id	sid	tid	token	lemma	pos
alkej-342	1	1	microsoft	microsoft	PROPN
alkej-342	1	2	word	word	NOUN
alkej-342	1	3	138	138	NUM
alkej-342	1	4	-	-	SYM
alkej-342	1	5	148\307\315\343\317	148\307\315\343\317	NUM
alkej-342	1	6	\346\344\346\321\307	\346\344\346\321\307	PROPN
alkej-342	1	7	\332\346\335	\332\346\335	NOUN
alkej-342	1	8	)	)	PUNCT
alkej-342	1	9	design	design	VERB
alkej-342	1	10	an	an	DET
alkej-342	1	11	integral	integral	ADJ
alkej-342	1	12	sliding	slide	VERB
alkej-342	1	13	mode	mode	NOUN
alkej-342	1	14	controller	controller	NOUN
alkej-342	1	15	for	for	ADP
alkej-342	1	16	ahmed	ahmed	PROPN
alkej-342	1	17	khalaf	khalaf	PROPN
alkej-342	1	18	hamoudi	hamoudi	PROPN
alkej-342	1	19	*	*	PUNCT
alkej-342	1	20	,	,	PUNCT
alkej-342	1	21	*	*	PUNCT
alkej-342	1	22	*	*	NOUN
alkej-342	1	23	department	department	NOUN
alkej-342	1	24	of	of	ADP
alkej-342	1	25	control	control	NOUN
alkej-342	1	26	and	and	CCONJ
alkej-342	1	27	systems	system	NOUN
alkej-342	1	28	engineering	engineering	NOUN
alkej-342	1	29	*	*	NOUN
alkej-342	1	30	email	email	NOUN
alkej-342	1	31	:	:	PUNCT
alkej-342	1	32	(	(	PUNCT
alkej-342	1	33	received	receive	VERB
alkej-342	1	34	https://doi.org/10.22153/kej.2017.09.003	https://doi.org/10.22153/kej.2017.09.003	NUM
alkej-342	1	35	abstract	abstract	ADV
alkej-342	1	36	the	the	DET
alkej-342	1	37	goal	goal	NOUN
alkej-342	1	38	of	of	ADP
alkej-342	1	39	this	this	DET
alkej-342	1	40	paper	paper	NOUN
alkej-342	1	41	is	be	AUX
alkej-342	1	42	to	to	PART
alkej-342	1	43	design	design	VERB
alkej-342	1	44	a	a	DET
alkej-342	1	45	robust	robust	ADJ
alkej-342	1	46	controller	controller	NOUN
alkej-342	1	47	for	for	ADP
alkej-342	1	48	controlling	control	VERB
alkej-342	1	49	a	a	DET
alkej-342	1	50	pendulum	pendulum	NOUN
alkej-342	1	51	system	system	NOUN
alkej-342	1	52	.	.	PUNCT
alkej-342	2	1	the	the	DET
alkej-342	2	2	control	control	NOUN
alkej-342	2	3	of	of	ADP
alkej-342	2	4	nonlinear	nonlinear	ADJ
alkej-342	2	5	systems	system	NOUN
alkej-342	2	6	is	be	AUX
alkej-342	2	7	a	a	DET
alkej-342	2	8	common	common	ADJ
alkej-342	2	9	problem	problem	NOUN
alkej-342	2	10	the	the	DET
alkej-342	2	11	sliding	slide	VERB
alkej-342	2	12	mode	mode	NOUN
alkej-342	2	13	controller	controller	NOUN
alkej-342	2	14	(	(	PUNCT
alkej-342	2	15	smc	smc	PROPN
alkej-342	2	16	)	)	PUNCT
alkej-342	2	17	is	be	AUX
alkej-342	2	18	the	the	DET
alkej-342	2	19	best	good	ADJ
alkej-342	2	20	solution	solution	NOUN
alkej-342	2	21	for	for	ADP
alkej-342	2	22	controlling	control	VERB
alkej-342	2	23	a	a	DET
alkej-342	2	24	nonlinear	nonlinear	ADJ
alkej-342	2	25	system	system	NOUN
alkej-342	2	26	.	.	PUNCT
alkej-342	3	1	the	the	DET
alkej-342	3	2	classical	classical	NOUN
alkej-342	3	3	from	from	ADP
alkej-342	3	4	two	two	NUM
alkej-342	3	5	phases	phase	NOUN
alkej-342	3	6	.	.	PUNCT
alkej-342	4	1	the	the	DET
alkej-342	4	2	first	first	ADJ
alkej-342	4	3	phase	phase	NOUN
alkej-342	4	4	is	be	AUX
alkej-342	4	5	the	the	DET
alkej-342	4	6	reaching	reach	VERB
alkej-342	4	7	phase	phase	NOUN
alkej-342	4	8	and	and	CCONJ
alkej-342	4	9	the	the	DET
alkej-342	4	10	second	second	ADJ
alkej-342	4	11	is	be	AUX
alkej-342	4	12	the	the	DET
alkej-342	4	13	sl	sl	NOUN
alkej-342	4	14	chattering	chatter	VERB
alkej-342	4	15	phenomenon	phenomenon	NOUN
alkej-342	4	16	which	which	PRON
alkej-342	4	17	is	be	AUX
alkej-342	4	18	considered	consider	VERB
alkej-342	4	19	as	as	ADP
alkej-342	4	20	a	a	DET
alkej-342	4	21	severe	severe	ADJ
alkej-342	4	22	problem	problem	NOUN
alkej-342	4	23	and	and	CCONJ
alkej-342	4	24	undesirable	undesirable	ADJ
alkej-342	4	25	property	property	NOUN
alkej-342	4	26	.	.	PUNCT
alkej-342	5	1	it	it	PRON
alkej-342	5	2	is	be	AUX
alkej-342	5	3	a	a	DET
alkej-342	5	4	zigzag	zigzag	NOUN
alkej-342	5	5	motion	motion	NOUN
alkej-342	5	6	along	along	ADP
alkej-342	5	7	the	the	DET
alkej-342	5	8	switching	switch	VERB
alkej-342	5	9	surface	surface	NOUN
alkej-342	5	10	.	.	PUNCT
alkej-342	6	1	in	in	ADP
alkej-342	6	2	this	this	DET
alkej-342	6	3	paper	paper	NOUN
alkej-342	6	4	,	,	PUNCT
alkej-342	6	5	the	the	DET
alkej-342	6	6	chattering	chatter	VERB
alkej-342	6	7	spite	spite	NOUN
alkej-342	6	8	of	of	ADP
alkej-342	6	9	smc	smc	PROPN
alkej-342	6	10	is	be	AUX
alkej-342	6	11	a	a	DET
alkej-342	6	12	good	good	ADJ
alkej-342	6	13	method	method	NOUN
alkej-342	6	14	for	for	ADP
alkej-342	6	15	controlling	control	VERB
alkej-342	6	16	a	a	DET
alkej-342	6	17	nonlinear	nonlinear	ADJ
alkej-342	6	18	system	system	NOUN
alkej-342	6	19	but	but	CCONJ
alkej-342	6	20	considered	consider	VERB
alkej-342	6	21	as	as	ADP
alkej-342	6	22	undesired	undesired	ADJ
alkej-342	6	23	property	property	NOUN
alkej-342	6	24	.	.	PUNCT
alkej-342	7	1	the	the	DET
alkej-342	7	2	integral	integral	ADJ
alkej-342	7	3	sliding	slide	VERB
alkej-342	7	4	mode	mode	NOUN
alkej-342	7	5	controller	controller	NOUN
alkej-342	7	6	(	(	PUNCT
alkej-342	7	7	ismc	ismc	NOUN
alkej-342	7	8	)	)	PUNCT
alkej-342	7	9	also	also	ADV
alkej-342	7	10	,	,	PUNCT
alkej-342	7	11	the	the	DET
alkej-342	7	12	ismc	ismc	NOUN
alkej-342	7	13	is	be	AUX
alkej-342	7	14	a	a	DET
alkej-342	7	15	good	good	ADJ
alkej-342	7	16	method	method	NOUN
alkej-342	7	17	for	for	ADP
alkej-342	7	18	controlling	control	VERB
alkej-342	7	19	a	a	DET
alkej-342	7	20	nonl	nonl	NOUN
alkej-342	7	21	be	be	AUX
alkej-342	7	22	considered	consider	VERB
alkej-342	7	23	as	as	ADP
alkej-342	7	24	an	an	DET
alkej-342	7	25	effective	effective	ADJ
alkej-342	7	26	and	and	CCONJ
alkej-342	7	27	powerful	powerful	ADJ
alkej-342	7	28	technique	technique	NOUN
alkej-342	7	29	.	.	PUNCT
alkej-342	8	1	in	in	ADP
alkej-342	8	2	ismc	ismc	NOUN
alkej-342	8	3	method	method	NOUN
alkej-342	8	4	,	,	PUNCT
alkej-342	8	5	the	the	DET
alkej-342	8	6	reaching	reach	VERB
alkej-342	8	7	phaseis	phaseis	NOUN
alkej-342	8	8	eliminated	eliminate	VERB
alkej-342	8	9	which	which	PRON
alkej-342	8	10	considered	consider	VERB
alkej-342	8	11	a	a	DET
alkej-342	8	12	main	main	ADJ
alkej-342	8	13	part	part	NOUN
alkej-342	8	14	in	in	ADP
alkej-342	8	15	designing	design	VERB
alkej-342	8	16	classical	classical	ADJ
alkej-342	8	17	s	s	PART
alkej-342	8	18	mode	mode	NOUN
alkej-342	8	19	controller	controller	NOUN
alkej-342	8	20	(	(	PUNCT
alkej-342	8	21	csmc),is	csmc),is	ADP
alkej-342	8	22	the	the	DET
alkej-342	8	23	ability	ability	NOUN
alkej-342	8	24	to	to	PART
alkej-342	8	25	make	make	VERB
alkej-342	8	26	the	the	DET
alkej-342	8	27	systems	system	NOUN
alkej-342	8	28	asymptotically	asymptotically	ADV
alkej-342	8	29	stable	stable	ADJ
alkej-342	8	30	.	.	PUNCT
alkej-342	9	1	the	the	DET
alkej-342	9	2	pendulum	pendulum	NOUN
alkej-342	9	3	system	system	NOUN
alkej-342	9	4	testing	test	VERB
alkej-342	9	5	the	the	DET
alkej-342	9	6	csmc	csmc	NOUN
alkej-342	9	7	and	and	CCONJ
alkej-342	9	8	ismc	ismc	NOUN
alkej-342	9	9	.	.	PUNCT
alkej-342	10	1	the	the	DET
alkej-342	10	2	results	result	NOUN
alkej-342	10	3	obtained	obtain	VERB
alkej-342	10	4	comparied	comparie	VERB
alkej-342	10	5	with	with	ADP
alkej-342	10	6	the	the	DET
alkej-342	10	7	csmc	csmc	NOUN
alkej-342	10	8	.	.	PUNCT
alkej-342	11	1	finally	finally	ADV
alkej-342	11	2	,	,	PUNCT
alkej-342	11	3	matlab	matlab	PROPN
alkej-342	11	4	keywords	keyword	NOUN
alkej-342	11	5	:	:	PUNCT
alkej-342	11	6	chattering	chatter	VERB
alkej-342	11	7	phenomenon	phenomenon	NOUN
alkej-342	11	8	,	,	PUNCT
alkej-342	11	9	classical	classical	ADJ
alkej-342	11	10	sliding	slide	VERB
alkej-342	11	11	mode	mode	NOUN
alkej-342	11	12	controller	controller	NOUN
alkej-342	11	13	,	,	PUNCT
alkej-342	11	14	integral	integral	ADJ
alkej-342	11	15	sliding	slide	VERB
alkej-342	11	16	mode	mode	NOUN
alkej-342	11	17	controller	controller	NOUN
alkej-342	11	18	,	,	PUNCT
alkej-342	11	19	swi	swi	NOUN
alkej-342	11	20	surface	surface	NOUN
alkej-342	11	21	.	.	PUNCT
alkej-342	12	1	1	1	X
alkej-342	12	2	.	.	X
alkej-342	12	3	introduction	introduction	NOUN
alkej-342	12	4	in	in	ADP
alkej-342	12	5	last	last	ADJ
alkej-342	12	6	two	two	NUM
alkej-342	12	7	decades	decade	NOUN
alkej-342	12	8	,	,	PUNCT
alkej-342	12	9	the	the	DET
alkej-342	12	10	methods	method	NOUN
alkej-342	12	11	for	for	ADP
alkej-342	12	12	controlling	control	VERB
alkej-342	12	13	nonlinear	nonlinear	ADJ
alkej-342	12	14	systems	system	NOUN
alkej-342	12	15	take	take	VERB
alkej-342	12	16	a	a	DET
alkej-342	12	17	much	much	ADJ
alkej-342	12	18	interest	interest	NOUN
alkej-342	12	19	from	from	ADP
alkej-342	12	20	many	many	ADJ
alkej-342	12	21	researchers	researcher	NOUN
alkej-342	12	22	and	and	CCONJ
alkej-342	12	23	as	as	ADP
alkej-342	12	24	a	a	DET
alkej-342	12	25	result	result	NOUN
alkej-342	12	26	many	many	ADJ
alkej-342	12	27	methods	method	NOUN
alkej-342	12	28	were	be	AUX
alkej-342	12	29	developed	develop	VERB
alkej-342	12	30	[	[	X
alkej-342	12	31	1	1	NUM
alkej-342	12	32	]	]	PUNCT
alkej-342	12	33	.	.	PUNCT
alkej-342	13	1	one	one	NUM
alkej-342	13	2	of	of	ADP
alkej-342	13	3	them	they	PRON
alkej-342	13	4	is	be	AUX
alkej-342	13	5	the	the	DET
alkej-342	13	6	sliding	slide	VERB
alkej-342	13	7	mode	mode	NOUN
alkej-342	13	8	control	control	NOUN
alkej-342	13	9	system	system	NOUN
alkej-342	13	10	(	(	PUNCT
alkej-342	13	11	smc	smc	PROPN
alkej-342	13	12	)	)	PUNCT
alkej-342	13	13	which	which	PRON
alkej-342	13	14	is	be	AUX
alkej-342	13	15	consider	consider	VERB
alkej-342	13	16	as	as	ADP
alkej-342	13	17	an	an	DET
alkej-342	13	18	effective	effective	ADJ
alkej-342	13	19	and	and	CCONJ
alkej-342	13	20	robust	robust	ADJ
alkej-342	13	21	control	control	NOUN
alkej-342	13	22	method	method	NOUN
alkej-342	13	23	that	that	PRON
alkej-342	13	24	is	be	AUX
alkej-342	13	25	used	use	VERB
alkej-342	13	26	successfully	successfully	ADV
alkej-342	13	27	in	in	ADP
alkej-342	13	28	wide	wide	ADJ
alkej-342	13	29	variety	variety	NOUN
alkej-342	13	30	of	of	ADP
alkej-342	13	31	systems	system	NOUN
alkej-342	13	32	.	.	PUNCT
alkej-342	14	1	the	the	DET
alkej-342	14	2	most	most	ADV
alkej-342	14	3	important	important	ADJ
alkej-342	14	4	property	property	NOUN
alkej-342	14	5	in	in	ADP
alkej-342	14	6	using	use	VERB
alkej-342	14	7	smc	smc	PROPN
alkej-342	14	8	is	be	AUX
alkej-342	14	9	the	the	DET
alkej-342	14	10	ability	ability	NOUN
alkej-342	14	11	of	of	ADP
alkej-342	14	12	this	this	DET
alkej-342	14	13	controller	controller	NOUN
alkej-342	14	14	to	to	PART
alkej-342	14	15	make	make	VERB
alkej-342	14	16	the	the	DET
alkej-342	14	17	system	system	NOUN
alkej-342	14	18	insensitive	insensitive	ADJ
alkej-342	14	19	to	to	ADP
alkej-342	14	20	external	external	ADJ
alkej-342	14	21	disturb	disturb	NOUN
alkej-342	14	22	parameters	parameter	NOUN
alkej-342	14	23	uncertainty	uncertainty	NOUN
alkej-342	14	24	[	[	X
alkej-342	14	25	2	2	NUM
alkej-342	14	26	]	]	PUNCT
alkej-342	14	27	.	.	PUNCT
alkej-342	15	1	in	in	ADP
alkej-342	15	2	spite	spite	NOUN
alkej-342	15	3	of	of	ADP
alkej-342	15	4	the	the	DET
alkej-342	15	5	smc	smc	PROPN
alkej-342	15	6	robustness	robustness	NOUN
alkej-342	15	7	and	and	CCONJ
alkej-342	15	8	its	its	PRON
alkej-342	15	9	better	well	ADJ
alkej-342	15	10	performance	performance	NOUN
alkej-342	15	11	,	,	PUNCT
alkej-342	15	12	sever	sever	VERB
alkej-342	15	13	from	from	ADP
alkej-342	15	14	the	the	DET
alkej-342	15	15	problem	problem	NOUN
alkej-342	15	16	of	of	ADP
alkej-342	15	17	''	''	PUNCT
alkej-342	15	18	chattering	chatter	VERB
alkej-342	15	19	phenomenon	phenomenon	NOUN
alkej-342	15	20	''	''	PUNCT
alkej-342	15	21	,	,	PUNCT
alkej-342	15	22	which	which	PRON
alkej-342	15	23	is	be	AUX
alkej-342	15	24	considered	consider	VERB
alkej-342	15	25	as	as	ADP
alkej-342	15	26	drawback	drawback	NOUN
alkej-342	15	27	property	property	NOUN
alkej-342	15	28	.	.	PUNCT
alkej-342	16	1	to	to	PART
alkej-342	16	2	reduce	reduce	VERB
alkej-342	16	3	this	this	DET
alkej-342	16	4	chattering	chatter	VERB
alkej-342	16	5	phenomenon	phenomenon	NOUN
alkej-342	16	6	in	in	ADP
alkej-342	16	7	the	the	DET
alkej-342	16	8	smc	smc	PROPN
alkej-342	16	9	,	,	PUNCT
alkej-342	16	10	many	many	ADJ
alkej-342	16	11	methods	method	NOUN
alkej-342	16	12	were	be	AUX
alkej-342	16	13	developed	develop	VERB
alkej-342	16	14	al	al	PROPN
alkej-342	16	15	-	-	PUNCT
alkej-342	16	16	khwarizmi	khwarizmi	PROPN
alkej-342	16	17	engineering	engineering	NOUN
alkej-342	16	18	journal	journal	PROPN
alkej-342	16	19	,	,	PUNCT
alkej-342	16	20	vol	vol	NOUN
alkej-342	16	21	.	.	PROPN
alkej-342	16	22	13	13	NUM
alkej-342	16	23	,	,	PUNCT
alkej-342	16	24	no	no	INTJ
alkej-342	16	25	.	.	NOUN
alkej-342	16	26	1	1	NUM
alkej-342	16	27	,	,	PUNCT
alkej-342	16	28	p.p	p.p	NOUN
alkej-342	16	29	.	.	NOUN
alkej-342	16	30	1	1	NUM
alkej-342	16	31	design	design	VERB
alkej-342	16	32	an	an	DET
alkej-342	16	33	integral	integral	ADJ
alkej-342	16	34	sliding	slide	VERB
alkej-342	16	35	mode	mode	NOUN
alkej-342	16	36	controller	controller	NOUN
alkej-342	16	37	for	for	ADP
alkej-342	16	38	a	a	DET
alkej-342	16	39	nonlinear	nonlinear	NOUN
alkej-342	16	40	ahmed	ahmed	PROPN
alkej-342	16	41	khalaf	khalaf	PROPN
alkej-342	16	42	hamoudi	hamoudi	PROPN
alkej-342	16	43	*	*	PROPN
alkej-342	17	1	noora	noora	PROPN
alkej-342	17	2	off	off	ADP
alkej-342	17	3	abdul	abdul	PROPN
alkej-342	17	4	rahman	rahman	PROPN
alkej-342	17	5	*	*	PROPN
alkej-342	17	6	department	department	PROPN
alkej-342	17	7	of	of	ADP
alkej-342	17	8	control	control	NOUN
alkej-342	17	9	and	and	CCONJ
alkej-342	17	10	systems	system	NOUN
alkej-342	17	11	engineering/	engineering/	NUM
alkej-342	17	12	university	university	NOUN
alkej-342	17	13	of	of	ADP
alkej-342	17	14	technology	technology	NOUN
alkej-342	17	15	*	*	NOUN
alkej-342	17	16	email	email	NOUN
alkej-342	17	17	:	:	PUNCT
alkej-342	17	18	ahmed_khk22@yahoo.com	ahmed_khk22@yahoo.com	X
alkej-342	17	19	*	*	PUNCT
alkej-342	17	20	*	*	NOUN
alkej-342	17	21	email	email	NOUN
alkej-342	17	22	:	:	PUNCT
alkej-342	17	23	rb_6_1981@yahoo.com	rb_6_1981@yahoo.com	NOUN
alkej-342	17	24	received	receive	VERB
alkej-342	17	25	29	29	NUM
alkej-342	17	26	may	may	PROPN
alkej-342	17	27	2016	2016	NUM
alkej-342	17	28	;	;	PUNCT
alkej-342	17	29	accepted	accept	VERB
alkej-342	17	30	19	19	NUM
alkej-342	17	31	september	september	PROPN
alkej-342	17	32	2016	2016	NUM
alkej-342	17	33	)	)	PUNCT
alkej-342	17	34	https://doi.org/10.22153/kej.2017.09.003	https://doi.org/10.22153/kej.2017.09.003	ADP
alkej-342	17	35	the	the	DET
alkej-342	17	36	goal	goal	NOUN
alkej-342	17	37	of	of	ADP
alkej-342	17	38	this	this	DET
alkej-342	17	39	paper	paper	NOUN
alkej-342	17	40	is	be	AUX
alkej-342	17	41	to	to	PART
alkej-342	17	42	design	design	VERB
alkej-342	17	43	a	a	DET
alkej-342	17	44	robust	robust	ADJ
alkej-342	17	45	controller	controller	NOUN
alkej-342	17	46	for	for	ADP
alkej-342	17	47	controlling	control	VERB
alkej-342	17	48	a	a	DET
alkej-342	17	49	pendulum	pendulum	NOUN
alkej-342	17	50	system	system	NOUN
alkej-342	17	51	.	.	PUNCT
alkej-342	18	1	the	the	DET
alkej-342	18	2	control	control	NOUN
alkej-342	18	3	of	of	ADP
alkej-342	18	4	nonlinear	nonlinear	ADJ
alkej-342	18	5	systems	system	NOUN
alkej-342	18	6	is	be	AUX
alkej-342	18	7	a	a	DET
alkej-342	18	8	common	common	ADJ
alkej-342	18	9	problem	problem	NOUN
alkej-342	18	10	that	that	PRON
alkej-342	18	11	is	be	AUX
alkej-342	18	12	facing	face	VERB
alkej-342	18	13	the	the	DET
alkej-342	18	14	researchers	researcher	NOUN
alkej-342	18	15	in	in	ADP
alkej-342	18	16	control	control	NOUN
alkej-342	18	17	systems	system	NOUN
alkej-342	18	18	design	design	NOUN
alkej-342	18	19	.	.	PUNCT
alkej-342	19	1	ontroller	ontroller	NOUN
alkej-342	19	2	(	(	PUNCT
alkej-342	19	3	smc	smc	PROPN
alkej-342	19	4	)	)	PUNCT
alkej-342	19	5	is	be	AUX
alkej-342	19	6	the	the	DET
alkej-342	19	7	best	good	ADJ
alkej-342	19	8	solution	solution	NOUN
alkej-342	19	9	for	for	ADP
alkej-342	19	10	controlling	control	VERB
alkej-342	19	11	a	a	DET
alkej-342	19	12	nonlinear	nonlinear	ADJ
alkej-342	19	13	system	system	NOUN
alkej-342	19	14	.	.	PUNCT
alkej-342	20	1	the	the	DET
alkej-342	20	2	classical	classical	NOUN
alkej-342	20	3	from	from	ADP
alkej-342	20	4	two	two	NUM
alkej-342	20	5	phases	phase	NOUN
alkej-342	20	6	.	.	PUNCT
alkej-342	21	1	the	the	DET
alkej-342	21	2	first	first	ADJ
alkej-342	21	3	phase	phase	NOUN
alkej-342	21	4	is	be	AUX
alkej-342	21	5	the	the	DET
alkej-342	21	6	reaching	reach	VERB
alkej-342	21	7	phase	phase	NOUN
alkej-342	21	8	and	and	CCONJ
alkej-342	21	9	the	the	DET
alkej-342	21	10	second	second	ADJ
alkej-342	21	11	is	be	AUX
alkej-342	21	12	the	the	DET
alkej-342	21	13	sliding	slide	VERB
alkej-342	21	14	phase	phase	NOUN
alkej-342	21	15	.	.	PUNCT
alkej-342	22	1	the	the	DET
alkej-342	22	2	smc	smc	PROPN
alkej-342	22	3	suffers	suffer	VERB
alkej-342	22	4	from	from	ADP
alkej-342	22	5	the	the	DET
alkej-342	22	6	chattering	chatter	VERB
alkej-342	22	7	phenomenon	phenomenon	NOUN
alkej-342	22	8	which	which	PRON
alkej-342	22	9	is	be	AUX
alkej-342	22	10	considered	consider	VERB
alkej-342	22	11	as	as	ADP
alkej-342	22	12	a	a	DET
alkej-342	22	13	severe	severe	ADJ
alkej-342	22	14	problem	problem	NOUN
alkej-342	22	15	and	and	CCONJ
alkej-342	22	16	undesirable	undesirable	ADJ
alkej-342	22	17	property	property	NOUN
alkej-342	22	18	.	.	PUNCT
alkej-342	23	1	it	it	PRON
alkej-342	23	2	is	be	AUX
alkej-342	23	3	a	a	DET
alkej-342	23	4	zigzag	zigzag	NOUN
alkej-342	23	5	motion	motion	NOUN
alkej-342	23	6	along	along	ADP
alkej-342	23	7	the	the	DET
alkej-342	23	8	switching	switch	VERB
alkej-342	23	9	surface	surface	NOUN
alkej-342	23	10	.	.	PUNCT
alkej-342	24	1	in	in	ADP
alkej-342	24	2	this	this	DET
alkej-342	24	3	paper	paper	NOUN
alkej-342	24	4	,	,	PUNCT
alkej-342	24	5	the	the	DET
alkej-342	24	6	chattering	chatter	VERB
alkej-342	24	7	is	be	AUX
alkej-342	24	8	reduced	reduce	VERB
alkej-342	24	9	by	by	ADP
alkej-342	24	10	using	use	VERB
alkej-342	24	11	a	a	DET
alkej-342	24	12	saturation	saturation	NOUN
alkej-342	24	13	function	function	NOUN
alkej-342	24	14	instead	instead	ADV
alkej-342	24	15	spite	spite	NOUN
alkej-342	24	16	of	of	ADP
alkej-342	24	17	smc	smc	PROPN
alkej-342	24	18	is	be	AUX
alkej-342	24	19	a	a	DET
alkej-342	24	20	good	good	ADJ
alkej-342	24	21	method	method	NOUN
alkej-342	24	22	for	for	ADP
alkej-342	24	23	controlling	control	VERB
alkej-342	24	24	a	a	DET
alkej-342	24	25	nonlinear	nonlinear	ADJ
alkej-342	24	26	system	system	NOUN
alkej-342	24	27	but	but	CCONJ
alkej-342	24	28	it	it	PRON
alkej-342	24	29	still	still	ADV
alkej-342	24	30	suffers	suffer	VERB
alkej-342	24	31	from	from	ADP
alkej-342	24	32	long	long	ADJ
alkej-342	24	33	settling	settling	NOUN
alkej-342	24	34	time	time	NOUN
alkej-342	24	35	desired	desire	VERB
alkej-342	24	36	property	property	NOUN
alkej-342	24	37	.	.	PUNCT
alkej-342	25	1	the	the	DET
alkej-342	25	2	integral	integral	ADJ
alkej-342	25	3	sliding	slide	VERB
alkej-342	25	4	mode	mode	NOUN
alkej-342	25	5	controller	controller	NOUN
alkej-342	25	6	(	(	PUNCT
alkej-342	25	7	ismc	ismc	NOUN
alkej-342	25	8	)	)	PUNCT
alkej-342	25	9	can	can	AUX
alkej-342	25	10	be	be	AUX
alkej-342	25	11	used	use	VERB
alkej-342	25	12	to	to	PART
alkej-342	25	13	reduce	reduce	VERB
alkej-342	25	14	the	the	DET
alkej-342	25	15	ismc	ismc	NOUN
alkej-342	25	16	is	be	AUX
alkej-342	25	17	a	a	DET
alkej-342	25	18	good	good	ADJ
alkej-342	25	19	method	method	NOUN
alkej-342	25	20	for	for	ADP
alkej-342	25	21	controlling	control	VERB
alkej-342	25	22	a	a	DET
alkej-342	25	23	nonlinear	nonlinear	ADJ
alkej-342	25	24	systems	system	NOUN
alkej-342	25	25	.	.	PUNCT
alkej-342	26	1	ismc	ismc	NOUN
alkej-342	26	2	is	be	AUX
alkej-342	26	3	simple	simple	ADJ
alkej-342	26	4	,	,	PUNCT
alkej-342	26	5	has	have	VERB
alkej-342	26	6	a	a	DET
alkej-342	26	7	high	high	ADJ
alkej-342	26	8	performance	performance	NOUN
alkej-342	26	9	and	and	CCONJ
alkej-342	26	10	can	can	AUX
alkej-342	26	11	be	be	AUX
alkej-342	26	12	considered	consider	VERB
alkej-342	26	13	as	as	ADP
alkej-342	26	14	an	an	DET
alkej-342	26	15	effective	effective	ADJ
alkej-342	26	16	and	and	CCONJ
alkej-342	26	17	powerful	powerful	ADJ
alkej-342	26	18	technique	technique	NOUN
alkej-342	26	19	.	.	PUNCT
alkej-342	27	1	in	in	ADP
alkej-342	27	2	ismc	ismc	NOUN
alkej-342	27	3	method	method	NOUN
alkej-342	27	4	,	,	PUNCT
alkej-342	27	5	the	the	DET
alkej-342	27	6	reaching	reach	VERB
alkej-342	27	7	phaseis	phaseis	NOUN
alkej-342	27	8	eliminated	eliminate	VERB
alkej-342	27	9	which	which	PRON
alkej-342	27	10	signing	sign	VERB
alkej-342	27	11	classical	classical	ADJ
alkej-342	27	12	smc	smc	PROPN
alkej-342	27	13	.	.	PUNCT
alkej-342	28	1	the	the	DET
alkej-342	28	2	important	important	ADJ
alkej-342	28	3	property	property	NOUN
alkej-342	28	4	of	of	ADP
alkej-342	28	5	the	the	DET
alkej-342	28	6	ismc	ismc	NOUN
alkej-342	28	7	as	as	ADV
alkej-342	28	8	well	well	ADV
alkej-342	28	9	as	as	ADP
alkej-342	28	10	the	the	DET
alkej-342	28	11	ability	ability	NOUN
alkej-342	28	12	to	to	PART
alkej-342	28	13	make	make	VERB
alkej-342	28	14	the	the	DET
alkej-342	28	15	systems	system	NOUN
alkej-342	28	16	asymptotically	asymptotically	ADV
alkej-342	28	17	stable	stable	ADJ
alkej-342	28	18	.	.	PUNCT
alkej-342	29	1	the	the	DET
alkej-342	29	2	pendulum	pendulum	NOUN
alkej-342	29	3	system	system	NOUN
alkej-342	29	4	testing	test	VERB
alkej-342	29	5	the	the	DET
alkej-342	29	6	csmc	csmc	NOUN
alkej-342	29	7	and	and	CCONJ
alkej-342	29	8	ismc	ismc	NOUN
alkej-342	29	9	.	.	PUNCT
alkej-342	30	1	the	the	DET
alkej-342	30	2	results	result	NOUN
alkej-342	30	3	obtained	obtain	VERB
alkej-342	30	4	from	from	ADP
alkej-342	30	5	the	the	DET
alkej-342	30	6	simulation	simulation	NOUN
alkej-342	30	7	showed	show	VERB
alkej-342	30	8	the	the	DET
alkej-342	30	9	advantages	advantage	NOUN
alkej-342	30	10	of	of	ADP
alkej-342	30	11	using	use	VERB
alkej-342	30	12	the	the	DET
alkej-342	30	13	ismc	ismc	NOUN
alkej-342	30	14	when	when	SCONJ
alkej-342	30	15	matlab	matlab	PROPN
alkej-342	30	16	software	software	NOUN
alkej-342	30	17	package	package	NOUN
alkej-342	30	18	was	be	AUX
alkej-342	30	19	adopted	adopt	VERB
alkej-342	30	20	in	in	ADP
alkej-342	30	21	this	this	DET
alkej-342	30	22	paper	paper	NOUN
alkej-342	30	23	.	.	PUNCT
alkej-342	31	1	classical	classical	ADJ
alkej-342	31	2	sliding	slide	VERB
alkej-342	31	3	mode	mode	NOUN
alkej-342	31	4	controller	controller	NOUN
alkej-342	31	5	,	,	PUNCT
alkej-342	31	6	integral	integral	ADJ
alkej-342	31	7	sliding	slide	VERB
alkej-342	31	8	mode	mode	NOUN
alkej-342	31	9	controller	controller	NOUN
alkej-342	31	10	,	,	PUNCT
alkej-342	31	11	swi	swi	VERB
alkej-342	31	12	the	the	DET
alkej-342	31	13	methods	method	NOUN
alkej-342	31	14	for	for	ADP
alkej-342	31	15	controlling	control	VERB
alkej-342	31	16	nonlinear	nonlinear	ADJ
alkej-342	31	17	systems	system	NOUN
alkej-342	31	18	take	take	VERB
alkej-342	31	19	a	a	DET
alkej-342	31	20	much	much	ADJ
alkej-342	31	21	interest	interest	NOUN
alkej-342	31	22	from	from	ADP
alkej-342	31	23	many	many	ADJ
alkej-342	31	24	researchers	researcher	NOUN
alkej-342	31	25	and	and	CCONJ
alkej-342	31	26	as	as	ADP
alkej-342	31	27	a	a	DET
alkej-342	31	28	result	result	NOUN
alkej-342	32	1	many	many	ADJ
alkej-342	32	2	[	[	X
alkej-342	32	3	1	1	NUM
alkej-342	32	4	]	]	PUNCT
alkej-342	32	5	.	.	PUNCT
alkej-342	33	1	one	one	NUM
alkej-342	33	2	of	of	ADP
alkej-342	33	3	them	they	PRON
alkej-342	33	4	is	be	AUX
alkej-342	33	5	the	the	DET
alkej-342	33	6	sliding	slide	VERB
alkej-342	33	7	mode	mode	NOUN
alkej-342	33	8	control	control	NOUN
alkej-342	33	9	system	system	NOUN
alkej-342	33	10	(	(	PUNCT
alkej-342	33	11	smc	smc	PROPN
alkej-342	33	12	)	)	PUNCT
alkej-342	33	13	which	which	PRON
alkej-342	33	14	is	be	AUX
alkej-342	33	15	an	an	DET
alkej-342	33	16	effective	effective	ADJ
alkej-342	33	17	and	and	CCONJ
alkej-342	33	18	robust	robust	ADJ
alkej-342	33	19	control	control	NOUN
alkej-342	33	20	method	method	NOUN
alkej-342	33	21	used	use	VERB
alkej-342	33	22	successfully	successfully	ADV
alkej-342	33	23	in	in	ADP
alkej-342	33	24	wide	wide	ADJ
alkej-342	33	25	variety	variety	NOUN
alkej-342	33	26	of	of	ADP
alkej-342	33	27	the	the	DET
alkej-342	33	28	most	most	ADV
alkej-342	33	29	important	important	ADJ
alkej-342	33	30	property	property	NOUN
alkej-342	33	31	in	in	ADP
alkej-342	33	32	using	use	VERB
alkej-342	33	33	smc	smc	PROPN
alkej-342	33	34	is	be	AUX
alkej-342	33	35	the	the	DET
alkej-342	33	36	ability	ability	NOUN
alkej-342	33	37	of	of	ADP
alkej-342	33	38	this	this	DET
alkej-342	33	39	controller	controller	NOUN
alkej-342	33	40	to	to	PART
alkej-342	33	41	make	make	VERB
alkej-342	33	42	the	the	DET
alkej-342	33	43	external	external	ADJ
alkej-342	33	44	disturbance	disturbance	NOUN
alkej-342	33	45	and	and	CCONJ
alkej-342	33	46	in	in	ADP
alkej-342	33	47	spite	spite	NOUN
alkej-342	33	48	of	of	ADP
alkej-342	33	49	the	the	DET
alkej-342	33	50	smc	smc	PROPN
alkej-342	33	51	e	e	PROPN
alkej-342	33	52	,	,	PUNCT
alkej-342	33	53	but	but	CCONJ
alkej-342	33	54	it	it	PRON
alkej-342	33	55	is	be	AUX
alkej-342	33	56	from	from	ADP
alkej-342	33	57	the	the	DET
alkej-342	33	58	problem	problem	NOUN
alkej-342	33	59	of	of	ADP
alkej-342	33	60	''	''	PUNCT
alkej-342	33	61	chattering	chatter	VERB
alkej-342	33	62	phenomenon	phenomenon	NOUN
alkej-342	33	63	''	''	PUNCT
alkej-342	33	64	,	,	PUNCT
alkej-342	33	65	which	which	PRON
alkej-342	33	66	is	be	AUX
alkej-342	33	67	considered	consider	VERB
alkej-342	33	68	as	as	SCONJ
alkej-342	33	69	drawback	drawback	NOUN
alkej-342	33	70	chattering	chatter	VERB
alkej-342	33	71	phenomenon	phenomenon	NOUN
alkej-342	33	72	were	be	AUX
alkej-342	33	73	developed	develop	VERB
alkej-342	33	74	to	to	PART
alkej-342	33	75	overcome	overcome	VERB
alkej-342	33	76	this	this	DET
alkej-342	33	77	problem	problem	NOUN
alkej-342	33	78	.	.	PUNCT
alkej-342	34	1	one	one	NUM
alkej-342	34	2	of	of	ADP
alkej-342	34	3	them	they	PRON
alkej-342	34	4	is	be	AUX
alkej-342	34	5	by	by	ADP
alkej-342	34	6	using	use	VERB
alkej-342	34	7	a	a	DET
alkej-342	34	8	boundary	boundary	ADJ
alkej-342	34	9	layer	layer	NOUN
alkej-342	34	10	instead	instead	ADV
alkej-342	34	11	of	of	ADP
alkej-342	34	12	signmum	signmum	NOUN
alkej-342	34	13	nonlinear	nonlinear	ADJ
alkej-342	34	14	part	part	NOUN
alkej-342	34	15	of	of	ADP
alkej-342	34	16	controller	controller	NOUN
alkej-342	34	17	[	[	X
alkej-342	34	18	2	2	NUM
alkej-342	34	19	]	]	PUNCT
alkej-342	34	20	.	.	PUNCT
alkej-342	35	1	proposed	propose	VERB
alkej-342	35	2	to	to	PART
alkej-342	35	3	use	use	VERB
alkej-342	35	4	a	a	DET
alkej-342	35	5	fuzzy	fuzzy	ADJ
alkej-342	35	6	logic	logic	NOUN
alkej-342	35	7	system	system	NOUN
alkej-342	35	8	sliding	slide	VERB
alkej-342	35	9	mode	mode	NOUN
alkej-342	35	10	controller	controller	NOUN
alkej-342	35	11	to	to	PART
alkej-342	35	12	get	get	VERB
alkej-342	35	13	a	a	DET
alkej-342	35	14	new	new	ADJ
alkej-342	35	15	structure	structure	NOUN
alkej-342	35	16	called	call	VERB
alkej-342	35	17	sliding	slide	VERB
alkej-342	35	18	mode	mode	NOUN
alkej-342	35	19	fuzzy	fuzzy	ADJ
alkej-342	35	20	controller	controller	NOUN
alkej-342	35	21	[	[	PUNCT
alkej-342	35	22	other	other	ADJ
alkej-342	35	23	hands	hand	NOUN
alkej-342	35	24	,	,	PUNCT
alkej-342	35	25	some	some	DET
alkej-342	35	26	researchers	researcher	NOUN
alkej-342	35	27	the	the	DET
alkej-342	35	28	chattering	chatter	VERB
alkej-342	35	29	by	by	ADP
alkej-342	35	30	using	use	VERB
alkej-342	35	31	a	a	DET
alkej-342	35	32	genetic	genetic	ADJ
alkej-342	35	33	algorithm	algorithm	NOUN
alkej-342	35	34	[	[	PUNCT
alkej-342	35	35	recently	recently	ADV
alkej-342	35	36	some	some	DET
alkej-342	35	37	researches	research	NOUN
alkej-342	35	38	,	,	PUNCT
alkej-342	35	39	proposed	propose	VERB
alkej-342	35	40	to	to	PART
alkej-342	35	41	use	use	VERB
alkej-342	35	42	the	the	DET
alkej-342	35	43	particle	particle	NOUN
alkej-342	35	44	swarm	swarm	NOUN
alkej-342	35	45	optimization	optimization	NOUN
alkej-342	35	46	technique	technique	NOUN
alkej-342	35	47	i	i	PRON
alkej-342	35	48	reduce	reduce	VERB
alkej-342	35	49	the	the	DET
alkej-342	35	50	drawbacks	drawback	NOUN
alkej-342	35	51	of	of	ADP
alkej-342	35	52	the	the	DET
alkej-342	35	53	chattering	chatter	VERB
alkej-342	35	54	phenomenon	phenomenon	NOUN
alkej-342	36	1	[	[	X
alkej-342	36	2	5	5	NUM
alkej-342	36	3	]	]	PUNCT
alkej-342	36	4	.	.	PUNCT
alkej-342	37	1	the	the	DET
alkej-342	37	2	advantage	advantage	NOUN
alkej-342	37	3	smc	smc	PROPN
alkej-342	37	4	is	be	AUX
alkej-342	37	5	the	the	DET
alkej-342	37	6	reduction	reduction	NOUN
alkej-342	37	7	in	in	ADP
alkej-342	37	8	order	order	NOUN
alkej-342	37	9	original	original	ADJ
alkej-342	37	10	system	system	NOUN
alkej-342	37	11	equation	equation	NOUN
alkej-342	37	12	[	[	X
alkej-342	37	13	6	6	NUM
alkej-342	37	14	]	]	PUNCT
alkej-342	37	15	.	.	PUNCT
alkej-342	38	1	the	the	DET
alkej-342	38	2	designed	design	VERB
alkej-342	38	3	control	control	NOUN
alkej-342	38	4	law	law	PROPN
alkej-342	38	5	in	in	ADP
alkej-342	38	6	smc	smc	PROPN
alkej-342	38	7	can	can	AUX
alkej-342	38	8	drive	drive	VERB
alkej-342	38	9	the	the	DET
alkej-342	38	10	system	system	NOUN
alkej-342	38	11	state	state	NOUN
alkej-342	38	12	towards	towards	ADP
alkej-342	38	13	the	the	DET
alkej-342	38	14	manifold	manifold	ADJ
alkej-342	38	15	surface	surface	NOUN
alkej-342	38	16	and	and	CCONJ
alkej-342	38	17	stay	stay	VERB
alkej-342	38	18	surface	surface	NOUN
alkej-342	38	19	for	for	ADP
alkej-342	38	20	all	all	DET
alkej-342	38	21	future	future	ADJ
alkej-342	38	22	time	time	NOUN
alkej-342	38	23	until	until	ADP
alkej-342	38	24	re	re	NOUN
alkej-342	38	25	origin	origin	NOUN
alkej-342	38	26	.	.	PUNCT
alkej-342	39	1	churn	churn	NOUN
alkej-342	40	1	and	and	CCONJ
alkej-342	40	2	we	we	PRON
alkej-342	40	3	was	be	AUX
alkej-342	40	4	first	first	ADV
alkej-342	40	5	introduced	introduce	VERB
alkej-342	40	6	the	the	DET
alkej-342	40	7	khwarizmi	khwarizmi	PROPN
alkej-342	40	8	engineering	engineering	NOUN
alkej-342	40	9	journal	journal	PROPN
alkej-342	40	10	,	,	PUNCT
alkej-342	40	11	vol	vol	NOUN
alkej-342	40	12	.	.	PROPN
alkej-342	40	13	13	13	NUM
alkej-342	40	14	,	,	PUNCT
alkej-342	40	15	no	no	INTJ
alkej-342	40	16	.	.	NOUN
alkej-342	40	17	1	1	NUM
alkej-342	40	18	,	,	PUNCT
alkej-342	40	19	p.p	p.p	PROPN
alkej-342	40	20	.	.	NOUN
alkej-342	40	21	138147	138147	NUM
alkej-342	40	22	(	(	PUNCT
alkej-342	40	23	2017	2017	NUM
alkej-342	40	24	)	)	PUNCT
alkej-342	40	25	onlinear	onlinear	NOUN
alkej-342	40	26	system	system	NOUN
alkej-342	40	27	rahman	rahman	PROPN
alkej-342	40	28	*	*	PROPN
alkej-342	40	29	*	*	PUNCT
alkej-342	40	30	the	the	DET
alkej-342	40	31	goal	goal	NOUN
alkej-342	40	32	of	of	ADP
alkej-342	40	33	this	this	DET
alkej-342	40	34	paper	paper	NOUN
alkej-342	40	35	is	be	AUX
alkej-342	40	36	to	to	PART
alkej-342	40	37	design	design	VERB
alkej-342	40	38	a	a	DET
alkej-342	40	39	robust	robust	ADJ
alkej-342	40	40	controller	controller	NOUN
alkej-342	40	41	for	for	ADP
alkej-342	40	42	controlling	control	VERB
alkej-342	40	43	a	a	DET
alkej-342	40	44	pendulum	pendulum	NOUN
alkej-342	40	45	facing	face	VERB
alkej-342	40	46	the	the	DET
alkej-342	40	47	researchers	researcher	NOUN
alkej-342	40	48	in	in	ADP
alkej-342	40	49	control	control	NOUN
alkej-342	40	50	systems	system	NOUN
alkej-342	40	51	design	design	NOUN
alkej-342	40	52	.	.	PUNCT
alkej-342	41	1	ontroller	ontroller	NOUN
alkej-342	41	2	(	(	PUNCT
alkej-342	41	3	smc	smc	PROPN
alkej-342	41	4	)	)	PUNCT
alkej-342	41	5	is	be	AUX
alkej-342	41	6	the	the	DET
alkej-342	41	7	best	good	ADJ
alkej-342	41	8	solution	solution	NOUN
alkej-342	41	9	for	for	ADP
alkej-342	41	10	controlling	control	VERB
alkej-342	41	11	a	a	DET
alkej-342	41	12	nonlinear	nonlinear	ADJ
alkej-342	41	13	system	system	NOUN
alkej-342	41	14	.	.	PUNCT
alkej-342	42	1	the	the	DET
alkej-342	42	2	classical	classical	ADJ
alkej-342	42	3	smc	smc	PROPN
alkej-342	42	4	consists	consist	VERB
alkej-342	42	5	iding	iding	NOUN
alkej-342	42	6	phase	phase	NOUN
alkej-342	42	7	.	.	PUNCT
alkej-342	43	1	the	the	DET
alkej-342	43	2	smc	smc	PROPN
alkej-342	43	3	suffers	suffer	VERB
alkej-342	43	4	from	from	ADP
alkej-342	43	5	the	the	DET
alkej-342	43	6	chattering	chatter	VERB
alkej-342	43	7	phenomenon	phenomenon	NOUN
alkej-342	43	8	which	which	PRON
alkej-342	43	9	is	be	AUX
alkej-342	43	10	considered	consider	VERB
alkej-342	43	11	as	as	ADP
alkej-342	43	12	a	a	DET
alkej-342	43	13	severe	severe	ADJ
alkej-342	43	14	problem	problem	NOUN
alkej-342	43	15	and	and	CCONJ
alkej-342	43	16	undesirable	undesirable	ADJ
alkej-342	43	17	property	property	NOUN
alkej-342	43	18	.	.	PUNCT
alkej-342	44	1	it	it	PRON
alkej-342	44	2	is	be	AUX
alkej-342	44	3	a	a	DET
alkej-342	44	4	zigzag	zigzag	NOUN
alkej-342	44	5	motion	motion	NOUN
alkej-342	44	6	along	along	ADP
alkej-342	44	7	s	s	AUX
alkej-342	44	8	reduced	reduce	VERB
alkej-342	44	9	by	by	ADP
alkej-342	44	10	using	use	VERB
alkej-342	44	11	a	a	DET
alkej-342	44	12	saturation	saturation	NOUN
alkej-342	44	13	function	function	NOUN
alkej-342	44	14	instead	instead	ADV
alkej-342	44	15	of	of	ADP
alkej-342	44	16	sign	sign	NOUN
alkej-342	44	17	function	function	NOUN
alkej-342	44	18	.	.	PUNCT
alkej-342	45	1	in	in	ADP
alkej-342	45	2	still	still	ADV
alkej-342	45	3	suffers	suffer	VERB
alkej-342	45	4	from	from	ADP
alkej-342	45	5	long	long	ADJ
alkej-342	45	6	settling	settling	NOUN
alkej-342	45	7	time	time	NOUN
alkej-342	45	8	which	which	PRON
alkej-342	45	9	is	be	AUX
alkej-342	45	10	can	can	AUX
alkej-342	45	11	be	be	AUX
alkej-342	45	12	used	use	VERB
alkej-342	45	13	to	to	PART
alkej-342	45	14	reduce	reduce	VERB
alkej-342	45	15	the	the	DET
alkej-342	45	16	settling	settling	NOUN
alkej-342	45	17	time	time	NOUN
alkej-342	45	18	.	.	PUNCT
alkej-342	46	1	high	high	ADJ
alkej-342	46	2	performance	performance	NOUN
alkej-342	46	3	and	and	CCONJ
alkej-342	46	4	can	can	AUX
alkej-342	46	5	be	be	AUX
alkej-342	46	6	considered	consider	VERB
alkej-342	46	7	as	as	ADP
alkej-342	46	8	an	an	DET
alkej-342	46	9	effective	effective	ADJ
alkej-342	46	10	and	and	CCONJ
alkej-342	46	11	powerful	powerful	ADJ
alkej-342	46	12	technique	technique	NOUN
alkej-342	46	13	.	.	PUNCT
alkej-342	47	1	in	in	ADP
alkej-342	47	2	ismc	ismc	NOUN
alkej-342	47	3	method	method	NOUN
alkej-342	47	4	,	,	PUNCT
alkej-342	47	5	the	the	DET
alkej-342	47	6	reaching	reach	VERB
alkej-342	47	7	phaseis	phaseis	NOUN
alkej-342	47	8	eliminated	eliminate	VERB
alkej-342	47	9	which	which	PRON
alkej-342	47	10	as	as	ADV
alkej-342	47	11	well	well	ADV
alkej-342	47	12	as	as	ADP
alkej-342	47	13	the	the	DET
alkej-342	47	14	classical	classical	ADJ
alkej-342	47	15	sliding	slide	VERB
alkej-342	47	16	ability	ability	NOUN
alkej-342	47	17	to	to	PART
alkej-342	47	18	make	make	VERB
alkej-342	47	19	the	the	DET
alkej-342	47	20	systems	system	NOUN
alkej-342	47	21	asymptotically	asymptotically	ADV
alkej-342	47	22	stable	stable	ADJ
alkej-342	47	23	.	.	PUNCT
alkej-342	48	1	the	the	DET
alkej-342	48	2	pendulum	pendulum	NOUN
alkej-342	48	3	system	system	NOUN
alkej-342	48	4	was	be	AUX
alkej-342	48	5	used	use	VERB
alkej-342	48	6	for	for	ADP
alkej-342	48	7	ed	ed	NOUN
alkej-342	48	8	the	the	DET
alkej-342	48	9	advantages	advantage	NOUN
alkej-342	48	10	of	of	ADP
alkej-342	48	11	using	use	VERB
alkej-342	48	12	the	the	DET
alkej-342	48	13	ismc	ismc	NOUN
alkej-342	48	14	when	when	SCONJ
alkej-342	48	15	classical	classical	ADJ
alkej-342	48	16	sliding	slide	VERB
alkej-342	48	17	mode	mode	NOUN
alkej-342	48	18	controller	controller	NOUN
alkej-342	48	19	,	,	PUNCT
alkej-342	48	20	integral	integral	ADJ
alkej-342	48	21	sliding	slide	VERB
alkej-342	48	22	mode	mode	NOUN
alkej-342	48	23	controller	controller	NOUN
alkej-342	48	24	,	,	PUNCT
alkej-342	48	25	switching	switch	VERB
alkej-342	48	26	.	.	PUNCT
alkej-342	49	1	one	one	NUM
alkej-342	49	2	of	of	ADP
alkej-342	49	3	them	they	PRON
alkej-342	49	4	is	be	AUX
alkej-342	49	5	by	by	ADP
alkej-342	49	6	using	use	VERB
alkej-342	49	7	a	a	DET
alkej-342	49	8	signmum	signmum	ADJ
alkej-342	49	9	function	function	NOUN
alkej-342	49	10	in	in	ADP
alkej-342	49	11	]	]	PUNCT
alkej-342	49	12	.	.	PUNCT
alkej-342	50	1	other	other	ADJ
alkej-342	50	2	researchers	researcher	NOUN
alkej-342	50	3	logic	logic	NOUN
alkej-342	50	4	system	system	NOUN
alkej-342	50	5	with	with	ADP
alkej-342	50	6	a	a	DET
alkej-342	50	7	sliding	slide	VERB
alkej-342	50	8	mode	mode	NOUN
alkej-342	50	9	controller	controller	NOUN
alkej-342	50	10	to	to	PART
alkej-342	50	11	get	get	VERB
alkej-342	50	12	a	a	DET
alkej-342	50	13	new	new	ADJ
alkej-342	50	14	structure	structure	NOUN
alkej-342	50	15	called	call	VERB
alkej-342	50	16	sliding	slide	VERB
alkej-342	50	17	mode	mode	NOUN
alkej-342	50	18	fuzzy	fuzzy	ADJ
alkej-342	50	19	controller	controller	NOUN
alkej-342	50	20	[	[	X
alkej-342	50	21	3	3	NUM
alkej-342	50	22	]	]	PUNCT
alkej-342	50	23	.	.	PUNCT
alkej-342	51	1	on	on	ADP
alkej-342	51	2	the	the	DET
alkej-342	51	3	suggest	suggest	NOUN
alkej-342	51	4	to	to	PART
alkej-342	51	5	reduce	reduce	VERB
alkej-342	51	6	the	the	DET
alkej-342	51	7	chattering	chattering	NOUN
alkej-342	51	8	by	by	ADP
alkej-342	51	9	using	use	VERB
alkej-342	51	10	a	a	DET
alkej-342	51	11	genetic	genetic	ADJ
alkej-342	51	12	algorithm	algorithm	NOUN
alkej-342	51	13	[	[	X
alkej-342	51	14	4	4	NUM
alkej-342	51	15	]	]	PUNCT
alkej-342	51	16	.	.	PUNCT
alkej-342	52	1	recently	recently	ADV
alkej-342	52	2	some	some	DET
alkej-342	52	3	researches	research	NOUN
alkej-342	52	4	,	,	PUNCT
alkej-342	52	5	proposed	propose	VERB
alkej-342	52	6	to	to	PART
alkej-342	52	7	use	use	VERB
alkej-342	52	8	the	the	DET
alkej-342	52	9	technique	technique	NOUN
alkej-342	52	10	in	in	ADP
alkej-342	52	11	order	order	NOUN
alkej-342	52	12	to	to	PART
alkej-342	52	13	reduce	reduce	VERB
alkej-342	52	14	the	the	DET
alkej-342	52	15	drawbacks	drawback	NOUN
alkej-342	52	16	of	of	ADP
alkej-342	52	17	the	the	DET
alkej-342	52	18	chattering	chatter	VERB
alkej-342	52	19	advantage	advantage	NOUN
alkej-342	52	20	of	of	ADP
alkej-342	52	21	using	use	VERB
alkej-342	52	22	the	the	PRON
alkej-342	52	23	by	by	ADP
alkej-342	52	24	one	one	NUM
alkej-342	52	25	from	from	ADP
alkej-342	52	26	the	the	DET
alkej-342	52	27	]	]	X
alkej-342	52	28	.	.	PUNCT
alkej-342	53	1	the	the	DET
alkej-342	53	2	designed	design	VERB
alkej-342	53	3	control	control	NOUN
alkej-342	53	4	law	law	PROPN
alkej-342	53	5	in	in	ADP
alkej-342	53	6	smc	smc	PROPN
alkej-342	53	7	can	can	AUX
alkej-342	53	8	drive	drive	VERB
alkej-342	53	9	the	the	DET
alkej-342	53	10	system	system	NOUN
alkej-342	53	11	state	state	NOUN
alkej-342	53	12	trajectory	trajectory	NOUN
alkej-342	53	13	towards	towards	ADP
alkej-342	53	14	the	the	DET
alkej-342	53	15	manifold	manifold	ADJ
alkej-342	53	16	surface	surface	NOUN
alkej-342	53	17	and	and	CCONJ
alkej-342	53	18	stay	stay	VERB
alkej-342	53	19	in	in	ADP
alkej-342	53	20	this	this	PRON
alkej-342	53	21	for	for	ADP
alkej-342	53	22	all	all	DET
alkej-342	53	23	future	future	ADJ
alkej-342	53	24	time	time	NOUN
alkej-342	53	25	until	until	ADP
alkej-342	53	26	reaching	reach	VERB
alkej-342	53	27	the	the	PRON
alkej-342	53	28	was	be	AUX
alkej-342	53	29	first	first	ADV
alkej-342	53	30	introduced	introduce	VERB
alkej-342	53	31	the	the	DET
alkej-342	53	32	al	al	PROPN
alkej-342	53	33	-	-	PUNCT
alkej-342	53	34	khwarizmi	khwarizmi	PROPN
alkej-342	53	35	engineering	engineering	PROPN
alkej-342	53	36	journal	journal	PROPN
alkej-342	54	1	ahmed	ahmed	PROPN
alkej-342	54	2	khalaf	khalaf	PROPN
alkej-342	54	3	hamoudi	hamoudi	PROPN
alkej-342	54	4	al	al	PROPN
alkej-342	54	5	-	-	PUNCT
alkej-342	54	6	khwarizmi	khwarizmi	PROPN
alkej-342	54	7	engineering	engineering	NOUN
alkej-342	54	8	journal	journal	PROPN
alkej-342	54	9	,	,	PUNCT
alkej-342	54	10	vol	vol	NOUN
alkej-342	54	11	.	.	PROPN
alkej-342	54	12	13	13	NUM
alkej-342	54	13	,	,	PUNCT
alkej-342	54	14	no	no	INTJ
alkej-342	54	15	.	.	NOUN
alkej-342	54	16	1	1	NUM
alkej-342	54	17	,	,	PUNCT
alkej-342	54	18	p.p	p.p	PROPN
alkej-342	54	19	.	.	NOUN
alkej-342	54	20	138147(2017	138147(2017	NUM
alkej-342	54	21	)	)	PUNCT
alkej-342	54	22	139	139	NUM
alkej-342	54	23	integral	integral	ADJ
alkej-342	54	24	sliding	slide	VERB
alkej-342	54	25	mode	mode	NOUN
alkej-342	54	26	(	(	PUNCT
alkej-342	54	27	ismc	ismc	NOUN
alkej-342	54	28	)	)	PUNCT
alkej-342	55	1	[	[	X
alkej-342	55	2	7	7	NUM
alkej-342	55	3	]	]	PUNCT
alkej-342	55	4	,	,	PUNCT
alkej-342	55	5	which	which	PRON
alkej-342	55	6	is	be	AUX
alkej-342	55	7	similar	similar	ADJ
alkej-342	55	8	to	to	ADP
alkej-342	55	9	the	the	DET
alkej-342	55	10	smc	smc	PROPN
alkej-342	55	11	since	since	SCONJ
alkej-342	55	12	it	it	PRON
alkej-342	55	13	is	be	AUX
alkej-342	55	14	insensitive	insensitive	ADJ
alkej-342	55	15	to	to	ADP
alkej-342	55	16	external	external	ADJ
alkej-342	55	17	disturbance	disturbance	NOUN
alkej-342	55	18	and	and	CCONJ
alkej-342	55	19	parameters	parameter	NOUN
alkej-342	55	20	uncertainty	uncertainty	NOUN
alkej-342	55	21	[	[	X
alkej-342	55	22	8	8	NUM
alkej-342	55	23	]	]	PUNCT
alkej-342	55	24	.	.	PUNCT
alkej-342	56	1	the	the	DET
alkej-342	56	2	control	control	NOUN
alkej-342	56	3	law	law	NOUN
alkej-342	56	4	in	in	ADP
alkej-342	56	5	the	the	DET
alkej-342	56	6	ismc	ismc	NOUN
alkej-342	56	7	consists	consist	VERB
alkej-342	56	8	from	from	ADP
alkej-342	56	9	two	two	NUM
alkej-342	56	10	major	major	ADJ
alkej-342	56	11	parts	part	NOUN
alkej-342	56	12	,	,	PUNCT
alkej-342	56	13	the	the	DET
alkej-342	56	14	first	first	ADJ
alkej-342	56	15	part	part	NOUN
alkej-342	56	16	is	be	AUX
alkej-342	56	17	the	the	DET
alkej-342	56	18	nominal	nominal	ADJ
alkej-342	56	19	control	control	NOUN
alkej-342	56	20	which	which	PRON
alkej-342	56	21	is	be	AUX
alkej-342	56	22	responsible	responsible	ADJ
alkej-342	56	23	for	for	ADP
alkej-342	56	24	the	the	DET
alkej-342	56	25	performance	performance	NOUN
alkej-342	56	26	of	of	ADP
alkej-342	56	27	the	the	DET
alkej-342	56	28	nominal	nominal	ADJ
alkej-342	56	29	system	system	NOUN
alkej-342	56	30	and	and	CCONJ
alkej-342	56	31	the	the	DET
alkej-342	56	32	second	second	ADJ
alkej-342	56	33	part	part	NOUN
alkej-342	56	34	is	be	AUX
alkej-342	56	35	the	the	DET
alkej-342	56	36	discontinuous	discontinuous	ADJ
alkej-342	56	37	control	control	NOUN
alkej-342	56	38	that	that	PRON
alkej-342	56	39	is	be	AUX
alkej-342	56	40	used	use	VERB
alkej-342	56	41	to	to	PART
alkej-342	56	42	reject	reject	VERB
alkej-342	56	43	the	the	DET
alkej-342	56	44	external	external	ADJ
alkej-342	56	45	disturbance	disturbance	NOUN
alkej-342	56	46	and	and	CCONJ
alkej-342	56	47	parameters	parameter	NOUN
alkej-342	56	48	uncertainty	uncertainty	NOUN
alkej-342	56	49	[	[	X
alkej-342	56	50	8	8	NUM
alkej-342	56	51	]	]	PUNCT
alkej-342	56	52	.	.	PUNCT
alkej-342	57	1	in	in	ADP
alkej-342	57	2	this	this	DET
alkej-342	57	3	paper	paper	NOUN
alkej-342	57	4	the	the	DET
alkej-342	57	5	performance	performance	NOUN
alkej-342	57	6	of	of	ADP
alkej-342	57	7	pendulum	pendulum	NOUN
alkej-342	57	8	system	system	NOUN
alkej-342	57	9	will	will	AUX
alkej-342	57	10	be	be	AUX
alkej-342	57	11	improved	improve	VERB
alkej-342	57	12	by	by	ADP
alkej-342	57	13	using	use	VERB
alkej-342	57	14	the	the	DET
alkej-342	57	15	ismc	ismc	NOUN
alkej-342	57	16	and	and	CCONJ
alkej-342	57	17	the	the	DET
alkej-342	57	18	results	result	NOUN
alkej-342	57	19	show	show	VERB
alkej-342	57	20	high	high	ADJ
alkej-342	57	21	validity	validity	NOUN
alkej-342	57	22	when	when	SCONJ
alkej-342	57	23	using	use	VERB
alkej-342	57	24	the	the	DET
alkej-342	57	25	proposed	propose	VERB
alkej-342	57	26	controller	controller	NOUN
alkej-342	57	27	.	.	PUNCT
alkej-342	58	1	2	2	X
alkej-342	58	2	.	.	X
alkej-342	58	3	classical	classical	ADJ
alkej-342	58	4	sliding	slide	VERB
alkej-342	58	5	mode	mode	NOUN
alkej-342	58	6	controller	controller	NOUN
alkej-342	58	7	(	(	PUNCT
alkej-342	58	8	smc	smc	PROPN
alkej-342	58	9	)	)	PUNCT
alkej-342	58	10	in	in	ADP
alkej-342	58	11	modern	modern	ADJ
alkej-342	58	12	control	control	NOUN
alkej-342	58	13	systems	system	NOUN
alkej-342	58	14	,	,	PUNCT
alkej-342	58	15	the	the	DET
alkej-342	58	16	smc	smc	PROPN
alkej-342	58	17	is	be	AUX
alkej-342	58	18	a	a	DET
alkej-342	58	19	common	common	ADJ
alkej-342	58	20	method	method	NOUN
alkej-342	58	21	for	for	ADP
alkej-342	58	22	designing	design	VERB
alkej-342	58	23	a	a	DET
alkej-342	58	24	robust	robust	ADJ
alkej-342	58	25	controller	controller	NOUN
alkej-342	58	26	technique	technique	NOUN
alkej-342	58	27	.	.	PUNCT
alkej-342	59	1	this	this	DET
alkej-342	59	2	controller	controller	NOUN
alkej-342	59	3	was	be	AUX
alkej-342	59	4	extremely	extremely	ADV
alkej-342	59	5	used	use	VERB
alkej-342	59	6	with	with	ADP
alkej-342	59	7	nonlinear	nonlinear	ADJ
alkej-342	59	8	system	system	NOUN
alkej-342	59	9	since	since	SCONJ
alkej-342	59	10	1950	1950	NUM
alkej-342	59	11	,	,	PUNCT
alkej-342	59	12	and	and	CCONJ
alkej-342	59	13	it	it	PRON
alkej-342	59	14	is	be	AUX
alkej-342	59	15	extended	extend	VERB
alkej-342	59	16	to	to	PART
alkej-342	59	17	use	use	VERB
alkej-342	59	18	with	with	ADP
alkej-342	59	19	large	large	ADJ
alkej-342	59	20	various	various	ADJ
alkej-342	59	21	types	type	NOUN
alkej-342	59	22	of	of	ADP
alkej-342	59	23	applications	application	NOUN
alkej-342	59	24	such	such	ADJ
alkej-342	59	25	as	as	ADP
alkej-342	59	26	electrical	electrical	ADJ
alkej-342	59	27	servo	servo	NOUN
alkej-342	59	28	drives	drive	NOUN
alkej-342	59	29	,	,	PUNCT
alkej-342	59	30	pendulum	pendulum	NOUN
alkej-342	59	31	,	,	PUNCT
alkej-342	59	32	etv	etv	NOUN
alkej-342	59	33	and	and	CCONJ
alkej-342	59	34	others	other	NOUN
alkej-342	59	35	.	.	PUNCT
alkej-342	60	1	the	the	DET
alkej-342	60	2	differential	differential	ADJ
alkej-342	60	3	equation	equation	NOUN
alkej-342	60	4	that	that	PRON
alkej-342	60	5	is	be	AUX
alkej-342	60	6	used	use	VERB
alkej-342	60	7	to	to	PART
alkej-342	60	8	govern	govern	VERB
alkej-342	60	9	the	the	DET
alkej-342	60	10	sliding	slide	VERB
alkej-342	60	11	mode	mode	NOUN
alkej-342	60	12	control	control	NOUN
alkej-342	60	13	has	have	VERB
alkej-342	60	14	order	order	NOUN
alkej-342	60	15	less	less	ADJ
alkej-342	60	16	by	by	ADP
alkej-342	60	17	one	one	NUM
alkej-342	60	18	than	than	ADP
alkej-342	60	19	the	the	DET
alkej-342	60	20	order	order	NOUN
alkej-342	60	21	of	of	ADP
alkej-342	60	22	original	original	ADJ
alkej-342	60	23	system	system	NOUN
alkej-342	60	24	.	.	PUNCT
alkej-342	61	1	the	the	DET
alkej-342	61	2	main	main	ADJ
alkej-342	61	3	drawback	drawback	NOUN
alkej-342	61	4	of	of	ADP
alkej-342	61	5	the	the	DET
alkej-342	61	6	smc	smc	PROPN
alkej-342	61	7	is	be	AUX
alkej-342	61	8	the	the	DET
alkej-342	61	9	''	''	PUNCT
alkej-342	61	10	chattering	chattering	NOUN
alkej-342	61	11	''	''	PUNCT
alkej-342	61	12	which	which	PRON
alkej-342	61	13	is	be	AUX
alkej-342	61	14	phenomenon	phenomenon	NOUN
alkej-342	61	15	of	of	ADP
alkej-342	61	16	oscillations	oscillation	NOUN
alkej-342	61	17	having	have	VERB
alkej-342	61	18	a	a	DET
alkej-342	61	19	finite	finite	ADJ
alkej-342	61	20	frequency	frequency	NOUN
alkej-342	61	21	and	and	CCONJ
alkej-342	61	22	amplitude	amplitude	NOUN
alkej-342	61	23	along	along	ADP
alkej-342	61	24	the	the	DET
alkej-342	61	25	sliding	slide	VERB
alkej-342	61	26	surface	surface	NOUN
alkej-342	61	27	.	.	PUNCT
alkej-342	62	1	the	the	DET
alkej-342	62	2	problem	problem	NOUN
alkej-342	62	3	of	of	ADP
alkej-342	62	4	chattering	chatter	VERB
alkej-342	62	5	phenomenon	phenomenon	NOUN
alkej-342	62	6	can	can	AUX
alkej-342	62	7	be	be	AUX
alkej-342	62	8	solved	solve	VERB
alkej-342	62	9	by	by	ADP
alkej-342	62	10	using	use	VERB
alkej-342	62	11	many	many	ADJ
alkej-342	62	12	methods	method	NOUN
alkej-342	62	13	as	as	SCONJ
alkej-342	62	14	mentioned	mention	VERB
alkej-342	62	15	above	above	ADV
alkej-342	62	16	in	in	ADP
alkej-342	62	17	section	section	NOUN
alkej-342	62	18	1	1	NUM
alkej-342	62	19	.	.	PUNCT
alkej-342	63	1	sliding	slide	VERB
alkej-342	63	2	mode	mode	NOUN
alkej-342	63	3	controller	controller	NOUN
alkej-342	63	4	consists	consist	VERB
alkej-342	63	5	of	of	ADP
alkej-342	63	6	two	two	NUM
alkej-342	63	7	major	major	ADJ
alkej-342	63	8	phases	phase	NOUN
alkej-342	63	9	[	[	X
alkej-342	63	10	6	6	NUM
alkej-342	63	11	]	]	X
alkej-342	63	12	:	:	PUNCT
alkej-342	63	13	a	a	DET
alkej-342	63	14	:	:	PUNCT
alkej-342	63	15	reaching	reach	VERB
alkej-342	63	16	phase	phase	NOUN
alkej-342	63	17	:	:	PUNCT
alkej-342	63	18	in	in	ADP
alkej-342	63	19	this	this	DET
alkej-342	63	20	phase	phase	NOUN
alkej-342	63	21	the	the	DET
alkej-342	63	22	state	state	NOUN
alkej-342	63	23	trajectories	trajectory	NOUN
alkej-342	63	24	are	be	AUX
alkej-342	63	25	oriented	orient	VERB
alkej-342	63	26	toward	toward	ADP
alkej-342	63	27	the	the	DET
alkej-342	63	28	switching	switch	VERB
alkej-342	63	29	surface	surface	NOUN
alkej-342	63	30	s=0	s=0	NOUN
alkej-342	63	31	;	;	PUNCT
alkej-342	63	32	hence	hence	ADV
alkej-342	63	33	,	,	PUNCT
alkej-342	63	34	the	the	DET
alkej-342	63	35	sliding	slide	VERB
alkej-342	63	36	phase	phase	NOUN
alkej-342	63	37	will	will	AUX
alkej-342	63	38	be	be	AUX
alkej-342	63	39	started	start	VERB
alkej-342	63	40	at	at	ADP
alkej-342	63	41	this	this	DET
alkej-342	63	42	instant	instant	NOUN
alkej-342	63	43	as	as	SCONJ
alkej-342	63	44	shown	show	VERB
alkej-342	63	45	in	in	ADP
alkej-342	63	46	figure	figure	NOUN
alkej-342	63	47	(	(	PUNCT
alkej-342	63	48	1	1	NUM
alkej-342	63	49	)	)	PUNCT
alkej-342	63	50	.	.	PUNCT
alkej-342	64	1	b	b	X
alkej-342	64	2	:	:	PUNCT
alkej-342	64	3	sliding	slide	VERB
alkej-342	64	4	phase	phase	NOUN
alkej-342	64	5	:	:	PUNCT
alkej-342	64	6	in	in	ADP
alkej-342	64	7	this	this	DET
alkej-342	64	8	phase	phase	NOUN
alkej-342	64	9	the	the	DET
alkej-342	64	10	state	state	NOUN
alkej-342	64	11	trajectory	trajectory	NOUN
alkej-342	64	12	is	be	AUX
alkej-342	64	13	enforced	enforce	VERB
alkej-342	64	14	to	to	PART
alkej-342	64	15	stay	stay	VERB
alkej-342	64	16	on	on	ADP
alkej-342	64	17	the	the	DET
alkej-342	64	18	switching	switch	VERB
alkej-342	64	19	surface	surface	NOUN
alkej-342	64	20	and	and	CCONJ
alkej-342	64	21	to	to	PART
alkej-342	64	22	move	move	VERB
alkej-342	64	23	along	along	ADP
alkej-342	64	24	this	this	DET
alkej-342	64	25	surface	surface	NOUN
alkej-342	64	26	until	until	ADP
alkej-342	64	27	reaching	reach	VERB
alkej-342	64	28	the	the	DET
alkej-342	64	29	origin	origin	NOUN
alkej-342	64	30	in	in	ADP
alkej-342	64	31	finite	finite	ADJ
alkej-342	64	32	time	time	NOUN
alkej-342	64	33	as	as	SCONJ
alkej-342	64	34	shown	show	VERB
alkej-342	64	35	in	in	ADP
alkej-342	64	36	figure	figure	NOUN
alkej-342	64	37	(	(	PUNCT
alkej-342	64	38	1	1	NUM
alkej-342	64	39	)	)	PUNCT
alkej-342	64	40	.	.	PUNCT
alkej-342	65	1	fig	fig	NOUN
alkej-342	65	2	.	.	PUNCT
alkej-342	66	1	1	1	X
alkej-342	66	2	.	.	X
alkej-342	67	1	the	the	DET
alkej-342	67	2	two	two	NUM
alkej-342	67	3	phases	phase	NOUN
alkej-342	67	4	of	of	ADP
alkej-342	67	5	the	the	DET
alkej-342	67	6	sliding	slide	VERB
alkej-342	67	7	control	control	NOUN
alkej-342	67	8	[	[	X
alkej-342	67	9	2	2	NUM
alkej-342	67	10	]	]	PUNCT
alkej-342	67	11	.	.	PUNCT
alkej-342	68	1	fig	fig	NOUN
alkej-342	68	2	.	.	PUNCT
alkej-342	69	1	2	2	X
alkej-342	69	2	.	.	X
alkej-342	69	3	the	the	DET
alkej-342	69	4	shape	shape	NOUN
alkej-342	69	5	of	of	ADP
alkej-342	69	6	sliding	slide	VERB
alkej-342	69	7	surface	surface	NOUN
alkej-342	70	1	[	[	X
alkej-342	70	2	2	2	NUM
alkej-342	70	3	]	]	PUNCT
alkej-342	70	4	.	.	PUNCT
alkej-342	71	1	the	the	DET
alkej-342	71	2	control	control	NOUN
alkej-342	71	3	law	law	NOUN
alkej-342	71	4	is	be	AUX
alkej-342	71	5	defined	define	VERB
alkej-342	71	6	as	as	ADP
alkej-342	71	7	:	:	PUNCT
alkej-342	71	8	�	�	PROPN
alkej-342	71	9	�	�	PROPN
alkej-342	71	10	�	�	PROPN
alkej-342	71	11	�	�	PROPN
alkej-342	71	12	�	�	PROPN
alkej-342	71	13	�	�	PROPN
alkej-342	71	14	�	�	PROPN
alkej-342	71	15	�	�	PROPN
alkej-342	71	16	�	�	PROPN
alkej-342	71	17	…	…	SYM
alkej-342	71	18	�	�	PROPN
alkej-342	71	19	1	1	NUM
alkej-342	71	20	where	where	SCONJ
alkej-342	71	21	,	,	PUNCT
alkej-342	71	22	�	�	PROPN
alkej-342	71	23	�	�	PROPN
alkej-342	71	24	�	�	PROPN
alkej-342	71	25	is	be	AUX
alkej-342	71	26	the	the	DET
alkej-342	71	27	equivalent	equivalent	ADJ
alkej-342	71	28	control	control	NOUN
alkej-342	71	29	part	part	NOUN
alkej-342	71	30	which	which	PRON
alkej-342	71	31	required	require	VERB
alkej-342	71	32	to	to	PART
alkej-342	71	33	oriented	orient	VERB
alkej-342	71	34	the	the	DET
alkej-342	71	35	system	system	NOUN
alkej-342	71	36	state	state	NOUN
alkej-342	71	37	trajectory	trajectory	NOUN
alkej-342	71	38	toward	toward	ADP
alkej-342	71	39	switching	switch	VERB
alkej-342	71	40	surface	surface	NOUN
alkej-342	71	41	(	(	PUNCT
alkej-342	71	42	�	�	PROPN
alkej-342	71	43	�	�	PROPN
alkej-342	71	44	0	0	NUM
alkej-342	71	45	)	)	PUNCT
alkej-342	71	46	and	and	CCONJ
alkej-342	71	47	�	�	PROPN
alkej-342	71	48	�	�	PROPN
alkej-342	71	49	�	�	PROPN
alkej-342	71	50	is	be	AUX
alkej-342	71	51	the	the	DET
alkej-342	71	52	discontinuous	discontinuous	ADJ
alkej-342	71	53	control	control	NOUN
alkej-342	71	54	part	part	NOUN
alkej-342	71	55	to	to	PART
alkej-342	71	56	enforce	enforce	VERB
alkej-342	71	57	the	the	DET
alkej-342	71	58	state	state	NOUN
alkej-342	71	59	trajectory	trajectory	NOUN
alkej-342	71	60	to	to	PART
alkej-342	71	61	move	move	VERB
alkej-342	71	62	along	along	ADP
alkej-342	71	63	the	the	DET
alkej-342	71	64	switching	switch	VERB
alkej-342	71	65	surface	surface	NOUN
alkej-342	71	66	towards	towards	ADP
alkej-342	71	67	the	the	DET
alkej-342	71	68	origin	origin	NOUN
alkej-342	71	69	.	.	PUNCT
alkej-342	72	1	the	the	DET
alkej-342	72	2	control	control	PROPN
alkej-342	72	3	�	�	PROPN
alkej-342	72	4	�	�	PROPN
alkej-342	72	5	�	�	PROPN
alkej-342	72	6	is	be	AUX
alkej-342	72	7	defined	define	VERB
alkej-342	72	8	as	as	ADP
alkej-342	72	9	below	below	ADP
alkej-342	72	10	[	[	X
alkej-342	72	11	10	10	NUM
alkej-342	72	12	]	]	SYM
alkej-342	72	13	:	:	PUNCT
alkej-342	72	14	�	�	PROPN
alkej-342	72	15	�	�	PROPN
alkej-342	72	16	�	�	PROPN
alkej-342	72	17	�	�	PROPN
alkej-342	72	18	�	�	PROPN
alkej-342	72	19	�	�	PROPN
alkej-342	72	20	�	�	PROPN
alkej-342	72	21	�	�	PROPN
alkej-342	72	22	�	�	PROPN
alkej-342	72	23	�	�	PROPN
alkej-342	72	24	�	�	PROPN
alkej-342	72	25	�	�	PROPN
alkej-342	72	26	�	�	PROPN
alkej-342	72	27	�	�	PROPN
alkej-342	72	28	…	…	SYM
alkej-342	72	29	�	�	PROPN
alkej-342	72	30	2	2	NUM
alkej-342	72	31	where	where	SCONJ
alkej-342	72	32	,	,	PUNCT
alkej-342	72	33	k	k	PROPN
alkej-342	72	34	is	be	AUX
alkej-342	72	35	a	a	DET
alkej-342	72	36	constant	constant	ADJ
alkej-342	72	37	with	with	ADP
alkej-342	72	38	positive	positive	ADJ
alkej-342	72	39	value	value	NOUN
alkej-342	72	40	.	.	PUNCT
alkej-342	73	1	fig	fig	NOUN
alkej-342	73	2	.	.	PUNCT
alkej-342	74	1	3	3	X
alkej-342	74	2	.	.	X
alkej-342	74	3	the	the	DET
alkej-342	74	4	shape	shape	NOUN
alkej-342	74	5	of	of	ADP
alkej-342	74	6	a	a	DET
alkej-342	74	7	signum	signum	ADJ
alkej-342	74	8	function	function	NOUN
alkej-342	74	9	.	.	PUNCT
alkej-342	75	1	by	by	ADP
alkej-342	75	2	substituting	substitute	VERB
alkej-342	75	3	equation	equation	NOUN
alkej-342	75	4	(	(	PUNCT
alkej-342	75	5	2	2	NUM
alkej-342	75	6	)	)	PUNCT
alkej-342	75	7	in	in	ADP
alkej-342	75	8	(	(	PUNCT
alkej-342	75	9	1	1	NUM
alkej-342	75	10	)	)	PUNCT
alkej-342	75	11	,	,	PUNCT
alkej-342	75	12	the	the	DET
alkej-342	75	13	control	control	NOUN
alkej-342	75	14	law	law	NOUN
alkej-342	75	15	can	can	AUX
alkej-342	75	16	be	be	AUX
alkej-342	75	17	rewritten	rewrite	VERB
alkej-342	75	18	as	as	ADP
alkej-342	75	19	:	:	PUNCT
alkej-342	75	20	�	�	PROPN
alkej-342	75	21	�	�	PROPN
alkej-342	75	22	�	�	PROPN
alkej-342	75	23	�	�	PROPN
alkej-342	75	24	�	�	PROPN
alkej-342	75	25	�	�	PROPN
alkej-342	75	26	�	�	PROPN
alkej-342	75	27	�	�	PROPN
alkej-342	75	28	�	�	PROPN
alkej-342	75	29	�	�	PROPN
alkej-342	75	30	�	�	PROPN
alkej-342	75	31	�	�	PROPN
alkej-342	75	32	�	�	PROPN
alkej-342	75	33	�	�	PROPN
alkej-342	75	34	�	�	PROPN
alkej-342	75	35	…	…	SYM
alkej-342	75	36	�	�	PROPN
alkej-342	75	37	3	3	NUM
alkej-342	75	38	the	the	DET
alkej-342	75	39	sliding	slide	VERB
alkej-342	75	40	surface	surface	NOUN
alkej-342	75	41	characterized	characterize	VERB
alkej-342	75	42	as	as	ADP
alkej-342	75	43	:	:	PUNCT
alkej-342	75	44	�	�	PROPN
alkej-342	75	45	�	�	PROPN
alkej-342	75	46	�	�	PROPN
alkej-342	75	47	�	�	PROPN
alkej-342	75	48	�	�	PROPN
alkej-342	75	49	�	�	PROPN
alkej-342	75	50	�	�	PROPN
alkej-342	75	51	;	;	PUNCT
alkej-342	75	52	�	�	PROPN
alkej-342	75	53	�	�	PROPN
alkej-342	75	54	0	0	NUM
alkej-342	75	55	…	…	PUNCT
alkej-342	75	56	�	�	NOUN
alkej-342	75	57	4	4	NUM
alkej-342	75	58	where	where	SCONJ
alkej-342	75	59	,	,	PUNCT
alkej-342	75	60	λ	λ	PROPN
alkej-342	75	61	is	be	AUX
alkej-342	75	62	a	a	DET
alkej-342	75	63	constant	constant	ADJ
alkej-342	75	64	parameter	parameter	NOUN
alkej-342	75	65	with	with	ADP
alkej-342	75	66	a	a	DET
alkej-342	75	67	positive	positive	ADJ
alkej-342	75	68	value	value	NOUN
alkej-342	75	69	.	.	PUNCT
alkej-342	76	1	let	let	VERB
alkej-342	76	2	the	the	DET
alkej-342	76	3	error	error	NOUN
alkej-342	76	4	and	and	CCONJ
alkej-342	76	5	its	its	PRON
alkej-342	76	6	derivatives	derivative	NOUN
alkej-342	76	7	defined	define	VERB
alkej-342	76	8	as	as	ADP
alkej-342	76	9	:	:	PUNCT
alkej-342	76	10	�	�	PROPN
alkej-342	76	11	�	�	PROPN
alkej-342	76	12	�	�	PROPN
alkej-342	76	13	�	�	PROPN
alkej-342	76	14	�	�	PROPN
alkej-342	76	15	�	�	PROPN
alkej-342	76	16	!	!	PUNCT
alkej-342	77	1	and	and	CCONJ
alkej-342	77	2	�	�	PROPN
alkej-342	77	3	"	"	PUNCT
alkej-342	77	4	=	=	SYM
alkej-342	77	5	�	�	PROPN
alkej-342	77	6	�	�	PROPN
alkej-342	77	7	�	�	PROPN
alkej-342	77	8	�	�	PROPN
alkej-342	77	9	where	where	SCONJ
alkej-342	77	10	!	!	PUNCT
alkej-342	77	11	is	be	AUX
alkej-342	77	12	the	the	DET
alkej-342	77	13	final	final	ADJ
alkej-342	77	14	position	position	NOUN
alkej-342	77	15	that	that	PRON
alkej-342	77	16	can	can	AUX
alkej-342	77	17	be	be	AUX
alkej-342	77	18	considered	consider	VERB
alkej-342	77	19	as	as	ADP
alkej-342	77	20	the	the	DET
alkej-342	77	21	desired	desire	VERB
alkej-342	77	22	position	position	NOUN
alkej-342	77	23	.	.	PUNCT
alkej-342	78	1	then	then	ADV
alkej-342	78	2	,	,	PUNCT
alkej-342	78	3	equation	equation	NOUN
alkej-342	78	4	(	(	PUNCT
alkej-342	78	5	4	4	X
alkej-342	78	6	)	)	PUNCT
alkej-342	78	7	will	will	AUX
alkej-342	78	8	be	be	AUX
alkej-342	78	9	rewritten	rewrite	VERB
alkej-342	78	10	as	as	ADP
alkej-342	78	11	below	below	ADV
alkej-342	78	12	:	:	PUNCT
alkej-342	78	13	�	�	PROPN
alkej-342	78	14	�	�	PROPN
alkej-342	78	15	λ	λ	PROPN
alkej-342	78	16	�	�	PROPN
alkej-342	78	17	�	�	PROPN
alkej-342	78	18	�	�	PROPN
alkej-342	78	19	�	�	PROPN
alkej-342	78	20	"	"	PUNCT
alkej-342	78	21	…	…	PUNCT
alkej-342	78	22	�	�	PROPN
alkej-342	78	23	5	5	NUM
alkej-342	78	24	for	for	ADP
alkej-342	78	25	�	�	PROPN
alkej-342	78	26	�	�	PROPN
alkej-342	78	27	1	1	NUM
alkej-342	78	28	,	,	PUNCT
alkej-342	78	29	equation	equation	NOUN
alkej-342	78	30	(	(	PUNCT
alkej-342	78	31	5	5	NUM
alkej-342	78	32	)	)	PUNCT
alkej-342	78	33	will	will	AUX
alkej-342	78	34	be	be	AUX
alkej-342	78	35	as	as	ADP
alkej-342	78	36	:	:	PUNCT
alkej-342	78	37	�	�	PROPN
alkej-342	78	38	�	�	PROPN
alkej-342	78	39	�	�	PROPN
alkej-342	78	40	�	�	PROPN
alkej-342	78	41	�	�	PROPN
alkej-342	78	42	�	�	PROPN
alkej-342	78	43	"	"	PUNCT
alkej-342	78	44	the	the	DET
alkej-342	78	45	derivative	derivative	NOUN
alkej-342	78	46	of	of	ADP
alkej-342	78	47	the	the	DET
alkej-342	78	48	sliding	slide	VERB
alkej-342	78	49	variable	variable	ADJ
alkej-342	78	50	�	�	PROPN
alkej-342	78	51	�	�	PROPN
alkej-342	78	52	=	=	SYM
alkej-342	78	53	�	�	PROPN
alkej-342	78	54	�	�	PROPN
alkej-342	78	55	�	�	PROPN
alkej-342	78	56	+	+	SYM
alkej-342	78	57	�	�	PROPN
alkej-342	78	58	�	�	PROPN
alkej-342	78	59	"	"	PUNCT
alkej-342	78	60	…	…	PUNCT
alkej-342	78	61	�	�	PROPN
alkej-342	78	62	6	6	NUM
alkej-342	79	1	ahmed	ahmed	PROPN
alkej-342	79	2	khalaf	khalaf	PROPN
alkej-342	79	3	hamoudi	hamoudi	PROPN
alkej-342	80	1	al	al	PROPN
alkej-342	80	2	-	-	PUNCT
alkej-342	80	3	khwarizmi	khwarizmi	PROPN
alkej-342	80	4	engineering	engineering	NOUN
alkej-342	80	5	journal	journal	PROPN
alkej-342	80	6	,	,	PUNCT
alkej-342	80	7	vol	vol	NOUN
alkej-342	80	8	.	.	PROPN
alkej-342	80	9	13	13	NUM
alkej-342	80	10	,	,	PUNCT
alkej-342	80	11	no	no	INTJ
alkej-342	80	12	.	.	NOUN
alkej-342	80	13	1	1	NUM
alkej-342	80	14	,	,	PUNCT
alkej-342	80	15	p.p	p.p	PROPN
alkej-342	80	16	.	.	NOUN
alkej-342	80	17	138147(2017	138147(2017	NUM
alkej-342	80	18	)	)	PUNCT
alkej-342	80	19	140	140	NUM
alkej-342	80	20	the	the	DET
alkej-342	80	21	main	main	ADJ
alkej-342	80	22	goal	goal	NOUN
alkej-342	80	23	is	be	AUX
alkej-342	80	24	to	to	PART
alkej-342	80	25	keep	keep	VERB
alkej-342	80	26	the	the	DET
alkej-342	80	27	�	�	PROPN
alkej-342	80	28	�	�	PROPN
alkej-342	80	29	�	�	PROPN
alkej-342	80	30	,	,	PUNCT
alkej-342	80	31	'	'	PUNCT
alkej-342	80	32	close	close	ADV
alkej-342	80	33	to	to	ADP
alkej-342	80	34	switching	switch	VERB
alkej-342	80	35	surface	surface	NOUN
alkej-342	80	36	in	in	ADP
alkej-342	80	37	phase	phase	NOUN
alkej-342	80	38	plane	plane	NOUN
alkej-342	80	39	.	.	PUNCT
alkej-342	81	1	the	the	DET
alkej-342	81	2	general	general	ADJ
alkej-342	81	3	form	form	NOUN
alkej-342	81	4	of	of	ADP
alkej-342	81	5	motion	motion	NOUN
alkej-342	81	6	equation	equation	NOUN
alkej-342	81	7	for	for	ADP
alkej-342	81	8	any	any	DET
alkej-342	81	9	nonlinear	nonlinear	ADJ
alkej-342	81	10	system	system	NOUN
alkej-342	81	11	:	:	PUNCT
alkej-342	81	12	�	�	X
alkej-342	81	13	�	�	PROPN
alkej-342	81	14	=	=	SYM
alkej-342	81	15	(	(	PUNCT
alkej-342	81	16	�	�	PROPN
alkej-342	81	17	�	�	PROPN
alkej-342	81	18	�	�	PROPN
alkej-342	81	19	)	)	PUNCT
alkej-342	81	20	�	�	PROPN
alkej-342	81	21	x	x	SYM
alkej-342	81	22	�	�	PROPN
alkej-342	81	23	�	�	PROPN
alkej-342	81	24	+	+	PROPN
alkej-342	81	25	�	�	PROPN
alkej-342	81	26	x	x	PROPN
alkej-342	81	27	,	,	PUNCT
alkej-342	81	28	t	t	PROPN
alkej-342	81	29	…	…	PUNCT
alkej-342	81	30	�	�	PROPN
alkej-342	81	31	7	7	NUM
alkej-342	81	32	to	to	PART
alkej-342	81	33	satisfy	satisfy	VERB
alkej-342	81	34	the	the	DET
alkej-342	81	35	condition	condition	NOUN
alkej-342	81	36	�	�	PROPN
alkej-342	81	37	�	�	PROPN
alkej-342	81	38	�	�	PROPN
alkej-342	81	39	0	0	NUM
alkej-342	81	40	that	that	SCONJ
alkej-342	81	41	the	the	DET
alkej-342	81	42	right	right	ADJ
alkej-342	81	43	side	side	NOUN
alkej-342	81	44	of	of	ADP
alkej-342	81	45	equation	equation	NOUN
alkej-342	81	46	(	(	PUNCT
alkej-342	81	47	6	6	NUM
alkej-342	81	48	)	)	PUNCT
alkej-342	81	49	equal	equal	ADJ
alkej-342	81	50	zero	zero	NUM
alkej-342	81	51	by	by	ADP
alkej-342	81	52	selecting	select	VERB
alkej-342	81	53	the	the	DET
alkej-342	81	54	discontinuous	discontinuous	ADJ
alkej-342	81	55	gain	gain	NOUN
alkej-342	81	56	�	�	PROPN
alkej-342	81	57	�	�	PROPN
alkej-342	81	58	�	�	PROPN
alkej-342	81	59	as	as	SCONJ
alkej-342	81	60	follows	follow	VERB
alkej-342	81	61	[	[	X
alkej-342	81	62	6	6	NUM
alkej-342	81	63	]	]	PUNCT
alkej-342	81	64	:	:	PUNCT
alkej-342	81	65	0	0	NUM
alkej-342	81	66	,	,	PUNCT
alkej-342	81	67	)	)	PUNCT
alkej-342	81	68	(	(	PUNCT
alkej-342	81	69	)	)	PUNCT
alkej-342	81	70	,	,	PUNCT
alkej-342	81	71	(	(	PUNCT
alkej-342	81	72	)	)	PUNCT
alkej-342	81	73	(	(	PUNCT
alkej-342	81	74	>	>	X
alkej-342	81	75			NOUN
alkej-342	81	76			NOUN
alkej-342	81	77			NOUN
alkej-342	81	78			NOUN
alkej-342	81	79			PUNCT
alkej-342	82	1			PROPN
alkej-342	82	2			PROPN
alkej-342	82	3			NOUN
alkej-342	82	4			NOUN
alkej-342	82	5			NOUN
alkej-342	82	6			PROPN
alkej-342	82	7			PROPN
alkej-342	82	8	∂	∂	NUM
alkej-342	82	9	∂	∂	NUM
alkej-342	82	10	∂	∂	NUM
alkej-342	82	11	∂	∂	NOUN
alkej-342	82	12	+	+	ADP
alkej-342	82	13	=	=	X
alkej-342	82	14	ko	ko	PROPN
alkej-342	82	15	xb	xb	PROPN
alkej-342	82	16	txd	txd	NOUN
alkej-342	82	17	x	x	PROPN
alkej-342	83	1	so	so	ADV
alkej-342	83	2	x	x	VERB
alkej-342	83	3	so	so	ADV
alkej-342	83	4	koxk	koxk	VERB
alkej-342	83	5	n	n	PROPN
alkej-342	83	6	…	…	PUNCT
alkej-342	83	7	(	(	PUNCT
alkej-342	83	8	8)	8)	NUM
alkej-342	83	9	in	in	ADP
alkej-342	83	10	above	above	ADP
alkej-342	83	11	control	control	NOUN
alkej-342	83	12	equation	equation	NOUN
alkej-342	83	13	(	(	PUNCT
alkej-342	83	14	3	3	NUM
alkej-342	83	15	)	)	PUNCT
alkej-342	83	16	,	,	PUNCT
alkej-342	83	17	the	the	DET
alkej-342	83	18	�	�	PROPN
alkej-342	83	19	�	�	PROPN
alkej-342	83	20	�	�	PROPN
alkej-342	83	21	�	�	PROPN
alkej-342	83	22	�	�	PROPN
alkej-342	83	23	�	�	PROPN
alkej-342	83	24	function	function	NOUN
alkej-342	83	25	caused	cause	VERB
alkej-342	83	26	a	a	DET
alkej-342	83	27	chattering	chatter	VERB
alkej-342	83	28	phenomenon	phenomenon	NOUN
alkej-342	83	29	.	.	PUNCT
alkej-342	84	1	this	this	DET
alkej-342	84	2	chattering	chatter	VERB
alkej-342	84	3	phenomenon	phenomenon	NOUN
alkej-342	84	4	is	be	AUX
alkej-342	84	5	undesirable	undesirable	ADJ
alkej-342	84	6	property	property	NOUN
alkej-342	84	7	appearing	appear	VERB
alkej-342	84	8	along	along	ADP
alkej-342	84	9	the	the	DET
alkej-342	84	10	sliding	slide	VERB
alkej-342	84	11	surface	surface	NOUN
alkej-342	84	12	,	,	PUNCT
alkej-342	84	13	the	the	DET
alkej-342	84	14	major	major	ADJ
alkej-342	84	15	reason	reason	NOUN
alkej-342	84	16	that	that	PRON
alkej-342	84	17	caused	cause	VERB
alkej-342	84	18	this	this	DET
alkej-342	84	19	phenomenon	phenomenon	NOUN
alkej-342	84	20	is	be	AUX
alkej-342	84	21	the	the	DET
alkej-342	84	22	''	''	PUNCT
alkej-342	84	23	�	�	PROPN
alkej-342	84	24	�	�	PROPN
alkej-342	84	25	�	�	PROPN
alkej-342	84	26	�	�	PROPN
alkej-342	84	27	function	function	NOUN
alkej-342	84	28	''	''	PUNCT
alkej-342	84	29	that	that	PRON
alkej-342	84	30	is	be	AUX
alkej-342	84	31	present	present	ADJ
alkej-342	84	32	in	in	ADP
alkej-342	84	33	control	control	NOUN
alkej-342	84	34	equation	equation	NOUN
alkej-342	84	35	(	(	PUNCT
alkej-342	84	36	3	3	NUM
alkej-342	84	37	)	)	PUNCT
alkej-342	84	38	.	.	PUNCT
alkej-342	85	1	the	the	DET
alkej-342	85	2	classical	classical	ADJ
alkej-342	85	3	smc	smc	PROPN
alkej-342	85	4	is	be	AUX
alkej-342	85	5	suffering	suffer	VERB
alkej-342	85	6	from	from	ADP
alkej-342	85	7	the	the	DET
alkej-342	85	8	chattering	chattering	NOUN
alkej-342	85	9	which	which	PRON
alkej-342	85	10	is	be	AUX
alkej-342	85	11	considered	consider	VERB
alkej-342	85	12	as	as	ADP
alkej-342	85	13	a	a	DET
alkej-342	85	14	severe	severe	ADJ
alkej-342	85	15	problem	problem	NOUN
alkej-342	85	16	in	in	ADP
alkej-342	85	17	smc	smc	PROPN
alkej-342	85	18	.	.	PUNCT
alkej-342	86	1	the	the	DET
alkej-342	86	2	boundary	boundary	ADJ
alkej-342	86	3	layer	layer	NOUN
alkej-342	86	4	function	function	NOUN
alkej-342	86	5	can	can	AUX
alkej-342	86	6	be	be	AUX
alkej-342	86	7	using	use	VERB
alkej-342	86	8	to	to	PART
alkej-342	86	9	reduce	reduce	VERB
alkej-342	86	10	the	the	DET
alkej-342	86	11	chattering	chattering	NOUN
alkej-342	86	12	.	.	PUNCT
alkej-342	87	1	the	the	DET
alkej-342	87	2	�	�	PROPN
alkej-342	87	3	.	.	PUNCT
alkej-342	87	4	'	'	PUNCT
alkej-342	87	5	�	�	PROPN
alkej-342	87	6	�	�	PROPN
alkej-342	87	7	function	function	NOUN
alkej-342	87	8	is	be	AUX
alkej-342	87	9	used	use	VERB
alkej-342	87	10	instead	instead	ADV
alkej-342	87	11	of	of	ADP
alkej-342	87	12	�	�	PROPN
alkej-342	87	13	�	�	PROPN
alkej-342	87	14	�	�	PROPN
alkej-342	87	15	�	�	PROPN
alkej-342	87	16	�	�	PROPN
alkej-342	87	17	�	�	PROPN
alkej-342	87	18	function	function	NOUN
alkej-342	87	19	in	in	ADP
alkej-342	87	20	control	control	NOUN
alkej-342	87	21	law	law	NOUN
alkej-342	87	22	.	.	PUNCT
alkej-342	88	1	the	the	DET
alkej-342	88	2	�	�	PROPN
alkej-342	88	3	.	.	PUNCT
alkej-342	88	4	'	'	PUNCT
alkej-342	88	5	�	�	PROPN
alkej-342	88	6	�	�	PROPN
alkej-342	88	7	function	function	NOUN
alkej-342	88	8	that	that	PRON
alkej-342	88	9	shown	show	VERB
alkej-342	88	10	in	in	ADP
alkej-342	88	11	figure	figure	NOUN
alkej-342	88	12	(	(	PUNCT
alkej-342	88	13	4	4	NUM
alkej-342	88	14	)	)	PUNCT
alkej-342	88	15	can	can	AUX
alkej-342	88	16	be	be	AUX
alkej-342	88	17	described	describe	VERB
alkej-342	88	18	as	as	ADP
alkej-342	88	19	below	below	ADP
alkej-342	88	20	[	[	X
alkej-342	88	21	6	6	NUM
alkej-342	88	22	]	]	PUNCT
alkej-342	88	23	:	:	PUNCT
alkej-342	88	24			PROPN
alkej-342	88	25			ADJ
alkej-342	88	26			ADV
alkej-342	88	27			X
alkej-342	88	28			NOUN
alkej-342	88	29	<	<	X
alkej-342	88	30	−	−	NOUN
alkej-342	88	31	<	<	X
alkej-342	88	32	<	<	X
alkej-342	88	33	−	−	X
alkej-342	88	34	>	>	PUNCT
alkej-342	88	35	+	+	PUNCT
alkej-342	88	36	=	=	SYM
alkej-342	88	37	)	)	PUNCT
alkej-342	88	38	0/(1	0/(1	NUM
alkej-342	88	39	)	)	PUNCT
alkej-342	89	1	1/1(/	1/1(/	NUM
alkej-342	89	2	)	)	PUNCT
alkej-342	89	3	0/(1	0/(1	NUM
alkej-342	89	4	)	)	PUNCT
alkej-342	89	5	/.	/.	PUNCT
alkej-342	90	1	(	(	PUNCT
alkej-342	90	2	ϕ	ϕ	X
alkej-342	90	3	ϕϕ	ϕϕ	PROPN
alkej-342	90	4	ϕ	ϕ	PROPN
alkej-342	90	5	ϕ	ϕ	PROPN
alkej-342	90	6	s	s	X
alkej-342	90	7	ss	ss	NOUN
alkej-342	90	8	s	s	VERB
alkej-342	90	9	ssat	ssat	ADJ
alkej-342	90	10	…	…	PUNCT
alkej-342	90	11	(	(	PUNCT
alkej-342	90	12	9	9	X
alkej-342	90	13	)	)	PUNCT
alkej-342	90	14	fig	fig	NOUN
alkej-342	90	15	.	.	PUNCT
alkej-342	91	1	4	4	X
alkej-342	91	2	.	.	X
alkej-342	91	3	the	the	DET
alkej-342	91	4	/01	/01	PROPN
alkej-342	91	5	�	�	PROPN
alkej-342	91	6	/	/	SYM
alkej-342	91	7	function	function	NOUN
alkej-342	91	8	[	[	X
alkej-342	91	9	2	2	NUM
alkej-342	91	10	]	]	PUNCT
alkej-342	91	11	.	.	PUNCT
alkej-342	92	1	the	the	DET
alkej-342	92	2	�	�	PROPN
alkej-342	92	3	�	�	PROPN
alkej-342	92	4	�	�	PROPN
alkej-342	92	5	�	�	PROPN
alkej-342	92	6	�	�	PROPN
alkej-342	92	7	�	�	PROPN
alkej-342	92	8	function	function	NOUN
alkej-342	92	9	in	in	ADP
alkej-342	92	10	equation	equation	NOUN
alkej-342	92	11	(	(	PUNCT
alkej-342	92	12	3	3	X
alkej-342	92	13	)	)	PUNCT
alkej-342	92	14	is	be	AUX
alkej-342	92	15	replaced	replace	VERB
alkej-342	92	16	by	by	ADP
alkej-342	92	17	�	�	PROPN
alkej-342	92	18	.	.	PUNCT
alkej-342	92	19	'	'	PUNCT
alkej-342	92	20	�	�	PROPN
alkej-342	92	21	�	�	PROPN
alkej-342	92	22	function	function	NOUN
alkej-342	92	23	and	and	CCONJ
alkej-342	92	24	the	the	DET
alkej-342	92	25	control	control	NOUN
alkej-342	92	26	law	law	NOUN
alkej-342	92	27	can	can	AUX
alkej-342	92	28	be	be	AUX
alkej-342	92	29	written	write	VERB
alkej-342	92	30	as	as	ADP
alkej-342	92	31	below	below	ADV
alkej-342	92	32	:	:	PUNCT
alkej-342	92	33	�	�	PROPN
alkej-342	92	34	�	�	PROPN
alkej-342	92	35	�	�	PROPN
alkej-342	92	36	�	�	PROPN
alkej-342	92	37	�	�	PROPN
alkej-342	92	38	�	�	PROPN
alkej-342	92	39	�	�	PROPN
alkej-342	92	40	�	�	PROPN
alkej-342	92	41	�	�	PROPN
alkej-342	92	42	�	�	PROPN
alkej-342	92	43	.	.	PUNCT
alkej-342	92	44	'	'	PUNCT
alkej-342	93	1	…	…	PUNCT
alkej-342	93	2	�	�	PROPN
alkej-342	93	3	10	10	NUM
alkej-342	93	4	3	3	NUM
alkej-342	93	5	.	.	PUNCT
alkej-342	93	6	integral	integral	ADJ
alkej-342	93	7	sliding	slide	VERB
alkej-342	93	8	mode	mode	NOUN
alkej-342	93	9	controller	controller	NOUN
alkej-342	93	10	(	(	PUNCT
alkej-342	93	11	ismc	ismc	NOUN
alkej-342	93	12	)	)	PUNCT
alkej-342	93	13	integral	integral	ADJ
alkej-342	93	14	sliding	slide	VERB
alkej-342	93	15	mode	mode	NOUN
alkej-342	93	16	control	control	NOUN
alkej-342	93	17	(	(	PUNCT
alkej-342	93	18	ismc	ismc	NOUN
alkej-342	93	19	)	)	PUNCT
alkej-342	93	20	is	be	AUX
alkej-342	93	21	a	a	DET
alkej-342	93	22	nonlinear	nonlinear	ADJ
alkej-342	93	23	robust	robust	ADJ
alkej-342	93	24	controller	controller	NOUN
alkej-342	93	25	,	,	PUNCT
alkej-342	93	26	designed	design	VERB
alkej-342	93	27	for	for	ADP
alkej-342	93	28	controlling	control	VERB
alkej-342	93	29	nonlinear	nonlinear	ADJ
alkej-342	93	30	systems	system	NOUN
alkej-342	93	31	[	[	X
alkej-342	93	32	1	1	NUM
alkej-342	93	33	]	]	PUNCT
alkej-342	93	34	.	.	PUNCT
alkej-342	94	1	the	the	DET
alkej-342	94	2	goal	goal	NOUN
alkej-342	94	3	of	of	ADP
alkej-342	94	4	the	the	DET
alkej-342	94	5	proposed	propose	VERB
alkej-342	94	6	ismc	ismc	NOUN
alkej-342	94	7	is	be	AUX
alkej-342	94	8	to	to	PART
alkej-342	94	9	eliminate	eliminate	VERB
alkej-342	94	10	the	the	DET
alkej-342	94	11	reaching	reach	VERB
alkej-342	94	12	phase	phase	NOUN
alkej-342	94	13	by	by	ADP
alkej-342	94	14	enforcing	enforce	VERB
alkej-342	94	15	the	the	DET
alkej-342	94	16	state	state	NOUN
alkej-342	94	17	trajectory	trajectory	NOUN
alkej-342	94	18	,	,	PUNCT
alkej-342	94	19	which	which	PRON
alkej-342	94	20	starts	start	VERB
alkej-342	94	21	from	from	ADP
alkej-342	94	22	any	any	DET
alkej-342	94	23	initial	initial	ADJ
alkej-342	94	24	state	state	NOUN
alkej-342	94	25	,	,	PUNCT
alkej-342	94	26	to	to	PART
alkej-342	94	27	be	be	AUX
alkej-342	94	28	in	in	ADP
alkej-342	94	29	sliding	slide	VERB
alkej-342	94	30	phase	phase	NOUN
alkej-342	94	31	throughout	throughout	ADP
alkej-342	94	32	the	the	DET
alkej-342	94	33	entire	entire	ADJ
alkej-342	94	34	plant	plant	NOUN
alkej-342	94	35	trajectory	trajectory	NOUN
alkej-342	94	36	and	and	CCONJ
alkej-342	94	37	to	to	PART
alkej-342	94	38	slide	slide	VERB
alkej-342	94	39	along	along	ADP
alkej-342	94	40	the	the	DET
alkej-342	94	41	switching	switch	VERB
alkej-342	94	42	surface	surface	NOUN
alkej-342	94	43	until	until	ADP
alkej-342	94	44	reaching	reach	VERB
alkej-342	94	45	the	the	DET
alkej-342	94	46	origin	origin	NOUN
alkej-342	94	47	.	.	PUNCT
alkej-342	95	1	the	the	DET
alkej-342	95	2	difference	difference	NOUN
alkej-342	95	3	between	between	ADP
alkej-342	95	4	the	the	DET
alkej-342	95	5	ismc	ismc	NOUN
alkej-342	95	6	approach	approach	NOUN
alkej-342	95	7	and	and	CCONJ
alkej-342	95	8	the	the	DET
alkej-342	95	9	classical	classical	ADJ
alkej-342	95	10	sliding	slide	VERB
alkej-342	95	11	mode	mode	NOUN
alkej-342	95	12	is	be	AUX
alkej-342	95	13	that	that	SCONJ
alkej-342	95	14	the	the	DET
alkej-342	95	15	order	order	NOUN
alkej-342	95	16	of	of	ADP
alkej-342	95	17	motion	motion	NOUN
alkej-342	95	18	equation	equation	NOUN
alkej-342	95	19	in	in	ADP
alkej-342	95	20	the	the	DET
alkej-342	95	21	ismc	ismc	NOUN
alkej-342	95	22	is	be	AUX
alkej-342	95	23	the	the	DET
alkej-342	95	24	same	same	ADJ
alkej-342	95	25	as	as	ADP
alkej-342	95	26	the	the	DET
alkej-342	95	27	order	order	NOUN
alkej-342	95	28	of	of	ADP
alkej-342	95	29	the	the	DET
alkej-342	95	30	original	original	ADJ
alkej-342	95	31	system	system	NOUN
alkej-342	95	32	,	,	PUNCT
alkej-342	95	33	while	while	SCONJ
alkej-342	95	34	in	in	ADP
alkej-342	95	35	the	the	DET
alkej-342	95	36	classical	classical	ADJ
alkej-342	95	37	sliding	slide	VERB
alkej-342	95	38	mode	mode	NOUN
alkej-342	95	39	;	;	PUNCT
alkej-342	95	40	the	the	DET
alkej-342	95	41	order	order	NOUN
alkej-342	95	42	is	be	AUX
alkej-342	95	43	less	less	ADJ
alkej-342	95	44	by	by	ADP
alkej-342	95	45	one	one	NUM
alkej-342	95	46	from	from	ADP
alkej-342	95	47	the	the	DET
alkej-342	95	48	original	original	ADJ
alkej-342	95	49	system	system	NOUN
alkej-342	95	50	[	[	X
alkej-342	95	51	9	9	NUM
alkej-342	95	52	]	]	PUNCT
alkej-342	95	53	.	.	PUNCT
alkej-342	96	1	the	the	DET
alkej-342	96	2	robustness	robustness	NOUN
alkej-342	96	3	of	of	ADP
alkej-342	96	4	the	the	DET
alkej-342	96	5	system	system	NOUN
alkej-342	96	6	in	in	ADP
alkej-342	96	7	the	the	DET
alkej-342	96	8	ismc	ismc	NOUN
alkej-342	96	9	is	be	AUX
alkej-342	96	10	guaranteed	guarantee	VERB
alkej-342	96	11	because	because	SCONJ
alkej-342	96	12	in	in	ADP
alkej-342	96	13	final	final	ADJ
alkej-342	96	14	trajectory	trajectory	NOUN
alkej-342	96	15	the	the	DET
alkej-342	96	16	error	error	NOUN
alkej-342	96	17	and	and	CCONJ
alkej-342	96	18	its	its	PRON
alkej-342	96	19	derivatives	derivative	NOUN
alkej-342	96	20	reach	reach	VERB
alkej-342	96	21	zero	zero	NUM
alkej-342	96	22	value	value	NOUN
alkej-342	96	23	.	.	PUNCT
alkej-342	97	1	also	also	ADV
alkej-342	97	2	in	in	ADP
alkej-342	97	3	ismc	ismc	NOUN
alkej-342	97	4	the	the	DET
alkej-342	97	5	system	system	NOUN
alkej-342	97	6	is	be	AUX
alkej-342	97	7	insensitive	insensitive	ADJ
alkej-342	97	8	to	to	ADP
alkej-342	97	9	variations	variation	NOUN
alkej-342	97	10	of	of	ADP
alkej-342	97	11	system	system	NOUN
alkej-342	97	12	parameter	parameter	NOUN
alkej-342	97	13	and	and	CCONJ
alkej-342	97	14	external	external	ADJ
alkej-342	97	15	disturbance	disturbance	NOUN
alkej-342	97	16	.	.	PUNCT
alkej-342	98	1	the	the	DET
alkej-342	98	2	main	main	ADJ
alkej-342	98	3	problem	problem	NOUN
alkej-342	98	4	in	in	ADP
alkej-342	98	5	this	this	DET
alkej-342	98	6	controller	controller	NOUN
alkej-342	98	7	,	,	PUNCT
alkej-342	98	8	as	as	ADV
alkej-342	98	9	well	well	ADV
alkej-342	98	10	as	as	ADP
alkej-342	98	11	in	in	ADP
alkej-342	98	12	classical	classical	ADJ
alkej-342	98	13	smc	smc	NOUN
alkej-342	98	14	,	,	PUNCT
alkej-342	98	15	is	be	AUX
alkej-342	98	16	the	the	DET
alkej-342	98	17	chattering	chatter	VERB
alkej-342	98	18	phenomenon	phenomenon	NOUN
alkej-342	98	19	in	in	ADP
alkej-342	98	20	the	the	DET
alkej-342	98	21	control	control	NOUN
alkej-342	98	22	action	action	NOUN
alkej-342	98	23	;	;	PUNCT
alkej-342	98	24	and	and	CCONJ
alkej-342	98	25	to	to	PART
alkej-342	98	26	reduce	reduce	VERB
alkej-342	98	27	this	this	DET
alkej-342	98	28	chattering	chattering	NOUN
alkej-342	98	29	may	may	AUX
alkej-342	98	30	use	use	VERB
alkej-342	98	31	some	some	DET
alkej-342	98	32	functions	function	NOUN
alkej-342	98	33	such	such	ADJ
alkej-342	98	34	as	as	ADP
alkej-342	98	35	saturation	saturation	NOUN
alkej-342	98	36	,	,	PUNCT
alkej-342	98	37	dead	dead	ADJ
alkej-342	98	38	zone	zone	NOUN
alkej-342	98	39	and	and	CCONJ
alkej-342	98	40	inverse	inverse	NOUN
alkej-342	98	41	of	of	ADP
alkej-342	98	42	tan	tan	PROPN
alkej-342	98	43	instead	instead	ADV
alkej-342	98	44	of	of	ADP
alkej-342	98	45	sign	sign	NOUN
alkej-342	98	46	function	function	NOUN
alkej-342	98	47	which	which	PRON
alkej-342	98	48	is	be	AUX
alkej-342	98	49	usually	usually	ADV
alkej-342	98	50	used	use	VERB
alkej-342	98	51	in	in	ADP
alkej-342	98	52	classical	classical	ADJ
alkej-342	98	53	sliding	slide	VERB
alkej-342	98	54	mode	mode	NOUN
alkej-342	98	55	.	.	PUNCT
alkej-342	99	1	the	the	DET
alkej-342	99	2	complete	complete	ADJ
alkej-342	99	3	system	system	NOUN
alkej-342	99	4	with	with	ADP
alkej-342	99	5	the	the	DET
alkej-342	99	6	ismc	ismc	NOUN
alkej-342	99	7	is	be	AUX
alkej-342	99	8	shown	show	VERB
alkej-342	99	9	in	in	ADP
alkej-342	99	10	the	the	DET
alkej-342	99	11	following	follow	VERB
alkej-342	99	12	figure	figure	NOUN
alkej-342	99	13	:	:	PUNCT
alkej-342	99	14	fig	fig	NOUN
alkej-342	99	15	.	.	PUNCT
alkej-342	100	1	5	5	X
alkej-342	100	2	.	.	X
alkej-342	100	3	the	the	DET
alkej-342	100	4	closed	closed	ADJ
alkej-342	100	5	loop	loop	NOUN
alkej-342	100	6	control	control	NOUN
alkej-342	100	7	system	system	NOUN
alkej-342	100	8	using	use	VERB
alkej-342	100	9	ismc	ismc	NOUN
alkej-342	100	10	.	.	PUNCT
alkej-342	101	1	the	the	DET
alkej-342	101	2	procedure	procedure	NOUN
alkej-342	101	3	of	of	ADP
alkej-342	101	4	designing	design	VERB
alkej-342	101	5	the	the	DET
alkej-342	101	6	ismc	ismc	NOUN
alkej-342	101	7	with	with	ADP
alkej-342	101	8	any	any	DET
alkej-342	101	9	nonlinear	nonlinear	ADJ
alkej-342	101	10	system	system	NOUN
alkej-342	101	11	can	can	AUX
alkej-342	101	12	be	be	AUX
alkej-342	101	13	described	describe	VERB
alkej-342	101	14	as	as	ADP
alkej-342	101	15	below	below	ADV
alkej-342	101	16	:	:	PUNCT
alkej-342	101	17	�	�	PROPN
alkej-342	101	18	�	�	PROPN
alkej-342	101	19	�	�	PROPN
alkej-342	101	20	�	�	PROPN
alkej-342	101	21	�	�	PROPN
alkej-342	101	22	2	2	NUM
alkej-342	101	23	�	�	PROPN
alkej-342	101	24	3	3	NUM
alkej-342	101	25	;	;	PUNCT
alkej-342	101	26	3	3	NUM
alkej-342	101	27	�	�	PROPN
alkej-342	101	28	0	0	NUM
alkej-342	101	29	�	�	PROPN
alkej-342	101	30	�	�	PROPN
alkej-342	101	31	�	�	PROPN
alkej-342	101	32	2	2	NUM
alkej-342	101	33	�	�	PROPN
alkej-342	101	34	0	0	NUM
alkej-342	101	35	…	…	PUNCT
alkej-342	101	36	�	�	PROPN
alkej-342	101	37	11	11	NUM
alkej-342	101	38	the	the	DET
alkej-342	101	39	�	�	PROPN
alkej-342	101	40	�	�	PROPN
alkej-342	101	41	�	�	PROPN
alkej-342	101	42	is	be	AUX
alkej-342	101	43	sliding	slide	VERB
alkej-342	101	44	surface	surface	NOUN
alkej-342	101	45	,	,	PUNCT
alkej-342	101	46	3	3	NUM
alkej-342	101	47	is	be	AUX
alkej-342	101	48	the	the	DET
alkej-342	101	49	integral	integral	ADJ
alkej-342	101	50	term	term	NOUN
alkej-342	101	51	and	and	CCONJ
alkej-342	101	52	�	�	NOUN
alkej-342	101	53	2	2	NUM
alkej-342	101	54	defined	define	VERB
alkej-342	101	55	as	as	ADP
alkej-342	101	56	in	in	ADP
alkej-342	101	57	classical	classical	ADJ
alkej-342	101	58	sliding	slide	VERB
alkej-342	101	59	mode	mode	NOUN
alkej-342	101	60	control	control	NOUN
alkej-342	101	61	as	as	SCONJ
alkej-342	101	62	described	describe	VERB
alkej-342	101	63	in	in	ADP
alkej-342	101	64	equation	equation	NOUN
alkej-342	101	65	(	(	PUNCT
alkej-342	101	66	5	5	NUM
alkej-342	101	67	)	)	PUNCT
alkej-342	101	68	.	.	PUNCT
alkej-342	102	1	the	the	DET
alkej-342	102	2	integral	integral	ADJ
alkej-342	102	3	term	term	NOUN
alkej-342	102	4	3	3	NUM
alkej-342	102	5	�	�	NOUN
alkej-342	102	6	0	0	NUM
alkej-342	102	7	is	be	AUX
alkej-342	102	8	determined	determine	VERB
alkej-342	102	9	based	base	VERB
alkej-342	102	10	on	on	ADP
alkej-342	102	11	the	the	DET
alkej-342	102	12	initial	initial	ADJ
alkej-342	102	13	condition	condition	NOUN
alkej-342	102	14	�	�	PROPN
alkej-342	102	15	2	2	NUM
alkej-342	102	16	�	�	PROPN
alkej-342	102	17	0	0	NUM
alkej-342	102	18	.	.	PUNCT
alkej-342	103	1	the	the	DET
alkej-342	103	2	integral	integral	ADJ
alkej-342	103	3	term	term	NOUN
alkej-342	103	4	z	z	NOUN
alkej-342	103	5	will	will	AUX
alkej-342	103	6	be	be	AUX
alkej-342	103	7	selected	select	VERB
alkej-342	103	8	in	in	ADP
alkej-342	103	9	order	order	NOUN
alkej-342	103	10	that	that	SCONJ
alkej-342	103	11	the	the	DET
alkej-342	103	12	sliding	slide	VERB
alkej-342	103	13	variable	variable	ADJ
alkej-342	103	14	�	�	PROPN
alkej-342	103	15	�	�	PROPN
alkej-342	103	16	�	�	PROPN
alkej-342	103	17	has	have	AUX
alkej-342	103	18	a	a	DET
alkej-342	103	19	zero	zero	NUM
alkej-342	103	20	value	value	NOUN
alkej-342	103	21	and	and	CCONJ
alkej-342	103	22	this	this	PRON
alkej-342	103	23	make	make	VERB
alkej-342	103	24	the	the	DET
alkej-342	103	25	system	system	NOUN
alkej-342	103	26	dynamic	dynamic	ADJ
alkej-342	103	27	in	in	ADP
alkej-342	103	28	the	the	DET
alkej-342	103	29	sliding	slide	VERB
alkej-342	103	30	mode	mode	NOUN
alkej-342	103	31	from	from	ADP
alkej-342	103	32	the	the	DET
alkej-342	103	33	initial	initial	ADJ
alkej-342	103	34	instant	instant	NOUN
alkej-342	103	35	of	of	ADP
alkej-342	103	36	time	time	NOUN
alkej-342	103	37	.	.	PUNCT
alkej-342	104	1	the	the	DET
alkej-342	104	2	derivative	derivative	NOUN
alkej-342	104	3	of	of	ADP
alkej-342	104	4	the	the	DET
alkej-342	104	5	sliding	slide	VERB
alkej-342	104	6	variable	variable	ADJ
alkej-342	104	7	�	�	PROPN
alkej-342	104	8	�	�	PROPN
alkej-342	104	9	�	�	PROPN
alkej-342	104	10	is	be	AUX
alkej-342	104	11	given	give	VERB
alkej-342	104	12	as	as	ADP
alkej-342	104	13	:	:	PUNCT
alkej-342	104	14	�	�	PROPN
alkej-342	104	15	�	�	PROPN
alkej-342	104	16	�	�	PROPN
alkej-342	104	17	4	4	NUM
alkej-342	104	18	5	5	NUM
alkej-342	104	19	46	46	NUM
alkej-342	104	20	�	�	PROPN
alkej-342	104	21	�	�	PROPN
alkej-342	104	22	�	�	PROPN
alkej-342	104	23	3	3	NUM
alkej-342	104	24	�	�	PROPN
alkej-342	104	25	…	…	SYM
alkej-342	104	26	�	�	PROPN
alkej-342	104	27	12	12	NUM
alkej-342	104	28	the	the	DET
alkej-342	104	29	second	second	ADJ
alkej-342	104	30	step	step	NOUN
alkej-342	104	31	is	be	AUX
alkej-342	104	32	to	to	PART
alkej-342	104	33	describe	describe	VERB
alkej-342	104	34	the	the	DET
alkej-342	104	35	control	control	NOUN
alkej-342	104	36	law	law	NOUN
alkej-342	104	37	of	of	ADP
alkej-342	104	38	the	the	DET
alkej-342	104	39	ismc	ismc	NOUN
alkej-342	104	40	as	as	SCONJ
alkej-342	104	41	:	:	PUNCT
alkej-342	104	42	�	�	PROPN
alkej-342	104	43	�	�	PROPN
alkej-342	104	44	�	�	PROPN
alkej-342	104	45	7	7	NUM
alkej-342	104	46	�	�	PROPN
alkej-342	104	47	�	�	PROPN
alkej-342	104	48	�	�	PROPN
alkej-342	104	49	�	�	PROPN
alkej-342	104	50	…	…	SYM
alkej-342	104	51	�	�	PROPN
alkej-342	104	52	13	13	NUM
alkej-342	104	53	the	the	DET
alkej-342	104	54	nominal	nominal	ADJ
alkej-342	104	55	part	part	NOUN
alkej-342	104	56	of	of	ADP
alkej-342	104	57	controller	controller	NOUN
alkej-342	104	58	�	�	PROPN
alkej-342	104	59	7	7	NUM
alkej-342	104	60	is	be	AUX
alkej-342	104	61	used	use	VERB
alkej-342	104	62	to	to	PART
alkej-342	104	63	maintain	maintain	VERB
alkej-342	104	64	the	the	DET
alkej-342	104	65	nominal	nominal	ADJ
alkej-342	104	66	system	system	NOUN
alkej-342	104	67	dynamics	dynamic	NOUN
alkej-342	104	68	with	with	ADP
alkej-342	104	69	reference	reference	NOUN
alkej-342	104	70	characteristics	characteristic	NOUN
alkej-342	104	71	,	,	PUNCT
alkej-342	104	72	where	where	SCONJ
alkej-342	104	73	�	�	PROPN
alkej-342	104	74	�	�	PROPN
alkej-342	104	75	�	�	PROPN
alkej-342	104	76	is	be	AUX
alkej-342	104	77	the	the	DET
alkej-342	104	78	second	second	ADJ
alkej-342	105	1	ahmed	ahmed	PROPN
alkej-342	105	2	khalaf	khalaf	PROPN
alkej-342	105	3	hamoudi	hamoudi	PROPN
alkej-342	105	4	al	al	PROPN
alkej-342	105	5	-	-	PUNCT
alkej-342	105	6	khwarizmi	khwarizmi	PROPN
alkej-342	105	7	engineering	engineering	NOUN
alkej-342	105	8	journal	journal	PROPN
alkej-342	105	9	,	,	PUNCT
alkej-342	105	10	vol	vol	NOUN
alkej-342	105	11	.	.	PROPN
alkej-342	105	12	13	13	NUM
alkej-342	105	13	,	,	PUNCT
alkej-342	105	14	no	no	INTJ
alkej-342	105	15	.	.	NOUN
alkej-342	105	16	1	1	NUM
alkej-342	105	17	,	,	PUNCT
alkej-342	105	18	p.p	p.p	PROPN
alkej-342	105	19	.	.	NOUN
alkej-342	105	20	138147(2017	138147(2017	NUM
alkej-342	105	21	)	)	PUNCT
alkej-342	105	22	141	141	NUM
alkej-342	105	23	part	part	NOUN
alkej-342	105	24	of	of	ADP
alkej-342	105	25	the	the	DET
alkej-342	105	26	controller	controller	NOUN
alkej-342	105	27	that	that	PRON
alkej-342	105	28	is	be	AUX
alkej-342	105	29	used	use	VERB
alkej-342	105	30	to	to	PART
alkej-342	105	31	reject	reject	VERB
alkej-342	105	32	the	the	DET
alkej-342	105	33	external	external	ADJ
alkej-342	105	34	disturbance	disturbance	NOUN
alkej-342	105	35	and	and	CCONJ
alkej-342	105	36	parameters	parameter	NOUN
alkej-342	105	37	uncertainty	uncertainty	NOUN
alkej-342	105	38	as	as	ADP
alkej-342	105	39	in	in	ADP
alkej-342	105	40	[	[	X
alkej-342	105	41	9	9	NUM
alkej-342	105	42	]	]	PUNCT
alkej-342	105	43	and	and	CCONJ
alkej-342	105	44	by	by	ADP
alkej-342	105	45	substuting	substute	VERB
alkej-342	105	46	equation	equation	NOUN
alkej-342	105	47	(	(	PUNCT
alkej-342	105	48	7	7	NUM
alkej-342	105	49	)	)	PUNCT
alkej-342	105	50	in	in	ADP
alkej-342	105	51	equation	equation	NOUN
alkej-342	105	52	(	(	PUNCT
alkej-342	105	53	12	12	NUM
alkej-342	105	54	)	)	PUNCT
alkej-342	105	55	�	�	PROPN
alkej-342	105	56	�	�	PROPN
alkej-342	105	57	�	�	PROPN
alkej-342	105	58	4	4	NUM
alkej-342	105	59	5	5	NUM
alkej-342	105	60	46	46	NUM
alkej-342	105	61	8	8	NUM
alkej-342	105	62	(	(	PUNCT
alkej-342	105	63	�	�	PROPN
alkej-342	105	64	�	�	PROPN
alkej-342	105	65	�	�	PROPN
alkej-342	105	66	)	)	PUNCT
alkej-342	105	67	�	�	PROPN
alkej-342	105	68	�	�	PROPN
alkej-342	105	69	�	�	PROPN
alkej-342	105	70	7	7	NUM
alkej-342	105	71	�	�	PROPN
alkej-342	105	72	)	)	PUNCT
alkej-342	105	73	�	�	PROPN
alkej-342	105	74	�	�	PROPN
alkej-342	105	75	�	�	PROPN
alkej-342	105	76	�	�	PROPN
alkej-342	105	77	�	�	PROPN
alkej-342	105	78	�	�	PROPN
alkej-342	105	79	+	+	PROPN
alkej-342	105	80	�	�	PROPN
alkej-342	105	81	�	�	PROPN
alkej-342	105	82	,	,	PUNCT
alkej-342	105	83	'	'	PUNCT
alkej-342	105	84	]	]	PUNCT
alkej-342	106	1	+3	+3	PROPN
alkej-342	106	2	�	�	PROPN
alkej-342	106	3	…	…	PUNCT
alkej-342	106	4	(	(	PUNCT
alkej-342	106	5	14	14	NUM
alkej-342	106	6	)	)	PUNCT
alkej-342	106	7	where	where	SCONJ
alkej-342	106	8	the	the	DET
alkej-342	106	9	discontinuous	discontinuous	ADJ
alkej-342	106	10	controller	controller	NOUN
alkej-342	106	11	is	be	AUX
alkej-342	106	12	defined	define	VERB
alkej-342	106	13	as	as	ADP
alkej-342	106	14	�	�	PROPN
alkej-342	106	15	�	�	PROPN
alkej-342	106	16	�	�	PROPN
alkej-342	106	17	�	�	PROPN
alkej-342	106	18	�	�	PROPN
alkej-342	106	19	�	�	PROPN
alkej-342	106	20	�	�	PROPN
alkej-342	106	21	�	�	PROPN
alkej-342	106	22	�	�	PROPN
alkej-342	106	23	�	�	PROPN
alkej-342	106	24	�	�	PROPN
alkej-342	106	25	�	�	PROPN
alkej-342	106	26	�	�	PROPN
alkej-342	106	27	�	�	PROPN
alkej-342	106	28	…	…	SYM
alkej-342	106	29	�	�	PROPN
alkej-342	106	30	15	15	NUM
alkej-342	106	31	where	where	SCONJ
alkej-342	106	32	,	,	PUNCT
alkej-342	106	33	�	�	PROPN
alkej-342	106	34	�	�	PROPN
alkej-342	106	35	�	�	PROPN
alkej-342	106	36	is	be	AUX
alkej-342	106	37	the	the	DET
alkej-342	106	38	same	same	ADJ
alkej-342	106	39	as	as	SCONJ
alkej-342	106	40	presented	present	VERB
alkej-342	106	41	in	in	ADP
alkej-342	106	42	equation	equation	NOUN
alkej-342	106	43	(	(	PUNCT
alkej-342	106	44	8)	8)	NUM
alkej-342	106	45	with	with	ADP
alkej-342	106	46	positive	positive	ADJ
alkej-342	106	47	value	value	NOUN
alkej-342	106	48	.	.	PUNCT
alkej-342	107	1	therefore	therefore	ADV
alkej-342	107	2	,	,	PUNCT
alkej-342	107	3	equation	equation	NOUN
alkej-342	107	4	(	(	PUNCT
alkej-342	107	5	12	12	NUM
alkej-342	107	6	)	)	PUNCT
alkej-342	107	7	will	will	AUX
alkej-342	107	8	be	be	AUX
alkej-342	107	9	as	as	ADV
alkej-342	107	10	bellow	bellow	ADJ
alkej-342	107	11	:	:	PUNCT
alkej-342	107	12	�	�	PROPN
alkej-342	107	13	�	�	PROPN
alkej-342	107	14	�	�	PROPN
alkej-342	107	15	7	7	NUM
alkej-342	107	16	�	�	PROPN
alkej-342	107	17	�	�	PROPN
alkej-342	107	18	�	�	PROPN
alkej-342	107	19	�	�	PROPN
alkej-342	107	20	�	�	PROPN
alkej-342	107	21	�	�	PROPN
alkej-342	107	22	�	�	PROPN
alkej-342	107	23	�	�	PROPN
alkej-342	107	24	�	�	PROPN
alkej-342	107	25	�	�	PROPN
alkej-342	107	26	to	to	PART
alkej-342	107	27	satisfy	satisfy	VERB
alkej-342	107	28	the	the	DET
alkej-342	107	29	rejection	rejection	NOUN
alkej-342	107	30	of	of	ADP
alkej-342	107	31	the	the	DET
alkej-342	107	32	external	external	ADJ
alkej-342	107	33	disturbance	disturbance	NOUN
alkej-342	107	34	and	and	CCONJ
alkej-342	107	35	variation	variation	NOUN
alkej-342	107	36	of	of	ADP
alkej-342	107	37	system	system	NOUN
alkej-342	107	38	parameters	parameter	NOUN
alkej-342	107	39	,	,	PUNCT
alkej-342	107	40	the	the	DET
alkej-342	107	41	integral	integral	ADJ
alkej-342	107	42	term	term	NOUN
alkej-342	107	43	is	be	AUX
alkej-342	107	44	assumed	assume	VERB
alkej-342	107	45	to	to	PART
alkej-342	107	46	be	be	AUX
alkej-342	107	47	as	as	ADP
alkej-342	107	48	:	:	PUNCT
alkej-342	107	49	3	3	NUM
alkej-342	107	50	�	�	PROPN
alkej-342	107	51	�	�	PROPN
alkej-342	107	52	�	�	PROPN
alkej-342	107	53	4:5	4:5	NUM
alkej-342	107	54	46	46	NUM
alkej-342	107	55	8	8	NUM
alkej-342	107	56	(	(	PUNCT
alkej-342	107	57	�	�	PROPN
alkej-342	107	58	�	�	PROPN
alkej-342	107	59	�	�	PROPN
alkej-342	107	60	)	)	PUNCT
alkej-342	107	61	�	�	PROPN
alkej-342	107	62	�	�	PROPN
alkej-342	107	63	�	�	PROPN
alkej-342	107	64	7	7	NUM
alkej-342	107	65	]	]	PUNCT
alkej-342	107	66	…	…	PUNCT
alkej-342	107	67	�	�	NOUN
alkej-342	107	68	16	16	NUM
alkej-342	107	69	by	by	ADP
alkej-342	107	70	substituting	substitute	VERB
alkej-342	107	71	the	the	DET
alkej-342	107	72	equation	equation	NOUN
alkej-342	107	73	(	(	PUNCT
alkej-342	107	74	16	16	NUM
alkej-342	107	75	)	)	PUNCT
alkej-342	107	76	in	in	ADP
alkej-342	107	77	(	(	PUNCT
alkej-342	107	78	14	14	NUM
alkej-342	107	79	)	)	PUNCT
alkej-342	107	80	,	,	PUNCT
alkej-342	107	81	we	we	PRON
alkej-342	107	82	will	will	AUX
alkej-342	107	83	get	get	VERB
alkej-342	107	84	the	the	DET
alkej-342	107	85	equation	equation	NOUN
alkej-342	107	86	as	as	ADP
alkej-342	107	87	:	:	PUNCT
alkej-342	107	88	�	�	PROPN
alkej-342	107	89	�	�	PROPN
alkej-342	107	90	�	�	PROPN
alkej-342	107	91	4:5	4:5	NUM
alkej-342	107	92	46	46	NUM
alkej-342	107	93	8)	8)	NUM
alkej-342	107	94	�	�	PROPN
alkej-342	107	95	�	�	PROPN
alkej-342	107	96	�	�	PROPN
alkej-342	107	97	�	�	PROPN
alkej-342	107	98	�	�	PROPN
alkej-342	107	99	�	�	PROPN
alkej-342	107	100	+	+	PROPN
alkej-342	107	101	�	�	PROPN
alkej-342	107	102	�	�	PROPN
alkej-342	107	103	,	,	PUNCT
alkej-342	107	104	'	'	PUNCT
alkej-342	107	105	]	]	PUNCT
alkej-342	107	106	…	…	PUNCT
alkej-342	107	107	�	�	NOUN
alkej-342	107	108	17	17	NUM
alkej-342	107	109	in	in	ADP
alkej-342	107	110	the	the	DET
alkej-342	107	111	design	design	NOUN
alkej-342	107	112	of	of	ADP
alkej-342	107	113	the	the	DET
alkej-342	107	114	ismc	ismc	NOUN
alkej-342	107	115	,	,	PUNCT
alkej-342	107	116	the	the	DET
alkej-342	107	117	sliding	slide	VERB
alkej-342	107	118	surface	surface	NOUN
alkej-342	107	119	and	and	CCONJ
alkej-342	107	120	control	control	NOUN
alkej-342	107	121	will	will	AUX
alkej-342	107	122	be	be	AUX
alkej-342	107	123	described	describe	VERB
alkej-342	107	124	as	as	ADP
alkej-342	107	125	:	:	PUNCT
alkej-342	107	126	�	�	PROPN
alkej-342	107	127	�	�	PROPN
alkej-342	107	128	�	�	PROPN
alkej-342	107	129	�	�	PROPN
alkej-342	107	130	�	�	PROPN
alkej-342	107	131	2	2	NUM
alkej-342	107	132	�	�	PROPN
alkej-342	107	133	3	3	NUM
alkej-342	107	134	;	;	PUNCT
alkej-342	107	135	z	z	PROPN
alkej-342	107	136	�	�	PROPN
alkej-342	107	137	0	0	PROPN
alkej-342	107	138	�	�	PROPN
alkej-342	107	139	�	�	PROPN
alkej-342	107	140	�	�	PROPN
alkej-342	107	141	<	<	NOUN
alkej-342	107	142	�	�	PROPN
alkej-342	107	143	0	0	PROPN
alkej-342	107	144	�	�	PROPN
alkej-342	107	145	�	�	PROPN
alkej-342	107	146	�	�	PROPN
alkej-342	107	147	�	�	PROPN
alkej-342	107	148	�	�	PROPN
alkej-342	107	149	�	�	PROPN
alkej-342	107	150	�	�	PROPN
alkej-342	107	151	2	2	NUM
alkej-342	107	152	�	�	PROPN
alkej-342	107	153	3	3	NUM
alkej-342	107	154	�	�	PROPN
alkej-342	107	155	;	;	PUNCT
alkej-342	107	156	�	�	PROPN
alkej-342	107	157	�	�	PROPN
alkej-342	107	158	�	�	PROPN
alkej-342	107	159	7	7	NUM
alkej-342	107	160	�	�	PROPN
alkej-342	107	161	�	�	PROPN
alkej-342	107	162	�	�	PROPN
alkej-342	107	163	�	�	PROPN
alkej-342	107	164	�	�	PROPN
alkej-342	107	165	�	�	PROPN
alkej-342	107	166	�	�	PROPN
alkej-342	107	167	�	�	PROPN
alkej-342	107	168	�	�	PROPN
alkej-342	107	169	�	�	PROPN
alkej-342	107	170	…	…	SYM
alkej-342	107	171	�	�	PROPN
alkej-342	107	172	18	18	NUM
alkej-342	107	173	finally	finally	ADV
alkej-342	107	174	,	,	PUNCT
alkej-342	107	175	when	when	SCONJ
alkej-342	107	176	using	use	VERB
alkej-342	107	177	the	the	DET
alkej-342	107	178	boundary	boundary	ADJ
alkej-342	107	179	layer	layer	NOUN
alkej-342	107	180	,	,	PUNCT
alkej-342	107	181	the	the	DET
alkej-342	107	182	equation	equation	NOUN
alkej-342	107	183	of	of	ADP
alkej-342	107	184	control	control	NOUN
alkej-342	107	185	law	law	NOUN
alkej-342	107	186	(	(	PUNCT
alkej-342	107	187	18	18	NUM
alkej-342	107	188	)	)	PUNCT
alkej-342	107	189	rewritten	rewrite	VERB
alkej-342	107	190	as	as	ADP
alkej-342	107	191	below	below	ADV
alkej-342	107	192	:	:	PUNCT
alkej-342	107	193	�	�	PROPN
alkej-342	107	194	�	�	PROPN
alkej-342	107	195	�	�	PROPN
alkej-342	107	196	7	7	NUM
alkej-342	107	197	�	�	PROPN
alkej-342	107	198	�	�	PROPN
alkej-342	107	199	�	�	PROPN
alkej-342	107	200	�	�	PROPN
alkej-342	107	201	�	�	PROPN
alkej-342	107	202	.	.	PUNCT
alkej-342	107	203	'	'	PUNCT
alkej-342	108	1	…	…	PUNCT
alkej-342	108	2	�	�	PROPN
alkej-342	108	3	19	19	NUM
alkej-342	108	4	4	4	NUM
alkej-342	108	5	.	.	PUNCT
alkej-342	109	1	plant	plant	NOUN
alkej-342	109	2	description	description	NOUN
alkej-342	109	3	consider	consider	VERB
alkej-342	109	4	a	a	DET
alkej-342	109	5	second	second	ADJ
alkej-342	109	6	order	order	NOUN
alkej-342	109	7	of	of	ADP
alkej-342	109	8	the	the	DET
alkej-342	109	9	pendulum	pendulum	NOUN
alkej-342	109	10	system	system	NOUN
alkej-342	109	11	described	describe	VERB
alkej-342	109	12	by	by	ADP
alkej-342	109	13	equation	equation	NOUN
alkej-342	109	14	:	:	PUNCT
alkej-342	109	15	?	?	PUNCT
alkej-342	110	1	�	�	PROPN
alkej-342	110	2	�	�	PROPN
alkej-342	110	3	.	.	PROPN
alkej-342	110	4	sin	sin	PROPN
alkej-342	110	5	�	�	PROPN
alkej-342	110	6	c	c	PROPN
alkej-342	110	7	�	�	PROPN
alkej-342	110	8	�	�	PROPN
alkej-342	110	9	def	def	PROPN
alkej-342	110	10	�	�	PROPN
alkej-342	110	11	+	+	PROPN
alkej-342	110	12	�	�	PROPN
alkej-342	110	13	'	'	PART
alkej-342	110	14	g	g	PROPN
alkej-342	110	15	…	…	PUNCT
alkej-342	110	16	�	�	PROPN
alkej-342	110	17	20	20	NUM
alkej-342	110	18	where	where	SCONJ
alkej-342	110	19	:	:	PUNCT
alkej-342	110	20	the	the	DET
alkej-342	110	21	angular	angular	ADJ
alkej-342	110	22	position	position	NOUN
alkej-342	110	23	of	of	ADP
alkej-342	110	24	the	the	DET
alkej-342	110	25	rod	rod	NOUN
alkej-342	110	26	with	with	ADP
alkej-342	110	27	vertical	vertical	ADJ
alkej-342	110	28	axis	axis	NOUN
alkej-342	110	29	and	and	CCONJ
alkej-342	110	30	it	it	PRON
alkej-342	110	31	is	be	AUX
alkej-342	110	32	measure	measure	NOUN
alkej-342	110	33	in	in	ADP
alkej-342	110	34	(	(	PUNCT
alkej-342	110	35	radian	radian	ADJ
alkej-342	110	36	)	)	PUNCT
alkej-342	110	37	and	and	CCONJ
alkej-342	110	38	it	it	PRON
alkej-342	110	39	consider	consider	VERB
alkej-342	110	40	as	as	ADP
alkej-342	110	41	the	the	DET
alkej-342	110	42	controlled	control	VERB
alkej-342	110	43	variable	variable	NOUN
alkej-342	110	44	(	(	PUNCT
alkej-342	110	45	output	output	NOUN
alkej-342	110	46	)	)	PUNCT
alkej-342	110	47	,	,	PUNCT
alkej-342	110	48	�	�	PROPN
alkej-342	110	49	the	the	DET
alkej-342	110	50	angular	angular	ADJ
alkej-342	110	51	velocity	velocity	NOUN
alkej-342	111	1	and	and	CCONJ
alkej-342	111	2	it	it	PRON
alkej-342	111	3	is	be	AUX
alkej-342	111	4	measure	measure	NOUN
alkej-342	111	5	in	in	ADP
alkej-342	111	6	(	(	PUNCT
alkej-342	111	7	radian/	radian/	NOUN
alkej-342	111	8	second	second	ADJ
alkej-342	111	9	)	)	PUNCT
alkej-342	111	10	,	,	PUNCT
alkej-342	111	11	t	t	PROPN
alkej-342	111	12	the	the	DET
alkej-342	111	13	torque	torque	NOUN
alkej-342	111	14	applied	apply	VERB
alkej-342	111	15	at	at	ADP
alkej-342	111	16	the	the	DET
alkej-342	111	17	end	end	NOUN
alkej-342	111	18	of	of	ADP
alkej-342	111	19	the	the	DET
alkej-342	111	20	pendulum	pendulum	NOUN
alkej-342	111	21	and	and	CCONJ
alkej-342	111	22	it	it	PRON
alkej-342	111	23	measure	measure	VERB
alkej-342	111	24	in	in	ADP
alkej-342	111	25	(	(	PUNCT
alkej-342	111	26	newton	newton	PROPN
alkej-342	111	27	.	.	PUNCT
alkej-342	112	1	meter	meter	NOUN
alkej-342	112	2	)	)	PUNCT
alkej-342	113	1	and	and	CCONJ
alkej-342	113	2	it	it	PRON
alkej-342	113	3	is	be	AUX
alkej-342	113	4	considering	consider	VERB
alkej-342	113	5	as	as	ADP
alkej-342	113	6	the	the	DET
alkej-342	113	7	control	control	NOUN
alkej-342	113	8	input	input	NOUN
alkej-342	113	9	.	.	PUNCT
alkej-342	114	1	and	and	CCONJ
alkej-342	114	2	d(t	d(t	PROPN
alkej-342	114	3	)	)	PUNCT
alkej-342	114	4	is	be	AUX
alkej-342	114	5	the	the	DET
alkej-342	114	6	external	external	ADJ
alkej-342	114	7	disturbance	disturbance	NOUN
alkej-342	114	8	applied	apply	VERB
alkej-342	114	9	to	to	ADP
alkej-342	114	10	the	the	DET
alkej-342	114	11	system	system	NOUN
alkej-342	114	12	.	.	PUNCT
alkej-342	115	1	a	a	DET
alkej-342	115	2	common	common	ADJ
alkej-342	115	3	problem	problem	NOUN
alkej-342	115	4	in	in	ADP
alkej-342	115	5	real	real	ADJ
alkej-342	115	6	plant	plant	NOUN
alkej-342	115	7	is	be	AUX
alkej-342	115	8	the	the	DET
alkej-342	115	9	presence	presence	NOUN
alkej-342	115	10	of	of	ADP
alkej-342	115	11	an	an	DET
alkej-342	115	12	external	external	ADJ
alkej-342	115	13	disturbance	disturbance	NOUN
alkej-342	115	14	and	and	CCONJ
alkej-342	115	15	parameters	parameter	NOUN
alkej-342	115	16	uncertainty	uncertainty	NOUN
alkej-342	115	17	.	.	PUNCT
alkej-342	116	1	the	the	DET
alkej-342	116	2	nominal	nominal	ADJ
alkej-342	116	3	value	value	NOUN
alkej-342	116	4	of	of	ADP
alkej-342	116	5	parameter	parameter	NOUN
alkej-342	116	6	a=10	a=10	PROPN
alkej-342	116	7	,	,	PUNCT
alkej-342	116	8	b=1	b=1	PUNCT
alkej-342	116	9	and	and	CCONJ
alkej-342	116	10	c=10	c=10	NOUN
alkej-342	116	11	,	,	PUNCT
alkej-342	116	12	the	the	DET
alkej-342	116	13	uncertainties	uncertainty	NOUN
alkej-342	116	14	values	value	NOUN
alkej-342	116	15	of	of	ADP
alkej-342	116	16	above	above	ADP
alkej-342	116	17	parameters	parameter	NOUN
alkej-342	116	18	are	be	AUX
alkej-342	116	19	h.	h.	PROPN
alkej-342	116	20	�	�	PROPN
alkej-342	116	21	0	0	PROPN
alkej-342	116	22	,	,	PUNCT
alkej-342	116	23	hc	hc	PROPN
alkej-342	116	24	�	�	PROPN
alkej-342	116	25	∓0.5	∓0.5	PROPN
alkej-342	116	26	,	,	PUNCT
alkej-342	116	27	hd	hd	PROPN
alkej-342	116	28	�	�	PROPN
alkej-342	116	29	∓5	∓5	PROPN
alkej-342	116	30	.	.	PUNCT
alkej-342	116	31	table	table	NOUN
alkej-342	116	32	1	1	NUM
alkej-342	116	33	,	,	PUNCT
alkej-342	116	34	the	the	DET
alkej-342	116	35	maximum	maximum	ADJ
alkej-342	116	36	and	and	CCONJ
alkej-342	116	37	minimum	minimum	ADJ
alkej-342	116	38	pendulum	pendulum	NOUN
alkej-342	116	39	parameters	parameter	NOUN
alkej-342	116	40	values	value	NOUN
alkej-342	116	41	)	)	PUNCT
alkej-342	116	42	parameter	parameter	NOUN
alkej-342	116	43	value	value	NOUN
alkej-342	116	44	minimal	minimal	ADJ
alkej-342	116	45	value	value	NOUN
alkej-342	116	46	maximal	maximal	ADJ
alkej-342	116	47	value	value	NOUN
alkej-342	116	48	a	a	DET
alkej-342	116	49	10	10	NUM
alkej-342	116	50	10	10	NUM
alkej-342	116	51	b	b	NUM
alkej-342	116	52	0.5	0.5	NUM
alkej-342	116	53	1.5	1.5	NUM
alkej-342	116	54	c	c	NOUN
alkej-342	116	55	5	5	NUM
alkej-342	116	56	15	15	NUM
alkej-342	116	57	fig	fig	NOUN
alkej-342	116	58	.	.	PUNCT
alkej-342	117	1	6	6	NUM
alkej-342	117	2	.	.	PUNCT
alkej-342	117	3	the	the	DET
alkej-342	117	4	simple	simple	ADJ
alkej-342	117	5	pendulum	pendulum	NOUN
alkej-342	117	6	[	[	X
alkej-342	117	7	4	4	NUM
alkej-342	117	8	]	]	PUNCT
alkej-342	117	9	.	.	PUNCT
alkej-342	118	1	the	the	DET
alkej-342	118	2	error	error	NOUN
alkej-342	118	3	of	of	ADP
alkej-342	118	4	the	the	DET
alkej-342	118	5	pendulum	pendulum	NOUN
alkej-342	118	6	system	system	NOUN
alkej-342	118	7	can	can	AUX
alkej-342	118	8	be	be	AUX
alkej-342	118	9	described	describe	VERB
alkej-342	118	10	in	in	ADP
alkej-342	118	11	the	the	DET
alkej-342	118	12	state	state	NOUN
alkej-342	118	13	equation	equation	NOUN
alkej-342	118	14	as	as	ADP
alkej-342	118	15	:	:	PUNCT
alkej-342	118	16	let	let	VERB
alkej-342	118	17	the	the	DET
alkej-342	118	18	error	error	NOUN
alkej-342	118	19	�	�	NOUN
alkej-342	118	20	�	�	PROPN
alkej-342	118	21	=	=	SYM
alkej-342	118	22	�	�	PROPN
alkej-342	118	23	!	!	PUNCT
alkej-342	118	24	and	and	CCONJ
alkej-342	118	25	�	�	PROPN
alkej-342	118	26	"	"	PUNCT
alkej-342	118	27	k	k	PROPN
alkej-342	118	28	�	�	PROPN
alkej-342	118	29	where	where	SCONJ
alkej-342	118	30	,	,	PUNCT
alkej-342	118	31	!	!	PUNCT
alkej-342	119	1	is	be	AUX
alkej-342	119	2	the	the	DET
alkej-342	119	3	desired	desire	VERB
alkej-342	119	4	position	position	NOUN
alkej-342	119	5	which	which	PRON
alkej-342	119	6	is	be	AUX
alkej-342	119	7	the	the	DET
alkej-342	119	8	equilibrium	equilibrium	NOUN
alkej-342	119	9	point	point	NOUN
alkej-342	119	10	.	.	PUNCT
alkej-342	120	1	equation	equation	NOUN
alkej-342	120	2	above	above	ADV
alkej-342	120	3	can	can	AUX
alkej-342	120	4	be	be	AUX
alkej-342	120	5	rewritten	rewrite	VERB
alkej-342	120	6	as	as	ADP
alkej-342	120	7	:	:	PUNCT
alkej-342	120	8	�	�	PROPN
alkej-342	120	9	�	�	PROPN
alkej-342	120	10	�	�	PROPN
alkej-342	120	11	=	=	SYM
alkej-342	120	12	�	�	PROPN
alkej-342	120	13	�	�	PROPN
alkej-342	120	14	"	"	PUNCT
alkej-342	120	15	…	…	PUNCT
alkej-342	120	16	�	�	PROPN
alkej-342	120	17	21	21	NUM
alkej-342	120	18	�	�	PROPN
alkej-342	120	19	�	�	PROPN
alkej-342	120	20	"	"	PUNCT
alkej-342	120	21	�	�	PROPN
alkej-342	120	22	�	�	PROPN
alkej-342	120	23	.	.	PROPN
alkej-342	121	1	∗	∗	NOUN
alkej-342	121	2	sin	sin	NOUN
alkej-342	121	3	where	where	SCONJ
alkej-342	121	4	,	,	PUNCT
alkej-342	121	5	.	.	PUNCT
alkej-342	122	1	�	�	PROPN
alkej-342	122	2	h.	h.	PROPN
alkej-342	122	3	∓	∓	PROPN
alkej-342	122	4	.7	.7	PROPN
alkej-342	122	5	,	,	PUNCT
alkej-342	122	6	c	c	PROPN
alkej-342	122	7	�	�	PROPN
alkej-342	122	8	hc	hc	PROPN
alkej-342	122	9	∓	∓	PROPN
alkej-342	122	10	c7	c7	PROPN
alkej-342	122	11	,	,	PUNCT
alkej-342	122	12	d	d	PROPN
alkej-342	122	13	�	�	PROPN
alkej-342	122	14	hd	hd	PROPN
alkej-342	122	15	∓	∓	NOUN
alkej-342	122	16	.d7	.d7	PUNCT
alkej-342	123	1	�	�	PROPN
alkej-342	123	2	�	�	PROPN
alkej-342	123	3	=	=	SYM
alkej-342	123	4	�	�	PROPN
alkej-342	123	5	�	�	PROPN
alkej-342	123	6	�	�	PROPN
alkej-342	123	7	+	+	SYM
alkej-342	123	8	�	�	PROPN
alkej-342	123	9	�	�	PROPN
alkej-342	123	10	"	"	PUNCT
alkej-342	123	11	…	…	PUNCT
alkej-342	123	12	�	�	NOUN
alkej-342	123	13	23	23	NUM
alkej-342	123	14	by	by	ADP
alkej-342	123	15	substituting	substitute	VERB
alkej-342	123	16	equation	equation	NOUN
alkej-342	123	17	(	(	PUNCT
alkej-342	123	18	21	21	NUM
alkej-342	123	19	)	)	PUNCT
alkej-342	123	20	,	,	PUNCT
alkej-342	123	21	(	(	PUNCT
alkej-342	123	22	22	22	NUM
alkej-342	123	23	)	)	PUNCT
alkej-342	123	24	and	and	CCONJ
alkej-342	123	25	(	(	PUNCT
alkej-342	123	26	2	2	X
alkej-342	123	27	)	)	PUNCT
alkej-342	123	28	in	in	ADP
alkej-342	123	29	equation	equation	NOUN
alkej-342	123	30	(	(	PUNCT
alkej-342	123	31	23	23	NUM
alkej-342	123	32	)	)	PUNCT
alkej-342	123	33	,	,	PUNCT
alkej-342	123	34	�	�	PROPN
alkej-342	123	35	�	�	PROPN
alkej-342	123	36	�	�	PROPN
alkej-342	123	37	�	�	PROPN
alkej-342	123	38	�	�	PROPN
alkej-342	123	39	2	2	NUM
alkej-342	123	40	�	�	PROPN
alkej-342	123	41	case	case	NOUN
alkej-342	123	42	(	(	PUNCT
alkej-342	123	43	a	a	X
alkej-342	123	44	):	):	PUNCT
alkej-342	123	45	design	design	VERB
alkej-342	123	46	the	the	DET
alkej-342	123	47	classical	classical	ADJ
alkej-342	123	48	sliding	slide	VERB
alkej-342	123	49	mode	mode	NOUN
alkej-342	123	50	controller	controller	NOUN
alkej-342	123	51	(	(	PUNCT
alkej-342	123	52	csmc	csmc	PROPN
alkej-342	123	53	)	)	PUNCT
alkej-342	123	54	for	for	ADP
alkej-342	123	55	pendulum	pendulum	NOUN
alkej-342	123	56	system	system	NOUN
alkej-342	123	57	the	the	DET
alkej-342	123	58	design	design	NOUN
alkej-342	123	59	of	of	ADP
alkej-342	123	60	csmc	csmc	NOUN
alkej-342	123	61	controller	controller	NOUN
alkej-342	123	62	is	be	AUX
alkej-342	123	63	written	write	VERB
alkej-342	123	64	as	as	ADP
alkej-342	123	65	in	in	ADP
alkej-342	123	66	equation	equation	NOUN
alkej-342	123	67	(	(	PUNCT
alkej-342	123	68	3	3	NUM
alkej-342	123	69	):	):	PUNCT
alkej-342	123	70	�	�	PROPN
alkej-342	123	71	�	�	PROPN
alkej-342	123	72	1	1	NUM
alkej-342	123	73	c	c	NOUN
alkej-342	123	74	8	8	NUM
alkej-342	123	75	.	.	PUNCT
alkej-342	124	1	sine	sine	PROPN
alkej-342	124	2	�	�	PROPN
alkej-342	124	3	�	�	PROPN
alkej-342	124	4	�	�	PROPN
alkej-342	124	5	!	!	PUNCT
alkej-342	125	1	g	g	PROPN
alkej-342	125	2	�	�	PROPN
alkej-342	125	3	c	c	PROPN
alkej-342	125	4	�	�	PROPN
alkej-342	125	5	"	"	PUNCT
alkej-342	125	6	]	]	PUNCT
alkej-342	125	7	�	�	PROPN
alkej-342	125	8	�	�	PROPN
alkej-342	125	9	�	�	PROPN
alkej-342	125	10	�	�	PROPN
alkej-342	125	11	�	�	PROPN
alkej-342	125	12	�	�	PROPN
alkej-342	125	13	�	�	PROPN
alkej-342	125	14	�	�	PROPN
alkej-342	125	15	�	�	PROPN
alkej-342	125	16	�	�	PROPN
alkej-342	125	17	…	…	SYM
alkej-342	125	18	�	�	PROPN
alkej-342	125	19	25	25	NUM
alkej-342	125	20	when	when	SCONJ
alkej-342	125	21	the	the	DET
alkej-342	125	22	boundary	boundary	ADJ
alkej-342	125	23	layer	layer	NOUN
alkej-342	125	24	is	be	AUX
alkej-342	125	25	used	use	VERB
alkej-342	125	26	,	,	PUNCT
alkej-342	125	27	the	the	DET
alkej-342	125	28	control	control	NOUN
alkej-342	125	29	law	law	NOUN
alkej-342	125	30	rewritten	rewrite	VERB
alkej-342	125	31	as	as	SCONJ
alkej-342	125	32	described	describe	VERB
alkej-342	125	33	in	in	ADP
alkej-342	125	34	equation	equation	NOUN
alkej-342	125	35	�	�	PROPN
alkej-342	125	36	10	10	NUM
alkej-342	125	37	:	:	PUNCT
alkej-342	125	38	�	�	PROPN
alkej-342	125	39	�	�	PROPN
alkej-342	125	40	1	1	NUM
alkej-342	125	41	d	d	PROPN
alkej-342	125	42	8	8	NUM
alkej-342	125	43	.	.	PUNCT
alkej-342	125	44	�	�	PROPN
alkej-342	125	45	�	�	PROPN
alkej-342	125	46	�	�	PROPN
alkej-342	125	47	e	e	NOUN
alkej-342	125	48	�	�	PROPN
alkej-342	125	49	�	�	PROPN
alkej-342	125	50	�	�	PROPN
alkej-342	125	51	!	!	PUNCT
alkej-342	126	1	g	g	PROPN
alkej-342	126	2	�	�	PROPN
alkej-342	126	3	c	c	PROPN
alkej-342	126	4	�	�	PROPN
alkej-342	126	5	"	"	PUNCT
alkej-342	126	6	]	]	X
alkej-342	126	7	�	�	PROPN
alkej-342	126	8	�	�	PROPN
alkej-342	126	9	�	�	PROPN
alkej-342	126	10	�	�	PROPN
alkej-342	126	11	�	�	PROPN
alkej-342	126	12	�	�	PROPN
alkej-342	126	13	�	�	PROPN
alkej-342	126	14	�	�	PROPN
alkej-342	126	15	�	�	PROPN
alkej-342	126	16	�	�	PROPN
alkej-342	126	17	…	…	SYM
alkej-342	126	18	�	�	PROPN
alkej-342	126	19	26	26	NUM
alkej-342	126	20	ahmed	ahmed	PROPN
alkej-342	126	21	khalaf	khalaf	PROPN
alkej-342	126	22	hamoudi	hamoudi	PROPN
alkej-342	127	1	al	al	PROPN
alkej-342	127	2	-	-	PUNCT
alkej-342	127	3	khwarizmi	khwarizmi	PROPN
alkej-342	127	4	engineering	engineering	NOUN
alkej-342	127	5	journal	journal	PROPN
alkej-342	127	6	,	,	PUNCT
alkej-342	127	7	vol	vol	NOUN
alkej-342	127	8	.	.	PROPN
alkej-342	127	9	13	13	NUM
alkej-342	127	10	,	,	PUNCT
alkej-342	127	11	no	no	INTJ
alkej-342	127	12	.	.	NOUN
alkej-342	127	13	1	1	NUM
alkej-342	127	14	,	,	PUNCT
alkej-342	127	15	p.p	p.p	PROPN
alkej-342	127	16	.	.	NOUN
alkej-342	127	17	case	case	NOUN
alkej-342	127	18	(	(	PUNCT
alkej-342	127	19	b	b	NOUN
alkej-342	127	20	):	):	PUNCT
alkej-342	127	21	design	design	VERB
alkej-342	127	22	the	the	DET
alkej-342	127	23	integral	integral	ADJ
alkej-342	127	24	sliding	slide	VERB
alkej-342	127	25	mode	mode	NOUN
alkej-342	127	26	controller	controller	NOUN
alkej-342	127	27	(	(	PUNCT
alkej-342	127	28	ismc	ismc	NOUN
alkej-342	127	29	)	)	PUNCT
alkej-342	127	30	for	for	ADP
alkej-342	127	31	pendulum	pendulum	NOUN
alkej-342	127	32	system	system	NOUN
alkej-342	127	33	the	the	DET
alkej-342	127	34	sliding	slide	VERB
alkej-342	127	35	variable	variable	NOUN
alkej-342	127	36	is	be	AUX
alkej-342	127	37	written	write	VERB
alkej-342	127	38	according	accord	VERB
alkej-342	127	39	to	to	ADP
alkej-342	127	40	equation	equation	NOUN
alkej-342	127	41	(	(	PUNCT
alkej-342	127	42	18	18	NUM
alkej-342	127	43	)	)	PUNCT
alkej-342	127	44	as	as	ADP
alkej-342	127	45	:	:	PUNCT
alkej-342	127	46	�	�	PROPN
alkej-342	127	47	�	�	PROPN
alkej-342	127	48	�	�	PROPN
alkej-342	127	49	�	�	PROPN
alkej-342	127	50	�	�	PROPN
alkej-342	127	51	2	2	NUM
alkej-342	127	52	�	�	PROPN
alkej-342	127	53	3	3	NUM
alkej-342	127	54	;	;	PUNCT
alkej-342	127	55	3	3	NUM
alkej-342	127	56	�	�	PROPN
alkej-342	127	57	0	0	NUM
alkej-342	127	58	�	�	PROPN
alkej-342	127	59	�	�	PROPN
alkej-342	127	60	�	�	PROPN
alkej-342	127	61	2	2	NUM
alkej-342	127	62	�	�	PROPN
alkej-342	127	63	0	0	NUM
alkej-342	127	64	and	and	CCONJ
alkej-342	127	65	�	�	PROPN
alkej-342	127	66	2	2	NUM
alkej-342	127	67	�	�	PROPN
alkej-342	127	68	�	�	PROPN
alkej-342	127	69	�	�	PROPN
alkej-342	127	70	�	�	PROPN
alkej-342	127	71	�	�	PROPN
alkej-342	127	72	"	"	PUNCT
alkej-342	127	73	and	and	CCONJ
alkej-342	127	74	the	the	DET
alkej-342	127	75	error	error	NOUN
alkej-342	127	76	equation	equation	NOUN
alkej-342	127	77	for	for	ADP
alkej-342	127	78	the	the	DET
alkej-342	127	79	pendulum	pendulum	NOUN
alkej-342	127	80	system	system	NOUN
alkej-342	127	81	was	be	AUX
alkej-342	127	82	described	describe	VERB
alkej-342	127	83	as	as	ADP
alkej-342	127	84	:	:	PUNCT
alkej-342	127	85	�	�	PROPN
alkej-342	127	86	?	?	SYM
alkej-342	127	87	�	�	PROPN
alkej-342	127	88	�	�	PROPN
alkej-342	127	89	d	d	PROPN
alkej-342	127	90	�	�	PROPN
alkej-342	127	91	�	�	PROPN
alkej-342	127	92	�	�	PROPN
alkej-342	127	93	d	d	PROPN
alkej-342	127	94	"	"	PUNCT
alkej-342	127	95	�	�	PROPN
alkej-342	127	96	�	�	PROPN
alkej-342	127	97	,	,	PUNCT
alkej-342	127	98	d	d	PROPN
alkej-342	127	99	�	�	PROPN
alkej-342	127	100	,	,	PUNCT
alkej-342	127	101	d	d	PROPN
alkej-342	127	102	"	"	PUNCT
alkej-342	127	103	�	�	PROPN
alkej-342	127	104	0	0	NUM
alkej-342	128	1	the	the	DET
alkej-342	128	2	values	value	NOUN
alkej-342	128	3	d	d	X
alkej-342	128	4	�	�	PROPN
alkej-342	128	5	and	and	CCONJ
alkej-342	128	6	d	d	NOUN
alkej-342	128	7	"	"	PUNCT
alkej-342	128	8	are	be	AUX
alkej-342	128	9	assigned	assign	VERB
alkej-342	128	10	depending	depend	VERB
alkej-342	128	11	on	on	ADP
alkej-342	128	12	the	the	DET
alkej-342	128	13	required	required	ADJ
alkej-342	128	14	characteristics	characteristic	NOUN
alkej-342	128	15	of	of	ADP
alkej-342	128	16	plant	plant	NOUN
alkej-342	128	17	dynamics	dynamic	NOUN
alkej-342	128	18	.	.	PUNCT
alkej-342	129	1	in	in	ADP
alkej-342	129	2	ismc	ismc	NOUN
alkej-342	129	3	design	design	NOUN
alkej-342	129	4	,	,	PUNCT
alkej-342	129	5	the	the	DET
alkej-342	129	6	derivative	derivative	NOUN
alkej-342	129	7	of	of	ADP
alkej-342	129	8	integral	integral	ADJ
alkej-342	129	9	term	term	NOUN
alkej-342	129	10	is	be	AUX
alkej-342	129	11	described	describe	VERB
alkej-342	129	12	as	as	ADP
alkej-342	129	13	below	below	ADV
alkej-342	129	14	:	:	PUNCT
alkej-342	129	15	3	3	NUM
alkej-342	129	16	�	�	PROPN
alkej-342	129	17	�	�	PROPN
alkej-342	129	18	d	d	PROPN
alkej-342	129	19	�	�	PROPN
alkej-342	129	20	∗	∗	PROPN
alkej-342	129	21	�	�	PROPN
alkej-342	129	22	�	�	PROPN
alkej-342	129	23	d	d	NOUN
alkej-342	129	24	"	"	PUNCT
alkej-342	129	25	∗	∗	NOUN
alkej-342	129	26	�	�	PROPN
alkej-342	129	27	�	�	PROPN
alkej-342	129	28	�	�	PROPN
alkej-342	129	29	�	�	PROPN
alkej-342	129	30	"	"	PUNCT
alkej-342	129	31	the	the	DET
alkej-342	129	32	nominal	nominal	ADJ
alkej-342	129	33	control	control	NOUN
alkej-342	129	34	is	be	AUX
alkej-342	129	35	described	describe	VERB
alkej-342	129	36	as	as	ADP
alkej-342	129	37	:	:	PUNCT
alkej-342	129	38	finally	finally	ADV
alkej-342	129	39	,	,	PUNCT
alkej-342	129	40	the	the	DET
alkej-342	129	41	control	control	NOUN
alkej-342	129	42	law	law	NOUN
alkej-342	129	43	is	be	AUX
alkej-342	129	44	written	write	VERB
alkej-342	129	45	according	accord	VERB
alkej-342	129	46	to	to	ADP
alkej-342	129	47	equation	equation	NOUN
alkej-342	129	48	(	(	PUNCT
alkej-342	129	49	18	18	NUM
alkej-342	129	50	)	)	PUNCT
alkej-342	129	51	as	as	SCONJ
alkej-342	129	52	:	:	PUNCT
alkej-342	129	53	when	when	SCONJ
alkej-342	129	54	the	the	DET
alkej-342	129	55	boundary	boundary	ADJ
alkej-342	129	56	layer	layer	NOUN
alkej-342	129	57	is	be	AUX
alkej-342	129	58	used	use	VERB
alkej-342	129	59	,	,	PUNCT
alkej-342	129	60	the	the	DET
alkej-342	129	61	above	above	ADJ
alkej-342	129	62	equation	equation	NOUN
alkej-342	129	63	will	will	AUX
alkej-342	129	64	be	be	AUX
alkej-342	129	65	rewritten	rewrite	VERB
alkej-342	129	66	as	as	ADP
alkej-342	129	67	:	:	PUNCT
alkej-342	129	68	5	5	NUM
alkej-342	129	69	.	.	X
alkej-342	130	1	the	the	DET
alkej-342	130	2	simulation	simulation	NOUN
alkej-342	130	3	results	result	VERB
alkej-342	130	4	case	case	NOUN
alkej-342	130	5	(	(	PUNCT
alkej-342	130	6	a	a	X
alkej-342	130	7	):	):	PUNCT
alkej-342	130	8	the	the	DET
alkej-342	130	9	classical	classical	ADJ
alkej-342	130	10	sliding	slide	VERB
alkej-342	130	11	controller	controller	NOUN
alkej-342	130	12	(	(	PUNCT
alkej-342	130	13	csmc	csmc	PROPN
alkej-342	130	14	)	)	PUNCT
alkej-342	130	15	with	with	ADP
alkej-342	130	16	a	a	DET
alkej-342	130	17	/\]^	/\]^	SYM
alkej-342	130	18	function	function	NOUN
alkej-342	130	19	fig	fig	NOUN
alkej-342	130	20	.	.	PUNCT
alkej-342	131	1	7	7	X
alkej-342	131	2	.	.	X
alkej-342	131	3	the	the	DET
alkej-342	131	4	error	error	NOUN
alkej-342	131	5	_	_	PUNCT
alkej-342	131	6	`	`	PUNCT
alkej-342	131	7	vs.	vs.	X
alkej-342	131	8	time	time	NOUN
alkej-342	131	9	of	of	ADP
alkej-342	131	10	the	the	DET
alkej-342	131	11	c	c	PROPN
alkej-342	131	12	khwarizmi	khwarizmi	PROPN
alkej-342	131	13	engineering	engineering	PROPN
alkej-342	131	14	journal	journal	PROPN
alkej-342	131	15	,	,	PUNCT
alkej-342	131	16	vol	vol	NOUN
alkej-342	131	17	.	.	PROPN
alkej-342	131	18	13	13	NUM
alkej-342	131	19	,	,	PUNCT
alkej-342	131	20	no	no	INTJ
alkej-342	131	21	.	.	NOUN
alkej-342	131	22	1	1	NUM
alkej-342	131	23	,	,	PUNCT
alkej-342	131	24	p.p	p.p	PROPN
alkej-342	131	25	.	.	PROPN
alkej-342	131	26	142	142	NUM
alkej-342	131	27	sliding	slide	VERB
alkej-342	131	28	mode	mode	NOUN
alkej-342	131	29	system	system	NOUN
alkej-342	131	30	the	the	DET
alkej-342	131	31	sliding	slide	VERB
alkej-342	131	32	variable	variable	NOUN
alkej-342	131	33	is	be	AUX
alkej-342	131	34	written	write	VERB
alkej-342	131	35	according	accord	VERB
alkej-342	131	36	to	to	ADP
alkej-342	131	37	…	…	PUNCT
alkej-342	131	38	�	�	PROPN
alkej-342	131	39	27	27	NUM
alkej-342	131	40	…	…	PUNCT
alkej-342	131	41	�	�	PROPN
alkej-342	131	42	28	28	NUM
alkej-342	131	43	and	and	CCONJ
alkej-342	131	44	the	the	DET
alkej-342	131	45	error	error	NOUN
alkej-342	131	46	equation	equation	NOUN
alkej-342	131	47	for	for	ADP
alkej-342	131	48	the	the	DET
alkej-342	131	49	pendulum	pendulum	NOUN
alkej-342	131	50	system	system	NOUN
alkej-342	131	51	…	…	PUNCT
alkej-342	131	52	�	�	PROPN
alkej-342	131	53	29	29	NUM
alkej-342	131	54	assigned	assign	VERB
alkej-342	131	55	depending	depend	VERB
alkej-342	131	56	on	on	ADP
alkej-342	131	57	dynamics	dynamic	NOUN
alkej-342	131	58	.	.	PUNCT
alkej-342	132	1	design	design	NOUN
alkej-342	132	2	,	,	PUNCT
alkej-342	132	3	the	the	DET
alkej-342	132	4	derivative	derivative	NOUN
alkej-342	132	5	of	of	ADP
alkej-342	132	6	integral	integral	ADJ
alkej-342	132	7	term	term	NOUN
alkej-342	132	8	is	be	AUX
alkej-342	132	9	...	...	PUNCT
alkej-342	132	10	�	�	PROPN
alkej-342	132	11	30	30	NUM
alkej-342	132	12	�	�	PROPN
alkej-342	132	13	7	7	NUM
alkej-342	132	14	�	�	PROPN
alkej-342	132	15	1	1	NUM
alkej-342	132	16	d	d	NOUN
alkej-342	132	17	8	8	NUM
alkej-342	132	18	.	.	PUNCT
alkej-342	132	19	�	�	PROPN
alkej-342	132	20	�	�	PROPN
alkej-342	132	21	�	�	PROPN
alkej-342	132	22	e	e	NOUN
alkej-342	132	23	�	�	PROPN
alkej-342	132	24	�	�	PROPN
alkej-342	132	25	�	�	PROPN
alkej-342	132	26	ө!g	ө!g	PROPN
alkej-342	132	27	�	�	PROPN
alkej-342	132	28	c	c	NOUN
alkej-342	132	29	�	�	PROPN
alkej-342	132	30	"	"	PUNCT
alkej-342	132	31	�	�	PROPN
alkej-342	132	32	d	d	PROPN
alkej-342	132	33	�	�	PROPN
alkej-342	132	34	�	�	PROPN
alkej-342	132	35	�	�	PROPN
alkej-342	132	36	d	d	PROPN
alkej-342	132	37	"	"	PUNCT
alkej-342	132	38	�	�	PROPN
alkej-342	132	39	]	]	PUNCT
alkej-342	132	40	�	�	PROPN
alkej-342	132	41	finally	finally	ADV
alkej-342	132	42	,	,	PUNCT
alkej-342	132	43	the	the	DET
alkej-342	132	44	control	control	NOUN
alkej-342	132	45	law	law	NOUN
alkej-342	132	46	is	be	AUX
alkej-342	132	47	written	write	VERB
alkej-342	132	48	according	accord	VERB
alkej-342	132	49	to	to	ADP
alkej-342	132	50	�	�	PROPN
alkej-342	132	51	�	�	PROPN
alkej-342	132	52	1	1	NUM
alkej-342	132	53	d	d	ADP
alkej-342	132	54	8	8	NUM
alkej-342	132	55	.	.	PUNCT
alkej-342	132	56	�	�	PROPN
alkej-342	132	57	�	�	PROPN
alkej-342	132	58	�	�	PROPN
alkej-342	132	59	e	e	NOUN
alkej-342	132	60	�	�	PROPN
alkej-342	132	61	�	�	PROPN
alkej-342	132	62	�	�	PROPN
alkej-342	132	63	ө!g	ө!g	PROPN
alkej-342	132	64	�	�	PROPN
alkej-342	132	65	c	c	NOUN
alkej-342	132	66	�	�	PROPN
alkej-342	132	67	"	"	PUNCT
alkej-342	132	68	�	�	PROPN
alkej-342	132	69	d	d	PROPN
alkej-342	132	70	�	�	PROPN
alkej-342	132	71	�	�	PROPN
alkej-342	132	72	�	�	PROPN
alkej-342	132	73	d	d	PROPN
alkej-342	132	74	�	�	PROPN
alkej-342	132	75	�	�	PROPN
alkej-342	132	76	�	�	PROPN
alkej-342	132	77	�	�	PROPN
alkej-342	132	78	�	�	PROPN
alkej-342	132	79	�	�	PROPN
alkej-342	132	80	�	�	PROPN
alkej-342	132	81	�	�	PROPN
alkej-342	132	82	�	�	PROPN
alkej-342	132	83	�	�	PROPN
alkej-342	132	84	used	use	VERB
alkej-342	132	85	,	,	PUNCT
alkej-342	132	86	the	the	DET
alkej-342	132	87	above	above	PROPN
alkej-342	132	88	�	�	PROPN
alkej-342	132	89	�	�	PROPN
alkej-342	132	90	1	1	NUM
alkej-342	132	91	d	d	ADP
alkej-342	132	92	8	8	NUM
alkej-342	132	93	.	.	PUNCT
alkej-342	132	94	�	�	PROPN
alkej-342	132	95	�	�	PROPN
alkej-342	132	96	�	�	PROPN
alkej-342	132	97	e	e	NOUN
alkej-342	132	98	�	�	PROPN
alkej-342	132	99	�	�	PROPN
alkej-342	132	100	�	�	PROPN
alkej-342	132	101	ө!g	ө!g	PROPN
alkej-342	132	102	�	�	PROPN
alkej-342	132	103	c	c	NOUN
alkej-342	132	104	�	�	PROPN
alkej-342	132	105	"	"	PUNCT
alkej-342	132	106	�	�	PROPN
alkej-342	132	107	d	d	PROPN
alkej-342	132	108	�	�	PROPN
alkej-342	132	109	�	�	PROPN
alkej-342	132	110	�	�	PROPN
alkej-342	132	111	d	d	NOUN
alkej-342	132	112	"	"	PUNCT
alkej-342	132	113	�	�	PROPN
alkej-342	132	114	�	�	PROPN
alkej-342	132	115	�	�	PROPN
alkej-342	132	116	�	�	PROPN
alkej-342	132	117	�	�	PROPN
alkej-342	132	118	.	.	PUNCT
alkej-342	132	119	'	'	PART
alkej-342	132	120	liding	lide	VERB
alkej-342	132	121	mode	mode	NOUN
alkej-342	132	122	function	function	NOUN
alkej-342	132	123	csmc	csmc	PROPN
alkej-342	132	124	.	.	PUNCT
alkej-342	133	1	fig	fig	NOUN
alkej-342	133	2	.	.	PUNCT
alkej-342	134	1	8	8	X
alkej-342	134	2	.	.	PUNCT
alkej-342	135	1	the	the	DET
alkej-342	135	2	derivative	derivative	ADJ
alkej-342	135	3	error	error	NOUN
alkej-342	135	4	x	x	X
alkej-342	135	5	csmc	csmc	PROPN
alkej-342	135	6	.	.	PUNCT
alkej-342	136	1	fig	fig	NOUN
alkej-342	136	2	.	.	PUNCT
alkej-342	137	1	9	9	X
alkej-342	137	2	.	.	X
alkej-342	138	1	the	the	DET
alkej-342	138	2	control	control	NOUN
alkej-342	138	3	action	action	NOUN
alkej-342	138	4	u	u	NOUN
alkej-342	138	5	vs.	vs.	ADP
alkej-342	138	6	time	time	NOUN
alkej-342	138	7	of	of	ADP
alkej-342	138	8	the	the	DET
alkej-342	138	9	fig	fig	NOUN
alkej-342	138	10	.	.	PUNCT
alkej-342	139	1	10	10	NUM
alkej-342	139	2	.	.	PUNCT
alkej-342	140	1	the	the	DET
alkej-342	140	2	sliding	slide	VERB
alkej-342	140	3	variable	variable	NOUN
alkej-342	140	4	s	s	PART
alkej-342	140	5	classical	classical	ADJ
alkej-342	140	6	smc	smc	PROPN
alkej-342	140	7	.	.	PUNCT
alkej-342	141	1	khwarizmi	khwarizmi	PROPN
alkej-342	141	2	engineering	engineering	PROPN
alkej-342	141	3	journal	journal	PROPN
alkej-342	141	4	,	,	PUNCT
alkej-342	141	5	vol	vol	NOUN
alkej-342	141	6	.	.	PROPN
alkej-342	141	7	13	13	NUM
alkej-342	141	8	,	,	PUNCT
alkej-342	141	9	no	no	INTJ
alkej-342	141	10	.	.	NOUN
alkej-342	141	11	1	1	NUM
alkej-342	141	12	,	,	PUNCT
alkej-342	141	13	p.p	p.p	PROPN
alkej-342	141	14	.	.	NOUN
alkej-342	141	15	138147(2017	138147(2017	NUM
alkej-342	141	16	)	)	PUNCT
alkej-342	141	17	…	…	PUNCT
alkej-342	141	18	�	�	PROPN
alkej-342	141	19	31	31	NUM
alkej-342	141	20	d	d	NOUN
alkej-342	141	21	"	"	PUNCT
alkej-342	141	22	�	�	PROPN
alkej-342	141	23	�	�	PROPN
alkej-342	141	24	]	]	PUNCT
alkej-342	141	25	…	…	PUNCT
alkej-342	141	26	�	�	PROPN
alkej-342	141	27	32	32	NUM
alkej-342	141	28	"	"	PUNCT
alkej-342	141	29	�	�	PROPN
alkej-342	141	30	�	�	PROPN
alkej-342	141	31	]	]	PUNCT
alkej-342	141	32	…	…	PUNCT
alkej-342	141	33	�	�	X
alkej-342	141	34	33	33	NUM
alkej-342	141	35	2x	2x	NOUN
alkej-342	141	36	vs.	vs.	ADP
alkej-342	141	37	time	time	NOUN
alkej-342	141	38	of	of	ADP
alkej-342	141	39	the	the	DET
alkej-342	141	40	vs.	vs.	ADJ
alkej-342	141	41	time	time	NOUN
alkej-342	141	42	of	of	ADP
alkej-342	141	43	the	the	DET
alkej-342	141	44	csmc	csmc	NOUN
alkej-342	141	45	.	.	PUNCT
alkej-342	142	1	s	s	PART
alkej-342	142	2	vs.	vs.	ADP
alkej-342	142	3	time	time	NOUN
alkej-342	142	4	of	of	ADP
alkej-342	142	5	the	the	DET
alkej-342	142	6	ahmed	ahmed	PROPN
alkej-342	142	7	khalaf	khalaf	PROPN
alkej-342	142	8	hamoudi	hamoudi	PROPN
alkej-342	142	9	al	al	PROPN
alkej-342	142	10	-	-	PUNCT
alkej-342	142	11	khwarizmi	khwarizmi	PROPN
alkej-342	142	12	engineering	engineering	NOUN
alkej-342	142	13	journal	journal	PROPN
alkej-342	142	14	,	,	PUNCT
alkej-342	142	15	vol	vol	NOUN
alkej-342	142	16	.	.	PROPN
alkej-342	142	17	13	13	NUM
alkej-342	142	18	,	,	PUNCT
alkej-342	142	19	no	no	INTJ
alkej-342	142	20	.	.	NOUN
alkej-342	142	21	1	1	NUM
alkej-342	142	22	,	,	PUNCT
alkej-342	142	23	p.p	p.p	PROPN
alkej-342	142	24	.	.	PROPN
alkej-342	142	25	fig	fig	NOUN
alkej-342	142	26	.	.	PUNCT
alkej-342	143	1	11	11	NUM
alkej-342	143	2	.	.	PUNCT
alkej-342	144	1	the	the	DET
alkej-342	144	2	plot	plot	NOUN
alkej-342	144	3	of	of	ADP
alkej-342	144	4	the	the	DET
alkej-342	144	5	phase	phase	NOUN
alkej-342	144	6	plane	plane	NOUN
alkej-342	144	7	between	between	ADP
alkej-342	144	8	_	_	PROPN
alkej-342	144	9	b	b	PROPN
alkej-342	144	10	of	of	ADP
alkej-342	144	11	the	the	DET
alkej-342	144	12	classical	classical	ADJ
alkej-342	144	13	smc	smc	PROPN
alkej-342	144	14	.	.	PROPN
alkej-342	144	15	case	case	NOUN
alkej-342	144	16	(	(	PUNCT
alkej-342	144	17	b	b	NOUN
alkej-342	144	18	):	):	PUNCT
alkej-342	144	19	the	the	DET
alkej-342	144	20	classical	classical	ADJ
alkej-342	144	21	sliding	slide	VERB
alkej-342	144	22	mode	mode	NOUN
alkej-342	144	23	controller	controller	NOUN
alkej-342	144	24	(	(	PUNCT
alkej-342	144	25	csmc	csmc	PROPN
alkej-342	144	26	)	)	PUNCT
alkej-342	144	27	with	with	ADP
alkej-342	144	28	boundary	boundary	ADJ
alkej-342	144	29	layer	layer	NOUN
alkej-342	144	30	fig	fig	NOUN
alkej-342	144	31	.	.	PUNCT
alkej-342	145	1	12	12	NUM
alkej-342	145	2	.	.	PUNCT
alkej-342	146	1	the	the	DET
alkej-342	146	2	error	error	NOUN
alkej-342	146	3	_	_	X
alkej-342	146	4	`	`	PUNCT
alkej-342	146	5	vs.	vs.	PRON
alkej-342	146	6	time	time	NOUN
alkej-342	146	7	of	of	ADP
alkej-342	146	8	the	the	DET
alkej-342	146	9	csmc	csmc	PROPN
alkej-342	146	10	fig	fig	NOUN
alkej-342	146	11	.	.	PUNCT
alkej-342	147	1	13	13	NUM
alkej-342	147	2	.	.	PUNCT
alkej-342	148	1	the	the	DET
alkej-342	148	2	derivative	derivative	ADJ
alkej-342	148	3	error	error	NOUN
alkej-342	148	4	_	_	PROPN
alkej-342	148	5	b	b	NOUN
alkej-342	148	6	vs.	vs.	ADP
alkej-342	148	7	time	time	NOUN
alkej-342	148	8	of	of	ADP
alkej-342	148	9	the	the	DET
alkej-342	148	10	csmc	csmc	NOUN
alkej-342	148	11	.	.	PUNCT
alkej-342	149	1	khwarizmi	khwarizmi	PROPN
alkej-342	149	2	engineering	engineering	PROPN
alkej-342	149	3	journal	journal	PROPN
alkej-342	149	4	,	,	PUNCT
alkej-342	149	5	vol	vol	NOUN
alkej-342	149	6	.	.	PROPN
alkej-342	149	7	13	13	NUM
alkej-342	149	8	,	,	PUNCT
alkej-342	149	9	no	no	INTJ
alkej-342	149	10	.	.	NOUN
alkej-342	149	11	1	1	NUM
alkej-342	149	12	,	,	PUNCT
alkej-342	149	13	p.p	p.p	PROPN
alkej-342	149	14	.	.	NOUN
alkej-342	149	15	143	143	NUM
alkej-342	149	16	the	the	DET
alkej-342	149	17	plot	plot	NOUN
alkej-342	149	18	of	of	ADP
alkej-342	149	19	the	the	DET
alkej-342	149	20	phase	phase	NOUN
alkej-342	149	21	plane	plane	NOUN
alkej-342	149	22	between	between	ADP
alkej-342	149	23	_	_	PUNCT
alkej-342	149	24	`	`	PUNCT
alkej-342	149	25	and	and	CCONJ
alkej-342	149	26	lassical	lassical	ADJ
alkej-342	149	27	sliding	slide	VERB
alkej-342	149	28	mode	mode	NOUN
alkej-342	149	29	with	with	ADP
alkej-342	149	30	boundary	boundary	ADJ
alkej-342	149	31	layer	layer	NOUN
alkej-342	149	32	vs.	vs.	ADP
alkej-342	149	33	time	time	NOUN
alkej-342	149	34	of	of	ADP
alkej-342	149	35	the	the	DET
alkej-342	149	36	csmc	csmc	NOUN
alkej-342	149	37	.	.	PUNCT
alkej-342	150	1	vs.	vs.	ADP
alkej-342	150	2	time	time	NOUN
alkej-342	150	3	of	of	ADP
alkej-342	150	4	the	the	DET
alkej-342	150	5	fig	fig	NOUN
alkej-342	150	6	.	.	PUNCT
alkej-342	151	1	14	14	NUM
alkej-342	151	2	.	.	PUNCT
alkej-342	152	1	the	the	DET
alkej-342	152	2	control	control	NOUN
alkej-342	152	3	action	action	NOUN
alkej-342	152	4	c	c	PROPN
alkej-342	152	5	vs.	vs.	ADP
alkej-342	152	6	time	time	NOUN
alkej-342	152	7	of	of	ADP
alkej-342	152	8	the	the	DET
alkej-342	152	9	csmc	csmc	NOUN
alkej-342	152	10	.	.	PUNCT
alkej-342	153	1	fig	fig	NOUN
alkej-342	153	2	.	.	PUNCT
alkej-342	154	1	15	15	NUM
alkej-342	154	2	.	.	PUNCT
alkej-342	155	1	the	the	DET
alkej-342	155	2	plot	plot	NOUN
alkej-342	155	3	of	of	ADP
alkej-342	155	4	sliding	slide	VERB
alkej-342	155	5	variable	variable	NOUN
alkej-342	155	6	s	s	X
alkej-342	155	7	vs.	vs.	ADP
alkej-342	155	8	time	time	NOUN
alkej-342	155	9	of	of	ADP
alkej-342	155	10	the	the	DET
alkej-342	155	11	csmc	csmc	NOUN
alkej-342	155	12	.	.	PUNCT
alkej-342	156	1	fig	fig	NOUN
alkej-342	156	2	.	.	PUNCT
alkej-342	157	1	16	16	NUM
alkej-342	157	2	.	.	PUNCT
alkej-342	158	1	the	the	DET
alkej-342	158	2	plot	plot	NOUN
alkej-342	158	3	of	of	ADP
alkej-342	158	4	phase	phase	NOUN
alkej-342	158	5	plane	plane	NOUN
alkej-342	158	6	between	between	ADP
alkej-342	158	7	the	the	DET
alkej-342	158	8	error	error	NOUN
alkej-342	158	9	_	_	NOUN
alkej-342	158	10	`	`	PUNCT
alkej-342	158	11	and	and	CCONJ
alkej-342	158	12	the	the	DET
alkej-342	158	13	derivative	derivative	ADJ
alkej-342	158	14	error	error	NOUN
alkej-342	158	15	_	_	PUNCT
alkej-342	158	16	b	b	PROPN
alkej-342	158	17	of	of	ADP
alkej-342	158	18	the	the	DET
alkej-342	158	19	csmc	csmc	NOUN
alkej-342	158	20	.	.	PUNCT
alkej-342	159	1	khwarizmi	khwarizmi	PROPN
alkej-342	159	2	engineering	engineering	PROPN
alkej-342	159	3	journal	journal	PROPN
alkej-342	159	4	,	,	PUNCT
alkej-342	159	5	vol	vol	NOUN
alkej-342	159	6	.	.	PROPN
alkej-342	159	7	13	13	NUM
alkej-342	159	8	,	,	PUNCT
alkej-342	159	9	no	no	INTJ
alkej-342	159	10	.	.	NOUN
alkej-342	159	11	1	1	NUM
alkej-342	159	12	,	,	PUNCT
alkej-342	159	13	p.p	p.p	PROPN
alkej-342	159	14	.	.	NOUN
alkej-342	159	15	138147(2017	138147(2017	NUM
alkej-342	159	16	)	)	PUNCT
alkej-342	159	17	vs.	vs.	ADP
alkej-342	159	18	time	time	NOUN
alkej-342	159	19	of	of	ADP
alkej-342	159	20	the	the	DET
alkej-342	159	21	csmc	csmc	NOUN
alkej-342	159	22	.	.	PUNCT
alkej-342	159	23	.	.	PUNCT
alkej-342	160	1	the	the	DET
alkej-342	160	2	plot	plot	NOUN
alkej-342	160	3	of	of	ADP
alkej-342	160	4	sliding	slide	VERB
alkej-342	160	5	variable	variable	NOUN
alkej-342	160	6	s	s	X
alkej-342	160	7	vs.	vs.	ADP
alkej-342	160	8	time	time	NOUN
alkej-342	160	9	of	of	ADP
alkej-342	160	10	the	the	PRON
alkej-342	160	11	.	.	PUNCT
alkej-342	161	1	the	the	DET
alkej-342	161	2	plot	plot	NOUN
alkej-342	161	3	of	of	ADP
alkej-342	161	4	phase	phase	NOUN
alkej-342	161	5	plane	plane	NOUN
alkej-342	161	6	between	between	ADP
alkej-342	161	7	the	the	DET
alkej-342	161	8	error	error	NOUN
alkej-342	161	9	of	of	ADP
alkej-342	161	10	the	the	DET
alkej-342	161	11	csmc	csmc	NOUN
alkej-342	161	12	.	.	PUNCT
alkej-342	162	1	ahmed	ahmed	PROPN
alkej-342	162	2	khalaf	khalaf	PROPN
alkej-342	162	3	hamoudi	hamoudi	PROPN
alkej-342	162	4	al	al	PROPN
alkej-342	162	5	-	-	PUNCT
alkej-342	162	6	khwarizmi	khwarizmi	PROPN
alkej-342	162	7	engineering	engineering	NOUN
alkej-342	162	8	journal	journal	PROPN
alkej-342	162	9	,	,	PUNCT
alkej-342	162	10	vol	vol	NOUN
alkej-342	162	11	.	.	PROPN
alkej-342	162	12	13	13	NUM
alkej-342	162	13	,	,	PUNCT
alkej-342	162	14	no	no	INTJ
alkej-342	162	15	.	.	NOUN
alkej-342	162	16	1	1	NUM
alkej-342	162	17	,	,	PUNCT
alkej-342	162	18	p.p	p.p	PROPN
alkej-342	162	19	.	.	NOUN
alkej-342	162	20	case	case	NOUN
alkej-342	162	21	(	(	PUNCT
alkej-342	162	22	c	c	X
alkej-342	162	23	):	):	PUNCT
alkej-342	162	24	the	the	DET
alkej-342	162	25	integral	integral	ADJ
alkej-342	162	26	sliding	slide	VERB
alkej-342	162	27	controller	controller	NOUN
alkej-342	162	28	with	with	ADP
alkej-342	162	29	a	a	DET
alkej-342	162	30	/\]^	/\]^	SYM
alkej-342	162	31	function	function	NOUN
alkej-342	162	32	fig	fig	NOUN
alkej-342	162	33	.	.	PUNCT
alkej-342	163	1	17	17	NUM
alkej-342	163	2	.	.	PUNCT
alkej-342	164	1	the	the	DET
alkej-342	164	2	error	error	NOUN
alkej-342	164	3	d	d	NOUN
alkej-342	164	4	`	`	PUNCT
alkej-342	164	5	vs.	vs.	ADP
alkej-342	164	6	time	time	NOUN
alkej-342	164	7	of	of	ADP
alkej-342	164	8	the	the	DET
alkej-342	164	9	ismc	ismc	NOUN
alkej-342	164	10	.	.	PUNCT
alkej-342	165	1	fig	fig	NOUN
alkej-342	165	2	.	.	PUNCT
alkej-342	166	1	18	18	NUM
alkej-342	166	2	.	.	PUNCT
alkej-342	167	1	the	the	DET
alkej-342	167	2	derivative	derivative	ADJ
alkej-342	167	3	error	error	NOUN
alkej-342	167	4	_	_	PRON
alkej-342	167	5	bvs	bvs	PROPN
alkej-342	167	6	.	.	PROPN
alkej-342	167	7	time	time	NOUN
alkej-342	167	8	of	of	ADP
alkej-342	167	9	ismc	ismc	NOUN
alkej-342	167	10	.	.	PUNCT
alkej-342	168	1	fig	fig	NOUN
alkej-342	168	2	.	.	PUNCT
alkej-342	169	1	19	19	NUM
alkej-342	169	2	.	.	PUNCT
alkej-342	170	1	the	the	DET
alkej-342	170	2	control	control	NOUN
alkej-342	170	3	action	action	NOUN
alkej-342	170	4	c	c	PROPN
alkej-342	170	5	vs.	vs.	ADP
alkej-342	170	6	time	time	NOUN
alkej-342	170	7	of	of	ADP
alkej-342	170	8	the	the	DET
alkej-342	170	9	ismc	ismc	NOUN
alkej-342	170	10	.	.	PUNCT
alkej-342	171	1	khwarizmi	khwarizmi	PROPN
alkej-342	171	2	engineering	engineering	PROPN
alkej-342	171	3	journal	journal	PROPN
alkej-342	171	4	,	,	PUNCT
alkej-342	171	5	vol	vol	NOUN
alkej-342	171	6	.	.	PROPN
alkej-342	171	7	13	13	NUM
alkej-342	171	8	,	,	PUNCT
alkej-342	171	9	no	no	INTJ
alkej-342	171	10	.	.	NOUN
alkej-342	171	11	1	1	NUM
alkej-342	171	12	,	,	PUNCT
alkej-342	171	13	p.p	p.p	PROPN
alkej-342	171	14	.	.	NOUN
alkej-342	171	15	144	144	NUM
alkej-342	171	16	liding	liding	NOUN
alkej-342	171	17	mode	mode	NOUN
alkej-342	171	18	vs.	vs.	ADP
alkej-342	171	19	time	time	NOUN
alkej-342	171	20	of	of	ADP
alkej-342	171	21	the	the	DET
alkej-342	171	22	ismc	ismc	NOUN
alkej-342	171	23	.	.	PUNCT
alkej-342	172	1	vs.	vs.	ADP
alkej-342	172	2	time	time	NOUN
alkej-342	172	3	of	of	ADP
alkej-342	172	4	the	the	DET
alkej-342	172	5	vs.	vs.	ADJ
alkej-342	172	6	time	time	NOUN
alkej-342	172	7	of	of	ADP
alkej-342	172	8	the	the	DET
alkej-342	172	9	ismc	ismc	NOUN
alkej-342	172	10	.	.	PUNCT
alkej-342	173	1	fig	fig	NOUN
alkej-342	173	2	.	.	PUNCT
alkej-342	174	1	20	20	NUM
alkej-342	174	2	.	.	PUNCT
alkej-342	175	1	the	the	DET
alkej-342	175	2	plot	plot	NOUN
alkej-342	175	3	of	of	ADP
alkej-342	175	4	sliding	slide	VERB
alkej-342	175	5	variable	variable	NOUN
alkej-342	175	6	s	s	X
alkej-342	175	7	vs.	vs.	ADP
alkej-342	175	8	time	time	NOUN
alkej-342	175	9	of	of	ADP
alkej-342	175	10	the	the	DET
alkej-342	175	11	ismc	ismc	NOUN
alkej-342	175	12	.	.	PUNCT
alkej-342	176	1	fig	fig	NOUN
alkej-342	176	2	.	.	PUNCT
alkej-342	177	1	21	21	NUM
alkej-342	177	2	.	.	PUNCT
alkej-342	178	1	the	the	DET
alkej-342	178	2	plot	plot	NOUN
alkej-342	178	3	of	of	ADP
alkej-342	178	4	phase	phase	NOUN
alkej-342	178	5	plane	plane	NOUN
alkej-342	178	6	between	between	ADP
alkej-342	178	7	the	the	DET
alkej-342	178	8	error	error	NOUN
alkej-342	178	9	_	_	NOUN
alkej-342	178	10	`	`	PUNCT
alkej-342	178	11	and	and	CCONJ
alkej-342	178	12	the	the	DET
alkej-342	178	13	derivative	derivative	ADJ
alkej-342	178	14	error	error	NOUN
alkej-342	178	15	_	_	PUNCT
alkej-342	178	16	b	b	PROPN
alkej-342	178	17	of	of	ADP
alkej-342	178	18	the	the	DET
alkej-342	178	19	ismc	ismc	NOUN
alkej-342	178	20	.	.	PUNCT
alkej-342	179	1	fig	fig	NOUN
alkej-342	179	2	.	.	PUNCT
alkej-342	180	1	22	22	NUM
alkej-342	180	2	.	.	PUNCT
alkej-342	181	1	the	the	DET
alkej-342	181	2	plot	plot	NOUN
alkej-342	181	3	of	of	ADP
alkej-342	181	4	the	the	DET
alkej-342	181	5	sliding	slide	VERB
alkej-342	181	6	variable	variable	NOUN
alkej-342	181	7	s	s	NOUN
alkej-342	181	8	and	and	CCONJ
alkej-342	181	9	the	the	DET
alkej-342	181	10	integral	integral	ADJ
alkej-342	181	11	term	term	NOUN
alkej-342	181	12	e	e	NOUN
alkej-342	181	13	vs.	vs.	ADP
alkej-342	181	14	time	time	NOUN
alkej-342	181	15	of	of	ADP
alkej-342	181	16	the	the	DET
alkej-342	181	17	ismc	ismc	PROPN
alkej-342	181	18	khwarizmi	khwarizmi	PROPN
alkej-342	181	19	engineering	engineering	PROPN
alkej-342	181	20	journal	journal	PROPN
alkej-342	181	21	,	,	PUNCT
alkej-342	181	22	vol	vol	NOUN
alkej-342	181	23	.	.	PROPN
alkej-342	181	24	13	13	NUM
alkej-342	181	25	,	,	PUNCT
alkej-342	181	26	no	no	INTJ
alkej-342	181	27	.	.	NOUN
alkej-342	181	28	1	1	NUM
alkej-342	181	29	,	,	PUNCT
alkej-342	181	30	p.p	p.p	PROPN
alkej-342	181	31	.	.	NOUN
alkej-342	181	32	138147(2017	138147(2017	NUM
alkej-342	181	33	)	)	PUNCT
alkej-342	181	34	the	the	DET
alkej-342	181	35	plot	plot	NOUN
alkej-342	181	36	of	of	ADP
alkej-342	181	37	sliding	slide	VERB
alkej-342	181	38	variable	variable	NOUN
alkej-342	181	39	s	s	X
alkej-342	181	40	vs.	vs.	ADP
alkej-342	181	41	time	time	NOUN
alkej-342	181	42	of	of	ADP
alkej-342	181	43	the	the	DET
alkej-342	181	44	the	the	DET
alkej-342	181	45	plot	plot	NOUN
alkej-342	181	46	of	of	ADP
alkej-342	181	47	phase	phase	NOUN
alkej-342	181	48	plane	plane	NOUN
alkej-342	181	49	between	between	ADP
alkej-342	181	50	the	the	DET
alkej-342	181	51	error	error	NOUN
alkej-342	181	52	of	of	ADP
alkej-342	181	53	the	the	DET
alkej-342	181	54	ismc	ismc	NOUN
alkej-342	181	55	.	.	PUNCT
alkej-342	182	1	the	the	DET
alkej-342	182	2	plot	plot	NOUN
alkej-342	182	3	of	of	ADP
alkej-342	182	4	the	the	DET
alkej-342	182	5	sliding	slide	VERB
alkej-342	182	6	variable	variable	NOUN
alkej-342	182	7	s	s	NOUN
alkej-342	182	8	and	and	CCONJ
alkej-342	182	9	the	the	DET
alkej-342	182	10	vs.	vs.	ADJ
alkej-342	182	11	time	time	NOUN
alkej-342	182	12	of	of	ADP
alkej-342	182	13	the	the	DET
alkej-342	182	14	ismc	ismc	NOUN
alkej-342	182	15	ahmed	ahmed	PROPN
alkej-342	182	16	khalaf	khalaf	PROPN
alkej-342	182	17	hamoudi	hamoudi	PROPN
alkej-342	183	1	al	al	PROPN
alkej-342	183	2	-	-	PUNCT
alkej-342	183	3	khwarizmi	khwarizmi	PROPN
alkej-342	183	4	engineering	engineering	NOUN
alkej-342	183	5	journal	journal	PROPN
alkej-342	183	6	,	,	PUNCT
alkej-342	183	7	vol	vol	NOUN
alkej-342	183	8	.	.	PROPN
alkej-342	183	9	13	13	NUM
alkej-342	183	10	,	,	PUNCT
alkej-342	183	11	no	no	INTJ
alkej-342	183	12	.	.	NOUN
alkej-342	183	13	1	1	NUM
alkej-342	183	14	,	,	PUNCT
alkej-342	183	15	p.p	p.p	PROPN
alkej-342	183	16	.	.	NOUN
alkej-342	183	17	case	case	NOUN
alkej-342	183	18	(	(	PUNCT
alkej-342	183	19	d	d	NOUN
alkej-342	183	20	):	):	PUNCT
alkej-342	183	21	the	the	DET
alkej-342	183	22	integral	integral	ADJ
alkej-342	183	23	sliding	slide	VERB
alkej-342	183	24	mode	mode	NOUN
alkej-342	183	25	controller	controller	NOUN
alkej-342	183	26	with	with	ADP
alkej-342	183	27	boundary	boundary	ADJ
alkej-342	183	28	layer	layer	NOUN
alkej-342	183	29	fig	fig	NOUN
alkej-342	183	30	.	.	PUNCT
alkej-342	184	1	23	23	NUM
alkej-342	184	2	.	.	PUNCT
alkej-342	185	1	the	the	DET
alkej-342	185	2	error	error	NOUN
alkej-342	185	3	_	_	X
alkej-342	185	4	`	`	PUNCT
alkej-342	185	5	vs.	vs.	PRON
alkej-342	185	6	time	time	NOUN
alkej-342	185	7	of	of	ADP
alkej-342	185	8	the	the	DET
alkej-342	185	9	ismc	ismc	NOUN
alkej-342	185	10	.	.	PUNCT
alkej-342	186	1	fig	fig	NOUN
alkej-342	186	2	.	.	PUNCT
alkej-342	187	1	24	24	NUM
alkej-342	187	2	.	.	PUNCT
alkej-342	188	1	the	the	DET
alkej-342	188	2	derivative	derivative	ADJ
alkej-342	188	3	error	error	NOUN
alkej-342	188	4	_	_	PROPN
alkej-342	188	5	b	b	PROPN
alkej-342	188	6	vs.	vs.	ADP
alkej-342	188	7	time	time	NOUN
alkej-342	188	8	ismc	ismc	PROPN
alkej-342	188	9	.	.	PUNCT
alkej-342	189	1	fig	fig	NOUN
alkej-342	189	2	.	.	PUNCT
alkej-342	190	1	25	25	NUM
alkej-342	190	2	.	.	PUNCT
alkej-342	191	1	the	the	DET
alkej-342	191	2	control	control	NOUN
alkej-342	191	3	action	action	NOUN
alkej-342	191	4	c	c	PROPN
alkej-342	191	5	vs.	vs.	ADP
alkej-342	191	6	time	time	NOUN
alkej-342	191	7	of	of	ADP
alkej-342	191	8	the	the	DET
alkej-342	191	9	ismc	ismc	NOUN
alkej-342	191	10	.	.	PUNCT
alkej-342	192	1	khwarizmi	khwarizmi	PROPN
alkej-342	192	2	engineering	engineering	PROPN
alkej-342	192	3	journal	journal	PROPN
alkej-342	192	4	,	,	PUNCT
alkej-342	192	5	vol	vol	NOUN
alkej-342	192	6	.	.	PROPN
alkej-342	192	7	13	13	NUM
alkej-342	192	8	,	,	PUNCT
alkej-342	192	9	no	no	INTJ
alkej-342	192	10	.	.	NOUN
alkej-342	192	11	1	1	NUM
alkej-342	192	12	,	,	PUNCT
alkej-342	192	13	p.p	p.p	PROPN
alkej-342	192	14	.	.	NOUN
alkej-342	192	15	145	145	NUM
alkej-342	192	16	ntegral	ntegral	NOUN
alkej-342	192	17	sliding	slide	VERB
alkej-342	192	18	mode	mode	NOUN
alkej-342	192	19	vs.	vs.	ADP
alkej-342	192	20	time	time	NOUN
alkej-342	192	21	of	of	ADP
alkej-342	192	22	the	the	DET
alkej-342	192	23	ismc	ismc	NOUN
alkej-342	192	24	.	.	PUNCT
alkej-342	193	1	vs.	vs.	ADP
alkej-342	193	2	time	time	NOUN
alkej-342	193	3	of	of	ADP
alkej-342	193	4	the	the	PRON
alkej-342	193	5	of	of	ADP
alkej-342	193	6	the	the	DET
alkej-342	193	7	ismc	ismc	NOUN
alkej-342	193	8	.	.	PUNCT
alkej-342	194	1	fig	fig	NOUN
alkej-342	194	2	.	.	PUNCT
alkej-342	195	1	26	26	NUM
alkej-342	195	2	.	.	PUNCT
alkej-342	196	1	the	the	DET
alkej-342	196	2	sliding	slide	VERB
alkej-342	196	3	variable	variable	ADJ
alkej-342	196	4	f	f	NOUN
alkej-342	196	5	vs.	vs.	ADP
alkej-342	196	6	time	time	NOUN
alkej-342	196	7	of	of	ADP
alkej-342	196	8	the	the	DET
alkej-342	196	9	ismc	ismc	NOUN
alkej-342	196	10	.	.	PUNCT
alkej-342	197	1	fig	fig	NOUN
alkej-342	197	2	.	.	PUNCT
alkej-342	198	1	27	27	NUM
alkej-342	198	2	.	.	PUNCT
alkej-342	199	1	the	the	DET
alkej-342	199	2	plot	plot	NOUN
alkej-342	199	3	of	of	ADP
alkej-342	199	4	phase	phase	NOUN
alkej-342	199	5	plane	plane	NOUN
alkej-342	199	6	between	between	ADP
alkej-342	199	7	the	the	DET
alkej-342	199	8	error	error	NOUN
alkej-342	199	9	_	_	NOUN
alkej-342	199	10	`	`	PUNCT
alkej-342	199	11	and	and	CCONJ
alkej-342	199	12	the	the	DET
alkej-342	199	13	derivative	derivative	ADJ
alkej-342	199	14	error	error	NOUN
alkej-342	199	15	_	_	PUNCT
alkej-342	199	16	b	b	PROPN
alkej-342	199	17	of	of	ADP
alkej-342	199	18	the	the	DET
alkej-342	199	19	ismc	ismc	NOUN
alkej-342	199	20	.	.	PUNCT
alkej-342	200	1	fig	fig	NOUN
alkej-342	200	2	.	.	PUNCT
alkej-342	201	1	28	28	NUM
alkej-342	201	2	.	.	PUNCT
alkej-342	202	1	the	the	DET
alkej-342	202	2	plot	plot	NOUN
alkej-342	202	3	of	of	ADP
alkej-342	202	4	the	the	DET
alkej-342	202	5	sliding	slide	VERB
alkej-342	202	6	variable	variable	ADJ
alkej-342	202	7	integral	integral	ADJ
alkej-342	202	8	term	term	NOUN
alkej-342	202	9	g	g	NOUN
alkej-342	202	10	vs.	vs.	ADP
alkej-342	202	11	time	time	NOUN
alkej-342	202	12	of	of	ADP
alkej-342	202	13	the	the	DET
alkej-342	202	14	ismc	ismc	NOUN
alkej-342	202	15	.	.	PUNCT
alkej-342	203	1	khwarizmi	khwarizmi	PROPN
alkej-342	203	2	engineering	engineering	PROPN
alkej-342	203	3	journal	journal	PROPN
alkej-342	203	4	,	,	PUNCT
alkej-342	203	5	vol	vol	NOUN
alkej-342	203	6	.	.	PROPN
alkej-342	203	7	13	13	NUM
alkej-342	203	8	,	,	PUNCT
alkej-342	203	9	no	no	INTJ
alkej-342	203	10	.	.	NOUN
alkej-342	203	11	1	1	NUM
alkej-342	203	12	,	,	PUNCT
alkej-342	203	13	p.p	p.p	PROPN
alkej-342	203	14	.	.	NOUN
alkej-342	203	15	138147(2017	138147(2017	NUM
alkej-342	203	16	)	)	PUNCT
alkej-342	203	17	vs.	vs.	ADP
alkej-342	203	18	time	time	NOUN
alkej-342	203	19	of	of	ADP
alkej-342	203	20	the	the	DET
alkej-342	203	21	ismc	ismc	NOUN
alkej-342	203	22	.	.	PUNCT
alkej-342	204	1	the	the	DET
alkej-342	204	2	plot	plot	NOUN
alkej-342	204	3	of	of	ADP
alkej-342	204	4	phase	phase	NOUN
alkej-342	204	5	plane	plane	NOUN
alkej-342	204	6	between	between	ADP
alkej-342	204	7	the	the	DET
alkej-342	204	8	error	error	NOUN
alkej-342	204	9	of	of	ADP
alkej-342	204	10	the	the	DET
alkej-342	204	11	ismc	ismc	NOUN
alkej-342	204	12	.	.	PUNCT
alkej-342	205	1	the	the	DET
alkej-342	205	2	plot	plot	NOUN
alkej-342	205	3	of	of	ADP
alkej-342	205	4	the	the	DET
alkej-342	205	5	sliding	slide	VERB
alkej-342	205	6	variable	variable	ADJ
alkej-342	205	7	f	f	PROPN
alkej-342	205	8	and	and	CCONJ
alkej-342	205	9	the	the	DET
alkej-342	205	10	vs.	vs.	ADJ
alkej-342	205	11	time	time	NOUN
alkej-342	205	12	of	of	ADP
alkej-342	205	13	the	the	DET
alkej-342	205	14	ismc	ismc	NOUN
alkej-342	205	15	.	.	PUNCT
alkej-342	206	1	ahmed	ahmed	PROPN
alkej-342	206	2	khalaf	khalaf	PROPN
alkej-342	206	3	hamoudi	hamoudi	PROPN
alkej-342	206	4	al	al	PROPN
alkej-342	206	5	-	-	PUNCT
alkej-342	206	6	khwarizmi	khwarizmi	PROPN
alkej-342	206	7	engineering	engineering	NOUN
alkej-342	206	8	journal	journal	PROPN
alkej-342	206	9	,	,	PUNCT
alkej-342	206	10	vol	vol	NOUN
alkej-342	206	11	.	.	PROPN
alkej-342	206	12	13	13	NUM
alkej-342	206	13	,	,	PUNCT
alkej-342	206	14	no	no	INTJ
alkej-342	206	15	.	.	NOUN
alkej-342	206	16	1	1	NUM
alkej-342	206	17	,	,	PUNCT
alkej-342	206	18	p.p	p.p	PROPN
alkej-342	206	19	.	.	NOUN
alkej-342	206	20	138147(2017	138147(2017	NUM
alkej-342	206	21	)	)	PUNCT
alkej-342	206	22	146	146	NUM
alkej-342	206	23	6	6	NUM
alkej-342	206	24	.	.	PUNCT
alkej-342	206	25	discussion	discussion	NOUN
alkej-342	206	26	in	in	ADP
alkej-342	206	27	this	this	DET
alkej-342	206	28	work	work	NOUN
alkej-342	206	29	,	,	PUNCT
alkej-342	206	30	smc	smc	PROPN
alkej-342	206	31	and	and	CCONJ
alkej-342	206	32	ismc	ismc	NOUN
alkej-342	206	33	have	have	AUX
alkej-342	206	34	been	be	AUX
alkej-342	206	35	considered	consider	VERB
alkej-342	206	36	for	for	ADP
alkej-342	206	37	controlling	control	VERB
alkej-342	206	38	the	the	DET
alkej-342	206	39	position	position	NOUN
alkej-342	206	40	of	of	ADP
alkej-342	206	41	the	the	DET
alkej-342	206	42	pendulum	pendulum	NOUN
alkej-342	206	43	system	system	NOUN
alkej-342	206	44	.	.	PUNCT
alkej-342	207	1	the	the	DET
alkej-342	207	2	results	result	NOUN
alkej-342	207	3	of	of	ADP
alkej-342	207	4	smc	smc	PROPN
alkej-342	207	5	and	and	CCONJ
alkej-342	207	6	ismc	ismc	NOUN
alkej-342	207	7	have	have	AUX
alkej-342	207	8	been	be	AUX
alkej-342	207	9	included	include	VERB
alkej-342	207	10	in	in	ADP
alkej-342	207	11	this	this	DET
alkej-342	207	12	work	work	NOUN
alkej-342	207	13	to	to	PART
alkej-342	207	14	show	show	VERB
alkej-342	207	15	the	the	DET
alkej-342	207	16	proprties	proprtie	NOUN
alkej-342	207	17	of	of	ADP
alkej-342	207	18	each	each	DET
alkej-342	207	19	controllers	controller	NOUN
alkej-342	207	20	with	with	ADP
alkej-342	207	21	the	the	DET
alkej-342	207	22	presence	presence	NOUN
alkej-342	207	23	of	of	ADP
alkej-342	207	24	the	the	DET
alkej-342	207	25	external	external	ADJ
alkej-342	207	26	disturbance	disturbance	NOUN
alkej-342	207	27	and	and	CCONJ
alkej-342	207	28	paramrters	paramrter	VERB
alkej-342	207	29	uncertinty	uncertinty	NOUN
alkej-342	207	30	.	.	PUNCT
alkej-342	208	1	each	each	PRON
alkej-342	208	2	of	of	ADP
alkej-342	208	3	the	the	DET
alkej-342	208	4	above	above	ADJ
alkej-342	208	5	controllers	controller	NOUN
alkej-342	208	6	has	have	VERB
alkej-342	208	7	the	the	DET
alkej-342	208	8	ablility	ablility	NOUN
alkej-342	208	9	to	to	PART
alkej-342	208	10	make	make	VERB
alkej-342	208	11	the	the	DET
alkej-342	208	12	system	system	NOUN
alkej-342	208	13	asymptotically	asymptotically	ADV
alkej-342	208	14	stable	stable	ADJ
alkej-342	208	15	under	under	ADP
alkej-342	208	16	the	the	DET
alkej-342	208	17	effect	effect	NOUN
alkej-342	208	18	of	of	ADP
alkej-342	208	19	external	external	ADJ
alkej-342	208	20	disturbance	disturbance	NOUN
alkej-342	208	21	and	and	CCONJ
alkej-342	208	22	the	the	DET
alkej-342	208	23	parameters	parameter	NOUN
alkej-342	208	24	uncertainty	uncertainty	NOUN
alkej-342	208	25	by	by	ADP
alkej-342	208	26	making	make	VERB
alkej-342	208	27	the	the	DET
alkej-342	208	28	error	error	NOUN
alkej-342	208	29	and	and	CCONJ
alkej-342	208	30	the	the	DET
alkej-342	208	31	derivative	derivative	NOUN
alkej-342	208	32	of	of	ADP
alkej-342	208	33	error	error	NOUN
alkej-342	208	34	equal	equal	ADJ
alkej-342	208	35	to	to	ADP
alkej-342	208	36	zero	zero	NUM
alkej-342	208	37	value	value	NOUN
alkej-342	208	38	as	as	SCONJ
alkej-342	208	39	shown	show	VERB
alkej-342	208	40	in	in	ADP
alkej-342	208	41	figures	figure	NOUN
alkej-342	208	42	(	(	PUNCT
alkej-342	208	43	7	7	NUM
alkej-342	208	44	)	)	PUNCT
alkej-342	208	45	,	,	PUNCT
alkej-342	208	46	(	(	PUNCT
alkej-342	208	47	8)	8)	NUM
alkej-342	208	48	,	,	PUNCT
alkej-342	208	49	(	(	PUNCT
alkej-342	208	50	17	17	NUM
alkej-342	208	51	)	)	PUNCT
alkej-342	208	52	and	and	CCONJ
alkej-342	208	53	(	(	PUNCT
alkej-342	208	54	18	18	NUM
alkej-342	208	55	)	)	PUNCT
alkej-342	208	56	.	.	PUNCT
alkej-342	209	1	both	both	CCONJ
alkej-342	209	2	the	the	DET
alkej-342	209	3	smc	smc	PROPN
alkej-342	209	4	and	and	CCONJ
alkej-342	209	5	ismc	ismc	NOUN
alkej-342	209	6	are	be	AUX
alkej-342	209	7	suffering	suffer	VERB
alkej-342	209	8	from	from	ADP
alkej-342	209	9	the	the	DET
alkej-342	209	10	chattering	chatter	VERB
alkej-342	209	11	problem	problem	NOUN
alkej-342	209	12	because	because	SCONJ
alkej-342	209	13	of	of	ADP
alkej-342	209	14	the	the	DET
alkej-342	209	15	effect	effect	NOUN
alkej-342	209	16	of	of	ADP
alkej-342	209	17	�	�	PROPN
alkej-342	209	18	�	�	PROPN
alkej-342	209	19	�	�	PROPN
alkej-342	209	20	�	�	PROPN
alkej-342	209	21	�	�	PROPN
alkej-342	209	22	�	�	PROPN
alkej-342	209	23	function	function	NOUN
alkej-342	209	24	as	as	SCONJ
alkej-342	209	25	shown	show	VERB
alkej-342	209	26	clearly	clearly	ADV
alkej-342	209	27	in	in	ADP
alkej-342	209	28	figures	figure	NOUN
alkej-342	209	29	(	(	PUNCT
alkej-342	209	30	9	9	NUM
alkej-342	209	31	)	)	PUNCT
alkej-342	209	32	and	and	CCONJ
alkej-342	209	33	(	(	PUNCT
alkej-342	209	34	19	19	NUM
alkej-342	209	35	)	)	PUNCT
alkej-342	209	36	,	,	PUNCT
alkej-342	209	37	this	this	DET
alkej-342	209	38	problem	problem	NOUN
alkej-342	209	39	is	be	AUX
alkej-342	209	40	solved	solve	VERB
alkej-342	209	41	by	by	ADP
alkej-342	209	42	using	use	VERB
alkej-342	209	43	the	the	DET
alkej-342	209	44	boundary	boundary	ADJ
alkej-342	209	45	layer	layer	NOUN
alkej-342	209	46	as	as	SCONJ
alkej-342	209	47	shown	show	VERB
alkej-342	209	48	in	in	ADP
alkej-342	209	49	figures	figure	NOUN
alkej-342	209	50	(	(	PUNCT
alkej-342	209	51	14	14	NUM
alkej-342	209	52	)	)	PUNCT
alkej-342	209	53	and	and	CCONJ
alkej-342	209	54	(	(	PUNCT
alkej-342	209	55	16	16	NUM
alkej-342	209	56	)	)	PUNCT
alkej-342	209	57	.	.	PUNCT
alkej-342	210	1	when	when	SCONJ
alkej-342	210	2	using	use	VERB
alkej-342	210	3	the	the	DET
alkej-342	210	4	�	�	PROPN
alkej-342	210	5	�	�	PROPN
alkej-342	210	6	�	�	PROPN
alkej-342	210	7	�	�	PROPN
alkej-342	210	8	�	�	PROPN
alkej-342	210	9	�	�	PROPN
alkej-342	210	10	function	function	NOUN
alkej-342	210	11	,	,	PUNCT
alkej-342	210	12	the	the	DET
alkej-342	210	13	state	state	NOUN
alkej-342	210	14	trajectory	trajectory	NOUN
alkej-342	210	15	in	in	ADP
alkej-342	210	16	the	the	DET
alkej-342	210	17	csmc	csmc	NOUN
alkej-342	210	18	hits	hit	VERB
alkej-342	210	19	the	the	DET
alkej-342	210	20	switching	switch	VERB
alkej-342	210	21	surface	surface	NOUN
alkej-342	210	22	vertically	vertically	ADV
alkej-342	210	23	as	as	SCONJ
alkej-342	210	24	shown	show	VERB
alkej-342	210	25	in	in	ADP
alkej-342	210	26	figures	figure	NOUN
alkej-342	210	27	(	(	PUNCT
alkej-342	210	28	11	11	NUM
alkej-342	210	29	)	)	PUNCT
alkej-342	210	30	and	and	CCONJ
alkej-342	210	31	(	(	PUNCT
alkej-342	210	32	9	9	NUM
alkej-342	210	33	)	)	PUNCT
alkej-342	210	34	,	,	PUNCT
alkej-342	210	35	and	and	CCONJ
alkej-342	210	36	this	this	PRON
alkej-342	210	37	caused	cause	VERB
alkej-342	210	38	a	a	DET
alkej-342	210	39	chattering	chatter	VERB
alkej-342	210	40	phenomenun	phenomenun	NOUN
alkej-342	210	41	,	,	PUNCT
alkej-342	210	42	while	while	SCONJ
alkej-342	210	43	in	in	ADP
alkej-342	210	44	using	use	VERB
alkej-342	210	45	the	the	DET
alkej-342	210	46	boundary	boundary	ADJ
alkej-342	210	47	layer	layer	NOUN
alkej-342	210	48	the	the	DET
alkej-342	210	49	state	state	NOUN
alkej-342	210	50	trajectory	trajectory	NOUN
alkej-342	210	51	hits	hit	VERB
alkej-342	210	52	the	the	DET
alkej-342	210	53	sliding	slide	VERB
alkej-342	210	54	surface	surface	NOUN
alkej-342	210	55	in	in	ADP
alkej-342	210	56	arc	arc	NOUN
alkej-342	210	57	shape	shape	NOUN
alkej-342	210	58	as	as	SCONJ
alkej-342	210	59	shown	show	VERB
alkej-342	210	60	in	in	ADP
alkej-342	210	61	figures	figure	NOUN
alkej-342	210	62	(	(	PUNCT
alkej-342	210	63	16	16	NUM
alkej-342	210	64	)	)	PUNCT
alkej-342	210	65	and	and	CCONJ
alkej-342	210	66	(	(	PUNCT
alkej-342	210	67	14	14	NUM
alkej-342	210	68	)	)	PUNCT
alkej-342	210	69	.	.	PUNCT
alkej-342	211	1	the	the	DET
alkej-342	211	2	same	same	ADJ
alkej-342	211	3	thing	thing	NOUN
alkej-342	211	4	was	be	AUX
alkej-342	211	5	apear	apear	ADJ
alkej-342	211	6	clearly	clearly	ADV
alkej-342	211	7	when	when	SCONJ
alkej-342	211	8	using	use	VERB
alkej-342	211	9	the	the	DET
alkej-342	211	10	ismc	ismc	NOUN
alkej-342	211	11	as	as	SCONJ
alkej-342	211	12	shown	show	VERB
alkej-342	211	13	in	in	ADP
alkej-342	211	14	figures	figure	NOUN
alkej-342	211	15	(	(	PUNCT
alkej-342	211	16	21	21	NUM
alkej-342	211	17	)	)	PUNCT
alkej-342	211	18	,	,	PUNCT
alkej-342	211	19	(	(	PUNCT
alkej-342	211	20	19	19	NUM
alkej-342	211	21	)	)	PUNCT
alkej-342	211	22	,	,	PUNCT
alkej-342	211	23	(	(	PUNCT
alkej-342	211	24	27	27	NUM
alkej-342	211	25	)	)	PUNCT
alkej-342	211	26	and	and	CCONJ
alkej-342	211	27	(	(	PUNCT
alkej-342	211	28	25	25	NUM
alkej-342	211	29	)	)	PUNCT
alkej-342	211	30	.	.	PUNCT
alkej-342	212	1	the	the	DET
alkej-342	212	2	results	result	NOUN
alkej-342	212	3	show	show	VERB
alkej-342	212	4	that	that	SCONJ
alkej-342	212	5	the	the	DET
alkej-342	212	6	effect	effect	NOUN
alkej-342	212	7	of	of	ADP
alkej-342	212	8	the	the	DET
alkej-342	212	9	external	external	ADJ
alkej-342	212	10	disturbance	disturbance	NOUN
alkej-342	212	11	and	and	CCONJ
alkej-342	212	12	the	the	DET
alkej-342	212	13	parameters	parameter	NOUN
alkej-342	212	14	uncertainty	uncertainty	NOUN
alkej-342	212	15	of	of	ADP
alkej-342	212	16	the	the	DET
alkej-342	212	17	dynamic	dynamic	ADJ
alkej-342	212	18	system	system	NOUN
alkej-342	212	19	is	be	AUX
alkej-342	212	20	cancelled	cancel	VERB
alkej-342	212	21	by	by	ADP
alkej-342	212	22	using	use	VERB
alkej-342	212	23	the	the	DET
alkej-342	212	24	ismc	ismc	NOUN
alkej-342	212	25	as	as	SCONJ
alkej-342	212	26	shown	show	VERB
alkej-342	212	27	in	in	ADP
alkej-342	212	28	figures	figure	NOUN
alkej-342	212	29	(	(	PUNCT
alkej-342	212	30	25	25	NUM
alkej-342	212	31	)	)	PUNCT
alkej-342	212	32	and	and	CCONJ
alkej-342	212	33	(	(	PUNCT
alkej-342	212	34	27	27	NUM
alkej-342	212	35	)	)	PUNCT
alkej-342	212	36	.	.	PUNCT
alkej-342	213	1	in	in	ADP
alkej-342	213	2	figure	figure	NOUN
alkej-342	213	3	(	(	PUNCT
alkej-342	213	4	27	27	NUM
alkej-342	213	5	)	)	PUNCT
alkej-342	213	6	,	,	PUNCT
alkej-342	213	7	the	the	DET
alkej-342	213	8	error	error	NOUN
alkej-342	213	9	(	(	PUNCT
alkej-342	213	10	�	�	NOUN
alkej-342	213	11	�	�	PROPN
alkej-342	213	12	)	)	PUNCT
alkej-342	213	13	and	and	CCONJ
alkej-342	213	14	the	the	DET
alkej-342	213	15	dervitive	dervitive	ADJ
alkej-342	213	16	of	of	ADP
alkej-342	213	17	error	error	NOUN
alkej-342	213	18	�	�	PROPN
alkej-342	213	19	�	�	PROPN
alkej-342	213	20	"	"	PUNCT
alkej-342	213	21	reaches	reach	VERB
alkej-342	213	22	the	the	DET
alkej-342	213	23	origin	origin	NOUN
alkej-342	213	24	in	in	ADP
alkej-342	213	25	final	final	ADJ
alkej-342	213	26	trajectory	trajectory	NOUN
alkej-342	213	27	,	,	PUNCT
alkej-342	213	28	which	which	PRON
alkej-342	213	29	means	mean	VERB
alkej-342	213	30	that	that	SCONJ
alkej-342	213	31	its	its	PRON
alkej-342	213	32	values	value	NOUN
alkej-342	213	33	equal	equal	ADJ
alkej-342	213	34	to	to	ADP
alkej-342	213	35	zero	zero	NUM
alkej-342	213	36	.	.	PUNCT
alkej-342	214	1	7	7	X
alkej-342	214	2	.	.	X
alkej-342	214	3	conclusion	conclusion	NOUN
alkej-342	214	4	the	the	DET
alkej-342	214	5	most	most	ADV
alkej-342	214	6	important	important	ADJ
alkej-342	214	7	improvement	improvement	NOUN
alkej-342	214	8	of	of	ADP
alkej-342	214	9	using	use	VERB
alkej-342	214	10	ismc	ismc	NOUN
alkej-342	214	11	is	be	AUX
alkej-342	214	12	the	the	DET
alkej-342	214	13	reducing	reducing	NOUN
alkej-342	214	14	of	of	ADP
alkej-342	214	15	the	the	DET
alkej-342	214	16	settling	settle	VERB
alkej-342	214	17	time	time	NOUN
alkej-342	214	18	response	response	NOUN
alkej-342	214	19	of	of	ADP
alkej-342	214	20	system	system	NOUN
alkej-342	214	21	comparing	compare	VERB
alkej-342	214	22	with	with	ADP
alkej-342	214	23	the	the	DET
alkej-342	214	24	csmc	csmc	NOUN
alkej-342	214	25	as	as	SCONJ
alkej-342	214	26	shown	show	VERB
alkej-342	214	27	in	in	ADP
alkej-342	214	28	figures	figure	NOUN
alkej-342	214	29	(	(	PUNCT
alkej-342	214	30	12	12	NUM
alkej-342	214	31	)	)	PUNCT
alkej-342	214	32	and	and	CCONJ
alkej-342	214	33	(	(	PUNCT
alkej-342	214	34	23	23	NUM
alkej-342	214	35	)	)	PUNCT
alkej-342	214	36	.	.	PUNCT
alkej-342	215	1	in	in	ADP
alkej-342	215	2	the	the	DET
alkej-342	215	3	csmc	csmc	NOUN
alkej-342	215	4	the	the	DET
alkej-342	215	5	settling	settling	NOUN
alkej-342	215	6	time	time	NOUN
alkej-342	215	7	is	be	AUX
alkej-342	215	8	6.5	6.5	NUM
alkej-342	215	9	sec	sec	PROPN
alkej-342	215	10	as	as	SCONJ
alkej-342	215	11	shown	show	VERB
alkej-342	215	12	in	in	ADP
alkej-342	215	13	figure	figure	NOUN
alkej-342	215	14	(	(	PUNCT
alkej-342	215	15	12	12	NUM
alkej-342	215	16	)	)	PUNCT
alkej-342	215	17	,	,	PUNCT
alkej-342	215	18	where	where	SCONJ
alkej-342	215	19	in	in	ADP
alkej-342	215	20	the	the	DET
alkej-342	215	21	ismc	ismc	NOUN
alkej-342	215	22	the	the	DET
alkej-342	215	23	settling	settling	NOUN
alkej-342	215	24	time	time	NOUN
alkej-342	215	25	is	be	AUX
alkej-342	215	26	reduced	reduce	VERB
alkej-342	215	27	to	to	ADP
alkej-342	215	28	0.8	0.8	NUM
alkej-342	215	29	sec	sec	PROPN
alkej-342	215	30	as	as	SCONJ
alkej-342	215	31	shown	show	VERB
alkej-342	215	32	in	in	ADP
alkej-342	215	33	figure	figure	NOUN
alkej-342	215	34	(	(	PUNCT
alkej-342	215	35	23	23	NUM
alkej-342	215	36	)	)	PUNCT
alkej-342	215	37	.	.	PUNCT
alkej-342	216	1	the	the	DET
alkej-342	216	2	ismc	ismc	NOUN
alkej-342	216	3	consists	consist	VERB
alkej-342	216	4	of	of	ADP
alkej-342	216	5	two	two	NUM
alkej-342	216	6	parts	part	NOUN
alkej-342	216	7	,	,	PUNCT
alkej-342	216	8	the	the	DET
alkej-342	216	9	first	first	ADJ
alkej-342	216	10	part	part	NOUN
alkej-342	216	11	is	be	AUX
alkej-342	216	12	nominal	nominal	ADJ
alkej-342	216	13	control	control	NOUN
alkej-342	216	14	that	that	PRON
alkej-342	216	15	is	be	AUX
alkej-342	216	16	used	use	VERB
alkej-342	216	17	to	to	PART
alkej-342	216	18	control	control	VERB
alkej-342	216	19	the	the	DET
alkej-342	216	20	nominal	nominal	ADJ
alkej-342	216	21	system	system	NOUN
alkej-342	216	22	dynamics	dynamic	NOUN
alkej-342	216	23	while	while	SCONJ
alkej-342	216	24	the	the	DET
alkej-342	216	25	second	second	ADJ
alkej-342	216	26	part	part	NOUN
alkej-342	216	27	is	be	AUX
alkej-342	216	28	the	the	DET
alkej-342	216	29	discontinous	discontinous	ADJ
alkej-342	216	30	control	control	NOUN
alkej-342	216	31	which	which	PRON
alkej-342	216	32	is	be	AUX
alkej-342	216	33	used	use	VERB
alkej-342	216	34	to	to	PART
alkej-342	216	35	reject	reject	VERB
alkej-342	216	36	the	the	DET
alkej-342	216	37	pertubaration	pertubaration	NOUN
alkej-342	216	38	term	term	NOUN
alkej-342	216	39	(	(	PUNCT
alkej-342	216	40	the	the	DET
alkej-342	216	41	perterbation	perterbation	NOUN
alkej-342	216	42	term	term	NOUN
alkej-342	216	43	consists	consist	VERB
alkej-342	216	44	of	of	ADP
alkej-342	216	45	the	the	DET
alkej-342	216	46	external	external	ADJ
alkej-342	216	47	disturbance	disturbance	NOUN
alkej-342	216	48	and	and	CCONJ
alkej-342	216	49	parameters	parameter	NOUN
alkej-342	216	50	uncertainty).in	uncertainty).in	X
alkej-342	216	51	using	use	VERB
alkej-342	216	52	the	the	DET
alkej-342	216	53	ismc	ismc	NOUN
alkej-342	216	54	,	,	PUNCT
alkej-342	216	55	the	the	DET
alkej-342	216	56	pendulum	pendulum	NOUN
alkej-342	216	57	system	system	NOUN
alkej-342	216	58	is	be	AUX
alkej-342	216	59	is	be	AUX
alkej-342	216	60	preseented	preseente	VERB
alkej-342	216	61	by	by	ADP
alkej-342	216	62	the	the	DET
alkej-342	216	63	nominal	nominal	ADJ
alkej-342	216	64	model	model	NOUN
alkej-342	216	65	from	from	ADP
alkej-342	216	66	the	the	DET
alkej-342	216	67	from	from	ADP
alkej-342	216	68	thr	thr	PROPN
alkej-342	216	69	first	first	ADJ
alkej-342	216	70	instsnt	instsnt	NOUN
alkej-342	216	71	.	.	PUNCT
alkej-342	217	1	this	this	DET
alkej-342	217	2	nominal	nominal	ADJ
alkej-342	217	3	model	model	NOUN
alkej-342	217	4	is	be	AUX
alkej-342	217	5	not	not	PART
alkej-342	217	6	effected	effect	VERB
alkej-342	217	7	by	by	ADP
alkej-342	217	8	the	the	DET
alkej-342	217	9	perturbation	perturbation	NOUN
alkej-342	217	10	term	term	NOUN
alkej-342	217	11	.	.	PUNCT
alkej-342	218	1	the	the	DET
alkej-342	218	2	results	result	NOUN
alkej-342	218	3	shows	show	VERB
alkej-342	218	4	that	that	SCONJ
alkej-342	218	5	the	the	DET
alkej-342	218	6	csmc	csmc	NOUN
alkej-342	218	7	and	and	CCONJ
alkej-342	218	8	ismc	ismc	NOUN
alkej-342	218	9	can	can	AUX
alkej-342	218	10	be	be	AUX
alkej-342	218	11	considered	consider	VERB
alkej-342	218	12	as	as	ADP
alkej-342	218	13	a	a	DET
alkej-342	218	14	rubust	rubust	ADJ
alkej-342	218	15	controller	controller	NOUN
alkej-342	218	16	,	,	PUNCT
alkej-342	218	17	since	since	SCONJ
alkej-342	218	18	it	it	PRON
alkej-342	218	19	can	can	AUX
alkej-342	218	20	give	give	VERB
alkej-342	218	21	a	a	DET
alkej-342	218	22	good	good	ADJ
alkej-342	218	23	response	response	NOUN
alkej-342	218	24	even	even	ADV
alkej-342	218	25	with	with	ADP
alkej-342	218	26	the	the	DET
alkej-342	218	27	presence	presence	NOUN
alkej-342	218	28	of	of	ADP
alkej-342	218	29	disturbance	disturbance	NOUN
alkej-342	218	30	and	and	CCONJ
alkej-342	218	31	parameters	parameter	NOUN
alkej-342	218	32	uncertainty	uncertainty	NOUN
alkej-342	218	33	as	as	SCONJ
alkej-342	218	34	shown	show	VERB
alkej-342	218	35	in	in	ADP
alkej-342	218	36	figures	figure	NOUN
alkej-342	218	37	(	(	PUNCT
alkej-342	218	38	14	14	NUM
alkej-342	218	39	)	)	PUNCT
alkej-342	218	40	and	and	CCONJ
alkej-342	218	41	(	(	PUNCT
alkej-342	218	42	25	25	NUM
alkej-342	218	43	)	)	PUNCT
alkej-342	218	44	.	.	PUNCT
alkej-342	219	1	from	from	ADP
alkej-342	219	2	figures	figure	NOUN
alkej-342	219	3	(	(	PUNCT
alkej-342	219	4	11	11	NUM
alkej-342	219	5	)	)	PUNCT
alkej-342	219	6	,	,	PUNCT
alkej-342	219	7	(	(	PUNCT
alkej-342	219	8	16	16	NUM
alkej-342	219	9	)	)	PUNCT
alkej-342	219	10	,	,	PUNCT
alkej-342	219	11	(	(	PUNCT
alkej-342	219	12	21	21	NUM
alkej-342	219	13	)	)	PUNCT
alkej-342	219	14	and	and	CCONJ
alkej-342	219	15	(	(	PUNCT
alkej-342	219	16	27	27	NUM
alkej-342	219	17	)	)	PUNCT
alkej-342	219	18	,	,	PUNCT
alkej-342	219	19	it	it	PRON
alkej-342	219	20	is	be	AUX
alkej-342	219	21	seen	see	VERB
alkej-342	219	22	clearly	clearly	ADV
alkej-342	219	23	that	that	SCONJ
alkej-342	219	24	the	the	DET
alkej-342	219	25	csmc	csmc	NOUN
alkej-342	219	26	and	and	CCONJ
alkej-342	219	27	ismc	ismc	NOUN
alkej-342	219	28	are	be	AUX
alkej-342	219	29	able	able	ADJ
alkej-342	219	30	to	to	PART
alkej-342	219	31	make	make	VERB
alkej-342	219	32	the	the	DET
alkej-342	219	33	system	system	NOUN
alkej-342	219	34	asymptotically	asymptotically	ADV
alkej-342	219	35	stable	stable	ADJ
alkej-342	219	36	.	.	PUNCT
alkej-342	220	1	8	8	X
alkej-342	220	2	.	.	PUNCT
alkej-342	220	3	references	reference	NOUN
alkej-342	220	4	[	[	X
alkej-342	220	5	1	1	NUM
alkej-342	220	6	]	]	PUNCT
alkej-342	220	7	c.	c.	PROPN
alkej-342	220	8	a.	a.	NOUN
alkej-342	220	9	yfoulis	yfoulis	PROPN
alkej-342	220	10	,	,	PUNCT
alkej-342	220	11	a.	a.	PROPN
alkej-342	220	12	muir	muir	PROPN
alkej-342	220	13	,	,	PUNCT
alkej-342	220	14	and	and	CCONJ
alkej-342	220	15	p.	p.	PROPN
alkej-342	220	16	e.	e.	PROPN
alkej-342	220	17	wellstead	wellstead	PROPN
alkej-342	220	18	,	,	PUNCT
alkej-342	220	19	“	"	PUNCT
alkej-342	220	20	a	a	DET
alkej-342	220	21	new	new	ADJ
alkej-342	220	22	approach	approach	NOUN
alkej-342	220	23	for	for	ADP
alkej-342	220	24	estimating	estimate	VERB
alkej-342	220	25	controllable	controllable	ADJ
alkej-342	220	26	and	and	CCONJ
alkej-342	220	27	recoverable	recoverable	ADJ
alkej-342	220	28	regions	region	NOUN
alkej-342	220	29	for	for	ADP
alkej-342	220	30	systems	system	NOUN
alkej-342	220	31	with	with	ADP
alkej-342	220	32	state	state	NOUN
alkej-342	220	33	and	and	CCONJ
alkej-342	220	34	control	control	NOUN
alkej-342	220	35	constraints	constraint	NOUN
alkej-342	220	36	,	,	PUNCT
alkej-342	220	37	”	"	PUNCT
alkej-342	220	38	international	international	ADJ
alkej-342	220	39	journal	journal	NOUN
alkej-342	220	40	of	of	ADP
alkej-342	220	41	robust	robust	ADJ
alkej-342	220	42	and	and	CCONJ
alkej-342	220	43	nonlinear	nonlinear	ADJ
alkej-342	220	44	control	control	NOUN
alkej-342	220	45	,	,	PUNCT
alkej-342	220	46	vol	vol	NOUN
alkej-342	220	47	.	.	PROPN
alkej-342	220	48	12	12	NUM
alkej-342	220	49	,	,	PUNCT
alkej-342	220	50	no	no	INTJ
alkej-342	220	51	.	.	NOUN
alkej-342	220	52	7	7	NUM
alkej-342	220	53	,	,	PUNCT
alkej-342	220	54	pp	pp	ADJ
alkej-342	220	55	.	.	PUNCT
alkej-342	221	1	561	561	NUM
alkej-342	221	2	-	-	SYM
alkej-342	221	3	589	589	NUM
alkej-342	221	4	,	,	PUNCT
alkej-342	221	5	2002	2002	NUM
alkej-342	221	6	.	.	PUNCT
alkej-342	222	1	[	[	X
alkej-342	222	2	2	2	X
alkej-342	222	3	]	]	PUNCT
alkej-342	222	4	v.	v.	PROPN
alkej-342	222	5	i.	i.	PROPN
alkej-342	222	6	utkin	utkin	PROPN
alkej-342	222	7	,	,	PUNCT
alkej-342	222	8	j.	j.	PROPN
alkej-342	222	9	guldner	guldner	PROPN
alkej-342	222	10	,	,	PUNCT
alkej-342	222	11	and	and	CCONJ
alkej-342	222	12	j.	j.	PROPN
alkej-342	222	13	shi	shi	PROPN
alkej-342	222	14	,	,	PUNCT
alkej-342	222	15	"	"	PUNCT
alkej-342	222	16	sliding	slide	VERB
alkej-342	222	17	mode	mode	NOUN
alkej-342	222	18	control	control	NOUN
alkej-342	222	19	in	in	ADP
alkej-342	222	20	electromechanical	electromechanical	ADJ
alkej-342	222	21	systems	system	NOUN
alkej-342	222	22	"	"	PUNCT
alkej-342	222	23	,	,	PUNCT
alkej-342	222	24	crc	crc	NOUN
alkej-342	222	25	press	press	NOUN
alkej-342	222	26	.	.	PUNCT
alkej-342	223	1	taylor	taylor	PROPN
alkej-342	223	2	&	&	CCONJ
alkej-342	223	3	francis	francis	PROPN
alkej-342	223	4	group	group	PROPN
alkej-342	223	5	,	,	PUNCT
alkej-342	223	6	2009	2009	NUM
alkej-342	223	7	.	.	PUNCT
alkej-342	224	1	[	[	X
alkej-342	224	2	3	3	NUM
alkej-342	224	3	]	]	PUNCT
alkej-342	224	4	a.	a.	NOUN
alkej-342	224	5	k.	k.	PROPN
alkej-342	224	6	hamoudi	hamoudi	PROPN
alkej-342	224	7	,	,	PUNCT
alkej-342	224	8	''	''	PUNCT
alkej-342	224	9	design	design	NOUN
alkej-342	224	10	and	and	CCONJ
alkej-342	224	11	simulation	simulation	NOUN
alkej-342	224	12	of	of	ADP
alkej-342	224	13	sliding	slide	VERB
alkej-342	224	14	mode	mode	NOUN
alkej-342	224	15	fuzzy	fuzzy	ADJ
alkej-342	224	16	controller	controller	NOUN
alkej-342	224	17	for	for	ADP
alkej-342	224	18	nonlinear	nonlinear	ADJ
alkej-342	224	19	''	''	PUNCT
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alkej-342	226	2	-	-	SYM
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alkej-342	229	2	-	-	SYM
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alkej-342	231	2	-	-	SYM
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alkej-342	235	2	-	-	SYM
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alkej-342	237	2	-	-	SYM
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alkej-342	242	12	ا6(7	ا6(7	PROPN
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alkej-342	242	14	ا	ا	NUM
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alkej-342	242	27	<	<	X
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alkej-342	242	33	;	;	PUNCT
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alkej-342	242	35	:	:	PUNCT
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alkej-342	242	43	)	)	PUNCT
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alkej-342	242	59	�	�	PROPN
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alkej-342	244	4	)	)	PUNCT
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alkej-342	244	10	+	+	PROPN
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alkej-342	244	22	#	#	SYM
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alkej-342	244	27	)	)	PUNCT
alkej-342	244	28	ة	ة	NOUN
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alkej-342	244	30	�	�	PROPN
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alkej-342	244	32	89	89	NUM
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alkej-342	244	34	�	�	PROPN
alkej-342	244	35	�	�	PROPN
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alkej-342	244	43	(	(	PUNCT
alkej-342	244	44	)	)	PUNCT
alkej-342	244	45	ذا$8	ذا$8	NOUN
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alkej-342	245	1	:	:	PUNCT
alkej-342	245	2	1ا	1ا	NUM
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alkej-342	245	4	*bp0$5!3	*bp0$5!3	SYM
alkej-342	245	5	اq45ا	اq45ا	X
alkej-342	246	1	r	r	X
alkej-342	246	2	)	)	PUNCT
alkej-342	246	3	$	$	SYM
alkej-342	246	4	1,-ت	1,-ت	NUM
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alkej-342	246	6	#	#	NOUN
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alkej-342	246	8	�	�	PROPN
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alkej-342	246	13	(	(	PUNCT
alkej-342	246	14	)	)	PUNCT
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alkej-342	246	21	)	)	PUNCT
alkej-342	246	22	h	h	NOUN
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alkej-342	247	4	(	(	PUNCT
alkej-342	247	5	)	)	PUNCT
alkej-342	247	6	ذeا	ذeا	NOUN
alkej-342	247	7	�	�	PROPN
alkej-342	247	8	ي	ي	PROPN
alkej-342	247	9	*	*	NOUN
alkej-342	247	10	bp0$5!3	bp0$5!3	X
alkej-342	247	11	اq45ا	اq45ا	X
alkej-342	247	12	r	r	X
alkej-342	247	13	)	)	PUNCT
alkej-342	247	14	$	$	SYM
alkej-342	247	15	رة1/0ن	رة1/0ن	NOUN
alkej-342	247	16	:	:	PUNCT
alkej-342	247	17	ا	ا	ADJ
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alkej-342	247	20	q2	q2	PROPN
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alkej-342	247	22	,	,	PUNCT
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alkej-342	247	25	(	(	PUNCT
alkej-342	247	26	)	)	PUNCT
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alkej-342	247	33	,	,	PUNCT
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alkej-342	248	1	*	*	PUNCT
alkej-342	248	2	<	<	X
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alkej-342	248	11	(	(	PUNCT
alkej-342	248	12	)	)	PUNCT
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alkej-342	248	16	,	,	PUNCT
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alkej-342	248	18	ظ	ظ	NOUN
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alkej-342	248	20	ھ)ة	ھ)ة	ADJ
alkej-342	248	21	ا	ا	ADJ
alkej-342	248	22	-	-	NOUN
alkej-342	248	23	uأ	uأ	NOUN
alkej-342	248	24	�	�	NOUN
alkej-342	248	25	ام3e	ام3e	VERB
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alkej-342	248	36	bp:*^	bp:*^	NUM
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alkej-342	249	5	r	r	PROPN
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alkej-342	250	2	(	(	PUNCT
alkej-342	250	3	)	)	PUNCT
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alkej-342	250	17	)	)	PUNCT
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alkej-342	252	7	)	)	PUNCT
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alkej-342	256	30	)	)	PUNCT
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alkej-342	257	15	(	(	PUNCT
alkej-342	257	16	)	)	PUNCT
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alkej-342	258	10	)	)	PUNCT
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