id	sid	tid	token	lemma	pos
alkej-459	1	1	al	al	PROPN
alkej-459	1	2	-	-	PUNCT
alkej-459	1	3	khwarizmi	khwarizmi	PROPN
alkej-459	1	4	engineering	engineering	PROPN
alkej-459	1	5	journal	journal	PROPN
alkej-459	1	6	al	al	PROPN
alkej-459	1	7	-	-	PUNCT
alkej-459	1	8	khwarizmi	khwarizmi	PROPN
alkej-459	1	9	engineering	engineering	NOUN
alkej-459	1	10	journal	journal	PROPN
alkej-459	1	11	,	,	PUNCT
alkej-459	1	12	vol	vol	NOUN
alkej-459	1	13	.	.	PROPN
alkej-459	1	14	10	10	NUM
alkej-459	1	15	,	,	PUNCT
alkej-459	1	16	no	no	INTJ
alkej-459	1	17	.	.	NOUN
alkej-459	1	18	3	3	NUM
alkej-459	1	19	,	,	PUNCT
alkej-459	1	20	p.p	p.p	PROPN
alkej-459	1	21	.	.	NOUN
alkej-459	1	22	3952	3952	NUM
alkej-459	1	23	(	(	PUNCT
alkej-459	1	24	2014	2014	NUM
alkej-459	1	25	)	)	PUNCT
alkej-459	1	26	trajectory	trajectory	NOUN
alkej-459	1	27	tracking	tracking	NOUN
alkej-459	1	28	control	control	NOUN
alkej-459	1	29	for	for	ADP
alkej-459	1	30	a	a	DET
alkej-459	1	31	wheeled	wheel	VERB
alkej-459	1	32	mobile	mobile	ADJ
alkej-459	1	33	robot	robot	NOUN
alkej-459	1	34	using	use	VERB
alkej-459	1	35	fractional	fractional	ADJ
alkej-459	1	36	order	order	NOUN
alkej-459	1	37	pi	pi	NOUN
alkej-459	1	38	a	a	DET
alkej-459	1	39	d	d	X
alkej-459	1	40	b	b	PROPN
alkej-459	1	41	controller	controller	NOUN
alkej-459	1	42	mouwafak	mouwafak	PROPN
alkej-459	1	43	a.	a.	PROPN
alkej-459	1	44	tawfik	tawfik	PROPN
alkej-459	1	45	*	*	PROPN
alkej-459	1	46	emad	emad	PROPN
alkej-459	1	47	n.	n.	PROPN
alkej-459	1	48	abdulwahb	abdulwahb	PROPN
alkej-459	1	49	*	*	PROPN
alkej-459	1	50	*	*	PROPN
alkej-459	1	51	salah	salah	PROPN
alkej-459	1	52	m.	m.	PROPN
alkej-459	1	53	swadi	swadi	NOUN
alkej-459	1	54	*	*	PUNCT
alkej-459	2	1	*	*	PUNCT
alkej-459	2	2	*	*	PUNCT
alkej-459	2	3	*	*	PUNCT
alkej-459	2	4	,	,	PUNCT
alkej-459	2	5	*	*	PUNCT
alkej-459	2	6	*	*	NOUN
alkej-459	2	7	department	department	NOUN
alkej-459	2	8	of	of	ADP
alkej-459	2	9	machines	machine	NOUN
alkej-459	2	10	and	and	CCONJ
alkej-459	2	11	equipment	equipment	NOUN
alkej-459	2	12	engineering	engineering	NOUN
alkej-459	2	13	/	/	SYM
alkej-459	2	14	university	university	NOUN
alkej-459	2	15	of	of	ADP
alkej-459	2	16	technology	technology	NOUN
alkej-459	2	17	*	*	PUNCT
alkej-459	2	18	*	*	PUNCT
alkej-459	2	19	*	*	PUNCT
alkej-459	2	20	department	department	NOUN
alkej-459	2	21	of	of	ADP
alkej-459	2	22	electrical	electrical	ADJ
alkej-459	2	23	engineering	engineering	NOUN
alkej-459	2	24	/	/	SYM
alkej-459	2	25	university	university	NOUN
alkej-459	2	26	of	of	ADP
alkej-459	2	27	mustansiriyah	mustansiriyah	NOUN
alkej-459	2	28	.	.	PUNCT
alkej-459	3	1	*	*	PUNCT
alkej-459	3	2	email	email	NOUN
alkej-459	3	3	:	:	PUNCT
alkej-459	3	4	drmat19853@yahoo.com	drmat19853@yahoo.com	NOUN
alkej-459	3	5	*	*	PUNCT
alkej-459	4	1	*	*	NOUN
alkej-459	4	2	email	email	NOUN
alkej-459	4	3	:	:	PUNCT
alkej-459	4	4	emadnaabd@yahoo.com	emadnaabd@yahoo.com	X
alkej-459	5	1	*	*	PUNCT
alkej-459	5	2	*	*	PUNCT
alkej-459	5	3	*	*	NOUN
alkej-459	5	4	email	email	NOUN
alkej-459	5	5	:	:	PUNCT
alkej-459	5	6	sallah.mahdi99@gmail.com	sallah.mahdi99@gmail.com	X
alkej-459	5	7	(	(	PUNCT
alkej-459	5	8	received	receive	VERB
alkej-459	5	9	26	26	NUM
alkej-459	5	10	february	february	NOUN
alkej-459	5	11	2014	2014	NUM
alkej-459	5	12	;	;	PUNCT
alkej-459	5	13	accepted	accept	VERB
alkej-459	5	14	22	22	NUM
alkej-459	5	15	june	june	PROPN
alkej-459	5	16	2014	2014	NUM
alkej-459	5	17	)	)	PUNCT
alkej-459	5	18	abstract	abstract	ADV
alkej-459	5	19	nowadays	nowadays	ADV
alkej-459	5	20	,	,	PUNCT
alkej-459	5	21	wheeled	wheel	VERB
alkej-459	5	22	mobile	mobile	ADJ
alkej-459	5	23	robots	robot	NOUN
alkej-459	5	24	(	(	PUNCT
alkej-459	5	25	wmrs	wmrs	X
alkej-459	5	26	)	)	PUNCT
alkej-459	5	27	have	have	AUX
alkej-459	5	28	found	find	VERB
alkej-459	5	29	many	many	ADJ
alkej-459	5	30	applications	application	NOUN
alkej-459	5	31	as	as	ADP
alkej-459	5	32	industry	industry	NOUN
alkej-459	5	33	,	,	PUNCT
alkej-459	5	34	transportation	transportation	NOUN
alkej-459	5	35	,	,	PUNCT
alkej-459	5	36	inspection	inspection	NOUN
alkej-459	5	37	,	,	PUNCT
alkej-459	5	38	and	and	CCONJ
alkej-459	5	39	other	other	ADJ
alkej-459	5	40	fields	field	NOUN
alkej-459	5	41	.	.	PUNCT
alkej-459	6	1	therefore	therefore	ADV
alkej-459	6	2	,	,	PUNCT
alkej-459	6	3	the	the	DET
alkej-459	6	4	trajectory	trajectory	NOUN
alkej-459	6	5	tracking	tracking	NOUN
alkej-459	6	6	control	control	NOUN
alkej-459	6	7	of	of	ADP
alkej-459	6	8	the	the	DET
alkej-459	6	9	nonholonomic	nonholonomic	ADJ
alkej-459	6	10	wheeled	wheel	VERB
alkej-459	6	11	mobile	mobile	ADJ
alkej-459	6	12	robots	robot	NOUN
alkej-459	6	13	have	have	VERB
alkej-459	6	14	an	an	DET
alkej-459	6	15	important	important	ADJ
alkej-459	6	16	problem	problem	NOUN
alkej-459	6	17	.	.	PUNCT
alkej-459	7	1	this	this	DET
alkej-459	7	2	work	work	NOUN
alkej-459	7	3	focus	focus	VERB
alkej-459	7	4	on	on	ADP
alkej-459	7	5	the	the	DET
alkej-459	7	6	application	application	NOUN
alkej-459	7	7	of	of	ADP
alkej-459	7	8	model	model	NOUN
alkej-459	7	9	-	-	PUNCT
alkej-459	7	10	based	base	VERB
alkej-459	7	11	on	on	ADP
alkej-459	7	12	fractional	fractional	ADJ
alkej-459	7	13	order	order	NOUN
alkej-459	7	14	pi	pi	NOUN
alkej-459	7	15	a	a	DET
alkej-459	7	16	d	d	X
alkej-459	7	17	b	b	PROPN
alkej-459	7	18	(	(	PUNCT
alkej-459	7	19	fopid	fopid	NOUN
alkej-459	7	20	)	)	PUNCT
alkej-459	7	21	controller	controller	NOUN
alkej-459	7	22	for	for	ADP
alkej-459	7	23	trajectory	trajectory	NOUN
alkej-459	7	24	tracking	tracking	NOUN
alkej-459	7	25	problem	problem	NOUN
alkej-459	7	26	.	.	PUNCT
alkej-459	8	1	the	the	DET
alkej-459	8	2	control	control	NOUN
alkej-459	8	3	algorithm	algorithm	NOUN
alkej-459	8	4	based	base	VERB
alkej-459	8	5	on	on	ADP
alkej-459	8	6	the	the	DET
alkej-459	8	7	errors	error	NOUN
alkej-459	8	8	in	in	ADP
alkej-459	8	9	postures	posture	NOUN
alkej-459	8	10	of	of	ADP
alkej-459	8	11	mobile	mobile	ADJ
alkej-459	8	12	robot	robot	NOUN
alkej-459	8	13	which	which	PRON
alkej-459	8	14	feed	feed	VERB
alkej-459	8	15	to	to	ADP
alkej-459	8	16	fopid	fopid	NOUN
alkej-459	8	17	controller	controller	NOUN
alkej-459	8	18	to	to	PART
alkej-459	8	19	generate	generate	VERB
alkej-459	8	20	correction	correction	NOUN
alkej-459	8	21	signals	signal	NOUN
alkej-459	8	22	that	that	PRON
alkej-459	8	23	transport	transport	NOUN
alkej-459	8	24	to	to	ADP
alkej-459	8	25	torque	torque	NOUN
alkej-459	8	26	for	for	ADP
alkej-459	8	27	each	each	DET
alkej-459	8	28	driven	drive	VERB
alkej-459	8	29	wheel	wheel	NOUN
alkej-459	8	30	,	,	PUNCT
alkej-459	8	31	and	and	CCONJ
alkej-459	8	32	by	by	ADP
alkej-459	8	33	means	mean	NOUN
alkej-459	8	34	of	of	ADP
alkej-459	8	35	dynamics	dynamic	NOUN
alkej-459	8	36	model	model	NOUN
alkej-459	8	37	of	of	ADP
alkej-459	8	38	mobile	mobile	ADJ
alkej-459	8	39	robot	robot	NOUN
alkej-459	8	40	these	these	DET
alkej-459	8	41	torques	torque	NOUN
alkej-459	8	42	used	use	VERB
alkej-459	8	43	to	to	PART
alkej-459	8	44	compute	compute	VERB
alkej-459	8	45	the	the	DET
alkej-459	8	46	linear	linear	ADJ
alkej-459	8	47	and	and	CCONJ
alkej-459	8	48	angular	angular	ADJ
alkej-459	8	49	speed	speed	NOUN
alkej-459	8	50	to	to	PART
alkej-459	8	51	reach	reach	VERB
alkej-459	8	52	the	the	DET
alkej-459	8	53	desired	desire	VERB
alkej-459	8	54	pose	pose	NOUN
alkej-459	8	55	.	.	PUNCT
alkej-459	9	1	in	in	ADP
alkej-459	9	2	this	this	DET
alkej-459	9	3	work	work	NOUN
alkej-459	9	4	a	a	DET
alkej-459	9	5	dynamics	dynamic	NOUN
alkej-459	9	6	model	model	NOUN
alkej-459	9	7	of	of	ADP
alkej-459	9	8	mobile	mobile	NOUN
alkej-459	9	9	robot	robot	NOUN
alkej-459	9	10	was	be	AUX
alkej-459	9	11	driven	drive	VERB
alkej-459	9	12	for	for	ADP
alkej-459	9	13	the	the	DET
alkej-459	9	14	case	case	NOUN
alkej-459	9	15	where	where	SCONJ
alkej-459	9	16	the	the	DET
alkej-459	9	17	centroid	centroid	NOUN
alkej-459	9	18	of	of	ADP
alkej-459	9	19	mobile	mobile	NOUN
alkej-459	9	20	robot	robot	NOUN
alkej-459	9	21	platform	platform	NOUN
alkej-459	9	22	is	be	AUX
alkej-459	9	23	not	not	PART
alkej-459	9	24	coincide	coincide	ADJ
alkej-459	9	25	with	with	ADP
alkej-459	9	26	reference	reference	NOUN
alkej-459	9	27	frame	frame	NOUN
alkej-459	9	28	of	of	ADP
alkej-459	9	29	mobile	mobile	NOUN
alkej-459	9	30	robot	robot	NOUN
alkej-459	9	31	(	(	PUNCT
alkej-459	9	32	i.e.	i.e.	X
alkej-459	9	33	reference	reference	NOUN
alkej-459	9	34	frame	frame	NOUN
alkej-459	9	35	is	be	AUX
alkej-459	9	36	located	locate	VERB
alkej-459	9	37	at	at	ADP
alkej-459	9	38	midpoint	midpoint	NOUN
alkej-459	9	39	of	of	ADP
alkej-459	9	40	driven	drive	VERB
alkej-459	9	41	wheels	wheel	NOUN
alkej-459	9	42	axis	axis	ADJ
alkej-459	9	43	)	)	PUNCT
alkej-459	9	44	,	,	PUNCT
alkej-459	9	45	while	while	SCONJ
alkej-459	9	46	the	the	DET
alkej-459	9	47	inertia	inertia	NOUN
alkej-459	9	48	is	be	AUX
alkej-459	9	49	counted	count	VERB
alkej-459	9	50	for	for	ADP
alkej-459	9	51	.	.	PUNCT
alkej-459	10	1	the	the	DET
alkej-459	10	2	evolutionary	evolutionary	ADJ
alkej-459	10	3	algorithm	algorithm	NOUN
alkej-459	10	4	has	have	AUX
alkej-459	10	5	been	be	AUX
alkej-459	10	6	used	use	VERB
alkej-459	10	7	to	to	PART
alkej-459	10	8	modified	modified	VERB
alkej-459	10	9	the	the	DET
alkej-459	10	10	parameters	parameter	NOUN
alkej-459	10	11	(	(	PUNCT
alkej-459	10	12	kp	kp	PROPN
alkej-459	10	13	,	,	PUNCT
alkej-459	10	14	kd	kd	PROPN
alkej-459	10	15	,	,	PUNCT
alkej-459	10	16	ki	ki	PROPN
alkej-459	10	17	,	,	PUNCT
alkej-459	10	18	a	a	PRON
alkej-459	10	19	,	,	PUNCT
alkej-459	10	20	and	and	CCONJ
alkej-459	10	21	b	b	X
alkej-459	10	22	)	)	PUNCT
alkej-459	10	23	of	of	ADP
alkej-459	10	24	the	the	DET
alkej-459	10	25	fopid	fopid	NOUN
alkej-459	10	26	controller	controller	NOUN
alkej-459	10	27	for	for	ADP
alkej-459	10	28	wheeled	wheel	VERB
alkej-459	10	29	mobile	mobile	ADJ
alkej-459	10	30	robot	robot	NOUN
alkej-459	10	31	.	.	PUNCT
alkej-459	11	1	simulation	simulation	NOUN
alkej-459	11	2	results	result	NOUN
alkej-459	11	3	show	show	VERB
alkej-459	11	4	the	the	DET
alkej-459	11	5	effectiveness	effectiveness	NOUN
alkej-459	11	6	of	of	ADP
alkej-459	11	7	the	the	DET
alkej-459	11	8	proposed	propose	VERB
alkej-459	11	9	control	control	NOUN
alkej-459	11	10	algorithm	algorithm	NOUN
alkej-459	11	11	:	:	PUNCT
alkej-459	11	12	that	that	PRON
alkej-459	11	13	is	be	AUX
alkej-459	11	14	demonstrated	demonstrate	VERB
alkej-459	11	15	by	by	ADP
alkej-459	11	16	applied	apply	VERB
alkej-459	11	17	this	this	DET
alkej-459	11	18	controller	controller	NOUN
alkej-459	11	19	at	at	ADP
alkej-459	11	20	four	four	NUM
alkej-459	11	21	case	case	NOUN
alkej-459	11	22	studies	study	NOUN
alkej-459	11	23	(	(	PUNCT
alkej-459	11	24	circular	circular	ADJ
alkej-459	11	25	trajectory	trajectory	NOUN
alkej-459	11	26	,	,	PUNCT
alkej-459	11	27	s	s	NOUN
alkej-459	11	28	-	-	PUNCT
alkej-459	11	29	shape	shape	NOUN
alkej-459	11	30	trajectory	trajectory	NOUN
alkej-459	11	31	,	,	PUNCT
alkej-459	11	32	infinity	infinity	NOUN
alkej-459	11	33	trajectory	trajectory	NOUN
alkej-459	11	34	,	,	PUNCT
alkej-459	11	35	and	and	CCONJ
alkej-459	11	36	line	line	NOUN
alkej-459	11	37	trajectory	trajectory	NOUN
alkej-459	11	38	at	at	ADP
alkej-459	11	39	two	two	NUM
alkej-459	11	40	cases	case	NOUN
alkej-459	11	41	,	,	PUNCT
alkej-459	11	42	with	with	ADP
alkej-459	11	43	presences	presence	NOUN
alkej-459	11	44	of	of	ADP
alkej-459	11	45	disturbance	disturbance	NOUN
alkej-459	11	46	and	and	CCONJ
alkej-459	11	47	without	without	ADP
alkej-459	11	48	)	)	PUNCT
alkej-459	11	49	,	,	PUNCT
alkej-459	11	50	these	these	DET
alkej-459	11	51	results	result	NOUN
alkej-459	11	52	shows	show	VERB
alkej-459	11	53	good	good	ADJ
alkej-459	11	54	matching	matching	NOUN
alkej-459	11	55	between	between	ADP
alkej-459	11	56	desired	desire	VERB
alkej-459	11	57	trajectory	trajectory	NOUN
alkej-459	11	58	and	and	CCONJ
alkej-459	11	59	simulation	simulation	NOUN
alkej-459	11	60	one	one	NUM
alkej-459	11	61	while	while	SCONJ
alkej-459	11	62	error	error	NOUN
alkej-459	11	63	in	in	ADP
alkej-459	11	64	posture	posture	NOUN
alkej-459	11	65	goes	go	VERB
alkej-459	11	66	to	to	ADP
alkej-459	11	67	zero	zero	NUM
alkej-459	11	68	rapidly	rapidly	ADV
alkej-459	11	69	.	.	PUNCT
alkej-459	12	1	keywords	keyword	NOUN
alkej-459	12	2	:	:	PUNCT
alkej-459	12	3	mobile	mobile	ADJ
alkej-459	12	4	robot	robot	NOUN
alkej-459	12	5	,	,	PUNCT
alkej-459	12	6	trajectory	trajectory	NOUN
alkej-459	12	7	tracking	tracking	NOUN
alkej-459	12	8	,	,	PUNCT
alkej-459	12	9	nonholonomic	nonholonomic	ADJ
alkej-459	12	10	systems	system	NOUN
alkej-459	12	11	,	,	PUNCT
alkej-459	12	12	fractional	fractional	ADJ
alkej-459	12	13	order	order	NOUN
alkej-459	12	14	pid	pid	NOUN
alkej-459	12	15	controller	controller	NOUN
alkej-459	12	16	.	.	PUNCT
alkej-459	13	1	1	1	X
alkej-459	13	2	.	.	X
alkej-459	13	3	introduction	introduction	NOUN
alkej-459	13	4	wheeled	wheel	VERB
alkej-459	13	5	mobile	mobile	ADJ
alkej-459	13	6	robots	robot	NOUN
alkej-459	13	7	are	be	AUX
alkej-459	13	8	increasingly	increasingly	ADV
alkej-459	13	9	present	present	ADJ
alkej-459	13	10	in	in	ADP
alkej-459	13	11	industrial	industrial	ADJ
alkej-459	13	12	and	and	CCONJ
alkej-459	13	13	service	service	NOUN
alkej-459	13	14	robotics	robotic	NOUN
alkej-459	13	15	,	,	PUNCT
alkej-459	13	16	particularly	particularly	ADV
alkej-459	13	17	when	when	SCONJ
alkej-459	13	18	flexible	flexible	ADJ
alkej-459	13	19	motion	motion	NOUN
alkej-459	13	20	capabilities	capability	NOUN
alkej-459	13	21	are	be	AUX
alkej-459	13	22	required	require	VERB
alkej-459	13	23	,	,	PUNCT
alkej-459	13	24	on	on	ADP
alkej-459	13	25	reasonably	reasonably	ADV
alkej-459	13	26	smooth	smooth	ADJ
alkej-459	13	27	grounds	ground	NOUN
alkej-459	13	28	and	and	CCONJ
alkej-459	13	29	surfaces	surface	NOUN
alkej-459	13	30	.	.	PUNCT
alkej-459	14	1	several	several	ADJ
alkej-459	14	2	mobility	mobility	NOUN
alkej-459	14	3	configurations	configuration	NOUN
alkej-459	14	4	(	(	PUNCT
alkej-459	14	5	wheels	wheel	NOUN
alkej-459	14	6	number	number	NOUN
alkej-459	14	7	and	and	CCONJ
alkej-459	14	8	type	type	NOUN
alkej-459	14	9	,	,	PUNCT
alkej-459	14	10	their	their	PRON
alkej-459	14	11	location	location	NOUN
alkej-459	14	12	and	and	CCONJ
alkej-459	14	13	actuation	actuation	NOUN
alkej-459	14	14	,	,	PUNCT
alkej-459	14	15	single	single	ADJ
alkej-459	14	16	or	or	CCONJ
alkej-459	14	17	multi	multi	ADJ
alkej-459	14	18	-	-	ADJ
alkej-459	14	19	body	body	ADJ
alkej-459	14	20	vehicle	vehicle	NOUN
alkej-459	14	21	structure	structure	NOUN
alkej-459	14	22	)	)	PUNCT
alkej-459	14	23	can	can	AUX
alkej-459	14	24	be	be	AUX
alkej-459	14	25	found	find	VERB
alkej-459	14	26	in	in	ADP
alkej-459	14	27	the	the	DET
alkej-459	14	28	application	application	NOUN
alkej-459	14	29	.	.	PUNCT
alkej-459	15	1	the	the	DET
alkej-459	15	2	most	most	ADV
alkej-459	15	3	common	common	ADJ
alkej-459	15	4	for	for	ADP
alkej-459	15	5	single	single	ADJ
alkej-459	15	6	-	-	PUNCT
alkej-459	15	7	body	body	NOUN
alkej-459	15	8	robots	robot	NOUN
alkej-459	15	9	are	be	AUX
alkej-459	15	10	differential	differential	ADJ
alkej-459	15	11	drive	drive	NOUN
alkej-459	15	12	and	and	CCONJ
alkej-459	15	13	synchro	synchro	NOUN
alkej-459	15	14	drive	drive	NOUN
alkej-459	15	15	(	(	PUNCT
alkej-459	15	16	both	both	PRON
alkej-459	15	17	kinematically	kinematically	ADV
alkej-459	15	18	equivalent	equivalent	ADJ
alkej-459	15	19	to	to	ADP
alkej-459	15	20	a	a	DET
alkej-459	15	21	unicycle	unicycle	NOUN
alkej-459	15	22	)	)	PUNCT
alkej-459	16	1	the	the	DET
alkej-459	16	2	navigation	navigation	NOUN
alkej-459	16	3	problem	problem	NOUN
alkej-459	16	4	may	may	AUX
alkej-459	16	5	be	be	AUX
alkej-459	16	6	divided	divide	VERB
alkej-459	16	7	into	into	ADP
alkej-459	16	8	three	three	NUM
alkej-459	16	9	basic	basic	ADJ
alkej-459	16	10	problems	problem	NOUN
alkej-459	16	11	[	[	X
alkej-459	16	12	1	1	NUM
alkej-459	16	13	]	]	X
alkej-459	16	14	:	:	PUNCT
alkej-459	16	15	tracking	track	VERB
alkej-459	16	16	reference	reference	NOUN
alkej-459	16	17	trajectory	trajectory	NOUN
alkej-459	16	18	,	,	PUNCT
alkej-459	16	19	following	follow	VERB
alkej-459	16	20	a	a	DET
alkej-459	16	21	path	path	NOUN
alkej-459	16	22	,	,	PUNCT
alkej-459	16	23	and	and	CCONJ
alkej-459	16	24	point	point	NOUN
alkej-459	16	25	stabilization	stabilization	NOUN
alkej-459	16	26	.	.	PUNCT
alkej-459	17	1	earlier	early	ADJ
alkej-459	17	2	literatures	literature	NOUN
alkej-459	17	3	focus	focus	VERB
alkej-459	17	4	on	on	ADP
alkej-459	17	5	kinematic	kinematic	ADJ
alkej-459	17	6	model	model	NOUN
alkej-459	17	7	of	of	ADP
alkej-459	17	8	mobile	mobile	NOUN
alkej-459	17	9	robot	robot	NOUN
alkej-459	17	10	(	(	PUNCT
alkej-459	17	11	e.g.	e.g.	ADV
alkej-459	17	12	steering	steering	NOUN
alkej-459	17	13	system	system	NOUN
alkej-459	17	14	)	)	PUNCT
alkej-459	17	15	of	of	ADP
alkej-459	17	16	mobile	mobile	NOUN
alkej-459	17	17	robot	robot	NOUN
alkej-459	17	18	,	,	PUNCT
alkej-459	17	19	and	and	CCONJ
alkej-459	17	20	perfect	perfect	ADJ
alkej-459	17	21	velocity	velocity	NOUN
alkej-459	17	22	is	be	AUX
alkej-459	17	23	assumed	assume	VERB
alkej-459	17	24	to	to	PART
alkej-459	17	25	generate	generate	VERB
alkej-459	17	26	the	the	DET
alkej-459	17	27	actual	actual	ADJ
alkej-459	17	28	vehicle	vehicle	NOUN
alkej-459	17	29	control	control	NOUN
alkej-459	17	30	inputs	input	NOUN
alkej-459	17	31	[	[	X
alkej-459	17	32	2	2	NUM
alkej-459	17	33	]	]	PUNCT
alkej-459	17	34	,	,	PUNCT
alkej-459	17	35	but	but	CCONJ
alkej-459	17	36	there	there	PRON
alkej-459	17	37	are	be	VERB
alkej-459	17	38	three	three	NUM
alkej-459	17	39	problems	problem	NOUN
alkej-459	17	40	with	with	ADP
alkej-459	17	41	this	this	DET
alkej-459	17	42	approach	approach	NOUN
alkej-459	17	43	;	;	PUNCT
alkej-459	17	44	1the	1the	NUM
alkej-459	17	45	perfect	perfect	ADJ
alkej-459	17	46	velocity	velocity	NOUN
alkej-459	17	47	tracking	tracking	NOUN
alkej-459	17	48	assumption	assumption	NOUN
alkej-459	17	49	does	do	AUX
alkej-459	17	50	not	not	PART
alkej-459	17	51	hold	hold	VERB
alkej-459	17	52	in	in	ADP
alkej-459	17	53	practice	practice	NOUN
alkej-459	17	54	.	.	PUNCT
alkej-459	18	1	2disturbances	2disturbance	NOUN
alkej-459	18	2	are	be	AUX
alkej-459	18	3	ignored	ignore	VERB
alkej-459	18	4	.	.	PUNCT
alkej-459	19	1	3complete	3complete	NUM
alkej-459	19	2	knowledge	knowledge	NOUN
alkej-459	19	3	of	of	ADP
alkej-459	19	4	the	the	DET
alkej-459	19	5	dynamics	dynamic	NOUN
alkej-459	19	6	is	be	AUX
alkej-459	19	7	needed	need	VERB
alkej-459	19	8	[	[	PUNCT
alkej-459	19	9	3	3	NUM
alkej-459	19	10	]	]	PUNCT
alkej-459	19	11	.	.	PUNCT
alkej-459	20	1	recently	recently	ADV
alkej-459	20	2	literatures	literature	NOUN
alkej-459	20	3	focus	focus	VERB
alkej-459	20	4	on	on	ADP
alkej-459	20	5	integration	integration	NOUN
alkej-459	20	6	of	of	ADP
alkej-459	20	7	the	the	DET
alkej-459	20	8	nonholonomic	nonholonomic	ADJ
alkej-459	20	9	kinematic	kinematic	ADJ
alkej-459	20	10	controller	controller	NOUN
alkej-459	20	11	and	and	CCONJ
alkej-459	20	12	the	the	DET
alkej-459	20	13	dynamics	dynamic	NOUN
alkej-459	20	14	of	of	ADP
alkej-459	20	15	the	the	DET
alkej-459	20	16	mobile	mobile	NOUN
alkej-459	20	17	robot	robot	NOUN
alkej-459	20	18	.	.	PUNCT
alkej-459	21	1	where	where	SCONJ
alkej-459	21	2	a	a	DET
alkej-459	21	3	sliding	slide	VERB
alkej-459	21	4	mode	mode	NOUN
alkej-459	21	5	control	control	NOUN
alkej-459	21	6	scheme	scheme	NOUN
alkej-459	21	7	is	be	AUX
alkej-459	21	8	proposed	propose	VERB
alkej-459	21	9	to	to	PART
alkej-459	21	10	solve	solve	VERB
alkej-459	21	11	the	the	DET
alkej-459	21	12	trajectory	trajectory	NOUN
alkej-459	21	13	tracking	tracking	NOUN
alkej-459	21	14	problem	problem	NOUN
alkej-459	21	15	based	base	VERB
alkej-459	21	16	on	on	ADP
alkej-459	21	17	the	the	DET
alkej-459	21	18	exact	exact	ADJ
alkej-459	21	19	mailto:drmat19853@yahoo.com	mailto:drmat19853@yahoo.com	PROPN
alkej-459	21	20	mailto:emadnaabd@yahoo.com	mailto:emadnaabd@yahoo.com	PROPN
alkej-459	22	1	mailto:sallah.mahdi99@gmail.com	mailto:sallah.mahdi99@gmail.com	X
alkej-459	22	2	mailto:sallah.mahdi99@gmail.com	mailto:sallah.mahdi99@gmail.com	PROPN
alkej-459	22	3	mouwafak	mouwafak	PROPN
alkej-459	22	4	a.	a.	PROPN
alkej-459	22	5	tawfik	tawfik	PROPN
alkej-459	22	6	al	al	PROPN
alkej-459	22	7	-	-	PUNCT
alkej-459	22	8	khwarizmi	khwarizmi	PROPN
alkej-459	22	9	engineering	engineering	NOUN
alkej-459	22	10	journal	journal	PROPN
alkej-459	22	11	,	,	PUNCT
alkej-459	22	12	vol	vol	NOUN
alkej-459	22	13	.	.	PROPN
alkej-459	22	14	10	10	NUM
alkej-459	22	15	,	,	PUNCT
alkej-459	22	16	no	no	INTJ
alkej-459	22	17	.	.	NOUN
alkej-459	22	18	3	3	NUM
alkej-459	22	19	,	,	PUNCT
alkej-459	22	20	p.p	p.p	PROPN
alkej-459	22	21	.	.	NOUN
alkej-459	22	22	3952	3952	NUM
alkej-459	22	23	(	(	PUNCT
alkej-459	22	24	2014	2014	NUM
alkej-459	22	25	)	)	PUNCT
alkej-459	22	26	40	40	NUM
alkej-459	22	27	discrete	discrete	ADJ
alkej-459	22	28	time	time	NOUN
alkej-459	22	29	model	model	NOUN
alkej-459	22	30	of	of	ADP
alkej-459	22	31	the	the	DET
alkej-459	22	32	robot	robot	NOUN
alkej-459	22	33	[	[	X
alkej-459	22	34	4	4	NUM
alkej-459	22	35	]	]	PUNCT
alkej-459	22	36	.	.	PUNCT
alkej-459	23	1	a	a	DET
alkej-459	23	2	backstepping	backstepping	NOUN
alkej-459	23	3	control	control	NOUN
alkej-459	23	4	approach	approach	NOUN
alkej-459	23	5	tracking	track	VERB
alkej-459	23	6	into	into	ADP
alkej-459	23	7	account	account	NOUN
alkej-459	23	8	the	the	DET
alkej-459	23	9	specific	specific	ADJ
alkej-459	23	10	vehicle	vehicle	NOUN
alkej-459	23	11	dynamic	dynamic	ADJ
alkej-459	23	12	to	to	PART
alkej-459	23	13	convert	convert	VERB
alkej-459	23	14	a	a	DET
alkej-459	23	15	steering	steering	NOUN
alkej-459	23	16	system	system	NOUN
alkej-459	23	17	command	command	NOUN
alkej-459	23	18	into	into	ADP
alkej-459	23	19	control	control	NOUN
alkej-459	23	20	inputs	input	NOUN
alkej-459	23	21	for	for	ADP
alkej-459	23	22	the	the	DET
alkej-459	23	23	actual	actual	ADJ
alkej-459	23	24	vehicle	vehicle	NOUN
alkej-459	23	25	was	be	AUX
alkej-459	23	26	implemented	implement	VERB
alkej-459	23	27	in	in	ADP
alkej-459	23	28	[	[	X
alkej-459	23	29	5	5	NUM
alkej-459	23	30	]	]	PUNCT
alkej-459	23	31	.	.	PUNCT
alkej-459	24	1	fuzzy	fuzzy	ADJ
alkej-459	24	2	logic	logic	NOUN
alkej-459	24	3	control	control	NOUN
alkej-459	24	4	(	(	PUNCT
alkej-459	24	5	flc	flc	PROPN
alkej-459	24	6	)	)	PUNCT
alkej-459	24	7	is	be	AUX
alkej-459	24	8	based	base	VERB
alkej-459	24	9	on	on	ADP
alkej-459	24	10	a	a	DET
alkej-459	24	11	back	back	ADV
alkej-459	24	12	-	-	PUNCT
alkej-459	24	13	stepping	step	VERB
alkej-459	24	14	approach	approach	NOUN
alkej-459	24	15	to	to	ADP
alkej-459	24	16	asymptotic	asymptotic	ADJ
alkej-459	24	17	stabilization	stabilization	NOUN
alkej-459	24	18	of	of	ADP
alkej-459	24	19	the	the	DET
alkej-459	24	20	robots	robot	NOUN
alkej-459	24	21	position	position	NOUN
alkej-459	24	22	and	and	CCONJ
alkej-459	24	23	orientation	orientation	NOUN
alkej-459	24	24	around	around	ADP
alkej-459	24	25	the	the	DET
alkej-459	24	26	desired	desire	VERB
alkej-459	24	27	trajectory	trajectory	NOUN
alkej-459	24	28	proposed	propose	VERB
alkej-459	24	29	in	in	ADP
alkej-459	24	30	[	[	X
alkej-459	24	31	6	6	NUM
alkej-459	24	32	]	]	PUNCT
alkej-459	24	33	.	.	PUNCT
alkej-459	25	1	the	the	DET
alkej-459	25	2	tracking	tracking	NOUN
alkej-459	25	3	control	control	NOUN
alkej-459	25	4	problem	problem	NOUN
alkej-459	25	5	for	for	ADP
alkej-459	25	6	a	a	DET
alkej-459	25	7	wheeled	wheel	VERB
alkej-459	25	8	mobile	mobile	ADJ
alkej-459	25	9	robot	robot	NOUN
alkej-459	25	10	,	,	PUNCT
alkej-459	25	11	where	where	SCONJ
alkej-459	25	12	the	the	DET
alkej-459	25	13	error	error	NOUN
alkej-459	25	14	in	in	ADP
alkej-459	25	15	posture	posture	NOUN
alkej-459	25	16	of	of	ADP
alkej-459	25	17	mobile	mobile	NOUN
alkej-459	25	18	robot	robot	NOUN
alkej-459	25	19	used	use	VERB
alkej-459	25	20	as	as	ADP
alkej-459	25	21	input	input	NOUN
alkej-459	25	22	control	control	NOUN
alkej-459	25	23	was	be	AUX
alkej-459	25	24	the	the	DET
alkej-459	25	25	topic	topic	NOUN
alkej-459	25	26	of	of	ADP
alkej-459	25	27	this	this	DET
alkej-459	25	28	work	work	NOUN
alkej-459	25	29	.	.	PUNCT
alkej-459	26	1	in	in	ADP
alkej-459	26	2	this	this	DET
alkej-459	26	3	paper	paper	NOUN
alkej-459	26	4	a	a	DET
alkej-459	26	5	simple	simple	ADJ
alkej-459	26	6	and	and	CCONJ
alkej-459	26	7	significant	significant	ADJ
alkej-459	26	8	controller	controller	NOUN
alkej-459	26	9	based	base	VERB
alkej-459	26	10	on	on	ADP
alkej-459	26	11	fopid	fopid	NOUN
alkej-459	26	12	for	for	ADP
alkej-459	26	13	a	a	DET
alkej-459	26	14	two	two	NUM
alkej-459	26	15	active	active	ADJ
alkej-459	26	16	wheel	wheel	NOUN
alkej-459	26	17	nonholonomic	nonholonomic	PROPN
alkej-459	26	18	mobile	mobile	ADJ
alkej-459	26	19	robot	robot	NOUN
alkej-459	26	20	subjected	subject	VERB
alkej-459	26	21	to	to	ADP
alkej-459	26	22	pure	pure	ADJ
alkej-459	26	23	rolling	rolling	NOUN
alkej-459	26	24	and	and	CCONJ
alkej-459	26	25	no	no	DET
alkej-459	26	26	side	side	NOUN
alkej-459	26	27	slipping	slip	VERB
alkej-459	26	28	condition	condition	NOUN
alkej-459	26	29	was	be	AUX
alkej-459	26	30	proposed	propose	VERB
alkej-459	26	31	.	.	PUNCT
alkej-459	27	1	the	the	DET
alkej-459	27	2	developed	develop	VERB
alkej-459	27	3	dynamic	dynamic	ADJ
alkej-459	27	4	model	model	NOUN
alkej-459	27	5	includes	include	VERB
alkej-459	27	6	inertia	inertia	NOUN
alkej-459	27	7	moment	moment	NOUN
alkej-459	27	8	of	of	ADP
alkej-459	27	9	driving	drive	VERB
alkej-459	27	10	wheels	wheel	NOUN
alkej-459	27	11	,	,	PUNCT
alkej-459	27	12	the	the	DET
alkej-459	27	13	total	total	ADJ
alkej-459	27	14	mass	mass	NOUN
alkej-459	27	15	and	and	CCONJ
alkej-459	27	16	inertia	inertia	NOUN
alkej-459	27	17	moment	moment	NOUN
alkej-459	27	18	which	which	PRON
alkej-459	27	19	has	have	VERB
alkej-459	27	20	a	a	DET
alkej-459	27	21	centroid	centroid	NOUN
alkej-459	27	22	offset	offset	NOUN
alkej-459	27	23	from	from	ADP
alkej-459	27	24	the	the	DET
alkej-459	27	25	connection	connection	NOUN
alkej-459	27	26	center	center	NOUN
alkej-459	27	27	of	of	ADP
alkej-459	27	28	wheeled	wheel	VERB
alkej-459	27	29	mobile	mobile	ADJ
alkej-459	27	30	robot	robot	NOUN
alkej-459	27	31	through	through	ADP
alkej-459	27	32	the	the	DET
alkej-459	27	33	compute	compute	ADJ
alkej-459	27	34	torque	torque	NOUN
alkej-459	27	35	method	method	NOUN
alkej-459	27	36	,	,	PUNCT
alkej-459	27	37	and	and	CCONJ
alkej-459	27	38	a	a	DET
alkej-459	27	39	fopid	fopid	NOUN
alkej-459	27	40	controller	controller	NOUN
alkej-459	27	41	are	be	AUX
alkej-459	27	42	applied	apply	VERB
alkej-459	27	43	for	for	ADP
alkej-459	27	44	stabilizing	stabilize	VERB
alkej-459	27	45	the	the	DET
alkej-459	27	46	robot	robot	NOUN
alkej-459	27	47	around	around	ADP
alkej-459	27	48	its	its	PRON
alkej-459	27	49	reference	reference	NOUN
alkej-459	27	50	trajectory	trajectory	NOUN
alkej-459	27	51	even	even	ADV
alkej-459	27	52	in	in	ADP
alkej-459	27	53	presence	presence	NOUN
alkej-459	27	54	of	of	ADP
alkej-459	27	55	disturbance	disturbance	NOUN
alkej-459	27	56	/	/	SYM
alkej-459	27	57	noises	noise	NOUN
alkej-459	27	58	and	and	CCONJ
alkej-459	27	59	modeling	model	VERB
alkej-459	27	60	uncertainties	uncertainty	NOUN
alkej-459	27	61	.	.	PUNCT
alkej-459	28	1	2	2	X
alkej-459	28	2	.	.	X
alkej-459	28	3	kinematic	kinematic	PROPN
alkej-459	28	4	&	&	CCONJ
alkej-459	28	5	dynamic	dynamic	ADJ
alkej-459	28	6	modeling	modeling	NOUN
alkej-459	28	7	of	of	ADP
alkej-459	28	8	nonholonomic	nonholonomic	ADJ
alkej-459	28	9	wmr	wmr	PROPN
alkej-459	28	10	2.1	2.1	NUM
alkej-459	28	11	.	.	PUNCT
alkej-459	29	1	kinematic	kinematic	NOUN
alkej-459	29	2	of	of	ADP
alkej-459	29	3	nonhlonomic	nonhlonomic	ADJ
alkej-459	29	4	mechanical	mechanical	ADJ
alkej-459	29	5	system	system	NOUN
alkej-459	29	6	in	in	ADP
alkej-459	29	7	mobile	mobile	ADJ
alkej-459	29	8	robotics	robotic	NOUN
alkej-459	29	9	the	the	DET
alkej-459	29	10	mechanical	mechanical	ADJ
alkej-459	29	11	behavior	behavior	NOUN
alkej-459	29	12	of	of	ADP
alkej-459	29	13	the	the	DET
alkej-459	29	14	robot	robot	NOUN
alkej-459	29	15	must	must	AUX
alkej-459	29	16	be	be	AUX
alkej-459	29	17	understood	understand	VERB
alkej-459	29	18	,	,	PUNCT
alkej-459	29	19	both	both	CCONJ
alkej-459	29	20	in	in	ADP
alkej-459	29	21	order	order	NOUN
alkej-459	29	22	to	to	PART
alkej-459	29	23	design	design	VERB
alkej-459	29	24	suitable	suitable	ADJ
alkej-459	29	25	robots	robot	NOUN
alkej-459	29	26	for	for	ADP
alkej-459	29	27	task	task	NOUN
alkej-459	29	28	and	and	CCONJ
alkej-459	29	29	to	to	PART
alkej-459	29	30	understand	understand	VERB
alkej-459	29	31	how	how	SCONJ
alkej-459	29	32	to	to	PART
alkej-459	29	33	generate	generate	VERB
alkej-459	29	34	control	control	NOUN
alkej-459	29	35	software	software	NOUN
alkej-459	29	36	,	,	PUNCT
alkej-459	29	37	for	for	ADP
alkej-459	29	38	instance	instance	NOUN
alkej-459	29	39	mobile	mobile	NOUN
alkej-459	29	40	robot	robot	NOUN
alkej-459	29	41	hardware	hardware	NOUN
alkej-459	30	1	[	[	X
alkej-459	30	2	7	7	NUM
alkej-459	30	3	]	]	PUNCT
alkej-459	30	4	.	.	PUNCT
alkej-459	31	1	in	in	ADP
alkej-459	31	2	general	general	ADJ
alkej-459	31	3	kinematics	kinematic	NOUN
alkej-459	31	4	deals	deal	VERB
alkej-459	31	5	with	with	ADP
alkej-459	31	6	study	study	NOUN
alkej-459	31	7	of	of	ADP
alkej-459	31	8	motion	motion	NOUN
alkej-459	31	9	without	without	ADP
alkej-459	31	10	considering	consider	VERB
alkej-459	31	11	the	the	DET
alkej-459	31	12	force	force	NOUN
alkej-459	31	13	that	that	PRON
alkej-459	31	14	affects	affect	VERB
alkej-459	31	15	it	it	PRON
alkej-459	31	16	.	.	PUNCT
alkej-459	32	1	in	in	ADP
alkej-459	32	2	spite	spite	NOUN
alkej-459	32	3	of	of	ADP
alkej-459	32	4	the	the	DET
alkej-459	32	5	publish	publish	ADJ
alkej-459	32	6	work	work	NOUN
alkej-459	32	7	considered	consider	VERB
alkej-459	32	8	a	a	DET
alkej-459	32	9	reference	reference	NOUN
alkej-459	32	10	point	point	NOUN
alkej-459	32	11	of	of	ADP
alkej-459	32	12	the	the	DET
alkej-459	32	13	plat	plat	NOUN
alkej-459	32	14	for	for	ADP
alkej-459	32	15	of	of	ADP
alkej-459	32	16	mobile	mobile	ADJ
alkej-459	32	17	robot	robot	NOUN
alkej-459	32	18	at	at	ADP
alkej-459	32	19	c.g	c.g	PROPN
alkej-459	32	20	.	.	PROPN
alkej-459	32	21	,	,	PUNCT
alkej-459	32	22	it	it	PRON
alkej-459	32	23	is	be	AUX
alkej-459	32	24	more	more	ADJ
alkej-459	32	25	it	it	PRON
alkej-459	32	26	is	be	AUX
alkej-459	32	27	more	more	ADJ
alkej-459	32	28	confidence	confidence	NOUN
alkej-459	32	29	to	to	ADP
alkej-459	32	30	attached	attach	VERB
alkej-459	32	31	platform	platform	NOUN
alkej-459	32	32	frame	frame	NOUN
alkej-459	32	33	at	at	ADP
alkej-459	32	34	c	c	PROPN
alkej-459	32	35	as	as	SCONJ
alkej-459	32	36	shown	show	VERB
alkej-459	32	37	in	in	ADP
alkej-459	32	38	figure	figure	NOUN
alkej-459	32	39	1	1	NUM
alkej-459	32	40	which	which	PRON
alkej-459	32	41	is	be	AUX
alkej-459	32	42	located	locate	VERB
alkej-459	32	43	in	in	ADP
alkej-459	32	44	mid	mid	ADJ
alkej-459	32	45	axis	axis	NOUN
alkej-459	32	46	that	that	PRON
alkej-459	32	47	connect	connect	VERB
alkej-459	32	48	driven	drive	VERB
alkej-459	32	49	wheels	wheel	NOUN
alkej-459	32	50	,	,	PUNCT
alkej-459	32	51	(	(	PUNCT
alkej-459	32	52	in	in	ADP
alkej-459	32	53	other	other	ADJ
alkej-459	32	54	word	word	NOUN
alkej-459	32	55	the	the	DET
alkej-459	32	56	midpoint	midpoint	NOUN
alkej-459	32	57	of	of	ADP
alkej-459	32	58	the	the	DET
alkej-459	32	59	drive	drive	ADJ
alkej-459	32	60	wheels	wheel	NOUN
alkej-459	32	61	axis	axis	NOUN
alkej-459	32	62	c	c	PROPN
alkej-459	32	63	is	be	AUX
alkej-459	32	64	considered	consider	VERB
alkej-459	32	65	as	as	SCONJ
alkej-459	32	66	a	a	DET
alkej-459	32	67	reference	reference	NOUN
alkej-459	32	68	point	point	NOUN
alkej-459	32	69	of	of	ADP
alkej-459	32	70	plat	plat	ADJ
alkej-459	32	71	form	form	NOUN
alkej-459	32	72	of	of	ADP
alkej-459	32	73	mobile	mobile	ADJ
alkej-459	32	74	robot	robot	NOUN
alkej-459	32	75	that	that	PRON
alkej-459	32	76	will	will	AUX
alkej-459	32	77	follows	follow	VERB
alkej-459	32	78	the	the	DET
alkej-459	32	79	desired	desire	VERB
alkej-459	32	80	trajectory	trajectory	NOUN
alkej-459	32	81	and	and	CCONJ
alkej-459	32	82	the	the	DET
alkej-459	32	83	inertia	inertia	NOUN
alkej-459	32	84	of	of	ADP
alkej-459	32	85	the	the	DET
alkej-459	32	86	mobile	mobile	ADJ
alkej-459	32	87	robot	robot	NOUN
alkej-459	32	88	is	be	AUX
alkej-459	32	89	accounted	account	VERB
alkej-459	32	90	for	for	ADP
alkej-459	32	91	)	)	PUNCT
alkej-459	32	92	.	.	PUNCT
alkej-459	33	1	the	the	DET
alkej-459	33	2	deferential	deferential	ADJ
alkej-459	33	3	drive	drive	NOUN
alkej-459	33	4	robot	robot	NOUN
alkej-459	33	5	platform	platform	NOUN
alkej-459	33	6	as	as	ADP
alkej-459	33	7	a	a	DET
alkej-459	33	8	rigid	rigid	ADJ
alkej-459	33	9	body	body	NOUN
alkej-459	33	10	on	on	ADP
alkej-459	33	11	wheels	wheel	NOUN
alkej-459	33	12	,	,	PUNCT
alkej-459	33	13	operating	operate	VERB
alkej-459	33	14	on	on	ADP
alkej-459	33	15	a	a	DET
alkej-459	33	16	horizontal	horizontal	ADJ
alkej-459	33	17	plane	plane	NOUN
alkej-459	33	18	,	,	PUNCT
alkej-459	33	19	is	be	AUX
alkej-459	33	20	shown	show	VERB
alkej-459	33	21	in	in	ADP
alkej-459	33	22	figure	figure	NOUN
alkej-459	33	23	1	1	NUM
alkej-459	33	24	.	.	PUNCT
alkej-459	33	25	fig	fig	NOUN
alkej-459	33	26	.	.	PUNCT
alkej-459	34	1	1	1	X
alkej-459	34	2	.	.	X
alkej-459	34	3	a	a	DET
alkej-459	34	4	nonholonomic	nonholonomic	ADJ
alkej-459	34	5	mobile	mobile	ADJ
alkej-459	34	6	platform	platform	NOUN
alkej-459	34	7	.	.	PUNCT
alkej-459	35	1	from	from	ADP
alkej-459	35	2	figure	figure	NOUN
alkej-459	35	3	1	1	NUM
alkej-459	35	4	,	,	PUNCT
alkej-459	35	5	kinematic	kinematic	ADJ
alkej-459	35	6	equation	equation	NOUN
alkej-459	35	7	of	of	ADP
alkej-459	35	8	mobile	mobile	ADJ
alkej-459	35	9	robot	robot	NOUN
alkej-459	35	10	in	in	ADP
alkej-459	35	11	world	world	NOUN
alkej-459	35	12	frame	frame	NOUN
alkej-459	35	13	{	{	PUNCT
alkej-459	35	14	o	o	NOUN
alkej-459	35	15	,	,	PUNCT
alkej-459	35	16	x	x	PROPN
alkej-459	35	17	,	,	PUNCT
alkej-459	35	18	y	y	PROPN
alkej-459	35	19	}	}	PUNCT
alkej-459	35	20	can	can	AUX
alkej-459	35	21	be	be	AUX
alkej-459	35	22	described	describe	VERB
alkej-459	35	23	as	as	ADP
alkej-459	35	24	follows	follow	VERB
alkej-459	35	25	:	:	PUNCT
alkej-459	35	26	…	…	PUNCT
alkej-459	35	27	(	(	PUNCT
alkej-459	35	28	1	1	NUM
alkej-459	35	29	)	)	PUNCT
alkej-459	35	30	…	…	PUNCT
alkej-459	35	31	(	(	PUNCT
alkej-459	35	32	2	2	NUM
alkej-459	35	33	)	)	PUNCT
alkej-459	35	34	…	…	PUNCT
alkej-459	35	35	(	(	PUNCT
alkej-459	35	36	3	3	X
alkej-459	35	37	)	)	PUNCT
alkej-459	35	38	the	the	DET
alkej-459	35	39	kinematic	kinematic	ADJ
alkej-459	35	40	equation	equation	NOUN
alkej-459	35	41	1,2,and	1,2,and	NUM
alkej-459	35	42	3	3	NUM
alkej-459	35	43	can	can	AUX
alkej-459	35	44	be	be	AUX
alkej-459	35	45	represented	represent	VERB
alkej-459	35	46	as	as	ADP
alkej-459	35	47	follows[8,9,10	follows[8,9,10	NOUN
alkej-459	35	48	]	]	X
alkej-459	35	49	:	:	PUNCT
alkej-459	35	50	…	…	PUNCT
alkej-459	35	51	(	(	PUNCT
alkej-459	35	52	4	4	NUM
alkej-459	35	53	)	)	PUNCT
alkej-459	35	54	where	where	SCONJ
alkej-459	35	55	:	:	PUNCT
alkej-459	35	56	…	…	PUNCT
alkej-459	35	57	(	(	PUNCT
alkej-459	35	58	5	5	X
alkej-459	35	59	)	)	PUNCT
alkej-459	35	60	c.g	c.g	VERB
alkej-459	35	61	yc	yc	NOUN
alkej-459	35	62	c	c	PROPN
alkej-459	36	1	d	d	X
alkej-459	36	2	x	x	X
alkej-459	36	3	y	y	VERB
alkej-459	36	4	yc	yc	NOUN
alkej-459	36	5	xc	xc	PROPN
alkej-459	36	6	xc	xc	PROPN
alkej-459	36	7	2r	2r	NUM
alkej-459	36	8	2l	2l	PROPN
alkej-459	36	9	mouwafak	mouwafak	PROPN
alkej-459	36	10	a.	a.	PROPN
alkej-459	36	11	tawfik	tawfik	PROPN
alkej-459	36	12	al	al	PROPN
alkej-459	36	13	-	-	PUNCT
alkej-459	36	14	khwarizmi	khwarizmi	PROPN
alkej-459	36	15	engineering	engineering	NOUN
alkej-459	36	16	journal	journal	PROPN
alkej-459	36	17	,	,	PUNCT
alkej-459	36	18	vol	vol	NOUN
alkej-459	36	19	.	.	PROPN
alkej-459	37	1	10	10	NUM
alkej-459	37	2	,	,	PUNCT
alkej-459	37	3	no	no	INTJ
alkej-459	37	4	.	.	NOUN
alkej-459	37	5	3	3	NUM
alkej-459	37	6	,	,	PUNCT
alkej-459	37	7	p.p	p.p	PROPN
alkej-459	37	8	.	.	NOUN
alkej-459	37	9	3952	3952	NUM
alkej-459	37	10	(	(	PUNCT
alkej-459	37	11	2014	2014	NUM
alkej-459	37	12	)	)	PUNCT
alkej-459	37	13	41	41	NUM
alkej-459	37	14	…	…	PUNCT
alkej-459	37	15	(	(	PUNCT
alkej-459	37	16	6	6	NUM
alkej-459	37	17	)	)	PUNCT
alkej-459	37	18	the	the	DET
alkej-459	37	19	nonholonomic	nonholonomic	ADJ
alkej-459	37	20	constraint	constraint	NOUN
alkej-459	37	21	states	state	NOUN
alkej-459	37	22	that	that	SCONJ
alkej-459	37	23	the	the	DET
alkej-459	37	24	mobile	mobile	NOUN
alkej-459	37	25	robot	robot	NOUN
alkej-459	37	26	can	can	AUX
alkej-459	37	27	only	only	ADV
alkej-459	37	28	move	move	VERB
alkej-459	37	29	on	on	ADP
alkej-459	37	30	the	the	DET
alkej-459	37	31	direction	direction	NOUN
alkej-459	37	32	normal	normal	ADJ
alkej-459	37	33	to	to	ADP
alkej-459	37	34	the	the	DET
alkej-459	37	35	axis	axis	NOUN
alkej-459	37	36	of	of	ADP
alkej-459	37	37	the	the	DET
alkej-459	37	38	driving	drive	VERB
alkej-459	37	39	wheels	wheel	NOUN
alkej-459	37	40	,	,	PUNCT
alkej-459	37	41	i.e	i.e	PRON
alkej-459	37	42	,	,	PUNCT
alkej-459	37	43	the	the	DET
alkej-459	37	44	mobile	mobile	ADJ
alkej-459	37	45	base	base	NOUN
alkej-459	37	46	satisfies	satisfy	VERB
alkej-459	37	47	the	the	DET
alkej-459	37	48	conditions	condition	NOUN
alkej-459	37	49	of	of	ADP
alkej-459	37	50	pure	pure	ADJ
alkej-459	37	51	rolling	rolling	NOUN
alkej-459	37	52	and	and	CCONJ
alkej-459	37	53	non	non	ADJ
alkej-459	37	54	slipping	slip	VERB
alkej-459	37	55	[	[	X
alkej-459	37	56	11,12	11,12	NOUN
alkej-459	37	57	]	]	PUNCT
alkej-459	37	58	.	.	PUNCT
alkej-459	38	1	…	…	PUNCT
alkej-459	38	2	(	(	PUNCT
alkej-459	38	3	7	7	X
alkej-459	38	4	)	)	PUNCT
alkej-459	38	5	the	the	DET
alkej-459	38	6	constraint	constraint	NOUN
alkej-459	38	7	equation	equation	NOUN
alkej-459	38	8	(	(	PUNCT
alkej-459	38	9	7	7	X
alkej-459	38	10	)	)	PUNCT
alkej-459	38	11	can	can	AUX
alkej-459	38	12	be	be	AUX
alkej-459	38	13	written	write	VERB
alkej-459	38	14	in	in	ADP
alkej-459	38	15	matrix	matrix	NOUN
alkej-459	38	16	form	form	NOUN
alkej-459	38	17	:	:	PUNCT
alkej-459	38	18	…	…	PUNCT
alkej-459	38	19	(	(	PUNCT
alkej-459	38	20	8)	8)	NUM
alkej-459	38	21	where	where	SCONJ
alkej-459	38	22	…	…	PUNCT
alkej-459	38	23	(	(	PUNCT
alkej-459	38	24	9	9	NUM
alkej-459	38	25	)	)	PUNCT
alkej-459	38	26	from	from	ADP
alkej-459	38	27	(	(	PUNCT
alkej-459	38	28	4	4	NUM
alkej-459	38	29	and	and	CCONJ
alkej-459	38	30	7	7	NUM
alkej-459	38	31	)	)	PUNCT
alkej-459	38	32	it	it	PRON
alkej-459	38	33	is	be	AUX
alkej-459	38	34	found	find	VERB
alkej-459	38	35	that	that	SCONJ
alkej-459	38	36	s(q	s(q	NOUN
alkej-459	38	37	)	)	PUNCT
alkej-459	38	38	is	be	AUX
alkej-459	38	39	a	a	DET
alkej-459	38	40	full	full	ADJ
alkej-459	38	41	rank	rank	NOUN
alkej-459	38	42	matrix	matrix	NOUN
alkej-459	38	43	(	(	PUNCT
alkej-459	38	44	n	n	CCONJ
alkej-459	38	45	-	-	PUNCT
alkej-459	38	46	m	m	NOUN
alkej-459	38	47	)	)	PUNCT
alkej-459	38	48	formed	form	VERB
alkej-459	38	49	by	by	ADP
alkej-459	38	50	a	a	DET
alkej-459	38	51	set	set	NOUN
alkej-459	38	52	of	of	ADP
alkej-459	38	53	smooth	smooth	ADJ
alkej-459	38	54	and	and	CCONJ
alkej-459	38	55	linearly	linearly	ADV
alkej-459	38	56	independent	independent	ADJ
alkej-459	38	57	vector	vector	NOUN
alkej-459	38	58	fields	field	NOUN
alkej-459	38	59	spanning	span	VERB
alkej-459	38	60	the	the	DET
alkej-459	38	61	null	null	ADJ
alkej-459	38	62	space	space	NOUN
alkej-459	38	63	of	of	ADP
alkej-459	38	64	a(q	a(q	PROPN
alkej-459	38	65	)	)	PUNCT
alkej-459	38	66	,	,	PUNCT
alkej-459	38	67	i.e.	i.e.	X
alkej-459	38	68	s	s	X
alkej-459	38	69	t	t	NOUN
alkej-459	38	70	(	(	PUNCT
alkej-459	38	71	q)a	q)a	PROPN
alkej-459	38	72	t	t	PROPN
alkej-459	38	73	(	(	PUNCT
alkej-459	38	74	q	q	X
alkej-459	38	75	)	)	PUNCT
alkej-459	38	76	=	=	SYM
alkej-459	38	77	0	0	NUM
alkej-459	38	78	.	.	NUM
alkej-459	39	1	…	…	PUNCT
alkej-459	39	2	(	(	PUNCT
alkej-459	39	3	10	10	NUM
alkej-459	39	4	)	)	PUNCT
alkej-459	39	5	the	the	DET
alkej-459	39	6	mobile	mobile	NOUN
alkej-459	39	7	robot	robot	NOUN
alkej-459	39	8	shown	show	VERB
alkej-459	39	9	in	in	ADP
alkej-459	39	10	figure	figure	NOUN
alkej-459	39	11	1	1	NUM
alkej-459	39	12	is	be	AUX
alkej-459	39	13	a	a	DET
alkej-459	39	14	typical	typical	ADJ
alkej-459	39	15	example	example	NOUN
alkej-459	39	16	of	of	ADP
alkej-459	39	17	a	a	DET
alkej-459	39	18	nonhlonmonic	nonhlonmonic	ADJ
alkej-459	39	19	mechanical	mechanical	ADJ
alkej-459	39	20	system	system	NOUN
alkej-459	39	21	.	.	PUNCT
alkej-459	40	1	it	it	PRON
alkej-459	40	2	consists	consist	VERB
alkej-459	40	3	of	of	ADP
alkej-459	40	4	a	a	DET
alkej-459	40	5	vehicle	vehicle	NOUN
alkej-459	40	6	with	with	ADP
alkej-459	40	7	two	two	NUM
alkej-459	40	8	driving	drive	VERB
alkej-459	40	9	wheels	wheel	NOUN
alkej-459	40	10	mounted	mount	VERB
alkej-459	40	11	on	on	ADP
alkej-459	40	12	the	the	DET
alkej-459	40	13	same	same	ADJ
alkej-459	40	14	axis	axis	NOUN
alkej-459	40	15	,	,	PUNCT
alkej-459	40	16	and	and	CCONJ
alkej-459	40	17	a	a	DET
alkej-459	40	18	front	front	ADJ
alkej-459	40	19	free	free	ADJ
alkej-459	40	20	wheel	wheel	NOUN
alkej-459	40	21	.	.	PUNCT
alkej-459	41	1	the	the	DET
alkej-459	41	2	motion	motion	NOUN
alkej-459	41	3	and	and	CCONJ
alkej-459	41	4	orientation	orientation	NOUN
alkej-459	41	5	are	be	AUX
alkej-459	41	6	achieved	achieve	VERB
alkej-459	41	7	by	by	ADP
alkej-459	41	8	independent	independent	ADJ
alkej-459	41	9	actuators	actuator	NOUN
alkej-459	41	10	,	,	PUNCT
alkej-459	41	11	e.g.	e.g.	ADV
alkej-459	41	12	,	,	PUNCT
alkej-459	41	13	dc	dc	PROPN
alkej-459	41	14	motors	motor	NOUN
alkej-459	41	15	providing	provide	VERB
alkej-459	41	16	the	the	DET
alkej-459	41	17	necessary	necessary	ADJ
alkej-459	41	18	torques	torque	NOUN
alkej-459	41	19	to	to	ADP
alkej-459	41	20	the	the	DET
alkej-459	41	21	rear	rear	ADJ
alkej-459	41	22	wheels	wheel	NOUN
alkej-459	41	23	.	.	PUNCT
alkej-459	42	1	the	the	DET
alkej-459	42	2	position	position	NOUN
alkej-459	42	3	of	of	ADP
alkej-459	42	4	the	the	DET
alkej-459	42	5	robot	robot	NOUN
alkej-459	42	6	in	in	ADP
alkej-459	42	7	an	an	DET
alkej-459	42	8	inertial	inertial	ADJ
alkej-459	42	9	cartesian	cartesian	ADJ
alkej-459	42	10	frame	frame	NOUN
alkej-459	42	11	{	{	PUNCT
alkej-459	42	12	o	o	NOUN
alkej-459	42	13	,	,	PUNCT
alkej-459	42	14	x	x	PROPN
alkej-459	42	15	,	,	PUNCT
alkej-459	42	16	y	y	NOUN
alkej-459	42	17	}	}	PUNCT
alkej-459	42	18	is	be	AUX
alkej-459	42	19	completely	completely	ADV
alkej-459	42	20	specified	specify	VERB
alkej-459	42	21	by	by	ADP
alkej-459	42	22	the	the	DET
alkej-459	42	23	vector	vector	NOUN
alkej-459	42	24	q	q	NOUN
alkej-459	43	1	=	=	PUNCT
alkej-459	44	1	[	[	X
alkej-459	44	2	xc	xc	X
alkej-459	44	3	yc	yc	X
alkej-459	44	4	]	]	PUNCT
alkej-459	44	5	t	t	PROPN
alkej-459	44	6	where	where	SCONJ
alkej-459	44	7	xc	xc	PROPN
alkej-459	44	8	,	,	PUNCT
alkej-459	44	9	yc	yc	PROPN
alkej-459	44	10	are	be	AUX
alkej-459	44	11	the	the	DET
alkej-459	44	12	coordinates	coordinate	NOUN
alkej-459	44	13	of	of	ADP
alkej-459	44	14	the	the	DET
alkej-459	44	15	center	center	NOUN
alkej-459	44	16	of	of	ADP
alkej-459	44	17	mass	mass	NOUN
alkej-459	44	18	of	of	ADP
alkej-459	44	19	the	the	DET
alkej-459	44	20	vehicle	vehicle	NOUN
alkej-459	44	21	,	,	PUNCT
alkej-459	44	22	and	and	CCONJ
alkej-459	44	23	is	be	AUX
alkej-459	44	24	the	the	DET
alkej-459	44	25	orientation	orientation	NOUN
alkej-459	44	26	of	of	ADP
alkej-459	44	27	the	the	DET
alkej-459	44	28	basis	basis	NOUN
alkej-459	44	29	{	{	PUNCT
alkej-459	44	30	c	c	NOUN
alkej-459	44	31	,	,	PUNCT
alkej-459	44	32	xc	xc	PROPN
alkej-459	44	33	,	,	PUNCT
alkej-459	44	34	yc	yc	PROPN
alkej-459	44	35	}	}	PUNCT
alkej-459	44	36	with	with	ADP
alkej-459	44	37	respect	respect	NOUN
alkej-459	44	38	to	to	ADP
alkej-459	44	39	the	the	DET
alkej-459	44	40	inertial	inertial	ADJ
alkej-459	44	41	basis	basis	NOUN
alkej-459	44	42	.	.	PUNCT
alkej-459	45	1	2.2	2.2	NUM
alkej-459	45	2	.	.	PUNCT
alkej-459	45	3	dynamics	dynamic	NOUN
alkej-459	45	4	of	of	ADP
alkej-459	45	5	nonholonomic	nonholonomic	ADJ
alkej-459	45	6	mechanical	mechanical	ADJ
alkej-459	45	7	system	system	NOUN
alkej-459	45	8	as	as	SCONJ
alkej-459	45	9	represented	represent	VERB
alkej-459	45	10	by	by	ADP
alkej-459	45	11	r.	r.	PROPN
alkej-459	45	12	fierro	fierro	PROPN
alkej-459	45	13	,	,	PUNCT
alkej-459	45	14	at	at	ADP
alkej-459	45	15	el	el	PROPN
alkej-459	46	1	[	[	X
alkej-459	46	2	5	5	NUM
alkej-459	46	3	]	]	PUNCT
alkej-459	46	4	,	,	PUNCT
alkej-459	46	5	many	many	ADJ
alkej-459	46	6	nonholonomic	nonholonomic	ADJ
alkej-459	46	7	mechanical	mechanical	ADJ
alkej-459	46	8	system	system	NOUN
alkej-459	46	9	can	can	AUX
alkej-459	46	10	be	be	AUX
alkej-459	46	11	describes	describe	NOUN
alkej-459	46	12	by	by	ADP
alkej-459	46	13	the	the	DET
alkej-459	46	14	following	follow	VERB
alkej-459	46	15	dynamic	dynamic	ADJ
alkej-459	46	16	equations	equation	NOUN
alkej-459	46	17	:	:	PUNCT
alkej-459	46	18	…	…	PUNCT
alkej-459	46	19	(	(	PUNCT
alkej-459	46	20	11	11	NUM
alkej-459	46	21	)	)	PUNCT
alkej-459	46	22	where	where	SCONJ
alkej-459	46	23	is	be	AUX
alkej-459	46	24	a	a	DET
alkej-459	46	25	symmetric	symmetric	ADJ
alkej-459	46	26	positive	positive	ADJ
alkej-459	46	27	definite	definite	ADJ
alkej-459	46	28	inertia	inertia	NOUN
alkej-459	46	29	matrix	matrix	NOUN
alkej-459	46	30	,	,	PUNCT
alkej-459	46	31	is	be	AUX
alkej-459	46	32	the	the	DET
alkej-459	46	33	centeriptal	centeriptal	NOUN
alkej-459	46	34	and	and	CCONJ
alkej-459	46	35	corilis	corili	NOUN
alkej-459	46	36	matrix	matrix	NOUN
alkej-459	46	37	,	,	PUNCT
alkej-459	46	38	denotes	denote	VERB
alkej-459	46	39	the	the	DET
alkej-459	46	40	surface	surface	NOUN
alkej-459	46	41	friction	friction	NOUN
alkej-459	46	42	,	,	PUNCT
alkej-459	46	43	is	be	AUX
alkej-459	46	44	the	the	DET
alkej-459	46	45	gravitational	gravitational	ADJ
alkej-459	46	46	vector	vector	NOUN
alkej-459	46	47	,	,	PUNCT
alkej-459	46	48	denotes	denote	NOUN
alkej-459	46	49	bounded	bound	VERB
alkej-459	46	50	unknown	unknown	ADJ
alkej-459	46	51	disturbances	disturbance	NOUN
alkej-459	46	52	including	include	VERB
alkej-459	46	53	unstructured	unstructure	VERB
alkej-459	46	54	unmodeled	unmodeled	ADJ
alkej-459	46	55	dynamics	dynamic	NOUN
alkej-459	46	56	,	,	PUNCT
alkej-459	46	57	is	be	AUX
alkej-459	46	58	the	the	DET
alkej-459	46	59	input	input	NOUN
alkej-459	46	60	transformation	transformation	NOUN
alkej-459	46	61	matrix	matrix	NOUN
alkej-459	46	62	,	,	PUNCT
alkej-459	46	63	is	be	AUX
alkej-459	46	64	the	the	DET
alkej-459	46	65	input	input	NOUN
alkej-459	46	66	vector	vector	NOUN
alkej-459	46	67	,	,	PUNCT
alkej-459	46	68	is	be	AUX
alkej-459	46	69	the	the	DET
alkej-459	46	70	matrix	matrix	NOUN
alkej-459	46	71	associated	associate	VERB
alkej-459	46	72	with	with	ADP
alkej-459	46	73	the	the	DET
alkej-459	46	74	constraints	constraint	NOUN
alkej-459	46	75	,	,	PUNCT
alkej-459	46	76	and	and	CCONJ
alkej-459	46	77	is	be	AUX
alkej-459	46	78	the	the	DET
alkej-459	46	79	vector	vector	NOUN
alkej-459	46	80	of	of	ADP
alkej-459	46	81	constraint	constraint	NOUN
alkej-459	46	82	forces	force	NOUN
alkej-459	46	83	.	.	PUNCT
alkej-459	47	1	the	the	DET
alkej-459	47	2	lagrange	lagrange	NOUN
alkej-459	47	3	formalism	formalism	NOUN
alkej-459	47	4	is	be	AUX
alkej-459	47	5	used	use	VERB
alkej-459	47	6	to	to	PART
alkej-459	47	7	find	find	VERB
alkej-459	47	8	the	the	DET
alkej-459	47	9	dynamic	dynamic	ADJ
alkej-459	47	10	equations	equation	NOUN
alkej-459	47	11	of	of	ADP
alkej-459	47	12	wheeled	wheel	VERB
alkej-459	47	13	mobile	mobile	ADJ
alkej-459	47	14	robot	robot	NOUN
alkej-459	47	15	.	.	PUNCT
alkej-459	48	1	assume	assume	VERB
alkej-459	48	2	the	the	DET
alkej-459	48	3	trajectory	trajectory	NOUN
alkej-459	48	4	of	of	ADP
alkej-459	48	5	the	the	DET
alkej-459	48	6	mobile	mobile	ADJ
alkej-459	48	7	robot	robot	NOUN
alkej-459	48	8	is	be	AUX
alkej-459	48	9	constrained	constrain	VERB
alkej-459	48	10	on	on	ADP
alkej-459	48	11	the	the	DET
alkej-459	48	12	horizontal	horizontal	ADJ
alkej-459	48	13	plane	plane	NOUN
alkej-459	48	14	and	and	CCONJ
alkej-459	48	15	there	there	PRON
alkej-459	48	16	is	be	VERB
alkej-459	48	17	no	no	DET
alkej-459	48	18	friction	friction	NOUN
alkej-459	48	19	,	,	PUNCT
alkej-459	48	20	then	then	ADV
alkej-459	48	21	g(q	g(q	NOUN
alkej-459	48	22	)	)	PUNCT
alkej-459	48	23	=	=	SYM
alkej-459	48	24	0	0	NUM
alkej-459	48	25	and	and	CCONJ
alkej-459	48	26	f	f	X
alkej-459	48	27	(	(	PUNCT
alkej-459	48	28	)	)	PUNCT
alkej-459	48	29	=	=	SYM
alkej-459	48	30	0	0	PUNCT
alkej-459	49	1	[	[	X
alkej-459	49	2	13	13	NUM
alkej-459	49	3	]	]	PUNCT
alkej-459	49	4	.	.	PUNCT
alkej-459	50	1	since	since	SCONJ
alkej-459	50	2	the	the	DET
alkej-459	50	3	system	system	NOUN
alkej-459	50	4	can	can	AUX
alkej-459	50	5	not	not	PART
alkej-459	50	6	change	change	VERB
alkej-459	50	7	its	its	PRON
alkej-459	50	8	vertical	vertical	ADJ
alkej-459	50	9	position	position	NOUN
alkej-459	50	10	,	,	PUNCT
alkej-459	50	11	its	its	PRON
alkej-459	50	12	potential	potential	ADJ
alkej-459	50	13	energy	energy	NOUN
alkej-459	50	14	,	,	PUNCT
alkej-459	50	15	u	u	NOUN
alkej-459	50	16	,	,	PUNCT
alkej-459	50	17	remains	remain	VERB
alkej-459	50	18	constant	constant	ADJ
alkej-459	50	19	.	.	PUNCT
alkej-459	51	1	now	now	ADV
alkej-459	51	2	from	from	ADP
alkej-459	51	3	the	the	DET
alkej-459	51	4	system	system	NOUN
alkej-459	51	5	shown	show	VERB
alkej-459	51	6	in	in	ADP
alkej-459	51	7	figure	figure	NOUN
alkej-459	51	8	3	3	NUM
alkej-459	51	9	,	,	PUNCT
alkej-459	51	10	kinetic	kinetic	ADJ
alkej-459	51	11	energy	energy	NOUN
alkej-459	51	12	is	be	AUX
alkej-459	51	13	equal	equal	ADJ
alkej-459	51	14	to	to	ADP
alkej-459	51	15	:	:	PUNCT
alkej-459	51	16	…	…	PUNCT
alkej-459	51	17	(	(	PUNCT
alkej-459	51	18	12	12	NUM
alkej-459	51	19	)	)	PUNCT
alkej-459	51	20	the	the	DET
alkej-459	51	21	lagrange	lagrange	NOUN
alkej-459	51	22	's	's	PART
alkej-459	51	23	formula	formula	NOUN
alkej-459	51	24	is	be	AUX
alkej-459	51	25	given	give	VERB
alkej-459	51	26	by	by	ADP
alkej-459	51	27	:	:	PUNCT
alkej-459	51	28	…	…	PUNCT
alkej-459	51	29	(	(	PUNCT
alkej-459	51	30	13	13	NUM
alkej-459	51	31	)	)	PUNCT
alkej-459	51	32	…	…	PUNCT
alkej-459	51	33	(	(	PUNCT
alkej-459	51	34	14	14	NUM
alkej-459	51	35	)	)	PUNCT
alkej-459	51	36	…	…	PUNCT
alkej-459	51	37	(	(	PUNCT
alkej-459	51	38	15	15	NUM
alkej-459	51	39	)	)	PUNCT
alkej-459	51	40	…	…	PUNCT
alkej-459	51	41	(	(	PUNCT
alkej-459	51	42	16	16	NUM
alkej-459	51	43	)	)	PUNCT
alkej-459	51	44	…	…	PUNCT
alkej-459	51	45	(	(	PUNCT
alkej-459	51	46	17	17	NUM
alkej-459	51	47	)	)	PUNCT
alkej-459	51	48	…	…	PUNCT
alkej-459	51	49	(	(	PUNCT
alkej-459	51	50	18	18	NUM
alkej-459	51	51	)	)	PUNCT
alkej-459	51	52	…	…	PUNCT
alkej-459	51	53	(	(	PUNCT
alkej-459	51	54	19	19	NUM
alkej-459	51	55	)	)	PUNCT
alkej-459	51	56	…	…	PUNCT
alkej-459	51	57	(	(	PUNCT
alkej-459	51	58	20	20	NUM
alkej-459	51	59	)	)	PUNCT
alkej-459	51	60	…	…	PUNCT
alkej-459	51	61	(	(	PUNCT
alkej-459	51	62	21	21	NUM
alkej-459	51	63	)	)	PUNCT
alkej-459	51	64	neglecting	neglect	VERB
alkej-459	51	65	the	the	DET
alkej-459	51	66	disturbance	disturbance	NOUN
alkej-459	51	67	term	term	NOUN
alkej-459	51	68	in	in	ADP
alkej-459	51	69	eq.(11	eq.(11	PROPN
alkej-459	51	70	)	)	PUNCT
alkej-459	51	71	,	,	PUNCT
alkej-459	51	72	dynamical	dynamical	ADJ
alkej-459	51	73	equation	equation	NOUN
alkej-459	51	74	of	of	ADP
alkej-459	51	75	motion	motion	NOUN
alkej-459	51	76	for	for	ADP
alkej-459	51	77	wheeled	wheel	VERB
alkej-459	51	78	mobile	mobile	ADJ
alkej-459	51	79	robot	robot	NOUN
alkej-459	51	80	in	in	ADP
alkej-459	51	81	figure	figure	NOUN
alkej-459	51	82	1	1	NUM
alkej-459	51	83	.	.	PUNCT
alkej-459	51	84	can	can	AUX
alkej-459	51	85	be	be	AUX
alkej-459	51	86	expressed	express	VERB
alkej-459	51	87	in	in	ADP
alkej-459	51	88	matrix	matrix	NOUN
alkej-459	51	89	form	form	NOUN
alkej-459	51	90	as	as	SCONJ
alkej-459	51	91	follows	follow	VERB
alkej-459	51	92	:	:	PUNCT
alkej-459	51	93	...	...	PUNCT
alkej-459	51	94	(	(	PUNCT
alkej-459	51	95	22	22	NUM
alkej-459	51	96	)	)	PUNCT
alkej-459	52	1	where	where	SCONJ
alkej-459	52	2	:	:	PUNCT
alkej-459	53	1	i	i	PRON
alkej-459	53	2	=	=	PUNCT
alkej-459	53	3	ic	ic	PROPN
alkej-459	54	1	+	+	NUM
alkej-459	54	2	md	md	PROPN
alkej-459	54	3	2	2	NUM
alkej-459	54	4	mouwafak	mouwafak	PROPN
alkej-459	54	5	a.	a.	NOUN
alkej-459	54	6	tawfik	tawfik	PROPN
alkej-459	54	7	al	al	PROPN
alkej-459	54	8	-	-	PUNCT
alkej-459	54	9	khwarizmi	khwarizmi	PROPN
alkej-459	54	10	engineering	engineering	NOUN
alkej-459	54	11	journal	journal	PROPN
alkej-459	54	12	,	,	PUNCT
alkej-459	54	13	vol	vol	NOUN
alkej-459	54	14	.	.	PROPN
alkej-459	54	15	10	10	NUM
alkej-459	54	16	,	,	PUNCT
alkej-459	54	17	no	no	INTJ
alkej-459	54	18	.	.	NOUN
alkej-459	54	19	3	3	NUM
alkej-459	54	20	,	,	PUNCT
alkej-459	54	21	p.p	p.p	PROPN
alkej-459	54	22	.	.	NOUN
alkej-459	54	23	3952	3952	NUM
alkej-459	54	24	(	(	PUNCT
alkej-459	54	25	2014	2014	NUM
alkej-459	54	26	)	)	PUNCT
alkej-459	54	27	42	42	NUM
alkej-459	54	28	to	to	PART
alkej-459	54	29	find	find	VERB
alkej-459	54	30	lagrange	lagrange	NOUN
alkej-459	54	31	multiplier	multipli	ADJ
alkej-459	54	32	newten	newten	NOUN
alkej-459	54	33	-	-	PUNCT
alkej-459	54	34	euler	euler	NOUN
alkej-459	54	35	formula	formula	NOUN
alkej-459	54	36	in	in	ADP
alkej-459	54	37	lateral	lateral	ADJ
alkej-459	54	38	direction	direction	NOUN
alkej-459	54	39	of	of	ADP
alkej-459	54	40	mobile	mobile	NOUN
alkej-459	54	41	robot	robot	NOUN
alkej-459	54	42	will	will	AUX
alkej-459	54	43	be	be	AUX
alkej-459	54	44	…	…	PUNCT
alkej-459	54	45	(	(	PUNCT
alkej-459	54	46	23	23	NUM
alkej-459	54	47	)	)	PUNCT
alkej-459	54	48	…	…	PUNCT
alkej-459	54	49	(	(	PUNCT
alkej-459	54	50	24	24	NUM
alkej-459	54	51	)	)	PUNCT
alkej-459	54	52	differentiating	differentiate	VERB
alkej-459	54	53	equation	equation	NOUN
alkej-459	54	54	(	(	PUNCT
alkej-459	54	55	7	7	NUM
alkej-459	54	56	)	)	PUNCT
alkej-459	54	57	,	,	PUNCT
alkej-459	54	58	(	(	PUNCT
alkej-459	54	59	i.e.	i.e.	X
alkej-459	54	60	the	the	DET
alkej-459	54	61	constraint	constraint	NOUN
alkej-459	54	62	equation	equation	NOUN
alkej-459	54	63	of	of	ADP
alkej-459	54	64	nonholonomic	nonholonomic	ADJ
alkej-459	54	65	wheeled	wheel	VERB
alkej-459	54	66	mobile	mobile	ADJ
alkej-459	54	67	robot	robot	NOUN
alkej-459	54	68	)	)	PUNCT
alkej-459	54	69	.	.	PUNCT
alkej-459	55	1	…	…	PUNCT
alkej-459	55	2	(	(	PUNCT
alkej-459	55	3	25	25	NUM
alkej-459	55	4	)	)	PUNCT
alkej-459	55	5	substitution	substitution	NOUN
alkej-459	55	6	(	(	PUNCT
alkej-459	55	7	24	24	NUM
alkej-459	55	8	)	)	PUNCT
alkej-459	55	9	in	in	ADP
alkej-459	55	10	(	(	PUNCT
alkej-459	55	11	23	23	NUM
alkej-459	55	12	)	)	PUNCT
alkej-459	55	13	yields	yield	NOUN
alkej-459	55	14	:	:	PUNCT
alkej-459	55	15	…	…	PUNCT
alkej-459	55	16	(	(	PUNCT
alkej-459	55	17	26	26	NUM
alkej-459	55	18	)	)	PUNCT
alkej-459	55	19	from	from	ADP
alkej-459	55	20	the	the	DET
alkej-459	55	21	orthogonality	orthogonality	NOUN
alkej-459	55	22	properties	property	NOUN
alkej-459	55	23	of	of	ADP
alkej-459	55	24	the	the	DET
alkej-459	55	25	nullspace	nullspace	NOUN
alkej-459	55	26	matrix	matrix	NOUN
alkej-459	55	27	to	to	ADP
alkej-459	55	28	the	the	DET
alkej-459	55	29	constraint	constraint	NOUN
alkej-459	55	30	matrix	matrix	NOUN
alkej-459	55	31	(	(	PUNCT
alkej-459	55	32	s	s	PROPN
alkej-459	55	33	t	t	PROPN
alkej-459	55	34	(	(	PUNCT
alkej-459	55	35	q)a	q)a	PROPN
alkej-459	55	36	t	t	PROPN
alkej-459	55	37	(	(	PUNCT
alkej-459	55	38	q	q	X
alkej-459	55	39	)	)	PUNCT
alkej-459	55	40	=	=	SYM
alkej-459	55	41	0	0	X
alkej-459	55	42	)	)	PUNCT
alkej-459	55	43	helps	help	VERB
alkej-459	55	44	to	to	PART
alkej-459	55	45	eliminate	eliminate	VERB
alkej-459	55	46	the	the	DET
alkej-459	55	47	lagrange	lagrange	NOUN
alkej-459	55	48	multipliers	multiplier	NOUN
alkej-459	55	49	.	.	PUNCT
alkej-459	56	1	differentiating	differentiate	VERB
alkej-459	56	2	equation	equation	NOUN
alkej-459	56	3	(	(	PUNCT
alkej-459	56	4	4	4	NUM
alkej-459	56	5	)	)	PUNCT
alkej-459	56	6	,	,	PUNCT
alkej-459	56	7	substituting	substitute	VERB
alkej-459	56	8	this	this	DET
alkej-459	56	9	result	result	NOUN
alkej-459	56	10	in	in	ADP
alkej-459	56	11	equation	equation	NOUN
alkej-459	56	12	(	(	PUNCT
alkej-459	56	13	11	11	NUM
alkej-459	56	14	)	)	PUNCT
alkej-459	56	15	,	,	PUNCT
alkej-459	56	16	and	and	CCONJ
alkej-459	56	17	then	then	ADV
alkej-459	56	18	multiplying	multiply	VERB
alkej-459	56	19	by	by	ADP
alkej-459	56	20	(	(	PUNCT
alkej-459	56	21	s	s	PROPN
alkej-459	56	22	t	t	NOUN
alkej-459	56	23	(	(	PUNCT
alkej-459	56	24	q	q	NOUN
alkej-459	56	25	)	)	PUNCT
alkej-459	56	26	)	)	PUNCT
alkej-459	56	27	,	,	PUNCT
alkej-459	56	28	the	the	DET
alkej-459	56	29	complete	complete	ADJ
alkej-459	56	30	equations	equation	NOUN
alkej-459	56	31	of	of	ADP
alkej-459	56	32	motion	motion	NOUN
alkej-459	56	33	of	of	ADP
alkej-459	56	34	the	the	DET
alkej-459	56	35	nonholonomic	nonholonomic	ADJ
alkej-459	56	36	mobile	mobile	ADJ
alkej-459	56	37	platform	platform	NOUN
alkej-459	56	38	are	be	AUX
alkej-459	56	39	obtained	obtain	VERB
alkej-459	56	40	as	as	ADP
alkej-459	56	41	follows	follow	VERB
alkej-459	56	42	:	:	PUNCT
alkej-459	56	43	…	…	PUNCT
alkej-459	56	44	(	(	PUNCT
alkej-459	56	45	4	4	NUM
alkej-459	56	46	)	)	PUNCT
alkej-459	56	47	…	…	PUNCT
alkej-459	56	48	(	(	PUNCT
alkej-459	56	49	27	27	NUM
alkej-459	56	50	)	)	PUNCT
alkej-459	56	51	.	.	PUNCT
alkej-459	57	1	fig	fig	NOUN
alkej-459	57	2	.	.	PUNCT
alkej-459	58	1	2	2	X
alkej-459	58	2	.	.	X
alkej-459	58	3	kinetic	kinetic	ADJ
alkej-459	58	4	diagram	diagram	NOUN
alkej-459	58	5	of	of	ADP
alkej-459	58	6	nonholonomic	nonholonomic	ADJ
alkej-459	58	7	mobile	mobile	ADJ
alkej-459	58	8	robot	robot	NOUN
alkej-459	58	9	.	.	PUNCT
alkej-459	59	1	3	3	X
alkej-459	59	2	.	.	X
alkej-459	59	3	control	control	NOUN
alkej-459	59	4	algorithm	algorithm	PROPN
alkej-459	59	5	3.1	3.1	NUM
alkej-459	59	6	.	.	PUNCT
alkej-459	60	1	computed	compute	VERB
alkej-459	60	2	torque	torque	NOUN
alkej-459	60	3	(	(	PUNCT
alkej-459	60	4	ct	ct	NOUN
alkej-459	60	5	)	)	PUNCT
alkej-459	60	6	controller	controller	NOUN
alkej-459	60	7	in	in	ADP
alkej-459	60	8	general	general	ADJ
alkej-459	60	9	,	,	PUNCT
alkej-459	60	10	the	the	DET
alkej-459	60	11	trajectory	trajectory	NOUN
alkej-459	60	12	tracking	tracking	NOUN
alkej-459	60	13	problem	problem	NOUN
alkej-459	60	14	aims	aim	VERB
alkej-459	60	15	at	at	ADP
alkej-459	60	16	tracking	track	VERB
alkej-459	60	17	a	a	DET
alkej-459	60	18	reference	reference	NOUN
alkej-459	60	19	mobile	mobile	NOUN
alkej-459	60	20	robot	robot	NOUN
alkej-459	60	21	with	with	ADP
alkej-459	60	22	known	know	VERB
alkej-459	60	23	posture	posture	NOUN
alkej-459	60	24	qr=[xr	qr=[xr	NOUN
alkej-459	60	25	,	,	PUNCT
alkej-459	60	26	yr	yr	NOUN
alkej-459	60	27	,	,	PUNCT
alkej-459	60	28	r	r	NOUN
alkej-459	60	29	]	]	X
alkej-459	60	30	t	t	NOUN
alkej-459	60	31	.	.	PUNCT
alkej-459	61	1	therefore	therefore	ADV
alkej-459	61	2	the	the	DET
alkej-459	61	3	errors	error	NOUN
alkej-459	61	4	between	between	ADP
alkej-459	61	5	the	the	DET
alkej-459	61	6	actual	actual	ADJ
alkej-459	61	7	and	and	CCONJ
alkej-459	61	8	desired	desire	VERB
alkej-459	61	9	postures	posture	NOUN
alkej-459	61	10	are	be	AUX
alkej-459	61	11	:	:	PUNCT
alkej-459	61	12	…	…	PUNCT
alkej-459	61	13	(	(	PUNCT
alkej-459	61	14	28	28	NUM
alkej-459	61	15	)	)	PUNCT
alkej-459	61	16	equation	equation	NOUN
alkej-459	61	17	(	(	PUNCT
alkej-459	61	18	22	22	NUM
alkej-459	61	19	)	)	PUNCT
alkej-459	61	20	can	can	AUX
alkej-459	61	21	be	be	AUX
alkej-459	61	22	written	write	VERB
alkej-459	61	23	as	as	SCONJ
alkej-459	61	24	follows	follow	VERB
alkej-459	61	25	:	:	PUNCT
alkej-459	61	26	…	…	PUNCT
alkej-459	61	27	(	(	PUNCT
alkej-459	61	28	29	29	NUM
alkej-459	61	29	)	)	PUNCT
alkej-459	61	30	the	the	DET
alkej-459	61	31	brunovsky	brunovsky	ADJ
alkej-459	61	32	canonical	canonical	ADJ
alkej-459	61	33	form	form	NOUN
alkej-459	61	34	can	can	AUX
alkej-459	61	35	be	be	AUX
alkej-459	61	36	developed	develop	VERB
alkej-459	61	37	by	by	ADP
alkej-459	61	38	differentiating	differentiate	VERB
alkej-459	61	39	e(t	e(t	NOUN
alkej-459	61	40	)	)	PUNCT
alkej-459	61	41	twice	twice	ADV
alkej-459	61	42	and	and	CCONJ
alkej-459	61	43	writing	write	VERB
alkej-459	61	44	it	it	PRON
alkej-459	61	45	in	in	ADP
alkej-459	61	46	terms	term	NOUN
alkej-459	61	47	of	of	ADP
alkej-459	61	48	the	the	DET
alkej-459	61	49	state	state	NOUN
alkej-459	61	50	x	x	PUNCT
alkej-459	62	1	[	[	X
alkej-459	62	2	14	14	NUM
alkej-459	62	3	]	]	X
alkej-459	62	4	:	:	PUNCT
alkej-459	62	5	…	…	PUNCT
alkej-459	62	6	(	(	PUNCT
alkej-459	62	7	30	30	NUM
alkej-459	62	8	)	)	PUNCT
alkej-459	62	9	from	from	ADP
alkej-459	62	10	equations	equation	NOUN
alkej-459	62	11	28	28	NUM
alkej-459	62	12	,	,	PUNCT
alkej-459	62	13	29	29	NUM
alkej-459	62	14	,	,	PUNCT
alkej-459	62	15	and	and	CCONJ
alkej-459	62	16	30	30	NUM
alkej-459	62	17	one	one	NOUN
alkej-459	62	18	can	can	AUX
alkej-459	62	19	found	find	VERB
alkej-459	62	20	:	:	PUNCT
alkej-459	62	21	…	…	PUNCT
alkej-459	62	22	(	(	PUNCT
alkej-459	62	23	31	31	NUM
alkej-459	62	24	)	)	PUNCT
alkej-459	62	25	to	to	PART
alkej-459	62	26	develop	develop	VERB
alkej-459	62	27	the	the	DET
alkej-459	62	28	ct	ct	PROPN
alkej-459	62	29	controller	controller	NOUN
alkej-459	62	30	,	,	PUNCT
alkej-459	62	31	a	a	DET
alkej-459	62	32	linear	linear	ADJ
alkej-459	62	33	system	system	NOUN
alkej-459	62	34	design	design	NOUN
alkej-459	62	35	procedure	procedure	NOUN
alkej-459	62	36	will	will	AUX
alkej-459	62	37	be	be	AUX
alkej-459	62	38	used	use	VERB
alkej-459	62	39	in	in	ADP
alkej-459	62	40	order	order	NOUN
alkej-459	62	41	to	to	PART
alkej-459	62	42	select	select	VERB
alkej-459	62	43	a	a	DET
alkej-459	62	44	feedback	feedback	NOUN
alkej-459	62	45	control	control	NOUN
alkej-459	62	46	u(t	u(t	NOUN
alkej-459	62	47	)	)	PUNCT
alkej-459	62	48	that	that	PRON
alkej-459	62	49	stabilizes	stabilize	VERB
alkej-459	62	50	the	the	DET
alkej-459	62	51	tracking	tracking	NOUN
alkej-459	62	52	error	error	NOUN
alkej-459	62	53	equation	equation	NOUN
alkej-459	62	54	,	,	PUNCT
alkej-459	62	55	then	then	ADV
alkej-459	62	56	compute	compute	VERB
alkej-459	62	57	the	the	DET
alkej-459	62	58	torques	torque	NOUN
alkej-459	62	59	for	for	ADP
alkej-459	62	60	the	the	DET
alkej-459	62	61	motors	motor	NOUN
alkej-459	62	62	are	be	AUX
alkej-459	62	63	computed	compute	VERB
alkej-459	62	64	using	use	VERB
alkej-459	62	65	eq.(31	eq.(31	NOUN
alkej-459	62	66	)	)	PUNCT
alkej-459	62	67	.	.	PUNCT
alkej-459	63	1	a	a	DET
alkej-459	63	2	pid	pid	NOUN
alkej-459	63	3	feedback	feedback	NOUN
alkej-459	63	4	for	for	ADP
alkej-459	63	5	u(t	u(t	NOUN
alkej-459	63	6	)	)	PUNCT
alkej-459	63	7	with	with	ADP
alkej-459	63	8	a	a	DET
alkej-459	63	9	derivative	derivative	ADJ
alkej-459	63	10	gain	gain	NOUN
alkej-459	63	11	matrix	matrix	NOUN
alkej-459	63	12	kv	kv	PROPN
alkej-459	63	13	,	,	PUNCT
alkej-459	63	14	a	a	DET
alkej-459	63	15	proportional	proportional	ADJ
alkej-459	63	16	gain	gain	NOUN
alkej-459	63	17	matrix	matrix	NOUN
alkej-459	63	18	kp	kp	NOUN
alkej-459	63	19	,	,	PUNCT
alkej-459	63	20	and	and	CCONJ
alkej-459	63	21	integral	integral	ADJ
alkej-459	63	22	gain	gain	NOUN
alkej-459	63	23	matrix	matrix	NOUN
alkej-459	63	24	ki	ki	PROPN
alkej-459	63	25	produce	produce	VERB
alkej-459	63	26	pid	pid	NOUN
alkej-459	63	27	ct	ct	NUM
alkej-459	63	28	controller	controller	NOUN
alkej-459	63	29	where	where	SCONJ
alkej-459	63	30	the	the	DET
alkej-459	63	31	motor	motor	NOUN
alkej-459	63	32	torque	torque	NOUN
alkej-459	63	33	is	be	AUX
alkej-459	63	34	equal	equal	ADJ
alkej-459	63	35	to	to	ADP
alkej-459	63	36	:	:	PUNCT
alkej-459	63	37	…	…	PUNCT
alkej-459	63	38	(	(	PUNCT
alkej-459	63	39	32	32	NUM
alkej-459	63	40	)	)	PUNCT
alkej-459	63	41	in	in	ADP
alkej-459	63	42	pid	pid	NOUN
alkej-459	63	43	controller	controller	NOUN
alkej-459	63	44	case	case	NOUN
alkej-459	63	45	,	,	PUNCT
alkej-459	63	46	three	three	NUM
alkej-459	63	47	parameters	parameter	NOUN
alkej-459	63	48	kp	kp	PROPN
alkej-459	63	49	,	,	PUNCT
alkej-459	63	50	kd	kd	PROPN
alkej-459	63	51	,	,	PUNCT
alkej-459	63	52	and	and	CCONJ
alkej-459	63	53	ki	ki	PROPN
alkej-459	63	54	should	should	AUX
alkej-459	63	55	be	be	AUX
alkej-459	63	56	tuned	tune	VERB
alkej-459	63	57	to	to	PART
alkej-459	63	58	design	design	VERB
alkej-459	63	59	the	the	DET
alkej-459	63	60	controller	controller	NOUN
alkej-459	63	61	.	.	PUNCT
alkej-459	64	1	one	one	NUM
alkej-459	64	2	of	of	ADP
alkej-459	64	3	the	the	DET
alkej-459	64	4	possibilities	possibility	NOUN
alkej-459	64	5	to	to	PART
alkej-459	64	6	improve	improve	VERB
alkej-459	64	7	pid	pid	NOUN
alkej-459	64	8	controllers	controller	NOUN
alkej-459	64	9	is	be	AUX
alkej-459	64	10	to	to	PART
alkej-459	64	11	use	use	VERB
alkej-459	64	12	fractional	fractional	ADJ
alkej-459	64	13	–	–	PUNCT
alkej-459	64	14	order	order	NOUN
alkej-459	64	15	pi	pi	NOUN
alkej-459	65	1	a	a	DET
alkej-459	65	2	d	d	X
alkej-459	65	3	b	b	PROPN
alkej-459	65	4	c	c	NOUN
alkej-459	65	5	d	d	X
alkej-459	65	6	x	x	X
alkej-459	65	7	y	y	VERB
alkej-459	65	8	yc	yc	X
alkej-459	65	9	xc	xc	PROPN
alkej-459	65	10	(	(	PUNCT
alkej-459	65	11	)	)	PUNCT
alkej-459	65	12	p	p	PROPN
alkej-459	65	13	c.g	c.g	PROPN
alkej-459	65	14	ω	ω	PROPN
alkej-459	65	15	mouwafak	mouwafak	PROPN
alkej-459	65	16	a.	a.	PROPN
alkej-459	65	17	tawfik	tawfik	PROPN
alkej-459	65	18	al	al	PROPN
alkej-459	65	19	-	-	PUNCT
alkej-459	65	20	khwarizmi	khwarizmi	PROPN
alkej-459	65	21	engineering	engineering	NOUN
alkej-459	65	22	journal	journal	PROPN
alkej-459	65	23	,	,	PUNCT
alkej-459	65	24	vol	vol	NOUN
alkej-459	65	25	.	.	PROPN
alkej-459	65	26	10	10	NUM
alkej-459	65	27	,	,	PUNCT
alkej-459	65	28	no	no	INTJ
alkej-459	65	29	.	.	NOUN
alkej-459	65	30	3	3	NUM
alkej-459	65	31	,	,	PUNCT
alkej-459	65	32	p.p	p.p	PROPN
alkej-459	65	33	.	.	NOUN
alkej-459	65	34	3952	3952	NUM
alkej-459	65	35	(	(	PUNCT
alkej-459	65	36	2014	2014	NUM
alkej-459	65	37	)	)	PUNCT
alkej-459	65	38	43	43	NUM
alkej-459	65	39	controllers	controller	NOUN
alkej-459	65	40	with	with	ADP
alkej-459	65	41	real	real	ADJ
alkej-459	65	42	index	index	NOUN
alkej-459	65	43	of	of	ADP
alkej-459	65	44	derivative	derivative	ADJ
alkej-459	65	45	and	and	CCONJ
alkej-459	65	46	integral	integral	ADJ
alkej-459	65	47	.	.	PUNCT
alkej-459	66	1	3.2	3.2	NUM
alkej-459	66	2	.	.	PUNCT
alkej-459	66	3	fractional	fractional	ADJ
alkej-459	66	4	order	order	NOUN
alkej-459	66	5	pi	pi	NOUN
alkej-459	66	6	a	a	DET
alkej-459	66	7	d	d	X
alkej-459	66	8	b	b	PROPN
alkej-459	66	9	controller	controller	NOUN
alkej-459	66	10	equation	equation	NOUN
alkej-459	66	11	of	of	ADP
alkej-459	66	12	fractional	fractional	ADJ
alkej-459	66	13	order	order	NOUN
alkej-459	66	14	controller	controller	NOUN
alkej-459	66	15	was	be	AUX
alkej-459	66	16	described	describe	VERB
alkej-459	66	17	as	as	ADP
alkej-459	66	18	[	[	X
alkej-459	66	19	15	15	NUM
alkej-459	66	20	]	]	X
alkej-459	66	21	.	.	PUNCT
alkej-459	67	1	…	…	PUNCT
alkej-459	67	2	(	(	PUNCT
alkej-459	67	3	33	33	NUM
alkej-459	67	4	)	)	PUNCT
alkej-459	67	5	where	where	SCONJ
alkej-459	67	6	e(t	e(t	NOUN
alkej-459	67	7	)	)	PUNCT
alkej-459	67	8	is	be	AUX
alkej-459	67	9	the	the	DET
alkej-459	67	10	error	error	NOUN
alkej-459	67	11	between	between	ADP
alkej-459	67	12	a	a	DET
alkej-459	67	13	measured	measured	ADJ
alkej-459	67	14	process	process	NOUN
alkej-459	67	15	output	output	NOUN
alkej-459	67	16	variable	variable	NOUN
alkej-459	67	17	and	and	CCONJ
alkej-459	67	18	a	a	DET
alkej-459	67	19	desired	desire	VERB
alkej-459	67	20	set	set	NOUN
alkej-459	67	21	point	point	NOUN
alkej-459	67	22	,	,	PUNCT
alkej-459	67	23	and	and	CCONJ
alkej-459	67	24	u(t	u(t	NOUN
alkej-459	67	25	)	)	PUNCT
alkej-459	67	26	is	be	AUX
alkej-459	67	27	the	the	DET
alkej-459	67	28	control	control	NOUN
alkej-459	67	29	signal	signal	NOUN
alkej-459	67	30	.	.	PUNCT
alkej-459	68	1	equation	equation	NOUN
alkej-459	68	2	(	(	PUNCT
alkej-459	68	3	33	33	NUM
alkej-459	68	4	)	)	PUNCT
alkej-459	68	5	illustrates	illustrate	VERB
alkej-459	68	6	that	that	SCONJ
alkej-459	68	7	the	the	DET
alkej-459	68	8	five	five	NUM
alkej-459	68	9	control	control	NOUN
alkej-459	68	10	parameters	parameter	NOUN
alkej-459	68	11	(	(	PUNCT
alkej-459	68	12	kp	kp	PROPN
alkej-459	68	13	,	,	PUNCT
alkej-459	68	14	ki	ki	PROPN
alkej-459	68	15	,	,	PUNCT
alkej-459	68	16	kd	kd	PROPN
alkej-459	68	17	,	,	PUNCT
alkej-459	68	18	a	a	PRON
alkej-459	68	19	,	,	PUNCT
alkej-459	68	20	and	and	CCONJ
alkej-459	68	21	b	b	X
alkej-459	68	22	)	)	PUNCT
alkej-459	68	23	should	should	AUX
alkej-459	68	24	be	be	AUX
alkej-459	68	25	tuned	tune	VERB
alkej-459	68	26	to	to	PART
alkej-459	68	27	design	design	VERB
alkej-459	68	28	an	an	DET
alkej-459	68	29	accurate	accurate	ADJ
alkej-459	68	30	controller	controller	NOUN
alkej-459	68	31	.	.	PUNCT
alkej-459	69	1	the	the	DET
alkej-459	69	2	integral	integral	ADJ
alkej-459	69	3	order	order	NOUN
alkej-459	69	4	and	and	CCONJ
alkej-459	69	5	derivative	derivative	ADJ
alkej-459	69	6	order	order	NOUN
alkej-459	69	7	add	add	VERB
alkej-459	69	8	more	more	ADJ
alkej-459	69	9	flexibility	flexibility	NOUN
alkej-459	69	10	to	to	PART
alkej-459	69	11	design	design	VERB
alkej-459	69	12	an	an	DET
alkej-459	69	13	fopid	fopid	NOUN
alkej-459	69	14	controller	controller	NOUN
alkej-459	69	15	.	.	PUNCT
alkej-459	70	1	continuous	continuous	ADJ
alkej-459	70	2	transfer	transfer	NOUN
alkej-459	70	3	function	function	NOUN
alkej-459	70	4	in	in	ADP
alkej-459	70	5	s	s	PART
alkej-459	70	6	domain	domain	NOUN
alkej-459	70	7	of	of	ADP
alkej-459	70	8	fopid	fopid	NOUN
alkej-459	70	9	controller	controller	NOUN
alkej-459	70	10	is	be	AUX
alkej-459	70	11	be	be	AUX
alkej-459	70	12	given	give	VERB
alkej-459	70	13	by	by	ADP
alkej-459	70	14	[	[	X
alkej-459	70	15	15	15	NUM
alkej-459	70	16	]	]	NUM
alkej-459	70	17	:	:	PUNCT
alkej-459	70	18	…	…	PUNCT
alkej-459	70	19	(	(	PUNCT
alkej-459	70	20	34	34	NUM
alkej-459	70	21	)	)	PUNCT
alkej-459	70	22	the	the	DET
alkej-459	70	23	orders	order	NOUN
alkej-459	70	24	a	a	PRON
alkej-459	70	25	and	and	CCONJ
alkej-459	70	26	b	b	NOUN
alkej-459	70	27	can	can	AUX
alkej-459	70	28	be	be	AUX
alkej-459	70	29	any	any	DET
alkej-459	70	30	real	real	ADJ
alkej-459	70	31	numbers	number	NOUN
alkej-459	70	32	.	.	PUNCT
alkej-459	71	1	from	from	ADP
alkej-459	71	2	equation	equation	NOUN
alkej-459	71	3	(	(	PUNCT
alkej-459	71	4	3.4	3.4	NUM
alkej-459	71	5	)	)	PUNCT
alkej-459	71	6	the	the	DET
alkej-459	71	7	classical	classical	ADJ
alkej-459	71	8	pid	pid	NOUN
alkej-459	71	9	controller	controller	NOUN
alkej-459	71	10	can	can	AUX
alkej-459	71	11	be	be	AUX
alkej-459	71	12	obtained	obtain	VERB
alkej-459	71	13	by	by	ADP
alkej-459	71	14	setting	set	VERB
alkej-459	71	15	a	a	DET
alkej-459	71	16	=	=	NOUN
alkej-459	71	17	b=1	b=1	NOUN
alkej-459	71	18	.	.	PUNCT
alkej-459	72	1	when	when	SCONJ
alkej-459	72	2	a=1	a=1	X
alkej-459	72	3	(	(	PUNCT
alkej-459	72	4	or	or	CCONJ
alkej-459	72	5	0	0	NUM
alkej-459	72	6	)	)	PUNCT
alkej-459	72	7	and	and	CCONJ
alkej-459	72	8	b=0	b=0	PROPN
alkej-459	72	9	(	(	PUNCT
alkej-459	72	10	or	or	CCONJ
alkej-459	72	11	1	1	NUM
alkej-459	72	12	)	)	PUNCT
alkej-459	72	13	a	a	DET
alkej-459	72	14	normal	normal	ADJ
alkej-459	72	15	pi	pi	NOUN
alkej-459	72	16	(	(	PUNCT
alkej-459	72	17	or	or	CCONJ
alkej-459	72	18	pd	pd	NOUN
alkej-459	72	19	)	)	PUNCT
alkej-459	72	20	controller	controller	NOUN
alkej-459	72	21	can	can	AUX
alkej-459	72	22	be	be	AUX
alkej-459	72	23	obtained	obtain	VERB
alkej-459	72	24	.	.	PUNCT
alkej-459	73	1	figure	figure	NOUN
alkej-459	73	2	3	3	NUM
alkej-459	73	3	shows	show	VERB
alkej-459	73	4	that	that	SCONJ
alkej-459	73	5	the	the	DET
alkej-459	73	6	fractional	fractional	ADJ
alkej-459	73	7	order	order	NOUN
alkej-459	73	8	pi	pi	NOUN
alkej-459	73	9	a	a	DET
alkej-459	73	10	d	d	X
alkej-459	73	11	b	b	X
alkej-459	73	12	controller	controller	NOUN
alkej-459	73	13	generalizes	generalize	VERB
alkej-459	73	14	and	and	CCONJ
alkej-459	73	15	expands	expand	VERB
alkej-459	73	16	the	the	DET
alkej-459	73	17	classical	classical	ADJ
alkej-459	73	18	pid	pid	NOUN
alkej-459	73	19	controller	controller	NOUN
alkej-459	73	20	from	from	ADP
alkej-459	73	21	a	a	DET
alkej-459	73	22	point	point	NOUN
alkej-459	73	23	to	to	ADP
alkej-459	73	24	plane	plane	NOUN
alkej-459	73	25	.	.	PUNCT
alkej-459	74	1	fig	fig	NOUN
alkej-459	74	2	.	.	PUNCT
alkej-459	75	1	3	3	X
alkej-459	75	2	.	.	NUM
alkej-459	75	3	generalized	generalize	VERB
alkej-459	75	4	fopid	fopid	NOUN
alkej-459	75	5	controller	controller	NOUN
alkej-459	75	6	3.3	3.3	NUM
alkej-459	75	7	.	.	PUNCT
alkej-459	76	1	evolutionary	evolutionary	ADJ
alkej-459	76	2	algorithm	algorithm	NOUN
alkej-459	76	3	the	the	DET
alkej-459	76	4	evolutionary	evolutionary	ADJ
alkej-459	76	5	algorithm	algorithm	NOUN
alkej-459	76	6	(	(	PUNCT
alkej-459	76	7	ea	ea	NOUN
alkej-459	76	8	)	)	PUNCT
alkej-459	76	9	is	be	AUX
alkej-459	76	10	an	an	DET
alkej-459	76	11	optimization	optimization	NOUN
alkej-459	76	12	algorithm	algorithm	NOUN
alkej-459	76	13	that	that	PRON
alkej-459	76	14	is	be	AUX
alkej-459	76	15	used	use	VERB
alkej-459	76	16	to	to	PART
alkej-459	76	17	search	search	VERB
alkej-459	76	18	for	for	ADP
alkej-459	76	19	optimal	optimal	ADJ
alkej-459	76	20	solutions	solution	NOUN
alkej-459	76	21	to	to	ADP
alkej-459	76	22	a	a	DET
alkej-459	76	23	problem	problem	NOUN
alkej-459	76	24	[	[	X
alkej-459	76	25	16	16	NUM
alkej-459	76	26	]	]	PUNCT
alkej-459	76	27	.	.	PUNCT
alkej-459	77	1	this	this	DET
alkej-459	77	2	algorithm	algorithm	NOUN
alkej-459	77	3	operates	operate	VERB
alkej-459	77	4	on	on	ADP
alkej-459	77	5	a	a	DET
alkej-459	77	6	population	population	NOUN
alkej-459	77	7	of	of	ADP
alkej-459	77	8	potential	potential	ADJ
alkej-459	77	9	solutions	solution	NOUN
alkej-459	77	10	applying	apply	VERB
alkej-459	77	11	the	the	DET
alkej-459	77	12	principle	principle	NOUN
alkej-459	77	13	of	of	ADP
alkej-459	77	14	survival	survival	NOUN
alkej-459	77	15	of	of	ADP
alkej-459	77	16	the	the	DET
alkej-459	77	17	fittest	fit	ADJ
alkej-459	77	18	to	to	PART
alkej-459	77	19	produce	produce	VERB
alkej-459	77	20	best	good	ADJ
alkej-459	77	21	approximations	approximation	NOUN
alkej-459	77	22	to	to	ADP
alkej-459	77	23	a	a	DET
alkej-459	77	24	solution	solution	NOUN
alkej-459	77	25	.	.	PUNCT
alkej-459	78	1	evolutionary	evolutionary	ADJ
alkej-459	78	2	algorithms	algorithm	NOUN
alkej-459	78	3	provide	provide	VERB
alkej-459	78	4	a	a	DET
alkej-459	78	5	universal	universal	ADJ
alkej-459	78	6	optimization	optimization	NOUN
alkej-459	78	7	technique	technique	NOUN
alkej-459	78	8	that	that	PRON
alkej-459	78	9	mimics	mimic	VERB
alkej-459	78	10	the	the	DET
alkej-459	78	11	type	type	NOUN
alkej-459	78	12	of	of	ADP
alkej-459	78	13	genetic	genetic	ADJ
alkej-459	78	14	adaptation	adaptation	NOUN
alkej-459	78	15	that	that	PRON
alkej-459	78	16	occurs	occur	VERB
alkej-459	78	17	in	in	ADP
alkej-459	78	18	natural	natural	ADJ
alkej-459	78	19	evolution	evolution	NOUN
alkej-459	78	20	[	[	X
alkej-459	78	21	16,17	16,17	NUM
alkej-459	78	22	]	]	PUNCT
alkej-459	78	23	.	.	PUNCT
alkej-459	79	1	unlike	unlike	ADP
alkej-459	79	2	specialized	specialized	ADJ
alkej-459	79	3	methods	method	NOUN
alkej-459	79	4	designed	design	VERB
alkej-459	79	5	for	for	ADP
alkej-459	79	6	particular	particular	ADJ
alkej-459	79	7	types	type	NOUN
alkej-459	79	8	of	of	ADP
alkej-459	79	9	optimization	optimization	NOUN
alkej-459	79	10	tasks	task	NOUN
alkej-459	79	11	,	,	PUNCT
alkej-459	79	12	they	they	PRON
alkej-459	79	13	require	require	VERB
alkej-459	79	14	no	no	DET
alkej-459	79	15	particular	particular	ADJ
alkej-459	79	16	knowledge	knowledge	NOUN
alkej-459	79	17	about	about	ADP
alkej-459	79	18	the	the	DET
alkej-459	79	19	problem	problem	NOUN
alkej-459	79	20	structure	structure	NOUN
alkej-459	79	21	other	other	ADJ
alkej-459	79	22	than	than	ADP
alkej-459	79	23	the	the	DET
alkej-459	79	24	objective	objective	ADJ
alkej-459	79	25	function	function	NOUN
alkej-459	79	26	itself	itself	PRON
alkej-459	79	27	.	.	PUNCT
alkej-459	80	1	at	at	ADP
alkej-459	80	2	each	each	DET
alkej-459	80	3	iteration	iteration	NOUN
alkej-459	80	4	step	step	NOUN
alkej-459	80	5	,	,	PUNCT
alkej-459	80	6	a	a	DET
alkej-459	80	7	new	new	ADJ
alkej-459	80	8	set	set	NOUN
alkej-459	80	9	of	of	ADP
alkej-459	80	10	approximations	approximation	NOUN
alkej-459	80	11	is	be	AUX
alkej-459	80	12	assumed	assume	VERB
alkej-459	80	13	by	by	ADP
alkej-459	80	14	the	the	DET
alkej-459	80	15	process	process	NOUN
alkej-459	80	16	of	of	ADP
alkej-459	80	17	selecting	select	VERB
alkej-459	80	18	individuals	individual	NOUN
alkej-459	80	19	according	accord	VERB
alkej-459	80	20	to	to	ADP
alkej-459	80	21	their	their	PRON
alkej-459	80	22	level	level	NOUN
alkej-459	80	23	of	of	ADP
alkej-459	80	24	fitness	fitness	NOUN
alkej-459	80	25	in	in	ADP
alkej-459	80	26	the	the	DET
alkej-459	80	27	problem	problem	NOUN
alkej-459	80	28	domain	domain	NOUN
alkej-459	80	29	and	and	CCONJ
alkej-459	80	30	breeding	breed	VERB
alkej-459	80	31	them	they	PRON
alkej-459	80	32	together	together	ADV
alkej-459	80	33	using	use	VERB
alkej-459	80	34	operators	operator	NOUN
alkej-459	80	35	,	,	PUNCT
alkej-459	80	36	such	such	ADJ
alkej-459	80	37	as	as	ADP
alkej-459	80	38	mutation	mutation	NOUN
alkej-459	80	39	,	,	PUNCT
alkej-459	80	40	crossover	crossover	NOUN
alkej-459	80	41	and	and	CCONJ
alkej-459	80	42	selection	selection	NOUN
alkej-459	80	43	borrowed	borrow	VERB
alkej-459	80	44	from	from	ADP
alkej-459	80	45	natural	natural	ADJ
alkej-459	80	46	genetics	genetic	NOUN
alkej-459	80	47	in	in	ADP
alkej-459	80	48	order	order	NOUN
alkej-459	80	49	to	to	PART
alkej-459	80	50	generate	generate	VERB
alkej-459	80	51	the	the	DET
alkej-459	80	52	new	new	ADJ
alkej-459	80	53	generations	generation	NOUN
alkej-459	80	54	[	[	X
alkej-459	80	55	18	18	NUM
alkej-459	80	56	]	]	PUNCT
alkej-459	80	57	.	.	PUNCT
alkej-459	81	1	it	it	PRON
alkej-459	81	2	shares	share	VERB
alkej-459	81	3	the	the	DET
alkej-459	81	4	same	same	ADJ
alkej-459	81	5	features	feature	NOUN
alkej-459	81	6	with	with	ADP
alkej-459	81	7	the	the	DET
alkej-459	81	8	genetic	genetic	ADJ
alkej-459	81	9	algorithm	algorithm	NOUN
alkej-459	81	10	(	(	PUNCT
alkej-459	81	11	ga	ga	NOUN
alkej-459	81	12	)	)	PUNCT
alkej-459	81	13	in	in	ADP
alkej-459	81	14	terms	term	NOUN
alkej-459	81	15	of	of	ADP
alkej-459	81	16	selection	selection	NOUN
alkej-459	81	17	.	.	PUNCT
alkej-459	82	1	3.3.1	3.3.1	X
alkej-459	82	2	.	.	PUNCT
alkej-459	82	3	structure	structure	NOUN
alkej-459	82	4	of	of	ADP
alkej-459	82	5	evolutionary	evolutionary	ADJ
alkej-459	82	6	algorithm	algorithm	NOUN
alkej-459	82	7	by	by	ADP
alkej-459	82	8	using	use	VERB
alkej-459	82	9	the	the	DET
alkej-459	82	10	evolutionary	evolutionary	ADJ
alkej-459	82	11	algorithm	algorithm	NOUN
alkej-459	82	12	,	,	PUNCT
alkej-459	82	13	the	the	DET
alkej-459	82	14	natural	natural	ADJ
alkej-459	82	15	processes	process	NOUN
alkej-459	82	16	such	such	ADJ
alkej-459	82	17	as	as	ADP
alkej-459	82	18	selection	selection	NOUN
alkej-459	82	19	,	,	PUNCT
alkej-459	82	20	crossover	crossover	NOUN
alkej-459	82	21	,	,	PUNCT
alkej-459	82	22	mutation	mutation	NOUN
alkej-459	82	23	and	and	CCONJ
alkej-459	82	24	reinsertion	reinsertion	NOUN
alkej-459	82	25	are	be	AUX
alkej-459	82	26	modeled	model	VERB
alkej-459	82	27	.	.	PUNCT
alkej-459	83	1	figure	figure	NOUN
alkej-459	83	2	4	4	NUM
alkej-459	83	3	depicts	depict	VERB
alkej-459	83	4	the	the	DET
alkej-459	83	5	structure	structure	NOUN
alkej-459	83	6	of	of	ADP
alkej-459	83	7	a	a	DET
alkej-459	83	8	generic	generic	ADJ
alkej-459	83	9	evolutionary	evolutionary	ADJ
alkej-459	83	10	algorithm[19	algorithm[19	NOUN
alkej-459	83	11	]	]	PUNCT
alkej-459	83	12	.	.	PUNCT
alkej-459	84	1	a	a	DET
alkej-459	84	2	pd	pd	PROPN
alkej-459	84	3	pi	pi	NOUN
alkej-459	84	4	p	p	NOUN
alkej-459	84	5	1	1	NUM
alkej-459	84	6	1	1	NUM
alkej-459	84	7	pid	pid	NOUN
alkej-459	84	8	pi	pi	NOUN
alkej-459	84	9	a	a	DET
alkej-459	84	10	d	d	PROPN
alkej-459	84	11	b	b	PROPN
alkej-459	84	12	b	b	PROPN
alkej-459	84	13	mouwafak	mouwafak	PROPN
alkej-459	84	14	a.	a.	PROPN
alkej-459	84	15	tawfik	tawfik	PROPN
alkej-459	84	16	al	al	PROPN
alkej-459	84	17	-	-	PUNCT
alkej-459	84	18	khwarizmi	khwarizmi	PROPN
alkej-459	84	19	engineering	engineering	NOUN
alkej-459	84	20	journal	journal	PROPN
alkej-459	84	21	,	,	PUNCT
alkej-459	84	22	vol	vol	NOUN
alkej-459	84	23	.	.	PROPN
alkej-459	84	24	10	10	NUM
alkej-459	84	25	,	,	PUNCT
alkej-459	84	26	no	no	INTJ
alkej-459	84	27	.	.	NOUN
alkej-459	84	28	3	3	NUM
alkej-459	84	29	,	,	PUNCT
alkej-459	84	30	p.p	p.p	PROPN
alkej-459	84	31	.	.	NOUN
alkej-459	84	32	3952	3952	NUM
alkej-459	84	33	(	(	PUNCT
alkej-459	84	34	2014	2014	NUM
alkej-459	84	35	)	)	PUNCT
alkej-459	84	36	44	44	NUM
alkej-459	84	37	fig	fig	NOUN
alkej-459	84	38	.	.	PUNCT
alkej-459	85	1	4	4	X
alkej-459	85	2	.	.	X
alkej-459	85	3	structure	structure	NOUN
alkej-459	85	4	of	of	ADP
alkej-459	85	5	an	an	DET
alkej-459	85	6	e.a	e.a	PROPN
alkej-459	85	7	.	.	PROPN
alkej-459	85	8	method	method	PROPN
alkej-459	85	9	.	.	PUNCT
alkej-459	86	1	3.4	3.4	NUM
alkej-459	86	2	.	.	PUNCT
alkej-459	86	3	implementation	implementation	NOUN
alkej-459	86	4	of	of	ADP
alkej-459	86	5	the	the	DET
alkej-459	86	6	fopid	fopid	NOUN
alkej-459	86	7	controller	controller	NOUN
alkej-459	86	8	with	with	ADP
alkej-459	86	9	proposed	propose	VERB
alkej-459	86	10	system	system	NOUN
alkej-459	86	11	using	use	VERB
alkej-459	86	12	matlab	matlab	PROPN
alkej-459	86	13	/	/	SYM
alkej-459	86	14	simulink	simulink	PROPN
alkej-459	86	15	&	&	CCONJ
alkej-459	86	16	optiy	optiy	PROPN
alkej-459	86	17	packages	package	NOUN
alkej-459	86	18	figure	figure	VERB
alkej-459	86	19	5	5	NUM
alkej-459	86	20	shows	show	VERB
alkej-459	86	21	the	the	DET
alkej-459	86	22	layout	layout	NOUN
alkej-459	86	23	of	of	ADP
alkej-459	86	24	the	the	DET
alkej-459	86	25	simulink	simulink	PROPN
alkej-459	86	26	model	model	NOUN
alkej-459	86	27	of	of	ADP
alkej-459	86	28	fopid	fopid	PROPN
alkej-459	86	29	controller	controller	NOUN
alkej-459	86	30	with	with	ADP
alkej-459	86	31	controlled	control	VERB
alkej-459	86	32	system	system	NOUN
alkej-459	86	33	.	.	PUNCT
alkej-459	87	1	the	the	DET
alkej-459	87	2	evolutionary	evolutionary	ADJ
alkej-459	87	3	algorithm	algorithm	NOUN
alkej-459	87	4	has	have	AUX
alkej-459	87	5	been	be	AUX
alkej-459	87	6	used	use	VERB
alkej-459	87	7	to	to	PART
alkej-459	87	8	modify	modify	VERB
alkej-459	87	9	the	the	DET
alkej-459	87	10	parameters	parameter	NOUN
alkej-459	87	11	of	of	ADP
alkej-459	87	12	the	the	DET
alkej-459	87	13	fopid	fopid	NOUN
alkej-459	87	14	controller	controller	NOUN
alkej-459	87	15	for	for	ADP
alkej-459	87	16	mobile	mobile	NOUN
alkej-459	87	17	robot	robot	NOUN
alkej-459	87	18	the	the	DET
alkej-459	87	19	optiy	optiy	ADJ
alkej-459	87	20	program	program	NOUN
alkej-459	87	21	is	be	AUX
alkej-459	87	22	used	use	VERB
alkej-459	87	23	to	to	PART
alkej-459	87	24	obtain	obtain	VERB
alkej-459	87	25	the	the	DET
alkej-459	87	26	optimal	optimal	ADJ
alkej-459	87	27	parameters	parameter	NOUN
alkej-459	87	28	of	of	ADP
alkej-459	87	29	the	the	DET
alkej-459	87	30	fopid	fopid	NOUN
alkej-459	87	31	controller	controller	NOUN
alkej-459	87	32	.	.	PUNCT
alkej-459	88	1	from	from	ADP
alkej-459	88	2	equation	equation	NOUN
alkej-459	88	3	36	36	NUM
alkej-459	88	4	,	,	PUNCT
alkej-459	88	5	five	five	NUM
alkej-459	88	6	parameters	parameter	NOUN
alkej-459	88	7	kp	kp	PROPN
alkej-459	88	8	,	,	PUNCT
alkej-459	88	9	kd	kd	PROPN
alkej-459	88	10	,	,	PUNCT
alkej-459	88	11	ki	ki	PROPN
alkej-459	88	12	,	,	PUNCT
alkej-459	88	13	a	a	PRON
alkej-459	88	14	and	and	CCONJ
alkej-459	88	15	b.	b.	NOUN
alkej-459	88	16	each	each	DET
alkej-459	88	17	individual	individual	ADJ
alkej-459	88	18	vector	vector	NOUN
alkej-459	88	19	has	have	VERB
alkej-459	88	20	five	five	NUM
alkej-459	88	21	parameters	parameter	NOUN
alkej-459	88	22	(	(	PUNCT
alkej-459	88	23	five	five	NUM
alkej-459	88	24	-	-	PUNCT
alkej-459	88	25	dimension	dimension	NOUN
alkej-459	88	26	variables	variable	NOUN
alkej-459	88	27	vector	vector	NOUN
alkej-459	88	28	)	)	PUNCT
alkej-459	88	29	.	.	PUNCT
alkej-459	89	1	for	for	ADP
alkej-459	89	2	reducing	reduce	VERB
alkej-459	89	3	the	the	DET
alkej-459	89	4	time	time	NOUN
alkej-459	89	5	of	of	ADP
alkej-459	89	6	optimization	optimization	NOUN
alkej-459	89	7	,	,	PUNCT
alkej-459	89	8	the	the	DET
alkej-459	89	9	ranges	range	NOUN
alkej-459	89	10	of	of	ADP
alkej-459	89	11	fopid	fopid	NOUN
alkej-459	89	12	parameters	parameter	NOUN
alkej-459	89	13	are	be	AUX
alkej-459	89	14	selected	select	VERB
alkej-459	89	15	as	as	ADP
alkej-459	89	16	:	:	PUNCT
alkej-459	89	17	to	to	PART
alkej-459	89	18	evaluate	evaluate	VERB
alkej-459	89	19	the	the	DET
alkej-459	89	20	objective	objective	ADJ
alkej-459	89	21	function	function	NOUN
alkej-459	89	22	,	,	PUNCT
alkej-459	89	23	the	the	DET
alkej-459	89	24	following	follow	VERB
alkej-459	89	25	function	function	NOUN
alkej-459	89	26	will	will	AUX
alkej-459	89	27	be	be	AUX
alkej-459	89	28	used	use	VERB
alkej-459	89	29	:	:	PUNCT
alkej-459	89	30	start	start	AUX
alkej-459	89	31	randomly	randomly	ADV
alkej-459	89	32	generate	generate	VERB
alkej-459	89	33	initial	initial	ADJ
alkej-459	89	34	population	population	NOUN
alkej-459	89	35	p	p	NOUN
alkej-459	89	36	(	(	PUNCT
alkej-459	89	37	t=0	t=0	ADJ
alkej-459	89	38	)	)	PUNCT
alkej-459	89	39	evaluate	evaluate	VERB
alkej-459	89	40	objective	objective	ADJ
alkej-459	89	41	function	function	NOUN
alkej-459	89	42	select	select	ADJ
alkej-459	89	43	fitness	fitness	NOUN
alkej-459	89	44	parent	parent	NOUN
alkej-459	89	45	crossover	crossover	NOUN
alkej-459	89	46	(	(	PUNCT
alkej-459	89	47	offspring	offspring	NOUN
alkej-459	89	48	generation	generation	NOUN
alkej-459	89	49	)	)	PUNCT
alkej-459	89	50	mutation	mutation	NOUN
alkej-459	89	51	evaluation	evaluation	NOUN
alkej-459	89	52	of	of	ADP
alkej-459	89	53	offspring	offspring	NOUN
alkej-459	89	54	reinsertion	reinsertion	NOUN
alkej-459	89	55	t	t	PROPN
alkej-459	89	56	=	=	SYM
alkej-459	89	57	t+1	t+1	PROPN
alkej-459	89	58	are	be	AUX
alkej-459	89	59	termination	termination	NOUN
alkej-459	89	60	criteria	criterion	NOUN
alkej-459	89	61	met	meet	VERB
alkej-459	89	62	?	?	PUNCT
alkej-459	90	1	select	select	ADJ
alkej-459	90	2	best	good	ADJ
alkej-459	90	3	individual	individual	ADJ
alkej-459	90	4	end	end	NOUN
alkej-459	90	5	yes	yes	INTJ
alkej-459	90	6	mouwafak	mouwafak	PROPN
alkej-459	90	7	a.	a.	PROPN
alkej-459	90	8	tawfik	tawfik	PROPN
alkej-459	90	9	al	al	PROPN
alkej-459	90	10	-	-	PUNCT
alkej-459	90	11	khwarizmi	khwarizmi	PROPN
alkej-459	90	12	engineering	engineering	NOUN
alkej-459	90	13	journal	journal	PROPN
alkej-459	90	14	,	,	PUNCT
alkej-459	90	15	vol	vol	NOUN
alkej-459	90	16	.	.	PROPN
alkej-459	91	1	10	10	NUM
alkej-459	91	2	,	,	PUNCT
alkej-459	91	3	no	no	INTJ
alkej-459	91	4	.	.	NOUN
alkej-459	91	5	3	3	NUM
alkej-459	91	6	,	,	PUNCT
alkej-459	91	7	p.p	p.p	PROPN
alkej-459	91	8	.	.	NOUN
alkej-459	91	9	3952	3952	NUM
alkej-459	91	10	(	(	PUNCT
alkej-459	91	11	2014	2014	NUM
alkej-459	91	12	)	)	PUNCT
alkej-459	91	13	45	45	NUM
alkej-459	91	14	the	the	DET
alkej-459	91	15	initial	initial	ADJ
alkej-459	91	16	values	value	NOUN
alkej-459	91	17	and	and	CCONJ
alkej-459	91	18	optimal	optimal	ADJ
alkej-459	91	19	values	value	NOUN
alkej-459	91	20	of	of	ADP
alkej-459	91	21	the	the	DET
alkej-459	91	22	fopid	fopid	NOUN
alkej-459	91	23	controller	controller	NOUN
alkej-459	91	24	parameters	parameter	NOUN
alkej-459	91	25	are	be	AUX
alkej-459	91	26	shown	show	VERB
alkej-459	91	27	in	in	ADP
alkej-459	91	28	table	table	NOUN
alkej-459	91	29	1	1	NUM
alkej-459	91	30	figures	figure	NOUN
alkej-459	91	31	6	6	NUM
alkej-459	91	32	and	and	CCONJ
alkej-459	91	33	7	7	NUM
alkej-459	91	34	demonstrate	demonstrate	VERB
alkej-459	91	35	the	the	DET
alkej-459	91	36	changing	changing	NOUN
alkej-459	91	37	of	of	ADP
alkej-459	91	38	the	the	DET
alkej-459	91	39	control	control	NOUN
alkej-459	91	40	parameters	parameter	NOUN
alkej-459	91	41	(	(	PUNCT
alkej-459	91	42	values	value	NOUN
alkej-459	91	43	of	of	ADP
alkej-459	91	44	kp	kp	PROPN
alkej-459	91	45	,	,	PUNCT
alkej-459	91	46	kd	kd	PROPN
alkej-459	91	47	,	,	PUNCT
alkej-459	91	48	ki	ki	PROPN
alkej-459	91	49	,	,	PUNCT
alkej-459	91	50	a	a	PRON
alkej-459	91	51	and	and	CCONJ
alkej-459	91	52	b	b	NOUN
alkej-459	91	53	)	)	PUNCT
alkej-459	91	54	during	during	ADP
alkej-459	91	55	the	the	DET
alkej-459	91	56	optimization	optimization	NOUN
alkej-459	91	57	steps	step	NOUN
alkej-459	91	58	.	.	PUNCT
alkej-459	92	1	after	after	ADP
alkej-459	92	2	3957	3957	NUM
alkej-459	92	3	optimization	optimization	NOUN
alkej-459	92	4	steps	step	NOUN
alkej-459	92	5	,	,	PUNCT
alkej-459	92	6	the	the	DET
alkej-459	92	7	parameters	parameter	NOUN
alkej-459	92	8	of	of	ADP
alkej-459	92	9	the	the	DET
alkej-459	92	10	fopid	fopid	NOUN
alkej-459	92	11	controller	controller	NOUN
alkej-459	92	12	reach	reach	VERB
alkej-459	92	13	to	to	PART
alkej-459	92	14	steady	steady	VERB
alkej-459	92	15	state	state	NOUN
alkej-459	92	16	values	value	NOUN
alkej-459	92	17	(	(	PUNCT
alkej-459	92	18	the	the	DET
alkej-459	92	19	optimal	optimal	ADJ
alkej-459	92	20	values	value	NOUN
alkej-459	92	21	)	)	PUNCT
alkej-459	92	22	while	while	SCONJ
alkej-459	92	23	the	the	DET
alkej-459	92	24	objective	objective	ADJ
alkej-459	92	25	function	function	NOUN
alkej-459	92	26	jf	jf	PROPN
alkej-459	92	27	value	value	NOUN
alkej-459	92	28	reach	reach	VERB
alkej-459	92	29	to	to	ADP
alkej-459	92	30	small	small	ADJ
alkej-459	92	31	value	value	NOUN
alkej-459	92	32	as	as	SCONJ
alkej-459	92	33	illustrated	illustrate	VERB
alkej-459	92	34	in	in	ADP
alkej-459	92	35	figure	figure	NOUN
alkej-459	92	36	8	8	NUM
alkej-459	92	37	.	.	PUNCT
alkej-459	92	38	fig	fig	NOUN
alkej-459	92	39	.	.	PUNCT
alkej-459	93	1	5	5	X
alkej-459	93	2	.	.	X
alkej-459	93	3	simulink	simulink	NOUN
alkej-459	93	4	model	model	NOUN
alkej-459	93	5	of	of	ADP
alkej-459	93	6	fopid	fopid	PROPN
alkej-459	93	7	controller	controller	NOUN
alkej-459	93	8	with	with	ADP
alkej-459	93	9	proposed	propose	VERB
alkej-459	93	10	.	.	PUNCT
alkej-459	94	1	table	table	NOUN
alkej-459	94	2	1	1	NUM
alkej-459	94	3	,	,	PUNCT
alkej-459	94	4	initial	initial	ADJ
alkej-459	94	5	and	and	CCONJ
alkej-459	94	6	optimal	optimal	ADJ
alkej-459	94	7	value	value	NOUN
alkej-459	94	8	of	of	ADP
alkej-459	94	9	fopid	fopid	NOUN
alkej-459	94	10	controller	controller	NOUN
alkej-459	94	11	.	.	PUNCT
alkej-459	95	1	parameter	parameter	PROPN
alkej-459	95	2	kp	kp	PROPN
alkej-459	96	1	ki	ki	PROPN
alkej-459	96	2	kd	kd	PROPN
alkej-459	96	3	a	a	DET
alkej-459	96	4	b	b	PROPN
alkej-459	96	5	initial	initial	ADJ
alkej-459	96	6	value	value	NOUN
alkej-459	96	7	1	1	NUM
alkej-459	96	8	1	1	NUM
alkej-459	96	9	1	1	NUM
alkej-459	96	10	0.7	0.7	NUM
alkej-459	96	11	0.1	0.1	NUM
alkej-459	96	12	optimal	optimal	ADJ
alkej-459	96	13	value	value	NOUN
alkej-459	96	14	5.7632	5.7632	NUM
alkej-459	96	15	0.005596	0.005596	NUM
alkej-459	96	16	3.296	3.296	NUM
alkej-459	96	17	0.893	0.893	NUM
alkej-459	96	18	0.394	0.394	NUM
alkej-459	96	19	q	q	NOUN
alkej-459	96	20	qd	qd	ADP
alkej-459	96	21	v	v	PRON
alkej-459	96	22	qdot	qdot	NOUN
alkej-459	96	23	q	q	NOUN
alkej-459	96	24	1	1	NUM
alkej-459	96	25	l	l	NOUN
alkej-459	96	26	x	x	X
alkej-459	96	27	y	y	PROPN
alkej-459	96	28	theta	theta	PROPN
alkej-459	96	29	thetaout	thetaout	PROPN
alkej-459	96	30	fcn	fcn	PROPN
alkej-459	96	31	thetacorrection	thetacorrection	PROPN
alkej-459	96	32	du	du	PROPN
alkej-459	96	33	/	/	SYM
alkej-459	96	34	dt	dt	PROPN
alkej-459	96	35	qdotdot2	qdotdot2	NOUN
alkej-459	96	36	du	du	PROPN
alkej-459	96	37	/	/	SYM
alkej-459	96	38	dt	dt	X
alkej-459	96	39	qdot	qdot	PROPN
alkej-459	96	40	t1	t1	PROPN
alkej-459	96	41	q1	q1	PROPN
alkej-459	96	42	qdot1	qdot1	PROPN
alkej-459	97	1	v	v	ADP
alkej-459	97	2	vdot	vdot	PROPN
alkej-459	97	3	mobile	mobile	PROPN
alkej-459	97	4	-	-	PUNCT
alkej-459	97	5	robot1	robot1	PROPN
alkej-459	97	6	qiv	qiv	PROPN
alkej-459	97	7	e(m*b	e(m*b	NOUN
alkej-459	97	8	)	)	PUNCT
alkej-459	97	9	ive(stb	ive(stb	ADV
alkej-459	97	10	)	)	PUNCT
alkej-459	97	11	1	1	NUM
alkej-459	97	12	vector	vector	NOUN
alkej-459	97	13	concatenate1	concatenate1	NOUN
alkej-459	97	14	vector	vector	NOUN
alkej-459	97	15	concatenate	concatenate	NOUN
alkej-459	97	16	step	step	NOUN
alkej-459	97	17	scope4	scope4	X
alkej-459	97	18	saturation	saturation	NOUN
alkej-459	97	19	q	q	NOUN
alkej-459	97	20	qdot	qdot	NOUN
alkej-459	97	21	out1	out1	NOUN
alkej-459	97	22	stv(q	stv(q	PROPN
alkej-459	97	23	,	,	PUNCT
alkej-459	97	24	qdot	qdot	NOUN
alkej-459	97	25	)	)	PUNCT
alkej-459	97	26	qout1	qout1	NOUN
alkej-459	98	1	stm	stm	PROPN
alkej-459	98	2	qout1	qout1	PROPN
alkej-459	98	3	s	s	PART
alkej-459	98	4	matrix	matrix	NOUN
alkej-459	98	5	multiply	multiply	ADP
alkej-459	98	6	product3	product3	PROPN
alkej-459	98	7	matrix	matrix	NOUN
alkej-459	98	8	multiply	multiply	NOUN
alkej-459	98	9	product2	product2	NOUN
alkej-459	98	10	matrix	matrix	NOUN
alkej-459	98	11	multiply	multiply	ADP
alkej-459	98	12	product1	product1	NOUN
alkej-459	98	13	pid	pid	NOUN
alkej-459	98	14	pid	pid	NOUN
alkej-459	98	15	controller3	controller3	PROPN
alkej-459	98	16	pid	pid	NOUN
alkej-459	98	17	pid	pid	NOUN
alkej-459	98	18	controller2	controller2	PROPN
alkej-459	99	1	pid	pid	NOUN
alkej-459	99	2	pid	pid	NOUN
alkej-459	99	3	controller1	controller1	NOUN
alkej-459	99	4	1	1	NUM
alkej-459	99	5	s	s	VERB
alkej-459	99	6	integrator1	integrator1	ADJ
alkej-459	99	7	1	1	NUM
alkej-459	99	8	s	s	NOUN
alkej-459	99	9	integrator	integrator	NOUN
alkej-459	99	10	mouwafak	mouwafak	PROPN
alkej-459	99	11	a.	a.	PROPN
alkej-459	99	12	tawfik	tawfik	PROPN
alkej-459	99	13	al	al	PROPN
alkej-459	99	14	-	-	PUNCT
alkej-459	99	15	khwarizmi	khwarizmi	PROPN
alkej-459	99	16	engineering	engineering	NOUN
alkej-459	99	17	journal	journal	PROPN
alkej-459	99	18	,	,	PUNCT
alkej-459	99	19	vol	vol	NOUN
alkej-459	99	20	.	.	PROPN
alkej-459	100	1	10	10	NUM
alkej-459	100	2	,	,	PUNCT
alkej-459	100	3	no	no	INTJ
alkej-459	100	4	.	.	NOUN
alkej-459	100	5	3	3	NUM
alkej-459	100	6	,	,	PUNCT
alkej-459	100	7	p.p	p.p	PROPN
alkej-459	100	8	.	.	NOUN
alkej-459	100	9	3952	3952	NUM
alkej-459	100	10	(	(	PUNCT
alkej-459	100	11	2014	2014	NUM
alkej-459	100	12	)	)	PUNCT
alkej-459	100	13	46	46	NUM
alkej-459	100	14	fig	fig	NOUN
alkej-459	100	15	.	.	PUNCT
alkej-459	101	1	6	6	NUM
alkej-459	101	2	.	.	X
alkej-459	101	3	optiy	optiy	PROPN
alkej-459	101	4	program	program	NOUN
alkej-459	101	5	results	result	NOUN
alkej-459	101	6	where	where	SCONJ
alkej-459	101	7	:	:	PUNCT
alkej-459	101	8	a	a	X
alkej-459	101	9	)	)	PUNCT
alkej-459	101	10	variation	variation	NOUN
alkej-459	101	11	of	of	ADP
alkej-459	101	12	kp	kp	PROPN
alkej-459	101	13	,	,	PUNCT
alkej-459	101	14	kd	kd	PROPN
alkej-459	101	15	,	,	PUNCT
alkej-459	101	16	and	and	CCONJ
alkej-459	101	17	ki	ki	PROPN
alkej-459	101	18	parameters	parameter	NOUN
alkej-459	101	19	during	during	ADP
alkej-459	101	20	optimization	optimization	NOUN
alkej-459	101	21	process	process	NOUN
alkej-459	101	22	,	,	PUNCT
alkej-459	101	23	b	b	NOUN
alkej-459	101	24	)	)	PUNCT
alkej-459	101	25	variation	variation	NOUN
alkej-459	101	26	of	of	ADP
alkej-459	101	27	a1,and	a1,and	PROPN
alkej-459	101	28	a2	a2	PROPN
alkej-459	101	29	parameters	parameter	NOUN
alkej-459	101	30	during	during	ADP
alkej-459	101	31	optimization	optimization	NOUN
alkej-459	101	32	process	process	NOUN
alkej-459	101	33	,	,	PUNCT
alkej-459	101	34	c	c	NOUN
alkej-459	101	35	)	)	PUNCT
alkej-459	101	36	f1	f1	NOUN
alkej-459	101	37	,	,	PUNCT
alkej-459	101	38	f2	f2	PROPN
alkej-459	101	39	,	,	PUNCT
alkej-459	101	40	and	and	CCONJ
alkej-459	101	41	f3	f3	PROPN
alkej-459	101	42	are	be	AUX
alkej-459	101	43	objective	objective	ADJ
alkej-459	101	44	functions	function	NOUN
alkej-459	101	45	,	,	PUNCT
alkej-459	101	46	d	d	X
alkej-459	101	47	)	)	PUNCT
alkej-459	101	48	optiy	optiy	VERB
alkej-459	101	49	program	program	NOUN
alkej-459	101	50	workflow	workflow	NOUN
alkej-459	101	51	window	window	NOUN
alkej-459	101	52	.	.	PUNCT
alkej-459	102	1	4	4	X
alkej-459	102	2	.	.	X
alkej-459	102	3	simulation	simulation	NOUN
alkej-459	102	4	result	result	VERB
alkej-459	102	5	the	the	DET
alkej-459	102	6	trajectory	trajectory	NOUN
alkej-459	102	7	tracking	tracking	NOUN
alkej-459	102	8	problem	problem	NOUN
alkej-459	102	9	for	for	ADP
alkej-459	102	10	nonholonomic	nonholonomic	ADJ
alkej-459	102	11	vehicles	vehicle	NOUN
alkej-459	102	12	is	be	AUX
alkej-459	102	13	posed	pose	VERB
alkej-459	102	14	as	as	SCONJ
alkej-459	102	15	follows	follow	VERB
alkej-459	102	16	.	.	PUNCT
alkej-459	103	1	let	let	VERB
alkej-459	103	2	there	there	PRON
alkej-459	103	3	be	be	AUX
alkej-459	103	4	prescribed	prescribe	VERB
alkej-459	103	5	a	a	DET
alkej-459	103	6	reference	reference	NOUN
alkej-459	103	7	cart	cart	NOUN
alkej-459	103	8	…	…	PUNCT
alkej-459	103	9	(	(	PUNCT
alkej-459	103	10	35	35	NUM
alkej-459	103	11	)	)	PUNCT
alkej-459	103	12	with	with	ADP
alkej-459	103	13	for	for	ADP
alkej-459	103	14	all	all	DET
alkej-459	103	15	t	t	NOUN
alkej-459	103	16	,	,	PUNCT
alkej-459	103	17	find	find	VERB
alkej-459	103	18	ct	ct	PRON
alkej-459	103	19	such	such	ADJ
alkej-459	103	20	that	that	PRON
alkej-459	103	21	,	,	PUNCT
alkej-459	103	22	where	where	SCONJ
alkej-459	103	23	and	and	CCONJ
alkej-459	103	24	are	be	AUX
alkej-459	103	25	the	the	DET
alkej-459	103	26	reference	reference	NOUN
alkej-459	103	27	velocity	velocity	NOUN
alkej-459	103	28	vector	vector	NOUN
alkej-459	103	29	,	,	PUNCT
alkej-459	103	30	and	and	CCONJ
alkej-459	103	31	reference	reference	NOUN
alkej-459	103	32	orientation	orientation	NOUN
alkej-459	103	33	respectively	respectively	ADV
alkej-459	103	34	.	.	PUNCT
alkej-459	104	1	the	the	DET
alkej-459	104	2	proposed	propose	VERB
alkej-459	104	3	controller	controller	NOUN
alkej-459	104	4	is	be	AUX
alkej-459	104	5	verified	verify	VERB
alkej-459	104	6	by	by	ADP
alkej-459	104	7	means	mean	NOUN
alkej-459	104	8	of	of	ADP
alkej-459	104	9	computer	computer	NOUN
alkej-459	104	10	simulation	simulation	NOUN
alkej-459	104	11	using	use	VERB
alkej-459	104	12	matlab	matlab	PROPN
alkej-459	104	13	/	/	SYM
alkej-459	104	14	simulink	simulink	PROPN
alkej-459	104	15	.	.	PUNCT
alkej-459	105	1	the	the	DET
alkej-459	105	2	kinematic	kinematic	ADJ
alkej-459	105	3	and	and	CCONJ
alkej-459	105	4	dynamic	dynamic	ADJ
alkej-459	105	5	model	model	NOUN
alkej-459	105	6	of	of	ADP
alkej-459	105	7	the	the	DET
alkej-459	105	8	nonholonomic	nonholonomic	PROPN
alkej-459	105	9	mobile	mobile	PROPN
alkej-459	105	10	robot	robot	NOUN
alkej-459	105	11	described	describe	VERB
alkej-459	105	12	in	in	ADP
alkej-459	105	13	section	section	NOUN
alkej-459	105	14	2	2	NUM
alkej-459	105	15	is	be	AUX
alkej-459	105	16	used	use	VERB
alkej-459	105	17	.	.	PUNCT
alkej-459	106	1	the	the	DET
alkej-459	106	2	simulation	simulation	NOUN
alkej-459	106	3	is	be	AUX
alkej-459	106	4	carried	carry	VERB
alkej-459	106	5	out	out	ADP
alkej-459	106	6	by	by	ADP
alkej-459	106	7	tracking	track	VERB
alkej-459	106	8	a	a	DET
alkej-459	106	9	desired	desire	VERB
alkej-459	106	10	position	position	NOUN
alkej-459	106	11	(	(	PUNCT
alkej-459	106	12	x	x	NOUN
alkej-459	106	13	,	,	PUNCT
alkej-459	106	14	y	y	NOUN
alkej-459	106	15	)	)	PUNCT
alkej-459	106	16	and	and	CCONJ
alkej-459	106	17	orientation	orientation	NOUN
alkej-459	106	18	angle	angle	NOUN
alkej-459	106	19	with	with	ADP
alkej-459	106	20	circular	circular	ADJ
alkej-459	106	21	,	,	PUNCT
alkej-459	106	22	s	s	NOUN
alkej-459	106	23	-	-	NOUN
alkej-459	106	24	shape	shape	NOUN
alkej-459	106	25	,	,	PUNCT
alkej-459	106	26	and	and	CCONJ
alkej-459	106	27	lemniscates	lemniscate	VERB
alkej-459	106	28	trajectories	trajectory	NOUN
alkej-459	106	29	in	in	ADP
alkej-459	106	30	the	the	DET
alkej-459	106	31	tracking	tracking	NOUN
alkej-459	106	32	control	control	NOUN
alkej-459	106	33	of	of	ADP
alkej-459	106	34	the	the	DET
alkej-459	106	35	robot	robot	NOUN
alkej-459	106	36	.	.	PUNCT
alkej-459	107	1	the	the	DET
alkej-459	107	2	parameters	parameter	NOUN
alkej-459	107	3	values	value	NOUN
alkej-459	107	4	of	of	ADP
alkej-459	107	5	the	the	DET
alkej-459	107	6	robot	robot	NOUN
alkej-459	107	7	model	model	NOUN
alkej-459	107	8	are	be	AUX
alkej-459	107	9	taken	take	VERB
alkej-459	107	10	from	from	ADP
alkej-459	107	11	[	[	X
alkej-459	107	12	20,21	20,21	NUM
alkej-459	107	13	]	]	PUNCT
alkej-459	107	14	,	,	PUNCT
alkej-459	107	15	which	which	PRON
alkej-459	107	16	are	be	AUX
alkej-459	107	17	as	as	SCONJ
alkej-459	107	18	follows	follow	VERB
alkej-459	107	19	:	:	PUNCT
alkej-459	107	20	m=0.65	m=0.65	PROPN
alkej-459	107	21	kg	kg	INTJ
alkej-459	107	22	,	,	PUNCT
alkej-459	107	23	i	i	NOUN
alkej-459	107	24	=	=	NOUN
alkej-459	107	25	0.36	0.36	NUM
alkej-459	107	26	kg.cm	kg.cm	ADJ
alkej-459	107	27	2	2	NUM
alkej-459	107	28	,	,	PUNCT
alkej-459	107	29	l	l	NOUN
alkej-459	107	30	=	=	PUNCT
alkej-459	107	31	0.105	0.105	NUM
alkej-459	107	32	m	m	NOUN
alkej-459	107	33	,	,	PUNCT
alkej-459	108	1	r	r	NOUN
alkej-459	108	2	=	=	NUM
alkej-459	108	3	0.033	0.033	NUM
alkej-459	108	4	m	m	NOUN
alkej-459	108	5	,	,	PUNCT
alkej-459	108	6	and	and	CCONJ
alkej-459	108	7	tacking	tack	VERB
alkej-459	108	8	d	d	NOUN
alkej-459	108	9	=	=	PUNCT
alkej-459	108	10	0.01	0.01	NUM
alkej-459	108	11	m	m	VERB
alkej-459	108	12	for	for	ADP
alkej-459	108	13	this	this	DET
alkej-459	108	14	mobile	mobile	ADJ
alkej-459	108	15	robot	robot	NOUN
alkej-459	108	16	.	.	PUNCT
alkej-459	109	1	the	the	DET
alkej-459	109	2	resulting	result	VERB
alkej-459	109	3	mobile	mobile	ADJ
alkej-459	109	4	robot	robot	NOUN
alkej-459	109	5	trajectory	trajectory	NOUN
alkej-459	109	6	tracking	tracking	NOUN
alkej-459	109	7	,	,	PUNCT
alkej-459	109	8	obtained	obtain	VERB
alkej-459	109	9	by	by	ADP
alkej-459	109	10	the	the	DET
alkej-459	109	11	proposed	propose	VERB
alkej-459	109	12	fopid	fopid	NOUN
alkej-459	109	13	controller	controller	NOUN
alkej-459	109	14	is	be	AUX
alkej-459	109	15	shown	show	VERB
alkej-459	109	16	in	in	ADP
alkej-459	109	17	figures	figure	NOUN
alkej-459	109	18	7	7	NUM
alkej-459	109	19	to	to	PART
alkej-459	109	20	16	16	NUM
alkej-459	109	21	including	include	VERB
alkej-459	109	22	trajectory	trajectory	NOUN
alkej-459	109	23	tracking	tracking	NOUN
alkej-459	109	24	,	,	PUNCT
alkej-459	109	25	tracking	track	VERB
alkej-459	109	26	error	error	NOUN
alkej-459	109	27	,	,	PUNCT
alkej-459	109	28	and	and	CCONJ
alkej-459	109	29	linear	linear	ADJ
alkej-459	109	30	and	and	CCONJ
alkej-459	109	31	angular	angular	ADJ
alkej-459	109	32	velocity	velocity	NOUN
alkej-459	109	33	of	of	ADP
alkej-459	109	34	mobile	mobile	ADJ
alkej-459	109	35	robot	robot	NOUN
alkej-459	109	36	,	,	PUNCT
alkej-459	109	37	the	the	DET
alkej-459	109	38	sampling	sample	VERB
alkej-459	109	39	period	period	NOUN
alkej-459	109	40	was	be	AUX
alkej-459	109	41	set	set	VERB
alkej-459	109	42	to	to	ADP
alkej-459	109	43	t0	t0	PROPN
alkej-459	109	44	=	=	SYM
alkej-459	109	45	0.1	0.1	NUM
alkej-459	109	46	s.	s.	PROPN
alkej-459	109	47	in	in	ADP
alkej-459	109	48	these	these	DET
alkej-459	109	49	cases	case	NOUN
alkej-459	109	50	,	,	PUNCT
alkej-459	109	51	there	there	PRON
alkej-459	109	52	are	be	VERB
alkej-459	109	53	no	no	DET
alkej-459	109	54	external	external	ADJ
alkej-459	109	55	disturbances	disturbance	NOUN
alkej-459	109	56	.	.	PUNCT
alkej-459	110	1	(	(	PUNCT
alkej-459	110	2	b	b	X
alkej-459	110	3	)	)	PUNCT
alkej-459	110	4	(	(	PUNCT
alkej-459	110	5	a	a	NOUN
alkej-459	110	6	)	)	PUNCT
alkej-459	110	7	(	(	PUNCT
alkej-459	110	8	c	c	X
alkej-459	110	9	)	)	PUNCT
alkej-459	110	10	(	(	PUNCT
alkej-459	110	11	d	d	X
alkej-459	110	12	)	)	PUNCT
alkej-459	110	13	mouwafak	mouwafak	PROPN
alkej-459	110	14	a.	a.	PROPN
alkej-459	110	15	tawfik	tawfik	PROPN
alkej-459	110	16	al	al	PROPN
alkej-459	110	17	-	-	PUNCT
alkej-459	110	18	khwarizmi	khwarizmi	PROPN
alkej-459	110	19	engineering	engineering	NOUN
alkej-459	110	20	journal	journal	PROPN
alkej-459	110	21	,	,	PUNCT
alkej-459	110	22	vol	vol	NOUN
alkej-459	110	23	.	.	PROPN
alkej-459	111	1	10	10	NUM
alkej-459	111	2	,	,	PUNCT
alkej-459	111	3	no	no	INTJ
alkej-459	111	4	.	.	NOUN
alkej-459	111	5	3	3	NUM
alkej-459	111	6	,	,	PUNCT
alkej-459	111	7	p.p	p.p	PROPN
alkej-459	111	8	.	.	NOUN
alkej-459	111	9	3952	3952	NUM
alkej-459	111	10	(	(	PUNCT
alkej-459	111	11	2014	2014	NUM
alkej-459	111	12	)	)	PUNCT
alkej-459	111	13	47	47	NUM
alkej-459	111	14	1the	1the	NUM
alkej-459	111	15	circular	circular	ADJ
alkej-459	111	16	trajectory	trajectory	NOUN
alkej-459	111	17	was	be	AUX
alkej-459	111	18	generated	generate	VERB
alkej-459	111	19	from	from	ADP
alkej-459	111	20	the	the	DET
alkej-459	111	21	desired	desire	VERB
alkej-459	111	22	linear	linear	NOUN
alkej-459	111	23	velocity	velocity	NOUN
alkej-459	111	24	and	and	CCONJ
alkej-459	111	25	angular	angular	ADJ
alkej-459	111	26	velocity	velocity	NOUN
alkej-459	111	27	.	.	PUNCT
alkej-459	112	1	thus	thus	ADV
alkej-459	112	2	the	the	DET
alkej-459	112	3	desired	desire	VERB
alkej-459	112	4	circular	circular	ADJ
alkej-459	112	5	trajectory	trajectory	NOUN
alkej-459	112	6	,	,	PUNCT
alkej-459	112	7	which	which	PRON
alkej-459	112	8	has	have	VERB
alkej-459	112	9	continuous	continuous	ADJ
alkej-459	112	10	gradient	gradient	NOUN
alkej-459	112	11	with	with	ADP
alkej-459	112	12	rotation	rotation	NOUN
alkej-459	112	13	radius	radius	NOUN
alkej-459	112	14	constant	constant	ADJ
alkej-459	112	15	,	,	PUNCT
alkej-459	112	16	can	can	AUX
alkej-459	112	17	be	be	AUX
alkej-459	112	18	describe	describe	NOUN
alkej-459	112	19	as	as	SCONJ
alkej-459	112	20	follows	follow	VERB
alkej-459	112	21	:	:	PUNCT
alkej-459	112	22	…	…	PUNCT
alkej-459	112	23	(	(	PUNCT
alkej-459	112	24	36	36	NUM
alkej-459	112	25	)	)	PUNCT
alkej-459	112	26	…	…	PUNCT
alkej-459	112	27	(	(	PUNCT
alkej-459	112	28	37	37	NUM
alkej-459	112	29	)	)	PUNCT
alkej-459	112	30	…	…	PUNCT
alkej-459	112	31	(	(	PUNCT
alkej-459	112	32	38	38	NUM
alkej-459	112	33	)	)	PUNCT
alkej-459	112	34	the	the	DET
alkej-459	112	35	initial	initial	ADJ
alkej-459	112	36	posture	posture	NOUN
alkej-459	112	37	of	of	ADP
alkej-459	112	38	the	the	DET
alkej-459	112	39	desired	desire	VERB
alkej-459	112	40	trajectory	trajectory	NOUN
alkej-459	112	41	is	be	AUX
alkej-459	112	42	,	,	PUNCT
alkej-459	112	43	while	while	SCONJ
alkej-459	112	44	the	the	DET
alkej-459	112	45	actual	actual	ADJ
alkej-459	112	46	initial	initial	ADJ
alkej-459	112	47	posture	posture	NOUN
alkej-459	112	48	of	of	ADP
alkej-459	112	49	the	the	DET
alkej-459	112	50	robot	robot	NOUN
alkej-459	112	51	is	be	AUX
alkej-459	112	52	,	,	PUNCT
alkej-459	112	53	circular	circular	ADJ
alkej-459	112	54	trajectory	trajectory	NOUN
alkej-459	112	55	tracking	tracking	NOUN
alkej-459	112	56	simulation	simulation	NOUN
alkej-459	112	57	and	and	CCONJ
alkej-459	112	58	posture	posture	NOUN
alkej-459	112	59	error	error	NOUN
alkej-459	112	60	curves	curve	NOUN
alkej-459	112	61	are	be	AUX
alkej-459	112	62	shown	show	VERB
alkej-459	112	63	in	in	ADP
alkej-459	112	64	figures	figure	NOUN
alkej-459	112	65	7	7	NUM
alkej-459	112	66	to	to	PART
alkej-459	112	67	8	8	NUM
alkej-459	112	68	respectively	respectively	ADV
alkej-459	112	69	.	.	PUNCT
alkej-459	113	1	it	it	PRON
alkej-459	113	2	's	be	AUX
alkej-459	113	3	very	very	ADV
alkej-459	113	4	clear	clear	ADJ
alkej-459	113	5	that	that	SCONJ
alkej-459	113	6	good	good	ADJ
alkej-459	113	7	tracking	tracking	NOUN
alkej-459	113	8	performance	performance	NOUN
alkej-459	113	9	that	that	PRON
alkej-459	113	10	achieved	achieve	VERB
alkej-459	113	11	by	by	ADP
alkej-459	113	12	means	mean	NOUN
alkej-459	113	13	of	of	ADP
alkej-459	113	14	the	the	DET
alkej-459	113	15	proposed	propose	VERB
alkej-459	113	16	controller	controller	NOUN
alkej-459	113	17	.	.	PUNCT
alkej-459	114	1	fig	fig	NOUN
alkej-459	114	2	.	.	PUNCT
alkej-459	115	1	7	7	X
alkej-459	115	2	.	.	X
alkej-459	115	3	circular	circular	ADJ
alkej-459	115	4	trajectory	trajectory	NOUN
alkej-459	115	5	tracking	tracking	NOUN
alkej-459	115	6	.	.	PUNCT
alkej-459	116	1	fig	fig	NOUN
alkej-459	116	2	.	.	PUNCT
alkej-459	117	1	8	8	X
alkej-459	117	2	.	.	PUNCT
alkej-459	117	3	trajectory	trajectory	NOUN
alkej-459	117	4	tracking	tracking	NOUN
alkej-459	117	5	error	error	NOUN
alkej-459	117	6	.	.	PUNCT
alkej-459	118	1	2the	2the	DET
alkej-459	118	2	s	s	NOUN
alkej-459	118	3	-	-	PUNCT
alkej-459	118	4	shape	shape	NOUN
alkej-459	118	5	trajectory	trajectory	NOUN
alkej-459	118	6	compose	compose	NOUN
alkej-459	118	7	of	of	ADP
alkej-459	118	8	nine	nine	NUM
alkej-459	118	9	segments	segment	NOUN
alkej-459	118	10	five	five	NUM
alkej-459	118	11	of	of	ADP
alkej-459	118	12	them	they	PRON
alkej-459	118	13	are	be	AUX
alkej-459	118	14	line	line	NOUN
alkej-459	118	15	segment	segment	NOUN
alkej-459	118	16	has	have	VERB
alkej-459	118	17	constant	constant	ADJ
alkej-459	118	18	linear	linear	NOUN
alkej-459	118	19	and	and	CCONJ
alkej-459	118	20	angular	angular	ADJ
alkej-459	118	21	velocity	velocity	NOUN
alkej-459	118	22	ω	ω	NOUN
alkej-459	118	23	,	,	PUNCT
alkej-459	118	24	while	while	SCONJ
alkej-459	118	25	the	the	DET
alkej-459	118	26	arc	arc	NOUN
alkej-459	118	27	segment	segment	NOUN
alkej-459	118	28	has	have	VERB
alkej-459	118	29	linear	linear	ADJ
alkej-459	118	30	and	and	CCONJ
alkej-459	118	31	angular	angular	ADJ
alkej-459	118	32	velocity	velocity	NOUN
alkej-459	118	33	and	and	CCONJ
alkej-459	118	34	ω	ω	NOUN
alkej-459	118	35	.	.	PUNCT
alkej-459	119	1	the	the	DET
alkej-459	119	2	initial	initial	ADJ
alkej-459	119	3	posture	posture	NOUN
alkej-459	119	4	of	of	ADP
alkej-459	119	5	reference	reference	NOUN
alkej-459	119	6	trajectory	trajectory	NOUN
alkej-459	119	7	is	be	AUX
alkej-459	119	8	set	set	VERB
alkej-459	119	9	at	at	ADP
alkej-459	119	10	while	while	SCONJ
alkej-459	119	11	the	the	DET
alkej-459	119	12	actual	actual	ADJ
alkej-459	119	13	initial	initial	ADJ
alkej-459	119	14	posture	posture	NOUN
alkej-459	119	15	of	of	ADP
alkej-459	119	16	robot	robot	NOUN
alkej-459	119	17	is	be	AUX
alkej-459	119	18	.	.	PUNCT
alkej-459	120	1	simulation	simulation	NOUN
alkej-459	120	2	results	result	NOUN
alkej-459	120	3	of	of	ADP
alkej-459	120	4	both	both	DET
alkej-459	120	5	trajectory	trajectory	NOUN
alkej-459	120	6	tracking	tracking	NOUN
alkej-459	120	7	and	and	CCONJ
alkej-459	120	8	the	the	DET
alkej-459	120	9	posture	posture	NOUN
alkej-459	120	10	error	error	NOUN
alkej-459	120	11	curves	curve	NOUN
alkej-459	120	12	are	be	AUX
alkej-459	120	13	shown	show	VERB
alkej-459	120	14	in	in	ADP
alkej-459	120	15	figures	figure	NOUN
alkej-459	120	16	9	9	NUM
alkej-459	120	17	and	and	CCONJ
alkej-459	120	18	10	10	NUM
alkej-459	120	19	,	,	PUNCT
alkej-459	120	20	although	although	SCONJ
alkej-459	120	21	s	s	NOUN
alkej-459	120	22	-	-	PUNCT
alkej-459	120	23	shape	shape	NOUN
alkej-459	120	24	trajectory	trajectory	NOUN
alkej-459	120	25	has	have	VERB
alkej-459	120	26	sudden	sudden	ADJ
alkej-459	120	27	change	change	NOUN
alkej-459	120	28	in	in	ADP
alkej-459	120	29	path	path	NOUN
alkej-459	120	30	,	,	PUNCT
alkej-459	120	31	the	the	DET
alkej-459	120	32	proposed	propose	VERB
alkej-459	120	33	controller	controller	NOUN
alkej-459	120	34	shows	show	VERB
alkej-459	120	35	good	good	ADJ
alkej-459	120	36	trajectory	trajectory	NOUN
alkej-459	120	37	tracking	tracking	NOUN
alkej-459	120	38	and	and	CCONJ
alkej-459	120	39	the	the	DET
alkej-459	120	40	posture	posture	NOUN
alkej-459	120	41	error	error	NOUN
alkej-459	120	42	goes	go	VERB
alkej-459	120	43	to	to	ADP
alkej-459	120	44	zero	zero	NUM
alkej-459	120	45	in	in	ADP
alkej-459	120	46	short	short	ADJ
alkej-459	120	47	time	time	NOUN
alkej-459	120	48	.	.	PUNCT
alkej-459	121	1	fig	fig	NOUN
alkej-459	121	2	.	.	PUNCT
alkej-459	122	1	9	9	NUM
alkej-459	122	2	.	.	X
alkej-459	123	1	s	s	X
alkej-459	123	2	-	-	PUNCT
alkej-459	123	3	shape	shape	NOUN
alkej-459	123	4	trajectory	trajectory	NOUN
alkej-459	123	5	tracking	tracking	NOUN
alkej-459	123	6	.	.	PUNCT
alkej-459	124	1	fig	fig	NOUN
alkej-459	124	2	.	.	PUNCT
alkej-459	125	1	10	10	NUM
alkej-459	125	2	.	.	X
alkej-459	126	1	tracking	track	VERB
alkej-459	126	2	error	error	NOUN
alkej-459	126	3	in	in	ADP
alkej-459	126	4	s	s	NOUN
alkej-459	126	5	-	-	PUNCT
alkej-459	126	6	shape	shape	NOUN
alkej-459	126	7	trajectory	trajectory	NOUN
alkej-459	126	8	tracking	tracking	NOUN
alkej-459	126	9	.	.	PUNCT
alkej-459	127	1	mouwafak	mouwafak	PROPN
alkej-459	127	2	a.	a.	PROPN
alkej-459	127	3	tawfik	tawfik	PROPN
alkej-459	127	4	al	al	PROPN
alkej-459	127	5	-	-	PUNCT
alkej-459	127	6	khwarizmi	khwarizmi	PROPN
alkej-459	127	7	engineering	engineering	NOUN
alkej-459	127	8	journal	journal	PROPN
alkej-459	127	9	,	,	PUNCT
alkej-459	127	10	vol	vol	NOUN
alkej-459	127	11	.	.	PROPN
alkej-459	127	12	10	10	NUM
alkej-459	127	13	,	,	PUNCT
alkej-459	127	14	no	no	INTJ
alkej-459	127	15	.	.	NOUN
alkej-459	127	16	3	3	NUM
alkej-459	127	17	,	,	PUNCT
alkej-459	127	18	p.p	p.p	PROPN
alkej-459	127	19	.	.	NOUN
alkej-459	127	20	3952	3952	NUM
alkej-459	127	21	(	(	PUNCT
alkej-459	127	22	2014	2014	NUM
alkej-459	127	23	)	)	PUNCT
alkej-459	127	24	48	48	NUM
alkej-459	127	25	3the	3the	NUM
alkej-459	127	26	lemniscates	lemniscate	NOUN
alkej-459	127	27	or	or	CCONJ
alkej-459	127	28	infinity	infinity	NOUN
alkej-459	127	29	represent	represent	VERB
alkej-459	127	30	a	a	DET
alkej-459	127	31	most	most	ADJ
alkej-459	127	32	challenge	challenge	NOUN
alkej-459	127	33	in	in	ADP
alkej-459	127	34	trajectory	trajectory	NOUN
alkej-459	127	35	tracking	tracking	NOUN
alkej-459	127	36	cases	case	NOUN
alkej-459	127	37	,	,	PUNCT
alkej-459	127	38	which	which	PRON
alkej-459	127	39	has	have	VERB
alkej-459	127	40	continuous	continuous	ADJ
alkej-459	127	41	gradient	gradient	NOUN
alkej-459	127	42	with	with	ADP
alkej-459	127	43	rotation	rotation	NOUN
alkej-459	127	44	radius	radius	NOUN
alkej-459	127	45	changes	change	NOUN
alkej-459	127	46	with	with	ADP
alkej-459	127	47	constant	constant	ADJ
alkej-459	127	48	linear	linear	ADJ
alkej-459	127	49	velocity	velocity	NOUN
alkej-459	127	50	,	,	PUNCT
alkej-459	127	51	this	this	DET
alkej-459	127	52	trajectory	trajectory	NOUN
alkej-459	127	53	can	can	AUX
alkej-459	127	54	be	be	AUX
alkej-459	127	55	described	describe	VERB
alkej-459	127	56	by	by	ADP
alkej-459	127	57	the	the	DET
alkej-459	127	58	following	following	NOUN
alkej-459	127	59	:	:	PUNCT
alkej-459	127	60	…	…	PUNCT
alkej-459	127	61	(	(	PUNCT
alkej-459	127	62	39	39	NUM
alkej-459	127	63	)	)	PUNCT
alkej-459	127	64	…	…	PUNCT
alkej-459	127	65	(	(	PUNCT
alkej-459	127	66	40	40	NUM
alkej-459	127	67	)	)	PUNCT
alkej-459	127	68	…	…	PUNCT
alkej-459	127	69	(	(	PUNCT
alkej-459	127	70	41	41	NUM
alkej-459	127	71	)	)	PUNCT
alkej-459	127	72	the	the	DET
alkej-459	127	73	robot	robot	NOUN
alkej-459	127	74	model	model	NOUN
alkej-459	127	75	starts	start	VERB
alkej-459	127	76	from	from	ADP
alkej-459	127	77	the	the	DET
alkej-459	127	78	initial	initial	ADJ
alkej-459	127	79	posture	posture	NOUN
alkej-459	127	80	as	as	SCONJ
alkej-459	127	81	it	it	PRON
alkej-459	127	82	's	be	AUX
alkej-459	127	83	initial	initial	ADJ
alkej-459	127	84	condition	condition	NOUN
alkej-459	127	85	.	.	PUNCT
alkej-459	128	1	trajectory	trajectory	NOUN
alkej-459	128	2	tracking	tracking	NOUN
alkej-459	128	3	and	and	CCONJ
alkej-459	128	4	tracking	tracking	NOUN
alkej-459	128	5	error	error	NOUN
alkej-459	128	6	are	be	AUX
alkej-459	128	7	shown	show	VERB
alkej-459	128	8	in	in	ADP
alkej-459	128	9	figures	figure	NOUN
alkej-459	128	10	11	11	NUM
alkej-459	128	11	and	and	CCONJ
alkej-459	128	12	12	12	NUM
alkej-459	128	13	,	,	PUNCT
alkej-459	128	14	from	from	ADP
alkej-459	128	15	these	these	DET
alkej-459	128	16	curves	curve	NOUN
alkej-459	128	17	one	one	PRON
alkej-459	128	18	can	can	AUX
alkej-459	128	19	found	find	VERB
alkej-459	128	20	very	very	ADV
alkej-459	128	21	good	good	ADJ
alkej-459	128	22	trajectory	trajectory	NOUN
alkej-459	128	23	tracking	tracking	NOUN
alkej-459	128	24	and	and	CCONJ
alkej-459	128	25	posture	posture	NOUN
alkej-459	128	26	error	error	NOUN
alkej-459	128	27	bounded	bound	VERB
alkej-459	128	28	by	by	ADP
alkej-459	128	29	less	less	ADJ
alkej-459	128	30	than	than	ADP
alkej-459	128	31	±0.01	±0.01	NOUN
alkej-459	128	32	m	m	PROPN
alkej-459	128	33	for	for	ADP
alkej-459	128	34	position	position	NOUN
alkej-459	128	35	error	error	NOUN
alkej-459	128	36	(	(	PUNCT
alkej-459	128	37	i.e.	i.e.	X
alkej-459	128	38	)	)	PUNCT
alkej-459	128	39	and	and	CCONJ
alkej-459	128	40	between	between	ADP
alkej-459	128	41	±0.02	±0.02	PROPN
alkej-459	128	42	rad	rad	PROPN
alkej-459	128	43	for	for	ADP
alkej-459	128	44	orientation	orientation	NOUN
alkej-459	128	45	error	error	NOUN
alkej-459	128	46	(	(	PUNCT
alkej-459	128	47	i.e.	i.e.	X
alkej-459	128	48	)	)	PUNCT
alkej-459	128	49	that	that	PRON
alkej-459	128	50	’s	’s	AUX
alkej-459	128	51	usually	usually	ADV
alkej-459	128	52	happened	happen	VERB
alkej-459	128	53	because	because	SCONJ
alkej-459	128	54	of	of	ADP
alkej-459	128	55	presence	presence	NOUN
alkej-459	128	56	of	of	ADP
alkej-459	128	57	tipping	tipping	NOUN
alkej-459	128	58	points	point	NOUN
alkej-459	128	59	in	in	ADP
alkej-459	128	60	such	such	ADJ
alkej-459	128	61	trajectory	trajectory	NOUN
alkej-459	128	62	and	and	CCONJ
alkej-459	128	63	these	these	DET
alkej-459	128	64	values	value	NOUN
alkej-459	128	65	have	have	VERB
alkej-459	128	66	a	a	DET
alkej-459	128	67	little	little	ADJ
alkej-459	128	68	effect	effect	NOUN
alkej-459	128	69	on	on	ADP
alkej-459	128	70	the	the	DET
alkej-459	128	71	trajectory	trajectory	NOUN
alkej-459	128	72	tracking	tracking	NOUN
alkej-459	128	73	performance	performance	NOUN
alkej-459	128	74	as	as	ADP
alkej-459	128	75	that	that	PRON
alkej-459	128	76	clear	clear	ADJ
alkej-459	128	77	in	in	ADP
alkej-459	128	78	figure	figure	NOUN
alkej-459	128	79	11	11	NUM
alkej-459	128	80	.	.	PUNCT
alkej-459	129	1	fig	fig	NOUN
alkej-459	129	2	.	.	PUNCT
alkej-459	130	1	11	11	NUM
alkej-459	130	2	.	.	PUNCT
alkej-459	130	3	lemniscates	lemniscate	NOUN
alkej-459	130	4	trajectory	trajectory	NOUN
alkej-459	130	5	tracking	tracking	NOUN
alkej-459	130	6	.	.	PUNCT
alkej-459	131	1	fig	fig	NOUN
alkej-459	131	2	.	.	PUNCT
alkej-459	132	1	12	12	NUM
alkej-459	132	2	.	.	PUNCT
alkej-459	133	1	tracking	track	VERB
alkej-459	133	2	error	error	NOUN
alkej-459	133	3	in	in	ADP
alkej-459	133	4	infinty	infinty	PROPN
alkej-459	133	5	trajectory	trajectory	NOUN
alkej-459	133	6	tracking	tracking	NOUN
alkej-459	133	7	.	.	PUNCT
alkej-459	134	1	4simulation	4simulation	NOUN
alkej-459	134	2	is	be	AUX
alkej-459	134	3	also	also	ADV
alkej-459	134	4	out	out	ADP
alkej-459	134	5	for	for	ADP
alkej-459	134	6	desired	desire	VERB
alkej-459	134	7	line	line	NOUN
alkej-459	134	8	trajectory	trajectory	NOUN
alkej-459	134	9	;	;	PUNCT
alkej-459	134	10	in	in	ADP
alkej-459	134	11	this	this	DET
alkej-459	134	12	case	case	NOUN
alkej-459	134	13	a	a	DET
alkej-459	134	14	disturbance	disturbance	NOUN
alkej-459	135	1	[	[	X
alkej-459	135	2	7	7	NUM
alkej-459	135	3	]	]	PUNCT
alkej-459	135	4	,	,	PUNCT
alkej-459	135	5	is	be	AUX
alkej-459	135	6	added	add	VERB
alkej-459	135	7	to	to	ADP
alkej-459	135	8	the	the	DET
alkej-459	135	9	robot	robot	NOUN
alkej-459	135	10	system	system	NOUN
alkej-459	135	11	as	as	ADP
alkej-459	135	12	unmodeled	unmodeled	ADJ
alkej-459	135	13	kinematics	kinematic	NOUN
alkej-459	135	14	and	and	CCONJ
alkej-459	135	15	dynamics	dynamic	NOUN
alkej-459	135	16	disturbance	disturbance	NOUN
alkej-459	135	17	in	in	ADP
alkej-459	135	18	order	order	NOUN
alkej-459	135	19	to	to	PART
alkej-459	135	20	prove	prove	VERB
alkej-459	135	21	the	the	DET
alkej-459	135	22	adaptation	adaptation	NOUN
alkej-459	135	23	and	and	CCONJ
alkej-459	135	24	robustness	robustness	NOUN
alkej-459	135	25	ability	ability	NOUN
alkej-459	135	26	of	of	ADP
alkej-459	135	27	the	the	DET
alkej-459	135	28	proposed	propose	VERB
alkej-459	135	29	controller	controller	NOUN
alkej-459	135	30	.	.	PUNCT
alkej-459	136	1	the	the	DET
alkej-459	136	2	robot	robot	NOUN
alkej-459	136	3	starts	start	VERB
alkej-459	136	4	form	form	VERB
alkej-459	136	5	the	the	DET
alkej-459	136	6	initial	initial	ADJ
alkej-459	136	7	posture	posture	NOUN
alkej-459	136	8	as	as	ADP
alkej-459	136	9	its	its	PRON
alkej-459	136	10	initial	initial	ADJ
alkej-459	136	11	conditions	condition	NOUN
alkej-459	136	12	,	,	PUNCT
alkej-459	136	13	simulation	simulation	NOUN
alkej-459	136	14	result	result	NOUN
alkej-459	136	15	is	be	AUX
alkej-459	136	16	figured	figure	VERB
alkej-459	136	17	out	out	ADP
alkej-459	136	18	for	for	ADP
alkej-459	136	19	both	both	DET
alkej-459	136	20	presences	presence	NOUN
alkej-459	136	21	of	of	ADP
alkej-459	136	22	disturbance	disturbance	NOUN
alkej-459	136	23	and	and	CCONJ
alkej-459	136	24	without	without	ADP
alkej-459	136	25	it	it	PRON
alkej-459	136	26	where	where	SCONJ
alkej-459	136	27	figures	figure	NOUN
alkej-459	136	28	(	(	PUNCT
alkej-459	136	29	13	13	NUM
alkej-459	136	30	and	and	CCONJ
alkej-459	136	31	14	14	NUM
alkej-459	136	32	)	)	PUNCT
alkej-459	136	33	show	show	VERB
alkej-459	136	34	the	the	DET
alkej-459	136	35	trajectory	trajectory	NOUN
alkej-459	136	36	tracking	tracking	NOUN
alkej-459	136	37	and	and	CCONJ
alkej-459	136	38	posture	posture	NOUN
alkej-459	136	39	error	error	NOUN
alkej-459	136	40	respectively	respectively	ADV
alkej-459	136	41	without	without	ADP
alkej-459	136	42	presence	presence	NOUN
alkej-459	136	43	of	of	ADP
alkej-459	136	44	disturbance	disturbance	NOUN
alkej-459	136	45	,	,	PUNCT
alkej-459	136	46	while	while	SCONJ
alkej-459	136	47	figures	figure	NOUN
alkej-459	136	48	(	(	PUNCT
alkej-459	136	49	15	15	NUM
alkej-459	136	50	and	and	CCONJ
alkej-459	136	51	16	16	NUM
alkej-459	136	52	)	)	PUNCT
alkej-459	136	53	show	show	NOUN
alkej-459	136	54	trajectory	trajectory	NOUN
alkej-459	136	55	tracking	tracking	NOUN
alkej-459	136	56	and	and	CCONJ
alkej-459	136	57	posture	posture	NOUN
alkej-459	136	58	error	error	NOUN
alkej-459	136	59	respectively	respectively	ADV
alkej-459	136	60	with	with	ADP
alkej-459	136	61	presence	presence	NOUN
alkej-459	136	62	of	of	ADP
alkej-459	136	63	disturbance	disturbance	NOUN
alkej-459	136	64	.	.	PUNCT
alkej-459	137	1	simulation	simulation	NOUN
alkej-459	137	2	results	result	NOUN
alkej-459	137	3	confirm	confirm	VERB
alkej-459	137	4	the	the	DET
alkej-459	137	5	power	power	NOUN
alkej-459	137	6	full	full	ADJ
alkej-459	137	7	of	of	ADP
alkej-459	137	8	the	the	DET
alkej-459	137	9	proposed	propose	VERB
alkej-459	137	10	controller	controller	NOUN
alkej-459	137	11	in	in	ADP
alkej-459	137	12	rejected	reject	VERB
alkej-459	137	13	external	external	ADJ
alkej-459	137	14	disturbance	disturbance	NOUN
alkej-459	137	15	and	and	CCONJ
alkej-459	137	16	return	return	VERB
alkej-459	137	17	to	to	ADP
alkej-459	137	18	desired	desire	VERB
alkej-459	137	19	trajectory	trajectory	NOUN
alkej-459	137	20	in	in	ADP
alkej-459	137	21	short	short	ADJ
alkej-459	137	22	time	time	NOUN
alkej-459	137	23	furthermore	furthermore	ADV
alkej-459	137	24	very	very	ADV
alkej-459	137	25	good	good	ADJ
alkej-459	137	26	trajectory	trajectory	NOUN
alkej-459	137	27	tracking	tracking	NOUN
alkej-459	137	28	in	in	ADP
alkej-459	137	29	both	both	DET
alkej-459	137	30	cases	case	NOUN
alkej-459	137	31	.	.	PUNCT
alkej-459	138	1	fig	fig	NOUN
alkej-459	138	2	.	.	PUNCT
alkej-459	139	1	13	13	NUM
alkej-459	139	2	.	.	PUNCT
alkej-459	139	3	line	line	NOUN
alkej-459	139	4	trajectory	trajectory	NOUN
alkej-459	139	5	tracking	tracking	NOUN
alkej-459	139	6	.	.	PUNCT
alkej-459	140	1	mouwafak	mouwafak	PROPN
alkej-459	140	2	a.	a.	PROPN
alkej-459	140	3	tawfik	tawfik	PROPN
alkej-459	140	4	al	al	PROPN
alkej-459	140	5	-	-	PUNCT
alkej-459	140	6	khwarizmi	khwarizmi	PROPN
alkej-459	140	7	engineering	engineering	NOUN
alkej-459	140	8	journal	journal	PROPN
alkej-459	140	9	,	,	PUNCT
alkej-459	140	10	vol	vol	NOUN
alkej-459	140	11	.	.	PROPN
alkej-459	140	12	10	10	NUM
alkej-459	140	13	,	,	PUNCT
alkej-459	140	14	no	no	INTJ
alkej-459	140	15	.	.	NOUN
alkej-459	140	16	3	3	NUM
alkej-459	140	17	,	,	PUNCT
alkej-459	140	18	p.p	p.p	PROPN
alkej-459	140	19	.	.	NOUN
alkej-459	140	20	3952	3952	NUM
alkej-459	140	21	(	(	PUNCT
alkej-459	140	22	2014	2014	NUM
alkej-459	140	23	)	)	PUNCT
alkej-459	140	24	49	49	NUM
alkej-459	140	25	fig	fig	NOUN
alkej-459	140	26	.	.	PUNCT
alkej-459	141	1	14	14	NUM
alkej-459	141	2	.	.	PUNCT
alkej-459	141	3	trajectory	trajectory	NOUN
alkej-459	141	4	tracking	tracking	NOUN
alkej-459	141	5	error	error	NOUN
alkej-459	141	6	.	.	PUNCT
alkej-459	142	1	fig	fig	NOUN
alkej-459	142	2	.	.	PUNCT
alkej-459	143	1	15	15	NUM
alkej-459	143	2	.	.	PUNCT
alkej-459	143	3	line	line	NOUN
alkej-459	143	4	trajectory	trajectory	NOUN
alkej-459	143	5	tracking	tracking	NOUN
alkej-459	143	6	with	with	ADP
alkej-459	143	7	presence	presence	NOUN
alkej-459	143	8	disturbance	disturbance	NOUN
alkej-459	143	9	.	.	PUNCT
alkej-459	144	1	fig	fig	NOUN
alkej-459	144	2	.	.	PUNCT
alkej-459	145	1	16	16	NUM
alkej-459	145	2	.	.	PUNCT
alkej-459	146	1	trajectory	trajectory	NOUN
alkej-459	146	2	tracking	tracking	NOUN
alkej-459	146	3	error	error	NOUN
alkej-459	146	4	with	with	ADP
alkej-459	146	5	presence	presence	NOUN
alkej-459	146	6	of	of	ADP
alkej-459	146	7	disturbance	disturbance	NOUN
alkej-459	146	8	.	.	PUNCT
alkej-459	147	1	5	5	X
alkej-459	147	2	.	.	X
alkej-459	147	3	conclusion	conclusion	NOUN
alkej-459	147	4	evolutionary	evolutionary	ADJ
alkej-459	147	5	algorithm	algorithm	NOUN
alkej-459	147	6	used	use	VERB
alkej-459	147	7	as	as	ADP
alkej-459	147	8	optimization	optimization	NOUN
alkej-459	147	9	method	method	NOUN
alkej-459	147	10	for	for	ADP
alkej-459	147	11	tuning	tune	VERB
alkej-459	147	12	fopid	fopid	NOUN
alkej-459	147	13	controller	controller	NOUN
alkej-459	147	14	,	,	PUNCT
alkej-459	147	15	implemented	implement	VERB
alkej-459	147	16	throughout	throughout	ADP
alkej-459	147	17	optiy	optiy	ADJ
alkej-459	147	18	software	software	NOUN
alkej-459	147	19	.	.	PUNCT
alkej-459	148	1	the	the	DET
alkej-459	148	2	control	control	NOUN
alkej-459	148	3	algorithm	algorithm	NOUN
alkej-459	148	4	has	have	AUX
alkej-459	148	5	been	be	AUX
alkej-459	148	6	applied	apply	VERB
alkej-459	148	7	for	for	ADP
alkej-459	148	8	four	four	NUM
alkej-459	148	9	kind	kind	NOUN
alkej-459	148	10	of	of	ADP
alkej-459	148	11	reference	reference	NOUN
alkej-459	148	12	trajectory	trajectory	NOUN
alkej-459	148	13	(	(	PUNCT
alkej-459	148	14	i.e.	i.e.	X
alkej-459	148	15	circular	circular	ADJ
alkej-459	148	16	,	,	PUNCT
alkej-459	148	17	s	s	NOUN
alkej-459	148	18	-	-	PUNCT
alkej-459	148	19	shape	shape	NOUN
alkej-459	148	20	,	,	PUNCT
alkej-459	148	21	infinity	infinity	NOUN
alkej-459	148	22	,	,	PUNCT
alkej-459	148	23	and	and	CCONJ
alkej-459	148	24	line	line	NOUN
alkej-459	148	25	)	)	PUNCT
alkej-459	148	26	these	these	DET
alkej-459	148	27	trajectory	trajectory	NOUN
alkej-459	148	28	performed	perform	VERB
alkej-459	148	29	by	by	ADP
alkej-459	148	30	using	use	VERB
alkej-459	148	31	simulation	simulation	NOUN
alkej-459	148	32	program	program	NOUN
alkej-459	148	33	(	(	PUNCT
alkej-459	148	34	i.e.	i.e.	X
alkej-459	148	35	matlab	matlab	PROPN
alkej-459	148	36	/	/	SYM
alkej-459	148	37	simulink	simulink	PROPN
alkej-459	148	38	)	)	PUNCT
alkej-459	148	39	and	and	CCONJ
alkej-459	148	40	result	result	NOUN
alkej-459	148	41	showed	show	VERB
alkej-459	148	42	good	good	ADJ
alkej-459	148	43	agreement	agreement	NOUN
alkej-459	148	44	.	.	PUNCT
alkej-459	149	1	simulation	simulation	NOUN
alkej-459	149	2	work	work	NOUN
alkej-459	149	3	demonstrates	demonstrate	VERB
alkej-459	149	4	the	the	DET
alkej-459	149	5	effectiveness	effectiveness	NOUN
alkej-459	149	6	of	of	ADP
alkej-459	149	7	the	the	DET
alkej-459	149	8	proposed	propose	VERB
alkej-459	149	9	algorithm	algorithm	NOUN
alkej-459	149	10	with	with	ADP
alkej-459	149	11	twowheeled	twowheele	VERB
alkej-459	149	12	mobile	mobile	ADJ
alkej-459	149	13	robot	robot	NOUN
alkej-459	149	14	and	and	CCONJ
alkej-459	149	15	proved	prove	VERB
alkej-459	149	16	that	that	SCONJ
alkej-459	149	17	this	this	DET
alkej-459	149	18	method	method	NOUN
alkej-459	149	19	is	be	AUX
alkej-459	149	20	characterized	characterize	VERB
alkej-459	149	21	by	by	ADP
alkej-459	149	22	its	its	PRON
alkej-459	149	23	robustness	robustness	NOUN
alkej-459	149	24	with	with	ADP
alkej-459	149	25	disturbance	disturbance	NOUN
alkej-459	149	26	and	and	CCONJ
alkej-459	149	27	uncertainties	uncertainty	NOUN
alkej-459	149	28	in	in	ADP
alkej-459	149	29	the	the	DET
alkej-459	149	30	system	system	NOUN
alkej-459	149	31	model	model	NOUN
alkej-459	149	32	.	.	PUNCT
alkej-459	150	1	acknowledgments	acknowledgment	NOUN
alkej-459	150	2	the	the	DET
alkej-459	150	3	authors	author	NOUN
alkej-459	150	4	gratefully	gratefully	ADV
alkej-459	150	5	acknowledge	acknowledge	VERB
alkej-459	150	6	dr	dr	PROPN
alkej-459	150	7	.	.	PROPN
alkej-459	150	8	ahmed	ahmed	PROPN
alkej-459	150	9	s.	s.	PROPN
alkej-459	150	10	al	al	PROPN
alkej-459	150	11	-	-	PUNCT
alkej-459	150	12	araji	araji	NOUN
alkej-459	150	13	,	,	PUNCT
alkej-459	150	14	control	control	NOUN
alkej-459	150	15	&	&	CCONJ
alkej-459	150	16	system	system	PROPN
alkej-459	150	17	dept	dept	PROPN
alkej-459	150	18	.	.	PUNCT
alkej-459	151	1	university	university	PROPN
alkej-459	151	2	of	of	ADP
alkej-459	151	3	technology	technology	PROPN
alkej-459	151	4	and	and	CCONJ
alkej-459	151	5	dr	dr	PROPN
alkej-459	151	6	.	.	PROPN
alkej-459	151	7	ammar	ammar	PROPN
alkej-459	151	8	abdulshaheed	abdulshaheed	PROPN
alkej-459	151	9	aldair	aldair	PROPN
alkej-459	151	10	,	,	PUNCT
alkej-459	151	11	electrical	electrical	ADJ
alkej-459	151	12	engineering	engineering	NOUN
alkej-459	151	13	dept	dept	NOUN
alkej-459	151	14	.	.	PUNCT
alkej-459	152	1	university	university	PROPN
alkej-459	152	2	of	of	ADP
alkej-459	152	3	basra	basra	PROPN
alkej-459	152	4	,	,	PUNCT
alkej-459	152	5	for	for	ADP
alkej-459	152	6	their	their	PRON
alkej-459	152	7	helps	help	NOUN
alkej-459	152	8	during	during	ADP
alkej-459	152	9	this	this	DET
alkej-459	152	10	work	work	NOUN
alkej-459	152	11	.	.	PUNCT
alkej-459	153	1	list	list	NOUN
alkej-459	153	2	of	of	ADP
alkej-459	153	3	symbols	symbol	NOUN
alkej-459	153	4	symbol	symbol	NOUN
alkej-459	153	5	definition	definition	NOUN
alkej-459	153	6	integral	integral	ADJ
alkej-459	153	7	order	order	NOUN
alkej-459	153	8	.	.	PUNCT
alkej-459	154	1	derivative	derivative	ADJ
alkej-459	154	2	order	order	NOUN
alkej-459	154	3	.	.	PUNCT
alkej-459	155	1	b(q	b(q	PROPN
alkej-459	155	2	)	)	PUNCT
alkej-459	155	3	the	the	DET
alkej-459	155	4	input	input	NOUN
alkej-459	155	5	transformation	transformation	NOUN
alkej-459	155	6	matrix	matrix	NOUN
alkej-459	155	7	.	.	PUNCT
alkej-459	156	1	reference	reference	NOUN
alkej-459	156	2	point	point	NOUN
alkej-459	156	3	of	of	ADP
alkej-459	156	4	mobile	mobile	ADJ
alkej-459	156	5	platform	platform	NOUN
alkej-459	156	6	.	.	PUNCT
alkej-459	157	1	c.g	c.g	PROPN
alkej-459	157	2	.	.	PROPN
alkej-459	157	3	center	center	NOUN
alkej-459	157	4	of	of	ADP
alkej-459	157	5	gravity	gravity	NOUN
alkej-459	157	6	.	.	PUNCT
alkej-459	158	1	offset	offset	NOUN
alkej-459	158	2	of	of	ADP
alkej-459	158	3	cintroid	cintroid	NOUN
alkej-459	158	4	from	from	ADP
alkej-459	158	5	axis	axis	NOUN
alkej-459	158	6	of	of	ADP
alkej-459	158	7	wheels	wheel	NOUN
alkej-459	158	8	.	.	PUNCT
alkej-459	159	1	e(t	e(t	NOUN
alkej-459	159	2	)	)	PUNCT
alkej-459	159	3	error	error	NOUN
alkej-459	159	4	between	between	ADP
alkej-459	159	5	the	the	DET
alkej-459	159	6	actual	actual	ADJ
alkej-459	159	7	and	and	CCONJ
alkej-459	159	8	reference	reference	NOUN
alkej-459	159	9	posture	posture	NOUN
alkej-459	159	10	in	in	ADP
alkej-459	159	11	time	time	NOUN
alkej-459	159	12	domain	domain	NOUN
alkej-459	159	13	.	.	PUNCT
alkej-459	160	1	surface	surface	NOUN
alkej-459	160	2	friction	friction	NOUN
alkej-459	160	3	vector	vector	NOUN
alkej-459	160	4	.	.	PUNCT
alkej-459	161	1	g(q	g(q	NOUN
alkej-459	161	2	)	)	PUNCT
alkej-459	161	3	gravitational	gravitational	ADJ
alkej-459	161	4	vector	vector	NOUN
alkej-459	161	5	.	.	PUNCT
alkej-459	162	1	kd	kd	PROPN
alkej-459	162	2	derivative	derivative	ADJ
alkej-459	162	3	gain	gain	NOUN
alkej-459	162	4	.	.	PUNCT
alkej-459	163	1	ki	ki	PROPN
alkej-459	163	2	integral	integral	ADJ
alkej-459	163	3	gain	gain	NOUN
alkej-459	163	4	.	.	PUNCT
alkej-459	164	1	kp	kp	PROPN
alkej-459	164	2	proportional	proportional	ADJ
alkej-459	164	3	gain	gain	NOUN
alkej-459	164	4	.	.	PUNCT
alkej-459	165	1	2l	2l	NOUN
alkej-459	165	2	the	the	DET
alkej-459	165	3	distance	distance	NOUN
alkej-459	165	4	between	between	ADP
alkej-459	165	5	the	the	DET
alkej-459	165	6	two	two	NUM
alkej-459	165	7	wheels	wheel	NOUN
alkej-459	165	8	for	for	ADP
alkej-459	165	9	mobile	mobile	NOUN
alkej-459	165	10	robot	robot	NOUN
alkej-459	165	11	.	.	PUNCT
alkej-459	166	1	m(q	m(q	PROPN
alkej-459	166	2	)	)	PUNCT
alkej-459	166	3	inertia	inertia	NOUN
alkej-459	166	4	matrix	matrix	NOUN
alkej-459	166	5	of	of	ADP
alkej-459	166	6	mobile	mobile	ADJ
alkej-459	166	7	robot	robot	NOUN
alkej-459	166	8	.	.	PUNCT
alkej-459	167	1	mass	mass	NOUN
alkej-459	167	2	of	of	ADP
alkej-459	167	3	mobile	mobile	NOUN
alkej-459	167	4	robot	robot	NOUN
alkej-459	167	5	pose	pose	VERB
alkej-459	167	6	vector	vector	NOUN
alkej-459	167	7	of	of	ADP
alkej-459	167	8	mobile	mobile	ADJ
alkej-459	167	9	robot	robot	NOUN
alkej-459	167	10	.	.	PUNCT
alkej-459	168	1	time	time	NOUN
alkej-459	168	2	derivative	derivative	NOUN
alkej-459	168	3	of	of	ADP
alkej-459	168	4	pose	pose	NOUN
alkej-459	168	5	vector	vector	NOUN
alkej-459	168	6	of	of	ADP
alkej-459	168	7	mobile	mobile	ADJ
alkej-459	168	8	robot	robot	NOUN
alkej-459	168	9	.	.	PUNCT
alkej-459	169	1	qr	qr	PROPN
alkej-459	169	2	reference	reference	PROPN
alkej-459	169	3	trajectory	trajectory	PROPN
alkej-459	169	4	vector	vector	PROPN
alkej-459	169	5	.	.	PUNCT
alkej-459	169	6	time	time	NOUN
alkej-459	169	7	second	second	ADJ
alkej-459	169	8	derivatives	derivative	NOUN
alkej-459	169	9	of	of	ADP
alkej-459	169	10	reference	reference	NOUN
alkej-459	169	11	trajectory	trajectory	NOUN
alkej-459	169	12	vector	vector	NOUN
alkej-459	169	13	.	.	PUNCT
alkej-459	170	1	radius	radius	NOUN
alkej-459	170	2	of	of	ADP
alkej-459	170	3	the	the	DET
alkej-459	170	4	wheel	wheel	NOUN
alkej-459	170	5	for	for	ADP
alkej-459	170	6	mobile	mobile	NOUN
alkej-459	170	7	robot	robot	NOUN
alkej-459	170	8	.	.	PUNCT
alkej-459	171	1	time	time	NOUN
alkej-459	171	2	domain	domain	NOUN
alkej-459	171	3	.	.	PUNCT
alkej-459	172	1	s(q	s(q	NOUN
alkej-459	172	2	)	)	PUNCT
alkej-459	172	3	transfer	transfer	NOUN
alkej-459	172	4	matrix	matrix	NOUN
alkej-459	172	5	.	.	PUNCT
alkej-459	173	1	s	s	PROPN
alkej-459	173	2	t	t	NOUN
alkej-459	173	3	transfer	transfer	NOUN
alkej-459	173	4	matrix	matrix	NOUN
alkej-459	173	5	transpose	transpose	NOUN
alkej-459	173	6	.	.	PUNCT
alkej-459	174	1	u(t	u(t	NOUN
alkej-459	174	2	)	)	PUNCT
alkej-459	174	3	control	control	NOUN
alkej-459	174	4	input	input	NOUN
alkej-459	174	5	in	in	ADP
alkej-459	174	6	time	time	NOUN
alkej-459	174	7	domain	domain	NOUN
alkej-459	174	8	.	.	PUNCT
alkej-459	175	1	mouwafak	mouwafak	PROPN
alkej-459	175	2	a.	a.	PROPN
alkej-459	175	3	tawfik	tawfik	PROPN
alkej-459	175	4	al	al	PROPN
alkej-459	175	5	-	-	PUNCT
alkej-459	175	6	khwarizmi	khwarizmi	PROPN
alkej-459	175	7	engineering	engineering	NOUN
alkej-459	175	8	journal	journal	PROPN
alkej-459	175	9	,	,	PUNCT
alkej-459	175	10	vol	vol	NOUN
alkej-459	175	11	.	.	PROPN
alkej-459	175	12	10	10	NUM
alkej-459	175	13	,	,	PUNCT
alkej-459	175	14	no	no	INTJ
alkej-459	175	15	.	.	NOUN
alkej-459	175	16	3	3	NUM
alkej-459	175	17	,	,	PUNCT
alkej-459	175	18	p.p	p.p	PROPN
alkej-459	175	19	.	.	NOUN
alkej-459	175	20	3952	3952	NUM
alkej-459	175	21	(	(	PUNCT
alkej-459	175	22	2014	2014	NUM
alkej-459	175	23	)	)	PUNCT
alkej-459	175	24	50	50	NUM
alkej-459	175	25	v	v	NOUN
alkej-459	175	26	velocity	velocity	NOUN
alkej-459	175	27	vector	vector	NOUN
alkej-459	175	28	(	(	PUNCT
alkej-459	175	29	linear	linear	ADJ
alkej-459	175	30	and	and	CCONJ
alkej-459	175	31	angular	angular	ADJ
alkej-459	175	32	velocity	velocity	NOUN
alkej-459	175	33	)	)	PUNCT
alkej-459	175	34	.	.	PUNCT
alkej-459	176	1	the	the	DET
alkej-459	176	2	centripetal	centripetal	ADJ
alkej-459	176	3	and	and	CCONJ
alkej-459	176	4	carioles	cariole	NOUN
alkej-459	176	5	matrix	matrix	NOUN
alkej-459	176	6	.	.	PUNCT
alkej-459	177	1	xc	xc	PROPN
alkej-459	177	2	and	and	CCONJ
alkej-459	177	3	yc	yc	PROPN
alkej-459	177	4	local	local	ADJ
alkej-459	177	5	frame	frame	NOUN
alkej-459	177	6	of	of	ADP
alkej-459	177	7	mobile	mobile	NOUN
alkej-459	177	8	robot	robot	NOUN
alkej-459	177	9	.	.	PUNCT
alkej-459	178	1	xc	xc	PROPN
alkej-459	178	2	and	and	CCONJ
alkej-459	178	3	yc	yc	PRON
alkej-459	178	4	pose	pose	VERB
alkej-459	178	5	of	of	ADP
alkej-459	178	6	mobile	mobile	ADJ
alkej-459	178	7	robot	robot	NOUN
alkej-459	178	8	in	in	ADP
alkej-459	178	9	global	global	ADJ
alkej-459	178	10	coordinate	coordinate	NOUN
alkej-459	178	11	frame	frame	NOUN
alkej-459	178	12	.	.	PUNCT
alkej-459	179	1	velocity	velocity	NOUN
alkej-459	179	2	of	of	ADP
alkej-459	179	3	mobile	mobile	ADJ
alkej-459	179	4	robot	robot	NOUN
alkej-459	179	5	in	in	ADP
alkej-459	179	6	xdirection	xdirection	NOUN
alkej-459	179	7	.	.	PUNCT
alkej-459	180	1	velocity	velocity	NOUN
alkej-459	180	2	of	of	ADP
alkej-459	180	3	mobile	mobile	ADJ
alkej-459	180	4	robot	robot	NOUN
alkej-459	180	5	in	in	ADP
alkej-459	180	6	ydirection	ydirection	NOUN
alkej-459	180	7	.	.	PUNCT
alkej-459	181	1	the	the	DET
alkej-459	181	2	robotic	robotic	ADJ
alkej-459	181	3	orientation	orientation	NOUN
alkej-459	181	4	angle	angle	NOUN
alkej-459	181	5	.	.	PUNCT
alkej-459	182	1	linear	linear	ADJ
alkej-459	182	2	velocity	velocity	NOUN
alkej-459	182	3	of	of	ADP
alkej-459	182	4	mobile	mobile	ADJ
alkej-459	182	5	velocity	velocity	NOUN
alkej-459	182	6	the	the	DET
alkej-459	182	7	vector	vector	NOUN
alkej-459	182	8	of	of	ADP
alkej-459	182	9	constrained	constrained	ADJ
alkej-459	182	10	force	force	NOUN
alkej-459	182	11	.	.	PUNCT
alkej-459	183	1	angular	angular	ADJ
alkej-459	183	2	velocity	velocity	NOUN
alkej-459	183	3	of	of	ADP
alkej-459	183	4	mobile	mobile	ADJ
alkej-459	183	5	robot	robot	NOUN
alkej-459	183	6	.	.	PUNCT
alkej-459	184	1	input	input	NOUN
alkej-459	184	2	torque	torque	NOUN
alkej-459	184	3	vector	vector	PROPN
alkej-459	184	4	.	.	PUNCT
alkej-459	185	1	bonded	bond	VERB
alkej-459	185	2	unknown	unknown	ADJ
alkej-459	185	3	disturbances	disturbance	NOUN
alkej-459	185	4	vector	vector	NOUN
alkej-459	185	5	.	.	PUNCT
alkej-459	185	6	list	list	NOUN
alkej-459	185	7	of	of	ADP
alkej-459	185	8	abbreviation	abbreviation	NOUN
alkej-459	185	9	abbreviation	abbreviation	NOUN
alkej-459	185	10	definition	definition	NOUN
alkej-459	185	11	fopid	fopid	NOUN
alkej-459	185	12	fractional	fractional	ADJ
alkej-459	185	13	order	order	NOUN
alkej-459	185	14	of	of	ADP
alkej-459	185	15	proportional	proportional	ADJ
alkej-459	185	16	,	,	PUNCT
alkej-459	185	17	integral	integral	ADJ
alkej-459	185	18	,	,	PUNCT
alkej-459	185	19	and	and	CCONJ
alkej-459	185	20	derivative	derivative	ADJ
alkej-459	185	21	controller	controller	NOUN
alkej-459	185	22	.	.	PUNCT
alkej-459	186	1	wmr	wmr	PROPN
alkej-459	186	2	wheeled	wheel	VERB
alkej-459	186	3	mobile	mobile	ADJ
alkej-459	186	4	robot	robot	NOUN
alkej-459	186	5	.	.	PUNCT
alkej-459	187	1	6	6	X
alkej-459	187	2	.	.	NUM
alkej-459	187	3	references	reference	NOUN
alkej-459	187	4	[	[	X
alkej-459	187	5	1	1	NUM
alkej-459	187	6	]	]	PUNCT
alkej-459	187	7	c.	c.	PROPN
alkej-459	187	8	canudas	canudas	PROPN
alkej-459	187	9	de	de	PROPN
alkej-459	187	10	wit	wit	PROPN
alkej-459	187	11	,	,	PUNCT
alkej-459	187	12	h.	h.	PROPN
alkej-459	187	13	khennouf	khennouf	PROPN
alkej-459	187	14	,	,	PUNCT
alkej-459	187	15	c.	c.	PROPN
alkej-459	187	16	samson	samson	PROPN
alkej-459	187	17	,	,	PUNCT
alkej-459	187	18	and	and	CCONJ
alkej-459	187	19	o.	o.	PROPN
alkej-459	187	20	j.	j.	PROPN
alkej-459	187	21	sordalen	sordalen	PROPN
alkej-459	187	22	,	,	PUNCT
alkej-459	187	23	"	"	PUNCT
alkej-459	187	24	nonlinear	nonlinear	ADJ
alkej-459	187	25	control	control	NOUN
alkej-459	187	26	design	design	NOUN
alkej-459	187	27	for	for	ADP
alkej-459	187	28	mobile	mobile	NOUN
alkej-459	187	29	robot	robot	NOUN
alkej-459	187	30	,	,	PUNCT
alkej-459	187	31	"	"	PUNCT
alkej-459	187	32	in	in	ADP
alkej-459	187	33	recent	recent	ADJ
alkej-459	187	34	trends	trend	NOUN
alkej-459	187	35	in	in	ADP
alkej-459	187	36	mobile	mobile	ADJ
alkej-459	187	37	robots	robot	NOUN
alkej-459	187	38	,	,	PUNCT
alkej-459	187	39	y.	y.	PROPN
alkej-459	187	40	f.	f.	PROPN
alkej-459	187	41	zheng	zheng	PROPN
alkej-459	187	42	,	,	PUNCT
alkej-459	187	43	ed	ed	NOUN
alkej-459	187	44	.	.	PROPN
alkej-459	187	45	,	,	PUNCT
alkej-459	187	46	world	world	NOUN
alkej-459	187	47	scientific	scientific	NOUN
alkej-459	187	48	,	,	PUNCT
alkej-459	187	49	1993	1993	NUM
alkej-459	187	50	,	,	PUNCT
alkej-459	187	51	pp	pp	ADJ
alkej-459	187	52	.	.	PUNCT
alkej-459	187	53	121156	121156	NUM
alkej-459	187	54	.	.	PUNCT
alkej-459	188	1	[	[	X
alkej-459	188	2	2	2	NUM
alkej-459	188	3	]	]	X
alkej-459	188	4	y.	y.	NOUN
alkej-459	188	5	kanayama	kanayama	PROPN
alkej-459	188	6	,	,	PUNCT
alkej-459	188	7	y.	y.	PROPN
alkej-459	188	8	kimura	kimura	PROPN
alkej-459	188	9	,	,	PUNCT
alkej-459	188	10	f.	f.	PROPN
alkej-459	188	11	miyazaki	miyazaki	PROPN
alkej-459	188	12	,	,	PUNCT
alkej-459	188	13	and	and	CCONJ
alkej-459	188	14	t.	t.	PROPN
alkej-459	188	15	noguchi	noguchi	PROPN
alkej-459	188	16	,	,	PUNCT
alkej-459	188	17	"	"	PUNCT
alkej-459	188	18	a	a	DET
alkej-459	188	19	stable	stable	ADJ
alkej-459	188	20	tracking	tracking	NOUN
alkej-459	188	21	control	control	NOUN
alkej-459	188	22	method	method	NOUN
alkej-459	188	23	for	for	ADP
alkej-459	188	24	an	an	DET
alkej-459	188	25	autonomous	autonomous	ADJ
alkej-459	188	26	mobile	mobile	ADJ
alkej-459	188	27	robot	robot	NOUN
alkej-459	188	28	,	,	PUNCT
alkej-459	188	29	"	"	PUNCT
alkej-459	188	30	proc	proc	NOUN
alkej-459	188	31	.	.	PUNCT
alkej-459	189	1	ieee	ieee	PROPN
alkej-459	189	2	int	int	PROPN
alkej-459	189	3	.	.	PUNCT
alkej-459	190	1	conf	conf	PROPN
alkej-459	190	2	.	.	PUNCT
alkej-459	191	1	rob	rob	PROPN
alkej-459	191	2	.	.	PUNCT
alkej-459	192	1	autom	autom	PROPN
alkej-459	192	2	.	.	PUNCT
alkej-459	192	3	,	,	PUNCT
alkej-459	192	4	1990	1990	NUM
alkej-459	192	5	,	,	PUNCT
alkej-459	192	6	pp	pp	ADV
alkej-459	192	7	.	.	PUNCT
alkej-459	193	1	384	384	NUM
alkej-459	193	2	-	-	SYM
alkej-459	193	3	389	389	NUM
alkej-459	193	4	.	.	PUNCT
alkej-459	194	1	[	[	X
alkej-459	194	2	3	3	X
alkej-459	194	3	]	]	X
alkej-459	194	4	c.	c.	PROPN
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alkej-459	194	6	,	,	PUNCT
alkej-459	194	7	"	"	PUNCT
alkej-459	194	8	time	time	NOUN
alkej-459	194	9	-	-	PUNCT
alkej-459	194	10	varying	vary	VERB
alkej-459	194	11	feedback	feedback	NOUN
alkej-459	194	12	control	control	NOUN
alkej-459	194	13	of	of	ADP
alkej-459	194	14	a	a	DET
alkej-459	194	15	nongolonomic	nongolonomic	ADJ
alkej-459	194	16	cart	cart	NOUN
alkej-459	194	17	,	,	PUNCT
alkej-459	194	18	"	"	PUNCT
alkej-459	194	19	in	in	ADP
alkej-459	194	20	lecture	lecture	NOUN
alkej-459	194	21	notes	note	NOUN
alkej-459	194	22	in	in	ADP
alkej-459	194	23	control	control	NOUN
alkej-459	194	24	and	and	CCONJ
alkej-459	194	25	information	information	NOUN
alkej-459	194	26	science	science	NOUN
alkej-459	194	27	,	,	PUNCT
alkej-459	194	28	c.	c.	PROPN
alkej-459	194	29	canudas	canudas	PROPN
alkej-459	194	30	de	de	PROPN
alkej-459	194	31	wit	wit	PROPN
alkej-459	194	32	,	,	PUNCT
alkej-459	194	33	ed	ed	NOUN
alkej-459	194	34	.	.	PROPN
alkej-459	194	35	,	,	PUNCT
alkej-459	194	36	springerverlag	springerverlag	PROPN
alkej-459	194	37	,	,	PUNCT
alkej-459	194	38	new	new	PROPN
alkej-459	194	39	york	york	PROPN
alkej-459	194	40	,	,	PUNCT
alkej-459	194	41	1991	1991	NUM
alkej-459	194	42	,	,	PUNCT
alkej-459	194	43	pp	pp	ADJ
alkej-459	194	44	.	.	PUNCT
alkej-459	195	1	125	125	NUM
alkej-459	195	2	-	-	SYM
alkej-459	195	3	151	151	NUM
alkej-459	195	4	.	.	PUNCT
alkej-459	196	1	[	[	X
alkej-459	196	2	4	4	NUM
alkej-459	196	3	]	]	X
alkej-459	196	4	nino	nino	PROPN
alkej-459	196	5	-	-	PUNCT
alkej-459	196	6	suarez	suarez	PROPN
alkej-459	196	7	p.	p.	PROPN
alkej-459	196	8	a.	a.	NOUN
alkej-459	196	9	,	,	PUNCT
alkej-459	196	10	aranda	aranda	NOUN
alkej-459	196	11	-	-	PUNCT
alkej-459	196	12	bricaire	bricaire	PROPN
alkej-459	196	13	e.	e.	PROPN
alkej-459	196	14	,	,	PUNCT
alkej-459	196	15	velasco	velasco	PROPN
alkej-459	196	16	-	-	PUNCT
alkej-459	196	17	villa	villa	PROPN
alkej-459	196	18	m.	m.	NOUN
alkej-459	196	19	,	,	PUNCT
alkej-459	196	20	"	"	PUNCT
alkej-459	196	21	discrete	discrete	ADJ
alkej-459	196	22	-	-	PUNCT
alkej-459	196	23	time	time	NOUN
alkej-459	196	24	sliding	slide	VERB
alkej-459	196	25	mode	mode	NOUN
alkej-459	196	26	trajectory	trajectory	NOUN
alkej-459	196	27	tracking	tracking	NOUN
alkej-459	196	28	control	control	NOUN
alkej-459	196	29	for	for	ADP
alkej-459	196	30	a	a	DET
alkej-459	196	31	wheeled	wheel	VERB
alkej-459	196	32	mobile	mobile	ADJ
alkej-459	196	33	robotic	robotic	NOUN
alkej-459	196	34	,	,	PUNCT
alkej-459	196	35	"	"	PUNCT
alkej-459	196	36	proceedings	proceeding	NOUN
alkej-459	196	37	of	of	ADP
alkej-459	196	38	the	the	DET
alkej-459	196	39	45th	45th	ADJ
alkej-459	196	40	ieee	ieee	NOUN
alkej-459	196	41	conference	conference	NOUN
alkej-459	196	42	on	on	ADP
alkej-459	196	43	decision	decision	NOUN
alkej-459	196	44	and	and	CCONJ
alkej-459	196	45	control	control	NOUN
alkej-459	196	46	,	,	PUNCT
alkej-459	196	47	san	san	PROPN
alkej-459	196	48	diego	diego	PROPN
alkej-459	196	49	,	,	PUNCT
alkej-459	196	50	usa	usa	PROPN
alkej-459	196	51	,	,	PUNCT
alkej-459	196	52	december	december	PROPN
alkej-459	196	53	13	13	NUM
alkej-459	196	54	-	-	SYM
alkej-459	196	55	15	15	NUM
alkej-459	196	56	,	,	PUNCT
alkej-459	196	57	2006	2006	NUM
alkej-459	196	58	,	,	PUNCT
alkej-459	196	59	pp	pp	ADV
alkej-459	196	60	.	.	PUNCT
alkej-459	196	61	3	3	NUM
alkej-459	196	62	025	025	NUM
alkej-459	196	63	–	–	PUNCT
alkej-459	196	64	3	3	NUM
alkej-459	196	65	057	057	NUM
alkej-459	196	66	.	.	PUNCT
alkej-459	197	1	[	[	X
alkej-459	197	2	5	5	NUM
alkej-459	197	3	]	]	PUNCT
alkej-459	197	4	r.	r.	PROPN
alkej-459	197	5	fierro	fierro	PROPN
alkej-459	197	6	,	,	PUNCT
alkej-459	197	7	and	and	CCONJ
alkej-459	197	8	f.	f.	PROPN
alkej-459	197	9	l.	l.	PROPN
alkej-459	197	10	lewis	lewis	PROPN
alkej-459	197	11	,	,	PUNCT
alkej-459	197	12	"	"	PUNCT
alkej-459	197	13	control	control	NOUN
alkej-459	197	14	of	of	ADP
alkej-459	197	15	a	a	DET
alkej-459	197	16	nonholonomic	nonholonomic	ADJ
alkej-459	197	17	mobile	mobile	ADJ
alkej-459	197	18	robot	robot	NOUN
alkej-459	197	19	:	:	PUNCT
alkej-459	197	20	backstepping	backsteppe	VERB
alkej-459	197	21	kinematics	kinematic	NOUN
alkej-459	197	22	into	into	ADP
alkej-459	197	23	dynamics"journal	dynamics"journal	ADJ
alkej-459	197	24	of	of	ADP
alkej-459	197	25	robotic	robotic	ADJ
alkej-459	197	26	systems	system	NOUN
alkej-459	197	27	14(3	14(3	NUM
alkej-459	197	28	)	)	PUNCT
alkej-459	197	29	,	,	PUNCT
alkej-459	197	30	149	149	NUM
alkej-459	197	31	-	-	SYM
alkej-459	197	32	163	163	NUM
alkej-459	197	33	(	(	PUNCT
alkej-459	197	34	1997	1997	NUM
alkej-459	197	35	)	)	PUNCT
alkej-459	197	36	.	.	PUNCT
alkej-459	198	1	[	[	X
alkej-459	198	2	6	6	NUM
alkej-459	198	3	]	]	X
alkej-459	198	4	oscar	oscar	PROPN
alkej-459	198	5	castillo	castillo	PROPN
alkej-459	198	6	,	,	PUNCT
alkej-459	198	7	luis	luis	PROPN
alkej-459	198	8	t.	t.	PROPN
alkej-459	198	9	aguilar	aguilar	PROPN
alkej-459	198	10	,	,	PUNCT
alkej-459	198	11	and	and	CCONJ
alkej-459	198	12	selene	selene	PROPN
alkej-459	198	13	cardenas	cardenas	PROPN
alkej-459	198	14	,	,	PUNCT
alkej-459	198	15	"	"	PUNCT
alkej-459	198	16	fuzzy	fuzzy	ADJ
alkej-459	198	17	logic	logic	NOUN
alkej-459	198	18	tracking	tracking	NOUN
alkej-459	198	19	control	control	NOUN
alkej-459	198	20	for	for	ADP
alkej-459	198	21	unicycle	unicycle	NOUN
alkej-459	198	22	mobile	mobile	NOUN
alkej-459	198	23	robots	robot	NOUN
alkej-459	198	24	,	,	PUNCT
alkej-459	198	25	"	"	PUNCT
alkej-459	198	26	engineering	engineering	NOUN
alkej-459	198	27	letters	letter	NOUN
alkej-459	198	28	,	,	PUNCT
alkej-459	198	29	13:2	13:2	NUM
alkej-459	198	30	,	,	PUNCT
alkej-459	198	31	el_13_2_4	el_13_2_4	NOUN
alkej-459	198	32	(	(	PUNCT
alkej-459	198	33	advance	advance	VERB
alkej-459	198	34	online	online	ADJ
alkej-459	198	35	publication	publication	NOUN
alkej-459	198	36	:	:	PUNCT
alkej-459	198	37	4	4	NUM
alkej-459	198	38	august	august	PROPN
alkej-459	198	39	2006	2006	NUM
alkej-459	198	40	)	)	PUNCT
alkej-459	198	41	.	.	PUNCT
alkej-459	199	1	[	[	X
alkej-459	199	2	7	7	X
alkej-459	199	3	]	]	PUNCT
alkej-459	199	4	ahmed	ahmed	PROPN
alkej-459	199	5	s.	s.	PROPN
alkej-459	199	6	al	al	PROPN
alkej-459	199	7	-	-	PUNCT
alkej-459	199	8	araji	araji	NOUN
alkej-459	199	9	,	,	PUNCT
alkej-459	199	10	et	et	PROPN
alkej-459	199	11	al	al	PROPN
alkej-459	199	12	,	,	PUNCT
alkej-459	199	13	"	"	PUNCT
alkej-459	199	14	applying	apply	VERB
alkej-459	199	15	posture	posture	NOUN
alkej-459	199	16	identifier	identifier	NOUN
alkej-459	199	17	in	in	ADP
alkej-459	199	18	designing	design	VERB
alkej-459	199	19	an	an	DET
alkej-459	199	20	adaptive	adaptive	ADJ
alkej-459	199	21	nonlinear	nonlinear	ADJ
alkej-459	199	22	predictive	predictive	ADJ
alkej-459	199	23	controller	controller	NOUN
alkej-459	199	24	for	for	ADP
alkej-459	199	25	nonholonomic	nonholonomic	ADJ
alkej-459	199	26	mobile	mobile	ADJ
alkej-459	199	27	robot	robot	NOUN
alkej-459	199	28	"	"	PUNCT
alkej-459	199	29	elsevier	elsevier	NOUN
alkej-459	199	30	,	,	PUNCT
alkej-459	199	31	neurocomputing	neurocomputing	NOUN
alkej-459	199	32	,	,	PUNCT
alkej-459	199	33	99	99	NUM
alkej-459	199	34	,	,	PUNCT
alkej-459	199	35	(	(	PUNCT
alkej-459	199	36	2013	2013	NUM
alkej-459	199	37	)	)	PUNCT
alkej-459	199	38	,	,	PUNCT
alkej-459	199	39	pp	pp	PROPN
alkej-459	199	40	.	.	PUNCT
alkej-459	200	1	503	503	NUM
alkej-459	200	2	-	-	SYM
alkej-459	200	3	554	554	NUM
alkej-459	200	4	.	.	PUNCT
alkej-459	201	1	[	[	X
alkej-459	201	2	8	8	NUM
alkej-459	201	3	]	]	X
alkej-459	201	4	h	h	NOUN
alkej-459	201	5	-	-	PUNCT
alkej-459	201	6	x	x	PROPN
alkej-459	201	7	zhang	zhang	PROPN
alkej-459	201	8	,	,	PUNCT
alkej-459	201	9	g	g	PROPN
alkej-459	201	10	-	-	PUNCT
alkej-459	201	11	j	j	PROPN
alkej-459	201	12	dai	dai	PROPN
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alkej-459	201	14	h	h	PROPN
alkej-459	201	15	zeng	zeng	PROPN
alkej-459	201	16	,	,	PUNCT
alkej-459	201	17	"	"	PUNCT
alkej-459	201	18	a	a	DET
alkej-459	201	19	trajectory	trajectory	NOUN
alkej-459	201	20	tracking	track	VERB
alkej-459	201	21	control	control	NOUN
alkej-459	201	22	method	method	NOUN
alkej-459	201	23	for	for	ADP
alkej-459	201	24	nonholonomic	nonholonomic	ADJ
alkej-459	201	25	mobile	mobile	ADJ
alkej-459	201	26	robot	robot	NOUN
alkej-459	201	27	,	,	PUNCT
alkej-459	201	28	"	"	PUNCT
alkej-459	201	29	proceedings	proceeding	NOUN
alkej-459	201	30	of	of	ADP
alkej-459	201	31	the	the	DET
alkej-459	201	32	international	international	ADJ
alkej-459	201	33	conference	conference	NOUN
alkej-459	201	34	on	on	ADP
alkej-459	201	35	wavelet	wavelet	NOUN
alkej-459	201	36	analysis	analysis	NOUN
alkej-459	201	37	and	and	CCONJ
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alkej-459	201	39	recognition	recognition	NOUN
alkej-459	201	40	beijing	beijing	PROPN
alkej-459	201	41	,	,	PUNCT
alkej-459	201	42	china	china	PROPN
alkej-459	201	43	,	,	PUNCT
alkej-459	201	44	2	2	NUM
alkej-459	201	45	-	-	SYM
alkej-459	201	46	4	4	NUM
alkej-459	201	47	nov	nov	NOUN
alkej-459	201	48	.	.	PROPN
alkej-459	201	49	2007	2007	NUM
alkej-459	201	50	,	,	PUNCT
alkej-459	201	51	pp	pp	ADJ
alkej-459	201	52	.	.	PUNCT
alkej-459	201	53	7	7	NUM
alkej-459	201	54	-	-	SYM
alkej-459	201	55	11	11	NUM
alkej-459	201	56	.	.	PUNCT
alkej-459	202	1	[	[	X
alkej-459	202	2	9	9	NUM
alkej-459	202	3	]	]	PUNCT
alkej-459	202	4	s.	s.	PROPN
alkej-459	202	5	x.	x.	PROPN
alkej-459	202	6	yang	yang	PROPN
alkej-459	202	7	,	,	PUNCT
alkej-459	202	8	h.	h.	PROPN
alkej-459	202	9	yang	yang	PROPN
alkej-459	202	10	,	,	PUNCT
alkej-459	202	11	q.	q.	PROPN
alkej-459	202	12	max	max	PROPN
alkej-459	202	13	and	and	CCONJ
alkej-459	202	14	h.	h.	PROPN
alkej-459	202	15	meng	meng	PROPN
alkej-459	202	16	,	,	PUNCT
alkej-459	202	17	"	"	PUNCT
alkej-459	202	18	neural	neural	ADJ
alkej-459	202	19	dynamics	dynamic	NOUN
alkej-459	202	20	based	base	VERB
alkej-459	202	21	full	full	ADJ
alkej-459	202	22	-	-	PUNCT
alkej-459	202	23	state	state	NOUN
alkej-459	202	24	tracking	tracking	NOUN
alkej-459	202	25	control	control	NOUN
alkej-459	202	26	of	of	ADP
alkej-459	202	27	a	a	DET
alkej-459	202	28	mobile	mobile	ADJ
alkej-459	202	29	robot	robot	NOUN
alkej-459	202	30	,	,	PUNCT
alkej-459	202	31	"	"	PUNCT
alkej-459	202	32	proceedings	proceeding	NOUN
alkej-459	202	33	of	of	ADP
alkej-459	202	34	the	the	DET
alkej-459	202	35	ieee	ieee	NOUN
alkej-459	202	36	international	international	PROPN
alkej-459	202	37	conference	conference	NOUN
alkej-459	202	38	on	on	ADP
alkej-459	202	39	robotics	robotic	NOUN
alkej-459	202	40	&	&	CCONJ
alkej-459	202	41	automation	automation	NOUN
alkej-459	202	42	,	,	PUNCT
alkej-459	202	43	new	new	PROPN
alkej-459	202	44	orleans	orleans	PROPN
alkej-459	202	45	,	,	PUNCT
alkej-459	202	46	la	la	PROPN
alkej-459	202	47	,	,	PUNCT
alkej-459	202	48	2004	2004	NUM
alkej-459	202	49	,	,	PUNCT
alkej-459	202	50	pp	pp	ADJ
alkej-459	202	51	.	.	PUNCT
alkej-459	203	1	4614	4614	NUM
alkej-459	203	2	-	-	SYM
alkej-459	203	3	4619	4619	NUM
alkej-459	203	4	.	.	PUNCT
alkej-459	204	1	[	[	X
alkej-459	204	2	10	10	NUM
alkej-459	204	3	]	]	PUNCT
alkej-459	204	4	a.m.	a.m.	PROPN
alkej-459	204	5	bloch	bloch	PROPN
alkej-459	204	6	,	,	PUNCT
alkej-459	204	7	"	"	PUNCT
alkej-459	204	8	nonholonomic	nonholonomic	ADJ
alkej-459	204	9	mechanics	mechanic	NOUN
alkej-459	204	10	and	and	CCONJ
alkej-459	204	11	control	control	NOUN
alkej-459	204	12	,	,	PUNCT
alkej-459	204	13	"	"	PUNCT
alkej-459	204	14	new	new	PROPN
alkej-459	204	15	york	york	PROPN
alkej-459	204	16	:	:	PUNCT
alkej-459	204	17	springer	springer	NOUN
alkej-459	204	18	-	-	PUNCT
alkej-459	204	19	verlag	verlag	PROPN
alkej-459	204	20	,	,	PUNCT
alkej-459	204	21	2003	2003	NUM
alkej-459	204	22	.	.	PUNCT
alkej-459	205	1	[	[	X
alkej-459	205	2	11	11	NUM
alkej-459	205	3	]	]	X
alkej-459	205	4	y.	y.	PROPN
alkej-459	205	5	yamamoto	yamamoto	PROPN
alkej-459	205	6	and	and	CCONJ
alkej-459	205	7	x.	x.	PROPN
alkej-459	205	8	yun	yun	PROPN
alkej-459	205	9	,	,	PUNCT
alkej-459	205	10	"	"	PUNCT
alkej-459	205	11	coordinating	coordinate	VERB
alkej-459	205	12	locomotion	locomotion	NOUN
alkej-459	205	13	and	and	CCONJ
alkej-459	205	14	manipulation	manipulation	NOUN
alkej-459	205	15	of	of	ADP
alkej-459	205	16	a	a	DET
alkej-459	205	17	mobile	mobile	ADJ
alkej-459	205	18	manipulator	manipulator	NOUN
alkej-459	205	19	,	,	PUNCT
alkej-459	205	20	"	"	PUNCT
alkej-459	205	21	in	in	ADP
alkej-459	205	22	recent	recent	ADJ
alkej-459	205	23	trends	trend	NOUN
alkej-459	205	24	in	in	ADP
alkej-459	205	25	mobile	mobile	ADJ
alkej-459	205	26	robots	robot	NOUN
alkej-459	205	27	,	,	PUNCT
alkej-459	205	28	y.	y.	PROPN
alkej-459	205	29	f.	f.	PROPN
alkej-459	205	30	zheng	zheng	PROPN
alkej-459	205	31	,	,	PUNCT
alkej-459	205	32	ed	ed	NOUN
alkej-459	205	33	.	.	PROPN
alkej-459	205	34	,	,	PUNCT
alkej-459	205	35	world	world	NOUN
alkej-459	205	36	scientific	scientific	NOUN
alkej-459	205	37	,	,	PUNCT
alkej-459	205	38	1993	1993	NUM
alkej-459	205	39	,	,	PUNCT
alkej-459	205	40	pp	pp	ADJ
alkej-459	205	41	.	.	PUNCT
alkej-459	206	1	157	157	NUM
alkej-459	206	2	-	-	SYM
alkej-459	206	3	181	181	NUM
alkej-459	206	4	.	.	PUNCT
alkej-459	207	1	[	[	X
alkej-459	207	2	12	12	NUM
alkej-459	207	3	]	]	PUNCT
alkej-459	207	4	k.	k.	PROPN
alkej-459	207	5	hornik	hornik	PROPN
alkej-459	207	6	,	,	PUNCT
alkej-459	207	7	m.	m.	NOUN
alkej-459	207	8	stinchcombe	stinchcombe	PROPN
alkej-459	207	9	,	,	PUNCT
alkej-459	207	10	and	and	CCONJ
alkej-459	207	11	h.	h.	PROPN
alkej-459	207	12	white	white	PROPN
alkej-459	207	13	,	,	PUNCT
alkej-459	207	14	‘	'	PUNCT
alkej-459	207	15	‘	'	PUNCT
alkej-459	207	16	multilayer	multilayer	ADJ
alkej-459	207	17	feedforward	feedforward	NOUN
alkej-459	207	18	networks	network	NOUN
alkej-459	207	19	are	be	AUX
alkej-459	207	20	universal	universal	ADJ
alkej-459	207	21	approximators	approximator	NOUN
alkej-459	207	22	,	,	PUNCT
alkej-459	207	23	’’	’'	PUNCT
alkej-459	207	24	neural	neural	ADJ
alkej-459	207	25	networks	network	NOUN
alkej-459	207	26	,	,	PUNCT
alkej-459	207	27	2	2	NUM
alkej-459	207	28	,	,	PUNCT
alkej-459	207	29	359–366	359–366	NUM
alkej-459	207	30	,	,	PUNCT
alkej-459	207	31	1989	1989	NUM
alkej-459	207	32	.	.	PUNCT
alkej-459	208	1	[	[	X
alkej-459	208	2	13	13	NUM
alkej-459	208	3	]	]	PUNCT
alkej-459	208	4	tiemin	tiemin	X
alkej-459	208	5	hu	hu	PROPN
alkej-459	208	6	,	,	PUNCT
alkej-459	208	7	and	and	CCONJ
alkej-459	208	8	simon	simon	PROPN
alkej-459	208	9	x.	x.	PROPN
alkej-459	208	10	yang	yang	PROPN
alkej-459	208	11	,	,	PUNCT
alkej-459	208	12	"	"	PUNCT
alkej-459	208	13	real	real	ADJ
alkej-459	208	14	-	-	PUNCT
alkej-459	208	15	time	time	NOUN
alkej-459	208	16	motion	motion	NOUN
alkej-459	208	17	control	control	NOUN
alkej-459	208	18	of	of	ADP
alkej-459	208	19	a	a	DET
alkej-459	208	20	nonholonomic	nonholonomic	ADJ
alkej-459	208	21	mobile	mobile	ADJ
alkej-459	208	22	robot	robot	NOUN
alkej-459	208	23	with	with	ADP
alkej-459	208	24	unknown	unknown	ADJ
alkej-459	208	25	dynamics	dynamic	NOUN
alkej-459	208	26	"	"	PUNCT
alkej-459	208	27	nserc	nserc	NOUN
alkej-459	208	28	of	of	ADP
alkej-459	208	29	canada	canada	PROPN
alkej-459	208	30	under	under	ADP
alkej-459	208	31	grant	grant	PROPN
alkej-459	208	32	rgpin-227684	rgpin-227684	NOUN
alkej-459	208	33	.	.	PUNCT
alkej-459	209	1	to	to	ADP
alkej-459	209	2	s.	s.	PROPN
alkej-459	209	3	x.	x.	PROPN
alkej-459	209	4	yang	yang	PROPN
alkej-459	210	1	[	[	X
alkej-459	210	2	14	14	NUM
alkej-459	210	3	]	]	X
alkej-459	210	4	lewis	lewis	PROPN
alkej-459	210	5	,	,	PUNCT
alkej-459	210	6	f.	f.	PROPN
alkej-459	210	7	l.	l.	PROPN
alkej-459	210	8	,	,	PUNCT
alkej-459	210	9	jagannathan	jagannathan	PROPN
alkej-459	210	10	,	,	PUNCT
alkej-459	210	11	s.	s.	PROPN
alkej-459	210	12	,	,	PUNCT
alkej-459	210	13	and	and	CCONJ
alkej-459	210	14	yesildirek	yesildirek	PROPN
alkej-459	210	15	,	,	PUNCT
alkej-459	210	16	a.	a.	NOUN
alkej-459	210	17	,	,	PUNCT
alkej-459	210	18	"	"	PUNCT
alkej-459	210	19	neural	neural	ADJ
alkej-459	210	20	network	network	NOUN
alkej-459	210	21	control	control	NOUN
alkej-459	210	22	of	of	ADP
alkej-459	210	23	robot	robot	NOUN
alkej-459	210	24	manipulators	manipulator	NOUN
alkej-459	210	25	and	and	CCONJ
alkej-459	210	26	nonlinear	nonlinear	ADJ
alkej-459	210	27	system	system	NOUN
alkej-459	210	28	,	,	PUNCT
alkej-459	210	29	"	"	PUNCT
alkej-459	210	30	pp	pp	ADP
alkej-459	210	31	.	.	PUNCT
alkej-459	211	1	147	147	NUM
alkej-459	211	2	-	-	SYM
alkej-459	211	3	167	167	NUM
alkej-459	211	4	,	,	PUNCT
alkej-459	211	5	taylor	taylor	PROPN
alkej-459	211	6	and	and	CCONJ
alkej-459	211	7	francis	francis	PROPN
alkej-459	211	8	ltd	ltd	PROPN
alkej-459	211	9	,	,	PUNCT
alkej-459	211	10	t.	t.	PROPN
alkej-459	211	11	j.	j.	PROPN
alkej-459	211	12	international	international	PROPN
alkej-459	211	13	ltd	ltd	PROPN
alkej-459	211	14	,	,	PUNCT
alkej-459	211	15	padstow	padstow	PROPN
alkej-459	211	16	,	,	PUNCT
alkej-459	211	17	uk	uk	PROPN
alkej-459	211	18	,	,	PUNCT
alkej-459	211	19	1999	1999	NUM
alkej-459	212	1	.	.	PUNCT
alkej-459	213	1	[	[	X
alkej-459	213	2	15	15	NUM
alkej-459	213	3	]	]	X
alkej-459	213	4	xue	xue	PROPN
alkej-459	213	5	,	,	PUNCT
alkej-459	213	6	d.	d.	PROPN
alkej-459	213	7	,	,	PUNCT
alkej-459	213	8	et	et	PROPN
alkej-459	213	9	al	al	PROPN
alkej-459	213	10	.	.	PUNCT
alkej-459	214	1	"	"	PUNCT
alkej-459	214	2	linear	linear	ADJ
alkej-459	214	3	feedback	feedback	NOUN
alkej-459	214	4	control	control	NOUN
alkej-459	214	5	analysis	analysis	NOUN
alkej-459	214	6	and	and	CCONJ
alkej-459	214	7	design	design	NOUN
alkej-459	214	8	with	with	ADP
alkej-459	214	9	matlab	matlab	PROPN
alkej-459	214	10	"	"	PUNCT
alkej-459	214	11	,	,	PUNCT
alkej-459	214	12	usa	usa	PROPN
alkej-459	214	13	:	:	PUNCT
alkej-459	214	14	the	the	DET
alkej-459	214	15	soceity	soceity	NOUN
alkej-459	214	16	for	for	ADP
alkej-459	214	17	industrial	industrial	ADJ
alkej-459	214	18	and	and	CCONJ
alkej-459	214	19	applied	applied	ADJ
alkej-459	214	20	mathematics	mathematic	NOUN
alkej-459	214	21	.	.	PUNCT
alkej-459	215	1	2007	2007	NUM
alkej-459	215	2	.	.	PUNCT
alkej-459	216	1	[	[	X
alkej-459	216	2	16	16	NUM
alkej-459	216	3	]	]	X
alkej-459	216	4	back	back	ADV
alkej-459	216	5	,	,	PUNCT
alkej-459	216	6	t.	t.	NOUN
alkej-459	216	7	"	"	PUNCT
alkej-459	216	8	evolutionary	evolutionary	ADJ
alkej-459	216	9	algorithms	algorithm	NOUN
alkej-459	216	10	in	in	ADP
alkej-459	216	11	theory	theory	NOUN
alkej-459	216	12	and	and	CCONJ
alkej-459	216	13	practice	practice	NOUN
alkej-459	216	14	"	"	PUNCT
alkej-459	216	15	,	,	PUNCT
alkej-459	216	16	oxford	oxford	PROPN
alkej-459	216	17	university	university	PROPN
alkej-459	216	18	press	press	PROPN
alkej-459	216	19	,	,	PUNCT
alkej-459	216	20	london	london	PROPN
alkej-459	216	21	,	,	PUNCT
alkej-459	216	22	uk	uk	PROPN
alkej-459	216	23	,	,	PUNCT
alkej-459	216	24	1996	1996	NUM
alkej-459	216	25	.	.	PUNCT
alkej-459	217	1	mouwafak	mouwafak	PROPN
alkej-459	217	2	a.	a.	PROPN
alkej-459	217	3	tawfik	tawfik	PROPN
alkej-459	217	4	al	al	PROPN
alkej-459	217	5	-	-	PUNCT
alkej-459	217	6	khwarizmi	khwarizmi	PROPN
alkej-459	217	7	engineering	engineering	NOUN
alkej-459	217	8	journal	journal	PROPN
alkej-459	217	9	,	,	PUNCT
alkej-459	217	10	vol	vol	NOUN
alkej-459	217	11	.	.	PROPN
alkej-459	217	12	10	10	NUM
alkej-459	217	13	,	,	PUNCT
alkej-459	217	14	no	no	INTJ
alkej-459	217	15	.	.	NOUN
alkej-459	217	16	3	3	NUM
alkej-459	217	17	,	,	PUNCT
alkej-459	217	18	p.p	p.p	PROPN
alkej-459	217	19	.	.	NOUN
alkej-459	217	20	3952	3952	NUM
alkej-459	217	21	(	(	PUNCT
alkej-459	217	22	2014	2014	NUM
alkej-459	217	23	)	)	PUNCT
alkej-459	217	24	51	51	NUM
alkej-459	218	1	[	[	X
alkej-459	218	2	17	17	NUM
alkej-459	218	3	]	]	X
alkej-459	218	4	goldberg	goldberg	PROPN
alkej-459	218	5	,	,	PUNCT
alkej-459	218	6	d.	d.	PROPN
alkej-459	218	7	e.	e.	PROPN
alkej-459	219	1	"	"	PUNCT
alkej-459	219	2	genetic	genetic	ADJ
alkej-459	219	3	algorithms	algorithm	NOUN
alkej-459	219	4	in	in	ADP
alkej-459	219	5	search	search	NOUN
alkej-459	219	6	,	,	PUNCT
alkej-459	219	7	optimization	optimization	NOUN
alkej-459	219	8	and	and	CCONJ
alkej-459	219	9	machine	machine	NOUN
alkej-459	219	10	learning	learning	NOUN
alkej-459	219	11	"	"	PUNCT
alkej-459	219	12	,	,	PUNCT
alkej-459	219	13	reading	reading	NOUN
alkej-459	219	14	,	,	PUNCT
alkej-459	219	15	ma	ma	PROPN
alkej-459	219	16	:	:	PUNCT
alkej-459	219	17	addisonwesley,1989	addisonwesley,1989	ADJ
alkej-459	219	18	.	.	PUNCT
alkej-459	220	1	[	[	X
alkej-459	220	2	18	18	NUM
alkej-459	220	3	]	]	X
alkej-459	220	4	sumathi	sumathi	ADV
alkej-459	220	5	,	,	PUNCT
alkej-459	220	6	et	et	PROPN
alkej-459	220	7	al	al	PROPN
alkej-459	220	8	.	.	PROPN
alkej-459	220	9	,	,	PUNCT
alkej-459	220	10	"	"	PUNCT
alkej-459	220	11	evolutionary	evolutionary	ADJ
alkej-459	220	12	intelligence	intelligence	NOUN
alkej-459	220	13	an	an	DET
alkej-459	220	14	introduction	introduction	NOUN
alkej-459	220	15	to	to	ADP
alkej-459	220	16	theory	theory	NOUN
alkej-459	220	17	and	and	CCONJ
alkej-459	220	18	applications	application	NOUN
alkej-459	220	19	with	with	ADP
alkej-459	220	20	matlab	matlab	PROPN
alkej-459	220	21	"	"	PUNCT
alkej-459	220	22	,	,	PUNCT
alkej-459	220	23	spring	spring	NOUN
alkej-459	220	24	verlag	verlag	PROPN
alkej-459	220	25	berlin	berlin	PROPN
alkej-459	220	26	heidelberg	heidelberg	PROPN
alkej-459	220	27	,	,	PUNCT
alkej-459	220	28	german	german	NOUN
alkej-459	220	29	,	,	PUNCT
alkej-459	220	30	2008	2008	NUM
alkej-459	220	31	.	.	PUNCT
alkej-459	221	1	[	[	X
alkej-459	221	2	19	19	NUM
alkej-459	221	3	]	]	PUNCT
alkej-459	221	4	ammar	ammar	PROPN
alkej-459	221	5	a.	a.	PROPN
alkej-459	221	6	aldair	aldair	PROPN
alkej-459	221	7	,	,	PUNCT
alkej-459	221	8	"	"	PUNCT
alkej-459	221	9	neurofuzzy	neurofuzzy	ADJ
alkej-459	221	10	controller	controller	NOUN
alkej-459	221	11	based	base	VERB
alkej-459	221	12	full	full	ADJ
alkej-459	221	13	vehicle	vehicle	NOUN
alkej-459	221	14	nonlinear	nonlinear	ADJ
alkej-459	221	15	active	active	ADJ
alkej-459	221	16	suspension	suspension	NOUN
alkej-459	221	17	system	system	NOUN
alkej-459	221	18	"	"	PUNCT
alkej-459	221	19	ph.d	ph.d	PROPN
alkej-459	221	20	.	.	PUNCT
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alkej-459	222	2	,	,	PUNCT
alkej-459	222	3	university	university	PROPN
alkej-459	222	4	of	of	ADP
alkej-459	222	5	sussex	sussex	PROPN
alkej-459	222	6	brighton	brighton	PROPN
alkej-459	222	7	uk	uk	PROPN
alkej-459	222	8	,	,	PUNCT
alkej-459	222	9	march	march	PROPN
alkej-459	222	10	2012	2012	NUM
alkej-459	222	11	.	.	PUNCT
alkej-459	223	1	[	[	X
alkej-459	223	2	20	20	NUM
alkej-459	223	3	]	]	PUNCT
alkej-459	223	4	k.	k.	PROPN
alkej-459	223	5	h.	h.	PROPN
alkej-459	223	6	su	su	PROPN
alkej-459	223	7	,	,	PUNCT
alkej-459	223	8	y.	y.	PROPN
alkej-459	223	9	y.	y.	PROPN
alkej-459	223	10	chen	chen	PROPN
alkej-459	223	11	,	,	PUNCT
alkej-459	223	12	s.	s.	PROPN
alkej-459	223	13	f.	f.	PROPN
alkej-459	223	14	su	su	PROPN
alkej-459	223	15	,	,	PUNCT
alkej-459	223	16	"	"	PUNCT
alkej-459	223	17	design	design	NOUN
alkej-459	223	18	of	of	ADP
alkej-459	223	19	neural	neural	ADJ
alkej-459	223	20	–	–	PUNCT
alkej-459	223	21	fuzzy	fuzzy	ADJ
alkej-459	223	22	–	–	PUNCT
alkej-459	223	23	based	base	VERB
alkej-459	223	24	controller	controller	NOUN
alkej-459	223	25	for	for	ADP
alkej-459	223	26	two	two	NUM
alkej-459	223	27	autononmously	autononmously	ADV
alkej-459	223	28	driven	drive	VERB
alkej-459	223	29	wheeled	wheeled	ADJ
alkej-459	223	30	robot	robot	NOUN
alkej-459	223	31	"	"	PUNCT
alkej-459	223	32	neuroconputing	neuroconpute	VERB
alkej-459	223	33	73(2101)2478	73(2101)2478	PROPN
alkej-459	223	34	-	-	PUNCT
alkej-459	223	35	2488	2488	NUM
alkej-459	223	36	.	.	PUNCT
alkej-459	224	1	[	[	X
alkej-459	224	2	21	21	NUM
alkej-459	224	3	]	]	PUNCT
alkej-459	224	4	internet	internet	NOUN
alkej-459	224	5	website	website	NOUN
alkej-459	224	6	<	<	X
alkej-459	224	7	http://www.parallax.com	http://www.parallax.com	X
alkej-459	224	8	>	>	X
alkej-459	224	9	,	,	PUNCT
alkej-459	224	10	robotics	robotic	NOUN
alkej-459	224	11	with	with	ADP
alkej-459	224	12	the	the	DET
alkej-459	224	13	boe	boe	PROPN
alkej-459	224	14	-	-	PUNCT
alkej-459	224	15	bot	bot	NOUN
alkej-459	224	16	text	text	NOUN
alkej-459	224	17	manual	manual	NOUN
alkej-459	224	18	v3.0	v3.0	NOUN
alkej-459	224	19	,	,	PUNCT
alkej-459	224	20	(	(	PUNCT
alkej-459	224	21	accessed	access	VERB
alkej-459	224	22	october	october	PROPN
alkej-459	224	23	2011	2011	NUM
alkej-459	224	24	)	)	PUNCT
alkej-459	224	25	.	.	PUNCT
alkej-459	225	1	http://www.parallax.com/	http://www.parallax.com/	NOUN
alkej-459	225	2	(	(	PUNCT
alkej-459	225	3	2014	2014	NUM
alkej-459	225	4	)	)	PUNCT
alkej-459	225	5	3952	3952	NUM
alkej-459	225	6	،	،	NOUN
alkej-459	225	7	صفحة	صفحة	PROPN
alkej-459	225	8	3	3	NUM
alkej-459	225	9	،	،	X
alkej-459	225	10	العدد10دجلة	العدد10دجلة	X
alkej-459	225	11	الخوارزمي	الخوارزمي	VERB
alkej-459	225	12	الهندسية	الهندسية	PROPN
alkej-459	225	13	المجلموفق	المجلموفق	PROPN
alkej-459	225	14	علي	علي	VERB
alkej-459	225	15	توفيق	توفيق	PROPN
alkej-459	225	16	م	م	PROPN
alkej-459	225	17	52	52	NUM
alkej-459	225	18	pidالجزئي	pidالجزئي	NOUN
alkej-459	225	19	نوع	نوع	ADJ
alkej-459	225	20	المسيطر	المسيطر	PROPN
alkej-459	225	21	باستخدامالمتحركة	باستخدامالمتحركة	VERB
alkej-459	225	22	بعجالت	بعجالت	ADJ
alkej-459	225	23	للروبوتات	للروبوتات	ADV
alkej-459	226	1	األثرسيطرة	األثرسيطرة	INTJ
alkej-459	226	2	تتبع	تتبع	VERB
alkej-459	227	1	*	*	PUNCT
alkej-459	227	2	*	*	PUNCT
alkej-459	227	3	*	*	PUNCT
alkej-459	227	4	صالح	صالح	PROPN
alkej-459	227	5	مهدي	مهدي	PROPN
alkej-459	227	6	سوادي	سوادي	NOUN
alkej-459	227	7	*	*	PUNCT
alkej-459	227	8	*	*	NOUN
alkej-459	227	9	عماد	عماد	PROPN
alkej-459	227	10	ناطق	ناطق	PROPN
alkej-459	227	11	عبد	عبد	VERB
alkej-459	227	12	الوهاب	الوهاب	NOUN
alkej-459	227	13	*	*	PUNCT
alkej-459	227	14	موفق	موفق	NOUN
alkej-459	227	15	علي	علي	NOUN
alkej-459	227	16	توفيق	توفيق	VERB
alkej-459	227	17	الجامعة	الجامعة	VERB
alkej-459	227	18	التكنولوجية/	التكنولوجية/	NUM
alkej-459	227	19	قسم	قسم	NOUN
alkej-459	227	20	هندسة	هندسة	NOUN
alkej-459	227	21	المكائن	المكائن	PROPN
alkej-459	227	22	والمعدات	والمعدات	PROPN
alkej-459	227	23	*	*	PROPN
alkej-459	227	24	*	*	NOUN
alkej-459	227	25	،	،	X
alkej-459	227	26	*	*	X
alkej-459	227	27	الجامعة	الجامعة	NOUN
alkej-459	227	28	المستنصرية/	المستنصرية/	NUM
alkej-459	227	29	كلية	كلية	NOUN
alkej-459	227	30	الهندسة/	الهندسة/	NUM
alkej-459	227	31	قسم	قسم	NOUN
alkej-459	227	32	الهندسة	الهندسة	VERB
alkej-459	227	33	الكهربائية	الكهربائية	NOUN
alkej-459	227	34	*	*	PUNCT
alkej-459	227	35	*	*	PUNCT
alkej-459	227	36	*	*	PUNCT
alkej-459	227	37	drmat19853@yahoo.com	drmat19853@yahoo.com	NOUN
alkej-459	227	38	:	:	PUNCT
alkej-459	227	39	البريد	البريد	VERB
alkej-459	227	40	االلكتروني	االلكتروني	NOUN
alkej-459	227	41	*	*	PUNCT
alkej-459	227	42	emadnaabd@yahoo.com	emadnaabd@yahoo.com	X
alkej-459	228	1	:	:	PUNCT
alkej-459	228	2	البريد	البريد	VERB
alkej-459	228	3	االلكتروني	االلكتروني	NOUN
alkej-459	228	4	*	*	PROPN
alkej-459	228	5	*	*	X
alkej-459	228	6	sallah.mahdi99@gmail.com	sallah.mahdi99@gmail.com	X
alkej-459	228	7	:	:	PUNCT
alkej-459	228	8	البريد	البريد	VERB
alkej-459	228	9	االلكتروني	االلكتروني	NOUN
alkej-459	228	10	*	*	PUNCT
alkej-459	228	11	*	*	PUNCT
alkej-459	228	12	*	*	PUNCT
alkej-459	228	13	الخالصة	الخالصة	PROPN
alkej-459	228	14	في	في	X
alkej-459	228	15	مجال	مجال	ADJ
alkej-459	228	16	الصناعة	الصناعة	PROPN
alkej-459	228	17	،	،	PROPN
alkej-459	228	18	النقل	النقل	PROPN
alkej-459	228	19	،	،	PROPN
alkej-459	228	20	والتفتيش	والتفتيش	NOUN
alkej-459	228	21	وغيرها	وغيرها	PROPN
alkej-459	229	1	من	من	INTJ
alkej-459	229	2	المجاالت	المجاالت	PROPN
alkej-459	229	3	االخرى	االخرى	PROPN
alkej-459	229	4	في	في	ADP
alkej-459	229	5	الوقت	الوقت	PROPN
alkej-459	229	6	الحاضر	الحاضر	PROPN
alkej-459	230	1	العديد	العديد	PROPN
alkej-459	230	2	من	من	INTJ
alkej-459	230	3	التطبيقات	التطبيقات	PROPN
alkej-459	230	4	(	(	PUNCT
alkej-459	230	5	wmrs	wmrs	PROPN
alkej-459	230	6	)	)	PUNCT
alkej-459	231	1	عجالت	عجالت	AUX
alkej-459	231	2	ب	ب	PROPN
alkej-459	231	3	المتحركةلروبوتات	المتحركةلروبوتات	NOUN
alkej-459	231	4	ل	ل	PROPN
alkej-459	231	5	نموذج	نموذج	PROPN
alkej-459	231	6	مستند	مستند	PROPN
alkej-459	231	7	االبحث	االبحث	PRON
alkej-459	231	8	يركز	يركز	VERB
alkej-459	231	9	على	على	NOUN
alkej-459	231	10	على	على	NOUN
alkej-459	231	11	تطبيق	تطبيق	NOUN
alkej-459	231	12	هذا	هذا	NOUN
alkej-459	231	13	.	.	PUNCT
alkej-459	232	1	المهمة	المهمة	NOUN
alkej-459	232	2	تعد	تعد	VERB
alkej-459	232	3	من	من	DET
alkej-459	232	4	المشكالتأيجاد	المشكالتأيجاد	PROPN
alkej-459	233	1	منظومة	منظومة	INTJ
alkej-459	233	2	سيطرة	سيطرة	PROPN
alkej-459	233	3	لهذا	لهذا	PROPN
alkej-459	233	4	النوع	النوع	PROPN
alkej-459	233	5	من	من	DET
alkej-459	233	6	الروبوتات	الروبوتات	NOUN
alkej-459	233	7	لتقوم	لتقوم	X
alkej-459	233	8	بتتبُع	بتتبُع	ADV
alkej-459	233	9	أثر	أثر	VERB
alkej-459	233	10	معين	معين	ADJ
alkej-459	233	11	وبالتالي	وبالتالي	PROPN
alkej-459	233	12	فإن	فإن	PUNCT
alkej-459	234	1	المسيطر	المسيطر	PROPN
alkej-459	234	2	الىالروبوت	الىالروبوت	PROPN
alkej-459	234	3	المتحرك	المتحرك	PROPN
alkej-459	234	4	موضع	موضع	PROPN
alkej-459	234	5	خطاء	خطاء	VERB
alkej-459	234	6	في	في	DET
alkej-459	234	7	ال	ال	PROPN
alkej-459	234	8	على	على	PROPN
alkej-459	234	9	تغذية	تغذية	NOUN
alkej-459	234	10	اعتمدت	اعتمدت	VERB
alkej-459	234	11	خوارزمية	خوارزمية	ADJ
alkej-459	234	12	التحكم	التحكم	NOUN
alkej-459	234	13	.	.	PUNCT
alkej-459	235	1	ع	ع	PROPN
alkej-459	235	2	االثرمشكلة	االثرمشكلة	NOUN
alkej-459	235	3	تتبُ	تتبُ	VERB
alkej-459	236	1	لحل	لحل	VERB
alkej-459	236	2	pid	pid	PROPN
alkej-459	236	3	على	على	PROPN
alkej-459	236	4	المسيطر	المسيطر	PROPN
alkej-459	236	5	الجزئي	الجزئي	PROPN
alkej-459	236	6	نوع	نوع	NOUN
alkej-459	236	7	(	(	PUNCT
alkej-459	236	8	fopid	fopid	NOUN
alkej-459	236	9	)	)	PUNCT
alkej-459	236	10	نموذج	نموذج	NOUN
alkej-459	236	11	الخطية	الخطية	PROPN
alkej-459	236	12	والسرعة	والسرعة	PROPN
alkej-459	236	13	الزاوية	الزاوية	PROPN
alkej-459	236	14	من	من	PROPN
alkej-459	236	15	خالل	خالل	PROPN
alkej-459	236	16	حل	حل	PROPN
alkej-459	236	17	االتم	االتم	PROPN
alkej-459	236	18	حساب	حساب	PROPN
alkej-459	236	19	السرعة	السرعة	PROPN
alkej-459	236	20	،	،	PROPN
alkej-459	237	1	القيادةعجالت	القيادةعجالت	PROPN
alkej-459	237	2	لعزم	لعزم	PROPN
alkej-459	237	3	دوران	دوران	PROPN
alkej-459	237	4	تحول	تحول	VERB
alkej-459	237	5	الى	الى	PROPN
alkej-459	237	6	لتوليد	لتوليد	NOUN
alkej-459	237	7	إشارات	إشارات	PROPN
alkej-459	237	8	التصحيح	التصحيح	PROPN
alkej-459	238	1	التي	التي	PROPN
alkej-459	238	2	للحالة	للحالة	PROPN
alkej-459	238	3	التي	التي	PROPN
alkej-459	238	4	اليتطابق	اليتطابق	PROPN
alkej-459	238	5	فيها	فيها	PROPN
alkej-459	238	6	تحركبوت	تحركبوت	PROPN
alkej-459	238	7	المونموذج	المونموذج	PROPN
alkej-459	238	8	الديناميكي	الديناميكي	PROPN
alkej-459	238	9	للراال	للراال	PROPN
alkej-459	238	10	اشتق	اشتق	PROPN
alkej-459	238	11	.	.	PUNCT
alkej-459	239	1	الوضع	الوضع	PROPN
alkej-459	239	2	المطلوبللوصول	المطلوبللوصول	PROPN
alkej-459	239	3	الى	الى	PROPN
alkej-459	239	4	الرياضي	الرياضي	PROPN
alkej-459	239	5	للحركة	للحركة	VERB
alkej-459	239	6	الديناميكية	الديناميكية	PROPN
alkej-459	239	7	للروبوت	للروبوت	PROPN
alkej-459	239	8	المتحرك	المتحرك	PROPN
alkej-459	239	9	،	،	PROPN
alkej-459	239	10	كما	كما	PROPN
alkej-459	239	11	تم	تم	PROPN
alkej-459	239	12	االخذ	االخذ	PROPN
alkej-459	239	13	بنظر	بنظر	PROPN
alkej-459	239	14	االعتبار	االعتبار	PROPN
alkej-459	239	15	تأثير	تأثير	NOUN
alkej-459	239	16	قوى	قوى	NOUN
alkej-459	239	17	القصور	القصور	PROPN
alkej-459	239	18	الذاتي	الذاتي	PROPN
alkej-459	239	19	منتصف	منتصف	PROPN
alkej-459	239	20	محور	محور	NOUN
alkej-459	239	21	عجالت	عجالت	AUX
alkej-459	239	22	القيادة	القيادة	ADV
alkej-459	239	23	في	في	ADP
alkej-459	239	24	اختيرتلمنصة	اختيرتلمنصة	PROPN
alkej-459	239	25	الروبوت	الروبوت	PROPN
alkej-459	239	26	والتي	والتي	PROPN
alkej-459	239	27	االطار	االطار	PROPN
alkej-459	239	28	المرجعي	المرجعي	PROPN
alkej-459	239	29	مركز	مركز	PROPN
alkej-459	239	30	الثقل	الثقل	PROPN
alkej-459	239	31	مع	مع	PROPN
alkej-459	239	32	للروبوت	للروبوت	PROPN
alkej-459	239	33	fopid	fopid	PROPN
alkej-459	239	34	المسيطر	المسيطر	PROPN
alkej-459	239	35	الجزئي	الجزئي	PROPN
alkej-459	239	36	(	(	PUNCT
alkej-459	239	37	kp	kp	PROPN
alkej-459	239	38	,	,	PUNCT
alkej-459	239	39	ki	ki	PROPN
alkej-459	239	40	,	,	PUNCT
alkej-459	239	41	kd	kd	PROPN
alkej-459	239	42	,	,	PUNCT
alkej-459	239	43	a	a	PRON
alkej-459	239	44	,	,	PUNCT
alkej-459	239	45	and	and	CCONJ
alkej-459	239	46	b	b	X
alkej-459	239	47	)	)	PUNCT
alkej-459	239	48	برامتراتلتعديل	برامتراتلتعديل	ADV
alkej-459	239	49	خوارزمية	خوارزمية	VERB
alkej-459	239	50	التطوريال	التطوريال	ADJ
alkej-459	239	51	تاستخدام	تاستخدام	NOUN
alkej-459	239	52	.للروبوت	.للروبوت	PROPN
alkej-459	240	1	على	على	PROPN
alkej-459	240	2	االطار	االطار	PROPN
alkej-459	240	3	المرجعي	المرجعي	PROPN
alkej-459	240	4	،	،	PROPN
alkej-459	240	5	مسار	مسار	PROPN
alkej-459	240	6	دائري	دائري	ADV
alkej-459	240	7	)	)	PUNCT
alkej-459	240	8	انواع	انواع	PROPN
alkej-459	240	9	من	من	DET
alkej-459	240	10	المسارات	المسارات	NOUN
alkej-459	240	11	ةأربع	ةأربع	VERB
alkej-459	240	12	على	على	NOUN
alkej-459	240	13	المسيطرهذه	المسيطرهذه	NOUN
alkej-459	240	14	الذي	الذي	PROPN
alkej-459	240	15	تبين	تبين	PROPN
alkej-459	241	1	من	من	INTJ
alkej-459	241	2	تطبيق	تطبيق	PROPN
alkej-459	242	1	و	و	PRON
alkej-459	242	2	المقترح	المقترح	NOUN
alkej-459	242	3	مسيطرالنتائج	مسيطرالنتائج	NOUN
alkej-459	242	4	المحاكاة	المحاكاة	X
alkej-459	242	5	فعالية	فعالية	PROPN
alkej-459	243	1	أظهرت	أظهرت	PROPN
alkej-459	243	2	.المتحرك	.المتحرك	PRON
alkej-459	243	3	بعجالت	بعجالت	ADJ
alkej-459	243	4	أن	أن	PROPN
alkej-459	243	5	ولتتبع	ولتتبع	PROPN
alkej-459	243	6	االثر	االثر	PROPN
alkej-459	243	7	المطلوب	المطلوب	PROPN
alkej-459	243	8	مطابقة	مطابقة	PROPN
alkej-459	243	9	جيدة	جيدة	PROPN
alkej-459	243	10	النتائج	النتائج	PROPN
alkej-459	243	11	كما	كما	PROPN
alkej-459	243	12	بينت	بينت	PROPN
alkej-459	243	13	،	،	X
alkej-459	243	14	(	(	PUNCT
alkej-459	243	15	هو	هو	X
alkej-459	243	16	بدون	بدون	PROPN
alkej-459	243	17	خارجي	خارجي	PROPN
alkej-459	243	18	ضطرابأوجود	ضطرابأوجود	PROPN
alkej-459	243	19	بحالتين	بحالتين	PROPN
alkej-459	243	20	المسار	المسار	PROPN
alkej-459	243	21	المستقيم	المستقيم	VERB
alkej-459	243	22	ول	ول	PROPN
alkej-459	243	23	،	،	PROPN
alkej-459	243	24	مسار	مسار	PROPN
alkej-459	243	25	إنفينيتي	إنفينيتي	PROPN
alkej-459	243	26	،	،	PROPN
alkej-459	244	1	و	و	PROPN
alkej-459	244	2	sشكل	sشكل	PROPN
alkej-459	244	3	مسار	مسار	PROPN
alkej-459	244	4	.إلى	.إلى	PUNCT
alkej-459	245	1	الصفر	الصفر	PROPN
alkej-459	245	2	بسرعةذهب	بسرعةذهب	PROPN
alkej-459	245	3	ضع	ضع	ADP
alkej-459	245	4	تخطأ	تخطأ	PROPN
alkej-459	245	5	في	في	DET
alkej-459	245	6	الموال	الموال	ADJ
alkej-459	245	7	دالة	دالة	NOUN
alkej-459	245	8	mailto:drmat19853@yahoo.com	mailto:drmat19853@yahoo.com	PROPN
alkej-459	245	9	mailto:emadnaabd@yahoo.com	mailto:emadnaabd@yahoo.com	X
alkej-459	245	10	mailto:sallah.mahdi99@gmail.com	mailto:sallah.mahdi99@gmail.com	X