id	sid	tid	token	lemma	pos
alkej-912	1	1	sarah	sarah	PROPN
alkej-912	1	2	m.	m.	PROPN
alkej-912	1	3	rashid	rashid	PROPN
alkej-912	1	4	al	al	PROPN
alkej-912	1	5	-	-	PUNCT
alkej-912	1	6	khwarizmi	khwarizmi	PROPN
alkej-912	1	7	engineering	engineering	NOUN
alkej-912	1	8	journal	journal	NOUN
alkej-912	1	9	,	,	PUNCT
alkej-912	1	10	4	4	NUM
alkej-912	1	11	,	,	PUNCT
alkej-912	1	12	2	2	NUM
alkej-912	1	13	,	,	PUNCT
alkej-912	1	14	(	(	PUNCT
alkej-912	1	15	2008	2008	NUM
alkej-912	1	16	)	)	PUNCT
alkej-912	1	17	51	51	NUM
alkej-912	1	18	-	-	SYM
alkej-912	1	19	58	58	NUM
alkej-912	1	20	this	this	PRON
alkej-912	1	21	is	be	AUX
alkej-912	1	22	an	an	DET
alkej-912	1	23	open	open	ADJ
alkej-912	1	24	access	access	NOUN
alkej-912	1	25	article	article	NOUN
alkej-912	1	26	under	under	ADP
alkej-912	1	27	the	the	DET
alkej-912	1	28	cc	cc	NOUN
alkej-912	1	29	by	by	ADP
alkej-912	1	30	license	license	NOUN
alkej-912	1	31	:	:	PUNCT
alkej-912	1	32	al	al	PROPN
alkej-912	1	33	-	-	PUNCT
alkej-912	1	34	khwarizmi	khwarizmi	PROPN
alkej-912	1	35	engineering	engineering	PROPN
alkej-912	1	36	journal	journal	PROPN
alkej-912	1	37	al	al	PROPN
alkej-912	1	38	-	-	PUNCT
alkej-912	1	39	khwarizmi	khwarizmi	PROPN
alkej-912	1	40	engineering	engineering	PROPN
alkej-912	1	41	journal	journal	PROPN
alkej-912	1	42	issn	issn	PROPN
alkej-912	1	43	(	(	PUNCT
alkej-912	1	44	printed	print	VERB
alkej-912	1	45	):	):	PUNCT
alkej-912	1	46	1818	1818	NUM
alkej-912	1	47	–	–	PUNCT
alkej-912	1	48	1171	1171	NUM
alkej-912	1	49	,	,	PUNCT
alkej-912	1	50	issn	issn	PROPN
alkej-912	1	51	(	(	PUNCT
alkej-912	1	52	online	online	ADJ
alkej-912	1	53	):	):	PUNCT
alkej-912	1	54	2312	2312	NUM
alkej-912	1	55	–	–	PUNCT
alkej-912	1	56	0789	0789	NUM
alkej-912	1	57	vol	vol	NOUN
alkej-912	1	58	.	.	PROPN
alkej-912	2	1	20	20	NUM
alkej-912	2	2	,	,	PUNCT
alkej-912	2	3	no	no	INTJ
alkej-912	2	4	.	.	NOUN
alkej-912	2	5	2	2	NUM
alkej-912	2	6	,	,	PUNCT
alkej-912	2	7	june	june	PROPN
alkej-912	2	8	,	,	PUNCT
alkej-912	2	9	(	(	PUNCT
alkej-912	2	10	2024	2024	NUM
alkej-912	2	11	)	)	PUNCT
alkej-912	2	12	,	,	PUNCT
alkej-912	2	13	p	p	PROPN
alkej-912	2	14	p.	p.	NOUN
alkej-912	2	15	5664	5664	NUM
alkej-912	2	16	modeling	modeling	NOUN
alkej-912	2	17	and	and	CCONJ
alkej-912	2	18	simulation	simulation	NOUN
alkej-912	2	19	of	of	ADP
alkej-912	2	20	hydraulic	hydraulic	ADJ
alkej-912	2	21	proportional	proportional	PROPN
alkej-912	2	22	control	control	NOUN
alkej-912	2	23	valves	valve	NOUN
alkej-912	2	24	with	with	ADP
alkej-912	2	25	different	different	ADJ
alkej-912	2	26	types	type	NOUN
alkej-912	2	27	of	of	ADP
alkej-912	2	28	controllers	controller	NOUN
alkej-912	2	29	sarah	sarah	PROPN
alkej-912	2	30	m.	m.	PROPN
alkej-912	2	31	rashid	rashid	PROPN
alkej-912	2	32	*	*	PROPN
alkej-912	2	33	,	,	PUNCT
alkej-912	2	34	maher	maher	PROPN
alkej-912	2	35	yahya	yahya	PROPN
alkej-912	2	36	salloom	salloom	PROPN
alkej-912	2	37	*	*	PROPN
alkej-912	2	38	*	*	PROPN
alkej-912	2	39	,	,	PUNCT
alkej-912	2	40	nor	nor	CCONJ
alkej-912	2	41	haniza	haniza	NOUN
alkej-912	2	42	bakhtiar	bakhtiar	NOUN
alkej-912	2	43	jemily	jemily	ADV
alkej-912	2	44	*	*	PUNCT
alkej-912	2	45	*	*	PUNCT
alkej-912	2	46	*	*	PUNCT
alkej-912	2	47	and	and	CCONJ
alkej-912	2	48	absamat	absamat	ADJ
alkej-912	2	49	h.	h.	NOUN
alkej-912	3	1	*	*	PUNCT
alkej-912	4	1	*	*	PUNCT
alkej-912	4	2	*	*	PUNCT
alkej-912	4	3	*	*	PUNCT
alkej-912	4	4	*	*	PUNCT
alkej-912	4	5	,	,	PUNCT
alkej-912	4	6	*	*	PUNCT
alkej-912	4	7	*	*	NOUN
alkej-912	4	8	department	department	NOUN
alkej-912	4	9	of	of	ADP
alkej-912	4	10	mechatronics	mechatronic	NOUN
alkej-912	4	11	engineering	engineering	PROPN
alkej-912	4	12	,	,	PUNCT
alkej-912	4	13	al	al	PROPN
alkej-912	4	14	-	-	PUNCT
alkej-912	4	15	khwarizmi	khwarizmi	PROPN
alkej-912	4	16	college	college	PROPN
alkej-912	4	17	of	of	ADP
alkej-912	4	18	engineering	engineering	PROPN
alkej-912	4	19	,	,	PUNCT
alkej-912	4	20	university	university	NOUN
alkej-912	4	21	of	of	ADP
alkej-912	4	22	baghdad	baghdad	PROPN
alkej-912	4	23	,	,	PUNCT
alkej-912	4	24	baghdad	baghdad	PROPN
alkej-912	4	25	,	,	PUNCT
alkej-912	4	26	iraq	iraq	PROPN
alkej-912	4	27	*	*	PUNCT
alkej-912	5	1	*	*	PUNCT
alkej-912	5	2	*	*	PUNCT
alkej-912	5	3	mechanical	mechanical	ADJ
alkej-912	5	4	section	section	NOUN
alkej-912	5	5	,	,	PUNCT
alkej-912	5	6	university	university	NOUN
alkej-912	5	7	kuala	kuala	PROPN
alkej-912	5	8	lumpur	lumpur	PROPN
alkej-912	5	9	malaysian	malaysian	PROPN
alkej-912	5	10	spanish	spanish	PROPN
alkej-912	5	11	institute	institute	PROPN
alkej-912	5	12	,	,	PUNCT
alkej-912	5	13	kulim	kulim	PROPN
alkej-912	5	14	hi	hi	PROPN
alkej-912	5	15	-	-	PUNCT
alkej-912	5	16	tech	tech	NOUN
alkej-912	5	17	park	park	NOUN
alkej-912	5	18	,	,	PUNCT
alkej-912	5	19	kulim	kulim	PROPN
alkej-912	5	20	09000,malaysia	09000,malaysia	PUNCT
alkej-912	6	1	*	*	PUNCT
alkej-912	6	2	*	*	PUNCT
alkej-912	6	3	*	*	PUNCT
alkej-912	6	4	*	*	NOUN
alkej-912	6	5	school	school	NOUN
alkej-912	6	6	of	of	ADP
alkej-912	6	7	mechanical	mechanical	ADJ
alkej-912	6	8	engineering	engineering	NOUN
alkej-912	6	9	,	,	PUNCT
alkej-912	6	10	engineering	engineering	NOUN
alkej-912	6	11	campus	campus	NOUN
alkej-912	6	12	,	,	PUNCT
alkej-912	6	13	university	university	NOUN
alkej-912	6	14	sains	sain	NOUN
alkej-912	6	15	malaysia	malaysia	PROPN
alkej-912	7	1	(	(	PUNCT
alkej-912	7	2	usm	usm	PROPN
alkej-912	7	3	)	)	PUNCT
alkej-912	7	4	,	,	PUNCT
alkej-912	7	5	14300	14300	NUM
alkej-912	7	6	nibong	nibong	ADJ
alkej-912	7	7	tebal	tebal	PROPN
alkej-912	7	8	,	,	PUNCT
alkej-912	7	9	seberang	seberang	PROPN
alkej-912	7	10	perai	perai	PROPN
alkej-912	7	11	selatan	selatan	PROPN
alkej-912	7	12	,	,	PUNCT
alkej-912	7	13	pulau	pulau	PROPN
alkej-912	7	14	pinang	pinang	PROPN
alkej-912	7	15	,	,	PUNCT
alkej-912	7	16	malaysia	malaysia	PROPN
alkej-912	7	17	corresponding	correspond	VERB
alkej-912	7	18	author	author	NOUN
alkej-912	7	19	*	*	NOUN
alkej-912	7	20	email	email	NOUN
alkej-912	7	21	:	:	PUNCT
alkej-912	7	22	saramr@mtu.edu.iq	saramr@mtu.edu.iq	NOUN
alkej-912	7	23	*	*	PUNCT
alkej-912	7	24	*	*	NOUN
alkej-912	7	25	email	email	NOUN
alkej-912	7	26	:	:	PUNCT
alkej-912	7	27	dmahir@kecbu.uobaghdad.edu.iq	dmahir@kecbu.uobaghdad.edu.iq	NOUN
alkej-912	7	28	*	*	PUNCT
alkej-912	7	29	*	*	PUNCT
alkej-912	7	30	*	*	NOUN
alkej-912	7	31	email	email	NOUN
alkej-912	7	32	:	:	PUNCT
alkej-912	7	33	norhaniza@unikl.edu.my	norhaniza@unikl.edu.my	PROPN
alkej-912	7	34	*	*	PUNCT
alkej-912	7	35	*	*	PUNCT
alkej-912	7	36	*	*	PUNCT
alkej-912	7	37	*	*	NOUN
alkej-912	7	38	email	email	NOUN
alkej-912	7	39	:	:	PUNCT
alkej-912	7	40	hasnida@usm.my	hasnida@usm.my	X
alkej-912	7	41	(	(	PUNCT
alkej-912	7	42	received	receive	VERB
alkej-912	7	43	30	30	NUM
alkej-912	7	44	october	october	NOUN
alkej-912	7	45	2023	2023	NUM
alkej-912	7	46	;	;	PUNCT
alkej-912	7	47	accepted	accept	VERB
alkej-912	7	48	31	31	NUM
alkej-912	7	49	march	march	NOUN
alkej-912	7	50	2024	2024	NUM
alkej-912	7	51	;	;	PUNCT
alkej-912	7	52	published	publish	VERB
alkej-912	7	53	1	1	NUM
alkej-912	7	54	june	june	PROPN
alkej-912	7	55	2024	2024	NUM
alkej-912	7	56	)	)	PUNCT
alkej-912	7	57	https://doi.org/10.22153/kej.2024.03.001	https://doi.org/10.22153/kej.2024.03.001	X
alkej-912	7	58	abstract	abstract	ADJ
alkej-912	7	59	numerous	numerous	ADJ
alkej-912	7	60	applications	application	NOUN
alkej-912	7	61	have	have	AUX
alkej-912	7	62	been	be	AUX
alkej-912	7	63	developed	develop	VERB
alkej-912	7	64	,	,	PUNCT
alkej-912	7	65	primarily	primarily	ADV
alkej-912	7	66	focusing	focus	VERB
alkej-912	7	67	on	on	ADP
alkej-912	7	68	achieving	achieve	VERB
alkej-912	7	69	platform	platform	NOUN
alkej-912	7	70	equilibrium	equilibrium	NOUN
alkej-912	7	71	.	.	PUNCT
alkej-912	8	1	the	the	DET
alkej-912	8	2	system	system	NOUN
alkej-912	8	3	may	may	AUX
alkej-912	8	4	employ	employ	VERB
alkej-912	8	5	electric	electric	ADJ
alkej-912	8	6	motors	motor	NOUN
alkej-912	8	7	or	or	CCONJ
alkej-912	8	8	hydraulic	hydraulic	ADJ
alkej-912	8	9	cylinders	cylinder	NOUN
alkej-912	8	10	,	,	PUNCT
alkej-912	8	11	conventional	conventional	ADJ
alkej-912	8	12	valves	valve	NOUN
alkej-912	8	13	,	,	PUNCT
alkej-912	8	14	or	or	CCONJ
alkej-912	8	15	a	a	DET
alkej-912	8	16	control	control	NOUN
alkej-912	8	17	mechanism	mechanism	NOUN
alkej-912	8	18	that	that	PRON
alkej-912	8	19	utilizes	utilize	VERB
alkej-912	8	20	pressure	pressure	NOUN
alkej-912	8	21	sensors	sensor	NOUN
alkej-912	8	22	.	.	PUNCT
alkej-912	9	1	the	the	DET
alkej-912	9	2	majority	majority	NOUN
alkej-912	9	3	of	of	ADP
alkej-912	9	4	these	these	DET
alkej-912	9	5	sources	source	NOUN
alkej-912	9	6	exhibit	exhibit	VERB
alkej-912	9	7	inaccuracies	inaccuracy	NOUN
alkej-912	9	8	,	,	PUNCT
alkej-912	9	9	demonstrate	demonstrate	VERB
alkej-912	9	10	a	a	DET
alkej-912	9	11	sluggish	sluggish	ADJ
alkej-912	9	12	response	response	NOUN
alkej-912	9	13	time	time	NOUN
alkej-912	9	14	,	,	PUNCT
alkej-912	9	15	and	and	CCONJ
alkej-912	9	16	may	may	AUX
alkej-912	9	17	require	require	VERB
alkej-912	9	18	periodic	periodic	ADJ
alkej-912	9	19	reorganization	reorganization	NOUN
alkej-912	9	20	.	.	PUNCT
alkej-912	10	1	before	before	ADP
alkej-912	10	2	implementing	implement	VERB
alkej-912	10	3	actual	actual	ADJ
alkej-912	10	4	systems	system	NOUN
alkej-912	10	5	,	,	PUNCT
alkej-912	10	6	it	it	PRON
alkej-912	10	7	is	be	AUX
alkej-912	10	8	imperative	imperative	ADJ
alkej-912	10	9	to	to	PART
alkej-912	10	10	develop	develop	VERB
alkej-912	10	11	a	a	DET
alkej-912	10	12	virtual	virtual	ADJ
alkej-912	10	13	system	system	NOUN
alkej-912	10	14	through	through	ADP
alkej-912	10	15	the	the	DET
alkej-912	10	16	utilization	utilization	NOUN
alkej-912	10	17	of	of	ADP
alkej-912	10	18	simulation	simulation	NOUN
alkej-912	10	19	techniques	technique	NOUN
alkej-912	10	20	.	.	PUNCT
alkej-912	11	1	this	this	DET
alkej-912	11	2	research	research	NOUN
alkej-912	11	3	aims	aim	VERB
alkej-912	11	4	to	to	PART
alkej-912	11	5	develop	develop	VERB
alkej-912	11	6	and	and	CCONJ
alkej-912	11	7	evaluate	evaluate	VERB
alkej-912	11	8	a	a	DET
alkej-912	11	9	platform	platform	NOUN
alkej-912	11	10	comprising	comprise	VERB
alkej-912	11	11	two	two	NUM
alkej-912	11	12	hydraulic	hydraulic	ADJ
alkej-912	11	13	cylinders	cylinder	NOUN
alkej-912	11	14	and	and	CCONJ
alkej-912	11	15	two	two	NUM
alkej-912	11	16	proportional	proportional	ADJ
alkej-912	11	17	valves	valve	NOUN
alkej-912	11	18	.	.	PUNCT
alkej-912	12	1	the	the	DET
alkej-912	12	2	design	design	NOUN
alkej-912	12	3	of	of	ADP
alkej-912	12	4	a	a	DET
alkej-912	12	5	hypothetical	hypothetical	ADJ
alkej-912	12	6	hydraulic	hydraulic	ADJ
alkej-912	12	7	system	system	NOUN
alkej-912	12	8	involves	involve	VERB
alkej-912	12	9	an	an	DET
alkej-912	12	10	analysis	analysis	NOUN
alkej-912	12	11	of	of	ADP
alkej-912	12	12	the	the	DET
alkej-912	12	13	system	system	NOUN
alkej-912	12	14	and	and	CCONJ
alkej-912	12	15	the	the	DET
alkej-912	12	16	derivation	derivation	NOUN
alkej-912	12	17	of	of	ADP
alkej-912	12	18	its	its	PRON
alkej-912	12	19	transfer	transfer	NOUN
alkej-912	12	20	function	function	NOUN
alkej-912	12	21	.	.	PUNCT
alkej-912	13	1	subsequently	subsequently	ADV
alkej-912	13	2	,	,	PUNCT
alkej-912	13	3	the	the	DET
alkej-912	13	4	performance	performance	NOUN
alkej-912	13	5	of	of	ADP
alkej-912	13	6	the	the	DET
alkej-912	13	7	system	system	NOUN
alkej-912	13	8	is	be	AUX
alkej-912	13	9	assessed	assess	VERB
alkej-912	13	10	by	by	ADP
alkej-912	13	11	identifying	identify	VERB
alkej-912	13	12	the	the	DET
alkej-912	13	13	optimal	optimal	ADJ
alkej-912	13	14	approach	approach	NOUN
alkej-912	13	15	for	for	ADP
alkej-912	13	16	acquiring	acquire	VERB
alkej-912	13	17	the	the	DET
alkej-912	13	18	parameters	parameter	NOUN
alkej-912	13	19	kp	kp	PROPN
alkej-912	13	20	,	,	PUNCT
alkej-912	13	21	ki	ki	PROPN
alkej-912	13	22	,	,	PUNCT
alkej-912	13	23	and	and	CCONJ
alkej-912	13	24	kd	kd	PROPN
alkej-912	13	25	,	,	PUNCT
alkej-912	13	26	an	an	DET
alkej-912	13	27	examination	examination	NOUN
alkej-912	13	28	is	be	AUX
alkej-912	13	29	conducted	conduct	VERB
alkej-912	13	30	to	to	PART
alkej-912	13	31	optimize	optimize	VERB
alkej-912	13	32	the	the	DET
alkej-912	13	33	existing	exist	VERB
alkej-912	13	34	genetic	genetic	ADJ
alkej-912	13	35	algorithm	algorithm	NOUN
alkej-912	13	36	(	(	PUNCT
alkej-912	13	37	ga	ga	NOUN
alkej-912	13	38	)	)	PUNCT
alkej-912	13	39	pid	pid	NOUN
alkej-912	13	40	controller	controller	NOUN
alkej-912	13	41	and	and	CCONJ
alkej-912	13	42	the	the	DET
alkej-912	13	43	particle	particle	NOUN
alkej-912	13	44	swarm	swarm	NOUN
alkej-912	13	45	optimization	optimization	NOUN
alkej-912	13	46	(	(	PUNCT
alkej-912	13	47	pso	pso	NOUN
alkej-912	13	48	)	)	PUNCT
alkej-912	13	49	algorithm	algorithm	NOUN
alkej-912	13	50	through	through	ADP
alkej-912	13	51	the	the	DET
alkej-912	13	52	utilization	utilization	NOUN
alkej-912	13	53	of	of	ADP
alkej-912	13	54	matlab	matlab	PROPN
alkej-912	13	55	simulation	simulation	PROPN
alkej-912	13	56	.	.	PUNCT
alkej-912	14	1	the	the	DET
alkej-912	14	2	results	result	NOUN
alkej-912	14	3	indicate	indicate	VERB
alkej-912	14	4	that	that	SCONJ
alkej-912	14	5	the	the	DET
alkej-912	14	6	genetic	genetic	ADJ
alkej-912	14	7	algorithm	algorithm	NOUN
alkej-912	14	8	(	(	PUNCT
alkej-912	14	9	ga	ga	NOUN
alkej-912	14	10	)	)	PUNCT
alkej-912	14	11	pid	pid	NOUN
alkej-912	14	12	algorithm	algorithm	NOUN
alkej-912	14	13	outperforms	outperform	VERB
alkej-912	14	14	the	the	DET
alkej-912	14	15	particle	particle	NOUN
alkej-912	14	16	swarm	swarm	NOUN
alkej-912	14	17	optimization	optimization	NOUN
alkej-912	14	18	(	(	PUNCT
alkej-912	14	19	pso	pso	NOUN
alkej-912	14	20	)	)	PUNCT
alkej-912	14	21	pid	pid	NOUN
alkej-912	14	22	controller	controller	NOUN
alkej-912	14	23	in	in	ADP
alkej-912	14	24	enhancing	enhance	VERB
alkej-912	14	25	system	system	NOUN
alkej-912	14	26	performance	performance	NOUN
alkej-912	14	27	.	.	PUNCT
alkej-912	15	1	the	the	DET
alkej-912	15	2	chosen	choose	VERB
alkej-912	15	3	error	error	NOUN
alkej-912	15	4	standard	standard	NOUN
alkej-912	15	5	for	for	ADP
alkej-912	15	6	the	the	DET
alkej-912	15	7	self	self	NOUN
alkej-912	15	8	-	-	PUNCT
alkej-912	15	9	balance	balance	NOUN
alkej-912	15	10	platform	platform	NOUN
alkej-912	15	11	control	control	NOUN
alkej-912	15	12	system	system	NOUN
alkej-912	15	13	is	be	AUX
alkej-912	15	14	the	the	DET
alkej-912	15	15	integral	integral	ADJ
alkej-912	15	16	time	time	NOUN
alkej-912	15	17	absolute	absolute	ADJ
alkej-912	15	18	error	error	NOUN
alkej-912	15	19	(	(	PUNCT
alkej-912	15	20	itae	itae	NOUN
alkej-912	15	21	)	)	PUNCT
alkej-912	15	22	type	type	NOUN
alkej-912	15	23	.	.	PUNCT
alkej-912	16	1	the	the	DET
alkej-912	16	2	system	system	NOUN
alkej-912	16	3	exhibits	exhibit	VERB
alkej-912	16	4	an	an	DET
alkej-912	16	5	improved	improved	ADJ
alkej-912	16	6	rate	rate	NOUN
alkej-912	16	7	of	of	ADP
alkej-912	16	8	convergence	convergence	NOUN
alkej-912	16	9	.	.	PUNCT
alkej-912	17	1	keywords	keyword	NOUN
alkej-912	17	2	:	:	PUNCT
alkej-912	17	3	hydraulic	hydraulic	ADJ
alkej-912	17	4	;	;	PUNCT
alkej-912	17	5	proportional	proportional	ADJ
alkej-912	17	6	;	;	PUNCT
alkej-912	17	7	mathematical	mathematical	ADJ
alkej-912	17	8	model	model	NOUN
alkej-912	17	9	;	;	PUNCT
alkej-912	17	10	simulation	simulation	NOUN
alkej-912	17	11	;	;	PUNCT
alkej-912	17	12	pid	pid	NOUN
alkej-912	17	13	;	;	PUNCT
alkej-912	17	14	controller	controller	NOUN
alkej-912	17	15	;	;	PUNCT
alkej-912	17	16	genetic	genetic	ADJ
alkej-912	17	17	algorithm	algorithm	NOUN
alkej-912	17	18	(	(	PUNCT
alkej-912	17	19	ga	ga	PROPN
alkej-912	17	20	)	)	PUNCT
alkej-912	17	21	;	;	PUNCT
alkej-912	17	22	particle	particle	NOUN
alkej-912	17	23	swarm	swarm	NOUN
alkej-912	17	24	optimization	optimization	NOUN
alkej-912	17	25	(	(	PUNCT
alkej-912	17	26	pso	pso	NOUN
alkej-912	17	27	)	)	PUNCT
alkej-912	17	28	1	1	NUM
alkej-912	17	29	.	.	PUNCT
alkej-912	18	1	introduction	introduction	NOUN
alkej-912	18	2	in	in	ADP
alkej-912	18	3	the	the	DET
alkej-912	18	4	context	context	NOUN
alkej-912	18	5	of	of	ADP
alkej-912	18	6	scientific	scientific	ADJ
alkej-912	18	7	and	and	CCONJ
alkej-912	18	8	technological	technological	ADJ
alkej-912	18	9	advancements	advancement	NOUN
alkej-912	18	10	,	,	PUNCT
alkej-912	18	11	modern	modern	ADJ
alkej-912	18	12	systems	system	NOUN
alkej-912	18	13	necessitate	necessitate	VERB
alkej-912	18	14	the	the	DET
alkej-912	18	15	attainment	attainment	NOUN
alkej-912	18	16	of	of	ADP
alkej-912	18	17	optimal	optimal	ADJ
alkej-912	18	18	levels	level	NOUN
alkej-912	18	19	of	of	ADP
alkej-912	18	20	performance	performance	NOUN
alkej-912	18	21	and	and	CCONJ
alkej-912	18	22	dependability	dependability	NOUN
alkej-912	18	23	by	by	ADP
alkej-912	18	24	employing	employ	VERB
alkej-912	18	25	platform	platform	NOUN
alkej-912	18	26	-	-	PUNCT
alkej-912	18	27	stabilizing	stabilize	VERB
alkej-912	18	28	approaches	approach	NOUN
alkej-912	18	29	.	.	PUNCT
alkej-912	19	1	the	the	DET
alkej-912	19	2	stability	stability	NOUN
alkej-912	19	3	systems	system	NOUN
alkej-912	19	4	of	of	ADP
alkej-912	19	5	platforms	platform	NOUN
alkej-912	19	6	demonstrate	demonstrate	VERB
alkej-912	19	7	variety	variety	NOUN
alkej-912	19	8	depending	depend	VERB
alkej-912	19	9	on	on	ADP
alkej-912	19	10	the	the	DET
alkej-912	19	11	strategy	strategy	NOUN
alkej-912	19	12	employed	employ	VERB
alkej-912	19	13	for	for	ADP
alkej-912	19	14	platform	platform	NOUN
alkej-912	19	15	design	design	NOUN
alkej-912	19	16	and	and	CCONJ
alkej-912	19	17	the	the	DET
alkej-912	19	18	mechanisms	mechanism	NOUN
alkej-912	19	19	utilized	utilize	VERB
alkej-912	19	20	for	for	ADP
alkej-912	19	21	governing	govern	VERB
alkej-912	19	22	and	and	CCONJ
alkej-912	19	23	maintaining	maintain	VERB
alkej-912	19	24	the	the	DET
alkej-912	19	25	platform	platform	NOUN
alkej-912	19	26	's	's	PART
alkej-912	19	27	consistent	consistent	ADJ
alkej-912	19	28	level	level	NOUN
alkej-912	19	29	position	position	NOUN
alkej-912	19	30	.	.	PUNCT
alkej-912	20	1	maintaining	maintain	VERB
alkej-912	20	2	the	the	DET
alkej-912	20	3	level	level	NOUN
alkej-912	20	4	of	of	ADP
alkej-912	20	5	devices	device	NOUN
alkej-912	20	6	and	and	CCONJ
alkej-912	20	7	equipment	equipment	NOUN
alkej-912	20	8	in	in	ADP
alkej-912	20	9	laboratories	laboratory	NOUN
alkej-912	20	10	is	be	AUX
alkej-912	20	11	crucial	crucial	ADJ
alkej-912	20	12	for	for	ADP
alkej-912	20	13	performance	performance	NOUN
alkej-912	20	14	and	and	CCONJ
alkej-912	20	15	preventing	prevent	VERB
alkej-912	20	16	corrosion	corrosion	NOUN
alkej-912	20	17	and	and	CCONJ
alkej-912	20	18	damage	damage	NOUN
alkej-912	20	19	to	to	ADP
alkej-912	20	20	parts	part	NOUN
alkej-912	20	21	.	.	PUNCT
alkej-912	21	1	utilizing	utilize	VERB
alkej-912	21	2	the	the	DET
alkej-912	21	3	software	software	NOUN
alkej-912	21	4	tool	tool	NOUN
alkej-912	21	5	archicad	archicad	PROPN
alkej-912	22	1	[	[	X
alkej-912	22	2	1	1	NUM
alkej-912	22	3	]	]	PUNCT
alkej-912	22	4	begin	begin	VERB
alkej-912	22	5	the	the	DET
alkej-912	22	6	process	process	NOUN
alkej-912	22	7	of	of	ADP
alkej-912	22	8	constructing	construct	VERB
alkej-912	22	9	a	a	DET
alkej-912	22	10	triangular	triangular	ADV
alkej-912	22	11	-	-	PUNCT
alkej-912	22	12	shaped	shape	VERB
alkej-912	22	13	balancing	balancing	NOUN
alkej-912	22	14	platform	platform	NOUN
alkej-912	22	15	.	.	PUNCT
alkej-912	23	1	the	the	DET
alkej-912	23	2	examined	examine	VERB
alkej-912	23	3	system	system	NOUN
alkej-912	23	4	is	be	AUX
alkej-912	23	5	outfitted	outfit	VERB
alkej-912	23	6	with	with	ADP
alkej-912	23	7	a	a	DET
alkej-912	23	8	pair	pair	NOUN
alkej-912	23	9	of	of	ADP
alkej-912	23	10	hydraulic	hydraulic	ADJ
alkej-912	23	11	cylinders	cylinder	NOUN
alkej-912	23	12	,	,	PUNCT
alkej-912	23	13	mailto:dmahir@kecbu.uobaghdad.edu.iq	mailto:dmahir@kecbu.uobaghdad.edu.iq	PROPN
alkej-912	23	14	https://doi.org/10.22153/kej.2024.03.001	https://doi.org/10.22153/kej.2024.03.001	PROPN
alkej-912	23	15	sarah	sarah	PROPN
alkej-912	23	16	m.	m.	PROPN
alkej-912	23	17	rashid	rashid	PROPN
alkej-912	23	18	al	al	PROPN
alkej-912	23	19	-	-	PUNCT
alkej-912	23	20	khwarizmi	khwarizmi	PROPN
alkej-912	23	21	engineering	engineering	NOUN
alkej-912	23	22	journal	journal	PROPN
alkej-912	23	23	,	,	PUNCT
alkej-912	23	24	vol	vol	NOUN
alkej-912	23	25	.	.	PROPN
alkej-912	23	26	20	20	NUM
alkej-912	23	27	,	,	PUNCT
alkej-912	23	28	no.2	no.2	PROPN
alkej-912	23	29	,	,	PUNCT
alkej-912	23	30	p.p	p.p	PROPN
alkej-912	23	31	.	.	NOUN
alkej-912	23	32	7889(2024	7889(2024	NUM
alkej-912	23	33	)	)	PUNCT
alkej-912	23	34	57	57	NUM
alkej-912	23	35	facilitating	facilitate	VERB
alkej-912	23	36	the	the	DET
alkej-912	23	37	manipulation	manipulation	NOUN
alkej-912	23	38	of	of	ADP
alkej-912	23	39	two	two	NUM
alkej-912	23	40	independent	independent	ADJ
alkej-912	23	41	degrees	degree	NOUN
alkej-912	23	42	of	of	ADP
alkej-912	23	43	freedom	freedom	NOUN
alkej-912	23	44	.	.	PUNCT
alkej-912	24	1	a	a	DET
alkej-912	24	2	mathematical	mathematical	ADJ
alkej-912	24	3	model	model	NOUN
alkej-912	24	4	was	be	AUX
alkej-912	24	5	created	create	VERB
alkej-912	24	6	to	to	PART
alkej-912	24	7	provide	provide	VERB
alkej-912	24	8	an	an	DET
alkej-912	24	9	accurate	accurate	ADJ
alkej-912	24	10	description	description	NOUN
alkej-912	24	11	of	of	ADP
alkej-912	24	12	the	the	DET
alkej-912	24	13	behavior	behavior	NOUN
alkej-912	24	14	shown	show	VERB
alkej-912	24	15	by	by	ADP
alkej-912	24	16	this	this	DET
alkej-912	24	17	system	system	NOUN
alkej-912	24	18	.	.	PUNCT
alkej-912	25	1	the	the	DET
alkej-912	25	2	present	present	ADJ
alkej-912	25	3	model	model	NOUN
alkej-912	25	4	was	be	AUX
alkej-912	25	5	produced	produce	VERB
alkej-912	25	6	by	by	ADP
alkej-912	25	7	applying	apply	VERB
alkej-912	25	8	an	an	DET
alkej-912	25	9	optimization	optimization	NOUN
alkej-912	25	10	methodology	methodology	NOUN
alkej-912	25	11	that	that	PRON
alkej-912	25	12	incorporates	incorporate	VERB
alkej-912	25	13	both	both	DET
alkej-912	25	14	a	a	DET
alkej-912	25	15	genetic	genetic	ADJ
alkej-912	25	16	algorithm	algorithm	NOUN
alkej-912	25	17	and	and	CCONJ
alkej-912	25	18	a	a	DET
alkej-912	25	19	particle	particle	NOUN
alkej-912	25	20	swarm	swarm	NOUN
alkej-912	25	21	optimization	optimization	NOUN
alkej-912	25	22	algorithm	algorithm	NOUN
alkej-912	25	23	utilized	utilize	VERB
alkej-912	25	24	,	,	PUNCT
alkej-912	25	25	specifically	specifically	ADV
alkej-912	25	26	,	,	PUNCT
alkej-912	25	27	certain	certain	ADJ
alkej-912	25	28	multi	multi	ADJ
alkej-912	25	29	-	-	ADJ
alkej-912	25	30	robot	robot	ADJ
alkej-912	25	31	systems	system	NOUN
alkej-912	25	32	.	.	PUNCT
alkej-912	26	1	a	a	DET
alkej-912	26	2	comparison	comparison	NOUN
alkej-912	26	3	analysis	analysis	NOUN
alkej-912	26	4	was	be	AUX
alkej-912	26	5	undertaken	undertake	VERB
alkej-912	26	6	to	to	PART
alkej-912	26	7	assess	assess	VERB
alkej-912	26	8	the	the	DET
alkej-912	26	9	efficacy	efficacy	NOUN
alkej-912	26	10	of	of	ADP
alkej-912	26	11	these	these	DET
alkej-912	26	12	two	two	NUM
alkej-912	26	13	optimization	optimization	NOUN
alkej-912	26	14	methodologies	methodology	NOUN
alkej-912	26	15	[	[	X
alkej-912	26	16	2].the	2].the	DET
alkej-912	26	17	hexapod	hexapod	ADJ
alkej-912	26	18	parallel	parallel	NOUN
alkej-912	26	19	manipulator	manipulator	NOUN
alkej-912	26	20	's	's	PART
alkej-912	26	21	stability	stability	NOUN
alkej-912	26	22	was	be	AUX
alkej-912	26	23	ensured	ensure	VERB
alkej-912	26	24	through	through	ADP
alkej-912	26	25	a	a	DET
alkej-912	26	26	specialized	specialized	ADJ
alkej-912	26	27	control	control	NOUN
alkej-912	26	28	system	system	NOUN
alkej-912	26	29	,	,	PUNCT
alkej-912	26	30	incorporating	incorporate	VERB
alkej-912	26	31	advanced	advanced	ADJ
alkej-912	26	32	techniques	technique	NOUN
alkej-912	26	33	like	like	ADP
alkej-912	26	34	a	a	DET
alkej-912	26	35	telescopic	telescopic	ADJ
alkej-912	26	36	boom	boom	NOUN
alkej-912	26	37	and	and	CCONJ
alkej-912	26	38	a	a	DET
alkej-912	26	39	gyroscopic	gyroscopic	NOUN
alkej-912	26	40	self	self	NOUN
alkej-912	26	41	-	-	PUNCT
alkej-912	26	42	leveling	level	VERB
alkej-912	26	43	head	head	NOUN
alkej-912	26	44	for	for	ADP
alkej-912	26	45	analysis[3	analysis[3	PROPN
alkej-912	26	46	]	]	PUNCT
alkej-912	26	47	.	.	PUNCT
alkej-912	27	1	the	the	DET
alkej-912	27	2	study	study	NOUN
alkej-912	27	3	focuses	focus	VERB
alkej-912	27	4	on	on	ADP
alkej-912	27	5	creating	create	VERB
alkej-912	27	6	a	a	DET
alkej-912	27	7	pedestal	pedestal	ADJ
alkej-912	27	8	assembly	assembly	NOUN
alkej-912	27	9	for	for	ADP
alkej-912	27	10	a	a	DET
alkej-912	27	11	medium	medium	ADJ
alkej-912	27	12	-	-	PUNCT
alkej-912	27	13	power	power	NOUN
alkej-912	27	14	transportable	transportable	ADJ
alkej-912	27	15	radar	radar	NOUN
alkej-912	27	16	system	system	NOUN
alkej-912	27	17	,	,	PUNCT
alkej-912	27	18	utilizing	utilize	VERB
alkej-912	27	19	electromechanical	electromechanical	ADJ
alkej-912	27	20	and	and	CCONJ
alkej-912	27	21	sliding	slide	VERB
alkej-912	27	22	actuators	actuator	NOUN
alkej-912	27	23	to	to	PART
alkej-912	27	24	adjust	adjust	VERB
alkej-912	27	25	the	the	DET
alkej-912	27	26	azimuth	azimuth	NOUN
alkej-912	27	27	and	and	CCONJ
alkej-912	27	28	elevation	elevation	NOUN
alkej-912	27	29	settings	setting	NOUN
alkej-912	27	30	of	of	ADP
alkej-912	27	31	a	a	DET
alkej-912	27	32	7	7	NUM
alkej-912	27	33	-	-	PUNCT
alkej-912	27	34	ton	ton	NOUN
alkej-912	27	35	antenna	antenna	NOUN
alkej-912	27	36	[	[	X
alkej-912	27	37	4].the	4].the	DET
alkej-912	27	38	design	design	NOUN
alkej-912	27	39	of	of	ADP
alkej-912	27	40	an	an	DET
alkej-912	27	41	electro	electro	NOUN
alkej-912	27	42	-	-	PUNCT
alkej-912	27	43	hydraulicdriven	hydraulicdriven	NOUN
alkej-912	27	44	parallel	parallel	ADJ
alkej-912	27	45	stabilization	stabilization	NOUN
alkej-912	27	46	platform	platform	NOUN
alkej-912	27	47	requires	require	VERB
alkej-912	27	48	careful	careful	ADJ
alkej-912	27	49	consideration	consideration	NOUN
alkej-912	27	50	of	of	ADP
alkej-912	27	51	factors	factor	NOUN
alkej-912	27	52	like	like	ADP
alkej-912	27	53	fluid	fluid	NOUN
alkej-912	27	54	stiffness	stiffness	NOUN
alkej-912	27	55	,	,	PUNCT
alkej-912	27	56	damping	damp	VERB
alkej-912	27	57	properties	property	NOUN
alkej-912	27	58	,	,	PUNCT
alkej-912	27	59	and	and	CCONJ
alkej-912	27	60	the	the	DET
alkej-912	27	61	coupling	coupling	NOUN
alkej-912	27	62	effect	effect	NOUN
alkej-912	27	63	between	between	ADP
alkej-912	27	64	the	the	DET
alkej-912	27	65	fluid	fluid	NOUN
alkej-912	27	66	and	and	CCONJ
alkej-912	27	67	structure	structure	NOUN
alkej-912	27	68	,	,	PUNCT
alkej-912	27	69	which	which	PRON
alkej-912	27	70	increases	increase	VERB
alkej-912	27	71	the	the	DET
alkej-912	27	72	complexity	complexity	NOUN
alkej-912	27	73	of	of	ADP
alkej-912	27	74	the	the	DET
alkej-912	27	75	modal	modal	ADJ
alkej-912	27	76	and	and	CCONJ
alkej-912	27	77	dynamic	dynamic	ADJ
alkej-912	27	78	response	response	NOUN
alkej-912	27	79	characteristics[5	characteristics[5	PROPN
alkej-912	27	80	]	]	PUNCT
alkej-912	27	81	.	.	PUNCT
alkej-912	28	1	the	the	DET
alkej-912	28	2	study	study	NOUN
alkej-912	28	3	presents	present	VERB
alkej-912	28	4	a	a	DET
alkej-912	28	5	multipurpose	multipurpose	ADJ
alkej-912	28	6	amphibious	amphibious	ADJ
alkej-912	28	7	platform	platform	NOUN
alkej-912	28	8	for	for	ADP
alkej-912	28	9	geognostic	geognostic	ADJ
alkej-912	28	10	tasks	task	NOUN
alkej-912	28	11	in	in	ADP
alkej-912	28	12	nearshore	nearshore	NOUN
alkej-912	28	13	environments	environment	NOUN
alkej-912	28	14	,	,	PUNCT
alkej-912	28	15	regulated	regulate	VERB
alkej-912	28	16	by	by	ADP
alkej-912	28	17	flow	flow	NOUN
alkej-912	28	18	rate	rate	NOUN
alkej-912	28	19	and	and	CCONJ
alkej-912	28	20	pressure	pressure	NOUN
alkej-912	28	21	,	,	PUNCT
alkej-912	28	22	and	and	CCONJ
alkej-912	28	23	using	use	VERB
alkej-912	28	24	the	the	DET
alkej-912	28	25	inertial	inertial	ADJ
alkej-912	28	26	measurement	measurement	NOUN
alkej-912	28	27	unit	unit	NOUN
alkej-912	28	28	for	for	ADP
alkej-912	28	29	seafloor	seafloor	NOUN
alkej-912	28	30	alignment.[6]the	alignment.[6]the	DET
alkej-912	28	31	study	study	NOUN
alkej-912	28	32	proposes	propose	VERB
alkej-912	28	33	a	a	DET
alkej-912	28	34	6	6	NUM
alkej-912	28	35	-	-	PUNCT
alkej-912	28	36	dof	dof	NOUN
alkej-912	28	37	orthogonal	orthogonal	ADJ
alkej-912	28	38	hexapod	hexapod	NOUN
alkej-912	28	39	with	with	ADP
alkej-912	28	40	force	force	NOUN
alkej-912	28	41	feedback	feedback	NOUN
alkej-912	28	42	control	control	NOUN
alkej-912	28	43	for	for	ADP
alkej-912	28	44	preventing	prevent	VERB
alkej-912	28	45	vibration	vibration	NOUN
alkej-912	28	46	and	and	CCONJ
alkej-912	28	47	steering	steering	NOUN
alkej-912	28	48	of	of	ADP
alkej-912	28	49	space	space	NOUN
alkej-912	28	50	observation	observation	NOUN
alkej-912	28	51	systems	system	NOUN
alkej-912	28	52	,	,	PUNCT
alkej-912	28	53	using	use	VERB
alkej-912	28	54	hydraulic	hydraulic	ADJ
alkej-912	28	55	actuator	actuator	NOUN
alkej-912	28	56	force	force	PROPN
alkej-912	28	57	control.[7]the	control.[7]the	PRON
alkej-912	28	58	t	t	NOUN
alkej-912	28	59	shipborne	shipborne	NOUN
alkej-912	28	60	-	-	PUNCT
alkej-912	28	61	stabilized	stabilize	VERB
alkej-912	28	62	platform	platform	NOUN
alkej-912	28	63	is	be	AUX
alkej-912	28	64	crucial	crucial	ADJ
alkej-912	28	65	for	for	ADP
alkej-912	28	66	maintaining	maintain	VERB
alkej-912	28	67	shipborne	shipborne	ADJ
alkej-912	28	68	equipment	equipment	NOUN
alkej-912	28	69	stability	stability	NOUN
alkej-912	28	70	using	use	VERB
alkej-912	28	71	the	the	DET
alkej-912	28	72	model	model	NOUN
alkej-912	28	73	predictive	predictive	PROPN
alkej-912	28	74	control	control	PROPN
alkej-912	28	75	approach	approach	NOUN
alkej-912	28	76	(	(	PUNCT
alkej-912	28	77	mpmpc	mpmpc	NOUN
alkej-912	28	78	)	)	PUNCT
alkej-912	28	79	,	,	PUNCT
alkej-912	28	80	which	which	PRON
alkej-912	28	81	predicts	predict	VERB
alkej-912	28	82	ship	ship	NOUN
alkej-912	28	83	motion	motion	NOUN
alkej-912	28	84	[	[	X
alkej-912	28	85	8	8	NUM
alkej-912	28	86	]	]	PUNCT
alkej-912	28	87	.	.	PUNCT
alkej-912	29	1	also	also	ADV
alkej-912	29	2	,	,	PUNCT
alkej-912	29	3	the	the	DET
alkej-912	29	4	stewart	stewart	PROPN
alkej-912	29	5	platform	platform	NOUN
alkej-912	29	6	is	be	AUX
alkej-912	29	7	a	a	DET
alkej-912	29	8	mechanical	mechanical	ADJ
alkej-912	29	9	system	system	NOUN
alkej-912	29	10	that	that	PRON
alkej-912	29	11	comprises	comprise	VERB
alkej-912	29	12	a	a	DET
alkej-912	29	13	mobile	mobile	ADJ
alkej-912	29	14	platform	platform	NOUN
alkej-912	29	15	and	and	CCONJ
alkej-912	29	16	a	a	DET
alkej-912	29	17	stationary	stationary	ADJ
alkej-912	29	18	base	base	NOUN
alkej-912	29	19	linked	link	VERB
alkej-912	29	20	by	by	ADP
alkej-912	29	21	six	six	NUM
alkej-912	29	22	extensible	extensible	ADJ
alkej-912	29	23	legs	leg	NOUN
alkej-912	29	24	.	.	PUNCT
alkej-912	30	1	it	it	PRON
alkej-912	30	2	functions	function	VERB
alkej-912	30	3	as	as	ADP
alkej-912	30	4	a	a	DET
alkej-912	30	5	motion	motion	NOUN
alkej-912	30	6	base	base	NOUN
alkej-912	30	7	and	and	CCONJ
alkej-912	30	8	incorporates	incorporate	VERB
alkej-912	30	9	prismatic	prismatic	ADJ
alkej-912	30	10	,	,	PUNCT
alkej-912	30	11	universal	universal	ADJ
alkej-912	30	12	,	,	PUNCT
alkej-912	30	13	and	and	CCONJ
alkej-912	30	14	spherical	spherical	ADJ
alkej-912	30	15	joints[9	joints[9	PROPN
alkej-912	30	16	]	]	PUNCT
alkej-912	30	17	.	.	PUNCT
alkej-912	31	1	2	2	X
alkej-912	31	2	.	.	X
alkej-912	31	3	design	design	NOUN
alkej-912	31	4	structure	structure	NOUN
alkej-912	31	5	of	of	ADP
alkej-912	31	6	the	the	DET
alkej-912	31	7	platform	platform	NOUN
alkej-912	31	8	the	the	DET
alkej-912	31	9	system	system	NOUN
alkej-912	31	10	is	be	AUX
alkej-912	31	11	designed	design	VERB
alkej-912	31	12	utilizing	utilize	VERB
alkej-912	31	13	the	the	DET
alkej-912	31	14	archicad	archicad	NOUN
alkej-912	31	15	drafting	draft	VERB
alkej-912	31	16	software	software	NOUN
alkej-912	31	17	,	,	PUNCT
alkej-912	31	18	incorporating	incorporate	VERB
alkej-912	31	19	the	the	DET
alkej-912	31	20	necessary	necessary	ADJ
alkej-912	31	21	dimensions	dimension	NOUN
alkej-912	31	22	for	for	ADP
alkej-912	31	23	implementation	implementation	NOUN
alkej-912	31	24	.	.	PUNCT
alkej-912	32	1	as	as	SCONJ
alkej-912	32	2	depicted	depict	VERB
alkej-912	32	3	in	in	ADP
alkej-912	32	4	figure	figure	NOUN
alkej-912	32	5	(	(	PUNCT
alkej-912	32	6	1	1	NUM
alkej-912	32	7	)	)	PUNCT
alkej-912	32	8	and	and	CCONJ
alkej-912	32	9	presented	present	VERB
alkej-912	32	10	in	in	ADP
alkej-912	32	11	table	table	NOUN
alkej-912	32	12	(	(	PUNCT
alkej-912	32	13	1	1	NUM
alkej-912	32	14	)	)	PUNCT
alkej-912	32	15	.	.	PUNCT
alkej-912	33	1	fig	fig	PROPN
alkej-912	33	2	.1	.1	PROPN
alkej-912	33	3	.	.	PUNCT
alkej-912	34	1	structural	structural	ADJ
alkej-912	34	2	design	design	NOUN
alkej-912	34	3	of	of	ADP
alkej-912	34	4	stabilizer	stabilizer	NOUN
alkej-912	34	5	platform	platform	NOUN
alkej-912	34	6	.	.	PUNCT
alkej-912	35	1	table	table	NOUN
alkej-912	35	2	1	1	NUM
alkej-912	35	3	,	,	PUNCT
alkej-912	35	4	mechanical	mechanical	ADJ
alkej-912	35	5	properties	property	NOUN
alkej-912	35	6	of	of	ADP
alkej-912	35	7	the	the	DET
alkej-912	35	8	platform	platform	NOUN
alkej-912	35	9	.	.	PUNCT
alkej-912	36	1	element	element	NOUN
alkej-912	36	2	value	value	NOUN
alkej-912	36	3	the	the	DET
alkej-912	36	4	height	height	NOUN
alkej-912	36	5	of	of	ADP
alkej-912	36	6	the	the	DET
alkej-912	36	7	platform	platform	NOUN
alkej-912	36	8	dimensions	dimension	NOUN
alkej-912	36	9	of	of	ADP
alkej-912	36	10	the	the	DET
alkej-912	36	11	platform	platform	NOUN
alkej-912	36	12	the	the	DET
alkej-912	36	13	initial	initial	ADJ
alkej-912	36	14	stroke	stroke	NOUN
alkej-912	36	15	of	of	ADP
alkej-912	36	16	reference	reference	NOUN
alkej-912	36	17	the	the	DET
alkej-912	36	18	initial	initial	ADJ
alkej-912	36	19	stroke	stroke	NOUN
alkej-912	36	20	of	of	ADP
alkej-912	36	21	actuation	actuation	NOUN
alkej-912	36	22	cylinders	cylinder	NOUN
alkej-912	36	23	49	49	NUM
alkej-912	36	24	cm	cm	NOUN
alkej-912	36	25	50	50	NUM
alkej-912	36	26	cm	cm	NOUN
alkej-912	36	27	14.5	14.5	NUM
alkej-912	36	28	cm	cm	NOUN
alkej-912	36	29	34.5	34.5	NUM
alkej-912	36	30	cm	cm	NOUN
alkej-912	36	31	2	2	NUM
alkej-912	36	32	.	.	PUNCT
alkej-912	36	33	methodology	methodology	NOUN
alkej-912	36	34	2.1	2.1	NUM
alkej-912	36	35	mathematical	mathematical	ADJ
alkej-912	36	36	models	model	NOUN
alkej-912	36	37	the	the	DET
alkej-912	36	38	system	system	NOUN
alkej-912	36	39	is	be	AUX
alkej-912	36	40	comprised	comprise	VERB
alkej-912	36	41	of	of	ADP
alkej-912	36	42	a	a	DET
alkej-912	36	43	pair	pair	NOUN
alkej-912	36	44	of	of	ADP
alkej-912	36	45	hydraulic	hydraulic	ADJ
alkej-912	36	46	cylinders	cylinder	NOUN
alkej-912	36	47	equipped	equip	VERB
alkej-912	36	48	with	with	ADP
alkej-912	36	49	two	two	NUM
alkej-912	36	50	proportional	proportional	ADJ
alkej-912	36	51	control	control	NOUN
alkej-912	36	52	valves	valve	NOUN
alkej-912	36	53	.	.	PUNCT
alkej-912	37	1	the	the	DET
alkej-912	37	2	purpose	purpose	NOUN
alkej-912	37	3	of	of	ADP
alkej-912	37	4	this	this	DET
alkej-912	37	5	mechanism	mechanism	NOUN
alkej-912	37	6	is	be	AUX
alkej-912	37	7	to	to	PART
alkej-912	37	8	control	control	VERB
alkej-912	37	9	the	the	DET
alkej-912	37	10	horizontal	horizontal	ADJ
alkej-912	37	11	and	and	CCONJ
alkej-912	37	12	vertical	vertical	ADJ
alkej-912	37	13	displacements	displacement	NOUN
alkej-912	37	14	of	of	ADP
alkej-912	37	15	every	every	DET
alkej-912	37	16	axis	axis	NOUN
alkej-912	37	17	.	.	PUNCT
alkej-912	38	1	the	the	DET
alkej-912	38	2	mathematical	mathematical	ADJ
alkej-912	38	3	model	model	NOUN
alkej-912	38	4	of	of	ADP
alkej-912	38	5	the	the	DET
alkej-912	38	6	system	system	NOUN
alkej-912	38	7	encompasses	encompass	VERB
alkej-912	38	8	the	the	DET
alkej-912	38	9	proportional	proportional	ADJ
alkej-912	38	10	control	control	NOUN
alkej-912	38	11	valve	valve	NOUN
alkej-912	38	12	and	and	CCONJ
alkej-912	38	13	cylinder	cylinder	NOUN
alkej-912	38	14	in	in	ADP
alkej-912	38	15	isolation	isolation	NOUN
alkej-912	38	16	.	.	PUNCT
alkej-912	39	1	in	in	ADP
alkej-912	39	2	situations	situation	NOUN
alkej-912	39	3	where	where	SCONJ
alkej-912	39	4	load	load	NOUN
alkej-912	39	5	reactive	reactive	ADJ
alkej-912	39	6	forces	force	NOUN
alkej-912	39	7	can	can	AUX
alkej-912	39	8	not	not	PART
alkej-912	39	9	be	be	AUX
alkej-912	39	10	disregarded	disregard	VERB
alkej-912	39	11	,	,	PUNCT
alkej-912	39	12	the	the	DET
alkej-912	39	13	input	input	NOUN
alkej-912	39	14	of	of	ADP
alkej-912	39	15	the	the	DET
alkej-912	39	16	system	system	NOUN
alkej-912	39	17	is	be	AUX
alkej-912	39	18	represented	represent	VERB
alkej-912	39	19	by	by	ADP
alkej-912	39	20	the	the	DET
alkej-912	39	21	valve	valve	NOUN
alkej-912	39	22	spool	spool	NOUN
alkej-912	39	23	displacement	displacement	NOUN
alkej-912	39	24	,	,	PUNCT
alkej-912	39	25	denoted	denote	VERB
alkej-912	39	26	as	as	ADP
alkej-912	39	27	x	x	X
alkej-912	39	28	,	,	PUNCT
alkej-912	39	29	while	while	SCONJ
alkej-912	39	30	the	the	DET
alkej-912	39	31	output	output	NOUN
alkej-912	39	32	of	of	ADP
alkej-912	39	33	the	the	DET
alkej-912	39	34	sarah	sarah	PROPN
alkej-912	39	35	m.	m.	PROPN
alkej-912	39	36	rashid	rashid	PROPN
alkej-912	39	37	al	al	PROPN
alkej-912	39	38	-	-	PUNCT
alkej-912	39	39	khwarizmi	khwarizmi	PROPN
alkej-912	39	40	engineering	engineering	NOUN
alkej-912	39	41	journal	journal	PROPN
alkej-912	39	42	,	,	PUNCT
alkej-912	39	43	vol	vol	NOUN
alkej-912	39	44	.	.	PROPN
alkej-912	39	45	20	20	NUM
alkej-912	39	46	,	,	PUNCT
alkej-912	39	47	no.2	no.2	PROPN
alkej-912	39	48	,	,	PUNCT
alkej-912	39	49	p.p	p.p	PROPN
alkej-912	39	50	.	.	NOUN
alkej-912	39	51	7889(2024	7889(2024	NUM
alkej-912	39	52	)	)	PUNCT
alkej-912	39	53	58	58	NUM
alkej-912	39	54	system	system	NOUN
alkej-912	39	55	is	be	AUX
alkej-912	39	56	represented	represent	VERB
alkej-912	39	57	by	by	ADP
alkej-912	39	58	the	the	DET
alkej-912	39	59	power	power	NOUN
alkej-912	39	60	piston	piston	NOUN
alkej-912	39	61	displacement	displacement	NOUN
alkej-912	39	62	,	,	PUNCT
alkej-912	39	63	denoted	denote	VERB
alkej-912	39	64	as	as	ADP
alkej-912	39	65	y.	y.	NOUN
alkej-912	39	66	the	the	DET
alkej-912	39	67	linearization	linearization	NOUN
alkej-912	39	68	of	of	ADP
alkej-912	39	69	a	a	DET
alkej-912	39	70	hydraulic	hydraulic	ADJ
alkej-912	39	71	system	system	NOUN
alkej-912	39	72	figure	figure	NOUN
alkej-912	39	73	(	(	PUNCT
alkej-912	39	74	2	2	NUM
alkej-912	39	75	):	):	PUNCT
alkej-912	39	76	(	(	PUNCT
alkej-912	39	77	a	a	X
alkej-912	39	78	)	)	PUNCT
alkej-912	39	79	depicts	depict	VERB
alkej-912	39	80	a	a	DET
alkej-912	39	81	hydraulic	hydraulic	ADJ
alkej-912	39	82	motor	motor	NOUN
alkej-912	39	83	.	.	PUNCT
alkej-912	40	1	the	the	DET
alkej-912	40	2	device	device	NOUN
alkej-912	40	3	can	can	AUX
alkej-912	40	4	be	be	AUX
alkej-912	40	5	described	describe	VERB
alkej-912	40	6	as	as	ADP
alkej-912	40	7	a	a	DET
alkej-912	40	8	hydraulic	hydraulic	ADJ
alkej-912	40	9	power	power	NOUN
alkej-912	40	10	amplifier	amplifier	NOUN
alkej-912	40	11	and	and	CCONJ
alkej-912	40	12	actuator	actuator	NOUN
alkej-912	40	13	that	that	PRON
alkej-912	40	14	is	be	AUX
alkej-912	40	15	regulated	regulate	VERB
alkej-912	40	16	by	by	ADP
alkej-912	40	17	a	a	DET
alkej-912	40	18	pilot	pilot	NOUN
alkej-912	40	19	valve	valve	NOUN
alkej-912	40	20	.	.	PUNCT
alkej-912	41	1	the	the	DET
alkej-912	41	2	pilot	pilot	NOUN
alkej-912	41	3	valve	valve	NOUN
alkej-912	41	4	exhibits	exhibit	VERB
alkej-912	41	5	a	a	DET
alkej-912	41	6	balanced	balanced	ADJ
alkej-912	41	7	configuration	configuration	NOUN
alkej-912	41	8	,	,	PUNCT
alkej-912	41	9	wherein	wherein	SCONJ
alkej-912	41	10	the	the	DET
alkej-912	41	11	pressure	pressure	NOUN
alkej-912	41	12	forces	force	NOUN
alkej-912	41	13	exerted	exert	VERB
alkej-912	41	14	against	against	ADP
alkej-912	41	15	it	it	PRON
alkej-912	41	16	are	be	AUX
alkej-912	41	17	uniformly	uniformly	ADV
alkej-912	41	18	distributed	distribute	VERB
alkej-912	41	19	.	.	PUNCT
alkej-912	42	1	the	the	DET
alkej-912	42	2	pilot	pilot	NOUN
alkej-912	42	3	valve	valve	NOUN
alkej-912	42	4	possesses	possess	VERB
alkej-912	42	5	the	the	DET
alkej-912	42	6	capability	capability	NOUN
alkej-912	42	7	to	to	PART
alkej-912	42	8	effectively	effectively	ADV
alkej-912	42	9	manage	manage	VERB
alkej-912	42	10	a	a	DET
alkej-912	42	11	very	very	ADV
alkej-912	42	12	high	high	ADJ
alkej-912	42	13	-	-	PUNCT
alkej-912	42	14	power	power	NOUN
alkej-912	42	15	output	output	NOUN
alkej-912	42	16	while	while	SCONJ
alkej-912	42	17	requiring	require	VERB
alkej-912	42	18	minimal	minimal	ADJ
alkej-912	42	19	force	force	NOUN
alkej-912	42	20	for	for	ADP
alkej-912	42	21	positioning	positioning	NOUN
alkej-912	42	22	.	.	PUNCT
alkej-912	43	1	the	the	DET
alkej-912	43	2	relationship	relationship	NOUN
alkej-912	43	3	exhibits	exhibit	VERB
alkej-912	43	4	nonlinearity	nonlinearity	NOUN
alkej-912	43	5	and	and	CCONJ
alkej-912	43	6	can	can	AUX
alkej-912	43	7	be	be	AUX
alkej-912	43	8	transformed	transform	VERB
alkej-912	43	9	into	into	ADP
alkej-912	43	10	a	a	DET
alkej-912	43	11	linear	linear	ADJ
alkej-912	43	12	form	form	NOUN
alkej-912	43	13	by	by	ADP
alkej-912	43	14	using	use	VERB
alkej-912	43	15	ordinary	ordinary	ADJ
alkej-912	43	16	differential	differential	ADJ
alkej-912	43	17	equations	equation	NOUN
alkej-912	43	18	(	(	PUNCT
alkej-912	43	19	odes	ode	NOUN
alkej-912	43	20	)	)	PUNCT
alkej-912	43	21	,	,	PUNCT
alkej-912	43	22	with	with	ADP
alkej-912	43	23	ps	ps	NOUN
alkej-912	43	24	representing	represent	VERB
alkej-912	43	25	the	the	DET
alkej-912	43	26	pressure	pressure	NOUN
alkej-912	43	27	pump	pump	NOUN
alkej-912	43	28	.	.	PUNCT
alkej-912	44	1	figure	figure	NOUN
alkej-912	44	2	(	(	PUNCT
alkej-912	44	3	2	2	NUM
alkej-912	44	4	)	)	PUNCT
alkej-912	44	5	:	:	PUNCT
alkej-912	44	6	(	(	PUNCT
alkej-912	44	7	b	b	X
alkej-912	44	8	)	)	PUNCT
alkej-912	44	9	depicts	depict	VERB
alkej-912	44	10	an	an	DET
alkej-912	44	11	expanded	expand	VERB
alkej-912	44	12	depiction	depiction	NOUN
alkej-912	44	13	of	of	ADP
alkej-912	44	14	the	the	DET
alkej-912	44	15	valve	valve	NOUN
alkej-912	44	16	orifice	orifice	NOUN
alkej-912	44	17	area	area	NOUN
alkej-912	44	18	.	.	PUNCT
alkej-912	45	1	the	the	DET
alkej-912	45	2	valve	valve	NOUN
alkej-912	45	3	orifice	orifice	NOUN
alkej-912	45	4	areas	area	NOUN
alkej-912	45	5	of	of	ADP
alkej-912	45	6	ports	port	NOUN
alkej-912	45	7	1	1	NUM
alkej-912	45	8	,	,	PUNCT
alkej-912	45	9	2	2	NUM
alkej-912	45	10	,	,	PUNCT
alkej-912	45	11	3	3	NUM
alkej-912	45	12	,	,	PUNCT
alkej-912	45	13	and	and	CCONJ
alkej-912	45	14	4	4	NUM
alkej-912	45	15	shall	shall	AUX
alkej-912	45	16	be	be	AUX
alkej-912	45	17	referred	refer	VERB
alkej-912	45	18	to	to	ADP
alkej-912	45	19	as	as	ADP
alkej-912	45	20	respective	respective	ADJ
alkej-912	45	21	designations	designation	NOUN
alkej-912	45	22	.	.	PUNCT
alkej-912	46	1	the	the	DET
alkej-912	46	2	variables	variable	NOUN
alkej-912	46	3	a1	a1	PROPN
alkej-912	46	4	,	,	PUNCT
alkej-912	46	5	a2	a2	PROPN
alkej-912	46	6	,	,	PUNCT
alkej-912	46	7	a3	a3	NOUN
alkej-912	46	8	,	,	PUNCT
alkej-912	46	9	and	and	CCONJ
alkej-912	46	10	a4	a4	NOUN
alkej-912	46	11	are	be	AUX
alkej-912	46	12	being	be	AUX
alkej-912	46	13	referred	refer	VERB
alkej-912	46	14	to	to	ADP
alkej-912	46	15	.	.	PUNCT
alkej-912	47	1	furthermore	furthermore	ADV
alkej-912	47	2	,	,	PUNCT
alkej-912	47	3	let	let	VERB
alkej-912	47	4	us	we	PRON
alkej-912	47	5	denote	denote	VERB
alkej-912	47	6	the	the	DET
alkej-912	47	7	flow	flow	NOUN
alkej-912	47	8	rates	rate	NOUN
alkej-912	47	9	through	through	ADP
alkej-912	47	10	ports	port	NOUN
alkej-912	47	11	1	1	NUM
alkej-912	47	12	,	,	PUNCT
alkej-912	47	13	2	2	NUM
alkej-912	47	14	,	,	PUNCT
alkej-912	47	15	3	3	NUM
alkej-912	47	16	,	,	PUNCT
alkej-912	47	17	and	and	CCONJ
alkej-912	47	18	4	4	NUM
alkej-912	47	19	as	as	ADP
alkej-912	47	20	q1	q1	PROPN
alkej-912	47	21	,	,	PUNCT
alkej-912	47	22	q2	q2	NOUN
alkej-912	47	23	,	,	PUNCT
alkej-912	47	24	q3	q3	PROPN
alkej-912	47	25	,	,	PUNCT
alkej-912	47	26	and	and	CCONJ
alkej-912	47	27	q4	q4	PROPN
alkej-912	47	28	,	,	PUNCT
alkej-912	47	29	respectively	respectively	ADV
alkej-912	47	30	.	.	PUNCT
alkej-912	48	1	it	it	PRON
alkej-912	48	2	should	should	AUX
alkej-912	48	3	be	be	AUX
alkej-912	48	4	noted	note	VERB
alkej-912	48	5	that	that	SCONJ
alkej-912	48	6	a1	a1	NOUN
alkej-912	48	7	is	be	AUX
alkej-912	48	8	equal	equal	ADJ
alkej-912	48	9	to	to	PART
alkej-912	48	10	a3	a3	VERB
alkej-912	48	11	and	and	CCONJ
alkej-912	48	12	a2	a2	PROPN
alkej-912	48	13	is	be	AUX
alkej-912	48	14	equal	equal	ADJ
alkej-912	48	15	to	to	ADP
alkej-912	48	16	a4	a4	NOUN
alkej-912	48	17	due	due	ADP
alkej-912	48	18	to	to	ADP
alkej-912	48	19	the	the	DET
alkej-912	48	20	symmetrical	symmetrical	ADJ
alkej-912	48	21	nature	nature	NOUN
alkej-912	48	22	of	of	ADP
alkej-912	48	23	the	the	DET
alkej-912	48	24	valve	valve	NOUN
alkej-912	48	25	.	.	PUNCT
alkej-912	49	1	given	give	VERB
alkej-912	49	2	the	the	DET
alkej-912	49	3	assumption	assumption	NOUN
alkej-912	49	4	that	that	SCONJ
alkej-912	49	5	the	the	DET
alkej-912	49	6	displacement	displacement	NOUN
alkej-912	49	7	x	x	PUNCT
alkej-912	49	8	is	be	AUX
alkej-912	49	9	small,[10	small,[10	X
alkej-912	49	10	]	]	X
alkej-912	49	11	fig	fig	NOUN
alkej-912	49	12	.	.	PUNCT
alkej-912	50	1	2	2	X
alkej-912	50	2	.	.	X
alkej-912	50	3	(	(	PUNCT
alkej-912	50	4	a	a	X
alkej-912	50	5	)	)	PUNCT
alkej-912	50	6	hydraulic	hydraulic	ADJ
alkej-912	50	7	system	system	NOUN
alkej-912	50	8	(	(	PUNCT
alkej-912	50	9	b	b	NOUN
alkej-912	50	10	)	)	PUNCT
alkej-912	50	11	enlarged	enlarged	ADJ
alkej-912	50	12	diagram	diagram	NOUN
alkej-912	50	13	of	of	ADP
alkej-912	50	14	valve	valve	NOUN
alkej-912	50	15	orifice	orifice	NOUN
alkej-912	50	16	area[10	area[10	NOUN
alkej-912	50	17	]	]	PUNCT
alkej-912	50	18	.	.	PUNCT
alkej-912	51	1	𝐴	𝐴	PROPN
alkej-912	51	2	=	=	SYM
alkej-912	51	3	(	(	PUNCT
alkej-912	51	4	𝑥̥	𝑥̥	PROPN
alkej-912	51	5	2	2	NUM
alkej-912	51	6	+	+	NUM
alkej-912	51	7	𝑋)𝐾	𝑋)𝐾	NOUN
alkej-912	51	8	…	…	PUNCT
alkej-912	51	9	(	(	PUNCT
alkej-912	51	10	1)[10	1)[10	NUM
alkej-912	51	11	]	]	PUNCT
alkej-912	51	12	where	where	SCONJ
alkej-912	51	13	a	a	PRON
alkej-912	51	14	is	be	AUX
alkej-912	51	15	an	an	DET
alkej-912	51	16	area	area	NOUN
alkej-912	51	17	,	,	PUNCT
alkej-912	51	18	k	k	PROPN
alkej-912	51	19	is	be	AUX
alkej-912	51	20	a	a	DET
alkej-912	51	21	constant	constant	ADJ
alkej-912	51	22	,	,	PUNCT
alkej-912	51	23	xo	xo	PROPN
alkej-912	51	24	is	be	AUX
alkej-912	51	25	a	a	DET
alkej-912	51	26	displacement	displacement	NOUN
alkej-912	51	27	.	.	PUNCT
alkej-912	52	1	in	in	ADP
alkej-912	52	2	addition	addition	NOUN
alkej-912	52	3	,	,	PUNCT
alkej-912	52	4	we	we	PRON
alkej-912	52	5	presume	presume	VERB
alkej-912	52	6	that	that	SCONJ
alkej-912	52	7	the	the	DET
alkej-912	52	8	return	return	NOUN
alkej-912	52	9	pressure	pressure	NOUN
alkej-912	52	10	p0	p0	NOUN
alkej-912	52	11	in	in	ADP
alkej-912	52	12	the	the	DET
alkej-912	52	13	return	return	NOUN
alkej-912	52	14	line	line	NOUN
alkej-912	52	15	is	be	AUX
alkej-912	52	16	negligible	negligible	ADJ
alkej-912	52	17	and	and	CCONJ
alkej-912	52	18	therefore	therefore	ADV
alkej-912	52	19	can	can	AUX
alkej-912	52	20	be	be	AUX
alkej-912	52	21	disregarded	disregard	VERB
alkej-912	52	22	.	.	PUNCT
alkej-912	53	1	then	then	ADV
alkej-912	53	2	,	,	PUNCT
alkej-912	53	3	using	use	VERB
alkej-912	53	4	figure	figure	NOUN
alkej-912	53	5	(	(	PUNCT
alkej-912	53	6	2	2	NUM
alkej-912	53	7	)	)	PUNCT
alkej-912	53	8	:	:	PUNCT
alkej-912	53	9	(	(	PUNCT
alkej-912	53	10	a	a	X
alkej-912	53	11	)	)	PUNCT
alkej-912	53	12	as	as	ADP
alkej-912	53	13	a	a	DET
alkej-912	53	14	reference	reference	NOUN
alkej-912	53	15	,	,	PUNCT
alkej-912	53	16	the	the	DET
alkej-912	53	17	flow	flow	NOUN
alkej-912	53	18	rates	rate	NOUN
alkej-912	53	19	through	through	ADP
alkej-912	53	20	valve	valve	NOUN
alkej-912	53	21	orifices	orifice	NOUN
alkej-912	53	22	are	be	AUX
alkej-912	53	23	measured	measure	VERB
alkej-912	53	24	as	as	SCONJ
alkej-912	53	25	follows	follow	VERB
alkej-912	53	26	:	:	PUNCT
alkej-912	53	27	q	q	ADJ
alkej-912	53	28	=	=	X
alkej-912	53	29	ca√	ca√	SYM
alkej-912	53	30	2𝑔	2𝑔	NUM
alkej-912	53	31	△	△	NOUN
alkej-912	53	32	𝑃	𝑃	NOUN
alkej-912	53	33	𝛾	𝛾	NOUN
alkej-912	53	34	…	…	PUNCT
alkej-912	53	35	(	(	PUNCT
alkej-912	53	36	2)[10	2)[10	NUM
alkej-912	53	37	]	]	PUNCT
alkej-912	53	38	where	where	SCONJ
alkej-912	53	39	(	(	PUNCT
alkej-912	53	40	c	c	X
alkej-912	53	41	)	)	PUNCT
alkej-912	53	42	is	be	AUX
alkej-912	53	43	discharge	discharge	VERB
alkej-912	53	44	and	and	CCONJ
alkej-912	53	45	(	(	PUNCT
alkej-912	53	46	𝛾	𝛾	NOUN
alkej-912	53	47	)	)	PUNCT
alkej-912	53	48	is	be	AUX
alkej-912	53	49	specific	specific	ADJ
alkej-912	53	50	weight	weight	NOUN
alkej-912	53	51	.	.	PUNCT
alkej-912	54	1	(	(	PUNCT
alkej-912	54	2	g	g	NOUN
alkej-912	54	3	)	)	PUNCT
alkej-912	54	4	is	be	AUX
alkej-912	54	5	the	the	DET
alkej-912	54	6	acceleration	acceleration	NOUN
alkej-912	54	7	of	of	ADP
alkej-912	54	8	gravity	gravity	NOUN
alkej-912	54	9	.	.	PUNCT
alkej-912	55	1	the	the	DET
alkej-912	55	2	flow	flow	NOUN
alkej-912	55	3	rate	rate	NOUN
alkej-912	55	4	(	(	PUNCT
alkej-912	55	5	g	g	NOUN
alkej-912	55	6	)	)	PUNCT
alkej-912	55	7	to	to	ADP
alkej-912	55	8	the	the	DET
alkej-912	55	9	left	left	ADJ
alkej-912	55	10	-	-	PUNCT
alkej-912	55	11	hand	hand	NOUN
alkej-912	55	12	side	side	NOUN
alkej-912	55	13	of	of	ADP
alkej-912	55	14	the	the	DET
alkej-912	55	15	e	e	PROPN
alkej-912	55	16	power	power	NOUN
alkej-912	55	17	piston	piston	NOUN
alkej-912	55	18	is	be	AUX
alkej-912	55	19	:	:	PUNCT
alkej-912	55	20	q=	q=	ADV
alkej-912	55	21	(	(	PUNCT
alkej-912	55	22	𝑥̥	𝑥̥	NOUN
alkej-912	55	23	2	2	NUM
alkej-912	55	24	+	+	NUM
alkej-912	55	25	𝑋)𝐾√	𝑋)𝐾√	ADJ
alkej-912	55	26	2𝑔	2𝑔	NUM
alkej-912	55	27	△	△	SYM
alkej-912	55	28	𝑃	𝑃	NOUN
alkej-912	55	29	𝛾	𝛾	NOUN
alkej-912	55	30	…	…	PUNCT
alkej-912	55	31	(	(	PUNCT
alkej-912	55	32	3)[10	3)[10	NUM
alkej-912	55	33	]	]	X
alkej-912	55	34	q	q	X
alkej-912	55	35	=	=	SYM
alkej-912	55	36	c√	c√	NOUN
alkej-912	55	37	△	△	NOUN
alkej-912	55	38	𝑃	𝑃	PROPN
alkej-912	55	39	(	(	PUNCT
alkej-912	55	40	𝑥̥	𝑥̥	NOUN
alkej-912	55	41	2	2	NUM
alkej-912	55	42	+	+	SYM
alkej-912	55	43	𝑋	𝑋	PROPN
alkej-912	55	44	)	)	PUNCT
alkej-912	55	45	…	…	PUNCT
alkej-912	55	46	(	(	PUNCT
alkej-912	55	47	4)[10	4)[10	NUM
alkej-912	55	48	]	]	PUNCT
alkej-912	55	49	by	by	ADP
alkej-912	55	50	applying	apply	VERB
alkej-912	55	51	the	the	DET
alkej-912	55	52	linearization	linearization	NOUN
alkej-912	55	53	technique	technique	NOUN
alkej-912	55	54	q=	q=	ADV
alkej-912	55	55	k₁	k₁	VERB
alkej-912	55	56	x	x	X
alkej-912	55	57	–	–	PUNCT
alkej-912	55	58	k2	k2	X
alkej-912	55	59	△	△	PROPN
alkej-912	55	60	𝑝	𝑝	PROPN
alkej-912	55	61	…	…	PUNCT
alkej-912	55	62	(	(	PUNCT
alkej-912	55	63	5)[10	5)[10	NUM
alkej-912	55	64	]	]	PUNCT
alkej-912	55	65	where	where	SCONJ
alkej-912	55	66	△	△	X
alkej-912	55	67	𝑝	𝑝	ADP
alkej-912	55	68	the	the	DET
alkej-912	55	69	pressure	pressure	NOUN
alkej-912	55	70	drops	drop	VERB
alkej-912	55	71	across	across	ADP
alkej-912	55	72	the	the	DET
alkej-912	55	73	orifice	orifice	NOUN
alkej-912	55	74	is	be	AUX
alkej-912	55	75	a	a	DET
alkej-912	55	76	function	function	NOUN
alkej-912	55	77	of	of	ADP
alkej-912	55	78	the	the	DET
alkej-912	55	79	supply	supply	NOUN
alkej-912	55	80	pressure	pressure	NOUN
alkej-912	55	81	ps	ps	NOUN
alkej-912	55	82	and	and	CCONJ
alkej-912	55	83	the	the	DET
alkej-912	55	84	pressure	pressure	NOUN
alkej-912	55	85	difference	difference	NOUN
alkej-912	55	86	△	△	PROPN
alkej-912	55	87	𝑝	𝑝	NOUN
alkej-912	55	88	=	=	PUNCT
alkej-912	55	89	𝑃1	𝑃1	NOUN
alkej-912	55	90	−	−	PROPN
alkej-912	55	91	𝑃2	𝑃2	PROPN
alkej-912	55	92	.	.	PUNCT
alkej-912	56	1	also	also	ADV
alkej-912	56	2	,	,	PUNCT
alkej-912	56	3	q=	q=	ADV
alkej-912	56	4	a	a	DET
alkej-912	56	5	𝑑𝑦	𝑑𝑦	NOUN
alkej-912	56	6	𝑑𝑡	𝑑𝑡	ADP
alkej-912	56	7	…	…	PUNCT
alkej-912	56	8	.	.	PUNCT
alkej-912	57	1	(	(	PUNCT
alkej-912	57	2	6)[10	6)[10	NUM
alkej-912	57	3	]	]	PUNCT
alkej-912	57	4	where	where	SCONJ
alkej-912	57	5	𝑑𝑦	𝑑𝑦	NOUN
alkej-912	57	6	𝑑𝑡	𝑑𝑡	ADP
alkej-912	57	7	the	the	DET
alkej-912	57	8	speed	speed	NOUN
alkej-912	57	9	of	of	ADP
alkej-912	57	10	the	the	DET
alkej-912	57	11	piston	piston	NOUN
alkej-912	57	12	mass	mass	NOUN
alkej-912	57	13	∑𝐹	∑𝐹	PROPN
alkej-912	57	14	=	=	PUNCT
alkej-912	57	15	𝑚	𝑚	ADP
alkej-912	57	16	�	�	PROPN
alkej-912	57	17	̈	̈	SYM
alkej-912	57	18	�	�	PROPN
alkej-912	57	19	△	△	X
alkej-912	57	20	𝑃	𝑃	NOUN
alkej-912	57	21	∗	∗	NOUN
alkej-912	57	22	𝐴	𝐴	NOUN
alkej-912	57	23	−	−	PROPN
alkej-912	57	24	𝐾	𝐾	PROPN
alkej-912	57	25	𝑌	𝑌	PROPN
alkej-912	57	26	−	−	PROPN
alkej-912	57	27	𝐶	𝐶	PROPN
alkej-912	57	28	�	�	PROPN
alkej-912	57	29	̇	̇	PROPN
alkej-912	57	30	�	�	PROPN
alkej-912	57	31	=	=	SYM
alkej-912	57	32	�	�	PROPN
alkej-912	57	33	̇	̇	PROPN
alkej-912	57	34	�	�	PROPN
alkej-912	57	35	�	�	PROPN
alkej-912	57	36	̈	̈	X
alkej-912	57	37	�	�	PROPN
alkej-912	57	38	…	…	PUNCT
alkej-912	57	39	(	(	PUNCT
alkej-912	57	40	7)[10	7)[10	NUM
alkej-912	57	41	]	]	PUNCT
alkej-912	57	42	tack	tack	NOUN
alkej-912	57	43	laplace	laplace	NOUN
alkej-912	57	44	transform	transform	NOUN
alkej-912	57	45	:	:	PUNCT
alkej-912	57	46	q(s)=	q(s)=	PROPN
alkej-912	57	47	=	=	PRON
alkej-912	57	48	k₁	k₁	VERB
alkej-912	57	49	x(s	x(s	PROPN
alkej-912	57	50	)	)	PUNCT
alkej-912	57	51	–	–	PUNCT
alkej-912	57	52	k2	k2	X
alkej-912	57	53	△	△	X
alkej-912	57	54	𝑃(s	𝑃(s	NUM
alkej-912	57	55	)	)	PUNCT
alkej-912	57	56	…	…	PUNCT
alkej-912	57	57	*	*	SYM
alkej-912	57	58	5	5	NUM
alkej-912	57	59	q=	q=	ADV
alkej-912	57	60	a	a	DET
alkej-912	57	61	s	s	X
alkej-912	57	62	y(s)	y(s)	PROPN
alkej-912	57	63	…	…	SYM
alkej-912	57	64	*6	*6	NOUN
alkej-912	57	65	a	a	DET
alkej-912	57	66	△	△	X
alkej-912	57	67	𝑃(s)=y(s	𝑃(s)=y(s	NUM
alkej-912	57	68	)	)	PUNCT
alkej-912	58	1	[	[	X
alkej-912	58	2	m	m	VERB
alkej-912	58	3	s²+c	s²+c	PROPN
alkej-912	58	4	s	s	X
alkej-912	58	5	+	+	CCONJ
alkej-912	58	6	k	k	X
alkej-912	58	7	]	]	X
alkej-912	58	8	…	…	PUNCT
alkej-912	58	9	*	*	SYM
alkej-912	58	10	7	7	NUM
alkej-912	58	11	rearmament	rearmament	NOUN
alkej-912	58	12	equation	equation	NOUN
alkej-912	58	13	3	3	NUM
alkej-912	58	14	.	.	PUNCT
alkej-912	58	15	△	△	X
alkej-912	58	16	𝑃(s)=	𝑃(s)=	ADJ
alkej-912	58	17	𝑌(𝑠)[𝑚	𝑌(𝑠)[𝑚	PROPN
alkej-912	58	18	𝑠²+𝑐	𝑠²+𝑐	PROPN
alkej-912	58	19	𝑠+	𝑠+	ADP
alkej-912	58	20	𝑘	𝑘	X
alkej-912	58	21	]	]	X
alkej-912	58	22	𝐴	𝐴	NOUN
alkej-912	58	23	…	…	PUNCT
alkej-912	58	24	(	(	PUNCT
alkej-912	58	25	8)	8)	NUM
alkej-912	58	26	after	after	ADP
alkej-912	58	27	substituting	substitute	VERB
alkej-912	58	28	the	the	DET
alkej-912	58	29	equations	equation	NOUN
alkej-912	58	30	,	,	PUNCT
alkej-912	58	31	we	we	PRON
alkej-912	58	32	get	get	VERB
alkej-912	58	33	:	:	PUNCT
alkej-912	58	34	t(s)=	t(s)=	NUM
alkej-912	58	35	𝑌(𝑠	𝑌(𝑠	NOUN
alkej-912	58	36	)	)	PUNCT
alkej-912	58	37	𝑋(𝑠	𝑋(𝑠	NUM
alkej-912	58	38	)	)	PUNCT
alkej-912	59	1	=	=	PUNCT
alkej-912	59	2	𝑘₁	𝑘₁	NOUN
alkej-912	59	3	𝑘2	𝑘2	PROPN
alkej-912	59	4	𝐴	𝐴	PROPN
alkej-912	60	1	[	[	X
alkej-912	60	2	𝑚	𝑚	X
alkej-912	60	3	𝑠2+(𝑐−𝐴)𝑠+𝑘	𝑠2+(𝑐−𝐴)𝑠+𝑘	PROPN
alkej-912	60	4	]	]	X
alkej-912	60	5	…	…	PUNCT
alkej-912	60	6	(	(	PUNCT
alkej-912	60	7	9	9	X
alkej-912	60	8	)	)	PUNCT
alkej-912	60	9	based	base	VERB
alkej-912	60	10	on	on	ADP
alkej-912	60	11	parameters	parameter	NOUN
alkej-912	60	12	taken	take	VERB
alkej-912	60	13	from	from	ADP
alkej-912	60	14	previous	previous	ADJ
alkej-912	60	15	research	research	NOUN
alkej-912	60	16	(	(	PUNCT
alkej-912	60	17	k₁	k₁	NOUN
alkej-912	60	18	,	,	PUNCT
alkej-912	60	19	k2	k2	NOUN
alkej-912	60	20	,	,	PUNCT
alkej-912	60	21	c	c	X
alkej-912	60	22	,	,	PUNCT
alkej-912	60	23	k).[11	k).[11	NOUN
alkej-912	60	24	]	]	PUNCT
alkej-912	60	25	.additionally	.additionally	ADV
alkej-912	60	26	,	,	PUNCT
alkej-912	60	27	it	it	PRON
alkej-912	60	28	has	have	VERB
alkej-912	60	29	the	the	DET
alkej-912	60	30	potential	potential	NOUN
alkej-912	60	31	to	to	PART
alkej-912	60	32	be	be	AUX
alkej-912	60	33	utilized	utilize	VERB
alkej-912	60	34	within	within	ADP
alkej-912	60	35	this	this	DET
alkej-912	60	36	particular	particular	ADJ
alkej-912	60	37	system	system	NOUN
alkej-912	60	38	.	.	PUNCT
alkej-912	61	1	the	the	DET
alkej-912	61	2	values	value	NOUN
alkej-912	61	3	of	of	ADP
alkej-912	61	4	(	(	PUNCT
alkej-912	61	5	a	a	PRON
alkej-912	61	6	,	,	PUNCT
alkej-912	61	7	m	m	NOUN
alkej-912	61	8	)	)	PUNCT
alkej-912	61	9	are	be	AUX
alkej-912	61	10	assumed	assume	VERB
alkej-912	61	11	to	to	PART
alkej-912	61	12	be	be	AUX
alkej-912	61	13	from	from	ADP
alkej-912	61	14	the	the	DET
alkej-912	61	15	real	real	ADJ
alkej-912	61	16	system	system	NOUN
alkej-912	61	17	.	.	PUNCT
alkej-912	62	1	table	table	NOUN
alkej-912	62	2	2	2	NUM
alkej-912	62	3	provides	provide	VERB
alkej-912	62	4	a	a	DET
alkej-912	62	5	comprehensive	comprehensive	ADJ
alkej-912	62	6	overview	overview	NOUN
alkej-912	62	7	of	of	ADP
alkej-912	62	8	the	the	DET
alkej-912	62	9	information	information	NOUN
alkej-912	62	10	presented	present	VERB
alkej-912	62	11	.	.	PUNCT
alkej-912	63	1	t(s)=	t(s)=	VERB
alkej-912	63	2	0.0825	0.0825	NUM
alkej-912	63	3	1.716	1.716	NUM
alkej-912	63	4	𝑠2	𝑠2	NOUN
alkej-912	63	5	+56.378	+56.378	PROPN
alkej-912	63	6	𝑠+3575	𝑠+3575	PROPN
alkej-912	63	7	…	…	PUNCT
alkej-912	63	8	(	(	PUNCT
alkej-912	63	9	10	10	NUM
alkej-912	63	10	)	)	PUNCT
alkej-912	63	11	t(s)=	t(s)=	VERB
alkej-912	63	12	0.04807	0.04807	NUM
alkej-912	63	13	𝑠2	𝑠2	NOUN
alkej-912	63	14	+32.854	+32.854	PROPN
alkej-912	63	15	𝑠+2083.33	𝑠+2083.33	NOUN
alkej-912	63	16	…	…	PUNCT
alkej-912	63	17	(	(	PUNCT
alkej-912	63	18	11	11	NUM
alkej-912	63	19	)	)	PUNCT
alkej-912	63	20	sarah	sarah	PROPN
alkej-912	63	21	m.	m.	PROPN
alkej-912	63	22	rashid	rashid	PROPN
alkej-912	63	23	al	al	PROPN
alkej-912	63	24	-	-	PUNCT
alkej-912	63	25	khwarizmi	khwarizmi	PROPN
alkej-912	63	26	engineering	engineering	NOUN
alkej-912	63	27	journal	journal	PROPN
alkej-912	63	28	,	,	PUNCT
alkej-912	63	29	vol	vol	NOUN
alkej-912	63	30	.	.	PROPN
alkej-912	63	31	20	20	NUM
alkej-912	63	32	,	,	PUNCT
alkej-912	63	33	no.2	no.2	PROPN
alkej-912	63	34	,	,	PUNCT
alkej-912	63	35	p.p	p.p	PROPN
alkej-912	63	36	.	.	NOUN
alkej-912	63	37	7889(2024	7889(2024	NUM
alkej-912	63	38	)	)	PUNCT
alkej-912	63	39	59	59	NUM
alkej-912	63	40	table	table	NOUN
alkej-912	63	41	2	2	NUM
alkej-912	63	42	,	,	PUNCT
alkej-912	63	43	parameters	parameter	NOUN
alkej-912	63	44	of	of	ADP
alkej-912	63	45	hydraulic	hydraulic	ADJ
alkej-912	63	46	system[12][13][11	system[12][13][11	PROPN
alkej-912	63	47	]	]	PUNCT
alkej-912	63	48	parameters	parameter	NOUN
alkej-912	63	49	value	value	NOUN
alkej-912	63	50	unit	unit	NOUN
alkej-912	63	51	description	description	NOUN
alkej-912	63	52	k₁	k₁	VERB
alkej-912	63	53	0.0825	0.0825	NUM
alkej-912	63	54	m	m	NOUN
alkej-912	63	55	/	/	SYM
alkej-912	63	56	a	a	DET
alkej-912	63	57	gain	gain	NOUN
alkej-912	63	58	of	of	ADP
alkej-912	63	59	spool	spool	ADJ
alkej-912	63	60	valve(vertical	valve(vertical	ADJ
alkej-912	63	61	)	)	PUNCT
alkej-912	63	62	k2	k2	PROPN
alkej-912	63	63	8.25e-5	8.25e-5	PROPN
alkej-912	63	64	m	m	PROPN
alkej-912	63	65	/	/	SYM
alkej-912	63	66	ma	ma	PROPN
alkej-912	63	67	gain	gain	NOUN
alkej-912	63	68	of	of	ADP
alkej-912	63	69	spool	spool	NOUN
alkej-912	63	70	valve	valve	NOUN
alkej-912	63	71	(	(	PUNCT
alkej-912	63	72	lateral	lateral	ADJ
alkej-912	63	73	,	,	PUNCT
alkej-912	63	74	longi	longi	NOUN
alkej-912	63	75	)	)	PUNCT
alkej-912	63	76	a	a	DET
alkej-912	63	77	1.256e-3	1.256e-3	NUM
alkej-912	63	78	m²	m²	PROPN
alkej-912	63	79	piston	piston	NOUN
alkej-912	63	80	area	area	NOUN
alkej-912	63	81	of	of	ADP
alkej-912	63	82	lateral	lateral	ADJ
alkej-912	63	83	axis	axis	NOUN
alkej-912	63	84	m	m	VERB
alkej-912	63	85	13	13	NUM
alkej-912	63	86	kg	kg	NOUN
alkej-912	63	87	load	load	NOUN
alkej-912	63	88	mass	mass	PROPN
alkej-912	63	89	c	c	PROPN
alkej-912	63	90	400	400	NUM
alkej-912	63	91	ns	ns	NUM
alkej-912	63	92	/	/	SYM
alkej-912	63	93	m	m	NOUN
alkej-912	63	94	load	load	NOUN
alkej-912	63	95	damping	damp	VERB
alkej-912	63	96	k	k	PROPN
alkej-912	63	97	2500	2500	NUM
alkej-912	63	98	n	n	CCONJ
alkej-912	63	99	/	/	SYM
alkej-912	63	100	m	m	PROPN
alkej-912	63	101	load	load	NOUN
alkej-912	63	102	spring	spring	NOUN
alkej-912	63	103	stiffness	stiffness	NOUN
alkej-912	63	104	2.2	2.2	NUM
alkej-912	63	105	pid	pid	NOUN
alkej-912	63	106	controller	controller	NOUN
alkej-912	63	107	a	a	DET
alkej-912	63	108	proportional	proportional	ADJ
alkej-912	63	109	integral	integral	ADJ
alkej-912	63	110	derivative	derivative	ADJ
alkej-912	63	111	(	(	PUNCT
alkej-912	63	112	pid	pid	NOUN
alkej-912	63	113	)	)	PUNCT
alkej-912	63	114	controller	controller	NOUN
alkej-912	63	115	is	be	AUX
alkej-912	63	116	an	an	DET
alkej-912	63	117	automated	automate	VERB
alkej-912	63	118	and	and	CCONJ
alkej-912	63	119	precise	precise	ADJ
alkej-912	63	120	control	control	NOUN
alkej-912	63	121	system	system	NOUN
alkej-912	63	122	utilized	utilize	VERB
alkej-912	63	123	for	for	ADP
alkej-912	63	124	regulating	regulate	VERB
alkej-912	63	125	various	various	ADJ
alkej-912	63	126	parameters	parameter	NOUN
alkej-912	63	127	,	,	PUNCT
alkej-912	63	128	such	such	ADJ
alkej-912	63	129	as	as	ADP
alkej-912	63	130	temperature	temperature	NOUN
alkej-912	63	131	,	,	PUNCT
alkej-912	63	132	pressure	pressure	NOUN
alkej-912	63	133	,	,	PUNCT
alkej-912	63	134	and	and	CCONJ
alkej-912	63	135	speed	speed	NOUN
alkej-912	63	136	,	,	PUNCT
alkej-912	63	137	to	to	PART
alkej-912	63	138	achieve	achieve	VERB
alkej-912	63	139	desired	desire	VERB
alkej-912	63	140	values	value	NOUN
alkej-912	63	141	.	.	PUNCT
alkej-912	64	1	control	control	NOUN
alkej-912	64	2	loop	loop	PROPN
alkej-912	64	3	feedback	feedback	NOUN
alkej-912	64	4	is	be	AUX
alkej-912	64	5	the	the	DET
alkej-912	64	6	fundamental	fundamental	ADJ
alkej-912	64	7	mechanism	mechanism	NOUN
alkej-912	64	8	employed	employ	VERB
alkej-912	64	9	in	in	ADP
alkej-912	64	10	pid	pid	NOUN
alkej-912	64	11	controllers	controller	NOUN
alkej-912	64	12	.	.	PUNCT
alkej-912	65	1	a	a	DET
alkej-912	65	2	pid	pid	NOUN
alkej-912	65	3	algorithm	algorithm	NOUN
alkej-912	65	4	computes	compute	VERB
alkej-912	65	5	the	the	DET
alkej-912	65	6	error	error	NOUN
alkej-912	65	7	by	by	ADP
alkej-912	65	8	determining	determine	VERB
alkej-912	65	9	the	the	DET
alkej-912	65	10	discrepancy	discrepancy	NOUN
alkej-912	65	11	between	between	ADP
alkej-912	65	12	the	the	DET
alkej-912	65	13	current	current	ADJ
alkej-912	65	14	value	value	NOUN
alkej-912	65	15	and	and	CCONJ
alkej-912	65	16	the	the	DET
alkej-912	65	17	target	target	NOUN
alkej-912	65	18	value	value	NOUN
alkej-912	65	19	and	and	CCONJ
alkej-912	65	20	subsequently	subsequently	ADV
alkej-912	65	21	adjusts	adjust	VERB
alkej-912	65	22	the	the	DET
alkej-912	65	23	controlling	control	VERB
alkej-912	65	24	parameters	parameter	NOUN
alkej-912	65	25	accordingly	accordingly	ADV
alkej-912	65	26	.	.	PUNCT
alkej-912	66	1	this	this	DET
alkej-912	66	2	error	error	NOUN
alkej-912	66	3	is	be	AUX
alkej-912	66	4	iteratively	iteratively	ADV
alkej-912	66	5	computed	compute	VERB
alkej-912	66	6	until	until	SCONJ
alkej-912	66	7	the	the	DET
alkej-912	66	8	process	process	NOUN
alkej-912	66	9	terminates	terminate	VERB
alkej-912	66	10	.	.	PUNCT
alkej-912	67	1	the	the	DET
alkej-912	67	2	proportional	proportional	ADJ
alkej-912	67	3	component	component	NOUN
alkej-912	67	4	is	be	AUX
alkej-912	67	5	utilized	utilize	VERB
alkej-912	67	6	to	to	PART
alkej-912	67	7	quantify	quantify	VERB
alkej-912	67	8	the	the	DET
alkej-912	67	9	discrepancy	discrepancy	NOUN
alkej-912	67	10	between	between	ADP
alkej-912	67	11	the	the	DET
alkej-912	67	12	desired	desire	VERB
alkej-912	67	13	value	value	NOUN
alkej-912	67	14	and	and	CCONJ
alkej-912	67	15	the	the	DET
alkej-912	67	16	actual	actual	ADJ
alkej-912	67	17	value	value	NOUN
alkej-912	67	18	,	,	PUNCT
alkej-912	67	19	and	and	CCONJ
alkej-912	67	20	it	it	PRON
alkej-912	67	21	is	be	AUX
alkej-912	67	22	accountable	accountable	ADJ
alkej-912	67	23	for	for	ADP
alkej-912	67	24	generating	generate	VERB
alkej-912	67	25	the	the	DET
alkej-912	67	26	remedial	remedial	ADJ
alkej-912	67	27	response	response	NOUN
alkej-912	67	28	.	.	PUNCT
alkej-912	68	1	the	the	DET
alkej-912	68	2	integral	integral	ADJ
alkej-912	68	3	is	be	AUX
alkej-912	68	4	utilized	utilize	VERB
alkej-912	68	5	to	to	PART
alkej-912	68	6	compute	compute	VERB
alkej-912	68	7	the	the	DET
alkej-912	68	8	cumulative	cumulative	ADJ
alkej-912	68	9	sum	sum	NOUN
alkej-912	68	10	of	of	ADP
alkej-912	68	11	historical	historical	ADJ
alkej-912	68	12	error	error	NOUN
alkej-912	68	13	values	value	NOUN
alkej-912	68	14	,	,	PUNCT
alkej-912	68	15	which	which	PRON
alkej-912	68	16	is	be	AUX
alkej-912	68	17	then	then	ADV
alkej-912	68	18	integrated	integrate	VERB
alkej-912	68	19	to	to	PART
alkej-912	68	20	determine	determine	VERB
alkej-912	68	21	the	the	DET
alkej-912	68	22	integral	integral	ADJ
alkej-912	68	23	term	term	NOUN
alkej-912	68	24	.	.	PUNCT
alkej-912	69	1	when	when	SCONJ
alkej-912	69	2	a	a	DET
alkej-912	69	3	mistake	mistake	NOUN
alkej-912	69	4	is	be	AUX
alkej-912	69	5	removed	remove	VERB
alkej-912	69	6	from	from	ADP
alkej-912	69	7	the	the	DET
alkej-912	69	8	system	system	NOUN
alkej-912	69	9	,	,	PUNCT
alkej-912	69	10	the	the	DET
alkej-912	69	11	rate	rate	NOUN
alkej-912	69	12	of	of	ADP
alkej-912	69	13	increase	increase	NOUN
alkej-912	69	14	of	of	ADP
alkej-912	69	15	this	this	DET
alkej-912	69	16	integral	integral	ADJ
alkej-912	69	17	ceases	cease	NOUN
alkej-912	69	18	.	.	PUNCT
alkej-912	70	1	the	the	DET
alkej-912	70	2	derivative	derivative	NOUN
alkej-912	70	3	is	be	AUX
alkej-912	70	4	employed	employ	VERB
alkej-912	70	5	to	to	PART
alkej-912	70	6	forecast	forecast	VERB
alkej-912	70	7	the	the	DET
alkej-912	70	8	anticipated	anticipate	VERB
alkej-912	70	9	error	error	NOUN
alkej-912	70	10	levels	level	NOUN
alkej-912	70	11	in	in	ADP
alkej-912	70	12	the	the	DET
alkej-912	70	13	future	future	NOUN
alkej-912	70	14	,	,	PUNCT
alkej-912	70	15	relying	rely	VERB
alkej-912	70	16	on	on	ADP
alkej-912	70	17	the	the	DET
alkej-912	70	18	current	current	ADJ
alkej-912	70	19	values	value	NOUN
alkej-912	70	20	.	.	PUNCT
alkej-912	71	1	the	the	DET
alkej-912	71	2	controlling	control	VERB
alkej-912	71	3	effect	effect	NOUN
alkej-912	71	4	can	can	AUX
alkej-912	71	5	be	be	AUX
alkej-912	71	6	enhanced	enhance	VERB
alkej-912	71	7	by	by	ADP
alkej-912	71	8	having	have	VERB
alkej-912	71	9	a	a	DET
alkej-912	71	10	system	system	NOUN
alkej-912	71	11	with	with	ADP
alkej-912	71	12	a	a	DET
alkej-912	71	13	high	high	ADJ
alkej-912	71	14	rate	rate	NOUN
alkej-912	71	15	of	of	ADP
alkej-912	71	16	change	change	NOUN
alkej-912	71	17	,	,	PUNCT
alkej-912	71	18	which	which	PRON
alkej-912	71	19	is	be	AUX
alkej-912	71	20	likewise	likewise	ADV
alkej-912	71	21	dependent	dependent	ADJ
alkej-912	71	22	on	on	ADP
alkej-912	71	23	derivatives	derivative	NOUN
alkej-912	71	24	.	.	PUNCT
alkej-912	72	1	the	the	DET
alkej-912	72	2	name	name	NOUN
alkej-912	72	3	"	"	PUNCT
alkej-912	72	4	proportional	proportional	ADJ
alkej-912	72	5	integral	integral	ADJ
alkej-912	72	6	derivative	derivative	ADJ
alkej-912	72	7	(	(	PUNCT
alkej-912	72	8	pid	pid	NOUN
alkej-912	72	9	)	)	PUNCT
alkej-912	72	10	controller	controller	NOUN
alkej-912	72	11	"	"	PUNCT
alkej-912	72	12	is	be	AUX
alkej-912	72	13	derived	derive	VERB
alkej-912	72	14	from	from	ADP
alkej-912	72	15	the	the	DET
alkej-912	72	16	combination	combination	NOUN
alkej-912	72	17	of	of	ADP
alkej-912	72	18	these	these	DET
alkej-912	72	19	three	three	NUM
alkej-912	72	20	operations	operation	NOUN
alkej-912	72	21	[	[	X
alkej-912	72	22	11	11	NUM
alkej-912	72	23	]	]	PUNCT
alkej-912	72	24	.	.	PUNCT
alkej-912	73	1	output	output	PROPN
alkej-912	73	2	=	=	SYM
alkej-912	73	3	kₚe(t)+kᵢ	kₚe(t)+kᵢ	PROPN
alkej-912	73	4	∫	∫	PROPN
alkej-912	73	5	𝑒	𝑒	PROPN
alkej-912	73	6	(	(	PUNCT
alkej-912	73	7	𝑡)dt+kd	𝑡)dt+kd	NOUN
alkej-912	73	8	𝑑	𝑑	VERB
alkej-912	73	9	𝑑𝑡	𝑑𝑡	ADP
alkej-912	73	10	e(t)	e(t)	PROPN
alkej-912	73	11	…	…	PUNCT
alkej-912	73	12	(12)[11	(12)[11	X
alkej-912	73	13	]	]	PUNCT
alkej-912	74	1	where	where	SCONJ
alkej-912	74	2	:	:	PUNCT
alkej-912	74	3	e	e	X
alkej-912	74	4	=	=	SYM
alkej-912	74	5	setpoint	setpoint	NOUN
alkej-912	74	6	-input	-input	NOUN
alkej-912	74	7	𝐾𝑝	𝐾𝑝	NOUN
alkej-912	74	8	=	=	PUNCT
alkej-912	74	9	proportional	proportional	ADJ
alkej-912	74	10	constant	constant	ADJ
alkej-912	74	11	𝐾𝑖	𝐾𝑖	PROPN
alkej-912	74	12	=	=	SYM
alkej-912	74	13	integral	integral	ADJ
alkej-912	74	14	constant	constant	ADJ
alkej-912	74	15	𝐾𝑑	𝐾𝑑	NOUN
alkej-912	74	16	=	=	PUNCT
alkej-912	74	17	derivative	derivative	ADJ
alkej-912	74	18	constant	constant	ADJ
alkej-912	74	19	2.3	2.3	NUM
alkej-912	74	20	ga	ga	NOUN
alkej-912	74	21	algorithm	algorithm	NOUN
alkej-912	74	22	genetic	genetic	ADJ
alkej-912	74	23	algorithms	algorithm	NOUN
alkej-912	74	24	(	(	PUNCT
alkej-912	74	25	gas	gas	NOUN
alkej-912	74	26	)	)	PUNCT
alkej-912	74	27	are	be	AUX
alkej-912	74	28	grounded	ground	VERB
alkej-912	74	29	in	in	ADP
alkej-912	74	30	fundamental	fundamental	ADJ
alkej-912	74	31	principles	principle	NOUN
alkej-912	74	32	such	such	ADJ
alkej-912	74	33	as	as	ADP
alkej-912	74	34	natural	natural	ADJ
alkej-912	74	35	selection	selection	NOUN
alkej-912	74	36	and	and	CCONJ
alkej-912	74	37	natural	natural	ADJ
alkej-912	74	38	inheritance	inheritance	NOUN
alkej-912	74	39	.	.	PUNCT
alkej-912	75	1	natural	natural	ADJ
alkej-912	75	2	selection	selection	NOUN
alkej-912	75	3	refers	refer	VERB
alkej-912	75	4	to	to	ADP
alkej-912	75	5	the	the	DET
alkej-912	75	6	process	process	NOUN
alkej-912	75	7	through	through	ADP
alkej-912	75	8	which	which	PRON
alkej-912	75	9	organisms	organism	NOUN
alkej-912	75	10	with	with	ADP
alkej-912	75	11	advantageous	advantageous	ADJ
alkej-912	75	12	adaptations	adaptation	NOUN
alkej-912	75	13	to	to	ADP
alkej-912	75	14	their	their	PRON
alkej-912	75	15	environment	environment	NOUN
alkej-912	75	16	are	be	AUX
alkej-912	75	17	more	more	ADV
alkej-912	75	18	likely	likely	ADJ
alkej-912	75	19	to	to	PART
alkej-912	75	20	survive	survive	VERB
alkej-912	75	21	and	and	CCONJ
alkej-912	75	22	reproduce	reproduce	VERB
alkej-912	75	23	,	,	PUNCT
alkej-912	75	24	while	while	SCONJ
alkej-912	75	25	those	those	PRON
alkej-912	75	26	lacking	lack	VERB
alkej-912	75	27	such	such	ADJ
alkej-912	75	28	adaptations	adaptation	NOUN
alkej-912	75	29	are	be	AUX
alkej-912	75	30	more	more	ADV
alkej-912	75	31	likely	likely	ADJ
alkej-912	75	32	to	to	PART
alkej-912	75	33	be	be	AUX
alkej-912	75	34	removed	remove	VERB
alkej-912	75	35	.	.	PUNCT
alkej-912	76	1	this	this	DET
alkej-912	76	2	elimination	elimination	NOUN
alkej-912	76	3	occurs	occur	VERB
alkej-912	76	4	due	due	ADJ
alkej-912	76	5	to	to	ADP
alkej-912	76	6	the	the	DET
alkej-912	76	7	absence	absence	NOUN
alkej-912	76	8	of	of	ADP
alkej-912	76	9	favorable	favorable	ADJ
alkej-912	76	10	hereditary	hereditary	ADJ
alkej-912	76	11	traits	trait	NOUN
alkej-912	76	12	,	,	PUNCT
alkej-912	76	13	which	which	PRON
alkej-912	76	14	are	be	AUX
alkej-912	76	15	passed	pass	VERB
alkej-912	76	16	on	on	ADP
alkej-912	76	17	through	through	ADP
alkej-912	76	18	the	the	DET
alkej-912	76	19	interbreeding	interbreeding	NOUN
alkej-912	76	20	of	of	ADP
alkej-912	76	21	selected	select	VERB
alkej-912	76	22	individuals	individual	NOUN
alkej-912	76	23	to	to	PART
alkej-912	76	24	generate	generate	VERB
alkej-912	76	25	offspring	offspring	NOUN
alkej-912	76	26	.	.	PUNCT
alkej-912	77	1	in	in	ADP
alkej-912	77	2	the	the	DET
alkej-912	77	3	context	context	NOUN
alkej-912	77	4	of	of	ADP
alkej-912	77	5	genetic	genetic	ADJ
alkej-912	77	6	algorithms	algorithm	NOUN
alkej-912	77	7	(	(	PUNCT
alkej-912	77	8	ga	ga	PROPN
alkej-912	77	9	)	)	PUNCT
alkej-912	77	10	,	,	PUNCT
alkej-912	77	11	the	the	DET
alkej-912	77	12	initial	initial	ADJ
alkej-912	77	13	population	population	NOUN
alkej-912	77	14	is	be	AUX
alkej-912	77	15	determined	determine	VERB
alkej-912	77	16	using	use	VERB
alkej-912	77	17	a	a	DET
alkej-912	77	18	fully	fully	ADV
alkej-912	77	19	random	random	ADJ
alkej-912	77	20	process	process	NOUN
alkej-912	77	21	in	in	ADP
alkej-912	77	22	georgia	georgia	PROPN
alkej-912	77	23	.	.	PUNCT
alkej-912	78	1	the	the	DET
alkej-912	78	2	subsequent	subsequent	ADJ
alkej-912	78	3	stages	stage	NOUN
alkej-912	78	4	of	of	ADP
alkej-912	78	5	ga	ga	PROPN
alkej-912	78	6	can	can	AUX
alkej-912	78	7	be	be	AUX
alkej-912	78	8	categorized	categorize	VERB
alkej-912	78	9	into	into	ADP
alkej-912	78	10	two	two	NUM
alkej-912	78	11	distinct	distinct	ADJ
alkej-912	78	12	phases	phase	NOUN
alkej-912	78	13	:	:	PUNCT
alkej-912	78	14	genetic	genetic	ADJ
alkej-912	78	15	operations	operation	NOUN
alkej-912	78	16	,	,	PUNCT
alkej-912	78	17	which	which	PRON
alkej-912	78	18	involve	involve	VERB
alkej-912	78	19	crossover	crossover	NOUN
alkej-912	78	20	and	and	CCONJ
alkej-912	78	21	mutation	mutation	NOUN
alkej-912	78	22	,	,	PUNCT
alkej-912	78	23	and	and	CCONJ
alkej-912	78	24	evolutionary	evolutionary	ADJ
alkej-912	78	25	processes	process	NOUN
alkej-912	78	26	,	,	PUNCT
alkej-912	78	27	which	which	PRON
alkej-912	78	28	encompass	encompass	VERB
alkej-912	78	29	selection	selection	NOUN
alkej-912	78	30	.	.	PUNCT
alkej-912	79	1	the	the	DET
alkej-912	79	2	initial	initial	ADJ
alkej-912	79	3	step	step	NOUN
alkej-912	79	4	in	in	ADP
alkej-912	79	5	problem	problem	NOUN
alkej-912	79	6	-	-	PUNCT
alkej-912	79	7	solving	solve	VERB
alkej-912	79	8	involves	involve	VERB
alkej-912	79	9	encoding	encode	VERB
alkej-912	79	10	a	a	DET
alkej-912	79	11	set	set	NOUN
alkej-912	79	12	of	of	ADP
alkej-912	79	13	points	point	NOUN
alkej-912	79	14	,	,	PUNCT
alkej-912	79	15	known	know	VERB
alkej-912	79	16	as	as	ADP
alkej-912	79	17	genetic	genetic	ADJ
alkej-912	79	18	algorithms	algorithm	NOUN
alkej-912	79	19	(	(	PUNCT
alkej-912	79	20	gas	gas	NOUN
alkej-912	79	21	)	)	PUNCT
alkej-912	79	22	.	.	PUNCT
alkej-912	80	1	every	every	DET
alkej-912	80	2	configuration	configuration	NOUN
alkej-912	80	3	generates	generate	VERB
alkej-912	80	4	a	a	DET
alkej-912	80	5	collection	collection	NOUN
alkej-912	80	6	of	of	ADP
alkej-912	80	7	potential	potential	ADJ
alkej-912	80	8	solutions	solution	NOUN
alkej-912	80	9	,	,	PUNCT
alkej-912	80	10	referred	refer	VERB
alkej-912	80	11	to	to	ADP
alkej-912	80	12	as	as	ADP
alkej-912	80	13	a	a	DET
alkej-912	80	14	chromosome	chromosome	NOUN
alkej-912	80	15	or	or	CCONJ
alkej-912	80	16	individual	individual	NOUN
alkej-912	80	17	,	,	PUNCT
alkej-912	80	18	within	within	ADP
alkej-912	80	19	the	the	DET
alkej-912	80	20	population	population	NOUN
alkej-912	80	21	.	.	PUNCT
alkej-912	81	1	[	[	X
alkej-912	81	2	14]chromosomes	14]chromosomes	NUM
alkej-912	81	3	consist	consist	VERB
alkej-912	81	4	of	of	ADP
alkej-912	81	5	sequences	sequence	NOUN
alkej-912	81	6	of	of	ADP
alkej-912	81	7	genetic	genetic	ADJ
alkej-912	81	8	material	material	NOUN
alkej-912	81	9	known	know	VERB
alkej-912	81	10	as	as	ADP
alkej-912	81	11	genes	gene	NOUN
alkej-912	81	12	.	.	PUNCT
alkej-912	82	1	the	the	DET
alkej-912	82	2	design	design	NOUN
alkej-912	82	3	process	process	NOUN
alkej-912	82	4	is	be	AUX
alkej-912	82	5	utilized	utilize	VERB
alkej-912	82	6	to	to	PART
alkej-912	82	7	create	create	VERB
alkej-912	82	8	an	an	DET
alkej-912	82	9	appropriate	appropriate	ADJ
alkej-912	82	10	algorithm	algorithm	NOUN
alkej-912	82	11	.	.	PUNCT
alkej-912	83	1	the	the	DET
alkej-912	83	2	genetic	genetic	ADJ
alkej-912	83	3	algorithm	algorithm	NOUN
alkej-912	83	4	(	(	PUNCT
alkej-912	83	5	ga	ga	NOUN
alkej-912	83	6	)	)	PUNCT
alkej-912	83	7	is	be	AUX
alkej-912	83	8	elected	elect	VERB
alkej-912	83	9	as	as	ADP
alkej-912	83	10	the	the	DET
alkej-912	83	11	method	method	NOUN
alkej-912	83	12	of	of	ADP
alkej-912	83	13	choice	choice	NOUN
alkej-912	83	14	for	for	ADP
alkej-912	83	15	optimizing	optimize	VERB
alkej-912	83	16	the	the	DET
alkej-912	83	17	parameters	parameter	NOUN
alkej-912	83	18	of	of	ADP
alkej-912	83	19	the	the	DET
alkej-912	83	20	pid	pid	NOUN
alkej-912	83	21	controller	controller	NOUN
alkej-912	83	22	,	,	PUNCT
alkej-912	83	23	specifically	specifically	ADV
alkej-912	83	24	kp	kp	PROPN
alkej-912	83	25	,	,	PUNCT
alkej-912	83	26	ki	ki	PROPN
alkej-912	83	27	,	,	PUNCT
alkej-912	83	28	and	and	CCONJ
alkej-912	83	29	kd	kd	PROPN
alkej-912	83	30	,	,	PUNCT
alkej-912	83	31	through	through	ADP
alkej-912	83	32	a	a	DET
alkej-912	83	33	self	self	NOUN
alkej-912	83	34	-	-	PUNCT
alkej-912	83	35	tuning	tune	VERB
alkej-912	83	36	process	process	NOUN
alkej-912	83	37	.	.	PUNCT
alkej-912	84	1	the	the	DET
alkej-912	84	2	design	design	NOUN
alkej-912	84	3	process	process	NOUN
alkej-912	84	4	revolves	revolve	VERB
alkej-912	84	5	around	around	ADP
alkej-912	84	6	the	the	DET
alkej-912	84	7	utilization	utilization	NOUN
alkej-912	84	8	of	of	ADP
alkej-912	84	9	a	a	DET
alkej-912	84	10	genetic	genetic	ADJ
alkej-912	84	11	algorithm	algorithm	NOUN
alkej-912	84	12	(	(	PUNCT
alkej-912	84	13	ga	ga	NOUN
alkej-912	84	14	)	)	PUNCT
alkej-912	84	15	to	to	PART
alkej-912	84	16	optimize	optimize	VERB
alkej-912	84	17	the	the	DET
alkej-912	84	18	classic	classic	ADJ
alkej-912	84	19	proportional	proportional	ADJ
alkej-912	84	20	-	-	PUNCT
alkej-912	84	21	integral	integral	ADJ
alkej-912	84	22	-	-	PUNCT
alkej-912	84	23	derivative	derivative	ADJ
alkej-912	84	24	(	(	PUNCT
alkej-912	84	25	pid	pid	NOUN
alkej-912	84	26	)	)	PUNCT
alkej-912	84	27	controller	controller	NOUN
alkej-912	84	28	for	for	ADP
alkej-912	84	29	self	self	NOUN
alkej-912	84	30	-	-	PUNCT
alkej-912	84	31	balance	balance	NOUN
alkej-912	84	32	platform	platform	NOUN
alkej-912	84	33	control	control	NOUN
alkej-912	84	34	[	[	X
alkej-912	84	35	15	15	NUM
alkej-912	84	36	]	]	PUNCT
alkej-912	84	37	.	.	PUNCT
alkej-912	85	1	empirical	empirical	ADJ
alkej-912	85	2	investigations	investigation	NOUN
alkej-912	85	3	have	have	AUX
alkej-912	85	4	demonstrated	demonstrate	VERB
alkej-912	85	5	that	that	SCONJ
alkej-912	85	6	the	the	DET
alkej-912	85	7	use	use	NOUN
alkej-912	85	8	of	of	ADP
alkej-912	85	9	the	the	DET
alkej-912	85	10	genetic	genetic	ADJ
alkej-912	85	11	algorithm	algorithm	NOUN
alkej-912	85	12	(	(	PUNCT
alkej-912	85	13	ga	ga	NOUN
alkej-912	85	14	)	)	PUNCT
alkej-912	85	15	and	and	CCONJ
alkej-912	85	16	the	the	DET
alkej-912	85	17	proportional	proportional	ADJ
alkej-912	85	18	-	-	PUNCT
alkej-912	85	19	integral	integral	ADJ
alkej-912	85	20	-	-	PUNCT
alkej-912	85	21	derivative	derivative	ADJ
alkej-912	85	22	(	(	PUNCT
alkej-912	85	23	pid	pid	NOUN
alkej-912	85	24	)	)	PUNCT
alkej-912	85	25	controller	controller	NOUN
alkej-912	85	26	yields	yield	VERB
alkej-912	85	27	superior	superior	ADJ
alkej-912	85	28	outcomes	outcome	NOUN
alkej-912	85	29	in	in	ADP
alkej-912	85	30	the	the	DET
alkej-912	85	31	regulation	regulation	NOUN
alkej-912	85	32	of	of	ADP
alkej-912	85	33	selfbalancing	selfbalance	VERB
alkej-912	85	34	robots	robot	NOUN
alkej-912	85	35	compared	compare	VERB
alkej-912	85	36	to	to	ADP
alkej-912	85	37	traditional	traditional	ADJ
alkej-912	85	38	pid	pid	NOUN
alkej-912	85	39	control	control	NOUN
alkej-912	85	40	methods	method	NOUN
alkej-912	85	41	[	[	X
alkej-912	85	42	14	14	NUM
alkej-912	85	43	]	]	PUNCT
alkej-912	85	44	.	.	PUNCT
alkej-912	86	1	2.4	2.4	NUM
alkej-912	86	2	pso	pso	NOUN
alkej-912	86	3	algorithm	algorithm	NOUN
alkej-912	86	4	particle	particle	NOUN
alkej-912	86	5	swarm	swarm	NOUN
alkej-912	86	6	optimization	optimization	NOUN
alkej-912	86	7	(	(	PUNCT
alkej-912	86	8	pso	pso	NOUN
alkej-912	86	9	)	)	PUNCT
alkej-912	86	10	is	be	AUX
alkej-912	86	11	a	a	DET
alkej-912	86	12	widely	widely	ADV
alkej-912	86	13	recognized	recognize	VERB
alkej-912	86	14	and	and	CCONJ
alkej-912	86	15	influential	influential	ADJ
alkej-912	86	16	optimization	optimization	NOUN
alkej-912	86	17	method	method	NOUN
alkej-912	86	18	that	that	PRON
alkej-912	86	19	draws	draw	VERB
alkej-912	86	20	inspiration	inspiration	NOUN
alkej-912	86	21	from	from	ADP
alkej-912	86	22	natural	natural	ADJ
alkej-912	86	23	swarm	swarm	NOUN
alkej-912	86	24	behavior	behavior	NOUN
alkej-912	86	25	.	.	PUNCT
alkej-912	87	1	the	the	DET
alkej-912	87	2	popularity	popularity	NOUN
alkej-912	87	3	of	of	ADP
alkej-912	87	4	this	this	DET
alkej-912	87	5	nature	nature	NOUN
alkej-912	87	6	-	-	PUNCT
alkej-912	87	7	inspired	inspire	VERB
alkej-912	87	8	technique	technique	NOUN
alkej-912	87	9	has	have	AUX
alkej-912	87	10	experienced	experience	VERB
alkej-912	87	11	a	a	DET
alkej-912	87	12	significant	significant	ADJ
alkej-912	87	13	surge	surge	NOUN
alkej-912	87	14	due	due	ADP
alkej-912	87	15	to	to	ADP
alkej-912	87	16	its	its	PRON
alkej-912	87	17	inherent	inherent	ADJ
alkej-912	87	18	characteristics	characteristic	NOUN
alkej-912	87	19	of	of	ADP
alkej-912	87	20	flexibility	flexibility	NOUN
alkej-912	87	21	and	and	CCONJ
alkej-912	87	22	ease	ease	NOUN
alkej-912	87	23	of	of	ADP
alkej-912	87	24	implementation	implementation	NOUN
alkej-912	87	25	.	.	PUNCT
alkej-912	88	1	particle	particle	NOUN
alkej-912	88	2	swarm	swarm	NOUN
alkej-912	88	3	optimization	optimization	NOUN
alkej-912	88	4	(	(	PUNCT
alkej-912	88	5	pso	pso	NOUN
alkej-912	88	6	)	)	PUNCT
alkej-912	88	7	has	have	AUX
alkej-912	88	8	garnered	garner	VERB
alkej-912	88	9	significant	significant	ADJ
alkej-912	88	10	attention	attention	NOUN
alkej-912	88	11	across	across	ADP
alkej-912	88	12	various	various	ADJ
alkej-912	88	13	domains	domain	NOUN
alkej-912	88	14	of	of	ADP
alkej-912	88	15	academic	academic	ADJ
alkej-912	88	16	inquiry	inquiry	NOUN
alkej-912	88	17	[	[	X
alkej-912	88	18	13	13	NUM
alkej-912	88	19	]	]	PUNCT
alkej-912	88	20	.	.	PUNCT
alkej-912	89	1	sarah	sarah	PROPN
alkej-912	89	2	m.	m.	PROPN
alkej-912	89	3	rashid	rashid	PROPN
alkej-912	89	4	al	al	PROPN
alkej-912	89	5	-	-	PUNCT
alkej-912	89	6	khwarizmi	khwarizmi	PROPN
alkej-912	89	7	engineering	engineering	NOUN
alkej-912	89	8	journal	journal	PROPN
alkej-912	89	9	,	,	PUNCT
alkej-912	89	10	vol	vol	NOUN
alkej-912	89	11	.	.	PROPN
alkej-912	89	12	20	20	NUM
alkej-912	89	13	,	,	PUNCT
alkej-912	89	14	no.2	no.2	PROPN
alkej-912	89	15	,	,	PUNCT
alkej-912	89	16	p.p	p.p	PROPN
alkej-912	89	17	.	.	NOUN
alkej-912	89	18	7889(2024	7889(2024	NUM
alkej-912	89	19	)	)	PUNCT
alkej-912	89	20	60	60	NUM
alkej-912	89	21	3	3	NUM
alkej-912	89	22	.	.	PUNCT
alkej-912	89	23	simulation	simulation	NOUN
alkej-912	89	24	and	and	CCONJ
alkej-912	89	25	experiment	experiment	NOUN
alkej-912	89	26	this	this	DET
alkej-912	89	27	section	section	NOUN
alkej-912	89	28	presents	present	VERB
alkej-912	89	29	the	the	DET
alkej-912	89	30	simulation	simulation	NOUN
alkej-912	89	31	model	model	NOUN
alkej-912	89	32	of	of	ADP
alkej-912	89	33	a	a	DET
alkej-912	89	34	self	self	NOUN
alkej-912	89	35	-	-	PUNCT
alkej-912	89	36	balancing	balance	VERB
alkej-912	89	37	platform	platform	NOUN
alkej-912	89	38	,	,	PUNCT
alkej-912	89	39	the	the	DET
alkej-912	89	40	input	input	NOUN
alkej-912	89	41	and	and	CCONJ
alkej-912	89	42	output	output	NOUN
alkej-912	89	43	systems	system	NOUN
alkej-912	89	44	and	and	CCONJ
alkej-912	89	45	the	the	DET
alkej-912	89	46	transfer	transfer	NOUN
alkej-912	89	47	functions	function	NOUN
alkej-912	89	48	of	of	ADP
alkej-912	89	49	the	the	DET
alkej-912	89	50	platform	platform	NOUN
alkej-912	89	51	.	.	PUNCT
alkej-912	90	1	figure	figure	VERB
alkej-912	90	2	3	3	NUM
alkej-912	90	3	presents	present	VERB
alkej-912	90	4	the	the	DET
alkej-912	90	5	simulation	simulation	NOUN
alkej-912	90	6	model	model	NOUN
alkej-912	90	7	with	with	ADP
alkej-912	90	8	a	a	DET
alkej-912	90	9	conventional	conventional	ADJ
alkej-912	90	10	pid	pid	NOUN
alkej-912	90	11	controller	controller	NOUN
alkej-912	90	12	,	,	PUNCT
alkej-912	90	13	which	which	PRON
alkej-912	90	14	enhances	enhance	VERB
alkej-912	90	15	the	the	DET
alkej-912	90	16	performance	performance	NOUN
alkej-912	90	17	of	of	ADP
alkej-912	90	18	the	the	DET
alkej-912	90	19	self	self	NOUN
alkej-912	90	20	-	-	PUNCT
alkej-912	90	21	balancing	balance	VERB
alkej-912	90	22	platform	platform	NOUN
alkej-912	90	23	.	.	PUNCT
alkej-912	91	1	the	the	DET
alkej-912	91	2	simulation	simulation	NOUN
alkej-912	91	3	model	model	NOUN
alkej-912	91	4	is	be	AUX
alkej-912	91	5	shown	show	VERB
alkej-912	91	6	in	in	ADP
alkej-912	91	7	figure	figure	NOUN
alkej-912	91	8	4	4	NUM
alkej-912	91	9	.	.	PUNCT
alkej-912	92	1	it	it	PRON
alkej-912	92	2	uses	use	VERB
alkej-912	92	3	a	a	DET
alkej-912	92	4	genetic	genetic	ADJ
alkej-912	92	5	algorithm	algorithm	NOUN
alkej-912	92	6	(	(	PUNCT
alkej-912	92	7	ga	ga	NOUN
alkej-912	92	8	)	)	PUNCT
alkej-912	92	9	to	to	PART
alkej-912	92	10	find	find	VERB
alkej-912	92	11	the	the	DET
alkej-912	92	12	most	most	ADV
alkej-912	92	13	important	important	ADJ
alkej-912	92	14	changes	change	NOUN
alkej-912	92	15	needed	need	VERB
alkej-912	92	16	by	by	ADP
alkej-912	92	17	choosing	choose	VERB
alkej-912	92	18	the	the	DET
alkej-912	92	19	best	good	ADJ
alkej-912	92	20	values	value	NOUN
alkej-912	92	21	for	for	ADP
alkej-912	92	22	the	the	DET
alkej-912	92	23	pid	pid	NOUN
alkej-912	92	24	controller	controller	NOUN
alkej-912	92	25	's	's	PART
alkej-912	92	26	parameters	parameter	NOUN
alkej-912	92	27	.	.	PUNCT
alkej-912	93	1	this	this	PRON
alkej-912	93	2	makes	make	VERB
alkej-912	93	3	the	the	DET
alkej-912	93	4	system	system	NOUN
alkej-912	93	5	better	well	ADV
alkej-912	93	6	.	.	PUNCT
alkej-912	94	1	while	while	SCONJ
alkej-912	94	2	figure	figure	NOUN
alkej-912	94	3	5	5	NUM
alkej-912	94	4	illustrates	illustrate	VERB
alkej-912	94	5	the	the	DET
alkej-912	94	6	simulation	simulation	NOUN
alkej-912	94	7	model	model	NOUN
alkej-912	94	8	utilizing	utilize	VERB
alkej-912	94	9	the	the	DET
alkej-912	94	10	particle	particle	NOUN
alkej-912	94	11	swarm	swarm	NOUN
alkej-912	94	12	optimization	optimization	NOUN
alkej-912	94	13	(	(	PUNCT
alkej-912	94	14	pso	pso	NOUN
alkej-912	94	15	)	)	PUNCT
alkej-912	94	16	algorithm	algorithm	NOUN
alkej-912	94	17	to	to	PART
alkej-912	94	18	identify	identify	VERB
alkej-912	94	19	crucial	crucial	ADJ
alkej-912	94	20	adjustments	adjustment	NOUN
alkej-912	94	21	by	by	ADP
alkej-912	94	22	selecting	select	VERB
alkej-912	94	23	optimal	optimal	ADJ
alkej-912	94	24	values	value	NOUN
alkej-912	94	25	for	for	ADP
alkej-912	94	26	the	the	DET
alkej-912	94	27	control	control	NOUN
alkej-912	94	28	parameters	parameter	NOUN
alkej-912	94	29	of	of	ADP
alkej-912	94	30	the	the	DET
alkej-912	94	31	proportional	proportional	ADJ
alkej-912	94	32	-	-	PUNCT
alkej-912	94	33	integral	integral	ADJ
alkej-912	94	34	-	-	PUNCT
alkej-912	94	35	derivative	derivative	ADJ
alkej-912	94	36	(	(	PUNCT
alkej-912	94	37	pid	pid	NOUN
alkej-912	94	38	)	)	PUNCT
alkej-912	94	39	controller	controller	NOUN
alkej-912	94	40	for	for	ADP
alkej-912	94	41	system	system	NOUN
alkej-912	94	42	optimization	optimization	NOUN
alkej-912	94	43	fig	fig	NOUN
alkej-912	94	44	.	.	PUNCT
alkej-912	95	1	3	3	X
alkej-912	95	2	.	.	X
alkej-912	95	3	simulation	simulation	NOUN
alkej-912	95	4	model	model	NOUN
alkej-912	95	5	of	of	ADP
alkej-912	95	6	self	self	NOUN
alkej-912	95	7	-	-	PUNCT
alkej-912	95	8	balance	balance	NOUN
alkej-912	95	9	platform	platform	NOUN
alkej-912	95	10	with	with	ADP
alkej-912	95	11	tuning	tune	VERB
alkej-912	95	12	pid	pid	NOUN
alkej-912	95	13	controller	controller	NOUN
alkej-912	95	14	.	.	PUNCT
alkej-912	96	1	fig	fig	NOUN
alkej-912	96	2	.	.	PUNCT
alkej-912	97	1	4	4	X
alkej-912	97	2	.	.	X
alkej-912	97	3	simulation	simulation	NOUN
alkej-912	97	4	model	model	NOUN
alkej-912	97	5	of	of	ADP
alkej-912	97	6	self	self	NOUN
alkej-912	97	7	-	-	PUNCT
alkej-912	97	8	balance	balance	NOUN
alkej-912	97	9	platform	platform	NOUN
alkej-912	97	10	with	with	ADP
alkej-912	97	11	ga	ga	NOUN
alkej-912	97	12	-	-	PUNCT
alkej-912	97	13	pid	pid	NOUN
alkej-912	97	14	controller	controller	NOUN
alkej-912	97	15	.	.	PUNCT
alkej-912	98	1	fig	fig	NOUN
alkej-912	98	2	.	.	PUNCT
alkej-912	99	1	5	5	X
alkej-912	99	2	.	.	X
alkej-912	99	3	simulation	simulation	NOUN
alkej-912	99	4	model	model	NOUN
alkej-912	99	5	of	of	ADP
alkej-912	99	6	a	a	DET
alkej-912	99	7	self	self	NOUN
alkej-912	99	8	-	-	PUNCT
alkej-912	99	9	balance	balance	NOUN
alkej-912	99	10	platform	platform	NOUN
alkej-912	99	11	with	with	ADP
alkej-912	99	12	pso	pso	NOUN
alkej-912	99	13	-	-	PUNCT
alkej-912	99	14	pid	pid	NOUN
alkej-912	99	15	controller	controller	NOUN
alkej-912	99	16	.	.	PUNCT
alkej-912	100	1	sarah	sarah	PROPN
alkej-912	100	2	m.	m.	PROPN
alkej-912	100	3	rashid	rashid	PROPN
alkej-912	100	4	al	al	PROPN
alkej-912	100	5	-	-	PUNCT
alkej-912	100	6	khwarizmi	khwarizmi	PROPN
alkej-912	100	7	engineering	engineering	NOUN
alkej-912	100	8	journal	journal	PROPN
alkej-912	100	9	,	,	PUNCT
alkej-912	100	10	vol	vol	NOUN
alkej-912	100	11	.	.	PROPN
alkej-912	100	12	20	20	NUM
alkej-912	100	13	,	,	PUNCT
alkej-912	100	14	no.2	no.2	PROPN
alkej-912	100	15	,	,	PUNCT
alkej-912	100	16	p.p	p.p	PROPN
alkej-912	100	17	.	.	NOUN
alkej-912	100	18	7889(2024	7889(2024	NUM
alkej-912	100	19	)	)	PUNCT
alkej-912	100	20	61	61	NUM
alkej-912	100	21	4	4	NUM
alkej-912	100	22	.	.	PUNCT
alkej-912	101	1	simulation	simulation	NOUN
alkej-912	101	2	results	result	VERB
alkej-912	101	3	in	in	ADP
alkej-912	101	4	this	this	DET
alkej-912	101	5	section	section	NOUN
alkej-912	101	6	,	,	PUNCT
alkej-912	101	7	there	there	PRON
alkej-912	101	8	are	be	VERB
alkej-912	101	9	three	three	NUM
alkej-912	101	10	parts	part	NOUN
alkej-912	101	11	.	.	PUNCT
alkej-912	102	1	the	the	DET
alkej-912	102	2	first	first	ADJ
alkej-912	102	3	part	part	NOUN
alkej-912	102	4	is	be	AUX
alkej-912	102	5	the	the	DET
alkej-912	102	6	simulation	simulation	NOUN
alkej-912	102	7	results	result	VERB
alkej-912	102	8	with	with	ADP
alkej-912	102	9	the	the	DET
alkej-912	102	10	pid	pid	NOUN
alkej-912	102	11	controller	controller	NOUN
alkej-912	102	12	shown	show	VERB
alkej-912	102	13	in	in	ADP
alkej-912	102	14	subsection	subsection	NOUN
alkej-912	102	15	4.1	4.1	NUM
alkej-912	102	16	.	.	PUNCT
alkej-912	103	1	the	the	DET
alkej-912	103	2	second	second	ADJ
alkej-912	103	3	part	part	NOUN
alkej-912	103	4	is	be	AUX
alkej-912	103	5	the	the	DET
alkej-912	103	6	simulation	simulation	NOUN
alkej-912	103	7	results	result	VERB
alkej-912	103	8	with	with	ADP
alkej-912	103	9	the	the	DET
alkej-912	103	10	ga_pid	ga_pid	PROPN
alkej-912	103	11	controller	controller	NOUN
alkej-912	103	12	that	that	PRON
alkej-912	103	13	is	be	AUX
alkej-912	103	14	shown	show	VERB
alkej-912	103	15	in	in	ADP
alkej-912	103	16	subsection	subsection	NOUN
alkej-912	103	17	4.2	4.2	NUM
alkej-912	103	18	.	.	PUNCT
alkej-912	104	1	the	the	DET
alkej-912	104	2	third	third	ADJ
alkej-912	104	3	part	part	NOUN
alkej-912	104	4	is	be	AUX
alkej-912	104	5	the	the	DET
alkej-912	104	6	simulation	simulation	NOUN
alkej-912	104	7	results	result	VERB
alkej-912	104	8	with	with	ADP
alkej-912	104	9	the	the	DET
alkej-912	104	10	pso	pso	NOUN
alkej-912	104	11	-	-	PUNCT
alkej-912	104	12	pid	pid	NOUN
alkej-912	104	13	controller	controller	NOUN
alkej-912	104	14	that	that	PRON
alkej-912	104	15	is	be	AUX
alkej-912	104	16	shown	show	VERB
alkej-912	104	17	in	in	ADP
alkej-912	104	18	subsection	subsection	NOUN
alkej-912	104	19	4.3	4.3	NUM
alkej-912	104	20	table	table	NOUN
alkej-912	104	21	2	2	NUM
alkej-912	104	22	,	,	PUNCT
alkej-912	104	23	system	system	NOUN
alkej-912	104	24	parameters	parameter	NOUN
alkej-912	104	25	in	in	ADP
alkej-912	104	26	each	each	DET
alkej-912	104	27	optimization	optimization	NOUN
alkej-912	104	28	method	method	NOUN
alkej-912	104	29	.	.	PUNCT
alkej-912	105	1	table	table	NOUN
alkej-912	105	2	3	3	NUM
alkej-912	105	3	,	,	PUNCT
alkej-912	105	4	the	the	DET
alkej-912	105	5	detailed	detail	VERB
alkej-912	105	6	matlab	matlab	NOUN
alkej-912	105	7	results	result	NOUN
alkej-912	105	8	.	.	PUNCT
alkej-912	106	1	4.1	4.1	NUM
alkej-912	106	2	simulation	simulation	NOUN
alkej-912	106	3	results	result	VERB
alkej-912	106	4	with	with	ADP
alkej-912	106	5	pid	pid	NOUN
alkej-912	106	6	controller	controller	NOUN
alkej-912	106	7	this	this	DET
alkej-912	106	8	section	section	NOUN
alkej-912	106	9	examines	examine	VERB
alkej-912	106	10	the	the	DET
alkej-912	106	11	system	system	NOUN
alkej-912	106	12	's	's	PART
alkej-912	106	13	response	response	NOUN
alkej-912	106	14	when	when	SCONJ
alkej-912	106	15	a	a	DET
alkej-912	106	16	pid	pid	NOUN
alkej-912	106	17	controller	controller	NOUN
alkej-912	106	18	is	be	AUX
alkej-912	106	19	employed	employ	VERB
alkej-912	106	20	to	to	PART
alkej-912	106	21	enhance	enhance	VERB
alkej-912	106	22	the	the	DET
alkej-912	106	23	operation	operation	NOUN
alkej-912	106	24	and	and	CCONJ
alkej-912	106	25	performance	performance	NOUN
alkej-912	106	26	of	of	ADP
alkej-912	106	27	a	a	DET
alkej-912	106	28	self	self	NOUN
alkej-912	106	29	-	-	PUNCT
alkej-912	106	30	balancing	balance	VERB
alkej-912	106	31	platform	platform	NOUN
alkej-912	106	32	.	.	PUNCT
alkej-912	107	1	the	the	DET
alkej-912	107	2	results	result	NOUN
alkej-912	107	3	presented	present	VERB
alkej-912	107	4	in	in	ADP
alkej-912	107	5	figure	figure	NOUN
alkej-912	107	6	6	6	NUM
alkej-912	107	7	demonstrate	demonstrate	VERB
alkej-912	107	8	the	the	DET
alkej-912	107	9	system	system	NOUN
alkej-912	107	10	's	's	PART
alkej-912	107	11	response	response	NOUN
alkej-912	107	12	,	,	PUNCT
alkej-912	107	13	which	which	PRON
alkej-912	107	14	exhibits	exhibit	VERB
alkej-912	107	15	a	a	DET
alkej-912	107	16	reduction	reduction	NOUN
alkej-912	107	17	in	in	ADP
alkej-912	107	18	overshoot	overshoot	NOUN
alkej-912	107	19	to	to	ADP
alkej-912	107	20	0.181	0.181	NUM
alkej-912	107	21	%	%	NOUN
alkej-912	107	22	,	,	PUNCT
alkej-912	107	23	a	a	DET
alkej-912	107	24	rise	rise	NOUN
alkej-912	107	25	time	time	NOUN
alkej-912	107	26	of	of	ADP
alkej-912	107	27	0.0247	0.0247	NUM
alkej-912	107	28	seconds	second	NOUN
alkej-912	107	29	,	,	PUNCT
alkej-912	107	30	and	and	CCONJ
alkej-912	107	31	a	a	DET
alkej-912	107	32	settling	settle	VERB
alkej-912	107	33	time	time	NOUN
alkej-912	107	34	of	of	ADP
alkej-912	107	35	0.189	0.189	NUM
alkej-912	107	36	seconds	second	NOUN
alkej-912	107	37	.	.	PUNCT
alkej-912	108	1	consequently	consequently	ADV
alkej-912	108	2	,	,	PUNCT
alkej-912	108	3	the	the	DET
alkej-912	108	4	system	system	NOUN
alkej-912	108	5	achieves	achieve	VERB
alkej-912	108	6	a	a	DET
alkej-912	108	7	steady	steady	ADJ
alkej-912	108	8	state	state	NOUN
alkej-912	108	9	in	in	ADP
alkej-912	108	10	a	a	DET
alkej-912	108	11	shorter	short	ADJ
alkej-912	108	12	duration	duration	NOUN
alkej-912	108	13	compared	compare	VERB
alkej-912	108	14	to	to	ADP
alkej-912	108	15	the	the	DET
alkej-912	108	16	initial	initial	ADJ
alkej-912	108	17	scenario	scenario	NOUN
alkej-912	108	18	in	in	ADP
alkej-912	108	19	the	the	DET
alkej-912	108	20	absence	absence	NOUN
alkej-912	108	21	of	of	ADP
alkej-912	108	22	the	the	DET
alkej-912	108	23	controller	controller	NOUN
alkej-912	108	24	.	.	PUNCT
alkej-912	109	1	the	the	DET
alkej-912	109	2	parameters	parameter	NOUN
alkej-912	109	3	of	of	ADP
alkej-912	109	4	the	the	DET
alkej-912	109	5	pid	pid	NOUN
alkej-912	109	6	controller	controller	NOUN
alkej-912	109	7	are	be	AUX
alkej-912	109	8	assigned	assign	VERB
alkej-912	109	9	as	as	ADP
alkej-912	109	10	follow	follow	NOUN
alkej-912	109	11	:	:	PUNCT
alkej-912	109	12	kp	kp	PROPN
alkej-912	109	13	=	=	PROPN
alkej-912	109	14	36683.9058	36683.9058	PROPN
alkej-912	109	15	,	,	PUNCT
alkej-912	109	16	kd	kd	X
alkej-912	109	17	=	=	SYM
alkej-912	109	18	406.5704	406.5704	PROPN
alkej-912	109	19	,	,	PUNCT
alkej-912	109	20	and	and	CCONJ
alkej-912	109	21	ki	ki	PROPN
alkej-912	109	22	=	=	PROPN
alkej-912	109	23	819836.3269	819836.3269	PROPN
alkej-912	109	24	.	.	PUNCT
alkej-912	109	25	fig	fig	NOUN
alkej-912	109	26	.	.	PUNCT
alkej-912	110	1	6	6	NUM
alkej-912	110	2	.	.	X
alkej-912	110	3	piston	piston	NOUN
alkej-912	110	4	stroke	stroke	NOUN
alkej-912	110	5	displacement	displacement	NOUN
alkej-912	110	6	using	use	VERB
alkej-912	110	7	pid	pid	NOUN
alkej-912	110	8	controller	controller	NOUN
alkej-912	110	9	.	.	PUNCT
alkej-912	111	1	4.2	4.2	NUM
alkej-912	111	2	simulation	simulation	NOUN
alkej-912	111	3	results	result	VERB
alkej-912	111	4	with	with	ADP
alkej-912	111	5	pid	pid	NOUN
alkej-912	111	6	controller	controller	NOUN
alkej-912	111	7	this	this	DET
alkej-912	111	8	section	section	NOUN
alkej-912	111	9	focuses	focus	VERB
alkej-912	111	10	on	on	ADP
alkej-912	111	11	the	the	DET
alkej-912	111	12	application	application	NOUN
alkej-912	111	13	of	of	ADP
alkej-912	111	14	genetic	genetic	ADJ
alkej-912	111	15	-	-	PUNCT
alkej-912	111	16	pid	pid	NOUN
alkej-912	111	17	optimization	optimization	NOUN
alkej-912	111	18	to	to	PART
alkej-912	111	19	enhance	enhance	VERB
alkej-912	111	20	the	the	DET
alkej-912	111	21	response	response	NOUN
alkej-912	111	22	of	of	ADP
alkej-912	111	23	the	the	DET
alkej-912	111	24	self	self	NOUN
alkej-912	111	25	-	-	PUNCT
alkej-912	111	26	balancing	balance	VERB
alkej-912	111	27	platform	platform	NOUN
alkej-912	111	28	and	and	CCONJ
alkej-912	111	29	achieve	achieve	VERB
alkej-912	111	30	optimal	optimal	ADJ
alkej-912	111	31	outcomes	outcome	NOUN
alkej-912	111	32	.	.	PUNCT
alkej-912	112	1	the	the	DET
alkej-912	112	2	aim	aim	NOUN
alkej-912	112	3	is	be	AUX
alkej-912	112	4	to	to	PART
alkej-912	112	5	enhance	enhance	VERB
alkej-912	112	6	the	the	DET
alkej-912	112	7	performance	performance	NOUN
alkej-912	112	8	and	and	CCONJ
alkej-912	112	9	functionality	functionality	NOUN
alkej-912	112	10	of	of	ADP
alkej-912	112	11	the	the	DET
alkej-912	112	12	proportional	proportional	ADJ
alkej-912	112	13	control	control	NOUN
alkej-912	112	14	valve	valve	NOUN
alkej-912	112	15	by	by	ADP
alkej-912	112	16	optimizing	optimize	VERB
alkej-912	112	17	the	the	DET
alkej-912	112	18	parameters	parameter	NOUN
alkej-912	112	19	of	of	ADP
alkej-912	112	20	the	the	DET
alkej-912	112	21	pid	pid	NOUN
alkej-912	112	22	controller	controller	NOUN
alkej-912	112	23	.	.	PUNCT
alkej-912	112	24	figure	figure	NOUN
alkej-912	112	25	7(a	7(a	NUM
alkej-912	112	26	)	)	PUNCT
alkej-912	112	27	depicts	depict	VERB
alkej-912	112	28	the	the	DET
alkej-912	112	29	system	system	NOUN
alkej-912	112	30	's	's	PART
alkej-912	112	31	response	response	NOUN
alkej-912	112	32	obtained	obtain	VERB
alkej-912	112	33	by	by	ADP
alkej-912	112	34	the	the	DET
alkej-912	112	35	utilization	utilization	NOUN
alkej-912	112	36	of	of	ADP
alkej-912	112	37	ga	ga	PROPN
alkej-912	112	38	-	-	PUNCT
alkej-912	112	39	pid	pid	NOUN
alkej-912	112	40	optimization	optimization	NOUN
alkej-912	112	41	.	.	PUNCT
alkej-912	113	1	the	the	DET
alkej-912	113	2	provided	provide	VERB
alkej-912	113	3	data	datum	NOUN
alkej-912	113	4	demonstrates	demonstrate	VERB
alkej-912	113	5	that	that	SCONJ
alkej-912	113	6	the	the	DET
alkej-912	113	7	overshoot	overshoot	NOUN
alkej-912	113	8	value	value	NOUN
alkej-912	113	9	is	be	AUX
alkej-912	113	10	8.7663	8.7663	NUM
alkej-912	113	11	,	,	PUNCT
alkej-912	113	12	the	the	DET
alkej-912	113	13	settling	settle	VERB
alkej-912	113	14	durations	duration	NOUN
alkej-912	113	15	for	for	ADP
alkej-912	113	16	each	each	DET
alkej-912	113	17	instance	instance	NOUN
alkej-912	113	18	are	be	AUX
alkej-912	113	19	0.0294	0.0294	NUM
alkej-912	113	20	seconds	second	NOUN
alkej-912	113	21	,	,	PUNCT
alkej-912	113	22	the	the	DET
alkej-912	113	23	rise	rise	NOUN
alkej-912	113	24	time	time	NOUN
alkej-912	113	25	is	be	AUX
alkej-912	113	26	0.1316	0.1316	NUM
alkej-912	113	27	seconds	second	NOUN
alkej-912	113	28	,	,	PUNCT
alkej-912	113	29	and	and	CCONJ
alkej-912	113	30	the	the	DET
alkej-912	113	31	system	system	NOUN
alkej-912	113	32	parameters	parameter	NOUN
alkej-912	113	33	raise	raise	VERB
alkej-912	113	34	time(sec	time(sec	NOUN
alkej-912	113	35	)	)	PUNCT
alkej-912	113	36	settling	settle	VERB
alkej-912	113	37	time	time	NOUN
alkej-912	113	38	(	(	PUNCT
alkej-912	113	39	sec	sec	PROPN
alkej-912	113	40	)	)	PUNCT
alkej-912	113	41	overshoot	overshoot	NOUN
alkej-912	113	42	pid	pid	NOUN
alkej-912	113	43	0.0247	0.0247	NUM
alkej-912	113	44	0.189	0.189	NUM
alkej-912	113	45	0.181	0.181	NUM
alkej-912	113	46	%	%	NOUN
alkej-912	114	1	ga	ga	NOUN
alkej-912	114	2	-	-	PUNCT
alkej-912	114	3	pid	pid	NOUN
alkej-912	114	4	0.0294	0.0294	NUM
alkej-912	114	5	0.136	0.136	NUM
alkej-912	114	6	8.7663	8.7663	NUM
alkej-912	114	7	pso	pso	NOUN
alkej-912	114	8	-	-	PUNCT
alkej-912	114	9	pid	pid	NOUN
alkej-912	114	10	0.0194	0.0194	NUM
alkej-912	114	11	0.1926	0.1926	NUM
alkej-912	114	12	0.0046	0.0046	NUM
alkej-912	114	13	parameters	parameter	NOUN
alkej-912	114	14	kp	kp	PROPN
alkej-912	114	15	ki	ki	PROPN
alkej-912	114	16	kd	kd	PROPN
alkej-912	115	1	pid	pid	PROPN
alkej-912	115	2	36683.9058	36683.9058	PROPN
alkej-912	115	3	819836.3269	819836.3269	PROPN
alkej-912	116	1	406.5704	406.5704	NUM
alkej-912	117	1	ga	ga	NOUN
alkej-912	117	2	-	-	PUNCT
alkej-912	117	3	pid	pid	NOUN
alkej-912	117	4	0.3112	0.3112	NUM
alkej-912	117	5	*	*	SYM
alkej-912	117	6	105	105	NUM
alkej-912	117	7	8.8982	8.8982	NUM
alkej-912	117	8	*	*	NUM
alkej-912	117	9	105	105	NUM
alkej-912	117	10	0.0045	0.0045	NUM
alkej-912	117	11	*	*	SYM
alkej-912	117	12	105	105	NUM
alkej-912	117	13	pso	pso	NOUN
alkej-912	117	14	-	-	PUNCT
alkej-912	117	15	pid	pid	NOUN
alkej-912	117	16	0.349	0.349	SYM
alkej-912	117	17	*	*	NUM
alkej-912	117	18	105	105	NUM
alkej-912	117	19	8.8909	8.8909	NUM
alkej-912	117	20	*	*	SYM
alkej-912	117	21	105	105	NUM
alkej-912	117	22	0.0044	0.0044	NUM
alkej-912	117	23	*	*	SYM
alkej-912	117	24	105	105	NUM
alkej-912	117	25	sarah	sarah	PROPN
alkej-912	117	26	m.	m.	NOUN
alkej-912	117	27	rashid	rashid	PROPN
alkej-912	117	28	al	al	PROPN
alkej-912	117	29	-	-	PUNCT
alkej-912	117	30	khwarizmi	khwarizmi	PROPN
alkej-912	117	31	engineering	engineering	NOUN
alkej-912	117	32	journal	journal	PROPN
alkej-912	117	33	,	,	PUNCT
alkej-912	117	34	vol	vol	NOUN
alkej-912	117	35	.	.	PROPN
alkej-912	117	36	20	20	NUM
alkej-912	117	37	,	,	PUNCT
alkej-912	117	38	no.2	no.2	PROPN
alkej-912	117	39	,	,	PUNCT
alkej-912	117	40	p.p	p.p	PROPN
alkej-912	117	41	.	.	NOUN
alkej-912	117	42	7889(2024	7889(2024	NUM
alkej-912	117	43	)	)	PUNCT
alkej-912	117	44	62	62	NUM
alkej-912	117	45	achieves	achieve	VERB
alkej-912	117	46	a	a	DET
alkej-912	117	47	steady	steady	ADJ
alkej-912	117	48	state	state	NOUN
alkej-912	117	49	in	in	ADP
alkej-912	117	50	a	a	DET
alkej-912	117	51	significantly	significantly	ADV
alkej-912	117	52	shorter	short	ADJ
alkej-912	117	53	duration	duration	NOUN
alkej-912	117	54	compared	compare	VERB
alkej-912	117	55	to	to	ADP
alkej-912	117	56	previous	previous	ADJ
alkej-912	117	57	states	state	NOUN
alkej-912	117	58	.	.	PUNCT
alkej-912	118	1	at	at	ADP
alkej-912	118	2	iteration	iteration	NOUN
alkej-912	118	3	100	100	NUM
alkej-912	118	4	,	,	PUNCT
alkej-912	118	5	the	the	DET
alkej-912	118	6	control	control	NOUN
alkej-912	118	7	parameters	parameter	NOUN
alkej-912	118	8	have	have	VERB
alkej-912	118	9	the	the	DET
alkej-912	118	10	following	follow	VERB
alkej-912	118	11	values	value	NOUN
alkej-912	118	12	:	:	PUNCT
alkej-912	118	13	kp	kp	PROPN
alkej-912	118	14	=	=	PROPN
alkej-912	118	15	0.3112	0.3112	NUM
alkej-912	118	16	e5	e5	PROPN
alkej-912	118	17	,	,	PUNCT
alkej-912	118	18	kd	kd	PROPN
alkej-912	118	19	=	=	PROPN
alkej-912	118	20	0.0045	0.0045	NUM
alkej-912	118	21	e5	e5	NOUN
alkej-912	118	22	,	,	PUNCT
alkej-912	118	23	and	and	CCONJ
alkej-912	118	24	ki	ki	PROPN
alkej-912	118	25	=	=	PROPN
alkej-912	118	26	8.8982	8.8982	NUM
alkej-912	118	27	e5	e5	PROPN
alkej-912	118	28	.	.	PUNCT
alkej-912	119	1	in	in	ADP
alkej-912	119	2	figure	figure	NOUN
alkej-912	119	3	7	7	NUM
alkej-912	119	4	(	(	PUNCT
alkej-912	119	5	b	b	NOUN
alkej-912	119	6	)	)	PUNCT
alkej-912	119	7	,	,	PUNCT
alkej-912	119	8	the	the	DET
alkej-912	119	9	optimization	optimization	NOUN
alkej-912	119	10	tools	tool	NOUN
alkej-912	119	11	utilized	utilize	VERB
alkej-912	119	12	for	for	ADP
alkej-912	119	13	ga	ga	NOUN
alkej-912	119	14	-	-	PUNCT
alkej-912	119	15	pid	pid	NOUN
alkej-912	119	16	are	be	AUX
alkej-912	119	17	depicted	depict	VERB
alkej-912	119	18	.	.	PUNCT
alkej-912	120	1	fig	fig	NOUN
alkej-912	120	2	.	.	PUNCT
alkej-912	121	1	7	7	X
alkej-912	121	2	.	.	X
alkej-912	121	3	(	(	PUNCT
alkej-912	121	4	a	a	X
alkej-912	121	5	)	)	PUNCT
alkej-912	121	6	piston	piston	NOUN
alkej-912	121	7	stroke	stroke	NOUN
alkej-912	121	8	displacement	displacement	NOUN
alkej-912	121	9	using	use	VERB
alkej-912	121	10	ga_pid	ga_pid	PROPN
alkej-912	121	11	controller	controller	NOUN
alkej-912	121	12	(	(	PUNCT
alkej-912	121	13	b	b	NOUN
alkej-912	121	14	)	)	PUNCT
alkej-912	121	15	piston	piston	NOUN
alkej-912	121	16	stroke	stroke	NOUN
alkej-912	121	17	displacement	displacement	NOUN
alkej-912	121	18	using	use	VERB
alkej-912	121	19	ga_pid	ga_pid	PROPN
alkej-912	121	20	controller	controller	NOUN
alkej-912	121	21	at	at	ADP
alkej-912	121	22	iteration	iteration	NOUN
alkej-912	121	23	100	100	NUM
alkej-912	121	24	.	.	PUNCT
alkej-912	122	1	4.3	4.3	NUM
alkej-912	122	2	simulation	simulation	NOUN
alkej-912	122	3	results	result	VERB
alkej-912	122	4	with	with	ADP
alkej-912	122	5	pso	pso	NOUN
alkej-912	122	6	-	-	PUNCT
alkej-912	122	7	pid	pid	NOUN
alkej-912	122	8	controller	controller	NOUN
alkej-912	122	9	this	this	DET
alkej-912	122	10	part	part	NOUN
alkej-912	122	11	is	be	AUX
alkej-912	122	12	dedicated	dedicate	VERB
alkej-912	122	13	to	to	ADP
alkej-912	122	14	examining	examine	VERB
alkej-912	122	15	the	the	DET
alkej-912	122	16	utilization	utilization	NOUN
alkej-912	122	17	of	of	ADP
alkej-912	122	18	pso	pso	NOUN
alkej-912	122	19	-	-	PUNCT
alkej-912	122	20	pid	pid	NOUN
alkej-912	122	21	optimization	optimization	NOUN
alkej-912	122	22	in	in	ADP
alkej-912	122	23	order	order	NOUN
alkej-912	122	24	to	to	PART
alkej-912	122	25	improve	improve	VERB
alkej-912	122	26	the	the	DET
alkej-912	122	27	response	response	NOUN
alkej-912	122	28	of	of	ADP
alkej-912	122	29	the	the	DET
alkej-912	122	30	self	self	NOUN
alkej-912	122	31	-	-	PUNCT
alkej-912	122	32	balancing	balance	VERB
alkej-912	122	33	platform	platform	NOUN
alkej-912	122	34	and	and	CCONJ
alkej-912	122	35	attain	attain	VERB
alkej-912	122	36	optimal	optimal	ADJ
alkej-912	122	37	results	result	NOUN
alkej-912	122	38	.	.	PUNCT
alkej-912	123	1	the	the	DET
alkej-912	123	2	objective	objective	NOUN
alkej-912	123	3	is	be	AUX
alkej-912	123	4	to	to	PART
alkej-912	123	5	improve	improve	VERB
alkej-912	123	6	the	the	DET
alkej-912	123	7	operational	operational	ADJ
alkej-912	123	8	efficiency	efficiency	NOUN
alkej-912	123	9	and	and	CCONJ
alkej-912	123	10	capabilities	capability	NOUN
alkej-912	123	11	of	of	ADP
alkej-912	123	12	the	the	DET
alkej-912	123	13	proportional	proportional	ADJ
alkej-912	123	14	control	control	NOUN
alkej-912	123	15	valve	valve	VERB
alkej-912	123	16	through	through	ADP
alkej-912	123	17	the	the	DET
alkej-912	123	18	optimization	optimization	NOUN
alkej-912	123	19	of	of	ADP
alkej-912	123	20	the	the	DET
alkej-912	123	21	pid	pid	NOUN
alkej-912	123	22	controller	controller	NOUN
alkej-912	123	23	's	's	PART
alkej-912	123	24	parameters	parameter	NOUN
alkej-912	123	25	.	.	PUNCT
alkej-912	124	1	the	the	DET
alkej-912	124	2	response	response	NOUN
alkej-912	124	3	of	of	ADP
alkej-912	124	4	the	the	DET
alkej-912	124	5	system	system	NOUN
alkej-912	124	6	acquired	acquire	VERB
alkej-912	124	7	by	by	ADP
alkej-912	124	8	the	the	DET
alkej-912	124	9	application	application	NOUN
alkej-912	124	10	of	of	ADP
alkej-912	124	11	pso	pso	NOUN
alkej-912	124	12	-	-	PUNCT
alkej-912	124	13	pid	pid	NOUN
alkej-912	124	14	optimization	optimization	NOUN
alkej-912	124	15	is	be	AUX
alkej-912	124	16	illustrated	illustrate	VERB
alkej-912	124	17	in	in	ADP
alkej-912	124	18	figure	figure	NOUN
alkej-912	124	19	8	8	NUM
alkej-912	124	20	.	.	PUNCT
alkej-912	125	1	the	the	DET
alkej-912	125	2	data	datum	NOUN
alkej-912	125	3	supplied	supply	VERB
alkej-912	125	4	indicates	indicate	VERB
alkej-912	125	5	that	that	SCONJ
alkej-912	125	6	the	the	DET
alkej-912	125	7	overshoot	overshoot	NOUN
alkej-912	125	8	value	value	NOUN
alkej-912	125	9	is	be	AUX
alkej-912	125	10	0.0046	0.0046	NUM
alkej-912	125	11	.	.	PUNCT
alkej-912	126	1	the	the	DET
alkej-912	126	2	settling	settle	VERB
alkej-912	126	3	durations	duration	NOUN
alkej-912	126	4	for	for	ADP
alkej-912	126	5	each	each	DET
alkej-912	126	6	instance	instance	NOUN
alkej-912	126	7	are	be	AUX
alkej-912	126	8	measured	measure	VERB
alkej-912	126	9	at	at	ADP
alkej-912	126	10	0.1926	0.1926	NUM
alkej-912	126	11	seconds	second	NOUN
alkej-912	126	12	,	,	PUNCT
alkej-912	126	13	while	while	SCONJ
alkej-912	126	14	the	the	DET
alkej-912	126	15	rise	rise	NOUN
alkej-912	126	16	time	time	NOUN
alkej-912	126	17	is	be	AUX
alkej-912	126	18	also	also	ADV
alkej-912	126	19	0.1926	0.1926	NUM
alkej-912	126	20	seconds	second	NOUN
alkej-912	126	21	.	.	PUNCT
alkej-912	127	1	furthermore	furthermore	ADV
alkej-912	127	2	,	,	PUNCT
alkej-912	127	3	it	it	PRON
alkej-912	127	4	is	be	AUX
alkej-912	127	5	observed	observe	VERB
alkej-912	127	6	that	that	SCONJ
alkej-912	127	7	the	the	DET
alkej-912	127	8	system	system	NOUN
alkej-912	127	9	achieves	achieve	VERB
alkej-912	127	10	a	a	DET
alkej-912	127	11	steady	steady	ADJ
alkej-912	127	12	state	state	NOUN
alkej-912	127	13	with	with	ADP
alkej-912	127	14	a	a	DET
alkej-912	127	15	considerably	considerably	ADV
alkej-912	127	16	shorter	short	ADJ
alkej-912	127	17	duration	duration	NOUN
alkej-912	127	18	compared	compare	VERB
alkej-912	127	19	to	to	ADP
alkej-912	127	20	previous	previous	ADJ
alkej-912	127	21	states	state	NOUN
alkej-912	127	22	.	.	PUNCT
alkej-912	128	1	at	at	ADP
alkej-912	128	2	the	the	DET
alkej-912	128	3	100th	100th	ADJ
alkej-912	128	4	iteration	iteration	NOUN
alkej-912	128	5	,	,	PUNCT
alkej-912	128	6	the	the	DET
alkej-912	128	7	control	control	NOUN
alkej-912	128	8	parameters	parameter	NOUN
alkej-912	128	9	are	be	AUX
alkej-912	128	10	seen	see	VERB
alkej-912	128	11	to	to	PART
alkej-912	128	12	possess	possess	VERB
alkej-912	128	13	the	the	DET
alkej-912	128	14	subsequent	subsequent	ADJ
alkej-912	128	15	values	value	NOUN
alkej-912	128	16	:	:	PUNCT
alkej-912	128	17	kp	kp	PROPN
alkej-912	128	18	=	=	PUNCT
alkej-912	128	19	0.349	0.349	NUM
alkej-912	128	20	x	x	SYM
alkej-912	128	21	10	10	NUM
alkej-912	128	22	^	^	SYM
alkej-912	128	23	5	5	NUM
alkej-912	128	24	,	,	PUNCT
alkej-912	128	25	kd	kd	X
alkej-912	128	26	=	=	PUNCT
alkej-912	129	1	0.0044	0.0044	NUM
alkej-912	129	2	x	x	SYM
alkej-912	129	3	10	10	NUM
alkej-912	129	4	^	^	SYM
alkej-912	129	5	5	5	NUM
alkej-912	129	6	,	,	PUNCT
alkej-912	129	7	and	and	CCONJ
alkej-912	129	8	ki	ki	PROPN
alkej-912	130	1	=	=	PROPN
alkej-912	130	2	8.8909	8.8909	NUM
alkej-912	130	3	x	x	SYM
alkej-912	130	4	10	10	NUM
alkej-912	130	5	^	^	SYM
alkej-912	130	6	5	5	NUM
alkej-912	130	7	.	.	PUNCT
alkej-912	130	8	fig	fig	NOUN
alkej-912	130	9	.	.	PUNCT
alkej-912	131	1	8	8	X
alkej-912	131	2	.	.	X
alkej-912	131	3	piston	piston	NOUN
alkej-912	131	4	stroke	stroke	PROPN
alkej-912	131	5	displacement	displacement	NOUN
alkej-912	131	6	using	use	VERB
alkej-912	131	7	pso	pso	NOUN
alkej-912	131	8	-	-	PUNCT
alkej-912	131	9	pid	pid	NOUN
alkej-912	131	10	controller	controller	NOUN
alkej-912	131	11	.	.	PUNCT
alkej-912	132	1	sarah	sarah	PROPN
alkej-912	132	2	m.	m.	PROPN
alkej-912	132	3	rashid	rashid	PROPN
alkej-912	132	4	al	al	PROPN
alkej-912	132	5	-	-	PUNCT
alkej-912	132	6	khwarizmi	khwarizmi	PROPN
alkej-912	132	7	engineering	engineering	NOUN
alkej-912	132	8	journal	journal	PROPN
alkej-912	132	9	,	,	PUNCT
alkej-912	132	10	vol	vol	NOUN
alkej-912	132	11	.	.	PROPN
alkej-912	132	12	20	20	NUM
alkej-912	132	13	,	,	PUNCT
alkej-912	132	14	no.2	no.2	PROPN
alkej-912	132	15	,	,	PUNCT
alkej-912	132	16	p.p	p.p	PROPN
alkej-912	132	17	.	.	NOUN
alkej-912	132	18	5664(2024	5664(2024	NOUN
alkej-912	132	19	)	)	PUNCT
alkej-912	132	20	63	63	NUM
alkej-912	132	21	5	5	NUM
alkej-912	132	22	.	.	PUNCT
alkej-912	132	23	conclusion	conclusion	VERB
alkej-912	132	24	the	the	DET
alkej-912	132	25	paper	paper	NOUN
alkej-912	132	26	introduces	introduce	VERB
alkej-912	132	27	the	the	DET
alkej-912	132	28	pso	pso	NOUN
alkej-912	132	29	approach	approach	NOUN
alkej-912	132	30	as	as	ADP
alkej-912	132	31	a	a	DET
alkej-912	132	32	means	means	NOUN
alkej-912	132	33	of	of	ADP
alkej-912	132	34	modifying	modify	VERB
alkej-912	132	35	the	the	DET
alkej-912	132	36	control	control	NOUN
alkej-912	132	37	parameters	parameter	NOUN
alkej-912	132	38	of	of	ADP
alkej-912	132	39	the	the	DET
alkej-912	132	40	conventional	conventional	ADJ
alkej-912	132	41	pid	pid	NOUN
alkej-912	132	42	controller	controller	NOUN
alkej-912	132	43	utilized	utilize	VERB
alkej-912	132	44	in	in	ADP
alkej-912	132	45	the	the	DET
alkej-912	132	46	construction	construction	NOUN
alkej-912	132	47	of	of	ADP
alkej-912	132	48	a	a	DET
alkej-912	132	49	self	self	NOUN
alkej-912	132	50	-	-	PUNCT
alkej-912	132	51	balancing	balance	VERB
alkej-912	132	52	platform	platform	NOUN
alkej-912	132	53	control	control	NOUN
alkej-912	132	54	system	system	NOUN
alkej-912	132	55	.	.	PUNCT
alkej-912	133	1	the	the	DET
alkej-912	133	2	study	study	NOUN
alkej-912	133	3	proposes	propose	VERB
alkej-912	133	4	the	the	DET
alkej-912	133	5	utilization	utilization	NOUN
alkej-912	133	6	of	of	ADP
alkej-912	133	7	a	a	DET
alkej-912	133	8	genetic	genetic	ADJ
alkej-912	133	9	method	method	NOUN
alkej-912	133	10	to	to	PART
alkej-912	133	11	modify	modify	VERB
alkej-912	133	12	the	the	DET
alkej-912	133	13	control	control	NOUN
alkej-912	133	14	parameters	parameter	NOUN
alkej-912	133	15	of	of	ADP
alkej-912	133	16	the	the	DET
alkej-912	133	17	conventional	conventional	ADJ
alkej-912	133	18	pid	pid	NOUN
alkej-912	133	19	controller	controller	NOUN
alkej-912	133	20	,	,	PUNCT
alkej-912	133	21	which	which	PRON
alkej-912	133	22	was	be	AUX
alkej-912	133	23	originally	originally	ADV
alkej-912	133	24	built	build	VERB
alkej-912	133	25	for	for	ADP
alkej-912	133	26	a	a	DET
alkej-912	133	27	self	self	NOUN
alkej-912	133	28	-	-	PUNCT
alkej-912	133	29	balancing	balance	VERB
alkej-912	133	30	platform	platform	NOUN
alkej-912	133	31	control	control	NOUN
alkej-912	133	32	system	system	NOUN
alkej-912	133	33	.	.	PUNCT
alkej-912	134	1	the	the	DET
alkej-912	134	2	genetic	genetic	ADJ
alkej-912	134	3	controller	controller	NOUN
alkej-912	134	4	exhibits	exhibit	VERB
alkej-912	134	5	significantly	significantly	ADV
alkej-912	134	6	faster	fast	ADJ
alkej-912	134	7	temporal	temporal	ADJ
alkej-912	134	8	response	response	NOUN
alkej-912	134	9	qualities	quality	NOUN
alkej-912	134	10	in	in	ADP
alkej-912	134	11	comparison	comparison	NOUN
alkej-912	134	12	to	to	ADP
alkej-912	134	13	the	the	DET
alkej-912	134	14	pid	pid	NOUN
alkej-912	134	15	controller	controller	NOUN
alkej-912	134	16	,	,	PUNCT
alkej-912	134	17	and	and	CCONJ
alkej-912	134	18	it	it	PRON
alkej-912	134	19	further	far	ADV
alkej-912	134	20	furnishes	furnish	VERB
alkej-912	134	21	us	we	PRON
alkej-912	134	22	with	with	ADP
alkej-912	134	23	the	the	DET
alkej-912	134	24	starting	starting	NOUN
alkej-912	134	25	point	point	NOUN
alkej-912	134	26	for	for	ADP
alkej-912	134	27	the	the	DET
alkej-912	134	28	control	control	NOUN
alkej-912	134	29	parameter	parameter	NOUN
alkej-912	134	30	values	value	NOUN
alkej-912	134	31	.	.	PUNCT
alkej-912	135	1	the	the	DET
alkej-912	135	2	ga	ga	PROPN
alkej-912	135	3	-	-	PUNCT
alkej-912	135	4	pid	pid	NOUN
alkej-912	135	5	controller	controller	NOUN
alkej-912	135	6	demonstrates	demonstrate	VERB
alkej-912	135	7	superior	superior	ADJ
alkej-912	135	8	performance	performance	NOUN
alkej-912	135	9	in	in	ADP
alkej-912	135	10	terms	term	NOUN
alkej-912	135	11	of	of	ADP
alkej-912	135	12	settling	settle	VERB
alkej-912	135	13	time	time	NOUN
alkej-912	135	14	,	,	PUNCT
alkej-912	135	15	rising	rise	VERB
alkej-912	135	16	time	time	NOUN
alkej-912	135	17	,	,	PUNCT
alkej-912	135	18	and	and	CCONJ
alkej-912	135	19	overshoot	overshoot	NOUN
alkej-912	135	20	.	.	PUNCT
alkej-912	136	1	furthermore	furthermore	ADV
alkej-912	136	2	,	,	PUNCT
alkej-912	136	3	it	it	PRON
alkej-912	136	4	should	should	AUX
alkej-912	136	5	be	be	AUX
alkej-912	136	6	noted	note	VERB
alkej-912	136	7	that	that	SCONJ
alkej-912	136	8	the	the	DET
alkej-912	136	9	error	error	NOUN
alkej-912	136	10	margin	margin	NOUN
alkej-912	136	11	associated	associate	VERB
alkej-912	136	12	with	with	ADP
alkej-912	136	13	ga	ga	PROPN
alkej-912	136	14	-	-	PUNCT
alkej-912	136	15	pid	pid	NOUN
alkej-912	136	16	is	be	AUX
alkej-912	136	17	significantly	significantly	ADV
alkej-912	136	18	lower	low	ADJ
alkej-912	136	19	compared	compare	VERB
alkej-912	136	20	to	to	ADP
alkej-912	136	21	conventional	conventional	ADJ
alkej-912	136	22	control	control	NOUN
alkej-912	136	23	methods	method	NOUN
alkej-912	136	24	.	.	PUNCT
alkej-912	137	1	as	as	ADP
alkej-912	137	2	a	a	DET
alkej-912	137	3	result	result	NOUN
alkej-912	137	4	,	,	PUNCT
alkej-912	137	5	ga	ga	PROPN
alkej-912	137	6	-	-	PUNCT
alkej-912	137	7	pid	pid	NOUN
alkej-912	137	8	has	have	AUX
alkej-912	137	9	proven	prove	VERB
alkej-912	137	10	to	to	PART
alkej-912	137	11	be	be	AUX
alkej-912	137	12	highly	highly	ADV
alkej-912	137	13	effective	effective	ADJ
alkej-912	137	14	in	in	ADP
alkej-912	137	15	achieving	achieve	VERB
alkej-912	137	16	optimal	optimal	ADJ
alkej-912	137	17	outcomes	outcome	NOUN
alkej-912	137	18	for	for	ADP
alkej-912	137	19	the	the	DET
alkej-912	137	20	self	self	NOUN
alkej-912	137	21	-	-	PUNCT
alkej-912	137	22	balance	balance	NOUN
alkej-912	137	23	platform	platform	NOUN
alkej-912	137	24	.	.	PUNCT
alkej-912	138	1	references	reference	NOUN
alkej-912	138	2	[	[	X
alkej-912	138	3	1	1	NUM
alkej-912	138	4	]	]	PUNCT
alkej-912	138	5	graphisoft	graphisoft	ADV
alkej-912	138	6	,	,	PUNCT
alkej-912	138	7	“	"	PUNCT
alkej-912	138	8	archicad	archicad	PROPN
alkej-912	138	9	22	22	NUM
alkej-912	138	10	.	.	PUNCT
alkej-912	138	11	”	"	PUNCT
alkej-912	139	1	budapest	budapest	PROPN
alkej-912	139	2	,	,	PUNCT
alkej-912	139	3	hungary	hungary	PROPN
alkej-912	139	4	.	.	PUNCT
alkej-912	140	1	[	[	X
alkej-912	140	2	online	online	X
alkej-912	140	3	]	]	X
alkej-912	140	4	.	.	PUNCT
alkej-912	141	1	available	available	ADJ
alkej-912	141	2	:	:	PUNCT
alkej-912	141	3	http://www.graphisoft.com/archicad/	http://www.graphisoft.com/archicad/	PUNCT
alkej-912	142	1	[	[	X
alkej-912	142	2	2	2	NUM
alkej-912	142	3	]	]	PUNCT
alkej-912	142	4	w.	w.	PROPN
alkej-912	142	5	h.	h.	PROPN
alkej-912	142	6	bangyal	bangyal	PROPN
alkej-912	142	7	et	et	PROPN
alkej-912	142	8	al	al	PROPN
alkej-912	142	9	.	.	PROPN
alkej-912	142	10	,	,	PUNCT
alkej-912	142	11	“	"	PUNCT
alkej-912	142	12	an	an	DET
alkej-912	142	13	improved	improved	ADJ
alkej-912	142	14	particle	particle	NOUN
alkej-912	142	15	swarm	swarm	NOUN
alkej-912	142	16	optimization	optimization	NOUN
alkej-912	142	17	algorithm	algorithm	NOUN
alkej-912	142	18	for	for	ADP
alkej-912	142	19	data	data	NOUN
alkej-912	142	20	classification	classification	NOUN
alkej-912	142	21	,	,	PUNCT
alkej-912	142	22	”	"	PUNCT
alkej-912	142	23	applied	apply	VERB
alkej-912	142	24	sciences	science	NOUN
alkej-912	142	25	(	(	PUNCT
alkej-912	142	26	switzerland	switzerland	PROPN
alkej-912	142	27	)	)	PUNCT
alkej-912	142	28	,	,	PUNCT
alkej-912	142	29	vol	vol	NOUN
alkej-912	142	30	.	.	PROPN
alkej-912	142	31	13	13	NUM
alkej-912	142	32	,	,	PUNCT
alkej-912	142	33	no	no	INTJ
alkej-912	142	34	.	.	NOUN
alkej-912	142	35	1	1	NUM
alkej-912	142	36	,	,	PUNCT
alkej-912	142	37	2023	2023	NUM
alkej-912	142	38	,	,	PUNCT
alkej-912	142	39	doi	doi	NOUN
alkej-912	142	40	:	:	PUNCT
alkej-912	142	41	10.3390	10.3390	NUM
alkej-912	142	42	/	/	SYM
alkej-912	142	43	app13010283	app13010283	NOUN
alkej-912	142	44	.	.	PUNCT
alkej-912	143	1	[	[	X
alkej-912	143	2	3	3	X
alkej-912	143	3	]	]	X
alkej-912	143	4	w.	w.	PROPN
alkej-912	143	5	p.	p.	PROPN
alkej-912	143	6	hunek	hunek	PROPN
alkej-912	143	7	et	et	PROPN
alkej-912	143	8	al	al	PROPN
alkej-912	143	9	.	.	PROPN
alkej-912	143	10	,	,	PUNCT
alkej-912	143	11	“	"	PUNCT
alkej-912	143	12	a	a	DET
alkej-912	143	13	measurement	measurement	NOUN
alkej-912	143	14	-	-	PUNCT
alkej-912	143	15	aided	aid	VERB
alkej-912	143	16	control	control	NOUN
alkej-912	143	17	system	system	NOUN
alkej-912	143	18	for	for	ADP
alkej-912	143	19	stabilization	stabilization	NOUN
alkej-912	143	20	of	of	ADP
alkej-912	143	21	the	the	DET
alkej-912	143	22	reallife	reallife	PROPN
alkej-912	143	23	stewart	stewart	PROPN
alkej-912	143	24	platform	platform	PROPN
alkej-912	143	25	,	,	PUNCT
alkej-912	143	26	”	"	PUNCT
alkej-912	143	27	sensors	sensor	NOUN
alkej-912	143	28	,	,	PUNCT
alkej-912	143	29	vol	vol	NOUN
alkej-912	143	30	.	.	PROPN
alkej-912	143	31	22	22	NUM
alkej-912	143	32	,	,	PUNCT
alkej-912	143	33	no	no	INTJ
alkej-912	143	34	.	.	NOUN
alkej-912	143	35	19	19	NUM
alkej-912	143	36	,	,	PUNCT
alkej-912	143	37	pp	pp	PROPN
alkej-912	143	38	.	.	PUNCT
alkej-912	144	1	1–12	1–12	NOUN
alkej-912	144	2	,	,	PUNCT
alkej-912	144	3	2022	2022	NUM
alkej-912	144	4	,	,	PUNCT
alkej-912	144	5	doi	doi	NOUN
alkej-912	144	6	:	:	PUNCT
alkej-912	144	7	10.3390	10.3390	NUM
alkej-912	144	8	/	/	SYM
alkej-912	144	9	s22197271	s22197271	NOUN
alkej-912	144	10	.	.	PUNCT
alkej-912	145	1	[	[	X
alkej-912	145	2	4	4	X
alkej-912	145	3	]	]	PUNCT
alkej-912	145	4	s.	s.	PROPN
alkej-912	145	5	kumar	kumar	PROPN
alkej-912	145	6	,	,	PUNCT
alkej-912	145	7	s.	s.	PROPN
alkej-912	145	8	pazhanivel	pazhanivel	PROPN
alkej-912	145	9	,	,	PUNCT
alkej-912	145	10	k.	k.	PROPN
alkej-912	145	11	a.	a.	PROPN
alkej-912	145	12	kumar	kumar	PROPN
alkej-912	145	13	,	,	PUNCT
alkej-912	145	14	and	and	CCONJ
alkej-912	145	15	n.	n.	PROPN
alkej-912	145	16	m.	m.	NOUN
alkej-912	145	17	athawale	athawale	NOUN
alkej-912	145	18	,	,	PUNCT
alkej-912	145	19	“	"	PUNCT
alkej-912	145	20	design	design	NOUN
alkej-912	145	21	and	and	CCONJ
alkej-912	145	22	development	development	NOUN
alkej-912	145	23	of	of	ADP
alkej-912	145	24	pedestal	pedestal	ADJ
alkej-912	145	25	assembly	assembly	NOUN
alkej-912	145	26	for	for	ADP
alkej-912	145	27	medium	medium	ADJ
alkej-912	145	28	power	power	NOUN
alkej-912	145	29	active	active	ADJ
alkej-912	145	30	array	array	NOUN
alkej-912	145	31	transportable	transportable	ADJ
alkej-912	145	32	radar	radar	NOUN
alkej-912	145	33	,	,	PUNCT
alkej-912	145	34	”	"	PUNCT
alkej-912	145	35	vol	vol	NOUN
alkej-912	145	36	.	.	NOUN
alkej-912	145	37	2015	2015	NUM
alkej-912	145	38	,	,	PUNCT
alkej-912	145	39	no	no	INTJ
alkej-912	145	40	.	.	PUNCT
alkej-912	145	41	december	december	PROPN
alkej-912	145	42	,	,	PUNCT
alkej-912	145	43	pp	pp	ADP
alkej-912	145	44	.	.	PUNCT
alkej-912	146	1	2–5	2–5	NOUN
alkej-912	146	2	,	,	PUNCT
alkej-912	146	3	2015	2015	NUM
alkej-912	146	4	.	.	PUNCT
alkej-912	147	1	[	[	X
alkej-912	147	2	5	5	X
alkej-912	147	3	]	]	PUNCT
alkej-912	147	4	w.	w.	PROPN
alkej-912	147	5	wang	wang	PROPN
alkej-912	147	6	,	,	PUNCT
alkej-912	147	7	“	"	PUNCT
alkej-912	147	8	analysis	analysis	NOUN
alkej-912	147	9	of	of	ADP
alkej-912	147	10	vibration	vibration	NOUN
alkej-912	147	11	characteristics	characteristic	NOUN
alkej-912	147	12	of	of	ADP
alkej-912	147	13	electrohydraulic	electrohydraulic	NOUN
alkej-912	147	14	3	3	NUM
alkej-912	147	15	-	-	PUNCT
alkej-912	147	16	ups	up	NOUN
alkej-912	147	17	/	/	SYM
alkej-912	147	18	s	s	NOUN
alkej-912	147	19	parallel	parallel	ADJ
alkej-912	147	20	stabilized	stabilize	VERB
alkej-912	147	21	platform	platform	NOUN
alkej-912	147	22	,	,	PUNCT
alkej-912	147	23	”	"	PUNCT
alkej-912	147	24	pp	pp	PROPN
alkej-912	147	25	.	.	PUNCT
alkej-912	147	26	0–13	0–13	PROPN
alkej-912	147	27	,	,	PUNCT
alkej-912	147	28	2023	2023	NUM
alkej-912	147	29	.	.	PUNCT
alkej-912	148	1	[	[	X
alkej-912	148	2	6	6	NUM
alkej-912	148	3	]	]	PUNCT
alkej-912	148	4	l.	l.	PROPN
alkej-912	148	5	pugi	pugi	PROPN
alkej-912	148	6	et	et	PROPN
alkej-912	148	7	al	al	PROPN
alkej-912	148	8	.	.	PROPN
alkej-912	148	9	,	,	PUNCT
alkej-912	148	10	“	"	PUNCT
alkej-912	148	11	development	development	NOUN
alkej-912	148	12	of	of	ADP
alkej-912	148	13	a	a	DET
alkej-912	148	14	multifunctional	multifunctional	ADJ
alkej-912	148	15	amphibious	amphibious	ADJ
alkej-912	148	16	platform	platform	NOUN
alkej-912	148	17	for	for	ADP
alkej-912	148	18	near	near	ADP
alkej-912	148	19	shore	shore	NOUN
alkej-912	148	20	geognostic	geognostic	ADJ
alkej-912	148	21	activities	activity	NOUN
alkej-912	148	22	,	,	PUNCT
alkej-912	148	23	”	"	PUNCT
alkej-912	148	24	chem	chem	NOUN
alkej-912	148	25	eng	eng	PROPN
alkej-912	148	26	trans	trans	PROPN
alkej-912	148	27	,	,	PUNCT
alkej-912	148	28	vol	vol	NOUN
alkej-912	148	29	.	.	PROPN
alkej-912	148	30	91	91	NUM
alkej-912	148	31	,	,	PUNCT
alkej-912	148	32	no	no	INTJ
alkej-912	148	33	.	.	PUNCT
alkej-912	148	34	april	april	PROPN
alkej-912	148	35	,	,	PUNCT
alkej-912	148	36	pp	pp	ADP
alkej-912	148	37	.	.	PUNCT
alkej-912	149	1	163–168	163–168	NUM
alkej-912	149	2	,	,	PUNCT
alkej-912	149	3	2022	2022	NUM
alkej-912	149	4	,	,	PUNCT
alkej-912	149	5	doi	doi	NOUN
alkej-912	149	6	:	:	PUNCT
alkej-912	149	7	10.3303	10.3303	NUM
alkej-912	149	8	/	/	SYM
alkej-912	149	9	cet2291028	cet2291028	NOUN
alkej-912	149	10	.	.	PUNCT
alkej-912	150	1	[	[	X
alkej-912	150	2	7	7	X
alkej-912	150	3	]	]	X
alkej-912	150	4	m.	m.	NOUN
alkej-912	150	5	taghizadeh	taghizadeh	NOUN
alkej-912	150	6	and	and	CCONJ
alkej-912	150	7	m.	m.	PROPN
alkej-912	150	8	javad	javad	PROPN
alkej-912	150	9	yarmohammadi	yarmohammadi	PROPN
alkej-912	150	10	,	,	PUNCT
alkej-912	150	11	“	"	PUNCT
alkej-912	150	12	development	development	NOUN
alkej-912	150	13	of	of	ADP
alkej-912	150	14	a	a	DET
alkej-912	150	15	self	self	NOUN
alkej-912	150	16	-	-	PUNCT
alkej-912	150	17	tuning	tune	VERB
alkej-912	150	18	pid	pid	NOUN
alkej-912	150	19	controller	controller	NOUN
alkej-912	150	20	on	on	ADP
alkej-912	150	21	hydraulically	hydraulically	ADV
alkej-912	150	22	actuated	actuate	VERB
alkej-912	150	23	stewart	stewart	PROPN
alkej-912	150	24	platform	platform	NOUN
alkej-912	150	25	stabilizer	stabilizer	NOUN
alkej-912	150	26	with	with	ADP
alkej-912	150	27	base	base	NOUN
alkej-912	150	28	excitation	excitation	NOUN
alkej-912	150	29	,	,	PUNCT
alkej-912	150	30	”	"	PUNCT
alkej-912	150	31	int	int	NOUN
alkej-912	150	32	j	j	PROPN
alkej-912	150	33	control	control	PROPN
alkej-912	150	34	autom	autom	PROPN
alkej-912	150	35	syst	syst	PROPN
alkej-912	150	36	,	,	PUNCT
alkej-912	150	37	vol	vol	NOUN
alkej-912	150	38	.	.	PROPN
alkej-912	150	39	16	16	NUM
alkej-912	150	40	,	,	PUNCT
alkej-912	150	41	no	no	INTJ
alkej-912	150	42	.	.	NOUN
alkej-912	150	43	6	6	NUM
alkej-912	150	44	,	,	PUNCT
alkej-912	150	45	pp	pp	ADJ
alkej-912	150	46	.	.	PUNCT
alkej-912	150	47	2990–2999	2990–2999	NUM
alkej-912	150	48	,	,	PUNCT
alkej-912	150	49	2018	2018	NUM
alkej-912	150	50	,	,	PUNCT
alkej-912	150	51	doi	doi	NOUN
alkej-912	150	52	:	:	PUNCT
alkej-912	150	53	10.1007	10.1007	NUM
alkej-912	150	54	/	/	SYM
alkej-912	150	55	s12555	s12555	NOUN
alkej-912	150	56	-	-	PUNCT
alkej-912	150	57	016	016	NUM
alkej-912	150	58	-	-	PUNCT
alkej-912	150	59	0559	0559	NUM
alkej-912	150	60	-	-	SYM
alkej-912	150	61	8	8	NUM
alkej-912	150	62	.	.	PUNCT
alkej-912	151	1	[	[	X
alkej-912	151	2	8	8	NUM
alkej-912	151	3	]	]	X
alkej-912	151	4	h.	h.	PROPN
alkej-912	151	5	qiang	qiang	PROPN
alkej-912	151	6	,	,	PUNCT
alkej-912	151	7	s.	s.	PROPN
alkej-912	151	8	jin	jin	PROPN
alkej-912	151	9	,	,	PUNCT
alkej-912	151	10	x.	x.	PROPN
alkej-912	151	11	feng	feng	PROPN
alkej-912	151	12	,	,	PUNCT
alkej-912	151	13	d.	d.	PROPN
alkej-912	151	14	xue	xue	PROPN
alkej-912	151	15	,	,	PUNCT
alkej-912	151	16	and	and	CCONJ
alkej-912	151	17	l.	l.	PROPN
alkej-912	151	18	zhang	zhang	PROPN
alkej-912	151	19	,	,	PUNCT
alkej-912	151	20	“	"	PUNCT
alkej-912	151	21	model	model	NOUN
alkej-912	151	22	predictive	predictive	ADJ
alkej-912	151	23	control	control	NOUN
alkej-912	151	24	of	of	ADP
alkej-912	151	25	a	a	DET
alkej-912	151	26	shipborne	shipborne	ADJ
alkej-912	151	27	hydraulic	hydraulic	ADJ
alkej-912	151	28	parallel	parallel	NOUN
alkej-912	151	29	stabilized	stabilize	VERB
alkej-912	151	30	platform	platform	NOUN
alkej-912	151	31	based	base	VERB
alkej-912	151	32	on	on	ADP
alkej-912	151	33	ship	ship	NOUN
alkej-912	151	34	motion	motion	NOUN
alkej-912	151	35	prediction	prediction	NOUN
alkej-912	151	36	,	,	PUNCT
alkej-912	151	37	”	"	PUNCT
alkej-912	151	38	ieee	ieee	NOUN
alkej-912	151	39	access	access	NOUN
alkej-912	151	40	,	,	PUNCT
alkej-912	151	41	vol	vol	NOUN
alkej-912	151	42	.	.	PROPN
alkej-912	151	43	8	8	NUM
alkej-912	151	44	,	,	PUNCT
alkej-912	151	45	pp	pp	ADJ
alkej-912	151	46	.	.	PUNCT
alkej-912	152	1	181880–181892	181880–181892	NUM
alkej-912	152	2	,	,	PUNCT
alkej-912	152	3	2020	2020	NUM
alkej-912	152	4	,	,	PUNCT
alkej-912	152	5	doi	doi	NOUN
alkej-912	152	6	:	:	PUNCT
alkej-912	152	7	10.1109	10.1109	NUM
alkej-912	152	8	/	/	SYM
alkej-912	152	9	access.2020.2992458	access.2020.2992458	NOUN
alkej-912	152	10	.	.	PUNCT
alkej-912	153	1	[	[	X
alkej-912	153	2	9	9	NUM
alkej-912	153	3	]	]	PUNCT
alkej-912	153	4	m.	m.	NOUN
alkej-912	153	5	becerra	becerra	PROPN
alkej-912	153	6	-	-	PUNCT
alkej-912	153	7	vargas	vargas	PROPN
alkej-912	153	8	and	and	CCONJ
alkej-912	153	9	e.	e.	PROPN
alkej-912	153	10	m.	m.	PROPN
alkej-912	153	11	belo	belo	PROPN
alkej-912	153	12	,	,	PUNCT
alkej-912	153	13	“	"	PUNCT
alkej-912	153	14	application	application	NOUN
alkej-912	153	15	of	of	ADP
alkej-912	153	16	h1	h1	PROPN
alkej-912	153	17	theory	theory	NOUN
alkej-912	153	18	to	to	ADP
alkej-912	153	19	a	a	DET
alkej-912	153	20	6	6	NUM
alkej-912	153	21	dof	dof	NOUN
alkej-912	153	22	flight	flight	NOUN
alkej-912	153	23	simulator	simulator	NOUN
alkej-912	153	24	motion	motion	NOUN
alkej-912	153	25	base	base	NOUN
alkej-912	153	26	,	,	PUNCT
alkej-912	153	27	”	"	PUNCT
alkej-912	153	28	journal	journal	NOUN
alkej-912	153	29	of	of	ADP
alkej-912	153	30	the	the	DET
alkej-912	153	31	brazilian	brazilian	ADJ
alkej-912	153	32	society	society	NOUN
alkej-912	153	33	of	of	ADP
alkej-912	153	34	mechanical	mechanical	ADJ
alkej-912	153	35	sciences	science	NOUN
alkej-912	153	36	and	and	CCONJ
alkej-912	153	37	engineering	engineering	NOUN
alkej-912	153	38	,	,	PUNCT
alkej-912	153	39	vol	vol	NOUN
alkej-912	153	40	.	.	PROPN
alkej-912	153	41	34	34	NUM
alkej-912	153	42	,	,	PUNCT
alkej-912	153	43	no	no	INTJ
alkej-912	153	44	.	.	NOUN
alkej-912	153	45	2	2	NUM
alkej-912	153	46	,	,	PUNCT
alkej-912	153	47	pp	pp	ADJ
alkej-912	153	48	.	.	PUNCT
alkej-912	154	1	193–204	193–204	NUM
alkej-912	154	2	,	,	PUNCT
alkej-912	154	3	2012	2012	NUM
alkej-912	154	4	,	,	PUNCT
alkej-912	154	5	doi	doi	NOUN
alkej-912	154	6	:	:	PUNCT
alkej-912	154	7	10.1590	10.1590	NUM
alkej-912	154	8	/	/	SYM
alkej-912	154	9	s1678	s1678	NOUN
alkej-912	154	10	-	-	NOUN
alkej-912	154	11	58782012000200011	58782012000200011	NUM
alkej-912	154	12	.	.	PUNCT
alkej-912	155	1	[	[	X
alkej-912	155	2	10	10	NUM
alkej-912	155	3	]	]	PUNCT
alkej-912	155	4	varios	vario	NOUN
alkej-912	155	5	,	,	PUNCT
alkej-912	155	6	“	"	PUNCT
alkej-912	155	7	modern	modern	ADJ
alkej-912	155	8	control	control	NOUN
alkej-912	155	9	engineering	engineering	NOUN
alkej-912	155	10	by	by	ADP
alkej-912	155	11	k.ogata	k.ogata	X
alkej-912	155	12	(	(	PUNCT
alkej-912	155	13	solucionario).pdf	solucionario).pdf	NOUN
alkej-912	155	14	.	.	PUNCT
alkej-912	155	15	”	"	PUNCT
alkej-912	156	1	[	[	X
alkej-912	156	2	11	11	NUM
alkej-912	156	3	]	]	PUNCT
alkej-912	156	4	j.	j.	PROPN
alkej-912	156	5	w.	w.	PROPN
alkej-912	156	6	kim	kim	PROPN
alkej-912	156	7	,	,	PUNCT
alkej-912	156	8	d.	d.	PROPN
alkej-912	156	9	j.	j.	PROPN
alkej-912	156	10	xuan	xuan	PROPN
alkej-912	156	11	,	,	PUNCT
alkej-912	156	12	and	and	CCONJ
alkej-912	156	13	y.	y.	PROPN
alkej-912	156	14	b.	b.	PROPN
alkej-912	156	15	kim	kim	PROPN
alkej-912	156	16	,	,	PUNCT
alkej-912	156	17	“	"	PUNCT
alkej-912	156	18	robust	robust	ADJ
alkej-912	156	19	control	control	NOUN
alkej-912	156	20	application	application	NOUN
alkej-912	156	21	for	for	ADP
alkej-912	156	22	a	a	DET
alkej-912	156	23	three	three	NUM
alkej-912	156	24	-	-	PUNCT
alkej-912	156	25	axis	axis	NOUN
alkej-912	156	26	road	road	NOUN
alkej-912	156	27	simulator	simulator	NOUN
alkej-912	156	28	,	,	PUNCT
alkej-912	156	29	”	"	PUNCT
alkej-912	156	30	journal	journal	NOUN
alkej-912	156	31	of	of	ADP
alkej-912	156	32	mechanical	mechanical	ADJ
alkej-912	156	33	science	science	NOUN
alkej-912	156	34	and	and	CCONJ
alkej-912	156	35	technology	technology	NOUN
alkej-912	156	36	,	,	PUNCT
alkej-912	156	37	vol	vol	NOUN
alkej-912	156	38	.	.	PROPN
alkej-912	156	39	25	25	NUM
alkej-912	156	40	,	,	PUNCT
alkej-912	156	41	no	no	INTJ
alkej-912	156	42	.	.	NOUN
alkej-912	156	43	1	1	NUM
alkej-912	156	44	,	,	PUNCT
alkej-912	156	45	pp	pp	ADJ
alkej-912	156	46	.	.	PUNCT
alkej-912	157	1	221–231	221–231	NUM
alkej-912	157	2	,	,	PUNCT
alkej-912	157	3	2011	2011	NUM
alkej-912	157	4	,	,	PUNCT
alkej-912	157	5	doi	doi	NOUN
alkej-912	157	6	:	:	PUNCT
alkej-912	157	7	10.1007	10.1007	NUM
alkej-912	157	8	/	/	SYM
alkej-912	157	9	s12206	s12206	NOUN
alkej-912	157	10	-	-	PUNCT
alkej-912	157	11	0101104	0101104	NUM
alkej-912	157	12	-	-	PUNCT
alkej-912	157	13	y.	y.	NOUN
alkej-912	158	1	[	[	X
alkej-912	158	2	12	12	NUM
alkej-912	158	3	]	]	X
alkej-912	158	4	p.	p.	PROPN
alkej-912	158	5	i.	i.	PROPN
alkej-912	158	6	i.	i.	PROPN
alkej-912	158	7	data	data	PROPN
alkej-912	158	8	,	,	PUNCT
alkej-912	158	9	“	"	PUNCT
alkej-912	158	10	valves	valve	NOUN
alkej-912	158	11	,	,	PUNCT
alkej-912	158	12	direct	direct	ADJ
alkej-912	158	13	operated	operate	VERB
alkej-912	158	14	,	,	PUNCT
alkej-912	158	15	without	without	ADP
alkej-912	158	16	electrical	electrical	ADJ
alkej-912	158	17	position	position	NOUN
alkej-912	158	18	feedback	feedback	NOUN
alkej-912	158	19	,	,	PUNCT
alkej-912	158	20	”	"	PUNCT
alkej-912	158	21	pp	pp	ADV
alkej-912	158	22	.	.	PUNCT
alkej-912	159	1	1	1	NUM
alkej-912	159	2	–	–	PUNCT
alkej-912	159	3	12	12	NUM
alkej-912	159	4	.	.	PUNCT
alkej-912	160	1	[	[	X
alkej-912	160	2	13	13	NUM
alkej-912	160	3	]	]	PUNCT
alkej-912	160	4	jain	jain	NOUN
alkej-912	160	5	,	,	PUNCT
alkej-912	160	6	meetu	meetu	VERB
alkej-912	160	7	,	,	PUNCT
alkej-912	160	8	et	et	PROPN
alkej-912	160	9	al	al	PROPN
alkej-912	160	10	.	.	PUNCT
alkej-912	161	1	"	"	PUNCT
alkej-912	161	2	an	an	DET
alkej-912	161	3	overview	overview	NOUN
alkej-912	161	4	of	of	ADP
alkej-912	161	5	variants	variant	NOUN
alkej-912	161	6	and	and	CCONJ
alkej-912	161	7	advancements	advancement	NOUN
alkej-912	161	8	of	of	ADP
alkej-912	161	9	pso	pso	NOUN
alkej-912	161	10	algorithm	algorithm	NOUN
alkej-912	161	11	.	.	PUNCT
alkej-912	161	12	"	"	PUNCT
alkej-912	161	13	applied	apply	VERB
alkej-912	161	14	sciences	science	NOUN
alkej-912	161	15	12.17	12.17	NUM
alkej-912	161	16	(	(	PUNCT
alkej-912	161	17	2022	2022	NUM
alkej-912	161	18	):	):	PUNCT
alkej-912	161	19	8392	8392	NUM
alkej-912	161	20	.	.	PUNCT
alkej-912	162	1	[	[	X
alkej-912	162	2	14	14	NUM
alkej-912	162	3	]	]	PUNCT
alkej-912	162	4	p.	p.	NOUN
alkej-912	162	5	karpagavalli	karpagavalli	PROPN
alkej-912	162	6	and	and	CCONJ
alkej-912	162	7	a.	a.	PROPN
alkej-912	162	8	ebenezer	ebenezer	PROPN
alkej-912	162	9	jeyakumar	jeyakumar	PROPN
alkej-912	162	10	,	,	PUNCT
alkej-912	162	11	“	"	PUNCT
alkej-912	162	12	simulation	simulation	NOUN
alkej-912	162	13	analysis	analysis	NOUN
alkej-912	162	14	on	on	ADP
alkej-912	162	15	proportional	proportional	ADJ
alkej-912	162	16	integral	integral	ADJ
alkej-912	162	17	and	and	CCONJ
alkej-912	162	18	derivative	derivative	ADJ
alkej-912	162	19	control	control	NOUN
alkej-912	162	20	of	of	ADP
alkej-912	162	21	closed	closed	ADJ
alkej-912	162	22	loop	loop	NOUN
alkej-912	162	23	dc	dc	PROPN
alkej-912	162	24	motor	motor	PROPN
alkej-912	162	25	drive	drive	NOUN
alkej-912	162	26	with	with	ADP
alkej-912	162	27	bipolar	bipolar	ADJ
alkej-912	162	28	voltage	voltage	NOUN
alkej-912	162	29	switching	switching	NOUN
alkej-912	162	30	,	,	PUNCT
alkej-912	162	31	”	"	PUNCT
alkej-912	162	32	am	be	AUX
alkej-912	162	33	j	j	PROPN
alkej-912	162	34	appl	appl	PROPN
alkej-912	162	35	sci	sci	PROPN
alkej-912	162	36	,	,	PUNCT
alkej-912	162	37	vol	vol	NOUN
alkej-912	162	38	.	.	PROPN
alkej-912	162	39	10	10	NUM
alkej-912	162	40	,	,	PUNCT
alkej-912	162	41	no	no	INTJ
alkej-912	162	42	.	.	NOUN
alkej-912	162	43	7	7	NUM
alkej-912	162	44	,	,	PUNCT
alkej-912	162	45	pp	pp	ADJ
alkej-912	162	46	.	.	PUNCT
alkej-912	163	1	714–723	714–723	NUM
alkej-912	163	2	,	,	PUNCT
alkej-912	163	3	2013	2013	NUM
alkej-912	163	4	,	,	PUNCT
alkej-912	163	5	doi	doi	NOUN
alkej-912	163	6	:	:	PUNCT
alkej-912	163	7	10.3844	10.3844	NUM
alkej-912	163	8	/	/	SYM
alkej-912	163	9	ajassp.2013.714.723	ajassp.2013.714.723	NOUN
alkej-912	163	10	.	.	PUNCT
alkej-912	164	1	[	[	X
alkej-912	164	2	15	15	NUM
alkej-912	164	3	]	]	X
alkej-912	164	4	h.	h.	PROPN
alkej-912	164	5	s.	s.	PROPN
alkej-912	164	6	dakheel	dakheel	PROPN
alkej-912	164	7	,	,	PUNCT
alkej-912	164	8	z.	z.	PROPN
alkej-912	164	9	b.	b.	PROPN
alkej-912	164	10	abdullah	abdullah	PROPN
alkej-912	164	11	,	,	PUNCT
alkej-912	164	12	and	and	CCONJ
alkej-912	164	13	s.	s.	PROPN
alkej-912	164	14	w.	w.	PROPN
alkej-912	164	15	shneen	shneen	PROPN
alkej-912	164	16	,	,	PUNCT
alkej-912	164	17	“	"	PUNCT
alkej-912	164	18	advanced	advanced	ADJ
alkej-912	164	19	optimal	optimal	ADJ
alkej-912	164	20	ga	ga	NOUN
alkej-912	164	21	-	-	PUNCT
alkej-912	164	22	pid	pid	NOUN
alkej-912	164	23	controller	controller	NOUN
alkej-912	164	24	for	for	ADP
alkej-912	164	25	bldc	bldc	PROPN
alkej-912	164	26	motor	motor	NOUN
alkej-912	164	27	,	,	PUNCT
alkej-912	164	28	”	"	PUNCT
alkej-912	164	29	bulletin	bulletin	NOUN
alkej-912	164	30	of	of	ADP
alkej-912	164	31	electrical	electrical	ADJ
alkej-912	164	32	engineering	engineering	NOUN
alkej-912	164	33	and	and	CCONJ
alkej-912	164	34	informatics	informatic	NOUN
alkej-912	164	35	,	,	PUNCT
alkej-912	164	36	vol	vol	NOUN
alkej-912	164	37	.	.	PROPN
alkej-912	164	38	12	12	NUM
alkej-912	164	39	,	,	PUNCT
alkej-912	164	40	no	no	INTJ
alkej-912	164	41	.	.	NOUN
alkej-912	164	42	4	4	NUM
alkej-912	164	43	,	,	PUNCT
alkej-912	164	44	pp	pp	ADJ
alkej-912	164	45	.	.	PUNCT
alkej-912	164	46	2077–2086	2077–2086	NUM
alkej-912	164	47	,	,	PUNCT
alkej-912	164	48	2023	2023	NUM
alkej-912	164	49	,	,	PUNCT
alkej-912	164	50	doi	doi	NOUN
alkej-912	164	51	:	:	PUNCT
alkej-912	164	52	10.11591	10.11591	NUM
alkej-912	164	53	/	/	SYM
alkej-912	164	54	eei.v12i4.4649	eei.v12i4.4649	PROPN
alkej-912	164	55	.	.	PROPN
alkej-912	164	56	(	(	PUNCT
alkej-912	164	57	2024	2024	NUM
alkej-912	164	58	)	)	PUNCT
alkej-912	164	59	56	56	NUM
alkej-912	164	60	-	-	SYM
alkej-912	164	61	64	64	NUM
alkej-912	164	62	،	،	NOUN
alkej-912	164	63	صفحة	صفحة	PROPN
alkej-912	164	64	2	2	PROPN
alkej-912	164	65	،	،	X
alkej-912	164	66	العدد20مجلة	العدد20مجلة	PROPN
alkej-912	164	67	الخوارزمي	الخوارزمي	VERB
alkej-912	164	68	الهندسية	الهندسية	PROPN
alkej-912	164	69	المجلد	المجلد	PROPN
alkej-912	164	70	سارة	سارة	VERB
alkej-912	164	71	محمد	محمد	NOUN
alkej-912	164	72	رشيد	رشيد	ADV
alkej-912	165	1	64	64	NUM
alkej-912	165	2	نمذجة	نمذجة	NOUN
alkej-912	165	3	ومحاكاة	ومحاكاة	NOUN
alkej-912	165	4	صمامات	صمامات	VERB
alkej-912	165	5	التحكم	التحكم	PROPN
alkej-912	165	6	التناسبي	التناسبي	PROPN
alkej-912	165	7	الهيدروليكي	الهيدروليكي	PROPN
alkej-912	165	8	مع	مع	PROPN
alkej-912	165	9	أنواع	أنواع	PROPN
alkej-912	165	10	مختلفة	مختلفة	PROPN
alkej-912	165	11	من	من	PRON
alkej-912	165	12	وحدات	وحدات	ADJ
alkej-912	165	13	التحكم	التحكم	NOUN
alkej-912	165	14	،	،	X
alkej-912	165	15	*	*	PUNCT
alkej-912	165	16	*	*	PUNCT
alkej-912	165	17	*	*	PUNCT
alkej-912	165	18	نور	نور	PROPN
alkej-912	165	19	هانيزا	هانيزا	PROPN
alkej-912	165	20	باكثير	باكثير	VERB
alkej-912	165	21	جميلي	جميلي	PROPN
alkej-912	165	22	،	،	X
alkej-912	165	23	*	*	PUNCT
alkej-912	165	24	*	*	PUNCT
alkej-912	165	25	ماهر	ماهر	VERB
alkej-912	165	26	يحيى	يحيى	PROPN
alkej-912	165	27	سلوم	سلوم	NOUN
alkej-912	165	28	،	،	X
alkej-912	165	29	*	*	NUM
alkej-912	165	30	محمد	محمد	NOUN
alkej-912	165	31	رشيد	رشيد	X
alkej-912	165	32	هسار	هسار	ADJ
alkej-912	165	33	*	*	PUNCT
alkej-912	165	34	*	*	PUNCT
alkej-912	165	35	*	*	PUNCT
alkej-912	165	36	*	*	NOUN
alkej-912	165	37	هاسنيدا	هاسنيدا	NOUN
alkej-912	165	38	عبد	عبد	VERB
alkej-912	165	39	الصمد	الصمد	ADJ
alkej-912	165	40	العراق	العراق	PROPN
alkej-912	165	41	،	،	PROPN
alkej-912	165	42	بغداد	بغداد	PROPN
alkej-912	165	43	،	،	PROPN
alkej-912	165	44	جامعة	جامعة	PROPN
alkej-912	165	45	بغداد	بغداد	PROPN
alkej-912	165	46	،	،	PROPN
alkej-912	165	47	كلية	كلية	PROPN
alkej-912	165	48	الهندسة	الهندسة	PROPN
alkej-912	165	49	الخوارزمي	الخوارزمي	VERB
alkej-912	165	50	،	،	PROPN
alkej-912	165	51	قسم	قسم	PROPN
alkej-912	165	52	هندسة	هندسة	NOUN
alkej-912	165	53	الميكاترونكس	الميكاترونكس	PROPN
alkej-912	165	54	*	*	PUNCT
alkej-912	165	55	،	،	X
alkej-912	165	56	*	*	PUNCT
alkej-912	165	57	*	*	PUNCT
alkej-912	166	1	ماليزيا	ماليزيا	PROPN
alkej-912	166	2	،	،	PROPN
alkej-912	166	3	09000كوليم	09000كوليم	PROPN
alkej-912	166	4	،	،	PROPN
alkej-912	166	5	مجمع	مجمع	PROPN
alkej-912	166	6	كوليم	كوليم	PROPN
alkej-912	166	7	للتكنولوجيا	للتكنولوجيا	NOUN
alkej-912	166	8	الفائقة	الفائقة	PROPN
alkej-912	166	9	،	،	PROPN
alkej-912	166	10	المعهد	المعهد	PROPN
alkej-912	166	11	اإلسباني	اإلسباني	PROPN
alkej-912	166	12	الماليزي	الماليزي	PROPN
alkej-912	166	13	بجامعة	بجامعة	PROPN
alkej-912	166	14	كوااللمبور	كوااللمبور	PROPN
alkej-912	166	15	،	،	X
alkej-912	166	16	القسم	القسم	PROPN
alkej-912	166	17	الميكانيكي	الميكانيكي	NOUN
alkej-912	166	18	*	*	PUNCT
alkej-912	166	19	*	*	PUNCT
alkej-912	166	20	*	*	PUNCT
alkej-912	166	21	ماليزيا	ماليزيا	PROPN
alkej-912	166	22	،	،	PROPN
alkej-912	166	23	جزيرة	جزيرة	PROPN
alkej-912	166	24	بينانك	بينانك	PROPN
alkej-912	166	25	،	،	PROPN
alkej-912	166	26	سيبيرانك	سيبيرانك	NOUN
alkej-912	166	27	بيراي	بيراي	AUX
alkej-912	166	28	الجنوبية	الجنوبية	PROPN
alkej-912	166	29	،	،	PROPN
alkej-912	166	30	يبونك	يبونك	PROPN
alkej-912	166	31	تيبال	تيبال	PROPN
alkej-912	166	32	14300	14300	NUM
alkej-912	166	33	،	،	NOUN
alkej-912	166	34	(	(	PUNCT
alkej-912	166	35	usm)جامعة	usm)جامعة	PROPN
alkej-912	166	36	العلوم	العلوم	NOUN
alkej-912	166	37	الماليزية	الماليزية	VERB
alkej-912	166	38	،	،	PROPN
alkej-912	166	39	مجمع	مجمع	PROPN
alkej-912	166	40	الهندسة	الهندسة	PROPN
alkej-912	166	41	،	،	X
alkej-912	166	42	كلية	كلية	NOUN
alkej-912	166	43	الهندسة	الهندسة	NOUN
alkej-912	166	44	الميكانيكية	الميكانيكية	ADJ
alkej-912	166	45	*	*	PUNCT
alkej-912	166	46	*	*	PUNCT
alkej-912	166	47	*	*	PUNCT
alkej-912	166	48	*	*	PUNCT
alkej-912	166	49	saramr@mtu.edu.iq	saramr@mtu.edu.iq	NOUN
alkej-912	166	50	:	:	PUNCT
alkej-912	166	51	البريد	البريد	VERB
alkej-912	166	52	االلكتروني	االلكتروني	NOUN
alkej-912	166	53	*	*	PUNCT
alkej-912	166	54	dmahir@kecbu.uobaghdad.edu.iq	dmahir@kecbu.uobaghdad.edu.iq	PROPN
alkej-912	166	55	:	:	PUNCT
alkej-912	166	56	البريد	البريد	VERB
alkej-912	166	57	االلكتروني	االلكتروني	NOUN
alkej-912	166	58	*	*	PROPN
alkej-912	166	59	*	*	PUNCT
alkej-912	166	60	norhaniza@unikl.edu.my	norhaniza@unikl.edu.my	NOUN
alkej-912	166	61	:	:	PUNCT
alkej-912	166	62	البريد	البريد	VERB
alkej-912	166	63	االلكتروني	االلكتروني	NOUN
alkej-912	166	64	*	*	PUNCT
alkej-912	166	65	*	*	PUNCT
alkej-912	166	66	*	*	PUNCT
alkej-912	166	67	hasnida@usm.my	hasnida@usm.my	X
alkej-912	166	68	:	:	PUNCT
alkej-912	166	69	البريد	البريد	VERB
alkej-912	166	70	االلكتروني	االلكتروني	NOUN
alkej-912	166	71	*	*	PUNCT
alkej-912	166	72	*	*	PUNCT
alkej-912	166	73	*	*	PUNCT
alkej-912	166	74	*	*	PUNCT
alkej-912	166	75	المستخلص	المستخلص	PROPN
alkej-912	166	76	المنصة	المنصة	PROPN
alkej-912	166	77	لضمان	لضمان	PROPN
alkej-912	166	78	ترمي	ترمي	PROPN
alkej-912	167	1	هذه	هذه	PROPN
alkej-912	167	2	الدراسة	الدراسة	PROPN
alkej-912	167	3	إلى	إلى	PROPN
alkej-912	167	4	تصميم	تصميم	PROPN
alkej-912	167	5	منصة	منصة	PROPN
alkej-912	167	6	ذاتية	ذاتية	NOUN
alkej-912	167	7	التوازن	التوازن	NOUN
alkej-912	167	8	وتطويرها	وتطويرها	INTJ
alkej-912	167	9	وتستخدم	وتستخدم	NOUN
alkej-912	168	1	في	في	INTJ
alkej-912	168	2	العديد	العديد	ADV
alkej-912	169	1	من	من	INTJ
alkej-912	169	2	التطبيقات	التطبيقات	PROPN
alkej-912	169	3	الصناعية	الصناعية	PROPN
alkej-912	169	4	التي	التي	PROPN
alkej-912	169	5	تحتاج	تحتاج	PROPN
alkej-912	169	6	الى	الى	PROPN
alkej-912	169	7	استواء	استواء	PROPN
alkej-912	169	8	سطح	سطح	ADJ
alkej-912	169	9	عن	عن	PRON
alkej-912	169	10	طريق	طريق	PROPN
alkej-912	169	11	صمامي	صمامي	VERB
alkej-912	169	12	سيطرة	سيطرة	PROPN
alkej-912	169	13	هيدروليكية	هيدروليكية	ADJ
alkej-912	169	14	تناسبية	تناسبية	NOUN
alkej-912	169	15	.	.	PUNCT
alkej-912	170	1	يتضمن	يتضمن	PROPN
alkej-912	170	2	تصميم	تصميم	PROPN
alkej-912	170	3	بهمايتم	بهمايتم	VERB
alkej-912	170	4	التحكم	التحكم	PROPN
alkej-912	170	5	عملها	عملها	PROPN
alkej-912	170	6	بكفاية	بكفاية	PROPN
alkej-912	170	7	عالية	عالية	VERB
alkej-912	170	8	.	.	PUNCT
alkej-912	171	1	تم	تم	PROPN
alkej-912	171	2	تصميم	تصميم	PROPN
alkej-912	171	3	منصة	منصة	PROPN
alkej-912	171	4	وتنفيذها	وتنفيذها	PROPN
alkej-912	171	5	تتكون	تتكون	VERB
alkej-912	171	6	من	من	PRON
alkej-912	171	7	اسطوانتين	اسطوانتين	VERB
alkej-912	171	8	هيدروليكية	هيدروليكية	NOUN
alkej-912	171	9	من	من	ADP
alkej-912	171	10	.kd	.kd	PUNCT
alkej-912	172	1	و	و	PRON
alkej-912	172	2	kiو	kiو	PROPN
alkej-912	172	3	kp	kp	PROPN
alkej-912	172	4	اناتالنظام	اناتالنظام	VERB
alkej-912	172	5	الهيدروليكي	الهيدروليكي	PROPN
alkej-912	172	6	االفتراضي	االفتراضي	PROPN
alkej-912	172	7	تحليل	تحليل	PROPN
alkej-912	172	8	النظام	النظام	PROPN
alkej-912	172	9	واشتقاقه	واشتقاقه	PROPN
alkej-912	172	10	.	.	PUNCT
alkej-912	173	1	وبعد	وبعد	PROPN
alkej-912	173	2	ذلك	ذلك	PROPN
alkej-912	173	3	،	،	PROPN
alkej-912	173	4	تم	تم	PROPN
alkej-912	174	1	تقييم	تقييم	PROPN
alkej-912	174	2	أداء	أداء	PROPN
alkej-912	174	3	النظام	النظام	PROPN
alkej-912	174	4	من	من	PROPN
alkej-912	174	5	خالل	خالل	PROPN
alkej-912	174	6	تحديد	تحديد	PROPN
alkej-912	174	7	النهج	النهج	PROPN
alkej-912	174	8	األمثل	األمثل	PROPN
alkej-912	174	9	للحصول	للحصول	PROPN
alkej-912	174	10	على	على	NOUN
alkej-912	174	11	البي	البي	PROPN
alkej-912	174	12	الحالية	الحالية	ADP
alkej-912	174	13	وخوارزمية	وخوارزمية	PROPN
alkej-912	174	14	تحسين	تحسين	PROPN
alkej-912	174	15	سرب	سرب	VERB
alkej-912	174	16	الجسيمات	الجسيمات	PROPN
alkej-912	174	17	(	(	PUNCT
alkej-912	174	18	ga	ga	NOUN
alkej-912	174	19	)	)	PUNCT
alkej-912	174	20	للخوارزمية	للخوارزمية	ADJ
alkej-912	174	21	الجينية	الجينية	PROPN
alkej-912	174	22	pid	pid	NOUN
alkej-912	174	23	التحكم	التحكم	PROPN
alkej-912	174	24	،	،	PROPN
alkej-912	174	25	تم	تم	PROPN
alkej-912	175	1	إجراء	إجراء	PROPN
alkej-912	175	2	فحص	فحص	PROPN
alkej-912	175	3	لتحسين	لتحسين	PROPN
alkej-912	175	4	وحدةmatlab	وحدةmatlab	PROPN
alkej-912	175	5	خالل	خالل	PROPN
alkej-912	175	6	استخدام	استخدام	PROPN
alkej-912	175	7	محاكاة	محاكاة	PROPN
alkej-912	175	8	(	(	PUNCT
alkej-912	175	9	pso	pso	NOUN
alkej-912	175	10	)	)	PUNCT
alkej-912	175	11	.	.	PUNCT
alkej-912	176	1	تشير	تشير	PROPN
alkej-912	176	2	النتائج	النتائج	PROPN
alkej-912	176	3	إلى	إلى	PROPN
alkej-912	176	4	أن	أن	ADP
alkej-912	176	5	خوارزمية	خوارزمية	ADJ
alkej-912	176	6	التحكم	التحكم	NOUN
alkej-912	176	7	pid	pid	NOUN
alkej-912	176	8	للخوارزمية	للخوارزمية	ADJ
alkej-912	176	9	الجينية	الجينية	PROPN
alkej-912	176	10	(	(	PUNCT
alkej-912	176	11	ga	ga	NOUN
alkej-912	176	12	)	)	PUNCT
alkej-912	176	13	تتفوق	تتفوق	NOUN
alkej-912	176	14	في	في	ADP
alkej-912	176	15	تحسين	تحسين	NOUN
alkej-912	176	16	أداء	أداء	PROPN
alkej-912	176	17	النظام	النظام	PROPN
alkej-912	176	18	من	من	PROPN
alkej-912	176	19	خوارزمية	خوارزمية	PROPN
alkej-912	176	20	تحسين	تحسين	PROPN
alkej-912	176	21	سرب	سرب	PROPN
alkej-912	176	22	الجسيمات	الجسيمات	PROPN
alkej-912	176	23	(	(	PUNCT
alkej-912	176	24	pso	pso	NOUN
alkej-912	176	25	)	)	PUNCT
alkej-912	177	1	يُظهر	يُظهر	NUM
alkej-912	177	2	النظام	النظام	VERB
alkej-912	177	3	معدالا	معدالا	PROPN
alkej-912	177	4	.(itae	.(itae	PUNCT
alkej-912	177	5	)	)	PUNCT
alkej-912	178	1	ام	ام	NOUN
alkej-912	178	2	التحكم	التحكم	VERB
alkej-912	178	3	في	في	ADP
alkej-912	178	4	منصة	منصة	NOUN
alkej-912	178	5	التوازن	التوازن	NOUN
alkej-912	178	6	الذاتي	الذاتي	ADV
alkej-912	178	7	هو	هو	PRON
alkej-912	178	8	نوع	نوع	ADJ
alkej-912	178	9	الخطأ	الخطأ	PROPN
alkej-912	178	10	المطلق	المطلق	VERB
alkej-912	178	11	للوقت	للوقت	PROPN
alkej-912	178	12	المتكامل.وكان	المتكامل.وكان	PROPN
alkej-912	178	13	معيار	معيار	PROPN
alkej-912	178	14	التحكم	التحكم	VERB
alkej-912	178	15	في	في	SCONJ
alkej-912	178	16	األخطاء	األخطاء	PROPN
alkej-912	178	17	الذي	الذي	PROPN
alkej-912	178	18	تم	تم	PROPN
alkej-912	178	19	اختياره	اختياره	PROPN
alkej-912	178	20	لنظ	لنظ	PROPN
alkej-912	178	21	.محّسناا	.محّسناا	PUNCT
alkej-912	179	1	للتقارب	للتقارب	NOUN