id	sid	tid	token	lemma	pos
alkej-710	1	1	4d6963726f736f667420576f7264202d20e3c7e1df20e6dacfe4c7e420e6cce6e1ede6d334332d203533	4d6963726f736f667420576f7264202d20e3c7e1df20e6dacfe4c7e420e6cce6e1ede6d334332d203533	PROPN
alkej-710	1	2	>	>	X
alkej-710	1	3	al	al	PROPN
alkej-710	1	4	-	-	PUNCT
alkej-710	1	5	khwarizmi	khwarizmi	PROPN
alkej-710	1	6	engineering	engineering	PROPN
alkej-710	1	7	journal	journal	PROPN
alkej-710	1	8	al	al	PROPN
alkej-710	1	9	-	-	PUNCT
alkej-710	1	10	khwarizmi	khwarizmi	PROPN
alkej-710	1	11	engineering	engineering	NOUN
alkej-710	1	12	journal	journal	PROPN
alkej-710	1	13	,	,	PUNCT
alkej-710	1	14	vol	vol	NOUN
alkej-710	1	15	.	.	PROPN
alkej-710	1	16	16	16	NUM
alkej-710	1	17	,	,	PUNCT
alkej-710	1	18	no	no	INTJ
alkej-710	1	19	.	.	NOUN
alkej-710	1	20	3	3	NUM
alkej-710	1	21	,	,	PUNCT
alkej-710	1	22	sptember	sptember	NOUN
alkej-710	1	23	,	,	PUNCT
alkej-710	1	24	(	(	PUNCT
alkej-710	1	25	2020	2020	NUM
alkej-710	1	26	)	)	PUNCT
alkej-710	2	1	p.	p.	NOUN
alkej-710	2	2	p.	p.	NOUN
alkej-710	2	3	4353	4353	NUM
alkej-710	3	1	uav	uav	PROPN
alkej-710	3	2	control	control	NOUN
alkej-710	3	3	based	base	VERB
alkej-710	3	4	on	on	ADP
alkej-710	3	5	dual	dual	ADJ
alkej-710	3	6	lqr	lqr	NOUN
alkej-710	3	7	and	and	CCONJ
alkej-710	3	8	fuzzy	fuzzy	ADJ
alkej-710	3	9	-	-	PUNCT
alkej-710	3	10	pid	pid	NOUN
alkej-710	3	11	controller	controller	NOUN
alkej-710	3	12	malik	malik	PROPN
alkej-710	3	13	m.	m.	PROPN
alkej-710	3	14	a.	a.	PROPN
alkej-710	3	15	al	al	PROPN
alkej-710	3	16	-	-	PUNCT
alkej-710	3	17	isawi	isawi	PROPN
alkej-710	3	18	*	*	PROPN
alkej-710	3	19	adnan	adnan	PROPN
alkej-710	3	20	j.	j.	PROPN
alkej-710	3	21	attiya	attiya	PROPN
alkej-710	4	1	*	*	PROPN
alkej-710	4	2	*	*	PROPN
alkej-710	4	3	julius	julius	PROPN
alkej-710	4	4	o.	o.	PROPN
alkej-710	4	5	adoghe	adoghe	PROPN
alkej-710	5	1	*	*	PUNCT
alkej-710	5	2	*	*	PUNCT
alkej-710	5	3	*	*	PUNCT
alkej-710	5	4	*	*	PUNCT
alkej-710	5	5	,	,	PUNCT
alkej-710	5	6	*	*	PUNCT
alkej-710	5	7	*	*	NOUN
alkej-710	5	8	department	department	NOUN
alkej-710	5	9	of	of	ADP
alkej-710	5	10	mechatronics	mechatronic	NOUN
alkej-710	5	11	engineering/	engineering/	NUM
alkej-710	5	12	al	al	PROPN
alkej-710	5	13	-	-	PUNCT
alkej-710	5	14	khwarizmi	khwarizmi	PROPN
alkej-710	5	15	college/	college/	PROPN
alkej-710	5	16	of	of	ADP
alkej-710	5	17	engineering/	engineering/	NUM
alkej-710	5	18	university	university	NOUN
alkej-710	5	19	of	of	ADP
alkej-710	5	20	baghdad	baghdad	PROPN
alkej-710	5	21	*	*	PUNCT
alkej-710	6	1	*	*	PUNCT
alkej-710	6	2	*	*	PUNCT
alkej-710	6	3	department	department	NOUN
alkej-710	6	4	of	of	ADP
alkej-710	6	5	mechanical	mechanical	ADJ
alkej-710	6	6	and	and	CCONJ
alkej-710	6	7	aerospace	aerospace	NOUN
alkej-710	6	8	/	/	SYM
alkej-710	6	9	carleton	carleton	PROPN
alkej-710	6	10	university/	university/	PROPN
alkej-710	6	11	canada	canada	PROPN
alkej-710	6	12	*	*	PROPN
alkej-710	6	13	email	email	NOUN
alkej-710	6	14	:	:	PUNCT
alkej-710	6	15	malik@kecbu.uobaghdad.edu.iq	malik@kecbu.uobaghdad.edu.iq	ADJ
alkej-710	6	16	*	*	PUNCT
alkej-710	6	17	*	*	NOUN
alkej-710	6	18	email	email	NOUN
alkej-710	6	19	:	:	PUNCT
alkej-710	6	20	adnan@kecbu.uobaghdad.edu.iq	adnan@kecbu.uobaghdad.edu.iq	ADP
alkej-710	6	21	*	*	PUNCT
alkej-710	6	22	*	*	PUNCT
alkej-710	6	23	*	*	NOUN
alkej-710	6	24	email	email	NOUN
alkej-710	6	25	:	:	PUNCT
alkej-710	6	26	osemudiamenadoghe@cmail.carleton.ca	osemudiamenadoghe@cmail.carleton.ca	NOUN
alkej-710	6	27	(	(	PUNCT
alkej-710	6	28	received	receive	VERB
alkej-710	6	29	6	6	NUM
alkej-710	6	30	february	february	NOUN
alkej-710	6	31	2020	2020	NUM
alkej-710	6	32	;	;	PUNCT
alkej-710	6	33	accepted	accept	VERB
alkej-710	6	34	23	23	NUM
alkej-710	6	35	augusta	augusta	NOUN
alkej-710	6	36	2020	2020	NUM
alkej-710	6	37	)	)	PUNCT
alkej-710	7	1	https://doi.org/10.22153/kej.2020.08.001	https://doi.org/10.22153/kej.2020.08.001	PROPN
alkej-710	7	2	abstract	abstract	ADV
alkej-710	7	3	this	this	DET
alkej-710	7	4	paper	paper	NOUN
alkej-710	7	5	presents	present	VERB
alkej-710	7	6	the	the	DET
alkej-710	7	7	design	design	NOUN
alkej-710	7	8	of	of	ADP
alkej-710	7	9	a	a	DET
alkej-710	7	10	longitudinal	longitudinal	ADJ
alkej-710	7	11	controller	controller	NOUN
alkej-710	7	12	for	for	ADP
alkej-710	7	13	an	an	DET
alkej-710	7	14	autonomous	autonomous	ADJ
alkej-710	7	15	unmanned	unmanned	ADJ
alkej-710	7	16	aerial	aerial	ADJ
alkej-710	7	17	vehicle	vehicle	NOUN
alkej-710	7	18	(	(	PUNCT
alkej-710	7	19	uav	uav	PROPN
alkej-710	7	20	)	)	PUNCT
alkej-710	7	21	.	.	PUNCT
alkej-710	8	1	this	this	DET
alkej-710	8	2	paper	paper	NOUN
alkej-710	8	3	proposed	propose	VERB
alkej-710	8	4	the	the	DET
alkej-710	8	5	dual	dual	ADJ
alkej-710	8	6	loop	loop	NOUN
alkej-710	8	7	(	(	PUNCT
alkej-710	8	8	inner	inner	ADJ
alkej-710	8	9	-	-	PUNCT
alkej-710	8	10	outer	outer	ADJ
alkej-710	8	11	loop	loop	NOUN
alkej-710	8	12	)	)	PUNCT
alkej-710	8	13	control	control	NOUN
alkej-710	8	14	based	base	VERB
alkej-710	8	15	on	on	ADP
alkej-710	8	16	the	the	DET
alkej-710	8	17	intelligent	intelligent	ADJ
alkej-710	8	18	algorithm	algorithm	NOUN
alkej-710	8	19	.	.	PUNCT
alkej-710	9	1	the	the	DET
alkej-710	9	2	inner	inner	ADJ
alkej-710	9	3	feedback	feedback	NOUN
alkej-710	9	4	loop	loop	NOUN
alkej-710	9	5	controller	controller	NOUN
alkej-710	9	6	is	be	AUX
alkej-710	9	7	a	a	DET
alkej-710	9	8	linear	linear	ADJ
alkej-710	9	9	quadratic	quadratic	ADJ
alkej-710	9	10	regulator	regulator	NOUN
alkej-710	9	11	(	(	PUNCT
alkej-710	9	12	lqr	lqr	PROPN
alkej-710	9	13	)	)	PUNCT
alkej-710	9	14	to	to	PART
alkej-710	9	15	provide	provide	VERB
alkej-710	9	16	robust	robust	ADJ
alkej-710	9	17	(	(	PUNCT
alkej-710	9	18	adaptive	adaptive	ADJ
alkej-710	9	19	)	)	PUNCT
alkej-710	9	20	stability	stability	NOUN
alkej-710	9	21	.	.	PUNCT
alkej-710	10	1	in	in	ADP
alkej-710	10	2	contrast	contrast	NOUN
alkej-710	10	3	,	,	PUNCT
alkej-710	10	4	the	the	DET
alkej-710	10	5	outer	outer	ADJ
alkej-710	10	6	loop	loop	NOUN
alkej-710	10	7	controller	controller	NOUN
alkej-710	10	8	is	be	AUX
alkej-710	10	9	based	base	VERB
alkej-710	10	10	on	on	ADP
alkej-710	10	11	fuzzy	fuzzy	ADJ
alkej-710	10	12	-	-	PUNCT
alkej-710	10	13	pid	pid	NOUN
alkej-710	10	14	(	(	PUNCT
alkej-710	10	15	proportional	proportional	ADJ
alkej-710	10	16	,	,	PUNCT
alkej-710	10	17	integral	integral	ADJ
alkej-710	10	18	,	,	PUNCT
alkej-710	10	19	and	and	CCONJ
alkej-710	10	20	derivative	derivative	ADJ
alkej-710	10	21	)	)	PUNCT
alkej-710	10	22	algorithm	algorithm	NOUN
alkej-710	10	23	to	to	PART
alkej-710	10	24	provide	provide	VERB
alkej-710	10	25	reference	reference	NOUN
alkej-710	10	26	signal	signal	NOUN
alkej-710	10	27	tracking	tracking	NOUN
alkej-710	10	28	.	.	PUNCT
alkej-710	11	1	the	the	DET
alkej-710	11	2	proposed	propose	VERB
alkej-710	11	3	dual	dual	ADJ
alkej-710	11	4	controller	controller	NOUN
alkej-710	11	5	is	be	AUX
alkej-710	11	6	to	to	PART
alkej-710	11	7	control	control	VERB
alkej-710	11	8	the	the	DET
alkej-710	11	9	position	position	NOUN
alkej-710	11	10	(	(	PUNCT
alkej-710	11	11	altitude	altitude	NOUN
alkej-710	11	12	)	)	PUNCT
alkej-710	11	13	and	and	CCONJ
alkej-710	11	14	velocity	velocity	NOUN
alkej-710	11	15	(	(	PUNCT
alkej-710	11	16	airspeed	airspeed	NOUN
alkej-710	11	17	)	)	PUNCT
alkej-710	11	18	of	of	ADP
alkej-710	11	19	an	an	DET
alkej-710	11	20	aircraft	aircraft	NOUN
alkej-710	11	21	.	.	PUNCT
alkej-710	12	1	an	an	DET
alkej-710	12	2	adaptive	adaptive	ADJ
alkej-710	12	3	unscented	unscente	VERB
alkej-710	12	4	kalman	kalman	NOUN
alkej-710	12	5	filter	filter	PROPN
alkej-710	12	6	(	(	PUNCT
alkej-710	12	7	aukf	aukf	NOUN
alkej-710	12	8	)	)	PUNCT
alkej-710	12	9	is	be	AUX
alkej-710	12	10	employed	employ	VERB
alkej-710	12	11	to	to	PART
alkej-710	12	12	track	track	VERB
alkej-710	12	13	the	the	DET
alkej-710	12	14	reference	reference	NOUN
alkej-710	12	15	signal	signal	NOUN
alkej-710	12	16	and	and	CCONJ
alkej-710	12	17	is	be	AUX
alkej-710	12	18	decreased	decrease	VERB
alkej-710	12	19	the	the	DET
alkej-710	12	20	gaussian	gaussian	ADJ
alkej-710	12	21	noise	noise	NOUN
alkej-710	12	22	.	.	PUNCT
alkej-710	13	1	the	the	DET
alkej-710	13	2	mathematical	mathematical	ADJ
alkej-710	13	3	model	model	NOUN
alkej-710	13	4	of	of	ADP
alkej-710	13	5	aircraft	aircraft	NOUN
alkej-710	13	6	has	have	AUX
alkej-710	13	7	been	be	AUX
alkej-710	13	8	(	(	PUNCT
alkej-710	13	9	cessna	cessna	NOUN
alkej-710	13	10	172	172	NUM
alkej-710	13	11	)	)	PUNCT
alkej-710	13	12	presented	present	VERB
alkej-710	13	13	.	.	PUNCT
alkej-710	14	1	the	the	DET
alkej-710	14	2	stability	stability	NOUN
alkej-710	14	3	and	and	CCONJ
alkej-710	14	4	robustness	robustness	NOUN
alkej-710	14	5	of	of	ADP
alkej-710	14	6	the	the	DET
alkej-710	14	7	system	system	NOUN
alkej-710	14	8	have	have	AUX
alkej-710	14	9	been	be	AUX
alkej-710	14	10	verified	verify	VERB
alkej-710	14	11	in	in	ADP
alkej-710	14	12	a	a	DET
alkej-710	14	13	simulation	simulation	NOUN
alkej-710	14	14	experiment	experiment	NOUN
alkej-710	14	15	.	.	PUNCT
alkej-710	15	1	keywords	keyword	NOUN
alkej-710	15	2	:	:	PUNCT
alkej-710	15	3	uav	uav	PROPN
alkej-710	15	4	,	,	PUNCT
alkej-710	15	5	longitudinal	longitudinal	ADJ
alkej-710	15	6	controllers	controller	NOUN
alkej-710	15	7	,	,	PUNCT
alkej-710	15	8	fuzzy	fuzzy	ADJ
alkej-710	15	9	-	-	PUNCT
alkej-710	15	10	pid	pid	NOUN
alkej-710	15	11	,	,	PUNCT
alkej-710	15	12	lqr	lqr	PROPN
alkej-710	15	13	,	,	PUNCT
alkej-710	15	14	aukf	aukf	NOUN
alkej-710	15	15	.	.	PUNCT
alkej-710	16	1	1	1	X
alkej-710	16	2	.	.	X
alkej-710	16	3	introduction	introduction	NOUN
alkej-710	16	4	unmanned	unmanned	ADJ
alkej-710	16	5	aerial	aerial	ADJ
alkej-710	16	6	vehicles	vehicle	NOUN
alkej-710	16	7	(	(	PUNCT
alkej-710	16	8	uavs	uavs	NOUN
alkej-710	16	9	)	)	PUNCT
alkej-710	16	10	have	have	AUX
alkej-710	16	11	been	be	AUX
alkej-710	16	12	a	a	DET
alkej-710	16	13	popular	popular	ADJ
alkej-710	16	14	research	research	NOUN
alkej-710	16	15	subject	subject	NOUN
alkej-710	16	16	over	over	ADP
alkej-710	16	17	the	the	DET
alkej-710	16	18	last	last	ADJ
alkej-710	16	19	years	year	NOUN
alkej-710	16	20	.	.	PUNCT
alkej-710	17	1	these	these	DET
alkej-710	17	2	vehicles	vehicle	NOUN
alkej-710	17	3	have	have	AUX
alkej-710	17	4	been	be	AUX
alkej-710	17	5	used	use	VERB
alkej-710	17	6	in	in	ADP
alkej-710	17	7	civilian	civilian	ADJ
alkej-710	17	8	applications	application	NOUN
alkej-710	17	9	and	and	CCONJ
alkej-710	17	10	military	military	ADJ
alkej-710	17	11	missions	mission	NOUN
alkej-710	17	12	,	,	PUNCT
alkej-710	17	13	including	include	VERB
alkej-710	17	14	search	search	NOUN
alkej-710	17	15	,	,	PUNCT
alkej-710	17	16	rescue	rescue	NOUN
alkej-710	17	17	,	,	PUNCT
alkej-710	17	18	and	and	CCONJ
alkej-710	17	19	atmospheric	atmospheric	ADJ
alkej-710	17	20	research	research	NOUN
alkej-710	17	21	[	[	X
alkej-710	17	22	1	1	NUM
alkej-710	17	23	,	,	PUNCT
alkej-710	17	24	2	2	NUM
alkej-710	17	25	]	]	PUNCT
alkej-710	17	26	.	.	PUNCT
alkej-710	18	1	studies	study	NOUN
alkej-710	18	2	have	have	AUX
alkej-710	18	3	been	be	AUX
alkej-710	18	4	carried	carry	VERB
alkej-710	18	5	out	out	ADP
alkej-710	18	6	on	on	ADP
alkej-710	18	7	small	small	ADJ
alkej-710	18	8	uavs	uavs	NOUN
alkej-710	18	9	because	because	SCONJ
alkej-710	18	10	of	of	ADP
alkej-710	18	11	the	the	DET
alkej-710	18	12	low	low	ADJ
alkej-710	18	13	costs	cost	NOUN
alkej-710	18	14	of	of	ADP
alkej-710	18	15	the	the	DET
alkej-710	18	16	system	system	NOUN
alkej-710	18	17	and	and	CCONJ
alkej-710	18	18	their	their	PRON
alkej-710	18	19	effectiveness	effectiveness	NOUN
alkej-710	18	20	in	in	ADP
alkej-710	18	21	special	special	ADJ
alkej-710	18	22	missions	mission	NOUN
alkej-710	18	23	.	.	PUNCT
alkej-710	19	1	autonomous	autonomous	PROPN
alkej-710	19	2	uav	uav	PROPN
alkej-710	19	3	like	like	ADP
alkej-710	19	4	helicopters	helicopter	NOUN
alkej-710	19	5	are	be	AUX
alkej-710	19	6	one	one	NUM
alkej-710	19	7	of	of	ADP
alkej-710	19	8	the	the	DET
alkej-710	19	9	most	most	ADV
alkej-710	19	10	popular	popular	ADJ
alkej-710	19	11	robotic	robotic	ADJ
alkej-710	19	12	platforms	platform	NOUN
alkej-710	19	13	because	because	SCONJ
alkej-710	19	14	they	they	PRON
alkej-710	19	15	are	be	AUX
alkej-710	19	16	easy	easy	ADJ
alkej-710	19	17	to	to	PART
alkej-710	19	18	control	control	VERB
alkej-710	19	19	for	for	ADP
alkej-710	19	20	vertical	vertical	ADJ
alkej-710	19	21	take	take	VERB
alkej-710	19	22	-	-	PUNCT
alkej-710	19	23	off	off	NOUN
alkej-710	19	24	and	and	CCONJ
alkej-710	19	25	landing	land	VERB
alkej-710	19	26	as	as	ADV
alkej-710	19	27	well	well	ADV
alkej-710	19	28	as	as	ADP
alkej-710	19	29	for	for	ADP
alkej-710	19	30	stationary	stationary	ADJ
alkej-710	19	31	flight	flight	NOUN
alkej-710	20	1	[	[	X
alkej-710	20	2	3	3	NUM
alkej-710	20	3	,	,	PUNCT
alkej-710	20	4	4	4	NUM
alkej-710	20	5	]	]	PUNCT
alkej-710	20	6	.	.	PUNCT
alkej-710	21	1	the	the	DET
alkej-710	21	2	choices	choice	NOUN
alkej-710	21	3	are	be	AUX
alkej-710	21	4	many	many	ADJ
alkej-710	21	5	possible	possible	ADJ
alkej-710	21	6	methodologies	methodology	NOUN
alkej-710	21	7	that	that	PRON
alkej-710	21	8	can	can	AUX
alkej-710	21	9	be	be	AUX
alkej-710	21	10	used	use	VERB
alkej-710	21	11	uav	uav	PROPN
alkej-710	21	12	control	control	PROPN
alkej-710	21	13	.	.	PUNCT
alkej-710	22	1	sliding	slide	VERB
alkej-710	22	2	mode	mode	NOUN
alkej-710	22	3	control	control	NOUN
alkej-710	22	4	is	be	AUX
alkej-710	22	5	an	an	DET
alkej-710	22	6	efficient	efficient	ADJ
alkej-710	22	7	,	,	PUNCT
alkej-710	22	8	robust	robust	ADJ
alkej-710	22	9	control	control	NOUN
alkej-710	22	10	method	method	NOUN
alkej-710	22	11	that	that	PRON
alkej-710	22	12	widely	widely	ADV
alkej-710	22	13	used	use	VERB
alkej-710	22	14	in	in	ADP
alkej-710	22	15	the	the	DET
alkej-710	22	16	control	control	NOUN
alkej-710	22	17	of	of	ADP
alkej-710	22	18	many	many	ADJ
alkej-710	22	19	complex	complex	ADJ
alkej-710	22	20	systems	system	NOUN
alkej-710	22	21	[	[	X
alkej-710	22	22	5	5	NUM
alkej-710	22	23	]	]	PUNCT
alkej-710	22	24	.	.	PUNCT
alkej-710	23	1	however	however	ADV
alkej-710	23	2	,	,	PUNCT
alkej-710	23	3	chattering	chatter	VERB
alkej-710	23	4	is	be	AUX
alkej-710	23	5	a	a	DET
alkej-710	23	6	big	big	ADJ
alkej-710	23	7	drawback	drawback	NOUN
alkej-710	23	8	of	of	ADP
alkej-710	23	9	sliding	slide	VERB
alkej-710	23	10	mode	mode	NOUN
alkej-710	23	11	control	control	NOUN
alkej-710	24	1	[	[	X
alkej-710	24	2	6	6	NUM
alkej-710	24	3	]	]	PUNCT
alkej-710	24	4	.	.	PUNCT
alkej-710	25	1	the	the	DET
alkej-710	25	2	most	most	ADV
alkej-710	25	3	popular	popular	ADJ
alkej-710	25	4	controller	controller	NOUN
alkej-710	25	5	in	in	ADP
alkej-710	25	6	the	the	DET
alkej-710	25	7	past	past	NOUN
alkej-710	25	8	is	be	AUX
alkej-710	25	9	a	a	DET
alkej-710	25	10	proportional	proportional	ADJ
alkej-710	25	11	-	-	PUNCT
alkej-710	25	12	integral	integral	ADJ
alkej-710	25	13	-	-	PUNCT
alkej-710	25	14	derivative	derivative	ADJ
alkej-710	25	15	controller	controller	NOUN
alkej-710	25	16	(	(	PUNCT
alkej-710	25	17	pid	pid	NOUN
alkej-710	25	18	)	)	PUNCT
alkej-710	25	19	.	.	PUNCT
alkej-710	26	1	analytical	analytical	ADJ
alkej-710	26	2	methods	method	NOUN
alkej-710	26	3	are	be	AUX
alkej-710	26	4	used	use	VERB
alkej-710	26	5	to	to	PART
alkej-710	26	6	tune	tune	VERB
alkej-710	26	7	the	the	DET
alkej-710	26	8	conventional	conventional	ADJ
alkej-710	26	9	structure	structure	NOUN
alkej-710	26	10	of	of	ADP
alkej-710	26	11	the	the	DET
alkej-710	26	12	pid	pid	NOUN
alkej-710	26	13	controller	controller	NOUN
alkej-710	26	14	[	[	X
alkej-710	26	15	7	7	NUM
alkej-710	26	16	]	]	PUNCT
alkej-710	26	17	.	.	PUNCT
alkej-710	27	1	an	an	DET
alkej-710	27	2	approach	approach	NOUN
alkej-710	27	3	to	to	ADP
alkej-710	27	4	control	control	NOUN
alkej-710	27	5	,	,	PUNCT
alkej-710	27	6	stabilization	stabilization	NOUN
alkej-710	27	7	,	,	PUNCT
alkej-710	27	8	and	and	CCONJ
alkej-710	27	9	disturbance	disturbance	NOUN
alkej-710	27	10	rejection	rejection	NOUN
alkej-710	27	11	of	of	ADP
alkej-710	27	12	the	the	DET
alkej-710	27	13	attitude	attitude	NOUN
alkej-710	27	14	subsystem	subsystem	NOUN
alkej-710	27	15	of	of	ADP
alkej-710	27	16	a	a	DET
alkej-710	27	17	quadrotor	quadrotor	NOUN
alkej-710	27	18	.	.	PUNCT
alkej-710	28	1	a	a	DET
alkej-710	28	2	self	self	NOUN
alkej-710	28	3	-	-	PUNCT
alkej-710	28	4	tuned	tune	VERB
alkej-710	28	5	pid	pid	NOUN
alkej-710	28	6	is	be	AUX
alkej-710	28	7	used	use	VERB
alkej-710	28	8	to	to	PART
alkej-710	28	9	design	design	VERB
alkej-710	28	10	the	the	DET
alkej-710	28	11	controller	controller	NOUN
alkej-710	28	12	of	of	ADP
alkej-710	28	13	the	the	DET
alkej-710	28	14	autopilot	autopilot	NOUN
alkej-710	28	15	based	base	VERB
alkej-710	28	16	on	on	ADP
alkej-710	28	17	the	the	DET
alkej-710	28	18	longitudinal	longitudinal	ADJ
alkej-710	28	19	motion	motion	NOUN
alkej-710	28	20	(	(	PUNCT
alkej-710	28	21	altitude	altitude	NOUN
alkej-710	28	22	,	,	PUNCT
alkej-710	28	23	and	and	CCONJ
alkej-710	28	24	speed	speed	NOUN
alkej-710	28	25	)	)	PUNCT
alkej-710	28	26	,	,	PUNCT
alkej-710	28	27	and	and	CCONJ
alkej-710	28	28	lateral	lateral	ADJ
alkej-710	28	29	motion	motion	NOUN
alkej-710	28	30	(	(	PUNCT
alkej-710	28	31	heading	head	VERB
alkej-710	28	32	angle	angle	NOUN
alkej-710	28	33	)	)	PUNCT
alkej-710	28	34	of	of	ADP
alkej-710	28	35	aerosonde	aerosonde	PROPN
alkej-710	28	36	uav	uav	PROPN
alkej-710	29	1	[	[	X
alkej-710	29	2	8	8	NUM
alkej-710	29	3	]	]	PUNCT
alkej-710	29	4	.	.	PUNCT
alkej-710	30	1	the	the	DET
alkej-710	30	2	authors	author	NOUN
alkej-710	30	3	in	in	ADP
alkej-710	30	4	[	[	X
alkej-710	30	5	9,10	9,10	NUM
alkej-710	30	6	]	]	PUNCT
alkej-710	30	7	presented	present	VERB
alkej-710	30	8	a	a	DET
alkej-710	30	9	method	method	NOUN
alkej-710	30	10	to	to	PART
alkej-710	30	11	guide	guide	VERB
alkej-710	30	12	and	and	CCONJ
alkej-710	30	13	control	control	VERB
alkej-710	30	14	a	a	DET
alkej-710	30	15	system	system	NOUN
alkej-710	30	16	-	-	PUNCT
alkej-710	30	17	based	base	VERB
alkej-710	30	18	vision	vision	NOUN
alkej-710	30	19	system	system	NOUN
alkej-710	30	20	.	.	PUNCT
alkej-710	31	1	they	they	PRON
alkej-710	31	2	introduced	introduce	VERB
alkej-710	31	3	a	a	DET
alkej-710	31	4	fuzzy	fuzzy	ADJ
alkej-710	31	5	logic	logic	NOUN
alkej-710	31	6	controller	controller	NOUN
alkej-710	31	7	is	be	AUX
alkej-710	31	8	designed	design	VERB
alkej-710	31	9	to	to	PART
alkej-710	31	10	be	be	AUX
alkej-710	31	11	compared	compare	VERB
alkej-710	31	12	with	with	ADP
alkej-710	31	13	the	the	DET
alkej-710	31	14	self	self	NOUN
alkej-710	31	15	-	-	PUNCT
alkej-710	31	16	tuned	tune	VERB
alkej-710	31	17	pid	pid	NOUN
alkej-710	31	18	controller	controller	NOUN
alkej-710	31	19	also	also	ADV
alkej-710	31	20	they	they	PRON
alkej-710	31	21	used	use	VERB
alkej-710	31	22	aukf	aukf	NOUN
alkej-710	31	23	to	to	PART
alkej-710	31	24	estimate	estimate	VERB
alkej-710	31	25	the	the	DET
alkej-710	31	26	state	state	NOUN
alkej-710	31	27	of	of	ADP
alkej-710	31	28	the	the	DET
alkej-710	31	29	system	system	NOUN
alkej-710	31	30	and	and	CCONJ
alkej-710	31	31	reduce	reduce	VERB
alkej-710	31	32	the	the	DET
alkej-710	31	33	effect	effect	NOUN
alkej-710	31	34	the	the	DET
alkej-710	31	35	noise	noise	NOUN
alkej-710	31	36	on	on	ADP
alkej-710	31	37	it	it	PRON
alkej-710	31	38	.	.	PUNCT
alkej-710	32	1	in	in	ADP
alkej-710	32	2	[	[	X
alkej-710	32	3	11	11	NUM
alkej-710	32	4	]	]	PUNCT
alkej-710	32	5	,	,	PUNCT
alkej-710	32	6	a	a	DET
alkej-710	32	7	stable	stable	ADJ
alkej-710	32	8	gain	gain	NOUN
alkej-710	32	9	scheduling	scheduling	NOUN
alkej-710	32	10	pid	pid	NOUN
alkej-710	32	11	controller	controller	NOUN
alkej-710	32	12	is	be	AUX
alkej-710	32	13	developed	develop	VERB
alkej-710	32	14	based	base	VERB
alkej-710	32	15	on	on	ADP
alkej-710	32	16	the	the	DET
alkej-710	32	17	grid	grid	NOUN
alkej-710	32	18	point	point	NOUN
alkej-710	32	19	concept	concept	NOUN
alkej-710	32	20	for	for	ADP
alkej-710	32	21	nonlinear	nonlinear	ADJ
alkej-710	32	22	systems	system	NOUN
alkej-710	32	23	.	.	PUNCT
alkej-710	33	1	the	the	DET
alkej-710	33	2	autopilot	autopilot	NOUN
alkej-710	33	3	controller	controller	NOUN
alkej-710	33	4	has	have	VERB
alkej-710	33	5	a	a	DET
alkej-710	33	6	high	high	ADJ
alkej-710	33	7	accuracy	accuracy	NOUN
alkej-710	33	8	of	of	ADP
alkej-710	33	9	the	the	DET
alkej-710	33	10	tracking	tracking	NOUN
alkej-710	33	11	path	path	NOUN
alkej-710	33	12	,	,	PUNCT
alkej-710	33	13	and	and	CCONJ
alkej-710	33	14	the	the	DET
alkej-710	33	15	robustness	robustness	NOUN
alkej-710	33	16	with	with	ADP
alkej-710	33	17	respect	respect	NOUN
alkej-710	33	18	to	to	ADP
alkej-710	33	19	environmental	environmental	ADJ
alkej-710	33	20	disturbances	disturbance	NOUN
alkej-710	33	21	and	and	CCONJ
alkej-710	33	22	especially	especially	ADV
alkej-710	33	23	winds	wind	NOUN
alkej-710	33	24	.	.	PUNCT
alkej-710	34	1	the	the	DET
alkej-710	34	2	small	small	ADJ
alkej-710	34	3	uavs	uavs	NOUN
alkej-710	34	4	are	be	AUX
alkej-710	34	5	sensitive	sensitive	ADJ
alkej-710	34	6	to	to	ADP
alkej-710	34	7	wind	wind	NOUN
alkej-710	34	8	disturbance	disturbance	NOUN
alkej-710	34	9	,	,	PUNCT
alkej-710	34	10	since	since	SCONJ
alkej-710	34	11	its	its	PRON
alkej-710	34	12	magnitude	magnitude	NOUN
alkej-710	34	13	may	may	AUX
alkej-710	34	14	be	be	AUX
alkej-710	34	15	comparable	comparable	ADJ
alkej-710	34	16	to	to	ADP
alkej-710	34	17	the	the	DET
alkej-710	34	18	uavs	uavs	NOUN
alkej-710	34	19	speed	speed	NOUN
alkej-710	35	1	[	[	X
alkej-710	35	2	12	12	NUM
alkej-710	35	3	]	]	PUNCT
alkej-710	35	4	.	.	PUNCT
alkej-710	36	1	the	the	DET
alkej-710	36	2	author	author	NOUN
alkej-710	36	3	malik	malik	PROPN
alkej-710	36	4	m.	m.	PROPN
alkej-710	36	5	a.	a.	PROPN
alkej-710	36	6	al	al	PROPN
alkej-710	36	7	-	-	PUNCT
alkej-710	36	8	isawi	isawi	PROPN
alkej-710	36	9	al	al	PROPN
alkej-710	36	10	-	-	PUNCT
alkej-710	36	11	khwarizmi	khwarizmi	PROPN
alkej-710	36	12	engineering	engineering	NOUN
alkej-710	36	13	journal	journal	PROPN
alkej-710	36	14	,	,	PUNCT
alkej-710	36	15	vol	vol	NOUN
alkej-710	36	16	.	.	PROPN
alkej-710	36	17	16	16	NUM
alkej-710	36	18	,	,	PUNCT
alkej-710	36	19	no	no	INTJ
alkej-710	36	20	.	.	NOUN
alkej-710	36	21	3	3	NUM
alkej-710	36	22	,	,	PUNCT
alkej-710	36	23	p.p	p.p	PROPN
alkej-710	36	24	.	.	NOUN
alkej-710	36	25	4353	4353	NUM
alkej-710	36	26	(	(	PUNCT
alkej-710	36	27	2020	2020	NUM
alkej-710	36	28	)	)	PUNCT
alkej-710	36	29	44	44	NUM
alkej-710	37	1	[	[	SYM
alkej-710	37	2	13	13	NUM
alkej-710	37	3	]	]	PUNCT
alkej-710	37	4	presents	present	VERB
alkej-710	37	5	self	self	NOUN
alkej-710	37	6	-	-	PUNCT
alkej-710	37	7	tuning	tune	VERB
alkej-710	37	8	pid	pid	NOUN
alkej-710	37	9	controller	controller	NOUN
alkej-710	37	10	method	method	NOUN
alkej-710	37	11	based	base	VERB
alkej-710	37	12	on	on	ADP
alkej-710	37	13	neural	neural	ADJ
alkej-710	37	14	network	network	NOUN
alkej-710	37	15	is	be	AUX
alkej-710	37	16	proposed	propose	VERB
alkej-710	37	17	.	.	PUNCT
alkej-710	38	1	this	this	DET
alkej-710	38	2	method	method	ADJ
alkej-710	38	3	single	single	ADJ
alkej-710	38	4	layer	layer	NOUN
alkej-710	38	5	neural	neural	ADJ
alkej-710	38	6	network	network	NOUN
alkej-710	38	7	to	to	PART
alkej-710	38	8	get	get	VERB
alkej-710	38	9	the	the	DET
alkej-710	38	10	pid	pid	NOUN
alkej-710	38	11	gains	gain	NOUN
alkej-710	38	12	.	.	PUNCT
alkej-710	39	1	the	the	DET
alkej-710	39	2	fuzzy	fuzzy	ADJ
alkej-710	39	3	pid	pid	NOUN
alkej-710	39	4	controller	controller	NOUN
alkej-710	39	5	is	be	AUX
alkej-710	39	6	developed	develop	VERB
alkej-710	39	7	to	to	PART
alkej-710	39	8	improve	improve	VERB
alkej-710	39	9	the	the	DET
alkej-710	39	10	performance	performance	NOUN
alkej-710	39	11	of	of	ADP
alkej-710	39	12	the	the	DET
alkej-710	39	13	longitudinal	longitudinal	ADJ
alkej-710	39	14	motion	motion	NOUN
alkej-710	39	15	(	(	PUNCT
alkej-710	39	16	pitch	pitch	NOUN
alkej-710	39	17	control	control	NOUN
alkej-710	39	18	)	)	PUNCT
alkej-710	39	19	of	of	ADP
alkej-710	39	20	the	the	DET
alkej-710	39	21	aircraft	aircraft	NOUN
alkej-710	39	22	[	[	X
alkej-710	39	23	14	14	NUM
alkej-710	39	24	]	]	PUNCT
alkej-710	39	25	.	.	PUNCT
alkej-710	40	1	this	this	DET
alkej-710	40	2	paper	paper	NOUN
alkej-710	40	3	focuses	focus	VERB
alkej-710	40	4	on	on	ADP
alkej-710	40	5	how	how	SCONJ
alkej-710	40	6	to	to	PART
alkej-710	40	7	combine	combine	VERB
alkej-710	40	8	both	both	DET
alkej-710	40	9	advantages	advantage	NOUN
alkej-710	40	10	of	of	ADP
alkej-710	40	11	fuzzy	fuzzy	ADJ
alkej-710	40	12	control	control	NOUN
alkej-710	40	13	and	and	CCONJ
alkej-710	40	14	pid	pid	NOUN
alkej-710	40	15	control	control	NOUN
alkej-710	40	16	so	so	SCONJ
alkej-710	40	17	that	that	SCONJ
alkej-710	40	18	the	the	DET
alkej-710	40	19	dynamic	dynamic	ADJ
alkej-710	40	20	performance	performance	NOUN
alkej-710	40	21	,	,	PUNCT
alkej-710	40	22	far	far	ADV
alkej-710	40	23	away	away	ADV
alkej-710	40	24	from	from	ADP
alkej-710	40	25	the	the	DET
alkej-710	40	26	design	design	NOUN
alkej-710	40	27	point	point	NOUN
alkej-710	40	28	,	,	PUNCT
alkej-710	40	29	can	can	AUX
alkej-710	40	30	be	be	AUX
alkej-710	40	31	improved	improve	VERB
alkej-710	40	32	[	[	X
alkej-710	40	33	15	15	NUM
alkej-710	40	34	]	]	PUNCT
alkej-710	40	35	.	.	PUNCT
alkej-710	41	1	the	the	DET
alkej-710	41	2	longitudinal	longitudinal	ADJ
alkej-710	41	3	model	model	NOUN
alkej-710	41	4	of	of	ADP
alkej-710	41	5	the	the	DET
alkej-710	41	6	unmanned	unmanned	ADJ
alkej-710	41	7	aerial	aerial	ADJ
alkej-710	41	8	vehicle	vehicle	NOUN
alkej-710	41	9	(	(	PUNCT
alkej-710	41	10	uav	uav	PROPN
alkej-710	41	11	)	)	PUNCT
alkej-710	41	12	is	be	AUX
alkej-710	41	13	established	establish	VERB
alkej-710	41	14	and	and	CCONJ
alkej-710	41	15	control	control	NOUN
alkej-710	41	16	using	use	VERB
alkej-710	41	17	fuzzy	fuzzy	ADJ
alkej-710	41	18	pid	pid	NOUN
alkej-710	42	1	[	[	X
alkej-710	42	2	16	16	NUM
alkej-710	42	3	]	]	PUNCT
alkej-710	42	4	.	.	PUNCT
alkej-710	43	1	the	the	DET
alkej-710	43	2	control	control	NOUN
alkej-710	43	3	strategies	strategy	NOUN
alkej-710	43	4	include	include	VERB
alkej-710	43	5	the	the	DET
alkej-710	43	6	velocity	velocity	NOUN
alkej-710	43	7	loop	loop	NOUN
alkej-710	43	8	(	(	PUNCT
alkej-710	43	9	inner	inner	ADJ
alkej-710	43	10	loop	loop	NOUN
alkej-710	43	11	)	)	PUNCT
alkej-710	43	12	and	and	CCONJ
alkej-710	43	13	the	the	DET
alkej-710	43	14	height	height	NOUN
alkej-710	43	15	loop	loop	NOUN
alkej-710	43	16	(	(	PUNCT
alkej-710	43	17	outer	outer	ADJ
alkej-710	43	18	loop	loop	NOUN
alkej-710	43	19	)	)	PUNCT
alkej-710	43	20	.	.	PUNCT
alkej-710	44	1	the	the	DET
alkej-710	44	2	authors	author	NOUN
alkej-710	44	3	[	[	X
alkej-710	44	4	17	17	NUM
alkej-710	44	5	]	]	PUNCT
alkej-710	44	6	present	present	VERB
alkej-710	44	7	a	a	DET
alkej-710	44	8	comparison	comparison	NOUN
alkej-710	44	9	between	between	ADP
alkej-710	44	10	different	different	ADJ
alkej-710	44	11	controllers	controller	NOUN
alkej-710	44	12	used	use	VERB
alkej-710	44	13	with	with	ADP
alkej-710	44	14	a	a	DET
alkej-710	44	15	dynamic	dynamic	ADJ
alkej-710	44	16	model	model	NOUN
alkej-710	44	17	of	of	ADP
alkej-710	44	18	a	a	DET
alkej-710	44	19	quadcopter	quadcopter	NOUN
alkej-710	44	20	platform	platform	NOUN
alkej-710	44	21	.	.	PUNCT
alkej-710	45	1	these	these	DET
alkej-710	45	2	controllers	controller	NOUN
alkej-710	45	3	are	be	AUX
alkej-710	45	4	an	an	DET
alkej-710	45	5	itae	itae	NOUN
alkej-710	45	6	tuned	tune	VERB
alkej-710	45	7	pid	pid	NOUN
alkej-710	45	8	,	,	PUNCT
alkej-710	45	9	a	a	DET
alkej-710	45	10	classic	classic	ADJ
alkej-710	45	11	lqr	lqr	NOUN
alkej-710	45	12	controller	controller	NOUN
alkej-710	45	13	,	,	PUNCT
alkej-710	45	14	and	and	CCONJ
alkej-710	45	15	a	a	DET
alkej-710	45	16	pid	pid	NOUN
alkej-710	45	17	tuned	tune	VERB
alkej-710	45	18	with	with	ADP
alkej-710	45	19	an	an	DET
alkej-710	45	20	lqr	lqr	PROPN
alkej-710	45	21	loop	loop	NOUN
alkej-710	45	22	.	.	PUNCT
alkej-710	46	1	the	the	DET
alkej-710	46	2	conventional	conventional	ADJ
alkej-710	46	3	lqr	lqr	NOUN
alkej-710	46	4	method	method	NOUN
alkej-710	46	5	present	present	ADJ
alkej-710	46	6	in	in	ADP
alkej-710	46	7	[	[	X
alkej-710	46	8	18	18	NUM
alkej-710	46	9	]	]	PUNCT
alkej-710	46	10	has	have	AUX
alkej-710	46	11	effectively	effectively	ADV
alkej-710	46	12	solved	solve	VERB
alkej-710	46	13	the	the	DET
alkej-710	46	14	problems	problem	NOUN
alkej-710	46	15	that	that	PRON
alkej-710	46	16	fixed	fix	VERB
alkej-710	46	17	-	-	PUNCT
alkej-710	46	18	wing	wing	NOUN
alkej-710	46	19	uav	uav	PROPN
alkej-710	46	20	is	be	AUX
alkej-710	46	21	disturbed	disturb	VERB
alkej-710	46	22	by	by	ADP
alkej-710	46	23	air	air	NOUN
alkej-710	46	24	current	current	PROPN
alkej-710	46	25	easily	easily	ADV
alkej-710	46	26	and	and	CCONJ
alkej-710	46	27	has	have	VERB
alkej-710	46	28	poor	poor	ADJ
alkej-710	46	29	flight	flight	NOUN
alkej-710	46	30	stability	stability	NOUN
alkej-710	46	31	.	.	PUNCT
alkej-710	47	1	the	the	DET
alkej-710	47	2	longitudinal	longitudinal	ADJ
alkej-710	47	3	control	control	NOUN
alkej-710	47	4	for	for	ADP
alkej-710	47	5	the	the	DET
alkej-710	47	6	flying	fly	VERB
alkej-710	47	7	wing	wing	NOUN
alkej-710	47	8	uav	uav	PROPN
alkej-710	47	9	based	base	VERB
alkej-710	47	10	on	on	ADP
alkej-710	47	11	lqr	lqr	NOUN
alkej-710	47	12	can	can	AUX
alkej-710	47	13	make	make	VERB
alkej-710	47	14	the	the	DET
alkej-710	47	15	flying	fly	VERB
alkej-710	47	16	wing	wing	NOUN
alkej-710	47	17	uav	uav	PROPN
alkej-710	47	18	achieves	achieve	VERB
alkej-710	47	19	satisfactory	satisfactory	ADJ
alkej-710	47	20	longitudinal	longitudinal	ADJ
alkej-710	47	21	flying	fly	VERB
alkej-710	47	22	qualities	quality	NOUN
alkej-710	47	23	[	[	X
alkej-710	47	24	19	19	NUM
alkej-710	47	25	]	]	PUNCT
alkej-710	47	26	.	.	PUNCT
alkej-710	48	1	the	the	DET
alkej-710	48	2	authors	author	NOUN
alkej-710	48	3	presented	present	VERB
alkej-710	48	4	a	a	DET
alkej-710	48	5	studying	study	VERB
alkej-710	48	6	the	the	DET
alkej-710	48	7	control	control	NOUN
alkej-710	48	8	of	of	ADP
alkej-710	48	9	the	the	DET
alkej-710	48	10	vertical	vertical	ADJ
alkej-710	48	11	moving	move	VERB
alkej-710	48	12	for	for	ADP
alkej-710	48	13	uav	uav	PROPN
alkej-710	48	14	under	under	ADP
alkej-710	48	15	pid	pid	PROPN
alkej-710	48	16	,	,	PUNCT
alkej-710	48	17	lqr	lqr	PROPN
alkej-710	48	18	,	,	PUNCT
alkej-710	48	19	fuzzy	fuzzy	ADJ
alkej-710	48	20	control	control	NOUN
alkej-710	48	21	,	,	PUNCT
alkej-710	48	22	and	and	CCONJ
alkej-710	48	23	self	self	NOUN
alkej-710	48	24	-	-	PUNCT
alkej-710	48	25	tuning	tune	VERB
alkej-710	48	26	fuzzy	fuzzy	ADJ
alkej-710	48	27	pid	pid	NOUN
alkej-710	48	28	.	.	PUNCT
alkej-710	49	1	they	they	PRON
alkej-710	49	2	have	have	AUX
alkej-710	49	3	investigated	investigate	VERB
alkej-710	49	4	the	the	DET
alkej-710	49	5	controller	controller	NOUN
alkej-710	49	6	's	's	PART
alkej-710	49	7	effectiveness	effectiveness	NOUN
alkej-710	49	8	on	on	ADP
alkej-710	49	9	the	the	DET
alkej-710	49	10	state	state	NOUN
alkej-710	49	11	of	of	ADP
alkej-710	49	12	vertical	vertical	ADJ
alkej-710	49	13	motion	motion	PROPN
alkej-710	49	14	uav	uav	PROPN
alkej-710	50	1	[	[	X
alkej-710	50	2	20	20	NUM
alkej-710	50	3	]	]	PUNCT
alkej-710	50	4	.	.	PUNCT
alkej-710	51	1	a	a	DET
alkej-710	51	2	plqr	plqr	NOUN
alkej-710	51	3	controller	controller	NOUN
alkej-710	51	4	is	be	AUX
alkej-710	51	5	presented	present	VERB
alkej-710	51	6	to	to	PART
alkej-710	51	7	investigate	investigate	VERB
alkej-710	51	8	the	the	DET
alkej-710	51	9	longitudinal	longitudinal	ADJ
alkej-710	51	10	motion	motion	NOUN
alkej-710	51	11	control	control	NOUN
alkej-710	51	12	of	of	ADP
alkej-710	51	13	uav	uav	PROPN
alkej-710	51	14	.	.	PUNCT
alkej-710	52	1	this	this	DET
alkej-710	52	2	controller	controller	NOUN
alkej-710	52	3	is	be	AUX
alkej-710	52	4	explained	explain	VERB
alkej-710	52	5	and	and	CCONJ
alkej-710	52	6	compared	compare	VERB
alkej-710	52	7	with	with	ADP
alkej-710	52	8	pid	pid	NOUN
alkej-710	52	9	and	and	CCONJ
alkej-710	52	10	lqr	lqr	PROPN
alkej-710	52	11	controllers	controller	NOUN
alkej-710	52	12	[	[	X
alkej-710	52	13	21	21	NUM
alkej-710	52	14	]	]	PUNCT
alkej-710	52	15	.	.	PUNCT
alkej-710	53	1	the	the	DET
alkej-710	53	2	robust	robust	ADJ
alkej-710	53	3	control	control	NOUN
alkej-710	53	4	is	be	AUX
alkej-710	53	5	presented	present	VERB
alkej-710	53	6	in	in	ADP
alkej-710	53	7	[	[	X
alkej-710	53	8	22	22	NUM
alkej-710	53	9	]	]	PUNCT
alkej-710	53	10	.	.	PUNCT
alkej-710	54	1	a	a	DET
alkej-710	54	2	cmmac	cmmac	NOUN
alkej-710	54	3	(	(	PUNCT
alkej-710	54	4	classical	classical	ADJ
alkej-710	54	5	multiple	multiple	ADJ
alkej-710	54	6	model	model	NOUN
alkej-710	54	7	adaptive	adaptive	PROPN
alkej-710	54	8	control	control	NOUN
alkej-710	54	9	)	)	PUNCT
alkej-710	54	10	has	have	AUX
alkej-710	54	11	implemented	implement	VERB
alkej-710	54	12	for	for	ADP
alkej-710	54	13	tracking	track	VERB
alkej-710	54	14	the	the	DET
alkej-710	54	15	performance	performance	NOUN
alkej-710	54	16	of	of	ADP
alkej-710	54	17	quadrotor	quadrotor	NOUN
alkej-710	54	18	helicopter	helicopter	NOUN
alkej-710	54	19	against	against	ADP
alkej-710	54	20	the	the	DET
alkej-710	54	21	linearization	linearization	NOUN
alkej-710	54	22	model	model	NOUN
alkej-710	54	23	error	error	NOUN
alkej-710	54	24	and	and	CCONJ
alkej-710	54	25	uncertainties	uncertainty	NOUN
alkej-710	54	26	.	.	PUNCT
alkej-710	55	1	a	a	DET
alkej-710	55	2	robust	robust	ADJ
alkej-710	55	3	controller	controller	NOUN
alkej-710	55	4	on	on	ADP
alkej-710	55	5	an	an	DET
alkej-710	55	6	aerial	aerial	ADJ
alkej-710	55	7	manipulator	manipulator	NOUN
alkej-710	55	8	is	be	AUX
alkej-710	55	9	presented	present	VERB
alkej-710	55	10	[	[	X
alkej-710	55	11	23	23	NUM
alkej-710	55	12	]	]	PUNCT
alkej-710	55	13	.	.	PUNCT
alkej-710	56	1	this	this	DET
alkej-710	56	2	controller	controller	NOUN
alkej-710	56	3	can	can	AUX
alkej-710	56	4	track	track	VERB
alkej-710	56	5	the	the	DET
alkej-710	56	6	error	error	NOUN
alkej-710	56	7	in	in	ADP
alkej-710	56	8	the	the	DET
alkej-710	56	9	external	external	ADJ
alkej-710	56	10	disturbance	disturbance	NOUN
alkej-710	56	11	and	and	CCONJ
alkej-710	56	12	also	also	ADV
alkej-710	56	13	,	,	PUNCT
alkej-710	56	14	the	the	DET
alkej-710	56	15	stability	stability	NOUN
alkej-710	56	16	is	be	AUX
alkej-710	56	17	proved	prove	VERB
alkej-710	56	18	.	.	PUNCT
alkej-710	57	1	the	the	DET
alkej-710	57	2	main	main	ADJ
alkej-710	57	3	objective	objective	NOUN
alkej-710	57	4	of	of	ADP
alkej-710	57	5	this	this	DET
alkej-710	57	6	paper	paper	NOUN
alkej-710	57	7	is	be	AUX
alkej-710	57	8	to	to	PART
alkej-710	57	9	introduce	introduce	VERB
alkej-710	57	10	a	a	DET
alkej-710	57	11	more	more	ADV
alkej-710	57	12	robust	robust	ADJ
alkej-710	57	13	controller	controller	NOUN
alkej-710	57	14	schema	schema	NOUN
alkej-710	57	15	and	and	CCONJ
alkej-710	57	16	a	a	DET
alkej-710	57	17	more	more	ADV
alkej-710	57	18	distinctive	distinctive	ADJ
alkej-710	57	19	gain	gain	NOUN
alkej-710	57	20	tuning	tune	VERB
alkej-710	57	21	procedure	procedure	NOUN
alkej-710	57	22	.	.	PUNCT
alkej-710	58	1	the	the	DET
alkej-710	58	2	controller	controller	NOUN
alkej-710	58	3	must	must	AUX
alkej-710	58	4	provide	provide	VERB
alkej-710	58	5	a	a	DET
alkej-710	58	6	reference	reference	NOUN
alkej-710	58	7	signal	signal	NOUN
alkej-710	58	8	for	for	ADP
alkej-710	58	9	altitude	altitude	NOUN
alkej-710	58	10	and	and	CCONJ
alkej-710	58	11	airspeed	airspeed	NOUN
alkej-710	58	12	.	.	PUNCT
alkej-710	59	1	a	a	DET
alkej-710	59	2	dual	dual	ADJ
alkej-710	59	3	fuzzy	fuzzy	ADJ
alkej-710	59	4	pid	pid	NOUN
alkej-710	59	5	and	and	CCONJ
alkej-710	59	6	lqr	lqr	PROPN
alkej-710	59	7	controllers	controller	NOUN
alkej-710	59	8	are	be	AUX
alkej-710	59	9	proposed	propose	VERB
alkej-710	59	10	in	in	ADP
alkej-710	59	11	this	this	DET
alkej-710	59	12	work	work	NOUN
alkej-710	59	13	to	to	PART
alkej-710	59	14	analyze	analyze	VERB
alkej-710	59	15	the	the	DET
alkej-710	59	16	effectiveness	effectiveness	NOUN
alkej-710	59	17	of	of	ADP
alkej-710	59	18	the	the	DET
alkej-710	59	19	control	control	NOUN
alkej-710	59	20	designs	design	NOUN
alkej-710	59	21	.	.	PUNCT
alkej-710	60	1	the	the	DET
alkej-710	60	2	corresponding	corresponding	ADJ
alkej-710	60	3	evaluation	evaluation	NOUN
alkej-710	60	4	of	of	ADP
alkej-710	60	5	the	the	DET
alkej-710	60	6	system	system	NOUN
alkej-710	60	7	performance	performance	NOUN
alkej-710	60	8	is	be	AUX
alkej-710	60	9	presented	present	VERB
alkej-710	60	10	.	.	PUNCT
alkej-710	61	1	2	2	X
alkej-710	61	2	.	.	X
alkej-710	61	3	mathematical	mathematical	ADJ
alkej-710	61	4	model	model	NOUN
alkej-710	61	5	of	of	ADP
alkej-710	61	6	a	a	DET
alkej-710	61	7	uav	uav	PROPN
alkej-710	61	8	the	the	DET
alkej-710	61	9	equation	equation	NOUN
alkej-710	61	10	of	of	ADP
alkej-710	61	11	motion	motion	NOUN
alkej-710	61	12	for	for	ADP
alkej-710	61	13	a	a	DET
alkej-710	61	14	uav	uav	PROPN
alkej-710	61	15	can	can	AUX
alkej-710	61	16	be	be	AUX
alkej-710	61	17	divided	divide	VERB
alkej-710	61	18	into	into	ADP
alkej-710	61	19	longitudinal	longitudinal	ADJ
alkej-710	61	20	and	and	CCONJ
alkej-710	61	21	lateral	lateral	ADJ
alkej-710	61	22	movement	movement	NOUN
alkej-710	61	23	.	.	PUNCT
alkej-710	62	1	the	the	DET
alkej-710	62	2	platform	platform	NOUN
alkej-710	62	3	of	of	ADP
alkej-710	62	4	cessna	cessna	NOUN
alkej-710	62	5	172	172	NUM
alkej-710	62	6	can	can	AUX
alkej-710	62	7	show	show	VERB
alkej-710	62	8	in	in	ADP
alkej-710	62	9	fig	fig	NOUN
alkej-710	62	10	.	.	PUNCT
alkej-710	63	1	1	1	X
alkej-710	63	2	.	.	PUNCT
alkej-710	63	3	the	the	DET
alkej-710	63	4	only	only	ADJ
alkej-710	63	5	motion	motion	NOUN
alkej-710	63	6	control	control	NOUN
alkej-710	63	7	considered	consider	VERB
alkej-710	63	8	in	in	ADP
alkej-710	63	9	this	this	DET
alkej-710	63	10	paper	paper	NOUN
alkej-710	63	11	is	be	AUX
alkej-710	63	12	longitudinal	longitudinal	ADJ
alkej-710	63	13	.	.	PUNCT
alkej-710	64	1	this	this	DET
alkej-710	64	2	model	model	NOUN
alkej-710	64	3	can	can	AUX
alkej-710	64	4	be	be	AUX
alkej-710	64	5	obtained	obtain	VERB
alkej-710	64	6	based	base	VERB
alkej-710	64	7	on	on	ADP
alkej-710	64	8	the	the	DET
alkej-710	64	9	linearization	linearization	NOUN
alkej-710	64	10	of	of	ADP
alkej-710	64	11	the	the	DET
alkej-710	64	12	equations	equation	NOUN
alkej-710	64	13	in	in	ADP
alkej-710	64	14	steady	steady	ADJ
alkej-710	64	15	level	level	NOUN
alkej-710	64	16	flight	flight	NOUN
alkej-710	64	17	.	.	PUNCT
alkej-710	65	1	the	the	DET
alkej-710	65	2	longitudinal	longitudinal	ADJ
alkej-710	65	3	dynamics	dynamic	NOUN
alkej-710	65	4	are	be	AUX
alkej-710	65	5	the	the	DET
alkej-710	65	6	response	response	NOUN
alkej-710	65	7	of	of	ADP
alkej-710	65	8	the	the	DET
alkej-710	65	9	aircraft	aircraft	NOUN
alkej-710	65	10	along	along	ADP
alkej-710	65	11	the	the	DET
alkej-710	65	12	pitch	pitch	NOUN
alkej-710	65	13	axis	axis	NOUN
alkej-710	65	14	,	,	PUNCT
alkej-710	65	15	as	as	SCONJ
alkej-710	65	16	expressed	express	VERB
alkej-710	65	17	in	in	ADP
alkej-710	65	18	the	the	DET
alkej-710	65	19	following	follow	VERB
alkej-710	65	20	eqn	eqn	NOUN
alkej-710	65	21	.	.	PUNCT
alkej-710	65	22	1	1	NUM
alkej-710	66	1	[	[	X
alkej-710	66	2	24	24	NUM
alkej-710	66	3	,	,	PUNCT
alkej-710	66	4	25	25	NUM
alkej-710	66	5	]	]	NOUN
alkej-710	66	6	:	:	PUNCT
alkej-710	66	7	�	�	PROPN
alkej-710	66	8	�	�	PROPN
alkej-710	66	9	�	�	PROPN
alkej-710	66	10	�	�	PROPN
alkej-710	66	11	�	�	PROPN
alkej-710	66	12	�	�	PROPN
alkej-710	66	13	�	�	PROPN
alkej-710	66	14	�	�	PROPN
alkej-710	66	15	�	�	PROPN
alkej-710	66	16	…	…	PUNCT
alkej-710	66	17	(	(	PUNCT
alkej-710	66	18	1	1	NUM
alkej-710	66	19	)	)	PUNCT
alkej-710	67	1	where	where	SCONJ
alkej-710	67	2	�	�	PROPN
alkej-710	67	3	�	�	PROPN
alkej-710	67	4	�	�	PROPN
alkej-710	67	5	�	�	PROPN
alkej-710	67	6	�	�	PROPN
alkej-710	67	7	�	�	PROPN
alkej-710	67	8	�	�	PROPN
alkej-710	67	9	�	�	PROPN
alkej-710	67	10	�	�	PROPN
alkej-710	67	11	0	0	NUM
alkej-710	67	12	0	0	NUM
alkej-710	67	13	0	0	SYM
alkej-710	67	14	0	0	NUM
alkej-710	67	15	�	�	PROPN
alkej-710	67	16	�	�	PROPN
alkej-710	67	17	�	�	PROPN
alkej-710	67	18	�	�	PROPN
alkej-710	67	19	�	�	PROPN
alkej-710	67	20	�	�	PROPN
alkej-710	67	21	0	0	NUM
alkej-710	67	22	0	0	NUM
alkej-710	67	23	0	0	SYM
alkej-710	67	24	0	0	NUM
alkej-710	67	25	�	�	PROPN
alkej-710	67	26	�	�	PROPN
alkej-710	67	27	�	�	PROPN
alkej-710	67	28	�	�	PROPN
alkej-710	67	29	�	�	PROPN
alkej-710	67	30	�	�	PROPN
alkej-710	67	31	0	0	NUM
alkej-710	67	32	0	0	NUM
alkej-710	67	33	0	0	NUM
alkej-710	67	34	0	0	NUM
alkej-710	67	35	0	0	NUM
alkej-710	67	36	1	1	NUM
alkej-710	67	37	0	0	NUM
alkej-710	67	38	0	0	NUM
alkej-710	67	39	0	0	NUM
alkej-710	67	40	0	0	NUM
alkej-710	67	41	0	0	NUM
alkej-710	67	42	1	1	NUM
alkej-710	67	43	�	�	PROPN
alkej-710	67	44	�	�	PROPN
alkej-710	67	45	�	�	PROPN
alkej-710	67	46	�	�	PROPN
alkej-710	67	47	�	�	PROPN
alkej-710	67	48	,	,	PUNCT
alkej-710	67	49	�	�	PROPN
alkej-710	67	50	�	�	PROPN
alkej-710	67	51	�	�	PROPN
alkej-710	67	52	�	�	PROPN
alkej-710	67	53	�	�	PROPN
alkej-710	67	54	�	�	PROPN
alkej-710	67	55	�	�	PROPN
alkej-710	67	56	�	�	PROPN
alkej-710	67	57	�	�	PROPN
alkej-710	67	58	�	�	PROPN
alkej-710	67	59	�	�	PROPN
alkej-710	67	60	�	�	PROPN
alkej-710	67	61	�	�	PROPN
alkej-710	67	62	�	�	PROPN
alkej-710	67	63	�	�	PROPN
alkej-710	67	64	�	�	PROPN
alkej-710	67	65	�	�	PROPN
alkej-710	67	66	�	�	PROPN
alkej-710	67	67	�	�	PROPN
alkej-710	67	68	"	"	PUNCT
alkej-710	67	69	#	#	SYM
alkej-710	67	70	$	$	NUM
alkej-710	67	71	%	%	NOUN
alkej-710	67	72	�	�	PROPN
alkej-710	67	73	0	0	NUM
alkej-710	67	74	�	�	PROPN
alkej-710	67	75	�	�	PROPN
alkej-710	67	76	�	�	PROPN
alkej-710	67	77	�	�	PROPN
alkej-710	67	78	�	�	PROPN
alkej-710	67	79	�	�	PROPN
alkej-710	67	80	�	�	PROPN
alkej-710	67	81	�	�	PROPN
alkej-710	67	82	&	&	CCONJ
alkej-710	67	83	�	�	PROPN
alkej-710	67	84	�	�	PROPN
alkej-710	67	85	�	�	PROPN
alkej-710	67	86	$	$	SYM
alkej-710	67	87	'	'	PUNCT
alkej-710	67	88	(	(	PUNCT
alkej-710	67	89	%	%	NOUN
alkej-710	67	90	�	�	PROPN
alkej-710	67	91	0	0	NUM
alkej-710	67	92	�	�	PROPN
alkej-710	67	93	�	�	PROPN
alkej-710	67	94	�	�	PROPN
alkej-710	67	95	0	0	NUM
alkej-710	67	96	0	0	NUM
alkej-710	67	97	0	0	NUM
alkej-710	67	98	0	0	NUM
alkej-710	67	99	1	1	NUM
alkej-710	67	100	0	0	NUM
alkej-710	67	101	0	0	NUM
alkej-710	67	102	�	�	PROPN
alkej-710	67	103	$	$	SYM
alkej-710	67	104	'	'	NUM
alkej-710	67	105	(	(	PUNCT
alkej-710	67	106	%	%	INTJ
alkej-710	67	107	�	�	PROPN
alkej-710	67	108	�	�	PROPN
alkej-710	67	109	"	"	PUNCT
alkej-710	67	110	#	#	SYM
alkej-710	67	111	$	$	NUM
alkej-710	67	112	%	%	NOUN
alkej-710	67	113	�	�	PROPN
alkej-710	67	114	0	0	NUM
alkej-710	67	115	&	&	CCONJ
alkej-710	67	116	�	�	PROPN
alkej-710	67	117	sin	sin	PROPN
alkej-710	67	118	�	�	PROPN
alkej-710	67	119	%	%	NOUN
alkej-710	67	120	�	�	PROPN
alkej-710	67	121	�	�	PROPN
alkej-710	67	122	�	�	PROPN
alkej-710	67	123	�	�	PROPN
alkej-710	67	124	�	�	PROPN
alkej-710	67	125	cos	cos	PROPN
alkej-710	67	126	�	�	PROPN
alkej-710	67	127	%	%	PROPN
alkej-710	67	128	�	�	PROPN
alkej-710	67	129	�	�	PROPN
alkej-710	67	130	0	0	NUM
alkej-710	67	131	�	�	PROPN
alkej-710	67	132	�	�	PROPN
alkej-710	67	133	�	�	PROPN
alkej-710	67	134	�	�	PROPN
alkej-710	67	135	�	�	PROPN
alkej-710	67	136	�	�	PROPN
alkej-710	67	137	,	,	PUNCT
alkej-710	67	138	.	.	PUNCT
alkej-710	67	139	�	�	PROPN
alkej-710	67	140	�	�	PROPN
alkej-710	67	141	�	�	PROPN
alkej-710	67	142	�	�	PROPN
alkej-710	67	143	�	�	PROPN
alkej-710	67	144	�	�	PROPN
alkej-710	67	145	/	/	SYM
alkej-710	67	146	�	�	PROPN
alkej-710	67	147	�	�	PROPN
alkej-710	67	148	0	0	NUM
alkej-710	67	149	�	�	PROPN
alkej-710	67	150	/	/	SYM
alkej-710	67	151	�	�	PROPN
alkej-710	67	152	�	�	PROPN
alkej-710	67	153	0	0	NUM
alkej-710	67	154	/	/	SYM
alkej-710	67	155	�	�	PROPN
alkej-710	67	156	0	0	NUM
alkej-710	67	157	0	0	NUM
alkej-710	67	158	0	0	NUM
alkej-710	67	159	0	0	SYM
alkej-710	67	160	0	0	NUM
alkej-710	67	161	�	�	PROPN
alkej-710	67	162	�	�	PROPN
alkej-710	67	163	�	�	PROPN
alkej-710	67	164	�	�	PROPN
alkej-710	67	165	�	�	PROPN
alkej-710	67	166	where	where	SCONJ
alkej-710	67	167	,	,	PUNCT
alkej-710	67	168	the	the	DET
alkej-710	67	169	state	state	NOUN
alkej-710	67	170	vector	vector	NOUN
alkej-710	67	171	x	x	PROPN
alkej-710	67	172	t	t	PROPN
alkej-710	67	173	is	be	AUX
alkej-710	67	174	[	[	X
alkej-710	67	175	u	u	X
alkej-710	67	176	w	w	PROPN
alkej-710	67	177	q	q	NOUN
alkej-710	67	178	θ	θ	NOUN
alkej-710	67	179	h	h	X
alkej-710	67	180	]	]	X
alkej-710	67	181	in	in	ADP
alkej-710	67	182	the	the	DET
alkej-710	67	183	longitudinal	longitudinal	ADJ
alkej-710	67	184	motion	motion	NOUN
alkej-710	67	185	,	,	PUNCT
alkej-710	67	186	the	the	DET
alkej-710	67	187	mas	mas	PROPN
alkej-710	67	188	is	be	AUX
alkej-710	67	189	m	m	PROPN
alkej-710	67	190	,	,	PUNCT
alkej-710	67	191	a	a	PRON
alkej-710	67	192	is	be	AUX
alkej-710	67	193	the	the	DET
alkej-710	67	194	system	system	NOUN
alkej-710	67	195	transition	transition	NOUN
alkej-710	67	196	matrix	matrix	NOUN
alkej-710	67	197	,	,	PUNCT
alkej-710	67	198	the	the	DET
alkej-710	67	199	control	control	NOUN
alkej-710	67	200	matrix	matrix	NOUN
alkej-710	67	201	is	be	AUX
alkej-710	67	202	b	b	NOUN
alkej-710	67	203	,	,	PUNCT
alkej-710	67	204	the	the	DET
alkej-710	67	205	input	input	NOUN
alkej-710	67	206	vector	vector	PROPN
alkej-710	67	207	ut	ut	PROPN
alkej-710	67	208	is	be	AUX
alkej-710	67	209	[	[	X
alkej-710	67	210	de	de	X
alkej-710	67	211	τ	τ	X
alkej-710	67	212	]	]	X
alkej-710	67	213	,	,	PUNCT
alkej-710	67	214	and	and	CCONJ
alkej-710	67	215	de	de	X
alkej-710	67	216	is	be	AUX
alkej-710	67	217	the	the	DET
alkej-710	67	218	elevator	elevator	NOUN
alkej-710	67	219	and	and	CCONJ
alkej-710	67	220	τ	τ	PROPN
alkej-710	67	221	is	be	AUX
alkej-710	67	222	the	the	DET
alkej-710	67	223	throttle	throttle	NOUN
alkej-710	67	224	control	control	NOUN
alkej-710	67	225	input	input	NOUN
alkej-710	67	226	,	,	PUNCT
alkej-710	67	227	u	u	NOUN
alkej-710	67	228	,	,	PUNCT
alkej-710	67	229	w	w	PROPN
alkej-710	67	230	are	be	AUX
alkej-710	67	231	the	the	DET
alkej-710	67	232	forward	forward	ADJ
alkej-710	67	233	and	and	CCONJ
alkej-710	67	234	vertical	vertical	ADJ
alkej-710	67	235	velocities	velocity	NOUN
alkej-710	67	236	,	,	PUNCT
alkej-710	67	237	q	q	X
alkej-710	67	238	,	,	PUNCT
alkej-710	67	239	θ	θ	PROPN
alkej-710	67	240	,	,	PUNCT
alkej-710	67	241	h	h	PROPN
alkej-710	67	242	are	be	AUX
alkej-710	67	243	the	the	DET
alkej-710	67	244	pitch	pitch	NOUN
alkej-710	67	245	rate	rate	NOUN
alkej-710	67	246	and	and	CCONJ
alkej-710	67	247	pitch	pitch	NOUN
alkej-710	67	248	angles	angle	NOUN
alkej-710	67	249	and	and	CCONJ
alkej-710	67	250	the	the	DET
alkej-710	67	251	altitude	altitude	NOUN
alkej-710	67	252	.	.	PUNCT
alkej-710	68	1	fig	fig	NOUN
alkej-710	68	2	.	.	PUNCT
alkej-710	69	1	1	1	X
alkej-710	69	2	.	.	PUNCT
alkej-710	70	1	the	the	DET
alkej-710	70	2	platform	platform	NOUN
alkej-710	70	3	of	of	ADP
alkej-710	70	4	cessna	cessna	NOUN
alkej-710	70	5	172	172	NUM
alkej-710	71	1	[	[	X
alkej-710	71	2	24	24	NUM
alkej-710	71	3	]	]	PUNCT
alkej-710	71	4	.	.	PUNCT
alkej-710	72	1	3	3	X
alkej-710	72	2	.	.	X
alkej-710	72	3	control	control	NOUN
alkej-710	72	4	system	system	NOUN
alkej-710	72	5	design	design	VERB
alkej-710	72	6	the	the	DET
alkej-710	72	7	airspeed	airspeed	NOUN
alkej-710	72	8	and	and	CCONJ
alkej-710	72	9	altitude	altitude	NOUN
alkej-710	72	10	controllers	controller	NOUN
alkej-710	72	11	of	of	ADP
alkej-710	72	12	the	the	DET
alkej-710	72	13	aircraft	aircraft	NOUN
alkej-710	72	14	are	be	AUX
alkej-710	72	15	significantly	significantly	ADV
alkej-710	72	16	affected	affect	VERB
alkej-710	72	17	by	by	ADP
alkej-710	72	18	the	the	DET
alkej-710	72	19	thrust	thrust	ADJ
alkej-710	72	20	force	force	NOUN
alkej-710	72	21	and	and	CCONJ
alkej-710	72	22	the	the	DET
alkej-710	72	23	control	control	NOUN
alkej-710	72	24	surfaces	surface	NOUN
alkej-710	72	25	.	.	PUNCT
alkej-710	73	1	the	the	DET
alkej-710	73	2	thrust	thrust	ADJ
alkej-710	73	3	force	force	NOUN
alkej-710	73	4	generated	generate	VERB
alkej-710	73	5	by	by	ADP
alkej-710	73	6	the	the	DET
alkej-710	73	7	throttle	throttle	NOUN
alkej-710	73	8	control	control	NOUN
alkej-710	73	9	and	and	CCONJ
alkej-710	73	10	the	the	DET
alkej-710	73	11	control	control	NOUN
alkej-710	73	12	surfaces	surface	NOUN
alkej-710	73	13	is	be	AUX
alkej-710	73	14	adjusted	adjust	VERB
alkej-710	73	15	by	by	ADP
alkej-710	73	16	the	the	DET
alkej-710	73	17	longitudinal	longitudinal	PROPN
alkej-710	73	18	control	control	PROPN
alkej-710	73	19	angle	angle	NOUN
alkej-710	73	20	(	(	PUNCT
alkej-710	73	21	elevator	elevator	NOUN
alkej-710	73	22	)	)	PUNCT
alkej-710	73	23	.	.	PUNCT
alkej-710	74	1	the	the	DET
alkej-710	74	2	controllability	controllability	NOUN
alkej-710	74	3	and	and	CCONJ
alkej-710	74	4	observability	observability	NOUN
alkej-710	74	5	of	of	ADP
alkej-710	74	6	the	the	DET
alkej-710	74	7	system	system	NOUN
alkej-710	74	8	eq	eq	ADJ
alkej-710	74	9	.	.	PUNCT
alkej-710	75	1	(	(	PUNCT
alkej-710	75	2	1	1	X
alkej-710	75	3	)	)	PUNCT
alkej-710	75	4	are	be	AUX
alkej-710	75	5	studied	study	VERB
alkej-710	75	6	based	base	VERB
alkej-710	75	7	on	on	ADP
alkej-710	75	8	the	the	DET
alkej-710	75	9	theory	theory	NOUN
alkej-710	75	10	of	of	ADP
alkej-710	75	11	controllability	controllability	NOUN
alkej-710	75	12	and	and	CCONJ
alkej-710	75	13	observability	observability	NOUN
alkej-710	75	14	as	as	ADP
alkej-710	75	15	following	follow	VERB
alkej-710	75	16	.	.	PUNCT
alkej-710	76	1	malik	malik	PROPN
alkej-710	76	2	m.	m.	PROPN
alkej-710	76	3	a.	a.	PROPN
alkej-710	76	4	al	al	PROPN
alkej-710	76	5	-	-	PUNCT
alkej-710	76	6	isawi	isawi	PROPN
alkej-710	76	7	al	al	PROPN
alkej-710	76	8	-	-	PUNCT
alkej-710	76	9	khwarizmi	khwarizmi	PROPN
alkej-710	76	10	engineering	engineering	NOUN
alkej-710	76	11	journal	journal	PROPN
alkej-710	76	12	,	,	PUNCT
alkej-710	76	13	vol	vol	NOUN
alkej-710	76	14	.	.	PROPN
alkej-710	76	15	16	16	NUM
alkej-710	76	16	,	,	PUNCT
alkej-710	76	17	no	no	INTJ
alkej-710	76	18	.	.	NOUN
alkej-710	76	19	3	3	NUM
alkej-710	76	20	,	,	PUNCT
alkej-710	76	21	p.p	p.p	PROPN
alkej-710	76	22	.	.	NOUN
alkej-710	76	23	4353	4353	NUM
alkej-710	76	24	(	(	PUNCT
alkej-710	76	25	2020	2020	NUM
alkej-710	76	26	)	)	PUNCT
alkej-710	76	27	45	45	NUM
alkej-710	76	28	let	let	VERB
alkej-710	76	29	us	we	PRON
alkej-710	76	30	define	define	VERB
alkej-710	76	31	the	the	DET
alkej-710	76	32	controllability	controllability	NOUN
alkej-710	76	33	matrix	matrix	NOUN
alkej-710	76	34	as	as	ADP
alkej-710	76	35	[	[	X
alkej-710	76	36	26	26	NUM
alkej-710	76	37	]	]	PUNCT
alkej-710	76	38	.	.	PUNCT
alkej-710	77	1	1234	1234	NUM
alkej-710	77	2	�	�	PROPN
alkej-710	77	3	[	[	X
alkej-710	77	4	.	.	PROPN
alkej-710	77	5	�	�	PROPN
alkej-710	77	6	.	.	PUNCT
alkej-710	77	7	�	�	PROPN
alkej-710	77	8	6	6	NUM
alkej-710	77	9	.	.	PUNCT
alkej-710	77	10	…	…	PUNCT
alkej-710	77	11	�	�	PROPN
alkej-710	77	12	289	289	NUM
alkej-710	77	13	.	.	PUNCT
alkej-710	77	14	]	]	PUNCT
alkej-710	78	1	…	…	PUNCT
alkej-710	78	2	(	(	PUNCT
alkej-710	78	3	2	2	NUM
alkej-710	78	4	)	)	PUNCT
alkej-710	78	5	the	the	DET
alkej-710	78	6	matrix	matrix	NOUN
alkej-710	78	7	cntr	cntr	NOUN
alkej-710	78	8	has	have	VERB
alkej-710	78	9	full	full	ADJ
alkej-710	78	10	rank	rank	NOUN
alkej-710	78	11	,	,	PUNCT
alkej-710	78	12	so	so	CCONJ
alkej-710	78	13	the	the	DET
alkej-710	78	14	system	system	NOUN
alkej-710	78	15	is	be	AUX
alkej-710	78	16	controllable	controllable	ADJ
alkej-710	78	17	.	.	PUNCT
alkej-710	79	1	on	on	ADP
alkej-710	79	2	the	the	DET
alkej-710	79	3	other	other	ADJ
alkej-710	79	4	hand	hand	NOUN
alkej-710	79	5	,	,	PUNCT
alkej-710	79	6	the	the	DET
alkej-710	79	7	observability	observability	NOUN
alkej-710	79	8	matrix	matrix	NOUN
alkej-710	79	9	is	be	AUX
alkej-710	79	10	;	;	PUNCT
alkej-710	79	11	<	<	X
alkej-710	79	12	=	=	ADJ
alkej-710	79	13	�	�	PROPN
alkej-710	79	14	�	�	PROPN
alkej-710	79	15	�	�	PROPN
alkej-710	79	16	�	�	PROPN
alkej-710	79	17	�	�	PROPN
alkej-710	79	18	1	1	NUM
alkej-710	79	19	1	1	NUM
alkej-710	79	20	�	�	PROPN
alkej-710	79	21	1	1	NUM
alkej-710	79	22	�	�	PROPN
alkej-710	79	23	6	6	NUM
alkej-710	79	24	⋮	⋮	NOUN
alkej-710	79	25	1	1	NUM
alkej-710	79	26	�	�	PROPN
alkej-710	79	27	289	289	NUM
alkej-710	79	28	�	�	PROPN
alkej-710	79	29	�	�	PROPN
alkej-710	79	30	�	�	PROPN
alkej-710	79	31	�	�	PROPN
alkej-710	79	32	…	…	PUNCT
alkej-710	79	33	(	(	PUNCT
alkej-710	79	34	3	3	NUM
alkej-710	79	35	)	)	PUNCT
alkej-710	79	36	the	the	DET
alkej-710	79	37	matrix	matrix	NOUN
alkej-710	79	38	obse	obse	NOUN
alkej-710	79	39	has	have	VERB
alkej-710	79	40	full	full	ADJ
alkej-710	79	41	rank	rank	NOUN
alkej-710	79	42	,	,	PUNCT
alkej-710	79	43	so	so	CCONJ
alkej-710	79	44	the	the	DET
alkej-710	79	45	system	system	NOUN
alkej-710	79	46	is	be	AUX
alkej-710	79	47	observable	observable	ADJ
alkej-710	79	48	.	.	PUNCT
alkej-710	80	1	3.1	3.1	NUM
alkej-710	80	2	lqr	lqr	NOUN
alkej-710	80	3	controller	controller	NOUN
alkej-710	80	4	lqr	lqr	X
alkej-710	80	5	is	be	AUX
alkej-710	80	6	an	an	DET
alkej-710	80	7	optimal	optimal	ADJ
alkej-710	80	8	control	control	NOUN
alkej-710	80	9	approach	approach	NOUN
alkej-710	80	10	which	which	PRON
alkej-710	80	11	is	be	AUX
alkej-710	80	12	based	base	VERB
alkej-710	80	13	on	on	ADP
alkej-710	80	14	closed	close	VERB
alkej-710	80	15	-	-	PUNCT
alkej-710	80	16	loop	loop	NOUN
alkej-710	80	17	control	control	NOUN
alkej-710	80	18	with	with	ADP
alkej-710	80	19	the	the	DET
alkej-710	80	20	linear	linear	ADJ
alkej-710	80	21	state	state	NOUN
alkej-710	80	22	feedback	feedback	NOUN
alkej-710	80	23	or	or	CCONJ
alkej-710	80	24	output	output	NOUN
alkej-710	80	25	feedback	feedback	NOUN
alkej-710	80	26	[	[	X
alkej-710	80	27	27	27	NUM
alkej-710	80	28	]	]	PUNCT
alkej-710	80	29	.	.	PUNCT
alkej-710	81	1	the	the	DET
alkej-710	81	2	state	state	NOUN
alkej-710	81	3	feedback	feedback	NOUN
alkej-710	81	4	controller	controller	NOUN
alkej-710	81	5	,	,	PUNCT
alkej-710	81	6	lqr	lqr	PROPN
alkej-710	81	7	has	have	AUX
alkej-710	81	8	shown	show	VERB
alkej-710	81	9	in	in	ADP
alkej-710	81	10	fig.2	fig.2	PROPN
alkej-710	81	11	fig	fig	NOUN
alkej-710	81	12	.	.	PUNCT
alkej-710	82	1	2	2	X
alkej-710	82	2	.	.	X
alkej-710	82	3	block	block	NOUN
alkej-710	82	4	diagram	diagram	NOUN
alkej-710	82	5	of	of	ADP
alkej-710	82	6	lqr	lqr	PROPN
alkej-710	82	7	controller	controller	NOUN
alkej-710	82	8	.	.	PUNCT
alkej-710	83	1	in	in	ADP
alkej-710	83	2	lqr	lqr	PROPN
alkej-710	83	3	,	,	PUNCT
alkej-710	83	4	a	a	DET
alkej-710	83	5	cost	cost	NOUN
alkej-710	83	6	function	function	NOUN
alkej-710	83	7	for	for	ADP
alkej-710	83	8	optimal	optimal	ADJ
alkej-710	83	9	control	control	NOUN
alkej-710	83	10	performance	performance	NOUN
alkej-710	83	11	is	be	AUX
alkej-710	83	12	:	:	PUNCT
alkej-710	83	13	?	?	PUNCT
alkej-710	84	1	�	�	PROPN
alkej-710	84	2	@	@	ADP
alkej-710	84	3	�	�	PROPN
alkej-710	84	4	abca	abca	PROPN
alkej-710	84	5	�	�	PROPN
alkej-710	84	6	dbed	dbe	VERB
alkej-710	84	7	�	�	NOUN
alkej-710	84	8	fgh	fgh	NOUN
alkej-710	84	9	i	i	PRON
alkej-710	84	10	…	…	PUNCT
alkej-710	84	11	(	(	PUNCT
alkej-710	84	12	4	4	NUM
alkej-710	84	13	)	)	PUNCT
alkej-710	84	14	the	the	DET
alkej-710	84	15	vector	vector	NOUN
alkej-710	84	16	u	u	NOUN
alkej-710	84	17	in	in	ADP
alkej-710	84	18	eq	eq	ADP
alkej-710	84	19	.	.	PUNCT
alkej-710	85	1	(	(	PUNCT
alkej-710	85	2	4	4	X
alkej-710	85	3	)	)	PUNCT
alkej-710	85	4	is	be	AUX
alkej-710	85	5	important	important	ADJ
alkej-710	85	6	to	to	PART
alkej-710	85	7	know	know	VERB
alkej-710	85	8	that	that	SCONJ
alkej-710	85	9	it	it	PRON
alkej-710	85	10	minimizes	minimize	VERB
alkej-710	85	11	the	the	DET
alkej-710	85	12	quadratic	quadratic	ADJ
alkej-710	85	13	cost	cost	NOUN
alkej-710	85	14	function	function	NOUN
alkej-710	85	15	,	,	PUNCT
alkej-710	85	16	which	which	PRON
alkej-710	85	17	leads	lead	VERB
alkej-710	85	18	to	to	ADP
alkej-710	85	19	optimal	optimal	ADJ
alkej-710	85	20	feedback	feedback	NOUN
alkej-710	85	21	control	control	NOUN
alkej-710	85	22	law	law	NOUN
alkej-710	85	23	represented	represent	VERB
alkej-710	85	24	in	in	ADP
alkej-710	85	25	eq	eq	ADJ
alkej-710	85	26	.	.	PROPN
alkej-710	85	27	5	5	NUM
alkej-710	85	28	.	.	PUNCT
alkej-710	86	1	the	the	DET
alkej-710	86	2	cost	cost	NOUN
alkej-710	86	3	function	function	NOUN
alkej-710	86	4	has	have	VERB
alkej-710	86	5	a	a	DET
alkej-710	86	6	unique	unique	ADJ
alkej-710	86	7	minimum	minimum	NOUN
alkej-710	86	8	that	that	PRON
alkej-710	86	9	can	can	AUX
alkej-710	86	10	be	be	AUX
alkej-710	86	11	obtained	obtain	VERB
alkej-710	86	12	by	by	ADP
alkej-710	86	13	solving	solve	VERB
alkej-710	86	14	the	the	DET
alkej-710	86	15	algebraic	algebraic	ADJ
alkej-710	86	16	riccati	riccati	PROPN
alkej-710	86	17	equation	equation	NOUN
alkej-710	86	18	.	.	PUNCT
alkej-710	87	1	the	the	DET
alkej-710	87	2	parameters	parameter	NOUN
alkej-710	87	3	q	q	PROPN
alkej-710	87	4	and	and	CCONJ
alkej-710	87	5	r	r	NOUN
alkej-710	87	6	are	be	AUX
alkej-710	87	7	employed	employ	VERB
alkej-710	87	8	as	as	ADP
alkej-710	87	9	design	design	NOUN
alkej-710	87	10	parameters	parameter	NOUN
alkej-710	87	11	to	to	PART
alkej-710	87	12	judge	judge	VERB
alkej-710	87	13	the	the	DET
alkej-710	87	14	state	state	NOUN
alkej-710	87	15	variables	variable	NOUN
alkej-710	87	16	and	and	CCONJ
alkej-710	87	17	the	the	DET
alkej-710	87	18	control	control	NOUN
alkej-710	87	19	signals	signal	NOUN
alkej-710	87	20	.	.	PUNCT
alkej-710	88	1	choosing	choose	VERB
alkej-710	88	2	a	a	DET
alkej-710	88	3	large	large	ADJ
alkej-710	88	4	value	value	NOUN
alkej-710	88	5	of	of	ADP
alkej-710	88	6	r	r	NOUN
alkej-710	88	7	led	lead	VERB
alkej-710	88	8	to	to	ADP
alkej-710	88	9	stabilizing	stabilize	VERB
alkej-710	88	10	the	the	DET
alkej-710	88	11	system	system	NOUN
alkej-710	88	12	with	with	ADP
alkej-710	88	13	less	less	ADV
alkej-710	88	14	(	(	PUNCT
alkej-710	88	15	weighted	weighted	ADJ
alkej-710	88	16	)	)	PUNCT
alkej-710	88	17	energy	energy	NOUN
alkej-710	88	18	,	,	PUNCT
alkej-710	88	19	but	but	CCONJ
alkej-710	88	20	this	this	PRON
alkej-710	88	21	is	be	AUX
alkej-710	88	22	an	an	DET
alkej-710	88	23	expensive	expensive	ADJ
alkej-710	88	24	control	control	NOUN
alkej-710	88	25	strategy	strategy	NOUN
alkej-710	88	26	.	.	PUNCT
alkej-710	89	1	on	on	ADP
alkej-710	89	2	the	the	DET
alkej-710	89	3	other	other	ADJ
alkej-710	89	4	hand	hand	NOUN
alkej-710	89	5	,	,	PUNCT
alkej-710	89	6	a	a	DET
alkej-710	89	7	small	small	ADJ
alkej-710	89	8	value	value	NOUN
alkej-710	89	9	for	for	ADP
alkej-710	89	10	r	r	NOUN
alkej-710	89	11	means	mean	VERB
alkej-710	89	12	you	you	PRON
alkej-710	89	13	do	do	AUX
alkej-710	89	14	n't	not	PART
alkej-710	89	15	want	want	VERB
alkej-710	89	16	a	a	DET
alkej-710	89	17	good	good	ADJ
alkej-710	89	18	performance	performance	NOUN
alkej-710	89	19	.	.	PUNCT
alkej-710	90	1	this	this	PRON
alkej-710	90	2	is	be	AUX
alkej-710	90	3	similarly	similarly	ADV
alkej-710	90	4	for	for	ADP
alkej-710	90	5	q.	q.	PROPN
alkej-710	90	6	so	so	ADV
alkej-710	90	7	,	,	PUNCT
alkej-710	90	8	there	there	PRON
alkej-710	90	9	is	be	VERB
alkej-710	90	10	a	a	DET
alkej-710	90	11	trade	trade	NOUN
alkej-710	90	12	-	-	PUNCT
alkej-710	90	13	off	off	NOUN
alkej-710	90	14	between	between	ADP
alkej-710	90	15	the	the	DET
alkej-710	90	16	two	two	NUM
alkej-710	90	17	assumptions	assumption	NOUN
alkej-710	90	18	[	[	X
alkej-710	90	19	27	27	NUM
alkej-710	90	20	]	]	PUNCT
alkej-710	90	21	.	.	PUNCT
alkej-710	91	1	u	u	NOUN
alkej-710	91	2	=	=	NOUN
alkej-710	91	3	-kx	-kx	X
alkej-710	91	4	…	…	PUNCT
alkej-710	91	5	(	(	PUNCT
alkej-710	91	6	5	5	NUM
alkej-710	91	7	)	)	PUNCT
alkej-710	91	8	the	the	DET
alkej-710	91	9	steady	steady	ADJ
alkej-710	91	10	-	-	PUNCT
alkej-710	91	11	state	state	NOUN
alkej-710	91	12	optimal	optimal	ADJ
alkej-710	91	13	gain	gain	NOUN
alkej-710	91	14	is	be	AUX
alkej-710	91	15	determined	determine	VERB
alkej-710	91	16	by	by	ADP
alkej-710	91	17	using	use	VERB
alkej-710	91	18	the	the	DET
alkej-710	91	19	riccati	riccati	PROPN
alkej-710	91	20	equation	equation	NOUN
alkej-710	91	21	as	as	ADP
alkej-710	91	22	below	below	ADP
alkej-710	91	23	�	�	NOUN
alkej-710	91	24	bj	bj	ADP
alkej-710	91	25	�	�	PROPN
alkej-710	91	26	j	j	PROPN
alkej-710	91	27	�	�	PROPN
alkej-710	91	28	�	�	PROPN
alkej-710	91	29	j.e89.bj	j.e89.bj	PROPN
alkej-710	91	30	�	�	PROPN
alkej-710	91	31	c	c	PROPN
alkej-710	91	32	�	�	PROPN
alkej-710	91	33	0	0	NUM
alkej-710	91	34	…	…	PUNCT
alkej-710	91	35	(	(	PUNCT
alkej-710	91	36	6	6	NUM
alkej-710	91	37	)	)	PUNCT
alkej-710	91	38	where	where	SCONJ
alkej-710	91	39	q	q	NOUN
alkej-710	91	40	is	be	AUX
alkej-710	91	41	the	the	DET
alkej-710	91	42	state	state	NOUN
alkej-710	91	43	-	-	PUNCT
alkej-710	91	44	cost	cost	NOUN
alkej-710	91	45	matrix	matrix	NOUN
alkej-710	91	46	,	,	PUNCT
alkej-710	91	47	and	and	CCONJ
alkej-710	91	48	r	r	NOUN
alkej-710	91	49	is	be	AUX
alkej-710	91	50	the	the	DET
alkej-710	91	51	performance	performance	NOUN
alkej-710	91	52	index	index	NOUN
alkej-710	91	53	matrix	matrix	NOUN
alkej-710	91	54	.	.	PUNCT
alkej-710	92	1	the	the	DET
alkej-710	92	2	selection	selection	NOUN
alkej-710	92	3	weight	weight	NOUN
alkej-710	92	4	matrices	matrix	NOUN
alkej-710	92	5	q	q	NOUN
alkej-710	93	1	and	and	CCONJ
alkej-710	93	2	r	r	NOUN
alkej-710	93	3	are	be	AUX
alkej-710	93	4	very	very	ADV
alkej-710	93	5	important	important	ADJ
alkej-710	93	6	in	in	ADP
alkej-710	93	7	the	the	DET
alkej-710	93	8	lqr	lqr	PROPN
alkej-710	93	9	method	method	NOUN
alkej-710	93	10	,	,	PUNCT
alkej-710	93	11	which	which	PRON
alkej-710	93	12	should	should	AUX
alkej-710	93	13	be	be	AUX
alkej-710	93	14	symmetric	symmetric	ADJ
alkej-710	93	15	and	and	CCONJ
alkej-710	93	16	nonnegative	nonnegative	ADJ
alkej-710	93	17	matrices	matrix	NOUN
alkej-710	93	18	.	.	PUNCT
alkej-710	94	1	the	the	DET
alkej-710	94	2	weight	weight	NOUN
alkej-710	94	3	matrices	matrix	NOUN
alkej-710	94	4	affect	affect	VERB
alkej-710	94	5	the	the	DET
alkej-710	94	6	control	control	NOUN
alkej-710	94	7	performance	performance	NOUN
alkej-710	94	8	.	.	PUNCT
alkej-710	95	1	these	these	DET
alkej-710	95	2	matrices	matrix	NOUN
alkej-710	95	3	are	be	AUX
alkej-710	95	4	determined	determine	VERB
alkej-710	95	5	by	by	ADP
alkej-710	95	6	the	the	DET
alkej-710	95	7	experience	experience	NOUN
alkej-710	95	8	of	of	ADP
alkej-710	95	9	engineers	engineer	NOUN
alkej-710	95	10	who	who	PRON
alkej-710	95	11	are	be	AUX
alkej-710	95	12	familiar	familiar	ADJ
alkej-710	95	13	with	with	ADP
alkej-710	95	14	the	the	DET
alkej-710	95	15	controlled	control	VERB
alkej-710	95	16	system	system	NOUN
alkej-710	95	17	[	[	X
alkej-710	95	18	28	28	NUM
alkej-710	95	19	]	]	PUNCT
alkej-710	95	20	.	.	PUNCT
alkej-710	96	1	3.2	3.2	NUM
alkej-710	96	2	fuzzy	fuzzy	ADJ
alkej-710	96	3	logic	logic	NOUN
alkej-710	96	4	controller	controller	NOUN
alkej-710	96	5	(	(	PUNCT
alkej-710	96	6	flc	flc	PROPN
alkej-710	96	7	)	)	PUNCT
alkej-710	96	8	fuzzy	fuzzy	ADJ
alkej-710	96	9	logic	logic	NOUN
alkej-710	96	10	tools	tool	NOUN
alkej-710	96	11	are	be	AUX
alkej-710	96	12	a	a	DET
alkej-710	96	13	mathematical	mathematical	ADJ
alkej-710	96	14	tool	tool	NOUN
alkej-710	96	15	to	to	PART
alkej-710	96	16	handle	handle	VERB
alkej-710	96	17	's	's	PART
alkej-710	96	18	ambiguity	ambiguity	NOUN
alkej-710	96	19	and	and	CCONJ
alkej-710	96	20	uncertainty	uncertainty	NOUN
alkej-710	96	21	existing	exist	VERB
alkej-710	96	22	in	in	ADP
alkej-710	96	23	complex	complex	ADJ
alkej-710	96	24	problems	problem	NOUN
alkej-710	96	25	,	,	PUNCT
alkej-710	96	26	and	and	CCONJ
alkej-710	96	27	it	it	PRON
alkej-710	96	28	was	be	AUX
alkej-710	96	29	introduced	introduce	VERB
alkej-710	96	30	in	in	ADP
alkej-710	96	31	1965	1965	NUM
alkej-710	96	32	by	by	ADP
alkej-710	96	33	lofti	lofti	PROPN
alkej-710	96	34	zadeh	zadeh	PROPN
alkej-710	96	35	.	.	PUNCT
alkej-710	97	1	it	it	PRON
alkej-710	97	2	provides	provide	VERB
alkej-710	97	3	a	a	DET
alkej-710	97	4	technique	technique	NOUN
alkej-710	97	5	to	to	PART
alkej-710	97	6	deal	deal	VERB
alkej-710	97	7	with	with	ADP
alkej-710	97	8	the	the	DET
alkej-710	97	9	imprecision	imprecision	NOUN
alkej-710	97	10	and	and	CCONJ
alkej-710	97	11	details	detail	NOUN
alkej-710	97	12	of	of	ADP
alkej-710	97	13	the	the	DET
alkej-710	97	14	information	information	NOUN
alkej-710	97	15	.	.	PUNCT
alkej-710	98	1	[	[	X
alkej-710	98	2	29	29	NUM
alkej-710	98	3	,	,	PUNCT
alkej-710	98	4	30	30	NUM
alkej-710	98	5	]	]	PUNCT
alkej-710	98	6	.	.	PUNCT
alkej-710	99	1	it	it	PRON
alkej-710	99	2	consists	consist	VERB
alkej-710	99	3	of	of	ADP
alkej-710	99	4	three	three	NUM
alkej-710	99	5	basic	basic	ADJ
alkej-710	99	6	segments	segment	NOUN
alkej-710	99	7	(	(	PUNCT
alkej-710	99	8	fuzzification	fuzzification	NOUN
alkej-710	99	9	,	,	PUNCT
alkej-710	99	10	fuzzy	fuzzy	ADJ
alkej-710	99	11	inference	inference	NOUN
alkej-710	99	12	process	process	NOUN
alkej-710	99	13	,	,	PUNCT
alkej-710	99	14	and	and	CCONJ
alkej-710	99	15	defuzzification	defuzzification	NOUN
alkej-710	99	16	)	)	PUNCT
alkej-710	99	17	,	,	PUNCT
alkej-710	99	18	as	as	SCONJ
alkej-710	99	19	shown	show	VERB
alkej-710	99	20	in	in	ADP
alkej-710	99	21	fig	fig	NOUN
alkej-710	99	22	.	.	PUNCT
alkej-710	100	1	3	3	X
alkej-710	100	2	.	.	X
alkej-710	100	3	in	in	ADP
alkej-710	100	4	general	general	ADJ
alkej-710	100	5	,	,	PUNCT
alkej-710	100	6	the	the	DET
alkej-710	100	7	fuzzypid	fuzzypid	NOUN
alkej-710	100	8	control	control	NOUN
alkej-710	100	9	strategies	strategy	NOUN
alkej-710	100	10	can	can	AUX
alkej-710	100	11	improve	improve	VERB
alkej-710	100	12	dynamic	dynamic	ADJ
alkej-710	100	13	performance	performance	NOUN
alkej-710	100	14	from	from	ADP
alkej-710	100	15	the	the	DET
alkej-710	100	16	design	design	NOUN
alkej-710	100	17	point	point	NOUN
alkej-710	100	18	.	.	PUNCT
alkej-710	101	1	it	it	PRON
alkej-710	101	2	is	be	AUX
alkej-710	101	3	based	base	VERB
alkej-710	101	4	on	on	ADP
alkej-710	101	5	the	the	DET
alkej-710	101	6	conventional	conventional	ADJ
alkej-710	101	7	pid	pid	NOUN
alkej-710	101	8	controller	controller	NOUN
alkej-710	101	9	as	as	ADP
alkej-710	101	10	the	the	DET
alkej-710	101	11	foundation	foundation	NOUN
alkej-710	101	12	.	.	PUNCT
alkej-710	102	1	the	the	DET
alkej-710	102	2	advantage	advantage	NOUN
alkej-710	102	3	of	of	ADP
alkej-710	102	4	fuzzy	fuzzy	ADJ
alkej-710	102	5	logic	logic	NOUN
alkej-710	102	6	to	to	ADP
alkej-710	102	7	self	self	NOUN
alkej-710	102	8	-	-	PUNCT
alkej-710	102	9	tune	tune	NOUN
alkej-710	102	10	the	the	DET
alkej-710	102	11	pid	pid	NOUN
alkej-710	102	12	parameters	parameter	NOUN
alkej-710	102	13	are	be	AUX
alkej-710	102	14	used	use	VERB
alkej-710	102	15	to	to	PART
alkej-710	102	16	derive	derive	VERB
alkej-710	102	17	adaptive	adaptive	ADJ
alkej-710	102	18	fuzzy	fuzzy	ADJ
alkej-710	102	19	-	-	PUNCT
alkej-710	102	20	pid	pid	NOUN
alkej-710	102	21	.	.	PUNCT
alkej-710	103	1	in	in	ADP
alkej-710	103	2	the	the	DET
alkej-710	103	3	fuzzy	fuzzy	ADJ
alkej-710	103	4	pid	pid	NOUN
alkej-710	103	5	,	,	PUNCT
alkej-710	103	6	there	there	PRON
alkej-710	103	7	are	be	VERB
alkej-710	103	8	two	two	NUM
alkej-710	103	9	inputs	input	NOUN
alkej-710	103	10	and	and	CCONJ
alkej-710	103	11	three	three	NUM
alkej-710	103	12	outputs	output	NOUN
alkej-710	103	13	.	.	PUNCT
alkej-710	104	1	the	the	DET
alkej-710	104	2	inputs	input	NOUN
alkej-710	104	3	of	of	ADP
alkej-710	104	4	the	the	DET
alkej-710	104	5	fuzzy	fuzzy	ADJ
alkej-710	104	6	pid	pid	NOUN
alkej-710	104	7	are	be	AUX
alkej-710	104	8	the	the	DET
alkej-710	104	9	error	error	NOUN
alkej-710	104	10	,	,	PUNCT
alkej-710	104	11	e(t	e(t	NOUN
alkej-710	104	12	)	)	PUNCT
alkej-710	104	13	,	,	PUNCT
alkej-710	104	14	and	and	CCONJ
alkej-710	104	15	the	the	DET
alkej-710	104	16	error	error	NOUN
alkej-710	104	17	gradient	gradient	NOUN
alkej-710	104	18	,	,	PUNCT
alkej-710	104	19	∆e	∆e	PROPN
alkej-710	104	20	=	=	SYM
alkej-710	104	21	de(t)/dt	de(t)/dt	NOUN
alkej-710	104	22	while	while	SCONJ
alkej-710	104	23	the	the	DET
alkej-710	104	24	outputs	output	NOUN
alkej-710	104	25	are	be	AUX
alkej-710	104	26	pid	pid	PRON
alkej-710	104	27	coefficients	coefficient	NOUN
alkej-710	104	28	,	,	PUNCT
alkej-710	104	29	kp	kp	PROPN
alkej-710	104	30	,	,	PUNCT
alkej-710	104	31	ki	ki	PROPN
alkej-710	104	32	,	,	PUNCT
alkej-710	104	33	and	and	CCONJ
alkej-710	104	34	kd	kd	PROPN
alkej-710	104	35	.	.	PUNCT
alkej-710	105	1	then	then	ADV
alkej-710	105	2	;	;	PUNCT
alkej-710	105	3	fuzzy	fuzzy	ADJ
alkej-710	105	4	inference	inference	NOUN
alkej-710	105	5	gives	give	VERB
alkej-710	105	6	a	a	DET
alkej-710	105	7	nonlinear	nonlinear	ADJ
alkej-710	105	8	mapping	mapping	NOUN
alkej-710	105	9	from	from	ADP
alkej-710	105	10	the	the	DET
alkej-710	105	11	inputs	input	NOUN
alkej-710	105	12	to	to	ADP
alkej-710	105	13	the	the	DET
alkej-710	105	14	pid	pid	NOUN
alkej-710	105	15	coefficients	coefficient	NOUN
alkej-710	105	16	,	,	PUNCT
alkej-710	105	17	as	as	SCONJ
alkej-710	105	18	shown	show	VERB
alkej-710	105	19	in	in	ADP
alkej-710	105	20	the	the	DET
alkej-710	105	21	block	block	NOUN
alkej-710	105	22	diagram	diagram	NOUN
alkej-710	105	23	in	in	ADP
alkej-710	105	24	fig	fig	NOUN
alkej-710	105	25	.	.	PUNCT
alkej-710	106	1	3	3	NUM
alkej-710	107	1	[	[	X
alkej-710	107	2	31	31	NUM
alkej-710	107	3	,	,	PUNCT
alkej-710	107	4	32	32	NUM
alkej-710	107	5	,	,	PUNCT
alkej-710	107	6	and	and	CCONJ
alkej-710	107	7	33	33	NUM
alkej-710	107	8	]	]	PUNCT
alkej-710	107	9	.	.	PUNCT
alkej-710	108	1	4	4	X
alkej-710	108	2	.	.	X
alkej-710	108	3	state	state	NOUN
alkej-710	108	4	estimation	estimation	NOUN
alkej-710	108	5	for	for	ADP
alkej-710	108	6	uav	uav	PROPN
alkej-710	108	7	using	use	VERB
alkej-710	108	8	aukf	aukf	NOUN
alkej-710	108	9	the	the	DET
alkej-710	108	10	aukf	aukf	NOUN
alkej-710	108	11	is	be	AUX
alkej-710	108	12	built	build	VERB
alkej-710	108	13	to	to	PART
alkej-710	108	14	estimate	estimate	VERB
alkej-710	108	15	the	the	DET
alkej-710	108	16	longitudinal	longitudinal	ADJ
alkej-710	108	17	dynamic	dynamic	ADJ
alkej-710	108	18	state	state	NOUN
alkej-710	108	19	for	for	ADP
alkej-710	108	20	uav	uav	PROPN
alkej-710	108	21	.	.	PUNCT
alkej-710	109	1	the	the	DET
alkej-710	109	2	state	state	NOUN
alkej-710	109	3	vector	vector	NOUN
alkej-710	109	4	and	and	CCONJ
alkej-710	109	5	control	control	NOUN
alkej-710	109	6	vector	vector	NOUN
alkej-710	109	7	are	be	AUX
alkej-710	109	8	:	:	PUNCT
alkej-710	109	9	x=[u	x=[u	PROPN
alkej-710	109	10	w	w	ADJ
alkej-710	109	11	q	q	NOUN
alkej-710	109	12	θ]t	θ]t	NOUN
alkej-710	109	13	,	,	PUNCT
alkej-710	109	14	u=[de	u=[de	ADV
alkej-710	109	15	τ	τ	X
alkej-710	109	16	]	]	X
alkej-710	109	17	…	…	PUNCT
alkej-710	109	18	(	(	PUNCT
alkej-710	109	19	7	7	NUM
alkej-710	109	20	)	)	PUNCT
alkej-710	109	21	then	then	ADV
alkej-710	109	22	,	,	PUNCT
alkej-710	109	23	the	the	DET
alkej-710	109	24	state	state	NOUN
alkej-710	109	25	space	space	NOUN
alkej-710	109	26	of	of	ADP
alkej-710	109	27	the	the	DET
alkej-710	109	28	uav	uav	PROPN
alkej-710	109	29	process	process	NOUN
alkej-710	109	30	and	and	CCONJ
alkej-710	109	31	measurement	measurement	NOUN
alkej-710	109	32	models	model	NOUN
alkej-710	109	33	is	be	AUX
alkej-710	109	34	:	:	PUNCT
alkej-710	109	35	ak	ak	PROPN
alkej-710	109	36	�	�	PROPN
alkej-710	109	37	�	�	PROPN
alkej-710	109	38	k	k	PROPN
alkej-710	109	39	,	,	PUNCT
alkej-710	109	40	k89ak89	k89ak89	PROPN
alkej-710	109	41	�	�	PROPN
alkej-710	109	42	.dk	.dk	SYM
alkej-710	109	43	�	�	PROPN
alkej-710	109	44	mk	mk	PROPN
alkej-710	109	45	…	…	PUNCT
alkej-710	109	46	(	(	PUNCT
alkej-710	109	47	8)	8)	NUM
alkej-710	109	48	nk	nk	PROPN
alkej-710	109	49	�	�	PROPN
alkej-710	109	50	okak	okak	PROPN
alkej-710	109	51	�	�	PROPN
alkej-710	109	52	pk	pk	PROPN
alkej-710	109	53	…	…	PUNCT
alkej-710	109	54	(	(	PUNCT
alkej-710	109	55	9	9	NUM
alkej-710	109	56	)	)	PUNCT
alkej-710	109	57	where	where	SCONJ
alkej-710	109	58	a	a	PRON
alkej-710	109	59	is	be	AUX
alkej-710	109	60	a	a	DET
alkej-710	109	61	transition	transition	NOUN
alkej-710	109	62	dynamic	dynamic	ADJ
alkej-710	109	63	matrix	matrix	NOUN
alkej-710	109	64	,	,	PUNCT
alkej-710	109	65	b	b	NOUN
alkej-710	109	66	is	be	AUX
alkej-710	109	67	control	control	NOUN
alkej-710	109	68	matrix	matrix	NOUN
alkej-710	109	69	,	,	PUNCT
alkej-710	109	70	h	h	NOUN
alkej-710	109	71	is	be	AUX
alkej-710	109	72	the	the	DET
alkej-710	109	73	measurement	measurement	NOUN
alkej-710	109	74	matrix	matrix	NOUN
alkej-710	109	75	,	,	PUNCT
alkej-710	109	76	mk	mk	PROPN
alkej-710	109	77	is	be	AUX
alkej-710	109	78	a	a	DET
alkej-710	109	79	white	white	ADJ
alkej-710	109	80	gaussian	gaussian	NOUN
alkej-710	109	81	for	for	ADP
alkej-710	109	82	the	the	DET
alkej-710	109	83	process	process	NOUN
alkej-710	109	84	and	and	CCONJ
alkej-710	109	85	pk	pk	NOUN
alkej-710	109	86	is	be	AUX
alkej-710	109	87	mean	mean	ADJ
alkej-710	109	88	white	white	ADJ
alkej-710	109	89	gaussian	gaussian	NOUN
alkej-710	109	90	for	for	ADP
alkej-710	109	91	measurement	measurement	NOUN
alkej-710	109	92	.	.	PUNCT
alkej-710	110	1	qrmkmsbt	qrmkmsbt	PROPN
alkej-710	110	2	�	�	PROPN
alkej-710	110	3	ck	ck	PROPN
alkej-710	110	4	,	,	PUNCT
alkej-710	110	5	qrpkpsbt	qrpkpsbt	PROPN
alkej-710	110	6	�	�	PROPN
alkej-710	110	7	ek	ek	PROPN
alkej-710	110	8	,	,	PUNCT
alkej-710	110	9	qrmkpsbt	qrmkpsbt	PROPN
alkej-710	110	10	�	�	PROPN
alkej-710	110	11	0	0	NUM
alkej-710	110	12	…	…	PUNCT
alkej-710	110	13	(	(	PUNCT
alkej-710	110	14	10	10	NUM
alkej-710	110	15	)	)	PUNCT
alkej-710	110	16	where	where	SCONJ
alkej-710	110	17	qk	qk	NOUN
alkej-710	110	18	is	be	AUX
alkej-710	110	19	the	the	DET
alkej-710	110	20	process	process	NOUN
alkej-710	110	21	noise	noise	NOUN
alkej-710	110	22	and	and	CCONJ
alkej-710	110	23	rk	rk	NOUN
alkej-710	110	24	is	be	AUX
alkej-710	110	25	the	the	DET
alkej-710	110	26	measurement	measurement	NOUN
alkej-710	110	27	noise	noise	NOUN
alkej-710	110	28	.	.	PUNCT
alkej-710	111	1	the	the	DET
alkej-710	111	2	algorithm	algorithm	NOUN
alkej-710	111	3	of	of	ADP
alkej-710	111	4	ukf	ukf	PROPN
alkej-710	111	5	[	[	X
alkej-710	111	6	9	9	NUM
alkej-710	111	7	]	]	PUNCT
alkej-710	111	8	is	be	AUX
alkej-710	111	9	shown	show	VERB
alkej-710	111	10	in	in	ADP
alkej-710	111	11	table	table	NOUN
alkej-710	111	12	1	1	NUM
alkej-710	111	13	.	.	PUNCT
alkej-710	112	1	+	+	CCONJ
alkej-710	112	2	x	x	PUNCT
alkej-710	112	3	model	model	NOUN
alkej-710	112	4	k	k	PROPN
alkej-710	112	5	u	u	PROPN
alkej-710	112	6	malik	malik	PROPN
alkej-710	112	7	m.	m.	PROPN
alkej-710	112	8	a.	a.	PROPN
alkej-710	112	9	al	al	PROPN
alkej-710	112	10	-	-	PUNCT
alkej-710	112	11	isawi	isawi	PROPN
alkej-710	112	12	al	al	PROPN
alkej-710	112	13	-	-	PUNCT
alkej-710	112	14	khwarizmi	khwarizmi	PROPN
alkej-710	112	15	engineering	engineering	NOUN
alkej-710	112	16	journal	journal	PROPN
alkej-710	112	17	,	,	PUNCT
alkej-710	112	18	vol	vol	NOUN
alkej-710	112	19	.	.	PROPN
alkej-710	112	20	16	16	NUM
alkej-710	112	21	,	,	PUNCT
alkej-710	112	22	no	no	INTJ
alkej-710	112	23	.	.	NOUN
alkej-710	112	24	3	3	NUM
alkej-710	112	25	,	,	PUNCT
alkej-710	112	26	p.p	p.p	PROPN
alkej-710	112	27	.	.	NOUN
alkej-710	112	28	4353	4353	NUM
alkej-710	112	29	(	(	PUNCT
alkej-710	112	30	2020	2020	NUM
alkej-710	112	31	)	)	PUNCT
alkej-710	112	32	46	46	NUM
alkej-710	112	33	table	table	NOUN
alkej-710	112	34	1	1	NUM
alkej-710	112	35	,	,	PUNCT
alkej-710	112	36	ukf	ukf	NOUN
alkej-710	112	37	algorithm	algorithm	NOUN
alkej-710	112	38	create	create	VERB
alkej-710	112	39	sigma	sigma	PROPN
alkej-710	112	40	point	point	PROPN
alkej-710	112	41	�	�	PROPN
alkej-710	112	42	�	�	PROPN
alkej-710	113	1	[	[	X
alkej-710	113	2	au	au	X
alkej-710	113	3	au	au	PROPN
alkej-710	113	4	∓	∓	PROPN
alkej-710	113	5	�	�	PROPN
alkej-710	113	6	w	w	PROPN
alkej-710	113	7	�	�	PROPN
alkej-710	113	8	(	(	PUNCT
alkej-710	113	9	�	�	PROPN
alkej-710	113	10	x	x	SYM
alkej-710	113	11	�	�	PROPN
alkej-710	113	12	jy	jy	PROPN
alkej-710	113	13	�	�	PROPN
alkej-710	113	14	s	s	PART
alkej-710	113	15	]	]	X
alkej-710	113	16	'	'	PUNCT
alkej-710	113	17	�	�	PROPN
alkej-710	113	18	1,2	1,2	NUM
alkej-710	113	19	,	,	PUNCT
alkej-710	113	20	…	…	PUNCT
alkej-710	113	21	……	……	X
alkej-710	113	22	.	.	PUNCT
alkej-710	114	1	2	2	X
alkej-710	114	2	(	(	PUNCT
alkej-710	114	3	create	create	VERB
alkej-710	114	4	weight	weight	NOUN
alkej-710	114	5	points	point	NOUN
alkej-710	114	6	�	�	PROPN
alkej-710	114	7	i	i	PRON
alkej-710	114	8	�	�	NOUN
alkej-710	114	9	\	\	PROPN
alkej-710	114	10	�	�	PROPN
alkej-710	114	11	�	�	PROPN
alkej-710	114	12	]	]	PUNCT
alkej-710	114	13	2^	2^	PROPN
alkej-710	114	14	]	]	X
alkej-710	114	15	�	�	PROPN
alkej-710	114	16	i	i	PRON
alkej-710	114	17	�	�	NOUN
alkej-710	114	18	_	_	PROPN
alkej-710	114	19	�	�	PROPN
alkej-710	114	20	�	�	PROPN
alkej-710	114	21	�	�	PROPN
alkej-710	114	22	i	i	PROPN
alkej-710	114	23	�	�	PROPN
alkej-710	114	24	\	\	PROPN
alkej-710	114	25	�	�	PROPN
alkej-710	114	26	�	�	PROPN
alkej-710	114	27	�	�	PROPN
alkej-710	114	28	1	1	NUM
alkej-710	114	29	�	�	PROPN
alkej-710	114	30	`	`	PUNCT
alkej-710	114	31	6	6	NUM
alkej-710	114	32	�	�	PROPN
alkej-710	114	33	a	a	DET
alkej-710	114	34	�	�	PROPN
alkej-710	114	35	�	�	PROPN
alkej-710	114	36	s	s	PART
alkej-710	114	37	�	�	PROPN
alkej-710	114	38	_	_	PROPN
alkej-710	114	39	�	�	PROPN
alkej-710	114	40	�	�	PROPN
alkej-710	114	41	�	�	PROPN
alkej-710	114	42	s	s	PART
alkej-710	114	43	�	�	PROPN
alkej-710	114	44	\	\	PROPN
alkej-710	114	45	�	�	PROPN
alkej-710	114	46	�	�	PROPN
alkej-710	114	47	9	9	NUM
alkej-710	114	48	6	6	NUM
alkej-710	114	49	�	�	NOUN
alkej-710	114	50	2^	2^	NUM
alkej-710	114	51	]	]	SYM
alkej-710	114	52	�	�	PROPN
alkej-710	114	53	'	'	PUNCT
alkej-710	114	54	�	�	PROPN
alkej-710	114	55	1,2,	1,2,	NUM
alkej-710	114	56	…	…	SYM
alkej-710	114	57	…	…	SYM
alkej-710	114	58	2	2	NUM
alkej-710	114	59	x	x	PART
alkej-710	114	60	�	�	PROPN
alkej-710	114	61	`	`	PUNCT
alkej-710	114	62	6	6	NUM
alkej-710	114	63	�	�	PROPN
alkej-710	114	64	(	(	PUNCT
alkej-710	114	65	�	�	PROPN
alkej-710	114	66	b	b	PROPN
alkej-710	114	67	�	�	PROPN
alkej-710	114	68	�	�	PROPN
alkej-710	114	69	(	(	PUNCT
alkej-710	114	70	1e	1e	PROPN
alkej-710	114	71	�	�	PROPN
alkej-710	114	72	4	4	NUM
alkej-710	114	73	≤	≤	NUM
alkej-710	114	74	`	`	PUNCT
alkej-710	114	75	≤	≤	NUM
alkej-710	114	76	1	1	NUM
alkej-710	114	77	b	b	X
alkej-710	114	78	�	�	PROPN
alkej-710	114	79	0	0	NUM
alkej-710	114	80	a	a	DET
alkej-710	114	81	�	�	PROPN
alkej-710	114	82	2	2	NUM
alkej-710	114	83	transfer	transfer	NOUN
alkej-710	114	84	sigma	sigma	NOUN
alkej-710	114	85	points	point	VERB
alkej-710	114	86	�	�	PROPN
alkej-710	114	87	�	�	PROPN
alkej-710	114	88	fk\k89	fk\k89	PROPN
alkej-710	114	89	�	�	PROPN
alkej-710	114	90	s	s	PART
alkej-710	114	91	�	�	PROPN
alkej-710	114	92	h	h	PROPN
alkej-710	114	93	�	�	PROPN
alkej-710	114	94	�	�	PROPN
alkej-710	114	95	�	�	PROPN
alkej-710	114	96	�	�	PROPN
alkej-710	114	97	s	s	PART
alkej-710	114	98	�	�	PROPN
alkej-710	114	99	'	'	PART
alkej-710	114	100	�	�	PROPN
alkej-710	114	101	0,1	0,1	NUM
alkej-710	114	102	,	,	PUNCT
alkej-710	114	103	…	…	PUNCT
alkej-710	114	104	.	.	PUNCT
alkej-710	115	1	2	2	NUM
alkej-710	115	2	(	(	PUNCT
alkej-710	115	3	.	.	PUNCT
alkej-710	116	1	mean	mean	VERB
alkej-710	116	2	auk\k89	auk\k89	PRON
alkej-710	116	3	�	�	PROPN
alkej-710	116	4	∑	∑	PUNCT
alkej-710	116	5	�	�	PROPN
alkej-710	116	6	s\	s\	NOUN
alkej-710	116	7	�	�	PROPN
alkej-710	116	8	�	�	PROPN
alkej-710	116	9	fk\k89	fk\k89	PROPN
alkej-710	116	10	�	�	PROPN
alkej-710	116	11	s62sji	s62sji	PROPN
alkej-710	116	12	covariance	covariance	NOUN
alkej-710	116	13	jk\k89	jk\k89	PROPN
alkej-710	116	14	�	�	PROPN
alkej-710	116	15	k	k	PROPN
alkej-710	116	16	�	�	PROPN
alkej-710	116	17	s_[	s_[	PROPN
alkej-710	116	18	�	�	PROPN
alkej-710	116	19	fk\k89	fk\k89	ADP
alkej-710	116	20	62	62	NUM
alkej-710	116	21	sji	sji	PROPN
alkej-710	116	22	�	�	PROPN
alkej-710	116	23	auk\k89	auk\k89	PROPN
alkej-710	116	24	]	]	X
alkej-710	117	1	[	[	X
alkej-710	117	2	�	�	SYM
alkej-710	117	3	fk\k89	fk\k89	PROPN
alkej-710	117	4	�	�	PROPN
alkej-710	117	5	auk\k89]b	auk\k89]b	PROPN
alkej-710	117	6	�	�	PROPN
alkej-710	117	7	c	c	PROPN
alkej-710	117	8	observation	observation	NOUN
alkej-710	117	9	model	model	PROPN
alkej-710	117	10	�	�	PROPN
alkej-710	117	11	�	�	PROPN
alkej-710	117	12	lk\k89	lk\k89	PROPN
alkej-710	117	13	�	�	PROPN
alkej-710	117	14	s	s	PART
alkej-710	117	15	�	�	PROPN
alkej-710	117	16	ℎ	ℎ	PROPN
alkej-710	117	17	�	�	PROPN
alkej-710	117	18	�	�	PROPN
alkej-710	117	19	�	�	PROPN
alkej-710	117	20	fk\k89	fk\k89	PROPN
alkej-710	117	21	�	�	PROPN
alkej-710	117	22	s	s	PART
alkej-710	117	23	�	�	NOUN
alkej-710	117	24	predicted	predict	VERB
alkej-710	117	25	observation	observation	NOUN
alkej-710	117	26	n̂k\k89	n̂k\k89	NOUN
alkej-710	117	27	�	�	PROPN
alkej-710	117	28	∑	∑	PUNCT
alkej-710	117	29	�	�	PROPN
alkej-710	117	30	s\	s\	PROPN
alkej-710	117	31	�	�	PROPN
alkej-710	117	32	�	�	PROPN
alkej-710	117	33	lk\k89	lk\k89	PROPN
alkej-710	117	34	�	�	PROPN
alkej-710	117	35	s62sji	s62sji	PROPN
alkej-710	117	36	innovation	innovation	NOUN
alkej-710	117	37	covariance	covariance	PROPN
alkej-710	117	38	joo	joo	PROPN
alkej-710	117	39	�	�	PROPN
alkej-710	117	40	∑	∑	PROPN
alkej-710	117	41	�	�	PROPN
alkej-710	117	42	s_[	s_[	PROPN
alkej-710	117	43	�	�	PROPN
alkej-710	117	44	lk\k89	lk\k89	PROPN
alkej-710	117	45	�	�	PROPN
alkej-710	117	46	62sji	62sji	NOUN
alkej-710	117	47	nk\k89	nk\k89	PROPN
alkej-710	117	48	]	]	X
alkej-710	118	1	[	[	X
alkej-710	118	2	�	�	NOUN
alkej-710	118	3	lk\k89	lk\k89	ADJ
alkej-710	118	4	�	�	PROPN
alkej-710	118	5	n̂k\k89]b	n̂k\k89]b	PROPN
alkej-710	118	6	�	�	PROPN
alkej-710	118	7	e	e	PROPN
alkej-710	118	8	cross	cross	PROPN
alkej-710	118	9	covariance	covariance	PROPN
alkej-710	118	10	jyp	jyp	PROPN
alkej-710	118	11	�	�	PROPN
alkej-710	118	12	k	k	PROPN
alkej-710	118	13	�	�	PROPN
alkej-710	118	14	s_[	s_[	PROPN
alkej-710	118	15	�	�	PROPN
alkej-710	118	16	fk\k89	fk\k89	ADP
alkej-710	118	17	62	62	NUM
alkej-710	118	18	sji	sji	PROPN
alkej-710	118	19	�	�	PROPN
alkej-710	118	20	auk\k89	auk\k89	PROPN
alkej-710	118	21	]	]	X
alkej-710	119	1	[	[	X
alkej-710	119	2	�	�	NOUN
alkej-710	119	3	lk\k89	lk\k89	ADJ
alkej-710	119	4	�	�	PROPN
alkej-710	119	5	n̂k\k89]b	n̂k\k89]b	ADJ
alkej-710	119	6	update	update	NOUN
alkej-710	119	7	qk	qk	ADP
alkej-710	119	8	�	�	PROPN
alkej-710	119	9	jypjoo89	jypjoo89	PROPN
alkej-710	119	10	auk	auk	PROPN
alkej-710	119	11	�	�	PROPN
alkej-710	119	12	auk\k89	auk\k89	ADP
alkej-710	119	13	�	�	PROPN
alkej-710	119	14	qk	qk	PROPN
alkej-710	119	15	�	�	PROPN
alkej-710	119	16	nk	nk	PROPN
alkej-710	119	17	�	�	PROPN
alkej-710	119	18	n̂k\k89	n̂k\k89	PROPN
alkej-710	119	19	�	�	PROPN
alkej-710	119	20	jk	jk	PROPN
alkej-710	119	21	�	�	PROPN
alkej-710	119	22	jk\k89	jk\k89	PROPN
alkej-710	119	23	�	�	PROPN
alkej-710	119	24	qkjoo	qkjoo	NOUN
alkej-710	119	25	qkb	qkb	VERB
alkej-710	119	26	the	the	DET
alkej-710	119	27	adaptive	adaptive	ADJ
alkej-710	119	28	unscented	unscente	VERB
alkej-710	119	29	kalman	kalman	NOUN
alkej-710	119	30	filter	filter	PROPN
alkej-710	119	31	(	(	PUNCT
alkej-710	119	32	aukf	aukf	NOUN
alkej-710	119	33	)	)	PUNCT
alkej-710	119	34	algorithm	algorithm	NOUN
alkej-710	119	35	can	can	AUX
alkej-710	119	36	be	be	AUX
alkej-710	119	37	shown	show	VERB
alkej-710	119	38	in	in	ADP
alkej-710	119	39	[	[	X
alkej-710	119	40	9	9	NUM
alkej-710	119	41	]	]	PUNCT
alkej-710	119	42	and	and	CCONJ
alkej-710	119	43	the	the	DET
alkej-710	119	44	summary	summary	NOUN
alkej-710	119	45	is	be	AUX
alkej-710	119	46	list	list	NOUN
alkej-710	119	47	in	in	ADP
alkej-710	119	48	table	table	NOUN
alkej-710	119	49	2	2	NUM
alkej-710	119	50	.	.	SYM
alkej-710	119	51	5	5	NUM
alkej-710	119	52	.	.	X
alkej-710	119	53	simulation	simulation	NOUN
alkej-710	119	54	and	and	CCONJ
alkej-710	119	55	results	result	VERB
alkej-710	119	56	the	the	DET
alkej-710	119	57	proposed	propose	VERB
alkej-710	119	58	control	control	NOUN
alkej-710	119	59	schemes	scheme	NOUN
alkej-710	119	60	are	be	AUX
alkej-710	119	61	implemented	implement	VERB
alkej-710	119	62	,	,	PUNCT
alkej-710	119	63	and	and	CCONJ
alkej-710	119	64	the	the	DET
alkej-710	119	65	corresponding	corresponding	ADJ
alkej-710	119	66	results	result	NOUN
alkej-710	119	67	for	for	ADP
alkej-710	119	68	a	a	DET
alkej-710	119	69	full	full	ADJ
alkej-710	119	70	cessna	cessna	NOUN
alkej-710	119	71	aircraft	aircraft	NOUN
alkej-710	119	72	model	model	NOUN
alkej-710	119	73	are	be	AUX
alkej-710	119	74	presented	present	VERB
alkej-710	119	75	.	.	PUNCT
alkej-710	120	1	the	the	DET
alkej-710	120	2	fuzzy	fuzzy	ADJ
alkej-710	120	3	sets	set	NOUN
alkej-710	120	4	of	of	ADP
alkej-710	120	5	the	the	DET
alkej-710	120	6	input	input	NOUN
alkej-710	120	7	and	and	CCONJ
alkej-710	120	8	output	output	NOUN
alkej-710	120	9	variables	variable	NOUN
alkej-710	120	10	are	be	AUX
alkej-710	120	11	defined	define	VERB
alkej-710	120	12	as	as	ADP
alkej-710	120	13	{	{	PUNCT
alkej-710	120	14	negative	negative	ADJ
alkej-710	120	15	big	big	ADJ
alkej-710	120	16	,	,	PUNCT
alkej-710	120	17	negative	negative	ADJ
alkej-710	120	18	middle	middle	ADJ
alkej-710	120	19	,	,	PUNCT
alkej-710	120	20	negative	negative	ADJ
alkej-710	120	21	small	small	ADJ
alkej-710	120	22	,	,	PUNCT
alkej-710	120	23	zero	zero	NUM
alkej-710	120	24	,	,	PUNCT
alkej-710	120	25	positive	positive	ADJ
alkej-710	120	26	big	big	ADJ
alkej-710	120	27	,	,	PUNCT
alkej-710	120	28	positive	positive	ADJ
alkej-710	120	29	middle	middle	ADJ
alkej-710	120	30	,	,	PUNCT
alkej-710	120	31	positive	positive	ADJ
alkej-710	120	32	small	small	NOUN
alkej-710	120	33	}	}	PUNCT
alkej-710	120	34	,	,	PUNCT
alkej-710	120	35	or	or	CCONJ
alkej-710	120	36	{	{	PUNCT
alkej-710	120	37	nb	nb	INTJ
alkej-710	120	38	，	，	PROPN
alkej-710	120	39	nm	nm	PROPN
alkej-710	120	40	，	，	PROPN
alkej-710	120	41	ns	ns	ADP
alkej-710	120	42	，	，	PROPN
alkej-710	120	43	z	z	PROPN
alkej-710	120	44	，	，	PROPN
alkej-710	120	45	ps	ps	PROPN
alkej-710	120	46	，	，	PROPN
alkej-710	120	47	pm	pm	NOUN
alkej-710	120	48	，	，	PUNCT
alkej-710	120	49	pb	pb	ADP
alkej-710	120	50	}	}	PUNCT
alkej-710	120	51	as	as	ADP
alkej-710	120	52	a	a	DET
alkej-710	120	53	simplification	simplification	NOUN
alkej-710	120	54	.	.	PUNCT
alkej-710	121	1	the	the	DET
alkej-710	121	2	membership	membership	NOUN
alkej-710	121	3	functions	function	NOUN
alkej-710	121	4	are	be	AUX
alkej-710	121	5	the	the	DET
alkej-710	121	6	trapezoid	trapezoid	NOUN
alkej-710	121	7	,	,	PUNCT
alkej-710	121	8	as	as	SCONJ
alkej-710	121	9	shown	show	VERB
alkej-710	121	10	in	in	ADP
alkej-710	121	11	fig.4	fig.4	PROPN
alkej-710	121	12	and	and	CCONJ
alkej-710	121	13	fig	fig	NOUN
alkej-710	121	14	.	.	PUNCT
alkej-710	122	1	5	5	X
alkej-710	122	2	.	.	NOUN
alkej-710	122	3	table	table	NOUN
alkej-710	122	4	2	2	NUM
alkej-710	122	5	,	,	PUNCT
alkej-710	122	6	the	the	DET
alkej-710	122	7	adaptive	adaptive	ADJ
alkej-710	122	8	unscented	unscente	VERB
alkej-710	122	9	kalman	kalman	NOUN
alkej-710	122	10	filter	filter	PROPN
alkej-710	122	11	(	(	PUNCT
alkej-710	122	12	aukf	aukf	NOUN
alkej-710	122	13	)	)	PUNCT
alkej-710	122	14	algorithm	algorithm	NOUN
alkej-710	122	15	determine	determine	VERB
alkej-710	122	16	the	the	DET
alkej-710	122	17	residual	residual	ADJ
alkej-710	122	18	measurement	measurement	NOUN
alkej-710	122	19	rk	rk	PROPN
alkej-710	122	20	�	�	PROPN
alkej-710	122	21	nk	nk	PROPN
alkej-710	122	22	�	�	PROPN
alkej-710	122	23	n̂k	n̂k	PROPN
alkej-710	122	24	calculate	calculate	VERB
alkej-710	122	25	the	the	DET
alkej-710	122	26	degree	degree	NOUN
alkej-710	122	27	of	of	ADP
alkej-710	122	28	divergence	divergence	NOUN
alkej-710	122	29	(	(	PUNCT
alkej-710	122	30	dod	dod	PROPN
alkej-710	122	31	)	)	PUNCT
alkej-710	122	32	the	the	DET
alkej-710	122	33	first	first	ADJ
alkej-710	122	34	parameter	parameter	NOUN
alkej-710	122	35	of	of	ADP
alkej-710	122	36	dod	dod	PROPN
alkej-710	122	37	st	st	PROPN
alkej-710	122	38	(	(	PUNCT
alkej-710	122	39	u	u	PROPN
alkej-710	122	40	u	u	NOUN
alkej-710	122	41	�	�	PROPN
alkej-710	122	42	1	1	NUM
alkej-710	122	43	(	(	PUNCT
alkej-710	122	44	krs	krs	X
alkej-710	122	45	2	2	NUM
alkej-710	122	46	sj9	sj9	NOUN
alkej-710	122	47	the	the	DET
alkej-710	122	48	second	second	ADJ
alkej-710	122	49	parameter	parameter	NOUN
alkej-710	122	50	of	of	ADP
alkej-710	122	51	dod	dod	PROPN
alkej-710	122	52	covariance	covariance	PROPN
alkej-710	122	53	v	v	ADP
alkej-710	122	54	v	v	PRON
alkej-710	122	55	�	�	PROPN
alkej-710	122	56	rkbrk	rkbrk	PROPN
alkej-710	122	57	(	(	PUNCT
alkej-710	122	58	determine	determine	VERB
alkej-710	122	59	the	the	DET
alkej-710	122	60	softening	soften	VERB
alkej-710	122	61	factor	factor	NOUN
alkej-710	122	62	α	α	PROPN
alkej-710	122	63	the	the	DET
alkej-710	122	64	output	output	NOUN
alkej-710	122	65	membership	membership	NOUN
alkej-710	122	66	of	of	ADP
alkej-710	122	67	the	the	DET
alkej-710	122	68	fuzzy	fuzzy	ADJ
alkej-710	122	69	logic	logic	NOUN
alkej-710	122	70	(	(	PUNCT
alkej-710	122	71	the	the	DET
alkej-710	122	72	input	input	NOUN
alkej-710	122	73	memberships	membership	NOUN
alkej-710	122	74	are	be	AUX
alkej-710	122	75	mean	mean	ADJ
alkej-710	122	76	and	and	CCONJ
alkej-710	122	77	covariance	covariance	NOUN
alkej-710	122	78	)	)	PUNCT
alkej-710	122	79	calculate	calculate	VERB
alkej-710	122	80	the	the	DET
alkej-710	122	81	new	new	ADJ
alkej-710	122	82	model	model	NOUN
alkej-710	122	83	of	of	ADP
alkej-710	122	84	weighted	weight	VERB
alkej-710	122	85	noise	noise	NOUN
alkej-710	122	86	covariance	covariance	NOUN
alkej-710	122	87	matrices	matrix	NOUN
alkej-710	122	88	ek	ek	PROPN
alkej-710	122	89	�	�	PROPN
alkej-710	122	90	e`86	e`86	PROPN
alkej-710	122	91	�	�	PROPN
alkej-710	122	92	k^9	k^9	PROPN
alkej-710	122	93	�	�	PROPN
alkej-710	122	94	ck	ck	PROPN
alkej-710	122	95	�	�	PROPN
alkej-710	122	96	c`86	c`86	PROPN
alkej-710	122	97	�	�	PROPN
alkej-710	122	98	k^9	k^9	PROPN
alkej-710	122	99	�	�	PROPN
alkej-710	122	100	the	the	DET
alkej-710	122	101	weighted	weighted	ADJ
alkej-710	122	102	covariance	covariance	NOUN
alkej-710	122	103	is	be	AUX
alkej-710	122	104	jwk\k89	jwk\k89	PROPN
alkej-710	122	105	�	�	PROPN
alkej-710	122	106	jk\k89`6k	jk\k89`6k	NOUN
alkej-710	122	107	update	update	NOUN
alkej-710	122	108	jk\k89	jk\k89	PROPN
alkej-710	122	109	�	�	PROPN
alkej-710	123	1	`	`	PUNCT
alkej-710	123	2	6∑	6∑	NUM
alkej-710	123	3	�	�	PROPN
alkej-710	123	4	s_[	s_[	PROPN
alkej-710	123	5	�	�	PROPN
alkej-710	123	6	fk\k89	fk\k89	PROPN
alkej-710	123	7	�	�	NOUN
alkej-710	123	8	62sji	62sji	NOUN
alkej-710	123	9	auk\k89	auk\k89	NOUN
alkej-710	123	10	]	]	X
alkej-710	124	1	[	[	X
alkej-710	124	2	�	�	SYM
alkej-710	124	3	fk\k89	fk\k89	PROPN
alkej-710	124	4	�	�	PROPN
alkej-710	124	5	auk\k89]b	auk\k89]b	PROPN
alkej-710	124	6	�	�	PROPN
alkej-710	124	7	c	c	PROPN
alkej-710	124	8	joo	joo	PROPN
alkej-710	124	9	�	�	PROPN
alkej-710	124	10	`	`	PUNCT
alkej-710	124	11	6k	6k	PROPN
alkej-710	124	12	∑	∑	SYM
alkej-710	124	13	�	�	PROPN
alkej-710	124	14	s_[	s_[	PROPN
alkej-710	124	15	�	�	PROPN
alkej-710	124	16	lk\k89	lk\k89	PROPN
alkej-710	124	17	�	�	PROPN
alkej-710	124	18	nk\k89]62sji	nk\k89]62sji	PROPN
alkej-710	124	19	[	[	X
alkej-710	124	20	�	�	NOUN
alkej-710	124	21	lk\k89	lk\k89	ADJ
alkej-710	124	22	�	�	PROPN
alkej-710	124	23	n̂k\k89]b	n̂k\k89]b	PROPN
alkej-710	124	24	�	�	PROPN
alkej-710	124	25	`	`	PUNCT
alkej-710	124	26	86e	86e	NOUN
alkej-710	124	27	jyp	jyp	PROPN
alkej-710	124	28	�	�	PROPN
alkej-710	124	29	`	`	PUNCT
alkej-710	124	30	6kk	6kk	ADJ
alkej-710	124	31	�	�	PROPN
alkej-710	124	32	s_[	s_[	PROPN
alkej-710	124	33	�	�	PROPN
alkej-710	124	34	fk\k89	fk\k89	PROPN
alkej-710	124	35	�	�	PROPN
alkej-710	124	36	auk\k89	auk\k89	PROPN
alkej-710	124	37	]	]	X
alkej-710	124	38	62	62	NUM
alkej-710	124	39	sji	sji	NOUN
alkej-710	124	40	[	[	X
alkej-710	124	41	�	�	NOUN
alkej-710	124	42	lk\k89	lk\k89	ADJ
alkej-710	124	43	�	�	PROPN
alkej-710	124	44	n̂k\k89]b	n̂k\k89]b	NOUN
alkej-710	124	45	it	it	PRON
alkej-710	124	46	is	be	AUX
alkej-710	124	47	noticed	notice	VERB
alkej-710	124	48	that	that	SCONJ
alkej-710	124	49	these	these	DET
alkej-710	124	50	functions	function	NOUN
alkej-710	124	51	are	be	AUX
alkej-710	124	52	designed	design	VERB
alkej-710	124	53	around	around	ADP
alkej-710	124	54	the	the	DET
alkej-710	124	55	zero	zero	NUM
alkej-710	124	56	value	value	NOUN
alkej-710	124	57	to	to	PART
alkej-710	124	58	guarantee	guarantee	VERB
alkej-710	124	59	the	the	DET
alkej-710	124	60	control	control	NOUN
alkej-710	124	61	sensitivity	sensitivity	NOUN
alkej-710	124	62	at	at	ADP
alkej-710	124	63	a	a	DET
alkej-710	124	64	small	small	ADJ
alkej-710	124	65	deviation	deviation	NOUN
alkej-710	124	66	.	.	PUNCT
alkej-710	125	1	according	accord	VERB
alkej-710	125	2	to	to	ADP
alkej-710	125	3	the	the	DET
alkej-710	125	4	different	different	ADJ
alkej-710	125	5	values	value	NOUN
alkej-710	125	6	of	of	ADP
alkej-710	125	7	e	e	PROPN
alkej-710	125	8	and	and	CCONJ
alkej-710	125	9	∆e	∆e	PROPN
alkej-710	125	10	taken	take	VERB
alkej-710	125	11	from	from	ADP
alkej-710	125	12	the	the	DET
alkej-710	125	13	experiences	experience	NOUN
alkej-710	125	14	;	;	PUNCT
alkej-710	125	15	these	these	PRON
alkej-710	125	16	summarized	summarize	VERB
alkej-710	125	17	the	the	DET
alkej-710	125	18	behavior	behavior	NOUN
alkej-710	125	19	of	of	ADP
alkej-710	125	20	system	system	NOUN
alkej-710	125	21	response	response	NOUN
alkej-710	125	22	for	for	ADP
alkej-710	125	23	uav	uav	PROPN
alkej-710	126	1	[	[	X
alkej-710	126	2	33	33	NUM
alkej-710	126	3	]	]	PUNCT
alkej-710	126	4	,	,	PUNCT
alkej-710	126	5	it	it	PRON
alkej-710	126	6	can	can	AUX
alkej-710	126	7	be	be	AUX
alkej-710	126	8	concluded	conclude	VERB
alkej-710	126	9	as	as	SCONJ
alkej-710	126	10	follows	follow	VERB
alkej-710	126	11	in	in	ADP
alkej-710	126	12	table	table	NOUN
alkej-710	126	13	3	3	NUM
alkej-710	126	14	:	:	PUNCT
alkej-710	126	15	malik	malik	PROPN
alkej-710	126	16	m.	m.	PROPN
alkej-710	126	17	a.	a.	PROPN
alkej-710	126	18	al	al	PROPN
alkej-710	126	19	-	-	PUNCT
alkej-710	126	20	isawi	isawi	PROPN
alkej-710	126	21	al	al	PROPN
alkej-710	126	22	-	-	PUNCT
alkej-710	126	23	khwarizmi	khwarizmi	PROPN
alkej-710	126	24	engineering	engineering	NOUN
alkej-710	126	25	journal	journal	PROPN
alkej-710	126	26	,	,	PUNCT
alkej-710	126	27	vol	vol	NOUN
alkej-710	126	28	.	.	PROPN
alkej-710	126	29	16	16	NUM
alkej-710	126	30	,	,	PUNCT
alkej-710	126	31	no	no	INTJ
alkej-710	126	32	.	.	NOUN
alkej-710	126	33	3	3	NUM
alkej-710	126	34	,	,	PUNCT
alkej-710	126	35	p.p	p.p	PROPN
alkej-710	126	36	.	.	NOUN
alkej-710	126	37	4353	4353	NUM
alkej-710	126	38	(	(	PUNCT
alkej-710	126	39	2020	2020	NUM
alkej-710	126	40	)	)	PUNCT
alkej-710	126	41	47	47	NUM
alkej-710	126	42	fig	fig	NOUN
alkej-710	126	43	.	.	PUNCT
alkej-710	127	1	3	3	X
alkej-710	127	2	.	.	X
alkej-710	128	1	the	the	DET
alkej-710	128	2	blocks	block	NOUN
alkej-710	128	3	diagram	diagram	NOUN
alkej-710	128	4	of	of	ADP
alkej-710	128	5	the	the	DET
alkej-710	128	6	fuzzy	fuzzy	ADJ
alkej-710	128	7	-	-	PUNCT
alkej-710	128	8	pid	pid	NOUN
alkej-710	128	9	controller	controller	NOUN
alkej-710	128	10	.	.	PUNCT
alkej-710	128	11	table	table	NOUN
alkej-710	128	12	3	3	NUM
alkej-710	128	13	,	,	PUNCT
alkej-710	128	14	rule	rule	NOUN
alkej-710	128	15	of	of	ADP
alkej-710	128	16	kp	kp	PROPN
alkej-710	128	17	,	,	PUNCT
alkej-710	128	18	ki	ki	PROPN
alkej-710	128	19	,	,	PUNCT
alkej-710	128	20	and	and	CCONJ
alkej-710	128	21	kd	kd	PROPN
alkej-710	128	22	fig	fig	NOUN
alkej-710	128	23	.	.	PUNCT
alkej-710	129	1	4	4	X
alkej-710	129	2	.	.	X
alkej-710	129	3	the	the	DET
alkej-710	129	4	membership	membership	NOUN
alkej-710	129	5	function	function	NOUN
alkej-710	129	6	of	of	ADP
alkej-710	129	7	the	the	DET
alkej-710	129	8	input	input	NOUN
alkej-710	129	9	variables	variable	NOUN
alkej-710	129	10	.	.	PUNCT
alkej-710	130	1	fig	fig	NOUN
alkej-710	130	2	.	.	PUNCT
alkej-710	131	1	5	5	X
alkej-710	131	2	.	.	PUNCT
alkej-710	131	3	the	the	DET
alkej-710	131	4	membership	membership	NOUN
alkej-710	131	5	function	function	NOUN
alkej-710	131	6	of	of	ADP
alkej-710	131	7	the	the	DET
alkej-710	131	8	output	output	NOUN
alkej-710	131	9	variables	variable	NOUN
alkej-710	131	10	.	.	PUNCT
alkej-710	132	1	fig	fig	NOUN
alkej-710	132	2	.	.	PUNCT
alkej-710	133	1	6	6	NUM
alkej-710	133	2	.	.	X
alkej-710	133	3	block	block	NOUN
alkej-710	133	4	diagram	diagram	NOUN
alkej-710	133	5	of	of	ADP
alkej-710	133	6	the	the	DET
alkej-710	133	7	fuzzy	fuzzy	ADJ
alkej-710	133	8	-	-	PUNCT
alkej-710	133	9	pid	pid	NOUN
alkej-710	133	10	controller	controller	NOUN
alkej-710	133	11	with	with	ADP
alkej-710	133	12	lqr	lqr	NOUN
alkej-710	133	13	5.1	5.1	NUM
alkej-710	133	14	step	step	NOUN
alkej-710	133	15	input	input	NOUN
alkej-710	133	16	to	to	ADP
alkej-710	133	17	the	the	DET
alkej-710	133	18	fuzzy	fuzzy	ADJ
alkej-710	133	19	-pid	-pid	PUNCT
alkej-710	133	20	with	with	ADP
alkej-710	133	21	lqr	lqr	NOUN
alkej-710	133	22	controller	controller	NOUN
alkej-710	133	23	in	in	ADP
alkej-710	133	24	fig	fig	NOUN
alkej-710	133	25	6	6	NUM
alkej-710	133	26	,	,	PUNCT
alkej-710	133	27	fuzzy	fuzzy	ADJ
alkej-710	133	28	-	-	PUNCT
alkej-710	133	29	pid	pid	NOUN
alkej-710	133	30	with	with	ADP
alkej-710	133	31	lqr	lqr	NOUN
alkej-710	133	32	controller	controller	NOUN
alkej-710	133	33	was	be	AUX
alkej-710	133	34	designed	design	VERB
alkej-710	133	35	to	to	PART
alkej-710	133	36	make	make	VERB
alkej-710	133	37	sure	sure	ADJ
alkej-710	133	38	to	to	PART
alkej-710	133	39	stabilize	stabilize	VERB
alkej-710	133	40	the	the	DET
alkej-710	133	41	aircraft	aircraft	NOUN
alkej-710	133	42	within	within	ADP
alkej-710	133	43	a	a	DET
alkej-710	133	44	certain	certain	ADJ
alkej-710	133	45	threshold	threshold	NOUN
alkej-710	133	46	.	.	PUNCT
alkej-710	134	1	a	a	DET
alkej-710	134	2	unit	unit	NOUN
alkej-710	134	3	step	step	NOUN
alkej-710	134	4	command	command	NOUN
alkej-710	134	5	is	be	AUX
alkej-710	134	6	required	require	VERB
alkej-710	134	7	to	to	PART
alkej-710	134	8	follow	follow	VERB
alkej-710	134	9	the	the	DET
alkej-710	134	10	reference	reference	NOUN
alkej-710	134	11	value	value	NOUN
alkej-710	134	12	.	.	PUNCT
alkej-710	135	1	in	in	ADP
alkej-710	135	2	longitudinal	longitudinal	ADJ
alkej-710	135	3	control	control	NOUN
alkej-710	135	4	,	,	PUNCT
alkej-710	135	5	the	the	DET
alkej-710	135	6	altitude	altitude	NOUN
alkej-710	135	7	and	and	CCONJ
alkej-710	135	8	airspeed	airspeed	NOUN
alkej-710	135	9	are	be	AUX
alkej-710	135	10	controlled	control	VERB
alkej-710	135	11	by	by	ADP
alkej-710	135	12	using	use	VERB
alkej-710	135	13	the	the	DET
alkej-710	135	14	combination	combination	NOUN
alkej-710	135	15	of	of	ADP
alkej-710	135	16	elevator	elevator	NOUN
alkej-710	135	17	and	and	CCONJ
alkej-710	135	18	throttle	throttle	NOUN
alkej-710	135	19	,	,	PUNCT
alkej-710	135	20	in	in	ADP
alkej-710	135	21	fig.7	fig.7	ADJ
alkej-710	135	22	shown	show	VERB
alkej-710	135	23	that	that	SCONJ
alkej-710	135	24	the	the	DET
alkej-710	135	25	fuzzy	fuzzy	ADJ
alkej-710	135	26	-	-	PUNCT
alkej-710	135	27	pid	pid	NOUN
alkej-710	135	28	controller	controller	NOUN
alkej-710	135	29	was	be	AUX
alkej-710	135	30	given	give	VERB
alkej-710	135	31	a	a	DET
alkej-710	135	32	step	step	NOUN
alkej-710	135	33	of	of	ADP
alkej-710	135	34	200	200	NUM
alkej-710	135	35	ft	ft	NOUN
alkej-710	135	36	/	/	SYM
alkej-710	135	37	s	s	NOUN
alkej-710	135	38	as	as	ADP
alkej-710	135	39	a	a	DET
alkej-710	135	40	reference	reference	NOUN
alkej-710	135	41	for	for	ADP
alkej-710	135	42	the	the	DET
alkej-710	135	43	airspeed	airspeed	NOUN
alkej-710	135	44	input	input	NOUN
alkej-710	135	45	.	.	PUNCT
alkej-710	136	1	the	the	DET
alkej-710	136	2	controller	controller	NOUN
alkej-710	136	3	should	should	AUX
alkej-710	136	4	be	be	AUX
alkej-710	136	5	able	able	ADJ
alkej-710	136	6	to	to	PART
alkej-710	136	7	track	track	VERB
alkej-710	136	8	that	that	DET
alkej-710	136	9	reference	reference	NOUN
alkej-710	136	10	airspeed	airspeed	NOUN
alkej-710	136	11	while	while	SCONJ
alkej-710	136	12	another	another	DET
alkej-710	136	13	fuzzypid	fuzzypid	NOUN
alkej-710	136	14	controller	controller	NOUN
alkej-710	136	15	was	be	AUX
alkej-710	136	16	regulating	regulate	VERB
alkej-710	136	17	the	the	DET
alkej-710	136	18	attitude	attitude	NOUN
alkej-710	136	19	,	,	PUNCT
alkej-710	136	20	as	as	SCONJ
alkej-710	136	21	shown	show	VERB
alkej-710	136	22	in	in	ADP
alkej-710	136	23	fig.8	fig.8	PROPN
alkej-710	136	24	.	.	PUNCT
alkej-710	137	1	kp	kp	PROPN
alkej-710	137	2	,	,	PUNCT
alkej-710	137	3	ki	ki	PROPN
alkej-710	137	4	,	,	PUNCT
alkej-710	137	5	kd	kd	PROPN
alkej-710	137	6	∆e	∆e	PROPN
alkej-710	137	7	nb	nb	PROPN
alkej-710	137	8	nm	nm	INTJ
alkej-710	137	9	ns	ns	PROPN
alkej-710	137	10	z	z	NOUN
alkej-710	137	11	ps	ps	NOUN
alkej-710	137	12	pm	pm	NOUN
alkej-710	137	13	pb	pb	ADP
alkej-710	137	14	e	e	PROPN
alkej-710	137	15	nb	nb	INTJ
alkej-710	137	16	pb	pb	PROPN
alkej-710	137	17	,	,	PUNCT
alkej-710	137	18	nb	nb	INTJ
alkej-710	137	19	,	,	PUNCT
alkej-710	137	20	ns	ns	NUM
alkej-710	137	21	pb	pb	ADP
alkej-710	137	22	,	,	PUNCT
alkej-710	137	23	nb	nb	PROPN
alkej-710	137	24	,	,	PUNCT
alkej-710	137	25	nm	nm	ADV
alkej-710	137	26	pb	pb	ADP
alkej-710	137	27	,	,	PUNCT
alkej-710	137	28	nm	nm	PROPN
alkej-710	137	29	,	,	PUNCT
alkej-710	137	30	nb	nb	INTJ
alkej-710	137	31	pb	pb	PROPN
alkej-710	137	32	,	,	PUNCT
alkej-710	137	33	nm	nm	PROPN
alkej-710	137	34	,	,	PUNCT
alkej-710	137	35	nb	nb	INTJ
alkej-710	137	36	pm	pm	PROPN
alkej-710	137	37	,	,	PUNCT
alkej-710	137	38	ns	ns	INTJ
alkej-710	137	39	,	,	PUNCT
alkej-710	137	40	nb	nb	NOUN
alkej-710	137	41	ps	ps	PROPN
alkej-710	137	42	,	,	PUNCT
alkej-710	137	43	z	z	PROPN
alkej-710	137	44	,	,	PUNCT
alkej-710	137	45	nb	nb	PROPN
alkej-710	137	46	z	z	PROPN
alkej-710	137	47	,	,	PUNCT
alkej-710	137	48	z	z	PROPN
alkej-710	137	49	,	,	PUNCT
alkej-710	137	50	z	z	NOUN
alkej-710	137	51	nm	nm	PRON
alkej-710	137	52	pm	pm	NOUN
alkej-710	137	53	,	,	PUNCT
alkej-710	137	54	nb	nb	INTJ
alkej-710	137	55	,	,	PUNCT
alkej-710	137	56	ns	ns	ADJ
alkej-710	137	57	pm	pm	PROPN
alkej-710	137	58	,	,	PUNCT
alkej-710	137	59	nm	nm	INTJ
alkej-710	137	60	,	,	PUNCT
alkej-710	137	61	ns	ns	ADJ
alkej-710	137	62	ps	ps	PROPN
alkej-710	137	63	,	,	PUNCT
alkej-710	137	64	nm	nm	PROPN
alkej-710	137	65	,	,	PUNCT
alkej-710	137	66	nm	nm	ADJ
alkej-710	137	67	ps	ps	NOUN
alkej-710	137	68	,	,	PUNCT
alkej-710	137	69	ns	ns	INTJ
alkej-710	137	70	,	,	PUNCT
alkej-710	137	71	nm	nm	ADJ
alkej-710	137	72	ps	ps	NOUN
alkej-710	137	73	,	,	PUNCT
alkej-710	137	74	ns	ns	INTJ
alkej-710	137	75	,	,	PUNCT
alkej-710	137	76	nm	nm	ADJ
alkej-710	137	77	z	z	NOUN
alkej-710	137	78	,	,	PUNCT
alkej-710	137	79	z	z	PROPN
alkej-710	137	80	,	,	PUNCT
alkej-710	137	81	ns	ns	PROPN
alkej-710	137	82	z	z	PROPN
alkej-710	137	83	,	,	PUNCT
alkej-710	137	84	z	z	PROPN
alkej-710	137	85	,	,	PUNCT
alkej-710	137	86	z	z	NOUN
alkej-710	137	87	ns	ns	NUM
alkej-710	137	88	pm	pm	PROPN
alkej-710	137	89	,	,	PUNCT
alkej-710	137	90	nb	nb	INTJ
alkej-710	137	91	,	,	PUNCT
alkej-710	137	92	z	z	PROPN
alkej-710	137	93	ps	ps	PROPN
alkej-710	137	94	,	,	PUNCT
alkej-710	137	95	nm	nm	PROPN
alkej-710	137	96	,	,	PUNCT
alkej-710	137	97	ns	ns	PROPN
alkej-710	137	98	z	z	PROPN
alkej-710	137	99	,	,	PUNCT
alkej-710	137	100	ns	ns	INTJ
alkej-710	137	101	,	,	PUNCT
alkej-710	137	102	nm	nm	ADJ
alkej-710	137	103	z	z	PROPN
alkej-710	137	104	,	,	PUNCT
alkej-710	137	105	ns	ns	INTJ
alkej-710	137	106	,	,	PUNCT
alkej-710	137	107	nm	nm	ADJ
alkej-710	137	108	z	z	NOUN
alkej-710	137	109	,	,	PUNCT
alkej-710	137	110	z	z	PROPN
alkej-710	137	111	,	,	PUNCT
alkej-710	137	112	ns	ns	NUM
alkej-710	137	113	ns	ns	ADJ
alkej-710	137	114	,	,	PUNCT
alkej-710	137	115	ps	ps	NOUN
alkej-710	137	116	,	,	PUNCT
alkej-710	137	117	ns	ns	NUM
alkej-710	137	118	nm	nm	PROPN
alkej-710	137	119	,	,	PUNCT
alkej-710	137	120	ps	ps	PROPN
alkej-710	137	121	,	,	PUNCT
alkej-710	137	122	z	z	NOUN
alkej-710	137	123	z	z	NOUN
alkej-710	137	124	pm	pm	NOUN
alkej-710	137	125	,	,	PUNCT
alkej-710	137	126	nm	nm	INTJ
alkej-710	137	127	,	,	PUNCT
alkej-710	137	128	z	z	NOUN
alkej-710	137	129	pm	pm	NOUN
alkej-710	137	130	,	,	PUNCT
alkej-710	137	131	nm	nm	INTJ
alkej-710	137	132	,	,	PUNCT
alkej-710	137	133	ns	ns	ADJ
alkej-710	137	134	ps	ps	PROPN
alkej-710	137	135	,	,	PUNCT
alkej-710	137	136	ns	ns	ADJ
alkej-710	137	137	,	,	PUNCT
alkej-710	137	138	ns	ns	NOUN
alkej-710	137	139	z	z	PROPN
alkej-710	137	140	,	,	PUNCT
alkej-710	137	141	z	z	PROPN
alkej-710	137	142	,	,	PUNCT
alkej-710	137	143	ns	ns	NUM
alkej-710	137	144	ns	ns	ADJ
alkej-710	137	145	,	,	PUNCT
alkej-710	137	146	ps	ps	NOUN
alkej-710	137	147	,	,	PUNCT
alkej-710	137	148	ns	ns	NUM
alkej-710	137	149	nm	nm	PROPN
alkej-710	137	150	,	,	PUNCT
alkej-710	137	151	ps	ps	PROPN
alkej-710	137	152	,	,	PUNCT
alkej-710	137	153	ns	ns	PROPN
alkej-710	137	154	nm	nm	PROPN
alkej-710	137	155	,	,	PUNCT
alkej-710	137	156	pm	pm	NOUN
alkej-710	137	157	,	,	PUNCT
alkej-710	137	158	z	z	NOUN
alkej-710	137	159	ps	ps	NOUN
alkej-710	137	160	pm	pm	PROPN
alkej-710	137	161	,	,	PUNCT
alkej-710	137	162	nm	nm	INTJ
alkej-710	137	163	,	,	PUNCT
alkej-710	137	164	z	z	PROPN
alkej-710	137	165	ps	ps	PROPN
alkej-710	137	166	,	,	PUNCT
alkej-710	137	167	ns	ns	NOUN
alkej-710	137	168	,	,	PUNCT
alkej-710	137	169	z	z	NOUN
alkej-710	137	170	z	z	NOUN
alkej-710	137	171	,	,	PUNCT
alkej-710	137	172	z	z	PROPN
alkej-710	137	173	,	,	PUNCT
alkej-710	137	174	z	z	PROPN
alkej-710	137	175	z	z	NOUN
alkej-710	137	176	,	,	PUNCT
alkej-710	137	177	ps	ps	PROPN
alkej-710	137	178	,	,	PUNCT
alkej-710	137	179	z	z	PROPN
alkej-710	137	180	ns	ns	PROPN
alkej-710	137	181	,	,	PUNCT
alkej-710	137	182	ps	ps	PROPN
alkej-710	137	183	,	,	PUNCT
alkej-710	137	184	z	z	PROPN
alkej-710	137	185	ns	ns	PROPN
alkej-710	137	186	,	,	PUNCT
alkej-710	137	187	pm	pm	NOUN
alkej-710	137	188	,	,	PUNCT
alkej-710	137	189	z	z	NOUN
alkej-710	137	190	nm	nm	PROPN
alkej-710	137	191	,	,	PUNCT
alkej-710	137	192	pm	pm	NOUN
alkej-710	137	193	,	,	PUNCT
alkej-710	137	194	z	z	NOUN
alkej-710	137	195	pm	pm	NOUN
alkej-710	137	196	ps	ps	PROPN
alkej-710	137	197	,	,	PUNCT
alkej-710	137	198	z	z	PROPN
alkej-710	137	199	,	,	PUNCT
alkej-710	137	200	pm	pm	NOUN
alkej-710	137	201	z	z	PROPN
alkej-710	137	202	,	,	PUNCT
alkej-710	137	203	z	z	PROPN
alkej-710	137	204	,	,	PUNCT
alkej-710	137	205	ps	ps	PROPN
alkej-710	137	206	ns	ns	INTJ
alkej-710	137	207	,	,	PUNCT
alkej-710	137	208	ps	ps	NOUN
alkej-710	137	209	,	,	PUNCT
alkej-710	137	210	ps	ps	PROPN
alkej-710	137	211	ns	ns	NUM
alkej-710	137	212	,	,	PUNCT
alkej-710	137	213	ps	ps	PROPN
alkej-710	137	214	,	,	PUNCT
alkej-710	137	215	ps	ps	PROPN
alkej-710	137	216	nm	nm	PROPN
alkej-710	137	217	,	,	PUNCT
alkej-710	137	218	pm	pm	NOUN
alkej-710	137	219	,	,	PUNCT
alkej-710	137	220	ps	ps	PROPN
alkej-710	137	221	nm	nm	PROPN
alkej-710	137	222	,	,	PUNCT
alkej-710	137	223	pb	pb	ADP
alkej-710	137	224	,	,	PUNCT
alkej-710	137	225	ps	ps	PROPN
alkej-710	137	226	nb	nb	INTJ
alkej-710	137	227	,	,	PUNCT
alkej-710	137	228	pb	pb	PROPN
alkej-710	137	229	,	,	PUNCT
alkej-710	137	230	pb	pb	ADP
alkej-710	137	231	pb	pb	ADP
alkej-710	137	232	z.z	z.z	PROPN
alkej-710	137	233	,	,	PUNCT
alkej-710	137	234	pb	pb	ADP
alkej-710	137	235	z	z	PROPN
alkej-710	137	236	,	,	PUNCT
alkej-710	137	237	z	z	PROPN
alkej-710	137	238	,	,	PUNCT
alkej-710	137	239	pm	pm	NOUN
alkej-710	137	240	ns	ns	ADJ
alkej-710	137	241	,	,	PUNCT
alkej-710	137	242	ps	ps	NOUN
alkej-710	137	243	,	,	PUNCT
alkej-710	137	244	pm	pm	NOUN
alkej-710	137	245	nm	nm	NOUN
alkej-710	137	246	,	,	PUNCT
alkej-710	137	247	pm	pm	NOUN
alkej-710	137	248	,	,	PUNCT
alkej-710	137	249	pm	pm	NOUN
alkej-710	137	250	nm	nm	NOUN
alkej-710	137	251	,	,	PUNCT
alkej-710	137	252	pm	pm	NOUN
alkej-710	137	253	,	,	PUNCT
alkej-710	137	254	ps	ps	PROPN
alkej-710	137	255	nb	nb	INTJ
alkej-710	137	256	,	,	PUNCT
alkej-710	137	257	pb	pb	PROPN
alkej-710	137	258	,	,	PUNCT
alkej-710	137	259	ps	ps	PROPN
alkej-710	137	260	nb	nb	INTJ
alkej-710	137	261	,	,	PUNCT
alkej-710	137	262	pb	pb	PROPN
alkej-710	137	263	,	,	PUNCT
alkej-710	137	264	pb	pb	ADP
alkej-710	137	265	y	y	PROPN
alkej-710	137	266	model	model	NOUN
alkej-710	137	267	pid	pid	NOUN
alkej-710	137	268	controller	controller	PROPN
alkej-710	137	269	∆e	∆e	PROPN
alkej-710	137	270	rule	rule	NOUN
alkej-710	137	271	base	base	NOUN
alkej-710	137	272	inference	inference	NOUN
alkej-710	137	273	f	f	PROPN
alkej-710	137	274	u	u	NOUN
alkej-710	137	275	zzificatio	zzificatio	VERB
alkej-710	137	276	n	n	NOUN
alkej-710	137	277	d	d	PROPN
alkej-710	137	278	e	e	NOUN
alkej-710	137	279	fu	fu	PROPN
alkej-710	137	280	z	z	PROPN
alkej-710	137	281	zific	zific	PROPN
alkej-710	137	282	atio	atio	PROPN
alkej-710	137	283	n	n	PROPN
alkej-710	137	284	e	e	X
alkej-710	137	285	kp	kp	PROPN
alkej-710	137	286	,	,	PUNCT
alkej-710	137	287	ki	ki	PROPN
alkej-710	137	288	,	,	PUNCT
alkej-710	137	289	kd	kd	PROPN
alkej-710	137	290	+	+	CCONJ
alkej-710	137	291	u	u	X
alkej-710	137	292	de	de	X
alkej-710	137	293	/	/	SYM
alkej-710	137	294	dt	dt	ADJ
alkej-710	137	295	fuzzy	fuzzy	ADJ
alkej-710	137	296	controller	controller	NOUN
alkej-710	137	297	+	+	CCONJ
alkej-710	137	298	fuzzypid	fuzzypid	NOUN
alkej-710	137	299	model	model	NOUN
alkej-710	137	300	outer	outer	ADJ
alkej-710	137	301	-	-	PUNCT
alkej-710	137	302	loop	loop	NOUN
alkej-710	137	303	reference	reference	NOUN
alkej-710	137	304	input	input	NOUN
alkej-710	137	305	lqr	lqr	VERB
alkej-710	137	306	inner	inner	ADJ
alkej-710	137	307	-	-	PUNCT
alkej-710	137	308	loop	loop	NOUN
alkej-710	137	309	malik	malik	PROPN
alkej-710	137	310	m.	m.	PROPN
alkej-710	137	311	a.	a.	PROPN
alkej-710	137	312	al	al	PROPN
alkej-710	137	313	-	-	PUNCT
alkej-710	137	314	isawi	isawi	PROPN
alkej-710	137	315	al	al	PROPN
alkej-710	137	316	-	-	PUNCT
alkej-710	137	317	khwarizmi	khwarizmi	PROPN
alkej-710	137	318	engineering	engineering	NOUN
alkej-710	137	319	journal	journal	PROPN
alkej-710	137	320	,	,	PUNCT
alkej-710	137	321	vol	vol	NOUN
alkej-710	137	322	.	.	PROPN
alkej-710	137	323	16	16	NUM
alkej-710	137	324	,	,	PUNCT
alkej-710	137	325	no	no	INTJ
alkej-710	137	326	.	.	NOUN
alkej-710	137	327	3	3	NUM
alkej-710	137	328	,	,	PUNCT
alkej-710	137	329	p.p	p.p	PROPN
alkej-710	137	330	.	.	NOUN
alkej-710	137	331	4353	4353	NUM
alkej-710	137	332	(	(	PUNCT
alkej-710	137	333	2020	2020	NUM
alkej-710	137	334	)	)	PUNCT
alkej-710	137	335	48	48	NUM
alkej-710	137	336	fig	fig	NOUN
alkej-710	137	337	.	.	PUNCT
alkej-710	138	1	7	7	X
alkej-710	138	2	.	.	X
alkej-710	138	3	airspeed	airspeed	NOUN
alkej-710	138	4	with	with	ADP
alkej-710	138	5	step	step	NOUN
alkej-710	138	6	throttle	throttle	NOUN
alkej-710	138	7	input	input	NOUN
alkej-710	138	8	.	.	PUNCT
alkej-710	139	1	fig	fig	NOUN
alkej-710	139	2	.	.	PUNCT
alkej-710	140	1	8	8	NUM
alkej-710	140	2	.	.	X
alkej-710	140	3	altitude	altitude	NOUN
alkej-710	140	4	with	with	ADP
alkej-710	140	5	step	step	NOUN
alkej-710	140	6	elevator	elevator	NOUN
alkej-710	140	7	input	input	NOUN
alkej-710	140	8	.	.	PUNCT
alkej-710	141	1	5.2	5.2	NUM
alkej-710	141	2	verification	verification	NOUN
alkej-710	141	3	change	change	NOUN
alkej-710	141	4	step	step	NOUN
alkej-710	141	5	inputs	input	NOUN
alkej-710	141	6	in	in	ADP
alkej-710	141	7	both	both	DET
alkej-710	141	8	throttle	throttle	NOUN
alkej-710	141	9	control	control	NOUN
alkej-710	141	10	and	and	CCONJ
alkej-710	141	11	elevator	elevator	NOUN
alkej-710	141	12	input	input	NOUN
alkej-710	141	13	were	be	AUX
alkej-710	141	14	studied	study	VERB
alkej-710	141	15	separately	separately	ADV
alkej-710	141	16	,	,	PUNCT
alkej-710	141	17	to	to	PART
alkej-710	141	18	make	make	VERB
alkej-710	141	19	sure	sure	ADJ
alkej-710	141	20	the	the	DET
alkej-710	141	21	controller	controller	NOUN
alkej-710	141	22	works	work	VERB
alkej-710	141	23	correctly	correctly	ADV
alkej-710	141	24	.	.	PUNCT
alkej-710	142	1	a	a	DET
alkej-710	142	2	)	)	PUNCT
alkej-710	142	3	throttle	throttle	NOUN
alkej-710	142	4	control	control	NOUN
alkej-710	142	5	increased	increase	VERB
alkej-710	142	6	while	while	SCONJ
alkej-710	142	7	the	the	DET
alkej-710	142	8	elevator	elevator	NOUN
alkej-710	142	9	fixed	fix	VERB
alkej-710	142	10	,	,	PUNCT
alkej-710	142	11	fig	fig	NOUN
alkej-710	142	12	.	.	PUNCT
alkej-710	143	1	9	9	NUM
alkej-710	143	2	shown	show	VERB
alkej-710	143	3	that	that	SCONJ
alkej-710	143	4	the	the	DET
alkej-710	143	5	airspeed	airspeed	NOUN
alkej-710	143	6	was	be	AUX
alkej-710	143	7	increased	increase	VERB
alkej-710	143	8	from	from	ADP
alkej-710	143	9	200	200	NUM
alkej-710	143	10	ft	ft	NOUN
alkej-710	143	11	/	/	SYM
alkej-710	143	12	s	s	NOUN
alkej-710	143	13	to	to	PART
alkej-710	143	14	300	300	NUM
alkej-710	143	15	ft	ft	NOUN
alkej-710	143	16	/	/	SYM
alkej-710	143	17	s	s	NOUN
alkej-710	143	18	at	at	ADP
alkej-710	143	19	6s	6s	NUM
alkej-710	143	20	while	while	SCONJ
alkej-710	143	21	the	the	DET
alkej-710	143	22	altitude	altitude	NOUN
alkej-710	143	23	was	be	AUX
alkej-710	143	24	increasing	increase	VERB
alkej-710	143	25	slowly	slowly	ADV
alkej-710	143	26	to	to	ADP
alkej-710	143	27	360	360	NUM
alkej-710	143	28	ft	ft	NOUN
alkej-710	143	29	as	as	SCONJ
alkej-710	143	30	we	we	PRON
alkej-710	143	31	expected	expect	VERB
alkej-710	143	32	as	as	SCONJ
alkej-710	143	33	shown	show	VERB
alkej-710	143	34	fig.10	fig.10	PROPN
alkej-710	143	35	.	.	PUNCT
alkej-710	144	1	b	b	X
alkej-710	144	2	)	)	PUNCT
alkej-710	144	3	the	the	DET
alkej-710	144	4	throttle	throttle	NOUN
alkej-710	144	5	control	control	NOUN
alkej-710	144	6	is	be	AUX
alkej-710	144	7	fixed	fix	VERB
alkej-710	144	8	while	while	SCONJ
alkej-710	144	9	the	the	DET
alkej-710	144	10	elevator	elevator	NOUN
alkej-710	144	11	increased	increase	VERB
alkej-710	144	12	.	.	PUNCT
alkej-710	145	1	fig.11	fig.11	PROPN
alkej-710	145	2	show	show	VERB
alkej-710	145	3	that	that	SCONJ
alkej-710	145	4	the	the	DET
alkej-710	145	5	airspeed	airspeed	NOUN
alkej-710	145	6	was	be	AUX
alkej-710	145	7	not	not	PART
alkej-710	145	8	affected	affect	VERB
alkej-710	145	9	,	,	PUNCT
alkej-710	145	10	while	while	SCONJ
alkej-710	145	11	the	the	DET
alkej-710	145	12	altitude	altitude	NOUN
alkej-710	145	13	increased	increase	VERB
alkej-710	145	14	with	with	ADP
alkej-710	145	15	elevation	elevation	NOUN
alkej-710	145	16	,	,	PUNCT
alkej-710	145	17	as	as	SCONJ
alkej-710	145	18	shown	show	VERB
alkej-710	145	19	in	in	ADP
alkej-710	145	20	fig.12	fig.12	NOUN
alkej-710	145	21	.	.	PUNCT
alkej-710	145	22	fig	fig	NOUN
alkej-710	145	23	.	.	PUNCT
alkej-710	146	1	9	9	X
alkej-710	146	2	.	.	X
alkej-710	146	3	airspeed	airspeed	NOUN
alkej-710	146	4	increase	increase	NOUN
alkej-710	146	5	by	by	ADP
alkej-710	146	6	change	change	NOUN
alkej-710	146	7	the	the	DET
alkej-710	146	8	throttle	throttle	NOUN
alkej-710	146	9	control	control	NOUN
alkej-710	146	10	.	.	PUNCT
alkej-710	147	1	fig	fig	NOUN
alkej-710	147	2	.	.	PUNCT
alkej-710	148	1	10	10	NUM
alkej-710	148	2	.	.	PUNCT
alkej-710	148	3	altitude	altitude	NOUN
alkej-710	148	4	change	change	NOUN
alkej-710	148	5	when	when	SCONJ
alkej-710	148	6	throttle	throttle	NOUN
alkej-710	148	7	change	change	VERB
alkej-710	148	8	.	.	PUNCT
alkej-710	149	1	fig	fig	NOUN
alkej-710	149	2	.	.	PUNCT
alkej-710	150	1	11	11	NUM
alkej-710	150	2	.	.	X
alkej-710	150	3	airspeed	airspeed	NOUN
alkej-710	150	4	fixed	fix	VERB
alkej-710	150	5	with	with	ADP
alkej-710	150	6	elevator	elevator	NOUN
alkej-710	150	7	change	change	NOUN
alkej-710	150	8	.	.	PUNCT
alkej-710	151	1	0	0	NUM
alkej-710	152	1	2	2	NUM
alkej-710	152	2	4	4	NUM
alkej-710	152	3	6	6	NUM
alkej-710	152	4	8	8	NUM
alkej-710	152	5	10	10	NUM
alkej-710	152	6	12	12	NUM
alkej-710	152	7	14	14	NUM
alkej-710	152	8	16	16	NUM
alkej-710	152	9	18	18	NUM
alkej-710	152	10	20	20	NUM
alkej-710	152	11	-50	-50	PUNCT
alkej-710	152	12	0	0	NUM
alkej-710	152	13	50	50	NUM
alkej-710	152	14	100	100	NUM
alkej-710	152	15	150	150	NUM
alkej-710	152	16	200	200	NUM
alkej-710	152	17	250	250	NUM
alkej-710	152	18	time	time	NOUN
alkej-710	152	19	(	(	PUNCT
alkej-710	152	20	s	s	NOUN
alkej-710	152	21	)	)	PUNCT
alkej-710	152	22	u	u	NOUN
alkej-710	152	23	(	(	PUNCT
alkej-710	152	24	ft	ft	NOUN
alkej-710	152	25	/s	/s	PUNCT
alkej-710	152	26	)	)	PUNCT
alkej-710	152	27	0	0	NUM
alkej-710	152	28	2	2	NUM
alkej-710	152	29	4	4	NUM
alkej-710	152	30	6	6	NUM
alkej-710	152	31	8	8	NUM
alkej-710	152	32	10	10	NUM
alkej-710	152	33	12	12	NUM
alkej-710	152	34	14	14	NUM
alkej-710	152	35	16	16	NUM
alkej-710	152	36	18	18	NUM
alkej-710	152	37	20	20	NUM
alkej-710	152	38	0	0	NUM
alkej-710	152	39	50	50	NUM
alkej-710	152	40	100	100	NUM
alkej-710	152	41	150	150	NUM
alkej-710	152	42	200	200	NUM
alkej-710	152	43	250	250	NUM
alkej-710	152	44	300	300	NUM
alkej-710	152	45	time	time	NOUN
alkej-710	152	46	(	(	PUNCT
alkej-710	152	47	s	s	X
alkej-710	152	48	)	)	PUNCT
alkej-710	152	49	a	a	DET
alkej-710	152	50	lt	lt	PRON
alkej-710	152	51	it	it	PRON
alkej-710	152	52	u	u	NOUN
alkej-710	152	53	d	d	X
alkej-710	152	54	e	e	X
alkej-710	152	55	(	(	PUNCT
alkej-710	152	56	ft	ft	PROPN
alkej-710	152	57	)	)	PUNCT
alkej-710	152	58	0	0	NUM
alkej-710	152	59	2	2	NUM
alkej-710	152	60	4	4	NUM
alkej-710	152	61	6	6	NUM
alkej-710	152	62	8	8	NUM
alkej-710	152	63	10	10	NUM
alkej-710	152	64	12	12	NUM
alkej-710	152	65	14	14	NUM
alkej-710	152	66	16	16	NUM
alkej-710	152	67	18	18	NUM
alkej-710	152	68	20	20	NUM
alkej-710	152	69	-50	-50	PUNCT
alkej-710	152	70	0	0	NUM
alkej-710	152	71	50	50	NUM
alkej-710	152	72	100	100	NUM
alkej-710	152	73	150	150	NUM
alkej-710	152	74	200	200	NUM
alkej-710	152	75	250	250	NUM
alkej-710	152	76	300	300	NUM
alkej-710	152	77	350	350	NUM
alkej-710	152	78	time	time	NOUN
alkej-710	152	79	(	(	PUNCT
alkej-710	152	80	s	s	NOUN
alkej-710	152	81	)	)	PUNCT
alkej-710	152	82	u	u	NOUN
alkej-710	152	83	(	(	PUNCT
alkej-710	152	84	ft	ft	NOUN
alkej-710	152	85	/s	/s	PUNCT
alkej-710	152	86	)	)	PUNCT
alkej-710	152	87	0	0	NUM
alkej-710	152	88	2	2	NUM
alkej-710	152	89	4	4	NUM
alkej-710	152	90	6	6	NUM
alkej-710	152	91	8	8	NUM
alkej-710	152	92	10	10	NUM
alkej-710	152	93	12	12	NUM
alkej-710	152	94	14	14	NUM
alkej-710	152	95	16	16	NUM
alkej-710	152	96	18	18	NUM
alkej-710	152	97	20	20	NUM
alkej-710	152	98	0	0	NUM
alkej-710	152	99	50	50	NUM
alkej-710	152	100	100	100	NUM
alkej-710	152	101	150	150	NUM
alkej-710	152	102	200	200	NUM
alkej-710	152	103	250	250	NUM
alkej-710	152	104	300	300	NUM
alkej-710	152	105	350	350	NUM
alkej-710	152	106	400	400	NUM
alkej-710	152	107	time	time	NOUN
alkej-710	152	108	(	(	PUNCT
alkej-710	152	109	s	s	X
alkej-710	152	110	)	)	PUNCT
alkej-710	152	111	a	a	DET
alkej-710	152	112	lt	lt	PRON
alkej-710	152	113	it	it	PRON
alkej-710	152	114	u	u	NOUN
alkej-710	152	115	d	d	X
alkej-710	152	116	e	e	X
alkej-710	152	117	(	(	PUNCT
alkej-710	152	118	ft	ft	PROPN
alkej-710	152	119	)	)	PUNCT
alkej-710	152	120	0	0	NUM
alkej-710	152	121	2	2	NUM
alkej-710	152	122	4	4	NUM
alkej-710	152	123	6	6	NUM
alkej-710	152	124	8	8	NUM
alkej-710	152	125	10	10	NUM
alkej-710	152	126	12	12	NUM
alkej-710	152	127	14	14	NUM
alkej-710	152	128	16	16	NUM
alkej-710	152	129	18	18	NUM
alkej-710	152	130	20	20	NUM
alkej-710	152	131	-50	-50	PUNCT
alkej-710	152	132	0	0	NUM
alkej-710	152	133	50	50	NUM
alkej-710	152	134	100	100	NUM
alkej-710	152	135	150	150	NUM
alkej-710	152	136	200	200	NUM
alkej-710	152	137	250	250	NUM
alkej-710	152	138	time	time	NOUN
alkej-710	152	139	(	(	PUNCT
alkej-710	152	140	s	s	NOUN
alkej-710	152	141	)	)	PUNCT
alkej-710	152	142	u	u	NOUN
alkej-710	152	143	(	(	PUNCT
alkej-710	152	144	ft	ft	NOUN
alkej-710	152	145	/s	/s	PUNCT
alkej-710	152	146	)	)	PUNCT
alkej-710	152	147	malik	malik	PROPN
alkej-710	152	148	m.	m.	PROPN
alkej-710	152	149	a.	a.	PROPN
alkej-710	152	150	al	al	PROPN
alkej-710	152	151	-	-	PUNCT
alkej-710	152	152	isawi	isawi	PROPN
alkej-710	152	153	al	al	PROPN
alkej-710	152	154	-	-	PUNCT
alkej-710	152	155	khwarizmi	khwarizmi	PROPN
alkej-710	152	156	engineering	engineering	NOUN
alkej-710	152	157	journal	journal	PROPN
alkej-710	152	158	,	,	PUNCT
alkej-710	152	159	vol	vol	NOUN
alkej-710	152	160	.	.	PROPN
alkej-710	152	161	16	16	NUM
alkej-710	152	162	,	,	PUNCT
alkej-710	152	163	no	no	INTJ
alkej-710	152	164	.	.	NOUN
alkej-710	152	165	3	3	NUM
alkej-710	152	166	,	,	PUNCT
alkej-710	152	167	p.p	p.p	PROPN
alkej-710	152	168	.	.	NOUN
alkej-710	152	169	4353	4353	NUM
alkej-710	152	170	(	(	PUNCT
alkej-710	152	171	2020	2020	NUM
alkej-710	152	172	)	)	PUNCT
alkej-710	152	173	49	49	NUM
alkej-710	152	174	fig	fig	NOUN
alkej-710	152	175	.	.	PUNCT
alkej-710	153	1	12	12	NUM
alkej-710	153	2	.	.	PUNCT
alkej-710	153	3	altitude	altitude	NOUN
alkej-710	153	4	change	change	NOUN
alkej-710	153	5	when	when	SCONJ
alkej-710	153	6	elevator	elevator	NOUN
alkej-710	153	7	change	change	NOUN
alkej-710	153	8	.	.	PUNCT
alkej-710	154	1	5.3	5.3	NUM
alkej-710	154	2	the	the	DET
alkej-710	154	3	comparing	comparing	NOUN
alkej-710	154	4	between	between	ADP
alkej-710	154	5	the	the	DET
alkej-710	154	6	controllers	controller	NOUN
alkej-710	154	7	the	the	DET
alkej-710	154	8	performance	performance	NOUN
alkej-710	154	9	control	control	NOUN
alkej-710	154	10	and	and	CCONJ
alkej-710	154	11	the	the	DET
alkej-710	154	12	output	output	NOUN
alkej-710	154	13	response	response	NOUN
alkej-710	154	14	of	of	ADP
alkej-710	154	15	two	two	NUM
alkej-710	154	16	controller	controller	NOUN
alkej-710	154	17	schemes	scheme	NOUN
alkej-710	154	18	with	with	ADP
alkej-710	154	19	respect	respect	NOUN
alkej-710	154	20	to	to	ADP
alkej-710	154	21	the	the	DET
alkej-710	154	22	airspeed	airspeed	NOUN
alkej-710	154	23	are	be	AUX
alkej-710	154	24	shown	show	VERB
alkej-710	154	25	in	in	ADP
alkej-710	154	26	fig.13	fig.13	PROPN
alkej-710	154	27	.	.	PUNCT
alkej-710	155	1	also	also	ADV
alkej-710	155	2	,	,	PUNCT
alkej-710	155	3	the	the	DET
alkej-710	155	4	airspeed	airspeed	NOUN
alkej-710	155	5	and	and	CCONJ
alkej-710	155	6	altitude	altitude	NOUN
alkej-710	155	7	of	of	ADP
alkej-710	155	8	the	the	DET
alkej-710	155	9	step	step	NOUN
alkej-710	155	10	input	input	NOUN
alkej-710	155	11	signal	signal	NOUN
alkej-710	155	12	are	be	AUX
alkej-710	155	13	shown	show	VERB
alkej-710	155	14	in	in	ADP
alkej-710	155	15	fig.13	fig.13	PROPN
alkej-710	155	16	,	,	PUNCT
alkej-710	155	17	14	14	NUM
alkej-710	155	18	and	and	CCONJ
alkej-710	155	19	15	15	NUM
alkej-710	155	20	.	.	PUNCT
alkej-710	156	1	it	it	PRON
alkej-710	156	2	noticed	notice	VERB
alkej-710	156	3	that	that	SCONJ
alkej-710	156	4	the	the	DET
alkej-710	156	5	proposed	propose	VERB
alkej-710	156	6	fuzzy	fuzzy	ADJ
alkej-710	156	7	-	-	PUNCT
alkej-710	156	8	pid	pid	NOUN
alkej-710	156	9	with	with	ADP
alkej-710	156	10	the	the	DET
alkej-710	156	11	lqr	lqr	PROPN
alkej-710	156	12	controller	controller	NOUN
alkej-710	156	13	has	have	VERB
alkej-710	156	14	the	the	DET
alkej-710	156	15	best	good	ADJ
alkej-710	156	16	performance	performance	NOUN
alkej-710	156	17	and	and	CCONJ
alkej-710	156	18	has	have	AUX
alkej-710	156	19	achieved	achieve	VERB
alkej-710	156	20	a	a	DET
alkej-710	156	21	better	well	ADJ
alkej-710	156	22	response	response	NOUN
alkej-710	156	23	than	than	ADP
alkej-710	156	24	the	the	DET
alkej-710	156	25	fuzzy	fuzzy	ADJ
alkej-710	156	26	pid	pid	NOUN
alkej-710	156	27	controller	controller	NOUN
alkej-710	156	28	.	.	PUNCT
alkej-710	157	1	compared	compare	VERB
alkej-710	157	2	to	to	ADP
alkej-710	157	3	the	the	DET
alkej-710	157	4	proposal	proposal	NOUN
alkej-710	157	5	controller	controller	NOUN
alkej-710	157	6	with	with	ADP
alkej-710	157	7	fuzzy	fuzzy	ADJ
alkej-710	157	8	pid	pid	PROPN
alkej-710	157	9	,	,	PUNCT
alkej-710	157	10	the	the	DET
alkej-710	157	11	settling	settling	NOUN
alkej-710	157	12	,	,	PUNCT
alkej-710	157	13	peak	peak	NOUN
alkej-710	157	14	time	time	NOUN
alkej-710	157	15	,	,	PUNCT
alkej-710	157	16	rising	rise	VERB
alkej-710	157	17	time	time	NOUN
alkej-710	157	18	,	,	PUNCT
alkej-710	157	19	and	and	CCONJ
alkej-710	157	20	overshoot	overshoot	NOUN
alkej-710	157	21	have	have	AUX
alkej-710	157	22	been	be	AUX
alkej-710	157	23	improved	improve	VERB
alkej-710	157	24	,	,	PUNCT
alkej-710	157	25	as	as	SCONJ
alkej-710	157	26	shown	show	VERB
alkej-710	157	27	in	in	ADP
alkej-710	157	28	figs	fig	NOUN
alkej-710	157	29	.	.	PUNCT
alkej-710	158	1	14	14	NUM
alkej-710	158	2	,	,	PUNCT
alkej-710	158	3	15	15	NUM
alkej-710	158	4	.	.	PUNCT
alkej-710	159	1	therefore	therefore	ADV
alkej-710	159	2	,	,	PUNCT
alkej-710	159	3	the	the	DET
alkej-710	159	4	performance	performance	NOUN
alkej-710	159	5	of	of	ADP
alkej-710	159	6	the	the	DET
alkej-710	159	7	uav	uav	PROPN
alkej-710	159	8	can	can	AUX
alkej-710	159	9	be	be	AUX
alkej-710	159	10	enhanced	enhance	VERB
alkej-710	159	11	by	by	ADP
alkej-710	159	12	employing	employ	VERB
alkej-710	159	13	the	the	DET
alkej-710	159	14	fuzzy	fuzzy	ADJ
alkej-710	159	15	-	-	PUNCT
alkej-710	159	16	pid	pid	NOUN
alkej-710	159	17	with	with	ADP
alkej-710	159	18	lqr	lqr	PROPN
alkej-710	159	19	controller	controller	NOUN
alkej-710	159	20	.	.	PUNCT
alkej-710	160	1	fig	fig	NOUN
alkej-710	160	2	.	.	PUNCT
alkej-710	161	1	13	13	NUM
alkej-710	161	2	.	.	X
alkej-710	161	3	airspeed	airspeed	VERB
alkej-710	161	4	due	due	ADP
alkej-710	161	5	to	to	ADP
alkej-710	161	6	both	both	DET
alkej-710	161	7	controllers	controller	NOUN
alkej-710	161	8	fig	fig	NOUN
alkej-710	161	9	.	.	PUNCT
alkej-710	162	1	14	14	NUM
alkej-710	162	2	.	.	PUNCT
alkej-710	163	1	the	the	DET
alkej-710	163	2	airspeed	airspeed	NOUN
alkej-710	163	3	performance	performance	NOUN
alkej-710	163	4	control	control	NOUN
alkej-710	163	5	for	for	ADP
alkej-710	163	6	both	both	PRON
alkej-710	163	7	.	.	PUNCT
alkej-710	164	1	fig	fig	NOUN
alkej-710	164	2	.	.	PUNCT
alkej-710	165	1	15	15	NUM
alkej-710	165	2	.	.	PUNCT
alkej-710	166	1	the	the	DET
alkej-710	166	2	altitude	altitude	NOUN
alkej-710	166	3	performance	performance	NOUN
alkej-710	166	4	control	control	NOUN
alkej-710	166	5	for	for	ADP
alkej-710	166	6	both	both	PRON
alkej-710	166	7	.	.	PUNCT
alkej-710	167	1	5.4	5.4	NUM
alkej-710	167	2	the	the	DET
alkej-710	167	3	disturbance	disturbance	NOUN
alkej-710	167	4	effects	effect	NOUN
alkej-710	167	5	to	to	PART
alkej-710	167	6	investigate	investigate	VERB
alkej-710	167	7	the	the	DET
alkej-710	167	8	fuzzy	fuzzy	ADJ
alkej-710	167	9	-pid	-pid	PUNCT
alkej-710	167	10	with	with	ADP
alkej-710	167	11	the	the	DET
alkej-710	167	12	lqr	lqr	PROPN
alkej-710	167	13	controller	controller	NOUN
alkej-710	167	14	performance	performance	NOUN
alkej-710	167	15	of	of	ADP
alkej-710	167	16	the	the	DET
alkej-710	167	17	system	system	NOUN
alkej-710	167	18	,	,	PUNCT
alkej-710	167	19	the	the	DET
alkej-710	167	20	disturbance	disturbance	NOUN
alkej-710	167	21	effects	effect	NOUN
alkej-710	167	22	are	be	AUX
alkej-710	167	23	applied	apply	VERB
alkej-710	167	24	to	to	ADP
alkej-710	167	25	the	the	DET
alkej-710	167	26	pitch	pitch	NOUN
alkej-710	167	27	angle	angle	NOUN
alkej-710	167	28	as	as	SCONJ
alkej-710	167	29	shown	show	VERB
alkej-710	167	30	in	in	ADP
alkej-710	167	31	fig	fig	NOUN
alkej-710	167	32	16	16	NUM
alkej-710	167	33	.	.	PUNCT
alkej-710	168	1	it	it	PRON
alkej-710	168	2	is	be	AUX
alkej-710	168	3	seen	see	VERB
alkej-710	168	4	that	that	SCONJ
alkej-710	168	5	the	the	DET
alkej-710	168	6	controller	controller	NOUN
alkej-710	168	7	's	's	PART
alkej-710	168	8	response	response	NOUN
alkej-710	168	9	is	be	AUX
alkej-710	168	10	to	to	PART
alkej-710	168	11	work	work	VERB
alkej-710	168	12	properly	properly	ADV
alkej-710	168	13	when	when	SCONJ
alkej-710	168	14	we	we	PRON
alkej-710	168	15	considered	consider	VERB
alkej-710	168	16	the	the	DET
alkej-710	168	17	disturbance	disturbance	NOUN
alkej-710	168	18	effects	effect	NOUN
alkej-710	168	19	.	.	PUNCT
alkej-710	169	1	fig	fig	NOUN
alkej-710	169	2	.	.	PUNCT
alkej-710	170	1	16	16	NUM
alkej-710	170	2	.	.	PUNCT
alkej-710	171	1	the	the	DET
alkej-710	171	2	disturbance	disturbance	NOUN
alkej-710	171	3	effects	effect	NOUN
alkej-710	171	4	on	on	ADP
alkej-710	171	5	the	the	DET
alkej-710	171	6	pitch	pitch	NOUN
alkej-710	171	7	.	.	PUNCT
alkej-710	171	8	0	0	NUM
alkej-710	171	9	2	2	NUM
alkej-710	171	10	4	4	NUM
alkej-710	171	11	6	6	NUM
alkej-710	171	12	8	8	NUM
alkej-710	171	13	10	10	NUM
alkej-710	171	14	12	12	NUM
alkej-710	171	15	14	14	NUM
alkej-710	171	16	16	16	NUM
alkej-710	171	17	18	18	NUM
alkej-710	171	18	20	20	NUM
alkej-710	171	19	0	0	NUM
alkej-710	171	20	50	50	NUM
alkej-710	171	21	100	100	NUM
alkej-710	171	22	150	150	NUM
alkej-710	171	23	200	200	NUM
alkej-710	171	24	250	250	NUM
alkej-710	171	25	300	300	NUM
alkej-710	171	26	time	time	NOUN
alkej-710	171	27	(	(	PUNCT
alkej-710	171	28	s	s	X
alkej-710	171	29	)	)	PUNCT
alkej-710	171	30	a	a	DET
alkej-710	171	31	lt	lt	PRON
alkej-710	171	32	it	it	PRON
alkej-710	171	33	u	u	NOUN
alkej-710	171	34	d	d	X
alkej-710	171	35	e	e	X
alkej-710	171	36	(	(	PUNCT
alkej-710	171	37	ft	ft	PROPN
alkej-710	171	38	)	)	PUNCT
alkej-710	171	39	0	0	NUM
alkej-710	171	40	2	2	NUM
alkej-710	171	41	4	4	NUM
alkej-710	171	42	6	6	NUM
alkej-710	171	43	8	8	NUM
alkej-710	171	44	10	10	NUM
alkej-710	171	45	12	12	NUM
alkej-710	171	46	14	14	NUM
alkej-710	171	47	16	16	NUM
alkej-710	171	48	18	18	NUM
alkej-710	171	49	20	20	NUM
alkej-710	171	50	-0.2	-0.2	NOUN
alkej-710	171	51	0	0	NUM
alkej-710	171	52	0.2	0.2	NUM
alkej-710	171	53	0.4	0.4	NUM
alkej-710	171	54	0.6	0.6	NUM
alkej-710	171	55	0.8	0.8	NUM
alkej-710	171	56	1	1	NUM
alkej-710	171	57	1.2	1.2	NUM
alkej-710	171	58	time	time	NOUN
alkej-710	171	59	(	(	PUNCT
alkej-710	171	60	s	s	NOUN
alkej-710	171	61	)	)	PUNCT
alkej-710	171	62	u	u	NOUN
alkej-710	172	1	f	f	PROPN
alkej-710	172	2	t/	t/	PROPN
alkej-710	172	3	s	s	VERB
alkej-710	172	4	fuzzy	fuzzy	ADJ
alkej-710	172	5	-	-	PUNCT
alkej-710	172	6	pid+lqr	pid+lqr	NOUN
alkej-710	172	7	fuzzy	fuzzy	ADJ
alkej-710	172	8	-	-	PUNCT
alkej-710	172	9	pid	pid	NOUN
alkej-710	172	10	0	0	NUM
alkej-710	172	11	1.5	1.5	NUM
alkej-710	172	12	3	3	NUM
alkej-710	172	13	4.5	4.5	NUM
alkej-710	172	14	6	6	NUM
alkej-710	172	15	7.5	7.5	NUM
alkej-710	172	16	9	9	NUM
alkej-710	172	17	rise	rise	NOUN
alkej-710	172	18	time	time	NOUN
alkej-710	172	19	(	(	PUNCT
alkej-710	172	20	s	s	NOUN
alkej-710	172	21	)	)	PUNCT
alkej-710	172	22	peak	peak	NOUN
alkej-710	172	23	time	time	NOUN
alkej-710	172	24	(	(	PUNCT
alkej-710	172	25	s	s	NOUN
alkej-710	172	26	)	)	PUNCT
alkej-710	172	27	max	max	PROPN
alkej-710	172	28	overshoot	overshoot	NOUN
alkej-710	172	29	setlling	setlling	NOUN
alkej-710	172	30	time	time	NOUN
alkej-710	172	31	(	(	PUNCT
alkej-710	172	32	s	s	NOUN
alkej-710	172	33	)	)	PUNCT
alkej-710	172	34	1.39	1.39	NUM
alkej-710	172	35	2.9	2.9	NUM
alkej-710	172	36	7.7	7.7	NUM
alkej-710	172	37	4.4	4.4	NUM
alkej-710	172	38	1.28	1.28	NUM
alkej-710	172	39	2.6	2.6	NUM
alkej-710	172	40	5.9	5.9	NUM
alkej-710	172	41	3.9	3.9	NUM
alkej-710	172	42	the	the	DET
alkej-710	172	43	performance	performance	NOUN
alkej-710	172	44	control	control	NOUN
alkej-710	172	45	of	of	ADP
alkej-710	172	46	airspeed	airspeed	NOUN
alkej-710	172	47	fuzzy	fuzzy	ADJ
alkej-710	172	48	-	-	PUNCT
alkej-710	172	49	pid	pid	NOUN
alkej-710	172	50	fuzzy	fuzzy	ADJ
alkej-710	172	51	-	-	PUNCT
alkej-710	172	52	pid+lqr	pid+lqr	PROPN
alkej-710	172	53	0	0	NUM
alkej-710	172	54	10	10	NUM
alkej-710	172	55	20	20	NUM
alkej-710	172	56	30	30	NUM
alkej-710	172	57	rise	rise	NOUN
alkej-710	172	58	time	time	NOUN
alkej-710	172	59	(	(	PUNCT
alkej-710	172	60	s	s	NOUN
alkej-710	172	61	)	)	PUNCT
alkej-710	172	62	peak	peak	NOUN
alkej-710	172	63	time	time	NOUN
alkej-710	172	64	(	(	PUNCT
alkej-710	172	65	s	s	NOUN
alkej-710	172	66	)	)	PUNCT
alkej-710	172	67	max	max	PROPN
alkej-710	172	68	overshoot	overshoot	NOUN
alkej-710	172	69	setlling	setlling	NOUN
alkej-710	172	70	time	time	NOUN
alkej-710	172	71	(	(	PUNCT
alkej-710	172	72	s	s	NOUN
alkej-710	172	73	)	)	PUNCT
alkej-710	172	74	1.68	1.68	NUM
alkej-710	172	75	2.71	2.71	NUM
alkej-710	172	76	24.79	24.79	NUM
alkej-710	172	77	5.25	5.25	NUM
alkej-710	172	78	1.57	1.57	NUM
alkej-710	172	79	2.5	2.5	NUM
alkej-710	172	80	15.9	15.9	NUM
alkej-710	172	81	4.8	4.8	NUM
alkej-710	172	82	the	the	DET
alkej-710	172	83	performance	performance	NOUN
alkej-710	172	84	control	control	NOUN
alkej-710	172	85	of	of	ADP
alkej-710	172	86	altitude	altitude	NOUN
alkej-710	172	87	fuzzy	fuzzy	ADJ
alkej-710	172	88	-	-	PUNCT
alkej-710	172	89	pid	pid	NOUN
alkej-710	172	90	fuzzy	fuzzy	ADJ
alkej-710	172	91	-	-	PUNCT
alkej-710	172	92	pid+lqr	pid+lqr	PROPN
alkej-710	172	93	malik	malik	PROPN
alkej-710	172	94	m.	m.	PROPN
alkej-710	172	95	a.	a.	PROPN
alkej-710	172	96	al	al	PROPN
alkej-710	172	97	-	-	PUNCT
alkej-710	172	98	isawi	isawi	PROPN
alkej-710	172	99	al	al	PROPN
alkej-710	172	100	-	-	PUNCT
alkej-710	172	101	khwarizmi	khwarizmi	PROPN
alkej-710	172	102	engineering	engineering	NOUN
alkej-710	172	103	journal	journal	PROPN
alkej-710	172	104	,	,	PUNCT
alkej-710	172	105	vol	vol	NOUN
alkej-710	172	106	.	.	PROPN
alkej-710	172	107	16	16	NUM
alkej-710	172	108	,	,	PUNCT
alkej-710	172	109	no	no	INTJ
alkej-710	172	110	.	.	NOUN
alkej-710	172	111	3	3	NUM
alkej-710	172	112	,	,	PUNCT
alkej-710	172	113	p.p	p.p	PROPN
alkej-710	172	114	.	.	NOUN
alkej-710	172	115	4353	4353	NUM
alkej-710	172	116	(	(	PUNCT
alkej-710	172	117	2020	2020	NUM
alkej-710	172	118	)	)	PUNCT
alkej-710	172	119	50	50	NUM
alkej-710	172	120	5.5	5.5	NUM
alkej-710	172	121	.	.	PUNCT
alkej-710	173	1	the	the	DET
alkej-710	173	2	noise	noise	NOUN
alkej-710	173	3	effects	effect	NOUN
alkej-710	173	4	the	the	DET
alkej-710	173	5	noises	noise	NOUN
alkej-710	173	6	are	be	AUX
alkej-710	173	7	considered	consider	VERB
alkej-710	173	8	for	for	ADP
alkej-710	173	9	roll	roll	NOUN
alkej-710	173	10	angle	angle	NOUN
alkej-710	173	11	controller	controller	NOUN
alkej-710	173	12	in	in	ADP
alkej-710	173	13	the	the	DET
alkej-710	173	14	system	system	NOUN
alkej-710	173	15	and	and	CCONJ
alkej-710	173	16	the	the	DET
alkej-710	173	17	noises	noise	NOUN
alkej-710	173	18	parameters	parameter	NOUN
alkej-710	173	19	are	be	AUX
alkej-710	173	20	taken	take	VERB
alkej-710	173	21	as	as	ADP
alkej-710	173	22	qk=0.4	qk=0.4	NOUN
alkej-710	173	23	,	,	PUNCT
alkej-710	173	24	rk	rk	NOUN
alkej-710	173	25	=	=	NOUN
alkej-710	173	26	0.6	0.6	NUM
alkej-710	173	27	.	.	PUNCT
alkej-710	174	1	since	since	SCONJ
alkej-710	174	2	the	the	DET
alkej-710	174	3	noise	noise	NOUN
alkej-710	174	4	effects	effect	NOUN
alkej-710	174	5	on	on	ADP
alkej-710	174	6	the	the	DET
alkej-710	174	7	roll	roll	NOUN
alkej-710	174	8	angle	angle	NOUN
alkej-710	174	9	,	,	PUNCT
alkej-710	174	10	the	the	DET
alkej-710	174	11	controller	controller	NOUN
alkej-710	174	12	may	may	AUX
alkej-710	174	13	cause	cause	VERB
alkej-710	174	14	inaccurate	inaccurate	ADJ
alkej-710	174	15	functioning	functioning	NOUN
alkej-710	174	16	of	of	ADP
alkej-710	174	17	the	the	DET
alkej-710	174	18	roll	roll	NOUN
alkej-710	174	19	angle	angle	NOUN
alkej-710	174	20	controller	controller	NOUN
alkej-710	174	21	.	.	PUNCT
alkej-710	175	1	so	so	ADV
alkej-710	175	2	,	,	PUNCT
alkej-710	175	3	the	the	DET
alkej-710	175	4	response	response	NOUN
alkej-710	175	5	of	of	ADP
alkej-710	175	6	the	the	DET
alkej-710	175	7	performance	performance	NOUN
alkej-710	175	8	of	of	ADP
alkej-710	175	9	the	the	DET
alkej-710	175	10	controller	controller	NOUN
alkej-710	175	11	with	with	ADP
alkej-710	175	12	and	and	CCONJ
alkej-710	175	13	without	without	ADP
alkej-710	175	14	aukf	aukf	NOUN
alkej-710	175	15	under	under	ADP
alkej-710	175	16	noises	noise	NOUN
alkej-710	175	17	is	be	AUX
alkej-710	175	18	verified	verify	VERB
alkej-710	175	19	and	and	CCONJ
alkej-710	175	20	shown	show	VERB
alkej-710	175	21	in	in	ADP
alkej-710	175	22	fig	fig	NOUN
alkej-710	175	23	.	.	PUNCT
alkej-710	176	1	(	(	PUNCT
alkej-710	176	2	17	17	NUM
alkej-710	176	3	)	)	PUNCT
alkej-710	176	4	.	.	PUNCT
alkej-710	177	1	it	it	PRON
alkej-710	177	2	is	be	AUX
alkej-710	177	3	noticed	notice	VERB
alkej-710	177	4	that	that	SCONJ
alkej-710	177	5	the	the	DET
alkej-710	177	6	roll	roll	NOUN
alkej-710	177	7	angle	angle	NOUN
alkej-710	177	8	controller	controller	NOUN
alkej-710	177	9	with	with	ADP
alkej-710	177	10	aukf	aukf	NOUN
alkej-710	177	11	reduces	reduce	VERB
alkej-710	177	12	the	the	DET
alkej-710	177	13	noise	noise	NOUN
alkej-710	177	14	effects	effect	NOUN
alkej-710	177	15	when	when	SCONJ
alkej-710	177	16	compared	compare	VERB
alkej-710	177	17	to	to	ADP
alkej-710	177	18	the	the	DET
alkej-710	177	19	controller	controller	NOUN
alkej-710	177	20	without	without	ADP
alkej-710	177	21	noise	noise	NOUN
alkej-710	177	22	under	under	ADP
alkej-710	177	23	the	the	DET
alkej-710	177	24	same	same	ADJ
alkej-710	177	25	conditions	condition	NOUN
alkej-710	177	26	.	.	PUNCT
alkej-710	178	1	moreover	moreover	ADV
alkej-710	178	2	,	,	PUNCT
alkej-710	178	3	it	it	PRON
alkej-710	178	4	shows	show	VERB
alkej-710	178	5	more	more	ADV
alkej-710	178	6	reliable	reliable	ADJ
alkej-710	178	7	performance	performance	NOUN
alkej-710	178	8	than	than	ADP
alkej-710	178	9	the	the	DET
alkej-710	178	10	roll	roll	NOUN
alkej-710	178	11	angle	angle	NOUN
alkej-710	178	12	controller	controller	NOUN
alkej-710	178	13	without	without	ADP
alkej-710	178	14	aukf	aukf	NOUN
alkej-710	178	15	.	.	PUNCT
alkej-710	179	1	the	the	DET
alkej-710	179	2	difference	difference	NOUN
alkej-710	179	3	of	of	ADP
alkej-710	179	4	the	the	DET
alkej-710	179	5	roll	roll	NOUN
alkej-710	179	6	angle	angle	NOUN
alkej-710	179	7	between	between	ADP
alkej-710	179	8	the	the	DET
alkej-710	179	9	controller	controller	NOUN
alkej-710	179	10	based	base	VERB
alkej-710	179	11	on	on	ADP
alkej-710	179	12	aukf	aukf	NOUN
alkej-710	179	13	with	with	ADP
alkej-710	179	14	noise	noise	NOUN
alkej-710	179	15	and	and	CCONJ
alkej-710	179	16	with	with	ADP
alkej-710	179	17	noise	noise	NOUN
alkej-710	179	18	is	be	AUX
alkej-710	179	19	shown	show	VERB
alkej-710	179	20	in	in	ADP
alkej-710	179	21	fig	fig	NOUN
alkej-710	179	22	.	.	PUNCT
alkej-710	180	1	(	(	PUNCT
alkej-710	180	2	18	18	NUM
alkej-710	180	3	)	)	PUNCT
alkej-710	180	4	.	.	PUNCT
alkej-710	181	1	it	it	PRON
alkej-710	181	2	is	be	AUX
alkej-710	181	3	noticed	notice	VERB
alkej-710	181	4	the	the	DET
alkej-710	181	5	error	error	NOUN
alkej-710	181	6	in	in	ADP
alkej-710	181	7	the	the	DET
alkej-710	181	8	controller	controller	NOUN
alkej-710	181	9	of	of	ADP
alkej-710	181	10	the	the	DET
alkej-710	181	11	roll	roll	NOUN
alkej-710	181	12	angle	angle	NOUN
alkej-710	181	13	based	base	VERB
alkej-710	181	14	on	on	ADP
alkej-710	181	15	aukf	aukf	NOUN
alkej-710	181	16	is	be	AUX
alkej-710	181	17	between	between	ADP
alkej-710	181	18	-0.05	-0.05	NUM
alkej-710	181	19	to	to	PART
alkej-710	181	20	0.05	0.05	NUM
alkej-710	181	21	while	while	SCONJ
alkej-710	181	22	the	the	DET
alkej-710	181	23	error	error	NOUN
alkej-710	181	24	in	in	ADP
alkej-710	181	25	the	the	DET
alkej-710	181	26	controller	controller	NOUN
alkej-710	181	27	of	of	ADP
alkej-710	181	28	the	the	DET
alkej-710	181	29	roll	roll	NOUN
alkej-710	181	30	angle	angle	NOUN
alkej-710	181	31	with	with	ADP
alkej-710	181	32	noise	noise	NOUN
alkej-710	181	33	is	be	AUX
alkej-710	181	34	between	between	ADP
alkej-710	181	35	0.1	0.1	NUM
alkej-710	181	36	to	to	ADP
alkej-710	181	37	0.1	0.1	NUM
alkej-710	181	38	.	.	PUNCT
alkej-710	182	1	fig	fig	NOUN
alkej-710	182	2	.	.	PUNCT
alkej-710	183	1	17	17	NUM
alkej-710	183	2	.	.	X
alkej-710	184	1	estimation	estimation	NOUN
alkej-710	184	2	the	the	DET
alkej-710	184	3	pitch	pitch	NOUN
alkej-710	184	4	angle	angle	NOUN
alkej-710	184	5	using	use	VERB
alkej-710	184	6	controller	controller	NOUN
alkej-710	184	7	based	base	VERB
alkej-710	184	8	on	on	ADP
alkej-710	184	9	aukf	aukf	PROPN
alkej-710	184	10	fig	fig	NOUN
alkej-710	184	11	.	.	PUNCT
alkej-710	185	1	18	18	NUM
alkej-710	185	2	.	.	PUNCT
alkej-710	186	1	the	the	DET
alkej-710	186	2	pitch	pitch	NOUN
alkej-710	186	3	angle	angle	NOUN
alkej-710	186	4	error	error	NOUN
alkej-710	186	5	in	in	ADP
alkej-710	186	6	both	both	DET
alkej-710	186	7	controller	controller	NOUN
alkej-710	186	8	with	with	ADP
alkej-710	186	9	and	and	CCONJ
alkej-710	186	10	without	without	ADP
alkej-710	186	11	using	use	VERB
alkej-710	186	12	aukf	aukf	NOUN
alkej-710	186	13	.	.	PUNCT
alkej-710	187	1	6	6	X
alkej-710	187	2	.	.	X
alkej-710	187	3	conclusion	conclusion	NOUN
alkej-710	187	4	a	a	DET
alkej-710	187	5	nonlinear	nonlinear	ADJ
alkej-710	187	6	control	control	NOUN
alkej-710	187	7	algorithm	algorithm	NOUN
alkej-710	187	8	was	be	AUX
alkej-710	187	9	designed	design	VERB
alkej-710	187	10	and	and	CCONJ
alkej-710	187	11	experiment	experiment	NOUN
alkej-710	187	12	for	for	ADP
alkej-710	187	13	the	the	DET
alkej-710	187	14	cessna	cessna	NOUN
alkej-710	187	15	172	172	NUM
alkej-710	187	16	aircraft	aircraft	NOUN
alkej-710	187	17	in	in	ADP
alkej-710	187	18	longitudinal	longitudinal	ADJ
alkej-710	187	19	motion	motion	NOUN
alkej-710	187	20	using	use	VERB
alkej-710	187	21	dual	dual	ADJ
alkej-710	187	22	fuzzy	fuzzy	ADJ
alkej-710	187	23	-	-	PUNCT
alkej-710	187	24	pid	pid	NOUN
alkej-710	187	25	and	and	CCONJ
alkej-710	187	26	lqr	lqr	PROPN
alkej-710	187	27	controller	controller	NOUN
alkej-710	187	28	.	.	PUNCT
alkej-710	188	1	the	the	DET
alkej-710	188	2	performance	performance	NOUN
alkej-710	188	3	of	of	ADP
alkej-710	188	4	this	this	DET
alkej-710	188	5	controller	controller	NOUN
alkej-710	188	6	is	be	AUX
alkej-710	188	7	compared	compare	VERB
alkej-710	188	8	with	with	ADP
alkej-710	188	9	the	the	DET
alkej-710	188	10	fuzzy	fuzzy	ADJ
alkej-710	188	11	-	-	PUNCT
alkej-710	188	12	pid	pid	NOUN
alkej-710	188	13	controller	controller	NOUN
alkej-710	188	14	.	.	PUNCT
alkej-710	189	1	the	the	DET
alkej-710	189	2	longitudinal	longitudinal	ADJ
alkej-710	189	3	controller	controller	NOUN
alkej-710	189	4	is	be	AUX
alkej-710	189	5	described	describe	VERB
alkej-710	189	6	as	as	ADP
alkej-710	189	7	the	the	DET
alkej-710	189	8	following	following	NOUN
alkej-710	189	9	;	;	PUNCT
alkej-710	189	10	the	the	DET
alkej-710	189	11	elevator	elevator	NOUN
alkej-710	189	12	is	be	AUX
alkej-710	189	13	the	the	DET
alkej-710	189	14	first	first	ADJ
alkej-710	189	15	input	input	NOUN
alkej-710	189	16	that	that	PRON
alkej-710	189	17	responsible	responsible	ADJ
alkej-710	189	18	for	for	ADP
alkej-710	189	19	stabilized	stabilize	VERB
alkej-710	189	20	the	the	DET
alkej-710	189	21	altitude	altitude	NOUN
alkej-710	189	22	,	,	PUNCT
alkej-710	189	23	while	while	SCONJ
alkej-710	189	24	the	the	DET
alkej-710	189	25	throttle	throttle	NOUN
alkej-710	189	26	(	(	PUNCT
alkej-710	189	27	second	second	ADJ
alkej-710	189	28	input	input	NOUN
alkej-710	189	29	)	)	PUNCT
alkej-710	189	30	is	be	AUX
alkej-710	189	31	employed	employ	VERB
alkej-710	189	32	to	to	PART
alkej-710	189	33	stabilize	stabilize	VERB
alkej-710	189	34	the	the	DET
alkej-710	189	35	airspeed	airspeed	NOUN
alkej-710	189	36	of	of	ADP
alkej-710	189	37	the	the	DET
alkej-710	189	38	uav	uav	PROPN
alkej-710	189	39	.	.	PUNCT
alkej-710	190	1	it	it	PRON
alkej-710	190	2	is	be	AUX
alkej-710	190	3	noticed	notice	VERB
alkej-710	190	4	that	that	SCONJ
alkej-710	190	5	the	the	DET
alkej-710	190	6	airspeed	airspeed	NOUN
alkej-710	190	7	still	still	ADV
alkej-710	190	8	stabilization	stabilization	NOUN
alkej-710	190	9	when	when	SCONJ
alkej-710	190	10	the	the	DET
alkej-710	190	11	throttle	throttle	NOUN
alkej-710	190	12	control	control	NOUN
alkej-710	190	13	increase	increase	NOUN
alkej-710	190	14	,	,	PUNCT
alkej-710	190	15	as	as	SCONJ
alkej-710	190	16	shown	show	VERB
alkej-710	190	17	in	in	ADP
alkej-710	190	18	fig	fig	NOUN
alkej-710	190	19	.	.	PUNCT
alkej-710	191	1	9	9	NUM
alkej-710	191	2	.	.	X
alkej-710	192	1	while	while	SCONJ
alkej-710	192	2	small	small	ADJ
alkej-710	192	3	steady	steady	ADJ
alkej-710	192	4	-	-	PUNCT
alkej-710	192	5	state	state	NOUN
alkej-710	192	6	error	error	NOUN
alkej-710	192	7	occurs	occur	VERB
alkej-710	192	8	for	for	ADP
alkej-710	192	9	altitude	altitude	NOUN
alkej-710	192	10	stabilization	stabilization	NOUN
alkej-710	192	11	,	,	PUNCT
alkej-710	192	12	as	as	SCONJ
alkej-710	192	13	shown	show	VERB
alkej-710	192	14	in	in	ADP
alkej-710	192	15	fig	fig	NOUN
alkej-710	192	16	.	.	PUNCT
alkej-710	193	1	10	10	NUM
alkej-710	193	2	.	.	PUNCT
alkej-710	194	1	the	the	DET
alkej-710	194	2	reason	reason	NOUN
alkej-710	194	3	for	for	ADP
alkej-710	194	4	this	this	DET
alkej-710	194	5	error	error	NOUN
alkej-710	194	6	is	be	AUX
alkej-710	194	7	the	the	DET
alkej-710	194	8	approximation	approximation	NOUN
alkej-710	194	9	used	use	VERB
alkej-710	194	10	for	for	ADP
alkej-710	194	11	finding	find	VERB
alkej-710	194	12	the	the	DET
alkej-710	194	13	altitude	altitude	NOUN
alkej-710	194	14	.	.	PUNCT
alkej-710	195	1	this	this	DET
alkej-710	195	2	error	error	NOUN
alkej-710	195	3	,	,	PUNCT
alkej-710	195	4	however	however	ADV
alkej-710	195	5	,	,	PUNCT
alkej-710	195	6	is	be	AUX
alkej-710	195	7	rather	rather	ADV
alkej-710	195	8	small	small	ADJ
alkej-710	195	9	and	and	CCONJ
alkej-710	195	10	can	can	AUX
alkej-710	195	11	be	be	AUX
alkej-710	195	12	neglected	neglect	VERB
alkej-710	195	13	.	.	PUNCT
alkej-710	196	1	another	another	DET
alkej-710	196	2	interesting	interesting	ADJ
alkej-710	196	3	observation	observation	NOUN
alkej-710	196	4	is	be	AUX
alkej-710	196	5	also	also	ADV
alkej-710	196	6	the	the	DET
alkej-710	196	7	steady	steady	ADJ
alkej-710	196	8	-	-	PUNCT
alkej-710	196	9	state	state	NOUN
alkej-710	196	10	error	error	NOUN
alkej-710	196	11	for	for	ADP
alkej-710	196	12	altitude	altitude	NOUN
alkej-710	196	13	shown	show	VERB
alkej-710	196	14	in	in	ADP
alkej-710	196	15	fig	fig	NOUN
alkej-710	196	16	.	.	PUNCT
alkej-710	197	1	12	12	NUM
alkej-710	197	2	when	when	SCONJ
alkej-710	197	3	the	the	DET
alkej-710	197	4	elevator	elevator	NOUN
alkej-710	197	5	increases	increase	VERB
alkej-710	197	6	for	for	ADP
alkej-710	197	7	the	the	DET
alkej-710	197	8	same	same	ADJ
alkej-710	197	9	reason	reason	NOUN
alkej-710	197	10	.	.	PUNCT
alkej-710	198	1	regarding	regard	VERB
alkej-710	198	2	the	the	DET
alkej-710	198	3	performance	performance	NOUN
alkej-710	198	4	control	control	NOUN
alkej-710	198	5	in	in	ADP
alkej-710	198	6	fig	fig	NOUN
alkej-710	198	7	.	.	PUNCT
alkej-710	199	1	14	14	NUM
alkej-710	199	2	and	and	CCONJ
alkej-710	199	3	fig.15	fig.15	NOUN
alkej-710	199	4	,	,	PUNCT
alkej-710	199	5	it	it	PRON
alkej-710	199	6	should	should	AUX
alkej-710	199	7	be	be	AUX
alkej-710	199	8	mentioned	mention	VERB
alkej-710	199	9	that	that	SCONJ
alkej-710	199	10	the	the	DET
alkej-710	199	11	performance	performance	NOUN
alkej-710	199	12	for	for	ADP
alkej-710	199	13	the	the	DET
alkej-710	199	14	second	second	ADJ
alkej-710	199	15	controller	controller	NOUN
alkej-710	199	16	(	(	PUNCT
alkej-710	199	17	i.e.	i.e.	X
alkej-710	199	18	fuzzypid	fuzzypid	NOUN
alkej-710	199	19	with	with	ADP
alkej-710	199	20	lqr	lqr	NOUN
alkej-710	199	21	)	)	PUNCT
alkej-710	199	22	is	be	AUX
alkej-710	199	23	better	well	ADJ
alkej-710	199	24	than	than	ADP
alkej-710	199	25	the	the	DET
alkej-710	199	26	first	first	ADJ
alkej-710	199	27	controller	controller	NOUN
alkej-710	199	28	,	,	PUNCT
alkej-710	199	29	the	the	DET
alkej-710	199	30	reason	reason	NOUN
alkej-710	199	31	is	be	AUX
alkej-710	199	32	we	we	PRON
alkej-710	199	33	employ	employ	VERB
alkej-710	199	34	lqr	lqr	NOUN
alkej-710	199	35	as	as	SCONJ
alkej-710	199	36	the	the	DET
alkej-710	199	37	inner	inner	ADJ
alkej-710	199	38	loop	loop	NOUN
alkej-710	199	39	to	to	PART
alkej-710	199	40	achieve	achieve	VERB
alkej-710	199	41	the	the	DET
alkej-710	199	42	stability	stability	NOUN
alkej-710	199	43	of	of	ADP
alkej-710	199	44	the	the	DET
alkej-710	199	45	system	system	NOUN
alkej-710	199	46	before	before	SCONJ
alkej-710	199	47	the	the	DET
alkej-710	199	48	out	out	NOUN
alkej-710	199	49	loop	loop	NOUN
alkej-710	199	50	controller	controller	NOUN
alkej-710	199	51	works	work	NOUN
alkej-710	199	52	and	and	CCONJ
alkej-710	199	53	the	the	DET
alkej-710	199	54	states	state	NOUN
alkej-710	199	55	could	could	AUX
alkej-710	199	56	be	be	AUX
alkej-710	199	57	easily	easily	ADV
alkej-710	199	58	held	hold	VERB
alkej-710	199	59	with	with	ADP
alkej-710	199	60	reference	reference	NOUN
alkej-710	199	61	values	value	NOUN
alkej-710	199	62	.	.	PUNCT
alkej-710	200	1	in	in	ADP
alkej-710	200	2	the	the	DET
alkej-710	200	3	results	result	NOUN
alkej-710	200	4	,	,	PUNCT
alkej-710	200	5	the	the	DET
alkej-710	200	6	fuzzy	fuzzy	NOUN
alkej-710	200	7	-	-	PUNCT
alkej-710	200	8	pid	pid	NOUN
alkej-710	200	9	with	with	ADP
alkej-710	200	10	lqr	lqr	PROPN
alkej-710	200	11	shows	show	VERB
alkej-710	200	12	a	a	DET
alkej-710	200	13	good	good	ADJ
alkej-710	200	14	response	response	NOUN
alkej-710	200	15	to	to	PART
alkej-710	200	16	track	track	VERB
alkej-710	200	17	the	the	DET
alkej-710	200	18	reference	reference	NOUN
alkej-710	200	19	value	value	NOUN
alkej-710	200	20	of	of	ADP
alkej-710	200	21	the	the	DET
alkej-710	200	22	roll	roll	NOUN
alkej-710	200	23	angle	angle	NOUN
alkej-710	200	24	when	when	SCONJ
alkej-710	200	25	a	a	DET
alkej-710	200	26	sudden	sudden	ADJ
alkej-710	200	27	change	change	NOUN
alkej-710	200	28	occurs	occur	VERB
alkej-710	200	29	.	.	PUNCT
alkej-710	201	1	the	the	DET
alkej-710	201	2	adaptive	adaptive	ADJ
alkej-710	201	3	unscented	unscente	VERB
alkej-710	201	4	kalman	kalman	NOUN
alkej-710	201	5	filtering	filtering	PROPN
alkej-710	201	6	(	(	PUNCT
alkej-710	201	7	aukf	aukf	NOUN
alkej-710	201	8	)	)	PUNCT
alkej-710	201	9	is	be	AUX
alkej-710	201	10	used	use	VERB
alkej-710	201	11	in	in	ADP
alkej-710	201	12	the	the	DET
alkej-710	201	13	controller	controller	NOUN
alkej-710	201	14	to	to	PART
alkej-710	201	15	estimate	estimate	VERB
alkej-710	201	16	the	the	DET
alkej-710	201	17	roll	roll	NOUN
alkej-710	201	18	angle	angle	NOUN
alkej-710	201	19	.	.	PUNCT
alkej-710	202	1	the	the	DET
alkej-710	202	2	result	result	NOUN
alkej-710	202	3	shows	show	VERB
alkej-710	202	4	that	that	SCONJ
alkej-710	202	5	the	the	DET
alkej-710	202	6	proposed	propose	VERB
alkej-710	202	7	method	method	NOUN
alkej-710	202	8	is	be	AUX
alkej-710	202	9	decreased	decrease	VERB
alkej-710	202	10	the	the	DET
alkej-710	202	11	influence	influence	NOUN
alkej-710	202	12	of	of	ADP
alkej-710	202	13	noise	noise	NOUN
alkej-710	202	14	.	.	PUNCT
alkej-710	203	1	the	the	DET
alkej-710	203	2	future	future	ADJ
alkej-710	203	3	work	work	NOUN
alkej-710	203	4	is	be	AUX
alkej-710	203	5	to	to	PART
alkej-710	203	6	design	design	VERB
alkej-710	203	7	an	an	DET
alkej-710	203	8	autopilot	autopilot	NOUN
alkej-710	203	9	system	system	NOUN
alkej-710	203	10	that	that	PRON
alkej-710	203	11	will	will	AUX
alkej-710	203	12	be	be	AUX
alkej-710	203	13	able	able	ADJ
alkej-710	203	14	to	to	PART
alkej-710	203	15	control	control	VERB
alkej-710	203	16	and	and	CCONJ
alkej-710	203	17	navigate	navigate	VERB
alkej-710	203	18	both	both	CCONJ
alkej-710	203	19	longitudinal	longitudinal	ADJ
alkej-710	203	20	and	and	CCONJ
alkej-710	203	21	lateral	lateral	ADJ
alkej-710	203	22	motion	motion	NOUN
alkej-710	203	23	.	.	PUNCT
alkej-710	204	1	this	this	DET
alkej-710	204	2	system	system	NOUN
alkej-710	204	3	design	design	NOUN
alkej-710	204	4	is	be	AUX
alkej-710	204	5	a	a	DET
alkej-710	204	6	sensor	sensor	NOUN
alkej-710	204	7	fusion	fusion	NOUN
alkej-710	204	8	of	of	ADP
alkej-710	204	9	multi	multi	ADJ
alkej-710	204	10	-	-	NOUN
alkej-710	204	11	sensor	sensor	NOUN
alkej-710	204	12	using	use	VERB
alkej-710	204	13	our	our	PRON
alkej-710	204	14	algorithm	algorithm	NOUN
alkej-710	204	15	called	call	VERB
alkej-710	204	16	an	an	DET
alkej-710	204	17	adaptive	adaptive	ADJ
alkej-710	204	18	unscented	unscente	VERB
alkej-710	204	19	kalman	kalman	NOUN
alkej-710	204	20	filter	filter	PROPN
alkej-710	204	21	(	(	PUNCT
alkej-710	204	22	aukf	aukf	NOUN
alkej-710	204	23	)	)	PUNCT
alkej-710	205	1	[	[	X
alkej-710	205	2	9	9	NUM
alkej-710	205	3	]	]	SYM
alkej-710	205	4	.	.	PUNCT
alkej-710	206	1	7	7	X
alkej-710	206	2	.	.	NUM
alkej-710	206	3	references	reference	NOUN
alkej-710	206	4	[	[	X
alkej-710	206	5	1	1	NUM
alkej-710	206	6	]	]	X
alkej-710	206	7	m.m	m.m	PROPN
alkej-710	206	8	.	.	PROPN
alkej-710	206	9	al	al	PROPN
alkej-710	206	10	-	-	PUNCT
alkej-710	206	11	isawi	isawi	PROPN
alkej-710	206	12	and	and	CCONJ
alkej-710	206	13	j.z	j.z	PROPN
alkej-710	206	14	.	.	PROPN
alkej-710	206	15	sasiadek	sasiadek	PROPN
alkej-710	206	16	,	,	PUNCT
alkej-710	206	17	“	"	PUNCT
alkej-710	206	18	guidance	guidance	NOUN
alkej-710	206	19	and	and	CCONJ
alkej-710	206	20	control	control	NOUN
alkej-710	206	21	of	of	ADP
alkej-710	206	22	autonomous	autonomous	ADJ
alkej-710	206	23	,	,	PUNCT
alkej-710	206	24	flexible	flexible	ADJ
alkej-710	206	25	wing	wing	NOUN
alkej-710	206	26	uav	uav	PROPN
alkej-710	206	27	with	with	ADP
alkej-710	206	28	advanced	advanced	ADJ
alkej-710	206	29	vision	vision	NOUN
alkej-710	206	30	system	system	NOUN
alkej-710	206	31	,	,	PUNCT
alkej-710	206	32	”	"	PUNCT
alkej-710	206	33	iee/	iee/	ADJ
alkej-710	206	34	23rd	23rd	ADJ
alkej-710	206	35	international	international	ADJ
alkej-710	206	36	conference	conference	NOUN
alkej-710	206	37	on	on	ADP
alkej-710	206	38	methods	method	NOUN
alkej-710	206	39	&	&	CCONJ
alkej-710	206	40	models	model	NOUN
alkej-710	206	41	in	in	ADP
alkej-710	206	42	automation	automation	NOUN
alkej-710	206	43	&	&	CCONJ
alkej-710	206	44	robotics	robotic	NOUN
alkej-710	206	45	(	(	PUNCT
alkej-710	206	46	mmar	mmar	NOUN
alkej-710	206	47	)	)	PUNCT
alkej-710	206	48	,	,	PUNCT
alkej-710	206	49	pp	pp	ADJ
alkej-710	206	50	.	.	PUNCT
alkej-710	207	1	441	441	NUM
alkej-710	207	2	-	-	SYM
alkej-710	207	3	448	448	NUM
alkej-710	207	4	,	,	PUNCT
alkej-710	207	5	2018	2018	NUM
alkej-710	207	6	.	.	PUNCT
alkej-710	208	1	[	[	X
alkej-710	208	2	2	2	X
alkej-710	208	3	]	]	X
alkej-710	208	4	g.	g.	PROPN
alkej-710	208	5	cai	cai	PROPN
alkej-710	208	6	,	,	PUNCT
alkej-710	208	7	y.	y.	PROPN
alkej-710	208	8	lum	lum	PROPN
alkej-710	208	9	,	,	PUNCT
alkej-710	208	10	m.	m.	PROPN
alkej-710	208	11	chen	chen	PROPN
alkej-710	208	12	,	,	PUNCT
alkej-710	208	13	and	and	CCONJ
alkej-710	208	14	h.	h.	PROPN
alkej-710	208	15	lee	lee	PROPN
alkej-710	208	16	,	,	PUNCT
alkej-710	208	17	“	"	PUNCT
alkej-710	208	18	a	a	DET
alkej-710	208	19	brief	brief	ADJ
alkej-710	208	20	overview	overview	NOUN
alkej-710	208	21	on	on	ADP
alkej-710	208	22	miniature	miniature	ADJ
alkej-710	208	23	fixed	fix	VERB
alkej-710	208	24	wing	wing	NOUN
alkej-710	208	25	malik	malik	PROPN
alkej-710	208	26	m.	m.	PROPN
alkej-710	208	27	a.	a.	PROPN
alkej-710	208	28	al	al	PROPN
alkej-710	208	29	-	-	PUNCT
alkej-710	208	30	isawi	isawi	PROPN
alkej-710	208	31	al	al	PROPN
alkej-710	208	32	-	-	PUNCT
alkej-710	208	33	khwarizmi	khwarizmi	PROPN
alkej-710	208	34	engineering	engineering	NOUN
alkej-710	208	35	journal	journal	PROPN
alkej-710	208	36	,	,	PUNCT
alkej-710	208	37	vol	vol	NOUN
alkej-710	208	38	.	.	PROPN
alkej-710	208	39	16	16	NUM
alkej-710	208	40	,	,	PUNCT
alkej-710	208	41	no	no	INTJ
alkej-710	208	42	.	.	NOUN
alkej-710	208	43	3	3	NUM
alkej-710	208	44	,	,	PUNCT
alkej-710	208	45	p.p	p.p	PROPN
alkej-710	208	46	.	.	NOUN
alkej-710	208	47	4353	4353	NUM
alkej-710	208	48	(	(	PUNCT
alkej-710	208	49	2020	2020	NUM
alkej-710	208	50	)	)	PUNCT
alkej-710	208	51	51	51	NUM
alkej-710	208	52	unmanned	unmanned	ADJ
alkej-710	208	53	aerial	aerial	ADJ
alkej-710	208	54	vehicles	vehicle	NOUN
alkej-710	208	55	,	,	PUNCT
alkej-710	208	56	”	"	PUNCT
alkej-710	208	57	proc	proc	NOUN
alkej-710	208	58	.	.	PUNCT
alkej-710	209	1	8th	8th	ADJ
alkej-710	209	2	ieee	ieee	PROPN
alkej-710	209	3	international	international	ADJ
alkej-710	209	4	conf	conf	NOUN
alkej-710	209	5	.	.	PUNCT
alkej-710	210	1	on	on	ADP
alkej-710	210	2	control	control	NOUN
alkej-710	210	3	and	and	CCONJ
alkej-710	210	4	automation	automation	NOUN
alkej-710	210	5	,	,	PUNCT
alkej-710	210	6	xiamen	xiamen	PROPN
alkej-710	210	7	,	,	PUNCT
alkej-710	210	8	china	china	PROPN
alkej-710	210	9	,	,	PUNCT
alkej-710	210	10	pp	pp	ADJ
alkej-710	210	11	.	.	PUNCT
alkej-710	211	1	285–290	285–290	NUM
alkej-710	211	2	,	,	PUNCT
alkej-710	211	3	2010	2010	NUM
alkej-710	211	4	.	.	PUNCT
alkej-710	212	1	[	[	X
alkej-710	212	2	3	3	X
alkej-710	212	3	]	]	X
alkej-710	212	4	b.	b.	PROPN
alkej-710	212	5	l.	l.	PROPN
alkej-710	212	6	stevens	stevens	PROPN
alkej-710	212	7	,	,	PUNCT
alkej-710	212	8	and	and	CCONJ
alkej-710	212	9	f.	f.	PROPN
alkej-710	212	10	l.	l.	PROPN
alkej-710	212	11	lewis	lewis	PROPN
alkej-710	212	12	,	,	PUNCT
alkej-710	212	13	aircraft	aircraft	NOUN
alkej-710	212	14	control	control	NOUN
alkej-710	212	15	and	and	CCONJ
alkej-710	212	16	simulation	simulation	NOUN
alkej-710	212	17	,	,	PUNCT
alkej-710	212	18	john	john	PROPN
alkej-710	212	19	wiley	wiley	PROPN
alkej-710	212	20	&	&	CCONJ
alkej-710	212	21	sons	sons	PROPN
alkej-710	212	22	inc	inc	PROPN
alkej-710	212	23	.	.	PROPN
alkej-710	212	24	,	,	PUNCT
alkej-710	212	25	2nd	2nd	PROPN
alkej-710	212	26	edition	edition	NOUN
alkej-710	212	27	,	,	PUNCT
alkej-710	212	28	2003	2003	NUM
alkej-710	212	29	.	.	PUNCT
alkej-710	213	1	[	[	X
alkej-710	213	2	4	4	X
alkej-710	213	3	]	]	PUNCT
alkej-710	213	4	t.	t.	PROPN
alkej-710	213	5	r.	r.	PROPN
alkej-710	213	6	teo	teo	PROPN
alkej-710	213	7	,	,	PUNCT
alkej-710	213	8	j.	j.	PROPN
alkej-710	213	9	s.	s.	PROPN
alkej-710	213	10	jang	jang	PROPN
alkej-710	213	11	,	,	PUNCT
alkej-710	213	12	and	and	CCONJ
alkej-710	213	13	c.	c.	PROPN
alkej-710	213	14	j.	j.	PROPN
alkej-710	213	15	tomlin	tomlin	PROPN
alkej-710	213	16	,	,	PUNCT
alkej-710	213	17	“	"	PUNCT
alkej-710	213	18	automated	automate	VERB
alkej-710	213	19	multiple	multiple	ADJ
alkej-710	213	20	uav	uav	PROPN
alkej-710	213	21	flight	flight	NOUN
alkej-710	213	22	–	–	PUNCT
alkej-710	213	23	the	the	DET
alkej-710	213	24	stanford	stanford	PROPN
alkej-710	213	25	dragonfly	dragonfly	PROPN
alkej-710	213	26	uav	uav	PROPN
alkej-710	213	27	program	program	PROPN
alkej-710	213	28	,	,	PUNCT
alkej-710	213	29	”	"	PUNCT
alkej-710	213	30	43rd	43rd	ADJ
alkej-710	213	31	ieee	ieee	NOUN
alkej-710	213	32	conference	conference	NOUN
alkej-710	213	33	on	on	ADP
alkej-710	213	34	decision	decision	NOUN
alkej-710	213	35	and	and	CCONJ
alkej-710	213	36	control	control	NOUN
alkej-710	213	37	.	.	PUNCT
alkej-710	214	1	2004	2004	NUM
alkej-710	214	2	.	.	PUNCT
alkej-710	215	1	[	[	X
alkej-710	215	2	5	5	X
alkej-710	215	3	]	]	PUNCT
alkej-710	215	4	t.	t.	PROPN
alkej-710	215	5	kara	kara	PROPN
alkej-710	215	6	,	,	PUNCT
alkej-710	215	7	and	and	CCONJ
alkej-710	215	8	a.h	a.h	PROPN
alkej-710	215	9	.	.	PROPN
alkej-710	215	10	mary	mary	PROPN
alkej-710	215	11	,	,	PUNCT
alkej-710	215	12	“	"	PUNCT
alkej-710	215	13	robust	robust	ADJ
alkej-710	215	14	trajectory	trajectory	NOUN
alkej-710	215	15	tracking	tracking	NOUN
alkej-710	215	16	control	control	NOUN
alkej-710	215	17	of	of	ADP
alkej-710	215	18	robotic	robotic	ADJ
alkej-710	215	19	manipulators	manipulator	NOUN
alkej-710	215	20	based	base	VERB
alkej-710	215	21	on	on	ADP
alkej-710	215	22	model	model	NOUN
alkej-710	215	23	-	-	PUNCT
alkej-710	215	24	free	free	ADJ
alkej-710	215	25	pid	pid	PROPN
alkej-710	215	26	-	-	PUNCT
alkej-710	215	27	smc	smc	PROPN
alkej-710	215	28	approach	approach	NOUN
alkej-710	215	29	,	,	PUNCT
alkej-710	215	30	”	"	PUNCT
alkej-710	215	31	journal	journal	NOUN
alkej-710	215	32	of	of	ADP
alkej-710	215	33	engineering	engineering	NOUN
alkej-710	215	34	research	research	NOUN
alkej-710	215	35	,	,	PUNCT
alkej-710	215	36	vol	vol	NOUN
alkej-710	215	37	6	6	NUM
alkej-710	215	38	,	,	PUNCT
alkej-710	215	39	no	no	INTJ
alkej-710	215	40	.	.	NOUN
alkej-710	215	41	3	3	NUM
alkej-710	215	42	,	,	PUNCT
alkej-710	215	43	pp.170	pp.170	ADV
alkej-710	215	44	-	-	PUNCT
alkej-710	215	45	188	188	NUM
alkej-710	215	46	,	,	PUNCT
alkej-710	215	47	2018	2018	NUM
alkej-710	215	48	.	.	PUNCT
alkej-710	216	1	[	[	X
alkej-710	216	2	6	6	NUM
alkej-710	216	3	]	]	PUNCT
alkej-710	216	4	t.	t.	PROPN
alkej-710	216	5	kara	kara	PROPN
alkej-710	216	6	,	,	PUNCT
alkej-710	216	7	and	and	CCONJ
alkej-710	216	8	a.h	a.h	PROPN
alkej-710	216	9	.mary	.mary	NUM
alkej-710	216	10	,	,	PUNCT
alkej-710	216	11	“	"	PUNCT
alkej-710	216	12	adaptive	adaptive	ADJ
alkej-710	216	13	pd	pd	PROPN
alkej-710	216	14	-	-	PUNCT
alkej-710	216	15	smc	smc	PROPN
alkej-710	216	16	for	for	ADP
alkej-710	216	17	nonlinear	nonlinear	ADJ
alkej-710	216	18	robotic	robotic	ADJ
alkej-710	216	19	manipulator	manipulator	NOUN
alkej-710	216	20	tracking	tracking	NOUN
alkej-710	216	21	control	control	NOUN
alkej-710	216	22	,	,	PUNCT
alkej-710	216	23	”	"	PUNCT
alkej-710	216	24	studies	study	NOUN
alkej-710	216	25	in	in	ADP
alkej-710	216	26	informatics	informatic	NOUN
alkej-710	216	27	and	and	CCONJ
alkej-710	216	28	control	control	NOUN
alkej-710	216	29	,	,	PUNCT
alkej-710	216	30	vol	vol	NOUN
alkej-710	216	31	.	.	PROPN
alkej-710	216	32	26	26	NUM
alkej-710	216	33	,	,	PUNCT
alkej-710	216	34	no	no	INTJ
alkej-710	216	35	.	.	NOUN
alkej-710	216	36	1	1	NUM
alkej-710	216	37	,	,	PUNCT
alkej-710	216	38	pp.49	pp.49	NOUN
alkej-710	216	39	-	-	SYM
alkej-710	216	40	58	58	NUM
alkej-710	216	41	,	,	PUNCT
alkej-710	216	42	2017	2017	NUM
alkej-710	216	43	.	.	PUNCT
alkej-710	217	1	[	[	X
alkej-710	217	2	7	7	X
alkej-710	217	3	]	]	X
alkej-710	217	4	h.	h.	PROPN
alkej-710	217	5	bolandi	bolandi	PROPN
alkej-710	217	6	,	,	PUNCT
alkej-710	217	7	m.	m.	NOUN
alkej-710	217	8	rezaei	rezaei	PROPN
alkej-710	217	9	,	,	PUNCT
alkej-710	217	10	r.	r.	PROPN
alkej-710	217	11	mohsenipour	mohsenipour	PROPN
alkej-710	217	12	,	,	PUNCT
alkej-710	217	13	h.	h.	PROPN
alkej-710	217	14	nemati	nemati	PROPN
alkej-710	217	15	,	,	PUNCT
alkej-710	217	16	and	and	CCONJ
alkej-710	217	17	m.	m.	NOUN
alkej-710	217	18	smailzadeh	smailzadeh	NOUN
alkej-710	217	19	,	,	PUNCT
alkej-710	217	20	“	"	PUNCT
alkej-710	217	21	attitude	attitude	NOUN
alkej-710	217	22	control	control	NOUN
alkej-710	217	23	of	of	ADP
alkej-710	217	24	a	a	DET
alkej-710	217	25	quadrotor	quadrotor	NOUN
alkej-710	217	26	with	with	ADP
alkej-710	217	27	optimized	optimize	VERB
alkej-710	217	28	pid	pid	NOUN
alkej-710	217	29	controller	controller	NOUN
alkej-710	217	30	,	,	PUNCT
alkej-710	217	31	”	"	PUNCT
alkej-710	217	32	intelligent	intelligent	ADJ
alkej-710	217	33	control	control	NOUN
alkej-710	217	34	and	and	CCONJ
alkej-710	217	35	automation	automation	NOUN
alkej-710	217	36	,	,	PUNCT
alkej-710	217	37	pp	pp	PROPN
alkej-710	217	38	.	.	PUNCT
alkej-710	218	1	335	335	NUM
alkej-710	218	2	-	-	SYM
alkej-710	218	3	342	342	NUM
alkej-710	218	4	,	,	PUNCT
alkej-710	218	5	2013	2013	NUM
alkej-710	218	6	.	.	PUNCT
alkej-710	219	1	[	[	X
alkej-710	219	2	8	8	NUM
alkej-710	219	3	]	]	PUNCT
alkej-710	219	4	a.	a.	NOUN
alkej-710	219	5	sarhan	sarhan	NOUN
alkej-710	219	6	,	,	PUNCT
alkej-710	219	7	and	and	CCONJ
alkej-710	219	8	m.	m.	NOUN
alkej-710	219	9	ashry	ashry	PROPN
alkej-710	219	10	,	,	PUNCT
alkej-710	219	11	“	"	PUNCT
alkej-710	219	12	self	self	NOUN
alkej-710	219	13	-	-	PUNCT
alkej-710	219	14	tuned	tune	VERB
alkej-710	219	15	pid	pid	NOUN
alkej-710	219	16	controller	controller	NOUN
alkej-710	219	17	for	for	ADP
alkej-710	219	18	the	the	DET
alkej-710	219	19	aerosonde	aerosonde	PROPN
alkej-710	219	20	uav	uav	PROPN
alkej-710	219	21	autopilot	autopilot	PROPN
alkej-710	219	22	,	,	PUNCT
alkej-710	219	23	”	"	PUNCT
alkej-710	219	24	international	international	ADJ
alkej-710	219	25	journal	journal	NOUN
alkej-710	219	26	of	of	ADP
alkej-710	219	27	engineering	engineering	PROPN
alkej-710	219	28	research	research	NOUN
alkej-710	219	29	&	&	CCONJ
alkej-710	219	30	technology	technology	PROPN
alkej-710	219	31	(	(	PUNCT
alkej-710	219	32	ijert	ijert	PROPN
alkej-710	219	33	)	)	PUNCT
alkej-710	219	34	,	,	PUNCT
alkej-710	219	35	vol	vol	NOUN
alkej-710	219	36	.	.	NOUN
alkej-710	219	37	2	2	NUM
alkej-710	219	38	issue	issue	NOUN
alkej-710	219	39	12	12	NUM
alkej-710	219	40	,	,	PUNCT
alkej-710	219	41	pp	pp	ADJ
alkej-710	219	42	.	.	PUNCT
alkej-710	219	43	3329	3329	NUM
alkej-710	219	44	-	-	SYM
alkej-710	219	45	3340	3340	NUM
alkej-710	219	46	,	,	PUNCT
alkej-710	219	47	2013	2013	NUM
alkej-710	219	48	.	.	PUNCT
alkej-710	220	1	[	[	X
alkej-710	220	2	9	9	NUM
alkej-710	220	3	]	]	X
alkej-710	220	4	m.m	m.m	PROPN
alkej-710	220	5	.	.	PROPN
alkej-710	220	6	al	al	PROPN
alkej-710	220	7	-	-	PUNCT
alkej-710	220	8	isawi	isawi	NOUN
alkej-710	220	9	,	,	PUNCT
alkej-710	220	10	and	and	CCONJ
alkej-710	220	11	j.z	j.z	PROPN
alkej-710	220	12	.	.	PROPN
alkej-710	220	13	sasiadek	sasiadek	PROPN
alkej-710	220	14	,	,	PUNCT
alkej-710	220	15	“	"	PUNCT
alkej-710	220	16	guidance	guidance	NOUN
alkej-710	220	17	and	and	CCONJ
alkej-710	220	18	control	control	NOUN
alkej-710	220	19	of	of	ADP
alkej-710	220	20	a	a	DET
alkej-710	220	21	robot	robot	NOUN
alkej-710	220	22	capturing	capture	VERB
alkej-710	220	23	an	an	DET
alkej-710	220	24	uncooperative	uncooperative	ADJ
alkej-710	220	25	space	space	NOUN
alkej-710	220	26	target	target	NOUN
alkej-710	220	27	,	,	PUNCT
alkej-710	220	28	”	"	PUNCT
alkej-710	220	29	journal	journal	NOUN
alkej-710	220	30	of	of	ADP
alkej-710	220	31	intelligent	intelligent	ADJ
alkej-710	220	32	&	&	CCONJ
alkej-710	220	33	robotic	robotic	ADJ
alkej-710	220	34	systems	system	NOUN
alkej-710	220	35	,	,	PUNCT
alkej-710	220	36	vol	vol	NOUN
alkej-710	220	37	.	.	PROPN
alkej-710	220	38	93	93	NUM
alkej-710	220	39	,	,	PUNCT
alkej-710	220	40	no	no	INTJ
alkej-710	220	41	.	.	NOUN
alkej-710	220	42	34	34	NUM
alkej-710	220	43	,	,	PUNCT
alkej-710	220	44	pp.713	pp.713	PROPN
alkej-710	220	45	-	-	PUNCT
alkej-710	220	46	721	721	NUM
alkej-710	220	47	,	,	PUNCT
alkej-710	220	48	2019	2019	NUM
alkej-710	220	49	.	.	PUNCT
alkej-710	221	1	[	[	X
alkej-710	221	2	10	10	NUM
alkej-710	221	3	]	]	X
alkej-710	221	4	m.m	m.m	PROPN
alkej-710	221	5	.	.	PROPN
alkej-710	221	6	al	al	PROPN
alkej-710	221	7	-	-	PUNCT
alkej-710	221	8	isawi	isawi	NOUN
alkej-710	221	9	,	,	PUNCT
alkej-710	221	10	and	and	CCONJ
alkej-710	221	11	j.z	j.z	PROPN
alkej-710	221	12	.	.	PROPN
alkej-710	221	13	sasiadek	sasiadek	PROPN
alkej-710	221	14	,	,	PUNCT
alkej-710	221	15	“	"	PUNCT
alkej-710	221	16	control	control	NOUN
alkej-710	221	17	of	of	ADP
alkej-710	221	18	flexible	flexible	ADJ
alkej-710	221	19	wing	wing	NOUN
alkej-710	221	20	uav	uav	PROPN
alkej-710	221	21	using	use	VERB
alkej-710	221	22	stereo	stereo	PROPN
alkej-710	221	23	camera	camera	NOUN
alkej-710	221	24	,	,	PUNCT
alkej-710	221	25	”	"	PUNCT
alkej-710	221	26	in	in	ADP
alkej-710	221	27	aerospace	aerospace	NOUN
alkej-710	221	28	robotics	robotic	NOUN
alkej-710	221	29	iii	iii	NOUN
alkej-710	221	30	,	,	PUNCT
alkej-710	221	31	pp	pp	ADJ
alkej-710	221	32	.	.	PUNCT
alkej-710	222	1	97	97	NUM
alkej-710	222	2	-	-	SYM
alkej-710	222	3	120	120	NUM
alkej-710	222	4	,	,	PUNCT
alkej-710	222	5	springer	springer	NOUN
alkej-710	222	6	,	,	PUNCT
alkej-710	222	7	cham	cham	NOUN
alkej-710	222	8	,	,	PUNCT
alkej-710	222	9	2019	2019	NUM
alkej-710	222	10	.	.	PUNCT
alkej-710	223	1	[	[	X
alkej-710	223	2	11	11	NUM
alkej-710	223	3	]	]	PUNCT
alkej-710	223	4	t.c.t	t.c.t	NOUN
alkej-710	223	5	.	.	PUNCT
alkej-710	224	1	ng	ng	PROPN
alkej-710	224	2	,	,	PUNCT
alkej-710	224	3	f.h.f	f.h.f	PROPN
alkej-710	224	4	.	.	PROPN
alkej-710	224	5	leung	leung	PROPN
alkej-710	224	6	,	,	PUNCT
alkej-710	224	7	and	and	CCONJ
alkej-710	224	8	p.k.s	p.k.	VERB
alkej-710	224	9	.tam	.tam	PROPN
alkej-710	224	10	,	,	PUNCT
alkej-710	224	11	“	"	PUNCT
alkej-710	224	12	a	a	DET
alkej-710	224	13	simple	simple	ADJ
alkej-710	224	14	gain	gain	NOUN
alkej-710	224	15	scheduled	schedule	VERB
alkej-710	224	16	pid	pid	NOUN
alkej-710	224	17	controller	controller	NOUN
alkej-710	224	18	with	with	ADP
alkej-710	224	19	stability	stability	NOUN
alkej-710	224	20	consideration	consideration	NOUN
alkej-710	224	21	based	base	VERB
alkej-710	224	22	on	on	ADP
alkej-710	224	23	a	a	DET
alkej-710	224	24	grid	grid	NOUN
alkej-710	224	25	-	-	PUNCT
alkej-710	224	26	point	point	NOUN
alkej-710	224	27	concept	concept	NOUN
alkej-710	224	28	,	,	PUNCT
alkej-710	224	29	”	"	PUNCT
alkej-710	224	30	proceedings	proceeding	NOUN
alkej-710	224	31	of	of	ADP
alkej-710	224	32	the	the	DET
alkej-710	224	33	ieee	ieee	NOUN
alkej-710	224	34	international	international	ADJ
alkej-710	224	35	symposium	symposium	NOUN
alkej-710	224	36	on	on	ADP
alkej-710	224	37	industrial	industrial	ADJ
alkej-710	224	38	electronics	electronic	NOUN
alkej-710	224	39	,	,	PUNCT
alkej-710	224	40	pp	pp	ADJ
alkej-710	224	41	.	.	PUNCT
alkej-710	224	42	1090	1090	NUM
alkej-710	224	43	-	-	SYM
alkej-710	224	44	1094	1094	NUM
alkej-710	224	45	,	,	PUNCT
alkej-710	224	46	1997	1997	NUM
alkej-710	224	47	.	.	PUNCT
alkej-710	225	1	[	[	X
alkej-710	225	2	12	12	NUM
alkej-710	225	3	]	]	PUNCT
alkej-710	225	4	a.	a.	NOUN
alkej-710	225	5	brezoescu	brezoescu	PROPN
alkej-710	225	6	,	,	PUNCT
alkej-710	225	7	t.	t.	PROPN
alkej-710	225	8	espinoza	espinoza	PROPN
alkej-710	225	9	,	,	PUNCT
alkej-710	225	10	p.	p.	PROPN
alkej-710	225	11	castillo	castillo	PROPN
alkej-710	225	12	,	,	PUNCT
alkej-710	225	13	and	and	CCONJ
alkej-710	225	14	r.	r.	PROPN
alkej-710	225	15	lozano	lozano	PROPN
alkej-710	225	16	,	,	PUNCT
alkej-710	225	17	“	"	PUNCT
alkej-710	225	18	adaptive	adaptive	ADJ
alkej-710	225	19	trajectory	trajectory	NOUN
alkej-710	225	20	following	follow	VERB
alkej-710	225	21	for	for	ADP
alkej-710	225	22	a	a	DET
alkej-710	225	23	fixed	fix	VERB
alkej-710	225	24	-	-	PUNCT
alkej-710	225	25	wing	wing	NOUN
alkej-710	225	26	uav	uav	NOUN
alkej-710	225	27	in	in	ADP
alkej-710	225	28	presence	presence	NOUN
alkej-710	225	29	of	of	ADP
alkej-710	225	30	crosswind	crosswind	NOUN
alkej-710	225	31	,	,	PUNCT
alkej-710	225	32	”	"	PUNCT
alkej-710	225	33	journal	journal	NOUN
alkej-710	225	34	of	of	ADP
alkej-710	225	35	intelligent	intelligent	ADJ
alkej-710	225	36	and	and	CCONJ
alkej-710	225	37	robotic	robotic	ADJ
alkej-710	225	38	systems	system	NOUN
alkej-710	225	39	,	,	PUNCT
alkej-710	225	40	vol	vol	NOUN
alkej-710	225	41	69	69	NUM
alkej-710	225	42	,	,	PUNCT
alkej-710	225	43	no.1	no.1	NOUN
alkej-710	225	44	-	-	SYM
alkej-710	225	45	4	4	NUM
alkej-710	225	46	,	,	PUNCT
alkej-710	225	47	pp	pp	ADJ
alkej-710	225	48	.	.	PUNCT
alkej-710	226	1	257	257	NUM
alkej-710	226	2	-	-	SYM
alkej-710	226	3	271	271	NUM
alkej-710	226	4	,	,	PUNCT
alkej-710	226	5	2013	2013	NUM
alkej-710	226	6	.	.	PUNCT
alkej-710	227	1	[	[	X
alkej-710	227	2	13	13	NUM
alkej-710	227	3	]	]	PUNCT
alkej-710	227	4	s.	s.	PROPN
alkej-710	227	5	z.l	z.l	PROPN
alkej-710	227	6	s.	s.	PROPN
alkej-710	227	7	al	al	PROPN
alkej-710	227	8	-	-	PUNCT
alkej-710	227	9	khayyt	khayyt	PROPN
alkej-710	227	10	,	,	PUNCT
alkej-710	227	11	”	"	PUNCT
alkej-710	227	12	tuning	tune	VERB
alkej-710	227	13	pid	pid	NOUN
alkej-710	227	14	controller	controller	NOUN
alkej-710	227	15	by	by	ADP
alkej-710	227	16	neural	neural	ADJ
alkej-710	227	17	network	network	NOUN
alkej-710	227	18	for	for	ADP
alkej-710	227	19	robot	robot	NOUN
alkej-710	227	20	manipulator	manipulator	NOUN
alkej-710	227	21	trajectory	trajectory	NOUN
alkej-710	227	22	tracking	tracking	NOUN
alkej-710	227	23	,	,	PUNCT
alkej-710	227	24	”	"	PUNCT
alkej-710	227	25	al	al	PROPN
alkej-710	227	26	-	-	PUNCT
alkej-710	227	27	khwarizmi	khwarizmi	PROPN
alkej-710	227	28	engineering	engineering	NOUN
alkej-710	227	29	journal	journal	PROPN
alkej-710	227	30	(	(	PUNCT
alkej-710	227	31	alkej	alkej	PROPN
alkej-710	227	32	)	)	PUNCT
alkej-710	227	33	,	,	PUNCT
alkej-710	227	34	vol	vol	NOUN
alkej-710	227	35	.	.	PROPN
alkej-710	227	36	9	9	NUM
alkej-710	227	37	,	,	PUNCT
alkej-710	227	38	no	no	INTJ
alkej-710	227	39	.	.	NOUN
alkej-710	227	40	3	3	NUM
alkej-710	227	41	,	,	PUNCT
alkej-710	227	42	pp	pp	ADJ
alkej-710	227	43	.	.	PUNCT
alkej-710	228	1	19	19	NUM
alkej-710	228	2	-	-	SYM
alkej-710	228	3	28	28	NUM
alkej-710	228	4	,	,	PUNCT
alkej-710	228	5	2013	2013	NUM
alkej-710	228	6	.	.	PUNCT
alkej-710	229	1	[	[	X
alkej-710	229	2	14	14	NUM
alkej-710	229	3	]	]	X
alkej-710	229	4	h.b	h.b	PROPN
alkej-710	229	5	.	.	PROPN
alkej-710	229	6	kazemian	kazemian	PROPN
alkej-710	229	7	,	,	PUNCT
alkej-710	229	8	“	"	PUNCT
alkej-710	229	9	developments	development	NOUN
alkej-710	229	10	of	of	ADP
alkej-710	229	11	fuzzy	fuzzy	ADJ
alkej-710	229	12	pid	pid	NOUN
alkej-710	229	13	controllers	controller	NOUN
alkej-710	229	14	,	,	PUNCT
alkej-710	229	15	”	"	PUNCT
alkej-710	229	16	expert	expert	NOUN
alkej-710	229	17	systems	system	NOUN
alkej-710	229	18	,	,	PUNCT
alkej-710	229	19	vol.22	vol.22	NOUN
alkej-710	229	20	,	,	PUNCT
alkej-710	229	21	no.5	no.5	PROPN
alkej-710	229	22	,	,	PUNCT
alkej-710	229	23	pp	pp	X
alkej-710	229	24	.	.	PUNCT
alkej-710	230	1	254	254	NUM
alkej-710	230	2	-	-	SYM
alkej-710	230	3	264	264	NUM
alkej-710	230	4	,	,	PUNCT
alkej-710	230	5	2005	2005	NUM
alkej-710	230	6	.	.	PUNCT
alkej-710	231	1	[	[	X
alkej-710	231	2	15	15	NUM
alkej-710	231	3	]	]	X
alkej-710	231	4	a.h	a.h	PROPN
alkej-710	231	5	.	.	PROPN
alkej-710	231	6	mary	mary	PROPN
alkej-710	231	7	,	,	PUNCT
alkej-710	231	8	t	t	PROPN
alkej-710	231	9	.kara	.kara	NUM
alkej-710	231	10	,	,	PUNCT
alkej-710	231	11	and	and	CCONJ
alkej-710	231	12	a.h	a.h	PROPN
alkej-710	231	13	miry	miry	NOUN
alkej-710	231	14	,	,	PUNCT
alkej-710	231	15	“	"	PUNCT
alkej-710	231	16	inverse	inverse	ADJ
alkej-710	231	17	kinematics	kinematic	NOUN
alkej-710	231	18	solution	solution	NOUN
alkej-710	231	19	for	for	ADP
alkej-710	231	20	robotic	robotic	ADJ
alkej-710	231	21	manipulators	manipulator	NOUN
alkej-710	231	22	based	base	VERB
alkej-710	231	23	on	on	ADP
alkej-710	231	24	fuzzy	fuzzy	ADJ
alkej-710	231	25	logic	logic	NOUN
alkej-710	231	26	and	and	CCONJ
alkej-710	231	27	pd	pd	PROPN
alkej-710	231	28	control	control	NOUN
alkej-710	231	29	,	,	PUNCT
alkej-710	231	30	”	"	PUNCT
alkej-710	231	31	ieee/	ieee/	PROPN
alkej-710	231	32	al	al	PROPN
alkej-710	231	33	-	-	PUNCT
alkej-710	231	34	sadeq	sadeq	ADJ
alkej-710	231	35	international	international	ADJ
alkej-710	231	36	conference	conference	NOUN
alkej-710	231	37	on	on	ADP
alkej-710	231	38	multidisciplinary	multidisciplinary	NOUN
alkej-710	231	39	in	in	ADP
alkej-710	231	40	it	it	PRON
alkej-710	231	41	and	and	CCONJ
alkej-710	231	42	communication	communication	NOUN
alkej-710	231	43	science	science	NOUN
alkej-710	231	44	and	and	CCONJ
alkej-710	231	45	applications	application	NOUN
alkej-710	231	46	(	(	PUNCT
alkej-710	231	47	aic	aic	PROPN
alkej-710	231	48	-	-	PUNCT
alkej-710	231	49	mitcsa	mitcsa	ADJ
alkej-710	231	50	)	)	PUNCT
alkej-710	231	51	,	,	PUNCT
alkej-710	231	52	pp	pp	PROPN
alkej-710	231	53	.	.	PUNCT
alkej-710	232	1	1	1	NUM
alkej-710	232	2	-	-	SYM
alkej-710	232	3	6	6	NUM
alkej-710	232	4	,	,	PUNCT
alkej-710	232	5	2016	2016	NUM
alkej-710	232	6	.	.	PUNCT
alkej-710	233	1	[	[	X
alkej-710	233	2	16	16	NUM
alkej-710	233	3	]	]	X
alkej-710	233	4	d.	d.	PROPN
alkej-710	233	5	zhou	zhou	PROPN
alkej-710	233	6	,	,	PUNCT
alkej-710	233	7	and	and	CCONJ
alkej-710	233	8	q.	q.	PROPN
alkej-710	233	9	geng	geng	PROPN
alkej-710	233	10	,	,	PUNCT
alkej-710	233	11	“	"	PUNCT
alkej-710	233	12	multi	multi	ADJ
alkej-710	233	13	-	-	NOUN
alkej-710	233	14	model	model	ADJ
alkej-710	233	15	and	and	CCONJ
alkej-710	233	16	fuzzy	fuzzy	ADJ
alkej-710	233	17	pid	pid	NOUN
alkej-710	233	18	control	control	NOUN
alkej-710	233	19	for	for	ADP
alkej-710	233	20	fixed	fix	VERB
alkej-710	233	21	-	-	PUNCT
alkej-710	233	22	wing	wing	NOUN
alkej-710	233	23	uav	uav	PROPN
alkej-710	233	24	,	,	PUNCT
alkej-710	233	25	”	"	PUNCT
alkej-710	233	26	3rd	3rd	ADJ
alkej-710	233	27	international	international	ADJ
alkej-710	233	28	conference	conference	NOUN
alkej-710	233	29	on	on	ADP
alkej-710	233	30	mechatronics	mechatronic	NOUN
alkej-710	233	31	,	,	PUNCT
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alkej-710	233	33	and	and	CCONJ
alkej-710	233	34	automation	automation	NOUN
alkej-710	233	35	(	(	PUNCT
alkej-710	233	36	icmra	icmra	NOUN
alkej-710	233	37	2015	2015	NUM
alkej-710	233	38	)	)	PUNCT
alkej-710	233	39	,	,	PUNCT
alkej-710	233	40	pp	pp	ADP
alkej-710	233	41	523	523	NUM
alkej-710	233	42	-	-	SYM
alkej-710	233	43	528	528	NUM
alkej-710	233	44	,	,	PUNCT
alkej-710	233	45	2015	2015	NUM
alkej-710	233	46	.	.	PUNCT
alkej-710	234	1	[	[	X
alkej-710	234	2	17	17	NUM
alkej-710	234	3	]	]	X
alkej-710	234	4	l.m	l.m	PROPN
alkej-710	234	5	.	.	PROPN
alkej-710	234	6	argentim	argentim	PROPN
alkej-710	234	7	,	,	PUNCT
alkej-710	234	8	w.c	w.c	PROPN
alkej-710	234	9	.	.	PROPN
alkej-710	234	10	rezende	rezende	PROPN
alkej-710	234	11	,	,	PUNCT
alkej-710	234	12	p.e	p.e	PROPN
alkej-710	234	13	.	.	PROPN
alkej-710	234	14	santos	santos	PROPN
alkej-710	234	15	,	,	PUNCT
alkej-710	234	16	and	and	CCONJ
alkej-710	234	17	r.a	r.a	PROPN
alkej-710	234	18	.	.	PROPN
alkej-710	234	19	aguiar	aguiar	PROPN
alkej-710	234	20	,	,	PUNCT
alkej-710	234	21	“	"	PUNCT
alkej-710	234	22	pid	pid	NOUN
alkej-710	234	23	,	,	PUNCT
alkej-710	234	24	lqr	lqr	NOUN
alkej-710	234	25	and	and	CCONJ
alkej-710	234	26	lqr	lqr	PROPN
alkej-710	234	27	-	-	PUNCT
alkej-710	234	28	pid	pid	NOUN
alkej-710	234	29	on	on	ADP
alkej-710	234	30	a	a	DET
alkej-710	234	31	quadcopter	quadcopter	NOUN
alkej-710	234	32	platform	platform	NOUN
alkej-710	234	33	,	,	PUNCT
alkej-710	234	34	”	"	PUNCT
alkej-710	234	35	ieee	ieee	PROPN
alkej-710	234	36	international	international	ADJ
alkej-710	234	37	conference	conference	NOUN
alkej-710	234	38	on	on	ADP
alkej-710	234	39	informatics	informatics	PROPN
alkej-710	234	40	,	,	PUNCT
alkej-710	234	41	electronics	electronics	PROPN
alkej-710	234	42	&	&	CCONJ
alkej-710	234	43	vision	vision	PROPN
alkej-710	234	44	(	(	PUNCT
alkej-710	234	45	iciev	iciev	NOUN
alkej-710	234	46	)	)	PUNCT
alkej-710	234	47	,	,	PUNCT
alkej-710	234	48	pp	pp	ADP
alkej-710	234	49	.	.	NOUN
alkej-710	234	50	1	1	NUM
alkej-710	234	51	–	–	PUNCT
alkej-710	234	52	6	6	NUM
alkej-710	234	53	,	,	PUNCT
alkej-710	234	54	2013	2013	NUM
alkej-710	234	55	.	.	PUNCT
alkej-710	235	1	[	[	X
alkej-710	235	2	18	18	NUM
alkej-710	235	3	]	]	X
alkej-710	235	4	x.j	x.j	PROPN
alkej-710	235	5	.	.	PROPN
alkej-710	235	6	xing	xing	PROPN
alkej-710	235	7	,	,	PUNCT
alkej-710	235	8	j.g	j.g	PROPN
alkej-710	235	9	.	.	PROPN
alkej-710	235	10	yan	yan	PROPN
alkej-710	235	11	,	,	PUNCT
alkej-710	235	12	and	and	CCONJ
alkej-710	235	13	d.	d.	PROPN
alkej-710	235	14	l.	l.	PROPN
alkej-710	235	15	yuan	yuan	PROPN
alkej-710	235	16	,	,	PUNCT
alkej-710	235	17	“	"	PUNCT
alkej-710	235	18	augmented	augment	VERB
alkej-710	235	19	-	-	PUNCT
alkej-710	235	20	stability	stability	NOUN
alkej-710	235	21	controller	controller	NOUN
alkej-710	235	22	design	design	NOUN
alkej-710	235	23	and	and	CCONJ
alkej-710	235	24	its	its	PRON
alkej-710	235	25	simulation	simulation	NOUN
alkej-710	235	26	or	or	CCONJ
alkej-710	235	27	a	a	DET
alkej-710	235	28	uav	uav	PROPN
alkej-710	235	29	based	base	VERB
alkej-710	235	30	on	on	ADP
alkej-710	235	31	lqr	lqr	PROPN
alkej-710	235	32	theory	theory	NOUN
alkej-710	235	33	,	,	PUNCT
alkej-710	235	34	”	"	PUNCT
alkej-710	235	35	flight	flight	NOUN
alkej-710	235	36	dynamics	dynamic	NOUN
alkej-710	235	37	,	,	PUNCT
alkej-710	235	38	vol	vol	NOUN
alkej-710	235	39	.	.	PROPN
alkej-710	235	40	29	29	NUM
alkej-710	235	41	,	,	PUNCT
alkej-710	235	42	no	no	INTJ
alkej-710	235	43	.	.	NOUN
alkej-710	235	44	5	5	NUM
alkej-710	235	45	,	,	PUNCT
alkej-710	235	46	pp	pp	ADJ
alkej-710	235	47	.	.	PUNCT
alkej-710	236	1	54	54	NUM
alkej-710	236	2	-	-	SYM
alkej-710	236	3	56	56	NUM
alkej-710	236	4	,	,	PUNCT
alkej-710	236	5	2011	2011	NUM
alkej-710	236	6	.	.	PUNCT
alkej-710	237	1	[	[	X
alkej-710	237	2	19	19	NUM
alkej-710	237	3	]	]	X
alkej-710	237	4	y.	y.	PROPN
alkej-710	237	5	li	li	PROPN
alkej-710	237	6	,	,	PUNCT
alkej-710	237	7	c.	c.	PROPN
alkej-710	237	8	chen	chen	PROPN
alkej-710	237	9	,	,	PUNCT
alkej-710	237	10	and	and	CCONJ
alkej-710	237	11	w.	w.	PROPN
alkej-710	237	12	chen	chen	PROPN
alkej-710	237	13	,	,	PUNCT
alkej-710	237	14	“	"	PUNCT
alkej-710	237	15	research	research	NOUN
alkej-710	237	16	on	on	ADP
alkej-710	237	17	longitudinal	longitudinal	ADJ
alkej-710	237	18	control	control	NOUN
alkej-710	237	19	algorithm	algorithm	NOUN
alkej-710	237	20	for	for	ADP
alkej-710	237	21	flying	fly	VERB
alkej-710	237	22	wing	wing	NOUN
alkej-710	237	23	uav	uav	PROPN
alkej-710	237	24	based	base	VERB
alkej-710	237	25	on	on	ADP
alkej-710	237	26	lqr	lqr	PROPN
alkej-710	237	27	technology	technology	NOUN
alkej-710	237	28	,	,	PUNCT
alkej-710	237	29	”	"	PUNCT
alkej-710	237	30	international	international	ADJ
alkej-710	237	31	journal	journal	NOUN
alkej-710	237	32	on	on	ADP
alkej-710	237	33	smart	smart	ADJ
alkej-710	237	34	sensing	sensing	NOUN
alkej-710	237	35	and	and	CCONJ
alkej-710	237	36	intelligent	intelligent	ADJ
alkej-710	237	37	systems	system	NOUN
alkej-710	237	38	vol	vol	NOUN
alkej-710	237	39	.	.	PROPN
alkej-710	238	1	6	6	NUM
alkej-710	238	2	,	,	PUNCT
alkej-710	238	3	no	no	INTJ
alkej-710	238	4	.	.	NOUN
alkej-710	238	5	5	5	NUM
alkej-710	238	6	,	,	PUNCT
alkej-710	238	7	pp	pp	ADJ
alkej-710	238	8	.	.	PUNCT
alkej-710	239	1	21552181	21552181	NUM
alkej-710	239	2	,	,	PUNCT
alkej-710	239	3	2013	2013	NUM
alkej-710	239	4	.	.	PUNCT
alkej-710	240	1	[	[	X
alkej-710	240	2	20	20	NUM
alkej-710	240	3	]	]	PUNCT
alkej-710	240	4	m.	m.	PROPN
alkej-710	240	5	r.	r.	PROPN
alkej-710	240	6	rahimi	rahimi	PROPN
alkej-710	240	7	,	,	PUNCT
alkej-710	240	8	s.	s.	PROPN
alkej-710	240	9	hajighasemi	hajighasemi	PROPN
alkej-710	240	10	,	,	PUNCT
alkej-710	240	11	d.	d.	PROPN
alkej-710	240	12	sanaei	sanaei	PROPN
alkej-710	240	13	,	,	PUNCT
alkej-710	240	14	"	"	PUNCT
alkej-710	240	15	designing	designing	NOUN
alkej-710	240	16	and	and	CCONJ
alkej-710	240	17	simulation	simulation	NOUN
alkej-710	240	18	for	for	ADP
alkej-710	240	19	vertical	vertical	ADJ
alkej-710	240	20	moving	moving	NOUN
alkej-710	240	21	control	control	NOUN
alkej-710	240	22	of	of	ADP
alkej-710	240	23	uav	uav	PROPN
alkej-710	240	24	system	system	NOUN
alkej-710	240	25	using	use	VERB
alkej-710	240	26	pid	pid	PROPN
alkej-710	240	27	,	,	PUNCT
alkej-710	240	28	lqr	lqr	NOUN
alkej-710	240	29	and	and	CCONJ
alkej-710	240	30	fuzzy	fuzzy	ADJ
alkej-710	240	31	logic	logic	NOUN
alkej-710	240	32	,	,	PUNCT
alkej-710	240	33	"	"	PUNCT
alkej-710	240	34	international	international	ADJ
alkej-710	240	35	journal	journal	NOUN
alkej-710	240	36	of	of	ADP
alkej-710	240	37	electrical	electrical	ADJ
alkej-710	240	38	and	and	CCONJ
alkej-710	240	39	computer	computer	NOUN
alkej-710	240	40	engineering	engineering	NOUN
alkej-710	240	41	(	(	PUNCT
alkej-710	240	42	ijece	ijece	PROPN
alkej-710	240	43	)	)	PUNCT
alkej-710	240	44	,	,	PUNCT
alkej-710	240	45	vol	vol	NOUN
alkej-710	240	46	.	.	PROPN
alkej-710	241	1	3	3	NUM
alkej-710	241	2	,	,	PUNCT
alkej-710	241	3	no	no	INTJ
alkej-710	241	4	.	.	NOUN
alkej-710	241	5	5	5	NUM
alkej-710	241	6	,	,	PUNCT
alkej-710	241	7	pp	pp	ADJ
alkej-710	241	8	.	.	PUNCT
alkej-710	242	1	651	651	NUM
alkej-710	242	2	-	-	SYM
alkej-710	242	3	659	659	NUM
alkej-710	242	4	,	,	PUNCT
alkej-710	242	5	2013	2013	NUM
alkej-710	242	6	.	.	PUNCT
alkej-710	243	1	[	[	X
alkej-710	243	2	21	21	NUM
alkej-710	243	3	]	]	PUNCT
alkej-710	243	4	k.	k.	PROPN
alkej-710	243	5	k.	k.	PROPN
alkej-710	243	6	yit	yit	PROPN
alkej-710	243	7	,	,	PUNCT
alkej-710	243	8	p.	p.	NOUN
alkej-710	243	9	rajendran	rajendran	PROPN
alkej-710	243	10	and	and	CCONJ
alkej-710	243	11	l.	l.	PROPN
alkej-710	243	12	k.	k.	PROPN
alkej-710	243	13	wee	wee	PROPN
alkej-710	243	14	,	,	PUNCT
alkej-710	243	15	"	"	PUNCT
alkej-710	243	16	proportional	proportional	ADJ
alkej-710	243	17	-	-	PUNCT
alkej-710	243	18	derivative	derivative	ADJ
alkej-710	243	19	linear	linear	ADJ
alkej-710	243	20	quadratic	quadratic	ADJ
alkej-710	243	21	regulator	regulator	NOUN
alkej-710	243	22	controller	controller	NOUN
alkej-710	243	23	design	design	NOUN
alkej-710	243	24	for	for	ADP
alkej-710	243	25	improved	improved	ADJ
alkej-710	243	26	longitudinal	longitudinal	ADJ
alkej-710	243	27	motion	motion	NOUN
alkej-710	243	28	control	control	NOUN
alkej-710	243	29	of	of	ADP
alkej-710	243	30	unmanned	unmanned	ADJ
alkej-710	243	31	aerial	aerial	ADJ
alkej-710	243	32	vehicles	vehicle	NOUN
alkej-710	243	33	,	,	PUNCT
alkej-710	243	34	"	"	PUNCT
alkej-710	243	35	international	international	ADJ
alkej-710	243	36	journal	journal	NOUN
alkej-710	243	37	of	of	ADP
alkej-710	243	38	micro	micro	PROPN
alkej-710	243	39	air	air	NOUN
alkej-710	243	40	vehicles	vehicle	NOUN
alkej-710	243	41	,	,	PUNCT
alkej-710	243	42	2016	2016	NUM
alkej-710	243	43	.	.	PUNCT
alkej-710	244	1	[	[	X
alkej-710	244	2	22	22	NUM
alkej-710	244	3	]	]	X
alkej-710	244	4	s.m	s.m	PROPN
alkej-710	244	5	.	.	PROPN
alkej-710	244	6	raafat	raafat	PROPN
alkej-710	244	7	,	,	PUNCT
alkej-710	244	8	z.	z.	PROPN
alkej-710	244	9	sh	sh	PROPN
alkej-710	244	10	.	.	PROPN
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alkej-710	244	12	,	,	PUNCT
alkej-710	244	13	"	"	PUNCT
alkej-710	244	14	robust	robust	ADJ
alkej-710	244	15	multiple	multiple	ADJ
alkej-710	244	16	model	model	NOUN
alkej-710	244	17	adaptive	adaptive	ADJ
alkej-710	244	18	control	control	NOUN
alkej-710	244	19	for	for	ADP
alkej-710	244	20	dynamic	dynamic	ADJ
alkej-710	244	21	positioning	positioning	NOUN
alkej-710	244	22	of	of	ADP
alkej-710	244	23	quadrotor	quadrotor	NOUN
alkej-710	244	24	helicopter	helicopter	NOUN
alkej-710	244	25	system	system	NOUN
alkej-710	244	26	,	,	PUNCT
alkej-710	244	27	"	"	PUNCT
alkej-710	244	28	engineering	engineering	NOUN
alkej-710	244	29	and	and	CCONJ
alkej-710	244	30	technology	technology	NOUN
alkej-710	244	31	journal	journal	NOUN
alkej-710	244	32	,	,	PUNCT
alkej-710	244	33	vol	vol	NOUN
alkej-710	244	34	.	.	PROPN
alkej-710	244	35	36	36	NUM
alkej-710	244	36	,	,	PUNCT
alkej-710	244	37	no.12	no.12	NOUN
alkej-710	244	38	,	,	PUNCT
alkej-710	244	39	part	part	NOUN
alkej-710	244	40	(	(	PUNCT
alkej-710	244	41	a	a	NOUN
alkej-710	244	42	)	)	PUNCT
alkej-710	244	43	,	,	PUNCT
alkej-710	244	44	p.p	p.p	PROPN
alkej-710	244	45	.	.	NOUN
alkej-710	244	46	1249	1249	NUM
alkej-710	244	47	-	-	SYM
alkej-710	244	48	1259	1259	NUM
alkej-710	244	49	,	,	PUNCT
alkej-710	244	50	2018	2018	NUM
alkej-710	244	51	.	.	PUNCT
alkej-710	245	1	[	[	X
alkej-710	245	2	23	23	NUM
alkej-710	245	3	]	]	PUNCT
alkej-710	245	4	m.	m.	NOUN
alkej-710	245	5	v.	v.	ADP
alkej-710	245	6	cook	cook	PROPN
alkej-710	245	7	,	,	PUNCT
alkej-710	245	8	flight	flight	NOUN
alkej-710	245	9	dynamics	dynamic	NOUN
alkej-710	245	10	principles	principle	NOUN
alkej-710	245	11	,	,	PUNCT
alkej-710	245	12	arnold	arnold	PROPN
alkej-710	245	13	,	,	PUNCT
alkej-710	245	14	london	london	PROPN
alkej-710	245	15	,	,	PUNCT
alkej-710	245	16	3rd	3rd	ADJ
alkej-710	245	17	edition	edition	NOUN
alkej-710	245	18	,	,	PUNCT
alkej-710	245	19	2013	2013	NUM
alkej-710	245	20	.	.	PUNCT
alkej-710	246	1	[	[	X
alkej-710	246	2	24	24	NUM
alkej-710	246	3	]	]	PUNCT
alkej-710	246	4	roskam	roskam	NOUN
alkej-710	246	5	,	,	PUNCT
alkej-710	246	6	“	"	PUNCT
alkej-710	246	7	airplane	airplane	NOUN
alkej-710	246	8	design	design	NOUN
alkej-710	246	9	,	,	PUNCT
alkej-710	246	10	”	"	PUNCT
alkej-710	246	11	part	part	NOUN
alkej-710	246	12	vi	vi	PROPN
alkej-710	246	13	:	:	PUNCT
alkej-710	246	14	"	"	PUNCT
alkej-710	246	15	preliminary	preliminary	ADJ
alkej-710	246	16	calculation	calculation	NOUN
alkej-710	246	17	of	of	ADP
alkej-710	246	18	aerodynamic	aerodynamic	NOUN
alkej-710	246	19	,	,	PUNCT
alkej-710	246	20	thrust	thrust	NOUN
alkej-710	246	21	and	and	CCONJ
alkej-710	246	22	power	power	NOUN
alkej-710	246	23	characteristics	characteristic	NOUN
alkej-710	246	24	,	,	PUNCT
alkej-710	246	25	1987	1987	NUM
alkej-710	246	26	.	.	PUNCT
alkej-710	247	1	malik	malik	PROPN
alkej-710	247	2	m.	m.	PROPN
alkej-710	247	3	a.	a.	PROPN
alkej-710	247	4	al	al	PROPN
alkej-710	247	5	-	-	PUNCT
alkej-710	247	6	isawi	isawi	PROPN
alkej-710	247	7	al	al	PROPN
alkej-710	247	8	-	-	PUNCT
alkej-710	247	9	khwarizmi	khwarizmi	PROPN
alkej-710	247	10	engineering	engineering	NOUN
alkej-710	247	11	journal	journal	PROPN
alkej-710	247	12	,	,	PUNCT
alkej-710	247	13	vol	vol	NOUN
alkej-710	247	14	.	.	PROPN
alkej-710	247	15	16	16	NUM
alkej-710	247	16	,	,	PUNCT
alkej-710	247	17	no	no	INTJ
alkej-710	247	18	.	.	NOUN
alkej-710	247	19	3	3	NUM
alkej-710	247	20	,	,	PUNCT
alkej-710	247	21	p.p	p.p	PROPN
alkej-710	247	22	.	.	NOUN
alkej-710	247	23	4353	4353	NUM
alkej-710	247	24	(	(	PUNCT
alkej-710	247	25	2020	2020	NUM
alkej-710	247	26	)	)	PUNCT
alkej-710	247	27	52	52	NUM
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alkej-710	248	2	25	25	NUM
alkej-710	248	3	]	]	PUNCT
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alkej-710	248	7	f.	f.	PROPN
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alkej-710	248	10	g.	g.	PROPN
alkej-710	248	11	mengali	mengali	PROPN
alkej-710	248	12	,	,	PUNCT
alkej-710	248	13	"	"	PUNCT
alkej-710	248	14	formation	formation	NOUN
alkej-710	248	15	control	control	NOUN
alkej-710	248	16	laws	law	NOUN
alkej-710	248	17	for	for	ADP
alkej-710	248	18	a	a	DET
alkej-710	248	19	formation	formation	NOUN
alkej-710	248	20	of	of	ADP
alkej-710	248	21	autonomous	autonomous	ADJ
alkej-710	248	22	flight	flight	NOUN
alkej-710	248	23	vehicles	vehicle	NOUN
alkej-710	248	24	,	,	PUNCT
alkej-710	248	25	"	"	PUNCT
alkej-710	248	26	14th	14th	ADJ
alkej-710	248	27	mediterranean	mediterranean	PROPN
alkej-710	248	28	conference	conference	NOUN
alkej-710	248	29	control	control	NOUN
alkej-710	248	30	and	and	CCONJ
alkej-710	248	31	automation	automation	NOUN
alkej-710	248	32	,	,	PUNCT
alkej-710	248	33	2006	2006	NUM
alkej-710	248	34	.	.	PUNCT
alkej-710	249	1	[	[	X
alkej-710	249	2	26	26	NUM
alkej-710	249	3	]	]	X
alkej-710	249	4	m.r	m.r	PROPN
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alkej-710	249	8	r.	r.	PROPN
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alkej-710	249	10	,	,	PUNCT
alkej-710	249	11	and	and	CCONJ
alkej-710	249	12	d.	d.	PROPN
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alkej-710	249	14	“	"	PUNCT
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alkej-710	249	16	discrete	discrete	ADJ
alkej-710	249	17	time	time	NOUN
alkej-710	249	18	optimal	optimal	ADJ
alkej-710	249	19	controller	controller	NOUN
alkej-710	249	20	for	for	ADP
alkej-710	249	21	double	double	ADJ
alkej-710	249	22	inverted	inverted	ADJ
alkej-710	249	23	pendulum	pendulum	NOUN
alkej-710	249	24	system	system	NOUN
alkej-710	249	25	,	,	PUNCT
alkej-710	249	26	”	"	PUNCT
alkej-710	249	27	int	int	NOUN
alkej-710	249	28	.	.	PUNCT
alkej-710	250	1	journal	journal	PROPN
alkej-710	250	2	on	on	ADP
alkej-710	250	3	numerical	numerical	ADJ
alkej-710	250	4	and	and	CCONJ
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alkej-710	250	6	engineering	engineering	NOUN
alkej-710	250	7	,	,	PUNCT
alkej-710	250	8	vol	vol	NOUN
alkej-710	250	9	.	.	PROPN
alkej-710	250	10	1	1	NUM
alkej-710	250	11	,	,	PUNCT
alkej-710	250	12	no	no	INTJ
alkej-710	250	13	.	.	PUNCT
alkej-710	250	14	,	,	PUNCT
alkej-710	250	15	2013	2013	NUM
alkej-710	250	16	.	.	PUNCT
alkej-710	251	1	[	[	X
alkej-710	251	2	27	27	NUM
alkej-710	251	3	]	]	X
alkej-710	251	4	r.	r.	PROPN
alkej-710	251	5	tamaskani	tamaskani	PROPN
alkej-710	251	6	,	,	PUNCT
alkej-710	251	7	a.	a.	NOUN
alkej-710	251	8	bazzazi	bazzazi	NOUN
alkej-710	251	9	,	,	PUNCT
alkej-710	251	10	a.	a.	NOUN
alkej-710	251	11	mohammadi	mohammadi	NOUN
alkej-710	251	12	,	,	PUNCT
alkej-710	251	13	and	and	CCONJ
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alkej-710	251	17	“	"	PUNCT
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alkej-710	251	21	of	of	ADP
alkej-710	251	22	fuzzy	fuzzy	ADJ
alkej-710	251	23	,	,	PUNCT
alkej-710	251	24	pid	pid	NOUN
alkej-710	251	25	and	and	CCONJ
alkej-710	251	26	lqr	lqr	VERB
alkej-710	251	27	controllers	controller	NOUN
alkej-710	251	28	for	for	ADP
alkej-710	251	29	control	control	NOUN
alkej-710	251	30	of	of	ADP
alkej-710	251	31	airplane	airplane	NOUN
alkej-710	251	32	pitch	pitch	NOUN
alkej-710	251	33	angle	angle	NOUN
alkej-710	251	34	,	,	PUNCT
alkej-710	251	35	”	"	PUNCT
alkej-710	251	36	int	int	NOUN
alkej-710	251	37	.	.	PUNCT
alkej-710	252	1	journal	journal	PROPN
alkej-710	252	2	of	of	ADP
alkej-710	252	3	natural	natural	ADJ
alkej-710	252	4	and	and	CCONJ
alkej-710	252	5	engineering	engineering	NOUN
alkej-710	252	6	sciences	science	NOUN
alkej-710	252	7	vol	vol	NOUN
alkej-710	252	8	.	.	PROPN
alkej-710	253	1	9	9	NUM
alkej-710	253	2	,	,	PUNCT
alkej-710	253	3	no	no	INTJ
alkej-710	253	4	.	.	NOUN
alkej-710	253	5	1	1	NUM
alkej-710	253	6	,	,	PUNCT
alkej-710	253	7	pp	pp	ADJ
alkej-710	253	8	.	.	PUNCT
alkej-710	254	1	13	13	NUM
alkej-710	254	2	-	-	SYM
alkej-710	254	3	17	17	NUM
alkej-710	254	4	,	,	PUNCT
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alkej-710	254	6	.	.	PUNCT
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alkej-710	255	4	s.n	s.n	PROPN
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alkej-710	255	8	s.	s.	PROPN
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alkej-710	255	11	and	and	CCONJ
alkej-710	255	12	s.n	s.n	PROPN
alkej-710	255	13	.	.	PROPN
alkej-710	255	14	deepa	deepa	PROPN
alkej-710	255	15	,	,	PUNCT
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alkej-710	255	17	introduction	introduction	NOUN
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alkej-710	255	19	fuzzy	fuzzy	ADJ
alkej-710	255	20	logic	logic	NOUN
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alkej-710	255	22	matlab	matlab	PROPN
alkej-710	255	23	,	,	PUNCT
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alkej-710	255	26	berlin	berlin	PROPN
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alkej-710	255	30	,	,	PUNCT
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alkej-710	256	9	a	a	DET
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alkej-710	256	14	,	,	PUNCT
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alkej-710	256	16	j.	j.	PROPN
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alkej-710	257	1	meas	meas	PROPN
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alkej-710	258	6	g	g	PROPN
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alkej-710	258	8	pp.3	pp.3	PROPN
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alkej-710	258	10	4	4	NUM
alkej-710	258	11	,	,	PUNCT
alkej-710	258	12	1972	1972	NUM
alkej-710	258	13	.	.	PUNCT
alkej-710	259	1	[	[	X
alkej-710	259	2	30	30	NUM
alkej-710	259	3	]	]	SYM
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alkej-710	259	5	.	.	PUNCT
alkej-710	259	6	kazemian	kazemian	PROPN
alkej-710	259	7	“	"	PUNCT
alkej-710	259	8	developments	development	NOUN
alkej-710	259	9	of	of	ADP
alkej-710	259	10	fuzzy	fuzzy	ADJ
alkej-710	259	11	pid	pid	NOUN
alkej-710	259	12	controllers	controller	NOUN
alkej-710	259	13	,	,	PUNCT
alkej-710	259	14	”	"	PUNCT
alkej-710	259	15	expert	expert	NOUN
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alkej-710	259	17	,	,	PUNCT
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alkej-710	259	21	,	,	PUNCT
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alkej-710	259	23	.	.	NOUN
alkej-710	259	24	5	5	NUM
alkej-710	259	25	,	,	PUNCT
alkej-710	259	26	pp	pp	ADJ
alkej-710	259	27	.	.	PUNCT
alkej-710	260	1	254	254	NUM
alkej-710	260	2	-	-	SYM
alkej-710	260	3	264	264	NUM
alkej-710	260	4	,	,	PUNCT
alkej-710	260	5	2005	2005	NUM
alkej-710	260	6	.	.	PUNCT
alkej-710	261	1	[	[	X
alkej-710	261	2	31	31	NUM
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alkej-710	261	8	fuzzy	fuzzy	ADJ
alkej-710	261	9	logic	logic	NOUN
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alkej-710	261	11	control	control	NOUN
alkej-710	261	12	system	system	NOUN
alkej-710	261	13	:	:	PUNCT
alkej-710	261	14	fuzzy	fuzzy	ADJ
alkej-710	261	15	logic	logic	NOUN
alkej-710	261	16	controller	controller	NOUN
alkej-710	261	17	i	i	PRON
alkej-710	261	18	system	system	NOUN
alkej-710	261	19	,	,	PUNCT
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alkej-710	261	21	man	man	NOUN
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alkej-710	261	23	cybernatics	cybernatic	NOUN
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alkej-710	261	25	ieee	ieee	NOUN
alkej-710	261	26	transaction	transaction	NOUN
alkej-710	261	27	,	,	PUNCT
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alkej-710	261	29	.	.	PROPN
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alkej-710	261	31	,	,	PUNCT
alkej-710	261	32	pp	pp	ADJ
alkej-710	261	33	.	.	PUNCT
alkej-710	262	1	404	404	NUM
alkej-710	262	2	-	-	SYM
alkej-710	262	3	418	418	NUM
alkej-710	262	4	,	,	PUNCT
alkej-710	262	5	1990	1990	NUM
alkej-710	262	6	.	.	PUNCT
alkej-710	263	1	[	[	X
alkej-710	263	2	32	32	NUM
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alkej-710	263	4	c.	c.	PROPN
alkej-710	263	5	lee	lee	PROPN
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alkej-710	263	8	fuzzy	fuzzy	ADJ
alkej-710	263	9	logic	logic	NOUN
alkej-710	263	10	in	in	ADP
alkej-710	263	11	control	control	NOUN
alkej-710	263	12	system	system	NOUN
alkej-710	263	13	:	:	PUNCT
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alkej-710	263	15	logic	logic	NOUN
alkej-710	263	16	controller	controller	PROPN
alkej-710	263	17	ii	ii	PROPN
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alkej-710	263	19	”	"	PUNCT
alkej-710	263	20	system	system	NOUN
alkej-710	263	21	,	,	PUNCT
alkej-710	263	22	man	man	NOUN
alkej-710	263	23	and	and	CCONJ
alkej-710	263	24	cybernatics	cybernatic	NOUN
alkej-710	263	25	,	,	PUNCT
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alkej-710	263	27	transaction	transaction	NOUN
alkej-710	263	28	,	,	PUNCT
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alkej-710	263	30	.	.	PROPN
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alkej-710	263	32	,	,	PUNCT
alkej-710	263	33	pp	pp	ADJ
alkej-710	263	34	.	.	PUNCT
alkej-710	263	35	419	419	NUM
alkej-710	263	36	-	-	SYM
alkej-710	263	37	435	435	NUM
alkej-710	263	38	,	,	PUNCT
alkej-710	263	39	1990	1990	NUM
alkej-710	263	40	.	.	PUNCT
alkej-710	264	1	[	[	X
alkej-710	264	2	33	33	NUM
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alkej-710	264	4	y.	y.	PROPN
alkej-710	264	5	shengyi	shengyi	PROPN
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alkej-710	264	7	l.	l.	PROPN
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alkej-710	264	20	longitudinal	longitudinal	ADJ
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alkej-710	264	22	of	of	ADP
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alkej-710	264	28	adaptive	adaptive	ADJ
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alkej-710	264	30	pid	pid	NOUN
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alkej-710	264	32	,	,	PUNCT
alkej-710	264	33	”	"	PUNCT
alkej-710	264	34	international	international	ADJ
alkej-710	264	35	conference	conference	NOUN
alkej-710	264	36	on	on	ADP
alkej-710	264	37	computational	computational	ADJ
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alkej-710	264	39	and	and	CCONJ
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alkej-710	264	41	,	,	PUNCT
alkej-710	264	42	2009	2009	NUM
alkej-710	264	43	.	.	PUNCT
alkej-710	265	1	�	�	PROPN
alkej-710	265	2	�	�	PROPN
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alkej-710	265	5	3ال	3ال	PROPN
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alkej-710	265	19	�	�	PROPN
alkej-710	265	20	�	�	PROPN
alkej-710	265	21	ال	ال	PROPN
alkej-710	265	22	�	�	PROPN
alkej-710	265	23	�	�	PROPN
alkej-710	265	24	�	�	PROPN
alkej-710	265	25	�	�	PROPN
alkej-710	265	26	�	�	PROPN
alkej-710	265	27	�	�	PROPN
alkej-710	265	28	ال	ال	PROPN
alkej-710	265	29	�	�	PROPN
alkej-710	265	30	�	�	PROPN
alkej-710	265	31	�	�	PROPN
alkej-710	265	32	�	�	PROPN
alkej-710	265	33	�	�	PROPN
alkej-710	265	34	�	�	PROPN
alkej-710	265	35	ل	ل	PROPN
alkej-710	265	36	�	�	PROPN
alkej-710	265	37	�	�	PROPN
alkej-710	265	38	�	�	PROPN
alkej-710	265	39	�	�	PROPN
alkej-710	265	40	�	�	PROPN
alkej-710	265	41	�	�	PROPN
alkej-710	265	42	�	�	PROPN
alkej-710	265	43	،	،	X
alkej-710	265	44	2020	2020	NUM
alkej-710	265	45	(	(	PUNCT
alkej-710	265	46	4353	4353	NUM
alkej-710	265	47	(	(	PUNCT
alkej-710	265	48	53	53	NUM
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alkej-710	265	50	�	�	PROPN
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alkej-710	265	59	lqr	lqr	PROPN
alkej-710	265	60	ال+	ال+	PROPN
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alkej-710	265	63	(	(	PUNCT
alkej-710	265	64	)	)	PUNCT
alkej-710	265	65	�	�	PROPN
alkej-710	265	66	ال'	ال'	PROPN
alkej-710	265	67	�	�	PROPN
alkej-710	266	1	&%ات	&%ات	PROPN
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alkej-710	266	3	�	�	NOUN
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alkej-710	266	16	fuzzy	fuzzy	ADJ
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alkej-710	266	41	ن	ن	X
alkej-710	266	42	*	*	PUNCT
alkej-710	266	43	ال	ال	PROPN
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alkej-710	266	46	1	1	NUM
alkej-710	266	47	�	�	PROPN
alkej-710	266	48	وي	وي	NOUN
alkej-710	266	49	�	�	PROPN
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alkej-710	266	53	�	�	PROPN
alkej-710	266	54	ل	ل	PROPN
alkej-710	266	55	�	�	PROPN
alkej-710	266	56	�	�	PROPN
alkej-710	266	57	�	�	PROPN
alkej-710	266	58	�	�	PROPN
alkej-710	266	59	�	�	PROPN
alkej-710	266	60	ارز	ارز	PROPN
alkej-710	266	61	�	�	PROPN
alkej-710	266	62	�	�	PROPN
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alkej-710	266	64	�	�	PROPN
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alkej-710	266	79	ھ	ھ	PROPN
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alkej-710	266	83	ا	ا	SYM
alkej-710	266	84	�	�	PROPN
alkej-710	266	85	,#'	,#'	PUNCT
alkej-710	266	86	�	�	NOUN
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alkej-710	266	90	#	#	SYM
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alkej-710	267	1	�	�	PROPN
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alkej-710	267	15	%	%	NOUN
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alkej-710	279	5	.	.	PUNCT
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alkej-710	280	3	!,	!,	NOUN
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alkej-710	280	20	/	/	SYM
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