id	sid	tid	token	lemma	pos
alkej-926	1	1	2	2	NUM
alkej-926	1	2	-	-	SYM
alkej-926	1	3	5فورمة	5فورمة	NUM
alkej-926	1	4	جديدة	جديدة	NOUN
alkej-926	1	5	this	this	PRON
alkej-926	1	6	is	be	AUX
alkej-926	1	7	an	an	DET
alkej-926	1	8	open	open	ADJ
alkej-926	1	9	access	access	NOUN
alkej-926	1	10	article	article	NOUN
alkej-926	1	11	under	under	ADP
alkej-926	1	12	the	the	DET
alkej-926	1	13	cc	cc	NOUN
alkej-926	1	14	by	by	ADP
alkej-926	1	15	license	license	NOUN
alkej-926	1	16	:	:	PUNCT
alkej-926	1	17	al	al	PROPN
alkej-926	1	18	-	-	PUNCT
alkej-926	1	19	khwarizmi	khwarizmi	PROPN
alkej-926	1	20	engineering	engineering	PROPN
alkej-926	1	21	journal	journal	PROPN
alkej-926	1	22	al	al	PROPN
alkej-926	1	23	-	-	PUNCT
alkej-926	1	24	khwarizmi	khwarizmi	PROPN
alkej-926	1	25	engineering	engineering	PROPN
alkej-926	1	26	journal	journal	PROPN
alkej-926	1	27	issn	issn	PROPN
alkej-926	1	28	(	(	PUNCT
alkej-926	1	29	printed	print	VERB
alkej-926	1	30	):	):	PUNCT
alkej-926	1	31	1818	1818	NUM
alkej-926	1	32	–	–	PUNCT
alkej-926	1	33	1171	1171	NUM
alkej-926	1	34	,	,	PUNCT
alkej-926	1	35	issn	issn	PROPN
alkej-926	1	36	(	(	PUNCT
alkej-926	1	37	online	online	ADJ
alkej-926	1	38	):	):	PUNCT
alkej-926	1	39	2312	2312	NUM
alkej-926	1	40	–	–	PUNCT
alkej-926	1	41	0789	0789	NUM
alkej-926	1	42	vol	vol	NOUN
alkej-926	1	43	.	.	PROPN
alkej-926	1	44	20	20	NUM
alkej-926	1	45	,	,	PUNCT
alkej-926	1	46	no	no	INTJ
alkej-926	1	47	.	.	NOUN
alkej-926	1	48	3	3	NUM
alkej-926	1	49	,	,	PUNCT
alkej-926	1	50	september	september	PROPN
alkej-926	1	51	,	,	PUNCT
alkej-926	1	52	(	(	PUNCT
alkej-926	1	53	2024	2024	NUM
alkej-926	1	54	)	)	PUNCT
alkej-926	1	55	,	,	PUNCT
alkej-926	1	56	pp	pp	ADV
alkej-926	1	57	.	.	PUNCT
alkej-926	2	1	11_19	11_19	NUM
alkej-926	2	2	robust	robust	ADJ
alkej-926	2	3	proportional	proportional	ADJ
alkej-926	2	4	integral	integral	ADJ
alkej-926	2	5	-	-	PUNCT
alkej-926	2	6	state	state	NOUN
alkej-926	2	7	feedback	feedback	NOUN
alkej-926	2	8	with	with	ADP
alkej-926	2	9	disturbance	disturbance	NOUN
alkej-926	2	10	observer	observer	NOUN
alkej-926	2	11	for	for	ADP
alkej-926	2	12	2	2	NUM
alkej-926	2	13	-	-	PUNCT
alkej-926	2	14	dof	dof	NOUN
alkej-926	2	15	helicopter	helicopter	NOUN
alkej-926	2	16	system	system	NOUN
alkej-926	2	17	shatha	shatha	VERB
alkej-926	2	18	abd	abd	PROPN
alkej-926	2	19	al	al	PROPN
alkej-926	2	20	kareem	kareem	PROPN
alkej-926	2	21	mohammed	mohammed	PROPN
alkej-926	3	1	*	*	PROPN
alkej-926	3	2	,	,	PUNCT
alkej-926	3	3	ali	ali	PROPN
alkej-926	3	4	hussien	hussien	PROPN
alkej-926	3	5	mary	mary	PROPN
alkej-926	3	6	*	*	PROPN
alkej-926	3	7	*	*	PROPN
alkej-926	3	8	,	,	PUNCT
alkej-926	3	9	ali	ali	PROPN
alkej-926	3	10	al‐abadi	al‐abadi	PROPN
alkej-926	3	11	*	*	PUNCT
alkej-926	3	12	*	*	PUNCT
alkej-926	3	13	*	*	PUNCT
alkej-926	3	14	and	and	CCONJ
alkej-926	3	15	mohammed	mohammed	PROPN
alkej-926	3	16	ghufran	ghufran	PROPN
alkej-926	3	17	khidhir	khidhir	PROPN
alkej-926	3	18	abboosh	abboosh	ADV
alkej-926	3	19	*	*	PUNCT
alkej-926	3	20	*	*	PUNCT
alkej-926	3	21	*	*	PUNCT
alkej-926	3	22	*	*	PUNCT
alkej-926	3	23	*	*	PUNCT
alkej-926	3	24	,	,	PUNCT
alkej-926	3	25	*	*	PUNCT
alkej-926	3	26	*	*	PUNCT
alkej-926	3	27	department	department	NOUN
alkej-926	3	28	of	of	ADP
alkej-926	3	29	mechatronics	mechatronic	NOUN
alkej-926	3	30	engineering	engineering	PROPN
alkej-926	3	31	,	,	PUNCT
alkej-926	3	32	al	al	PROPN
alkej-926	3	33	-	-	PUNCT
alkej-926	3	34	khwarizmi	khwarizmi	PROPN
alkej-926	3	35	college	college	PROPN
alkej-926	3	36	of	of	ADP
alkej-926	3	37	engineering	engineering	PROPN
alkej-926	3	38	,	,	PUNCT
alkej-926	3	39	university	university	NOUN
alkej-926	3	40	of	of	ADP
alkej-926	3	41	baghdad	baghdad	PROPN
alkej-926	3	42	,	,	PUNCT
alkej-926	3	43	baghdad	baghdad	PROPN
alkej-926	3	44	,	,	PUNCT
alkej-926	3	45	iraq	iraq	PROPN
alkej-926	3	46	*	*	PUNCT
alkej-926	3	47	*	*	PUNCT
alkej-926	3	48	*	*	PUNCT
alkej-926	3	49	friedrich	friedrich	PROPN
alkej-926	3	50	-	-	PUNCT
alkej-926	3	51	alexander	alexander	PROPN
alkej-926	3	52	university	university	PROPN
alkej-926	3	53	,	,	PUNCT
alkej-926	3	54	germany	germany	PROPN
alkej-926	3	55	*	*	PUNCT
alkej-926	3	56	*	*	PUNCT
alkej-926	3	57	*	*	PUNCT
alkej-926	3	58	*	*	PUNCT
alkej-926	3	59	department	department	PROPN
alkej-926	3	60	of	of	ADP
alkej-926	3	61	data	datum	NOUN
alkej-926	3	62	science	science	NOUN
alkej-926	3	63	and	and	CCONJ
alkej-926	3	64	visualization	visualization	NOUN
alkej-926	3	65	,	,	PUNCT
alkej-926	3	66	university	university	NOUN
alkej-926	3	67	of	of	ADP
alkej-926	3	68	debrecen	debrecen	PROPN
alkej-926	3	69	,	,	PUNCT
alkej-926	3	70	hungary	hungary	PROPN
alkej-926	3	71	*	*	PROPN
alkej-926	3	72	email	email	NOUN
alkej-926	3	73	:	:	PUNCT
alkej-926	3	74	shatha.mohammed1602@kecbu.uobaghdad.edu.iq	shatha.mohammed1602@kecbu.uobaghdad.edu.iq	NOUN
alkej-926	3	75	(	(	PUNCT
alkej-926	3	76	corresponding	correspond	VERB
alkej-926	3	77	author	author	NOUN
alkej-926	3	78	)	)	PUNCT
alkej-926	3	79	*	*	PUNCT
alkej-926	4	1	*	*	PUNCT
alkej-926	4	2	email	email	NOUN
alkej-926	4	3	:	:	PUNCT
alkej-926	4	4	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-926	4	5	*	*	PUNCT
alkej-926	4	6	*	*	PUNCT
alkej-926	4	7	*	*	NOUN
alkej-926	4	8	email	email	NOUN
alkej-926	4	9	:	:	PUNCT
alkej-926	4	10	ali.al-abadi@fau.de	ali.al-abadi@fau.de	PROPN
alkej-926	4	11	*	*	PUNCT
alkej-926	4	12	*	*	PUNCT
alkej-926	4	13	*	*	PUNCT
alkej-926	4	14	*	*	NOUN
alkej-926	4	15	email	email	NOUN
alkej-926	4	16	:	:	PUNCT
alkej-926	4	17	abboosh.mohammed@inf.unideb.hu	abboosh.mohammed@inf.unideb.hu	X
alkej-926	4	18	(	(	PUNCT
alkej-926	4	19	received	receive	VERB
alkej-926	4	20	10	10	NUM
alkej-926	4	21	january	january	PROPN
alkej-926	4	22	2024	2024	NUM
alkej-926	4	23	;	;	PUNCT
alkej-926	4	24	revised	revise	VERB
alkej-926	4	25	26	26	NUM
alkej-926	4	26	march	march	NOUN
alkej-926	4	27	2024	2024	NUM
alkej-926	4	28	;	;	PUNCT
alkej-926	4	29	accepted	accept	VERB
alkej-926	4	30	23	23	NUM
alkej-926	4	31	april	april	PROPN
alkej-926	4	32	2024	2024	NUM
alkej-926	4	33	;	;	PUNCT
alkej-926	4	34	published	publish	VERB
alkej-926	4	35	1	1	NUM
alkej-926	4	36	september	september	PROPN
alkej-926	4	37	2024	2024	NUM
alkej-926	4	38	)	)	PUNCT
alkej-926	4	39	https://doi.org/10.22153/kej.2024.04.001	https://doi.org/10.22153/kej.2024.04.001	PRON
alkej-926	4	40	abstract	abstract	ADV
alkej-926	4	41	this	this	DET
alkej-926	4	42	paper	paper	NOUN
alkej-926	4	43	presents	present	VERB
alkej-926	4	44	a	a	DET
alkej-926	4	45	new	new	ADJ
alkej-926	4	46	optimal	optimal	ADJ
alkej-926	4	47	robust	robust	ADJ
alkej-926	4	48	control	control	NOUN
alkej-926	4	49	algorithm	algorithm	NOUN
alkej-926	4	50	based	base	VERB
alkej-926	4	51	on	on	ADP
alkej-926	4	52	a	a	DET
alkej-926	4	53	proportional	proportional	ADJ
alkej-926	4	54	-	-	PUNCT
alkej-926	4	55	integral	integral	ADJ
alkej-926	4	56	(	(	PUNCT
alkej-926	4	57	pi	pi	NOUN
alkej-926	4	58	)	)	PUNCT
alkej-926	4	59	and	and	CCONJ
alkej-926	4	60	state	state	NOUN
alkej-926	4	61	feedback	feedback	NOUN
alkej-926	4	62	controller	controller	NOUN
alkej-926	4	63	with	with	ADP
alkej-926	4	64	a	a	DET
alkej-926	4	65	state	state	NOUN
alkej-926	4	66	disturbance	disturbance	NOUN
alkej-926	4	67	observer	observer	NOUN
alkej-926	4	68	for	for	ADP
alkej-926	4	69	the	the	DET
alkej-926	4	70	two	two	NUM
alkej-926	4	71	degrees	degree	NOUN
alkej-926	4	72	-	-	PUNCT
alkej-926	4	73	of	of	ADP
alkej-926	4	74	-	-	PUNCT
alkej-926	4	75	freedom	freedom	NOUN
alkej-926	4	76	helicopter	helicopter	NOUN
alkej-926	4	77	system	system	NOUN
alkej-926	4	78	.	.	PUNCT
alkej-926	5	1	a	a	DET
alkej-926	5	2	disturbance	disturbance	NOUN
alkej-926	5	3	observer	observer	NOUN
alkej-926	5	4	is	be	AUX
alkej-926	5	5	used	use	VERB
alkej-926	5	6	to	to	PART
alkej-926	5	7	improve	improve	VERB
alkej-926	5	8	the	the	DET
alkej-926	5	9	robustness	robustness	NOUN
alkej-926	5	10	of	of	ADP
alkej-926	5	11	the	the	DET
alkej-926	5	12	proposed	propose	VERB
alkej-926	5	13	controller	controller	NOUN
alkej-926	5	14	instead	instead	ADV
alkej-926	5	15	of	of	ADP
alkej-926	5	16	using	use	VERB
alkej-926	5	17	high	high	ADJ
alkej-926	5	18	gain	gain	NOUN
alkej-926	5	19	to	to	PART
alkej-926	5	20	reject	reject	VERB
alkej-926	5	21	the	the	DET
alkej-926	5	22	external	external	ADJ
alkej-926	5	23	disturbance	disturbance	NOUN
alkej-926	5	24	.	.	PUNCT
alkej-926	6	1	combining	combine	VERB
alkej-926	6	2	the	the	DET
alkej-926	6	3	pi	pi	NOUN
alkej-926	6	4	controller	controller	NOUN
alkej-926	6	5	with	with	ADP
alkej-926	6	6	the	the	DET
alkej-926	6	7	state	state	NOUN
alkej-926	6	8	feedback	feedback	NOUN
alkej-926	6	9	controller	controller	NOUN
alkej-926	6	10	improved	improve	VERB
alkej-926	6	11	the	the	DET
alkej-926	6	12	performance	performance	NOUN
alkej-926	6	13	of	of	ADP
alkej-926	6	14	the	the	DET
alkej-926	6	15	controlled	control	VERB
alkej-926	6	16	system	system	NOUN
alkej-926	6	17	.	.	PUNCT
alkej-926	7	1	simulations	simulation	NOUN
alkej-926	7	2	based	base	VERB
alkej-926	7	3	on	on	ADP
alkej-926	7	4	matlab	matlab	PROPN
alkej-926	7	5	2022	2022	NUM
alkej-926	7	6	are	be	AUX
alkej-926	7	7	performed	perform	VERB
alkej-926	7	8	to	to	PART
alkej-926	7	9	compare	compare	VERB
alkej-926	7	10	the	the	DET
alkej-926	7	11	proposed	propose	VERB
alkej-926	7	12	controller	controller	NOUN
alkej-926	7	13	with	with	ADP
alkej-926	7	14	the	the	DET
alkej-926	7	15	linear	linear	ADJ
alkej-926	7	16	quadratic	quadratic	ADJ
alkej-926	7	17	regulator	regulator	NOUN
alkej-926	7	18	controller	controller	NOUN
alkej-926	7	19	and	and	CCONJ
alkej-926	7	20	investigate	investigate	VERB
alkej-926	7	21	the	the	DET
alkej-926	7	22	performance	performance	NOUN
alkej-926	7	23	and	and	CCONJ
alkej-926	7	24	robustness	robustness	NOUN
alkej-926	7	25	of	of	ADP
alkej-926	7	26	the	the	DET
alkej-926	7	27	proposed	propose	VERB
alkej-926	7	28	control	control	NOUN
alkej-926	7	29	method	method	NOUN
alkej-926	7	30	.	.	PUNCT
alkej-926	8	1	the	the	DET
alkej-926	8	2	comparison	comparison	NOUN
alkej-926	8	3	between	between	ADP
alkej-926	8	4	controllers	controller	NOUN
alkej-926	8	5	was	be	AUX
alkej-926	8	6	made	make	VERB
alkej-926	8	7	under	under	ADP
alkej-926	8	8	three	three	NUM
alkej-926	8	9	cases	case	NOUN
alkej-926	8	10	:	:	PUNCT
alkej-926	8	11	1	1	NUM
alkej-926	8	12	)	)	PUNCT
alkej-926	8	13	nominal	nominal	ADJ
alkej-926	8	14	model	model	NOUN
alkej-926	8	15	,	,	PUNCT
alkej-926	8	16	2	2	X
alkej-926	8	17	)	)	PUNCT
alkej-926	8	18	disturbance	disturbance	NOUN
alkej-926	8	19	rejection	rejection	NOUN
alkej-926	8	20	and	and	CCONJ
alkej-926	8	21	3	3	X
alkej-926	8	22	)	)	PUNCT
alkej-926	8	23	system	system	NOUN
alkej-926	8	24	uncertainty	uncertainty	NOUN
alkej-926	8	25	.	.	PUNCT
alkej-926	9	1	the	the	DET
alkej-926	9	2	proposed	propose	VERB
alkej-926	9	3	algorithm	algorithm	NOUN
alkej-926	9	4	shows	show	VERB
alkej-926	9	5	good	good	ADJ
alkej-926	9	6	performance	performance	NOUN
alkej-926	9	7	,	,	PUNCT
alkej-926	9	8	which	which	PRON
alkej-926	9	9	was	be	AUX
alkej-926	9	10	confirmed	confirm	VERB
alkej-926	9	11	clearly	clearly	ADV
alkej-926	9	12	by	by	ADP
alkej-926	9	13	the	the	DET
alkej-926	9	14	simulation	simulation	NOUN
alkej-926	9	15	results	result	NOUN
alkej-926	9	16	that	that	PRON
alkej-926	9	17	illustrate	illustrate	VERB
alkej-926	9	18	the	the	DET
alkej-926	9	19	transient	transient	ADJ
alkej-926	9	20	specifications	specification	NOUN
alkej-926	9	21	represented	represent	VERB
alkej-926	9	22	by	by	ADP
alkej-926	9	23	no	no	DET
alkej-926	9	24	overshot	overshot	ADJ
alkej-926	9	25	,	,	PUNCT
alkej-926	9	26	the	the	DET
alkej-926	9	27	smallest	small	ADJ
alkej-926	9	28	settling	settling	NOUN
alkej-926	9	29	time	time	NOUN
alkej-926	9	30	,	,	PUNCT
alkej-926	9	31	and	and	CCONJ
alkej-926	9	32	the	the	DET
alkej-926	9	33	smallest	small	ADJ
alkej-926	9	34	integral	integral	ADJ
alkej-926	9	35	square	square	NOUN
alkej-926	9	36	error	error	NOUN
alkej-926	9	37	.	.	PUNCT
alkej-926	10	1	the	the	DET
alkej-926	10	2	algorithm	algorithm	NOUN
alkej-926	10	3	also	also	ADV
alkej-926	10	4	indicates	indicate	VERB
alkej-926	10	5	a	a	DET
alkej-926	10	6	good	good	ADJ
alkej-926	10	7	choice	choice	NOUN
alkej-926	10	8	of	of	ADP
alkej-926	10	9	objective	objective	ADJ
alkej-926	10	10	function	function	NOUN
alkej-926	10	11	based	base	VERB
alkej-926	10	12	on	on	ADP
alkej-926	10	13	the	the	DET
alkej-926	10	14	infinity	infinity	NOUN
alkej-926	10	15	norm	norm	NOUN
alkej-926	10	16	of	of	ADP
alkej-926	10	17	the	the	DET
alkej-926	10	18	transfer	transfer	NOUN
alkej-926	10	19	function	function	NOUN
alkej-926	10	20	to	to	PART
alkej-926	10	21	ensure	ensure	VERB
alkej-926	10	22	high	high	ADJ
alkej-926	10	23	robustness	robustness	NOUN
alkej-926	10	24	regardless	regardless	ADV
alkej-926	10	25	of	of	ADP
alkej-926	10	26	the	the	DET
alkej-926	10	27	external	external	ADJ
alkej-926	10	28	disturbance	disturbance	NOUN
alkej-926	10	29	and	and	CCONJ
alkej-926	10	30	parameter	parameter	NOUN
alkej-926	10	31	variations	variation	NOUN
alkej-926	10	32	in	in	ADP
alkej-926	10	33	the	the	DET
alkej-926	10	34	system	system	NOUN
alkej-926	10	35	.	.	PUNCT
alkej-926	11	1	keywords	keyword	NOUN
alkej-926	11	2	:	:	PUNCT
alkej-926	11	3	helicopter	helicopter	NOUN
alkej-926	11	4	system	system	NOUN
alkej-926	11	5	;	;	PUNCT
alkej-926	11	6	robust	robust	ADJ
alkej-926	11	7	control	control	NOUN
alkej-926	11	8	;	;	PUNCT
alkej-926	11	9	pi	pi	NOUN
alkej-926	11	10	controller	controller	NOUN
alkej-926	11	11	.	.	PUNCT
alkej-926	12	1	1	1	X
alkej-926	12	2	.	.	X
alkej-926	12	3	introduction	introduction	NOUN
alkej-926	12	4	nowadays	nowadays	ADV
alkej-926	12	5	,	,	PUNCT
alkej-926	12	6	helicopters	helicopter	NOUN
alkej-926	12	7	are	be	AUX
alkej-926	12	8	employed	employ	VERB
alkej-926	12	9	in	in	ADP
alkej-926	12	10	different	different	ADJ
alkej-926	12	11	applications	application	NOUN
alkej-926	12	12	,	,	PUNCT
alkej-926	12	13	including	include	VERB
alkej-926	12	14	agriculture	agriculture	NOUN
alkej-926	12	15	,	,	PUNCT
alkej-926	12	16	civilian	civilian	ADJ
alkej-926	12	17	work	work	NOUN
alkej-926	12	18	and	and	CCONJ
alkej-926	12	19	military	military	NOUN
alkej-926	12	20	.	.	PUNCT
alkej-926	13	1	this	this	DET
alkej-926	13	2	expansion	expansion	NOUN
alkej-926	13	3	in	in	ADP
alkej-926	13	4	helicopter	helicopter	NOUN
alkej-926	13	5	applications	application	NOUN
alkej-926	13	6	has	have	AUX
alkej-926	13	7	led	lead	VERB
alkej-926	13	8	researchers	researcher	NOUN
alkej-926	13	9	to	to	PART
alkej-926	13	10	develop	develop	VERB
alkej-926	13	11	different	different	ADJ
alkej-926	13	12	control	control	NOUN
alkej-926	13	13	methods	method	NOUN
alkej-926	13	14	to	to	PART
alkej-926	13	15	improve	improve	VERB
alkej-926	13	16	the	the	DET
alkej-926	13	17	performance	performance	NOUN
alkej-926	13	18	of	of	ADP
alkej-926	13	19	helicopter	helicopter	NOUN
alkej-926	13	20	systems	system	NOUN
alkej-926	13	21	[	[	X
alkej-926	13	22	1	1	NUM
alkej-926	13	23	]	]	PUNCT
alkej-926	13	24	.	.	PUNCT
alkej-926	14	1	the	the	DET
alkej-926	14	2	challenge	challenge	NOUN
alkej-926	14	3	is	be	AUX
alkej-926	14	4	that	that	SCONJ
alkej-926	14	5	the	the	DET
alkej-926	14	6	helicopter	helicopter	NOUN
alkej-926	14	7	system	system	NOUN
alkej-926	14	8	suffers	suffer	VERB
alkej-926	14	9	from	from	ADP
alkej-926	14	10	nonlinearity	nonlinearity	NOUN
alkej-926	14	11	and	and	CCONJ
alkej-926	14	12	high	high	ADJ
alkej-926	14	13	coupling	coupling	NOUN
alkej-926	14	14	between	between	ADP
alkej-926	14	15	the	the	DET
alkej-926	14	16	pitch	pitch	NOUN
alkej-926	14	17	and	and	CCONJ
alkej-926	14	18	yaw	yaw	NOUN
alkej-926	14	19	angles	angle	NOUN
alkej-926	14	20	,	,	PUNCT
alkej-926	14	21	in	in	ADP
alkej-926	14	22	addition	addition	NOUN
alkej-926	14	23	to	to	ADP
alkej-926	14	24	its	its	PRON
alkej-926	14	25	exposure	exposure	NOUN
alkej-926	14	26	to	to	ADP
alkej-926	14	27	external	external	ADJ
alkej-926	14	28	disturbance	disturbance	NOUN
alkej-926	14	29	and	and	CCONJ
alkej-926	14	30	system	system	NOUN
alkej-926	14	31	uncertainties	uncertainty	NOUN
alkej-926	14	32	.	.	PUNCT
alkej-926	15	1	a	a	DET
alkej-926	15	2	quanser	quanser	ADJ
alkej-926	15	3	two	two	NUM
alkej-926	15	4	-	-	PUNCT
alkej-926	15	5	degrees	degree	NOUN
alkej-926	15	6	of	of	ADP
alkej-926	15	7	freedom	freedom	NOUN
alkej-926	15	8	(	(	PUNCT
alkej-926	15	9	dof	dof	NOUN
alkej-926	15	10	)	)	PUNCT
alkej-926	15	11	has	have	AUX
alkej-926	15	12	been	be	AUX
alkej-926	15	13	used	use	VERB
alkej-926	15	14	to	to	PART
alkej-926	15	15	examine	examine	VERB
alkej-926	15	16	the	the	DET
alkej-926	15	17	control	control	NOUN
alkej-926	15	18	methods	method	NOUN
alkej-926	15	19	[	[	X
alkej-926	15	20	2	2	NUM
alkej-926	15	21	,	,	PUNCT
alkej-926	15	22	3	3	NUM
alkej-926	15	23	]	]	PUNCT
alkej-926	15	24	.	.	PUNCT
alkej-926	16	1	lqr	lqr	PROPN
alkej-926	16	2	is	be	AUX
alkej-926	16	3	widely	widely	ADV
alkej-926	16	4	used	use	VERB
alkej-926	16	5	for	for	ADP
alkej-926	16	6	creating	create	VERB
alkej-926	16	7	the	the	DET
alkej-926	16	8	optimal	optimal	ADJ
alkej-926	16	9	controller	controller	NOUN
alkej-926	16	10	for	for	ADP
alkej-926	16	11	helicopter	helicopter	NOUN
alkej-926	16	12	systems	system	NOUN
alkej-926	16	13	because	because	SCONJ
alkej-926	16	14	of	of	ADP
alkej-926	16	15	its	its	PRON
alkej-926	16	16	efficiency	efficiency	NOUN
alkej-926	16	17	and	and	CCONJ
alkej-926	16	18	stability	stability	NOUN
alkej-926	16	19	.	.	PUNCT
alkej-926	17	1	in	in	ADP
alkej-926	17	2	[	[	X
alkej-926	17	3	4	4	NUM
alkej-926	17	4	]	]	PUNCT
alkej-926	17	5	,	,	PUNCT
alkej-926	17	6	adaptive	adaptive	ADJ
alkej-926	17	7	control	control	NOUN
alkej-926	17	8	technology	technology	NOUN
alkej-926	17	9	is	be	AUX
alkej-926	17	10	provided	provide	VERB
alkej-926	17	11	with	with	ADP
alkej-926	17	12	lqr	lqr	NOUN
alkej-926	17	13	,	,	PUNCT
alkej-926	17	14	and	and	CCONJ
alkej-926	17	15	the	the	DET
alkej-926	17	16	weighting	weighting	NOUN
alkej-926	17	17	matrices	matrix	NOUN
alkej-926	17	18	q	q	NOUN
alkej-926	18	1	and	and	CCONJ
alkej-926	18	2	r	r	NOUN
alkej-926	18	3	are	be	AUX
alkej-926	18	4	selected	select	VERB
alkej-926	18	5	for	for	ADP
alkej-926	18	6	the	the	DET
alkej-926	18	7	best	good	ADJ
alkej-926	18	8	performance	performance	NOUN
alkej-926	18	9	.	.	PUNCT
alkej-926	19	1	the	the	DET
alkej-926	19	2	author	author	NOUN
alkej-926	19	3	combined	combine	VERB
alkej-926	19	4	lqr	lqr	NOUN
alkej-926	19	5	with	with	ADP
alkej-926	19	6	model	model	NOUN
alkej-926	19	7	reference	reference	NOUN
alkej-926	19	8	control	control	NOUN
alkej-926	19	9	,	,	PUNCT
alkej-926	19	10	depending	depend	VERB
alkej-926	19	11	on	on	ADP
alkej-926	19	12	the	the	DET
alkej-926	19	13	inverse	inverse	NOUN
alkej-926	19	14	lyapunov	lyapunov	NOUN
alkej-926	19	15	function	function	NOUN
alkej-926	19	16	,	,	PUNCT
alkej-926	19	17	enhancing	enhance	VERB
alkej-926	19	18	the	the	DET
alkej-926	19	19	tracking	tracking	NOUN
alkej-926	19	20	performance	performance	NOUN
alkej-926	19	21	by	by	ADP
alkej-926	19	22	addressing	address	VERB
alkej-926	19	23	external	external	ADJ
alkej-926	19	24	disturbances	disturbance	NOUN
alkej-926	19	25	in	in	ADP
alkej-926	19	26	the	the	DET
alkej-926	19	27	system	system	NOUN
alkej-926	19	28	[	[	X
alkej-926	19	29	5	5	NUM
alkej-926	19	30	]	]	PUNCT
alkej-926	19	31	.	.	PUNCT
alkej-926	20	1	a	a	DET
alkej-926	20	2	model	model	NOUN
alkej-926	20	3	reference	reference	NOUN
alkej-926	20	4	adaptive	adaptive	ADJ
alkej-926	20	5	control	control	NOUN
alkej-926	20	6	(	(	PUNCT
alkej-926	20	7	mrac	mrac	NOUN
alkej-926	20	8	)	)	PUNCT
alkej-926	20	9	method	method	NOUN
alkej-926	20	10	is	be	AUX
alkej-926	20	11	used	use	VERB
alkej-926	20	12	with	with	ADP
alkej-926	20	13	the	the	DET
alkej-926	20	14	lqr	lqr	NOUN
alkej-926	20	15	controller	controller	NOUN
alkej-926	20	16	to	to	PART
alkej-926	20	17	improve	improve	VERB
alkej-926	20	18	the	the	DET
alkej-926	20	19	robustness	robustness	NOUN
alkej-926	20	20	of	of	ADP
alkej-926	20	21	the	the	DET
alkej-926	20	22	helicopter	helicopter	NOUN
alkej-926	20	23	system	system	NOUN
alkej-926	20	24	to	to	PART
alkej-926	20	25	address	address	VERB
alkej-926	20	26	mailto:shatha.mohammed1602@kecbu.uobaghdad.edu.iq	mailto:shatha.mohammed1602@kecbu.uobaghdad.edu.iq	NOUN
alkej-926	20	27	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-926	20	28	https://doi.org/10.22153/kej.2024.04.001	https://doi.org/10.22153/kej.2024.04.001	PRON
alkej-926	20	29	shatha	shatha	VERB
alkej-926	20	30	abd	abd	PROPN
alkej-926	20	31	al	al	PROPN
alkej-926	20	32	kareem	kareem	PROPN
alkej-926	20	33	al	al	PROPN
alkej-926	20	34	-	-	PUNCT
alkej-926	20	35	khwarizmi	khwarizmi	PROPN
alkej-926	20	36	engineering	engineering	NOUN
alkej-926	20	37	journal	journal	PROPN
alkej-926	20	38	,	,	PUNCT
alkej-926	20	39	vol	vol	NOUN
alkej-926	20	40	.	.	PROPN
alkej-926	20	41	20	20	NUM
alkej-926	20	42	,	,	PUNCT
alkej-926	20	43	no.3	no.3	VERB
alkej-926	20	44	,	,	PUNCT
alkej-926	20	45	p.p	p.p	PROPN
alkej-926	20	46	.	.	NOUN
alkej-926	20	47	1119(2024	1119(2024	NUM
alkej-926	20	48	)	)	PUNCT
alkej-926	20	49	12	12	NUM
alkej-926	20	50	the	the	DET
alkej-926	20	51	issue	issue	NOUN
alkej-926	20	52	of	of	ADP
alkej-926	20	53	parameter	parameter	NOUN
alkej-926	20	54	variations	variation	NOUN
alkej-926	20	55	[	[	X
alkej-926	20	56	6	6	NUM
alkej-926	20	57	]	]	PUNCT
alkej-926	20	58	.	.	PUNCT
alkej-926	21	1	sliding	slide	VERB
alkej-926	21	2	mode	mode	NOUN
alkej-926	21	3	controls	control	NOUN
alkej-926	21	4	(	(	PUNCT
alkej-926	21	5	smcs	smcs	ADJ
alkej-926	21	6	)	)	PUNCT
alkej-926	21	7	have	have	AUX
alkej-926	21	8	been	be	AUX
alkej-926	21	9	successfully	successfully	ADV
alkej-926	21	10	used	use	VERB
alkej-926	21	11	to	to	PART
alkej-926	21	12	manage	manage	VERB
alkej-926	21	13	numerous	numerous	ADJ
alkej-926	21	14	linear	linear	ADJ
alkej-926	21	15	and	and	CCONJ
alkej-926	21	16	nonlinear	nonlinear	ADJ
alkej-926	21	17	systems	system	NOUN
alkej-926	21	18	[	[	X
alkej-926	21	19	7	7	NUM
alkej-926	21	20	]	]	PUNCT
alkej-926	21	21	.	.	PUNCT
alkej-926	22	1	in	in	ADP
alkej-926	22	2	[	[	X
alkej-926	22	3	8	8	NUM
alkej-926	22	4	]	]	PUNCT
alkej-926	22	5	,	,	PUNCT
alkej-926	22	6	the	the	DET
alkej-926	22	7	sliding	slide	VERB
alkej-926	22	8	mode	mode	NOUN
alkej-926	22	9	with	with	ADP
alkej-926	22	10	variable	variable	ADJ
alkej-926	22	11	gainbased	gainbase	VERB
alkej-926	22	12	system	system	NOUN
alkej-926	22	13	states	state	NOUN
alkej-926	22	14	and	and	CCONJ
alkej-926	22	15	tracking	tracking	NOUN
alkej-926	22	16	error	error	NOUN
alkej-926	22	17	without	without	ADP
alkej-926	22	18	disturbance	disturbance	NOUN
alkej-926	22	19	estimation	estimation	NOUN
alkej-926	22	20	was	be	AUX
alkej-926	22	21	presented	present	VERB
alkej-926	22	22	to	to	PART
alkej-926	22	23	control	control	VERB
alkej-926	22	24	the	the	DET
alkej-926	22	25	orientation	orientation	NOUN
alkej-926	22	26	of	of	ADP
alkej-926	22	27	the	the	DET
alkej-926	22	28	yaw	yaw	PROPN
alkej-926	22	29	angle	angle	NOUN
alkej-926	22	30	.	.	PUNCT
alkej-926	23	1	jiang	jiang	PROPN
alkej-926	23	2	et	et	PROPN
alkej-926	23	3	al	al	PROPN
alkej-926	23	4	.	.	PROPN
alkej-926	24	1	suggest	suggest	VERB
alkej-926	24	2	using	use	VERB
alkej-926	24	3	the	the	DET
alkej-926	24	4	integral	integral	ADJ
alkej-926	24	5	sliding	slide	VERB
alkej-926	24	6	mode	mode	NOUN
alkej-926	24	7	control	control	NOUN
alkej-926	24	8	to	to	PART
alkej-926	24	9	regulate	regulate	VERB
alkej-926	24	10	the	the	DET
alkej-926	24	11	helicopter	helicopter	NOUN
alkej-926	24	12	system	system	NOUN
alkej-926	24	13	,	,	PUNCT
alkej-926	24	14	improve	improve	VERB
alkej-926	24	15	the	the	DET
alkej-926	24	16	trajectory	trajectory	NOUN
alkej-926	24	17	tracking	tracking	NOUN
alkej-926	24	18	and	and	CCONJ
alkej-926	24	19	attenuate	attenuate	VERB
alkej-926	24	20	the	the	DET
alkej-926	24	21	effect	effect	NOUN
alkej-926	24	22	of	of	ADP
alkej-926	24	23	the	the	DET
alkej-926	24	24	disturbance	disturbance	NOUN
alkej-926	24	25	by	by	ADP
alkej-926	24	26	choosing	choose	VERB
alkej-926	24	27	the	the	DET
alkej-926	24	28	appropriate	appropriate	ADJ
alkej-926	24	29	sliding	slide	VERB
alkej-926	24	30	surface	surface	NOUN
alkej-926	25	1	[	[	X
alkej-926	25	2	9	9	NUM
alkej-926	25	3	]	]	PUNCT
alkej-926	25	4	.	.	PUNCT
alkej-926	26	1	many	many	ADJ
alkej-926	26	2	methods	method	NOUN
alkej-926	26	3	have	have	AUX
alkej-926	26	4	been	be	AUX
alkej-926	26	5	suggested	suggest	VERB
alkej-926	26	6	to	to	PART
alkej-926	26	7	improve	improve	VERB
alkej-926	26	8	smc	smc	PROPN
alkej-926	26	9	to	to	PART
alkej-926	26	10	control	control	VERB
alkej-926	26	11	the	the	DET
alkej-926	26	12	helicopter	helicopter	NOUN
alkej-926	26	13	system	system	NOUN
alkej-926	26	14	,	,	PUNCT
alkej-926	26	15	including	include	VERB
alkej-926	26	16	smc	smc	PROPN
alkej-926	26	17	with	with	ADP
alkej-926	26	18	metaheuristics	metaheuristic	NOUN
alkej-926	26	19	optimization	optimization	NOUN
alkej-926	26	20	algorithm	algorithm	NOUN
alkej-926	26	21	[	[	X
alkej-926	26	22	10	10	NUM
alkej-926	26	23	]	]	PUNCT
alkej-926	26	24	,	,	PUNCT
alkej-926	26	25	smc	smc	PROPN
alkej-926	26	26	with	with	ADP
alkej-926	26	27	adaptive	adaptive	ADJ
alkej-926	26	28	control	control	NOUN
alkej-926	27	1	[	[	X
alkej-926	27	2	11	11	NUM
alkej-926	27	3	]	]	PUNCT
alkej-926	27	4	,	,	PUNCT
alkej-926	27	5	smc	smc	PROPN
alkej-926	27	6	with	with	ADP
alkej-926	27	7	quantum	quantum	ADJ
alkej-926	27	8	logic	logic	NOUN
alkej-926	27	9	[	[	X
alkej-926	27	10	12	12	NUM
alkej-926	27	11	]	]	PUNCT
alkej-926	27	12	,	,	PUNCT
alkej-926	27	13	robust	robust	ADJ
alkej-926	27	14	control	control	NOUN
alkej-926	27	15	with	with	ADP
alkej-926	27	16	the	the	DET
alkej-926	27	17	same	same	ADJ
alkej-926	27	18	theory	theory	NOUN
alkej-926	27	19	[	[	X
alkej-926	27	20	13	13	NUM
alkej-926	27	21	]	]	PUNCT
alkej-926	27	22	,	,	PUNCT
alkej-926	27	23	super	super	ADJ
alkej-926	27	24	twisting	twist	VERB
alkej-926	27	25	smc	smc	NOUN
alkej-926	27	26	with	with	ADP
alkej-926	27	27	particle	particle	NOUN
alkej-926	27	28	filter	filter	NOUN
alkej-926	27	29	[	[	X
alkej-926	27	30	14	14	NUM
alkej-926	27	31	]	]	PUNCT
alkej-926	27	32	,	,	PUNCT
alkej-926	27	33	and	and	CCONJ
alkej-926	27	34	smc	smc	PROPN
alkej-926	27	35	with	with	ADP
alkej-926	27	36	fractional	fractional	ADJ
alkej-926	27	37	control	control	NOUN
alkej-926	27	38	and	and	CCONJ
alkej-926	27	39	reinforcement	reinforcement	NOUN
alkej-926	27	40	learning	learning	NOUN
alkej-926	28	1	[	[	X
alkej-926	28	2	15	15	NUM
alkej-926	28	3	]	]	PUNCT
alkej-926	28	4	.	.	PUNCT
alkej-926	29	1	however	however	ADV
alkej-926	29	2	,	,	PUNCT
alkej-926	29	3	chattering	chattering	NOUN
alkej-926	29	4	caused	cause	VERB
alkej-926	29	5	by	by	ADP
alkej-926	29	6	a	a	DET
alkej-926	29	7	discontinuity	discontinuity	NOUN
alkej-926	29	8	in	in	ADP
alkej-926	29	9	the	the	DET
alkej-926	29	10	control	control	NOUN
alkej-926	29	11	signal	signal	NOUN
alkej-926	29	12	may	may	AUX
alkej-926	29	13	be	be	AUX
alkej-926	29	14	unsuccessful	unsuccessful	ADJ
alkej-926	29	15	in	in	ADP
alkej-926	29	16	the	the	DET
alkej-926	29	17	smc	smc	PROPN
alkej-926	29	18	because	because	SCONJ
alkej-926	29	19	it	it	PRON
alkej-926	29	20	can	can	AUX
alkej-926	29	21	damage	damage	VERB
alkej-926	29	22	the	the	DET
alkej-926	29	23	actuator	actuator	NOUN
alkej-926	29	24	of	of	ADP
alkej-926	29	25	the	the	DET
alkej-926	29	26	controlled	control	VERB
alkej-926	29	27	system	system	NOUN
alkej-926	29	28	[	[	X
alkej-926	29	29	9	9	NUM
alkej-926	29	30	]	]	PUNCT
alkej-926	29	31	.	.	PUNCT
alkej-926	30	1	for	for	ADP
alkej-926	30	2	the	the	DET
alkej-926	30	3	last	last	ADJ
alkej-926	30	4	few	few	ADJ
alkej-926	30	5	years	year	NOUN
alkej-926	30	6	,	,	PUNCT
alkej-926	30	7	intelligent	intelligent	ADJ
alkej-926	30	8	computing	computing	NOUN
alkej-926	30	9	techniques	technique	NOUN
alkej-926	30	10	,	,	PUNCT
alkej-926	30	11	such	such	ADJ
alkej-926	30	12	as	as	ADP
alkej-926	30	13	neural	neural	ADJ
alkej-926	30	14	networks	network	NOUN
alkej-926	30	15	,	,	PUNCT
alkej-926	30	16	fuzzy	fuzzy	ADJ
alkej-926	30	17	systems	system	NOUN
alkej-926	30	18	and	and	CCONJ
alkej-926	30	19	genetic	genetic	ADJ
alkej-926	30	20	algorithms	algorithm	NOUN
alkej-926	30	21	,	,	PUNCT
alkej-926	30	22	have	have	AUX
alkej-926	30	23	been	be	AUX
alkej-926	30	24	successfully	successfully	ADV
alkej-926	30	25	used	use	VERB
alkej-926	30	26	to	to	PART
alkej-926	30	27	solve	solve	VERB
alkej-926	30	28	control	control	NOUN
alkej-926	30	29	challenges	challenge	NOUN
alkej-926	30	30	of	of	ADP
alkej-926	30	31	various	various	ADJ
alkej-926	30	32	complicated	complicated	ADJ
alkej-926	30	33	systems	system	NOUN
alkej-926	30	34	.	.	PUNCT
alkej-926	31	1	neural	neural	ADJ
alkej-926	31	2	networks	network	NOUN
alkej-926	31	3	and	and	CCONJ
alkej-926	31	4	fuzzy	fuzzy	ADJ
alkej-926	31	5	logic	logic	NOUN
alkej-926	31	6	have	have	AUX
alkej-926	31	7	been	be	AUX
alkej-926	31	8	effectively	effectively	ADV
alkej-926	31	9	used	use	VERB
alkej-926	31	10	to	to	PART
alkej-926	31	11	regulate	regulate	VERB
alkej-926	31	12	various	various	ADJ
alkej-926	31	13	types	type	NOUN
alkej-926	31	14	of	of	ADP
alkej-926	31	15	nonlinear	nonlinear	ADJ
alkej-926	31	16	systems	system	NOUN
alkej-926	31	17	[	[	X
alkej-926	31	18	16	16	NUM
alkej-926	31	19	,	,	PUNCT
alkej-926	31	20	17	17	NUM
alkej-926	31	21	]	]	PUNCT
alkej-926	31	22	.	.	PUNCT
alkej-926	32	1	the	the	DET
alkej-926	32	2	fuzzy	fuzzy	ADJ
alkej-926	32	3	logic	logic	NOUN
alkej-926	32	4	controller	controller	NOUN
alkej-926	32	5	for	for	ADP
alkej-926	32	6	the	the	DET
alkej-926	32	7	proposed	propose	VERB
alkej-926	32	8	controller	controller	NOUN
alkej-926	32	9	’s	’s	PART
alkej-926	32	10	parameters	parameter	NOUN
alkej-926	32	11	is	be	AUX
alkej-926	32	12	developed	develop	VERB
alkej-926	32	13	using	use	VERB
alkej-926	32	14	metaheuristic	metaheuristic	ADJ
alkej-926	32	15	methods	method	NOUN
alkej-926	32	16	and	and	CCONJ
alkej-926	32	17	adaptive	adaptive	ADJ
alkej-926	32	18	control	control	NOUN
alkej-926	32	19	theory	theory	NOUN
alkej-926	32	20	for	for	ADP
alkej-926	32	21	a	a	DET
alkej-926	32	22	3	3	NUM
alkej-926	32	23	-	-	PUNCT
alkej-926	32	24	dof	dof	NOUN
alkej-926	32	25	helicopter	helicopter	NOUN
alkej-926	32	26	system	system	NOUN
alkej-926	32	27	[	[	X
alkej-926	32	28	18	18	NUM
alkej-926	32	29	]	]	PUNCT
alkej-926	32	30	.	.	PUNCT
alkej-926	33	1	the	the	DET
alkej-926	33	2	genetic	genetic	ADJ
alkej-926	33	3	algorithm	algorithm	NOUN
alkej-926	33	4	is	be	AUX
alkej-926	33	5	enhanced	enhance	VERB
alkej-926	33	6	to	to	PART
alkej-926	33	7	execute	execute	VERB
alkej-926	33	8	a	a	DET
alkej-926	33	9	fuzzy	fuzzy	ADJ
alkej-926	33	10	pid	pid	NOUN
alkej-926	33	11	controller	controller	NOUN
alkej-926	33	12	[	[	X
alkej-926	33	13	19	19	NUM
alkej-926	33	14	]	]	PUNCT
alkej-926	33	15	.	.	PUNCT
alkej-926	34	1	the	the	DET
alkej-926	34	2	best	good	ADJ
alkej-926	34	3	sliding	slide	VERB
alkej-926	34	4	mode	mode	NOUN
alkej-926	34	5	controller	controller	NOUN
alkej-926	34	6	variables	variable	NOUN
alkej-926	34	7	to	to	PART
alkej-926	34	8	control	control	VERB
alkej-926	34	9	a	a	DET
alkej-926	34	10	nonlinear	nonlinear	ADJ
alkej-926	34	11	helicopter	helicopter	NOUN
alkej-926	34	12	model	model	NOUN
alkej-926	34	13	are	be	AUX
alkej-926	34	14	adaptively	adaptively	ADV
alkej-926	34	15	determined	determine	VERB
alkej-926	34	16	using	use	VERB
alkej-926	34	17	fuzzy	fuzzy	ADJ
alkej-926	34	18	logic	logic	NOUN
alkej-926	34	19	[	[	X
alkej-926	34	20	20	20	NUM
alkej-926	34	21	]	]	PUNCT
alkej-926	34	22	.	.	PUNCT
alkej-926	35	1	the	the	DET
alkej-926	35	2	simplicity	simplicity	NOUN
alkej-926	35	3	of	of	ADP
alkej-926	35	4	a	a	DET
alkej-926	35	5	pid	pid	NOUN
alkej-926	35	6	controller	controller	NOUN
alkej-926	35	7	has	have	AUX
alkej-926	35	8	motivated	motivate	VERB
alkej-926	35	9	many	many	ADJ
alkej-926	35	10	researchers	researcher	NOUN
alkej-926	35	11	to	to	PART
alkej-926	35	12	use	use	VERB
alkej-926	35	13	it	it	PRON
alkej-926	35	14	in	in	ADP
alkej-926	35	15	the	the	DET
alkej-926	35	16	control	control	NOUN
alkej-926	35	17	of	of	ADP
alkej-926	35	18	different	different	ADJ
alkej-926	35	19	complex	complex	ADJ
alkej-926	35	20	systems	system	NOUN
alkej-926	35	21	,	,	PUNCT
alkej-926	35	22	and	and	CCONJ
alkej-926	35	23	their	their	PRON
alkej-926	35	24	performance	performance	NOUN
alkej-926	35	25	improved	improve	VERB
alkej-926	35	26	by	by	ADP
alkej-926	35	27	combining	combine	VERB
alkej-926	35	28	them	they	PRON
alkej-926	35	29	with	with	ADP
alkej-926	35	30	different	different	ADJ
alkej-926	35	31	control	control	NOUN
alkej-926	35	32	strategies	strategy	NOUN
alkej-926	35	33	[	[	X
alkej-926	35	34	21	21	NUM
alkej-926	35	35	]	]	PUNCT
alkej-926	35	36	.	.	PUNCT
alkej-926	36	1	in	in	ADP
alkej-926	36	2	[	[	X
alkej-926	36	3	22	22	NUM
alkej-926	36	4	]	]	PUNCT
alkej-926	36	5	,	,	PUNCT
alkej-926	36	6	mimo	mimo	PROPN
alkej-926	36	7	pid	pid	PROPN
alkej-926	36	8	controllers	controller	NOUN
alkej-926	36	9	are	be	AUX
alkej-926	36	10	presented	present	VERB
alkej-926	36	11	to	to	PART
alkej-926	36	12	achieve	achieve	VERB
alkej-926	36	13	the	the	DET
alkej-926	36	14	performance	performance	NOUN
alkej-926	36	15	of	of	ADP
alkej-926	36	16	a	a	DET
alkej-926	36	17	linear	linear	ADJ
alkej-926	36	18	quadratic	quadratic	ADJ
alkej-926	36	19	regulator	regulator	NOUN
alkej-926	36	20	for	for	ADP
alkej-926	36	21	a	a	DET
alkej-926	36	22	2dof	2dof	PROPN
alkej-926	36	23	helicopter	helicopter	NOUN
alkej-926	36	24	system	system	NOUN
alkej-926	36	25	with	with	ADP
alkej-926	36	26	bounded	bounded	ADJ
alkej-926	36	27	uncertainties	uncertainty	NOUN
alkej-926	36	28	.	.	PUNCT
alkej-926	37	1	raafat	raafat	NOUN
alkej-926	37	2	shalaby	shalaby	PROPN
alkej-926	37	3	et	et	PROPN
alkej-926	37	4	al	al	PROPN
alkej-926	37	5	.	.	PUNCT
alkej-926	38	1	propose	propose	VERB
alkej-926	38	2	a	a	DET
alkej-926	38	3	fractional	fractional	ADJ
alkej-926	38	4	pid	pid	NOUN
alkej-926	38	5	controller	controller	NOUN
alkej-926	38	6	for	for	ADP
alkej-926	38	7	a	a	DET
alkej-926	38	8	2	2	NUM
alkej-926	38	9	-	-	PUNCT
alkej-926	38	10	dof	dof	NOUN
alkej-926	38	11	nonlinear	nonlinear	ADJ
alkej-926	38	12	helicopter	helicopter	NOUN
alkej-926	38	13	system	system	NOUN
alkej-926	38	14	with	with	ADP
alkej-926	38	15	the	the	DET
alkej-926	38	16	parameters	parameter	NOUN
alkej-926	38	17	of	of	ADP
alkej-926	38	18	the	the	DET
alkej-926	38	19	proposed	propose	VERB
alkej-926	38	20	controller	controller	NOUN
alkej-926	38	21	tuned	tune	VERB
alkej-926	38	22	by	by	ADP
alkej-926	38	23	a	a	DET
alkej-926	38	24	machine	machine	NOUN
alkej-926	38	25	learning	learn	VERB
alkej-926	38	26	algorithm	algorithm	NOUN
alkej-926	38	27	and	and	CCONJ
alkej-926	38	28	the	the	DET
alkej-926	38	29	stability	stability	NOUN
alkej-926	38	30	analysis	analysis	NOUN
alkej-926	38	31	approved	approve	VERB
alkej-926	38	32	based	base	VERB
alkej-926	38	33	lyapunov	lyapunov	NOUN
alkej-926	38	34	theorem	theorem	VERB
alkej-926	38	35	[	[	X
alkej-926	38	36	23	23	NUM
alkej-926	38	37	]	]	PUNCT
alkej-926	38	38	.	.	PUNCT
alkej-926	39	1	although	although	SCONJ
alkej-926	39	2	the	the	DET
alkej-926	39	3	previously	previously	ADV
alkej-926	39	4	proposed	propose	VERB
alkej-926	39	5	control	control	NOUN
alkej-926	39	6	methods	method	NOUN
alkej-926	39	7	have	have	AUX
alkej-926	39	8	yielded	yield	VERB
alkej-926	39	9	good	good	ADJ
alkej-926	39	10	results	result	NOUN
alkej-926	39	11	,	,	PUNCT
alkej-926	39	12	their	their	PRON
alkej-926	39	13	implementation	implementation	NOUN
alkej-926	39	14	can	can	AUX
alkej-926	39	15	pose	pose	VERB
alkej-926	39	16	some	some	DET
alkej-926	39	17	difficulties	difficulty	NOUN
alkej-926	39	18	.	.	PUNCT
alkej-926	40	1	thus	thus	ADV
alkej-926	40	2	,	,	PUNCT
alkej-926	40	3	this	this	DET
alkej-926	40	4	paper	paper	NOUN
alkej-926	40	5	presents	present	VERB
alkej-926	40	6	a	a	DET
alkej-926	40	7	state	state	NOUN
alkej-926	40	8	feedback	feedback	NOUN
alkej-926	40	9	tracking	track	VERB
alkej-926	40	10	controller	controller	NOUN
alkej-926	40	11	with	with	ADP
alkej-926	40	12	a	a	DET
alkej-926	40	13	pi	pi	NOUN
alkej-926	40	14	controller	controller	NOUN
alkej-926	40	15	by	by	ADP
alkej-926	40	16	using	use	VERB
alkej-926	40	17	a	a	DET
alkej-926	40	18	disturbance	disturbance	NOUN
alkej-926	40	19	observer	observer	NOUN
alkej-926	40	20	that	that	PRON
alkej-926	40	21	considers	consider	VERB
alkej-926	40	22	the	the	DET
alkej-926	40	23	simplicity	simplicity	NOUN
alkej-926	40	24	of	of	ADP
alkej-926	40	25	pi	pi	NOUN
alkej-926	40	26	and	and	CCONJ
alkej-926	40	27	the	the	DET
alkej-926	40	28	efficiency	efficiency	NOUN
alkej-926	40	29	and	and	CCONJ
alkej-926	40	30	stability	stability	NOUN
alkej-926	40	31	of	of	ADP
alkej-926	40	32	the	the	DET
alkej-926	40	33	state	state	NOUN
alkej-926	40	34	feedback	feedback	NOUN
alkej-926	40	35	controller	controller	NOUN
alkej-926	40	36	.	.	PUNCT
alkej-926	41	1	the	the	DET
alkej-926	41	2	two	two	NUM
alkej-926	41	3	-	-	PUNCT
alkej-926	41	4	dof	dof	NOUN
alkej-926	41	5	helicopter	helicopter	NOUN
alkej-926	41	6	model	model	NOUN
alkej-926	41	7	and	and	CCONJ
alkej-926	41	8	the	the	DET
alkej-926	41	9	linearization	linearization	NOUN
alkej-926	41	10	of	of	ADP
alkej-926	41	11	the	the	DET
alkej-926	41	12	dynamic	dynamic	ADJ
alkej-926	41	13	model	model	NOUN
alkej-926	41	14	are	be	AUX
alkej-926	41	15	illustrated	illustrate	VERB
alkej-926	41	16	in	in	ADP
alkej-926	41	17	the	the	DET
alkej-926	41	18	next	next	ADJ
alkej-926	41	19	section	section	NOUN
alkej-926	41	20	.	.	PUNCT
alkej-926	42	1	section	section	NOUN
alkej-926	42	2	3	3	NUM
alkej-926	42	3	describes	describe	VERB
alkej-926	42	4	the	the	DET
alkej-926	42	5	procedures	procedure	NOUN
alkej-926	42	6	for	for	ADP
alkej-926	42	7	designing	design	VERB
alkej-926	42	8	the	the	DET
alkej-926	42	9	proposed	propose	VERB
alkej-926	42	10	robust	robust	ADJ
alkej-926	42	11	pi	pi	NOUN
alkej-926	42	12	-	-	PUNCT
alkej-926	42	13	sfb	sfb	PROPN
alkej-926	42	14	controller	controller	PROPN
alkej-926	42	15	.	.	PUNCT
alkej-926	43	1	section	section	NOUN
alkej-926	43	2	4	4	NUM
alkej-926	43	3	presents	present	VERB
alkej-926	43	4	the	the	DET
alkej-926	43	5	simulation	simulation	NOUN
alkej-926	43	6	results	result	NOUN
alkej-926	43	7	and	and	CCONJ
alkej-926	43	8	discussion	discussion	NOUN
alkej-926	43	9	.	.	PUNCT
alkej-926	44	1	the	the	DET
alkej-926	44	2	last	last	ADJ
alkej-926	44	3	part	part	NOUN
alkej-926	44	4	presents	present	VERB
alkej-926	44	5	the	the	DET
alkej-926	44	6	conclusion	conclusion	NOUN
alkej-926	44	7	.	.	PUNCT
alkej-926	45	1	2	2	X
alkej-926	45	2	.	.	X
alkej-926	45	3	two	two	NUM
alkej-926	45	4	-	-	PUNCT
alkej-926	45	5	dof	dof	NOUN
alkej-926	45	6	helicopter	helicopter	NOUN
alkej-926	45	7	model	model	NOUN
alkej-926	45	8	fig	fig	NOUN
alkej-926	45	9	.	.	PUNCT
alkej-926	46	1	1	1	NUM
alkej-926	46	2	shows	show	VERB
alkej-926	46	3	that	that	SCONJ
alkej-926	46	4	the	the	DET
alkej-926	46	5	2	2	NUM
alkej-926	46	6	-	-	PUNCT
alkej-926	46	7	dof	dof	NOUN
alkej-926	46	8	helicopter	helicopter	NOUN
alkej-926	46	9	model	model	NOUN
alkej-926	46	10	has	have	VERB
alkej-926	46	11	two	two	NUM
alkej-926	46	12	degrees	degree	NOUN
alkej-926	46	13	of	of	ADP
alkej-926	46	14	freedom	freedom	NOUN
alkej-926	46	15	represented	represent	VERB
alkej-926	46	16	by	by	ADP
alkej-926	46	17	the	the	DET
alkej-926	46	18	pitch	pitch	NOUN
alkej-926	46	19	(	(	PUNCT
alkej-926	46	20	ψ	ψ	NOUN
alkej-926	46	21	)	)	PUNCT
alkej-926	46	22	and	and	CCONJ
alkej-926	46	23	yaw	yaw	NOUN
alkej-926	46	24	(	(	PUNCT
alkej-926	46	25	θ	θ	NOUN
alkej-926	46	26	)	)	PUNCT
alkej-926	46	27	angles	angle	NOUN
alkej-926	46	28	.	.	PUNCT
alkej-926	47	1	the	the	DET
alkej-926	47	2	yaw	yaw	PROPN
alkej-926	47	3	angle	angle	NOUN
alkej-926	47	4	refers	refer	VERB
alkej-926	47	5	to	to	ADP
alkej-926	47	6	motion	motion	NOUN
alkej-926	47	7	around	around	ADP
alkej-926	47	8	the	the	DET
alkej-926	47	9	z	z	NOUN
alkej-926	47	10	axis	axis	NOUN
alkej-926	47	11	,	,	PUNCT
alkej-926	47	12	while	while	SCONJ
alkej-926	47	13	the	the	DET
alkej-926	47	14	pitch	pitch	NOUN
alkej-926	47	15	angle	angle	NOUN
alkej-926	47	16	refers	refer	VERB
alkej-926	47	17	to	to	ADP
alkej-926	47	18	rotation	rotation	VERB
alkej-926	47	19	around	around	ADP
alkej-926	47	20	the	the	DET
alkej-926	47	21	y	y	PROPN
alkej-926	47	22	axis	axis	NOUN
alkej-926	47	23	.	.	PUNCT
alkej-926	48	1	helicopter	helicopter	NOUN
alkej-926	48	2	systems	system	NOUN
alkej-926	48	3	have	have	VERB
alkej-926	48	4	two	two	NUM
alkej-926	48	5	blades	blade	NOUN
alkej-926	48	6	,	,	PUNCT
alkej-926	48	7	each	each	PRON
alkej-926	48	8	driven	drive	VERB
alkej-926	48	9	by	by	ADP
alkej-926	48	10	a	a	DET
alkej-926	48	11	dc	dc	PROPN
alkej-926	48	12	motor	motor	NOUN
alkej-926	48	13	.	.	PUNCT
alkej-926	49	1	the	the	DET
alkej-926	49	2	motor	motor	NOUN
alkej-926	49	3	input	input	NOUN
alkej-926	49	4	voltages	voltage	NOUN
alkej-926	49	5	are	be	AUX
alkej-926	49	6	the	the	DET
alkej-926	49	7	control	control	NOUN
alkej-926	49	8	signals	signal	NOUN
alkej-926	49	9	that	that	PRON
alkej-926	49	10	determine	determine	VERB
alkej-926	49	11	the	the	DET
alkej-926	49	12	system	system	NOUN
alkej-926	49	13	’s	’s	PART
alkej-926	49	14	yaw	yaw	NOUN
alkej-926	49	15	and	and	CCONJ
alkej-926	49	16	pitch	pitch	NOUN
alkej-926	49	17	angles	angle	NOUN
alkej-926	49	18	to	to	PART
alkej-926	49	19	track	track	VERB
alkej-926	49	20	the	the	DET
alkej-926	49	21	intended	intend	VERB
alkej-926	49	22	trajectory	trajectory	NOUN
alkej-926	49	23	[	[	X
alkej-926	49	24	24	24	NUM
alkej-926	49	25	]	]	PUNCT
alkej-926	49	26	.	.	PUNCT
alkej-926	50	1	fig	fig	NOUN
alkej-926	50	2	.	.	PUNCT
alkej-926	51	1	1	1	NUM
alkej-926	51	2	.	.	X
alkej-926	51	3	two	two	NUM
alkej-926	51	4	-	-	PUNCT
alkej-926	51	5	dof	dof	NOUN
alkej-926	51	6	helicopter	helicopter	NOUN
alkej-926	51	7	system	system	NOUN
alkej-926	51	8	[	[	X
alkej-926	51	9	25	25	NUM
alkej-926	51	10	]	]	PUNCT
alkej-926	51	11	.	.	PUNCT
alkej-926	52	1	the	the	DET
alkej-926	52	2	nonlinearity	nonlinearity	NOUN
alkej-926	52	3	of	of	ADP
alkej-926	52	4	the	the	DET
alkej-926	52	5	helicopter	helicopter	NOUN
alkej-926	52	6	dynamic	dynamic	ADJ
alkej-926	52	7	model	model	NOUN
alkej-926	52	8	can	can	AUX
alkej-926	52	9	be	be	AUX
alkej-926	52	10	expressed	express	VERB
alkej-926	52	11	as	as	SCONJ
alkej-926	52	12	follows	follow	VERB
alkej-926	52	13	[	[	X
alkej-926	52	14	10	10	NUM
alkej-926	52	15	]	]	NUM
alkej-926	52	16	:	:	PUNCT
alkej-926	52	17	(	(	PUNCT
alkej-926	52	18	𝐽𝑝𝑝	𝐽𝑝𝑝	NOUN
alkej-926	52	19	+	+	CCONJ
alkej-926	52	20	𝑚𝑙2)θ̈	𝑚𝑙2)θ̈	PROPN
alkej-926	52	21	=	=	SYM
alkej-926	52	22	𝐾𝑝𝑝𝑉𝑝𝑝	𝐾𝑝𝑝𝑉𝑝𝑝	PROPN
alkej-926	52	23	+	+	CCONJ
alkej-926	52	24	𝐾𝑝y𝑉𝑦𝑦	𝐾𝑝y𝑉𝑦𝑦	NOUN
alkej-926	52	25	−	−	NOUN
alkej-926	52	26	𝐵𝑝𝑝	𝐵𝑝𝑝	PROPN
alkej-926	52	27	�	�	PROPN
alkej-926	52	28	̇	̇	VERB
alkej-926	52	29	�	�	PROPN
alkej-926	52	30	+	+	CCONJ
alkej-926	52	31	𝜁(𝑡	𝜁(𝑡	PROPN
alkej-926	52	32	)	)	PUNCT
alkej-926	52	33	…	…	PUNCT
alkej-926	52	34	(	(	PUNCT
alkej-926	52	35	1	1	NUM
alkej-926	52	36	)	)	PUNCT
alkej-926	52	37	(	(	PUNCT
alkej-926	52	38	𝐽𝑦𝑦	𝐽𝑦𝑦	PROPN
alkej-926	52	39	+	+	CCONJ
alkej-926	52	40	𝑚𝑙2𝑐𝑜𝑠2(𝜃	𝑚𝑙2𝑐𝑜𝑠2(𝜃	ADJ
alkej-926	52	41	)	)	PUNCT
alkej-926	52	42	)	)	PUNCT
alkej-926	52	43	�	�	PROPN
alkej-926	52	44	̈	̈	X
alkej-926	52	45	�	�	PROPN
alkej-926	52	46	=	=	SYM
alkej-926	52	47	𝐾𝑦𝑝𝑉𝑝𝑝	𝐾𝑦𝑝𝑉𝑝𝑝	PROPN
alkej-926	52	48	+	+	CCONJ
alkej-926	52	49	𝐾𝑦y𝑉𝑦𝑦	𝐾𝑦y𝑉𝑦𝑦	ADJ
alkej-926	52	50	−	−	PROPN
alkej-926	52	51	𝐵𝑦𝑦	𝐵𝑦𝑦	PROPN
alkej-926	52	52	�	�	SYM
alkej-926	52	53	̇	̇	NOUN
alkej-926	52	54	�	�	PROPN
alkej-926	52	55	+	+	CCONJ
alkej-926	52	56	ℵ(𝑡	ℵ(𝑡	PROPN
alkej-926	52	57	)	)	PUNCT
alkej-926	52	58	…	…	PUNCT
alkej-926	52	59	(	(	PUNCT
alkej-926	52	60	2	2	NUM
alkej-926	52	61	)	)	PUNCT
alkej-926	52	62	𝜁(𝑡	𝜁(𝑡	PROPN
alkej-926	52	63	)	)	PUNCT
alkej-926	52	64	=	=	SYM
alkej-926	52	65	−𝑚𝑙2𝑠𝑖𝑛(𝜃	−𝑚𝑙2𝑠𝑖𝑛(𝜃	PROPN
alkej-926	52	66	)	)	PUNCT
alkej-926	52	67	𝑐𝑜𝑠(𝜃	𝑐𝑜𝑠(𝜃	NOUN
alkej-926	52	68	)	)	PUNCT
alkej-926	52	69	�	�	PROPN
alkej-926	52	70	̇	̇	VERB
alkej-926	52	71	�	�	PROPN
alkej-926	52	72	2	2	NUM
alkej-926	52	73	−	−	NOUN
alkej-926	52	74	𝑚𝑔𝑙𝑐𝑜𝑠(𝜃	𝑚𝑔𝑙𝑐𝑜𝑠(𝜃	NOUN
alkej-926	52	75	)	)	PUNCT
alkej-926	52	76	…	…	PUNCT
alkej-926	52	77	(	(	PUNCT
alkej-926	52	78	3	3	X
alkej-926	52	79	)	)	PUNCT
alkej-926	52	80	ℵ(𝑡	ℵ(𝑡	NOUN
alkej-926	52	81	)	)	PUNCT
alkej-926	53	1	=	=	SYM
alkej-926	53	2	2𝑚𝑙2	2𝑚𝑙2	NUM
alkej-926	53	3	�	�	PROPN
alkej-926	53	4	̇	̇	PROPN
alkej-926	53	5	�	�	PROPN
alkej-926	53	6	𝑠𝑖𝑛(𝜃	𝑠𝑖𝑛(𝜃	PRON
alkej-926	53	7	)	)	PUNCT
alkej-926	53	8	𝑐𝑜𝑠(𝜃	𝑐𝑜𝑠(𝜃	PROPN
alkej-926	53	9	)	)	PUNCT
alkej-926	53	10	�	�	PROPN
alkej-926	53	11	̇	̇	PROPN
alkej-926	53	12	�	�	PROPN
alkej-926	53	13	…	…	PUNCT
alkej-926	53	14	(	(	PUNCT
alkej-926	53	15	4	4	NUM
alkej-926	53	16	)	)	PUNCT
alkej-926	54	1	where	where	SCONJ
alkej-926	54	2	�	�	PROPN
alkej-926	54	3	̇	̇	PROPN
alkej-926	54	4	�	�	PROPN
alkej-926	54	5	(𝑡	(𝑡	PROPN
alkej-926	54	6	)	)	PUNCT
alkej-926	54	7	and	and	CCONJ
alkej-926	54	8	�	�	PROPN
alkej-926	54	9	̇	̇	PROPN
alkej-926	54	10	�	�	PROPN
alkej-926	54	11	(𝑡	(𝑡	PART
alkej-926	54	12	)	)	PUNCT
alkej-926	54	13	represent	represent	VERB
alkej-926	54	14	the	the	DET
alkej-926	54	15	pitch	pitch	NOUN
alkej-926	54	16	and	and	CCONJ
alkej-926	54	17	yaw	yaw	NOUN
alkej-926	54	18	velocities	velocity	NOUN
alkej-926	54	19	,	,	PUNCT
alkej-926	54	20	respectively	respectively	ADV
alkej-926	54	21	.	.	PUNCT
alkej-926	55	1	𝐾𝑝𝑝	𝐾𝑝𝑝	PROPN
alkej-926	55	2	,	,	PUNCT
alkej-926	55	3	𝐾𝑝y	𝐾𝑝y	PROPN
alkej-926	55	4	,	,	PUNCT
alkej-926	55	5	𝐾𝑦𝑝	𝐾𝑦𝑝	PROPN
alkej-926	55	6	and	and	CCONJ
alkej-926	55	7	𝐾𝑦y	𝐾𝑦y	PROPN
alkej-926	55	8	are	be	AUX
alkej-926	55	9	the	the	DET
alkej-926	55	10	thrust	thrust	ADJ
alkej-926	55	11	torque	torque	NOUN
alkej-926	55	12	constants	constant	NOUN
alkej-926	55	13	,	,	PUNCT
alkej-926	55	14	and	and	CCONJ
alkej-926	55	15	𝑉𝑝𝑝	𝑉𝑝𝑝	PROPN
alkej-926	55	16	and	and	CCONJ
alkej-926	55	17	𝑉𝑦𝑦	𝑉𝑦𝑦	PROPN
alkej-926	55	18	are	be	AUX
alkej-926	55	19	the	the	DET
alkej-926	55	20	input	input	NOUN
alkej-926	55	21	voltages	voltage	NOUN
alkej-926	55	22	to	to	ADP
alkej-926	55	23	dc	dc	PROPN
alkej-926	55	24	motors	motors	PROPN
alkej-926	55	25	.	.	PUNCT
alkej-926	56	1	𝐽𝑝𝑝	𝐽𝑝𝑝	ADJ
alkej-926	56	2	,	,	PUNCT
alkej-926	56	3	𝐽𝑦𝑦	𝐽𝑦𝑦	PROPN
alkej-926	56	4	,	,	PUNCT
alkej-926	56	5	𝐵𝑝𝑝	𝐵𝑝𝑝	PROPN
alkej-926	56	6	and	and	CCONJ
alkej-926	56	7	𝐵𝑦𝑦	𝐵𝑦𝑦	PROPN
alkej-926	56	8	denote	denote	VERB
alkej-926	56	9	the	the	DET
alkej-926	56	10	moment	moment	NOUN
alkej-926	56	11	of	of	ADP
alkej-926	56	12	inertia	inertia	NOUN
alkej-926	56	13	and	and	CCONJ
alkej-926	56	14	viscous	viscous	ADJ
alkej-926	56	15	damping	damp	VERB
alkej-926	56	16	about	about	ADP
alkej-926	56	17	pitch	pitch	NOUN
alkej-926	56	18	and	and	CCONJ
alkej-926	56	19	yaw	yaw	NOUN
alkej-926	56	20	axes	axis	NOUN
alkej-926	56	21	,	,	PUNCT
alkej-926	56	22	respectively	respectively	ADV
alkej-926	56	23	.	.	PUNCT
alkej-926	57	1	𝑚	𝑚	X
alkej-926	57	2	shatha	shatha	VERB
alkej-926	57	3	abd	abd	PROPN
alkej-926	57	4	al	al	PROPN
alkej-926	57	5	kareem	kareem	PROPN
alkej-926	57	6	al	al	PROPN
alkej-926	57	7	-	-	PUNCT
alkej-926	57	8	khwarizmi	khwarizmi	PROPN
alkej-926	57	9	engineering	engineering	NOUN
alkej-926	57	10	journal	journal	PROPN
alkej-926	57	11	,	,	PUNCT
alkej-926	57	12	vol	vol	NOUN
alkej-926	57	13	.	.	PROPN
alkej-926	57	14	20	20	NUM
alkej-926	57	15	,	,	PUNCT
alkej-926	57	16	no.3	no.3	VERB
alkej-926	57	17	,	,	PUNCT
alkej-926	57	18	p.p	p.p	PROPN
alkej-926	57	19	.	.	NOUN
alkej-926	57	20	1119(2024	1119(2024	NUM
alkej-926	57	21	)	)	PUNCT
alkej-926	57	22	13	13	NUM
alkej-926	57	23	represents	represent	VERB
alkej-926	57	24	the	the	DET
alkej-926	57	25	mass	mass	NOUN
alkej-926	57	26	of	of	ADP
alkej-926	57	27	the	the	DET
alkej-926	57	28	system	system	NOUN
alkej-926	57	29	,	,	PUNCT
alkej-926	57	30	𝑙	𝑙	PRON
alkej-926	57	31	is	be	AUX
alkej-926	57	32	the	the	DET
alkej-926	57	33	length	length	NOUN
alkej-926	57	34	and	and	CCONJ
alkej-926	57	35	𝑔	𝑔	PROPN
alkej-926	57	36	is	be	AUX
alkej-926	57	37	the	the	DET
alkej-926	57	38	gravitational	gravitational	ADJ
alkej-926	57	39	acceleration	acceleration	NOUN
alkej-926	57	40	.	.	PUNCT
alkej-926	58	1	table	table	NOUN
alkej-926	58	2	1	1	NUM
alkej-926	58	3	lists	list	VERB
alkej-926	58	4	the	the	DET
alkej-926	58	5	nominal	nominal	ADJ
alkej-926	58	6	values	value	NOUN
alkej-926	58	7	of	of	ADP
alkej-926	58	8	these	these	DET
alkej-926	58	9	parameters	parameter	NOUN
alkej-926	58	10	.	.	PUNCT
alkej-926	59	1	table	table	NOUN
alkej-926	59	2	1	1	NUM
alkej-926	59	3	.	.	PUNCT
alkej-926	60	1	parameters	parameter	NOUN
alkej-926	60	2	values	value	NOUN
alkej-926	60	3	.	.	PUNCT
alkej-926	61	1	parameter	parameter	NOUN
alkej-926	61	2	𝑽𝒂𝒍𝒖𝒆	𝑽𝒂𝒍𝒖𝒆	PROPN
alkej-926	61	3	𝐾𝑝𝑝	𝐾𝑝𝑝	PROPN
alkej-926	61	4	0.204nm	0.204nm	PROPN
alkej-926	61	5	/	/	SYM
alkej-926	61	6	v	v	NOUN
alkej-926	61	7	𝐾𝑝𝑦	𝐾𝑝𝑦	PROPN
alkej-926	61	8	0.006nm	0.006nm	NUM
alkej-926	61	9	/	/	SYM
alkej-926	61	10	v	v	NOUN
alkej-926	61	11	𝐾𝑦𝑝	𝐾𝑦𝑝	ADJ
alkej-926	61	12	0.021nm	0.021nm	NOUN
alkej-926	61	13	/	/	SYM
alkej-926	61	14	v	v	NOUN
alkej-926	61	15	𝐾𝑦𝑦	𝐾𝑦𝑦	PROPN
alkej-926	61	16	0.072nm	0.072nm	PROPN
alkej-926	61	17	/	/	SYM
alkej-926	61	18	v	v	ADP
alkej-926	61	19	𝐵𝑝𝑝	𝐵𝑝𝑝	PROPN
alkej-926	61	20	0.800n	0.800n	NUM
alkej-926	61	21	/	/	SYM
alkej-926	61	22	v	v	NOUN
alkej-926	61	23	𝐵𝑦𝑦	𝐵𝑦𝑦	PROPN
alkej-926	61	24	0.318n	0.318n	PROPN
alkej-926	61	25	/	/	SYM
alkej-926	61	26	v	v	ADP
alkej-926	61	27	𝐽𝑝𝑝	𝐽𝑝𝑝	PROPN
alkej-926	61	28	0.038kg.m2	0.038kg.m2	NOUN
alkej-926	61	29	𝐽𝑦𝑦	𝐽𝑦𝑦	NOUN
alkej-926	61	30	0.043kg.m2	0.043kg.m2	PROPN
alkej-926	61	31	𝑚	𝑚	ADP
alkej-926	61	32	1.387	1.387	NUM
alkej-926	61	33	kg	kg	NOUN
alkej-926	61	34	𝑙	𝑙	NUM
alkej-926	61	35	0.186	0.186	NUM
alkej-926	61	36	m	m	NOUN
alkej-926	61	37	the	the	DET
alkej-926	61	38	linearized	linearize	VERB
alkej-926	61	39	dynamic	dynamic	ADJ
alkej-926	61	40	model	model	NOUN
alkej-926	61	41	of	of	ADP
alkej-926	61	42	the	the	DET
alkej-926	61	43	helicopter	helicopter	NOUN
alkej-926	61	44	system	system	NOUN
alkej-926	61	45	can	can	AUX
alkej-926	61	46	be	be	AUX
alkej-926	61	47	represented	represent	VERB
alkej-926	61	48	as	as	SCONJ
alkej-926	61	49	follows	follow	VERB
alkej-926	61	50	:	:	PUNCT
alkej-926	61	51	�	�	PROPN
alkej-926	61	52	̇	̇	PROPN
alkej-926	61	53	�	�	PROPN
alkej-926	61	54	(𝑡	(𝑡	PROPN
alkej-926	61	55	)	)	PUNCT
alkej-926	61	56	=	=	SYM
alkej-926	61	57	𝐴𝑥(𝑡	𝐴𝑥(𝑡	NOUN
alkej-926	61	58	)	)	PUNCT
alkej-926	62	1	+	+	NUM
alkej-926	62	2	𝐵𝑢(𝑡	𝐵𝑢(𝑡	NOUN
alkej-926	62	3	)	)	PUNCT
alkej-926	62	4	…	…	PUNCT
alkej-926	62	5	(	(	PUNCT
alkej-926	62	6	5	5	NUM
alkej-926	62	7	)	)	PUNCT
alkej-926	62	8	𝑦(𝑡	𝑦(𝑡	NUM
alkej-926	62	9	)	)	PUNCT
alkej-926	62	10	=	=	SYM
alkej-926	62	11	𝐶𝑥(𝑡	𝐶𝑥(𝑡	NOUN
alkej-926	62	12	)	)	PUNCT
alkej-926	62	13	…	…	PUNCT
alkej-926	62	14	(	(	PUNCT
alkej-926	62	15	6	6	NUM
alkej-926	62	16	)	)	PUNCT
alkej-926	62	17	x(t	x(t	PROPN
alkej-926	62	18	)	)	PUNCT
alkej-926	62	19	=	=	PUNCT
alkej-926	63	1	[	[	X
alkej-926	63	2	θ(t	θ(t	PROPN
alkej-926	63	3	)	)	PUNCT
alkej-926	63	4	ψ(t	ψ(t	PROPN
alkej-926	63	5	)	)	PUNCT
alkej-926	63	6	θ̇(t	θ̇(t	PROPN
alkej-926	63	7	)	)	PUNCT
alkej-926	63	8	ψ̇(t)]t	ψ̇(t)]t	NOUN
alkej-926	63	9	…	…	PUNCT
alkej-926	63	10	(	(	PUNCT
alkej-926	63	11	7	7	NUM
alkej-926	63	12	)	)	PUNCT
alkej-926	63	13	where	where	SCONJ
alkej-926	63	14	𝑥	𝑥	PROPN
alkej-926	63	15	is	be	AUX
alkej-926	63	16	the	the	DET
alkej-926	63	17	state	state	NOUN
alkej-926	63	18	variables	variable	NOUN
alkej-926	63	19	,	,	PUNCT
alkej-926	63	20	𝑢	𝑢	PRON
alkej-926	63	21	is	be	AUX
alkej-926	63	22	the	the	DET
alkej-926	63	23	input	input	NOUN
alkej-926	63	24	and	and	CCONJ
alkej-926	63	25	𝑦	𝑦	NOUN
alkej-926	63	26	is	be	AUX
alkej-926	63	27	the	the	DET
alkej-926	63	28	output	output	NOUN
alkej-926	63	29	control	control	NOUN
alkej-926	63	30	.	.	PUNCT
alkej-926	64	1	𝑢	𝑢	X
alkej-926	65	1	=	=	X
alkej-926	66	1	[	[	X
alkej-926	66	2	𝑉𝑝𝑝	𝑉𝑝𝑝	PROPN
alkej-926	66	3	𝑉𝑦𝑦]𝑇	𝑉𝑦𝑦]𝑇	PROPN
alkej-926	66	4	,	,	PUNCT
alkej-926	66	5	𝑦	𝑦	NOUN
alkej-926	66	6	=	=	PUNCT
alkej-926	67	1	[	[	X
alkej-926	67	2	𝜓(𝑡	𝜓(𝑡	PROPN
alkej-926	67	3	)	)	PUNCT
alkej-926	67	4	𝜃(𝑡)]𝑇	𝜃(𝑡)]𝑇	PUNCT
alkej-926	67	5	…	…	PUNCT
alkej-926	67	6	(	(	PUNCT
alkej-926	67	7	8)	8)	NUM
alkej-926	67	8	𝐴	𝐴	NOUN
alkej-926	67	9	=	=	PUNCT
alkej-926	68	1	[	[	PUNCT
alkej-926	68	2	0	0	NUM
alkej-926	68	3	0	0	NUM
alkej-926	68	4	1	1	NUM
alkej-926	68	5	0	0	NUM
alkej-926	68	6	0	0	NUM
alkej-926	68	7	0	0	NUM
alkej-926	68	8	0	0	NUM
alkej-926	68	9	1	1	NUM
alkej-926	68	10	0	0	NUM
alkej-926	68	11	0	0	NUM
alkej-926	68	12	−(0.800n	−(0.800n	ADJ
alkej-926	68	13	/	/	SYM
alkej-926	68	14	v	v	NOUN
alkej-926	68	15	)	)	PUNCT
alkej-926	68	16	0.038kg.m2	0.038kg.m2	NOUN
alkej-926	69	1	+	+	ADJ
alkej-926	69	2	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	69	3	m)2	m)2	PROPN
alkej-926	69	4	0	0	NUM
alkej-926	69	5	0	0	NUM
alkej-926	69	6	0	0	NUM
alkej-926	69	7	0	0	NUM
alkej-926	69	8	−(0.318n	−(0.318n	PROPN
alkej-926	69	9	/	/	SYM
alkej-926	69	10	v	v	NOUN
alkej-926	69	11	)	)	PUNCT
alkej-926	69	12	0.043kg.m2	0.043kg.m2	PROPN
alkej-926	70	1	+	+	ADJ
alkej-926	70	2	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	70	3	m)2	m)2	PROPN
alkej-926	70	4	]	]	PUNCT
alkej-926	70	5	…	…	PUNCT
alkej-926	70	6	(	(	PUNCT
alkej-926	70	7	9	9	NUM
alkej-926	70	8	)	)	PUNCT
alkej-926	70	9	b	b	NOUN
alkej-926	70	10	=	=	PUNCT
alkej-926	71	1	[	[	PUNCT
alkej-926	71	2	0	0	NUM
alkej-926	71	3	0	0	NUM
alkej-926	71	4	0	0	NUM
alkej-926	71	5	0	0	NUM
alkej-926	71	6	0.204nm	0.204nm	PROPN
alkej-926	71	7	/	/	SYM
alkej-926	71	8	v	v	NOUN
alkej-926	71	9	0.038kg.m2	0.038kg.m2	NOUN
alkej-926	71	10	+	+	ADJ
alkej-926	71	11	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	71	12	m)2	m)2	ADJ
alkej-926	71	13	0.021nm	0.021nm	NOUN
alkej-926	71	14	/	/	SYM
alkej-926	71	15	v	v	NOUN
alkej-926	71	16	0.043kg.m2	0.043kg.m2	NUM
alkej-926	71	17	+	+	ADJ
alkej-926	71	18	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	71	19	m)2	m)2	ADJ
alkej-926	71	20	0.006nm	0.006nm	NUM
alkej-926	71	21	/	/	SYM
alkej-926	71	22	v	v	NOUN
alkej-926	71	23	0.038kg.m2	0.038kg.m2	NOUN
alkej-926	71	24	+	+	ADJ
alkej-926	71	25	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	71	26	m)2	m)2	PROPN
alkej-926	71	27	0.072nm	0.072nm	NOUN
alkej-926	71	28	/	/	SYM
alkej-926	71	29	v	v	NOUN
alkej-926	71	30	0.043kg.m2	0.043kg.m2	NUM
alkej-926	71	31	+	+	ADJ
alkej-926	71	32	1.387kg(0.186	1.387kg(0.186	NUM
alkej-926	71	33	m)2	m)2	PROPN
alkej-926	71	34	]	]	PUNCT
alkej-926	71	35	…	…	PUNCT
alkej-926	71	36	(	(	PUNCT
alkej-926	71	37	10	10	NUM
alkej-926	71	38	)	)	PUNCT
alkej-926	71	39	𝐶	𝐶	NOUN
alkej-926	71	40	=	=	PUNCT
alkej-926	72	1	[	[	PUNCT
alkej-926	72	2	1	1	NUM
alkej-926	72	3	0	0	NUM
alkej-926	72	4	0	0	NUM
alkej-926	72	5	0	0	NUM
alkej-926	72	6	0	0	NUM
alkej-926	72	7	1	1	NUM
alkej-926	72	8	0	0	NUM
alkej-926	72	9	0	0	NUM
alkej-926	72	10	]	]	PUNCT
alkej-926	72	11	...	...	PUNCT
alkej-926	72	12	(	(	PUNCT
alkej-926	72	13	11	11	NUM
alkej-926	72	14	)	)	SYM
alkej-926	72	15	3	3	NUM
alkej-926	72	16	.	.	PUNCT
alkej-926	72	17	proposed	propose	VERB
alkej-926	72	18	robust	robust	ADJ
alkej-926	72	19	pi	pi	NOUN
alkej-926	72	20	-	-	PUNCT
alkej-926	72	21	sfb	sfb	PROPN
alkej-926	72	22	controller	controller	NOUN
alkej-926	72	23	design	design	VERB
alkej-926	72	24	this	this	DET
alkej-926	72	25	section	section	NOUN
alkej-926	72	26	presents	present	VERB
alkej-926	72	27	the	the	DET
alkej-926	72	28	design	design	NOUN
alkej-926	72	29	procedures	procedure	NOUN
alkej-926	72	30	of	of	ADP
alkej-926	72	31	the	the	DET
alkej-926	72	32	proposed	propose	VERB
alkej-926	72	33	controller	controller	NOUN
alkej-926	72	34	that	that	PRON
alkej-926	72	35	integrates	integrate	VERB
alkej-926	72	36	pi	pi	NOUN
alkej-926	72	37	with	with	ADP
alkej-926	72	38	state	state	NOUN
alkej-926	72	39	feedback	feedback	NOUN
alkej-926	72	40	(	(	PUNCT
alkej-926	72	41	sfb	sfb	PROPN
alkej-926	72	42	)	)	PUNCT
alkej-926	72	43	controllers	controller	NOUN
alkej-926	72	44	.	.	PUNCT
alkej-926	73	1	the	the	DET
alkej-926	73	2	parameters	parameter	NOUN
alkej-926	73	3	of	of	ADP
alkej-926	73	4	the	the	DET
alkej-926	73	5	proposed	propose	VERB
alkej-926	73	6	controller	controller	NOUN
alkej-926	73	7	are	be	AUX
alkej-926	73	8	obtained	obtain	VERB
alkej-926	73	9	by	by	ADP
alkej-926	73	10	using	use	VERB
alkej-926	73	11	an	an	DET
alkej-926	73	12	optimization	optimization	NOUN
alkej-926	73	13	algorithm	algorithm	NOUN
alkej-926	73	14	to	to	PART
alkej-926	73	15	obtain	obtain	VERB
alkej-926	73	16	maximum	maximum	ADJ
alkej-926	73	17	robustness	robustness	NOUN
alkej-926	73	18	against	against	ADP
alkej-926	73	19	external	external	ADJ
alkej-926	73	20	disturbance	disturbance	NOUN
alkej-926	73	21	and	and	CCONJ
alkej-926	73	22	system	system	NOUN
alkej-926	73	23	uncertainty	uncertainty	NOUN
alkej-926	73	24	.	.	PUNCT
alkej-926	74	1	fig	fig	NOUN
alkej-926	74	2	.	.	PUNCT
alkej-926	75	1	2	2	NUM
alkej-926	75	2	shows	show	VERB
alkej-926	75	3	the	the	DET
alkej-926	75	4	block	block	NOUN
alkej-926	75	5	diagram	diagram	NOUN
alkej-926	75	6	of	of	ADP
alkej-926	75	7	the	the	DET
alkej-926	75	8	proposed	propose	VERB
alkej-926	75	9	closed	close	VERB
alkej-926	75	10	-	-	PUNCT
alkej-926	75	11	loop	loop	NOUN
alkej-926	75	12	system	system	NOUN
alkej-926	75	13	.	.	PUNCT
alkej-926	76	1	section	section	NOUN
alkej-926	76	2	3.1	3.1	NUM
alkej-926	76	3	discusses	discuss	VERB
alkej-926	76	4	the	the	DET
alkej-926	76	5	state	state	NOUN
alkej-926	76	6	feedback	feedback	NOUN
alkej-926	76	7	design	design	NOUN
alkej-926	76	8	,	,	PUNCT
alkej-926	76	9	while	while	SCONJ
alkej-926	76	10	section	section	NOUN
alkej-926	76	11	3.2	3.2	NUM
alkej-926	76	12	presents	present	VERB
alkej-926	76	13	a	a	DET
alkej-926	76	14	new	new	ADJ
alkej-926	76	15	control	control	NOUN
alkej-926	76	16	law	law	NOUN
alkej-926	76	17	that	that	PRON
alkej-926	76	18	combines	combine	VERB
alkej-926	76	19	sfb	sfb	PROPN
alkej-926	76	20	with	with	ADP
alkej-926	76	21	pi	pi	NOUN
alkej-926	76	22	to	to	PART
alkej-926	76	23	achieve	achieve	VERB
alkej-926	76	24	good	good	ADJ
alkej-926	76	25	tracking	tracking	NOUN
alkej-926	76	26	with	with	ADP
alkej-926	76	27	high	high	ADJ
alkej-926	76	28	robustness	robustness	NOUN
alkej-926	76	29	against	against	ADP
alkej-926	76	30	system	system	NOUN
alkej-926	76	31	uncertainty	uncertainty	NOUN
alkej-926	76	32	and	and	CCONJ
alkej-926	76	33	external	external	ADJ
alkej-926	76	34	disturbance	disturbance	NOUN
alkej-926	76	35	.	.	PUNCT
alkej-926	77	1	fig	fig	NOUN
alkej-926	77	2	.	.	PUNCT
alkej-926	78	1	2	2	X
alkej-926	78	2	.	.	NUM
alkej-926	78	3	proposed	propose	VERB
alkej-926	78	4	robust	robust	ADJ
alkej-926	78	5	control	control	NOUN
alkej-926	78	6	method	method	NOUN
alkej-926	78	7	.	.	PUNCT
alkej-926	79	1	3.1	3.1	NUM
alkej-926	79	2	.	.	PUNCT
alkej-926	80	1	state	state	NOUN
alkej-926	80	2	feedback	feedback	NOUN
alkej-926	80	3	with	with	ADP
alkej-926	80	4	pi	pi	NOUN
alkej-926	80	5	the	the	DET
alkej-926	80	6	proposed	propose	VERB
alkej-926	80	7	control	control	NOUN
alkej-926	80	8	law	law	NOUN
alkej-926	80	9	is	be	AUX
alkej-926	80	10	composed	compose	VERB
alkej-926	80	11	of	of	ADP
alkej-926	80	12	the	the	DET
alkej-926	80	13	state	state	NOUN
alkej-926	80	14	feedback	feedback	NOUN
alkej-926	80	15	term	term	NOUN
alkej-926	80	16	(	(	PUNCT
alkej-926	80	17	𝑢𝑓𝑏	𝑢𝑓𝑏	NOUN
alkej-926	80	18	)	)	PUNCT
alkej-926	80	19	and	and	CCONJ
alkej-926	80	20	pi	pi	NOUN
alkej-926	80	21	term	term	NOUN
alkej-926	80	22	(	(	PUNCT
alkej-926	80	23	𝑢𝑖	𝑢𝑖	NOUN
alkej-926	80	24	)	)	PUNCT
alkej-926	80	25	as	as	SCONJ
alkej-926	80	26	expressed	express	VERB
alkej-926	80	27	below	below	ADV
alkej-926	80	28	:	:	PUNCT
alkej-926	80	29	𝑢	𝑢	X
alkej-926	80	30	=	=	PUNCT
alkej-926	80	31	𝑢𝑃𝐼	𝑢𝑃𝐼	X
alkej-926	80	32	+	+	X
alkej-926	80	33	𝑢𝑓𝑏	𝑢𝑓𝑏	ADJ
alkej-926	80	34	…	…	PUNCT
alkej-926	80	35	(	(	PUNCT
alkej-926	80	36	12	12	NUM
alkej-926	80	37	)	)	PUNCT
alkej-926	80	38	𝑢𝑝𝑖	𝑢𝑝𝑖	NOUN
alkej-926	81	1	=	=	PUNCT
alkej-926	81	2	−𝑘𝑝	−𝑘𝑝	PROPN
alkej-926	81	3	∫	∫	PROPN
alkej-926	81	4	𝑒(𝑡)𝑑𝑡	𝑒(𝑡)𝑑𝑡	SYM
alkej-926	81	5	𝑡𝑓	𝑡𝑓	NOUN
alkej-926	81	6	0	0	NUM
alkej-926	81	7	+	+	CCONJ
alkej-926	81	8	𝑘𝑖𝑒(𝑡	𝑘𝑖𝑒(𝑡	PROPN
alkej-926	81	9	)	)	PUNCT
alkej-926	81	10	…	…	PUNCT
alkej-926	81	11	(	(	PUNCT
alkej-926	81	12	13	13	NUM
alkej-926	81	13	)	)	PUNCT
alkej-926	81	14	𝑢𝑓𝑏	𝑢𝑓𝑏	NOUN
alkej-926	81	15	=	=	SYM
alkej-926	81	16	−𝑘1	−𝑘1	PROPN
alkej-926	81	17	𝑥(𝑡	𝑥(𝑡	PROPN
alkej-926	81	18	)	)	PUNCT
alkej-926	81	19	…	…	PUNCT
alkej-926	81	20	(	(	PUNCT
alkej-926	81	21	14	14	NUM
alkej-926	81	22	)	)	PUNCT
alkej-926	81	23	the	the	DET
alkej-926	81	24	state	state	NOUN
alkej-926	81	25	space	space	NOUN
alkej-926	81	26	of	of	ADP
alkej-926	81	27	the	the	DET
alkej-926	81	28	pi	pi	NOUN
alkej-926	81	29	controller	controller	NOUN
alkej-926	81	30	can	can	AUX
alkej-926	81	31	be	be	AUX
alkej-926	81	32	written	write	VERB
alkej-926	81	33	shatha	shatha	VERB
alkej-926	81	34	abd	abd	PROPN
alkej-926	81	35	al	al	PROPN
alkej-926	81	36	kareem	kareem	PROPN
alkej-926	81	37	al	al	PROPN
alkej-926	81	38	-	-	PUNCT
alkej-926	81	39	khwarizmi	khwarizmi	PROPN
alkej-926	81	40	engineering	engineering	NOUN
alkej-926	81	41	journal	journal	PROPN
alkej-926	81	42	,	,	PUNCT
alkej-926	81	43	vol	vol	NOUN
alkej-926	81	44	.	.	PROPN
alkej-926	81	45	20	20	NUM
alkej-926	81	46	,	,	PUNCT
alkej-926	81	47	no.3	no.3	VERB
alkej-926	81	48	,	,	PUNCT
alkej-926	81	49	p.p	p.p	PROPN
alkej-926	81	50	.	.	NOUN
alkej-926	81	51	1119(2024	1119(2024	NUM
alkej-926	81	52	)	)	PUNCT
alkej-926	81	53	14	14	NUM
alkej-926	81	54	as	as	SCONJ
alkej-926	81	55	follows	follow	VERB
alkej-926	81	56	:	:	PUNCT
alkej-926	82	1	�	�	PROPN
alkej-926	82	2	̇	̇	PROPN
alkej-926	82	3	�	�	PROPN
alkej-926	82	4	𝑝𝑖	𝑝𝑖	NOUN
alkej-926	82	5	=	=	SYM
alkej-926	82	6	𝐴𝑃𝐼𝑥𝑃𝐼	𝐴𝑃𝐼𝑥𝑃𝐼	PROPN
alkej-926	82	7	+	+	CCONJ
alkej-926	82	8	𝐵𝑃𝐼(𝑟	𝐵𝑃𝐼(𝑟	NUM
alkej-926	82	9	−	−	NOUN
alkej-926	82	10	𝐶𝑥	𝐶𝑥	PROPN
alkej-926	82	11	)	)	PUNCT
alkej-926	82	12	…	…	PUNCT
alkej-926	82	13	(	(	PUNCT
alkej-926	82	14	15	15	NUM
alkej-926	82	15	)	)	PUNCT
alkej-926	82	16	𝑢𝑃𝐼	𝑢𝑃𝐼	NOUN
alkej-926	83	1	=	=	PUNCT
alkej-926	84	1	𝐶𝑃𝐼𝑥𝑃𝐼	𝐶𝑃𝐼𝑥𝑃𝐼	PROPN
alkej-926	85	1	+	+	NUM
alkej-926	85	2	𝐷𝑃𝐼(𝑟	𝐷𝑃𝐼(𝑟	NUM
alkej-926	85	3	−	−	NOUN
alkej-926	85	4	𝐶𝑥	𝐶𝑥	NOUN
alkej-926	85	5	)	)	PUNCT
alkej-926	85	6	…	…	PUNCT
alkej-926	85	7	(	(	PUNCT
alkej-926	85	8	16	16	NUM
alkej-926	85	9	)	)	PUNCT
alkej-926	85	10	where	where	SCONJ
alkej-926	85	11	𝐴𝑃𝐼	𝐴𝑃𝐼	PROPN
alkej-926	85	12	=	=	PUNCT
alkej-926	86	1	[	[	PUNCT
alkej-926	86	2	0	0	NUM
alkej-926	86	3	1	1	NUM
alkej-926	86	4	0	0	NUM
alkej-926	86	5	0	0	NUM
alkej-926	86	6	]	]	PUNCT
alkej-926	86	7	,	,	PUNCT
alkej-926	86	8	𝐵𝑃𝐼	𝐵𝑃𝐼	PROPN
alkej-926	86	9	=	=	SYM
alkej-926	86	10	[	[	PUNCT
alkej-926	86	11	0	0	NUM
alkej-926	86	12	1	1	NUM
alkej-926	86	13	]	]	PUNCT
alkej-926	86	14	,	,	PUNCT
alkej-926	86	15	𝐶𝑃𝐼	𝐶𝑃𝐼	PROPN
alkej-926	86	16	=	=	PUNCT
alkej-926	87	1	[	[	X
alkej-926	87	2	𝑘𝑖	𝑘𝑖	ADP
alkej-926	87	3	𝑘𝑝	𝑘𝑝	ADP
alkej-926	87	4	]	]	X
alkej-926	87	5	,	,	PUNCT
alkej-926	87	6	𝐷𝑃𝐼	𝐷𝑃𝐼	PROPN
alkej-926	87	7	=	=	PUNCT
alkej-926	87	8	𝑘𝑝	𝑘𝑝	PROPN
alkej-926	87	9	in	in	ADP
alkej-926	87	10	practice	practice	NOUN
alkej-926	87	11	,	,	PUNCT
alkej-926	87	12	measuring	measure	VERB
alkej-926	87	13	the	the	DET
alkej-926	87	14	states	state	NOUN
alkej-926	87	15	of	of	ADP
alkej-926	87	16	the	the	DET
alkej-926	87	17	system	system	NOUN
alkej-926	87	18	is	be	AUX
alkej-926	87	19	not	not	PART
alkej-926	87	20	easy	easy	ADJ
alkej-926	87	21	;	;	PUNCT
alkej-926	87	22	thus	thus	ADV
alkej-926	87	23	,	,	PUNCT
alkej-926	87	24	an	an	DET
alkej-926	87	25	observer	observer	NOUN
alkej-926	87	26	is	be	AUX
alkej-926	87	27	used	use	VERB
alkej-926	87	28	for	for	ADP
alkej-926	87	29	estimating	estimate	VERB
alkej-926	87	30	the	the	DET
alkej-926	87	31	states	state	NOUN
alkej-926	87	32	.	.	PUNCT
alkej-926	88	1	in	in	ADP
alkej-926	88	2	this	this	DET
alkej-926	88	3	paper	paper	NOUN
alkej-926	88	4	,	,	PUNCT
alkej-926	88	5	the	the	DET
alkej-926	88	6	proportional	proportional	ADJ
alkej-926	88	7	integral	integral	ADJ
alkej-926	88	8	observer	observer	NOUN
alkej-926	88	9	will	will	AUX
alkej-926	88	10	estimate	estimate	VERB
alkej-926	88	11	the	the	DET
alkej-926	88	12	state	state	NOUN
alkej-926	88	13	and	and	CCONJ
alkej-926	88	14	disturbance	disturbance	NOUN
alkej-926	88	15	.	.	PUNCT
alkej-926	89	1	3.2	3.2	NUM
alkej-926	89	2	.	.	PUNCT
alkej-926	90	1	proportional	proportional	ADJ
alkej-926	90	2	integral	integral	ADJ
alkej-926	90	3	disturbance	disturbance	NOUN
alkej-926	90	4	–	–	PUNCT
alkej-926	90	5	state	state	NOUN
alkej-926	90	6	observer	observer	NOUN
alkej-926	90	7	the	the	DET
alkej-926	90	8	state	state	NOUN
alkej-926	90	9	space	space	NOUN
alkej-926	90	10	for	for	ADP
alkej-926	90	11	the	the	DET
alkej-926	90	12	proportional	proportional	ADJ
alkej-926	90	13	integral	integral	ADJ
alkej-926	90	14	observer	observer	NOUN
alkej-926	90	15	(	(	PUNCT
alkej-926	90	16	pio	pio	PROPN
alkej-926	90	17	)	)	PUNCT
alkej-926	90	18	is	be	AUX
alkej-926	90	19	expressed	express	VERB
alkej-926	90	20	as	as	SCONJ
alkej-926	90	21	follows	follow	VERB
alkej-926	90	22	:	:	PUNCT
alkej-926	90	23	�	�	PROPN
alkej-926	90	24	̇	̇	NOUN
alkej-926	90	25	�	�	PROPN
alkej-926	90	26	=	=	SYM
alkej-926	90	27	0	0	NUM
alkej-926	90	28	…	…	PUNCT
alkej-926	90	29	(	(	PUNCT
alkej-926	90	30	17	17	NUM
alkej-926	90	31	)	)	PUNCT
alkej-926	90	32	�	�	PROPN
alkej-926	90	33	̇	̇	VERB
alkej-926	90	34	�	�	PROPN
alkej-926	90	35	=	=	PUNCT
alkej-926	91	1	𝐴𝑥	𝐴𝑥	PROPN
alkej-926	91	2	+	+	CCONJ
alkej-926	91	3	𝐵𝑢𝑓𝑏	𝐵𝑢𝑓𝑏	PROPN
alkej-926	91	4	+	+	CCONJ
alkej-926	91	5	𝐿𝑃(𝑦	𝐿𝑃(𝑦	VERB
alkej-926	91	6	−	−	PUNCT
alkej-926	92	1	𝐶𝑥	𝐶𝑥	NOUN
alkej-926	92	2	)	)	PUNCT
alkej-926	92	3	+	+	CCONJ
alkej-926	92	4	𝐸	𝐸	PROPN
alkej-926	92	5	�	�	PROPN
alkej-926	92	6	̂	̂	NUM
alkej-926	92	7	�	�	NOUN
alkej-926	92	8	…	…	PUNCT
alkej-926	92	9	(	(	PUNCT
alkej-926	92	10	18	18	NUM
alkej-926	92	11	)	)	PUNCT
alkej-926	92	12	�	�	PROPN
alkej-926	92	13	̇̂	̇̂	NOUN
alkej-926	92	14	�	�	PROPN
alkej-926	92	15	=	=	SYM
alkej-926	92	16	𝐿𝐼(𝑦	𝐿𝐼(𝑦	PROPN
alkej-926	92	17	−	−	NOUN
alkej-926	93	1	𝐶𝑥	𝐶𝑥	NOUN
alkej-926	93	2	)	)	PUNCT
alkej-926	93	3	…	…	PUNCT
alkej-926	93	4	(	(	PUNCT
alkej-926	93	5	19	19	NUM
alkej-926	93	6	)	)	PUNCT
alkej-926	93	7	where	where	SCONJ
alkej-926	93	8	𝐿𝑃	𝐿𝑃	PROPN
alkej-926	93	9	and	and	CCONJ
alkej-926	93	10	𝐿𝐼	𝐿𝐼	PROPN
alkej-926	93	11	denote	denote	VERB
alkej-926	93	12	the	the	DET
alkej-926	93	13	estimator	estimator	NOUN
alkej-926	93	14	gains	gain	NOUN
alkej-926	93	15	for	for	ADP
alkej-926	93	16	states	state	NOUN
alkej-926	93	17	and	and	CCONJ
alkej-926	93	18	disturbance	disturbance	NOUN
alkej-926	93	19	,	,	PUNCT
alkej-926	93	20	respectively	respectively	ADV
alkej-926	93	21	.	.	PUNCT
alkej-926	94	1	3.3	3.3	NUM
alkej-926	94	2	.	.	PUNCT
alkej-926	94	3	augmented	augment	VERB
alkej-926	94	4	sfb	sfb	PROPN
alkej-926	94	5	–	–	PUNCT
alkej-926	94	6	pi	pi	NOUN
alkej-926	94	7	control	control	NOUN
alkej-926	94	8	with	with	ADP
alkej-926	94	9	pio	pio	PROPN
alkej-926	94	10	the	the	DET
alkej-926	94	11	augmented	augment	VERB
alkej-926	94	12	state	state	NOUN
alkej-926	94	13	space	space	NOUN
alkej-926	94	14	for	for	ADP
alkej-926	94	15	the	the	DET
alkej-926	94	16	proposed	propose	VERB
alkej-926	94	17	controller	controller	NOUN
alkej-926	94	18	with	with	ADP
alkej-926	94	19	the	the	DET
alkej-926	94	20	disturbance	disturbance	NOUN
alkej-926	94	21	observer	observer	NOUN
alkej-926	94	22	is	be	AUX
alkej-926	94	23	expressed	express	VERB
alkej-926	94	24	with	with	ADP
alkej-926	94	25	a	a	DET
alkej-926	94	26	perturbation	perturbation	NOUN
alkej-926	94	27	added	add	VERB
alkej-926	94	28	to	to	ADP
alkej-926	94	29	the	the	DET
alkej-926	94	30	system	system	NOUN
alkej-926	94	31	to	to	PART
alkej-926	94	32	discuss	discuss	VERB
alkej-926	94	33	the	the	DET
alkej-926	94	34	robustness	robustness	NOUN
alkej-926	94	35	of	of	ADP
alkej-926	94	36	the	the	DET
alkej-926	94	37	closed	closed	ADJ
alkej-926	94	38	-	-	PUNCT
alkej-926	94	39	loop	loop	NOUN
alkej-926	94	40	feedback	feedback	NOUN
alkej-926	94	41	system	system	NOUN
alkej-926	94	42	.	.	PUNCT
alkej-926	95	1	let	let	VERB
alkej-926	95	2	𝑢	𝑢	NOUN
alkej-926	95	3	=	=	VERB
alkej-926	95	4	𝑤	𝑤	PROPN
alkej-926	95	5	+	+	NUM
alkej-926	95	6	𝑢𝑃𝐼	𝑢𝑃𝐼	NOUN
alkej-926	95	7	+	+	X
alkej-926	95	8	𝑢𝑓𝑏2	𝑢𝑓𝑏2	NOUN
alkej-926	95	9	−	−	PROPN
alkej-926	95	10	𝐾1𝑥	𝐾1𝑥	NOUN
alkej-926	95	11	…	…	PUNCT
alkej-926	95	12	(	(	PUNCT
alkej-926	95	13	20	20	NUM
alkej-926	95	14	)	)	PUNCT
alkej-926	95	15	then	then	ADV
alkej-926	95	16	�	�	PROPN
alkej-926	95	17	̇	̇	PROPN
alkej-926	95	18	�	�	PROPN
alkej-926	96	1	=	=	PUNCT
alkej-926	97	1	𝐴𝑥	𝐴𝑥	NOUN
alkej-926	97	2	+	+	CCONJ
alkej-926	97	3	𝐵(𝑢𝑃𝐼	𝐵(𝑢𝑃𝐼	NUM
alkej-926	97	4	−	−	NOUN
alkej-926	97	5	𝐾1𝑥	𝐾1𝑥	PROPN
alkej-926	97	6	)	)	PUNCT
alkej-926	98	1	+	+	CCONJ
alkej-926	99	1	𝐵𝑤	𝐵𝑤	PROPN
alkej-926	99	2	+	+	CCONJ
alkej-926	99	3	𝐸𝑑	𝐸𝑑	PROPN
alkej-926	99	4	…	…	PUNCT
alkej-926	99	5	(	(	PUNCT
alkej-926	99	6	21	21	NUM
alkej-926	99	7	)	)	PUNCT
alkej-926	99	8	�	�	PROPN
alkej-926	99	9	̇	̇	VERB
alkej-926	99	10	�	�	PROPN
alkej-926	99	11	=	=	PUNCT
alkej-926	99	12	𝐴𝑥	𝐴𝑥	NOUN
alkej-926	99	13	+	+	PUNCT
alkej-926	99	14	𝐵(𝐶𝑃𝐼𝑥𝑃𝐼	𝐵(𝐶𝑃𝐼𝑥𝑃𝐼	ADJ
alkej-926	99	15	+	+	NUM
alkej-926	99	16	𝐷𝑃𝐼𝑟	𝐷𝑃𝐼𝑟	NOUN
alkej-926	99	17	−	−	PROPN
alkej-926	99	18	𝐷𝑃𝐼𝐶𝑥	𝐷𝑃𝐼𝐶𝑥	NOUN
alkej-926	99	19	)	)	PUNCT
alkej-926	99	20	−	−	ADP
alkej-926	99	21	𝐵𝐾1𝑥	𝐵𝐾1𝑥	NOUN
alkej-926	99	22	+	+	CCONJ
alkej-926	100	1	𝐵𝑤	𝐵𝑤	PROPN
alkej-926	100	2	+	+	CCONJ
alkej-926	100	3	𝐸𝑑	𝐸𝑑	PROPN
alkej-926	100	4	…	…	PUNCT
alkej-926	100	5	(	(	PUNCT
alkej-926	100	6	22	22	NUM
alkej-926	100	7	)	)	PUNCT
alkej-926	100	8	�	�	PROPN
alkej-926	100	9	̇	̇	VERB
alkej-926	101	1	�	�	PROPN
alkej-926	101	2	=	=	PUNCT
alkej-926	101	3	𝐴𝑥	𝐴𝑥	NOUN
alkej-926	101	4	−	−	NOUN
alkej-926	101	5	𝐵𝐾1𝑥	𝐵𝐾1𝑥	NOUN
alkej-926	101	6	+	+	CCONJ
alkej-926	101	7	𝐵(𝐶𝑃𝐼𝑥𝑃𝐼	𝐵(𝐶𝑃𝐼𝑥𝑃𝐼	ADJ
alkej-926	101	8	+	+	NUM
alkej-926	101	9	𝐷𝑃𝐼𝑟	𝐷𝑃𝐼𝑟	NOUN
alkej-926	101	10	−	−	PROPN
alkej-926	101	11	𝐷𝑃𝐼𝐶𝑥	𝐷𝑃𝐼𝐶𝑥	NOUN
alkej-926	101	12	)	)	PUNCT
alkej-926	102	1	+	+	CCONJ
alkej-926	102	2	𝐿𝑃𝐶(𝑥	𝐿𝑃𝐶(𝑥	PROPN
alkej-926	102	3	−	−	PROPN
alkej-926	102	4	𝑥	𝑥	NOUN
alkej-926	102	5	)	)	PUNCT
alkej-926	102	6	+	+	CCONJ
alkej-926	102	7	𝐸	𝐸	PROPN
alkej-926	102	8	�	�	PROPN
alkej-926	102	9	̂	̂	NOUN
alkej-926	102	10	�	�	NOUN
alkej-926	102	11	=	=	SYM
alkej-926	102	12	(	(	PUNCT
alkej-926	102	13	𝐿𝑃𝐶	𝐿𝑃𝐶	PROPN
alkej-926	102	14	−	−	NOUN
alkej-926	102	15	𝐵𝐷𝑃𝐼𝐶)𝑥	𝐵𝐷𝑃𝐼𝐶)𝑥	PRON
alkej-926	103	1	+	+	CCONJ
alkej-926	103	2	(	(	PUNCT
alkej-926	103	3	𝐴	𝐴	PROPN
alkej-926	103	4	−	−	PROPN
alkej-926	103	5	𝐵𝐾1	𝐵𝐾1	NOUN
alkej-926	103	6	−	−	PROPN
alkej-926	103	7	𝐿𝑃𝐶)𝑥	𝐿𝑃𝐶)𝑥	NUM
alkej-926	103	8	+	+	CCONJ
alkej-926	103	9	𝐵𝐶𝑃𝐼𝑥𝑃𝐼	𝐵𝐶𝑃𝐼𝑥𝑃𝐼	ADJ
alkej-926	103	10	−	−	NOUN
alkej-926	103	11	𝐵𝐷𝑃𝐼𝑟	𝐵𝐷𝑃𝐼𝑟	NOUN
alkej-926	103	12	+	+	CCONJ
alkej-926	103	13	𝐸	𝐸	PROPN
alkej-926	103	14	�	�	PROPN
alkej-926	103	15	̂	̂	NUM
alkej-926	103	16	�	�	NOUN
alkej-926	103	17	…	…	PUNCT
alkej-926	103	18	(	(	PUNCT
alkej-926	103	19	23	23	NUM
alkej-926	103	20	)	)	PUNCT
alkej-926	103	21	�	�	PROPN
alkej-926	103	22	̇̂	̇̂	NOUN
alkej-926	103	23	�	�	NOUN
alkej-926	103	24	=	=	PUNCT
alkej-926	103	25	𝐿𝐼𝐶𝑥	𝐿𝐼𝐶𝑥	PROPN
alkej-926	103	26	−	−	NUM
alkej-926	103	27	𝐿𝐼𝐶𝑥	𝐿𝐼𝐶𝑥	ADJ
alkej-926	103	28	…	…	PUNCT
alkej-926	103	29	(	(	PUNCT
alkej-926	103	30	24	24	NUM
alkej-926	103	31	)	)	PUNCT
alkej-926	103	32	finally	finally	ADV
alkej-926	103	33	,	,	PUNCT
alkej-926	103	34	the	the	DET
alkej-926	103	35	state	state	NOUN
alkej-926	103	36	space	space	NOUN
alkej-926	103	37	for	for	ADP
alkej-926	103	38	the	the	DET
alkej-926	103	39	augmented	augment	VERB
alkej-926	103	40	system	system	NOUN
alkej-926	103	41	can	can	AUX
alkej-926	103	42	be	be	AUX
alkej-926	103	43	expressed	express	VERB
alkej-926	103	44	as	as	SCONJ
alkej-926	103	45	follows	follow	VERB
alkej-926	103	46	:	:	PUNCT
alkej-926	103	47	[	[	PUNCT
alkej-926	103	48	�	�	NOUN
alkej-926	103	49	̇	̇	PROPN
alkej-926	103	50	�	�	PROPN
alkej-926	103	51	�	�	PROPN
alkej-926	103	52	̇	̇	PROPN
alkej-926	103	53	�	�	PROPN
alkej-926	103	54	𝑃𝐼	𝑃𝐼	PROPN
alkej-926	103	55	�	�	PROPN
alkej-926	103	56	̇	̇	PROPN
alkej-926	103	57	�	�	PROPN
alkej-926	103	58	�	�	PROPN
alkej-926	103	59	̇̂	̇̂	PRON
alkej-926	103	60	�	�	NOUN
alkej-926	103	61	]	]	PUNCT
alkej-926	104	1	=	=	PUNCT
alkej-926	104	2	[	[	PUNCT
alkej-926	104	3	𝐴	𝐴	PROPN
alkej-926	104	4	−	−	PROPN
alkej-926	104	5	𝐵𝐷𝑃𝐼𝐶	𝐵𝐷𝑃𝐼𝐶	PROPN
alkej-926	104	6	𝐵𝐶𝑃𝐼	𝐵𝐶𝑃𝐼	PROPN
alkej-926	104	7	−𝐵𝐾1	−𝐵𝐾1	NOUN
alkej-926	104	8	𝐸	𝐸	NOUN
alkej-926	104	9	−	−	PROPN
alkej-926	104	10	𝐵𝑃𝐼𝐶	𝐵𝑃𝐼𝐶	PROPN
alkej-926	104	11	𝐴𝑃𝐼	𝐴𝑃𝐼	PROPN
alkej-926	104	12	0	0	NUM
alkej-926	104	13	0	0	NUM
alkej-926	104	14	𝐿𝑃𝐶	𝐿𝑃𝐶	PROPN
alkej-926	104	15	−	−	PROPN
alkej-926	104	16	𝐵𝐷𝑃𝐼𝐶	𝐵𝐷𝑃𝐼𝐶	PROPN
alkej-926	104	17	𝐵𝐶𝑃𝐼	𝐵𝐶𝑃𝐼	PROPN
alkej-926	104	18	𝐴	𝐴	PROPN
alkej-926	104	19	−	−	PROPN
alkej-926	105	1	𝐵𝐾1	𝐵𝐾1	NOUN
alkej-926	105	2	−	−	NOUN
alkej-926	105	3	𝐿𝑃𝐶	𝐿𝑃𝐶	PROPN
alkej-926	105	4	0	0	NUM
alkej-926	105	5	𝐿𝐼𝐶	𝐿𝐼𝐶	NOUN
alkej-926	105	6	0	0	NUM
alkej-926	105	7	−𝐿𝐼𝐶	−𝐿𝐼𝐶	NOUN
alkej-926	105	8	0	0	NUM
alkej-926	105	9	]	]	PUNCT
alkej-926	106	1	[	[	PUNCT
alkej-926	106	2	𝑥	𝑥	NOUN
alkej-926	106	3	𝑥𝑃𝐼	𝑥𝑃𝐼	NOUN
alkej-926	106	4	𝑥	𝑥	X
alkej-926	106	5	𝑑	𝑑	NOUN
alkej-926	106	6	]	]	X
alkej-926	106	7	+	+	CCONJ
alkej-926	106	8	[	[	PUNCT
alkej-926	106	9	𝐵	𝐵	NOUN
alkej-926	106	10	0	0	NUM
alkej-926	106	11	0	0	NUM
alkej-926	106	12	0	0	NUM
alkej-926	106	13	]	]	X
alkej-926	106	14	𝑤	𝑤	ADP
alkej-926	106	15	+	+	CCONJ
alkej-926	106	16	[	[	PUNCT
alkej-926	106	17	𝐵𝐷𝑃𝐼	𝐵𝐷𝑃𝐼	PROPN
alkej-926	106	18	𝐵𝑃𝐼	𝐵𝑃𝐼	X
alkej-926	106	19	−𝐵𝐷𝑃𝐼	−𝐵𝐷𝑃𝐼	NOUN
alkej-926	106	20	0	0	NUM
alkej-926	106	21	]	]	PUNCT
alkej-926	106	22	𝑟	𝑟	X
alkej-926	106	23	…	…	PUNCT
alkej-926	106	24	(	(	PUNCT
alkej-926	106	25	25	25	NUM
alkej-926	106	26	)	)	PUNCT
alkej-926	106	27	the	the	DET
alkej-926	106	28	controller	controller	NOUN
alkej-926	106	29	and	and	CCONJ
alkej-926	106	30	observer	observer	NOUN
alkej-926	106	31	gains	gain	NOUN
alkej-926	106	32	will	will	AUX
alkej-926	106	33	be	be	AUX
alkej-926	106	34	tuned	tune	VERB
alkej-926	106	35	to	to	PART
alkej-926	106	36	obtain	obtain	VERB
alkej-926	106	37	the	the	DET
alkej-926	106	38	minimum	minimum	ADJ
alkej-926	106	39	infinity	infinity	NOUN
alkej-926	106	40	norm	norm	NOUN
alkej-926	106	41	of	of	ADP
alkej-926	106	42	the	the	DET
alkej-926	106	43	system	system	NOUN
alkej-926	106	44	from	from	ADP
alkej-926	106	45	𝑤(𝑡	𝑤(𝑡	NOUN
alkej-926	106	46	)	)	PUNCT
alkej-926	106	47	to	to	ADP
alkej-926	106	48	𝑣(𝑡	𝑣(𝑡	NOUN
alkej-926	106	49	)	)	PUNCT
alkej-926	106	50	which	which	PRON
alkej-926	106	51	is	be	AUX
alkej-926	106	52	reciprocally	reciprocally	ADV
alkej-926	106	53	called	call	VERB
alkej-926	106	54	robustness	robustness	NOUN
alkej-926	106	55	bound	bind	VERB
alkej-926	106	56	.	.	PUNCT
alkej-926	107	1	a	a	DET
alkej-926	107	2	closed	closed	ADJ
alkej-926	107	3	loop	loop	NOUN
alkej-926	107	4	system	system	NOUN
alkej-926	107	5	is	be	AUX
alkej-926	107	6	always	always	ADV
alkej-926	107	7	stable	stable	ADJ
alkej-926	107	8	if	if	SCONJ
alkej-926	107	9	it	it	PRON
alkej-926	107	10	satisfies	satisfy	VERB
alkej-926	107	11	the	the	DET
alkej-926	107	12	following	follow	VERB
alkej-926	107	13	condition	condition	NOUN
alkej-926	107	14	regardless	regardless	ADV
alkej-926	107	15	of	of	ADP
alkej-926	107	16	the	the	DET
alkej-926	107	17	value	value	NOUN
alkej-926	107	18	of	of	ADP
alkej-926	107	19	perturbation	perturbation	NOUN
alkej-926	107	20	:	:	PUNCT
alkej-926	107	21	‖∇(𝑠)‖∞	‖∇(𝑠)‖∞	PUNCT
alkej-926	107	22	<	<	X
alkej-926	107	23	𝛾	𝛾	NOUN
alkej-926	107	24	…	…	PUNCT
alkej-926	107	25	(	(	PUNCT
alkej-926	107	26	26	26	NUM
alkej-926	107	27	)	)	PUNCT
alkej-926	107	28	where	where	SCONJ
alkej-926	107	29	‖∇(𝑠)‖∞	‖∇(𝑠)‖∞	ADP
alkej-926	107	30	≝	≝	X
alkej-926	107	31	sup𝜎(∇(𝑗𝑤	sup𝜎(∇(𝑗𝑤	NOUN
alkej-926	107	32	)	)	PUNCT
alkej-926	107	33	)	)	PUNCT
alkej-926	107	34	…	…	PUNCT
alkej-926	107	35	(	(	PUNCT
alkej-926	107	36	27	27	NUM
alkej-926	107	37	)	)	PUNCT
alkej-926	107	38	𝛾	𝛾	NOUN
alkej-926	107	39	is	be	AUX
alkej-926	107	40	the	the	DET
alkej-926	107	41	reciprocal	reciprocal	NOUN
alkej-926	107	42	of	of	ADP
alkej-926	107	43	the	the	DET
alkej-926	107	44	infinity	infinity	NOUN
alkej-926	107	45	norm	norm	NOUN
alkej-926	107	46	of	of	ADP
alkej-926	107	47	the	the	DET
alkej-926	107	48	system	system	NOUN
alkej-926	107	49	from	from	ADP
alkej-926	107	50	𝑤(𝑡	𝑤(𝑡	NOUN
alkej-926	107	51	)	)	PUNCT
alkej-926	107	52	to	to	ADP
alkej-926	107	53	𝑣(𝑡	𝑣(𝑡	NOUN
alkej-926	107	54	)	)	PUNCT
alkej-926	107	55	.	.	PUNCT
alkej-926	108	1	𝛾	𝛾	X
alkej-926	108	2	=	=	SYM
alkej-926	108	3	1	1	NUM
alkej-926	108	4	‖g(𝑠)‖∞	‖g(𝑠)‖∞	NOUN
alkej-926	108	5	…	…	PUNCT
alkej-926	108	6	(	(	PUNCT
alkej-926	108	7	28	28	NUM
alkej-926	108	8	)	)	PUNCT
alkej-926	108	9	g(𝑠	g(𝑠	ADJ
alkej-926	108	10	)	)	PUNCT
alkej-926	108	11	represents	represent	VERB
alkej-926	108	12	the	the	DET
alkej-926	108	13	transfer	transfer	NOUN
alkej-926	108	14	function	function	NOUN
alkej-926	108	15	from	from	ADP
alkej-926	108	16	𝑤(𝑡	𝑤(𝑡	NOUN
alkej-926	108	17	)	)	PUNCT
alkej-926	108	18	to	to	ADP
alkej-926	108	19	𝑣(𝑡	𝑣(𝑡	NOUN
alkej-926	108	20	)	)	PUNCT
alkej-926	108	21	.	.	PUNCT
alkej-926	109	1	observer	observer	NOUN
alkej-926	109	2	gain	gain	NOUN
alkej-926	109	3	will	will	AUX
alkej-926	109	4	be	be	AUX
alkej-926	109	5	determined	determine	VERB
alkej-926	109	6	by	by	ADP
alkej-926	109	7	setting	set	VERB
alkej-926	109	8	the	the	DET
alkej-926	109	9	cost	cost	NOUN
alkej-926	109	10	function	function	NOUN
alkej-926	109	11	of	of	ADP
alkej-926	109	12	the	the	DET
alkej-926	109	13	optimization	optimization	NOUN
alkej-926	109	14	algorithm	algorithm	NOUN
alkej-926	109	15	equal	equal	ADJ
alkej-926	109	16	to	to	ADP
alkej-926	109	17	the	the	DET
alkej-926	109	18	robustness	robustness	NOUN
alkej-926	109	19	bound	bind	VERB
alkej-926	109	20	.	.	PUNCT
alkej-926	110	1	4	4	X
alkej-926	110	2	.	.	X
alkej-926	110	3	simulation	simulation	NOUN
alkej-926	110	4	results	result	VERB
alkej-926	110	5	the	the	DET
alkej-926	110	6	matlab	matlab	PROPN
alkej-926	110	7	2022	2022	NUM
alkej-926	110	8	program	program	NOUN
alkej-926	110	9	was	be	AUX
alkej-926	110	10	used	use	VERB
alkej-926	110	11	to	to	PART
alkej-926	110	12	simulate	simulate	VERB
alkej-926	110	13	the	the	DET
alkej-926	110	14	helicopter	helicopter	NOUN
alkej-926	110	15	system	system	NOUN
alkej-926	110	16	with	with	ADP
alkej-926	110	17	two	two	NUM
alkej-926	110	18	dofs	dof	NOUN
alkej-926	110	19	to	to	PART
alkej-926	110	20	investigate	investigate	VERB
alkej-926	110	21	the	the	DET
alkej-926	110	22	effectiveness	effectiveness	NOUN
alkej-926	110	23	and	and	CCONJ
alkej-926	110	24	performance	performance	NOUN
alkej-926	110	25	of	of	ADP
alkej-926	110	26	the	the	DET
alkej-926	110	27	proposed	propose	VERB
alkej-926	110	28	controller	controller	NOUN
alkej-926	110	29	in	in	ADP
alkej-926	110	30	terms	term	NOUN
alkej-926	110	31	of	of	ADP
alkej-926	110	32	tracking	tracking	NOUN
alkej-926	110	33	and	and	CCONJ
alkej-926	110	34	robustness	robustness	NOUN
alkej-926	110	35	.	.	PUNCT
alkej-926	111	1	a	a	DET
alkej-926	111	2	comparison	comparison	NOUN
alkej-926	111	3	is	be	AUX
alkej-926	111	4	made	make	VERB
alkej-926	111	5	between	between	ADP
alkej-926	111	6	the	the	DET
alkej-926	111	7	proposed	propose	VERB
alkej-926	111	8	controller	controller	NOUN
alkej-926	111	9	and	and	CCONJ
alkej-926	111	10	the	the	DET
alkej-926	111	11	standard	standard	PROPN
alkej-926	111	12	lqr	lqr	PROPN
alkej-926	111	13	.	.	PUNCT
alkej-926	112	1	the	the	DET
alkej-926	112	2	parameters	parameter	NOUN
alkej-926	112	3	of	of	ADP
alkej-926	112	4	the	the	DET
alkej-926	112	5	proposed	propose	VERB
alkej-926	112	6	controller	controller	NOUN
alkej-926	112	7	used	use	VERB
alkej-926	112	8	in	in	ADP
alkej-926	112	9	this	this	DET
alkej-926	112	10	simulation	simulation	NOUN
alkej-926	112	11	after	after	ADP
alkej-926	112	12	using	use	VERB
alkej-926	112	13	(	(	PUNCT
alkej-926	112	14	fminsearch	fminsearch	NOUN
alkej-926	112	15	)	)	PUNCT
alkej-926	112	16	function	function	NOUN
alkej-926	112	17	as	as	ADP
alkej-926	112	18	an	an	DET
alkej-926	112	19	optimization	optimization	NOUN
alkej-926	112	20	algorithm	algorithm	NOUN
alkej-926	112	21	are	be	AUX
alkej-926	112	22	𝐾1	𝐾1	NOUN
alkej-926	112	23	=	=	X
alkej-926	112	24	[	[	PUNCT
alkej-926	112	25	40.5	40.5	NUM
alkej-926	112	26	131.7	131.7	NUM
alkej-926	112	27	5	5	NUM
alkej-926	112	28	7.4	7.4	NUM
alkej-926	112	29	−20.3	−20.3	NUM
alkej-926	112	30	440	440	NUM
alkej-926	112	31	−7	−7	NOUN
alkej-926	112	32	24	24	NUM
alkej-926	112	33	]	]	PUNCT
alkej-926	112	34	,	,	PUNCT
alkej-926	113	1	𝐾𝑝	𝐾𝑝	PROPN
alkej-926	114	1	=	=	PUNCT
alkej-926	115	1	[	[	PUNCT
alkej-926	115	2	46	46	NUM
alkej-926	115	3	100	100	NUM
alkej-926	115	4	]	]	PUNCT
alkej-926	115	5	,	,	PUNCT
alkej-926	115	6	𝐾𝑖	𝐾𝑖	PUNCT
alkej-926	115	7	=	=	PUNCT
alkej-926	116	1	[	[	X
alkej-926	116	2	161	161	NUM
alkej-926	116	3	200	200	NUM
alkej-926	116	4	]	]	PUNCT
alkej-926	116	5	,	,	PUNCT
alkej-926	116	6	𝐿𝑃	𝐿𝑃	PROPN
alkej-926	116	7	=	=	PRON
alkej-926	117	1	[	[	PUNCT
alkej-926	117	2	2.18	2.18	NUM
alkej-926	117	3	51.7	51.7	NUM
alkej-926	117	4	2.4	2.4	NUM
alkej-926	117	5	2.8	2.8	NUM
alkej-926	117	6	21.6	21.6	NUM
alkej-926	117	7	−11.2	−11.2	NOUN
alkej-926	117	8	100	100	NUM
alkej-926	117	9	29.1	29.1	NUM
alkej-926	117	10	]	]	PUNCT
alkej-926	117	11	,	,	PUNCT
alkej-926	117	12	𝐿𝐼	𝐿𝐼	PROPN
alkej-926	117	13	=	=	PUNCT
alkej-926	117	14	[	[	PUNCT
alkej-926	117	15	17.3	17.3	NUM
alkej-926	117	16	100.7	100.7	NUM
alkej-926	117	17	200.1	200.1	NUM
alkej-926	117	18	90.1	90.1	NUM
alkej-926	117	19	]	]	PUNCT
alkej-926	117	20	.	.	PUNCT
alkej-926	118	1	while	while	SCONJ
alkej-926	118	2	the	the	DET
alkej-926	118	3	parameters	parameter	NOUN
alkej-926	118	4	of	of	ADP
alkej-926	118	5	standard	standard	PROPN
alkej-926	118	6	lqr	lqr	NOUN
alkej-926	118	7	controller	controller	NOUN
alkej-926	118	8	used	use	VERB
alkej-926	118	9	are	be	AUX
alkej-926	118	10	𝐿𝑄𝑅	𝐿𝑄𝑅	PROPN
alkej-926	118	11	=	=	PUNCT
alkej-926	118	12	[	[	PUNCT
alkej-926	118	13	30.1	30.1	NUM
alkej-926	118	14	1.1	1.1	NUM
alkej-926	118	15	6.6	6.6	NUM
alkej-926	118	16	−0.2	−0.2	NOUN
alkej-926	118	17	−0.05	−0.05	ADV
alkej-926	118	18	3.1	3.1	NUM
alkej-926	118	19	−1.5	−1.5	NOUN
alkej-926	118	20	5	5	NUM
alkej-926	118	21	]	]	PUNCT
alkej-926	118	22	.	.	PUNCT
alkej-926	119	1	4.1	4.1	NUM
alkej-926	119	2	.	.	PUNCT
alkej-926	119	3	step	step	NOUN
alkej-926	119	4	reference	reference	NOUN
alkej-926	119	5	tracking	tracking	NOUN
alkej-926	119	6	shatha	shatha	VERB
alkej-926	119	7	abd	abd	PROPN
alkej-926	119	8	al	al	PROPN
alkej-926	119	9	kareem	kareem	PROPN
alkej-926	119	10	al	al	PROPN
alkej-926	119	11	-	-	PUNCT
alkej-926	119	12	khwarizmi	khwarizmi	PROPN
alkej-926	119	13	engineering	engineering	NOUN
alkej-926	119	14	journal	journal	PROPN
alkej-926	119	15	,	,	PUNCT
alkej-926	119	16	vol	vol	NOUN
alkej-926	119	17	.	.	PROPN
alkej-926	119	18	20	20	NUM
alkej-926	119	19	,	,	PUNCT
alkej-926	119	20	no.3	no.3	VERB
alkej-926	119	21	,	,	PUNCT
alkej-926	119	22	p.p	p.p	PROPN
alkej-926	119	23	.	.	NOUN
alkej-926	119	24	1119(2024	1119(2024	NUM
alkej-926	119	25	)	)	PUNCT
alkej-926	119	26	15	15	NUM
alkej-926	119	27	this	this	DET
alkej-926	119	28	case	case	NOUN
alkej-926	119	29	discusses	discuss	VERB
alkej-926	119	30	the	the	DET
alkej-926	119	31	performance	performance	NOUN
alkej-926	119	32	of	of	ADP
alkej-926	119	33	the	the	DET
alkej-926	119	34	proposed	propose	VERB
alkej-926	119	35	controller	controller	NOUN
alkej-926	119	36	and	and	CCONJ
alkej-926	119	37	the	the	DET
alkej-926	119	38	lqr	lqr	PROPN
alkej-926	119	39	controllers	controller	NOUN
alkej-926	119	40	when	when	SCONJ
alkej-926	119	41	the	the	DET
alkej-926	119	42	input	input	NOUN
alkej-926	119	43	is	be	AUX
alkej-926	119	44	the	the	DET
alkej-926	119	45	unit	unit	NOUN
alkej-926	119	46	step	step	VERB
alkej-926	119	47	with	with	ADP
alkej-926	119	48	a	a	DET
alkej-926	119	49	nominal	nominal	ADJ
alkej-926	119	50	model	model	NOUN
alkej-926	119	51	,	,	PUNCT
alkej-926	119	52	and	and	CCONJ
alkej-926	119	53	the	the	DET
alkej-926	119	54	simulation	simulation	NOUN
alkej-926	119	55	results	result	NOUN
alkej-926	119	56	are	be	AUX
alkej-926	119	57	shown	show	VERB
alkej-926	119	58	in	in	ADP
alkej-926	119	59	figures	figure	NOUN
alkej-926	119	60	3	3	NUM
alkej-926	119	61	and	and	CCONJ
alkej-926	119	62	4	4	NUM
alkej-926	119	63	.	.	PUNCT
alkej-926	120	1	the	the	DET
alkej-926	120	2	figures	figure	NOUN
alkej-926	120	3	show	show	VERB
alkej-926	120	4	that	that	SCONJ
alkej-926	120	5	the	the	DET
alkej-926	120	6	proposed	propose	VERB
alkej-926	120	7	controller	controller	NOUN
alkej-926	120	8	and	and	CCONJ
alkej-926	120	9	lqr	lqr	PROPN
alkej-926	120	10	track	track	VERB
alkej-926	120	11	the	the	DET
alkej-926	120	12	reference	reference	NOUN
alkej-926	120	13	input	input	NOUN
alkej-926	120	14	successfully	successfully	ADV
alkej-926	120	15	with	with	ADP
alkej-926	120	16	approximately	approximately	ADV
alkej-926	120	17	the	the	DET
alkej-926	120	18	same	same	ADJ
alkej-926	120	19	rise	rise	NOUN
alkej-926	120	20	(	(	PUNCT
alkej-926	120	21	𝑡𝑟	𝑡𝑟	VERB
alkej-926	120	22	)	)	PUNCT
alkej-926	120	23	and	and	CCONJ
alkej-926	120	24	settling	settle	VERB
alkej-926	120	25	times(𝑡𝑠	times(𝑡𝑠	NOUN
alkej-926	120	26	)	)	PUNCT
alkej-926	120	27	but	but	CCONJ
alkej-926	120	28	no	no	DET
alkej-926	120	29	overshoot	overshoot	NOUN
alkej-926	120	30	(	(	PUNCT
alkej-926	120	31	𝑀𝑝	𝑀𝑝	NOUN
alkej-926	120	32	)	)	PUNCT
alkej-926	120	33	can	can	AUX
alkej-926	120	34	be	be	AUX
alkej-926	120	35	observed	observe	VERB
alkej-926	120	36	in	in	ADP
alkej-926	120	37	the	the	DET
alkej-926	120	38	proposed	propose	VERB
alkej-926	120	39	controller	controller	NOUN
alkej-926	120	40	with	with	ADP
alkej-926	120	41	high	high	ADJ
alkej-926	120	42	overshoot	overshoot	NOUN
alkej-926	120	43	with	with	ADP
alkej-926	120	44	the	the	DET
alkej-926	120	45	lqr	lqr	PROPN
alkej-926	120	46	controller	controller	NOUN
alkej-926	120	47	.	.	PUNCT
alkej-926	121	1	tables	table	NOUN
alkej-926	121	2	2	2	NUM
alkej-926	121	3	and	and	CCONJ
alkej-926	121	4	3	3	NUM
alkej-926	121	5	list	list	NOUN
alkej-926	121	6	the	the	DET
alkej-926	121	7	transient	transient	ADJ
alkej-926	121	8	specifications	specification	NOUN
alkej-926	121	9	for	for	ADP
alkej-926	121	10	pitch	pitch	NOUN
alkej-926	121	11	and	and	CCONJ
alkej-926	121	12	yaw	yaw	NOUN
alkej-926	121	13	models	model	NOUN
alkej-926	121	14	,	,	PUNCT
alkej-926	121	15	respectively	respectively	ADV
alkej-926	121	16	.	.	PUNCT
alkej-926	122	1	the	the	DET
alkej-926	122	2	integral	integral	ADJ
alkej-926	122	3	square	square	ADJ
alkej-926	122	4	errors	error	NOUN
alkej-926	122	5	(	(	PUNCT
alkej-926	122	6	ises	ise	NOUN
alkej-926	122	7	)	)	PUNCT
alkej-926	122	8	for	for	ADP
alkej-926	122	9	pitch	pitch	NOUN
alkej-926	122	10	and	and	CCONJ
alkej-926	122	11	yaw	yaw	NOUN
alkej-926	122	12	models	model	NOUN
alkej-926	122	13	are	be	AUX
alkej-926	122	14	shown	show	VERB
alkej-926	122	15	in	in	ADP
alkej-926	122	16	the	the	DET
alkej-926	122	17	tables	table	NOUN
alkej-926	122	18	.	.	PUNCT
alkej-926	123	1	these	these	DET
alkej-926	123	2	performances	performance	NOUN
alkej-926	123	3	clearly	clearly	ADV
alkej-926	123	4	indicate	indicate	VERB
alkej-926	123	5	that	that	SCONJ
alkej-926	123	6	the	the	DET
alkej-926	123	7	proposed	propose	VERB
alkej-926	123	8	controller	controller	NOUN
alkej-926	123	9	outperforms	outperform	VERB
alkej-926	123	10	the	the	DET
alkej-926	123	11	lqr	lqr	PROPN
alkej-926	123	12	controllers	controller	NOUN
alkej-926	123	13	.	.	PUNCT
alkej-926	124	1	fig	fig	NOUN
alkej-926	124	2	.	.	PUNCT
alkej-926	125	1	3	3	X
alkej-926	125	2	.	.	NOUN
alkej-926	125	3	step	step	NOUN
alkej-926	125	4	response	response	NOUN
alkej-926	125	5	for	for	ADP
alkej-926	125	6	pitch	pitch	NOUN
alkej-926	125	7	model	model	NOUN
alkej-926	125	8	.	.	PUNCT
alkej-926	126	1	fig	fig	NOUN
alkej-926	126	2	.	.	PUNCT
alkej-926	127	1	4	4	X
alkej-926	127	2	.	.	NOUN
alkej-926	127	3	step	step	NOUN
alkej-926	127	4	response	response	NOUN
alkej-926	127	5	for	for	ADP
alkej-926	127	6	yaw	yaw	NOUN
alkej-926	127	7	model	model	NOUN
alkej-926	127	8	.	.	PUNCT
alkej-926	128	1	table	table	NOUN
alkej-926	128	2	2	2	NUM
alkej-926	128	3	,	,	PUNCT
alkej-926	128	4	transient	transient	ADJ
alkej-926	128	5	specifications	specification	NOUN
alkej-926	128	6	for	for	ADP
alkej-926	128	7	pitch	pitch	NOUN
alkej-926	128	8	model	model	NOUN
alkej-926	128	9	for	for	ADP
alkej-926	128	10	nominal	nominal	ADJ
alkej-926	128	11	case	case	NOUN
alkej-926	128	12	.	.	PUNCT
alkej-926	129	1	table	table	NOUN
alkej-926	129	2	3	3	NUM
alkej-926	129	3	,	,	PUNCT
alkej-926	129	4	transient	transient	ADJ
alkej-926	129	5	specifications	specification	NOUN
alkej-926	129	6	for	for	ADP
alkej-926	129	7	the	the	DET
alkej-926	129	8	yaw	yaw	NOUN
alkej-926	129	9	model	model	NOUN
alkej-926	129	10	for	for	ADP
alkej-926	129	11	the	the	DET
alkej-926	129	12	nominal	nominal	ADJ
alkej-926	129	13	case	case	NOUN
alkej-926	129	14	.	.	PUNCT
alkej-926	130	1	4.2	4.2	NUM
alkej-926	130	2	.	.	PUNCT
alkej-926	131	1	disturbance	disturbance	NOUN
alkej-926	131	2	rejection	rejection	NOUN
alkej-926	131	3	a	a	DET
alkej-926	131	4	constant	constant	ADJ
alkej-926	131	5	disturbance	disturbance	NOUN
alkej-926	131	6	with	with	ADP
alkej-926	131	7	amplitude	amplitude	NOUN
alkej-926	131	8	1	1	NUM
alkej-926	131	9	has	have	AUX
alkej-926	131	10	been	be	AUX
alkej-926	131	11	injected	inject	VERB
alkej-926	131	12	at	at	ADP
alkej-926	131	13	t	t	PROPN
alkej-926	131	14	=3	=3	VERB
alkej-926	131	15	sec	sec	PROPN
alkej-926	131	16	to	to	PART
alkej-926	131	17	illustrate	illustrate	VERB
alkej-926	131	18	the	the	DET
alkej-926	131	19	robustness	robustness	NOUN
alkej-926	131	20	of	of	ADP
alkej-926	131	21	the	the	DET
alkej-926	131	22	proposed	propose	VERB
alkej-926	131	23	control	control	NOUN
alkej-926	131	24	method	method	NOUN
alkej-926	131	25	.	.	PUNCT
alkej-926	132	1	the	the	DET
alkej-926	132	2	simulation	simulation	NOUN
alkej-926	132	3	results	result	NOUN
alkej-926	132	4	shown	show	VERB
alkej-926	132	5	in	in	ADP
alkej-926	132	6	figures	figure	NOUN
alkej-926	132	7	5	5	NUM
alkej-926	132	8	and	and	CCONJ
alkej-926	132	9	6	6	NUM
alkej-926	132	10	indicate	indicate	VERB
alkej-926	132	11	the	the	DET
alkej-926	132	12	ability	ability	NOUN
alkej-926	132	13	of	of	ADP
alkej-926	132	14	the	the	DET
alkej-926	132	15	proposed	propose	VERB
alkej-926	132	16	controller	controller	NOUN
alkej-926	132	17	to	to	PART
alkej-926	132	18	guide	guide	VERB
alkej-926	132	19	the	the	DET
alkej-926	132	20	trajectory	trajectory	NOUN
alkej-926	132	21	of	of	ADP
alkej-926	132	22	the	the	DET
alkej-926	132	23	system	system	NOUN
alkej-926	132	24	to	to	ADP
alkej-926	132	25	the	the	DET
alkej-926	132	26	reference	reference	NOUN
alkej-926	132	27	input	input	NOUN
alkej-926	132	28	,	,	PUNCT
alkej-926	132	29	indicating	indicate	VERB
alkej-926	132	30	robustness	robustness	NOUN
alkej-926	132	31	against	against	ADP
alkej-926	132	32	external	external	ADJ
alkej-926	132	33	disturbance	disturbance	NOUN
alkej-926	132	34	.	.	PUNCT
alkej-926	133	1	these	these	DET
alkej-926	133	2	figures	figure	NOUN
alkej-926	133	3	show	show	VERB
alkej-926	133	4	the	the	DET
alkej-926	133	5	proposed	propose	VERB
alkej-926	133	6	controller	controller	NOUN
alkej-926	133	7	quickly	quickly	ADV
alkej-926	133	8	reached	reach	VERB
alkej-926	133	9	the	the	DET
alkej-926	133	10	reference	reference	NOUN
alkej-926	133	11	signal	signal	NOUN
alkej-926	133	12	and	and	CCONJ
alkej-926	133	13	rejected	reject	VERB
alkej-926	133	14	the	the	DET
alkej-926	133	15	disturbance	disturbance	NOUN
alkej-926	133	16	.	.	PUNCT
alkej-926	134	1	the	the	DET
alkej-926	134	2	results	result	NOUN
alkej-926	134	3	indicate	indicate	VERB
alkej-926	134	4	a	a	DET
alkej-926	134	5	high	high	ADJ
alkej-926	134	6	effect	effect	NOUN
alkej-926	134	7	for	for	ADP
alkej-926	134	8	disturbance	disturbance	NOUN
alkej-926	134	9	in	in	ADP
alkej-926	134	10	the	the	DET
alkej-926	134	11	case	case	NOUN
alkej-926	134	12	of	of	ADP
alkej-926	134	13	lqr	lqr	NOUN
alkej-926	134	14	especially	especially	ADV
alkej-926	134	15	for	for	ADP
alkej-926	134	16	the	the	DET
alkej-926	134	17	yaw	yaw	PROPN
alkej-926	134	18	model	model	NOUN
alkej-926	134	19	.	.	PUNCT
alkej-926	135	1	figures	figure	NOUN
alkej-926	135	2	7	7	NUM
alkej-926	135	3	and	and	CCONJ
alkej-926	135	4	8	8	NUM
alkej-926	135	5	show	show	VERB
alkej-926	135	6	the	the	DET
alkej-926	135	7	integral	integral	ADJ
alkej-926	135	8	square	square	ADJ
alkej-926	135	9	error	error	NOUN
alkej-926	135	10	for	for	ADP
alkej-926	135	11	the	the	DET
alkej-926	135	12	pitch	pitch	NOUN
alkej-926	135	13	and	and	CCONJ
alkej-926	135	14	yaw	yaw	NOUN
alkej-926	135	15	models	model	NOUN
alkej-926	135	16	,	,	PUNCT
alkej-926	135	17	respectively	respectively	ADV
alkej-926	135	18	.	.	PUNCT
alkej-926	136	1	the	the	DET
alkej-926	136	2	proposed	propose	VERB
alkej-926	136	3	controller	controller	NOUN
alkej-926	136	4	has	have	VERB
alkej-926	136	5	the	the	DET
alkej-926	136	6	smallest	small	ADJ
alkej-926	136	7	iae	iae	NOUN
alkej-926	136	8	for	for	ADP
alkej-926	136	9	both	both	DET
alkej-926	136	10	models	model	NOUN
alkej-926	136	11	,	,	PUNCT
alkej-926	136	12	illustrating	illustrate	VERB
alkej-926	136	13	the	the	DET
alkej-926	136	14	superiority	superiority	NOUN
alkej-926	136	15	of	of	ADP
alkej-926	136	16	the	the	DET
alkej-926	136	17	proposed	propose	VERB
alkej-926	136	18	controller	controller	NOUN
alkej-926	136	19	.	.	PUNCT
alkej-926	137	1	the	the	DET
alkej-926	137	2	results	result	NOUN
alkej-926	137	3	of	of	ADP
alkej-926	137	4	this	this	DET
alkej-926	137	5	section	section	NOUN
alkej-926	137	6	indicate	indicate	VERB
alkej-926	137	7	that	that	SCONJ
alkej-926	137	8	the	the	DET
alkej-926	137	9	pi	pi	NOUN
alkej-926	137	10	term	term	NOUN
alkej-926	137	11	,	,	PUNCT
alkej-926	137	12	which	which	PRON
alkej-926	137	13	is	be	AUX
alkej-926	137	14	added	add	VERB
alkej-926	137	15	to	to	ADP
alkej-926	137	16	the	the	DET
alkej-926	137	17	state	state	NOUN
alkej-926	137	18	feedback	feedback	NOUN
alkej-926	137	19	controller	controller	NOUN
alkej-926	137	20	,	,	PUNCT
alkej-926	137	21	can	can	AUX
alkej-926	137	22	reject	reject	VERB
alkej-926	137	23	the	the	DET
alkej-926	137	24	disturbance	disturbance	NOUN
alkej-926	137	25	quickly	quickly	ADV
alkej-926	137	26	,	,	PUNCT
alkej-926	137	27	taking	take	VERB
alkej-926	137	28	advantage	advantage	NOUN
alkej-926	137	29	of	of	ADP
alkej-926	137	30	using	use	VERB
alkej-926	137	31	a	a	DET
alkej-926	137	32	proportional	proportional	ADJ
alkej-926	137	33	integral	integral	ADJ
alkej-926	137	34	observer	observer	NOUN
alkej-926	137	35	that	that	PRON
alkej-926	137	36	can	can	AUX
alkej-926	137	37	estimate	estimate	VERB
alkej-926	137	38	the	the	DET
alkej-926	137	39	state	state	NOUN
alkej-926	137	40	and	and	CCONJ
alkej-926	137	41	disturbance	disturbance	NOUN
alkej-926	137	42	correctly	correctly	ADV
alkej-926	137	43	.	.	PUNCT
alkej-926	138	1	method	method	VERB
alkej-926	138	2	𝑴𝒑	𝑴𝒑	PROPN
alkej-926	138	3	𝒕𝒓(sec	𝒕𝒓(sec	NOUN
alkej-926	138	4	)	)	PUNCT
alkej-926	138	5	𝒕𝒔(sec	𝒕𝒔(sec	NOUN
alkej-926	138	6	)	)	PUNCT
alkej-926	138	7	iae	iae	PROPN
alkej-926	138	8	proposed	propose	VERB
alkej-926	138	9	0.6589	0.6589	NUM
alkej-926	138	10	0.7683	0.7683	NUM
alkej-926	138	11	1.1192	1.1192	NUM
alkej-926	138	12	0.3821	0.3821	NUM
alkej-926	138	13	lqr	lqr	VERB
alkej-926	138	14	4.7721	4.7721	NUM
alkej-926	138	15	0.5479	0.5479	NUM
alkej-926	138	16	1.4513	1.4513	NUM
alkej-926	138	17	0.4165	0.4165	NUM
alkej-926	138	18	method	method	NOUN
alkej-926	138	19	𝑴𝒑	𝑴𝒑	PROPN
alkej-926	138	20	𝒕𝒓(sec	𝒕𝒓(sec	NOUN
alkej-926	138	21	)	)	PUNCT
alkej-926	138	22	𝒕𝒔(sec	𝒕𝒔(sec	NOUN
alkej-926	138	23	)	)	PUNCT
alkej-926	138	24	iae	iae	PROPN
alkej-926	138	25	proposed	propose	VERB
alkej-926	138	26	0.0018	0.0018	NUM
alkej-926	138	27	1.7572	1.7572	NUM
alkej-926	138	28	2.4720	2.4720	NUM
alkej-926	138	29	0.8251	0.8251	NUM
alkej-926	138	30	lqr	lqr	VERB
alkej-926	138	31	7.5219	7.5219	NUM
alkej-926	138	32	1.1112	1.1112	NUM
alkej-926	138	33	2.0062	2.0062	NUM
alkej-926	138	34	0.8981	0.8981	NUM
alkej-926	138	35	shatha	shatha	NOUN
alkej-926	138	36	abd	abd	PROPN
alkej-926	138	37	al	al	PROPN
alkej-926	138	38	kareem	kareem	PROPN
alkej-926	138	39	al	al	PROPN
alkej-926	138	40	-	-	PUNCT
alkej-926	138	41	khwarizmi	khwarizmi	PROPN
alkej-926	138	42	engineering	engineering	NOUN
alkej-926	138	43	journal	journal	PROPN
alkej-926	138	44	,	,	PUNCT
alkej-926	138	45	vol	vol	NOUN
alkej-926	138	46	.	.	PROPN
alkej-926	138	47	20	20	NUM
alkej-926	138	48	,	,	PUNCT
alkej-926	138	49	no.3	no.3	VERB
alkej-926	138	50	,	,	PUNCT
alkej-926	138	51	p.p	p.p	PROPN
alkej-926	138	52	.	.	NOUN
alkej-926	138	53	1119(2024	1119(2024	NUM
alkej-926	138	54	)	)	PUNCT
alkej-926	138	55	16	16	NUM
alkej-926	138	56	fig	fig	NOUN
alkej-926	138	57	.	.	PUNCT
alkej-926	139	1	5	5	NUM
alkej-926	139	2	.	.	X
alkej-926	139	3	response	response	NOUN
alkej-926	139	4	pitch	pitch	NOUN
alkej-926	139	5	model	model	NOUN
alkej-926	139	6	for	for	ADP
alkej-926	139	7	disturbance	disturbance	NOUN
alkej-926	139	8	.	.	PUNCT
alkej-926	140	1	fig	fig	NOUN
alkej-926	140	2	.	.	PUNCT
alkej-926	141	1	6	6	NUM
alkej-926	141	2	.	.	X
alkej-926	141	3	response	response	NOUN
alkej-926	141	4	yaw	yaw	PROPN
alkej-926	141	5	model	model	NOUN
alkej-926	141	6	for	for	ADP
alkej-926	141	7	disturbance	disturbance	NOUN
alkej-926	141	8	.	.	PUNCT
alkej-926	142	1	fig	fig	NOUN
alkej-926	142	2	.	.	PUNCT
alkej-926	143	1	7	7	X
alkej-926	143	2	.	.	X
alkej-926	143	3	iae	iae	NOUN
alkej-926	143	4	variations	variation	NOUN
alkej-926	143	5	of	of	ADP
alkej-926	143	6	pitch	pitch	PROPN
alkej-926	143	7	model	model	NOUN
alkej-926	143	8	.	.	PUNCT
alkej-926	144	1	fig	fig	NOUN
alkej-926	144	2	.	.	PUNCT
alkej-926	145	1	8	8	X
alkej-926	145	2	.	.	PUNCT
alkej-926	146	1	iae	iae	NOUN
alkej-926	146	2	variations	variation	NOUN
alkej-926	146	3	of	of	ADP
alkej-926	146	4	yaw	yaw	PROPN
alkej-926	146	5	model	model	NOUN
alkej-926	146	6	.	.	PUNCT
alkej-926	147	1	4.3	4.3	NUM
alkej-926	147	2	.	.	PUNCT
alkej-926	148	1	system	system	NOUN
alkej-926	148	2	uncertainty	uncertainty	NOUN
alkej-926	148	3	the	the	DET
alkej-926	148	4	parameters	parameter	NOUN
alkej-926	148	5	of	of	ADP
alkej-926	148	6	the	the	DET
alkej-926	148	7	system	system	NOUN
alkej-926	148	8	have	have	AUX
alkej-926	148	9	been	be	AUX
alkej-926	148	10	changed	change	VERB
alkej-926	148	11	to	to	ADP
alkej-926	148	12	20	20	NUM
alkej-926	148	13	%	%	NOUN
alkej-926	148	14	of	of	ADP
alkej-926	148	15	their	their	PRON
alkej-926	148	16	nominal	nominal	ADJ
alkej-926	148	17	values	value	NOUN
alkej-926	148	18	to	to	PART
alkej-926	148	19	investigate	investigate	VERB
alkej-926	148	20	the	the	DET
alkej-926	148	21	robustness	robustness	NOUN
alkej-926	148	22	of	of	ADP
alkej-926	148	23	the	the	DET
alkej-926	148	24	proposed	propose	VERB
alkej-926	148	25	control	control	NOUN
alkej-926	148	26	method	method	NOUN
alkej-926	148	27	against	against	ADP
alkej-926	148	28	the	the	DET
alkej-926	148	29	parameter	parameter	NOUN
alkej-926	148	30	variations	variation	NOUN
alkej-926	148	31	.	.	PUNCT
alkej-926	149	1	the	the	DET
alkej-926	149	2	simulation	simulation	NOUN
alkej-926	149	3	results	result	VERB
alkej-926	149	4	,	,	PUNCT
alkej-926	149	5	as	as	SCONJ
alkej-926	149	6	shown	show	VERB
alkej-926	149	7	in	in	ADP
alkej-926	149	8	figures	figure	NOUN
alkej-926	149	9	9	9	NUM
alkej-926	149	10	and	and	CCONJ
alkej-926	149	11	10	10	NUM
alkej-926	149	12	,	,	PUNCT
alkej-926	149	13	indicate	indicate	VERB
alkej-926	149	14	the	the	DET
alkej-926	149	15	high	high	ADJ
alkej-926	149	16	robustness	robustness	NOUN
alkej-926	149	17	of	of	ADP
alkej-926	149	18	the	the	DET
alkej-926	149	19	proposed	propose	VERB
alkej-926	149	20	controller	controller	NOUN
alkej-926	149	21	against	against	ADP
alkej-926	149	22	system	system	NOUN
alkej-926	149	23	uncertainties	uncertainty	NOUN
alkej-926	149	24	.	.	PUNCT
alkej-926	150	1	the	the	DET
alkej-926	150	2	transient	transient	ADJ
alkej-926	150	3	specifications	specification	NOUN
alkej-926	150	4	,	,	PUNCT
alkej-926	150	5	which	which	PRON
alkej-926	150	6	are	be	AUX
alkej-926	150	7	listed	list	VERB
alkej-926	150	8	in	in	ADP
alkej-926	150	9	tables	table	NOUN
alkej-926	150	10	4	4	NUM
alkej-926	150	11	and	and	CCONJ
alkej-926	150	12	5	5	NUM
alkej-926	150	13	,	,	PUNCT
alkej-926	150	14	illustrate	illustrate	VERB
alkej-926	150	15	the	the	DET
alkej-926	150	16	superiority	superiority	NOUN
alkej-926	150	17	of	of	ADP
alkej-926	150	18	the	the	DET
alkej-926	150	19	proposed	propose	VERB
alkej-926	150	20	controller	controller	NOUN
alkej-926	150	21	and	and	CCONJ
alkej-926	150	22	show	show	VERB
alkej-926	150	23	that	that	SCONJ
alkej-926	150	24	the	the	DET
alkej-926	150	25	proposed	propose	VERB
alkej-926	150	26	controller	controller	NOUN
alkej-926	150	27	’s	’s	PART
alkej-926	150	28	performance	performance	NOUN
alkej-926	150	29	is	be	AUX
alkej-926	150	30	not	not	PART
alkej-926	150	31	affected	affect	VERB
alkej-926	150	32	by	by	ADP
alkej-926	150	33	system	system	NOUN
alkej-926	150	34	uncertainty	uncertainty	NOUN
alkej-926	150	35	.	.	PUNCT
alkej-926	151	1	moreover	moreover	ADV
alkej-926	151	2	,	,	PUNCT
alkej-926	151	3	the	the	DET
alkej-926	151	4	ise	ise	NOUN
alkej-926	151	5	show	show	VERB
alkej-926	151	6	the	the	DET
alkej-926	151	7	high	high	ADJ
alkej-926	151	8	efficiency	efficiency	NOUN
alkej-926	151	9	of	of	ADP
alkej-926	151	10	the	the	DET
alkej-926	151	11	proposed	propose	VERB
alkej-926	151	12	controller	controller	NOUN
alkej-926	151	13	in	in	ADP
alkej-926	151	14	the	the	DET
alkej-926	151	15	presence	presence	NOUN
alkej-926	151	16	of	of	ADP
alkej-926	151	17	the	the	DET
alkej-926	151	18	parameter	parameter	NOUN
alkej-926	151	19	variations	variation	NOUN
alkej-926	151	20	.	.	PUNCT
alkej-926	152	1	the	the	DET
alkej-926	152	2	results	result	NOUN
alkej-926	152	3	of	of	ADP
alkej-926	152	4	this	this	DET
alkej-926	152	5	section	section	NOUN
alkej-926	152	6	indicate	indicate	VERB
alkej-926	152	7	a	a	DET
alkej-926	152	8	good	good	ADJ
alkej-926	152	9	choice	choice	NOUN
alkej-926	152	10	of	of	ADP
alkej-926	152	11	the	the	DET
alkej-926	152	12	objective	objective	ADJ
alkej-926	152	13	function	function	NOUN
alkej-926	152	14	,	,	PUNCT
alkej-926	152	15	which	which	PRON
alkej-926	152	16	is	be	AUX
alkej-926	152	17	based	base	VERB
alkej-926	152	18	on	on	ADP
alkej-926	152	19	the	the	DET
alkej-926	152	20	infinity	infinity	NOUN
alkej-926	152	21	norm	norm	NOUN
alkej-926	152	22	of	of	ADP
alkej-926	152	23	the	the	DET
alkej-926	152	24	transfer	transfer	NOUN
alkej-926	152	25	function	function	NOUN
alkej-926	152	26	to	to	PART
alkej-926	152	27	ensure	ensure	VERB
alkej-926	152	28	good	good	ADJ
alkej-926	152	29	performance	performance	NOUN
alkej-926	152	30	regardless	regardless	ADV
alkej-926	152	31	of	of	ADP
alkej-926	152	32	the	the	DET
alkej-926	152	33	variations	variation	NOUN
alkej-926	152	34	in	in	ADP
alkej-926	152	35	the	the	DET
alkej-926	152	36	parameters	parameter	NOUN
alkej-926	152	37	of	of	ADP
alkej-926	152	38	the	the	DET
alkej-926	152	39	system	system	NOUN
alkej-926	152	40	.	.	PUNCT
alkej-926	153	1	fig	fig	NOUN
alkej-926	153	2	.	.	PUNCT
alkej-926	154	1	9	9	X
alkej-926	154	2	.	.	X
alkej-926	154	3	response	response	NOUN
alkej-926	154	4	pitch	pitch	NOUN
alkej-926	154	5	model	model	NOUN
alkej-926	154	6	for	for	ADP
alkej-926	154	7	uncertainty	uncertainty	NOUN
alkej-926	154	8	.	.	PUNCT
alkej-926	155	1	fig	fig	NOUN
alkej-926	155	2	.	.	PUNCT
alkej-926	156	1	10	10	NUM
alkej-926	156	2	.	.	PUNCT
alkej-926	157	1	response	response	NOUN
alkej-926	157	2	yaw	yaw	PROPN
alkej-926	157	3	model	model	NOUN
alkej-926	157	4	for	for	ADP
alkej-926	157	5	uncertainty	uncertainty	NOUN
alkej-926	157	6	.	.	PUNCT
alkej-926	158	1	shatha	shatha	VERB
alkej-926	158	2	abd	abd	PROPN
alkej-926	158	3	al	al	PROPN
alkej-926	158	4	kareem	kareem	PROPN
alkej-926	158	5	al	al	PROPN
alkej-926	158	6	-	-	PUNCT
alkej-926	158	7	khwarizmi	khwarizmi	PROPN
alkej-926	158	8	engineering	engineering	NOUN
alkej-926	158	9	journal	journal	PROPN
alkej-926	158	10	,	,	PUNCT
alkej-926	158	11	vol	vol	NOUN
alkej-926	158	12	.	.	PROPN
alkej-926	158	13	20	20	NUM
alkej-926	158	14	,	,	PUNCT
alkej-926	158	15	no.3	no.3	VERB
alkej-926	158	16	,	,	PUNCT
alkej-926	158	17	p.p	p.p	PROPN
alkej-926	158	18	.	.	NOUN
alkej-926	158	19	1119(2024	1119(2024	NUM
alkej-926	158	20	)	)	PUNCT
alkej-926	158	21	17	17	NUM
alkej-926	158	22	table	table	NOUN
alkej-926	158	23	4	4	NUM
alkej-926	158	24	,	,	PUNCT
alkej-926	158	25	transient	transient	ADJ
alkej-926	158	26	specifications	specification	NOUN
alkej-926	158	27	for	for	ADP
alkej-926	158	28	pitch	pitch	NOUN
alkej-926	158	29	model	model	NOUN
alkej-926	158	30	for	for	ADP
alkej-926	158	31	uncertainty	uncertainty	NOUN
alkej-926	158	32	case	case	NOUN
alkej-926	158	33	.	.	PUNCT
alkej-926	159	1	table	table	NOUN
alkej-926	159	2	5	5	NUM
alkej-926	159	3	,	,	PUNCT
alkej-926	159	4	transient	transient	ADJ
alkej-926	159	5	specifications	specification	NOUN
alkej-926	159	6	for	for	ADP
alkej-926	159	7	yaw	yaw	NOUN
alkej-926	159	8	model	model	NOUN
alkej-926	159	9	for	for	ADP
alkej-926	159	10	uncertainty	uncertainty	NOUN
alkej-926	159	11	case	case	NOUN
alkej-926	159	12	.	.	PUNCT
alkej-926	160	1	5	5	X
alkej-926	160	2	.	.	X
alkej-926	160	3	conclusion	conclusion	NOUN
alkej-926	160	4	this	this	DET
alkej-926	160	5	paper	paper	NOUN
alkej-926	160	6	proposes	propose	VERB
alkej-926	160	7	a	a	DET
alkej-926	160	8	new	new	ADJ
alkej-926	160	9	robust	robust	ADJ
alkej-926	160	10	and	and	CCONJ
alkej-926	160	11	simple	simple	ADJ
alkej-926	160	12	control	control	NOUN
alkej-926	160	13	method	method	NOUN
alkej-926	160	14	based	base	VERB
alkej-926	160	15	pi	pi	NOUN
alkej-926	160	16	and	and	CCONJ
alkej-926	160	17	state	state	NOUN
alkej-926	160	18	feedback	feedback	NOUN
alkej-926	160	19	controllers	controller	NOUN
alkej-926	160	20	with	with	ADP
alkej-926	160	21	state	state	NOUN
alkej-926	160	22	and	and	CCONJ
alkej-926	160	23	disturbance	disturbance	NOUN
alkej-926	160	24	observers	observer	NOUN
alkej-926	160	25	for	for	ADP
alkej-926	160	26	a	a	DET
alkej-926	160	27	2	2	NUM
alkej-926	160	28	-	-	PUNCT
alkej-926	160	29	dof	dof	NOUN
alkej-926	160	30	helicopter	helicopter	NOUN
alkej-926	160	31	system	system	NOUN
alkej-926	160	32	.	.	PUNCT
alkej-926	161	1	the	the	DET
alkej-926	161	2	system	system	NOUN
alkej-926	161	3	norm	norm	NOUN
alkej-926	161	4	is	be	AUX
alkej-926	161	5	used	use	VERB
alkej-926	161	6	as	as	ADP
alkej-926	161	7	a	a	DET
alkej-926	161	8	cost	cost	NOUN
alkej-926	161	9	function	function	NOUN
alkej-926	161	10	to	to	PART
alkej-926	161	11	tune	tune	VERB
alkej-926	161	12	the	the	DET
alkej-926	161	13	parameters	parameter	NOUN
alkej-926	161	14	of	of	ADP
alkej-926	161	15	the	the	DET
alkej-926	161	16	proposed	propose	VERB
alkej-926	161	17	controller	controller	NOUN
alkej-926	161	18	and	and	CCONJ
alkej-926	161	19	ensure	ensure	VERB
alkej-926	161	20	the	the	DET
alkej-926	161	21	robustness	robustness	NOUN
alkej-926	161	22	of	of	ADP
alkej-926	161	23	the	the	DET
alkej-926	161	24	proposed	propose	VERB
alkej-926	161	25	control	control	NOUN
alkej-926	161	26	method	method	NOUN
alkej-926	161	27	against	against	ADP
alkej-926	161	28	external	external	ADJ
alkej-926	161	29	disturbance	disturbance	NOUN
alkej-926	161	30	and	and	CCONJ
alkej-926	161	31	system	system	NOUN
alkej-926	161	32	uncertainty	uncertainty	NOUN
alkej-926	161	33	.	.	PUNCT
alkej-926	162	1	three	three	NUM
alkej-926	162	2	cases	case	NOUN
alkej-926	162	3	were	be	AUX
alkej-926	162	4	used	use	VERB
alkej-926	162	5	to	to	PART
alkej-926	162	6	examine	examine	VERB
alkej-926	162	7	the	the	DET
alkej-926	162	8	efficiency	efficiency	NOUN
alkej-926	162	9	and	and	CCONJ
alkej-926	162	10	robustness	robustness	NOUN
alkej-926	162	11	of	of	ADP
alkej-926	162	12	the	the	DET
alkej-926	162	13	proposed	propose	VERB
alkej-926	162	14	controller	controller	NOUN
alkej-926	162	15	.	.	PUNCT
alkej-926	163	1	simulation	simulation	NOUN
alkej-926	163	2	results	result	NOUN
alkej-926	163	3	show	show	VERB
alkej-926	163	4	the	the	DET
alkej-926	163	5	high	high	ADJ
alkej-926	163	6	ability	ability	NOUN
alkej-926	163	7	of	of	ADP
alkej-926	163	8	the	the	DET
alkej-926	163	9	proposed	propose	VERB
alkej-926	163	10	method	method	NOUN
alkej-926	163	11	to	to	PART
alkej-926	163	12	reject	reject	VERB
alkej-926	163	13	the	the	DET
alkej-926	163	14	external	external	ADJ
alkej-926	163	15	disturbance	disturbance	NOUN
alkej-926	163	16	and	and	CCONJ
alkej-926	163	17	good	good	ADJ
alkej-926	163	18	performance	performance	NOUN
alkej-926	163	19	in	in	ADP
alkej-926	163	20	the	the	DET
alkej-926	163	21	presence	presence	NOUN
alkej-926	163	22	of	of	ADP
alkej-926	163	23	system	system	NOUN
alkej-926	163	24	uncertainty	uncertainty	NOUN
alkej-926	163	25	.	.	PUNCT
alkej-926	164	1	6	6	NUM
alkej-926	164	2	.	.	NUM
alkej-926	164	3	references	reference	NOUN
alkej-926	164	4	[	[	X
alkej-926	164	5	1	1	NUM
alkej-926	164	6	]	]	PUNCT
alkej-926	164	7	h.	h.	PROPN
alkej-926	164	8	liu	liu	PROPN
alkej-926	164	9	,	,	PUNCT
alkej-926	164	10	“	"	PUNCT
alkej-926	164	11	trajectory	trajectory	NOUN
alkej-926	164	12	tracking	tracking	NOUN
alkej-926	164	13	control	control	NOUN
alkej-926	164	14	for	for	ADP
alkej-926	164	15	a	a	DET
alkej-926	164	16	quadrotor	quadrotor	NOUN
alkej-926	164	17	helicopter	helicopter	NOUN
alkej-926	164	18	in	in	ADP
alkej-926	164	19	the	the	DET
alkej-926	164	20	presence	presence	NOUN
alkej-926	164	21	of	of	ADP
alkej-926	164	22	cyber	cyber	NOUN
alkej-926	164	23	-	-	PUNCT
alkej-926	164	24	attacks	attack	NOUN
alkej-926	164	25	,	,	PUNCT
alkej-926	164	26	”	"	PUNCT
alkej-926	164	27	isa	isa	PROPN
alkej-926	164	28	trans	trans	PROPN
alkej-926	164	29	.	.	PROPN
alkej-926	164	30	,	,	PUNCT
alkej-926	164	31	vol	vol	NOUN
alkej-926	164	32	.	.	PUNCT
alkej-926	165	1	143	143	NUM
alkej-926	165	2	,	,	PUNCT
alkej-926	165	3	pp	pp	ADJ
alkej-926	165	4	.	.	PUNCT
alkej-926	166	1	1–9	1–9	NUM
alkej-926	166	2	,	,	PUNCT
alkej-926	166	3	dec	dec	PROPN
alkej-926	166	4	.	.	PROPN
alkej-926	166	5	2023	2023	NUM
alkej-926	166	6	.	.	PUNCT
alkej-926	167	1	[	[	X
alkej-926	167	2	2	2	NUM
alkej-926	167	3	]	]	PUNCT
alkej-926	167	4	b.	b.	PROPN
alkej-926	167	5	wang	wang	PROPN
alkej-926	167	6	,	,	PUNCT
alkej-926	167	7	x.	x.	PROPN
alkej-926	167	8	yu	yu	PROPN
alkej-926	167	9	,	,	PUNCT
alkej-926	167	10	l.	l.	PROPN
alkej-926	167	11	mu	mu	PROPN
alkej-926	167	12	,	,	PUNCT
alkej-926	167	13	and	and	CCONJ
alkej-926	167	14	y.	y.	PROPN
alkej-926	167	15	zhang	zhang	PROPN
alkej-926	167	16	,	,	PUNCT
alkej-926	167	17	“	"	PUNCT
alkej-926	167	18	disturbance	disturbance	NOUN
alkej-926	167	19	observer	observer	NOUN
alkej-926	167	20	-	-	PUNCT
alkej-926	167	21	based	base	VERB
alkej-926	167	22	adaptive	adaptive	ADJ
alkej-926	167	23	faulttolerant	faulttolerant	ADJ
alkej-926	167	24	control	control	NOUN
alkej-926	167	25	for	for	ADP
alkej-926	167	26	a	a	DET
alkej-926	167	27	quadrotor	quadrotor	NOUN
alkej-926	167	28	helicopter	helicopter	NOUN
alkej-926	167	29	subject	subject	NOUN
alkej-926	167	30	to	to	ADP
alkej-926	167	31	parametric	parametric	ADJ
alkej-926	167	32	uncertainties	uncertainty	NOUN
alkej-926	167	33	and	and	CCONJ
alkej-926	167	34	external	external	ADJ
alkej-926	167	35	disturbances	disturbance	NOUN
alkej-926	167	36	,	,	PUNCT
alkej-926	167	37	”	"	PUNCT
alkej-926	167	38	mech	mech	NOUN
alkej-926	167	39	.	.	PUNCT
alkej-926	168	1	syst	syst	PROPN
alkej-926	168	2	.	.	PUNCT
alkej-926	168	3	signal	signal	PROPN
alkej-926	168	4	process	process	NOUN
alkej-926	168	5	.	.	PUNCT
alkej-926	169	1	,	,	PUNCT
alkej-926	169	2	vol	vol	NOUN
alkej-926	169	3	.	.	PUNCT
alkej-926	170	1	120	120	NUM
alkej-926	170	2	,	,	PUNCT
alkej-926	170	3	pp	pp	ADJ
alkej-926	170	4	.	.	PUNCT
alkej-926	171	1	727–743	727–743	NUM
alkej-926	171	2	,	,	PUNCT
alkej-926	171	3	apr	apr	PROPN
alkej-926	171	4	.	.	PROPN
alkej-926	171	5	2019	2019	NUM
alkej-926	171	6	.	.	PUNCT
alkej-926	172	1	[	[	X
alkej-926	172	2	3	3	X
alkej-926	172	3	]	]	X
alkej-926	172	4	h.	h.	PROPN
alkej-926	172	5	mary	mary	PROPN
alkej-926	172	6	,	,	PUNCT
alkej-926	172	7	a.	a.	PROPN
alkej-926	172	8	h.	h.	PROPN
alkej-926	172	9	miry	miry	PROPN
alkej-926	172	10	,	,	PUNCT
alkej-926	172	11	and	and	CCONJ
alkej-926	172	12	m.	m.	PROPN
alkej-926	172	13	h.	h.	PROPN
alkej-926	172	14	miry	miry	PROPN
alkej-926	172	15	,	,	PUNCT
alkej-926	172	16	“	"	PUNCT
alkej-926	172	17	design	design	VERB
alkej-926	172	18	robust	robust	ADJ
alkej-926	172	19	h	h	NOUN
alkej-926	172	20	∞	∞	PROPN
alkej-926	172	21	-pid	-pid	PUNCT
alkej-926	172	22	controller	controller	NOUN
alkej-926	172	23	for	for	ADP
alkej-926	172	24	a	a	DET
alkej-926	172	25	helicopter	helicopter	NOUN
alkej-926	172	26	system	system	NOUN
alkej-926	172	27	using	use	VERB
alkej-926	172	28	sequential	sequential	ADJ
alkej-926	172	29	quadratic	quadratic	ADJ
alkej-926	172	30	programming	programming	NOUN
alkej-926	172	31	algorithm	algorithm	NOUN
alkej-926	172	32	,	,	PUNCT
alkej-926	172	33	”	"	PUNCT
alkej-926	172	34	j.	j.	PROPN
alkej-926	172	35	chinese	chinese	PROPN
alkej-926	172	36	inst	inst	PROPN
alkej-926	172	37	.	.	PUNCT
alkej-926	173	1	eng	eng	PROPN
alkej-926	173	2	.	.	PROPN
alkej-926	173	3	,	,	PUNCT
alkej-926	173	4	vol	vol	NOUN
alkej-926	173	5	.	.	PROPN
alkej-926	174	1	45	45	NUM
alkej-926	174	2	,	,	PUNCT
alkej-926	174	3	no	no	INTJ
alkej-926	174	4	.	.	NOUN
alkej-926	174	5	8	8	NUM
alkej-926	174	6	,	,	PUNCT
alkej-926	174	7	pp	pp	ADJ
alkej-926	174	8	.	.	PUNCT
alkej-926	175	1	688–696	688–696	NUM
alkej-926	175	2	,	,	PUNCT
alkej-926	175	3	nov	nov	PROPN
alkej-926	175	4	.	.	PROPN
alkej-926	175	5	2022	2022	NUM
alkej-926	175	6	.	.	PUNCT
alkej-926	176	1	[	[	X
alkej-926	176	2	4	4	X
alkej-926	176	3	]	]	PUNCT
alkej-926	176	4	p.	p.	NOUN
alkej-926	176	5	nuthi	nuthi	PROPN
alkej-926	176	6	and	and	CCONJ
alkej-926	176	7	k.	k.	PROPN
alkej-926	176	8	subbarao	subbarao	PROPN
alkej-926	176	9	,	,	PUNCT
alkej-926	176	10	“	"	PUNCT
alkej-926	176	11	experimental	experimental	ADJ
alkej-926	176	12	verification	verification	NOUN
alkej-926	176	13	of	of	ADP
alkej-926	176	14	linear	linear	PROPN
alkej-926	176	15	and	and	CCONJ
alkej-926	176	16	adaptive	adaptive	ADJ
alkej-926	176	17	control	control	NOUN
alkej-926	176	18	techniques	technique	NOUN
alkej-926	176	19	for	for	ADP
alkej-926	176	20	a	a	DET
alkej-926	176	21	two	two	NUM
alkej-926	176	22	degrees	degree	NOUN
alkej-926	176	23	-	-	PUNCT
alkej-926	176	24	of	of	ADP
alkej-926	176	25	-	-	PUNCT
alkej-926	176	26	freedom	freedom	NOUN
alkej-926	176	27	helicopter	helicopter	NOUN
alkej-926	176	28	,	,	PUNCT
alkej-926	176	29	”	"	PUNCT
alkej-926	176	30	j.	j.	PROPN
alkej-926	176	31	dyn	dyn	PROPN
alkej-926	176	32	.	.	PUNCT
alkej-926	177	1	syst	syst	PROPN
alkej-926	177	2	.	.	PUNCT
alkej-926	178	1	meas	meas	PROPN
alkej-926	178	2	.	.	PUNCT
alkej-926	179	1	control	control	NOUN
alkej-926	179	2	,	,	PUNCT
alkej-926	179	3	vol	vol	NOUN
alkej-926	179	4	.	.	PROPN
alkej-926	179	5	137	137	NUM
alkej-926	179	6	,	,	PUNCT
alkej-926	179	7	no	no	INTJ
alkej-926	179	8	.	.	NOUN
alkej-926	179	9	6	6	NUM
alkej-926	179	10	,	,	PUNCT
alkej-926	179	11	jun	jun	PROPN
alkej-926	179	12	.	.	PROPN
alkej-926	179	13	2015	2015	NUM
alkej-926	179	14	.	.	PUNCT
alkej-926	180	1	[	[	X
alkej-926	180	2	5	5	NUM
alkej-926	180	3	]	]	PUNCT
alkej-926	180	4	r.	r.	PROPN
alkej-926	180	5	ganapathy	ganapathy	PROPN
alkej-926	180	6	subramanian	subramanian	PROPN
alkej-926	180	7	and	and	CCONJ
alkej-926	180	8	v.	v.	PROPN
alkej-926	180	9	k.	k.	PROPN
alkej-926	180	10	elumalai	elumalai	PROPN
alkej-926	180	11	,	,	PUNCT
alkej-926	180	12	“	"	PUNCT
alkej-926	180	13	robust	robust	ADJ
alkej-926	180	14	mrac	mrac	NOUN
alkej-926	180	15	augmented	augment	VERB
alkej-926	180	16	baseline	baseline	NOUN
alkej-926	180	17	lqr	lqr	NOUN
alkej-926	180	18	for	for	ADP
alkej-926	180	19	tracking	tracking	NOUN
alkej-926	180	20	control	control	NOUN
alkej-926	180	21	of	of	ADP
alkej-926	180	22	2	2	NUM
alkej-926	180	23	dof	dof	NOUN
alkej-926	180	24	helicopter	helicopter	NOUN
alkej-926	180	25	,	,	PUNCT
alkej-926	180	26	”	"	PUNCT
alkej-926	180	27	rob	rob	PROPN
alkej-926	180	28	.	.	PUNCT
alkej-926	181	1	auton	auton	PROPN
alkej-926	181	2	.	.	PUNCT
alkej-926	182	1	syst	syst	PROPN
alkej-926	182	2	.	.	PUNCT
alkej-926	182	3	,	,	PUNCT
alkej-926	182	4	vol	vol	NOUN
alkej-926	182	5	.	.	PROPN
alkej-926	182	6	86	86	NUM
alkej-926	182	7	,	,	PUNCT
alkej-926	182	8	pp	pp	ADJ
alkej-926	182	9	.	.	PUNCT
alkej-926	183	1	70–77	70–77	NUM
alkej-926	183	2	,	,	PUNCT
alkej-926	183	3	dec	dec	PROPN
alkej-926	183	4	.	.	PROPN
alkej-926	183	5	2016	2016	NUM
alkej-926	183	6	.	.	PUNCT
alkej-926	184	1	[	[	X
alkej-926	184	2	6	6	NUM
alkej-926	184	3	]	]	PUNCT
alkej-926	184	4	s.	s.	PROPN
alkej-926	184	5	karthick	karthick	PROPN
alkej-926	184	6	,	,	PUNCT
alkej-926	184	7	s.	s.	PROPN
alkej-926	184	8	kanthalakshmi	kanthalakshmi	PROPN
alkej-926	184	9	,	,	PUNCT
alkej-926	184	10	e.	e.	PROPN
alkej-926	184	11	vinodh	vinodh	PROPN
alkej-926	184	12	kumar	kumar	PROPN
alkej-926	184	13	,	,	PUNCT
alkej-926	184	14	v.	v.	PROPN
alkej-926	184	15	joshi	joshi	PROPN
alkej-926	184	16	kumar	kumar	PROPN
alkej-926	184	17	,	,	PUNCT
alkej-926	184	18	and	and	CCONJ
alkej-926	184	19	a.	a.	PROPN
alkej-926	184	20	ezhil	ezhil	PROPN
alkej-926	184	21	kumaran	kumaran	PROPN
alkej-926	184	22	,	,	PUNCT
alkej-926	184	23	“	"	PUNCT
alkej-926	184	24	experimental	experimental	ADJ
alkej-926	184	25	validation	validation	NOUN
alkej-926	184	26	of	of	ADP
alkej-926	184	27	adaptive	adaptive	ADJ
alkej-926	184	28	augmented	augment	VERB
alkej-926	184	29	lqi	lqi	VERB
alkej-926	184	30	control	control	NOUN
alkej-926	184	31	for	for	ADP
alkej-926	184	32	a	a	DET
alkej-926	184	33	2	2	NUM
alkej-926	184	34	dof	dof	NOUN
alkej-926	184	35	helicopter	helicopter	NOUN
alkej-926	184	36	,	,	PUNCT
alkej-926	184	37	”	"	PUNCT
alkej-926	184	38	iete	iete	PROPN
alkej-926	184	39	j.	j.	PROPN
alkej-926	184	40	res	res	PROPN
alkej-926	184	41	.	.	PROPN
alkej-926	184	42	,	,	PUNCT
alkej-926	184	43	pp	pp	PROPN
alkej-926	184	44	.	.	PUNCT
alkej-926	185	1	1–13	1–13	NOUN
alkej-926	185	2	,	,	PUNCT
alkej-926	185	3	nov	nov	PROPN
alkej-926	185	4	.	.	PROPN
alkej-926	185	5	2022	2022	NUM
alkej-926	185	6	.	.	PUNCT
alkej-926	186	1	[	[	X
alkej-926	186	2	7	7	X
alkej-926	186	3	]	]	X
alkej-926	186	4	t.	t.	PROPN
alkej-926	186	5	kara	kara	PROPN
alkej-926	186	6	and	and	CCONJ
alkej-926	186	7	a.	a.	PROPN
alkej-926	186	8	h.	h.	PROPN
alkej-926	186	9	mary	mary	PROPN
alkej-926	186	10	,	,	PUNCT
alkej-926	186	11	“	"	PUNCT
alkej-926	186	12	adaptive	adaptive	ADJ
alkej-926	186	13	pdsmc	pdsmc	NOUN
alkej-926	186	14	for	for	ADP
alkej-926	186	15	nonlinear	nonlinear	ADJ
alkej-926	186	16	robotic	robotic	ADJ
alkej-926	186	17	manipulator	manipulator	NOUN
alkej-926	186	18	tracking	tracking	NOUN
alkej-926	186	19	control	control	NOUN
alkej-926	186	20	,	,	PUNCT
alkej-926	186	21	”	"	PUNCT
alkej-926	186	22	stud	stud	NOUN
alkej-926	186	23	.	.	PUNCT
alkej-926	187	1	informatics	informatic	NOUN
alkej-926	187	2	control	control	PROPN
alkej-926	187	3	,	,	PUNCT
alkej-926	187	4	vol	vol	NOUN
alkej-926	187	5	.	.	PROPN
alkej-926	187	6	26	26	NUM
alkej-926	187	7	,	,	PUNCT
alkej-926	187	8	no	no	INTJ
alkej-926	187	9	.	.	NOUN
alkej-926	187	10	1	1	NUM
alkej-926	187	11	,	,	PUNCT
alkej-926	187	12	mar	mar	PROPN
alkej-926	187	13	.	.	PROPN
alkej-926	187	14	2017	2017	NUM
alkej-926	187	15	.	.	PUNCT
alkej-926	188	1	[	[	X
alkej-926	188	2	8	8	X
alkej-926	188	3	]	]	PUNCT
alkej-926	188	4	k.	k.	PROPN
alkej-926	188	5	r.	r.	PROPN
alkej-926	188	6	palepogu	palepogu	PROPN
alkej-926	188	7	and	and	CCONJ
alkej-926	188	8	s.	s.	PROPN
alkej-926	188	9	mahapatra	mahapatra	PROPN
alkej-926	188	10	,	,	PUNCT
alkej-926	188	11	“	"	PUNCT
alkej-926	188	12	design	design	NOUN
alkej-926	188	13	of	of	ADP
alkej-926	188	14	sliding	slide	VERB
alkej-926	188	15	mode	mode	NOUN
alkej-926	188	16	control	control	NOUN
alkej-926	188	17	with	with	ADP
alkej-926	188	18	state	state	NOUN
alkej-926	188	19	varying	vary	VERB
alkej-926	188	20	gains	gain	NOUN
alkej-926	188	21	for	for	ADP
alkej-926	188	22	a	a	DET
alkej-926	188	23	benchmark	benchmark	ADJ
alkej-926	188	24	twin	twin	PROPN
alkej-926	188	25	rotor	rotor	NOUN
alkej-926	188	26	mimo	mimo	PROPN
alkej-926	188	27	system	system	PROPN
alkej-926	188	28	in	in	ADP
alkej-926	188	29	horizontal	horizontal	ADJ
alkej-926	188	30	motion	motion	NOUN
alkej-926	188	31	,	,	PUNCT
alkej-926	188	32	”	"	PUNCT
alkej-926	188	33	eur	eur	PROPN
alkej-926	188	34	.	.	PUNCT
alkej-926	189	1	j.	j.	PROPN
alkej-926	189	2	control	control	PROPN
alkej-926	189	3	,	,	PUNCT
alkej-926	189	4	p.	p.	NOUN
alkej-926	189	5	100909	100909	NUM
alkej-926	189	6	,	,	PUNCT
alkej-926	189	7	oct	oct	PROPN
alkej-926	189	8	.	.	PROPN
alkej-926	189	9	2023	2023	NUM
alkej-926	189	10	.	.	PUNCT
alkej-926	190	1	[	[	X
alkej-926	190	2	9	9	NUM
alkej-926	190	3	]	]	PUNCT
alkej-926	190	4	t.	t.	PROPN
alkej-926	190	5	jiang	jiang	PROPN
alkej-926	190	6	,	,	PUNCT
alkej-926	190	7	d.	d.	PROPN
alkej-926	190	8	lin	lin	PROPN
alkej-926	190	9	,	,	PUNCT
alkej-926	190	10	and	and	CCONJ
alkej-926	190	11	t.	t.	NOUN
alkej-926	190	12	song	song	NOUN
alkej-926	190	13	,	,	PUNCT
alkej-926	190	14	“	"	PUNCT
alkej-926	190	15	novel	novel	ADJ
alkej-926	190	16	integral	integral	ADJ
alkej-926	190	17	sliding	slide	VERB
alkej-926	190	18	mode	mode	NOUN
alkej-926	190	19	control	control	NOUN
alkej-926	190	20	for	for	ADP
alkej-926	190	21	small	small	ADJ
alkej-926	190	22	-	-	PUNCT
alkej-926	190	23	scale	scale	NOUN
alkej-926	190	24	unmanned	unmanned	ADJ
alkej-926	190	25	helicopters	helicopter	NOUN
alkej-926	190	26	,	,	PUNCT
alkej-926	190	27	”	"	PUNCT
alkej-926	190	28	j.	j.	PROPN
alkej-926	190	29	franklin	franklin	PROPN
alkej-926	190	30	inst	inst	PROPN
alkej-926	190	31	.	.	PROPN
alkej-926	190	32	,	,	PUNCT
alkej-926	190	33	vol	vol	NOUN
alkej-926	190	34	.	.	PROPN
alkej-926	190	35	356	356	NUM
alkej-926	190	36	,	,	PUNCT
alkej-926	190	37	no	no	INTJ
alkej-926	190	38	.	.	NOUN
alkej-926	190	39	5	5	NUM
alkej-926	190	40	,	,	PUNCT
alkej-926	190	41	pp	pp	ADJ
alkej-926	190	42	.	.	PUNCT
alkej-926	190	43	2668–2689	2668–2689	NUM
alkej-926	190	44	,	,	PUNCT
alkej-926	190	45	mar	mar	PROPN
alkej-926	190	46	.	.	PROPN
alkej-926	190	47	2019	2019	NUM
alkej-926	190	48	.	.	PUNCT
alkej-926	191	1	[	[	X
alkej-926	191	2	10	10	NUM
alkej-926	191	3	]	]	X
alkej-926	191	4	w.	w.	PROPN
alkej-926	191	5	boukadida	boukadida	PROPN
alkej-926	191	6	,	,	PUNCT
alkej-926	191	7	a.	a.	NOUN
alkej-926	191	8	benamor	benamor	PROPN
alkej-926	191	9	,	,	PUNCT
alkej-926	191	10	h.	h.	PROPN
alkej-926	191	11	messaoud	messaoud	PROPN
alkej-926	191	12	,	,	PUNCT
alkej-926	191	13	and	and	CCONJ
alkej-926	191	14	p.	p.	NOUN
alkej-926	191	15	siarry	siarry	NOUN
alkej-926	191	16	,	,	PUNCT
alkej-926	191	17	“	"	PUNCT
alkej-926	191	18	multi	multi	ADJ
alkej-926	191	19	-	-	ADJ
alkej-926	191	20	objective	objective	ADJ
alkej-926	191	21	design	design	NOUN
alkej-926	191	22	of	of	ADP
alkej-926	191	23	optimal	optimal	ADJ
alkej-926	191	24	higher	high	ADJ
alkej-926	191	25	order	order	NOUN
alkej-926	191	26	sliding	slide	VERB
alkej-926	191	27	mode	mode	NOUN
alkej-926	191	28	control	control	NOUN
alkej-926	191	29	for	for	ADP
alkej-926	191	30	robust	robust	ADJ
alkej-926	191	31	tracking	tracking	NOUN
alkej-926	191	32	of	of	ADP
alkej-926	191	33	2	2	NUM
alkej-926	191	34	-	-	PUNCT
alkej-926	191	35	dof	dof	NOUN
alkej-926	191	36	helicopter	helicopter	NOUN
alkej-926	191	37	system	system	NOUN
alkej-926	191	38	based	base	VERB
alkej-926	191	39	on	on	ADP
alkej-926	191	40	metaheuristics	metaheuristic	NOUN
alkej-926	191	41	,	,	PUNCT
alkej-926	191	42	”	"	PUNCT
alkej-926	191	43	aerosp	aerosp	PROPN
alkej-926	191	44	.	.	PUNCT
alkej-926	192	1	sci	sci	PROPN
alkej-926	192	2	.	.	PROPN
alkej-926	192	3	technol	technol	PROPN
alkej-926	192	4	.	.	PROPN
alkej-926	192	5	,	,	PUNCT
alkej-926	192	6	vol	vol	NOUN
alkej-926	192	7	.	.	PROPN
alkej-926	192	8	91	91	NUM
alkej-926	192	9	,	,	PUNCT
alkej-926	193	1	pp	pp	ADJ
alkej-926	193	2	.	.	PUNCT
alkej-926	194	1	442–455	442–455	NUM
alkej-926	194	2	,	,	PUNCT
alkej-926	194	3	aug	aug	PROPN
alkej-926	194	4	.	.	PROPN
alkej-926	194	5	2019	2019	NUM
alkej-926	194	6	.	.	PUNCT
alkej-926	195	1	[	[	X
alkej-926	195	2	11	11	NUM
alkej-926	195	3	]	]	PUNCT
alkej-926	195	4	s.	s.	PROPN
alkej-926	195	5	m.	m.	PROPN
alkej-926	195	6	schlanbusch	schlanbusch	PROPN
alkej-926	195	7	and	and	CCONJ
alkej-926	195	8	j.	j.	PROPN
alkej-926	195	9	zhou	zhou	PROPN
alkej-926	195	10	,	,	PUNCT
alkej-926	195	11	“	"	PUNCT
alkej-926	195	12	adaptive	adaptive	ADJ
alkej-926	195	13	predictor	predictor	NOUN
alkej-926	195	14	-	-	PUNCT
alkej-926	195	15	based	base	VERB
alkej-926	195	16	control	control	NOUN
alkej-926	195	17	for	for	ADP
alkej-926	195	18	a	a	DET
alkej-926	195	19	helicopter	helicopter	NOUN
alkej-926	195	20	system	system	NOUN
alkej-926	195	21	with	with	ADP
alkej-926	195	22	input	input	NOUN
alkej-926	195	23	delays	delay	NOUN
alkej-926	195	24	:	:	PUNCT
alkej-926	195	25	design	design	NOUN
alkej-926	195	26	and	and	CCONJ
alkej-926	195	27	experiments	experiment	NOUN
alkej-926	195	28	,	,	PUNCT
alkej-926	195	29	”	"	PUNCT
alkej-926	195	30	j.	j.	PROPN
alkej-926	195	31	autom	autom	PROPN
alkej-926	195	32	.	.	PUNCT
alkej-926	196	1	intell	intell	PROPN
alkej-926	196	2	.	.	PUNCT
alkej-926	196	3	,	,	PUNCT
alkej-926	196	4	feb	feb	PROPN
alkej-926	196	5	.	.	PROPN
alkej-926	196	6	2024	2024	NUM
alkej-926	196	7	.	.	PUNCT
alkej-926	197	1	[	[	X
alkej-926	197	2	12	12	NUM
alkej-926	197	3	]	]	X
alkej-926	197	4	f.	f.	PROPN
alkej-926	197	5	chen	chen	PROPN
alkej-926	197	6	,	,	PUNCT
alkej-926	197	7	r.	r.	PROPN
alkej-926	197	8	jiang	jiang	PROPN
alkej-926	197	9	,	,	PUNCT
alkej-926	197	10	c.	c.	PROPN
alkej-926	197	11	wen	wen	PROPN
alkej-926	197	12	,	,	PUNCT
alkej-926	197	13	and	and	CCONJ
alkej-926	197	14	r.	r.	PROPN
alkej-926	197	15	su	su	PROPN
alkej-926	197	16	,	,	PUNCT
alkej-926	197	17	“	"	PUNCT
alkej-926	197	18	selfrepairing	selfrepaire	VERB
alkej-926	197	19	control	control	NOUN
alkej-926	197	20	of	of	ADP
alkej-926	197	21	a	a	DET
alkej-926	197	22	helicopter	helicopter	NOUN
alkej-926	197	23	with	with	ADP
alkej-926	197	24	input	input	NOUN
alkej-926	197	25	time	time	NOUN
alkej-926	197	26	delay	delay	NOUN
alkej-926	197	27	via	via	ADP
alkej-926	197	28	adaptive	adaptive	ADJ
alkej-926	197	29	global	global	ADJ
alkej-926	197	30	sliding	slide	VERB
alkej-926	197	31	mode	mode	NOUN
alkej-926	197	32	control	control	NOUN
alkej-926	197	33	and	and	CCONJ
alkej-926	197	34	quantum	quantum	ADJ
alkej-926	197	35	logic	logic	NOUN
alkej-926	197	36	,	,	PUNCT
alkej-926	197	37	”	"	PUNCT
alkej-926	197	38	inf	inf	NOUN
alkej-926	197	39	.	.	PUNCT
alkej-926	198	1	sci	sci	PROPN
alkej-926	198	2	.	.	PUNCT
alkej-926	198	3	(	(	PUNCT
alkej-926	198	4	ny	ny	NOUN
alkej-926	198	5	)	)	PUNCT
alkej-926	198	6	.	.	PUNCT
alkej-926	198	7	,	,	PUNCT
alkej-926	198	8	vol	vol	NOUN
alkej-926	198	9	.	.	PROPN
alkej-926	198	10	316	316	NUM
alkej-926	198	11	,	,	PUNCT
alkej-926	198	12	pp	pp	ADJ
alkej-926	198	13	.	.	PUNCT
alkej-926	199	1	123–131	123–131	NUM
alkej-926	199	2	,	,	PUNCT
alkej-926	199	3	sep	sep	PROPN
alkej-926	199	4	.	.	PROPN
alkej-926	199	5	2015	2015	NUM
alkej-926	199	6	.	.	PUNCT
alkej-926	200	1	method	method	PROPN
alkej-926	200	2	𝑴𝒑	𝑴𝒑	PROPN
alkej-926	200	3	𝒕𝒓(sec	𝒕𝒓(sec	NOUN
alkej-926	200	4	)	)	PUNCT
alkej-926	200	5	𝒕𝒔(sec	𝒕𝒔(sec	NOUN
alkej-926	200	6	)	)	PUNCT
alkej-926	200	7	iae	iae	NOUN
alkej-926	200	8	proposed	propose	VERB
alkej-926	200	9	0.7765	0.7765	NUM
alkej-926	200	10	0.7224	0.7224	NUM
alkej-926	200	11	1.1940	1.1940	NUM
alkej-926	200	12	0.3812	0.3812	NUM
alkej-926	200	13	lqr	lqr	VERB
alkej-926	200	14	8.1564	8.1564	NUM
alkej-926	200	15	0.5406	0.5406	NUM
alkej-926	200	16	2.2564	2.2564	NUM
alkej-926	200	17	0.4538	0.4538	NUM
alkej-926	200	18	method	method	NOUN
alkej-926	200	19	𝑴𝒑	𝑴𝒑	PROPN
alkej-926	200	20	𝒕𝒓(sec	𝒕𝒓(sec	NOUN
alkej-926	200	21	)	)	PUNCT
alkej-926	200	22	𝒕𝒔(sec	𝒕𝒔(sec	NOUN
alkej-926	200	23	)	)	PUNCT
alkej-926	200	24	iae	iae	PROPN
alkej-926	200	25	proposed	propose	VERB
alkej-926	200	26	0.0028	0.0028	NUM
alkej-926	200	27	1.7858	1.7858	NUM
alkej-926	200	28	2.5102	2.5102	NUM
alkej-926	200	29	0.8252	0.8252	NUM
alkej-926	200	30	lqr	lqr	VERB
alkej-926	200	31	28.5498	28.5498	NUM
alkej-926	200	32	1.0329	1.0329	NUM
alkej-926	200	33	4.3388	4.3388	NUM
alkej-926	200	34	1.1384	1.1384	NUM
alkej-926	200	35	shatha	shatha	NOUN
alkej-926	200	36	abd	abd	PROPN
alkej-926	200	37	al	al	PROPN
alkej-926	200	38	kareem	kareem	PROPN
alkej-926	200	39	al	al	PROPN
alkej-926	200	40	-	-	PUNCT
alkej-926	200	41	khwarizmi	khwarizmi	PROPN
alkej-926	200	42	engineering	engineering	NOUN
alkej-926	200	43	journal	journal	PROPN
alkej-926	200	44	,	,	PUNCT
alkej-926	200	45	vol	vol	NOUN
alkej-926	200	46	.	.	PROPN
alkej-926	200	47	20	20	NUM
alkej-926	200	48	,	,	PUNCT
alkej-926	200	49	no.3	no.3	VERB
alkej-926	200	50	,	,	PUNCT
alkej-926	200	51	p.p	p.p	PROPN
alkej-926	200	52	.	.	NOUN
alkej-926	200	53	1119(2024	1119(2024	NUM
alkej-926	200	54	)	)	PUNCT
alkej-926	200	55	18	18	NUM
alkej-926	201	1	[	[	SYM
alkej-926	201	2	13	13	NUM
alkej-926	201	3	]	]	X
alkej-926	201	4	y.	y.	PROPN
alkej-926	201	5	zhu	zhu	PROPN
alkej-926	201	6	and	and	CCONJ
alkej-926	201	7	h.	h.	PROPN
alkej-926	201	8	zhao	zhao	PROPN
alkej-926	201	9	,	,	PUNCT
alkej-926	201	10	“	"	PUNCT
alkej-926	201	11	robust	robust	ADJ
alkej-926	201	12	control	control	NOUN
alkej-926	201	13	design	design	NOUN
alkej-926	201	14	for	for	ADP
alkej-926	201	15	electric	electric	ADJ
alkej-926	201	16	helicopter	helicopter	NOUN
alkej-926	201	17	tail	tail	NOUN
alkej-926	201	18	deceleration	deceleration	NOUN
alkej-926	201	19	system	system	NOUN
alkej-926	201	20	:	:	PUNCT
alkej-926	201	21	fuzzy	fuzzy	ADJ
alkej-926	201	22	view	view	NOUN
alkej-926	201	23	and	and	CCONJ
alkej-926	201	24	stackelberg	stackelberg	PROPN
alkej-926	201	25	game	game	NOUN
alkej-926	201	26	theory	theory	NOUN
alkej-926	201	27	-	-	PUNCT
alkej-926	201	28	based	base	VERB
alkej-926	201	29	optimization	optimization	NOUN
alkej-926	201	30	,	,	PUNCT
alkej-926	201	31	”	"	PUNCT
alkej-926	201	32	isa	isa	PROPN
alkej-926	201	33	trans	trans	PROPN
alkej-926	201	34	.	.	PROPN
alkej-926	201	35	,	,	PUNCT
alkej-926	201	36	vol	vol	NOUN
alkej-926	201	37	.	.	PROPN
alkej-926	201	38	145	145	NUM
alkej-926	201	39	,	,	PUNCT
alkej-926	201	40	pp	pp	ADJ
alkej-926	201	41	.	.	PUNCT
alkej-926	202	1	51–62	51–62	NUM
alkej-926	202	2	,	,	PUNCT
alkej-926	202	3	feb	feb	PROPN
alkej-926	202	4	.	.	PROPN
alkej-926	202	5	2024	2024	NUM
alkej-926	202	6	.	.	PUNCT
alkej-926	203	1	[	[	X
alkej-926	203	2	14	14	NUM
alkej-926	203	3	]	]	PUNCT
alkej-926	203	4	m.	m.	NOUN
alkej-926	203	5	raghappriya	raghappriya	PROPN
alkej-926	203	6	and	and	CCONJ
alkej-926	203	7	s.	s.	PROPN
alkej-926	203	8	kanthalakshmi	kanthalakshmi	PROPN
alkej-926	203	9	,	,	PUNCT
alkej-926	203	10	“	"	PUNCT
alkej-926	203	11	particle	particle	NOUN
alkej-926	203	12	filter	filter	NOUN
alkej-926	203	13	-	-	PUNCT
alkej-926	203	14	based	base	VERB
alkej-926	203	15	adaptive	adaptive	ADJ
alkej-926	203	16	super	super	ADJ
alkej-926	203	17	-	-	ADJ
alkej-926	203	18	twisting	twisting	ADJ
alkej-926	203	19	sliding	slide	VERB
alkej-926	203	20	mode	mode	NOUN
alkej-926	203	21	fault	fault	NOUN
alkej-926	203	22	-	-	PUNCT
alkej-926	203	23	tolerant	tolerant	ADJ
alkej-926	203	24	control	control	NOUN
alkej-926	203	25	for	for	ADP
alkej-926	203	26	helicopter	helicopter	NOUN
alkej-926	203	27	systems	system	NOUN
alkej-926	203	28	,	,	PUNCT
alkej-926	203	29	”	"	PUNCT
alkej-926	203	30	int	int	NOUN
alkej-926	203	31	.	.	PUNCT
alkej-926	204	1	j.	j.	PROPN
alkej-926	204	2	dyn	dyn	PROPN
alkej-926	204	3	.	.	PUNCT
alkej-926	205	1	control	control	PROPN
alkej-926	205	2	,	,	PUNCT
alkej-926	205	3	nov	nov	PROPN
alkej-926	205	4	.	.	PROPN
alkej-926	205	5	2023	2023	NUM
alkej-926	205	6	.	.	PUNCT
alkej-926	206	1	[	[	X
alkej-926	206	2	15	15	NUM
alkej-926	206	3	]	]	PUNCT
alkej-926	206	4	t.	t.	PROPN
alkej-926	206	5	a.	a.	PROPN
alkej-926	206	6	mahmoud	mahmoud	PROPN
alkej-926	206	7	,	,	PUNCT
alkej-926	206	8	m.	m.	NOUN
alkej-926	206	9	el	el	PROPN
alkej-926	206	10	-	-	PROPN
alkej-926	206	11	hossainy	hossainy	PROPN
alkej-926	206	12	,	,	PUNCT
alkej-926	206	13	b.	b.	PROPN
alkej-926	206	14	abozalam	abozalam	PROPN
alkej-926	206	15	,	,	PUNCT
alkej-926	206	16	and	and	CCONJ
alkej-926	206	17	r.	r.	PROPN
alkej-926	206	18	shalaby	shalaby	PROPN
alkej-926	206	19	,	,	PUNCT
alkej-926	206	20	“	"	PUNCT
alkej-926	206	21	fractional	fractional	ADJ
alkej-926	206	22	-	-	PUNCT
alkej-926	206	23	order	order	NOUN
alkej-926	206	24	fuzzy	fuzzy	ADJ
alkej-926	206	25	sliding	slide	VERB
alkej-926	206	26	mode	mode	NOUN
alkej-926	206	27	control	control	NOUN
alkej-926	206	28	of	of	ADP
alkej-926	206	29	uncertain	uncertain	ADJ
alkej-926	206	30	nonlinear	nonlinear	PROPN
alkej-926	206	31	mimo	mimo	PROPN
alkej-926	206	32	systems	system	NOUN
alkej-926	206	33	using	use	VERB
alkej-926	206	34	fractionalorder	fractionalorder	PROPN
alkej-926	206	35	reinforcement	reinforcement	NOUN
alkej-926	206	36	learning	learning	NOUN
alkej-926	206	37	,	,	PUNCT
alkej-926	206	38	”	"	PUNCT
alkej-926	206	39	complex	complex	ADJ
alkej-926	206	40	intell	intell	NOUN
alkej-926	206	41	.	.	PUNCT
alkej-926	207	1	syst	syst	PROPN
alkej-926	207	2	.	.	PROPN
alkej-926	207	3	,	,	PUNCT
alkej-926	207	4	jan	jan	PROPN
alkej-926	207	5	.	.	PROPN
alkej-926	207	6	2024	2024	NUM
alkej-926	207	7	.	.	PUNCT
alkej-926	208	1	[	[	X
alkej-926	208	2	16	16	NUM
alkej-926	208	3	]	]	PUNCT
alkej-926	208	4	a.	a.	PROPN
alkej-926	208	5	h.	h.	PROPN
alkej-926	208	6	mary	mary	PROPN
alkej-926	208	7	,	,	PUNCT
alkej-926	208	8	t.	t.	PROPN
alkej-926	208	9	kara	kara	PROPN
alkej-926	208	10	,	,	PUNCT
alkej-926	208	11	and	and	CCONJ
alkej-926	208	12	a.	a.	PROPN
alkej-926	208	13	h.	h.	PROPN
alkej-926	208	14	miry	miry	PROPN
alkej-926	208	15	,	,	PUNCT
alkej-926	208	16	“	"	PUNCT
alkej-926	208	17	inverse	inverse	ADJ
alkej-926	208	18	kinematics	kinematic	NOUN
alkej-926	208	19	solution	solution	NOUN
alkej-926	208	20	for	for	ADP
alkej-926	208	21	robotic	robotic	ADJ
alkej-926	208	22	manipulators	manipulator	NOUN
alkej-926	208	23	based	base	VERB
alkej-926	208	24	on	on	ADP
alkej-926	208	25	fuzzy	fuzzy	ADJ
alkej-926	208	26	logic	logic	NOUN
alkej-926	208	27	and	and	CCONJ
alkej-926	208	28	pd	pd	PROPN
alkej-926	208	29	control	control	NOUN
alkej-926	208	30	,	,	PUNCT
alkej-926	208	31	”	"	PUNCT
alkej-926	208	32	in	in	ADP
alkej-926	208	33	2016	2016	NUM
alkej-926	208	34	al	al	PROPN
alkej-926	208	35	-	-	PUNCT
alkej-926	208	36	sadeq	sadeq	ADJ
alkej-926	208	37	international	international	ADJ
alkej-926	208	38	conference	conference	NOUN
alkej-926	208	39	on	on	ADP
alkej-926	208	40	multidisciplinary	multidisciplinary	NOUN
alkej-926	208	41	in	in	ADP
alkej-926	208	42	it	it	PRON
alkej-926	208	43	and	and	CCONJ
alkej-926	208	44	communication	communication	NOUN
alkej-926	208	45	science	science	NOUN
alkej-926	208	46	and	and	CCONJ
alkej-926	208	47	applications	application	NOUN
alkej-926	208	48	(	(	PUNCT
alkej-926	208	49	aic	aic	PROPN
alkej-926	208	50	-	-	PUNCT
alkej-926	208	51	mitcsa	mitcsa	ADJ
alkej-926	208	52	)	)	PUNCT
alkej-926	208	53	,	,	PUNCT
alkej-926	208	54	may	may	AUX
alkej-926	208	55	2016	2016	NUM
alkej-926	208	56	,	,	PUNCT
alkej-926	208	57	pp	pp	ADV
alkej-926	208	58	.	.	PUNCT
alkej-926	209	1	1–6	1–6	X
alkej-926	209	2	.	.	PUNCT
alkej-926	210	1	[	[	X
alkej-926	210	2	17	17	NUM
alkej-926	210	3	]	]	PUNCT
alkej-926	210	4	m.	m.	NOUN
alkej-926	210	5	m.	m.	PROPN
alkej-926	210	6	a.	a.	PROPN
alkej-926	210	7	al	al	PROPN
alkej-926	210	8	-	-	PUNCT
alkej-926	210	9	isawi	isawi	PROPN
alkej-926	210	10	,	,	PUNCT
alkej-926	210	11	a.	a.	PROPN
alkej-926	210	12	j.	j.	PROPN
alkej-926	210	13	attiya	attiya	PROPN
alkej-926	210	14	,	,	PUNCT
alkej-926	210	15	and	and	CCONJ
alkej-926	210	16	j.	j.	PROPN
alkej-926	210	17	o.	o.	PROPN
alkej-926	210	18	adoghe	adoghe	PROPN
alkej-926	210	19	,	,	PUNCT
alkej-926	210	20	“	"	PUNCT
alkej-926	210	21	uav	uav	PROPN
alkej-926	210	22	control	control	NOUN
alkej-926	210	23	based	base	VERB
alkej-926	210	24	on	on	ADP
alkej-926	210	25	dual	dual	ADJ
alkej-926	210	26	lqr	lqr	NOUN
alkej-926	210	27	and	and	CCONJ
alkej-926	210	28	fuzzy	fuzzy	ADJ
alkej-926	210	29	-	-	PUNCT
alkej-926	210	30	pid	pid	NOUN
alkej-926	210	31	controller	controller	NOUN
alkej-926	210	32	,	,	PUNCT
alkej-926	210	33	”	"	PUNCT
alkej-926	210	34	alkhwarizmi	alkhwarizmi	NOUN
alkej-926	210	35	eng	eng	PROPN
alkej-926	210	36	.	.	PUNCT
alkej-926	211	1	j.	j.	PROPN
alkej-926	211	2	,	,	PUNCT
alkej-926	211	3	vol	vol	NOUN
alkej-926	211	4	.	.	PROPN
alkej-926	211	5	16	16	NUM
alkej-926	211	6	,	,	PUNCT
alkej-926	211	7	no	no	INTJ
alkej-926	211	8	.	.	NOUN
alkej-926	211	9	3	3	NUM
alkej-926	211	10	,	,	PUNCT
alkej-926	211	11	pp	pp	ADJ
alkej-926	211	12	.	.	PUNCT
alkej-926	212	1	43–53	43–53	NUM
alkej-926	212	2	,	,	PUNCT
alkej-926	212	3	sep	sep	PROPN
alkej-926	212	4	.	.	PUNCT
alkej-926	212	5	2020	2020	NUM
alkej-926	212	6	.	.	PUNCT
alkej-926	213	1	[	[	X
alkej-926	213	2	18	18	NUM
alkej-926	213	3	]	]	X
alkej-926	213	4	s.	s.	PROPN
alkej-926	213	5	naderi	naderi	PROPN
alkej-926	213	6	,	,	PUNCT
alkej-926	213	7	m.	m.	PROPN
alkej-926	213	8	j.	j.	PROPN
alkej-926	213	9	blondin	blondin	PROPN
alkej-926	213	10	,	,	PUNCT
alkej-926	213	11	and	and	CCONJ
alkej-926	213	12	b.	b.	PROPN
alkej-926	213	13	rezaie	rezaie	PROPN
alkej-926	213	14	,	,	PUNCT
alkej-926	213	15	“	"	PUNCT
alkej-926	213	16	optimizing	optimize	VERB
alkej-926	213	17	an	an	DET
alkej-926	213	18	adaptive	adaptive	ADJ
alkej-926	213	19	fuzzy	fuzzy	ADJ
alkej-926	213	20	logic	logic	NOUN
alkej-926	213	21	controller	controller	NOUN
alkej-926	213	22	of	of	ADP
alkej-926	213	23	a	a	DET
alkej-926	213	24	3	3	NUM
alkej-926	213	25	-	-	PUNCT
alkej-926	213	26	dof	dof	NOUN
alkej-926	213	27	helicopter	helicopter	NOUN
alkej-926	213	28	with	with	ADP
alkej-926	213	29	a	a	DET
alkej-926	213	30	modified	modify	VERB
alkej-926	213	31	pso	pso	NOUN
alkej-926	213	32	algorithm	algorithm	NOUN
alkej-926	213	33	,	,	PUNCT
alkej-926	213	34	”	"	PUNCT
alkej-926	213	35	int	int	NOUN
alkej-926	213	36	.	.	PUNCT
alkej-926	214	1	j.	j.	PROPN
alkej-926	214	2	dyn	dyn	PROPN
alkej-926	214	3	.	.	PUNCT
alkej-926	215	1	control	control	PROPN
alkej-926	215	2	,	,	PUNCT
alkej-926	215	3	vol	vol	NOUN
alkej-926	215	4	.	.	PROPN
alkej-926	215	5	11	11	NUM
alkej-926	215	6	,	,	PUNCT
alkej-926	215	7	no	no	INTJ
alkej-926	215	8	.	.	NOUN
alkej-926	215	9	4	4	NUM
alkej-926	215	10	,	,	PUNCT
alkej-926	215	11	pp	pp	ADJ
alkej-926	215	12	.	.	PUNCT
alkej-926	215	13	1895–1913	1895–1913	NUM
alkej-926	215	14	,	,	PUNCT
alkej-926	215	15	aug	aug	PROPN
alkej-926	215	16	.	.	PROPN
alkej-926	215	17	2023	2023	NUM
alkej-926	215	18	.	.	PUNCT
alkej-926	216	1	[	[	X
alkej-926	216	2	19	19	NUM
alkej-926	216	3	]	]	X
alkej-926	216	4	y.	y.	PROPN
alkej-926	216	5	hu	hu	PROPN
alkej-926	216	6	,	,	PUNCT
alkej-926	216	7	y.	y.	PROPN
alkej-926	216	8	yang	yang	PROPN
alkej-926	216	9	,	,	PUNCT
alkej-926	216	10	s.	s.	PROPN
alkej-926	216	11	li	li	PROPN
alkej-926	216	12	,	,	PUNCT
alkej-926	216	13	and	and	CCONJ
alkej-926	216	14	y.	y.	PROPN
alkej-926	216	15	zhou	zhou	PROPN
alkej-926	216	16	,	,	PUNCT
alkej-926	216	17	“	"	PUNCT
alkej-926	216	18	fuzzy	fuzzy	ADJ
alkej-926	216	19	controller	controller	NOUN
alkej-926	216	20	design	design	NOUN
alkej-926	216	21	of	of	ADP
alkej-926	216	22	micro	micro	ADJ
alkej-926	216	23	-	-	ADJ
alkej-926	216	24	unmanned	unmanned	ADJ
alkej-926	216	25	helicopter	helicopter	NOUN
alkej-926	216	26	relying	rely	VERB
alkej-926	216	27	on	on	ADP
alkej-926	216	28	improved	improve	VERB
alkej-926	216	29	genetic	genetic	ADJ
alkej-926	216	30	optimization	optimization	NOUN
alkej-926	216	31	algorithm	algorithm	NOUN
alkej-926	216	32	,	,	PUNCT
alkej-926	216	33	”	"	PUNCT
alkej-926	216	34	aerosp	aerosp	PROPN
alkej-926	216	35	.	.	PUNCT
alkej-926	217	1	sci	sci	PROPN
alkej-926	217	2	.	.	PROPN
alkej-926	217	3	technol	technol	PROPN
alkej-926	217	4	.	.	PROPN
alkej-926	217	5	,	,	PUNCT
alkej-926	217	6	vol	vol	NOUN
alkej-926	217	7	.	.	PROPN
alkej-926	217	8	98	98	NUM
alkej-926	217	9	,	,	PUNCT
alkej-926	217	10	p.	p.	NOUN
alkej-926	217	11	105685	105685	NUM
alkej-926	217	12	,	,	PUNCT
alkej-926	217	13	mar	mar	PROPN
alkej-926	217	14	.	.	PROPN
alkej-926	217	15	2020	2020	NUM
alkej-926	217	16	.	.	PUNCT
alkej-926	218	1	[	[	X
alkej-926	218	2	20	20	NUM
alkej-926	218	3	]	]	X
alkej-926	218	4	f.	f.	PROPN
alkej-926	218	5	pakro	pakro	PROPN
alkej-926	218	6	and	and	CCONJ
alkej-926	218	7	a.	a.	NOUN
alkej-926	218	8	a.	a.	NOUN
alkej-926	218	9	nikkhah	nikkhah	PROPN
alkej-926	218	10	,	,	PUNCT
alkej-926	218	11	“	"	PUNCT
alkej-926	218	12	a	a	DET
alkej-926	218	13	fuzzy	fuzzy	ADJ
alkej-926	218	14	adaptive	adaptive	ADJ
alkej-926	218	15	controller	controller	NOUN
alkej-926	218	16	design	design	NOUN
alkej-926	218	17	for	for	ADP
alkej-926	218	18	integrated	integrate	VERB
alkej-926	218	19	guidance	guidance	NOUN
alkej-926	218	20	and	and	CCONJ
alkej-926	218	21	control	control	NOUN
alkej-926	218	22	of	of	ADP
alkej-926	218	23	a	a	DET
alkej-926	218	24	nonlinear	nonlinear	ADJ
alkej-926	218	25	model	model	NOUN
alkej-926	218	26	helicopter	helicopter	NOUN
alkej-926	218	27	,	,	PUNCT
alkej-926	218	28	”	"	PUNCT
alkej-926	218	29	int	int	NOUN
alkej-926	218	30	.	.	PUNCT
alkej-926	219	1	j.	j.	PROPN
alkej-926	219	2	dyn	dyn	PROPN
alkej-926	219	3	.	.	PUNCT
alkej-926	220	1	control	control	PROPN
alkej-926	220	2	,	,	PUNCT
alkej-926	220	3	vol	vol	NOUN
alkej-926	220	4	.	.	PROPN
alkej-926	220	5	11	11	NUM
alkej-926	220	6	,	,	PUNCT
alkej-926	220	7	no	no	INTJ
alkej-926	220	8	.	.	NOUN
alkej-926	220	9	2	2	NUM
alkej-926	220	10	,	,	PUNCT
alkej-926	220	11	pp	pp	ADJ
alkej-926	220	12	.	.	PUNCT
alkej-926	221	1	701–716	701–716	NOUN
alkej-926	221	2	,	,	PUNCT
alkej-926	221	3	apr	apr	NOUN
alkej-926	221	4	.	.	PROPN
alkej-926	221	5	2023	2023	NUM
alkej-926	221	6	.	.	PUNCT
alkej-926	222	1	[	[	X
alkej-926	222	2	21	21	NUM
alkej-926	222	3	]	]	PUNCT
alkej-926	222	4	m.	m.	NOUN
alkej-926	222	5	s.	s.	PROPN
alkej-926	222	6	ahmed	ahmed	PROPN
alkej-926	222	7	,	,	PUNCT
alkej-926	222	8	a.	a.	PROPN
alkej-926	222	9	h.	h.	PROPN
alkej-926	222	10	m.	m.	PROPN
alkej-926	222	11	mary	mary	PROPN
alkej-926	222	12	,	,	PUNCT
alkej-926	222	13	and	and	CCONJ
alkej-926	222	14	h.	h.	PROPN
alkej-926	222	15	h.	h.	PROPN
alkej-926	222	16	jasim	jasim	PROPN
alkej-926	222	17	,	,	PUNCT
alkej-926	222	18	“	"	PUNCT
alkej-926	222	19	robust	robust	ADJ
alkej-926	222	20	computed	compute	VERB
alkej-926	222	21	torque	torque	NOUN
alkej-926	222	22	control	control	NOUN
alkej-926	222	23	for	for	ADP
alkej-926	222	24	uncertain	uncertain	ADJ
alkej-926	222	25	robotic	robotic	ADJ
alkej-926	222	26	manipulators	manipulator	NOUN
alkej-926	222	27	,	,	PUNCT
alkej-926	222	28	”	"	PUNCT
alkej-926	222	29	alkhwarizmi	alkhwarizmi	NOUN
alkej-926	222	30	eng	eng	PROPN
alkej-926	222	31	.	.	PUNCT
alkej-926	223	1	j.	j.	PROPN
alkej-926	223	2	,	,	PUNCT
alkej-926	223	3	vol	vol	NOUN
alkej-926	223	4	.	.	PROPN
alkej-926	223	5	17	17	NUM
alkej-926	223	6	,	,	PUNCT
alkej-926	223	7	no	no	INTJ
alkej-926	223	8	.	.	NOUN
alkej-926	223	9	3	3	NUM
alkej-926	223	10	,	,	PUNCT
alkej-926	223	11	pp	pp	ADJ
alkej-926	223	12	.	.	PUNCT
alkej-926	224	1	22–28	22–28	NUM
alkej-926	224	2	,	,	PUNCT
alkej-926	224	3	sep	sep	PROPN
alkej-926	224	4	.	.	PROPN
alkej-926	224	5	2021	2021	NUM
alkej-926	224	6	.	.	PUNCT
alkej-926	225	1	[	[	X
alkej-926	225	2	22	22	NUM
alkej-926	225	3	]	]	X
alkej-926	225	4	f.	f.	PROPN
alkej-926	225	5	gopmandal	gopmandal	PROPN
alkej-926	225	6	and	and	CCONJ
alkej-926	225	7	a.	a.	PROPN
alkej-926	225	8	ghosh	ghosh	PROPN
alkej-926	225	9	,	,	PUNCT
alkej-926	225	10	“	"	PUNCT
alkej-926	225	11	lqr	lqr	NOUN
alkej-926	225	12	-	-	PUNCT
alkej-926	225	13	based	base	VERB
alkej-926	225	14	mimo	mimo	PROPN
alkej-926	225	15	pid	pid	PROPN
alkej-926	225	16	control	control	NOUN
alkej-926	225	17	of	of	ADP
alkej-926	225	18	a	a	DET
alkej-926	225	19	2	2	NUM
alkej-926	225	20	-	-	PUNCT
alkej-926	225	21	dof	dof	NOUN
alkej-926	225	22	helicopter	helicopter	NOUN
alkej-926	225	23	system	system	NOUN
alkej-926	225	24	with	with	ADP
alkej-926	225	25	uncertain	uncertain	ADJ
alkej-926	225	26	cross	cross	ADJ
alkej-926	225	27	-	-	ADJ
alkej-926	225	28	coupled	couple	VERB
alkej-926	225	29	gain	gain	NOUN
alkej-926	225	30	,	,	PUNCT
alkej-926	225	31	”	"	PUNCT
alkej-926	225	32	ifac	ifac	NOUN
alkej-926	225	33	-	-	PUNCT
alkej-926	225	34	papersonline	papersonline	NOUN
alkej-926	225	35	,	,	PUNCT
alkej-926	225	36	vol	vol	NOUN
alkej-926	225	37	.	.	PROPN
alkej-926	226	1	55	55	NUM
alkej-926	226	2	,	,	PUNCT
alkej-926	226	3	no	no	INTJ
alkej-926	226	4	.	.	NOUN
alkej-926	226	5	22	22	NUM
alkej-926	226	6	,	,	PUNCT
alkej-926	226	7	pp	pp	ADJ
alkej-926	226	8	.	.	PUNCT
alkej-926	227	1	183–188	183–188	NUM
alkej-926	227	2	,	,	PUNCT
alkej-926	227	3	2022	2022	NUM
alkej-926	227	4	.	.	PUNCT
alkej-926	228	1	[	[	X
alkej-926	228	2	23	23	NUM
alkej-926	228	3	]	]	X
alkej-926	228	4	r.	r.	PROPN
alkej-926	228	5	shalaby	shalaby	PROPN
alkej-926	228	6	,	,	PUNCT
alkej-926	228	7	m.	m.	PROPN
alkej-926	228	8	el	el	PROPN
alkej-926	228	9	-	-	PUNCT
alkej-926	228	10	hossainy	hossainy	PROPN
alkej-926	228	11	,	,	PUNCT
alkej-926	228	12	b.	b.	PROPN
alkej-926	228	13	abo	abo	PROPN
alkej-926	228	14	-	-	PUNCT
alkej-926	228	15	zalam	zalam	PROPN
alkej-926	228	16	,	,	PUNCT
alkej-926	228	17	and	and	CCONJ
alkej-926	228	18	t.	t.	PROPN
alkej-926	228	19	a.	a.	PROPN
alkej-926	228	20	mahmoud	mahmoud	PROPN
alkej-926	228	21	,	,	PUNCT
alkej-926	228	22	“	"	PUNCT
alkej-926	228	23	optimal	optimal	ADJ
alkej-926	228	24	fractionalorder	fractionalorder	ADJ
alkej-926	228	25	pid	pid	NOUN
alkej-926	228	26	controller	controller	NOUN
alkej-926	228	27	based	base	VERB
alkej-926	228	28	on	on	ADP
alkej-926	228	29	fractionalorder	fractionalorder	PROPN
alkej-926	228	30	actor	actor	NOUN
alkej-926	228	31	-	-	PUNCT
alkej-926	228	32	critic	critic	NOUN
alkej-926	228	33	algorithm	algorithm	NOUN
alkej-926	228	34	,	,	PUNCT
alkej-926	228	35	”	"	PUNCT
alkej-926	228	36	neural	neural	ADJ
alkej-926	228	37	comput	comput	NOUN
alkej-926	228	38	.	.	PUNCT
alkej-926	229	1	appl	appl	PROPN
alkej-926	229	2	.	.	PROPN
alkej-926	229	3	,	,	PUNCT
alkej-926	229	4	vol	vol	NOUN
alkej-926	229	5	.	.	PROPN
alkej-926	229	6	35	35	NUM
alkej-926	229	7	,	,	PUNCT
alkej-926	229	8	no	no	INTJ
alkej-926	229	9	.	.	NOUN
alkej-926	229	10	3	3	NUM
alkej-926	229	11	,	,	PUNCT
alkej-926	229	12	pp	pp	ADJ
alkej-926	229	13	.	.	PUNCT
alkej-926	230	1	2347	2347	NUM
alkej-926	230	2	–	–	PUNCT
alkej-926	230	3	2380	2380	NUM
alkej-926	230	4	,	,	PUNCT
alkej-926	230	5	jan	jan	PROPN
alkej-926	230	6	.	.	PROPN
alkej-926	230	7	2023	2023	NUM
alkej-926	230	8	.	.	PUNCT
alkej-926	231	1	[	[	X
alkej-926	231	2	24	24	NUM
alkej-926	231	3	]	]	PUNCT
alkej-926	231	4	s.	s.	PROPN
alkej-926	231	5	s.	s.	PROPN
alkej-926	231	6	butt	butt	PROPN
alkej-926	231	7	,	,	PUNCT
alkej-926	231	8	h.	h.	PROPN
alkej-926	231	9	sun	sun	PROPN
alkej-926	231	10	,	,	PUNCT
alkej-926	231	11	and	and	CCONJ
alkej-926	231	12	h.	h.	PROPN
alkej-926	231	13	aschemann	aschemann	PROPN
alkej-926	231	14	,	,	PUNCT
alkej-926	231	15	“	"	PUNCT
alkej-926	231	16	comparison	comparison	NOUN
alkej-926	231	17	of	of	ADP
alkej-926	231	18	backstepping	backstepping	NOUN
alkej-926	231	19	-	-	PUNCT
alkej-926	231	20	based	base	VERB
alkej-926	231	21	sliding	slide	VERB
alkej-926	231	22	mode	mode	NOUN
alkej-926	231	23	and	and	CCONJ
alkej-926	231	24	adaptive	adaptive	ADJ
alkej-926	231	25	backstepping	backstepping	NOUN
alkej-926	231	26	for	for	ADP
alkej-926	231	27	a	a	DET
alkej-926	231	28	robust	robust	ADJ
alkej-926	231	29	control	control	NOUN
alkej-926	231	30	of	of	ADP
alkej-926	231	31	a	a	DET
alkej-926	231	32	twin	twin	ADJ
alkej-926	231	33	rotor	rotor	NOUN
alkej-926	231	34	helicopter	helicopter	NOUN
alkej-926	231	35	,	,	PUNCT
alkej-926	231	36	”	"	PUNCT
alkej-926	231	37	2016	2016	NUM
alkej-926	231	38	,	,	PUNCT
alkej-926	231	39	pp	pp	ADJ
alkej-926	231	40	.	.	PUNCT
alkej-926	232	1	3–30	3–30	NOUN
alkej-926	232	2	.	.	PUNCT
alkej-926	233	1	[	[	X
alkej-926	233	2	25	25	NUM
alkej-926	233	3	]	]	PUNCT
alkej-926	233	4	l.	l.	PROPN
alkej-926	233	5	a.	a.	PROPN
alkej-926	233	6	ramírez	ramírez	PROPN
alkej-926	233	7	,	,	PUNCT
alkej-926	233	8	m.	m.	NOUN
alkej-926	233	9	a.	a.	PROPN
alkej-926	233	10	zuñiga	zuñiga	PROPN
alkej-926	233	11	,	,	PUNCT
alkej-926	233	12	g.	g.	PROPN
alkej-926	233	13	romero	romero	PROPN
alkej-926	233	14	,	,	PUNCT
alkej-926	233	15	e.	e.	PROPN
alkej-926	233	16	alcorta	alcorta	PROPN
alkej-926	233	17	-	-	PUNCT
alkej-926	233	18	garcía	garcía	ADJ
alkej-926	233	19	,	,	PUNCT
alkej-926	233	20	and	and	CCONJ
alkej-926	233	21	a.	a.	PROPN
alkej-926	233	22	j.	j.	PROPN
alkej-926	233	23	muñoz	muñoz	PROPN
alkej-926	233	24	-	-	PROPN
alkej-926	233	25	vázquez	vázquez	NOUN
alkej-926	233	26	,	,	PUNCT
alkej-926	233	27	“	"	PUNCT
alkej-926	233	28	fault	fault	VERB
alkej-926	233	29	diagnosis	diagnosis	NOUN
alkej-926	233	30	for	for	ADP
alkej-926	233	31	a	a	DET
alkej-926	233	32	class	class	NOUN
alkej-926	233	33	of	of	ADP
alkej-926	233	34	robotic	robotic	ADJ
alkej-926	233	35	systems	system	NOUN
alkej-926	233	36	with	with	ADP
alkej-926	233	37	application	application	NOUN
alkej-926	233	38	to	to	ADP
alkej-926	233	39	2	2	NUM
alkej-926	233	40	-	-	PUNCT
alkej-926	233	41	dof	dof	NOUN
alkej-926	233	42	helicopter	helicopter	NOUN
alkej-926	233	43	,	,	PUNCT
alkej-926	233	44	”	"	PUNCT
alkej-926	233	45	appl	appl	NOUN
alkej-926	233	46	.	.	PUNCT
alkej-926	234	1	sci	sci	PROPN
alkej-926	234	2	.	.	PROPN
alkej-926	234	3	,	,	PUNCT
alkej-926	234	4	vol	vol	NOUN
alkej-926	234	5	.	.	PROPN
alkej-926	234	6	10	10	NUM
alkej-926	234	7	,	,	PUNCT
alkej-926	234	8	no	no	INTJ
alkej-926	234	9	.	.	NOUN
alkej-926	234	10	23	23	NUM
alkej-926	234	11	,	,	PUNCT
alkej-926	234	12	p.	p.	NOUN
alkej-926	234	13	8359	8359	NUM
alkej-926	234	14	,	,	PUNCT
alkej-926	234	15	nov	nov	PROPN
alkej-926	234	16	.	.	PROPN
alkej-926	234	17	2020	2020	NUM
alkej-926	234	18	.	.	PUNCT
alkej-926	235	1	(	(	PUNCT
alkej-926	235	2	2024	2024	NUM
alkej-926	235	3	)	)	PUNCT
alkej-926	235	4	11	11	NUM
alkej-926	235	5	-	-	SYM
alkej-926	235	6	19	19	NUM
alkej-926	235	7	،	،	NOUN
alkej-926	235	8	صفحة	صفحة	PROPN
alkej-926	235	9	3	3	PROPN
alkej-926	235	10	،	،	X
alkej-926	235	11	العدد20مجلة	العدد20مجلة	PROPN
alkej-926	235	12	الخوارزمي	الخوارزمي	VERB
alkej-926	235	13	الهندسية	الهندسية	PROPN
alkej-926	235	14	المجلد	المجلد	VERB
alkej-926	236	1	شذى	شذى	PROPN
alkej-926	236	2	عبد	عبد	PROPN
alkej-926	236	3	الكريم	الكريم	NOUN
alkej-926	236	4	محمد	محمد	PROPN
alkej-926	236	5	19	19	NUM
alkej-926	236	6	رات	رات	NOUN
alkej-926	236	7	رد	رد	NOUN
alkej-926	236	8	الفعل	الفعل	PROPN
alkej-926	236	9	الراجع	الراجع	PROPN
alkej-926	237	1	مع	مع	PROPN
alkej-926	237	2	مراقب	مراقب	PROPN
alkej-926	238	1	االضطراب	االضطراب	PROPN
alkej-926	238	2	لنظام	لنظام	PROPN
alkej-926	238	3	طائ	طائ	VERB
alkej-926	238	4	و	و	PRON
alkej-926	238	5	piمتحكم	piمتحكم	VERB
alkej-926	238	6	التكامل	التكامل	PROPN
alkej-926	238	7	النسبي	النسبي	PROPN
alkej-926	238	8	المتين	المتين	PROPN
alkej-926	238	9	هليكوبتر	هليكوبتر	PROPN
alkej-926	238	10	تتحرك	تتحرك	VERB
alkej-926	238	11	بدرجتين	بدرجتين	NOUN
alkej-926	238	12	من	من	NUM
alkej-926	238	13	الحرية	الحرية	NOUN
alkej-926	238	14	*	*	PUNCT
alkej-926	239	1	*	*	PUNCT
alkej-926	240	1	*	*	PUNCT
alkej-926	240	2	*	*	PUNCT
alkej-926	240	3	محمد	محمد	ADJ
alkej-926	240	4	غفران	غفران	NOUN
alkej-926	240	5	خضر	خضر	ADJ
alkej-926	240	6	عبوش	عبوش	NOUN
alkej-926	240	7	،	،	NOUN
alkej-926	240	8	*	*	PUNCT
alkej-926	240	9	*	*	PUNCT
alkej-926	240	10	*	*	NOUN
alkej-926	240	11	علي	علي	NOUN
alkej-926	240	12	العبادي	العبادي	NOUN
alkej-926	240	13	،	،	NOUN
alkej-926	240	14	*	*	PUNCT
alkej-926	240	15	*	*	PUNCT
alkej-926	240	16	علي	علي	PROPN
alkej-926	240	17	حسين	حسين	X
alkej-926	240	18	مري	مري	PROPN
alkej-926	240	19	،	،	PROPN
alkej-926	240	20	*	*	PUNCT
alkej-926	241	1	شذى	شذى	PROPN
alkej-926	241	2	عبد	عبد	VERB
alkej-926	241	3	الكريم	الكريم	PROPN
alkej-926	241	4	محمد	محمد	PROPN
alkej-926	241	5	العراق	العراق	PROPN
alkej-926	241	6	بغداد،،جامعة	بغداد،،جامعة	PUNCT
alkej-926	241	7	بغداد	بغداد	PROPN
alkej-926	241	8	،	،	X
alkej-926	241	9	كلية	كلية	PROPN
alkej-926	241	10	الهندسة	الهندسة	PROPN
alkej-926	241	11	الخوارزمي	الخوارزمي	VERB
alkej-926	241	12	،	،	PROPN
alkej-926	241	13	*	*	PUNCT
alkej-926	241	14	*	*	PUNCT
alkej-926	241	15	قسم	قسم	PROPN
alkej-926	241	16	هندسة	هندسة	PROPN
alkej-926	241	17	الميكاترونكس	الميكاترونكس	PROPN
alkej-926	241	18	،	،	PROPN
alkej-926	241	19	*	*	PROPN
alkej-926	241	20	ألمانيا	ألمانيا	PROPN
alkej-926	241	21	،	،	PROPN
alkej-926	241	22	نجامعة	نجامعة	PROPN
alkej-926	241	23	فريدريش	فريدريش	ADJ
alkej-926	241	24	ألكسندر	ألكسندر	NOUN
alkej-926	241	25	*	*	PROPN
alkej-926	241	26	*	*	PUNCT
alkej-926	241	27	*	*	PUNCT
alkej-926	241	28	المجر	المجر	PROPN
alkej-926	241	29	،	،	PROPN
alkej-926	241	30	قسم	قسم	PROPN
alkej-926	241	31	علوم	علوم	PROPN
alkej-926	241	32	البيانات	البيانات	PROPN
alkej-926	241	33	والتصور	والتصور	PROPN
alkej-926	241	34	،	،	PROPN
alkej-926	241	35	جامعة	جامعة	PROPN
alkej-926	241	36	ديبريسين	ديبريسين	PROPN
alkej-926	241	37	*	*	NOUN
alkej-926	241	38	*	*	PUNCT
alkej-926	241	39	*	*	PUNCT
alkej-926	241	40	*	*	PUNCT
alkej-926	241	41	shatha.mohammed1602@kecbu.uobaghdad.edu.iqالبريد	shatha.mohammed1602@kecbu.uobaghdad.edu.iqالبريد	ADJ
alkej-926	241	42	االلكتروني	االلكتروني	NOUN
alkej-926	241	43	:	:	PUNCT
alkej-926	241	44	*	*	PUNCT
alkej-926	241	45	kecbu.uobaghdad.edu.iq76alimary@**البريد	kecbu.uobaghdad.edu.iq76alimary@**البريد	NOUN
alkej-926	241	46	االلكتروني	االلكتروني	NOUN
alkej-926	241	47	:	:	PUNCT
alkej-926	241	48	abadi@fau.de-ali.al	abadi@fau.de-ali.al	PROPN
alkej-926	241	49	*	*	PUNCT
alkej-926	241	50	البريد	البريد	VERB
alkej-926	241	51	االلكتروني	االلكتروني	NOUN
alkej-926	241	52	:*	:*	PROPN
alkej-926	241	53	*	*	PROPN
alkej-926	241	54	abboosh.mohammed@inf.unideb.huااللكتروني	abboosh.mohammed@inf.unideb.huااللكتروني	PROPN
alkej-926	241	55	:	:	PUNCT
alkej-926	241	56	البريد	البريد	NOUN
alkej-926	241	57	*	*	PUNCT
alkej-926	241	58	*	*	PUNCT
alkej-926	241	59	*	*	PUNCT
alkej-926	241	60	*	*	PUNCT
alkej-926	241	61	المستخلص	المستخلص	ADJ
alkej-926	242	1	مراقب	مراقب	NOUN
alkej-926	242	2	مع	مع	X
alkej-926	242	3	(	(	PUNCT
alkej-926	242	4	sfb	sfb	PROPN
alkej-926	242	5	)	)	PUNCT
alkej-926	242	6	لراجعووحدة	لراجعووحدة	ADJ
alkej-926	242	7	التحكم	التحكم	NOUN
alkej-926	242	8	في	في	ADP
alkej-926	242	9	رد	رد	NOUN
alkej-926	242	10	الفعل	الفعل	PROPN
alkej-926	242	11	ا	ا	X
alkej-926	242	12	(	(	PUNCT
alkej-926	242	13	piالتكامل	piالتكامل	NOUN
alkej-926	242	14	النسبي	النسبي	PROPN
alkej-926	242	15	)	)	PUNCT
alkej-926	242	16	متحكم	متحكم	NOUN
alkej-926	242	17	على	على	NOUN
alkej-926	242	18	قائمة	قائمة	PROPN
alkej-926	242	19	تحكم	تحكم	VERB
alkej-926	242	20	جديدة	جديدة	NOUN
alkej-926	242	21	مثالية	مثالية	PROPN
alkej-926	242	22	ومتينة	ومتينة	VERB
alkej-926	242	23	تقدم	تقدم	PROPN
alkej-926	242	24	هذه	هذه	PROPN
alkej-926	242	25	الورقة	الورقة	PROPN
alkej-926	242	26	خوارزمية	خوارزمية	PROPN
alkej-926	242	27	م	م	PROPN
alkej-926	242	28	ال	ال	ADP
alkej-926	242	29	من	من	PROPN
alkej-926	242	30	استخداقترحة	استخداقترحة	PROPN
alkej-926	242	31	،	،	PROPN
alkej-926	242	32	بدالمتم	بدالمتم	PROPN
alkej-926	242	33	استخدام	استخدام	PROPN
alkej-926	242	34	مراقب	مراقب	PROPN
alkej-926	242	35	االضطراب	االضطراب	PROPN
alkej-926	242	36	لتحسين	لتحسين	PROPN
alkej-926	242	37	متانة	متانة	ADJ
alkej-926	242	38	وحدة	وحدة	NOUN
alkej-926	242	39	التحكم	التحكم	NOUN
alkej-926	242	40	تتحرك	تتحرك	VERB
alkej-926	242	41	بدرجتين	بدرجتين	NOUN
alkej-926	242	42	من	من	PROPN
alkej-926	242	43	الحرية	الحرية	NOUN
alkej-926	242	44	.	.	PUNCT
alkej-926	243	1	هليكوبتراضطراب	هليكوبتراضطراب	ADJ
alkej-926	243	2	الحالة	الحالة	PROPN
alkej-926	243	3	لنظام	لنظام	PROPN
alkej-926	243	4	طائرات	طائرات	PROPN
alkej-926	243	5	لتحكم	لتحكم	PROPN
alkej-926	243	6	في	في	ADP
alkej-926	243	7	ردود	ردود	PROPN
alkej-926	243	8	الفعل	الفعل	PROPN
alkej-926	243	9	ووحدة	ووحدة	PROPN
alkej-926	243	10	ا	ا	X
alkej-926	243	11	piفي	piفي	ADV
alkej-926	243	12	حين	حين	PUNCT
alkej-926	243	13	تم	تم	NOUN
alkej-926	243	14	تحسين	تحسين	NOUN
alkej-926	243	15	أداء	أداء	PROPN
alkej-926	243	16	النظام	النظام	PROPN
alkej-926	243	17	المتحكم	المتحكم	PROPN
alkej-926	243	18	به	به	VERB
alkej-926	243	19	من	من	PRON
alkej-926	243	20	خالل	خالل	PROPN
alkej-926	243	21	الجمع	الجمع	PROPN
alkej-926	243	22	بين	بين	AUX
alkej-926	243	23	وحدة	وحدة	ADJ
alkej-926	243	24	التحكم	التحكم	NOUN
alkej-926	243	25	الكسب	الكسب	PROPN
alkej-926	243	26	العالي	العالي	NOUN
alkej-926	243	27	لرفض	لرفض	ADJ
alkej-926	243	28	االضطراب	االضطراب	PROPN
alkej-926	243	29	الخارجي	الخارجي	PROPN
alkej-926	243	30	.	.	PUNCT
alkej-926	244	1	ل	ل	X
alkej-926	245	1	التحقق	التحقق	NOUN
alkej-926	245	2	من	من	NOUN
alkej-926	245	3	أداء	أداء	NOUN
alkej-926	245	4	ومتانة	ومتانة	ADV
alkej-926	245	5	,	,	PUNCT
alkej-926	245	6	من	من	PRON
alkej-926	245	7	أجlqrتحكم	أجlqrتحكم	VERB
alkej-926	245	8	اللمقارنة	اللمقارنة	PROPN
alkej-926	245	9	وحدة	وحدة	PROPN
alkej-926	245	10	التحكم	التحكم	NOUN
alkej-926	245	11	المقترحة	المقترحة	PROPN
alkej-926	245	12	مع	مع	INTJ
alkej-926	245	13	وحدة	وحدة	ADJ
alkej-926	245	14	matlab	matlab	PROPN
alkej-926	245	15	2022تم	2022تم	PROPN
alkej-926	245	16	اجراء	اجراء	NOUN
alkej-926	245	17	عمليات	عمليات	VERB
alkej-926	245	18	محاكاة	محاكاة	PROPN
alkej-926	245	19	تعتمد	تعتمد	PROPN
alkej-926	245	20	على	على	PROPN
alkej-926	245	21	الخاصة	الخاصة	PROPN
alkej-926	245	22	بالحالة	بالحالة	NOUN
alkej-926	245	23	.	.	PUNCT
alkej-926	246	1	تظهر	تظهر	VERB
alkej-926	246	2	الخوارزمية	الخوارزمية	ADJ
alkej-926	246	3	ظام	ظام	PROPN
alkej-926	246	4	.	.	PUNCT
alkej-926	247	1	(	(	PUNCT
alkej-926	247	2	عدم	عدم	NOUN
alkej-926	247	3	يقين	يقين	NOUN
alkej-926	247	4	الن3	الن3	PROPN
alkej-926	247	5	(	(	PUNCT
alkej-926	247	6	رفض	رفض	ADV
alkej-926	247	7	االضطراب	االضطراب	PROPN
alkej-926	247	8	2	2	NUM
alkej-926	247	9	(	(	PUNCT
alkej-926	247	10	النموذج	النموذج	PROPN
alkej-926	247	11	االسمي	االسمي	PROPN
alkej-926	247	12	1تمت	1تمت	NUM
alkej-926	247	13	المقارنة	المقارنة	NOUN
alkej-926	247	14	بين	بين	VERB
alkej-926	247	15	المتحكمات	المتحكمات	VERB
alkej-926	247	16	في	في	ADP
alkej-926	247	17	ثالث	ثالث	PROPN
alkej-926	247	18	حاالت	حاالت	PROPN
alkej-926	247	19	:	:	PUNCT
alkej-926	247	20	.	.	PUNCT
alkej-926	248	1	المقترحةطريقة	المقترحةطريقة	NOUN
alkej-926	248	2	التحكم	التحكم	PROPN
alkej-926	248	3	ار	ار	PROPN
alkej-926	248	4	،	،	PROPN
alkej-926	248	5	رصغر	رصغر	PROPN
alkej-926	248	6	زمن	زمن	PROPN
alkej-926	248	7	استقاوز	استقاوز	PROPN
alkej-926	248	8	،	،	PROPN
alkej-926	248	9	وأالمقترحة	وأالمقترحة	PROPN
alkej-926	248	10	أداء	أداء	PROPN
alkej-926	248	11	جيد	جيد	PROPN
alkej-926	248	12	،	،	PROPN
alkej-926	248	13	والذي	والذي	PROPN
alkej-926	248	14	يمكن	يمكن	PROPN
alkej-926	248	15	تأكيده	تأكيده	PROPN
alkej-926	248	16	بوضوح	بوضوح	PROPN
alkej-926	248	17	من	من	PROPN
alkej-926	248	18	خالل	خالل	PROPN
alkej-926	248	19	نتائج	نتائج	PROPN
alkej-926	248	20	المحاكاة	المحاكاة	PROPN
alkej-926	248	21	التي	التي	PROPN
alkej-926	248	22	توضح	توضح	PROPN
alkej-926	248	23	المواصفات	المواصفات	PROPN
alkej-926	248	24	العابرة	العابرة	VERB
alkej-926	248	25	المتمثلة	المتمثلة	PROPN
alkej-926	248	26	في	في	SCONJ
alkej-926	248	27	عدم	عدم	NOUN
alkej-926	248	28	التج	التج	NOUN
alkej-926	248	29	ضمان	ضمان	PROPN
alkej-926	248	30	متانة	متانة	PROPN
alkej-926	248	31	ل	ل	PROPN
alkej-926	248	32	ة	ة	NOUN
alkej-926	248	33	الرياضيةاهية	الرياضيةاهية	PROPN
alkej-926	248	34	للدالالقاعدة	للدالالقاعدة	PROPN
alkej-926	249	1	الالمتنبناًء	الالمتنبناًء	PROPN
alkej-926	249	2	على	على	NOUN
alkej-926	249	3	الجيد	الجيد	NOUN
alkej-926	249	4	لدالة	لدالة	NOUN
alkej-926	249	5	الهدفختيار	الهدفختيار	PROPN
alkej-926	249	6	االوأصغر	االوأصغر	PROPN
alkej-926	249	7	خطأ	خطأ	PROPN
alkej-926	249	8	مربع	مربع	NOUN
alkej-926	249	9	متكامل	متكامل	NOUN
alkej-926	249	10	.	.	PUNCT
alkej-926	250	1	عالوة	عالوة	PROPN
alkej-926	250	2	على	على	PROPN
alkej-926	250	3	ذلك	ذلك	PROPN
alkej-926	250	4	،	،	PROPN
alkej-926	250	5	تشير	تشير	PROPN
alkej-926	250	6	هذه	هذه	PROPN
alkej-926	250	7	الخوارزمية	الخوارزمية	ADJ
alkej-926	250	8	إلى	إلى	NOUN
alkej-926	250	9	عالية	عالية	NOUN
alkej-926	250	10	بغض	بغض	PROPN
alkej-926	250	11	النظر	النظر	PROPN
alkej-926	250	12	عن	عن	PROPN
alkej-926	250	13	االضطرابات	االضطرابات	PROPN
alkej-926	250	14	الخارجية	الخارجية	PROPN
alkej-926	250	15	وتغيرات	وتغيرات	PROPN
alkej-926	250	16	المعلمات	المعلمات	VERB
alkej-926	250	17	في	في	ADP
alkej-926	250	18	النظام	النظام	PROPN
alkej-926	250	19	.	.	PUNCT
alkej-926	251	1			VERB
alkej-926	251	2	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-926	251	3	abstract	abstract	ADJ
alkej-926	251	4	1	1	NUM
alkej-926	251	5	.	.	PUNCT
alkej-926	251	6	introduction	introduction	NOUN
alkej-926	251	7	2	2	NUM
alkej-926	251	8	.	.	X
alkej-926	251	9	two	two	NUM
alkej-926	251	10	-	-	PUNCT
alkej-926	251	11	dof	dof	NOUN
alkej-926	251	12	helicopter	helicopter	NOUN
alkej-926	251	13	model	model	NOUN
alkej-926	251	14	3	3	NUM
alkej-926	251	15	.	.	PUNCT
alkej-926	251	16	proposed	propose	VERB
alkej-926	251	17	robust	robust	ADJ
alkej-926	251	18	pi	pi	NOUN
alkej-926	251	19	-	-	PUNCT
alkej-926	251	20	sfb	sfb	PROPN
alkej-926	251	21	controller	controller	NOUN
alkej-926	251	22	design	design	VERB
alkej-926	251	23	3.1	3.1	NUM
alkej-926	251	24	.	.	PUNCT
alkej-926	252	1	state	state	NOUN
alkej-926	252	2	feedback	feedback	NOUN
alkej-926	252	3	with	with	ADP
alkej-926	252	4	pi	pi	PROPN
alkej-926	252	5	3.2	3.2	NUM
alkej-926	252	6	.	.	PUNCT
alkej-926	253	1	proportional	proportional	ADJ
alkej-926	253	2	integral	integral	ADJ
alkej-926	253	3	disturbance	disturbance	NOUN
alkej-926	253	4	–	–	PUNCT
alkej-926	253	5	state	state	NOUN
alkej-926	253	6	observer	observer	NOUN
alkej-926	253	7	3.3	3.3	NUM
alkej-926	253	8	.	.	PUNCT
alkej-926	253	9	augmented	augment	VERB
alkej-926	253	10	sfb	sfb	PROPN
alkej-926	253	11	–	–	PUNCT
alkej-926	253	12	pi	pi	NOUN
alkej-926	253	13	control	control	NOUN
alkej-926	253	14	with	with	ADP
alkej-926	253	15	pio	pio	PROPN
alkej-926	253	16	4	4	NUM
alkej-926	253	17	.	.	PUNCT
alkej-926	253	18	simulation	simulation	NOUN
alkej-926	253	19	results	result	VERB
alkej-926	253	20	4.1	4.1	NUM
alkej-926	253	21	.	.	PUNCT
alkej-926	254	1	step	step	NOUN
alkej-926	254	2	reference	reference	NOUN
alkej-926	254	3	tracking	track	VERB
alkej-926	254	4	4.2	4.2	NUM
alkej-926	254	5	.	.	PUNCT
alkej-926	255	1	disturbance	disturbance	NOUN
alkej-926	255	2	rejection	rejection	NOUN
alkej-926	255	3	4.3	4.3	NUM
alkej-926	255	4	.	.	PUNCT
alkej-926	256	1	system	system	NOUN
alkej-926	256	2	uncertainty	uncertainty	NOUN
alkej-926	256	3	5	5	NUM
alkej-926	256	4	.	.	PUNCT
alkej-926	256	5	conclusion	conclusion	NOUN
alkej-926	256	6	6	6	NUM
alkej-926	256	7	.	.	PUNCT
alkej-926	256	8	references	reference	NOUN