108	6	as	as	SCONJ
alkej-236	108	7	given	give	VERB
alkej-236	108	8	in	in	ADP
alkej-236	108	9	equation	equation	NOUN
alkej-236	108	10	(	(	PUNCT
alkej-236	108	11	1	1	NUM
alkej-236	108	12	)	)	PUNCT
alkej-236	108	13	,	,	PUNCT
alkej-236	108	14	is	be	AUX
alkej-236	108	15	written	write	VERB
alkej-236	108	16	as	as	SCONJ
alkej-236	108	17	follows	follow	VERB
alkej-236	108	18	;	;	PUNCT
alkej-236	108	19	�	�	PROPN
alkej-236	108	20	b	b	PROPN
alkej-236	108	21	�	�	PROPN
alkej-236	108	22	=	=	SYM
alkej-236	108	23	b	b	PROPN
alkej-236	108	24	�	�	PROPN
alkej-236	108	25	b	b	PROPN
alkej-236	108	26	�	�	PROPN
alkej-236	108	27	�	�	PROPN
alkej-236	108	28	=	=	SYM
alkej-236	108	29	d	d	PROPN
alkej-236	108	30	�	�	PROPN
alkej-236	108	31	�	�	PROPN
alkej-236	108	32	b	b	PROPN
alkej-236	108	33	−	−	PROPN
alkej-236	108	34	b	b	PROPN
alkej-236	108	35	5	5	NUM
alkej-236	108	36	�	�	NOUN
alkej-236	108	37	+	+	CCONJ
alkej-236	108	38	d	d	PROPN
alkej-236	108	39	�	�	PROPN
alkej-236	108	40	�	�	PROPN
alkej-236	108	41	b	b	NOUN
alkej-236	108	42	�	�	PROPN
alkej-236	108	43	+	+	CCONJ
alkej-236	108	44	d	d	PROPN
alkej-236	108	45	�	�	PROPN
alkej-236	108	46	cxc−µ/01	cxc−µ/01	NOUN
alkej-236	108	47	�	�	PROPN
alkej-236	108	48	b	b	SYM
alkej-236	108	49	�	�	PROPN
alkej-236	108	50	�	�	PROPN
alkej-236	108	51	−	−	PROPN
alkej-236	108	52	f/01	f/01	PROPN
alkej-236	108	53	�	�	PROPN
alkej-236	108	54	b	b	NOUN
alkej-236	108	55	−	−	PROPN
alkej-236	108	56	b	b	PROPN
alkej-236	108	57	5	5	NUM
alkej-236	108	58	�	�	PROPN
alkej-236	108	59	b	b	PROPN
alkej-236	108	60	�	�	PROPN
alkej-236	108	61	c	c	NOUN
alkej-236	108	62	=	=	SYM
alkej-236	108	63	dc	dc	PROPN
alkej-236	108	64	�	�	PROPN
alkej-236	108	65	b	b	PROPN
alkej-236	108	66	�	�	PROPN
alkej-236	108	67	+	+	NUM
alkej-236	108	68	dccbc	dccbc	NOUN
alkej-236	108	69	+	+	CCONJ
alkej-236	108	70	gc	gc	PROPN
alkej-236	108	71	h	h	NOUN
alkej-236	108	72	…	…	PUNCT
alkej-236	108	73	(	(	PUNCT
alkej-236	108	74	4	4	NUM
alkej-236	108	75	)	)	PUNCT
alkej-236	108	76	where	where	SCONJ
alkej-236	108	77	the	the	DET
alkej-236	108	78	state	state	NOUN
alkej-236	108	79	space	space	NOUN
alkej-236	108	80	model	model	NOUN
alkej-236	108	81	parameters	parameter	NOUN
alkej-236	108	82	are	be	AUX
alkej-236	108	83	d	d	PRON
alkej-236	108	84	�	�	PROPN
alkej-236	108	85	=	=	SYM
alkej-236	108	86	�	�	PROPN
alkej-236	108	87	ij	ij	NOUN
alkej-236	108	88	�	�	PROPN
alkej-236	108	89	ik	ik	PROPN
alkej-236	108	90	�	�	PROPN
alkej-236	108	91	�	�	PROPN
alkej-236	108	92	�	�	PROPN
alkej-236	108	93	�	�	PROPN
alkej-236	108	94	4	4	NUM
alkej-236	108	95	,	,	PUNCT
alkej-236	108	96	d	d	X
alkej-236	108	97	�	�	X
alkej-236	108	98	�	�	PROPN
alkej-236	108	99	=	=	SYM
alkej-236	108	100	−	−	PROPN
alkej-236	108	101	�	�	PROPN
alkej-236	108	102	�	�	PROPN
alkej-236	108	103	�	�	PROPN
alkej-236	108	104	�	�	PROPN
alkej-236	108	105	�	�	PROPN
alkej-236	108	106	�	�	PROPN
alkej-236	108	107	�	�	PROPN
alkej-236	108	108	�	�	PROPN
alkej-236	108	109	,	,	PUNCT
alkej-236	108	110	d	d	X
alkej-236	108	111	�	�	ADP
alkej-236	108	112	c	c	NOUN
alkej-236	108	113	=	=	SYM
alkej-236	108	114	�	�	PROPN
alkej-236	108	115	ij	ij	NOUN
alkej-236	108	116	�	�	PROPN
alkej-236	108	117	ik	ik	PROPN
alkej-236	108	118	�	�	PROPN
alkej-236	108	119	�	�	PROPN
alkej-236	108	120	�	�	PROPN
alkej-236	108	121	�	�	PROPN
alkej-236	108	122	�	�	PROPN
alkej-236	108	123	�	�	PROPN
alkej-236	108	124	,	,	PUNCT
alkej-236	108	125	µ	µ	X
alkej-236	108	126	=	=	SYM
alkej-236	108	127	�	�	PROPN
alkej-236	108	128	ij	ij	NOUN
alkej-236	108	129	�	�	PROPN
alkej-236	108	130	ik	ik	PROPN
alkej-236	108	131	�	�	PROPN
alkej-236	108	132	�	�	PROPN
alkej-236	108	133	�	�	PROPN
alkej-236	108	134	�	�	PROPN
alkej-236	108	135	*	*	PUNCT
alkej-236	108	136	�	�	PROPN
alkej-236	108	137	,	,	PUNCT
alkej-236	108	138	f	f	PROPN
alkej-236	108	139	=	=	SYM
alkej-236	108	140	�	�	PROPN
alkej-236	108	141	ij	ij	NOUN
alkej-236	108	142	�	�	PROPN
alkej-236	108	143	ik	ik	PROPN
alkej-236	108	144	�	�	PROPN
alkej-236	108	145	�	�	PROPN
alkej-236	108	146	�	�	PROPN
alkej-236	108	147	�	�	PROPN
alkej-236	108	148	3	3	NUM
alkej-236	108	149	,	,	PUNCT
alkej-236	108	150	dc	dc	PROPN
alkej-236	108	151	�	�	PROPN
alkej-236	108	152	=	=	SYM
alkej-236	108	153	−	−	PROPN
alkej-236	108	154	�	�	PROPN
alkej-236	108	155	�	�	PROPN
alkej-236	108	156	�	�	PROPN
alkej-236	108	157	�	�	PROPN
alkej-236	108	158	ij	ij	NOUN
alkej-236	108	159	�	�	PROPN
alkej-236	108	160	ik	ik	X
alkej-236	108	161	,	,	PUNCT
alkej-236	108	162	shibly	shibly	PROPN
alkej-236	108	163	ahmed	ahmed	PROPN
alkej-236	108	164	al	al	PROPN
alkej-236	108	165	-	-	PROPN
alkej-236	108	166	samarraie	samarraie	PROPN
alkej-236	108	167	al	al	PROPN
alkej-236	108	168	-	-	PUNCT
alkej-236	108	169	khwarizmi	khwarizmi	PROPN
alkej-236	108	170	engineering	engineering	NOUN
alkej-236	108	171	journal	journal	PROPN
alkej-236	108	172	,	,	PUNCT
alkej-236	108	173	vol	vol	NOUN
alkej-236	108	174	.	.	PROPN
alkej-236	108	175	11	11	NUM
alkej-236	108	176	,	,	PUNCT
alkej-236	108	177	no	no	INTJ
alkej-236	108	178	.	.	NOUN
alkej-236	108	179	3	3	NUM
alkej-236	108	180	,	,	PUNCT
alkej-236	108	181	p.p	p.p	PROPN
alkej-236	108	182	.	.	NOUN
alkej-236	108	183	110	110	NUM
alkej-236	108	184	(	(	PUNCT
alkej-236	108	185	2015	2015	NUM
alkej-236	108	186	)	)	PUNCT
alkej-236	108	187	75	75	NUM
alkej-236	108	188	dcc	dcc	NOUN
alkej-236	108	189	=	=	SYM
alkej-236	108	190	−	−	PROPN
alkej-236	108	191	�	�	PROPN
alkej-236	108	192	�	�	PROPN
alkej-236	108	193	,	,	PUNCT
alkej-236	108	194	and	and	CCONJ
alkej-236	108	195	gc	gc	PROPN
alkej-236	108	196	=	=	PROPN
alkej-236	108	197	�	�	PROPN
alkej-236	108	198	.	.	PUNCT
alkej-236	109	1	for	for	ADP
alkej-236	109	2	these	these	DET
alkej-236	109	3	parameters	parameter	NOUN
alkej-236	109	4	,	,	PUNCT
alkej-236	109	5	the	the	DET
alkej-236	109	6	maximum	maximum	ADJ
alkej-236	109	7	and	and	CCONJ
alkej-236	109	8	minimum	minimum	ADJ
alkej-236	109	9	values	value	NOUN
alkej-236	109	10	are	be	AUX
alkej-236	109	11	given	give	VERB
alkej-236	109	12	in	in	ADP
alkej-236	109	13	table	table	NOUN
alkej-236	109	14	(	(	PUNCT
alkej-236	109	15	2	2	NUM
alkej-236	109	16	)	)	PUNCT
alkej-236	110	1	[	[	X
alkej-236	110	2	2	2	NUM
alkej-236	110	3	]	]	PUNCT
alkej-236	110	4	.	.	PUNCT
alkej-236	111	1	table	table	NOUN
alkej-236	111	2	2	2	NUM
alkej-236	111	3	,	,	PUNCT
alkej-236	111	4	the	the	DET
alkej-236	111	5	maximum	maximum	ADJ
alkej-236	111	6	and	and	CCONJ
alkej-236	111	7	minimum	minimum	ADJ
alkej-236	111	8	etv	etv	NOUN
alkej-236	111	9	parameters	parameter	NOUN
alkej-236	111	10	values	value	NOUN
alkej-236	112	1	[	[	X
alkej-236	112	2	2	2	NUM
alkej-236	112	3	]	]	PUNCT
alkej-236	112	4	.	.	PUNCT
alkej-236	113	1	lmnmopqpnr	lmnmopqpnr	PROPN
alkej-236	113	2	ostsomu	ostsomu	VERB
alkej-236	113	3	vmuwp	vmuwp	NOUN
alkej-236	113	4	omxsomu	omxsomu	NOUN
alkej-236	113	5	vmuwp	vmuwp	NOUN
alkej-236	113	6	wtsqp	wtsqp	ADP
alkej-236	113	7	d	d	X
alkej-236	113	8	�	�	PROPN
alkej-236	113	9	−69	−69	PUNCT
alkej-236	113	10	−95	−95	NOUN
alkej-236	113	11	1//	1//	PROPN
alkej-236	113	12	�	�	PROPN
alkej-236	113	13	d	d	SYM
alkej-236	113	14	�	�	PROPN
alkej-236	113	15	�	�	PROPN
alkej-236	113	16	−32	−32	VERB
alkej-236	113	17	−54	−54	PROPN
alkej-236	113	18	1//	1//	PROPN
alkej-236	113	19	d	d	PROPN
alkej-236	113	20	�	�	PROPN
alkej-236	113	21	c	c	PROPN
alkej-236	113	22	242.424	242.424	NUM
alkej-236	113	23	250	250	NUM
alkej-236	113	24	b.	b.	NOUN
alkej-236	113	25	/	/	PUNCT
alkej-236	114	1	/cdd	/cdd	PROPN
alkej-236	114	2	.	.	PUNCT
alkej-236	115	1	e04	e04	PROPN
alkej-236	115	2	�	�	PROPN
alkej-236	115	3	dc	dc	PROPN
alkej-236	115	4	�	�	PROPN
alkej-236	115	5	−20	−20	PROPN
alkej-236	115	6	−25	−25	PROPN
alkej-236	115	7	b.	b.	PROPN
alkej-236	115	8	/	/	PUNCT
alkej-236	115	9	/cdd.h	/cdd.h	NOUN
alkej-236	116	1	dcc	dcc	PROPN
alkej-236	116	2	−1300	−1300	PROPN
alkej-236	116	3	−2125	−2125	PROPN
alkej-236	116	4	ω	ω	PROPN
alkej-236	116	5	/	/	SYM
alkej-236	116	6	f	f	PROPN
alkej-236	116	7	gc	gc	PROPN
alkej-236	116	8	1000	1000	NUM
alkej-236	116	9	1250	1250	NUM
alkej-236	116	10	1	1	NUM
alkej-236	116	11	/	/	SYM
alkej-236	116	12	f	f	PROPN
alkej-236	116	13	f	f	PROPN
alkej-236	116	14	143.5	143.5	NUM
alkej-236	116	15	157	157	NUM
alkej-236	116	16	cdd//	cdd//	PROPN
alkej-236	116	17	�	�	PROPN
alkej-236	116	18	h	h	PROPN
alkej-236	116	19	57	57	NUM
alkej-236	116	20	76	76	NUM
alkej-236	116	21	cdd//	cdd//	PROPN
alkej-236	116	22	�	�	PROPN
alkej-236	116	23	�	�	PROPN
alkej-236	116	24	5	5	NUM
alkej-236	116	25	0.095	0.095	NUM
alkej-236	116	26	0.095	0.095	NUM
alkej-236	116	27	cdd	cdd	PROPN
alkej-236	116	28	to	to	PART
alkej-236	116	29	simplify	simplify	VERB
alkej-236	116	30	the	the	DET
alkej-236	116	31	etv	etv	NOUN
alkej-236	116	32	model	model	NOUN
alkej-236	116	33	,	,	PUNCT
alkej-236	116	34	the	the	DET
alkej-236	116	35	motor	motor	NOUN
alkej-236	116	36	inductance	inductance	NOUN
alkej-236	116	37	l	l	NOUN
alkej-236	116	38	is	be	AUX
alkej-236	116	39	ignored	ignore	VERB
alkej-236	116	40	(	(	PUNCT
alkej-236	116	41	i.e.	i.e.	X
alkej-236	116	42	,	,	PUNCT
alkej-236	116	43	by	by	ADP
alkej-236	116	44	considering	consider	VERB
alkej-236	116	45	l	l	PROPN
alkej-236	116	46	≈0	≈0	PROPN
alkej-236	116	47	)	)	PUNCT
alkej-236	116	48	.	.	PUNCT
alkej-236	117	1	accordingly	accordingly	ADV
alkej-236	117	2	the	the	DET
alkej-236	117	3	throttle	throttle	NOUN
alkej-236	117	4	valve	valve	NOUN
alkej-236	117	5	system	system	NOUN
alkej-236	117	6	model	model	NOUN
alkej-236	117	7	in	in	ADP
alkej-236	117	8	equation	equation	NOUN
alkej-236	117	9	(	(	PUNCT
alkej-236	117	10	10	10	NUM
alkej-236	117	11	)	)	PUNCT
alkej-236	117	12	(	(	PUNCT
alkej-236	117	13	4	4	X
alkej-236	117	14	)	)	PUNCT
alkej-236	117	15	is	be	AUX
alkej-236	117	16	reduced	reduce	VERB
alkej-236	117	17	to	to	ADP
alkej-236	117	18	a	a	DET
alkej-236	117	19	system	system	NOUN
alkej-236	117	20	with	with	ADP
alkej-236	117	21	lower	low	ADJ
alkej-236	117	22	dimension	dimension	NOUN
alkej-236	117	23	as	as	SCONJ
alkej-236	117	24	can	can	AUX
alkej-236	117	25	be	be	AUX
alkej-236	117	26	noted	note	VERB
alkej-236	117	27	in	in	ADP
alkej-236	117	28	the	the	DET
alkej-236	117	29	following	follow	VERB
alkej-236	117	30	steps	step	NOUN
alkej-236	117	31	:	:	PUNCT
alkej-236	117	32	k	k	PROPN
alkej-236	117	33	lmn	lmn	PROPN
alkej-236	117	34	b	b	PROPN
alkej-236	117	35	�	�	PROPN
alkej-236	117	36	c	c	NOUN
alkej-236	117	37	=	=	SYM
alkej-236	118	1	k8mklm	k8mklm	PROPN
alkej-236	118	2	n	n	PROPN
alkej-236	118	3	b	b	PROPN
alkej-236	118	4	�	�	PROPN
alkej-236	118	5	+	+	CCONJ
alkej-236	118	6	k8mmlm	k8mmlm	PROPN
alkej-236	118	7	n	n	CCONJ
alkej-236	118	8	bc	bc	PROPN
alkej-236	119	1	+	+	X
alkej-236	119	2	,	,	PUNCT
alkej-236	119	3	k	k	PROPN
alkej-236	119	4	lmn	lmn	PROPN
alkej-236	119	5	=	=	PROPN
alkej-236	119	6	@	@	ADP
alkej-236	119	7	∴	∴	PROPN
alkej-236	119	8	0	0	PUNCT
alkej-236	120	1	≈	≈	PROPN
alkej-236	120	2	k8mklm	k8mklm	PROPN
alkej-236	120	3	n	n	PROPN
alkej-236	120	4	b	b	PROPN
alkej-236	120	5	�	�	PROPN
alkej-236	120	6	+	+	CCONJ
alkej-236	120	7	k8mmlm	k8mmlm	PROPN
alkej-236	120	8	n	n	CCONJ
alkej-236	120	9	bc	bc	PROPN
alkej-236	120	10	+	+	X
alkej-236	120	11	for	for	ADP
alkej-236	120	12	@	@	ADP
alkej-236	121	1	≈	≈	PROPN
alkej-236	121	2	0	0	NUM
alkej-236	121	3	where	where	SCONJ
alkej-236	121	4	k8mklm	k8mklm	PROPN
alkej-236	121	5	n	n	PROPN
alkej-236	121	6	and	and	CCONJ
alkej-236	121	7	k8mmlm	k8mmlm	PROPN
alkej-236	121	8	n	n	NOUN
alkej-236	121	9	are	be	AUX
alkej-236	121	10	finite	finite	ADJ
alkej-236	121	11	values	value	NOUN
alkej-236	121	12	since	since	SCONJ
alkej-236	121	13	gc	gc	PROPN
alkej-236	121	14	occurs	occur	VERB
alkej-236	121	15	in	in	ADP
alkej-236	121	16	both	both	PRON
alkej-236	121	17	dc	dc	PROPN
alkej-236	121	18	�	�	PROPN
alkej-236	121	19	and	and	CCONJ
alkej-236	121	20	dcc	dcc	PROPN
alkej-236	121	21	.	.	PUNCT
alkej-236	122	1	now	now	ADV
alkej-236	122	2	solving	solve	VERB
alkej-236	122	3	for	for	ADP
alkej-236	122	4	bc	bc	PROPN
alkej-236	122	5	yields	yield	NOUN
alkej-236	122	6	:	:	PUNCT
alkej-236	122	7	bc	bc	PROPN
alkej-236	122	8	=	=	SYM
alkej-236	122	9	−k8mk8mmn	−k8mk8mmn	PROPN
alkej-236	122	10	b	b	PROPN
alkej-236	122	11	�	�	PROPN
alkej-236	122	12	−	−	PROPN
alkej-236	122	13	k	k	PROPN
alkej-236	122	14	lm8mmn	lm8mmn	PROPN
alkej-236	122	15	…	…	PUNCT
alkej-236	122	16	(	(	PUNCT
alkej-236	122	17	5	5	NUM
alkej-236	122	18	)	)	PUNCT
alkej-236	122	19	substituting	substitute	VERB
alkej-236	122	20	the	the	DET
alkej-236	122	21	value	value	NOUN
alkej-236	122	22	of	of	ADP
alkej-236	122	23	bc	bc	PROPN
alkej-236	122	24	from	from	ADP
alkej-236	122	25	equation	equation	NOUN
alkej-236	122	26	(	(	PUNCT
alkej-236	122	27	5	5	NUM
alkej-236	122	28	)	)	PUNCT
alkej-236	122	29	into	into	ADP
alkej-236	122	30	equation	equation	NOUN
alkej-236	122	31	(	(	PUNCT
alkej-236	122	32	4	4	NUM
alkej-236	122	33	)	)	PUNCT
alkej-236	122	34	,	,	PUNCT
alkej-236	122	35	yields	yield	NOUN
alkej-236	122	36	:	:	PUNCT
alkej-236	122	37	�	�	PROPN
alkej-236	122	38	b	b	SYM
alkej-236	122	39	�	�	PROPN
alkej-236	122	40	=	=	SYM
alkej-236	122	41	b	b	PROPN
alkej-236	122	42	�	�	PROPN
alkej-236	122	43	b	b	PROPN
alkej-236	122	44	�	�	PROPN
alkej-236	122	45	�	�	PROPN
alkej-236	122	46	=	=	PUNCT
alkej-236	122	47	−d	−d	PROPN
alkej-236	122	48	�	�	PROPN
alkej-236	122	49	b	b	PROPN
alkej-236	122	50	−	−	PROPN
alkej-236	122	51	b	b	PROPN
alkej-236	122	52	5	5	NUM
alkej-236	122	53	�	�	PROPN
alkej-236	122	54	−	−	ADP
alkej-236	122	55	d	d	PROPN
alkej-236	122	56	�	�	PROPN
alkej-236	122	57	b	b	NOUN
alkej-236	122	58	�	�	PROPN
alkej-236	122	59	+	+	CCONJ
alkej-236	122	60	g	g	PROPN
alkej-236	122	61	−h/01	−h/01	PROPN
alkej-236	122	62	�	�	PROPN
alkej-236	122	63	b	b	SYM
alkej-236	122	64	�	�	PROPN
alkej-236	122	65	�	�	PROPN
alkej-236	122	66	−	−	PROPN
alkej-236	122	67	f/01	f/01	PROPN
alkej-236	122	68	�	�	PROPN
alkej-236	122	69	b	b	NOUN
alkej-236	122	70	−	−	PROPN
alkej-236	122	71	b	b	SYM
alkej-236	122	72	5	5	NUM
alkej-236	122	73	�	�	PROPN
alkej-236	122	74	p	p	NOUN
alkej-236	122	75	…	…	PUNCT
alkej-236	122	76	(6	(6	PROPN
alkej-236	122	77	)	)	PUNCT
alkej-236	122	78	where	where	SCONJ
alkej-236	122	79	d	d	NOUN
alkej-236	122	80	=	=	SYM
alkej-236	122	81	−d	−d	PROPN
alkej-236	122	82	�	�	PROPN
alkej-236	122	83	,	,	PUNCT
alkej-236	122	84	d	d	X
alkej-236	122	85	�	�	PROPN
alkej-236	122	86	=	=	SYM
alkej-236	122	87	−qd	−qd	PROPN
alkej-236	122	88	�	�	PROPN
alkej-236	122	89	�	�	PROPN
alkej-236	122	90	−	−	PROPN
alkej-236	122	91	d	d	PROPN
alkej-236	122	92	�	�	PROPN
alkej-236	122	93	c	c	PROPN
alkej-236	122	94	k8mk8mmnr	k8mk8mmnr	PROPN
alkej-236	122	95	and	and	CCONJ
alkej-236	122	96	g	g	PROPN
alkej-236	122	97	=	=	PUNCT
alkej-236	122	98	−d	−d	PROPN
alkej-236	122	99	�	�	PROPN
alkej-236	122	100	c	c	PROPN
alkej-236	122	101	k	k	PROPN
alkej-236	122	102	lm8mmn	lm8mmn	PROPN
alkej-236	122	103	.	.	PUNCT
alkej-236	123	1	by	by	ADP
alkej-236	123	2	writing	write	VERB
alkej-236	123	3	equation	equation	NOUN
alkej-236	123	4	(	(	PUNCT
alkej-236	123	5	6	6	NUM
alkej-236	123	6	)	)	PUNCT
alkej-236	123	7	as	as	ADP
alkej-236	123	8	a	a	DET
alkej-236	123	9	nominal	nominal	ADJ
alkej-236	123	10	and	and	CCONJ
alkej-236	123	11	perturbation	perturbation	NOUN
alkej-236	123	12	term	term	NOUN
alkej-236	123	13	,	,	PUNCT
alkej-236	123	14	we	we	PRON
alkej-236	123	15	get	get	VERB
alkej-236	123	16	;	;	PUNCT
alkej-236	123	17	�	�	PROPN
alkej-236	123	18	b	b	PROPN
alkej-236	123	19	�	�	PROPN
alkej-236	123	20	=	=	SYM
alkej-236	123	21	b	b	PROPN
alkej-236	123	22	�	�	PROPN
alkej-236	123	23	b	b	PROPN
alkej-236	123	24	�	�	PROPN
alkej-236	123	25	�	�	PROPN
alkej-236	123	26	=	=	PUNCT
alkej-236	123	27	−d	−d	PROPN
alkej-236	123	28	;	;	PUNCT
alkej-236	124	1	�	�	PROPN
alkej-236	124	2	b	b	PROPN
alkej-236	124	3	−	−	ADP
alkej-236	124	4	b	b	PROPN
alkej-236	124	5	5	5	NUM
alkej-236	124	6	�	�	PROPN
alkej-236	124	7	−	−	ADP
alkej-236	124	8	d	d	PROPN
alkej-236	124	9	�	�	PROPN
alkej-236	124	10	;b	;b	NOUN
alkej-236	124	11	�	�	PROPN
alkej-236	124	12	+	+	CCONJ
alkej-236	124	13	g	g	NOUN
alkej-236	124	14	;	;	PUNCT
alkej-236	124	15	+	+	CCONJ
alkej-236	124	16	ds	ds	ADJ
alkej-236	124	17	…	…	PUNCT
alkej-236	124	18	(	(	PUNCT
alkej-236	124	19	7	7	NUM
alkej-236	124	20	)	)	PUNCT
alkej-236	124	21	where	where	SCONJ
alkej-236	124	22	the	the	DET
alkej-236	124	23	subscript	subscript	NOUN
alkej-236	124	24	1	1	NUM
alkej-236	124	25	refers	refer	VERB
alkej-236	124	26	to	to	ADP
alkej-236	124	27	the	the	DET
alkej-236	124	28	nominal	nominal	ADJ
alkej-236	124	29	parameters	parameter	NOUN
alkej-236	124	30	values	value	NOUN
alkej-236	124	31	and	and	CCONJ
alkej-236	124	32	:	:	PUNCT
alkej-236	124	33	d	d	X
alkej-236	124	34	=	=	SYM
alkej-236	124	35	−∆d	−∆d	X
alkej-236	124	36	�	�	PROPN
alkej-236	124	37	b	b	NOUN
alkej-236	124	38	−	−	ADP
alkej-236	124	39	b	b	PROPN
alkej-236	124	40	5	5	NUM
alkej-236	124	41	�	�	PROPN
alkej-236	124	42	−	−	PROPN
alkej-236	124	43	∆d	∆d	PROPN
alkej-236	124	44	�	�	PROPN
alkej-236	124	45	b	b	PROPN
alkej-236	124	46	�	�	PROPN
alkej-236	124	47	+	+	NUM
alkej-236	124	48	∆g	∆g	PROPN
alkej-236	124	49	−h/01	−h/01	PROPN
alkej-236	124	50	�	�	PROPN
alkej-236	124	51	b	b	SYM
alkej-236	124	52	�	�	PROPN
alkej-236	124	53	�	�	PROPN
alkej-236	124	54	−	−	PROPN
alkej-236	124	55	f/01	f/01	PROPN
alkej-236	124	56	�	�	PROPN
alkej-236	124	57	b	b	NOUN
alkej-236	124	58	−	−	PROPN
alkej-236	124	59	b	b	PROPN
alkej-236	124	60	5	5	NUM
alkej-236	124	61	�	�	NOUN
alkej-236	124	62	…	…	PUNCT
alkej-236	124	63	(	(	PUNCT
alkej-236	124	64	8)	8)	NUM
alkej-236	124	65	is	be	AUX
alkej-236	124	66	the	the	DET
alkej-236	124	67	collection	collection	NOUN
alkej-236	124	68	of	of	ADP
alkej-236	124	69	the	the	DET
alkej-236	124	70	non	non	ADJ
alkej-236	124	71	-	-	ADJ
alkej-236	124	72	smooth	smooth	ADJ
alkej-236	124	73	nonlinearity	nonlinearity	NOUN
alkej-236	124	74	and	and	CCONJ
alkej-236	124	75	the	the	DET
alkej-236	124	76	uncertainty	uncertainty	NOUN
alkej-236	124	77	in	in	ADP
alkej-236	124	78	system	system	NOUN
alkej-236	124	79	model	model	NOUN
alkej-236	124	80	.	.	PUNCT
alkej-236	125	1	namely	namely	ADV
alkej-236	125	2	it	it	PRON
alkej-236	125	3	consists	consist	VERB
alkej-236	125	4	of	of	ADP
alkej-236	125	5	µ/01	µ/01	PROPN
alkej-236	125	6	�	�	PROPN
alkej-236	125	7	�	�	PROPN
alkej-236	125	8	+	+	CCONJ
alkej-236	125	9	f/01	f/01	PROPN
alkej-236	125	10	�	�	PROPN
alkej-236	125	11	b	b	NOUN
alkej-236	125	12	−	−	PROPN
alkej-236	125	13	b	b	SYM
alkej-236	125	14	5	5	NUM
alkej-236	125	15	�	�	NOUN
alkej-236	125	16	as	as	ADP
alkej-236	125	17	nonsmooth	nonsmooth	ADJ
alkej-236	125	18	discontinuities	discontinuity	NOUN
alkej-236	125	19	due	due	ADJ
alkej-236	125	20	to	to	ADP
alkej-236	125	21	coulomb	coulomb	NOUN
alkej-236	125	22	friction	friction	NOUN
alkej-236	125	23	and	and	CCONJ
alkej-236	125	24	nonlinear	nonlinear	ADJ
alkej-236	125	25	spring	spring	NOUN
alkej-236	125	26	and	and	CCONJ
alkej-236	125	27	∆d	∆d	PROPN
alkej-236	125	28	�	�	PROPN
alkej-236	125	29	b	b	PROPN
alkej-236	125	30	−	−	PROPN
alkej-236	125	31	b	b	PROPN
alkej-236	125	32	5	5	NUM
alkej-236	125	33	�	�	PROPN
alkej-236	125	34	+	+	PROPN
alkej-236	125	35	∆d	∆d	PROPN
alkej-236	125	36	�	�	SYM
alkej-236	125	37	b	b	PROPN
alkej-236	125	38	�	�	PROPN
alkej-236	125	39	+	+	CCONJ
alkej-236	125	40	∆g	∆g	PROPN
alkej-236	125	41	is	be	AUX
alkej-236	125	42	due	due	ADJ
alkej-236	125	43	to	to	ADP
alkej-236	125	44	uncertainties	uncertainty	NOUN
alkej-236	125	45	in	in	ADP
alkej-236	125	46	system	system	NOUN
alkej-236	125	47	parameters	parameter	NOUN
alkej-236	125	48	.	.	PUNCT
alkej-236	126	1	in	in	ADP
alkej-236	126	2	addition	addition	NOUN
alkej-236	126	3	the	the	DET
alkej-236	126	4	model	model	NOUN
alkej-236	126	5	parameters	parameter	NOUN
alkej-236	126	6	related	relate	VERB
alkej-236	126	7	to	to	ADP
alkej-236	126	8	their	their	PRON
alkej-236	126	9	nominal	nominal	ADJ
alkej-236	126	10	values	value	NOUN
alkej-236	126	11	by	by	ADP
alkej-236	126	12	the	the	DET
alkej-236	126	13	following	follow	VERB
alkej-236	126	14	inequalities	inequality	NOUN
alkej-236	126	15	;	;	PUNCT
alkej-236	126	16	|d	|d	NOUN
alkej-236	126	17	−	−	PROPN
alkej-236	126	18	d	d	NOUN
alkej-236	126	19	;	;	PUNCT
alkej-236	126	20	|	|	ADV
alkej-236	126	21	=	=	PUNCT
alkej-236	126	22	|∆d	|∆d	PROPN
alkej-236	127	1	|	|	ADV
alkej-236	127	2	<	<	X
alkej-236	127	3	v8j	v8j	NOUN
alkej-236	127	4	,	,	PUNCT
alkej-236	127	5	|d	|d	NOUN
alkej-236	127	6	�	�	PROPN
alkej-236	127	7	−	−	ADP
alkej-236	127	8	d	d	NOUN
alkej-236	127	9	�	�	PROPN
alkej-236	127	10	;|	;|	SYM
alkej-236	127	11	=	=	SYM
alkej-236	127	12	|∆d	|∆d	NUM
alkej-236	127	13	�	�	NOUN
alkej-236	127	14	|	|	NOUN
alkej-236	127	15	<	<	X
alkej-236	127	16	v8k	v8k	PROPN
alkej-236	127	17	,	,	PUNCT
alkej-236	127	18	|g	|g	VERB
alkej-236	127	19	−	−	PROPN
alkej-236	127	20	g;|	g;|	NOUN
alkej-236	127	21	=	=	PUNCT
alkej-236	127	22	|∆g|	|∆g|	X
alkej-236	127	23	<	<	X
alkej-236	127	24	vl	vl	PROPN
alkej-236	127	25	,	,	PUNCT
alkej-236	127	26	|f	|f	PROPN
alkej-236	127	27	−	−	PROPN
alkej-236	127	28	f;|	f;|	PROPN
alkej-236	128	1	=	=	SYM
alkej-236	129	1	|∆f|	|∆f|	X
alkej-236	129	2	<	<	X
alkej-236	129	3	vw	vw	PROPN
alkej-236	129	4	,	,	PUNCT
alkej-236	129	5	xµ	xµ	PROPN
alkej-236	130	1	−	−	ADP
alkej-236	130	2	µ;x	µ;x	PUNCT
alkej-236	131	1	=	=	PUNCT
alkej-236	131	2	|∆µ|	|∆µ|	X
alkej-236	131	3	<	<	X
alkej-236	131	4	vµ	vµ	X
alkej-236	131	5	in	in	ADP
alkej-236	131	6	these	these	DET
alkej-236	131	7	inequalities	inequality	NOUN
alkej-236	131	8	v	v	ADP
alkej-236	131	9	�	�	PROPN
alkej-236	131	10	�	�	PROPN
alkej-236	131	11	represent	represent	VERB
alkej-236	131	12	the	the	DET
alkej-236	131	13	bound	bind	VERB
alkej-236	131	14	for	for	ADP
alkej-236	131	15	maximum	maximum	ADJ
alkej-236	131	16	uncertainty	uncertainty	NOUN
alkej-236	131	17	for	for	ADP
alkej-236	131	18	the	the	DET
alkej-236	131	19	parameters	parameter	NOUN
alkej-236	131	20	.	.	PUNCT
alkej-236	132	1	the	the	DET
alkej-236	132	2	parameters	parameter	NOUN
alkej-236	132	3	of	of	ADP
alkej-236	132	4	equation	equation	NOUN
alkej-236	132	5	(	(	PUNCT
alkej-236	132	6	6	6	NUM
alkej-236	132	7	)	)	PUNCT
alkej-236	132	8	are	be	AUX
alkej-236	132	9	given	give	VERB
alkej-236	132	10	in	in	ADP
alkej-236	132	11	table	table	NOUN
alkej-236	132	12	(	(	PUNCT
alkej-236	132	13	3	3	NUM
alkej-236	132	14	)	)	PUNCT
alkej-236	132	15	below	below	ADP
alkej-236	132	16	with	with	ADP
alkej-236	132	17	maximum	maximum	ADJ
alkej-236	132	18	uncertainty	uncertainty	NOUN
alkej-236	132	19	v	v	NOUN
alkej-236	132	20	for	for	ADP
alkej-236	132	21	each	each	PRON
alkej-236	132	22	of	of	ADP
alkej-236	132	23	them	they	PRON
alkej-236	132	24	.	.	PUNCT
alkej-236	133	1	table	table	NOUN
alkej-236	133	2	3	3	NUM
alkej-236	133	3	,	,	PUNCT
alkej-236	133	4	etv	etv	NOUN
alkej-236	133	5	parameters	parameter	NOUN
alkej-236	133	6	values	value	NOUN
alkej-236	133	7	in	in	ADP
alkej-236	133	8	equation	equation	NOUN
alkej-236	133	9	(	(	PUNCT
alkej-236	133	10	6	6	NUM
alkej-236	133	11	)	)	PUNCT
alkej-236	133	12	.	.	PUNCT
alkej-236	134	1	ydcd4z{zc/	ydcd4z{zc/	NUM
alkej-236	134	2	1d4z/	1d4z/	NUM
alkej-236	134	3	|}4	|}4	NOUN
alkej-236	134	4	�	�	NOUN
alkej-236	134	5	1d~	1d~	ADJ
alkej-236	134	6	bd~	bd~	PROPN
alkej-236	134	7	z	z	PROPN
alkej-236	134	8	v	v	ADP
alkej-236	134	9	d1	d1	PROPN
alkej-236	134	10	82	82	NUM
alkej-236	134	11	13	13	NUM
alkej-236	134	12	d2	d2	PROPN
alkej-236	134	13	46.54	46.54	NUM
alkej-236	134	14	12.26	12.26	NUM
alkej-236	134	15	g	g	PROPN
alkej-236	134	16	177.2	177.2	NUM
alkej-236	134	17	63.2	63.2	NUM
alkej-236	134	18	f	f	PROPN
alkej-236	134	19	150.25	150.25	NUM
alkej-236	134	20	6.75	6.75	NUM
alkej-236	134	21	h	h	NOUN
alkej-236	134	22	66.5	66.5	NUM
alkej-236	134	23	9.5	9.5	NUM
alkej-236	134	24	the	the	DET
alkej-236	134	25	throttle	throttle	NOUN
alkej-236	134	26	valve	valve	NOUN
alkej-236	134	27	system	system	NOUN
alkej-236	134	28	model	model	NOUN
alkej-236	134	29	given	give	VERB
alkej-236	134	30	in	in	ADP
alkej-236	134	31	equation	equation	NOUN
alkej-236	134	32	(	(	PUNCT
alkej-236	134	33	6	6	NUM
alkej-236	134	34	)	)	PUNCT
alkej-236	134	35	is	be	AUX
alkej-236	134	36	a	a	DET
alkej-236	134	37	second	second	ADJ
alkej-236	134	38	order	order	NOUN
alkej-236	134	39	system	system	NOUN
alkej-236	134	40	and	and	CCONJ
alkej-236	134	41	will	will	AUX
alkej-236	134	42	be	be	AUX
alkej-236	134	43	used	use	VERB
alkej-236	134	44	later	later	ADV
alkej-236	134	45	in	in	ADP
alkej-236	134	46	designing	design	VERB
alkej-236	134	47	an	an	DET
alkej-236	134	48	ismc	ismc	NOUN
alkej-236	134	49	that	that	PRON
alkej-236	134	50	will	will	AUX
alkej-236	134	51	force	force	VERB
alkej-236	134	52	the	the	DET
alkej-236	134	53	state	state	NOUN
alkej-236	134	54	to	to	PART
alkej-236	134	55	track	track	VERB
alkej-236	134	56	a	a	DET
alkej-236	134	57	certain	certain	ADJ
alkej-236	134	58	desired	desire	VERB
alkej-236	134	59	throttle	throttle	NOUN
alkej-236	134	60	angle	angle	NOUN
alkej-236	134	61	(	(	PUNCT
alkej-236	134	62	system	system	NOUN
alkej-236	134	63	output	output	NOUN
alkej-236	134	64	)	)	PUNCT
alkej-236	134	65	.	.	PUNCT
alkej-236	135	1	3	3	X
alkej-236	135	2	.	.	X
alkej-236	135	3	integral	integral	ADJ
alkej-236	135	4	sliding	slide	VERB
alkej-236	135	5	mode	mode	NOUN
alkej-236	135	6	control	control	VERB
alkej-236	135	7	the	the	DET
alkej-236	135	8	major	major	ADJ
alkej-236	135	9	advantage	advantage	NOUN
alkej-236	135	10	of	of	ADP
alkej-236	135	11	sliding	slide	VERB
alkej-236	135	12	mode	mode	NOUN
alkej-236	135	13	is	be	AUX
alkej-236	135	14	low	low	ADJ
alkej-236	135	15	sensitivity	sensitivity	NOUN
alkej-236	135	16	to	to	PART
alkej-236	135	17	plant	plant	VERB
alkej-236	135	18	parameter	parameter	NOUN
alkej-236	135	19	variations	variation	NOUN
alkej-236	135	20	and	and	CCONJ
alkej-236	135	21	disturbances	disturbance	NOUN
alkej-236	135	22	which	which	PRON
alkej-236	135	23	eliminates	eliminate	VERB
alkej-236	135	24	the	the	DET
alkej-236	135	25	necessity	necessity	NOUN
alkej-236	135	26	of	of	ADP
alkej-236	135	27	exact	exact	ADJ
alkej-236	135	28	modeling	modeling	NOUN
alkej-236	135	29	.	.	PUNCT
alkej-236	136	1	sliding	slide	VERB
alkej-236	136	2	mode	mode	NOUN
alkej-236	136	3	control	control	NOUN
alkej-236	136	4	enables	enable	VERB
alkej-236	136	5	the	the	DET
alkej-236	136	6	decoupling	decoupling	NOUN
alkej-236	136	7	of	of	ADP
alkej-236	136	8	the	the	DET
alkej-236	136	9	overall	overall	ADJ
alkej-236	136	10	system	system	NOUN
alkej-236	136	11	motion	motion	NOUN
alkej-236	136	12	into	into	ADP
alkej-236	136	13	independent	independent	ADJ
alkej-236	136	14	partial	partial	ADJ
alkej-236	136	15	components	component	NOUN
alkej-236	136	16	of	of	ADP
alkej-236	136	17	lower	low	ADJ
alkej-236	136	18	dimension	dimension	NOUN
alkej-236	136	19	and	and	CCONJ
alkej-236	136	20	,	,	PUNCT
alkej-236	136	21	as	as	ADP
alkej-236	136	22	a	a	DET
alkej-236	136	23	result	result	NOUN
alkej-236	136	24	,	,	PUNCT
alkej-236	136	25	reduces	reduce	VERB
alkej-236	136	26	the	the	DET
alkej-236	136	27	complexity	complexity	NOUN
alkej-236	136	28	of	of	ADP
alkej-236	136	29	feedback	feedback	NOUN
alkej-236	136	30	design	design	NOUN
alkej-236	136	31	[	[	X
alkej-236	136	32	13	13	NUM
alkej-236	136	33	]	]	PUNCT
alkej-236	136	34	.	.	PUNCT
alkej-236	137	1	sliding	slide	VERB
alkej-236	137	2	mode	mode	NOUN
alkej-236	137	3	control	control	NOUN
alkej-236	137	4	implies	imply	VERB
alkej-236	137	5	that	that	SCONJ
alkej-236	137	6	control	control	NOUN
alkej-236	137	7	actions	action	NOUN
alkej-236	137	8	are	be	AUX
alkej-236	137	9	discontinuous	discontinuous	ADJ
alkej-236	137	10	state	state	NOUN
alkej-236	137	11	functions	function	NOUN
alkej-236	137	12	which	which	PRON
alkej-236	137	13	may	may	AUX
alkej-236	137	14	easily	easily	ADV
alkej-236	137	15	be	be	AUX
alkej-236	137	16	implemented	implement	VERB
alkej-236	137	17	by	by	ADP
alkej-236	137	18	conventional	conventional	ADJ
alkej-236	137	19	power	power	NOUN
alkej-236	137	20	converters	converter	NOUN
alkej-236	137	21	with	with	ADP
alkej-236	137	22	“	"	PUNCT
alkej-236	137	23	on	on	ADP
alkej-236	137	24	-	-	PUNCT
alkej-236	137	25	off	off	NOUN
alkej-236	137	26	”	"	PUNCT
alkej-236	137	27	as	as	ADP
alkej-236	137	28	the	the	DET
alkej-236	137	29	only	only	ADJ
alkej-236	137	30	admissible	admissible	ADJ
alkej-236	137	31	operation	operation	NOUN
alkej-236	137	32	mode	mode	NOUN
alkej-236	137	33	.	.	PUNCT
alkej-236	138	1	due	due	ADP
alkej-236	138	2	to	to	ADP
alkej-236	138	3	these	these	DET
alkej-236	138	4	properties	property	NOUN
alkej-236	138	5	the	the	DET
alkej-236	138	6	intensity	intensity	NOUN
alkej-236	138	7	of	of	ADP
alkej-236	138	8	the	the	DET
alkej-236	138	9	research	research	NOUN
alkej-236	138	10	at	at	ADP
alkej-236	138	11	many	many	ADJ
alkej-236	138	12	scientific	scientific	ADJ
alkej-236	138	13	centers	center	NOUN
alkej-236	138	14	of	of	ADP
alkej-236	138	15	industry	industry	NOUN
alkej-236	138	16	and	and	CCONJ
alkej-236	138	17	universities	university	NOUN
alkej-236	138	18	is	be	AUX
alkej-236	138	19	maintained	maintain	VERB
alkej-236	138	20	at	at	ADP
alkej-236	138	21	high	high	ADJ
alkej-236	138	22	level	level	NOUN
alkej-236	138	23	,	,	PUNCT
alkej-236	138	24	and	and	CCONJ
alkej-236	138	25	sliding	slide	VERB
alkej-236	138	26	mode	mode	NOUN
alkej-236	138	27	control	control	NOUN
alkej-236	138	28	has	have	AUX
alkej-236	138	29	been	be	AUX
alkej-236	138	30	proved	prove	VERB
alkej-236	138	31	to	to	PART
alkej-236	138	32	be	be	AUX
alkej-236	138	33	applicable	applicable	ADJ
alkej-236	138	34	to	to	ADP
alkej-236	138	35	a	a	DET
alkej-236	138	36	wide	wide	ADJ
alkej-236	138	37	range	range	NOUN
alkej-236	138	38	of	of	ADP
alkej-236	138	39	problems	problem	NOUN
alkej-236	138	40	in	in	ADP
alkej-236	138	41	robotics	robotic	NOUN
alkej-236	138	42	,	,	PUNCT
alkej-236	138	43	electric	electric	ADJ
alkej-236	138	44	drives	drive	NOUN
alkej-236	138	45	and	and	CCONJ
alkej-236	138	46	shibly	shibly	ADV
alkej-236	138	47	ahmed	ahmed	PROPN
alkej-236	138	48	al	al	PROPN
alkej-236	138	49	-	-	PROPN
alkej-236	138	50	samarraie	samarraie	PROPN
alkej-236	138	51	al	al	PROPN
alkej-236	138	52	-	-	PUNCT
alkej-236	138	53	khwarizmi	khwarizmi	PROPN
alkej-236	138	54	engineering	engineering	NOUN
alkej-236	138	55	journal	journal	PROPN
alkej-236	138	56	,	,	PUNCT
alkej-236	138	57	vol	vol	NOUN
alkej-236	138	58	.	.	PROPN
alkej-236	139	1	11	11	NUM
alkej-236	139	2	,	,	PUNCT
alkej-236	139	3	no	no	INTJ
alkej-236	139	4	.	.	NOUN
alkej-236	139	5	3	3	NUM
alkej-236	139	6	,	,	PUNCT
alkej-236	139	7	p.p	p.p	PROPN
alkej-236	139	8	.	.	NOUN
alkej-236	139	9	110	110	NUM
alkej-236	139	10	(	(	PUNCT
alkej-236	139	11	2015	2015	NUM
alkej-236	139	12	)	)	PUNCT
alkej-236	140	1	76	76	NUM
alkej-236	140	2	generators	generator	NOUN
alkej-236	140	3	,	,	PUNCT
alkej-236	140	4	process	process	NOUN
alkej-236	140	5	control	control	NOUN
alkej-236	140	6	,	,	PUNCT
alkej-236	140	7	vehicle	vehicle	NOUN
alkej-236	140	8	and	and	CCONJ
alkej-236	140	9	motion	motion	NOUN
alkej-236	140	10	control	control	NOUN
alkej-236	140	11	.	.	PUNCT
alkej-236	141	1	in	in	ADP
alkej-236	141	2	the	the	DET
alkej-236	141	3	present	present	NOUN
alkej-236	141	4	,	,	PUNCT
alkej-236	141	5	the	the	DET
alkej-236	141	6	nonlinear	nonlinear	ADJ
alkej-236	141	7	system	system	NOUN
alkej-236	141	8	is	be	AUX
alkej-236	141	9	described	describe	VERB
alkej-236	141	10	by	by	ADP
alkej-236	141	11	differential	differential	ADJ
alkej-236	141	12	equations	equation	NOUN
alkej-236	141	13	in	in	ADP
alkej-236	141	14	an	an	DET
alkej-236	141	15	arbitrary	arbitrary	ADJ
alkej-236	141	16	1	1	NUM
alkej-236	141	17	-	-	PUNCT
alkej-236	141	18	dimensional	dimensional	ADJ
alkej-236	141	19	state	state	NOUN
alkej-236	141	20	space	space	NOUN
alkej-236	141	21	with	with	ADP
alkej-236	141	22	a	a	DET
alkej-236	141	23	scalar	scalar	ADJ
alkej-236	141	24	control	control	NOUN
alkej-236	141	25	action	action	NOUN
alkej-236	141	26	:	:	PUNCT
alkej-236	141	27	b	b	X
alkej-236	141	28	�	�	PROPN
alkej-236	141	29	=	=	SYM
alkej-236	141	30	6	6	NUM
alkej-236	141	31	�	�	PROPN
alkej-236	141	32	b	b	PROPN
alkej-236	141	33	,	,	PUNCT
alkej-236	141	34	�	�	PROPN
alkej-236	141	35	with	with	ADP
alkej-236	141	36	b	b	PROPN
alkej-236	141	37	∈	∈	PROPN
alkej-236	141	38	ℛ	ℛ	PROPN
alkej-236	141	39	;	;	PUNCT
alkej-236	141	40	,	,	PUNCT
alkej-236	141	41	6	6	NUM
alkej-236	141	42	∈	∈	PROPN
alkej-236	141	43	ℛ	ℛ	PROPN
alkej-236	141	44	;	;	PUNCT
alkej-236	141	45	,	,	PUNCT
alkej-236	141	46	∈	∈	PROPN
alkej-236	141	47	ℛ	ℛ	PROPN
alkej-236	141	48	,	,	PUNCT
alkej-236	141	49	and	and	CCONJ
alkej-236	141	50	{	{	PUNCT
alkej-236	141	51	denoting	denote	VERB
alkej-236	141	52	the	the	DET
alkej-236	141	53	time	time	NOUN
alkej-236	141	54	.	.	PUNCT
alkej-236	142	1	the	the	DET
alkej-236	142	2	conditions	condition	NOUN
alkej-236	142	3	that	that	PRON
alkej-236	142	4	will	will	AUX
alkej-236	142	5	ensure	ensure	VERB
alkej-236	142	6	sliding	slide	VERB
alkej-236	142	7	motion	motion	NOUN
alkej-236	142	8	may	may	AUX
alkej-236	142	9	be	be	AUX
alkej-236	142	10	obtained	obtain	VERB
alkej-236	142	11	from	from	ADP
alkej-236	142	12	geometrical	geometrical	ADJ
alkej-236	142	13	considerations	consideration	NOUN
alkej-236	142	14	:	:	PUNCT
alkej-236	142	15	the	the	DET
alkej-236	142	16	deviation	deviation	NOUN
alkej-236	142	17	from	from	ADP
alkej-236	142	18	the	the	DET
alkej-236	142	19	switching	switch	VERB
alkej-236	142	20	surface	surface	NOUN
alkej-236	142	21	/	/	PUNCT
alkej-236	142	22	and	and	CCONJ
alkej-236	142	23	its	its	PRON
alkej-236	142	24	time	time	NOUN
alkej-236	142	25	derivative	derivative	NOUN
alkej-236	142	26	should	should	AUX
alkej-236	142	27	have	have	VERB
alkej-236	142	28	opposite	opposite	ADJ
alkej-236	142	29	signs	sign	NOUN
alkej-236	142	30	in	in	ADP
alkej-236	142	31	the	the	DET
alkej-236	142	32	vicinity	vicinity	NOUN
alkej-236	142	33	of	of	ADP
alkej-236	142	34	a	a	DET
alkej-236	142	35	sliding	slide	VERB
alkej-236	142	36	surface	surface	NOUN
alkej-236	142	37	/	/	PUNCT
alkej-236	143	1	=	=	SYM
alkej-236	143	2	0	0	PUNCT
alkej-236	143	3	(	(	PUNCT
alkej-236	143	4	or	or	CCONJ
alkej-236	143	5	sliding	slide	VERB
alkej-236	143	6	manifold	manifold	ADJ
alkej-236	143	7	)	)	PUNCT
alkej-236	144	1	[	[	X
alkej-236	144	2	12	12	NUM
alkej-236	144	3	]	]	PUNCT
alkej-236	144	4	.	.	PUNCT
alkej-236	145	1	lim	lim	PROPN
alkej-236	145	2	�	�	PROPN
alkej-236	145	3	→	→	PROPN
alkej-236	145	4	�	�	PROPN
alkej-236	145	5	�	�	PROPN
alkej-236	145	6	/	/	SYM
alkej-236	145	7	�	�	PROPN
alkej-236	145	8	<	<	X
alkej-236	145	9	0	0	PROPN
alkej-236	145	10	and	and	CCONJ
alkej-236	145	11	lim	lim	PROPN
alkej-236	145	12	�	�	PROPN
alkej-236	145	13	→	→	PROPN
alkej-236	145	14	�	�	PROPN
alkej-236	145	15	�	�	PROPN
alkej-236	145	16	/	/	SYM
alkej-236	145	17	�	�	PROPN
alkej-236	145	18	>	>	X
alkej-236	145	19	0	0	NUM
alkej-236	145	20	or	or	CCONJ
alkej-236	145	21	/∗	/∗	PUNCT
alkej-236	145	22	/	/	SYM
alkej-236	145	23	�	�	PROPN
alkej-236	145	24	<	<	X
alkej-236	145	25	0	0	NUM
alkej-236	145	26	…	…	PUNCT
alkej-236	145	27	(	(	PUNCT
alkej-236	145	28	9	9	X
alkej-236	145	29	)	)	PUNCT
alkej-236	145	30	inequality	inequality	NOUN
alkej-236	145	31	in	in	ADP
alkej-236	145	32	equation	equation	NOUN
alkej-236	145	33	(	(	PUNCT
alkej-236	145	34	9	9	NUM
alkej-236	145	35	)	)	PUNCT
alkej-236	145	36	is	be	AUX
alkej-236	145	37	referred	refer	VERB
alkej-236	145	38	to	to	ADP
alkej-236	145	39	as	as	ADP
alkej-236	145	40	reaching	reach	VERB
alkej-236	145	41	or	or	CCONJ
alkej-236	145	42	sliding	slide	VERB
alkej-236	145	43	condition	condition	NOUN
alkej-236	145	44	.	.	PUNCT
alkej-236	146	1	the	the	DET
alkej-236	146	2	control	control	NOUN
alkej-236	146	3	signal	signal	NOUN
alkej-236	146	4	that	that	PRON
alkej-236	146	5	will	will	AUX
alkej-236	146	6	ensure	ensure	VERB
alkej-236	146	7	sliding	slide	VERB
alkej-236	146	8	motion	motion	NOUN
alkej-236	146	9	(	(	PUNCT
alkej-236	146	10	satisfying	satisfy	VERB
alkej-236	146	11	sliding	slide	VERB
alkej-236	146	12	condition	condition	NOUN
alkej-236	146	13	)	)	PUNCT
alkej-236	146	14	is	be	AUX
alkej-236	146	15	selected	select	VERB
alkej-236	146	16	as	as	ADP
alkej-236	146	17	a	a	DET
alkej-236	146	18	discontinuous	discontinuous	ADJ
alkej-236	146	19	function	function	NOUN
alkej-236	146	20	of	of	ADP
alkej-236	146	21	the	the	DET
alkej-236	146	22	state	state	NOUN
alkej-236	146	23	as	as	SCONJ
alkej-236	146	24	follows	follow	VERB
alkej-236	146	25	:	:	PUNCT
alkej-236	146	26	�	�	PROPN
alkej-236	146	27	b	b	SYM
alkej-236	146	28	�	�	PROPN
alkej-236	146	29	=	=	SYM
alkej-236	146	30	2	2	NUM
alkej-236	146	31	�	�	PROPN
alkej-236	146	32	�	�	PROPN
alkej-236	146	33	b	b	PROPN
alkej-236	146	34	�	�	PROPN
alkej-236	146	35	�	�	PROPN
alkej-236	146	36	6	6	NUM
alkej-236	146	37	/	/	SYM
alkej-236	146	38	>	>	SYM
alkej-236	146	39	0	0	NUM
alkej-236	146	40	�	�	PROPN
alkej-236	146	41	�	�	PROPN
alkej-236	146	42	b	b	PROPN
alkej-236	146	43	�	�	PROPN
alkej-236	146	44	�	�	PROPN
alkej-236	146	45	6	6	NUM
alkej-236	146	46	/	/	SYM
alkej-236	146	47	<	<	X
alkej-236	146	48	0	0	NUM
alkej-236	146	49	�	�	NOUN
alkej-236	146	50	…	…	PUNCT
alkej-236	146	51	(	(	PUNCT
alkej-236	146	52	10	10	NUM
alkej-236	146	53	)	)	PUNCT
alkej-236	146	54	where	where	SCONJ
alkej-236	146	55	the	the	DET
alkej-236	146	56	scalar	scalar	ADJ
alkej-236	146	57	functions	function	NOUN
alkej-236	146	58	�	�	PROPN
alkej-236	146	59	�	�	PROPN
alkej-236	146	60	b	b	PROPN
alkej-236	146	61	�	�	PROPN
alkej-236	146	62	,	,	PUNCT
alkej-236	146	63	�	�	PROPN
alkej-236	146	64	�	�	PROPN
alkej-236	146	65	b	b	NOUN
alkej-236	146	66	�	�	PROPN
alkej-236	146	67	and	and	CCONJ
alkej-236	146	68	/	/	SYM
alkej-236	146	69	�	�	PROPN
alkej-236	146	70	b	b	NOUN
alkej-236	146	71	�	�	PROPN
alkej-236	146	72	are	be	AUX
alkej-236	146	73	continuous	continuous	ADJ
alkej-236	146	74	and	and	CCONJ
alkej-236	146	75	smooth	smooth	ADJ
alkej-236	146	76	,	,	PUNCT
alkej-236	146	77	and	and	CCONJ
alkej-236	146	78	�	�	PROPN
alkej-236	146	79	�	�	PROPN
alkej-236	146	80	b	b	PROPN
alkej-236	146	81	�	�	PROPN
alkej-236	146	82	≠	≠	PROPN
alkej-236	146	83	�	�	PROPN
alkej-236	146	84	�	�	PROPN
alkej-236	146	85	b	b	PROPN
alkej-236	146	86	�	�	PROPN
alkej-236	146	87	.	.	PUNCT
alkej-236	147	1	accordingly	accordingly	ADV
alkej-236	147	2	the	the	DET
alkej-236	147	3	sliding	slide	VERB
alkej-236	147	4	mode	mode	NOUN
alkej-236	147	5	assumes	assume	VERB
alkej-236	147	6	to	to	PART
alkej-236	147	7	occur	occur	VERB
alkej-236	147	8	on	on	ADP
alkej-236	147	9	the	the	DET
alkej-236	147	10	surface	surface	NOUN
alkej-236	147	11	/	/	SYM
alkej-236	147	12	�	�	PROPN
alkej-236	147	13	b	b	NOUN
alkej-236	147	14	�	�	PROPN
alkej-236	147	15	=	=	SYM
alkej-236	147	16	0	0	PROPN
alkej-236	147	17	.	.	PUNCT
alkej-236	148	1	a	a	DET
alkej-236	148	2	serious	serious	ADJ
alkej-236	148	3	obstacle	obstacle	NOUN
alkej-236	148	4	for	for	ADP
alkej-236	148	5	utilization	utilization	NOUN
alkej-236	148	6	of	of	ADP
alkej-236	148	7	sliding	slide	VERB
alkej-236	148	8	modes	mode	NOUN
alkej-236	148	9	in	in	ADP
alkej-236	148	10	control	control	NOUN
alkej-236	148	11	systems	system	NOUN
alkej-236	148	12	is	be	AUX
alkej-236	148	13	a	a	DET
alkej-236	148	14	phenomenon	phenomenon	NOUN
alkej-236	148	15	referred	refer	VERB
alkej-236	148	16	to	to	ADP
alkej-236	148	17	as	as	ADP
alkej-236	148	18	“	"	PUNCT
alkej-236	148	19	chattering	chatter	VERB
alkej-236	148	20	”	"	PUNCT
alkej-236	148	21	.	.	PUNCT
alkej-236	149	1	the	the	DET
alkej-236	149	2	term	term	NOUN
alkej-236	149	3	chattering	chatter	VERB
alkej-236	149	4	describes	describe	VERB
alkej-236	149	5	the	the	DET
alkej-236	149	6	phenomenon	phenomenon	NOUN
alkej-236	149	7	of	of	ADP
alkej-236	149	8	finite	finite	ADJ
alkej-236	149	9	-	-	ADJ
alkej-236	149	10	frequency	frequency	NOUN
alkej-236	149	11	,	,	PUNCT
alkej-236	149	12	finite	finite	ADJ
alkej-236	149	13	amplitude	amplitude	NOUN
alkej-236	149	14	oscillations	oscillation	NOUN
alkej-236	149	15	appearing	appear	VERB
alkej-236	149	16	in	in	ADP
alkej-236	149	17	many	many	ADJ
alkej-236	149	18	sliding	slide	VERB
alkej-236	149	19	mode	mode	NOUN
alkej-236	149	20	implementations	implementation	NOUN
alkej-236	149	21	[	[	X
alkej-236	149	22	12	12	NUM
alkej-236	149	23	]	]	PUNCT
alkej-236	149	24	.	.	PUNCT
alkej-236	150	1	the	the	DET
alkej-236	150	2	chattering	chattering	NOUN
alkej-236	150	3	in	in	ADP
alkej-236	150	4	sliding	slide	VERB
alkej-236	150	5	mode	mode	NOUN
alkej-236	150	6	control	control	NOUN
alkej-236	150	7	system	system	NOUN
alkej-236	150	8	can	can	AUX
alkej-236	150	9	be	be	AUX
alkej-236	150	10	eliminated	eliminate	VERB
alkej-236	150	11	by	by	ADP
alkej-236	150	12	using	use	VERB
alkej-236	150	13	a	a	DET
alkej-236	150	14	smooth	smooth	ADJ
alkej-236	150	15	function	function	NOUN
alkej-236	150	16	in	in	ADP
alkej-236	150	17	the	the	DET
alkej-236	150	18	control	control	NOUN
alkej-236	150	19	.	.	PUNCT
alkej-236	151	1	the	the	DET
alkej-236	151	2	price	price	NOUN
alkej-236	151	3	for	for	ADP
alkej-236	151	4	this	this	DET
alkej-236	151	5	elimination	elimination	NOUN
alkej-236	151	6	is	be	AUX
alkej-236	151	7	a	a	DET
alkej-236	151	8	steady	steady	ADJ
alkej-236	151	9	state	state	NOUN
alkej-236	151	10	error	error	NOUN
alkej-236	151	11	as	as	SCONJ
alkej-236	151	12	proved	prove	VERB
alkej-236	151	13	in	in	ADP
alkej-236	151	14	reference	reference	NOUN
alkej-236	151	15	[	[	X
alkej-236	151	16	14	14	NUM
alkej-236	151	17	]	]	PUNCT
alkej-236	151	18	.	.	PUNCT
alkej-236	152	1	as	as	SCONJ
alkej-236	152	2	a	a	DET
alkej-236	152	3	new	new	ADJ
alkej-236	152	4	sliding	slide	VERB
alkej-236	152	5	mode	mode	NOUN
alkej-236	152	6	controller	controller	NOUN
alkej-236	152	7	design	design	VERB
alkej-236	152	8	the	the	DET
alkej-236	152	9	integral	integral	ADJ
alkej-236	152	10	sliding	slide	VERB
alkej-236	152	11	mode	mode	NOUN
alkej-236	152	12	control	control	NOUN
alkej-236	152	13	(	(	PUNCT
alkej-236	152	14	ismc	ismc	NOUN
alkej-236	152	15	)	)	PUNCT
alkej-236	152	16	seeks	seek	VERB
alkej-236	152	17	to	to	PART
alkej-236	152	18	eliminate	eliminate	VERB
alkej-236	152	19	the	the	DET
alkej-236	152	20	reaching	reach	VERB
alkej-236	152	21	phase	phase	NOUN
alkej-236	152	22	by	by	ADP
alkej-236	152	23	enforcing	enforce	VERB
alkej-236	152	24	sliding	slide	VERB
alkej-236	152	25	mode	mode	NOUN
alkej-236	152	26	throughout	throughout	ADP
alkej-236	152	27	the	the	DET
alkej-236	152	28	entire	entire	ADJ
alkej-236	152	29	system	system	NOUN
alkej-236	152	30	response	response	NOUN
alkej-236	152	31	[	[	X
alkej-236	152	32	12	12	NUM
alkej-236	152	33	]	]	PUNCT
alkej-236	152	34	.	.	PUNCT
alkej-236	153	1	in	in	ADP
alkej-236	153	2	integral	integral	ADJ
alkej-236	153	3	sliding	slide	VERB
alkej-236	153	4	mode	mode	NOUN
alkej-236	153	5	the	the	DET
alkej-236	153	6	order	order	NOUN
alkej-236	153	7	of	of	ADP
alkej-236	153	8	the	the	DET
alkej-236	153	9	motion	motion	NOUN
alkej-236	153	10	equation	equation	NOUN
alkej-236	153	11	is	be	AUX
alkej-236	153	12	equal	equal	ADJ
alkej-236	153	13	to	to	ADP
alkej-236	153	14	the	the	DET
alkej-236	153	15	order	order	NOUN
alkej-236	153	16	of	of	ADP
alkej-236	153	17	the	the	DET
alkej-236	153	18	original	original	ADJ
alkej-236	153	19	system	system	NOUN
alkej-236	153	20	rather	rather	ADV
alkej-236	153	21	than	than	ADP
alkej-236	153	22	reduced	reduce	VERB
alkej-236	153	23	by	by	ADP
alkej-236	153	24	the	the	DET
alkej-236	153	25	dimension	dimension	NOUN
alkej-236	153	26	of	of	ADP
alkej-236	153	27	the	the	DET
alkej-236	153	28	control	control	NOUN
alkej-236	153	29	input	input	NOUN
alkej-236	153	30	as	as	ADP
alkej-236	153	31	in	in	ADP
alkej-236	153	32	the	the	DET
alkej-236	153	33	conventional	conventional	ADJ
alkej-236	153	34	sliding	slide	VERB
alkej-236	153	35	mode	mode	NOUN
alkej-236	153	36	design	design	NOUN
alkej-236	153	37	.	.	PUNCT
alkej-236	154	1	for	for	ADP
alkej-236	154	2	this	this	DET
alkej-236	154	3	reason	reason	NOUN
alkej-236	154	4	,	,	PUNCT
alkej-236	154	5	it	it	PRON
alkej-236	154	6	is	be	AUX
alkej-236	154	7	also	also	ADV
alkej-236	154	8	named	name	VERB
alkej-236	154	9	as	as	ADP
alkej-236	154	10	the	the	DET
alkej-236	154	11	full	full	ADJ
alkej-236	154	12	order	order	NOUN
alkej-236	154	13	sliding	slide	VERB
alkej-236	154	14	mode	mode	NOUN
alkej-236	154	15	.	.	PUNCT
alkej-236	155	1	as	as	ADP
alkej-236	155	2	a	a	DET
alkej-236	155	3	result	result	NOUN
alkej-236	155	4	,	,	PUNCT
alkej-236	155	5	robustness	robustness	NOUN
alkej-236	155	6	of	of	ADP
alkej-236	155	7	the	the	DET
alkej-236	155	8	system	system	NOUN
alkej-236	155	9	can	can	AUX
alkej-236	155	10	be	be	AUX
alkej-236	155	11	guaranteed	guarantee	VERB
alkej-236	155	12	starting	start	VERB
alkej-236	155	13	from	from	ADP
alkej-236	155	14	the	the	DET
alkej-236	155	15	initial	initial	ADJ
alkej-236	155	16	time	time	NOUN
alkej-236	155	17	instant	instant	NOUN
alkej-236	155	18	[	[	X
alkej-236	155	19	12	12	NUM
alkej-236	155	20	]	]	PUNCT
alkej-236	155	21	.	.	PUNCT
alkej-236	156	1	to	to	PART
alkej-236	156	2	derive	derive	VERB
alkej-236	156	3	the	the	DET
alkej-236	156	4	control	control	NOUN
alkej-236	156	5	law	law	NOUN
alkej-236	156	6	,	,	PUNCT
alkej-236	156	7	consider	consider	VERB
alkej-236	156	8	the	the	DET
alkej-236	156	9	following	follow	VERB
alkej-236	156	10	dynamic	dynamic	ADJ
alkej-236	156	11	system	system	NOUN
alkej-236	156	12	;	;	PUNCT
alkej-236	157	1	b	b	X
alkej-236	157	2	�	�	PROPN
alkej-236	157	3	=	=	SYM
alkej-236	157	4	6	6	NUM
alkej-236	157	5	�	�	PROPN
alkej-236	157	6	b	b	NOUN
alkej-236	157	7	�	�	PROPN
alkej-236	157	8	+	+	CCONJ
alkej-236	157	9	0	0	NUM
alkej-236	157	10	�	�	PROPN
alkej-236	157	11	b	b	NOUN
alkej-236	157	12	�	�	PROPN
alkej-236	157	13	+	+	CCONJ
alkej-236	157	14	d	d	PROPN
alkej-236	157	15	�	�	PROPN
alkej-236	157	16	b	b	PROPN
alkej-236	157	17	,	,	PUNCT
alkej-236	157	18	{	{	PUNCT
alkej-236	157	19	�	�	PROPN
alkej-236	157	20	…	…	PUNCT
alkej-236	157	21	(	(	PUNCT
alkej-236	157	22	11	11	NUM
alkej-236	157	23	)	)	PUNCT
alkej-236	157	24	where	where	SCONJ
alkej-236	157	25	b	b	X
alkej-236	157	26	∈	∈	PROPN
alkej-236	157	27	ℛ	ℛ	PROPN
alkej-236	157	28	;	;	PUNCT
alkej-236	157	29	,	,	PUNCT
alkej-236	157	30	6	6	NUM
alkej-236	157	31	∈	∈	PROPN
alkej-236	157	32	ℛ	ℛ	PROPN
alkej-236	157	33	;	;	PUNCT
alkej-236	157	34	,	,	PUNCT
alkej-236	157	35	0	0	NUM
alkej-236	157	36	∈	∈	PROPN
alkej-236	157	37	ℛ;×	ℛ;×	NOUN
alkej-236	157	38	,	,	PUNCT
alkej-236	157	39	∈	∈	PROPN
alkej-236	157	40	ℛ	ℛ	PROPN
alkej-236	157	41	and	and	CCONJ
alkej-236	157	42	d	d	PROPN
alkej-236	157	43	∈	∈	PROPN
alkej-236	157	44	ℛcollected	ℛcollecte	VERB
alkej-236	157	45	the	the	DET
alkej-236	157	46	unmodeled	unmodeled	ADJ
alkej-236	157	47	dynamics	dynamic	NOUN
alkej-236	157	48	,	,	PUNCT
alkej-236	157	49	the	the	DET
alkej-236	157	50	nonsmooth	nonsmooth	NOUN
alkej-236	157	51	nonlinearities	nonlinearitie	NOUN
alkej-236	157	52	and	and	CCONJ
alkej-236	157	53	external	external	ADJ
alkej-236	157	54	disturbances	disturbance	NOUN
alkej-236	157	55	.	.	PUNCT
alkej-236	158	1	rewrite	rewrite	VERB
alkej-236	158	2	equation	equation	NOUN
alkej-236	158	3	(	(	PUNCT
alkej-236	158	4	11	11	NUM
alkej-236	158	5	)	)	PUNCT
alkej-236	158	6	in	in	ADP
alkej-236	158	7	terms	term	NOUN
alkej-236	158	8	of	of	ADP
alkej-236	158	9	certain	certain	ADJ
alkej-236	158	10	and	and	CCONJ
alkej-236	158	11	uncertain	uncertain	ADJ
alkej-236	158	12	dynamics	dynamic	NOUN
alkej-236	158	13	as	as	SCONJ
alkej-236	158	14	follows	follow	VERB
alkej-236	158	15	:	:	PUNCT
alkej-236	158	16	b	b	X
alkej-236	158	17	�	�	PROPN
alkej-236	158	18	=	=	SYM
alkej-236	158	19	6;	6;	PROPN
alkej-236	158	20	�	�	PROPN
alkej-236	158	21	b	b	PROPN
alkej-236	158	22	�	�	PROPN
alkej-236	158	23	+	+	CCONJ
alkej-236	158	24	0;	0;	PROPN
alkej-236	158	25	�	�	PROPN
alkej-236	158	26	b	b	PROPN
alkej-236	158	27	�	�	PROPN
alkej-236	158	28	+	+	NUM
alkej-236	158	29	∆6	∆6	PROPN
alkej-236	158	30	�	�	PROPN
alkej-236	158	31	b	b	PROPN
alkej-236	158	32	�	�	PROPN
alkej-236	158	33	+	+	CCONJ
alkej-236	158	34	∆0	∆0	NUM
alkej-236	158	35	�	�	SYM
alkej-236	158	36	b	b	NOUN
alkej-236	158	37	�	�	PROPN
alkej-236	158	38	+	+	CCONJ
alkej-236	158	39	d	d	PROPN
alkej-236	158	40	�	�	PROPN
alkej-236	158	41	b	b	PROPN
alkej-236	158	42	,	,	PUNCT
alkej-236	158	43	{	{	PUNCT
alkej-236	158	44	�	�	PROPN
alkej-236	158	45	…	…	PUNCT
alkej-236	158	46	(	(	PUNCT
alkej-236	158	47	12	12	NUM
alkej-236	158	48	)	)	PUNCT
alkej-236	158	49	where	where	SCONJ
alkej-236	158	50	6;	6;	PROPN
alkej-236	158	51	�	�	PROPN
alkej-236	158	52	b	b	PROPN
alkej-236	158	53	�	�	PROPN
alkej-236	158	54	,	,	PUNCT
alkej-236	158	55	0;	0;	PROPN
alkej-236	158	56	�	�	PROPN
alkej-236	158	57	b	b	PROPN
alkej-236	158	58	�	�	PROPN
alkej-236	158	59	and	and	CCONJ
alkej-236	158	60	∆6	∆6	PROPN
alkej-236	158	61	�	�	PROPN
alkej-236	158	62	b	b	PROPN
alkej-236	158	63	�	�	PROPN
alkej-236	158	64	,	,	PUNCT
alkej-236	158	65	∆0	∆0	NUM
alkej-236	158	66	�	�	SYM
alkej-236	158	67	b	b	NOUN
alkej-236	158	68	�	�	PROPN
alkej-236	158	69	are	be	AUX
alkej-236	158	70	the	the	DET
alkej-236	158	71	nominal	nominal	ADJ
alkej-236	158	72	and	and	CCONJ
alkej-236	158	73	the	the	DET
alkej-236	158	74	uncertain	uncertain	ADJ
alkej-236	158	75	system	system	NOUN
alkej-236	158	76	dynamics	dynamic	NOUN
alkej-236	158	77	in	in	ADP
alkej-236	158	78	equation	equation	NOUN
alkej-236	158	79	(	(	PUNCT
alkej-236	158	80	11	11	NUM
alkej-236	158	81	)	)	PUNCT
alkej-236	158	82	.	.	PUNCT
alkej-236	159	1	in	in	ADP
alkej-236	159	2	addition	addition	NOUN
alkej-236	159	3	let	let	VERB
alkej-236	159	4	the	the	DET
alkej-236	159	5	control	control	NOUN
alkej-236	159	6	law	law	NOUN
alkej-236	159	7	is	be	AUX
alkej-236	159	8	redesigned	redesign	VERB
alkej-236	159	9	to	to	PART
alkej-236	159	10	be	be	AUX
alkej-236	159	11	=	=	PUNCT
alkej-236	159	12	;	;	PUNCT
alkej-236	159	13	+	+	CCONJ
alkej-236	159	14	�	�	PROPN
alkej-236	159	15	…	…	PUNCT
alkej-236	159	16	(	(	PUNCT
alkej-236	159	17	13	13	NUM
alkej-236	159	18	)	)	PUNCT
alkej-236	159	19	where	where	SCONJ
alkej-236	159	20	;	;	PUNCT
alkej-236	159	21	is	be	AUX
alkej-236	159	22	the	the	DET
alkej-236	159	23	nominal	nominal	ADJ
alkej-236	159	24	control	control	NOUN
alkej-236	159	25	used	use	VERB
alkej-236	159	26	to	to	PART
alkej-236	159	27	stabilize	stabilize	VERB
alkej-236	159	28	the	the	DET
alkej-236	159	29	nominal	nominal	ADJ
alkej-236	159	30	system	system	NOUN
alkej-236	159	31	dynamics	dynamic	NOUN
alkej-236	159	32	with	with	ADP
alkej-236	159	33	the	the	DET
alkej-236	159	34	desired	desire	VERB
alkej-236	159	35	characteristics	characteristic	NOUN
alkej-236	159	36	.	.	PUNCT
alkej-236	160	1	the	the	DET
alkej-236	160	2	nominal	nominal	ADJ
alkej-236	160	3	system	system	NOUN
alkej-236	160	4	dynamics	dynamic	NOUN
alkej-236	160	5	is	be	AUX
alkej-236	160	6	:	:	PUNCT
alkej-236	160	7	b	b	X
alkej-236	160	8	�	�	PROPN
alkej-236	160	9	=	=	SYM
alkej-236	160	10	6;	6;	PROPN
alkej-236	160	11	�	�	PROPN
alkej-236	160	12	b	b	PROPN
alkej-236	160	13	�	�	PROPN
alkej-236	160	14	+	+	CCONJ
alkej-236	160	15	0;	0;	PROPN
alkej-236	160	16	�	�	PROPN
alkej-236	160	17	b	b	PROPN
alkej-236	160	18	�	�	PROPN
alkej-236	160	19	;	;	PUNCT
alkej-236	160	20	…	…	PUNCT
alkej-236	160	21	(	(	PUNCT
alkej-236	160	22	14	14	NUM
alkej-236	160	23	)	)	PUNCT
alkej-236	160	24	the	the	DET
alkej-236	160	25	discontinuous	discontinuous	ADJ
alkej-236	160	26	control	control	NOUN
alkej-236	160	27	�	�	PROPN
alkej-236	160	28	designed	design	VERB
alkej-236	160	29	to	to	PART
alkej-236	160	30	reject	reject	VERB
alkej-236	160	31	the	the	DET
alkej-236	160	32	perturbation	perturbation	NOUN
alkej-236	160	33	term	term	NOUN
alkej-236	160	34	in	in	ADP
alkej-236	160	35	equation	equation	NOUN
alkej-236	160	36	(	(	PUNCT
alkej-236	160	37	12	12	NUM
alkej-236	160	38	)	)	PUNCT
alkej-236	160	39	.	.	PUNCT
alkej-236	161	1	the	the	DET
alkej-236	161	2	perturbation	perturbation	NOUN
alkej-236	161	3	term	term	NOUN
alkej-236	161	4	and	and	CCONJ
alkej-236	161	5	the	the	DET
alkej-236	161	6	design	design	NOUN
alkej-236	161	7	of	of	ADP
alkej-236	161	8	the	the	DET
alkej-236	161	9	ismc	ismc	NOUN
alkej-236	161	10	are	be	AUX
alkej-236	161	11	clarified	clarify	VERB
alkej-236	161	12	in	in	ADP
alkej-236	161	13	the	the	DET
alkej-236	161	14	following	follow	VERB
alkej-236	161	15	analysis	analysis	NOUN
alkej-236	161	16	;	;	PUNCT
alkej-236	161	17	equation	equation	NOUN
alkej-236	161	18	(	(	PUNCT
alkej-236	161	19	12	12	NUM
alkej-236	161	20	)	)	PUNCT
alkej-236	161	21	can	can	AUX
alkej-236	161	22	be	be	AUX
alkej-236	161	23	written	write	VERB
alkej-236	161	24	as	as	ADP
alkej-236	161	25	:	:	PUNCT
alkej-236	161	26	b	b	X
alkej-236	161	27	�	�	PROPN
alkej-236	161	28	=	=	SYM
alkej-236	161	29	6;	6;	PROPN
alkej-236	161	30	�	�	PROPN
alkej-236	161	31	b	b	PROPN
alkej-236	161	32	�	�	PROPN
alkej-236	161	33	+	+	CCONJ
alkej-236	161	34	0;	0;	PROPN
alkej-236	161	35	�	�	PROPN
alkej-236	161	36	b	b	PROPN
alkej-236	161	37	�	�	PROPN
alkej-236	161	38	;	;	PUNCT
alkej-236	161	39	+	+	CCONJ
alkej-236	161	40	0;	0;	PROPN
alkej-236	161	41	�	�	PROPN
alkej-236	161	42	b	b	PROPN
alkej-236	161	43	�	�	PROPN
alkej-236	161	44	�	�	PROPN
alkej-236	161	45	+	+	CCONJ
alkej-236	161	46	v	v	PROPN
alkej-236	161	47	�	�	PROPN
alkej-236	161	48	b	b	PROPN
alkej-236	161	49	,	,	PUNCT
alkej-236	161	50	�	�	PROPN
alkej-236	161	51	…	…	PUNCT
alkej-236	161	52	(	(	PUNCT
alkej-236	161	53	15	15	NUM
alkej-236	161	54	)	)	PUNCT
alkej-236	161	55	where	where	SCONJ
alkej-236	161	56	v	v	ADP
alkej-236	161	57	�	�	PROPN
alkej-236	161	58	b	b	PROPN
alkej-236	161	59	,	,	PUNCT
alkej-236	161	60	�	�	PROPN
alkej-236	161	61	=	=	SYM
alkej-236	161	62	∆6	∆6	PROPN
alkej-236	161	63	�	�	PROPN
alkej-236	161	64	b	b	PROPN
alkej-236	161	65	�	�	PROPN
alkej-236	161	66	+	+	CCONJ
alkej-236	161	67	∆0	∆0	NUM
alkej-236	161	68	�	�	SYM
alkej-236	161	69	b	b	NOUN
alkej-236	161	70	�	�	PROPN
alkej-236	161	71	+	+	CCONJ
alkej-236	161	72	d	d	PROPN
alkej-236	161	73	�	�	PROPN
alkej-236	161	74	b	b	PROPN
alkej-236	161	75	,	,	PUNCT
alkej-236	161	76	{	{	PUNCT
alkej-236	161	77	�	�	PROPN
alkej-236	161	78	is	be	AUX
alkej-236	161	79	the	the	DET
alkej-236	161	80	perturbation	perturbation	NOUN
alkej-236	161	81	term	term	NOUN
alkej-236	161	82	.	.	PUNCT
alkej-236	162	1	the	the	DET
alkej-236	162	2	perturbation	perturbation	NOUN
alkej-236	162	3	attributable	attributable	ADJ
alkej-236	162	4	to	to	ADP
alkej-236	162	5	parameter	parameter	NOUN
alkej-236	162	6	variations	variation	NOUN
alkej-236	162	7	,	,	PUNCT
alkej-236	162	8	unmodeled	unmodeled	ADJ
alkej-236	162	9	dynamics	dynamic	NOUN
alkej-236	162	10	,	,	PUNCT
alkej-236	162	11	non	non	ADJ
alkej-236	162	12	-	-	ADJ
alkej-236	162	13	smooth	smooth	ADJ
alkej-236	162	14	nonlinearities	nonlinearitie	NOUN
alkej-236	162	15	and	and	CCONJ
alkej-236	162	16	external	external	ADJ
alkej-236	162	17	disturbances	disturbance	NOUN
alkej-236	162	18	and	and	CCONJ
alkej-236	162	19	is	be	AUX
alkej-236	162	20	assumed	assume	VERB
alkej-236	162	21	to	to	PART
alkej-236	162	22	fulfill	fulfill	VERB
alkej-236	162	23	the	the	DET
alkej-236	162	24	matching	match	VERB
alkej-236	162	25	condition	condition	NOUN
alkej-236	162	26	[	[	X
alkej-236	162	27	12	12	NUM
alkej-236	162	28	]	]	X
alkej-236	162	29	i.e.	i.e.	X
alkej-236	162	30	,	,	PUNCT
alkej-236	162	31	v	v	PROPN
alkej-236	162	32	�	�	PROPN
alkej-236	162	33	b	b	PROPN
alkej-236	162	34	,	,	PUNCT
alkej-236	162	35	�	�	PROPN
alkej-236	162	36	=	=	SYM
alkej-236	162	37	0;	0;	PROPN
alkej-236	162	38	�	�	PROPN
alkej-236	162	39	b	b	PROPN
alkej-236	162	40	�	�	PROPN
alkej-236	162	41	v	v	NOUN
alkej-236	162	42	�	�	PROPN
alkej-236	162	43	�	�	PROPN
alkej-236	162	44	b	b	PROPN
alkej-236	162	45	,	,	PUNCT
alkej-236	162	46	�	�	PROPN
alkej-236	162	47	…	…	PUNCT
alkej-236	162	48	(	(	PUNCT
alkej-236	162	49	16	16	NUM
alkej-236	162	50	)	)	PUNCT
alkej-236	162	51	as	as	ADP
alkej-236	162	52	a	a	DET
alkej-236	162	53	first	first	ADJ
alkej-236	162	54	step	step	NOUN
alkej-236	162	55	in	in	ADP
alkej-236	162	56	ismc	ismc	NOUN
alkej-236	162	57	design	design	NOUN
alkej-236	162	58	procedure	procedure	NOUN
alkej-236	162	59	,	,	PUNCT
alkej-236	162	60	the	the	DET
alkej-236	162	61	sliding	slide	VERB
alkej-236	162	62	variable	variable	ADJ
alkej-236	162	63	/	/	SYM
alkej-236	162	64	�	�	PROPN
alkej-236	162	65	b	b	PROPN
alkej-236	162	66	�	�	PROPN
alkej-236	162	67	is	be	AUX
alkej-236	162	68	defined	define	VERB
alkej-236	162	69	as	as	ADP
alkej-236	162	70	:	:	PUNCT
alkej-236	162	71	/	/	SYM
alkej-236	162	72	�	�	PROPN
alkej-236	162	73	b	b	NOUN
alkej-236	162	74	�	�	PROPN
alkej-236	162	75	=	=	SYM
alkej-236	162	76	/5	/5	SYM
alkej-236	162	77	�	�	PROPN
alkej-236	162	78	b	b	SYM
alkej-236	162	79	�	�	PROPN
alkej-236	162	80	+	+	SYM
alkej-236	162	81	�	�	PROPN
alkej-236	162	82	,	,	PUNCT
alkej-236	162	83	/	/	SYM
alkej-236	162	84	�	�	PROPN
alkej-236	162	85	b	b	NOUN
alkej-236	162	86	�	�	PROPN
alkej-236	162	87	,	,	PUNCT
alkej-236	162	88	/5	/5	PUNCT
alkej-236	162	89	�	�	PROPN
alkej-236	162	90	b	b	SYM
alkej-236	162	91	�	�	PROPN
alkej-236	162	92	&	&	CCONJ
alkej-236	162	93	�	�	PROPN
alkej-236	162	94	∈	∈	PROPN
alkej-236	162	95	ℛ	ℛ	PROPN
alkej-236	162	96	,	,	PUNCT
alkej-236	162	97	…	…	PUNCT
alkej-236	162	98	(	(	PUNCT
alkej-236	162	99	17	17	NUM
alkej-236	162	100	)	)	PUNCT
alkej-236	162	101	which	which	PRON
alkej-236	162	102	consists	consist	VERB
alkej-236	162	103	of	of	ADP
alkej-236	162	104	two	two	NUM
alkej-236	162	105	parts	part	NOUN
alkej-236	162	106	:	:	PUNCT
alkej-236	162	107	the	the	DET
alkej-236	162	108	first	first	ADJ
alkej-236	162	109	part	part	NOUN
alkej-236	162	110	/	/	SYM
alkej-236	162	111	�	�	PROPN
alkej-236	162	112	�	�	PROPN
alkej-236	162	113	b	b	NOUN
alkej-236	162	114	�	�	PROPN
alkej-236	162	115	may	may	AUX
alkej-236	162	116	be	be	AUX
alkej-236	162	117	designed	design	VERB
alkej-236	162	118	as	as	ADP
alkej-236	162	119	a	a	DET
alkej-236	162	120	linear	linear	ADJ
alkej-236	162	121	combination	combination	NOUN
alkej-236	162	122	of	of	ADP
alkej-236	162	123	the	the	DET
alkej-236	162	124	system	system	NOUN
alkej-236	162	125	states	state	NOUN
alkej-236	162	126	,	,	PUNCT
alkej-236	162	127	similar	similar	ADJ
alkej-236	162	128	to	to	ADP
alkej-236	162	129	the	the	DET
alkej-236	162	130	conventional	conventional	ADJ
alkej-236	162	131	sliding	slide	VERB
alkej-236	162	132	mode	mode	NOUN
alkej-236	162	133	design	design	NOUN
alkej-236	162	134	;	;	PUNCT
alkej-236	162	135	the	the	DET
alkej-236	162	136	second	second	ADJ
alkej-236	162	137	part	part	NOUN
alkej-236	162	138	�	�	PROPN
alkej-236	162	139	introduces	introduce	VERB
alkej-236	162	140	the	the	DET
alkej-236	162	141	integral	integral	ADJ
alkej-236	162	142	term	term	NOUN
alkej-236	162	143	and	and	CCONJ
alkej-236	162	144	will	will	AUX
alkej-236	162	145	be	be	AUX
alkej-236	162	146	determined	determine	VERB
alkej-236	162	147	below	below	ADV
alkej-236	162	148	.	.	PUNCT
alkej-236	163	1	to	to	PART
alkej-236	163	2	apply	apply	VERB
alkej-236	163	3	the	the	DET
alkej-236	163	4	sliding	slide	VERB
alkej-236	163	5	condition	condition	NOUN
alkej-236	163	6	in	in	ADP
alkej-236	163	7	equation	equation	NOUN
alkej-236	163	8	(	(	PUNCT
alkej-236	163	9	9	9	NUM
alkej-236	163	10	)	)	PUNCT
alkej-236	163	11	/	/	SYM
alkej-236	163	12	�	�	PROPN
alkej-236	163	13	is	be	AUX
alkej-236	163	14	differentiated	differentiate	VERB
alkej-236	163	15	as	as	SCONJ
alkej-236	163	16	follows	follow	VERB
alkej-236	163	17	;	;	PUNCT
alkej-236	163	18	/	/	SYM
alkej-236	163	19	�	�	PROPN
alkej-236	163	20	=	=	SYM
alkej-236	163	21	�	�	PROPN
alkej-236	163	22	/5	/5	PROPN
alkej-236	163	23	�	�	PROPN
alkej-236	163	24	b	b	PROPN
alkej-236	163	25	b	b	PROPN
alkej-236	163	26	�	�	PROPN
alkej-236	163	27	+	+	SYM
alkej-236	163	28	�	�	PROPN
alkej-236	163	29	�	�	PROPN
alkej-236	163	30	=	=	SYM
alkej-236	163	31	�	�	PROPN
alkej-236	163	32	/5	/5	PROPN
alkej-236	163	33	�	�	PROPN
alkej-236	163	34	b	b	PROPN
alkej-236	163	35	�	�	PROPN
alkej-236	163	36	6;	6;	PROPN
alkej-236	163	37	�	�	PROPN
alkej-236	163	38	b	b	PROPN
alkej-236	163	39	�	�	PROPN
alkej-236	163	40	+	+	CCONJ
alkej-236	163	41	0;	0;	PROPN
alkej-236	163	42	�	�	PROPN
alkej-236	163	43	b	b	PROPN
alkej-236	163	44	�	�	PROPN
alkej-236	163	45	;	;	PUNCT
alkej-236	163	46	+	+	CCONJ
alkej-236	163	47	0;	0;	PROPN
alkej-236	163	48	�	�	PROPN
alkej-236	163	49	b	b	PROPN
alkej-236	163	50	�	�	PROPN
alkej-236	163	51	�	�	PROPN
alkej-236	163	52	+	+	CCONJ
alkej-236	163	53	v	v	PROPN
alkej-236	163	54	�	�	PROPN
alkej-236	163	55	b	b	PROPN
alkej-236	163	56	,	,	PUNCT
alkej-236	163	57	�	�	PROPN
alkej-236	163	58	�	�	PROPN
alkej-236	163	59	+	+	CCONJ
alkej-236	163	60	�	�	PROPN
alkej-236	163	61	�	�	PROPN
alkej-236	163	62	=	=	SYM
alkej-236	163	63	�	�	PROPN
alkej-236	163	64	�	�	PROPN
alkej-236	163	65	�	�	PROPN
alkej-236	163	66	�	�	PROPN
alkej-236	163	67	9	9	NUM
alkej-236	163	68	�	�	PROPN
alkej-236	163	69	0;	0;	PROPN
alkej-236	163	70	�	�	PROPN
alkej-236	163	71	b	b	PROPN
alkej-236	163	72	�	�	PROPN
alkej-236	163	73	�	�	PROPN
alkej-236	163	74	+	+	CCONJ
alkej-236	163	75	v	v	PROPN
alkej-236	163	76	�	�	PROPN
alkej-236	163	77	b	b	PROPN
alkej-236	163	78	,	,	PUNCT
alkej-236	163	79	�	�	PROPN
alkej-236	163	80	�	�	PROPN
alkej-236	163	81	+	+	SYM
alkej-236	163	82	�	�	PROPN
alkej-236	163	83	�	�	PROPN
alkej-236	163	84	�	�	PROPN
alkej-236	163	85	�	�	PROPN
alkej-236	163	86	9	9	NUM
alkej-236	163	87	�	�	PROPN
alkej-236	163	88	6;	6;	NOUN
alkej-236	163	89	�	�	PROPN
alkej-236	163	90	b	b	PROPN
alkej-236	163	91	�	�	PROPN
alkej-236	163	92	+	+	CCONJ
alkej-236	163	93	0;	0;	PROPN
alkej-236	163	94	�	�	PROPN
alkej-236	163	95	b	b	PROPN
alkej-236	163	96	�	�	PROPN
alkej-236	163	97	;	;	PUNCT
alkej-236	163	98	�	�	PROPN
alkej-236	163	99	+	+	SYM
alkej-236	163	100	�	�	PROPN
alkej-236	163	101	�	�	PROPN
alkej-236	163	102	by	by	ADP
alkej-236	163	103	choosing	choose	VERB
alkej-236	163	104	(	(	PUNCT
alkej-236	163	105	similar	similar	ADJ
alkej-236	163	106	to	to	ADP
alkej-236	163	107	the	the	DET
alkej-236	163	108	derivation	derivation	NOUN
alkej-236	163	109	of	of	ADP
alkej-236	163	110	the	the	DET
alkej-236	163	111	integral	integral	ADJ
alkej-236	163	112	sliding	slide	VERB
alkej-236	163	113	mode	mode	NOUN
alkej-236	163	114	in	in	ADP
alkej-236	163	115	[	[	X
alkej-236	163	116	12	12	NUM
alkej-236	163	117	]	]	PUNCT
alkej-236	163	118	)	)	PUNCT
alkej-236	163	119	�	�	PROPN
alkej-236	163	120	�	�	PROPN
alkej-236	163	121	=	=	SYM
alkej-236	163	122	−	−	PROPN
alkej-236	163	123	�	�	PROPN
alkej-236	163	124	�	�	PROPN
alkej-236	163	125	�	�	PROPN
alkej-236	163	126	�	�	PROPN
alkej-236	163	127	9	9	NUM
alkej-236	163	128	�	�	PROPN
alkej-236	163	129	6;	6;	NOUN
alkej-236	163	130	�	�	PROPN
alkej-236	163	131	b	b	PROPN
alkej-236	163	132	�	�	PROPN
alkej-236	163	133	+	+	CCONJ
alkej-236	163	134	0;	0;	PROPN
alkej-236	163	135	�	�	PROPN
alkej-236	163	136	b	b	PROPN
alkej-236	163	137	�	�	PROPN
alkej-236	163	138	;	;	PUNCT
alkej-236	163	139	�	�	PROPN
alkej-236	163	140	…	…	PUNCT
alkej-236	163	141	(	(	PUNCT
alkej-236	163	142	18	18	NUM
alkej-236	163	143	)	)	PUNCT
alkej-236	163	144	/	/	SYM
alkej-236	163	145	�	�	PROPN
alkej-236	163	146	becomes	become	VERB
alkej-236	163	147	;	;	PUNCT
alkej-236	163	148	shibly	shibly	ADV
alkej-236	163	149	ahmed	ahmed	PROPN
alkej-236	163	150	al	al	PROPN
alkej-236	163	151	-	-	PROPN
alkej-236	163	152	samarraie	samarraie	PROPN
alkej-236	163	153	al	al	PROPN
alkej-236	163	154	-	-	PUNCT
alkej-236	163	155	khwarizmi	khwarizmi	PROPN
alkej-236	163	156	engineering	engineering	NOUN
alkej-236	163	157	journal	journal	PROPN
alkej-236	163	158	,	,	PUNCT
alkej-236	163	159	vol	vol	NOUN
alkej-236	163	160	.	.	PROPN
alkej-236	163	161	11	11	NUM
alkej-236	163	162	,	,	PUNCT
alkej-236	163	163	no	no	INTJ
alkej-236	163	164	.	.	NOUN
alkej-236	163	165	3	3	NUM
alkej-236	163	166	,	,	PUNCT
alkej-236	163	167	p.p	p.p	PROPN
alkej-236	163	168	.	.	NOUN
alkej-236	163	169	110	110	NUM
alkej-236	163	170	(	(	PUNCT
alkej-236	163	171	2015	2015	NUM
alkej-236	163	172	)	)	PUNCT
alkej-236	163	173	77	77	NUM
alkej-236	163	174	/	/	SYM
alkej-236	163	175	�	�	PROPN
alkej-236	163	176	=	=	SYM
alkej-236	163	177	�	�	PROPN
alkej-236	163	178	�	�	PROPN
alkej-236	163	179	�	�	PROPN
alkej-236	163	180	�	�	PROPN
alkej-236	163	181	9	9	NUM
alkej-236	163	182	�	�	PROPN
alkej-236	163	183	0;	0;	PROPN
alkej-236	163	184	�	�	PROPN
alkej-236	163	185	b	b	PROPN
alkej-236	163	186	�	�	PROPN
alkej-236	163	187	�	�	PROPN
alkej-236	163	188	+	+	CCONJ
alkej-236	163	189	v	v	PROPN
alkej-236	163	190	�	�	PROPN
alkej-236	163	191	b	b	PROPN
alkej-236	163	192	,	,	PUNCT
alkej-236	163	193	�	�	PROPN
alkej-236	163	194	�	�	PROPN
alkej-236	163	195	…	…	PUNCT
alkej-236	163	196	(	(	PUNCT
alkej-236	163	197	19	19	NUM
alkej-236	163	198	)	)	PUNCT
alkej-236	163	199	and	and	CCONJ
alkej-236	163	200	accordingly	accordingly	ADV
alkej-236	163	201	the	the	DET
alkej-236	163	202	sliding	slide	VERB
alkej-236	163	203	condition	condition	NOUN
alkej-236	163	204	becomes	become	VERB
alkej-236	163	205	;	;	PUNCT
alkej-236	163	206	/	/	SYM
alkej-236	163	207	/	/	SYM
alkej-236	163	208	�	�	PROPN
alkej-236	163	209	=	=	SYM
alkej-236	163	210	/	/	SYM
alkej-236	163	211	�	�	PROPN
alkej-236	163	212	�	�	PROPN
alkej-236	163	213	�	�	PROPN
alkej-236	163	214	�	�	PROPN
alkej-236	163	215	9	9	NUM
alkej-236	163	216	�	�	PROPN
alkej-236	163	217	0;	0;	PROPN
alkej-236	163	218	�	�	PROPN
alkej-236	163	219	b	b	PROPN
alkej-236	163	220	�	�	PROPN
alkej-236	163	221	�	�	PROPN
alkej-236	163	222	+	+	CCONJ
alkej-236	163	223	v	v	PROPN
alkej-236	163	224	�	�	PROPN
alkej-236	163	225	b	b	PROPN
alkej-236	163	226	,	,	PUNCT
alkej-236	163	227	�	�	PROPN
alkej-236	163	228	�	�	PROPN
alkej-236	163	229	…	…	PUNCT
alkej-236	163	230	(	(	PUNCT
alkej-236	163	231	20	20	NUM
alkej-236	163	232	)	)	PUNCT
alkej-236	163	233	by	by	ADP
alkej-236	163	234	selecting	select	VERB
alkej-236	163	235	�	�	PROPN
alkej-236	163	236	as	as	ADP
alkej-236	163	237	in	in	ADP
alkej-236	163	238	the	the	DET
alkej-236	163	239	conventional	conventional	ADJ
alkej-236	163	240	sliding	slide	VERB
alkej-236	163	241	mode	mode	NOUN
alkej-236	163	242	�	�	PROPN
alkej-236	163	243	=	=	PUNCT
alkej-236	163	244	−e	−e	NOUN
alkej-236	163	245	�	�	NOUN
alkej-236	163	246	b	b	NOUN
alkej-236	163	247	�	�	PROPN
alkej-236	163	248	/	/	SYM
alkej-236	163	249	�	�	PROPN
alkej-236	163	250	01	01	NUM
alkej-236	163	251	�	�	PROPN
alkej-236	163	252	/	/	SYM
alkej-236	163	253	�	�	PROPN
alkej-236	163	254	…	…	PUNCT
alkej-236	163	255	(	(	PUNCT
alkej-236	163	256	21	21	NUM
alkej-236	163	257	)	)	PUNCT
alkej-236	163	258	then	then	ADV
alkej-236	163	259	equation	equation	NOUN
alkej-236	163	260	(	(	PUNCT
alkej-236	163	261	20	20	NUM
alkej-236	163	262	)	)	PUNCT
alkej-236	163	263	becomes	become	VERB
alkej-236	163	264	;	;	PUNCT
alkej-236	163	265	/	/	SYM
alkej-236	163	266	∗	∗	INTJ
alkej-236	163	267	/	/	SYM
alkej-236	163	268	�	�	PROPN
alkej-236	163	269	=	=	SYM
alkej-236	163	270	/	/	SYM
alkej-236	163	271	�	�	PROPN
alkej-236	163	272	�	�	PROPN
alkej-236	163	273	�	�	PROPN
alkej-236	163	274	�	�	PROPN
alkej-236	163	275	9	9	NUM
alkej-236	163	276	0;	0;	PROPN
alkej-236	163	277	�	�	PROPN
alkej-236	163	278	b	b	PROPN
alkej-236	163	279	�	�	PROPN
alkej-236	163	280	�	�	PROPN
alkej-236	163	281	+	+	CCONJ
alkej-236	163	282	/	/	SYM
alkej-236	163	283	�	�	PROPN
alkej-236	163	284	�	�	PROPN
alkej-236	163	285	�	�	PROPN
alkej-236	163	286	�	�	PROPN
alkej-236	163	287	9	9	NUM
alkej-236	163	288	v	v	NOUN
alkej-236	163	289	�	�	PROPN
alkej-236	163	290	b	b	PROPN
alkej-236	163	291	,	,	PUNCT
alkej-236	163	292	�	�	PROPN
alkej-236	163	293	,	,	PUNCT
alkej-236	163	294	since	since	SCONJ
alkej-236	163	295	/	/	SYM
alkej-236	163	296	∗	∗	NOUN
alkej-236	163	297	/	/	SYM
alkej-236	163	298	�	�	PROPN
alkej-236	163	299	01	01	NUM
alkej-236	163	300	�	�	PROPN
alkej-236	163	301	/	/	SYM
alkej-236	163	302	�	�	PROPN
alkej-236	163	303	=	=	PUNCT
alkej-236	163	304	|/|	|/|	NOUN
alkej-236	163	305	,	,	PUNCT
alkej-236	163	306	then	then	ADV
alkej-236	163	307	/∗	/∗	PUNCT
alkej-236	163	308	/	/	SYM
alkej-236	163	309	�	�	PROPN
alkej-236	163	310	=	=	PUNCT
alkej-236	163	311	−|/|	−|/|	PROPN
alkej-236	163	312	�	�	PROPN
alkej-236	163	313	�	�	PROPN
alkej-236	163	314	�	�	PROPN
alkej-236	163	315	�	�	PROPN
alkej-236	163	316	9	9	NUM
alkej-236	163	317	0;	0;	PROPN
alkej-236	163	318	�	�	PROPN
alkej-236	163	319	b	b	PROPN
alkej-236	163	320	�	�	PROPN
alkej-236	163	321	e	e	PROPN
alkej-236	163	322	�	�	PROPN
alkej-236	163	323	b	b	SYM
alkej-236	163	324	�	�	PROPN
alkej-236	163	325	+	+	CCONJ
alkej-236	163	326	/	/	SYM
alkej-236	163	327	�	�	PROPN
alkej-236	163	328	�	�	PROPN
alkej-236	163	329	�	�	PROPN
alkej-236	163	330	�	�	PROPN
alkej-236	163	331	9	9	NUM
alkej-236	163	332	v	v	NOUN
alkej-236	163	333	�	�	PROPN
alkej-236	163	334	b	b	PROPN
alkej-236	163	335	,	,	PUNCT
alkej-236	163	336	�	�	PROPN
alkej-236	163	337	≤	≤	NUM
alkej-236	163	338	−|/|	−|/|	SYM
alkej-236	163	339	�	�	PROPN
alkej-236	163	340	�	�	PROPN
alkej-236	163	341	�	�	PROPN
alkej-236	163	342	�	�	PROPN
alkej-236	163	343	9	9	NUM
alkej-236	163	344	0;	0;	PROPN
alkej-236	163	345	�	�	PROPN
alkej-236	163	346	b	b	AUX
alkej-236	163	347	�	�	PROPN
alkej-236	163	348	e	e	PROPN
alkej-236	163	349	�	�	PROPN
alkej-236	163	350	b	b	SYM
alkej-236	163	351	�	�	PROPN
alkej-236	163	352	+	+	NUM
alkej-236	163	353	|/|	|/|	NOUN
alkej-236	163	354	�	�	PROPN
alkej-236	163	355	�	�	PROPN
alkej-236	163	356	�	�	PROPN
alkej-236	163	357	�	�	PROPN
alkej-236	163	358	�	�	PROPN
alkej-236	163	359	9	9	NUM
alkej-236	163	360	v	v	NOUN
alkej-236	163	361	�	�	PROPN
alkej-236	163	362	b	b	PROPN
alkej-236	163	363	,	,	PUNCT
alkej-236	163	364	�	�	PROPN
alkej-236	163	365	�	�	PROPN
alkej-236	163	366	≤	≤	NUM
alkej-236	163	367	−|/|	−|/|	SYM
alkej-236	163	368	�	�	PROPN
alkej-236	163	369	�	�	PROPN
alkej-236	163	370	�	�	PROPN
alkej-236	163	371	�	�	PROPN
alkej-236	163	372	�	�	PROPN
alkej-236	163	373	9	9	NUM
alkej-236	163	374	0;	0;	PROPN
alkej-236	163	375	�	�	PROPN
alkej-236	163	376	b	b	PROPN
alkej-236	163	377	�	�	PROPN
alkej-236	163	378	e	e	NOUN
alkej-236	163	379	�	�	PROPN
alkej-236	163	380	b	b	SYM
alkej-236	163	381	�	�	PROPN
alkej-236	163	382	−	−	PROPN
alkej-236	163	383	�	�	PROPN
alkej-236	163	384	�	�	PROPN
alkej-236	163	385	�	�	PROPN
alkej-236	163	386	�	�	PROPN
alkej-236	163	387	�	�	PROPN
alkej-236	163	388	9	9	NUM
alkej-236	163	389	v	v	NOUN
alkej-236	163	390	�	�	PROPN
alkej-236	163	391	b	b	PROPN
alkej-236	163	392	,	,	PUNCT
alkej-236	163	393	�	�	PROPN
alkej-236	163	394	�	�	PROPN
alkej-236	163	395	�	�	PROPN
alkej-236	163	396	≤	≤	NUM
alkej-236	163	397	−|/|	−|/|	SYM
alkej-236	163	398	�	�	PROPN
alkej-236	163	399	�	�	PROPN
alkej-236	163	400	�	�	PROPN
alkej-236	163	401	�	�	PROPN
alkej-236	163	402	�	�	PROPN
alkej-236	163	403	9	9	NUM
alkej-236	163	404	0;	0;	PROPN
alkej-236	163	405	�	�	PROPN
alkej-236	163	406	b	b	PROPN
alkej-236	163	407	�	�	PROPN
alkej-236	163	408	�	�	PROPN
alkej-236	163	409	�	�	PROPN
alkej-236	163	410	e	e	PROPN
alkej-236	163	411	�	�	PROPN
alkej-236	163	412	b	b	SYM
alkej-236	163	413	�	�	PROPN
alkej-236	163	414	−	−	PROPN
alkej-236	163	415	�	�	PROPN
alkej-236	163	416	�	�	PROPN
alkej-236	163	417	�	�	PROPN
alkej-236	163	418	�	�	PROPN
alkej-236	163	419	�	�	PROPN
alkej-236	163	420	�	�	PROPN
alkej-236	163	421	�	�	PROPN
alkej-236	163	422	�	�	PROPN
alkej-236	163	423	9	9	NUM
alkej-236	163	424	,	,	PUNCT
alkej-236	163	425	�	�	PROPN
alkej-236	163	426	�	�	PROPN
alkej-236	163	427	�	�	PROPN
alkej-236	163	428	�	�	PROPN
alkej-236	163	429	�	�	PROPN
alkej-236	163	430	�	�	PROPN
alkej-236	163	431	�	�	PROPN
alkej-236	163	432	�	�	PROPN
alkej-236	163	433	�	�	PROPN
alkej-236	163	434	�	�	PROPN
alkej-236	163	435	9	9	NUM
alkej-236	163	436	�	�	PROPN
alkej-236	163	437	  	  	SPACE
alkej-236	163	438	…	…	PUNCT
alkej-236	163	439	(	(	PUNCT
alkej-236	163	440	22	22	NUM
alkej-236	163	441	)	)	PUNCT
alkej-236	163	442	where	where	SCONJ
alkej-236	163	443	it	it	PRON
alkej-236	163	444	is	be	AUX
alkej-236	163	445	assumed	assume	VERB
alkej-236	163	446	that	that	SCONJ
alkej-236	163	447	�	�	PROPN
alkej-236	163	448	�	�	PROPN
alkej-236	163	449	�	�	PROPN
alkej-236	163	450	�	�	PROPN
alkej-236	163	451	�	�	PROPN
alkej-236	163	452	9	9	NUM
alkej-236	163	453	0;	0;	PROPN
alkej-236	163	454	�	�	PROPN
alkej-236	163	455	b	b	PROPN
alkej-236	163	456	�	�	PROPN
alkej-236	163	457	�	�	PROPN
alkej-236	163	458	>	>	X
alkej-236	163	459	0	0	PROPN
alkej-236	163	460	.	.	PUNCT
alkej-236	164	1	the	the	DET
alkej-236	164	2	discontinuous	discontinuous	ADJ
alkej-236	164	3	gain	gain	NOUN
alkej-236	164	4	e	e	NOUN
alkej-236	164	5	�	�	PROPN
alkej-236	164	6	b	b	SYM
alkej-236	164	7	�	�	PROPN
alkej-236	164	8	that	that	PRON
alkej-236	164	9	will	will	AUX
alkej-236	164	10	make	make	VERB
alkej-236	164	11	the	the	DET
alkej-236	164	12	inequality	inequality	NOUN
alkej-236	164	13	in	in	ADP
alkej-236	164	14	equation	equation	NOUN
alkej-236	164	15	(	(	PUNCT
alkej-236	164	16	22	22	NUM
alkej-236	164	17	)	)	PUNCT
alkej-236	164	18	less	less	ADJ
alkej-236	164	19	than	than	ADP
alkej-236	164	20	zero	zero	NUM
alkej-236	164	21	(	(	PUNCT
alkej-236	164	22	sliding	slide	VERB
alkej-236	164	23	motion	motion	NOUN
alkej-236	164	24	)	)	PUNCT
alkej-236	164	25	is	be	AUX
alkej-236	164	26	selected	select	VERB
alkej-236	164	27	as	as	SCONJ
alkej-236	164	28	follows	follow	VERB
alkej-236	164	29	;	;	PUNCT
alkej-236	164	30	e	e	X
alkej-236	164	31	�	�	PROPN
alkej-236	164	32	b	b	SYM
alkej-236	164	33	�	�	PROPN
alkej-236	164	34	>	>	SYM
alkej-236	164	35	�	�	PROPN
alkej-236	164	36	�	�	PROPN
alkej-236	164	37	�	�	PROPN
alkej-236	164	38	�	�	PROPN
alkej-236	164	39	�	�	PROPN
alkej-236	164	40	�	�	PROPN
alkej-236	164	41	�	�	PROPN
alkej-236	164	42	�	�	PROPN
alkej-236	164	43	9	9	NUM
alkej-236	164	44	,	,	PUNCT
alkej-236	164	45	�	�	PROPN
alkej-236	164	46	�	�	PROPN
alkej-236	164	47	�	�	PROPN
alkej-236	164	48	�	�	PROPN
alkej-236	164	49	�	�	PROPN
alkej-236	164	50	�	�	PROPN
alkej-236	164	51	�	�	PROPN
alkej-236	164	52	�	�	PROPN
alkej-236	164	53	�	�	PROPN
alkej-236	164	54	�	�	PROPN
alkej-236	164	55	9	9	NUM
alkej-236	164	56	�	�	PROPN
alkej-236	164	57	or	or	CCONJ
alkej-236	164	58	e	e	PROPN
alkej-236	164	59	�	�	PROPN
alkej-236	164	60	b	b	NOUN
alkej-236	164	61	�	�	PROPN
alkej-236	164	62	=	=	SYM
alkej-236	164	63	e5	e5	PROPN
alkej-236	164	64	+	+	CCONJ
alkej-236	164	65	�	�	PROPN
alkej-236	164	66	�	�	PROPN
alkej-236	164	67	�	�	PROPN
alkej-236	164	68	�	�	PROPN
alkej-236	164	69	�	�	PROPN
alkej-236	164	70	�	�	PROPN
alkej-236	164	71	�	�	PROPN
alkej-236	164	72	�	�	PROPN
alkej-236	164	73	9	9	NUM
alkej-236	164	74	,	,	PUNCT
alkej-236	164	75	�	�	PROPN
alkej-236	164	76	�	�	PROPN
alkej-236	164	77	�	�	PROPN
alkej-236	164	78	�	�	PROPN
alkej-236	164	79	�	�	PROPN
alkej-236	164	80	�	�	PROPN
alkej-236	164	81	�	�	PROPN
alkej-236	164	82	�	�	PROPN
alkej-236	164	83	�	�	PROPN
alkej-236	164	84	�	�	PROPN
alkej-236	164	85	9	9	NUM
alkej-236	164	86	�	�	PROPN
alkej-236	164	87	,	,	PUNCT
alkej-236	164	88	e5	e5	PROPN
alkej-236	164	89	>	>	X
alkej-236	164	90	0	0	NUM
alkej-236	164	91	…	…	PUNCT
alkej-236	164	92	(	(	PUNCT
alkej-236	164	93	23	23	NUM
alkej-236	164	94	)	)	PUNCT
alkej-236	164	95	where	where	SCONJ
alkej-236	164	96	e5	e5	PROPN
alkej-236	164	97	is	be	AUX
alkej-236	164	98	positive	positive	ADJ
alkej-236	164	99	constant	constant	ADJ
alkej-236	164	100	.	.	PUNCT
alkej-236	165	1	since	since	SCONJ
alkej-236	165	2	the	the	DET
alkej-236	165	3	right	right	ADJ
alkej-236	165	4	hand	hand	NOUN
alkej-236	165	5	side	side	NOUN
alkej-236	165	6	of	of	ADP
alkej-236	165	7	equation	equation	NOUN
alkej-236	165	8	(	(	PUNCT
alkej-236	165	9	19	19	NUM
alkej-236	165	10	)	)	PUNCT
alkej-236	165	11	is	be	AUX
alkej-236	165	12	discontinuous	discontinuous	ADJ
alkej-236	165	13	due	due	ADP
alkej-236	165	14	to	to	ADP
alkej-236	165	15	�	�	PROPN
alkej-236	165	16	,	,	PUNCT
alkej-236	165	17	the	the	DET
alkej-236	165	18	sliding	slide	VERB
alkej-236	165	19	variable	variable	NOUN
alkej-236	165	20	/	/	PUNCT
alkej-236	165	21	will	will	AUX
alkej-236	165	22	reached	reach	VERB
alkej-236	165	23	the	the	DET
alkej-236	165	24	origin	origin	NOUN
alkej-236	165	25	in	in	ADP
alkej-236	165	26	finite	finite	ADJ
alkej-236	165	27	time	time	NOUN
alkej-236	165	28	�	�	PROPN
alkej-236	166	1	[	[	X
alkej-236	166	2	15	15	NUM
alkej-236	166	3	]	]	PUNCT
alkej-236	166	4	and	and	CCONJ
alkej-236	166	5	the	the	DET
alkej-236	166	6	system	system	NOUN
alkej-236	166	7	dynamics	dynamic	NOUN
alkej-236	166	8	then	then	ADV
alkej-236	166	9	is	be	AUX
alkej-236	166	10	in	in	ADP
alkej-236	166	11	sliding	slide	VERB
alkej-236	166	12	motion	motion	NOUN
alkej-236	166	13	.	.	PUNCT
alkej-236	167	1	accordingly	accordingly	ADV
alkej-236	167	2	the	the	DET
alkej-236	167	3	system	system	NOUN
alkej-236	167	4	dynamics	dynamic	NOUN
alkej-236	167	5	can	can	AUX
alkej-236	167	6	be	be	AUX
alkej-236	167	7	determined	determine	VERB
alkej-236	167	8	using	use	VERB
alkej-236	167	9	the	the	DET
alkej-236	167	10	equivalent	equivalent	ADJ
alkej-236	167	11	control	control	NOUN
alkej-236	167	12	method	method	NOUN
alkej-236	167	13	as	as	SCONJ
alkej-236	167	14	follows	follow	VERB
alkej-236	167	15	;	;	PUNCT
alkej-236	167	16	when	when	SCONJ
alkej-236	167	17	/	/	SYM
alkej-236	167	18	�	�	PROPN
alkej-236	167	19	{	{	PUNCT
alkej-236	167	20	�	�	PROPN
alkej-236	167	21	=	=	SYM
alkej-236	167	22	0	0	NUM
alkej-236	167	23	,	,	PUNCT
alkej-236	167	24	∀	∀	X
alkej-236	167	25	{	{	PUNCT
alkej-236	167	26	≥	≥	NUM
alkej-236	167	27	�	�	PROPN
alkej-236	167	28	,	,	PUNCT
alkej-236	167	29	/	/	SYM
alkej-236	167	30	�	�	PROPN
alkej-236	167	31	�	�	PROPN
alkej-236	167	32	{	{	PUNCT
alkej-236	167	33	�	�	PROPN
alkej-236	167	34	=	=	SYM
alkej-236	167	35	0	0	NUM
alkej-236	167	36	too	too	ADV
alkej-236	167	37	and	and	CCONJ
alkej-236	167	38	with	with	ADP
alkej-236	167	39	v	v	PROPN
alkej-236	167	40	�	�	PROPN
alkej-236	167	41	b	b	PROPN
alkej-236	167	42	,	,	PUNCT
alkej-236	167	43	�	�	PROPN
alkej-236	167	44	satisfies	satisfy	VERB
alkej-236	167	45	matching	match	VERB
alkej-236	167	46	condition	condition	NOUN
alkej-236	167	47	in	in	ADP
alkej-236	167	48	equation	equation	NOUN
alkej-236	167	49	(	(	PUNCT
alkej-236	167	50	16	16	NUM
alkej-236	167	51	)	)	PUNCT
alkej-236	167	52	,	,	PUNCT
alkej-236	167	53	the	the	DET
alkej-236	167	54	equivalent	equivalent	ADJ
alkej-236	167	55	control	control	NOUN
alkej-236	167	56	can	can	AUX
alkej-236	167	57	be	be	AUX
alkej-236	167	58	determined	determine	VERB
alkej-236	167	59	from	from	ADP
alkej-236	167	60	equation	equation	NOUN
alkej-236	167	61	(	(	PUNCT
alkej-236	167	62	19	19	NUM
alkej-236	167	63	)	)	PUNCT
alkej-236	167	64	0	0	NUM
alkej-236	168	1	=	=	SYM
alkej-236	168	2	�	�	PROPN
alkej-236	168	3	�	�	PROPN
alkej-236	168	4	�	�	PROPN
alkej-236	168	5	�	�	PROPN
alkej-236	168	6	9	9	NUM
alkej-236	168	7	�	�	PROPN
alkej-236	168	8	0;	0;	PROPN
alkej-236	168	9	�	�	PROPN
alkej-236	168	10	b	b	PROPN
alkej-236	168	11	�	�	PROPN
alkej-236	168	12	�	�	PROPN
alkej-236	168	13	+	+	CCONJ
alkej-236	168	14	v	v	PROPN
alkej-236	168	15	�	�	PROPN
alkej-236	168	16	b	b	PROPN
alkej-236	168	17	,	,	PUNCT
alkej-236	168	18	�	�	PROPN
alkej-236	168	19	�	�	PROPN
alkej-236	168	20	⇒	⇒	PROPN
alkej-236	168	21	¤0;	¤0;	PROPN
alkej-236	168	22	�	�	PROPN
alkej-236	168	23	b	b	PROPN
alkej-236	168	24	�	�	PROPN
alkej-236	168	25	�	�	PROPN
alkej-236	168	26	¥	¥	PROPN
alkej-236	168	27	¦	¦	PROPN
alkej-236	168	28	§	§	PROPN
alkej-236	168	29	=	=	PROPN
alkej-236	168	30	−v	−v	PROPN
alkej-236	168	31	�	�	PROPN
alkej-236	168	32	b	b	PROPN
alkej-236	168	33	,	,	PUNCT
alkej-236	168	34	�	�	PROPN
alkej-236	168	35	…	…	PUNCT
alkej-236	168	36	(	(	PUNCT
alkej-236	168	37	24	24	NUM
alkej-236	168	38	)	)	PUNCT
alkej-236	168	39	equation	equation	NOUN
alkej-236	168	40	(	(	PUNCT
alkej-236	168	41	15	15	NUM
alkej-236	168	42	)	)	PUNCT
alkej-236	168	43	with	with	ADP
alkej-236	168	44	the	the	DET
alkej-236	168	45	equivalent	equivalent	ADJ
alkej-236	168	46	control	control	NOUN
alkej-236	168	47	in	in	ADP
alkej-236	168	48	equation	equation	NOUN
alkej-236	168	49	(	(	PUNCT
alkej-236	168	50	24	24	NUM
alkej-236	168	51	)	)	PUNCT
alkej-236	168	52	is	be	AUX
alkej-236	168	53	reduced	reduce	VERB
alkej-236	168	54	to	to	ADP
alkej-236	168	55	the	the	DET
alkej-236	168	56	nominal	nominal	ADJ
alkej-236	168	57	system	system	NOUN
alkej-236	168	58	dynamics	dynamic	NOUN
alkej-236	168	59	as	as	SCONJ
alkej-236	168	60	given	give	VERB
alkej-236	168	61	in	in	ADP
alkej-236	168	62	equation	equation	NOUN
alkej-236	168	63	(	(	PUNCT
alkej-236	168	64	14	14	NUM
alkej-236	168	65	)	)	PUNCT
alkej-236	168	66	with	with	ADP
alkej-236	168	67	a	a	DET
alkej-236	168	68	dimension	dimension	NOUN
alkej-236	168	69	equal	equal	ADJ
alkej-236	168	70	to	to	ADP
alkej-236	168	71	1	1	NUM
alkej-236	168	72	.	.	PUNCT
alkej-236	169	1	for	for	ADP
alkej-236	169	2	this	this	DET
alkej-236	169	3	reason	reason	NOUN
alkej-236	169	4	,	,	PUNCT
alkej-236	169	5	the	the	DET
alkej-236	169	6	ismc	ismc	NOUN
alkej-236	169	7	is	be	AUX
alkej-236	169	8	named	name	VERB
alkej-236	169	9	as	as	ADP
alkej-236	169	10	the	the	DET
alkej-236	169	11	full	full	ADJ
alkej-236	169	12	order	order	NOUN
alkej-236	169	13	sliding	slide	VERB
alkej-236	169	14	mode	mode	NOUN
alkej-236	169	15	because	because	SCONJ
alkej-236	169	16	the	the	DET
alkej-236	169	17	dimension	dimension	NOUN
alkej-236	169	18	in	in	ADP
alkej-236	169	19	equation	equation	NOUN
alkej-236	169	20	(	(	PUNCT
alkej-236	169	21	14	14	NUM
alkej-236	169	22	)	)	PUNCT
alkej-236	169	23	is	be	AUX
alkej-236	169	24	equal	equal	ADJ
alkej-236	169	25	to	to	ADP
alkej-236	169	26	the	the	DET
alkej-236	169	27	dimension	dimension	NOUN
alkej-236	169	28	of	of	ADP
alkej-236	169	29	the	the	DET
alkej-236	169	30	original	original	ADJ
alkej-236	169	31	system	system	NOUN
alkej-236	169	32	in	in	ADP
alkej-236	169	33	equation	equation	NOUN
alkej-236	169	34	(	(	PUNCT
alkej-236	169	35	11	11	NUM
alkej-236	169	36	)	)	PUNCT
alkej-236	169	37	.	.	PUNCT
alkej-236	170	1	to	to	PART
alkej-236	170	2	eliminate	eliminate	VERB
alkej-236	170	3	the	the	DET
alkej-236	170	4	reaching	reach	VERB
alkej-236	170	5	phase	phase	NOUN
alkej-236	170	6	,	,	PUNCT
alkej-236	170	7	which	which	PRON
alkej-236	170	8	is	be	AUX
alkej-236	170	9	a	a	DET
alkej-236	170	10	special	special	ADJ
alkej-236	170	11	property	property	NOUN
alkej-236	170	12	for	for	ADP
alkej-236	170	13	the	the	DET
alkej-236	170	14	ismc	ismc	NOUN
alkej-236	170	15	,	,	PUNCT
alkej-236	170	16	the	the	DET
alkej-236	170	17	initial	initial	ADJ
alkej-236	170	18	condition	condition	NOUN
alkej-236	170	19	for	for	ADP
alkej-236	170	20	�	�	PROPN
alkej-236	170	21	is	be	AUX
alkej-236	170	22	selected	select	VERB
alkej-236	170	23	such	such	ADJ
alkej-236	170	24	that	that	SCONJ
alkej-236	170	25	the	the	DET
alkej-236	170	26	initial	initial	ADJ
alkej-236	170	27	condition	condition	NOUN
alkej-236	170	28	for	for	ADP
alkej-236	170	29	the	the	DET
alkej-236	170	30	sliding	slide	VERB
alkej-236	170	31	variable	variable	NOUN
alkej-236	170	32	/	/	PUNCT
alkej-236	170	33	is	be	AUX
alkej-236	170	34	zero	zero	NUM
alkej-236	170	35	.	.	PUNCT
alkej-236	171	1	this	this	PRON
alkej-236	171	2	means	mean	VERB
alkej-236	171	3	that	that	SCONJ
alkej-236	171	4	the	the	DET
alkej-236	171	5	system	system	NOUN
alkej-236	171	6	dynamics	dynamic	NOUN
alkej-236	171	7	is	be	AUX
alkej-236	171	8	in	in	ADP
alkej-236	171	9	sliding	slide	VERB
alkej-236	171	10	mode	mode	NOUN
alkej-236	171	11	from	from	ADP
alkej-236	171	12	the	the	DET
alkej-236	171	13	first	first	ADJ
alkej-236	171	14	instant	instant	NOUN
alkej-236	171	15	.	.	PUNCT
alkej-236	172	1	namely	namely	ADV
alkej-236	172	2	by	by	ADP
alkej-236	172	3	selecting	select	VERB
alkej-236	172	4	�	�	PROPN
alkej-236	172	5	�	�	PROPN
alkej-236	172	6	0	0	NUM
alkej-236	172	7	�	�	PROPN
alkej-236	172	8	=	=	PUNCT
alkej-236	172	9	−/5	−/5	PRON
alkej-236	172	10	�	�	PROPN
alkej-236	172	11	0	0	NUM
alkej-236	172	12	�	�	PROPN
alkej-236	172	13	we	we	PRON
alkej-236	172	14	have	have	VERB
alkej-236	172	15	/	/	SYM
alkej-236	172	16	�	�	PROPN
alkej-236	172	17	0	0	NUM
alkej-236	172	18	�	�	PROPN
alkej-236	172	19	=	=	SYM
alkej-236	172	20	0	0	NUM
alkej-236	172	21	and	and	CCONJ
alkej-236	172	22	/	/	SYM
alkej-236	172	23	�	�	PROPN
alkej-236	172	24	{	{	PUNCT
alkej-236	172	25	�	�	PROPN
alkej-236	172	26	=	=	SYM
alkej-236	172	27	0	0	NUM
alkej-236	172	28	,	,	PUNCT
alkej-236	172	29	∀	∀	X
alkej-236	172	30	{	{	PUNCT
alkej-236	172	31	≥	≥	NOUN
alkej-236	172	32	0	0	NUM
alkej-236	172	33	.	.	PUNCT
alkej-236	173	1	the	the	DET
alkej-236	173	2	ideal	ideal	ADJ
alkej-236	173	3	control	control	NOUN
alkej-236	173	4	can	can	AUX
alkej-236	173	5	now	now	ADV
alkej-236	173	6	be	be	AUX
alkej-236	173	7	selected	select	VERB
alkej-236	173	8	as	as	ADP
alkej-236	173	9	a	a	DET
alkej-236	173	10	continuous	continuous	ADJ
alkej-236	173	11	state	state	NOUN
alkej-236	173	12	feedback	feedback	NOUN
alkej-236	173	13	with	with	ADP
alkej-236	173	14	the	the	DET
alkej-236	173	15	desired	desire	VERB
alkej-236	173	16	dynamic	dynamic	ADJ
alkej-236	173	17	characteristics	characteristic	NOUN
alkej-236	173	18	[	[	X
alkej-236	173	19	12	12	NUM
alkej-236	173	20	]	]	PUNCT
alkej-236	173	21	.	.	PUNCT
alkej-236	174	1	eventually	eventually	ADV
alkej-236	174	2	the	the	DET
alkej-236	174	3	integral	integral	ADJ
alkej-236	174	4	sliding	slide	VERB
alkej-236	174	5	mode	mode	NOUN
alkej-236	174	6	control	control	NOUN
alkej-236	174	7	law	law	NOUN
alkej-236	174	8	is	be	AUX
alkej-236	174	9	;	;	PUNCT
alkej-236	174	10	�	�	PROPN
alkej-236	174	11	�	�	PROPN
alkej-236	174	12	�	�	PROPN
alkej-236	174	13	=	=	SYM
alkej-236	174	14	−	−	PROPN
alkej-236	174	15	�	�	PROPN
alkej-236	174	16	�	�	PROPN
alkej-236	174	17	�	�	PROPN
alkej-236	174	18	�	�	PROPN
alkej-236	174	19	9	9	NUM
alkej-236	174	20	6;	6;	NUM
alkej-236	174	21	�	�	PROPN
alkej-236	174	22	b	b	PROPN
alkej-236	174	23	�	�	PROPN
alkej-236	174	24	−	−	PROPN
alkej-236	174	25	�	�	PROPN
alkej-236	174	26	�	�	PROPN
alkej-236	174	27	�	�	PROPN
alkej-236	174	28	�	�	PROPN
alkej-236	174	29	9	9	NUM
alkej-236	174	30	0;	0;	PROPN
alkej-236	174	31	�	�	PROPN
alkej-236	174	32	b	b	PROPN
alkej-236	174	33	�	�	PROPN
alkej-236	174	34	;	;	PUNCT
alkej-236	174	35	,	,	PUNCT
alkej-236	174	36	�	�	PROPN
alkej-236	174	37	�	�	PROPN
alkej-236	174	38	0	0	NUM
alkej-236	174	39	�	�	PROPN
alkej-236	174	40	=	=	PUNCT
alkej-236	174	41	−/5	−/5	PRON
alkej-236	174	42	�	�	PROPN
alkej-236	174	43	0	0	NUM
alkej-236	174	44	�	�	PROPN
alkej-236	174	45	/	/	SYM
alkej-236	174	46	=	=	PUNCT
alkej-236	174	47	/5	/5	PUNCT
alkej-236	175	1	+	+	CCONJ
alkej-236	175	2	�	�	PROPN
alkej-236	175	3	=	=	SYM
alkej-236	175	4	;	;	PUNCT
alkej-236	175	5	−	−	PROPN
alkej-236	175	6	e	e	PROPN
alkej-236	175	7	�	�	PROPN
alkej-236	175	8	b	b	PROPN
alkej-236	175	9	�	�	PROPN
alkej-236	175	10	∗	∗	PROPN
alkej-236	175	11	/	/	SYM
alkej-236	175	12	�	�	PROPN
alkej-236	175	13	01	01	NUM
alkej-236	175	14	�	�	PROPN
alkej-236	175	15	/	/	SYM
alkej-236	175	16	�	�	PROPN
alkej-236	175	17	p	p	NOUN
alkej-236	175	18	…	…	PUNCT
alkej-236	175	19	(	(	PUNCT
alkej-236	175	20	25	25	NUM
alkej-236	175	21	)	)	SYM
alkej-236	175	22	4	4	NUM
alkej-236	175	23	.	.	PUNCT
alkej-236	176	1	ismc	ismc	NOUN
alkej-236	176	2	design	design	NOUN
alkej-236	176	3	for	for	ADP
alkej-236	176	4	electronic	electronic	ADJ
alkej-236	176	5	throttle	throttle	NOUN
alkej-236	176	6	valve	valve	NOUN
alkej-236	176	7	in	in	ADP
alkej-236	176	8	this	this	DET
alkej-236	176	9	section	section	NOUN
alkej-236	176	10	,	,	PUNCT
alkej-236	176	11	an	an	DET
alkej-236	176	12	ismc	ismc	NOUN
alkej-236	176	13	is	be	AUX
alkej-236	176	14	designed	design	VERB
alkej-236	176	15	to	to	ADP
alkej-236	176	16	the	the	DET
alkej-236	176	17	electronic	electronic	ADJ
alkej-236	176	18	throttle	throttle	NOUN
alkej-236	176	19	valve	valve	NOUN
alkej-236	176	20	that	that	PRON
alkej-236	176	21	taken	take	VERB
alkej-236	176	22	into	into	ADP
alkej-236	176	23	consideration	consideration	NOUN
alkej-236	176	24	the	the	DET
alkej-236	176	25	uncertainty	uncertainty	NOUN
alkej-236	176	26	in	in	ADP
alkej-236	176	27	system	system	NOUN
alkej-236	176	28	model	model	NOUN
alkej-236	176	29	and	and	CCONJ
alkej-236	176	30	the	the	DET
alkej-236	176	31	presence	presence	NOUN
alkej-236	176	32	of	of	ADP
alkej-236	176	33	a	a	DET
alkej-236	176	34	non	non	ADJ
alkej-236	176	35	-	-	ADJ
alkej-236	176	36	smooth	smooth	ADJ
alkej-236	176	37	nonlinearity	nonlinearity	NOUN
alkej-236	176	38	and	and	CCONJ
alkej-236	176	39	external	external	ADJ
alkej-236	176	40	disturbances	disturbance	NOUN
alkej-236	176	41	.	.	PUNCT
alkej-236	177	1	the	the	DET
alkej-236	177	2	nominal	nominal	ADJ
alkej-236	177	3	system	system	NOUN
alkej-236	177	4	for	for	ADP
alkej-236	177	5	the	the	DET
alkej-236	177	6	reduced	reduce	VERB
alkej-236	177	7	mathematical	mathematical	ADJ
alkej-236	177	8	model	model	NOUN
alkej-236	177	9	(	(	PUNCT
alkej-236	177	10	equation	equation	NOUN
alkej-236	177	11	(	(	PUNCT
alkej-236	177	12	6	6	NUM
alkej-236	177	13	)	)	PUNCT
alkej-236	177	14	)	)	PUNCT
alkej-236	177	15	is	be	AUX
alkej-236	177	16	given	give	VERB
alkej-236	177	17	by	by	ADP
alkej-236	177	18	;	;	PUNCT
alkej-236	177	19	�	�	PROPN
alkej-236	177	20	b	b	PROPN
alkej-236	177	21	�	�	PROPN
alkej-236	177	22	=	=	SYM
alkej-236	177	23	b	b	PROPN
alkej-236	177	24	�	�	PROPN
alkej-236	177	25	b	b	PROPN
alkej-236	177	26	�	�	PROPN
alkej-236	177	27	�	�	PROPN
alkej-236	177	28	=	=	PUNCT
alkej-236	177	29	−d	−d	PROPN
alkej-236	177	30	;	;	PUNCT
alkej-236	177	31	�	�	PROPN
alkej-236	177	32	b	b	PROPN
alkej-236	177	33	−	−	ADP
alkej-236	177	34	b	b	PROPN
alkej-236	177	35	5	5	NUM
alkej-236	177	36	�	�	PROPN
alkej-236	177	37	−	−	ADP
alkej-236	177	38	d	d	PROPN
alkej-236	177	39	�	�	PROPN
alkej-236	177	40	;b	;b	NOUN
alkej-236	177	41	�	�	PROPN
alkej-236	177	42	+	+	CCONJ
alkej-236	177	43	g	g	PROPN
alkej-236	177	44	;	;	PUNCT
alkej-236	177	45	;	;	PUNCT
alkej-236	177	46	s	s	X
alkej-236	177	47	…	…	PUNCT
alkej-236	177	48	(	(	PUNCT
alkej-236	177	49	26	26	NUM
alkej-236	177	50	)	)	PUNCT
alkej-236	177	51	where	where	SCONJ
alkej-236	177	52	the	the	DET
alkej-236	177	53	sliding	slide	VERB
alkej-236	177	54	variable	variable	NOUN
alkej-236	177	55	is	be	AUX
alkej-236	177	56	defined	define	VERB
alkej-236	177	57	as	as	ADP
alkej-236	177	58	;	;	PUNCT
alkej-236	177	59	/	/	SYM
alkej-236	177	60	=	=	SYM
alkej-236	177	61	b	b	X
alkej-236	177	62	�	�	PROPN
alkej-236	177	63	+	+	SYM
alkej-236	177	64	�	�	PROPN
alkej-236	177	65	,	,	PUNCT
alkej-236	177	66	�	�	PROPN
alkej-236	177	67	�	�	PROPN
alkej-236	177	68	0	0	NUM
alkej-236	177	69	�	�	NOUN
alkej-236	177	70	=	=	SYM
alkej-236	177	71	−b	−b	PROPN
alkej-236	177	72	�	�	PROPN
alkej-236	177	73	�	�	PROPN
alkej-236	177	74	0	0	NUM
alkej-236	177	75	�	�	PROPN
alkej-236	177	76	…	…	PUNCT
alkej-236	177	77	(	(	PUNCT
alkej-236	177	78	27	27	NUM
alkej-236	177	79	)	)	PUNCT
alkej-236	177	80	to	to	PART
alkej-236	177	81	determine	determine	VERB
alkej-236	177	82	the	the	DET
alkej-236	177	83	control	control	NOUN
alkej-236	177	84	law	law	NOUN
alkej-236	177	85	for	for	ADP
alkej-236	177	86	the	the	DET
alkej-236	177	87	etv	etv	NOUN
alkej-236	177	88	system	system	NOUN
alkej-236	177	89	we	we	PRON
alkej-236	177	90	need	need	VERB
alkej-236	177	91	to	to	PART
alkej-236	177	92	define	define	VERB
alkej-236	177	93	and	and	CCONJ
alkej-236	177	94	calculate	calculate	VERB
alkej-236	177	95	the	the	DET
alkej-236	177	96	following	following	NOUN
alkej-236	177	97	according	accord	VERB
alkej-236	177	98	to	to	ADP
alkej-236	177	99	equation	equation	NOUN
alkej-236	177	100	(	(	PUNCT
alkej-236	177	101	25	25	NUM
alkej-236	177	102	)	)	PUNCT
alkej-236	177	103	;	;	PUNCT
alkej-236	177	104	�	�	PROPN
alkej-236	177	105	�	�	PROPN
alkej-236	177	106	�	�	PROPN
alkej-236	177	107	�	�	PROPN
alkej-236	177	108	9	9	NUM
alkej-236	177	109	=	=	SYM
alkej-236	177	110	¤0	¤0	PROPN
alkej-236	177	111	1	1	NUM
alkej-236	177	112	¥	¥	NUM
alkej-236	177	113	,	,	PUNCT
alkej-236	177	114	6;	6;	PROPN
alkej-236	177	115	�	�	PROPN
alkej-236	177	116	b	b	NOUN
alkej-236	177	117	�	�	PROPN
alkej-236	177	118	=	=	SYM
alkej-236	177	119	¨	¨	NOUN
alkej-236	177	120	b	b	X
alkej-236	177	121	�	�	PROPN
alkej-236	177	122	−d	−d	ADJ
alkej-236	177	123	;	;	PUNCT
alkej-236	177	124	�	�	PROPN
alkej-236	177	125	b	b	PROPN
alkej-236	177	126	−	−	ADP
alkej-236	177	127	b	b	PROPN
alkej-236	177	128	5	5	NUM
alkej-236	177	129	�	�	PROPN
alkej-236	177	130	−	−	ADP
alkej-236	177	131	d	d	PROPN
alkej-236	177	132	�	�	PROPN
alkej-236	177	133	;b	;b	PROPN
alkej-236	177	134	�	�	PROPN
alkej-236	177	135	©	©	PROPN
alkej-236	177	136	⇒	⇒	PROPN
alkej-236	177	137	�	�	PROPN
alkej-236	177	138	/5	/5	PROPN
alkej-236	177	139	�	�	PROPN
alkej-236	177	140	b	b	PROPN
alkej-236	177	141	6;	6;	PROPN
alkej-236	177	142	�	�	PROPN
alkej-236	177	143	b	b	PROPN
alkej-236	177	144	�	�	PROPN
alkej-236	177	145	=	=	PUNCT
alkej-236	177	146	−d	−d	PROPN
alkej-236	177	147	;	;	PUNCT
alkej-236	177	148	�	�	PROPN
alkej-236	177	149	b	b	PROPN
alkej-236	177	150	−	−	ADP
alkej-236	177	151	b	b	PROPN
alkej-236	177	152	5	5	NUM
alkej-236	177	153	�	�	PROPN
alkej-236	177	154	−	−	ADP
alkej-236	177	155	d	d	PROPN
alkej-236	177	156	�	�	PROPN
alkej-236	177	157	;b	;b	PROPN
alkej-236	177	158	�	�	PROPN
alkej-236	177	159	0;	0;	PROPN
alkej-236	177	160	�	�	PROPN
alkej-236	177	161	b	b	PROPN
alkej-236	177	162	�	�	PROPN
alkej-236	177	163	=	=	SYM
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alkej-236	177	165	0	0	NUM
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alkej-236	177	167	;	;	PUNCT
alkej-236	177	168	«	«	PUNCT
alkej-236	177	169	⇒	⇒	PROPN
alkej-236	177	170	�	�	PROPN
alkej-236	177	171	�	�	PROPN
alkej-236	177	172	�	�	PROPN
alkej-236	177	173	�	�	PROPN
alkej-236	177	174	9	9	NUM
alkej-236	177	175	0;	0;	PROPN
alkej-236	177	176	�	�	PROPN
alkej-236	177	177	b	b	PROPN
alkej-236	177	178	�	�	PROPN
alkej-236	177	179	=	=	SYM
alkej-236	177	180	g	g	NOUN
alkej-236	177	181	;	;	PUNCT
alkej-236	177	182	from	from	ADP
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alkej-236	177	184	(	(	PUNCT
alkej-236	177	185	8)	8)	NUM
alkej-236	177	186	the	the	DET
alkej-236	177	187	perturbation	perturbation	NOUN
alkej-236	177	188	term	term	NOUN
alkej-236	177	189	is	be	AUX
alkej-236	177	190	v	v	ADP
alkej-236	177	191	�	�	PROPN
alkej-236	177	192	b	b	PROPN
alkej-236	177	193	,	,	PUNCT
alkej-236	177	194	�	�	PROPN
alkej-236	177	195	=	=	SYM
alkej-236	178	1	¨0d	¨0d	PROPN
alkej-236	178	2	©	©	PROPN
alkej-236	178	3	=	=	X
alkej-236	178	4	¬	¬	PROPN
alkej-236	178	5	0−∆d	0−∆d	NUM
alkej-236	178	6	�	�	PROPN
alkej-236	178	7	b	b	NOUN
alkej-236	178	8	−	−	PROPN
alkej-236	178	9	b	b	PROPN
alkej-236	178	10	5	5	NUM
alkej-236	178	11	�	�	PROPN
alkej-236	178	12	−	−	PROPN
alkej-236	178	13	∆d	∆d	PROPN
alkej-236	178	14	�	�	PROPN
alkej-236	178	15	b	b	PROPN
alkej-236	178	16	�	�	PROPN
alkej-236	178	17	+	+	NUM
alkej-236	178	18	∆g	∆g	PROPN
alkej-236	178	19	−h/01	−h/01	PROPN
alkej-236	178	20	�	�	PROPN
alkej-236	178	21	b	b	SYM
alkej-236	178	22	�	�	PROPN
alkej-236	178	23	�	�	PROPN
alkej-236	178	24	−	−	PROPN
alkej-236	178	25	f/01	f/01	PROPN
alkej-236	178	26	�	�	PROPN
alkej-236	178	27	b	b	NOUN
alkej-236	178	28	−	−	PROPN
alkej-236	178	29	b	b	SYM
alkej-236	178	30	5	5	NUM
alkej-236	178	31	�	�	PROPN
alkej-236	178	32	­	­	VERB
alkej-236	178	33	shibly	shibly	ADV
alkej-236	178	34	ahmed	ahmed	PROPN
alkej-236	178	35	al	al	PROPN
alkej-236	178	36	-	-	PROPN
alkej-236	178	37	samarraie	samarraie	PROPN
alkej-236	178	38	al	al	PROPN
alkej-236	178	39	-	-	PUNCT
alkej-236	178	40	khwarizmi	khwarizmi	PROPN
alkej-236	178	41	engineering	engineering	NOUN
alkej-236	178	42	journal	journal	PROPN
alkej-236	178	43	,	,	PUNCT
alkej-236	178	44	vol	vol	NOUN
alkej-236	178	45	.	.	PROPN
alkej-236	178	46	11	11	NUM
alkej-236	178	47	,	,	PUNCT
alkej-236	178	48	no	no	INTJ
alkej-236	178	49	.	.	NOUN
alkej-236	178	50	3	3	NUM
alkej-236	178	51	,	,	PUNCT
alkej-236	178	52	p.p	p.p	PROPN
alkej-236	178	53	.	.	NOUN
alkej-236	178	54	110	110	NUM
alkej-236	178	55	(	(	PUNCT
alkej-236	178	56	2015	2015	NUM
alkej-236	178	57	)	)	PUNCT
alkej-236	178	58	78	78	NUM
alkej-236	178	59	⇒	⇒	PROPN
alkej-236	178	60	�	�	PROPN
alkej-236	178	61	�	�	PROPN
alkej-236	178	62	�	�	PROPN
alkej-236	178	63	�	�	PROPN
alkej-236	178	64	9	9	NUM
alkej-236	178	65	v	v	NOUN
alkej-236	178	66	�	�	PROPN
alkej-236	178	67	b	b	PROPN
alkej-236	178	68	,	,	PUNCT
alkej-236	178	69	�	�	PROPN
alkej-236	178	70	=	=	SYM
alkej-236	178	71	∆d	∆d	PROPN
alkej-236	178	72	�	�	PROPN
alkej-236	178	73	b	b	PROPN
alkej-236	179	1	−	−	PROPN
alkej-236	179	2	b	b	PROPN
alkej-236	179	3	5	5	NUM
alkej-236	179	4	�	�	PROPN
alkej-236	179	5	+	+	CCONJ
alkej-236	179	6	∆d	∆d	PROPN
alkej-236	179	7	�	�	PROPN
alkej-236	179	8	b	b	PROPN
alkej-236	179	9	�	�	PROPN
alkej-236	179	10	+	+	PROPN
alkej-236	179	11	∆g	∆g	PROPN
alkej-236	179	12	−	−	PROPN
alkej-236	179	13	h/01	h/01	PROPN
alkej-236	179	14	�	�	PROPN
alkej-236	179	15	b	b	NOUN
alkej-236	179	16	�	�	PROPN
alkej-236	179	17	�	�	PROPN
alkej-236	179	18	−	−	PROPN
alkej-236	179	19	f/01	f/01	PROPN
alkej-236	179	20	�	�	PROPN
alkej-236	179	21	b	b	NOUN
alkej-236	179	22	−	−	PROPN
alkej-236	179	23	b	b	SYM
alkej-236	179	24	5	5	NUM
alkej-236	179	25	�	�	PROPN
alkej-236	179	26	⇒	⇒	PROPN
alkej-236	179	27	�	�	PROPN
alkej-236	179	28	�	�	PROPN
alkej-236	179	29	�	�	PROPN
alkej-236	179	30	�	�	PROPN
alkej-236	179	31	�	�	PROPN
alkej-236	179	32	9	9	NUM
alkej-236	179	33	v	v	NOUN
alkej-236	179	34	�	�	PROPN
alkej-236	179	35	b	b	PROPN
alkej-236	179	36	,	,	PUNCT
alkej-236	179	37	�	�	PROPN
alkej-236	179	38	�	�	PROPN
alkej-236	179	39	=	=	SYM
alkej-236	179	40	|∆d	|∆d	PROPN
alkej-236	179	41	�	�	NOUN
alkej-236	179	42	b	b	NOUN
alkej-236	179	43	−	−	PROPN
alkej-236	179	44	b	b	PROPN
alkej-236	179	45	5	5	NUM
alkej-236	179	46	�	�	PROPN
alkej-236	179	47	+	+	CCONJ
alkej-236	179	48	∆d	∆d	PROPN
alkej-236	179	49	�	�	PROPN
alkej-236	179	50	b	b	PROPN
alkej-236	179	51	�	�	PROPN
alkej-236	179	52	+	+	CCONJ
alkej-236	179	53	∆g	∆g	PROPN
alkej-236	179	54	−	−	PROPN
alkej-236	179	55	h/01	h/01	PROPN
alkej-236	179	56	�	�	PROPN
alkej-236	179	57	b	b	NOUN
alkej-236	179	58	�	�	PROPN
alkej-236	179	59	�	�	PROPN
alkej-236	179	60	−	−	PROPN
alkej-236	179	61	f/01	f/01	PROPN
alkej-236	179	62	�	�	PROPN
alkej-236	179	63	b	b	NOUN
alkej-236	179	64	−	−	PROPN
alkej-236	179	65	b	b	SYM
alkej-236	179	66	5	5	NUM
alkej-236	179	67	�	�	NOUN
alkej-236	179	68	|	|	ADV
alkej-236	179	69	≤	≤	ADJ
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alkej-236	179	71	||b	||b	PROPN
alkej-236	179	72	−	−	PROPN
alkej-236	179	73	b	b	SYM
alkej-236	179	74	5|	5|	NUM
alkej-236	179	75	+	+	CCONJ
alkej-236	179	76	|∆d	|∆d	PROPN
alkej-236	179	77	�	�	NOUN
alkej-236	179	78	||b	||b	PROPN
alkej-236	179	79	�	�	NOUN
alkej-236	179	80	|	|	NOUN
alkej-236	179	81	+	+	CCONJ
alkej-236	179	82	|∆g||	|∆g||	PROPN
alkej-236	179	83	|	|	NOUN
alkej-236	179	84	+	+	CCONJ
alkej-236	179	85	µ789	µ789	PROPN
alkej-236	179	86	+	+	SYM
alkej-236	179	87	f789	f789	PROPN
alkej-236	179	88	≤	≤	NOUN
alkej-236	179	89	v8j|b	v8j|b	NOUN
alkej-236	179	90	−	−	PROPN
alkej-236	179	91	b	b	SYM
alkej-236	179	92	5|	5|	NUM
alkej-236	179	93	+	+	NUM
alkej-236	179	94	v8k|b	v8k|b	NOUN
alkej-236	179	95	�	�	NOUN
alkej-236	179	96	|	|	NOUN
alkej-236	179	97	+	+	X
alkej-236	179	98	vl|	vl|	NOUN
alkej-236	179	99	;	;	PUNCT
alkej-236	179	100	−	−	PROPN
alkej-236	179	101	e	e	PROPN
alkej-236	179	102	�	�	PROPN
alkej-236	179	103	b	b	PROPN
alkej-236	179	104	�	�	PROPN
alkej-236	179	105	∗	∗	PROPN
alkej-236	179	106	/	/	SYM
alkej-236	179	107	�	�	PROPN
alkej-236	179	108	01	01	NUM
alkej-236	179	109	�	�	PROPN
alkej-236	179	110	/	/	SYM
alkej-236	179	111	�	�	PROPN
alkej-236	179	112	|	|	NOUN
alkej-236	179	113	+	+	NOUN
alkej-236	179	114	µ789	µ789	PROPN
alkej-236	179	115	+	+	SYM
alkej-236	179	116	f789	f789	PROPN
alkej-236	179	117	≤	≤	NOUN
alkej-236	179	118	v8j|b	v8j|b	NOUN
alkej-236	179	119	−	−	PROPN
alkej-236	179	120	b	b	SYM
alkej-236	179	121	5|	5|	NUM
alkej-236	179	122	+	+	NUM
alkej-236	179	123	v8k|b	v8k|b	NOUN
alkej-236	179	124	�	�	NOUN
alkej-236	179	125	|	|	NOUN
alkej-236	179	126	+	+	X
alkej-236	179	127	vl|	vl|	NOUN
alkej-236	179	128	;	;	PUNCT
alkej-236	179	129	|	|	ADV
alkej-236	179	130	+	+	CCONJ
alkej-236	179	131	vl	vl	PROPN
alkej-236	179	132	�	�	PROPN
alkej-236	179	133	b	b	NOUN
alkej-236	179	134	�	�	PROPN
alkej-236	179	135	+	+	CCONJ
alkej-236	179	136	µ789	µ789	PROPN
alkej-236	179	137	+	+	SYM
alkej-236	179	138	f789	f789	PROPN
alkej-236	179	139	∴	∴	PROPN
alkej-236	179	140	e	e	PROPN
alkej-236	179	141	�	�	PROPN
alkej-236	179	142	b	b	SYM
alkej-236	179	143	�	�	PROPN
alkej-236	179	144	=	=	SYM
alkej-236	179	145	e5	e5	PROPN
alkej-236	179	146	+	+	CCONJ
alkej-236	179	147	k	k	PROPN
alkej-236	179	148	l	l	PROPN
alkej-236	179	149	�	�	PROPN
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alkej-236	179	151	�	�	NOUN
alkej-236	179	152	v8j|b	v8j|b	NOUN
alkej-236	179	153	−	−	PROPN
alkej-236	179	154	b	b	SYM
alkej-236	179	155	5|	5|	NUM
alkej-236	179	156	+	+	NUM
alkej-236	179	157	v8k|b	v8k|b	NOUN
alkej-236	179	158	�	�	NOUN
alkej-236	179	159	|	|	NOUN
alkej-236	179	160	+	+	CCONJ
alkej-236	179	161	|	|	ADV
alkej-236	179	162	;	;	PUNCT
alkej-236	179	163	|	|	ADV
alkej-236	179	164	+	+	CCONJ
alkej-236	179	165	vle	vle	PROPN
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alkej-236	179	167	b	b	NOUN
alkej-236	179	168	�	�	PROPN
alkej-236	179	169	+	+	CCONJ
alkej-236	179	170	µ789	µ789	PROPN
alkej-236	179	171	+	+	ADJ
alkej-236	179	172	f789	f789	PROPN
alkej-236	179	173	�	�	PROPN
alkej-236	179	174	then	then	ADV
alkej-236	179	175	by	by	ADP
alkej-236	179	176	solving	solve	VERB
alkej-236	179	177	for	for	ADP
alkej-236	179	178	e	e	PROPN
alkej-236	179	179	�	�	PROPN
alkej-236	179	180	b	b	NOUN
alkej-236	179	181	�	�	PROPN
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alkej-236	179	183	get	get	VERB
alkej-236	179	184	e	e	NOUN
alkej-236	179	185	�	�	PROPN
alkej-236	179	186	b	b	NOUN
alkej-236	179	187	�	�	PROPN
alkej-236	179	188	=	=	SYM
alkej-236	179	189	k	k	PROPN
alkej-236	179	190	l	l	PROPN
alkej-236	179	191	�	�	PROPN
alkej-236	179	192	l	l	NOUN
alkej-236	179	193	�	�	PROPN
alkej-236	179	194	�	�	PROPN
alkej-236	179	195	�	�	PROPN
alkej-236	179	196	®	®	PROPN
alkej-236	179	197	n	n	PROPN
alkej-236	179	198	�	�	PROPN
alkej-236	179	199	e5	e5	PROPN
alkej-236	179	200	+	+	CCONJ
alkej-236	179	201	k	k	PROPN
alkej-236	179	202	l	l	PROPN
alkej-236	179	203	�	�	PROPN
alkej-236	179	204	n	n	NOUN
alkej-236	179	205	�	�	NOUN
alkej-236	179	206	v8j|b	v8j|b	NOUN
alkej-236	179	207	−	−	PROPN
alkej-236	179	208	b	b	SYM
alkej-236	179	209	5|	5|	NUM
alkej-236	179	210	+	+	NUM
alkej-236	179	211	v8k|b	v8k|b	NOUN
alkej-236	179	212	�	�	NOUN
alkej-236	179	213	|	|	NOUN
alkej-236	179	214	+	+	X
alkej-236	179	215	vl|	vl|	NOUN
alkej-236	179	216	;	;	PUNCT
alkej-236	179	217	|	|	ADV
alkej-236	179	218	+	+	CCONJ
alkej-236	179	219	µ789	µ789	PROPN
alkej-236	179	220	+	+	ADJ
alkej-236	179	221	f789	f789	PROPN
alkej-236	179	222	�	�	PROPN
alkej-236	179	223	�	�	PROPN
alkej-236	179	224	…	…	PUNCT
alkej-236	179	225	(	(	PUNCT
alkej-236	179	226	28	28	NUM
alkej-236	179	227	)	)	PUNCT
alkej-236	179	228	in	in	ADP
alkej-236	179	229	the	the	DET
alkej-236	179	230	next	next	ADJ
alkej-236	179	231	step	step	NOUN
alkej-236	179	232	the	the	DET
alkej-236	179	233	ideal	ideal	ADJ
alkej-236	179	234	control	control	NOUN
alkej-236	179	235	is	be	AUX
alkej-236	179	236	designed	design	VERB
alkej-236	179	237	as	as	SCONJ
alkej-236	179	238	follows	follow	VERB
alkej-236	179	239	;	;	PUNCT
alkej-236	179	240	first	first	ADV
alkej-236	179	241	let	let	VERB
alkej-236	179	242	z	z	NOUN
alkej-236	180	1	=	=	SYM
alkej-236	180	2	b	b	PROPN
alkej-236	180	3	−	−	PROPN
alkej-236	180	4	b	b	PROPN
alkej-236	180	5	¯	¯	PROPN
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alkej-236	180	8	�	�	PROPN
alkej-236	180	9	=	=	SYM
alkej-236	180	10	b	b	PROPN
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alkej-236	180	12	−	−	PROPN
alkej-236	180	13	b	b	SYM
alkej-236	180	14	�	�	PROPN
alkej-236	180	15	¯	¯	PROPN
alkej-236	180	16	then	then	ADV
alkej-236	180	17	the	the	DET
alkej-236	180	18	nominal	nominal	ADJ
alkej-236	180	19	model	model	NOUN
alkej-236	180	20	given	give	VERB
alkej-236	180	21	in	in	ADP
alkej-236	180	22	equation	equation	NOUN
alkej-236	180	23	(	(	PUNCT
alkej-236	180	24	26	26	NUM
alkej-236	180	25	)	)	PUNCT
alkej-236	180	26	becomes	become	VERB
alkej-236	180	27	z	z	NOUN
alkej-236	180	28	°	°	PRON
alkej-236	180	29	=	=	VERB
alkej-236	180	30	−d	−d	ADJ
alkej-236	180	31	;	;	PUNCT
alkej-236	181	1	�	�	PROPN
alkej-236	181	2	b	b	PROPN
alkej-236	181	3	−	−	ADP
alkej-236	181	4	b	b	PROPN
alkej-236	181	5	5	5	NUM
alkej-236	181	6	�	�	PROPN
alkej-236	181	7	−	−	ADP
alkej-236	181	8	d	d	PROPN
alkej-236	181	9	�	�	PROPN
alkej-236	181	10	;b	;b	PROPN
alkej-236	181	11	�	�	PROPN
alkej-236	181	12	−	−	PROPN
alkej-236	181	13	b	b	SYM
alkej-236	181	14	�	�	PROPN
alkej-236	181	15	�	�	NOUN
alkej-236	181	16	¯	¯	PROPN
alkej-236	181	17	+	+	CCONJ
alkej-236	181	18	g	g	NOUN
alkej-236	181	19	;	;	PUNCT
alkej-236	181	20	;	;	PUNCT
alkej-236	181	21	…	…	PUNCT
alkej-236	181	22	(	(	PUNCT
alkej-236	181	23	29	29	NUM
alkej-236	181	24	)	)	PUNCT
alkej-236	181	25	where	where	SCONJ
alkej-236	181	26	b	b	X
alkej-236	181	27	¯	¯	PROPN
alkej-236	181	28	and	and	CCONJ
alkej-236	181	29	b	b	PROPN
alkej-236	181	30	�	�	NOUN
alkej-236	181	31	¯	¯	NOUN
alkej-236	181	32	are	be	AUX
alkej-236	181	33	the	the	DET
alkej-236	181	34	reference	reference	NOUN
alkej-236	181	35	angular	angular	ADJ
alkej-236	181	36	position	position	NOUN
alkej-236	181	37	and	and	CCONJ
alkej-236	181	38	reference	reference	NOUN
alkej-236	181	39	angular	angular	ADJ
alkej-236	181	40	velocity	velocity	NOUN
alkej-236	181	41	in	in	ADP
alkej-236	181	42	state	state	NOUN
alkej-236	181	43	space	space	NOUN
alkej-236	181	44	,	,	PUNCT
alkej-236	181	45	respectively	respectively	ADV
alkej-236	181	46	.	.	PUNCT
alkej-236	182	1	accordingly	accordingly	ADV
alkej-236	182	2	the	the	DET
alkej-236	182	3	nominal	nominal	ADJ
alkej-236	182	4	control	control	NOUN
alkej-236	182	5	is	be	AUX
alkej-236	182	6	designed	design	VERB
alkej-236	182	7	as	as	ADP
alkej-236	182	8	:	:	PUNCT
alkej-236	182	9	;	;	PUNCT
alkej-236	182	10	=	=	SYM
alkej-236	183	1	k	k	PROPN
alkej-236	183	2	l	l	PROPN
alkej-236	183	3	�	�	PROPN
alkej-236	183	4	n	n	PART
alkej-236	183	5	2d	2d	NUM
alkej-236	183	6	;	;	PUNCT
alkej-236	183	7	�	�	PROPN
alkej-236	183	8	b	b	PROPN
alkej-236	183	9	−	−	ADP
alkej-236	183	10	b	b	PROPN
alkej-236	183	11	5	5	NUM
alkej-236	183	12	�	�	NOUN
alkej-236	183	13	+	+	CCONJ
alkej-236	183	14	d	d	PROPN
alkej-236	183	15	�	�	PROPN
alkej-236	183	16	;b	;b	NOUN
alkej-236	183	17	�	�	PROPN
alkej-236	183	18	+	+	CCONJ
alkej-236	183	19	b	b	X
alkej-236	183	20	�	�	NOUN
alkej-236	183	21	�	�	NOUN
alkej-236	183	22	¯−±	¯−±	PROPN
alkej-236	183	23	z	z	NOUN
alkej-236	183	24	−	−	PROPN
alkej-236	183	25	±	±	NUM
alkej-236	183	26	�	�	PROPN
alkej-236	183	27	z	z	PROPN
alkej-236	183	28	�	�	PROPN
alkej-236	183	29	s	s	PART
alkej-236	183	30	…	…	PUNCT
alkej-236	183	31	(	(	PUNCT
alkej-236	183	32	30	30	NUM
alkej-236	183	33	)	)	PUNCT
alkej-236	183	34	as	as	ADP
alkej-236	183	35	a	a	DET
alkej-236	183	36	result	result	NOUN
alkej-236	183	37	,	,	PUNCT
alkej-236	183	38	the	the	DET
alkej-236	183	39	nominal	nominal	ADJ
alkej-236	183	40	system	system	NOUN
alkej-236	183	41	error	error	NOUN
alkej-236	183	42	dynamics	dynamic	NOUN
alkej-236	183	43	becomes	become	VERB
alkej-236	183	44	;	;	PUNCT
alkej-236	184	1	z	z	X
alkej-236	184	2	°	°	NOUN
alkej-236	184	3	=	=	PUNCT
alkej-236	185	1	−±	−±	PUNCT
alkej-236	185	2	z	z	NOUN
alkej-236	185	3	−	−	PROPN
alkej-236	185	4	±	±	NUM
alkej-236	185	5	�	�	PROPN
alkej-236	185	6	z	z	PROPN
alkej-236	185	7	�	�	PROPN
alkej-236	185	8	,	,	PUNCT
alkej-236	185	9	±	±	NUM
alkej-236	185	10	,	,	PUNCT
alkej-236	185	11	±	±	NUM
alkej-236	185	12	�	�	PROPN
alkej-236	185	13	>	>	X
alkej-236	185	14	0	0	NUM
alkej-236	185	15	…	…	PUNCT
alkej-236	185	16	(	(	PUNCT
alkej-236	185	17	31	31	NUM
alkej-236	185	18	)	)	PUNCT
alkej-236	185	19	the	the	DET
alkej-236	185	20	values	value	NOUN
alkej-236	185	21	of	of	ADP
alkej-236	185	22	±	±	NUM
alkej-236	185	23	and	and	CCONJ
alkej-236	185	24	±	±	NUM
alkej-236	185	25	�	�	PROPN
alkej-236	185	26	are	be	AUX
alkej-236	185	27	assigned	assign	VERB
alkej-236	185	28	according	accord	VERB
alkej-236	185	29	to	to	ADP
alkej-236	185	30	the	the	DET
alkej-236	185	31	required	require	VERB
alkej-236	185	32	system	system	NOUN
alkej-236	185	33	dynamics	dynamic	NOUN
alkej-236	185	34	characteristics	characteristic	NOUN
alkej-236	185	35	.	.	PUNCT
alkej-236	186	1	finally	finally	ADV
alkej-236	186	2	the	the	DET
alkej-236	186	3	ismc	ismc	NOUN
alkej-236	186	4	for	for	ADP
alkej-236	186	5	the	the	DET
alkej-236	186	6	etv	etv	NOUN
alkej-236	186	7	system	system	NOUN
alkej-236	186	8	is	be	AUX
alkej-236	186	9	;	;	PUNCT
alkej-236	186	10	�	�	PROPN
alkej-236	186	11	�	�	PROPN
alkej-236	186	12	�	�	PROPN
alkej-236	186	13	=	=	SYM
alkej-236	186	14	±	±	PROPN
alkej-236	186	15	z	z	PROPN
alkej-236	186	16	+	+	NOUN
alkej-236	186	17	±	±	NUM
alkej-236	186	18	�	�	PROPN
alkej-236	186	19	z	z	PROPN
alkej-236	186	20	�	�	PROPN
alkej-236	186	21	−	−	PROPN
alkej-236	186	22	b	b	SYM
alkej-236	186	23	�	�	PROPN
alkej-236	186	24	�	�	PROPN
alkej-236	186	25	¯	¯	PROPN
alkej-236	186	26	,	,	PUNCT
alkej-236	186	27	�	�	PROPN
alkej-236	186	28	�	�	PROPN
alkej-236	186	29	0	0	NUM
alkej-236	186	30	�	�	NOUN
alkej-236	186	31	=	=	SYM
alkej-236	186	32	−b	−b	PROPN
alkej-236	186	33	�	�	PROPN
alkej-236	186	34	�	�	PROPN
alkej-236	186	35	0	0	NUM
alkej-236	186	36	�	�	PROPN
alkej-236	186	37	/	/	SYM
alkej-236	186	38	=	=	SYM
alkej-236	186	39	b	b	PROPN
alkej-236	186	40	�	�	PROPN
alkej-236	186	41	+	+	CCONJ
alkej-236	186	42	�	�	PROPN
alkej-236	186	43	=	=	SYM
alkej-236	186	44	;	;	PUNCT
alkej-236	187	1	−	−	PROPN
alkej-236	187	2	e	e	PROPN
alkej-236	187	3	�	�	PROPN
alkej-236	187	4	b	b	SYM
alkej-236	187	5	�	�	PROPN
alkej-236	187	6	/	/	SYM
alkej-236	187	7	�	�	PROPN
alkej-236	187	8	01	01	NUM
alkej-236	187	9	�	�	PROPN
alkej-236	187	10	/	/	SYM
alkej-236	187	11	�	�	PROPN
alkej-236	187	12	p	p	NOUN
alkej-236	187	13	…	…	PUNCT
alkej-236	187	14	(	(	PUNCT
alkej-236	187	15	32	32	NUM
alkej-236	187	16	)	)	PUNCT
alkej-236	187	17	with	with	ADP
alkej-236	187	18	e	e	PROPN
alkej-236	187	19	�	�	PROPN
alkej-236	187	20	b	b	NOUN
alkej-236	187	21	�	�	PROPN
alkej-236	187	22	and	and	CCONJ
alkej-236	187	23	;	;	PUNCT
alkej-236	187	24	are	be	AUX
alkej-236	187	25	as	as	SCONJ
alkej-236	187	26	given	give	VERB
alkej-236	187	27	in	in	ADP
alkej-236	187	28	equations	equation	NOUN
alkej-236	187	29	(	(	PUNCT
alkej-236	187	30	28	28	NUM
alkej-236	187	31	)	)	PUNCT
alkej-236	187	32	and	and	CCONJ
alkej-236	187	33	(	(	PUNCT
alkej-236	187	34	30	30	NUM
alkej-236	187	35	)	)	PUNCT
alkej-236	187	36	respectively	respectively	ADV
alkej-236	187	37	.	.	PUNCT
alkej-236	188	1	the	the	DET
alkej-236	188	2	integral	integral	ADJ
alkej-236	188	3	sliding	slide	VERB
alkej-236	188	4	mode	mode	NOUN
alkej-236	188	5	control	control	NOUN
alkej-236	188	6	,	,	PUNCT
alkej-236	188	7	as	as	SCONJ
alkej-236	188	8	can	can	AUX
alkej-236	188	9	be	be	AUX
alkej-236	188	10	notedfrom	notedfrom	ADJ
alkej-236	188	11	equation	equation	NOUN
alkej-236	188	12	(	(	PUNCT
alkej-236	188	13	32	32	NUM
alkej-236	188	14	)	)	PUNCT
alkej-236	188	15	,	,	PUNCT
alkej-236	188	16	leaves	leave	VERB
alkej-236	188	17	the	the	DET
alkej-236	188	18	electronic	electronic	ADJ
alkej-236	188	19	throttle	throttle	NOUN
alkej-236	188	20	valve	valve	NOUN
alkej-236	188	21	with	with	ADP
alkej-236	188	22	the	the	DET
alkej-236	188	23	required	require	VERB
alkej-236	188	24	system	system	NOUN
alkej-236	188	25	characteristics	characteristic	NOUN
alkej-236	188	26	equation	equation	NOUN
alkej-236	188	27	(	(	PUNCT
alkej-236	188	28	30	30	NUM
alkej-236	188	29	)	)	PUNCT
alkej-236	188	30	from	from	ADP
alkej-236	188	31	the	the	DET
alkej-236	188	32	first	first	ADJ
alkej-236	188	33	instant	instant	NOUN
alkej-236	188	34	.	.	PUNCT
alkej-236	189	1	note	note	NOUN
alkej-236	189	2	also	also	ADV
alkej-236	189	3	that	that	SCONJ
alkej-236	189	4	the	the	DET
alkej-236	189	5	sliding	slide	VERB
alkej-236	189	6	variable	variable	NOUN
alkej-236	189	7	/5	/5	PUNCT
alkej-236	189	8	can	can	AUX
alkej-236	189	9	be	be	AUX
alkej-236	189	10	chosen	choose	VERB
alkej-236	189	11	as	as	ADP
alkej-236	189	12	a	a	DET
alkej-236	189	13	linear	linear	ADJ
alkej-236	189	14	combinations	combination	NOUN
alkej-236	189	15	of	of	ADP
alkej-236	189	16	states	state	NOUN
alkej-236	189	17	but	but	CCONJ
alkej-236	189	18	,	,	PUNCT
alkej-236	189	19	however	however	ADV
alkej-236	189	20	,	,	PUNCT
alkej-236	189	21	it	it	PRON
alkej-236	189	22	can	can	AUX
alkej-236	189	23	be	be	AUX
alkej-236	189	24	chosen	choose	VERB
alkej-236	189	25	in	in	ADP
alkej-236	189	26	terms	term	NOUN
alkej-236	189	27	of	of	ADP
alkej-236	189	28	the	the	DET
alkej-236	189	29	states	state	NOUN
alkej-236	189	30	that	that	SCONJ
alkej-236	189	31	the	the	DET
alkej-236	189	32	control	control	NOUN
alkej-236	189	33	input	input	NOUN
alkej-236	189	34	acts	act	VERB
alkej-236	189	35	through	through	ADP
alkej-236	189	36	their	their	PRON
alkej-236	189	37	channels	channel	NOUN
alkej-236	189	38	.	.	PUNCT
alkej-236	190	1	in	in	ADP
alkej-236	190	2	the	the	DET
alkej-236	190	3	etv	etv	NOUN
alkej-236	190	4	,	,	PUNCT
alkej-236	190	5	the	the	DET
alkej-236	190	6	input	input	NOUN
alkej-236	190	7	exists	exist	VERB
alkej-236	190	8	in	in	ADP
alkej-236	190	9	b	b	PROPN
alkej-236	190	10	�	�	PROPN
alkej-236	190	11	channel	channel	NOUN
alkej-236	190	12	,	,	PUNCT
alkej-236	190	13	accordingly	accordingly	ADV
alkej-236	190	14	we	we	PRON
alkej-236	190	15	select	select	VERB
alkej-236	190	16	/5	/5	PUNCT
alkej-236	191	1	=	=	SYM
alkej-236	191	2	b	b	X
alkej-236	191	3	�	�	PROPN
alkej-236	191	4	.	.	PROPN
alkej-236	192	1	5	5	NUM
alkej-236	192	2	.	.	X
alkej-236	192	3	simulation	simulation	NOUN
alkej-236	192	4	results	result	VERB
alkej-236	192	5	the	the	DET
alkej-236	192	6	simulations	simulation	NOUN
alkej-236	192	7	which	which	PRON
alkej-236	192	8	are	be	AUX
alkej-236	192	9	presented	present	VERB
alkej-236	192	10	below	below	ADV
alkej-236	192	11	are	be	AUX
alkej-236	192	12	classified	classify	VERB
alkej-236	192	13	into	into	ADP
alkej-236	192	14	three	three	NUM
alkej-236	192	15	category	category	NOUN
alkej-236	192	16	.	.	PUNCT
alkej-236	193	1	each	each	PRON
alkej-236	193	2	of	of	ADP
alkej-236	193	3	them	they	PRON
alkej-236	193	4	either	either	CCONJ
alkej-236	193	5	explores	explore	VERB
alkej-236	193	6	the	the	DET
alkej-236	193	7	ismc	ismc	NOUN
alkej-236	193	8	abilities	ability	NOUN
alkej-236	193	9	or	or	CCONJ
alkej-236	193	10	explains	explain	VERB
alkej-236	193	11	and	and	CCONJ
alkej-236	193	12	analyzes	analyze	VERB
alkej-236	193	13	the	the	DET
alkej-236	193	14	integral	integral	ADJ
alkej-236	193	15	sliding	slide	VERB
alkej-236	193	16	mode	mode	NOUN
alkej-236	193	17	controller	controller	NOUN
alkej-236	193	18	features	feature	VERB
alkej-236	193	19	.	.	PUNCT
alkej-236	194	1	the	the	DET
alkej-236	194	2	simulations	simulation	NOUN
alkej-236	194	3	are	be	AUX
alkej-236	194	4	based	base	VERB
alkej-236	194	5	on	on	ADP
alkej-236	194	6	the	the	DET
alkej-236	194	7	full	full	ADJ
alkej-236	194	8	order	order	NOUN
alkej-236	194	9	model	model	NOUN
alkej-236	194	10	as	as	SCONJ
alkej-236	194	11	given	give	VERB
alkej-236	194	12	in	in	ADP
alkej-236	194	13	equation	equation	NOUN
alkej-236	194	14	(	(	PUNCT
alkej-236	194	15	4	4	NUM
alkej-236	194	16	)	)	PUNCT
alkej-236	194	17	and	and	CCONJ
alkej-236	194	18	the	the	DET
alkej-236	194	19	ismc	ismc	NOUN
alkej-236	194	20	is	be	AUX
alkej-236	194	21	as	as	SCONJ
alkej-236	194	22	given	give	VERB
alkej-236	194	23	in	in	ADP
alkej-236	194	24	equation	equation	NOUN
alkej-236	194	25	(	(	PUNCT
alkej-236	194	26	32	32	NUM
alkej-236	194	27	)	)	PUNCT
alkej-236	194	28	.	.	PUNCT
alkej-236	195	1	also	also	ADV
alkej-236	195	2	e	e	X
alkej-236	195	3	�	�	PROPN
alkej-236	195	4	b	b	SYM
alkej-236	195	5	�	�	PROPN
alkej-236	195	6	and	and	CCONJ
alkej-236	195	7	;	;	PUNCT
alkej-236	195	8	are	be	AUX
alkej-236	195	9	given	give	VERB
alkej-236	195	10	in	in	ADP
alkej-236	195	11	equations	equation	NOUN
alkej-236	195	12	(	(	PUNCT
alkej-236	195	13	28	28	NUM
alkej-236	195	14	)	)	PUNCT
alkej-236	195	15	and	and	CCONJ
alkej-236	195	16	(	(	PUNCT
alkej-236	195	17	30	30	NUM
alkej-236	195	18	)	)	PUNCT
alkej-236	195	19	respectively	respectively	ADV
alkej-236	195	20	.	.	PUNCT
alkej-236	196	1	let	let	VERB
alkej-236	196	2	e5	e5	PROPN
alkej-236	196	3	=	=	PROPN
alkej-236	196	4	0.2	0.2	NUM
alkej-236	196	5	,	,	PUNCT
alkej-236	196	6	while	while	SCONJ
alkej-236	196	7	the	the	DET
alkej-236	196	8	system	system	NOUN
alkej-236	196	9	parameters	parameter	NOUN
alkej-236	196	10	,	,	PUNCT
alkej-236	196	11	their	their	PRON
alkej-236	196	12	nominal	nominal	ADJ
alkej-236	196	13	values	value	NOUN
alkej-236	196	14	and	and	CCONJ
alkej-236	196	15	maximum	maximum	ADJ
alkej-236	196	16	uncertainties	uncertainty	NOUN
alkej-236	196	17	are	be	AUX
alkej-236	196	18	all	all	PRON
alkej-236	196	19	given	give	VERB
alkej-236	196	20	in	in	ADP
alkej-236	196	21	tables	table	NOUN
alkej-236	196	22	(	(	PUNCT
alkej-236	196	23	2	2	NUM
alkej-236	196	24	)	)	PUNCT
alkej-236	196	25	and	and	CCONJ
alkej-236	196	26	(	(	PUNCT
alkej-236	196	27	3	3	NUM
alkej-236	196	28	)	)	PUNCT
alkej-236	196	29	.	.	PUNCT
alkej-236	197	1	note	note	VERB
alkej-236	197	2	that	that	SCONJ
alkej-236	197	3	the	the	DET
alkej-236	197	4	value	value	NOUN
alkej-236	197	5	of	of	ADP
alkej-236	197	6	e5	e5	PROPN
alkej-236	197	7	is	be	AUX
alkej-236	197	8	slected	slecte	VERB
alkej-236	197	9	small	small	ADJ
alkej-236	197	10	in	in	ADP
alkej-236	197	11	order	order	NOUN
alkej-236	197	12	to	to	PART
alkej-236	197	13	reduce	reduce	VERB
alkej-236	197	14	the	the	DET
alkej-236	197	15	amplitude	amplitude	NOUN
alkej-236	197	16	of	of	ADP
alkej-236	197	17	the	the	DET
alkej-236	197	18	chattering	chattering	NOUN
alkej-236	197	19	induced	induce	VERB
alkej-236	197	20	in	in	ADP
alkej-236	197	21	system	system	NOUN
alkej-236	197	22	response	response	NOUN
alkej-236	197	23	.	.	PUNCT
alkej-236	198	1	for	for	ADP
alkej-236	198	2	the	the	DET
alkej-236	198	3	nominal	nominal	ADJ
alkej-236	198	4	controller	controller	NOUN
alkej-236	198	5	;	;	PUNCT
alkej-236	198	6	,	,	PUNCT
alkej-236	198	7	±	±	PROPN
alkej-236	198	8	and	and	CCONJ
alkej-236	198	9	±	±	NUM
alkej-236	198	10	�	�	PROPN
alkej-236	198	11	are	be	AUX
alkej-236	198	12	determined	determine	VERB
alkej-236	198	13	based	base	VERB
alkej-236	198	14	on	on	ADP
alkej-236	198	15	pole	pole	ADJ
alkej-236	198	16	placement	placement	NOUN
alkej-236	198	17	method	method	NOUN
alkej-236	198	18	.	.	PUNCT
alkej-236	199	1	the	the	DET
alkej-236	199	2	poles	pole	NOUN
alkej-236	199	3	are	be	AUX
alkej-236	199	4	selected	select	VERB
alkej-236	199	5	such	such	ADJ
alkej-236	199	6	that	that	SCONJ
alkej-236	199	7	the	the	DET
alkej-236	199	8	throttle	throttle	NOUN
alkej-236	199	9	angle	angle	NOUN
alkej-236	199	10	reaches	reach	VERB
alkej-236	199	11	the	the	DET
alkej-236	199	12	target	target	NOUN
alkej-236	199	13	without	without	ADP
alkej-236	199	14	overshot	overshot	PROPN
alkej-236	199	15	as	as	ADP
alkej-236	199	16	one	one	NUM
alkej-236	199	17	of	of	ADP
alkej-236	199	18	the	the	DET
alkej-236	199	19	main	main	ADJ
alkej-236	199	20	requirement	requirement	NOUN
alkej-236	199	21	in	in	ADP
alkej-236	199	22	automotive	automotive	ADJ
alkej-236	199	23	industry	industry	NOUN
alkej-236	199	24	.	.	PUNCT
alkej-236	200	1	to	to	ADP
alkej-236	200	2	this	this	DET
alkej-236	200	3	end	end	NOUN
alkej-236	200	4	,	,	PUNCT
alkej-236	200	5	let	let	VERB
alkej-236	200	6	the	the	DET
alkej-236	200	7	characteristic	characteristic	ADJ
alkej-236	200	8	roots	root	NOUN
alkej-236	200	9	for	for	ADP
alkej-236	200	10	the	the	DET
alkej-236	200	11	nominal	nominal	ADJ
alkej-236	200	12	system	system	NOUN
alkej-236	200	13	equation	equation	NOUN
alkej-236	200	14	(	(	PUNCT
alkej-236	200	15	31	31	NUM
alkej-236	200	16	)	)	PUNCT
alkej-236	200	17	are	be	AUX
alkej-236	200	18	−35,−35	−35,−35	PROPN
alkej-236	200	19	,	,	PUNCT
alkej-236	200	20	then	then	ADV
alkej-236	200	21	±	±	NUM
alkej-236	200	22	=	=	SYM
alkej-236	200	23	35	35	NUM
alkej-236	200	24	�	�	PROPN
alkej-236	200	25	and	and	CCONJ
alkej-236	200	26	±	±	NUM
alkej-236	200	27	�	�	PROPN
alkej-236	200	28	=	=	SYM
alkej-236	200	29	70	70	NUM
alkej-236	200	30	.	.	PUNCT
alkej-236	201	1	throughout	throughout	ADP
alkej-236	201	2	the	the	DET
alkej-236	201	3	simulations	simulation	NOUN
alkej-236	201	4	the	the	DET
alkej-236	201	5	ability	ability	NOUN
alkej-236	201	6	of	of	ADP
alkej-236	201	7	the	the	DET
alkej-236	201	8	ismc	ismc	NOUN
alkej-236	201	9	are	be	AUX
alkej-236	201	10	investigated	investigate	VERB
alkej-236	201	11	in	in	ADP
alkej-236	201	12	forcing	force	VERB
alkej-236	201	13	the	the	DET
alkej-236	201	14	throttle	throttle	NOUN
alkej-236	201	15	valve	valve	NOUN
alkej-236	201	16	plate	plate	NOUN
alkej-236	201	17	angle	angle	NOUN
alkej-236	201	18	to	to	PART
alkej-236	201	19	follow	follow	VERB
alkej-236	201	20	three	three	NUM
alkej-236	201	21	different	different	ADJ
alkej-236	201	22	desired	desire	VERB
alkej-236	201	23	trajectories	trajectory	NOUN
alkej-236	201	24	which	which	PRON
alkej-236	201	25	are	be	AUX
alkej-236	201	26	described	describe	VERB
alkej-236	201	27	as	as	ADP
alkej-236	201	28	follows	follow	VERB
alkej-236	201	29	:	:	PUNCT
alkej-236	201	30	trajectory	trajectory	NOUN
alkej-236	201	31	a	a	PRON
alkej-236	201	32	(	(	PUNCT
alkej-236	201	33	traj.a	traj.a	NOUN
alkej-236	201	34	):	):	PUNCT
alkej-236	201	35	constant	constant	ADJ
alkej-236	201	36	reference	reference	NOUN
alkej-236	201	37	throttle	throttle	NOUN
alkej-236	201	38	angle	angle	NOUN
alkej-236	201	39	�	�	NOUN
alkej-236	201	40	¯	¯	NOUN
alkej-236	201	41	=	=	SYM
alkej-236	201	42	70	70	NUM
alkej-236	201	43	dz0	dz0	NOUN
alkej-236	201	44	.	.	PUNCT
alkej-236	202	1	trajectory	trajectory	PROPN
alkej-236	202	2	b	b	PROPN
alkej-236	202	3	(	(	PUNCT
alkej-236	202	4	traj.b	traj.b	PROPN
alkej-236	202	5	)	)	PUNCT
alkej-236	203	1	[	[	X
alkej-236	203	2	3	3	NUM
alkej-236	203	3	]	]	PUNCT
alkej-236	203	4	:	:	PUNCT
alkej-236	203	5	the	the	DET
alkej-236	203	6	reference	reference	NOUN
alkej-236	203	7	angle	angle	NOUN
alkej-236	203	8	is	be	AUX
alkej-236	203	9	piecewise	piecewise	NOUN
alkej-236	203	10	constant	constant	ADJ
alkej-236	203	11	;	;	PUNCT
alkej-236	203	12	namely	namely	ADV
alkej-236	203	13	shibly	shibly	PROPN
alkej-236	203	14	ahmed	ahmed	PROPN
alkej-236	203	15	al	al	PROPN
alkej-236	203	16	-	-	PROPN
alkej-236	203	17	samarraie	samarraie	PROPN
alkej-236	203	18	al	al	PROPN
alkej-236	203	19	-	-	PUNCT
alkej-236	203	20	khwarizmi	khwarizmi	PROPN
alkej-236	203	21	engineering	engineering	NOUN
alkej-236	203	22	journal	journal	PROPN
alkej-236	203	23	,	,	PUNCT
alkej-236	203	24	vol	vol	NOUN
alkej-236	203	25	.	.	PROPN
alkej-236	203	26	11	11	NUM
alkej-236	203	27	,	,	PUNCT
alkej-236	203	28	no	no	INTJ
alkej-236	203	29	.	.	NOUN
alkej-236	203	30	3	3	NUM
alkej-236	203	31	,	,	PUNCT
alkej-236	203	32	p.p	p.p	PROPN
alkej-236	203	33	.	.	NOUN
alkej-236	203	34	110	110	NUM
alkej-236	203	35	(	(	PUNCT
alkej-236	203	36	2015	2015	NUM
alkej-236	203	37	)	)	PUNCT
alkej-236	203	38	79	79	NUM
alkej-236	203	39	�	�	NOUN
alkej-236	203	40	¯	¯	ADJ
alkej-236	203	41	=	=	SYM
alkej-236	203	42	5.44deg	5.44deg	NUM
alkej-236	203	43	.	.	PUNCT
alkej-236	204	1	6}c	6}c	NUM
alkej-236	204	2	0	0	SYM
alkej-236	204	3	≤	≤	NOUN
alkej-236	204	4	{	{	PUNCT
alkej-236	204	5	≤	≤	NUM
alkej-236	204	6	1	1	NUM
alkej-236	204	7	=	=	SYM
alkej-236	204	8	70	70	NUM
alkej-236	204	9	deg	deg	NOUN
alkej-236	204	10	.	.	PUNCT
alkej-236	205	1	6}c	6}c	NUM
alkej-236	205	2	1	1	NUM
alkej-236	205	3	<	<	X
alkej-236	205	4	{	{	PUNCT
alkej-236	205	5	≤	≤	NUM
alkej-236	205	6	2.5	2.5	NUM
alkej-236	205	7	=	=	SYM
alkej-236	205	8	25	25	NUM
alkej-236	205	9	deg	deg	NOUN
alkej-236	205	10	.	.	PUNCT
alkej-236	206	1	6}c	6}c	NUM
alkej-236	206	2	2.5	2.5	NUM
alkej-236	206	3	<	<	X
alkej-236	206	4	{	{	PUNCT
alkej-236	206	5	≤	≤	ADV
alkej-236	206	6	4	4	NUM
alkej-236	206	7	=	=	SYM
alkej-236	206	8	45	45	NUM
alkej-236	206	9	deg	deg	NOUN
alkej-236	206	10	.	.	PUNCT
alkej-236	207	1	6}c	6}c	NUM
alkej-236	207	2	4	4	NUM
alkej-236	207	3	<	<	X
alkej-236	207	4	{	{	PUNCT
alkej-236	207	5	≤	≤	NUM
alkej-236	207	6	5	5	NUM
alkej-236	207	7	trajectory	trajectory	NOUN
alkej-236	207	8	c	c	NOUN
alkej-236	207	9	(	(	PUNCT
alkej-236	207	10	traj.c	traj.c	PROPN
alkej-236	207	11	):	):	PUNCT
alkej-236	207	12	the	the	DET
alkej-236	207	13	reference	reference	NOUN
alkej-236	207	14	angle	angle	NOUN
alkej-236	207	15	is	be	AUX
alkej-236	207	16	a	a	DET
alkej-236	207	17	periodic	periodic	ADJ
alkej-236	207	18	function	function	NOUN
alkej-236	207	19	given	give	VERB
alkej-236	207	20	by	by	ADP
alkej-236	207	21	�	�	NOUN
alkej-236	207	22	¯	¯	PROPN
alkej-236	207	23	=	=	SYM
alkej-236	207	24	�	�	PROPN
alkej-236	207	25	π/180	π/180	PROPN
alkej-236	207	26	�	�	PROPN
alkej-236	207	27	∗	∗	X
alkej-236	207	28	µ30	µ30	PROPN
alkej-236	208	1	+	+	CCONJ
alkej-236	208	2	3	3	NUM
alkej-236	208	3	∗	∗	NUM
alkej-236	208	4	sinq	sinq	PROPN
alkej-236	208	5	�	�	PROPN
alkej-236	208	6	2π3	2π3	NUM
alkej-236	208	7	�	�	PROPN
alkej-236	208	8	∗	∗	VERB
alkej-236	208	9	tr¹	tr¹	NOUN
alkej-236	208	10	in	in	ADP
alkej-236	208	11	addition	addition	NOUN
alkej-236	208	12	the	the	DET
alkej-236	208	13	initial	initial	ADJ
alkej-236	208	14	conditions	condition	NOUN
alkej-236	208	15	employed	employ	VERB
alkej-236	208	16	for	for	ADP
alkej-236	208	17	all	all	DET
alkej-236	208	18	simulations	simulation	NOUN
alkej-236	208	19	are	be	AUX
alkej-236	208	20	�	�	PROPN
alkej-236	208	21	�	�	PROPN
alkej-236	208	22	,	,	PUNCT
alkej-236	208	23	�	�	PROPN
alkej-236	208	24	,	,	PUNCT
alkej-236	208	25	�	�	PROPN
alkej-236	208	26	�	�	PROPN
alkej-236	208	27	�	�	PROPN
alkej-236	208	28	=	=	SYM
alkej-236	208	29	�	�	PROPN
alkej-236	208	30	5.44	5.44	NUM
alkej-236	208	31	°	°	NOUN
alkej-236	208	32	,	,	PUNCT
alkej-236	208	33	0,0	0,0	NUM
alkej-236	208	34	�	�	NOUN
alkej-236	208	35	.	.	PUNCT
alkej-236	209	1	5.1	5.1	NUM
alkej-236	209	2	.	.	PUNCT
alkej-236	210	1	numerical	numerical	PROPN
alkej-236	210	2	simulation	simulation	PROPN
alkej-236	210	3	test	test	PROPN
alkej-236	210	4	1	1	NUM
alkej-236	210	5	:	:	PUNCT
alkej-236	210	6	control	control	NOUN
alkej-236	210	7	system	system	NOUN
alkej-236	210	8	performance	performance	NOUN
alkej-236	210	9	with	with	ADP
alkej-236	210	10	different	different	ADJ
alkej-236	210	11	system	system	NOUN
alkej-236	210	12	parameters	parameter	NOUN
alkej-236	211	1	the	the	DET
alkej-236	211	2	first	first	ADJ
alkej-236	211	3	set	set	NOUN
alkej-236	211	4	of	of	ADP
alkej-236	211	5	simulations	simulation	NOUN
alkej-236	211	6	in	in	ADP
alkej-236	211	7	this	this	DET
alkej-236	211	8	simulation	simulation	NOUN
alkej-236	211	9	test	test	NOUN
alkej-236	211	10	is	be	AUX
alkej-236	211	11	carried	carry	VERB
alkej-236	211	12	out	out	ADP
alkej-236	211	13	with	with	ADP
alkej-236	211	14	the	the	DET
alkej-236	211	15	following	follow	VERB
alkej-236	211	16	system	system	NOUN
alkej-236	211	17	parameters	parameter	NOUN
alkej-236	211	18	;	;	PUNCT
alkej-236	211	19	d	d	X
alkej-236	211	20	�	�	NOUN
alkej-236	211	21	=	=	SYM
alkej-236	211	22	−84	−84	NOUN
alkej-236	211	23	,	,	PUNCT
alkej-236	211	24	d	d	NOUN
alkej-236	211	25	�	�	X
alkej-236	211	26	�	�	NOUN
alkej-236	211	27	=	=	SYM
alkej-236	211	28	−40	−40	NOUN
alkej-236	211	29	,	,	PUNCT
alkej-236	211	30	d	d	X
alkej-236	211	31	�	�	ADP
alkej-236	211	32	c	c	NOUN
alkej-236	211	33	=	=	SYM
alkej-236	211	34	244	244	NUM
alkej-236	211	35	,	,	PUNCT
alkej-236	211	36	h	h	NOUN
alkej-236	211	37	=	=	SYM
alkej-236	211	38	65	65	NUM
alkej-236	211	39	,	,	PUNCT
alkej-236	211	40	f	f	PROPN
alkej-236	211	41	=	=	SYM
alkej-236	211	42	153	153	NUM
alkej-236	211	43	dc	dc	PROPN
alkej-236	211	44	�	�	PROPN
alkej-236	211	45	=	=	SYM
alkej-236	211	46	−21	−21	PROPN
alkej-236	211	47	,	,	PUNCT
alkej-236	211	48	dcc	dcc	PROPN
alkej-236	211	49	=	=	SYM
alkej-236	211	50	−1550	−1550	PROPN
alkej-236	211	51	,	,	PUNCT
alkej-236	211	52	gc	gc	PROPN
alkej-236	211	53	=	=	SYM
alkej-236	211	54	1100	1100	NUM
alkej-236	211	55	note	note	VERB
alkej-236	211	56	that	that	SCONJ
alkej-236	211	57	the	the	DET
alkej-236	211	58	parameters	parameter	NOUN
alkej-236	211	59	values	value	NOUN
alkej-236	211	60	lie	lie	VERB
alkej-236	211	61	within	within	ADP
alkej-236	211	62	the	the	DET
alkej-236	211	63	range	range	NOUN
alkej-236	211	64	of	of	ADP
alkej-236	211	65	parameters	parameter	NOUN
alkej-236	211	66	as	as	SCONJ
alkej-236	211	67	illustrated	illustrate	VERB
alkej-236	211	68	in	in	ADP
alkej-236	211	69	table	table	NOUN
alkej-236	211	70	(	(	PUNCT
alkej-236	211	71	2	2	NUM
alkej-236	211	72	)	)	PUNCT
alkej-236	211	73	.	.	PUNCT
alkej-236	212	1	figures	figure	NOUN
alkej-236	212	2	.	.	PUNCT
alkej-236	213	1	(	(	PUNCT
alkej-236	213	2	4	4	NUM
alkej-236	213	3	)	)	PUNCT
alkej-236	213	4	,	,	PUNCT
alkej-236	213	5	(	(	PUNCT
alkej-236	213	6	5	5	NUM
alkej-236	213	7	)	)	PUNCT
alkej-236	213	8	and	and	CCONJ
alkej-236	213	9	(	(	PUNCT
alkej-236	213	10	6	6	NUM
alkej-236	213	11	)	)	PUNCT
alkej-236	213	12	are	be	AUX
alkej-236	213	13	the	the	DET
alkej-236	213	14	etv	etv	NOUN
alkej-236	213	15	system	system	NOUN
alkej-236	213	16	time	time	NOUN
alkej-236	213	17	responses	response	NOUN
alkej-236	213	18	for	for	ADP
alkej-236	213	19	each	each	DET
alkej-236	213	20	type	type	NOUN
alkej-236	213	21	of	of	ADP
alkej-236	213	22	trajectories	trajectory	NOUN
alkej-236	213	23	presented	present	VERB
alkej-236	213	24	above	above	ADV
alkej-236	213	25	.	.	PUNCT
alkej-236	214	1	they	they	PRON
alkej-236	214	2	clarify	clarify	VERB
alkej-236	214	3	the	the	DET
alkej-236	214	4	ability	ability	NOUN
alkej-236	214	5	of	of	ADP
alkej-236	214	6	the	the	DET
alkej-236	214	7	ismc	ismc	NOUN
alkej-236	214	8	in	in	ADP
alkej-236	214	9	forcing	force	VERB
alkej-236	214	10	the	the	DET
alkej-236	214	11	throttle	throttle	NOUN
alkej-236	214	12	plate	plate	NOUN
alkej-236	214	13	angle	angle	NOUN
alkej-236	214	14	to	to	PART
alkej-236	214	15	follow	follow	VERB
alkej-236	214	16	the	the	DET
alkej-236	214	17	desired	desire	VERB
alkej-236	214	18	trajectory	trajectory	NOUN
alkej-236	214	19	within	within	ADP
alkej-236	214	20	an	an	DET
alkej-236	214	21	interval	interval	NOUN
alkej-236	214	22	of	of	ADP
alkej-236	214	23	time	time	NOUN
alkej-236	214	24	not	not	PART
alkej-236	214	25	exceeds	exceed	VERB
alkej-236	214	26	0.25	0.25	NUM
alkej-236	214	27	/z±.	/z±.	PUNCT
alkej-236	214	28	this	this	DET
alkej-236	214	29	time	time	NOUN
alkej-236	214	30	interval	interval	NOUN
alkej-236	214	31	is	be	AUX
alkej-236	214	32	related	relate	VERB
alkej-236	214	33	directly	directly	ADV
alkej-236	214	34	to	to	ADP
alkej-236	214	35	the	the	DET
alkej-236	214	36	characteristic	characteristic	ADJ
alkej-236	214	37	roots	root	NOUN
alkej-236	214	38	selected	select	VERB
alkej-236	214	39	to	to	ADP
alkej-236	214	40	the	the	DET
alkej-236	214	41	nominal	nominal	ADJ
alkej-236	214	42	system	system	NOUN
alkej-236	214	43	dynamics	dynamic	NOUN
alkej-236	214	44	equation	equation	NOUN
alkej-236	214	45	(	(	PUNCT
alkej-236	214	46	31	31	NUM
alkej-236	214	47	)	)	PUNCT
alkej-236	214	48	.	.	PUNCT
alkej-236	215	1	fig	fig	NOUN
alkej-236	215	2	.	.	PUNCT
alkej-236	216	1	4	4	X
alkej-236	216	2	.	.	X
alkej-236	216	3	throttle	throttle	NOUN
alkej-236	216	4	angle	angle	NOUN
alkej-236	216	5	versus	versus	ADP
alkej-236	216	6	time	time	NOUN
alkej-236	216	7	(	(	PUNCT
alkej-236	216	8	traj.a	traj.a	PROPN
alkej-236	216	9	&	&	CCONJ
alkej-236	216	10	1st	1st	ADJ
alkej-236	216	11	parameter	parameter	PROPN
alkej-236	216	12	set	set	PROPN
alkej-236	216	13	)	)	PUNCT
alkej-236	216	14	.	.	PUNCT
alkej-236	217	1	fig	fig	NOUN
alkej-236	217	2	.	.	PUNCT
alkej-236	218	1	5	5	X
alkej-236	218	2	.	.	X
alkej-236	218	3	throttle	throttle	NOUN
alkej-236	218	4	angle	angle	NOUN
alkej-236	218	5	&	&	CCONJ
alkej-236	218	6	its	its	PRON
alkej-236	218	7	desired	desire	VERB
alkej-236	218	8	versus	versus	ADP
alkej-236	218	9	time	time	NOUN
alkej-236	218	10	(	(	PUNCT
alkej-236	218	11	traj.b	traj.b	PROPN
alkej-236	218	12	&	&	CCONJ
alkej-236	218	13	1st	1st	ADJ
alkej-236	218	14	parameter	parameter	PROPN
alkej-236	218	15	set	set	PROPN
alkej-236	218	16	)	)	PUNCT
alkej-236	218	17	.	.	PUNCT
alkej-236	219	1	fig	fig	NOUN
alkej-236	219	2	.	.	PUNCT
alkej-236	220	1	6	6	NUM
alkej-236	220	2	.	.	X
alkej-236	220	3	throttle	throttle	NOUN
alkej-236	220	4	angle	angle	NOUN
alkej-236	220	5	versus	versus	ADP
alkej-236	220	6	time	time	NOUN
alkej-236	220	7	(	(	PUNCT
alkej-236	220	8	traj.c	traj.c	NOUN
alkej-236	220	9	&	&	CCONJ
alkej-236	220	10	1st	1st	ADJ
alkej-236	220	11	parameter	parameter	PROPN
alkej-236	220	12	set	set	PROPN
alkej-236	220	13	)	)	PUNCT
alkej-236	220	14	.	.	PUNCT
alkej-236	221	1	the	the	DET
alkej-236	221	2	main	main	ADJ
alkej-236	221	3	objective	objective	NOUN
alkej-236	221	4	for	for	ADP
alkej-236	221	5	the	the	DET
alkej-236	221	6	designed	design	VERB
alkej-236	221	7	controller	controller	NOUN
alkej-236	221	8	is	be	AUX
alkej-236	221	9	to	to	PART
alkej-236	221	10	regulate	regulate	VERB
alkej-236	221	11	the	the	DET
alkej-236	221	12	sliding	slide	VERB
alkej-236	221	13	variable	variable	NOUN
alkej-236	221	14	/	/	SYM
alkej-236	221	15	to	to	ADP
alkej-236	221	16	zero	zero	NUM
alkej-236	221	17	level	level	NOUN
alkej-236	221	18	in	in	ADP
alkej-236	221	19	finite	finite	ADJ
alkej-236	221	20	time	time	NOUN
alkej-236	221	21	.	.	PUNCT
alkej-236	222	1	as	as	SCONJ
alkej-236	222	2	a	a	DET
alkej-236	222	3	main	main	ADJ
alkej-236	222	4	feature	feature	NOUN
alkej-236	222	5	of	of	ADP
alkej-236	222	6	the	the	DET
alkej-236	222	7	ismc	ismc	NOUN
alkej-236	222	8	the	the	DET
alkej-236	222	9	sliding	slide	VERB
alkej-236	222	10	variable	variable	NOUN
alkej-236	222	11	is	be	AUX
alkej-236	222	12	equal	equal	ADJ
alkej-236	222	13	to	to	ADP
alkej-236	222	14	zero	zero	NUM
alkej-236	222	15	from	from	ADP
alkej-236	222	16	the	the	DET
alkej-236	222	17	first	first	ADJ
alkej-236	222	18	instant	instant	NOUN
alkej-236	222	19	i.e.	i.e.	X
alkej-236	222	20	,	,	PUNCT
alkej-236	222	21	/	/	SYM
alkej-236	222	22	=	=	NOUN
alkej-236	222	23	0	0	NUM
alkej-236	222	24	,	,	PUNCT
alkej-236	222	25	∀	∀	X
alkej-236	222	26	{	{	PUNCT
alkej-236	222	27	≥	≥	NOUN
alkej-236	222	28	0	0	NUM
alkej-236	222	29	.	.	PUNCT
alkej-236	223	1	in	in	ADP
alkej-236	223	2	fact	fact	NOUN
alkej-236	223	3	,	,	PUNCT
alkej-236	223	4	this	this	PRON
alkej-236	223	5	is	be	AUX
alkej-236	223	6	the	the	DET
alkej-236	223	7	ideal	ideal	ADJ
alkej-236	223	8	case	case	NOUN
alkej-236	223	9	where	where	SCONJ
alkej-236	223	10	an	an	DET
alkej-236	223	11	infinite	infinite	ADJ
alkej-236	223	12	switching	switching	NOUN
alkej-236	223	13	process	process	NOUN
alkej-236	223	14	is	be	AUX
alkej-236	223	15	assumed	assume	VERB
alkej-236	223	16	.	.	PUNCT
alkej-236	224	1	with	with	ADP
alkej-236	224	2	a	a	DET
alkej-236	224	3	finite	finite	ADJ
alkej-236	224	4	switching	switching	NOUN
alkej-236	224	5	process	process	NOUN
alkej-236	224	6	around	around	ADV
alkej-236	224	7	/	/	SYM
alkej-236	224	8	=	=	NOUN
alkej-236	224	9	0	0	NUM
alkej-236	224	10	,	,	PUNCT
alkej-236	224	11	the	the	DET
alkej-236	224	12	sliding	slide	VERB
alkej-236	224	13	variable	variable	ADJ
alkej-236	224	14	oscillates	oscillate	NOUN
alkej-236	224	15	around	around	ADV
alkej-236	224	16	/	/	PUNCT
alkej-236	224	17	=	=	NOUN
alkej-236	224	18	0	0	NUM
alkej-236	224	19	with	with	SCONJ
alkej-236	224	20	a	a	DET
alkej-236	224	21	certain	certain	ADJ
alkej-236	224	22	bound	bind	VERB
alkej-236	224	23	as	as	ADP
alkej-236	224	24	can	can	AUX
alkej-236	224	25	be	be	AUX
alkej-236	224	26	shown	show	VERB
alkej-236	224	27	in	in	ADP
alkej-236	224	28	figures	figure	NOUN
alkej-236	224	29	(	(	PUNCT
alkej-236	224	30	7	7	NUM
alkej-236	224	31	)	)	PUNCT
alkej-236	224	32	,	,	PUNCT
alkej-236	224	33	(	(	PUNCT
alkej-236	224	34	8)	8)	NUM
alkej-236	224	35	and	and	CCONJ
alkej-236	224	36	(	(	PUNCT
alkej-236	224	37	9	9	NUM
alkej-236	224	38	)	)	PUNCT
alkej-236	224	39	.	.	PUNCT
alkej-236	225	1	this	this	DET
alkej-236	225	2	bound	bind	VERB
alkej-236	225	3	is	be	AUX
alkej-236	225	4	function	function	NOUN
alkej-236	225	5	of	of	ADP
alkej-236	225	6	the	the	DET
alkej-236	225	7	switching	switching	NOUN
alkej-236	225	8	gain	gain	NOUN
alkej-236	225	9	e	e	NOUN
alkej-236	225	10	�	�	PROPN
alkej-236	225	11	b	b	SYM
alkej-236	225	12	�	�	PROPN
alkej-236	225	13	and	and	CCONJ
alkej-236	225	14	the	the	DET
alkej-236	225	15	interval	interval	NOUN
alkej-236	225	16	of	of	ADP
alkej-236	225	17	time	time	NOUN
alkej-236	225	18	used	use	VERB
alkej-236	225	19	for	for	ADP
alkej-236	225	20	the	the	DET
alkej-236	225	21	simulation	simulation	NOUN
alkej-236	225	22	process	process	NOUN
alkej-236	225	23	.	.	PUNCT
alkej-236	226	1	fig	fig	NOUN
alkej-236	226	2	.	.	PUNCT
alkej-236	227	1	7	7	X
alkej-236	227	2	.	.	X
alkej-236	227	3	switching	switch	VERB
alkej-236	227	4	surface	surface	NOUN
alkej-236	227	5	versus	versus	ADP
alkej-236	227	6	time	time	NOUN
alkej-236	227	7	(	(	PUNCT
alkej-236	227	8	traj.a	traj.a	PROPN
alkej-236	227	9	&	&	CCONJ
alkej-236	227	10	1st	1st	ADJ
alkej-236	227	11	parameter	parameter	PROPN
alkej-236	227	12	set	set	PROPN
alkej-236	227	13	)	)	PUNCT
alkej-236	227	14	.	.	PUNCT
alkej-236	228	1	shibly	shibly	PROPN
alkej-236	228	2	ahmed	ahmed	PROPN
alkej-236	228	3	al	al	PROPN
alkej-236	228	4	-	-	PROPN
alkej-236	228	5	samarraie	samarraie	PROPN
alkej-236	228	6	al	al	PROPN
alkej-236	228	7	-	-	PUNCT
alkej-236	228	8	khwarizmi	khwarizmi	PROPN
alkej-236	228	9	engineering	engineering	NOUN
alkej-236	228	10	journal	journal	PROPN
alkej-236	228	11	,	,	PUNCT
alkej-236	228	12	vol	vol	NOUN
alkej-236	228	13	.	.	PROPN
alkej-236	228	14	11	11	NUM
alkej-236	228	15	,	,	PUNCT
alkej-236	228	16	no	no	INTJ
alkej-236	228	17	.	.	NOUN
alkej-236	228	18	3	3	NUM
alkej-236	228	19	,	,	PUNCT
alkej-236	228	20	p.p	p.p	PROPN
alkej-236	228	21	.	.	NOUN
alkej-236	228	22	110	110	NUM
alkej-236	228	23	(	(	PUNCT
alkej-236	228	24	2015	2015	NUM
alkej-236	228	25	)	)	PUNCT
alkej-236	228	26	80	80	NUM
alkej-236	228	27	fig	fig	NOUN
alkej-236	228	28	.	.	PUNCT
alkej-236	229	1	8	8	X
alkej-236	229	2	.	.	X
alkej-236	229	3	switching	switch	VERB
alkej-236	229	4	surface	surface	NOUN
alkej-236	229	5	versus	versus	ADP
alkej-236	229	6	time	time	NOUN
alkej-236	229	7	(	(	PUNCT
alkej-236	229	8	traj.b	traj.b	PROPN
alkej-236	229	9	&	&	CCONJ
alkej-236	229	10	1st	1st	ADJ
alkej-236	229	11	parameter	parameter	PROPN
alkej-236	229	12	set	set	PROPN
alkej-236	229	13	)	)	PUNCT
alkej-236	229	14	.	.	PUNCT
alkej-236	230	1	fig	fig	NOUN
alkej-236	230	2	.	.	PUNCT
alkej-236	231	1	9	9	X
alkej-236	231	2	.	.	X
alkej-236	231	3	switching	switch	VERB
alkej-236	231	4	surface	surface	NOUN
alkej-236	231	5	versus	versus	ADP
alkej-236	231	6	time	time	NOUN
alkej-236	231	7	(	(	PUNCT
alkej-236	231	8	traj.c	traj.c	NOUN
alkej-236	231	9	&	&	CCONJ
alkej-236	231	10	1st	1st	ADJ
alkej-236	231	11	parameter	parameter	PROPN
alkej-236	231	12	set	set	PROPN
alkej-236	231	13	)	)	PUNCT
alkej-236	231	14	.	.	PUNCT
alkej-236	232	1	it	it	PRON
alkej-236	232	2	can	can	AUX
alkej-236	232	3	be	be	AUX
alkej-236	232	4	also	also	ADV
alkej-236	232	5	noted	note	VERB
alkej-236	232	6	that	that	SCONJ
alkej-236	232	7	the	the	DET
alkej-236	232	8	sliding	slide	VERB
alkej-236	232	9	variable	variable	NOUN
alkej-236	232	10	requires	require	VERB
alkej-236	232	11	less	less	ADJ
alkej-236	232	12	than	than	ADP
alkej-236	232	13	0.005	0.005	NUM
alkej-236	232	14	/z±.	/z±.	PUNCT
alkej-236	232	15	to	to	PART
alkej-236	232	16	reach	reach	VERB
alkej-236	232	17	and	and	CCONJ
alkej-236	232	18	stay	stay	VERB
alkej-236	232	19	very	very	ADV
alkej-236	232	20	close	close	ADJ
alkej-236	232	21	to	to	ADP
alkej-236	232	22	zero	zero	NUM
alkej-236	232	23	value	value	NOUN
alkej-236	232	24	.	.	PUNCT
alkej-236	233	1	this	this	PRON
alkej-236	233	2	is	be	AUX
alkej-236	233	3	a	a	DET
alkej-236	233	4	direct	direct	ADJ
alkej-236	233	5	consequence	consequence	NOUN
alkej-236	233	6	of	of	ADP
alkej-236	233	7	ignoring	ignore	VERB
alkej-236	233	8	the	the	DET
alkej-236	233	9	electrical	electrical	ADJ
alkej-236	233	10	system	system	NOUN
alkej-236	233	11	dynamics	dynamic	NOUN
alkej-236	233	12	when	when	SCONJ
alkej-236	233	13	designing	design	VERB
alkej-236	233	14	the	the	DET
alkej-236	233	15	ismc	ismc	NOUN
alkej-236	233	16	.	.	PUNCT
alkej-236	234	1	the	the	DET
alkej-236	234	2	control	control	PROPN
alkej-236	234	3	signal	signal	NOUN
alkej-236	234	4	(	(	PUNCT
alkej-236	234	5	in	in	ADP
alkej-236	234	6	voltage	voltage	NOUN
alkej-236	234	7	)	)	PUNCT
alkej-236	234	8	for	for	ADP
alkej-236	234	9	the	the	DET
alkej-236	234	10	three	three	NUM
alkej-236	234	11	trajectory	trajectory	NOUN
alkej-236	234	12	types	type	NOUN
alkej-236	234	13	are	be	AUX
alkej-236	234	14	shown	show	VERB
alkej-236	234	15	in	in	ADP
alkej-236	234	16	figures	figure	NOUN
alkej-236	234	17	(	(	PUNCT
alkej-236	234	18	10	10	NUM
alkej-236	234	19	)	)	PUNCT
alkej-236	234	20	,	,	PUNCT
alkej-236	234	21	(	(	PUNCT
alkej-236	234	22	11	11	NUM
alkej-236	234	23	)	)	PUNCT
alkej-236	234	24	and	and	CCONJ
alkej-236	234	25	(	(	PUNCT
alkej-236	234	26	12	12	NUM
alkej-236	234	27	)	)	PUNCT
alkej-236	234	28	.	.	PUNCT
alkej-236	235	1	the	the	DET
alkej-236	235	2	figures	figure	NOUN
alkej-236	235	3	show	show	VERB
alkej-236	235	4	,	,	PUNCT
alkej-236	235	5	for	for	ADP
alkej-236	235	6	the	the	DET
alkej-236	235	7	sever	sever	ADJ
alkej-236	235	8	case	case	NOUN
alkej-236	235	9	,	,	PUNCT
alkej-236	235	10	where	where	SCONJ
alkej-236	235	11	the	the	DET
alkej-236	235	12	throttle	throttle	NOUN
alkej-236	235	13	angle	angle	NOUN
alkej-236	235	14	is	be	AUX
alkej-236	235	15	opened	open	VERB
alkej-236	235	16	to	to	ADP
alkej-236	235	17	70	70	NUM
alkej-236	235	18	°	°	NOUN
alkej-236	235	19	and	and	CCONJ
alkej-236	235	20	when	when	SCONJ
alkej-236	235	21	considering	consider	VERB
alkej-236	235	22	maximum	maximum	ADJ
alkej-236	235	23	uncertainty	uncertainty	NOUN
alkej-236	235	24	in	in	ADP
alkej-236	235	25	system	system	NOUN
alkej-236	235	26	model	model	NOUN
alkej-236	235	27	,	,	PUNCT
alkej-236	235	28	its	its	PRON
alkej-236	235	29	value	value	NOUN
alkej-236	235	30	is	be	AUX
alkej-236	235	31	less	less	ADJ
alkej-236	235	32	than	than	ADP
alkej-236	235	33	15	15	NUM
alkej-236	235	34	voltage	voltage	NOUN
alkej-236	235	35	.	.	PUNCT
alkej-236	236	1	note	note	VERB
alkej-236	236	2	that	that	SCONJ
alkej-236	236	3	the	the	DET
alkej-236	236	4	dark	dark	ADJ
alkej-236	236	5	area	area	NOUN
alkej-236	236	6	in	in	ADP
alkej-236	236	7	figure	figure	NOUN
alkej-236	236	8	(	(	PUNCT
alkej-236	236	9	10	10	NUM
alkej-236	236	10	)	)	PUNCT
alkej-236	236	11	represent	represent	VERB
alkej-236	236	12	the	the	DET
alkej-236	236	13	high	high	ADJ
alkej-236	236	14	switching	switching	NOUN
alkej-236	236	15	process	process	NOUN
alkej-236	236	16	of	of	ADP
alkej-236	236	17	the	the	DET
alkej-236	236	18	controller	controller	NOUN
alkej-236	236	19	due	due	ADP
alkej-236	236	20	to	to	ADP
alkej-236	236	21	the	the	DET
alkej-236	236	22	discontinuity	discontinuity	NOUN
alkej-236	236	23	nature	nature	NOUN
alkej-236	236	24	of	of	ADP
alkej-236	236	25	the	the	DET
alkej-236	236	26	sliding	slide	VERB
alkej-236	236	27	mode	mode	NOUN
alkej-236	236	28	control	control	NOUN
alkej-236	236	29	law	law	NOUN
alkej-236	236	30	(	(	PUNCT
alkej-236	236	31	eq	eq	NOUN
alkej-236	236	32	.	.	PUNCT
alkej-236	237	1	(	(	PUNCT
alkej-236	237	2	32	32	NUM
alkej-236	237	3	)	)	PUNCT
alkej-236	237	4	)	)	PUNCT
alkej-236	237	5	.	.	PUNCT
alkej-236	238	1	fig	fig	NOUN
alkej-236	238	2	.	.	PUNCT
alkej-236	239	1	10	10	NUM
alkej-236	239	2	.	.	PUNCT
alkej-236	240	1	control	control	NOUN
alkej-236	240	2	action	action	NOUN
alkej-236	240	3	(	(	PUNCT
alkej-236	240	4	»	»	NOUN
alkej-236	240	5	)	)	PUNCT
alkej-236	240	6	versus	versus	ADP
alkej-236	240	7	time	time	NOUN
alkej-236	240	8	(	(	PUNCT
alkej-236	240	9	traj.a	traj.a	PROPN
alkej-236	240	10	&	&	CCONJ
alkej-236	240	11	1st	1st	ADJ
alkej-236	240	12	parameter	parameter	PROPN
alkej-236	240	13	set	set	PROPN
alkej-236	240	14	)	)	PUNCT
alkej-236	240	15	.	.	PUNCT
alkej-236	241	1	fig	fig	NOUN
alkej-236	241	2	.	.	PUNCT
alkej-236	242	1	11	11	NUM
alkej-236	242	2	.	.	PUNCT
alkej-236	243	1	control	control	NOUN
alkej-236	243	2	action	action	NOUN
alkej-236	243	3	(	(	PUNCT
alkej-236	243	4	»	»	NOUN
alkej-236	243	5	)	)	PUNCT
alkej-236	243	6	versus	versus	ADP
alkej-236	243	7	time	time	NOUN
alkej-236	243	8	(	(	PUNCT
alkej-236	243	9	traj.b	traj.b	PROPN
alkej-236	243	10	&	&	CCONJ
alkej-236	243	11	1st	1st	ADJ
alkej-236	243	12	parameter	parameter	PROPN
alkej-236	243	13	set	set	PROPN
alkej-236	243	14	)	)	PUNCT
alkej-236	243	15	.	.	PUNCT
alkej-236	244	1	fig	fig	NOUN
alkej-236	244	2	.	.	PUNCT
alkej-236	245	1	12	12	NUM
alkej-236	245	2	.	.	PUNCT
alkej-236	246	1	control	control	NOUN
alkej-236	246	2	action	action	NOUN
alkej-236	246	3	(	(	PUNCT
alkej-236	246	4	»	»	NOUN
alkej-236	246	5	)	)	PUNCT
alkej-236	246	6	versus	versus	ADP
alkej-236	246	7	time	time	NOUN
alkej-236	246	8	(	(	PUNCT
alkej-236	246	9	traj.c	traj.c	NOUN
alkej-236	246	10	&	&	CCONJ
alkej-236	246	11	1st	1st	ADJ
alkej-236	246	12	parameter	parameter	PROPN
alkej-236	246	13	set	set	PROPN
alkej-236	246	14	)	)	PUNCT
alkej-236	246	15	.	.	PUNCT
alkej-236	247	1	the	the	DET
alkej-236	247	2	second	second	ADJ
alkej-236	247	3	set	set	NOUN
alkej-236	247	4	of	of	ADP
alkej-236	247	5	simulations	simulation	NOUN
alkej-236	247	6	in	in	ADP
alkej-236	247	7	this	this	DET
alkej-236	247	8	simulation	simulation	NOUN
alkej-236	247	9	use	use	VERB
alkej-236	247	10	the	the	DET
alkej-236	247	11	following	follow	VERB
alkej-236	247	12	system	system	NOUN
alkej-236	247	13	parameters	parameter	NOUN
alkej-236	247	14	;	;	PUNCT
alkej-236	247	15	d	d	X
alkej-236	247	16	�	�	PROPN
alkej-236	247	17	=	=	SYM
alkej-236	247	18	−75	−75	PROPN
alkej-236	247	19	,	,	PUNCT
alkej-236	247	20	d	d	X
alkej-236	247	21	�	�	X
alkej-236	247	22	�	�	PROPN
alkej-236	247	23	=	=	SYM
alkej-236	247	24	−47	−47	PROPN
alkej-236	247	25	,	,	PUNCT
alkej-236	247	26	d	d	X
alkej-236	247	27	�	�	ADP
alkej-236	247	28	c	c	NOUN
alkej-236	247	29	=	=	SYM
alkej-236	247	30	248,h	248,h	PROPN
alkej-236	247	31	=	=	SYM
alkej-236	247	32	72	72	NUM
alkej-236	247	33	,	,	PUNCT
alkej-236	247	34	f	f	PROPN
alkej-236	247	35	=	=	SYM
alkej-236	247	36	145	145	NUM
alkej-236	247	37	dc	dc	PROPN
alkej-236	247	38	�	�	PROPN
alkej-236	247	39	=	=	SYM
alkej-236	247	40	−23	−23	PROPN
alkej-236	247	41	,	,	PUNCT
alkej-236	247	42	dcc	dcc	PROPN
alkej-236	247	43	=	=	SYM
alkej-236	247	44	−2000	−2000	PROPN
alkej-236	247	45	,	,	PUNCT
alkej-236	247	46	gc	gc	PROPN
alkej-236	247	47	=	=	PROPN
alkej-236	247	48	1200	1200	NUM
alkej-236	247	49	the	the	DET
alkej-236	247	50	aim	aim	NOUN
alkej-236	247	51	of	of	ADP
alkej-236	247	52	this	this	DET
alkej-236	247	53	simulation	simulation	NOUN
alkej-236	247	54	is	be	AUX
alkej-236	247	55	to	to	PART
alkej-236	247	56	show	show	VERB
alkej-236	247	57	that	that	SCONJ
alkej-236	247	58	the	the	DET
alkej-236	247	59	system	system	NOUN
alkej-236	247	60	response	response	NOUN
alkej-236	247	61	is	be	AUX
alkej-236	247	62	identical	identical	ADJ
alkej-236	247	63	to	to	PART
alkej-236	247	64	system	system	VERB
alkej-236	247	65	response	response	NOUN
alkej-236	247	66	for	for	ADP
alkej-236	247	67	the	the	DET
alkej-236	247	68	first	first	ADJ
alkej-236	247	69	set	set	NOUN
alkej-236	247	70	of	of	ADP
alkej-236	247	71	simulation	simulation	NOUN
alkej-236	247	72	demonstrate	demonstrate	NOUN
alkej-236	247	73	which	which	PRON
alkej-236	247	74	represents	represent	VERB
alkej-236	247	75	the	the	DET
alkej-236	247	76	distinguished	distinguished	ADJ
alkej-236	247	77	property	property	NOUN
alkej-236	247	78	for	for	ADP
alkej-236	247	79	the	the	DET
alkej-236	247	80	integral	integral	ADJ
alkej-236	247	81	sliding	slide	VERB
alkej-236	247	82	mode	mode	NOUN
alkej-236	247	83	control	control	NOUN
alkej-236	247	84	theory	theory	NOUN
alkej-236	247	85	.	.	PUNCT
alkej-236	248	1	this	this	DET
alkej-236	248	2	property	property	NOUN
alkej-236	248	3	is	be	AUX
alkej-236	248	4	clarified	clarify	VERB
alkej-236	248	5	later	later	ADV
alkej-236	248	6	in	in	ADP
alkej-236	248	7	the	the	DET
alkej-236	248	8	numerical	numerical	PROPN
alkej-236	248	9	simulation	simulation	NOUN
alkej-236	248	10	2	2	NUM
alkej-236	248	11	.	.	PUNCT
alkej-236	249	1	the	the	DET
alkej-236	249	2	etv	etv	NOUN
alkej-236	249	3	system	system	NOUN
alkej-236	249	4	response	response	NOUN
alkej-236	249	5	for	for	ADP
alkej-236	249	6	the	the	DET
alkej-236	249	7	trajectory	trajectory	NOUN
alkej-236	249	8	types	type	NOUN
alkej-236	249	9	a	a	DET
alkej-236	249	10	,	,	PUNCT
alkej-236	249	11	b	b	NOUN
alkej-236	249	12	and	and	CCONJ
alkej-236	249	13	c	c	PROPN
alkej-236	249	14	are	be	AUX
alkej-236	249	15	shown	show	VERB
alkej-236	249	16	in	in	ADP
alkej-236	249	17	figures	figure	NOUN
alkej-236	249	18	(	(	PUNCT
alkej-236	249	19	13	13	NUM
alkej-236	249	20	)	)	PUNCT
alkej-236	249	21	,	,	PUNCT
alkej-236	249	22	(	(	PUNCT
alkej-236	249	23	14	14	NUM
alkej-236	249	24	)	)	PUNCT
alkej-236	249	25	and	and	CCONJ
alkej-236	249	26	(	(	PUNCT
alkej-236	249	27	15	15	NUM
alkej-236	249	28	)	)	PUNCT
alkej-236	249	29	.	.	PUNCT
alkej-236	250	1	these	these	DET
alkej-236	250	2	figures	figure	NOUN
alkej-236	250	3	are	be	AUX
alkej-236	250	4	very	very	ADV
alkej-236	250	5	similar	similar	ADJ
alkej-236	250	6	to	to	ADP
alkej-236	250	7	those	those	PRON
alkej-236	250	8	in	in	ADP
alkej-236	250	9	figures	figure	NOUN
alkej-236	250	10	(	(	PUNCT
alkej-236	250	11	4	4	NUM
alkej-236	250	12	)	)	PUNCT
alkej-236	250	13	,	,	PUNCT
alkej-236	250	14	(	(	PUNCT
alkej-236	250	15	5	5	NUM
alkej-236	250	16	)	)	PUNCT
alkej-236	250	17	and	and	CCONJ
alkej-236	250	18	(	(	PUNCT
alkej-236	250	19	6	6	NUM
alkej-236	250	20	)	)	PUNCT
alkej-236	250	21	since	since	SCONJ
alkej-236	250	22	the	the	DET
alkej-236	250	23	nominal	nominal	ADJ
alkej-236	250	24	system	system	NOUN
alkej-236	250	25	dynamics	dynamic	NOUN
alkej-236	250	26	are	be	AUX
alkej-236	250	27	the	the	DET
alkej-236	250	28	same	same	ADJ
alkej-236	250	29	.	.	PUNCT
alkej-236	251	1	fig	fig	NOUN
alkej-236	251	2	.	.	PUNCT
alkej-236	252	1	13	13	NUM
alkej-236	252	2	.	.	PUNCT
alkej-236	253	1	throttle	throttle	NOUN
alkej-236	253	2	angle	angle	NOUN
alkej-236	253	3	versus	versus	ADP
alkej-236	253	4	time	time	NOUN
alkej-236	253	5	(	(	PUNCT
alkej-236	253	6	traj.a	traj.a	PROPN
alkej-236	253	7	&	&	CCONJ
alkej-236	253	8	2nd	2nd	ADJ
alkej-236	253	9	parameter	parameter	PROPN
alkej-236	253	10	set	set	PROPN
alkej-236	253	11	)	)	PUNCT
alkej-236	253	12	.	.	PUNCT
alkej-236	254	1	shibly	shibly	PROPN
alkej-236	254	2	ahmed	ahmed	PROPN
alkej-236	254	3	al	al	PROPN
alkej-236	254	4	-	-	PROPN
alkej-236	254	5	samarraie	samarraie	PROPN
alkej-236	254	6	al	al	PROPN
alkej-236	254	7	-	-	PUNCT
alkej-236	254	8	khwarizmi	khwarizmi	PROPN
alkej-236	254	9	engineering	engineering	NOUN
alkej-236	254	10	journal	journal	PROPN
alkej-236	254	11	,	,	PUNCT
alkej-236	254	12	vol	vol	NOUN
alkej-236	254	13	.	.	PROPN
alkej-236	254	14	11	11	NUM
alkej-236	254	15	,	,	PUNCT
alkej-236	254	16	no	no	INTJ
alkej-236	254	17	.	.	NOUN
alkej-236	254	18	3	3	NUM
alkej-236	254	19	,	,	PUNCT
alkej-236	254	20	p.p	p.p	PROPN
alkej-236	254	21	.	.	NOUN
alkej-236	254	22	110	110	NUM
alkej-236	254	23	(	(	PUNCT
alkej-236	254	24	2015	2015	NUM
alkej-236	254	25	)	)	PUNCT
alkej-236	254	26	81	81	NUM
alkej-236	254	27	fig	fig	NOUN
alkej-236	254	28	.	.	PUNCT
alkej-236	255	1	14	14	NUM
alkej-236	255	2	.	.	PUNCT
alkej-236	256	1	throttle	throttle	NOUN
alkej-236	256	2	angle	angle	NOUN
alkej-236	256	3	&	&	CCONJ
alkej-236	256	4	its	its	PRON
alkej-236	256	5	desired	desire	VERB
alkej-236	256	6	versus	versus	ADP
alkej-236	256	7	time	time	NOUN
alkej-236	256	8	(	(	PUNCT
alkej-236	256	9	traj.b	traj.b	PROPN
alkej-236	256	10	&	&	CCONJ
alkej-236	256	11	2nd	2nd	ADJ
alkej-236	256	12	parameter	parameter	PROPN
alkej-236	256	13	set	set	PROPN
alkej-236	256	14	)	)	PUNCT
alkej-236	256	15	.	.	PUNCT
alkej-236	257	1	fig	fig	NOUN
alkej-236	257	2	.	.	PUNCT
alkej-236	258	1	15	15	NUM
alkej-236	258	2	.	.	PUNCT
alkej-236	259	1	throttle	throttle	NOUN
alkej-236	259	2	angle	angle	NOUN
alkej-236	259	3	versus	versus	ADP
alkej-236	259	4	time	time	NOUN
alkej-236	259	5	(	(	PUNCT
alkej-236	259	6	traj.c	traj.c	PROPN
alkej-236	259	7	&	&	CCONJ
alkej-236	259	8	2nd	2nd	ADJ
alkej-236	259	9	parameter	parameter	PROPN
alkej-236	259	10	set	set	PROPN
alkej-236	259	11	)	)	PUNCT
alkej-236	259	12	.	.	PUNCT
alkej-236	260	1	5.2	5.2	NUM
alkej-236	260	2	.	.	PUNCT
alkej-236	260	3	numerical	numerical	PROPN
alkej-236	260	4	simulation	simulation	PROPN
alkej-236	260	5	test	test	PROPN
alkej-236	260	6	2	2	NUM
alkej-236	260	7	:	:	PUNCT
alkej-236	260	8	integral	integral	ADJ
alkej-236	260	9	sliding	slide	VERB
alkej-236	260	10	mode	mode	NOUN
alkej-236	260	11	controller	controller	NOUN
alkej-236	260	12	characteristics	characteristic	NOUN
alkej-236	260	13	in	in	ADP
alkej-236	260	14	this	this	DET
alkej-236	260	15	simulation	simulation	NOUN
alkej-236	260	16	,	,	PUNCT
alkej-236	260	17	the	the	DET
alkej-236	260	18	characteristics	characteristic	NOUN
alkej-236	260	19	of	of	ADP
alkej-236	260	20	the	the	DET
alkej-236	260	21	ismc	ismc	NOUN
alkej-236	260	22	are	be	AUX
alkej-236	260	23	analyzed	analyze	VERB
alkej-236	260	24	where	where	SCONJ
alkej-236	260	25	the	the	DET
alkej-236	260	26	trajectory	trajectory	NOUN
alkej-236	260	27	type	type	NOUN
alkej-236	260	28	a	a	PRON
alkej-236	260	29	is	be	AUX
alkej-236	260	30	considered	consider	VERB
alkej-236	260	31	in	in	ADP
alkej-236	260	32	this	this	DET
alkej-236	260	33	simulation	simulation	NOUN
alkej-236	260	34	and	and	CCONJ
alkej-236	260	35	the	the	DET
alkej-236	260	36	parameters	parameter	NOUN
alkej-236	260	37	used	use	VERB
alkej-236	260	38	for	for	ADP
alkej-236	260	39	the	the	DET
alkej-236	260	40	simulation	simulation	NOUN
alkej-236	260	41	are	be	AUX
alkej-236	260	42	the	the	DET
alkej-236	260	43	first	first	ADJ
alkej-236	260	44	set	set	NOUN
alkej-236	260	45	of	of	ADP
alkej-236	260	46	parameters	parameter	NOUN
alkej-236	260	47	in	in	ADP
alkej-236	260	48	the	the	DET
alkej-236	260	49	preceding	precede	VERB
alkej-236	260	50	simulation	simulation	NOUN
alkej-236	260	51	test	test	NOUN
alkej-236	260	52	.	.	PUNCT
alkej-236	261	1	in	in	ADP
alkej-236	261	2	the	the	DET
alkej-236	261	3	first	first	ADJ
alkej-236	261	4	test	test	NOUN
alkej-236	261	5	,	,	PUNCT
alkej-236	261	6	the	the	DET
alkej-236	261	7	aim	aim	NOUN
alkej-236	261	8	is	be	AUX
alkej-236	261	9	to	to	PART
alkej-236	261	10	show	show	VERB
alkej-236	261	11	that	that	SCONJ
alkej-236	261	12	the	the	DET
alkej-236	261	13	etv	etv	NOUN
alkej-236	261	14	system	system	NOUN
alkej-236	261	15	responses	response	NOUN
alkej-236	261	16	for	for	ADP
alkej-236	261	17	trajectory	trajectory	NOUN
alkej-236	261	18	a	a	PRON
alkej-236	261	19	are	be	AUX
alkej-236	261	20	identical	identical	ADJ
alkej-236	261	21	for	for	ADP
alkej-236	261	22	different	different	ADJ
alkej-236	261	23	system	system	NOUN
alkej-236	261	24	parameters	parameter	NOUN
alkej-236	261	25	(	(	PUNCT
alkej-236	261	26	first	first	ADJ
alkej-236	261	27	and	and	CCONJ
alkej-236	261	28	the	the	DET
alkej-236	261	29	second	second	ADJ
alkej-236	261	30	test	test	NOUN
alkej-236	261	31	in	in	ADP
alkej-236	261	32	the	the	DET
alkej-236	261	33	first	first	ADJ
alkej-236	261	34	simulation	simulation	NOUN
alkej-236	261	35	test	test	NOUN
alkej-236	261	36	)	)	PUNCT
alkej-236	261	37	as	as	SCONJ
alkej-236	261	38	shown	show	VERB
alkej-236	261	39	in	in	ADP
alkej-236	261	40	figure	figure	NOUN
alkej-236	261	41	(	(	PUNCT
alkej-236	261	42	16	16	NUM
alkej-236	261	43	)	)	PUNCT
alkej-236	261	44	.	.	PUNCT
alkej-236	262	1	the	the	DET
alkej-236	262	2	etv	etv	NOUN
alkej-236	262	3	system	system	NOUN
alkej-236	262	4	is	be	AUX
alkej-236	262	5	accordingly	accordingly	ADV
alkej-236	262	6	invariant	invariant	ADJ
alkej-236	262	7	to	to	ADP
alkej-236	262	8	the	the	DET
alkej-236	262	9	uncertainties	uncertainty	NOUN
alkej-236	262	10	in	in	ADP
alkej-236	262	11	system	system	NOUN
alkej-236	262	12	parameters	parameter	NOUN
alkej-236	262	13	and	and	CCONJ
alkej-236	262	14	to	to	ADP
alkej-236	262	15	the	the	DET
alkej-236	262	16	non	non	ADJ
alkej-236	262	17	-	-	ADJ
alkej-236	262	18	smooth	smooth	ADJ
alkej-236	262	19	nonlinearities	nonlinearitie	NOUN
alkej-236	262	20	.	.	PUNCT
alkej-236	263	1	fig	fig	NOUN
alkej-236	263	2	.	.	PUNCT
alkej-236	264	1	16	16	NUM
alkej-236	264	2	.	.	PUNCT
alkej-236	265	1	throttle	throttle	NOUN
alkej-236	265	2	angle	angle	NOUN
alkej-236	265	3	versus	versus	ADP
alkej-236	265	4	time	time	NOUN
alkej-236	265	5	(	(	PUNCT
alkej-236	265	6	traj.a	traj.a	PROPN
alkej-236	265	7	1st	1st	PROPN
alkej-236	265	8	&	&	CCONJ
alkej-236	265	9	2nd	2nd	ADJ
alkej-236	265	10	parameter	parameter	PROPN
alkej-236	265	11	set	set	PROPN
alkej-236	265	12	)	)	PUNCT
alkej-236	265	13	.	.	PUNCT
alkej-236	266	1	representing	represent	VERB
alkej-236	266	2	the	the	DET
alkej-236	266	3	etv	etv	NOUN
alkej-236	266	4	system	system	NOUN
alkej-236	266	5	by	by	ADP
alkej-236	266	6	the	the	DET
alkej-236	266	7	nominal	nominal	ADJ
alkej-236	266	8	system	system	NOUN
alkej-236	266	9	dynamics	dynamic	NOUN
alkej-236	266	10	from	from	ADP
alkej-236	266	11	the	the	DET
alkej-236	266	12	first	first	ADJ
alkej-236	266	13	instant	instant	NOUN
alkej-236	266	14	is	be	AUX
alkej-236	266	15	main	main	ADJ
alkej-236	266	16	feature	feature	NOUN
alkej-236	266	17	for	for	ADP
alkej-236	266	18	system	system	NOUN
alkej-236	266	19	dynamics	dynamic	NOUN
alkej-236	266	20	when	when	SCONJ
alkej-236	266	21	using	use	VERB
alkej-236	266	22	ismc	ismc	NOUN
alkej-236	266	23	.	.	PUNCT
alkej-236	267	1	figure	figure	NOUN
alkej-236	267	2	(	(	PUNCT
alkej-236	267	3	17	17	NUM
alkej-236	267	4	)	)	PUNCT
alkej-236	267	5	shows	show	VERB
alkej-236	267	6	the	the	DET
alkej-236	267	7	nominal	nominal	ADJ
alkej-236	267	8	system	system	NOUN
alkej-236	267	9	of	of	ADP
alkej-236	267	10	equation	equation	NOUN
alkej-236	267	11	(	(	PUNCT
alkej-236	267	12	31	31	NUM
alkej-236	267	13	)	)	PUNCT
alkej-236	267	14	and	and	CCONJ
alkej-236	267	15	the	the	DET
alkej-236	267	16	etv	etv	NOUN
alkej-236	267	17	response	response	NOUN
alkej-236	267	18	for	for	ADP
alkej-236	267	19	trajectory	trajectory	NOUN
alkej-236	267	20	a	a	PRON
alkej-236	267	21	where	where	SCONJ
alkej-236	267	22	the	the	DET
alkej-236	267	23	curves	curve	NOUN
alkej-236	267	24	appear	appear	VERB
alkej-236	267	25	very	very	ADV
alkej-236	267	26	close	close	ADJ
alkej-236	267	27	to	to	ADP
alkej-236	267	28	each	each	DET
alkej-236	267	29	other	other	ADJ
alkej-236	267	30	.	.	PUNCT
alkej-236	268	1	fig	fig	NOUN
alkej-236	268	2	.	.	PUNCT
alkej-236	269	1	17	17	NUM
alkej-236	269	2	.	.	PUNCT
alkej-236	270	1	throttle	throttle	NOUN
alkej-236	270	2	angle	angle	NOUN
alkej-236	270	3	versus	versus	ADP
alkej-236	270	4	time	time	NOUN
alkej-236	270	5	(	(	PUNCT
alkej-236	270	6	traj.a	traj.a	PROPN
alkej-236	270	7	actual	actual	ADJ
alkej-236	270	8	&	&	CCONJ
alkej-236	270	9	nominal	nominal	ADJ
alkej-236	270	10	throttle	throttle	NOUN
alkej-236	270	11	angle	angle	NOUN
alkej-236	270	12	)	)	PUNCT
alkej-236	270	13	.	.	PUNCT
alkej-236	271	1	the	the	DET
alkej-236	271	2	final	final	ADJ
alkej-236	271	3	test	test	NOUN
alkej-236	271	4	,	,	PUNCT
alkej-236	271	5	it	it	PRON
alkej-236	271	6	is	be	AUX
alkej-236	271	7	devoted	devoted	ADJ
alkej-236	271	8	to	to	PART
alkej-236	271	9	plot	plot	VERB
alkej-236	271	10	the	the	DET
alkej-236	271	11	time	time	NOUN
alkej-236	271	12	history	history	NOUN
alkej-236	271	13	for	for	ADP
alkej-236	271	14	the	the	DET
alkej-236	271	15	two	two	NUM
alkej-236	271	16	terms	term	NOUN
alkej-236	271	17	of	of	ADP
alkej-236	271	18	the	the	DET
alkej-236	271	19	sliding	slide	VERB
alkej-236	271	20	variable	variable	ADJ
alkej-236	271	21	b	b	PROPN
alkej-236	271	22	�	�	PROPN
alkej-236	271	23	and	and	CCONJ
alkej-236	271	24	�	�	PROPN
alkej-236	271	25	.	.	PROPN
alkej-236	271	26	figure	figure	NOUN
alkej-236	271	27	(	(	PUNCT
alkej-236	271	28	18	18	NUM
alkej-236	271	29	)	)	PUNCT
alkej-236	271	30	shows	show	VERB
alkej-236	271	31	that	that	SCONJ
alkej-236	271	32	the	the	DET
alkej-236	271	33	term	term	NOUN
alkej-236	271	34	�	�	PROPN
alkej-236	271	35	is	be	AUX
alkej-236	271	36	updated	update	VERB
alkej-236	271	37	to	to	PART
alkej-236	271	38	maintain	maintain	VERB
alkej-236	271	39	the	the	DET
alkej-236	271	40	sliding	slide	VERB
alkej-236	271	41	variable	variable	NOUN
alkej-236	271	42	equal	equal	ADJ
alkej-236	271	43	to	to	ADP
alkej-236	271	44	zero	zero	NUM
alkej-236	271	45	.	.	PUNCT
alkej-236	272	1	it	it	PRON
alkej-236	272	2	can	can	AUX
alkej-236	272	3	be	be	AUX
alkej-236	272	4	deduced	deduce	VERB
alkej-236	272	5	that	that	SCONJ
alkej-236	272	6	the	the	DET
alkej-236	272	7	ismc	ismc	NOUN
alkej-236	272	8	use	use	VERB
alkej-236	272	9	a	a	DET
alkej-236	272	10	dynamic	dynamic	ADJ
alkej-236	272	11	sliding	slide	VERB
alkej-236	272	12	variable	variable	NOUN
alkej-236	272	13	to	to	PART
alkej-236	272	14	eliminate	eliminate	VERB
alkej-236	272	15	the	the	DET
alkej-236	272	16	uncertainty	uncertainty	NOUN
alkej-236	272	17	and	and	CCONJ
alkej-236	272	18	the	the	DET
alkej-236	272	19	disturbances	disturbance	NOUN
alkej-236	272	20	affecting	affect	VERB
alkej-236	272	21	the	the	DET
alkej-236	272	22	system	system	NOUN
alkej-236	272	23	dynamic	dynamic	ADJ
alkej-236	272	24	and	and	CCONJ
alkej-236	272	25	leaves	leave	VERB
alkej-236	272	26	it	it	PRON
alkej-236	272	27	nominal	nominal	ADJ
alkej-236	272	28	.	.	PUNCT
alkej-236	273	1	fig	fig	NOUN
alkej-236	273	2	.	.	PUNCT
alkej-236	274	1	18	18	NUM
alkej-236	274	2	.	.	PUNCT
alkej-236	274	3	terms	term	NOUN
alkej-236	274	4	of	of	ADP
alkej-236	274	5	sliding	slide	VERB
alkej-236	274	6	variables	variable	NOUN
alkej-236	274	7	(	(	PUNCT
alkej-236	274	8	¼½,¾	¼½,¾	NOUN
alkej-236	274	9	)	)	PUNCT
alkej-236	274	10	versus	versus	ADP
alkej-236	274	11	time	time	NOUN
alkej-236	274	12	.	.	PUNCT
alkej-236	275	1	5.3	5.3	NUM
alkej-236	275	2	.	.	PUNCT
alkej-236	275	3	numerical	numerical	PROPN
alkej-236	275	4	simulation	simulation	PROPN
alkej-236	275	5	test	test	PROPN
alkej-236	275	6	3	3	NUM
alkej-236	275	7	:	:	PUNCT
alkej-236	275	8	chattering	chatter	VERB
alkej-236	275	9	problem	problem	NOUN
alkej-236	275	10	when	when	SCONJ
alkej-236	275	11	it	it	PRON
alkej-236	275	12	is	be	AUX
alkej-236	275	13	required	require	VERB
alkej-236	275	14	to	to	PART
alkej-236	275	15	eliminate	eliminate	VERB
alkej-236	275	16	the	the	DET
alkej-236	275	17	chattering	chattering	NOUN
alkej-236	275	18	,	,	PUNCT
alkej-236	275	19	the	the	DET
alkej-236	275	20	signum	signum	PROPN
alkej-236	275	21	function	function	NOUN
alkej-236	275	22	which	which	PRON
alkej-236	275	23	appears	appear	VERB
alkej-236	275	24	in	in	ADP
alkej-236	275	25	the	the	DET
alkej-236	275	26	sliding	slide	VERB
alkej-236	275	27	mode	mode	NOUN
alkej-236	275	28	control	control	NOUN
alkej-236	275	29	law	law	NOUN
alkej-236	275	30	is	be	AUX
alkej-236	275	31	replaced	replace	VERB
alkej-236	275	32	by	by	ADP
alkej-236	275	33	an	an	DET
alkej-236	275	34	approximate	approximate	ADJ
alkej-236	275	35	function	function	NOUN
alkej-236	275	36	.	.	PUNCT
alkej-236	276	1	the	the	DET
alkej-236	276	2	arc	arc	NOUN
alkej-236	276	3	tan	tan	PROPN
alkej-236	276	4	function	function	NOUN
alkej-236	276	5	is	be	AUX
alkej-236	276	6	used	use	VERB
alkej-236	276	7	instead	instead	ADV
alkej-236	276	8	of	of	ADP
alkej-236	276	9	the	the	DET
alkej-236	276	10	signum	signum	PROPN
alkej-236	276	11	function	function	NOUN
alkej-236	276	12	as	as	SCONJ
alkej-236	276	13	follows	follow	VERB
alkej-236	276	14	:	:	PUNCT
alkej-236	276	15	/	/	SYM
alkej-236	276	16	�	�	PROPN
alkej-236	276	17	01	01	NUM
alkej-236	276	18	�	�	PROPN
alkej-236	276	19	/	/	SYM
alkej-236	276	20	�	�	PROPN
alkej-236	276	21	≈	≈	PROPN
alkej-236	276	22	�	�	PROPN
alkej-236	276	23	¿	¿	PROPN
alkej-236	276	24	tan	tan	PROPN
alkej-236	276	25	�	�	PROPN
alkej-236	276	26	�	�	PROPN
alkej-236	276	27	ℎ	ℎ	ADP
alkej-236	276	28	∗	∗	NOUN
alkej-236	276	29	/	/	SYM
alkej-236	276	30	�	�	PROPN
alkej-236	276	31	…	…	PUNCT
alkej-236	276	32	(	(	PUNCT
alkej-236	276	33	33	33	NUM
alkej-236	276	34	)	)	PUNCT
alkej-236	276	35	where	where	SCONJ
alkej-236	276	36	ℎ	ℎ	X
alkej-236	276	37	>	>	X
alkej-236	276	38	1	1	NUM
alkej-236	276	39	is	be	AUX
alkej-236	276	40	a	a	DET
alkej-236	276	41	design	design	NOUN
alkej-236	276	42	parameter	parameter	NOUN
alkej-236	276	43	adjusted	adjust	VERB
alkej-236	276	44	in	in	ADP
alkej-236	276	45	such	such	DET
alkej-236	276	46	a	a	DET
alkej-236	276	47	way	way	NOUN
alkej-236	276	48	that	that	PRON
alkej-236	276	49	the	the	DET
alkej-236	276	50	response	response	NOUN
alkej-236	276	51	resembles	resemble	VERB
alkej-236	276	52	the	the	DET
alkej-236	276	53	sliding	slide	VERB
alkej-236	276	54	shibly	shibly	ADV
alkej-236	276	55	ahmed	ahmed	PROPN
alkej-236	276	56	al	al	PROPN
alkej-236	276	57	-	-	PROPN
alkej-236	276	58	samarraie	samarraie	PROPN
alkej-236	276	59	al	al	PROPN
alkej-236	276	60	-	-	PUNCT
alkej-236	276	61	khwarizmi	khwarizmi	PROPN
alkej-236	276	62	engineering	engineering	NOUN
alkej-236	276	63	journal	journal	PROPN
alkej-236	276	64	,	,	PUNCT
alkej-236	276	65	vol	vol	NOUN
alkej-236	276	66	.	.	PROPN
alkej-236	276	67	11	11	NUM
alkej-236	276	68	,	,	PUNCT
alkej-236	276	69	no	no	INTJ
alkej-236	276	70	.	.	NOUN
alkej-236	276	71	3	3	NUM
alkej-236	276	72	,	,	PUNCT
alkej-236	276	73	p.p	p.p	PROPN
alkej-236	276	74	.	.	NOUN
alkej-236	276	75	110	110	NUM
alkej-236	276	76	(	(	PUNCT
alkej-236	276	77	2015	2015	NUM
alkej-236	276	78	)	)	PUNCT
alkej-236	276	79	82	82	NUM
alkej-236	276	80	motion	motion	NOUN
alkej-236	276	81	but	but	CCONJ
alkej-236	276	82	in	in	ADP
alkej-236	276	83	a	a	DET
alkej-236	276	84	continuous	continuous	ADJ
alkej-236	276	85	manner	manner	NOUN
alkej-236	276	86	.	.	PUNCT
alkej-236	277	1	the	the	DET
alkej-236	277	2	etv	etv	NOUN
alkej-236	277	3	system	system	NOUN
alkej-236	277	4	is	be	AUX
alkej-236	277	5	simulated	simulate	VERB
alkej-236	277	6	with	with	ADP
alkej-236	277	7	approximate	approximate	ADJ
alkej-236	277	8	signum	signum	PROPN
alkej-236	277	9	function	function	NOUN
alkej-236	277	10	as	as	ADP
alkej-236	277	11	in	in	ADP
alkej-236	277	12	equation	equation	NOUN
alkej-236	277	13	(	(	PUNCT
alkej-236	277	14	33	33	NUM
alkej-236	277	15	)	)	PUNCT
alkej-236	277	16	for	for	ADP
alkej-236	277	17	trajectory	trajectory	NOUN
alkej-236	277	18	type	type	NOUN
alkej-236	277	19	a	a	PRON
alkej-236	277	20	and	and	CCONJ
alkej-236	277	21	the	the	DET
alkej-236	277	22	first	first	ADJ
alkej-236	277	23	set	set	NOUN
alkej-236	277	24	of	of	ADP
alkej-236	277	25	parameters	parameter	NOUN
alkej-236	277	26	as	as	ADP
alkej-236	277	27	in	in	ADP
alkej-236	277	28	simulation	simulation	NOUN
alkej-236	277	29	test	test	NOUN
alkej-236	277	30	1	1	NUM
alkej-236	277	31	.	.	PUNCT
alkej-236	278	1	figure	figure	NOUN
alkej-236	278	2	(	(	PUNCT
alkej-236	278	3	19	19	NUM
alkej-236	278	4	)	)	PUNCT
alkej-236	278	5	shows	show	VERB
alkej-236	278	6	that	that	SCONJ
alkej-236	278	7	the	the	DET
alkej-236	278	8	throttle	throttle	NOUN
alkej-236	278	9	valve	valve	NOUN
alkej-236	278	10	response	response	NOUN
alkej-236	278	11	is	be	AUX
alkej-236	278	12	very	very	ADV
alkej-236	278	13	close	close	ADJ
alkej-236	278	14	to	to	ADP
alkej-236	278	15	system	system	NOUN
alkej-236	278	16	response	response	NOUN
alkej-236	278	17	without	without	ADP
alkej-236	278	18	approximation	approximation	NOUN
alkej-236	278	19	.	.	PUNCT
alkej-236	279	1	the	the	DET
alkej-236	279	2	chattering	chattering	NOUN
alkej-236	279	3	in	in	ADP
alkej-236	279	4	figures	figure	NOUN
alkej-236	279	5	(	(	PUNCT
alkej-236	279	6	20	20	NUM
alkej-236	279	7	)	)	PUNCT
alkej-236	279	8	and	and	CCONJ
alkej-236	279	9	(	(	PUNCT
alkej-236	279	10	21	21	NUM
alkej-236	279	11	)	)	PUNCT
alkej-236	279	12	is	be	AUX
alkej-236	279	13	greatly	greatly	ADV
alkej-236	279	14	reduced	reduce	VERB
alkej-236	279	15	compared	compare	VERB
alkej-236	279	16	with	with	ADP
alkej-236	279	17	these	these	PRON
alkej-236	279	18	in	in	ADP
alkej-236	279	19	figures	figure	NOUN
alkej-236	279	20	(	(	PUNCT
alkej-236	279	21	7	7	NUM
alkej-236	279	22	)	)	PUNCT
alkej-236	279	23	and	and	CCONJ
alkej-236	279	24	(	(	PUNCT
alkej-236	279	25	10	10	NUM
alkej-236	279	26	)	)	PUNCT
alkej-236	279	27	.	.	PUNCT
alkej-236	280	1	fig	fig	NOUN
alkej-236	280	2	.	.	PUNCT
alkej-236	281	1	19	19	NUM
alkej-236	281	2	.	.	PUNCT
alkej-236	281	3	throttle	throttle	NOUN
alkej-236	281	4	angle	angle	NOUN
alkej-236	281	5	versus	versus	ADP
alkej-236	281	6	time	time	NOUN
alkej-236	281	7	(	(	PUNCT
alkej-236	281	8	traj.a	traj.a	PROPN
alkej-236	281	9	signum	signum	PROPN
alkej-236	281	10	&	&	CCONJ
alkej-236	281	11	arc	arc	PROPN
alkej-236	281	12	tan	tan	PROPN
alkej-236	281	13	function	function	NOUN
alkej-236	281	14	)	)	PUNCT
alkej-236	281	15	.	.	PUNCT
alkej-236	282	1	fig	fig	NOUN
alkej-236	282	2	.	.	PUNCT
alkej-236	283	1	20	20	NUM
alkej-236	283	2	.	.	X
alkej-236	283	3	switching	switch	VERB
alkej-236	283	4	surface	surface	NOUN
alkej-236	283	5	versus	versus	ADP
alkej-236	283	6	time	time	NOUN
alkej-236	283	7	(	(	PUNCT
alkej-236	283	8	traj.a	traj.a	PROPN
alkej-236	283	9	signum	signum	PROPN
alkej-236	283	10	&	&	CCONJ
alkej-236	283	11	arc	arc	PROPN
alkej-236	283	12	tan	tan	PROPN
alkej-236	283	13	function	function	NOUN
alkej-236	283	14	)	)	PUNCT
alkej-236	283	15	.	.	PUNCT
alkej-236	284	1	fig	fig	NOUN
alkej-236	284	2	.	.	PUNCT
alkej-236	285	1	21	21	NUM
alkej-236	285	2	.	.	PUNCT
alkej-236	286	1	control	control	NOUN
alkej-236	286	2	action	action	NOUN
alkej-236	286	3	(	(	PUNCT
alkej-236	286	4	u	u	NOUN
alkej-236	286	5	)	)	PUNCT
alkej-236	286	6	versus	versus	ADP
alkej-236	286	7	time	time	NOUN
alkej-236	286	8	(	(	PUNCT
alkej-236	286	9	traj.a	traj.a	PROPN
alkej-236	286	10	signum	signum	PROPN
alkej-236	286	11	&	&	CCONJ
alkej-236	286	12	arc	arc	PROPN
alkej-236	286	13	tan	tan	PROPN
alkej-236	286	14	function	function	NOUN
alkej-236	286	15	)	)	PUNCT
alkej-236	286	16	.	.	PUNCT
alkej-236	287	1	6	6	X
alkej-236	287	2	.	.	X
alkej-236	287	3	conclusions	conclusion	NOUN
alkej-236	287	4	in	in	ADP
alkej-236	287	5	this	this	DET
alkej-236	287	6	work	work	NOUN
alkej-236	287	7	,	,	PUNCT
alkej-236	287	8	the	the	DET
alkej-236	287	9	integral	integral	ADJ
alkej-236	287	10	sliding	slide	VERB
alkej-236	287	11	mode	mode	NOUN
alkej-236	287	12	control	control	NOUN
alkej-236	287	13	theory	theory	NOUN
alkej-236	287	14	is	be	AUX
alkej-236	287	15	utilized	utilize	VERB
alkej-236	287	16	to	to	PART
alkej-236	287	17	design	design	VERB
alkej-236	287	18	a	a	DET
alkej-236	287	19	robust	robust	ADJ
alkej-236	287	20	controller	controller	NOUN
alkej-236	287	21	for	for	ADP
alkej-236	287	22	the	the	DET
alkej-236	287	23	electronic	electronic	ADJ
alkej-236	287	24	throttle	throttle	NOUN
alkej-236	287	25	valve	valve	NOUN
alkej-236	287	26	(	(	PUNCT
alkej-236	287	27	etv	etv	NOUN
alkej-236	287	28	)	)	PUNCT
alkej-236	287	29	system	system	NOUN
alkej-236	287	30	.	.	PUNCT
alkej-236	288	1	ismc	ismc	NOUN
alkej-236	288	2	has	have	VERB
alkej-236	288	3	the	the	DET
alkej-236	288	4	ability	ability	NOUN
alkej-236	288	5	to	to	PART
alkej-236	288	6	cancel	cancel	VERB
alkej-236	288	7	the	the	DET
alkej-236	288	8	effect	effect	NOUN
alkej-236	288	9	of	of	ADP
alkej-236	288	10	disturbance	disturbance	NOUN
alkej-236	288	11	and	and	CCONJ
alkej-236	288	12	uncertainty	uncertainty	NOUN
alkej-236	288	13	from	from	ADP
alkej-236	288	14	any	any	DET
alkej-236	288	15	dynamic	dynamic	ADJ
alkej-236	288	16	system	system	NOUN
alkej-236	288	17	by	by	ADP
alkej-236	288	18	partite	partite	ADJ
alkej-236	288	19	the	the	DET
alkej-236	288	20	control	control	NOUN
alkej-236	288	21	into	into	ADP
alkej-236	288	22	two	two	NUM
alkej-236	288	23	part	part	NOUN
alkej-236	288	24	first	first	ADV
alkej-236	288	25	the	the	DET
alkej-236	288	26	ideal	ideal	ADJ
alkej-236	288	27	(	(	PUNCT
alkej-236	288	28	or	or	CCONJ
alkej-236	288	29	nominal	nominal	ADJ
alkej-236	288	30	)	)	PUNCT
alkej-236	288	31	control	control	NOUN
alkej-236	288	32	;	;	PUNCT
alkej-236	288	33	which	which	PRON
alkej-236	288	34	is	be	AUX
alkej-236	288	35	used	use	VERB
alkej-236	288	36	to	to	PART
alkej-236	288	37	stabilize	stabilize	VERB
alkej-236	288	38	the	the	DET
alkej-236	288	39	nominal	nominal	ADJ
alkej-236	288	40	system	system	NOUN
alkej-236	288	41	dynamics	dynamic	NOUN
alkej-236	288	42	with	with	ADP
alkej-236	288	43	the	the	DET
alkej-236	288	44	desired	desire	VERB
alkej-236	288	45	characteristics	characteristic	NOUN
alkej-236	288	46	and	and	CCONJ
alkej-236	288	47	the	the	DET
alkej-236	288	48	second	second	ADJ
alkej-236	288	49	part	part	NOUN
alkej-236	288	50	is	be	AUX
alkej-236	288	51	discontinuous	discontinuous	ADJ
alkej-236	288	52	control	control	NOUN
alkej-236	288	53	�	�	PROPN
alkej-236	288	54	which	which	PRON
alkej-236	288	55	is	be	AUX
alkej-236	288	56	designed	design	VERB
alkej-236	288	57	to	to	PART
alkej-236	288	58	reject	reject	VERB
alkej-236	288	59	the	the	DET
alkej-236	288	60	perturbation	perturbation	NOUN
alkej-236	288	61	term	term	NOUN
alkej-236	288	62	.	.	PUNCT
alkej-236	289	1	the	the	DET
alkej-236	289	2	main	main	ADJ
alkej-236	289	3	results	result	NOUN
alkej-236	289	4	in	in	ADP
alkej-236	289	5	this	this	DET
alkej-236	289	6	work	work	NOUN
alkej-236	289	7	,	,	PUNCT
alkej-236	289	8	due	due	ADP
alkej-236	289	9	to	to	ADP
alkej-236	289	10	applying	apply	VERB
alkej-236	289	11	the	the	DET
alkej-236	289	12	ismc	ismc	NOUN
alkej-236	289	13	for	for	ADP
alkej-236	289	14	the	the	DET
alkej-236	289	15	etv	etv	NOUN
alkej-236	289	16	system	system	NOUN
alkej-236	289	17	,	,	PUNCT
alkej-236	289	18	can	can	AUX
alkej-236	289	19	be	be	AUX
alkej-236	289	20	summarized	summarize	VERB
alkej-236	289	21	as	as	SCONJ
alkej-236	289	22	follows	follow	VERB
alkej-236	289	23	:	:	PUNCT
alkej-236	290	1	1	1	X
alkej-236	290	2	.	.	PUNCT
alkej-236	290	3	the	the	DET
alkej-236	290	4	robustness	robustness	NOUN
alkej-236	290	5	of	of	ADP
alkej-236	290	6	the	the	DET
alkej-236	290	7	proposed	propose	VERB
alkej-236	290	8	controller	controller	NOUN
alkej-236	290	9	has	have	AUX
alkej-236	290	10	been	be	AUX
alkej-236	290	11	proved	prove	VERB
alkej-236	290	12	for	for	ADP
alkej-236	290	13	a	a	DET
alkej-236	290	14	bounded	bounded	ADJ
alkej-236	290	15	uncertainty	uncertainty	NOUN
alkej-236	290	16	in	in	ADP
alkej-236	290	17	system	system	NOUN
alkej-236	290	18	parameters	parameter	NOUN
alkej-236	290	19	with	with	ADP
alkej-236	290	20	the	the	DET
alkej-236	290	21	presence	presence	NOUN
alkej-236	290	22	of	of	ADP
alkej-236	290	23	a	a	DET
alkej-236	290	24	nonsmooth	nonsmooth	ADJ
alkej-236	290	25	nonlinearity	nonlinearity	NOUN
alkej-236	290	26	and	and	CCONJ
alkej-236	290	27	external	external	ADJ
alkej-236	290	28	disturbances	disturbance	NOUN
alkej-236	290	29	and	and	CCONJ
alkej-236	290	30	validated	validate	VERB
alkej-236	290	31	via	via	ADP
alkej-236	290	32	numerical	numerical	ADJ
alkej-236	290	33	simulations	simulation	NOUN
alkej-236	290	34	for	for	ADP
alkej-236	290	35	different	different	ADJ
alkej-236	290	36	parameters	parameter	NOUN
alkej-236	290	37	values	value	NOUN
alkej-236	290	38	in	in	ADP
alkej-236	290	39	numerical	numerical	ADJ
alkej-236	290	40	simulation	simulation	NOUN
alkej-236	290	41	1	1	NUM
alkej-236	290	42	.	.	NOUN
alkej-236	290	43	2	2	NUM
alkej-236	290	44	.	.	X
alkej-236	291	1	the	the	DET
alkej-236	291	2	system	system	NOUN
alkej-236	291	3	response	response	NOUN
alkej-236	291	4	for	for	ADP
alkej-236	291	5	different	different	ADJ
alkej-236	291	6	parameters	parameter	NOUN
alkej-236	291	7	(	(	PUNCT
alkej-236	291	8	within	within	ADP
alkej-236	291	9	the	the	DET
alkej-236	291	10	uncertainty	uncertainty	NOUN
alkej-236	291	11	bound	bind	VERB
alkej-236	291	12	)	)	PUNCT
alkej-236	291	13	is	be	AUX
alkej-236	291	14	identical	identical	ADJ
alkej-236	291	15	.	.	PUNCT
alkej-236	292	1	namely	namely	ADV
alkej-236	292	2	,	,	PUNCT
alkej-236	292	3	the	the	DET
alkej-236	292	4	ismc	ismc	NOUN
alkej-236	292	5	eliminates	eliminate	VERB
alkej-236	292	6	the	the	DET
alkej-236	292	7	perturbation	perturbation	NOUN
alkej-236	292	8	term	term	NOUN
alkej-236	292	9	and	and	CCONJ
alkej-236	292	10	leaves	leave	VERB
alkej-236	292	11	the	the	DET
alkej-236	292	12	etv	etv	NOUN
alkej-236	292	13	and	and	CCONJ
alkej-236	292	14	behaves	behave	NOUN
alkej-236	292	15	as	as	ADP
alkej-236	292	16	a	a	DET
alkej-236	292	17	nominal	nominal	ADJ
alkej-236	292	18	system	system	NOUN
alkej-236	292	19	;	;	PUNCT
alkej-236	292	20	irrespective	irrespective	ADV
alkej-236	292	21	to	to	ADP
alkej-236	292	22	the	the	DET
alkej-236	292	23	presence	presence	NOUN
alkej-236	292	24	of	of	ADP
alkej-236	292	25	the	the	DET
alkej-236	292	26	uncertainty	uncertainty	NOUN
alkej-236	292	27	in	in	ADP
alkej-236	292	28	system	system	NOUN
alkej-236	292	29	model	model	NOUN
alkej-236	292	30	and	and	CCONJ
alkej-236	292	31	the	the	DET
alkej-236	292	32	effects	effect	NOUN
alkej-236	292	33	of	of	ADP
alkej-236	292	34	the	the	DET
alkej-236	292	35	non	non	ADJ
alkej-236	292	36	-	-	ADJ
alkej-236	292	37	smooth	smooth	ADJ
alkej-236	292	38	nonlinearities	nonlinearitie	NOUN
alkej-236	292	39	.	.	PUNCT
alkej-236	293	1	although	although	SCONJ
alkej-236	293	2	that	that	SCONJ
alkej-236	293	3	this	this	DET
alkej-236	293	4	property	property	NOUN
alkej-236	293	5	is	be	AUX
alkej-236	293	6	the	the	DET
alkej-236	293	7	main	main	ADJ
alkej-236	293	8	feature	feature	NOUN
alkej-236	293	9	of	of	ADP
alkej-236	293	10	the	the	DET
alkej-236	293	11	ismc	ismc	NOUN
alkej-236	293	12	via	via	ADP
alkej-236	293	13	the	the	DET
alkej-236	293	14	equivalent	equivalent	ADJ
alkej-236	293	15	control	control	NOUN
alkej-236	293	16	method	method	NOUN
alkej-236	293	17	it	it	PRON
alkej-236	293	18	is	be	AUX
alkej-236	293	19	also	also	ADV
alkej-236	293	20	proved	prove	VERB
alkej-236	293	21	in	in	ADP
alkej-236	293	22	simulation	simulation	NOUN
alkej-236	293	23	tests	test	NOUN
alkej-236	293	24	1	1	NUM
alkej-236	293	25	and	and	CCONJ
alkej-236	293	26	2	2	NUM
alkej-236	293	27	.	.	NOUN
alkej-236	293	28	3	3	NUM
alkej-236	293	29	.	.	X
alkej-236	294	1	the	the	DET
alkej-236	294	2	chattering	chatter	VERB
alkej-236	294	3	problem	problem	NOUN
alkej-236	294	4	is	be	AUX
alkej-236	294	5	solved	solve	VERB
alkej-236	294	6	by	by	ADP
alkej-236	294	7	replacing	replace	VERB
alkej-236	294	8	the	the	DET
alkej-236	294	9	signum	signum	ADJ
alkej-236	294	10	function	function	NOUN
alkej-236	294	11	with	with	ADP
alkej-236	294	12	arc	arc	NOUN
alkej-236	294	13	tan	tan	PROPN
alkej-236	294	14	function	function	VERB
alkej-236	294	15	as	as	ADP
alkej-236	294	16	approximation	approximation	NOUN
alkej-236	294	17	.	.	PUNCT
alkej-236	295	1	in	in	ADP
alkej-236	295	2	spite	spite	NOUN
alkej-236	295	3	of	of	ADP
alkej-236	295	4	this	this	DET
alkej-236	295	5	approximation	approximation	NOUN
alkej-236	295	6	,	,	PUNCT
alkej-236	295	7	the	the	DET
alkej-236	295	8	time	time	NOUN
alkej-236	295	9	required	require	VERB
alkej-236	295	10	to	to	PART
alkej-236	295	11	reach	reach	VERB
alkej-236	295	12	the	the	DET
alkej-236	295	13	target	target	NOUN
alkej-236	295	14	is	be	AUX
alkej-236	295	15	still	still	ADV
alkej-236	295	16	nearly	nearly	ADV
alkej-236	295	17	equal	equal	ADJ
alkej-236	295	18	(	(	PUNCT
alkej-236	295	19	with	with	ADP
alkej-236	295	20	suitable	suitable	ADJ
alkej-236	295	21	value	value	NOUN
alkej-236	295	22	for	for	ADP
alkej-236	295	23	h	h	NOUN
alkej-236	295	24	)	)	PUNCT
alkej-236	295	25	as	as	SCONJ
alkej-236	295	26	proved	prove	VERB
alkej-236	295	27	in	in	ADP
alkej-236	295	28	simulations	simulation	NOUN
alkej-236	295	29	test	test	VERB
alkej-236	295	30	3	3	NUM
alkej-236	295	31	.	.	PUNCT
alkej-236	296	1	the	the	DET
alkej-236	296	2	simulation	simulation	NOUN
alkej-236	296	3	results	result	NOUN
alkej-236	296	4	show	show	VERB
alkej-236	296	5	that	that	SCONJ
alkej-236	296	6	the	the	DET
alkej-236	296	7	chattering	chattering	NOUN
alkej-236	296	8	is	be	AUX
alkej-236	296	9	eliminated	eliminate	VERB
alkej-236	296	10	.	.	PUNCT
alkej-236	297	1	7	7	X
alkej-236	297	2	.	.	NUM
alkej-236	297	3	references	reference	NOUN
alkej-236	297	4	[	[	X
alkej-236	297	5	1	1	NUM
alkej-236	297	6	]	]	PUNCT
alkej-236	297	7	paolo	paolo	PROPN
alkej-236	297	8	mercorelli	mercorelli	PROPN
alkej-236	297	9	,	,	PUNCT
alkej-236	297	10	"	"	PUNCT
alkej-236	297	11	robust	robust	ADJ
alkej-236	297	12	feedback	feedback	NOUN
alkej-236	297	13	linearization	linearization	NOUN
alkej-236	297	14	using	use	VERB
alkej-236	297	15	an	an	DET
alkej-236	297	16	adaptive	adaptive	ADJ
alkej-236	297	17	pd	pd	NOUN
alkej-236	297	18	regulator	regulator	NOUN
alkej-236	297	19	for	for	ADP
alkej-236	297	20	a	a	DET
alkej-236	297	21	sensorless	sensorless	NOUN
alkej-236	297	22	control	control	NOUN
alkej-236	297	23	of	of	ADP
alkej-236	297	24	a	a	DET
alkej-236	297	25	throttle	throttle	NOUN
alkej-236	297	26	valve	valve	NOUN
alkej-236	297	27	"	"	PUNCT
alkej-236	297	28	,	,	PUNCT
alkej-236	297	29	mechatronics	mechatronic	NOUN
alkej-236	297	30	vol	vol	NOUN
alkej-236	297	31	.	.	PROPN
alkej-236	298	1	19	19	NUM
alkej-236	298	2	,	,	PUNCT
alkej-236	298	3	no	no	INTJ
alkej-236	298	4	.	.	NOUN
alkej-236	298	5	8	8	NUM
alkej-236	298	6	,	,	PUNCT
alkej-236	298	7	pp	pp	ADJ
alkej-236	298	8	.	.	PUNCT
alkej-236	299	1	1211	1211	NUM
alkej-236	299	2	-	-	SYM
alkej-236	299	3	1354	1354	NUM
alkej-236	299	4	,	,	PUNCT
alkej-236	299	5	2009	2009	NUM
alkej-236	299	6	.	.	PUNCT
alkej-236	300	1	[	[	X
alkej-236	300	2	2	2	NUM
alkej-236	300	3	]	]	SYM
alkej-236	300	4	reichhartinger	reichhartinger	NOUN
alkej-236	300	5	m.	m.	NOUN
alkej-236	300	6	and	and	CCONJ
alkej-236	300	7	horn	horn	NOUN
alkej-236	300	8	m.	m.	NOUN
alkej-236	300	9	,	,	PUNCT
alkej-236	300	10	"	"	PUNCT
alkej-236	300	11	application	application	NOUN
alkej-236	300	12	of	of	ADP
alkej-236	300	13	higher	high	ADJ
alkej-236	300	14	order	order	NOUN
alkej-236	300	15	sliding	slide	VERB
alkej-236	300	16	-	-	PUNCT
alkej-236	300	17	mode	mode	NOUN
alkej-236	300	18	concepts	concept	NOUN
alkej-236	300	19	to	to	ADP
alkej-236	300	20	a	a	DET
alkej-236	300	21	throttle	throttle	NOUN
alkej-236	300	22	actuator	actuator	NOUN
alkej-236	300	23	for	for	ADP
alkej-236	300	24	gasoline	gasoline	NOUN
alkej-236	300	25	engines	engine	NOUN
alkej-236	300	26	"	"	PUNCT
alkej-236	300	27	,	,	PUNCT
alkej-236	300	28	ieee	ieee	NOUN
alkej-236	300	29	transactions	transaction	NOUN
alkej-236	300	30	on	on	ADP
alkej-236	300	31	industrial	industrial	ADJ
alkej-236	300	32	electronics	electronic	NOUN
alkej-236	300	33	,	,	PUNCT
alkej-236	300	34	vol	vol	NOUN
alkej-236	300	35	.	.	PROPN
alkej-236	300	36	56	56	NUM
alkej-236	300	37	,	,	PUNCT
alkej-236	300	38	no	no	INTJ
alkej-236	300	39	.	.	NOUN
alkej-236	300	40	9	9	NUM
alkej-236	300	41	,	,	PUNCT
alkej-236	300	42	pp	pp	ADJ
alkej-236	300	43	.	.	PUNCT
alkej-236	300	44	3322	3322	NUM
alkej-236	300	45	-	-	SYM
alkej-236	300	46	3329	3329	NUM
alkej-236	300	47	,	,	PUNCT
alkej-236	300	48	2009	2009	NUM
alkej-236	300	49	.	.	PUNCT
alkej-236	301	1	[	[	X
alkej-236	301	2	3	3	NUM
alkej-236	301	3	]	]	X
alkej-236	301	4	shibly	shibly	ADV
alkej-236	301	5	ahmed	ahmed	PROPN
alkej-236	301	6	al	al	PROPN
alkej-236	301	7	-	-	PROPN
alkej-236	301	8	samarraie	samarraie	PROPN
alkej-236	301	9	,	,	PUNCT
alkej-236	301	10	"	"	PUNCT
alkej-236	301	11	design	design	NOUN
alkej-236	301	12	of	of	ADP
alkej-236	301	13	a	a	DET
alkej-236	301	14	continuous	continuous	ADJ
alkej-236	301	15	sliding	slide	VERB
alkej-236	301	16	mode	mode	NOUN
alkej-236	301	17	controller	controller	NOUN
alkej-236	301	18	for	for	ADP
alkej-236	301	19	the	the	DET
alkej-236	301	20	electronic	electronic	ADJ
alkej-236	301	21	throttle	throttle	NOUN
alkej-236	301	22	valve	valve	NOUN
alkej-236	301	23	system	system	NOUN
alkej-236	301	24	"	"	PUNCT
alkej-236	301	25	,	,	PUNCT
alkej-236	301	26	journal	journal	NOUN
alkej-236	301	27	of	of	ADP
alkej-236	301	28	engineering	engineering	NOUN
alkej-236	301	29	,	,	PUNCT
alkej-236	301	30	no	no	INTJ
alkej-236	301	31	.	.	NOUN
alkej-236	301	32	4	4	NUM
alkej-236	301	33	,	,	PUNCT
alkej-236	301	34	vol	vol	NOUN
alkej-236	301	35	.	.	PROPN
alkej-236	301	36	17	17	NUM
alkej-236	301	37	,	,	PUNCT
alkej-236	301	38	august	august	PROPN
alkej-236	301	39	,	,	PUNCT
alkej-236	301	40	2011	2011	NUM
alkej-236	301	41	.	.	PUNCT
alkej-236	302	1	[	[	X
alkej-236	302	2	4	4	NUM
alkej-236	302	3	]	]	X
alkej-236	302	4	shibly	shibly	ADV
alkej-236	302	5	ahmed	ahmed	PROPN
alkej-236	302	6	al	al	PROPN
alkej-236	302	7	-	-	PROPN
alkej-236	302	8	samarraie	samarraie	PROPN
alkej-236	302	9	and	and	CCONJ
alkej-236	302	10	yasir	yasir	PROPN
alkej-236	302	11	khudhair	khudhair	PROPN
alkej-236	302	12	abbas	abbas	PROPN
alkej-236	302	13	,	,	PUNCT
alkej-236	302	14	"	"	PUNCT
alkej-236	302	15	design	design	NOUN
alkej-236	302	16	of	of	ADP
alkej-236	302	17	electronic	electronic	ADJ
alkej-236	302	18	throttle	throttle	NOUN
alkej-236	302	19	valve	valve	NOUN
alkej-236	302	20	position	position	NOUN
alkej-236	302	21	control	control	NOUN
alkej-236	302	22	system	system	NOUN
alkej-236	302	23	using	use	VERB
alkej-236	302	24	nonlinear	nonlinear	ADJ
alkej-236	302	25	pid	pid	NOUN
alkej-236	302	26	controller	controller	NOUN
alkej-236	302	27	"	"	PUNCT
alkej-236	302	28	,	,	PUNCT
alkej-236	302	29	international	international	PROPN
alkej-236	302	30	shibly	shibly	PROPN
alkej-236	302	31	ahmed	ahmed	PROPN
alkej-236	302	32	al	al	PROPN
alkej-236	302	33	-	-	PROPN
alkej-236	302	34	samarraie	samarraie	PROPN
alkej-236	302	35	al	al	PROPN
alkej-236	302	36	-	-	PUNCT
alkej-236	302	37	khwarizmi	khwarizmi	PROPN
alkej-236	302	38	engineering	engineering	NOUN
alkej-236	302	39	journal	journal	PROPN
alkej-236	302	40	,	,	PUNCT
alkej-236	302	41	vol	vol	NOUN
alkej-236	302	42	.	.	PROPN
alkej-236	302	43	11	11	NUM
alkej-236	302	44	,	,	PUNCT
alkej-236	302	45	no	no	INTJ
alkej-236	302	46	.	.	NOUN
alkej-236	302	47	3	3	NUM
alkej-236	302	48	,	,	PUNCT
alkej-236	302	49	p.p	p.p	PROPN
alkej-236	302	50	.	.	NOUN
alkej-236	302	51	110	110	NUM
alkej-236	302	52	(	(	PUNCT
alkej-236	302	53	2015	2015	NUM
alkej-236	302	54	)	)	PUNCT
alkej-236	302	55	83	83	NUM
alkej-236	302	56	journal	journal	NOUN
alkej-236	302	57	of	of	ADP
alkej-236	302	58	computer	computer	NOUN
alkej-236	302	59	applications	application	NOUN
alkej-236	302	60	,	,	PUNCT
alkej-236	302	61	vol	vol	NOUN
alkej-236	302	62	.	.	PROPN
alkej-236	302	63	59	59	NUM
alkej-236	302	64	,	,	PUNCT
alkej-236	302	65	no.15	no.15	NOUN
alkej-236	302	66	,	,	PUNCT
alkej-236	302	67	december	december	PROPN
alkej-236	302	68	,	,	PUNCT
alkej-236	302	69	2012	2012	NUM
alkej-236	302	70	.	.	PUNCT
alkej-236	303	1	[	[	X
alkej-236	303	2	5	5	NUM
alkej-236	303	3	]	]	X
alkej-236	303	4	kazushi	kazushi	PROPN
alkej-236	303	5	nakano	nakano	PROPN
alkej-236	303	6	,	,	PUNCT
alkej-236	303	7	umerujan	umerujan	ADJ
alkej-236	303	8	sawut	sawut	PROPN
alkej-236	303	9	,	,	PUNCT
alkej-236	303	10	kohji	kohji	PROPN
alkej-236	303	11	higuchi	higuchi	PROPN
alkej-236	303	12	,	,	PUNCT
alkej-236	303	13	and	and	CCONJ
alkej-236	303	14	yasusuke	yasusuke	PROPN
alkej-236	303	15	okajima	okajima	PROPN
alkej-236	303	16	,	,	PUNCT
alkej-236	303	17	"	"	PUNCT
alkej-236	303	18	modelling	modelling	NOUN
alkej-236	303	19	and	and	CCONJ
alkej-236	303	20	observer	observer	NOUN
alkej-236	303	21	-	-	PUNCT
alkej-236	303	22	based	base	VERB
alkej-236	303	23	sliding	sliding	ADJ
alkej-236	303	24	-	-	PUNCT
alkej-236	303	25	mode	mode	NOUN
alkej-236	303	26	control	control	NOUN
alkej-236	303	27	of	of	ADP
alkej-236	303	28	electronic	electronic	ADJ
alkej-236	303	29	throttle	throttle	NOUN
alkej-236	303	30	systems	system	NOUN
alkej-236	303	31	"	"	PUNCT
alkej-236	303	32	,	,	PUNCT
alkej-236	303	33	ecti	ecti	VERB
alkej-236	303	34	transaction	transaction	NOUN
alkej-236	303	35	on	on	ADP
alkej-236	303	36	electrical	electrical	ADJ
alkej-236	303	37	eng	eng	PROPN
alkej-236	303	38	.	.	PROPN
alkej-236	303	39	,	,	PUNCT
alkej-236	303	40	electronics	electronic	NOUN
alkej-236	303	41	,	,	PUNCT
alkej-236	303	42	and	and	CCONJ
alkej-236	303	43	communications	communication	NOUN
alkej-236	303	44	,	,	PUNCT
alkej-236	303	45	vol	vol	NOUN
alkej-236	303	46	.	.	PROPN
alkej-236	303	47	4	4	NUM
alkej-236	303	48	,	,	PUNCT
alkej-236	303	49	no	no	INTJ
alkej-236	303	50	.	.	NOUN
alkej-236	303	51	1	1	NUM
alkej-236	303	52	,	,	PUNCT
alkej-236	303	53	february	february	PROPN
alkej-236	303	54	,	,	PUNCT
alkej-236	303	55	2006	2006	NUM
alkej-236	303	56	.	.	PUNCT
alkej-236	304	1	[	[	X
alkej-236	304	2	6	6	NUM
alkej-236	304	3	]	]	X
alkej-236	304	4	carlos	carlos	PROPN
alkej-236	304	5	canudas	canudas	PROPN
alkej-236	304	6	de	de	X
alkej-236	304	7	witty	witty	PROPN
alkej-236	304	8	,	,	PUNCT
alkej-236	304	9	ilya	ilya	PROPN
alkej-236	304	10	kolmanovsky	kolmanovsky	PROPN
alkej-236	304	11	,	,	PUNCT
alkej-236	304	12	and	and	CCONJ
alkej-236	304	13	jing	jing	PROPN
alkej-236	304	14	sun	sun	NOUN
alkej-236	304	15	,	,	PUNCT
alkej-236	304	16	"	"	PUNCT
alkej-236	304	17	adaptive	adaptive	ADJ
alkej-236	304	18	pulse	pulse	NOUN
alkej-236	304	19	control	control	NOUN
alkej-236	304	20	of	of	ADP
alkej-236	304	21	electronic	electronic	ADJ
alkej-236	304	22	throttle	throttle	NOUN
alkej-236	304	23	"	"	PUNCT
alkej-236	304	24	,	,	PUNCT
alkej-236	304	25	proceedings	proceeding	NOUN
alkej-236	304	26	of	of	ADP
alkej-236	304	27	the	the	DET
alkej-236	304	28	american	american	PROPN
alkej-236	304	29	control	control	PROPN
alkej-236	304	30	conference	conference	PROPN
alkej-236	304	31	arlington	arlington	PROPN
alkej-236	304	32	,	,	PUNCT
alkej-236	304	33	june	june	PROPN
alkej-236	304	34	,	,	PUNCT
alkej-236	304	35	2001	2001	NUM
alkej-236	304	36	[	[	X
alkej-236	304	37	7	7	X
alkej-236	304	38	]	]	X
alkej-236	304	39	martin	martin	PROPN
alkej-236	304	40	horn	horn	PROPN
alkej-236	304	41	,	,	PUNCT
alkej-236	304	42	anton	anton	PROPN
alkej-236	304	43	hofer	hofer	PROPN
alkej-236	304	44	and	and	CCONJ
alkej-236	304	45	markus	markus	PROPN
alkej-236	304	46	reichhartinger	reichhartinger	NOUN
alkej-236	304	47	,	,	PUNCT
alkej-236	304	48	"	"	PUNCT
alkej-236	304	49	control	control	NOUN
alkej-236	304	50	of	of	ADP
alkej-236	304	51	an	an	DET
alkej-236	304	52	electronic	electronic	ADJ
alkej-236	304	53	throttle	throttle	NOUN
alkej-236	304	54	valve	valve	NOUN
alkej-236	304	55	based	base	VERB
alkej-236	304	56	on	on	ADP
alkej-236	304	57	concepts	concept	NOUN
alkej-236	304	58	of	of	ADP
alkej-236	304	59	slidingmode	slidingmode	NOUN
alkej-236	304	60	control	control	NOUN
alkej-236	304	61	"	"	PUNCT
alkej-236	304	62	,	,	PUNCT
alkej-236	304	63	17âã	17âã	ADJ
alkej-236	304	64	ieee	ieee	PROPN
alkej-236	304	65	international	international	PROPN
alkej-236	304	66	conference	conference	NOUN
alkej-236	304	67	on	on	ADP
alkej-236	304	68	control	control	NOUN
alkej-236	304	69	applications	application	NOUN
alkej-236	304	70	san	san	PROPN
alkej-236	304	71	antonio	antonio	PROPN
alkej-236	304	72	,	,	PUNCT
alkej-236	304	73	texas	texas	PROPN
alkej-236	304	74	,	,	PUNCT
alkej-236	304	75	usa	usa	PROPN
alkej-236	304	76	,	,	PUNCT
alkej-236	304	77	september	september	PROPN
alkej-236	304	78	,	,	PUNCT
alkej-236	304	79	2008	2008	NUM
alkej-236	304	80	.	.	PUNCT
alkej-236	305	1	[	[	X
alkej-236	305	2	8	8	NUM
alkej-236	305	3	]	]	X
alkej-236	305	4	hui	hui	PROPN
alkej-236	305	5	wang	wang	PROPN
alkej-236	305	6	,	,	PUNCT
alkej-236	305	7	xiaofang	xiaofang	PROPN
alkej-236	305	8	yuan	yuan	PROPN
alkej-236	305	9	,	,	PUNCT
alkej-236	305	10	yaonan	yaonan	PRON
alkej-236	305	11	wang	wang	PROPN
alkej-236	305	12	and	and	CCONJ
alkej-236	305	13	yimin	yimin	PROPN
alkej-236	305	14	yang	yang	PROPN
alkej-236	305	15	,	,	PUNCT
alkej-236	305	16	"	"	PUNCT
alkej-236	305	17	harmony	harmony	NOUN
alkej-236	305	18	search	search	NOUN
alkej-236	305	19	algorithm	algorithm	NOUN
alkej-236	305	20	-	-	PUNCT
alkej-236	305	21	based	base	VERB
alkej-236	305	22	fuzzy	fuzzy	ADJ
alkej-236	305	23	-	-	PUNCT
alkej-236	305	24	pid	pid	NOUN
alkej-236	305	25	controller	controller	NOUN
alkej-236	305	26	for	for	ADP
alkej-236	305	27	electronic	electronic	ADJ
alkej-236	305	28	throttle	throttle	NOUN
alkej-236	305	29	valve	valve	NOUN
alkej-236	305	30	"	"	PUNCT
alkej-236	305	31	,	,	PUNCT
alkej-236	305	32	neural	neural	ADJ
alkej-236	305	33	comput	comput	PROPN
alkej-236	305	34	&	&	CCONJ
alkej-236	305	35	applic	applic	PROPN
alkej-236	305	36	,	,	PUNCT
alkej-236	305	37	2013	2013	NUM
alkej-236	305	38	.	.	PUNCT
alkej-236	306	1	[	[	X
alkej-236	306	2	9	9	NUM
alkej-236	306	3	]	]	PUNCT
alkej-236	306	4	urnit	urnit	ADJ
alkej-236	306	5	ozguner	ozguner	NOUN
alkej-236	306	6	,	,	PUNCT
alkej-236	306	7	sulgi	sulgi	PROPN
alkej-236	306	8	hong	hong	PROPN
alkej-236	306	9	,	,	PUNCT
alkej-236	306	10	and	and	CCONJ
alkej-236	306	11	yaodong	yaodong	PROPN
alkej-236	306	12	pan	pan	NOUN
alkej-236	306	13	,	,	PUNCT
alkej-236	306	14	"	"	PUNCT
alkej-236	306	15	discrete	discrete	ADJ
alkej-236	306	16	-	-	PUNCT
alkej-236	306	17	time	time	NOUN
alkej-236	306	18	sliding	slide	VERB
alkej-236	306	19	mode	mode	NOUN
alkej-236	306	20	control	control	NOUN
alkej-236	306	21	of	of	ADP
alkej-236	306	22	electronic	electronic	ADJ
alkej-236	306	23	throttle	throttle	NOUN
alkej-236	306	24	valve	valve	NOUN
alkej-236	306	25	"	"	PUNCT
alkej-236	306	26	,	,	PUNCT
alkej-236	306	27	proceding	proceding	NOUN
alkej-236	306	28	of	of	ADP
alkej-236	306	29	the	the	DET
alkej-236	306	30	4äåã	4äåã	NUM
alkej-236	306	31	ieee	ieee	NOUN
alkej-236	306	32	conference	conference	NOUN
alkej-236	306	33	on	on	ADP
alkej-236	306	34	decision	decision	NOUN
alkej-236	306	35	and	and	CCONJ
alkej-236	306	36	control	control	PROPN
alkej-236	306	37	orlando	orlando	PROPN
alkej-236	306	38	,	,	PUNCT
alkej-236	306	39	florida	florida	PROPN
alkej-236	306	40	usa	usa	PROPN
alkej-236	306	41	,	,	PUNCT
alkej-236	306	42	december	december	PROPN
alkej-236	306	43	,	,	PUNCT
alkej-236	306	44	2001	2001	NUM
alkej-236	306	45	.	.	PUNCT
alkej-236	307	1	[	[	X
alkej-236	307	2	10	10	NUM
alkej-236	307	3	]	]	X
alkej-236	307	4	oguz	oguz	PROPN
alkej-236	307	5	hasan	hasan	PROPN
alkej-236	307	6	dagci	dagci	PROPN
alkej-236	307	7	,	,	PUNCT
alkej-236	307	8	yaodong	yaodong	PROPN
alkej-236	307	9	pan	pan	NOUN
alkej-236	307	10	,	,	PUNCT
alkej-236	307	11	and	and	CCONJ
alkej-236	307	12	umit	umit	VERB
alkej-236	307	13	ozguner	ozgun	ADJ
alkej-236	307	14	,	,	PUNCT
alkej-236	307	15	"	"	PUNCT
alkej-236	307	16	sliding	slide	VERB
alkej-236	307	17	mode	mode	NOUN
alkej-236	307	18	control	control	NOUN
alkej-236	307	19	of	of	ADP
alkej-236	307	20	electronic	electronic	ADJ
alkej-236	307	21	throttle	throttle	NOUN
alkej-236	307	22	valve	valve	NOUN
alkej-236	307	23	"	"	PUNCT
alkej-236	307	24	,	,	PUNCT
alkej-236	307	25	proceedings	proceeding	NOUN
alkej-236	307	26	of	of	ADP
alkej-236	307	27	the	the	DET
alkej-236	307	28	american	american	PROPN
alkej-236	307	29	control	control	PROPN
alkej-236	307	30	conference	conference	PROPN
alkej-236	307	31	anchorage	anchorage	PROPN
alkej-236	307	32	,	,	PUNCT
alkej-236	307	33	ak	ak	PROPN
alkej-236	307	34	may	may	PROPN
alkej-236	307	35	,	,	PUNCT
alkej-236	307	36	2002	2002	NUM
alkej-236	307	37	.	.	PUNCT
alkej-236	308	1	[	[	X
alkej-236	308	2	11	11	NUM
alkej-236	308	3	]	]	X
alkej-236	308	4	yaodong	yaodong	PROPN
alkej-236	308	5	pan	pan	PROPN
alkej-236	308	6	,	,	PUNCT
alkej-236	308	7	ümit	ümit	ADJ
alkej-236	308	8	özgüner	özgüner	NOUN
alkej-236	308	9	and	and	CCONJ
alkej-236	308	10	o˘guzhasan	o˘guzhasan	ADJ
alkej-236	308	11	da˘gci	da˘gci	NOUN
alkej-236	308	12	,	,	PUNCT
alkej-236	308	13	"	"	PUNCT
alkej-236	308	14	variable	variable	ADJ
alkej-236	308	15	structure	structure	NOUN
alkej-236	308	16	control	control	NOUN
alkej-236	308	17	of	of	ADP
alkej-236	308	18	electronic	electronic	ADJ
alkej-236	308	19	throttle	throttle	NOUN
alkej-236	308	20	valve	valve	NOUN
alkej-236	308	21	"	"	PUNCT
alkej-236	308	22	,	,	PUNCT
alkej-236	308	23	ieee	ieee	NOUN
alkej-236	308	24	transaction	transaction	NOUN
alkej-236	308	25	on	on	ADP
alkej-236	308	26	industrial	industrial	ADJ
alkej-236	308	27	electronics	electronic	NOUN
alkej-236	308	28	,	,	PUNCT
alkej-236	308	29	vol	vol	NOUN
alkej-236	308	30	.	.	PROPN
alkej-236	308	31	55	55	NUM
alkej-236	308	32	,	,	PUNCT
alkej-236	308	33	no	no	INTJ
alkej-236	308	34	.	.	NOUN
alkej-236	308	35	11	11	NUM
alkej-236	308	36	,	,	PUNCT
alkej-236	308	37	november	november	PROPN
alkej-236	308	38	,	,	PUNCT
alkej-236	308	39	2008	2008	NUM
alkej-236	308	40	.	.	PUNCT
alkej-236	309	1	[	[	X
alkej-236	309	2	12	12	NUM
alkej-236	309	3	]	]	X
alkej-236	309	4	v.	v.	PROPN
alkej-236	309	5	i.	i.	PROPN
alkej-236	309	6	utkin	utkin	PROPN
alkej-236	309	7	,	,	PUNCT
alkej-236	309	8	j.	j.	PROPN
alkej-236	309	9	guldner	guldner	PROPN
alkej-236	309	10	,	,	PUNCT
alkej-236	309	11	and	and	CCONJ
alkej-236	309	12	j.	j.	PROPN
alkej-236	309	13	shi	shi	PROPN
alkej-236	309	14	,	,	PUNCT
alkej-236	309	15	"	"	PUNCT
alkej-236	309	16	sliding	slide	VERB
alkej-236	309	17	mode	mode	NOUN
alkej-236	309	18	control	control	NOUN
alkej-236	309	19	in	in	ADP
alkej-236	309	20	electro	electro	ADJ
alkej-236	309	21	-	-	PUNCT
alkej-236	309	22	mechanical	mechanical	ADJ
alkej-236	309	23	systems	system	NOUN
alkej-236	309	24	"	"	PUNCT
alkej-236	309	25	,	,	PUNCT
alkej-236	309	26	crc	crc	NOUN
alkej-236	309	27	press	press	NOUN
alkej-236	309	28	.	.	PUNCT
alkej-236	310	1	taylor	taylor	PROPN
alkej-236	310	2	&	&	CCONJ
alkej-236	310	3	francis	francis	PROPN
alkej-236	310	4	group	group	PROPN
alkej-236	310	5	,	,	PUNCT
alkej-236	310	6	2009	2009	NUM
alkej-236	310	7	.	.	PUNCT
alkej-236	311	1	[	[	X
alkej-236	311	2	13	13	NUM
alkej-236	311	3	]	]	X
alkej-236	311	4	andrei	andrei	PROPN
alkej-236	311	5	a.	a.	PROPN
alkej-236	311	6	agrachev	agrachev	PROPN
alkej-236	311	7	a.	a.	PROPN
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alkej-236	311	9	morse	morse	PROPN
alkej-236	311	10	eduardo	eduardo	PROPN
alkej-236	311	11	d.	d.	PROPN
alkej-236	311	12	sontag	sontag	PROPN
alkej-236	311	13	h´ector	h´ector	PROPN
alkej-236	311	14	j.	j.	PROPN
alkej-236	311	15	sussmann	sussmann	PROPN
alkej-236	311	16	vadim	vadim	PROPN
alkej-236	311	17	i.	i.	PROPN
alkej-236	311	18	utkin	utkin	PROPN
alkej-236	311	19	,	,	PUNCT
alkej-236	311	20	"	"	PUNCT
alkej-236	311	21	nonlinear	nonlinear	ADJ
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alkej-236	311	23	optimal	optimal	ADJ
alkej-236	311	24	control	control	NOUN
alkej-236	311	25	theory	theory	NOUN
alkej-236	311	26	"	"	PUNCT
alkej-236	311	27	,	,	PUNCT
alkej-236	311	28	springer	springer	NOUN
alkej-236	311	29	-	-	PUNCT
alkej-236	311	30	verlag	verlag	PROPN
alkej-236	311	31	berlin	berlin	PROPN
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alkej-236	311	33	,	,	PUNCT
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alkej-236	311	35	.	.	PUNCT
alkej-236	312	1	[	[	X
alkej-236	312	2	14	14	NUM
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alkej-236	312	8	samarraie	samarraie	PROPN
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alkej-236	312	10	"	"	PUNCT
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alkej-236	312	12	sets	set	NOUN
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alkej-236	312	14	sliding	slide	VERB
alkej-236	312	15	mode	mode	NOUN
alkej-236	312	16	control	control	NOUN
alkej-236	312	17	theory	theory	NOUN
alkej-236	312	18	with	with	ADP
alkej-236	312	19	application	application	NOUN
alkej-236	312	20	to	to	PART
alkej-236	312	21	servo	servo	VERB
alkej-236	312	22	actuator	actuator	NOUN
alkej-236	312	23	system	system	NOUN
alkej-236	312	24	with	with	ADP
alkej-236	312	25	friction	friction	NOUN
alkej-236	312	26	"	"	PUNCT
alkej-236	312	27	,	,	PUNCT
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alkej-236	312	29	transactions	transaction	NOUN
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alkej-236	312	31	systems	system	NOUN
alkej-236	312	32	and	and	CCONJ
alkej-236	312	33	control	control	NOUN
alkej-236	312	34	issue	issue	NOUN
alkej-236	312	35	2	2	NUM
alkej-236	312	36	,	,	PUNCT
alkej-236	312	37	vol	vol	NOUN
alkej-236	312	38	.	.	NOUN
alkej-236	312	39	8	8	NUM
alkej-236	312	40	,	,	PUNCT
alkej-236	312	41	april	april	PROPN
alkej-236	312	42	,	,	PUNCT
alkej-236	312	43	2013	2013	NUM
alkej-236	312	44	[	[	X
alkej-236	312	45	15	15	NUM
alkej-236	312	46	]	]	X
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alkej-236	312	49	,	,	PUNCT
alkej-236	312	50	leonid	leonid	PROPN
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alkej-236	312	52	,	,	PUNCT
alkej-236	312	53	alessandro	alessandro	PROPN
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alkej-236	312	57	usai	usai	PROPN
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alkej-236	312	60	.	.	PUNCT
alkej-236	312	61	)	)	PUNCT
alkej-236	312	62	,	,	PUNCT
alkej-236	312	63	"	"	PUNCT
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alkej-236	312	65	sliding	sliding	ADJ
alkej-236	312	66	mode	mode	NOUN
alkej-236	312	67	control	control	NOUN
alkej-236	312	68	theory	theory	NOUN
alkej-236	312	69	"	"	PUNCT
alkej-236	312	70	,	,	PUNCT
alkej-236	312	71	springer	springer	NOUN
alkej-236	312	72	-	-	PUNCT
alkej-236	312	73	verlag	verlag	PROPN
alkej-236	312	74	berlin	berlin	PROPN
alkej-236	312	75	heidelberg	heidelberg	PROPN
alkej-236	312	76	,	,	PUNCT
alkej-236	312	77	2008	2008	NUM
alkej-236	312	78	)	)	PUNCT
alkej-236	312	79	2015	2015	NUM
alkej-236	312	80	(	(	PUNCT
alkej-236	312	81	7284	7284	NUM
alkej-236	312	82	،	،	X
alkej-236	312	83	�	�	PROPN
alkej-236	312	84	�	�	PROPN
alkej-236	312	85	�	�	PROPN
alkej-236	312	86	�	�	PROPN
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alkej-236	312	88	،	،	NOUN
alkej-236	312	89	ا	ا	PROPN
alkej-236	312	90	�	�	PROPN
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alkej-236	312	93	ا	ا	PROPN
alkej-236	312	94	�	�	PROPN
alkej-236	312	95	�	�	PROPN
alkej-236	312	96	�	�	PROPN
alkej-236	312	97	ارز	ارز	PROPN
alkej-236	312	98	�	�	PROPN
alkej-236	312	99	ا	ا	SYM
alkej-236	312	100	�	�	PROPN
alkej-236	312	101	�	�	PROPN
alkej-236	312	102	�	�	PROPN
alkej-236	312	103	�	�	PROPN
alkej-236	312	104	�	�	PROPN
alkej-236	312	105	ا	ا	SYM
alkej-236	312	106	�	�	PROPN
alkej-236	312	107	�	�	PROPN
alkej-236	312	108	�	�	PROPN
alkej-236	312	109	�	�	PROPN
alkej-236	312	110	�	�	PROPN
alkej-236	312	111	�	�	PROPN
alkej-236	312	112	�	�	PROPN
alkej-236	312	113	�	�	PROPN
alkej-236	312	114	�	�	PROPN
alkej-236	312	115	�	�	PROPN
alkej-236	312	116	�	�	PROPN
alkej-236	312	117	ا	ا	SYM
alkej-236	312	118	�	�	PROPN
alkej-236	312	119	�	�	PROPN
alkej-236	312	120	د	د	PRON
alkej-236	312	121	ا	ا	X
alkej-236	312	122	�	�	PROPN
alkej-236	312	123	�	�	PROPN
alkej-236	312	124	�	�	PROPN
alkej-236	312	125	را	را	PROPN
alkej-236	312	126	�	�	PROPN
alkej-236	312	127	�	�	PROPN
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alkej-236	312	129	�	�	PROPN
alkej-236	312	130	�	�	PROPN
alkej-236	312	131	�	�	PROPN
alkej-236	312	132	�	�	PROPN
alkej-236	312	133	�	�	PROPN
alkej-236	312	134	�	�	PROPN
alkej-236	312	135	�	�	PROPN
alkej-236	312	136	�	�	PROPN
alkej-236	312	137	�	�	PROPN
alkej-236	312	138	�	�	PROPN
alkej-236	312	139	�	�	PROPN
alkej-236	312	140	ة	ة	PROPN
alkej-236	312	141	%	%	NOUN
alkej-236	312	142	�	�	PROPN
alkej-236	312	143	$	$	SYM
alkej-236	312	144	ا	ا	NUM
alkej-236	312	145	�	�	PROPN
alkej-236	312	146	�	�	NOUN
alkej-236	312	147	�	�	PROPN
alkej-236	312	148	#	#	PROPN
alkej-236	312	149	�	�	PROPN
alkej-236	312	150	�	�	PROPN
alkej-236	312	151	"	"	PUNCT
alkej-236	312	152	�	�	PROPN
alkej-236	312	153	!	!	PUNCT
alkej-236	312	154	�	�	PROPN
alkej-236	312	155	�	�	PROPN
alkej-236	312	156	�	�	PROPN
alkej-236	312	157	�	�	PROPN
alkej-236	312	158	�	�	PROPN
alkej-236	312	159	�	�	PROPN
alkej-236	312	160	�	�	PROPN
alkej-236	312	161	ا	ا	SYM
alkej-236	312	162	�	�	PROPN
alkej-236	312	163	�	�	PROPN
alkej-236	312	164	�	�	PROPN
alkej-236	312	165	!	!	PUNCT
alkej-236	312	166	�	�	PROPN
alkej-236	312	167	�	�	PROPN
alkej-236	312	168	�	�	PROPN
alkej-236	312	169	م	م	PROPN
alkej-236	312	170	�	�	PROPN
alkej-236	312	171	�	�	PROPN
alkej-236	312	172	�	�	PROPN
alkej-236	312	173	ا)	ا)	PROPN
alkej-236	312	174	�	�	PROPN
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