id	sid	tid	token	lemma	pos
alkej-315	1	1	1	1	NUM
alkej-315	1	2	-	-	SYM
alkej-315	1	3	11	11	NUM
alkej-315	1	4	al	al	PROPN
alkej-315	1	5	-	-	PUNCT
alkej-315	1	6	khwarizmi	khwarizmi	PROPN
alkej-315	1	7	engineering	engineering	NOUN
alkej-315	1	8	journal	journal	PROPN
alkej-315	1	9	,	,	PUNCT
alkej-315	1	10	vol	vol	NOUN
alkej-315	1	11	.	.	PROPN
alkej-315	1	12	12	12	NUM
alkej-315	1	13	,	,	PUNCT
alkej-315	1	14	no	no	INTJ
alkej-315	1	15	.	.	PUNCT
alkej-315	2	1	high	high	ADJ
alkej-315	2	2	order	order	NOUN
alkej-315	2	3	sliding	slide	VERB
alkej-315	2	4	mode	mode	NOUN
alkej-315	2	5	observer	observer	NOUN
alkej-315	2	6	controller	controller	NOUN
alkej-315	2	7	desi	desi	PROPN
alkej-315	2	8	shibly	shibly	PROPN
alkej-315	2	9	ahmed	ahmed	PROPN
alkej-315	2	10	al	al	PROPN
alkej-315	2	11	*	*	PROPN
alkej-315	2	12	,	,	PUNCT
alkej-315	2	13	*	*	PUNCT
alkej-315	2	14	*	*	PROPN
alkej-315	2	15	department	department	PROPN
alkej-315	2	16	(	(	PUNCT
alkej-315	2	17	received	receive	VERB
alkej-315	2	18	http://dx.doi.org/10.22153/kej.2016.06.002	http://dx.doi.org/10.22153/kej.2016.06.002	NOUN
alkej-315	2	19	abstract	abstract	ADJ
alkej-315	2	20	a	a	DET
alkej-315	2	21	perturbed	perturb	VERB
alkej-315	2	22	linear	linear	ADJ
alkej-315	2	23	system	system	NOUN
alkej-315	2	24	with	with	ADP
alkej-315	2	25	property	property	NOUN
alkej-315	2	26	of	of	ADP
alkej-315	2	27	strong	strong	ADJ
alkej-315	2	28	observability	observability	NOUN
alkej-315	2	29	ensures	ensure	VERB
alkej-315	2	30	that	that	SCONJ
alkej-315	2	31	there	there	PRON
alkej-315	2	32	is	be	VERB
alkej-315	2	33	a	a	DET
alkej-315	2	34	sliding	slide	VERB
alkej-315	2	35	mode	mode	NOUN
alkej-315	2	36	observer	observer	NOUN
alkej-315	2	37	to	to	PART
alkej-315	2	38	estimate	estimate	VERB
alkej-315	2	39	the	the	DET
alkej-315	2	40	unknown	unknown	ADJ
alkej-315	2	41	form	form	NOUN
alkej-315	2	42	inputs	input	VERB
alkej-315	2	43	together	together	ADV
alkej-315	2	44	with	with	ADP
alkej-315	2	45	states	state	NOUN
alkej-315	2	46	estimation	estimation	NOUN
alkej-315	2	47	.	.	PUNCT
alkej-315	3	1	in	in	ADP
alkej-315	3	2	the	the	DET
alkej-315	3	3	case	case	NOUN
alkej-315	3	4	of	of	ADP
alkej-315	3	5	the	the	DET
alkej-315	3	6	electro	electro	ADJ
alkej-315	3	7	piston	piston	NOUN
alkej-315	3	8	position	position	NOUN
alkej-315	3	9	measured	measure	VERB
alkej-315	3	10	output	output	NOUN
alkej-315	3	11	,	,	PUNCT
alkej-315	3	12	the	the	DET
alkej-315	3	13	above	above	ADJ
alkej-315	3	14	property	property	NOUN
alkej-315	3	15	is	be	AUX
alkej-315	3	16	not	not	PART
alkej-315	3	17	were	be	AUX
alkej-315	3	18	used	use	VERB
alkej-315	3	19	to	to	PART
alkej-315	3	20	build	build	VERB
alkej-315	3	21	a	a	DET
alkej-315	3	22	dynamic	dynamic	ADJ
alkej-315	3	23	structure	structure	NOUN
alkej-315	3	24	that	that	PRON
alkej-315	3	25	satisfy	satisfy	VERB
alkej-315	3	26	the	the	DET
alkej-315	3	27	condition	condition	NOUN
alkej-315	3	28	of	of	ADP
alkej-315	3	29	strongly	strongly	ADV
alkej-315	3	30	observable	observable	ADJ
alkej-315	3	31	.	.	PUNCT
alkej-315	4	1	observer	observer	NOUN
alkej-315	4	2	(	(	PUNCT
alkej-315	4	3	hosmo	hosmo	PROPN
alkej-315	4	4	)	)	PUNCT
alkej-315	4	5	was	be	AUX
alkej-315	4	6	used	use	VERB
alkej-315	4	7	to	to	PART
alkej-315	4	8	estimate	estimate	VERB
alkej-315	4	9	both	both	CCONJ
alkej-315	4	10	the	the	DET
alkej-315	4	11	resulting	result	VERB
alkej-315	4	12	unknown	unknown	ADJ
alkej-315	4	13	perturbation	perturbation	NOUN
alkej-315	4	14	thereafter	thereafter	ADV
alkej-315	4	15	with	with	ADP
alkej-315	4	16	one	one	NUM
alkej-315	4	17	signal	signal	NOUN
alkej-315	4	18	from	from	ADP
alkej-315	4	19	the	the	DET
alkej-315	4	20	whole	whole	ADJ
alkej-315	4	21	system	system	NOUN
alkej-315	4	22	(	(	PUNCT
alkej-315	4	23	piton	piton	PROPN
alkej-315	4	24	position	position	NOUN
alkej-315	4	25	)	)	PUNCT
alkej-315	4	26	,	,	PUNCT
alkej-315	4	27	the	the	DET
alkej-315	4	28	piston	piston	NOUN
alkej-315	4	29	position	position	NOUN
alkej-315	4	30	make	make	VERB
alkej-315	4	31	tracking	tracking	NOUN
alkej-315	4	32	to	to	PART
alkej-315	4	33	desire	desire	VERB
alkej-315	4	34	one	one	NUM
alkej-315	4	35	with	with	ADP
alkej-315	4	36	a	a	DET
alkej-315	4	37	simple	simple	ADJ
alkej-315	4	38	linear	linear	ADJ
alkej-315	4	39	output	output	NOUN
alkej-315	4	40	feedback	feedback	NOUN
alkej-315	4	41	controller	controller	NOUN
alkej-315	4	42	after	after	ADP
alkej-315	4	43	canceling	cancel	VERB
alkej-315	4	44	the	the	DET
alkej-315	4	45	perturbation	perturbation	NOUN
alkej-315	4	46	term	term	NOUN
alkej-315	4	47	.	.	PUNCT
alkej-315	5	1	the	the	DET
alkej-315	5	2	numerical	numerical	PROPN
alkej-315	5	3	simulation	simulation	PROPN
alkej-315	5	4	results	result	NOUN
alkej-315	5	5	show	show	VERB
alkej-315	5	6	forcing	force	VERB
alkej-315	5	7	the	the	DET
alkej-315	5	8	piston	piston	NOUN
alkej-315	5	9	position	position	NOUN
alkej-315	5	10	to	to	PART
alkej-315	5	11	follow	follow	VERB
alkej-315	5	12	the	the	DET
alkej-315	5	13	desired	desire	VERB
alkej-315	5	14	reference	reference	NOUN
alkej-315	5	15	position	position	NOUN
alkej-315	5	16	.	.	PUNCT
alkej-315	6	1	moreover	moreover	ADV
alkej-315	6	2	keywords	keyword	NOUN
alkej-315	6	3	:	:	PUNCT
alkej-315	6	4	electro	electro	ADJ
alkej-315	6	5	-	-	PUNCT
alkej-315	6	6	hydraulic	hydraulic	NOUN
alkej-315	6	7	system	system	NOUN
alkej-315	6	8	,	,	PUNCT
alkej-315	6	9	strong	strong	ADJ
alkej-315	6	10	1	1	NUM
alkej-315	6	11	.	.	PUNCT
alkej-315	6	12	introduction	introduction	NOUN
alkej-315	6	13	in	in	ADP
alkej-315	6	14	many	many	ADJ
alkej-315	6	15	tracking	tracking	NOUN
alkej-315	6	16	or	or	CCONJ
alkej-315	6	17	regulating	regulate	VERB
alkej-315	6	18	problem	problem	NOUN
alkej-315	6	19	design	design	NOUN
alkej-315	6	20	,	,	PUNCT
alkej-315	6	21	it	it	PRON
alkej-315	6	22	is	be	AUX
alkej-315	6	23	impractical	impractical	ADJ
alkej-315	6	24	to	to	PART
alkej-315	6	25	assume	assume	VERB
alkej-315	6	26	that	that	SCONJ
alkej-315	6	27	all	all	DET
alkej-315	6	28	the	the	DET
alkej-315	6	29	system	system	NOUN
alkej-315	6	30	phase	phase	NOUN
alkej-315	6	31	variables	variable	NOUN
alkej-315	6	32	are	be	AUX
alkej-315	6	33	measured	measure	VERB
alkej-315	6	34	[	[	X
alkej-315	6	35	1	1	NUM
alkej-315	6	36	,	,	PUNCT
alkej-315	6	37	chapter	chapter	NOUN
alkej-315	6	38	7	7	NUM
alkej-315	6	39	]	]	PUNCT
alkej-315	6	40	.	.	PUNCT
alkej-315	7	1	problem	problem	NOUN
alkej-315	7	2	of	of	ADP
alkej-315	7	3	states	state	NOUN
alkej-315	7	4	reconstruction	reconstruction	NOUN
alkej-315	7	5	together	together	ADV
alkej-315	7	6	with	with	ADP
alkej-315	7	7	perturbation	perturbation	NOUN
alkej-315	7	8	(	(	PUNCT
alkej-315	7	9	unknown	unknown	ADJ
alkej-315	7	10	inputs	input	NOUN
alkej-315	7	11	and	and	CCONJ
alkej-315	7	12	parametric	parametric	ADJ
alkej-315	7	13	uncertainties	uncertainty	NOUN
alkej-315	7	14	)	)	PUNCT
alkej-315	7	15	estimation	estimation	NOUN
alkej-315	7	16	is	be	AUX
alkej-315	7	17	one	one	NUM
alkej-315	7	18	of	of	ADP
alkej-315	7	19	the	the	DET
alkej-315	7	20	most	most	ADV
alkej-315	7	21	important	important	ADJ
alkej-315	7	22	studies	study	NOUN
alkej-315	7	23	in	in	ADP
alkej-315	7	24	modern	modern	ADJ
alkej-315	7	25	control	control	NOUN
alkej-315	7	26	theory	theory	NOUN
alkej-315	7	27	[	[	PUNCT
alkej-315	7	28	the	the	DET
alkej-315	7	29	computation	computation	NOUN
alkej-315	7	30	of	of	ADP
alkej-315	7	31	system	system	NOUN
alkej-315	7	32	states	state	NOUN
alkej-315	7	33	and	and	CCONJ
alkej-315	7	34	perturbation	perturbation	NOUN
alkej-315	7	35	can	can	AUX
alkej-315	7	36	be	be	AUX
alkej-315	7	37	done	do	VERB
alkej-315	7	38	by	by	ADP
alkej-315	7	39	a	a	DET
alkej-315	7	40	dynamical	dynamical	ADJ
alkej-315	7	41	system	system	NOUN
alkej-315	7	42	called	call	VERB
alkej-315	7	43	robust	robust	ADJ
alkej-315	7	44	observer	observer	NOUN
alkej-315	8	1	[	[	X
alkej-315	8	2	1	1	NUM
alkej-315	8	3	,	,	PUNCT
alkej-315	8	4	chapter	chapter	NOUN
alkej-315	8	5	7	7	NUM
alkej-315	8	6	]	]	PUNCT
alkej-315	8	7	.	.	PUNCT
alkej-315	9	1	for	for	ADP
alkej-315	9	2	perturbed	perturb	VERB
alkej-315	9	3	linear	linear	ADJ
alkej-315	9	4	system	system	NOUN
alkej-315	9	5	the	the	DET
alkej-315	9	6	traditional	traditional	ADJ
alkej-315	9	7	luenberger	luenberger	NOUN
alkej-315	9	8	observer	observer	NOUN
alkej-315	9	9	derived	derive	VERB
alkej-315	9	10	the	the	DET
alkej-315	9	11	state	state	NOUN
alkej-315	9	12	estimation	estimation	NOUN
alkej-315	9	13	error	error	NOUN
alkej-315	9	14	to	to	PART
alkej-315	9	15	bounded	bound	VERB
alkej-315	9	16	region	region	NOUN
alkej-315	9	17	around	around	ADP
alkej-315	9	18	the	the	DET
alkej-315	9	19	origin	origin	NOUN
alkej-315	9	20	[	[	PUNCT
alkej-315	9	21	chapter	chapter	NOUN
alkej-315	9	22	7	7	NUM
alkej-315	9	23	]	]	PUNCT
alkej-315	9	24	.	.	PUNCT
alkej-315	10	1	in	in	ADP
alkej-315	10	2	addition	addition	NOUN
alkej-315	10	3	to	to	ADP
alkej-315	10	4	that	that	SCONJ
alkej-315	10	5	the	the	DET
alkej-315	10	6	estimation	estimation	NOUN
alkej-315	10	7	error	error	NOUN
alkej-315	10	8	with	with	ADP
alkej-315	10	9	sliding	slide	VERB
alkej-315	10	10	mode	mode	NOUN
alkej-315	10	11	observer	observer	NOUN
alkej-315	10	12	based	base	VERB
alkej-315	10	13	on	on	ADP
alkej-315	10	14	first	first	ADJ
alkej-315	10	15	order	order	NOUN
alkej-315	10	16	sliding	slide	VERB
alkej-315	10	17	mode	mode	NOUN
alkej-315	10	18	converge	converge	VERB
alkej-315	10	19	asymptotically	asymptotically	ADV
alkej-315	10	20	origin	origin	NOUN
alkej-315	10	21	if	if	SCONJ
alkej-315	10	22	the	the	DET
alkej-315	10	23	measured	measure	VERB
alkej-315	10	24	outputs	output	NOUN
alkej-315	10	25	have	have	AUX
alkej-315	10	26	degree	degree	NOUN
alkej-315	10	27	one	one	NUM
alkej-315	10	28	with	with	ADP
alkej-315	10	29	respect	respect	NOUN
alkej-315	10	30	to	to	ADP
alkej-315	10	31	the	the	DET
alkej-315	10	32	perturbation	perturbation	NOUN
alkej-315	10	33	term	term	NOUN
alkej-315	11	1	[	[	X
alkej-315	11	2	3	3	NUM
alkej-315	11	3	,	,	PUNCT
alkej-315	11	4	chapter	chapter	NOUN
alkej-315	11	5	3	3	NUM
alkej-315	11	6	]	]	PUNCT
alkej-315	11	7	.	.	PUNCT
alkej-315	12	1	but	but	CCONJ
alkej-315	12	2	sliding	slide	VERB
alkej-315	12	3	mode	mode	NOUN
alkej-315	12	4	observer	observer	NOUN
alkej-315	12	5	based	base	VERB
alkej-315	12	6	on	on	ADP
alkej-315	12	7	high	high	ADJ
alkej-315	12	8	order	order	NOUN
alkej-315	12	9	sliding	slide	VERB
alkej-315	12	10	mode	mode	NOUN
alkej-315	12	11	skip	skip	VERB
alkej-315	12	12	the	the	DET
alkej-315	12	13	need	need	NOUN
alkej-315	12	14	to	to	ADP
alkej-315	12	15	the	the	DET
alkej-315	12	16	khwarizmi	khwarizmi	PROPN
alkej-315	12	17	engineering	engineering	PROPN
alkej-315	12	18	journal	journal	PROPN
alkej-315	12	19	,	,	PUNCT
alkej-315	12	20	vol	vol	NOUN
alkej-315	12	21	.	.	PROPN
alkej-315	13	1	12	12	NUM
alkej-315	13	2	,	,	PUNCT
alkej-315	13	3	no	no	INTJ
alkej-315	13	4	.	.	NOUN
alkej-315	13	5	4	4	NUM
alkej-315	13	6	,	,	PUNCT
alkej-315	13	7	p.p	p.p	PROPN
alkej-315	13	8	.	.	NOUN
alkej-315	13	9	111(2016	111(2016	NUM
alkej-315	13	10	)	)	PUNCT
alkej-315	13	11	high	high	ADJ
alkej-315	13	12	order	order	NOUN
alkej-315	13	13	sliding	slide	VERB
alkej-315	13	14	mode	mode	NOUN
alkej-315	13	15	observer	observer	NOUN
alkej-315	13	16	-	-	PUNCT
alkej-315	13	17	based	base	VERB
alkej-315	13	18	output	output	NOUN
alkej-315	13	19	feedback	feedback	NOUN
alkej-315	13	20	controller	controller	NOUN
alkej-315	13	21	design	design	NOUN
alkej-315	13	22	for	for	ADP
alkej-315	13	23	electro	electro	ADJ
alkej-315	13	24	-	-	PUNCT
alkej-315	13	25	hydraulic	hydraulic	NOUN
alkej-315	13	26	system	system	NOUN
alkej-315	13	27	shibly	shibly	ADV
alkej-315	13	28	ahmed	ahme	VERB
alkej-315	13	29	al	al	PROPN
alkej-315	13	30	-	-	PROPN
alkej-315	13	31	samarraie	samarraie	PROPN
alkej-315	13	32	*	*	PROPN
alkej-315	13	33	mustafa	mustafa	PROPN
alkej-315	13	34	h.	h.	PROPN
alkej-315	13	35	mishary	mishary	PROPN
alkej-315	13	36	department	department	PROPN
alkej-315	13	37	of	of	ADP
alkej-315	13	38	control	control	NOUN
alkej-315	13	39	and	and	CCONJ
alkej-315	13	40	systems/	systems/	NUM
alkej-315	13	41	university	university	NOUN
alkej-315	13	42	of	of	ADP
alkej-315	13	43	technology	technology	NOUN
alkej-315	13	44	*	*	NOUN
alkej-315	13	45	email	email	NOUN
alkej-315	13	46	:	:	PUNCT
alkej-315	13	47	60132@uotechnology.edu.iq	60132@uotechnology.edu.iq	NUM
alkej-315	13	48	*	*	PUNCT
alkej-315	13	49	*	*	NOUN
alkej-315	13	50	email	email	NOUN
alkej-315	13	51	:	:	PUNCT
alkej-315	13	52	albmustafa@yahoo.com	albmustafa@yahoo.com	X
alkej-315	13	53	(	(	PUNCT
alkej-315	13	54	received	receive	VERB
alkej-315	13	55	7	7	NUM
alkej-315	13	56	march	march	NOUN
alkej-315	13	57	2016	2016	NUM
alkej-315	13	58	;	;	PUNCT
alkej-315	13	59	accepted	accept	VERB
alkej-315	13	60	15	15	NUM
alkej-315	13	61	june	june	PROPN
alkej-315	13	62	2016	2016	NUM
alkej-315	13	63	)	)	PUNCT
alkej-315	13	64	http://dx.doi.org/10.22153/kej.2016.06.002	http://dx.doi.org/10.22153/kej.2016.06.002	NOUN
alkej-315	13	65	property	property	NOUN
alkej-315	13	66	of	of	ADP
alkej-315	13	67	strong	strong	ADJ
alkej-315	13	68	observability	observability	NOUN
alkej-315	13	69	ensures	ensure	VERB
alkej-315	13	70	that	that	SCONJ
alkej-315	13	71	there	there	PRON
alkej-315	13	72	is	be	VERB
alkej-315	13	73	a	a	DET
alkej-315	13	74	sliding	slide	VERB
alkej-315	13	75	mode	mode	NOUN
alkej-315	13	76	observer	observer	NOUN
alkej-315	13	77	to	to	PART
alkej-315	13	78	estimate	estimate	VERB
alkej-315	13	79	the	the	DET
alkej-315	13	80	unknown	unknown	ADJ
alkej-315	13	81	form	form	NOUN
alkej-315	13	82	inputs	input	VERB
alkej-315	13	83	together	together	ADV
alkej-315	13	84	with	with	ADP
alkej-315	13	85	states	state	NOUN
alkej-315	13	86	estimation	estimation	NOUN
alkej-315	13	87	.	.	PUNCT
alkej-315	14	1	in	in	ADP
alkej-315	14	2	the	the	DET
alkej-315	14	3	case	case	NOUN
alkej-315	14	4	of	of	ADP
alkej-315	14	5	the	the	DET
alkej-315	14	6	electro	electro	ADJ
alkej-315	14	7	piston	piston	NOUN
alkej-315	14	8	position	position	NOUN
alkej-315	14	9	measured	measure	VERB
alkej-315	14	10	output	output	NOUN
alkej-315	14	11	,	,	PUNCT
alkej-315	14	12	the	the	DET
alkej-315	14	13	above	above	ADJ
alkej-315	14	14	property	property	NOUN
alkej-315	14	15	is	be	AUX
alkej-315	14	16	not	not	PART
alkej-315	14	17	met	meet	VERB
alkej-315	14	18	.	.	PUNCT
alkej-315	15	1	in	in	ADP
alkej-315	15	2	this	this	DET
alkej-315	15	3	paper	paper	NOUN
alkej-315	15	4	,	,	PUNCT
alkej-315	15	5	the	the	DET
alkej-315	15	6	output	output	NOUN
alkej-315	15	7	and	and	CCONJ
alkej-315	15	8	its	its	PRON
alkej-315	15	9	derivatives	derivative	NOUN
alkej-315	15	10	estimation	estimation	NOUN
alkej-315	15	11	used	use	VERB
alkej-315	15	12	to	to	PART
alkej-315	15	13	build	build	VERB
alkej-315	15	14	a	a	DET
alkej-315	15	15	dynamic	dynamic	ADJ
alkej-315	15	16	structure	structure	NOUN
alkej-315	15	17	that	that	PRON
alkej-315	15	18	satisfy	satisfy	VERB
alkej-315	15	19	the	the	DET
alkej-315	15	20	condition	condition	NOUN
alkej-315	15	21	of	of	ADP
alkej-315	15	22	strongly	strongly	ADV
alkej-315	15	23	observable	observable	ADJ
alkej-315	15	24	.	.	PUNCT
alkej-315	16	1	a	a	DET
alkej-315	16	2	used	use	VERB
alkej-315	16	3	to	to	PART
alkej-315	16	4	estimate	estimate	VERB
alkej-315	16	5	both	both	CCONJ
alkej-315	16	6	the	the	DET
alkej-315	16	7	resulting	result	VERB
alkej-315	16	8	unknown	unknown	ADJ
alkej-315	16	9	perturbation	perturbation	NOUN
alkej-315	16	10	term	term	NOUN
alkej-315	16	11	and	and	CCONJ
alkej-315	16	12	the	the	DET
alkej-315	16	13	output	output	NOUN
alkej-315	16	14	derivatives	derivative	NOUN
alkej-315	16	15	.	.	PUNCT
alkej-315	17	1	with	with	ADP
alkej-315	17	2	one	one	NUM
alkej-315	17	3	signal	signal	NOUN
alkej-315	17	4	from	from	ADP
alkej-315	17	5	the	the	DET
alkej-315	17	6	whole	whole	ADJ
alkej-315	17	7	system	system	NOUN
alkej-315	17	8	(	(	PUNCT
alkej-315	17	9	piton	piton	PROPN
alkej-315	17	10	position	position	NOUN
alkej-315	17	11	)	)	PUNCT
alkej-315	17	12	,	,	PUNCT
alkej-315	17	13	the	the	DET
alkej-315	17	14	piston	piston	NOUN
alkej-315	17	15	position	position	NOUN
alkej-315	17	16	make	make	VERB
alkej-315	17	17	tracking	tracking	NOUN
alkej-315	17	18	to	to	PART
alkej-315	17	19	desire	desire	VERB
alkej-315	17	20	one	one	NUM
alkej-315	17	21	with	with	ADP
alkej-315	17	22	feedback	feedback	NOUN
alkej-315	17	23	controller	controller	NOUN
alkej-315	17	24	after	after	ADP
alkej-315	17	25	canceling	cancel	VERB
alkej-315	17	26	the	the	DET
alkej-315	17	27	perturbation	perturbation	NOUN
alkej-315	17	28	term	term	NOUN
alkej-315	17	29	.	.	PUNCT
alkej-315	18	1	tion	tion	NOUN
alkej-315	18	2	results	result	NOUN
alkej-315	18	3	showed	show	VERB
alkej-315	18	4	excellent	excellent	ADJ
alkej-315	18	5	performance	performance	NOUN
alkej-315	18	6	of	of	ADP
alkej-315	18	7	the	the	DET
alkej-315	18	8	proposed	propose	VERB
alkej-315	18	9	output	output	NOUN
alkej-315	18	10	feedback	feedback	NOUN
alkej-315	18	11	controller	controller	NOUN
alkej-315	18	12	in	in	ADP
alkej-315	18	13	forcing	force	VERB
alkej-315	18	14	the	the	DET
alkej-315	18	15	piston	piston	NOUN
alkej-315	18	16	position	position	NOUN
alkej-315	18	17	to	to	PART
alkej-315	18	18	follow	follow	VERB
alkej-315	18	19	the	the	DET
alkej-315	18	20	desired	desire	VERB
alkej-315	18	21	reference	reference	NOUN
alkej-315	18	22	position	position	NOUN
alkej-315	18	23	.	.	PUNCT
alkej-315	19	1	moreover	moreover	ADV
alkej-315	19	2	,	,	PUNCT
alkej-315	19	3	the	the	DET
alkej-315	19	4	control	control	NOUN
alkej-315	19	5	effort	effort	NOUN
alkej-315	19	6	spent	spend	VERB
alkej-315	19	7	hydraulic	hydraulic	ADJ
alkej-315	19	8	system	system	NOUN
alkej-315	19	9	,	,	PUNCT
alkej-315	19	10	strong	strong	ADJ
alkej-315	19	11	observability	observability	NOUN
alkej-315	19	12	,	,	PUNCT
alkej-315	19	13	unmatched	unmatched	ADJ
alkej-315	19	14	disturbance	disturbance	NOUN
alkej-315	19	15	,	,	PUNCT
alkej-315	19	16	high	high	ADJ
alkej-315	19	17	order	order	NOUN
alkej-315	19	18	sliding	slide	VERB
alkej-315	19	19	mode	mode	NOUN
alkej-315	19	20	observer	observer	NOUN
alkej-315	19	21	in	in	ADP
alkej-315	19	22	many	many	ADJ
alkej-315	19	23	tracking	tracking	NOUN
alkej-315	19	24	or	or	CCONJ
alkej-315	19	25	regulating	regulate	VERB
alkej-315	19	26	problem	problem	NOUN
alkej-315	19	27	design	design	NOUN
alkej-315	19	28	,	,	PUNCT
alkej-315	19	29	it	it	PRON
alkej-315	19	30	is	be	AUX
alkej-315	19	31	impractical	impractical	ADJ
alkej-315	19	32	to	to	PART
alkej-315	19	33	assume	assume	VERB
alkej-315	19	34	that	that	SCONJ
alkej-315	19	35	all	all	DET
alkej-315	19	36	the	the	DET
alkej-315	19	37	system	system	NOUN
alkej-315	19	38	phase	phase	NOUN
alkej-315	19	39	variables	variable	NOUN
alkej-315	19	40	are	be	AUX
alkej-315	19	41	measured	measure	VERB
alkej-315	19	42	[	[	X
alkej-315	19	43	1	1	NUM
alkej-315	19	44	,	,	PUNCT
alkej-315	19	45	chapter	chapter	NOUN
alkej-315	19	46	7	7	NUM
alkej-315	19	47	]	]	PUNCT
alkej-315	19	48	.	.	PUNCT
alkej-315	20	1	the	the	DET
alkej-315	20	2	problem	problem	NOUN
alkej-315	20	3	of	of	ADP
alkej-315	20	4	states	state	NOUN
alkej-315	20	5	reconstruction	reconstruction	NOUN
alkej-315	20	6	together	together	ADV
alkej-315	20	7	with	with	ADP
alkej-315	20	8	perturbation	perturbation	NOUN
alkej-315	20	9	(	(	PUNCT
alkej-315	20	10	unknown	unknown	ADJ
alkej-315	20	11	inputs	input	NOUN
alkej-315	20	12	and	and	CCONJ
alkej-315	20	13	parametric	parametric	PROPN
alkej-315	20	14	mation	mation	PROPN
alkej-315	20	15	is	be	AUX
alkej-315	20	16	one	one	NUM
alkej-315	20	17	of	of	ADP
alkej-315	20	18	the	the	DET
alkej-315	20	19	most	most	ADV
alkej-315	20	20	important	important	ADJ
alkej-315	20	21	studies	study	NOUN
alkej-315	20	22	in	in	ADP
alkej-315	20	23	modern	modern	ADJ
alkej-315	20	24	control	control	NOUN
alkej-315	20	25	theory	theory	NOUN
alkej-315	20	26	[	[	X
alkej-315	20	27	2	2	NUM
alkej-315	20	28	]	]	PUNCT
alkej-315	20	29	.	.	PUNCT
alkej-315	21	1	the	the	DET
alkej-315	21	2	computation	computation	NOUN
alkej-315	21	3	of	of	ADP
alkej-315	21	4	system	system	NOUN
alkej-315	21	5	states	state	NOUN
alkej-315	21	6	and	and	CCONJ
alkej-315	21	7	can	can	AUX
alkej-315	21	8	be	be	AUX
alkej-315	21	9	done	do	VERB
alkej-315	21	10	by	by	ADP
alkej-315	21	11	a	a	DET
alkej-315	21	12	dynamical	dynamical	ADJ
alkej-315	21	13	system	system	NOUN
alkej-315	21	14	called	call	VERB
alkej-315	21	15	robust	robust	ADJ
alkej-315	21	16	observer	observer	NOUN
alkej-315	21	17	[	[	X
alkej-315	21	18	1	1	NUM
alkej-315	21	19	,	,	PUNCT
alkej-315	21	20	chapter	chapter	NOUN
alkej-315	21	21	7	7	NUM
alkej-315	21	22	]	]	PUNCT
alkej-315	21	23	.	.	PUNCT
alkej-315	22	1	for	for	ADP
alkej-315	22	2	perturbed	perturb	VERB
alkej-315	22	3	linear	linear	ADJ
alkej-315	22	4	system	system	NOUN
alkej-315	22	5	the	the	DET
alkej-315	22	6	traditional	traditional	ADJ
alkej-315	22	7	server	server	NOUN
alkej-315	22	8	derived	derive	VERB
alkej-315	22	9	the	the	DET
alkej-315	22	10	state	state	NOUN
alkej-315	22	11	estimation	estimation	NOUN
alkej-315	22	12	error	error	NOUN
alkej-315	22	13	to	to	PART
alkej-315	22	14	bounded	bound	VERB
alkej-315	22	15	region	region	NOUN
alkej-315	22	16	around	around	ADP
alkej-315	22	17	the	the	DET
alkej-315	22	18	origin	origin	NOUN
alkej-315	22	19	[	[	X
alkej-315	22	20	3	3	NUM
alkej-315	22	21	,	,	PUNCT
alkej-315	22	22	chapter	chapter	NOUN
alkej-315	22	23	7	7	NUM
alkej-315	22	24	]	]	PUNCT
alkej-315	22	25	.	.	PUNCT
alkej-315	23	1	in	in	ADP
alkej-315	23	2	addition	addition	NOUN
alkej-315	23	3	to	to	ADP
alkej-315	23	4	that	that	SCONJ
alkej-315	23	5	the	the	DET
alkej-315	23	6	estimation	estimation	NOUN
alkej-315	23	7	error	error	NOUN
alkej-315	23	8	with	with	ADP
alkej-315	23	9	sliding	slide	VERB
alkej-315	23	10	mode	mode	NOUN
alkej-315	23	11	observer	observer	NOUN
alkej-315	23	12	based	base	VERB
alkej-315	23	13	on	on	ADP
alkej-315	23	14	first	first	ADJ
alkej-315	23	15	order	order	NOUN
alkej-315	23	16	asymptotically	asymptotically	ADV
alkej-315	23	17	to	to	ADP
alkej-315	23	18	the	the	DET
alkej-315	23	19	have	have	AUX
alkej-315	23	20	relative	relative	ADJ
alkej-315	23	21	degree	degree	NOUN
alkej-315	23	22	one	one	NUM
alkej-315	23	23	with	with	ADP
alkej-315	23	24	respect	respect	NOUN
alkej-315	23	25	to	to	ADP
alkej-315	23	26	the	the	DET
alkej-315	23	27	perturbation	perturbation	NOUN
alkej-315	23	28	term	term	NOUN
alkej-315	23	29	,	,	PUNCT
alkej-315	23	30	chapter	chapter	NOUN
alkej-315	23	31	3	3	NUM
alkej-315	23	32	]	]	PUNCT
alkej-315	23	33	.	.	PUNCT
alkej-315	24	1	but	but	CCONJ
alkej-315	24	2	sliding	slide	VERB
alkej-315	24	3	mode	mode	NOUN
alkej-315	24	4	observer	observer	NOUN
alkej-315	24	5	based	base	VERB
alkej-315	24	6	on	on	ADP
alkej-315	24	7	high	high	ADJ
alkej-315	24	8	order	order	NOUN
alkej-315	24	9	sliding	slide	VERB
alkej-315	24	10	mode	mode	NOUN
alkej-315	24	11	skip	skip	VERB
alkej-315	24	12	the	the	DET
alkej-315	24	13	need	need	NOUN
alkej-315	24	14	to	to	ADP
alkej-315	24	15	the	the	DET
alkej-315	24	16	relative	relative	ADJ
alkej-315	24	17	degree	degree	NOUN
alkej-315	24	18	one	one	NUM
alkej-315	24	19	,	,	PUNCT
alkej-315	24	20	because	because	SCONJ
alkej-315	24	21	this	this	DET
alkej-315	24	22	observer	observer	NOUN
alkej-315	24	23	include	include	VERB
alkej-315	24	24	a	a	DET
alkej-315	24	25	robust	robust	ADJ
alkej-315	24	26	(	(	PUNCT
alkej-315	24	27	exact	exact	ADJ
alkej-315	24	28	with	with	ADP
alkej-315	24	29	mea	mea	NOUN
alkej-315	24	30	differentiator	differentiator	NOUN
alkej-315	24	31	[	[	X
alkej-315	24	32	3	3	NUM
alkej-315	24	33	,	,	PUNCT
alkej-315	24	34	chapter	chapter	NOUN
alkej-315	24	35	7	7	NUM
alkej-315	24	36	]	]	PUNCT
alkej-315	24	37	.	.	PUNCT
alkej-315	25	1	the	the	DET
alkej-315	25	2	relative	relative	ADJ
alkej-315	25	3	degree	degree	NOUN
alkej-315	25	4	one	one	NUM
alkej-315	25	5	with	with	ADP
alkej-315	25	6	respect	respect	NOUN
alkej-315	25	7	to	to	ADP
alkej-315	25	8	the	the	DET
alkej-315	25	9	perturbation	perturbation	NOUN
alkej-315	25	10	is	be	AUX
alkej-315	25	11	a	a	DET
alkej-315	25	12	restriction	restriction	NOUN
alkej-315	25	13	to	to	PART
alkej-315	25	14	design	design	VERB
alkej-315	25	15	an	an	DET
alkej-315	25	16	observer	observer	NOUN
alkej-315	25	17	[	[	X
alkej-315	25	18	4	4	NUM
alkej-315	25	19	]	]	PUNCT
alkej-315	25	20	.	.	PUNCT
alkej-315	26	1	as	as	ADP
alkej-315	26	2	a	a	DET
alkej-315	26	3	literature	literature	NOUN
alkej-315	26	4	review	review	NOUN
alkej-315	26	5	,	,	PUNCT
alkej-315	26	6	improvement	improvement	NOUN
alkej-315	26	7	of	of	ADP
alkej-315	26	8	the	the	DET
alkej-315	26	9	sliding	slide	VERB
alkej-315	26	10	mode	mode	NOUN
alkej-315	26	11	control	control	NOUN
alkej-315	26	12	for	for	ADP
alkej-315	26	13	the	the	DET
alkej-315	26	14	electro	electro	ADJ
alkej-315	26	15	hydraulic	hydraulic	ADJ
alkej-315	26	16	system	system	NOUN
alkej-315	26	17	(	(	PUNCT
alkej-315	26	18	was	be	AUX
alkej-315	26	19	studied	study	VERB
alkej-315	26	20	in	in	ADP
alkej-315	26	21	[	[	X
alkej-315	26	22	5	5	NUM
alkej-315	26	23	]	]	PUNCT
alkej-315	26	24	such	such	ADJ
alkej-315	26	25	that	that	SCONJ
alkej-315	26	26	the	the	DET
alkej-315	26	27	dynamic	dynamic	ADJ
alkej-315	26	28	friction	friction	NOUN
alkej-315	26	29	model	model	NOUN
alkej-315	26	30	of	of	ADP
alkej-315	26	31	the	the	DET
alkej-315	26	32	ehs	ehs	NOUN
alkej-315	26	33	was	be	AUX
alkej-315	26	34	inserted	insert	VERB
alkej-315	26	35	in	in	ADP
alkej-315	26	36	the	the	DET
alkej-315	26	37	simulation	simulation	NOUN
alkej-315	26	38	model	model	NOUN
alkej-315	26	39	instead	instead	ADV
alkej-315	26	40	of	of	ADP
alkej-315	26	41	the	the	DET
alkej-315	26	42	one	one	NOUN
alkej-315	26	43	that	that	PRON
alkej-315	26	44	to	to	PART
alkej-315	26	45	be	be	AUX
alkej-315	26	46	controlled	control	VERB
alkej-315	26	47	.	.	PUNCT
alkej-315	27	1	an	an	DET
alkej-315	27	2	approximate	approximate	ADJ
alkej-315	27	3	ideal	ideal	NOUN
alkej-315	27	4	sliding	slide	VERB
alkej-315	27	5	mode	mode	NOUN
alkej-315	27	6	control	control	NOUN
alkej-315	27	7	with	with	ADP
alkej-315	27	8	varying	vary	VERB
alkej-315	27	9	boundary	boundary	ADJ
alkej-315	27	10	layers	layer	NOUN
alkej-315	27	11	fo	fo	ADP
alkej-315	28	1	[	[	X
alkej-315	28	2	6	6	NUM
alkej-315	28	3	]	]	PUNCT
alkej-315	28	4	to	to	PART
alkej-315	28	5	improve	improve	VERB
alkej-315	28	6	the	the	DET
alkej-315	28	7	position	position	NOUN
alkej-315	28	8	tracking	tracking	NOUN
alkej-315	28	9	performance	performance	NOUN
alkej-315	28	10	such	such	ADJ
alkej-315	28	11	that	that	SCONJ
alkej-315	28	12	the	the	DET
alkej-315	28	13	experimental	experimental	ADJ
alkej-315	28	14	results	result	NOUN
alkej-315	28	15	have	have	AUX
alkej-315	28	16	shown	show	VERB
alkej-315	28	17	robustness	robustness	NOUN
alkej-315	28	18	against	against	ADP
alkej-315	28	19	the	the	DET
alkej-315	28	20	various	various	ADJ
alkej-315	28	21	set	set	NOUN
alkej-315	28	22	points	point	NOUN
alkej-315	28	23	.	.	PUNCT
alkej-315	29	1	by	by	ADP
alkej-315	29	2	combining	combine	VERB
alkej-315	29	3	the	the	DET
alkej-315	29	4	sliding	slide	VERB
alkej-315	29	5	mode	mode	NOUN
alkej-315	29	6	control	control	NOUN
alkej-315	29	7	and	and	CCONJ
alkej-315	29	8	a	a	DET
alkej-315	29	9	simple	simple	ADJ
alkej-315	29	10	robust	robust	ADJ
alkej-315	29	11	method	method	NOUN
alkej-315	29	12	,	,	PUNCT
alkej-315	29	13	the	the	DET
alkej-315	29	14	adaptive	adaptive	ADJ
alkej-315	29	15	sliding	slide	VERB
alkej-315	29	16	mode	mode	NOUN
alkej-315	29	17	cont	cont	NOUN
alkej-315	29	18	for	for	ADP
alkej-315	29	19	the	the	DET
alkej-315	29	20	ehs	ehs	NOUN
alkej-315	29	21	was	be	AUX
alkej-315	29	22	presented	present	VERB
alkej-315	29	23	by	by	ADP
alkej-315	29	24	[	[	PUNCT
alkej-315	29	25	results	result	NOUN
alkej-315	29	26	have	have	AUX
alkej-315	29	27	shown	show	VERB
alkej-315	29	28	a	a	DET
alkej-315	29	29	good	good	ADJ
alkej-315	29	30	performance	performance	NOUN
alkej-315	29	31	of	of	ADP
alkej-315	29	32	the	the	DET
alkej-315	29	33	position	position	NOUN
alkej-315	29	34	tracking	tracking	NOUN
alkej-315	29	35	.	.	PUNCT
alkej-315	30	1	al	al	PROPN
alkej-315	30	2	-	-	PUNCT
alkej-315	30	3	khwarizmi	khwarizmi	PROPN
alkej-315	30	4	engineering	engineering	NOUN
alkej-315	30	5	journal	journal	PROPN
alkej-315	30	6	(	(	PUNCT
alkej-315	30	7	2016	2016	NUM
alkej-315	30	8	)	)	PUNCT
alkej-315	30	9	based	base	VERB
alkej-315	30	10	output	output	NOUN
alkej-315	30	11	feedback	feedback	NOUN
alkej-315	30	12	hydraulic	hydraulic	ADJ
alkej-315	30	13	system	system	NOUN
alkej-315	30	14	mishary	mishary	NOUN
alkej-315	30	15	*	*	PROPN
alkej-315	30	16	*	*	PROPN
alkej-315	30	17	systems/	systems/	NUM
alkej-315	30	18	university	university	NOUN
alkej-315	30	19	of	of	ADP
alkej-315	30	20	technology	technology	NOUN
alkej-315	30	21	property	property	NOUN
alkej-315	30	22	of	of	ADP
alkej-315	30	23	strong	strong	ADJ
alkej-315	30	24	observability	observability	NOUN
alkej-315	30	25	ensures	ensure	VERB
alkej-315	30	26	that	that	SCONJ
alkej-315	30	27	there	there	PRON
alkej-315	30	28	is	be	VERB
alkej-315	30	29	a	a	DET
alkej-315	30	30	sliding	slide	VERB
alkej-315	30	31	mode	mode	NOUN
alkej-315	30	32	observer	observer	NOUN
alkej-315	30	33	to	to	PART
alkej-315	30	34	estimate	estimate	VERB
alkej-315	30	35	the	the	DET
alkej-315	30	36	unknown	unknown	ADJ
alkej-315	30	37	form	form	NOUN
alkej-315	30	38	inputs	input	VERB
alkej-315	30	39	together	together	ADV
alkej-315	30	40	with	with	ADP
alkej-315	30	41	states	state	NOUN
alkej-315	30	42	estimation	estimation	NOUN
alkej-315	30	43	.	.	PUNCT
alkej-315	31	1	in	in	ADP
alkej-315	31	2	the	the	DET
alkej-315	31	3	case	case	NOUN
alkej-315	31	4	of	of	ADP
alkej-315	31	5	the	the	DET
alkej-315	31	6	electro	electro	ADJ
alkej-315	31	7	-	-	PUNCT
alkej-315	31	8	hydraulic	hydraulic	NOUN
alkej-315	31	9	system	system	NOUN
alkej-315	31	10	with	with	ADP
alkej-315	31	11	met	meet	VERB
alkej-315	31	12	.	.	PUNCT
alkej-315	32	1	in	in	ADP
alkej-315	32	2	this	this	DET
alkej-315	32	3	paper	paper	NOUN
alkej-315	32	4	,	,	PUNCT
alkej-315	32	5	the	the	DET
alkej-315	32	6	output	output	NOUN
alkej-315	32	7	and	and	CCONJ
alkej-315	32	8	its	its	PRON
alkej-315	32	9	derivatives	derivative	NOUN
alkej-315	32	10	estimation	estimation	NOUN
alkej-315	32	11	a	a	DET
alkej-315	32	12	high	high	ADJ
alkej-315	32	13	order	order	NOUN
alkej-315	32	14	sliding	slide	VERB
alkej-315	32	15	mode	mode	NOUN
alkej-315	32	16	term	term	NOUN
alkej-315	32	17	and	and	CCONJ
alkej-315	32	18	the	the	DET
alkej-315	32	19	output	output	NOUN
alkej-315	32	20	derivatives	derivative	NOUN
alkej-315	32	21	.	.	PUNCT
alkej-315	33	1	with	with	ADP
alkej-315	33	2	one	one	NUM
alkej-315	33	3	signal	signal	NOUN
alkej-315	33	4	from	from	ADP
alkej-315	33	5	the	the	DET
alkej-315	33	6	whole	whole	ADJ
alkej-315	33	7	system	system	NOUN
alkej-315	33	8	(	(	PUNCT
alkej-315	33	9	piton	piton	PROPN
alkej-315	33	10	position	position	NOUN
alkej-315	33	11	)	)	PUNCT
alkej-315	33	12	,	,	PUNCT
alkej-315	33	13	the	the	DET
alkej-315	33	14	piston	piston	NOUN
alkej-315	33	15	position	position	NOUN
alkej-315	33	16	make	make	VERB
alkej-315	33	17	tracking	tracking	NOUN
alkej-315	33	18	to	to	PART
alkej-315	33	19	desire	desire	VERB
alkej-315	33	20	one	one	NUM
alkej-315	33	21	with	with	ADP
alkej-315	33	22	excellent	excellent	ADJ
alkej-315	33	23	performance	performance	NOUN
alkej-315	33	24	of	of	ADP
alkej-315	33	25	the	the	DET
alkej-315	33	26	proposed	propose	VERB
alkej-315	33	27	output	output	NOUN
alkej-315	33	28	feedback	feedback	NOUN
alkej-315	33	29	controller	controller	NOUN
alkej-315	33	30	in	in	ADP
alkej-315	33	31	the	the	DET
alkej-315	33	32	control	control	NOUN
alkej-315	33	33	effort	effort	NOUN
alkej-315	33	34	spent	spend	VERB
alkej-315	33	35	was	be	AUX
alkej-315	33	36	minimal	minimal	ADJ
alkej-315	33	37	.	.	PUNCT
alkej-315	34	1	high	high	ADJ
alkej-315	34	2	order	order	NOUN
alkej-315	34	3	sliding	slide	VERB
alkej-315	34	4	mode	mode	PROPN
alkej-315	34	5	observer	observer	NOUN
alkej-315	34	6	.	.	PUNCT
alkej-315	35	1	relative	relative	ADJ
alkej-315	35	2	degree	degree	NOUN
alkej-315	35	3	one	one	NUM
alkej-315	35	4	,	,	PUNCT
alkej-315	35	5	because	because	SCONJ
alkej-315	35	6	this	this	DET
alkej-315	35	7	observer	observer	NOUN
alkej-315	35	8	include	include	VERB
alkej-315	35	9	a	a	DET
alkej-315	35	10	robust	robust	ADJ
alkej-315	35	11	(	(	PUNCT
alkej-315	35	12	exact	exact	ADJ
alkej-315	35	13	with	with	ADP
alkej-315	35	14	measurement	measurement	NOUN
alkej-315	35	15	noise	noise	NOUN
alkej-315	35	16	free	free	ADJ
alkej-315	35	17	)	)	PUNCT
alkej-315	35	18	,	,	PUNCT
alkej-315	35	19	chapter	chapter	NOUN
alkej-315	35	20	7	7	NUM
alkej-315	35	21	]	]	PUNCT
alkej-315	35	22	.	.	PUNCT
alkej-315	36	1	the	the	DET
alkej-315	36	2	relative	relative	ADJ
alkej-315	36	3	degree	degree	NOUN
alkej-315	36	4	one	one	NUM
alkej-315	36	5	with	with	ADP
alkej-315	36	6	respect	respect	NOUN
alkej-315	36	7	to	to	ADP
alkej-315	36	8	the	the	DET
alkej-315	36	9	perturbation	perturbation	NOUN
alkej-315	36	10	is	be	AUX
alkej-315	36	11	a	a	DET
alkej-315	36	12	restriction	restriction	NOUN
alkej-315	36	13	]	]	X
alkej-315	36	14	.	.	PUNCT
alkej-315	37	1	as	as	ADP
alkej-315	37	2	a	a	DET
alkej-315	37	3	literature	literature	NOUN
alkej-315	37	4	review	review	NOUN
alkej-315	37	5	,	,	PUNCT
alkej-315	37	6	the	the	DET
alkej-315	37	7	performance	performance	NOUN
alkej-315	37	8	improvement	improvement	NOUN
alkej-315	37	9	of	of	ADP
alkej-315	37	10	the	the	DET
alkej-315	37	11	sliding	slide	VERB
alkej-315	37	12	mode	mode	NOUN
alkej-315	37	13	control	control	NOUN
alkej-315	37	14	for	for	ADP
alkej-315	37	15	the	the	DET
alkej-315	37	16	ulic	ulic	ADJ
alkej-315	37	17	system	system	NOUN
alkej-315	37	18	(	(	PUNCT
alkej-315	37	19	ehs	ehs	NOUN
alkej-315	37	20	)	)	PUNCT
alkej-315	37	21	position	position	NOUN
alkej-315	37	22	tracking	tracking	NOUN
alkej-315	37	23	]	]	PUNCT
alkej-315	37	24	such	such	ADJ
alkej-315	37	25	that	that	SCONJ
alkej-315	37	26	the	the	DET
alkej-315	37	27	dynamic	dynamic	ADJ
alkej-315	37	28	friction	friction	NOUN
alkej-315	37	29	model	model	NOUN
alkej-315	37	30	of	of	ADP
alkej-315	37	31	the	the	DET
alkej-315	37	32	ehs	ehs	NOUN
alkej-315	37	33	was	be	AUX
alkej-315	37	34	inserted	insert	VERB
alkej-315	37	35	in	in	ADP
alkej-315	37	36	the	the	DET
alkej-315	37	37	simulation	simulation	NOUN
alkej-315	37	38	model	model	NOUN
alkej-315	37	39	instead	instead	ADV
alkej-315	37	40	of	of	ADP
alkej-315	37	41	the	the	DET
alkej-315	37	42	one	one	NOUN
alkej-315	37	43	that	that	PRON
alkej-315	37	44	to	to	PART
alkej-315	37	45	be	be	AUX
alkej-315	37	46	controlled	control	VERB
alkej-315	37	47	.	.	PUNCT
alkej-315	38	1	an	an	DET
alkej-315	38	2	approximate	approximate	ADJ
alkej-315	38	3	ideal	ideal	NOUN
alkej-315	38	4	sliding	slide	VERB
alkej-315	38	5	mode	mode	NOUN
alkej-315	38	6	control	control	NOUN
alkej-315	38	7	with	with	ADP
alkej-315	38	8	varying	vary	VERB
alkej-315	38	9	boundary	boundary	ADJ
alkej-315	38	10	layers	layer	NOUN
alkej-315	38	11	for	for	ADP
alkej-315	38	12	ehs	ehs	PROPN
alkej-315	38	13	was	be	AUX
alkej-315	38	14	proposed	propose	VERB
alkej-315	38	15	by	by	ADP
alkej-315	38	16	]	]	PUNCT
alkej-315	38	17	to	to	PART
alkej-315	38	18	improve	improve	VERB
alkej-315	38	19	the	the	DET
alkej-315	38	20	position	position	NOUN
alkej-315	38	21	tracking	tracking	NOUN
alkej-315	38	22	performance	performance	NOUN
alkej-315	38	23	such	such	ADJ
alkej-315	38	24	that	that	SCONJ
alkej-315	38	25	the	the	DET
alkej-315	38	26	experimental	experimental	ADJ
alkej-315	38	27	results	result	NOUN
alkej-315	38	28	have	have	AUX
alkej-315	38	29	shown	show	VERB
alkej-315	38	30	robustness	robustness	NOUN
alkej-315	38	31	against	against	ADP
alkej-315	38	32	the	the	DET
alkej-315	38	33	various	various	ADJ
alkej-315	38	34	set	set	NOUN
alkej-315	38	35	points	point	NOUN
alkej-315	38	36	.	.	PUNCT
alkej-315	39	1	by	by	ADP
alkej-315	39	2	combining	combine	VERB
alkej-315	39	3	the	the	DET
alkej-315	39	4	sliding	slide	VERB
alkej-315	39	5	mode	mode	NOUN
alkej-315	39	6	control	control	NOUN
alkej-315	39	7	and	and	CCONJ
alkej-315	39	8	a	a	DET
alkej-315	39	9	simple	simple	ADJ
alkej-315	39	10	robust	robust	ADJ
alkej-315	39	11	method	method	NOUN
alkej-315	39	12	,	,	PUNCT
alkej-315	39	13	the	the	DET
alkej-315	39	14	adaptive	adaptive	ADJ
alkej-315	39	15	sliding	slide	VERB
alkej-315	39	16	mode	mode	NOUN
alkej-315	39	17	control	control	NOUN
alkej-315	39	18	for	for	ADP
alkej-315	39	19	the	the	DET
alkej-315	39	20	ehs	ehs	NOUN
alkej-315	39	21	was	be	AUX
alkej-315	39	22	presented	present	VERB
alkej-315	39	23	by	by	ADP
alkej-315	39	24	[	[	X
alkej-315	39	25	7	7	NUM
alkej-315	39	26	]	]	PUNCT
alkej-315	39	27	such	such	ADJ
alkej-315	39	28	that	that	SCONJ
alkej-315	39	29	the	the	DET
alkej-315	39	30	results	result	NOUN
alkej-315	39	31	have	have	AUX
alkej-315	39	32	shown	show	VERB
alkej-315	39	33	a	a	DET
alkej-315	39	34	good	good	ADJ
alkej-315	39	35	performance	performance	NOUN
alkej-315	39	36	of	of	ADP
alkej-315	39	37	the	the	DET
alkej-315	39	38	shibly	shibly	PROPN
alkej-315	39	39	ahmed	ahmed	PROPN
alkej-315	39	40	al	al	PROPN
alkej-315	39	41	-	-	PROPN
alkej-315	39	42	samarraie	samarraie	PROPN
alkej-315	39	43	al	al	PROPN
alkej-315	39	44	-	-	PUNCT
alkej-315	39	45	khwarizmi	khwarizmi	PROPN
alkej-315	39	46	engineering	engineering	NOUN
alkej-315	39	47	journal	journal	PROPN
alkej-315	39	48	,	,	PUNCT
alkej-315	39	49	vol	vol	NOUN
alkej-315	39	50	.	.	PROPN
alkej-315	39	51	12	12	NUM
alkej-315	39	52	,	,	PUNCT
alkej-315	39	53	no	no	INTJ
alkej-315	39	54	.	.	NOUN
alkej-315	39	55	4	4	NUM
alkej-315	39	56	,	,	PUNCT
alkej-315	39	57	p.p	p.p	PROPN
alkej-315	39	58	.	.	NOUN
alkej-315	39	59	111(2016	111(2016	NUM
alkej-315	39	60	)	)	PUNCT
alkej-315	39	61	2	2	NUM
alkej-315	39	62	observer	observer	NOUN
alkej-315	39	63	based	base	VERB
alkej-315	39	64	back	back	ADV
alkej-315	39	65	stepping	step	VERB
alkej-315	39	66	control	control	NOUN
alkej-315	39	67	design	design	NOUN
alkej-315	39	68	for	for	ADP
alkej-315	39	69	the	the	DET
alkej-315	39	70	ehs	ehs	NOUN
alkej-315	39	71	was	be	AUX
alkej-315	39	72	studied	study	VERB
alkej-315	39	73	in[8	in[8	NUM
alkej-315	39	74	,	,	PUNCT
alkej-315	39	75	9	9	NUM
alkej-315	39	76	]	]	PUNCT
alkej-315	39	77	such	such	ADJ
alkej-315	39	78	that	that	SCONJ
alkej-315	39	79	the	the	DET
alkej-315	39	80	proposed	propose	VERB
alkej-315	39	81	controller	controller	NOUN
alkej-315	39	82	was	be	AUX
alkej-315	39	83	designed	design	VERB
alkej-315	39	84	in	in	ADP
alkej-315	39	85	the	the	DET
alkej-315	39	86	presence	presence	NOUN
alkej-315	39	87	of	of	ADP
alkej-315	39	88	both	both	DET
alkej-315	39	89	friction	friction	NOUN
alkej-315	39	90	and	and	CCONJ
alkej-315	39	91	load	load	NOUN
alkej-315	39	92	force	force	NOUN
alkej-315	39	93	where	where	SCONJ
alkej-315	39	94	the	the	DET
alkej-315	39	95	ultimate	ultimate	ADJ
alkej-315	39	96	boundedness	boundedness	NOUN
alkej-315	39	97	of	of	ADP
alkej-315	39	98	the	the	DET
alkej-315	39	99	position	position	NOUN
alkej-315	39	100	tracking	tracking	NOUN
alkej-315	39	101	error	error	NOUN
alkej-315	39	102	was	be	AUX
alkej-315	39	103	guaranteed	guarantee	VERB
alkej-315	39	104	.	.	PUNCT
alkej-315	40	1	in	in	ADP
alkej-315	40	2	[	[	X
alkej-315	40	3	10	10	NUM
alkej-315	40	4	]	]	X
alkej-315	40	5	a	a	DET
alkej-315	40	6	nonlinear	nonlinear	ADJ
alkej-315	40	7	model	model	NOUN
alkej-315	40	8	of	of	ADP
alkej-315	40	9	the	the	DET
alkej-315	40	10	ehs	ehs	PROPN
alkej-315	40	11	dynamical	dynamical	ADJ
alkej-315	40	12	model	model	NOUN
alkej-315	40	13	have	have	AUX
alkej-315	40	14	been	be	AUX
alkej-315	40	15	developed	develop	VERB
alkej-315	40	16	such	such	ADJ
alkej-315	40	17	that	that	SCONJ
alkej-315	40	18	a	a	DET
alkej-315	40	19	robust	robust	ADJ
alkej-315	40	20	�	�	PROPN
alkej-315	40	21	�	�	PROPN
alkej-315	40	22	position	position	NOUN
alkej-315	40	23	control	control	NOUN
alkej-315	40	24	extended	extend	VERB
alkej-315	40	25	with	with	ADP
alkej-315	40	26	integral	integral	ADJ
alkej-315	40	27	action	action	NOUN
alkej-315	40	28	was	be	AUX
alkej-315	40	29	proposed	propose	VERB
alkej-315	40	30	,	,	PUNCT
alkej-315	40	31	where	where	SCONJ
alkej-315	40	32	the	the	DET
alkej-315	40	33	experimental	experimental	ADJ
alkej-315	40	34	results	result	NOUN
alkej-315	40	35	have	have	AUX
alkej-315	40	36	shown	show	VERB
alkej-315	40	37	the	the	DET
alkej-315	40	38	robustness	robustness	NOUN
alkej-315	40	39	of	of	ADP
alkej-315	40	40	the	the	DET
alkej-315	40	41	closed	closed	ADJ
alkej-315	40	42	loop	loop	NOUN
alkej-315	40	43	system	system	NOUN
alkej-315	40	44	against	against	ADP
alkej-315	40	45	the	the	DET
alkej-315	40	46	parametric	parametric	ADJ
alkej-315	40	47	perturbation	perturbation	NOUN
alkej-315	40	48	and	and	CCONJ
alkej-315	40	49	the	the	DET
alkej-315	40	50	load	load	NOUN
alkej-315	40	51	force	force	NOUN
alkej-315	40	52	.	.	PUNCT
alkej-315	41	1	hosmo	hosmo	NOUN
alkej-315	41	2	with	with	ADP
alkej-315	41	3	exact	exact	ADJ
alkej-315	41	4	states	state	NOUN
alkej-315	41	5	and	and	CCONJ
alkej-315	41	6	unknown	unknown	ADJ
alkej-315	41	7	bounded	bound	VERB
alkej-315	41	8	inputs	input	NOUN
alkej-315	41	9	observation	observation	NOUN
alkej-315	41	10	for	for	ADP
alkej-315	41	11	strongly	strongly	ADV
alkej-315	41	12	observable	observable	ADJ
alkej-315	41	13	system	system	NOUN
alkej-315	41	14	was	be	AUX
alkej-315	41	15	proposed	propose	VERB
alkej-315	41	16	by	by	ADP
alkej-315	41	17	[	[	X
alkej-315	41	18	2	2	NUM
alkej-315	41	19	]	]	PUNCT
alkej-315	41	20	.	.	PUNCT
alkej-315	42	1	in	in	ADP
alkej-315	42	2	[	[	X
alkej-315	42	3	11	11	NUM
alkej-315	42	4	]	]	PUNCT
alkej-315	42	5	the	the	DET
alkej-315	42	6	states	state	NOUN
alkej-315	42	7	and	and	CCONJ
alkej-315	42	8	the	the	DET
alkej-315	42	9	unknown	unknown	ADJ
alkej-315	42	10	unbounded	unbounded	ADJ
alkej-315	42	11	(	(	PUNCT
alkej-315	42	12	but	but	CCONJ
alkej-315	42	13	only	only	ADV
alkej-315	42	14	requires	require	VERB
alkej-315	42	15	boundedness	boundedness	NOUN
alkej-315	42	16	of	of	ADP
alkej-315	42	17	at	at	ADV
alkej-315	42	18	least	least	ADJ
alkej-315	42	19	one	one	NUM
alkej-315	42	20	of	of	ADP
alkej-315	42	21	their	their	PRON
alkej-315	42	22	high	high	ADJ
alkej-315	42	23	order	order	NOUN
alkej-315	42	24	derivatives	derivative	NOUN
alkej-315	42	25	)	)	PUNCT
alkej-315	42	26	inputs	input	NOUN
alkej-315	42	27	were	be	AUX
alkej-315	42	28	estimated	estimate	VERB
alkej-315	42	29	.	.	PUNCT
alkej-315	43	1	a	a	DET
alkej-315	43	2	global	global	ADJ
alkej-315	43	3	finite	finite	ADJ
alkej-315	43	4	time	time	NOUN
alkej-315	43	5	exact	exact	ADJ
alkej-315	43	6	observation	observation	NOUN
alkej-315	43	7	of	of	ADP
alkej-315	43	8	the	the	DET
alkej-315	43	9	state	state	NOUN
alkej-315	43	10	vector	vector	NOUN
alkej-315	43	11	for	for	ADP
alkej-315	43	12	general	general	ADJ
alkej-315	43	13	(	(	PUNCT
alkej-315	43	14	the	the	DET
alkej-315	43	15	measured	measured	ADJ
alkej-315	43	16	outputs	output	NOUN
alkej-315	43	17	are	be	AUX
alkej-315	43	18	perturbed	perturb	VERB
alkej-315	43	19	by	by	ADP
alkej-315	43	20	the	the	DET
alkej-315	43	21	same	same	ADJ
alkej-315	43	22	unknown	unknown	ADJ
alkej-315	43	23	form	form	NOUN
alkej-315	43	24	of	of	ADP
alkej-315	43	25	the	the	DET
alkej-315	43	26	system	system	NOUN
alkej-315	43	27	dynamics	dynamic	NOUN
alkej-315	43	28	with	with	ADP
alkej-315	43	29	dimension	dimension	NOUN
alkej-315	43	30	of	of	ADP
alkej-315	43	31	the	the	DET
alkej-315	43	32	unknown	unknown	ADJ
alkej-315	43	33	input	input	NOUN
alkej-315	43	34	vector	vector	NOUN
alkej-315	43	35	less	less	ADJ
alkej-315	43	36	than	than	ADP
alkej-315	43	37	the	the	DET
alkej-315	43	38	number	number	NOUN
alkej-315	43	39	of	of	ADP
alkej-315	43	40	the	the	DET
alkej-315	43	41	measured	measure	VERB
alkej-315	43	42	outputs	output	NOUN
alkej-315	43	43	)	)	PUNCT
alkej-315	43	44	strongly	strongly	ADV
alkej-315	43	45	observable	observable	ADJ
alkej-315	43	46	linear	linear	ADJ
alkej-315	43	47	time	time	NOUN
alkej-315	43	48	invariant	invariant	ADJ
alkej-315	43	49	systems	system	NOUN
alkej-315	43	50	with	with	ADP
alkej-315	43	51	bounded	bounded	ADJ
alkej-315	43	52	unknown	unknown	ADJ
alkej-315	43	53	lebesgue	lebesgue	NOUN
alkej-315	43	54	measurable	measurable	ADJ
alkej-315	43	55	inputs	input	NOUN
alkej-315	43	56	was	be	AUX
alkej-315	43	57	proposed	propose	VERB
alkej-315	43	58	by	by	ADP
alkej-315	43	59	[	[	X
alkej-315	43	60	12	12	NUM
alkej-315	43	61	]	]	PUNCT
alkej-315	43	62	.	.	PUNCT
alkej-315	44	1	the	the	DET
alkej-315	44	2	organization	organization	NOUN
alkej-315	44	3	of	of	ADP
alkej-315	44	4	this	this	DET
alkej-315	44	5	paper	paper	NOUN
alkej-315	44	6	is	be	AUX
alkej-315	44	7	as	as	SCONJ
alkej-315	44	8	follows	follow	VERB
alkej-315	44	9	;	;	PUNCT
alkej-315	44	10	the	the	DET
alkej-315	44	11	formulation	formulation	NOUN
alkej-315	44	12	of	of	ADP
alkej-315	44	13	the	the	DET
alkej-315	44	14	problem	problem	NOUN
alkej-315	44	15	statement	statement	NOUN
alkej-315	44	16	is	be	AUX
alkej-315	44	17	presented	present	VERB
alkej-315	44	18	in	in	ADP
alkej-315	44	19	section	section	NOUN
alkej-315	44	20	2	2	NUM
alkej-315	44	21	,	,	PUNCT
alkej-315	44	22	while	while	SCONJ
alkej-315	44	23	the	the	DET
alkej-315	44	24	hosmo	hosmo	NOUN
alkej-315	44	25	based	base	VERB
alkej-315	44	26	controller	controller	NOUN
alkej-315	44	27	deign	deign	NOUN
alkej-315	44	28	is	be	AUX
alkej-315	44	29	introduced	introduce	VERB
alkej-315	44	30	in	in	ADP
alkej-315	44	31	section	section	NOUN
alkej-315	44	32	3	3	NUM
alkej-315	44	33	.	.	PUNCT
alkej-315	45	1	in	in	ADP
alkej-315	45	2	section	section	NOUN
alkej-315	45	3	4	4	NUM
alkej-315	45	4	the	the	DET
alkej-315	45	5	electro	electro	ADJ
alkej-315	45	6	-	-	PUNCT
alkej-315	45	7	hydraulic	hydraulic	NOUN
alkej-315	45	8	system	system	NOUN
alkej-315	45	9	takes	take	VERB
alkej-315	45	10	as	as	ADP
alkej-315	45	11	a	a	DET
alkej-315	45	12	case	case	NOUN
alkej-315	45	13	study	study	NOUN
alkej-315	45	14	,	,	PUNCT
alkej-315	45	15	while	while	SCONJ
alkej-315	45	16	the	the	DET
alkej-315	45	17	simulation	simulation	NOUN
alkej-315	45	18	results	result	NOUN
alkej-315	45	19	and	and	CCONJ
alkej-315	45	20	discussions	discussion	NOUN
alkej-315	45	21	are	be	AUX
alkej-315	45	22	developed	develop	VERB
alkej-315	45	23	in	in	ADP
alkej-315	45	24	section	section	NOUN
alkej-315	45	25	5	5	NUM
alkej-315	45	26	.	.	NOUN
alkej-315	46	1	2	2	NUM
alkej-315	46	2	.	.	X
alkej-315	46	3	problem	problem	NOUN
alkej-315	46	4	statement	statement	NOUN
alkej-315	46	5	consider	consider	VERB
alkej-315	46	6	a	a	DET
alkej-315	46	7	dynamical	dynamical	ADJ
alkej-315	46	8	system	system	NOUN
alkej-315	46	9	described	describe	VERB
alkej-315	46	10	by	by	ADP
alkej-315	46	11	�	�	PROPN
alkej-315	46	12	�	�	PROPN
alkej-315	46	13	�	�	PROPN
alkej-315	46	14	�	�	PROPN
alkej-315	46	15	=	=	SYM
alkej-315	46	16	�	�	PROPN
alkej-315	46	17	�	�	PROPN
alkej-315	46	18	�	�	PROPN
alkej-315	46	19	�	�	PROPN
alkej-315	46	20	�	�	PROPN
alkej-315	46	21	=	=	SYM
alkej-315	46	22	�	�	PROPN
alkej-315	46	23	�	�	PROPN
alkej-315	46	24	�	�	PROPN
alkej-315	46	25	�	�	PROPN
alkej-315	46	26	,	,	PUNCT
alkej-315	46	27	�	�	PROPN
alkej-315	46	28	�	�	PROPN
alkej-315	46	29	+	+	SYM
alkej-315	46	30	�	�	PROPN
alkej-315	46	31	�	�	PROPN
alkej-315	46	32	�	�	PROPN
alkej-315	46	33	�	�	PROPN
alkej-315	46	34	�	�	PROPN
alkej-315	46	35	,	,	PUNCT
alkej-315	46	36	�	�	PROPN
alkej-315	46	37	�	�	PROPN
alkej-315	46	38	�	�	PROPN
alkej-315	46	39	�	�	PROPN
alkej-315	46	40	+	+	PROPN
alkej-315	46	41	�	�	PROPN
alkej-315	46	42	�	�	PROPN
alkej-315	46	43	�	�	PROPN
alkej-315	46	44	�	�	PROPN
alkej-315	46	45	�	�	PROPN
alkej-315	46	46	,	,	PUNCT
alkej-315	46	47	�	�	PROPN
alkej-315	46	48	�	�	PROPN
alkej-315	46	49	,	,	PUNCT
alkej-315	46	50	�	�	PROPN
alkej-315	46	51	�	�	PROPN
alkej-315	46	52	�	�	PROPN
alkej-315	46	53	�	�	PROPN
alkej-315	46	54	=	=	SYM
alkej-315	46	55	�	�	PROPN
alkej-315	46	56	�	�	PROPN
alkej-315	46	57	�	�	PROPN
alkej-315	46	58	�	�	PROPN
alkej-315	46	59	,	,	PUNCT
alkej-315	46	60	�	�	PROPN
alkej-315	46	61	�	�	PROPN
alkej-315	46	62	,	,	PUNCT
alkej-315	46	63	�	�	PROPN
alkej-315	46	64	�	�	PROPN
alkej-315	46	65	+	+	SYM
alkej-315	46	66	�	�	PROPN
alkej-315	46	67	�	�	PROPN
alkej-315	46	68	�	�	PROPN
alkej-315	46	69	�	�	PROPN
alkej-315	46	70	�	�	PROPN
alkej-315	46	71	,	,	PUNCT
alkej-315	46	72	�	�	PROPN
alkej-315	46	73	�	�	PROPN
alkej-315	46	74	,	,	PUNCT
alkej-315	46	75	�	�	PROPN
alkej-315	46	76	�	�	PROPN
alkej-315	46	77	�	�	PROPN
alkej-315	46	78	+	+	PROPN
alkej-315	46	79	�	�	PROPN
alkej-315	46	80	�	�	PROPN
alkej-315	46	81	�	�	PROPN
alkej-315	46	82	�	�	PROPN
alkej-315	46	83	�	�	PROPN
alkej-315	46	84	,	,	PUNCT
alkej-315	46	85	�	�	PROPN
alkej-315	46	86	�	�	PROPN
alkej-315	46	87	,	,	PUNCT
alkej-315	46	88	�	�	PROPN
alkej-315	46	89	�	�	PROPN
alkej-315	46	90	,	,	PUNCT
alkej-315	46	91	�	�	PROPN
alkej-315	46	92	�	�	PROPN
alkej-315	46	93	=	=	SYM
alkej-315	46	94	�	�	PROPN
alkej-315	46	95	�	�	PROPN
alkej-315	46	96	�	�	PROPN
alkej-315	46	97	�	�	PROPN
alkej-315	46	98	�	�	PROPN
alkej-315	46	99	�	�	PROPN
alkej-315	46	100	�	�	PROPN
alkej-315	46	101	…	…	PUNCT
alkej-315	46	102	(	(	PUNCT
alkej-315	46	103	1	1	NUM
alkej-315	46	104	)	)	PUNCT
alkej-315	46	105	where	where	SCONJ
alkej-315	46	106	,	,	PUNCT
alkej-315	46	107	�	�	PROPN
alkej-315	46	108	�	�	PROPN
alkej-315	46	109	�	�	PROPN
alkej-315	46	110	�	�	PROPN
alkej-315	46	111	�	�	PROPN
alkej-315	46	112	,	,	PUNCT
alkej-315	46	113	�	�	PROPN
alkej-315	46	114	�	�	PROPN
alkej-315	46	115	,	,	PUNCT
alkej-315	46	116	�	�	PROPN
alkej-315	46	117	and	and	CCONJ
alkej-315	46	118	�	�	PROPN
alkej-315	46	119	�	�	PROPN
alkej-315	46	120	�	�	PROPN
alkej-315	46	121	�	�	PROPN
alkej-315	46	122	�	�	PROPN
alkej-315	46	123	,	,	PUNCT
alkej-315	46	124	�	�	PROPN
alkej-315	46	125	�	�	PROPN
alkej-315	46	126	,	,	PUNCT
alkej-315	46	127	�	�	PROPN
alkej-315	46	128	�	�	PROPN
alkej-315	46	129	,	,	PUNCT
alkej-315	46	130	�	�	PROPN
alkej-315	46	131	are	be	AUX
alkej-315	46	132	the	the	DET
alkej-315	46	133	mismatched	mismatch	VERB
alkej-315	46	134	and	and	CCONJ
alkej-315	46	135	matched	match	VERB
alkej-315	46	136	unknown	unknown	ADJ
alkej-315	46	137	perturbation	perturbation	NOUN
alkej-315	46	138	forms	form	NOUN
alkej-315	46	139	.	.	PUNCT
alkej-315	47	1	the	the	DET
alkej-315	47	2	perturbation	perturbation	NOUN
alkej-315	47	3	includes	include	VERB
alkej-315	47	4	parametric	parametric	ADJ
alkej-315	47	5	uncertainties	uncertainty	NOUN
alkej-315	47	6	and	and	CCONJ
alkej-315	47	7	the	the	DET
alkej-315	47	8	unknown	unknown	ADJ
alkej-315	47	9	bounded	bounded	ADJ
alkej-315	47	10	external	external	ADJ
alkej-315	47	11	inputs	input	NOUN
alkej-315	47	12	with	with	ADP
alkej-315	47	13	knowing	know	VERB
alkej-315	47	14	that	that	SCONJ
alkej-315	47	15	that	that	SCONJ
alkej-315	47	16	both	both	PRON
alkej-315	47	17	�	�	PROPN
alkej-315	47	18	and	and	CCONJ
alkej-315	47	19	�	�	PROPN
alkej-315	47	20	�	�	PROPN
alkej-315	47	21	�	�	PROPN
alkej-315	47	22	�	�	PROPN
alkej-315	47	23	�	�	PROPN
alkej-315	47	24	,	,	PUNCT
alkej-315	47	25	�	�	PROPN
alkej-315	47	26	�	�	PROPN
alkej-315	47	27	,	,	PUNCT
alkej-315	47	28	�	�	PROPN
alkej-315	47	29	are	be	AUX
alkej-315	47	30	assumed	assume	VERB
alkej-315	47	31	to	to	PART
alkej-315	47	32	be	be	AUX
alkej-315	47	33	locally	locally	ADV
alkej-315	47	34	lipschitz	lipschitz	ADJ
alkej-315	47	35	.	.	PUNCT
alkej-315	48	1	in	in	ADP
alkej-315	48	2	addition	addition	NOUN
alkej-315	48	3	�	�	PROPN
alkej-315	48	4	is	be	AUX
alkej-315	48	5	assumed	assume	VERB
alkej-315	48	6	here	here	ADV
alkej-315	48	7	to	to	PART
alkej-315	48	8	be	be	AUX
alkej-315	48	9	the	the	DET
alkej-315	48	10	only	only	ADJ
alkej-315	48	11	measured	measure	VERB
alkej-315	48	12	output	output	NOUN
alkej-315	48	13	.	.	PUNCT
alkej-315	49	1	the	the	DET
alkej-315	49	2	observability	observability	NOUN
alkej-315	49	3	problem	problem	NOUN
alkej-315	49	4	can	can	AUX
alkej-315	49	5	be	be	AUX
alkej-315	49	6	regarded	regard	VERB
alkej-315	49	7	as	as	SCONJ
alkej-315	49	8	follows	follow	VERB
alkej-315	49	9	;	;	PUNCT
alkej-315	49	10	the	the	DET
alkej-315	49	11	possibility	possibility	NOUN
alkej-315	49	12	to	to	PART
alkej-315	49	13	build	build	VERB
alkej-315	49	14	a	a	DET
alkej-315	49	15	new	new	ADJ
alkej-315	49	16	dynamic	dynamic	ADJ
alkej-315	49	17	system	system	NOUN
alkej-315	49	18	called	call	VERB
alkej-315	49	19	robust	robust	ADJ
alkej-315	49	20	observer	observer	NOUN
alkej-315	49	21	depends	depend	VERB
alkej-315	49	22	only	only	ADV
alkej-315	49	23	on	on	ADP
alkej-315	49	24	given	give	VERB
alkej-315	49	25	information	information	NOUN
alkej-315	49	26	called	call	VERB
alkej-315	49	27	measured	measure	VERB
alkej-315	49	28	outputs	output	NOUN
alkej-315	49	29	used	use	VERB
alkej-315	49	30	to	to	PART
alkej-315	49	31	reconstruct	reconstruct	VERB
alkej-315	49	32	both	both	PRON
alkej-315	49	33	of	of	ADP
alkej-315	49	34	system	system	NOUN
alkej-315	49	35	states	state	NOUN
alkej-315	49	36	and	and	CCONJ
alkej-315	49	37	unknown	unknown	ADJ
alkej-315	49	38	form	form	NOUN
alkej-315	49	39	[	[	X
alkej-315	49	40	13	13	NUM
alkej-315	49	41	,	,	PUNCT
alkej-315	49	42	chapter	chapter	NOUN
alkej-315	49	43	1	1	NUM
alkej-315	49	44	]	]	PUNCT
alkej-315	49	45	.	.	PUNCT
alkej-315	50	1	the	the	DET
alkej-315	50	2	strong	strong	ADJ
alkej-315	50	3	observability	observability	NOUN
alkej-315	50	4	,	,	PUNCT
alkej-315	50	5	that	that	PRON
alkej-315	50	6	is	be	AUX
alkej-315	50	7	required	require	VERB
alkej-315	50	8	observability	observability	NOUN
alkej-315	50	9	condition	condition	NOUN
alkej-315	50	10	,	,	PUNCT
alkej-315	50	11	confirms	confirm	VERB
alkej-315	50	12	the	the	DET
alkej-315	50	13	existence	existence	NOUN
alkej-315	50	14	of	of	ADP
alkej-315	50	15	transformation	transformation	NOUN
alkej-315	50	16	matrix	matrix	NOUN
alkej-315	50	17	that	that	PRON
alkej-315	50	18	transformed	transform	VERB
alkej-315	50	19	the	the	DET
alkej-315	50	20	original	original	ADJ
alkej-315	50	21	form	form	NOUN
alkej-315	50	22	dynamic	dynamic	ADJ
alkej-315	50	23	to	to	ADP
alkej-315	50	24	a	a	DET
alkej-315	50	25	phase	phase	NOUN
alkej-315	50	26	variable	variable	ADJ
alkej-315	50	27	canonical	canonical	ADJ
alkej-315	50	28	form	form	NOUN
alkej-315	50	29	such	such	ADJ
alkej-315	50	30	that	that	SCONJ
alkej-315	50	31	there	there	PRON
alkej-315	50	32	is	be	VERB
alkej-315	50	33	a	a	DET
alkej-315	50	34	robust	robust	ADJ
alkej-315	50	35	observer	observer	NOUN
alkej-315	50	36	which	which	PRON
alkej-315	50	37	is	be	AUX
alkej-315	50	38	exact	exact	ADJ
alkej-315	50	39	with	with	ADP
alkej-315	50	40	measurement	measurement	NOUN
alkej-315	50	41	noise	noise	NOUN
alkej-315	50	42	free	free	ADJ
alkej-315	50	43	to	to	PART
alkej-315	50	44	reconstruct	reconstruct	VERB
alkej-315	50	45	both	both	PRON
alkej-315	50	46	of	of	ADP
alkej-315	50	47	states	state	NOUN
alkej-315	50	48	and	and	CCONJ
alkej-315	50	49	the	the	DET
alkej-315	50	50	unknown	unknown	ADJ
alkej-315	50	51	form	form	NOUN
alkej-315	50	52	,	,	PUNCT
alkej-315	50	53	such	such	ADJ
alkej-315	50	54	observer	observer	NOUN
alkej-315	50	55	is	be	AUX
alkej-315	50	56	a	a	DET
alkej-315	50	57	hosmo	hosmo	NOUN
alkej-315	50	58	[	[	X
alkej-315	50	59	3	3	NUM
alkej-315	50	60	,	,	PUNCT
alkej-315	50	61	chapter	chapter	NOUN
alkej-315	50	62	7	7	NUM
alkej-315	50	63	]	]	PUNCT
alkej-315	50	64	.	.	PUNCT
alkej-315	51	1	from	from	ADP
alkej-315	51	2	an	an	DET
alkej-315	51	3	observer	observer	NOUN
alkej-315	51	4	design	design	NOUN
alkej-315	51	5	point	point	NOUN
alkej-315	51	6	of	of	ADP
alkej-315	51	7	view	view	NOUN
alkej-315	51	8	(	(	PUNCT
alkej-315	51	9	eq	eq	NOUN
alkej-315	51	10	.	.	PUNCT
alkej-315	52	1	(	(	PUNCT
alkej-315	52	2	1	1	NUM
alkej-315	52	3	)	)	PUNCT
alkej-315	52	4	)	)	PUNCT
alkej-315	52	5	one	one	PRON
alkej-315	52	6	can	can	AUX
alkej-315	52	7	not	not	PART
alkej-315	52	8	design	design	VERB
alkej-315	52	9	an	an	DET
alkej-315	52	10	observer	observer	NOUN
alkej-315	52	11	which	which	PRON
alkej-315	52	12	used	use	VERB
alkej-315	52	13	to	to	PART
alkej-315	52	14	reconstruct	reconstruct	VERB
alkej-315	52	15	the	the	DET
alkej-315	52	16	unknown	unknown	ADJ
alkej-315	52	17	form	form	NOUN
alkej-315	52	18	along	along	ADP
alkej-315	52	19	with	with	ADP
alkej-315	52	20	states	state	NOUN
alkej-315	52	21	estimation	estimation	NOUN
alkej-315	52	22	due	due	ADP
alkej-315	52	23	to	to	ADP
alkej-315	52	24	the	the	DET
alkej-315	52	25	relative	relative	ADJ
alkej-315	52	26	degree	degree	NOUN
alkej-315	52	27	condition	condition	NOUN
alkej-315	52	28	which	which	PRON
alkej-315	52	29	is	be	AUX
alkej-315	52	30	not	not	PART
alkej-315	52	31	satisfied	satisfied	ADJ
alkej-315	52	32	here	here	ADV
alkej-315	52	33	.	.	PUNCT
alkej-315	53	1	the	the	DET
alkej-315	53	2	electro	electro	ADJ
alkej-315	53	3	-	-	PUNCT
alkej-315	53	4	hydraulic	hydraulic	NOUN
alkej-315	53	5	system	system	NOUN
alkej-315	53	6	is	be	AUX
alkej-315	53	7	an	an	DET
alkej-315	53	8	example	example	NOUN
alkej-315	53	9	described	describe	VERB
alkej-315	53	10	mathematically	mathematically	ADV
alkej-315	53	11	by	by	ADP
alkej-315	53	12	eq	eq	PROPN
alkej-315	53	13	.	.	PUNCT
alkej-315	54	1	(	(	PUNCT
alkej-315	54	2	1	1	NUM
alkej-315	54	3	)	)	PUNCT
alkej-315	54	4	.	.	PUNCT
alkej-315	55	1	in	in	ADP
alkej-315	55	2	modern	modern	ADJ
alkej-315	55	3	control	control	NOUN
alkej-315	55	4	system	system	NOUN
alkej-315	55	5	the	the	DET
alkej-315	55	6	reduction	reduction	NOUN
alkej-315	55	7	of	of	ADP
alkej-315	55	8	sensors	sensor	NOUN
alkej-315	55	9	devices	device	NOUN
alkej-315	55	10	produce	produce	VERB
alkej-315	55	11	less	less	ADJ
alkej-315	55	12	measurement	measurement	NOUN
alkej-315	55	13	noise	noise	NOUN
alkej-315	55	14	,	,	PUNCT
alkej-315	55	15	such	such	ADJ
alkej-315	55	16	that	that	SCONJ
alkej-315	55	17	the	the	DET
alkej-315	55	18	proposed	propose	VERB
alkej-315	55	19	controller	controller	NOUN
alkej-315	55	20	become	become	VERB
alkej-315	55	21	more	more	ADV
alkej-315	55	22	accurate	accurate	ADJ
alkej-315	55	23	in	in	ADP
alkej-315	55	24	addition	addition	NOUN
alkej-315	55	25	to	to	PART
alkej-315	55	26	cost	cost	VERB
alkej-315	55	27	reduction[2	reduction[2	PROPN
alkej-315	55	28	]	]	X
alkej-315	55	29	.	.	PUNCT
alkej-315	56	1	now	now	ADV
alkej-315	56	2	consider	consider	VERB
alkej-315	56	3	the	the	DET
alkej-315	56	4	following	following	ADJ
alkej-315	56	5	assumption	assumption	NOUN
alkej-315	56	6	;	;	PUNCT
alkej-315	56	7	assumption	assumption	NOUN
alkej-315	56	8	(	(	PUNCT
alkej-315	56	9	1	1	NUM
alkej-315	56	10	):	):	PUNCT
alkej-315	56	11	the	the	DET
alkej-315	56	12	right	right	ADJ
alkej-315	56	13	hand	hand	NOUN
alkej-315	56	14	side	side	NOUN
alkej-315	56	15	of	of	ADP
alkej-315	56	16	�	�	PROPN
alkej-315	56	17	�	�	PROPN
alkej-315	56	18	�	�	PROPN
alkej-315	56	19	in	in	ADP
alkej-315	56	20	eq	eq	NOUN
alkej-315	56	21	.	.	PUNCT
alkej-315	57	1	(	(	PUNCT
alkej-315	57	2	1	1	X
alkej-315	57	3	)	)	PUNCT
alkej-315	57	4	is	be	AUX
alkej-315	57	5	a	a	DET
alkej-315	57	6	differentiable	differentiable	ADJ
alkej-315	57	7	function	function	NOUN
alkej-315	57	8	,	,	PUNCT
alkej-315	57	9	i.e.	i.e.	X
alkej-315	57	10	,	,	PUNCT
alkej-315	57	11	�	�	PROPN
alkej-315	57	12	�	�	PROPN
alkej-315	57	13	�	�	PROPN
alkej-315	57	14	�	�	PROPN
alkej-315	57	15	,	,	PUNCT
alkej-315	57	16	�	�	PROPN
alkej-315	57	17	�	�	PROPN
alkej-315	57	18	,	,	PUNCT
alkej-315	57	19	�	�	PROPN
alkej-315	57	20	�	�	PROPN
alkej-315	57	21	�	�	PROPN
alkej-315	57	22	�	�	PROPN
alkej-315	57	23	�	�	PROPN
alkej-315	57	24	,	,	PUNCT
alkej-315	57	25	�	�	PROPN
alkej-315	57	26	�	�	PROPN
alkej-315	57	27	�	�	PROPN
alkej-315	57	28	�	�	PROPN
alkej-315	57	29	and	and	CCONJ
alkej-315	57	30	�	�	PROPN
alkej-315	57	31	�	�	PROPN
alkej-315	57	32	�	�	PROPN
alkej-315	57	33	�	�	PROPN
alkej-315	57	34	�	�	PROPN
alkej-315	57	35	,	,	PUNCT
alkej-315	57	36	�	�	PROPN
alkej-315	57	37	�	�	PROPN
alkej-315	57	38	,	,	PUNCT
alkej-315	57	39	�	�	PROPN
alkej-315	57	40	are	be	AUX
alkej-315	57	41	smooth	smooth	ADJ
alkej-315	57	42	functions	function	NOUN
alkej-315	57	43	of	of	ADP
alkej-315	57	44	�	�	PROPN
alkej-315	57	45	�	�	PROPN
alkej-315	57	46	�	�	PROPN
alkej-315	57	47	,	,	PUNCT
alkej-315	57	48	�	�	PROPN
alkej-315	57	49	�	�	PROPN
alkej-315	57	50	,	,	PUNCT
alkej-315	57	51	�	�	PROPN
alkej-315	57	52	.	.	PUNCT
alkej-315	58	1	based	base	VERB
alkej-315	58	2	on	on	ADP
alkej-315	58	3	the	the	DET
alkej-315	58	4	above	above	ADJ
alkej-315	58	5	assumption	assumption	NOUN
alkej-315	58	6	,	,	PUNCT
alkej-315	58	7	eq	eq	NOUN
alkej-315	58	8	.	.	PUNCT
alkej-315	59	1	(	(	PUNCT
alkej-315	59	2	1	1	X
alkej-315	59	3	)	)	PUNCT
alkej-315	59	4	can	can	AUX
alkej-315	59	5	be	be	AUX
alkej-315	59	6	transformed	transform	VERB
alkej-315	59	7	to	to	ADP
alkej-315	59	8	a	a	DET
alkej-315	59	9	phase	phase	NOUN
alkej-315	59	10	variable	variable	ADJ
alkej-315	59	11	canonical	canonical	ADJ
alkej-315	59	12	form	form	NOUN
alkej-315	59	13	.	.	PUNCT
alkej-315	60	1	as	as	ADP
alkej-315	60	2	a	a	DET
alkej-315	60	3	result	result	NOUN
alkej-315	60	4	it	it	PRON
alkej-315	60	5	can	can	AUX
alkej-315	60	6	be	be	AUX
alkej-315	60	7	obtained	obtain	VERB
alkej-315	60	8	a	a	DET
alkej-315	60	9	strongly	strongly	ADV
alkej-315	60	10	observable	observable	ADJ
alkej-315	60	11	system	system	NOUN
alkej-315	60	12	such	such	ADJ
alkej-315	60	13	that	that	SCONJ
alkej-315	60	14	the	the	DET
alkej-315	60	15	state	state	NOUN
alkej-315	60	16	variables	variable	VERB
alkej-315	60	17	vector	vector	NOUN
alkej-315	60	18	is	be	AUX
alkej-315	60	19	the	the	DET
alkej-315	60	20	output	output	NOUN
alkej-315	60	21	measurement	measurement	NOUN
alkej-315	60	22	and	and	CCONJ
alkej-315	60	23	its	its	PRON
alkej-315	60	24	derivatives	derivative	NOUN
alkej-315	60	25	.	.	PUNCT
alkej-315	61	1	thereafter	thereafter	ADV
alkej-315	61	2	hosmo	hosmo	NOUN
alkej-315	61	3	will	will	AUX
alkej-315	61	4	be	be	AUX
alkej-315	61	5	adapted	adapt	VERB
alkej-315	61	6	here	here	ADV
alkej-315	61	7	to	to	PART
alkej-315	61	8	reconstruct	reconstruct	VERB
alkej-315	61	9	the	the	DET
alkej-315	61	10	resulting	result	VERB
alkej-315	61	11	new	new	ADJ
alkej-315	61	12	unknown	unknown	ADJ
alkej-315	61	13	form	form	NOUN
alkej-315	61	14	together	together	ADV
alkej-315	61	15	with	with	ADP
alkej-315	61	16	new	new	ADJ
alkej-315	61	17	state	state	NOUN
alkej-315	61	18	variable	variable	ADJ
alkej-315	61	19	vector	vector	NOUN
alkej-315	61	20	estimation	estimation	NOUN
alkej-315	61	21	.	.	PUNCT
alkej-315	62	1	the	the	DET
alkej-315	62	2	new	new	ADJ
alkej-315	62	3	unknown	unknown	ADJ
alkej-315	62	4	form	form	NOUN
alkej-315	62	5	means	mean	VERB
alkej-315	62	6	that	that	SCONJ
alkej-315	62	7	a	a	DET
alkej-315	62	8	perturbation	perturbation	NOUN
alkej-315	62	9	term	term	NOUN
alkej-315	62	10	resulted	result	VERB
alkej-315	62	11	from	from	ADP
alkej-315	62	12	differentiating	differentiate	VERB
alkej-315	62	13	�	�	PROPN
alkej-315	62	14	�	�	PROPN
alkej-315	62	15	�	�	PROPN
alkej-315	62	16	.	.	PUNCT
alkej-315	63	1	in	in	ADP
alkej-315	63	2	addition	addition	NOUN
alkej-315	63	3	to	to	ADP
alkej-315	63	4	that	that	SCONJ
alkej-315	63	5	the	the	DET
alkej-315	63	6	new	new	ADJ
alkej-315	63	7	unknown	unknown	ADJ
alkej-315	63	8	form	form	NOUN
alkej-315	63	9	of	of	ADP
alkej-315	63	10	the	the	DET
alkej-315	63	11	resulting	result	VERB
alkej-315	63	12	dynamic	dynamic	ADJ
alkej-315	63	13	(	(	PUNCT
alkej-315	63	14	canonical	canonical	ADJ
alkej-315	63	15	transformed	transform	VERB
alkej-315	63	16	form	form	NOUN
alkej-315	63	17	of	of	ADP
alkej-315	63	18	eq	eq	PROPN
alkej-315	63	19	.	.	PUNCT
alkej-315	64	1	(	(	PUNCT
alkej-315	64	2	1	1	NUM
alkej-315	64	3	)	)	PUNCT
alkej-315	64	4	)	)	PUNCT
alkej-315	64	5	satisfies	satisfy	VERB
alkej-315	64	6	the	the	DET
alkej-315	64	7	matching	matching	NOUN
alkej-315	64	8	condition	condition	NOUN
alkej-315	64	9	where	where	SCONJ
alkej-315	64	10	after	after	ADP
alkej-315	64	11	estimating	estimate	VERB
alkej-315	64	12	this	this	DET
alkej-315	64	13	form	form	NOUN
alkej-315	64	14	one	one	PRON
alkej-315	64	15	can	can	AUX
alkej-315	64	16	cancel	cancel	VERB
alkej-315	64	17	it	it	PRON
alkej-315	64	18	and	and	CCONJ
alkej-315	64	19	then	then	ADV
alkej-315	64	20	use	use	VERB
alkej-315	64	21	any	any	DET
alkej-315	64	22	successful	successful	ADJ
alkej-315	64	23	linear	linear	ADJ
alkej-315	64	24	controller	controller	NOUN
alkej-315	64	25	to	to	PART
alkej-315	64	26	drive	drive	VERB
alkej-315	64	27	�	�	PROPN
alkej-315	64	28	=	=	SYM
alkej-315	64	29	�	�	PROPN
alkej-315	64	30	�	�	PROPN
alkej-315	64	31	to	to	PART
alkej-315	64	32	track	track	VERB
alkej-315	64	33	desired	desire	VERB
alkej-315	64	34	one	one	NUM
alkej-315	64	35	.	.	PUNCT
alkej-315	65	1	the	the	DET
alkej-315	65	2	goal	goal	NOUN
alkej-315	65	3	of	of	ADP
alkej-315	65	4	this	this	DET
alkej-315	65	5	paper	paper	NOUN
alkej-315	65	6	is	be	AUX
alkej-315	65	7	to	to	PART
alkej-315	65	8	build	build	VERB
alkej-315	65	9	a	a	DET
alkej-315	65	10	system	system	NOUN
alkej-315	65	11	dynamic	dynamic	NOUN
alkej-315	65	12	related	relate	VERB
alkej-315	65	13	to	to	ADP
alkej-315	65	14	the	the	DET
alkej-315	65	15	system	system	NOUN
alkej-315	65	16	dynamic	dynamic	ADJ
alkej-315	65	17	as	as	ADP
alkej-315	65	18	in	in	ADP
alkej-315	65	19	eq	eq	NOUN
alkej-315	65	20	.	.	PUNCT
alkej-315	66	1	(	(	PUNCT
alkej-315	66	2	1	1	X
alkej-315	66	3	)	)	PUNCT
alkej-315	67	1	and	and	CCONJ
alkej-315	67	2	transform	transform	VERB
alkej-315	67	3	it	it	PRON
alkej-315	67	4	to	to	ADP
alkej-315	67	5	a	a	DET
alkej-315	67	6	phase	phase	NOUN
alkej-315	67	7	variable	variable	ADJ
alkej-315	67	8	canonical	canonical	ADJ
alkej-315	67	9	form	form	NOUN
alkej-315	67	10	via	via	ADP
alkej-315	67	11	hosmo	hosmo	NOUN
alkej-315	67	12	.	.	PUNCT
alkej-315	68	1	then	then	ADV
alkej-315	68	2	a	a	DET
alkej-315	68	3	linear	linear	ADJ
alkej-315	68	4	state	state	NOUN
alkej-315	68	5	feedback	feedback	NOUN
alkej-315	68	6	will	will	AUX
alkej-315	68	7	be	be	AUX
alkej-315	68	8	designed	design	VERB
alkej-315	68	9	to	to	PART
alkej-315	68	10	derive	derive	VERB
alkej-315	68	11	the	the	DET
alkej-315	68	12	output	output	NOUN
alkej-315	68	13	to	to	PART
alkej-315	68	14	follow	follow	VERB
alkej-315	68	15	the	the	DET
alkej-315	68	16	desired	desire	VERB
alkej-315	68	17	reference	reference	NOUN
alkej-315	68	18	.	.	PUNCT
alkej-315	69	1	3	3	X
alkej-315	69	2	.	.	NOUN
alkej-315	69	3	high	high	ADJ
alkej-315	69	4	order	order	NOUN
alkej-315	69	5	sliding	slide	VERB
alkej-315	69	6	mode	mode	NOUN
alkej-315	69	7	observer	observer	NOUN
alkej-315	69	8	based	base	VERB
alkej-315	69	9	controller	controller	NOUN
alkej-315	69	10	design	design	NOUN
alkej-315	69	11	keeping	keeping	NOUN
alkej-315	69	12	in	in	ADP
alkej-315	69	13	mind	mind	NOUN
alkej-315	69	14	the	the	DET
alkej-315	69	15	dynamic	dynamic	NOUN
alkej-315	69	16	of	of	ADP
alkej-315	69	17	eq	eq	PROPN
alkej-315	69	18	.	.	PUNCT
alkej-315	70	1	(	(	PUNCT
alkej-315	70	2	1	1	NUM
alkej-315	70	3	)	)	PUNCT
alkej-315	70	4	and	and	CCONJ
alkej-315	70	5	denoting	denote	VERB
alkej-315	70	6	that	that	PRON
alkej-315	70	7	:	:	PUNCT
alkej-315	70	8	shibly	shibly	PROPN
alkej-315	70	9	ahmed	ahmed	PROPN
alkej-315	70	10	al	al	PROPN
alkej-315	70	11	-	-	PROPN
alkej-315	70	12	samarraie	samarraie	PROPN
alkej-315	70	13	al	al	PROPN
alkej-315	70	14	-	-	PUNCT
alkej-315	70	15	khwarizmi	khwarizmi	PROPN
alkej-315	70	16	engineering	engineering	NOUN
alkej-315	70	17	journal	journal	PROPN
alkej-315	70	18	,	,	PUNCT
alkej-315	70	19	vol	vol	NOUN
alkej-315	70	20	.	.	PROPN
alkej-315	70	21	12	12	NUM
alkej-315	70	22	,	,	PUNCT
alkej-315	70	23	no	no	INTJ
alkej-315	70	24	.	.	NOUN
alkej-315	70	25	4	4	NUM
alkej-315	70	26	,	,	PUNCT
alkej-315	70	27	p.p	p.p	PROPN
alkej-315	70	28	.	.	NOUN
alkej-315	70	29	111(2016	111(2016	NUM
alkej-315	70	30	)	)	PUNCT
alkej-315	70	31	3	3	NUM
alkej-315	70	32	�	�	PROPN
alkej-315	70	33	�	�	PROPN
alkej-315	70	34	=	=	SYM
alkej-315	70	35	�	�	PROPN
alkej-315	70	36	=	=	SYM
alkej-315	70	37	�	�	PROPN
alkej-315	70	38	�	�	PROPN
alkej-315	70	39	,	,	PUNCT
alkej-315	70	40	�	�	PROPN
alkej-315	70	41	�	�	PROPN
alkej-315	70	42	=	=	SYM
alkej-315	70	43	�	�	PROPN
alkej-315	70	44	�	�	PROPN
alkej-315	70	45	=	=	SYM
alkej-315	70	46	�	�	PROPN
alkej-315	70	47	�	�	PROPN
alkej-315	70	48	,	,	PUNCT
alkej-315	70	49	�	�	PROPN
alkej-315	70	50	�	�	PROPN
alkej-315	70	51	=	=	SYM
alkej-315	70	52	�	�	PROPN
alkej-315	70	53	�	�	PROPN
alkej-315	70	54	=	=	SYM
alkej-315	70	55	�	�	PROPN
alkej-315	70	56	�	�	PROPN
alkej-315	70	57	�	�	PROPN
alkej-315	70	58	�	�	PROPN
alkej-315	70	59	2	2	NUM
alkej-315	70	60	now	now	ADV
alkej-315	70	61	by	by	ADP
alkej-315	70	62	considering	consider	VERB
alkej-315	70	63	assumption	assumption	NOUN
alkej-315	70	64	(	(	PUNCT
alkej-315	70	65	1	1	X
alkej-315	70	66	)	)	PUNCT
alkej-315	70	67	the	the	DET
alkej-315	70	68	model	model	NOUN
alkej-315	70	69	dynamic	dynamic	NOUN
alkej-315	70	70	in	in	ADP
alkej-315	70	71	eq	eq	ADP
alkej-315	70	72	.	.	PUNCT
alkej-315	71	1	(	(	PUNCT
alkej-315	71	2	1	1	X
alkej-315	71	3	)	)	PUNCT
alkej-315	71	4	can	can	AUX
alkej-315	71	5	be	be	AUX
alkej-315	71	6	rewritten	rewrite	VERB
alkej-315	71	7	as	as	SCONJ
alkej-315	71	8	follows	follow	VERB
alkej-315	71	9	;	;	PUNCT
alkej-315	71	10	�	�	PROPN
alkej-315	71	11	�	�	PROPN
alkej-315	71	12	�	�	PROPN
alkej-315	71	13	=	=	SYM
alkej-315	71	14	�	�	PROPN
alkej-315	71	15	�	�	PROPN
alkej-315	71	16	+	+	CCONJ
alkej-315	71	17	�	�	PROPN
alkej-315	71	18	�	�	PROPN
alkej-315	71	19	+	+	SYM
alkej-315	71	20	�	�	PROPN
alkej-315	71	21	�	�	PROPN
alkej-315	71	22	�	�	PROPN
alkej-315	71	23	=	=	SYM
alkej-315	71	24	�	�	PROPN
alkej-315	71	25	!	!	PUNCT
alkej-315	72	1	…	…	PUNCT
alkej-315	72	2	�	�	NOUN
alkej-315	72	3	3	3	NUM
alkej-315	73	1	where	where	SCONJ
alkej-315	73	2	:	:	PUNCT
alkej-315	73	3	�	�	PROPN
alkej-315	73	4	=	=	PUNCT
alkej-315	73	5	$	$	SYM
alkej-315	73	6	�	�	PROPN
alkej-315	73	7	�	�	PROPN
alkej-315	73	8	�	�	PROPN
alkej-315	73	9	�	�	PROPN
alkej-315	73	10	�	�	PROPN
alkej-315	73	11	�	�	NOUN
alkej-315	73	12	%	%	NOUN
alkej-315	73	13	,	,	PUNCT
alkej-315	73	14	�	�	PROPN
alkej-315	73	15	=	=	PUNCT
alkej-315	73	16	$	$	SYM
alkej-315	73	17	0	0	NUM
alkej-315	73	18	1	1	NUM
alkej-315	73	19	00	00	NUM
alkej-315	73	20	0	0	NUM
alkej-315	73	21	10	10	NUM
alkej-315	73	22	0	0	NUM
alkej-315	73	23	0	0	NUM
alkej-315	73	24	%	%	NOUN
alkej-315	73	25	,	,	PUNCT
alkej-315	73	26	�	�	PROPN
alkej-315	73	27	=	=	SYM
alkej-315	73	28	$	$	SYM
alkej-315	73	29	00	00	NUM
alkej-315	73	30	�	�	PROPN
alkej-315	73	31	�	�	PROPN
alkej-315	73	32	�	�	PROPN
alkej-315	73	33	�	�	PROPN
alkej-315	73	34	%	%	NOUN
alkej-315	73	35	�	�	NOUN
alkej-315	73	36	=	=	PUNCT
alkej-315	73	37	$	$	SYM
alkej-315	73	38	001	001	NUM
alkej-315	73	39	%	%	NOUN
alkej-315	73	40	,	,	PUNCT
alkej-315	73	41	=	=	PUNCT
alkej-315	73	42	(	(	PUNCT
alkej-315	73	43	1	1	NUM
alkej-315	73	44	0	0	NUM
alkej-315	73	45	0	0	NUM
alkej-315	73	46	)	)	PUNCT
alkej-315	73	47	�	�	PROPN
alkej-315	73	48	=	=	SYM
alkej-315	73	49	�	�	PROPN
alkej-315	73	50	�	�	PROPN
alkej-315	73	51	�	�	PROPN
alkej-315	73	52	�	�	PROPN
alkej-315	73	53	+	+	CCONJ
alkej-315	73	54	�	�	PROPN
alkej-315	73	55	�	�	PROPN
alkej-315	73	56	+	+	CCONJ
alkej-315	73	57	*	*	PUNCT
alkej-315	73	58	*	*	ADJ
alkej-315	73	59	+	+	X
alkej-315	73	60	�	�	PROPN
alkej-315	73	61	�	�	PROPN
alkej-315	73	62	+	+	CCONJ
alkej-315	73	63	�	�	PROPN
alkej-315	73	64	�	�	PROPN
alkej-315	73	65	where	where	SCONJ
alkej-315	73	66	�	�	PROPN
alkej-315	73	67	�	�	PROPN
alkej-315	73	68	+	+	CCONJ
alkej-315	73	69	�	�	PROPN
alkej-315	73	70	�	�	PROPN
alkej-315	73	71	is	be	AUX
alkej-315	73	72	assumed	assume	VERB
alkej-315	73	73	differentiable	differentiable	ADJ
alkej-315	73	74	as	as	SCONJ
alkej-315	73	75	mentioned	mention	VERB
alkej-315	73	76	above	above	ADV
alkej-315	73	77	.	.	PUNCT
alkej-315	74	1	therefore	therefore	ADV
alkej-315	74	2	it	it	PRON
alkej-315	74	3	can	can	AUX
alkej-315	74	4	be	be	AUX
alkej-315	74	5	seen	see	VERB
alkej-315	74	6	that	that	SCONJ
alkej-315	74	7	the	the	DET
alkej-315	74	8	dynamic	dynamic	NOUN
alkej-315	74	9	in	in	ADP
alkej-315	74	10	eq	eq	ADP
alkej-315	74	11	.	.	PUNCT
alkej-315	75	1	(	(	PUNCT
alkej-315	75	2	3	3	X
alkej-315	75	3	)	)	PUNCT
alkej-315	75	4	is	be	AUX
alkej-315	75	5	strongly	strongly	ADV
alkej-315	75	6	observable	observable	ADJ
alkej-315	75	7	(	(	PUNCT
alkej-315	75	8	see	see	VERB
alkej-315	75	9	appendix	appendix	NOUN
alkej-315	75	10	a	a	PRON
alkej-315	75	11	)	)	PUNCT
alkej-315	75	12	.	.	PUNCT
alkej-315	76	1	the	the	DET
alkej-315	76	2	next	next	ADJ
alkej-315	76	3	step	step	NOUN
alkej-315	76	4	is	be	AUX
alkej-315	76	5	devoted	devote	VERB
alkej-315	76	6	to	to	PART
alkej-315	76	7	design	design	VERB
alkej-315	76	8	a	a	DET
alkej-315	76	9	hosmo	hosmo	NOUN
alkej-315	76	10	to	to	PART
alkej-315	76	11	reconstruct	reconstruct	VERB
alkej-315	76	12	the	the	DET
alkej-315	76	13	perturbation	perturbation	NOUN
alkej-315	76	14	�	�	PROPN
alkej-315	76	15	together	together	ADV
alkej-315	76	16	with	with	ADP
alkej-315	76	17	estimating	estimate	VERB
alkej-315	76	18	the	the	DET
alkej-315	76	19	new	new	ADJ
alkej-315	76	20	state	state	NOUN
alkej-315	76	21	�	�	PROPN
alkej-315	76	22	.	.	PUNCT
alkej-315	77	1	it	it	PRON
alkej-315	77	2	consists	consist	VERB
alkej-315	77	3	of	of	ADP
alkej-315	77	4	building	build	VERB
alkej-315	77	5	a	a	DET
alkej-315	77	6	standard	standard	ADJ
alkej-315	77	7	luenberger	luenberger	NOUN
alkej-315	77	8	observer	observer	NOUN
alkej-315	77	9	together	together	ADV
alkej-315	77	10	with	with	ADP
alkej-315	77	11	a	a	DET
alkej-315	77	12	high	high	ADJ
alkej-315	77	13	order	order	NOUN
alkej-315	77	14	sliding	slide	VERB
alkej-315	77	15	mode	mode	NOUN
alkej-315	77	16	differentiator	differentiator	NOUN
alkej-315	77	17	.	.	PUNCT
alkej-315	78	1	a	a	DET
alkej-315	78	2	standard	standard	ADJ
alkej-315	78	3	luenberger	luenberg	ADJ
alkej-315	78	4	observer	observer	NOUN
alkej-315	78	5	for	for	ADP
alkej-315	78	6	the	the	DET
alkej-315	78	7	system	system	NOUN
alkej-315	78	8	in	in	ADP
alkej-315	78	9	eq	eq	ADP
alkej-315	78	10	.	.	PUNCT
alkej-315	79	1	(	(	PUNCT
alkej-315	79	2	3	3	X
alkej-315	79	3	)	)	PUNCT
alkej-315	79	4	is	be	AUX
alkej-315	79	5	given	give	VERB
alkej-315	79	6	by	by	ADP
alkej-315	79	7	,	,	PUNCT
alkej-315	79	8	�	�	PROPN
alkej-315	79	9	=	=	SYM
alkej-315	79	10	�	�	PROPN
alkej-315	79	11	,	,	PUNCT
alkej-315	79	12	+	+	NUM
alkej-315	79	13	�	�	PROPN
alkej-315	79	14	�	�	PROPN
alkej-315	79	15	+	+	CCONJ
alkej-315	79	16	-	-	PUNCT
alkej-315	79	17	�	�	NOUN
alkej-315	79	18	�	�	PROPN
alkej-315	79	19	−	−	PROPN
alkej-315	79	20	,	,	PUNCT
alkej-315	79	21	=	=	SYM
alkej-315	79	22	�	�	PROPN
alkej-315	79	23	,	,	PUNCT
alkej-315	79	24	+	+	NUM
alkej-315	79	25	�	�	PROPN
alkej-315	79	26	�	�	PROPN
alkej-315	79	27	+	+	CCONJ
alkej-315	79	28	-	-	PUNCT
alkej-315	79	29	�	�	PROPN
alkej-315	79	30	�	�	PROPN
alkej-315	79	31	−	−	PROPN
alkej-315	79	32	,	,	PUNCT
alkej-315	79	33	…	…	PUNCT
alkej-315	79	34	�	�	NOUN
alkej-315	79	35	4	4	NUM
alkej-315	79	36	where	where	SCONJ
alkej-315	79	37	,	,	PUNCT
alkej-315	79	38	∈	∈	PROPN
alkej-315	79	39	ℛ	ℛ	PROPN
alkej-315	79	40	�	�	PROPN
alkej-315	79	41	.	.	PUNCT
alkej-315	80	1	define:2	define:2	VERB
alkej-315	80	2	=	=	PUNCT
alkej-315	80	3	�	�	PROPN
alkej-315	81	1	−	−	PROPN
alkej-315	81	2	,	,	PUNCT
alkej-315	81	3	,	,	PUNCT
alkej-315	81	4	then	then	ADV
alkej-315	81	5	from	from	ADP
alkej-315	81	6	eq	eq	ADP
alkej-315	81	7	.	.	PUNCT
alkej-315	82	1	(	(	PUNCT
alkej-315	82	2	3	3	NUM
alkej-315	82	3	)	)	PUNCT
alkej-315	82	4	and	and	CCONJ
alkej-315	82	5	eq	eq	NOUN
alkej-315	82	6	.	.	PUNCT
alkej-315	83	1	(	(	PUNCT
alkej-315	83	2	4	4	X
alkej-315	83	3	)	)	PUNCT
alkej-315	83	4	we	we	PRON
alkej-315	83	5	obtain	obtain	VERB
alkej-315	83	6	:	:	PUNCT
alkej-315	83	7	�	�	PROPN
alkej-315	83	8	2	2	NUM
alkej-315	83	9	�	�	PROPN
alkej-315	83	10	=	=	SYM
alkej-315	83	11	�	�	PROPN
alkej-315	83	12	�	�	PROPN
alkej-315	83	13	−	−	PROPN
alkej-315	83	14	2	2	NUM
alkej-315	83	15	+	+	NUM
alkej-315	83	16	�	�	PROPN
alkej-315	83	17	�	�	PROPN
alkej-315	83	18	23	23	NUM
alkej-315	83	19	=	=	SYM
alkej-315	83	20	2	2	NUM
alkej-315	83	21	!	!	PUNCT
alkej-315	83	22	…	…	PUNCT
alkej-315	83	23	�	�	NOUN
alkej-315	83	24	5	5	NUM
alkej-315	83	25	where	where	SCONJ
alkej-315	83	26	23	23	NUM
alkej-315	83	27	=	=	SYM
alkej-315	83	28	�	�	PROPN
alkej-315	83	29	−	−	NOUN
alkej-315	83	30	,	,	PUNCT
alkej-315	83	31	=	=	PUNCT
alkej-315	83	32	�	�	PROPN
alkej-315	83	33	−	−	NOUN
alkej-315	83	34	,	,	PUNCT
alkej-315	83	35	=	=	NOUN
alkej-315	84	1	2	2	X
alkej-315	84	2	.	.	PUNCT
alkej-315	84	3	the	the	DET
alkej-315	84	4	traditional	traditional	ADJ
alkej-315	84	5	luenberger	luenberger	NOUN
alkej-315	84	6	observer	observer	NOUN
alkej-315	84	7	with	with	ADP
alkej-315	84	8	�	�	PROPN
alkej-315	84	9	=	=	SYM
alkej-315	84	10	0	0	NUM
alkej-315	84	11	ensures	ensure	VERB
alkej-315	84	12	the	the	DET
alkej-315	84	13	asymptotic	asymptotic	ADJ
alkej-315	84	14	convergence	convergence	NOUN
alkej-315	84	15	to	to	ADP
alkej-315	84	16	zero	zero	NUM
alkej-315	84	17	for	for	ADP
alkej-315	84	18	the	the	DET
alkej-315	84	19	estimation	estimation	NOUN
alkej-315	84	20	error	error	NOUN
alkej-315	84	21	due	due	ADP
alkej-315	84	22	to	to	ADP
alkej-315	84	23	that	that	DET
alkej-315	84	24	�	�	PROPN
alkej-315	84	25	�	�	PROPN
alkej-315	84	26	−	−	PROPN
alkej-315	84	27	is	be	AUX
alkej-315	84	28	hurwitz	hurwitz	PROPN
alkej-315	85	1	[	[	X
alkej-315	85	2	14	14	NUM
alkej-315	85	3	]	]	PUNCT
alkej-315	85	4	without	without	ADP
alkej-315	85	5	the	the	DET
alkej-315	85	6	need	need	NOUN
alkej-315	85	7	to	to	ADP
alkej-315	85	8	differentiating	differentiate	VERB
alkej-315	85	9	the	the	DET
alkej-315	85	10	output	output	NOUN
alkej-315	85	11	n-1	n-1	NOUN
alkej-315	85	12	times	time	NOUN
alkej-315	85	13	.	.	PUNCT
alkej-315	86	1	but	but	CCONJ
alkej-315	86	2	with	with	ADP
alkej-315	86	3	unknown	unknown	ADJ
alkej-315	86	4	bounded	bound	VERB
alkej-315	86	5	�	�	PROPN
alkej-315	86	6	the	the	DET
alkej-315	86	7	luenberger	luenberger	NOUN
alkej-315	86	8	observer	observer	NOUN
alkej-315	86	9	providing	provide	VERB
alkej-315	86	10	a	a	DET
alkej-315	86	11	bounded	bounded	ADJ
alkej-315	86	12	estimation	estimation	NOUN
alkej-315	86	13	error	error	NOUN
alkej-315	86	14	[	[	X
alkej-315	86	15	3	3	NUM
alkej-315	86	16	]	]	PUNCT
alkej-315	86	17	.	.	PUNCT
alkej-315	87	1	a	a	DET
alkej-315	87	2	high	high	ADJ
alkej-315	87	3	order	order	NOUN
alkej-315	87	4	sliding	slide	VERB
alkej-315	87	5	mode	mode	NOUN
alkej-315	87	6	differentiator	differentiator	NOUN
alkej-315	87	7	companied	companie	VERB
alkej-315	87	8	with	with	ADP
alkej-315	87	9	luenberger	luenberg	ADJ
alkej-315	87	10	observer	observer	NOUN
alkej-315	87	11	confirms	confirm	VERB
alkej-315	87	12	a	a	DET
alkej-315	87	13	finite	finite	ADJ
alkej-315	87	14	time	time	NOUN
alkej-315	87	15	convergence	convergence	NOUN
alkej-315	87	16	of	of	ADP
alkej-315	87	17	the	the	DET
alkej-315	87	18	resulting	result	VERB
alkej-315	87	19	estimation	estimation	NOUN
alkej-315	87	20	error	error	NOUN
alkej-315	87	21	to	to	ADP
alkej-315	87	22	zero	zero	NUM
alkej-315	87	23	as	as	ADP
alkej-315	87	24	follow	follow	VERB
alkej-315	87	25	[	[	X
alkej-315	87	26	3	3	NUM
alkej-315	87	27	]	]	SYM
alkej-315	87	28	:	:	PUNCT
alkej-315	87	29	566	566	NUM
alkej-315	87	30	7232	7232	NUM
alkej-315	87	31	�	�	PROPN
alkej-315	87	32	32	32	NUM
alkej-315	87	33	�	�	NOUN
alkej-315	87	34	32839	32839	NUM
alkej-315	87	35	:	:	PUNCT
alkej-315	87	36	:	:	PUNCT
alkej-315	87	37	;	;	PUNCT
alkej-315	87	38	=	=	SYM
alkej-315	87	39	<	<	X
alkej-315	87	40	�	�	PROPN
alkej-315	87	41	�	�	PROPN
alkej-315	87	42	−	−	PROPN
alkej-315	87	43	�	�	PROPN
alkej-315	87	44	�	�	PROPN
alkej-315	87	45	−	−	PROPN
alkej-315	87	46	�	�	PROPN
alkej-315	87	47	�	�	PROPN
alkej-315	87	48	�	�	PROPN
alkej-315	87	49	−	−	PROPN
alkej-315	87	50	�	�	PROPN
alkej-315	87	51	=	=	NOUN
alkej-315	87	52	2	2	NUM
alkej-315	87	53	+	+	CCONJ
alkej-315	87	54	<	<	X
alkej-315	87	55	000	000	NUM
alkej-315	87	56	�	�	PROPN
alkej-315	87	57	�	�	PROPN
alkej-315	87	58	−	−	PROPN
alkej-315	87	59	�	�	PROPN
alkej-315	87	60	�	�	PROPN
alkej-315	87	61	=	=	SYM
alkej-315	87	62	�	�	PROPN
alkej-315	87	63	.	.	PUNCT
alkej-315	87	64	.	.	PUNCT
alkej-315	88	1	�	�	PROPN
alkej-315	88	2	6	6	NUM
alkej-315	88	3	from	from	ADP
alkej-315	88	4	eq	eq	ADP
alkej-315	88	5	.	.	PUNCT
alkej-315	89	1	(	(	PUNCT
alkej-315	89	2	6	6	NUM
alkej-315	89	3	)	)	PUNCT
alkej-315	89	4	,	,	PUNCT
alkej-315	89	5	the	the	DET
alkej-315	89	6	state	state	NOUN
alkej-315	89	7	�	�	PROPN
alkej-315	89	8	and	and	CCONJ
alkej-315	89	9	the	the	DET
alkej-315	89	10	perturbation	perturbation	NOUN
alkej-315	89	11	�	�	PROPN
alkej-315	89	12	are	be	AUX
alkej-315	89	13	estimated	estimate	VERB
alkej-315	89	14	as	as	SCONJ
alkej-315	89	15	follows	follow	VERB
alkej-315	89	16	;	;	PUNCT
alkej-315	89	17	�	�	PROPN
alkej-315	89	18	=	=	SYM
alkej-315	89	19	,	,	PUNCT
alkej-315	89	20	+	+	CCONJ
alkej-315	89	21	$	$	SYM
alkej-315	89	22	�	�	PROPN
alkej-315	89	23	�	�	PROPN
alkej-315	89	24	−	−	PROPN
alkej-315	89	25	�	�	PROPN
alkej-315	89	26	�	�	PROPN
alkej-315	89	27	−	−	PROPN
alkej-315	89	28	�	�	PROPN
alkej-315	89	29	%	%	NOUN
alkej-315	89	30	@	@	ADP
alkej-315	89	31	�	�	PROPN
alkej-315	89	32	a232	a232	PROPN
alkej-315	89	33	�	�	PROPN
alkej-315	89	34	32	32	NUM
alkej-315	89	35	�	�	NOUN
alkej-315	89	36	3b	3b	NOUN
alkej-315	89	37	…	…	PUNCT
alkej-315	89	38	�	�	PROPN
alkej-315	89	39	7	7	NUM
alkej-315	89	40	�	�	PROPN
alkej-315	89	41	=	=	SYM
alkej-315	89	42	�	�	PROPN
alkej-315	89	43	d	d	PROPN
alkej-315	89	44	�	�	PROPN
alkej-315	89	45	e@fd	e@fd	NOUN
alkej-315	89	46	gh	gh	PROPN
alkej-315	89	47	i283	i283	PROPN
alkej-315	89	48	−	−	PROPN
alkej-315	89	49	�	�	PROPN
alkej-315	89	50	�	�	PROPN
alkej-315	89	51	−	−	PROPN
alkej-315	89	52	�	�	PROPN
alkej-315	89	53	2	2	NUM
alkej-315	89	54	j	j	PROPN
alkej-315	89	55	…	…	PUNCT
alkej-315	89	56	�	�	NOUN
alkej-315	89	57	8	8	NUM
alkej-315	89	58	equation	equation	NOUN
alkej-315	89	59	(	(	PUNCT
alkej-315	89	60	7	7	X
alkej-315	89	61	)	)	PUNCT
alkej-315	89	62	shows	show	VERB
alkej-315	89	63	that	that	SCONJ
alkej-315	89	64	,	,	PUNCT
alkej-315	89	65	�	�	PROPN
alkej-315	89	66	�	�	PROPN
alkej-315	89	67	−	−	PROPN
alkej-315	89	68	,	,	PUNCT
alkej-315	89	69	⟶	⟶	NOUN
alkej-315	89	70	0	0	NUM
alkej-315	89	71	when	when	SCONJ
alkej-315	89	72	23	23	NUM
alkej-315	89	73	⟶	⟶	NOUN
alkej-315	89	74	0	0	NUM
alkej-315	89	75	.	.	PUNCT
alkej-315	90	1	that	that	PRON
alkej-315	90	2	means	mean	VERB
alkej-315	90	3	a	a	DET
alkej-315	90	4	luenberger	luenberg	ADJ
alkej-315	90	5	observer	observer	NOUN
alkej-315	90	6	is	be	AUX
alkej-315	90	7	sufficient	sufficient	ADJ
alkej-315	90	8	with	with	ADP
alkej-315	90	9	�	�	PROPN
alkej-315	90	10	=	=	SYM
alkej-315	90	11	0	0	PROPN
alkej-315	90	12	.	.	PUNCT
alkej-315	91	1	to	to	ADP
alkej-315	91	2	this	this	DET
alkej-315	91	3	end	end	NOUN
alkej-315	91	4	,	,	PUNCT
alkej-315	91	5	the	the	DET
alkej-315	91	6	derivatives	derivative	NOUN
alkej-315	91	7	of	of	ADP
alkej-315	91	8	23	23	NUM
alkej-315	91	9	to	to	ADP
alkej-315	91	10	the	the	DET
alkej-315	91	11	third	third	ADJ
alkej-315	91	12	order	order	NOUN
alkej-315	91	13	are	be	AUX
alkej-315	91	14	the	the	DET
alkej-315	91	15	basic	basic	ADJ
alkej-315	91	16	implementation	implementation	NOUN
alkej-315	91	17	requirement	requirement	NOUN
alkej-315	91	18	of	of	ADP
alkej-315	91	19	the	the	DET
alkej-315	91	20	above	above	ADJ
alkej-315	91	21	observer	observer	NOUN
alkej-315	91	22	.	.	PUNCT
alkej-315	92	1	a	a	DET
alkej-315	92	2	high	high	ADJ
alkej-315	92	3	order	order	NOUN
alkej-315	92	4	sliding	slide	VERB
alkej-315	92	5	mode	mode	NOUN
alkej-315	92	6	differentiator	differentiator	NOUN
alkej-315	92	7	is	be	AUX
alkej-315	92	8	utilized	utilize	VERB
alkej-315	92	9	in	in	ADP
alkej-315	92	10	this	this	DET
alkej-315	92	11	work	work	NOUN
alkej-315	92	12	to	to	PART
alkej-315	92	13	get	get	VERB
alkej-315	92	14	an	an	DET
alkej-315	92	15	exact	exact	ADJ
alkej-315	92	16	(	(	PUNCT
alkej-315	92	17	robust	robust	ADJ
alkej-315	92	18	with	with	ADP
alkej-315	92	19	noisy	noisy	ADJ
alkej-315	92	20	measurements	measurement	NOUN
alkej-315	92	21	)	)	PUNCT
alkej-315	93	1	3th	3th	ADJ
alkej-315	93	2	order	order	NOUN
alkej-315	93	3	differentiation	differentiation	NOUN
alkej-315	93	4	of	of	ADP
alkej-315	93	5	signal	signal	NOUN
alkej-315	93	6	23	23	NUM
alkej-315	93	7	as	as	SCONJ
alkej-315	93	8	follow	follow	VERB
alkej-315	93	9	;	;	PUNCT
alkej-315	93	10	assume	assume	VERB
alkej-315	93	11	that	that	SCONJ
alkej-315	93	12	the	the	DET
alkej-315	93	13	3rd	3rd	ADJ
alkej-315	93	14	derivative	derivative	NOUN
alkej-315	93	15	has	have	VERB
alkej-315	93	16	a	a	DET
alkej-315	93	17	known	know	VERB
alkej-315	93	18	lipschitz	lipschitz	NOUN
alkej-315	93	19	constant	constant	ADJ
alkej-315	93	20	m	m	PROPN
alkej-315	93	21	>	>	ADJ
alkej-315	93	22	|	|	PROPN
alkej-315	93	23	�	�	PROPN
alkej-315	93	24	�	�	PROPN
alkej-315	93	25	�	�	PROPN
alkej-315	93	26	||	||	NOUN
alkej-315	93	27	�	�	PROPN
alkej-315	93	28	|pqr	|pqr	ADJ
alkej-315	93	29	[	[	X
alkej-315	93	30	3	3	NUM
alkej-315	93	31	,	,	PUNCT
alkej-315	93	32	chapter	chapter	NOUN
alkej-315	93	33	7	7	NUM
alkej-315	93	34	]	]	PUNCT
alkej-315	93	35	.	.	PUNCT
alkej-315	94	1	since	since	SCONJ
alkej-315	94	2	�	�	PROPN
alkej-315	94	3	�	�	PROPN
alkej-315	94	4	�	�	PROPN
alkej-315	94	5	=	=	SYM
alkej-315	94	6	1	1	NUM
alkej-315	94	7	(	(	PUNCT
alkej-315	94	8	see	see	VERB
alkej-315	94	9	eq	eq	ADP
alkej-315	94	10	.	.	PUNCT
alkej-315	94	11	(	(	PUNCT
alkej-315	94	12	3	3	NUM
alkej-315	94	13	)	)	PUNCT
alkej-315	94	14	)	)	PUNCT
alkej-315	94	15	,	,	PUNCT
alkej-315	94	16	thus	thus	ADV
alkej-315	94	17	m	m	VERB
alkej-315	94	18	>	>	X
alkej-315	94	19	|	|	PROPN
alkej-315	94	20	�	�	PROPN
alkej-315	94	21	|pqr	|pqr	NOUN
alkej-315	94	22	.	.	PUNCT
alkej-315	95	1	the	the	DET
alkej-315	95	2	hosmo	hosmo	NOUN
alkej-315	95	3	dynamics	dynamic	NOUN
alkej-315	95	4	is	be	AUX
alkej-315	95	5	given	give	VERB
alkej-315	95	6	by	by	ADP
alkej-315	95	7	;	;	PUNCT
alkej-315	95	8	�	�	PROPN
alkej-315	95	9	s	s	PART
alkej-315	95	10	�	�	PROPN
alkej-315	95	11	�	�	NOUN
alkej-315	95	12	=	=	SYM
alkej-315	95	13	−tu	−tu	NOUN
alkej-315	95	14	mvw	mvw	PROPN
alkej-315	95	15	xs	xs	PROPN
alkej-315	95	16	�	�	PROPN
alkej-315	96	1	−	−	PROPN
alkej-315	96	2	23xyw	23xyw	PROPN
alkej-315	96	3	z	z	PROPN
alkej-315	96	4	�	�	PROPN
alkej-315	96	5	[is	[is	X
alkej-315	96	6	�	�	PROPN
alkej-315	96	7	−	−	PROPN
alkej-315	96	8	23j	23j	NOUN
alkej-315	96	9	+	+	CCONJ
alkej-315	96	10	s	s	X
alkej-315	96	11	�	�	PROPN
alkej-315	96	12	s	s	SYM
alkej-315	96	13	�	�	PROPN
alkej-315	96	14	�	�	PROPN
alkej-315	96	15	=	=	SYM
alkej-315	96	16	−t	−t	PROPN
alkej-315	96	17	�	�	PROPN
alkej-315	96	18	mvy	mvy	PROPN
alkej-315	96	19	|s	|s	PROPN
alkej-315	96	20	�	�	PROPN
alkej-315	96	21	−	−	ADP
alkej-315	96	22	s	s	PROPN
alkej-315	96	23	�	�	PROPN
alkej-315	96	24	�	�	PROPN
alkej-315	96	25	|\y	|\y	PROPN
alkej-315	96	26	z	z	PROPN
alkej-315	96	27	�	�	PROPN
alkej-315	96	28	[	[	NOUN
alkej-315	96	29	�	�	PROPN
alkej-315	96	30	s	s	PART
alkej-315	96	31	�	�	PROPN
alkej-315	97	1	−	−	PROPN
alkej-315	97	2	s	s	PROPN
alkej-315	97	3	�	�	PROPN
alkej-315	97	4	�	�	PROPN
alkej-315	97	5	+	+	CCONJ
alkej-315	97	6	s	s	PROPN
alkej-315	97	7	�	�	PROPN
alkej-315	97	8	s	s	SYM
alkej-315	97	9	�	�	PROPN
alkej-315	97	10	�	�	PROPN
alkej-315	97	11	=	=	SYM
alkej-315	97	12	−t	−t	PROPN
alkej-315	97	13	�	�	PROPN
alkej-315	97	14	mv\	mv\	PROPN
alkej-315	97	15	|s	|s	PROPN
alkej-315	97	16	�	�	PROPN
alkej-315	97	17	−	−	ADP
alkej-315	97	18	s	s	PROPN
alkej-315	97	19	�	�	PROPN
alkej-315	97	20	�	�	PROPN
alkej-315	97	21	|g\	|g\	PROPN
alkej-315	97	22	z	z	PROPN
alkej-315	97	23	�	�	PROPN
alkej-315	97	24	[	[	NOUN
alkej-315	97	25	�	�	PROPN
alkej-315	97	26	s	s	PART
alkej-315	97	27	�	�	PROPN
alkej-315	97	28	−	−	PROPN
alkej-315	97	29	s	s	PROPN
alkej-315	97	30	�	�	PROPN
alkej-315	97	31	�	�	PROPN
alkej-315	97	32	+	+	CCONJ
alkej-315	97	33	susu	susu	PROPN
alkej-315	97	34	�	�	PROPN
alkej-315	97	35	=	=	SYM
alkej-315	97	36	−t	−t	PROPN
alkej-315	97	37	�	�	PROPN
alkej-315	97	38	mvg	mvg	PROPN
alkej-315	98	1	|su	|su	NOUN
alkej-315	98	2	−	−	PROPN
alkej-315	98	3	s	s	PROPN
alkej-315	98	4	�	�	PROPN
alkej-315	98	5	�	�	PROPN
alkej-315	98	6	|vg	|vg	NUM
alkej-315	98	7	z	z	PROPN
alkej-315	98	8	�	�	PROPN
alkej-315	98	9	[	[	X
alkej-315	98	10	�	�	PROPN
alkej-315	98	11	su	su	PROPN
alkej-315	98	12	−	−	PROPN
alkej-315	98	13	s	s	AUX
alkej-315	98	14	�	�	PROPN
alkej-315	98	15	�	�	PROPN
alkej-315	98	16	+	+	CCONJ
alkej-315	98	17	s]s	s]s	PROPN
alkej-315	98	18	]	]	X
alkej-315	98	19	�	�	X
alkej-315	98	20	=	=	SYM
alkej-315	98	21	−t^	−t^	ADP
alkej-315	98	22	m	m	PROPN
alkej-315	98	23	z	z	PROPN
alkej-315	98	24	�	�	PROPN
alkej-315	98	25	[	[	X
alkej-315	98	26	�	�	NOUN
alkej-315	98	27	s	s	PART
alkej-315	98	28	]	]	X
alkej-315	98	29	−	−	PROPN
alkej-315	98	30	su	su	PROPN
alkej-315	98	31	�	�	PROPN
alkej-315	98	32	�	�	PROPN
alkej-315	98	33	�	�	PROPN
alkej-315	98	34	�	�	PROPN
alkej-315	98	35	�	�	PROPN
alkej-315	98	36	�	�	PROPN
alkej-315	98	37	�	�	PROPN
alkej-315	98	38	�	�	PROPN
alkej-315	98	39	�	�	PROPN
alkej-315	98	40	9	9	NUM
alkej-315	98	41	where	where	SCONJ
alkej-315	98	42	t^	t^	NOUN
alkej-315	98	43	=	=	NOUN
alkej-315	98	44	1.1	1.1	NUM
alkej-315	98	45	,	,	PUNCT
alkej-315	98	46	t	t	PROPN
alkej-315	98	47	�	�	PROPN
alkej-315	98	48	=	=	SYM
alkej-315	98	49	1.5	1.5	NUM
alkej-315	98	50	,	,	PUNCT
alkej-315	98	51	t	t	PROPN
alkej-315	98	52	�	�	PROPN
alkej-315	98	53	=	=	SYM
alkej-315	98	54	2	2	NUM
alkej-315	98	55	,	,	PUNCT
alkej-315	98	56	t	t	PROPN
alkej-315	98	57	�	�	PROPN
alkej-315	98	58	=	=	SYM
alkej-315	98	59	3,tu	3,tu	NUM
alkej-315	98	60	=	=	SYM
alkej-315	98	61	5	5	NUM
alkej-315	99	1	[	[	SYM
alkej-315	99	2	3	3	NUM
alkej-315	99	3	,	,	PUNCT
alkej-315	99	4	chapter	chapter	NOUN
alkej-315	99	5	6	6	NUM
alkej-315	99	6	]	]	PUNCT
alkej-315	99	7	.	.	PUNCT
alkej-315	100	1	from	from	ADP
alkej-315	100	2	eq	eq	ADP
alkej-315	100	3	.	.	PUNCT
alkej-315	101	1	(	(	PUNCT
alkej-315	101	2	9	9	NUM
alkej-315	101	3	)	)	PUNCT
alkej-315	101	4	,	,	PUNCT
alkej-315	101	5	eq	eq	NOUN
alkej-315	101	6	.	.	PUNCT
alkej-315	102	1	(	(	PUNCT
alkej-315	102	2	7	7	X
alkej-315	102	3	)	)	PUNCT
alkej-315	102	4	becomes	become	VERB
alkej-315	102	5	;	;	PUNCT
alkej-315	102	6	�	�	NOUN
alkej-315	102	7	̀	̀	VERB
alkej-315	102	8	=	=	SYM
alkej-315	102	9	,	,	PUNCT
alkej-315	102	10	+	+	CCONJ
alkej-315	102	11	$	$	SYM
alkej-315	102	12	�	�	PROPN
alkej-315	102	13	�	�	PROPN
alkej-315	102	14	−	−	PROPN
alkej-315	102	15	�	�	PROPN
alkej-315	102	16	�	�	PROPN
alkej-315	102	17	−	−	PROPN
alkej-315	102	18	�	�	PROPN
alkej-315	102	19	%	%	NOUN
alkej-315	102	20	@	@	ADP
alkej-315	102	21	�	�	PROPN
alkej-315	102	22	$	$	SYM
alkej-315	102	23	s	s	PROPN
alkej-315	102	24	�	�	PROPN
alkej-315	102	25	s	s	PART
alkej-315	102	26	�	�	PROPN
alkej-315	102	27	s	s	PART
alkej-315	102	28	�	�	NOUN
alkej-315	102	29	%	%	NOUN
alkej-315	102	30	…	…	PUNCT
alkej-315	102	31	�	�	PROPN
alkej-315	102	32	10	10	NUM
alkej-315	102	33	based	base	VERB
alkej-315	102	34	on	on	ADP
alkej-315	102	35	eq	eq	PROPN
alkej-315	102	36	.	.	PUNCT
alkej-315	103	1	(	(	PUNCT
alkej-315	103	2	9	9	NUM
alkej-315	103	3	)	)	PUNCT
alkej-315	103	4	and	and	CCONJ
alkej-315	103	5	eq	eq	NOUN
alkej-315	103	6	.	.	PUNCT
alkej-315	104	1	(	(	PUNCT
alkej-315	104	2	10	10	NUM
alkej-315	104	3	)	)	PUNCT
alkej-315	104	4	,	,	PUNCT
alkej-315	104	5	eq	eq	NOUN
alkej-315	104	6	.	.	PUNCT
alkej-315	105	1	(	(	PUNCT
alkej-315	105	2	8)	8)	NUM
alkej-315	105	3	becomes	become	VERB
alkej-315	105	4	;	;	PUNCT
alkej-315	105	5	�	�	X
alkej-315	105	6	a	a	DET
alkej-315	105	7	=	=	PUNCT
alkej-315	105	8	�	�	PROPN
alkej-315	105	9	d	d	NOUN
alkej-315	105	10	�	�	PROPN
alkej-315	105	11	e@fd	e@fd	NOUN
alkej-315	105	12	gh	gh	PROPN
alkej-315	105	13	∗	∗	PROPN
alkej-315	105	14	csu	csu	PROPN
alkej-315	105	15	−	−	PROPN
alkej-315	105	16	�	�	PROPN
alkej-315	105	17	�	�	PROPN
alkej-315	105	18	−	−	PROPN
alkej-315	105	19	�	�	PROPN
alkej-315	105	20	$	$	SYM
alkej-315	105	21	�	�	PROPN
alkej-315	105	22	�	�	PROPN
alkej-315	105	23	−	−	PROPN
alkej-315	105	24	�	�	PROPN
alkej-315	105	25	�	�	PROPN
alkej-315	105	26	−	−	PROPN
alkej-315	105	27	�	�	PROPN
alkej-315	105	28	%	%	NOUN
alkej-315	105	29	@	@	ADP
alkej-315	105	30	�	�	PROPN
alkej-315	105	31	$	$	SYM
alkej-315	105	32	s	s	PROPN
alkej-315	105	33	�	�	PROPN
alkej-315	105	34	s	s	PART
alkej-315	105	35	�	�	PROPN
alkej-315	105	36	s	s	PART
alkej-315	105	37	�	�	PROPN
alkej-315	105	38	%d	%d	NOUN
alkej-315	105	39	…	…	PUNCT
alkej-315	105	40	(	(	PUNCT
alkej-315	105	41	11	11	NUM
alkej-315	105	42	)	)	PUNCT
alkej-315	105	43	by	by	ADP
alkej-315	105	44	taking	take	VERB
alkej-315	105	45	into	into	ADP
alkej-315	105	46	consideration	consideration	NOUN
alkej-315	105	47	eq	eq	ADP
alkej-315	105	48	.	.	PUNCT
alkej-315	106	1	(	(	PUNCT
alkej-315	106	2	10	10	NUM
alkej-315	106	3	)	)	PUNCT
alkej-315	106	4	and	and	CCONJ
alkej-315	106	5	eq	eq	NOUN
alkej-315	106	6	.	.	PUNCT
alkej-315	107	1	(	(	PUNCT
alkej-315	107	2	11	11	NUM
alkej-315	107	3	)	)	PUNCT
alkej-315	107	4	,	,	PUNCT
alkej-315	107	5	the	the	DET
alkej-315	107	6	control	control	NOUN
alkej-315	107	7	law	law	NOUN
alkej-315	107	8	is	be	AUX
alkej-315	107	9	proposed	propose	VERB
alkej-315	107	10	here	here	ADV
alkej-315	107	11	as	as	SCONJ
alkej-315	107	12	follows	follow	VERB
alkej-315	107	13	;	;	PUNCT
alkej-315	107	14	�	�	PROPN
alkej-315	107	15	=	=	SYM
alkej-315	107	16	�	�	PROPN
alkej-315	107	17	eveg	eveg	NOUN
alkej-315	107	18	f	f	PROPN
alkej-315	107	19	�	�	PROPN
alkej-315	107	20	^	^	SYM
alkej-315	107	21	�	�	PROPN
alkej-315	107	22	�	�	PROPN
alkej-315	107	23	̀	̀	PROPN
alkej-315	107	24	�	�	PROPN
alkej-315	107	25	,	,	PUNCT
alkej-315	107	26	�	�	PROPN
alkej-315	107	27	̀	̀	PROPN
alkej-315	107	28	�	�	PROPN
alkej-315	107	29	,	,	PUNCT
alkej-315	107	30	�	�	PROPN
alkej-315	107	31	̀	̀	VERB
alkej-315	107	32	�	�	PROPN
alkej-315	107	33	−	−	PROPN
alkej-315	107	34	�	�	PROPN
alkej-315	107	35	ag	ag	PROPN
alkej-315	107	36	…	…	PUNCT
alkej-315	107	37	�	�	PROPN
alkej-315	107	38	12	12	NUM
alkej-315	107	39	as	as	ADP
alkej-315	107	40	a	a	DET
alkej-315	107	41	result	result	NOUN
alkej-315	107	42	eq	eq	ADP
alkej-315	107	43	.	.	PUNCT
alkej-315	108	1	(	(	PUNCT
alkej-315	108	2	3	3	X
alkej-315	108	3	)	)	PUNCT
alkej-315	108	4	becomes	become	VERB
alkej-315	108	5	�	�	PROPN
alkej-315	108	6	�	�	PROPN
alkej-315	108	7	�	�	PROPN
alkej-315	108	8	�	�	PROPN
alkej-315	108	9	=	=	SYM
alkej-315	108	10	�	�	PROPN
alkej-315	108	11	�	�	PROPN
alkej-315	108	12	�	�	PROPN
alkej-315	108	13	�	�	PROPN
alkej-315	108	14	�	�	PROPN
alkej-315	108	15	=	=	SYM
alkej-315	108	16	�	�	PROPN
alkej-315	108	17	�	�	PROPN
alkej-315	108	18	�	�	PROPN
alkej-315	108	19	�	�	PROPN
alkej-315	108	20	�	�	PROPN
alkej-315	108	21	=	=	SYM
alkej-315	108	22	�	�	PROPN
alkej-315	108	23	^	^	SYM
alkej-315	108	24	�	�	PROPN
alkej-315	108	25	�	�	PROPN
alkej-315	108	26	̀	̀	PROPN
alkej-315	108	27	�	�	PROPN
alkej-315	108	28	,	,	PUNCT
alkej-315	108	29	�	�	PROPN
alkej-315	108	30	̀	̀	PROPN
alkej-315	108	31	�	�	PROPN
alkej-315	108	32	,	,	PUNCT
alkej-315	108	33	�	�	PROPN
alkej-315	108	34	̀	̀	VERB
alkej-315	108	35	�	�	PROPN
alkej-315	108	36	h	h	NOUN
alkej-315	108	37	…	…	PUNCT
alkej-315	108	38	�	�	PROPN
alkej-315	108	39	13	13	NUM
alkej-315	108	40	where	where	SCONJ
alkej-315	108	41	�	�	PROPN
alkej-315	108	42	^	^	SYM
alkej-315	108	43	�	�	PROPN
alkej-315	108	44	�	�	PROPN
alkej-315	108	45	̀	̀	PROPN
alkej-315	108	46	�	�	PROPN
alkej-315	108	47	,	,	PUNCT
alkej-315	108	48	�	�	PROPN
alkej-315	108	49	̀	̀	PROPN
alkej-315	108	50	�	�	PROPN
alkej-315	108	51	,	,	PUNCT
alkej-315	108	52	�	�	PROPN
alkej-315	108	53	̀	̀	VERB
alkej-315	108	54	�	�	PROPN
alkej-315	108	55	can	can	AUX
alkej-315	108	56	be	be	AUX
alkej-315	108	57	designed	design	VERB
alkej-315	108	58	as	as	ADP
alkej-315	108	59	any	any	DET
alkej-315	108	60	linear	linear	ADJ
alkej-315	108	61	states	state	NOUN
alkej-315	108	62	feedback	feedback	NOUN
alkej-315	108	63	controller	controller	NOUN
alkej-315	108	64	such	such	ADJ
alkej-315	108	65	that	that	SCONJ
alkej-315	108	66	the	the	DET
alkej-315	108	67	system	system	NOUN
alkej-315	108	68	dynamics	dynamic	NOUN
alkej-315	108	69	described	describe	VERB
alkej-315	108	70	by	by	ADP
alkej-315	108	71	(	(	PUNCT
alkej-315	108	72	13	13	NUM
alkej-315	108	73	)	)	PUNCT
alkej-315	108	74	is	be	AUX
alkej-315	108	75	globally	globally	ADV
alkej-315	108	76	asymptotically	asymptotically	ADV
alkej-315	108	77	stable	stable	ADJ
alkej-315	108	78	.	.	PUNCT
alkej-315	109	1	the	the	DET
alkej-315	109	2	control	control	NOUN
alkej-315	109	3	design	design	NOUN
alkej-315	109	4	idea	idea	NOUN
alkej-315	109	5	presented	present	VERB
alkej-315	109	6	here	here	ADV
alkej-315	109	7	is	be	AUX
alkej-315	109	8	depict	depict	NOUN
alkej-315	109	9	in	in	ADP
alkej-315	109	10	fig	fig	NOUN
alkej-315	109	11	.	.	PUNCT
alkej-315	110	1	(	(	PUNCT
alkej-315	110	2	1	1	NUM
alkej-315	110	3	)	)	PUNCT
alkej-315	110	4	,	,	PUNCT
alkej-315	110	5	where	where	SCONJ
alkej-315	110	6	the	the	DET
alkej-315	110	7	piston	piston	NOUN
alkej-315	110	8	position	position	NOUN
alkej-315	110	9	is	be	AUX
alkej-315	110	10	the	the	DET
alkej-315	110	11	only	only	ADJ
alkej-315	110	12	measured	measured	ADJ
alkej-315	110	13	output	output	NOUN
alkej-315	110	14	.	.	PUNCT
alkej-315	111	1	the	the	DET
alkej-315	111	2	feedback	feedback	NOUN
alkej-315	111	3	controller	controller	NOUN
alkej-315	111	4	was	be	AUX
alkej-315	111	5	designed	design	VERB
alkej-315	111	6	based	base	VERB
alkej-315	111	7	on	on	ADP
alkej-315	111	8	higher	high	ADJ
alkej-315	111	9	order	order	NOUN
alkej-315	111	10	sliding	slide	VERB
alkej-315	111	11	mode	mode	PROPN
alkej-315	111	12	observer	observer	NOUN
alkej-315	111	13	.	.	PUNCT
alkej-315	112	1	fig	fig	NOUN
alkej-315	112	2	.	.	PUNCT
alkej-315	113	1	1	1	X
alkej-315	113	2	.	.	X
alkej-315	113	3	control	control	NOUN
alkej-315	113	4	design	design	PROPN
alkej-315	113	5	idea	idea	NOUN
alkej-315	113	6	shibly	shibly	PROPN
alkej-315	113	7	ahmed	ahmed	PROPN
alkej-315	113	8	al	al	PROPN
alkej-315	113	9	-	-	PROPN
alkej-315	113	10	samarraie	samarraie	PROPN
alkej-315	113	11	al	al	PROPN
alkej-315	113	12	-	-	PUNCT
alkej-315	113	13	khwarizmi	khwarizmi	PROPN
alkej-315	113	14	engineering	engineering	NOUN
alkej-315	113	15	journal	journal	PROPN
alkej-315	113	16	,	,	PUNCT
alkej-315	113	17	vol	vol	NOUN
alkej-315	113	18	.	.	PROPN
alkej-315	113	19	12	12	NUM
alkej-315	113	20	,	,	PUNCT
alkej-315	113	21	no	no	INTJ
alkej-315	113	22	.	.	NOUN
alkej-315	113	23	4	4	NUM
alkej-315	113	24	,	,	PUNCT
alkej-315	113	25	p.p	p.p	PROPN
alkej-315	113	26	.	.	NOUN
alkej-315	113	27	111(2016	111(2016	NUM
alkej-315	113	28	)	)	PUNCT
alkej-315	113	29	4	4	NUM
alkej-315	113	30	4	4	NUM
alkej-315	113	31	.	.	PUNCT
alkej-315	113	32	high	high	ADJ
alkej-315	113	33	order	order	NOUN
alkej-315	113	34	sliding	slide	VERB
alkej-315	113	35	mode	mode	NOUN
alkej-315	113	36	observer	observer	NOUN
alkej-315	113	37	based	base	VERB
alkej-315	113	38	controller	controller	NOUN
alkej-315	113	39	design	design	NOUN
alkej-315	113	40	for	for	ADP
alkej-315	113	41	electrohydraulic	electrohydraulic	NOUN
alkej-315	113	42	system	system	NOUN
alkej-315	113	43	the	the	DET
alkej-315	113	44	mathematical	mathematical	ADJ
alkej-315	113	45	model	model	NOUN
alkej-315	113	46	for	for	ADP
alkej-315	113	47	electro	electro	ADJ
alkej-315	113	48	-	-	PUNCT
alkej-315	113	49	hydraulic	hydraulic	NOUN
alkej-315	113	50	system	system	NOUN
alkej-315	113	51	that	that	PRON
alkej-315	113	52	used	use	VERB
alkej-315	113	53	in	in	ADP
alkej-315	113	54	this	this	DET
alkej-315	113	55	work	work	NOUN
alkej-315	113	56	is	be	AUX
alkej-315	113	57	described	describe	VERB
alkej-315	113	58	by	by	ADP
alkej-315	113	59	[	[	X
alkej-315	113	60	15	15	NUM
alkej-315	113	61	]	]	X
alkej-315	113	62	;	;	PUNCT
alkej-315	113	63	�	�	PROPN
alkej-315	113	64	�	�	PROPN
alkej-315	113	65	�	�	PROPN
alkej-315	113	66	�	�	PROPN
alkej-315	113	67	=	=	SYM
alkej-315	113	68	�	�	PROPN
alkej-315	113	69	�	�	PROPN
alkej-315	113	70	�	�	PROPN
alkej-315	113	71	�	�	PROPN
alkej-315	113	72	�	�	PROPN
alkej-315	113	73	=	=	SYM
alkej-315	113	74	�	�	PROPN
alkej-315	113	75	�	�	PROPN
alkej-315	113	76	�	�	PROPN
alkej-315	113	77	�	�	PROPN
alkej-315	113	78	,	,	PUNCT
alkej-315	113	79	�	�	PROPN
alkej-315	113	80	�	�	PROPN
alkej-315	113	81	+	+	SYM
alkej-315	113	82	�	�	PROPN
alkej-315	113	83	�	�	PROPN
alkej-315	113	84	�	�	PROPN
alkej-315	113	85	�	�	PROPN
alkej-315	113	86	+	+	CCONJ
alkej-315	113	87	�	�	PROPN
alkej-315	113	88	�	�	PROPN
alkej-315	113	89	�	�	PROPN
alkej-315	113	90	�	�	PROPN
alkej-315	113	91	�	�	PROPN
alkej-315	113	92	,	,	PUNCT
alkej-315	113	93	�	�	PROPN
alkej-315	113	94	�	�	PROPN
alkej-315	113	95	�	�	PROPN
alkej-315	113	96	�	�	PROPN
alkej-315	113	97	�	�	PROPN
alkej-315	113	98	=	=	SYM
alkej-315	113	99	�	�	PROPN
alkej-315	113	100	�	�	PROPN
alkej-315	113	101	�	�	PROPN
alkej-315	113	102	�	�	PROPN
alkej-315	113	103	,	,	PUNCT
alkej-315	113	104	�	�	PROPN
alkej-315	113	105	�	�	PROPN
alkej-315	113	106	+	+	SYM
alkej-315	113	107	�	�	PROPN
alkej-315	113	108	�	�	PROPN
alkej-315	113	109	�	�	PROPN
alkej-315	113	110	�	�	PROPN
alkej-315	113	111	+	+	CCONJ
alkej-315	113	112	�	�	PROPN
alkej-315	113	113	�	�	PROPN
alkej-315	113	114	�	�	PROPN
alkej-315	113	115	�	�	PROPN
alkej-315	113	116	,	,	PUNCT
alkej-315	113	117	�	�	PROPN
alkej-315	113	118	�	�	PROPN
alkej-315	113	119	,	,	PUNCT
alkej-315	113	120	�	�	PROPN
alkej-315	113	121	�	�	PROPN
alkej-315	113	122	�	�	PROPN
alkej-315	113	123	=	=	SYM
alkej-315	113	124	�	�	PROPN
alkej-315	113	125	�	�	PROPN
alkej-315	113	126	i	i	PRON
alkej-315	113	127	…	…	PUNCT
alkej-315	113	128	�	�	PROPN
alkej-315	113	129	14	14	NUM
alkej-315	113	130	where	where	SCONJ
alkej-315	113	131	�	�	PROPN
alkej-315	113	132	�	�	PROPN
alkej-315	113	133	is	be	AUX
alkej-315	113	134	the	the	DET
alkej-315	113	135	piston	piston	NOUN
alkej-315	113	136	position	position	PROPN
alkej-315	113	137	�	�	PROPN
alkej-315	113	138	j2	j2	PROPN
alkej-315	113	139	�	�	PROPN
alkej-315	113	140	2k	2k	PROPN
alkej-315	113	141	,	,	PUNCT
alkej-315	113	142	�	�	PROPN
alkej-315	113	143	�	�	PROPN
alkej-315	113	144	is	be	AUX
alkej-315	113	145	the	the	DET
alkej-315	113	146	piston	piston	NOUN
alkej-315	113	147	velocity	velocity	NOUN
alkej-315	113	148	�	�	PROPN
alkej-315	113	149	j2	j2	PROPN
alkej-315	113	150	�	�	PROPN
alkej-315	113	151	2k	2k	PROPN
alkej-315	113	152	/	/	SYM
alkej-315	113	153	z2	z2	PROPN
alkej-315	113	154	m	m	PROPN
alkej-315	113	155	,	,	PUNCT
alkej-315	113	156	�	�	PROPN
alkej-315	113	157	�	�	PROPN
alkej-315	113	158	is	be	AUX
alkej-315	113	159	the	the	DET
alkej-315	113	160	pressure	pressure	NOUN
alkej-315	113	161	difference	difference	NOUN
alkej-315	113	162	�	�	PROPN
alkej-315	113	163	n	n	CCONJ
alkej-315	113	164	/	/	SYM
alkej-315	113	165	j2	j2	PROPN
alkej-315	113	166	�	�	PROPN
alkej-315	113	167	2k	2k	PROPN
alkej-315	113	168	�	�	PROPN
alkej-315	113	169	,	,	PUNCT
alkej-315	113	170	�	�	PROPN
alkej-315	113	171	is	be	AUX
alkej-315	113	172	the	the	DET
alkej-315	113	173	control	control	NOUN
alkej-315	113	174	input	input	NOUN
alkej-315	113	175	(	(	PUNCT
alkej-315	113	176	the	the	DET
alkej-315	113	177	current	current	ADJ
alkej-315	113	178	)	)	PUNCT
alkej-315	113	179	�	�	PROPN
alkej-315	113	180	j	j	PROPN
alkej-315	113	181	�	�	PROPN
alkej-315	113	182	,	,	PUNCT
alkej-315	113	183	�	�	PROPN
alkej-315	113	184	,	,	PUNCT
alkej-315	113	185	�	�	PROPN
alkej-315	113	186	�	�	PROPN
alkej-315	113	187	,	,	PUNCT
alkej-315	113	188	�	�	PROPN
alkej-315	113	189	and	and	CCONJ
alkej-315	113	190	�	�	PROPN
alkej-315	113	191	�	�	PROPN
alkej-315	113	192	are	be	AUX
alkej-315	113	193	the	the	DET
alkej-315	113	194	system	system	NOUN
alkej-315	113	195	dynamics	dynamic	NOUN
alkej-315	113	196	nominal	nominal	ADJ
alkej-315	113	197	terms	term	NOUN
alkej-315	113	198	(	(	PUNCT
alkej-315	113	199	includes	include	VERB
alkej-315	113	200	nominal	nominal	ADJ
alkej-315	113	201	parameters	parameter	NOUN
alkej-315	113	202	only	only	ADV
alkej-315	113	203	)	)	PUNCT
alkej-315	113	204	with	with	ADP
alkej-315	113	205	�	�	PROPN
alkej-315	113	206	�	�	PROPN
alkej-315	113	207	,	,	PUNCT
alkej-315	113	208	�	�	PROPN
alkej-315	113	209	�	�	PROPN
alkej-315	113	210	>	>	X
alkej-315	113	211	0	0	X
alkej-315	113	212	.	.	PUNCT
alkej-315	114	1	in	in	ADP
alkej-315	114	2	addition	addition	NOUN
alkej-315	114	3	�	�	PROPN
alkej-315	114	4	�	�	PROPN
alkej-315	114	5	and	and	CCONJ
alkej-315	114	6	�	�	PROPN
alkej-315	114	7	�	�	PROPN
alkej-315	114	8	are	be	AUX
alkej-315	114	9	the	the	DET
alkej-315	114	10	mismatched	mismatched	ADJ
alkej-315	114	11	and	and	CCONJ
alkej-315	114	12	matched	match	VERB
alkej-315	114	13	perturbations	perturbation	NOUN
alkej-315	114	14	respectively	respectively	ADV
alkej-315	114	15	.	.	PUNCT
alkej-315	115	1	the	the	DET
alkej-315	115	2	nominal	nominal	ADJ
alkej-315	115	3	and	and	CCONJ
alkej-315	115	4	the	the	DET
alkej-315	115	5	perturbation	perturbation	NOUN
alkej-315	115	6	terms	term	NOUN
alkej-315	115	7	in	in	ADP
alkej-315	115	8	system	system	NOUN
alkej-315	115	9	dynamics	dynamic	NOUN
alkej-315	115	10	are	be	AUX
alkej-315	115	11	given	give	VERB
alkej-315	115	12	by	by	ADP
alkej-315	115	13	;	;	PUNCT
alkej-315	115	14	�	�	PROPN
alkej-315	115	15	�	�	PROPN
alkej-315	115	16	�	�	PROPN
alkej-315	115	17	�	�	PROPN
alkej-315	115	18	�	�	PROPN
alkej-315	115	19	,	,	PUNCT
alkej-315	115	20	�	�	PROPN
alkej-315	115	21	�	�	PROPN
alkej-315	115	22	=	=	SYM
alkej-315	115	23	−	−	PROPN
alkej-315	115	24	�	�	PROPN
alkej-315	115	25	p	p	NOUN
alkej-315	115	26	�	�	PROPN
alkej-315	115	27	o	o	NOUN
alkej-315	115	28	�	�	PROPN
alkej-315	115	29	�	�	PROPN
alkej-315	115	30	+	+	CCONJ
alkej-315	115	31	p	p	PROPN
alkej-315	115	32	�	�	PROPN
alkej-315	115	33	�	�	PROPN
alkej-315	115	34	�	�	PROPN
alkej-315	115	35	�	�	PROPN
alkej-315	115	36	=	=	PUNCT
alkej-315	115	37	qp	qp	PROPN
alkej-315	115	38	�	�	PROPN
alkej-315	115	39	�	�	PROPN
alkej-315	115	40	�	�	PROPN
alkej-315	115	41	�	�	PROPN
alkej-315	115	42	,	,	PUNCT
alkej-315	115	43	�	�	PROPN
alkej-315	115	44	�	�	PROPN
alkej-315	115	45	=	=	SYM
alkej-315	115	46	−	−	PROPN
alkej-315	115	47	ursqtu	ursqtu	PROPN
alkej-315	115	48	�	�	PROPN
alkej-315	115	49	�	�	PROPN
alkej-315	115	50	−	−	PROPN
alkej-315	115	51	ursduvtu	ursduvtu	PROPN
alkej-315	115	52	�	�	PROPN
alkej-315	115	53	�	�	PROPN
alkej-315	115	54	�	�	PROPN
alkej-315	115	55	�	�	PROPN
alkej-315	115	56	=	=	SYM
alkej-315	115	57	ursdwxyztu{|	ursdwxyztu{|	NOUN
alkej-315	115	58	{	{	PUNCT
alkej-315	115	59	}	}	PUNCT
alkej-315	115	60	~	~	PUNCT
alkej-315	115	61	�	�	PROPN
alkej-315	115	62	�	�	PROPN
alkej-315	115	63	�	�	PROPN
alkej-315	115	64	�	�	PROPN
alkej-315	115	65	�	�	PROPN
alkej-315	115	66	,	,	PUNCT
alkej-315	115	67	�	�	PROPN
alkej-315	115	68	�	�	PROPN
alkej-315	115	69	=	=	SYM
alkej-315	115	70	∆	∆	PROPN
alkej-315	115	71	�	�	PROPN
alkej-315	115	72	�	�	PROPN
alkej-315	115	73	�	�	PROPN
alkej-315	115	74	�	�	PROPN
alkej-315	115	75	,	,	PUNCT
alkej-315	115	76	�	�	PROPN
alkej-315	115	77	�	�	PROPN
alkej-315	115	78	+	+	CCONJ
alkej-315	115	79	∆	∆	PROPN
alkej-315	115	80	�	�	PROPN
alkej-315	115	81	�	�	PROPN
alkej-315	115	82	�	�	PROPN
alkej-315	115	83	�	�	PROPN
alkej-315	115	84	�	�	PROPN
alkej-315	115	85	�	�	PROPN
alkej-315	115	86	�	�	PROPN
alkej-315	115	87	�	�	PROPN
alkej-315	115	88	�	�	PROPN
alkej-315	115	89	,	,	PUNCT
alkej-315	115	90	�	�	PROPN
alkej-315	115	91	�	�	PROPN
alkej-315	115	92	=	=	SYM
alkej-315	115	93	∆	∆	PROPN
alkej-315	115	94	�	�	PROPN
alkej-315	115	95	�	�	PROPN
alkej-315	115	96	�	�	PROPN
alkej-315	115	97	�	�	PROPN
alkej-315	115	98	,	,	PUNCT
alkej-315	115	99	�	�	PROPN
alkej-315	115	100	�	�	PROPN
alkej-315	115	101	+	+	SYM
alkej-315	115	102	�	�	PROPN
alkej-315	115	103	�	�	PROPN
alkej-315	115	104	�	�	PROPN
alkej-315	115	105	=	=	SYM
alkej-315	115	106	�	�	PROPN
alkej-315	115	107	ursdwxyztu{|	ursdwxyztu{|	NOUN
alkej-315	115	108	+	+	CCONJ
alkej-315	115	109	∆	∆	PROPN
alkej-315	115	110	�	�	PROPN
alkej-315	115	111	ursdwxyztu{|	ursdwxyztu{|	ADJ
alkej-315	115	112	�	�	PROPN
alkej-315	115	113	!	!	PUNCT
alkej-315	115	114	∗	∗	NOUN
alkej-315	115	115	{	{	PUNCT
alkej-315	115	116	}	}	PUNCT
alkej-315	115	117	~	~	PUNCT
alkej-315	115	118	−	−	PROPN
alkej-315	115	119	z	z	PROPN
alkej-315	115	120	�	�	PROPN
alkej-315	115	121	[	[	SYM
alkej-315	115	122	�	�	PROPN
alkej-315	115	123	�	�	PROPN
alkej-315	115	124	�	�	PROPN
alkej-315	115	125	�	�	PROPN
alkej-315	115	126	−	−	PROPN
alkej-315	115	127	ursdwxyztu{|	ursdwxyztu{|	NOUN
alkej-315	115	128	{	{	PUNCT
alkej-315	115	129	}	}	PUNCT
alkej-315	115	130	~	~	PUNCT
alkej-315	115	131	�	�	PROPN
alkej-315	115	132	�	�	PROPN
alkej-315	115	133	�	�	PROPN
alkej-315	115	134	�	�	PROPN
alkej-315	115	135	�	�	PROPN
alkej-315	115	136	�	�	PROPN
alkej-315	115	137	�	�	PROPN
alkej-315	115	138	�	�	PROPN
alkej-315	115	139	�	�	PROPN
alkej-315	115	140	�	�	PROPN
alkej-315	115	141	�	�	PROPN
alkej-315	115	142	�	�	PROPN
alkej-315	115	143	�	�	PROPN
alkej-315	115	144	…	…	PUNCT
alkej-315	115	145	(	(	PUNCT
alkej-315	115	146	15	15	NUM
alkej-315	115	147	)	)	PUNCT
alkej-315	115	148	where	where	SCONJ
alkej-315	115	149	:	:	PUNCT
alkej-315	115	150	∆	∆	PROPN
alkej-315	115	151	�	�	PROPN
alkej-315	115	152	,	,	PUNCT
alkej-315	115	153	∆	∆	PROPN
alkej-315	115	154	�	�	PROPN
alkej-315	115	155	�	�	PROPN
alkej-315	115	156	,	,	PUNCT
alkej-315	115	157	∆	∆	PROPN
alkej-315	115	158	�	�	PROPN
alkej-315	115	159	,	,	PUNCT
alkej-315	115	160	and	and	CCONJ
alkej-315	115	161	∆	∆	PROPN
alkej-315	115	162	�	�	PROPN
alkej-315	115	163	�	�	PROPN
alkej-315	115	164	are	be	AUX
alkej-315	115	165	the	the	DET
alkej-315	115	166	uncertainty	uncertainty	NOUN
alkej-315	115	167	term	term	NOUN
alkej-315	115	168	and	and	CCONJ
alkej-315	115	169	its	its	PRON
alkej-315	115	170	assumed	assume	VERB
alkej-315	115	171	here	here	ADV
alkej-315	115	172	that	that	SCONJ
alkej-315	115	173	the	the	DET
alkej-315	115	174	variation	variation	NOUN
alkej-315	115	175	in	in	ADP
alkej-315	115	176	their	their	PRON
alkej-315	115	177	parameters	parameter	NOUN
alkej-315	115	178	can	can	AUX
alkej-315	115	179	reach	reach	VERB
alkej-315	115	180	30	30	NUM
alkej-315	115	181	%	%	NOUN
alkej-315	115	182	of	of	ADP
alkej-315	115	183	their	their	PRON
alkej-315	115	184	nominal	nominal	ADJ
alkej-315	115	185	values	value	NOUN
alkej-315	115	186	.	.	PUNCT
alkej-315	116	1	as	as	ADP
alkej-315	116	2	in	in	ADP
alkej-315	116	3	assumption	assumption	NOUN
alkej-315	116	4	(	(	PUNCT
alkej-315	116	5	1	1	NUM
alkej-315	116	6	)	)	PUNCT
alkej-315	116	7	,	,	PUNCT
alkej-315	116	8	�	�	PROPN
alkej-315	116	9	�	�	PROPN
alkej-315	116	10	�	�	PROPN
alkej-315	116	11	�	�	PROPN
alkej-315	116	12	,	,	PUNCT
alkej-315	116	13	�	�	PROPN
alkej-315	116	14	�	�	PROPN
alkej-315	116	15	and	and	CCONJ
alkej-315	116	16	�	�	PROPN
alkej-315	116	17	�	�	PROPN
alkej-315	116	18	�	�	PROPN
alkej-315	116	19	�	�	PROPN
alkej-315	116	20	�	�	PROPN
alkej-315	116	21	,	,	PUNCT
alkej-315	116	22	�	�	PROPN
alkej-315	116	23	�	�	PROPN
alkej-315	116	24	are	be	AUX
alkej-315	116	25	differentiable	differentiable	ADJ
alkej-315	116	26	functions	function	NOUN
alkej-315	116	27	.	.	PUNCT
alkej-315	117	1	accordingly	accordingly	ADV
alkej-315	117	2	the	the	DET
alkej-315	117	3	electro	electro	ADJ
alkej-315	117	4	-	-	PUNCT
alkej-315	117	5	hydraulic	hydraulic	NOUN
alkej-315	117	6	system	system	NOUN
alkej-315	117	7	described	describe	VERB
alkej-315	117	8	in	in	ADP
alkej-315	117	9	eq	eq	ADP
alkej-315	117	10	.	.	PUNCT
alkej-315	118	1	(	(	PUNCT
alkej-315	118	2	14	14	NUM
alkej-315	118	3	)	)	PUNCT
alkej-315	118	4	is	be	AUX
alkej-315	118	5	equivalent	equivalent	ADJ
alkej-315	118	6	to	to	ADP
alkej-315	118	7	canonical	canonical	ADJ
alkej-315	118	8	system	system	NOUN
alkej-315	118	9	form	form	NOUN
alkej-315	118	10	that	that	PRON
alkej-315	118	11	given	give	VERB
alkej-315	118	12	in	in	ADP
alkej-315	118	13	eq	eq	ADP
alkej-315	118	14	.	.	PUNCT
alkej-315	119	1	(	(	PUNCT
alkej-315	119	2	3	3	NUM
alkej-315	119	3	)	)	PUNCT
alkej-315	119	4	.	.	PUNCT
alkej-315	120	1	based	base	VERB
alkej-315	120	2	on	on	ADP
alkej-315	120	3	section	section	NOUN
alkej-315	120	4	3	3	NUM
alkej-315	120	5	one	one	NUM
alkej-315	120	6	can	can	AUX
alkej-315	120	7	conclude	conclude	VERB
alkej-315	120	8	the	the	DET
alkej-315	120	9	following	following	NOUN
alkej-315	120	10	;	;	PUNCT
alkej-315	120	11	i.	i.	NOUN
alkej-315	120	12	since	since	SCONJ
alkej-315	120	13	the	the	DET
alkej-315	120	14	pair	pair	NOUN
alkej-315	120	15	�	�	PROPN
alkej-315	120	16	,	,	PUNCT
alkej-315	120	17	�	�	PROPN
alkej-315	120	18	in	in	ADP
alkej-315	120	19	eq	eq	ADP
alkej-315	120	20	.	.	PUNCT
alkej-315	121	1	(	(	PUNCT
alkej-315	121	2	3	3	X
alkej-315	121	3	)	)	PUNCT
alkej-315	121	4	is	be	AUX
alkej-315	121	5	observable	observable	ADJ
alkej-315	121	6	,	,	PUNCT
alkej-315	121	7	therefore	therefore	ADV
alkej-315	121	8	,	,	PUNCT
alkej-315	121	9	there	there	PRON
alkej-315	121	10	is	be	VERB
alkej-315	121	11	a	a	DET
alkej-315	121	12	gain	gain	NOUN
alkej-315	121	13	matrix	matrix	NOUN
alkej-315	121	14	used	use	VERB
alkej-315	121	15	to	to	PART
alkej-315	121	16	place	place	VERB
alkej-315	121	17	the	the	DET
alkej-315	121	18	eigenvalues	eigenvalue	NOUN
alkej-315	121	19	of	of	ADP
alkej-315	121	20	matrix	matrix	NOUN
alkej-315	121	21	�	�	PROPN
alkej-315	121	22	−	−	PROPN
alkej-315	121	23	to	to	PART
alkej-315	121	24	stable	stable	VERB
alkej-315	121	25	one	one	NUM
alkej-315	121	26	[	[	X
alkej-315	121	27	14	14	NUM
alkej-315	121	28	]	]	PUNCT
alkej-315	121	29	.	.	PUNCT
alkej-315	122	1	let	let	VERB
alkej-315	122	2	the	the	DET
alkej-315	122	3	desired	desire	VERB
alkej-315	122	4	stable	stable	ADJ
alkej-315	122	5	eigenvalues	eigenvalue	NOUN
alkej-315	122	6	are	be	AUX
alkej-315	122	7	2	2	NUM
alkej-315	122	8	�	�	PROPN
alkej-315	122	9	�	�	PROPN
alkej-315	122	10	�	�	PROPN
alkej-315	122	11	�	�	PROPN
alkej-315	122	12	−	−	PROPN
alkej-315	122	13	=	=	SYM
alkej-315	122	14	�	�	PROPN
alkej-315	122	15	−1,−2,−3	−1,−2,−3	PROPN
alkej-315	123	1	then	then	ADV
alkej-315	123	2	the	the	DET
alkej-315	123	3	gain	gain	NOUN
alkej-315	123	4	matrix	matrix	NOUN
alkej-315	123	5	=	=	PUNCT
alkej-315	123	6	(	(	PUNCT
alkej-315	123	7	6	6	NUM
alkej-315	123	8	11	11	NUM
alkej-315	123	9	6)	6)	NUM
alkej-315	123	10	�	�	PROPN
alkej-315	123	11	.	.	PUNCT
alkej-315	123	12	ii	ii	PROPN
alkej-315	123	13	.	.	PUNCT
alkej-315	124	1	with	with	ADP
alkej-315	124	2	the	the	DET
alkej-315	124	3	aid	aid	NOUN
alkej-315	124	4	of	of	ADP
alkej-315	124	5	eq	eq	PROPN
alkej-315	124	6	.	.	PUNCT
alkej-315	125	1	(	(	PUNCT
alkej-315	125	2	4	4	NUM
alkej-315	125	3	)	)	PUNCT
alkej-315	125	4	to	to	ADP
alkej-315	125	5	eq	eq	NOUN
alkej-315	125	6	.	.	PUNCT
alkej-315	126	1	(	(	PUNCT
alkej-315	126	2	11	11	NUM
alkej-315	126	3	)	)	PUNCT
alkej-315	126	4	,	,	PUNCT
alkej-315	126	5	and	and	CCONJ
alkej-315	126	6	m	m	PROPN
alkej-315	126	7	=	=	ADJ
alkej-315	126	8	10	10	NUM
alkej-315	126	9	�	�	PROPN
alkej-315	126	10	�	�	PROPN
alkej-315	126	11	,	,	PUNCT
alkej-315	126	12	the	the	DET
alkej-315	126	13	reconstruction	reconstruction	NOUN
alkej-315	126	14	of	of	ADP
alkej-315	126	15	the	the	DET
alkej-315	126	16	unknown	unknown	ADJ
alkej-315	126	17	form	form	NOUN
alkej-315	126	18	�	�	PROPN
alkej-315	126	19	along	along	ADP
alkej-315	126	20	with	with	ADP
alkej-315	126	21	the	the	DET
alkej-315	126	22	estimation	estimation	NOUN
alkej-315	126	23	of	of	ADP
alkej-315	126	24	�	�	PROPN
alkej-315	126	25	are	be	AUX
alkej-315	126	26	as	as	ADV
alkej-315	126	27	follow	follow	VERB
alkej-315	126	28	;	;	PUNCT
alkej-315	126	29	�	�	NOUN
alkej-315	126	30	̀	̀	VERB
alkej-315	126	31	=	=	SYM
alkej-315	126	32	,	,	PUNCT
alkej-315	126	33	+	+	CCONJ
alkej-315	126	34	$	$	SYM
alkej-315	126	35	s	s	PROPN
alkej-315	126	36	�	�	NOUN
alkej-315	126	37	6s	6s	NUM
alkej-315	126	38	�	�	PROPN
alkej-315	126	39	+	+	SYM
alkej-315	126	40	s	s	PROPN
alkej-315	126	41	�	�	PROPN
alkej-315	126	42	11s	11s	PROPN
alkej-315	126	43	�	�	PROPN
alkej-315	126	44	+	+	CCONJ
alkej-315	126	45	6s	6s	NUM
alkej-315	126	46	�	�	PROPN
alkej-315	126	47	+	+	SYM
alkej-315	126	48	s	s	PROPN
alkej-315	126	49	�	�	NOUN
alkej-315	126	50	%	%	NOUN
alkej-315	126	51	…	…	PUNCT
alkej-315	126	52	�	�	PROPN
alkej-315	126	53	16	16	NUM
alkej-315	126	54	�	�	PROPN
alkej-315	126	55	a	a	PRON
alkej-315	126	56	=	=	SYM
alkej-315	126	57	su	su	PROPN
alkej-315	126	58	+	+	CCONJ
alkej-315	126	59	6s	6s	NUM
alkej-315	126	60	�	�	PROPN
alkej-315	126	61	+	+	SYM
alkej-315	126	62	11s	11s	NUM
alkej-315	126	63	�	�	PROPN
alkej-315	126	64	+	+	CCONJ
alkej-315	126	65	6s	6s	NUM
alkej-315	126	66	�	�	PROPN
alkej-315	126	67	…	…	SYM
alkej-315	126	68	�	�	PROPN
alkej-315	126	69	17	17	NUM
alkej-315	126	70	iii	iii	NOUN
alkej-315	126	71	.	.	PUNCT
alkej-315	127	1	the	the	DET
alkej-315	127	2	actual	actual	ADJ
alkej-315	127	3	current	current	ADJ
alkej-315	127	4	control	control	NOUN
alkej-315	127	5	input	input	NOUN
alkej-315	127	6	is	be	AUX
alkej-315	127	7	calculated	calculate	VERB
alkej-315	127	8	by	by	ADP
alkej-315	127	9	�	�	PROPN
alkej-315	127	10	=	=	SYM
alkej-315	127	11	�	�	PROPN
alkej-315	127	12	eveg	eveg	PROPN
alkej-315	127	13	�	�	PROPN
alkej-315	127	14	�	�	PROPN
alkej-315	127	15	^	^	SYM
alkej-315	127	16	�	�	PROPN
alkej-315	127	17	�	�	PROPN
alkej-315	127	18	̀	̀	PROPN
alkej-315	127	19	�	�	PROPN
alkej-315	127	20	,	,	PUNCT
alkej-315	127	21	�	�	PROPN
alkej-315	127	22	̀	̀	PROPN
alkej-315	127	23	�	�	PROPN
alkej-315	127	24	,	,	PUNCT
alkej-315	127	25	�	�	PROPN
alkej-315	127	26	̀	̀	VERB
alkej-315	127	27	�	�	PROPN
alkej-315	127	28	−	−	PROPN
alkej-315	127	29	su	su	PROPN
alkej-315	128	1	−	−	PROPN
alkej-315	128	2	6s	6s	NUM
alkej-315	128	3	�	�	PROPN
alkej-315	128	4	−	−	PROPN
alkej-315	128	5	11s	11s	PROPN
alkej-315	128	6	�	�	PROPN
alkej-315	128	7	−	−	NUM
alkej-315	128	8	6s	6s	NUM
alkej-315	128	9	�	�	PROPN
alkej-315	128	10	�	�	PROPN
alkej-315	128	11	…	…	SYM
alkej-315	128	12	�	�	PROPN
alkej-315	128	13	18	18	NUM
alkej-315	128	14	for	for	ADP
alkej-315	128	15	eq	eq	PROPN
alkej-315	128	16	.	.	PUNCT
alkej-315	129	1	(	(	PUNCT
alkej-315	129	2	14	14	NUM
alkej-315	129	3	)	)	PUNCT
alkej-315	129	4	,	,	PUNCT
alkej-315	129	5	in	in	ADP
alkej-315	129	6	spite	spite	NOUN
alkej-315	129	7	of	of	ADP
alkej-315	129	8	the	the	DET
alkej-315	129	9	complete	complete	ADJ
alkej-315	129	10	system	system	NOUN
alkej-315	129	11	parametric	parametric	ADJ
alkej-315	129	12	uncertainties	uncertainty	NOUN
alkej-315	129	13	,	,	PUNCT
alkej-315	129	14	the	the	DET
alkej-315	129	15	matching	match	VERB
alkej-315	129	16	condition	condition	NOUN
alkej-315	129	17	of	of	ADP
alkej-315	129	18	�	�	PROPN
alkej-315	129	19	�	�	PROPN
alkej-315	129	20	�	�	PROPN
alkej-315	129	21	�	�	PROPN
alkej-315	129	22	�	�	PROPN
alkej-315	129	23	,	,	PUNCT
alkej-315	129	24	�	�	PROPN
alkej-315	129	25	�	�	PROPN
alkej-315	129	26	,	,	PUNCT
alkej-315	129	27	�	�	PROPN
alkej-315	129	28	with	with	ADP
alkej-315	129	29	the	the	DET
alkej-315	129	30	actual	actual	ADJ
alkej-315	129	31	control	control	NOUN
alkej-315	129	32	input	input	NOUN
alkej-315	129	33	are	be	AUX
alkej-315	129	34	not	not	PART
alkej-315	129	35	met	meet	VERB
alkej-315	129	36	and	and	CCONJ
alkej-315	129	37	strong	strong	ADJ
alkej-315	129	38	observability	observability	NOUN
alkej-315	129	39	does	do	AUX
alkej-315	129	40	not	not	PART
alkej-315	129	41	satisfied	satisfied	ADJ
alkej-315	129	42	.	.	PUNCT
alkej-315	130	1	however	however	ADV
alkej-315	130	2	,	,	PUNCT
alkej-315	130	3	with	with	ADP
alkej-315	130	4	assumption	assumption	NOUN
alkej-315	130	5	(	(	PUNCT
alkej-315	130	6	1	1	NUM
alkej-315	130	7	)	)	PUNCT
alkej-315	130	8	,	,	PUNCT
alkej-315	130	9	and	and	CCONJ
alkej-315	130	10	the	the	DET
alkej-315	130	11	estimated	estimate	VERB
alkej-315	130	12	states	state	NOUN
alkej-315	130	13	and	and	CCONJ
alkej-315	130	14	perturbation	perturbation	NOUN
alkej-315	130	15	via	via	ADP
alkej-315	130	16	hosmo	hosmo	PROPN
alkej-315	130	17	,	,	PUNCT
alkej-315	130	18	the	the	DET
alkej-315	130	19	current	current	ADJ
alkej-315	130	20	control	control	NOUN
alkej-315	130	21	action	action	NOUN
alkej-315	130	22	as	as	ADP
alkej-315	130	23	in	in	ADP
alkej-315	130	24	eq	eq	NOUN
alkej-315	130	25	.	.	PUNCT
alkej-315	131	1	(	(	PUNCT
alkej-315	131	2	18	18	NUM
alkej-315	131	3	)	)	PUNCT
alkej-315	131	4	solves	solve	NOUN
alkej-315	131	5	all	all	PRON
alkej-315	131	6	of	of	ADP
alkej-315	131	7	the	the	DET
alkej-315	131	8	above	above	ADJ
alkej-315	131	9	challenges	challenge	NOUN
alkej-315	131	10	.	.	PUNCT
alkej-315	132	1	moreover	moreover	ADV
alkej-315	132	2	one	one	PRON
alkej-315	132	3	can	can	AUX
alkej-315	132	4	use	use	VERB
alkej-315	132	5	any	any	DET
alkej-315	132	6	state	state	NOUN
alkej-315	132	7	feedback	feedback	NOUN
alkej-315	132	8	controller	controller	NOUN
alkej-315	132	9	�	�	PROPN
alkej-315	132	10	^	^	SYM
alkej-315	132	11	�	�	PROPN
alkej-315	132	12	�	�	PROPN
alkej-315	132	13	̀	̀	PROPN
alkej-315	132	14	�	�	PROPN
alkej-315	132	15	,	,	PUNCT
alkej-315	132	16	�	�	PROPN
alkej-315	132	17	̀	̀	PROPN
alkej-315	132	18	�	�	PROPN
alkej-315	132	19	,	,	PUNCT
alkej-315	132	20	�	�	PROPN
alkej-315	132	21	̀	̀	VERB
alkej-315	132	22	�	�	NOUN
alkej-315	132	23	techniques	technique	NOUN
alkej-315	132	24	to	to	PART
alkej-315	132	25	drives	drive	VERB
alkej-315	132	26	�	�	PROPN
alkej-315	132	27	�	�	PROPN
alkej-315	132	28	=	=	SYM
alkej-315	132	29	�	�	PROPN
alkej-315	132	30	�	�	PROPN
alkej-315	132	31	to	to	ADP
alkej-315	132	32	the	the	DET
alkej-315	132	33	desired	desire	VERB
alkej-315	132	34	position	position	NOUN
alkej-315	132	35	like	like	ADP
alkej-315	132	36	lqr	lqr	NOUN
alkej-315	132	37	and	and	CCONJ
alkej-315	132	38	the	the	DET
alkej-315	132	39	pole	pole	NOUN
alkej-315	132	40	placement	placement	NOUN
alkej-315	132	41	.	.	PUNCT
alkej-315	133	1	in	in	ADP
alkej-315	133	2	the	the	DET
alkej-315	133	3	present	present	ADJ
alkej-315	133	4	work	work	NOUN
alkej-315	133	5	a	a	DET
alkej-315	133	6	linear	linear	ADJ
alkej-315	133	7	state	state	NOUN
alkej-315	133	8	feedback	feedback	NOUN
alkej-315	133	9	controller	controller	NOUN
alkej-315	133	10	,	,	PUNCT
alkej-315	133	11	uses	use	VERB
alkej-315	133	12	�	�	PROPN
alkej-315	133	13	̀	̀	PROPN
alkej-315	133	14	�	�	PROPN
alkej-315	133	15	,	,	PUNCT
alkej-315	133	16	�	�	PROPN
alkej-315	133	17	̀	̀	VERB
alkej-315	133	18	�	�	PROPN
alkej-315	133	19	and	and	CCONJ
alkej-315	133	20	�	�	PROPN
alkej-315	133	21	̀	̀	VERB
alkej-315	133	22	�	�	PROPN
alkej-315	133	23	and	and	CCONJ
alkej-315	133	24	with	with	SCONJ
alkej-315	133	25	desired	desire	VERB
alkej-315	133	26	negative	negative	ADJ
alkej-315	133	27	poles	pole	NOUN
alkej-315	133	28	values	value	NOUN
alkej-315	133	29	is	be	AUX
alkej-315	133	30	given	give	VERB
alkej-315	133	31	in	in	ADP
alkej-315	133	32	eqs	eqs	PROPN
alkej-315	133	33	.	.	PUNCT
alkej-315	134	1	(	(	PUNCT
alkej-315	134	2	21	21	NUM
alkej-315	134	3	)	)	PUNCT
alkej-315	134	4	to	to	ADP
alkej-315	134	5	(	(	PUNCT
alkej-315	134	6	23	23	NUM
alkej-315	134	7	)	)	PUNCT
alkej-315	134	8	in	in	ADP
alkej-315	134	9	the	the	DET
alkej-315	134	10	following	follow	VERB
alkej-315	134	11	section	section	NOUN
alkej-315	134	12	.	.	PUNCT
alkej-315	135	1	5	5	X
alkej-315	135	2	.	.	X
alkej-315	135	3	simulation	simulation	NOUN
alkej-315	135	4	results	result	NOUN
alkej-315	135	5	and	and	CCONJ
alkej-315	135	6	discussions	discussion	NOUN
alkej-315	135	7	the	the	DET
alkej-315	135	8	obtained	obtain	VERB
alkej-315	135	9	simulation	simulation	NOUN
alkej-315	135	10	results	result	NOUN
alkej-315	135	11	in	in	ADP
alkej-315	135	12	this	this	DET
alkej-315	135	13	work	work	NOUN
alkej-315	135	14	are	be	AUX
alkej-315	135	15	performed	perform	VERB
alkej-315	135	16	using	use	VERB
alkej-315	135	17	the	the	DET
alkej-315	135	18	actual	actual	ADJ
alkej-315	135	19	dynamics	dynamic	NOUN
alkej-315	135	20	system	system	NOUN
alkej-315	135	21	as	as	SCONJ
alkej-315	135	22	described	describe	VERB
alkej-315	135	23	by	by	ADP
alkej-315	135	24	eq	eq	PROPN
alkej-315	135	25	.	.	PUNCT
alkej-315	136	1	(	(	PUNCT
alkej-315	136	2	14	14	NUM
alkej-315	136	3	)	)	PUNCT
alkej-315	136	4	with	with	ADP
alkej-315	136	5	the	the	DET
alkej-315	136	6	control	control	NOUN
alkej-315	136	7	law	law	NOUN
alkej-315	136	8	and	and	CCONJ
alkej-315	136	9	the	the	DET
alkej-315	136	10	observer	observer	NOUN
alkej-315	136	11	dynamics	dynamic	NOUN
alkej-315	136	12	as	as	SCONJ
alkej-315	136	13	given	give	VERB
alkej-315	136	14	by	by	ADP
alkej-315	136	15	eq	eq	PROPN
alkej-315	136	16	.	.	PUNCT
alkej-315	137	1	(	(	PUNCT
alkej-315	137	2	18	18	NUM
alkej-315	137	3	)	)	PUNCT
alkej-315	137	4	and	and	CCONJ
alkej-315	137	5	eq	eq	NOUN
alkej-315	137	6	.	.	PUNCT
alkej-315	138	1	(	(	PUNCT
alkej-315	138	2	9	9	NUM
alkej-315	138	3	)	)	PUNCT
alkej-315	138	4	respectively	respectively	ADV
alkej-315	138	5	.	.	PUNCT
alkej-315	139	1	in	in	ADP
alkej-315	139	2	addition	addition	NOUN
alkej-315	139	3	the	the	DET
alkej-315	139	4	observer	observer	NOUN
alkej-315	139	5	parameters	parameter	NOUN
alkej-315	139	6	are	be	AUX
alkej-315	139	7	presented	present	VERB
alkej-315	139	8	in	in	ADP
alkej-315	139	9	section	section	NOUN
alkej-315	139	10	4	4	NUM
alkej-315	139	11	.	.	PUNCT
alkej-315	140	1	the	the	DET
alkej-315	140	2	initial	initial	ADJ
alkej-315	140	3	system	system	NOUN
alkej-315	140	4	states	state	NOUN
alkej-315	140	5	and	and	CCONJ
alkej-315	140	6	initial	initial	ADJ
alkej-315	140	7	observer	observer	NOUN
alkej-315	140	8	states	state	NOUN
alkej-315	140	9	have	have	AUX
alkej-315	140	10	been	be	AUX
alkej-315	140	11	taken	take	VERB
alkej-315	140	12	equal	equal	ADJ
alkej-315	140	13	to	to	ADP
alkej-315	140	14	�	�	PROPN
alkej-315	140	15	0.0001,0,0	0.0001,0,0	NOUN
alkej-315	140	16	,	,	PUNCT
alkej-315	140	17	�	�	PROPN
alkej-315	140	18	0.0001,0,0	0.0001,0,0	X
alkej-315	140	19	respectively	respectively	ADV
alkej-315	140	20	.	.	PUNCT
alkej-315	141	1	nominal	nominal	ADJ
alkej-315	141	2	electro	electro	ADJ
alkej-315	141	3	-	-	PUNCT
alkej-315	141	4	hydraulic	hydraulic	NOUN
alkej-315	141	5	system	system	NOUN
alkej-315	141	6	parameters	parameter	NOUN
alkej-315	141	7	are	be	AUX
alkej-315	141	8	given	give	VERB
alkej-315	141	9	in	in	ADP
alkej-315	141	10	the	the	DET
alkej-315	141	11	following	follow	VERB
alkej-315	141	12	table	table	NOUN
alkej-315	141	13	.	.	PUNCT
alkej-315	142	1	table	table	NOUN
alkej-315	142	2	1	1	NUM
alkej-315	142	3	,	,	PUNCT
alkej-315	142	4	the	the	DET
alkej-315	142	5	system	system	NOUN
alkej-315	142	6	parameters	parameter	NOUN
alkej-315	142	7	[	[	X
alkej-315	142	8	8	8	NUM
alkej-315	142	9	]	]	PUNCT
alkej-315	142	10	.	.	PUNCT
alkej-315	143	1	the	the	DET
alkej-315	143	2	parameter	parameter	NOUN
alkej-315	143	3	description	description	NOUN
alkej-315	143	4	the	the	DET
alkej-315	143	5	nominal	nominal	ADJ
alkej-315	143	6	value	value	NOUN
alkej-315	143	7	(	(	PUNCT
alkej-315	143	8	si	si	NOUN
alkej-315	143	9	units	unit	NOUN
alkej-315	143	10	)	)	PUNCT
alkej-315	143	11	p	p	X
alkej-315	143	12	viscous	viscous	ADJ
alkej-315	143	13	damping	damp	VERB
alkej-315	143	14	coefficient	coefficient	NOUN
alkej-315	143	15	.	.	PUNCT
alkej-315	144	1	19.84	19.84	NUM
alkej-315	144	2	*	*	SYM
alkej-315	144	3	103	103	NUM
alkej-315	144	4	ns	ns	ADJ
alkej-315	144	5	/	/	SYM
alkej-315	144	6	m	m	PROPN
alkej-315	144	7	ω	ω	NUM
alkej-315	144	8	ram	ram	NOUN
alkej-315	144	9	area	area	NOUN
alkej-315	144	10	of	of	ADP
alkej-315	144	11	the	the	DET
alkej-315	144	12	cylinder	cylinder	NOUN
alkej-315	144	13	.	.	PUNCT
alkej-315	145	1	5.55	5.55	NUM
alkej-315	145	2	∗	∗	NOUN
alkej-315	145	3	10@	10@	NUM
alkej-315	145	4	�	�	PROPN
alkej-315	145	5	m2	m2	PROPN
alkej-315	145	6	v	v	PROPN
alkej-315	145	7	�	�	PROPN
alkej-315	145	8	total	total	ADJ
alkej-315	145	9	volume	volume	NOUN
alkej-315	145	10	of	of	ADP
alkej-315	145	11	the	the	DET
alkej-315	145	12	cylinder	cylinder	NOUN
alkej-315	145	13	and	and	CCONJ
alkej-315	145	14	the	the	DET
alkej-315	145	15	hoses	hose	NOUN
alkej-315	145	16	between	between	ADP
alkej-315	145	17	the	the	DET
alkej-315	145	18	cylinder	cylinder	NOUN
alkej-315	145	19	and	and	CCONJ
alkej-315	145	20	the	the	DET
alkej-315	145	21	servo	servo	NOUN
alkej-315	145	22	valve	valve	NOUN
alkej-315	145	23	.	.	PUNCT
alkej-315	146	1	1.75	1.75	NUM
alkej-315	146	2	∗	∗	NOUN
alkej-315	146	3	10@	10@	NUM
alkej-315	146	4	�	�	PROPN
alkej-315	146	5	m3	m3	PROPN
alkej-315	147	1	+	+	PROPN
alkej-315	147	2	p	p	PROPN
alkej-315	147	3	coefficient	coefficient	NOUN
alkej-315	147	4	of	of	ADP
alkej-315	147	5	the	the	DET
alkej-315	147	6	total	total	ADJ
alkej-315	147	7	internal	internal	ADJ
alkej-315	147	8	leakage	leakage	NOUN
alkej-315	147	9	of	of	ADP
alkej-315	147	10	the	the	DET
alkej-315	147	11	cylinder	cylinder	NOUN
alkej-315	147	12	due	due	ADP
alkej-315	147	13	to	to	ADP
alkej-315	147	14	pressure	pressure	NOUN
alkej-315	147	15	.	.	PUNCT
alkej-315	148	1	1.5	1.5	NUM
alkej-315	148	2	∗	∗	NOUN
alkej-315	148	3	10@	10@	NUM
alkej-315	148	4	�	�	NOUN
alkej-315	148	5	u	u	NOUN
alkej-315	148	6	m5	m5	NOUN
alkej-315	148	7	/	/	SYM
alkej-315	148	8	ns	ns	NUM
alkej-315	148	9	shibly	shibly	PROPN
alkej-315	148	10	ahmed	ahmed	PROPN
alkej-315	148	11	al	al	PROPN
alkej-315	148	12	-	-	PROPN
alkej-315	148	13	samarraie	samarraie	PROPN
alkej-315	148	14	al	al	PROPN
alkej-315	148	15	-	-	PUNCT
alkej-315	148	16	khwarizmi	khwarizmi	PROPN
alkej-315	148	17	engineering	engineering	NOUN
alkej-315	148	18	journal	journal	PROPN
alkej-315	148	19	,	,	PUNCT
alkej-315	148	20	vol	vol	NOUN
alkej-315	148	21	.	.	PROPN
alkej-315	148	22	12	12	NUM
alkej-315	148	23	,	,	PUNCT
alkej-315	148	24	no	no	INTJ
alkej-315	148	25	.	.	NOUN
alkej-315	148	26	4	4	NUM
alkej-315	148	27	,	,	PUNCT
alkej-315	148	28	p.p	p.p	PROPN
alkej-315	148	29	.	.	NOUN
alkej-315	148	30	111(2016	111(2016	NUM
alkej-315	148	31	)	)	PUNCT
alkej-315	148	32	5	5	NUM
alkej-315	148	33	o	o	NOUN
alkej-315	148	34	effective	effective	ADJ
alkej-315	148	35	bulk	bulk	ADJ
alkej-315	148	36	modulus	modulus	NOUN
alkej-315	148	37	of	of	ADP
alkej-315	148	38	spring	spring	NOUN
alkej-315	148	39	.	.	PUNCT
alkej-315	149	1	70	70	NUM
alkej-315	150	1	*	*	SYM
alkej-315	150	2	103	103	NUM
alkej-315	150	3	n	n	CCONJ
alkej-315	150	4	/	/	SYM
alkej-315	150	5	m	m	PROPN
alkej-315	150	6	�	�	NOUN
alkej-315	150	7	�	�	PROPN
alkej-315	150	8	effective	effective	ADJ
alkej-315	150	9	bulk	bulk	ADJ
alkej-315	150	10	modulus	modulus	NOUN
alkej-315	150	11	.	.	PUNCT
alkej-315	151	1	700	700	NUM
alkej-315	151	2	∗	∗	NOUN
alkej-315	151	3	10	10	NUM
alkej-315	151	4	�	�	PROPN
alkej-315	151	5	n	n	CCONJ
alkej-315	151	6	/	/	SYM
alkej-315	151	7	m2	m2	PROPN
alkej-315	151	8	�	�	PROPN
alkej-315	151	9	�	�	PROPN
alkej-315	151	10	/	/	SYM
alkej-315	151	11	{	{	PUNCT
alkej-315	151	12	�	�	PROPN
alkej-315	151	13	cd	cd	PROPN
alkej-315	151	14	is	be	AUX
alkej-315	151	15	the	the	DET
alkej-315	151	16	discharge	discharge	NOUN
alkej-315	151	17	coefficient	coefficient	NOUN
alkej-315	151	18	;	;	PUNCT
alkej-315	151	19	w	w	NOUN
alkej-315	151	20	is	be	AUX
alkej-315	151	21	the	the	DET
alkej-315	151	22	spool	spool	ADJ
alkej-315	151	23	valve	valve	NOUN
alkej-315	151	24	area	area	NOUN
alkej-315	151	25	gradient	gradient	NOUN
alkej-315	151	26	and	and	CCONJ
alkej-315	151	27	�	�	PROPN
alkej-315	151	28	is	be	AUX
alkej-315	151	29	the	the	DET
alkej-315	151	30	fluid	fluid	ADJ
alkej-315	151	31	density	density	NOUN
alkej-315	151	32	.	.	PUNCT
alkej-315	152	1	3.42	3.42	NUM
alkej-315	152	2	∗	∗	NOUN
alkej-315	152	3	10@	10@	NUM
alkej-315	152	4	]	]	X
alkej-315	152	5	m3√nz	m3√nz	PROPN
alkej-315	152	6	j	j	PROPN
alkej-315	152	7	mass	mass	NOUN
alkej-315	152	8	of	of	ADP
alkej-315	152	9	the	the	DET
alkej-315	152	10	load	load	NOUN
alkej-315	152	11	.	.	PUNCT
alkej-315	153	1	20~250	20~250	NUM
alkej-315	153	2	kg	kg	NOUN
alkej-315	153	3	}	}	PUNCT
alkej-315	153	4	�	�	PROPN
alkej-315	153	5	supply	supply	NOUN
alkej-315	153	6	pressure	pressure	NOUN
alkej-315	153	7	of	of	ADP
alkej-315	153	8	the	the	DET
alkej-315	153	9	fluid	fluid	NOUN
alkej-315	153	10	.	.	PUNCT
alkej-315	154	1	10	10	NUM
alkej-315	154	2	�	�	PROPN
alkej-315	154	3	n	n	CCONJ
alkej-315	154	4	/	/	SYM
alkej-315	154	5	meter	meter	NOUN
alkej-315	154	6	�	�	PROPN
alkej-315	154	7	o	o	NOUN
alkej-315	154	8	�	�	PROPN
alkej-315	154	9	gain	gain	NOUN
alkej-315	154	10	of	of	ADP
alkej-315	154	11	the	the	DET
alkej-315	154	12	servovalve	servovalve	NOUN
alkej-315	154	13	.	.	PUNCT
alkej-315	155	1	0.03	0.03	NUM
alkej-315	155	2	from	from	ADP
alkej-315	155	3	which	which	PRON
alkej-315	155	4	the	the	DET
alkej-315	155	5	parameters	parameter	NOUN
alkej-315	155	6	of	of	ADP
alkej-315	155	7	eq	eq	PROPN
alkej-315	155	8	.	.	PUNCT
alkej-315	156	1	(	(	PUNCT
alkej-315	156	2	15	15	NUM
alkej-315	156	3	)	)	PUNCT
alkej-315	156	4	have	have	AUX
alkej-315	156	5	been	be	AUX
alkej-315	156	6	obtained	obtain	VERB
alkej-315	156	7	;	;	PUNCT
alkej-315	156	8	�	�	PROPN
alkej-315	156	9	=	=	SYM
alkej-315	156	10	−518.52	−518.52	PROPN
alkej-315	156	11	�	�	PROPN
alkej-315	156	12	�	�	PROPN
alkej-315	156	13	−	−	PROPN
alkej-315	156	14	147	147	NUM
alkej-315	156	15	�	�	PROPN
alkej-315	156	16	�	�	PROPN
alkej-315	156	17	,	,	PUNCT
alkej-315	156	18	�	�	PROPN
alkej-315	156	19	�	�	PROPN
alkej-315	156	20	=	=	SYM
alkej-315	156	21	4.11	4.11	NUM
alkej-315	156	22	∗	∗	NOUN
alkej-315	156	23	10@	10@	NUM
alkej-315	156	24	]	]	X
alkej-315	156	25	�	�	PROPN
alkej-315	156	26	=	=	SYM
alkej-315	157	1	−8.88	−8.88	PROPN
alkej-315	157	2	∗	∗	NOUN
alkej-315	157	3	10	10	NUM
alkej-315	157	4	�	�	PROPN
alkej-315	157	5	�	�	PROPN
alkej-315	157	6	�	�	PROPN
alkej-315	157	7	−	−	PROPN
alkej-315	157	8	0.024	0.024	NUM
alkej-315	157	9	�	�	PROPN
alkej-315	157	10	�	�	PROPN
alkej-315	157	11	,	,	PUNCT
alkej-315	157	12	�	�	PROPN
alkej-315	157	13	�	�	PROPN
alkej-315	157	14	=	=	NUM
alkej-315	157	15	5.19	5.19	NUM
alkej-315	157	16	∗	∗	NOUN
alkej-315	157	17	10	10	NUM
alkej-315	157	18	�	�	PROPN
alkej-315	157	19	�	�	PROPN
alkej-315	157	20	�	�	PROPN
alkej-315	157	21	=	=	PUNCT
alkej-315	157	22	−∆	−∆	PROPN
alkej-315	157	23	�	�	PROPN
alkej-315	157	24	518.52	518.52	NUM
alkej-315	157	25	�	�	PROPN
alkej-315	157	26	�	�	PROPN
alkej-315	157	27	−	−	PROPN
alkej-315	157	28	∆	∆	PROPN
alkej-315	157	29	�	�	PROPN
alkej-315	157	30	147	147	NUM
alkej-315	157	31	�	�	PROPN
alkej-315	157	32	�	�	PROPN
alkej-315	157	33	+	+	CCONJ
alkej-315	157	34	∆	∆	PROPN
alkej-315	157	35	�	�	PROPN
alkej-315	157	36	4.11	4.11	NUM
alkej-315	157	37	∗	∗	NOUN
alkej-315	157	38	10@	10@	NUM
alkej-315	157	39	]	]	PUNCT
alkej-315	157	40	�	�	PROPN
alkej-315	157	41	�	�	PROPN
alkej-315	157	42	�	�	PROPN
alkej-315	157	43	�	�	PROPN
alkej-315	157	44	=	=	PUNCT
alkej-315	157	45	−∆	−∆	PROPN
alkej-315	157	46	�	�	PROPN
alkej-315	157	47	8.88	8.88	NUM
alkej-315	157	48	∗	∗	NOUN
alkej-315	157	49	10	10	NUM
alkej-315	157	50	�	�	PROPN
alkej-315	157	51	�	�	PROPN
alkej-315	157	52	�	�	PROPN
alkej-315	157	53	−	−	PROPN
alkej-315	157	54	∆	∆	PROPN
alkej-315	157	55	�	�	PROPN
alkej-315	157	56	0.02	0.02	NUM
alkej-315	157	57	4	4	NUM
alkej-315	157	58	�	�	PROPN
alkej-315	157	59	�	�	PROPN
alkej-315	157	60	+	+	PROPN
alkej-315	157	61	�	�	PROPN
alkej-315	157	62	�	�	PROPN
alkej-315	157	63	�	�	PROPN
alkej-315	157	64	=	=	SYM
alkej-315	157	65	�	�	PROPN
alkej-315	157	66	1641600	1641600	NUM
alkej-315	157	67	+	+	CCONJ
alkej-315	157	68	∆	∆	PROPN
alkej-315	157	69	�	�	PROPN
alkej-315	157	70	1641600	1641600	NUM
alkej-315	157	71	�	�	PROPN
alkej-315	157	72	{	{	PUNCT
alkej-315	157	73	10	10	NUM
alkej-315	157	74	�	�	PROPN
alkej-315	157	75	−	−	PROPN
alkej-315	157	76	z	z	PROPN
alkej-315	157	77	�	�	PROPN
alkej-315	157	78	[	[	SYM
alkej-315	157	79	�	�	PROPN
alkej-315	157	80	�	�	PROPN
alkej-315	157	81	�	�	PROPN
alkej-315	157	82	�	�	PROPN
alkej-315	157	83	−	−	PROPN
alkej-315	157	84	5.19	5.19	NUM
alkej-315	157	85	∗	∗	NOUN
alkej-315	157	86	10	10	NUM
alkej-315	157	87	�	�	NOUN
alkej-315	157	88	…	…	PUNCT
alkej-315	157	89	(	(	PUNCT
alkej-315	157	90	19	19	NUM
alkej-315	157	91	)	)	PUNCT
alkej-315	157	92	where	where	SCONJ
alkej-315	157	93	|∆	|∆	NOUN
alkej-315	157	94	�	�	PROPN
alkej-315	157	95	|	|	ADV
alkej-315	157	96	≤	≤	NUM
alkej-315	157	97	�	�	PROPN
alkej-315	157	98	|	|	NOUN
alkej-315	157	99	�	�	PROPN
alkej-315	157	100	�	�	PROPN
alkej-315	157	101	|	|	ADV
alkej-315	157	102	,	,	PUNCT
alkej-315	157	103	is	be	AUX
alkej-315	157	104	the	the	DET
alkej-315	157	105	parameter	parameter	NOUN
alkej-315	157	106	uncertainty	uncertainty	NOUN
alkej-315	157	107	,	,	PUNCT
alkej-315	157	108	�	�	PROPN
alkej-315	157	109	�	�	PROPN
alkej-315	157	110	is	be	AUX
alkej-315	157	111	the	the	DET
alkej-315	157	112	nominal	nominal	ADJ
alkej-315	157	113	parameter	parameter	NOUN
alkej-315	157	114	value	value	NOUN
alkej-315	157	115	and	and	CCONJ
alkej-315	157	116	0	0	NUM
alkej-315	157	117	<	<	X
alkej-315	157	118	�	�	PROPN
alkej-315	157	119	<	<	X
alkej-315	157	120	1	1	NUM
alkej-315	157	121	is	be	AUX
alkej-315	157	122	the	the	DET
alkej-315	157	123	uncertainty	uncertainty	NOUN
alkej-315	157	124	percent	percent	NOUN
alkej-315	157	125	.	.	PUNCT
alkej-315	158	1	keeping	keep	VERB
alkej-315	158	2	in	in	ADP
alkej-315	158	3	mind	mind	NOUN
alkej-315	158	4	that	that	SCONJ
alkej-315	158	5	the	the	DET
alkej-315	158	6	unknown	unknown	ADJ
alkej-315	158	7	form	form	NOUN
alkej-315	158	8	(	(	PUNCT
alkej-315	158	9	perturbation	perturbation	NOUN
alkej-315	158	10	term	term	NOUN
alkej-315	158	11	)	)	PUNCT
alkej-315	158	12	which	which	PRON
alkej-315	158	13	resulted	result	VERB
alkej-315	158	14	from	from	ADP
alkej-315	158	15	the	the	DET
alkej-315	158	16	electro	electro	ADJ
alkej-315	158	17	-	-	PUNCT
alkej-315	158	18	hydraulic	hydraulic	NOUN
alkej-315	158	19	system	system	NOUN
alkej-315	158	20	based	base	VERB
alkej-315	158	21	on	on	ADP
alkej-315	158	22	eq	eq	ADP
alkej-315	158	23	.	.	PUNCT
alkej-315	159	1	(	(	PUNCT
alkej-315	159	2	3	3	X
alkej-315	159	3	)	)	PUNCT
alkej-315	159	4	is	be	AUX
alkej-315	159	5	as	as	ADP
alkej-315	159	6	follow	follow	VERB
alkej-315	159	7	:	:	PUNCT
alkej-315	159	8	�	�	PROPN
alkej-315	159	9	=	=	SYM
alkej-315	159	10	�	�	PROPN
alkej-315	159	11	�	�	PROPN
alkej-315	159	12	�	�	PROPN
alkej-315	159	13	�	�	PROPN
alkej-315	159	14	+	+	CCONJ
alkej-315	159	15	�	�	PROPN
alkej-315	159	16	�	�	PROPN
alkej-315	159	17	+	+	SYM
alkej-315	159	18	�	�	PROPN
alkej-315	159	19	�	�	PROPN
alkej-315	159	20	�	�	PROPN
alkej-315	159	21	�	�	PROPN
alkej-315	159	22	�	�	PROPN
alkej-315	159	23	+	+	CCONJ
alkej-315	159	24	�	�	PROPN
alkej-315	159	25	�	�	PROPN
alkej-315	159	26	…	…	SYM
alkej-315	159	27	�	�	PROPN
alkej-315	159	28	20	20	NUM
alkej-315	159	29	in	in	ADP
alkej-315	159	30	the	the	DET
alkej-315	159	31	following	following	NOUN
alkej-315	159	32	the	the	DET
alkej-315	159	33	simulations	simulation	NOUN
alkej-315	159	34	are	be	AUX
alkej-315	159	35	performed	perform	VERB
alkej-315	159	36	first	first	ADV
alkej-315	159	37	for	for	ADP
alkej-315	159	38	the	the	DET
alkej-315	159	39	open	open	ADJ
alkej-315	159	40	loop	loop	NOUN
alkej-315	159	41	in	in	ADP
alkej-315	159	42	order	order	NOUN
alkej-315	159	43	to	to	PART
alkej-315	159	44	examine	examine	VERB
alkej-315	159	45	the	the	DET
alkej-315	159	46	ability	ability	NOUN
alkej-315	159	47	of	of	ADP
alkej-315	159	48	the	the	DET
alkej-315	159	49	hosmo	hosmo	NOUN
alkej-315	159	50	in	in	ADP
alkej-315	159	51	estimating	estimate	VERB
alkej-315	159	52	the	the	DET
alkej-315	159	53	first	first	ADJ
alkej-315	159	54	and	and	CCONJ
alkej-315	159	55	second	second	ADJ
alkej-315	159	56	derivative	derivative	NOUN
alkej-315	159	57	of	of	ADP
alkej-315	159	58	�	�	PROPN
alkej-315	159	59	�	�	PROPN
alkej-315	159	60	=	=	SYM
alkej-315	159	61	�	�	PROPN
alkej-315	159	62	=	=	SYM
alkej-315	159	63	�	�	PROPN
alkej-315	159	64	�	�	PROPN
alkej-315	159	65	,	,	PUNCT
alkej-315	159	66	and	and	CCONJ
alkej-315	159	67	also	also	ADV
alkej-315	159	68	estimating	estimate	VERB
alkej-315	159	69	the	the	DET
alkej-315	159	70	perturbation	perturbation	NOUN
alkej-315	159	71	term	term	NOUN
alkej-315	159	72	�	�	PROPN
alkej-315	159	73	.	.	PUNCT
alkej-315	160	1	second	second	ADJ
alkej-315	160	2	the	the	DET
alkej-315	160	3	results	result	NOUN
alkej-315	160	4	of	of	ADP
alkej-315	160	5	the	the	DET
alkej-315	160	6	numerical	numerical	ADJ
alkej-315	160	7	simulations	simulation	NOUN
alkej-315	160	8	for	for	ADP
alkej-315	160	9	the	the	DET
alkej-315	160	10	control	control	NOUN
alkej-315	160	11	system	system	NOUN
alkej-315	160	12	are	be	AUX
alkej-315	160	13	presented	present	VERB
alkej-315	160	14	where	where	SCONJ
alkej-315	160	15	the	the	DET
alkej-315	160	16	control	control	NOUN
alkej-315	160	17	law	law	NOUN
alkej-315	160	18	uses	use	VERB
alkej-315	160	19	the	the	DET
alkej-315	160	20	reconstruction	reconstruction	NOUN
alkej-315	160	21	transformed	transform	VERB
alkej-315	160	22	states	state	NOUN
alkej-315	160	23	�	�	NOUN
alkej-315	160	24	̀	̀	VERB
alkej-315	160	25	and	and	CCONJ
alkej-315	160	26	perturbation	perturbation	NOUN
alkej-315	160	27	estimations	estimation	NOUN
alkej-315	160	28	�	�	PROPN
alkej-315	160	29	a	a	PRON
alkej-315	160	30	as	as	SCONJ
alkej-315	160	31	designed	design	VERB
alkej-315	160	32	in	in	ADP
alkej-315	160	33	section	section	NOUN
alkej-315	160	34	4	4	NUM
alkej-315	160	35	.	.	NOUN
alkej-315	160	36	5.1	5.1	NUM
alkej-315	160	37	.	.	PUNCT
alkej-315	161	1	open	open	ADJ
alkej-315	161	2	loop	loop	NOUN
alkej-315	161	3	system	system	NOUN
alkej-315	161	4	simulation	simulation	NOUN
alkej-315	161	5	results	result	VERB
alkej-315	161	6	in	in	ADP
alkej-315	161	7	this	this	DET
alkej-315	161	8	subsection	subsection	NOUN
alkej-315	161	9	the	the	DET
alkej-315	161	10	control	control	NOUN
alkej-315	161	11	input	input	NOUN
alkej-315	161	12	is	be	AUX
alkej-315	161	13	set	set	VERB
alkej-315	161	14	equal	equal	ADJ
alkej-315	161	15	zero	zero	NUM
alkej-315	161	16	�	�	PROPN
alkej-315	161	17	=	=	SYM
alkej-315	161	18	0	0	PROPN
alkej-315	161	19	.	.	PUNCT
alkej-315	162	1	for	for	ADP
alkej-315	162	2	α	α	NOUN
alkej-315	162	3	=	=	SYM
alkej-315	162	4	0.1	0.1	NUM
alkej-315	162	5	the	the	DET
alkej-315	162	6	outputs	output	NOUN
alkej-315	162	7	of	of	ADP
alkej-315	162	8	the	the	DET
alkej-315	162	9	hosmo	hosmo	NOUN
alkej-315	162	10	are	be	AUX
alkej-315	162	11	plotted	plot	VERB
alkej-315	162	12	in	in	ADP
alkej-315	162	13	figures	figure	NOUN
alkej-315	162	14	(	(	PUNCT
alkej-315	162	15	2	2	NUM
alkej-315	162	16	)	)	PUNCT
alkej-315	162	17	,	,	PUNCT
alkej-315	162	18	(	(	PUNCT
alkej-315	162	19	3	3	X
alkej-315	162	20	)	)	PUNCT
alkej-315	162	21	and	and	CCONJ
alkej-315	162	22	(	(	PUNCT
alkej-315	162	23	4	4	NUM
alkej-315	162	24	)	)	PUNCT
alkej-315	162	25	for	for	ADP
alkej-315	162	26	estimating	estimate	VERB
alkej-315	162	27	piston	piston	NOUN
alkej-315	162	28	position	position	NOUN
alkej-315	162	29	,	,	PUNCT
alkej-315	162	30	velocity	velocity	NOUN
alkej-315	162	31	and	and	CCONJ
alkej-315	162	32	acceleration	acceleration	NOUN
alkej-315	162	33	respectively	respectively	ADV
alkej-315	162	34	while	while	SCONJ
alkej-315	162	35	perturbation	perturbation	NOUN
alkej-315	162	36	estimation	estimation	NOUN
alkej-315	162	37	is	be	AUX
alkej-315	162	38	plotted	plot	VERB
alkej-315	162	39	in	in	ADP
alkej-315	162	40	figure	figure	NOUN
alkej-315	162	41	(	(	PUNCT
alkej-315	162	42	5	5	NUM
alkej-315	162	43	)	)	PUNCT
alkej-315	162	44	.	.	PUNCT
alkej-315	163	1	one	one	PRON
alkej-315	163	2	can	can	AUX
alkej-315	163	3	be	be	AUX
alkej-315	163	4	sure	sure	ADJ
alkej-315	163	5	from	from	ADP
alkej-315	163	6	these	these	DET
alkej-315	163	7	figures	figure	NOUN
alkej-315	163	8	,	,	PUNCT
alkej-315	163	9	that	that	SCONJ
alkej-315	163	10	the	the	DET
alkej-315	163	11	estimating	estimate	VERB
alkej-315	163	12	quantities	quantity	NOUN
alkej-315	163	13	converges	converge	VERB
alkej-315	163	14	to	to	ADP
alkej-315	163	15	their	their	PRON
alkej-315	163	16	actual	actual	ADJ
alkej-315	163	17	values	value	NOUN
alkej-315	163	18	in	in	ADP
alkej-315	163	19	an	an	DET
alkej-315	163	20	interval	interval	NOUN
alkej-315	163	21	of	of	ADP
alkej-315	163	22	time	time	NOUN
alkej-315	163	23	not	not	PART
alkej-315	163	24	exceeds	exceed	VERB
alkej-315	163	25	0.002	0.002	NUM
alkej-315	163	26	z2	z2	NUM
alkej-315	163	27	m.	m.	NOUN
alkej-315	163	28	it	it	PRON
alkej-315	163	29	can	can	AUX
alkej-315	163	30	be	be	AUX
alkej-315	163	31	noted	note	VERB
alkej-315	163	32	also	also	ADV
alkej-315	163	33	that	that	SCONJ
alkej-315	163	34	the	the	DET
alkej-315	163	35	convergence	convergence	NOUN
alkej-315	163	36	time	time	NOUN
alkej-315	163	37	for	for	ADP
alkej-315	163	38	the	the	DET
alkej-315	163	39	estimating	estimate	VERB
alkej-315	163	40	quantities	quantity	NOUN
alkej-315	163	41	increased	increase	VERB
alkej-315	163	42	sequentially	sequentially	ADV
alkej-315	163	43	with	with	ADP
alkej-315	163	44	the	the	DET
alkej-315	163	45	order	order	NOUN
alkej-315	163	46	of	of	ADP
alkej-315	163	47	estimating	estimate	VERB
alkej-315	163	48	states	state	NOUN
alkej-315	163	49	.	.	PUNCT
alkej-315	164	1	fig	fig	NOUN
alkej-315	164	2	.	.	PUNCT
alkej-315	165	1	2	2	X
alkej-315	165	2	.	.	X
alkej-315	165	3	open	open	PROPN
alkej-315	165	4	loop	loop	PROPN
alkej-315	165	5	piston	piston	PROPN
alkej-315	165	6	position	position	NOUN
alkej-315	165	7	�	�	PROPN
alkej-315	165	8	�	�	PROPN
alkej-315	165	9	estimation	estimation	NOUN
alkej-315	165	10	under	under	ADP
alkej-315	165	11	�	�	PROPN
alkej-315	165	12	=	=	PUNCT
alkej-315	165	13	 	 	SPACE
alkej-315	165	14	.	.	PUNCT
alkej-315	166	1	�	�	PROPN
alkej-315	166	2	parametric	parametric	ADJ
alkej-315	166	3	uncertainties	uncertainty	NOUN
alkej-315	166	4	.	.	PUNCT
alkej-315	167	1	fig	fig	NOUN
alkej-315	167	2	.	.	PUNCT
alkej-315	168	1	3	3	X
alkej-315	168	2	.	.	X
alkej-315	168	3	open	open	PROPN
alkej-315	168	4	loop	loop	PROPN
alkej-315	168	5	piston	piston	PROPN
alkej-315	168	6	velocity	velocity	NOUN
alkej-315	168	7	�	�	PROPN
alkej-315	168	8	¡	¡	PROPN
alkej-315	168	9	estimation	estimation	NOUN
alkej-315	168	10	under	under	ADP
alkej-315	168	11	�	�	PROPN
alkej-315	168	12	=	=	PUNCT
alkej-315	168	13	 	 	SPACE
alkej-315	168	14	.	.	PUNCT
alkej-315	169	1	�	�	PROPN
alkej-315	169	2	parametric	parametric	ADJ
alkej-315	169	3	uncertainties	uncertainty	NOUN
alkej-315	169	4	.	.	PUNCT
alkej-315	170	1	fig	fig	NOUN
alkej-315	170	2	.	.	PUNCT
alkej-315	171	1	4	4	X
alkej-315	171	2	.	.	X
alkej-315	171	3	open	open	PROPN
alkej-315	171	4	loop	loop	PROPN
alkej-315	171	5	piston	piston	PROPN
alkej-315	171	6	acceleration	acceleration	PROPN
alkej-315	171	7	�	�	PROPN
alkej-315	171	8	�	�	PROPN
alkej-315	171	9	¡	¡	PROPN
alkej-315	171	10	estimation	estimation	NOUN
alkej-315	171	11	under	under	ADP
alkej-315	171	12	�	�	PROPN
alkej-315	171	13	=	=	PUNCT
alkej-315	171	14	 	 	SPACE
alkej-315	171	15	.	.	PUNCT
alkej-315	172	1	�	�	PROPN
alkej-315	172	2	parametric	parametric	ADJ
alkej-315	172	3	uncertainties	uncertainty	NOUN
alkej-315	172	4	.	.	PUNCT
alkej-315	173	1	shibly	shibly	PROPN
alkej-315	173	2	ahmed	ahmed	PROPN
alkej-315	173	3	al	al	PROPN
alkej-315	173	4	-	-	PROPN
alkej-315	173	5	samarraie	samarraie	PROPN
alkej-315	173	6	al	al	PROPN
alkej-315	173	7	-	-	PUNCT
alkej-315	173	8	khwarizmi	khwarizmi	PROPN
alkej-315	173	9	engineering	engineering	NOUN
alkej-315	173	10	journal	journal	PROPN
alkej-315	173	11	,	,	PUNCT
alkej-315	173	12	vol	vol	NOUN
alkej-315	173	13	.	.	PROPN
alkej-315	173	14	12	12	NUM
alkej-315	173	15	,	,	PUNCT
alkej-315	173	16	no	no	INTJ
alkej-315	173	17	.	.	NOUN
alkej-315	173	18	4	4	NUM
alkej-315	173	19	,	,	PUNCT
alkej-315	173	20	p.p	p.p	PROPN
alkej-315	173	21	.	.	NOUN
alkej-315	173	22	111(2016	111(2016	NUM
alkej-315	173	23	)	)	PUNCT
alkej-315	173	24	6	6	NUM
alkej-315	173	25	fig	fig	NOUN
alkej-315	173	26	.	.	PUNCT
alkej-315	174	1	5	5	NUM
alkej-315	174	2	.	.	X
alkej-315	174	3	open	open	ADJ
alkej-315	174	4	loop	loop	PROPN
alkej-315	174	5	¢	¢	PROPN
alkej-315	174	6	estimation	estimation	NOUN
alkej-315	174	7	under	under	ADP
alkej-315	174	8	�	�	PROPN
alkej-315	174	9	=	=	PUNCT
alkej-315	174	10	 	 	SPACE
alkej-315	174	11	.	.	PUNCT
alkej-315	175	1	�	�	PROPN
alkej-315	175	2	parametric	parametric	ADJ
alkej-315	175	3	uncertainties	uncertainty	NOUN
alkej-315	175	4	.	.	PUNCT
alkej-315	176	1	in	in	ADP
alkej-315	176	2	order	order	NOUN
alkej-315	176	3	to	to	PART
alkej-315	176	4	prove	prove	VERB
alkej-315	176	5	the	the	DET
alkej-315	176	6	estimator	estimator	NOUN
alkej-315	176	7	robustness	robustness	NOUN
alkej-315	176	8	and	and	CCONJ
alkej-315	176	9	the	the	DET
alkej-315	176	10	powerful	powerful	ADJ
alkej-315	176	11	of	of	ADP
alkej-315	176	12	the	the	DET
alkej-315	176	13	hosmo	hosmo	NOUN
alkej-315	176	14	,	,	PUNCT
alkej-315	176	15	the	the	DET
alkej-315	176	16	open	open	PROPN
alkej-315	176	17	loop	loop	NOUN
alkej-315	176	18	simulation	simulation	NOUN
alkej-315	176	19	is	be	AUX
alkej-315	176	20	repeated	repeat	VERB
alkej-315	176	21	with	with	ADP
alkej-315	176	22	α	α	NOUN
alkej-315	176	23	=	=	SYM
alkej-315	176	24	0.3	0.3	NUM
alkej-315	176	25	.	.	PUNCT
alkej-315	177	1	the	the	DET
alkej-315	177	2	estimation	estimation	NOUN
alkej-315	177	3	performance	performance	NOUN
alkej-315	177	4	does	do	AUX
alkej-315	177	5	not	not	PART
alkej-315	177	6	changed	change	VERB
alkej-315	177	7	in	in	ADP
alkej-315	177	8	spite	spite	NOUN
alkej-315	177	9	of	of	ADP
alkej-315	177	10	increasing	increase	VERB
alkej-315	177	11	the	the	DET
alkej-315	177	12	uncertainty	uncertainty	NOUN
alkej-315	177	13	percent	percent	NOUN
alkej-315	177	14	α	α	PRON
alkej-315	177	15	as	as	SCONJ
alkej-315	177	16	can	can	AUX
alkej-315	177	17	be	be	AUX
alkej-315	177	18	deduced	deduce	VERB
alkej-315	177	19	from	from	ADP
alkej-315	177	20	figure	figure	NOUN
alkej-315	177	21	(	(	PUNCT
alkej-315	177	22	6	6	NUM
alkej-315	177	23	)	)	PUNCT
alkej-315	177	24	to	to	PART
alkej-315	177	25	figure	figure	VERB
alkej-315	177	26	(	(	PUNCT
alkej-315	177	27	9	9	NUM
alkej-315	177	28	)	)	PUNCT
alkej-315	177	29	.	.	PUNCT
alkej-315	178	1	fig	fig	NOUN
alkej-315	178	2	.	.	PUNCT
alkej-315	179	1	6	6	NUM
alkej-315	179	2	.	.	X
alkej-315	179	3	open	open	PROPN
alkej-315	179	4	loop	loop	PROPN
alkej-315	179	5	piston	piston	PROPN
alkej-315	179	6	position	position	NOUN
alkej-315	179	7	estimation	estimation	NOUN
alkej-315	179	8	�	�	PROPN
alkej-315	179	9	�	�	PROPN
alkej-315	179	10	under	under	ADP
alkej-315	179	11	�	�	PROPN
alkej-315	179	12	=	=	PRON
alkej-315	179	13	 	 	SPACE
alkej-315	179	14	.	.	PUNCT
alkej-315	180	1	£	£	NOUN
alkej-315	180	2	parametric	parametric	ADJ
alkej-315	180	3	uncertainties	uncertainty	NOUN
alkej-315	180	4	.	.	PUNCT
alkej-315	181	1	fig	fig	NOUN
alkej-315	181	2	.	.	PUNCT
alkej-315	182	1	7	7	X
alkej-315	182	2	.	.	X
alkej-315	182	3	open	open	PROPN
alkej-315	182	4	loop	loop	PROPN
alkej-315	182	5	piston	piston	PROPN
alkej-315	182	6	velocity	velocity	NOUN
alkej-315	182	7	�	�	PROPN
alkej-315	182	8	¡	¡	PROPN
alkej-315	182	9	estimation	estimation	NOUN
alkej-315	182	10	under	under	ADP
alkej-315	182	11	�	�	PROPN
alkej-315	182	12	=	=	PRON
alkej-315	182	13	 	 	SPACE
alkej-315	182	14	.	.	PUNCT
alkej-315	183	1	£	£	NOUN
alkej-315	183	2	parametric	parametric	ADJ
alkej-315	183	3	uncertainties	uncertainty	NOUN
alkej-315	183	4	.	.	PUNCT
alkej-315	184	1	fig	fig	NOUN
alkej-315	184	2	.	.	PUNCT
alkej-315	185	1	8	8	X
alkej-315	185	2	.	.	X
alkej-315	185	3	open	open	PROPN
alkej-315	185	4	loop	loop	PROPN
alkej-315	185	5	piston	piston	PROPN
alkej-315	185	6	acceleration	acceleration	PROPN
alkej-315	185	7	�	�	PROPN
alkej-315	185	8	�	�	PROPN
alkej-315	185	9	¡	¡	PROPN
alkej-315	185	10	estimation	estimation	NOUN
alkej-315	185	11	under	under	ADP
alkej-315	185	12	�	�	PROPN
alkej-315	185	13	=	=	PRON
alkej-315	185	14	 	 	SPACE
alkej-315	185	15	.	.	PUNCT
alkej-315	186	1	£	£	NOUN
alkej-315	186	2	parametric	parametric	ADJ
alkej-315	186	3	uncertainties	uncertainty	NOUN
alkej-315	186	4	.	.	PUNCT
alkej-315	187	1	fig	fig	NOUN
alkej-315	187	2	.	.	PUNCT
alkej-315	188	1	9	9	X
alkej-315	188	2	.	.	X
alkej-315	188	3	open	open	ADJ
alkej-315	188	4	loop	loop	PROPN
alkej-315	188	5	¢	¢	PROPN
alkej-315	188	6	estimation	estimation	NOUN
alkej-315	188	7	under	under	ADP
alkej-315	188	8	�	�	PROPN
alkej-315	188	9	=	=	PRON
alkej-315	188	10	 	 	SPACE
alkej-315	188	11	.	.	PUNCT
alkej-315	189	1	£	£	NOUN
alkej-315	189	2	parametric	parametric	ADJ
alkej-315	189	3	uncertainties	uncertainty	NOUN
alkej-315	189	4	5.2	5.2	NUM
alkej-315	189	5	.	.	PUNCT
alkej-315	189	6	closed	close	VERB
alkej-315	189	7	loop	loop	PROPN
alkej-315	189	8	simulation	simulation	NOUN
alkej-315	189	9	results	result	VERB
alkej-315	189	10	a	a	DET
alkej-315	189	11	piecewise	piecewise	NOUN
alkej-315	189	12	constant	constant	ADJ
alkej-315	189	13	and	and	CCONJ
alkej-315	189	14	the	the	DET
alkej-315	189	15	sinusoidal	sinusoidal	NOUN
alkej-315	189	16	are	be	AUX
alkej-315	189	17	the	the	DET
alkej-315	189	18	desired	desire	VERB
alkej-315	189	19	piston	piston	NOUN
alkej-315	189	20	positions	position	NOUN
alkej-315	189	21	which	which	PRON
alkej-315	189	22	are	be	AUX
alkej-315	189	23	considered	consider	VERB
alkej-315	189	24	in	in	ADP
alkej-315	189	25	this	this	DET
alkej-315	189	26	work	work	NOUN
alkej-315	189	27	for	for	ADP
alkej-315	189	28	the	the	DET
alkej-315	189	29	closed	closed	ADJ
alkej-315	189	30	loop	loop	NOUN
alkej-315	189	31	system	system	NOUN
alkej-315	189	32	simulation	simulation	NOUN
alkej-315	189	33	.	.	PUNCT
alkej-315	190	1	in	in	ADP
alkej-315	190	2	the	the	DET
alkej-315	190	3	following	follow	VERB
alkej-315	190	4	subsections	subsection	NOUN
alkej-315	190	5	the	the	DET
alkej-315	190	6	simulations	simulation	NOUN
alkej-315	190	7	are	be	AUX
alkej-315	190	8	performed	perform	VERB
alkej-315	190	9	with	with	ADP
alkej-315	190	10	�	�	PROPN
alkej-315	190	11	=	=	PUNCT
alkej-315	190	12	0.3	0.3	NUM
alkej-315	190	13	,	,	PUNCT
alkej-315	190	14	and	and	CCONJ
alkej-315	190	15	the	the	DET
alkej-315	190	16	nominal	nominal	ADJ
alkej-315	190	17	controller	controller	NOUN
alkej-315	190	18	�	�	PROPN
alkej-315	190	19	^	^	SYM
alkej-315	190	20	�	�	PROPN
alkej-315	190	21	�	�	PROPN
alkej-315	190	22	̀	̀	PROPN
alkej-315	190	23	�	�	PROPN
alkej-315	190	24	,	,	PUNCT
alkej-315	190	25	�	�	PROPN
alkej-315	190	26	̀	̀	PROPN
alkej-315	190	27	�	�	PROPN
alkej-315	190	28	,	,	PUNCT
alkej-315	190	29	�	�	PROPN
alkej-315	190	30	̀	̀	VERB
alkej-315	190	31	�	�	PROPN
alkej-315	190	32	will	will	AUX
alkej-315	190	33	be	be	AUX
alkej-315	190	34	designed	design	VERB
alkej-315	190	35	using	use	VERB
alkej-315	190	36	a	a	DET
alkej-315	190	37	simple	simple	ADJ
alkej-315	190	38	pole	pole	NOUN
alkej-315	190	39	placement	placement	NOUN
alkej-315	190	40	control	control	NOUN
alkej-315	190	41	.	.	PUNCT
alkej-315	191	1	the	the	DET
alkej-315	191	2	proposed	propose	VERB
alkej-315	191	3	nominal	nominal	ADJ
alkej-315	191	4	controller	controller	NOUN
alkej-315	191	5	that	that	PRON
alkej-315	191	6	drives	drive	VERB
alkej-315	191	7	the	the	DET
alkej-315	191	8	piston	piston	NOUN
alkej-315	191	9	position	position	NOUN
alkej-315	191	10	to	to	PART
alkej-315	191	11	continuously	continuously	ADV
alkej-315	191	12	differentiable	differentiable	VERB
alkej-315	191	13	desired	desire	VERB
alkej-315	191	14	one	one	NUM
alkej-315	191	15	(	(	PUNCT
alkej-315	191	16	as	as	ADP
alkej-315	191	17	in	in	ADP
alkej-315	191	18	sinusoidal	sinusoidal	ADJ
alkej-315	191	19	case	case	NOUN
alkej-315	191	20	)	)	PUNCT
alkej-315	191	21	is	be	AUX
alkej-315	191	22	given	give	VERB
alkej-315	191	23	as	as	SCONJ
alkej-315	191	24	follows	follow	VERB
alkej-315	191	25	;	;	PUNCT
alkej-315	191	26	�	�	PROPN
alkej-315	191	27	^	^	SYM
alkej-315	191	28	�	�	PROPN
alkej-315	191	29	�	�	PROPN
alkej-315	191	30	̀	̀	PROPN
alkej-315	191	31	�	�	PROPN
alkej-315	191	32	,	,	PUNCT
alkej-315	191	33	�	�	PROPN
alkej-315	191	34	̀	̀	PROPN
alkej-315	191	35	�	�	PROPN
alkej-315	191	36	,	,	PUNCT
alkej-315	191	37	�	�	PROPN
alkej-315	191	38	̀	̀	VERB
alkej-315	191	39	�	�	PROPN
alkej-315	191	40	=	=	SYM
alkej-315	191	41	�	�	PROPN
alkej-315	191	42	8	8	NUM
alkej-315	191	43	�	�	PROPN
alkej-315	191	44	*	*	PUNCT
alkej-315	191	45	−	−	PROPN
alkej-315	191	46	¤	¤	PROPN
alkej-315	191	47	a	a	DET
alkej-315	191	48	�	�	PROPN
alkej-315	191	49	�	�	NOUN
alkej-315	191	50	̀	̀	PROPN
alkej-315	191	51	�	�	PROPN
alkej-315	191	52	−	−	PROPN
alkej-315	191	53	�	�	PROPN
alkej-315	191	54	�	�	PROPN
alkej-315	191	55	*	*	PUNCT
alkej-315	191	56	�	�	PROPN
alkej-315	191	57	�	�	PROPN
alkej-315	191	58	̀	̀	PROPN
alkej-315	191	59	�	�	PROPN
alkej-315	191	60	−	−	PROPN
alkej-315	191	61	�	�	PROPN
alkej-315	191	62	�	�	PROPN
alkej-315	191	63	�	�	PROPN
alkej-315	191	64	*	*	PUNCT
alkej-315	191	65	�	�	PROPN
alkej-315	191	66	�	�	PROPN
alkej-315	191	67	̀	̀	PROPN
alkej-315	191	68	�	�	PROPN
alkej-315	191	69	−	−	PROPN
alkej-315	191	70	�	�	PROPN
alkej-315	191	71	�	�	PROPN
alkej-315	191	72	�	�	PROPN
alkej-315	191	73	*	*	SYM
alkej-315	191	74	b	b	PROPN
alkej-315	191	75	…	…	PUNCT
alkej-315	191	76	�	�	PROPN
alkej-315	191	77	21	21	NUM
alkej-315	191	78	where	where	SCONJ
alkej-315	191	79	:	:	PUNCT
alkej-315	191	80	�	�	PROPN
alkej-315	191	81	�	�	PROPN
alkej-315	191	82	*	*	VERB
alkej-315	191	83	the	the	DET
alkej-315	191	84	desired	desire	VERB
alkej-315	191	85	piston	piston	NOUN
alkej-315	191	86	position	position	NOUN
alkej-315	191	87	.	.	PUNCT
alkej-315	192	1	while	while	SCONJ
alkej-315	192	2	in	in	ADP
alkej-315	192	3	the	the	DET
alkej-315	192	4	piecewise	piecewise	NOUN
alkej-315	192	5	desired	desire	VERB
alkej-315	192	6	one	one	NUM
alkej-315	192	7	the	the	DET
alkej-315	192	8	nominal	nominal	ADJ
alkej-315	192	9	controller	controller	NOUN
alkej-315	192	10	is	be	AUX
alkej-315	192	11	as	as	SCONJ
alkej-315	192	12	follows	follow	VERB
alkej-315	192	13	;	;	PUNCT
alkej-315	192	14	�	�	PROPN
alkej-315	192	15	^	^	SYM
alkej-315	192	16	�	�	PROPN
alkej-315	192	17	�	�	PROPN
alkej-315	192	18	̀	̀	PROPN
alkej-315	192	19	�	�	PROPN
alkej-315	192	20	,	,	PUNCT
alkej-315	192	21	�	�	PROPN
alkej-315	192	22	̀	̀	PROPN
alkej-315	192	23	�	�	PROPN
alkej-315	192	24	,	,	PUNCT
alkej-315	192	25	�	�	PROPN
alkej-315	192	26	̀	̀	VERB
alkej-315	192	27	�	�	NOUN
alkej-315	192	28	=	=	PUNCT
alkej-315	192	29	−¤	−¤	ADP
alkej-315	192	30	a	a	DET
alkej-315	192	31	�	�	PROPN
alkej-315	192	32	�	�	NOUN
alkej-315	192	33	̀	̀	PROPN
alkej-315	192	34	�	�	PROPN
alkej-315	192	35	−	−	PROPN
alkej-315	192	36	�	�	PROPN
alkej-315	192	37	�	�	PROPN
alkej-315	192	38	*	*	PUNCT
alkej-315	192	39	�	�	PROPN
alkej-315	192	40	̀	̀	PROPN
alkej-315	192	41	�	�	PROPN
alkej-315	192	42	�	�	PROPN
alkej-315	192	43	̀	̀	PROPN
alkej-315	192	44	�	�	PROPN
alkej-315	192	45	b	b	PROPN
alkej-315	192	46	…	…	PUNCT
alkej-315	192	47	�	�	NOUN
alkej-315	192	48	22	22	NUM
alkej-315	192	49	as	as	SCONJ
alkej-315	192	50	mentioned	mention	VERB
alkej-315	192	51	earlier	early	ADV
alkej-315	192	52	,	,	PUNCT
alkej-315	192	53	one	one	PRON
alkej-315	192	54	can	can	AUX
alkej-315	192	55	choose	choose	VERB
alkej-315	192	56	feedback	feedback	NOUN
alkej-315	192	57	gains	gain	NOUN
alkej-315	192	58	¤	¤	VERB
alkej-315	192	59	to	to	PART
alkej-315	192	60	achieve	achieve	VERB
alkej-315	192	61	desired	desire	VERB
alkej-315	192	62	eigenvalues	eigenvalue	NOUN
alkej-315	192	63	as	as	SCONJ
alkej-315	192	64	follows	follow	VERB
alkej-315	192	65	;	;	PUNCT
alkej-315	192	66	shibly	shibly	ADV
alkej-315	192	67	ahmed	ahmed	PROPN
alkej-315	192	68	al	al	PROPN
alkej-315	192	69	-	-	PROPN
alkej-315	192	70	samarraie	samarraie	PROPN
alkej-315	192	71	al	al	PROPN
alkej-315	192	72	-	-	PUNCT
alkej-315	192	73	khwarizmi	khwarizmi	PROPN
alkej-315	192	74	engineering	engineering	NOUN
alkej-315	192	75	journal	journal	PROPN
alkej-315	192	76	,	,	PUNCT
alkej-315	192	77	vol	vol	NOUN
alkej-315	192	78	.	.	PROPN
alkej-315	192	79	12	12	NUM
alkej-315	192	80	,	,	PUNCT
alkej-315	192	81	no	no	INTJ
alkej-315	192	82	.	.	NOUN
alkej-315	192	83	4	4	NUM
alkej-315	192	84	,	,	PUNCT
alkej-315	192	85	p.p	p.p	PROPN
alkej-315	192	86	.	.	NOUN
alkej-315	192	87	111(2016	111(2016	NUM
alkej-315	192	88	)	)	PUNCT
alkej-315	192	89	7	7	NUM
alkej-315	192	90	�	�	NOUN
alkej-315	192	91	¤	¤	X
alkej-315	192	92	=	=	X
alkej-315	192	93	(	(	PUNCT
alkej-315	192	94	39651480	39651480	NUM
alkej-315	192	95	348842	348842	NUM
alkej-315	192	96	1023	1023	NUM
alkej-315	192	97	)	)	PUNCT
alkej-315	192	98	2	2	NUM
alkej-315	192	99	�	�	PROPN
alkej-315	192	100	�	�	PROPN
alkej-315	192	101	¥	¥	NUM
alkej-315	192	102	�	�	PROPN
alkej-315	192	103	+	+	CCONJ
alkej-315	192	104	$	$	SYM
alkej-315	192	105	001%¤	001%¤	ADJ
alkej-315	192	106	¦	¦	NOUN
alkej-315	192	107	=	=	SYM
alkej-315	192	108	�	�	PROPN
alkej-315	192	109	−340,−341,−342	−340,−341,−342	PROPN
alkej-315	192	110	i	i	PROPN
alkej-315	192	111	…	…	PUNCT
alkej-315	192	112	�	�	PROPN
alkej-315	192	113	23	23	NUM
alkej-315	192	114	the	the	DET
alkej-315	192	115	simulation	simulation	NOUN
alkej-315	192	116	results	result	VERB
alkej-315	192	117	for	for	ADP
alkej-315	192	118	the	the	DET
alkej-315	192	119	closed	closed	ADJ
alkej-315	192	120	loop	loop	NOUN
alkej-315	192	121	control	control	NOUN
alkej-315	192	122	are	be	AUX
alkej-315	192	123	presented	present	VERB
alkej-315	192	124	in	in	ADP
alkej-315	192	125	the	the	DET
alkej-315	192	126	next	next	ADJ
alkej-315	192	127	subsections	subsection	NOUN
alkej-315	192	128	.	.	PUNCT
alkej-315	193	1	5.2.1	5.2.1	X
alkej-315	193	2	.	.	X
alkej-315	193	3	piecewise	piecewise	NOUN
alkej-315	193	4	desired	desire	VERB
alkej-315	193	5	piston	piston	NOUN
alkej-315	193	6	position	position	NOUN
alkej-315	193	7	simulation	simulation	NOUN
alkej-315	193	8	results	result	VERB
alkej-315	193	9	.	.	PUNCT
alkej-315	194	1	figures	figure	NOUN
alkej-315	194	2	(	(	PUNCT
alkej-315	194	3	10	10	NUM
alkej-315	194	4	)	)	PUNCT
alkej-315	194	5	,	,	PUNCT
alkej-315	194	6	(	(	PUNCT
alkej-315	194	7	11	11	NUM
alkej-315	194	8	)	)	PUNCT
alkej-315	194	9	and	and	CCONJ
alkej-315	194	10	(	(	PUNCT
alkej-315	194	11	12	12	NUM
alkej-315	194	12	)	)	PUNCT
alkej-315	194	13	have	have	AUX
alkej-315	194	14	shown	show	VERB
alkej-315	194	15	the	the	DET
alkej-315	194	16	piston	piston	NOUN
alkej-315	194	17	position	position	NOUN
alkej-315	194	18	,	,	PUNCT
alkej-315	194	19	velocity	velocity	NOUN
alkej-315	194	20	and	and	CCONJ
alkej-315	194	21	acceleration	acceleration	NOUN
alkej-315	194	22	of	of	ADP
alkej-315	194	23	the	the	DET
alkej-315	194	24	electro	electro	ADJ
alkej-315	194	25	hydraulic	hydraulic	ADJ
alkej-315	194	26	system	system	NOUN
alkej-315	194	27	respectively	respectively	ADV
alkej-315	194	28	.	.	PUNCT
alkej-315	195	1	it	it	PRON
alkej-315	195	2	can	can	AUX
alkej-315	195	3	be	be	AUX
alkej-315	195	4	seen	see	VERB
alkej-315	195	5	from	from	ADP
alkej-315	195	6	these	these	DET
alkej-315	195	7	figures	figure	NOUN
alkej-315	195	8	the	the	DET
alkej-315	195	9	actual	actual	ADJ
alkej-315	195	10	piston	piston	NOUN
alkej-315	195	11	position	position	NOUN
alkej-315	195	12	make	make	VERB
alkej-315	195	13	tracking	tracking	NOUN
alkej-315	195	14	to	to	PART
alkej-315	195	15	desire	desire	VERB
alkej-315	195	16	piecewise	piecewise	NOUN
alkej-315	195	17	signal	signal	NOUN
alkej-315	195	18	with	with	ADP
alkej-315	195	19	rise	rise	NOUN
alkej-315	195	20	time	time	NOUN
alkej-315	195	21	approximately	approximately	ADV
alkej-315	195	22	equal	equal	ADJ
alkej-315	195	23	to	to	ADP
alkej-315	195	24	0.03	0.03	NUM
alkej-315	195	25	z2	z2	NUM
alkej-315	195	26	m	m	PROPN
alkej-315	195	27	and	and	CCONJ
alkej-315	195	28	absolute	absolute	ADJ
alkej-315	195	29	tracking	tracking	NOUN
alkej-315	195	30	error	error	NOUN
alkej-315	195	31	less	less	ADJ
alkej-315	195	32	than	than	ADP
alkej-315	195	33	10@	10@	NUM
alkej-315	195	34	�	�	PROPN
alkej-315	195	35	j.	j.	PROPN
alkej-315	195	36	as	as	SCONJ
alkej-315	195	37	mentioned	mention	VERB
alkej-315	195	38	in	in	ADP
alkej-315	195	39	the	the	DET
alkej-315	195	40	open	open	ADJ
alkej-315	195	41	loop	loop	NOUN
alkej-315	195	42	results	result	NOUN
alkej-315	195	43	,	,	PUNCT
alkej-315	195	44	hosmo	hosmo	NOUN
alkej-315	195	45	also	also	ADV
alkej-315	195	46	have	have	AUX
alkej-315	195	47	shown	show	VERB
alkej-315	195	48	an	an	DET
alkej-315	195	49	accurate	accurate	ADJ
alkej-315	195	50	estimation	estimation	NOUN
alkej-315	195	51	in	in	ADP
alkej-315	195	52	closed	closed	ADJ
alkej-315	195	53	loop	loop	NOUN
alkej-315	195	54	simulation	simulation	NOUN
alkej-315	195	55	where	where	SCONJ
alkej-315	195	56	in	in	ADP
alkej-315	195	57	these	these	DET
alkej-315	195	58	figures	figure	NOUN
alkej-315	195	59	the	the	DET
alkej-315	195	60	blue	blue	ADJ
alkej-315	195	61	lines	line	NOUN
alkej-315	195	62	represents	represent	VERB
alkej-315	195	63	the	the	DET
alkej-315	195	64	electro	electro	ADJ
alkej-315	195	65	-	-	PUNCT
alkej-315	195	66	hydraulic	hydraulic	NOUN
alkej-315	195	67	dynamic	dynamic	ADJ
alkej-315	195	68	variables	variable	NOUN
alkej-315	195	69	and	and	CCONJ
alkej-315	195	70	the	the	DET
alkej-315	195	71	green	green	ADJ
alkej-315	195	72	ones	one	NOUN
alkej-315	195	73	represents	represent	VERB
alkej-315	195	74	the	the	DET
alkej-315	195	75	outputs	output	NOUN
alkej-315	195	76	of	of	ADP
alkej-315	195	77	the	the	DET
alkej-315	195	78	hosmo	hosmo	NOUN
alkej-315	195	79	which	which	PRON
alkej-315	195	80	were	be	AUX
alkej-315	195	81	used	use	VERB
alkej-315	195	82	as	as	ADP
alkej-315	195	83	a	a	DET
alkej-315	195	84	states	state	NOUN
alkej-315	195	85	feedback	feedback	VERB
alkej-315	195	86	in	in	ADP
alkej-315	195	87	nominal	nominal	ADJ
alkej-315	195	88	controller	controller	NOUN
alkej-315	195	89	�	�	PROPN
alkej-315	195	90	^	^	SYM
alkej-315	195	91	�	�	PROPN
alkej-315	195	92	�	�	PROPN
alkej-315	195	93	̀	̀	PROPN
alkej-315	195	94	�	�	PROPN
alkej-315	195	95	,	,	PUNCT
alkej-315	195	96	�	�	PROPN
alkej-315	195	97	̀	̀	PROPN
alkej-315	195	98	�	�	PROPN
alkej-315	195	99	,	,	PUNCT
alkej-315	195	100	�	�	PROPN
alkej-315	195	101	̀	̀	VERB
alkej-315	195	102	�	�	PROPN
alkej-315	195	103	.	.	PUNCT
alkej-315	196	1	figure	figure	NOUN
alkej-315	196	2	(	(	PUNCT
alkej-315	196	3	13	13	NUM
alkej-315	196	4	)	)	PUNCT
alkej-315	196	5	refer	refer	VERB
alkej-315	196	6	to	to	ADP
alkej-315	196	7	the	the	DET
alkej-315	196	8	pressure	pressure	NOUN
alkej-315	196	9	difference	difference	NOUN
alkej-315	196	10	�	�	NOUN
alkej-315	196	11	�	�	PROPN
alkej-315	196	12	such	such	ADJ
alkej-315	196	13	that	that	SCONJ
alkej-315	196	14	�	�	PROPN
alkej-315	196	15	�	�	PROPN
alkej-315	196	16	∗	∗	NOUN
alkej-315	196	17	ω	ω	PROPN
alkej-315	196	18	represents	represent	VERB
alkej-315	196	19	the	the	DET
alkej-315	196	20	required	require	VERB
alkej-315	196	21	hydraulic	hydraulic	ADJ
alkej-315	196	22	force	force	NOUN
alkej-315	196	23	input	input	NOUN
alkej-315	196	24	to	to	PART
alkej-315	196	25	drive	drive	VERB
alkej-315	196	26	the	the	DET
alkej-315	196	27	piston	piston	NOUN
alkej-315	196	28	position	position	NOUN
alkej-315	196	29	�	�	NOUN
alkej-315	196	30	�	�	PROPN
alkej-315	196	31	to	to	PART
alkej-315	196	32	piecewise	piecewise	VERB
alkej-315	196	33	desired	desire	VERB
alkej-315	196	34	one	one	NUM
alkej-315	196	35	.	.	PUNCT
alkej-315	197	1	however	however	ADV
alkej-315	197	2	,	,	PUNCT
alkej-315	197	3	it	it	PRON
alkej-315	197	4	can	can	AUX
alkej-315	197	5	be	be	AUX
alkej-315	197	6	seen	see	VERB
alkej-315	197	7	from	from	ADP
alkej-315	197	8	this	this	DET
alkej-315	197	9	figure	figure	NOUN
alkej-315	197	10	the	the	DET
alkej-315	197	11	max	max	PROPN
alkej-315	197	12	value	value	NOUN
alkej-315	197	13	that	that	PRON
alkej-315	197	14	the	the	DET
alkej-315	197	15	force	force	NOUN
alkej-315	197	16	input	input	NOUN
alkej-315	197	17	reaches	reach	VERB
alkej-315	197	18	approximately	approximately	ADV
alkej-315	197	19	±28860	±28860	PROPN
alkej-315	197	20	n.	n.	VERB
alkej-315	197	21	the	the	DET
alkej-315	197	22	estimation	estimation	NOUN
alkej-315	197	23	of	of	ADP
alkej-315	197	24	the	the	DET
alkej-315	197	25	perturbation	perturbation	NOUN
alkej-315	197	26	term	term	NOUN
alkej-315	197	27	�	�	PROPN
alkej-315	197	28	a	a	PRON
alkej-315	197	29	that	that	SCONJ
alkej-315	197	30	estimated	estimate	VERB
alkej-315	197	31	by	by	ADP
alkej-315	197	32	hosmo	hosmo	NOUN
alkej-315	197	33	is	be	AUX
alkej-315	197	34	clarified	clarify	VERB
alkej-315	197	35	in	in	ADP
alkej-315	197	36	figure	figure	NOUN
alkej-315	197	37	(	(	PUNCT
alkej-315	197	38	14	14	NUM
alkej-315	197	39	)	)	PUNCT
alkej-315	197	40	where	where	SCONJ
alkej-315	197	41	the	the	DET
alkej-315	197	42	estimated	estimate	VERB
alkej-315	197	43	quantity	quantity	NOUN
alkej-315	197	44	converge	converge	VERB
alkej-315	197	45	to	to	ADP
alkej-315	197	46	actual	actual	ADJ
alkej-315	197	47	one	one	NUM
alkej-315	197	48	with	with	ADP
alkej-315	197	49	time	time	NOUN
alkej-315	197	50	interval	interval	NOUN
alkej-315	197	51	less	less	ADJ
alkej-315	197	52	than	than	ADP
alkej-315	197	53	0.01	0.01	NUM
alkej-315	197	54	z2	z2	PROPN
alkej-315	197	55	m.	m.	NOUN
alkej-315	197	56	this	this	DET
alkej-315	197	57	accurate	accurate	ADJ
alkej-315	197	58	estimation	estimation	NOUN
alkej-315	197	59	was	be	AUX
alkej-315	197	60	used	use	VERB
alkej-315	197	61	with	with	ADP
alkej-315	197	62	negative	negative	ADJ
alkej-315	197	63	feedback	feedback	NOUN
alkej-315	197	64	signal	signal	NOUN
alkej-315	197	65	into	into	ADP
alkej-315	197	66	the	the	DET
alkej-315	197	67	actual	actual	ADJ
alkej-315	197	68	current	current	ADJ
alkej-315	197	69	control	control	NOUN
alkej-315	197	70	input	input	NOUN
alkej-315	197	71	to	to	PART
alkej-315	197	72	cancel	cancel	VERB
alkej-315	197	73	the	the	DET
alkej-315	197	74	actual	actual	ADJ
alkej-315	197	75	effect	effect	NOUN
alkej-315	197	76	�	�	PROPN
alkej-315	197	77	.	.	PUNCT
alkej-315	198	1	the	the	DET
alkej-315	198	2	actual	actual	ADJ
alkej-315	198	3	current	current	ADJ
alkej-315	198	4	control	control	NOUN
alkej-315	198	5	input	input	NOUN
alkej-315	198	6	�	�	PROPN
alkej-315	198	7	that	that	PRON
alkej-315	198	8	used	use	VERB
alkej-315	198	9	to	to	PART
alkej-315	198	10	ensure	ensure	VERB
alkej-315	198	11	the	the	DET
alkej-315	198	12	above	above	ADJ
alkej-315	198	13	performance	performance	NOUN
alkej-315	198	14	which	which	PRON
alkej-315	198	15	is	be	AUX
alkej-315	198	16	represented	represent	VERB
alkej-315	198	17	by	by	ADP
alkej-315	198	18	figure	figure	NOUN
alkej-315	198	19	(	(	PUNCT
alkej-315	198	20	15	15	NUM
alkej-315	198	21	)	)	PUNCT
alkej-315	198	22	does	do	AUX
alkej-315	198	23	not	not	PART
alkej-315	198	24	exceed	exceed	VERB
alkej-315	198	25	3	3	NUM
alkej-315	198	26	j	j	PROPN
alkej-315	198	27	�	�	PROPN
alkej-315	198	28	.	.	PUNCT
alkej-315	198	29	fig	fig	NOUN
alkej-315	198	30	.	.	PUNCT
alkej-315	199	1	10	10	NUM
alkej-315	199	2	.	.	NUM
alkej-315	199	3	closed	close	VERB
alkej-315	199	4	loop	loop	NOUN
alkej-315	199	5	piston	piston	NOUN
alkej-315	199	6	position	position	NOUN
alkej-315	199	7	�	�	PROPN
alkej-315	199	8	�	�	PROPN
alkej-315	199	9	under	under	ADP
alkej-315	199	10	�	�	PROPN
alkej-315	199	11	=	=	PRON
alkej-315	199	12	 	 	SPACE
alkej-315	199	13	.	.	PUNCT
alkej-315	200	1	£	£	NOUN
alkej-315	200	2	parametric	parametric	ADJ
alkej-315	200	3	uncertainties	uncertainty	NOUN
alkej-315	200	4	tracking	track	VERB
alkej-315	200	5	desired	desire	VERB
alkej-315	200	6	piecewise	piecewise	NOUN
alkej-315	200	7	position	position	NOUN
alkej-315	200	8	fig	fig	NOUN
alkej-315	200	9	.	.	PUNCT
alkej-315	201	1	11	11	NUM
alkej-315	201	2	.	.	X
alkej-315	201	3	closed	close	VERB
alkej-315	201	4	loop	loop	NOUN
alkej-315	201	5	piston	piston	PROPN
alkej-315	201	6	velocity	velocity	NOUN
alkej-315	201	7	�	�	NOUN
alkej-315	201	8	¡	¡	PROPN
alkej-315	201	9	under	under	ADP
alkej-315	201	10	�	�	PROPN
alkej-315	201	11	=	=	PRON
alkej-315	201	12	 	 	SPACE
alkej-315	201	13	.	.	PUNCT
alkej-315	202	1	£	£	NOUN
alkej-315	202	2	parametric	parametric	ADJ
alkej-315	202	3	uncertainties	uncertainty	NOUN
alkej-315	202	4	with	with	ADP
alkej-315	202	5	desired	desire	VERB
alkej-315	202	6	piecewise	piecewise	NOUN
alkej-315	202	7	piston	piston	NOUN
alkej-315	202	8	position	position	NOUN
alkej-315	202	9	.	.	PUNCT
alkej-315	203	1	fig	fig	NOUN
alkej-315	203	2	.	.	PUNCT
alkej-315	204	1	12	12	NUM
alkej-315	204	2	.	.	PUNCT
alkej-315	204	3	closed	close	VERB
alkej-315	204	4	loop	loop	PROPN
alkej-315	204	5	piston	piston	PROPN
alkej-315	204	6	acceleration	acceleration	PROPN
alkej-315	204	7	�	�	PROPN
alkej-315	204	8	�	�	PROPN
alkej-315	204	9	¡	¡	PROPN
alkej-315	204	10	under	under	ADP
alkej-315	204	11	�	�	PROPN
alkej-315	204	12	=	=	PRON
alkej-315	204	13	 	 	SPACE
alkej-315	204	14	.	.	PUNCT
alkej-315	205	1	£	£	NOUN
alkej-315	205	2	parametric	parametric	ADJ
alkej-315	205	3	uncertainties	uncertainty	NOUN
alkej-315	205	4	with	with	ADP
alkej-315	205	5	desired	desire	VERB
alkej-315	205	6	piecewise	piecewise	NOUN
alkej-315	205	7	piston	piston	NOUN
alkej-315	205	8	position	position	NOUN
alkej-315	205	9	.	.	PUNCT
alkej-315	206	1	fig	fig	NOUN
alkej-315	206	2	.	.	PUNCT
alkej-315	207	1	13	13	NUM
alkej-315	207	2	.	.	X
alkej-315	207	3	pressure	pressure	NOUN
alkej-315	207	4	difference	difference	NOUN
alkej-315	207	5	�	�	NOUN
alkej-315	207	6	£	£	NOUN
alkej-315	207	7	under	under	ADP
alkej-315	207	8	�	�	PROPN
alkej-315	207	9	=	=	SYM
alkej-315	207	10	 	 	SPACE
alkej-315	207	11	.	.	PUNCT
alkej-315	208	1	£	£	NOUN
alkej-315	208	2	parametric	parametric	ADJ
alkej-315	208	3	uncertainties	uncertainty	NOUN
alkej-315	208	4	with	with	ADP
alkej-315	208	5	desired	desire	VERB
alkej-315	208	6	piecewise	piecewise	NOUN
alkej-315	208	7	piston	piston	NOUN
alkej-315	208	8	position	position	NOUN
alkej-315	208	9	.	.	PUNCT
alkej-315	209	1	fig	fig	NOUN
alkej-315	209	2	.	.	PUNCT
alkej-315	210	1	14	14	NUM
alkej-315	210	2	.	.	PUNCT
alkej-315	211	1	closed	close	VERB
alkej-315	211	2	loop	loop	NOUN
alkej-315	211	3	¢	¢	PROPN
alkej-315	211	4	estimation	estimation	NOUN
alkej-315	211	5	under	under	ADP
alkej-315	211	6	�	�	PROPN
alkej-315	211	7	=	=	PRON
alkej-315	211	8	 	 	SPACE
alkej-315	211	9	.	.	PUNCT
alkej-315	212	1	£	£	NOUN
alkej-315	212	2	parametric	parametric	ADJ
alkej-315	212	3	uncertainties	uncertainty	NOUN
alkej-315	212	4	with	with	ADP
alkej-315	212	5	desired	desire	VERB
alkej-315	212	6	piecewise	piecewise	NOUN
alkej-315	212	7	piston	piston	NOUN
alkej-315	212	8	position	position	NOUN
alkej-315	212	9	.	.	PUNCT
alkej-315	213	1	shibly	shibly	PROPN
alkej-315	213	2	ahmed	ahmed	PROPN
alkej-315	213	3	al	al	PROPN
alkej-315	213	4	-	-	PROPN
alkej-315	213	5	samarraie	samarraie	PROPN
alkej-315	213	6	al	al	PROPN
alkej-315	213	7	-	-	PUNCT
alkej-315	213	8	khwarizmi	khwarizmi	PROPN
alkej-315	213	9	engineering	engineering	NOUN
alkej-315	213	10	journal	journal	PROPN
alkej-315	213	11	,	,	PUNCT
alkej-315	213	12	vol	vol	NOUN
alkej-315	213	13	.	.	PROPN
alkej-315	213	14	12	12	NUM
alkej-315	213	15	,	,	PUNCT
alkej-315	213	16	no	no	INTJ
alkej-315	213	17	.	.	NOUN
alkej-315	213	18	4	4	NUM
alkej-315	213	19	,	,	PUNCT
alkej-315	213	20	p.p	p.p	PROPN
alkej-315	213	21	.	.	NOUN
alkej-315	213	22	111(2016	111(2016	NUM
alkej-315	213	23	)	)	PUNCT
alkej-315	213	24	8	8	NUM
alkej-315	213	25	fig	fig	NOUN
alkej-315	213	26	.	.	PUNCT
alkej-315	214	1	15	15	NUM
alkej-315	214	2	.	.	PUNCT
alkej-315	214	3	current	current	ADJ
alkej-315	214	4	control	control	NOUN
alkej-315	214	5	input	input	NOUN
alkej-315	214	6	under	under	ADP
alkej-315	214	7	�	�	PROPN
alkej-315	214	8	=	=	PRON
alkej-315	214	9	 	 	SPACE
alkej-315	214	10	.	.	PUNCT
alkej-315	215	1	£	£	NOUN
alkej-315	215	2	parametric	parametric	ADJ
alkej-315	215	3	uncertainties	uncertainty	NOUN
alkej-315	215	4	with	with	ADP
alkej-315	215	5	desired	desire	VERB
alkej-315	215	6	piecewise	piecewise	NOUN
alkej-315	215	7	piston	piston	NOUN
alkej-315	215	8	position	position	NOUN
alkej-315	215	9	.	.	PUNCT
alkej-315	216	1	5.2.2	5.2.2	X
alkej-315	216	2	.	.	X
alkej-315	216	3	sinusoidal	sinusoidal	NOUN
alkej-315	216	4	desired	desire	VERB
alkej-315	216	5	piston	piston	NOUN
alkej-315	216	6	position	position	NOUN
alkej-315	216	7	simulation	simulation	NOUN
alkej-315	216	8	results	result	VERB
alkej-315	216	9	.	.	PUNCT
alkej-315	217	1	as	as	ADP
alkej-315	217	2	in	in	ADP
alkej-315	217	3	the	the	DET
alkej-315	217	4	case	case	NOUN
alkej-315	217	5	of	of	ADP
alkej-315	217	6	piecewise	piecewise	NOUN
alkej-315	217	7	desired	desire	VERB
alkej-315	217	8	piston	piston	NOUN
alkej-315	217	9	position	position	NOUN
alkej-315	217	10	,	,	PUNCT
alkej-315	217	11	figure	figure	NOUN
alkej-315	217	12	(	(	PUNCT
alkej-315	217	13	16	16	NUM
alkej-315	217	14	)	)	PUNCT
alkej-315	217	15	have	have	AUX
alkej-315	217	16	shown	show	VERB
alkej-315	217	17	the	the	DET
alkej-315	217	18	successful	successful	ADJ
alkej-315	217	19	tracking	tracking	NOUN
alkej-315	217	20	of	of	ADP
alkej-315	217	21	the	the	DET
alkej-315	217	22	piston	piston	NOUN
alkej-315	217	23	position	position	NOUN
alkej-315	217	24	to	to	PART
alkej-315	217	25	desired	desire	VERB
alkej-315	217	26	one	one	NUM
alkej-315	217	27	(	(	PUNCT
alkej-315	217	28	sinusoidal	sinusoidal	NOUN
alkej-315	217	29	)	)	PUNCT
alkej-315	217	30	and	and	CCONJ
alkej-315	217	31	this	this	PRON
alkej-315	217	32	can	can	AUX
alkej-315	217	33	be	be	AUX
alkej-315	217	34	regarded	regard	VERB
alkej-315	217	35	as	as	ADP
alkej-315	217	36	a	a	DET
alkej-315	217	37	challenge	challenge	NOUN
alkej-315	217	38	,	,	PUNCT
alkej-315	217	39	because	because	SCONJ
alkej-315	217	40	this	this	DET
alkej-315	217	41	tracking	tracking	NOUN
alkej-315	217	42	was	be	AUX
alkej-315	217	43	constructed	construct	VERB
alkej-315	217	44	on	on	ADP
alkej-315	217	45	the	the	DET
alkej-315	217	46	basis	basis	NOUN
alkej-315	217	47	of	of	ADP
alkej-315	217	48	knowledge	knowledge	NOUN
alkej-315	217	49	of	of	ADP
alkej-315	217	50	the	the	DET
alkej-315	217	51	measurement	measurement	NOUN
alkej-315	217	52	of	of	ADP
alkej-315	217	53	the	the	DET
alkej-315	217	54	piston	piston	NOUN
alkej-315	217	55	position	position	NOUN
alkej-315	217	56	only	only	ADV
alkej-315	217	57	.	.	PUNCT
alkej-315	218	1	in	in	ADP
alkej-315	218	2	figures	figure	NOUN
alkej-315	218	3	(	(	PUNCT
alkej-315	218	4	17	17	NUM
alkej-315	218	5	)	)	PUNCT
alkej-315	218	6	and	and	CCONJ
alkej-315	218	7	(	(	PUNCT
alkej-315	218	8	18	18	NUM
alkej-315	218	9	)	)	PUNCT
alkej-315	218	10	the	the	DET
alkej-315	218	11	actual	actual	ADJ
alkej-315	218	12	and	and	CCONJ
alkej-315	218	13	the	the	DET
alkej-315	218	14	estimation	estimation	NOUN
alkej-315	218	15	of	of	ADP
alkej-315	218	16	the	the	DET
alkej-315	218	17	piston	piston	NOUN
alkej-315	218	18	velocity	velocity	NOUN
alkej-315	218	19	and	and	CCONJ
alkej-315	218	20	piston	piston	NOUN
alkej-315	218	21	acceleration	acceleration	NOUN
alkej-315	218	22	are	be	AUX
alkej-315	218	23	plotted	plot	VERB
alkej-315	218	24	.	.	PUNCT
alkej-315	219	1	these	these	DET
alkej-315	219	2	figures	figure	NOUN
alkej-315	219	3	reveal	reveal	VERB
alkej-315	219	4	the	the	DET
alkej-315	219	5	accurate	accurate	ADJ
alkej-315	219	6	estimation	estimation	NOUN
alkej-315	219	7	of	of	ADP
alkej-315	219	8	these	these	DET
alkej-315	219	9	physically	physically	ADV
alkej-315	219	10	quantities	quantity	NOUN
alkej-315	219	11	(	(	PUNCT
alkej-315	219	12	velocity	velocity	NOUN
alkej-315	219	13	and	and	CCONJ
alkej-315	219	14	acceleration	acceleration	NOUN
alkej-315	219	15	)	)	PUNCT
alkej-315	219	16	via	via	ADP
alkej-315	219	17	hosmo	hosmo	NOUN
alkej-315	219	18	.	.	PUNCT
alkej-315	220	1	the	the	DET
alkej-315	220	2	demanded	demand	VERB
alkej-315	220	3	hydraulic	hydraulic	ADJ
alkej-315	220	4	force	force	NOUN
alkej-315	220	5	input	input	PROPN
alkej-315	220	6	�	�	PROPN
alkej-315	220	7	�	�	PROPN
alkej-315	220	8	∗	∗	NOUN
alkej-315	220	9	ω	ω	PROPN
alkej-315	220	10	in	in	ADP
alkej-315	220	11	this	this	DET
alkej-315	220	12	case	case	NOUN
alkej-315	220	13	(	(	PUNCT
alkej-315	220	14	sinusoidal	sinusoidal	NOUN
alkej-315	220	15	reference	reference	NOUN
alkej-315	220	16	)	)	PUNCT
alkej-315	220	17	that	that	PRON
alkej-315	220	18	can	can	AUX
alkej-315	220	19	be	be	AUX
alkej-315	220	20	noted	note	VERB
alkej-315	220	21	form	form	NOUN
alkej-315	220	22	figure	figure	NOUN
alkej-315	220	23	(	(	PUNCT
alkej-315	220	24	19	19	NUM
alkej-315	220	25	)	)	PUNCT
alkej-315	220	26	oscillates	oscillate	NOUN
alkej-315	220	27	between	between	ADP
alkej-315	220	28	±	±	NOUN
alkej-315	220	29	727.05	727.05	NUM
alkej-315	220	30	n.	n.	NOUN
alkej-315	220	31	figures	figure	NOUN
alkej-315	220	32	(	(	PUNCT
alkej-315	220	33	20	20	NUM
alkej-315	220	34	)	)	PUNCT
alkej-315	220	35	and	and	CCONJ
alkej-315	220	36	(	(	PUNCT
alkej-315	220	37	21	21	NUM
alkej-315	220	38	)	)	PUNCT
alkej-315	220	39	show	show	VERB
alkej-315	220	40	the	the	DET
alkej-315	220	41	perturbation	perturbation	NOUN
alkej-315	220	42	estimation	estimation	NOUN
alkej-315	220	43	�	�	PROPN
alkej-315	220	44	a	a	PROPN
alkej-315	220	45	and	and	CCONJ
alkej-315	220	46	the	the	DET
alkej-315	220	47	actual	actual	ADJ
alkej-315	220	48	current	current	ADJ
alkej-315	220	49	control	control	NOUN
alkej-315	220	50	input	input	NOUN
alkej-315	220	51	�	�	PROPN
alkej-315	220	52	respectively	respectively	ADV
alkej-315	220	53	,	,	PUNCT
alkej-315	220	54	where	where	SCONJ
alkej-315	220	55	the	the	DET
alkej-315	220	56	current	current	ADJ
alkej-315	220	57	input	input	NOUN
alkej-315	220	58	does	do	AUX
alkej-315	220	59	not	not	PART
alkej-315	220	60	exceed	exceed	VERB
alkej-315	220	61	0.02	0.02	NUM
alkej-315	220	62	j	j	PROPN
alkej-315	220	63	�	�	PROPN
alkej-315	220	64	.	.	PUNCT
alkej-315	220	65	fig	fig	PROPN
alkej-315	220	66	.	.	PUNCT
alkej-315	221	1	16	16	NUM
alkej-315	221	2	.	.	PUNCT
alkej-315	222	1	closed	close	VERB
alkej-315	222	2	loop	loop	NOUN
alkej-315	222	3	piston	piston	NOUN
alkej-315	222	4	position	position	NOUN
alkej-315	222	5	�	�	PROPN
alkej-315	222	6	�	�	PROPN
alkej-315	222	7	under	under	ADP
alkej-315	222	8	�	�	PROPN
alkej-315	222	9	=	=	PRON
alkej-315	222	10	 	 	SPACE
alkej-315	222	11	.	.	PUNCT
alkej-315	223	1	£	£	NOUN
alkej-315	223	2	parametric	parametric	ADJ
alkej-315	223	3	uncertainties	uncertainty	NOUN
alkej-315	223	4	tracking	track	VERB
alkej-315	223	5	desired	desire	VERB
alkej-315	223	6	sinusoidal	sinusoidal	ADJ
alkej-315	223	7	position	position	NOUN
alkej-315	223	8	.	.	PUNCT
alkej-315	224	1	fig	fig	NOUN
alkej-315	224	2	.	.	PUNCT
alkej-315	225	1	17	17	NUM
alkej-315	225	2	.	.	PUNCT
alkej-315	225	3	closed	close	VERB
alkej-315	225	4	loop	loop	NOUN
alkej-315	225	5	piston	piston	PROPN
alkej-315	225	6	velocity	velocity	NOUN
alkej-315	225	7	�	�	NOUN
alkej-315	225	8	¡	¡	PROPN
alkej-315	225	9	under	under	ADP
alkej-315	225	10	�	�	PROPN
alkej-315	225	11	=	=	PRON
alkej-315	225	12	 	 	SPACE
alkej-315	225	13	.	.	PUNCT
alkej-315	226	1	£	£	NOUN
alkej-315	226	2	parametric	parametric	ADJ
alkej-315	226	3	uncertainties	uncertainty	NOUN
alkej-315	226	4	with	with	ADP
alkej-315	226	5	desired	desire	VERB
alkej-315	226	6	sinusoidal	sinusoidal	ADJ
alkej-315	226	7	position	position	NOUN
alkej-315	226	8	.	.	PUNCT
alkej-315	227	1	fig	fig	NOUN
alkej-315	227	2	.	.	PUNCT
alkej-315	228	1	18	18	NUM
alkej-315	228	2	.	.	NUM
alkej-315	228	3	closed	close	VERB
alkej-315	228	4	loop	loop	PROPN
alkej-315	228	5	piston	piston	PROPN
alkej-315	228	6	acceleration	acceleration	PROPN
alkej-315	228	7	�	�	PROPN
alkej-315	228	8	�	�	PROPN
alkej-315	228	9	¡	¡	PROPN
alkej-315	228	10	under	under	ADP
alkej-315	228	11	�	�	PROPN
alkej-315	228	12	=	=	PRON
alkej-315	228	13	 	 	SPACE
alkej-315	228	14	.	.	PUNCT
alkej-315	229	1	£	£	NOUN
alkej-315	229	2	parametric	parametric	ADJ
alkej-315	229	3	uncertainties	uncertainty	NOUN
alkej-315	229	4	with	with	ADP
alkej-315	229	5	desired	desire	VERB
alkej-315	229	6	sinusoidal	sinusoidal	ADJ
alkej-315	229	7	position	position	NOUN
alkej-315	229	8	.	.	PUNCT
alkej-315	230	1	fig	fig	NOUN
alkej-315	230	2	.	.	PUNCT
alkej-315	231	1	19	19	NUM
alkej-315	231	2	.	.	PUNCT
alkej-315	231	3	pressure	pressure	NOUN
alkej-315	231	4	difference	difference	NOUN
alkej-315	231	5	�	�	NOUN
alkej-315	231	6	£	£	NOUN
alkej-315	231	7	under	under	ADP
alkej-315	231	8	�	�	PROPN
alkej-315	231	9	=	=	SYM
alkej-315	231	10	 	 	SPACE
alkej-315	231	11	.	.	PUNCT
alkej-315	232	1	£	£	NOUN
alkej-315	232	2	parametric	parametric	ADJ
alkej-315	232	3	uncertainties	uncertainty	NOUN
alkej-315	232	4	with	with	ADP
alkej-315	232	5	desired	desire	VERB
alkej-315	232	6	sinusoidal	sinusoidal	ADJ
alkej-315	232	7	position	position	NOUN
alkej-315	232	8	.	.	PUNCT
alkej-315	233	1	fig	fig	NOUN
alkej-315	233	2	.	.	PUNCT
alkej-315	234	1	20	20	NUM
alkej-315	234	2	.	.	NUM
alkej-315	234	3	closed	close	VERB
alkej-315	234	4	loop	loop	NOUN
alkej-315	234	5	¢	¢	PROPN
alkej-315	234	6	estimation	estimation	NOUN
alkej-315	234	7	under	under	ADP
alkej-315	234	8	�	�	PROPN
alkej-315	234	9	=	=	PRON
alkej-315	234	10	 	 	SPACE
alkej-315	234	11	.	.	PUNCT
alkej-315	235	1	£	£	NOUN
alkej-315	235	2	parametric	parametric	ADJ
alkej-315	235	3	uncertainties	uncertainty	NOUN
alkej-315	235	4	with	with	ADP
alkej-315	235	5	desired	desire	VERB
alkej-315	235	6	sinusoidal	sinusoidal	ADJ
alkej-315	235	7	position	position	NOUN
alkej-315	235	8	.	.	PUNCT
alkej-315	236	1	shibly	shibly	PROPN
alkej-315	236	2	ahmed	ahmed	PROPN
alkej-315	236	3	al	al	PROPN
alkej-315	236	4	-	-	PROPN
alkej-315	236	5	samarraie	samarraie	PROPN
alkej-315	236	6	al	al	PROPN
alkej-315	236	7	-	-	PUNCT
alkej-315	236	8	khwarizmi	khwarizmi	PROPN
alkej-315	236	9	engineering	engineering	NOUN
alkej-315	236	10	journal	journal	PROPN
alkej-315	236	11	,	,	PUNCT
alkej-315	236	12	vol	vol	NOUN
alkej-315	236	13	.	.	PROPN
alkej-315	236	14	12	12	NUM
alkej-315	236	15	,	,	PUNCT
alkej-315	236	16	no	no	INTJ
alkej-315	236	17	.	.	NOUN
alkej-315	236	18	4	4	NUM
alkej-315	236	19	,	,	PUNCT
alkej-315	236	20	p.p	p.p	PROPN
alkej-315	236	21	.	.	NOUN
alkej-315	236	22	111(2016	111(2016	NUM
alkej-315	236	23	)	)	PUNCT
alkej-315	236	24	9	9	NUM
alkej-315	236	25	fig	fig	NOUN
alkej-315	236	26	.	.	PUNCT
alkej-315	237	1	21	21	NUM
alkej-315	237	2	.	.	PUNCT
alkej-315	238	1	current	current	ADJ
alkej-315	238	2	control	control	NOUN
alkej-315	238	3	input	input	NOUN
alkej-315	238	4	under	under	ADP
alkej-315	238	5	�	�	PROPN
alkej-315	238	6	=	=	PRON
alkej-315	238	7	 	 	SPACE
alkej-315	238	8	.	.	PUNCT
alkej-315	239	1	£	£	NOUN
alkej-315	239	2	parametric	parametric	ADJ
alkej-315	239	3	uncertainties	uncertainty	NOUN
alkej-315	239	4	with	with	ADP
alkej-315	239	5	desired	desire	VERB
alkej-315	239	6	sinusoidal	sinusoidal	ADJ
alkej-315	239	7	position	position	NOUN
alkej-315	239	8	.	.	PUNCT
alkej-315	240	1	from	from	ADP
alkej-315	240	2	the	the	DET
alkej-315	240	3	previous	previous	ADJ
alkej-315	240	4	two	two	NUM
alkej-315	240	5	simulation	simulation	NOUN
alkej-315	240	6	results	result	NOUN
alkej-315	240	7	(	(	PUNCT
alkej-315	240	8	piecewise	piecewise	NOUN
alkej-315	240	9	and	and	CCONJ
alkej-315	240	10	sinusoidal	sinusoidal	ADJ
alkej-315	240	11	references	reference	NOUN
alkej-315	240	12	)	)	PUNCT
alkej-315	240	13	the	the	DET
alkej-315	240	14	following	follow	VERB
alkej-315	240	15	question	question	NOUN
alkej-315	240	16	arises	arise	VERB
alkej-315	240	17	;	;	PUNCT
alkej-315	240	18	why	why	SCONJ
alkej-315	240	19	the	the	DET
alkej-315	240	20	amplitude	amplitude	NOUN
alkej-315	240	21	of	of	ADP
alkej-315	240	22	the	the	DET
alkej-315	240	23	current	current	ADJ
alkej-315	240	24	input	input	NOUN
alkej-315	240	25	for	for	ADP
alkej-315	240	26	the	the	DET
alkej-315	240	27	piecewise	piecewise	NOUN
alkej-315	240	28	case	case	NOUN
alkej-315	240	29	much	much	ADV
alkej-315	240	30	larger	large	ADJ
alkej-315	240	31	than	than	ADP
alkej-315	240	32	the	the	DET
alkej-315	240	33	sinusoidal	sinusoidal	ADJ
alkej-315	240	34	case	case	NOUN
alkej-315	240	35	in	in	ADP
alkej-315	240	36	spite	spite	NOUN
alkej-315	240	37	of	of	ADP
alkej-315	240	38	that	that	PRON
alkej-315	240	39	,	,	PUNCT
alkej-315	240	40	the	the	DET
alkej-315	240	41	amplitude	amplitude	NOUN
alkej-315	240	42	for	for	ADP
alkej-315	240	43	both	both	DET
alkej-315	240	44	desired	desire	VERB
alkej-315	240	45	signal	signal	NOUN
alkej-315	240	46	are	be	AUX
alkej-315	240	47	equal	equal	ADJ
alkej-315	240	48	?	?	PUNCT
alkej-315	240	49	.	.	PUNCT
alkej-315	241	1	this	this	DET
alkej-315	241	2	disparity	disparity	NOUN
alkej-315	241	3	of	of	ADP
alkej-315	241	4	the	the	DET
alkej-315	241	5	current	current	ADJ
alkej-315	241	6	input	input	NOUN
alkej-315	241	7	due	due	ADP
alkej-315	241	8	to	to	ADP
alkej-315	241	9	the	the	DET
alkej-315	241	10	piecewise	piecewise	NOUN
alkej-315	241	11	case	case	NOUN
alkej-315	241	12	where	where	SCONJ
alkej-315	241	13	the	the	DET
alkej-315	241	14	piston	piston	NOUN
alkej-315	241	15	position	position	NOUN
alkej-315	241	16	has	have	VERB
alkej-315	241	17	a	a	DET
alkej-315	241	18	sudden	sudden	ADJ
alkej-315	241	19	jump	jump	NOUN
alkej-315	241	20	at	at	ADP
alkej-315	241	21	certain	certain	ADJ
alkej-315	241	22	points	point	NOUN
alkej-315	241	23	.	.	PUNCT
alkej-315	242	1	accordingly	accordingly	ADV
alkej-315	242	2	at	at	ADP
alkej-315	242	3	these	these	DET
alkej-315	242	4	points	point	NOUN
alkej-315	242	5	the	the	DET
alkej-315	242	6	slope	slope	NOUN
alkej-315	242	7	is	be	AUX
alkej-315	242	8	unbounded	unbounded	ADJ
alkej-315	242	9	,	,	PUNCT
alkej-315	242	10	therefore	therefore	ADV
alkej-315	242	11	the	the	DET
alkej-315	242	12	hosmo	hosmo	NOUN
alkej-315	242	13	make	make	VERB
alkej-315	242	14	a	a	DET
alkej-315	242	15	sort	sort	NOUN
alkej-315	242	16	of	of	ADP
alkej-315	242	17	adaptation	adaptation	NOUN
alkej-315	242	18	in	in	ADP
alkej-315	242	19	order	order	NOUN
alkej-315	242	20	to	to	PART
alkej-315	242	21	cover	cover	VERB
alkej-315	242	22	this	this	DET
alkej-315	242	23	abrupt	abrupt	ADJ
alkej-315	242	24	change	change	NOUN
alkej-315	242	25	leading	lead	VERB
alkej-315	242	26	to	to	ADP
alkej-315	242	27	a	a	DET
alkej-315	242	28	control	control	NOUN
alkej-315	242	29	effort	effort	NOUN
alkej-315	242	30	much	much	ADV
alkej-315	242	31	larger	large	ADJ
alkej-315	242	32	than	than	ADP
alkej-315	242	33	that	that	DET
alkej-315	242	34	one	one	NUM
alkej-315	242	35	of	of	ADP
alkej-315	242	36	sinusoidal	sinusoidal	ADJ
alkej-315	242	37	case	case	NOUN
alkej-315	242	38	as	as	SCONJ
alkej-315	242	39	shown	show	VERB
alkej-315	242	40	in	in	ADP
alkej-315	242	41	figures	figure	NOUN
alkej-315	242	42	(	(	PUNCT
alkej-315	242	43	15	15	NUM
alkej-315	242	44	)	)	PUNCT
alkej-315	242	45	and	and	CCONJ
alkej-315	242	46	(	(	PUNCT
alkej-315	242	47	21	21	NUM
alkej-315	242	48	)	)	PUNCT
alkej-315	242	49	respectively	respectively	ADV
alkej-315	242	50	.	.	PUNCT
alkej-315	243	1	as	as	ADP
alkej-315	243	2	a	a	DET
alkej-315	243	3	matter	matter	NOUN
alkej-315	243	4	of	of	ADP
alkej-315	243	5	fact	fact	NOUN
alkej-315	243	6	the	the	DET
alkej-315	243	7	control	control	NOUN
alkej-315	243	8	input	input	NOUN
alkej-315	243	9	(	(	PUNCT
alkej-315	243	10	the	the	DET
alkej-315	243	11	current	current	NOUN
alkej-315	243	12	)	)	PUNCT
alkej-315	243	13	is	be	AUX
alkej-315	243	14	minimal	minimal	ADJ
alkej-315	243	15	for	for	ADP
alkej-315	243	16	both	both	DET
alkej-315	243	17	type	type	NOUN
alkej-315	243	18	of	of	ADP
alkej-315	243	19	desired	desire	VERB
alkej-315	243	20	position	position	NOUN
alkej-315	243	21	.	.	PUNCT
alkej-315	244	1	it	it	PRON
alkej-315	244	2	is	be	AUX
alkej-315	244	3	meant	mean	VERB
alkej-315	244	4	by	by	ADP
alkej-315	244	5	minimal	minimal	ADJ
alkej-315	244	6	that	that	SCONJ
alkej-315	244	7	the	the	DET
alkej-315	244	8	controller	controller	NOUN
alkej-315	244	9	,	,	PUNCT
alkej-315	244	10	which	which	PRON
alkej-315	244	11	will	will	AUX
alkej-315	244	12	be	be	AUX
alkej-315	244	13	able	able	ADJ
alkej-315	244	14	to	to	PART
alkej-315	244	15	regulate	regulate	VERB
alkej-315	244	16	the	the	DET
alkej-315	244	17	error	error	NOUN
alkej-315	244	18	function	function	NOUN
alkej-315	244	19	2	2	NUM
alkej-315	244	20	to	to	ADP
alkej-315	244	21	the	the	DET
alkej-315	244	22	origin	origin	NOUN
alkej-315	244	23	,	,	PUNCT
alkej-315	244	24	will	will	AUX
alkej-315	244	25	spend	spend	VERB
alkej-315	244	26	just	just	ADV
alkej-315	244	27	the	the	DET
alkej-315	244	28	required	require	VERB
alkej-315	244	29	effort	effort	NOUN
alkej-315	244	30	in	in	ADP
alkej-315	244	31	order	order	NOUN
alkej-315	244	32	to	to	PART
alkej-315	244	33	reject	reject	VERB
alkej-315	244	34	the	the	DET
alkej-315	244	35	perturbation	perturbation	NOUN
alkej-315	244	36	term	term	NOUN
alkej-315	244	37	.	.	PUNCT
alkej-315	245	1	canceling	cancel	VERB
alkej-315	245	2	the	the	DET
alkej-315	245	3	perturbation	perturbation	NOUN
alkej-315	245	4	terms	term	NOUN
alkej-315	245	5	,	,	PUNCT
alkej-315	245	6	and	and	CCONJ
alkej-315	245	7	then	then	ADV
alkej-315	245	8	deals	deal	VERB
alkej-315	245	9	with	with	ADP
alkej-315	245	10	the	the	DET
alkej-315	245	11	system	system	NOUN
alkej-315	245	12	as	as	ADP
alkej-315	245	13	a	a	DET
alkej-315	245	14	nominal	nominal	ADJ
alkej-315	245	15	system	system	NOUN
alkej-315	245	16	and	and	CCONJ
alkej-315	245	17	exactly	exactly	ADV
alkej-315	245	18	specifying	specify	VERB
alkej-315	245	19	the	the	DET
alkej-315	245	20	system	system	NOUN
alkej-315	245	21	response	response	NOUN
alkej-315	245	22	characteristics	characteristic	NOUN
alkej-315	245	23	is	be	AUX
alkej-315	245	24	the	the	DET
alkej-315	245	25	control	control	NOUN
alkej-315	245	26	strategy	strategy	NOUN
alkej-315	245	27	that	that	PRON
alkej-315	245	28	leads	lead	VERB
alkej-315	245	29	to	to	ADP
alkej-315	245	30	minimizing	minimize	VERB
alkej-315	245	31	the	the	DET
alkej-315	245	32	control	control	NOUN
alkej-315	245	33	effort	effort	NOUN
alkej-315	245	34	.	.	PUNCT
alkej-315	246	1	indeed	indeed	ADV
alkej-315	246	2	one	one	PRON
alkej-315	246	3	can	can	AUX
alkej-315	246	4	not	not	PART
alkej-315	246	5	apply	apply	VERB
alkej-315	246	6	the	the	DET
alkej-315	246	7	above	above	ADJ
alkej-315	246	8	mentioned	mention	VERB
alkej-315	246	9	strategy	strategy	NOUN
alkej-315	246	10	without	without	ADP
alkej-315	246	11	an	an	DET
alkej-315	246	12	exact	exact	ADJ
alkej-315	246	13	estimator	estimator	NOUN
alkej-315	246	14	like	like	ADP
alkej-315	246	15	the	the	DET
alkej-315	246	16	hosmo	hosmo	NOUN
alkej-315	246	17	.	.	PUNCT
alkej-315	247	1	moreover	moreover	ADV
alkej-315	247	2	the	the	DET
alkej-315	247	3	estimation	estimation	NOUN
alkej-315	247	4	process	process	NOUN
alkej-315	247	5	via	via	ADP
alkej-315	247	6	hosmo	hosmo	NOUN
alkej-315	247	7	can	can	AUX
alkej-315	247	8	be	be	AUX
alkej-315	247	9	made	make	VERB
alkej-315	247	10	faster	fast	ADV
alkej-315	247	11	by	by	ADP
alkej-315	247	12	choosing	choose	VERB
alkej-315	247	13	more	more	ADV
alkej-315	247	14	appropriate	appropriate	ADJ
alkej-315	247	15	gain	gain	NOUN
alkej-315	247	16	matrix	matrix	NOUN
alkej-315	247	17	such	such	ADJ
alkej-315	247	18	that	that	SCONJ
alkej-315	247	19	2	2	NUM
alkej-315	247	20	�	�	PROPN
alkej-315	247	21	�	�	PROPN
alkej-315	247	22	�	�	PROPN
alkej-315	247	23	�	�	PROPN
alkej-315	247	24	−	−	PROPN
alkej-315	247	25	are	be	AUX
alkej-315	247	26	sufficiently	sufficiently	ADV
alkej-315	247	27	far	far	ADV
alkej-315	247	28	from	from	ADP
alkej-315	247	29	the	the	DET
alkej-315	247	30	right	right	ADJ
alkej-315	247	31	hand	hand	NOUN
alkej-315	247	32	side	side	NOUN
alkej-315	247	33	of	of	ADP
alkej-315	247	34	the	the	DET
alkej-315	247	35	imaginary	imaginary	ADJ
alkej-315	247	36	axis	axis	NOUN
alkej-315	247	37	.	.	PUNCT
alkej-315	248	1	6	6	X
alkej-315	248	2	.	.	X
alkej-315	248	3	conclusion	conclusion	NOUN
alkej-315	248	4	a	a	DET
alkej-315	248	5	hosmo	hosmo	NOUN
alkej-315	248	6	based	base	VERB
alkej-315	248	7	controller	controller	NOUN
alkej-315	248	8	design	design	NOUN
alkej-315	248	9	is	be	AUX
alkej-315	248	10	proposed	propose	VERB
alkej-315	248	11	to	to	PART
alkej-315	248	12	improve	improve	VERB
alkej-315	248	13	the	the	DET
alkej-315	248	14	piston	piston	NOUN
alkej-315	248	15	position	position	NOUN
alkej-315	248	16	tracking	tracking	NOUN
alkej-315	248	17	for	for	ADP
alkej-315	248	18	the	the	DET
alkej-315	248	19	electro	electro	ADJ
alkej-315	248	20	-	-	PUNCT
alkej-315	248	21	hydraulic	hydraulic	NOUN
alkej-315	248	22	system	system	NOUN
alkej-315	248	23	suffers	suffer	VERB
alkej-315	248	24	from	from	ADP
alkej-315	248	25	parametric	parametric	ADJ
alkej-315	248	26	uncertainties	uncertainty	NOUN
alkej-315	248	27	and	and	CCONJ
alkej-315	248	28	unmatched	unmatched	ADJ
alkej-315	248	29	disturbance	disturbance	NOUN
alkej-315	248	30	with	with	ADP
alkej-315	248	31	only	only	ADJ
alkej-315	248	32	position	position	NOUN
alkej-315	248	33	measured	measure	VERB
alkej-315	248	34	signal	signal	NOUN
alkej-315	248	35	.	.	PUNCT
alkej-315	249	1	by	by	ADP
alkej-315	249	2	using	use	VERB
alkej-315	249	3	only	only	ADV
alkej-315	249	4	the	the	DET
alkej-315	249	5	piston	piston	NOUN
alkej-315	249	6	position	position	NOUN
alkej-315	249	7	as	as	ADP
alkej-315	249	8	a	a	DET
alkej-315	249	9	measured	measured	ADJ
alkej-315	249	10	output	output	NOUN
alkej-315	249	11	,	,	PUNCT
alkej-315	249	12	the	the	DET
alkej-315	249	13	hosmo	hosmo	NOUN
alkej-315	249	14	is	be	AUX
alkej-315	249	15	designed	design	VERB
alkej-315	249	16	to	to	PART
alkej-315	249	17	estimate	estimate	VERB
alkej-315	249	18	both	both	CCONJ
alkej-315	249	19	the	the	DET
alkej-315	249	20	bounded	bounded	ADJ
alkej-315	249	21	differentiable	differentiable	ADJ
alkej-315	249	22	unknown	unknown	ADJ
alkej-315	249	23	form	form	NOUN
alkej-315	249	24	and	and	CCONJ
alkej-315	249	25	the	the	DET
alkej-315	249	26	states	state	NOUN
alkej-315	249	27	of	of	ADP
alkej-315	249	28	the	the	DET
alkej-315	249	29	phase	phase	NOUN
alkej-315	249	30	variable	variable	ADJ
alkej-315	249	31	canonical	canonical	ADJ
alkej-315	249	32	system	system	NOUN
alkej-315	249	33	.	.	PUNCT
alkej-315	250	1	our	our	PRON
alkej-315	250	2	proposed	propose	VERB
alkej-315	250	3	controller	controller	NOUN
alkej-315	250	4	uses	use	VERB
alkej-315	250	5	the	the	DET
alkej-315	250	6	estimated	estimate	VERB
alkej-315	250	7	perturbation	perturbation	NOUN
alkej-315	250	8	to	to	PART
alkej-315	250	9	cancel	cancel	VERB
alkej-315	250	10	its	its	PRON
alkej-315	250	11	actual	actual	ADJ
alkej-315	250	12	effect	effect	NOUN
alkej-315	250	13	on	on	ADP
alkej-315	250	14	system	system	NOUN
alkej-315	250	15	dynamics	dynamic	NOUN
alkej-315	250	16	.	.	PUNCT
alkej-315	251	1	then	then	ADV
alkej-315	251	2	a	a	DET
alkej-315	251	3	simple	simple	ADJ
alkej-315	251	4	linear	linear	ADJ
alkej-315	251	5	output	output	NOUN
alkej-315	251	6	feedback	feedback	NOUN
alkej-315	251	7	controller	controller	NOUN
alkej-315	251	8	based	base	VERB
alkej-315	251	9	on	on	ADP
alkej-315	251	10	pole	pole	ADJ
alkej-315	251	11	placement	placement	NOUN
alkej-315	251	12	was	be	AUX
alkej-315	251	13	designed	design	VERB
alkej-315	251	14	such	such	ADJ
alkej-315	251	15	that	that	SCONJ
alkej-315	251	16	the	the	DET
alkej-315	251	17	piston	piston	NOUN
alkej-315	251	18	position	position	NOUN
alkej-315	251	19	tracks	track	VERB
alkej-315	251	20	the	the	DET
alkej-315	251	21	desired	desire	VERB
alkej-315	251	22	one	one	NUM
alkej-315	251	23	.	.	PUNCT
alkej-315	252	1	two	two	NUM
alkej-315	252	2	desired	desire	VERB
alkej-315	252	3	position	position	NOUN
alkej-315	252	4	are	be	AUX
alkej-315	252	5	considered	consider	VERB
alkej-315	252	6	which	which	PRON
alkej-315	252	7	are	be	AUX
alkej-315	252	8	piecewise	piecewise	NOUN
alkej-315	252	9	and	and	CCONJ
alkej-315	252	10	sinusoidal	sinusoidal	NOUN
alkej-315	252	11	where	where	SCONJ
alkej-315	252	12	the	the	DET
alkej-315	252	13	simulation	simulation	NOUN
alkej-315	252	14	results	result	NOUN
alkej-315	252	15	have	have	AUX
alkej-315	252	16	shown	show	VERB
alkej-315	252	17	an	an	DET
alkej-315	252	18	excellent	excellent	ADJ
alkej-315	252	19	estimations	estimation	NOUN
alkej-315	252	20	and	and	CCONJ
alkej-315	252	21	tracking	tracking	NOUN
alkej-315	252	22	performance	performance	NOUN
alkej-315	252	23	.	.	PUNCT
alkej-315	253	1	7	7	X
alkej-315	253	2	.	.	NUM
alkej-315	253	3	references	reference	NOUN
alkej-315	253	4	[	[	X
alkej-315	253	5	1	1	X
alkej-315	253	6	]	]	PUNCT
alkej-315	253	7	karl	karl	PROPN
alkej-315	253	8	johan	johan	PROPN
alkej-315	253	9	aström	aström	PROPN
alkej-315	253	10	and	and	CCONJ
alkej-315	253	11	richard	richard	PROPN
alkej-315	253	12	m.	m.	PROPN
alkej-315	253	13	murray	murray	PROPN
alkej-315	253	14	,	,	PUNCT
alkej-315	253	15	''	''	PUNCT
alkej-315	253	16	feedback	feedback	NOUN
alkej-315	253	17	systems	system	NOUN
alkej-315	253	18	"	"	PUNCT
alkej-315	253	19	,	,	PUNCT
alkej-315	253	20	princeton	princeton	PROPN
alkej-315	253	21	university	university	PROPN
alkej-315	253	22	press	press	NOUN
alkej-315	253	23	,	,	PUNCT
alkej-315	253	24	2008	2008	NUM
alkej-315	253	25	.	.	PUNCT
alkej-315	254	1	[	[	X
alkej-315	254	2	2	2	X
alkej-315	254	3	]	]	PUNCT
alkej-315	254	4	leonid	leonid	PROPN
alkej-315	254	5	fridman	fridman	PROPN
alkej-315	254	6	,	,	PUNCT
alkej-315	254	7	arie	arie	NOUN
alkej-315	254	8	levant	levant	NOUN
alkej-315	254	9	and	and	CCONJ
alkej-315	254	10	jorge	jorge	PROPN
alkej-315	254	11	davila	davila	PROPN
alkej-315	254	12	,	,	PUNCT
alkej-315	254	13	"	"	PUNCT
alkej-315	254	14	observation	observation	NOUN
alkej-315	254	15	of	of	ADP
alkej-315	254	16	linear	linear	PROPN
alkej-315	254	17	systems	system	NOUN
alkej-315	254	18	with	with	ADP
alkej-315	254	19	unknown	unknown	ADJ
alkej-315	254	20	inputs	input	NOUN
alkej-315	254	21	via	via	ADP
alkej-315	254	22	high	high	ADJ
alkej-315	254	23	-	-	PUNCT
alkej-315	254	24	order	order	NOUN
alkej-315	254	25	sliding	slide	VERB
alkej-315	254	26	-	-	PUNCT
alkej-315	254	27	modes	mode	NOUN
alkej-315	254	28	"	"	PUNCT
alkej-315	254	29	,	,	PUNCT
alkej-315	254	30	taylor	taylor	PROPN
alkej-315	254	31	&	&	CCONJ
alkej-315	254	32	francis	francis	PROPN
alkej-315	254	33	international	international	PROPN
alkej-315	254	34	journal	journal	PROPN
alkej-315	254	35	of	of	ADP
alkej-315	254	36	systems	system	NOUN
alkej-315	254	37	science	science	NOUN
alkej-315	254	38	,	,	PUNCT
alkej-315	254	39	vol	vol	NOUN
alkej-315	254	40	.	.	PROPN
alkej-315	254	41	38	38	NUM
alkej-315	254	42	,	,	PUNCT
alkej-315	254	43	no	no	INTJ
alkej-315	254	44	.	.	NOUN
alkej-315	254	45	10	10	NUM
alkej-315	254	46	,	,	PUNCT
alkej-315	254	47	pp	pp	ADJ
alkej-315	254	48	.	.	PUNCT
alkej-315	255	1	773–791	773–791	NUM
alkej-315	255	2	,	,	PUNCT
alkej-315	255	3	2007	2007	NUM
alkej-315	255	4	.	.	PUNCT
alkej-315	256	1	[	[	X
alkej-315	256	2	3	3	X
alkej-315	256	3	]	]	X
alkej-315	256	4	yuri	yuri	PROPN
alkej-315	256	5	shtessel	shtessel	PROPN
alkej-315	256	6	,	,	PUNCT
alkej-315	256	7	christopher	christopher	PROPN
alkej-315	256	8	edwards	edwards	PROPN
alkej-315	256	9	,	,	PUNCT
alkej-315	256	10	leonid	leonid	PROPN
alkej-315	256	11	fridman	fridman	NOUN
alkej-315	256	12	and	and	CCONJ
alkej-315	256	13	arie	arie	PROPN
alkej-315	256	14	levant	levant	PROPN
alkej-315	256	15	,	,	PUNCT
alkej-315	256	16	"	"	PUNCT
alkej-315	256	17	sliding	slide	VERB
alkej-315	256	18	mode	mode	NOUN
alkej-315	256	19	control	control	NOUN
alkej-315	256	20	and	and	CCONJ
alkej-315	256	21	observation	observation	NOUN
alkej-315	256	22	"	"	PUNCT
alkej-315	256	23	,	,	PUNCT
alkej-315	256	24	springer	springer	NOUN
alkej-315	256	25	science+business	science+business	NOUN
alkej-315	256	26	media	medium	NOUN
alkej-315	256	27	new	new	PROPN
alkej-315	256	28	york	york	PROPN
alkej-315	256	29	,	,	PUNCT
alkej-315	256	30	2014	2014	NUM
alkej-315	256	31	.	.	PUNCT
alkej-315	257	1	[	[	X
alkej-315	257	2	4	4	X
alkej-315	257	3	]	]	PUNCT
alkej-315	257	4	m.	m.	NOUN
alkej-315	257	5	l.	l.	PROPN
alkej-315	257	6	j.	j.	PROPN
alkej-315	257	7	hautus	hautus	PROPN
alkej-315	257	8	,	,	PUNCT
alkej-315	257	9	"	"	PUNCT
alkej-315	257	10	strong	strong	ADJ
alkej-315	257	11	detectability	detectability	NOUN
alkej-315	257	12	and	and	CCONJ
alkej-315	257	13	observers	observer	NOUN
alkej-315	257	14	*	*	PUNCT
alkej-315	257	15	"	"	PUNCT
alkej-315	257	16	,	,	PUNCT
alkej-315	257	17	elsevier	elsevier	PROPN
alkej-315	257	18	science	science	PROPN
alkej-315	257	19	publishing	publishing	PROPN
alkej-315	257	20	co.	co.	PROPN
alkej-315	257	21	,	,	PUNCT
alkej-315	257	22	inc	inc	PROPN
alkej-315	257	23	.	.	PROPN
alkej-315	257	24	,	,	PUNCT
alkej-315	257	25	pp	pp	PROPN
alkej-315	257	26	.	.	PUNCT
alkej-315	258	1	353	353	NUM
alkej-315	258	2	-	-	SYM
alkej-315	258	3	368	368	NUM
alkej-315	258	4	,	,	PUNCT
alkej-315	258	5	1983	1983	NUM
alkej-315	258	6	.	.	PUNCT
alkej-315	259	1	[	[	X
alkej-315	259	2	5	5	NUM
alkej-315	259	3	]	]	PUNCT
alkej-315	259	4	miroslav	miroslav	ADJ
alkej-315	259	5	mihajlov	mihajlov	PROPN
alkej-315	259	6	,	,	PUNCT
alkej-315	259	7	vlastimir	vlastimir	NOUN
alkej-315	259	8	nikolić	nikolić	NOUN
alkej-315	259	9	and	and	CCONJ
alkej-315	259	10	dragan	dragan	VERB
alkej-315	259	11	antić	antić	PRON
alkej-315	259	12	,	,	PUNCT
alkej-315	259	13	"	"	PUNCT
alkej-315	259	14	position	position	NOUN
alkej-315	259	15	control	control	NOUN
alkej-315	259	16	of	of	ADP
alkej-315	259	17	an	an	DET
alkej-315	259	18	electro	electro	ADJ
alkej-315	259	19	-	-	PUNCT
alkej-315	259	20	hydraulic	hydraulic	NOUN
alkej-315	259	21	servo	servo	NOUN
alkej-315	259	22	system	system	NOUN
alkej-315	259	23	using	use	VERB
alkej-315	259	24	sliding	slide	VERB
alkej-315	259	25	mode	mode	NOUN
alkej-315	259	26	control	control	NOUN
alkej-315	259	27	"	"	PUNCT
alkej-315	259	28	,	,	PUNCT
alkej-315	259	29	facta	facta	PROPN
alkej-315	259	30	universitatis	universitatis	PROPN
alkej-315	259	31	,	,	PUNCT
alkej-315	259	32	series	series	NOUN
alkej-315	259	33	:	:	PUNCT
alkej-315	259	34	mechanical	mechanical	ADJ
alkej-315	259	35	engineering	engineering	NOUN
alkej-315	259	36	,	,	PUNCT
alkej-315	259	37	vol	vol	NOUN
alkej-315	259	38	.	.	PROPN
alkej-315	259	39	1	1	NUM
alkej-315	259	40	,	,	PUNCT
alkej-315	259	41	no	no	INTJ
alkej-315	259	42	.	.	NOUN
alkej-315	259	43	9	9	NUM
alkej-315	259	44	,	,	PUNCT
alkej-315	259	45	pp	pp	ADJ
alkej-315	259	46	.	.	PUNCT
alkej-315	259	47	1217	1217	NUM
alkej-315	259	48	–	–	PUNCT
alkej-315	259	49	1230	1230	NUM
alkej-315	259	50	,	,	PUNCT
alkej-315	259	51	2002	2002	NUM
alkej-315	259	52	.	.	PUNCT
alkej-315	260	1	[	[	X
alkej-315	260	2	6	6	NUM
alkej-315	260	3	]	]	X
alkej-315	260	4	hong	hong	PROPN
alkej-315	260	5	-	-	PUNCT
alkej-315	260	6	ming	ming	PROPN
alkej-315	260	7	chen	chen	PROPN
alkej-315	260	8	,	,	PUNCT
alkej-315	260	9	jyh	jyh	PROPN
alkej-315	260	10	-	-	PUNCT
alkej-315	260	11	chyang	chyang	PROPN
alkej-315	260	12	renn	renn	PROPN
alkej-315	260	13	and	and	CCONJ
alkej-315	260	14	juhng	juhng	PROPN
alkej-315	260	15	-	-	PUNCT
alkej-315	260	16	perng	perng	PROPN
alkej-315	260	17	su	su	PROPN
alkej-315	260	18	,	,	PUNCT
alkej-315	260	19	"	"	PUNCT
alkej-315	260	20	sliding	slide	VERB
alkej-315	260	21	mode	mode	NOUN
alkej-315	260	22	control	control	NOUN
alkej-315	260	23	with	with	ADP
alkej-315	260	24	varying	vary	VERB
alkej-315	260	25	boundary	boundary	ADJ
alkej-315	260	26	layers	layer	NOUN
alkej-315	260	27	for	for	ADP
alkej-315	260	28	an	an	DET
alkej-315	260	29	electrohydraulic	electrohydraulic	NOUN
alkej-315	260	30	position	position	NOUN
alkej-315	260	31	servo	servo	NOUN
alkej-315	260	32	system	system	NOUN
alkej-315	260	33	"	"	PUNCT
alkej-315	260	34	,	,	PUNCT
alkej-315	260	35	springerverlag	springerverlag	PROPN
alkej-315	260	36	london	london	PROPN
alkej-315	260	37	limited	limit	VERB
alkej-315	260	38	,	,	PUNCT
alkej-315	260	39	pp	pp	ADJ
alkej-315	260	40	.	.	PUNCT
alkej-315	261	1	117–123	117–123	NUM
alkej-315	261	2	,	,	PUNCT
alkej-315	261	3	2005	2005	NUM
alkej-315	261	4	.	.	PUNCT
alkej-315	262	1	[	[	X
alkej-315	262	2	7	7	NUM
alkej-315	262	3	]	]	X
alkej-315	262	4	cheng	cheng	PROPN
alkej-315	262	5	guan	guan	PROPN
alkej-315	262	6	and	and	CCONJ
alkej-315	262	7	shuangxia	shuangxia	PROPN
alkej-315	262	8	pan	pan	PROPN
alkej-315	262	9	,	,	PUNCT
alkej-315	262	10	"	"	PUNCT
alkej-315	262	11	adaptive	adaptive	ADJ
alkej-315	262	12	sliding	slide	VERB
alkej-315	262	13	mode	mode	NOUN
alkej-315	262	14	control	control	NOUN
alkej-315	262	15	of	of	ADP
alkej-315	262	16	electro	electro	ADJ
alkej-315	262	17	-	-	PUNCT
alkej-315	262	18	hydraulic	hydraulic	NOUN
alkej-315	262	19	system	system	NOUN
alkej-315	262	20	with	with	ADP
alkej-315	262	21	nonlinear	nonlinear	ADJ
alkej-315	262	22	unknown	unknown	ADJ
alkej-315	262	23	parameters	parameter	NOUN
alkej-315	262	24	"	"	PUNCT
alkej-315	262	25	,	,	PUNCT
alkej-315	262	26	elsevier	elsevier	PROPN
alkej-315	262	27	ltd	ltd	PROPN
alkej-315	262	28	,	,	PUNCT
alkej-315	262	29	pp	pp	PROPN
alkej-315	262	30	.	.	PUNCT
alkej-315	263	1	1275	1275	NUM
alkej-315	263	2	–	–	PUNCT
alkej-315	263	3	1284	1284	NUM
alkej-315	263	4	,	,	PUNCT
alkej-315	263	5	2008	2008	NUM
alkej-315	263	6	.	.	PUNCT
alkej-315	264	1	[	[	X
alkej-315	264	2	8	8	NUM
alkej-315	264	3	]	]	X
alkej-315	264	4	daehee	daehee	NOUN
alkej-315	264	5	won	win	VERB
alkej-315	264	6	and	and	CCONJ
alkej-315	264	7	wonhee	wonhee	PROPN
alkej-315	264	8	kim	kim	PROPN
alkej-315	264	9	,	,	PUNCT
alkej-315	264	10	"	"	PUNCT
alkej-315	264	11	disturbance	disturbance	NOUN
alkej-315	264	12	observer	observer	NOUN
alkej-315	264	13	based	base	VERB
alkej-315	264	14	backstepping	backstepping	NOUN
alkej-315	264	15	for	for	ADP
alkej-315	264	16	position	position	NOUN
alkej-315	264	17	control	control	NOUN
alkej-315	264	18	of	of	ADP
alkej-315	264	19	electro	electro	ADJ
alkej-315	264	20	-	-	PUNCT
alkej-315	264	21	hydraulic	hydraulic	NOUN
alkej-315	264	22	systems	system	NOUN
alkej-315	264	23	"	"	PUNCT
alkej-315	264	24	,	,	PUNCT
alkej-315	264	25	springer	springer	NOUN
alkej-315	264	26	international	international	PROPN
alkej-315	264	27	journal	journal	PROPN
alkej-315	264	28	of	of	ADP
alkej-315	264	29	control	control	NOUN
alkej-315	264	30	,	,	PUNCT
alkej-315	264	31	2015	2015	NUM
alkej-315	264	32	.	.	PUNCT
alkej-315	265	1	shibly	shibly	PROPN
alkej-315	265	2	ahmed	ahmed	PROPN
alkej-315	265	3	al	al	PROPN
alkej-315	265	4	-	-	PROPN
alkej-315	265	5	samarraie	samarraie	PROPN
alkej-315	265	6	al	al	PROPN
alkej-315	265	7	-	-	PUNCT
alkej-315	265	8	khwarizmi	khwarizmi	PROPN
alkej-315	265	9	engineering	engineering	NOUN
alkej-315	265	10	journal	journal	PROPN
alkej-315	265	11	,	,	PUNCT
alkej-315	265	12	vol	vol	NOUN
alkej-315	265	13	.	.	PROPN
alkej-315	265	14	12	12	NUM
alkej-315	265	15	,	,	PUNCT
alkej-315	265	16	no	no	INTJ
alkej-315	265	17	.	.	NOUN
alkej-315	265	18	4	4	NUM
alkej-315	265	19	,	,	PUNCT
alkej-315	265	20	p.p	p.p	PROPN
alkej-315	265	21	.	.	NOUN
alkej-315	265	22	111(2016	111(2016	NUM
alkej-315	265	23	)	)	PUNCT
alkej-315	265	24	10	10	NUM
alkej-315	266	1	[	[	X
alkej-315	266	2	9	9	NUM
alkej-315	266	3	]	]	X
alkej-315	266	4	daeheewon	daeheewon	ADJ
alkej-315	266	5	,	,	PUNCT
alkej-315	266	6	wonhee	wonhee	PROPN
alkej-315	266	7	kim	kim	PROPN
alkej-315	266	8	,	,	PUNCT
alkej-315	266	9	donghoon	donghoon	NOUN
alkej-315	266	10	shin	shin	NOUN
alkej-315	266	11	,	,	PUNCT
alkej-315	266	12	and	and	CCONJ
alkej-315	266	13	chung	chung	PROPN
alkej-315	266	14	choo	choo	PROPN
alkej-315	266	15	chung	chung	PROPN
alkej-315	266	16	,	,	PUNCT
alkej-315	266	17	"	"	PUNCT
alkej-315	266	18	high	high	ADJ
alkej-315	266	19	-	-	PUNCT
alkej-315	266	20	gain	gain	NOUN
alkej-315	266	21	disturbance	disturbance	NOUN
alkej-315	266	22	observer	observer	NOUN
alkej-315	266	23	-	-	PUNCT
alkej-315	266	24	based	base	VERB
alkej-315	266	25	backstepping	backstepping	NOUN
alkej-315	266	26	control	control	NOUN
alkej-315	266	27	with	with	ADP
alkej-315	266	28	output	output	NOUN
alkej-315	266	29	tracking	tracking	NOUN
alkej-315	266	30	error	error	NOUN
alkej-315	266	31	constraint	constraint	NOUN
alkej-315	266	32	for	for	ADP
alkej-315	266	33	electro	electro	ADJ
alkej-315	266	34	-	-	PUNCT
alkej-315	266	35	hydraulic	hydraulic	NOUN
alkej-315	266	36	systems	system	NOUN
alkej-315	266	37	"	"	PUNCT
alkej-315	266	38	,	,	PUNCT
alkej-315	266	39	ieee	ieee	NOUN
alkej-315	266	40	transactions	transaction	NOUN
alkej-315	266	41	on	on	ADP
alkej-315	266	42	control	control	NOUN
alkej-315	266	43	systems	system	NOUN
alkej-315	266	44	technology	technology	NOUN
alkej-315	266	45	,	,	PUNCT
alkej-315	266	46	2014	2014	NUM
alkej-315	266	47	.	.	PUNCT
alkej-315	267	1	[	[	X
alkej-315	267	2	10	10	NUM
alkej-315	267	3	]	]	X
alkej-315	267	4	vladimir	vladimir	PROPN
alkej-315	267	5	mili¢	mili¢	PROPN
alkej-315	267	6	,	,	PUNCT
alkej-315	267	7	zeljko	zeljko	PROPN
alkej-315	267	8	situm	situm	PROPN
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alkej-315	267	10	mario	mario	PROPN
alkej-315	267	11	essert	essert	PROPN
alkej-315	267	12	,	,	PUNCT
alkej-315	267	13	"	"	PUNCT
alkej-315	267	14	robust	robust	ADJ
alkej-315	267	15	h_∞	h_∞	PROPN
alkej-315	267	16	position	position	NOUN
alkej-315	267	17	control	control	NOUN
alkej-315	267	18	synthesis	synthesis	NOUN
alkej-315	267	19	of	of	ADP
alkej-315	267	20	an	an	DET
alkej-315	267	21	electro	electro	ADJ
alkej-315	267	22	-	-	PUNCT
alkej-315	267	23	hydraulic	hydraulic	NOUN
alkej-315	267	24	servo	servo	NOUN
alkej-315	267	25	system	system	NOUN
alkej-315	267	26	"	"	PUNCT
alkej-315	267	27	,	,	PUNCT
alkej-315	267	28	elsevier	elsevier	PROPN
alkej-315	267	29	isa	isa	PROPN
alkej-315	267	30	,	,	PUNCT
alkej-315	267	31	pp	pp	ADJ
alkej-315	267	32	.	.	PUNCT
alkej-315	268	1	535	535	NUM
alkej-315	268	2	-	-	SYM
alkej-315	268	3	542	542	NUM
alkej-315	268	4	,	,	PUNCT
alkej-315	268	5	2010	2010	NUM
alkej-315	268	6	.	.	PUNCT
alkej-315	269	1	[	[	X
alkej-315	269	2	11	11	NUM
alkej-315	269	3	]	]	SYM
alkej-315	269	4	francisco	francisco	PROPN
alkej-315	269	5	j.	j.	PROPN
alkej-315	269	6	bejarano	bejarano	PROPN
alkej-315	269	7	and	and	CCONJ
alkej-315	269	8	leonid	leonid	PROPN
alkej-315	269	9	fridman	fridman	PROPN
alkej-315	269	10	,	,	PUNCT
alkej-315	269	11	"	"	PUNCT
alkej-315	269	12	high	high	ADJ
alkej-315	269	13	order	order	NOUN
alkej-315	269	14	sliding	slide	VERB
alkej-315	269	15	mode	mode	NOUN
alkej-315	269	16	observer	observer	NOUN
alkej-315	269	17	for	for	ADP
alkej-315	269	18	linear	linear	PROPN
alkej-315	269	19	systems	system	NOUN
alkej-315	269	20	with	with	ADP
alkej-315	269	21	unbounded	unbounded	ADJ
alkej-315	269	22	unknown	unknown	ADJ
alkej-315	269	23	inputs	input	NOUN
alkej-315	269	24	"	"	PUNCT
alkej-315	269	25	,	,	PUNCT
alkej-315	269	26	taylor	taylor	PROPN
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alkej-315	269	28	francis	francis	PROPN
alkej-315	269	29	international	international	PROPN
alkej-315	269	30	journal	journal	PROPN
alkej-315	269	31	of	of	ADP
alkej-315	269	32	control	control	NOUN
alkej-315	269	33	,	,	PUNCT
alkej-315	269	34	vol	vol	NOUN
alkej-315	269	35	.	.	PROPN
alkej-315	269	36	83	83	NUM
alkej-315	269	37	,	,	PUNCT
alkej-315	269	38	no	no	INTJ
alkej-315	269	39	.	.	NOUN
alkej-315	269	40	9	9	NUM
alkej-315	269	41	,	,	PUNCT
alkej-315	269	42	pp	pp	ADJ
alkej-315	269	43	.	.	PUNCT
alkej-315	270	1	1920–1929	1920–1929	NUM
alkej-315	270	2	,	,	PUNCT
alkej-315	270	3	2010	2010	NUM
alkej-315	270	4	.	.	PUNCT
alkej-315	271	1	[	[	X
alkej-315	271	2	12	12	NUM
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alkej-315	271	4	leonid	leonid	PROPN
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alkej-315	271	6	,	,	PUNCT
alkej-315	271	7	jorge	jorge	PROPN
alkej-315	271	8	davila	davila	PROPN
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alkej-315	271	10	arie	arie	PROPN
alkej-315	271	11	levant	levant	PROPN
alkej-315	271	12	,	,	PUNCT
alkej-315	271	13	"	"	PUNCT
alkej-315	271	14	high	high	ADJ
alkej-315	271	15	-	-	PUNCT
alkej-315	271	16	order	order	NOUN
alkej-315	271	17	sliding	slide	VERB
alkej-315	271	18	-	-	PUNCT
alkej-315	271	19	mode	mode	NOUN
alkej-315	271	20	observation	observation	NOUN
alkej-315	271	21	for	for	ADP
alkej-315	271	22	linear	linear	PROPN
alkej-315	271	23	systems	system	NOUN
alkej-315	271	24	with	with	ADP
alkej-315	271	25	unknown	unknown	ADJ
alkej-315	271	26	inputs	input	NOUN
alkej-315	271	27	"	"	PUNCT
alkej-315	271	28	,	,	PUNCT
alkej-315	271	29	elsevier	elsevier	PROPN
alkej-315	271	30	ltd	ltd	PROPN
alkej-315	271	31	,	,	PUNCT
alkej-315	271	32	2010	2010	NUM
alkej-315	271	33	.	.	PUNCT
alkej-315	272	1	[	[	X
alkej-315	272	2	13	13	NUM
alkej-315	272	3	]	]	PUNCT
alkej-315	272	4	sergey	sergey	PROPN
alkej-315	272	5	k.	k.	PROPN
alkej-315	272	6	korovin	korovin	PROPN
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alkej-315	272	8	vasily	vasily	PROPN
alkej-315	272	9	v.	v.	PROPN
alkej-315	272	10	fomichev	fomichev	PROPN
alkej-315	272	11	,	,	PUNCT
alkej-315	272	12	"	"	PUNCT
alkej-315	272	13	state	state	NOUN
alkej-315	272	14	observers	observer	NOUN
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alkej-315	272	16	linear	linear	PROPN
alkej-315	272	17	systems	system	NOUN
alkej-315	272	18	with	with	ADP
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alkej-315	272	20	"	"	PUNCT
alkej-315	272	21	,	,	PUNCT
alkej-315	272	22	walter	walter	PROPN
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alkej-315	272	25	gmbh	gmbh	PROPN
alkej-315	272	26	&	&	CCONJ
alkej-315	272	27	co.	co.	PROPN
alkej-315	272	28	kg	kg	PROPN
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alkej-315	272	30	10785	10785	NUM
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alkej-315	272	33	germany	germany	PROPN
alkej-315	272	34	,	,	PUNCT
alkej-315	272	35	2009	2009	NUM
alkej-315	272	36	.	.	PUNCT
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alkej-315	273	2	14	14	NUM
alkej-315	273	3	]	]	PUNCT
alkej-315	273	4	j.	j.	PROPN
alkej-315	273	5	o’reilly	o’reilly	PROPN
alkej-315	273	6	,	,	PUNCT
alkej-315	273	7	"	"	PUNCT
alkej-315	273	8	observers	observer	NOUN
alkej-315	273	9	for	for	ADP
alkej-315	273	10	linear	linear	NOUN
alkej-315	273	11	systens	systen	NOUN
alkej-315	273	12	"	"	PUNCT
alkej-315	273	13	,	,	PUNCT
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alkej-315	273	16	inc	inc	PROPN
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alkej-315	273	18	(	(	PUNCT
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alkej-315	273	20	)	)	PUNCT
alkej-315	273	21	ltd	ltd	PROPN
alkej-315	273	22	,	,	PUNCT
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alkej-315	273	24	.	.	PUNCT
alkej-315	274	1	[	[	X
alkej-315	274	2	15	15	NUM
alkej-315	274	3	]	]	X
alkej-315	274	4	jinping	jinpe	VERB
alkej-315	274	5	yu	yu	PROPN
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alkej-315	274	7	yuanchun	yuanchun	PROPN
alkej-315	274	8	ding	ding	PROPN
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alkej-315	274	10	falu	falu	PROPN
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alkej-315	274	12	,	,	PUNCT
alkej-315	274	13	"	"	PUNCT
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alkej-315	274	15	control	control	NOUN
alkej-315	274	16	for	for	ADP
alkej-315	274	17	electro	electro	ADJ
alkej-315	274	18	-	-	PUNCT
alkej-315	274	19	hydraulic	hydraulic	NOUN
alkej-315	274	20	servo	servo	NOUN
alkej-315	274	21	systems	system	NOUN
alkej-315	274	22	driven	drive	VERB
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alkej-315	274	24	doublerod	doublerod	NOUN
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alkej-315	274	34	computer	computer	NOUN
alkej-315	274	35	control	control	NOUN
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alkej-315	275	4	eq	eq	ADP
alkej-315	275	5	.	.	PUNCT
alkej-315	276	1	(	(	PUNCT
alkej-315	276	2	3	3	X
alkej-315	276	3	)	)	PUNCT
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alkej-315	276	16	�	�	PROPN
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alkej-315	276	18	=	=	SYM
alkej-315	276	19	�	�	PROPN
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alkej-315	277	1	…	…	PUNCT
alkej-315	277	2	�	�	NOUN
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alkej-315	277	10	�	�	PROPN
alkej-315	277	11	%	%	NOUN
alkej-315	277	12	=	=	SYM
alkej-315	277	13	$	$	SYM
alkej-315	277	14	�	�	PROPN
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alkej-315	277	16	�	�	PROPN
alkej-315	277	17	%	%	NOUN
alkej-315	277	18	�	�	NOUN
alkej-315	277	19	+	+	CCONJ
alkej-315	277	20	$	$	SYM
alkej-315	277	21	0	0	NUM
alkej-315	277	22	�	�	PROPN
alkej-315	277	23	�	�	PROPN
alkej-315	277	24	�	�	PROPN
alkej-315	277	25	%	%	NOUN
alkej-315	277	26	�	�	PROPN
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alkej-315	277	28	�	�	NOUN
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alkej-315	278	2	3	3	X
alkej-315	278	3	)	)	PUNCT
alkej-315	278	4	we	we	PRON
alkej-315	278	5	have	have	AUX
alkej-315	278	6	:	:	PUNCT
alkej-315	278	7	k	k	X
alkej-315	278	8	©	©	PROPN
alkej-315	278	9	[o	[o	PROPN
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alkej-315	278	11	$	$	SYM
alkej-315	278	12	�	�	PROPN
alkej-315	278	13	�	�	PROPN
alkej-315	278	14	�	�	PROPN
alkej-315	278	15	%	%	NOUN
alkej-315	278	16	¦	¦	NOUN
alkej-315	278	17	=	=	SYM
alkej-315	278	18	3	3	NUM
alkej-315	278	19	,	,	PUNCT
alkej-315	278	20	$	$	SYM
alkej-315	278	21	0	0	NUM
alkej-315	278	22	�	�	PROPN
alkej-315	278	23	�	�	PROPN
alkej-315	278	24	�	�	PROPN
alkej-315	278	25	%	%	NOUN
alkej-315	278	26	=	=	SYM
alkej-315	278	27	0	0	NUM
alkej-315	278	28	…	…	PUNCT
alkej-315	278	29	�	�	NOUN
alkej-315	278	30	�	�	NOUN
alkej-315	278	31	3	3	NUM
alkej-315	278	32	this	this	PRON
alkej-315	278	33	shows	show	VERB
alkej-315	278	34	that	that	SCONJ
alkej-315	278	35	the	the	DET
alkej-315	278	36	relative	relative	ADJ
alkej-315	278	37	degree	degree	NOUN
alkej-315	278	38	between	between	ADP
alkej-315	278	39	the	the	DET
alkej-315	278	40	output	output	NOUN
alkej-315	278	41	�	�	PROPN
alkej-315	278	42	and	and	CCONJ
alkej-315	278	43	the	the	DET
alkej-315	278	44	unknown	unknown	ADJ
alkej-315	278	45	perturbation	perturbation	NOUN
alkej-315	278	46	�	�	PROPN
alkej-315	278	47	is	be	AUX
alkej-315	278	48	three	three	NUM
alkej-315	278	49	.	.	PUNCT
alkej-315	279	1	in	in	ADP
alkej-315	279	2	other	other	ADJ
alkej-315	279	3	words	word	NOUN
alkej-315	279	4	and	and	CCONJ
alkej-315	279	5	from	from	ADP
alkej-315	279	6	the	the	DET
alkej-315	279	7	above	above	ADJ
alkej-315	279	8	procedure	procedure	NOUN
alkej-315	279	9	,	,	PUNCT
alkej-315	279	10	a	a	DET
alkej-315	279	11	perturbed	perturb	VERB
alkej-315	279	12	linear	linear	ADJ
alkej-315	279	13	dynamical	dynamical	ADJ
alkej-315	279	14	system	system	NOUN
alkej-315	279	15	as	as	ADP
alkej-315	279	16	in	in	ADP
alkej-315	279	17	eq	eq	ADP
alkej-315	279	18	.	.	PUNCT
alkej-315	280	1	(	(	PUNCT
alkej-315	280	2	3	3	X
alkej-315	280	3	)	)	PUNCT
alkej-315	280	4	has	have	VERB
alkej-315	280	5	the	the	DET
alkej-315	280	6	strongly	strongly	ADV
alkej-315	280	7	observability	observability	NOUN
alkej-315	280	8	condition	condition	NOUN
alkej-315	280	9	and	and	CCONJ
alkej-315	280	10	it	it	PRON
alkej-315	280	11	has	have	VERB
alkej-315	280	12	no	no	DET
alkej-315	280	13	null	null	ADJ
alkej-315	280	14	dynamic	dynamic	ADJ
alkej-315	280	15	(	(	PUNCT
alkej-315	280	16	no	no	DET
alkej-315	280	17	invariant	invariant	ADJ
alkej-315	280	18	zeros	zero	NOUN
alkej-315	280	19	)	)	PUNCT
alkej-315	280	20	.	.	PUNCT
alkej-315	281	1	�	�	PROPN
alkej-315	281	2	ا	ا	SYM
alkej-315	281	3	�	�	PROPN
alkej-315	281	4	�	�	PROPN
alkej-315	281	5	ا	ا	X
alkej-315	281	6	�	�	PROPN
alkej-315	281	7	�	�	PROPN
alkej-315	281	8	�	�	PROPN
alkej-315	281	9	�	�	PROPN
alkej-315	281	10	ا	ا	SYM
alkej-315	281	11	�	�	PROPN
alkej-315	281	12	�	�	PROPN
alkej-315	281	13	�	�	PROPN
alkej-315	281	14	�	�	PROPN
alkej-315	281	15	�	�	PROPN
alkej-315	281	16	�	�	PROPN
alkej-315	281	17	�	�	PROPN
alkej-315	281	18	�	�	PROPN
alkej-315	281	19	�	�	PROPN
alkej-315	281	20	ا	ا	X
alkej-315	281	21	�	�	PROPN
alkej-315	281	22	�	�	PROPN
alkej-315	281	23	ارز	ارز	PROPN
alkej-315	281	24	�	�	PROPN
alkej-315	281	25	�	�	PROPN
alkej-315	281	26	ا	ا	X
alkej-315	281	27	�	�	PROPN
alkej-315	281	28	�	�	PROPN
alkej-315	281	29	�	�	PROPN
alkej-315	281	30	�	�	PROPN
alkej-315	281	31	�	�	PROPN
alkej-315	281	32	4	4	NUM
alkej-315	281	33	،	،	NOUN
alkej-315	281	34	ا	ا	X
alkej-315	281	35	�	�	PROPN
alkej-315	281	36	د12	د12	PROPN
alkej-315	281	37	ا	ا	X
alkej-315	281	38	�	�	PROPN
alkej-315	281	39	�	�	PROPN
alkej-315	281	40	�	�	PROPN
alkej-315	281	41	�	�	PROPN
alkej-315	281	42	،	،	NUM
alkej-315	281	43	11	11	NUM
alkej-315	281	44	-	-	SYM
alkej-315	281	45	1	1	NUM
alkej-315	281	46	)	)	PUNCT
alkej-315	281	47	2016	2016	NUM
alkej-315	281	48	(	(	PUNCT
alkej-315	281	49	11	11	NUM
alkej-315	281	50	�	�	PROPN
alkej-315	281	51	�	�	PROPN
alkej-315	281	52	�	�	PROPN
alkej-315	281	53	�	�	PROPN
alkej-315	281	54	!	!	PUNCT
alkej-315	281	55	�	�	PROPN
alkej-315	281	56	�	�	PROPN
alkej-315	281	57	"	"	PUNCT
alkej-315	281	58	#	#	NOUN
alkej-315	281	59	)	)	PUNCT
alkej-315	281	60	output	output	NOUN
alkej-315	281	61	feedback	feedback	NOUN
alkej-315	281	62	(	(	PUNCT
alkej-315	281	63	%	%	NOUN
alkej-315	281	64	�	�	PROPN
alkej-315	281	65	�	�	PROPN
alkej-315	281	66	و	و	PROPN
alkej-315	281	67	&	&	CCONJ
alkej-315	281	68	�	�	PROPN
alkej-315	281	69	�	�	PROPN
alkej-315	281	70	�	�	PROPN
alkej-315	281	71	ا	ا	SYM
alkej-315	281	72	�	�	PROPN
alkej-315	281	73	�	�	PROPN
alkej-315	281	74	'	'	PART
alkej-315	281	75	�	�	PROPN
alkej-315	281	76	�	�	PROPN
alkej-315	281	77	*	*	SYM
alkej-315	281	78	�	�	PROPN
alkej-315	281	79	�	�	PROPN
alkej-315	281	80	ا	ا	NOUN
alkej-315	281	81	(	(	PUNCT
alkej-315	281	82	)	)	PUNCT
alkej-315	281	83	ا	ا	INTJ
alkej-315	281	84	,	,	PUNCT
alkej-315	281	85	ا	ا	X
alkej-315	281	86	�	�	PROPN
alkej-315	281	87	+	+	NOUN
alkej-315	281	88	�	�	NOUN
alkej-315	281	89	�	�	NOUN
alkej-315	281	90	دا	دا	NOUN
alkej-315	281	91	ا	ا	X
alkej-315	281	92	رو	رو	ADV
alkej-315	281	93	ھ	ھ	PRON
alkej-315	281	94	�	�	PROPN
alkej-315	281	95	ا	ا	X
alkej-315	281	96	�	�	PROPN
alkej-315	281	97	�	�	PROPN
alkej-315	281	98	1	1	NUM
alkej-315	281	99	0	0	NUM
alkej-315	281	100	/	/	SYM
alkej-315	281	101	�	�	PROPN
alkej-315	281	102	�	�	PROPN
alkej-315	281	103	ا	ا	X
alkej-315	281	104	�	�	PROPN
alkej-315	281	105	#	#	SYM
alkej-315	281	106	�	�	PROPN
alkej-315	281	107	�	�	PROPN
alkej-315	281	108	�	�	PROPN
alkej-315	281	109	*	*	PROPN
alkej-315	281	110	�	�	PROPN
alkej-315	281	111	�	�	PROPN
alkej-315	281	112	�	�	PROPN
alkej-315	281	113	4	4	NUM
alkej-315	281	114	�	�	PROPN
alkej-315	281	115	�	�	PROPN
alkej-315	281	116	3ري	3ري	NOUN
alkej-315	281	117	*	*	SYM
alkej-315	281	118	�	�	PROPN
alkej-315	281	119	�	�	PROPN
alkej-315	281	120	�	�	PROPN
alkej-315	281	121	ا	ا	SYM
alkej-315	281	122	�	�	PROPN
alkej-315	281	123	�	�	PROPN
alkej-315	281	124	ا	ا	X
alkej-315	281	125	�	�	PROPN
alkej-315	281	126	�	�	PROPN
alkej-315	281	127	�	�	PROPN
alkej-315	281	128	�	�	PROPN
alkej-315	281	129	ا	ا	SYM
alkej-315	281	130	�	�	PROPN
alkej-315	281	131	�	�	PROPN
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alkej-315	281	133	�	�	PROPN
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alkej-315	281	135	*	*	PUNCT
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alkej-315	281	140	12,)/وا-%/	12,)/وا-%/	NUM
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alkej-315	281	144	س&%ھ	س&%ھ	NOUN
alkej-315	281	145	#	#	NOUN
alkej-315	281	146	"	"	PUNCT
alkej-315	281	147	!	!	PUNCT
alkej-315	282	1	*	*	PUNCT
alkej-315	282	2	*	*	PUNCT
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alkej-315	282	4	*	*	X
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alkej-315	282	6	:	:	PUNCT
alkej-315	282	7	ا-=	ا-=	X
alkej-315	282	8	*	*	PUNCT
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alkej-315	282	12	*	*	PUNCT
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alkej-315	283	4	*	*	PROPN
alkej-315	283	5	>	>	X
alkej-315	283	6	&	&	CCONJ
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alkej-315	283	8	*	*	PUNCT
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alkej-315	283	10	ا	ا	X
alkej-315	283	11	�	�	PROPN
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alkej-315	283	13	�	�	NOUN
alkej-315	283	14	�	�	PROPN
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alkej-315	283	17	q,?j4r	q,?j4r	VERB
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alkej-315	283	20	t	t	NOUN
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alkej-315	283	29	?	?	PUNCT
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alkej-315	283	31	ا	ا	X
alkej-315	283	32	-	-	PUNCT
alkej-315	283	33	j+	j+	VERB
alkej-315	283	34	,	,	PUNCT
alkej-315	283	35	)	)	PUNCT
alkej-315	283	36	ا-?efg	ا-?efg	PROPN
alkej-315	283	37	(	(	PUNCT
alkej-315	283	38	h*+i	h*+i	PROPN
alkej-315	283	39	&	&	CCONJ
alkej-315	283	40	و21د	و21د	PROPN
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alkej-315	283	42	ذ	ذ	NOUN
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alkej-315	283	48	ا-?*ا#=	ا-?*ا#=	PROPN
alkej-315	283	49	)	)	PUNCT
alkej-315	283	50	ا-<2	ا-<2	PROPN
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alkej-315	283	53	ھ7>&رو-	ھ7>&رو-	PROPN
alkej-315	283	54	,	,	PUNCT
alkej-315	283	55	`	`	PUNCT
alkej-315	283	56	j6	j6	PROPN
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alkej-315	283	64	:	:	PUNCT
alkej-315	283	65	/7	/7	PRON
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alkej-315	284	5	)	)	PUNCT
alkej-315	284	6	.	.	PUNCT
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alkej-315	285	3	q,?jg	q,?jg	NOUN
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alkej-315	285	7	)	)	PUNCT
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alkej-315	285	17	(	(	PUNCT
alkej-315	285	18	,	,	PUNCT
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alkej-315	285	21	ا	ا	ADJ
alkej-315	285	22	`	`	PUNCT
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alkej-315	285	25	(	(	PUNCT
alkej-315	285	26	(	(	PUNCT
alkej-315	285	27	>	>	X
alkej-315	285	28	>	>	X
alkej-315	285	29	v46	v46	PROPN
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alkej-315	285	31	,	,	PUNCT
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alkej-315	285	36	،	،	PROPN
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alkej-315	286	11	order	order	NOUN
alkej-315	286	12	sliding	slide	VERB
alkej-315	286	13	mode	mode	PROPN
alkej-315	286	14	observer(5h	observer(5h	PROPN
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alkej-315	286	16	ذ-	ذ-	NOUN
alkej-315	286	17	`	`	PUNCT
alkej-315	286	18	ا-?*ا#c	ا-?*ا#c	PUNCT
alkej-315	286	19	ذو	ذو	X
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alkej-315	286	25	ا-*g=	ا-*g=	NOUN
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alkej-315	286	27	.	.	PUNCT
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alkej-315	287	10	)	)	PUNCT
alkej-315	287	11	ا-<2	ا-<2	PROPN
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alkej-315	287	14	y#26	y#26	PROPN
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alkej-315	287	21	ذ-	ذ-	NOUN
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alkej-315	287	24	ا7kرة	ا7kرة	ADJ
alkej-315	287	25	وا\&ة	وا\&ة	PUNCT
alkej-315	287	26	q6	q6	PROPN
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alkej-315	289	15	y#26	y#26	NOUN
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alkej-315	289	25	+	+	ADJ
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alkej-315	289	28	6	6	NUM
alkej-315	289	29	r<*ط	r<*ط	PROPN
alkej-315	289	30	qh)simple	qh)simple	NOUN
alkej-315	289	31	output	output	NOUN
alkej-315	289	32	feedback	feedback	NOUN
alkej-315	289	33	(	(	PUNCT
alkej-315	289	34	ءs1	ءs1	PROPN
alkej-315	289	35	7ءx-5	7ءx-5	NUM
alkej-315	289	36	&	&	CCONJ
alkej-315	289	37	اh	اh	PRON
alkej-315	289	38	`	`	PUNCT
alkej-315	289	39	-وذ	-وذ	INTJ
alkej-315	289	40	.	.	PUNCT
alkej-315	289	41	ا;o+*اب	ا;o+*اب	PROPN
alkej-315	289	42	khوة	khوة	PROPN
alkej-315	289	43	rbh	rbh	PROPN
alkej-315	290	1	ذ-	ذ-	X
alkej-315	291	1	`	`	PUNCT
alkej-315	291	2	quن	quن	NOUN
alkej-315	291	3	.	.	PUNCT
alkej-315	292	1	;	;	PUNCT
alkej-315	292	2	1=7ر	1=7ر	NUM
alkej-315	292	3	y#26	y#26	PROPN
alkej-315	292	4	ا-?2m*6	ا-?2m*6	VERB
alkej-315	292	5	y#26	y#26	PROPN
alkej-315	292	6	y=44^=3ب	y=44^=3ب	PROPN
alkej-315	292	7	output	output	NOUN
alkej-315	292	8	feedback	feedback	NOUN
alkej-315	292	9	(	(	PUNCT
alkej-315	292	10	eh(ا-	eh(ا-	NOUN
alkej-315	292	11	*	*	NOUN
alkej-315	292	12	#	#	NOUN
alkej-315	292	13	?	?	PUNCT
alkej-315	292	14	,	,	PUNCT
alkej-315	292	15	)	)	PUNCT
alkej-315	293	1	z	z	X
alkej-315	293	2	/	/	SYM
alkej-315	293	3	g	g	NOUN
alkej-315	293	4	*	*	PUNCT
alkej-315	293	5	اداء	اداء	PROPN
alkej-315	293	6	6?74ز	6?74ز	NUM
alkej-315	293	7	-b?",+	-b?",+	PROPN
alkej-315	293	8	*	*	PROPN
alkej-315	293	9	ا-?<4*ح	ا-?<4*ح	PROPN
alkej-315	293	10	:	:	PUNCT
alkej-315	293	11	im74	im74	PROPN
alkej-315	293	12	ا-?7e7vة	ا-?7e7vة	AUX
alkej-315	293	13	q3	q3	PROPN
alkej-315	293	14	?	?	PUNCT
alkej-315	293	15	<	<	X
alkej-315	293	16	76	76	NUM
alkej-315	293	17	p#وف	p#وف	NOUN
alkej-315	293	18	ا*s?-3	ا*s?-3	PROPN
alkej-315	293	19	!	!	PUNCT
alkej-315	294	1	اv4	اv4	PROPN
alkej-315	294	2	-	-	PUNCT
alkej-315	294	3	ا	ا	PROPN
alkej-315	294	4	&	&	CCONJ
alkej-315	294	5	z1	z1	PROPN
alkej-315	294	6	.	.	PUNCT