id	sid	tid	token	lemma	pos
alkej-948	1	1	this	this	PRON
alkej-948	1	2	is	be	AUX
alkej-948	1	3	an	an	DET
alkej-948	1	4	open	open	ADJ
alkej-948	1	5	access	access	NOUN
alkej-948	1	6	article	article	NOUN
alkej-948	1	7	under	under	ADP
alkej-948	1	8	the	the	DET
alkej-948	1	9	cc	cc	NOUN
alkej-948	1	10	by	by	ADP
alkej-948	1	11	license	license	NOUN
alkej-948	1	12	:	:	PUNCT
alkej-948	1	13	al	al	PROPN
alkej-948	1	14	-	-	PUNCT
alkej-948	1	15	khwarizmi	khwarizmi	PROPN
alkej-948	1	16	engineering	engineering	PROPN
alkej-948	1	17	journal	journal	PROPN
alkej-948	1	18	al	al	PROPN
alkej-948	1	19	-	-	PUNCT
alkej-948	1	20	khwarizmi	khwarizmi	PROPN
alkej-948	1	21	engineering	engineering	PROPN
alkej-948	1	22	journal	journal	PROPN
alkej-948	1	23	issn	issn	PROPN
alkej-948	1	24	(	(	PUNCT
alkej-948	1	25	printed	print	VERB
alkej-948	1	26	):	):	PUNCT
alkej-948	1	27	1818	1818	NUM
alkej-948	1	28	–	–	PUNCT
alkej-948	1	29	1171	1171	NUM
alkej-948	1	30	,	,	PUNCT
alkej-948	1	31	issn	issn	PROPN
alkej-948	1	32	(	(	PUNCT
alkej-948	1	33	online	online	ADJ
alkej-948	1	34	):	):	PUNCT
alkej-948	1	35	2312	2312	NUM
alkej-948	1	36	–	–	PUNCT
alkej-948	1	37	0789	0789	NUM
alkej-948	1	38	vol	vol	NOUN
alkej-948	1	39	.	.	PROPN
alkej-948	1	40	21	21	NUM
alkej-948	1	41	,	,	PUNCT
alkej-948	1	42	no	no	INTJ
alkej-948	1	43	.	.	NOUN
alkej-948	1	44	3	3	NUM
alkej-948	1	45	,	,	PUNCT
alkej-948	1	46	september	september	PROPN
alkej-948	1	47	,	,	PUNCT
alkej-948	1	48	(	(	PUNCT
alkej-948	1	49	2025	2025	NUM
alkej-948	1	50	)	)	PUNCT
alkej-948	1	51	,	,	PUNCT
alkej-948	1	52	pp	pp	PROPN
alkej-948	1	53	.	.	PUNCT
alkej-948	1	54	6675	6675	NUM
alkej-948	1	55	studying	study	VERB
alkej-948	1	56	the	the	DET
alkej-948	1	57	effect	effect	NOUN
alkej-948	1	58	of	of	ADP
alkej-948	1	59	rotor	rotor	NOUN
alkej-948	1	60	’s	’s	PART
alkej-948	1	61	coefficients	coefficient	NOUN
alkej-948	1	62	on	on	ADP
alkej-948	1	63	a	a	DET
alkej-948	1	64	y	y	ADV
alkej-948	1	65	-	-	PUNCT
alkej-948	1	66	shaped	shape	VERB
alkej-948	1	67	tri	tri	ADJ
alkej-948	1	68	-	-	NOUN
alkej-948	1	69	copter	copter	NOUN
alkej-948	1	70	abdullah	abdullah	PROPN
alkej-948	1	71	mohammed	mohammed	PROPN
alkej-948	1	72	yahia1	yahia1	PROPN
alkej-948	1	73	*	*	PROPN
alkej-948	1	74	,	,	PUNCT
alkej-948	1	75	ahmed	ahmed	PROPN
alkej-948	1	76	alkamchi2	alkamchi2	PROPN
alkej-948	1	77	and	and	CCONJ
alkej-948	1	78	ergun	ergun	VERB
alkej-948	1	79	erçelebi3	erçelebi3	NOUN
alkej-948	1	80	1,2	1,2	NUM
alkej-948	1	81	department	department	NOUN
alkej-948	1	82	of	of	ADP
alkej-948	1	83	mechatronics	mechatronic	NOUN
alkej-948	1	84	,	,	PUNCT
alkej-948	1	85	al	al	PROPN
alkej-948	1	86	-	-	PUNCT
alkej-948	1	87	khwarizmi	khwarizmi	PROPN
alkej-948	1	88	college	college	PROPN
alkej-948	1	89	of	of	ADP
alkej-948	1	90	engineering	engineering	PROPN
alkej-948	1	91	,	,	PUNCT
alkej-948	1	92	university	university	NOUN
alkej-948	1	93	of	of	ADP
alkej-948	1	94	baghdad	baghdad	PROPN
alkej-948	1	95	,	,	PUNCT
alkej-948	1	96	baghdad	baghdad	PROPN
alkej-948	1	97	,	,	PUNCT
alkej-948	1	98	iraq	iraq	PROPN
alkej-948	1	99	3	3	NUM
alkej-948	1	100	electrical	electrical	ADJ
alkej-948	1	101	and	and	CCONJ
alkej-948	1	102	electronic	electronic	ADJ
alkej-948	1	103	department	department	NOUN
alkej-948	1	104	,	,	PUNCT
alkej-948	1	105	college	college	NOUN
alkej-948	1	106	of	of	ADP
alkej-948	1	107	engineering	engineering	PROPN
alkej-948	1	108	,	,	PUNCT
alkej-948	1	109	gaziantep	gaziantep	PROPN
alkej-948	1	110	university	university	PROPN
alkej-948	1	111	,	,	PUNCT
alkej-948	1	112	turkey	turkey	NOUN
alkej-948	1	113	*	*	PUNCT
alkej-948	1	114	corresponding	correspond	VERB
alkej-948	1	115	author	author	NOUN
alkej-948	1	116	’s	’s	PART
alkej-948	1	117	email	email	NOUN
alkej-948	1	118	:	:	PUNCT
alkej-948	1	119	abd.yahia2102m@kecbu.uobaghdad.iq	abd.yahia2102m@kecbu.uobaghdad.iq	PUNCT
alkej-948	1	120	(	(	PUNCT
alkej-948	1	121	received	receive	VERB
alkej-948	1	122	23	23	NUM
alkej-948	1	123	may	may	NOUN
alkej-948	1	124	2024	2024	NUM
alkej-948	1	125	;	;	PUNCT
alkej-948	1	126	revised	revise	VERB
alkej-948	1	127	21	21	NUM
alkej-948	1	128	october	october	PROPN
alkej-948	1	129	2024	2024	NUM
alkej-948	1	130	;	;	PUNCT
alkej-948	1	131	accepted	accept	VERB
alkej-948	1	132	28	28	NUM
alkej-948	1	133	december	december	PROPN
alkej-948	1	134	2024	2024	NUM
alkej-948	1	135	;	;	PUNCT
alkej-948	1	136	published	publish	VERB
alkej-948	1	137	1	1	NUM
alkej-948	1	138	september	september	PROPN
alkej-948	1	139	2025	2025	NUM
alkej-948	1	140	)	)	PUNCT
alkej-948	1	141	https://doi.org/10.22153/kej.2025.12.002	https://doi.org/10.22153/kej.2025.12.002	NOUN
alkej-948	1	142	abstract	abstract	ADJ
alkej-948	1	143	unmanned	unmanned	ADJ
alkej-948	1	144	aerial	aerial	ADJ
alkej-948	1	145	vehicles	vehicle	NOUN
alkej-948	1	146	(	(	PUNCT
alkej-948	1	147	uavs	uavs	NOUN
alkej-948	1	148	)	)	PUNCT
alkej-948	1	149	are	be	AUX
alkej-948	1	150	small	small	ADJ
alkej-948	1	151	yet	yet	CCONJ
alkej-948	1	152	highly	highly	ADV
alkej-948	1	153	capable	capable	ADJ
alkej-948	1	154	aircraft	aircraft	NOUN
alkej-948	1	155	widely	widely	ADV
alkej-948	1	156	used	use	VERB
alkej-948	1	157	in	in	ADP
alkej-948	1	158	many	many	ADJ
alkej-948	1	159	applications	application	NOUN
alkej-948	1	160	.	.	PUNCT
alkej-948	2	1	uav	uav	PROPN
alkej-948	2	2	designs	design	NOUN
alkej-948	2	3	and	and	CCONJ
alkej-948	2	4	shapes	shape	NOUN
alkej-948	2	5	vary	vary	VERB
alkej-948	2	6	depending	depend	VERB
alkej-948	2	7	on	on	ADP
alkej-948	2	8	their	their	PRON
alkej-948	2	9	intended	intend	VERB
alkej-948	2	10	usage	usage	NOUN
alkej-948	2	11	.	.	PUNCT
alkej-948	3	1	tri	tri	ADJ
alkej-948	3	2	-	-	NOUN
alkej-948	3	3	copters	copter	NOUN
alkej-948	3	4	,	,	PUNCT
alkej-948	3	5	known	know	VERB
alkej-948	3	6	for	for	ADP
alkej-948	3	7	their	their	PRON
alkej-948	3	8	agility	agility	NOUN
alkej-948	3	9	,	,	PUNCT
alkej-948	3	10	have	have	VERB
alkej-948	3	11	three	three	NUM
alkej-948	3	12	propellers	propeller	NOUN
alkej-948	3	13	.	.	PUNCT
alkej-948	4	1	however	however	ADV
alkej-948	4	2	,	,	PUNCT
alkej-948	4	3	one	one	NUM
alkej-948	4	4	of	of	ADP
alkej-948	4	5	their	their	PRON
alkej-948	4	6	main	main	ADJ
alkej-948	4	7	challenges	challenge	NOUN
alkej-948	4	8	is	be	AUX
alkej-948	4	9	yawing	yaw	VERB
alkej-948	4	10	,	,	PUNCT
alkej-948	4	11	which	which	PRON
alkej-948	4	12	occurs	occur	VERB
alkej-948	4	13	when	when	SCONJ
alkej-948	4	14	the	the	DET
alkej-948	4	15	uav	uav	PROPN
alkej-948	4	16	rotates	rotate	VERB
alkej-948	4	17	around	around	ADP
alkej-948	4	18	its	its	PRON
alkej-948	4	19	z	z	NOUN
alkej-948	4	20	-	-	PUNCT
alkej-948	4	21	axis	axis	NOUN
alkej-948	4	22	(	(	PUNCT
alkej-948	4	23	yaw	yaw	NOUN
alkej-948	4	24	angle	angle	NOUN
alkej-948	4	25	)	)	PUNCT
alkej-948	4	26	.	.	PUNCT
alkej-948	5	1	this	this	DET
alkej-948	5	2	yawing	yaw	VERB
alkej-948	5	3	issue	issue	NOUN
alkej-948	5	4	is	be	AUX
alkej-948	5	5	a	a	DET
alkej-948	5	6	result	result	NOUN
alkej-948	5	7	of	of	ADP
alkej-948	5	8	the	the	DET
alkej-948	5	9	asymmetry	asymmetry	NOUN
alkej-948	5	10	in	in	ADP
alkej-948	5	11	the	the	DET
alkej-948	5	12	number	number	NOUN
alkej-948	5	13	of	of	ADP
alkej-948	5	14	propellers	propeller	NOUN
alkej-948	5	15	.	.	PUNCT
alkej-948	6	1	unlike	unlike	ADP
alkej-948	6	2	quadcopters	quadcopter	NOUN
alkej-948	6	3	,	,	PUNCT
alkej-948	6	4	which	which	PRON
alkej-948	6	5	have	have	VERB
alkej-948	6	6	an	an	DET
alkej-948	6	7	even	even	ADJ
alkej-948	6	8	number	number	NOUN
alkej-948	6	9	of	of	ADP
alkej-948	6	10	propellers	propeller	NOUN
alkej-948	6	11	,	,	PUNCT
alkej-948	6	12	the	the	DET
alkej-948	6	13	aerodynamic	aerodynamic	ADJ
alkej-948	6	14	drag	drag	NOUN
alkej-948	6	15	torque	torque	NOUN
alkej-948	6	16	produced	produce	VERB
alkej-948	6	17	by	by	ADP
alkej-948	6	18	the	the	DET
alkej-948	6	19	tri	tri	PROPN
alkej-948	6	20	-	-	ADJ
alkej-948	6	21	copter	copter	NOUN
alkej-948	6	22	’s	’s	PART
alkej-948	6	23	propellers	propeller	NOUN
alkej-948	6	24	’	'	PUNCT
alkej-948	6	25	does	do	AUX
alkej-948	6	26	not	not	PART
alkej-948	6	27	cancel	cancel	VERB
alkej-948	6	28	out	out	ADP
alkej-948	6	29	.	.	PUNCT
alkej-948	7	1	in	in	ADP
alkej-948	7	2	this	this	DET
alkej-948	7	3	paper	paper	NOUN
alkej-948	7	4	,	,	PUNCT
alkej-948	7	5	a	a	DET
alkej-948	7	6	y	y	ADV
alkej-948	7	7	-	-	PUNCT
alkej-948	7	8	shaped	shape	VERB
alkej-948	7	9	tri	tri	ADJ
alkej-948	7	10	-	-	ADJ
alkej-948	7	11	copter	copter	NOUN
alkej-948	7	12	model	model	NOUN
alkej-948	7	13	is	be	AUX
alkej-948	7	14	tested	test	VERB
alkej-948	7	15	,	,	PUNCT
alkej-948	7	16	modified	modify	VERB
alkej-948	7	17	and	and	CCONJ
alkej-948	7	18	compared	compare	VERB
alkej-948	7	19	to	to	PART
alkej-948	7	20	address	address	VERB
alkej-948	7	21	the	the	DET
alkej-948	7	22	yawing	yawing	NOUN
alkej-948	7	23	problem	problem	NOUN
alkej-948	7	24	.	.	PUNCT
alkej-948	8	1	aiming	aim	VERB
alkej-948	8	2	to	to	PART
alkej-948	8	3	mitigate	mitigate	VERB
alkej-948	8	4	yawing	yawing	NOUN
alkej-948	8	5	,	,	PUNCT
alkej-948	8	6	two	two	NUM
alkej-948	8	7	propellers	propeller	NOUN
alkej-948	8	8	are	be	AUX
alkej-948	8	9	set	set	VERB
alkej-948	8	10	to	to	PART
alkej-948	8	11	rotate	rotate	VERB
alkej-948	8	12	clockwise	clockwise	NOUN
alkej-948	8	13	,	,	PUNCT
alkej-948	8	14	whilst	whilst	SCONJ
alkej-948	8	15	the	the	DET
alkej-948	8	16	third	third	ADJ
alkej-948	8	17	propeller	propeller	NOUN
alkej-948	8	18	rotates	rotate	VERB
alkej-948	8	19	clockwise	clockwise	NOUN
alkej-948	8	20	.	.	PUNCT
alkej-948	9	1	in	in	ADP
alkej-948	9	2	the	the	DET
alkej-948	9	3	first	first	ADJ
alkej-948	9	4	configuration	configuration	NOUN
alkej-948	9	5	,	,	PUNCT
alkej-948	9	6	the	the	DET
alkej-948	9	7	force	force	NOUN
alkej-948	9	8	coefficient	coefficient	NOUN
alkej-948	9	9	is	be	AUX
alkej-948	9	10	set	set	VERB
alkej-948	9	11	equally	equally	ADV
alkej-948	9	12	for	for	ADP
alkej-948	9	13	all	all	DET
alkej-948	9	14	propellers	propeller	NOUN
alkej-948	9	15	.	.	PUNCT
alkej-948	10	1	in	in	ADP
alkej-948	10	2	the	the	DET
alkej-948	10	3	second	second	ADJ
alkej-948	10	4	configuration	configuration	NOUN
alkej-948	10	5	,	,	PUNCT
alkej-948	10	6	the	the	DET
alkej-948	10	7	force	force	NOUN
alkej-948	10	8	coefficient	coefficient	NOUN
alkej-948	10	9	of	of	ADP
alkej-948	10	10	the	the	DET
alkej-948	10	11	counter	counter	NOUN
alkej-948	10	12	-	-	NOUN
alkej-948	10	13	clockwise	clockwise	NOUN
alkej-948	10	14	rotating	rotate	VERB
alkej-948	10	15	propeller	propeller	NOUN
alkej-948	10	16	is	be	AUX
alkej-948	10	17	doubled	double	VERB
alkej-948	10	18	.	.	PUNCT
alkej-948	11	1	the	the	DET
alkej-948	11	2	uav	uav	PROPN
alkej-948	11	3	model	model	NOUN
alkej-948	11	4	is	be	AUX
alkej-948	11	5	controlled	control	VERB
alkej-948	11	6	by	by	ADP
alkej-948	11	7	six	six	NUM
alkej-948	11	8	pids	pid	NOUN
alkej-948	11	9	associated	associate	VERB
alkej-948	11	10	with	with	ADP
alkej-948	11	11	feedback	feedback	NOUN
alkej-948	11	12	linearisation	linearisation	NOUN
alkej-948	11	13	for	for	ADP
alkej-948	11	14	both	both	DET
alkej-948	11	15	configurations	configuration	NOUN
alkej-948	11	16	—	—	PUNCT
alkej-948	11	17	three	three	NUM
alkej-948	11	18	pids	pid	NOUN
alkej-948	11	19	for	for	ADP
alkej-948	11	20	attitude	attitude	NOUN
alkej-948	11	21	control	control	NOUN
alkej-948	11	22	and	and	CCONJ
alkej-948	11	23	three	three	NUM
alkej-948	11	24	for	for	ADP
alkej-948	11	25	altitude	altitude	NOUN
alkej-948	11	26	control	control	NOUN
alkej-948	11	27	.	.	PUNCT
alkej-948	12	1	the	the	DET
alkej-948	12	2	pids	pid	NOUN
alkej-948	12	3	are	be	AUX
alkej-948	12	4	tuned	tune	VERB
alkej-948	12	5	using	use	VERB
alkej-948	12	6	a	a	DET
alkej-948	12	7	genetic	genetic	ADJ
alkej-948	12	8	algorithm	algorithm	NOUN
alkej-948	12	9	,	,	PUNCT
alkej-948	12	10	and	and	CCONJ
alkej-948	12	11	the	the	DET
alkej-948	12	12	system	system	NOUN
alkej-948	12	13	is	be	AUX
alkej-948	12	14	simulated	simulate	VERB
alkej-948	12	15	in	in	ADP
alkej-948	12	16	matlab	matlab	PROPN
alkej-948	12	17	simulink	simulink	PROPN
alkej-948	12	18	.	.	PUNCT
alkej-948	13	1	the	the	DET
alkej-948	13	2	proposed	propose	VERB
alkej-948	13	3	configuration	configuration	NOUN
alkej-948	13	4	demonstrates	demonstrate	VERB
alkej-948	13	5	lower	low	ADJ
alkej-948	13	6	integral	integral	ADJ
alkej-948	13	7	time	time	NOUN
alkej-948	13	8	absolute	absolute	ADJ
alkej-948	13	9	error	error	NOUN
alkej-948	13	10	(	(	PUNCT
alkej-948	13	11	itae	itae	NOUN
alkej-948	13	12	)	)	PUNCT
alkej-948	13	13	values	value	NOUN
alkej-948	13	14	,	,	PUNCT
alkej-948	13	15	indicating	indicate	VERB
alkej-948	13	16	improved	improve	VERB
alkej-948	13	17	uav	uav	PROPN
alkej-948	13	18	performance	performance	NOUN
alkej-948	13	19	.	.	PUNCT
alkej-948	14	1	the	the	DET
alkej-948	14	2	average	average	ADJ
alkej-948	14	3	itae	itae	ADJ
alkej-948	14	4	values	value	NOUN
alkej-948	14	5	for	for	ADP
alkej-948	14	6	the	the	DET
alkej-948	14	7	y	y	ADV
alkej-948	14	8	-	-	PUNCT
alkej-948	14	9	shaped	shape	VERB
alkej-948	14	10	model	model	NOUN
alkej-948	14	11	are	be	AUX
alkej-948	14	12	0.1553	0.1553	NUM
alkej-948	14	13	for	for	ADP
alkej-948	14	14	the	the	DET
alkej-948	14	15	first	first	ADJ
alkej-948	14	16	case	case	NOUN
alkej-948	14	17	and	and	CCONJ
alkej-948	14	18	0.1017	0.1017	NUM
alkej-948	14	19	for	for	ADP
alkej-948	14	20	the	the	DET
alkej-948	14	21	second	second	ADJ
alkej-948	14	22	case	case	NOUN
alkej-948	14	23	.	.	PUNCT
alkej-948	15	1	the	the	DET
alkej-948	15	2	second	second	ADJ
alkej-948	15	3	case	case	NOUN
alkej-948	15	4	shows	show	VERB
alkej-948	15	5	remarkable	remarkable	ADJ
alkej-948	15	6	tracking	tracking	NOUN
alkej-948	15	7	in	in	ADP
alkej-948	15	8	the	the	DET
alkej-948	15	9	desired	desire	VERB
alkej-948	15	10	output	output	NOUN
alkej-948	15	11	,	,	PUNCT
alkej-948	15	12	with	with	ADP
alkej-948	15	13	no	no	DET
alkej-948	15	14	violation	violation	NOUN
alkej-948	15	15	of	of	ADP
alkej-948	15	16	design	design	NOUN
alkej-948	15	17	limitations	limitation	NOUN
alkej-948	15	18	(	(	PUNCT
alkej-948	15	19	servo	servo	NOUN
alkej-948	15	20	angles	angle	NOUN
alkej-948	15	21	and	and	CCONJ
alkej-948	15	22	motor	motor	NOUN
alkej-948	15	23	speeds	speed	NOUN
alkej-948	15	24	)	)	PUNCT
alkej-948	15	25	.	.	PUNCT
alkej-948	16	1	keywords	keyword	NOUN
alkej-948	16	2	:	:	PUNCT
alkej-948	16	3	pid	pid	NOUN
alkej-948	16	4	;	;	PUNCT
alkej-948	16	5	genetic	genetic	ADJ
alkej-948	16	6	algorithm	algorithm	NOUN
alkej-948	16	7	;	;	PUNCT
alkej-948	16	8	uav	uav	PROPN
alkej-948	16	9	;	;	PUNCT
alkej-948	16	10	thrust	thrust	VERB
alkej-948	16	11	-	-	PUNCT
alkej-948	16	12	vectoring	vectoring	NOUN
alkej-948	16	13	;	;	PUNCT
alkej-948	16	14	feedback	feedback	NOUN
alkej-948	16	15	-	-	PUNCT
alkej-948	16	16	linearisation	linearisation	NOUN
alkej-948	16	17	.	.	PUNCT
alkej-948	17	1	1	1	X
alkej-948	17	2	.	.	X
alkej-948	17	3	introduction	introduction	NOUN
alkej-948	17	4	unmanned	unmanned	ADJ
alkej-948	17	5	aerial	aerial	ADJ
alkej-948	17	6	vehicles	vehicle	NOUN
alkej-948	17	7	(	(	PUNCT
alkej-948	17	8	uavs	uavs	NOUN
alkej-948	17	9	)	)	PUNCT
alkej-948	17	10	are	be	AUX
alkej-948	17	11	small	small	ADJ
alkej-948	17	12	aircraft	aircraft	NOUN
alkej-948	17	13	that	that	PRON
alkej-948	17	14	can	can	AUX
alkej-948	17	15	be	be	AUX
alkej-948	17	16	controlled	control	VERB
alkej-948	17	17	remotely	remotely	ADV
alkej-948	17	18	or	or	CCONJ
alkej-948	17	19	by	by	ADP
alkej-948	17	20	an	an	DET
alkej-948	17	21	onboard	onboard	ADJ
alkej-948	17	22	navigation	navigation	NOUN
alkej-948	17	23	unit	unit	NOUN
alkej-948	17	24	.	.	PUNCT
alkej-948	18	1	uavs	uavs	PROPN
alkej-948	18	2	have	have	VERB
alkej-948	18	3	a	a	DET
alkej-948	18	4	wide	wide	ADJ
alkej-948	18	5	range	range	NOUN
alkej-948	18	6	of	of	ADP
alkej-948	18	7	applications	application	NOUN
alkej-948	18	8	across	across	ADP
alkej-948	18	9	various	various	ADJ
alkej-948	18	10	fields	field	NOUN
alkej-948	18	11	,	,	PUNCT
alkej-948	18	12	leading	lead	VERB
alkej-948	18	13	to	to	ADP
alkej-948	18	14	numerous	numerous	ADJ
alkej-948	18	15	configurations	configuration	NOUN
alkej-948	18	16	(	(	PUNCT
alkej-948	18	17	including	include	VERB
alkej-948	18	18	bi	bi	NOUN
alkej-948	18	19	-	-	NOUN
alkej-948	18	20	copters	copter	NOUN
alkej-948	18	21	,	,	PUNCT
alkej-948	18	22	tricopters	tricopter	NOUN
alkej-948	18	23	and	and	CCONJ
alkej-948	18	24	quad	quad	NOUN
alkej-948	18	25	-	-	PUNCT
alkej-948	18	26	copters	copter	NOUN
alkej-948	18	27	)	)	PUNCT
alkej-948	18	28	,	,	PUNCT
alkej-948	18	29	each	each	PRON
alkej-948	18	30	with	with	ADP
alkej-948	18	31	different	different	ADJ
alkej-948	18	32	frame	frame	NOUN
alkej-948	18	33	shapes	shape	NOUN
alkej-948	18	34	and	and	CCONJ
alkej-948	18	35	motor	motor	NOUN
alkej-948	18	36	configurations	configuration	NOUN
alkej-948	18	37	[	[	X
alkej-948	18	38	1	1	NUM
alkej-948	18	39	]	]	PUNCT
alkej-948	18	40	.	.	PUNCT
alkej-948	19	1	bi	bi	NOUN
alkej-948	19	2	-	-	NOUN
alkej-948	19	3	copters	copter	NOUN
alkej-948	19	4	are	be	AUX
alkej-948	19	5	amongst	amongst	ADP
alkej-948	19	6	the	the	DET
alkej-948	19	7	simplest	simplest	NOUN
alkej-948	19	8	in	in	ADP
alkej-948	19	9	terms	term	NOUN
alkej-948	19	10	of	of	ADP
alkej-948	19	11	the	the	DET
alkej-948	19	12	number	number	NOUN
alkej-948	19	13	of	of	ADP
alkej-948	19	14	actuators	actuator	NOUN
alkej-948	19	15	.	.	PUNCT
alkej-948	20	1	they	they	PRON
alkej-948	20	2	typically	typically	ADV
alkej-948	20	3	have	have	VERB
alkej-948	20	4	only	only	ADV
alkej-948	20	5	two	two	NUM
alkej-948	20	6	to	to	PART
alkej-948	20	7	four	four	NUM
alkej-948	20	8	actuators	actuator	NOUN
alkej-948	20	9	:	:	PUNCT
alkej-948	20	10	two	two	NUM
alkej-948	20	11	main	main	ADJ
alkej-948	20	12	propellers	propeller	NOUN
alkej-948	20	13	and	and	CCONJ
alkej-948	20	14	one	one	NUM
alkej-948	20	15	or	or	CCONJ
alkej-948	20	16	two	two	NUM
alkej-948	20	17	additional	additional	ADJ
alkej-948	20	18	servo	servo	NOUN
alkej-948	20	19	motors	motor	NOUN
alkej-948	20	20	to	to	PART
alkej-948	20	21	control	control	VERB
alkej-948	20	22	yaw	yaw	NOUN
alkej-948	20	23	and	and	CCONJ
alkej-948	20	24	roll	roll	VERB
alkej-948	20	25	motions[2	motions[2	PROPN
alkej-948	20	26	,	,	PUNCT
alkej-948	20	27	3	3	NUM
alkej-948	20	28	]	]	PUNCT
alkej-948	20	29	.	.	PUNCT
alkej-948	21	1	the	the	DET
alkej-948	21	2	control	control	PROPN
alkej-948	21	3	systems	system	NOUN
alkej-948	21	4	of	of	ADP
alkej-948	21	5	bi	bi	NOUN
alkej-948	21	6	-	-	NOUN
alkej-948	21	7	copters	copter	NOUN
alkej-948	21	8	are	be	AUX
alkej-948	21	9	considered	consider	VERB
alkej-948	21	10	challenging	challenging	ADJ
alkej-948	21	11	due	due	ADJ
alkej-948	21	12	to	to	ADP
alkej-948	21	13	the	the	DET
alkej-948	21	14	limited	limited	ADJ
alkej-948	21	15	number	number	NOUN
alkej-948	21	16	of	of	ADP
alkej-948	21	17	actuators	actuator	NOUN
alkej-948	21	18	,	,	PUNCT
alkej-948	21	19	making	make	VERB
alkej-948	21	20	them	they	PRON
alkej-948	21	21	under	under	ADV
alkej-948	21	22	-	-	PUNCT
alkej-948	21	23	actuated	actuate	VERB
alkej-948	21	24	.	.	PUNCT
alkej-948	22	1	thus	thus	ADV
alkej-948	22	2	,	,	PUNCT
alkej-948	22	3	bicopters	bicopter	NOUN
alkej-948	22	4	are	be	AUX
alkej-948	22	5	governed	govern	VERB
alkej-948	22	6	by	by	ADP
alkej-948	22	7	a	a	DET
alkej-948	22	8	set	set	NOUN
alkej-948	22	9	of	of	ADP
alkej-948	22	10	non	non	ADJ
alkej-948	22	11	-	-	ADJ
alkej-948	22	12	linear	linear	ADJ
alkej-948	22	13	equations	equation	NOUN
alkej-948	22	14	and	and	CCONJ
alkej-948	22	15	generally	generally	ADV
alkej-948	22	16	offer	offer	VERB
alkej-948	22	17	less	less	ADJ
alkej-948	22	18	stability	stability	NOUN
alkej-948	22	19	[	[	X
alkej-948	22	20	4	4	NUM
alkej-948	22	21	]	]	PUNCT
alkej-948	22	22	.	.	PUNCT
alkej-948	23	1	quad	quad	PROPN
alkej-948	23	2	-	-	PUNCT
alkej-948	23	3	copters	copter	NOUN
alkej-948	23	4	are	be	AUX
alkej-948	23	5	amongst	amongst	ADP
alkej-948	23	6	the	the	DET
alkej-948	23	7	most	most	ADV
alkej-948	23	8	reliable	reliable	ADJ
alkej-948	23	9	uavs	uavs	NOUN
alkej-948	23	10	,	,	PUNCT
alkej-948	23	11	utilising	utilise	VERB
alkej-948	23	12	four	four	NUM
alkej-948	23	13	propellers	propeller	NOUN
alkej-948	23	14	(	(	PUNCT
alkej-948	23	15	under	under	ADP
alkej-948	23	16	-	-	PUNCT
alkej-948	23	17	actuated)[5	actuated)[5	NUM
alkej-948	23	18	]	]	PUNCT
alkej-948	23	19	.	.	PUNCT
alkej-948	24	1	by	by	ADP
alkej-948	24	2	adding	add	VERB
alkej-948	24	3	two	two	NUM
alkej-948	24	4	to	to	PART
alkej-948	24	5	four	four	NUM
alkej-948	24	6	servo	servo	NOUN
alkej-948	24	7	motors	motor	NOUN
alkej-948	24	8	,	,	PUNCT
alkej-948	24	9	these	these	DET
alkej-948	24	10	uavs	uavs	NOUN
alkej-948	24	11	can	can	AUX
alkej-948	24	12	be	be	AUX
alkej-948	24	13	fully	fully	ADV
alkej-948	24	14	actuated[6	actuated[6	NUM
alkej-948	24	15	]	]	PUNCT
alkej-948	24	16	or	or	CCONJ
alkej-948	24	17	even	even	ADV
alkej-948	24	18	over	over	ADP
alkej-948	24	19	actuated[7	actuated[7	PROPN
alkej-948	24	20	]	]	PUNCT
alkej-948	24	21	,	,	PUNCT
alkej-948	24	22	simplifying	simplify	VERB
alkej-948	24	23	control	control	NOUN
alkej-948	24	24	.	.	PUNCT
alkej-948	25	1	however	however	ADV
alkej-948	25	2	,	,	PUNCT
alkej-948	25	3	one	one	NUM
alkej-948	25	4	of	of	ADP
alkej-948	25	5	the	the	DET
alkej-948	25	6	main	main	ADJ
alkej-948	25	7	challenges	challenge	NOUN
alkej-948	25	8	for	for	ADP
alkej-948	25	9	uavs	uavs	NOUN
alkej-948	25	10	is	be	AUX
alkej-948	25	11	power	power	NOUN
alkej-948	25	12	consumption	consumption	NOUN
alkej-948	25	13	,	,	PUNCT
alkej-948	25	14	which	which	PRON
alkej-948	25	15	can	can	AUX
alkej-948	25	16	limit	limit	VERB
alkej-948	25	17	their	their	PRON
alkej-948	25	18	capabilities	capability	NOUN
alkej-948	25	19	and	and	CCONJ
alkej-948	25	20	flight	flight	NOUN
alkej-948	25	21	time	time	NOUN
alkej-948	25	22	[	[	X
alkej-948	25	23	8	8	NUM
alkej-948	25	24	]	]	PUNCT
alkej-948	25	25	.	.	PUNCT
alkej-948	26	1	in	in	ADP
alkej-948	26	2	contrast	contrast	NOUN
alkej-948	26	3	,	,	PUNCT
alkej-948	26	4	tri	tri	ADJ
alkej-948	26	5	-	-	NOUN
alkej-948	26	6	copters	copter	NOUN
alkej-948	26	7	are	be	AUX
alkej-948	26	8	known	know	VERB
alkej-948	26	9	for	for	ADP
alkej-948	26	10	their	their	PRON
alkej-948	26	11	power	power	NOUN
alkej-948	26	12	efficiency	efficiency	NOUN
alkej-948	26	13	because	because	SCONJ
alkej-948	26	14	they	they	PRON
alkej-948	26	15	use	use	VERB
alkej-948	26	16	only	only	ADV
alkej-948	26	17	three	three	NUM
alkej-948	26	18	rotors	rotor	NOUN
alkej-948	26	19	[	[	X
alkej-948	26	20	9	9	NUM
alkej-948	26	21	]	]	PUNCT
alkej-948	26	22	.	.	PUNCT
alkej-948	27	1	aiming	aim	VERB
alkej-948	27	2	to	to	PART
alkej-948	27	3	enhance	enhance	VERB
alkej-948	27	4	agility	agility	NOUN
alkej-948	27	5	and	and	CCONJ
alkej-948	27	6	manoeuvrability	manoeuvrability	NOUN
alkej-948	27	7	[	[	X
alkej-948	27	8	10	10	NUM
alkej-948	27	9	]	]	PUNCT
alkej-948	27	10	,	,	PUNCT
alkej-948	27	11	a	a	DET
alkej-948	27	12	thrust	thrust	VERB
alkej-948	27	13	-	-	PUNCT
alkej-948	27	14	vectoring	vectore	VERB
alkej-948	27	15	mechanism	mechanism	NOUN
alkej-948	27	16	can	can	AUX
alkej-948	27	17	be	be	AUX
alkej-948	27	18	added	add	VERB
alkej-948	27	19	.	.	PUNCT
alkej-948	28	1	the	the	DET
alkej-948	28	2	main	main	ADJ
alkej-948	28	3	issue	issue	NOUN
alkej-948	28	4	with	with	ADP
alkej-948	28	5	tri	tri	ADJ
alkej-948	28	6	-	-	NOUN
alkej-948	28	7	copters	copter	NOUN
alkej-948	28	8	is	be	AUX
alkej-948	28	9	yawing	yaw	VERB
alkej-948	28	10	,	,	PUNCT
alkej-948	28	11	which	which	PRON
alkej-948	28	12	mailto:abd.yahia2102m@kecbu.uobaghdad.iq	mailto:abd.yahia2102m@kecbu.uobaghdad.iq	ADJ
alkej-948	28	13	https://doi.org/10.22153/kej.2025.12.002	https://doi.org/10.22153/kej.2025.12.002	PROPN
alkej-948	28	14	abdullah	abdullah	PROPN
alkej-948	28	15	mohammed	mohammed	PROPN
alkej-948	28	16	al	al	PROPN
alkej-948	28	17	-	-	PUNCT
alkej-948	28	18	khwarizmi	khwarizmi	PROPN
alkej-948	28	19	engineering	engineering	NOUN
alkej-948	28	20	journal	journal	PROPN
alkej-948	28	21	,	,	PUNCT
alkej-948	28	22	vol	vol	NOUN
alkej-948	28	23	.	.	PROPN
alkej-948	28	24	21	21	NUM
alkej-948	28	25	,	,	PUNCT
alkej-948	28	26	no.3	no.3	VERB
alkej-948	28	27	,	,	PUNCT
alkej-948	28	28	pp.6675	pp.6675	PROPN
alkej-948	28	29	(	(	PUNCT
alkej-948	28	30	2025	2025	NUM
alkej-948	28	31	)	)	PUNCT
alkej-948	28	32	67	67	NUM
alkej-948	28	33	arises	arise	VERB
alkej-948	28	34	from	from	ADP
alkej-948	28	35	the	the	DET
alkej-948	28	36	asymmetry	asymmetry	NOUN
alkej-948	28	37	in	in	ADP
alkej-948	28	38	rotor	rotor	NOUN
alkej-948	28	39	numbers	number	NOUN
alkej-948	28	40	and	and	CCONJ
alkej-948	28	41	their	their	PRON
alkej-948	28	42	rotational	rotational	ADJ
alkej-948	28	43	directions	direction	NOUN
alkej-948	28	44	.	.	PUNCT
alkej-948	29	1	with	with	ADP
alkej-948	29	2	three	three	NUM
alkej-948	29	3	rotors	rotor	NOUN
alkej-948	29	4	,	,	PUNCT
alkej-948	29	5	the	the	DET
alkej-948	29	6	aerodynamic	aerodynamic	ADJ
alkej-948	29	7	forces	force	NOUN
alkej-948	29	8	acting	act	VERB
alkej-948	29	9	on	on	ADP
alkej-948	29	10	the	the	DET
alkej-948	29	11	blades	blade	NOUN
alkej-948	29	12	of	of	ADP
alkej-948	29	13	each	each	DET
alkej-948	29	14	rotor	rotor	NOUN
alkej-948	29	15	do	do	AUX
alkej-948	29	16	not	not	PART
alkej-948	29	17	cancel	cancel	VERB
alkej-948	29	18	out	out	ADP
alkej-948	29	19	,	,	PUNCT
alkej-948	29	20	leading	lead	VERB
alkej-948	29	21	to	to	ADP
alkej-948	29	22	yaw	yaw	NOUN
alkej-948	29	23	instability	instability	NOUN
alkej-948	29	24	.	.	PUNCT
alkej-948	30	1	this	this	DET
alkej-948	30	2	issue	issue	NOUN
alkej-948	30	3	can	can	AUX
alkej-948	30	4	be	be	AUX
alkej-948	30	5	addressed	address	VERB
alkej-948	30	6	by	by	ADP
alkej-948	30	7	using	use	VERB
alkej-948	30	8	coaxial	coaxial	ADJ
alkej-948	30	9	rotors	rotor	NOUN
alkej-948	30	10	[	[	X
alkej-948	30	11	11	11	NUM
alkej-948	30	12	]	]	PUNCT
alkej-948	30	13	,	,	PUNCT
alkej-948	30	14	implementing	implement	VERB
alkej-948	30	15	specific	specific	ADJ
alkej-948	30	16	control	control	NOUN
alkej-948	30	17	strategies[12	strategies[12	NOUN
alkej-948	30	18	]	]	PUNCT
alkej-948	30	19	or	or	CCONJ
alkej-948	30	20	employing	employ	VERB
alkej-948	30	21	tiltable	tiltable	ADJ
alkej-948	30	22	rotors[13	rotors[13	NOUN
alkej-948	30	23	]	]	PUNCT
alkej-948	30	24	.	.	PUNCT
alkej-948	31	1	tilt	tilt	NOUN
alkej-948	31	2	mechanisms	mechanism	NOUN
alkej-948	31	3	can	can	AUX
alkej-948	31	4	be	be	AUX
alkej-948	31	5	integrated	integrate	VERB
alkej-948	31	6	into	into	ADP
alkej-948	31	7	different	different	ADJ
alkej-948	31	8	configurations	configuration	NOUN
alkej-948	31	9	to	to	PART
alkej-948	31	10	meet	meet	VERB
alkej-948	31	11	desired	desire	VERB
alkej-948	31	12	application	application	NOUN
alkej-948	31	13	demands	demand	NOUN
alkej-948	31	14	,	,	PUNCT
alkej-948	31	15	as	as	SCONJ
alkej-948	31	16	shown	show	VERB
alkej-948	31	17	in	in	ADP
alkej-948	31	18	[	[	X
alkej-948	31	19	14	14	NUM
alkej-948	31	20	]	]	PUNCT
alkej-948	31	21	,	,	PUNCT
alkej-948	31	22	[	[	X
alkej-948	31	23	15	15	NUM
alkej-948	31	24	]	]	PUNCT
alkej-948	31	25	and	and	CCONJ
alkej-948	31	26	[	[	X
alkej-948	31	27	16	16	NUM
alkej-948	31	28	]	]	PUNCT
alkej-948	31	29	.	.	PUNCT
alkej-948	32	1	for	for	ADP
alkej-948	32	2	system	system	NOUN
alkej-948	32	3	control	control	NOUN
alkej-948	32	4	,	,	PUNCT
alkej-948	32	5	various	various	ADJ
alkej-948	32	6	methods	method	NOUN
alkej-948	32	7	have	have	AUX
alkej-948	32	8	been	be	AUX
alkej-948	32	9	verified	verify	VERB
alkej-948	32	10	;	;	PUNCT
alkej-948	32	11	for	for	ADP
alkej-948	32	12	example	example	NOUN
alkej-948	32	13	,	,	PUNCT
alkej-948	32	14	the	the	DET
alkej-948	32	15	linear	linear	ADJ
alkej-948	32	16	quadratic	quadratic	ADJ
alkej-948	32	17	regulator	regulator	NOUN
alkej-948	32	18	is	be	AUX
alkej-948	32	19	used	use	VERB
alkej-948	32	20	in	in	ADP
alkej-948	32	21	[	[	X
alkej-948	32	22	17	17	NUM
alkej-948	32	23	]	]	PUNCT
alkej-948	32	24	,	,	PUNCT
alkej-948	32	25	h	h	NOUN
alkej-948	32	26	-	-	PUNCT
alkej-948	32	27	infinity	infinity	NOUN
alkej-948	32	28	is	be	AUX
alkej-948	32	29	used	use	VERB
alkej-948	32	30	in	in	ADP
alkej-948	32	31	[	[	X
alkej-948	32	32	18	18	NUM
alkej-948	32	33	]	]	PUNCT
alkej-948	32	34	and	and	CCONJ
alkej-948	32	35	a	a	DET
alkej-948	32	36	proportional	proportional	ADJ
alkej-948	32	37	integral	integral	ADJ
alkej-948	32	38	derivative	derivative	ADJ
alkej-948	32	39	(	(	PUNCT
alkej-948	32	40	pid	pid	NOUN
alkej-948	32	41	)	)	PUNCT
alkej-948	32	42	is	be	AUX
alkej-948	32	43	applied	apply	VERB
alkej-948	32	44	in	in	ADP
alkej-948	32	45	[	[	X
alkej-948	32	46	19	19	NUM
alkej-948	32	47	]	]	PUNCT
alkej-948	32	48	.	.	PUNCT
alkej-948	33	1	the	the	DET
alkej-948	33	2	pid	pid	NOUN
alkej-948	33	3	control	control	NOUN
alkej-948	33	4	,	,	PUNCT
alkej-948	33	5	when	when	SCONJ
alkej-948	33	6	associated	associate	VERB
alkej-948	33	7	with	with	ADP
alkej-948	33	8	optimisation	optimisation	NOUN
alkej-948	33	9	techniques	technique	NOUN
alkej-948	33	10	to	to	PART
alkej-948	33	11	maximise	maximise	VERB
alkej-948	33	12	system	system	NOUN
alkej-948	33	13	performance	performance	NOUN
alkej-948	33	14	,	,	PUNCT
alkej-948	33	15	can	can	AUX
alkej-948	33	16	be	be	AUX
alkej-948	33	17	a	a	DET
alkej-948	33	18	very	very	ADV
alkej-948	33	19	practical	practical	ADJ
alkej-948	33	20	approach	approach	NOUN
alkej-948	33	21	to	to	ADP
alkej-948	33	22	uav	uav	PROPN
alkej-948	33	23	control	control	PROPN
alkej-948	33	24	[	[	X
alkej-948	33	25	20	20	NUM
alkej-948	33	26	]	]	PUNCT
alkej-948	33	27	.	.	PUNCT
alkej-948	34	1	various	various	ADJ
alkej-948	34	2	optimisation	optimisation	NOUN
alkej-948	34	3	techniques	technique	NOUN
alkej-948	34	4	,	,	PUNCT
alkej-948	34	5	such	such	ADJ
alkej-948	34	6	as	as	ADP
alkej-948	34	7	grey	grey	PROPN
alkej-948	34	8	wolf	wolf	PROPN
alkej-948	34	9	optimisation	optimisation	NOUN
alkej-948	34	10	,	,	PUNCT
alkej-948	34	11	have	have	AUX
alkej-948	34	12	been	be	AUX
alkej-948	34	13	employed	employ	VERB
alkej-948	34	14	for	for	ADP
alkej-948	34	15	this	this	DET
alkej-948	34	16	purpose	purpose	NOUN
alkej-948	34	17	[	[	X
alkej-948	34	18	21	21	NUM
alkej-948	34	19	]	]	PUNCT
alkej-948	34	20	.	.	PUNCT
alkej-948	35	1	2	2	X
alkej-948	35	2	.	.	X
alkej-948	35	3	y	y	PROPN
alkej-948	35	4	tri	tri	ADJ
alkej-948	35	5	-	-	ADJ
alkej-948	35	6	coper	coper	ADJ
alkej-948	35	7	mathematical	mathematical	ADJ
alkej-948	35	8	model	model	NOUN
alkej-948	35	9	in	in	ADP
alkej-948	35	10	this	this	DET
alkej-948	35	11	section	section	NOUN
alkej-948	35	12	,	,	PUNCT
alkej-948	35	13	the	the	DET
alkej-948	35	14	mathematical	mathematical	ADJ
alkej-948	35	15	model	model	NOUN
alkej-948	35	16	of	of	ADP
alkej-948	35	17	the	the	DET
alkej-948	35	18	uav	uav	PROPN
alkej-948	35	19	is	be	AUX
alkej-948	35	20	presented	present	VERB
alkej-948	35	21	for	for	ADP
alkej-948	35	22	two	two	NUM
alkej-948	35	23	different	different	ADJ
alkej-948	35	24	motor	motor	NOUN
alkej-948	35	25	configurations	configuration	NOUN
alkej-948	35	26	(	(	PUNCT
alkej-948	35	27	two	two	NUM
alkej-948	35	28	cases	case	NOUN
alkej-948	35	29	)	)	PUNCT
alkej-948	35	30	.	.	PUNCT
alkej-948	36	1	the	the	DET
alkej-948	36	2	uav	uav	PROPN
alkej-948	36	3	parameters	parameter	NOUN
alkej-948	36	4	are	be	AUX
alkej-948	36	5	referenced	reference	VERB
alkej-948	36	6	from	from	ADP
alkej-948	36	7	[	[	X
alkej-948	36	8	22	22	NUM
alkej-948	36	9	]	]	PUNCT
alkej-948	36	10	,	,	PUNCT
alkej-948	36	11	as	as	SCONJ
alkej-948	36	12	shown	show	VERB
alkej-948	36	13	in	in	ADP
alkej-948	36	14	table	table	NOUN
alkej-948	36	15	1	1	NUM
alkej-948	36	16	.	.	PUNCT
alkej-948	36	17	table	table	NOUN
alkej-948	36	18	1	1	NUM
alkej-948	36	19	,	,	PUNCT
alkej-948	36	20	uav	uav	PROPN
alkej-948	36	21	parameters	parameter	NOUN
alkej-948	36	22	value	value	VERB
alkej-948	36	23	description	description	NOUN
alkej-948	36	24	parameter	parameter	NOUN
alkej-948	36	25	1.448	1.448	NUM
alkej-948	36	26	𝑘𝑔	𝑘𝑔	PROPN
alkej-948	36	27	uav	uav	PROPN
alkej-948	36	28	mass	mass	PROPN
alkej-948	36	29	𝑚	𝑚	PROPN
alkej-948	36	30	0.33	0.33	NUM
alkej-948	36	31	𝑚	𝑚	NOUN
alkej-948	36	32	arm	arm	NOUN
alkej-948	36	33	length	length	NOUN
alkej-948	36	34	𝑎	𝑎	PRON
alkej-948	36	35	0.1035	0.1035	NUM
alkej-948	36	36	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	36	37	𝑚2	𝑚2	NOUN
alkej-948	36	38	body	body	NOUN
alkej-948	36	39	inertia	inertia	NOUN
alkej-948	36	40	of	of	ADP
alkej-948	36	41	x	x	PUNCT
alkej-948	36	42	axis	axis	ADJ
alkej-948	36	43	𝛪𝑥𝑥	𝛪𝑥𝑥	PROPN
alkej-948	36	44	0.1003	0.1003	NUM
alkej-948	36	45	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	36	46	𝑚2	𝑚2	NOUN
alkej-948	36	47	body	body	NOUN
alkej-948	36	48	inertia	inertia	NOUN
alkej-948	36	49	of	of	ADP
alkej-948	36	50	y	y	PROPN
alkej-948	36	51	axis	axis	NOUN
alkej-948	36	52	𝛪𝑦𝑦	𝛪𝑦𝑦	PROPN
alkej-948	36	53	0.1709	0.1709	NUM
alkej-948	36	54	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	36	55	𝑚2	𝑚2	NOUN
alkej-948	36	56	body	body	NOUN
alkej-948	36	57	inertia	inertia	NOUN
alkej-948	36	58	of	of	ADP
alkej-948	36	59	z	z	NOUN
alkej-948	36	60	axis	axis	NOUN
alkej-948	37	1	𝛪𝑧𝑧	𝛪𝑧𝑧	PROPN
alkej-948	37	2	1.084	1.084	NUM
alkej-948	37	3	×	×	NOUN
alkej-948	37	4	10−5	10−5	NUM
alkej-948	37	5	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	37	6	𝑚	𝑚	ADP
alkej-948	37	7	force	force	NOUN
alkej-948	37	8	coefficient	coefficient	NOUN
alkej-948	37	9	𝑘𝑓	𝑘𝑓	ADP
alkej-948	37	10	1.726	1.726	NUM
alkej-948	37	11	×	×	NOUN
alkej-948	37	12	10−7	10−7	NUM
alkej-948	37	13	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	37	14	𝑚2	𝑚2	NOUN
alkej-948	37	15	torque	torque	NOUN
alkej-948	37	16	coefficient	coefficient	NOUN
alkej-948	37	17	𝑘𝑡	𝑘𝑡	PROPN
alkej-948	37	18	the	the	DET
alkej-948	37	19	primary	primary	ADJ
alkej-948	37	20	model	model	NOUN
alkej-948	37	21	and	and	CCONJ
alkej-948	37	22	dynamic	dynamic	ADJ
alkej-948	37	23	equations	equation	NOUN
alkej-948	37	24	are	be	AUX
alkej-948	37	25	sourced	source	VERB
alkej-948	37	26	from	from	ADP
alkej-948	37	27	[	[	X
alkej-948	37	28	23	23	NUM
alkej-948	37	29	]	]	PUNCT
alkej-948	37	30	,	,	PUNCT
alkej-948	37	31	along	along	ADP
alkej-948	37	32	with	with	ADP
alkej-948	37	33	the	the	DET
alkej-948	37	34	feedback	feedback	NOUN
alkej-948	37	35	linearisation	linearisation	NOUN
alkej-948	37	36	equation	equation	NOUN
alkej-948	37	37	,	,	PUNCT
alkej-948	37	38	incorporating	incorporate	VERB
alkej-948	37	39	a	a	DET
alkej-948	37	40	modification	modification	NOUN
alkej-948	37	41	to	to	ADP
alkej-948	37	42	the	the	DET
alkej-948	37	43	original	original	ADJ
alkej-948	37	44	motor	motor	NOUN
alkej-948	37	45	rotation	rotation	NOUN
alkej-948	37	46	directions	direction	NOUN
alkej-948	37	47	.	.	PUNCT
alkej-948	38	1	in	in	ADP
alkej-948	38	2	both	both	DET
alkej-948	38	3	cases	case	NOUN
alkej-948	38	4	,	,	PUNCT
alkej-948	38	5	the	the	DET
alkej-948	38	6	motor	motor	NOUN
alkej-948	38	7	rotation	rotation	NOUN
alkej-948	38	8	directions	direction	NOUN
alkej-948	38	9	are	be	AUX
alkej-948	38	10	consistent	consistent	ADJ
alkej-948	38	11	:	:	PUNCT
alkej-948	38	12	the	the	DET
alkej-948	38	13	front	front	ADJ
alkej-948	38	14	motors	motor	NOUN
alkej-948	38	15	rotate	rotate	VERB
alkej-948	38	16	clockwise	clockwise	NOUN
alkej-948	38	17	,	,	PUNCT
alkej-948	38	18	whilst	whilst	SCONJ
alkej-948	38	19	the	the	DET
alkej-948	38	20	rear	rear	ADJ
alkej-948	38	21	motor	motor	NOUN
alkej-948	38	22	rotates	rotate	NOUN
alkej-948	38	23	counter	counter	NOUN
alkej-948	38	24	-	-	NOUN
alkej-948	38	25	clockwise	clockwise	NOUN
alkej-948	38	26	,	,	PUNCT
alkej-948	38	27	as	as	SCONJ
alkej-948	38	28	shown	show	VERB
alkej-948	38	29	in	in	ADP
alkej-948	38	30	figure	figure	NOUN
alkej-948	38	31	1	1	NUM
alkej-948	38	32	.	.	PUNCT
alkej-948	39	1	in	in	ADP
alkej-948	39	2	this	this	DET
alkej-948	39	3	context	context	NOUN
alkej-948	39	4	,	,	PUNCT
alkej-948	39	5	α	α	PROPN
alkej-948	39	6	represents	represent	VERB
alkej-948	39	7	the	the	DET
alkej-948	39	8	servo	servo	NOUN
alkej-948	39	9	angle	angle	NOUN
alkej-948	39	10	,	,	PUNCT
alkej-948	39	11	with	with	ADP
alkej-948	39	12	the	the	DET
alkej-948	39	13	subscripts	subscript	NOUN
alkej-948	39	14	referring	refer	VERB
alkej-948	39	15	to	to	ADP
alkej-948	39	16	the	the	DET
alkej-948	39	17	corresponding	corresponding	ADJ
alkej-948	39	18	arm	arm	NOUN
alkej-948	39	19	(	(	PUNCT
alkej-948	39	20	right	right	NOUN
alkej-948	40	1	[	[	X
alkej-948	40	2	r	r	X
alkej-948	40	3	]	]	X
alkej-948	40	4	,	,	PUNCT
alkej-948	40	5	left	leave	VERB
alkej-948	40	6	[	[	X
alkej-948	40	7	l	l	X
alkej-948	40	8	]	]	PUNCT
alkej-948	40	9	and	and	CCONJ
alkej-948	40	10	back	back	ADV
alkej-948	40	11	[	[	X
alkej-948	40	12	l	l	NOUN
alkej-948	40	13	]	]	X
alkej-948	40	14	)	)	PUNCT
alkej-948	40	15	,	,	PUNCT
alkej-948	40	16	and	and	CCONJ
alkej-948	40	17	‘	'	PUNCT
alkej-948	40	18	a	a	DET
alkej-948	40	19	’	'	PUNCT
alkej-948	40	20	denotes	denote	NOUN
alkej-948	40	21	the	the	DET
alkej-948	40	22	arm	arm	NOUN
alkej-948	40	23	length	length	NOUN
alkej-948	40	24	,	,	PUNCT
alkej-948	40	25	which	which	PRON
alkej-948	40	26	is	be	AUX
alkej-948	40	27	equal	equal	ADJ
alkej-948	40	28	for	for	ADP
alkej-948	40	29	all	all	DET
alkej-948	40	30	arms	arm	NOUN
alkej-948	40	31	.	.	PUNCT
alkej-948	41	1	fig	fig	NOUN
alkej-948	41	2	.	.	PUNCT
alkej-948	42	1	1	1	X
alkej-948	42	2	.	.	X
alkej-948	42	3	uav	uav	PROPN
alkej-948	42	4	motor	motor	PROPN
alkej-948	42	5	configuration	configuration	PROPN
alkej-948	42	6	the	the	DET
alkej-948	42	7	motor	motor	NOUN
alkej-948	42	8	coefficients	coefficient	NOUN
alkej-948	42	9	will	will	AUX
alkej-948	42	10	only	only	ADV
alkej-948	42	11	differ	differ	VERB
alkej-948	42	12	in	in	ADP
alkej-948	42	13	the	the	DET
alkej-948	42	14	second	second	ADJ
alkej-948	42	15	case	case	NOUN
alkej-948	42	16	,	,	PUNCT
alkej-948	42	17	where	where	SCONJ
alkej-948	42	18	the	the	DET
alkej-948	42	19	back	back	ADJ
alkej-948	42	20	motor	motor	NOUN
alkej-948	42	21	coefficients	coefficient	NOUN
alkej-948	42	22	are	be	AUX
alkej-948	42	23	doubled	double	VERB
alkej-948	42	24	.	.	PUNCT
alkej-948	43	1	when	when	SCONJ
alkej-948	43	2	this	this	DET
alkej-948	43	3	modification	modification	NOUN
alkej-948	43	4	is	be	AUX
alkej-948	43	5	implemented	implement	VERB
alkej-948	43	6	,	,	PUNCT
alkej-948	43	7	certain	certain	ADJ
alkej-948	43	8	adjustments	adjustment	NOUN
alkej-948	43	9	to	to	ADP
alkej-948	43	10	the	the	DET
alkej-948	43	11	original	original	ADJ
alkej-948	43	12	model	model	NOUN
alkej-948	43	13	will	will	AUX
alkej-948	43	14	be	be	AUX
alkej-948	43	15	required	require	VERB
alkej-948	43	16	,	,	PUNCT
alkej-948	43	17	as	as	SCONJ
alkej-948	43	18	shown	show	VERB
alkej-948	43	19	below	below	ADV
alkej-948	43	20	.	.	PUNCT
alkej-948	44	1	2.1	2.1	NUM
alkej-948	44	2	.	.	PUNCT
alkej-948	45	1	first	first	ADJ
alkej-948	45	2	case	case	NOUN
alkej-948	45	3	in	in	ADP
alkej-948	45	4	this	this	DET
alkej-948	45	5	case	case	NOUN
alkej-948	45	6	,	,	PUNCT
alkej-948	45	7	the	the	DET
alkej-948	45	8	force	force	NOUN
alkej-948	45	9	coefficient	coefficient	NOUN
alkej-948	45	10	for	for	ADP
alkej-948	45	11	all	all	DET
alkej-948	45	12	motors	motor	NOUN
alkej-948	45	13	will	will	AUX
alkej-948	45	14	remain	remain	VERB
alkej-948	45	15	the	the	DET
alkej-948	45	16	same	same	ADJ
alkej-948	45	17	.	.	PUNCT
alkej-948	46	1	the	the	DET
alkej-948	46	2	only	only	ADJ
alkej-948	46	3	change	change	NOUN
alkej-948	46	4	will	will	AUX
alkej-948	46	5	be	be	AUX
alkej-948	46	6	the	the	DET
alkej-948	46	7	direction	direction	NOUN
alkej-948	46	8	of	of	ADP
alkej-948	46	9	the	the	DET
alkej-948	46	10	rear	rear	ADJ
alkej-948	46	11	motor	motor	NOUN
alkej-948	46	12	,	,	PUNCT
alkej-948	46	13	which	which	PRON
alkej-948	46	14	will	will	AUX
alkej-948	46	15	affect	affect	VERB
alkej-948	46	16	the	the	DET
alkej-948	46	17	mathematical	mathematical	ADJ
alkej-948	46	18	representation	representation	NOUN
alkej-948	46	19	of	of	ADP
alkej-948	46	20	the	the	DET
alkej-948	46	21	drag	drag	NOUN
alkej-948	46	22	torque	torque	NOUN
alkej-948	46	23	,	,	PUNCT
alkej-948	46	24	as	as	SCONJ
alkej-948	46	25	shown	show	VERB
alkej-948	46	26	below	below	ADV
alkej-948	46	27	:	:	PUNCT
alkej-948	46	28	𝜏𝑑1	𝜏𝑑1	PROPN
alkej-948	47	1	=	=	PUNCT
alkej-948	48	1	[	[	PUNCT
alkej-948	48	2	0.866𝑘𝑡𝜔𝑚𝑟	0.866𝑘𝑡𝜔𝑚𝑟	NUM
alkej-948	48	3	2	2	NUM
alkej-948	48	4	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	48	5	)	)	PUNCT
alkej-948	48	6	−	−	PROPN
alkej-948	48	7	0.866𝑘𝑡𝜔𝑚𝑙	0.866𝑘𝑡𝜔𝑚𝑙	NOUN
alkej-948	48	8	2	2	NUM
alkej-948	48	9	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	ADV
alkej-948	48	10	)	)	PUNCT
alkej-948	48	11	−𝑘𝑡𝜔𝑚𝑟	−𝑘𝑡𝜔𝑚𝑟	NOUN
alkej-948	48	12	2	2	NUM
alkej-948	48	13	𝑠𝑖𝑛(𝛼𝑟	𝑠𝑖𝑛(𝛼𝑟	NOUN
alkej-948	48	14	)	)	PUNCT
alkej-948	49	1	+	+	CCONJ
alkej-948	49	2	0.5𝑘𝑡𝜔𝑚𝑙	0.5𝑘𝑡𝜔𝑚𝑙	NUM
alkej-948	49	3	2	2	X
alkej-948	49	4	𝑠𝑖𝑛(𝛼𝑙)−0.5𝑘𝑡𝜔𝑚𝑏	𝑠𝑖𝑛(𝛼𝑙)−0.5𝑘𝑡𝜔𝑚𝑏	NOUN
alkej-948	49	5	2	2	NUM
alkej-948	49	6	𝑠𝑖𝑛(𝛼𝑏	𝑠𝑖𝑛(𝛼𝑏	NOUN
alkej-948	49	7	)	)	PUNCT
alkej-948	49	8	−𝑘𝑡𝜔𝑚𝑟	−𝑘𝑡𝜔𝑚𝑟	NOUN
alkej-948	49	9	2	2	NUM
alkej-948	49	10	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	49	11	)	)	PUNCT
alkej-948	49	12	−	−	PROPN
alkej-948	49	13	𝑘𝑡𝜔𝑚𝑙	𝑘𝑡𝜔𝑚𝑙	NOUN
alkej-948	49	14	2	2	NUM
alkej-948	49	15	𝑐𝑜𝑠(𝛼𝑙	𝑐𝑜𝑠(𝛼𝑙	NOUN
alkej-948	49	16	)	)	PUNCT
alkej-948	50	1	+	+	CCONJ
alkej-948	50	2	𝑘𝑡𝜔𝑚𝑏	𝑘𝑡𝜔𝑚𝑏	NOUN
alkej-948	50	3	2	2	NUM
alkej-948	50	4	𝑐𝑜𝑠(𝛼𝑏	𝑐𝑜𝑠(𝛼𝑏	NOUN
alkej-948	50	5	)	)	PUNCT
alkej-948	50	6	]	]	PUNCT
alkej-948	50	7	…	…	PUNCT
alkej-948	50	8	(	(	PUNCT
alkej-948	50	9	1	1	NUM
alkej-948	50	10	)	)	PUNCT
alkej-948	50	11	where	where	SCONJ
alkej-948	50	12	𝜏𝑑	𝜏𝑑	PROPN
alkej-948	50	13	(	(	PUNCT
alkej-948	50	14	)	)	PUNCT
alkej-948	50	15	is	be	AUX
alkej-948	50	16	the	the	DET
alkej-948	50	17	drag	drag	NOUN
alkej-948	50	18	torque	torque	NOUN
alkej-948	50	19	for	for	ADP
alkej-948	50	20	the	the	DET
alkej-948	50	21	corresponding	correspond	VERB
alkej-948	50	22	case	case	NOUN
alkej-948	50	23	,	,	PUNCT
alkej-948	50	24	𝑘𝑡	𝑘𝑡	PROPN
alkej-948	50	25	is	be	AUX
alkej-948	50	26	the	the	DET
alkej-948	50	27	torque	torque	NOUN
alkej-948	50	28	coefficient	coefficient	NOUN
alkej-948	50	29	,	,	PUNCT
alkej-948	50	30	𝛼	𝛼	X
alkej-948	50	31	(	(	PUNCT
alkej-948	50	32	)	)	PUNCT
alkej-948	50	33	is	be	AUX
alkej-948	50	34	the	the	DET
alkej-948	50	35	servo	servo	NOUN
alkej-948	50	36	angle	angle	NOUN
alkej-948	50	37	for	for	ADP
alkej-948	50	38	the	the	DET
alkej-948	50	39	corresponding	corresponding	ADJ
alkej-948	50	40	arm	arm	NOUN
alkej-948	50	41	(	(	PUNCT
alkej-948	50	42	b	b	NOUN
alkej-948	50	43	for	for	ADP
alkej-948	50	44	back	back	NOUN
alkej-948	50	45	,	,	PUNCT
alkej-948	50	46	r	r	NOUN
alkej-948	50	47	for	for	ADP
alkej-948	50	48	right	right	NOUN
alkej-948	50	49	and	and	CCONJ
alkej-948	50	50	l	l	NOUN
alkej-948	50	51	for	for	ADP
alkej-948	50	52	left	left	ADJ
alkej-948	50	53	)	)	PUNCT
alkej-948	50	54	and	and	CCONJ
alkej-948	50	55	𝜔	𝜔	PRON
alkej-948	50	56	(	(	PUNCT
alkej-948	50	57	)	)	PUNCT
alkej-948	50	58	2	2	NUM
alkej-948	50	59	is	be	AUX
alkej-948	50	60	the	the	DET
alkej-948	50	61	squared	squared	ADJ
alkej-948	50	62	angular	angular	ADJ
alkej-948	50	63	velocity	velocity	NOUN
alkej-948	50	64	for	for	ADP
alkej-948	50	65	the	the	DET
alkej-948	50	66	corresponding	corresponding	ADJ
alkej-948	50	67	arm	arm	NOUN
alkej-948	50	68	.	.	PUNCT
alkej-948	51	1	2.1	2.1	NUM
alkej-948	51	2	.	.	PUNCT
alkej-948	51	3	second	second	ADJ
alkej-948	51	4	case	case	NOUN
alkej-948	51	5	in	in	ADP
alkej-948	51	6	this	this	DET
alkej-948	51	7	case	case	NOUN
alkej-948	51	8	,	,	PUNCT
alkej-948	51	9	the	the	DET
alkej-948	51	10	drag	drag	NOUN
alkej-948	51	11	torque	torque	NOUN
alkej-948	51	12	will	will	AUX
alkej-948	51	13	remain	remain	VERB
alkej-948	51	14	the	the	DET
alkej-948	51	15	same	same	ADJ
alkej-948	51	16	as	as	ADP
alkej-948	51	17	in	in	ADP
alkej-948	51	18	case	case	NOUN
alkej-948	51	19	one	one	NUM
alkej-948	51	20	because	because	SCONJ
alkej-948	51	21	the	the	DET
alkej-948	51	22	motor	motor	NOUN
alkej-948	51	23	’s	’s	PART
alkej-948	51	24	rotation	rotation	NOUN
alkej-948	51	25	directions	direction	NOUN
alkej-948	51	26	are	be	AUX
alkej-948	51	27	set	set	VERB
alkej-948	51	28	identically	identically	ADV
alkej-948	51	29	.	.	PUNCT
alkej-948	52	1	the	the	DET
alkej-948	52	2	only	only	ADJ
alkej-948	52	3	difference	difference	NOUN
alkej-948	52	4	is	be	AUX
alkej-948	52	5	that	that	SCONJ
alkej-948	52	6	the	the	DET
alkej-948	52	7	torque	torque	NOUN
alkej-948	52	8	coefficient	coefficient	NOUN
alkej-948	52	9	for	for	ADP
alkej-948	52	10	the	the	DET
alkej-948	52	11	back	back	ADJ
alkej-948	52	12	motor	motor	NOUN
alkej-948	52	13	is	be	AUX
alkej-948	52	14	doubled	double	VERB
alkej-948	52	15	.	.	PUNCT
alkej-948	53	1	cc	cc	PROPN
alkej-948	53	2	w	w	ADP
alkej-948	53	3	a	a	DET
alkej-948	53	4	a	a	DET
alkej-948	53	5	a	a	DET
alkej-948	53	6	abdullah	abdullah	PROPN
alkej-948	53	7	mohammed	mohammed	PROPN
alkej-948	53	8	al	al	PROPN
alkej-948	53	9	-	-	PUNCT
alkej-948	53	10	khwarizmi	khwarizmi	PROPN
alkej-948	53	11	engineering	engineering	NOUN
alkej-948	53	12	journal	journal	PROPN
alkej-948	53	13	,	,	PUNCT
alkej-948	53	14	vol	vol	NOUN
alkej-948	53	15	.	.	PROPN
alkej-948	53	16	21	21	NUM
alkej-948	53	17	,	,	PUNCT
alkej-948	53	18	no.3	no.3	VERB
alkej-948	53	19	,	,	PUNCT
alkej-948	53	20	pp.6675	pp.6675	PROPN
alkej-948	53	21	(	(	PUNCT
alkej-948	53	22	2025	2025	NUM
alkej-948	53	23	)	)	PUNCT
alkej-948	53	24	68	68	NUM
alkej-948	53	25	𝜏𝑑2	𝜏𝑑2	NOUN
alkej-948	53	26	=	=	PUNCT
alkej-948	54	1	[	[	PUNCT
alkej-948	54	2	0.866𝑘𝑡𝜔𝑚𝑟	0.866𝑘𝑡𝜔𝑚𝑟	NUM
alkej-948	54	3	2	2	NUM
alkej-948	54	4	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	54	5	)	)	PUNCT
alkej-948	54	6	−	−	PROPN
alkej-948	54	7	0.866𝑘𝑡𝜔𝑚𝑙	0.866𝑘𝑡𝜔𝑚𝑙	NOUN
alkej-948	54	8	2	2	NUM
alkej-948	54	9	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	ADV
alkej-948	54	10	)	)	PUNCT
alkej-948	54	11	−𝑘𝑡𝜔𝑚𝑟	−𝑘𝑡𝜔𝑚𝑟	NOUN
alkej-948	54	12	2	2	NUM
alkej-948	54	13	𝑠𝑖𝑛(𝛼𝑟	𝑠𝑖𝑛(𝛼𝑟	NOUN
alkej-948	54	14	)	)	PUNCT
alkej-948	55	1	+	+	CCONJ
alkej-948	55	2	0.5𝑘𝑡𝜔𝑚𝑙	0.5𝑘𝑡𝜔𝑚𝑙	NUM
alkej-948	55	3	2	2	NUM
alkej-948	55	4	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	NOUN
alkej-948	55	5	)	)	PUNCT
alkej-948	56	1	+	+	CCONJ
alkej-948	56	2	2(−0.5𝑘𝑡)𝜔𝑚𝑏	2(−0.5𝑘𝑡)𝜔𝑚𝑏	NUM
alkej-948	56	3	2	2	NUM
alkej-948	56	4	𝑠𝑖𝑛(𝛼𝑏	𝑠𝑖𝑛(𝛼𝑏	NOUN
alkej-948	56	5	)	)	PUNCT
alkej-948	56	6	−𝑘𝑡𝜔𝑚𝑟	−𝑘𝑡𝜔𝑚𝑟	NOUN
alkej-948	56	7	2	2	NUM
alkej-948	56	8	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	56	9	)	)	PUNCT
alkej-948	56	10	−	−	PROPN
alkej-948	56	11	𝑘𝑡𝜔𝑚𝑙	𝑘𝑡𝜔𝑚𝑙	NOUN
alkej-948	56	12	2	2	NUM
alkej-948	56	13	𝑐𝑜𝑠(𝛼𝑙	𝑐𝑜𝑠(𝛼𝑙	NOUN
alkej-948	56	14	)	)	PUNCT
alkej-948	57	1	+	+	CCONJ
alkej-948	57	2	2𝑘𝑡𝜔𝑚𝑏	2𝑘𝑡𝜔𝑚𝑏	NUM
alkej-948	57	3	2	2	NUM
alkej-948	57	4	𝑐𝑜𝑠(𝛼𝑏	𝑐𝑜𝑠(𝛼𝑏	NOUN
alkej-948	57	5	)	)	PUNCT
alkej-948	57	6	]	]	PUNCT
alkej-948	58	1	…	…	PUNCT
alkej-948	58	2	(	(	PUNCT
alkej-948	58	3	2	2	NUM
alkej-948	58	4	)	)	PUNCT
alkej-948	58	5	by	by	ADP
alkej-948	58	6	doubling	double	VERB
alkej-948	58	7	the	the	DET
alkej-948	58	8	force	force	NOUN
alkej-948	58	9	coefficient	coefficient	NOUN
alkej-948	58	10	,	,	PUNCT
alkej-948	58	11	the	the	DET
alkej-948	58	12	force	force	NOUN
alkej-948	58	13	and	and	CCONJ
alkej-948	58	14	torque	torque	NOUN
alkej-948	58	15	equations	equation	NOUN
alkej-948	58	16	are	be	AUX
alkej-948	58	17	modified	modify	VERB
alkej-948	58	18	as	as	SCONJ
alkej-948	58	19	shown	show	VERB
alkej-948	58	20	below	below	ADP
alkej-948	58	21	:	:	PUNCT
alkej-948	58	22	𝑓	𝑓	X
alkej-948	58	23	=	=	X
alkej-948	58	24	[	[	PUNCT
alkej-948	58	25	−0.866𝑘𝑓	−0.866𝑘𝑓	NOUN
alkej-948	58	26	𝜔𝑚𝑙	𝜔𝑚𝑙	VERB
alkej-948	58	27	2	2	NUM
alkej-948	58	28	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	NOUN
alkej-948	58	29	)	)	PUNCT
alkej-948	58	30	+	+	CCONJ
alkej-948	58	31	0.866(2𝑘𝑓)𝜔𝑚𝑏	0.866(2𝑘𝑓)𝜔𝑚𝑏	PROPN
alkej-948	58	32	2	2	NUM
alkej-948	58	33	𝑠𝑖𝑛(𝛼𝑏	𝑠𝑖𝑛(𝛼𝑏	NOUN
alkej-948	58	34	)	)	PUNCT
alkej-948	58	35	𝑘𝑓𝜔𝑚𝑟	𝑘𝑓𝜔𝑚𝑟	NOUN
alkej-948	58	36	2	2	NUM
alkej-948	58	37	𝑠𝑖𝑛(𝛼𝑟	𝑠𝑖𝑛(𝛼𝑟	NOUN
alkej-948	58	38	)	)	PUNCT
alkej-948	59	1	+	+	CCONJ
alkej-948	59	2	−0.5𝑘𝑓	−0.5𝑘𝑓	ADP
alkej-948	59	3	𝜔𝑚𝑙	𝜔𝑚𝑙	DET
alkej-948	59	4	2	2	NUM
alkej-948	59	5	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	NOUN
alkej-948	59	6	)	)	PUNCT
alkej-948	59	7	+	+	CCONJ
alkej-948	59	8	2(−0.5𝑘𝑓)𝜔𝑚𝑏	2(−0.5𝑘𝑓)𝜔𝑚𝑏	NUM
alkej-948	59	9	2	2	NUM
alkej-948	59	10	𝑠𝑖𝑛(𝛼𝑏	𝑠𝑖𝑛(𝛼𝑏	NOUN
alkej-948	59	11	)	)	PUNCT
alkej-948	59	12	𝑘𝑓𝜔𝑚𝑟	𝑘𝑓𝜔𝑚𝑟	NOUN
alkej-948	59	13	2	2	NUM
alkej-948	59	14	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	59	15	)	)	PUNCT
alkej-948	59	16	+	+	CCONJ
alkej-948	59	17	𝑘𝑓𝜔𝑚𝑙	𝑘𝑓𝜔𝑚𝑙	NOUN
alkej-948	59	18	2	2	NUM
alkej-948	59	19	𝑐𝑜𝑠(𝛼𝑙	𝑐𝑜𝑠(𝛼𝑙	NOUN
alkej-948	59	20	)	)	PUNCT
alkej-948	59	21	+	+	CCONJ
alkej-948	59	22	2𝑘𝑓𝜔𝑚𝑏	2𝑘𝑓𝜔𝑚𝑏	NUM
alkej-948	59	23	2	2	NUM
alkej-948	59	24	𝑐𝑜𝑠(𝛼𝑏	𝑐𝑜𝑠(𝛼𝑏	NOUN
alkej-948	59	25	)	)	PUNCT
alkej-948	59	26	]	]	PUNCT
alkej-948	59	27	…	…	PUNCT
alkej-948	59	28	(	(	PUNCT
alkej-948	59	29	3	3	NUM
alkej-948	59	30	)	)	PUNCT
alkej-948	59	31	𝜏	𝜏	NOUN
alkej-948	59	32	=	=	PUNCT
alkej-948	60	1	[	[	X
alkej-948	60	2	−	−	NOUN
alkej-948	60	3	0.866𝑘𝑓	0.866𝑘𝑓	NOUN
alkej-948	60	4	𝜔𝑚𝑙	𝜔𝑚𝑙	X
alkej-948	60	5	2	2	NUM
alkej-948	60	6	𝑐𝑜𝑠(𝛼𝑙	𝑐𝑜𝑠(𝛼𝑙	NOUN
alkej-948	60	7	)	)	PUNCT
alkej-948	61	1	−	−	PROPN
alkej-948	61	2	0.866(2𝑘𝑓)𝜔𝑚𝑏	0.866(2𝑘𝑓)𝜔𝑚𝑏	PROPN
alkej-948	61	3	2	2	NUM
alkej-948	61	4	𝑐𝑜𝑠(𝛼𝑏	𝑐𝑜𝑠(𝛼𝑏	NOUN
alkej-948	61	5	)	)	PUNCT
alkej-948	61	6	𝑘𝑓𝜔𝑚𝑟	𝑘𝑓𝜔𝑚𝑟	NOUN
alkej-948	61	7	2	2	NUM
alkej-948	61	8	𝑐𝑜𝑠(𝛼𝑟	𝑐𝑜𝑠(𝛼𝑟	NOUN
alkej-948	61	9	)	)	PUNCT
alkej-948	61	10	+	+	CCONJ
alkej-948	61	11	0.5𝑘𝑓𝜔𝑚𝑙	0.5𝑘𝑓𝜔𝑚𝑙	NOUN
alkej-948	61	12	2	2	NUM
alkej-948	61	13	𝑐𝑜𝑠(𝛼𝑙	𝑐𝑜𝑠(𝛼𝑙	NOUN
alkej-948	61	14	)	)	PUNCT
alkej-948	61	15	+	+	CCONJ
alkej-948	61	16	2(0.5𝑘𝑓)𝜔𝑚𝑏	2(0.5𝑘𝑓)𝜔𝑚𝑏	NUM
alkej-948	61	17	2	2	NUM
alkej-948	61	18	𝑐𝑜𝑠(𝛼𝑏	𝑐𝑜𝑠(𝛼𝑏	NOUN
alkej-948	61	19	)	)	PUNCT
alkej-948	61	20	𝑘𝑓𝜔𝑚𝑟	𝑘𝑓𝜔𝑚𝑟	NOUN
alkej-948	61	21	2	2	NUM
alkej-948	61	22	𝑠𝑖𝑛(𝛼𝑟	𝑠𝑖𝑛(𝛼𝑟	NOUN
alkej-948	61	23	)	)	PUNCT
alkej-948	61	24	+	+	CCONJ
alkej-948	61	25	𝑘𝑓𝜔𝑚𝑙	𝑘𝑓𝜔𝑚𝑙	NOUN
alkej-948	61	26	2	2	NUM
alkej-948	61	27	𝑠𝑖𝑛(𝛼𝑙	𝑠𝑖𝑛(𝛼𝑙	ADV
alkej-948	61	28	)	)	PUNCT
alkej-948	61	29	+	+	CCONJ
alkej-948	61	30	2𝑘𝑓𝜔𝑚𝑏	2𝑘𝑓𝜔𝑚𝑏	NUM
alkej-948	61	31	2	2	NUM
alkej-948	61	32	𝑠𝑖𝑛(𝛼𝑏	𝑠𝑖𝑛(𝛼𝑏	NOUN
alkej-948	61	33	)	)	PUNCT
alkej-948	61	34	]	]	PUNCT
alkej-948	61	35	…	…	PUNCT
alkej-948	61	36	(	(	PUNCT
alkej-948	61	37	4	4	NUM
alkej-948	61	38	)	)	PUNCT
alkej-948	61	39	where	where	SCONJ
alkej-948	61	40	𝑘𝑓	𝑘𝑓	PROPN
alkej-948	61	41	is	be	AUX
alkej-948	61	42	the	the	DET
alkej-948	61	43	force	force	NOUN
alkej-948	61	44	coefficient	coefficient	NOUN
alkej-948	61	45	,	,	PUNCT
alkej-948	61	46	𝑓	𝑓	PRON
alkej-948	61	47	is	be	AUX
alkej-948	61	48	the	the	DET
alkej-948	61	49	total	total	ADJ
alkej-948	61	50	force	force	NOUN
alkej-948	61	51	and	and	CCONJ
alkej-948	61	52	𝜏	𝜏	NOUN
alkej-948	61	53	is	be	AUX
alkej-948	61	54	the	the	DET
alkej-948	61	55	total	total	ADJ
alkej-948	61	56	torque	torque	NOUN
alkej-948	61	57	.	.	PUNCT
alkej-948	62	1	3	3	X
alkej-948	62	2	.	.	NUM
alkej-948	62	3	proposed	propose	VERB
alkej-948	62	4	controller	controller	NOUN
alkej-948	62	5	the	the	DET
alkej-948	62	6	tri	tri	ADJ
alkej-948	62	7	-	-	ADJ
alkej-948	62	8	rotor	rotor	ADJ
alkej-948	62	9	equations	equation	NOUN
alkej-948	62	10	exhibit	exhibit	VERB
alkej-948	62	11	strong	strong	ADJ
alkej-948	62	12	output	output	NOUN
alkej-948	62	13	coupling	coupling	NOUN
alkej-948	62	14	,	,	PUNCT
alkej-948	62	15	necessitating	necessitate	VERB
alkej-948	62	16	the	the	DET
alkej-948	62	17	use	use	NOUN
alkej-948	62	18	of	of	ADP
alkej-948	62	19	pid	pid	NOUN
alkej-948	62	20	controllers	controller	NOUN
alkej-948	62	21	in	in	ADP
alkej-948	62	22	combination	combination	NOUN
alkej-948	62	23	with	with	ADP
alkej-948	62	24	feedback	feedback	NOUN
alkej-948	62	25	linearisation	linearisation	NOUN
alkej-948	62	26	.	.	PUNCT
alkej-948	63	1	as	as	SCONJ
alkej-948	63	2	referenced	reference	VERB
alkej-948	63	3	in	in	ADP
alkej-948	63	4	section	section	NOUN
alkej-948	63	5	1	1	NUM
alkej-948	63	6	,	,	PUNCT
alkej-948	63	7	the	the	DET
alkej-948	63	8	feedback	feedback	NOUN
alkej-948	63	9	linearisation	linearisation	NOUN
alkej-948	63	10	method	method	NOUN
alkej-948	63	11	is	be	AUX
alkej-948	63	12	also	also	ADV
alkej-948	63	13	adopted	adopt	VERB
alkej-948	63	14	from	from	ADP
alkej-948	63	15	previous	previous	ADJ
alkej-948	63	16	work	work	NOUN
alkej-948	63	17	.	.	PUNCT
alkej-948	64	1	a	a	DET
alkej-948	64	2	total	total	NOUN
alkej-948	64	3	of	of	ADP
alkej-948	64	4	six	six	NUM
alkej-948	64	5	pid	pid	NOUN
alkej-948	64	6	controllers	controller	NOUN
alkej-948	64	7	are	be	AUX
alkej-948	64	8	used	use	VERB
alkej-948	64	9	to	to	PART
alkej-948	64	10	control	control	VERB
alkej-948	64	11	the	the	DET
alkej-948	64	12	uav	uav	PROPN
alkej-948	64	13	:	:	PUNCT
alkej-948	64	14	three	three	NUM
alkej-948	64	15	for	for	ADP
alkej-948	64	16	position	position	NOUN
alkej-948	64	17	control	control	NOUN
alkej-948	64	18	(	(	PUNCT
alkej-948	64	19	x	x	X
alkej-948	64	20	,	,	PUNCT
alkej-948	64	21	y	y	PROPN
alkej-948	64	22	,	,	PUNCT
alkej-948	64	23	z	z	NOUN
alkej-948	64	24	)	)	PUNCT
alkej-948	64	25	and	and	CCONJ
alkej-948	64	26	three	three	NUM
alkej-948	64	27	for	for	ADP
alkej-948	64	28	attitude	attitude	NOUN
alkej-948	64	29	control	control	NOUN
alkej-948	64	30	(	(	PUNCT
alkej-948	64	31			NOUN
alkej-948	64	32	,	,	PUNCT
alkej-948	64	33			NOUN
alkej-948	64	34	,	,	PUNCT
alkej-948	64	35			NOUN
alkej-948	64	36	)	)	PUNCT
alkej-948	64	37	.	.	PUNCT
alkej-948	65	1	this	this	DET
alkej-948	65	2	control	control	NOUN
alkej-948	65	3	approach	approach	NOUN
alkej-948	65	4	remains	remain	VERB
alkej-948	65	5	the	the	DET
alkej-948	65	6	same	same	ADJ
alkej-948	65	7	for	for	ADP
alkej-948	65	8	both	both	DET
alkej-948	65	9	cases	case	NOUN
alkej-948	65	10	,	,	PUNCT
alkej-948	65	11	as	as	SCONJ
alkej-948	65	12	shown	show	VERB
alkej-948	65	13	in	in	ADP
alkej-948	65	14	figure	figure	NOUN
alkej-948	65	15	2	2	NUM
alkej-948	65	16	.	.	PUNCT
alkej-948	65	17	fig	fig	NOUN
alkej-948	65	18	.	.	PUNCT
alkej-948	66	1	2	2	X
alkej-948	66	2	.	.	X
alkej-948	66	3	system	system	NOUN
alkej-948	66	4	block	block	NOUN
alkej-948	66	5	diagram	diagram	PROPN
alkej-948	66	6	3.1	3.1	NUM
alkej-948	66	7	proportional	proportional	ADJ
alkej-948	66	8	integral	integral	ADJ
alkej-948	66	9	divertive	divertive	ADJ
alkej-948	66	10	controller	controller	NOUN
alkej-948	66	11	(	(	PUNCT
alkej-948	66	12	pid	pid	NOUN
alkej-948	66	13	)	)	PUNCT
alkej-948	66	14	after	after	ADP
alkej-948	66	15	linearising	linearise	VERB
alkej-948	66	16	the	the	DET
alkej-948	66	17	system	system	NOUN
alkej-948	66	18	,	,	PUNCT
alkej-948	66	19	a	a	DET
alkej-948	66	20	linear	linear	ADJ
alkej-948	66	21	pid	pid	NOUN
alkej-948	66	22	controller	controller	NOUN
alkej-948	66	23	can	can	AUX
alkej-948	66	24	be	be	AUX
alkej-948	66	25	applied	apply	VERB
alkej-948	66	26	.	.	PUNCT
alkej-948	67	1	the	the	DET
alkej-948	67	2	pid	pid	NOUN
alkej-948	67	3	controller	controller	NOUN
alkej-948	67	4	is	be	AUX
alkej-948	67	5	considered	consider	VERB
alkej-948	67	6	an	an	DET
alkej-948	67	7	optimal	optimal	ADJ
alkej-948	67	8	choice	choice	NOUN
alkej-948	67	9	due	due	ADP
alkej-948	67	10	to	to	ADP
alkej-948	67	11	its	its	PRON
alkej-948	67	12	simple	simple	ADJ
alkej-948	67	13	implementation	implementation	NOUN
alkej-948	67	14	and	and	CCONJ
alkej-948	67	15	high	high	ADJ
alkej-948	67	16	efficiency	efficiency	NOUN
alkej-948	67	17	[	[	X
alkej-948	67	18	24	24	NUM
alkej-948	67	19	]	]	PUNCT
alkej-948	67	20	.	.	PUNCT
alkej-948	68	1	the	the	DET
alkej-948	68	2	standard	standard	ADJ
alkej-948	68	3	pid	pid	NOUN
alkej-948	68	4	formula	formula	NOUN
alkej-948	68	5	used	use	VERB
alkej-948	68	6	to	to	PART
alkej-948	68	7	compute	compute	VERB
alkej-948	68	8	the	the	DET
alkej-948	68	9	error	error	NOUN
alkej-948	68	10	signal	signal	NOUN
alkej-948	68	11	is	be	AUX
alkej-948	68	12	referenced	reference	VERB
alkej-948	68	13	from	from	ADP
alkej-948	68	14	[	[	X
alkej-948	68	15	25	25	NUM
alkej-948	68	16	]	]	PUNCT
alkej-948	68	17	.	.	PUNCT
alkej-948	69	1	𝑢(𝑡	𝑢(𝑡	NOUN
alkej-948	69	2	)	)	PUNCT
alkej-948	69	3	=	=	SYM
alkej-948	69	4	𝐾𝑃𝑒(𝑡	𝐾𝑃𝑒(𝑡	NOUN
alkej-948	69	5	)	)	PUNCT
alkej-948	69	6	+	+	CCONJ
alkej-948	69	7	𝐾𝐼	𝐾𝐼	PROPN
alkej-948	69	8	∫	∫	NOUN
alkej-948	69	9	𝑒(𝑡)𝑑𝑡	𝑒(𝑡)𝑑𝑡	NUM
alkej-948	69	10	+	+	ADJ
alkej-948	69	11	𝐾𝐷	𝐾𝐷	PROPN
alkej-948	69	12	�	�	PROPN
alkej-948	69	13	̇	̇	PROPN
alkej-948	69	14	�	�	PROPN
alkej-948	69	15	(𝑡	(𝑡	PROPN
alkej-948	69	16	)	)	PUNCT
alkej-948	69	17	…	…	PUNCT
alkej-948	69	18	(	(	PUNCT
alkej-948	69	19	5	5	NUM
alkej-948	69	20	)	)	PUNCT
alkej-948	69	21	where	where	SCONJ
alkej-948	69	22	𝐾𝑃	𝐾𝑃	PROPN
alkej-948	69	23	is	be	AUX
alkej-948	69	24	the	the	DET
alkej-948	69	25	proportional	proportional	ADJ
alkej-948	69	26	gain	gain	NOUN
alkej-948	69	27	,	,	PUNCT
alkej-948	69	28	𝐾𝐼	𝐾𝐼	PROPN
alkej-948	69	29	is	be	AUX
alkej-948	69	30	the	the	DET
alkej-948	69	31	integral	integral	ADJ
alkej-948	69	32	gain	gain	NOUN
alkej-948	69	33	,	,	PUNCT
alkej-948	69	34	𝐾𝐷	𝐾𝐷	PROPN
alkej-948	69	35	is	be	AUX
alkej-948	69	36	the	the	DET
alkej-948	69	37	derivation	derivation	NOUN
alkej-948	69	38	gain	gain	NOUN
alkej-948	69	39	and	and	CCONJ
alkej-948	69	40	𝑒(𝑡	𝑒(𝑡	NOUN
alkej-948	69	41	)	)	PUNCT
alkej-948	69	42	represents	represent	VERB
alkej-948	69	43	the	the	DET
alkej-948	69	44	error	error	NOUN
alkej-948	69	45	signal	signal	NOUN
alkej-948	69	46	.	.	PUNCT
alkej-948	70	1	the	the	DET
alkej-948	70	2	system	system	NOUN
alkej-948	70	3	uses	use	VERB
alkej-948	70	4	six	six	NUM
alkej-948	70	5	pid	pid	NOUN
alkej-948	70	6	controllers	controller	NOUN
alkej-948	70	7	,	,	PUNCT
alkej-948	70	8	divided	divide	VERB
alkej-948	70	9	between	between	ADP
alkej-948	70	10	position	position	NOUN
alkej-948	70	11	and	and	CCONJ
alkej-948	70	12	attitude	attitude	NOUN
alkej-948	70	13	control	control	NOUN
alkej-948	70	14	.	.	PUNCT
alkej-948	71	1	each	each	DET
alkej-948	71	2	controller	controller	NOUN
alkej-948	71	3	is	be	AUX
alkej-948	71	4	separately	separately	ADV
alkej-948	71	5	tuned	tune	VERB
alkej-948	71	6	using	use	VERB
alkej-948	71	7	the	the	DET
alkej-948	71	8	genetic	genetic	ADJ
alkej-948	71	9	algorithm	algorithm	NOUN
alkej-948	71	10	(	(	PUNCT
alkej-948	71	11	ga	ga	NOUN
alkej-948	71	12	)	)	PUNCT
alkej-948	71	13	optimisation	optimisation	NOUN
alkej-948	71	14	method	method	NOUN
alkej-948	71	15	,	,	PUNCT
alkej-948	71	16	with	with	ADP
alkej-948	71	17	the	the	DET
alkej-948	71	18	integral	integral	ADJ
alkej-948	71	19	time	time	NOUN
alkej-948	71	20	absolute	absolute	ADJ
alkej-948	71	21	error	error	NOUN
alkej-948	71	22	(	(	PUNCT
alkej-948	71	23	itae	itae	PROPN
alkej-948	71	24	)	)	PUNCT
alkej-948	71	25	used	use	VERB
alkej-948	71	26	as	as	ADP
alkej-948	71	27	the	the	DET
alkej-948	71	28	cost	cost	NOUN
alkej-948	71	29	function	function	NOUN
alkej-948	71	30	.	.	PUNCT
alkej-948	72	1	3.2	3.2	NUM
alkej-948	72	2	pid	pid	NOUN
alkej-948	72	3	tunning	tun	VERB
alkej-948	72	4	the	the	DET
alkej-948	72	5	pids	pid	NOUN
alkej-948	72	6	are	be	AUX
alkej-948	72	7	tuned	tune	VERB
alkej-948	72	8	using	use	VERB
alkej-948	72	9	the	the	DET
alkej-948	72	10	ga	ga	PROPN
alkej-948	72	11	,	,	PUNCT
alkej-948	72	12	a	a	DET
alkej-948	72	13	method	method	NOUN
alkej-948	72	14	introduced	introduce	VERB
alkej-948	72	15	by	by	ADP
alkej-948	72	16	john	john	PROPN
alkej-948	72	17	holland	holland	PROPN
alkej-948	72	18	in	in	ADP
alkej-948	72	19	1975	1975	NUM
alkej-948	73	1	[	[	X
alkej-948	73	2	26	26	NUM
alkej-948	73	3	]	]	PUNCT
alkej-948	73	4	.	.	PUNCT
alkej-948	74	1	based	base	VERB
alkej-948	74	2	on	on	ADP
alkej-948	74	3	the	the	DET
alkej-948	74	4	concepts	concept	NOUN
alkej-948	74	5	of	of	ADP
alkej-948	74	6	evolution	evolution	NOUN
alkej-948	74	7	,	,	PUNCT
alkej-948	74	8	ga	ga	PROPN
alkej-948	74	9	operate	operate	VERB
alkej-948	74	10	by	by	ADP
alkej-948	74	11	choosing	choose	VERB
alkej-948	74	12	the	the	DET
alkej-948	74	13	most	most	ADV
alkej-948	74	14	adapted	adapt	VERB
alkej-948	74	15	individuals	individual	NOUN
alkej-948	74	16	(	(	PUNCT
alkej-948	74	17	elite	elite	ADJ
alkej-948	74	18	members	member	NOUN
alkej-948	74	19	)	)	PUNCT
alkej-948	74	20	form	form	VERB
alkej-948	74	21	a	a	DET
alkej-948	74	22	population	population	NOUN
alkej-948	74	23	to	to	PART
alkej-948	74	24	reproduce	reproduce	VERB
alkej-948	74	25	and	and	CCONJ
alkej-948	74	26	generate	generate	VERB
alkej-948	74	27	a	a	DET
alkej-948	74	28	new	new	ADJ
alkej-948	74	29	generation	generation	NOUN
alkej-948	74	30	.	.	PUNCT
alkej-948	75	1	this	this	DET
alkej-948	75	2	process	process	NOUN
alkej-948	75	3	involves	involve	VERB
alkej-948	75	4	selecting	select	VERB
alkej-948	75	5	individuals	individual	NOUN
alkej-948	75	6	,	,	PUNCT
alkej-948	75	7	evaluating	evaluate	VERB
alkej-948	75	8	their	their	PRON
alkej-948	75	9	performance	performance	NOUN
alkej-948	75	10	,	,	PUNCT
alkej-948	75	11	combining	combine	VERB
alkej-948	75	12	their	their	PRON
alkej-948	75	13	solutions	solution	NOUN
alkej-948	75	14	through	through	ADP
alkej-948	75	15	genetic	genetic	ADJ
alkej-948	75	16	crossover	crossover	NOUN
alkej-948	75	17	,	,	PUNCT
alkej-948	75	18	applying	apply	VERB
alkej-948	75	19	random	random	ADJ
alkej-948	75	20	mutations	mutation	NOUN
alkej-948	75	21	and	and	CCONJ
alkej-948	75	22	modifying	modify	VERB
alkej-948	75	23	the	the	DET
alkej-948	75	24	population	population	NOUN
alkej-948	75	25	with	with	ADP
alkej-948	75	26	the	the	DET
alkej-948	75	27	best	well	ADV
alkej-948	75	28	-	-	PUNCT
alkej-948	75	29	performing	perform	VERB
alkej-948	75	30	solutions	solution	NOUN
alkej-948	75	31	.	.	PUNCT
alkej-948	76	1	this	this	DET
alkej-948	76	2	approach	approach	NOUN
alkej-948	76	3	,	,	PUNCT
alkej-948	76	4	which	which	PRON
alkej-948	76	5	mirrors	mirror	VERB
alkej-948	76	6	the	the	DET
alkej-948	76	7	concept	concept	NOUN
alkej-948	76	8	of	of	ADP
alkej-948	76	9	natural	natural	ADJ
alkej-948	76	10	selection	selection	NOUN
alkej-948	76	11	,	,	PUNCT
alkej-948	76	12	is	be	AUX
alkej-948	76	13	effective	effective	ADJ
alkej-948	76	14	for	for	ADP
alkej-948	76	15	minimising	minimise	VERB
alkej-948	76	16	specific	specific	ADJ
alkej-948	76	17	cost	cost	NOUN
alkej-948	76	18	functions	function	NOUN
alkej-948	76	19	(	(	PUNCT
alkej-948	76	20	in	in	ADP
alkej-948	76	21	this	this	DET
alkej-948	76	22	case	case	NOUN
alkej-948	76	23	,	,	PUNCT
alkej-948	76	24	the	the	DET
alkej-948	76	25	system	system	NOUN
alkej-948	76	26	error	error	NOUN
alkej-948	76	27	)	)	PUNCT
alkej-948	76	28	.	.	PUNCT
alkej-948	77	1	the	the	DET
alkej-948	77	2	ga	ga	PROPN
alkej-948	77	3	is	be	AUX
alkej-948	77	4	used	use	VERB
alkej-948	77	5	to	to	PART
alkej-948	77	6	tune	tune	VERB
alkej-948	77	7	the	the	DET
alkej-948	77	8	pid	pid	NOUN
alkej-948	77	9	controllers	controller	NOUN
alkej-948	77	10	for	for	ADP
alkej-948	77	11	both	both	DET
alkej-948	77	12	cases	case	NOUN
alkej-948	77	13	,	,	PUNCT
alkej-948	77	14	implemented	implement	VERB
alkej-948	77	15	using	use	VERB
alkej-948	77	16	a	a	DET
alkej-948	77	17	built	build	VERB
alkej-948	77	18	-	-	PUNCT
alkej-948	77	19	in	in	ADP
alkej-948	77	20	matlab	matlab	PROPN
alkej-948	77	21	function	function	NOUN
alkej-948	77	22	.	.	PUNCT
alkej-948	78	1	the	the	DET
alkej-948	78	2	selected	select	VERB
alkej-948	78	3	cost	cost	NOUN
alkej-948	78	4	function	function	NOUN
alkej-948	78	5	for	for	ADP
alkej-948	78	6	evaluating	evaluate	VERB
alkej-948	78	7	performance	performance	NOUN
alkej-948	78	8	is	be	AUX
alkej-948	78	9	the	the	DET
alkej-948	78	10	itae	itae	NOUN
alkej-948	78	11	[	[	X
alkej-948	78	12	27	27	NUM
alkej-948	78	13	]	]	PUNCT
alkej-948	78	14	.	.	PUNCT
alkej-948	79	1	∫	∫	PROPN
alkej-948	79	2	𝑡|𝑒(𝑡)|𝑑𝑡	𝑡|𝑒(𝑡)|𝑑𝑡	NUM
alkej-948	79	3	∞	∞	PROPN
alkej-948	79	4	0	0	NUM
alkej-948	79	5	…	…	PUNCT
alkej-948	79	6	(	(	PUNCT
alkej-948	79	7	6	6	NUM
alkej-948	79	8	)	)	PUNCT
alkej-948	79	9	figure	figure	NOUN
alkej-948	79	10	3	3	NUM
alkej-948	79	11	shows	show	VERB
alkej-948	79	12	the	the	DET
alkej-948	79	13	genetic	genetic	ADJ
alkej-948	79	14	algorithm	algorithm	NOUN
alkej-948	79	15	flow	flow	NOUN
alkej-948	79	16	chart	chart	NOUN
alkej-948	79	17	.	.	PUNCT
alkej-948	80	1	abdullah	abdullah	PROPN
alkej-948	80	2	mohammed	mohammed	PROPN
alkej-948	80	3	al	al	PROPN
alkej-948	80	4	-	-	PUNCT
alkej-948	80	5	khwarizmi	khwarizmi	PROPN
alkej-948	80	6	engineering	engineering	NOUN
alkej-948	80	7	journal	journal	PROPN
alkej-948	80	8	,	,	PUNCT
alkej-948	80	9	vol	vol	NOUN
alkej-948	80	10	.	.	PROPN
alkej-948	80	11	21	21	NUM
alkej-948	80	12	,	,	PUNCT
alkej-948	80	13	no.3	no.3	VERB
alkej-948	80	14	,	,	PUNCT
alkej-948	80	15	pp.6675	pp.6675	PROPN
alkej-948	80	16	(	(	PUNCT
alkej-948	80	17	2025	2025	NUM
alkej-948	80	18	)	)	PUNCT
alkej-948	80	19	69	69	NUM
alkej-948	80	20	genetic	genetic	ADJ
alkej-948	80	21	algorithm	algorithm	NOUN
alkej-948	80	22	working	work	VERB
alkej-948	80	23	steps	step	NOUN
alkej-948	80	24	flow	flow	VERB
alkej-948	80	25	chartfig	chartfig	NOUN
alkej-948	80	26	.	.	PUNCT
alkej-948	81	1	3	3	X
alkej-948	81	2	.	.	PUNCT
alkej-948	82	1	[	[	X
alkej-948	82	2	28	28	NUM
alkej-948	82	3	]	]	SYM
alkej-948	82	4	4	4	NUM
alkej-948	82	5	.	.	X
alkej-948	82	6	simulation	simulation	NOUN
alkej-948	82	7	results	result	VERB
alkej-948	82	8	the	the	DET
alkej-948	82	9	pid	pid	NOUN
alkej-948	82	10	parameters	parameter	NOUN
alkej-948	82	11	are	be	AUX
alkej-948	82	12	tuned	tune	VERB
alkej-948	82	13	by	by	ADP
alkej-948	82	14	setting	set	VERB
alkej-948	82	15	the	the	DET
alkej-948	82	16	desired	desire	VERB
alkej-948	82	17	outputs	output	NOUN
alkej-948	82	18	for	for	ADP
alkej-948	82	19	position	position	NOUN
alkej-948	82	20	and	and	CCONJ
alkej-948	82	21	altitude	altitude	NOUN
alkej-948	82	22	to	to	ADP
alkej-948	82	23	1	1	NUM
alkej-948	82	24	m	m	NOUN
alkej-948	82	25	and	and	CCONJ
alkej-948	82	26	10deg	10deg	NOUN
alkej-948	82	27	for	for	ADP
alkej-948	82	28	attitude	attitude	NOUN
alkej-948	82	29	.	.	PUNCT
alkej-948	83	1	in	in	ADP
alkej-948	83	2	this	this	DET
alkej-948	83	3	section	section	NOUN
alkej-948	83	4	,	,	PUNCT
alkej-948	83	5	the	the	DET
alkej-948	83	6	system	system	NOUN
alkej-948	83	7	responses	response	VERB
alkej-948	83	8	for	for	ADP
alkej-948	83	9	both	both	DET
alkej-948	83	10	cases	case	NOUN
alkej-948	83	11	will	will	AUX
alkej-948	83	12	be	be	AUX
alkej-948	83	13	represented	represent	VERB
alkej-948	83	14	,	,	PUNCT
alkej-948	83	15	along	along	ADP
alkej-948	83	16	with	with	ADP
alkej-948	83	17	their	their	PRON
alkej-948	83	18	corresponding	correspond	VERB
alkej-948	83	19	itea	itea	NOUN
alkej-948	83	20	values	value	NOUN
alkej-948	83	21	and	and	CCONJ
alkej-948	83	22	a	a	DET
alkej-948	83	23	simulated	simulated	ADJ
alkej-948	83	24	flight	flight	NOUN
alkej-948	83	25	scenario	scenario	NOUN
alkej-948	83	26	.	.	PUNCT
alkej-948	84	1	each	each	DET
alkej-948	84	2	case	case	NOUN
alkej-948	84	3	will	will	AUX
alkej-948	84	4	be	be	AUX
alkej-948	84	5	evaluated	evaluate	VERB
alkej-948	84	6	based	base	VERB
alkej-948	84	7	on	on	ADP
alkej-948	84	8	its	its	PRON
alkej-948	84	9	tracking	tracking	NOUN
alkej-948	84	10	performance	performance	NOUN
alkej-948	84	11	and	and	CCONJ
alkej-948	84	12	control	control	NOUN
alkej-948	84	13	efficiency	efficiency	NOUN
alkej-948	84	14	.	.	PUNCT
alkej-948	85	1	4.1	4.1	NUM
alkej-948	85	2	.	.	PUNCT
alkej-948	85	3	first	first	ADJ
alkej-948	85	4	case	case	NOUN
alkej-948	85	5	the	the	DET
alkej-948	85	6	pid	pid	NOUN
alkej-948	85	7	gain	gain	NOUN
alkej-948	85	8	and	and	CCONJ
alkej-948	85	9	the	the	DET
alkej-948	85	10	itae	itae	ADJ
alkej-948	85	11	values	value	NOUN
alkej-948	85	12	for	for	ADP
alkej-948	85	13	the	the	DET
alkej-948	85	14	first	first	ADJ
alkej-948	85	15	case	case	NOUN
alkej-948	85	16	are	be	AUX
alkej-948	85	17	shown	show	VERB
alkej-948	85	18	in	in	ADP
alkej-948	85	19	table	table	NOUN
alkej-948	85	20	2	2	NUM
alkej-948	85	21	.	.	PUNCT
alkej-948	85	22	table	table	NOUN
alkej-948	85	23	2	2	NUM
alkej-948	85	24	pid	pid	NOUN
alkej-948	85	25	parameters	parameter	NOUN
alkej-948	85	26	,	,	PUNCT
alkej-948	85	27	first	first	ADJ
alkej-948	85	28	case	case	NOUN
alkej-948	85	29	itea	itea	PRON
alkej-948	85	30	kd	kd	PROPN
alkej-948	85	31	ki	ki	PROPN
alkej-948	85	32	kp	kp	PROPN
alkej-948	85	33	parameter	parameter	PROPN
alkej-948	85	34	0.0421	0.0421	NUM
alkej-948	85	35	3.63	3.63	NUM
alkej-948	85	36	0.397	0.397	NUM
alkej-948	85	37	14.64	14.64	NUM
alkej-948	85	38	phi	phi	NOUN
alkej-948	85	39	0.0241	0.0241	NUM
alkej-948	85	40	4.15	4.15	NUM
alkej-948	85	41	0.033	0.033	NUM
alkej-948	85	42	19.48	19.48	NUM
alkej-948	85	43	theta	theta	NOUN
alkej-948	85	44	0.0252	0.0252	NUM
alkej-948	85	45	4.72	4.72	NUM
alkej-948	85	46	0.03	0.03	NUM
alkej-948	85	47	19.77	19.77	NUM
alkej-948	85	48	psi	psi	NOUN
alkej-948	85	49	0.3591	0.3591	NUM
alkej-948	85	50	4.21	4.21	NUM
alkej-948	85	51	16.06	16.06	NUM
alkej-948	85	52	18.58	18.58	NUM
alkej-948	85	53	x	x	SYM
alkej-948	85	54	0.3605	0.3605	NUM
alkej-948	85	55	4.02	4.02	NUM
alkej-948	85	56	14.49	14.49	NUM
alkej-948	85	57	19.85	19.85	NUM
alkej-948	85	58	y	y	PROPN
alkej-948	85	59	0.1211	0.1211	NUM
alkej-948	85	60	4.58	4.58	NUM
alkej-948	85	61	0.026	0.026	NUM
alkej-948	85	62	17.9	17.9	NUM
alkej-948	85	63	z	z	NOUN
alkej-948	85	64	figures	figure	NOUN
alkej-948	85	65	4	4	NUM
alkej-948	85	66	and	and	CCONJ
alkej-948	85	67	5	5	NUM
alkej-948	85	68	show	show	VERB
alkej-948	85	69	the	the	DET
alkej-948	85	70	tuning	tuning	NOUN
alkej-948	85	71	responses	response	NOUN
alkej-948	85	72	for	for	ADP
alkej-948	85	73	the	the	DET
alkej-948	85	74	altitude	altitude	NOUN
alkej-948	85	75	and	and	CCONJ
alkej-948	85	76	attitude	attitude	NOUN
alkej-948	85	77	,	,	PUNCT
alkej-948	85	78	respectively	respectively	ADV
alkej-948	85	79	,	,	PUNCT
alkej-948	85	80	during	during	ADP
alkej-948	85	81	the	the	DET
alkej-948	85	82	tuning	tuning	NOUN
alkej-948	85	83	process	process	NOUN
alkej-948	85	84	for	for	ADP
alkej-948	85	85	the	the	DET
alkej-948	85	86	first	first	ADJ
alkej-948	85	87	case	case	NOUN
alkej-948	85	88	.	.	PUNCT
alkej-948	86	1	the	the	DET
alkej-948	86	2	performance	performance	NOUN
alkej-948	86	3	metrics	metric	NOUN
alkej-948	86	4	of	of	ADP
alkej-948	86	5	case	case	NOUN
alkej-948	86	6	one	one	PRON
alkej-948	86	7	are	be	AUX
alkej-948	86	8	as	as	SCONJ
alkej-948	86	9	follows	follow	VERB
alkej-948	86	10	:	:	PUNCT
alkej-948	86	11	altitude	altitude	NOUN
alkej-948	86	12	settle	settle	NOUN
alkej-948	86	13	time	time	NOUN
alkej-948	86	14	:	:	PUNCT
alkej-948	86	15	(	(	PUNCT
alkej-948	86	16	1.7	1.7	NUM
alkej-948	86	17	s	s	NOUN
alkej-948	86	18	)	)	PUNCT
alkej-948	86	19	,	,	PUNCT
alkej-948	86	20	x	x	PUNCT
alkej-948	86	21	overshoot	overshoot	NOUN
alkej-948	86	22	:	:	PUNCT
alkej-948	86	23	(	(	PUNCT
alkej-948	86	24	38	38	NUM
alkej-948	86	25	%	%	NOUN
alkej-948	86	26	)	)	PUNCT
alkej-948	86	27	,	,	PUNCT
alkej-948	86	28	y	y	PROPN
alkej-948	86	29	overshoot	overshoot	NOUN
alkej-948	86	30	:	:	PUNCT
alkej-948	86	31	(	(	PUNCT
alkej-948	86	32	37	37	NUM
alkej-948	86	33	%	%	NOUN
alkej-948	86	34	)	)	PUNCT
alkej-948	86	35	and	and	CCONJ
alkej-948	86	36	z	z	NOUN
alkej-948	86	37	overshoot	overshoot	NOUN
alkej-948	86	38	:	:	PUNCT
alkej-948	86	39	(	(	PUNCT
alkej-948	86	40	10	10	NUM
alkej-948	86	41	%	%	NOUN
alkej-948	86	42	)	)	PUNCT
alkej-948	86	43	.	.	PUNCT
alkej-948	87	1	for	for	ADP
alkej-948	87	2	case	case	NOUN
alkej-948	87	3	one	one	NUM
alkej-948	87	4	,	,	PUNCT
alkej-948	87	5	attitude	attitude	NOUN
alkej-948	87	6	settle	settle	NOUN
alkej-948	87	7	time	time	NOUN
alkej-948	87	8	is	be	AUX
alkej-948	87	9	(	(	PUNCT
alkej-948	87	10	2.1	2.1	NUM
alkej-948	87	11	s	s	NOUN
alkej-948	87	12	)	)	PUNCT
alkej-948	87	13	,	,	PUNCT
alkej-948	87	14	phi	phi	NOUN
alkej-948	87	15	overshoot	overshoot	NOUN
alkej-948	87	16	is	be	AUX
alkej-948	87	17	17	17	NUM
alkej-948	87	18	%	%	NOUN
alkej-948	87	19	,	,	PUNCT
alkej-948	87	20	theta	theta	NOUN
alkej-948	87	21	overshoot	overshoot	NOUN
alkej-948	87	22	is	be	AUX
alkej-948	87	23	16	16	NUM
alkej-948	87	24	%	%	NOUN
alkej-948	87	25	and	and	CCONJ
alkej-948	87	26	psi	psi	NOUN
alkej-948	87	27	overshoot	overshoot	NOUN
alkej-948	87	28	is	be	AUX
alkej-948	87	29	11	11	NUM
alkej-948	87	30	%	%	NOUN
alkej-948	87	31	.	.	PUNCT
alkej-948	88	1	fig	fig	NOUN
alkej-948	88	2	.	.	PUNCT
alkej-948	89	1	4	4	X
alkej-948	89	2	.	.	X
alkej-948	89	3	uav	uav	PROPN
alkej-948	89	4	altitude	altitude	NOUN
alkej-948	89	5	response	response	NOUN
alkej-948	89	6	for	for	ADP
alkej-948	89	7	the	the	DET
alkej-948	89	8	first	first	ADJ
alkej-948	89	9	case	case	NOUN
alkej-948	89	10	fig	fig	NOUN
alkej-948	89	11	.	.	PUNCT
alkej-948	90	1	5	5	NUM
alkej-948	90	2	.	.	X
alkej-948	90	3	uav	uav	PROPN
alkej-948	90	4	attitude	attitude	NOUN
alkej-948	90	5	response	response	NOUN
alkej-948	90	6	for	for	ADP
alkej-948	90	7	the	the	DET
alkej-948	90	8	first	first	ADJ
alkej-948	90	9	case	case	NOUN
alkej-948	90	10	4.2	4.2	NUM
alkej-948	90	11	.	.	PUNCT
alkej-948	91	1	second	second	ADJ
alkej-948	91	2	case	case	NOUN
alkej-948	91	3	the	the	DET
alkej-948	91	4	second	second	ADJ
alkej-948	91	5	case	case	NOUN
alkej-948	91	6	showed	show	VERB
alkej-948	91	7	lower	low	ADJ
alkej-948	91	8	itae	itae	NOUN
alkej-948	91	9	values	value	NOUN
alkej-948	91	10	after	after	ADP
alkej-948	91	11	doubling	double	VERB
alkej-948	91	12	the	the	DET
alkej-948	91	13	back	back	ADJ
alkej-948	91	14	motor	motor	NOUN
alkej-948	91	15	’s	’s	PART
alkej-948	91	16	coefficients	coefficient	NOUN
alkej-948	91	17	,	,	PUNCT
alkej-948	91	18	as	as	SCONJ
alkej-948	91	19	shown	show	VERB
alkej-948	91	20	in	in	ADP
alkej-948	91	21	table	table	NOUN
alkej-948	91	22	3	3	NUM
alkej-948	91	23	.	.	PUNCT
alkej-948	91	24	table	table	NOUN
alkej-948	91	25	3	3	NUM
alkej-948	91	26	pid	pid	NOUN
alkej-948	91	27	parameters	parameter	NOUN
alkej-948	91	28	,	,	PUNCT
alkej-948	91	29	second	second	ADJ
alkej-948	91	30	case	case	NOUN
alkej-948	91	31	itea	itea	PRON
alkej-948	92	1	kd	kd	PROPN
alkej-948	92	2	ki	ki	PROPN
alkej-948	92	3	kp	kp	PROPN
alkej-948	92	4	parameter	parameter	PROPN
alkej-948	92	5	0.0307	0.0307	NUM
alkej-948	92	6	4.97	4.97	NUM
alkej-948	92	7	0.595	0.595	NUM
alkej-948	92	8	19.98	19.98	NUM
alkej-948	92	9	phi	phi	NOUN
alkej-948	92	10	0.0167	0.0167	NUM
alkej-948	92	11	5.67	5.67	NUM
alkej-948	92	12	0.015	0.015	NUM
alkej-948	92	13	19.26	19.26	NUM
alkej-948	92	14	theta	theta	NOUN
alkej-948	92	15	0.0368	0.0368	NUM
alkej-948	92	16	3.7	3.7	NUM
alkej-948	92	17	0.403	0.403	NUM
alkej-948	92	18	19.63	19.63	NUM
alkej-948	92	19	psi	psi	NOUN
alkej-948	92	20	0.0889	0.0889	NUM
alkej-948	92	21	5.83	5.83	NUM
alkej-948	92	22	0.018	0.018	NUM
alkej-948	92	23	19.82	19.82	NUM
alkej-948	92	24	x	x	SYM
alkej-948	92	25	0.3447	0.3447	NUM
alkej-948	92	26	4.45	4.45	NUM
alkej-948	92	27	18.03	18.03	NUM
alkej-948	92	28	18.57	18.57	NUM
alkej-948	92	29	y	y	PROPN
alkej-948	92	30	0.0924	0.0924	NUM
alkej-948	92	31	5.46	5.46	NUM
alkej-948	92	32	0.016	0.016	NUM
alkej-948	92	33	19.81	19.81	NUM
alkej-948	92	34	z	z	NOUN
alkej-948	92	35	figures	figure	NOUN
alkej-948	92	36	6	6	NUM
alkej-948	92	37	and	and	CCONJ
alkej-948	92	38	7	7	NUM
alkej-948	92	39	illustrate	illustrate	VERB
alkej-948	92	40	the	the	DET
alkej-948	92	41	tuning	tuning	NOUN
alkej-948	92	42	responses	response	NOUN
alkej-948	92	43	for	for	ADP
alkej-948	92	44	altitude	altitude	NOUN
alkej-948	92	45	and	and	CCONJ
alkej-948	92	46	attitude	attitude	NOUN
alkej-948	92	47	,	,	PUNCT
alkej-948	92	48	respectively	respectively	ADV
alkej-948	92	49	,	,	PUNCT
alkej-948	92	50	during	during	ADP
alkej-948	92	51	the	the	DET
alkej-948	92	52	tuning	tuning	NOUN
alkej-948	92	53	process	process	NOUN
alkej-948	92	54	of	of	ADP
alkej-948	92	55	the	the	DET
alkej-948	92	56	second	second	ADJ
alkej-948	92	57	case	case	NOUN
alkej-948	92	58	.	.	PUNCT
alkej-948	93	1	the	the	DET
alkej-948	93	2	performance	performance	NOUN
alkej-948	93	3	metrics	metric	NOUN
alkej-948	93	4	of	of	ADP
alkej-948	93	5	case	case	NOUN
alkej-948	93	6	two	two	NUM
alkej-948	93	7	are	be	AUX
alkej-948	93	8	as	as	SCONJ
alkej-948	93	9	follows	follow	VERB
alkej-948	93	10	:	:	PUNCT
alkej-948	93	11	altitude	altitude	NOUN
alkej-948	93	12	settle	settle	NOUN
alkej-948	93	13	time	time	NOUN
alkej-948	93	14	:	:	PUNCT
alkej-948	93	15	(	(	PUNCT
alkej-948	93	16	1.7	1.7	NUM
alkej-948	93	17	s	s	NOUN
alkej-948	93	18	)	)	PUNCT
alkej-948	93	19	,	,	PUNCT
alkej-948	93	20	x	x	PUNCT
alkej-948	93	21	overshoot	overshoot	NOUN
alkej-948	93	22	:	:	PUNCT
alkej-948	93	23	(	(	PUNCT
alkej-948	93	24	3	3	NUM
alkej-948	93	25	%	%	NOUN
alkej-948	93	26	)	)	PUNCT
alkej-948	93	27	,	,	PUNCT
alkej-948	93	28	y	y	PROPN
alkej-948	93	29	overshoot	overshoot	NOUN
alkej-948	93	30	:	:	PUNCT
alkej-948	93	31	(	(	PUNCT
alkej-948	93	32	40	40	NUM
alkej-948	93	33	%	%	NOUN
alkej-948	93	34	)	)	PUNCT
alkej-948	93	35	and	and	CCONJ
alkej-948	93	36	z	z	NOUN
alkej-948	93	37	overshoot	overshoot	NOUN
alkej-948	93	38	:	:	PUNCT
alkej-948	93	39	(	(	PUNCT
alkej-948	93	40	5	5	NUM
alkej-948	93	41	%	%	NOUN
alkej-948	93	42	)	)	PUNCT
alkej-948	93	43	.	.	PUNCT
alkej-948	94	1	for	for	ADP
alkej-948	94	2	case	case	NOUN
alkej-948	94	3	two	two	NUM
alkej-948	94	4	,	,	PUNCT
alkej-948	94	5	attitude	attitude	NOUN
alkej-948	94	6	abdullah	abdullah	PROPN
alkej-948	94	7	mohammed	mohammed	PROPN
alkej-948	94	8	al	al	PROPN
alkej-948	94	9	-	-	PUNCT
alkej-948	94	10	khwarizmi	khwarizmi	PROPN
alkej-948	94	11	engineering	engineering	NOUN
alkej-948	94	12	journal	journal	PROPN
alkej-948	94	13	,	,	PUNCT
alkej-948	94	14	vol	vol	NOUN
alkej-948	94	15	.	.	PROPN
alkej-948	94	16	21	21	NUM
alkej-948	94	17	,	,	PUNCT
alkej-948	94	18	no.3	no.3	VERB
alkej-948	94	19	,	,	PUNCT
alkej-948	94	20	pp.6675	pp.6675	PROPN
alkej-948	94	21	(	(	PUNCT
alkej-948	94	22	2025	2025	NUM
alkej-948	94	23	)	)	PUNCT
alkej-948	94	24	70	70	NUM
alkej-948	94	25	settle	settle	NOUN
alkej-948	94	26	time	time	NOUN
alkej-948	94	27	is	be	AUX
alkej-948	94	28	2	2	NUM
alkej-948	94	29	s	s	NOUN
alkej-948	94	30	,	,	PUNCT
alkej-948	94	31	phi	phi	ADJ
alkej-948	94	32	overshoot	overshoot	NOUN
alkej-948	94	33	is	be	AUX
alkej-948	94	34	10	10	NUM
alkej-948	94	35	%	%	NOUN
alkej-948	94	36	)	)	PUNCT
alkej-948	94	37	,	,	PUNCT
alkej-948	94	38	theta	theta	NOUN
alkej-948	94	39	overshoot	overshoot	NOUN
alkej-948	94	40	is	be	AUX
alkej-948	94	41	11	11	NUM
alkej-948	94	42	%	%	NOUN
alkej-948	94	43	and	and	CCONJ
alkej-948	94	44	psi	psi	NOUN
alkej-948	94	45	overshoot	overshoot	NOUN
alkej-948	94	46	is	be	AUX
alkej-948	94	47	22	22	NUM
alkej-948	94	48	%	%	NOUN
alkej-948	94	49	.	.	PUNCT
alkej-948	95	1	fig	fig	NOUN
alkej-948	95	2	.	.	PUNCT
alkej-948	96	1	6	6	NUM
alkej-948	96	2	.	.	X
alkej-948	96	3	uav	uav	PROPN
alkej-948	96	4	altitude	altitude	NOUN
alkej-948	96	5	response	response	NOUN
alkej-948	96	6	for	for	ADP
alkej-948	96	7	the	the	DET
alkej-948	96	8	first	first	ADJ
alkej-948	96	9	case	case	NOUN
alkej-948	96	10	fig	fig	NOUN
alkej-948	96	11	.	.	PUNCT
alkej-948	97	1	7	7	X
alkej-948	97	2	.	.	X
alkej-948	97	3	uav	uav	PROPN
alkej-948	97	4	attitude	attitude	NOUN
alkej-948	97	5	response	response	NOUN
alkej-948	97	6	for	for	ADP
alkej-948	97	7	the	the	DET
alkej-948	97	8	first	first	ADJ
alkej-948	97	9	case	case	NOUN
alkej-948	97	10	the	the	DET
alkej-948	97	11	second	second	ADJ
alkej-948	97	12	case	case	NOUN
alkej-948	97	13	demonstrated	demonstrate	VERB
alkej-948	97	14	lower	low	ADJ
alkej-948	97	15	itae	itae	ADJ
alkej-948	97	16	values	value	NOUN
alkej-948	97	17	;	;	PUNCT
alkej-948	97	18	thus	thus	ADV
alkej-948	97	19	,	,	PUNCT
alkej-948	97	20	a	a	DET
alkej-948	97	21	flight	flight	NOUN
alkej-948	97	22	scenario	scenario	NOUN
alkej-948	97	23	was	be	AUX
alkej-948	97	24	then	then	ADV
alkej-948	97	25	applied	apply	VERB
alkej-948	97	26	to	to	PART
alkej-948	97	27	further	far	ADV
alkej-948	97	28	evaluate	evaluate	VERB
alkej-948	97	29	the	the	DET
alkej-948	97	30	uav	uav	PROPN
alkej-948	97	31	performance	performance	NOUN
alkej-948	97	32	.	.	PUNCT
alkej-948	98	1	the	the	DET
alkej-948	98	2	uav	uav	PROPN
alkej-948	98	3	is	be	AUX
alkej-948	98	4	initially	initially	ADV
alkej-948	98	5	positioned	position	VERB
alkej-948	98	6	at	at	ADP
alkej-948	98	7	(	(	PUNCT
alkej-948	98	8	0,1,0	0,1,0	NUM
alkej-948	98	9	)	)	PUNCT
alkej-948	98	10	,	,	PUNCT
alkej-948	98	11	ascending	ascend	VERB
alkej-948	98	12	vertically	vertically	ADV
alkej-948	98	13	and	and	CCONJ
alkej-948	98	14	then	then	ADV
alkej-948	98	15	follows	follow	VERB
alkej-948	98	16	a	a	DET
alkej-948	98	17	spiral	spiral	ADJ
alkej-948	98	18	shape	shape	NOUN
alkej-948	98	19	.	.	PUNCT
alkej-948	99	1	this	this	DET
alkej-948	99	2	approach	approach	NOUN
alkej-948	99	3	is	be	AUX
alkej-948	99	4	achieved	achieve	VERB
alkej-948	99	5	using	use	VERB
alkej-948	99	6	a	a	DET
alkej-948	99	7	circular	circular	ADJ
alkej-948	99	8	equation	equation	NOUN
alkej-948	99	9	for	for	ADP
alkej-948	99	10	the	the	DET
alkej-948	99	11	x	x	X
alkej-948	99	12	and	and	CCONJ
alkej-948	99	13	y	y	PROPN
alkej-948	99	14	coordinates	coordinate	NOUN
alkej-948	99	15	,	,	PUNCT
alkej-948	99	16	a	a	DET
alkej-948	99	17	ramp	ramp	NOUN
alkej-948	99	18	function	function	NOUN
alkej-948	99	19	for	for	ADP
alkej-948	99	20	the	the	DET
alkej-948	99	21	z	z	NOUN
alkej-948	99	22	coordinate	coordinate	NOUN
alkej-948	99	23	and	and	CCONJ
alkej-948	99	24	setting	set	VERB
alkej-948	99	25	all	all	DET
alkej-948	99	26	attitude	attitude	NOUN
alkej-948	99	27	variables	variable	NOUN
alkej-948	99	28	to	to	ADP
alkej-948	99	29	zero	zero	NUM
alkej-948	99	30	.	.	PUNCT
alkej-948	100	1	figure	figure	NOUN
alkej-948	100	2	8	8	NUM
alkej-948	100	3	illustrates	illustrate	VERB
alkej-948	100	4	the	the	DET
alkej-948	100	5	flight	flight	NOUN
alkej-948	100	6	scenario	scenario	NOUN
alkej-948	100	7	.	.	PUNCT
alkej-948	101	1	fig	fig	NOUN
alkej-948	101	2	.	.	PUNCT
alkej-948	102	1	8	8	X
alkej-948	102	2	.	.	X
alkej-948	103	1	uav	uav	PROPN
alkej-948	103	2	helical	helical	ADJ
alkej-948	103	3	flight	flight	NOUN
alkej-948	103	4	scenario	scenario	NOUN
alkej-948	103	5	the	the	DET
alkej-948	103	6	uav	uav	PROPN
alkej-948	103	7	smoothly	smoothly	ADV
alkej-948	103	8	tracked	track	VERB
alkej-948	103	9	due	due	ADP
alkej-948	103	10	to	to	ADP
alkej-948	103	11	its	its	PRON
alkej-948	103	12	enhanced	enhance	VERB
alkej-948	103	13	manoeuvrability	manoeuvrability	NOUN
alkej-948	103	14	provided	provide	VERB
alkej-948	103	15	by	by	ADP
alkej-948	103	16	the	the	DET
alkej-948	103	17	thrust	thrust	ADJ
alkej-948	103	18	vectoring	vectore	VERB
alkej-948	103	19	mechanism	mechanism	NOUN
alkej-948	103	20	.	.	PUNCT
alkej-948	104	1	the	the	DET
alkej-948	104	2	motor	motor	NOUN
alkej-948	104	3	forces	force	NOUN
alkej-948	104	4	remained	remain	VERB
alkej-948	104	5	balance	balance	NOUN
alkej-948	104	6	due	due	ADP
alkej-948	104	7	to	to	ADP
alkej-948	104	8	the	the	DET
alkej-948	104	9	back	back	ADJ
alkej-948	104	10	motor	motor	NOUN
alkej-948	104	11	having	having	AUX
alkej-948	104	12	increased	increase	VERB
alkej-948	104	13	force	force	NOUN
alkej-948	104	14	and	and	CCONJ
alkej-948	104	15	torque	torque	NOUN
alkej-948	104	16	coefficients	coefficient	NOUN
alkej-948	104	17	.	.	PUNCT
alkej-948	105	1	aiming	aim	VERB
alkej-948	105	2	to	to	PART
alkej-948	105	3	thoroughly	thoroughly	ADV
alkej-948	105	4	evaluate	evaluate	VERB
alkej-948	105	5	the	the	DET
alkej-948	105	6	system	system	NOUN
alkej-948	105	7	’s	’s	PART
alkej-948	105	8	performance	performance	NOUN
alkej-948	105	9	,	,	PUNCT
alkej-948	105	10	the	the	DET
alkej-948	105	11	responses	response	NOUN
alkej-948	105	12	of	of	ADP
alkej-948	105	13	altitude	altitude	NOUN
alkej-948	105	14	,	,	PUNCT
alkej-948	105	15	attitude	attitude	NOUN
alkej-948	105	16	,	,	PUNCT
alkej-948	105	17	motor	motor	NOUN
alkej-948	105	18	speeds	speed	NOUN
alkej-948	105	19	and	and	CCONJ
alkej-948	105	20	servo	servo	NOUN
alkej-948	105	21	angles	angle	NOUN
alkej-948	105	22	were	be	AUX
alkej-948	105	23	captured	capture	VERB
alkej-948	105	24	during	during	ADP
alkej-948	105	25	the	the	DET
alkej-948	105	26	flight	flight	NOUN
alkej-948	105	27	.	.	PUNCT
alkej-948	106	1	figure	figure	NOUN
alkej-948	106	2	9	9	NUM
alkej-948	106	3	shows	show	VERB
alkej-948	106	4	the	the	DET
alkej-948	106	5	altitude	altitude	NOUN
alkej-948	106	6	response	response	NOUN
alkej-948	106	7	.	.	PUNCT
alkej-948	107	1	fig	fig	NOUN
alkej-948	107	2	.	.	PUNCT
alkej-948	108	1	9	9	X
alkej-948	108	2	.	.	X
alkej-948	108	3	uav	uav	PROPN
alkej-948	108	4	helical	helical	ADJ
alkej-948	108	5	flight	flight	NOUN
alkej-948	108	6	scenario	scenario	NOUN
alkej-948	108	7	altitude	altitude	NOUN
alkej-948	108	8	response	response	NOUN
alkej-948	108	9	the	the	DET
alkej-948	108	10	altitude	altitude	NOUN
alkej-948	108	11	responses	response	NOUN
alkej-948	108	12	closely	closely	ADV
alkej-948	108	13	followed	follow	VERB
alkej-948	108	14	the	the	DET
alkej-948	108	15	desired	desire	VERB
alkej-948	108	16	trajectory	trajectory	NOUN
alkej-948	108	17	without	without	ADP
alkej-948	108	18	any	any	DET
alkej-948	108	19	issues	issue	NOUN
alkej-948	108	20	,	,	PUNCT
alkej-948	108	21	demonstrating	demonstrate	VERB
alkej-948	108	22	the	the	DET
alkej-948	108	23	uav	uav	PROPN
alkej-948	108	24	’s	’s	PART
alkej-948	108	25	effective	effective	ADJ
alkej-948	108	26	manoeuvrability	manoeuvrability	NOUN
alkej-948	108	27	.	.	PUNCT
alkej-948	109	1	figure	figure	NOUN
alkej-948	109	2	10	10	NUM
alkej-948	109	3	displays	display	VERB
alkej-948	109	4	the	the	DET
alkej-948	109	5	attitude	attitude	NOUN
alkej-948	109	6	response	response	NOUN
alkej-948	109	7	.	.	PUNCT
alkej-948	110	1	abdullah	abdullah	PROPN
alkej-948	110	2	mohammed	mohammed	PROPN
alkej-948	110	3	al	al	PROPN
alkej-948	110	4	-	-	PUNCT
alkej-948	110	5	khwarizmi	khwarizmi	PROPN
alkej-948	110	6	engineering	engineering	NOUN
alkej-948	110	7	journal	journal	PROPN
alkej-948	110	8	,	,	PUNCT
alkej-948	110	9	vol	vol	NOUN
alkej-948	110	10	.	.	PROPN
alkej-948	110	11	21	21	NUM
alkej-948	110	12	,	,	PUNCT
alkej-948	110	13	no.3	no.3	VERB
alkej-948	110	14	,	,	PUNCT
alkej-948	110	15	pp.6675	pp.6675	PROPN
alkej-948	110	16	(	(	PUNCT
alkej-948	110	17	2025	2025	NUM
alkej-948	110	18	)	)	PUNCT
alkej-948	110	19	71	71	NUM
alkej-948	110	20	fig	fig	NOUN
alkej-948	110	21	.	.	PUNCT
alkej-948	111	1	10	10	NUM
alkej-948	111	2	.	.	X
alkej-948	112	1	uav	uav	PROPN
alkej-948	112	2	helical	helical	ADJ
alkej-948	112	3	flight	flight	NOUN
alkej-948	112	4	scenario	scenario	NOUN
alkej-948	112	5	attitude	attitude	NOUN
alkej-948	112	6	response	response	NOUN
alkej-948	112	7	the	the	DET
alkej-948	112	8	attitude	attitude	NOUN
alkej-948	112	9	responses	response	NOUN
alkej-948	112	10	remained	remain	VERB
alkej-948	112	11	zero	zero	NUM
alkej-948	112	12	throughout	throughout	ADP
alkej-948	112	13	the	the	DET
alkej-948	112	14	entire	entire	ADJ
alkej-948	112	15	flight	flight	NOUN
alkej-948	112	16	,	,	PUNCT
alkej-948	112	17	indicating	indicate	VERB
alkej-948	112	18	that	that	SCONJ
alkej-948	112	19	the	the	DET
alkej-948	112	20	uav	uav	PROPN
alkej-948	112	21	maintained	maintain	VERB
alkej-948	112	22	good	good	ADJ
alkej-948	112	23	balance	balance	NOUN
alkej-948	112	24	.	.	PUNCT
alkej-948	113	1	figures	figure	NOUN
alkej-948	113	2	11	11	NUM
alkej-948	113	3	and	and	CCONJ
alkej-948	113	4	12	12	NUM
alkej-948	113	5	show	show	VERB
alkej-948	113	6	the	the	DET
alkej-948	113	7	responses	response	NOUN
alkej-948	113	8	of	of	ADP
alkej-948	113	9	the	the	DET
alkej-948	113	10	motors	motor	NOUN
alkej-948	113	11	and	and	CCONJ
alkej-948	113	12	servo	servo	PROPN
alkej-948	113	13	motors	motor	NOUN
alkej-948	113	14	,	,	PUNCT
alkej-948	113	15	respectively	respectively	ADV
alkej-948	113	16	.	.	PUNCT
alkej-948	114	1	the	the	DET
alkej-948	114	2	motor	motor	NOUN
alkej-948	114	3	speed	speed	NOUN
alkej-948	114	4	limits	limit	NOUN
alkej-948	114	5	are	be	AUX
alkej-948	114	6	set	set	VERB
alkej-948	114	7	between	between	ADP
alkej-948	114	8	0	0	NUM
alkej-948	114	9	and	and	CCONJ
alkej-948	114	10	3600	3600	NUM
alkej-948	114	11	rpm	rpm	NOUN
alkej-948	114	12	,	,	PUNCT
alkej-948	114	13	whilst	whilst	SCONJ
alkej-948	114	14	the	the	DET
alkej-948	114	15	servo	servo	NOUN
alkej-948	114	16	angle	angle	NOUN
alkej-948	114	17	limits	limit	NOUN
alkej-948	114	18	range	range	VERB
alkej-948	114	19	from	from	ADP
alkej-948	114	20	−90	−90	PROPN
alkej-948	114	21	°	°	PROPN
alkej-948	114	22	to	to	ADP
alkej-948	114	23	90	90	NUM
alkej-948	114	24	°	°	NOUN
alkej-948	114	25	.	.	PUNCT
alkej-948	115	1	fig	fig	NOUN
alkej-948	115	2	.	.	PUNCT
alkej-948	116	1	11	11	NUM
alkej-948	116	2	.	.	X
alkej-948	117	1	uav	uav	PROPN
alkej-948	117	2	helical	helical	ADJ
alkej-948	117	3	flight	flight	NOUN
alkej-948	117	4	scenario	scenario	NOUN
alkej-948	117	5	motors	motors	PROPN
alkej-948	117	6	response	response	PROPN
alkej-948	117	7	fig	fig	PROPN
alkej-948	117	8	.	.	PUNCT
alkej-948	118	1	12	12	NUM
alkej-948	118	2	.	.	PUNCT
alkej-948	119	1	uav	uav	PROPN
alkej-948	119	2	helical	helical	ADJ
alkej-948	119	3	flight	flight	NOUN
alkej-948	119	4	scenario	scenario	NOUN
alkej-948	119	5	servo	servo	PROPN
alkej-948	119	6	motors	motor	NOUN
alkej-948	119	7	response	response	VERB
alkej-948	119	8	the	the	DET
alkej-948	119	9	motors	motor	NOUN
alkej-948	119	10	speed	speed	NOUN
alkej-948	119	11	values	value	NOUN
alkej-948	119	12	increased	increase	VERB
alkej-948	119	13	as	as	SCONJ
alkej-948	119	14	the	the	DET
alkej-948	119	15	uav	uav	PROPN
alkej-948	119	16	took	take	VERB
alkej-948	119	17	off	off	ADP
alkej-948	119	18	,	,	PUNCT
alkej-948	119	19	then	then	ADV
alkej-948	119	20	settled	settle	VERB
alkej-948	119	21	at	at	ADP
alkej-948	119	22	a	a	DET
alkej-948	119	23	specific	specific	ADJ
alkej-948	119	24	value	value	NOUN
alkej-948	119	25	and	and	CCONJ
alkej-948	119	26	did	do	AUX
alkej-948	119	27	not	not	PART
alkej-948	119	28	exceed	exceed	VERB
alkej-948	119	29	the	the	DET
alkej-948	119	30	design	design	NOUN
alkej-948	119	31	boundaries	boundary	NOUN
alkej-948	119	32	.	.	PUNCT
alkej-948	120	1	the	the	DET
alkej-948	120	2	back	back	ADJ
alkej-948	120	3	motor	motor	NOUN
alkej-948	120	4	shows	show	VERB
alkej-948	120	5	lower	low	ADJ
alkej-948	120	6	speed	speed	NOUN
alkej-948	120	7	values	value	NOUN
alkej-948	120	8	because	because	SCONJ
alkej-948	120	9	it	it	PRON
alkej-948	120	10	has	have	VERB
alkej-948	120	11	larger	large	ADJ
alkej-948	120	12	coefficients	coefficient	NOUN
alkej-948	120	13	.	.	PUNCT
alkej-948	121	1	the	the	DET
alkej-948	121	2	responses	response	NOUN
alkej-948	121	3	of	of	ADP
alkej-948	121	4	the	the	DET
alkej-948	121	5	servo	servo	NOUN
alkej-948	121	6	angles	angle	VERB
alkej-948	121	7	change	change	NOUN
alkej-948	121	8	continuously	continuously	ADV
alkej-948	121	9	to	to	PART
alkej-948	121	10	maintain	maintain	VERB
alkej-948	121	11	the	the	DET
alkej-948	121	12	uav	uav	PROPN
alkej-948	121	13	on	on	ADP
alkej-948	121	14	the	the	DET
alkej-948	121	15	desired	desire	VERB
alkej-948	121	16	path	path	NOUN
alkej-948	121	17	.	.	PUNCT
alkej-948	122	1	the	the	DET
alkej-948	122	2	second	second	ADJ
alkej-948	122	3	case	case	NOUN
alkej-948	122	4	showed	show	VERB
alkej-948	122	5	lower	low	ADJ
alkej-948	122	6	itae	itae	ADJ
alkej-948	122	7	values	value	NOUN
alkej-948	122	8	;	;	PUNCT
alkej-948	122	9	therefore	therefore	ADV
alkej-948	122	10	,	,	PUNCT
alkej-948	122	11	a	a	DET
alkej-948	122	12	disturbance	disturbance	NOUN
alkej-948	122	13	test	test	NOUN
alkej-948	122	14	and	and	CCONJ
alkej-948	122	15	an	an	DET
alkej-948	122	16	uncertainty	uncertainty	NOUN
alkej-948	122	17	test	test	NOUN
alkej-948	122	18	were	be	AUX
alkej-948	122	19	then	then	ADV
alkej-948	122	20	applied	apply	VERB
alkej-948	122	21	to	to	PART
alkej-948	122	22	further	far	ADV
alkej-948	122	23	evaluate	evaluate	VERB
alkej-948	122	24	the	the	DET
alkej-948	122	25	uav	uav	PROPN
alkej-948	122	26	’s	’s	PART
alkej-948	122	27	performance	performance	NOUN
alkej-948	122	28	.	.	PUNCT
alkej-948	123	1	the	the	DET
alkej-948	123	2	uncertainty	uncertainty	NOUN
alkej-948	123	3	test	test	NOUN
alkej-948	123	4	responses	response	NOUN
alkej-948	123	5	and	and	CCONJ
alkej-948	123	6	itae	itae	NOUN
alkej-948	123	7	values	value	NOUN
alkej-948	123	8	after	after	ADP
alkej-948	123	9	changing	change	VERB
alkej-948	123	10	the	the	DET
alkej-948	123	11	mass	mass	NOUN
alkej-948	123	12	to	to	ADP
alkej-948	123	13	1.8	1.8	NUM
alkej-948	123	14	kg	kg	NOUN
alkej-948	123	15	and	and	CCONJ
alkej-948	123	16	the	the	DET
alkej-948	123	17	arm	arm	NOUN
alkej-948	123	18	length	length	NOUN
alkej-948	123	19	to	to	ADP
alkej-948	123	20	0.2	0.2	NUM
alkej-948	123	21	m	m	NOUN
alkej-948	123	22	are	be	AUX
alkej-948	123	23	shown	show	VERB
alkej-948	123	24	in	in	ADP
alkej-948	123	25	table	table	NOUN
alkej-948	123	26	4	4	NUM
alkej-948	123	27	.	.	PUNCT
alkej-948	123	28	table	table	NOUN
alkej-948	123	29	4	4	NUM
alkej-948	123	30	uncertainty	uncertainty	NOUN
alkej-948	123	31	itae	itae	NOUN
alkej-948	123	32	values	value	NOUN
alkej-948	123	33	,	,	PUNCT
alkej-948	123	34	second	second	ADJ
alkej-948	123	35	case	case	NOUN
alkej-948	123	36	itea	itea	NOUN
alkej-948	123	37	uncertainty	uncertainty	NOUN
alkej-948	123	38	parameter	parameter	NOUN
alkej-948	123	39	0.03	0.03	NUM
alkej-948	123	40	phi	phi	NOUN
alkej-948	123	41	0.016	0.016	NUM
alkej-948	123	42	theta	theta	PROPN
alkej-948	123	43	0.035	0.035	NUM
alkej-948	123	44	psi	psi	NOUN
alkej-948	123	45	0.09	0.09	NUM
alkej-948	123	46	x	x	SYM
alkej-948	123	47	0.347	0.347	NUM
alkej-948	123	48	y	y	PROPN
alkej-948	123	49	0.093	0.093	NUM
alkej-948	123	50	z	z	NOUN
alkej-948	123	51	figure	figure	NOUN
alkej-948	123	52	13	13	NUM
alkej-948	123	53	shows	show	VERB
alkej-948	123	54	the	the	DET
alkej-948	123	55	uncertainty	uncertainty	NOUN
alkej-948	123	56	test	test	NOUN
alkej-948	123	57	responses	response	NOUN
alkej-948	123	58	for	for	ADP
alkej-948	123	59	altitude	altitude	NOUN
alkej-948	123	60	and	and	CCONJ
alkej-948	123	61	attitude	attitude	NOUN
alkej-948	123	62	.	.	PUNCT
alkej-948	124	1	all	all	DET
alkej-948	124	2	responses	response	NOUN
alkej-948	124	3	stabilise	stabilise	VERB
alkej-948	124	4	within	within	ADP
alkej-948	124	5	approximately	approximately	ADV
alkej-948	124	6	2	2	NUM
alkej-948	124	7	s.	s.	PROPN
alkej-948	124	8	(	(	PUNCT
alkej-948	124	9	a	a	NOUN
alkej-948	124	10	)	)	PUNCT
alkej-948	124	11	(	(	PUNCT
alkej-948	124	12	b	b	X
alkej-948	124	13	)	)	PUNCT
alkej-948	124	14	fig	fig	NOUN
alkej-948	124	15	.	.	PUNCT
alkej-948	125	1	13	13	NUM
alkej-948	125	2	.	.	PUNCT
alkej-948	125	3	uncertainty	uncertainty	NOUN
alkej-948	125	4	altitude	altitude	NOUN
alkej-948	125	5	&	&	CCONJ
alkej-948	125	6	attitude	attitude	NOUN
alkej-948	125	7	responses	response	NOUN
alkej-948	125	8	for	for	ADP
alkej-948	125	9	y	y	NOUN
alkej-948	125	10	-	-	PUNCT
alkej-948	125	11	model	model	NOUN
alkej-948	125	12	:	:	PUNCT
alkej-948	125	13	(	(	PUNCT
alkej-948	125	14	a	a	X
alkej-948	125	15	)	)	PUNCT
alkej-948	125	16	altitude	altitude	NOUN
alkej-948	125	17	responses	response	NOUN
alkej-948	125	18	,	,	PUNCT
alkej-948	125	19	(	(	PUNCT
alkej-948	125	20	b	b	NOUN
alkej-948	125	21	)	)	PUNCT
alkej-948	125	22	attitude	attitude	NOUN
alkej-948	125	23	responses	response	NOUN
alkej-948	125	24	figure	figure	VERB
alkej-948	125	25	14	14	NUM
alkej-948	125	26	shows	show	VERB
alkej-948	125	27	an	an	DET
alkej-948	125	28	impulse	impulse	ADJ
alkej-948	125	29	disturbance	disturbance	NOUN
alkej-948	125	30	applied	apply	VERB
alkej-948	125	31	along	along	ADP
alkej-948	125	32	the	the	DET
alkej-948	125	33	z	z	NOUN
alkej-948	125	34	-	-	PUNCT
alkej-948	125	35	axis	axis	NOUN
alkej-948	125	36	.	.	PUNCT
alkej-948	126	1	the	the	DET
alkej-948	126	2	disturbance	disturbance	NOUN
alkej-948	126	3	has	have	VERB
alkej-948	126	4	a	a	DET
alkej-948	126	5	magnitude	magnitude	NOUN
alkej-948	126	6	of	of	ADP
alkej-948	126	7	5	5	NUM
alkej-948	126	8	n	n	NOUN
alkej-948	126	9	and	and	CCONJ
alkej-948	126	10	lasts	last	VERB
alkej-948	126	11	for	for	ADP
alkej-948	126	12	0.25	0.25	NUM
alkej-948	126	13	s	s	NOUN
alkej-948	126	14	,	,	PUNCT
alkej-948	126	15	starting	start	VERB
alkej-948	126	16	at	at	ADP
alkej-948	126	17	t	t	NOUN
alkej-948	126	18	=	=	SYM
alkej-948	126	19	4	4	NUM
alkej-948	126	20	s.	s.	NOUN
alkej-948	126	21	the	the	DET
alkej-948	126	22	system	system	NOUN
alkej-948	126	23	regains	regain	VERB
alkej-948	126	24	stability	stability	NOUN
alkej-948	126	25	approximately	approximately	ADV
alkej-948	126	26	1	1	NUM
alkej-948	126	27	s	s	NOUN
alkej-948	126	28	after	after	SCONJ
alkej-948	126	29	the	the	DET
alkej-948	126	30	disturbance	disturbance	NOUN
alkej-948	126	31	ends	end	VERB
alkej-948	126	32	.	.	PUNCT
alkej-948	127	1	abdullah	abdullah	PROPN
alkej-948	127	2	mohammed	mohammed	PROPN
alkej-948	127	3	al	al	PROPN
alkej-948	127	4	-	-	PUNCT
alkej-948	127	5	khwarizmi	khwarizmi	PROPN
alkej-948	127	6	engineering	engineering	NOUN
alkej-948	127	7	journal	journal	PROPN
alkej-948	127	8	,	,	PUNCT
alkej-948	127	9	vol	vol	NOUN
alkej-948	127	10	.	.	PROPN
alkej-948	127	11	21	21	NUM
alkej-948	127	12	,	,	PUNCT
alkej-948	127	13	no.3	no.3	VERB
alkej-948	127	14	,	,	PUNCT
alkej-948	127	15	pp.6675	pp.6675	PROPN
alkej-948	127	16	(	(	PUNCT
alkej-948	127	17	2025	2025	NUM
alkej-948	127	18	)	)	PUNCT
alkej-948	127	19	72	72	NUM
alkej-948	127	20	fig	fig	NOUN
alkej-948	127	21	.	.	PUNCT
alkej-948	128	1	14	14	NUM
alkej-948	128	2	.	.	PUNCT
alkej-948	129	1	disturbance	disturbance	NOUN
alkej-948	129	2	on	on	ADP
alkej-948	129	3	z	z	NOUN
alkej-948	129	4	axis	axis	NOUN
alkej-948	129	5	figure	figure	NOUN
alkej-948	129	6	15	15	NUM
alkej-948	129	7	shows	show	VERB
alkej-948	129	8	disturbances	disturbance	NOUN
alkej-948	129	9	on	on	ADP
alkej-948	129	10	the	the	DET
alkej-948	129	11	phi	phi	NOUN
alkej-948	129	12	rotation	rotation	NOUN
alkej-948	129	13	angle	angle	NOUN
alkej-948	129	14	.	.	PUNCT
alkej-948	130	1	the	the	DET
alkej-948	130	2	disturbance	disturbance	NOUN
alkej-948	130	3	has	have	VERB
alkej-948	130	4	a	a	DET
alkej-948	130	5	magnitude	magnitude	NOUN
alkej-948	130	6	of	of	ADP
alkej-948	130	7	10	10	NUM
alkej-948	130	8	n.m	n.m	NOUN
alkej-948	130	9	.	.	NOUN
alkej-948	131	1	this	this	DET
alkej-948	131	2	disturbance	disturbance	NOUN
alkej-948	131	3	starts	start	VERB
alkej-948	131	4	at	at	ADP
alkej-948	131	5	t	t	NOUN
alkej-948	131	6	=	=	SYM
alkej-948	131	7	2.5	2.5	NUM
alkej-948	131	8	s	s	NOUN
alkej-948	131	9	and	and	CCONJ
alkej-948	131	10	ends	end	VERB
alkej-948	131	11	at	at	ADP
alkej-948	131	12	t	t	PROPN
alkej-948	131	13	=	=	PROPN
alkej-948	131	14	2.75	2.75	NUM
alkej-948	131	15	s.	s.	NOUN
alkej-948	131	16	the	the	DET
alkej-948	131	17	system	system	NOUN
alkej-948	131	18	regains	regain	VERB
alkej-948	131	19	stability	stability	NOUN
alkej-948	131	20	approximately	approximately	ADV
alkej-948	131	21	2	2	NUM
alkej-948	131	22	s	s	NOUN
alkej-948	131	23	after	after	SCONJ
alkej-948	131	24	the	the	DET
alkej-948	131	25	disturbance	disturbance	NOUN
alkej-948	131	26	ends	end	VERB
alkej-948	131	27	.	.	PUNCT
alkej-948	132	1	fig	fig	NOUN
alkej-948	132	2	.	.	PUNCT
alkej-948	133	1	15	15	NUM
alkej-948	133	2	.	.	X
alkej-948	134	1	disturbance	disturbance	NOUN
alkej-948	134	2	on	on	ADP
alkej-948	134	3	phi	phi	NOUN
alkej-948	134	4	5	5	NUM
alkej-948	134	5	.	.	X
alkej-948	134	6	conclusion	conclusion	NOUN
alkej-948	134	7	this	this	DET
alkej-948	134	8	research	research	NOUN
alkej-948	134	9	aims	aim	VERB
alkej-948	134	10	to	to	PART
alkej-948	134	11	study	study	VERB
alkej-948	134	12	the	the	DET
alkej-948	134	13	effects	effect	NOUN
alkej-948	134	14	of	of	ADP
alkej-948	134	15	rotor	rotor	NOUN
alkej-948	134	16	coefficients	coefficient	NOUN
alkej-948	134	17	on	on	ADP
alkej-948	134	18	uav	uav	PROPN
alkej-948	134	19	performance	performance	NOUN
alkej-948	134	20	.	.	PUNCT
alkej-948	135	1	a	a	DET
alkej-948	135	2	previously	previously	ADV
alkej-948	135	3	developed	develop	VERB
alkej-948	135	4	model	model	NOUN
alkej-948	135	5	is	be	AUX
alkej-948	135	6	modified	modify	VERB
alkej-948	135	7	by	by	ADP
alkej-948	135	8	changing	change	VERB
alkej-948	135	9	the	the	DET
alkej-948	135	10	rotation	rotation	NOUN
alkej-948	135	11	direction	direction	NOUN
alkej-948	135	12	of	of	ADP
alkej-948	135	13	the	the	DET
alkej-948	135	14	rotors	rotor	NOUN
alkej-948	135	15	:	:	PUNCT
alkej-948	135	16	the	the	DET
alkej-948	135	17	front	front	ADJ
alkej-948	135	18	two	two	NUM
alkej-948	135	19	propellers	propeller	NOUN
alkej-948	135	20	are	be	AUX
alkej-948	135	21	set	set	VERB
alkej-948	135	22	to	to	PART
alkej-948	135	23	rotate	rotate	VERB
alkej-948	135	24	clockwise	clockwise	NOUN
alkej-948	135	25	,	,	PUNCT
alkej-948	135	26	and	and	CCONJ
alkej-948	135	27	the	the	DET
alkej-948	135	28	back	back	ADJ
alkej-948	135	29	propeller	propeller	NOUN
alkej-948	135	30	rotates	rotate	VERB
alkej-948	135	31	counter	counter	NOUN
alkej-948	135	32	-	-	NOUN
alkej-948	135	33	clockwise	clockwise	NOUN
alkej-948	135	34	.	.	PUNCT
alkej-948	136	1	the	the	DET
alkej-948	136	2	modified	modify	VERB
alkej-948	136	3	model	model	NOUN
alkej-948	136	4	is	be	AUX
alkej-948	136	5	then	then	ADV
alkej-948	136	6	divided	divide	VERB
alkej-948	136	7	into	into	ADP
alkej-948	136	8	two	two	NUM
alkej-948	136	9	cases	case	NOUN
alkej-948	136	10	.	.	PUNCT
alkej-948	137	1	case	case	NOUN
alkej-948	137	2	one	one	PRON
alkej-948	137	3	includes	include	VERB
alkej-948	137	4	the	the	DET
alkej-948	137	5	model	model	NOUN
alkej-948	137	6	with	with	ADP
alkej-948	137	7	the	the	DET
alkej-948	137	8	changed	change	VERB
alkej-948	137	9	rotation	rotation	NOUN
alkej-948	137	10	direction	direction	NOUN
alkej-948	137	11	and	and	CCONJ
alkej-948	137	12	no	no	DET
alkej-948	137	13	further	further	ADJ
alkej-948	137	14	modifications	modification	NOUN
alkej-948	137	15	,	,	PUNCT
alkej-948	137	16	whilst	whilst	SCONJ
alkej-948	137	17	case	case	NOUN
alkej-948	137	18	two	two	NUM
alkej-948	137	19	involves	involve	VERB
alkej-948	137	20	doubling	double	VERB
alkej-948	137	21	the	the	DET
alkej-948	137	22	coefficients	coefficient	NOUN
alkej-948	137	23	of	of	ADP
alkej-948	137	24	the	the	DET
alkej-948	137	25	back	back	ADJ
alkej-948	137	26	motor	motor	NOUN
alkej-948	137	27	.	.	PUNCT
alkej-948	138	1	both	both	DET
alkej-948	138	2	cases	case	NOUN
alkej-948	138	3	are	be	AUX
alkej-948	138	4	linearised	linearise	VERB
alkej-948	138	5	using	use	VERB
alkej-948	138	6	feedback	feedback	NOUN
alkej-948	138	7	linearisation	linearisation	NOUN
alkej-948	138	8	to	to	PART
alkej-948	138	9	address	address	VERB
alkej-948	138	10	the	the	DET
alkej-948	138	11	output	output	NOUN
alkej-948	138	12	coupling	coupling	NOUN
alkej-948	138	13	problem	problem	NOUN
alkej-948	138	14	and	and	CCONJ
alkej-948	138	15	are	be	AUX
alkej-948	138	16	controlled	control	VERB
alkej-948	138	17	by	by	ADP
alkej-948	138	18	six	six	NUM
alkej-948	138	19	pid	pid	NOUN
alkej-948	138	20	controllers	controller	NOUN
alkej-948	138	21	.	.	PUNCT
alkej-948	139	1	the	the	DET
alkej-948	139	2	pid	pid	NOUN
alkej-948	139	3	controllers	controller	NOUN
alkej-948	139	4	are	be	AUX
alkej-948	139	5	tuned	tune	VERB
alkej-948	139	6	using	use	VERB
alkej-948	139	7	a	a	DET
alkej-948	139	8	ga	ga	NOUN
alkej-948	139	9	,	,	PUNCT
alkej-948	139	10	with	with	ADP
alkej-948	139	11	the	the	DET
alkej-948	139	12	itae	itae	NOUN
alkej-948	139	13	as	as	ADP
alkej-948	139	14	the	the	DET
alkej-948	139	15	cost	cost	NOUN
alkej-948	139	16	function	function	NOUN
alkej-948	139	17	.	.	PUNCT
alkej-948	140	1	the	the	DET
alkej-948	140	2	average	average	ADJ
alkej-948	140	3	itae	itae	ADJ
alkej-948	140	4	values	value	NOUN
alkej-948	140	5	for	for	ADP
alkej-948	140	6	the	the	DET
alkej-948	140	7	yshaped	yshape	VERB
alkej-948	140	8	model	model	NOUN
alkej-948	140	9	are	be	AUX
alkej-948	140	10	0.1553	0.1553	NUM
alkej-948	140	11	and	and	CCONJ
alkej-948	140	12	0.1017	0.1017	NUM
alkej-948	140	13	for	for	ADP
alkej-948	140	14	cases	case	NOUN
alkej-948	140	15	one	one	NUM
alkej-948	140	16	and	and	CCONJ
alkej-948	140	17	two	two	NUM
alkej-948	140	18	,	,	PUNCT
alkej-948	140	19	respectively	respectively	ADV
alkej-948	140	20	.	.	PUNCT
alkej-948	141	1	case	case	NOUN
alkej-948	141	2	two	two	NUM
alkej-948	141	3	showed	show	VERB
alkej-948	141	4	improved	improved	ADJ
alkej-948	141	5	tracking	tracking	NOUN
alkej-948	141	6	of	of	ADP
alkej-948	141	7	the	the	DET
alkej-948	141	8	desired	desire	VERB
alkej-948	141	9	output	output	NOUN
alkej-948	141	10	in	in	ADP
alkej-948	141	11	the	the	DET
alkej-948	141	12	applied	applied	ADJ
alkej-948	141	13	scenario	scenario	NOUN
alkej-948	141	14	without	without	ADP
alkej-948	141	15	exceeding	exceed	VERB
alkej-948	141	16	design	design	NOUN
alkej-948	141	17	limitations	limitation	NOUN
alkej-948	141	18	(	(	PUNCT
alkej-948	141	19	servo	servo	NOUN
alkej-948	141	20	angles	angle	NOUN
alkej-948	141	21	and	and	CCONJ
alkej-948	141	22	motor	motor	NOUN
alkej-948	141	23	speeds	speed	NOUN
alkej-948	141	24	)	)	PUNCT
alkej-948	141	25	.	.	PUNCT
alkej-948	142	1	aiming	aim	VERB
alkej-948	142	2	to	to	PART
alkej-948	142	3	further	far	ADV
alkej-948	142	4	investigate	investigate	VERB
alkej-948	142	5	the	the	DET
alkej-948	142	6	effects	effect	NOUN
alkej-948	142	7	of	of	ADP
alkej-948	142	8	rotor	rotor	NOUN
alkej-948	142	9	coefficients	coefficient	NOUN
alkej-948	142	10	,	,	PUNCT
alkej-948	142	11	implementation	implementation	NOUN
alkej-948	142	12	on	on	ADP
alkej-948	142	13	a	a	DET
alkej-948	142	14	model	model	NOUN
alkej-948	142	15	without	without	ADP
alkej-948	142	16	thrust	thrust	NOUN
alkej-948	142	17	vectoring	vectore	VERB
alkej-948	142	18	is	be	AUX
alkej-948	142	19	recommended	recommend	VERB
alkej-948	142	20	.	.	PUNCT
alkej-948	143	1	notations	notation	NOUN
alkej-948	143	2	x	x	SYM
alkej-948	143	3	xaxis	xaxis	PROPN
alkej-948	143	4	,	,	PUNCT
alkej-948	143	5	m	m	VERB
alkej-948	143	6	y	y	PROPN
alkej-948	143	7	yaxis	yaxis	NOUN
alkej-948	143	8	,	,	PUNCT
alkej-948	143	9	m	m	PROPN
alkej-948	143	10	z	z	PROPN
alkej-948	143	11	f	f	PROPN
alkej-948	143	12	zaxis	zaxis	PROPN
alkej-948	143	13	,	,	PUNCT
alkej-948	143	14	m	m	NOUN
alkej-948	143	15	force	force	NOUN
alkej-948	143	16	,	,	PUNCT
alkej-948	143	17	n	n	CCONJ
alkej-948	143	18	a	a	DET
alkej-948	143	19	length	length	NOUN
alkej-948	143	20	,	,	PUNCT
alkej-948	143	21	m	m	VERB
alkej-948	143	22	kf	kf	PROPN
alkej-948	143	23	force	force	PROPN
alkej-948	143	24	coefficient	coefficient	NOUN
alkej-948	143	25	,	,	PUNCT
alkej-948	143	26	𝑁.	𝑁.	ADJ
alkej-948	143	27	𝑠2	𝑠2	NOUN
alkej-948	143	28	kt	kt	PROPN
alkej-948	143	29	torque	torque	PROPN
alkej-948	143	30	coefficient	coefficient	NOUN
alkej-948	143	31	,	,	PUNCT
alkej-948	143	32	𝑁.	𝑁.	PROPN
alkej-948	143	33	𝑚.	𝑚.	ADJ
alkej-948	143	34	𝑠2	𝑠2	NOUN
alkej-948	143	35	m	m	PROPN
alkej-948	143	36	mass	mass	PROPN
alkej-948	143	37	,	,	PUNCT
alkej-948	143	38	kg	kg	PROPN
alkej-948	143	39	ixx	ixx	PROPN
alkej-948	143	40	body	body	NOUN
alkej-948	143	41	inertia	inertia	NOUN
alkej-948	143	42	of	of	ADP
alkej-948	143	43	x	x	NOUN
alkej-948	143	44	-	-	ADJ
alkej-948	143	45	axis	axis	ADJ
alkej-948	143	46	,	,	PUNCT
alkej-948	143	47	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	143	48	𝑚2	𝑚2	NOUN
alkej-948	143	49	iyy	iyy	VERB
alkej-948	143	50	body	body	NOUN
alkej-948	143	51	inertia	inertia	NOUN
alkej-948	143	52	of	of	ADP
alkej-948	143	53	y	y	NOUN
alkej-948	143	54	-	-	PUNCT
alkej-948	143	55	axis	axis	NOUN
alkej-948	143	56	,	,	PUNCT
alkej-948	143	57	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	143	58	𝑚2	𝑚2	NOUN
alkej-948	143	59	izz	izz	VERB
alkej-948	143	60	body	body	NOUN
alkej-948	143	61	inertia	inertia	NOUN
alkej-948	143	62	,	,	PUNCT
alkej-948	143	63	of	of	ADP
alkej-948	143	64	z	z	NOUN
alkej-948	143	65	-	-	PUNCT
alkej-948	143	66	axis	axis	NOUN
alkej-948	143	67	𝑘𝑔.	𝑘𝑔.	NOUN
alkej-948	143	68	𝑚2	𝑚2	NOUN
alkej-948	143	69	e	e	NOUN
alkej-948	143	70	error	error	NOUN
alkej-948	143	71	kp	kp	PROPN
alkej-948	143	72	proportional	proportional	ADJ
alkej-948	144	1	pid	pid	NOUN
alkej-948	144	2	gain	gain	NOUN
alkej-948	144	3	ki	ki	PROPN
alkej-948	144	4	integral	integral	ADJ
alkej-948	144	5	pid	pid	NOUN
alkej-948	144	6	gain	gain	NOUN
alkej-948	144	7	kd	kd	PROPN
alkej-948	144	8	derivative	derivative	ADJ
alkej-948	144	9	pid	pid	NOUN
alkej-948	144	10	gain	gain	VERB
alkej-948	144	11	greek	greek	ADJ
alkej-948	144	12	symbols	symbol	NOUN
alkej-948	144	13			NUM
alkej-948	144	14	servo	servo	NOUN
alkej-948	144	15	angle	angle	NOUN
alkej-948	144	16	,	,	PUNCT
alkej-948	144	17	deg	deg	ADJ
alkej-948	144	18			PROPN
alkej-948	144	19	roll	roll	NOUN
alkej-948	144	20	angle	angle	NOUN
alkej-948	144	21	,	,	PUNCT
alkej-948	144	22	deg	deg	ADJ
alkej-948	144	23			PROPN
alkej-948	144	24	pitch	pitch	PROPN
alkej-948	144	25	angle	angle	PROPN
alkej-948	144	26	,	,	PUNCT
alkej-948	144	27	deg	deg	PROPN
alkej-948	144	28	𝜓	𝜓	PROPN
alkej-948	144	29	yaw	yaw	PROPN
alkej-948	144	30	angle	angle	PROPN
alkej-948	144	31	,	,	PUNCT
alkej-948	144	32	deg	deg	NOUN
alkej-948	144	33			NOUN
alkej-948	144	34	torque	torque	NOUN
alkej-948	144	35	,	,	PUNCT
alkej-948	144	36	𝑁.	𝑁.	PROPN
alkej-948	144	37	𝑚	𝑚	ADP
alkej-948	144	38			PRON
alkej-948	144	39	angular	angular	ADJ
alkej-948	144	40	velocity	velocity	NOUN
alkej-948	144	41	,	,	PUNCT
alkej-948	144	42	rpm	rpm	ADJ
alkej-948	144	43	references	reference	NOUN
alkej-948	144	44	[	[	X
alkej-948	144	45	1	1	NUM
alkej-948	144	46	]	]	PUNCT
alkej-948	144	47	m.	m.	NOUN
alkej-948	144	48	h.	h.	PROPN
alkej-948	144	49	sabour	sabour	PROPN
alkej-948	144	50	,	,	PUNCT
alkej-948	144	51	p.	p.	NOUN
alkej-948	144	52	jafary	jafary	NOUN
alkej-948	144	53	,	,	PUNCT
alkej-948	144	54	and	and	CCONJ
alkej-948	144	55	s.	s.	PROPN
alkej-948	144	56	nematiyan	nematiyan	PROPN
alkej-948	144	57	,	,	PUNCT
alkej-948	144	58	“	"	PUNCT
alkej-948	144	59	applications	application	NOUN
alkej-948	144	60	and	and	CCONJ
alkej-948	144	61	classifications	classification	NOUN
alkej-948	144	62	of	of	ADP
alkej-948	144	63	unmanned	unmanned	ADJ
alkej-948	144	64	aerial	aerial	ADJ
alkej-948	144	65	vehicles	vehicle	NOUN
alkej-948	144	66	:	:	PUNCT
alkej-948	144	67	a	a	DET
alkej-948	144	68	literature	literature	NOUN
alkej-948	144	69	review	review	NOUN
alkej-948	144	70	with	with	ADP
alkej-948	144	71	focus	focus	NOUN
alkej-948	144	72	on	on	ADP
alkej-948	144	73	multi	multi	NOUN
alkej-948	144	74	-	-	NOUN
alkej-948	144	75	rotors	rotor	NOUN
alkej-948	144	76	,	,	PUNCT
alkej-948	144	77	”	"	PUNCT
alkej-948	144	78	the	the	DET
alkej-948	144	79	aeronautical	aeronautical	PROPN
alkej-948	144	80	journal	journal	PROPN
alkej-948	144	81	,	,	PUNCT
alkej-948	144	82	vol	vol	NOUN
alkej-948	144	83	.	.	PUNCT
alkej-948	145	1	127	127	NUM
alkej-948	145	2	,	,	PUNCT
alkej-948	145	3	no	no	INTJ
alkej-948	145	4	.	.	PUNCT
alkej-948	145	5	1309	1309	NUM
alkej-948	145	6	,	,	PUNCT
alkej-948	145	7	pp	pp	ADP
alkej-948	145	8	.	.	PUNCT
alkej-948	146	1	466–490	466–490	NUM
alkej-948	146	2	,	,	PUNCT
alkej-948	146	3	2023	2023	NUM
alkej-948	146	4	,	,	PUNCT
alkej-948	146	5	doi	doi	NOUN
alkej-948	146	6	:	:	PUNCT
alkej-948	146	7	10.1017	10.1017	NUM
alkej-948	146	8	/	/	SYM
alkej-948	146	9	aer.2022.75	aer.2022.75	PROPN
alkej-948	146	10	.	.	PUNCT
alkej-948	147	1	[	[	X
alkej-948	147	2	2	2	X
alkej-948	147	3	]	]	X
alkej-948	147	4	y.	y.	PROPN
alkej-948	147	5	qin	qin	PROPN
alkej-948	147	6	,	,	PUNCT
alkej-948	147	7	n.	n.	PROPN
alkej-948	147	8	chen	chen	PROPN
alkej-948	147	9	,	,	PUNCT
alkej-948	147	10	y.	y.	PROPN
alkej-948	147	11	cai	cai	PROPN
alkej-948	147	12	,	,	PUNCT
alkej-948	147	13	w.	w.	PROPN
alkej-948	147	14	xu	xu	PROPN
alkej-948	147	15	,	,	PUNCT
alkej-948	147	16	and	and	CCONJ
alkej-948	147	17	f.	f.	PROPN
alkej-948	147	18	zhang	zhang	PROPN
alkej-948	147	19	,	,	PUNCT
alkej-948	147	20	“	"	PUNCT
alkej-948	147	21	gemini	gemini	PROPN
alkej-948	147	22	ii	ii	PROPN
alkej-948	147	23	:	:	PUNCT
alkej-948	147	24	design	design	NOUN
alkej-948	147	25	,	,	PUNCT
alkej-948	147	26	modeling	modeling	NOUN
alkej-948	147	27	,	,	PUNCT
alkej-948	147	28	and	and	CCONJ
alkej-948	147	29	control	control	NOUN
alkej-948	147	30	of	of	ADP
alkej-948	147	31	a	a	DET
alkej-948	147	32	compact	compact	ADJ
alkej-948	147	33	yet	yet	CCONJ
alkej-948	147	34	efficient	efficient	ADJ
alkej-948	147	35	servoless	servoless	NOUN
alkej-948	147	36	bi	bi	NOUN
alkej-948	147	37	-	-	NOUN
alkej-948	147	38	copter	copter	NOUN
alkej-948	147	39	,	,	PUNCT
alkej-948	147	40	”	"	PUNCT
alkej-948	147	41	ieee	ieee	PROPN
alkej-948	147	42	/	/	SYM
alkej-948	147	43	asme	asme	PROPN
alkej-948	147	44	transactions	transaction	NOUN
alkej-948	147	45	on	on	ADP
alkej-948	147	46	mechatronics	mechatronic	NOUN
alkej-948	147	47	,	,	PUNCT
alkej-948	147	48	vol	vol	NOUN
alkej-948	147	49	.	.	PROPN
alkej-948	147	50	27	27	NUM
alkej-948	147	51	,	,	PUNCT
alkej-948	147	52	no	no	INTJ
alkej-948	147	53	.	.	NOUN
alkej-948	147	54	6	6	NUM
alkej-948	147	55	,	,	PUNCT
alkej-948	147	56	pp	pp	ADJ
alkej-948	147	57	.	.	PUNCT
alkej-948	148	1	4304–4315	4304–4315	NUM
alkej-948	148	2	,	,	PUNCT
alkej-948	148	3	dec	dec	PROPN
alkej-948	148	4	.	.	PROPN
alkej-948	148	5	2022	2022	NUM
alkej-948	148	6	,	,	PUNCT
alkej-948	148	7	doi	doi	NOUN
alkej-948	148	8	:	:	PUNCT
alkej-948	148	9	10.1109	10.1109	NUM
alkej-948	148	10	/	/	SYM
alkej-948	148	11	tmech.2022.3153587	tmech.2022.3153587	ADJ
alkej-948	148	12	.	.	PUNCT
alkej-948	149	1	[	[	X
alkej-948	149	2	3	3	X
alkej-948	149	3	]	]	PUNCT
alkej-948	149	4	q.	q.	PROPN
alkej-948	149	5	zhang	zhang	PROPN
alkej-948	149	6	,	,	PUNCT
alkej-948	149	7	z.	z.	PROPN
alkej-948	149	8	liu	liu	PROPN
alkej-948	149	9	,	,	PUNCT
alkej-948	149	10	j.	j.	PROPN
alkej-948	149	11	zhao	zhao	PROPN
alkej-948	149	12	,	,	PUNCT
alkej-948	149	13	and	and	CCONJ
alkej-948	149	14	s.	s.	PROPN
alkej-948	149	15	zhang	zhang	PROPN
alkej-948	149	16	,	,	PUNCT
alkej-948	149	17	“	"	PUNCT
alkej-948	149	18	modeling	modeling	NOUN
alkej-948	149	19	and	and	CCONJ
alkej-948	149	20	attitude	attitude	NOUN
alkej-948	149	21	control	control	NOUN
alkej-948	149	22	of	of	ADP
alkej-948	149	23	bi	bi	NOUN
alkej-948	149	24	-	-	NOUN
alkej-948	149	25	copter	copter	NOUN
alkej-948	149	26	,	,	PUNCT
alkej-948	149	27	”	"	PUNCT
alkej-948	149	28	aus	aus	PROPN
alkej-948	149	29	2016	2016	NUM
alkej-948	149	30	2016	2016	NUM
alkej-948	149	31	ieee	ieee	NOUN
alkej-948	149	32	/	/	SYM
alkej-948	149	33	csaa	csaa	ADJ
alkej-948	149	34	international	international	ADJ
alkej-948	149	35	conference	conference	NOUN
alkej-948	149	36	on	on	ADP
alkej-948	149	37	aircraft	aircraft	NOUN
alkej-948	149	38	utility	utility	NOUN
alkej-948	149	39	systems	system	NOUN
alkej-948	149	40	,	,	PUNCT
alkej-948	149	41	pp	pp	ADV
alkej-948	149	42	.	.	PUNCT
alkej-948	150	1	172–176	172–176	NUM
alkej-948	150	2	,	,	PUNCT
alkej-948	150	3	nov	nov	PROPN
alkej-948	150	4	.	.	PROPN
alkej-948	150	5	2016	2016	NUM
alkej-948	150	6	,	,	PUNCT
alkej-948	150	7	doi	doi	NOUN
alkej-948	150	8	:	:	PUNCT
alkej-948	150	9	10.1109	10.1109	NUM
alkej-948	150	10	/	/	SYM
alkej-948	150	11	aus.2016.7748042	aus.2016.7748042	NOUN
alkej-948	150	12	.	.	PUNCT
alkej-948	151	1	abdullah	abdullah	PROPN
alkej-948	151	2	mohammed	mohammed	PROPN
alkej-948	151	3	al	al	PROPN
alkej-948	151	4	-	-	PUNCT
alkej-948	151	5	khwarizmi	khwarizmi	PROPN
alkej-948	151	6	engineering	engineering	NOUN
alkej-948	151	7	journal	journal	PROPN
alkej-948	151	8	,	,	PUNCT
alkej-948	151	9	vol	vol	NOUN
alkej-948	151	10	.	.	PROPN
alkej-948	151	11	21	21	NUM
alkej-948	151	12	,	,	PUNCT
alkej-948	151	13	no.3	no.3	VERB
alkej-948	151	14	,	,	PUNCT
alkej-948	151	15	pp.6675	pp.6675	PROPN
alkej-948	151	16	(	(	PUNCT
alkej-948	151	17	2025	2025	NUM
alkej-948	151	18	)	)	PUNCT
alkej-948	151	19	73	73	NUM
alkej-948	152	1	[	[	X
alkej-948	152	2	4	4	NUM
alkej-948	152	3	]	]	PUNCT
alkej-948	152	4	k.	k.	PROPN
alkej-948	152	5	fufa	fufa	PROPN
alkej-948	152	6	advisor	advisor	PROPN
alkej-948	152	7	,	,	PUNCT
alkej-948	152	8	p.	p.	PROPN
alkej-948	152	9	alluvada	alluvada	PROPN
alkej-948	153	1	co	co	NOUN
alkej-948	153	2	-	-	NOUN
alkej-948	153	3	advisor	advisor	ADJ
alkej-948	153	4	,	,	PUNCT
alkej-948	153	5	and	and	CCONJ
alkej-948	153	6	a.	a.	NOUN
alkej-948	153	7	thetlar	thetlar	ADV
alkej-948	153	8	,	,	PUNCT
alkej-948	153	9	“	"	PUNCT
alkej-948	153	10	design	design	NOUN
alkej-948	153	11	controller	controller	NOUN
alkej-948	153	12	stability	stability	NOUN
alkej-948	153	13	of	of	ADP
alkej-948	153	14	bicopter	bicopter	NOUN
alkej-948	153	15	unmanned	unmanned	ADJ
alkej-948	153	16	aerial	aerial	ADJ
alkej-948	153	17	vehicle	vehicle	NOUN
alkej-948	153	18	at	at	ADP
alkej-948	153	19	hovering	hover	VERB
alkej-948	153	20	position	position	NOUN
alkej-948	153	21	,	,	PUNCT
alkej-948	153	22	”	"	PUNCT
alkej-948	153	23	2019	2019	NUM
alkej-948	153	24	,	,	PUNCT
alkej-948	153	25	accessed	access	VERB
alkej-948	153	26	:	:	PUNCT
alkej-948	153	27	jun	jun	PROPN
alkej-948	153	28	.	.	PROPN
alkej-948	153	29	04	04	NUM
alkej-948	153	30	,	,	PUNCT
alkej-948	153	31	2024	2024	NUM
alkej-948	153	32	.	.	PUNCT
alkej-948	154	1	[	[	X
alkej-948	154	2	online	online	X
alkej-948	154	3	]	]	X
alkej-948	154	4	.	.	PUNCT
alkej-948	155	1	available	available	ADJ
alkej-948	155	2	:	:	PUNCT
alkej-948	156	1	https://repository.ju.edu.et//handle/123456789	https://repository.ju.edu.et//handle/123456789	ADV
alkej-948	156	2	/5535	/5535	PUNCT
alkej-948	157	1	[	[	X
alkej-948	157	2	5	5	NUM
alkej-948	157	3	]	]	SYM
alkej-948	157	4	ø	ø	PROPN
alkej-948	157	5	.	.	PUNCT
alkej-948	157	6	magnussen	magnussen	PROPN
alkej-948	157	7	and	and	CCONJ
alkej-948	157	8	k.	k.	PROPN
alkej-948	157	9	e.	e.	PROPN
alkej-948	157	10	skjønhaug	skjønhaug	PROPN
alkej-948	157	11	,	,	PUNCT
alkej-948	157	12	“	"	PUNCT
alkej-948	157	13	modeling	modeling	NOUN
alkej-948	157	14	,	,	PUNCT
alkej-948	157	15	design	design	NOUN
alkej-948	157	16	and	and	CCONJ
alkej-948	157	17	experimental	experimental	ADJ
alkej-948	157	18	study	study	NOUN
alkej-948	157	19	for	for	ADP
alkej-948	157	20	a	a	DET
alkej-948	157	21	quadcopter	quadcopter	NOUN
alkej-948	157	22	system	system	NOUN
alkej-948	157	23	construction	construction	NOUN
alkej-948	157	24	,	,	PUNCT
alkej-948	157	25	”	"	PUNCT
alkej-948	157	26	95	95	NUM
alkej-948	157	27	,	,	PUNCT
alkej-948	157	28	[	[	X
alkej-948	157	29	10	10	NUM
alkej-948	157	30	]	]	PUNCT
alkej-948	157	31	,	,	PUNCT
alkej-948	157	32	2011	2011	NUM
alkej-948	157	33	,	,	PUNCT
alkej-948	157	34	accessed	access	VERB
alkej-948	157	35	:	:	PUNCT
alkej-948	157	36	jun	jun	PROPN
alkej-948	157	37	.	.	PROPN
alkej-948	157	38	04	04	NUM
alkej-948	157	39	,	,	PUNCT
alkej-948	157	40	2024	2024	NUM
alkej-948	157	41	.	.	PUNCT
alkej-948	158	1	[	[	X
alkej-948	158	2	online	online	X
alkej-948	158	3	]	]	X
alkej-948	158	4	.	.	PUNCT
alkej-948	159	1	available	available	ADJ
alkej-948	159	2	:	:	PUNCT
alkej-948	160	1	https://uia.brage.unit.no/uiaxmlui/handle/11250/136686	https://uia.brage.unit.no/uiaxmlui/handle/11250/136686	PROPN
alkej-948	160	2	[	[	X
alkej-948	160	3	6	6	NUM
alkej-948	160	4	]	]	PUNCT
alkej-948	160	5	m.	m.	NOUN
alkej-948	160	6	nigro	nigro	NOUN
alkej-948	160	7	,	,	PUNCT
alkej-948	160	8	f.	f.	PROPN
alkej-948	160	9	pierri	pierri	PROPN
alkej-948	160	10	,	,	PUNCT
alkej-948	160	11	and	and	CCONJ
alkej-948	160	12	f.	f.	PROPN
alkej-948	160	13	caccavale	caccavale	PROPN
alkej-948	160	14	,	,	PUNCT
alkej-948	160	15	“	"	PUNCT
alkej-948	160	16	preliminary	preliminary	ADJ
alkej-948	160	17	design	design	NOUN
alkej-948	160	18	,	,	PUNCT
alkej-948	160	19	modeling	modeling	NOUN
alkej-948	160	20	and	and	CCONJ
alkej-948	160	21	control	control	NOUN
alkej-948	160	22	of	of	ADP
alkej-948	160	23	a	a	DET
alkej-948	160	24	fully	fully	ADV
alkej-948	160	25	actuated	actuate	VERB
alkej-948	160	26	quadrotor	quadrotor	PROPN
alkej-948	160	27	uav	uav	PROPN
alkej-948	160	28	,	,	PUNCT
alkej-948	160	29	”	"	PUNCT
alkej-948	160	30	in	in	ADP
alkej-948	160	31	2019	2019	NUM
alkej-948	160	32	international	international	ADJ
alkej-948	160	33	conference	conference	NOUN
alkej-948	160	34	on	on	ADP
alkej-948	160	35	unmanned	unmanned	ADJ
alkej-948	160	36	aircraft	aircraft	NOUN
alkej-948	160	37	systems	system	NOUN
alkej-948	160	38	(	(	PUNCT
alkej-948	160	39	icuas	icuas	NOUN
alkej-948	160	40	)	)	PUNCT
alkej-948	160	41	,	,	PUNCT
alkej-948	160	42	ieee	ieee	PROPN
alkej-948	160	43	,	,	PUNCT
alkej-948	160	44	jun	jun	PROPN
alkej-948	160	45	.	.	PROPN
alkej-948	160	46	2019	2019	NUM
alkej-948	160	47	,	,	PUNCT
alkej-948	160	48	pp	pp	ADJ
alkej-948	160	49	.	.	PUNCT
alkej-948	160	50	1108–1116	1108–1116	NUM
alkej-948	160	51	.	.	PUNCT
alkej-948	161	1	doi	doi	NOUN
alkej-948	161	2	:	:	PUNCT
alkej-948	161	3	10.1109	10.1109	NUM
alkej-948	161	4	/	/	SYM
alkej-948	161	5	icuas.2019.8798092	icuas.2019.8798092	NOUN
alkej-948	161	6	.	.	PUNCT
alkej-948	162	1	[	[	X
alkej-948	162	2	7	7	X
alkej-948	162	3	]	]	PUNCT
alkej-948	162	4	m.	m.	NOUN
alkej-948	162	5	ryll	ryll	NOUN
alkej-948	162	6	,	,	PUNCT
alkej-948	162	7	h.	h.	PROPN
alkej-948	162	8	h.	h.	PROPN
alkej-948	162	9	bülthoff	bülthoff	PROPN
alkej-948	162	10	,	,	PUNCT
alkej-948	162	11	and	and	CCONJ
alkej-948	162	12	p.	p.	PROPN
alkej-948	162	13	r.	r.	PROPN
alkej-948	162	14	giordano	giordano	PROPN
alkej-948	162	15	,	,	PUNCT
alkej-948	162	16	“	"	PUNCT
alkej-948	162	17	a	a	DET
alkej-948	162	18	novel	novel	ADJ
alkej-948	162	19	overactuated	overactuate	VERB
alkej-948	162	20	quadrotor	quadrotor	NOUN
alkej-948	162	21	unmanned	unmanned	ADJ
alkej-948	162	22	aerial	aerial	ADJ
alkej-948	162	23	vehicle	vehicle	NOUN
alkej-948	162	24	:	:	PUNCT
alkej-948	162	25	modeling	modeling	NOUN
alkej-948	162	26	,	,	PUNCT
alkej-948	162	27	control	control	NOUN
alkej-948	162	28	,	,	PUNCT
alkej-948	162	29	and	and	CCONJ
alkej-948	162	30	experimental	experimental	ADJ
alkej-948	162	31	validation	validation	NOUN
alkej-948	162	32	,	,	PUNCT
alkej-948	162	33	”	"	PUNCT
alkej-948	162	34	ieee	ieee	NOUN
alkej-948	162	35	transactions	transaction	NOUN
alkej-948	162	36	on	on	ADP
alkej-948	162	37	control	control	NOUN
alkej-948	162	38	systems	system	NOUN
alkej-948	162	39	technology	technology	NOUN
alkej-948	162	40	,	,	PUNCT
alkej-948	162	41	vol	vol	NOUN
alkej-948	162	42	.	.	PROPN
alkej-948	162	43	23	23	NUM
alkej-948	162	44	,	,	PUNCT
alkej-948	162	45	no	no	INTJ
alkej-948	162	46	.	.	NOUN
alkej-948	162	47	2	2	NUM
alkej-948	162	48	,	,	PUNCT
alkej-948	162	49	pp	pp	ADJ
alkej-948	162	50	.	.	PUNCT
alkej-948	163	1	540–556	540–556	NUM
alkej-948	163	2	,	,	PUNCT
alkej-948	163	3	mar	mar	PROPN
alkej-948	163	4	.	.	PROPN
alkej-948	163	5	2015	2015	NUM
alkej-948	163	6	.	.	PUNCT
alkej-948	164	1	doi	doi	NOUN
alkej-948	164	2	:	:	PUNCT
alkej-948	164	3	10.1109	10.1109	NUM
alkej-948	164	4	/	/	SYM
alkej-948	164	5	tcst.2014.2330999	tcst.2014.2330999	NOUN
alkej-948	164	6	.	.	PUNCT
alkej-948	165	1	[	[	X
alkej-948	165	2	8	8	NUM
alkej-948	165	3	]	]	PUNCT
alkej-948	165	4	p.	p.	NOUN
alkej-948	165	5	beigi	beigi	PROPN
alkej-948	165	6	,	,	PUNCT
alkej-948	165	7	m.	m.	NOUN
alkej-948	165	8	s.	s.	PROPN
alkej-948	165	9	rajabi	rajabi	PROPN
alkej-948	165	10	,	,	PUNCT
alkej-948	165	11	and	and	CCONJ
alkej-948	165	12	s.	s.	PROPN
alkej-948	165	13	aghakhani	aghakhani	PROPN
alkej-948	165	14	,	,	PUNCT
alkej-948	165	15	“	"	PUNCT
alkej-948	165	16	an	an	DET
alkej-948	165	17	overview	overview	NOUN
alkej-948	165	18	of	of	ADP
alkej-948	165	19	drone	drone	NOUN
alkej-948	165	20	energy	energy	NOUN
alkej-948	165	21	consumption	consumption	NOUN
alkej-948	165	22	factors	factor	NOUN
alkej-948	165	23	and	and	CCONJ
alkej-948	165	24	models	model	NOUN
alkej-948	165	25	,	,	PUNCT
alkej-948	165	26	”	"	PUNCT
alkej-948	165	27	handbook	handbook	NOUN
alkej-948	165	28	of	of	ADP
alkej-948	165	29	smart	smart	ADJ
alkej-948	165	30	energy	energy	NOUN
alkej-948	165	31	systems	system	NOUN
alkej-948	165	32	,	,	PUNCT
alkej-948	165	33	pp	pp	X
alkej-948	165	34	.	.	PUNCT
alkej-948	166	1	529–548	529–548	NUM
alkej-948	166	2	,	,	PUNCT
alkej-948	166	3	2023	2023	NUM
alkej-948	166	4	.	.	PUNCT
alkej-948	167	1	doi	doi	NOUN
alkej-948	167	2	:	:	PUNCT
alkej-948	167	3	10.1007/978	10.1007/978	NUM
alkej-948	167	4	-	-	SYM
alkej-948	167	5	3	3	NUM
alkej-948	167	6	-	-	PUNCT
alkej-948	167	7	030	030	NUM
alkej-948	167	8	-	-	PUNCT
alkej-948	167	9	97940	97940	NUM
alkej-948	167	10	-	-	PUNCT
alkej-948	167	11	9_200	9_200	NUM
alkej-948	167	12	.	.	PUNCT
alkej-948	168	1	[	[	X
alkej-948	168	2	9	9	NUM
alkej-948	168	3	]	]	PUNCT
alkej-948	168	4	s.	s.	PROPN
alkej-948	168	5	salazar	salazar	PROPN
alkej-948	168	6	-	-	PUNCT
alkej-948	168	7	cruz	cruz	PROPN
alkej-948	168	8	,	,	PUNCT
alkej-948	168	9	r.	r.	PROPN
alkej-948	168	10	lozano	lozano	PROPN
alkej-948	168	11	,	,	PUNCT
alkej-948	168	12	and	and	CCONJ
alkej-948	168	13	j.	j.	PROPN
alkej-948	168	14	escareño	escareño	PROPN
alkej-948	168	15	,	,	PUNCT
alkej-948	168	16	“	"	PUNCT
alkej-948	168	17	stabilization	stabilization	NOUN
alkej-948	168	18	and	and	CCONJ
alkej-948	168	19	nonlinear	nonlinear	ADJ
alkej-948	168	20	control	control	NOUN
alkej-948	168	21	for	for	ADP
alkej-948	168	22	a	a	DET
alkej-948	168	23	novel	novel	ADJ
alkej-948	168	24	trirotor	trirotor	NOUN
alkej-948	168	25	mini	mini	NOUN
alkej-948	168	26	-	-	NOUN
alkej-948	168	27	aircraft	aircraft	NOUN
alkej-948	168	28	,	,	PUNCT
alkej-948	168	29	”	"	PUNCT
alkej-948	168	30	control	control	NOUN
alkej-948	168	31	eng	eng	PROPN
alkej-948	168	32	pract	pract	PROPN
alkej-948	168	33	,	,	PUNCT
alkej-948	168	34	vol	vol	NOUN
alkej-948	168	35	.	.	PROPN
alkej-948	168	36	17	17	NUM
alkej-948	168	37	,	,	PUNCT
alkej-948	168	38	no	no	INTJ
alkej-948	168	39	.	.	NOUN
alkej-948	168	40	8	8	NUM
alkej-948	168	41	,	,	PUNCT
alkej-948	168	42	pp	pp	ADJ
alkej-948	168	43	.	.	PUNCT
alkej-948	169	1	886–894	886–894	NUM
alkej-948	169	2	,	,	PUNCT
alkej-948	169	3	2009	2009	NUM
alkej-948	169	4	https://doi.org/10.1016/j.conengprac.2009.02	https://doi.org/10.1016/j.conengprac.2009.02	NOUN
alkej-948	169	5	.	.	PUNCT
alkej-948	169	6	013	013	NUM
alkej-948	169	7	.	.	PUNCT
alkej-948	170	1	[	[	X
alkej-948	170	2	10	10	NUM
alkej-948	170	3	]	]	X
alkej-948	170	4	r.	r.	PROPN
alkej-948	170	5	siswoyo	siswoyo	PROPN
alkej-948	170	6	jo	jo	PROPN
alkej-948	170	7	,	,	PUNCT
alkej-948	170	8	a.	a.	PROPN
alkej-948	170	9	e.	e.	PROPN
alkej-948	170	10	g.	g.	PROPN
alkej-948	170	11	tan	tan	PROPN
alkej-948	170	12	,	,	PUNCT
alkej-948	170	13	m.	m.	NOUN
alkej-948	170	14	tee	tee	NOUN
alkej-948	170	15	kit	kit	NOUN
alkej-948	170	16	tsun	tsun	PROPN
alkej-948	170	17	,	,	PUNCT
alkej-948	170	18	and	and	CCONJ
alkej-948	170	19	h.	h.	PROPN
alkej-948	170	20	siswoyo	siswoyo	PROPN
alkej-948	170	21	jo	jo	PROPN
alkej-948	170	22	,	,	PUNCT
alkej-948	170	23	“	"	PUNCT
alkej-948	170	24	design	design	NOUN
alkej-948	170	25	and	and	CCONJ
alkej-948	170	26	modeling	modeling	NOUN
alkej-948	170	27	of	of	ADP
alkej-948	170	28	actuation	actuation	NOUN
alkej-948	170	29	system	system	NOUN
alkej-948	170	30	of	of	ADP
alkej-948	170	31	unmanned	unmanned	ADJ
alkej-948	170	32	tricopter	tricopter	NOUN
alkej-948	170	33	with	with	ADP
alkej-948	170	34	thrust	thrust	ADV
alkej-948	170	35	-	-	PUNCT
alkej-948	170	36	vectoring	vectore	VERB
alkej-948	170	37	front	front	ADJ
alkej-948	170	38	tilt	tilt	NOUN
alkej-948	170	39	rotors	rotor	NOUN
alkej-948	170	40	for	for	ADP
alkej-948	170	41	sustainable	sustainable	ADJ
alkej-948	170	42	flying	flying	NOUN
alkej-948	170	43	,	,	PUNCT
alkej-948	170	44	”	"	PUNCT
alkej-948	170	45	lecture	lecture	NOUN
alkej-948	170	46	notes	note	NOUN
alkej-948	170	47	in	in	ADP
alkej-948	170	48	mechanical	mechanical	ADJ
alkej-948	170	49	engineering	engineering	NOUN
alkej-948	170	50	,	,	PUNCT
alkej-948	170	51	pp	pp	X
alkej-948	170	52	.	.	PUNCT
alkej-948	171	1	45–55	45–55	NUM
alkej-948	171	2	,	,	PUNCT
alkej-948	171	3	2020	2020	NUM
alkej-948	171	4	.	.	PUNCT
alkej-948	172	1	doi	doi	NOUN
alkej-948	172	2	:	:	PUNCT
alkej-948	172	3	10.1007/978	10.1007/978	NUM
alkej-948	172	4	-	-	SYM
alkej-948	172	5	981	981	NUM
alkej-948	172	6	-	-	PUNCT
alkej-948	172	7	15	15	NUM
alkej-948	172	8	-	-	PUNCT
alkej-948	172	9	4756	4756	NUM
alkej-948	172	10	-	-	PUNCT
alkej-948	172	11	0_5	0_5	NOUN
alkej-948	172	12	.	.	PUNCT
alkej-948	173	1	[	[	X
alkej-948	173	2	11	11	NUM
alkej-948	173	3	]	]	PUNCT
alkej-948	173	4	a.	a.	PROPN
alkej-948	173	5	d.	d.	PROPN
alkej-948	173	6	h.	h.	PROPN
alkej-948	173	7	arroyo	arroyo	PROPN
alkej-948	173	8	,	,	PUNCT
alkej-948	173	9	a.	a.	PROPN
alkej-948	173	10	s.	s.	PROPN
alkej-948	173	11	morais	morais	PROPN
alkej-948	173	12	,	,	PUNCT
alkej-948	173	13	g.	g.	PROPN
alkej-948	173	14	v.	v.	CCONJ
alkej-948	173	15	lima	lima	PROPN
alkej-948	173	16	,	,	PUNCT
alkej-948	173	17	and	and	CCONJ
alkej-948	173	18	l.	l.	PROPN
alkej-948	173	19	ribeiro	ribeiro	PROPN
alkej-948	173	20	,	,	PUNCT
alkej-948	173	21	“	"	PUNCT
alkej-948	173	22	modeling	modeling	NOUN
alkej-948	173	23	and	and	CCONJ
alkej-948	173	24	simulation	simulation	NOUN
alkej-948	173	25	of	of	ADP
alkej-948	173	26	a	a	DET
alkej-948	173	27	novel	novel	ADJ
alkej-948	173	28	tilt	tilt	NOUN
alkej-948	173	29	-	-	PUNCT
alkej-948	173	30	wing	wing	NOUN
alkej-948	173	31	-	-	PUNCT
alkej-948	173	32	coaxial	coaxial	ADJ
alkej-948	173	33	-	-	PUNCT
alkej-948	173	34	rotor	rotor	NOUN
alkej-948	173	35	tricopter	tricopter	NOUN
alkej-948	173	36	,	,	PUNCT
alkej-948	173	37	”	"	PUNCT
alkej-948	173	38	simpósio	simpósio	NOUN
alkej-948	173	39	brasileiro	brasileiro	PROPN
alkej-948	173	40	de	de	PROPN
alkej-948	173	41	automação	automação	PROPN
alkej-948	173	42	inteligente	inteligente	NOUN
alkej-948	173	43	sbai	sbai	NOUN
alkej-948	173	44	,	,	PUNCT
alkej-948	173	45	vol	vol	NOUN
alkej-948	173	46	.	.	PROPN
alkej-948	173	47	1	1	NUM
alkej-948	173	48	,	,	PUNCT
alkej-948	173	49	no	no	INTJ
alkej-948	173	50	.	.	NOUN
alkej-948	173	51	1	1	NUM
alkej-948	173	52	,	,	PUNCT
alkej-948	173	53	oct	oct	PROPN
alkej-948	173	54	.	.	PROPN
alkej-948	173	55	2021	2021	NUM
alkej-948	173	56	.	.	PUNCT
alkej-948	174	1	doi	doi	NOUN
alkej-948	174	2	:	:	PUNCT
alkej-948	174	3	10.20906	10.20906	NUM
alkej-948	174	4	/	/	SYM
alkej-948	174	5	sbai.v1i1.2627	sbai.v1i1.2627	PRON
alkej-948	174	6	.	.	PUNCT
alkej-948	175	1	[	[	X
alkej-948	175	2	12	12	NUM
alkej-948	175	3	]	]	X
alkej-948	175	4	b.	b.	PROPN
alkej-948	175	5	h.	h.	PROPN
alkej-948	175	6	sababha	sababha	PROPN
alkej-948	175	7	,	,	PUNCT
alkej-948	175	8	h.	h.	PROPN
alkej-948	175	9	m.	m.	NOUN
alkej-948	175	10	al	al	PROPN
alkej-948	175	11	zu	zu	PROPN
alkej-948	175	12	’	'	PUNCT
alkej-948	175	13	,	,	PUNCT
alkej-948	175	14	n.	n.	PROPN
alkej-948	175	15	a.	a.	PROPN
alkej-948	175	16	bi	bi	PROPN
alkej-948	175	17	,	,	PUNCT
alkej-948	175	18	and	and	CCONJ
alkej-948	175	19	o.	o.	NOUN
alkej-948	175	20	a.	a.	NOUN
alkej-948	175	21	rawashdeh	rawashdeh	PROPN
alkej-948	175	22	,	,	PUNCT
alkej-948	175	23	“	"	PUNCT
alkej-948	175	24	a	a	DET
alkej-948	175	25	rotor	rotor	NOUN
alkej-948	175	26	-	-	PUNCT
alkej-948	175	27	tilt	tilt	NOUN
alkej-948	175	28	-	-	PUNCT
alkej-948	175	29	free	free	ADJ
alkej-948	175	30	tricopter	tricopter	PROPN
alkej-948	175	31	uav	uav	PROPN
alkej-948	175	32	:	:	PUNCT
alkej-948	175	33	design	design	NOUN
alkej-948	175	34	,	,	PUNCT
alkej-948	175	35	modelling	modelling	NOUN
alkej-948	175	36	,	,	PUNCT
alkej-948	175	37	and	and	CCONJ
alkej-948	175	38	stability	stability	NOUN
alkej-948	175	39	control	control	NOUN
alkej-948	175	40	,	,	PUNCT
alkej-948	175	41	”	"	PUNCT
alkej-948	175	42	international	international	ADJ
alkej-948	175	43	journal	journal	NOUN
alkej-948	175	44	of	of	ADP
alkej-948	175	45	mechatronics	mechatronic	NOUN
alkej-948	175	46	and	and	CCONJ
alkej-948	175	47	automation	automation	NOUN
alkej-948	175	48	,	,	PUNCT
alkej-948	175	49	vol	vol	NOUN
alkej-948	175	50	.	.	PROPN
alkej-948	175	51	5	5	NUM
alkej-948	175	52	,	,	PUNCT
alkej-948	175	53	no	no	INTJ
alkej-948	175	54	.	.	PUNCT
alkej-948	175	55	2/3	2/3	NUM
alkej-948	175	56	,	,	PUNCT
alkej-948	175	57	p.	p.	NOUN
alkej-948	175	58	107	107	NUM
alkej-948	175	59	,	,	PUNCT
alkej-948	175	60	2015	2015	NUM
alkej-948	175	61	.	.	PUNCT
alkej-948	176	1	doi	doi	NOUN
alkej-948	176	2	:	:	PUNCT
alkej-948	176	3	10.1504	10.1504	NUM
alkej-948	176	4	/	/	SYM
alkej-948	176	5	ijma.2015.075956	ijma.2015.075956	NOUN
alkej-948	176	6	.	.	PUNCT
alkej-948	177	1	[	[	X
alkej-948	177	2	13	13	NUM
alkej-948	177	3	]	]	PUNCT
alkej-948	177	4	s.	s.	PROPN
alkej-948	177	5	m.	m.	PROPN
alkej-948	177	6	m.	m.	PROPN
alkej-948	177	7	rahman	rahman	PROPN
alkej-948	177	8	,	,	PUNCT
alkej-948	177	9	m.	m.	NOUN
alkej-948	177	10	mashud	mashud	PROPN
alkej-948	177	11	,	,	PUNCT
alkej-948	177	12	and	and	CCONJ
alkej-948	177	13	m.	m.	PROPN
alkej-948	177	14	assaduz	assaduz	PROPN
alkej-948	177	15	-	-	PROPN
alkej-948	177	16	zaman	zaman	PROPN
alkej-948	177	17	,	,	PUNCT
alkej-948	177	18	“	"	PUNCT
alkej-948	177	19	design	design	NOUN
alkej-948	177	20	and	and	CCONJ
alkej-948	177	21	implementation	implementation	NOUN
alkej-948	177	22	of	of	ADP
alkej-948	177	23	a	a	DET
alkej-948	177	24	y	y	PROPN
alkej-948	177	25	-	-	PUNCT
alkej-948	177	26	copter	copter	NOUN
alkej-948	177	27	:	:	PUNCT
alkej-948	177	28	aerobatic	aerobatic	ADJ
alkej-948	177	29	version	version	NOUN
alkej-948	177	30	,	,	PUNCT
alkej-948	177	31	”	"	PUNCT
alkej-948	177	32	aip	aip	PROPN
alkej-948	177	33	conf	conf	PROPN
alkej-948	177	34	proc	proc	PROPN
alkej-948	177	35	,	,	PUNCT
alkej-948	177	36	vol	vol	NOUN
alkej-948	177	37	.	.	PUNCT
alkej-948	177	38	1851	1851	NUM
alkej-948	177	39	,	,	PUNCT
alkej-948	177	40	no	no	INTJ
alkej-948	177	41	.	.	NOUN
alkej-948	177	42	1	1	NUM
alkej-948	177	43	,	,	PUNCT
alkej-948	177	44	jun	jun	PROPN
alkej-948	177	45	.	.	PROPN
alkej-948	177	46	2017	2017	NUM
alkej-948	177	47	.	.	PUNCT
alkej-948	178	1	doi	doi	NOUN
alkej-948	178	2	:	:	PUNCT
alkej-948	178	3	10.1063/1.4984718/885537	10.1063/1.4984718/885537	NUM
alkej-948	178	4	.	.	PUNCT
alkej-948	179	1	[	[	X
alkej-948	179	2	14	14	NUM
alkej-948	179	3	]	]	PUNCT
alkej-948	179	4	m.	m.	NOUN
alkej-948	179	5	s.	s.	PROPN
alkej-948	179	6	atif	atif	PROPN
alkej-948	179	7	,	,	PUNCT
alkej-948	179	8	z.	z.	PROPN
alkej-948	179	9	haider	haider	PROPN
alkej-948	179	10	,	,	PUNCT
alkej-948	179	11	m.	m.	NOUN
alkej-948	179	12	m.	m.	NOUN
alkej-948	179	13	zohaib	zohaib	PROPN
alkej-948	179	14	,	,	PUNCT
alkej-948	179	15	and	and	CCONJ
alkej-948	179	16	m.	m.	NOUN
alkej-948	179	17	a.	a.	PROPN
alkej-948	179	18	raza	raza	PROPN
alkej-948	179	19	,	,	PUNCT
alkej-948	179	20	“	"	PUNCT
alkej-948	179	21	embedded	embed	VERB
alkej-948	179	22	and	and	CCONJ
alkej-948	179	23	control	control	NOUN
alkej-948	179	24	systems	system	NOUN
alkej-948	179	25	design	design	NOUN
alkej-948	179	26	and	and	CCONJ
alkej-948	179	27	implementation	implementation	NOUN
alkej-948	179	28	of	of	ADP
alkej-948	179	29	t	t	PROPN
alkej-948	179	30	-	-	PUNCT
alkej-948	179	31	shaped	shape	VERB
alkej-948	179	32	tilt	tilt	NOUN
alkej-948	179	33	-	-	PUNCT
alkej-948	179	34	rotor	rotor	NOUN
alkej-948	179	35	tri	tri	NOUN
alkej-948	179	36	-	-	NOUN
alkej-948	179	37	copter	copter	NOUN
alkej-948	179	38	,	,	PUNCT
alkej-948	179	39	”	"	PUNCT
alkej-948	179	40	2021	2021	NUM
alkej-948	179	41	7th	7th	ADJ
alkej-948	179	42	international	international	ADJ
alkej-948	179	43	conference	conference	NOUN
alkej-948	179	44	on	on	ADP
alkej-948	179	45	control	control	NOUN
alkej-948	179	46	science	science	NOUN
alkej-948	179	47	and	and	CCONJ
alkej-948	179	48	systems	system	NOUN
alkej-948	179	49	engineering	engineering	NOUN
alkej-948	179	50	,	,	PUNCT
alkej-948	179	51	iccsse	iccsse	NOUN
alkej-948	179	52	2021	2021	NUM
alkej-948	179	53	,	,	PUNCT
alkej-948	179	54	pp	pp	ADV
alkej-948	179	55	.	.	PUNCT
alkej-948	180	1	78–82	78–82	NUM
alkej-948	180	2	,	,	PUNCT
alkej-948	180	3	jul	jul	PROPN
alkej-948	180	4	.	.	PROPN
alkej-948	180	5	2021	2021	NUM
alkej-948	180	6	.	.	PUNCT
alkej-948	181	1	doi	doi	NOUN
alkej-948	181	2	:	:	PUNCT
alkej-948	181	3	10.1109	10.1109	NUM
alkej-948	181	4	/	/	SYM
alkej-948	181	5	iccsse52761.2021.9545147	iccsse52761.2021.9545147	NOUN
alkej-948	181	6	.	.	PUNCT
alkej-948	182	1	[	[	X
alkej-948	182	2	15	15	NUM
alkej-948	182	3	]	]	X
alkej-948	182	4	a.	a.	NOUN
alkej-948	182	5	w.	w.	PROPN
alkej-948	182	6	summers	summers	PROPN
alkej-948	182	7	,	,	PUNCT
alkej-948	182	8	“	"	PUNCT
alkej-948	182	9	modeling	modeling	NOUN
alkej-948	182	10	and	and	CCONJ
alkej-948	182	11	control	control	NOUN
alkej-948	182	12	of	of	ADP
alkej-948	182	13	a	a	DET
alkej-948	182	14	fixed	fix	VERB
alkej-948	182	15	wing	wing	NOUN
alkej-948	182	16	tilt	tilt	NOUN
alkej-948	182	17	-	-	PUNCT
alkej-948	182	18	rotor	rotor	NOUN
alkej-948	182	19	tri	tri	NOUN
alkej-948	182	20	-	-	NOUN
alkej-948	182	21	copter	copter	NOUN
alkej-948	182	22	,	,	PUNCT
alkej-948	182	23	”	"	PUNCT
alkej-948	182	24	2017	2017	NUM
alkej-948	182	25	,	,	PUNCT
alkej-948	182	26	accessed	access	VERB
alkej-948	182	27	:	:	PUNCT
alkej-948	182	28	may	may	AUX
alkej-948	182	29	03	03	NUM
alkej-948	182	30	,	,	PUNCT
alkej-948	182	31	2024	2024	NUM
alkej-948	182	32	.	.	PUNCT
alkej-948	183	1	[	[	X
alkej-948	183	2	online	online	X
alkej-948	183	3	]	]	X
alkej-948	183	4	.	.	PUNCT
alkej-948	184	1	available	available	ADJ
alkej-948	184	2	:	:	PUNCT
alkej-948	184	3	https://digital.lib.washington.edu:443/research	https://digital.lib.washington.edu:443/research	PROPN
alkej-948	184	4	works	work	VERB
alkej-948	184	5	/	/	SYM
alkej-948	184	6	handle/1773/39911	handle/1773/39911	PROPN
alkej-948	185	1	[	[	X
alkej-948	185	2	16	16	NUM
alkej-948	185	3	]	]	PUNCT
alkej-948	185	4	m.	m.	NOUN
alkej-948	185	5	umer	umer	PROPN
alkej-948	185	6	,	,	PUNCT
alkej-948	185	7	s.	s.	PROPN
alkej-948	185	8	m.	m.	PROPN
alkej-948	185	9	a.	a.	PROPN
alkej-948	185	10	kazmi	kazmi	PROPN
alkej-948	185	11	,	,	PUNCT
alkej-948	185	12	s.	s.	PROPN
alkej-948	185	13	m.	m.	PROPN
alkej-948	185	14	h.	h.	PROPN
alkej-948	185	15	askari	askari	PROPN
alkej-948	185	16	,	,	PUNCT
alkej-948	185	17	and	and	CCONJ
alkej-948	185	18	i.	i.	PROPN
alkej-948	185	19	a.	a.	PROPN
alkej-948	185	20	rana	rana	PROPN
alkej-948	185	21	,	,	PUNCT
alkej-948	185	22	“	"	PUNCT
alkej-948	185	23	design	design	NOUN
alkej-948	185	24	and	and	CCONJ
alkej-948	185	25	modeling	modeling	NOUN
alkej-948	185	26	of	of	ADP
alkej-948	185	27	vtol	vtol	PROPN
alkej-948	185	28	tri	tri	PROPN
alkej-948	185	29	tilt	tilt	NOUN
alkej-948	185	30	-	-	PUNCT
alkej-948	185	31	rotor	rotor	NOUN
alkej-948	185	32	aircraft	aircraft	NOUN
alkej-948	185	33	,	,	PUNCT
alkej-948	185	34	”	"	PUNCT
alkej-948	185	35	2018	2018	NUM
alkej-948	185	36	15th	15th	ADJ
alkej-948	185	37	international	international	ADJ
alkej-948	185	38	conference	conference	NOUN
alkej-948	185	39	on	on	ADP
alkej-948	185	40	smart	smart	ADJ
alkej-948	185	41	cities	city	NOUN
alkej-948	185	42	:	:	PUNCT
alkej-948	185	43	improving	improve	VERB
alkej-948	185	44	quality	quality	NOUN
alkej-948	185	45	of	of	ADP
alkej-948	185	46	life	life	NOUN
alkej-948	185	47	using	use	VERB
alkej-948	185	48	ict	ict	PROPN
alkej-948	185	49	and	and	CCONJ
alkej-948	185	50	iot	iot	NOUN
alkej-948	185	51	,	,	PUNCT
alkej-948	185	52	honetict	honetict	NOUN
alkej-948	185	53	2018	2018	NUM
alkej-948	185	54	,	,	PUNCT
alkej-948	185	55	pp	pp	ADJ
alkej-948	185	56	.	.	PUNCT
alkej-948	186	1	127–131	127–131	NUM
alkej-948	186	2	,	,	PUNCT
alkej-948	186	3	nov	nov	PROPN
alkej-948	186	4	.	.	PROPN
alkej-948	186	5	2018	2018	NUM
alkej-948	186	6	.	.	PUNCT
alkej-948	187	1	doi	doi	NOUN
alkej-948	187	2	:	:	PUNCT
alkej-948	187	3	10.1109	10.1109	NUM
alkej-948	187	4	/	/	SYM
alkej-948	187	5	honet.2018.8551474	honet.2018.8551474	NOUN
alkej-948	187	6	.	.	PUNCT
alkej-948	188	1	[	[	X
alkej-948	188	2	17	17	NUM
alkej-948	188	3	]	]	X
alkej-948	188	4	a.	a.	NOUN
alkej-948	188	5	houari	houari	PROPN
alkej-948	188	6	,	,	PUNCT
alkej-948	188	7	i.	i.	PROPN
alkej-948	188	8	bachir	bachir	PROPN
alkej-948	188	9	,	,	PUNCT
alkej-948	188	10	d.	d.	PROPN
alkej-948	188	11	k.	k.	PROPN
alkej-948	188	12	mohame	mohame	PROPN
alkej-948	188	13	,	,	PUNCT
alkej-948	188	14	and	and	CCONJ
alkej-948	188	15	m.	m.	PROPN
alkej-948	188	16	k.	k.	PROPN
alkej-948	188	17	mohamed	mohamed	PROPN
alkej-948	188	18	,	,	PUNCT
alkej-948	188	19	“	"	PUNCT
alkej-948	188	20	pid	pid	NOUN
alkej-948	188	21	vs	vs	ADP
alkej-948	188	22	lqr	lqr	X
alkej-948	188	23	controller	controller	NOUN
alkej-948	188	24	for	for	ADP
alkej-948	188	25	tilt	tilt	NOUN
alkej-948	188	26	rotor	rotor	NOUN
alkej-948	188	27	airplane	airplane	NOUN
alkej-948	188	28	,	,	PUNCT
alkej-948	188	29	”	"	PUNCT
alkej-948	188	30	international	international	ADJ
alkej-948	188	31	journal	journal	NOUN
alkej-948	188	32	of	of	ADP
alkej-948	188	33	electrical	electrical	ADJ
alkej-948	188	34	and	and	CCONJ
alkej-948	188	35	computer	computer	NOUN
alkej-948	188	36	engineering	engineering	NOUN
alkej-948	188	37	(	(	PUNCT
alkej-948	188	38	ijece	ijece	PROPN
alkej-948	188	39	)	)	PUNCT
alkej-948	188	40	,	,	PUNCT
alkej-948	188	41	vol	vol	NOUN
alkej-948	188	42	.	.	PROPN
alkej-948	188	43	10	10	NUM
alkej-948	188	44	,	,	PUNCT
alkej-948	188	45	no	no	INTJ
alkej-948	188	46	.	.	NOUN
alkej-948	188	47	6	6	NUM
alkej-948	188	48	,	,	PUNCT
alkej-948	188	49	p.	p.	NOUN
alkej-948	188	50	6309	6309	NUM
alkej-948	188	51	,	,	PUNCT
alkej-948	188	52	dec	dec	PROPN
alkej-948	188	53	.	.	PROPN
alkej-948	188	54	2020	2020	NUM
alkej-948	188	55	.	.	PUNCT
alkej-948	189	1	doi	doi	NOUN
alkej-948	189	2	:	:	PUNCT
alkej-948	189	3	10.11591	10.11591	NUM
alkej-948	189	4	/	/	SYM
alkej-948	189	5	ijece.v10i6.pp6309	ijece.v10i6.pp6309	NOUN
alkej-948	189	6	-	-	PUNCT
alkej-948	189	7	6318	6318	NUM
alkej-948	189	8	.	.	PUNCT
alkej-948	190	1	[	[	X
alkej-948	190	2	18	18	NUM
alkej-948	190	3	]	]	PUNCT
alkej-948	190	4	m.	m.	PROPN
alkej-948	190	5	k.	k.	PROPN
alkej-948	190	6	mohamed	mohamed	PROPN
alkej-948	190	7	and	and	CCONJ
alkej-948	190	8	a.	a.	NOUN
alkej-948	190	9	lanzon	lanzon	NOUN
alkej-948	190	10	,	,	PUNCT
alkej-948	190	11	“	"	PUNCT
alkej-948	190	12	design	design	NOUN
alkej-948	190	13	and	and	CCONJ
alkej-948	190	14	control	control	NOUN
alkej-948	190	15	of	of	ADP
alkej-948	190	16	novel	novel	ADJ
alkej-948	190	17	tri	tri	ADJ
alkej-948	190	18	-	-	ADJ
alkej-948	190	19	rotor	rotor	NOUN
alkej-948	190	20	uav	uav	PROPN
alkej-948	190	21	,	,	PUNCT
alkej-948	190	22	”	"	PUNCT
alkej-948	190	23	in	in	ADP
alkej-948	190	24	proceedings	proceeding	NOUN
alkej-948	190	25	of	of	ADP
alkej-948	190	26	the	the	DET
alkej-948	190	27	2012	2012	NUM
alkej-948	190	28	ukacc	ukacc	PROPN
alkej-948	190	29	international	international	ADJ
alkej-948	190	30	conference	conference	NOUN
alkej-948	190	31	on	on	ADP
alkej-948	190	32	control	control	NOUN
alkej-948	190	33	,	,	PUNCT
alkej-948	190	34	control	control	NOUN
alkej-948	190	35	2012	2012	NUM
alkej-948	190	36	,	,	PUNCT
alkej-948	190	37	2012	2012	NUM
alkej-948	190	38	,	,	PUNCT
alkej-948	190	39	pp	pp	ADV
alkej-948	190	40	.	.	PUNCT
alkej-948	191	1	304–309	304–309	NUM
alkej-948	191	2	.	.	PUNCT
alkej-948	192	1	doi	doi	NOUN
alkej-948	192	2	:	:	PUNCT
alkej-948	192	3	10.1109	10.1109	NUM
alkej-948	192	4	/	/	SYM
alkej-948	192	5	control.2012.6334647	control.2012.6334647	ADJ
alkej-948	192	6	.	.	PUNCT
alkej-948	193	1	[	[	X
alkej-948	193	2	19	19	NUM
alkej-948	193	3	]	]	PUNCT
alkej-948	193	4	a.	a.	NOUN
alkej-948	193	5	cadena	cadena	PROPN
alkej-948	193	6	,	,	PUNCT
alkej-948	193	7	r.	r.	PROPN
alkej-948	193	8	ponguillo	ponguillo	PROPN
alkej-948	193	9	,	,	PUNCT
alkej-948	193	10	and	and	CCONJ
alkej-948	193	11	d.	d.	PROPN
alkej-948	193	12	ochoa	ochoa	PROPN
alkej-948	193	13	,	,	PUNCT
alkej-948	193	14	“	"	PUNCT
alkej-948	193	15	development	development	NOUN
alkej-948	193	16	of	of	ADP
alkej-948	193	17	guidance	guidance	NOUN
alkej-948	193	18	,	,	PUNCT
alkej-948	193	19	navigation	navigation	NOUN
alkej-948	193	20	and	and	CCONJ
alkej-948	193	21	control	control	NOUN
alkej-948	193	22	system	system	NOUN
alkej-948	193	23	using	use	VERB
alkej-948	193	24	fpga	fpga	PROPN
alkej-948	193	25	technology	technology	NOUN
alkej-948	193	26	for	for	ADP
alkej-948	193	27	an	an	DET
alkej-948	193	28	uav	uav	PROPN
alkej-948	193	29	tricopter	tricopter	NOUN
alkej-948	193	30	,	,	PUNCT
alkej-948	193	31	”	"	PUNCT
alkej-948	193	32	lecture	lecture	NOUN
alkej-948	193	33	notes	note	NOUN
alkej-948	193	34	in	in	ADP
alkej-948	193	35	mechanical	mechanical	ADJ
alkej-948	193	36	engineering	engineering	NOUN
alkej-948	193	37	,	,	PUNCT
alkej-948	193	38	pp	pp	ADJ
alkej-948	193	39	.	.	PUNCT
alkej-948	194	1	363–375	363–375	NUM
alkej-948	194	2	,	,	PUNCT
alkej-948	194	3	2017	2017	NUM
alkej-948	194	4	.	.	PUNCT
alkej-948	195	1	doi	doi	NOUN
alkej-948	195	2	:	:	PUNCT
alkej-948	195	3	10.1007/978	10.1007/978	NUM
alkej-948	195	4	-	-	SYM
alkej-948	195	5	3	3	NUM
alkej-948	195	6	-	-	NUM
alkej-948	195	7	319	319	NUM
alkej-948	195	8	-	-	PUNCT
alkej-948	195	9	33581	33581	NUM
alkej-948	195	10	-	-	PUNCT
alkej-948	195	11	0_28	0_28	NOUN
alkej-948	195	12	.	.	PUNCT
alkej-948	196	1	[	[	X
alkej-948	196	2	20	20	NUM
alkej-948	196	3	]	]	X
alkej-948	196	4	y.	y.	PROPN
alkej-948	196	5	li	li	PROPN
alkej-948	196	6	,	,	PUNCT
alkej-948	196	7	k.	k.	PROPN
alkej-948	196	8	h.	h.	PROPN
alkej-948	196	9	ang	ang	PROPN
alkej-948	196	10	,	,	PUNCT
alkej-948	196	11	and	and	CCONJ
alkej-948	196	12	g.	g.	PROPN
alkej-948	196	13	c.	c.	PROPN
alkej-948	196	14	y.	y.	PROPN
alkej-948	196	15	chong	chong	PROPN
alkej-948	196	16	,	,	PUNCT
alkej-948	196	17	“	"	PUNCT
alkej-948	196	18	pid	pid	NOUN
alkej-948	196	19	control	control	NOUN
alkej-948	196	20	system	system	NOUN
alkej-948	196	21	analysis	analysis	NOUN
alkej-948	196	22	and	and	CCONJ
alkej-948	196	23	design	design	NOUN
alkej-948	196	24	:	:	PUNCT
alkej-948	196	25	problems	problem	NOUN
alkej-948	196	26	,	,	PUNCT
alkej-948	196	27	remedies	remedy	NOUN
alkej-948	196	28	,	,	PUNCT
alkej-948	196	29	and	and	CCONJ
alkej-948	196	30	future	future	ADJ
alkej-948	196	31	directions	direction	NOUN
alkej-948	196	32	,	,	PUNCT
alkej-948	196	33	”	"	PUNCT
alkej-948	196	34	ieee	ieee	PROPN
alkej-948	196	35	control	control	PROPN
alkej-948	196	36	syst	syst	PROPN
alkej-948	196	37	,	,	PUNCT
alkej-948	196	38	vol	vol	NOUN
alkej-948	196	39	.	.	PROPN
alkej-948	196	40	26	26	NUM
alkej-948	196	41	,	,	PUNCT
alkej-948	196	42	no	no	INTJ
alkej-948	196	43	.	.	NOUN
alkej-948	196	44	1	1	NUM
alkej-948	196	45	,	,	PUNCT
alkej-948	196	46	pp	pp	ADJ
alkej-948	196	47	.	.	PUNCT
alkej-948	197	1	32–41	32–41	NUM
alkej-948	197	2	,	,	PUNCT
alkej-948	197	3	2006	2006	NUM
alkej-948	197	4	.	.	PUNCT
alkej-948	198	1	doi	doi	NOUN
alkej-948	198	2	:	:	PUNCT
alkej-948	198	3	10.1109	10.1109	NUM
alkej-948	198	4	/	/	SYM
alkej-948	198	5	mcs.2006.1580152	mcs.2006.1580152	NUM
alkej-948	198	6	.	.	PUNCT
alkej-948	199	1	[	[	X
alkej-948	199	2	21	21	NUM
alkej-948	199	3	]	]	PUNCT
alkej-948	199	4	s.	s.	PROPN
alkej-948	199	5	j.	j.	PROPN
alkej-948	199	6	raheema	raheema	PROPN
alkej-948	199	7	and	and	CCONJ
alkej-948	199	8	m.	m.	PROPN
alkej-948	199	9	h.	h.	PROPN
alkej-948	199	10	saleh	saleh	PROPN
alkej-948	199	11	,	,	PUNCT
alkej-948	199	12	“	"	PUNCT
alkej-948	199	13	an	an	DET
alkej-948	199	14	experimental	experimental	ADJ
alkej-948	199	15	research	research	NOUN
alkej-948	199	16	on	on	ADP
alkej-948	199	17	design	design	NOUN
alkej-948	199	18	and	and	CCONJ
alkej-948	199	19	development	development	NOUN
alkej-948	199	20	diversified	diversify	VERB
alkej-948	199	21	controllers	controller	NOUN
alkej-948	199	22	for	for	ADP
alkej-948	199	23	tricopter	tricopter	NOUN
alkej-948	199	24	stability	stability	NOUN
alkej-948	199	25	comparison	comparison	NOUN
alkej-948	199	26	,	,	PUNCT
alkej-948	199	27	”	"	PUNCT
alkej-948	199	28	iop	iop	NOUN
alkej-948	199	29	conf	conf	NOUN
alkej-948	199	30	ser	ser	PROPN
alkej-948	199	31	abdullah	abdullah	PROPN
alkej-948	199	32	mohammed	mohammed	PROPN
alkej-948	199	33	al	al	PROPN
alkej-948	199	34	-	-	PUNCT
alkej-948	199	35	khwarizmi	khwarizmi	PROPN
alkej-948	199	36	engineering	engineering	NOUN
alkej-948	199	37	journal	journal	PROPN
alkej-948	199	38	,	,	PUNCT
alkej-948	199	39	vol	vol	NOUN
alkej-948	199	40	.	.	PROPN
alkej-948	199	41	21	21	NUM
alkej-948	199	42	,	,	PUNCT
alkej-948	199	43	no.3	no.3	VERB
alkej-948	199	44	,	,	PUNCT
alkej-948	199	45	pp.6675	pp.6675	PROPN
alkej-948	199	46	(	(	PUNCT
alkej-948	199	47	2025	2025	NUM
alkej-948	199	48	)	)	PUNCT
alkej-948	199	49	74	74	NUM
alkej-948	199	50	mater	mater	NOUN
alkej-948	199	51	sci	sci	PROPN
alkej-948	199	52	eng	eng	PROPN
alkej-948	199	53	,	,	PUNCT
alkej-948	199	54	vol	vol	NOUN
alkej-948	199	55	.	.	PUNCT
alkej-948	199	56	1105	1105	NUM
alkej-948	199	57	,	,	PUNCT
alkej-948	199	58	no	no	INTJ
alkej-948	199	59	.	.	NOUN
alkej-948	199	60	1	1	NUM
alkej-948	199	61	,	,	PUNCT
alkej-948	199	62	p.	p.	NOUN
alkej-948	199	63	012019	012019	NUM
alkej-948	199	64	,	,	PUNCT
alkej-948	199	65	jun	jun	PROPN
alkej-948	199	66	.	.	PROPN
alkej-948	199	67	2021	2021	NUM
alkej-948	199	68	,	,	PUNCT
alkej-948	199	69	doi	doi	NOUN
alkej-948	199	70	:	:	PUNCT
alkej-948	199	71	10.1088/1757899x/1105/1/012019	10.1088/1757899x/1105/1/012019	NUM
alkej-948	199	72	.	.	PUNCT
alkej-948	200	1	[	[	X
alkej-948	200	2	22	22	NUM
alkej-948	200	3	]	]	PUNCT
alkej-948	200	4	“	"	PUNCT
alkej-948	200	5	modelling	modelling	NOUN
alkej-948	200	6	,	,	PUNCT
alkej-948	200	7	control	control	NOUN
alkej-948	200	8	and	and	CCONJ
alkej-948	200	9	construction	construction	NOUN
alkej-948	200	10	of	of	ADP
alkej-948	200	11	tricopter	tricopter	NOUN
alkej-948	200	12	unmanned	unmanned	ADJ
alkej-948	200	13	aerial	aerial	ADJ
alkej-948	200	14	vehicles	vehicle	NOUN
alkej-948	200	15	—	—	PUNCT
alkej-948	200	16	research	research	NOUN
alkej-948	200	17	explorer	explorer	NOUN
alkej-948	200	18	the	the	DET
alkej-948	200	19	university	university	PROPN
alkej-948	200	20	of	of	ADP
alkej-948	200	21	manchester	manchester	PROPN
alkej-948	200	22	.	.	PUNCT
alkej-948	200	23	”	"	PUNCT
alkej-948	200	24	accessed	access	VERB
alkej-948	200	25	:	:	PUNCT
alkej-948	200	26	may	may	AUX
alkej-948	200	27	07	07	NUM
alkej-948	200	28	,	,	PUNCT
alkej-948	200	29	2024	2024	NUM
alkej-948	200	30	.	.	PUNCT
alkej-948	201	1	[	[	X
alkej-948	201	2	online	online	X
alkej-948	201	3	]	]	X
alkej-948	201	4	.	.	PUNCT
alkej-948	202	1	available	available	ADJ
alkej-948	202	2	:	:	PUNCT
alkej-948	202	3	https://research.manchester.ac.uk/en/studentt	https://research.manchester.ac.uk/en/studentt	VERB
alkej-948	202	4	heses	hese	NOUN
alkej-948	202	5	/	/	SYM
alkej-948	202	6	modelling	modelling	NOUN
alkej-948	202	7	-	-	PUNCT
alkej-948	202	8	control	control	NOUN
alkej-948	202	9	-	-	PUNCT
alkej-948	202	10	and	and	CCONJ
alkej-948	202	11	-	-	PUNCT
alkej-948	202	12	construction	construction	NOUN
alkej-948	202	13	-	-	PUNCT
alkej-948	202	14	oftricopter	oftricopter	ADJ
alkej-948	202	15	-	-	PUNCT
alkej-948	202	16	unmanned	unmanned	ADJ
alkej-948	202	17	-	-	PUNCT
alkej-948	202	18	aerial	aerial	ADJ
alkej-948	202	19	-	-	PUNCT
alkej-948	202	20	v	v	NOUN
alkej-948	202	21	[	[	X
alkej-948	202	22	23	23	NUM
alkej-948	202	23	]	]	PUNCT
alkej-948	202	24	m.	m.	PROPN
alkej-948	202	25	k.	k.	PROPN
alkej-948	202	26	mohamed	mohamed	PROPN
alkej-948	202	27	and	and	CCONJ
alkej-948	202	28	a.	a.	NOUN
alkej-948	202	29	lanzon	lanzon	NOUN
alkej-948	202	30	,	,	PUNCT
alkej-948	202	31	“	"	PUNCT
alkej-948	202	32	design	design	NOUN
alkej-948	202	33	and	and	CCONJ
alkej-948	202	34	control	control	NOUN
alkej-948	202	35	of	of	ADP
alkej-948	202	36	novel	novel	ADJ
alkej-948	202	37	tri	tri	ADJ
alkej-948	202	38	-	-	ADJ
alkej-948	202	39	rotor	rotor	NOUN
alkej-948	202	40	uav	uav	PROPN
alkej-948	202	41	,	,	PUNCT
alkej-948	202	42	”	"	PUNCT
alkej-948	202	43	in	in	ADP
alkej-948	202	44	proceedings	proceeding	NOUN
alkej-948	202	45	of	of	ADP
alkej-948	202	46	the	the	DET
alkej-948	202	47	2012	2012	NUM
alkej-948	202	48	ukacc	ukacc	PROPN
alkej-948	202	49	international	international	ADJ
alkej-948	202	50	conference	conference	NOUN
alkej-948	202	51	on	on	ADP
alkej-948	202	52	control	control	NOUN
alkej-948	202	53	,	,	PUNCT
alkej-948	202	54	control	control	NOUN
alkej-948	202	55	2012	2012	NUM
alkej-948	202	56	,	,	PUNCT
alkej-948	202	57	2012	2012	NUM
alkej-948	202	58	,	,	PUNCT
alkej-948	202	59	pp	pp	ADV
alkej-948	202	60	.	.	PUNCT
alkej-948	203	1	304–309	304–309	NUM
alkej-948	203	2	.	.	PUNCT
alkej-948	204	1	doi	doi	NOUN
alkej-948	204	2	:	:	PUNCT
alkej-948	204	3	10.1109	10.1109	NUM
alkej-948	204	4	/	/	SYM
alkej-948	204	5	control.2012.6334647	control.2012.6334647	ADJ
alkej-948	204	6	.	.	PUNCT
alkej-948	205	1	[	[	X
alkej-948	205	2	24	24	NUM
alkej-948	205	3	]	]	PUNCT
alkej-948	205	4	a.	a.	NOUN
alkej-948	205	5	alkamachi	alkamachi	PROPN
alkej-948	205	6	and	and	CCONJ
alkej-948	205	7	e.	e.	PROPN
alkej-948	205	8	ercelebi	ercelebi	PROPN
alkej-948	205	9	,	,	PUNCT
alkej-948	205	10	“	"	PUNCT
alkej-948	205	11	modelling	modelling	NOUN
alkej-948	205	12	and	and	CCONJ
alkej-948	205	13	control	control	NOUN
alkej-948	205	14	of	of	ADP
alkej-948	205	15	h	h	NOUN
alkej-948	205	16	-	-	PUNCT
alkej-948	205	17	shaped	shape	VERB
alkej-948	205	18	racing	racing	NOUN
alkej-948	205	19	quadcopter	quadcopter	NOUN
alkej-948	205	20	with	with	ADP
alkej-948	205	21	tilting	tilting	NOUN
alkej-948	205	22	propellers	propeller	NOUN
alkej-948	205	23	,	,	PUNCT
alkej-948	205	24	”	"	PUNCT
alkej-948	205	25	facta	facta	PROPN
alkej-948	205	26	universitatis	universitatis	PROPN
alkej-948	205	27	,	,	PUNCT
alkej-948	205	28	series	series	NOUN
alkej-948	205	29	:	:	PUNCT
alkej-948	205	30	mechanical	mechanical	ADJ
alkej-948	205	31	engineering	engineering	NOUN
alkej-948	205	32	,	,	PUNCT
alkej-948	205	33	vol	vol	NOUN
alkej-948	205	34	.	.	PROPN
alkej-948	205	35	15	15	NUM
alkej-948	205	36	,	,	PUNCT
alkej-948	205	37	no	no	INTJ
alkej-948	205	38	.	.	NOUN
alkej-948	205	39	2	2	NUM
alkej-948	205	40	,	,	PUNCT
alkej-948	205	41	pp	pp	ADJ
alkej-948	205	42	.	.	PUNCT
alkej-948	206	1	201–215	201–215	NUM
alkej-948	206	2	,	,	PUNCT
alkej-948	206	3	aug	aug	PROPN
alkej-948	206	4	.	.	PROPN
alkej-948	206	5	2017	2017	NUM
alkej-948	206	6	,	,	PUNCT
alkej-948	206	7	doi	doi	NOUN
alkej-948	206	8	:	:	PUNCT
alkej-948	206	9	10.22190	10.22190	NUM
alkej-948	206	10	/	/	SYM
alkej-948	206	11	fume170203005a	fume170203005a	ADJ
alkej-948	206	12	.	.	PUNCT
alkej-948	207	1	[	[	X
alkej-948	207	2	25	25	NUM
alkej-948	207	3	]	]	PUNCT
alkej-948	207	4	a.	a.	PROPN
alkej-948	207	5	k.	k.	PROPN
alkej-948	207	6	j.	j.	PROPN
alkej-948	207	7	,	,	PUNCT
alkej-948	207	8	“	"	PUNCT
alkej-948	207	9	pid	pid	NOUN
alkej-948	207	10	controllers	controller	NOUN
alkej-948	207	11	:	:	PUNCT
alkej-948	208	1	theory	theory	NOUN
alkej-948	208	2	,	,	PUNCT
alkej-948	208	3	design	design	NOUN
alkej-948	208	4	,	,	PUNCT
alkej-948	208	5	and	and	CCONJ
alkej-948	208	6	tuning	tune	VERB
alkej-948	208	7	,	,	PUNCT
alkej-948	208	8	”	"	PUNCT
alkej-948	208	9	the	the	DET
alkej-948	208	10	international	international	ADJ
alkej-948	208	11	society	society	NOUN
alkej-948	208	12	of	of	ADP
alkej-948	208	13	measurement	measurement	NOUN
alkej-948	208	14	and	and	CCONJ
alkej-948	208	15	control	control	NOUN
alkej-948	208	16	,	,	PUNCT
alkej-948	208	17	1995	1995	NUM
alkej-948	208	18	,	,	PUNCT
alkej-948	208	19	doi	doi	NOUN
alkej-948	208	20	:	:	PUNCT
alkej-948	208	21	10.11499	10.11499	NUM
alkej-948	208	22	/	/	SYM
alkej-948	208	23	sicejl1962.40.679	sicejl1962.40.679	PROPN
alkej-948	208	24	.	.	PUNCT
alkej-948	209	1	[	[	X
alkej-948	209	2	26	26	NUM
alkej-948	209	3	]	]	X
alkej-948	209	4	b.	b.	PROPN
alkej-948	209	5	h.	h.	PROPN
alkej-948	209	6	sumida	sumida	PROPN
alkej-948	209	7	,	,	PUNCT
alkej-948	209	8	a.	a.	PROPN
alkej-948	209	9	i.	i.	PROPN
alkej-948	209	10	houston	houston	PROPN
alkej-948	209	11	,	,	PUNCT
alkej-948	209	12	j.	j.	PROPN
alkej-948	209	13	m.	m.	PROPN
alkej-948	209	14	mcnamara	mcnamara	PROPN
alkej-948	209	15	,	,	PUNCT
alkej-948	209	16	and	and	CCONJ
alkej-948	209	17	w.	w.	PROPN
alkej-948	209	18	d.	d.	PROPN
alkej-948	209	19	hamilton	hamilton	PROPN
alkej-948	209	20	,	,	PUNCT
alkej-948	209	21	“	"	PUNCT
alkej-948	209	22	genetic	genetic	ADJ
alkej-948	209	23	algorithms	algorithm	NOUN
alkej-948	209	24	and	and	CCONJ
alkej-948	209	25	evolution	evolution	NOUN
alkej-948	209	26	,	,	PUNCT
alkej-948	209	27	”	"	PUNCT
alkej-948	209	28	j	j	PROPN
alkej-948	209	29	theor	theor	PROPN
alkej-948	209	30	biol	biol	PROPN
alkej-948	209	31	,	,	PUNCT
alkej-948	209	32	vol	vol	NOUN
alkej-948	209	33	.	.	PROPN
alkej-948	209	34	147	147	NUM
alkej-948	209	35	,	,	PUNCT
alkej-948	209	36	no	no	INTJ
alkej-948	209	37	.	.	NOUN
alkej-948	209	38	1	1	NUM
alkej-948	209	39	,	,	PUNCT
alkej-948	209	40	pp	pp	ADJ
alkej-948	209	41	.	.	PUNCT
alkej-948	210	1	59–84	59–84	NOUN
alkej-948	210	2	,	,	PUNCT
alkej-948	210	3	nov	nov	PROPN
alkej-948	210	4	.	.	PROPN
alkej-948	210	5	1990	1990	NUM
alkej-948	210	6	,	,	PUNCT
alkej-948	210	7	doi	doi	NOUN
alkej-948	210	8	:	:	PUNCT
alkej-948	210	9	10.1016	10.1016	NUM
alkej-948	210	10	/	/	SYM
alkej-948	210	11	s00225193(05)80252	s00225193(05)80252	NOUN
alkej-948	210	12	-	-	PUNCT
alkej-948	210	13	8	8	NUM
alkej-948	210	14	.	.	PUNCT
alkej-948	211	1	[	[	X
alkej-948	211	2	27	27	NUM
alkej-948	211	3	]	]	PUNCT
alkej-948	211	4	a.	a.	PROPN
alkej-948	211	5	h.	h.	PROPN
alkej-948	211	6	yousif	yousif	PROPN
alkej-948	211	7	yacoub	yacoub	PROPN
alkej-948	211	8	,	,	PUNCT
alkej-948	211	9	s.	s.	PROPN
alkej-948	211	10	buyamin	buyamin	PROPN
alkej-948	211	11	,	,	PUNCT
alkej-948	211	12	and	and	CCONJ
alkej-948	211	13	n.	n.	PROPN
alkej-948	211	14	abdul	abdul	PROPN
alkej-948	211	15	wahab	wahab	PROPN
alkej-948	211	16	,	,	PUNCT
alkej-948	211	17	“	"	PUNCT
alkej-948	211	18	integral	integral	ADJ
alkej-948	211	19	time	time	NOUN
alkej-948	211	20	absolute	absolute	ADJ
alkej-948	211	21	error	error	NOUN
alkej-948	211	22	minimization	minimization	NOUN
alkej-948	211	23	for	for	ADP
alkej-948	211	24	pi	pi	NOUN
alkej-948	211	25	controller	controller	NOUN
alkej-948	211	26	on	on	ADP
alkej-948	211	27	coupled	couple	VERB
alkej-948	211	28	–	–	PUNCT
alkej-948	211	29	tank	tank	NOUN
alkej-948	211	30	liquid	liquid	ADJ
alkej-948	211	31	level	level	NOUN
alkej-948	211	32	control	control	NOUN
alkej-948	211	33	system	system	NOUN
alkej-948	211	34	based	base	VERB
alkej-948	211	35	on	on	ADP
alkej-948	211	36	stochastic	stochastic	ADJ
alkej-948	211	37	search	search	NOUN
alkej-948	211	38	echniques	echnique	NOUN
alkej-948	211	39	,	,	PUNCT
alkej-948	211	40	”	"	PUNCT
alkej-948	211	41	j	j	PROPN
alkej-948	211	42	teknol	teknol	NOUN
alkej-948	211	43	,	,	PUNCT
alkej-948	211	44	mar	mar	PROPN
alkej-948	211	45	.	.	PROPN
alkej-948	211	46	2012	2012	NUM
alkej-948	211	47	,	,	PUNCT
alkej-948	211	48	doi	doi	NOUN
alkej-948	211	49	:	:	PUNCT
alkej-948	211	50	10.11113	10.11113	NUM
alkej-948	211	51	/	/	SYM
alkej-948	211	52	jt.v54.823	jt.v54.823	ADJ
alkej-948	211	53	.	.	PUNCT
alkej-948	212	1	[	[	X
alkej-948	212	2	28	28	NUM
alkej-948	212	3	]	]	PUNCT
alkej-948	212	4	a.	a.	NOUN
alkej-948	212	5	hassanat	hassanat	PROPN
alkej-948	212	6	,	,	PUNCT
alkej-948	212	7	k.	k.	PROPN
alkej-948	212	8	almohammadi	almohammadi	PROPN
alkej-948	212	9	,	,	PUNCT
alkej-948	212	10	e.	e.	PROPN
alkej-948	212	11	alkafaween	alkafaween	PROPN
alkej-948	212	12	,	,	PUNCT
alkej-948	212	13	e.	e.	PROPN
alkej-948	212	14	abunawas	abunawas	PROPN
alkej-948	212	15	,	,	PUNCT
alkej-948	212	16	a.	a.	NOUN
alkej-948	212	17	hammouri	hammouri	NOUN
alkej-948	212	18	,	,	PUNCT
alkej-948	212	19	and	and	CCONJ
alkej-948	212	20	v.	v.	PROPN
alkej-948	212	21	b.	b.	PROPN
alkej-948	212	22	s.	s.	PROPN
alkej-948	212	23	prasath	prasath	PROPN
alkej-948	212	24	,	,	PUNCT
alkej-948	212	25	“	"	PUNCT
alkej-948	212	26	choosing	choose	VERB
alkej-948	212	27	mutation	mutation	NOUN
alkej-948	212	28	and	and	CCONJ
alkej-948	212	29	crossover	crossover	VERB
alkej-948	212	30	ratios	ratio	NOUN
alkej-948	212	31	for	for	ADP
alkej-948	212	32	genetic	genetic	ADJ
alkej-948	212	33	algorithms	algorithm	NOUN
alkej-948	212	34	—	—	PUNCT
alkej-948	212	35	a	a	DET
alkej-948	212	36	review	review	NOUN
alkej-948	212	37	with	with	ADP
alkej-948	212	38	a	a	DET
alkej-948	212	39	new	new	ADJ
alkej-948	212	40	dynamic	dynamic	ADJ
alkej-948	212	41	approach	approach	NOUN
alkej-948	212	42	,	,	PUNCT
alkej-948	212	43	”	"	PUNCT
alkej-948	212	44	information	information	NOUN
alkej-948	212	45	,	,	PUNCT
alkej-948	212	46	vol	vol	NOUN
alkej-948	212	47	.	.	PROPN
alkej-948	212	48	10	10	NUM
alkej-948	212	49	,	,	PUNCT
alkej-948	212	50	no	no	INTJ
alkej-948	212	51	.	.	NOUN
alkej-948	212	52	12	12	NUM
alkej-948	212	53	,	,	PUNCT
alkej-948	212	54	p.	p.	NOUN
alkej-948	212	55	390	390	NUM
alkej-948	212	56	,	,	PUNCT
alkej-948	212	57	dec	dec	PROPN
alkej-948	212	58	.	.	PROPN
alkej-948	212	59	2019	2019	NUM
alkej-948	212	60	,	,	PUNCT
alkej-948	212	61	doi	doi	NOUN
alkej-948	212	62	:	:	PUNCT
alkej-948	212	63	10.3390	10.3390	NUM
alkej-948	212	64	/	/	SYM
alkej-948	212	65	info10120390	info10120390	PROPN
alkej-948	212	66	.	.	PUNCT
alkej-948	213	1	(	(	PUNCT
alkej-948	213	2	2025	2025	NUM
alkej-948	213	3	)	)	PUNCT
alkej-948	213	4	66	66	NUM
alkej-948	213	5	-	-	SYM
alkej-948	213	6	75	75	NUM
alkej-948	213	7	،	،	NOUN
alkej-948	213	8	صفحة	صفحة	PROPN
alkej-948	213	9	3	3	PROPN
alkej-948	213	10	،	،	NOUN
alkej-948	213	11	العدد21مجلة	العدد21مجلة	PROPN
alkej-948	213	12	الخوارزمي	الخوارزمي	PROPN
alkej-948	213	13	الهندسية	الهندسية	PROPN
alkej-948	213	14	المجلد	المجلد	PROPN
alkej-948	213	15	عبد	عبد	VERB
alkej-948	213	16	هللا	هللا	NOUN
alkej-948	213	17	محمد	محمد	ADJ
alkej-948	213	18	يحيى	يحيى	NOUN
alkej-948	213	19	75	75	NUM
alkej-948	213	20	yدراسة	yدراسة	NOUN
alkej-948	213	21	تأثير	تأثير	VERB
alkej-948	213	22	معامالت	معامالت	PROPN
alkej-948	213	23	الدوار	الدوار	PROPN
alkej-948	213	24	على	على	PROPN
alkej-948	213	25	مروحية	مروحية	PROPN
alkej-948	213	26	ثالثية	ثالثية	VERB
alkej-948	213	27	الشكل	الشكل	PROPN
alkej-948	213	28	على	على	PROPN
alkej-948	213	29	شكل	شكل	PROPN
alkej-948	213	30	حرف	حرف	NOUN
alkej-948	214	1	3اركون	3اركون	NUM
alkej-948	214	2	ارچلبي	ارچلبي	NOUN
alkej-948	214	3	2احمد	2احمد	NUM
alkej-948	214	4	محروس	محروس	NOUN
alkej-948	214	5	راغب	راغب	NOUN
alkej-948	214	6	*	*	PUNCT
alkej-948	215	1	*	*	PUNCT
alkej-948	215	2	1عبد	1عبد	NUM
alkej-948	215	3	هللا	هللا	NOUN
alkej-948	215	4	محمد	محمد	ADJ
alkej-948	215	5	يحيى	يحيى	ADJ
alkej-948	215	6	العراق	العراق	ADJ
alkej-948	215	7	بغداد	بغداد	PROPN
alkej-948	215	8	،	،	PROPN
alkej-948	215	9	قسم	قسم	PROPN
alkej-948	215	10	هندسة	هندسة	PROPN
alkej-948	215	11	الميكاترونكس	الميكاترونكس	PROPN
alkej-948	215	12	،	،	PROPN
alkej-948	216	1	كلية	كلية	PROPN
alkej-948	216	2	الهندسة	الهندسة	PROPN
alkej-948	216	3	الخوارزمي	الخوارزمي	PROPN
alkej-948	216	4	،	،	PROPN
alkej-948	216	5	جامعة	جامعة	PROPN
alkej-948	216	6	بغداد	بغداد	PROPN
alkej-948	216	7	،	،	PROPN
alkej-948	216	8	1،2	1،2	PROPN
alkej-948	216	9	يا	يا	PROPN
alkej-948	216	10	ترك	ترك	PROPN
alkej-948	216	11	،	،	PROPN
alkej-948	216	12	جامعة	جامعة	PROPN
alkej-948	216	13	غازي	غازي	VERB
alkej-948	216	14	عنتاب	عنتاب	ADJ
alkej-948	216	15	،	،	NOUN
alkej-948	217	1	قسم	قسم	PROPN
alkej-948	217	2	الهندسة	الهندسة	VERB
alkej-948	217	3	الكهربائية	الكهربائية	NOUN
alkej-948	217	4	وااللكترونية	وااللكترونية	VERB
alkej-948	217	5	3	3	NUM
alkej-948	217	6	abd.yahia2102m@kecbu.uobaghdad.edu.iqالبريد	abd.yahia2102m@kecbu.uobaghdad.edu.iqالبريد	ADJ
alkej-948	217	7	االلكتروني	االلكتروني	NOUN
alkej-948	217	8	:	:	PUNCT
alkej-948	217	9	*	*	PUNCT
alkej-948	217	10	لمستخلص	لمستخلص	NOUN
alkej-948	217	11	ا	ا	INTJ
alkej-948	217	12	وتستخدم	وتستخدم	NOUN
alkej-948	217	13	على	على	PROPN
alkej-948	217	14	نطاق	نطاق	NOUN
alkej-948	217	15	واسع	واسع	NOUN
alkej-948	218	1	في	في	INTJ
alkej-948	218	2	العديد	العديد	ADV
alkej-948	218	3	من	من	INTJ
alkej-948	218	4	التطبيقات	التطبيقات	PROPN
alkej-948	218	5	.	.	PUNCT
alkej-948	219	1	هناك	هناك	PROPN
alkej-948	220	1	العديد	العديد	ADV
alkej-948	220	2	من	من	INTJ
alkej-948	220	3	التصاميم	التصاميم	PROPN
alkej-948	220	4	بكفاءة	بكفاءة	PROPN
alkej-948	220	5	الطائرات	الطائرات	PROPN
alkej-948	220	6	بدون	بدون	NOUN
alkej-948	220	7	طيار	طيار	NOUN
alkej-948	220	8	هي	هي	PROPN
alkej-948	220	9	طائرات	طائرات	PROPN
alkej-948	220	10	صغيرة	صغيرة	SCONJ
alkej-948	220	11	ولكنها	ولكنها	NOUN
alkej-948	220	12	قادرة	قادرة	PROPN
alkej-948	220	13	على	على	PROPN
alkej-948	220	14	العمل	العمل	PROPN
alkej-948	220	15	ألنها	ألنها	NOUN
alkej-948	220	16	تحتوي	تحتوي	VERB
alkej-948	220	17	على	على	PROPN
alkej-948	220	18	ثالثة	ثالثة	PROPN
alkej-948	220	19	؛	؛	PROPN
alkej-948	220	20	واألشكال	واألشكال	PROPN
alkej-948	220	21	للطائرات	للطائرات	NOUN
alkej-948	220	22	بدون	بدون	NOUN
alkej-948	220	23	طيار	طيار	NOUN
alkej-948	220	24	اعتمادًا	اعتمادًا	PROPN
alkej-948	220	25	على	على	NOUN
alkej-948	220	26	استخدامها	استخدامها	ADV
alkej-948	220	27	.	.	PUNCT
alkej-948	221	1	تعد	تعد	PROPN
alkej-948	221	2	الطائرات	الطائرات	VERB
alkej-948	221	3	ثالثية	ثالثية	PROPN
alkej-948	221	4	المراوح	المراوح	NOUN
alkej-948	221	5	واحدة	واحدة	PROPN
alkej-948	222	1	من	من	PROPN
alkej-948	222	2	أكثر	أكثر	PROPN
alkej-948	222	3	الطائرات	الطائرات	VERB
alkej-948	222	4	بدون	بدون	NOUN
alkej-948	222	5	طيار	طيار	NOUN
alkej-948	222	6	رشاقة	رشاقة	NOUN
alkej-948	222	7	(	(	PUNCT
alkej-948	222	8	.	.	PUNCT
alkej-948	223	1	يحدث	يحدث	VERB
alkej-948	223	2	ذلك	ذلك	PROPN
alkej-948	223	3	بسبب	بسبب	PROPN
alkej-948	223	4	عراج)زاوية	عراج)زاوية	PROPN
alkej-948	223	5	االن	االن	NOUN
alkej-948	223	6	zالطائرة	zالطائرة	NOUN
alkej-948	223	7	بدون	بدون	NOUN
alkej-948	223	8	طيار	طيار	NOUN
alkej-948	223	9	وهو	وهو	PROPN
alkej-948	223	10	دوران	دوران	VERB
alkej-948	223	11	الطائرة	الطائرة	PROPN
alkej-948	223	12	بدون	بدون	NOUN
alkej-948	223	13	طيار	طيار	NOUN
alkej-948	224	1	حول	حول	NOUN
alkej-948	224	2	محورها	محورها	VERB
alkej-948	224	3	عراجمراوح	عراجمراوح	NOUN
alkej-948	224	4	فقط	فقط	PROPN
alkej-948	224	5	.	.	PUNCT
alkej-948	225	1	ومع	ومع	PROPN
alkej-948	225	2	ذلك	ذلك	PROPN
alkej-948	225	3	،	،	PROPN
alkej-948	225	4	فإن	فإن	PROPN
alkej-948	225	5	إحدى	إحدى	PROPN
alkej-948	226	1	مشاكلها	مشاكلها	PROPN
alkej-948	226	2	هي	هي	VERB
alkej-948	226	3	ان	ان	PROPN
alkej-948	226	4	رات	رات	VERB
alkej-948	226	5	المراوح	المراوح	PROPN
alkej-948	226	6	كما	كما	PROPN
alkej-948	226	7	هو	هو	PROPN
alkej-948	226	8	الحال	الحال	PROPN
alkej-948	226	9	في	في	ADP
alkej-948	226	10	طائرة	طائرة	PROPN
alkej-948	226	11	رباعية	رباعية	PROPN
alkej-948	226	12	المراوح	المراوح	PROPN
alkej-948	226	13	وح	وح	INTJ
alkej-948	226	14	.	.	PROPN
alkej-948	226	15	بمعنى	بمعنى	ADJ
alkej-948	226	16	آخر	آخر	PROPN
alkej-948	226	17	،	،	PROPN
alkej-948	226	18	لن	لن	PROPN
alkej-948	226	19	يتم	يتم	PROPN
alkej-948	226	20	إلغاء	إلغاء	ADJ
alkej-948	226	21	عزم	عزم	ADJ
alkej-948	226	22	السحب	السحب	NOUN
alkej-948	226	23	الناتج	الناتج	NOUN
alkej-948	226	24	عن	عن	PROPN
alkej-948	226	25	الديناميكا	الديناميكا	PROPN
alkej-948	226	26	الهوائية	الهوائية	PROPN
alkej-948	226	27	لشفاالمر	لشفاالمر	PROPN
alkej-948	226	28	عدادعدم	عدادعدم	PROPN
alkej-948	226	29	التماثل	التماثل	PROPN
alkej-948	226	30	في	في	X
alkej-948	226	31	أ	أ	ADP
alkej-948	226	32	يتم	يتم	PROPN
alkej-948	226	33	و	و	PROPN
alkej-948	226	34	،	،	X
alkej-948	226	35	عراج	عراج	PROPN
alkej-948	226	36	لتقليل	لتقليل	PROPN
alkej-948	226	37	تأثير	تأثير	PROPN
alkej-948	226	38	مشكلة	مشكلة	VERB
alkej-948	226	39	االن	االن	NOUN
alkej-948	226	40	؛	؛	PROPN
alkej-948	227	1	وتعديله	وتعديله	PROPN
alkej-948	227	2	ومقارنته	ومقارنته	PROPN
alkej-948	227	3	yتم	yتم	VERB
alkej-948	227	4	اختبار	اختبار	NOUN
alkej-948	227	5	نموذج	نموذج	PROPN
alkej-948	227	6	طائرة	طائرة	ADJ
alkej-948	227	7	ثالثية	ثالثية	PROPN
alkej-948	227	8	المراوح	المراوح	NOUN
alkej-948	227	9	على	على	PROPN
alkej-948	227	10	شكل	شكل	PROPN
alkej-948	227	11	حرف	حرف	PUNCT
alkej-948	228	1	عمل)عدد	عمل)عدد	PROPN
alkej-948	228	2	زوجي	زوجي	VERB
alkej-948	228	3	من	من	NUM
alkej-948	228	4	المراوح	المراوح	NOUN
alkej-948	228	5	(	(	PUNCT
alkej-948	228	6	.	.	PUNCT
alkej-948	229	1	في	في	VERB
alkej-948	230	1	هذه	هذه	NOUN
alkej-948	230	2	ال	ال	VERB
alkej-948	230	3	.	.	PUNCT
alkej-948	231	1	ى	ى	PROPN
alkej-948	231	2	األول	األول	PROPN
alkej-948	231	3	حالةوح	حالةوح	PROPN
alkej-948	231	4	في	في	SCONJ
alkej-948	231	5	الضبط	الضبط	PROPN
alkej-948	231	6	مروحتين	مروحتين	NOUN
alkej-948	231	7	في	في	ADP
alkej-948	231	8	اتجاه	اتجاه	PROPN
alkej-948	231	9	عقارب	عقارب	NOUN
alkej-948	231	10	الساعة	الساعة	PROPN
alkej-948	231	11	،	،	PROPN
alkej-948	231	12	بينما	بينما	PROPN
alkej-948	231	13	يتم	يتم	PROPN
alkej-948	231	14	ضبط	ضبط	PROPN
alkej-948	231	15	المروحة	المروحة	PROPN
alkej-948	231	16	الثالثة	الثالثة	PROPN
alkej-948	232	1	في	في	INTJ
alkej-948	232	2	االتجاه	االتجاه	INTJ
alkej-948	232	3	المعاكس	المعاكس	PROPN
alkej-948	232	4	.	.	PUNCT
alkej-948	233	1	يتم	يتم	PROPN
alkej-948	233	2	ضبط	ضبط	PROPN
alkej-948	233	3	معامل	معامل	PROPN
alkej-948	233	4	القوة	القوة	PROPN
alkej-948	233	5	بالتساوي	بالتساوي	PROPN
alkej-948	233	6	لجميع	لجميع	VERB
alkej-948	233	7	المرا	المرا	ADJ
alkej-948	233	8	يتم	يتم	PROPN
alkej-948	233	9	التحكم	التحكم	NOUN
alkej-948	233	10	في	في	DET
alkej-948	233	11	النموذج	النموذج	PROPN
alkej-948	233	12	من	من	PROPN
alkej-948	233	13	خالل	خالل	PROPN
alkej-948	233	14	ستة	ستة	ADV
alkej-948	233	15	معّرفات	معّرفات	VERB
alkej-948	233	16	ف	ف	NUM
alkej-948	233	17	.	.	PUNCT
alkej-948	234	1	ةالثاني	ةالثاني	PROPN
alkej-948	234	2	حالةثم	حالةثم	NOUN
alkej-948	234	3	يتم	يتم	PROPN
alkej-948	234	4	مضاعفة	مضاعفة	PROPN
alkej-948	234	5	معامل	معامل	PROPN
alkej-948	234	6	القوة	القوة	PROPN
alkej-948	234	7	للمروحة	للمروحة	PROPN
alkej-948	234	8	الواحدة	الواحدة	PROPN
alkej-948	235	1	التي	التي	PROPN
alkej-948	235	2	تدور	تدور	PROPN
alkej-948	236	1	في	في	PROPN
alkej-948	236	2	اتجاه	اتجاه	PROPN
alkej-948	236	3	عكس	عكس	PROPN
alkej-948	236	4	اتجاه	اتجاه	ADJ
alkej-948	236	5	عقارب	عقارب	ADJ
alkej-948	236	6	الساعة	الساعة	NOUN
alkej-948	236	7	لل	لل	INTJ
alkej-948	236	8	pid	pid	NOUN
alkej-948	236	9	وثالثة	وثالثة	PROPN
alkej-948	236	10	لالرتفاع	لالرتفاع	ADV
alkej-948	236	11	.	.	PUNCT
alkej-948	237	1	يتم	يتم	PROPN
alkej-948	237	2	ضبط	ضبط	PROPN
alkej-948	237	3	معّرفات	معّرفات	NOUN
alkej-948	237	4	،	،	NOUN
alkej-948	237	5	كوينين	كوينين	PROPN
alkej-948	237	6	ثالثة	ثالثة	PROPN
alkej-948	237	7	للموقفمرتبطة	للموقفمرتبطة	PROPN
alkej-948	237	8	بالخطية	بالخطية	NOUN
alkej-948	237	9	الراجعة	الراجعة	VERB
alkej-948	237	10	لكال	لكال	PROPN
alkej-948	237	11	التpid	التpid	PROPN
alkej-948	237	12	باستخدام	باستخدام	PROPN
alkej-948	237	13	خوارزمية	خوارزمية	PROPN
alkej-948	237	14	وراثية	وراثية	PROPN
alkej-948	237	15	ويتم	ويتم	NOUN
alkej-948	237	16	محاكاة	محاكاة	PROPN
alkej-948	237	17	النظام	النظام	PROPN
alkej-948	237	18	في	في	SCONJ
alkej-948	237	19	matlab	matlab	PROPN
alkej-948	237	20	simulink	simulink	PROPN
alkej-948	237	21	يظهر	يظهر	PROPN
alkej-948	237	22	التكوين	التكوين	PROPN
alkej-948	237	23	المقترح	المقترح	VERB
alkej-948	237	24	قيم	قيم	NOUN
alkej-948	237	25	.itae	.itae	ADP
alkej-948	237	26	أقل	أقل	ADJ
alkej-948	237	27	)	)	PUNCT
alkej-948	237	28	خطأ	خطأ	PROPN
alkej-948	237	29	مطلق	مطلق	NOUN
alkej-948	237	30	زمني	زمني	ADJ
alkej-948	237	31	متكامل	متكامل	NOUN
alkej-948	237	32	(	(	PUNCT
alkej-948	237	33	مما	مما	NUM
alkej-948	237	34	يشير	يشير	NOUN
alkej-948	237	35	إلى	إلى	NOUN
alkej-948	237	36	أداء	أداء	PROPN
alkej-948	237	37	أفضل	أفضل	PROPN
alkej-948	237	38	للطائرات	للطائرات	NOUN
alkej-948	237	39	بدون	بدون	VERB
alkej-948	237	40	طيار	طيار	NOUN
alkej-948	237	41	.	.	PUNCT
alkej-948	238	1	متوسط	متوسط	PROPN
alkej-948	238	2	قيم	قيم	VERB
alkej-948	238	3	itae	itae	PROPN
alkej-948	238	4	للنموذج	للنموذج	PROPN
alkej-948	238	5	على	على	PROPN
alkej-948	238	6	شكلy	شكلy	NOUN
alkej-948	238	7	(	(	PUNCT
alkej-948	238	8	للحالة	للحالة	NOUN
alkej-948	238	9	األولى0.1553هو	األولى0.1553هو	PROPN
alkej-948	238	10	)	)	PUNCT
alkej-948	238	11	،	،	NOUN
alkej-948	238	12	(	(	PUNCT
alkej-948	238	13	للحالة	للحالة	NOUN
alkej-948	238	14	الثانية	الثانية	PROPN
alkej-948	238	15	.	.	PUNCT
alkej-948	239	1	أظهرت	أظهرت	NOUN
alkej-948	239	2	الحالة	الحالة	NOUN
alkej-948	239	3	الثانية	الثانية	PROPN
alkej-948	239	4	تتبعًا	تتبعًا	PROPN
alkej-948	239	5	كبيًرا	كبيًرا	PROPN
alkej-948	239	6	لإلخراج	لإلخراج	PROPN
alkej-948	239	7	المطلوب	المطلوب	NOUN
alkej-948	239	8	في	في	ADP
alkej-948	239	9	السيناريو	السيناريو	PROPN
alkej-948	239	10	0.1017و	0.1017و	PROPN
alkej-948	239	11	)	)	PUNCT
alkej-948	240	1	المطبق	المطبق	PROPN
alkej-948	240	2	ولم	ولم	PROPN
alkej-948	240	3	تتجاوز	تتجاوز	INTJ
alkej-948	240	4	قيود	قيود	PROPN
alkej-948	240	5	التصميم	التصميم	INTJ
alkej-948	240	6	)	)	PUNCT
alkej-948	240	7	زوايا	زوايا	NOUN
alkej-948	240	8	المؤازرة	المؤازرة	NOUN
alkej-948	240	9	وسرعات	وسرعات	NOUN
alkej-948	240	10	المحركات	المحركات	NOUN
alkej-948	240	11	(	(	PUNCT
alkej-948	240	12	.	.	PUNCT