id	sid	tid	token	lemma	pos
alkej-745	1	1	microsoft	microsoft	PROPN
alkej-745	1	2	word	word	NOUN
alkej-745	1	3	?	?	PUNCT
alkej-745	1	4	?	?	PUNCT
alkej-745	1	5	?	?	PUNCT
alkej-745	1	6	?	?	PUNCT
alkej-745	1	7	?	?	PUNCT
alkej-745	1	8	?	?	PUNCT
alkej-745	1	9	?	?	PUNCT
alkej-745	1	10	?	?	PUNCT
alkej-745	1	11	?	?	PUNCT
alkej-745	1	12	?	?	PUNCT
alkej-745	1	13	?	?	PUNCT
alkej-745	1	14	?	?	PUNCT
alkej-745	1	15	?	?	PUNCT
alkej-745	1	16	?	?	PUNCT
alkej-745	1	17	?	?	PUNCT
alkej-745	1	18	.	.	PUNCT
alkej-745	2	1	2228	2228	NUM
alkej-745	2	2	this	this	PRON
alkej-745	2	3	is	be	AUX
alkej-745	2	4	an	an	DET
alkej-745	2	5	open	open	ADJ
alkej-745	2	6	access	access	NOUN
alkej-745	2	7	article	article	NOUN
alkej-745	2	8	under	under	ADP
alkej-745	2	9	the	the	DET
alkej-745	2	10	cc	cc	NOUN
alkej-745	2	11	by	by	ADP
alkej-745	2	12	license	license	NOUN
alkej-745	2	13	:	:	PUNCT
alkej-745	2	14	al	al	PROPN
alkej-745	2	15	-	-	PUNCT
alkej-745	2	16	khwarizmi	khwarizmi	PROPN
alkej-745	2	17	engineering	engineering	PROPN
alkej-745	2	18	journal	journal	PROPN
alkej-745	2	19	al	al	PROPN
alkej-745	2	20	-	-	PUNCT
alkej-745	2	21	khwarizmi	khwarizmi	PROPN
alkej-745	2	22	engineering	engineering	NOUN
alkej-745	2	23	journal	journal	PROPN
alkej-745	2	24	,	,	PUNCT
alkej-745	2	25	vol	vol	NOUN
alkej-745	2	26	.	.	PROPN
alkej-745	2	27	17	17	NUM
alkej-745	2	28	,	,	PUNCT
alkej-745	2	29	no	no	INTJ
alkej-745	2	30	.	.	NOUN
alkej-745	2	31	3	3	NUM
alkej-745	2	32	,	,	PUNCT
alkej-745	2	33	sptember	sptember	NOUN
alkej-745	2	34	,	,	PUNCT
alkej-745	2	35	(	(	PUNCT
alkej-745	2	36	2021	2021	NUM
alkej-745	2	37	)	)	PUNCT
alkej-745	3	1	p.	p.	NOUN
alkej-745	3	2	p.	p.	NOUN
alkej-745	3	3	22	22	NUM
alkej-745	4	1	28	28	NUM
alkej-745	4	2	robust	robust	ADJ
alkej-745	4	3	computed	compute	VERB
alkej-745	4	4	torque	torque	NOUN
alkej-745	4	5	control	control	NOUN
alkej-745	4	6	for	for	ADP
alkej-745	4	7	uncertain	uncertain	ADJ
alkej-745	4	8	robotic	robotic	ADJ
alkej-745	4	9	manipulators	manipulator	NOUN
alkej-745	4	10	maryam	maryam	PROPN
alkej-745	4	11	s.	s.	PROPN
alkej-745	4	12	ahmed	ahmed	PROPN
alkej-745	4	13	*	*	PROPN
alkej-745	4	14	ali	ali	PROPN
alkej-745	4	15	hussien	hussien	PROPN
alkej-745	4	16	mary	mary	PROPN
alkej-745	4	17	*	*	PROPN
alkej-745	4	18	*	*	PROPN
alkej-745	4	19	hisham	hisham	PROPN
alkej-745	4	20	h.	h.	PROPN
alkej-745	4	21	jasim	jasim	PROPN
alkej-745	4	22	*	*	PUNCT
alkej-745	5	1	*	*	PUNCT
alkej-745	5	2	*	*	PUNCT
alkej-745	5	3	*	*	PUNCT
alkej-745	5	4	,	,	PUNCT
alkej-745	5	5	*	*	PUNCT
alkej-745	5	6	*	*	PUNCT
alkej-745	5	7	,	,	PUNCT
alkej-745	5	8	*	*	PUNCT
alkej-745	5	9	*	*	PUNCT
alkej-745	5	10	*	*	PUNCT
alkej-745	5	11	department	department	NOUN
alkej-745	5	12	of	of	ADP
alkej-745	5	13	mechatronics/	mechatronics/	PROPN
alkej-745	5	14	al	al	PROPN
alkej-745	5	15	-	-	PUNCT
alkej-745	5	16	khwarizmi	khwarizmi	PROPN
alkej-745	5	17	college	college	PROPN
alkej-745	5	18	of	of	ADP
alkej-745	5	19	engineering/	engineering/	NUM
alkej-745	5	20	university	university	NOUN
alkej-745	5	21	of	of	ADP
alkej-745	5	22	baghdad	baghdad	PROPN
alkej-745	5	23	*	*	PUNCT
alkej-745	5	24	email	email	NOUN
alkej-745	5	25	:	:	PUNCT
alkej-745	5	26	maryamsadeq97@gmail.com	maryamsadeq97@gmail.com	X
alkej-745	5	27	*	*	PUNCT
alkej-745	5	28	*	*	NOUN
alkej-745	5	29	email	email	NOUN
alkej-745	5	30	:	:	PUNCT
alkej-745	5	31	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-745	5	32	*	*	PUNCT
alkej-745	5	33	*	*	PUNCT
alkej-745	5	34	*	*	NOUN
alkej-745	5	35	email	email	NOUN
alkej-745	5	36	:	:	PUNCT
alkej-745	5	37	mschisham@gmail.com	mschisham@gmail.com	X
alkej-745	5	38	(	(	PUNCT
alkej-745	5	39	received	receive	VERB
alkej-745	5	40	27	27	NUM
alkej-745	5	41	july	july	PROPN
alkej-745	5	42	2021	2021	NUM
alkej-745	5	43	;	;	PUNCT
alkej-745	5	44	revised	revise	VERB
alkej-745	5	45	20	20	NUM
alkej-745	5	46	august	august	PROPN
alkej-745	5	47	2021	2021	NUM
alkej-745	5	48	;	;	PUNCT
alkej-745	5	49	accepted	accept	VERB
alkej-745	5	50	1	1	NUM
alkej-745	5	51	september	september	PROPN
alkej-745	5	52	2021	2021	NUM
alkej-745	5	53	)	)	PUNCT
alkej-745	5	54	https://doi.org/10.22153/kej.2021.09.002	https://doi.org/10.22153/kej.2021.09.002	AUX
alkej-745	5	55	abstract	abstract	NOUN
alkej-745	5	56	this	this	DET
alkej-745	5	57	paper	paper	NOUN
alkej-745	5	58	presents	present	VERB
alkej-745	5	59	a	a	DET
alkej-745	5	60	robust	robust	ADJ
alkej-745	5	61	control	control	NOUN
alkej-745	5	62	method	method	NOUN
alkej-745	5	63	for	for	ADP
alkej-745	5	64	the	the	DET
alkej-745	5	65	trajectory	trajectory	NOUN
alkej-745	5	66	control	control	NOUN
alkej-745	5	67	of	of	ADP
alkej-745	5	68	the	the	DET
alkej-745	5	69	robotic	robotic	ADJ
alkej-745	5	70	manipulator	manipulator	NOUN
alkej-745	5	71	.	.	PUNCT
alkej-745	6	1	the	the	DET
alkej-745	6	2	standard	standard	ADJ
alkej-745	6	3	computed	compute	VERB
alkej-745	6	4	torque	torque	NOUN
alkej-745	6	5	control	control	NOUN
alkej-745	6	6	(	(	PUNCT
alkej-745	6	7	ctc	ctc	PROPN
alkej-745	6	8	)	)	PUNCT
alkej-745	6	9	is	be	AUX
alkej-745	6	10	an	an	DET
alkej-745	6	11	important	important	ADJ
alkej-745	6	12	method	method	NOUN
alkej-745	6	13	in	in	ADP
alkej-745	6	14	the	the	DET
alkej-745	6	15	robotic	robotic	ADJ
alkej-745	6	16	control	control	NOUN
alkej-745	6	17	systems	system	NOUN
alkej-745	6	18	but	but	CCONJ
alkej-745	6	19	its	its	PRON
alkej-745	6	20	not	not	PART
alkej-745	6	21	robust	robust	ADJ
alkej-745	6	22	to	to	PART
alkej-745	6	23	system	system	VERB
alkej-745	6	24	uncertainty	uncertainty	NOUN
alkej-745	6	25	and	and	CCONJ
alkej-745	6	26	external	external	ADJ
alkej-745	6	27	disturbance	disturbance	NOUN
alkej-745	6	28	.	.	PUNCT
alkej-745	7	1	the	the	DET
alkej-745	7	2	proposed	propose	VERB
alkej-745	7	3	method	method	NOUN
alkej-745	7	4	overcome	overcome	VERB
alkej-745	7	5	the	the	DET
alkej-745	7	6	system	system	NOUN
alkej-745	7	7	uncertainty	uncertainty	NOUN
alkej-745	7	8	and	and	CCONJ
alkej-745	7	9	external	external	ADJ
alkej-745	7	10	disturbance	disturbance	NOUN
alkej-745	7	11	problems	problem	NOUN
alkej-745	7	12	.	.	PUNCT
alkej-745	8	1	in	in	ADP
alkej-745	8	2	this	this	DET
alkej-745	8	3	paper	paper	NOUN
alkej-745	8	4	,	,	PUNCT
alkej-745	8	5	a	a	DET
alkej-745	8	6	robustification	robustification	NOUN
alkej-745	8	7	term	term	NOUN
alkej-745	8	8	has	have	AUX
alkej-745	8	9	been	be	AUX
alkej-745	8	10	added	add	VERB
alkej-745	8	11	to	to	ADP
alkej-745	8	12	the	the	DET
alkej-745	8	13	standard	standard	ADJ
alkej-745	8	14	ctc	ctc	PROPN
alkej-745	8	15	.	.	PUNCT
alkej-745	9	1	the	the	DET
alkej-745	9	2	stability	stability	NOUN
alkej-745	9	3	of	of	ADP
alkej-745	9	4	the	the	DET
alkej-745	9	5	proposed	propose	VERB
alkej-745	9	6	control	control	NOUN
alkej-745	9	7	method	method	NOUN
alkej-745	9	8	is	be	AUX
alkej-745	9	9	approved	approve	VERB
alkej-745	9	10	by	by	ADP
alkej-745	9	11	the	the	DET
alkej-745	9	12	lyapunov	lyapunov	ADJ
alkej-745	9	13	stability	stability	NOUN
alkej-745	9	14	theorem	theorem	VERB
alkej-745	9	15	.	.	PUNCT
alkej-745	10	1	the	the	DET
alkej-745	10	2	performance	performance	NOUN
alkej-745	10	3	of	of	ADP
alkej-745	10	4	the	the	DET
alkej-745	10	5	presented	present	VERB
alkej-745	10	6	controller	controller	NOUN
alkej-745	10	7	is	be	AUX
alkej-745	10	8	tested	test	VERB
alkej-745	10	9	by	by	ADP
alkej-745	10	10	matlab	matlab	PROPN
alkej-745	10	11	-	-	PUNCT
alkej-745	10	12	simulink	simulink	NOUN
alkej-745	10	13	environment	environment	NOUN
alkej-745	10	14	and	and	CCONJ
alkej-745	10	15	is	be	AUX
alkej-745	10	16	compared	compare	VERB
alkej-745	10	17	with	with	ADP
alkej-745	10	18	different	different	ADJ
alkej-745	10	19	control	control	NOUN
alkej-745	10	20	methods	method	NOUN
alkej-745	10	21	to	to	PART
alkej-745	10	22	illustrate	illustrate	VERB
alkej-745	10	23	its	its	PRON
alkej-745	10	24	robustness	robustness	NOUN
alkej-745	10	25	and	and	CCONJ
alkej-745	10	26	performance	performance	NOUN
alkej-745	10	27	.	.	PUNCT
alkej-745	11	1	keywords	keyword	NOUN
alkej-745	11	2	:	:	PUNCT
alkej-745	11	3	computed	compute	VERB
alkej-745	11	4	torque	torque	NOUN
alkej-745	11	5	control	control	NOUN
alkej-745	11	6	,	,	PUNCT
alkej-745	11	7	linear	linear	ADJ
alkej-745	11	8	matrix	matrix	NOUN
alkej-745	11	9	inequality	inequality	NOUN
alkej-745	11	10	,	,	PUNCT
alkej-745	11	11	robotic	robotic	ADJ
alkej-745	11	12	control	control	NOUN
alkej-745	11	13	,	,	PUNCT
alkej-745	11	14	robotic	robotic	ADJ
alkej-745	11	15	manipulato	manipulato	NOUN
alkej-745	11	16	.	.	PUNCT
alkej-745	12	1	1	1	NUM
alkej-745	12	2	.	.	X
alkej-745	12	3	introduction	introduction	NOUN
alkej-745	12	4	today	today	NOUN
alkej-745	12	5	,	,	PUNCT
alkej-745	12	6	the	the	DET
alkej-745	12	7	robotics	robotic	NOUN
alkej-745	12	8	systems	system	NOUN
alkej-745	12	9	enter	enter	VERB
alkej-745	12	10	into	into	ADP
alkej-745	12	11	many	many	ADJ
alkej-745	12	12	applications	application	NOUN
alkej-745	12	13	such	such	ADJ
alkej-745	12	14	as	as	ADP
alkej-745	12	15	,	,	PUNCT
alkej-745	12	16	industrial	industrial	ADJ
alkej-745	12	17	applications	application	NOUN
alkej-745	12	18	,	,	PUNCT
alkej-745	12	19	manufacturing	manufacturing	NOUN
alkej-745	12	20	,	,	PUNCT
alkej-745	12	21	medical	medical	ADJ
alkej-745	12	22	fields	field	NOUN
alkej-745	12	23	,	,	PUNCT
alkej-745	12	24	and	and	CCONJ
alkej-745	12	25	space	space	NOUN
alkej-745	12	26	application	application	NOUN
alkej-745	12	27	[	[	X
alkej-745	12	28	1	1	NUM
alkej-745	12	29	]	]	PUNCT
alkej-745	12	30	.	.	PUNCT
alkej-745	13	1	precise	precise	ADJ
alkej-745	13	2	positioning	positioning	NOUN
alkej-745	13	3	is	be	AUX
alkej-745	13	4	an	an	DET
alkej-745	13	5	important	important	ADJ
alkej-745	13	6	desired	desire	VERB
alkej-745	13	7	feature	feature	NOUN
alkej-745	13	8	of	of	ADP
alkej-745	13	9	the	the	DET
alkej-745	13	10	robot	robot	NOUN
alkej-745	13	11	manipulator	manipulator	NOUN
alkej-745	13	12	.	.	PUNCT
alkej-745	14	1	the	the	DET
alkej-745	14	2	robot	robot	NOUN
alkej-745	14	3	manipulator	manipulator	NOUN
alkej-745	14	4	can	can	AUX
alkej-745	14	5	be	be	AUX
alkej-745	14	6	considered	consider	VERB
alkej-745	14	7	as	as	ADP
alkej-745	14	8	a	a	DET
alkej-745	14	9	nonlinear	nonlinear	ADJ
alkej-745	14	10	system	system	NOUN
alkej-745	14	11	that	that	SCONJ
alkej-745	14	12	suffering	suffer	VERB
alkej-745	14	13	from	from	ADP
alkej-745	14	14	high	high	ADJ
alkej-745	14	15	nonlinearity	nonlinearity	NOUN
alkej-745	14	16	and	and	CCONJ
alkej-745	14	17	external	external	ADJ
alkej-745	14	18	disturbance	disturbance	NOUN
alkej-745	14	19	.	.	PUNCT
alkej-745	15	1	the	the	DET
alkej-745	15	2	main	main	ADJ
alkej-745	15	3	problem	problem	NOUN
alkej-745	15	4	is	be	AUX
alkej-745	15	5	how	how	SCONJ
alkej-745	15	6	to	to	PART
alkej-745	15	7	control	control	VERB
alkej-745	15	8	the	the	DET
alkej-745	15	9	robot	robot	NOUN
alkej-745	15	10	taking	take	VERB
alkej-745	15	11	into	into	ADP
alkej-745	15	12	account	account	NOUN
alkej-745	15	13	the	the	DET
alkej-745	15	14	system	system	NOUN
alkej-745	15	15	uncertainty	uncertainty	NOUN
alkej-745	15	16	and	and	CCONJ
alkej-745	15	17	external	external	ADJ
alkej-745	15	18	disturbance	disturbance	NOUN
alkej-745	15	19	.	.	PUNCT
alkej-745	16	1	however	however	ADV
alkej-745	16	2	,	,	PUNCT
alkej-745	16	3	in	in	ADP
alkej-745	16	4	recent	recent	ADJ
alkej-745	16	5	years	year	NOUN
alkej-745	16	6	,	,	PUNCT
alkej-745	16	7	significant	significant	ADJ
alkej-745	16	8	and	and	CCONJ
alkej-745	16	9	rapid	rapid	ADJ
alkej-745	16	10	progress	progress	NOUN
alkej-745	16	11	had	have	AUX
alkej-745	16	12	been	be	AUX
alkej-745	16	13	made	make	VERB
alkej-745	16	14	in	in	ADP
alkej-745	16	15	the	the	DET
alkej-745	16	16	field	field	NOUN
alkej-745	16	17	of	of	ADP
alkej-745	16	18	control	control	NOUN
alkej-745	16	19	,	,	PUNCT
alkej-745	16	20	to	to	PART
alkej-745	16	21	solve	solve	VERB
alkej-745	16	22	the	the	DET
alkej-745	16	23	control	control	NOUN
alkej-745	16	24	problem	problem	NOUN
alkej-745	16	25	.	.	PUNCT
alkej-745	17	1	different	different	ADJ
alkej-745	17	2	control	control	NOUN
alkej-745	17	3	strategies	strategy	NOUN
alkej-745	17	4	have	have	AUX
alkej-745	17	5	been	be	AUX
alkej-745	17	6	proposed	propose	VERB
alkej-745	17	7	.	.	PUNCT
alkej-745	18	1	pid	pid	PROPN
alkej-745	18	2	control	control	NOUN
alkej-745	18	3	proposed	propose	VERB
alkej-745	18	4	by	by	ADP
alkej-745	18	5	many	many	ADJ
alkej-745	18	6	researchers	researcher	NOUN
alkej-745	18	7	because	because	SCONJ
alkej-745	18	8	due	due	ADP
alkej-745	18	9	to	to	ADP
alkej-745	18	10	its	its	PRON
alkej-745	18	11	simplicity	simplicity	NOUN
alkej-745	18	12	and	and	CCONJ
alkej-745	18	13	ease	ease	NOUN
alkej-745	18	14	of	of	ADP
alkej-745	18	15	implementation	implementation	NOUN
alkej-745	18	16	.	.	PUNCT
alkej-745	19	1	abhishek	abhishek	PROPN
alkej-745	19	2	and	and	CCONJ
alkej-745	19	3	dayal	dayal	PROPN
alkej-745	19	4	presented	present	VERB
alkej-745	19	5	pid	pid	NOUN
alkej-745	19	6	controller	controller	NOUN
alkej-745	19	7	optimized	optimize	VERB
alkej-745	19	8	by	by	ADP
alkej-745	19	9	particle	particle	NOUN
alkej-745	19	10	swarm	swarm	NOUN
alkej-745	19	11	optimization	optimization	NOUN
alkej-745	19	12	(	(	PUNCT
alkej-745	19	13	pso	pso	NOUN
alkej-745	19	14	)	)	PUNCT
alkej-745	19	15	to	to	PART
alkej-745	19	16	stabilize	stabilize	VERB
alkej-745	19	17	the	the	DET
alkej-745	19	18	gait	gait	NOUN
alkej-745	19	19	humanoid	humanoid	NOUN
alkej-745	19	20	robot	robot	NOUN
alkej-745	19	21	[	[	X
alkej-745	19	22	2	2	NUM
alkej-745	19	23	]	]	PUNCT
alkej-745	19	24	.	.	PUNCT
alkej-745	20	1	ignacio	ignacio	PROPN
alkej-745	20	2	proposed	propose	VERB
alkej-745	20	3	design	design	VERB
alkej-745	20	4	an	an	DET
alkej-745	20	5	adaptive	adaptive	ADJ
alkej-745	20	6	pid	pid	NOUN
alkej-745	20	7	controller	controller	NOUN
alkej-745	20	8	based	base	VERB
alkej-745	20	9	reinforcement	reinforcement	NOUN
alkej-745	20	10	learning	learning	NOUN
alkej-745	21	1	[	[	X
alkej-745	21	2	3	3	NUM
alkej-745	21	3	]	]	PUNCT
alkej-745	21	4	.	.	PUNCT
alkej-745	22	1	structured	structured	ADJ
alkej-745	22	2	and	and	CCONJ
alkej-745	22	3	unstructured	unstructured	ADJ
alkej-745	22	4	uncertainties	uncertainty	NOUN
alkej-745	22	5	and	and	CCONJ
alkej-745	22	6	external	external	ADJ
alkej-745	22	7	interference	interference	NOUN
alkej-745	22	8	,	,	PUNCT
alkej-745	22	9	it	it	PRON
alkej-745	22	10	is	be	AUX
alkej-745	22	11	difficult	difficult	ADJ
alkej-745	22	12	to	to	PART
alkej-745	22	13	obtain	obtain	VERB
alkej-745	22	14	an	an	DET
alkej-745	22	15	accurate	accurate	ADJ
alkej-745	22	16	dynamics	dynamic	NOUN
alkej-745	22	17	model	model	NOUN
alkej-745	22	18	of	of	ADP
alkej-745	22	19	the	the	DET
alkej-745	22	20	robotic	robotic	ADJ
alkej-745	22	21	arm	arm	NOUN
alkej-745	22	22	.	.	PUNCT
alkej-745	23	1	therefore	therefore	ADV
alkej-745	23	2	,	,	PUNCT
alkej-745	23	3	many	many	ADJ
alkej-745	23	4	control	control	NOUN
alkej-745	23	5	schemes	scheme	NOUN
alkej-745	23	6	for	for	ADP
alkej-745	23	7	unknown	unknown	ADJ
alkej-745	23	8	dynamic	dynamic	ADJ
alkej-745	23	9	models	model	NOUN
alkej-745	23	10	of	of	ADP
alkej-745	23	11	robot	robot	NOUN
alkej-745	23	12	manipulators	manipulator	NOUN
alkej-745	23	13	have	have	AUX
alkej-745	23	14	been	be	AUX
alkej-745	23	15	proposed	propose	VERB
alkej-745	23	16	.	.	PUNCT
alkej-745	24	1	a	a	DET
alkej-745	24	2	robust	robust	ADJ
alkej-745	24	3	control	control	NOUN
alkej-745	24	4	strategy	strategy	NOUN
alkej-745	24	5	is	be	AUX
alkej-745	24	6	an	an	DET
alkej-745	24	7	important	important	ADJ
alkej-745	24	8	method	method	NOUN
alkej-745	24	9	that	that	PRON
alkej-745	24	10	can	can	AUX
alkej-745	24	11	handle	handle	VERB
alkej-745	24	12	the	the	DET
alkej-745	24	13	system	system	NOUN
alkej-745	24	14	uncertainties	uncertainty	NOUN
alkej-745	24	15	and	and	CCONJ
alkej-745	24	16	disturbances	disturbance	NOUN
alkej-745	24	17	.	.	PUNCT
alkej-745	25	1	sliding	slide	VERB
alkej-745	25	2	mode	mode	NOUN
alkej-745	25	3	control	control	NOUN
alkej-745	25	4	(	(	PUNCT
alkej-745	25	5	smc	smc	PROPN
alkej-745	25	6	)	)	PUNCT
alkej-745	25	7	is	be	AUX
alkej-745	25	8	an	an	DET
alkej-745	25	9	effect	effect	NOUN
alkej-745	25	10	robust	robust	ADJ
alkej-745	25	11	control	control	NOUN
alkej-745	25	12	method	method	NOUN
alkej-745	25	13	that	that	PRON
alkej-745	25	14	applied	apply	VERB
alkej-745	25	15	successfully	successfully	ADV
alkej-745	25	16	in	in	ADP
alkej-745	25	17	control	control	NOUN
alkej-745	25	18	different	different	ADJ
alkej-745	25	19	robotic	robotic	NOUN
alkej-745	25	20	manipulators.in	manipulators.in	X
alkej-745	26	1	[	[	X
alkej-745	26	2	4	4	NUM
alkej-745	26	3	]	]	PUNCT
alkej-745	26	4	,	,	PUNCT
alkej-745	26	5	smc	smc	PROPN
alkej-745	26	6	is	be	AUX
alkej-745	26	7	combined	combine	VERB
alkej-745	26	8	with	with	ADP
alkej-745	26	9	fuzzy	fuzzy	ADJ
alkej-745	26	10	logic	logic	NOUN
alkej-745	26	11	technique	technique	NOUN
alkej-745	26	12	to	to	PART
alkej-745	26	13	control	control	VERB
alkej-745	26	14	robot	robot	NOUN
alkej-745	26	15	manipulator	manipulator	NOUN
alkej-745	26	16	in	in	ADP
alkej-745	26	17	task	task	NOUN
alkej-745	26	18	space	space	NOUN
alkej-745	26	19	.	.	PUNCT
alkej-745	27	1	mary	mary	PROPN
alkej-745	27	2	and	and	CCONJ
alkej-745	27	3	kara	kara	PROPN
alkej-745	27	4	presented	present	VERB
alkej-745	27	5	robust	robust	ADJ
alkej-745	27	6	control	control	PROPN
alkej-745	27	7	maryam	maryam	PROPN
alkej-745	27	8	s.	s.	PROPN
alkej-745	27	9	ahmed	ahmed	PROPN
alkej-745	27	10	al	al	PROPN
alkej-745	27	11	-	-	PUNCT
alkej-745	27	12	khwarizmi	khwarizmi	PROPN
alkej-745	27	13	engineering	engineering	NOUN
alkej-745	27	14	journal	journal	PROPN
alkej-745	27	15	,	,	PUNCT
alkej-745	27	16	vol	vol	NOUN
alkej-745	27	17	.	.	PROPN
alkej-745	27	18	17	17	NUM
alkej-745	27	19	,	,	PUNCT
alkej-745	27	20	no	no	INTJ
alkej-745	27	21	.	.	NOUN
alkej-745	27	22	3	3	NUM
alkej-745	27	23	,	,	PUNCT
alkej-745	27	24	p.p	p.p	PROPN
alkej-745	27	25	.	.	NOUN
alkej-745	27	26	2228	2228	NUM
alkej-745	27	27	(	(	PUNCT
alkej-745	27	28	2021	2021	NUM
alkej-745	27	29	)	)	PUNCT
alkej-745	27	30	23	23	NUM
alkej-745	27	31	method	method	NOUN
alkej-745	27	32	for	for	ADP
alkej-745	27	33	control	control	NOUN
alkej-745	27	34	2	2	NUM
alkej-745	27	35	links	link	NOUN
alkej-745	27	36	robotic	robotic	ADJ
alkej-745	27	37	arm	arm	NOUN
alkej-745	27	38	by	by	ADP
alkej-745	27	39	using	use	VERB
alkej-745	27	40	linear	linear	ADJ
alkej-745	27	41	matrix	matrix	NOUN
alkej-745	27	42	inequality	inequality	NOUN
alkej-745	27	43	(	(	PUNCT
alkej-745	27	44	lmi	lmi	PROPN
alkej-745	27	45	)	)	PUNCT
alkej-745	27	46	to	to	PART
alkej-745	27	47	tune	tune	VERB
alkej-745	27	48	the	the	DET
alkej-745	27	49	control	control	NOUN
alkej-745	27	50	gains	gain	VERB
alkej-745	27	51	[	[	X
alkej-745	27	52	5	5	NUM
alkej-745	27	53	]	]	PUNCT
alkej-745	27	54	.	.	PUNCT
alkej-745	28	1	in	in	ADP
alkej-745	28	2	(	(	PUNCT
alkej-745	28	3	wu	wu	PROPN
alkej-745	28	4	and	and	CCONJ
alkej-745	28	5	huang	huang	PROPN
alkej-745	28	6	,	,	PUNCT
alkej-745	28	7	2021	2021	NUM
alkej-745	28	8	)	)	PUNCT
alkej-745	28	9	,	,	PUNCT
alkej-745	28	10	fraction	fraction	NOUN
alkej-745	28	11	fractional	fractional	ADJ
alkej-745	28	12	calculus	calculus	NOUN
alkej-745	28	13	utilized	utilize	VERB
alkej-745	28	14	to	to	PART
alkej-745	28	15	design	design	VERB
alkej-745	28	16	hybrid	hybrid	ADJ
alkej-745	28	17	controller	controller	NOUN
alkej-745	28	18	with	with	ADP
alkej-745	28	19	the	the	DET
alkej-745	28	20	sliding	slide	VERB
alkej-745	28	21	mode	mode	NOUN
alkej-745	28	22	control	control	NOUN
alkej-745	28	23	for	for	ADP
alkej-745	28	24	trajectory	trajectory	NOUN
alkej-745	28	25	tracking	tracking	NOUN
alkej-745	28	26	of	of	ADP
alkej-745	28	27	mobile	mobile	ADJ
alkej-745	28	28	robot	robot	NOUN
alkej-745	28	29	manipulator	manipulator	NOUN
alkej-745	28	30	.	.	PUNCT
alkej-745	29	1	in	in	ADP
alkej-745	29	2	(	(	PUNCT
alkej-745	29	3	chen	chen	PROPN
alkej-745	29	4	et	et	PROPN
alkej-745	29	5	al	al	PROPN
alkej-745	29	6	.	.	PROPN
alkej-745	29	7	,	,	PUNCT
alkej-745	29	8	2019	2019	NUM
alkej-745	29	9	)	)	PUNCT
alkej-745	29	10	,	,	PUNCT
alkej-745	29	11	radial	radial	ADJ
alkej-745	29	12	basis	basis	NOUN
alkej-745	29	13	function	function	NOUN
alkej-745	29	14	neural	neural	ADJ
alkej-745	29	15	network	network	NOUN
alkej-745	29	16	used	use	VERB
alkej-745	29	17	with	with	ADP
alkej-745	29	18	smc	smc	PROPN
alkej-745	29	19	for	for	ADP
alkej-745	29	20	control	control	NOUN
alkej-745	29	21	n	n	CCONJ
alkej-745	29	22	links	link	NOUN
alkej-745	29	23	robot	robot	NOUN
alkej-745	29	24	arm	arm	NOUN
alkej-745	29	25	taking	take	VERB
alkej-745	29	26	into	into	ADP
alkej-745	29	27	account	account	NOUN
alkej-745	29	28	the	the	DET
alkej-745	29	29	actuator	actuator	NOUN
alkej-745	29	30	dynamic	dynamic	NOUN
alkej-745	29	31	.	.	PUNCT
alkej-745	30	1	however	however	ADV
alkej-745	30	2	,	,	PUNCT
alkej-745	30	3	the	the	DET
alkej-745	30	4	chattering	chatter	VERB
alkej-745	30	5	is	be	AUX
alkej-745	30	6	the	the	DET
alkej-745	30	7	important	important	ADJ
alkej-745	30	8	drawback	drawback	NOUN
alkej-745	30	9	in	in	ADP
alkej-745	30	10	smc	smc	PROPN
alkej-745	31	1	[	[	X
alkej-745	31	2	8,9	8,9	NUM
alkej-745	31	3	]	]	PUNCT
alkej-745	31	4	.	.	PUNCT
alkej-745	32	1	ctc	ctc	PROPN
alkej-745	32	2	is	be	AUX
alkej-745	32	3	an	an	DET
alkej-745	32	4	efficient	efficient	ADJ
alkej-745	32	5	control	control	NOUN
alkej-745	32	6	used	use	VERB
alkej-745	32	7	in	in	ADP
alkej-745	32	8	robotic	robotic	ADJ
alkej-745	32	9	control	control	NOUN
alkej-745	32	10	problem	problem	NOUN
alkej-745	32	11	.	.	PUNCT
alkej-745	33	1	ctc	ctc	NOUN
alkej-745	33	2	method	method	PROPN
alkej-745	33	3	require	require	VERB
alkej-745	33	4	knowing	know	VERB
alkej-745	33	5	the	the	DET
alkej-745	33	6	dynamic	dynamic	NOUN
alkej-745	33	7	of	of	ADP
alkej-745	33	8	robotic	robotic	ADJ
alkej-745	33	9	arm	arm	NOUN
alkej-745	33	10	and	and	CCONJ
alkej-745	33	11	in	in	ADP
alkej-745	33	12	practice	practice	NOUN
alkej-745	33	13	,	,	PUNCT
alkej-745	33	14	determine	determine	VERB
alkej-745	33	15	the	the	DET
alkej-745	33	16	accurate	accurate	ADJ
alkej-745	33	17	dynamic	dynamic	NOUN
alkej-745	33	18	of	of	ADP
alkej-745	33	19	robotic	robotic	ADJ
alkej-745	33	20	arm	arm	NOUN
alkej-745	33	21	may	may	AUX
alkej-745	33	22	be	be	AUX
alkej-745	33	23	difficult	difficult	ADJ
alkej-745	33	24	[	[	X
alkej-745	33	25	10,11,12	10,11,12	NUM
alkej-745	33	26	]	]	PUNCT
alkej-745	33	27	.	.	PUNCT
alkej-745	34	1	thus	thus	ADV
alkej-745	34	2	,	,	PUNCT
alkej-745	34	3	this	this	DET
alkej-745	34	4	paper	paper	NOUN
alkej-745	34	5	proposed	propose	VERB
alkej-745	34	6	a	a	DET
alkej-745	34	7	new	new	ADJ
alkej-745	34	8	method	method	NOUN
alkej-745	34	9	that	that	PRON
alkej-745	34	10	can	can	AUX
alkej-745	34	11	improve	improve	VERB
alkej-745	34	12	the	the	DET
alkej-745	34	13	robustness	robustness	NOUN
alkej-745	34	14	of	of	ADP
alkej-745	34	15	the	the	DET
alkej-745	34	16	standard	standard	ADJ
alkej-745	34	17	ctc	ctc	PROPN
alkej-745	34	18	against	against	ADP
alkej-745	34	19	system	system	NOUN
alkej-745	34	20	uncertainty	uncertainty	NOUN
alkej-745	34	21	and	and	CCONJ
alkej-745	34	22	external	external	ADJ
alkej-745	34	23	disturbance	disturbance	NOUN
alkej-745	34	24	.	.	PUNCT
alkej-745	35	1	2	2	X
alkej-745	35	2	.	.	X
alkej-745	35	3	dynamic	dynamic	ADJ
alkej-745	35	4	model	model	NOUN
alkej-745	35	5	of	of	ADP
alkej-745	35	6	the	the	DET
alkej-745	35	7	robotic	robotic	ADJ
alkej-745	35	8	manipulator	manipulator	NOUN
alkej-745	35	9	the	the	DET
alkej-745	35	10	dynamic	dynamic	ADJ
alkej-745	35	11	model	model	NOUN
alkej-745	35	12	of	of	ADP
alkej-745	35	13	the	the	DET
alkej-745	35	14	robotic	robotic	ADJ
alkej-745	35	15	arm	arm	NOUN
alkej-745	35	16	system	system	NOUN
alkej-745	35	17	can	can	AUX
alkej-745	35	18	be	be	AUX
alkej-745	35	19	written	write	VERB
alkej-745	35	20	as	as	SCONJ
alkej-745	35	21	follows	follow	VERB
alkej-745	35	22	:	:	PUNCT
alkej-745	35	23	𝑀	𝑀	PROPN
alkej-745	35	24	𝑞	𝑞	PROPN
alkej-745	35	25	𝑞	𝑞	PROPN
alkej-745	35	26	𝐶	𝐶	PROPN
alkej-745	35	27	𝑞	𝑞	PROPN
alkej-745	35	28	,	,	PUNCT
alkej-745	35	29	𝑞	𝑞	X
alkej-745	35	30	𝑞	𝑞	X
alkej-745	35	31	𝐹	𝐹	PROPN
alkej-745	35	32	𝑞	𝑞	PROPN
alkej-745	35	33	𝐺	𝐺	PROPN
alkej-745	35	34	𝑞	𝑞	X
alkej-745	35	35	𝜏	𝜏	PROPN
alkej-745	35	36	𝜏	𝜏	NOUN
alkej-745	35	37	…	…	PUNCT
alkej-745	35	38	(1	(1	NUM
alkej-745	35	39	)	)	PUNCT
alkej-745	35	40	where	where	SCONJ
alkej-745	35	41	𝑞	𝑞	PROPN
alkej-745	35	42	,	,	PUNCT
alkej-745	35	43	𝑞	𝑞	PROPN
alkej-745	35	44	,	,	PUNCT
alkej-745	35	45	𝑞	𝑞	PROPN
alkej-745	35	46	∈	∈	PROPN
alkej-745	35	47	𝑅	𝑅	PROPN
alkej-745	35	48	refer	refer	VERB
alkej-745	35	49	respectively	respectively	ADV
alkej-745	35	50	to	to	ADP
alkej-745	35	51	the	the	DET
alkej-745	35	52	angular	angular	ADJ
alkej-745	35	53	position	position	NOUN
alkej-745	35	54	,	,	PUNCT
alkej-745	35	55	velocity	velocity	NOUN
alkej-745	35	56	,	,	PUNCT
alkej-745	35	57	and	and	CCONJ
alkej-745	35	58	acceleration	acceleration	NOUN
alkej-745	35	59	vectors	vector	NOUN
alkej-745	35	60	of	of	ADP
alkej-745	35	61	robotic	robotic	ADJ
alkej-745	35	62	manipulator	manipulator	NOUN
alkej-745	35	63	joints	joint	NOUN
alkej-745	35	64	,	,	PUNCT
alkej-745	35	65	𝑀	𝑀	PROPN
alkej-745	35	66	𝑞	𝑞	PROPN
alkej-745	35	67	∈	∈	PROPN
alkej-745	35	68	𝑅	𝑅	PROPN
alkej-745	35	69	refers	refer	VERB
alkej-745	35	70	to	to	ADP
alkej-745	35	71	the	the	DET
alkej-745	35	72	inertia	inertia	NOUN
alkej-745	35	73	matrix	matrix	NOUN
alkej-745	35	74	,	,	PUNCT
alkej-745	35	75	𝐶	𝐶	PROPN
alkej-745	35	76	𝑞	𝑞	PROPN
alkej-745	35	77	,	,	PUNCT
alkej-745	35	78	𝑞	𝑞	PROPN
alkej-745	35	79	∈	∈	PROPN
alkej-745	35	80	𝑅	𝑅	PROPN
alkej-745	35	81	denotes	denote	VERB
alkej-745	35	82	a	a	DET
alkej-745	35	83	centripetal	centripetal	NOUN
alkej-745	35	84	and	and	CCONJ
alkej-745	35	85	coriolis	corioli	VERB
alkej-745	35	86	vector	vector	NOUN
alkej-745	35	87	force	force	NOUN
alkej-745	35	88	,	,	PUNCT
alkej-745	35	89	𝐹	𝐹	PROPN
alkej-745	35	90	𝑞	𝑞	PROPN
alkej-745	35	91	∈	∈	PROPN
alkej-745	35	92	𝑅	𝑅	PROPN
alkej-745	35	93	is	be	AUX
alkej-745	35	94	the	the	DET
alkej-745	35	95	friction	friction	NOUN
alkej-745	35	96	torque	torque	NOUN
alkej-745	35	97	vector	vector	NOUN
alkej-745	35	98	,	,	PUNCT
alkej-745	35	99	𝐺	𝐺	PROPN
alkej-745	35	100	𝑞	𝑞	PROPN
alkej-745	35	101	∈	∈	PROPN
alkej-745	35	102	𝑅	𝑅	PROPN
alkej-745	35	103	represents	represent	VERB
alkej-745	35	104	loading	loading	NOUN
alkej-745	35	105	of	of	ADP
alkej-745	35	106	the	the	DET
alkej-745	35	107	gravity	gravity	NOUN
alkej-745	35	108	,	,	PUNCT
alkej-745	35	109	𝜏	𝜏	PROPN
alkej-745	35	110	∈	∈	PROPN
alkej-745	35	111	𝑅	𝑅	PROPN
alkej-745	35	112	is	be	AUX
alkej-745	35	113	the	the	DET
alkej-745	35	114	external	external	ADJ
alkej-745	35	115	disturbance	disturbance	NOUN
alkej-745	35	116	,	,	PUNCT
alkej-745	35	117	and	and	CCONJ
alkej-745	35	118	𝜏	𝜏	PRON
alkej-745	35	119	∈	∈	PROPN
alkej-745	35	120	𝑅	𝑅	PROPN
alkej-745	35	121	refers	refer	VERB
alkej-745	35	122	to	to	ADP
alkej-745	35	123	the	the	DET
alkej-745	35	124	joints	joint	NOUN
alkej-745	35	125	torque	torque	NOUN
alkej-745	35	126	vector	vector	NOUN
alkej-745	35	127	.	.	PUNCT
alkej-745	36	1	in	in	ADP
alkej-745	36	2	particular	particular	ADJ
alkej-745	36	3	applications	application	NOUN
alkej-745	36	4	,	,	PUNCT
alkej-745	36	5	getting	get	VERB
alkej-745	36	6	the	the	DET
alkej-745	36	7	accurate	accurate	ADJ
alkej-745	36	8	dynamic	dynamic	NOUN
alkej-745	36	9	of	of	ADP
alkej-745	36	10	the	the	DET
alkej-745	36	11	robotic	robotic	ADJ
alkej-745	36	12	manipulator	manipulator	NOUN
alkej-745	36	13	are	be	AUX
alkej-745	36	14	not	not	PART
alkej-745	36	15	easy	easy	ADJ
alkej-745	36	16	due	due	ADJ
alkej-745	36	17	to	to	ADP
alkej-745	36	18	model	model	VERB
alkej-745	36	19	uncertainties	uncertainty	NOUN
alkej-745	36	20	and	and	CCONJ
alkej-745	36	21	external	external	ADJ
alkej-745	36	22	disturbance	disturbance	NOUN
alkej-745	36	23	.	.	PUNCT
alkej-745	37	1	therefore	therefore	ADV
alkej-745	37	2	,	,	PUNCT
alkej-745	37	3	the	the	DET
alkej-745	37	4	model	model	NOUN
alkej-745	37	5	uncertainty	uncertainty	NOUN
alkej-745	37	6	can	can	AUX
alkej-745	37	7	be	be	AUX
alkej-745	37	8	included	include	VERB
alkej-745	37	9	in	in	ADP
alkej-745	37	10	the	the	DET
alkej-745	37	11	dynamic	dynamic	ADJ
alkej-745	37	12	model	model	NOUN
alkej-745	37	13	as	as	SCONJ
alkej-745	37	14	follows	follow	VERB
alkej-745	37	15	:	:	PUNCT
alkej-745	37	16	𝑀	𝑀	PROPN
alkej-745	37	17	𝑞	𝑞	PROPN
alkej-745	37	18	𝑀	𝑀	PROPN
alkej-745	37	19	𝑞	𝑞	AUX
alkej-745	37	20	∆𝑀	∆𝑀	VERB
alkej-745	37	21	𝑞	𝑞	X
alkej-745	37	22	…	…	PUNCT
alkej-745	37	23	(	(	PUNCT
alkej-745	37	24	2	2	X
alkej-745	37	25	)	)	PUNCT
alkej-745	37	26	𝐶	𝐶	PROPN
alkej-745	37	27	𝑞	𝑞	PROPN
alkej-745	37	28	,	,	PUNCT
alkej-745	37	29	𝑞	𝑞	PROPN
alkej-745	37	30	𝐶	𝐶	PROPN
alkej-745	37	31	𝑞	𝑞	PROPN
alkej-745	37	32	,	,	PUNCT
alkej-745	37	33	𝑞	𝑞	PROPN
alkej-745	37	34	∆𝐶	∆𝐶	PROPN
alkej-745	37	35	𝑞	𝑞	PROPN
alkej-745	37	36	,	,	PUNCT
alkej-745	37	37	𝑞	𝑞	X
alkej-745	37	38	…	…	PUNCT
alkej-745	37	39	(	(	PUNCT
alkej-745	37	40	3	3	NUM
alkej-745	37	41	)	)	PUNCT
alkej-745	37	42	𝐹	𝐹	PROPN
alkej-745	37	43	𝑞	𝑞	X
alkej-745	37	44	𝐹	𝐹	PROPN
alkej-745	37	45	𝑞	𝑞	PROPN
alkej-745	37	46	∆𝐹	∆𝐹	PROPN
alkej-745	37	47	𝑞	𝑞	PROPN
alkej-745	37	48	…	…	PUNCT
alkej-745	37	49	(	(	PUNCT
alkej-745	37	50	4	4	X
alkej-745	37	51	)	)	PUNCT
alkej-745	37	52	𝐺	𝐺	NOUN
alkej-745	37	53	𝑞	𝑞	X
alkej-745	37	54	𝐺	𝐺	PROPN
alkej-745	37	55	𝑞	𝑞	PROPN
alkej-745	37	56	∆𝐺	∆𝐺	ADV
alkej-745	37	57	𝑞	𝑞	X
alkej-745	37	58	…	…	PUNCT
alkej-745	37	59	(	(	PUNCT
alkej-745	37	60	5	5	NUM
alkej-745	37	61	)	)	PUNCT
alkej-745	38	1	where	where	SCONJ
alkej-745	38	2	𝑀	𝑀	PROPN
alkej-745	38	3	𝑞	𝑞	PROPN
alkej-745	38	4	,	,	PUNCT
alkej-745	38	5	𝐶	𝐶	PROPN
alkej-745	38	6	𝑞	𝑞	PROPN
alkej-745	38	7	,	,	PUNCT
alkej-745	38	8	𝑞	𝑞	PROPN
alkej-745	38	9	,	,	PUNCT
alkej-745	38	10	𝐹	𝐹	PROPN
alkej-745	38	11	𝑞	𝑞	X
alkej-745	38	12	,	,	PUNCT
alkej-745	38	13	and	and	CCONJ
alkej-745	38	14	𝐺	𝐺	NOUN
alkej-745	38	15	𝑞	𝑞	AUX
alkej-745	38	16	represent	represent	VERB
alkej-745	38	17	the	the	DET
alkej-745	38	18	nominal	nominal	ADJ
alkej-745	38	19	model	model	NOUN
alkej-745	38	20	of	of	ADP
alkej-745	38	21	the	the	DET
alkej-745	38	22	robotic	robotic	ADJ
alkej-745	38	23	system	system	NOUN
alkej-745	38	24	and	and	CCONJ
alkej-745	38	25	it	it	PRON
alkej-745	38	26	can	can	AUX
alkej-745	38	27	be	be	AUX
alkej-745	38	28	known	know	VERB
alkej-745	38	29	,	,	PUNCT
alkej-745	38	30	whereas	whereas	SCONJ
alkej-745	38	31	∆𝑀	∆𝑀	PROPN
alkej-745	38	32	𝑞	𝑞	PROPN
alkej-745	38	33	,	,	PUNCT
alkej-745	38	34	∆𝐶	∆𝐶	PROPN
alkej-745	38	35	𝑞	𝑞	PROPN
alkej-745	38	36	,	,	PUNCT
alkej-745	38	37	𝑞	𝑞	X
alkej-745	38	38	,	,	PUNCT
alkej-745	38	39	∆𝐹	∆𝐹	PROPN
alkej-745	38	40	𝑞	𝑞	PROPN
alkej-745	38	41	and	and	CCONJ
alkej-745	38	42	∆𝐺	∆𝐺	ADV
alkej-745	38	43	𝑞	𝑞	AUX
alkej-745	38	44	denote	denote	VERB
alkej-745	38	45	the	the	DET
alkej-745	38	46	uncertainty	uncertainty	NOUN
alkej-745	38	47	part	part	NOUN
alkej-745	38	48	of	of	ADP
alkej-745	38	49	the	the	DET
alkej-745	38	50	robotic	robotic	ADJ
alkej-745	38	51	manipulator	manipulator	NOUN
alkej-745	38	52	dynamic	dynamic	ADJ
alkej-745	38	53	model	model	NOUN
alkej-745	38	54	and	and	CCONJ
alkej-745	38	55	it	it	PRON
alkej-745	38	56	can	can	AUX
alkej-745	38	57	not	not	PART
alkej-745	38	58	be	be	AUX
alkej-745	38	59	determined	determine	VERB
alkej-745	38	60	exactly	exactly	ADV
alkej-745	38	61	.	.	PUNCT
alkej-745	39	1	in	in	ADP
alkej-745	39	2	this	this	DET
alkej-745	39	3	paper	paper	NOUN
alkej-745	39	4	,	,	PUNCT
alkej-745	39	5	we	we	PRON
alkej-745	39	6	assume	assume	VERB
alkej-745	39	7	the	the	DET
alkej-745	39	8	following	following	NOUN
alkej-745	39	9	:	:	PUNCT
alkej-745	39	10	assumption	assumption	NOUN
alkej-745	39	11	1	1	NUM
alkej-745	39	12	.	.	PUNCT
alkej-745	40	1	the	the	DET
alkej-745	40	2	desired	desire	VERB
alkej-745	40	3	trajectories	trajectory	NOUN
alkej-745	40	4	𝑞	𝑞	X
alkej-745	40	5	with	with	ADP
alkej-745	40	6	their	their	PRON
alkej-745	40	7	first	first	ADJ
alkej-745	40	8	and	and	CCONJ
alkej-745	40	9	second	second	ADJ
alkej-745	40	10	derivatives	derivative	NOUN
alkej-745	40	11	𝑞	𝑞	X
alkej-745	40	12	and	and	CCONJ
alkej-745	40	13	𝑞	𝑞	PROPN
alkej-745	40	14	are	be	AUX
alkej-745	40	15	continuous	continuous	ADJ
alkej-745	40	16	and	and	CCONJ
alkej-745	40	17	bounded	bound	VERB
alkej-745	40	18	as	as	SCONJ
alkej-745	40	19	follows	follow	VERB
alkej-745	40	20	:	:	PUNCT
alkej-745	40	21	|𝑞	|𝑞	PROPN
alkej-745	40	22	𝑡	𝑡	PROPN
alkej-745	40	23	|	|	ADV
alkej-745	40	24	𝑀	𝑀	PROPN
alkej-745	40	25	,	,	PUNCT
alkej-745	40	26	|𝑞	|𝑞	PROPN
alkej-745	40	27	𝑡	𝑡	PROPN
alkej-745	40	28	|	|	ADV
alkej-745	40	29	𝑀	𝑀	PROPN
alkej-745	40	30	,	,	PUNCT
alkej-745	40	31	|𝑞	|𝑞	PROPN
alkej-745	40	32	𝑡	𝑡	PROPN
alkej-745	40	33	|	|	ADV
alkej-745	40	34	𝑀	𝑀	PROPN
alkej-745	40	35	,	,	PUNCT
alkej-745	40	36	…	…	PUNCT
alkej-745	40	37	(	(	PUNCT
alkej-745	40	38	6	6	NUM
alkej-745	40	39	)	)	PUNCT
alkej-745	40	40	with	with	ADP
alkej-745	40	41	𝑀	𝑀	PROPN
alkej-745	40	42	,	,	PUNCT
alkej-745	40	43	𝑀	𝑀	PROPN
alkej-745	40	44	,	,	PUNCT
alkej-745	40	45	and	and	CCONJ
alkej-745	40	46	𝑀	𝑀	PROPN
alkej-745	40	47	being	be	AUX
alkej-745	40	48	positive	positive	ADJ
alkej-745	40	49	constants[5	constants[5	NOUN
alkej-745	40	50	]	]	NOUN
alkej-745	40	51	.	.	PUNCT
alkej-745	41	1	3	3	X
alkej-745	41	2	.	.	NUM
alkej-745	41	3	computed	compute	VERB
alkej-745	41	4	torque	torque	NOUN
alkej-745	41	5	control	control	NOUN
alkej-745	41	6	computed	compute	VERB
alkej-745	41	7	torque	torque	NOUN
alkej-745	41	8	control	control	NOUN
alkej-745	41	9	is	be	AUX
alkej-745	41	10	an	an	DET
alkej-745	41	11	important	important	ADJ
alkej-745	41	12	control	control	NOUN
alkej-745	41	13	method	method	NOUN
alkej-745	41	14	that	that	PRON
alkej-745	41	15	applied	apply	VERB
alkej-745	41	16	successfully	successfully	ADV
alkej-745	41	17	in	in	ADP
alkej-745	41	18	robotic	robotic	ADJ
alkej-745	41	19	system	system	NOUN
alkej-745	41	20	control	control	NOUN
alkej-745	41	21	when	when	SCONJ
alkej-745	41	22	there	there	PRON
alkej-745	41	23	is	be	VERB
alkej-745	41	24	no	no	DET
alkej-745	41	25	model	model	NOUN
alkej-745	41	26	uncertainty	uncertainty	NOUN
alkej-745	41	27	then	then	ADV
alkej-745	41	28	,	,	PUNCT
alkej-745	41	29	the	the	DET
alkej-745	41	30	dynamic	dynamic	ADJ
alkej-745	41	31	model	model	NOUN
alkej-745	41	32	in	in	ADP
alkej-745	41	33	(	(	PUNCT
alkej-745	41	34	1	1	X
alkej-745	41	35	)	)	PUNCT
alkej-745	41	36	becomes	become	VERB
alkej-745	41	37	𝑀	𝑀	PROPN
alkej-745	41	38	𝑞	𝑞	PROPN
alkej-745	41	39	𝑞	𝑞	PROPN
alkej-745	41	40	𝐶	𝐶	PROPN
alkej-745	41	41	𝑞	𝑞	PROPN
alkej-745	41	42	,	,	PUNCT
alkej-745	41	43	𝑞	𝑞	X
alkej-745	41	44	𝑞	𝑞	X
alkej-745	41	45	𝐹	𝐹	PROPN
alkej-745	41	46	𝑞	𝑞	PROPN
alkej-745	41	47	𝐺	𝐺	PROPN
alkej-745	41	48	𝑞	𝑞	X
alkej-745	41	49	𝜏	𝜏	X
alkej-745	41	50	…	…	PUNCT
alkej-745	41	51	(	(	PUNCT
alkej-745	41	52	7	7	NUM
alkej-745	41	53	)	)	PUNCT
alkej-745	41	54	the	the	DET
alkej-745	41	55	standard	standard	PROPN
alkej-745	41	56	ctc	ctc	PROPN
alkej-745	41	57	is	be	AUX
alkej-745	41	58	𝜏	𝜏	PROPN
alkej-745	41	59	𝑀	𝑀	PROPN
alkej-745	41	60	𝑞	𝑞	NOUN
alkej-745	41	61	𝑞	𝑞	X
alkej-745	41	62	𝑘	𝑘	PROPN
alkej-745	41	63	𝑒	𝑒	X
alkej-745	41	64	𝑘	𝑘	PROPN
alkej-745	41	65	𝑒	𝑒	PROPN
alkej-745	41	66	𝐶	𝐶	PROPN
alkej-745	41	67	𝑞	𝑞	PROPN
alkej-745	41	68	,	,	PUNCT
alkej-745	41	69	𝑞	𝑞	X
alkej-745	41	70	𝑞	𝑞	X
alkej-745	41	71	𝐹	𝐹	PROPN
alkej-745	41	72	𝑞	𝑞	PROPN
alkej-745	41	73	𝐺	𝐺	PROPN
alkej-745	41	74	𝑞	𝑞	X
alkej-745	41	75	…	…	PUNCT
alkej-745	41	76	(	(	PUNCT
alkej-745	41	77	8)	8)	NUM
alkej-745	41	78	𝑒	𝑒	ADP
alkej-745	41	79	𝑞	𝑞	X
alkej-745	41	80	𝑞	𝑞	X
alkej-745	41	81	…	…	PUNCT
alkej-745	41	82	(	(	PUNCT
alkej-745	41	83	9	9	NUM
alkej-745	41	84	)	)	PUNCT
alkej-745	41	85	where	where	SCONJ
alkej-745	41	86	𝑒	𝑒	PROPN
alkej-745	41	87	is	be	AUX
alkej-745	41	88	the	the	DET
alkej-745	41	89	tracking	tracking	NOUN
alkej-745	41	90	error	error	NOUN
alkej-745	41	91	,	,	PUNCT
alkej-745	41	92	𝑘	𝑘	PROPN
alkej-745	41	93	and	and	CCONJ
alkej-745	41	94	𝑘	𝑘	PROPN
alkej-745	41	95	are	be	AUX
alkej-745	41	96	the	the	DET
alkej-745	41	97	proportional	proportional	ADJ
alkej-745	41	98	and	and	CCONJ
alkej-745	41	99	derivative	derivative	ADJ
alkej-745	41	100	control	control	NOUN
alkej-745	41	101	gain	gain	VERB
alkej-745	41	102	matrices	matrix	NOUN
alkej-745	41	103	.	.	PUNCT
alkej-745	42	1	by	by	ADP
alkej-745	42	2	substituting	substitute	VERB
alkej-745	42	3	(	(	PUNCT
alkej-745	42	4	8)	8)	NUM
alkej-745	42	5	in	in	ADP
alkej-745	42	6	(	(	PUNCT
alkej-745	42	7	7	7	NUM
alkej-745	42	8	)	)	PUNCT
alkej-745	42	9	,	,	PUNCT
alkej-745	42	10	𝑞	𝑞	X
alkej-745	42	11	𝑘	𝑘	X
alkej-745	42	12	𝑒	𝑒	X
alkej-745	42	13	𝑘	𝑘	PRON
alkej-745	42	14	𝑒	𝑒	PROPN
alkej-745	42	15	0	0	NUM
alkej-745	42	16	…	…	PUNCT
alkej-745	42	17	(	(	PUNCT
alkej-745	42	18	10	10	NUM
alkej-745	42	19	)	)	PUNCT
alkej-745	42	20	it	it	PRON
alkej-745	42	21	is	be	AUX
alkej-745	42	22	obvious	obvious	ADJ
alkej-745	42	23	that	that	SCONJ
alkej-745	42	24	the	the	DET
alkej-745	42	25	roots	root	NOUN
alkej-745	42	26	of	of	ADP
alkej-745	42	27	(	(	PUNCT
alkej-745	42	28	10	10	NUM
alkej-745	42	29	)	)	PUNCT
alkej-745	42	30	will	will	AUX
alkej-745	42	31	lie	lie	VERB
alkej-745	42	32	on	on	ADP
alkej-745	42	33	the	the	DET
alkej-745	42	34	left	left	ADJ
alkej-745	42	35	half	half	NOUN
alkej-745	42	36	plane	plane	NOUN
alkej-745	42	37	if	if	SCONJ
alkej-745	42	38	the	the	DET
alkej-745	42	39	control	control	NOUN
alkej-745	42	40	gain	gain	VERB
alkej-745	42	41	matrices	matrice	VERB
alkej-745	42	42	𝑘	𝑘	PRON
alkej-745	42	43	and	and	CCONJ
alkej-745	42	44	𝑘	𝑘	PRON
alkej-745	42	45	are	be	AUX
alkej-745	42	46	positive	positive	ADJ
alkej-745	42	47	,	,	PUNCT
alkej-745	42	48	which	which	PRON
alkej-745	42	49	implies	imply	VERB
alkej-745	42	50	that	that	SCONJ
alkej-745	42	51	the	the	DET
alkej-745	42	52	actual	actual	ADJ
alkej-745	42	53	trajectory	trajectory	NOUN
alkej-745	42	54	can	can	AUX
alkej-745	42	55	track	track	VERB
alkej-745	42	56	desired	desire	VERB
alkej-745	42	57	trajectory	trajectory	NOUN
alkej-745	42	58	and	and	CCONJ
alkej-745	42	59	error	error	NOUN
alkej-745	42	60	signal	signal	NOUN
alkej-745	42	61	will	will	AUX
alkej-745	42	62	converge	converge	VERB
alkej-745	42	63	to	to	ADP
alkej-745	42	64	zero	zero	NUM
alkej-745	42	65	.	.	PUNCT
alkej-745	43	1	4	4	NUM
alkej-745	43	2	.	.	NUM
alkej-745	43	3	proposed	propose	VERB
alkej-745	43	4	robust	robust	ADJ
alkej-745	43	5	ctc	ctc	NOUN
alkej-745	43	6	design	design	VERB
alkej-745	43	7	a	a	DET
alkej-745	43	8	robust	robust	ADJ
alkej-745	43	9	ctc	ctc	NOUN
alkej-745	43	10	controller	controller	NOUN
alkej-745	43	11	will	will	AUX
alkej-745	43	12	be	be	AUX
alkej-745	43	13	presented	present	VERB
alkej-745	43	14	to	to	PART
alkej-745	43	15	improve	improve	VERB
alkej-745	43	16	the	the	DET
alkej-745	43	17	performance	performance	NOUN
alkej-745	43	18	of	of	ADP
alkej-745	43	19	the	the	DET
alkej-745	43	20	ctc	ctc	PROPN
alkej-745	43	21	.	.	PUNCT
alkej-745	44	1	the	the	DET
alkej-745	44	2	proposed	propose	VERB
alkej-745	44	3	control	control	NOUN
alkej-745	44	4	law	law	NOUN
alkej-745	44	5	is	be	AUX
alkej-745	44	6	𝜏	𝜏	PRON
alkej-745	44	7	𝑢	𝑢	PRON
alkej-745	44	8	𝑢	𝑢	X
alkej-745	44	9	…	…	PUNCT
alkej-745	44	10	(	(	PUNCT
alkej-745	44	11	11	11	NUM
alkej-745	44	12	)	)	PUNCT
alkej-745	44	13	𝑢	𝑢	PROPN
alkej-745	44	14	𝑀	𝑀	PROPN
alkej-745	44	15	𝑞	𝑞	X
alkej-745	44	16	𝑞	𝑞	X
alkej-745	44	17	𝑘	𝑘	PROPN
alkej-745	44	18	𝑒	𝑒	X
alkej-745	44	19	𝑘	𝑘	PROPN
alkej-745	44	20	𝑒	𝑒	PROPN
alkej-745	44	21	𝐶	𝐶	PROPN
alkej-745	44	22	𝑞	𝑞	PROPN
alkej-745	44	23	,	,	PUNCT
alkej-745	44	24	𝑞	𝑞	X
alkej-745	44	25	𝑞	𝑞	X
alkej-745	44	26	𝐹	𝐹	PROPN
alkej-745	44	27	𝑞	𝑞	PROPN
alkej-745	44	28	𝐺	𝐺	PROPN
alkej-745	44	29	𝑞	𝑞	X
alkej-745	44	30	…	…	PUNCT
alkej-745	44	31	(	(	PUNCT
alkej-745	44	32	12	12	NUM
alkej-745	44	33	)	)	PUNCT
alkej-745	44	34	where	where	SCONJ
alkej-745	44	35	𝑢	𝑢	PRON
alkej-745	44	36	is	be	AUX
alkej-745	44	37	a	a	DET
alkej-745	44	38	standard	standard	ADJ
alkej-745	44	39	computed	compute	VERB
alkej-745	44	40	torque	torque	NOUN
alkej-745	44	41	that	that	PRON
alkej-745	44	42	defined	define	VERB
alkej-745	44	43	in	in	ADP
alkej-745	44	44	(	(	PUNCT
alkej-745	44	45	8)	8)	NUM
alkej-745	44	46	.	.	PUNCT
alkej-745	45	1	𝑢	𝑢	PROPN
alkej-745	45	2	is	be	AUX
alkej-745	45	3	a	a	DET
alkej-745	45	4	robust	robust	ADJ
alkej-745	45	5	control	control	NOUN
alkej-745	45	6	term	term	NOUN
alkej-745	45	7	that	that	PRON
alkej-745	45	8	can	can	AUX
alkej-745	45	9	handle	handle	VERB
alkej-745	45	10	the	the	DET
alkej-745	45	11	system	system	NOUN
alkej-745	45	12	uncertainties	uncertainty	NOUN
alkej-745	45	13	and	and	CCONJ
alkej-745	45	14	external	external	ADJ
alkej-745	45	15	disturbance	disturbance	NOUN
alkej-745	45	16	.	.	PUNCT
alkej-745	46	1	design	design	NOUN
alkej-745	46	2	of	of	ADP
alkej-745	46	3	robust	robust	ADJ
alkej-745	46	4	compensator	compensator	NOUN
alkej-745	46	5	controller	controller	NOUN
alkej-745	46	6	to	to	PART
alkej-745	46	7	solve	solve	VERB
alkej-745	46	8	the	the	DET
alkej-745	46	9	problem	problem	NOUN
alkej-745	46	10	robustness	robustness	NOUN
alkej-745	46	11	of	of	ADP
alkej-745	46	12	the	the	DET
alkej-745	46	13	standard	standard	PROPN
alkej-745	46	14	ctc	ctc	PROPN
alkej-745	46	15	,	,	PUNCT
alkej-745	46	16	the	the	DET
alkej-745	46	17	following	follow	VERB
alkej-745	46	18	control	control	NOUN
alkej-745	46	19	is	be	AUX
alkej-745	46	20	proposed	propose	VERB
alkej-745	46	21	:	:	PUNCT
alkej-745	46	22	𝑢	𝑢	PROPN
alkej-745	46	23	𝑘	𝑘	X
alkej-745	46	24	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	NOUN
alkej-745	46	25	𝛾e	𝛾e	ADP
alkej-745	46	26	t	t	PROPN
alkej-745	46	27	e	e	PROPN
alkej-745	46	28	t	t	PROPN
alkej-745	46	29	…	…	PUNCT
alkej-745	46	30	(	(	PUNCT
alkej-745	46	31	13	13	NUM
alkej-745	46	32	)	)	PUNCT
alkej-745	46	33	where	where	SCONJ
alkej-745	46	34	𝑘	𝑘	NOUN
alkej-745	46	35	is	be	AUX
alkej-745	46	36	the	the	DET
alkej-745	46	37	gain	gain	NOUN
alkej-745	46	38	of	of	ADP
alkej-745	46	39	the	the	DET
alkej-745	46	40	robust	robust	ADJ
alkej-745	46	41	term	term	NOUN
alkej-745	46	42	,	,	PUNCT
alkej-745	46	43	𝛾	𝛾	PROPN
alkej-745	46	44	is	be	AUX
alkej-745	46	45	a	a	DET
alkej-745	46	46	positive	positive	ADJ
alkej-745	46	47	constant	constant	ADJ
alkej-745	46	48	.	.	PUNCT
alkej-745	47	1	sign	sign	NOUN
alkej-745	47	2	is	be	AUX
alkej-745	47	3	the	the	DET
alkej-745	47	4	sign	sign	NOUN
alkej-745	47	5	function	function	NOUN
alkej-745	47	6	.	.	PUNCT
alkej-745	48	1	theorem	theorem	NOUN
alkej-745	48	2	1	1	X
alkej-745	48	3	.	.	PUNCT
alkej-745	49	1	consider	consider	VERB
alkej-745	49	2	the	the	DET
alkej-745	49	3	robotic	robotic	ADJ
alkej-745	49	4	manipulator	manipulator	NOUN
alkej-745	49	5	dynamic	dynamic	ADJ
alkej-745	49	6	model	model	NOUN
alkej-745	49	7	(	(	PUNCT
alkej-745	49	8	1	1	NUM
alkej-745	49	9	)	)	PUNCT
alkej-745	49	10	with	with	ADP
alkej-745	49	11	the	the	DET
alkej-745	49	12	proposed	propose	VERB
alkej-745	49	13	control	control	NOUN
alkej-745	49	14	law	law	NOUN
alkej-745	49	15	in	in	ADP
alkej-745	49	16	(	(	PUNCT
alkej-745	49	17	2	2	NUM
alkej-745	49	18	)	)	PUNCT
alkej-745	49	19	,	,	PUNCT
alkej-745	49	20	the	the	DET
alkej-745	49	21	closed	closed	ADJ
alkej-745	49	22	loop	loop	NOUN
alkej-745	49	23	controlled	control	VERB
alkej-745	49	24	system	system	NOUN
alkej-745	49	25	will	will	AUX
alkej-745	49	26	be	be	AUX
alkej-745	49	27	maryam	maryam	PROPN
alkej-745	49	28	s.	s.	PROPN
alkej-745	49	29	ahmed	ahmed	PROPN
alkej-745	49	30	al	al	PROPN
alkej-745	49	31	-	-	PUNCT
alkej-745	49	32	khwarizmi	khwarizmi	PROPN
alkej-745	49	33	engineering	engineering	NOUN
alkej-745	49	34	journal	journal	PROPN
alkej-745	49	35	,	,	PUNCT
alkej-745	49	36	vol	vol	NOUN
alkej-745	49	37	.	.	PROPN
alkej-745	49	38	17	17	NUM
alkej-745	49	39	,	,	PUNCT
alkej-745	49	40	no	no	INTJ
alkej-745	49	41	.	.	NOUN
alkej-745	49	42	3	3	NUM
alkej-745	49	43	,	,	PUNCT
alkej-745	49	44	p.p	p.p	PROPN
alkej-745	49	45	.	.	NOUN
alkej-745	49	46	2228	2228	NUM
alkej-745	49	47	(	(	PUNCT
alkej-745	49	48	2021	2021	NUM
alkej-745	49	49	)	)	PUNCT
alkej-745	49	50	24	24	NUM
alkej-745	49	51	stable	stable	ADJ
alkej-745	49	52	and	and	CCONJ
alkej-745	49	53	the	the	DET
alkej-745	49	54	tracking	tracking	NOUN
alkej-745	49	55	error	error	NOUN
alkej-745	49	56	and	and	CCONJ
alkej-745	49	57	its	its	PRON
alkej-745	49	58	derivative	derivative	NOUN
alkej-745	49	59	will	will	AUX
alkej-745	49	60	converge	converge	VERB
alkej-745	49	61	to	to	ADP
alkej-745	49	62	zero	zero	NUM
alkej-745	49	63	.	.	PUNCT
alkej-745	50	1	proof	proof	NOUN
alkej-745	50	2	.	.	PUNCT
alkej-745	51	1	the	the	DET
alkej-745	51	2	lyapunov	lyapunov	ADJ
alkej-745	51	3	function	function	NOUN
alkej-745	51	4	candidate	candidate	NOUN
alkej-745	51	5	selected	select	VERB
alkej-745	51	6	as	as	SCONJ
alkej-745	51	7	follows	follow	VERB
alkej-745	51	8	:	:	PUNCT
alkej-745	51	9	𝑆	𝑆	PROPN
alkej-745	51	10	t	t	PROPN
alkej-745	51	11	𝛾e	𝛾e	VERB
alkej-745	51	12	t	t	PROPN
alkej-745	51	13	e	e	PROPN
alkej-745	51	14	t	t	PROPN
alkej-745	51	15	…	…	PUNCT
alkej-745	51	16	(	(	PUNCT
alkej-745	51	17	14	14	NUM
alkej-745	51	18	)	)	PUNCT
alkej-745	51	19	𝑞	𝑞	X
alkej-745	51	20	𝑞	𝑞	X
alkej-745	51	21	𝛾	𝛾	VERB
alkej-745	51	22	𝑞	𝑞	X
alkej-745	51	23	𝑞	𝑞	X
alkej-745	51	24	…	…	PUNCT
alkej-745	51	25	(	(	PUNCT
alkej-745	51	26	15	15	NUM
alkej-745	51	27	)	)	PUNCT
alkej-745	51	28	by	by	ADP
alkej-745	51	29	simple	simple	ADJ
alkej-745	51	30	calculations	calculation	NOUN
alkej-745	51	31	it	it	PRON
alkej-745	51	32	can	can	AUX
alkej-745	51	33	be	be	AUX
alkej-745	51	34	obtained	obtain	VERB
alkej-745	51	35	the	the	DET
alkej-745	51	36	following	follow	VERB
alkej-745	51	37	𝑆	𝑆	PROPN
alkej-745	51	38	𝑡	𝑡	PROPN
alkej-745	51	39	𝑞	𝑞	X
alkej-745	51	40	𝑞	𝑞	X
alkej-745	51	41	…	…	PUNCT
alkej-745	51	42	(	(	PUNCT
alkej-745	51	43	16	16	NUM
alkej-745	51	44	)	)	PUNCT
alkej-745	51	45	𝑆	𝑆	PROPN
alkej-745	51	46	𝑡	𝑡	PROPN
alkej-745	51	47	𝑞	𝑞	X
alkej-745	51	48	𝑞	𝑞	X
alkej-745	51	49	…	…	PUNCT
alkej-745	51	50	(	(	PUNCT
alkej-745	51	51	17	17	NUM
alkej-745	51	52	)	)	PUNCT
alkej-745	51	53	𝑉	𝑉	PROPN
alkej-745	51	54	𝑡	𝑡	PROPN
alkej-745	51	55	𝑆	𝑆	PROPN
alkej-745	51	56	𝑀𝑆	𝑀𝑆	PROPN
alkej-745	51	57	…	…	PUNCT
alkej-745	51	58	(	(	PUNCT
alkej-745	51	59	18	18	NUM
alkej-745	51	60	)	)	PUNCT
alkej-745	51	61	𝑉	𝑉	PROPN
alkej-745	51	62	𝑡	𝑡	PROPN
alkej-745	51	63	𝑆	𝑆	PROPN
alkej-745	51	64	𝑀𝑆	𝑀𝑆	PROPN
alkej-745	51	65	𝑆	𝑆	PROPN
alkej-745	51	66	𝑀𝑆	𝑀𝑆	PROPN
alkej-745	51	67	…	…	PUNCT
alkej-745	51	68	(	(	PUNCT
alkej-745	51	69	19	19	NUM
alkej-745	51	70	)	)	PUNCT
alkej-745	51	71	𝑆	𝑆	PROPN
alkej-745	51	72	𝑀𝑆	𝑀𝑆	PROPN
alkej-745	51	73	𝑆	𝑆	PROPN
alkej-745	51	74	𝐶𝑆	𝐶𝑆	PROPN
alkej-745	51	75	...	...	PUNCT
alkej-745	51	76	(	(	PUNCT
alkej-745	51	77	20	20	X
alkej-745	51	78	)	)	PUNCT
alkej-745	51	79	𝑆	𝑆	PROPN
alkej-745	51	80	𝑀	𝑀	PROPN
alkej-745	51	81	𝑞	𝑞	X
alkej-745	51	82	𝑞	𝑞	X
alkej-745	51	83	𝐶	𝐶	PROPN
alkej-745	51	84	𝑞	𝑞	PART
alkej-745	51	85	𝑞	𝑞	X
alkej-745	51	86	…	…	PUNCT
alkej-745	51	87	(	(	PUNCT
alkej-745	51	88	21	21	NUM
alkej-745	51	89	)	)	PUNCT
alkej-745	51	90	𝑆	𝑆	PROPN
alkej-745	51	91	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	51	92	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	51	93	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	51	94	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	51	95	…	…	PUNCT
alkej-745	51	96	(	(	PUNCT
alkej-745	51	97	22	22	NUM
alkej-745	51	98	)	)	PUNCT
alkej-745	51	99	𝑆	𝑆	PROPN
alkej-745	51	100	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	51	101	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	51	102	𝐹	𝐹	PROPN
alkej-745	51	103	𝐺	𝐺	NOUN
alkej-745	51	104	𝜏	𝜏	X
alkej-745	51	105	…	…	PUNCT
alkej-745	51	106	(	(	PUNCT
alkej-745	51	107	23	23	NUM
alkej-745	51	108	)	)	PUNCT
alkej-745	51	109	sub	sub	NOUN
alkej-745	51	110	(	(	PUNCT
alkej-745	51	111	11	11	NUM
alkej-745	51	112	)	)	PUNCT
alkej-745	51	113	in	in	ADP
alkej-745	51	114	(	(	PUNCT
alkej-745	51	115	23	23	NUM
alkej-745	51	116	)	)	PUNCT
alkej-745	51	117	𝑉	𝑉	PROPN
alkej-745	51	118	𝑡	𝑡	NOUN
alkej-745	51	119	𝑆	𝑆	PROPN
alkej-745	51	120	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	51	121	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	52	1	𝐹	𝐹	PROPN
alkej-745	53	1	𝐺	𝐺	PROPN
alkej-745	53	2	𝑢	𝑢	X
alkej-745	53	3	𝑢	𝑢	X
alkej-745	53	4	…	…	PUNCT
alkej-745	53	5	(	(	PUNCT
alkej-745	53	6	24	24	NUM
alkej-745	53	7	)	)	PUNCT
alkej-745	53	8	sub	sub	NOUN
alkej-745	53	9	(	(	PUNCT
alkej-745	53	10	12	12	NUM
alkej-745	53	11	)	)	PUNCT
alkej-745	53	12	and	and	CCONJ
alkej-745	53	13	(	(	PUNCT
alkej-745	53	14	13	13	NUM
alkej-745	53	15	)	)	PUNCT
alkej-745	53	16	in	in	ADP
alkej-745	53	17	(	(	PUNCT
alkej-745	53	18	24	24	NUM
alkej-745	53	19	)	)	PUNCT
alkej-745	53	20	𝑆	𝑆	PROPN
alkej-745	53	21	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	53	22	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	53	23	𝐹	𝐹	PROPN
alkej-745	53	24	𝐺	𝐺	NOUN
alkej-745	53	25	𝑀	𝑀	PROPN
alkej-745	53	26	𝑞	𝑞	X
alkej-745	53	27	𝑞	𝑞	X
alkej-745	53	28	𝑘	𝑘	PROPN
alkej-745	53	29	𝑒	𝑒	X
alkej-745	53	30	𝑘	𝑘	PROPN
alkej-745	53	31	𝑒	𝑒	PROPN
alkej-745	53	32	𝐶	𝐶	PROPN
alkej-745	53	33	𝑞	𝑞	PROPN
alkej-745	53	34	,	,	PUNCT
alkej-745	53	35	𝑞	𝑞	X
alkej-745	53	36	𝑞	𝑞	X
alkej-745	53	37	𝐹	𝐹	PROPN
alkej-745	53	38	𝑞	𝑞	PROPN
alkej-745	53	39	𝐺	𝐺	PROPN
alkej-745	53	40	𝑞	𝑞	X
alkej-745	53	41	𝑘	𝑘	X
alkej-745	53	42	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	PROPN
alkej-745	53	43	s	s	PART
alkej-745	53	44	…	…	PUNCT
alkej-745	53	45	(	(	PUNCT
alkej-745	53	46	25	25	NUM
alkej-745	53	47	)	)	PUNCT
alkej-745	53	48	let	let	VERB
alkej-745	53	49	𝜌	𝜌	PART
alkej-745	53	50	𝑡	𝑡	ADP
alkej-745	53	51	𝑀𝑞	𝑀𝑞	PROPN
alkej-745	53	52	𝐶𝑞	𝐶𝑞	PROPN
alkej-745	53	53	𝐹	𝐹	PROPN
alkej-745	53	54	𝐺	𝐺	NOUN
alkej-745	53	55	𝑀	𝑀	PROPN
alkej-745	53	56	𝑞	𝑞	PROPN
alkej-745	53	57	𝑞	𝑞	PROPN
alkej-745	53	58	𝐶	𝐶	PROPN
alkej-745	53	59	𝑞	𝑞	PROPN
alkej-745	53	60	,	,	PUNCT
alkej-745	53	61	𝑞	𝑞	X
alkej-745	53	62	𝑞	𝑞	X
alkej-745	53	63	𝐹	𝐹	PROPN
alkej-745	53	64	𝑞	𝑞	PROPN
alkej-745	53	65	𝐺	𝐺	PROPN
alkej-745	53	66	𝑞	𝑞	X
alkej-745	53	67	…	…	PUNCT
alkej-745	53	68	(	(	PUNCT
alkej-745	53	69	26	26	NUM
alkej-745	53	70	)	)	PUNCT
alkej-745	53	71	𝑆	𝑆	PROPN
alkej-745	53	72	𝜌	𝜌	ADP
alkej-745	53	73	𝑡	𝑡	X
alkej-745	53	74	𝑀	𝑀	PROPN
alkej-745	53	75	𝑞	𝑞	X
alkej-745	53	76	𝑘	𝑘	X
alkej-745	53	77	𝑒	𝑒	X
alkej-745	53	78	𝑘	𝑘	PROPN
alkej-745	53	79	𝑒	𝑒	X
alkej-745	53	80	𝑞	𝑞	X
alkej-745	53	81	𝑘	𝑘	PRON
alkej-745	53	82	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	PROPN
alkej-745	53	83	s	s	PART
alkej-745	53	84	...	...	PUNCT
alkej-745	53	85	(	(	PUNCT
alkej-745	53	86	27	27	NUM
alkej-745	53	87	)	)	PUNCT
alkej-745	53	88	𝑉	𝑉	PROPN
alkej-745	53	89	𝑡	𝑡	PROPN
alkej-745	53	90	𝑆	𝑆	PROPN
alkej-745	53	91	𝜌	𝜌	ADP
alkej-745	53	92	𝑡	𝑡	X
alkej-745	53	93	𝑘	𝑘	PROPN
alkej-745	53	94	𝑀	𝑀	PROPN
alkej-745	53	95	𝑞	𝑞	X
alkej-745	53	96	𝑒	𝑒	PROPN
alkej-745	53	97	𝑘	𝑘	PROPN
alkej-745	53	98	𝑀	𝑀	PROPN
alkej-745	53	99	𝑞	𝑞	PROPN
alkej-745	53	100	𝑒	𝑒	PROPN
alkej-745	53	101	t	t	PROPN
alkej-745	53	102	𝑘	𝑘	DET
alkej-745	53	103	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	PROPN
alkej-745	53	104	s	s	PART
alkej-745	53	105	…	…	PUNCT
alkej-745	53	106	(	(	PUNCT
alkej-745	53	107	28	28	NUM
alkej-745	53	108	)	)	PUNCT
alkej-745	53	109	𝑉	𝑉	PROPN
alkej-745	53	110	𝑡	𝑡	PROPN
alkej-745	53	111	𝑆	𝑆	PROPN
alkej-745	53	112	𝜌	𝜌	ADP
alkej-745	53	113	𝑡	𝑡	PROPN
alkej-745	53	114	𝑀	𝑀	PROPN
alkej-745	53	115	𝑞	𝑞	X
alkej-745	53	116	𝑘	𝑘	X
alkej-745	53	117	𝑘	𝑘	ADP
alkej-745	53	118	𝑘	𝑘	X
alkej-745	53	119	𝑒	𝑒	PROPN
alkej-745	53	120	𝑒	𝑒	PROPN
alkej-745	53	121	t	t	NOUN
alkej-745	53	122	𝑘	𝑘	DET
alkej-745	53	123	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	PROPN
alkej-745	53	124	s	s	PART
alkej-745	53	125	…	…	PUNCT
alkej-745	53	126	(	(	PUNCT
alkej-745	53	127	29	29	NUM
alkej-745	53	128	)	)	PUNCT
alkej-745	53	129	if	if	SCONJ
alkej-745	53	130	parameters	parameter	NOUN
alkej-745	53	131	𝑘	𝑘	VERB
alkej-745	53	132	and	and	CCONJ
alkej-745	53	133	𝑘	𝑘	PRON
alkej-745	53	134	selected	select	VERB
alkej-745	53	135	as	as	SCONJ
alkej-745	53	136	follows	follow	VERB
alkej-745	53	137	𝑘	𝑘	PRON
alkej-745	53	138	𝑘	𝑘	PRON
alkej-745	53	139	𝛾	𝛾	NOUN
alkej-745	53	140	…	…	PUNCT
alkej-745	53	141	(	(	PUNCT
alkej-745	53	142	30	30	NUM
alkej-745	53	143	)	)	PUNCT
alkej-745	53	144	sub	sub	NOUN
alkej-745	53	145	(	(	PUNCT
alkej-745	53	146	30	30	NUM
alkej-745	53	147	)	)	PUNCT
alkej-745	53	148	in	in	ADP
alkej-745	53	149	(	(	PUNCT
alkej-745	53	150	29	29	NUM
alkej-745	53	151	)	)	PUNCT
alkej-745	53	152	,	,	PUNCT
alkej-745	53	153	yields	yield	NOUN
alkej-745	53	154	:	:	PUNCT
alkej-745	53	155	𝑉	𝑉	PROPN
alkej-745	53	156	𝑡	𝑡	PROPN
alkej-745	53	157	𝑆	𝑆	PROPN
alkej-745	53	158	𝜌	𝜌	ADP
alkej-745	53	159	𝑡	𝑡	X
alkej-745	53	160	𝑘	𝑘	PRON
alkej-745	53	161	𝑀	𝑀	PROPN
alkej-745	53	162	𝑆	𝑆	PROPN
alkej-745	54	1	𝑘	𝑘	PRON
alkej-745	54	2	𝑠𝑖𝑔𝑛	𝑠𝑖𝑔𝑛	NOUN
alkej-745	54	3	s	s	PART
alkej-745	54	4	…	…	PUNCT
alkej-745	54	5	(	(	PUNCT
alkej-745	54	6	31	31	NUM
alkej-745	54	7	)	)	PUNCT
alkej-745	54	8	𝑆	𝑆	PROPN
alkej-745	54	9	𝑘	𝑘	PROPN
alkej-745	54	10	𝑀	𝑀	PROPN
alkej-745	54	11	𝑆	𝑆	PROPN
alkej-745	54	12	𝑆	𝑆	PROPN
alkej-745	54	13	𝜌	𝜌	PART
alkej-745	54	14	𝑡	𝑡	X
alkej-745	54	15	𝑘	𝑘	PRON
alkej-745	54	16	…	…	PUNCT
alkej-745	54	17	(	(	PUNCT
alkej-745	54	18	32	32	NUM
alkej-745	54	19	)	)	PUNCT
alkej-745	54	20	‖𝑀	‖𝑀	VERB
alkej-745	54	21	𝑞	𝑞	X
alkej-745	54	22	‖‖𝑘	‖‖𝑘	VERB
alkej-745	55	1	‖‖𝑆‖	‖‖𝑆‖	PROPN
alkej-745	55	2	‖𝑘‖‖𝑆‖	‖𝑘‖‖𝑆‖	PUNCT
alkej-745	55	3	‖𝜌	‖𝜌	NUM
alkej-745	55	4	𝑡	𝑡	X
alkej-745	55	5	‖‖𝑆‖	‖‖𝑆‖	PROPN
alkej-745	55	6	…	…	PUNCT
alkej-745	55	7	(	(	PUNCT
alkej-745	55	8	33	33	NUM
alkej-745	55	9	)	)	PUNCT
alkej-745	55	10	if	if	SCONJ
alkej-745	55	11	𝑘	𝑘	PRON
alkej-745	55	12	selected	select	VERB
alkej-745	55	13	large	large	ADJ
alkej-745	55	14	enough	enough	ADV
alkej-745	55	15	greater	great	ADJ
alkej-745	55	16	than	than	ADP
alkej-745	55	17	𝜌	𝜌	ADP
alkej-745	55	18	𝑡	𝑡	PROPN
alkej-745	55	19	,	,	PUNCT
alkej-745	55	20	then	then	ADV
alkej-745	55	21	𝑉	𝑉	PROPN
alkej-745	55	22	𝑡	𝑡	PROPN
alkej-745	55	23	‖𝑀	‖𝑀	PROPN
alkej-745	55	24	𝑞	𝑞	X
alkej-745	55	25	‖‖𝑘	‖‖𝑘	ADJ
alkej-745	56	1	‖‖𝑆‖	‖‖𝑆‖	PROPN
alkej-745	56	2	…	…	PUNCT
alkej-745	56	3	(	(	PUNCT
alkej-745	56	4	34	34	NUM
alkej-745	56	5	)	)	PUNCT
alkej-745	56	6	which	which	PRON
alkej-745	56	7	implies	imply	VERB
alkej-745	56	8	that	that	SCONJ
alkej-745	56	9	:	:	PUNCT
alkej-745	56	10	𝑉	𝑉	PROPN
alkej-745	56	11	𝑡	𝑡	PROPN
alkej-745	56	12	0	0	NUM
alkej-745	56	13	…	…	PUNCT
alkej-745	56	14	(	(	PUNCT
alkej-745	56	15	35	35	NUM
alkej-745	56	16	)	)	PUNCT
alkej-745	56	17	as	as	ADP
alkej-745	56	18	a	a	DET
alkej-745	56	19	result	result	NOUN
alkej-745	56	20	the	the	DET
alkej-745	56	21	stability	stability	NOUN
alkej-745	56	22	of	of	ADP
alkej-745	56	23	the	the	DET
alkej-745	56	24	controlled	control	VERB
alkej-745	56	25	system	system	NOUN
alkej-745	56	26	in	in	ADP
alkej-745	56	27	(	(	PUNCT
alkej-745	56	28	1	1	NUM
alkej-745	56	29	)	)	PUNCT
alkej-745	56	30	with	with	ADP
alkej-745	56	31	the	the	DET
alkej-745	56	32	proposed	propose	VERB
alkej-745	56	33	control	control	NOUN
alkej-745	56	34	law	law	NOUN
alkej-745	56	35	in	in	ADP
alkej-745	56	36	(	(	PUNCT
alkej-745	56	37	11	11	NUM
alkej-745	56	38	)	)	PUNCT
alkej-745	56	39	is	be	AUX
alkej-745	56	40	guaranteed	guarantee	VERB
alkej-745	56	41	.	.	PUNCT
alkej-745	57	1	5	5	X
alkej-745	57	2	.	.	X
alkej-745	57	3	simulation	simulation	NOUN
alkej-745	57	4	results	result	VERB
alkej-745	57	5	in	in	ADP
alkej-745	57	6	this	this	DET
alkej-745	57	7	section	section	NOUN
alkej-745	57	8	,	,	PUNCT
alkej-745	57	9	the	the	DET
alkej-745	57	10	performance	performance	NOUN
alkej-745	57	11	and	and	CCONJ
alkej-745	57	12	robustness	robustness	NOUN
alkej-745	57	13	of	of	ADP
alkej-745	57	14	the	the	DET
alkej-745	57	15	proposed	propose	VERB
alkej-745	57	16	control	control	NOUN
alkej-745	57	17	method	method	NOUN
alkej-745	57	18	is	be	AUX
alkej-745	57	19	tested	test	VERB
alkej-745	57	20	by	by	ADP
alkej-745	57	21	applying	apply	VERB
alkej-745	57	22	it	it	PRON
alkej-745	57	23	on	on	ADP
alkej-745	57	24	the	the	DET
alkej-745	57	25	two	two	NUM
alkej-745	57	26	link	link	NOUN
alkej-745	57	27	robotic	robotic	ADJ
alkej-745	57	28	arm	arm	NOUN
alkej-745	57	29	.	.	PUNCT
alkej-745	58	1	moreover	moreover	ADV
alkej-745	58	2	,	,	PUNCT
alkej-745	58	3	the	the	DET
alkej-745	58	4	proposed	propose	VERB
alkej-745	58	5	method	method	NOUN
alkej-745	58	6	is	be	AUX
alkej-745	58	7	compared	compare	VERB
alkej-745	58	8	with	with	ADP
alkej-745	58	9	the	the	DET
alkej-745	58	10	standard	standard	ADJ
alkej-745	58	11	ctc	ctc	NOUN
alkej-745	58	12	method	method	NOUN
alkej-745	58	13	.	.	PUNCT
alkej-745	59	1	additionally	additionally	ADV
alkej-745	59	2	,	,	PUNCT
alkej-745	59	3	integral	integral	ADJ
alkej-745	59	4	absolute	absolute	ADJ
alkej-745	59	5	value	value	NOUN
alkej-745	59	6	error	error	NOUN
alkej-745	59	7	(	(	PUNCT
alkej-745	59	8	𝐼𝐴𝐸	𝐼𝐴𝐸	PROPN
alkej-745	59	9	)	)	PUNCT
alkej-745	59	10	performance	performance	NOUN
alkej-745	59	11	index	index	NOUN
alkej-745	59	12	is	be	AUX
alkej-745	59	13	used	use	VERB
alkej-745	59	14	to	to	PART
alkej-745	59	15	examine	examine	VERB
alkej-745	59	16	the	the	DET
alkej-745	59	17	tracking	tracking	NOUN
alkej-745	59	18	error	error	NOUN
alkej-745	59	19	performances	performance	NOUN
alkej-745	59	20	in	in	ADP
alkej-745	59	21	this	this	DET
alkej-745	59	22	comparison	comparison	NOUN
alkej-745	59	23	that	that	PRON
alkej-745	59	24	can	can	AUX
alkej-745	59	25	be	be	AUX
alkej-745	59	26	expressed	express	VERB
alkej-745	59	27	as	as	SCONJ
alkej-745	59	28	follows	follow	VERB
alkej-745	59	29	:	:	PUNCT
alkej-745	59	30	𝐼𝐴𝐸	𝐼𝐴𝐸	PROPN
alkej-745	59	31	|𝑒	|𝑒	NUM
alkej-745	59	32	𝑡	𝑡	PROPN
alkej-745	59	33	|𝑑𝑡	|𝑑𝑡	X
alkej-745	59	34	…	…	PUNCT
alkej-745	59	35	(	(	PUNCT
alkej-745	59	36	36	36	NUM
alkej-745	59	37	)	)	PUNCT
alkej-745	59	38	the	the	DET
alkej-745	59	39	dynamic	dynamic	ADJ
alkej-745	59	40	model	model	NOUN
alkej-745	59	41	of	of	ADP
alkej-745	59	42	two	two	NUM
alkej-745	59	43	link	link	NOUN
alkej-745	59	44	robotic	robotic	ADJ
alkej-745	59	45	manipulator	manipulator	NOUN
alkej-745	59	46	is	be	AUX
alkej-745	59	47	[	[	X
alkej-745	59	48	21	21	NUM
alkej-745	59	49	]	]	X
alkej-745	59	50	:	:	PUNCT
alkej-745	59	51	𝜏	𝜏	X
alkej-745	59	52	𝜏	𝜏	NOUN
alkej-745	59	53	𝐴	𝐴	NOUN
alkej-745	59	54	𝐴	𝐴	NOUN
alkej-745	59	55	𝐴	𝐴	PROPN
alkej-745	59	56	𝐴	𝐴	PROPN
alkej-745	59	57	𝑞	𝑞	X
alkej-745	59	58	𝑞	𝑞	X
alkej-745	59	59	2𝑏𝑞	2𝑏𝑞	ADJ
alkej-745	59	60	𝑧𝑞	𝑧𝑞	ADP
alkej-745	59	61	𝑏𝑞	𝑏𝑞	INTJ
alkej-745	59	62	0	0	PROPN
alkej-745	59	63	𝑞	𝑞	X
alkej-745	59	64	𝑞	𝑞	X
alkej-745	59	65	𝑣	𝑣	ADP
alkej-745	59	66	𝑞	𝑞	X
alkej-745	59	67	𝑣	𝑣	X
alkej-745	59	68	𝑞	𝑞	X
alkej-745	59	69	𝑝	𝑝	PROPN
alkej-745	59	70	𝑠𝑔𝑛	𝑠𝑔𝑛	PROPN
alkej-745	59	71	𝑞	𝑞	PROPN
alkej-745	59	72	𝑝	𝑝	PROPN
alkej-745	59	73	𝑠𝑔𝑛	𝑠𝑔𝑛	PROPN
alkej-745	59	74	𝑞	𝑞	PROPN
alkej-745	59	75	𝐺	𝐺	PROPN
alkej-745	59	76	𝐺	𝐺	PROPN
alkej-745	59	77	…	…	PUNCT
alkej-745	59	78	(	(	PUNCT
alkej-745	59	79	37	37	NUM
alkej-745	59	80	)	)	PUNCT
alkej-745	59	81	with	with	ADP
alkej-745	59	82	𝐴	𝐴	PROPN
alkej-745	59	83	𝑚	𝑚	PROPN
alkej-745	59	84	𝑙	𝑙	X
alkej-745	59	85	𝑚	𝑚	PROPN
alkej-745	59	86	𝑙	𝑙	X
alkej-745	59	87	𝑙	𝑙	NUM
alkej-745	59	88	2𝑙	2𝑙	NOUN
alkej-745	59	89	𝑙	𝑙	DET
alkej-745	59	90	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
alkej-745	59	91	𝑞	𝑞	PROPN
alkej-745	59	92	𝐴	𝐴	PROPN
alkej-745	59	93	𝑚	𝑚	PROPN
alkej-745	59	94	𝑙	𝑙	PROPN
alkej-745	59	95	𝑙	𝑙	PRON
alkej-745	59	96	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
alkej-745	59	97	𝑞	𝑞	PROPN
alkej-745	59	98	𝑙	𝑙	PROPN
alkej-745	59	99	𝐴	𝐴	PROPN
alkej-745	59	100	𝑚	𝑚	PROPN
alkej-745	59	101	𝑙	𝑙	SYM
alkej-745	59	102	𝑏	𝑏	DET
alkej-745	59	103	2𝑚	2𝑚	NOUN
alkej-745	59	104	𝑙	𝑙	PROPN
alkej-745	59	105	𝑙	𝑙	NUM
alkej-745	59	106	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
alkej-745	59	107	𝑞	𝑞	X
alkej-745	59	108	𝑧	𝑧	VERB
alkej-745	59	109	𝑚	𝑚	PROPN
alkej-745	59	110	𝑙	𝑙	SYM
alkej-745	59	111	𝑙	𝑙	DET
alkej-745	59	112	𝑠𝑖𝑛	𝑠𝑖𝑛	NOUN
alkej-745	59	113	𝑞	𝑞	X
alkej-745	59	114	𝐺	𝐺	PROPN
alkej-745	59	115	𝑚	𝑚	PROPN
alkej-745	59	116	𝐿	𝐿	PROPN
alkej-745	59	117	𝑔𝑐𝑜𝑠	𝑔𝑐𝑜𝑠	NOUN
alkej-745	59	118	𝑞	𝑞	X
alkej-745	59	119	𝑚	𝑚	PROPN
alkej-745	59	120	𝑔	𝑔	PROPN
alkej-745	59	121	𝐿	𝐿	PROPN
alkej-745	59	122	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
alkej-745	59	123	𝑞	𝑞	X
alkej-745	59	124	𝑞	𝑞	X
alkej-745	59	125	𝐿	𝐿	PROPN
alkej-745	59	126	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
alkej-745	59	127	𝑞	𝑞	X
alkej-745	59	128	𝐺	𝐺	PROPN
alkej-745	59	129	𝑚	𝑚	NOUN
alkej-745	59	130	𝑙	𝑙	X
alkej-745	59	131	𝑔	𝑔	PROPN
alkej-745	59	132	𝑐𝑜𝑠	𝑐𝑜𝑠	NOUN
alkej-745	59	133	𝑞	𝑞	X
alkej-745	59	134	𝑞	𝑞	PROPN
alkej-745	59	135	where	where	SCONJ
alkej-745	59	136	𝑞	𝑞	PROPN
alkej-745	59	137	and	and	CCONJ
alkej-745	59	138	𝑞	𝑞	PROPN
alkej-745	59	139	are	be	AUX
alkej-745	59	140	angular	angular	ADJ
alkej-745	59	141	positions	position	NOUN
alkej-745	59	142	,	,	PUNCT
alkej-745	59	143	𝜏	𝜏	NOUN
alkej-745	59	144	and	and	CCONJ
alkej-745	59	145	𝜏	𝜏	NOUN
alkej-745	59	146	are	be	AUX
alkej-745	59	147	torques	torque	NOUN
alkej-745	59	148	,	,	PUNCT
alkej-745	59	149	𝐿	𝐿	PROPN
alkej-745	59	150	and	and	CCONJ
alkej-745	59	151	𝐿	𝐿	PROPN
alkej-745	59	152	are	be	AUX
alkej-745	59	153	lengths	length	NOUN
alkej-745	59	154	,	,	PUNCT
alkej-745	59	155	𝑚	𝑚	PROPN
alkej-745	59	156	and	and	CCONJ
alkej-745	59	157	𝑚	𝑚	PROPN
alkej-745	59	158	are	be	AUX
alkej-745	59	159	masses	masse	NOUN
alkej-745	59	160	,	,	PUNCT
alkej-745	59	161	𝑣	𝑣	X
alkej-745	59	162	,	,	PUNCT
alkej-745	59	163	and	and	CCONJ
alkej-745	59	164	𝑣	𝑣	PRON
alkej-745	59	165	are	be	AUX
alkej-745	59	166	coefficients	coefficient	NOUN
alkej-745	59	167	of	of	ADP
alkej-745	59	168	viscous	viscous	ADJ
alkej-745	59	169	friction	friction	NOUN
alkej-745	59	170	,	,	PUNCT
alkej-745	59	171	and	and	CCONJ
alkej-745	59	172	𝑝	𝑝	NOUN
alkej-745	59	173	and	and	CCONJ
alkej-745	59	174	𝑝	𝑝	NOUN
alkej-745	59	175	are	be	AUX
alkej-745	59	176	coefficients	coefficient	NOUN
alkej-745	59	177	of	of	ADP
alkej-745	59	178	dynamic	dynamic	ADJ
alkej-745	59	179	friction	friction	NOUN
alkej-745	59	180	of	of	ADP
alkej-745	59	181	link1and	link1and	PROPN
alkej-745	59	182	link2	link2	NOUN
alkej-745	59	183	,	,	PUNCT
alkej-745	59	184	respectively	respectively	ADV
alkej-745	59	185	.	.	PUNCT
alkej-745	60	1	the	the	DET
alkej-745	60	2	parameters	parameter	NOUN
alkej-745	60	3	of	of	ADP
alkej-745	60	4	the	the	DET
alkej-745	60	5	robotic	robotic	ADJ
alkej-745	60	6	manipulator	manipulator	NOUN
alkej-745	60	7	are	be	AUX
alkej-745	60	8	selected	select	VERB
alkej-745	60	9	as	as	ADP
alkej-745	60	10	:	:	PUNCT
alkej-745	60	11	𝑚	𝑚	PROPN
alkej-745	60	12	10	10	NUM
alkej-745	60	13	𝑘𝑔	𝑘𝑔	ADJ
alkej-745	60	14	,	,	PUNCT
alkej-745	60	15	𝑚	𝑚	PROPN
alkej-745	60	16	2	2	NUM
alkej-745	60	17	𝑘𝑔	𝑘𝑔	ADJ
alkej-745	60	18	,	,	PUNCT
alkej-745	60	19	𝑙	𝑙	PROPN
alkej-745	60	20	1.1	1.1	NUM
alkej-745	60	21	m	m	NOUN
alkej-745	60	22	,	,	PUNCT
alkej-745	60	23	𝑙	𝑙	PROPN
alkej-745	60	24	0.8	0.8	NUM
alkej-745	60	25	m	m	NOUN
alkej-745	60	26	,	,	PUNCT
alkej-745	60	27	𝑃	𝑃	VERB
alkej-745	60	28	𝑃	𝑃	NOUN
alkej-745	60	29	30	30	NUM
alkej-745	60	30	,	,	PUNCT
alkej-745	60	31	and	and	CCONJ
alkej-745	60	32	𝑉	𝑉	PROPN
alkej-745	60	33	𝑉	𝑉	PROPN
alkej-745	60	34	10	10	NUM
alkej-745	60	35	.	.	PUNCT
alkej-745	61	1	the	the	DET
alkej-745	61	2	desired	desire	VERB
alkej-745	61	3	trajectory	trajectory	NOUN
alkej-745	61	4	is	be	AUX
alkej-745	61	5	𝑞	𝑞	X
alkej-745	61	6	𝑡	𝑡	X
alkej-745	61	7	𝑞	𝑞	X
alkej-745	61	8	𝑞	𝑞	PROPN
alkej-745	61	9	,	,	PUNCT
alkej-745	61	10	where	where	SCONJ
alkej-745	61	11	q	q	X
alkej-745	61	12	sin	sin	NOUN
alkej-745	61	13	2πt	2πt	NOUN
alkej-745	61	14	…	…	PUNCT
alkej-745	61	15	(	(	PUNCT
alkej-745	61	16	38	38	NUM
alkej-745	61	17	)	)	PUNCT
alkej-745	62	1	𝑞	𝑞	X
alkej-745	62	2	sin	sin	VERB
alkej-745	62	3	2πt	2πt	NOUN
alkej-745	62	4	…	…	PUNCT
alkej-745	62	5	(	(	PUNCT
alkej-745	62	6	39	39	NUM
alkej-745	62	7	)	)	PUNCT
alkej-745	62	8	the	the	DET
alkej-745	62	9	controller	controller	NOUN
alkej-745	62	10	gains	gain	NOUN
alkej-745	62	11	selected	select	VERB
alkej-745	62	12	as	as	SCONJ
alkej-745	62	13	follows	follow	VERB
alkej-745	62	14	:	:	PUNCT
alkej-745	62	15	𝑘	𝑘	DET
alkej-745	62	16	3	3	NUM
alkej-745	62	17	,	,	PUNCT
alkej-745	62	18	𝑘	𝑘	PRON
alkej-745	62	19	5	5	NUM
alkej-745	62	20	,	,	PUNCT
alkej-745	62	21	𝑘	𝑘	PRON
alkej-745	62	22	15.the	15.the	PROPN
alkej-745	62	23	robustness	robustness	NOUN
alkej-745	62	24	of	of	ADP
alkej-745	62	25	the	the	DET
alkej-745	62	26	proposed	propose	VERB
alkej-745	62	27	method	method	NOUN
alkej-745	62	28	and	and	CCONJ
alkej-745	62	29	standard	standard	ADJ
alkej-745	62	30	ctc	ctc	PROPN
alkej-745	62	31	are	be	AUX
alkej-745	62	32	checked	check	VERB
alkej-745	62	33	by	by	ADP
alkej-745	62	34	varying	vary	VERB
alkej-745	62	35	the	the	DET
alkej-745	62	36	parameters	parameter	NOUN
alkej-745	62	37	of	of	ADP
alkej-745	62	38	the	the	DET
alkej-745	62	39	robotic	robotic	ADJ
alkej-745	62	40	system	system	NOUN
alkej-745	62	41	by	by	ADP
alkej-745	62	42	15	15	NUM
alkej-745	62	43	%	%	NOUN
alkej-745	62	44	of	of	ADP
alkej-745	62	45	their	their	PRON
alkej-745	62	46	nominal	nominal	NOUN
alkej-745	62	47	.	.	PUNCT
alkej-745	63	1	moreover	moreover	ADV
alkej-745	63	2	,	,	PUNCT
alkej-745	63	3	a	a	DET
alkej-745	63	4	sin	sin	NOUN
alkej-745	63	5	𝑡	𝑡	NOUN
alkej-745	63	6	disturbance	disturbance	NOUN
alkej-745	63	7	signal	signal	NOUN
alkej-745	63	8	is	be	AUX
alkej-745	63	9	applied	apply	VERB
alkej-745	63	10	.	.	PUNCT
alkej-745	64	1	at	at	ADP
alkej-745	64	2	second	second	ADJ
alkej-745	64	3	3	3	NUM
alkej-745	64	4	,	,	PUNCT
alkej-745	64	5	angular	angular	ADJ
alkej-745	64	6	position	position	NOUN
alkej-745	64	7	and	and	CCONJ
alkej-745	64	8	error	error	NOUN
alkej-745	64	9	in	in	ADP
alkej-745	64	10	this	this	DET
alkej-745	64	11	position	position	NOUN
alkej-745	64	12	of	of	ADP
alkej-745	64	13	robotic	robotic	ADJ
alkej-745	64	14	manipulators	manipulator	NOUN
alkej-745	64	15	are	be	AUX
alkej-745	64	16	shown	show	VERB
alkej-745	64	17	in	in	ADP
alkej-745	64	18	figures	figure	NOUN
alkej-745	64	19	1	1	NUM
alkej-745	64	20	and	and	CCONJ
alkej-745	64	21	2	2	NUM
alkej-745	64	22	for	for	ADP
alkej-745	64	23	the	the	DET
alkej-745	64	24	proposed	propose	VERB
alkej-745	64	25	and	and	CCONJ
alkej-745	64	26	ctc	ctc	PROPN
alkej-745	64	27	methods	method	NOUN
alkej-745	64	28	.	.	PUNCT
alkej-745	65	1	these	these	DET
alkej-745	65	2	figures	figure	NOUN
alkej-745	65	3	indicated	indicate	VERB
alkej-745	65	4	faster	fast	ADJ
alkej-745	65	5	response	response	NOUN
alkej-745	65	6	of	of	ADP
alkej-745	65	7	the	the	DET
alkej-745	65	8	proposed	propose	VERB
alkej-745	65	9	method	method	NOUN
alkej-745	65	10	.	.	PUNCT
alkej-745	66	1	the	the	DET
alkej-745	66	2	proposed	propose	VERB
alkej-745	66	3	method	method	NOUN
alkej-745	66	4	needs	need	VERB
alkej-745	66	5	approximately	approximately	ADV
alkej-745	66	6	0.06	0.06	NUM
alkej-745	66	7	seconds	second	NOUN
alkej-745	66	8	until	until	SCONJ
alkej-745	66	9	tracking	track	VERB
alkej-745	66	10	error	error	NOUN
alkej-745	66	11	converges	converge	NOUN
alkej-745	66	12	to	to	ADP
alkej-745	66	13	zero	zero	NUM
alkej-745	66	14	.	.	PUNCT
alkej-745	67	1	tables	table	NOUN
alkej-745	67	2	1	1	NUM
alkej-745	67	3	and	and	CCONJ
alkej-745	67	4	2	2	NUM
alkej-745	67	5	list	list	NOUN
alkej-745	67	6	the	the	DET
alkej-745	67	7	𝐼𝐴𝐸	𝐼𝐴𝐸	PROPN
alkej-745	67	8	for	for	ADP
alkej-745	67	9	proposed	propose	VERB
alkej-745	67	10	control	control	NOUN
alkej-745	67	11	scheme	scheme	NOUN
alkej-745	67	12	and	and	CCONJ
alkej-745	67	13	ctc	ctc	NOUN
alkej-745	67	14	methods	method	NOUN
alkej-745	67	15	for	for	ADP
alkej-745	67	16	link1	link1	PROPN
alkej-745	67	17	and	and	CCONJ
alkej-745	67	18	link2	link2	PROPN
alkej-745	67	19	respectively	respectively	ADV
alkej-745	67	20	.	.	PUNCT
alkej-745	68	1	maryam	maryam	PROPN
alkej-745	68	2	s.	s.	PROPN
alkej-745	68	3	ahmed	ahmed	PROPN
alkej-745	68	4	al	al	PROPN
alkej-745	68	5	-	-	PUNCT
alkej-745	68	6	khwarizmi	khwarizmi	PROPN
alkej-745	68	7	engineering	engineering	NOUN
alkej-745	68	8	journal	journal	PROPN
alkej-745	68	9	,	,	PUNCT
alkej-745	68	10	vol	vol	NOUN
alkej-745	68	11	.	.	PROPN
alkej-745	68	12	17	17	NUM
alkej-745	68	13	,	,	PUNCT
alkej-745	68	14	no	no	INTJ
alkej-745	68	15	.	.	NOUN
alkej-745	68	16	3	3	NUM
alkej-745	68	17	,	,	PUNCT
alkej-745	68	18	p.p	p.p	PROPN
alkej-745	68	19	.	.	NOUN
alkej-745	68	20	2228	2228	NUM
alkej-745	68	21	(	(	PUNCT
alkej-745	68	22	2021	2021	NUM
alkej-745	68	23	)	)	PUNCT
alkej-745	68	24	25	25	NUM
alkej-745	68	25	fig	fig	NOUN
alkej-745	68	26	.	.	PUNCT
alkej-745	69	1	1	1	X
alkej-745	69	2	.	.	X
alkej-745	69	3	results	result	NOUN
alkej-745	69	4	for	for	ADP
alkej-745	69	5	system	system	NOUN
alkej-745	69	6	uncertainty	uncertainty	NOUN
alkej-745	69	7	.	.	PUNCT
alkej-745	70	1	these	these	DET
alkej-745	70	2	indices	index	NOUN
alkej-745	70	3	indicate	indicate	VERB
alkej-745	70	4	that	that	SCONJ
alkej-745	70	5	the	the	DET
alkej-745	70	6	performance	performance	NOUN
alkej-745	70	7	of	of	ADP
alkej-745	70	8	the	the	DET
alkej-745	70	9	prosed	prosed	ADJ
alkej-745	70	10	control	control	NOUN
alkej-745	70	11	method	method	NOUN
alkej-745	70	12	is	be	AUX
alkej-745	70	13	better	well	ADJ
alkej-745	70	14	than	than	ADP
alkej-745	70	15	standard	standard	ADJ
alkej-745	70	16	ctc	ctc	PROPN
alkej-745	70	17	method	method	NOUN
alkej-745	70	18	in	in	ADP
alkej-745	70	19	reduction	reduction	NOUN
alkej-745	70	20	tracking	tracking	NOUN
alkej-745	70	21	error	error	NOUN
alkej-745	70	22	.	.	PUNCT
alkej-745	71	1	finally	finally	ADV
alkej-745	71	2	,	,	PUNCT
alkej-745	71	3	it	it	PRON
alkej-745	71	4	should	should	AUX
alkej-745	71	5	be	be	AUX
alkej-745	71	6	noted	note	VERB
alkej-745	71	7	that	that	SCONJ
alkej-745	71	8	all	all	DET
alkej-745	71	9	simulation	simulation	NOUN
alkej-745	71	10	results	result	NOUN
alkej-745	71	11	illustrate	illustrate	VERB
alkej-745	71	12	good	good	ADJ
alkej-745	71	13	robustness	robustness	NOUN
alkej-745	71	14	of	of	ADP
alkej-745	71	15	proposed	propose	VERB
alkej-745	71	16	method	method	NOUN
alkej-745	71	17	against	against	ADP
alkej-745	71	18	system	system	NOUN
alkej-745	71	19	uncertainty	uncertainty	NOUN
alkej-745	71	20	and	and	CCONJ
alkej-745	71	21	external	external	ADJ
alkej-745	71	22	disturbance	disturbance	NOUN
alkej-745	71	23	.	.	PUNCT
alkej-745	72	1	table	table	NOUN
alkej-745	72	2	1	1	NUM
alkej-745	72	3	,	,	PUNCT
alkej-745	72	4	performance	performance	NOUN
alkej-745	72	5	of	of	ADP
alkej-745	72	6	controllers	controller	NOUN
alkej-745	72	7	under	under	ADP
alkej-745	72	8	system	system	NOUN
alkej-745	72	9	uncertainty	uncertainty	NOUN
alkej-745	72	10	proposed	propose	VERB
alkej-745	72	11	ctc	ctc	PROPN
alkej-745	72	12	link	link	VERB
alkej-745	72	13	1	1	NUM
alkej-745	72	14	0.3464	0.3464	NUM
alkej-745	72	15	2.1859	2.1859	NUM
alkej-745	72	16	link	link	NOUN
alkej-745	72	17	2	2	NUM
alkej-745	72	18	0.0419	0.0419	NUM
alkej-745	72	19	1.7772	1.7772	NUM
alkej-745	72	20	table	table	NOUN
alkej-745	72	21	2	2	NUM
alkej-745	72	22	performance	performance	NOUN
alkej-745	72	23	of	of	ADP
alkej-745	72	24	controllers	controller	NOUN
alkej-745	72	25	for	for	ADP
alkej-745	72	26	disturbance	disturbance	NOUN
alkej-745	72	27	rejection	rejection	NOUN
alkej-745	72	28	proposed	propose	VERB
alkej-745	72	29	ctc	ctc	PROPN
alkej-745	72	30	link	link	VERB
alkej-745	72	31	1	1	NUM
alkej-745	72	32	0.4679	0.4679	NUM
alkej-745	72	33	2.7099	2.7099	NUM
alkej-745	72	34	link	link	NOUN
alkej-745	72	35	2	2	NUM
alkej-745	72	36	0.0485	0.0485	NUM
alkej-745	72	37	2.2542	2.2542	NUM
alkej-745	72	38	6	6	NUM
alkej-745	72	39	.	.	PUNCT
alkej-745	72	40	conclusion	conclusion	NOUN
alkej-745	72	41	in	in	ADP
alkej-745	72	42	this	this	DET
alkej-745	72	43	paper	paper	NOUN
alkej-745	72	44	,	,	PUNCT
alkej-745	72	45	a	a	DET
alkej-745	72	46	robust	robust	ADJ
alkej-745	72	47	control	control	NOUN
alkej-745	72	48	method	method	NOUN
alkej-745	72	49	proposed	propose	VERB
alkej-745	72	50	for	for	ADP
alkej-745	72	51	control	control	NOUN
alkej-745	72	52	a	a	DET
alkej-745	72	53	robotic	robotic	ADJ
alkej-745	72	54	manipulator	manipulator	NOUN
alkej-745	72	55	.	.	PUNCT
alkej-745	73	1	robotic	robotic	ADJ
alkej-745	73	2	manipulator	manipulator	NOUN
alkej-745	73	3	is	be	AUX
alkej-745	73	4	non	non	ADJ
alkej-745	73	5	-	-	ADJ
alkej-745	73	6	linear	linear	ADJ
alkej-745	73	7	system	system	NOUN
alkej-745	73	8	,	,	PUNCT
alkej-745	73	9	especially	especially	ADV
alkej-745	73	10	with	with	ADP
alkej-745	73	11	the	the	DET
alkej-745	73	12	inability	inability	NOUN
alkej-745	73	13	to	to	PART
alkej-745	73	14	represent	represent	VERB
alkej-745	73	15	the	the	DET
alkej-745	73	16	system	system	NOUN
alkej-745	73	17	perfectly	perfectly	ADV
alkej-745	73	18	due	due	ADJ
alkej-745	73	19	to	to	ADP
alkej-745	73	20	the	the	DET
alkej-745	73	21	change	change	NOUN
alkej-745	73	22	in	in	ADP
alkej-745	73	23	the	the	DET
alkej-745	73	24	parameters	parameter	NOUN
alkej-745	73	25	and	and	CCONJ
alkej-745	73	26	the	the	DET
alkej-745	73	27	external	external	ADJ
alkej-745	73	28	disturbance	disturbance	NOUN
alkej-745	73	29	.	.	PUNCT
alkej-745	74	1	although	although	SCONJ
alkej-745	74	2	,	,	PUNCT
alkej-745	74	3	ctc	ctc	PROPN
alkej-745	74	4	is	be	AUX
alkej-745	74	5	good	good	ADJ
alkej-745	74	6	control	control	NOUN
alkej-745	74	7	method	method	NOUN
alkej-745	74	8	,	,	PUNCT
alkej-745	74	9	but	but	CCONJ
alkej-745	74	10	it	it	PRON
alkej-745	74	11	’s	’	VERB
alkej-745	74	12	not	not	PART
alkej-745	74	13	robust	robust	ADJ
alkej-745	74	14	to	to	PART
alkej-745	74	15	system	system	VERB
alkej-745	74	16	uncertainties	uncertainty	NOUN
alkej-745	74	17	.	.	PUNCT
alkej-745	75	1	this	this	DET
alkej-745	75	2	paper	paper	NOUN
alkej-745	75	3	improves	improve	VERB
alkej-745	75	4	ctc	ctc	NOUN
alkej-745	75	5	method	method	NOUN
alkej-745	75	6	by	by	ADP
alkej-745	75	7	adding	add	VERB
alkej-745	75	8	a	a	DET
alkej-745	75	9	new	new	ADJ
alkej-745	75	10	robust	robust	ADJ
alkej-745	75	11	term	term	NOUN
alkej-745	75	12	0	0	NUM
alkej-745	75	13	1	1	NUM
alkej-745	75	14	2	2	NUM
alkej-745	75	15	3	3	NUM
alkej-745	75	16	4	4	NUM
alkej-745	75	17	5	5	NUM
alkej-745	75	18	-3	-3	INTJ
alkej-745	75	19	-2	-2	NOUN
alkej-745	76	1	-1	-1	NOUN
alkej-745	76	2	0	0	NUM
alkej-745	77	1	1	1	NUM
alkej-745	77	2	time(s	time(s	NOUN
alkej-745	77	3	)	)	PUNCT
alkej-745	77	4	p	p	NOUN
alkej-745	77	5	os	os	PROPN
alkej-745	77	6	iti	iti	PROPN
alkej-745	77	7	on	on	ADP
alkej-745	77	8	tr	tr	VERB
alkej-745	77	9	ac	ac	PROPN
alkej-745	77	10	ki	ki	PROPN
alkej-745	77	11	ng	ng	PROPN
alkej-745	78	1	o	o	X
alkej-745	78	2	f	f	X
alkej-745	78	3	l	l	NOUN
alkej-745	78	4	in	in	ADP
alkej-745	78	5	k	k	PROPN
alkej-745	78	6	1	1	NUM
alkej-745	78	7	ideal	ideal	ADJ
alkej-745	78	8	position	position	NOUN
alkej-745	78	9	proposed	propose	VERB
alkej-745	78	10	ctc	ctc	NOUN
alkej-745	78	11	0	0	NUM
alkej-745	78	12	1	1	NUM
alkej-745	78	13	2	2	NUM
alkej-745	78	14	3	3	NUM
alkej-745	78	15	4	4	NUM
alkej-745	78	16	5	5	NUM
alkej-745	78	17	-1.5	-1.5	NUM
alkej-745	78	18	-1	-1	PUNCT
alkej-745	79	1	-0.5	-0.5	X
alkej-745	79	2	0	0	NUM
alkej-745	79	3	0.5	0.5	NUM
alkej-745	79	4	1	1	NUM
alkej-745	79	5	1.5	1.5	NUM
alkej-745	79	6	time(s	time(s	NOUN
alkej-745	79	7	)	)	PUNCT
alkej-745	79	8	p	p	NOUN
alkej-745	79	9	os	os	PROPN
alkej-745	79	10	iti	iti	PROPN
alkej-745	79	11	on	on	ADP
alkej-745	79	12	tr	tr	VERB
alkej-745	79	13	ac	ac	PROPN
alkej-745	79	14	ki	ki	PROPN
alkej-745	79	15	ng	ng	PROPN
alkej-745	80	1	o	o	X
alkej-745	80	2	f	f	X
alkej-745	80	3	l	l	NOUN
alkej-745	80	4	in	in	ADP
alkej-745	80	5	k	k	PROPN
alkej-745	80	6	2	2	NUM
alkej-745	80	7	ideal	ideal	NOUN
alkej-745	80	8	position	position	NOUN
alkej-745	80	9	proposed	propose	VERB
alkej-745	80	10	ctc	ctc	NOUN
alkej-745	80	11	0	0	NUM
alkej-745	80	12	1	1	NUM
alkej-745	80	13	2	2	NUM
alkej-745	80	14	3	3	NUM
alkej-745	80	15	4	4	NUM
alkej-745	80	16	5	5	NUM
alkej-745	80	17	-10	-10	PUNCT
alkej-745	80	18	-5	-5	NOUN
alkej-745	80	19	0	0	NUM
alkej-745	80	20	5	5	NUM
alkej-745	80	21	10	10	NUM
alkej-745	80	22	time(s	time(s	NOUN
alkej-745	80	23	)	)	PUNCT
alkej-745	80	24	s	s	PART
alkej-745	80	25	pe	pe	VERB
alkej-745	80	26	ed	ed	PROPN
alkej-745	80	27	tr	tr	VERB
alkej-745	80	28	ac	ac	PROPN
alkej-745	80	29	ki	ki	PROPN
alkej-745	81	1	ng	ng	PROPN
alkej-745	82	1	o	o	X
alkej-745	82	2	f	f	X
alkej-745	82	3	l	l	NOUN
alkej-745	82	4	in	in	ADP
alkej-745	82	5	k	k	PROPN
alkej-745	82	6	1	1	NUM
alkej-745	82	7	ideal	ideal	ADJ
alkej-745	82	8	speed	speed	NOUN
alkej-745	82	9	proposed	propose	VERB
alkej-745	82	10	ctc	ctc	NOUN
alkej-745	82	11	0	0	NUM
alkej-745	82	12	1	1	NUM
alkej-745	82	13	2	2	NUM
alkej-745	82	14	3	3	NUM
alkej-745	82	15	4	4	NUM
alkej-745	82	16	5	5	NUM
alkej-745	82	17	-10	-10	PUNCT
alkej-745	82	18	-5	-5	NOUN
alkej-745	82	19	0	0	NUM
alkej-745	82	20	5	5	NUM
alkej-745	82	21	10	10	NUM
alkej-745	82	22	time(s	time(s	NOUN
alkej-745	82	23	)	)	PUNCT
alkej-745	82	24	s	s	PART
alkej-745	82	25	pe	pe	VERB
alkej-745	82	26	ed	ed	PROPN
alkej-745	82	27	tr	tr	VERB
alkej-745	82	28	ac	ac	PROPN
alkej-745	82	29	ki	ki	PROPN
alkej-745	83	1	ng	ng	PROPN
alkej-745	84	1	o	o	X
alkej-745	84	2	f	f	X
alkej-745	84	3	l	l	NOUN
alkej-745	84	4	in	in	ADP
alkej-745	84	5	k	k	PROPN
alkej-745	84	6	2	2	NUM
alkej-745	84	7	ideal	ideal	ADJ
alkej-745	84	8	speed	speed	NOUN
alkej-745	84	9	proposed	propose	VERB
alkej-745	84	10	ctc	ctc	PROPN
alkej-745	84	11	maryam	maryam	PROPN
alkej-745	84	12	s.	s.	PROPN
alkej-745	84	13	ahmed	ahmed	PROPN
alkej-745	84	14	al	al	PROPN
alkej-745	84	15	-	-	PUNCT
alkej-745	84	16	khwarizmi	khwarizmi	PROPN
alkej-745	84	17	engineering	engineering	NOUN
alkej-745	84	18	journal	journal	PROPN
alkej-745	84	19	,	,	PUNCT
alkej-745	84	20	vol	vol	NOUN
alkej-745	84	21	.	.	PROPN
alkej-745	84	22	17	17	NUM
alkej-745	84	23	,	,	PUNCT
alkej-745	84	24	no	no	INTJ
alkej-745	84	25	.	.	NOUN
alkej-745	84	26	3	3	NUM
alkej-745	84	27	,	,	PUNCT
alkej-745	84	28	p.p	p.p	PROPN
alkej-745	84	29	.	.	NOUN
alkej-745	84	30	2228	2228	NUM
alkej-745	84	31	(	(	PUNCT
alkej-745	84	32	2021	2021	NUM
alkej-745	84	33	)	)	PUNCT
alkej-745	84	34	26	26	NUM
alkej-745	84	35	fig	fig	NOUN
alkej-745	84	36	.	.	PUNCT
alkej-745	85	1	2	2	X
alkej-745	85	2	.	.	X
alkej-745	85	3	results	result	NOUN
alkej-745	85	4	for	for	ADP
alkej-745	85	5	disturbance	disturbance	NOUN
alkej-745	85	6	rejection	rejection	NOUN
alkej-745	85	7	.	.	PUNCT
alkej-745	86	1	moreover	moreover	ADV
alkej-745	86	2	,	,	PUNCT
alkej-745	86	3	lyapunov	lyapunov	PROPN
alkej-745	86	4	theorem	theorem	VERB
alkej-745	86	5	stability	stability	NOUN
alkej-745	86	6	has	have	AUX
alkej-745	86	7	been	be	AUX
alkej-745	86	8	used	use	VERB
alkej-745	86	9	to	to	PART
alkej-745	86	10	approve	approve	VERB
alkej-745	86	11	stability	stability	NOUN
alkej-745	86	12	of	of	ADP
alkej-745	86	13	the	the	DET
alkej-745	86	14	proposed	propose	VERB
alkej-745	86	15	control	control	NOUN
alkej-745	86	16	method	method	NOUN
alkej-745	86	17	.	.	PUNCT
alkej-745	87	1	it	it	PRON
alkej-745	87	2	was	be	AUX
alkej-745	87	3	concluded	conclude	VERB
alkej-745	87	4	from	from	ADP
alkej-745	87	5	the	the	DET
alkej-745	87	6	simulation	simulation	NOUN
alkej-745	87	7	results	result	VERB
alkej-745	87	8	that	that	SCONJ
alkej-745	87	9	there	there	PRON
alkej-745	87	10	was	be	VERB
alkej-745	87	11	a	a	DET
alkej-745	87	12	significant	significant	ADJ
alkej-745	87	13	improvement	improvement	NOUN
alkej-745	87	14	in	in	ADP
alkej-745	87	15	the	the	DET
alkej-745	87	16	performance	performance	NOUN
alkej-745	87	17	of	of	ADP
alkej-745	87	18	the	the	DET
alkej-745	87	19	proposed	propose	VERB
alkej-745	87	20	control	control	NOUN
alkej-745	87	21	in	in	ADP
alkej-745	87	22	response	response	NOUN
alkej-745	87	23	to	to	ADP
alkej-745	87	24	external	external	ADJ
alkej-745	87	25	disturbance	disturbance	NOUN
alkej-745	87	26	and	and	CCONJ
alkej-745	87	27	uncertainties	uncertainty	NOUN
alkej-745	87	28	in	in	ADP
alkej-745	87	29	parameters	parameter	NOUN
alkej-745	87	30	of	of	ADP
alkej-745	87	31	robotic	robotic	ADJ
alkej-745	87	32	manipulator	manipulator	NOUN
alkej-745	87	33	.	.	PUNCT
alkej-745	88	1	in	in	ADP
alkej-745	88	2	future	future	ADJ
alkej-745	88	3	work	work	NOUN
alkej-745	88	4	,	,	PUNCT
alkej-745	88	5	reinforcement	reinforcement	NOUN
alkej-745	88	6	learning	learning	NOUN
alkej-745	88	7	can	can	AUX
alkej-745	88	8	be	be	AUX
alkej-745	88	9	used	use	VERB
alkej-745	88	10	to	to	PART
alkej-745	88	11	select	select	VERB
alkej-745	88	12	the	the	DET
alkej-745	88	13	optimal	optimal	ADJ
alkej-745	88	14	gains	gain	NOUN
alkej-745	88	15	for	for	ADP
alkej-745	88	16	the	the	DET
alkej-745	88	17	proposed	propose	VERB
alkej-745	88	18	controller	controller	NOUN
alkej-745	88	19	parameters	parameter	NOUN
alkej-745	88	20	.	.	PUNCT
alkej-745	89	1	moreover	moreover	ADV
alkej-745	89	2	,	,	PUNCT
alkej-745	89	3	the	the	DET
alkej-745	89	4	proposed	propose	VERB
alkej-745	89	5	algorithm	algorithm	NOUN
alkej-745	89	6	can	can	AUX
alkej-745	89	7	be	be	AUX
alkej-745	89	8	tested	test	VERB
alkej-745	89	9	in	in	ADP
alkej-745	89	10	the	the	DET
alkej-745	89	11	real	real	ADJ
alkej-745	89	12	robotic	robotic	ADJ
alkej-745	89	13	manipulator	manipulator	NOUN
alkej-745	89	14	.	.	PUNCT
alkej-745	90	1	7	7	X
alkej-745	90	2	.	.	NUM
alkej-745	90	3	references	reference	NOUN
alkej-745	90	4	[	[	X
alkej-745	90	5	1	1	NUM
alkej-745	90	6	]	]	PUNCT
alkej-745	90	7	a.	a.	NOUN
alkej-745	90	8	mary	mary	PROPN
alkej-745	90	9	,	,	PUNCT
alkej-745	90	10	t.	t.	PROPN
alkej-745	90	11	kara	kara	PROPN
alkej-745	90	12	and	and	CCONJ
alkej-745	90	13	a.	a.	NOUN
alkej-745	90	14	miry	miry	NOUN
alkej-745	90	15	,	,	PUNCT
alkej-745	90	16	“	"	PUNCT
alkej-745	90	17	inverse	inverse	ADJ
alkej-745	90	18	kinematics	kinematic	NOUN
alkej-745	90	19	solution	solution	NOUN
alkej-745	90	20	for	for	ADP
alkej-745	90	21	robotic	robotic	ADJ
alkej-745	90	22	manipulators	manipulator	NOUN
alkej-745	90	23	based	base	VERB
alkej-745	90	24	on	on	ADP
alkej-745	90	25	fuzzy	fuzzy	ADJ
alkej-745	90	26	logic	logic	NOUN
alkej-745	90	27	and	and	CCONJ
alkej-745	90	28	pd	pd	PROPN
alkej-745	90	29	control	control	PROPN
alkej-745	90	30	”	"	PUNCT
alkej-745	90	31	,	,	PUNCT
alkej-745	90	32	alsadiq	alsadiq	PROPN
alkej-745	90	33	international	international	PROPN
alkej-745	90	34	conference	conference	PROPN
alkej-745	90	35	on	on	ADP
alkej-745	90	36	multidisciplinary	multidisciplinary	NOUN
alkej-745	90	37	in	in	ADP
alkej-745	90	38	it	it	PRON
alkej-745	90	39	and	and	CCONJ
alkej-745	90	40	communication	communication	NOUN
alkej-745	90	41	techniques	technique	NOUN
alkej-745	90	42	science	science	NOUN
alkej-745	90	43	and	and	CCONJ
alkej-745	90	44	applications(aicmitcsa	applications(aicmitcsa	NUM
alkej-745	90	45	)	)	PUNCT
alkej-745	90	46	,	,	PUNCT
alkej-745	90	47	vol.pp.160	vol.pp.160	NOUN
alkej-745	90	48	-	-	PUNCT
alkej-745	90	49	165	165	NUM
alkej-745	90	50	,	,	PUNCT
alkej-745	90	51	2016	2016	NUM
alkej-745	90	52	.	.	PUNCT
alkej-745	91	1	[	[	X
alkej-745	91	2	2	2	NUM
alkej-745	91	3	]	]	PUNCT
alkej-745	91	4	a.	a.	NOUN
alkej-745	91	5	kashyap	kashyap	PROPN
alkej-745	91	6	and	and	CCONJ
alkej-745	91	7	d.	d.	PROPN
alkej-745	91	8	parhi	parhi	NOUN
alkej-745	91	9	,	,	PUNCT
alkej-745	91	10	“	"	PUNCT
alkej-745	91	11	particle	particle	NOUN
alkej-745	91	12	swarm	swarm	NOUN
alkej-745	91	13	optimization	optimization	NOUN
alkej-745	91	14	aided	aid	VERB
alkej-745	91	15	pid	pid	NOUN
alkej-745	91	16	gait	gait	ADJ
alkej-745	91	17	controller	controller	NOUN
alkej-745	91	18	design	design	NOUN
alkej-745	91	19	for	for	ADP
alkej-745	91	20	a	a	DET
alkej-745	91	21	humanoid	humanoid	NOUN
alkej-745	91	22	robot	robot	NOUN
alkej-745	91	23	”	"	PUNCT
alkej-745	91	24	,	,	PUNCT
alkej-745	91	25	isa	isa	NOUN
alkej-745	91	26	transaction	transaction	NOUN
alkej-745	91	27	,	,	PUNCT
alkej-745	91	28	vol	vol	NOUN
alkej-745	91	29	.	.	PROPN
alkej-745	91	30	114	114	NUM
alkej-745	91	31	,	,	PUNCT
alkej-745	91	32	pp.306	pp.306	NOUN
alkej-745	91	33	-	-	PUNCT
alkej-745	91	34	330	330	NUM
alkej-745	91	35	,	,	PUNCT
alkej-745	91	36	2020	2020	NUM
alkej-745	91	37	.	.	PUNCT
alkej-745	92	1	[	[	X
alkej-745	92	2	3	3	NUM
alkej-745	92	3	]	]	X
alkej-745	92	4	i.	i.	PROPN
alkej-745	92	5	carlucho	carlucho	PROPN
alkej-745	92	6	and	and	CCONJ
alkej-745	92	7	g.	g.	PROPN
alkej-745	92	8	acosta	acosta	PROPN
alkej-745	92	9	,	,	PUNCT
alkej-745	92	10	“	"	PUNCT
alkej-745	92	11	an	an	DET
alkej-745	92	12	adaptive	adaptive	ADJ
alkej-745	92	13	deep	deep	ADJ
alkej-745	92	14	reinforcement	reinforcement	NOUN
alkej-745	92	15	learning	learning	NOUN
alkej-745	92	16	approach	approach	NOUN
alkej-745	92	17	for	for	ADP
alkej-745	92	18	mimo	mimo	PROPN
alkej-745	92	19	pid	pid	PROPN
alkej-745	92	20	control	control	PROPN
alkej-745	92	21	”	"	PUNCT
alkej-745	92	22	,	,	PUNCT
alkej-745	92	23	isa	isa	NOUN
alkej-745	92	24	transactions	transaction	NOUN
alkej-745	92	25	,	,	PUNCT
alkej-745	92	26	vol.102	vol.102	NOUN
alkej-745	92	27	,	,	PUNCT
alkej-745	92	28	pp.280	pp.280	PROPN
alkej-745	92	29	-	-	PUNCT
alkej-745	92	30	249	249	NUM
alkej-745	92	31	,	,	PUNCT
alkej-745	92	32	2020	2020	NUM
alkej-745	92	33	.	.	PUNCT
alkej-745	93	1	[	[	X
alkej-745	93	2	4	4	X
alkej-745	93	3	]	]	X
alkej-745	93	4	[	[	X
alkej-745	93	5	4	4	NUM
alkej-745	93	6	]	]	PUNCT
alkej-745	93	7	x.	x.	NOUN
alkej-745	93	8	yin	yin	PROPN
alkej-745	93	9	,	,	PUNCT
alkej-745	93	10	l.	l.	PROPN
alkej-745	93	11	pan	pan	PROPN
alkej-745	93	12	and	and	CCONJ
alkej-745	93	13	s.	s.	PROPN
alkej-745	93	14	cai	cai	PROPN
alkej-745	93	15	,	,	PUNCT
alkej-745	93	16	“	"	PUNCT
alkej-745	93	17	robust	robust	ADJ
alkej-745	93	18	adaptive	adaptive	ADJ
alkej-745	93	19	fuzzy	fuzzy	ADJ
alkej-745	93	20	sliding	slide	VERB
alkej-745	93	21	mode	mode	NOUN
alkej-745	93	22	trajectory	trajectory	NOUN
alkej-745	93	23	tracking	tracking	NOUN
alkej-745	93	24	control	control	NOUN
alkej-745	93	25	for	for	ADP
alkej-745	93	26	serial	serial	ADJ
alkej-745	93	27	robotic	robotic	ADJ
alkej-745	93	28	manipulators	manipulator	NOUN
alkej-745	93	29	”	"	PUNCT
alkej-745	93	30	,	,	PUNCT
alkej-745	93	31	robotics	robotic	NOUN
alkej-745	93	32	and	and	CCONJ
alkej-745	93	33	computerintegrated	computerintegrate	VERB
alkej-745	93	34	manufacturing	manufacturing	NOUN
alkej-745	93	35	,	,	PUNCT
alkej-745	93	36	vol	vol	NOUN
alkej-745	93	37	.	.	PROPN
alkej-745	93	38	72	72	NUM
alkej-745	93	39	,	,	PUNCT
alkej-745	93	40	pp	pp	ADJ
alkej-745	93	41	.	.	PUNCT
alkej-745	93	42	101884	101884	NUM
alkej-745	93	43	,	,	PUNCT
alkej-745	93	44	2021	2021	NUM
alkej-745	93	45	.	.	PUNCT
alkej-745	94	1	[	[	X
alkej-745	94	2	5	5	NUM
alkej-745	94	3	]	]	PUNCT
alkej-745	94	4	a.	a.	NOUN
alkej-745	94	5	mary	mary	PROPN
alkej-745	94	6	and	and	CCONJ
alkej-745	94	7	t.	t.	PROPN
alkej-745	94	8	kara	kara	PROPN
alkej-745	94	9	,	,	PUNCT
alkej-745	94	10	”	"	PUNCT
alkej-745	94	11	robust	robust	ADJ
alkej-745	94	12	proportional	proportional	ADJ
alkej-745	94	13	control	control	NOUN
alkej-745	94	14	for	for	ADP
alkej-745	94	15	trajectory	trajectory	NOUN
alkej-745	94	16	tracking	tracking	NOUN
alkej-745	94	17	of	of	ADP
alkej-745	94	18	a	a	DET
alkej-745	94	19	nonlinear	nonlinear	ADJ
alkej-745	94	20	robotic	robotic	ADJ
alkej-745	94	21	manipulator	manipulator	NOUN
alkej-745	94	22	:	:	PUNCT
alkej-745	94	23	lmi	lmi	PROPN
alkej-745	94	24	optimization	optimization	NOUN
alkej-745	94	25	approach	approach	NOUN
alkej-745	94	26	”	"	PUNCT
alkej-745	94	27	,	,	PUNCT
alkej-745	94	28	arabian	arabian	ADJ
alkej-745	94	29	journal	journal	NOUN
alkej-745	94	30	for	for	ADP
alkej-745	94	31	science	science	NOUN
alkej-745	94	32	and	and	CCONJ
alkej-745	94	33	engineering	engineering	NOUN
alkej-745	94	34	,	,	PUNCT
alkej-745	94	35	vol	vol	NOUN
alkej-745	94	36	.	.	PROPN
alkej-745	94	37	41	41	NUM
alkej-745	94	38	,	,	PUNCT
alkej-745	94	39	pp	pp	ADJ
alkej-745	94	40	.	.	PUNCT
alkej-745	94	41	50275036	50275036	NUM
alkej-745	94	42	,	,	PUNCT
alkej-745	94	43	2016	2016	NUM
alkej-745	94	44	.	.	PUNCT
alkej-745	95	1	[	[	X
alkej-745	95	2	6	6	NUM
alkej-745	95	3	]	]	PUNCT
alkej-745	95	4	x.	x.	NOUN
alkej-745	95	5	wu	wu	PROPN
alkej-745	95	6	and	and	CCONJ
alkej-745	95	7	y.	y.	PROPN
alkej-745	95	8	huang	huang	PROPN
alkej-745	95	9	,	,	PUNCT
alkej-745	95	10	“	"	PUNCT
alkej-745	95	11	adaptive	adaptive	ADJ
alkej-745	95	12	fractionalorder	fractionalorder	NOUN
alkej-745	95	13	non	non	ADJ
alkej-745	95	14	-	-	ADJ
alkej-745	95	15	singular	singular	ADJ
alkej-745	95	16	terminal	terminal	NOUN
alkej-745	95	17	sliding	slide	VERB
alkej-745	95	18	mode	mode	NOUN
alkej-745	95	19	control	control	NOUN
alkej-745	95	20	based	base	VERB
alkej-745	95	21	on	on	ADP
alkej-745	95	22	fuzzy	fuzzy	ADJ
alkej-745	95	23	wavelet	wavelet	NOUN
alkej-745	95	24	neural	neural	ADJ
alkej-745	95	25	networks	network	NOUN
alkej-745	95	26	for	for	ADP
alkej-745	95	27	omnidirectional	omnidirectional	ADJ
alkej-745	95	28	mobile	mobile	ADJ
alkej-745	95	29	robot	robot	NOUN
alkej-745	95	30	manipulator	manipulator	NOUN
alkej-745	95	31	”	"	PUNCT
alkej-745	95	32	,	,	PUNCT
alkej-745	95	33	isa	isa	NOUN
alkej-745	95	34	transactions	transaction	NOUN
alkej-745	95	35	,	,	PUNCT
alkej-745	95	36	vol	vol	NOUN
alkej-745	95	37	.	.	PROPN
alkej-745	95	38	115	115	NUM
alkej-745	95	39	,	,	PUNCT
alkej-745	95	40	2021	2021	NUM
alkej-745	95	41	.	.	PUNCT
alkej-745	96	1	[	[	X
alkej-745	96	2	7	7	X
alkej-745	96	3	]	]	PUNCT
alkej-745	96	4	z.	z.	PROPN
alkej-745	96	5	chen	chen	PROPN
alkej-745	96	6	,	,	PUNCT
alkej-745	96	7	x.yang	x.yang	PROPN
alkej-745	96	8	and	and	CCONJ
alkej-745	96	9	x.	x.	PROPN
alkej-745	96	10	liu	liu	PROPN
alkej-745	96	11	,	,	PUNCT
alkej-745	96	12	“	"	PUNCT
alkej-745	96	13	rbfnn	rbfnn	NOUN
alkej-745	96	14	-	-	PUNCT
alkej-745	96	15	based	base	VERB
alkej-745	96	16	non	non	ADJ
alkej-745	96	17	-	-	ADJ
alkej-745	96	18	singular	singular	ADJ
alkej-745	96	19	fast	fast	ADJ
alkej-745	96	20	terminal	terminal	NOUN
alkej-745	96	21	sliding	slide	VERB
alkej-745	96	22	mode	mode	NOUN
alkej-745	96	23	control	control	NOUN
alkej-745	96	24	for	for	ADP
alkej-745	96	25	robotic	robotic	ADJ
alkej-745	96	26	manipulators	manipulator	NOUN
alkej-745	96	27	including	include	VERB
alkej-745	96	28	actuator	actuator	NOUN
alkej-745	96	29	dynamics	dynamic	NOUN
alkej-745	96	30	”	"	PUNCT
alkej-745	96	31	,	,	PUNCT
alkej-745	96	32	neurocomputing	neurocomputing	NOUN
alkej-745	96	33	,	,	PUNCT
alkej-745	96	34	vol	vol	NOUN
alkej-745	96	35	.	.	PROPN
alkej-745	96	36	362	362	NUM
alkej-745	96	37	,	,	PUNCT
alkej-745	96	38	pp	pp	ADJ
alkej-745	96	39	.	.	PUNCT
alkej-745	97	1	72	72	NUM
alkej-745	97	2	-	-	SYM
alkej-745	97	3	92	92	NUM
alkej-745	97	4	,	,	PUNCT
alkej-745	97	5	2019	2019	NUM
alkej-745	97	6	.	.	PUNCT
alkej-745	98	1	[	[	X
alkej-745	98	2	8	8	X
alkej-745	98	3	]	]	PUNCT
alkej-745	98	4	t.	t.	PROPN
alkej-745	98	5	kara	kara	PROPN
alkej-745	98	6	and	and	CCONJ
alkej-745	98	7	a.	a.	PROPN
alkej-745	98	8	mary	mary	PROPN
alkej-745	98	9	,	,	PUNCT
alkej-745	98	10	”	"	PUNCT
alkej-745	98	11	robust	robust	ADJ
alkej-745	98	12	trajectory	trajectory	NOUN
alkej-745	98	13	tracking	tracking	NOUN
alkej-745	98	14	control	control	NOUN
alkej-745	98	15	of	of	ADP
alkej-745	98	16	robotic	robotic	ADJ
alkej-745	98	17	manipulators	manipulator	NOUN
alkej-745	98	18	based	base	VERB
alkej-745	98	19	on	on	ADP
alkej-745	98	20	model	model	NOUN
alkej-745	98	21	-	-	PUNCT
alkej-745	98	22	free	free	ADJ
alkej-745	98	23	pid	pid	PROPN
alkej-745	98	24	-	-	PUNCT
alkej-745	98	25	smc	smc	PROPN
alkej-745	98	26	approach	approach	NOUN
alkej-745	98	27	”	"	PUNCT
alkej-745	98	28	journal	journal	NOUN
alkej-745	98	29	of	of	ADP
alkej-745	98	30	engineering	engineering	NOUN
alkej-745	98	31	research	research	NOUN
alkej-745	98	32	,	,	PUNCT
alkej-745	98	33	vol	vol	NOUN
alkej-745	98	34	.	.	PROPN
alkej-745	98	35	6	6	NUM
alkej-745	98	36	,	,	PUNCT
alkej-745	98	37	pp	pp	ADJ
alkej-745	98	38	.	.	PUNCT
alkej-745	99	1	170	170	NUM
alkej-745	99	2	-	-	SYM
alkej-745	99	3	188	188	NUM
alkej-745	99	4	,	,	PUNCT
alkej-745	99	5	2018	2018	NUM
alkej-745	99	6	.	.	PUNCT
alkej-745	100	1	[	[	X
alkej-745	100	2	9	9	NUM
alkej-745	100	3	]	]	PUNCT
alkej-745	100	4	t.	t.	NOUN
alkej-745	100	5	kara	kara	PROPN
alkej-745	100	6	and	and	CCONJ
alkej-745	100	7	a.	a.	PROPN
alkej-745	100	8	mary	mary	PROPN
alkej-745	100	9	,	,	PUNCT
alkej-745	100	10	”	"	PUNCT
alkej-745	100	11	adaptive	adaptive	PROPN
alkej-745	100	12	pd	pd	PROPN
alkej-745	100	13	-	-	PROPN
alkej-745	100	14	smc	smc	PROPN
alkej-745	100	15	for	for	ADP
alkej-745	100	16	nonlinear	nonlinear	ADJ
alkej-745	100	17	robotic	robotic	ADJ
alkej-745	100	18	manipulator	manipulator	NOUN
alkej-745	100	19	tracking	track	VERB
alkej-745	100	20	0	0	NUM
alkej-745	100	21	1	1	NUM
alkej-745	100	22	2	2	NUM
alkej-745	100	23	3	3	NUM
alkej-745	100	24	4	4	NUM
alkej-745	100	25	5	5	NUM
alkej-745	100	26	-1.5	-1.5	NUM
alkej-745	100	27	-1	-1	PUNCT
alkej-745	100	28	-0.5	-0.5	X
alkej-745	100	29	0	0	NUM
alkej-745	100	30	0.5	0.5	NUM
alkej-745	100	31	1	1	NUM
alkej-745	100	32	1.5	1.5	NUM
alkej-745	100	33	time(s	time(s	NOUN
alkej-745	100	34	)	)	PUNCT
alkej-745	100	35	p	p	NOUN
alkej-745	100	36	os	os	PROPN
alkej-745	100	37	iti	iti	PROPN
alkej-745	100	38	on	on	ADP
alkej-745	100	39	tr	tr	VERB
alkej-745	100	40	ac	ac	PROPN
alkej-745	100	41	ki	ki	PROPN
alkej-745	100	42	ng	ng	PROPN
alkej-745	101	1	o	o	X
alkej-745	101	2	f	f	X
alkej-745	101	3	l	l	NOUN
alkej-745	101	4	in	in	ADP
alkej-745	101	5	k	k	PROPN
alkej-745	101	6	2	2	NUM
alkej-745	101	7	ideal	ideal	NOUN
alkej-745	101	8	position	position	NOUN
alkej-745	101	9	proposed	propose	VERB
alkej-745	101	10	ctc	ctc	NOUN
alkej-745	101	11	0	0	NUM
alkej-745	101	12	1	1	NUM
alkej-745	101	13	2	2	NUM
alkej-745	101	14	3	3	NUM
alkej-745	101	15	4	4	NUM
alkej-745	101	16	5	5	NUM
alkej-745	101	17	-10	-10	PUNCT
alkej-745	101	18	-5	-5	NOUN
alkej-745	101	19	0	0	NUM
alkej-745	101	20	5	5	NUM
alkej-745	101	21	10	10	NUM
alkej-745	101	22	time(s	time(s	NOUN
alkej-745	101	23	)	)	PUNCT
alkej-745	101	24	s	s	PART
alkej-745	101	25	pe	pe	VERB
alkej-745	101	26	ed	ed	PROPN
alkej-745	101	27	tr	tr	VERB
alkej-745	101	28	ac	ac	PROPN
alkej-745	101	29	ki	ki	PROPN
alkej-745	102	1	ng	ng	PROPN
alkej-745	103	1	o	o	X
alkej-745	103	2	f	f	X
alkej-745	103	3	l	l	NOUN
alkej-745	103	4	in	in	ADP
alkej-745	103	5	k	k	PROPN
alkej-745	103	6	1	1	NUM
alkej-745	103	7	ideal	ideal	ADJ
alkej-745	103	8	speed	speed	NOUN
alkej-745	103	9	proposed	propose	VERB
alkej-745	103	10	ctc	ctc	NOUN
alkej-745	103	11	0	0	NUM
alkej-745	103	12	1	1	NUM
alkej-745	103	13	2	2	NUM
alkej-745	103	14	3	3	NUM
alkej-745	103	15	4	4	NUM
alkej-745	103	16	5	5	NUM
alkej-745	103	17	-10	-10	PUNCT
alkej-745	103	18	-5	-5	NOUN
alkej-745	103	19	0	0	NUM
alkej-745	103	20	5	5	NUM
alkej-745	103	21	10	10	NUM
alkej-745	103	22	time(s	time(s	NOUN
alkej-745	103	23	)	)	PUNCT
alkej-745	103	24	s	s	PART
alkej-745	103	25	pe	pe	VERB
alkej-745	103	26	ed	ed	PROPN
alkej-745	103	27	tr	tr	VERB
alkej-745	103	28	ac	ac	PROPN
alkej-745	103	29	ki	ki	PROPN
alkej-745	104	1	ng	ng	PROPN
alkej-745	105	1	o	o	X
alkej-745	105	2	f	f	X
alkej-745	105	3	l	l	NOUN
alkej-745	105	4	in	in	ADP
alkej-745	105	5	k	k	PROPN
alkej-745	105	6	2	2	NUM
alkej-745	105	7	ideal	ideal	ADJ
alkej-745	105	8	speed	speed	NOUN
alkej-745	105	9	proposed	propose	VERB
alkej-745	105	10	ctc	ctc	NOUN
alkej-745	105	11	0	0	NUM
alkej-745	105	12	1	1	NUM
alkej-745	105	13	2	2	NUM
alkej-745	105	14	3	3	NUM
alkej-745	105	15	4	4	NUM
alkej-745	105	16	5	5	NUM
alkej-745	105	17	-3	-3	INTJ
alkej-745	105	18	-2	-2	NOUN
alkej-745	106	1	-1	-1	NOUN
alkej-745	106	2	0	0	NUM
alkej-745	107	1	1	1	NUM
alkej-745	107	2	time(s	time(s	NOUN
alkej-745	107	3	)	)	PUNCT
alkej-745	107	4	p	p	NOUN
alkej-745	107	5	os	os	PROPN
alkej-745	107	6	iti	iti	PROPN
alkej-745	107	7	on	on	ADP
alkej-745	107	8	tr	tr	VERB
alkej-745	107	9	ac	ac	PROPN
alkej-745	107	10	ki	ki	PROPN
alkej-745	107	11	ng	ng	PROPN
alkej-745	108	1	o	o	X
alkej-745	108	2	f	f	X
alkej-745	108	3	l	l	NOUN
alkej-745	108	4	in	in	ADP
alkej-745	108	5	k	k	PROPN
alkej-745	108	6	1	1	NUM
alkej-745	108	7	ideal	ideal	ADJ
alkej-745	108	8	position	position	NOUN
alkej-745	108	9	proposed	propose	VERB
alkej-745	108	10	ctc	ctc	PROPN
alkej-745	108	11	maryam	maryam	PROPN
alkej-745	108	12	s.	s.	PROPN
alkej-745	108	13	ahmed	ahmed	PROPN
alkej-745	108	14	al	al	PROPN
alkej-745	108	15	-	-	PUNCT
alkej-745	108	16	khwarizmi	khwarizmi	PROPN
alkej-745	108	17	engineering	engineering	NOUN
alkej-745	108	18	journal	journal	PROPN
alkej-745	108	19	,	,	PUNCT
alkej-745	108	20	vol	vol	NOUN
alkej-745	108	21	.	.	PROPN
alkej-745	108	22	17	17	NUM
alkej-745	108	23	,	,	PUNCT
alkej-745	108	24	no	no	INTJ
alkej-745	108	25	.	.	NOUN
alkej-745	108	26	3	3	NUM
alkej-745	108	27	,	,	PUNCT
alkej-745	108	28	p.p	p.p	PROPN
alkej-745	108	29	.	.	NOUN
alkej-745	108	30	2228	2228	NUM
alkej-745	108	31	(	(	PUNCT
alkej-745	108	32	2021	2021	NUM
alkej-745	108	33	)	)	PUNCT
alkej-745	108	34	27	27	NUM
alkej-745	108	35	control	control	NOUN
alkej-745	108	36	”	"	PUNCT
alkej-745	108	37	studies	study	NOUN
alkej-745	108	38	in	in	ADP
alkej-745	108	39	informatics	informatic	NOUN
alkej-745	108	40	and	and	CCONJ
alkej-745	108	41	control	control	NOUN
alkej-745	108	42	,	,	PUNCT
alkej-745	108	43	vol	vol	NOUN
alkej-745	108	44	.	.	PROPN
alkej-745	108	45	26	26	NUM
alkej-745	108	46	,	,	PUNCT
alkej-745	108	47	pp	pp	ADJ
alkej-745	108	48	.	.	PUNCT
alkej-745	109	1	49	49	NUM
alkej-745	109	2	-	-	SYM
alkej-745	109	3	58	58	NUM
alkej-745	109	4	,	,	PUNCT
alkej-745	109	5	2017	2017	NUM
alkej-745	109	6	.	.	PUNCT
alkej-745	110	1	[	[	X
alkej-745	110	2	10	10	NUM
alkej-745	110	3	]	]	X
alkej-745	110	4	th	th	X
alkej-745	110	5	.	.	PUNCT
alkej-745	110	6	costa	costa	PROPN
alkej-745	110	7	,	,	PUNCT
alkej-745	110	8	f.	f.	PROPN
alkej-745	110	9	lara	lara	PROPN
alkej-745	110	10	-	-	PUNCT
alkej-745	110	11	molina	molina	PROPN
alkej-745	110	12	,	,	PUNCT
alkej-745	110	13	a.	a.	NOUN
alkej-745	110	14	junior	junior	PROPN
alkej-745	110	15	and	and	CCONJ
alkej-745	110	16	e.	e.	PROPN
alkej-745	110	17	taketa,”robust	taketa,”robust	PROPN
alkej-745	110	18	h∞	h∞	PROPN
alkej-745	110	19	computed	compute	VERB
alkej-745	110	20	torque	torque	NOUN
alkej-745	110	21	control	control	NOUN
alkej-745	110	22	for	for	ADP
alkej-745	110	23	manipulators	manipulator	NOUN
alkej-745	110	24	”	"	PUNCT
alkej-745	110	25	,	,	PUNCT
alkej-745	110	26	ieee	ieee	PROPN
alkej-745	110	27	latin	latin	PROPN
alkej-745	110	28	america	america	PROPN
alkej-745	110	29	transactions	transactions	PROPN
alkej-745	110	30	,	,	PUNCT
alkej-745	110	31	vol	vol	NOUN
alkej-745	110	32	.	.	PROPN
alkej-745	111	1	16	16	NUM
alkej-745	111	2	,	,	PUNCT
alkej-745	111	3	pp	pp	ADJ
alkej-745	111	4	.	.	PUNCT
alkej-745	112	1	398	398	NUM
alkej-745	112	2	-	-	SYM
alkej-745	112	3	407	407	NUM
alkej-745	112	4	,	,	PUNCT
alkej-745	112	5	2018	2018	NUM
alkej-745	112	6	.	.	PUNCT
alkej-745	113	1	[	[	X
alkej-745	113	2	11	11	NUM
alkej-745	113	3	]	]	PUNCT
alkej-745	113	4	m.	m.	NOUN
alkej-745	113	5	alwan	alwan	PROPN
alkej-745	113	6	,	,	PUNCT
alkej-745	113	7	hassan	hassan	PROPN
alkej-745	113	8	and	and	CCONJ
alkej-745	113	9	r.	r.	PROPN
alkej-745	113	10	zaid	zaid	PROPN
alkej-745	113	11	hikmat	hikmat	PROPN
alkej-745	113	12	,	,	PUNCT
alkej-745	113	13	”	"	PUNCT
alkej-745	113	14	motion	motion	NOUN
alkej-745	113	15	control	control	NOUN
alkej-745	113	16	of	of	ADP
alkej-745	113	17	three	three	NUM
alkej-745	113	18	links	link	NOUN
alkej-745	113	19	robot	robot	NOUN
alkej-745	113	20	manipulator	manipulator	NOUN
alkej-745	113	21	(	(	PUNCT
alkej-745	113	22	open	open	ADJ
alkej-745	113	23	chain	chain	NOUN
alkej-745	113	24	)	)	PUNCT
alkej-745	113	25	with	with	ADP
alkej-745	113	26	spherical	spherical	ADJ
alkej-745	113	27	wrist	wrist	NOUN
alkej-745	113	28	”	"	PUNCT
alkej-745	113	29	,	,	PUNCT
alkej-745	113	30	al	al	PROPN
alkej-745	113	31	-	-	PUNCT
alkej-745	113	32	khwarizmi	khwarizmi	PROPN
alkej-745	113	33	engineering	engineering	PROPN
alkej-745	113	34	journal	journal	PROPN
alkej-745	113	35	15(2	15(2	NOUN
alkej-745	113	36	)	)	PUNCT
alkej-745	113	37	,	,	PUNCT
alkej-745	113	38	13	13	NUM
alkej-745	113	39	-	-	SYM
alkej-745	113	40	23	23	NUM
alkej-745	113	41	.	.	PUNCT
alkej-745	113	42	2019	2019	NUM
alkej-745	113	43	.	.	PUNCT
alkej-745	114	1	[	[	X
alkej-745	114	2	12	12	NUM
alkej-745	114	3	]	]	X
alkej-745	114	4	c.	c.	PROPN
alkej-745	114	5	chen	chen	PROPN
alkej-745	114	6	,	,	PUNCT
alkej-745	114	7	c.	c.	PROPN
alkej-745	114	8	zhang	zhang	PROPN
alkej-745	114	9	,	,	PUNCT
alkej-745	114	10	t.	t.	PROPN
alkej-745	114	11	hu	hu	PROPN
alkej-745	114	12	,	,	PUNCT
alkej-745	114	13	h.	h.	PROPN
alkej-745	114	14	ni1	ni1	PROPN
alkej-745	114	15	,	,	PUNCT
alkej-745	114	16	and	and	CCONJ
alkej-745	114	17	w.	w.	PROPN
alkej-745	114	18	luo,“model	luo,“model	PROPN
alkej-745	114	19	-	-	PUNCT
alkej-745	114	20	assisted	assist	VERB
alkej-745	114	21	extended	extended	ADJ
alkej-745	114	22	state	state	NOUN
alkej-745	114	23	observerbased	observerbase	VERB
alkej-745	114	24	computed	compute	VERB
alkej-745	114	25	torque	torque	NOUN
alkej-745	114	26	control	control	NOUN
alkej-745	114	27	for	for	ADP
alkej-745	114	28	trajectory	trajectory	NOUN
alkej-745	114	29	tracking	tracking	NOUN
alkej-745	114	30	of	of	ADP
alkej-745	114	31	uncertain	uncertain	ADJ
alkej-745	114	32	robotic	robotic	ADJ
alkej-745	114	33	manipulator	manipulator	NOUN
alkej-745	114	34	systems	system	NOUN
alkej-745	114	35	”	"	PUNCT
alkej-745	114	36	,	,	PUNCT
alkej-745	114	37	international	international	ADJ
alkej-745	114	38	journal	journal	NOUN
alkej-745	114	39	of	of	ADP
alkej-745	114	40	advanced	advanced	ADJ
alkej-745	114	41	robotic	robotic	ADJ
alkej-745	114	42	systems	system	NOUN
alkej-745	114	43	,	,	PUNCT
alkej-745	114	44	vol	vol	NOUN
alkej-745	114	45	.	.	PROPN
alkej-745	114	46	15	15	NUM
alkej-745	114	47	,	,	PUNCT
alkej-745	114	48	pp	pp	ADJ
alkej-745	114	49	.	.	PUNCT
alkej-745	115	1	1	1	NUM
alkej-745	115	2	-	-	SYM
alkej-745	115	3	12	12	NUM
alkej-745	115	4	,	,	PUNCT
alkej-745	115	5	2018	2018	NUM
alkej-745	115	6	.	.	PUNCT
alkej-745	115	7	)	)	PUNCT
alkej-745	116	1	2021	2021	NUM
alkej-745	116	2	(	(	PUNCT
alkej-745	116	3	2228	2228	NUM
alkej-745	116	4	صفحة	صفحة	PROPN
alkej-745	116	5	،	،	X
alkej-745	117	1	3العدد	3العدد	NUM
alkej-745	117	2	،	،	NOUN
alkej-745	117	3	17المجلد	17المجلد	PROPN
alkej-745	117	4	الهندسية	الهندسية	PROPN
alkej-745	117	5	الخوارزمي	الخوارزمي	VERB
alkej-745	117	6	جلةم	جلةم	PROPN
alkej-745	117	7	مريم	مريم	NOUN
alkej-745	117	8	صادق	صادق	ADV
alkej-745	117	9	احمد	احمد	NOUN
alkej-745	117	10	28	28	NUM
alkej-745	117	11	التحكم	التحكم	NOUN
alkej-745	117	12	المتين	المتين	NOUN
alkej-745	117	13	في	في	SCONJ
alkej-745	117	14	متحكم	متحكم	NOUN
alkej-745	117	15	عزم	عزم	ADJ
alkej-745	117	16	دوران	دوران	VERB
alkej-745	117	17	ذراع	ذراع	NOUN
alkej-745	117	18	االنسان	االنسان	NOUN
alkej-745	117	19	االلي	االلي	PROPN
alkej-745	117	20	*	*	PUNCT
alkej-745	118	1	*	*	PUNCT
alkej-745	118	2	*	*	PUNCT
alkej-745	118	3	هشام	هشام	ADJ
alkej-745	118	4	حسن	حسن	NOUN
alkej-745	118	5	جاسم	جاسم	NOUN
alkej-745	118	6	*	*	PUNCT
alkej-745	118	7	*	*	NOUN
alkej-745	118	8	علي	علي	PROPN
alkej-745	118	9	حسين	حسين	PROPN
alkej-745	118	10	مري	مري	PROPN
alkej-745	118	11	احمد	احمد	PROPN
alkej-745	118	12	*	*	PROPN
alkej-745	118	13	مريم	مريم	VERB
alkej-745	118	14	صادق	صادق	ADV
alkej-745	118	15	*	*	PUNCT
alkej-745	118	16	،	،	X
alkej-745	118	17	*	*	NOUN
alkej-745	118	18	*	*	NOUN
alkej-745	118	19	،	،	X
alkej-745	118	20	*	*	NOUN
alkej-745	118	21	*	*	PUNCT
alkej-745	118	22	*	*	VERB
alkej-745	118	23	قسم	قسم	PRON
alkej-745	118	24	هندسة	هندسة	NOUN
alkej-745	118	25	الميكاترونكس/	الميكاترونكس/	NUM
alkej-745	118	26	كلية	كلية	NOUN
alkej-745	118	27	الهندسة	الهندسة	NOUN
alkej-745	118	28	الخوارزمي/	الخوارزمي/	NUM
alkej-745	118	29	جامعة	جامعة	NOUN
alkej-745	118	30	بغداد	بغداد	NOUN
alkej-745	118	31	maryamsadeq97@gmail.com	maryamsadeq97@gmail.com	PROPN
alkej-745	118	32	:	:	PUNCT
alkej-745	118	33	البريد	البريد	VERB
alkej-745	118	34	االلكتروني	االلكتروني	NOUN
alkej-745	118	35	*	*	PUNCT
alkej-745	118	36	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-745	118	37	:	:	PUNCT
alkej-745	118	38	البريد	البريد	VERB
alkej-745	118	39	االلكتروني	االلكتروني	NOUN
alkej-745	118	40	*	*	PUNCT
alkej-745	118	41	*	*	PUNCT
alkej-745	119	1	mschisham@gmail.com	mschisham@gmail.com	X
alkej-745	119	2	:	:	PUNCT
alkej-745	119	3	البريد	البريد	VERB
alkej-745	119	4	االلكتروني	االلكتروني	NOUN
alkej-745	119	5	*	*	PUNCT
alkej-745	119	6	*	*	PUNCT
alkej-745	119	7	*	*	PUNCT
alkej-745	119	8	الصةالخ	الصةالخ	PROPN
alkej-745	119	9	ثل	ثل	AUX
alkej-745	119	10	نظام	نظام	VERB
alkej-745	119	11	يدرس	يدرس	ADJ
alkej-745	119	12	هذا	هذا	NOUN
alkej-745	119	13	البحث	البحث	PROPN
alkej-745	119	14	السيطرة	السيطرة	PROPN
alkej-745	119	15	على	على	PROPN
alkej-745	119	16	ذراع	ذراع	PROPN
alkej-745	119	17	روبوت	روبوت	PROPN
alkej-745	119	18	حيث	حيث	PROPN
alkej-745	119	19	تم	تم	ADP
alkej-745	119	20	إقتراح	إقتراح	NOUN
alkej-745	119	21	بناء	بناء	ADP
alkej-745	120	1	منظومة	منظومة	ADV
alkej-745	120	2	سيطرة	سيطرة	PROPN
alkej-745	120	3	باالعتماد	باالعتماد	X
alkej-745	120	4	على	على	PROPN
alkej-745	120	5	طرق	طرق	NOUN
alkej-745	120	6	السيطرة	السيطرة	PROPN
alkej-745	120	7	الذكية	الذكية	PROPN
alkej-745	120	8	.	.	PUNCT
alkej-745	121	1	إذ	إذ	VERB
alkej-745	121	2	إن	إن	PRON
alkej-745	121	3	ذراع	ذراع	PROPN
alkej-745	121	4	الروبوت	الروبوت	PROPN
alkej-745	121	5	تم	تم	PROPN
alkej-745	121	6	uncertaintyال	uncertaintyال	PROPN
alkej-745	121	7	خطيا	خطيا	PROPN
alkej-745	121	8	وخاصة	وخاصة	PROPN
alkej-745	121	9	مع	مع	PROPN
alkej-745	121	10	عدم	عدم	PROPN
alkej-745	121	11	القدرة	القدرة	PROPN
alkej-745	121	12	على	على	PROPN
alkej-745	121	13	تمثيل	تمثيل	PROPN
alkej-745	121	14	النظام	النظام	VERB
alkej-745	121	15	بشكل	بشكل	NOUN
alkej-745	121	16	مثالي	مثالي	ADJ
alkej-745	121	17	بسبب	بسبب	ADJ
alkej-745	121	18	ازعاجات	ازعاجات	NOUN
alkej-745	121	19	الحمل	الحمل	PROPN
alkej-745	121	20	واإلخطاء	واإلخطاء	VERB
alkej-745	121	21	التي	التي	PROPN
alkej-745	121	22	تحصل	تحصل	VERB
alkej-745	121	23	عند	عند	PROPN
alkej-745	121	24	نمذجة	نمذجة	NOUN
alkej-745	121	25	النظام	النظام	PROPN
alkej-745	121	26	وهو	وهو	PROPN
alkej-745	121	27	مايسمى	مايسمى	PROPN
alkej-745	121	28	system	system	NOUN
alkej-745	121	29	وهذا	وهذا	VERB
alkej-745	121	30	من	من	DET
alkej-745	121	31	خالل	خالل	PROPN
alkej-745	121	32	تحسين	تحسين	PROPN
alkej-745	121	33	تحكم	تحكم	PROPN
alkej-745	121	34	عزم	عزم	PROPN
alkej-745	121	35	الدورانctcاستخدمت	الدورانctcاستخدمت	PROPN
alkej-745	121	36	نظرية	نظرية	PROPN
alkej-745	121	37	,	,	PUNCT
alkej-745	121	38	lyapunov	lyapunov	PROPN
alkej-745	121	39	للحصول	للحصول	NOUN
alkej-745	121	40	على	على	PROPN
alkej-745	121	41	استقرارية	استقرارية	NOUN
alkej-745	121	42	النظام	النظام	NOUN
alkej-745	121	43	.	.	PUNCT
alkej-745	122	1	و	و	PRON
alkej-745	122	2	تم	تم	ADP
alkej-745	122	3	اختبار	اختبار	NOUN
alkej-745	122	4	أداء	أداء	NOUN
alkej-745	122	5	المتحكم	المتحكم	PROPN
alkej-745	122	6	المقترح	المقترح	VERB
alkej-745	122	7	مقترحة	مقترحة	NOUN
alkej-745	122	8	ومتانتها	ومتانتها	NOUN
alkej-745	122	9	والحصول	والحصول	NOUN
alkej-745	122	10	متحكم	متحكم	NOUN
alkej-745	122	11	عزم	عزم	VERB
alkej-745	122	12	الدوران	الدوران	PROPN
alkej-745	122	13	المحسوب	المحسوب	PROPN
alkej-745	122	14	التقليدي	التقليدي	NOUN
alkej-745	122	15	,	,	PUNCT
alkej-745	122	16	حيث	حيث	NOUN
alkej-745	122	17	توضح	توضح	ADV
alkej-745	122	18	نتيجة	نتيجة	VERB
alkej-745	122	19	المحاكاة	المحاكاة	PROPN
alkej-745	122	20	قوة	قوة	PROPN
alkej-745	122	21	الطريقة	الطريقة	NOUN
alkej-745	122	22	الومقارنتها	الومقارنتها	PROPN
alkej-745	122	23	مع	مع	ADP
alkej-745	122	24	matlab	matlab	PROPN
alkej-745	122	25	simulink	simulink	PROPN
alkej-745	122	26	بواسطه	بواسطه	PROPN
alkej-745	122	27	على	على	PROPN
alkej-745	122	28	تتبع	تتبع	PROPN
alkej-745	122	29	مسار	مسار	PROPN
alkej-745	122	30	جيد	جيد	PUNCT
alkej-745	122	31	وفق	وفق	PROPN
alkej-745	122	32	االداء	االداء	PROPN
alkej-745	122	33	الطلوب	الطلوب	ADV
alkej-745	122	34	.	.	PUNCT