id	sid	tid	token	lemma	pos
alkej-896	1	1	this	this	PRON
alkej-896	1	2	is	be	AUX
alkej-896	1	3	an	an	DET
alkej-896	1	4	open	open	ADJ
alkej-896	1	5	access	access	NOUN
alkej-896	1	6	article	article	NOUN
alkej-896	1	7	under	under	ADP
alkej-896	1	8	the	the	DET
alkej-896	1	9	cc	cc	NOUN
alkej-896	1	10	by	by	ADP
alkej-896	1	11	license	license	NOUN
alkej-896	1	12	:	:	PUNCT
alkej-896	1	13	al	al	PROPN
alkej-896	1	14	-	-	PUNCT
alkej-896	1	15	khwarizmi	khwarizmi	PROPN
alkej-896	1	16	engineering	engineering	PROPN
alkej-896	1	17	journal	journal	PROPN
alkej-896	1	18	al	al	PROPN
alkej-896	1	19	-	-	PUNCT
alkej-896	1	20	khwarizmi	khwarizmi	PROPN
alkej-896	1	21	engineering	engineering	PROPN
alkej-896	1	22	journal	journal	PROPN
alkej-896	1	23	issn	issn	PROPN
alkej-896	1	24	(	(	PUNCT
alkej-896	1	25	printed	print	VERB
alkej-896	1	26	):	):	PUNCT
alkej-896	1	27	1818	1818	NUM
alkej-896	1	28	–	–	PUNCT
alkej-896	1	29	1171	1171	NUM
alkej-896	1	30	,	,	PUNCT
alkej-896	1	31	issn	issn	PROPN
alkej-896	1	32	(	(	PUNCT
alkej-896	1	33	online	online	ADJ
alkej-896	1	34	):	):	PUNCT
alkej-896	1	35	2312	2312	NUM
alkej-896	1	36	–	–	PUNCT
alkej-896	1	37	0789	0789	NUM
alkej-896	1	38	vol	vol	NOUN
alkej-896	1	39	.	.	PROPN
alkej-896	1	40	20	20	NUM
alkej-896	1	41	,	,	PUNCT
alkej-896	1	42	no	no	INTJ
alkej-896	1	43	.	.	NOUN
alkej-896	1	44	1	1	NUM
alkej-896	1	45	,	,	PUNCT
alkej-896	1	46	march	march	PROPN
alkej-896	1	47	,	,	PUNCT
alkej-896	1	48	(	(	PUNCT
alkej-896	1	49	2024	2024	NUM
alkej-896	1	50	)	)	PUNCT
alkej-896	1	51	,	,	PUNCT
alkej-896	1	52	p	p	PROPN
alkej-896	1	53	p.	p.	NOUN
alkej-896	1	54	6375	6375	NUM
alkej-896	1	55	adaptive	adaptive	ADJ
alkej-896	1	56	robust	robust	ADJ
alkej-896	1	57	tracking	tracking	NOUN
alkej-896	1	58	control	control	NOUN
alkej-896	1	59	of	of	ADP
alkej-896	1	60	robotic	robotic	ADJ
alkej-896	1	61	manipulator	manipulator	NOUN
alkej-896	1	62	based	base	VERB
alkej-896	1	63	on	on	ADP
alkej-896	1	64	smc	smc	PROPN
alkej-896	1	65	and	and	CCONJ
alkej-896	1	66	fuzzy	fuzzy	ADJ
alkej-896	1	67	control	control	NOUN
alkej-896	1	68	strategy	strategy	PROPN
alkej-896	1	69	ali	ali	PROPN
alkej-896	1	70	hussien	hussien	PROPN
alkej-896	1	71	mary	mary	PROPN
alkej-896	1	72	*	*	PROPN
alkej-896	1	73	ahmad	ahmad	PROPN
alkej-896	1	74	al	al	PROPN
alkej-896	1	75	-	-	PUNCT
alkej-896	1	76	talabi	talabi	NOUN
alkej-896	1	77	*	*	NOUN
alkej-896	1	78	*	*	NOUN
alkej-896	1	79	tolgay	tolgay	PROPN
alkej-896	1	80	kara	kara	PROPN
alkej-896	1	81	*	*	PUNCT
alkej-896	1	82	*	*	PUNCT
alkej-896	1	83	*	*	PUNCT
alkej-896	1	84	dina	dina	PROPN
alkej-896	1	85	saadi	saadi	PROPN
alkej-896	1	86	muneam	muneam	PROPN
alkej-896	1	87	*	*	PROPN
alkej-896	1	88	*	*	PUNCT
alkej-896	1	89	*	*	PUNCT
alkej-896	1	90	*	*	PUNCT
alkej-896	1	91	mohammad	mohammad	PROPN
alkej-896	1	92	yahya	yahya	PROPN
alkej-896	1	93	almuhanna	almuhanna	NOUN
alkej-896	1	94	*	*	NOUN
alkej-896	1	95	*	*	PUNCT
alkej-896	1	96	*	*	PUNCT
alkej-896	1	97	*	*	PUNCT
alkej-896	1	98	*	*	PUNCT
alkej-896	1	99	laith	laith	PROPN
alkej-896	1	100	awda	awda	ADJ
alkej-896	1	101	kadhim	kadhim	ADJ
alkej-896	1	102	mayyahi	mayyahi	NOUN
alkej-896	1	103	*	*	PUNCT
alkej-896	1	104	*	*	PUNCT
alkej-896	1	105	*	*	PUNCT
alkej-896	1	106	*	*	PUNCT
alkej-896	1	107	*	*	PUNCT
alkej-896	1	108	*	*	PUNCT
alkej-896	1	109	*	*	PUNCT
alkej-896	1	110	,	,	PUNCT
alkej-896	1	111	*	*	PUNCT
alkej-896	1	112	*	*	PUNCT
alkej-896	1	113	*	*	PUNCT
alkej-896	1	114	*	*	PUNCT
alkej-896	1	115	,	,	PUNCT
alkej-896	1	116	*	*	PUNCT
alkej-896	1	117	*	*	PUNCT
alkej-896	1	118	*	*	PUNCT
alkej-896	1	119	*	*	PUNCT
alkej-896	1	120	*	*	PUNCT
alkej-896	1	121	department	department	PROPN
alkej-896	1	122	of	of	ADP
alkej-896	1	123	mechatronics	mechatronic	NOUN
alkej-896	1	124	engineering	engineering	PROPN
alkej-896	1	125	/	/	SYM
alkej-896	1	126	al	al	PROPN
alkej-896	1	127	-	-	PUNCT
alkej-896	1	128	khwarizmi	khwarizmi	PROPN
alkej-896	1	129	college	college	PROPN
alkej-896	1	130	of	of	ADP
alkej-896	1	131	engineering/	engineering/	NUM
alkej-896	1	132	university	university	NOUN
alkej-896	1	133	of	of	ADP
alkej-896	1	134	baghdad/	baghdad/	NUM
alkej-896	1	135	baghdad/	baghdad/	NUM
alkej-896	1	136	iraq	iraq	PROPN
alkej-896	1	137	*	*	PUNCT
alkej-896	1	138	*	*	PUNCT
alkej-896	1	139	department	department	PROPN
alkej-896	1	140	of	of	ADP
alkej-896	1	141	medical	medical	ADJ
alkej-896	1	142	instrumentation	instrumentation	NOUN
alkej-896	1	143	techniques	technique	NOUN
alkej-896	1	144	engineering/	engineering/	NUM
alkej-896	1	145	college	college	NOUN
alkej-896	1	146	of	of	ADP
alkej-896	1	147	engineering	engineering	NOUN
alkej-896	1	148	and	and	CCONJ
alkej-896	1	149	information	information	NOUN
alkej-896	1	150	technology	technology	NOUN
alkej-896	1	151	/	/	SYM
alkej-896	1	152	alshaab	alshaab	PROPN
alkej-896	1	153	university/	university/	PROPN
alkej-896	1	154	baghdad	baghdad	PROPN
alkej-896	1	155	/	/	SYM
alkej-896	1	156	iraq	iraq	PROPN
alkej-896	1	157	*	*	PUNCT
alkej-896	2	1	*	*	PUNCT
alkej-896	2	2	*	*	PUNCT
alkej-896	2	3	gaziantep	gaziantep	PROPN
alkej-896	2	4	university/	university/	NUM
alkej-896	2	5	türkiye	türkiye	PROPN
alkej-896	2	6	*	*	PUNCT
alkej-896	3	1	*	*	PUNCT
alkej-896	3	2	*	*	PUNCT
alkej-896	3	3	*	*	PUNCT
alkej-896	3	4	*	*	PUNCT
alkej-896	3	5	*	*	PROPN
alkej-896	3	6	carleton	carleton	PROPN
alkej-896	3	7	university	university	PROPN
alkej-896	3	8	/	/	SYM
alkej-896	3	9	faculty	faculty	NOUN
alkej-896	3	10	of	of	ADP
alkej-896	3	11	engineering	engineering	NOUN
alkej-896	3	12	and	and	CCONJ
alkej-896	3	13	design/	design/	NUM
alkej-896	3	14	ottawa/	ottawa/	NUM
alkej-896	3	15	canada	canada	PROPN
alkej-896	3	16	corresponding	corresponding	ADJ
alkej-896	3	17	author	author	NOUN
alkej-896	3	18	:	:	PUNCT
alkej-896	3	19	*	*	PUNCT
alkej-896	3	20	email	email	NOUN
alkej-896	3	21	:	:	PUNCT
alkej-896	3	22	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-896	3	23	*	*	PUNCT
alkej-896	3	24	*	*	NOUN
alkej-896	3	25	email	email	NOUN
alkej-896	3	26	:	:	PUNCT
alkej-896	3	27	ahmad.altalabi@alshaab.edu.iq	ahmad.altalabi@alshaab.edu.iq	ADJ
alkej-896	3	28	*	*	PUNCT
alkej-896	3	29	*	*	PUNCT
alkej-896	3	30	*	*	NOUN
alkej-896	3	31	email	email	NOUN
alkej-896	3	32	:	:	PUNCT
alkej-896	3	33	kara@gantep.edu.tr	kara@gantep.edu.tr	PROPN
alkej-896	3	34	*	*	PUNCT
alkej-896	4	1	*	*	PUNCT
alkej-896	4	2	*	*	PUNCT
alkej-896	4	3	*	*	NOUN
alkej-896	4	4	email	email	NOUN
alkej-896	4	5	:	:	PUNCT
alkej-896	4	6	deena@kecbu.uobaghdad.edu.iq	deena@kecbu.uobaghdad.edu.iq	VERB
alkej-896	4	7	*	*	PUNCT
alkej-896	4	8	*	*	PUNCT
alkej-896	4	9	*	*	PUNCT
alkej-896	4	10	*	*	PUNCT
alkej-896	4	11	*	*	PUNCT
alkej-896	4	12	*	*	NOUN
alkej-896	4	13	email	email	NOUN
alkej-896	4	14	:	:	PUNCT
alkej-896	4	15	mohammad.yahya@kecbu.uobaghdad.edu.iq	mohammad.yahya@kecbu.uobaghdad.edu.iq	NOUN
alkej-896	4	16	*	*	PUNCT
alkej-896	4	17	*	*	PUNCT
alkej-896	4	18	*	*	PUNCT
alkej-896	4	19	*	*	PUNCT
alkej-896	4	20	*	*	PUNCT
alkej-896	4	21	*	*	NOUN
alkej-896	4	22	email	email	NOUN
alkej-896	4	23	:	:	PUNCT
alkej-896	4	24	laith.mayyahi@carleton.ca	laith.mayyahi@carleton.ca	NOUN
alkej-896	4	25	)	)	PUNCT
alkej-896	4	26	received	receive	VERB
alkej-896	4	27	22	22	NUM
alkej-896	4	28	august	august	PROPN
alkej-896	4	29	2023	2023	NUM
alkej-896	4	30	;	;	PUNCT
alkej-896	4	31	accepted	accept	VERB
alkej-896	4	32	12	12	NUM
alkej-896	4	33	november	november	PROPN
alkej-896	4	34	2023	2023	NUM
alkej-896	4	35	published	publish	VERB
alkej-896	4	36	1	1	NUM
alkej-896	4	37	march	march	NOUN
alkej-896	4	38	2024	2024	NUM
alkej-896	4	39	(	(	PUNCT
alkej-896	4	40	002.11.4https://doi.org/10.22153/kej.202	002.11.4https://doi.org/10.22153/kej.202	NUM
alkej-896	4	41	abstract	abstract	NOUN
alkej-896	4	42	in	in	ADP
alkej-896	4	43	recent	recent	ADJ
alkej-896	4	44	years	year	NOUN
alkej-896	4	45	,	,	PUNCT
alkej-896	4	46	robotic	robotic	ADJ
alkej-896	4	47	systems	system	NOUN
alkej-896	4	48	have	have	AUX
alkej-896	4	49	been	be	AUX
alkej-896	4	50	widely	widely	ADV
alkej-896	4	51	used	use	VERB
alkej-896	4	52	in	in	ADP
alkej-896	4	53	different	different	ADJ
alkej-896	4	54	applications	application	NOUN
alkej-896	4	55	,	,	PUNCT
alkej-896	4	56	and	and	CCONJ
alkej-896	4	57	this	this	PRON
alkej-896	4	58	has	have	AUX
alkej-896	4	59	motivated	motivated	ADJ
alkej-896	4	60	researchers	researcher	NOUN
alkej-896	4	61	to	to	PART
alkej-896	4	62	develop	develop	VERB
alkej-896	4	63	different	different	ADJ
alkej-896	4	64	control	control	NOUN
alkej-896	4	65	methods	method	NOUN
alkej-896	4	66	.	.	PUNCT
alkej-896	5	1	a	a	DET
alkej-896	5	2	model	model	NOUN
alkej-896	5	3	-	-	PUNCT
alkej-896	5	4	free	free	ADJ
alkej-896	5	5	,	,	PUNCT
alkej-896	5	6	intelligent	intelligent	ADJ
alkej-896	5	7	,	,	PUNCT
alkej-896	5	8	robust	robust	ADJ
alkej-896	5	9	control	control	NOUN
alkej-896	5	10	method	method	NOUN
alkej-896	5	11	for	for	ADP
alkej-896	5	12	a	a	DET
alkej-896	5	13	nonlinear	nonlinear	ADJ
alkej-896	5	14	robotic	robotic	ADJ
alkej-896	5	15	manipulator	manipulator	NOUN
alkej-896	5	16	system	system	NOUN
alkej-896	5	17	is	be	AUX
alkej-896	5	18	proposed	propose	VERB
alkej-896	5	19	in	in	ADP
alkej-896	5	20	this	this	DET
alkej-896	5	21	work	work	NOUN
alkej-896	5	22	.	.	PUNCT
alkej-896	6	1	this	this	DET
alkej-896	6	2	paper	paper	NOUN
alkej-896	6	3	presents	present	VERB
alkej-896	6	4	a	a	DET
alkej-896	6	5	novel	novel	ADJ
alkej-896	6	6	solution	solution	NOUN
alkej-896	6	7	for	for	ADP
alkej-896	6	8	the	the	DET
alkej-896	6	9	major	major	ADJ
alkej-896	6	10	drawbacks	drawback	NOUN
alkej-896	6	11	of	of	ADP
alkej-896	6	12	the	the	DET
alkej-896	6	13	sliding	slide	VERB
alkej-896	6	14	mode	mode	NOUN
alkej-896	6	15	control	control	NOUN
alkej-896	6	16	scheme	scheme	NOUN
alkej-896	6	17	,	,	PUNCT
alkej-896	6	18	which	which	PRON
alkej-896	6	19	are	be	AUX
alkej-896	6	20	chattering	chatter	VERB
alkej-896	6	21	.	.	PUNCT
alkej-896	7	1	prior	prior	ADJ
alkej-896	7	2	knowledge	knowledge	NOUN
alkej-896	7	3	is	be	AUX
alkej-896	7	4	needed	need	VERB
alkej-896	7	5	about	about	ADP
alkej-896	7	6	the	the	DET
alkej-896	7	7	dynamic	dynamic	ADJ
alkej-896	7	8	model	model	NOUN
alkej-896	7	9	of	of	ADP
alkej-896	7	10	the	the	DET
alkej-896	7	11	controlled	control	VERB
alkej-896	7	12	system	system	NOUN
alkej-896	7	13	and	and	CCONJ
alkej-896	7	14	the	the	DET
alkej-896	7	15	upper	upper	ADJ
alkej-896	7	16	bound	bound	NOUN
alkej-896	7	17	of	of	ADP
alkej-896	7	18	uncertainty	uncertainty	NOUN
alkej-896	7	19	.	.	PUNCT
alkej-896	8	1	in	in	ADP
alkej-896	8	2	this	this	DET
alkej-896	8	3	paper	paper	NOUN
alkej-896	8	4	,	,	PUNCT
alkej-896	8	5	a	a	DET
alkej-896	8	6	fuzzy	fuzzy	ADJ
alkej-896	8	7	-	-	PUNCT
alkej-896	8	8	like	like	ADJ
alkej-896	8	9	pd	pd	NOUN
alkej-896	8	10	controller	controller	NOUN
alkej-896	8	11	with	with	ADP
alkej-896	8	12	smc	smc	PROPN
alkej-896	8	13	(	(	PUNCT
alkej-896	8	14	flpdsm	flpdsm	PROPN
alkej-896	8	15	)	)	PUNCT
alkej-896	8	16	is	be	AUX
alkej-896	8	17	proposed	propose	VERB
alkej-896	8	18	.	.	PUNCT
alkej-896	9	1	the	the	DET
alkej-896	9	2	fuzzy	fuzzy	ADJ
alkej-896	9	3	-	-	PUNCT
alkej-896	9	4	like	like	ADJ
alkej-896	9	5	pd	pd	NOUN
alkej-896	9	6	controller	controller	NOUN
alkej-896	9	7	was	be	AUX
alkej-896	9	8	designed	design	VERB
alkej-896	9	9	according	accord	VERB
alkej-896	9	10	to	to	ADP
alkej-896	9	11	fuzzy	fuzzy	ADJ
alkej-896	9	12	rules	rule	NOUN
alkej-896	9	13	and	and	CCONJ
alkej-896	9	14	membership	membership	NOUN
alkej-896	9	15	functions	function	NOUN
alkej-896	9	16	based	base	VERB
alkej-896	9	17	on	on	ADP
alkej-896	9	18	the	the	DET
alkej-896	9	19	nominal	nominal	ADJ
alkej-896	9	20	model	model	NOUN
alkej-896	9	21	of	of	ADP
alkej-896	9	22	the	the	DET
alkej-896	9	23	robot	robot	NOUN
alkej-896	9	24	manipulator	manipulator	NOUN
alkej-896	9	25	.	.	PUNCT
alkej-896	10	1	a	a	DET
alkej-896	10	2	robust	robust	ADJ
alkej-896	10	3	control	control	NOUN
alkej-896	10	4	term	term	NOUN
alkej-896	10	5	was	be	AUX
alkej-896	10	6	added	add	VERB
alkej-896	10	7	to	to	ADP
alkej-896	10	8	the	the	DET
alkej-896	10	9	control	control	NOUN
alkej-896	10	10	signal	signal	NOUN
alkej-896	10	11	to	to	PART
alkej-896	10	12	compensate	compensate	VERB
alkej-896	10	13	for	for	ADP
alkej-896	10	14	the	the	DET
alkej-896	10	15	system	system	NOUN
alkej-896	10	16	uncertainty	uncertainty	NOUN
alkej-896	10	17	,	,	PUNCT
alkej-896	10	18	and	and	CCONJ
alkej-896	10	19	external	external	ADJ
alkej-896	10	20	disturbances	disturbance	NOUN
alkej-896	10	21	are	be	AUX
alkej-896	10	22	compensated	compensate	VERB
alkej-896	10	23	by	by	ADP
alkej-896	10	24	adding	add	VERB
alkej-896	10	25	an	an	DET
alkej-896	10	26	auxiliary	auxiliary	ADJ
alkej-896	10	27	robust	robust	ADJ
alkej-896	10	28	term	term	NOUN
alkej-896	10	29	to	to	ADP
alkej-896	10	30	the	the	DET
alkej-896	10	31	smc	smc	PROPN
alkej-896	10	32	control	control	PROPN
alkej-896	10	33	law	law	PROPN
alkej-896	10	34	.	.	PUNCT
alkej-896	11	1	two	two	NUM
alkej-896	11	2	methods	method	NOUN
alkej-896	11	3	for	for	ADP
alkej-896	11	4	designing	design	VERB
alkej-896	11	5	robust	robust	ADJ
alkej-896	11	6	control	control	NOUN
alkej-896	11	7	terms	term	NOUN
alkej-896	11	8	are	be	AUX
alkej-896	11	9	proposed	propose	VERB
alkej-896	11	10	.	.	PUNCT
alkej-896	12	1	the	the	DET
alkej-896	12	2	first	first	ADJ
alkej-896	12	3	proposed	propose	VERB
alkej-896	12	4	method	method	NOUN
alkej-896	12	5	assumes	assume	VERB
alkej-896	12	6	that	that	SCONJ
alkej-896	12	7	the	the	DET
alkej-896	12	8	upper	upper	ADJ
alkej-896	12	9	bound	bound	NOUN
alkej-896	12	10	of	of	ADP
alkej-896	12	11	system	system	NOUN
alkej-896	12	12	uncertainty	uncertainty	NOUN
alkej-896	12	13	is	be	AUX
alkej-896	12	14	known	know	VERB
alkej-896	12	15	although	although	SCONJ
alkej-896	12	16	it	it	PRON
alkej-896	12	17	can	can	AUX
alkej-896	12	18	not	not	PART
alkej-896	12	19	be	be	AUX
alkej-896	12	20	exactly	exactly	ADV
alkej-896	12	21	determined	determined	ADJ
alkej-896	12	22	due	due	ADP
alkej-896	12	23	to	to	ADP
alkej-896	12	24	external	external	ADJ
alkej-896	12	25	disturbances	disturbance	NOUN
alkej-896	12	26	and	and	CCONJ
alkej-896	12	27	uncertainty	uncertainty	NOUN
alkej-896	12	28	.	.	PUNCT
alkej-896	13	1	hence	hence	ADV
alkej-896	13	2	,	,	PUNCT
alkej-896	13	3	a	a	DET
alkej-896	13	4	second	second	ADJ
alkej-896	13	5	method	method	NOUN
alkej-896	13	6	was	be	AUX
alkej-896	13	7	proposed	propose	VERB
alkej-896	13	8	that	that	SCONJ
alkej-896	13	9	assumes	assume	VERB
alkej-896	13	10	this	this	PRON
alkej-896	13	11	bound	bind	VERB
alkej-896	13	12	to	to	PART
alkej-896	13	13	be	be	AUX
alkej-896	13	14	unknown	unknown	ADJ
alkej-896	13	15	,	,	PUNCT
alkej-896	13	16	and	and	CCONJ
alkej-896	13	17	an	an	DET
alkej-896	13	18	adaptive	adaptive	ADJ
alkej-896	13	19	gain	gain	NOUN
alkej-896	13	20	based	base	VERB
alkej-896	13	21	on	on	ADP
alkej-896	13	22	lyapunov	lyapunov	PROPN
alkej-896	13	23	theory	theory	NOUN
alkej-896	13	24	was	be	AUX
alkej-896	13	25	used	use	VERB
alkej-896	13	26	to	to	PART
alkej-896	13	27	derive	derive	VERB
alkej-896	13	28	the	the	DET
alkej-896	13	29	adaptation	adaptation	NOUN
alkej-896	13	30	law	law	NOUN
alkej-896	13	31	.	.	PUNCT
alkej-896	14	1	the	the	DET
alkej-896	14	2	lyapunov	lyapunov	ADJ
alkej-896	14	3	second	second	ADJ
alkej-896	14	4	method	method	NOUN
alkej-896	14	5	was	be	AUX
alkej-896	14	6	used	use	VERB
alkej-896	14	7	to	to	PART
alkej-896	14	8	ensure	ensure	VERB
alkej-896	14	9	the	the	DET
alkej-896	14	10	stability	stability	NOUN
alkej-896	14	11	of	of	ADP
alkej-896	14	12	the	the	DET
alkej-896	14	13	closed	closed	ADJ
alkej-896	14	14	loop	loop	NOUN
alkej-896	14	15	system	system	NOUN
alkej-896	14	16	.	.	PUNCT
alkej-896	15	1	performance	performance	NOUN
alkej-896	15	2	tests	test	NOUN
alkej-896	15	3	on	on	ADP
alkej-896	15	4	the	the	DET
alkej-896	15	5	proposed	propose	VERB
alkej-896	15	6	methods	method	NOUN
alkej-896	15	7	were	be	AUX
alkej-896	15	8	implemented	implement	VERB
alkej-896	15	9	through	through	ADP
alkej-896	15	10	simulation	simulation	NOUN
alkej-896	15	11	studies	study	NOUN
alkej-896	15	12	for	for	ADP
alkej-896	15	13	the	the	DET
alkej-896	15	14	two	two	NUM
alkej-896	15	15	-	-	PUNCT
alkej-896	15	16	link	link	NOUN
alkej-896	15	17	robotic	robotic	ADJ
alkej-896	15	18	manipulator	manipulator	NOUN
alkej-896	15	19	,	,	PUNCT
alkej-896	15	20	and	and	CCONJ
alkej-896	15	21	the	the	DET
alkej-896	15	22	test	test	NOUN
alkej-896	15	23	results	result	NOUN
alkej-896	15	24	were	be	AUX
alkej-896	15	25	compared	compare	VERB
alkej-896	15	26	with	with	ADP
alkej-896	15	27	the	the	DET
alkej-896	15	28	standard	standard	ADJ
alkej-896	15	29	smc	smc	PROPN
alkej-896	15	30	to	to	PART
alkej-896	15	31	verify	verify	VERB
alkej-896	15	32	the	the	DET
alkej-896	15	33	effectiveness	effectiveness	NOUN
alkej-896	15	34	of	of	ADP
alkej-896	15	35	the	the	DET
alkej-896	15	36	proposed	propose	VERB
alkej-896	15	37	method	method	NOUN
alkej-896	15	38	.	.	PUNCT
alkej-896	16	1	a	a	DET
alkej-896	16	2	good	good	ADJ
alkej-896	16	3	trajectory	trajectory	NOUN
alkej-896	16	4	tracking	tracking	NOUN
alkej-896	16	5	with	with	ADP
alkej-896	16	6	a	a	DET
alkej-896	16	7	high	high	ADJ
alkej-896	16	8	robustness	robustness	NOUN
alkej-896	16	9	against	against	ADP
alkej-896	16	10	parameter	parameter	NOUN
alkej-896	16	11	variations	variation	NOUN
alkej-896	16	12	and	and	CCONJ
alkej-896	16	13	external	external	ADJ
alkej-896	16	14	disturbances	disturbance	NOUN
alkej-896	16	15	was	be	AUX
alkej-896	16	16	observed	observe	VERB
alkej-896	16	17	under	under	ADP
alkej-896	16	18	the	the	DET
alkej-896	16	19	presented	present	VERB
alkej-896	16	20	control	control	NOUN
alkej-896	16	21	scheme	scheme	NOUN
alkej-896	16	22	.	.	PUNCT
alkej-896	17	1	keywords	keyword	NOUN
alkej-896	17	2	:	:	PUNCT
alkej-896	17	3	smc	smc	PROPN
alkej-896	17	4	,	,	PUNCT
alkej-896	17	5	robotic	robotic	ADJ
alkej-896	17	6	systems	system	NOUN
alkej-896	17	7	,	,	PUNCT
alkej-896	17	8	fuzzy	fuzzy	ADJ
alkej-896	17	9	control	control	NOUN
alkej-896	17	10	,	,	PUNCT
alkej-896	17	11	trajectory	trajectory	NOUN
alkej-896	17	12	tracking	tracking	NOUN
alkej-896	17	13	.	.	PUNCT
alkej-896	18	1	1	1	X
alkej-896	18	2	.	.	X
alkej-896	18	3	introduction	introduction	NOUN
alkej-896	18	4	robotic	robotic	ADJ
alkej-896	18	5	manipulators	manipulator	NOUN
alkej-896	18	6	are	be	AUX
alkej-896	18	7	used	use	VERB
alkej-896	18	8	successfully	successfully	ADV
alkej-896	18	9	in	in	ADP
alkej-896	18	10	many	many	ADJ
alkej-896	18	11	particular	particular	ADJ
alkej-896	18	12	applications	application	NOUN
alkej-896	18	13	,	,	PUNCT
alkej-896	18	14	and	and	CCONJ
alkej-896	18	15	especially	especially	ADV
alkej-896	18	16	in	in	ADP
alkej-896	18	17	industrial	industrial	ADJ
alkej-896	18	18	factories	factory	NOUN
alkej-896	18	19	.	.	PUNCT
alkej-896	19	1	accuracy	accuracy	NOUN
alkej-896	19	2	and	and	CCONJ
alkej-896	19	3	precision	precision	NOUN
alkej-896	19	4	are	be	AUX
alkej-896	19	5	important	important	ADJ
alkej-896	19	6	features	feature	NOUN
alkej-896	19	7	that	that	PRON
alkej-896	19	8	encourage	encourage	VERB
alkej-896	19	9	the	the	DET
alkej-896	19	10	use	use	NOUN
alkej-896	19	11	of	of	ADP
alkej-896	19	12	robotic	robotic	ADJ
alkej-896	19	13	manipulators	manipulator	NOUN
alkej-896	19	14	in	in	ADP
alkej-896	19	15	plants	plant	NOUN
alkej-896	19	16	that	that	PRON
alkej-896	19	17	aim	aim	VERB
alkej-896	19	18	to	to	PART
alkej-896	19	19	enhance	enhance	VERB
alkej-896	19	20	their	their	PRON
alkej-896	19	21	products	product	NOUN
alkej-896	19	22	and	and	CCONJ
alkej-896	19	23	manufacturing	manufacturing	NOUN
alkej-896	19	24	processes	process	NOUN
alkej-896	19	25	[	[	X
alkej-896	19	26	1	1	NUM
alkej-896	19	27	]	]	PUNCT
alkej-896	19	28	.	.	PUNCT
alkej-896	20	1	there	there	ADV
alkej-896	20	2	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-896	20	3	mailto:ahmad.altalabi@alshaab.edu.iq	mailto:ahmad.altalabi@alshaab.edu.iq	PROPN
alkej-896	20	4	mailto:yahya@kecbu.uobaghdad.edu.iq	mailto:yahya@kecbu.uobaghdad.edu.iq	PROPN
alkej-896	20	5	mailto:laith.mayyahi@carleton.ca	mailto:laith.mayyahi@carleton.ca	PROPN
alkej-896	20	6	https://doi.org/10.22153/kej.2024.11.002	https://doi.org/10.22153/kej.2024.11.002	PROPN
alkej-896	20	7	ali	ali	PROPN
alkej-896	20	8	hussien	hussien	PROPN
alkej-896	20	9	mary	mary	PROPN
alkej-896	20	10	al	al	PROPN
alkej-896	20	11	-	-	PUNCT
alkej-896	20	12	khwarizmi	khwarizmi	PROPN
alkej-896	20	13	engineering	engineering	NOUN
alkej-896	20	14	journal	journal	PROPN
alkej-896	20	15	,	,	PUNCT
alkej-896	20	16	vol	vol	NOUN
alkej-896	20	17	.	.	PROPN
alkej-896	20	18	20	20	NUM
alkej-896	20	19	,	,	PUNCT
alkej-896	20	20	no	no	INTJ
alkej-896	20	21	.	.	NOUN
alkej-896	20	22	1	1	NUM
alkej-896	20	23	,	,	PUNCT
alkej-896	20	24	p.p	p.p	PROPN
alkej-896	20	25	.	.	NOUN
alkej-896	20	26	6375	6375	NUM
alkej-896	20	27	(	(	PUNCT
alkej-896	20	28	2024	2024	NUM
alkej-896	20	29	)	)	PUNCT
alkej-896	20	30	64	64	NUM
alkej-896	20	31	are	be	AUX
alkej-896	20	32	many	many	ADJ
alkej-896	20	33	challenges	challenge	NOUN
alkej-896	20	34	that	that	PRON
alkej-896	20	35	make	make	VERB
alkej-896	20	36	tracking	tracking	NOUN
alkej-896	20	37	accuracy	accuracy	NOUN
alkej-896	20	38	in	in	ADP
alkej-896	20	39	robotic	robotic	ADJ
alkej-896	20	40	manipulators	manipulator	NOUN
alkej-896	20	41	difficult	difficult	ADJ
alkej-896	20	42	,	,	PUNCT
alkej-896	20	43	including	include	VERB
alkej-896	20	44	high	high	ADJ
alkej-896	20	45	nonlinearity	nonlinearity	NOUN
alkej-896	20	46	,	,	PUNCT
alkej-896	20	47	system	system	NOUN
alkej-896	20	48	uncertainties	uncertainty	NOUN
alkej-896	20	49	,	,	PUNCT
alkej-896	20	50	and	and	CCONJ
alkej-896	20	51	strong	strong	ADJ
alkej-896	20	52	coupling	coupling	NOUN
alkej-896	20	53	between	between	ADP
alkej-896	20	54	adjacent	adjacent	ADJ
alkej-896	20	55	joints	joint	NOUN
alkej-896	20	56	,	,	PUNCT
alkej-896	20	57	hence	hence	ADV
alkej-896	20	58	,	,	PUNCT
alkej-896	20	59	several	several	ADJ
alkej-896	20	60	control	control	NOUN
alkej-896	20	61	schemes	scheme	NOUN
alkej-896	20	62	have	have	AUX
alkej-896	20	63	been	be	AUX
alkej-896	20	64	proposed	propose	VERB
alkej-896	20	65	to	to	PART
alkej-896	20	66	solve	solve	VERB
alkej-896	20	67	these	these	DET
alkej-896	20	68	problems	problem	NOUN
alkej-896	20	69	by	by	ADP
alkej-896	20	70	designing	design	VERB
alkej-896	20	71	a	a	DET
alkej-896	20	72	stable	stable	ADJ
alkej-896	20	73	and	and	CCONJ
alkej-896	20	74	robust	robust	ADJ
alkej-896	20	75	controller	controller	NOUN
alkej-896	20	76	.	.	PUNCT
alkej-896	21	1	because	because	SCONJ
alkej-896	21	2	of	of	ADP
alkej-896	21	3	its	its	PRON
alkej-896	21	4	simplicity	simplicity	NOUN
alkej-896	21	5	in	in	ADP
alkej-896	21	6	structure	structure	NOUN
alkej-896	21	7	and	and	CCONJ
alkej-896	21	8	the	the	DET
alkej-896	21	9	relatively	relatively	ADV
alkej-896	21	10	easy	easy	ADJ
alkej-896	21	11	tuning	tuning	NOUN
alkej-896	21	12	of	of	ADP
alkej-896	21	13	parameters	parameter	NOUN
alkej-896	21	14	,	,	PUNCT
alkej-896	21	15	the	the	DET
alkej-896	21	16	proportional	proportional	ADJ
alkej-896	21	17	integral	integral	ADJ
alkej-896	21	18	derivative	derivative	ADJ
alkej-896	21	19	(	(	PUNCT
alkej-896	21	20	pid	pid	NOUN
alkej-896	21	21	)	)	PUNCT
alkej-896	21	22	controller	controller	NOUN
alkej-896	21	23	is	be	AUX
alkej-896	21	24	applied	apply	VERB
alkej-896	21	25	in	in	ADP
alkej-896	21	26	different	different	ADJ
alkej-896	21	27	control	control	NOUN
alkej-896	21	28	system	system	NOUN
alkej-896	21	29	[	[	X
alkej-896	21	30	2	2	NUM
alkej-896	21	31	]	]	PUNCT
alkej-896	21	32	.	.	PUNCT
alkej-896	22	1	fuzzy	fuzzy	ADJ
alkej-896	22	2	logic	logic	NOUN
alkej-896	22	3	was	be	AUX
alkej-896	22	4	used	use	VERB
alkej-896	22	5	to	to	ADP
alkej-896	22	6	schedul	schedul	NOUN
alkej-896	22	7	of	of	ADP
alkej-896	22	8	the	the	DET
alkej-896	22	9	pid	pid	NOUN
alkej-896	22	10	controller	controller	NOUN
alkej-896	22	11	to	to	PART
alkej-896	22	12	control	control	VERB
alkej-896	22	13	the	the	DET
alkej-896	22	14	hybrid	hybrid	NOUN
alkej-896	22	15	robot	robot	NOUN
alkej-896	22	16	manipulator	manipulator	NOUN
alkej-896	22	17	[	[	X
alkej-896	22	18	3	3	NUM
alkej-896	22	19	]	]	PUNCT
alkej-896	22	20	.	.	PUNCT
alkej-896	23	1	fuzzy	fuzzy	ADJ
alkej-896	23	2	type	type	NOUN
alkej-896	23	3	2	2	NUM
alkej-896	23	4	had	have	AUX
alkej-896	23	5	been	be	AUX
alkej-896	23	6	proposed	propose	VERB
alkej-896	23	7	for	for	ADP
alkej-896	23	8	the	the	DET
alkej-896	23	9	control	control	NOUN
alkej-896	23	10	of	of	ADP
alkej-896	23	11	the	the	DET
alkej-896	23	12	2dof	2dof	PROPN
alkej-896	23	13	robotic	robotic	ADJ
alkej-896	23	14	manipulator	manipulator	NOUN
alkej-896	23	15	with	with	ADP
alkej-896	23	16	grey	grey	PROPN
alkej-896	23	17	wolf	wolf	PROPN
alkej-896	23	18	optimization	optimization	NOUN
alkej-896	23	19	used	use	VERB
alkej-896	23	20	for	for	ADP
alkej-896	23	21	tuning	tune	VERB
alkej-896	23	22	the	the	DET
alkej-896	23	23	parameters	parameter	NOUN
alkej-896	23	24	[	[	X
alkej-896	23	25	4	4	NUM
alkej-896	23	26	]	]	PUNCT
alkej-896	23	27	.	.	PUNCT
alkej-896	24	1	the	the	DET
alkej-896	24	2	particle	particle	NOUN
alkej-896	24	3	swarm	swarm	NOUN
alkej-896	24	4	optimization	optimization	NOUN
alkej-896	24	5	method	method	NOUN
alkej-896	24	6	was	be	AUX
alkej-896	24	7	combined	combine	VERB
alkej-896	24	8	with	with	ADP
alkej-896	24	9	the	the	DET
alkej-896	24	10	pid	pid	NOUN
alkej-896	24	11	controller	controller	NOUN
alkej-896	24	12	to	to	PART
alkej-896	24	13	stabilize	stabilize	VERB
alkej-896	24	14	the	the	DET
alkej-896	24	15	humanoid	humanoid	NOUN
alkej-896	24	16	robot	robot	NOUN
alkej-896	25	1	[	[	X
alkej-896	25	2	5	5	NUM
alkej-896	25	3	]	]	PUNCT
alkej-896	25	4	.	.	PUNCT
alkej-896	26	1	an	an	DET
alkej-896	26	2	adaptive	adaptive	ADJ
alkej-896	26	3	backstepping	backstepping	NOUN
alkej-896	26	4	control	control	NOUN
alkej-896	26	5	with	with	ADP
alkej-896	26	6	a	a	DET
alkej-896	26	7	simple	simple	ADJ
alkej-896	26	8	adaptive	adaptive	ADJ
alkej-896	26	9	estimated	estimate	VERB
alkej-896	26	10	lyapunov	lyapunov	NOUN
alkej-896	26	11	theorem	theorem	NOUN
alkej-896	26	12	has	have	AUX
alkej-896	26	13	been	be	AUX
alkej-896	26	14	used	use	VERB
alkej-896	26	15	for	for	ADP
alkej-896	26	16	the	the	DET
alkej-896	26	17	control	control	NOUN
alkej-896	26	18	of	of	ADP
alkej-896	26	19	the	the	DET
alkej-896	26	20	robotic	robotic	ADJ
alkej-896	26	21	manipulator	manipulator	NOUN
alkej-896	26	22	[	[	X
alkej-896	26	23	6	6	NUM
alkej-896	26	24	]	]	PUNCT
alkej-896	26	25	.	.	PUNCT
alkej-896	27	1	many	many	ADJ
alkej-896	27	2	advanced	advanced	ADJ
alkej-896	27	3	control	control	NOUN
alkej-896	27	4	schemes	scheme	NOUN
alkej-896	27	5	,	,	PUNCT
alkej-896	27	6	including	include	VERB
alkej-896	27	7	adaptive	adaptive	ADJ
alkej-896	27	8	and	and	CCONJ
alkej-896	27	9	artificial	artificial	ADJ
alkej-896	27	10	intelligence	intelligence	NOUN
alkej-896	27	11	methods	method	NOUN
alkej-896	27	12	,	,	PUNCT
alkej-896	27	13	have	have	AUX
alkej-896	27	14	been	be	AUX
alkej-896	27	15	used	use	VERB
alkej-896	27	16	to	to	PART
alkej-896	27	17	tune	tune	VERB
alkej-896	27	18	the	the	DET
alkej-896	27	19	parameters	parameter	NOUN
alkej-896	27	20	of	of	ADP
alkej-896	27	21	the	the	DET
alkej-896	27	22	pid	pid	PROPN
alkej-896	27	23	.	.	PUNCT
alkej-896	28	1	the	the	DET
alkej-896	28	2	number	number	NOUN
alkej-896	28	3	of	of	ADP
alkej-896	28	4	degrees	degree	NOUN
alkej-896	28	5	of	of	ADP
alkej-896	28	6	freedom	freedom	NOUN
alkej-896	28	7	and	and	CCONJ
alkej-896	28	8	system	system	NOUN
alkej-896	28	9	uncertainties	uncertainty	NOUN
alkej-896	28	10	of	of	ADP
alkej-896	28	11	the	the	DET
alkej-896	28	12	robotic	robotic	ADJ
alkej-896	28	13	manipulator	manipulator	NOUN
alkej-896	28	14	have	have	VERB
alkej-896	28	15	significant	significant	ADJ
alkej-896	28	16	effects	effect	NOUN
alkej-896	28	17	on	on	ADP
alkej-896	28	18	control	control	NOUN
alkej-896	28	19	performance	performance	NOUN
alkej-896	28	20	.	.	PUNCT
alkej-896	29	1	the	the	DET
alkej-896	29	2	sliding	slide	VERB
alkej-896	29	3	mode	mode	NOUN
alkej-896	29	4	control	control	NOUN
alkej-896	29	5	(	(	PUNCT
alkej-896	29	6	smc	smc	PROPN
alkej-896	29	7	)	)	PUNCT
alkej-896	29	8	represents	represent	VERB
alkej-896	29	9	an	an	DET
alkej-896	29	10	efficient	efficient	ADJ
alkej-896	29	11	control	control	NOUN
alkej-896	29	12	scheme	scheme	NOUN
alkej-896	29	13	for	for	ADP
alkej-896	29	14	nonlinear	nonlinear	ADJ
alkej-896	29	15	systems	system	NOUN
alkej-896	29	16	,	,	PUNCT
alkej-896	29	17	that	that	PRON
alkej-896	29	18	is	be	AUX
alkej-896	29	19	applied	apply	VERB
alkej-896	29	20	successfully	successfully	ADV
alkej-896	29	21	in	in	ADP
alkej-896	29	22	many	many	ADJ
alkej-896	29	23	mechanical	mechanical	ADJ
alkej-896	29	24	systems	system	NOUN
alkej-896	29	25	and	and	CCONJ
alkej-896	29	26	robotic	robotic	ADJ
alkej-896	29	27	manipulators	manipulator	NOUN
alkej-896	29	28	.	.	PUNCT
alkej-896	30	1	chattering	chatter	VERB
alkej-896	30	2	is	be	AUX
alkej-896	30	3	the	the	DET
alkej-896	30	4	major	major	ADJ
alkej-896	30	5	disadvantage	disadvantage	NOUN
alkej-896	30	6	of	of	ADP
alkej-896	30	7	smc	smc	PROPN
alkej-896	30	8	and	and	CCONJ
alkej-896	30	9	different	different	ADJ
alkej-896	30	10	control	control	NOUN
alkej-896	30	11	schemes	scheme	NOUN
alkej-896	30	12	have	have	AUX
alkej-896	30	13	been	be	AUX
alkej-896	30	14	proposed	propose	VERB
alkej-896	30	15	to	to	PART
alkej-896	30	16	eliminate	eliminate	VERB
alkej-896	30	17	the	the	DET
alkej-896	30	18	chattering	chattering	NOUN
alkej-896	30	19	.	.	PUNCT
alkej-896	31	1	among	among	ADP
alkej-896	31	2	the	the	DET
alkej-896	31	3	solutions	solution	NOUN
alkej-896	31	4	to	to	ADP
alkej-896	31	5	the	the	DET
alkej-896	31	6	chattering	chatter	VERB
alkej-896	31	7	problem	problem	NOUN
alkej-896	31	8	in	in	ADP
alkej-896	31	9	the	the	DET
alkej-896	31	10	smc	smc	PROPN
alkej-896	31	11	is	be	AUX
alkej-896	31	12	the	the	DET
alkej-896	31	13	use	use	NOUN
alkej-896	31	14	of	of	ADP
alkej-896	31	15	saturation	saturation	NOUN
alkej-896	31	16	approximation	approximation	NOUN
alkej-896	31	17	functions	function	NOUN
alkej-896	31	18	instead	instead	ADV
alkej-896	31	19	of	of	ADP
alkej-896	31	20	the	the	DET
alkej-896	31	21	discontinues	discontinue	NOUN
alkej-896	31	22	function	function	NOUN
alkej-896	31	23	,	,	PUNCT
alkej-896	31	24	and	and	CCONJ
alkej-896	31	25	low	low	ADJ
alkej-896	31	26	-	-	PUNCT
alkej-896	31	27	pass	pass	NOUN
alkej-896	31	28	filtering	filtering	NOUN
alkej-896	31	29	[	[	X
alkej-896	31	30	712	712	NUM
alkej-896	31	31	]	]	PUNCT
alkej-896	31	32	.	.	PUNCT
alkej-896	32	1	recently	recently	ADV
alkej-896	32	2	,	,	PUNCT
alkej-896	32	3	the	the	DET
alkej-896	32	4	fuzzy	fuzzy	ADJ
alkej-896	32	5	logic	logic	NOUN
alkej-896	32	6	technique	technique	NOUN
alkej-896	32	7	has	have	AUX
alkej-896	32	8	been	be	AUX
alkej-896	32	9	widely	widely	ADV
alkej-896	32	10	applied	apply	VERB
alkej-896	32	11	to	to	PART
alkej-896	32	12	approximate	approximate	VERB
alkej-896	32	13	the	the	DET
alkej-896	32	14	signum	signum	NOUN
alkej-896	32	15	discontinues	discontinue	VERB
alkej-896	32	16	term	term	NOUN
alkej-896	32	17	[	[	X
alkej-896	32	18	13	13	NUM
alkej-896	32	19	-	-	SYM
alkej-896	32	20	18	18	NUM
alkej-896	32	21	]	]	PUNCT
alkej-896	32	22	.	.	PUNCT
alkej-896	33	1	implementing	implement	VERB
alkej-896	33	2	the	the	DET
alkej-896	33	3	smc	smc	PROPN
alkej-896	33	4	control	control	PROPN
alkej-896	33	5	law	law	PROPN
alkej-896	33	6	requires	require	VERB
alkej-896	33	7	the	the	DET
alkej-896	33	8	upper	upper	ADJ
alkej-896	33	9	bound	bind	VERB
alkej-896	33	10	of	of	ADP
alkej-896	33	11	the	the	DET
alkej-896	33	12	uncertainties	uncertainty	NOUN
alkej-896	33	13	,	,	PUNCT
alkej-896	33	14	and	and	CCONJ
alkej-896	33	15	the	the	DET
alkej-896	33	16	external	external	ADJ
alkej-896	33	17	disturbance	disturbance	NOUN
alkej-896	33	18	must	must	AUX
alkej-896	33	19	be	be	AUX
alkej-896	33	20	known	know	VERB
alkej-896	33	21	[	[	X
alkej-896	33	22	19	19	NUM
alkej-896	33	23	]	]	PUNCT
alkej-896	33	24	.	.	PUNCT
alkej-896	34	1	the	the	DET
alkej-896	34	2	values	value	NOUN
alkej-896	34	3	of	of	ADP
alkej-896	34	4	these	these	DET
alkej-896	34	5	bounds	bound	NOUN
alkej-896	34	6	are	be	AUX
alkej-896	34	7	very	very	ADV
alkej-896	34	8	important	important	ADJ
alkej-896	34	9	in	in	ADP
alkej-896	34	10	the	the	DET
alkej-896	34	11	selection	selection	NOUN
alkej-896	34	12	of	of	ADP
alkej-896	34	13	the	the	DET
alkej-896	34	14	switching	switch	VERB
alkej-896	34	15	gain	gain	NOUN
alkej-896	34	16	.	.	PUNCT
alkej-896	35	1	to	to	PART
alkej-896	35	2	ensure	ensure	VERB
alkej-896	35	3	stability	stability	NOUN
alkej-896	35	4	,	,	PUNCT
alkej-896	35	5	the	the	DET
alkej-896	35	6	switching	switch	VERB
alkej-896	35	7	gain	gain	NOUN
alkej-896	35	8	must	must	AUX
alkej-896	35	9	be	be	AUX
alkej-896	35	10	greater	great	ADJ
alkej-896	35	11	than	than	ADP
alkej-896	35	12	the	the	DET
alkej-896	35	13	upper	upper	ADJ
alkej-896	35	14	bound	bound	NOUN
alkej-896	35	15	of	of	ADP
alkej-896	35	16	uncertainty	uncertainty	NOUN
alkej-896	35	17	,	,	PUNCT
alkej-896	35	18	which	which	PRON
alkej-896	35	19	is	be	AUX
alkej-896	35	20	unknown	unknown	ADJ
alkej-896	35	21	,	,	PUNCT
alkej-896	35	22	and	and	CCONJ
alkej-896	35	23	assuming	assume	VERB
alkej-896	35	24	large	large	ADJ
alkej-896	35	25	values	value	NOUN
alkej-896	35	26	for	for	ADP
alkej-896	35	27	the	the	DET
alkej-896	35	28	upper	upper	ADJ
alkej-896	35	29	bound	bound	NOUN
alkej-896	35	30	may	may	AUX
alkej-896	35	31	be	be	AUX
alkej-896	35	32	the	the	DET
alkej-896	35	33	reason	reason	NOUN
alkej-896	35	34	for	for	ADP
alkej-896	35	35	chattering	chatter	VERB
alkej-896	35	36	.	.	PUNCT
alkej-896	36	1	this	this	DET
alkej-896	36	2	paper	paper	NOUN
alkej-896	36	3	presents	present	VERB
alkej-896	36	4	two	two	NUM
alkej-896	36	5	robust	robust	ADJ
alkej-896	36	6	control	control	NOUN
alkej-896	36	7	schemes	scheme	NOUN
alkej-896	36	8	based	base	VERB
alkej-896	36	9	on	on	ADP
alkej-896	36	10	fuzzy	fuzzy	ADJ
alkej-896	36	11	control	control	NOUN
alkej-896	36	12	and	and	CCONJ
alkej-896	36	13	smc	smc	PROPN
alkej-896	36	14	.	.	PUNCT
alkej-896	37	1	the	the	DET
alkej-896	37	2	important	important	ADJ
alkej-896	37	3	features	feature	NOUN
alkej-896	37	4	of	of	ADP
alkej-896	37	5	the	the	DET
alkej-896	37	6	proposed	propose	VERB
alkej-896	37	7	controller	controller	NOUN
alkej-896	37	8	in	in	ADP
alkej-896	37	9	this	this	DET
alkej-896	37	10	paper	paper	NOUN
alkej-896	37	11	can	can	AUX
alkej-896	37	12	be	be	AUX
alkej-896	37	13	summarized	summarize	VERB
alkej-896	37	14	as	as	SCONJ
alkej-896	37	15	follows	follow	VERB
alkej-896	37	16	:	:	PUNCT
alkej-896	37	17	i	i	X
alkej-896	37	18	)	)	PUNCT
alkej-896	37	19	the	the	DET
alkej-896	37	20	upper	upper	ADJ
alkej-896	37	21	bound	bind	VERB
alkej-896	37	22	of	of	ADP
alkej-896	37	23	uncertainty	uncertainty	NOUN
alkej-896	37	24	is	be	AUX
alkej-896	37	25	not	not	PART
alkej-896	37	26	required	require	VERB
alkej-896	37	27	,	,	PUNCT
alkej-896	37	28	ii	ii	PROPN
alkej-896	37	29	)	)	PUNCT
alkej-896	37	30	the	the	DET
alkej-896	37	31	proposed	propose	VERB
alkej-896	37	32	controller	controller	NOUN
alkej-896	37	33	is	be	AUX
alkej-896	37	34	model	model	NOUN
alkej-896	37	35	-	-	PUNCT
alkej-896	37	36	free	free	ADJ
alkej-896	37	37	,	,	PUNCT
alkej-896	37	38	iii	iii	X
alkej-896	37	39	)	)	PUNCT
alkej-896	37	40	lyapunov	lyapunov	NOUN
alkej-896	37	41	theory	theory	NOUN
alkej-896	37	42	is	be	AUX
alkej-896	37	43	used	use	VERB
alkej-896	37	44	to	to	PART
alkej-896	37	45	avoid	avoid	VERB
alkej-896	37	46	the	the	DET
alkej-896	37	47	overestimation	overestimation	NOUN
alkej-896	37	48	of	of	ADP
alkej-896	37	49	the	the	DET
alkej-896	37	50	switching	switch	VERB
alkej-896	37	51	gain	gain	NOUN
alkej-896	37	52	,	,	PUNCT
alkej-896	37	53	construct	construct	VERB
alkej-896	37	54	an	an	DET
alkej-896	37	55	adaptation	adaptation	NOUN
alkej-896	37	56	law	law	NOUN
alkej-896	37	57	for	for	ADP
alkej-896	37	58	the	the	DET
alkej-896	37	59	switching	switch	VERB
alkej-896	37	60	gain	gain	NOUN
alkej-896	37	61	,	,	PUNCT
alkej-896	37	62	and	and	CCONJ
alkej-896	37	63	also	also	ADV
alkej-896	37	64	guarantee	guarantee	VERB
alkej-896	37	65	the	the	DET
alkej-896	37	66	stability	stability	NOUN
alkej-896	37	67	of	of	ADP
alkej-896	37	68	the	the	DET
alkej-896	37	69	controlled	control	VERB
alkej-896	37	70	system	system	NOUN
alkej-896	37	71	.	.	PUNCT
alkej-896	38	1	2	2	X
alkej-896	38	2	.	.	X
alkej-896	38	3	robotic	robotic	ADJ
alkej-896	38	4	manipulator	manipulator	NOUN
alkej-896	38	5	dynamic	dynamic	VERB
alkej-896	38	6	the	the	DET
alkej-896	38	7	dynamic	dynamic	ADJ
alkej-896	38	8	equations	equation	NOUN
alkej-896	38	9	of	of	ADP
alkej-896	38	10	n	n	CCONJ
alkej-896	38	11	rigid	rigid	ADJ
alkej-896	38	12	-	-	PUNCT
alkej-896	38	13	link	link	NOUN
alkej-896	38	14	robotic	robotic	ADJ
alkej-896	38	15	manipulator	manipulator	NOUN
alkej-896	38	16	system	system	NOUN
alkej-896	38	17	based	base	VERB
alkej-896	38	18	on	on	ADP
alkej-896	38	19	the	the	DET
alkej-896	38	20	lagrange	lagrange	PROPN
alkej-896	38	21	-	-	PUNCT
alkej-896	38	22	euler	euler	NOUN
alkej-896	38	23	equations	equation	NOUN
alkej-896	38	24	of	of	ADP
alkej-896	38	25	motion	motion	NOUN
alkej-896	38	26	are	be	AUX
alkej-896	38	27	:	:	PUNCT
alkej-896	38	28	𝑀(𝑞)	𝑀(𝑞)	X
alkej-896	38	29	�	�	PROPN
alkej-896	38	30	̈	̈	SYM
alkej-896	38	31	�	�	PROPN
alkej-896	38	32	+	+	CCONJ
alkej-896	38	33	𝐶(𝑞	𝐶(𝑞	PROPN
alkej-896	38	34	,	,	PUNCT
alkej-896	38	35	�	�	PROPN
alkej-896	38	36	̇	̇	PROPN
alkej-896	38	37	�	�	PROPN
alkej-896	38	38	)	)	PUNCT
alkej-896	38	39	�	�	PROPN
alkej-896	38	40	̇	̇	VERB
alkej-896	38	41	�	�	PROPN
alkej-896	38	42	+	+	NUM
alkej-896	38	43	𝐹(	𝐹(	NOUN
alkej-896	38	44	�	�	PROPN
alkej-896	38	45	̇	̇	PROPN
alkej-896	38	46	�	�	PROPN
alkej-896	38	47	)	)	PUNCT
alkej-896	38	48	+	+	CCONJ
alkej-896	38	49	𝐺(𝑞	𝐺(𝑞	ADV
alkej-896	38	50	)	)	PUNCT
alkej-896	39	1	+	+	CCONJ
alkej-896	39	2	𝜏𝑑	𝜏𝑑	X
alkej-896	39	3	=	=	SYM
alkej-896	39	4	…	…	PUNCT
alkej-896	39	5	(	(	PUNCT
alkej-896	39	6	1	1	X
alkej-896	39	7	)	)	PUNCT
alkej-896	39	8	𝑀(𝑞	𝑀(𝑞	NOUN
alkej-896	39	9	)	)	PUNCT
alkej-896	39	10	=	=	SYM
alkej-896	39	11	𝑀𝑜(𝑞	𝑀𝑜(𝑞	X
alkej-896	39	12	)	)	PUNCT
alkej-896	39	13	+	+	NUM
alkej-896	39	14	∆𝑀(𝑞	∆𝑀(𝑞	NUM
alkej-896	39	15	)	)	PUNCT
alkej-896	39	16	…	…	PUNCT
alkej-896	39	17	(	(	PUNCT
alkej-896	39	18	2	2	NUM
alkej-896	39	19	)	)	PUNCT
alkej-896	39	20	𝐶(𝑞	𝐶(𝑞	PROPN
alkej-896	39	21	,	,	PUNCT
alkej-896	39	22	�	�	PROPN
alkej-896	39	23	̇	̇	PROPN
alkej-896	39	24	�	�	PROPN
alkej-896	39	25	)	)	PUNCT
alkej-896	39	26	=	=	SYM
alkej-896	39	27	𝐶𝑜(𝑞	𝐶𝑜(𝑞	PROPN
alkej-896	39	28	,	,	PUNCT
alkej-896	39	29	�	�	PROPN
alkej-896	39	30	̇	̇	PROPN
alkej-896	39	31	�	�	PROPN
alkej-896	39	32	)	)	PUNCT
alkej-896	39	33	+	+	NUM
alkej-896	39	34	∆𝐶(𝑞	∆𝐶(𝑞	PROPN
alkej-896	39	35	,	,	PUNCT
alkej-896	39	36	�	�	PROPN
alkej-896	39	37	̇	̇	PROPN
alkej-896	39	38	�	�	PROPN
alkej-896	39	39	)	)	PUNCT
alkej-896	39	40	…	…	PUNCT
alkej-896	39	41	(	(	PUNCT
alkej-896	39	42	3	3	X
alkej-896	39	43	)	)	PUNCT
alkej-896	39	44	𝐹(	𝐹(	NOUN
alkej-896	39	45	�	�	PROPN
alkej-896	39	46	̇	̇	PROPN
alkej-896	39	47	�	�	PROPN
alkej-896	39	48	)	)	PUNCT
alkej-896	39	49	=	=	PUNCT
alkej-896	40	1	𝐹𝑜(	𝐹𝑜(	PROPN
alkej-896	40	2	�	�	PROPN
alkej-896	40	3	̇	̇	NOUN
alkej-896	40	4	�	�	PROPN
alkej-896	40	5	)	)	PUNCT
alkej-896	40	6	+	+	CCONJ
alkej-896	40	7	∆𝐹(	∆𝐹(	PROPN
alkej-896	40	8	�	�	PROPN
alkej-896	40	9	̇	̇	PROPN
alkej-896	40	10	�	�	PROPN
alkej-896	40	11	)	)	PUNCT
alkej-896	40	12	…	…	PUNCT
alkej-896	40	13	(	(	PUNCT
alkej-896	40	14	4	4	NUM
alkej-896	40	15	)	)	PUNCT
alkej-896	40	16	where	where	SCONJ
alkej-896	40	17	q	q	NOUN
alkej-896	41	1	=	=	PUNCT
alkej-896	41	2	[	[	X
alkej-896	41	3	𝑞1	𝑞1	ADJ
alkej-896	41	4	,	,	PUNCT
alkej-896	41	5	𝑞2	𝑞2	NOUN
alkej-896	41	6	,	,	PUNCT
alkej-896	41	7	⋯	⋯	PROPN
alkej-896	41	8	,	,	PUNCT
alkej-896	41	9	𝑞𝑛]𝑇	𝑞𝑛]𝑇	PROPN
alkej-896	41	10	∈	∈	PROPN
alkej-896	41	11	rn	rn	PROPN
alkej-896	41	12	is	be	AUX
alkej-896	41	13	the	the	DET
alkej-896	41	14	joint	joint	ADJ
alkej-896	41	15	angular	angular	ADJ
alkej-896	41	16	position	position	NOUN
alkej-896	41	17	vector	vector	NOUN
alkej-896	41	18	,	,	PUNCT
alkej-896	41	19	q̇	q̇	NOUN
alkej-896	41	20	=	=	SYM
alkej-896	42	1	[	[	X
alkej-896	42	2	�	�	NOUN
alkej-896	42	3	̇	̇	VERB
alkej-896	42	4	�	�	PROPN
alkej-896	42	5	1	1	NUM
alkej-896	42	6	,	,	PUNCT
alkej-896	42	7	�	�	PROPN
alkej-896	42	8	̇	̇	PROPN
alkej-896	42	9	�	�	PROPN
alkej-896	42	10	2	2	NUM
alkej-896	42	11	,	,	PUNCT
alkej-896	42	12	⋯	⋯	PROPN
alkej-896	42	13	,	,	PUNCT
alkej-896	42	14	�	�	PROPN
alkej-896	42	15	̇	̇	PROPN
alkej-896	42	16	�	�	PROPN
alkej-896	42	17	𝑛]𝑇	𝑛]𝑇	NOUN
alkej-896	42	18	∈	∈	PROPN
alkej-896	42	19	rn	rn	PROPN
alkej-896	42	20	is	be	AUX
alkej-896	42	21	the	the	DET
alkej-896	42	22	joint	joint	ADJ
alkej-896	42	23	angular	angular	ADJ
alkej-896	42	24	velocity	velocity	NOUN
alkej-896	42	25	vector	vector	NOUN
alkej-896	42	26	,	,	PUNCT
alkej-896	42	27	m(q	m(q	X
alkej-896	42	28	)	)	PUNCT
alkej-896	42	29	∈	∈	PROPN
alkej-896	42	30	rnx	rnx	NOUN
alkej-896	42	31	n	n	PRON
alkej-896	42	32	denotes	denote	VERB
alkej-896	42	33	the	the	DET
alkej-896	42	34	inertia	inertia	NOUN
alkej-896	42	35	matrix	matrix	NOUN
alkej-896	42	36	,	,	PUNCT
alkej-896	42	37	c(q	c(q	PROPN
alkej-896	42	38	,	,	PUNCT
alkej-896	42	39	q̇	q̇	ADV
alkej-896	42	40	)	)	PUNCT
alkej-896	42	41	∈	∈	PROPN
alkej-896	42	42	rnx	rnx	NOUN
alkej-896	42	43	n	n	PRON
alkej-896	42	44	represents	represent	VERB
alkej-896	42	45	the	the	DET
alkej-896	42	46	centrifugal	centrifugal	ADJ
alkej-896	42	47	-	-	PUNCT
alkej-896	42	48	coriolis	coriolis	NOUN
alkej-896	42	49	matrix	matrix	NOUN
alkej-896	42	50	,	,	PUNCT
alkej-896	42	51	f(q̇	f(q̇	PROPN
alkej-896	42	52	)	)	PUNCT
alkej-896	42	53	∈	∈	PROPN
alkej-896	42	54	rn	rn	PROPN
alkej-896	42	55	is	be	AUX
alkej-896	42	56	the	the	DET
alkej-896	42	57	friction	friction	NOUN
alkej-896	42	58	torque	torque	NOUN
alkej-896	42	59	vector	vector	NOUN
alkej-896	42	60	,	,	PUNCT
alkej-896	42	61	g(q	g(q	X
alkej-896	42	62	)	)	PUNCT
alkej-896	42	63	∈	∈	PROPN
alkej-896	42	64	rn	rn	PROPN
alkej-896	42	65	denotes	denote	VERB
alkej-896	42	66	the	the	DET
alkej-896	42	67	gravity	gravity	NOUN
alkej-896	42	68	term	term	NOUN
alkej-896	42	69	,	,	PUNCT
alkej-896	42	70	τd	τd	SCONJ
alkej-896	42	71	∈	∈	PROPN
alkej-896	42	72	rn	rn	PROPN
alkej-896	42	73	is	be	AUX
alkej-896	42	74	the	the	DET
alkej-896	42	75	external	external	ADJ
alkej-896	42	76	disturbance	disturbance	NOUN
alkej-896	42	77	vector	vector	NOUN
alkej-896	42	78	,	,	PUNCT
alkej-896	42	79	and	and	CCONJ
alkej-896	42	80	τ	τ	PROPN
alkej-896	42	81	=	=	PUNCT
alkej-896	43	1	[	[	X
alkej-896	43	2	𝜏1	𝜏1	NOUN
alkej-896	43	3	,	,	PUNCT
alkej-896	43	4	𝜏2	𝜏2	PROPN
alkej-896	43	5	,	,	PUNCT
alkej-896	43	6	⋯	⋯	PROPN
alkej-896	43	7	,	,	PUNCT
alkej-896	43	8	𝜏𝑛]𝑇	𝜏𝑛]𝑇	PROPN
alkej-896	43	9	is	be	AUX
alkej-896	43	10	the	the	DET
alkej-896	43	11	torque	torque	NOUN
alkej-896	43	12	vector	vector	NOUN
alkej-896	43	13	.	.	PUNCT
alkej-896	44	1	mo(q	mo(q	NOUN
alkej-896	44	2	)	)	PUNCT
alkej-896	44	3	,	,	PUNCT
alkej-896	45	1	co(q	co(q	VERB
alkej-896	45	2	,	,	PUNCT
alkej-896	45	3	q̇	q̇	ADV
alkej-896	45	4	)	)	PUNCT
alkej-896	45	5	and	and	CCONJ
alkej-896	45	6	fo(q̇	fo(q̇	NOUN
alkej-896	45	7	)	)	PUNCT
alkej-896	45	8	refer	refer	VERB
alkej-896	45	9	to	to	ADP
alkej-896	45	10	the	the	DET
alkej-896	45	11	nominal	nominal	ADJ
alkej-896	45	12	model	model	NOUN
alkej-896	45	13	of	of	ADP
alkej-896	45	14	the	the	DET
alkej-896	45	15	robotic	robotic	ADJ
alkej-896	45	16	manipulator	manipulator	NOUN
alkej-896	45	17	,	,	PUNCT
alkej-896	45	18	and	and	CCONJ
alkej-896	45	19	∆m(q),∆c(q	∆m(q),∆c(q	PROPN
alkej-896	45	20	,	,	PUNCT
alkej-896	45	21	q̇	q̇	ADV
alkej-896	45	22	)	)	PUNCT
alkej-896	45	23	and	and	CCONJ
alkej-896	45	24	∆f(q̇	∆f(q̇	ADJ
alkej-896	45	25	)	)	PUNCT
alkej-896	45	26	refer	refer	VERB
alkej-896	45	27	to	to	ADP
alkej-896	45	28	the	the	DET
alkej-896	45	29	uncertainty	uncertainty	NOUN
alkej-896	45	30	in	in	ADP
alkej-896	45	31	the	the	DET
alkej-896	45	32	dynamic	dynamic	ADJ
alkej-896	45	33	model	model	NOUN
alkej-896	45	34	of	of	ADP
alkej-896	45	35	the	the	DET
alkej-896	45	36	robotic	robotic	ADJ
alkej-896	45	37	manipulator	manipulator	NOUN
alkej-896	45	38	.	.	PUNCT
alkej-896	46	1	the	the	DET
alkej-896	46	2	proposed	propose	VERB
alkej-896	46	3	control	control	NOUN
alkej-896	46	4	method	method	NOUN
alkej-896	46	5	assumes	assume	VERB
alkej-896	46	6	the	the	DET
alkej-896	46	7	following	following	NOUN
alkej-896	46	8	[	[	PUNCT
alkej-896	46	9	20	20	NUM
alkej-896	46	10	]	]	SYM
alkej-896	46	11	:	:	PUNCT
alkej-896	46	12	assumption	assumption	NOUN
alkej-896	46	13	1	1	NUM
alkej-896	46	14	:	:	PUNCT
alkej-896	46	15	boundedness	boundedness	NOUN
alkej-896	46	16	of	of	ADP
alkej-896	46	17	the	the	DET
alkej-896	46	18	inertia	inertia	NOUN
alkej-896	46	19	matrix	matrix	NOUN
alkej-896	46	20	‖𝑀(𝑞)‖	‖𝑀(𝑞)‖	PROPN
alkej-896	46	21	≤	≤	PUNCT
alkej-896	46	22	𝑘1	𝑘1	NOUN
alkej-896	46	23	…	…	PUNCT
alkej-896	46	24	(	(	PUNCT
alkej-896	46	25	5	5	NUM
alkej-896	46	26	)	)	PUNCT
alkej-896	46	27	where	where	SCONJ
alkej-896	46	28	𝑘1	𝑘1	PROPN
alkej-896	46	29	is	be	AUX
alkej-896	46	30	a	a	DET
alkej-896	46	31	positive	positive	ADJ
alkej-896	46	32	scalar	scalar	NOUN
alkej-896	46	33	.	.	PUNCT
alkej-896	47	1	assumption	assumption	NOUN
alkej-896	47	2	2	2	NUM
alkej-896	47	3	:	:	PUNCT
alkej-896	47	4	boundedness	boundedness	NOUN
alkej-896	47	5	of	of	ADP
alkej-896	47	6	the	the	DET
alkej-896	47	7	centrifugal	centrifugal	ADJ
alkej-896	47	8	matrix	matrix	NOUN
alkej-896	47	9	‖𝐶(𝑞	‖𝐶(𝑞	PROPN
alkej-896	47	10	,	,	PUNCT
alkej-896	47	11	�	�	PROPN
alkej-896	47	12	̇	̇	PROPN
alkej-896	47	13	�	�	PROPN
alkej-896	47	14	)‖	)‖	PROPN
alkej-896	47	15	≤	≤	ADJ
alkej-896	47	16	𝑘2	𝑘2	PROPN
alkej-896	47	17	…	…	PUNCT
alkej-896	47	18	(	(	PUNCT
alkej-896	47	19	6	6	NUM
alkej-896	47	20	)	)	PUNCT
alkej-896	47	21	where	where	SCONJ
alkej-896	47	22	𝑘2	𝑘2	PROPN
alkej-896	47	23	is	be	AUX
alkej-896	47	24	a	a	DET
alkej-896	47	25	positive	positive	ADJ
alkej-896	47	26	scalar	scalar	NOUN
alkej-896	47	27	.	.	PUNCT
alkej-896	48	1	assumption	assumption	NOUN
alkej-896	48	2	3	3	NUM
alkej-896	48	3	:	:	PUNCT
alkej-896	48	4	boundedness	boundedness	NOUN
alkej-896	48	5	of	of	ADP
alkej-896	48	6	the	the	DET
alkej-896	48	7	friction	friction	NOUN
alkej-896	48	8	vector	vector	NOUN
alkej-896	48	9	‖𝐹(	‖𝐹(	PROPN
alkej-896	48	10	�	�	PROPN
alkej-896	48	11	̇	̇	PROPN
alkej-896	48	12	�	�	PROPN
alkej-896	48	13	)‖	)‖	PROPN
alkej-896	48	14	≤	≤	NOUN
alkej-896	48	15	k3‖q̇‖	k3‖q̇‖	NOUN
alkej-896	49	1	+	+	CCONJ
alkej-896	49	2	f0	f0	PROPN
alkej-896	49	3	…	…	PUNCT
alkej-896	49	4	(	(	PUNCT
alkej-896	49	5	7	7	NUM
alkej-896	49	6	)	)	PUNCT
alkej-896	49	7	where	where	SCONJ
alkej-896	49	8	𝑘3	𝑘3	PROPN
alkej-896	49	9	and	and	CCONJ
alkej-896	49	10	𝐹0	𝐹0	NOUN
alkej-896	49	11	are	be	AUX
alkej-896	49	12	positive	positive	ADJ
alkej-896	49	13	scalars	scalar	NOUN
alkej-896	49	14	.	.	PUNCT
alkej-896	50	1	assumption	assumption	NOUN
alkej-896	50	2	4	4	NUM
alkej-896	50	3	:	:	PUNCT
alkej-896	50	4	boundedness	boundedness	NOUN
alkej-896	50	5	of	of	ADP
alkej-896	50	6	the	the	DET
alkej-896	50	7	gravity	gravity	NOUN
alkej-896	50	8	vector	vector	NOUN
alkej-896	50	9	‖𝐺(𝑞)‖	‖𝐺(𝑞)‖	NOUN
alkej-896	50	10	≤	≤	VERB
alkej-896	50	11	𝑘4	𝑘4	PROPN
alkej-896	50	12	…	…	PUNCT
alkej-896	50	13	(	(	PUNCT
alkej-896	50	14	8)	8)	NUM
alkej-896	50	15	where	where	SCONJ
alkej-896	50	16	𝑘4	𝑘4	PROPN
alkej-896	50	17	is	be	AUX
alkej-896	50	18	a	a	DET
alkej-896	50	19	positive	positive	ADJ
alkej-896	50	20	scalar	scalar	NOUN
alkej-896	50	21	.	.	PUNCT
alkej-896	51	1	assumption	assumption	NOUN
alkej-896	51	2	5	5	NUM
alkej-896	51	3	:	:	PUNCT
alkej-896	51	4	the	the	DET
alkej-896	51	5	model	model	NOUN
alkej-896	51	6	in	in	ADP
alkej-896	51	7	(	(	PUNCT
alkej-896	51	8	1	1	X
alkej-896	51	9	)	)	PUNCT
alkej-896	51	10	is	be	AUX
alkej-896	51	11	linearly	linearly	ADV
alkej-896	51	12	parameterized	parameterize	VERB
alkej-896	51	13	,	,	PUNCT
alkej-896	51	14	so	so	SCONJ
alkej-896	51	15	it	it	PRON
alkej-896	51	16	can	can	AUX
alkej-896	51	17	be	be	AUX
alkej-896	51	18	represented	represent	VERB
alkej-896	51	19	by	by	ADP
alkej-896	51	20	the	the	DET
alkej-896	51	21	following	follow	VERB
alkej-896	51	22	expression	expression	NOUN
alkej-896	51	23	:	:	PUNCT
alkej-896	51	24	y∅	y∅	X
alkej-896	51	25	=	=	PUNCT
alkej-896	51	26	m(q)q̈r	m(q)q̈r	PROPN
alkej-896	51	27	+	+	ADJ
alkej-896	51	28	c(q	c(q	PROPN
alkej-896	51	29	,	,	PUNCT
alkej-896	51	30	q̇)q̇r	q̇)q̇r	NOUN
alkej-896	51	31	+	+	CCONJ
alkej-896	51	32	g(q	g(q	X
alkej-896	51	33	)	)	PUNCT
alkej-896	51	34	+	+	CCONJ
alkej-896	51	35	f(q̇	f(q̇	NOUN
alkej-896	51	36	)	)	PUNCT
alkej-896	51	37	…	…	PUNCT
alkej-896	51	38	(	(	PUNCT
alkej-896	51	39	9	9	X
alkej-896	51	40	)	)	PUNCT
alkej-896	51	41	�	�	PROPN
alkej-896	51	42	̇	̇	VERB
alkej-896	51	43	�	�	NOUN
alkej-896	51	44	𝑟	𝑟	NOUN
alkej-896	51	45	=	=	SYM
alkej-896	51	46	�	�	PROPN
alkej-896	51	47	̇	̇	PROPN
alkej-896	51	48	�	�	PROPN
alkej-896	51	49	𝑑	𝑑	PROPN
alkej-896	51	50	+	+	NUM
alkej-896	51	51	𝛾(𝑞𝑑	𝛾(𝑞𝑑	PROPN
alkej-896	51	52	−	−	PROPN
alkej-896	51	53	𝑞	𝑞	NOUN
alkej-896	51	54	)	)	PUNCT
alkej-896	51	55	…	…	PUNCT
alkej-896	51	56	(	(	PUNCT
alkej-896	51	57	10	10	NUM
alkej-896	51	58	)	)	PUNCT
alkej-896	51	59	where	where	SCONJ
alkej-896	51	60	y	y	PROPN
alkej-896	51	61	=	=	SYM
alkej-896	51	62	y(q	y(q	PROPN
alkej-896	51	63	,	,	PUNCT
alkej-896	51	64	q̇	q̇	ADV
alkej-896	51	65	,	,	PUNCT
alkej-896	51	66	q̇r	q̇r	PROPN
alkej-896	51	67	,	,	PUNCT
alkej-896	51	68	q̈r	q̈r	NOUN
alkej-896	51	69	)	)	PUNCT
alkej-896	51	70	∈	∈	PROPN
alkej-896	51	71	rn×p	rn×p	PROPN
alkej-896	51	72	is	be	AUX
alkej-896	51	73	a	a	DET
alkej-896	51	74	matrix	matrix	NOUN
alkej-896	51	75	that	that	PRON
alkej-896	51	76	contains	contain	VERB
alkej-896	51	77	a	a	DET
alkej-896	51	78	known	know	VERB
alkej-896	51	79	nonlinear	nonlinear	ADJ
alkej-896	51	80	function	function	NOUN
alkej-896	51	81	,	,	PUNCT
alkej-896	51	82	∅	∅	NOUN
alkej-896	51	83	∈	∈	PROPN
alkej-896	51	84	rp	rp	NOUN
alkej-896	51	85	is	be	AUX
alkej-896	51	86	a	a	DET
alkej-896	51	87	vector	vector	NOUN
alkej-896	51	88	that	that	PRON
alkej-896	51	89	contains	contain	VERB
alkej-896	51	90	unknown	unknown	ADJ
alkej-896	51	91	parameters	parameter	NOUN
alkej-896	51	92	,	,	PUNCT
alkej-896	51	93	and	and	CCONJ
alkej-896	51	94	𝛄	𝛄	PROPN
alkej-896	51	95	is	be	AUX
alkej-896	51	96	a	a	DET
alkej-896	51	97	positive	positive	ADJ
alkej-896	51	98	diagonal	diagonal	ADJ
alkej-896	51	99	matrix	matrix	NOUN
alkej-896	51	100	.	.	PUNCT
alkej-896	52	1	assumption	assumption	NOUN
alkej-896	52	2	6	6	NUM
alkej-896	52	3	:	:	PUNCT
alkej-896	52	4	the	the	DET
alkej-896	52	5	desired	desire	VERB
alkej-896	52	6	trajectories	trajectory	NOUN
alkej-896	52	7	and	and	CCONJ
alkej-896	52	8	their	their	PRON
alkej-896	52	9	derivativesqd(𝑡),q̇d(𝑡	derivativesqd(𝑡),q̇d(𝑡	NOUN
alkej-896	52	10	)	)	PUNCT
alkej-896	52	11	,	,	PUNCT
alkej-896	52	12	and	and	CCONJ
alkej-896	52	13	q̈d(𝑡)are	q̈d(𝑡)are	AUX
alkej-896	52	14	bounded	bound	VERB
alkej-896	52	15	as	as	SCONJ
alkej-896	52	16	follows	follow	VERB
alkej-896	52	17	:	:	PUNCT
alkej-896	52	18	|𝑞𝑑(𝑡)|	|𝑞𝑑(𝑡)|	NOUN
alkej-896	52	19	≤	≤	NOUN
alkej-896	52	20	𝑀𝑑1	𝑀𝑑1	NOUN
alkej-896	52	21	,	,	PUNCT
alkej-896	52	22	|	|	PROPN
alkej-896	52	23	�	�	NOUN
alkej-896	52	24	̇	̇	NOUN
alkej-896	52	25	�	�	NOUN
alkej-896	52	26	𝑑(𝑡)|	𝑑(𝑡)|	NOUN
alkej-896	52	27	≤	≤	NUM
alkej-896	52	28	𝑀𝑑2	𝑀𝑑2	NOUN
alkej-896	52	29	,	,	PUNCT
alkej-896	52	30	|	|	ADV
alkej-896	52	31	�	�	NOUN
alkej-896	52	32	̈	̈	NUM
alkej-896	52	33	�	�	NOUN
alkej-896	52	34	𝑑(𝑡)|	𝑑(𝑡)|	NOUN
alkej-896	52	35	≤	≤	NUM
alkej-896	52	36	𝑀𝑑3	𝑀𝑑3	NOUN
alkej-896	52	37	,	,	PUNCT
alkej-896	52	38	…	…	PUNCT
alkej-896	52	39	(	(	PUNCT
alkej-896	52	40	11	11	NUM
alkej-896	52	41	)	)	PUNCT
alkej-896	52	42	with	with	ADP
alkej-896	52	43	𝑀𝑑1	𝑀𝑑1	ADJ
alkej-896	52	44	,	,	PUNCT
alkej-896	52	45	𝑀𝑑2	𝑀𝑑2	NOUN
alkej-896	52	46	,	,	PUNCT
alkej-896	52	47	and	and	CCONJ
alkej-896	52	48	𝑀𝑑3being	𝑀𝑑3bee	VERB
alkej-896	52	49	positive	positive	ADJ
alkej-896	52	50	constants	constant	NOUN
alkej-896	52	51	.	.	PUNCT
alkej-896	53	1	ali	ali	PROPN
alkej-896	53	2	hussien	hussien	PROPN
alkej-896	53	3	mary	mary	PROPN
alkej-896	53	4	al	al	PROPN
alkej-896	53	5	-	-	PUNCT
alkej-896	53	6	khwarizmi	khwarizmi	PROPN
alkej-896	53	7	engineering	engineering	NOUN
alkej-896	53	8	journal	journal	PROPN
alkej-896	53	9	,	,	PUNCT
alkej-896	53	10	vol	vol	NOUN
alkej-896	53	11	.	.	PROPN
alkej-896	53	12	20	20	NUM
alkej-896	53	13	,	,	PUNCT
alkej-896	53	14	no	no	INTJ
alkej-896	53	15	.	.	NOUN
alkej-896	53	16	1	1	NUM
alkej-896	53	17	,	,	PUNCT
alkej-896	53	18	p.p	p.p	PROPN
alkej-896	53	19	.	.	NOUN
alkej-896	53	20	6375	6375	NUM
alkej-896	53	21	(	(	PUNCT
alkej-896	53	22	2024	2024	NUM
alkej-896	53	23	)	)	PUNCT
alkej-896	53	24	65	65	NUM
alkej-896	53	25	3	3	NUM
alkej-896	53	26	.	.	PUNCT
alkej-896	54	1	sliding	slide	VERB
alkej-896	54	2	mode	mode	NOUN
alkej-896	54	3	control	control	VERB
alkej-896	54	4	the	the	DET
alkej-896	54	5	objective	objective	NOUN
alkej-896	54	6	of	of	ADP
alkej-896	54	7	smc	smc	PROPN
alkej-896	54	8	is	be	AUX
alkej-896	54	9	to	to	PART
alkej-896	54	10	make	make	VERB
alkej-896	54	11	trajectory	trajectory	NOUN
alkej-896	54	12	states	state	NOUN
alkej-896	54	13	𝐪track	𝐪track	VERB
alkej-896	54	14	the	the	DET
alkej-896	54	15	desired	desire	VERB
alkej-896	54	16	trajectory𝐪𝐝.	trajectory𝐪𝐝.	NOUN
alkej-896	54	17	the	the	DET
alkej-896	54	18	first	first	ADJ
alkej-896	54	19	step	step	NOUN
alkej-896	54	20	in	in	ADP
alkej-896	54	21	the	the	DET
alkej-896	54	22	smc	smc	PROPN
alkej-896	54	23	is	be	AUX
alkej-896	54	24	designing	design	VERB
alkej-896	54	25	the	the	DET
alkej-896	54	26	sliding	slide	VERB
alkej-896	54	27	surface	surface	NOUN
alkej-896	54	28	.	.	PUNCT
alkej-896	55	1	for	for	ADP
alkej-896	55	2	a	a	DET
alkej-896	55	3	second	second	ADJ
alkej-896	55	4	-	-	PUNCT
alkej-896	55	5	order	order	NOUN
alkej-896	55	6	system	system	NOUN
alkej-896	55	7	,	,	PUNCT
alkej-896	55	8	the	the	DET
alkej-896	55	9	sliding	slide	VERB
alkej-896	55	10	surface	surface	NOUN
alkej-896	55	11	is	be	AUX
alkej-896	55	12	given	give	VERB
alkej-896	55	13	by	by	ADP
alkej-896	55	14	:	:	PUNCT
alkej-896	55	15	𝑠(𝑡	𝑠(𝑡	PROPN
alkej-896	55	16	)	)	PUNCT
alkej-896	55	17	=	=	PUNCT
alkej-896	56	1	𝛾	𝛾	X
alkej-896	56	2	𝑒(𝑡	𝑒(𝑡	NOUN
alkej-896	56	3	)	)	PUNCT
alkej-896	56	4	+	+	CCONJ
alkej-896	56	5	�	�	PROPN
alkej-896	56	6	̇	̇	PROPN
alkej-896	56	7	�	�	PROPN
alkej-896	56	8	(𝑡	(𝑡	PROPN
alkej-896	56	9	)	)	PUNCT
alkej-896	56	10	…	…	PUNCT
alkej-896	56	11	(	(	PUNCT
alkej-896	56	12	12	12	NUM
alkej-896	56	13	)	)	PUNCT
alkej-896	56	14	𝑒(𝑡	𝑒(𝑡	NOUN
alkej-896	56	15	)	)	PUNCT
alkej-896	56	16	=	=	PUNCT
alkej-896	57	1	𝑞	𝑞	X
alkej-896	57	2	−	−	PROPN
alkej-896	57	3	𝑞𝑑	𝑞𝑑	INTJ
alkej-896	57	4	…	…	PUNCT
alkej-896	57	5	(	(	PUNCT
alkej-896	57	6	13	13	NUM
alkej-896	57	7	)	)	PUNCT
alkej-896	57	8	𝑒(𝑡	𝑒(𝑡	NOUN
alkej-896	57	9	)	)	PUNCT
alkej-896	57	10	=	=	PUNCT
alkej-896	58	1	[	[	X
alkej-896	58	2	𝑒1(𝑡	𝑒1(𝑡	X
alkej-896	58	3	)	)	PUNCT
alkej-896	58	4	𝑒2(𝑡	𝑒2(𝑡	NOUN
alkej-896	58	5	)	)	PUNCT
alkej-896	58	6	⋯	⋯	VERB
alkej-896	58	7	𝑒𝑛(𝑡)]𝑇	𝑒𝑛(𝑡)]𝑇	PROPN
alkej-896	58	8	…	…	PUNCT
alkej-896	58	9	(	(	PUNCT
alkej-896	58	10	14	14	NUM
alkej-896	58	11	)	)	PUNCT
alkej-896	58	12	where	where	SCONJ
alkej-896	58	13	𝐞(𝑡)is	𝐞(𝑡)is	ADV
alkej-896	58	14	the	the	DET
alkej-896	58	15	error	error	NOUN
alkej-896	58	16	signal	signal	NOUN
alkej-896	58	17	that	that	PRON
alkej-896	58	18	represents	represent	VERB
alkej-896	58	19	the	the	DET
alkej-896	58	20	difference	difference	NOUN
alkej-896	58	21	between	between	ADP
alkej-896	58	22	the	the	DET
alkej-896	58	23	desired	desire	VERB
alkej-896	58	24	trajectory	trajectory	NOUN
alkej-896	58	25	and	and	CCONJ
alkej-896	58	26	the	the	DET
alkej-896	58	27	actual	actual	ADJ
alkej-896	58	28	trajectory	trajectory	NOUN
alkej-896	58	29	.	.	PUNCT
alkej-896	59	1	an	an	DET
alkej-896	59	2	equivalent	equivalent	ADJ
alkej-896	59	3	control	control	NOUN
alkej-896	59	4	term	term	NOUN
alkej-896	59	5	in	in	ADP
alkej-896	59	6	the	the	DET
alkej-896	59	7	conventional	conventional	ADJ
alkej-896	59	8	smc	smc	PROPN
alkej-896	59	9	is	be	AUX
alkej-896	59	10	calculated	calculate	VERB
alkej-896	59	11	by	by	ADP
alkej-896	59	12	setting	set	VERB
alkej-896	59	13	�	�	PROPN
alkej-896	59	14	̇	̇	PROPN
alkej-896	59	15	�	�	PROPN
alkej-896	59	16	(𝑡	(𝑡	NOUN
alkej-896	59	17	)	)	PUNCT
alkej-896	59	18	=	=	SYM
alkej-896	59	19	0	0	NUM
alkej-896	59	20	,	,	PUNCT
alkej-896	59	21	and	and	CCONJ
alkej-896	59	22	this	this	PRON
alkej-896	59	23	will	will	AUX
alkej-896	59	24	determine	determine	VERB
alkej-896	59	25	the	the	DET
alkej-896	59	26	control	control	NOUN
alkej-896	59	27	effort	effort	NOUN
alkej-896	59	28	required	require	VERB
alkej-896	59	29	to	to	PART
alkej-896	59	30	achieve	achieve	VERB
alkej-896	59	31	a	a	DET
alkej-896	59	32	good	good	ADJ
alkej-896	59	33	performance	performance	NOUN
alkej-896	59	34	without	without	ADP
alkej-896	59	35	considering	consider	VERB
alkej-896	59	36	the	the	DET
alkej-896	59	37	external	external	ADJ
alkej-896	59	38	disturbance	disturbance	NOUN
alkej-896	59	39	and	and	CCONJ
alkej-896	59	40	system	system	NOUN
alkej-896	59	41	uncertainties	uncertainty	NOUN
alkej-896	59	42	.	.	PUNCT
alkej-896	60	1	ṡ(𝑡	ṡ(𝑡	NOUN
alkej-896	60	2	)	)	PUNCT
alkej-896	60	3	=	=	SYM
alkej-896	60	4	γė(𝑡	γė(𝑡	X
alkej-896	60	5	)	)	PUNCT
alkej-896	60	6	+	+	PUNCT
alkej-896	60	7	ë(𝑡	ë(𝑡	NUM
alkej-896	60	8	)	)	PUNCT
alkej-896	60	9	…	…	PUNCT
alkej-896	60	10	(	(	PUNCT
alkej-896	60	11	15	15	NUM
alkej-896	60	12	)	)	PUNCT
alkej-896	60	13	=	=	SYM
alkej-896	60	14	γė(𝑡	γė(𝑡	X
alkej-896	60	15	)	)	PUNCT
alkej-896	61	1	+	+	CCONJ
alkej-896	61	2	q̈	q̈	ADP
alkej-896	61	3	−	−	PROPN
alkej-896	61	4	q̈d	q̈d	NOUN
alkej-896	61	5	…	…	PUNCT
alkej-896	61	6	(	(	PUNCT
alkej-896	61	7	16	16	NUM
alkej-896	61	8	)	)	PUNCT
alkej-896	61	9	q̈	q̈	NOUN
alkej-896	61	10	=	=	SYM
alkej-896	61	11	m−1(q)[τ	m−1(q)[τ	NOUN
alkej-896	61	12	−	−	PROPN
alkej-896	61	13	c(q	c(q	PROPN
alkej-896	61	14	,	,	PUNCT
alkej-896	61	15	q̇)q̇	q̇)q̇	ADV
alkej-896	61	16	−	−	PROPN
alkej-896	61	17	f(q̇	f(q̇	NOUN
alkej-896	61	18	)	)	PUNCT
alkej-896	61	19	−	−	PROPN
alkej-896	61	20	g(q	g(q	NOUN
alkej-896	61	21	)	)	PUNCT
alkej-896	61	22	−	−	PROPN
alkej-896	61	23	τd	τd	ADP
alkej-896	61	24	]	]	X
alkej-896	61	25	…	…	PUNCT
alkej-896	61	26	(	(	PUNCT
alkej-896	61	27	17	17	NUM
alkej-896	61	28	)	)	PUNCT
alkej-896	61	29	where	where	SCONJ
alkej-896	61	30	𝛄is	𝛄i	VERB
alkej-896	61	31	a	a	DET
alkej-896	61	32	diagonal	diagonal	ADJ
alkej-896	61	33	matrix	matrix	NOUN
alkej-896	61	34	.	.	PUNCT
alkej-896	62	1	in	in	ADP
alkej-896	62	2	the	the	DET
alkej-896	62	3	equivalent	equivalent	ADJ
alkej-896	62	4	control	control	NOUN
alkej-896	62	5	term	term	NOUN
alkej-896	62	6	,	,	PUNCT
alkej-896	62	7	only	only	ADV
alkej-896	62	8	the	the	DET
alkej-896	62	9	known	know	VERB
alkej-896	62	10	part	part	NOUN
alkej-896	62	11	of	of	ADP
alkej-896	62	12	the	the	DET
alkej-896	62	13	dynamic	dynamic	ADJ
alkej-896	62	14	model	model	NOUN
alkej-896	62	15	of	of	ADP
alkej-896	62	16	the	the	DET
alkej-896	62	17	controlled	control	VERB
alkej-896	62	18	system	system	NOUN
alkej-896	62	19	is	be	AUX
alkej-896	62	20	taken	take	VERB
alkej-896	62	21	into	into	ADP
alkej-896	62	22	account	account	NOUN
alkej-896	62	23	,	,	PUNCT
alkej-896	62	24	which	which	PRON
alkej-896	62	25	yields	yield	VERB
alkej-896	62	26	:	:	PUNCT
alkej-896	62	27	�	�	PROPN
alkej-896	62	28	̇	̇	PROPN
alkej-896	62	29	�	�	PROPN
alkej-896	62	30	(𝑡	(𝑡	NOUN
alkej-896	62	31	)	)	PUNCT
alkej-896	62	32	=	=	SYM
alkej-896	62	33	𝛾	𝛾	ADP
alkej-896	62	34	�	�	PROPN
alkej-896	62	35	̇	̇	PROPN
alkej-896	62	36	�	�	PROPN
alkej-896	62	37	(𝑡	(𝑡	PROPN
alkej-896	62	38	)	)	PUNCT
alkej-896	63	1	+	+	CCONJ
alkej-896	63	2	𝑀𝑜	𝑀𝑜	PROPN
alkej-896	63	3	−1(𝑞)[𝜏	−1(𝑞)[𝜏	NOUN
alkej-896	63	4	−	−	PROPN
alkej-896	63	5	𝐶𝑜(𝑞	𝐶𝑜(𝑞	PROPN
alkej-896	63	6	,	,	PUNCT
alkej-896	63	7	�	�	PROPN
alkej-896	63	8	̇	̇	PROPN
alkej-896	63	9	�	�	PROPN
alkej-896	63	10	)	)	PUNCT
alkej-896	63	11	�	�	PROPN
alkej-896	63	12	̇	̇	PROPN
alkej-896	63	13	�	�	PROPN
alkej-896	63	14	−	−	PROPN
alkej-896	63	15	𝐹𝑜(	𝐹𝑜(	PROPN
alkej-896	63	16	�	�	PROPN
alkej-896	63	17	̇	̇	NOUN
alkej-896	63	18	�	�	PROPN
alkej-896	63	19	)	)	PUNCT
alkej-896	63	20	−	−	NOUN
alkej-896	63	21	𝐺𝑜(𝑞	𝐺𝑜(𝑞	SYM
alkej-896	63	22	)	)	PUNCT
alkej-896	63	23	]	]	PUNCT
alkej-896	63	24	…	…	PUNCT
alkej-896	63	25	(	(	PUNCT
alkej-896	63	26	18	18	NUM
alkej-896	63	27	)	)	PUNCT
alkej-896	63	28	�	�	PROPN
alkej-896	63	29	̇	̇	PROPN
alkej-896	63	30	�	�	PROPN
alkej-896	63	31	(𝑡	(𝑡	NOUN
alkej-896	63	32	)	)	PUNCT
alkej-896	63	33	=	=	SYM
alkej-896	63	34	0	0	NUM
alkej-896	63	35	…	…	PUNCT
alkej-896	63	36	(	(	PUNCT
alkej-896	63	37	19	19	NUM
alkej-896	63	38	)	)	PUNCT
alkej-896	63	39	γ	γ	PROPN
alkej-896	63	40	ė(t	ė(t	PROPN
alkej-896	63	41	)	)	PUNCT
alkej-896	63	42	+	+	CCONJ
alkej-896	63	43	mo	mo	X
alkej-896	63	44	−1(q)[τeq	−1(q)[τeq	NOUN
alkej-896	63	45	−	−	PROPN
alkej-896	63	46	co(q	co(q	NOUN
alkej-896	63	47	,	,	PUNCT
alkej-896	63	48	q̇)q̇	q̇)q̇	ADV
alkej-896	63	49	−	−	PROPN
alkej-896	63	50	fo(q̇	fo(q̇	NOUN
alkej-896	63	51	)	)	PUNCT
alkej-896	63	52	−	−	NOUN
alkej-896	63	53	go(q	go(q	NOUN
alkej-896	63	54	)	)	PUNCT
alkej-896	63	55	]	]	PUNCT
alkej-896	64	1	=	=	SYM
alkej-896	64	2	0	0	NUM
alkej-896	64	3	…	…	PUNCT
alkej-896	64	4	(	(	PUNCT
alkej-896	64	5	20	20	NUM
alkej-896	64	6	)	)	PUNCT
alkej-896	64	7	𝜏𝑒𝑞	𝜏𝑒𝑞	PROPN
alkej-896	64	8	=	=	SYM
alkej-896	64	9	𝐶𝑜(𝑞	𝐶𝑜(𝑞	PROPN
alkej-896	64	10	,	,	PUNCT
alkej-896	64	11	�	�	PROPN
alkej-896	64	12	̇	̇	PROPN
alkej-896	64	13	�	�	PROPN
alkej-896	64	14	)	)	PUNCT
alkej-896	64	15	�	�	PROPN
alkej-896	64	16	̇	̇	PROPN
alkej-896	64	17	�	�	PROPN
alkej-896	64	18	−	−	PROPN
alkej-896	64	19	𝐹𝑜(	𝐹𝑜(	PROPN
alkej-896	64	20	�	�	PROPN
alkej-896	64	21	̇	̇	NOUN
alkej-896	64	22	�	�	PROPN
alkej-896	64	23	)	)	PUNCT
alkej-896	64	24	−	−	NOUN
alkej-896	64	25	𝐺𝑜(𝑞	𝐺𝑜(𝑞	PRON
alkej-896	64	26	)	)	PUNCT
alkej-896	64	27	+	+	CCONJ
alkej-896	64	28	𝑀𝑜(𝑞)𝛾	𝑀𝑜(𝑞)𝛾	PROPN
alkej-896	64	29	�	�	PROPN
alkej-896	64	30	̇	̇	PROPN
alkej-896	64	31	�	�	PROPN
alkej-896	64	32	(𝑡	(𝑡	PROPN
alkej-896	64	33	)	)	PUNCT
alkej-896	64	34	…	…	PUNCT
alkej-896	64	35	(	(	PUNCT
alkej-896	64	36	21	21	NUM
alkej-896	64	37	)	)	PUNCT
alkej-896	64	38	however	however	ADV
alkej-896	64	39	,	,	PUNCT
alkej-896	64	40	the	the	DET
alkej-896	64	41	equivalent	equivalent	ADJ
alkej-896	64	42	control	control	NOUN
alkej-896	64	43	term	term	NOUN
alkej-896	64	44	is	be	AUX
alkej-896	64	45	not	not	PART
alkej-896	64	46	sufficient	sufficient	ADJ
alkej-896	64	47	to	to	PART
alkej-896	64	48	achieve	achieve	VERB
alkej-896	64	49	good	good	ADJ
alkej-896	64	50	performance	performance	NOUN
alkej-896	64	51	in	in	ADP
alkej-896	64	52	practical	practical	ADJ
alkej-896	64	53	applications	application	NOUN
alkej-896	64	54	due	due	ADP
alkej-896	64	55	to	to	ADP
alkej-896	64	56	many	many	ADJ
alkej-896	64	57	challenges	challenge	NOUN
alkej-896	64	58	like	like	ADP
alkej-896	64	59	parameter	parameter	NOUN
alkej-896	64	60	variations	variation	NOUN
alkej-896	64	61	and	and	CCONJ
alkej-896	64	62	external	external	ADJ
alkej-896	64	63	disturbances	disturbance	NOUN
alkej-896	64	64	.	.	PUNCT
alkej-896	65	1	a	a	DET
alkej-896	65	2	control	control	NOUN
alkej-896	65	3	law	law	NOUN
alkej-896	65	4	is	be	AUX
alkej-896	65	5	presented	present	VERB
alkej-896	65	6	to	to	PART
alkej-896	65	7	compensate	compensate	VERB
alkej-896	65	8	for	for	ADP
alkej-896	65	9	these	these	DET
alkej-896	65	10	uncertainties	uncertainty	NOUN
alkej-896	65	11	.	.	PUNCT
alkej-896	66	1	the	the	DET
alkej-896	66	2	overall	overall	ADJ
alkej-896	66	3	smc	smc	PROPN
alkej-896	66	4	control	control	PROPN
alkej-896	66	5	signal	signal	PROPN
alkej-896	66	6	is	be	AUX
alkej-896	66	7	:	:	PUNCT
alkej-896	66	8	τ	τ	X
alkej-896	66	9	=	=	PUNCT
alkej-896	66	10	τ𝑒𝑞	τ𝑒𝑞	PROPN
alkej-896	67	1	+	+	CCONJ
alkej-896	67	2	τ𝑟	τ𝑟	X
alkej-896	67	3	…	…	PUNCT
alkej-896	67	4	(	(	PUNCT
alkej-896	67	5	22	22	NUM
alkej-896	67	6	)	)	PUNCT
alkej-896	67	7	τ𝑟	τ𝑟	ADP
alkej-896	68	1	=	=	PUNCT
alkej-896	68	2	𝑘	𝑘	PRON
alkej-896	68	3	𝑠𝑔𝑛(s	𝑠𝑔𝑛(s	PROPN
alkej-896	68	4	)	)	PUNCT
alkej-896	68	5	=	=	PUNCT
alkej-896	69	1	[	[	X
alkej-896	69	2	𝑘1𝑠𝑔𝑛(𝑠1	𝑘1𝑠𝑔𝑛(𝑠1	X
alkej-896	69	3	)	)	PUNCT
alkej-896	69	4	⋯	⋯	PROPN
alkej-896	70	1	𝑘𝑛𝑠𝑔𝑛(𝑠𝑛)]𝑇	𝑘𝑛𝑠𝑔𝑛(𝑠𝑛)]𝑇	PROPN
alkej-896	70	2	…	…	PUNCT
alkej-896	70	3	(	(	PUNCT
alkej-896	70	4	23	23	NUM
alkej-896	70	5	)	)	PUNCT
alkej-896	70	6	𝑠𝑔𝑛(𝑠𝑖	𝑠𝑔𝑛(𝑠𝑖	NOUN
alkej-896	70	7	)	)	PUNCT
alkej-896	70	8	=	=	PRON
alkej-896	70	9	{	{	PUNCT
alkej-896	70	10	1	1	NUM
alkej-896	70	11	𝑖𝑓	𝑖𝑓	NOUN
alkej-896	70	12	𝑠𝑖	𝑠𝑖	NOUN
alkej-896	70	13	>	>	X
alkej-896	70	14	0	0	NUM
alkej-896	70	15	−1	−1	NOUN
alkej-896	70	16	𝑖𝑓	𝑖𝑓	ADV
alkej-896	70	17	𝑠𝑖	𝑠𝑖	NOUN
alkej-896	70	18	<	<	X
alkej-896	70	19	0	0	NUM
alkej-896	70	20	…	…	PUNCT
alkej-896	70	21	(	(	PUNCT
alkej-896	70	22	24	24	NUM
alkej-896	70	23	)	)	PUNCT
alkej-896	70	24	where	where	SCONJ
alkej-896	70	25	𝛕𝒓	𝛕𝒓	PRON
alkej-896	70	26	is	be	AUX
alkej-896	70	27	the	the	DET
alkej-896	70	28	robust	robust	ADJ
alkej-896	70	29	term	term	NOUN
alkej-896	70	30	and	and	CCONJ
alkej-896	70	31	the	the	DET
alkej-896	70	32	value	value	NOUN
alkej-896	70	33	of	of	ADP
alkej-896	70	34	k	k	PROPN
alkej-896	70	35	is	be	AUX
alkej-896	70	36	large	large	ADJ
alkej-896	70	37	and	and	CCONJ
alkej-896	70	38	must	must	AUX
alkej-896	70	39	be	be	AUX
alkej-896	70	40	greater	great	ADJ
alkej-896	70	41	than	than	ADP
alkej-896	70	42	the	the	DET
alkej-896	70	43	upper	upper	ADJ
alkej-896	70	44	bound	bound	NOUN
alkej-896	70	45	of	of	ADP
alkej-896	70	46	uncertainty	uncertainty	NOUN
alkej-896	70	47	.	.	PUNCT
alkej-896	71	1	there	there	PRON
alkej-896	71	2	are	be	VERB
alkej-896	71	3	many	many	ADJ
alkej-896	71	4	challenges	challenge	NOUN
alkej-896	71	5	to	to	ADP
alkej-896	71	6	implementing	implement	VERB
alkej-896	71	7	the	the	DET
alkej-896	71	8	control	control	NOUN
alkej-896	71	9	law	law	NOUN
alkej-896	71	10	of	of	ADP
alkej-896	71	11	the	the	DET
alkej-896	71	12	conventional	conventional	ADJ
alkej-896	71	13	smc	smc	PROPN
alkej-896	71	14	.	.	PROPN
alkej-896	71	15	as	as	SCONJ
alkej-896	71	16	shown	show	VERB
alkej-896	71	17	in	in	ADP
alkej-896	71	18	(	(	PUNCT
alkej-896	71	19	21	21	NUM
alkej-896	71	20	)	)	PUNCT
alkej-896	71	21	,	,	PUNCT
alkej-896	71	22	the	the	DET
alkej-896	71	23	exact	exact	ADJ
alkej-896	71	24	dynamic	dynamic	ADJ
alkej-896	71	25	mode	mode	NOUN
alkej-896	71	26	of	of	ADP
alkej-896	71	27	the	the	DET
alkej-896	71	28	robotic	robotic	ADJ
alkej-896	71	29	system	system	NOUN
alkej-896	71	30	and	and	CCONJ
alkej-896	71	31	the	the	DET
alkej-896	71	32	upper	upper	ADJ
alkej-896	71	33	bound	bind	VERB
alkej-896	71	34	of	of	ADP
alkej-896	71	35	uncertainty	uncertainty	NOUN
alkej-896	71	36	must	must	AUX
alkej-896	71	37	be	be	AUX
alkej-896	71	38	known	know	VERB
alkej-896	71	39	to	to	PART
alkej-896	71	40	select	select	VERB
alkej-896	71	41	the	the	DET
alkej-896	71	42	gain	gain	NOUN
alkej-896	71	43	of	of	ADP
alkej-896	71	44	the	the	DET
alkej-896	71	45	robust	robust	ADJ
alkej-896	71	46	term	term	NOUN
alkej-896	71	47	.	.	PUNCT
alkej-896	72	1	moreover	moreover	ADV
alkej-896	72	2	,	,	PUNCT
alkej-896	72	3	the	the	DET
alkej-896	72	4	sign	sign	NOUN
alkej-896	72	5	function	function	NOUN
alkej-896	72	6	causes	cause	VERB
alkej-896	72	7	the	the	DET
alkej-896	72	8	chattering	chatter	VERB
alkej-896	72	9	phenomena	phenomenon	NOUN
alkej-896	72	10	that	that	PRON
alkej-896	72	11	may	may	AUX
alkej-896	72	12	cause	cause	VERB
alkej-896	72	13	damage	damage	NOUN
alkej-896	72	14	to	to	ADP
alkej-896	72	15	the	the	DET
alkej-896	72	16	actuators	actuator	NOUN
alkej-896	72	17	.	.	PUNCT
alkej-896	73	1	4	4	X
alkej-896	73	2	.	.	NUM
alkej-896	73	3	proposed	propose	VERB
alkej-896	73	4	flpdsm	flpdsm	PROPN
alkej-896	73	5	design	design	NOUN
alkej-896	73	6	this	this	DET
alkej-896	73	7	section	section	NOUN
alkej-896	73	8	discusses	discuss	VERB
alkej-896	73	9	in	in	ADP
alkej-896	73	10	detail	detail	NOUN
alkej-896	73	11	the	the	DET
alkej-896	73	12	two	two	NUM
alkej-896	73	13	terms	term	NOUN
alkej-896	73	14	of	of	ADP
alkej-896	73	15	the	the	DET
alkej-896	73	16	proposed	propose	VERB
alkej-896	73	17	control	control	NOUN
alkej-896	73	18	method	method	NOUN
alkej-896	73	19	.	.	PUNCT
alkej-896	74	1	figure	figure	NOUN
alkej-896	74	2	1	1	NUM
alkej-896	74	3	displays	display	VERB
alkej-896	74	4	the	the	DET
alkej-896	74	5	block	block	NOUN
alkej-896	74	6	diagram	diagram	NOUN
alkej-896	74	7	for	for	ADP
alkej-896	74	8	the	the	DET
alkej-896	74	9	proposed	propose	VERB
alkej-896	74	10	control	control	NOUN
alkej-896	74	11	scheme	scheme	NOUN
alkej-896	74	12	.	.	PUNCT
alkej-896	75	1	the	the	DET
alkej-896	75	2	proposed	propose	VERB
alkej-896	75	3	control	control	NOUN
alkej-896	75	4	law	law	NOUN
alkej-896	75	5	is	be	AUX
alkej-896	75	6	:	:	PUNCT
alkej-896	75	7	τ	τ	PROPN
alkej-896	75	8	=	=	PUNCT
alkej-896	75	9	τ𝐹	τ𝐹	PROPN
alkej-896	75	10	+	+	NUM
alkej-896	75	11	τ𝑟	τ𝑟	X
alkej-896	75	12	…	…	PUNCT
alkej-896	75	13	(	(	PUNCT
alkej-896	75	14	25	25	NUM
alkej-896	75	15	)	)	PUNCT
alkej-896	75	16	where	where	SCONJ
alkej-896	75	17	𝛕𝑭	𝛕𝑭	PROPN
alkej-896	75	18	is	be	AUX
alkej-896	75	19	the	the	DET
alkej-896	75	20	output	output	NOUN
alkej-896	75	21	of	of	ADP
alkej-896	75	22	the	the	DET
alkej-896	75	23	fuzzy	fuzzy	ADJ
alkej-896	75	24	-	-	PUNCT
alkej-896	75	25	like	like	ADJ
alkej-896	75	26	pd	pd	NOUN
alkej-896	75	27	controller	controller	NOUN
alkej-896	75	28	that	that	PRON
alkej-896	75	29	was	be	AUX
alkej-896	75	30	designed	design	VERB
alkej-896	75	31	based	base	VERB
alkej-896	75	32	on	on	ADP
alkej-896	75	33	the	the	DET
alkej-896	75	34	nominal	nominal	ADJ
alkej-896	75	35	model	model	NOUN
alkej-896	75	36	of	of	ADP
alkej-896	75	37	the	the	DET
alkej-896	75	38	robotic	robotic	ADJ
alkej-896	75	39	system	system	NOUN
alkej-896	75	40	,	,	PUNCT
alkej-896	75	41	and	and	CCONJ
alkej-896	75	42	𝛕𝒓refers	𝛕𝒓refer	NOUN
alkej-896	75	43	to	to	ADP
alkej-896	75	44	the	the	DET
alkej-896	75	45	robust	robust	ADJ
alkej-896	75	46	control	control	NOUN
alkej-896	75	47	signal	signal	NOUN
alkej-896	75	48	that	that	PRON
alkej-896	75	49	overcomes	overcome	VERB
alkej-896	75	50	the	the	DET
alkej-896	75	51	uncertainties	uncertainty	NOUN
alkej-896	75	52	and	and	CCONJ
alkej-896	75	53	external	external	ADJ
alkej-896	75	54	disturbances	disturbance	NOUN
alkej-896	75	55	that	that	PRON
alkej-896	75	56	were	be	AUX
alkej-896	75	57	not	not	PART
alkej-896	75	58	included	include	VERB
alkej-896	75	59	in	in	ADP
alkej-896	75	60	the	the	DET
alkej-896	75	61	fuzzy	fuzzy	ADJ
alkej-896	75	62	-	-	PUNCT
alkej-896	75	63	like	like	ADJ
alkej-896	75	64	pd	pd	PROPN
alkej-896	75	65	controller	controller	PROPN
alkej-896	75	66	’s	’s	PART
alkej-896	75	67	design	design	NOUN
alkej-896	75	68	.	.	PUNCT
alkej-896	76	1	two	two	NUM
alkej-896	76	2	methods	method	NOUN
alkej-896	76	3	are	be	AUX
alkej-896	76	4	proposed	propose	VERB
alkej-896	76	5	for	for	ADP
alkej-896	76	6	the	the	DET
alkej-896	76	7	robust	robust	ADJ
alkej-896	76	8	control	control	NOUN
alkej-896	76	9	term𝛕𝒓	term𝛕𝒓	NOUN
alkej-896	76	10	:	:	PUNCT
alkej-896	76	11	in	in	ADP
alkej-896	76	12	the	the	DET
alkej-896	76	13	first	first	ADJ
alkej-896	76	14	method	method	NOUN
alkej-896	76	15	,	,	PUNCT
alkej-896	76	16	the	the	DET
alkej-896	76	17	upper	upper	ADJ
alkej-896	76	18	bound	bound	NOUN
alkej-896	76	19	of	of	ADP
alkej-896	76	20	the	the	DET
alkej-896	76	21	dynamic	dynamic	ADJ
alkej-896	76	22	model	model	NOUN
alkej-896	76	23	of	of	ADP
alkej-896	76	24	the	the	DET
alkej-896	76	25	robotic	robotic	ADJ
alkej-896	76	26	system	system	NOUN
alkej-896	76	27	is	be	AUX
alkej-896	76	28	assumed	assume	VERB
alkej-896	76	29	to	to	PART
alkej-896	76	30	be	be	AUX
alkej-896	76	31	known	know	VERB
alkej-896	76	32	,	,	PUNCT
alkej-896	76	33	while	while	SCONJ
alkej-896	76	34	in	in	ADP
alkej-896	76	35	the	the	DET
alkej-896	76	36	second	second	ADJ
alkej-896	76	37	method	method	NOUN
alkej-896	76	38	,	,	PUNCT
alkej-896	76	39	this	this	DET
alkej-896	76	40	bound	bind	VERB
alkej-896	76	41	is	be	AUX
alkej-896	76	42	assumed	assume	VERB
alkej-896	76	43	to	to	PART
alkej-896	76	44	be	be	AUX
alkej-896	76	45	unknown	unknown	ADJ
alkej-896	76	46	.	.	PUNCT
alkej-896	77	1	4.1	4.1	NUM
alkej-896	77	2	fuzzy	fuzzy	ADJ
alkej-896	77	3	-	-	PUNCT
alkej-896	77	4	like	like	ADJ
alkej-896	77	5	pd	pd	NOUN
alkej-896	77	6	controller	controller	NOUN
alkej-896	77	7	a	a	DET
alkej-896	77	8	fuzzy	fuzzy	ADJ
alkej-896	77	9	-	-	PUNCT
alkej-896	77	10	like	like	ADJ
alkej-896	77	11	pd	pd	NOUN
alkej-896	77	12	controller	controller	NOUN
alkej-896	77	13	is	be	AUX
alkej-896	77	14	proposed	propose	VERB
alkej-896	77	15	to	to	PART
alkej-896	77	16	achieve	achieve	VERB
alkej-896	77	17	good	good	ADJ
alkej-896	77	18	performance	performance	NOUN
alkej-896	77	19	with	with	ADP
alkej-896	77	20	fuzzy	fuzzy	ADJ
alkej-896	77	21	rules	rule	NOUN
alkej-896	77	22	,	,	PUNCT
alkej-896	77	23	and	and	CCONJ
alkej-896	77	24	was	be	AUX
alkej-896	77	25	designed	design	VERB
alkej-896	77	26	without	without	ADP
alkej-896	77	27	considering	consider	VERB
alkej-896	77	28	parameter	parameter	NOUN
alkej-896	77	29	variations	variation	NOUN
alkej-896	77	30	,	,	PUNCT
alkej-896	77	31	and	and	CCONJ
alkej-896	77	32	external	external	ADJ
alkej-896	77	33	disturbances	disturbance	NOUN
alkej-896	77	34	.	.	PUNCT
alkej-896	78	1	only	only	ADV
alkej-896	78	2	the	the	DET
alkej-896	78	3	nominal	nominal	ADJ
alkej-896	78	4	model	model	NOUN
alkej-896	78	5	of	of	ADP
alkej-896	78	6	the	the	DET
alkej-896	78	7	robot	robot	NOUN
alkej-896	78	8	manipulator	manipulator	NOUN
alkej-896	78	9	is	be	AUX
alkej-896	78	10	considered	consider	VERB
alkej-896	78	11	.	.	PUNCT
alkej-896	79	1	the	the	DET
alkej-896	79	2	inputs	input	NOUN
alkej-896	79	3	to	to	ADP
alkej-896	79	4	the	the	DET
alkej-896	79	5	fuzzy	fuzzy	ADJ
alkej-896	79	6	controller	controller	NOUN
alkej-896	79	7	are	be	AUX
alkej-896	79	8	the	the	DET
alkej-896	79	9	normalized	normalize	VERB
alkej-896	79	10	error	error	NOUN
alkej-896	79	11	and	and	CCONJ
alkej-896	79	12	the	the	DET
alkej-896	79	13	derivative	derivative	NOUN
alkej-896	79	14	of	of	ADP
alkej-896	79	15	the	the	DET
alkej-896	79	16	error	error	NOUN
alkej-896	79	17	.	.	PUNCT
alkej-896	80	1	the	the	DET
alkej-896	80	2	output	output	NOUN
alkej-896	80	3	of	of	ADP
alkej-896	80	4	the	the	DET
alkej-896	80	5	fuzzy	fuzzy	ADJ
alkej-896	80	6	controller	controller	NOUN
alkej-896	80	7	is	be	AUX
alkej-896	80	8	τ𝐹	τ𝐹	NUM
alkej-896	80	9	.	.	PUNCT
alkej-896	81	1	τ𝐹	τ𝐹	SYM
alkej-896	82	1	=	=	SYM
alkej-896	82	2	kf𝑢𝑓	kf𝑢𝑓	NOUN
alkej-896	82	3	…	…	PUNCT
alkej-896	82	4	(	(	PUNCT
alkej-896	82	5	26	26	NUM
alkej-896	82	6	)	)	PUNCT
alkej-896	82	7	𝑢𝑓(𝑡	𝑢𝑓(𝑡	NUM
alkej-896	82	8	)	)	PUNCT
alkej-896	82	9	=	=	SYM
alkej-896	82	10	𝐹𝑃𝐷(𝑒(𝑡	𝐹𝑃𝐷(𝑒(𝑡	NOUN
alkej-896	82	11	)	)	PUNCT
alkej-896	82	12	,	,	PUNCT
alkej-896	82	13	�	�	PROPN
alkej-896	82	14	̇	̇	PROPN
alkej-896	82	15	�	�	PROPN
alkej-896	82	16	(𝑡	(𝑡	NOUN
alkej-896	82	17	)	)	PUNCT
alkej-896	82	18	)	)	PUNCT
alkej-896	82	19	…	…	PUNCT
alkej-896	82	20	(	(	PUNCT
alkej-896	82	21	27	27	NUM
alkej-896	82	22	)	)	PUNCT
alkej-896	82	23	ali	ali	PROPN
alkej-896	82	24	hussien	hussien	PROPN
alkej-896	82	25	mary	mary	PROPN
alkej-896	82	26	al	al	PROPN
alkej-896	82	27	-	-	PUNCT
alkej-896	82	28	khwarizmi	khwarizmi	PROPN
alkej-896	82	29	engineering	engineering	NOUN
alkej-896	82	30	journal	journal	PROPN
alkej-896	82	31	,	,	PUNCT
alkej-896	82	32	vol	vol	NOUN
alkej-896	82	33	.	.	PROPN
alkej-896	82	34	20	20	NUM
alkej-896	82	35	,	,	PUNCT
alkej-896	82	36	no	no	INTJ
alkej-896	82	37	.	.	NOUN
alkej-896	82	38	1	1	NUM
alkej-896	82	39	,	,	PUNCT
alkej-896	82	40	p.p	p.p	PROPN
alkej-896	82	41	.	.	NOUN
alkej-896	82	42	6375	6375	NUM
alkej-896	82	43	(	(	PUNCT
alkej-896	82	44	2024	2024	NUM
alkej-896	82	45	)	)	PUNCT
alkej-896	82	46	66	66	NUM
alkej-896	82	47	fig	fig	NOUN
alkej-896	82	48	.	.	PUNCT
alkej-896	83	1	1	1	NUM
alkej-896	83	2	.	.	X
alkej-896	83	3	basic	basic	ADJ
alkej-896	83	4	decentralized	decentralize	VERB
alkej-896	83	5	control	control	NOUN
alkej-896	83	6	scheme	scheme	NOUN
alkej-896	83	7	for	for	ADP
alkej-896	83	8	two	two	NUM
alkej-896	83	9	link	link	NOUN
alkej-896	83	10	robotic	robotic	ADJ
alkej-896	83	11	manipulator	manipulator	NOUN
alkej-896	83	12	.	.	PUNCT
alkej-896	84	1	where	where	SCONJ
alkej-896	84	2	𝒌𝒇	𝒌𝒇	ADV
alkej-896	84	3	is	be	AUX
alkej-896	84	4	a	a	DET
alkej-896	84	5	positive	positive	ADJ
alkej-896	84	6	diagonal	diagonal	ADJ
alkej-896	84	7	matrix	matrix	NOUN
alkej-896	84	8	that	that	PRON
alkej-896	84	9	refers	refer	VERB
alkej-896	84	10	to	to	ADP
alkej-896	84	11	the	the	DET
alkej-896	84	12	output	output	NOUN
alkej-896	84	13	scaling	scale	VERB
alkej-896	84	14	factor	factor	NOUN
alkej-896	84	15	,	,	PUNCT
alkej-896	84	16	and	and	CCONJ
alkej-896	84	17	𝐹𝑃𝐷(𝒆(𝑡	𝐹𝑃𝐷(𝒆(𝑡	PROPN
alkej-896	84	18	)	)	PUNCT
alkej-896	84	19	,	,	PUNCT
alkej-896	84	20	�	�	PROPN
alkej-896	84	21	̇	̇	PROPN
alkej-896	84	22	�	�	PROPN
alkej-896	84	23	(𝑡))denotes	(𝑡))denote	VERB
alkej-896	84	24	the	the	DET
alkej-896	84	25	fuzzy	fuzzy	ADJ
alkej-896	84	26	logic	logic	NOUN
alkej-896	84	27	decision	decision	NOUN
alkej-896	84	28	system	system	NOUN
alkej-896	84	29	.	.	PUNCT
alkej-896	85	1	the	the	DET
alkej-896	85	2	membership	membership	NOUN
alkej-896	85	3	functions	function	NOUN
alkej-896	85	4	for	for	ADP
alkej-896	85	5	the	the	DET
alkej-896	85	6	input	input	NOUN
alkej-896	85	7	variables	variable	NOUN
alkej-896	85	8	𝒆(𝑡	𝒆(𝑡	PROPN
alkej-896	85	9	)	)	PUNCT
alkej-896	85	10	and	and	CCONJ
alkej-896	85	11	�	�	PROPN
alkej-896	85	12	̇	̇	PROPN
alkej-896	85	13	�	�	PROPN
alkej-896	85	14	(𝑡	(𝑡	NOUN
alkej-896	85	15	)	)	PUNCT
alkej-896	85	16	and	and	CCONJ
alkej-896	85	17	the	the	DET
alkej-896	85	18	output	output	NOUN
alkej-896	85	19	variable𝒖𝒇(𝑡	variable𝒖𝒇(𝑡	NOUN
alkej-896	85	20	)	)	PUNCT
alkej-896	85	21	are	be	AUX
alkej-896	85	22	shown	show	VERB
alkej-896	85	23	in	in	ADP
alkej-896	85	24	figure	figure	NOUN
alkej-896	85	25	2	2	NUM
alkej-896	85	26	.	.	NOUN
alkej-896	85	27	five	five	NUM
alkej-896	85	28	fuzzy	fuzzy	ADJ
alkej-896	85	29	functions	function	NOUN
alkej-896	85	30	,	,	PUNCT
alkej-896	85	31	defined	define	VERB
alkej-896	85	32	as	as	ADP
alkej-896	85	33	negative	negative	ADJ
alkej-896	85	34	big	big	ADJ
alkej-896	85	35	(	(	PUNCT
alkej-896	85	36	nb	nb	NOUN
alkej-896	85	37	)	)	PUNCT
alkej-896	85	38	,	,	PUNCT
alkej-896	85	39	negative	negative	ADJ
alkej-896	85	40	small	small	ADJ
alkej-896	85	41	(	(	PUNCT
alkej-896	85	42	ns	ns	NUM
alkej-896	85	43	)	)	PUNCT
alkej-896	85	44	,	,	PUNCT
alkej-896	85	45	zero	zero	NUM
alkej-896	85	46	(	(	PUNCT
alkej-896	85	47	z	z	NOUN
alkej-896	85	48	)	)	PUNCT
alkej-896	85	49	,	,	PUNCT
alkej-896	85	50	positive	positive	ADJ
alkej-896	85	51	small	small	ADJ
alkej-896	85	52	(	(	PUNCT
alkej-896	85	53	ps	ps	NOUN
alkej-896	85	54	)	)	PUNCT
alkej-896	85	55	,	,	PUNCT
alkej-896	85	56	and	and	CCONJ
alkej-896	85	57	positive	positive	ADJ
alkej-896	85	58	big	big	ADJ
alkej-896	85	59	(	(	PUNCT
alkej-896	85	60	pb	pb	PROPN
alkej-896	85	61	)	)	PUNCT
alkej-896	85	62	,	,	PUNCT
alkej-896	85	63	are	be	AUX
alkej-896	85	64	used	use	VERB
alkej-896	85	65	as	as	ADP
alkej-896	85	66	membership	membership	NOUN
alkej-896	85	67	functions	function	NOUN
alkej-896	85	68	.	.	PUNCT
alkej-896	86	1	table	table	NOUN
alkej-896	86	2	1	1	NUM
alkej-896	86	3	lists	list	VERB
alkej-896	86	4	the	the	DET
alkej-896	86	5	rules	rule	NOUN
alkej-896	86	6	used	use	VERB
alkej-896	86	7	in	in	ADP
alkej-896	86	8	this	this	DET
alkej-896	86	9	controller	controller	NOUN
alkej-896	86	10	.	.	PUNCT
alkej-896	87	1	the	the	DET
alkej-896	87	2	intersection	intersection	NOUN
alkej-896	87	3	minimum	minimum	NOUN
alkej-896	87	4	has	have	AUX
alkej-896	87	5	been	be	AUX
alkej-896	87	6	used	use	VERB
alkej-896	87	7	for	for	ADP
alkej-896	87	8	the	the	DET
alkej-896	87	9	fuzzification	fuzzification	NOUN
alkej-896	87	10	process	process	NOUN
alkej-896	87	11	,	,	PUNCT
alkej-896	87	12	while	while	SCONJ
alkej-896	87	13	the	the	DET
alkej-896	87	14	center	center	ADJ
alkej-896	87	15	average	average	ADJ
alkej-896	87	16	operations	operation	NOUN
alkej-896	87	17	were	be	AUX
alkej-896	87	18	used	use	VERB
alkej-896	87	19	for	for	ADP
alkej-896	87	20	defuzzification	defuzzification	NOUN
alkej-896	87	21	.	.	PUNCT
alkej-896	88	1	fig	fig	NOUN
alkej-896	88	2	.	.	PUNCT
alkej-896	89	1	2	2	X
alkej-896	89	2	.	.	X
alkej-896	89	3	membership	membership	NOUN
alkej-896	89	4	functions	function	NOUN
alkej-896	89	5	for	for	ADP
alkej-896	89	6	the	the	DET
alkej-896	89	7	fuzzy	fuzzy	ADJ
alkej-896	89	8	controller	controller	NOUN
alkej-896	89	9	table	table	NOUN
alkej-896	89	10	1	1	NUM
alkej-896	89	11	,	,	PUNCT
alkej-896	89	12	fuzzy	fuzzy	ADJ
alkej-896	89	13	controller	controller	NOUN
alkej-896	89	14	rules	rule	NOUN
alkej-896	89	15	𝒆(𝒕	𝒆(𝒕	PROPN
alkej-896	89	16	)	)	PUNCT
alkej-896	89	17	�	�	PROPN
alkej-896	89	18	̇	̇	PROPN
alkej-896	89	19	�	�	PROPN
alkej-896	89	20	(𝒕	(𝒕	PROPN
alkej-896	89	21	)	)	PUNCT
alkej-896	89	22	nb	nb	INTJ
alkej-896	90	1	ns	ns	INTJ
alkej-896	90	2	z	z	PROPN
alkej-896	90	3	ps	ps	NOUN
alkej-896	90	4	pb	pb	ADP
alkej-896	90	5	nb	nb	INTJ
alkej-896	90	6	nb	nb	PROPN
alkej-896	90	7	nb	nb	PROPN
alkej-896	91	1	nb	nb	INTJ
alkej-896	92	1	ns	ns	INTJ
alkej-896	92	2	z	z	PROPN
alkej-896	92	3	ns	ns	INTJ
alkej-896	92	4	nb	nb	NOUN
alkej-896	92	5	nb	nb	INTJ
alkej-896	92	6	ns	ns	INTJ
alkej-896	92	7	z	z	PROPN
alkej-896	92	8	ps	ps	PROPN
alkej-896	92	9	z	z	PROPN
alkej-896	92	10	nb	nb	INTJ
alkej-896	93	1	ns	ns	INTJ
alkej-896	93	2	z	z	PROPN
alkej-896	93	3	ps	ps	NOUN
alkej-896	93	4	pb	pb	ADP
alkej-896	93	5	ps	ps	PROPN
alkej-896	93	6	ns	ns	INTJ
alkej-896	93	7	z	z	PROPN
alkej-896	93	8	ps	ps	NOUN
alkej-896	93	9	pb	pb	X
alkej-896	93	10	pb	pb	ADP
alkej-896	93	11	pb	pb	ADP
alkej-896	93	12	z	z	PROPN
alkej-896	93	13	ps	ps	NOUN
alkej-896	93	14	pb	pb	X
alkej-896	93	15	pb	pb	ADP
alkej-896	93	16	pb	pb	ADP
alkej-896	93	17	4.2	4.2	NUM
alkej-896	93	18	robust	robust	ADJ
alkej-896	93	19	auxiliary	auxiliary	ADJ
alkej-896	93	20	controller	controller	NOUN
alkej-896	93	21	any	any	DET
alkej-896	93	22	robust	robust	ADJ
alkej-896	93	23	control	control	NOUN
alkej-896	93	24	scheme	scheme	NOUN
alkej-896	93	25	must	must	AUX
alkej-896	93	26	take	take	VERB
alkej-896	93	27	into	into	ADP
alkej-896	93	28	account	account	NOUN
alkej-896	93	29	parameter	parameter	NOUN
alkej-896	93	30	variations	variation	NOUN
alkej-896	93	31	and	and	CCONJ
alkej-896	93	32	external	external	ADJ
alkej-896	93	33	disturbances	disturbance	NOUN
alkej-896	93	34	in	in	ADP
alkej-896	93	35	order	order	NOUN
alkej-896	93	36	to	to	PART
alkej-896	93	37	provide	provide	VERB
alkej-896	93	38	a	a	DET
alkej-896	93	39	controller	controller	NOUN
alkej-896	93	40	that	that	PRON
alkej-896	93	41	is	be	AUX
alkej-896	93	42	robust	robust	ADJ
alkej-896	93	43	to	to	ADP
alkej-896	93	44	unpredictable	unpredictable	ADJ
alkej-896	93	45	variations	variation	NOUN
alkej-896	93	46	.	.	PUNCT
alkej-896	94	1	in	in	ADP
alkej-896	94	2	this	this	DET
alkej-896	94	3	section	section	NOUN
alkej-896	94	4	,	,	PUNCT
alkej-896	94	5	two	two	NUM
alkej-896	94	6	methods	method	NOUN
alkej-896	94	7	are	be	AUX
alkej-896	94	8	presented	present	VERB
alkej-896	94	9	to	to	PART
alkej-896	94	10	select	select	VERB
alkej-896	94	11	a	a	DET
alkej-896	94	12	suitable	suitable	ADJ
alkej-896	94	13	auxiliary	auxiliary	ADJ
alkej-896	94	14	controller	controller	NOUN
alkej-896	94	15	.	.	PUNCT
alkej-896	95	1	in	in	ADP
alkej-896	95	2	the	the	DET
alkej-896	95	3	first	first	ADJ
alkej-896	95	4	proposed	propose	VERB
alkej-896	95	5	method	method	NOUN
alkej-896	95	6	,	,	PUNCT
alkej-896	95	7	the	the	DET
alkej-896	95	8	upper	upper	ADJ
alkej-896	95	9	bound	bind	VERB
alkej-896	95	10	of	of	ADP
alkej-896	95	11	uncertainty	uncertainty	NOUN
alkej-896	95	12	is	be	AUX
alkej-896	95	13	assumed	assume	VERB
alkej-896	95	14	to	to	PART
alkej-896	95	15	be	be	AUX
alkej-896	95	16	known	know	VERB
alkej-896	95	17	,	,	PUNCT
alkej-896	95	18	while	while	SCONJ
alkej-896	95	19	in	in	ADP
alkej-896	95	20	the	the	DET
alkej-896	95	21	second	second	ADJ
alkej-896	95	22	proposed	propose	VERB
alkej-896	95	23	method	method	NOUN
alkej-896	95	24	,	,	PUNCT
alkej-896	95	25	it	it	PRON
alkej-896	95	26	assumed	assume	VERB
alkej-896	95	27	to	to	PART
alkej-896	95	28	be	be	AUX
alkej-896	95	29	unknown	unknown	ADJ
alkej-896	95	30	.	.	PUNCT
alkej-896	96	1	4.2.1	4.2.1	PRON
alkej-896	96	2	proposed	propose	VERB
alkej-896	96	3	i	i	PRON
alkej-896	96	4	:	:	PUNCT
alkej-896	96	5	constant	constant	ADJ
alkej-896	96	6	switching	switching	NOUN
alkej-896	96	7	gain	gain	NOUN
alkej-896	96	8	in	in	ADP
alkej-896	96	9	this	this	DET
alkej-896	96	10	method	method	NOUN
alkej-896	96	11	,	,	PUNCT
alkej-896	96	12	the	the	DET
alkej-896	96	13	switching	switch	VERB
alkej-896	96	14	gain	gain	NOUN
alkej-896	96	15	,	,	PUNCT
alkej-896	96	16	whose	whose	DET
alkej-896	96	17	value	value	NOUN
alkej-896	96	18	is	be	AUX
alkej-896	96	19	determined	determine	VERB
alkej-896	96	20	based	base	VERB
alkej-896	96	21	on	on	ADP
alkej-896	96	22	lyapunov	lyapunov	PROPN
alkej-896	96	23	theory	theory	NOUN
alkej-896	96	24	,	,	PUNCT
alkej-896	96	25	is	be	AUX
alkej-896	96	26	kept	keep	VERB
alkej-896	96	27	constant	constant	ADJ
alkej-896	96	28	,	,	PUNCT
alkej-896	96	29	as	as	SCONJ
alkej-896	96	30	shown	show	VERB
alkej-896	96	31	in	in	ADP
alkej-896	96	32	figure	figure	NOUN
alkej-896	96	33	3	3	NUM
alkej-896	96	34	.	.	NOUN
alkej-896	96	35	𝛕𝒓	𝛕𝒓	PUNCT
alkej-896	97	1	=	=	SYM
alkej-896	97	2	𝒌	𝒌	PROPN
alkej-896	97	3	𝑠𝑔𝑛	𝑠𝑔𝑛	PROPN
alkej-896	97	4	(	(	PUNCT
alkej-896	97	5	𝐬	𝐬	NOUN
alkej-896	97	6	)	)	PUNCT
alkej-896	97	7	=	=	PUNCT
alkej-896	98	1	[	[	X
alkej-896	98	2	𝑘1𝑠𝑔𝑛(𝑠1	𝑘1𝑠𝑔𝑛(𝑠1	X
alkej-896	98	3	)	)	PUNCT
alkej-896	98	4	⋯	⋯	PROPN
alkej-896	99	1	𝑘𝑛𝑠𝑔𝑛(𝑠𝑛)]𝑇	𝑘𝑛𝑠𝑔𝑛(𝑠𝑛)]𝑇	PROPN
alkej-896	99	2	…	…	PUNCT
alkej-896	99	3	(	(	PUNCT
alkej-896	99	4	28	28	NUM
alkej-896	99	5	)	)	PUNCT
alkej-896	99	6	the	the	DET
alkej-896	99	7	proposed	propose	VERB
alkej-896	99	8	control	control	NOUN
alkej-896	99	9	law	law	NOUN
alkej-896	99	10	can	can	AUX
alkej-896	99	11	be	be	AUX
alkej-896	99	12	written	write	VERB
alkej-896	99	13	as	as	ADP
alkej-896	99	14	:	:	PUNCT
alkej-896	99	15	τ	τ	PROPN
alkej-896	99	16	=	=	PUNCT
alkej-896	99	17	𝑘𝑓𝑢𝑓	𝑘𝑓𝑢𝑓	NOUN
alkej-896	99	18	+	+	CCONJ
alkej-896	99	19	𝑘	𝑘	DET
alkej-896	99	20	𝑠𝑔𝑛(s	𝑠𝑔𝑛(s	PROPN
alkej-896	99	21	)	)	PUNCT
alkej-896	99	22	…	…	PUNCT
alkej-896	99	23	(	(	PUNCT
alkej-896	99	24	29	29	NUM
alkej-896	99	25	)	)	PUNCT
alkej-896	99	26	theorem	theorem	NOUN
alkej-896	99	27	1	1	NUM
alkej-896	99	28	considering	consider	VERB
alkej-896	99	29	the	the	DET
alkej-896	99	30	nonlinear	nonlinear	ADJ
alkej-896	99	31	robotic	robotic	ADJ
alkej-896	99	32	system	system	NOUN
alkej-896	99	33	in	in	ADP
alkej-896	99	34	(	(	PUNCT
alkej-896	99	35	1	1	NUM
alkej-896	99	36	)	)	PUNCT
alkej-896	99	37	,	,	PUNCT
alkej-896	99	38	and	and	CCONJ
alkej-896	99	39	the	the	DET
alkej-896	99	40	proposed	propose	VERB
alkej-896	99	41	robust	robust	ADJ
alkej-896	99	42	fuzzy	fuzzy	ADJ
alkej-896	99	43	control	control	NOUN
alkej-896	99	44	method	method	NOUN
alkej-896	99	45	in	in	ADP
alkej-896	99	46	(	(	PUNCT
alkej-896	99	47	29	29	NUM
alkej-896	99	48	)	)	PUNCT
alkej-896	99	49	,	,	PUNCT
alkej-896	99	50	the	the	DET
alkej-896	99	51	closed	closed	ADJ
alkej-896	99	52	loop	loop	NOUN
alkej-896	99	53	system	system	NOUN
alkej-896	99	54	will	will	AUX
alkej-896	99	55	be	be	AUX
alkej-896	99	56	asymptotically	asymptotically	ADV
alkej-896	99	57	stable	stable	ADJ
alkej-896	99	58	with	with	ADP
alkej-896	99	59	approximately	approximately	ADV
alkej-896	99	60	zero	zero	NUM
alkej-896	99	61	error	error	NOUN
alkej-896	99	62	signals	signal	NOUN
alkej-896	99	63	if	if	SCONJ
alkej-896	99	64	the	the	DET
alkej-896	99	65	controller	controller	NOUN
alkej-896	99	66	parameters	parameter	NOUN
alkej-896	99	67	are	be	AUX
alkej-896	99	68	selected	select	VERB
alkej-896	99	69	as	as	SCONJ
alkej-896	99	70	follows	follow	VERB
alkej-896	99	71	:	:	PUNCT
alkej-896	99	72	‖k‖	‖k‖	PROPN
alkej-896	99	73	>	>	SYM
alkej-896	99	74	‖y∅	‖y∅	PROPN
alkej-896	99	75	+	+	NUM
alkej-896	99	76	𝑘𝑓‖	𝑘𝑓‖	PROPN
alkej-896	99	77	…	…	PUNCT
alkej-896	99	78	(	(	PUNCT
alkej-896	99	79	30	30	NUM
alkej-896	99	80	)	)	PUNCT
alkej-896	99	81	𝑘𝑓	𝑘𝑓	X
alkej-896	99	82	>	>	NOUN
alkej-896	99	83	0	0	NUM
alkej-896	99	84	…	…	PUNCT
alkej-896	99	85	(	(	PUNCT
alkej-896	99	86	31	31	NUM
alkej-896	99	87	)	)	PUNCT
alkej-896	99	88	proof	proof	NOUN
alkej-896	99	89	.	.	PUNCT
alkej-896	100	1	let	let	VERB
alkej-896	100	2	𝑉	𝑉	PROPN
alkej-896	100	3	be	be	AUX
alkej-896	100	4	the	the	DET
alkej-896	100	5	candidate	candidate	NOUN
alkej-896	100	6	lyapunov	lyapunov	NOUN
alkej-896	100	7	function	function	NOUN
alkej-896	100	8	used	use	VERB
alkej-896	100	9	to	to	PART
alkej-896	100	10	verify	verify	VERB
alkej-896	100	11	the	the	DET
alkej-896	100	12	stability	stability	NOUN
alkej-896	100	13	.	.	PUNCT
alkej-896	101	1	𝑉	𝑉	PROPN
alkej-896	101	2	=	=	NOUN
alkej-896	101	3	1	1	NUM
alkej-896	101	4	2	2	NUM
alkej-896	101	5	s𝑇ms	s𝑇ms	PROPN
alkej-896	101	6	…	…	PUNCT
alkej-896	101	7	(	(	PUNCT
alkej-896	101	8	32	32	NUM
alkej-896	101	9	)	)	PUNCT
alkej-896	101	10	�	�	PROPN
alkej-896	101	11	̇	̇	VERB
alkej-896	101	12	�	�	PROPN
alkej-896	101	13	=	=	SYM
alkej-896	101	14	s𝑇mṡ	s𝑇mṡ	NOUN
alkej-896	101	15	+	+	CCONJ
alkej-896	101	16	1	1	NUM
alkej-896	101	17	2	2	NUM
alkej-896	101	18	s𝑇ṁs	s𝑇ṁs	NOUN
alkej-896	101	19	=	=	SYM
alkej-896	101	20	s𝑇mṡ	s𝑇mṡ	NOUN
alkej-896	101	21	+	+	CCONJ
alkej-896	101	22	s𝑇cs	s𝑇cs	PROPN
alkej-896	101	23	…	…	PUNCT
alkej-896	101	24	(	(	PUNCT
alkej-896	101	25	33	33	NUM
alkej-896	101	26	)	)	PUNCT
alkej-896	101	27	�	�	PROPN
alkej-896	101	28	̇	̇	VERB
alkej-896	101	29	�	�	PROPN
alkej-896	101	30	=	=	PUNCT
alkej-896	102	1	s𝑇[m(q)q̈r	s𝑇[m(q)q̈r	PROPN
alkej-896	102	2	+	+	NUM
alkej-896	102	3	c(q	c(q	PROPN
alkej-896	102	4	,	,	PUNCT
alkej-896	102	5	q̇)q̇r	q̇)q̇r	NOUN
alkej-896	102	6	+	+	CCONJ
alkej-896	102	7	g(q	g(q	X
alkej-896	102	8	)	)	PUNCT
alkej-896	103	1	+	+	CCONJ
alkej-896	103	2	f(q̇	f(q̇	NOUN
alkej-896	103	3	)	)	PUNCT
alkej-896	103	4	−	−	PROPN
alkej-896	104	1	τ	τ	X
alkej-896	104	2	]	]	X
alkej-896	104	3	…	…	PUNCT
alkej-896	104	4	(	(	PUNCT
alkej-896	104	5	34	34	NUM
alkej-896	104	6	)	)	PUNCT
alkej-896	104	7	�	�	PROPN
alkej-896	104	8	̇	̇	VERB
alkej-896	104	9	�	�	PROPN
alkej-896	104	10	=	=	SYM
alkej-896	104	11	s𝑇[y∅	s𝑇[y∅	PROPN
alkej-896	104	12	−	−	PROPN
alkej-896	104	13	τ	τ	X
alkej-896	104	14	]	]	X
alkej-896	104	15	…	…	PUNCT
alkej-896	104	16	(	(	PUNCT
alkej-896	104	17	35	35	NUM
alkej-896	104	18	)	)	PUNCT
alkej-896	104	19	gc	gc	PROPN
alkej-896	104	20	1	1	NUM
alkej-896	104	21	𝑞1𝑑	𝑞1𝑑	PROPN
alkej-896	104	22	+	+	CCONJ
alkej-896	104	23	𝜏2	𝜏2	ADJ
alkej-896	104	24	𝑞2	𝑞2	NOUN
alkej-896	104	25	𝜏1	𝜏1	NOUN
alkej-896	104	26	𝑞1	𝑞1	PROPN
alkej-896	104	27	robotic	robotic	ADJ
alkej-896	104	28	manipulator	manipulator	NOUN
alkej-896	104	29	𝑞2𝑑	𝑞2𝑑	PROPN
alkej-896	104	30	gc	gc	PROPN
alkej-896	104	31	2	2	NUM
alkej-896	104	32	+	+	CCONJ
alkej-896	104	33	-1	-1	X
alkej-896	104	34	-0.5	-0.5	X
alkej-896	104	35	0	0	NUM
alkej-896	104	36	0.5	0.5	NUM
alkej-896	104	37	1	1	NUM
alkej-896	104	38	0	0	NUM
alkej-896	104	39	0.2	0.2	NUM
alkej-896	104	40	0.4	0.4	NUM
alkej-896	104	41	0.6	0.6	NUM
alkej-896	104	42	0.8	0.8	NUM
alkej-896	104	43	1	1	NUM
alkej-896	104	44	d	d	NOUN
alkej-896	104	45	e	e	X
alkej-896	104	46	g	g	NOUN
alkej-896	104	47	re	re	ADP
alkej-896	104	48	e	e	X
alkej-896	104	49	o	o	X
alkej-896	104	50	f	f	X
alkej-896	104	51	m	m	VERB
alkej-896	104	52	e	e	NOUN
alkej-896	104	53	m	m	PROPN
alkej-896	104	54	b	b	PROPN
alkej-896	104	55	e	e	NOUN
alkej-896	104	56	rs	rs	NOUN
alkej-896	104	57	h	h	NOUN
alkej-896	104	58	ip	ip	VERB
alkej-896	104	59	nb	nb	INTJ
alkej-896	104	60	ns	ns	INTJ
alkej-896	104	61	z	z	PROPN
alkej-896	104	62	ps	ps	NOUN
alkej-896	104	63	pb	pb	ADP
alkej-896	104	64	𝑒(𝑡	𝑒(𝑡	PROPN
alkej-896	104	65	)	)	PUNCT
alkej-896	104	66	,	,	PUNCT
alkej-896	104	67	�	�	PROPN
alkej-896	104	68	̇	̇	PROPN
alkej-896	104	69	�	�	PROPN
alkej-896	104	70	(𝑡	(𝑡	PROPN
alkej-896	104	71	)	)	PUNCT
alkej-896	104	72	,	,	PUNCT
alkej-896	104	73	𝑢𝑓	𝑢𝑓	PROPN
alkej-896	104	74	ali	ali	PROPN
alkej-896	104	75	hussien	hussien	PROPN
alkej-896	104	76	mary	mary	PROPN
alkej-896	104	77	al	al	PROPN
alkej-896	104	78	-	-	PUNCT
alkej-896	104	79	khwarizmi	khwarizmi	PROPN
alkej-896	104	80	engineering	engineering	NOUN
alkej-896	104	81	journal	journal	PROPN
alkej-896	104	82	,	,	PUNCT
alkej-896	104	83	vol	vol	NOUN
alkej-896	104	84	.	.	PROPN
alkej-896	104	85	20	20	NUM
alkej-896	104	86	,	,	PUNCT
alkej-896	104	87	no	no	INTJ
alkej-896	104	88	.	.	NOUN
alkej-896	104	89	1	1	NUM
alkej-896	104	90	,	,	PUNCT
alkej-896	104	91	p.p	p.p	PROPN
alkej-896	104	92	.	.	NOUN
alkej-896	104	93	6375	6375	NUM
alkej-896	104	94	(	(	PUNCT
alkej-896	104	95	2024	2024	NUM
alkej-896	104	96	)	)	PUNCT
alkej-896	104	97	67	67	NUM
alkej-896	104	98	�	�	PROPN
alkej-896	104	99	̇	̇	NOUN
alkej-896	104	100	�	�	PROPN
alkej-896	104	101	=	=	SYM
alkej-896	104	102	s𝑇[y∅	s𝑇[y∅	PROPN
alkej-896	104	103	−	−	NOUN
alkej-896	104	104	τf	τf	ADP
alkej-896	104	105	−	−	PROPN
alkej-896	104	106	τr	τr	SYM
alkej-896	104	107	]	]	X
alkej-896	104	108	…	…	PUNCT
alkej-896	104	109	(	(	PUNCT
alkej-896	104	110	36	36	NUM
alkej-896	104	111	)	)	PUNCT
alkej-896	104	112	�	�	PROPN
alkej-896	104	113	̇	̇	VERB
alkej-896	104	114	�	�	PROPN
alkej-896	104	115	=	=	SYM
alkej-896	104	116	s𝑇[y∅	s𝑇[y∅	PROPN
alkej-896	104	117	−	−	NOUN
alkej-896	104	118	𝑘𝑓𝑢𝑓	𝑘𝑓𝑢𝑓	NOUN
alkej-896	104	119	−	−	NOUN
alkej-896	104	120	τ𝑟	τ𝑟	ADP
alkej-896	104	121	]	]	X
alkej-896	104	122	…	…	PUNCT
alkej-896	104	123	(	(	PUNCT
alkej-896	104	124	37	37	NUM
alkej-896	104	125	)	)	PUNCT
alkej-896	104	126	the	the	DET
alkej-896	104	127	outputs	output	NOUN
alkej-896	104	128	of	of	ADP
alkej-896	104	129	the	the	DET
alkej-896	104	130	fuzzy	fuzzy	ADJ
alkej-896	104	131	controller	controller	NOUN
alkej-896	104	132	are	be	AUX
alkej-896	104	133	normalized	normalize	VERB
alkej-896	104	134	between	between	ADP
alkej-896	104	135	[	[	X
alkej-896	104	136	-1	-1	X
alkej-896	104	137	,	,	PUNCT
alkej-896	104	138	1	1	NUM
alkej-896	104	139	]	]	PUNCT
alkej-896	104	140	,	,	PUNCT
alkej-896	105	1	then	then	ADV
alkej-896	105	2	‖uf‖	‖uf‖	ADP
alkej-896	105	3	≤	≤	ADV
alkej-896	105	4	1	1	NUM
alkej-896	105	5	…	…	PUNCT
alkej-896	105	6	(	(	PUNCT
alkej-896	105	7	38	38	NUM
alkej-896	105	8	)	)	PUNCT
alkej-896	105	9	s𝑇𝑘𝑓uf	s𝑇𝑘𝑓uf	PROPN
alkej-896	105	10	≤	≤	NUM
alkej-896	105	11	‖s‖‖kf‖	‖s‖‖kf‖	PROPN
alkej-896	105	12	…	…	PUNCT
alkej-896	105	13	(	(	PUNCT
alkej-896	105	14	39	39	NUM
alkej-896	105	15	)	)	PUNCT
alkej-896	105	16	�	�	PROPN
alkej-896	105	17	̇	̇	VERB
alkej-896	105	18	�	�	PROPN
alkej-896	105	19	≤	≤	PROPN
alkej-896	105	20	‖s‖[‖y∅‖	‖s‖[‖y∅‖	VERB
alkej-896	105	21	−	−	PROPN
alkej-896	105	22	‖k‖	‖k‖	PROPN
alkej-896	105	23	+	+	NUM
alkej-896	105	24	‖kf‖	‖kf‖	PROPN
alkej-896	105	25	]	]	X
alkej-896	105	26	…	…	PUNCT
alkej-896	105	27	(	(	PUNCT
alkej-896	105	28	40	40	NUM
alkej-896	105	29	)	)	PUNCT
alkej-896	105	30	fig	fig	NOUN
alkej-896	105	31	.	.	PUNCT
alkej-896	106	1	3	3	X
alkej-896	106	2	.	.	X
alkej-896	106	3	block	block	NOUN
alkej-896	106	4	diagram	diagram	NOUN
alkej-896	106	5	for	for	ADP
alkej-896	106	6	the	the	DET
alkej-896	106	7	proposed	propose	VERB
alkej-896	106	8	scheme	scheme	NOUN
alkej-896	107	1	i	i	PRON
alkej-896	107	2	(	(	PUNCT
alkej-896	107	3	constant	constant	ADJ
alkej-896	107	4	robust	robust	ADJ
alkej-896	107	5	gain	gain	NOUN
alkej-896	107	6	)	)	PUNCT
alkej-896	107	7	.	.	PUNCT
alkej-896	108	1	�	�	PROPN
alkej-896	108	2	̇	̇	PROPN
alkej-896	108	3	�	�	PROPN
alkej-896	108	4	≤	≤	PROPN
alkej-896	108	5	‖s‖[‖y∅‖	‖s‖[‖y∅‖	PROPN
alkej-896	108	6	+	+	NUM
alkej-896	108	7	‖kf‖	‖kf‖	PROPN
alkej-896	108	8	−	−	PROPN
alkej-896	108	9	‖k‖	‖k‖	NOUN
alkej-896	108	10	]	]	X
alkej-896	108	11	…	…	PUNCT
alkej-896	108	12	(	(	PUNCT
alkej-896	108	13	41	41	NUM
alkej-896	108	14	)	)	PUNCT
alkej-896	108	15	if	if	SCONJ
alkej-896	108	16	k	k	PROPN
alkej-896	108	17	is	be	AUX
alkej-896	108	18	selected	select	VERB
alkej-896	108	19	based	base	VERB
alkej-896	108	20	on	on	ADP
alkej-896	108	21	the	the	DET
alkej-896	108	22	following	follow	VERB
alkej-896	108	23	condition	condition	NOUN
alkej-896	108	24	:	:	PUNCT
alkej-896	108	25	‖k‖	‖k‖	PROPN
alkej-896	108	26	>	>	PUNCT
alkej-896	108	27	‖y∅‖	‖y∅‖	PROPN
alkej-896	109	1	+	+	NUM
alkej-896	109	2	‖kf‖	‖kf‖	PROPN
alkej-896	109	3	…	…	PUNCT
alkej-896	109	4	(	(	PUNCT
alkej-896	109	5	42	42	NUM
alkej-896	109	6	)	)	PUNCT
alkej-896	109	7	then	then	ADV
alkej-896	109	8	�	�	PROPN
alkej-896	109	9	̇	̇	PROPN
alkej-896	109	10	�	�	PROPN
alkej-896	109	11	≤	≤	NOUN
alkej-896	109	12	0	0	NUM
alkej-896	109	13	…	…	PUNCT
alkej-896	109	14	(	(	PUNCT
alkej-896	109	15	43	43	NUM
alkej-896	109	16	)	)	PUNCT
alkej-896	109	17	thus	thus	ADV
alkej-896	109	18	,	,	PUNCT
alkej-896	109	19	the	the	DET
alkej-896	109	20	closed	closed	ADJ
alkej-896	109	21	loop	loop	NOUN
alkej-896	109	22	system	system	NOUN
alkej-896	109	23	is	be	AUX
alkej-896	109	24	asymptotically	asymptotically	ADV
alkej-896	109	25	stable	stable	ADJ
alkej-896	109	26	.	.	PUNCT
alkej-896	110	1	remark	remark	NOUN
alkej-896	110	2	:	:	PUNCT
alkej-896	110	3	the	the	DET
alkej-896	110	4	problem	problem	NOUN
alkej-896	110	5	is	be	AUX
alkej-896	110	6	that	that	SCONJ
alkej-896	110	7	the	the	DET
alkej-896	110	8	upper	upper	ADJ
alkej-896	110	9	bound	bound	NOUN
alkej-896	110	10	of	of	ADP
alkej-896	110	11	the	the	DET
alkej-896	110	12	robotic	robotic	ADJ
alkej-896	110	13	system	system	NOUN
alkej-896	110	14	dynamic	dynamic	ADJ
alkej-896	110	15	(	(	PUNCT
alkej-896	110	16	𝐘∅	𝐘∅	NOUN
alkej-896	110	17	)	)	PUNCT
alkej-896	110	18	is	be	AUX
alkej-896	110	19	not	not	PART
alkej-896	110	20	exactly	exactly	ADV
alkej-896	110	21	known	know	VERB
alkej-896	110	22	and	and	CCONJ
alkej-896	110	23	is	be	AUX
alkej-896	110	24	related	relate	VERB
alkej-896	110	25	to	to	ADP
alkej-896	110	26	the	the	DET
alkej-896	110	27	upper	upper	ADJ
alkej-896	110	28	bound	bound	NOUN
alkej-896	110	29	of	of	ADP
alkej-896	110	30	uncertainty	uncertainty	NOUN
alkej-896	110	31	.	.	PUNCT
alkej-896	111	1	selecting	select	VERB
alkej-896	111	2	a	a	DET
alkej-896	111	3	larger	large	ADJ
alkej-896	111	4	value	value	NOUN
alkej-896	111	5	for	for	ADP
alkej-896	111	6	𝐤	𝐤	PROPN
alkej-896	111	7	will	will	AUX
alkej-896	111	8	cause	cause	VERB
alkej-896	111	9	chattering	chatter	VERB
alkej-896	111	10	,	,	PUNCT
alkej-896	111	11	and	and	CCONJ
alkej-896	111	12	a	a	DET
alkej-896	111	13	smaller	small	ADJ
alkej-896	111	14	value	value	NOUN
alkej-896	111	15	may	may	AUX
alkej-896	111	16	make	make	VERB
alkej-896	111	17	the	the	DET
alkej-896	111	18	system	system	NOUN
alkej-896	111	19	unstable	unstable	ADJ
alkej-896	111	20	.	.	PUNCT
alkej-896	112	1	a	a	DET
alkej-896	112	2	second	second	ADJ
alkej-896	112	3	method	method	NOUN
alkej-896	112	4	was	be	AUX
alkej-896	112	5	proposed	propose	VERB
alkej-896	112	6	to	to	PART
alkej-896	112	7	overcome	overcome	VERB
alkej-896	112	8	this	this	DET
alkej-896	112	9	problem	problem	NOUN
alkej-896	112	10	.	.	PUNCT
alkej-896	113	1	4.2.2	4.2.2	NUM
alkej-896	113	2	proposed	propose	VERB
alkej-896	113	3	ii	ii	PROPN
alkej-896	113	4	:	:	PUNCT
alkej-896	113	5	adaptive	adaptive	ADJ
alkej-896	113	6	gain	gain	NOUN
alkej-896	113	7	to	to	PART
alkej-896	113	8	avoid	avoid	VERB
alkej-896	113	9	the	the	DET
alkej-896	113	10	problem	problem	NOUN
alkej-896	113	11	of	of	ADP
alkej-896	113	12	the	the	DET
alkej-896	113	13	unknown	unknown	ADJ
alkej-896	113	14	upper	upper	ADJ
alkej-896	113	15	bound	bind	VERB
alkej-896	113	16	of	of	ADP
alkej-896	113	17	the	the	DET
alkej-896	113	18	dynamic	dynamic	ADJ
alkej-896	113	19	model	model	NOUN
alkej-896	113	20	of	of	ADP
alkej-896	113	21	the	the	DET
alkej-896	113	22	robotic	robotic	ADJ
alkej-896	113	23	system	system	NOUN
alkej-896	113	24	,	,	PUNCT
alkej-896	113	25	lyapunov	lyapunov	PROPN
alkej-896	113	26	’s	’s	PART
alkej-896	113	27	theorem	theorem	NOUN
alkej-896	113	28	is	be	AUX
alkej-896	113	29	applied	apply	VERB
alkej-896	113	30	to	to	PART
alkej-896	113	31	design	design	VERB
alkej-896	113	32	an	an	DET
alkej-896	113	33	adaptation	adaptation	NOUN
alkej-896	113	34	law	law	NOUN
alkej-896	113	35	for	for	ADP
alkej-896	113	36	the	the	DET
alkej-896	113	37	gain	gain	NOUN
alkej-896	113	38	of	of	ADP
alkej-896	113	39	the	the	DET
alkej-896	113	40	robust	robust	ADJ
alkej-896	113	41	term	term	NOUN
alkej-896	113	42	to	to	PART
alkej-896	113	43	estimate	estimate	VERB
alkej-896	113	44	the	the	DET
alkej-896	113	45	upper	upper	ADJ
alkej-896	113	46	bound	bound	NOUN
alkej-896	113	47	of	of	ADP
alkej-896	113	48	the	the	DET
alkej-896	113	49	robot	robot	NOUN
alkej-896	113	50	dynamic	dynamic	ADJ
alkej-896	113	51	.	.	PUNCT
alkej-896	114	1	as	as	ADP
alkej-896	114	2	a	a	DET
alkej-896	114	3	result	result	NOUN
alkej-896	114	4	,	,	PUNCT
alkej-896	114	5	there	there	PRON
alkej-896	114	6	is	be	VERB
alkej-896	114	7	no	no	DET
alkej-896	114	8	need	need	NOUN
alkej-896	114	9	to	to	PART
alkej-896	114	10	know	know	VERB
alkej-896	114	11	the	the	DET
alkej-896	114	12	upper	upper	ADJ
alkej-896	114	13	bound	bound	NOUN
alkej-896	114	14	of	of	ADP
alkej-896	114	15	the	the	DET
alkej-896	114	16	dynamic	dynamic	ADJ
alkej-896	114	17	model	model	NOUN
alkej-896	114	18	,	,	PUNCT
alkej-896	114	19	which	which	PRON
alkej-896	114	20	is	be	AUX
alkej-896	114	21	related	relate	VERB
alkej-896	114	22	to	to	ADP
alkej-896	114	23	the	the	DET
alkej-896	114	24	upper	upper	ADJ
alkej-896	114	25	bound	bind	VERB
alkej-896	114	26	of	of	ADP
alkej-896	114	27	system	system	NOUN
alkej-896	114	28	uncertainty	uncertainty	NOUN
alkej-896	114	29	and	and	CCONJ
alkej-896	114	30	external	external	ADJ
alkej-896	114	31	disturbance	disturbance	NOUN
alkej-896	114	32	,	,	PUNCT
alkej-896	114	33	which	which	PRON
alkej-896	114	34	can	can	AUX
alkej-896	114	35	not	not	PART
alkej-896	114	36	be	be	AUX
alkej-896	114	37	easily	easily	ADV
alkej-896	114	38	determined	determine	VERB
alkej-896	114	39	in	in	ADP
alkej-896	114	40	practical	practical	ADJ
alkej-896	114	41	applications	application	NOUN
alkej-896	114	42	.	.	PUNCT
alkej-896	115	1	figure	figure	NOUN
alkej-896	115	2	4	4	NUM
alkej-896	115	3	shows	show	VERB
alkej-896	115	4	the	the	DET
alkej-896	115	5	second	second	ADJ
alkej-896	115	6	proposed	propose	VERB
alkej-896	115	7	method	method	NOUN
alkej-896	115	8	.	.	PUNCT
alkej-896	116	1	let	let	VERB
alkej-896	116	2	𝜌	𝜌	X
alkej-896	116	3	=	=	PUNCT
alkej-896	116	4	y∅	y∅	NOUN
alkej-896	116	5	−	−	PROPN
alkej-896	116	6	𝑘𝑓𝑢𝑓	𝑘𝑓𝑢𝑓	ADJ
alkej-896	116	7	…	…	PUNCT
alkej-896	116	8	(	(	PUNCT
alkej-896	116	9	44	44	NUM
alkej-896	116	10	)	)	PUNCT
alkej-896	116	11	𝝆cannot	𝝆cannot	ADV
alkej-896	116	12	be	be	AUX
alkej-896	116	13	determined	determine	VERB
alkej-896	116	14	exactly	exactly	ADV
alkej-896	116	15	because	because	SCONJ
alkej-896	116	16	it	it	PRON
alkej-896	116	17	’s	’s	AUX
alkej-896	116	18	based	base	VERB
alkej-896	116	19	on	on	ADP
alkej-896	116	20	dynamic	dynamic	NOUN
alkej-896	116	21	of	of	ADP
alkej-896	116	22	the	the	DET
alkej-896	116	23	robot	robot	NOUN
alkej-896	116	24	manipulator	manipulator	NOUN
alkej-896	116	25	.	.	PUNCT
alkej-896	117	1	the	the	DET
alkej-896	117	2	proposed	propose	VERB
alkej-896	117	3	robust	robust	ADJ
alkej-896	117	4	control	control	NOUN
alkej-896	117	5	is	be	AUX
alkej-896	117	6	:	:	PUNCT
alkej-896	117	7	τ𝑟	τ𝑟	X
alkej-896	117	8	=	=	SYM
alkej-896	117	9	𝜌	𝜌	X
alkej-896	117	10	...	...	PUNCT
alkej-896	117	11	(	(	PUNCT
alkej-896	117	12	45	45	NUM
alkej-896	117	13	)	)	PUNCT
alkej-896	117	14	where	where	SCONJ
alkej-896	117	15	�	�	PROPN
alkej-896	117	16	̂	̂	VERB
alkej-896	117	17	�	�	NOUN
alkej-896	117	18	represents	represent	VERB
alkej-896	117	19	estimation	estimation	NOUN
alkej-896	117	20	of	of	ADP
alkej-896	117	21	𝝆	𝝆	PROPN
alkej-896	117	22	.	.	PUNCT
alkej-896	118	1	then	then	ADV
alkej-896	118	2	the	the	DET
alkej-896	118	3	estimation	estimation	NOUN
alkej-896	118	4	error	error	NOUN
alkej-896	118	5	can	can	AUX
alkej-896	118	6	be	be	AUX
alkej-896	118	7	defined	define	VERB
alkej-896	118	8	as	as	ADP
alkej-896	118	9	:	:	PUNCT
alkej-896	118	10	�	�	PROPN
alkej-896	118	11	̃	̃	PROPN
alkej-896	118	12	�	�	NOUN
alkej-896	118	13	=	=	SYM
alkej-896	118	14	𝜌	𝜌	X
alkej-896	118	15	−	−	PROPN
alkej-896	118	16	𝜌	𝜌	X
alkej-896	118	17	…	…	PUNCT
alkej-896	118	18	(	(	PUNCT
alkej-896	118	19	46	46	NUM
alkej-896	118	20	)	)	PUNCT
alkej-896	118	21	the	the	DET
alkej-896	118	22	proposed	propose	VERB
alkej-896	118	23	control	control	NOUN
alkej-896	118	24	law	law	NOUN
alkej-896	118	25	is	be	AUX
alkej-896	118	26	:	:	PUNCT
alkej-896	118	27	τ	τ	X
alkej-896	118	28	=	=	PUNCT
alkej-896	118	29	𝑘𝑓uf	𝑘𝑓uf	PROPN
alkej-896	118	30	+	+	CCONJ
alkej-896	118	31	𝜌	𝜌	X
alkej-896	118	32	...	...	PUNCT
alkej-896	118	33	(	(	PUNCT
alkej-896	118	34	47	47	NUM
alkej-896	118	35	)	)	PUNCT
alkej-896	118	36	theorem	theorem	NOUN
alkej-896	118	37	2	2	NUM
alkej-896	118	38	if	if	SCONJ
alkej-896	118	39	the	the	DET
alkej-896	118	40	control	control	NOUN
alkej-896	118	41	law	law	NOUN
alkej-896	118	42	in	in	ADP
alkej-896	118	43	(	(	PUNCT
alkej-896	118	44	46	46	NUM
alkej-896	118	45	)	)	PUNCT
alkej-896	118	46	is	be	AUX
alkej-896	118	47	used	use	VERB
alkej-896	118	48	for	for	ADP
alkej-896	118	49	the	the	DET
alkej-896	118	50	nonlinear	nonlinear	ADJ
alkej-896	118	51	robotic	robotic	ADJ
alkej-896	118	52	manipulator	manipulator	NOUN
alkej-896	118	53	in	in	ADP
alkej-896	118	54	(	(	PUNCT
alkej-896	118	55	1	1	NUM
alkej-896	118	56	)	)	PUNCT
alkej-896	118	57	,	,	PUNCT
alkej-896	118	58	then	then	ADV
alkej-896	118	59	the	the	DET
alkej-896	118	60	controlled	control	VERB
alkej-896	118	61	system	system	NOUN
alkej-896	118	62	will	will	AUX
alkej-896	118	63	be	be	AUX
alkej-896	118	64	asymptotically	asymptotically	ADV
alkej-896	118	65	stable	stable	ADJ
alkej-896	118	66	with	with	ADP
alkej-896	118	67	zero	zero	NUM
alkej-896	118	68	error	error	NOUN
alkej-896	118	69	signals	signal	NOUN
alkej-896	118	70	if	if	SCONJ
alkej-896	118	71	the	the	DET
alkej-896	118	72	parameters	parameter	NOUN
alkej-896	118	73	�	�	PROPN
alkej-896	118	74	̂	̂	VERB
alkej-896	118	75	�	�	NOUN
alkej-896	118	76	are	be	AUX
alkej-896	118	77	adjusted	adjust	VERB
alkej-896	118	78	by	by	ADP
alkej-896	118	79	the	the	DET
alkej-896	118	80	following	follow	VERB
alkej-896	118	81	adaptation	adaptation	NOUN
alkej-896	118	82	law	law	NOUN
alkej-896	118	83	:	:	PUNCT
alkej-896	118	84	�	�	NOUN
alkej-896	118	85	̇̃	̇̃	VERB
alkej-896	118	86	�	�	NOUN
alkej-896	118	87	=	=	SYM
alkej-896	118	88	−𝐿𝑇	−𝐿𝑇	PROPN
alkej-896	118	89	−1	−1	NOUN
alkej-896	118	90	𝑠	𝑠	PROPN
alkej-896	118	91	…	…	PUNCT
alkej-896	118	92	(	(	PUNCT
alkej-896	118	93	48	48	NUM
alkej-896	118	94	)	)	PUNCT
alkej-896	118	95	𝜌(𝑡	𝜌(𝑡	NOUN
alkej-896	118	96	)	)	PUNCT
alkej-896	119	1	=	=	SYM
alkej-896	119	2	∫	∫	PROPN
alkej-896	119	3	�	�	PROPN
alkej-896	119	4	̇̃	̇̃	VERB
alkej-896	119	5	�	�	NOUN
alkej-896	119	6	(𝑡	(𝑡	NOUN
alkej-896	119	7	)	)	PUNCT
alkej-896	119	8	𝑡	𝑡	PROPN
alkej-896	119	9	𝑡−1	𝑡−1	PROPN
alkej-896	119	10	𝑑𝑡	𝑑𝑡	ADP
alkej-896	119	11	+	+	PROPN
alkej-896	119	12	𝜌(𝑡	𝜌(𝑡	X
alkej-896	119	13	−	−	ADP
alkej-896	119	14	1	1	NUM
alkej-896	119	15	)	)	PUNCT
alkej-896	119	16	…	…	PUNCT
alkej-896	119	17	(	(	PUNCT
alkej-896	119	18	49	49	NUM
alkej-896	119	19	)	)	PUNCT
alkej-896	119	20	where	where	SCONJ
alkej-896	119	21	𝐋	𝐋	PROPN
alkej-896	119	22	∈	∈	PROPN
alkej-896	119	23	r𝑛×𝑛	r𝑛×𝑛	PROPN
alkej-896	119	24	is	be	AUX
alkej-896	119	25	the	the	DET
alkej-896	119	26	adaptation	adaptation	NOUN
alkej-896	119	27	rate	rate	NOUN
alkej-896	119	28	.	.	PUNCT
alkej-896	120	1	ali	ali	PROPN
alkej-896	120	2	hussien	hussien	PROPN
alkej-896	120	3	mary	mary	PROPN
alkej-896	120	4	al	al	PROPN
alkej-896	120	5	-	-	PUNCT
alkej-896	120	6	khwarizmi	khwarizmi	PROPN
alkej-896	120	7	engineering	engineering	NOUN
alkej-896	120	8	journal	journal	PROPN
alkej-896	120	9	,	,	PUNCT
alkej-896	120	10	vol	vol	NOUN
alkej-896	120	11	.	.	PROPN
alkej-896	120	12	20	20	NUM
alkej-896	120	13	,	,	PUNCT
alkej-896	120	14	no	no	INTJ
alkej-896	120	15	.	.	NOUN
alkej-896	120	16	1	1	NUM
alkej-896	120	17	,	,	PUNCT
alkej-896	120	18	p.p	p.p	PROPN
alkej-896	120	19	.	.	NOUN
alkej-896	120	20	6375	6375	NUM
alkej-896	120	21	(	(	PUNCT
alkej-896	120	22	2024	2024	NUM
alkej-896	120	23	)	)	PUNCT
alkej-896	120	24	68	68	NUM
alkej-896	120	25	fig	fig	NOUN
alkej-896	120	26	.	.	PUNCT
alkej-896	121	1	4	4	X
alkej-896	121	2	.	.	X
alkej-896	121	3	block	block	NOUN
alkej-896	121	4	diagram	diagram	NOUN
alkej-896	121	5	for	for	ADP
alkej-896	121	6	the	the	DET
alkej-896	121	7	proposed	propose	VERB
alkej-896	121	8	scheme	scheme	PROPN
alkej-896	121	9	ii	ii	PROPN
alkej-896	121	10	(	(	PUNCT
alkej-896	121	11	adaptive	adaptive	ADJ
alkej-896	121	12	robust	robust	ADJ
alkej-896	121	13	gain	gain	NOUN
alkej-896	121	14	)	)	PUNCT
alkej-896	121	15	.	.	PUNCT
alkej-896	122	1	proof	proof	NOUN
alkej-896	122	2	.	.	PUNCT
alkej-896	123	1	let	let	AUX
alkej-896	123	2	let	let	VERB
alkej-896	123	3	𝑉be	𝑉be	PROPN
alkej-896	123	4	the	the	DET
alkej-896	123	5	candidate	candidate	NOUN
alkej-896	123	6	lyapunov	lyapunov	NOUN
alkej-896	123	7	function	function	NOUN
alkej-896	123	8	.	.	PUNCT
alkej-896	124	1	𝑉	𝑉	PROPN
alkej-896	124	2	=	=	NOUN
alkej-896	124	3	1	1	NUM
alkej-896	124	4	2	2	NUM
alkej-896	124	5	s𝑇ms	s𝑇ms	PROPN
alkej-896	124	6	+	+	CCONJ
alkej-896	124	7	1	1	NUM
alkej-896	124	8	2	2	NUM
alkej-896	124	9	�	�	PROPN
alkej-896	124	10	̃	̃	PROPN
alkej-896	124	11	�	�	PROPN
alkej-896	124	12	𝑇l	𝑇l	PROPN
alkej-896	124	13	�	�	PROPN
alkej-896	124	14	̃	̃	PROPN
alkej-896	124	15	�	�	NOUN
alkej-896	124	16	…	…	PUNCT
alkej-896	124	17	(	(	PUNCT
alkej-896	124	18	50	50	NUM
alkej-896	124	19	)	)	PUNCT
alkej-896	124	20	�	�	PROPN
alkej-896	124	21	̇	̇	VERB
alkej-896	124	22	�	�	PROPN
alkej-896	124	23	=	=	SYM
alkej-896	124	24	s𝑇mṡ	s𝑇mṡ	NOUN
alkej-896	124	25	+	+	CCONJ
alkej-896	124	26	1	1	NUM
alkej-896	124	27	2	2	NUM
alkej-896	124	28	s𝑇ṁs	s𝑇ṁs	NOUN
alkej-896	124	29	+	+	SYM
alkej-896	124	30	�	�	NOUN
alkej-896	124	31	̇̃	̇̃	VERB
alkej-896	124	32	�	�	PROPN
alkej-896	124	33	𝑇l	𝑇l	NOUN
alkej-896	124	34	�	�	PROPN
alkej-896	124	35	̃	̃	PROPN
alkej-896	124	36	�	�	NOUN
alkej-896	124	37	…	…	PUNCT
alkej-896	124	38	(	(	PUNCT
alkej-896	124	39	51	51	NUM
alkej-896	124	40	)	)	PUNCT
alkej-896	124	41	=	=	NOUN
alkej-896	124	42	s𝑇mṡ	s𝑇mṡ	NOUN
alkej-896	124	43	+	+	CCONJ
alkej-896	124	44	s𝑇cs	s𝑇cs	PROPN
alkej-896	124	45	+	+	SYM
alkej-896	124	46	�	�	NOUN
alkej-896	124	47	̇̃	̇̃	VERB
alkej-896	124	48	�	�	PROPN
alkej-896	124	49	l	l	NOUN
alkej-896	124	50	�	�	PROPN
alkej-896	124	51	̃	̃	PROPN
alkej-896	124	52	�	�	NOUN
alkej-896	124	53	…	…	PUNCT
alkej-896	124	54	(	(	PUNCT
alkej-896	124	55	52	52	NUM
alkej-896	124	56	)	)	PUNCT
alkej-896	124	57	s𝑇[m(q)q̈r	s𝑇[m(q)q̈r	PROPN
alkej-896	125	1	+	+	NUM
alkej-896	125	2	c(q	c(q	PROPN
alkej-896	125	3	,	,	PUNCT
alkej-896	125	4	q̇)q̇r	q̇)q̇r	NOUN
alkej-896	125	5	+	+	CCONJ
alkej-896	125	6	g(q	g(q	X
alkej-896	125	7	)	)	PUNCT
alkej-896	125	8	+	+	CCONJ
alkej-896	125	9	f(q̇	f(q̇	NOUN
alkej-896	125	10	)	)	PUNCT
alkej-896	125	11	−	−	PROPN
alkej-896	126	1	τ	τ	X
alkej-896	126	2	]	]	X
alkej-896	126	3	+	+	CCONJ
alkej-896	126	4	�	�	NOUN
alkej-896	126	5	̇̃	̇̃	VERB
alkej-896	126	6	�	�	PROPN
alkej-896	126	7	𝑇l	𝑇l	NOUN
alkej-896	126	8	�	�	PROPN
alkej-896	126	9	̃	̃	PROPN
alkej-896	126	10	�	�	NOUN
alkej-896	126	11	…	…	PUNCT
alkej-896	126	12	(	(	PUNCT
alkej-896	126	13	53	53	NUM
alkej-896	126	14	)	)	PUNCT
alkej-896	126	15	�	�	PROPN
alkej-896	126	16	̇	̇	VERB
alkej-896	126	17	�	�	PROPN
alkej-896	126	18	=	=	SYM
alkej-896	126	19	s𝑇[y∅	s𝑇[y∅	PROPN
alkej-896	126	20	−	−	NOUN
alkej-896	126	21	𝑘𝑓uf	𝑘𝑓uf	VERB
alkej-896	126	22	−	−	PROPN
alkej-896	126	23	τr	τr	SYM
alkej-896	126	24	]	]	X
alkej-896	126	25	+	+	CCONJ
alkej-896	126	26	�	�	NOUN
alkej-896	126	27	̇̃	̇̃	VERB
alkej-896	126	28	�	�	PROPN
alkej-896	126	29	𝑇l	𝑇l	NOUN
alkej-896	126	30	�	�	PROPN
alkej-896	126	31	̃	̃	PROPN
alkej-896	126	32	�	�	NOUN
alkej-896	126	33	…	…	PUNCT
alkej-896	126	34	(	(	PUNCT
alkej-896	126	35	54	54	NUM
alkej-896	126	36	)	)	PUNCT
alkej-896	126	37	�	�	PROPN
alkej-896	126	38	̇	̇	VERB
alkej-896	126	39	�	�	PROPN
alkej-896	126	40	=	=	PUNCT
alkej-896	126	41	s𝑇[𝜌	s𝑇[𝜌	VERB
alkej-896	126	42	−	−	PRON
alkej-896	126	43	𝜌	𝜌	X
alkej-896	126	44	]	]	X
alkej-896	126	45	+	+	CCONJ
alkej-896	126	46	�	�	NOUN
alkej-896	126	47	̇̃	̇̃	VERB
alkej-896	126	48	�	�	PROPN
alkej-896	126	49	𝑇l	𝑇l	NOUN
alkej-896	126	50	�	�	PROPN
alkej-896	126	51	̃	̃	PROPN
alkej-896	126	52	�	�	NOUN
alkej-896	126	53	…	…	PUNCT
alkej-896	126	54	(	(	PUNCT
alkej-896	126	55	55	55	NUM
alkej-896	126	56	)	)	PUNCT
alkej-896	126	57	�	�	PROPN
alkej-896	126	58	̇	̇	VERB
alkej-896	126	59	�	�	PROPN
alkej-896	126	60	=	=	PUNCT
alkej-896	126	61	s𝑇[	s𝑇[	NUM
alkej-896	126	62	�	�	PROPN
alkej-896	126	63	̃	̃	NOUN
alkej-896	126	64	�	�	NOUN
alkej-896	126	65	]	]	X
alkej-896	126	66	+	+	CCONJ
alkej-896	126	67	�	�	NOUN
alkej-896	126	68	̇̃	̇̃	VERB
alkej-896	126	69	�	�	PROPN
alkej-896	126	70	𝑇l	𝑇l	NOUN
alkej-896	126	71	�	�	PROPN
alkej-896	126	72	̃	̃	PROPN
alkej-896	126	73	�	�	NOUN
alkej-896	126	74	…	…	PUNCT
alkej-896	126	75	(	(	PUNCT
alkej-896	126	76	56	56	NUM
alkej-896	126	77	)	)	PUNCT
alkej-896	126	78	�	�	PROPN
alkej-896	126	79	̇	̇	NOUN
alkej-896	126	80	�	�	PROPN
alkej-896	127	1	=	=	PUNCT
alkej-896	128	1	[	[	X
alkej-896	128	2	s𝑇	s𝑇	ADP
alkej-896	128	3	+	+	ADJ
alkej-896	128	4	�	�	NOUN
alkej-896	128	5	̇̃	̇̃	VERB
alkej-896	128	6	�	�	PROPN
alkej-896	128	7	𝑇l]	𝑇l]	NOUN
alkej-896	128	8	�	�	PROPN
alkej-896	128	9	̃	̃	PROPN
alkej-896	128	10	�	�	NOUN
alkej-896	128	11	…	…	PUNCT
alkej-896	128	12	(	(	PUNCT
alkej-896	128	13	57	57	NUM
alkej-896	128	14	)	)	PUNCT
alkej-896	128	15	if	if	SCONJ
alkej-896	128	16	�	�	NOUN
alkej-896	128	17	̇̃	̇̃	VERB
alkej-896	128	18	�	�	NOUN
alkej-896	128	19	=	=	SYM
alkej-896	128	20	−𝐿𝑇	−𝐿𝑇	PROPN
alkej-896	128	21	−1	−1	NOUN
alkej-896	128	22	s	s	NOUN
alkej-896	128	23	…	…	PUNCT
alkej-896	128	24	(	(	PUNCT
alkej-896	128	25	58	58	NUM
alkej-896	128	26	)	)	PUNCT
alkej-896	128	27	then	then	ADV
alkej-896	128	28	�	�	PROPN
alkej-896	128	29	̇	̇	PROPN
alkej-896	128	30	�	�	PROPN
alkej-896	128	31	=	=	SYM
alkej-896	128	32	0	0	NUM
alkej-896	128	33	…	…	PUNCT
alkej-896	128	34	(	(	PUNCT
alkej-896	128	35	59	59	NUM
alkej-896	128	36	)	)	PUNCT
alkej-896	128	37	as	as	ADP
alkej-896	128	38	a	a	DET
alkej-896	128	39	result	result	NOUN
alkej-896	128	40	,	,	PUNCT
alkej-896	128	41	the	the	DET
alkej-896	128	42	adaptation	adaptation	NOUN
alkej-896	128	43	law	law	NOUN
alkej-896	128	44	for	for	ADP
alkej-896	128	45	the	the	DET
alkej-896	128	46	control	control	NOUN
alkej-896	128	47	parameter	parameter	NOUN
alkej-896	128	48	𝜌(𝑡)will	𝜌(𝑡)will	ADV
alkej-896	128	49	be	be	AUX
alkej-896	128	50	as	as	SCONJ
alkej-896	128	51	follows	follow	VERB
alkej-896	128	52	:	:	PUNCT
alkej-896	128	53	𝜌(𝑡	𝜌(𝑡	NUM
alkej-896	128	54	)	)	PUNCT
alkej-896	129	1	=	=	SYM
alkej-896	129	2	∫	∫	PROPN
alkej-896	129	3	�	�	PROPN
alkej-896	129	4	̇̃	̇̃	VERB
alkej-896	129	5	�	�	NOUN
alkej-896	129	6	(𝑡	(𝑡	NOUN
alkej-896	129	7	)	)	PUNCT
alkej-896	129	8	𝑡	𝑡	PROPN
alkej-896	129	9	𝑡−1	𝑡−1	PROPN
alkej-896	129	10	𝑑𝑡	𝑑𝑡	ADP
alkej-896	129	11	+	+	PROPN
alkej-896	129	12	𝜌(𝑡	𝜌(𝑡	X
alkej-896	129	13	−	−	ADP
alkej-896	129	14	1	1	NUM
alkej-896	129	15	)	)	PUNCT
alkej-896	129	16	…	…	PUNCT
alkej-896	129	17	(	(	PUNCT
alkej-896	129	18	60	60	NUM
alkej-896	129	19	)	)	PUNCT
alkej-896	129	20	thus	thus	ADV
alkej-896	129	21	,	,	PUNCT
alkej-896	129	22	the	the	DET
alkej-896	129	23	controlled	control	VERB
alkej-896	129	24	system	system	NOUN
alkej-896	129	25	with	with	ADP
alkej-896	129	26	the	the	DET
alkej-896	129	27	proposed	propose	VERB
alkej-896	129	28	method	method	NOUN
alkej-896	129	29	is	be	AUX
alkej-896	129	30	asymptotically	asymptotically	ADV
alkej-896	129	31	stable	stable	ADJ
alkej-896	129	32	with	with	ADP
alkej-896	129	33	zero	zero	NUM
alkej-896	129	34	tracking	tracking	NOUN
alkej-896	129	35	error	error	NOUN
alkej-896	129	36	.	.	PUNCT
alkej-896	130	1	5	5	X
alkej-896	130	2	.	.	X
alkej-896	130	3	simulation	simulation	NOUN
alkej-896	130	4	results	result	VERB
alkej-896	130	5	in	in	ADP
alkej-896	130	6	this	this	DET
alkej-896	130	7	section	section	NOUN
alkej-896	130	8	,	,	PUNCT
alkej-896	130	9	a	a	DET
alkej-896	130	10	two	two	NUM
alkej-896	130	11	-	-	PUNCT
alkej-896	130	12	link	link	NOUN
alkej-896	130	13	rigid	rigid	ADJ
alkej-896	130	14	planar	planar	ADJ
alkej-896	130	15	robotic	robotic	ADJ
alkej-896	130	16	manipulator	manipulator	NOUN
alkej-896	130	17	system	system	NOUN
alkej-896	130	18	is	be	AUX
alkej-896	130	19	used	use	VERB
alkej-896	130	20	to	to	PART
alkej-896	130	21	illustrate	illustrate	VERB
alkej-896	130	22	the	the	DET
alkej-896	130	23	robustness	robustness	NOUN
alkej-896	130	24	and	and	CCONJ
alkej-896	130	25	effectiveness	effectiveness	NOUN
alkej-896	130	26	of	of	ADP
alkej-896	130	27	the	the	DET
alkej-896	130	28	presented	present	VERB
alkej-896	130	29	method	method	NOUN
alkej-896	130	30	.	.	PUNCT
alkej-896	131	1	figure	figure	NOUN
alkej-896	131	2	5	5	NUM
alkej-896	131	3	shows	show	VERB
alkej-896	131	4	the	the	DET
alkej-896	131	5	schematic	schematic	ADJ
alkej-896	131	6	diagram	diagram	NOUN
alkej-896	131	7	of	of	ADP
alkej-896	131	8	the	the	DET
alkej-896	131	9	two	two	NUM
alkej-896	131	10	-	-	PUNCT
alkej-896	131	11	link	link	NOUN
alkej-896	131	12	planar	planar	ADJ
alkej-896	131	13	robotic	robotic	ADJ
alkej-896	131	14	manipulator	manipulator	NOUN
alkej-896	131	15	,	,	PUNCT
alkej-896	131	16	with	with	ADP
alkej-896	131	17	the	the	DET
alkej-896	131	18	dynamic	dynamic	ADJ
alkej-896	131	19	model	model	NOUN
alkej-896	131	20	expressed	express	VERB
alkej-896	131	21	as	as	SCONJ
alkej-896	131	22	follows	follow	VERB
alkej-896	131	23	:	:	PUNCT
alkej-896	131	24	[	[	PUNCT
alkej-896	131	25	𝜏1	𝜏1	NOUN
alkej-896	131	26	𝜏2	𝜏2	NOUN
alkej-896	131	27	]	]	PUNCT
alkej-896	132	1	=	=	PUNCT
alkej-896	133	1	[	[	PUNCT
alkej-896	133	2	𝑀11	𝑀11	PROPN
alkej-896	133	3	𝑀12	𝑀12	PROPN
alkej-896	133	4	𝑀12	𝑀12	PROPN
alkej-896	133	5	𝑀22	𝑀22	PROPN
alkej-896	133	6	]	]	PUNCT
alkej-896	134	1	[	[	PUNCT
alkej-896	134	2	�	�	SYM
alkej-896	134	3	̈	̈	SYM
alkej-896	134	4	�	�	PROPN
alkej-896	134	5	1	1	NUM
alkej-896	134	6	�	�	PROPN
alkej-896	134	7	̈	̈	X
alkej-896	134	8	�	�	NOUN
alkej-896	134	9	2	2	NUM
alkej-896	134	10	]	]	PUNCT
alkej-896	135	1	+	+	CCONJ
alkej-896	135	2	[	[	PUNCT
alkej-896	135	3	−𝑏	−𝑏	ADJ
alkej-896	135	4	�	�	SYM
alkej-896	135	5	̇	̇	NOUN
alkej-896	135	6	�	�	SYM
alkej-896	135	7	2	2	NUM
alkej-896	135	8	−𝑏	−𝑏	NOUN
alkej-896	135	9	�	�	PROPN
alkej-896	135	10	̇	̇	NOUN
alkej-896	135	11	�	�	PROPN
alkej-896	135	12	1	1	NUM
alkej-896	135	13	−	−	PROPN
alkej-896	135	14	𝑏	𝑏	PRON
alkej-896	135	15	�	�	PROPN
alkej-896	135	16	̇	̇	VERB
alkej-896	135	17	�	�	SYM
alkej-896	135	18	2	2	NUM
alkej-896	135	19	−𝑏	−𝑏	NOUN
alkej-896	135	20	�	�	NOUN
alkej-896	135	21	̇	̇	NOUN
alkej-896	135	22	�	�	PROPN
alkej-896	135	23	1	1	NUM
alkej-896	135	24	0	0	NUM
alkej-896	135	25	]	]	PUNCT
alkej-896	135	26	[	[	PUNCT
alkej-896	135	27	�	�	PROPN
alkej-896	135	28	̇	̇	NOUN
alkej-896	135	29	�	�	PROPN
alkej-896	135	30	1	1	NUM
alkej-896	135	31	�	�	PROPN
alkej-896	135	32	̇	̇	NOUN
alkej-896	135	33	�	�	ADP
alkej-896	135	34	2	2	NUM
alkej-896	135	35	]	]	PUNCT
alkej-896	136	1	+	+	CCONJ
alkej-896	136	2	[	[	PUNCT
alkej-896	136	3	𝑣1	𝑣1	PROPN
alkej-896	136	4	�	�	PROPN
alkej-896	136	5	̇	̇	PROPN
alkej-896	136	6	�	�	PROPN
alkej-896	136	7	1	1	NUM
alkej-896	136	8	𝑣2	𝑣2	PROPN
alkej-896	136	9	�	�	PROPN
alkej-896	136	10	̇	̇	NOUN
alkej-896	136	11	�	�	PROPN
alkej-896	136	12	2	2	NUM
alkej-896	136	13	]	]	PUNCT
alkej-896	136	14	+	+	CCONJ
alkej-896	136	15	[	[	PUNCT
alkej-896	136	16	𝑝1𝑠𝑔𝑛(	𝑝1𝑠𝑔𝑛(	PROPN
alkej-896	136	17	�	�	PROPN
alkej-896	136	18	̇	̇	NOUN
alkej-896	136	19	�	�	PROPN
alkej-896	136	20	1	1	NUM
alkej-896	136	21	)	)	PUNCT
alkej-896	136	22	𝑝2𝑠𝑔𝑛(	𝑝2𝑠𝑔𝑛(	PROPN
alkej-896	136	23	�	�	PROPN
alkej-896	136	24	̇	̇	PROPN
alkej-896	136	25	�	�	PROPN
alkej-896	136	26	2	2	NUM
alkej-896	136	27	)	)	PUNCT
alkej-896	136	28	]	]	PUNCT
alkej-896	137	1	+	+	CCONJ
alkej-896	137	2	[	[	PUNCT
alkej-896	137	3	𝑔1	𝑔1	NOUN
alkej-896	137	4	𝑔2	𝑔2	VERB
alkej-896	137	5	]	]	PUNCT
alkej-896	137	6	…	…	PUNCT
alkej-896	137	7	(	(	PUNCT
alkej-896	137	8	61	61	NUM
alkej-896	137	9	)	)	PUNCT
alkej-896	137	10	with	with	ADP
alkej-896	137	11	𝑀11	𝑀11	PROPN
alkej-896	137	12	=	=	PUNCT
alkej-896	137	13	𝐼1	𝐼1	NOUN
alkej-896	137	14	+	+	CCONJ
alkej-896	137	15	𝐼2	𝐼2	NOUN
alkej-896	137	16	+	+	CCONJ
alkej-896	137	17	𝑚1𝐿𝑐1	𝑚1𝐿𝑐1	NOUN
alkej-896	137	18	2	2	NUM
alkej-896	137	19	+	+	CCONJ
alkej-896	137	20	𝑚2(𝐿𝑐2	𝑚2(𝐿𝑐2	X
alkej-896	137	21	2	2	NUM
alkej-896	137	22	+	+	CCONJ
alkej-896	137	23	𝐿1	𝐿1	PROPN
alkej-896	137	24	2	2	NUM
alkej-896	137	25	+	+	NUM
alkej-896	137	26	2𝐿1𝐿𝑐2𝑐𝑜𝑠(𝑞2))𝑀12	2𝐿1𝐿𝑐2𝑐𝑜𝑠(𝑞2))𝑀12	NUM
alkej-896	137	27	=	=	SYM
alkej-896	137	28	𝐼2	𝐼2	NOUN
alkej-896	137	29	+	+	CCONJ
alkej-896	137	30	𝑚2(𝐿𝑐2	𝑚2(𝐿𝑐2	X
alkej-896	137	31	2	2	NUM
alkej-896	137	32	+	+	NUM
alkej-896	137	33	𝐿1𝐿𝑐2cos	𝐿1𝐿𝑐2co	NOUN
alkej-896	137	34	(	(	PUNCT
alkej-896	137	35	𝑞2	𝑞2	NOUN
alkej-896	137	36	)	)	PUNCT
alkej-896	137	37	)	)	PUNCT
alkej-896	138	1	𝑀22	𝑀22	PROPN
alkej-896	138	2	=	=	PUNCT
alkej-896	138	3	𝐼2	𝐼2	PROPN
alkej-896	138	4	+	+	CCONJ
alkej-896	138	5	𝑚2𝐿𝑐2	𝑚2𝐿𝑐2	PROPN
alkej-896	138	6	2	2	NUM
alkej-896	138	7	,	,	PUNCT
alkej-896	138	8	𝑏	𝑏	PROPN
alkej-896	138	9	=	=	PUNCT
alkej-896	138	10	𝑚2𝐿1𝐿𝑐2sin	𝑚2𝐿1𝐿𝑐2sin	NOUN
alkej-896	138	11	(	(	PUNCT
alkej-896	138	12	𝑞2	𝑞2	PROPN
alkej-896	138	13	)	)	PUNCT
alkej-896	138	14	,	,	PUNCT
alkej-896	138	15	𝑔1	𝑔1	PROPN
alkej-896	138	16	=	=	PUNCT
alkej-896	138	17	𝑚1𝐿𝑐1𝑔𝑐𝑜𝑠(𝑞1	𝑚1𝐿𝑐1𝑔𝑐𝑜𝑠(𝑞1	PRON
alkej-896	138	18	)	)	PUNCT
alkej-896	139	1	+	+	CCONJ
alkej-896	139	2	𝑚2𝑔(𝐿𝑐2𝑐𝑜𝑠(𝑞1	𝑚2𝑔(𝐿𝑐2𝑐𝑜𝑠(𝑞1	PROPN
alkej-896	139	3	+	+	CCONJ
alkej-896	139	4	𝑞2	𝑞2	NOUN
alkej-896	139	5	)	)	PUNCT
alkej-896	139	6	+	+	NUM
alkej-896	139	7	𝐿1𝑐𝑜𝑠(𝑞1	𝐿1𝑐𝑜𝑠(𝑞1	NUM
alkej-896	139	8	)	)	PUNCT
alkej-896	139	9	)	)	PUNCT
alkej-896	139	10	,	,	PUNCT
alkej-896	139	11	𝑔2	𝑔2	NOUN
alkej-896	139	12	=	=	PUNCT
alkej-896	139	13	𝑚2𝑔𝐿𝑐2𝑐𝑜𝑠(𝑞1	𝑚2𝑔𝐿𝑐2𝑐𝑜𝑠(𝑞1	PROPN
alkej-896	139	14	+	+	NUM
alkej-896	139	15	𝑞2	𝑞2	NOUN
alkej-896	139	16	)	)	PUNCT
alkej-896	139	17	.	.	PUNCT
alkej-896	140	1	where	where	SCONJ
alkej-896	140	2	𝑞1	𝑞1	PROPN
alkej-896	140	3	and	and	CCONJ
alkej-896	140	4	𝑞2	𝑞2	NOUN
alkej-896	140	5	are	be	AUX
alkej-896	140	6	angular	angular	ADJ
alkej-896	140	7	positions	position	NOUN
alkej-896	140	8	,	,	PUNCT
alkej-896	140	9	𝜏1	𝜏1	NOUN
alkej-896	140	10	and	and	CCONJ
alkej-896	140	11	𝜏2	𝜏2	PROPN
alkej-896	140	12	are	be	AUX
alkej-896	140	13	torques	torque	NOUN
alkej-896	140	14	,	,	PUNCT
alkej-896	140	15	𝐿1	𝐿1	PROPN
alkej-896	140	16	and	and	CCONJ
alkej-896	140	17	𝐿2	𝐿2	PROPN
alkej-896	140	18	are	be	AUX
alkej-896	140	19	lengths	length	NOUN
alkej-896	140	20	,	,	PUNCT
alkej-896	140	21	𝑚1	𝑚1	NOUN
alkej-896	140	22	and	and	CCONJ
alkej-896	140	23	𝑚2	𝑚2	NOUN
alkej-896	140	24	are	be	AUX
alkej-896	140	25	masses	masse	NOUN
alkej-896	140	26	,	,	PUNCT
alkej-896	140	27	𝐼1and𝐼2	𝐼1and𝐼2	PROPN
alkej-896	140	28	are	be	AUX
alkej-896	140	29	lengthwise	lengthwise	VERB
alkej-896	140	30	centroid	centroid	NOUN
alkej-896	140	31	inertia	inertia	NOUN
alkej-896	140	32	,	,	PUNCT
alkej-896	140	33	𝐿𝑐1	𝐿𝑐1	NOUN
alkej-896	140	34	and	and	CCONJ
alkej-896	140	35	𝐿𝑐2	𝐿𝑐2	NOUN
alkej-896	140	36	are	be	AUX
alkej-896	140	37	distances	distance	NOUN
alkej-896	140	38	from	from	ADP
alkej-896	140	39	the	the	DET
alkej-896	140	40	joint	joint	NOUN
alkej-896	140	41	to	to	ADP
alkej-896	140	42	the	the	DET
alkej-896	140	43	center	center	NOUN
alkej-896	140	44	of	of	ADP
alkej-896	140	45	gravity	gravity	NOUN
alkej-896	140	46	,	,	PUNCT
alkej-896	140	47	𝑣1	𝑣1	NOUN
alkej-896	140	48	and	and	CCONJ
alkej-896	140	49	𝑣2	𝑣2	NOUN
alkej-896	140	50	are	be	AUX
alkej-896	140	51	coefficients	coefficient	NOUN
alkej-896	140	52	of	of	ADP
alkej-896	140	53	viscous	viscous	ADJ
alkej-896	140	54	friction	friction	NOUN
alkej-896	140	55	,	,	PUNCT
alkej-896	140	56	and	and	CCONJ
alkej-896	140	57	𝑝1	𝑝1	NOUN
alkej-896	140	58	and	and	CCONJ
alkej-896	140	59	𝑝2	𝑝2	NOUN
alkej-896	140	60	are	be	AUX
alkej-896	140	61	coefficients	coefficient	NOUN
alkej-896	140	62	of	of	ADP
alkej-896	140	63	dynamic	dynamic	ADJ
alkej-896	140	64	friction	friction	NOUN
alkej-896	140	65	of	of	ADP
alkej-896	140	66	link1	link1	PROPN
alkej-896	140	67	and	and	CCONJ
alkej-896	140	68	link2	link2	PROPN
alkej-896	140	69	,	,	PUNCT
alkej-896	140	70	respectively	respectively	ADV
alkej-896	140	71	.	.	PUNCT
alkej-896	141	1	the	the	DET
alkej-896	141	2	parameters	parameter	NOUN
alkej-896	141	3	of	of	ADP
alkej-896	141	4	the	the	DET
alkej-896	141	5	two	two	NUM
alkej-896	141	6	-	-	PUNCT
alkej-896	141	7	link	link	NOUN
alkej-896	141	8	robotic	robotic	ADJ
alkej-896	141	9	manipulator	manipulator	NOUN
alkej-896	141	10	used	use	VERB
alkej-896	141	11	in	in	ADP
alkej-896	141	12	the	the	DET
alkej-896	141	13	current	current	ADJ
alkej-896	141	14	simulation	simulation	NOUN
alkej-896	141	15	study	study	NOUN
alkej-896	141	16	are	be	AUX
alkej-896	141	17	listed	list	VERB
alkej-896	141	18	in	in	ADP
alkej-896	141	19	table	table	NOUN
alkej-896	141	20	2	2	NUM
alkej-896	141	21	.	.	PUNCT
alkej-896	142	1	in	in	ADP
alkej-896	142	2	order	order	NOUN
alkej-896	142	3	to	to	PART
alkej-896	142	4	prove	prove	VERB
alkej-896	142	5	its	its	PRON
alkej-896	142	6	effectiveness	effectiveness	NOUN
alkej-896	142	7	,	,	PUNCT
alkej-896	142	8	the	the	DET
alkej-896	142	9	proposed	propose	VERB
alkej-896	142	10	control	control	NOUN
alkej-896	142	11	scheme	scheme	NOUN
alkej-896	142	12	is	be	AUX
alkej-896	142	13	compared	compare	VERB
alkej-896	142	14	with	with	ADP
alkej-896	142	15	the	the	DET
alkej-896	142	16	ali	ali	PROPN
alkej-896	142	17	hussien	hussien	PROPN
alkej-896	142	18	mary	mary	PROPN
alkej-896	142	19	al	al	PROPN
alkej-896	142	20	-	-	PUNCT
alkej-896	142	21	khwarizmi	khwarizmi	PROPN
alkej-896	142	22	engineering	engineering	NOUN
alkej-896	142	23	journal	journal	PROPN
alkej-896	142	24	,	,	PUNCT
alkej-896	142	25	vol	vol	NOUN
alkej-896	142	26	.	.	PROPN
alkej-896	142	27	20	20	NUM
alkej-896	142	28	,	,	PUNCT
alkej-896	142	29	no	no	INTJ
alkej-896	142	30	.	.	NOUN
alkej-896	142	31	1	1	NUM
alkej-896	142	32	,	,	PUNCT
alkej-896	142	33	p.p	p.p	PROPN
alkej-896	142	34	.	.	NOUN
alkej-896	142	35	6375	6375	NUM
alkej-896	142	36	(	(	PUNCT
alkej-896	142	37	2024	2024	NUM
alkej-896	142	38	)	)	PUNCT
alkej-896	142	39	69	69	NUM
alkej-896	142	40	standard	standard	ADJ
alkej-896	142	41	smc	smc	PROPN
alkej-896	142	42	.	.	PROPN
alkej-896	142	43	table	table	NOUN
alkej-896	142	44	3	3	NUM
alkej-896	142	45	lists	list	VERB
alkej-896	142	46	the	the	DET
alkej-896	142	47	values	value	NOUN
alkej-896	142	48	of	of	ADP
alkej-896	142	49	the	the	DET
alkej-896	142	50	parameters	parameter	NOUN
alkej-896	142	51	of	of	ADP
alkej-896	142	52	the	the	DET
alkej-896	142	53	proposed	propose	VERB
alkej-896	142	54	controllers	controller	NOUN
alkej-896	142	55	and	and	CCONJ
alkej-896	142	56	the	the	DET
alkej-896	142	57	smc	smc	NOUN
alkej-896	142	58	that	that	PRON
alkej-896	142	59	are	be	AUX
alkej-896	142	60	used	use	VERB
alkej-896	142	61	in	in	ADP
alkej-896	142	62	the	the	DET
alkej-896	142	63	simulation	simulation	NOUN
alkej-896	142	64	.	.	PUNCT
alkej-896	143	1	the	the	DET
alkej-896	143	2	integral	integral	ADJ
alkej-896	143	3	time	time	NOUN
alkej-896	143	4	absolute	absolute	ADJ
alkej-896	143	5	error	error	NOUN
alkej-896	143	6	(	(	PUNCT
alkej-896	143	7	𝐼𝑇𝐴𝐸	𝐼𝑇𝐴𝐸	PROPN
alkej-896	143	8	)	)	PUNCT
alkej-896	143	9	performance	performance	NOUN
alkej-896	143	10	index	index	NOUN
alkej-896	143	11	is	be	AUX
alkej-896	143	12	used	use	VERB
alkej-896	143	13	for	for	ADP
alkej-896	143	14	the	the	DET
alkej-896	143	15	comparison	comparison	NOUN
alkej-896	143	16	,	,	PUNCT
alkej-896	143	17	which	which	PRON
alkej-896	143	18	was	be	AUX
alkej-896	143	19	used	use	VERB
alkej-896	143	20	to	to	PART
alkej-896	143	21	numerically	numerically	ADV
alkej-896	143	22	evaluate	evaluate	VERB
alkej-896	143	23	the	the	DET
alkej-896	143	24	performance	performance	NOUN
alkej-896	143	25	of	of	ADP
alkej-896	143	26	the	the	DET
alkej-896	143	27	tracking	tracking	NOUN
alkej-896	143	28	error	error	NOUN
alkej-896	143	29	.	.	PUNCT
alkej-896	144	1	𝐼𝑇𝐴𝐸	𝐼𝑇𝐴𝐸	PROPN
alkej-896	144	2	=	=	SYM
alkej-896	144	3	∫	∫	PROPN
alkej-896	144	4	𝑡|𝑒(𝑡)|𝑑𝑡	𝑡|𝑒(𝑡)|𝑑𝑡	NUM
alkej-896	144	5	𝑡𝑓	𝑡𝑓	NOUN
alkej-896	144	6	0	0	NUM
alkej-896	144	7	…	…	PUNCT
alkej-896	144	8	(	(	PUNCT
alkej-896	144	9	62	62	NUM
alkej-896	144	10	)	)	PUNCT
alkej-896	144	11	fig	fig	NOUN
alkej-896	144	12	.	.	PUNCT
alkej-896	145	1	5	5	NUM
alkej-896	145	2	.	.	X
alkej-896	145	3	schematic	schematic	ADJ
alkej-896	145	4	diagram	diagram	NOUN
alkej-896	145	5	of	of	ADP
alkej-896	145	6	two	two	NUM
alkej-896	145	7	linkobotic	linkobotic	ADJ
alkej-896	145	8	system	system	NOUN
alkej-896	145	9	.	.	PUNCT
alkej-896	146	1	table	table	NOUN
alkej-896	146	2	2	2	NUM
alkej-896	146	3	,	,	PUNCT
alkej-896	146	4	robotic	robotic	ADJ
alkej-896	146	5	manipulator	manipulator	NOUN
alkej-896	146	6	parameters	parameter	NOUN
alkej-896	146	7	5.1	5.1	NUM
alkej-896	146	8	robustness	robustness	NOUN
alkej-896	146	9	test	test	NOUN
alkej-896	146	10	:	:	PUNCT
alkej-896	146	11	model	model	NOUN
alkej-896	146	12	uncertainties	uncertaintie	VERB
alkej-896	146	13	the	the	DET
alkej-896	146	14	robustness	robustness	NOUN
alkej-896	146	15	and	and	CCONJ
alkej-896	146	16	effectiveness	effectiveness	NOUN
alkej-896	146	17	of	of	ADP
alkej-896	146	18	the	the	DET
alkej-896	146	19	presented	present	VERB
alkej-896	146	20	control	control	NOUN
alkej-896	146	21	methods	method	NOUN
alkej-896	146	22	are	be	AUX
alkej-896	146	23	examined	examine	VERB
alkej-896	146	24	in	in	ADP
alkej-896	146	25	the	the	DET
alkej-896	146	26	presence	presence	NOUN
alkej-896	146	27	of	of	ADP
alkej-896	146	28	the	the	DET
alkej-896	146	29	model	model	NOUN
alkej-896	146	30	of	of	ADP
alkej-896	146	31	uncertainties	uncertainty	NOUN
alkej-896	146	32	and	and	CCONJ
alkej-896	146	33	compared	compare	VERB
alkej-896	146	34	with	with	ADP
alkej-896	146	35	the	the	DET
alkej-896	146	36	smc	smc	PROPN
alkej-896	146	37	.	.	PUNCT
alkej-896	147	1	the	the	DET
alkej-896	147	2	system	system	NOUN
alkej-896	147	3	uncertainty	uncertainty	NOUN
alkej-896	147	4	includes	include	VERB
alkej-896	147	5	variations	variation	NOUN
alkej-896	147	6	in	in	ADP
alkej-896	147	7	the	the	DET
alkej-896	147	8	mass	mass	ADJ
alkej-896	147	9	,	,	PUNCT
alkej-896	147	10	static	static	ADJ
alkej-896	147	11	,	,	PUNCT
alkej-896	147	12	and	and	CCONJ
alkej-896	147	13	dynamic	dynamic	ADJ
alkej-896	147	14	coefficients	coefficient	NOUN
alkej-896	147	15	of	of	ADP
alkej-896	147	16	friction	friction	NOUN
alkej-896	147	17	of	of	ADP
alkej-896	147	18	link1	link1	PROPN
alkej-896	147	19	as	as	ADV
alkej-896	147	20	well	well	ADV
alkej-896	147	21	as	as	ADP
alkej-896	147	22	link2	link2	NOUN
alkej-896	147	23	.	.	PUNCT
alkej-896	148	1	these	these	DET
alkej-896	148	2	parameters	parameter	NOUN
alkej-896	148	3	are	be	AUX
alkej-896	148	4	increased	increase	VERB
alkej-896	148	5	by	by	ADP
alkej-896	148	6	15	15	NUM
alkej-896	148	7	%	%	NOUN
alkej-896	148	8	of	of	ADP
alkej-896	148	9	their	their	PRON
alkej-896	148	10	nominal	nominal	ADJ
alkej-896	148	11	values	value	NOUN
alkej-896	148	12	.	.	PUNCT
alkej-896	149	1	the	the	DET
alkej-896	149	2	desired	desire	VERB
alkej-896	149	3	trajectory	trajectory	NOUN
alkej-896	149	4	used	use	VERB
alkej-896	149	5	in	in	ADP
alkej-896	149	6	this	this	DET
alkej-896	149	7	simulation	simulation	NOUN
alkej-896	149	8	is	be	AUX
alkej-896	149	9	given	give	VERB
alkej-896	149	10	as	as	ADP
alkej-896	149	11	:	:	PUNCT
alkej-896	149	12	𝑞1𝑑(𝑡	𝑞1𝑑(𝑡	PROPN
alkej-896	149	13	)	)	PUNCT
alkej-896	149	14	=	=	PUNCT
alkej-896	150	1	−0.1	−0.1	PROPN
alkej-896	150	2	+	+	NUM
alkej-896	150	3	cos	cos	ADJ
alkej-896	150	4	(	(	PUNCT
alkej-896	150	5	2𝜋𝑡	2𝜋𝑡	NOUN
alkej-896	150	6	)	)	PUNCT
alkej-896	150	7	…	…	PUNCT
alkej-896	150	8	(	(	PUNCT
alkej-896	150	9	63	63	NUM
alkej-896	150	10	)	)	PUNCT
alkej-896	150	11	𝑞2𝑑(𝑡	𝑞2𝑑(𝑡	PROPN
alkej-896	150	12	)	)	PUNCT
alkej-896	150	13	=	=	SYM
alkej-896	151	1	0.5	0.5	NUM
alkej-896	151	2	+	+	CCONJ
alkej-896	151	3	𝑠𝑖𝑛	𝑠𝑖𝑛	ADJ
alkej-896	151	4	(	(	PUNCT
alkej-896	151	5	2𝜋𝑡	2𝜋𝑡	NOUN
alkej-896	151	6	)	)	PUNCT
alkej-896	151	7	…	…	PUNCT
alkej-896	151	8	(	(	PUNCT
alkej-896	151	9	64	64	NUM
alkej-896	151	10	)	)	PUNCT
alkej-896	151	11	the	the	DET
alkej-896	151	12	itae	itae	NOUN
alkej-896	151	13	values	value	NOUN
alkej-896	151	14	for	for	ADP
alkej-896	151	15	the	the	DET
alkej-896	151	16	proposed	propose	VERB
alkej-896	151	17	method	method	NOUN
alkej-896	151	18	i	i	PRON
alkej-896	151	19	,	,	PUNCT
alkej-896	151	20	proposed	propose	VERB
alkej-896	151	21	method	method	PROPN
alkej-896	151	22	ii	ii	PROPN
alkej-896	151	23	,	,	PUNCT
alkej-896	151	24	and	and	CCONJ
alkej-896	151	25	smc	smc	PROPN
alkej-896	151	26	are	be	AUX
alkej-896	151	27	listed	list	VERB
alkej-896	151	28	in	in	ADP
alkej-896	151	29	table	table	NOUN
alkej-896	151	30	4	4	NUM
alkej-896	151	31	.	.	PUNCT
alkej-896	151	32	to	to	PART
alkej-896	151	33	illustrate	illustrate	VERB
alkej-896	151	34	the	the	DET
alkej-896	151	35	comparison	comparison	NOUN
alkej-896	151	36	,	,	PUNCT
alkej-896	151	37	variations	variation	NOUN
alkej-896	151	38	in	in	ADP
alkej-896	151	39	the	the	DET
alkej-896	151	40	itae	itae	NOUN
alkej-896	151	41	for	for	ADP
alkej-896	151	42	link1	link1	PROPN
alkej-896	151	43	and	and	CCONJ
alkej-896	151	44	link2	link2	PROPN
alkej-896	151	45	are	be	AUX
alkej-896	151	46	shown	show	VERB
alkej-896	151	47	in	in	ADP
alkej-896	151	48	figure	figure	NOUN
alkej-896	151	49	6	6	NUM
alkej-896	151	50	.	.	PUNCT
alkej-896	152	1	this	this	DET
alkej-896	152	2	comparison	comparison	NOUN
alkej-896	152	3	indicates	indicate	VERB
alkej-896	152	4	that	that	SCONJ
alkej-896	152	5	the	the	DET
alkej-896	152	6	itae	itae	NOUN
alkej-896	152	7	for	for	ADP
alkej-896	152	8	the	the	DET
alkej-896	152	9	proposed	propose	VERB
alkej-896	152	10	method	method	PROPN
alkej-896	152	11	ii	ii	PROPN
alkej-896	152	12	is	be	AUX
alkej-896	152	13	less	less	ADJ
alkej-896	152	14	than	than	ADP
alkej-896	152	15	for	for	ADP
alkej-896	152	16	the	the	DET
alkej-896	152	17	other	other	ADJ
alkej-896	152	18	methods	method	NOUN
alkej-896	152	19	,	,	PUNCT
alkej-896	152	20	whereas	whereas	SCONJ
alkej-896	152	21	the	the	DET
alkej-896	152	22	itae	itae	NOUN
alkej-896	152	23	for	for	ADP
alkej-896	152	24	the	the	DET
alkej-896	152	25	proposed	propose	VERB
alkej-896	152	26	method	method	NOUN
alkej-896	152	27	i	i	PRON
alkej-896	152	28	and	and	CCONJ
alkej-896	152	29	smc	smc	PROPN
alkej-896	152	30	are	be	AUX
alkej-896	152	31	approximately	approximately	ADV
alkej-896	152	32	equal	equal	ADJ
alkej-896	152	33	which	which	PRON
alkej-896	152	34	means	mean	VERB
alkej-896	152	35	that	that	SCONJ
alkej-896	152	36	the	the	DET
alkej-896	152	37	proposed	propose	VERB
alkej-896	152	38	method	method	PROPN
alkej-896	152	39	ii	ii	PROPN
alkej-896	152	40	is	be	AUX
alkej-896	152	41	more	more	ADV
alkej-896	152	42	robust	robust	ADJ
alkej-896	152	43	than	than	SCONJ
alkej-896	152	44	the	the	DET
alkej-896	152	45	smc	smc	PROPN
alkej-896	152	46	and	and	CCONJ
alkej-896	152	47	the	the	DET
alkej-896	152	48	proposed	propose	VERB
alkej-896	152	49	method	method	PROPN
alkej-896	152	50	i.	i.	PROPN
alkej-896	152	51	figures	figure	NOUN
alkej-896	152	52	7	7	NUM
alkej-896	152	53	and	and	CCONJ
alkej-896	152	54	8	8	NUM
alkej-896	152	55	show	show	VERB
alkej-896	152	56	the	the	DET
alkej-896	152	57	tracking	tracking	NOUN
alkej-896	152	58	position	position	NOUN
alkej-896	152	59	,	,	PUNCT
alkej-896	152	60	tracking	tracking	NOUN
alkej-896	152	61	error	error	NOUN
alkej-896	152	62	,	,	PUNCT
alkej-896	152	63	and	and	CCONJ
alkej-896	152	64	input	input	NOUN
alkej-896	152	65	torque	torque	NOUN
alkej-896	152	66	for	for	ADP
alkej-896	152	67	link1	link1	PROPN
alkej-896	152	68	and	and	CCONJ
alkej-896	152	69	link2	link2	PROPN
alkej-896	152	70	,	,	PUNCT
alkej-896	152	71	respectively	respectively	ADV
alkej-896	152	72	.	.	PUNCT
alkej-896	153	1	these	these	DET
alkej-896	153	2	figures	figure	NOUN
alkej-896	153	3	clearly	clearly	ADV
alkej-896	153	4	indicate	indicate	VERB
alkej-896	153	5	that	that	SCONJ
alkej-896	153	6	the	the	DET
alkej-896	153	7	proposed	propose	VERB
alkej-896	153	8	control	control	NOUN
alkej-896	153	9	methods	method	NOUN
alkej-896	153	10	have	have	VERB
alkej-896	153	11	very	very	ADV
alkej-896	153	12	good	good	ADJ
alkej-896	153	13	tracking	tracking	NOUN
alkej-896	153	14	performance	performance	NOUN
alkej-896	153	15	and	and	CCONJ
alkej-896	153	16	smaller	small	ADJ
alkej-896	153	17	position	position	NOUN
alkej-896	153	18	tracking	track	VERB
alkej-896	153	19	errors	error	NOUN
alkej-896	153	20	in	in	ADP
alkej-896	153	21	link1	link1	PROPN
alkej-896	153	22	and	and	CCONJ
alkej-896	153	23	link2	link2	PROPN
alkej-896	153	24	.	.	PUNCT
alkej-896	154	1	however	however	ADV
alkej-896	154	2	,	,	PUNCT
alkej-896	154	3	with	with	ADP
alkej-896	154	4	respect	respect	NOUN
alkej-896	154	5	to	to	ADP
alkej-896	154	6	the	the	DET
alkej-896	154	7	chattering	chatter	VERB
alkej-896	154	8	problem	problem	NOUN
alkej-896	154	9	,	,	PUNCT
alkej-896	154	10	figures	figure	VERB
alkej-896	154	11	7	7	NUM
alkej-896	154	12	(	(	PUNCT
alkej-896	154	13	c	c	NOUN
alkej-896	154	14	)	)	PUNCT
alkej-896	154	15	and	and	CCONJ
alkej-896	154	16	8	8	NUM
alkej-896	154	17	(	(	PUNCT
alkej-896	154	18	c	c	NOUN
alkej-896	154	19	)	)	PUNCT
alkej-896	154	20	show	show	VERB
alkej-896	154	21	that	that	SCONJ
alkej-896	154	22	the	the	DET
alkej-896	154	23	control	control	NOUN
alkej-896	154	24	signals	signal	NOUN
alkej-896	154	25	of	of	ADP
alkej-896	154	26	proposed	propose	VERB
alkej-896	154	27	methods	method	NOUN
alkej-896	154	28	i	i	PRON
alkej-896	154	29	and	and	CCONJ
alkej-896	154	30	ii	ii	PROPN
alkej-896	154	31	are	be	AUX
alkej-896	154	32	significantly	significantly	ADV
alkej-896	154	33	smoother	smooth	ADJ
alkej-896	154	34	than	than	ADP
alkej-896	154	35	that	that	PRON
alkej-896	154	36	of	of	ADP
alkej-896	154	37	the	the	DET
alkej-896	154	38	smc	smc	PROPN
alkej-896	154	39	.	.	PROPN
alkej-896	154	40	table	table	PROPN
alkej-896	154	41	3	3	NUM
alkej-896	154	42	,	,	PUNCT
alkej-896	154	43	the	the	DET
alkej-896	154	44	parameters	parameter	NOUN
alkej-896	154	45	of	of	ADP
alkej-896	154	46	proposed	propose	VERB
alkej-896	154	47	and	and	CCONJ
alkej-896	154	48	smc	smc	PROPN
alkej-896	154	49	controllers	controller	NOUN
alkej-896	154	50	x	x	VERB
alkej-896	154	51	y	y	PROPN
alkej-896	154	52	i,1	i,1	PROPN
alkej-896	154	53	m	m	VERB
alkej-896	154	54	1l	1l	NUM
alkej-896	154	55	1	1	NUM
alkej-896	154	56	,	,	PUNCT
alkej-896	154	57	2	2	NUM
alkej-896	154	58	m	m	NOUN
alkej-896	154	59	2i	2i	NUM
alkej-896	154	60	2l	2l	NOUN
alkej-896	154	61	q	q	SYM
alkej-896	154	62	2q	2q	NUM
alkej-896	154	63	mp	mp	PROPN
alkej-896	155	1	c2i	c2i	PROPN
alkej-896	155	2	c1i	c1i	ADV
alkej-896	155	3	1l	1l	NUM
alkej-896	155	4	2l	2l	NUM
alkej-896	155	5	parameter	parameter	NOUN
alkej-896	155	6	link1	link1	PROPN
alkej-896	155	7	link2	link2	PROPN
alkej-896	155	8	mass	mass	PROPN
alkej-896	155	9	(	(	PUNCT
alkej-896	155	10	kg	kg	NOUN
alkej-896	155	11	)	)	PUNCT
alkej-896	155	12	1.0	1.0	NUM
alkej-896	155	13	1.0	1.0	NUM
alkej-896	155	14	length	length	NOUN
alkej-896	155	15	(	(	PUNCT
alkej-896	155	16	m	m	NOUN
alkej-896	155	17	)	)	PUNCT
alkej-896	155	18	1.0	1.0	NUM
alkej-896	155	19	1.0	1.0	NUM
alkej-896	155	20	viscous	viscous	ADJ
alkej-896	155	21	friction	friction	NOUN
alkej-896	155	22	coefficient	coefficient	NOUN
alkej-896	155	23	0.1	0.1	NUM
alkej-896	155	24	0.1	0.1	NUM
alkej-896	155	25	ddynamic	ddynamic	ADJ
alkej-896	155	26	friction	friction	NOUN
alkej-896	155	27	coefficient	coefficient	NOUN
alkej-896	155	28	0.1	0.1	NUM
alkej-896	155	29	0.1	0.1	NUM
alkej-896	155	30	lengthwise	lengthwise	NOUN
alkej-896	155	31	centroid	centroid	NOUN
alkej-896	155	32	inertia	inertia	NOUN
alkej-896	155	33	(	(	PUNCT
alkej-896	155	34	kg	kg	PROPN
alkej-896	155	35	m2	m2	PROPN
alkej-896	155	36	)	)	PUNCT
alkej-896	155	37	0.5	0.5	NUM
alkej-896	155	38	0.5	0.5	NUM
alkej-896	155	39	distance	distance	NOUN
alkej-896	155	40	from	from	ADP
alkej-896	155	41	joint	joint	NOUN
alkej-896	155	42	to	to	ADP
alkej-896	155	43	center	center	NOUN
alkej-896	155	44	of	of	ADP
alkej-896	155	45	gravity	gravity	NOUN
alkej-896	155	46	(	(	PUNCT
alkej-896	155	47	m	m	NOUN
alkej-896	155	48	)	)	PUNCT
alkej-896	155	49	0.2	0.2	NUM
alkej-896	155	50	0.2	0.2	NUM
alkej-896	155	51	control	control	NOUN
alkej-896	155	52	method	method	NOUN
alkej-896	155	53	law	law	NOUN
alkej-896	155	54	parameter	parameter	NOUN
alkej-896	155	55	link1	link1	PROPN
alkej-896	155	56	link2	link2	PROPN
alkej-896	155	57	proposed	propose	VERB
alkej-896	155	58	ii	ii	PROPN
alkej-896	155	59	τ	τ	PROPN
alkej-896	156	1	=	=	PUNCT
alkej-896	156	2	𝑘𝑓	𝑘𝑓	ADJ
alkej-896	156	3	𝑢𝑓	𝑢𝑓	NOUN
alkej-896	156	4	+	+	CCONJ
alkej-896	156	5	�	�	PROPN
alkej-896	156	6	̂	̂	SYM
alkej-896	156	7	�	�	PROPN
alkej-896	156	8	�	�	PROPN
alkej-896	156	9	̇̂	̇̂	NOUN
alkej-896	156	10	�	�	PROPN
alkej-896	156	11	=	=	PUNCT
alkej-896	156	12	𝐿−1𝑠𝑇	𝐿−1𝑠𝑇	NOUN
alkej-896	156	13	𝑠(𝑡	𝑠(𝑡	PROPN
alkej-896	156	14	)	)	PUNCT
alkej-896	156	15	=	=	PUNCT
alkej-896	157	1	𝛾	𝛾	X
alkej-896	157	2	𝑒(𝑡	𝑒(𝑡	NOUN
alkej-896	157	3	)	)	PUNCT
alkej-896	157	4	+	+	CCONJ
alkej-896	157	5	�	�	PROPN
alkej-896	157	6	̇	̇	PROPN
alkej-896	157	7	�	�	PROPN
alkej-896	157	8	(𝑡	(𝑡	NOUN
alkej-896	157	9	)	)	PUNCT
alkej-896	157	10	𝑘𝑓	𝑘𝑓	ADP
alkej-896	157	11	250	250	NUM
alkej-896	157	12	250	250	NUM
alkej-896	157	13	𝐿	𝐿	NOUN
alkej-896	157	14	1	1	NUM
alkej-896	157	15	1	1	NUM
alkej-896	157	16	𝛾	𝛾	ADP
alkej-896	157	17	5	5	NUM
alkej-896	157	18	5	5	NUM
alkej-896	157	19	proposed	propose	VERB
alkej-896	157	20	i	i	PRON
alkej-896	157	21	τ	τ	PROPN
alkej-896	158	1	=	=	PUNCT
alkej-896	158	2	𝑘𝑓	𝑘𝑓	ADJ
alkej-896	158	3	𝑢𝑓	𝑢𝑓	NOUN
alkej-896	158	4	+	+	CCONJ
alkej-896	158	5	𝑘	𝑘	DET
alkej-896	158	6	𝑠𝑎𝑡(𝑠	𝑠𝑎𝑡(𝑠	PROPN
alkej-896	158	7	,	,	PUNCT
alkej-896	158	8	∅	∅	NOUN
alkej-896	158	9	)	)	PUNCT
alkej-896	158	10	𝑘𝑓	𝑘𝑓	ADP
alkej-896	158	11	250	250	NUM
alkej-896	158	12	250	250	NUM
alkej-896	158	13	𝑘	𝑘	DET
alkej-896	158	14	300	300	NUM
alkej-896	158	15	300	300	NUM
alkej-896	158	16	∅	∅	NOUN
alkej-896	158	17	0.05	0.05	NUM
alkej-896	158	18	0.05	0.05	NUM
alkej-896	158	19	smc	smc	NOUN
alkej-896	158	20	𝑢	𝑢	X
alkej-896	158	21	=	=	SYM
alkej-896	158	22	𝑀0(𝑞)	𝑀0(𝑞)	X
alkej-896	158	23	�	�	PROPN
alkej-896	158	24	̈	̈	NOUN
alkej-896	158	25	�	�	NOUN
alkej-896	158	26	𝑟	𝑟	NOUN
alkej-896	158	27	+	+	SYM
alkej-896	158	28	𝑁0(𝑞)	𝑁0(𝑞)	PROPN
alkej-896	158	29	�	�	NOUN
alkej-896	158	30	̇	̇	VERB
alkej-896	158	31	�	�	NOUN
alkej-896	158	32	𝑟	𝑟	NOUN
alkej-896	158	33	+	+	CCONJ
alkej-896	158	34	𝐺0	𝐺0	PROPN
alkej-896	158	35	(	(	PUNCT
alkej-896	158	36	𝑞	𝑞	NOUN
alkej-896	158	37	)	)	PUNCT
alkej-896	158	38	+	+	PUNCT
alkej-896	158	39	𝐻0(𝑞	𝐻0(𝑞	X
alkej-896	158	40	)	)	PUNCT
alkej-896	158	41	+	+	SYM
alkej-896	158	42	𝑘1𝑠𝑎𝑡(𝑠	𝑘1𝑠𝑎𝑡(𝑠	NOUN
alkej-896	158	43	,	,	PUNCT
alkej-896	158	44	∅	∅	NOUN
alkej-896	158	45	)	)	PUNCT
alkej-896	158	46	�	�	PROPN
alkej-896	158	47	̇	̇	VERB
alkej-896	158	48	�	�	NOUN
alkej-896	158	49	𝑟(𝑞	𝑟(𝑞	NOUN
alkej-896	158	50	)	)	PUNCT
alkej-896	158	51	=	=	SYM
alkej-896	158	52	�	�	PROPN
alkej-896	158	53	̇	̇	PROPN
alkej-896	158	54	�	�	PROPN
alkej-896	158	55	𝑑	𝑑	PART
alkej-896	158	56	−	−	PROPN
alkej-896	158	57	𝛾(𝑞	𝛾(𝑞	NOUN
alkej-896	158	58	−	−	PROPN
alkej-896	158	59	𝑞𝑑	𝑞𝑑	INTJ
alkej-896	158	60	)	)	PUNCT
alkej-896	158	61	𝑠(𝑡	𝑠(𝑡	PROPN
alkej-896	158	62	)	)	PUNCT
alkej-896	158	63	=	=	SYM
alkej-896	158	64	𝛾𝑒(𝑡	𝛾𝑒(𝑡	X
alkej-896	158	65	)	)	PUNCT
alkej-896	158	66	+	+	CCONJ
alkej-896	158	67	�	�	PROPN
alkej-896	158	68	̇	̇	PROPN
alkej-896	158	69	�	�	PROPN
alkej-896	158	70	(𝑡	(𝑡	PART
alkej-896	158	71	)	)	PUNCT
alkej-896	158	72	𝑘1	𝑘1	NOUN
alkej-896	158	73	400	400	NUM
alkej-896	158	74	400	400	NUM
alkej-896	158	75	∅	∅	NOUN
alkej-896	158	76	0.05	0.05	NUM
alkej-896	158	77	0.05	0.05	NUM
alkej-896	158	78	𝛾	𝛾	PROPN
alkej-896	158	79	5	5	NUM
alkej-896	158	80	5	5	NUM
alkej-896	158	81	ali	ali	PROPN
alkej-896	158	82	hussien	hussien	PROPN
alkej-896	158	83	mary	mary	PROPN
alkej-896	158	84	al	al	PROPN
alkej-896	158	85	-	-	PUNCT
alkej-896	158	86	khwarizmi	khwarizmi	PROPN
alkej-896	158	87	engineering	engineering	NOUN
alkej-896	158	88	journal	journal	PROPN
alkej-896	158	89	,	,	PUNCT
alkej-896	158	90	vol	vol	NOUN
alkej-896	158	91	.	.	PROPN
alkej-896	158	92	20	20	NUM
alkej-896	158	93	,	,	PUNCT
alkej-896	158	94	no	no	INTJ
alkej-896	158	95	.	.	NOUN
alkej-896	158	96	1	1	NUM
alkej-896	158	97	,	,	PUNCT
alkej-896	158	98	p.p	p.p	PROPN
alkej-896	158	99	.	.	NOUN
alkej-896	158	100	6375	6375	NUM
alkej-896	158	101	(	(	PUNCT
alkej-896	158	102	2024	2024	NUM
alkej-896	158	103	)	)	PUNCT
alkej-896	158	104	70	70	NUM
alkej-896	158	105	fig	fig	NOUN
alkej-896	158	106	.	.	PUNCT
alkej-896	159	1	6	6	NUM
alkej-896	159	2	.	.	X
alkej-896	159	3	itae	itae	PROPN
alkej-896	159	4	variations	variation	NOUN
alkej-896	159	5	for	for	ADP
alkej-896	159	6	model	model	NOUN
alkej-896	159	7	uncertainties	uncertainty	NOUN
alkej-896	159	8	table	table	NOUN
alkej-896	159	9	4	4	NUM
alkej-896	159	10	,	,	PUNCT
alkej-896	159	11	performance	performance	NOUN
alkej-896	159	12	index	index	NOUN
alkej-896	159	13	itae	itae	NOUN
alkej-896	159	14	values	value	NOUN
alkej-896	159	15	for	for	ADP
alkej-896	159	16	model	model	NOUN
alkej-896	159	17	uncertainties	uncertainty	NOUN
alkej-896	159	18	fig	fig	NOUN
alkej-896	159	19	.	.	PUNCT
alkej-896	160	1	7	7	X
alkej-896	160	2	.	.	X
alkej-896	160	3	angular	angular	ADJ
alkej-896	160	4	position	position	NOUN
alkej-896	160	5	(	(	PUNCT
alkej-896	160	6	a	a	NOUN
alkej-896	160	7	)	)	PUNCT
alkej-896	160	8	,	,	PUNCT
alkej-896	160	9	tracking	track	VERB
alkej-896	160	10	error	error	NOUN
alkej-896	160	11	(	(	PUNCT
alkej-896	160	12	b	b	NOUN
alkej-896	160	13	)	)	PUNCT
alkej-896	160	14	,	,	PUNCT
alkej-896	160	15	and	and	CCONJ
alkej-896	160	16	input	input	NOUN
alkej-896	160	17	torque	torque	NOUN
alkej-896	160	18	(	(	PUNCT
alkej-896	160	19	c	c	NOUN
alkej-896	160	20	)	)	PUNCT
alkej-896	160	21	of	of	ADP
alkej-896	160	22	link1	link1	PROPN
alkej-896	160	23	under	under	ADP
alkej-896	160	24	model	model	NOUN
alkej-896	160	25	uncertainties	uncertainty	NOUN
alkej-896	160	26	0	0	NUM
alkej-896	160	27	0.01	0.01	NUM
alkej-896	160	28	0.02	0.02	NUM
alkej-896	160	29	0.03	0.03	NUM
alkej-896	160	30	0.04	0.04	NUM
alkej-896	160	31	0.05	0.05	NUM
alkej-896	160	32	0.06	0.06	NUM
alkej-896	160	33	0.07	0.07	NUM
alkej-896	160	34	proposed	propose	VERB
alkej-896	160	35	ii	ii	PROPN
alkej-896	160	36	proposed	propose	VERB
alkej-896	160	37	i	i	PRON
alkej-896	160	38	smc	smc	PROPN
alkej-896	160	39	link1	link1	PROPN
alkej-896	160	40	link2	link2	PROPN
alkej-896	160	41	proposed	propose	VERB
alkej-896	160	42	ii	ii	PROPN
alkej-896	160	43	proposed	propose	VERB
alkej-896	160	44	i	i	PRON
alkej-896	160	45	smc	smc	PROPN
alkej-896	160	46	link1	link1	PROPN
alkej-896	161	1	0.0483	0.0483	NUM
alkej-896	161	2	0.0648	0.0648	NUM
alkej-896	161	3	0.0645	0.0645	NUM
alkej-896	161	4	link2	link2	NOUN
alkej-896	161	5	0.0552	0.0552	NUM
alkej-896	161	6	0.0551	0.0551	NUM
alkej-896	161	7	0.0556	0.0556	NUM
alkej-896	161	8	ali	ali	PROPN
alkej-896	161	9	hussien	hussien	PROPN
alkej-896	161	10	mary	mary	PROPN
alkej-896	161	11	al	al	PROPN
alkej-896	161	12	-	-	PUNCT
alkej-896	161	13	khwarizmi	khwarizmi	PROPN
alkej-896	161	14	engineering	engineering	NOUN
alkej-896	161	15	journal	journal	PROPN
alkej-896	161	16	,	,	PUNCT
alkej-896	161	17	vol	vol	NOUN
alkej-896	161	18	.	.	PROPN
alkej-896	161	19	20	20	NUM
alkej-896	161	20	,	,	PUNCT
alkej-896	161	21	no	no	INTJ
alkej-896	161	22	.	.	NOUN
alkej-896	161	23	1	1	NUM
alkej-896	161	24	,	,	PUNCT
alkej-896	161	25	p.p	p.p	PROPN
alkej-896	161	26	.	.	NOUN
alkej-896	161	27	6375	6375	NUM
alkej-896	161	28	(	(	PUNCT
alkej-896	161	29	2024	2024	NUM
alkej-896	161	30	)	)	PUNCT
alkej-896	161	31	71	71	NUM
alkej-896	161	32	5.2	5.2	NUM
alkej-896	161	33	robustness	robustness	NOUN
alkej-896	161	34	test	test	NOUN
alkej-896	161	35	:	:	PUNCT
alkej-896	161	36	disturbance	disturbance	NOUN
alkej-896	161	37	rejection	rejection	NOUN
alkej-896	161	38	this	this	DET
alkej-896	161	39	section	section	NOUN
alkej-896	161	40	discusses	discuss	VERB
alkej-896	161	41	the	the	DET
alkej-896	161	42	robustness	robustness	NOUN
alkej-896	161	43	of	of	ADP
alkej-896	161	44	the	the	DET
alkej-896	161	45	proposed	propose	VERB
alkej-896	161	46	controller	controller	NOUN
alkej-896	161	47	in	in	ADP
alkej-896	161	48	the	the	DET
alkej-896	161	49	case	case	NOUN
alkej-896	161	50	of	of	ADP
alkej-896	161	51	an	an	DET
alkej-896	161	52	external	external	ADJ
alkej-896	161	53	disturbance	disturbance	NOUN
alkej-896	161	54	when	when	SCONJ
alkej-896	161	55	applied	apply	VERB
alkej-896	161	56	to	to	ADP
alkej-896	161	57	the	the	DET
alkej-896	161	58	controller	controller	NOUN
alkej-896	161	59	output	output	NOUN
alkej-896	161	60	for	for	ADP
alkej-896	161	61	link1	link1	PROPN
alkej-896	161	62	and	and	CCONJ
alkej-896	161	63	link2	link2	PROPN
alkej-896	161	64	.	.	PUNCT
alkej-896	162	1	the	the	DET
alkej-896	162	2	disturbance	disturbance	NOUN
alkej-896	162	3	signals	signal	VERB
alkej-896	162	4	𝑑1(𝑡	𝑑1(𝑡	PRON
alkej-896	162	5	)	)	PUNCT
alkej-896	162	6	and	and	CCONJ
alkej-896	162	7	𝑑2(𝑡	𝑑2(𝑡	PROPN
alkej-896	162	8	)	)	PUNCT
alkej-896	162	9	that	that	PRON
alkej-896	162	10	were	be	AUX
alkej-896	162	11	applied	apply	VERB
alkej-896	162	12	respectively	respectively	ADV
alkej-896	162	13	,	,	PUNCT
alkej-896	162	14	on	on	ADP
alkej-896	162	15	link1	link1	PROPN
alkej-896	162	16	and	and	CCONJ
alkej-896	162	17	link2	link2	PROPN
alkej-896	162	18	are	be	AUX
alkej-896	162	19	:	:	PUNCT
alkej-896	162	20	𝑑1(𝑡	𝑑1(𝑡	X
alkej-896	162	21	)	)	PUNCT
alkej-896	162	22	=	=	SYM
alkej-896	162	23	9𝑠𝑖𝑛(5𝑡	9𝑠𝑖𝑛(5𝑡	NUM
alkej-896	162	24	)	)	PUNCT
alkej-896	162	25	,	,	PUNCT
alkej-896	162	26	𝑑2(𝑡	𝑑2(𝑡	PROPN
alkej-896	162	27	)	)	PUNCT
alkej-896	163	1	=	=	SYM
alkej-896	163	2	9sin	9sin	PROPN
alkej-896	163	3	(	(	PUNCT
alkej-896	163	4	7𝑡	7𝑡	NOUN
alkej-896	163	5	)	)	PUNCT
alkej-896	163	6	…	…	PUNCT
alkej-896	163	7	(	(	PUNCT
alkej-896	163	8	65	65	NUM
alkej-896	163	9	)	)	PUNCT
alkej-896	163	10	the	the	DET
alkej-896	163	11	desired	desire	VERB
alkej-896	163	12	trajectory	trajectory	NOUN
alkej-896	163	13	used	use	VERB
alkej-896	163	14	in	in	ADP
alkej-896	163	15	this	this	DET
alkej-896	163	16	simulation	simulation	NOUN
alkej-896	163	17	is	be	AUX
alkej-896	163	18	given	give	VERB
alkej-896	163	19	as	as	ADP
alkej-896	163	20	:	:	PUNCT
alkej-896	163	21	𝑞1𝑑(𝑡	𝑞1𝑑(𝑡	PROPN
alkej-896	163	22	)	)	PUNCT
alkej-896	163	23	=	=	SYM
alkej-896	163	24	𝑞2𝑑(𝑡	𝑞2𝑑(𝑡	ADJ
alkej-896	163	25	)	)	PUNCT
alkej-896	163	26	=	=	SYM
alkej-896	163	27	sin(2𝜋𝑡	sin(2𝜋𝑡	X
alkej-896	163	28	)	)	PUNCT
alkej-896	163	29	…	…	PUNCT
alkej-896	163	30	(	(	PUNCT
alkej-896	163	31	66	66	NUM
alkej-896	163	32	)	)	PUNCT
alkej-896	163	33	the	the	DET
alkej-896	163	34	itae	itae	NOUN
alkej-896	163	35	values	value	NOUN
alkej-896	163	36	are	be	AUX
alkej-896	163	37	listed	list	VERB
alkej-896	163	38	in	in	ADP
alkej-896	163	39	table	table	NOUN
alkej-896	163	40	5	5	NUM
alkej-896	163	41	.	.	PUNCT
alkej-896	164	1	the	the	DET
alkej-896	164	2	itae	itae	ADJ
alkej-896	164	3	variations	variation	NOUN
alkej-896	164	4	for	for	ADP
alkej-896	164	5	all	all	DET
alkej-896	164	6	methods	method	NOUN
alkej-896	164	7	are	be	AUX
alkej-896	164	8	also	also	ADV
alkej-896	164	9	shown	show	VERB
alkej-896	164	10	in	in	ADP
alkej-896	164	11	figure	figure	NOUN
alkej-896	164	12	9	9	NUM
alkej-896	164	13	,	,	PUNCT
alkej-896	164	14	which	which	PRON
alkej-896	164	15	indicates	indicate	VERB
alkej-896	164	16	the	the	DET
alkej-896	164	17	clear	clear	ADJ
alkej-896	164	18	superiority	superiority	NOUN
alkej-896	164	19	of	of	ADP
alkej-896	164	20	proposed	propose	VERB
alkej-896	164	21	method	method	PROPN
alkej-896	164	22	ii	ii	PROPN
alkej-896	164	23	.	.	PUNCT
alkej-896	165	1	the	the	DET
alkej-896	165	2	simulation	simulation	NOUN
alkej-896	165	3	results	result	VERB
alkej-896	165	4	for	for	ADP
alkej-896	165	5	this	this	DET
alkej-896	165	6	case	case	NOUN
alkej-896	165	7	are	be	AUX
alkej-896	165	8	shown	show	VERB
alkej-896	165	9	in	in	ADP
alkej-896	165	10	figures	figure	NOUN
alkej-896	165	11	10	10	NUM
alkej-896	165	12	and	and	CCONJ
alkej-896	165	13	11	11	NUM
alkej-896	165	14	.	.	PUNCT
alkej-896	166	1	the	the	DET
alkej-896	166	2	results	result	NOUN
alkej-896	166	3	obtained	obtain	VERB
alkej-896	166	4	show	show	VERB
alkej-896	166	5	a	a	DET
alkej-896	166	6	fast	fast	ADJ
alkej-896	166	7	response	response	NOUN
alkej-896	166	8	of	of	ADP
alkej-896	166	9	the	the	DET
alkej-896	166	10	proposed	propose	VERB
alkej-896	166	11	and	and	CCONJ
alkej-896	166	12	smc	smc	PROPN
alkej-896	166	13	methods	method	NOUN
alkej-896	166	14	with	with	ADP
alkej-896	166	15	good	good	ADJ
alkej-896	166	16	tracking	tracking	NOUN
alkej-896	166	17	performance	performance	NOUN
alkej-896	166	18	.	.	PUNCT
alkej-896	167	1	the	the	DET
alkej-896	167	2	results	result	NOUN
alkej-896	167	3	also	also	ADV
alkej-896	167	4	clearly	clearly	ADV
alkej-896	167	5	indicate	indicate	VERB
alkej-896	167	6	the	the	DET
alkej-896	167	7	superiority	superiority	NOUN
alkej-896	167	8	of	of	ADP
alkej-896	167	9	the	the	DET
alkej-896	167	10	proposed	propose	VERB
alkej-896	167	11	method	method	PROPN
alkej-896	167	12	ii	ii	PROPN
alkej-896	167	13	in	in	ADP
alkej-896	167	14	comparison	comparison	NOUN
alkej-896	167	15	with	with	ADP
alkej-896	167	16	the	the	DET
alkej-896	167	17	smc	smc	PROPN
alkej-896	167	18	and	and	CCONJ
alkej-896	167	19	the	the	DET
alkej-896	167	20	proposed	propose	VERB
alkej-896	167	21	method	method	PROPN
alkej-896	167	22	i.	i.	PROPN
alkej-896	167	23	moreover	moreover	ADV
alkej-896	167	24	,	,	PUNCT
alkej-896	167	25	the	the	DET
alkej-896	167	26	adaptation	adaptation	NOUN
alkej-896	167	27	technique	technique	NOUN
alkej-896	167	28	that	that	PRON
alkej-896	167	29	was	be	AUX
alkej-896	167	30	used	use	VERB
alkej-896	167	31	to	to	PART
alkej-896	167	32	estimate	estimate	VERB
alkej-896	167	33	the	the	DET
alkej-896	167	34	upper	upper	ADJ
alkej-896	167	35	bound	bound	NOUN
alkej-896	167	36	of	of	ADP
alkej-896	167	37	the	the	DET
alkej-896	167	38	dynamic	dynamic	ADJ
alkej-896	167	39	model	model	NOUN
alkej-896	167	40	eliminates	eliminate	VERB
alkej-896	167	41	the	the	DET
alkej-896	167	42	chattering	chattering	NOUN
alkej-896	167	43	.	.	PUNCT
alkej-896	168	1	therefore	therefore	ADV
alkej-896	168	2	,	,	PUNCT
alkej-896	168	3	the	the	DET
alkej-896	168	4	control	control	NOUN
alkej-896	168	5	signal	signal	NOUN
alkej-896	168	6	of	of	ADP
alkej-896	168	7	the	the	DET
alkej-896	168	8	proposed	propose	VERB
alkej-896	168	9	method	method	PROPN
alkej-896	168	10	ii	ii	PROPN
alkej-896	168	11	is	be	AUX
alkej-896	168	12	very	very	ADV
alkej-896	168	13	smooth	smooth	ADJ
alkej-896	168	14	.	.	PUNCT
alkej-896	169	1	fig	fig	NOUN
alkej-896	169	2	.	.	PUNCT
alkej-896	170	1	8	8	NUM
alkej-896	170	2	.	.	X
alkej-896	170	3	angular	angular	ADJ
alkej-896	170	4	position	position	NOUN
alkej-896	170	5	(	(	PUNCT
alkej-896	170	6	a	a	NOUN
alkej-896	170	7	)	)	PUNCT
alkej-896	170	8	,	,	PUNCT
alkej-896	170	9	tracking	track	VERB
alkej-896	170	10	error	error	NOUN
alkej-896	170	11	(	(	PUNCT
alkej-896	170	12	b	b	NOUN
alkej-896	170	13	)	)	PUNCT
alkej-896	170	14	,	,	PUNCT
alkej-896	170	15	and	and	CCONJ
alkej-896	170	16	input	input	NOUN
alkej-896	170	17	torque	torque	NOUN
alkej-896	170	18	(	(	PUNCT
alkej-896	170	19	c	c	NOUN
alkej-896	170	20	)	)	PUNCT
alkej-896	170	21	of	of	ADP
alkej-896	170	22	link2	link2	PROPN
alkej-896	170	23	under	under	ADP
alkej-896	170	24	model	model	NOUN
alkej-896	170	25	uncertainties	uncertainties	PROPN
alkej-896	170	26	ali	ali	PROPN
alkej-896	170	27	hussien	hussien	PROPN
alkej-896	170	28	mary	mary	PROPN
alkej-896	170	29	al	al	PROPN
alkej-896	170	30	-	-	PUNCT
alkej-896	170	31	khwarizmi	khwarizmi	PROPN
alkej-896	170	32	engineering	engineering	NOUN
alkej-896	170	33	journal	journal	PROPN
alkej-896	170	34	,	,	PUNCT
alkej-896	170	35	vol	vol	NOUN
alkej-896	170	36	.	.	PROPN
alkej-896	170	37	20	20	NUM
alkej-896	170	38	,	,	PUNCT
alkej-896	170	39	no	no	INTJ
alkej-896	170	40	.	.	NOUN
alkej-896	170	41	1	1	NUM
alkej-896	170	42	,	,	PUNCT
alkej-896	170	43	p.p	p.p	PROPN
alkej-896	170	44	.	.	NOUN
alkej-896	170	45	6375	6375	NUM
alkej-896	170	46	(	(	PUNCT
alkej-896	170	47	2024	2024	NUM
alkej-896	170	48	)	)	PUNCT
alkej-896	170	49	72	72	NUM
alkej-896	170	50	fig	fig	NOUN
alkej-896	170	51	.	.	PUNCT
alkej-896	171	1	9	9	NUM
alkej-896	171	2	.	.	X
alkej-896	171	3	itae	itae	NOUN
alkej-896	171	4	variations	variation	NOUN
alkej-896	171	5	for	for	ADP
alkej-896	171	6	adding	add	VERB
alkej-896	171	7	external	external	ADJ
alkej-896	171	8	disturbance	disturbance	NOUN
alkej-896	171	9	table	table	NOUN
alkej-896	171	10	5	5	NUM
alkej-896	171	11	,	,	PUNCT
alkej-896	171	12	performance	performance	NOUN
alkej-896	171	13	index	index	NOUN
alkej-896	171	14	itae	itae	VERB
alkej-896	171	15	values	value	NOUN
alkej-896	171	16	for	for	ADP
alkej-896	171	17	disturbance	disturbance	NOUN
alkej-896	171	18	rejection	rejection	NOUN
alkej-896	171	19	.	.	PUNCT
alkej-896	172	1	fig	fig	NOUN
alkej-896	172	2	.	.	PUNCT
alkej-896	173	1	10	10	NUM
alkej-896	173	2	.	.	X
alkej-896	173	3	angular	angular	ADJ
alkej-896	173	4	position	position	NOUN
alkej-896	173	5	(	(	PUNCT
alkej-896	173	6	a	a	NOUN
alkej-896	173	7	)	)	PUNCT
alkej-896	173	8	,	,	PUNCT
alkej-896	173	9	tracking	track	VERB
alkej-896	173	10	error	error	NOUN
alkej-896	173	11	(	(	PUNCT
alkej-896	173	12	b	b	NOUN
alkej-896	173	13	)	)	PUNCT
alkej-896	173	14	,	,	PUNCT
alkej-896	173	15	and	and	CCONJ
alkej-896	173	16	input	input	NOUN
alkej-896	173	17	torque	torque	NOUN
alkej-896	173	18	(	(	PUNCT
alkej-896	173	19	c	c	NOUN
alkej-896	173	20	)	)	PUNCT
alkej-896	173	21	of	of	ADP
alkej-896	173	22	link1	link1	PROPN
alkej-896	173	23	subjected	subject	VERB
alkej-896	173	24	to	to	ADP
alkej-896	173	25	external	external	ADJ
alkej-896	173	26	disturbance	disturbance	NOUN
alkej-896	173	27	0	0	NUM
alkej-896	174	1	0.01	0.01	NUM
alkej-896	174	2	0.02	0.02	NUM
alkej-896	174	3	0.03	0.03	NUM
alkej-896	174	4	0.04	0.04	NUM
alkej-896	174	5	0.05	0.05	NUM
alkej-896	174	6	0.06	0.06	NUM
alkej-896	174	7	0.07	0.07	NUM
alkej-896	174	8	proposed	propose	VERB
alkej-896	174	9	ii	ii	PROPN
alkej-896	174	10	proposed	propose	VERB
alkej-896	174	11	i	i	PRON
alkej-896	174	12	smc	smc	PROPN
alkej-896	174	13	link1	link1	PROPN
alkej-896	174	14	link2	link2	PROPN
alkej-896	174	15	0	0	NUM
alkej-896	174	16	0.5	0.5	NUM
alkej-896	174	17	1	1	NUM
alkej-896	174	18	1.5	1.5	NUM
alkej-896	174	19	2	2	NUM
alkej-896	174	20	2.5	2.5	NUM
alkej-896	174	21	3	3	NUM
alkej-896	174	22	3.5	3.5	NUM
alkej-896	174	23	4	4	NUM
alkej-896	174	24	-1.5	-1.5	NUM
alkej-896	174	25	-1	-1	PUNCT
alkej-896	174	26	-0.5	-0.5	X
alkej-896	174	27	0	0	NUM
alkej-896	174	28	0.5	0.5	NUM
alkej-896	174	29	1	1	NUM
alkej-896	174	30	1.5	1.5	NUM
alkej-896	174	31	p	p	NOUN
alkej-896	174	32	o	o	X
alkej-896	175	1	s	s	VERB
alkej-896	175	2	it	it	PRON
alkej-896	175	3	io	io	NOUN
alkej-896	175	4	n	n	PROPN
alkej-896	175	5	(	(	PUNCT
alkej-896	175	6	r	r	NOUN
alkej-896	175	7	a	a	PRON
alkej-896	175	8	d	d	NOUN
alkej-896	175	9	)	)	PUNCT
alkej-896	175	10	ideal	ideal	ADJ
alkej-896	175	11	position	position	NOUN
alkej-896	175	12	proposed	propose	VERB
alkej-896	175	13	ii	ii	PROPN
alkej-896	175	14	smc	smc	PROPN
alkej-896	175	15	proposed	propose	VERB
alkej-896	176	1	i	i	NOUN
alkej-896	176	2	0	0	NUM
alkej-896	176	3	0.5	0.5	NUM
alkej-896	176	4	1	1	NUM
alkej-896	176	5	1.5	1.5	NUM
alkej-896	176	6	2	2	NUM
alkej-896	176	7	2.5	2.5	NUM
alkej-896	176	8	3	3	NUM
alkej-896	176	9	3.5	3.5	NUM
alkej-896	176	10	4	4	NUM
alkej-896	176	11	-1	-1	SYM
alkej-896	176	12	-0.8	-0.8	PROPN
alkej-896	176	13	-0.6	-0.6	X
alkej-896	176	14	-0.4	-0.4	X
alkej-896	176	15	-0.2	-0.2	PROPN
alkej-896	176	16	0	0	NUM
alkej-896	176	17	0.2	0.2	NUM
alkej-896	176	18	0.4	0.4	NUM
alkej-896	176	19	e	e	NOUN
alkej-896	176	20	rr	rr	NOUN
alkej-896	176	21	o	o	X
alkej-896	177	1	r	r	X
alkej-896	177	2	(	(	PUNCT
alkej-896	177	3	ra	ra	PROPN
alkej-896	177	4	d	d	PROPN
alkej-896	177	5	)	)	PUNCT
alkej-896	177	6	proposed	propose	VERB
alkej-896	177	7	ii	ii	PROPN
alkej-896	177	8	smc	smc	PROPN
alkej-896	177	9	proposed	propose	VERB
alkej-896	177	10	i	i	NOUN
alkej-896	177	11	0	0	NUM
alkej-896	178	1	0.5	0.5	NUM
alkej-896	178	2	1	1	NUM
alkej-896	178	3	1.5	1.5	NUM
alkej-896	178	4	2	2	NUM
alkej-896	178	5	2.5	2.5	NUM
alkej-896	178	6	3	3	NUM
alkej-896	178	7	3.5	3.5	NUM
alkej-896	178	8	4	4	NUM
alkej-896	178	9	-200	-200	NUM
alkej-896	178	10	-100	-100	PROPN
alkej-896	178	11	0	0	NUM
alkej-896	178	12	100	100	NUM
alkej-896	178	13	200	200	NUM
alkej-896	178	14	300	300	NUM
alkej-896	178	15	tr	tr	NOUN
alkej-896	178	16	o	o	NOUN
alkej-896	178	17	q	q	X
alkej-896	178	18	u	u	X
alkej-896	178	19	e	e	X
alkej-896	178	20	(	(	PUNCT
alkej-896	178	21	n	n	X
alkej-896	178	22	m	m	NOUN
alkej-896	178	23	)	)	PUNCT
alkej-896	178	24	time(s	time(s	NOUN
alkej-896	178	25	)	)	PUNCT
alkej-896	178	26	proposed	propose	VERB
alkej-896	178	27	ii	ii	PROPN
alkej-896	178	28	smc	smc	PROPN
alkej-896	178	29	proposed	propose	VERB
alkej-896	178	30	i	i	PRON
alkej-896	178	31	proposed	propose	VERB
alkej-896	178	32	ii	ii	PROPN
alkej-896	178	33	proposed	propose	VERB
alkej-896	178	34	i	i	PRON
alkej-896	179	1	smc	smc	PROPN
alkej-896	179	2	link1	link1	PROPN
alkej-896	179	3	0.0493	0.0493	NUM
alkej-896	179	4	0.0655	0.0655	NUM
alkej-896	179	5	0.0653	0.0653	NUM
alkej-896	179	6	link2	link2	NOUN
alkej-896	179	7	0.0590	0.0590	NUM
alkej-896	179	8	0.0613	0.0613	NUM
alkej-896	179	9	0.0633	0.0633	NUM
alkej-896	179	10	ali	ali	PROPN
alkej-896	179	11	hussien	hussien	PROPN
alkej-896	179	12	mary	mary	PROPN
alkej-896	179	13	al	al	PROPN
alkej-896	179	14	-	-	PUNCT
alkej-896	179	15	khwarizmi	khwarizmi	PROPN
alkej-896	179	16	engineering	engineering	NOUN
alkej-896	179	17	journal	journal	PROPN
alkej-896	179	18	,	,	PUNCT
alkej-896	179	19	vol	vol	NOUN
alkej-896	179	20	.	.	PROPN
alkej-896	179	21	20	20	NUM
alkej-896	179	22	,	,	PUNCT
alkej-896	179	23	no	no	INTJ
alkej-896	179	24	.	.	NOUN
alkej-896	179	25	1	1	NUM
alkej-896	179	26	,	,	PUNCT
alkej-896	179	27	p.p	p.p	PROPN
alkej-896	179	28	.	.	NOUN
alkej-896	179	29	6375	6375	NUM
alkej-896	179	30	(	(	PUNCT
alkej-896	179	31	2024	2024	NUM
alkej-896	179	32	)	)	PUNCT
alkej-896	179	33	73	73	NUM
alkej-896	179	34	fig	fig	NOUN
alkej-896	179	35	.	.	PUNCT
alkej-896	180	1	11	11	NUM
alkej-896	180	2	.	.	X
alkej-896	181	1	angular	angular	ADJ
alkej-896	181	2	position	position	NOUN
alkej-896	181	3	(	(	PUNCT
alkej-896	181	4	a	a	NOUN
alkej-896	181	5	)	)	PUNCT
alkej-896	181	6	,	,	PUNCT
alkej-896	181	7	tracking	track	VERB
alkej-896	181	8	error	error	NOUN
alkej-896	181	9	(	(	PUNCT
alkej-896	181	10	b	b	NOUN
alkej-896	181	11	)	)	PUNCT
alkej-896	181	12	,	,	PUNCT
alkej-896	181	13	and	and	CCONJ
alkej-896	181	14	input	input	NOUN
alkej-896	181	15	torque	torque	NOUN
alkej-896	181	16	(	(	PUNCT
alkej-896	181	17	c	c	NOUN
alkej-896	181	18	)	)	PUNCT
alkej-896	181	19	of	of	ADP
alkej-896	181	20	link2	link2	PROPN
alkej-896	181	21	subjected	subject	VERB
alkej-896	181	22	to	to	ADP
alkej-896	181	23	external	external	ADJ
alkej-896	181	24	disturbance	disturbance	NOUN
alkej-896	181	25	.	.	PUNCT
alkej-896	182	1	6	6	NUM
alkej-896	182	2	.	.	X
alkej-896	182	3	conclusion	conclusion	NOUN
alkej-896	182	4	this	this	DET
alkej-896	182	5	paper	paper	NOUN
alkej-896	182	6	proposes	propose	VERB
alkej-896	182	7	an	an	DET
alkej-896	182	8	adaptive	adaptive	ADJ
alkej-896	182	9	fuzzy	fuzzy	ADJ
alkej-896	182	10	robust	robust	ADJ
alkej-896	182	11	control	control	NOUN
alkej-896	182	12	system	system	NOUN
alkej-896	182	13	for	for	ADP
alkej-896	182	14	robotic	robotic	ADJ
alkej-896	182	15	manipulators	manipulator	NOUN
alkej-896	182	16	.	.	PUNCT
alkej-896	183	1	two	two	NUM
alkej-896	183	2	robust	robust	ADJ
alkej-896	183	3	controllers	controller	NOUN
alkej-896	183	4	are	be	AUX
alkej-896	183	5	proposed	propose	VERB
alkej-896	183	6	for	for	ADP
alkej-896	183	7	the	the	DET
alkej-896	183	8	two	two	NUM
alkej-896	183	9	cases	case	NOUN
alkej-896	183	10	in	in	ADP
alkej-896	183	11	which	which	PRON
alkej-896	183	12	the	the	DET
alkej-896	183	13	upper	upper	ADJ
alkej-896	183	14	bound	bound	NOUN
alkej-896	183	15	of	of	ADP
alkej-896	183	16	the	the	DET
alkej-896	183	17	dynamic	dynamic	ADJ
alkej-896	183	18	model	model	NOUN
alkej-896	183	19	is	be	AUX
alkej-896	183	20	known	know	VERB
alkej-896	183	21	,	,	PUNCT
alkej-896	183	22	and	and	CCONJ
alkej-896	183	23	the	the	DET
alkej-896	183	24	upper	upper	ADJ
alkej-896	183	25	bound	bind	VERB
alkej-896	183	26	is	be	AUX
alkej-896	183	27	unkown	unkown	ADJ
alkej-896	183	28	.	.	PUNCT
alkej-896	184	1	the	the	DET
alkej-896	184	2	proposed	propose	VERB
alkej-896	184	3	intelligent	intelligent	ADJ
alkej-896	184	4	,	,	PUNCT
alkej-896	184	5	robust	robust	ADJ
alkej-896	184	6	,	,	PUNCT
alkej-896	184	7	and	and	CCONJ
alkej-896	184	8	model	model	ADV
alkej-896	184	9	-	-	PUNCT
alkej-896	184	10	free	free	ADJ
alkej-896	184	11	control	control	NOUN
alkej-896	184	12	scheme	scheme	NOUN
alkej-896	184	13	based	base	VERB
alkej-896	184	14	on	on	ADP
alkej-896	184	15	flc	flc	PROPN
alkej-896	184	16	can	can	AUX
alkej-896	184	17	be	be	AUX
alkej-896	184	18	applied	apply	VERB
alkej-896	184	19	successfully	successfully	ADV
alkej-896	184	20	in	in	ADP
alkej-896	184	21	practical	practical	ADJ
alkej-896	184	22	applications	application	NOUN
alkej-896	184	23	due	due	ADP
alkej-896	184	24	to	to	ADP
alkej-896	184	25	its	its	PRON
alkej-896	184	26	simplicity	simplicity	NOUN
alkej-896	184	27	in	in	ADP
alkej-896	184	28	structure	structure	NOUN
alkej-896	184	29	.	.	PUNCT
alkej-896	185	1	it	it	PRON
alkej-896	185	2	combines	combine	VERB
alkej-896	185	3	the	the	DET
alkej-896	185	4	robustness	robustness	NOUN
alkej-896	185	5	of	of	ADP
alkej-896	185	6	the	the	DET
alkej-896	185	7	smc	smc	PROPN
alkej-896	185	8	and	and	CCONJ
alkej-896	185	9	an	an	DET
alkej-896	185	10	intelligent	intelligent	ADJ
alkej-896	185	11	adaptation	adaptation	NOUN
alkej-896	185	12	of	of	ADP
alkej-896	185	13	the	the	DET
alkej-896	185	14	flc	flc	PROPN
alkej-896	185	15	.	.	PUNCT
alkej-896	186	1	the	the	DET
alkej-896	186	2	lyapunov	lyapunov	PROPN
alkej-896	186	3	theorem	theorem	NOUN
alkej-896	186	4	is	be	AUX
alkej-896	186	5	used	use	VERB
alkej-896	186	6	to	to	PART
alkej-896	186	7	approve	approve	VERB
alkej-896	186	8	the	the	DET
alkej-896	186	9	stability	stability	NOUN
alkej-896	186	10	of	of	ADP
alkej-896	186	11	the	the	DET
alkej-896	186	12	controlled	control	VERB
alkej-896	186	13	system	system	NOUN
alkej-896	186	14	with	with	ADP
alkej-896	186	15	the	the	DET
alkej-896	186	16	proposed	propose	VERB
alkej-896	186	17	control	control	NOUN
alkej-896	186	18	method	method	NOUN
alkej-896	186	19	and	and	CCONJ
alkej-896	186	20	estimate	estimate	VERB
alkej-896	186	21	the	the	DET
alkej-896	186	22	upper	upper	ADJ
alkej-896	186	23	bound	bound	NOUN
alkej-896	186	24	of	of	ADP
alkej-896	186	25	the	the	DET
alkej-896	186	26	dynamic	dynamic	ADJ
alkej-896	186	27	model	model	NOUN
alkej-896	186	28	.	.	PUNCT
alkej-896	187	1	the	the	DET
alkej-896	187	2	simulation	simulation	NOUN
alkej-896	187	3	results	result	NOUN
alkej-896	187	4	show	show	VERB
alkej-896	187	5	the	the	DET
alkej-896	187	6	effectiveness	effectiveness	NOUN
alkej-896	187	7	of	of	ADP
alkej-896	187	8	the	the	DET
alkej-896	187	9	proposed	propose	VERB
alkej-896	187	10	control	control	NOUN
alkej-896	187	11	methods	method	NOUN
alkej-896	187	12	and	and	CCONJ
alkej-896	187	13	indicate	indicate	VERB
alkej-896	187	14	the	the	DET
alkej-896	187	15	superiority	superiority	NOUN
alkej-896	187	16	of	of	ADP
alkej-896	187	17	the	the	DET
alkej-896	187	18	proposed	propose	VERB
alkej-896	187	19	method	method	NOUN
alkej-896	187	20	in	in	ADP
alkej-896	187	21	the	the	DET
alkej-896	187	22	response	response	NOUN
alkej-896	187	23	to	to	PART
alkej-896	187	24	model	model	VERB
alkej-896	187	25	uncertainty	uncertainty	NOUN
alkej-896	187	26	and	and	CCONJ
alkej-896	187	27	external	external	ADJ
alkej-896	187	28	disturbance	disturbance	NOUN
alkej-896	187	29	.	.	PUNCT
alkej-896	188	1	references	reference	NOUN
alkej-896	188	2	[	[	X
alkej-896	188	3	1	1	NUM
alkej-896	188	4	]	]	PUNCT
alkej-896	188	5	jasim	jasim	NOUN
alkej-896	188	6	,	,	PUNCT
alkej-896	188	7	h.	h.	PROPN
alkej-896	188	8	h.	h.	PROPN
alkej-896	188	9	,	,	PUNCT
alkej-896	188	10	mary	mary	PROPN
alkej-896	188	11	,	,	PUNCT
alkej-896	188	12	a.	a.	PROPN
alkej-896	188	13	h.	h.	PROPN
alkej-896	188	14	,	,	PUNCT
alkej-896	188	15	&	&	CCONJ
alkej-896	188	16	ahmed	ahmed	PROPN
alkej-896	188	17	,	,	PUNCT
alkej-896	188	18	m.	m.	NOUN
alkej-896	188	19	s.	s.	PROPN
alkej-896	188	20	(	(	PUNCT
alkej-896	188	21	2021	2021	NUM
alkej-896	188	22	)	)	PUNCT
alkej-896	188	23	.	.	PUNCT
alkej-896	189	1	robust	robust	ADJ
alkej-896	189	2	computed	compute	VERB
alkej-896	189	3	torque	torque	NOUN
alkej-896	189	4	control	control	NOUN
alkej-896	189	5	for	for	ADP
alkej-896	189	6	uncertain	uncertain	ADJ
alkej-896	189	7	robotic	robotic	ADJ
alkej-896	189	8	manipulators	manipulator	NOUN
alkej-896	189	9	.	.	PUNCT
alkej-896	190	1	alkhwarizmi	alkhwarizmi	NOUN
alkej-896	190	2	engineering	engineering	PROPN
alkej-896	190	3	journal	journal	PROPN
alkej-896	190	4	,	,	PUNCT
alkej-896	190	5	17(3	17(3	NUM
alkej-896	190	6	)	)	PUNCT
alkej-896	190	7	.	.	PUNCT
alkej-896	191	1	[	[	X
alkej-896	191	2	2	2	NUM
alkej-896	191	3	]	]	X
alkej-896	191	4	kara	kara	PROPN
alkej-896	191	5	,	,	PUNCT
alkej-896	191	6	t.	t.	PROPN
alkej-896	191	7	,	,	PUNCT
alkej-896	191	8	&	&	CCONJ
alkej-896	191	9	mary	mary	PROPN
alkej-896	191	10	,	,	PUNCT
alkej-896	191	11	a.	a.	PROPN
alkej-896	191	12	h.	h.	PROPN
alkej-896	191	13	(	(	PUNCT
alkej-896	191	14	2018	2018	NUM
alkej-896	191	15	)	)	PUNCT
alkej-896	191	16	.	.	PUNCT
alkej-896	192	1	robust	robust	ADJ
alkej-896	192	2	trajectory	trajectory	NOUN
alkej-896	192	3	tracking	tracking	NOUN
alkej-896	192	4	control	control	NOUN
alkej-896	192	5	of	of	ADP
alkej-896	192	6	robotic	robotic	ADJ
alkej-896	192	7	manipulators	manipulator	NOUN
alkej-896	192	8	based	base	VERB
alkej-896	192	9	on	on	ADP
alkej-896	192	10	model	model	NOUN
alkej-896	192	11	-	-	PUNCT
alkej-896	192	12	free	free	ADJ
alkej-896	192	13	pid	pid	PROPN
alkej-896	192	14	-	-	PUNCT
alkej-896	192	15	smc	smc	PROPN
alkej-896	192	16	approach	approach	NOUN
alkej-896	192	17	.	.	PUNCT
alkej-896	193	1	journal	journal	NOUN
alkej-896	193	2	of	of	ADP
alkej-896	193	3	engineering	engineering	NOUN
alkej-896	193	4	research	research	NOUN
alkej-896	193	5	,	,	PUNCT
alkej-896	193	6	6(3	6(3	NUM
alkej-896	193	7	)	)	PUNCT
alkej-896	193	8	.	.	PUNCT
alkej-896	194	1	[	[	X
alkej-896	194	2	3	3	NUM
alkej-896	194	3	]	]	X
alkej-896	194	4	han	han	PROPN
alkej-896	194	5	,	,	PUNCT
alkej-896	194	6	j.	j.	PROPN
alkej-896	194	7	,	,	PUNCT
alkej-896	194	8	shan	shan	PROPN
alkej-896	194	9	,	,	PUNCT
alkej-896	194	10	x.	x.	PROPN
alkej-896	194	11	,	,	PUNCT
alkej-896	194	12	liu	liu	PROPN
alkej-896	194	13	,	,	PUNCT
alkej-896	194	14	h.	h.	PROPN
alkej-896	194	15	,	,	PUNCT
alkej-896	194	16	xiao	xiao	PROPN
alkej-896	194	17	,	,	PUNCT
alkej-896	194	18	j.	j.	PROPN
alkej-896	194	19	,	,	PUNCT
alkej-896	194	20	&	&	CCONJ
alkej-896	194	21	huang	huang	PROPN
alkej-896	194	22	,	,	PUNCT
alkej-896	194	23	t.	t.	PROPN
alkej-896	194	24	(	(	PUNCT
alkej-896	194	25	2023	2023	NUM
alkej-896	194	26	)	)	PUNCT
alkej-896	194	27	.	.	PUNCT
alkej-896	195	1	fuzzy	fuzzy	ADJ
alkej-896	195	2	gain	gain	VERB
alkej-896	195	3	scheduling	scheduling	NOUN
alkej-896	195	4	pid	pid	NOUN
alkej-896	195	5	control	control	NOUN
alkej-896	195	6	of	of	ADP
alkej-896	195	7	a	a	DET
alkej-896	195	8	hybrid	hybrid	ADJ
alkej-896	195	9	robot	robot	NOUN
alkej-896	195	10	based	base	VERB
alkej-896	195	11	on	on	ADP
alkej-896	195	12	dynamic	dynamic	ADJ
alkej-896	195	13	characteristics	characteristic	NOUN
alkej-896	195	14	.	.	PUNCT
alkej-896	196	1	mechanism	mechanism	NOUN
alkej-896	196	2	and	and	CCONJ
alkej-896	196	3	machine	machine	NOUN
alkej-896	196	4	theory	theory	NOUN
alkej-896	196	5	,	,	PUNCT
alkej-896	196	6	184	184	NUM
alkej-896	196	7	,	,	PUNCT
alkej-896	196	8	105283	105283	NUM
alkej-896	196	9	.	.	PUNCT
alkej-896	197	1	[	[	X
alkej-896	197	2	4	4	NUM
alkej-896	197	3	]	]	X
alkej-896	197	4	gaidhane	gaidhane	NOUN
alkej-896	197	5	,	,	PUNCT
alkej-896	197	6	prashant	prashant	PROPN
alkej-896	197	7	j.	j.	PROPN
alkej-896	197	8	,	,	PUNCT
alkej-896	197	9	et	et	PROPN
alkej-896	197	10	al	al	PROPN
alkej-896	197	11	.	.	PUNCT
alkej-896	198	1	"	"	PUNCT
alkej-896	198	2	design	design	NOUN
alkej-896	198	3	of	of	ADP
alkej-896	198	4	gaidhane	gaidhane	NOUN
alkej-896	198	5	,	,	PUNCT
alkej-896	198	6	p.	p.	PROPN
alkej-896	198	7	j.	j.	PROPN
alkej-896	198	8	,	,	PUNCT
alkej-896	198	9	nigam	nigam	PROPN
alkej-896	198	10	,	,	PUNCT
alkej-896	198	11	m.	m.	PROPN
alkej-896	198	12	j.	j.	PROPN
alkej-896	198	13	,	,	PUNCT
alkej-896	198	14	kumar	kumar	PROPN
alkej-896	198	15	,	,	PUNCT
alkej-896	198	16	a.	a.	PROPN
alkej-896	198	17	,	,	PUNCT
alkej-896	198	18	&	&	CCONJ
alkej-896	198	19	pradhan	pradhan	PROPN
alkej-896	198	20	,	,	PUNCT
alkej-896	198	21	p.	p.	NOUN
alkej-896	198	22	m.	m.	NOUN
alkej-896	198	23	(	(	PUNCT
alkej-896	198	24	2019	2019	NUM
alkej-896	198	25	)	)	PUNCT
alkej-896	198	26	.	.	PUNCT
alkej-896	199	1	design	design	NOUN
alkej-896	199	2	of	of	ADP
alkej-896	199	3	interval	interval	NOUN
alkej-896	199	4	type2	type2	PROPN
alkej-896	199	5	fuzzy	fuzzy	PROPN
alkej-896	199	6	precompensated	precompensate	VERB
alkej-896	199	7	pid	pid	NOUN
alkej-896	199	8	controller	controller	NOUN
alkej-896	199	9	applied	apply	VERB
alkej-896	199	10	ali	ali	PROPN
alkej-896	199	11	hussien	hussien	PROPN
alkej-896	199	12	mary	mary	PROPN
alkej-896	199	13	al	al	PROPN
alkej-896	199	14	-	-	PUNCT
alkej-896	199	15	khwarizmi	khwarizmi	PROPN
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alkej-896	199	17	journal	journal	PROPN
alkej-896	199	18	,	,	PUNCT
alkej-896	199	19	vol	vol	NOUN
alkej-896	199	20	.	.	PROPN
alkej-896	199	21	20	20	NUM
alkej-896	199	22	,	,	PUNCT
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alkej-896	199	24	.	.	NOUN
alkej-896	199	25	1	1	NUM
alkej-896	199	26	,	,	PUNCT
alkej-896	199	27	p.p	p.p	PROPN
alkej-896	199	28	.	.	NOUN
alkej-896	199	29	6375	6375	NUM
alkej-896	199	30	(	(	PUNCT
alkej-896	199	31	2024	2024	NUM
alkej-896	199	32	)	)	PUNCT
alkej-896	199	33	74	74	NUM
alkej-896	199	34	to	to	PART
alkej-896	199	35	two	two	NUM
alkej-896	199	36	-	-	PUNCT
alkej-896	199	37	dof	dof	NOUN
alkej-896	199	38	robotic	robotic	ADJ
alkej-896	199	39	manipulator	manipulator	NOUN
alkej-896	199	40	with	with	ADP
alkej-896	199	41	variable	variable	ADJ
alkej-896	199	42	payload	payload	NOUN
alkej-896	199	43	.	.	PUNCT
alkej-896	200	1	isa	isa	NOUN
alkej-896	200	2	transactions	transaction	NOUN
alkej-896	200	3	,	,	PUNCT
alkej-896	200	4	89	89	NUM
alkej-896	200	5	,	,	PUNCT
alkej-896	200	6	169	169	NUM
alkej-896	200	7	-	-	SYM
alkej-896	200	8	185	185	NUM
alkej-896	200	9	.	.	PUNCT
alkej-896	201	1	[	[	X
alkej-896	201	2	5	5	NUM
alkej-896	201	3	]	]	X
alkej-896	201	4	kashyap	kashyap	PROPN
alkej-896	201	5	,	,	PUNCT
alkej-896	201	6	a.	a.	PROPN
alkej-896	201	7	k.	k.	PROPN
alkej-896	201	8	,	,	PUNCT
alkej-896	201	9	&	&	CCONJ
alkej-896	201	10	parhi	parhi	NOUN
alkej-896	201	11	,	,	PUNCT
alkej-896	201	12	d.	d.	PROPN
alkej-896	201	13	r.	r.	PROPN
alkej-896	201	14	(	(	PUNCT
alkej-896	201	15	2021	2021	NUM
alkej-896	201	16	)	)	PUNCT
alkej-896	201	17	.	.	PUNCT
alkej-896	202	1	particle	particle	NOUN
alkej-896	202	2	swarm	swarm	NOUN
alkej-896	202	3	optimization	optimization	NOUN
alkej-896	202	4	aided	aid	VERB
alkej-896	202	5	pid	pid	NOUN
alkej-896	202	6	gait	gait	ADJ
alkej-896	202	7	controller	controller	NOUN
alkej-896	202	8	design	design	NOUN
alkej-896	202	9	for	for	ADP
alkej-896	202	10	a	a	DET
alkej-896	202	11	humanoid	humanoid	NOUN
alkej-896	202	12	mai	mai	PROPN
alkej-896	202	13	,	,	PUNCT
alkej-896	202	14	t.	t.	PROPN
alkej-896	202	15	,	,	PUNCT
alkej-896	202	16	&	&	CCONJ
alkej-896	202	17	tran	tran	PROPN
alkej-896	202	18	,	,	PUNCT
alkej-896	202	19	h.	h.	PROPN
alkej-896	202	20	(	(	PUNCT
alkej-896	202	21	2023	2023	NUM
alkej-896	202	22	)	)	PUNCT
alkej-896	202	23	.	.	PUNCT
alkej-896	203	1	an	an	DET
alkej-896	203	2	adaptive	adaptive	ADJ
alkej-896	203	3	robust	robust	ADJ
alkej-896	203	4	backstepping	backstepping	NOUN
alkej-896	203	5	improved	improve	VERB
alkej-896	203	6	control	control	NOUN
alkej-896	203	7	scheme	scheme	NOUN
alkej-896	203	8	for	for	ADP
alkej-896	203	9	mobile	mobile	ADJ
alkej-896	203	10	manipulators	manipulator	NOUN
alkej-896	203	11	robot	robot	NOUN
alkej-896	203	12	.	.	PUNCT
alkej-896	204	1	isa	isa	NOUN
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alkej-896	204	3	,	,	PUNCT
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alkej-896	204	5	,	,	PUNCT
alkej-896	204	6	446456	446456	NUM
alkej-896	204	7	.	.	PUNCT
alkej-896	205	1	[	[	X
alkej-896	205	2	6	6	NUM
alkej-896	205	3	]	]	X
alkej-896	205	4	tseng	tseng	PROPN
alkej-896	205	5	,	,	PUNCT
alkej-896	205	6	m.	m.	PROPN
alkej-896	205	7	l.	l.	PROPN
alkej-896	205	8	,	,	PUNCT
alkej-896	205	9	&	&	CCONJ
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alkej-896	205	11	,	,	PUNCT
alkej-896	205	12	m.	m.	PROPN
alkej-896	205	13	s.	s.	PROPN
alkej-896	205	14	(	(	PUNCT
alkej-896	205	15	2010	2010	NUM
alkej-896	205	16	)	)	PUNCT
alkej-896	205	17	.	.	PUNCT
alkej-896	206	1	chattering	chatter	VERB
alkej-896	206	2	reduction	reduction	NOUN
alkej-896	206	3	of	of	ADP
alkej-896	206	4	sliding	slide	VERB
alkej-896	206	5	mode	mode	NOUN
alkej-896	206	6	control	control	NOUN
alkej-896	206	7	by	by	ADP
alkej-896	206	8	low‐pass	low‐pass	NOUN
alkej-896	206	9	filtering	filter	VERB
alkej-896	206	10	the	the	DET
alkej-896	206	11	control	control	NOUN
alkej-896	206	12	signal	signal	NOUN
alkej-896	206	13	.	.	PUNCT
alkej-896	207	1	asian	asian	ADJ
alkej-896	207	2	journal	journal	PROPN
alkej-896	207	3	of	of	ADP
alkej-896	207	4	control	control	NOUN
alkej-896	207	5	,	,	PUNCT
alkej-896	207	6	12(3	12(3	NUM
alkej-896	207	7	)	)	PUNCT
alkej-896	207	8	,	,	PUNCT
alkej-896	207	9	392	392	NUM
alkej-896	207	10	-	-	SYM
alkej-896	207	11	398	398	NUM
alkej-896	207	12	.	.	PUNCT
alkej-896	208	1	[	[	X
alkej-896	208	2	7	7	NUM
alkej-896	208	3	]	]	X
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alkej-896	208	5	,	,	PUNCT
alkej-896	208	6	y.	y.	PROPN
alkej-896	208	7	,	,	PUNCT
alkej-896	208	8	han	han	PROPN
alkej-896	208	9	,	,	PUNCT
alkej-896	208	10	f.	f.	PROPN
alkej-896	208	11	,	,	PUNCT
alkej-896	208	12	&	&	CCONJ
alkej-896	208	13	yu	yu	PROPN
alkej-896	208	14	,	,	PUNCT
alkej-896	208	15	x.	x.	NOUN
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alkej-896	208	17	2014	2014	NUM
alkej-896	208	18	)	)	PUNCT
alkej-896	208	19	.	.	PUNCT
alkej-896	209	1	chattering	chatter	VERB
alkej-896	209	2	free	free	ADJ
alkej-896	209	3	full	full	ADJ
alkej-896	209	4	-	-	PUNCT
alkej-896	209	5	order	order	NOUN
alkej-896	209	6	sliding	slide	VERB
alkej-896	209	7	-	-	PUNCT
alkej-896	209	8	mode	mode	NOUN
alkej-896	209	9	control	control	NOUN
alkej-896	209	10	.	.	PUNCT
alkej-896	210	1	automatica	automatica	PROPN
alkej-896	210	2	,	,	PUNCT
alkej-896	210	3	50(4	50(4	NUM
alkej-896	210	4	)	)	PUNCT
alkej-896	210	5	,	,	PUNCT
alkej-896	210	6	1310	1310	NUM
alkej-896	210	7	-	-	SYM
alkej-896	210	8	1314	1314	NUM
alkej-896	210	9	.	.	PUNCT
alkej-896	211	1	[	[	X
alkej-896	211	2	8	8	NUM
alkej-896	211	3	]	]	X
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alkej-896	211	5	,	,	PUNCT
alkej-896	211	6	k.	k.	PROPN
alkej-896	211	7	s.	s.	PROPN
alkej-896	211	8	,	,	PUNCT
alkej-896	211	9	&	&	CCONJ
alkej-896	211	10	kumar	kumar	PROPN
alkej-896	211	11	,	,	PUNCT
alkej-896	211	12	n.	n.	PROPN
alkej-896	211	13	(	(	PUNCT
alkej-896	211	14	2023	2023	NUM
alkej-896	211	15	)	)	PUNCT
alkej-896	211	16	.	.	PUNCT
alkej-896	212	1	fractional	fractional	ADJ
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alkej-896	212	3	fast	fast	PROPN
alkej-896	212	4	terminal	terminal	NOUN
alkej-896	212	5	sliding	slide	VERB
alkej-896	212	6	mode	mode	NOUN
alkej-896	212	7	control	control	NOUN
alkej-896	212	8	scheme	scheme	NOUN
alkej-896	212	9	for	for	ADP
alkej-896	212	10	tracking	track	VERB
alkej-896	212	11	control	control	NOUN
alkej-896	212	12	of	of	ADP
alkej-896	212	13	robot	robot	NOUN
alkej-896	212	14	manipulators	manipulator	NOUN
alkej-896	212	15	.	.	PUNCT
alkej-896	213	1	isa	isa	NOUN
alkej-896	213	2	transactions	transaction	NOUN
alkej-896	213	3	.	.	PUNCT
alkej-896	214	1	[	[	X
alkej-896	214	2	9	9	NUM
alkej-896	214	3	]	]	X
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alkej-896	214	5	,	,	PUNCT
alkej-896	214	6	s.	s.	PROPN
alkej-896	214	7	k.	k.	PROPN
alkej-896	214	8	,	,	PUNCT
alkej-896	214	9	&	&	CCONJ
alkej-896	214	10	dhingra	dhingra	PROPN
alkej-896	214	11	,	,	PUNCT
alkej-896	214	12	a.	a.	PROPN
alkej-896	214	13	k.	k.	PROPN
alkej-896	214	14	(	(	PUNCT
alkej-896	214	15	2022	2022	NUM
alkej-896	214	16	)	)	PUNCT
alkej-896	214	17	.	.	PUNCT
alkej-896	215	1	development	development	NOUN
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alkej-896	215	4	sliding	slide	VERB
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alkej-896	215	6	controller	controller	NOUN
alkej-896	215	7	with	with	ADP
alkej-896	215	8	chattering	chatter	VERB
alkej-896	215	9	suppressor	suppressor	NOUN
alkej-896	215	10	for	for	ADP
alkej-896	215	11	human	human	ADJ
alkej-896	215	12	lower	low	ADJ
alkej-896	215	13	extremity	extremity	NOUN
alkej-896	215	14	exoskeleton	exoskeleton	NOUN
alkej-896	215	15	robot	robot	NOUN
alkej-896	215	16	.	.	PUNCT
alkej-896	216	1	results	result	NOUN
alkej-896	216	2	in	in	ADP
alkej-896	216	3	control	control	NOUN
alkej-896	216	4	and	and	CCONJ
alkej-896	216	5	optimization	optimization	NOUN
alkej-896	216	6	,	,	PUNCT
alkej-896	216	7	7	7	NUM
alkej-896	216	8	,	,	PUNCT
alkej-896	216	9	100123	100123	NUM
alkej-896	216	10	.	.	PUNCT
alkej-896	217	1	[	[	X
alkej-896	217	2	10	10	NUM
alkej-896	217	3	]	]	X
alkej-896	217	4	kara	kara	NOUN
alkej-896	217	5	,	,	PUNCT
alkej-896	217	6	t.	t.	PROPN
alkej-896	217	7	,	,	PUNCT
alkej-896	217	8	&	&	CCONJ
alkej-896	217	9	mary	mary	PROPN
alkej-896	217	10	,	,	PUNCT
alkej-896	217	11	a.	a.	PROPN
alkej-896	217	12	h.	h.	PROPN
alkej-896	217	13	(	(	PUNCT
alkej-896	217	14	2017	2017	NUM
alkej-896	217	15	)	)	PUNCT
alkej-896	217	16	.	.	PUNCT
alkej-896	218	1	adaptive	adaptive	ADJ
alkej-896	218	2	pdsmc	pdsmc	NOUN
alkej-896	218	3	for	for	ADP
alkej-896	218	4	nonlinear	nonlinear	ADJ
alkej-896	218	5	robotic	robotic	ADJ
alkej-896	218	6	manipulator	manipulator	NOUN
alkej-896	218	7	tracking	tracking	NOUN
alkej-896	218	8	control	control	NOUN
alkej-896	218	9	.	.	PUNCT
alkej-896	219	1	studies	study	NOUN
alkej-896	219	2	in	in	ADP
alkej-896	219	3	informatics	informatic	NOUN
alkej-896	219	4	and	and	CCONJ
alkej-896	219	5	control	control	NOUN
alkej-896	219	6	,	,	PUNCT
alkej-896	219	7	26(1	26(1	NUM
alkej-896	219	8	)	)	PUNCT
alkej-896	219	9	,	,	PUNCT
alkej-896	219	10	49	49	NUM
alkej-896	219	11	-	-	SYM
alkej-896	219	12	58	58	NUM
alkej-896	219	13	.	.	PUNCT
alkej-896	220	1	[	[	X
alkej-896	220	2	11	11	NUM
alkej-896	220	3	]	]	X
alkej-896	220	4	sun	sun	PROPN
alkej-896	220	5	,	,	PUNCT
alkej-896	220	6	z.	z.	PROPN
alkej-896	220	7	,	,	PUNCT
alkej-896	220	8	hu	hu	PROPN
alkej-896	220	9	,	,	PUNCT
alkej-896	220	10	s.	s.	PROPN
alkej-896	220	11	,	,	PUNCT
alkej-896	220	12	xie	xie	PROPN
alkej-896	220	13	,	,	PUNCT
alkej-896	220	14	h.	h.	PROPN
alkej-896	220	15	,	,	PUNCT
alkej-896	220	16	li	li	PROPN
alkej-896	220	17	,	,	PUNCT
alkej-896	220	18	h.	h.	PROPN
alkej-896	220	19	,	,	PUNCT
alkej-896	220	20	zheng	zheng	PROPN
alkej-896	220	21	,	,	PUNCT
alkej-896	220	22	j.	j.	PROPN
alkej-896	220	23	,	,	PUNCT
alkej-896	220	24	&	&	CCONJ
alkej-896	220	25	chen	chen	PROPN
alkej-896	220	26	,	,	PUNCT
alkej-896	220	27	b.	b.	PROPN
alkej-896	220	28	(	(	PUNCT
alkej-896	220	29	2023	2023	NUM
alkej-896	220	30	)	)	PUNCT
alkej-896	220	31	.	.	PUNCT
alkej-896	221	1	fuzzy	fuzzy	ADJ
alkej-896	221	2	adaptive	adaptive	ADJ
alkej-896	221	3	recursive	recursive	ADJ
alkej-896	221	4	terminal	terminal	NOUN
alkej-896	221	5	sliding	slide	VERB
alkej-896	221	6	mode	mode	NOUN
alkej-896	221	7	control	control	NOUN
alkej-896	221	8	for	for	ADP
alkej-896	221	9	an	an	DET
alkej-896	221	10	agricultural	agricultural	ADJ
alkej-896	221	11	omnidirectional	omnidirectional	ADJ
alkej-896	221	12	mobile	mobile	ADJ
alkej-896	221	13	robot	robot	NOUN
alkej-896	221	14	.	.	PUNCT
alkej-896	222	1	computers	computer	NOUN
alkej-896	222	2	and	and	CCONJ
alkej-896	222	3	electrical	electrical	ADJ
alkej-896	222	4	engineering	engineering	NOUN
alkej-896	222	5	,	,	PUNCT
alkej-896	222	6	105	105	NUM
alkej-896	222	7	,	,	PUNCT
alkej-896	222	8	108529	108529	NUM
alkej-896	222	9	.	.	PUNCT
alkej-896	223	1	[	[	X
alkej-896	223	2	12	12	NUM
alkej-896	223	3	]	]	X
alkej-896	223	4	wu	wu	PROPN
alkej-896	223	5	,	,	PUNCT
alkej-896	223	6	g.	g.	PROPN
alkej-896	223	7	,	,	PUNCT
alkej-896	223	8	zhang	zhang	PROPN
alkej-896	223	9	,	,	PUNCT
alkej-896	223	10	x.	x.	PROPN
alkej-896	223	11	,	,	PUNCT
alkej-896	223	12	zhu	zhu	PROPN
alkej-896	223	13	,	,	PUNCT
alkej-896	223	14	l.	l.	PROPN
alkej-896	223	15	,	,	PUNCT
alkej-896	223	16	lin	lin	PROPN
alkej-896	223	17	,	,	PUNCT
alkej-896	223	18	z.	z.	PROPN
alkej-896	223	19	,	,	PUNCT
alkej-896	223	20	&	&	CCONJ
alkej-896	223	21	liu	liu	PROPN
alkej-896	223	22	,	,	PUNCT
alkej-896	223	23	j.	j.	PROPN
alkej-896	223	24	(	(	PUNCT
alkej-896	223	25	2021	2021	NUM
alkej-896	223	26	)	)	PUNCT
alkej-896	223	27	.	.	PUNCT
alkej-896	224	1	fuzzy	fuzzy	ADJ
alkej-896	224	2	sliding	slide	VERB
alkej-896	224	3	mode	mode	NOUN
alkej-896	224	4	variable	variable	ADJ
alkej-896	224	5	structure	structure	NOUN
alkej-896	224	6	control	control	NOUN
alkej-896	224	7	of	of	ADP
alkej-896	224	8	a	a	DET
alkej-896	224	9	high	high	ADJ
alkej-896	224	10	-	-	PUNCT
alkej-896	224	11	speed	speed	NOUN
alkej-896	224	12	parallel	parallel	ADJ
alkej-896	224	13	pnp	pnp	PROPN
alkej-896	224	14	robot	robot	NOUN
alkej-896	224	15	.	.	PUNCT
alkej-896	225	1	mechanism	mechanism	NOUN
alkej-896	225	2	and	and	CCONJ
alkej-896	225	3	machine	machine	NOUN
alkej-896	225	4	theory	theory	NOUN
alkej-896	225	5	,	,	PUNCT
alkej-896	225	6	162	162	NUM
alkej-896	225	7	,	,	PUNCT
alkej-896	225	8	104349	104349	NUM
alkej-896	225	9	.	.	PUNCT
alkej-896	226	1	[	[	X
alkej-896	226	2	13	13	NUM
alkej-896	226	3	]	]	PUNCT
alkej-896	226	4	zaare	zaare	PROPN
alkej-896	226	5	,	,	PUNCT
alkej-896	226	6	s.	s.	PROPN
alkej-896	226	7	,	,	PUNCT
alkej-896	226	8	&	&	CCONJ
alkej-896	226	9	soltanpour	soltanpour	NOUN
alkej-896	226	10	,	,	PUNCT
alkej-896	226	11	m.	m.	PROPN
alkej-896	226	12	r.	r.	PROPN
alkej-896	226	13	(	(	PUNCT
alkej-896	226	14	2022	2022	NUM
alkej-896	226	15	)	)	PUNCT
alkej-896	226	16	.	.	PUNCT
alkej-896	227	1	adaptive	adaptive	ADJ
alkej-896	227	2	fuzzy	fuzzy	ADJ
alkej-896	227	3	global	global	ADJ
alkej-896	227	4	coupled	couple	VERB
alkej-896	227	5	nonsingular	nonsingular	ADJ
alkej-896	227	6	fast	fast	PROPN
alkej-896	227	7	terminal	terminal	PROPN
alkej-896	227	8	sliding	slide	VERB
alkej-896	227	9	mode	mode	NOUN
alkej-896	227	10	control	control	NOUN
alkej-896	227	11	of	of	ADP
alkej-896	227	12	n	n	CCONJ
alkej-896	227	13	-	-	PUNCT
alkej-896	227	14	rigidlink	rigidlink	VERB
alkej-896	227	15	elastic	elastic	ADJ
alkej-896	227	16	-	-	PUNCT
alkej-896	227	17	joint	joint	NOUN
alkej-896	227	18	robot	robot	NOUN
alkej-896	227	19	manipulators	manipulator	NOUN
alkej-896	227	20	in	in	ADP
alkej-896	227	21	presence	presence	NOUN
alkej-896	227	22	of	of	ADP
alkej-896	227	23	uncertainties	uncertainty	NOUN
alkej-896	227	24	.	.	PUNCT
alkej-896	228	1	mechanical	mechanical	ADJ
alkej-896	228	2	systems	system	NOUN
alkej-896	228	3	and	and	CCONJ
alkej-896	228	4	signal	signal	NOUN
alkej-896	228	5	processing	processing	NOUN
alkej-896	228	6	,	,	PUNCT
alkej-896	228	7	163	163	NUM
alkej-896	228	8	,	,	PUNCT
alkej-896	228	9	108165	108165	NUM
alkej-896	228	10	.	.	PUNCT
alkej-896	229	1	[	[	X
alkej-896	229	2	14	14	NUM
alkej-896	229	3	]	]	SYM
alkej-896	229	4	wu	wu	PROPN
alkej-896	229	5	,	,	PUNCT
alkej-896	229	6	x.	x.	PROPN
alkej-896	229	7	,	,	PUNCT
alkej-896	229	8	&	&	CCONJ
alkej-896	229	9	huang	huang	PROPN
alkej-896	229	10	,	,	PUNCT
alkej-896	229	11	y.	y.	PROPN
alkej-896	229	12	(	(	PUNCT
alkej-896	229	13	2022	2022	NUM
alkej-896	229	14	)	)	PUNCT
alkej-896	229	15	.	.	PUNCT
alkej-896	230	1	adaptive	adaptive	ADJ
alkej-896	230	2	fractional	fractional	ADJ
alkej-896	230	3	-	-	PUNCT
alkej-896	230	4	order	order	NOUN
alkej-896	230	5	non	non	ADJ
alkej-896	230	6	-	-	ADJ
alkej-896	230	7	singular	singular	ADJ
alkej-896	230	8	terminal	terminal	NOUN
alkej-896	230	9	sliding	slide	VERB
alkej-896	230	10	mode	mode	NOUN
alkej-896	230	11	control	control	NOUN
alkej-896	230	12	based	base	VERB
alkej-896	230	13	on	on	ADP
alkej-896	230	14	fuzzy	fuzzy	ADJ
alkej-896	230	15	wavelet	wavelet	NOUN
alkej-896	230	16	neural	neural	ADJ
alkej-896	230	17	networks	network	NOUN
alkej-896	230	18	for	for	ADP
alkej-896	230	19	omnidirectional	omnidirectional	ADJ
alkej-896	230	20	mobile	mobile	ADJ
alkej-896	230	21	robot	robot	NOUN
alkej-896	230	22	manipulator	manipulator	NOUN
alkej-896	230	23	.	.	PUNCT
alkej-896	231	1	isa	isa	NOUN
alkej-896	231	2	transactions	transaction	NOUN
alkej-896	231	3	,	,	PUNCT
alkej-896	231	4	121	121	NUM
alkej-896	231	5	,	,	PUNCT
alkej-896	231	6	258	258	NUM
alkej-896	231	7	-	-	SYM
alkej-896	231	8	267	267	NUM
alkej-896	231	9	.	.	PUNCT
alkej-896	232	1	[	[	X
alkej-896	232	2	15	15	NUM
alkej-896	232	3	]	]	X
alkej-896	232	4	lian	lian	PROPN
alkej-896	232	5	,	,	PUNCT
alkej-896	232	6	r.	r.	PROPN
alkej-896	232	7	j.	j.	PROPN
alkej-896	232	8	(	(	PUNCT
alkej-896	232	9	2013	2013	NUM
alkej-896	232	10	)	)	PUNCT
alkej-896	232	11	.	.	PUNCT
alkej-896	232	12	enhanced	enhance	VERB
alkej-896	232	13	adaptive	adaptive	ADJ
alkej-896	232	14	greyprediction	greyprediction	NOUN
alkej-896	232	15	self	self	NOUN
alkej-896	232	16	-	-	PUNCT
alkej-896	232	17	organizing	organize	VERB
alkej-896	232	18	fuzzy	fuzzy	ADJ
alkej-896	232	19	sliding	sliding	ADJ
alkej-896	232	20	-	-	PUNCT
alkej-896	232	21	mode	mode	NOUN
alkej-896	232	22	controller	controller	NOUN
alkej-896	232	23	for	for	ADP
alkej-896	232	24	robotic	robotic	ADJ
alkej-896	232	25	systems	system	NOUN
alkej-896	232	26	.	.	PUNCT
alkej-896	233	1	information	information	NOUN
alkej-896	233	2	sciences	sciences	PROPN
alkej-896	233	3	,	,	PUNCT
alkej-896	233	4	236	236	NUM
alkej-896	233	5	,	,	PUNCT
alkej-896	233	6	186	186	NUM
alkej-896	233	7	-	-	SYM
alkej-896	233	8	204	204	NUM
alkej-896	233	9	.	.	PUNCT
alkej-896	234	1	[	[	X
alkej-896	234	2	16	16	NUM
alkej-896	234	3	]	]	PUNCT
alkej-896	234	4	sadati	sadati	PROPN
alkej-896	234	5	,	,	PUNCT
alkej-896	234	6	n.	n.	NOUN
alkej-896	234	7	,	,	PUNCT
alkej-896	234	8	&	&	CCONJ
alkej-896	234	9	talasaz	talasaz	PROPN
alkej-896	234	10	,	,	PUNCT
alkej-896	234	11	a.	a.	NOUN
alkej-896	234	12	(	(	PUNCT
alkej-896	234	13	2006	2006	NUM
alkej-896	234	14	)	)	PUNCT
alkej-896	234	15	.	.	PUNCT
alkej-896	235	1	variable	variable	ADJ
alkej-896	235	2	structure	structure	NOUN
alkej-896	235	3	control	control	NOUN
alkej-896	235	4	with	with	ADP
alkej-896	235	5	adaptive	adaptive	ADJ
alkej-896	235	6	fuzzy	fuzzy	ADJ
alkej-896	235	7	sliding	slide	VERB
alkej-896	235	8	surface	surface	NOUN
alkej-896	235	9	.	.	PUNCT
alkej-896	236	1	journal	journal	NOUN
alkej-896	236	2	of	of	ADP
alkej-896	236	3	vibration	vibration	NOUN
alkej-896	236	4	and	and	CCONJ
alkej-896	236	5	control	control	NOUN
alkej-896	236	6	,	,	PUNCT
alkej-896	236	7	12(11	12(11	NUM
alkej-896	236	8	)	)	PUNCT
alkej-896	236	9	,	,	PUNCT
alkej-896	236	10	1251	1251	NUM
alkej-896	236	11	-	-	SYM
alkej-896	236	12	1270	1270	NUM
alkej-896	236	13	.	.	PUNCT
alkej-896	237	1	[	[	X
alkej-896	237	2	17	17	NUM
alkej-896	237	3	]	]	SYM
alkej-896	237	4	li	li	PROPN
alkej-896	237	5	,	,	PUNCT
alkej-896	237	6	p.	p.	PROPN
alkej-896	237	7	,	,	PUNCT
alkej-896	237	8	ma	ma	PROPN
alkej-896	237	9	,	,	PUNCT
alkej-896	237	10	j.	j.	PROPN
alkej-896	237	11	,	,	PUNCT
alkej-896	237	12	&	&	CCONJ
alkej-896	237	13	zheng	zheng	PROPN
alkej-896	237	14	,	,	PUNCT
alkej-896	237	15	z.	z.	PROPN
alkej-896	237	16	(	(	PUNCT
alkej-896	237	17	2016	2016	NUM
alkej-896	237	18	)	)	PUNCT
alkej-896	237	19	.	.	PUNCT
alkej-896	238	1	robust	robust	ADJ
alkej-896	238	2	adaptive	adaptive	ADJ
alkej-896	238	3	sliding	slide	VERB
alkej-896	238	4	mode	mode	NOUN
alkej-896	238	5	control	control	NOUN
alkej-896	238	6	for	for	ADP
alkej-896	238	7	uncertain	uncertain	ADJ
alkej-896	238	8	nonlinear	nonlinear	ADJ
alkej-896	238	9	mimo	mimo	PROPN
alkej-896	238	10	system	system	NOUN
alkej-896	238	11	with	with	ADP
alkej-896	238	12	guaranteed	guarantee	VERB
alkej-896	238	13	steady	steady	ADJ
alkej-896	238	14	state	state	NOUN
alkej-896	238	15	tracking	tracking	NOUN
alkej-896	238	16	error	error	NOUN
alkej-896	238	17	bounds	bound	NOUN
alkej-896	238	18	.	.	PUNCT
alkej-896	239	1	journal	journal	NOUN
alkej-896	239	2	of	of	ADP
alkej-896	239	3	the	the	DET
alkej-896	239	4	franklin	franklin	PROPN
alkej-896	239	5	institute	institute	PROPN
alkej-896	239	6	,	,	PUNCT
alkej-896	239	7	353(2	353(2	NUM
alkej-896	239	8	)	)	PUNCT
alkej-896	239	9	,	,	PUNCT
alkej-896	239	10	303	303	NUM
alkej-896	239	11	-	-	SYM
alkej-896	239	12	321	321	NUM
alkej-896	239	13	.	.	PUNCT
alkej-896	240	1	[	[	X
alkej-896	240	2	18	18	NUM
alkej-896	240	3	]	]	X
alkej-896	240	4	mary	mary	PROPN
alkej-896	240	5	,	,	PUNCT
alkej-896	240	6	a.	a.	PROPN
alkej-896	240	7	h.	h.	PROPN
alkej-896	240	8	,	,	PUNCT
alkej-896	240	9	&	&	CCONJ
alkej-896	240	10	kara	kara	PROPN
alkej-896	240	11	,	,	PUNCT
alkej-896	240	12	t.	t.	PROPN
alkej-896	240	13	(	(	PUNCT
alkej-896	240	14	2016	2016	NUM
alkej-896	240	15	)	)	PUNCT
alkej-896	240	16	.	.	PUNCT
alkej-896	241	1	robust	robust	ADJ
alkej-896	241	2	proportional	proportional	ADJ
alkej-896	241	3	control	control	NOUN
alkej-896	241	4	for	for	ADP
alkej-896	241	5	trajectory	trajectory	NOUN
alkej-896	241	6	tracking	tracking	NOUN
alkej-896	241	7	of	of	ADP
alkej-896	241	8	a	a	DET
alkej-896	241	9	nonlinear	nonlinear	ADJ
alkej-896	241	10	robotic	robotic	ADJ
alkej-896	241	11	manipulator	manipulator	NOUN
alkej-896	241	12	:	:	PUNCT
alkej-896	241	13	lmi	lmi	PROPN
alkej-896	241	14	optimization	optimization	NOUN
alkej-896	241	15	approach	approach	NOUN
alkej-896	241	16	.	.	PUNCT
alkej-896	242	1	arabian	arabian	ADJ
alkej-896	242	2	journal	journal	PROPN
alkej-896	242	3	for	for	ADP
alkej-896	242	4	science	science	NOUN
alkej-896	242	5	and	and	CCONJ
alkej-896	242	6	engineering	engineering	NOUN
alkej-896	242	7	,	,	PUNCT
alkej-896	242	8	41	41	NUM
alkej-896	242	9	,	,	PUNCT
alkej-896	242	10	5027	5027	NUM
alkej-896	242	11	-	-	SYM
alkej-896	242	12	5036	5036	NUM
alkej-896	242	13	.	.	PUNCT
alkej-896	243	1	(	(	PUNCT
alkej-896	243	2	2024	2024	NUM
alkej-896	243	3	)	)	PUNCT
alkej-896	243	4	63	63	NUM
alkej-896	243	5	-	-	SYM
alkej-896	243	6	75	75	NUM
alkej-896	243	7	،	،	NOUN
alkej-896	243	8	صفحة	صفحة	PROPN
alkej-896	243	9	1	1	PROPN
alkej-896	243	10	،	،	PROPN
alkej-896	243	11	العدد20المجلد	العدد20المجلد	PROPN
alkej-896	243	12	جلة	جلة	PROPN
alkej-896	243	13	الخوارزمي	الخوارزمي	VERB
alkej-896	243	14	الهندسيةمعلي	الهندسيةمعلي	NOUN
alkej-896	243	15	حسين	حسين	PROPN
alkej-896	243	16	مري	مري	PROPN
alkej-896	243	17	75	75	NUM
alkej-896	243	18	واستراتيجية	واستراتيجية	NOUN
alkej-896	243	19	التحكم	التحكم	NOUN
alkej-896	243	20	التحكم	التحكم	NOUN
alkej-896	243	21	المتين	المتين	PROPN
alkej-896	243	22	لذراع	لذراع	ADJ
alkej-896	243	23	االنسان	االنسان	NOUN
alkej-896	243	24	االلي	االلي	PROPN
alkej-896	243	25	بناء	بناء	ADP
alkej-896	243	26	على	على	NOUN
alkej-896	243	27	طريقة	طريقة	NOUN
alkej-896	243	28	الوضع	الوضع	PROPN
alkej-896	243	29	المنزلق	المنزلق	PROPN
alkej-896	243	30	الغامض	الغامض	PROPN
alkej-896	244	1	*	*	PUNCT
alkej-896	245	1	*	*	PUNCT
alkej-896	245	2	*	*	PUNCT
alkej-896	245	3	*	*	PUNCT
alkej-896	245	4	دينا	دينا	ADJ
alkej-896	245	5	سعدي	سعدي	ADJ
alkej-896	245	6	منعم	منعم	NOUN
alkej-896	245	7	تولكاي	تولكاي	NOUN
alkej-896	245	8	كارار	كارار	NOUN
alkej-896	245	9	*	*	PUNCT
alkej-896	245	10	*	*	PUNCT
alkej-896	245	11	*	*	PUNCT
alkej-896	245	12	احمد	احمد	PROPN
alkej-896	245	13	عبد	عبد	PROPN
alkej-896	245	14	عطية	عطية	NOUN
alkej-896	245	15	*	*	PROPN
alkej-896	245	16	*	*	PUNCT
alkej-896	245	17	مري*علي	مري*علي	PROPN
alkej-896	245	18	حسين	حسين	X
alkej-896	245	19	ليث	ليث	PROPN
alkej-896	245	20	عودة	عودة	NOUN
alkej-896	245	21	كاظم	كاظم	NOUN
alkej-896	245	22	*	*	PUNCT
alkej-896	245	23	*	*	PUNCT
alkej-896	245	24	*	*	PUNCT
alkej-896	245	25	*	*	PUNCT
alkej-896	245	26	*	*	PUNCT
alkej-896	245	27	*	*	PUNCT
alkej-896	245	28	محمد	محمد	ADJ
alkej-896	245	29	يحيى	يحيى	ADJ
alkej-896	245	30	ادريس	ادريس	PROPN
alkej-896	245	31	*	*	PROPN
alkej-896	245	32	*	*	PUNCT
alkej-896	245	33	*	*	PUNCT
alkej-896	245	34	*	*	PUNCT
alkej-896	245	35	*	*	PUNCT
alkej-896	245	36	العراق	العراق	PROPN
alkej-896	245	37	/جامعة	/جامعة	PUNCT
alkej-896	245	38	بغداد	بغداد	PROPN
alkej-896	245	39	/كلية	/كلية	PROPN
alkej-896	245	40	الهندسة	الهندسة	PROPN
alkej-896	245	41	الخوارزمي	الخوارزمي	VERB
alkej-896	245	42	/قسم	/قسم	PROPN
alkej-896	245	43	هندسة	هندسة	NOUN
alkej-896	245	44	الميكاترونكس	الميكاترونكس	ADV
alkej-896	245	45	*	*	PUNCT
alkej-896	246	1	*	*	PUNCT
alkej-896	246	2	*	*	PUNCT
alkej-896	246	3	*	*	PUNCT
alkej-896	246	4	*	*	NOUN
alkej-896	246	5	،	،	X
alkej-896	246	6	*	*	NOUN
alkej-896	246	7	*	*	PUNCT
alkej-896	246	8	*	*	PUNCT
alkej-896	246	9	*	*	NOUN
alkej-896	246	10	،	،	X
alkej-896	246	11	*	*	ADJ
alkej-896	246	12	العراق	العراق	PROPN
alkej-896	246	13	/جامعة	/جامعة	SYM
alkej-896	246	14	الشعب	الشعب	PROPN
alkej-896	246	15	/كلية	/كلية	PROPN
alkej-896	247	1	الهندسة	الهندسة	PROPN
alkej-896	247	2	وتكنولوجيا	وتكنولوجيا	NOUN
alkej-896	247	3	المعلومات	المعلومات	VERB
alkej-896	247	4	/الطبية	/الطبية	PUNCT
alkej-896	248	1	*	*	PUNCT
alkej-896	248	2	*	*	PUNCT
alkej-896	248	3	قسم	قسم	PROPN
alkej-896	248	4	تقنيات	تقنيات	PROPN
alkej-896	248	5	األجهزة	األجهزة	PROPN
alkej-896	248	6	تركيا	تركيا	PROPN
alkej-896	248	7	/	/	PUNCT
alkej-896	249	1	*	*	PUNCT
alkej-896	249	2	*	*	PUNCT
alkej-896	249	3	*	*	PUNCT
alkej-896	249	4	جامعة	جامعة	X
alkej-896	249	5	غازي	غازي	VERB
alkej-896	249	6	عنتاب	عنتاب	ADJ
alkej-896	249	7	كلية	كلية	NOUN
alkej-896	249	8	الهندسة	الهندسة	PROPN
alkej-896	249	9	كندا	كندا	PROPN
alkej-896	249	10	/جامعة	/جامعة	X
alkej-896	249	11	كارلتون	كارلتون	PROPN
alkej-896	249	12	*	*	PUNCT
alkej-896	249	13	*	*	PUNCT
alkej-896	249	14	*	*	PUNCT
alkej-896	249	15	*	*	PUNCT
alkej-896	249	16	*	*	PUNCT
alkej-896	249	17	*	*	PUNCT
alkej-896	249	18	kecbu.uobaghdad.edu.iq76alimary@	kecbu.uobaghdad.edu.iq76alimary@	NOUN
alkej-896	249	19	:	:	PUNCT
alkej-896	249	20	البريد	البريد	VERB
alkej-896	249	21	االلكتروني	االلكتروني	NOUN
alkej-896	249	22	*	*	PUNCT
alkej-896	249	23	ahmad.altalabi@alshaab.edu.iq	ahmad.altalabi@alshaab.edu.iq	ADJ
alkej-896	249	24	:	:	PUNCT
alkej-896	249	25	االلكتروني	االلكتروني	NOUN
alkej-896	249	26	*	*	PUNCT
alkej-896	249	27	البريد	البريد	PROPN
alkej-896	249	28	*	*	PUNCT
alkej-896	249	29	kara@gantep.edu.tr	kara@gantep.edu.tr	PROPN
alkej-896	249	30	:*	:*	PROPN
alkej-896	249	31	البريد	البريد	VERB
alkej-896	249	32	االلكتروني	االلكتروني	NOUN
alkej-896	249	33	*	*	PUNCT
alkej-896	249	34	*	*	PUNCT
alkej-896	249	35	deena@kecbu.uobaghdad.edu.iq	deena@kecbu.uobaghdad.edu.iq	ADJ
alkej-896	249	36	:	:	PUNCT
alkej-896	249	37	البريد	البريد	VERB
alkej-896	249	38	االلكتروني	االلكتروني	NOUN
alkej-896	249	39	*	*	PUNCT
alkej-896	249	40	*	*	PUNCT
alkej-896	249	41	*	*	PUNCT
alkej-896	249	42	*	*	PUNCT
alkej-896	249	43	.yahya@kecbu.uobaghdad.edu.iqmohammad	.yahya@kecbu.uobaghdad.edu.iqmohammad	NOUN
alkej-896	249	44	:	:	PUNCT
alkej-896	249	45	البريد	البريد	VERB
alkej-896	249	46	االلكتروني	االلكتروني	NOUN
alkej-896	249	47	*	*	PUNCT
alkej-896	249	48	*	*	PUNCT
alkej-896	249	49	*	*	PUNCT
alkej-896	249	50	*	*	PUNCT
alkej-896	249	51	*	*	PUNCT
alkej-896	249	52	*	*	PUNCT
alkej-896	249	53	laith.mayyahi@carleton.ca	laith.mayyahi@carleton.ca	NOUN
alkej-896	249	54	:	:	PUNCT
alkej-896	249	55	البريد	البريد	VERB
alkej-896	249	56	االلكتروني	االلكتروني	NOUN
alkej-896	249	57	*	*	PUNCT
alkej-896	249	58	*	*	PUNCT
alkej-896	249	59	*	*	PUNCT
alkej-896	249	60	*	*	PUNCT
alkej-896	249	61	*	*	PUNCT
alkej-896	249	62	*	*	PUNCT
alkej-896	249	63	الخالصة	الخالصة	PROPN
alkej-896	249	64	م	م	PROPN
alkej-896	249	65	المختلفة	المختلفة	PROPN
alkej-896	249	66	.	.	PUNCT
alkej-896	250	1	في	في	DET
alkej-896	250	2	السنوات	السنوات	NOUN
alkej-896	250	3	األخيرة	األخيرة	PROPN
alkej-896	250	4	،	،	PROPN
alkej-896	250	5	تم	تم	NOUN
alkej-896	250	6	استخدام	استخدام	PROPN
alkej-896	250	7	األنظمة	األنظمة	VERB
alkej-896	250	8	الروبوتية	الروبوتية	PROPN
alkej-896	250	9	على	على	NOUN
alkej-896	250	10	نطاق	نطاق	NOUN
alkej-896	250	11	واسع	واسع	NOUN
alkej-896	250	12	في	في	SCONJ
alkej-896	250	13	تطبيقات	تطبيقات	PROPN
alkej-896	250	14	مختلفة	مختلفة	PROPN
alkej-896	250	15	،	،	PROPN
alkej-896	250	16	وهذا	وهذا	VERB
alkej-896	251	1	ما	ما	X
alkej-896	251	2	حفز	حفز	ADJ
alkej-896	251	3	الباحثون	الباحثون	VERB
alkej-896	251	4	على	على	PROPN
alkej-896	251	5	تطوير	تطوير	PROPN
alkej-896	251	6	أساليب	أساليب	PROPN
alkej-896	251	7	التحك	التحك	PROPN
alkej-896	251	8	الرئيسة	الرئيسة	NOUN
alkej-896	251	9	لنظام	لنظام	ADJ
alkej-896	251	10	التحكم	التحكم	NOUN
alkej-896	252	1	في	في	ADP
alkej-896	252	2	يُقترح	يُقترح	NOUN
alkej-896	252	3	في	في	ADP
alkej-896	252	4	هذا	هذا	NOUN
alkej-896	252	5	العمل	العمل	NOUN
alkej-896	252	6	طريقة	طريقة	NOUN
alkej-896	252	7	تحكم	تحكم	PROPN
alkej-896	252	8	ذكية	ذكية	PROPN
alkej-896	252	9	وقوية	وقوية	PROPN
alkej-896	253	1	وخالية	وخالية	PRON
alkej-896	253	2	من	من	INTJ
alkej-896	253	3	النماذج	النماذج	VERB
alkej-896	253	4	لنظام	لنظام	PROPN
alkej-896	253	5	مناور	مناور	NOUN
alkej-896	253	6	آلي	آلي	PROPN
alkej-896	253	7	غير	غير	PROPN
alkej-896	253	8	خطي	خطي	PROPN
alkej-896	253	9	.	.	PUNCT
alkej-896	254	1	تقدم	تقدم	PROPN
alkej-896	254	2	هذه	هذه	PROPN
alkej-896	254	3	الورقة	الورقة	VERB
alkej-896	254	4	حالً	حالً	PROPN
alkej-896	254	5	جديدًا	جديدًا	PROPN
alkej-896	254	6	للعيوب	للعيوب	NOUN
alkej-896	254	7	تم	تم	NOUN
alkej-896	254	8	اقتراح	اقتراح	NOUN
alkej-896	254	9	وحدة	وحدة	PROPN
alkej-896	254	10	تحكم	تحكم	PROPN
alkej-896	254	11	الوضع	الوضع	PROPN
alkej-896	254	12	المنزلق	المنزلق	PROPN
alkej-896	254	13	،	،	PROPN
alkej-896	254	14	هنالك	هنالك	PROPN
alkej-896	254	15	حاجة	حاجة	PROPN
alkej-896	254	16	إلى	إلى	PROPN
alkej-896	254	17	معرفة	معرفة	PROPN
alkej-896	254	18	مسبقة	مسبقة	PROPN
alkej-896	254	19	حول	حول	PROPN
alkej-896	254	20	النموذج	النموذج	PROPN
alkej-896	254	21	الديناميكي	الديناميكي	PROPN
alkej-896	254	22	للنظام	للنظام	PROPN
alkej-896	254	23	المتحكم	المتحكم	PROPN
alkej-896	254	24	فيه	فيه	X
alkej-896	254	25	والحد	والحد	PROPN
alkej-896	254	26	األعلى	األعلى	VERB
alkej-896	254	27	من	من	PROPN
alkej-896	254	28	عدم	عدم	NOUN
alkej-896	254	29	اليقين	اليقين	NOUN
alkej-896	254	30	.	.	PUNCT
alkej-896	255	1	في	في	PRON
alkej-896	255	2	هذا	هذا	NOUN
alkej-896	255	3	البحث	البحث	PROPN
alkej-896	255	4	،	،	PROPN
alkej-896	255	5	pd	pd	PROPN
alkej-896	255	6	معsmc	معsmc	PROPN
alkej-896	255	7	(	(	PUNCT
alkej-896	255	8	flpdsm	flpdsm	PROPN
alkej-896	255	9	)	)	PUNCT
alkej-896	255	10	وتم	وتم	NOUN
alkej-896	255	11	تصميم	تصميم	NOUN
alkej-896	255	12	وحدة	وحدة	NOUN
alkej-896	255	13	التحكم	التحكم	NOUN
alkej-896	255	14	.pd	.pd	PUNCT
alkej-896	256	1	م	م	X
alkej-896	256	2	.	.	PUNCT
alkej-896	257	1	وتمت	وتمت	PROPN
alkej-896	257	2	إضافة	إضافة	PROPN
alkej-896	257	3	مصطلح	مصطلح	PROPN
alkej-896	257	4	تحكم	تحكم	NOUN
alkej-896	257	5	متين	متين	ADJ
alkej-896	257	6	إلى	إلى	NOUN
alkej-896	257	7	إشارة	إشارة	NOUN
alkej-896	257	8	اعتمادا	اعتمادا	NOUN
alkej-896	257	9	على	على	PROPN
alkej-896	257	10	المعلومات	المعلومات	PROPN
alkej-896	257	11	المتوافرة	المتوافرة	PROPN
alkej-896	257	12	عن	عن	PROPN
alkej-896	257	13	النظا	النظا	PROPN
alkej-896	257	14	.	.	PUNCT
alkej-896	258	1	وتم	وتم	PROPN
alkej-896	258	2	اقتراح	اقتراح	PROPN
alkej-896	258	3	smcالتحكم	smcالتحكم	NOUN
alkej-896	258	4	للتعويض	للتعويض	ADJ
alkej-896	258	5	عن	عن	PROPN
alkej-896	258	6	عدم	عدم	NOUN
alkej-896	258	7	اليقين	اليقين	NOUN
alkej-896	258	8	في	في	SCONJ
alkej-896	258	9	النظام	النظام	PROPN
alkej-896	258	10	،	،	PROPN
alkej-896	258	11	ويتم	ويتم	PROPN
alkej-896	258	12	تعويض	تعويض	PROPN
alkej-896	258	13	االضطرابات	االضطرابات	PROPN
alkej-896	258	14	الخارجية	الخارجية	PROPN
alkej-896	258	15	عن	عن	PROPN
alkej-896	258	16	طريق	طريق	PROPN
alkej-896	258	17	إضافة	إضافة	PROPN
alkej-896	258	18	مصطلح	مصطلح	PROPN
alkej-896	258	19	قوي	قوي	NOUN
alkej-896	258	20	مساعد	مساعد	NOUN
alkej-896	258	21	إلى	إلى	NOUN
alkej-896	258	22	قانون	قانون	NOUN
alkej-896	258	23	التحكم	التحكم	NOUN
alkej-896	258	24	عدم	عدم	NOUN
alkej-896	258	25	اليقين	اليقين	NOUN
alkej-896	258	26	في	في	ADP
alkej-896	258	27	النظام	النظام	PROPN
alkej-896	258	28	معروف	معروف	PROPN
alkej-896	258	29	على	على	PROPN
alkej-896	258	30	الرغم	الرغم	PROPN
alkej-896	258	31	من	من	PROPN
alkej-896	258	32	أنه	أنه	PROPN
alkej-896	258	33	ال	ال	ADP
alkej-896	258	34	يمكن	يمكن	PROPN
alkej-896	258	35	تحديده	تحديده	ADJ
alkej-896	258	36	بدقة	بدقة	NOUN
alkej-896	258	37	طريقتين	طريقتين	PROPN
alkej-896	258	38	لتصميم	لتصميم	PROPN
alkej-896	259	1	شروط	شروط	ADJ
alkej-896	259	2	التحكم	التحكم	PROPN
alkej-896	259	3	القوية	القوية	PROPN
alkej-896	259	4	.	.	PUNCT
alkej-896	260	1	تفترض	تفترض	PROPN
alkej-896	260	2	الطريقة	الطريقة	VERB
alkej-896	260	3	األولى	األولى	PROPN
alkej-896	260	4	المقترحة	المقترحة	PROPN
alkej-896	260	5	أن	أن	PROPN
alkej-896	260	6	الحد	الحد	PROPN
alkej-896	260	7	األعلى	األعلى	PROPN
alkej-896	260	8	ل	ل	PROPN
alkej-896	260	9	على	على	NOUN
alkej-896	260	10	نظرية	نظرية	NOUN
alkej-896	260	11	بسبب	بسبب	PROPN
alkej-896	260	12	االضطراب	االضطراب	PROPN
alkej-896	260	13	الخارجي	الخارجي	ADJ
alkej-896	260	14	وعدم	وعدم	PROPN
alkej-896	260	15	اليقين	اليقين	PROPN
alkej-896	260	16	.	.	PUNCT
alkej-896	261	1	ومن	ومن	VERB
alkej-896	261	2	ثم	ثم	ADP
alkej-896	261	3	تم	تم	NOUN
alkej-896	261	4	اقتراح	اقتراح	PROPN
alkej-896	261	5	طريقة	طريقة	PROPN
alkej-896	261	6	ثانية	ثانية	PROPN
alkej-896	261	7	تفترض	تفترض	NOUN
alkej-896	261	8	أن	أن	PROPN
alkej-896	261	9	هذا	هذا	VERB
alkej-896	261	10	الحد	الحد	PROPN
alkej-896	261	11	غير	غير	PROPN
alkej-896	261	12	معروف	معروف	PROPN
alkej-896	261	13	،	،	PROPN
alkej-896	261	14	وتم	وتم	PROPN
alkej-896	261	15	استخدام	استخدام	PROPN
alkej-896	261	16	الكسب	الكسب	PROPN
alkej-896	261	17	التكيفي	التكيفي	PROPN
alkej-896	261	18	القائم	القائم	VERB
alkej-896	261	19	الثانية	الثانية	PROPN
alkej-896	261	20	لضمان	لضمان	PROPN
alkej-896	261	21	استقرار	استقرار	PROPN
alkej-896	261	22	نظام	نظام	VERB
alkej-896	261	23	الحلقة	الحلقة	PROPN
alkej-896	261	24	المغلقة	المغلقة	PROPN
alkej-896	261	25	.	.	PUNCT
alkej-896	262	1	تم	تم	PROPN
alkej-896	262	2	تنفيذ	تنفيذ	PROPN
alkej-896	262	3	اختبارات	اختبارات	PROPN
alkej-896	262	4	األداء	األداء	PROPN
alkej-896	262	5	على	على	PROPN
alkej-896	262	6	الطرق	الطرق	NOUN
alkej-896	262	7	المقترحة	المقترحة	PROPN
alkej-896	262	8	من	من	PROPN
alkej-896	262	9	ليابونوف	ليابونوف	ADJ
alkej-896	262	10	الشتقاق	الشتقاق	PROPN
alkej-896	262	11	قانون	قانون	PROPN
alkej-896	262	12	التكيف	التكيف	NOUN
alkej-896	262	13	.	.	PUNCT
alkej-896	263	1	تم	تم	PROPN
alkej-896	263	2	استخدام	استخدام	PROPN
alkej-896	263	3	طريقة	طريقة	PROPN
alkej-896	263	4	البونوف	البونوف	PROPN
alkej-896	263	5	القياسي	القياسي	PROPN
alkej-896	263	6	للتحقق	للتحقق	VERB
alkej-896	263	7	من	من	PROPN
alkej-896	263	8	فعالية	فعالية	PROPN
alkej-896	263	9	الطريقة	الطريقة	NOUN
alkej-896	263	10	المقترحة	المقترحة	PROPN
alkej-896	263	11	.	.	PUNCT
alkej-896	264	1	وقد	وقد	PROPN
alkej-896	264	2	لوحظ	لوحظ	VERB
alkej-896	264	3	تتبع	تتبع	PROPN
alkej-896	264	4	مسار	مسار	PROPN
alkej-896	264	5	smcخالل	smcخالل	PROPN
alkej-896	264	6	دراسات	دراسات	PROPN
alkej-896	264	7	المحاكاة	المحاكاة	PROPN
alkej-896	264	8	للمناول	للمناول	PROPN
alkej-896	264	9	اآللي	اآللي	PROPN
alkej-896	264	10	ثنائي	ثنائي	PROPN
alkej-896	264	11	الوصلة	الوصلة	PROPN
alkej-896	264	12	،	،	PROPN
alkej-896	264	13	وتمت	وتمت	PROPN
alkej-896	264	14	مقارنة	مقارنة	PROPN
alkej-896	264	15	نتائج	نتائج	PROPN
alkej-896	264	16	االختبار	االختبار	ADV
alkej-896	264	17	مع	مع	VERB
alkej-896	264	18	ختالفات	ختالفات	PROPN
alkej-896	264	19	المعلمات	المعلمات	VERB
alkej-896	264	20	واالضطرابات	واالضطرابات	INTJ
alkej-896	264	21	الخارجية	الخارجية	PROPN
alkej-896	265	1	في	في	ADP
alkej-896	265	2	إطار	إطار	VERB
alkej-896	265	3	مخطط	مخطط	ADJ
alkej-896	265	4	التحكم	التحكم	NOUN
alkej-896	265	5	المقدم.جيد	المقدم.جيد	X
alkej-896	265	6	بمتانة	بمتانة	NOUN
alkej-896	265	7	عالية	عالية	VERB
alkej-896	265	8	ضد	ضد	PROPN
alkej-896	265	9	ا	ا	X
alkej-896	265	10	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-896	265	11	mailto:ahmad.altalabi@alshaab.edu.iq	mailto:ahmad.altalabi@alshaab.edu.iq	PROPN
alkej-896	265	12	mailto:kara@gantep.edu.tr	mailto:kara@gantep.edu.tr	PUNCT
alkej-896	265	13	mailto:deena@kecbu.uobaghdad.edu.iq	mailto:deena@kecbu.uobaghdad.edu.iq	PROPN
alkej-896	265	14	mailto:yahya@kecbu.uobaghdad.edu.iq	mailto:yahya@kecbu.uobaghdad.edu.iq	PROPN
alkej-896	265	15	1	1	NUM
alkej-896	265	16	.	.	PUNCT
alkej-896	266	1	introduction	introduction	NOUN
alkej-896	266	2	2	2	NUM
alkej-896	266	3	.	.	PUNCT
alkej-896	266	4	robotic	robotic	ADJ
alkej-896	266	5	manipulator	manipulator	NOUN
alkej-896	266	6	dynamic	dynamic	ADJ
alkej-896	266	7	3	3	NUM
alkej-896	266	8	.	.	PUNCT
alkej-896	267	1	sliding	slide	VERB
alkej-896	267	2	mode	mode	NOUN
alkej-896	267	3	control	control	NOUN
alkej-896	267	4	4	4	NUM
alkej-896	267	5	.	.	PUNCT
alkej-896	267	6	proposed	propose	VERB
alkej-896	267	7	flpdsm	flpdsm	PROPN
alkej-896	267	8	design	design	VERB
alkej-896	267	9	4.1	4.1	NUM
alkej-896	267	10	fuzzy	fuzzy	ADJ
alkej-896	267	11	-	-	PUNCT
alkej-896	267	12	like	like	ADJ
alkej-896	267	13	pd	pd	NOUN
alkej-896	267	14	controller	controller	NOUN
alkej-896	267	15	5	5	NUM
alkej-896	267	16	.	.	PUNCT
alkej-896	267	17	simulation	simulation	NOUN
alkej-896	267	18	results	result	VERB
alkej-896	267	19	5.1	5.1	NUM
alkej-896	267	20	robustness	robustness	NOUN
alkej-896	267	21	test	test	NOUN
alkej-896	267	22	:	:	PUNCT
alkej-896	267	23	model	model	NOUN
alkej-896	267	24	uncertainties	uncertainty	NOUN
alkej-896	267	25	6	6	NUM
alkej-896	267	26	.	.	PUNCT
alkej-896	267	27	conclusion	conclusion	NOUN