id	sid	tid	token	lemma	pos
alkej-976	1	1	this	this	PRON
alkej-976	1	2	is	be	AUX
alkej-976	1	3	an	an	DET
alkej-976	1	4	open	open	ADJ
alkej-976	1	5	access	access	NOUN
alkej-976	1	6	article	article	NOUN
alkej-976	1	7	under	under	ADP
alkej-976	1	8	the	the	DET
alkej-976	1	9	cc	cc	NOUN
alkej-976	1	10	by	by	ADP
alkej-976	1	11	license	license	NOUN
alkej-976	1	12	:	:	PUNCT
alkej-976	1	13	al	al	PROPN
alkej-976	1	14	-	-	PUNCT
alkej-976	1	15	khwarizmi	khwarizmi	PROPN
alkej-976	1	16	engineering	engineering	PROPN
alkej-976	1	17	journal	journal	PROPN
alkej-976	1	18	al	al	PROPN
alkej-976	1	19	-	-	PUNCT
alkej-976	1	20	khwarizmi	khwarizmi	PROPN
alkej-976	1	21	engineering	engineering	PROPN
alkej-976	1	22	journal	journal	PROPN
alkej-976	1	23	issn	issn	PROPN
alkej-976	1	24	(	(	PUNCT
alkej-976	1	25	printed	print	VERB
alkej-976	1	26	):	):	PUNCT
alkej-976	1	27	1818	1818	NUM
alkej-976	1	28	–	–	PUNCT
alkej-976	1	29	1171	1171	NUM
alkej-976	1	30	,	,	PUNCT
alkej-976	1	31	issn	issn	PROPN
alkej-976	1	32	(	(	PUNCT
alkej-976	1	33	online	online	ADJ
alkej-976	1	34	):	):	PUNCT
alkej-976	1	35	2312–0789	2312–0789	NUM
alkej-976	1	36	vol	vol	NOUN
alkej-976	1	37	.	.	PUNCT
alkej-976	2	1	21	21	NUM
alkej-976	2	2	,	,	PUNCT
alkej-976	2	3	no	no	INTJ
alkej-976	2	4	.	.	NOUN
alkej-976	2	5	1	1	NUM
alkej-976	2	6	,	,	PUNCT
alkej-976	2	7	march	march	PROPN
alkej-976	2	8	(	(	PUNCT
alkej-976	2	9	2025	2025	NUM
alkej-976	2	10	)	)	PUNCT
alkej-976	2	11	,	,	PUNCT
alkej-976	2	12	pp	pp	PROPN
alkej-976	2	13	.	.	PUNCT
alkej-976	2	14	61	61	NUM
alkej-976	2	15	–	–	SYM
alkej-976	2	16	72	72	NUM
alkej-976	2	17	improving	improve	VERB
alkej-976	2	18	the	the	DET
alkej-976	2	19	performance	performance	NOUN
alkej-976	2	20	of	of	ADP
alkej-976	2	21	steering	steering	NOUN
alkej-976	2	22	by	by	ADP
alkej-976	2	23	wire	wire	NOUN
alkej-976	2	24	using	use	VERB
alkej-976	2	25	a	a	DET
alkej-976	2	26	model	model	ADJ
alkej-976	2	27	predictive	predictive	ADJ
alkej-976	2	28	controller	controller	NOUN
alkej-976	2	29	enhanced	enhance	VERB
alkej-976	2	30	with	with	ADP
alkej-976	2	31	particle	particle	NOUN
alkej-976	2	32	swarm	swarm	NOUN
alkej-976	2	33	optimisation	optimisation	NOUN
alkej-976	2	34	taher	taher	PROPN
alkej-976	2	35	sachit	sachit	VERB
alkej-976	2	36	taher1	taher1	PROPN
alkej-976	2	37	,	,	PUNCT
alkej-976	2	38	ali	ali	PROPN
alkej-976	2	39	hussien	hussien	PROPN
alkej-976	2	40	mary2	mary2	PROPN
alkej-976	2	41	*	*	PROPN
alkej-976	2	42	,	,	PUNCT
alkej-976	2	43	furat	furat	PROPN
alkej-976	2	44	ibrahim	ibrahim	PROPN
alkej-976	2	45	hussein3	hussein3	PROPN
alkej-976	2	46	,	,	PUNCT
alkej-976	2	47	mohammed	mohammed	PROPN
alkej-976	2	48	ghufran	ghufran	PROPN
alkej-976	2	49	khidhir	khidhir	PROPN
alkej-976	2	50	abboosh4	abboosh4	PROPN
alkej-976	2	51	and	and	CCONJ
alkej-976	2	52	muhammad	muhammad	PROPN
alkej-976	2	53	umar	umar	PROPN
alkej-976	2	54	fareed5	fareed5	PROPN
alkej-976	2	55	1,2,3	1,2,3	NUM
alkej-976	2	56	department	department	NOUN
alkej-976	2	57	of	of	ADP
alkej-976	2	58	mechatronics	mechatronic	NOUN
alkej-976	2	59	engineering	engineering	PROPN
alkej-976	2	60	,	,	PUNCT
alkej-976	2	61	al	al	PROPN
alkej-976	2	62	-	-	PUNCT
alkej-976	2	63	khwarizmi	khwarizmi	PROPN
alkej-976	2	64	college	college	PROPN
alkej-976	2	65	of	of	ADP
alkej-976	2	66	engineering	engineering	PROPN
alkej-976	2	67	,	,	PUNCT
alkej-976	2	68	university	university	NOUN
alkej-976	2	69	of	of	ADP
alkej-976	2	70	baghdad	baghdad	PROPN
alkej-976	2	71	,	,	PUNCT
alkej-976	2	72	baghdad	baghdad	PROPN
alkej-976	2	73	,	,	PUNCT
alkej-976	2	74	iraq	iraq	PROPN
alkej-976	2	75	4	4	NUM
alkej-976	2	76	department	department	NOUN
alkej-976	2	77	of	of	ADP
alkej-976	2	78	data	datum	NOUN
alkej-976	2	79	science	science	NOUN
alkej-976	2	80	and	and	CCONJ
alkej-976	2	81	visualization	visualization	NOUN
alkej-976	2	82	,	,	PUNCT
alkej-976	2	83	university	university	NOUN
alkej-976	2	84	of	of	ADP
alkej-976	2	85	debrecen	debrecen	PROPN
alkej-976	2	86	,	,	PUNCT
alkej-976	2	87	hungary	hungary	PROPN
alkej-976	2	88	5	5	NUM
alkej-976	2	89	wakefield	wakefield	PROPN
alkej-976	2	90	college	college	PROPN
alkej-976	2	91	,	,	PUNCT
alkej-976	2	92	wakefield	wakefield	PROPN
alkej-976	2	93	,	,	PUNCT
alkej-976	2	94	england	england	PROPN
alkej-976	2	95	*	*	PUNCT
alkej-976	2	96	corresponding	correspond	VERB
alkej-976	2	97	author	author	NOUN
alkej-976	2	98	’s	’s	PART
alkej-976	2	99	email	email	NOUN
alkej-976	2	100	:	:	PUNCT
alkej-976	2	101	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-976	2	102	(	(	PUNCT
alkej-976	2	103	received	receive	VERB
alkej-976	2	104	7	7	NUM
alkej-976	2	105	august	august	PROPN
alkej-976	2	106	2024	2024	NUM
alkej-976	2	107	;	;	PUNCT
alkej-976	2	108	revised	revise	VERB
alkej-976	2	109	28	28	NUM
alkej-976	2	110	december	december	PROPN
alkej-976	2	111	2024	2024	NUM
alkej-976	2	112	;	;	PUNCT
alkej-976	2	113	accepted	accept	VERB
alkej-976	2	114	27	27	NUM
alkej-976	2	115	january	january	NOUN
alkej-976	2	116	2025	2025	NUM
alkej-976	2	117	;	;	PUNCT
alkej-976	2	118	published	publish	VERB
alkej-976	2	119	1	1	NUM
alkej-976	2	120	march	march	NOUN
alkej-976	2	121	2025	2025	NUM
alkej-976	2	122	)	)	PUNCT
alkej-976	2	123	https://doi.org/10.22153/kej.2025.01.002	https://doi.org/10.22153/kej.2025.01.002	NOUN
alkej-976	2	124	abstract	abstract	NOUN
alkej-976	2	125	the	the	DET
alkej-976	2	126	challenges	challenge	NOUN
alkej-976	2	127	of	of	ADP
alkej-976	2	128	steering	steering	NOUN
alkej-976	2	129	-	-	PUNCT
alkej-976	2	130	by	by	ADP
alkej-976	2	131	-	-	PUNCT
alkej-976	2	132	wire	wire	NOUN
alkej-976	2	133	(	(	PUNCT
alkej-976	2	134	sbw	sbw	PROPN
alkej-976	2	135	)	)	PUNCT
alkej-976	2	136	systems	system	NOUN
alkej-976	2	137	in	in	ADP
alkej-976	2	138	vehicles	vehicle	NOUN
alkej-976	2	139	are	be	AUX
alkej-976	2	140	due	due	ADJ
alkej-976	2	141	to	to	ADP
alkej-976	2	142	the	the	DET
alkej-976	2	143	absence	absence	NOUN
alkej-976	2	144	of	of	ADP
alkej-976	2	145	a	a	DET
alkej-976	2	146	direct	direct	ADJ
alkej-976	2	147	mechanical	mechanical	ADJ
alkej-976	2	148	link	link	NOUN
alkej-976	2	149	between	between	ADP
alkej-976	2	150	the	the	DET
alkej-976	2	151	steering	steering	NOUN
alkej-976	2	152	wheel	wheel	NOUN
alkej-976	2	153	and	and	CCONJ
alkej-976	2	154	the	the	DET
alkej-976	2	155	wheels	wheel	NOUN
alkej-976	2	156	on	on	ADP
alkej-976	2	157	the	the	DET
alkej-976	2	158	road	road	NOUN
alkej-976	2	159	.	.	PUNCT
alkej-976	3	1	this	this	DET
alkej-976	3	2	limitation	limitation	NOUN
alkej-976	3	3	imposes	impose	VERB
alkej-976	3	4	the	the	DET
alkej-976	3	5	necessity	necessity	NOUN
alkej-976	3	6	of	of	ADP
alkej-976	3	7	employing	employ	VERB
alkej-976	3	8	sophisticated	sophisticated	ADJ
alkej-976	3	9	control	control	NOUN
alkej-976	3	10	systems	system	NOUN
alkej-976	3	11	to	to	PART
alkej-976	3	12	attain	attain	VERB
alkej-976	3	13	the	the	DET
alkej-976	3	14	highest	high	ADJ
alkej-976	3	15	accuracy	accuracy	NOUN
alkej-976	3	16	and	and	CCONJ
alkej-976	3	17	stability	stability	NOUN
alkej-976	3	18	during	during	ADP
alkej-976	3	19	operation	operation	NOUN
alkej-976	3	20	.	.	PUNCT
alkej-976	4	1	in	in	ADP
alkej-976	4	2	such	such	ADJ
alkej-976	4	3	systems	system	NOUN
alkej-976	4	4	,	,	PUNCT
alkej-976	4	5	the	the	DET
alkej-976	4	6	responsibility	responsibility	NOUN
alkej-976	4	7	rests	rest	VERB
alkej-976	4	8	completely	completely	ADV
alkej-976	4	9	on	on	ADP
alkej-976	4	10	the	the	DET
alkej-976	4	11	utilised	utilise	VERB
alkej-976	4	12	controller	controller	NOUN
alkej-976	4	13	to	to	PART
alkej-976	4	14	change	change	VERB
alkej-976	4	15	the	the	DET
alkej-976	4	16	wheel	wheel	NOUN
alkej-976	4	17	’s	’s	PART
alkej-976	4	18	angle	angle	NOUN
alkej-976	4	19	on	on	ADP
alkej-976	4	20	the	the	DET
alkej-976	4	21	road	road	NOUN
alkej-976	4	22	swiftly	swiftly	ADV
alkej-976	4	23	and	and	CCONJ
alkej-976	4	24	accurately	accurately	ADV
alkej-976	4	25	in	in	ADP
alkej-976	4	26	response	response	NOUN
alkej-976	4	27	to	to	ADP
alkej-976	4	28	the	the	DET
alkej-976	4	29	steering	steering	NOUN
alkej-976	4	30	wheel	wheel	NOUN
alkej-976	4	31	changes	change	NOUN
alkej-976	4	32	by	by	ADP
alkej-976	4	33	the	the	DET
alkej-976	4	34	driver	driver	NOUN
alkej-976	4	35	.	.	PUNCT
alkej-976	5	1	however	however	ADV
alkej-976	5	2	,	,	PUNCT
alkej-976	5	3	conventional	conventional	ADJ
alkej-976	5	4	control	control	NOUN
alkej-976	5	5	systems	system	NOUN
alkej-976	5	6	suffer	suffer	VERB
alkej-976	5	7	slowly	slowly	ADV
alkej-976	5	8	in	in	ADP
alkej-976	5	9	responding	respond	VERB
alkej-976	5	10	to	to	ADP
alkej-976	5	11	instructions	instruction	NOUN
alkej-976	5	12	and	and	CCONJ
alkej-976	5	13	some	some	DET
alkej-976	5	14	fixed	fix	VERB
alkej-976	5	15	errors	error	NOUN
alkej-976	5	16	in	in	ADP
alkej-976	5	17	their	their	PRON
alkej-976	5	18	steady	steady	ADJ
alkej-976	5	19	-	-	PUNCT
alkej-976	5	20	state	state	NOUN
alkej-976	5	21	phase	phase	NOUN
alkej-976	5	22	.	.	PUNCT
alkej-976	6	1	the	the	DET
alkej-976	6	2	current	current	ADJ
alkej-976	6	3	study	study	NOUN
alkej-976	6	4	introduces	introduce	VERB
alkej-976	6	5	an	an	DET
alkej-976	6	6	innovation	innovation	NOUN
alkej-976	6	7	of	of	ADP
alkej-976	6	8	a	a	DET
alkej-976	6	9	model	model	NOUN
alkej-976	6	10	that	that	PRON
alkej-976	6	11	integrates	integrate	VERB
alkej-976	6	12	model	model	NOUN
alkej-976	6	13	predictive	predictive	ADJ
alkej-976	6	14	control	control	PROPN
alkej-976	6	15	(	(	PUNCT
alkej-976	6	16	mpc	mpc	NOUN
alkej-976	6	17	)	)	PUNCT
alkej-976	6	18	with	with	ADP
alkej-976	6	19	particle	particle	NOUN
alkej-976	6	20	swarm	swarm	NOUN
alkej-976	6	21	optimisation	optimisation	NOUN
alkej-976	6	22	(	(	PUNCT
alkej-976	6	23	pso	pso	NOUN
alkej-976	6	24	)	)	PUNCT
alkej-976	6	25	to	to	PART
alkej-976	6	26	improve	improve	VERB
alkej-976	6	27	the	the	DET
alkej-976	6	28	performance	performance	NOUN
alkej-976	6	29	of	of	ADP
alkej-976	6	30	sbw	sbw	PROPN
alkej-976	6	31	systems	system	NOUN
alkej-976	6	32	.	.	PUNCT
alkej-976	7	1	the	the	DET
alkej-976	7	2	mpc	mpc	NOUN
alkej-976	7	3	procedure	procedure	NOUN
alkej-976	7	4	is	be	AUX
alkej-976	7	5	typically	typically	ADV
alkej-976	7	6	employed	employ	VERB
alkej-976	7	7	to	to	PART
alkej-976	7	8	control	control	VERB
alkej-976	7	9	system	system	NOUN
alkej-976	7	10	responses	response	NOUN
alkej-976	7	11	over	over	ADP
alkej-976	7	12	a	a	DET
alkej-976	7	13	timeframe	timeframe	NOUN
alkej-976	7	14	and	and	CCONJ
alkej-976	7	15	eliminate	eliminate	VERB
alkej-976	7	16	unnecessary	unnecessary	ADJ
alkej-976	7	17	and	and	CCONJ
alkej-976	7	18	ineffective	ineffective	ADJ
alkej-976	7	19	actions	action	NOUN
alkej-976	7	20	according	accord	VERB
alkej-976	7	21	to	to	ADP
alkej-976	7	22	the	the	DET
alkej-976	7	23	specified	specified	ADJ
alkej-976	7	24	objectives	objective	NOUN
alkej-976	7	25	.	.	PUNCT
alkej-976	8	1	the	the	DET
alkej-976	8	2	pso	pso	NOUN
alkej-976	8	3	algorithm	algorithm	NOUN
alkej-976	8	4	is	be	AUX
alkej-976	8	5	used	use	VERB
alkej-976	8	6	to	to	PART
alkej-976	8	7	manage	manage	VERB
alkej-976	8	8	the	the	DET
alkej-976	8	9	ineffective	ineffective	ADJ
alkej-976	8	10	parameters	parameter	NOUN
alkej-976	8	11	within	within	ADP
alkej-976	8	12	the	the	DET
alkej-976	8	13	mpc	mpc	PROPN
alkej-976	8	14	.	.	PROPN
alkej-976	8	15	results	result	NOUN
alkej-976	8	16	revealed	reveal	VERB
alkej-976	8	17	that	that	SCONJ
alkej-976	8	18	the	the	DET
alkej-976	8	19	proposed	propose	VERB
alkej-976	8	20	approach	approach	NOUN
alkej-976	8	21	remarkably	remarkably	ADV
alkej-976	8	22	and	and	CCONJ
alkej-976	8	23	effectively	effectively	ADV
alkej-976	8	24	shortens	shorten	VERB
alkej-976	8	25	response	response	NOUN
alkej-976	8	26	time	time	NOUN
alkej-976	8	27	,	,	PUNCT
alkej-976	8	28	enhances	enhance	VERB
alkej-976	8	29	wagon	wagon	NOUN
alkej-976	8	30	stability	stability	NOUN
alkej-976	8	31	and	and	CCONJ
alkej-976	8	32	reduces	reduce	VERB
alkej-976	8	33	the	the	DET
alkej-976	8	34	settling	settling	NOUN
alkej-976	8	35	error	error	NOUN
alkej-976	8	36	to	to	ADP
alkej-976	8	37	nearly	nearly	ADV
alkej-976	8	38	null	null	ADJ
alkej-976	8	39	.	.	PUNCT
alkej-976	9	1	in	in	ADP
alkej-976	9	2	addition	addition	NOUN
alkej-976	9	3	,	,	PUNCT
alkej-976	9	4	the	the	DET
alkej-976	9	5	integration	integration	NOUN
alkej-976	9	6	of	of	ADP
alkej-976	9	7	pso	pso	NOUN
alkej-976	9	8	with	with	ADP
alkej-976	9	9	the	the	DET
alkej-976	9	10	overall	overall	ADJ
alkej-976	9	11	system	system	NOUN
alkej-976	9	12	performance	performance	NOUN
alkej-976	9	13	enhances	enhance	VERB
alkej-976	9	14	the	the	DET
alkej-976	9	15	tuning	tuning	NOUN
alkej-976	9	16	of	of	ADP
alkej-976	9	17	the	the	DET
alkej-976	9	18	response	response	NOUN
alkej-976	9	19	time	time	NOUN
alkej-976	9	20	,	,	PUNCT
alkej-976	9	21	hence	hence	ADV
alkej-976	9	22	augmenting	augment	VERB
alkej-976	9	23	the	the	DET
alkej-976	9	24	system	system	NOUN
alkej-976	9	25	efficiency	efficiency	NOUN
alkej-976	9	26	and	and	CCONJ
alkej-976	9	27	responsiveness	responsiveness	NOUN
alkej-976	9	28	.	.	PUNCT
alkej-976	10	1	the	the	DET
alkej-976	10	2	study	study	NOUN
alkej-976	10	3	outcomes	outcome	NOUN
alkej-976	10	4	support	support	VERB
alkej-976	10	5	the	the	DET
alkej-976	10	6	proposal	proposal	NOUN
alkej-976	10	7	that	that	SCONJ
alkej-976	10	8	the	the	DET
alkej-976	10	9	control	control	NOUN
alkej-976	10	10	strategy	strategy	NOUN
alkej-976	10	11	can	can	AUX
alkej-976	10	12	improve	improve	VERB
alkej-976	10	13	the	the	DET
alkej-976	10	14	efficiency	efficiency	NOUN
alkej-976	10	15	of	of	ADP
alkej-976	10	16	sbw	sbw	PROPN
alkej-976	10	17	systems	system	NOUN
alkej-976	10	18	with	with	ADP
alkej-976	10	19	high	high	ADJ
alkej-976	10	20	operational	operational	ADJ
alkej-976	10	21	goals	goal	NOUN
alkej-976	10	22	.	.	PUNCT
alkej-976	11	1	keywords	keyword	NOUN
alkej-976	11	2	:	:	PUNCT
alkej-976	11	3	steering	steer	VERB
alkej-976	11	4	by	by	ADP
alkej-976	11	5	wire	wire	NOUN
alkej-976	11	6	;	;	PUNCT
alkej-976	11	7	vehicle	vehicle	NOUN
alkej-976	11	8	;	;	PUNCT
alkej-976	11	9	model	model	NOUN
alkej-976	11	10	predictive	predictive	ADJ
alkej-976	11	11	controller	controller	NOUN
alkej-976	11	12	;	;	PUNCT
alkej-976	11	13	particle	particle	NOUN
alkej-976	11	14	swarm	swarm	NOUN
alkej-976	11	15	optimisation	optimisation	NOUN
alkej-976	11	16	;	;	PUNCT
alkej-976	11	17	controller	controller	NOUN
alkej-976	11	18	.	.	PUNCT
alkej-976	12	1	1	1	NUM
alkej-976	12	2	.	.	X
alkej-976	12	3	introduction	introduction	NOUN
alkej-976	12	4	steering	steering	NOUN
alkej-976	12	5	-	-	PUNCT
alkej-976	12	6	by	by	ADP
alkej-976	12	7	-	-	PUNCT
alkej-976	12	8	wire	wire	NOUN
alkej-976	12	9	(	(	PUNCT
alkej-976	12	10	sbw	sbw	PROPN
alkej-976	12	11	)	)	PUNCT
alkej-976	12	12	systems	system	NOUN
alkej-976	12	13	are	be	AUX
alkej-976	12	14	a	a	DET
alkej-976	12	15	promising	promising	ADJ
alkej-976	12	16	steering	steering	NOUN
alkej-976	12	17	system	system	NOUN
alkej-976	12	18	technology	technology	NOUN
alkej-976	12	19	in	in	ADP
alkej-976	12	20	the	the	DET
alkej-976	12	21	field	field	NOUN
alkej-976	12	22	of	of	ADP
alkej-976	12	23	automotive	automotive	ADJ
alkej-976	12	24	and	and	CCONJ
alkej-976	12	25	transportation	transportation	NOUN
alkej-976	12	26	industry	industry	NOUN
alkej-976	12	27	.	.	PUNCT
alkej-976	13	1	such	such	ADJ
alkej-976	13	2	systems	system	NOUN
alkej-976	13	3	found	find	VERB
alkej-976	13	4	their	their	PRON
alkej-976	13	5	way	way	NOUN
alkej-976	13	6	largely	largely	ADV
alkej-976	13	7	into	into	ADP
alkej-976	13	8	automatic	automatic	ADJ
alkej-976	13	9	guided	guide	VERB
alkej-976	13	10	vehicle	vehicle	NOUN
alkej-976	13	11	(	(	PUNCT
alkej-976	13	12	agv	agv	NOUN
alkej-976	13	13	)	)	PUNCT
alkej-976	13	14	systems	system	NOUN
alkej-976	13	15	,	,	PUNCT
alkej-976	13	16	fork	fork	NOUN
alkej-976	13	17	lifters	lifter	NOUN
alkej-976	13	18	and	and	CCONJ
alkej-976	13	19	many	many	ADJ
alkej-976	13	20	material	material	NOUN
alkej-976	13	21	handling	handling	NOUN
alkej-976	13	22	instrument	instrument	NOUN
alkej-976	13	23	control	control	NOUN
alkej-976	13	24	strategies	strategy	NOUN
alkej-976	13	25	that	that	PRON
alkej-976	13	26	have	have	AUX
alkej-976	13	27	been	be	AUX
alkej-976	13	28	implemented	implement	VERB
alkej-976	13	29	over	over	ADP
alkej-976	13	30	the	the	DET
alkej-976	13	31	years	year	NOUN
alkej-976	13	32	to	to	PART
alkej-976	13	33	improve	improve	VERB
alkej-976	13	34	their	their	PRON
alkej-976	13	35	performance	performance	NOUN
alkej-976	13	36	.	.	PUNCT
alkej-976	14	1	sbw	sbw	PROPN
alkej-976	14	2	does	do	VERB
alkej-976	14	3	away	away	ADV
alkej-976	14	4	with	with	ADP
alkej-976	14	5	the	the	DET
alkej-976	14	6	direct	direct	ADJ
alkej-976	14	7	mechanical	mechanical	ADJ
alkej-976	14	8	hardware	hardware	NOUN
alkej-976	14	9	between	between	ADP
alkej-976	14	10	the	the	DET
alkej-976	14	11	steering	steering	NOUN
alkej-976	14	12	wheel	wheel	NOUN
alkej-976	14	13	and	and	CCONJ
alkej-976	14	14	the	the	DET
alkej-976	14	15	wheels	wheel	NOUN
alkej-976	14	16	on	on	ADP
alkej-976	14	17	the	the	DET
alkej-976	14	18	road	road	NOUN
alkej-976	14	19	.	.	PUNCT
alkej-976	15	1	this	this	DET
alkej-976	15	2	innovation	innovation	NOUN
alkej-976	15	3	must	must	AUX
alkej-976	15	4	be	be	AUX
alkej-976	15	5	precise	precise	ADJ
alkej-976	15	6	enough	enough	ADV
alkej-976	15	7	and	and	CCONJ
alkej-976	15	8	has	have	VERB
alkej-976	15	9	an	an	DET
alkej-976	15	10	extremely	extremely	ADV
alkej-976	15	11	fast	fast	ADJ
alkej-976	15	12	response	response	NOUN
alkej-976	15	13	speed	speed	NOUN
alkej-976	15	14	to	to	PART
alkej-976	15	15	ensure	ensure	VERB
alkej-976	15	16	highresolution	highresolution	NOUN
alkej-976	15	17	operational	operational	ADJ
alkej-976	15	18	performance	performance	NOUN
alkej-976	15	19	,	,	PUNCT
alkej-976	15	20	which	which	PRON
alkej-976	15	21	will	will	AUX
alkej-976	15	22	satisfy	satisfy	VERB
alkej-976	15	23	drivers	driver	NOUN
alkej-976	15	24	and	and	CCONJ
alkej-976	15	25	users	user	NOUN
alkej-976	15	26	whilst	whilst	SCONJ
alkej-976	15	27	ensuring	ensure	VERB
alkej-976	15	28	safety	safety	NOUN
alkej-976	15	29	[	[	X
alkej-976	15	30	1	1	NUM
alkej-976	15	31	]	]	PUNCT
alkej-976	15	32	.	.	PUNCT
alkej-976	16	1	early	early	ADJ
alkej-976	16	2	sbw	sbw	PROPN
alkej-976	16	3	systems	system	NOUN
alkej-976	16	4	used	use	VERB
alkej-976	16	5	classic	classic	ADJ
alkej-976	16	6	proportional	proportional	ADJ
alkej-976	16	7	integral	integral	ADJ
alkej-976	16	8	derivative	derivative	ADJ
alkej-976	16	9	(	(	PUNCT
alkej-976	16	10	pid	pid	NOUN
alkej-976	16	11	)	)	PUNCT
alkej-976	16	12	controllers	controller	NOUN
alkej-976	16	13	,	,	PUNCT
alkej-976	16	14	which	which	PRON
alkej-976	16	15	provide	provide	VERB
alkej-976	16	16	acceptable	acceptable	ADJ
alkej-976	16	17	performance	performance	NOUN
alkej-976	16	18	for	for	ADP
alkej-976	16	19	numerous	numerous	ADJ
alkej-976	16	20	linear	linear	ADJ
alkej-976	16	21	systems	system	NOUN
alkej-976	16	22	.	.	PUNCT
alkej-976	17	1	when	when	SCONJ
alkej-976	17	2	they	they	PRON
alkej-976	17	3	are	be	AUX
alkej-976	17	4	integrated	integrate	VERB
alkej-976	17	5	with	with	ADP
alkej-976	17	6	nonlinearities	nonlinearitie	NOUN
alkej-976	17	7	and	and	CCONJ
alkej-976	17	8	time	time	NOUN
alkej-976	17	9	delays	delay	NOUN
alkej-976	17	10	or	or	CCONJ
alkej-976	17	11	applied	apply	VERB
alkej-976	17	12	in	in	ADP
alkej-976	17	13	changing	change	VERB
alkej-976	17	14	operating	operating	NOUN
alkej-976	17	15	conditions	condition	NOUN
alkej-976	17	16	,	,	PUNCT
alkej-976	17	17	they	they	PRON
alkej-976	17	18	lose	lose	VERB
alkej-976	17	19	their	their	PRON
alkej-976	17	20	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-976	17	21	https://doi.org/10.22153/kej.2025.01.002	https://doi.org/10.22153/kej.2025.01.002	ADV
alkej-976	17	22	taher	taher	PROPN
alkej-976	17	23	sachit	sachit	VERB
alkej-976	17	24	taher	taher	PROPN
alkej-976	17	25	al	al	PROPN
alkej-976	17	26	-	-	PUNCT
alkej-976	17	27	khwarizmi	khwarizmi	PROPN
alkej-976	17	28	engineering	engineering	NOUN
alkej-976	17	29	journal	journal	PROPN
alkej-976	17	30	,	,	PUNCT
alkej-976	17	31	vol	vol	NOUN
alkej-976	17	32	.	.	PROPN
alkej-976	17	33	21	21	NUM
alkej-976	17	34	,	,	PUNCT
alkej-976	17	35	no.1	no.1	NUM
alkej-976	17	36	,	,	PUNCT
alkej-976	17	37	pp	pp	ADJ
alkej-976	17	38	.	.	PUNCT
alkej-976	18	1	6172	6172	NUM
alkej-976	18	2	(	(	PUNCT
alkej-976	18	3	2025	2025	NUM
alkej-976	18	4	)	)	PUNCT
alkej-976	18	5	62	62	NUM
alkej-976	18	6	efficiency	efficiency	NOUN
alkej-976	18	7	.	.	PUNCT
alkej-976	19	1	åström	åström	NOUN
alkej-976	19	2	et	et	PROPN
alkej-976	19	3	al	al	PROPN
alkej-976	19	4	.	.	PROPN
alkej-976	20	1	and	and	CCONJ
alkej-976	20	2	mary	mary	PROPN
alkej-976	20	3	et	et	PROPN
alkej-976	20	4	al	al	PROPN
alkej-976	20	5	.	.	PUNCT
alkej-976	21	1	[	[	X
alkej-976	21	2	2–3	2–3	X
alkej-976	21	3	]	]	PUNCT
alkej-976	21	4	stated	state	VERB
alkej-976	21	5	that	that	SCONJ
alkej-976	21	6	pid	pid	NOUN
alkej-976	21	7	controllers	controller	NOUN
alkej-976	21	8	usually	usually	ADV
alkej-976	21	9	do	do	AUX
alkej-976	21	10	not	not	PART
alkej-976	21	11	work	work	VERB
alkej-976	21	12	well	well	ADV
alkej-976	21	13	in	in	ADP
alkej-976	21	14	dynamic	dynamic	ADJ
alkej-976	21	15	environments	environment	NOUN
alkej-976	21	16	due	due	ADP
alkej-976	21	17	to	to	ADP
alkej-976	21	18	their	their	PRON
alkej-976	21	19	issues	issue	NOUN
alkej-976	21	20	with	with	ADP
alkej-976	21	21	stability	stability	NOUN
alkej-976	21	22	and	and	CCONJ
alkej-976	21	23	accuracy	accuracy	NOUN
alkej-976	21	24	,	,	PUNCT
alkej-976	21	25	which	which	PRON
alkej-976	21	26	affect	affect	VERB
alkej-976	21	27	error	error	NOUN
alkej-976	21	28	rate	rate	NOUN
alkej-976	21	29	growth	growth	NOUN
alkej-976	21	30	.	.	PUNCT
alkej-976	22	1	fuzzy	fuzzy	ADJ
alkej-976	22	2	logic	logic	NOUN
alkej-976	22	3	controllers	controller	NOUN
alkej-976	22	4	are	be	AUX
alkej-976	22	5	more	more	ADV
alkej-976	22	6	suitable	suitable	ADJ
alkej-976	22	7	for	for	ADP
alkej-976	22	8	complex	complex	ADJ
alkej-976	22	9	and	and	CCONJ
alkej-976	22	10	nonlinear	nonlinear	ADJ
alkej-976	22	11	systems	system	NOUN
alkej-976	22	12	because	because	SCONJ
alkej-976	22	13	of	of	ADP
alkej-976	22	14	their	their	PRON
alkej-976	22	15	ability	ability	NOUN
alkej-976	22	16	to	to	PART
alkej-976	22	17	tolerate	tolerate	VERB
alkej-976	22	18	instability	instability	NOUN
alkej-976	22	19	and	and	CCONJ
alkej-976	22	20	loss	loss	NOUN
alkej-976	22	21	choices	choice	NOUN
alkej-976	22	22	.	.	PUNCT
alkej-976	23	1	mitra	mitra	PROPN
alkej-976	23	2	and	and	CCONJ
alkej-976	23	3	kumar	kumar	PROPN
alkej-976	24	1	[	[	X
alkej-976	24	2	4	4	NUM
alkej-976	24	3	]	]	PUNCT
alkej-976	24	4	improved	improve	VERB
alkej-976	24	5	the	the	DET
alkej-976	24	6	flexibility	flexibility	NOUN
alkej-976	24	7	and	and	CCONJ
alkej-976	24	8	robustness	robustness	NOUN
alkej-976	24	9	of	of	ADP
alkej-976	24	10	fuzzy	fuzzy	ADJ
alkej-976	24	11	logic	logic	NOUN
alkej-976	24	12	controllers	controller	NOUN
alkej-976	24	13	in	in	ADP
alkej-976	24	14	sbw	sbw	PROPN
alkej-976	24	15	systems	system	NOUN
alkej-976	24	16	,	,	PUNCT
alkej-976	24	17	especially	especially	ADV
alkej-976	24	18	under	under	ADP
alkej-976	24	19	the	the	DET
alkej-976	24	20	conditions	condition	NOUN
alkej-976	24	21	of	of	ADP
alkej-976	24	22	long	long	ADJ
alkej-976	24	23	disturbances	disturbance	NOUN
alkej-976	24	24	and	and	CCONJ
alkej-976	24	25	disturbing	disturbing	ADJ
alkej-976	24	26	impacts	impact	NOUN
alkej-976	24	27	.	.	PUNCT
alkej-976	25	1	despite	despite	SCONJ
alkej-976	25	2	these	these	DET
alkej-976	25	3	exceptional	exceptional	ADJ
alkej-976	25	4	features	feature	NOUN
alkej-976	25	5	,	,	PUNCT
alkej-976	25	6	the	the	DET
alkej-976	25	7	layout	layout	NOUN
alkej-976	25	8	of	of	ADP
alkej-976	25	9	lean	lean	ADJ
alkej-976	25	10	logic	logic	NOUN
alkej-976	25	11	controllers	controller	NOUN
alkej-976	25	12	can	can	AUX
alkej-976	25	13	be	be	AUX
alkej-976	25	14	troublesome	troublesome	ADJ
alkej-976	25	15	,	,	PUNCT
alkej-976	25	16	and	and	CCONJ
alkej-976	25	17	fine	fine	ADV
alkej-976	25	18	-	-	PUNCT
alkej-976	25	19	tuning	tune	VERB
alkej-976	25	20	them	they	PRON
alkej-976	25	21	is	be	AUX
alkej-976	25	22	necessary	necessary	ADJ
alkej-976	25	23	to	to	PART
alkej-976	25	24	ensure	ensure	VERB
alkej-976	25	25	proper	proper	ADJ
alkej-976	25	26	use	use	NOUN
alkej-976	25	27	[	[	X
alkej-976	25	28	5	5	NUM
alkej-976	25	29	]	]	PUNCT
alkej-976	25	30	.	.	PUNCT
alkej-976	26	1	flexible	flexible	ADJ
alkej-976	26	2	control	control	NOUN
alkej-976	26	3	strategies	strategy	NOUN
alkej-976	26	4	are	be	AUX
alkej-976	26	5	created	create	VERB
alkej-976	26	6	as	as	ADP
alkej-976	26	7	a	a	DET
alkej-976	26	8	response	response	NOUN
alkej-976	26	9	to	to	ADP
alkej-976	26	10	the	the	DET
alkej-976	26	11	shortcomings	shortcoming	NOUN
alkej-976	26	12	of	of	ADP
alkej-976	26	13	traditional	traditional	ADJ
alkej-976	26	14	control	control	NOUN
alkej-976	26	15	procedures	procedure	NOUN
alkej-976	26	16	.	.	PUNCT
alkej-976	27	1	adaptive	adaptive	ADJ
alkej-976	27	2	control	control	NOUN
alkej-976	27	3	frameworks	framework	NOUN
alkej-976	27	4	robustly	robustly	ADV
alkej-976	27	5	change	change	VERB
alkej-976	27	6	their	their	PRON
alkej-976	27	7	parameters	parameter	NOUN
alkej-976	27	8	to	to	PART
alkej-976	27	9	adapt	adapt	VERB
alkej-976	27	10	to	to	ADP
alkej-976	27	11	modifications	modification	NOUN
alkej-976	27	12	in	in	ADP
alkej-976	27	13	dynamic	dynamic	ADJ
alkej-976	27	14	systems	system	NOUN
alkej-976	27	15	[	[	X
alkej-976	27	16	6	6	NUM
alkej-976	27	17	]	]	PUNCT
alkej-976	27	18	.	.	PUNCT
alkej-976	28	1	the	the	DET
alkej-976	28	2	use	use	NOUN
alkej-976	28	3	of	of	ADP
alkej-976	28	4	adaptive	adaptive	ADJ
alkej-976	28	5	control	control	NOUN
alkej-976	28	6	in	in	ADP
alkej-976	28	7	many	many	ADJ
alkej-976	28	8	applications	application	NOUN
alkej-976	28	9	has	have	AUX
alkej-976	28	10	improved	improve	VERB
alkej-976	28	11	accuracy	accuracy	NOUN
alkej-976	28	12	and	and	CCONJ
alkej-976	28	13	robustness	robustness	NOUN
alkej-976	28	14	against	against	ADP
alkej-976	28	15	disturbances	disturbance	NOUN
alkej-976	28	16	[	[	X
alkej-976	28	17	7–8	7–8	NOUN
alkej-976	28	18	]	]	X
alkej-976	28	19	.	.	PUNCT
alkej-976	29	1	similarly	similarly	ADV
alkej-976	29	2	,	,	PUNCT
alkej-976	29	3	gao	gao	PROPN
alkej-976	29	4	et	et	PROPN
alkej-976	29	5	al	al	PROPN
alkej-976	29	6	.	.	PUNCT
alkej-976	30	1	[	[	X
alkej-976	30	2	9	9	NUM
alkej-976	30	3	]	]	PUNCT
alkej-976	30	4	studied	study	VERB
alkej-976	30	5	the	the	DET
alkej-976	30	6	integration	integration	NOUN
alkej-976	30	7	of	of	ADP
alkej-976	30	8	adaptive	adaptive	ADJ
alkej-976	30	9	control	control	NOUN
alkej-976	30	10	into	into	ADP
alkej-976	30	11	robotic	robotic	ADJ
alkej-976	30	12	systems	system	NOUN
alkej-976	30	13	,	,	PUNCT
alkej-976	30	14	which	which	PRON
alkej-976	30	15	resulted	result	VERB
alkej-976	30	16	in	in	ADP
alkej-976	30	17	enhanced	enhanced	ADJ
alkej-976	30	18	efficiency	efficiency	NOUN
alkej-976	30	19	and	and	CCONJ
alkej-976	30	20	reduced	reduce	VERB
alkej-976	30	21	error	error	NOUN
alkej-976	30	22	rates	rate	NOUN
alkej-976	30	23	.	.	PUNCT
alkej-976	31	1	using	use	VERB
alkej-976	31	2	console	console	NOUN
alkej-976	31	3	-	-	PUNCT
alkej-976	31	4	based	base	VERB
alkej-976	31	5	artificial	artificial	ADJ
alkej-976	31	6	intelligence	intelligence	NOUN
alkej-976	31	7	,	,	PUNCT
alkej-976	31	8	such	such	ADJ
alkej-976	31	9	as	as	ADP
alkej-976	31	10	neural	neural	ADJ
alkej-976	31	11	networks	network	NOUN
alkej-976	31	12	,	,	PUNCT
alkej-976	31	13	deep	deep	ADJ
alkej-976	31	14	learning	learning	NOUN
alkej-976	31	15	and	and	CCONJ
alkej-976	31	16	reinforcement	reinforcement	NOUN
alkej-976	31	17	learning	learning	NOUN
alkej-976	31	18	,	,	PUNCT
alkej-976	31	19	can	can	AUX
alkej-976	31	20	enhance	enhance	VERB
alkej-976	31	21	responsiveness	responsiveness	NOUN
alkej-976	31	22	to	to	ADP
alkej-976	31	23	data	datum	NOUN
alkej-976	31	24	and	and	CCONJ
alkej-976	31	25	improve	improve	VERB
alkej-976	31	26	performance	performance	NOUN
alkej-976	31	27	over	over	ADP
alkej-976	31	28	time	time	NOUN
alkej-976	31	29	;	;	PUNCT
alkej-976	31	30	however	however	ADV
alkej-976	31	31	,	,	PUNCT
alkej-976	31	32	it	it	PRON
alkej-976	31	33	requires	require	VERB
alkej-976	31	34	substantial	substantial	ADJ
alkej-976	31	35	computing	computing	NOUN
alkej-976	31	36	power	power	NOUN
alkej-976	31	37	and	and	CCONJ
alkej-976	31	38	massive	massive	ADJ
alkej-976	31	39	training	training	NOUN
alkej-976	31	40	data	datum	NOUN
alkej-976	31	41	[	[	X
alkej-976	31	42	10	10	NUM
alkej-976	31	43	]	]	PUNCT
alkej-976	31	44	.	.	PUNCT
alkej-976	32	1	the	the	DET
alkej-976	32	2	most	most	ADV
alkej-976	32	3	prominent	prominent	ADJ
alkej-976	32	4	advanced	advanced	ADJ
alkej-976	32	5	control	control	NOUN
alkej-976	32	6	technology	technology	NOUN
alkej-976	32	7	used	use	VERB
alkej-976	32	8	to	to	PART
alkej-976	32	9	improve	improve	VERB
alkej-976	32	10	the	the	DET
alkej-976	32	11	performance	performance	NOUN
alkej-976	32	12	of	of	ADP
alkej-976	32	13	transmission	transmission	NOUN
alkej-976	32	14	lines	line	NOUN
alkej-976	32	15	is	be	AUX
alkej-976	32	16	model	model	ADJ
alkej-976	32	17	predictive	predictive	ADJ
alkej-976	32	18	control	control	NOUN
alkej-976	32	19	(	(	PUNCT
alkej-976	32	20	mpc	mpc	NOUN
alkej-976	32	21	)	)	PUNCT
alkej-976	32	22	.	.	PUNCT
alkej-976	33	1	it	it	PRON
alkej-976	33	2	represents	represent	VERB
alkej-976	33	3	a	a	DET
alkej-976	33	4	control	control	NOUN
alkej-976	33	5	strategy	strategy	NOUN
alkej-976	33	6	that	that	PRON
alkej-976	33	7	can	can	AUX
alkej-976	33	8	deal	deal	VERB
alkej-976	33	9	with	with	ADP
alkej-976	33	10	a	a	DET
alkej-976	33	11	wide	wide	ADJ
alkej-976	33	12	range	range	NOUN
alkej-976	33	13	of	of	ADP
alkej-976	33	14	constraints	constraint	NOUN
alkej-976	33	15	and	and	CCONJ
alkej-976	33	16	achieve	achieve	VERB
alkej-976	33	17	the	the	DET
alkej-976	33	18	optimal	optimal	ADJ
alkej-976	33	19	performance	performance	NOUN
alkej-976	33	20	in	in	ADP
alkej-976	33	21	dynamic	dynamic	ADJ
alkej-976	33	22	environments	environment	NOUN
alkej-976	33	23	.	.	PUNCT
alkej-976	34	1	mpc	mpc	NOUN
alkej-976	34	2	operates	operate	VERB
alkej-976	34	3	by	by	ADP
alkej-976	34	4	predicting	predict	VERB
alkej-976	34	5	the	the	DET
alkej-976	34	6	enduring	endure	VERB
alkej-976	34	7	temporal	temporal	ADJ
alkej-976	34	8	behaviour	behaviour	NOUN
alkej-976	34	9	of	of	ADP
alkej-976	34	10	the	the	DET
alkej-976	34	11	framework	framework	NOUN
alkej-976	34	12	based	base	VERB
alkej-976	34	13	on	on	ADP
alkej-976	34	14	a	a	DET
alkej-976	34	15	scientific	scientific	ADJ
alkej-976	34	16	model	model	NOUN
alkej-976	34	17	and	and	CCONJ
alkej-976	34	18	thereafter	thereafter	ADV
alkej-976	34	19	determining	determine	VERB
alkej-976	34	20	the	the	DET
alkej-976	34	21	most	most	ADV
alkej-976	34	22	suitable	suitable	ADJ
alkej-976	34	23	control	control	NOUN
alkej-976	34	24	strategies	strategy	NOUN
alkej-976	34	25	to	to	PART
alkej-976	34	26	achieve	achieve	VERB
alkej-976	34	27	the	the	DET
alkej-976	34	28	desired	desire	VERB
alkej-976	34	29	performance	performance	NOUN
alkej-976	34	30	.	.	PUNCT
alkej-976	35	1	control	control	NOUN
alkej-976	35	2	activities	activity	NOUN
alkej-976	35	3	occur	occur	VERB
alkej-976	35	4	intermittently	intermittently	ADV
alkej-976	35	5	,	,	PUNCT
alkej-976	35	6	enabling	enable	VERB
alkej-976	35	7	the	the	DET
alkej-976	35	8	system	system	NOUN
alkej-976	35	9	to	to	PART
alkej-976	35	10	repair	repair	VERB
alkej-976	35	11	deviations	deviation	NOUN
alkej-976	35	12	and	and	CCONJ
alkej-976	35	13	maintain	maintain	VERB
alkej-976	35	14	the	the	DET
alkej-976	35	15	target	target	NOUN
alkej-976	35	16	state	state	NOUN
alkej-976	35	17	efficiently	efficiently	ADV
alkej-976	35	18	.	.	PUNCT
alkej-976	36	1	mpc	mpc	PROPN
alkej-976	36	2	has	have	AUX
alkej-976	36	3	been	be	AUX
alkej-976	36	4	utilised	utilise	VERB
alkej-976	36	5	in	in	ADP
alkej-976	36	6	various	various	ADJ
alkej-976	36	7	contexts	contexts	NOUN
alkej-976	36	8	,	,	PUNCT
alkej-976	36	9	including	include	VERB
alkej-976	36	10	its	its	PRON
alkej-976	36	11	implementation	implementation	NOUN
alkej-976	36	12	in	in	ADP
alkej-976	36	13	thermal	thermal	ADJ
alkej-976	36	14	management	management	NOUN
alkej-976	36	15	systems	system	NOUN
alkej-976	36	16	for	for	ADP
alkej-976	36	17	business	business	NOUN
alkej-976	36	18	process	process	NOUN
alkej-976	36	19	optimisation	optimisation	NOUN
alkej-976	36	20	,	,	PUNCT
alkej-976	36	21	thereby	thereby	ADV
alkej-976	36	22	enhancing	enhance	VERB
alkej-976	36	23	system	system	NOUN
alkej-976	36	24	stability	stability	NOUN
alkej-976	36	25	and	and	CCONJ
alkej-976	36	26	reducing	reduce	VERB
alkej-976	36	27	energy	energy	NOUN
alkej-976	36	28	consumption	consumption	NOUN
alkej-976	36	29	in	in	ADP
alkej-976	36	30	automotive	automotive	ADJ
alkej-976	36	31	systems	system	NOUN
alkej-976	36	32	[	[	X
alkej-976	36	33	7	7	NUM
alkej-976	36	34	]	]	PUNCT
alkej-976	36	35	.	.	PUNCT
alkej-976	37	1	it	it	PRON
alkej-976	37	2	works	work	VERB
alkej-976	37	3	by	by	ADP
alkej-976	37	4	anticipating	anticipate	VERB
alkej-976	37	5	the	the	DET
alkej-976	37	6	longstanding	longstanding	ADJ
alkej-976	37	7	time	time	NOUN
alkej-976	37	8	behaviour	behaviour	NOUN
alkej-976	37	9	of	of	ADP
alkej-976	37	10	the	the	DET
alkej-976	37	11	framework	framework	NOUN
alkej-976	37	12	based	base	VERB
alkej-976	37	13	on	on	ADP
alkej-976	37	14	a	a	DET
alkej-976	37	15	scientific	scientific	ADJ
alkej-976	37	16	demonstration	demonstration	NOUN
alkej-976	37	17	and	and	CCONJ
alkej-976	37	18	then	then	ADV
alkej-976	37	19	calculating	calculate	VERB
alkej-976	37	20	the	the	DET
alkej-976	37	21	foremost	foremost	ADJ
alkej-976	37	22	fitting	fitting	ADJ
alkej-976	37	23	control	control	NOUN
alkej-976	37	24	methods	method	NOUN
alkej-976	37	25	to	to	PART
alkej-976	37	26	realise	realise	VERB
alkej-976	37	27	the	the	DET
alkej-976	37	28	focus	focus	NOUN
alkej-976	37	29	on	on	ADP
alkej-976	37	30	execution	execution	NOUN
alkej-976	37	31	.	.	PUNCT
alkej-976	38	1	control	control	NOUN
alkej-976	38	2	activities	activity	NOUN
alkej-976	38	3	happen	happen	VERB
alkej-976	38	4	intermittently	intermittently	ADV
alkej-976	38	5	,	,	PUNCT
alkej-976	38	6	permitting	permit	VERB
alkej-976	38	7	the	the	DET
alkej-976	38	8	framework	framework	NOUN
alkej-976	38	9	to	to	PART
alkej-976	38	10	rectify	rectify	VERB
alkej-976	38	11	deviations	deviation	NOUN
alkej-976	38	12	and	and	CCONJ
alkej-976	38	13	keep	keep	VERB
alkej-976	38	14	up	up	ADP
alkej-976	38	15	the	the	DET
alkej-976	38	16	target	target	NOUN
alkej-976	38	17	state	state	NOUN
alkej-976	38	18	productively	productively	ADV
alkej-976	38	19	.	.	PUNCT
alkej-976	39	1	mpc	mpc	PROPN
alkej-976	39	2	has	have	AUX
alkej-976	39	3	been	be	AUX
alkej-976	39	4	used	use	VERB
alkej-976	39	5	in	in	ADP
alkej-976	39	6	several	several	ADJ
alkej-976	39	7	settings	setting	NOUN
alkej-976	39	8	,	,	PUNCT
alkej-976	39	9	proven	prove	VERB
alkej-976	39	10	using	use	VERB
alkej-976	39	11	mpc	mpc	NOUN
alkej-976	39	12	in	in	ADP
alkej-976	39	13	thermal	thermal	ADJ
alkej-976	39	14	management	management	NOUN
alkej-976	39	15	structures	structure	NOUN
alkej-976	39	16	in	in	ADP
alkej-976	39	17	business	business	NOUN
alkej-976	39	18	procedure	procedure	NOUN
alkej-976	39	19	manipulate	manipulate	NOUN
alkej-976	39	20	[	[	X
alkej-976	39	21	11	11	NUM
alkej-976	39	22	]	]	PUNCT
alkej-976	39	23	,	,	PUNCT
alkej-976	39	24	which	which	PRON
alkej-976	39	25	stepped	step	VERB
alkej-976	39	26	forward	forward	ADV
alkej-976	39	27	system	system	NOUN
alkej-976	39	28	stability	stability	NOUN
alkej-976	39	29	and	and	CCONJ
alkej-976	39	30	decreased	decrease	VERB
alkej-976	39	31	electricity	electricity	NOUN
alkej-976	39	32	consumption	consumption	NOUN
alkej-976	39	33	in	in	ADP
alkej-976	39	34	car	car	NOUN
alkej-976	39	35	systems	system	NOUN
alkej-976	39	36	[	[	X
alkej-976	39	37	12	12	NUM
alkej-976	39	38	]	]	PUNCT
alkej-976	39	39	showed	show	VERB
alkej-976	39	40	that	that	SCONJ
alkej-976	39	41	mpc	mpc	PROPN
alkej-976	39	42	can	can	AUX
alkej-976	39	43	provide	provide	VERB
alkej-976	39	44	an	an	DET
alkej-976	39	45	automotive	automotive	ADJ
alkej-976	39	46	manipulate	manipulate	NOUN
alkej-976	39	47	gadget	gadget	NOUN
alkej-976	39	48	advanced	advance	VERB
alkej-976	39	49	in	in	ADP
alkej-976	39	50	the	the	DET
alkej-976	39	51	field	field	NOUN
alkej-976	39	52	of	of	ADP
alkej-976	39	53	robotics	robotic	NOUN
alkej-976	39	54	[	[	X
alkej-976	39	55	13	13	NUM
alkej-976	39	56	]	]	PUNCT
alkej-976	39	57	.	.	PUNCT
alkej-976	40	1	for	for	ADP
alkej-976	40	2	direction	direction	NOUN
alkej-976	40	3	planning	planning	NOUN
alkej-976	40	4	and	and	CCONJ
alkej-976	40	5	impediment	impediment	VERB
alkej-976	40	6	avoidance	avoidance	NOUN
alkej-976	40	7	based	base	VERB
alkej-976	40	8	totally	totally	ADV
alkej-976	40	9	on	on	ADP
alkej-976	40	10	mpc	mpc	NOUN
alkej-976	40	11	,	,	PUNCT
alkej-976	40	12	leading	lead	VERB
alkej-976	40	13	to	to	ADP
alkej-976	40	14	green	green	ADJ
alkej-976	40	15	and	and	CCONJ
alkej-976	40	16	safe	safe	ADJ
alkej-976	40	17	robots[14	robots[14	NOUN
alkej-976	40	18	]	]	PUNCT
alkej-976	40	19	.	.	PUNCT
alkej-976	40	20	ates	ates	PROPN
alkej-976	40	21	et	et	PROPN
alkej-976	40	22	al	al	PROPN
alkej-976	40	23	.	.	PUNCT
alkej-976	41	1	[	[	X
alkej-976	41	2	15	15	NUM
alkej-976	41	3	]	]	PUNCT
alkej-976	41	4	tested	test	VERB
alkej-976	41	5	the	the	DET
alkej-976	41	6	usage	usage	NOUN
alkej-976	41	7	of	of	ADP
alkej-976	41	8	mpc	mpc	NOUN
alkej-976	41	9	in	in	ADP
alkej-976	41	10	thermal	thermal	ADJ
alkej-976	41	11	control	control	NOUN
alkej-976	41	12	structures	structure	NOUN
alkej-976	41	13	,	,	PUNCT
alkej-976	41	14	which	which	PRON
alkej-976	41	15	showed	show	VERB
alkej-976	41	16	high	high	ADJ
alkej-976	41	17	adaptability	adaptability	NOUN
alkej-976	41	18	to	to	ADP
alkej-976	41	19	surprising	surprising	ADJ
alkej-976	41	20	environmental	environmental	ADJ
alkej-976	41	21	adjustments	adjustment	NOUN
alkej-976	41	22	,	,	PUNCT
alkej-976	41	23	improving	improve	VERB
alkej-976	41	24	gadget	gadget	NOUN
alkej-976	41	25	stability	stability	NOUN
alkej-976	41	26	and	and	CCONJ
alkej-976	41	27	reducing	reduce	VERB
alkej-976	41	28	energy	energy	NOUN
alkej-976	41	29	intake	intake	NOUN
alkej-976	41	30	.	.	PUNCT
alkej-976	42	1	similarly	similarly	ADV
alkej-976	42	2	,	,	PUNCT
alkej-976	42	3	ye	ye	PRON
alkej-976	42	4	et	et	NOUN
alkej-976	42	5	al	al	PROPN
alkej-976	42	6	.	.	PUNCT
alkej-976	43	1	[	[	X
alkej-976	43	2	16	16	NUM
alkej-976	43	3	]	]	PUNCT
alkej-976	43	4	showed	show	VERB
alkej-976	43	5	that	that	SCONJ
alkej-976	43	6	mpc	mpc	PROPN
alkej-976	43	7	can	can	AUX
alkej-976	43	8	enhance	enhance	VERB
alkej-976	43	9	the	the	DET
alkej-976	43	10	performance	performance	NOUN
alkej-976	43	11	of	of	ADP
alkej-976	43	12	visitor	visitor	NOUN
alkej-976	43	13	control	control	NOUN
alkej-976	43	14	systems	system	NOUN
alkej-976	43	15	,	,	PUNCT
alkej-976	43	16	thereby	thereby	ADV
alkej-976	43	17	improving	improve	VERB
alkej-976	43	18	highquality	highquality	NOUN
alkej-976	43	19	-	-	PUNCT
alkej-976	43	20	grained	grain	VERB
alkej-976	43	21	making	making	NOUN
alkej-976	43	22	plans	plan	NOUN
alkej-976	43	23	and	and	CCONJ
alkej-976	43	24	rapid	rapid	ADJ
alkej-976	43	25	reaction	reaction	NOUN
alkej-976	43	26	to	to	ADP
alkej-976	43	27	adjustments	adjustment	NOUN
alkej-976	43	28	in	in	ADP
alkej-976	43	29	overall	overall	ADJ
alkej-976	43	30	performance	performance	NOUN
alkej-976	43	31	.	.	PUNCT
alkej-976	44	1	particle	particle	NOUN
alkej-976	44	2	swarm	swarm	NOUN
alkej-976	44	3	optimisation	optimisation	NOUN
alkej-976	44	4	(	(	PUNCT
alkej-976	44	5	pso	pso	NOUN
alkej-976	44	6	)	)	PUNCT
alkej-976	44	7	is	be	AUX
alkej-976	44	8	a	a	DET
alkej-976	44	9	popular	popular	ADJ
alkej-976	44	10	algorithm	algorithm	NOUN
alkej-976	44	11	specifically	specifically	ADV
alkej-976	44	12	designed	design	VERB
alkej-976	44	13	for	for	ADP
alkej-976	44	14	the	the	DET
alkej-976	44	15	social	social	ADJ
alkej-976	44	16	behaviour	behaviour	NOUN
alkej-976	44	17	of	of	ADP
alkej-976	44	18	birds	bird	NOUN
alkej-976	44	19	and	and	CCONJ
alkej-976	44	20	fish	fish	NOUN
alkej-976	44	21	.	.	PUNCT
alkej-976	45	1	it	it	PRON
alkej-976	45	2	enhances	enhance	VERB
alkej-976	45	3	problem	problem	NOUN
alkej-976	45	4	solving	solve	VERB
alkej-976	45	5	by	by	ADP
alkej-976	45	6	allowing	allow	VERB
alkej-976	45	7	proposed	propose	VERB
alkej-976	45	8	solutions	solution	NOUN
alkej-976	45	9	,	,	PUNCT
alkej-976	45	10	known	know	VERB
alkej-976	45	11	as	as	ADP
alkej-976	45	12	particles	particle	NOUN
alkej-976	45	13	,	,	PUNCT
alkej-976	45	14	to	to	PART
alkej-976	45	15	move	move	VERB
alkej-976	45	16	in	in	ADP
alkej-976	45	17	the	the	DET
alkej-976	45	18	search	search	NOUN
alkej-976	45	19	space	space	NOUN
alkej-976	45	20	in	in	ADP
alkej-976	45	21	line	line	NOUN
alkej-976	45	22	with	with	ADP
alkej-976	45	23	simple	simple	ADJ
alkej-976	45	24	mathematical	mathematical	ADJ
alkej-976	45	25	principles	principle	NOUN
alkej-976	45	26	based	base	VERB
alkej-976	45	27	on	on	ADP
alkej-976	45	28	their	their	PRON
alkej-976	45	29	most	most	ADV
alkej-976	45	30	useful	useful	ADJ
alkej-976	45	31	function	function	NOUN
alkej-976	45	32	and	and	CCONJ
alkej-976	45	33	the	the	DET
alkej-976	45	34	optimal	optimal	ADJ
alkej-976	45	35	function	function	NOUN
alkej-976	45	36	of	of	ADP
alkej-976	45	37	the	the	DET
alkej-976	45	38	system	system	NOUN
alkej-976	45	39	.	.	PUNCT
alkej-976	46	1	therefore	therefore	ADV
alkej-976	46	2	,	,	PUNCT
alkej-976	46	3	this	this	DET
alkej-976	46	4	collective	collective	ADJ
alkej-976	46	5	behaviour	behaviour	NOUN
alkej-976	46	6	contributes	contribute	VERB
alkej-976	46	7	to	to	ADP
alkej-976	46	8	finding	find	VERB
alkej-976	46	9	the	the	DET
alkej-976	46	10	most	most	ADV
alkej-976	46	11	useful	useful	ADJ
alkej-976	46	12	solution	solution	NOUN
alkej-976	46	13	efficiently	efficiently	ADV
alkej-976	46	14	.	.	PUNCT
alkej-976	47	1	it	it	PRON
alkej-976	47	2	has	have	AUX
alkej-976	47	3	demonstrated	demonstrate	VERB
alkej-976	47	4	efficacy	efficacy	NOUN
alkej-976	47	5	in	in	ADP
alkej-976	47	6	addition	addition	NOUN
alkej-976	47	7	to	to	ADP
alkej-976	47	8	systems	system	NOUN
alkej-976	47	9	that	that	PRON
alkej-976	47	10	improve	improve	VERB
alkej-976	47	11	management	management	NOUN
alkej-976	47	12	systems	system	NOUN
alkej-976	47	13	in	in	ADP
alkej-976	47	14	many	many	ADJ
alkej-976	47	15	packages	package	NOUN
alkej-976	47	16	.	.	PUNCT
alkej-976	48	1	pso	pso	NOUN
alkej-976	48	2	has	have	AUX
alkej-976	48	3	been	be	AUX
alkej-976	48	4	used	use	VERB
alkej-976	48	5	to	to	PART
alkej-976	48	6	optimise	optimise	VERB
alkej-976	48	7	the	the	DET
alkej-976	48	8	control	control	NOUN
alkej-976	48	9	parameters	parameter	NOUN
alkej-976	48	10	of	of	ADP
alkej-976	48	11	automated	automate	VERB
alkej-976	48	12	drive	drive	NOUN
alkej-976	48	13	structures	structure	NOUN
alkej-976	48	14	[	[	X
alkej-976	48	15	17	17	NUM
alkej-976	48	16	]	]	PUNCT
alkej-976	48	17	,	,	PUNCT
alkej-976	48	18	resulting	result	VERB
alkej-976	48	19	in	in	ADP
alkej-976	48	20	improved	improved	ADJ
alkej-976	48	21	accuracy	accuracy	NOUN
alkej-976	48	22	and	and	CCONJ
alkej-976	48	23	responsiveness	responsiveness	NOUN
alkej-976	48	24	.	.	PUNCT
alkej-976	49	1	in	in	ADP
alkej-976	49	2	power	power	NOUN
alkej-976	49	3	structures	structure	NOUN
alkej-976	49	4	,	,	PUNCT
alkej-976	49	5	pso	pso	NOUN
alkej-976	49	6	is	be	AUX
alkej-976	49	7	used	use	VERB
alkej-976	49	8	to	to	PART
alkej-976	49	9	enhance	enhance	VERB
alkej-976	49	10	load	load	NOUN
alkej-976	49	11	distribution	distribution	NOUN
alkej-976	49	12	hassles	hassle	NOUN
alkej-976	49	13	,	,	PUNCT
alkej-976	49	14	obtaining	obtain	VERB
alkej-976	49	15	improved	improved	ADJ
alkej-976	49	16	performance	performance	NOUN
alkej-976	49	17	and	and	CCONJ
alkej-976	49	18	electrical	electrical	ADJ
alkej-976	49	19	efficiency	efficiency	NOUN
alkej-976	49	20	[	[	X
alkej-976	49	21	18	18	NUM
alkej-976	49	22	]	]	PUNCT
alkej-976	49	23	,	,	PUNCT
alkej-976	49	24	[	[	X
alkej-976	49	25	15	15	NUM
alkej-976	49	26	]	]	PUNCT
alkej-976	49	27	,	,	PUNCT
alkej-976	49	28	[	[	X
alkej-976	49	29	19	19	NUM
alkej-976	49	30	]	]	PUNCT
alkej-976	49	31	.	.	PUNCT
alkej-976	50	1	kumar	kumar	PROPN
alkej-976	50	2	and	and	CCONJ
alkej-976	50	3	sharma	sharma	PROPN
alkej-976	51	1	[	[	X
alkej-976	51	2	20	20	NUM
alkej-976	51	3	]	]	PUNCT
alkej-976	51	4	tried	try	VERB
alkej-976	51	5	optimising	optimise	VERB
alkej-976	51	6	the	the	DET
alkej-976	51	7	mpc	mpc	NOUN
alkej-976	51	8	parameters	parameter	NOUN
alkej-976	51	9	using	use	VERB
alkej-976	51	10	pso	pso	NOUN
alkej-976	51	11	,	,	PUNCT
alkej-976	51	12	thereby	thereby	ADV
alkej-976	51	13	improving	improve	VERB
alkej-976	51	14	overall	overall	ADJ
alkej-976	51	15	implementation	implementation	NOUN
alkej-976	51	16	at	at	ADP
alkej-976	51	17	scale	scale	NOUN
alkej-976	51	18	and	and	CCONJ
alkej-976	51	19	reaching	reach	VERB
alkej-976	51	20	faster	fast	ADJ
alkej-976	51	21	response	response	NOUN
alkej-976	51	22	states	state	NOUN
alkej-976	51	23	and	and	CCONJ
alkej-976	51	24	better	well	ADJ
alkej-976	51	25	tuning	tune	VERB
alkej-976	51	26	in	in	ADP
alkej-976	51	27	active	active	ADJ
alkej-976	51	28	situations	situation	NOUN
alkej-976	51	29	.	.	PUNCT
alkej-976	52	1	based	base	VERB
alkej-976	52	2	on	on	ADP
alkej-976	52	3	these	these	DET
alkej-976	52	4	effects	effect	NOUN
alkej-976	52	5	,	,	PUNCT
alkej-976	52	6	this	this	DET
alkej-976	52	7	consideration	consideration	NOUN
alkej-976	52	8	suggests	suggest	VERB
alkej-976	52	9	combining	combine	VERB
alkej-976	52	10	mpc	mpc	NOUN
alkej-976	52	11	and	and	CCONJ
alkej-976	52	12	pso	pso	NOUN
alkej-976	52	13	to	to	PART
alkej-976	52	14	increase	increase	VERB
alkej-976	52	15	the	the	DET
alkej-976	52	16	dominant	dominant	ADJ
alkej-976	52	17	control	control	NOUN
alkej-976	52	18	framework	framework	NOUN
alkej-976	52	19	.	.	PUNCT
alkej-976	53	1	a	a	DET
alkej-976	53	2	mathematical	mathematical	ADJ
alkej-976	53	3	model	model	NOUN
alkej-976	53	4	of	of	ADP
alkej-976	53	5	the	the	DET
alkej-976	53	6	device	device	NOUN
alkej-976	53	7	can	can	AUX
alkej-976	53	8	be	be	AUX
alkej-976	53	9	developed	develop	VERB
alkej-976	53	10	[	[	X
alkej-976	53	11	21	21	NUM
alkej-976	53	12	]	]	PUNCT
alkej-976	53	13	,	,	PUNCT
alkej-976	53	14	and	and	CCONJ
alkej-976	53	15	its	its	PRON
alkej-976	53	16	performance	performance	NOUN
alkej-976	53	17	can	can	AUX
alkej-976	53	18	be	be	AUX
alkej-976	53	19	analysed	analyse	VERB
alkej-976	53	20	using	use	VERB
alkej-976	53	21	mpc	mpc	NOUN
alkej-976	53	22	,	,	PUNCT
alkej-976	53	23	with	with	ADP
alkej-976	53	24	pso	pso	NOUN
alkej-976	53	25	used	use	VERB
alkej-976	53	26	to	to	PART
alkej-976	53	27	optimise	optimise	VERB
alkej-976	53	28	control	control	NOUN
alkej-976	53	29	parameters	parameter	NOUN
alkej-976	53	30	.	.	PUNCT
alkej-976	54	1	the	the	DET
alkej-976	54	2	abovementioned	abovementione	VERB
alkej-976	54	3	integrated	integrate	VERB
alkej-976	54	4	approach	approach	NOUN
alkej-976	54	5	is	be	AUX
alkej-976	54	6	expected	expect	VERB
alkej-976	54	7	to	to	PART
alkej-976	54	8	enhance	enhance	VERB
alkej-976	54	9	the	the	DET
alkej-976	54	10	device	device	NOUN
alkej-976	54	11	’s	’s	PART
alkej-976	54	12	high	high	ADJ
alkej-976	54	13	accuracy	accuracy	NOUN
alkej-976	54	14	and	and	CCONJ
alkej-976	54	15	responsiveness	responsiveness	NOUN
alkej-976	54	16	,	,	PUNCT
alkej-976	54	17	giving	give	VERB
alkej-976	54	18	it	it	PRON
alkej-976	54	19	extraordinarily	extraordinarily	ADV
alkej-976	54	20	high	high	ADJ
alkej-976	54	21	effectiveness	effectiveness	NOUN
alkej-976	54	22	in	in	ADP
alkej-976	54	23	commercial	commercial	ADJ
alkej-976	54	24	and	and	CCONJ
alkej-976	54	25	transportation	transportation	NOUN
alkej-976	54	26	software	software	NOUN
alkej-976	54	27	.	.	PUNCT
alkej-976	55	1	the	the	DET
alkej-976	55	2	integration	integration	NOUN
alkej-976	55	3	of	of	ADP
alkej-976	55	4	mpc	mpc	PROPN
alkej-976	55	5	and	and	CCONJ
alkej-976	55	6	pso	pso	NOUN
alkej-976	55	7	provides	provide	VERB
alkej-976	55	8	a	a	DET
alkej-976	55	9	synergistic	synergistic	ADJ
alkej-976	55	10	effect	effect	NOUN
alkej-976	55	11	,	,	PUNCT
alkej-976	55	12	combining	combine	VERB
alkej-976	55	13	the	the	DET
alkej-976	55	14	predictive	predictive	ADJ
alkej-976	55	15	and	and	CCONJ
alkej-976	55	16	constraint	constraint	NOUN
alkej-976	55	17	processing	processing	NOUN
alkej-976	55	18	skills	skill	NOUN
alkej-976	55	19	of	of	ADP
alkej-976	55	20	mpc	mpc	PROPN
alkej-976	55	21	with	with	ADP
alkej-976	55	22	the	the	DET
alkej-976	55	23	optimisation	optimisation	NOUN
alkej-976	55	24	ability	ability	NOUN
alkej-976	55	25	of	of	ADP
alkej-976	55	26	pso	pso	NOUN
alkej-976	55	27	.	.	PUNCT
alkej-976	56	1	this	this	DET
alkej-976	56	2	technique	technique	NOUN
alkej-976	56	3	has	have	VERB
alkej-976	56	4	a	a	DET
alkej-976	56	5	high	high	ADJ
alkej-976	56	6	ability	ability	NOUN
alkej-976	56	7	to	to	PART
alkej-976	56	8	overcome	overcome	VERB
alkej-976	56	9	many	many	ADJ
alkej-976	56	10	challenging	challenging	ADJ
alkej-976	56	11	situations	situation	NOUN
alkej-976	56	12	in	in	ADP
alkej-976	56	13	the	the	DET
alkej-976	56	14	sbw	sbw	PROPN
alkej-976	56	15	system	system	NOUN
alkej-976	56	16	,	,	PUNCT
alkej-976	56	17	including	include	VERB
alkej-976	56	18	dealing	deal	VERB
alkej-976	56	19	with	with	ADP
alkej-976	56	20	nonlinearities	nonlinearitie	NOUN
alkej-976	56	21	,	,	PUNCT
alkej-976	56	22	uncertainties	uncertainty	NOUN
alkej-976	56	23	and	and	CCONJ
alkej-976	56	24	taher	taher	PROPN
alkej-976	56	25	sachit	sachit	VERB
alkej-976	56	26	taher	taher	PROPN
alkej-976	56	27	al	al	PROPN
alkej-976	56	28	-	-	PUNCT
alkej-976	56	29	khwarizmi	khwarizmi	PROPN
alkej-976	56	30	engineering	engineering	NOUN
alkej-976	56	31	journal	journal	PROPN
alkej-976	56	32	,	,	PUNCT
alkej-976	56	33	vol	vol	NOUN
alkej-976	56	34	.	.	PROPN
alkej-976	56	35	21	21	NUM
alkej-976	56	36	,	,	PUNCT
alkej-976	56	37	no.1	no.1	NUM
alkej-976	56	38	,	,	PUNCT
alkej-976	56	39	pp	pp	ADJ
alkej-976	56	40	.	.	PUNCT
alkej-976	57	1	6172	6172	NUM
alkej-976	57	2	(	(	PUNCT
alkej-976	57	3	2025	2025	NUM
alkej-976	57	4	)	)	PUNCT
alkej-976	57	5	63	63	NUM
alkej-976	57	6	external	external	ADJ
alkej-976	57	7	disturbances	disturbance	NOUN
alkej-976	57	8	.	.	PUNCT
alkej-976	58	1	by	by	ADP
alkej-976	58	2	leveraging	leverage	VERB
alkej-976	58	3	the	the	DET
alkej-976	58	4	strengths	strength	NOUN
alkej-976	58	5	of	of	ADP
alkej-976	58	6	both	both	DET
alkej-976	58	7	technologies	technology	NOUN
alkej-976	58	8	,	,	PUNCT
alkej-976	58	9	the	the	DET
alkej-976	58	10	proposed	propose	VERB
alkej-976	58	11	controller	controller	NOUN
alkej-976	58	12	aims	aim	VERB
alkej-976	58	13	to	to	PART
alkej-976	58	14	have	have	VERB
alkej-976	58	15	superior	superior	ADJ
alkej-976	58	16	overall	overall	ADJ
alkej-976	58	17	performance	performance	NOUN
alkej-976	58	18	and	and	CCONJ
alkej-976	58	19	reliability	reliability	NOUN
alkej-976	58	20	.	.	PUNCT
alkej-976	59	1	the	the	DET
alkej-976	59	2	effectiveness	effectiveness	NOUN
alkej-976	59	3	of	of	ADP
alkej-976	59	4	mixing	mix	VERB
alkej-976	59	5	mpc	mpc	NOUN
alkej-976	59	6	and	and	CCONJ
alkej-976	59	7	pso	pso	NOUN
alkej-976	59	8	has	have	AUX
alkej-976	59	9	been	be	AUX
alkej-976	59	10	explored	explore	VERB
alkej-976	59	11	in	in	ADP
alkej-976	59	12	many	many	ADJ
alkej-976	59	13	research	research	NOUN
alkej-976	59	14	.	.	PUNCT
alkej-976	60	1	huang	huang	PROPN
alkej-976	60	2	et	et	PROPN
alkej-976	60	3	al	al	PROPN
alkej-976	60	4	.	.	PUNCT
alkej-976	61	1	[	[	X
alkej-976	61	2	22	22	NUM
alkej-976	61	3	]	]	PUNCT
alkej-976	61	4	conducted	conduct	VERB
alkej-976	61	5	a	a	DET
alkej-976	61	6	comparative	comparative	ADJ
alkej-976	61	7	assessment	assessment	NOUN
alkej-976	61	8	of	of	ADP
alkej-976	61	9	assembled	assemble	VERB
alkej-976	61	10	optimisation	optimisation	NOUN
alkej-976	61	11	calculations	calculation	NOUN
alkej-976	61	12	comprising	comprise	VERB
alkej-976	61	13	pso	pso	NOUN
alkej-976	61	14	in	in	ADP
alkej-976	61	15	tuning	tune	VERB
alkej-976	61	16	mpc	mpc	NOUN
alkej-976	61	17	parameters	parameter	NOUN
alkej-976	61	18	for	for	ADP
alkej-976	61	19	chemical	chemical	NOUN
alkej-976	61	20	system	system	NOUN
alkej-976	61	21	organisation	organisation	NOUN
alkej-976	61	22	,	,	PUNCT
alkej-976	61	23	thus	thus	ADV
alkej-976	61	24	determining	determine	VERB
alkej-976	61	25	crucial	crucial	ADJ
alkej-976	61	26	developments	development	NOUN
alkej-976	61	27	in	in	ADP
alkej-976	61	28	execution	execution	NOUN
alkej-976	61	29	estimations	estimation	NOUN
alkej-976	61	30	.	.	PUNCT
alkej-976	62	1	in	in	ADP
alkej-976	62	2	the	the	DET
alkej-976	62	3	setting	setting	NOUN
alkej-976	62	4	of	of	ADP
alkej-976	62	5	sbw	sbw	PROPN
alkej-976	62	6	systems	systems	PROPN
alkej-976	62	7	,	,	PUNCT
alkej-976	62	8	yan	yan	PROPN
alkej-976	62	9	et	et	PROPN
alkej-976	62	10	.	.	PUNCT
alkej-976	63	1	al	al	PROPN
alkej-976	63	2	.	.	PUNCT
alkej-976	64	1	[	[	X
alkej-976	64	2	23	23	NUM
alkej-976	64	3	]	]	PUNCT
alkej-976	64	4	reviewed	review	VERB
alkej-976	64	5	the	the	DET
alkej-976	64	6	application	application	NOUN
alkej-976	64	7	of	of	ADP
alkej-976	64	8	mpc	mpc	PROPN
alkej-976	64	9	for	for	ADP
alkej-976	64	10	road	road	NOUN
alkej-976	64	11	checking	check	VERB
alkej-976	64	12	in	in	ADP
alkej-976	64	13	agvs	agv	NOUN
alkej-976	64	14	,	,	PUNCT
alkej-976	64	15	fulfilling	fulfil	VERB
alkej-976	64	16	tall	tall	ADJ
alkej-976	64	17	exactness	exactness	NOUN
alkej-976	64	18	and	and	CCONJ
alkej-976	64	19	quality	quality	NOUN
alkej-976	64	20	to	to	ADP
alkej-976	64	21	unsettling	unsettling	ADJ
alkej-976	64	22	impacts	impact	NOUN
alkej-976	64	23	.	.	PUNCT
alkej-976	65	1	complementarily	complementarily	ADV
alkej-976	65	2	,	,	PUNCT
alkej-976	65	3	tavoosi	tavoosi	NOUN
alkej-976	65	4	et	et	NOUN
alkej-976	65	5	al	al	PROPN
alkej-976	65	6	.	.	PUNCT
alkej-976	66	1	[	[	X
alkej-976	66	2	24	24	NUM
alkej-976	66	3	]	]	X
alkej-976	66	4	utilised	utilise	VERB
alkej-976	66	5	pso	pso	NOUN
alkej-976	66	6	to	to	PART
alkej-976	66	7	make	make	VERB
alkej-976	66	8	strides	stride	NOUN
alkej-976	66	9	in	in	ADP
alkej-976	66	10	the	the	DET
alkej-976	66	11	course	course	NOUN
alkej-976	66	12	arrangement	arrangement	NOUN
alkej-976	66	13	of	of	ADP
alkej-976	66	14	agvs	agv	NOUN
alkej-976	66	15	,	,	PUNCT
alkej-976	66	16	resulting	result	VERB
alkej-976	66	17	in	in	ADP
alkej-976	66	18	smoother	smooth	ADJ
alkej-976	66	19	and	and	CCONJ
alkej-976	66	20	more	more	ADV
alkej-976	66	21	proficient	proficient	ADJ
alkej-976	66	22	directions	direction	NOUN
alkej-976	66	23	.	.	PUNCT
alkej-976	67	1	the	the	DET
alkej-976	67	2	present	present	ADJ
alkej-976	67	3	study	study	NOUN
alkej-976	67	4	aims	aim	VERB
alkej-976	67	5	to	to	PART
alkej-976	67	6	develop	develop	VERB
alkej-976	67	7	and	and	CCONJ
alkej-976	67	8	evaluate	evaluate	VERB
alkej-976	67	9	a	a	DET
alkej-976	67	10	mathematical	mathematical	ADJ
alkej-976	67	11	model	model	NOUN
alkej-976	67	12	concentrating	concentrate	VERB
alkej-976	67	13	on	on	ADP
alkej-976	67	14	applying	apply	VERB
alkej-976	67	15	mpc	mpc	NOUN
alkej-976	67	16	-	-	NOUN
alkej-976	67	17	pso	pso	NOUN
alkej-976	67	18	in	in	ADP
alkej-976	67	19	sbw	sbw	PROPN
alkej-976	67	20	systems	system	NOUN
alkej-976	67	21	.	.	PUNCT
alkej-976	68	1	the	the	DET
alkej-976	68	2	objective	objective	NOUN
alkej-976	68	3	is	be	AUX
alkej-976	68	4	to	to	PART
alkej-976	68	5	expect	expect	VERB
alkej-976	68	6	and	and	CCONJ
alkej-976	68	7	control	control	NOUN
alkej-976	68	8	system	system	NOUN
alkej-976	68	9	conduct	conduct	NOUN
alkej-976	68	10	,	,	PUNCT
alkej-976	68	11	using	use	VERB
alkej-976	68	12	pso	pso	NOUN
alkej-976	68	13	to	to	PART
alkej-976	68	14	optimise	optimise	VERB
alkej-976	68	15	mpc	mpc	NOUN
alkej-976	68	16	management	management	NOUN
alkej-976	68	17	parameters	parameter	NOUN
alkej-976	68	18	and	and	CCONJ
alkej-976	68	19	comparing	compare	VERB
alkej-976	68	20	the	the	DET
alkej-976	68	21	performance	performance	NOUN
alkej-976	68	22	of	of	ADP
alkej-976	68	23	the	the	DET
alkej-976	68	24	included	include	VERB
alkej-976	68	25	machine	machine	NOUN
alkej-976	68	26	through	through	ADP
alkej-976	68	27	simulations	simulation	NOUN
alkej-976	68	28	and	and	CCONJ
alkej-976	68	29	experimental	experimental	ADJ
alkej-976	68	30	verification	verification	NOUN
alkej-976	68	31	.	.	PUNCT
alkej-976	69	1	a	a	DET
alkej-976	69	2	complex	complex	ADJ
alkej-976	69	3	control	control	NOUN
alkej-976	69	4	system	system	NOUN
alkej-976	69	5	that	that	PRON
alkej-976	69	6	remarkably	remarkably	ADV
alkej-976	69	7	fulfils	fulfil	VERB
alkej-976	69	8	the	the	DET
alkej-976	69	9	accuracy	accuracy	NOUN
alkej-976	69	10	and	and	CCONJ
alkej-976	69	11	responsiveness	responsiveness	NOUN
alkej-976	69	12	demands	demand	NOUN
alkej-976	69	13	of	of	ADP
alkej-976	69	14	advanced	advanced	ADJ
alkej-976	69	15	commercial	commercial	ADJ
alkej-976	69	16	and	and	CCONJ
alkej-976	69	17	transportation	transportation	NOUN
alkej-976	69	18	solutions	solution	NOUN
alkej-976	69	19	is	be	AUX
alkej-976	69	20	expected	expect	VERB
alkej-976	69	21	.	.	PUNCT
alkej-976	70	1	2	2	X
alkej-976	70	2	.	.	X
alkej-976	70	3	modelling	modelling	NOUN
alkej-976	70	4	of	of	ADP
alkej-976	70	5	sbw	sbw	PROPN
alkej-976	70	6	systems	system	NOUN
alkej-976	70	7	the	the	DET
alkej-976	70	8	hardware	hardware	NOUN
alkej-976	70	9	of	of	ADP
alkej-976	70	10	sbw	sbw	PROPN
alkej-976	70	11	systems	system	NOUN
alkej-976	70	12	has	have	VERB
alkej-976	70	13	three	three	NUM
alkej-976	70	14	fundamental	fundamental	ADJ
alkej-976	70	15	subsystems	subsystem	NOUN
alkej-976	70	16	,	,	PUNCT
alkej-976	70	17	each	each	PRON
alkej-976	70	18	containing	contain	VERB
alkej-976	70	19	many	many	ADJ
alkej-976	70	20	sensors	sensor	NOUN
alkej-976	70	21	or	or	CCONJ
alkej-976	70	22	actuators	actuator	NOUN
alkej-976	70	23	,	,	PUNCT
alkej-976	70	24	as	as	SCONJ
alkej-976	70	25	shown	show	VERB
alkej-976	70	26	in	in	ADP
alkej-976	70	27	figure	figure	NOUN
alkej-976	70	28	1	1	NUM
alkej-976	70	29	.	.	PUNCT
alkej-976	71	1	the	the	DET
alkej-976	71	2	assembly	assembly	NOUN
alkej-976	71	3	of	of	ADP
alkej-976	71	4	the	the	DET
alkej-976	71	5	steering	steering	NOUN
alkej-976	71	6	wheel	wheel	NOUN
alkej-976	71	7	,	,	PUNCT
alkej-976	71	8	the	the	DET
alkej-976	71	9	front	front	ADJ
alkej-976	71	10	wheel	wheel	NOUN
alkej-976	71	11	subsystem	subsystem	NOUN
alkej-976	71	12	and	and	CCONJ
alkej-976	71	13	some	some	DET
alkej-976	71	14	additional	additional	ADJ
alkej-976	71	15	mechanical	mechanical	ADJ
alkej-976	71	16	hardware	hardware	NOUN
alkej-976	71	17	.	.	PUNCT
alkej-976	72	1	the	the	DET
alkej-976	72	2	guidance	guidance	NOUN
alkej-976	72	3	wheel	wheel	NOUN
alkej-976	72	4	includes	include	VERB
alkej-976	72	5	a	a	DET
alkej-976	72	6	torque	torque	NOUN
alkej-976	72	7	sensor	sensor	NOUN
alkej-976	72	8	,	,	PUNCT
alkej-976	72	9	a	a	DET
alkej-976	72	10	steering	steering	NOUN
alkej-976	72	11	attitude	attitude	NOUN
alkej-976	72	12	sensor	sensor	NOUN
alkej-976	72	13	and	and	CCONJ
alkej-976	72	14	maybe	maybe	ADV
alkej-976	72	15	a	a	DET
alkej-976	72	16	movement	movement	NOUN
alkej-976	72	17	encoder	encoder	NOUN
alkej-976	72	18	.	.	PUNCT
alkej-976	73	1	the	the	DET
alkej-976	73	2	front	front	ADJ
alkej-976	73	3	wheel	wheel	NOUN
alkej-976	73	4	system	system	NOUN
alkej-976	73	5	accommodates	accommodate	VERB
alkej-976	73	6	an	an	DET
alkej-976	73	7	angle	angle	NOUN
alkej-976	73	8	sensor	sensor	NOUN
alkej-976	73	9	,	,	PUNCT
alkej-976	73	10	a	a	DET
alkej-976	73	11	motor	motor	NOUN
alkej-976	73	12	encoder	encoder	NOUN
alkej-976	73	13	,	,	PUNCT
alkej-976	73	14	rack	rack	VERB
alkej-976	73	15	equipment	equipment	NOUN
alkej-976	73	16	and	and	CCONJ
alkej-976	73	17	additives	additive	NOUN
alkej-976	73	18	of	of	ADP
alkej-976	73	19	the	the	DET
alkej-976	73	20	wheel	wheel	NOUN
alkej-976	73	21	suspension	suspension	NOUN
alkej-976	73	22	system	system	NOUN
alkej-976	73	23	.	.	PUNCT
alkej-976	74	1	fig	fig	NOUN
alkej-976	74	2	.	.	PUNCT
alkej-976	75	1	1	1	X
alkej-976	75	2	.	.	X
alkej-976	75	3	steering	steering	NOUN
alkej-976	75	4	-	-	PUNCT
alkej-976	75	5	by	by	ADP
alkej-976	75	6	-	-	PUNCT
alkej-976	75	7	wire	wire	NOUN
alkej-976	75	8	system	system	NOUN
alkej-976	75	9	[	[	X
alkej-976	75	10	2	2	X
alkej-976	75	11	]	]	PUNCT
alkej-976	75	12	steering	steer	VERB
alkej-976	75	13	wheelthe	wheelthe	NOUN
alkej-976	75	14	modelling	modelling	NOUN
alkej-976	75	15	of	of	ADP
alkej-976	75	16	2.1	2.1	NUM
alkej-976	75	17	a	a	DET
alkej-976	75	18	schematic	schematic	ADJ
alkej-976	75	19	of	of	ADP
alkej-976	75	20	the	the	DET
alkej-976	75	21	steering	steering	NOUN
alkej-976	75	22	wheel	wheel	NOUN
alkej-976	75	23	assembly	assembly	NOUN
alkej-976	75	24	in	in	ADP
alkej-976	75	25	figure	figure	NOUN
alkej-976	75	26	2	2	NUM
alkej-976	75	27	indicates	indicate	VERB
alkej-976	75	28	that	that	SCONJ
alkej-976	75	29	the	the	DET
alkej-976	75	30	system	system	NOUN
alkej-976	75	31	is	be	AUX
alkej-976	75	32	associated	associate	VERB
alkej-976	75	33	with	with	ADP
alkej-976	75	34	many	many	ADJ
alkej-976	75	35	considered	consider	VERB
alkej-976	75	36	variables	variable	NOUN
alkej-976	75	37	,	,	PUNCT
alkej-976	75	38	i.e.	i.e.	X
alkej-976	75	39	,	,	PUNCT
alkej-976	75	40	steering	steering	NOUN
alkej-976	75	41	angle	angle	NOUN
alkej-976	75	42	,	,	PUNCT
alkej-976	75	43	steering	steering	NOUN
alkej-976	75	44	motor	motor	NOUN
alkej-976	75	45	angle	angle	NOUN
alkej-976	75	46	and	and	CCONJ
alkej-976	75	47	current	current	ADJ
alkej-976	75	48	,	,	PUNCT
alkej-976	75	49	with	with	ADP
alkej-976	75	50	other	other	ADJ
alkej-976	75	51	inputs	input	NOUN
alkej-976	75	52	including	include	VERB
alkej-976	75	53	motor	motor	NOUN
alkej-976	75	54	voltage	voltage	NOUN
alkej-976	75	55	,	,	PUNCT
alkej-976	75	56	input	input	NOUN
alkej-976	75	57	angle	angle	NOUN
alkej-976	75	58	,	,	PUNCT
alkej-976	75	59	torque	torque	NOUN
alkej-976	75	60	and	and	CCONJ
alkej-976	75	61	friction	friction	NOUN
alkej-976	75	62	torque	torque	NOUN
alkej-976	75	63	produced	produce	VERB
alkej-976	75	64	during	during	ADP
alkej-976	75	65	wheel	wheel	NOUN
alkej-976	75	66	rotation	rotation	NOUN
alkej-976	75	67	.	.	PUNCT
alkej-976	76	1	the	the	DET
alkej-976	76	2	system	system	NOUN
alkej-976	76	3	’s	’s	PART
alkej-976	76	4	dynamic	dynamic	ADJ
alkej-976	76	5	model	model	NOUN
alkej-976	76	6	can	can	AUX
alkej-976	76	7	be	be	AUX
alkej-976	76	8	expressed	express	VERB
alkej-976	76	9	in	in	ADP
alkej-976	76	10	accordance	accordance	NOUN
alkej-976	76	11	with	with	ADP
alkej-976	76	12	newton	newton	PROPN
alkej-976	76	13	’s	’s	PART
alkej-976	76	14	laws	law	NOUN
alkej-976	76	15	,	,	PUNCT
alkej-976	76	16	as	as	SCONJ
alkej-976	76	17	shown	show	VERB
alkej-976	76	18	in	in	ADP
alkej-976	76	19	the	the	DET
alkej-976	76	20	series	series	NOUN
alkej-976	76	21	of	of	ADP
alkej-976	76	22	equations	equation	NOUN
alkej-976	76	23	below	below	ADV
alkej-976	76	24	.	.	PUNCT
alkej-976	77	1	the	the	DET
alkej-976	77	2	angle	angle	NOUN
alkej-976	77	3	of	of	ADP
alkej-976	77	4	the	the	DET
alkej-976	77	5	steering	steering	NOUN
alkej-976	77	6	wheel	wheel	NOUN
alkej-976	77	7	,	,	PUNCT
alkej-976	77	8	the	the	DET
alkej-976	77	9	angular	angular	ADJ
alkej-976	77	10	displacement	displacement	NOUN
alkej-976	77	11	of	of	ADP
alkej-976	77	12	the	the	DET
alkej-976	77	13	steering	steering	NOUN
alkej-976	77	14	motor	motor	NOUN
alkej-976	77	15	and	and	CCONJ
alkej-976	77	16	the	the	DET
alkej-976	77	17	steering	steering	NOUN
alkej-976	77	18	motor	motor	NOUN
alkej-976	77	19	current	current	NOUN
alkej-976	77	20	can	can	AUX
alkej-976	77	21	be	be	AUX
alkej-976	77	22	stated	state	VERB
alkej-976	77	23	as	as	ADP
alkej-976	77	24	[	[	X
alkej-976	77	25	21	21	NUM
alkej-976	77	26	]	]	PUNCT
alkej-976	77	27	ӫ𝑠	ӫ𝑠	NOUN
alkej-976	77	28	=	=	SYM
alkej-976	77	29	1/𝐽𝑠(𝑇𝑑𝑟𝑖𝑣𝑒𝑟	1/𝐽𝑠(𝑇𝑑𝑟𝑖𝑣𝑒𝑟	NUM
alkej-976	77	30	−	−	PROPN
alkej-976	77	31	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	77	32	−	−	PROPN
alkej-976	77	33	𝑏𝑠𝑐	𝑏𝑠𝑐	NOUN
alkej-976	77	34	∗	∗	PROPN
alkej-976	77	35	ө̇𝑠	ө̇𝑠	PROPN
alkej-976	77	36	−	−	PROPN
alkej-976	78	1	𝑘𝑠	𝑘𝑠	INTJ
alkej-976	78	2	∗	∗	NOUN
alkej-976	78	3	ө𝑠	ө𝑠	ADP
alkej-976	78	4	+	+	CCONJ
alkej-976	78	5	𝑏𝑠𝑐	𝑏𝑠𝑐	X
alkej-976	78	6	∗	∗	NOUN
alkej-976	78	7	ө̇𝑚1	ө̇𝑚1	PROPN
alkej-976	78	8	+	+	CCONJ
alkej-976	78	9	𝑘𝑠	𝑘𝑠	PROPN
alkej-976	78	10	∗	∗	NOUN
alkej-976	78	11	ө𝑚1	ө𝑚1	PROPN
alkej-976	78	12	)	)	PUNCT
alkej-976	78	13	,	,	PUNCT
alkej-976	78	14	…	…	PUNCT
alkej-976	78	15	(	(	PUNCT
alkej-976	78	16	1	1	X
alkej-976	78	17	)	)	PUNCT
alkej-976	78	18	ӫ𝑠	ӫ𝑠	NOUN
alkej-976	78	19	=	=	SYM
alkej-976	78	20	1/𝐽𝑠(𝑇𝑑𝑟𝑖𝑣𝑒𝑟	1/𝐽𝑠(𝑇𝑑𝑟𝑖𝑣𝑒𝑟	NUM
alkej-976	78	21	−	−	PROPN
alkej-976	78	22	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	78	23	−	−	PROPN
alkej-976	78	24	𝑏𝑠𝑐	𝑏𝑠𝑐	NOUN
alkej-976	78	25	∗	∗	PROPN
alkej-976	78	26	ө̇𝑠	ө̇𝑠	PROPN
alkej-976	78	27	−	−	PROPN
alkej-976	79	1	𝑘𝑠	𝑘𝑠	INTJ
alkej-976	79	2	∗	∗	NOUN
alkej-976	79	3	ө𝑠	ө𝑠	ADP
alkej-976	79	4	+	+	CCONJ
alkej-976	79	5	𝑏𝑠𝑐	𝑏𝑠𝑐	X
alkej-976	79	6	∗	∗	NOUN
alkej-976	79	7	ө̇𝑚1	ө̇𝑚1	PROPN
alkej-976	79	8	+	+	CCONJ
alkej-976	79	9	𝑘𝑠	𝑘𝑠	PROPN
alkej-976	79	10	∗	∗	NOUN
alkej-976	79	11	ө𝑚1	ө𝑚1	PROPN
alkej-976	79	12	)	)	PUNCT
alkej-976	79	13	,	,	PUNCT
alkej-976	79	14	…	…	PUNCT
alkej-976	79	15	(	(	PUNCT
alkej-976	79	16	2	2	X
alkej-976	79	17	)	)	PUNCT
alkej-976	79	18	𝑑𝑖1	𝑑𝑖1	NOUN
alkej-976	79	19	𝑑𝑡	𝑑𝑡	ADP
alkej-976	79	20	=	=	SYM
alkej-976	79	21	1/𝐿1(−𝑅1	1/𝐿1(−𝑅1	PROPN
alkej-976	79	22	∗	∗	NOUN
alkej-976	79	23	𝑖1	𝑖1	PROPN
alkej-976	79	24	−	−	PROPN
alkej-976	80	1	𝐾𝑏1	𝐾𝑏1	VERB
alkej-976	80	2	∗	∗	VERB
alkej-976	80	3	ө̇𝑚1	ө̇𝑚1	PROPN
alkej-976	80	4	+	+	CCONJ
alkej-976	80	5	𝑉𝑠1	𝑉𝑠1	ADJ
alkej-976	80	6	)	)	PUNCT
alkej-976	80	7	,	,	PUNCT
alkej-976	80	8	…	…	PUNCT
alkej-976	80	9	(	(	PUNCT
alkej-976	80	10	3	3	X
alkej-976	80	11	)	)	PUNCT
alkej-976	80	12	taher	taher	NOUN
alkej-976	80	13	sachit	sachit	VERB
alkej-976	80	14	taher	taher	PROPN
alkej-976	80	15	al	al	PROPN
alkej-976	80	16	-	-	PUNCT
alkej-976	80	17	khwarizmi	khwarizmi	PROPN
alkej-976	80	18	engineering	engineering	NOUN
alkej-976	80	19	journal	journal	PROPN
alkej-976	80	20	,	,	PUNCT
alkej-976	80	21	vol	vol	NOUN
alkej-976	80	22	.	.	PROPN
alkej-976	80	23	21	21	NUM
alkej-976	80	24	,	,	PUNCT
alkej-976	80	25	no.1	no.1	NUM
alkej-976	80	26	,	,	PUNCT
alkej-976	80	27	pp	pp	ADJ
alkej-976	80	28	.	.	PUNCT
alkej-976	81	1	6172	6172	NUM
alkej-976	81	2	(	(	PUNCT
alkej-976	81	3	2025	2025	NUM
alkej-976	81	4	)	)	PUNCT
alkej-976	81	5	64	64	NUM
alkej-976	81	6	fig	fig	NOUN
alkej-976	81	7	.	.	PUNCT
alkej-976	82	1	2	2	X
alkej-976	82	2	.	.	X
alkej-976	82	3	steering	steering	NOUN
alkej-976	82	4	wheel	wheel	NOUN
alkej-976	82	5	subsystem	subsystem	NOUN
alkej-976	82	6	diagram	diagram	NOUN
alkej-976	82	7	[	[	X
alkej-976	82	8	25	25	NUM
alkej-976	82	9	]	]	PUNCT
alkej-976	82	10	torque	torque	NOUN
alkej-976	82	11	of	of	ADP
alkej-976	82	12	steering	steering	NOUN
alkej-976	82	13	motor	motor	NOUN
alkej-976	82	14	[	[	X
alkej-976	82	15	26	26	NUM
alkej-976	82	16	]	]	PUNCT
alkej-976	82	17	𝑇𝑚1	𝑇𝑚1	NOUN
alkej-976	82	18	=	=	PUNCT
alkej-976	83	1	𝐾𝑡	𝐾𝑡	ADP
alkej-976	83	2	∗	∗	VERB
alkej-976	83	3	𝑖1	𝑖1	PROPN
alkej-976	83	4	.	.	PUNCT
alkej-976	84	1	…	…	PUNCT
alkej-976	84	2	(	(	PUNCT
alkej-976	84	3	4	4	X
alkej-976	84	4	)	)	PUNCT
alkej-976	84	5	accordingly	accordingly	ADV
alkej-976	84	6	,	,	PUNCT
alkej-976	84	7	the	the	DET
alkej-976	84	8	state	state	NOUN
alkej-976	84	9	space	space	NOUN
alkej-976	84	10	representation	representation	NOUN
alkej-976	84	11	of	of	ADP
alkej-976	84	12	the	the	DET
alkej-976	84	13	steering	steering	NOUN
alkej-976	84	14	wheel	wheel	NOUN
alkej-976	84	15	system	system	NOUN
alkej-976	84	16	can	can	AUX
alkej-976	84	17	be	be	AUX
alkej-976	84	18	expressed	express	VERB
alkej-976	84	19	as	as	SCONJ
alkej-976	84	20	follows	follow	VERB
alkej-976	84	21	:	:	PUNCT
alkej-976	84	22	�	�	PROPN
alkej-976	84	23	̈	̈	X
alkej-976	84	24	�	�	NOUN
alkej-976	84	25	(𝑡	(𝑡	NOUN
alkej-976	84	26	)	)	PUNCT
alkej-976	84	27	=	=	PUNCT
alkej-976	85	1	𝐴𝑠	𝐴𝑠	PROPN
alkej-976	85	2	𝑋(𝑡	𝑋(𝑡	PRON
alkej-976	85	3	)	)	PUNCT
alkej-976	85	4	+	+	CCONJ
alkej-976	86	1	𝐵𝑠	𝐵𝑠	PROPN
alkej-976	86	2	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	86	3	)	)	PUNCT
alkej-976	86	4	,	,	PUNCT
alkej-976	86	5	…	…	PUNCT
alkej-976	86	6	(	(	PUNCT
alkej-976	86	7	5	5	X
alkej-976	86	8	)	)	PUNCT
alkej-976	86	9	output	output	NOUN
alkej-976	86	10	𝑦(𝑡	𝑦(𝑡	NUM
alkej-976	86	11	)	)	PUNCT
alkej-976	86	12	=	=	PUNCT
alkej-976	87	1	𝐶𝑠	𝐶𝑠	PROPN
alkej-976	87	2	𝑋(𝑡	𝑋(𝑡	NUM
alkej-976	87	3	)	)	PUNCT
alkej-976	88	1	+	+	CCONJ
alkej-976	88	2	𝐷𝑠	𝐷𝑠	NOUN
alkej-976	88	3	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	88	4	)	)	PUNCT
alkej-976	88	5	,	,	PUNCT
alkej-976	88	6	…	…	PUNCT
alkej-976	88	7	(	(	PUNCT
alkej-976	88	8	6	6	X
alkej-976	88	9	)	)	PUNCT
alkej-976	88	10	state	state	NOUN
alkej-976	88	11	𝑋(𝑡	𝑋(𝑡	NUM
alkej-976	88	12	)	)	PUNCT
alkej-976	88	13	=	=	PUNCT
alkej-976	89	1	[	[	X
alkej-976	89	2	ө𝑠	ө𝑠	ADP
alkej-976	89	3	ө̇𝑠	ө̇𝑠	NOUN
alkej-976	89	4	ө𝑚1	ө𝑚1	NOUN
alkej-976	89	5	ө̇𝑚1	ө̇𝑚1	PROPN
alkej-976	89	6	𝑖1	𝑖1	PROPN
alkej-976	89	7	]	]	PUNCT
alkej-976	89	8	𝑇	𝑇	PROPN
alkej-976	89	9	.	.	PUNCT
alkej-976	90	1	…	…	PUNCT
alkej-976	90	2	(	(	PUNCT
alkej-976	90	3	7	7	X
alkej-976	90	4	)	)	PUNCT
alkej-976	90	5	the	the	DET
alkej-976	90	6	inputs	input	NOUN
alkej-976	90	7	include	include	VERB
alkej-976	90	8	the	the	DET
alkej-976	90	9	driver	driver	NOUN
alkej-976	90	10	torque	torque	NOUN
alkej-976	90	11	(	(	PUNCT
alkej-976	90	12	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	PROPN
alkej-976	90	13	)	)	PUNCT
alkej-976	90	14	,	,	PUNCT
alkej-976	90	15	friction	friction	NOUN
alkej-976	90	16	torque	torque	NOUN
alkej-976	90	17	(	(	PUNCT
alkej-976	90	18	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	90	19	)	)	PUNCT
alkej-976	90	20	and	and	CCONJ
alkej-976	90	21	motor	motor	NOUN
alkej-976	90	22	voltage	voltage	NOUN
alkej-976	90	23	(	(	PUNCT
alkej-976	90	24	𝑉𝑠1	𝑉𝑠1	NOUN
alkej-976	90	25	):	):	PUNCT
alkej-976	90	26	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	90	27	)	)	PUNCT
alkej-976	90	28	=	=	NOUN
alkej-976	91	1	[	[	PUNCT
alkej-976	91	2	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	PROPN
alkej-976	91	3	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	91	4	𝑉𝑠1	𝑉𝑠1	VERB
alkej-976	91	5	]	]	PUNCT
alkej-976	91	6	𝑇	𝑇	PROPN
alkej-976	91	7	,	,	PUNCT
alkej-976	91	8	…	…	PUNCT
alkej-976	91	9	(	(	PUNCT
alkej-976	91	10	8)	8)	NUM
alkej-976	91	11	𝐴𝑠	𝐴𝑠	NOUN
alkej-976	91	12	=	=	SYM
alkej-976	91	13	[	[	PUNCT
alkej-976	91	14	1	1	NUM
alkej-976	91	15	0	0	NUM
alkej-976	91	16	0	0	NUM
alkej-976	91	17	0	0	NUM
alkej-976	91	18	0	0	NUM
alkej-976	91	19	(	(	PUNCT
alkej-976	91	20	−	−	PUNCT
alkej-976	91	21	𝐾𝑠	𝐾𝑠	PROPN
alkej-976	91	22	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	91	23	)	)	PUNCT
alkej-976	91	24	(	(	PUNCT
alkej-976	91	25	−	−	PROPN
alkej-976	91	26	𝑏𝑠𝑐	𝑏𝑠𝑐	NOUN
alkej-976	91	27	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	91	28	)	)	PUNCT
alkej-976	91	29	(	(	PUNCT
alkej-976	91	30	𝐾𝑠	𝐾𝑠	PROPN
alkej-976	91	31	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	91	32	)	)	PUNCT
alkej-976	91	33	(	(	PUNCT
alkej-976	91	34	𝑏𝑠𝑐	𝑏𝑠𝑐	X
alkej-976	91	35	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	91	36	)	)	PUNCT
alkej-976	91	37	0	0	NUM
alkej-976	91	38	0	0	NUM
alkej-976	91	39	0	0	NUM
alkej-976	91	40	0	0	NUM
alkej-976	91	41	1	1	NUM
alkej-976	91	42	0	0	NUM
alkej-976	92	1	(	(	PUNCT
alkej-976	92	2	𝐾𝑠	𝐾𝑠	NOUN
alkej-976	92	3	𝐽𝑚1	𝐽𝑚1	NOUN
alkej-976	92	4	)	)	PUNCT
alkej-976	93	1	(	(	PUNCT
alkej-976	93	2	−	−	PROPN
alkej-976	93	3	𝑏𝑠𝑐	𝑏𝑠𝑐	NOUN
alkej-976	93	4	𝐽𝑚1	𝐽𝑚1	NOUN
alkej-976	93	5	)	)	PUNCT
alkej-976	94	1	(	(	PUNCT
alkej-976	94	2	−	−	PUNCT
alkej-976	94	3	𝐾𝑠	𝐾𝑠	NOUN
alkej-976	94	4	𝐽𝑚1	𝐽𝑚1	NOUN
alkej-976	94	5	)	)	PUNCT
alkej-976	94	6	(	(	PUNCT
alkej-976	94	7	−	−	PROPN
alkej-976	94	8	(	(	PUNCT
alkej-976	94	9	𝑏𝑚1+𝑏𝑠𝑐	𝑏𝑚1+𝑏𝑠𝑐	X
alkej-976	94	10	)	)	PUNCT
alkej-976	94	11	𝐽𝑚1	𝐽𝑚1	NOUN
alkej-976	94	12	)	)	PUNCT
alkej-976	94	13	0	0	NUM
alkej-976	95	1	0	0	NUM
alkej-976	95	2	0	0	NUM
alkej-976	95	3	0	0	NUM
alkej-976	96	1	(	(	PUNCT
alkej-976	96	2	−𝐾𝑏1	−𝐾𝑏1	VERB
alkej-976	96	3	𝐿1	𝐿1	PROPN
alkej-976	96	4	)	)	PUNCT
alkej-976	97	1	(	(	PUNCT
alkej-976	97	2	−𝑅1	−𝑅1	PROPN
alkej-976	97	3	𝐿1	𝐿1	PROPN
alkej-976	97	4	)	)	PUNCT
alkej-976	97	5	]	]	PUNCT
alkej-976	97	6	,	,	PUNCT
alkej-976	97	7	…	…	PUNCT
alkej-976	97	8	(	(	PUNCT
alkej-976	97	9	9	9	X
alkej-976	97	10	)	)	PUNCT
alkej-976	97	11	𝐵𝑠	𝐵𝑠	PROPN
alkej-976	97	12	=	=	PUNCT
alkej-976	98	1	[	[	PUNCT
alkej-976	98	2	0	0	NUM
alkej-976	98	3	0	0	NUM
alkej-976	98	4	(	(	PUNCT
alkej-976	98	5	(	(	PUNCT
alkej-976	98	6	𝑇𝑑𝑟𝑖𝑣𝑒𝑟−𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑑𝑟𝑖𝑣𝑒𝑟−𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	NOUN
alkej-976	98	7	)	)	PUNCT
alkej-976	98	8	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	98	9	)	)	PUNCT
alkej-976	98	10	0	0	NUM
alkej-976	99	1	0	0	NUM
alkej-976	99	2	0	0	NUM
alkej-976	99	3	0	0	NUM
alkej-976	99	4	0	0	NUM
alkej-976	99	5	0	0	NUM
alkej-976	100	1	(	(	PUNCT
alkej-976	100	2	1	1	NUM
alkej-976	100	3	𝐿1	𝐿1	PROPN
alkej-976	100	4	)	)	PUNCT
alkej-976	100	5	]	]	PUNCT
alkej-976	100	6	)	)	PUNCT
alkej-976	100	7	10	10	NUM
alkej-976	100	8	…	…	PUNCT
alkej-976	100	9	(	(	PUNCT
alkej-976	100	10	the	the	DET
alkej-976	100	11	angle	angle	NOUN
alkej-976	100	12	and	and	CCONJ
alkej-976	100	13	current	current	NOUN
alkej-976	100	14	of	of	ADP
alkej-976	100	15	the	the	DET
alkej-976	100	16	steering	steering	NOUN
alkej-976	100	17	motor	motor	NOUN
alkej-976	100	18	are	be	AUX
alkej-976	100	19	the	the	DET
alkej-976	100	20	outputs	output	NOUN
alkej-976	100	21	of	of	ADP
alkej-976	100	22	the	the	DET
alkej-976	100	23	system	system	NOUN
alkej-976	100	24	.	.	PUNCT
alkej-976	101	1	𝐶𝑠	𝐶𝑠	PROPN
alkej-976	101	2	=	=	PUNCT
alkej-976	102	1	[	[	PUNCT
alkej-976	102	2	0	0	NUM
alkej-976	102	3	0	0	NUM
alkej-976	102	4	1	1	NUM
alkej-976	102	5	0	0	NUM
alkej-976	102	6	0	0	NUM
alkej-976	102	7	0	0	NUM
alkej-976	102	8	0	0	NUM
alkej-976	102	9	0	0	NUM
alkej-976	102	10	0	0	NUM
alkej-976	102	11	1	1	NUM
alkej-976	102	12	]	]	PUNCT
alkej-976	102	13	…	…	PUNCT
alkej-976	102	14	(	(	PUNCT
alkej-976	102	15	11	11	NUM
alkej-976	102	16	)	)	PUNCT
alkej-976	102	17	𝐷𝑠	𝐷𝑠	NOUN
alkej-976	102	18	=	=	NOUN
alkej-976	102	19	0	0	NUM
alkej-976	102	20	where	where	SCONJ
alkej-976	102	21	ө𝑠	ө𝑠	ADP
alkej-976	102	22	(	(	PUNCT
alkej-976	102	23	degree	degree	NOUN
alkej-976	102	24	)	)	PUNCT
alkej-976	102	25	is	be	AUX
alkej-976	102	26	the	the	DET
alkej-976	102	27	angular	angular	ADJ
alkej-976	102	28	displacement	displacement	NOUN
alkej-976	102	29	of	of	ADP
alkej-976	102	30	the	the	DET
alkej-976	102	31	steering	steering	NOUN
alkej-976	102	32	wheel	wheel	NOUN
alkej-976	102	33	,	,	PUNCT
alkej-976	102	34	ө𝑚1	ө𝑚1	NOUN
alkej-976	102	35	(	(	PUNCT
alkej-976	102	36	degree	degree	NOUN
alkej-976	102	37	)	)	PUNCT
alkej-976	102	38	is	be	AUX
alkej-976	102	39	the	the	DET
alkej-976	102	40	angular	angular	ADJ
alkej-976	102	41	displacement	displacement	NOUN
alkej-976	102	42	of	of	ADP
alkej-976	102	43	the	the	DET
alkej-976	102	44	front	front	ADJ
alkej-976	102	45	wheel	wheel	NOUN
alkej-976	102	46	motor	motor	NOUN
alkej-976	102	47	,	,	PUNCT
alkej-976	103	1	𝑖1	𝑖1	PROPN
alkej-976	103	2	(	(	PUNCT
alkej-976	103	3	a	a	NOUN
alkej-976	103	4	)	)	PUNCT
alkej-976	103	5	is	be	AUX
alkej-976	103	6	current	current	ADJ
alkej-976	103	7	of	of	ADP
alkej-976	103	8	steering	steering	NOUN
alkej-976	103	9	motor	motor	NOUN
alkej-976	103	10	,	,	PUNCT
alkej-976	103	11	ks	ks	PROPN
alkej-976	103	12	(	(	PUNCT
alkej-976	103	13	n.m	n.m	PROPN
alkej-976	103	14	/	/	SYM
alkej-976	103	15	rad	rad	NOUN
alkej-976	103	16	)	)	PUNCT
alkej-976	103	17	is	be	AUX
alkej-976	103	18	lumped	lump	VERB
alkej-976	103	19	torque	torque	NOUN
alkej-976	103	20	stiffness	stiffness	NOUN
alkej-976	103	21	,	,	PUNCT
alkej-976	103	22	bsc	bsc	PROPN
alkej-976	103	23	(	(	PUNCT
alkej-976	103	24	n.ms/rad	n.ms/rad	NOUN
alkej-976	103	25	)	)	PUNCT
alkej-976	103	26	is	be	AUX
alkej-976	103	27	steering	steer	VERB
alkej-976	103	28	column	column	NOUN
alkej-976	103	29	damping	damp	VERB
alkej-976	103	30	,	,	PUNCT
alkej-976	103	31	bm1	bm1	X
alkej-976	103	32	(	(	PUNCT
alkej-976	103	33	n.m.s	n.m.s	NOUN
alkej-976	103	34	/	/	SYM
alkej-976	103	35	rad	rad	NOUN
alkej-976	103	36	)	)	PUNCT
alkej-976	103	37	is	be	AUX
alkej-976	103	38	motor	motor	NOUN
alkej-976	103	39	damping	damp	VERB
alkej-976	103	40	,	,	PUNCT
alkej-976	103	41	js	js	PROPN
alkej-976	103	42	(	(	PUNCT
alkej-976	103	43	kg.m2	kg.m2	NOUN
alkej-976	103	44	)	)	PUNCT
alkej-976	103	45	is	be	AUX
alkej-976	103	46	steering	steer	VERB
alkej-976	103	47	lumped	lump	VERB
alkej-976	103	48	inertia	inertia	NOUN
alkej-976	103	49	,	,	PUNCT
alkej-976	103	50	jm1	jm1	PROPN
alkej-976	103	51	(	(	PUNCT
alkej-976	103	52	kg.m2	kg.m2	NOUN
alkej-976	103	53	)	)	PUNCT
alkej-976	103	54	is	be	AUX
alkej-976	103	55	steering	steer	VERB
alkej-976	103	56	motor	motor	NOUN
alkej-976	103	57	inertia	inertia	NOUN
alkej-976	103	58	,	,	PUNCT
alkej-976	103	59	kb1	kb1	PROPN
alkej-976	103	60	(	(	PUNCT
alkej-976	103	61	v	v	NOUN
alkej-976	103	62	)	)	PUNCT
alkej-976	103	63	is	be	AUX
alkej-976	103	64	steering	steer	VERB
alkej-976	103	65	motor	motor	NOUN
alkej-976	103	66	emf	emf	NOUN
alkej-976	103	67	constant	constant	PROPN
alkej-976	103	68	,	,	PUNCT
alkej-976	103	69	l1	l1	PROPN
alkej-976	103	70	(	(	PUNCT
alkej-976	103	71	h	h	NOUN
alkej-976	103	72	)	)	PUNCT
alkej-976	103	73	is	be	AUX
alkej-976	103	74	steering	steer	VERB
alkej-976	103	75	motor	motor	NOUN
alkej-976	103	76	electrical	electrical	ADJ
alkej-976	103	77	inductance	inductance	NOUN
alkej-976	103	78	and	and	CCONJ
alkej-976	103	79	r1	r1	PROPN
alkej-976	103	80	(	(	PUNCT
alkej-976	103	81	ohm	ohm	PROPN
alkej-976	103	82	)	)	PUNCT
alkej-976	103	83	is	be	AUX
alkej-976	103	84	steering	steer	VERB
alkej-976	103	85	motor	motor	NOUN
alkej-976	103	86	electrical	electrical	ADJ
alkej-976	103	87	resistance	resistance	NOUN
alkej-976	103	88	.	.	PUNCT
alkej-976	104	1	2.2	2.2	NUM
alkej-976	104	2	front	front	ADJ
alkej-976	104	3	wheel	wheel	NOUN
alkej-976	104	4	subsystem	subsystem	NOUN
alkej-976	104	5	modelling	modelling	NOUN
alkej-976	104	6	as	as	SCONJ
alkej-976	104	7	shown	show	VERB
alkej-976	104	8	in	in	ADP
alkej-976	104	9	figure	figure	NOUN
alkej-976	104	10	3	3	NUM
alkej-976	104	11	,	,	PUNCT
alkej-976	104	12	the	the	DET
alkej-976	104	13	yaw	yaw	NOUN
alkej-976	104	14	angle	angle	NOUN
alkej-976	104	15	(	(	PUNCT
alkej-976	104	16	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	PROPN
alkej-976	104	17	)	)	PUNCT
alkej-976	104	18	,	,	PUNCT
alkej-976	104	19	front	front	ADJ
alkej-976	104	20	wheel	wheel	NOUN
alkej-976	104	21	angle	angle	NOUN
alkej-976	104	22	(	(	PUNCT
alkej-976	104	23	𝛿𝑓	𝛿𝑓	PROPN
alkej-976	104	24	)	)	PUNCT
alkej-976	104	25	and	and	CCONJ
alkej-976	104	26	front	front	ADJ
alkej-976	104	27	motor	motor	NOUN
alkej-976	104	28	angle	angle	NOUN
alkej-976	104	29	(	(	PUNCT
alkej-976	104	30	ө𝑚2	ө𝑚2	PROPN
alkej-976	104	31	)	)	PUNCT
alkej-976	104	32	are	be	AUX
alkej-976	104	33	the	the	DET
alkej-976	104	34	key	key	ADJ
alkej-976	104	35	variables	variable	NOUN
alkej-976	104	36	in	in	ADP
alkej-976	104	37	representing	represent	VERB
alkej-976	104	38	the	the	DET
alkej-976	104	39	front	front	ADJ
alkej-976	104	40	wheel	wheel	NOUN
alkej-976	104	41	subsystem	subsystem	NOUN
alkej-976	104	42	.	.	PUNCT
alkej-976	105	1	the	the	DET
alkej-976	105	2	force	force	NOUN
alkej-976	105	3	of	of	ADP
alkej-976	105	4	the	the	DET
alkej-976	105	5	rack	rack	NOUN
alkej-976	105	6	and	and	CCONJ
alkej-976	105	7	the	the	DET
alkej-976	105	8	angle	angle	NOUN
alkej-976	105	9	of	of	ADP
alkej-976	105	10	the	the	DET
alkej-976	105	11	front	front	ADJ
alkej-976	105	12	tire	tire	NOUN
alkej-976	105	13	can	can	AUX
alkej-976	105	14	be	be	AUX
alkej-976	105	15	represented	represent	VERB
alkej-976	105	16	by	by	ADP
alkej-976	105	17	[	[	X
alkej-976	105	18	27	27	NUM
alkej-976	105	19	]	]	SYM
alkej-976	105	20	:	:	PUNCT
alkej-976	105	21	�	�	PROPN
alkej-976	105	22	̇	̇	PROPN
alkej-976	105	23	�	�	PROPN
alkej-976	105	24	𝑟𝑎𝑐𝑘	𝑟𝑎𝑐𝑘	PROPN
alkej-976	105	25	=	=	PUNCT
alkej-976	106	1	−	−	PROPN
alkej-976	107	1	𝑏𝑟	𝑏𝑟	X
alkej-976	107	2	𝑚𝑟	𝑚𝑟	X
alkej-976	107	3	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	ADJ
alkej-976	107	4	−	−	PROPN
alkej-976	107	5	ө𝑚2	ө𝑚2	PROPN
alkej-976	107	6	𝐶𝑚2∗𝑔𝑚	𝐶𝑚2∗𝑔𝑚	NOUN
alkej-976	107	7	−	−	PROPN
alkej-976	107	8	𝑔𝑟	𝑔𝑟	ADP
alkej-976	107	9	𝑐𝑡	𝑐𝑡	INTJ
alkej-976	107	10	𝑣𝑡	𝑣𝑡	ADP
alkej-976	107	11	…	…	PUNCT
alkej-976	107	12	(	(	PUNCT
alkej-976	107	13	12	12	NUM
alkej-976	107	14	)	)	PUNCT
alkej-976	107	15	�	�	PROPN
alkej-976	107	16	̇	̇	PROPN
alkej-976	107	17	�	�	PROPN
alkej-976	107	18	𝑓	𝑓	NOUN
alkej-976	107	19	=	=	SYM
alkej-976	107	20	−	−	PROPN
alkej-976	107	21	𝐵𝑡	𝐵𝑡	NOUN
alkej-976	107	22	𝐽𝑡	𝐽𝑡	PROPN
alkej-976	107	23	𝛿𝑓	𝛿𝑓	ADV
alkej-976	107	24	+	+	NOUN
alkej-976	107	25	𝑣𝑡	𝑣𝑡	PART
alkej-976	107	26	𝑐𝑡	𝑐𝑡	ADP
alkej-976	107	27	…	…	PUNCT
alkej-976	107	28	(	(	PUNCT
alkej-976	107	29	13	13	NUM
alkej-976	107	30	)	)	PUNCT
alkej-976	107	31	fig	fig	NOUN
alkej-976	107	32	.	.	PUNCT
alkej-976	108	1	3	3	X
alkej-976	108	2	.	.	X
alkej-976	108	3	the	the	DET
alkej-976	108	4	front	front	ADJ
alkej-976	108	5	wheel	wheel	NOUN
alkej-976	108	6	subsystem	subsystem	NOUN
alkej-976	108	7	diagram	diagram	NOUN
alkej-976	108	8	[	[	X
alkej-976	108	9	25	25	NUM
alkej-976	108	10	]	]	PUNCT
alkej-976	108	11	.	.	PUNCT
alkej-976	109	1	the	the	DET
alkej-976	109	2	current	current	ADJ
alkej-976	109	3	,	,	PUNCT
alkej-976	109	4	torque	torque	NOUN
alkej-976	109	5	,	,	PUNCT
alkej-976	109	6	angular	angular	ADJ
alkej-976	109	7	displacement	displacement	NOUN
alkej-976	109	8	of	of	ADP
alkej-976	109	9	the	the	DET
alkej-976	109	10	front	front	ADJ
alkej-976	109	11	motor	motor	NOUN
alkej-976	109	12	and	and	CCONJ
alkej-976	109	13	velocity	velocity	NOUN
alkej-976	109	14	of	of	ADP
alkej-976	109	15	the	the	DET
alkej-976	109	16	tire	tire	NOUN
alkej-976	109	17	rod	rod	NOUN
alkej-976	109	18	are	be	AUX
alkej-976	109	19	stated	state	VERB
alkej-976	109	20	as	as	ADP
alkej-976	109	21	[	[	X
alkej-976	109	22	27	27	NUM
alkej-976	109	23	]	]	SYM
alkej-976	109	24	:	:	PUNCT
alkej-976	109	25	𝑑𝑖2	𝑑𝑖2	NOUN
alkej-976	109	26	𝑑𝑡	𝑑𝑡	ADP
alkej-976	109	27	=	=	PROPN
alkej-976	109	28	1/𝐿2(−𝑅2	1/𝐿2(−𝑅2	PROPN
alkej-976	109	29	∗	∗	NOUN
alkej-976	109	30	𝑖2	𝑖2	PROPN
alkej-976	109	31	)	)	PUNCT
alkej-976	109	32	−	−	NOUN
alkej-976	109	33	𝐾𝑏2	𝐾𝑏2	VERB
alkej-976	109	34	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	109	35	∗	∗	NOUN
alkej-976	109	36	t𝑚2	t𝑚2	PROPN
alkej-976	109	37	+	+	CCONJ
alkej-976	109	38	𝑉𝑠2	𝑉𝑠2	NOUN
alkej-976	109	39	…	…	PUNCT
alkej-976	109	40	(	(	PUNCT
alkej-976	109	41	14	14	NUM
alkej-976	109	42	)	)	PUNCT
alkej-976	109	43	�	�	PROPN
alkej-976	109	44	̇	̇	VERB
alkej-976	109	45	�	�	NOUN
alkej-976	109	46	𝑚2	𝑚2	NOUN
alkej-976	109	47	=	=	PUNCT
alkej-976	109	48	𝑘𝑏2	𝑘𝑏2	PROPN
alkej-976	109	49	𝐿2	𝐿2	PROPN
alkej-976	109	50	∗	∗	NOUN
alkej-976	109	51	𝑖2	𝑖2	PROPN
alkej-976	110	1	−	−	PROPN
alkej-976	110	2	𝑏𝑚2	𝑏𝑚2	PROPN
alkej-976	110	3	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	110	4	∗	∗	NOUN
alkej-976	110	5	t𝑚2	t𝑚2	PROPN
alkej-976	110	6	−	−	PROPN
alkej-976	110	7	ө𝑚2	ө𝑚2	PROPN
alkej-976	110	8	𝐶𝑚2	𝐶𝑚2	NOUN
alkej-976	110	9	…	…	PUNCT
alkej-976	110	10	(	(	PUNCT
alkej-976	110	11	15	15	X
alkej-976	110	12	)	)	PUNCT
alkej-976	110	13	ө̇𝑚2	ө̇𝑚2	PROPN
alkej-976	110	14	=	=	SYM
alkej-976	110	15	𝑇𝑚2	𝑇𝑚2	NOUN
alkej-976	110	16	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	110	17	+	+	CCONJ
alkej-976	110	18	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	ADJ
alkej-976	110	19	𝑚𝑟∗𝑔𝑚	𝑚𝑟∗𝑔𝑚	PROPN
alkej-976	110	20	…	…	PUNCT
alkej-976	110	21	(	(	PUNCT
alkej-976	110	22	16	16	X
alkej-976	110	23	)	)	PUNCT
alkej-976	110	24	taher	taher	PROPN
alkej-976	110	25	sachit	sachit	VERB
alkej-976	110	26	taher	taher	PROPN
alkej-976	110	27	al	al	PROPN
alkej-976	110	28	-	-	PUNCT
alkej-976	110	29	khwarizmi	khwarizmi	PROPN
alkej-976	110	30	engineering	engineering	NOUN
alkej-976	110	31	journal	journal	PROPN
alkej-976	110	32	,	,	PUNCT
alkej-976	110	33	vol	vol	NOUN
alkej-976	110	34	.	.	PROPN
alkej-976	110	35	21	21	NUM
alkej-976	110	36	,	,	PUNCT
alkej-976	110	37	no.1	no.1	NUM
alkej-976	110	38	,	,	PUNCT
alkej-976	110	39	pp	pp	ADJ
alkej-976	110	40	.	.	PUNCT
alkej-976	111	1	6172	6172	NUM
alkej-976	111	2	(	(	PUNCT
alkej-976	111	3	2025	2025	NUM
alkej-976	111	4	)	)	PUNCT
alkej-976	111	5	65	65	NUM
alkej-976	111	6	�	�	PROPN
alkej-976	111	7	̇	̇	NOUN
alkej-976	111	8	�	�	PROPN
alkej-976	111	9	𝑡	𝑡	PROPN
alkej-976	111	10	=	=	PROPN
alkej-976	111	11	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	NOUN
alkej-976	112	1	𝑚𝑟∗𝑔𝑟	𝑚𝑟∗𝑔𝑟	INTJ
alkej-976	112	2	−	−	PROPN
alkej-976	112	3	𝑣𝑡	𝑣𝑡	ADP
alkej-976	112	4	𝑗𝑡	𝑗𝑡	NOUN
alkej-976	112	5	…	…	PUNCT
alkej-976	112	6	(	(	PUNCT
alkej-976	112	7	17	17	NUM
alkej-976	112	8	)	)	PUNCT
alkej-976	112	9	the	the	DET
alkej-976	112	10	state	state	NOUN
alkej-976	112	11	space	space	NOUN
alkej-976	112	12	model	model	NOUN
alkej-976	112	13	of	of	ADP
alkej-976	112	14	the	the	DET
alkej-976	112	15	front	front	ADJ
alkej-976	112	16	wheel	wheel	NOUN
alkej-976	112	17	subsystem	subsystem	NOUN
alkej-976	112	18	is	be	AUX
alkej-976	112	19	�	�	PROPN
alkej-976	112	20	̈	̈	X
alkej-976	112	21	�	�	NOUN
alkej-976	112	22	(𝑡	(𝑡	NOUN
alkej-976	112	23	)	)	PUNCT
alkej-976	112	24	=	=	PUNCT
alkej-976	113	1	𝐴𝑓	𝐴𝑓	PROPN
alkej-976	113	2	𝑋(𝑡	𝑋(𝑡	NUM
alkej-976	113	3	)	)	PUNCT
alkej-976	113	4	+	+	X
alkej-976	113	5	𝐵𝑓𝑈(𝑡	𝐵𝑓𝑈(𝑡	NOUN
alkej-976	113	6	)	)	PUNCT
alkej-976	113	7	.	.	PUNCT
alkej-976	114	1	…	…	PUNCT
alkej-976	114	2	(	(	PUNCT
alkej-976	114	3	18	18	NUM
alkej-976	114	4	)	)	PUNCT
alkej-976	114	5	the	the	DET
alkej-976	114	6	output	output	NOUN
alkej-976	114	7	angle	angle	NOUN
alkej-976	114	8	of	of	ADP
alkej-976	114	9	the	the	DET
alkej-976	114	10	steering	steering	NOUN
alkej-976	114	11	motor	motor	NOUN
alkej-976	114	12	represents	represent	VERB
alkej-976	114	13	the	the	DET
alkej-976	114	14	input	input	NOUN
alkej-976	114	15	to	to	ADP
alkej-976	114	16	the	the	DET
alkej-976	114	17	front	front	ADJ
alkej-976	114	18	wheel	wheel	NOUN
alkej-976	114	19	subsystem	subsystem	NOUN
alkej-976	114	20	:	:	PUNCT
alkej-976	114	21	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	114	22	)	)	PUNCT
alkej-976	114	23	=	=	PRON
alkej-976	114	24	[	[	PUNCT
alkej-976	114	25	ө𝑚1	ө𝑚1	NOUN
alkej-976	114	26	]	]	X
alkej-976	114	27	𝑇.	𝑇.	PROPN
alkej-976	114	28	the	the	DET
alkej-976	114	29	output	output	NOUN
alkej-976	114	30	and	and	CCONJ
alkej-976	114	31	state	state	NOUN
alkej-976	114	32	of	of	ADP
alkej-976	114	33	the	the	DET
alkej-976	114	34	front	front	ADJ
alkej-976	114	35	wheel	wheel	NOUN
alkej-976	114	36	subsystem	subsystem	NOUN
alkej-976	114	37	:	:	PUNCT
alkej-976	114	38	𝑦(𝑡	𝑦(𝑡	NUM
alkej-976	114	39	)	)	PUNCT
alkej-976	114	40	=	=	SYM
alkej-976	114	41	𝐶𝑓𝑋(𝑡	𝐶𝑓𝑋(𝑡	NUM
alkej-976	114	42	)	)	PUNCT
alkej-976	115	1	+	+	CCONJ
alkej-976	116	1	𝐷𝑓	𝐷𝑓	PROPN
alkej-976	116	2	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	116	3	)	)	PUNCT
alkej-976	116	4	…	…	PUNCT
alkej-976	116	5	(	(	PUNCT
alkej-976	116	6	19	19	NUM
alkej-976	116	7	)	)	PUNCT
alkej-976	116	8	𝑋(𝑡	𝑋(𝑡	PROPN
alkej-976	116	9	)	)	PUNCT
alkej-976	116	10	=	=	PUNCT
alkej-976	117	1	[	[	X
alkej-976	117	2	𝑖2	𝑖2	PROPN
alkej-976	117	3	𝑇𝑚2	𝑇𝑚2	NOUN
alkej-976	117	4	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	PROPN
alkej-976	117	5	𝛿𝑓	𝛿𝑓	ADP
alkej-976	117	6	ө𝑚2	ө𝑚2	PROPN
alkej-976	117	7	𝑣𝑡	𝑣𝑡	ADP
alkej-976	117	8	]	]	PUNCT
alkej-976	117	9	𝑇	𝑇	PROPN
alkej-976	117	10	…	…	PUNCT
alkej-976	117	11	(	(	PUNCT
alkej-976	117	12	20	20	NUM
alkej-976	117	13	)	)	PUNCT
alkej-976	117	14	the	the	DET
alkej-976	117	15	outputs	output	NOUN
alkej-976	117	16	of	of	ADP
alkej-976	117	17	the	the	DET
alkej-976	117	18	front	front	ADJ
alkej-976	117	19	wheel	wheel	NOUN
alkej-976	117	20	system	system	NOUN
alkej-976	117	21	are	be	AUX
alkej-976	117	22	the	the	DET
alkej-976	117	23	front	front	ADJ
alkej-976	117	24	motor	motor	NOUN
alkej-976	117	25	angle	angle	NOUN
alkej-976	117	26	and	and	CCONJ
alkej-976	117	27	the	the	DET
alkej-976	117	28	wheel	wheel	NOUN
alkej-976	117	29	angle	angle	NOUN
alkej-976	117	30	:	:	PUNCT
alkej-976	117	31	𝐴𝑓	𝐴𝑓	NOUN
alkej-976	117	32	=	=	PUNCT
alkej-976	117	33	[	[	PUNCT
alkej-976	117	34	(	(	PUNCT
alkej-976	117	35	−	−	PROPN
alkej-976	117	36	𝑅2	𝑅2	NOUN
alkej-976	117	37	𝐿2	𝐿2	PROPN
alkej-976	117	38	)	)	PUNCT
alkej-976	118	1	(	(	PUNCT
alkej-976	118	2	−	−	PROPN
alkej-976	118	3	𝐾𝑏2	𝐾𝑏2	ADJ
alkej-976	118	4	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	118	5	)	)	PUNCT
alkej-976	118	6	0	0	NUM
alkej-976	119	1	0	0	NUM
alkej-976	119	2	0	0	NUM
alkej-976	119	3	0	0	NUM
alkej-976	119	4	(	(	PUNCT
alkej-976	119	5	𝐾𝑏2	𝐾𝑏2	X
alkej-976	119	6	𝐿2	𝐿2	PROPN
alkej-976	119	7	)	)	PUNCT
alkej-976	119	8	(	(	PUNCT
alkej-976	119	9	−	−	PROPN
alkej-976	119	10	𝑏𝑚2	𝑏𝑚2	PROPN
alkej-976	119	11	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	119	12	)	)	PUNCT
alkej-976	120	1	0	0	NUM
alkej-976	120	2	0	0	NUM
alkej-976	121	1	(	(	PUNCT
alkej-976	121	2	−	−	PROPN
alkej-976	121	3	1	1	NUM
alkej-976	121	4	𝐶𝑚2	𝐶𝑚2	NOUN
alkej-976	121	5	)	)	PUNCT
alkej-976	121	6	0	0	NUM
alkej-976	122	1	0	0	NUM
alkej-976	122	2	0	0	NUM
alkej-976	122	3	0	0	NUM
alkej-976	123	1	(	(	PUNCT
alkej-976	123	2	−	−	PROPN
alkej-976	123	3	𝐵𝑡	𝐵𝑡	PROPN
alkej-976	123	4	𝐽𝑡	𝐽𝑡	PROPN
alkej-976	123	5	)	)	PUNCT
alkej-976	123	6	0	0	PUNCT
alkej-976	124	1	(	(	PUNCT
alkej-976	124	2	1	1	NUM
alkej-976	124	3	𝐶𝑡	𝐶𝑡	PROPN
alkej-976	124	4	)	)	PUNCT
alkej-976	124	5	0	0	PUNCT
alkej-976	125	1	(	(	PUNCT
alkej-976	125	2	1	1	NUM
alkej-976	125	3	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	125	4	)	)	PUNCT
alkej-976	126	1	(	(	PUNCT
alkej-976	126	2	−	−	PROPN
alkej-976	126	3	1	1	NUM
alkej-976	126	4	𝑔𝑚+𝑚𝑟	𝑔𝑚+𝑚𝑟	NOUN
alkej-976	126	5	)	)	PUNCT
alkej-976	126	6	0	0	NUM
alkej-976	127	1	0	0	NUM
alkej-976	127	2	0	0	NUM
alkej-976	127	3	0	0	NUM
alkej-976	127	4	0	0	NUM
alkej-976	127	5	(	(	PUNCT
alkej-976	127	6	1	1	NUM
alkej-976	127	7	𝑔𝑟+𝑚𝑟	𝑔𝑟+𝑚𝑟	NOUN
alkej-976	127	8	)	)	PUNCT
alkej-976	127	9	(	(	PUNCT
alkej-976	127	10	−	−	PROPN
alkej-976	127	11	1	1	NUM
alkej-976	127	12	𝐽𝑡	𝐽𝑡	PROPN
alkej-976	127	13	)	)	PUNCT
alkej-976	127	14	0	0	NUM
alkej-976	127	15	0	0	NUM
alkej-976	127	16	]	]	PUNCT
alkej-976	127	17	,	,	PUNCT
alkej-976	127	18	…	…	PUNCT
alkej-976	127	19	(	(	PUNCT
alkej-976	128	1	21	21	NUM
alkej-976	128	2	)	)	PUNCT
alkej-976	128	3	𝐵𝑓	𝐵𝑓	PROPN
alkej-976	128	4	=	=	PUNCT
alkej-976	129	1	[	[	PUNCT
alkej-976	129	2	1	1	NUM
alkej-976	129	3	0	0	NUM
alkej-976	129	4	0	0	NUM
alkej-976	129	5	0	0	NUM
alkej-976	129	6	0	0	NUM
alkej-976	129	7	]	]	PUNCT
alkej-976	129	8	,	,	PUNCT
alkej-976	129	9	…	…	PUNCT
alkej-976	129	10	(	(	PUNCT
alkej-976	129	11	22	22	NUM
alkej-976	129	12	)	)	PUNCT
alkej-976	129	13	𝐶𝑓	𝐶𝑓	NOUN
alkej-976	129	14	=	=	PUNCT
alkej-976	130	1	[	[	PUNCT
alkej-976	130	2	0	0	NUM
alkej-976	130	3	0	0	NUM
alkej-976	130	4	0	0	NUM
alkej-976	130	5	1	1	NUM
alkej-976	130	6	0	0	NUM
alkej-976	130	7	0	0	NUM
alkej-976	130	8	0	0	NUM
alkej-976	130	9	0	0	NUM
alkej-976	130	10	0	0	NUM
alkej-976	130	11	0	0	NUM
alkej-976	130	12	1	1	NUM
alkej-976	130	13	0	0	NUM
alkej-976	130	14	]	]	PUNCT
alkej-976	130	15	,	,	PUNCT
alkej-976	130	16	…	…	PUNCT
alkej-976	130	17	(	(	PUNCT
alkej-976	130	18	23	23	NUM
alkej-976	130	19	)	)	PUNCT
alkej-976	130	20	𝐷𝑓	𝐷𝑓	NOUN
alkej-976	130	21	=	=	SYM
alkej-976	130	22	0	0	NUM
alkej-976	130	23	,	,	PUNCT
alkej-976	130	24	where	where	SCONJ
alkej-976	130	25	br	br	PROPN
alkej-976	130	26	(	(	PUNCT
alkej-976	130	27	n.m	n.m	PROPN
alkej-976	130	28	/	/	SYM
alkej-976	130	29	rad	rad	NOUN
alkej-976	130	30	)	)	PUNCT
alkej-976	130	31	is	be	AUX
alkej-976	130	32	the	the	DET
alkej-976	130	33	resistance	resistance	NOUN
alkej-976	130	34	rack	rack	NOUN
alkej-976	130	35	,	,	PUNCT
alkej-976	130	36	mr	mr	PROPN
alkej-976	130	37	(	(	PUNCT
alkej-976	130	38	kg	kg	PROPN
alkej-976	130	39	)	)	PUNCT
alkej-976	130	40	is	be	AUX
alkej-976	130	41	the	the	DET
alkej-976	130	42	mass	mass	NOUN
alkej-976	130	43	rack	rack	NOUN
alkej-976	130	44	,	,	PUNCT
alkej-976	130	45	cm2	cm2	PROPN
alkej-976	130	46	(	(	PUNCT
alkej-976	130	47	n.m	n.m	PROPN
alkej-976	130	48	/	/	SYM
alkej-976	130	49	s	s	PART
alkej-976	130	50	)	)	PUNCT
alkej-976	130	51	is	be	AUX
alkej-976	130	52	the	the	DET
alkej-976	130	53	front	front	ADJ
alkej-976	130	54	motor	motor	NOUN
alkej-976	130	55	shaft	shaft	NOUN
alkej-976	130	56	compliance	compliance	NOUN
alkej-976	130	57	,	,	PUNCT
alkej-976	130	58	gm	gm	PROPN
alkej-976	130	59	(	(	PUNCT
alkej-976	130	60	m	m	NOUN
alkej-976	130	61	)	)	PUNCT
alkej-976	131	1	is	be	AUX
alkej-976	131	2	the	the	DET
alkej-976	131	3	column	column	NOUN
alkej-976	131	4	pinion	pinion	NOUN
alkej-976	131	5	radius	radius	NOUN
alkej-976	131	6	,	,	PUNCT
alkej-976	131	7	gr	gr	PROPN
alkej-976	131	8	(	(	PUNCT
alkej-976	131	9	m	m	NOUN
alkej-976	131	10	)	)	PUNCT
alkej-976	131	11	is	be	AUX
alkej-976	131	12	the	the	DET
alkej-976	131	13	length	length	NOUN
alkej-976	131	14	ratio	ratio	NOUN
alkej-976	131	15	steering	steering	NOUN
alkej-976	131	16	arm	arm	NOUN
alkej-976	131	17	,	,	PUNCT
alkej-976	131	18	ct	ct	PROPN
alkej-976	131	19	(	(	PUNCT
alkej-976	131	20	rad	rad	PROPN
alkej-976	131	21	/	/	SYM
alkej-976	131	22	n.m	n.m	NOUN
alkej-976	131	23	)	)	PUNCT
alkej-976	131	24	is	be	AUX
alkej-976	131	25	the	the	DET
alkej-976	131	26	compliance	compliance	NOUN
alkej-976	131	27	of	of	ADP
alkej-976	131	28	the	the	DET
alkej-976	131	29	tire	tire	NOUN
alkej-976	131	30	rod	rod	NOUN
alkej-976	131	31	,	,	PUNCT
alkej-976	131	32	bt	bt	PROPN
alkej-976	131	33	(	(	PUNCT
alkej-976	131	34	n.m.s	n.m.s	PROPN
alkej-976	131	35	/	/	SYM
alkej-976	131	36	rad	rad	NOUN
alkej-976	131	37	)	)	PUNCT
alkej-976	131	38	is	be	AUX
alkej-976	131	39	the	the	DET
alkej-976	131	40	resistance	resistance	NOUN
alkej-976	131	41	of	of	ADP
alkej-976	131	42	the	the	DET
alkej-976	131	43	tire	tire	NOUN
alkej-976	131	44	rod	rod	NOUN
alkej-976	131	45	,	,	PUNCT
alkej-976	131	46	jt	jt	PROPN
alkej-976	131	47	(	(	PUNCT
alkej-976	131	48	kg.m2	kg.m2	NOUN
alkej-976	131	49	)	)	PUNCT
alkej-976	131	50	is	be	AUX
alkej-976	131	51	the	the	DET
alkej-976	131	52	inertia	inertia	NOUN
alkej-976	131	53	of	of	ADP
alkej-976	131	54	tire	tire	NOUN
alkej-976	131	55	,	,	PUNCT
alkej-976	131	56	vt	vt	PROPN
alkej-976	131	57	(	(	PUNCT
alkej-976	131	58	km	km	PROPN
alkej-976	131	59	/	/	SYM
alkej-976	131	60	h	h	NOUN
alkej-976	131	61	)	)	PUNCT
alkej-976	131	62	is	be	AUX
alkej-976	131	63	the	the	DET
alkej-976	131	64	tire	tire	NOUN
alkej-976	131	65	rod	rod	NOUN
alkej-976	131	66	velocity	velocity	NOUN
alkej-976	131	67	,	,	PUNCT
alkej-976	131	68	kb2	kb2	NOUN
alkej-976	131	69	(	(	PUNCT
alkej-976	131	70	v	v	NOUN
alkej-976	131	71	)	)	PUNCT
alkej-976	131	72	is	be	AUX
alkej-976	131	73	the	the	DET
alkej-976	131	74	front	front	ADJ
alkej-976	131	75	-	-	PUNCT
alkej-976	131	76	wheel	wheel	NOUN
alkej-976	131	77	motor	motor	NOUN
alkej-976	131	78	emf	emf	NOUN
alkej-976	131	79	constant	constant	ADJ
alkej-976	131	80	,	,	PUNCT
alkej-976	131	81	jm2	jm2	PROPN
alkej-976	131	82	(	(	PUNCT
alkej-976	131	83	kg.m2	kg.m2	NOUN
alkej-976	131	84	)	)	PUNCT
alkej-976	131	85	is	be	AUX
alkej-976	131	86	the	the	DET
alkej-976	131	87	front	front	ADJ
alkej-976	131	88	motor	motor	NOUN
alkej-976	131	89	inertia	inertia	NOUN
alkej-976	131	90	,	,	PUNCT
alkej-976	131	91	and	and	CCONJ
alkej-976	131	92	bm2	bm2	NOUN
alkej-976	131	93	(	(	PUNCT
alkej-976	131	94	n.m.s	n.m.s	PROPN
alkej-976	131	95	/	/	SYM
alkej-976	131	96	rad	rad	NOUN
alkej-976	131	97	)	)	PUNCT
alkej-976	131	98	is	be	AUX
alkej-976	131	99	the	the	DET
alkej-976	131	100	front	front	ADJ
alkej-976	131	101	motor	motor	NOUN
alkej-976	131	102	damping	damping	NOUN
alkej-976	131	103	.	.	PUNCT
alkej-976	132	1	3	3	X
alkej-976	132	2	.	.	X
alkej-976	132	3	controller	controller	NOUN
alkej-976	132	4	design	design	NOUN
alkej-976	132	5	this	this	DET
alkej-976	132	6	stage	stage	NOUN
alkej-976	132	7	discusses	discuss	VERB
alkej-976	132	8	the	the	DET
alkej-976	132	9	plan	plan	NOUN
alkej-976	132	10	of	of	ADP
alkej-976	132	11	a	a	DET
alkej-976	132	12	controller	controller	NOUN
alkej-976	132	13	that	that	PRON
alkej-976	132	14	coordinates	coordinate	VERB
alkej-976	132	15	mpc	mpc	NOUN
alkej-976	132	16	with	with	ADP
alkej-976	132	17	pso	pso	NOUN
alkej-976	132	18	to	to	PART
alkej-976	132	19	obtain	obtain	VERB
alkej-976	132	20	accurate	accurate	ADJ
alkej-976	132	21	and	and	CCONJ
alkej-976	132	22	appropriate	appropriate	ADJ
alkej-976	132	23	control	control	NOUN
alkej-976	132	24	over	over	ADP
alkej-976	132	25	the	the	DET
alkej-976	132	26	routing	routing	NOUN
alkej-976	132	27	framework	framework	NOUN
alkej-976	132	28	.	.	PUNCT
alkej-976	133	1	this	this	DET
alkej-976	133	2	approach	approach	NOUN
alkej-976	133	3	leverages	leverage	VERB
alkej-976	133	4	the	the	DET
alkej-976	133	5	prescient	prescient	NOUN
alkej-976	133	6	and	and	CCONJ
alkej-976	133	7	controlling	control	VERB
alkej-976	133	8	gifts	gift	NOUN
alkej-976	133	9	of	of	ADP
alkej-976	133	10	mpc	mpc	NOUN
alkej-976	133	11	in	in	ADP
alkej-976	133	12	conjunction	conjunction	NOUN
alkej-976	133	13	with	with	ADP
alkej-976	133	14	the	the	DET
alkej-976	133	15	parameter	parameter	NOUN
alkej-976	133	16	optimisation	optimisation	NOUN
alkej-976	133	17	qualities	quality	NOUN
alkej-976	133	18	of	of	ADP
alkej-976	133	19	pso	pso	NOUN
alkej-976	133	20	to	to	PART
alkej-976	133	21	pick	pick	VERB
alkej-976	133	22	up	up	ADP
alkej-976	133	23	the	the	DET
alkej-976	133	24	most	most	ADV
alkej-976	133	25	dependable	dependable	ADJ
alkej-976	133	26	execution	execution	NOUN
alkej-976	133	27	.	.	PUNCT
alkej-976	134	1	3.1	3.1	NUM
alkej-976	134	2	mpc	mpc	NOUN
alkej-976	134	3	algorithm	algorithm	NOUN
alkej-976	134	4	one	one	NUM
alkej-976	134	5	effective	effective	ADJ
alkej-976	134	6	and	and	CCONJ
alkej-976	134	7	adaptable	adaptable	ADJ
alkej-976	134	8	control	control	NOUN
alkej-976	134	9	method	method	NOUN
alkej-976	134	10	that	that	PRON
alkej-976	134	11	is	be	AUX
alkej-976	134	12	frequently	frequently	ADV
alkej-976	134	13	applied	apply	VERB
alkej-976	134	14	to	to	ADP
alkej-976	134	15	dynamic	dynamic	ADJ
alkej-976	134	16	systems	system	NOUN
alkej-976	134	17	is	be	AUX
alkej-976	134	18	mpc	mpc	PROPN
alkej-976	134	19	.	.	PUNCT
alkej-976	135	1	it	it	PRON
alkej-976	135	2	works	work	VERB
alkej-976	135	3	especially	especially	ADV
alkej-976	135	4	well	well	ADV
alkej-976	135	5	in	in	ADP
alkej-976	135	6	situations	situation	NOUN
alkej-976	135	7	such	such	ADJ
alkej-976	135	8	as	as	ADP
alkej-976	135	9	sbw	sbw	PROPN
alkej-976	135	10	systems	system	NOUN
alkej-976	135	11	where	where	SCONJ
alkej-976	135	12	managing	managing	NOUN
alkej-976	135	13	restrictions	restriction	NOUN
alkej-976	135	14	is	be	AUX
alkej-976	135	15	essential	essential	ADJ
alkej-976	135	16	.	.	PUNCT
alkej-976	136	1	using	use	VERB
alkej-976	136	2	a	a	DET
alkej-976	136	3	mathematical	mathematical	ADJ
alkej-976	136	4	model	model	NOUN
alkej-976	136	5	,	,	PUNCT
alkej-976	136	6	mpc	mpc	PROPN
alkej-976	136	7	forecasts	forecast	VERB
alkej-976	136	8	a	a	DET
alkej-976	136	9	system	system	NOUN
alkej-976	136	10	’s	’s	PART
alkej-976	136	11	future	future	ADJ
alkej-976	136	12	behaviour	behaviour	NOUN
alkej-976	136	13	and	and	CCONJ
alkej-976	136	14	determines	determine	VERB
alkej-976	136	15	the	the	DET
alkej-976	136	16	best	good	ADJ
alkej-976	136	17	course	course	NOUN
alkej-976	136	18	of	of	ADP
alkej-976	136	19	action	action	NOUN
alkej-976	136	20	for	for	ADP
alkej-976	136	21	control	control	NOUN
alkej-976	136	22	to	to	PART
alkej-976	136	23	reach	reach	VERB
alkej-976	136	24	the	the	DET
alkej-976	136	25	intended	intend	VERB
alkej-976	136	26	performance	performance	NOUN
alkej-976	136	27	.	.	PUNCT
alkej-976	137	1	to	to	PART
alkej-976	137	2	minimise	minimise	VERB
alkej-976	137	3	a	a	DET
alkej-976	137	4	cost	cost	NOUN
alkej-976	137	5	function	function	NOUN
alkej-976	137	6	,	,	PUNCT
alkej-976	137	7	which	which	PRON
alkej-976	137	8	usually	usually	ADV
alkej-976	137	9	represents	represent	VERB
alkej-976	137	10	the	the	DET
alkej-976	137	11	departure	departure	NOUN
alkej-976	137	12	from	from	ADP
alkej-976	137	13	the	the	DET
alkej-976	137	14	intended	intend	VERB
alkej-976	137	15	system	system	NOUN
alkej-976	137	16	trajectory	trajectory	NOUN
alkej-976	137	17	whilst	whilst	SCONJ
alkej-976	137	18	considering	consider	VERB
alkej-976	137	19	system	system	NOUN
alkej-976	137	20	restrictions	restriction	NOUN
alkej-976	137	21	,	,	PUNCT
alkej-976	137	22	mpc	mpc	PROPN
alkej-976	137	23	solves	solve	VERB
alkej-976	137	24	an	an	DET
alkej-976	137	25	optimisation	optimisation	NOUN
alkej-976	137	26	problem	problem	NOUN
alkej-976	137	27	at	at	ADP
alkej-976	137	28	each	each	DET
alkej-976	137	29	time	time	NOUN
alkej-976	137	30	step	step	NOUN
alkej-976	137	31	.	.	PUNCT
alkej-976	138	1	this	this	DET
alkej-976	138	2	control	control	NOUN
alkej-976	138	3	strategy	strategy	NOUN
alkej-976	138	4	is	be	AUX
alkej-976	138	5	based	base	VERB
alkej-976	138	6	on	on	ADP
alkej-976	138	7	the	the	DET
alkej-976	138	8	representation	representation	NOUN
alkej-976	138	9	of	of	ADP
alkej-976	138	10	system	system	NOUN
alkej-976	138	11	dynamics	dynamic	NOUN
alkej-976	138	12	using	use	VERB
alkej-976	138	13	a	a	DET
alkej-976	138	14	state	state	NOUN
alkej-976	138	15	space	space	NOUN
alkej-976	138	16	model	model	NOUN
alkej-976	138	17	.	.	PUNCT
alkej-976	139	1	the	the	DET
alkej-976	139	2	basic	basic	ADJ
alkej-976	139	3	model	model	NOUN
alkej-976	139	4	utilised	utilise	VERB
alkej-976	139	5	in	in	ADP
alkej-976	139	6	mpc	mpc	PROPN
alkej-976	139	7	,	,	PUNCT
alkej-976	139	8	which	which	PRON
alkej-976	139	9	is	be	AUX
alkej-976	139	10	typically	typically	ADV
alkej-976	139	11	described	describe	VERB
alkej-976	139	12	in	in	ADP
alkej-976	139	13	the	the	DET
alkej-976	139	14	state	state	NOUN
alkej-976	139	15	space	space	NOUN
alkej-976	139	16	form	form	NOUN
alkej-976	139	17	,	,	PUNCT
alkej-976	139	18	must	must	AUX
alkej-976	139	19	be	be	AUX
alkej-976	139	20	presented	present	VERB
alkej-976	139	21	before	before	ADP
alkej-976	139	22	going	go	VERB
alkej-976	139	23	into	into	ADP
alkej-976	139	24	the	the	DET
alkej-976	139	25	specific	specific	ADJ
alkej-976	139	26	mathematical	mathematical	ADJ
alkej-976	139	27	formulation	formulation	NOUN
alkej-976	139	28	.	.	PUNCT
alkej-976	140	1	the	the	DET
alkej-976	140	2	system	system	NOUN
alkej-976	140	3	dynamics	dynamic	NOUN
alkej-976	140	4	in	in	ADP
alkej-976	140	5	mpc	mpc	PROPN
alkej-976	140	6	consists	consist	NOUN
alkej-976	140	7	of	of	ADP
alkej-976	140	8	system	system	NOUN
alkej-976	140	9	matrices	matrice	VERB
alkej-976	140	10	a	a	DET
alkej-976	140	11	,	,	PUNCT
alkej-976	140	12	b	b	NOUN
alkej-976	140	13	,	,	PUNCT
alkej-976	140	14	and	and	CCONJ
alkej-976	140	15	c[7][8][11][15	c[7][8][11][15	VERB
alkej-976	140	16	]	]	X
alkej-976	140	17	:	:	PUNCT
alkej-976	141	1	𝑍𝑘+v|𝑘	𝑍𝑘+v|𝑘	X
alkej-976	141	2	=	=	PUNCT
alkej-976	141	3	𝐶𝐴𝑣𝑋𝑘	𝐶𝐴𝑣𝑋𝑘	PROPN
alkej-976	141	4	+	+	PUNCT
alkej-976	142	1	[	[	X
alkej-976	142	2	c𝐴𝑣−1	c𝐴𝑣−1	X
alkej-976	142	3	𝐶𝐴𝑣−2𝐵	𝐶𝐴𝑣−2𝐵	NOUN
alkej-976	142	4	…	…	PUNCT
alkej-976	142	5	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
alkej-976	142	6	𝐶𝐵	𝐶𝐵	PROPN
alkej-976	142	7	]	]	X
alkej-976	142	8	[	[	PUNCT
alkej-976	142	9	𝑈𝑘|𝑘	𝑈𝑘|𝑘	X
alkej-976	142	10	𝑈𝑘+1|𝑘	𝑈𝑘+1|𝑘	PROPN
alkej-976	142	11	𝑈𝑘+2|𝑘	𝑈𝑘+2|𝑘	X
alkej-976	142	12	.	.	PUNCT
alkej-976	142	13	.	.	PUNCT
alkej-976	143	1	.	.	PUNCT
alkej-976	144	1	𝑈𝑘+𝑣−2|𝑘	𝑈𝑘+𝑣−2|𝑘	NUM
alkej-976	145	1	𝑈𝑘+𝑣−1|𝑘	𝑈𝑘+𝑣−1|𝑘	NUM
alkej-976	145	2	]	]	PUNCT
alkej-976	145	3	,	,	PUNCT
alkej-976	145	4	…	…	PUNCT
alkej-976	145	5	(	(	PUNCT
alkej-976	145	6	24	24	NUM
alkej-976	145	7	)	)	PUNCT
alkej-976	146	1	[	[	X
alkej-976	146	2	16	16	NUM
alkej-976	146	3	]	]	PUNCT
alkej-976	146	4	where	where	SCONJ
alkej-976	146	5	𝑍𝑘	𝑍𝑘	PROPN
alkej-976	146	6	∈	∈	PROPN
alkej-976	146	7	ℝ𝑟	ℝ𝑟	ADP
alkej-976	146	8	is	be	AUX
alkej-976	146	9	the	the	DET
alkej-976	146	10	output	output	NOUN
alkej-976	146	11	that	that	PRON
alkej-976	146	12	needs	need	VERB
alkej-976	146	13	to	to	PART
alkej-976	146	14	be	be	AUX
alkej-976	146	15	controlled	control	VERB
alkej-976	146	16	,	,	PUNCT
alkej-976	146	17	and	and	CCONJ
alkej-976	146	18	𝑣	𝑣	PRON
alkej-976	146	19	is	be	AUX
alkej-976	146	20	the	the	DET
alkej-976	146	21	control	control	NOUN
alkej-976	146	22	horizon	horizon	NOUN
alkej-976	146	23	.	.	PUNCT
alkej-976	147	1	the	the	DET
alkej-976	147	2	predictive	predictive	NOUN
alkej-976	147	3	for	for	ADP
alkej-976	147	4	the	the	DET
alkej-976	147	5	final	final	ADJ
alkej-976	147	6	step	step	NOUN
alkej-976	147	7	(	(	PUNCT
alkej-976	147	8	k+f	k+f	NUM
alkej-976	147	9	)	)	PUNCT
alkej-976	147	10	can	can	AUX
alkej-976	147	11	be	be	AUX
alkej-976	147	12	obtained	obtain	VERB
alkej-976	147	13	by	by	ADP
alkej-976	147	14	𝑍𝑘+f|𝑘	𝑍𝑘+f|𝑘	PUNCT
alkej-976	147	15	=	=	SYM
alkej-976	147	16	𝐶𝐴𝑓𝑋𝑘	𝐶𝐴𝑓𝑋𝑘	NOUN
alkej-976	147	17	+	+	X
alkej-976	148	1	[	[	X
alkej-976	148	2	c𝐴𝑓−1	c𝐴𝑓−1	X
alkej-976	148	3	𝐶𝐴𝑓−2𝐵	𝐶𝐴𝑓−2𝐵	NOUN
alkej-976	148	4	…	…	PUNCT
alkej-976	148	5	𝐶𝐴𝑓−𝑣+1𝐵	𝐶𝐴𝑓−𝑣+1𝐵	PROPN
alkej-976	148	6	𝐶𝐴	𝐶𝐴	PROPN
alkej-976	148	7	�	�	PROPN
alkej-976	148	8	̅	̅	NOUN
alkej-976	148	9	�	�	NOUN
alkej-976	148	10	,𝑣𝐵	,𝑣𝐵	PUNCT
alkej-976	148	11	]	]	X
alkej-976	148	12	[	[	PUNCT
alkej-976	148	13	𝑈𝑘|𝑘	𝑈𝑘|𝑘	X
alkej-976	148	14	𝑈𝑘+1|𝑘	𝑈𝑘+1|𝑘	PROPN
alkej-976	148	15	𝑈𝑘+2|𝑘	𝑈𝑘+2|𝑘	X
alkej-976	148	16	.	.	PUNCT
alkej-976	148	17	.	.	PUNCT
alkej-976	149	1	.	.	PUNCT
alkej-976	150	1	𝑈𝑘+𝑣−2|𝑘	𝑈𝑘+𝑣−2|𝑘	NUM
alkej-976	151	1	𝑈𝑘+𝑣−1|𝑘	𝑈𝑘+𝑣−1|𝑘	NUM
alkej-976	151	2	]	]	PUNCT
alkej-976	151	3	,	,	PUNCT
alkej-976	151	4	…	…	PUNCT
alkej-976	151	5	(	(	PUNCT
alkej-976	151	6	25)[16	25)[16	NOUN
alkej-976	151	7	]	]	X
alkej-976	151	8	𝑍	𝑍	X
alkej-976	151	9	=	=	PUNCT
alkej-976	151	10	𝑂𝑋𝑘	𝑂𝑋𝑘	NOUN
alkej-976	151	11	+	+	CCONJ
alkej-976	151	12	𝑀𝑈	𝑀𝑈	PROPN
alkej-976	151	13	,	,	PUNCT
alkej-976	151	14	…	…	PUNCT
alkej-976	151	15	(	(	PUNCT
alkej-976	151	16	26)[16][19	26)[16][19	NUM
alkej-976	151	17	]	]	X
alkej-976	151	18	taher	taher	PROPN
alkej-976	151	19	sachit	sachit	VERB
alkej-976	151	20	taher	taher	PROPN
alkej-976	151	21	al	al	PROPN
alkej-976	151	22	-	-	PUNCT
alkej-976	151	23	khwarizmi	khwarizmi	PROPN
alkej-976	151	24	engineering	engineering	NOUN
alkej-976	151	25	journal	journal	PROPN
alkej-976	151	26	,	,	PUNCT
alkej-976	151	27	vol	vol	NOUN
alkej-976	151	28	.	.	PROPN
alkej-976	151	29	21	21	NUM
alkej-976	151	30	,	,	PUNCT
alkej-976	151	31	no.1	no.1	NUM
alkej-976	151	32	,	,	PUNCT
alkej-976	151	33	pp	pp	ADJ
alkej-976	151	34	.	.	PUNCT
alkej-976	152	1	6172	6172	NUM
alkej-976	152	2	(	(	PUNCT
alkej-976	152	3	2025	2025	NUM
alkej-976	152	4	)	)	PUNCT
alkej-976	152	5	66	66	NUM
alkej-976	152	6	𝑍	𝑍	NOUN
alkej-976	152	7	=	=	SYM
alkej-976	152	8	[	[	PUNCT
alkej-976	152	9	𝑍𝑘+1|𝑘	𝑍𝑘+1|𝑘	X
alkej-976	152	10	𝑍𝑘+2|𝑘	𝑍𝑘+2|𝑘	X
alkej-976	152	11	𝑍𝑘+3|𝑘	𝑍𝑘+3|𝑘	NOUN
alkej-976	152	12	.	.	PUNCT
alkej-976	152	13	.	.	PUNCT
alkej-976	153	1	𝑍𝑘+𝑣|𝑘	𝑍𝑘+𝑣|𝑘	PUNCT
alkej-976	154	1	𝑍𝑘+𝑣+1|𝑘	𝑍𝑘+𝑣+1|𝑘	PROPN
alkej-976	154	2	.	.	PUNCT
alkej-976	154	3	.	.	PUNCT
alkej-976	155	1	𝑍𝑘+𝑓|𝑘	𝑍𝑘+𝑓|𝑘	NOUN
alkej-976	155	2	]	]	PUNCT
alkej-976	155	3	,	,	PUNCT
alkej-976	155	4	𝑈	𝑈	PROPN
alkej-976	155	5	=	=	PUNCT
alkej-976	155	6	[	[	PUNCT
alkej-976	155	7	𝑈𝑘|𝑘	𝑈𝑘|𝑘	X
alkej-976	155	8	𝑈𝑘+1|𝑘	𝑈𝑘+1|𝑘	PROPN
alkej-976	155	9	𝑈𝑘+2|𝑘	𝑈𝑘+2|𝑘	X
alkej-976	155	10	.	.	PUNCT
alkej-976	155	11	.	.	PUNCT
alkej-976	156	1	.	.	PUNCT
alkej-976	157	1	𝑈𝑘+𝑣−2|𝑘	𝑈𝑘+𝑣−2|𝑘	NUM
alkej-976	158	1	𝑈𝑘+𝑣−1|𝑘	𝑈𝑘+𝑣−1|𝑘	NUM
alkej-976	158	2	]	]	PUNCT
alkej-976	158	3	,	,	PUNCT
alkej-976	158	4	𝑂	𝑂	NOUN
alkej-976	158	5	=	=	SYM
alkej-976	158	6	[	[	PUNCT
alkej-976	158	7	𝐶𝐴	𝐶𝐴	PROPN
alkej-976	158	8	𝐶𝐴2	𝐶𝐴2	PROPN
alkej-976	158	9	𝐶𝐴3	𝐶𝐴3	PROPN
alkej-976	158	10	.	.	PUNCT
alkej-976	158	11	.	.	PUNCT
alkej-976	159	1	𝐶𝐴𝑣	𝐶𝐴𝑣	NOUN
alkej-976	159	2	𝐶𝐴𝑣+1	𝐶𝐴𝑣+1	NOUN
alkej-976	159	3	.	.	PUNCT
alkej-976	159	4	.	.	PUNCT
alkej-976	160	1	𝐶𝐴𝑓	𝐶𝐴𝑓	NOUN
alkej-976	160	2	]	]	PUNCT
alkej-976	160	3	,	,	PUNCT
alkej-976	160	4	…	…	PUNCT
alkej-976	160	5	(	(	PUNCT
alkej-976	160	6	27)[20	27)[20	ADV
alkej-976	160	7	]	]	X
alkej-976	160	8	m=	m=	X
alkej-976	160	9	[	[	PUNCT
alkej-976	160	10	𝐶𝐵	𝐶𝐵	PROPN
alkej-976	160	11	0	0	NUM
alkej-976	160	12	0	0	NUM
alkej-976	160	13	0	0	NUM
alkej-976	160	14	…	…	SYM
alkej-976	160	15	0	0	NUM
alkej-976	160	16	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
alkej-976	160	17	𝐶𝐵	𝐶𝐵	PROPN
alkej-976	160	18	0	0	NUM
alkej-976	160	19	0	0	NUM
alkej-976	160	20	…	…	SYM
alkej-976	160	21	0	0	NUM
alkej-976	160	22	𝐶𝐴2𝐵	𝐶𝐴2𝐵	PROPN
alkej-976	160	23	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
alkej-976	160	24	𝐶𝐵	𝐶𝐵	PROPN
alkej-976	160	25	0	0	NUM
alkej-976	160	26	…	…	PUNCT
alkej-976	160	27	0	0	NUM
alkej-976	160	28	.	.	PUNCT
alkej-976	160	29	.	.	PUNCT
alkej-976	160	30	.	.	PUNCT
alkej-976	160	31	.	.	PUNCT
alkej-976	160	32	.	.	PUNCT
alkej-976	160	33	.	.	PUNCT
alkej-976	160	34	.	.	PUNCT
alkej-976	160	35	.	.	PUNCT
alkej-976	161	1	.	.	PUNCT
alkej-976	162	1	…	…	PUNCT
alkej-976	162	2	…	…	PUNCT
alkej-976	162	3	.	.	PUNCT
alkej-976	162	4	.	.	PUNCT
alkej-976	162	5	.	.	PUNCT
alkej-976	163	1	𝐶𝐴𝑣−1𝐵	𝐶𝐴𝑣−1𝐵	NOUN
alkej-976	163	2	𝐶𝐴𝑣−2𝐵	𝐶𝐴𝑣−2𝐵	ADJ
alkej-976	163	3	𝐶𝐴𝑣−3𝐵	𝐶𝐴𝑣−3𝐵	NOUN
alkej-976	163	4	…	…	PUNCT
alkej-976	163	5	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
alkej-976	163	6	𝐶𝐵	𝐶𝐵	NOUN
alkej-976	163	7	𝐶𝐴𝑣𝐵	𝐶𝐴𝑣𝐵	PROPN
alkej-976	163	8	𝐶𝐴𝑣−1𝐵	𝐶𝐴𝑣−1𝐵	VERB
alkej-976	163	9	𝐶𝐴𝑣−2𝐵	𝐶𝐴𝑣−2𝐵	NOUN
alkej-976	163	10	…	…	PUNCT
alkej-976	163	11	𝐶𝐴2𝐵	𝐶𝐴2𝐵	PROPN
alkej-976	163	12	𝐶𝐴̅	𝐶𝐴̅	PROPN
alkej-976	163	13	1,𝑣𝐵	1,𝑣𝐵	NUM
alkej-976	163	14	.	.	PUNCT
alkej-976	163	15	.	.	PUNCT
alkej-976	163	16	.	.	PUNCT
alkej-976	163	17	.	.	PUNCT
alkej-976	163	18	.	.	PUNCT
alkej-976	163	19	.	.	PUNCT
alkej-976	163	20	.	.	PUNCT
alkej-976	163	21	.	.	PUNCT
alkej-976	163	22	.	.	PUNCT
alkej-976	163	23	.	.	PUNCT
alkej-976	163	24	.	.	PUNCT
alkej-976	163	25	.	.	PUNCT
alkej-976	164	1	…	…	PUNCT
alkej-976	164	2	.	.	PUNCT
alkej-976	164	3	.	.	PUNCT
alkej-976	164	4	.	.	PUNCT
alkej-976	165	1	𝐶𝐴𝑓𝐵	𝐶𝐴𝑓𝐵	ADJ
alkej-976	165	2	𝐶𝐴𝑓−1𝐵	𝐶𝐴𝑓−1𝐵	NOUN
alkej-976	165	3	𝐶𝐴𝑓−2𝐵	𝐶𝐴𝑓−2𝐵	NOUN
alkej-976	165	4	…	…	PUNCT
alkej-976	165	5	𝐶𝐴𝑓−𝑣+1𝐵	𝐶𝐴𝑓−𝑣+1𝐵	PROPN
alkej-976	165	6	𝐶𝐴̅	𝐶𝐴̅	ADJ
alkej-976	165	7	𝑓,𝑣	𝑓,𝑣	PROPN
alkej-976	165	8	𝐵	𝐵	PROPN
alkej-976	165	9	]	]	PUNCT
alkej-976	165	10	,	,	PUNCT
alkej-976	165	11	…	…	PUNCT
alkej-976	165	12	(	(	PUNCT
alkej-976	165	13	28)[22	28)[22	NOUN
alkej-976	165	14	]	]	X
alkej-976	165	15	where	where	SCONJ
alkej-976	165	16	m	m	NOUN
alkej-976	165	17	is	be	AUX
alkej-976	165	18	a	a	DET
alkej-976	165	19	state	state	NOUN
alkej-976	165	20	prediction	prediction	NOUN
alkej-976	165	21	matrix	matrix	NOUN
alkej-976	165	22	.	.	PUNCT
alkej-976	166	1	let	let	VERB
alkej-976	166	2	these	these	DET
alkej-976	166	3	desired	desire	VERB
alkej-976	166	4	outputs	output	NOUN
alkej-976	166	5	be	be	AUX
alkej-976	166	6	denoted	denote	VERB
alkej-976	166	7	by	by	ADP
alkej-976	166	8	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	166	9	𝑘+1	𝑘+1	NOUN
alkej-976	166	10	,	,	PUNCT
alkej-976	166	11	𝑍	𝑍	PROPN
alkej-976	166	12	𝑑	𝑑	PROPN
alkej-976	166	13	𝑘+2	𝑘+2	PROPN
alkej-976	166	14	,	,	PUNCT
alkej-976	166	15	𝑍	𝑍	PROPN
alkej-976	166	16	𝑑	𝑑	PROPN
alkej-976	166	17	𝑘+3	𝑘+3	PROPN
alkej-976	166	18	,	,	PUNCT
alkej-976	166	19	…	…	PUNCT
alkej-976	166	20	…	…	PUNCT
alkej-976	166	21	…	…	PUNCT
alkej-976	166	22	.	.	PUNCT
alkej-976	167	1	,	,	PUNCT
alkej-976	167	2	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	167	3	𝑘+𝑓	𝑘+𝑓	NUM
alkej-976	167	4	,	,	PUNCT
alkej-976	167	5	…	…	PUNCT
alkej-976	167	6	(	(	PUNCT
alkej-976	167	7	29)[23	29)[23	X
alkej-976	167	8	]	]	X
alkej-976	167	9	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	167	10	=	=	SYM
alkej-976	167	11	[	[	PUNCT
alkej-976	167	12	𝑍	𝑍	PROPN
alkej-976	167	13	𝑑	𝑑	PROPN
alkej-976	167	14	𝑘+1	𝑘+1	NUM
alkej-976	167	15	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	167	16	𝑘+2	𝑘+2	PROPN
alkej-976	167	17	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	167	18	𝑘+3	𝑘+3	X
alkej-976	167	19	.	.	PUNCT
alkej-976	167	20	.	.	PUNCT
alkej-976	167	21	.	.	PUNCT
alkej-976	167	22	.	.	PUNCT
alkej-976	168	1	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	168	2	𝑘+f	𝑘+f	PROPN
alkej-976	168	3	]	]	PUNCT
alkej-976	168	4	.	.	PUNCT
alkej-976	169	1	…	…	PUNCT
alkej-976	169	2	(	(	PUNCT
alkej-976	169	3	30)[28	30)[28	NOUN
alkej-976	169	4	]	]	X
alkej-976	169	5	the	the	DET
alkej-976	169	6	cost	cost	NOUN
alkej-976	169	7	function	function	NOUN
alkej-976	169	8	can	can	AUX
alkej-976	169	9	be	be	AUX
alkej-976	169	10	expressed	express	VERB
alkej-976	169	11	as	as	ADP
alkej-976	169	12	[	[	X
alkej-976	169	13	29	29	NUM
alkej-976	169	14	]	]	X
alkej-976	169	15	𝑚𝑖𝑛𝑈	𝑚𝑖𝑛𝑈	ADJ
alkej-976	169	16	‖𝑍𝑑	‖𝑍𝑑	NOUN
alkej-976	169	17	−	−	PROPN
alkej-976	170	1	𝑍‖2	𝑍‖2	PROPN
alkej-976	171	1	=	=	SYM
alkej-976	172	1	𝑚𝑖𝑛𝑈	𝑚𝑖𝑛𝑈	PROPN
alkej-976	173	1	(	(	PUNCT
alkej-976	173	2	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	173	3	−	−	PROPN
alkej-976	173	4	𝑍	𝑍	PROPN
alkej-976	173	5	)	)	PUNCT
alkej-976	173	6	𝑇	𝑇	NOUN
alkej-976	173	7	(	(	PUNCT
alkej-976	173	8	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	173	9	−	−	PROPN
alkej-976	173	10	𝑍	𝑍	PROPN
alkej-976	173	11	)	)	PUNCT
alkej-976	173	12	.	.	PUNCT
alkej-976	174	1	…	…	PUNCT
alkej-976	174	2	(	(	PUNCT
alkej-976	174	3	31	31	NUM
alkej-976	174	4	)	)	PUNCT
alkej-976	174	5	by	by	ADP
alkej-976	174	6	substituting	substitute	VERB
alkej-976	174	7	𝑍𝑑and	𝑍𝑑and	PROPN
alkej-976	174	8	𝑍	𝑍	PROPN
alkej-976	174	9	,	,	PUNCT
alkej-976	174	10	the	the	DET
alkej-976	174	11	final	final	ADJ
alkej-976	174	12	form	form	NOUN
alkej-976	174	13	of	of	ADP
alkej-976	174	14	the	the	DET
alkej-976	174	15	cost	cost	NOUN
alkej-976	174	16	function	function	NOUN
alkej-976	174	17	that	that	PRON
alkej-976	174	18	will	will	AUX
alkej-976	174	19	penalise	penalise	VERB
alkej-976	174	20	the	the	DET
alkej-976	174	21	inputs	input	NOUN
alkej-976	174	22	becomes	become	VERB
alkej-976	174	23	clear	clear	ADJ
alkej-976	174	24	as	as	SCONJ
alkej-976	174	25	shown	show	VERB
alkej-976	174	26	in	in	ADP
alkej-976	174	27	the	the	DET
alkej-976	174	28	following	follow	VERB
alkej-976	174	29	equation	equation	NOUN
alkej-976	174	30	:	:	PUNCT
alkej-976	174	31	𝐽𝑈	𝐽𝑈	PROPN
alkej-976	174	32	=	=	SYM
alkej-976	174	33	𝑈𝑇𝑊3𝑈	𝑈𝑇𝑊3𝑈	PROPN
alkej-976	174	34	,	,	PUNCT
alkej-976	174	35	…	…	PUNCT
alkej-976	174	36	(	(	PUNCT
alkej-976	174	37	32	32	NUM
alkej-976	174	38	)	)	PUNCT
alkej-976	174	39	where	where	SCONJ
alkej-976	174	40	ju	ju	PROPN
alkej-976	174	41	is	be	AUX
alkej-976	174	42	a	a	DET
alkej-976	174	43	cost	cost	NOUN
alkej-976	174	44	function	function	NOUN
alkej-976	174	45	for	for	ADP
alkej-976	174	46	control	control	NOUN
alkej-976	174	47	input	input	NOUN
alkej-976	174	48	,	,	PUNCT
alkej-976	174	49	u	u	NOUN
alkej-976	174	50	is	be	AUX
alkej-976	174	51	an	an	DET
alkej-976	174	52	input	input	NOUN
alkej-976	174	53	vector	vector	NOUN
alkej-976	174	54	control	control	NOUN
alkej-976	174	55	,	,	PUNCT
alkej-976	174	56	and	and	CCONJ
alkej-976	174	57	w3	w3	PROPN
alkej-976	174	58	is	be	AUX
alkej-976	174	59	a	a	DET
alkej-976	174	60	final	final	ADJ
alkej-976	174	61	weighting	weighting	NOUN
alkej-976	174	62	matrix	matrix	NOUN
alkej-976	174	63	.	.	PUNCT
alkej-976	175	1	𝑊3	𝑊3	NOUN
alkej-976	175	2	=	=	SYM
alkej-976	175	3	𝑊𝑇	𝑊𝑇	PROPN
alkej-976	175	4	1𝑊2𝑊1	1𝑊2𝑊1	NUM
alkej-976	175	5	…	…	PUNCT
alkej-976	175	6	(	(	PUNCT
alkej-976	175	7	33)[30][7	33)[30][7	NUM
alkej-976	175	8	]	]	X
alkej-976	175	9	𝑊2	𝑊2	PROPN
alkej-976	176	1	=	=	X
alkej-976	176	2	[	[	PUNCT
alkej-976	176	3	𝑄0	𝑄0	PROPN
alkej-976	176	4	0	0	NUM
alkej-976	176	5	0	0	NUM
alkej-976	176	6	.	.	PUNCT
alkej-976	176	7	.	.	PUNCT
alkej-976	176	8	.	.	PUNCT
alkej-976	177	1	.	.	PUNCT
alkej-976	178	1	0	0	NUM
alkej-976	178	2	0	0	NUM
alkej-976	178	3	𝑄1	𝑄1	NOUN
alkej-976	178	4	0	0	NUM
alkej-976	178	5	.	.	PUNCT
alkej-976	178	6	.	.	PUNCT
alkej-976	178	7	.	.	PUNCT
alkej-976	178	8	.	.	PUNCT
alkej-976	179	1	0	0	NUM
alkej-976	179	2	0	0	NUM
alkej-976	179	3	.	.	PUNCT
alkej-976	179	4	.	.	PUNCT
alkej-976	179	5	.	.	PUNCT
alkej-976	179	6	.	.	PUNCT
alkej-976	179	7	.	.	PUNCT
alkej-976	179	8	.	.	PUNCT
alkej-976	180	1	.	.	PUNCT
alkej-976	180	2	0	0	PUNCT
alkej-976	180	3	.	.	PUNCT
alkej-976	180	4	.	.	PUNCT
alkej-976	181	1	.	.	PUNCT
alkej-976	181	2	.	.	PUNCT
alkej-976	182	1	.	.	PUNCT
alkej-976	182	2	.	.	PUNCT
alkej-976	183	1	.	.	PUNCT
alkej-976	183	2	.	.	PUNCT
alkej-976	184	1	.	.	PUNCT
alkej-976	184	2	.	.	PUNCT
alkej-976	185	1	.	.	PUNCT
alkej-976	185	2	.	.	PUNCT
alkej-976	186	1	.	.	PUNCT
alkej-976	186	2	.	.	PUNCT
alkej-976	187	1	.	.	PUNCT
alkej-976	187	2	.	.	PUNCT
alkej-976	188	1	.	.	PUNCT
alkej-976	189	1	.	.	PUNCT
alkej-976	190	1	0	0	NUM
alkej-976	191	1	0	0	NUM
alkej-976	191	2	0	0	NUM
alkej-976	191	3	.	.	PUNCT
alkej-976	191	4	.	.	PUNCT
alkej-976	191	5	.	.	PUNCT
alkej-976	191	6	.	.	PUNCT
alkej-976	192	1	𝑄𝑣−1	𝑄𝑣−1	X
alkej-976	192	2	]	]	PUNCT
alkej-976	193	1	…	…	PUNCT
alkej-976	193	2	(	(	PUNCT
alkej-976	193	3	34	34	NUM
alkej-976	193	4	)	)	PUNCT
alkej-976	193	5	matrix	matrix	NOUN
alkej-976	193	6	dimensions	dimension	NOUN
alkej-976	193	7	are	be	AUX
alkej-976	193	8	𝑊2	𝑊2	ADJ
alkej-976	193	9	=	=	PUNCT
alkej-976	194	1	[	[	X
alkej-976	194	2	𝑚	𝑚	X
alkej-976	194	3	∗	∗	NOUN
alkej-976	194	4	𝑛,𝑚	𝑛,𝑚	NOUN
alkej-976	194	5	∗	∗	NOUN
alkej-976	194	6	𝑛	𝑛	PROPN
alkej-976	194	7	]	]	PUNCT
alkej-976	194	8	,	,	PUNCT
alkej-976	194	9	where	where	SCONJ
alkej-976	194	10	w1	w1	NOUN
alkej-976	194	11	,	,	PUNCT
alkej-976	194	12	w2	w2	NOUN
alkej-976	194	13	,	,	PUNCT
alkej-976	194	14	m	m	PROPN
alkej-976	194	15	and	and	CCONJ
alkej-976	194	16	n	n	PROPN
alkej-976	194	17	are	be	AUX
alkej-976	194	18	the	the	DET
alkej-976	194	19	state	state	NOUN
alkej-976	194	20	prediction	prediction	NOUN
alkej-976	194	21	matrix	matrix	NOUN
alkej-976	194	22	,	,	PUNCT
alkej-976	194	23	input	input	NOUN
alkej-976	194	24	weight	weight	NOUN
alkej-976	194	25	matrix	matrix	NOUN
alkej-976	194	26	,	,	PUNCT
alkej-976	194	27	number	number	NOUN
alkej-976	194	28	of	of	ADP
alkej-976	194	29	outputs	output	NOUN
alkej-976	194	30	and	and	CCONJ
alkej-976	194	31	number	number	NOUN
alkej-976	194	32	of	of	ADP
alkej-976	194	33	inputs	input	NOUN
alkej-976	194	34	,	,	PUNCT
alkej-976	194	35	respectively	respectively	ADV
alkej-976	194	36	.	.	PUNCT
alkej-976	195	1	the	the	DET
alkej-976	195	2	cost	cost	NOUN
alkej-976	195	3	function	function	NOUN
alkej-976	195	4	that	that	PRON
alkej-976	195	5	corresponds	correspond	VERB
alkej-976	195	6	to	to	ADP
alkej-976	195	7	the	the	DET
alkej-976	195	8	tracking	tracking	NOUN
alkej-976	195	9	error	error	NOUN
alkej-976	195	10	is	be	AUX
alkej-976	195	11	𝐽𝑧	𝐽𝑧	PROPN
alkej-976	195	12	=	=	PUNCT
alkej-976	195	13	(	(	PUNCT
alkej-976	195	14	𝑆	𝑆	PROPN
alkej-976	195	15	−	−	PROPN
alkej-976	195	16	𝑀𝑈)𝑇𝑊4	𝑀𝑈)𝑇𝑊4	PROPN
alkej-976	195	17	(	(	PUNCT
alkej-976	195	18	𝑆	𝑆	PROPN
alkej-976	195	19	−	−	PROPN
alkej-976	195	20	𝑀𝑈	𝑀𝑈	PROPN
alkej-976	195	21	)	)	PUNCT
alkej-976	195	22	,	,	PUNCT
alkej-976	195	23	…	…	PUNCT
alkej-976	195	24	(	(	PUNCT
alkej-976	195	25	35)[7	35)[7	NUM
alkej-976	195	26	]	]	PUNCT
alkej-976	195	27	where	where	SCONJ
alkej-976	195	28	(	(	PUNCT
alkej-976	195	29	𝑆	𝑆	PROPN
alkej-976	195	30	=	=	SYM
alkej-976	195	31	𝑍𝑑	𝑍𝑑	PROPN
alkej-976	195	32	−	−	PROPN
alkej-976	195	33	𝑂𝑋𝑘	𝑂𝑋𝑘	PROPN
alkej-976	195	34	)	)	PUNCT
alkej-976	195	35	.	.	PUNCT
alkej-976	196	1	the	the	DET
alkej-976	196	2	cost	cost	NOUN
alkej-976	196	3	function	function	NOUN
alkej-976	196	4	penalises	penalise	VERB
alkej-976	196	5	the	the	DET
alkej-976	196	6	difference	difference	NOUN
alkej-976	196	7	between	between	ADP
alkej-976	196	8	the	the	DET
alkej-976	196	9	desired	desire	VERB
alkej-976	196	10	and	and	CCONJ
alkej-976	196	11	controlled	control	VERB
alkej-976	196	12	trajectory	trajectory	NOUN
alkej-976	196	13	as	as	SCONJ
alkej-976	196	14	shown	show	VERB
alkej-976	196	15	in	in	ADP
alkej-976	196	16	the	the	DET
alkej-976	196	17	following	follow	VERB
alkej-976	196	18	equation	equation	NOUN
alkej-976	196	19	[	[	X
alkej-976	196	20	7	7	NUM
alkej-976	196	21	]	]	SYM
alkej-976	196	22	:	:	PUNCT
alkej-976	196	23	𝑚𝑖𝑛𝑈	𝑚𝑖𝑛𝑈	NOUN
alkej-976	196	24	𝐽𝑧	𝐽𝑧	PROPN
alkej-976	196	25	+	+	CCONJ
alkej-976	196	26	𝐽𝑈	𝐽𝑈	PROPN
alkej-976	196	27	.	.	PUNCT
alkej-976	197	1	…	…	PUNCT
alkej-976	197	2	(	(	PUNCT
alkej-976	197	3	36	36	NUM
alkej-976	197	4	)	)	PUNCT
alkej-976	197	5	by	by	ADP
alkej-976	197	6	partial	partial	ADJ
alkej-976	197	7	derivative	derivative	NOUN
alkej-976	197	8	of	of	ADP
alkej-976	197	9	the	the	DET
alkej-976	197	10	cost	cost	NOUN
alkej-976	197	11	function	function	NOUN
alkej-976	197	12	for	for	ADP
alkej-976	197	13	u	u	PROPN
alkej-976	197	14	,	,	PUNCT
alkej-976	197	15	𝜕𝐽	𝜕𝐽	PROPN
alkej-976	197	16	𝜕𝑈	𝜕𝑈	X
alkej-976	197	17	=	=	PUNCT
alkej-976	197	18	−2𝑀𝑇𝑊4	−2𝑀𝑇𝑊4	X
alkej-976	198	1	+	+	NUM
alkej-976	198	2	2𝑀𝑇𝑊4𝑀𝑈	2𝑀𝑇𝑊4𝑀𝑈	NUM
alkej-976	198	3	+	+	CCONJ
alkej-976	198	4	2𝑊3𝑈	2𝑊3𝑈	ADJ
alkej-976	198	5	.	.	PUNCT
alkej-976	199	1	…	…	PUNCT
alkej-976	199	2	(	(	PUNCT
alkej-976	199	3	37	37	NUM
alkej-976	199	4	)	)	PUNCT
alkej-976	199	5	to	to	PART
alkej-976	199	6	find	find	VERB
alkej-976	199	7	the	the	DET
alkej-976	199	8	minimum	minimum	NOUN
alkej-976	199	9	of	of	ADP
alkej-976	199	10	the	the	DET
alkej-976	199	11	cost	cost	NOUN
alkej-976	199	12	function	function	NOUN
alkej-976	199	13	for	for	ADP
alkej-976	199	14	u	u	PROPN
alkej-976	199	15	,	,	PUNCT
alkej-976	199	16	𝜕𝐽	𝜕𝐽	PROPN
alkej-976	199	17	𝜕𝑈	𝜕𝑈	X
alkej-976	199	18	=	=	SYM
alkej-976	199	19	0	0	NUM
alkej-976	199	20	.	.	NUM
alkej-976	200	1	…	…	PUNCT
alkej-976	200	2	(	(	PUNCT
alkej-976	200	3	38	38	NUM
alkej-976	200	4	)	)	PUNCT
alkej-976	200	5	𝜕𝐽	𝜕𝐽	X
alkej-976	200	6	𝜕𝑈	𝜕𝑈	X
alkej-976	200	7	=	=	PUNCT
alkej-976	200	8	−2𝑀𝑇𝑊4	−2𝑀𝑇𝑊4	X
alkej-976	201	1	+	+	NUM
alkej-976	201	2	2𝑀𝑇𝑊4𝑀𝑈	2𝑀𝑇𝑊4𝑀𝑈	NUM
alkej-976	201	3	+	+	CCONJ
alkej-976	201	4	2𝑊3𝑈	2𝑊3𝑈	ADJ
alkej-976	201	5	=	=	SYM
alkej-976	201	6	0	0	NUM
alkej-976	201	7	.	.	NUM
alkej-976	202	1	…	…	PUNCT
alkej-976	202	2	(	(	PUNCT
alkej-976	202	3	39	39	NUM
alkej-976	202	4	)	)	PUNCT
alkej-976	202	5	from	from	ADP
alkej-976	202	6	equation	equation	NOUN
alkej-976	202	7	(	(	PUNCT
alkej-976	202	8	39	39	NUM
alkej-976	202	9	)	)	PUNCT
alkej-976	202	10	,	,	PUNCT
alkej-976	202	11	the	the	DET
alkej-976	202	12	solution	solution	NOUN
alkej-976	202	13	of	of	ADP
alkej-976	202	14	the	the	DET
alkej-976	202	15	mpc	mpc	PROPN
alkej-976	202	16	is	be	AUX
alkej-976	202	17	�	�	PROPN
alkej-976	202	18	̌	̌	NUM
alkej-976	202	19	�	�	NOUN
alkej-976	202	20	=	=	SYM
alkej-976	202	21	(	(	PUNCT
alkej-976	202	22	𝑀𝑇𝑊4	𝑀𝑇𝑊4	PROPN
alkej-976	202	23	𝑀	𝑀	PROPN
alkej-976	202	24	+	+	CCONJ
alkej-976	202	25	𝑊3)𝑀	𝑊3)𝑀	X
alkej-976	202	26	𝑇𝑊4	𝑇𝑊4	PROPN
alkej-976	202	27	𝑆.	𝑆.	PROPN
alkej-976	202	28	…	…	PUNCT
alkej-976	202	29	(	(	PUNCT
alkej-976	202	30	40	40	NUM
alkej-976	202	31	)	)	PUNCT
alkej-976	202	32	the	the	DET
alkej-976	202	33	initial	initial	ADJ
alkej-976	202	34	parameters	parameter	NOUN
alkej-976	202	35	of	of	ADP
alkej-976	202	36	the	the	DET
alkej-976	202	37	mpc	mpc	NOUN
alkej-976	202	38	were	be	AUX
alkej-976	202	39	selected	select	VERB
alkej-976	202	40	on	on	ADP
alkej-976	202	41	the	the	DET
alkej-976	202	42	basis	basis	NOUN
alkej-976	202	43	of	of	ADP
alkej-976	202	44	theoretical	theoretical	ADJ
alkej-976	202	45	practices	practice	NOUN
alkej-976	202	46	that	that	PRON
alkej-976	202	47	fit	fit	VERB
alkej-976	202	48	the	the	DET
alkej-976	202	49	system	system	NOUN
alkej-976	202	50	parameters	parameter	NOUN
alkej-976	202	51	and	and	CCONJ
alkej-976	202	52	through	through	ADP
alkej-976	202	53	manual	manual	ADJ
alkej-976	202	54	tuning	tuning	NOUN
alkej-976	202	55	in	in	ADP
alkej-976	202	56	the	the	DET
alkej-976	202	57	early	early	ADJ
alkej-976	202	58	simulation	simulation	NOUN
alkej-976	202	59	stages	stage	NOUN
alkej-976	202	60	.	.	PUNCT
alkej-976	203	1	however	however	ADV
alkej-976	203	2	,	,	PUNCT
alkej-976	203	3	pso	pso	PROPN
alkej-976	203	4	was	be	AUX
alkej-976	203	5	later	later	ADV
alkej-976	203	6	applied	apply	VERB
alkej-976	203	7	to	to	PART
alkej-976	203	8	tune	tune	NOUN
alkej-976	203	9	these	these	DET
alkej-976	203	10	parameters	parameter	NOUN
alkej-976	203	11	automatically	automatically	ADV
alkej-976	203	12	to	to	PART
alkej-976	203	13	improve	improve	VERB
alkej-976	203	14	the	the	DET
alkej-976	203	15	performance	performance	NOUN
alkej-976	203	16	further	far	ADV
alkej-976	203	17	and	and	CCONJ
alkej-976	203	18	ensure	ensure	VERB
alkej-976	203	19	optimal	optimal	ADJ
alkej-976	203	20	parameter	parameter	NOUN
alkej-976	203	21	selection	selection	NOUN
alkej-976	203	22	,	,	PUNCT
alkej-976	203	23	thus	thus	ADV
alkej-976	203	24	improving	improve	VERB
alkej-976	203	25	the	the	DET
alkej-976	203	26	speed	speed	NOUN
alkej-976	203	27	and	and	CCONJ
alkej-976	203	28	accuracy	accuracy	NOUN
alkej-976	203	29	of	of	ADP
alkej-976	203	30	the	the	DET
alkej-976	203	31	sbw	sbw	PROPN
alkej-976	203	32	system	system	NOUN
alkej-976	203	33	.	.	PUNCT
alkej-976	204	1	3.2	3.2	NUM
alkej-976	204	2	pso	pso	NOUN
alkej-976	204	3	algorithm	algorithm	NOUN
alkej-976	204	4	the	the	DET
alkej-976	204	5	pso	pso	NOUN
alkej-976	204	6	algorithm	algorithm	NOUN
alkej-976	204	7	can	can	AUX
alkej-976	204	8	be	be	AUX
alkej-976	204	9	utilised	utilise	VERB
alkej-976	204	10	to	to	PART
alkej-976	204	11	find	find	VERB
alkej-976	204	12	optimal	optimal	ADJ
alkej-976	204	13	values	value	NOUN
alkej-976	204	14	in	in	ADP
alkej-976	204	15	various	various	ADJ
alkej-976	204	16	applications	application	NOUN
alkej-976	204	17	,	,	PUNCT
alkej-976	204	18	most	most	ADV
alkej-976	204	19	notably	notably	ADV
alkej-976	204	20	in	in	ADP
alkej-976	204	21	pid	pid	NOUN
alkej-976	204	22	controllers	controller	NOUN
alkej-976	204	23	[	[	X
alkej-976	204	24	31	31	NUM
alkej-976	204	25	]	]	PUNCT
alkej-976	205	1	[	[	X
alkej-976	205	2	32	32	NUM
alkej-976	205	3	]	]	PUNCT
alkej-976	205	4	.	.	PUNCT
alkej-976	206	1	however	however	ADV
alkej-976	206	2	,	,	PUNCT
alkej-976	206	3	it	it	PRON
alkej-976	206	4	is	be	AUX
alkej-976	206	5	rarely	rarely	ADV
alkej-976	206	6	used	use	VERB
alkej-976	206	7	in	in	ADP
alkej-976	206	8	the	the	DET
alkej-976	206	9	mpc	mpc	NOUN
alkej-976	206	10	approach	approach	NOUN
alkej-976	206	11	.	.	PUNCT
alkej-976	207	1	pso	pso	NOUN
alkej-976	207	2	calculation	calculation	NOUN
alkej-976	207	3	is	be	AUX
alkej-976	207	4	used	use	VERB
alkej-976	207	5	in	in	ADP
alkej-976	207	6	finding	find	VERB
alkej-976	207	7	the	the	DET
alkej-976	207	8	optimal	optimal	ADJ
alkej-976	207	9	values	value	NOUN
alkej-976	207	10	of	of	ADP
alkej-976	207	11	the	the	DET
alkej-976	207	12	weight	weight	NOUN
alkej-976	207	13	matrix	matrix	NOUN
alkej-976	207	14	w2	w2	NOUN
alkej-976	207	15	,	,	PUNCT
alkej-976	207	16	which	which	PRON
alkej-976	207	17	provides	provide	VERB
alkej-976	207	18	accuracy	accuracy	NOUN
alkej-976	207	19	and	and	CCONJ
alkej-976	207	20	speed	speed	NOUN
alkej-976	207	21	in	in	ADP
alkej-976	207	22	reaching	reach	VERB
alkej-976	207	23	these	these	DET
alkej-976	207	24	values	value	NOUN
alkej-976	207	25	[	[	X
alkej-976	207	26	18][19][26][33][34	18][19][26][33][34	X
alkej-976	207	27	]	]	PUNCT
alkej-976	207	28	.	.	PUNCT
alkej-976	208	1	as	as	SCONJ
alkej-976	208	2	depicted	depict	VERB
alkej-976	208	3	in	in	ADP
alkej-976	208	4	figure	figure	NOUN
alkej-976	208	5	4	4	NUM
alkej-976	208	6	,	,	PUNCT
alkej-976	208	7	the	the	DET
alkej-976	208	8	pso	pso	NOUN
alkej-976	208	9	process	process	NOUN
alkej-976	208	10	iteratively	iteratively	ADV
alkej-976	208	11	updates	update	VERB
alkej-976	208	12	the	the	DET
alkej-976	208	13	position	position	NOUN
alkej-976	208	14	and	and	CCONJ
alkej-976	208	15	velocity	velocity	NOUN
alkej-976	208	16	of	of	ADP
alkej-976	208	17	each	each	DET
alkej-976	208	18	particle	particle	NOUN
alkej-976	208	19	.	.	PUNCT
alkej-976	209	1	each	each	DET
alkej-976	209	2	particle	particle	NOUN
alkej-976	209	3	tracks	track	VERB
alkej-976	209	4	two	two	NUM
alkej-976	209	5	key	key	ADJ
alkej-976	209	6	metrics	metric	NOUN
alkej-976	209	7	:	:	PUNCT
alkej-976	210	1	𝑃𝑏𝑒𝑠𝑡	𝑃𝑏𝑒𝑠𝑡	PROPN
alkej-976	210	2	:	:	PUNCT
alkej-976	210	3	the	the	DET
alkej-976	210	4	particle	particle	NOUN
alkej-976	210	5	’s	’s	PART
alkej-976	210	6	best	well	ADV
alkej-976	210	7	-	-	PUNCT
alkej-976	210	8	known	know	VERB
alkej-976	210	9	position	position	NOUN
alkej-976	210	10	based	base	VERB
alkej-976	210	11	on	on	ADP
alkej-976	210	12	its	its	PRON
alkej-976	210	13	objective	objective	ADJ
alkej-976	210	14	function	function	NOUN
alkej-976	210	15	𝑔𝑏𝑒𝑠𝑡	𝑔𝑏𝑒𝑠𝑡	NOUN
alkej-976	210	16	:	:	PUNCT
alkej-976	210	17	the	the	DET
alkej-976	210	18	best	good	ADJ
alkej-976	210	19	position	position	NOUN
alkej-976	210	20	discovered	discover	VERB
alkej-976	210	21	by	by	ADP
alkej-976	210	22	the	the	DET
alkej-976	210	23	entire	entire	ADJ
alkej-976	210	24	swarm	swarm	NOUN
alkej-976	210	25	these	these	DET
alkej-976	210	26	metrics	metric	NOUN
alkej-976	210	27	are	be	AUX
alkej-976	210	28	critical	critical	ADJ
alkej-976	210	29	in	in	ADP
alkej-976	210	30	guiding	guide	VERB
alkej-976	210	31	particles	particle	NOUN
alkej-976	210	32	towards	towards	ADP
alkej-976	210	33	the	the	DET
alkej-976	210	34	global	global	ADJ
alkej-976	210	35	optimum	optimum	NOUN
alkej-976	210	36	.	.	PUNCT
alkej-976	211	1	the	the	DET
alkej-976	211	2	inertia	inertia	NOUN
alkej-976	211	3	weight	weight	NOUN
alkej-976	211	4	,	,	PUNCT
alkej-976	211	5	also	also	ADV
alkej-976	211	6	shown	show	VERB
alkej-976	211	7	in	in	ADP
alkej-976	211	8	figure	figure	NOUN
alkej-976	211	9	4	4	NUM
alkej-976	211	10	,	,	PUNCT
alkej-976	211	11	controls	control	VERB
alkej-976	211	12	the	the	DET
alkej-976	211	13	balance	balance	NOUN
alkej-976	211	14	between	between	ADP
alkej-976	211	15	exploration	exploration	NOUN
alkej-976	211	16	and	and	CCONJ
alkej-976	211	17	exploitation	exploitation	NOUN
alkej-976	211	18	.	.	PUNCT
alkej-976	212	1	the	the	DET
alkej-976	212	2	inertia	inertia	NOUN
alkej-976	212	3	weight	weight	NOUN
alkej-976	212	4	is	be	AUX
alkej-976	212	5	∅	∅	NOUN
alkej-976	212	6	=	=	PUNCT
alkej-976	212	7	∅𝑚𝑎𝑥	∅𝑚𝑎𝑥	NOUN
alkej-976	212	8	−	−	PROPN
alkej-976	213	1	(	(	PUNCT
alkej-976	213	2	∅𝑚𝑎𝑥−∅𝑚𝑖𝑛	∅𝑚𝑎𝑥−∅𝑚𝑖𝑛	NUM
alkej-976	213	3	𝑇𝑚𝑎𝑥	𝑇𝑚𝑎𝑥	PROPN
alkej-976	213	4	)	)	PUNCT
alkej-976	213	5	.	.	PUNCT
alkej-976	214	1	…	…	PUNCT
alkej-976	214	2	(	(	PUNCT
alkej-976	214	3	41)[35	41)[35	X
alkej-976	214	4	]	]	X
alkej-976	214	5	let	let	VERB
alkej-976	214	6	x	x	PRON
alkej-976	214	7	and	and	CCONJ
alkej-976	214	8	v	v	AUX
alkej-976	214	9	be	be	AUX
alkej-976	214	10	the	the	DET
alkej-976	214	11	position	position	NOUN
alkej-976	214	12	and	and	CCONJ
alkej-976	214	13	velocity	velocity	NOUN
alkej-976	214	14	respectively	respectively	ADV
alkej-976	214	15	.	.	PUNCT
alkej-976	215	1	taher	taher	PROPN
alkej-976	215	2	sachit	sachit	VERB
alkej-976	215	3	taher	taher	PROPN
alkej-976	215	4	al	al	PROPN
alkej-976	215	5	-	-	PUNCT
alkej-976	215	6	khwarizmi	khwarizmi	PROPN
alkej-976	215	7	engineering	engineering	NOUN
alkej-976	215	8	journal	journal	PROPN
alkej-976	215	9	,	,	PUNCT
alkej-976	215	10	vol	vol	NOUN
alkej-976	215	11	.	.	PROPN
alkej-976	215	12	21	21	NUM
alkej-976	215	13	,	,	PUNCT
alkej-976	215	14	no.1	no.1	NUM
alkej-976	215	15	,	,	PUNCT
alkej-976	215	16	pp	pp	ADJ
alkej-976	215	17	.	.	PUNCT
alkej-976	215	18	6172	6172	NUM
alkej-976	215	19	(	(	PUNCT
alkej-976	215	20	2025	2025	NUM
alkej-976	215	21	)	)	PUNCT
alkej-976	215	22	67	67	NUM
alkej-976	215	23	the	the	DET
alkej-976	215	24	equations	equation	NOUN
alkej-976	215	25	for	for	ADP
alkej-976	215	26	updating	update	VERB
alkej-976	215	27	the	the	DET
alkej-976	215	28	velocity	velocity	NOUN
alkej-976	215	29	and	and	CCONJ
alkej-976	215	30	position	position	NOUN
alkej-976	215	31	are	be	AUX
alkej-976	215	32	as	as	SCONJ
alkej-976	215	33	follows	follow	VERB
alkej-976	215	34	:	:	PUNCT
alkej-976	215	35	𝑣(𝑖,𝑙	𝑣(𝑖,𝑙	NUM
alkej-976	215	36	)	)	PUNCT
alkej-976	215	37	(	(	PUNCT
alkej-976	215	38	𝑡	𝑡	NOUN
alkej-976	215	39	)	)	PUNCT
alkej-976	215	40	=	=	SYM
alkej-976	215	41	∅𝑣(𝑖,𝑙	∅𝑣(𝑖,𝑙	NOUN
alkej-976	215	42	)	)	PUNCT
alkej-976	215	43	(	(	PUNCT
alkej-976	215	44	𝑡	𝑡	X
alkej-976	215	45	−	−	NOUN
alkej-976	215	46	1	1	NUM
alkej-976	215	47	)	)	PUNCT
alkej-976	216	1	+	+	CCONJ
alkej-976	216	2	𝑐1𝑟1	𝑐1𝑟1	PUNCT
alkej-976	216	3	(	(	PUNCT
alkej-976	216	4	𝑃𝑏𝑒𝑠𝑡	𝑃𝑏𝑒𝑠𝑡	PROPN
alkej-976	216	5	−	−	PROPN
alkej-976	216	6	𝑥(𝑖,𝑙	𝑥(𝑖,𝑙	NUM
alkej-976	216	7	)	)	PUNCT
alkej-976	216	8	(	(	PUNCT
alkej-976	216	9	𝑡	𝑡	X
alkej-976	216	10	−	−	NOUN
alkej-976	216	11	1	1	NUM
alkej-976	216	12	)	)	PUNCT
alkej-976	216	13	)	)	PUNCT
alkej-976	217	1	+	+	CCONJ
alkej-976	217	2	𝑐2𝑟2	𝑐2𝑟2	PROPN
alkej-976	217	3	(	(	PUNCT
alkej-976	217	4	𝑔𝑏𝑒𝑠𝑡	𝑔𝑏𝑒𝑠𝑡	NOUN
alkej-976	217	5	−	−	PROPN
alkej-976	217	6	𝑥(𝑖,𝑙	𝑥(𝑖,𝑙	NUM
alkej-976	217	7	)	)	PUNCT
alkej-976	217	8	(	(	PUNCT
alkej-976	217	9	𝑡	𝑡	X
alkej-976	217	10	−	−	NOUN
alkej-976	217	11	1	1	NUM
alkej-976	217	12	)	)	PUNCT
alkej-976	217	13	)	)	PUNCT
alkej-976	217	14	,	,	PUNCT
alkej-976	217	15	…	…	PUNCT
alkej-976	217	16	(	(	PUNCT
alkej-976	217	17	42)[36	42)[36	NOUN
alkej-976	217	18	]	]	X
alkej-976	217	19	𝑥(𝑖,𝑙)(𝑡	𝑥(𝑖,𝑙)(𝑡	PROPN
alkej-976	217	20	)	)	PUNCT
alkej-976	217	21	=	=	PUNCT
alkej-976	218	1	𝑥(𝑖,𝑙)(𝑡	𝑥(𝑖,𝑙)(𝑡	PROPN
alkej-976	218	2	−	−	NOUN
alkej-976	218	3	1	1	NUM
alkej-976	218	4	)	)	PUNCT
alkej-976	218	5	+	+	CCONJ
alkej-976	218	6	𝑣(𝑖,𝑙)(𝑡	𝑣(𝑖,𝑙)(𝑡	NOUN
alkej-976	218	7	)	)	PUNCT
alkej-976	218	8	,	,	PUNCT
alkej-976	218	9	…	…	PUNCT
alkej-976	218	10	(	(	PUNCT
alkej-976	218	11	43)[36	43)[36	NOUN
alkej-976	218	12	]	]	X
alkej-976	218	13	where	where	SCONJ
alkej-976	218	14	𝑐1	𝑐1	NOUN
alkej-976	218	15	,	,	PUNCT
alkej-976	218	16	𝑐2,𝑖	𝑐2,𝑖	PROPN
alkej-976	218	17	,	,	PUNCT
alkej-976	218	18	𝑙	𝑙	X
alkej-976	218	19	are	be	AUX
alkej-976	218	20	the	the	DET
alkej-976	218	21	individual	individual	ADJ
alkej-976	218	22	and	and	CCONJ
alkej-976	218	23	social	social	ADJ
alkej-976	218	24	cognitive	cognitive	NOUN
alkej-976	218	25	,	,	PUNCT
alkej-976	218	26	number	number	NOUN
alkej-976	218	27	of	of	ADP
alkej-976	218	28	particles	particle	NOUN
alkej-976	218	29	and	and	CCONJ
alkej-976	218	30	number	number	NOUN
alkej-976	218	31	of	of	ADP
alkej-976	218	32	variations	variation	NOUN
alkej-976	218	33	,	,	PUNCT
alkej-976	218	34	respectively	respectively	ADV
alkej-976	218	35	,	,	PUNCT
alkej-976	218	36	and	and	CCONJ
alkej-976	218	37	𝑟1	𝑟1	NOUN
alkej-976	218	38	,	,	PUNCT
alkej-976	218	39	𝑟2	𝑟2	NOUN
alkej-976	218	40	are	be	AUX
alkej-976	218	41	uniformly	uniformly	ADV
alkej-976	218	42	distributed	distribute	VERB
alkej-976	218	43	randomly	randomly	ADV
alkej-976	218	44	.	.	PUNCT
alkej-976	219	1	𝑄0	𝑄0	PROPN
alkej-976	219	2	,	,	PUNCT
alkej-976	219	3	…	…	PUNCT
alkej-976	219	4	,	,	PUNCT
alkej-976	219	5	𝑄𝑣−1	𝑄𝑣−1	NOUN
alkej-976	219	6	are	be	AUX
alkej-976	219	7	values	value	NOUN
alkej-976	219	8	of	of	ADP
alkej-976	219	9	the	the	DET
alkej-976	219	10	weight	weight	NOUN
alkej-976	219	11	matrix	matrix	NOUN
alkej-976	219	12	,	,	PUNCT
alkej-976	219	13	updated	update	VERB
alkej-976	219	14	with	with	ADP
alkej-976	219	15	each	each	DET
alkej-976	219	16	iteration	iteration	NOUN
alkej-976	219	17	in	in	ADP
alkej-976	219	18	the	the	DET
alkej-976	219	19	partial	partial	ADJ
alkej-976	219	20	swarm	swarm	NOUN
alkej-976	219	21	algorithm	algorithm	NOUN
alkej-976	219	22	,	,	PUNCT
alkej-976	219	23	reaching	reach	VERB
alkej-976	219	24	the	the	DET
alkej-976	219	25	optimal	optimal	ADJ
alkej-976	219	26	values	value	NOUN
alkej-976	219	27	within	within	ADP
alkej-976	219	28	the	the	DET
alkej-976	219	29	predefined	predefine	VERB
alkej-976	219	30	constraints	constraint	NOUN
alkej-976	219	31	[	[	X
alkej-976	219	32	37][38][22	37][38][22	NUM
alkej-976	219	33	]	]	PUNCT
alkej-976	219	34	.	.	PUNCT
alkej-976	220	1	𝑄0	𝑄0	PROPN
alkej-976	221	1	=	=	PROPN
alkej-976	221	2	𝑥(𝑖,1	𝑥(𝑖,1	PROPN
alkej-976	221	3	)	)	PUNCT
alkej-976	221	4	,	,	PUNCT
alkej-976	221	5	𝑄𝑣−1=	𝑄𝑣−1=	VERB
alkej-976	221	6	𝑥(𝑖,𝑚∗𝑛	𝑥(𝑖,𝑚∗𝑛	NOUN
alkej-976	221	7	)	)	PUNCT
alkej-976	221	8	fig	fig	NOUN
alkej-976	221	9	.	.	PUNCT
alkej-976	222	1	4	4	X
alkej-976	222	2	.	.	X
alkej-976	222	3	flowchart	flowchart	NOUN
alkej-976	222	4	of	of	ADP
alkej-976	222	5	pso	pso	PROPN
alkej-976	222	6	table	table	NOUN
alkej-976	222	7	1	1	NUM
alkej-976	222	8	,	,	PUNCT
alkej-976	222	9	parameters	parameter	NOUN
alkej-976	222	10	of	of	ADP
alkej-976	222	11	pso	pso	NOUN
alkej-976	222	12	parameter	parameter	NOUN
alkej-976	222	13	value	value	NOUN
alkej-976	222	14	note	note	NOUN
alkej-976	222	15	𝑐1	𝑐1	NOUN
alkej-976	222	16	,	,	PUNCT
alkej-976	222	17	𝑐2	𝑐2	NOUN
alkej-976	222	18	2.0	2.0	NUM
alkej-976	222	19	this	this	DET
alkej-976	222	20	value	value	NOUN
alkej-976	222	21	represents	represent	VERB
alkej-976	222	22	a	a	DET
alkej-976	222	23	good	good	ADJ
alkej-976	222	24	balance	balance	NOUN
alkej-976	222	25	between	between	ADP
alkej-976	222	26	relying	rely	VERB
alkej-976	222	27	on	on	ADP
alkej-976	222	28	individual	individual	ADJ
alkej-976	222	29	experiences	experience	NOUN
alkej-976	222	30	and	and	CCONJ
alkej-976	222	31	global	global	ADJ
alkej-976	222	32	search	search	NOUN
alkej-976	222	33	𝑟1	𝑟1	NOUN
alkej-976	222	34	,	,	PUNCT
alkej-976	222	35	𝑟2	𝑟2	NOUN
alkej-976	222	36	random	random	ADJ
alkej-976	222	37	numbers	number	NOUN
alkej-976	222	38	)	)	PUNCT
alkej-976	222	39	0,1	0,1	NUM
alkej-976	222	40	(	(	PUNCT
alkej-976	222	41	between	between	ADP
alkej-976	222	42	to	to	PART
alkej-976	222	43	introduce	introduce	VERB
alkej-976	222	44	behaviourstochastic	behaviourstochastic	ADJ
alkej-976	222	45	∅	∅	NOUN
alkej-976	222	46	0.9	0.9	NUM
alkej-976	222	47	to	to	PART
alkej-976	222	48	control	control	VERB
alkej-976	222	49	the	the	PRON
alkej-976	222	50	between	between	ADP
alkej-976	222	51	balance	balance	NOUN
alkej-976	222	52	exploration	exploration	NOUN
alkej-976	222	53	and	and	CCONJ
alkej-976	222	54	exploitation	exploitation	NOUN
alkej-976	222	55	4	4	NUM
alkej-976	222	56	.	.	NOUN
alkej-976	222	57	results	result	NOUN
alkej-976	222	58	and	and	CCONJ
alkej-976	222	59	discussion	discussion	NOUN
alkej-976	222	60	4.1	4.1	NUM
alkej-976	222	61	steering	steering	NOUN
alkej-976	222	62	wheel	wheel	NOUN
alkej-976	222	63	simulation	simulation	NOUN
alkej-976	222	64	the	the	DET
alkej-976	222	65	simulation	simulation	NOUN
alkej-976	222	66	was	be	AUX
alkej-976	222	67	conducted	conduct	VERB
alkej-976	222	68	on	on	ADP
alkej-976	222	69	a	a	DET
alkej-976	222	70	windows	window	NOUN
alkej-976	222	71	10	10	NUM
alkej-976	222	72	pc	pc	NOUN
alkej-976	222	73	,	,	PUNCT
alkej-976	222	74	offering	offer	VERB
alkej-976	222	75	a	a	DET
alkej-976	222	76	reliable	reliable	ADJ
alkej-976	222	77	environment	environment	NOUN
alkej-976	222	78	suitable	suitable	ADJ
alkej-976	222	79	for	for	ADP
alkej-976	222	80	operating	operate	VERB
alkej-976	222	81	the	the	DET
alkej-976	222	82	python	python	NOUN
alkej-976	222	83	2022	2022	NUM
alkej-976	222	84	programming	programming	NOUN
alkej-976	222	85	environment	environment	NOUN
alkej-976	222	86	.	.	PUNCT
alkej-976	223	1	the	the	DET
alkej-976	223	2	values	value	NOUN
alkej-976	223	3	mentioned	mention	VERB
alkej-976	223	4	in	in	ADP
alkej-976	223	5	table	table	NOUN
alkej-976	223	6	3[27	3[27	PROPN
alkej-976	223	7	]	]	PUNCT
alkej-976	223	8	were	be	AUX
alkej-976	223	9	adopted	adopt	VERB
alkej-976	223	10	as	as	ADP
alkej-976	223	11	a	a	DET
alkej-976	223	12	basis	basis	NOUN
alkej-976	223	13	for	for	ADP
alkej-976	223	14	simulating	simulate	VERB
alkej-976	223	15	the	the	DET
alkej-976	223	16	system	system	NOUN
alkej-976	223	17	in	in	ADP
alkej-976	223	18	the	the	DET
alkej-976	223	19	absence	absence	NOUN
alkej-976	223	20	of	of	ADP
alkej-976	223	21	the	the	DET
alkej-976	223	22	pso	pso	NOUN
alkej-976	223	23	algorithm	algorithm	NOUN
alkej-976	223	24	for	for	ADP
alkej-976	223	25	the	the	DET
alkej-976	223	26	steering	steering	NOUN
alkej-976	223	27	wheel	wheel	NOUN
alkej-976	223	28	system	system	NOUN
alkej-976	223	29	.	.	PUNCT
alkej-976	224	1	the	the	DET
alkej-976	224	2	initial	initial	ADJ
alkej-976	224	3	values	value	NOUN
alkej-976	224	4	of	of	ADP
alkej-976	224	5	qo	qo	NOUN
alkej-976	224	6	and	and	CCONJ
alkej-976	224	7	q1,v−1	q1,v−1	NOUN
alkej-976	224	8	equal	equal	ADJ
alkej-976	224	9	to	to	ADP
alkej-976	224	10	10−10	10−10	NUM
alkej-976	224	11	and	and	CCONJ
alkej-976	224	12	10−9	10−9	NUM
alkej-976	224	13	respectively	respectively	ADV
alkej-976	224	14	were	be	AUX
alkej-976	224	15	chosen	choose	VERB
alkej-976	224	16	on	on	ADP
alkej-976	224	17	the	the	DET
alkej-976	224	18	basis	basis	NOUN
alkej-976	224	19	of	of	ADP
alkej-976	224	20	the	the	DET
alkej-976	224	21	experimental	experimental	ADJ
alkej-976	224	22	tuning	tuning	NOUN
alkej-976	224	23	to	to	PART
alkej-976	224	24	balance	balance	VERB
alkej-976	224	25	the	the	DET
alkej-976	224	26	speed	speed	NOUN
alkej-976	224	27	and	and	CCONJ
alkej-976	224	28	stability	stability	NOUN
alkej-976	224	29	in	in	ADP
alkej-976	224	30	the	the	DET
alkej-976	224	31	system	system	NOUN
alkej-976	224	32	response	response	NOUN
alkej-976	224	33	as	as	SCONJ
alkej-976	224	34	these	these	DET
alkej-976	224	35	values	value	NOUN
alkej-976	224	36	help	help	VERB
alkej-976	224	37	in	in	ADP
alkej-976	224	38	reducing	reduce	VERB
alkej-976	224	39	overshoot	overshoot	NOUN
alkej-976	224	40	whilst	whilst	SCONJ
alkej-976	224	41	ensuring	ensure	VERB
alkej-976	224	42	fast	fast	ADJ
alkej-976	224	43	convergence	convergence	NOUN
alkej-976	224	44	.	.	PUNCT
alkej-976	225	1	in	in	ADP
alkej-976	225	2	addition	addition	NOUN
alkej-976	225	3	,	,	PUNCT
alkej-976	225	4	the	the	DET
alkej-976	225	5	constraints	constraint	NOUN
alkej-976	225	6	of	of	ADP
alkej-976	225	7	the	the	DET
alkej-976	225	8	pso	pso	NOUN
alkej-976	225	9	algorithm	algorithm	NOUN
alkej-976	225	10	were	be	AUX
alkej-976	225	11	determined	determine	VERB
alkej-976	225	12	for	for	ADP
alkej-976	225	13	the	the	DET
alkej-976	225	14	values	value	NOUN
alkej-976	225	15	[	[	X
alkej-976	225	16	maximum	maximum	ADJ
alkej-976	225	17	value	value	NOUN
alkej-976	225	18	(	(	PUNCT
alkej-976	225	19	10−10	10−10	NUM
alkej-976	225	20	,	,	PUNCT
alkej-976	225	21	10−2	10−2	NUM
alkej-976	225	22	)	)	PUNCT
alkej-976	225	23	,	,	PUNCT
alkej-976	225	24	minimum	minimum	NOUN
alkej-976	225	25	value	value	NOUN
alkej-976	225	26	(	(	PUNCT
alkej-976	225	27	10−20	10−20	NUM
alkej-976	225	28	,	,	PUNCT
alkej-976	225	29	10−8	10−8	NUM
alkej-976	225	30	)	)	PUNCT
alkej-976	225	31	.	.	PUNCT
alkej-976	226	1	these	these	DET
alkej-976	226	2	constraints	constraint	NOUN
alkej-976	226	3	were	be	AUX
alkej-976	226	4	chosen	choose	VERB
alkej-976	226	5	to	to	PART
alkej-976	226	6	ensure	ensure	VERB
alkej-976	226	7	that	that	SCONJ
alkej-976	226	8	the	the	DET
alkej-976	226	9	optimisation	optimisation	NOUN
alkej-976	226	10	process	process	NOUN
alkej-976	226	11	remains	remain	VERB
alkej-976	226	12	within	within	ADP
alkej-976	226	13	the	the	DET
alkej-976	226	14	possible	possible	ADJ
alkej-976	226	15	and	and	CCONJ
alkej-976	226	16	practical	practical	ADJ
alkej-976	226	17	ranges	range	NOUN
alkej-976	226	18	of	of	ADP
alkej-976	226	19	the	the	DET
alkej-976	226	20	system	system	NOUN
alkej-976	226	21	operating	operating	NOUN
alkej-976	226	22	parameters	parameter	NOUN
alkej-976	226	23	,	,	PUNCT
alkej-976	226	24	thus	thus	ADV
alkej-976	226	25	avoiding	avoid	VERB
alkej-976	226	26	unrealistic	unrealistic	ADJ
alkej-976	226	27	or	or	CCONJ
alkej-976	226	28	unstable	unstable	ADJ
alkej-976	226	29	solutions	solution	NOUN
alkej-976	226	30	.	.	PUNCT
alkej-976	227	1	the	the	DET
alkej-976	227	2	pso	pso	NOUN
alkej-976	227	3	results	result	VERB
alkej-976	227	4	for	for	ADP
alkej-976	227	5	the	the	DET
alkej-976	227	6	weight	weight	NOUN
alkej-976	227	7	values	value	NOUN
alkej-976	227	8	qo	qo	NOUN
alkej-976	227	9	and	and	CCONJ
alkej-976	227	10	q1,v−1	q1,v−1	PROPN
alkej-976	227	11	are	be	AUX
alkej-976	227	12	2.9×10−4	2.9×10−4	NUM
alkej-976	227	13	and	and	CCONJ
alkej-976	227	14	5.1×10−13	5.1×10−13	NUM
alkej-976	227	15	,	,	PUNCT
alkej-976	227	16	respectively	respectively	ADV
alkej-976	227	17	.	.	PUNCT
alkej-976	228	1	4.1.1	4.1.1	NUM
alkej-976	228	2	cases	case	NOUN
alkej-976	228	3	of	of	ADP
alkej-976	228	4	step	step	NOUN
alkej-976	228	5	and	and	CCONJ
alkej-976	228	6	square	square	ADJ
alkej-976	228	7	response	response	NOUN
alkej-976	228	8	figure	figure	NOUN
alkej-976	228	9	5	5	NUM
alkej-976	228	10	graphs	graph	NOUN
alkej-976	228	11	the	the	DET
alkej-976	228	12	step	step	NOUN
alkej-976	228	13	response	response	NOUN
alkej-976	228	14	for	for	ADP
alkej-976	228	15	the	the	DET
alkej-976	228	16	angle	angle	NOUN
alkej-976	228	17	of	of	ADP
alkej-976	228	18	steering	steering	NOUN
alkej-976	228	19	motor	motor	NOUN
alkej-976	228	20	qm1	qm1	PROPN
alkej-976	228	21	.	.	PUNCT
alkej-976	229	1	the	the	DET
alkej-976	229	2	use	use	NOUN
alkej-976	229	3	of	of	ADP
alkej-976	229	4	pso	pso	NOUN
alkej-976	229	5	with	with	ADP
alkej-976	229	6	mpc	mpc	PROPN
alkej-976	229	7	has	have	AUX
alkej-976	229	8	remarkably	remarkably	ADV
alkej-976	229	9	improved	improve	VERB
alkej-976	229	10	the	the	DET
alkej-976	229	11	angle	angle	NOUN
alkej-976	229	12	in	in	ADP
alkej-976	229	13	terms	term	NOUN
alkej-976	229	14	of	of	ADP
alkej-976	229	15	the	the	DET
alkej-976	229	16	settling	settling	NOUN
alkej-976	229	17	time	time	NOUN
alkej-976	229	18	,	,	PUNCT
alkej-976	229	19	which	which	PRON
alkej-976	229	20	decreased	decrease	VERB
alkej-976	229	21	from	from	ADP
alkej-976	229	22	2.096	2.096	NUM
alkej-976	229	23	seconds	second	NOUN
alkej-976	229	24	to	to	ADP
alkej-976	229	25	0.268	0.268	NUM
alkej-976	229	26	seconds	second	NOUN
alkej-976	229	27	,	,	PUNCT
alkej-976	229	28	and	and	CCONJ
alkej-976	229	29	overshoot	overshoot	NOUN
alkej-976	229	30	decreased	decrease	VERB
alkej-976	229	31	from	from	ADP
alkej-976	229	32	6.524	6.524	NUM
alkej-976	229	33	%	%	NOUN
alkej-976	229	34	to	to	ADP
alkej-976	229	35	almost	almost	ADV
alkej-976	229	36	0	0	NUM
alkej-976	229	37	%	%	NOUN
alkej-976	229	38	,	,	PUNCT
alkej-976	229	39	as	as	SCONJ
alkej-976	229	40	shown	show	VERB
alkej-976	229	41	in	in	ADP
alkej-976	229	42	table	table	NOUN
alkej-976	229	43	2	2	NUM
alkej-976	229	44	.	.	PUNCT
alkej-976	230	1	the	the	DET
alkej-976	230	2	degree	degree	NOUN
alkej-976	230	3	of	of	ADP
alkej-976	230	4	enhancement	enhancement	NOUN
alkej-976	230	5	is	be	AUX
alkej-976	230	6	evident	evident	ADJ
alkej-976	230	7	in	in	ADP
alkej-976	230	8	the	the	DET
alkej-976	230	9	ability	ability	NOUN
alkej-976	230	10	to	to	PART
alkej-976	230	11	manage	manage	VERB
alkej-976	230	12	a	a	DET
alkej-976	230	13	square	square	ADJ
alkej-976	230	14	response	response	NOUN
alkej-976	230	15	,	,	PUNCT
alkej-976	230	16	as	as	SCONJ
alkej-976	230	17	illustrated	illustrate	VERB
alkej-976	230	18	in	in	ADP
alkej-976	230	19	figure	figure	NOUN
alkej-976	230	20	6	6	NUM
alkej-976	230	21	.	.	PUNCT
alkej-976	231	1	taher	taher	PROPN
alkej-976	231	2	sachit	sachit	VERB
alkej-976	231	3	taher	taher	PROPN
alkej-976	231	4	al	al	PROPN
alkej-976	231	5	-	-	PUNCT
alkej-976	231	6	khwarizmi	khwarizmi	PROPN
alkej-976	231	7	engineering	engineering	NOUN
alkej-976	231	8	journal	journal	PROPN
alkej-976	231	9	,	,	PUNCT
alkej-976	231	10	vol	vol	NOUN
alkej-976	231	11	.	.	PROPN
alkej-976	231	12	21	21	NUM
alkej-976	231	13	,	,	PUNCT
alkej-976	231	14	no.1	no.1	NUM
alkej-976	231	15	,	,	PUNCT
alkej-976	231	16	pp	pp	ADJ
alkej-976	231	17	.	.	PUNCT
alkej-976	231	18	6172	6172	NUM
alkej-976	231	19	(	(	PUNCT
alkej-976	231	20	2025	2025	NUM
alkej-976	231	21	)	)	PUNCT
alkej-976	231	22	68	68	NUM
alkej-976	231	23	fig	fig	NOUN
alkej-976	231	24	.	.	PUNCT
alkej-976	232	1	5	5	NUM
alkej-976	232	2	.	.	NOUN
alkej-976	232	3	step	step	NOUN
alkej-976	232	4	response	response	NOUN
alkej-976	232	5	for	for	ADP
alkej-976	232	6	the	the	DET
alkej-976	232	7	angle	angle	NOUN
alkej-976	232	8	of	of	ADP
alkej-976	232	9	a	a	DET
alkej-976	232	10	steering	steering	NOUN
alkej-976	232	11	motor	motor	NOUN
alkej-976	232	12	ө𝒎𝟏	ө𝒎𝟏	NOUN
alkej-976	232	13	fig	fig	NOUN
alkej-976	232	14	.	.	PUNCT
alkej-976	233	1	6	6	NUM
alkej-976	233	2	.	.	PUNCT
alkej-976	233	3	square	square	ADJ
alkej-976	233	4	response	response	NOUN
alkej-976	233	5	for	for	ADP
alkej-976	233	6	the	the	DET
alkej-976	233	7	angle	angle	NOUN
alkej-976	233	8	of	of	ADP
alkej-976	233	9	a	a	DET
alkej-976	233	10	steering	steering	NOUN
alkej-976	233	11	motor	motor	NOUN
alkej-976	233	12	ө𝒎𝟏	ө𝒎𝟏	NOUN
alkej-976	233	13	4.2	4.2	NUM
alkej-976	233	14	front	front	NOUN
alkej-976	233	15	wheel	wheel	NOUN
alkej-976	233	16	simulation	simulation	NOUN
alkej-976	233	17	in	in	ADP
alkej-976	233	18	the	the	DET
alkej-976	233	19	front	front	ADJ
alkej-976	233	20	wheel	wheel	NOUN
alkej-976	233	21	system	system	NOUN
alkej-976	233	22	,	,	PUNCT
alkej-976	233	23	the	the	DET
alkej-976	233	24	values	value	NOUN
alkej-976	233	25	for	for	ADP
alkej-976	233	26	the	the	DET
alkej-976	233	27	weight	weight	NOUN
alkej-976	233	28	matrix	matrix	NOUN
alkej-976	233	29	qo	qo	NOUN
alkej-976	233	30	and	and	CCONJ
alkej-976	233	31	q1,v−1	q1,v−1	NOUN
alkej-976	233	32	equal	equal	ADJ
alkej-976	233	33	to	to	ADP
alkej-976	233	34	10−6	10−6	NUM
alkej-976	233	35	and	and	CCONJ
alkej-976	233	36	10−3	10−3	NUM
alkej-976	233	37	respectively	respectively	ADV
alkej-976	233	38	were	be	AUX
alkej-976	233	39	employed	employ	VERB
alkej-976	233	40	,	,	PUNCT
alkej-976	233	41	with	with	ADP
alkej-976	233	42	constraints	constraint	NOUN
alkej-976	233	43	between	between	ADP
alkej-976	233	44	a	a	DET
alkej-976	233	45	maximum	maximum	NOUN
alkej-976	233	46	of	of	ADP
alkej-976	233	47	10−20	10−20	PROPN
alkej-976	233	48	,	,	PUNCT
alkej-976	233	49	10−10	10−10	NUM
alkej-976	233	50	and	and	CCONJ
alkej-976	233	51	a	a	DET
alkej-976	233	52	minimum	minimum	NOUN
alkej-976	233	53	of	of	ADP
alkej-976	233	54	10−25	10−25	NOUN
alkej-976	233	55	,	,	PUNCT
alkej-976	233	56	10−15	10−15	PROPN
alkej-976	233	57	.	.	PUNCT
alkej-976	234	1	the	the	DET
alkej-976	234	2	obtained	obtain	VERB
alkej-976	234	3	result	result	NOUN
alkej-976	234	4	of	of	ADP
alkej-976	234	5	pso	pso	NOUN
alkej-976	234	6	for	for	ADP
alkej-976	234	7	the	the	DET
alkej-976	234	8	weight	weight	NOUN
alkej-976	234	9	values	value	NOUN
alkej-976	234	10	for	for	ADP
alkej-976	234	11	the	the	DET
alkej-976	234	12	weight	weight	NOUN
alkej-976	234	13	values	value	NOUN
alkej-976	234	14	qo	qo	NOUN
alkej-976	234	15	and	and	CCONJ
alkej-976	234	16	q1,v−1	q1,v−1	PROPN
alkej-976	234	17	are	be	AUX
alkej-976	234	18	8.93×10−12	8.93×10−12	NUM
alkej-976	234	19	and	and	CCONJ
alkej-976	234	20	9.72×10−16	9.72×10−16	NUM
alkej-976	234	21	,	,	PUNCT
alkej-976	234	22	respectively	respectively	ADV
alkej-976	234	23	.	.	PUNCT
alkej-976	235	1	4.2.1	4.2.1	NUM
alkej-976	235	2	cases	case	NOUN
alkej-976	235	3	of	of	ADP
alkej-976	235	4	step	step	NOUN
alkej-976	235	5	and	and	CCONJ
alkej-976	235	6	square	square	ADJ
alkej-976	235	7	response	response	NOUN
alkej-976	235	8	figure	figure	NOUN
alkej-976	235	9	7	7	NUM
alkej-976	235	10	shows	show	VERB
alkej-976	235	11	the	the	DET
alkej-976	235	12	improvements	improvement	NOUN
alkej-976	235	13	in	in	ADP
alkej-976	235	14	the	the	DET
alkej-976	235	15	angle	angle	NOUN
alkej-976	235	16	of	of	ADP
alkej-976	235	17	the	the	DET
alkej-976	235	18	front	front	ADJ
alkej-976	235	19	wheel	wheel	NOUN
alkej-976	235	20	motor	motor	NOUN
alkej-976	235	21	qm2	qm2	NOUN
alkej-976	235	22	when	when	SCONJ
alkej-976	235	23	the	the	DET
alkej-976	235	24	pso	pso	NOUN
alkej-976	235	25	has	have	AUX
alkej-976	235	26	integrated	integrate	VERB
alkej-976	235	27	with	with	ADP
alkej-976	235	28	mpc	mpc	PROPN
alkej-976	235	29	.	.	PROPN
alkej-976	235	30	figure	figure	NOUN
alkej-976	235	31	8	8	NUM
alkej-976	235	32	shows	show	VERB
alkej-976	235	33	a	a	DET
alkej-976	235	34	clear	clear	ADJ
alkej-976	235	35	improvement	improvement	NOUN
alkej-976	235	36	in	in	ADP
alkej-976	235	37	the	the	DET
alkej-976	235	38	settling	settling	NOUN
alkej-976	235	39	time	time	NOUN
alkej-976	235	40	,	,	PUNCT
alkej-976	235	41	and	and	CCONJ
alkej-976	235	42	the	the	DET
alkej-976	235	43	rise	rise	NOUN
alkej-976	235	44	time	time	NOUN
alkej-976	235	45	and	and	CCONJ
alkej-976	235	46	the	the	DET
alkej-976	235	47	angle	angle	NOUN
alkej-976	235	48	of	of	ADP
alkej-976	235	49	the	the	DET
alkej-976	235	50	front	front	ADJ
alkej-976	235	51	tire	tire	NOUN
alkej-976	235	52	δf	δf	NOUN
alkej-976	235	53	can	can	AUX
alkej-976	235	54	be	be	AUX
alkej-976	235	55	noticed	notice	VERB
alkej-976	235	56	.	.	PUNCT
alkej-976	236	1	the	the	DET
alkej-976	236	2	level	level	NOUN
alkej-976	236	3	of	of	ADP
alkej-976	236	4	improvement	improvement	NOUN
alkej-976	236	5	appears	appear	VERB
alkej-976	236	6	with	with	ADP
alkej-976	236	7	the	the	DET
alkej-976	236	8	same	same	ADJ
alkej-976	236	9	ability	ability	NOUN
alkej-976	236	10	to	to	PART
alkej-976	236	11	deal	deal	VERB
alkej-976	236	12	with	with	ADP
alkej-976	236	13	a	a	DET
alkej-976	236	14	square	square	ADJ
alkej-976	236	15	response	response	NOUN
alkej-976	236	16	,	,	PUNCT
alkej-976	236	17	as	as	SCONJ
alkej-976	236	18	shown	show	VERB
alkej-976	236	19	in	in	ADP
alkej-976	236	20	figures	figure	NOUN
alkej-976	236	21	9	9	NUM
alkej-976	236	22	and	and	CCONJ
alkej-976	236	23	10	10	NUM
alkej-976	236	24	.	.	PUNCT
alkej-976	237	1	fig	fig	NOUN
alkej-976	237	2	.	.	PUNCT
alkej-976	238	1	7	7	X
alkej-976	238	2	.	.	NUM
alkej-976	238	3	step	step	NOUN
alkej-976	238	4	response	response	NOUN
alkej-976	238	5	for	for	ADP
alkej-976	238	6	the	the	DET
alkej-976	238	7	angle	angle	NOUN
alkej-976	238	8	of	of	ADP
alkej-976	238	9	the	the	DET
alkej-976	238	10	front	front	ADJ
alkej-976	238	11	wheel	wheel	NOUN
alkej-976	238	12	motor	motor	PROPN
alkej-976	238	13	ө𝒎𝟐	ө𝒎𝟐	PROPN
alkej-976	238	14	fig	fig	NOUN
alkej-976	238	15	.	.	PUNCT
alkej-976	239	1	8	8	NUM
alkej-976	239	2	.	.	X
alkej-976	239	3	step	step	NOUN
alkej-976	239	4	response	response	NOUN
alkej-976	239	5	for	for	ADP
alkej-976	239	6	the	the	DET
alkej-976	239	7	angle	angle	NOUN
alkej-976	239	8	of	of	ADP
alkej-976	239	9	the	the	DET
alkej-976	239	10	front	front	ADJ
alkej-976	239	11	tire	tire	NOUN
alkej-976	239	12	𝜹𝒇	𝜹𝒇	PROPN
alkej-976	239	13	fig	fig	NOUN
alkej-976	239	14	.	.	PUNCT
alkej-976	240	1	9	9	NUM
alkej-976	240	2	.	.	PUNCT
alkej-976	240	3	square	square	ADJ
alkej-976	240	4	response	response	NOUN
alkej-976	240	5	for	for	ADP
alkej-976	240	6	the	the	DET
alkej-976	240	7	angle	angle	NOUN
alkej-976	240	8	of	of	ADP
alkej-976	240	9	the	the	DET
alkej-976	240	10	front	front	ADJ
alkej-976	240	11	wheel	wheel	NOUN
alkej-976	240	12	motor	motor	PROPN
alkej-976	240	13	ө𝒎𝟐	ө𝒎𝟐	PROPN
alkej-976	240	14	fig	fig	NOUN
alkej-976	240	15	.	.	PUNCT
alkej-976	241	1	10	10	NUM
alkej-976	241	2	.	.	PUNCT
alkej-976	242	1	square	square	ADJ
alkej-976	242	2	response	response	NOUN
alkej-976	242	3	for	for	ADP
alkej-976	242	4	the	the	DET
alkej-976	242	5	angle	angle	NOUN
alkej-976	242	6	of	of	ADP
alkej-976	242	7	the	the	DET
alkej-976	242	8	front	front	ADJ
alkej-976	242	9	tire	tire	NOUN
alkej-976	242	10	𝜹𝒇	𝜹𝒇	X
alkej-976	242	11	.	.	PUNCT
alkej-976	243	1	taher	taher	PROPN
alkej-976	243	2	sachit	sachit	VERB
alkej-976	243	3	taher	taher	PROPN
alkej-976	243	4	al	al	PROPN
alkej-976	243	5	-	-	PUNCT
alkej-976	243	6	khwarizmi	khwarizmi	PROPN
alkej-976	243	7	engineering	engineering	NOUN
alkej-976	243	8	journal	journal	PROPN
alkej-976	243	9	,	,	PUNCT
alkej-976	243	10	vol	vol	NOUN
alkej-976	243	11	.	.	PROPN
alkej-976	243	12	21	21	NUM
alkej-976	243	13	,	,	PUNCT
alkej-976	243	14	no.1	no.1	NUM
alkej-976	243	15	,	,	PUNCT
alkej-976	243	16	pp	pp	ADJ
alkej-976	243	17	.	.	PUNCT
alkej-976	244	1	6172	6172	NUM
alkej-976	244	2	(	(	PUNCT
alkej-976	244	3	2025	2025	NUM
alkej-976	244	4	)	)	PUNCT
alkej-976	244	5	69	69	NUM
alkej-976	244	6	comparing	compare	VERB
alkej-976	244	7	the	the	DET
alkej-976	244	8	results	result	NOUN
alkej-976	244	9	shown	show	VERB
alkej-976	244	10	in	in	ADP
alkej-976	244	11	table	table	NOUN
alkej-976	244	12	2	2	NUM
alkej-976	244	13	with	with	ADP
alkej-976	244	14	those	those	PRON
alkej-976	244	15	referenced	reference	VERB
alkej-976	244	16	in	in	ADP
alkej-976	244	17	[	[	X
alkej-976	244	18	19	19	NUM
alkej-976	244	19	]	]	PUNCT
alkej-976	244	20	,	,	PUNCT
alkej-976	244	21	which	which	PRON
alkej-976	244	22	are	be	AUX
alkej-976	244	23	considered	consider	VERB
alkej-976	244	24	the	the	DET
alkej-976	244	25	closest	close	ADJ
alkej-976	244	26	research	research	NOUN
alkej-976	244	27	in	in	ADP
alkej-976	244	28	terms	term	NOUN
alkej-976	244	29	of	of	ADP
alkej-976	244	30	the	the	DET
alkej-976	244	31	factors	factor	NOUN
alkej-976	244	32	that	that	PRON
alkej-976	244	33	can	can	AUX
alkej-976	244	34	be	be	AUX
alkej-976	244	35	compared	compare	VERB
alkej-976	244	36	,	,	PUNCT
alkej-976	244	37	especially	especially	ADV
alkej-976	244	38	the	the	DET
alkej-976	244	39	angle	angle	NOUN
alkej-976	244	40	of	of	ADP
alkej-976	244	41	the	the	DET
alkej-976	244	42	front	front	ADJ
alkej-976	244	43	tire	tire	NOUN
alkej-976	244	44	δf	δf	NOUN
alkej-976	244	45	,	,	PUNCT
alkej-976	244	46	revealed	reveal	VERB
alkej-976	244	47	an	an	DET
alkej-976	244	48	improvement	improvement	NOUN
alkej-976	244	49	in	in	ADP
alkej-976	244	50	settling	settle	VERB
alkej-976	244	51	time	time	NOUN
alkej-976	244	52	or	or	CCONJ
alkej-976	244	53	overshoot	overshoot	NOUN
alkej-976	244	54	.	.	PUNCT
alkej-976	245	1	the	the	DET
alkej-976	245	2	stability	stability	NOUN
alkej-976	245	3	time	time	NOUN
alkej-976	245	4	for	for	ADP
alkej-976	245	5	the	the	DET
alkej-976	245	6	tire	tire	NOUN
alkej-976	245	7	angle	angle	NOUN
alkej-976	245	8	is	be	AUX
alkej-976	245	9	1	1	NUM
alkej-976	245	10	second	second	ADJ
alkej-976	245	11	,	,	PUNCT
alkej-976	245	12	and	and	CCONJ
alkej-976	245	13	the	the	DET
alkej-976	245	14	highest	high	ADJ
alkej-976	245	15	peak	peak	NOUN
alkej-976	245	16	is	be	AUX
alkej-976	245	17	19	19	NUM
alkej-976	245	18	%	%	NOUN
alkej-976	245	19	.	.	PUNCT
alkej-976	246	1	the	the	DET
alkej-976	246	2	use	use	NOUN
alkej-976	246	3	of	of	ADP
alkej-976	246	4	mpc	mpc	PROPN
alkej-976	246	5	enhanced	enhance	VERB
alkej-976	246	6	by	by	ADP
alkej-976	246	7	pso	pso	NOUN
alkej-976	246	8	improves	improve	VERB
alkej-976	246	9	this	this	PRON
alkej-976	246	10	substantially	substantially	ADV
alkej-976	246	11	,	,	PUNCT
alkej-976	246	12	where	where	SCONJ
alkej-976	246	13	the	the	DET
alkej-976	246	14	stability	stability	NOUN
alkej-976	246	15	time	time	NOUN
alkej-976	246	16	became	become	VERB
alkej-976	246	17	0.06	0.06	NUM
alkej-976	246	18	seconds	second	NOUN
alkej-976	246	19	and	and	CCONJ
alkej-976	246	20	the	the	DET
alkej-976	246	21	highest	high	ADJ
alkej-976	246	22	peak	peak	NOUN
alkej-976	246	23	reached	reach	VERB
alkej-976	246	24	0.013	0.013	NUM
alkej-976	246	25	%	%	NOUN
alkej-976	246	26	,	,	PUNCT
alkej-976	246	27	as	as	SCONJ
alkej-976	246	28	presented	present	VERB
alkej-976	246	29	in	in	ADP
alkej-976	246	30	table	table	NOUN
alkej-976	246	31	2	2	NUM
alkej-976	246	32	.	.	PUNCT
alkej-976	247	1	the	the	DET
alkej-976	247	2	mpc	mpc	PROPN
alkej-976	247	3	was	be	AUX
alkej-976	247	4	trained	train	VERB
alkej-976	247	5	offline	offline	ADJ
alkej-976	247	6	using	use	VERB
alkej-976	247	7	simulation	simulation	NOUN
alkej-976	247	8	data	datum	NOUN
alkej-976	247	9	,	,	PUNCT
alkej-976	247	10	allowing	allow	VERB
alkej-976	247	11	for	for	ADP
alkej-976	247	12	improved	improved	ADJ
alkej-976	247	13	tuning	tuning	NOUN
alkej-976	247	14	of	of	ADP
alkej-976	247	15	parameters	parameter	NOUN
alkej-976	247	16	and	and	CCONJ
alkej-976	247	17	testing	testing	NOUN
alkej-976	247	18	of	of	ADP
alkej-976	247	19	different	different	ADJ
alkej-976	247	20	scenarios	scenario	NOUN
alkej-976	247	21	before	before	ADP
alkej-976	247	22	real	real	ADJ
alkej-976	247	23	-	-	PUNCT
alkej-976	247	24	time	time	NOUN
alkej-976	247	25	implementation	implementation	NOUN
alkej-976	247	26	.	.	PUNCT
alkej-976	248	1	the	the	DET
alkej-976	248	2	pso	pso	NOUN
alkej-976	248	3	algorithm	algorithm	NOUN
alkej-976	248	4	was	be	AUX
alkej-976	248	5	used	use	VERB
alkej-976	248	6	in	in	ADP
alkej-976	248	7	this	this	DET
alkej-976	248	8	offline	offline	ADJ
alkej-976	248	9	phase	phase	NOUN
alkej-976	248	10	to	to	PART
alkej-976	248	11	optimise	optimise	VERB
alkej-976	248	12	the	the	DET
alkej-976	248	13	mpc	mpc	NOUN
alkej-976	248	14	parameters	parameter	NOUN
alkej-976	248	15	for	for	ADP
alkej-976	248	16	robust	robust	ADJ
alkej-976	248	17	real	real	ADJ
alkej-976	248	18	-	-	PUNCT
alkej-976	248	19	time	time	NOUN
alkej-976	248	20	control	control	NOUN
alkej-976	248	21	.	.	PUNCT
alkej-976	249	1	5	5	X
alkej-976	249	2	.	.	X
alkej-976	249	3	conclusion	conclusion	NOUN
alkej-976	249	4	the	the	DET
alkej-976	249	5	following	follow	VERB
alkej-976	249	6	points	point	NOUN
alkej-976	249	7	represent	represent	VERB
alkej-976	249	8	the	the	DET
alkej-976	249	9	conclusive	conclusive	ADJ
alkej-976	249	10	findings	finding	NOUN
alkej-976	249	11	from	from	ADP
alkej-976	249	12	the	the	DET
alkej-976	249	13	present	present	ADJ
alkej-976	249	14	study	study	NOUN
alkej-976	249	15	:	:	PUNCT
alkej-976	250	1	1	1	X
alkej-976	250	2	.	.	X
alkej-976	250	3	the	the	DET
alkej-976	250	4	proposed	propose	VERB
alkej-976	250	5	system	system	NOUN
alkej-976	250	6	showed	show	VERB
alkej-976	250	7	quick	quick	ADJ
alkej-976	250	8	response	response	NOUN
alkej-976	250	9	through	through	ADP
alkej-976	250	10	a	a	DET
alkej-976	250	11	reduction	reduction	NOUN
alkej-976	250	12	in	in	ADP
alkej-976	250	13	the	the	DET
alkej-976	250	14	response	response	NOUN
alkej-976	250	15	time	time	NOUN
alkej-976	250	16	and	and	CCONJ
alkej-976	250	17	increasing	increase	VERB
alkej-976	250	18	the	the	DET
alkej-976	250	19	reasonableness	reasonableness	NOUN
alkej-976	250	20	of	of	ADP
alkej-976	250	21	real	real	ADJ
alkej-976	250	22	time	time	NOUN
alkej-976	250	23	.	.	PUNCT
alkej-976	251	1	2	2	X
alkej-976	251	2	.	.	X
alkej-976	251	3	the	the	DET
alkej-976	251	4	system	system	NOUN
alkej-976	251	5	focused	focus	VERB
alkej-976	251	6	on	on	ADP
alkej-976	251	7	the	the	DET
alkej-976	251	8	mo	mo	PROPN
alkej-976	251	9	steady	steady	PROPN
alkej-976	251	10	state	state	NOUN
alkej-976	251	11	,	,	PUNCT
alkej-976	251	12	providing	provide	VERB
alkej-976	251	13	high	high	ADJ
alkej-976	251	14	accuracy	accuracy	NOUN
alkej-976	251	15	in	in	ADP
alkej-976	251	16	reaching	reach	VERB
alkej-976	251	17	the	the	DET
alkej-976	251	18	required	required	ADJ
alkej-976	251	19	values	value	NOUN
alkej-976	251	20	without	without	ADP
alkej-976	251	21	identifiable	identifiable	ADJ
alkej-976	251	22	overshoot	overshoot	NOUN
alkej-976	251	23	or	or	CCONJ
alkej-976	251	24	direct	direct	ADJ
alkej-976	251	25	safety	safety	NOUN
alkej-976	251	26	.	.	PUNCT
alkej-976	252	1	3	3	X
alkej-976	252	2	.	.	PUNCT
alkej-976	252	3	by	by	ADP
alkej-976	252	4	taking	take	VERB
alkej-976	252	5	the	the	DET
alkej-976	252	6	stride	stride	NOUN
alkej-976	252	7	of	of	ADP
alkej-976	252	8	implementation	implementation	NOUN
alkej-976	252	9	indicators	indicator	NOUN
alkej-976	252	10	such	such	ADJ
alkej-976	252	11	as	as	ADP
alkej-976	252	12	iae	iae	NOUN
alkej-976	252	13	and	and	CCONJ
alkej-976	252	14	itae	itae	NOUN
alkej-976	252	15	,	,	PUNCT
alkej-976	252	16	pso	pso	NOUN
alkej-976	252	17	computation	computation	NOUN
alkej-976	252	18	advances	advance	VERB
alkej-976	252	19	the	the	DET
alkej-976	252	20	implementation	implementation	NOUN
alkej-976	252	21	of	of	ADP
alkej-976	252	22	the	the	DET
alkej-976	252	23	insight	insight	NOUN
alkej-976	252	24	controller	controller	NOUN
alkej-976	252	25	,	,	PUNCT
alkej-976	252	26	making	make	VERB
alkej-976	252	27	the	the	DET
alkej-976	252	28	framework	framework	NOUN
alkej-976	252	29	more	more	ADV
alkej-976	252	30	productive	productive	ADJ
alkej-976	252	31	and	and	CCONJ
alkej-976	252	32	responsive	responsive	ADJ
alkej-976	252	33	.	.	PUNCT
alkej-976	253	1	4	4	X
alkej-976	253	2	.	.	PUNCT
alkej-976	253	3	the	the	DET
alkej-976	253	4	frame	frame	NOUN
alkej-976	253	5	is	be	AUX
alkej-976	253	6	a	a	DET
alkej-976	253	7	suitable	suitable	ADJ
alkej-976	253	8	choice	choice	NOUN
alkej-976	253	9	for	for	ADP
alkej-976	253	10	steering	steering	NOUN
alkej-976	253	11	systems	system	NOUN
alkej-976	253	12	in	in	ADP
alkej-976	253	13	automobiles	automobile	NOUN
alkej-976	253	14	and	and	CCONJ
alkej-976	253	15	other	other	ADJ
alkej-976	253	16	instruments	instrument	NOUN
alkej-976	253	17	that	that	PRON
alkej-976	253	18	require	require	VERB
alkej-976	253	19	precise	precise	ADJ
alkej-976	253	20	control	control	NOUN
alkej-976	253	21	.	.	PUNCT
alkej-976	254	1	5	5	X
alkej-976	254	2	.	.	X
alkej-976	254	3	results	result	NOUN
alkej-976	254	4	demonstrate	demonstrate	VERB
alkej-976	254	5	good	good	ADJ
alkej-976	254	6	suitability	suitability	NOUN
alkej-976	254	7	for	for	ADP
alkej-976	254	8	applications	application	NOUN
alkej-976	254	9	requiring	require	VERB
alkej-976	254	10	accurate	accurate	ADJ
alkej-976	254	11	and	and	CCONJ
alkej-976	254	12	fast	fast	ADJ
alkej-976	254	13	responses	response	NOUN
alkej-976	254	14	.	.	PUNCT
alkej-976	255	1	furthermore	furthermore	ADV
alkej-976	255	2	,	,	PUNCT
alkej-976	255	3	the	the	DET
alkej-976	255	4	future	future	ADJ
alkej-976	255	5	controller	controller	NOUN
alkej-976	255	6	enhanced	enhance	VERB
alkej-976	255	7	by	by	ADP
alkej-976	255	8	pso	pso	NOUN
alkej-976	255	9	provides	provide	VERB
alkej-976	255	10	a	a	DET
alkej-976	255	11	good	good	ADJ
alkej-976	255	12	,	,	PUNCT
alkej-976	255	13	reliable	reliable	ADJ
alkej-976	255	14	and	and	CCONJ
alkej-976	255	15	efficient	efficient	ADJ
alkej-976	255	16	model	model	NOUN
alkej-976	255	17	for	for	ADP
alkej-976	255	18	driving	drive	VERB
alkej-976	255	19	sbws	sbws	NOUN
alkej-976	255	20	.	.	PUNCT
alkej-976	256	1	it	it	PRON
alkej-976	256	2	achieves	achieve	VERB
alkej-976	256	3	high	high	ADJ
alkej-976	256	4	accuracy	accuracy	NOUN
alkej-976	256	5	and	and	CCONJ
alkej-976	256	6	fast	fast	ADJ
alkej-976	256	7	response	response	NOUN
alkej-976	256	8	time	time	NOUN
alkej-976	256	9	in	in	ADP
alkej-976	256	10	a	a	DET
alkej-976	256	11	range	range	NOUN
alkej-976	256	12	of	of	ADP
alkej-976	256	13	real	real	ADJ
alkej-976	256	14	-	-	PUNCT
alkej-976	256	15	world	world	NOUN
alkej-976	256	16	applications	application	NOUN
alkej-976	256	17	,	,	PUNCT
alkej-976	256	18	remarkably	remarkably	ADV
alkej-976	256	19	enhancing	enhance	VERB
alkej-976	256	20	the	the	DET
alkej-976	256	21	overall	overall	ADJ
alkej-976	256	22	performance	performance	NOUN
alkej-976	256	23	.	.	PUNCT
alkej-976	257	1	6	6	X
alkej-976	257	2	.	.	X
alkej-976	257	3	future	future	ADJ
alkej-976	257	4	development	development	NOUN
alkej-976	257	5	proposal	proposal	NOUN
alkej-976	257	6	one	one	NUM
alkej-976	257	7	suitable	suitable	ADJ
alkej-976	257	8	proposal	proposal	NOUN
alkej-976	257	9	for	for	ADP
alkej-976	257	10	future	future	ADJ
alkej-976	257	11	development	development	NOUN
alkej-976	257	12	of	of	ADP
alkej-976	257	13	the	the	DET
alkej-976	257	14	research	research	NOUN
alkej-976	257	15	topic	topic	NOUN
alkej-976	257	16	is	be	AUX
alkej-976	257	17	to	to	PART
alkej-976	257	18	integrate	integrate	VERB
alkej-976	257	19	adaptive	adaptive	ADJ
alkej-976	257	20	or	or	CCONJ
alkej-976	257	21	machine	machine	NOUN
alkej-976	257	22	learning	learn	VERB
alkej-976	257	23	algorithms	algorithm	NOUN
alkej-976	257	24	with	with	ADP
alkej-976	257	25	pso	pso	NOUN
alkej-976	257	26	to	to	PART
alkej-976	257	27	adjust	adjust	VERB
alkej-976	257	28	parameters	parameter	NOUN
alkej-976	257	29	in	in	ADP
alkej-976	257	30	real	real	ADJ
alkej-976	257	31	time	time	NOUN
alkej-976	257	32	,	,	PUNCT
alkej-976	257	33	which	which	PRON
alkej-976	257	34	helps	help	VERB
alkej-976	257	35	enhance	enhance	VERB
alkej-976	257	36	control	control	NOUN
alkej-976	257	37	over	over	ADP
alkej-976	257	38	disturbances	disturbance	NOUN
alkej-976	257	39	and	and	CCONJ
alkej-976	257	40	changing	change	VERB
alkej-976	257	41	conditions	condition	NOUN
alkej-976	257	42	and	and	CCONJ
alkej-976	257	43	achieve	achieve	VERB
alkej-976	257	44	the	the	DET
alkej-976	257	45	necessary	necessary	ADJ
alkej-976	257	46	robustness	robustness	NOUN
alkej-976	257	47	.	.	PUNCT
alkej-976	258	1	moreover	moreover	ADV
alkej-976	258	2	,	,	PUNCT
alkej-976	258	3	testing	testing	NOUN
alkej-976	258	4	on	on	ADP
alkej-976	258	5	real	real	ADJ
alkej-976	258	6	vehicles	vehicle	NOUN
alkej-976	258	7	can	can	AUX
alkej-976	258	8	further	far	ADV
alkej-976	258	9	prove	prove	VERB
alkej-976	258	10	the	the	DET
alkej-976	258	11	robustness	robustness	NOUN
alkej-976	258	12	and	and	CCONJ
alkej-976	258	13	reliability	reliability	NOUN
alkej-976	258	14	of	of	ADP
alkej-976	258	15	the	the	DET
alkej-976	258	16	vehicle	vehicle	NOUN
alkej-976	258	17	,	,	PUNCT
alkej-976	258	18	offering	offer	VERB
alkej-976	258	19	ideas	idea	NOUN
alkej-976	258	20	for	for	ADP
alkej-976	258	21	useful	useful	ADJ
alkej-976	258	22	implementation	implementation	NOUN
alkej-976	258	23	in	in	ADP
alkej-976	258	24	automotive	automotive	ADJ
alkej-976	258	25	systems	system	NOUN
alkej-976	258	26	.	.	PUNCT
alkej-976	259	1	table	table	NOUN
alkej-976	259	2	2	2	NUM
alkej-976	259	3	,	,	PUNCT
alkej-976	259	4	performance	performance	NOUN
alkej-976	259	5	indexes	index	NOUN
alkej-976	259	6	performance	performance	NOUN
alkej-976	259	7	measures	measure	NOUN
alkej-976	259	8	mpc	mpc	NOUN
alkej-976	259	9	without	without	ADP
alkej-976	259	10	pso	pso	PROPN
alkej-976	259	11	mpc	mpc	PROPN
alkej-976	259	12	with	with	ADP
alkej-976	259	13	pso	pso	NOUN
alkej-976	259	14	ө𝒎𝟏	ө𝒎𝟏	NOUN
alkej-976	259	15	ө𝒎𝟐	ө𝒎𝟐	NOUN
alkej-976	259	16	𝜹𝒇	𝜹𝒇	PROPN
alkej-976	259	17	ө𝒎𝟏	ө𝒎𝟏	NOUN
alkej-976	259	18	ө𝒎𝟐	ө𝒎𝟐	NOUN
alkej-976	259	19	𝜹𝒇	𝜹𝒇	NOUN
alkej-976	259	20	settling	settling	NOUN
alkej-976	259	21	time	time	NOUN
alkej-976	259	22	(	(	PUNCT
alkej-976	259	23	s	s	NOUN
alkej-976	259	24	)	)	PUNCT
alkej-976	260	1	2.096	2.096	NUM
alkej-976	260	2	0.344	0.344	NUM
alkej-976	260	3	3.939	3.939	NUM
alkej-976	260	4	0.268	0.268	NUM
alkej-976	260	5	0.086	0.086	NUM
alkej-976	260	6	0.060	0.060	NUM
alkej-976	260	7	rise	rise	NOUN
alkej-976	260	8	time	time	NOUN
alkej-976	260	9	(	(	PUNCT
alkej-976	260	10	s	s	NOUN
alkej-976	260	11	)	)	PUNCT
alkej-976	260	12	1.525	1.525	NUM
alkej-976	260	13	0.188	0.188	NUM
alkej-976	260	14	0.922	0.922	NUM
alkej-976	260	15	0.179	0.179	NUM
alkej-976	260	16	0.069	0.069	NUM
alkej-976	260	17	0.048	0.048	NUM
alkej-976	260	18	overshoot	overshoot	NOUN
alkej-976	260	19	%	%	NOUN
alkej-976	260	20	6.524	6.524	NUM
alkej-976	260	21	−0.001	−0.001	NOUN
alkej-976	260	22	11.315	11.315	NUM
alkej-976	260	23	−1.275ᵡ	−1.275ᵡ	NOUN
alkej-976	260	24	10−8	10−8	NUM
alkej-976	260	25	1.632ᵡ	1.632ᵡ	NUM
alkej-976	260	26	10−8	10−8	NUM
alkej-976	260	27	0.013	0.013	NUM
alkej-976	260	28	iae	iae	NOUN
alkej-976	260	29	1.199	1.199	NUM
alkej-976	260	30	0.093	0.093	NUM
alkej-976	260	31	1.051	1.051	NUM
alkej-976	260	32	0.090	0.090	NUM
alkej-976	260	33	0.043	0.043	NUM
alkej-976	260	34	0.030	0.030	NUM
alkej-976	260	35	itae	itae	NOUN
alkej-976	260	36	1.710ᵡ	1.710ᵡ	ADJ
alkej-976	260	37	10−6	10−6	NUM
alkej-976	260	38	0.0001	0.0001	NUM
alkej-976	260	39	0.066	0.066	NUM
alkej-976	260	40	6.969ᵡ	6.969ᵡ	NUM
alkej-976	260	41	10−12	10−12	NOUN
alkej-976	260	42	3.893ᵡ	3.893ᵡ	NUM
alkej-976	260	43	10−10	10−10	NUM
alkej-976	260	44	1.747ᵡ	1.747ᵡ	NUM
alkej-976	260	45	10−7	10−7	NUM
alkej-976	260	46	table	table	NOUN
alkej-976	260	47	3	3	NUM
alkej-976	260	48	,	,	PUNCT
alkej-976	260	49	steering	steering	NOUN
alkej-976	260	50	-	-	PUNCT
alkej-976	260	51	by	by	ADP
alkej-976	260	52	-	-	PUNCT
alkej-976	260	53	wire	wire	NOUN
alkej-976	260	54	system	system	NOUN
alkej-976	260	55	parameters	parameter	NOUN
alkej-976	260	56	bil	bil	NUM
alkej-976	260	57	items	item	NOUN
alkej-976	260	58	values	value	VERB
alkej-976	260	59	bil	bil	NUM
alkej-976	260	60	items	item	NOUN
alkej-976	260	61	values	value	NOUN
alkej-976	260	62	ө𝑠	ө𝑠	ADP
alkej-976	260	63	angular	angular	ADJ
alkej-976	260	64	displacement	displacement	NOUN
alkej-976	260	65	of	of	ADP
alkej-976	260	66	steering	steering	NOUN
alkej-976	260	67	wheel	wheel	NOUN
alkej-976	260	68	(	(	PUNCT
alkej-976	260	69	degree	degree	NOUN
alkej-976	260	70	)	)	PUNCT
alkej-976	261	1	_	_	PUNCT
alkej-976	262	1	t𝑚2	t𝑚2	PROPN
alkej-976	262	2	front	front	ADJ
alkej-976	262	3	motor	motor	NOUN
alkej-976	262	4	torque	torque	NOUN
alkej-976	262	5	(	(	PUNCT
alkej-976	262	6	n.m	n.m	NOUN
alkej-976	262	7	)	)	PUNCT
alkej-976	262	8	_	_	PUNCT
alkej-976	263	1	𝑘𝑠	𝑘𝑠	PROPN
alkej-976	263	2	lumped	lump	VERB
alkej-976	263	3	torque	torque	NOUN
alkej-976	263	4	stiffness	stiffness	NOUN
alkej-976	263	5	(	(	PUNCT
alkej-976	263	6	n.m	n.m	NOUN
alkej-976	263	7	/	/	SYM
alkej-976	263	8	rad	rad	NOUN
alkej-976	263	9	)	)	PUNCT
alkej-976	263	10	3500	3500	NUM
alkej-976	263	11	𝑘𝑏2	𝑘𝑏2	NOUN
alkej-976	263	12	front	front	ADJ
alkej-976	263	13	motor	motor	NOUN
alkej-976	263	14	emf	emf	NOUN
alkej-976	263	15	constant	constant	ADJ
alkej-976	263	16	(	(	PUNCT
alkej-976	263	17	v	v	NOUN
alkej-976	263	18	)	)	PUNCT
alkej-976	263	19	2.0	2.0	NUM
alkej-976	263	20	𝑏𝑠𝑐	𝑏𝑠𝑐	NOUN
alkej-976	263	21	steering	steering	NOUN
alkej-976	263	22	column	column	NOUN
alkej-976	263	23	damping	damp	VERB
alkej-976	263	24	(	(	PUNCT
alkej-976	263	25	n.ms/rad	n.ms/rad	ADV
alkej-976	263	26	)	)	PUNCT
alkej-976	263	27	0.136	0.136	NUM
alkej-976	263	28	𝑏𝑚2	𝑏𝑚2	ADJ
alkej-976	263	29	front	front	ADJ
alkej-976	263	30	motor	motor	NOUN
alkej-976	263	31	damping	damp	VERB
alkej-976	263	32	(	(	PUNCT
alkej-976	263	33	n.m.s	n.m.s	NOUN
alkej-976	263	34	/	/	SYM
alkej-976	263	35	rad	rad	NOUN
alkej-976	263	36	)	)	PUNCT
alkej-976	263	37	1.0	1.0	NUM
alkej-976	263	38	taher	taher	PROPN
alkej-976	263	39	sachit	sachit	VERB
alkej-976	263	40	taher	taher	PROPN
alkej-976	263	41	al	al	PROPN
alkej-976	263	42	-	-	PUNCT
alkej-976	263	43	khwarizmi	khwarizmi	PROPN
alkej-976	263	44	engineering	engineering	NOUN
alkej-976	263	45	journal	journal	PROPN
alkej-976	263	46	,	,	PUNCT
alkej-976	263	47	vol	vol	NOUN
alkej-976	263	48	.	.	PROPN
alkej-976	263	49	21	21	NUM
alkej-976	263	50	,	,	PUNCT
alkej-976	263	51	no.1	no.1	NUM
alkej-976	263	52	,	,	PUNCT
alkej-976	263	53	pp	pp	ADJ
alkej-976	263	54	.	.	PUNCT
alkej-976	264	1	6172	6172	NUM
alkej-976	264	2	(	(	PUNCT
alkej-976	264	3	2025	2025	NUM
alkej-976	264	4	)	)	PUNCT
alkej-976	264	5	70	70	NUM
alkej-976	265	1	𝐽𝑠	𝐽𝑠	PROPN
alkej-976	265	2	steering	steering	NOUN
alkej-976	265	3	lumped	lump	VERB
alkej-976	265	4	inertia	inertia	NOUN
alkej-976	265	5	(	(	PUNCT
alkej-976	265	6	kg.m2	kg.m2	NOUN
alkej-976	265	7	)	)	PUNCT
alkej-976	265	8	0.0079	0.0079	NUM
alkej-976	265	9	𝐶𝑚2	𝐶𝑚2	ADJ
alkej-976	265	10	front	front	ADJ
alkej-976	265	11	motor	motor	PROPN
alkej-976	265	12	shaft	shaft	NOUN
alkej-976	265	13	compliance	compliance	NOUN
alkej-976	265	14	(	(	PUNCT
alkej-976	265	15	n.m	n.m	PROPN
alkej-976	265	16	/	/	SYM
alkej-976	265	17	s	s	NOUN
alkej-976	265	18	)	)	PUNCT
alkej-976	265	19	0.4	0.4	NUM
alkej-976	265	20	ө𝑚1	ө𝑚1	PROPN
alkej-976	265	21	angular	angular	ADJ
alkej-976	265	22	displacement	displacement	NOUN
alkej-976	265	23	of	of	ADP
alkej-976	265	24	front	front	ADJ
alkej-976	265	25	wheel	wheel	NOUN
alkej-976	265	26	motor	motor	NOUN
alkej-976	265	27	(	(	PUNCT
alkej-976	265	28	degree	degree	NOUN
alkej-976	265	29	)	)	PUNCT
alkej-976	265	30	_	_	PUNCT
alkej-976	265	31	𝛾𝑟𝑎𝑐𝑘	𝛾𝑟𝑎𝑐𝑘	ADJ
alkej-976	265	32	rack	rack	NOUN
alkej-976	265	33	force	force	NOUN
alkej-976	265	34	(	(	PUNCT
alkej-976	265	35	n.m	n.m	NOUN
alkej-976	265	36	)	)	PUNCT
alkej-976	265	37	_	_	NOUN
alkej-976	265	38	𝑏𝑚1	𝑏𝑚1	NOUN
alkej-976	265	39	motor	motor	NOUN
alkej-976	265	40	damping	damp	VERB
alkej-976	265	41	(	(	PUNCT
alkej-976	265	42	n.m.s	n.m.s	NOUN
alkej-976	265	43	/	/	SYM
alkej-976	265	44	rad	rad	NOUN
alkej-976	265	45	)	)	PUNCT
alkej-976	265	46	0.05	0.05	NUM
alkej-976	265	47	𝑏𝑟	𝑏𝑟	NOUN
alkej-976	265	48	resistance	resistance	NOUN
alkej-976	265	49	rack	rack	NOUN
alkej-976	265	50	(	(	PUNCT
alkej-976	265	51	n.m	n.m	NOUN
alkej-976	265	52	/	/	SYM
alkej-976	265	53	rad	rad	NOUN
alkej-976	265	54	)	)	PUNCT
alkej-976	265	55	25	25	NUM
alkej-976	265	56	𝐽𝑚1	𝐽𝑚1	NOUN
alkej-976	265	57	steering	steering	NOUN
alkej-976	265	58	motor	motor	NOUN
alkej-976	265	59	inertia	inertia	NOUN
alkej-976	265	60	(	(	PUNCT
alkej-976	265	61	kg.m2	kg.m2	NOUN
alkej-976	265	62	)	)	PUNCT
alkej-976	265	63	2.0	2.0	NUM
alkej-976	265	64	𝑚𝑟	𝑚𝑟	NUM
alkej-976	265	65	mass	mass	ADJ
alkej-976	265	66	rack	rack	NOUN
alkej-976	265	67	(	(	PUNCT
alkej-976	265	68	kg	kg	NOUN
alkej-976	265	69	)	)	PUNCT
alkej-976	265	70	2.0	2.0	NUM
alkej-976	265	71	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	𝑇𝑑𝑟𝑖𝑣𝑒𝑟	PROPN
alkej-976	265	72	torque	torque	NOUN
alkej-976	265	73	of	of	ADP
alkej-976	265	74	driver	driver	NOUN
alkej-976	265	75	(	(	PUNCT
alkej-976	265	76	n.m	n.m	PROPN
alkej-976	265	77	)	)	PUNCT
alkej-976	265	78	2.0	2.0	NUM
alkej-976	265	79	𝑣𝑡	𝑣𝑡	ADP
alkej-976	265	80	tire	tire	NOUN
alkej-976	265	81	rod	rod	NOUN
alkej-976	265	82	velocity	velocity	NOUN
alkej-976	265	83	(	(	PUNCT
alkej-976	265	84	km	km	NOUN
alkej-976	265	85	/	/	SYM
alkej-976	265	86	h	h	NOUN
alkej-976	265	87	)	)	PUNCT
alkej-976	265	88	_	_	PUNCT
alkej-976	266	1	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	ADJ
alkej-976	266	2	torque	torque	NOUN
alkej-976	266	3	of	of	ADP
alkej-976	266	4	friction	friction	NOUN
alkej-976	266	5	(	(	PUNCT
alkej-976	266	6	n.m	n.m	NOUN
alkej-976	266	7	)	)	PUNCT
alkej-976	266	8	0.2	0.2	NUM
alkej-976	266	9	𝑐𝑡	𝑐𝑡	INTJ
alkej-976	266	10	compliance	compliance	NOUN
alkej-976	266	11	of	of	ADP
alkej-976	266	12	tire	tire	NOUN
alkej-976	266	13	rod	rod	NOUN
alkej-976	266	14	(	(	PUNCT
alkej-976	266	15	rad	rad	NOUN
alkej-976	266	16	/	/	SYM
alkej-976	266	17	n.m	n.m	NOUN
alkej-976	266	18	)	)	PUNCT
alkej-976	266	19	0.2	0.2	NUM
alkej-976	266	20	𝑇𝑚1	𝑇𝑚1	NOUN
alkej-976	266	21	steering	steering	NOUN
alkej-976	266	22	motor	motor	NOUN
alkej-976	266	23	torque	torque	NOUN
alkej-976	266	24	(	(	PUNCT
alkej-976	266	25	n.m	n.m	NOUN
alkej-976	266	26	)	)	PUNCT
alkej-976	266	27	_	_	NOUN
alkej-976	266	28	𝑔𝑟	𝑔𝑟	ADP
alkej-976	266	29	length	length	NOUN
alkej-976	266	30	ratio	ratio	NOUN
alkej-976	266	31	steering	steering	NOUN
alkej-976	266	32	arm	arm	NOUN
alkej-976	266	33	(	(	PUNCT
alkej-976	266	34	m	m	NOUN
alkej-976	266	35	)	)	PUNCT
alkej-976	266	36	4.5	4.5	NUM
alkej-976	266	37	𝐿1	𝐿1	NOUN
alkej-976	266	38	steering	steer	VERB
alkej-976	266	39	motor	motor	NOUN
alkej-976	266	40	electrical	electrical	ADJ
alkej-976	266	41	inductance	inductance	NOUN
alkej-976	266	42	(	(	PUNCT
alkej-976	266	43	h	h	NOUN
alkej-976	266	44	)	)	PUNCT
alkej-976	266	45	0.0002	0.0002	NUM
alkej-976	266	46	𝑔𝑚	𝑔𝑚	NOUN
alkej-976	266	47	column	column	NOUN
alkej-976	266	48	pinion	pinion	NOUN
alkej-976	266	49	radius	radius	NOUN
alkej-976	266	50	(	(	PUNCT
alkej-976	266	51	m	m	NOUN
alkej-976	266	52	)	)	PUNCT
alkej-976	266	53	0.015	0.015	NUM
alkej-976	266	54	𝑅1	𝑅1	NOUN
alkej-976	266	55	steering	steering	NOUN
alkej-976	266	56	motor	motor	NOUN
alkej-976	266	57	electrical	electrical	ADJ
alkej-976	266	58	resistance	resistance	NOUN
alkej-976	266	59	(	(	PUNCT
alkej-976	266	60	ohm	ohm	PROPN
alkej-976	266	61	)	)	PUNCT
alkej-976	266	62	4.6	4.6	NUM
alkej-976	267	1	𝐵𝑡	𝐵𝑡	PROPN
alkej-976	267	2	resistance	resistance	NOUN
alkej-976	267	3	of	of	ADP
alkej-976	267	4	tire	tire	NOUN
alkej-976	267	5	rod	rod	NOUN
alkej-976	267	6	(	(	PUNCT
alkej-976	267	7	n.m.s	n.m.s	NOUN
alkej-976	267	8	/	/	SYM
alkej-976	267	9	rad	rad	NOUN
alkej-976	267	10	)	)	PUNCT
alkej-976	267	11	0.004	0.004	NUM
alkej-976	267	12	𝑖1	𝑖1	PROPN
alkej-976	267	13	current	current	ADJ
alkej-976	267	14	of	of	ADP
alkej-976	267	15	steering	steering	NOUN
alkej-976	267	16	motor	motor	NOUN
alkej-976	267	17	(	(	PUNCT
alkej-976	267	18	a	a	X
alkej-976	267	19	)	)	PUNCT
alkej-976	267	20	_	_	PUNCT
alkej-976	268	1	𝐽𝑡	𝐽𝑡	ADP
alkej-976	268	2	inertia	inertia	NOUN
alkej-976	268	3	of	of	ADP
alkej-976	268	4	tire	tire	NOUN
alkej-976	268	5	(	(	PUNCT
alkej-976	268	6	kg.m2	kg.m2	NOUN
alkej-976	268	7	)	)	PUNCT
alkej-976	268	8	1.36	1.36	NUM
alkej-976	268	9	𝑉𝑠1	𝑉𝑠1	NOUN
alkej-976	268	10	power	power	NOUN
alkej-976	268	11	supply	supply	NOUN
alkej-976	268	12	steering	steering	NOUN
alkej-976	268	13	of	of	ADP
alkej-976	268	14	motors	motor	NOUN
alkej-976	268	15	(	(	PUNCT
alkej-976	268	16	v	v	NOUN
alkej-976	268	17	)	)	PUNCT
alkej-976	268	18	12	12	NUM
alkej-976	268	19	𝛿𝑓	𝛿𝑓	PROPN
alkej-976	268	20	front	front	ADJ
alkej-976	268	21	tire	tire	NOUN
alkej-976	268	22	angle	angle	NOUN
alkej-976	268	23	(	(	PUNCT
alkej-976	268	24	degree	degree	NOUN
alkej-976	268	25	)	)	PUNCT
alkej-976	268	26	𝐾𝑏1	𝐾𝑏1	NOUN
alkej-976	268	27	steering	steering	NOUN
alkej-976	268	28	motor	motor	NOUN
alkej-976	268	29	emf	emf	NOUN
alkej-976	268	30	constant	constant	ADJ
alkej-976	268	31	(	(	PUNCT
alkej-976	268	32	v	v	NOUN
alkej-976	268	33	)	)	PUNCT
alkej-976	268	34	0.002	0.002	NUM
alkej-976	268	35	𝐽𝑚2	𝐽𝑚2	NOUN
alkej-976	268	36	front	front	ADJ
alkej-976	268	37	motor	motor	NOUN
alkej-976	268	38	inertia	inertia	NOUN
alkej-976	268	39	(	(	PUNCT
alkej-976	268	40	kg.m2	kg.m2	NOUN
alkej-976	268	41	)	)	PUNCT
alkej-976	268	42	0.0079	0.0079	NUM
alkej-976	268	43	𝐿2	𝐿2	PROPN
alkej-976	268	44	front	front	ADJ
alkej-976	268	45	motor	motor	NOUN
alkej-976	268	46	electrical	electrical	ADJ
alkej-976	268	47	inductance	inductance	NOUN
alkej-976	268	48	(	(	PUNCT
alkej-976	268	49	h	h	NOUN
alkej-976	268	50	)	)	PUNCT
alkej-976	268	51	0.0002	0.0002	NUM
alkej-976	268	52	𝑖2	𝑖2	PROPN
alkej-976	268	53	current	current	NOUN
alkej-976	268	54	of	of	ADP
alkej-976	268	55	front	front	ADJ
alkej-976	268	56	motor	motor	NOUN
alkej-976	268	57	(	(	PUNCT
alkej-976	268	58	a	a	X
alkej-976	268	59	)	)	PUNCT
alkej-976	269	1	_	_	DET
alkej-976	269	2	𝑅2	𝑅2	NOUN
alkej-976	269	3	front	front	ADJ
alkej-976	269	4	motor	motor	NOUN
alkej-976	269	5	electrical	electrical	ADJ
alkej-976	269	6	resistance	resistance	NOUN
alkej-976	269	7	(	(	PUNCT
alkej-976	269	8	ohm	ohm	PROPN
alkej-976	269	9	)	)	PUNCT
alkej-976	269	10	4.6	4.6	NUM
alkej-976	269	11	𝐾𝑏2	𝐾𝑏2	NOUN
alkej-976	269	12	front	front	ADJ
alkej-976	269	13	wheel	wheel	NOUN
alkej-976	269	14	motor	motor	NOUN
alkej-976	269	15	emf	emf	NOUN
alkej-976	269	16	constant	constant	ADJ
alkej-976	269	17	(	(	PUNCT
alkej-976	269	18	v	v	NOUN
alkej-976	269	19	)	)	PUNCT
alkej-976	269	20	2.0	2.0	NUM
alkej-976	270	1	𝐾𝑡	𝐾𝑡	ADP
alkej-976	270	2	torque	torque	NOUN
alkej-976	270	3	constant	constant	ADJ
alkej-976	270	4	(	(	PUNCT
alkej-976	270	5	n.m	n.m	NOUN
alkej-976	270	6	/	/	SYM
alkej-976	270	7	a	a	NOUN
alkej-976	270	8	)	)	PUNCT
alkej-976	270	9	2500	2500	NUM
alkej-976	270	10	𝑉𝑠2	𝑉𝑠2	NOUN
alkej-976	270	11	power	power	NOUN
alkej-976	270	12	supply	supply	NOUN
alkej-976	270	13	front	front	NOUN
alkej-976	270	14	of	of	ADP
alkej-976	270	15	motors	motor	NOUN
alkej-976	270	16	(	(	PUNCT
alkej-976	270	17	v	v	NOUN
alkej-976	270	18	)	)	PUNCT
alkej-976	270	19	12	12	NUM
alkej-976	270	20	references	reference	NOUN
alkej-976	270	21	[	[	X
alkej-976	270	22	1	1	X
alkej-976	270	23	]	]	PUNCT
alkej-976	270	24	s.	s.	PROPN
alkej-976	270	25	a.	a.	PROPN
alkej-976	270	26	mortazavizadeh	mortazavizadeh	PROPN
alkej-976	270	27	,	,	PUNCT
alkej-976	270	28	a.	a.	NOUN
alkej-976	270	29	ghaderi	ghaderi	PROPN
alkej-976	270	30	,	,	PUNCT
alkej-976	270	31	m.	m.	NOUN
alkej-976	270	32	ebrahimi	ebrahimi	PROPN
alkej-976	270	33	,	,	PUNCT
alkej-976	270	34	and	and	CCONJ
alkej-976	270	35	m.	m.	PROPN
alkej-976	270	36	hajian	hajian	PROPN
alkej-976	270	37	,	,	PUNCT
alkej-976	270	38	“	"	PUNCT
alkej-976	270	39	recent	recent	ADJ
alkej-976	270	40	developments	development	NOUN
alkej-976	270	41	in	in	ADP
alkej-976	270	42	the	the	DET
alkej-976	270	43	vehicle	vehicle	NOUN
alkej-976	270	44	steerby	steerby	VERB
alkej-976	270	45	-	-	PUNCT
alkej-976	270	46	wire	wire	NOUN
alkej-976	270	47	system	system	NOUN
alkej-976	270	48	,	,	PUNCT
alkej-976	270	49	”	"	PUNCT
alkej-976	270	50	ieee	ieee	NOUN
alkej-976	270	51	trans	trans	PROPN
alkej-976	270	52	.	.	PUNCT
alkej-976	271	1	transp	transp	PROPN
alkej-976	271	2	.	.	PUNCT
alkej-976	272	1	electrif	electrif	PROPN
alkej-976	272	2	.	.	PUNCT
alkej-976	273	1	,	,	PUNCT
alkej-976	273	2	vol	vol	NOUN
alkej-976	273	3	.	.	PROPN
alkej-976	274	1	6	6	NUM
alkej-976	274	2	,	,	PUNCT
alkej-976	274	3	no	no	INTJ
alkej-976	274	4	.	.	NOUN
alkej-976	274	5	3	3	NUM
alkej-976	274	6	,	,	PUNCT
alkej-976	274	7	pp	pp	ADJ
alkej-976	274	8	.	.	PUNCT
alkej-976	275	1	1226–1235	1226–1235	NUM
alkej-976	275	2	,	,	PUNCT
alkej-976	275	3	2020	2020	NUM
alkej-976	275	4	.	.	PUNCT
alkej-976	276	1	[	[	X
alkej-976	276	2	2	2	NUM
alkej-976	276	3	]	]	PUNCT
alkej-976	276	4	k.	k.	PROPN
alkej-976	276	5	j.	j.	PROPN
alkej-976	276	6	åström	åström	PROPN
alkej-976	276	7	and	and	CCONJ
alkej-976	276	8	t.	t.	PROPN
alkej-976	276	9	hägglund	hägglund	NOUN
alkej-976	276	10	,	,	PUNCT
alkej-976	276	11	“	"	PUNCT
alkej-976	276	12	pid	pid	NOUN
alkej-976	276	13	controllers	controller	NOUN
alkej-976	276	14	:	:	PUNCT
alkej-976	276	15	theory	theory	NOUN
alkej-976	276	16	,	,	PUNCT
alkej-976	276	17	design	design	NOUN
alkej-976	276	18	,	,	PUNCT
alkej-976	276	19	and	and	CCONJ
alkej-976	276	20	tuning	tuning	NOUN
alkej-976	276	21	,	,	PUNCT
alkej-976	276	22	”	"	PUNCT
alkej-976	276	23	vol	vol	NOUN
alkej-976	276	24	.	.	PROPN
alkej-976	277	1	2	2	NUM
alkej-976	277	2	.	.	NUM
alkej-976	277	3	1995	1995	NUM
alkej-976	277	4	.	.	PUNCT
alkej-976	278	1	[	[	X
alkej-976	278	2	3	3	NUM
alkej-976	278	3	]	]	PUNCT
alkej-976	278	4	a.	a.	PROPN
alkej-976	278	5	h.	h.	PROPN
alkej-976	278	6	mary	mary	PROPN
alkej-976	278	7	,	,	PUNCT
alkej-976	278	8	a.	a.	PROPN
alkej-976	278	9	h.	h.	PROPN
alkej-976	278	10	miry	miry	PROPN
alkej-976	278	11	,	,	PUNCT
alkej-976	278	12	m.	m.	NOUN
alkej-976	278	13	h.	h.	PROPN
alkej-976	278	14	miry	miry	PROPN
alkej-976	278	15	,	,	PUNCT
alkej-976	278	16	and	and	CCONJ
alkej-976	278	17	a.	a.	PROPN
alkej-976	278	18	h.	h.	PROPN
alkej-976	278	19	mary	mary	PROPN
alkej-976	278	20	,	,	PUNCT
alkej-976	278	21	“	"	PUNCT
alkej-976	278	22	design	design	VERB
alkej-976	278	23	robust	robust	ADJ
alkej-976	278	24	h	h	NOUN
alkej-976	278	25	∞	∞	PROPN
alkej-976	278	26	-pid	-pid	PUNCT
alkej-976	278	27	controller	controller	NOUN
alkej-976	278	28	for	for	ADP
alkej-976	278	29	a	a	DET
alkej-976	278	30	helicopter	helicopter	NOUN
alkej-976	278	31	system	system	NOUN
alkej-976	278	32	using	use	VERB
alkej-976	278	33	sequential	sequential	ADJ
alkej-976	278	34	quadratic	quadratic	ADJ
alkej-976	278	35	programming	programming	NOUN
alkej-976	278	36	algorithm	algorithm	NOUN
alkej-976	278	37	programming	programming	NOUN
alkej-976	278	38	algorithm	algorithm	NOUN
alkej-976	278	39	,	,	PUNCT
alkej-976	278	40	”	"	PUNCT
alkej-976	278	41	j.	j.	PROPN
alkej-976	278	42	chinese	chinese	PROPN
alkej-976	278	43	inst	inst	PROPN
alkej-976	278	44	.	.	PUNCT
alkej-976	279	1	eng	eng	PROPN
alkej-976	279	2	.	.	PROPN
alkej-976	279	3	,	,	PUNCT
alkej-976	279	4	vol	vol	NOUN
alkej-976	279	5	.	.	PROPN
alkej-976	280	1	45	45	NUM
alkej-976	280	2	,	,	PUNCT
alkej-976	280	3	no	no	INTJ
alkej-976	280	4	.	.	NOUN
alkej-976	280	5	8	8	NUM
alkej-976	280	6	,	,	PUNCT
alkej-976	280	7	pp	pp	ADJ
alkej-976	280	8	.	.	PUNCT
alkej-976	281	1	688–696	688–696	NUM
alkej-976	281	2	,	,	PUNCT
alkej-976	281	3	2022	2022	NUM
alkej-976	281	4	,	,	PUNCT
alkej-976	281	5	doi	doi	NOUN
alkej-976	281	6	:	:	PUNCT
alkej-976	281	7	10.1080/02533839.2022.2126401	10.1080/02533839.2022.2126401	NUM
alkej-976	281	8	.	.	PUNCT
alkej-976	282	1	[	[	X
alkej-976	282	2	4	4	X
alkej-976	282	3	]	]	PUNCT
alkej-976	282	4	s.	s.	PROPN
alkej-976	282	5	chopra	chopra	PROPN
alkej-976	282	6	,	,	PUNCT
alkej-976	282	7	r.	r.	PROPN
alkej-976	282	8	mitra	mitra	PROPN
alkej-976	282	9	,	,	PUNCT
alkej-976	282	10	and	and	CCONJ
alkej-976	282	11	v.	v.	ADP
alkej-976	282	12	kumar	kumar	PROPN
alkej-976	282	13	,	,	PUNCT
alkej-976	282	14	“	"	PUNCT
alkej-976	282	15	a	a	DET
alkej-976	282	16	neurofuzzy	neurofuzzy	ADJ
alkej-976	282	17	learning	learning	NOUN
alkej-976	282	18	and	and	CCONJ
alkej-976	282	19	its	its	PRON
alkej-976	282	20	application	application	NOUN
alkej-976	282	21	to	to	PART
alkej-976	282	22	control	control	NOUN
alkej-976	282	23	system	system	NOUN
alkej-976	282	24	,	,	PUNCT
alkej-976	282	25	”	"	PUNCT
alkej-976	282	26	vol	vol	NOUN
alkej-976	282	27	.	.	PROPN
alkej-976	283	1	3	3	NUM
alkej-976	283	2	,	,	PUNCT
alkej-976	283	3	no	no	INTJ
alkej-976	283	4	.	.	NOUN
alkej-976	283	5	1	1	NUM
alkej-976	283	6	,	,	PUNCT
alkej-976	283	7	pp	pp	ADJ
alkej-976	283	8	.	.	PUNCT
alkej-976	284	1	72–78	72–78	NUM
alkej-976	284	2	,	,	PUNCT
alkej-976	284	3	2005	2005	NUM
alkej-976	284	4	.	.	PUNCT
alkej-976	285	1	[	[	X
alkej-976	285	2	5	5	X
alkej-976	285	3	]	]	X
alkej-976	285	4	a.h	a.h	PROPN
alkej-976	285	5	.	.	PROPN
alkej-976	285	6	mary	mary	PROPN
alkej-976	285	7	,	,	PUNCT
alkej-976	285	8	t.	t.	PROPN
alkej-976	285	9	kara	kara	PROPN
alkej-976	285	10	,	,	PUNCT
alkej-976	285	11	and	and	CCONJ
alkej-976	285	12	a.h	a.h	PROPN
alkej-976	285	13	.	.	PROPN
alkej-976	285	14	miry	miry	NOUN
alkej-976	285	15	,	,	PUNCT
alkej-976	285	16	"	"	PUNCT
alkej-976	285	17	inverse	inverse	ADJ
alkej-976	285	18	kinematics	kinematic	NOUN
alkej-976	285	19	solution	solution	NOUN
alkej-976	285	20	for	for	ADP
alkej-976	285	21	robotic	robotic	ADJ
alkej-976	285	22	manipulators	manipulator	NOUN
alkej-976	285	23	based	base	VERB
alkej-976	285	24	on	on	ADP
alkej-976	285	25	fuzzy	fuzzy	ADJ
alkej-976	285	26	logic	logic	NOUN
alkej-976	285	27	and	and	CCONJ
alkej-976	285	28	pd	pd	PROPN
alkej-976	285	29	control	control	NOUN
alkej-976	285	30	"	"	PUNCT
alkej-976	285	31	.	.	PUNCT
alkej-976	286	1	in	in	ADP
alkej-976	286	2	2016	2016	NUM
alkej-976	286	3	al	al	PROPN
alkej-976	286	4	-	-	PUNCT
alkej-976	286	5	sadeq	sadeq	ADJ
alkej-976	286	6	international	international	ADJ
alkej-976	286	7	conference	conference	NOUN
alkej-976	286	8	on	on	ADP
alkej-976	286	9	multidisciplinary	multidisciplinary	NOUN
alkej-976	286	10	in	in	ADP
alkej-976	286	11	it	it	PRON
alkej-976	286	12	and	and	CCONJ
alkej-976	286	13	communication	communication	NOUN
alkej-976	286	14	science	science	NOUN
alkej-976	286	15	and	and	CCONJ
alkej-976	286	16	applications	application	NOUN
alkej-976	286	17	(	(	PUNCT
alkej-976	286	18	aicmitcsa	aicmitcsa	ADJ
alkej-976	286	19	)	)	PUNCT
alkej-976	286	20	(	(	PUNCT
alkej-976	286	21	pp	pp	X
alkej-976	286	22	.	.	PUNCT
alkej-976	287	1	1	1	NUM
alkej-976	287	2	-	-	SYM
alkej-976	287	3	6	6	NUM
alkej-976	287	4	)	)	PUNCT
alkej-976	287	5	.	.	PUNCT
alkej-976	288	1	ieee	ieee	NOUN
alkej-976	288	2	.	.	PUNCT
alkej-976	289	1	[	[	X
alkej-976	289	2	6	6	NUM
alkej-976	289	3	]	]	PUNCT
alkej-976	289	4	a.	a.	PROPN
alkej-976	289	5	h.	h.	PROPN
alkej-976	289	6	mary	mary	PROPN
alkej-976	289	7	,	,	PUNCT
alkej-976	289	8	a.h	a.h	PROPN
alkej-976	289	9	.	.	PROPN
alkej-976	289	10	miry	miry	PROPN
alkej-976	289	11	,	,	PUNCT
alkej-976	289	12	and	and	CCONJ
alkej-976	289	13	m.h	m.h	PROPN
alkej-976	289	14	.	.	PROPN
alkej-976	289	15	miry	miry	PROPN
alkej-976	289	16	,	,	PUNCT
alkej-976	289	17	"	"	PUNCT
alkej-976	289	18	system	system	NOUN
alkej-976	289	19	uncertainties	uncertainty	NOUN
alkej-976	289	20	estimation	estimation	NOUN
alkej-976	289	21	based	base	VERB
alkej-976	289	22	adaptive	adaptive	ADJ
alkej-976	289	23	robust	robust	ADJ
alkej-976	289	24	backstepping	backstepping	NOUN
alkej-976	289	25	control	control	NOUN
alkej-976	289	26	for	for	ADP
alkej-976	289	27	dc	dc	PROPN
alkej-976	289	28	dc	dc	PROPN
alkej-976	289	29	buck	buck	PROPN
alkej-976	289	30	converter	converter	NOUN
alkej-976	289	31	,	,	PUNCT
alkej-976	289	32	"	"	PUNCT
alkej-976	289	33	international	international	ADJ
alkej-976	289	34	journal	journal	NOUN
alkej-976	289	35	of	of	ADP
alkej-976	289	36	electrical	electrical	ADJ
alkej-976	289	37	&	&	CCONJ
alkej-976	289	38	computer	computer	PROPN
alkej-976	289	39	engineering	engineering	NOUN
alkej-976	289	40	(	(	PUNCT
alkej-976	289	41	2088	2088	NUM
alkej-976	289	42	-	-	SYM
alkej-976	289	43	8708	8708	NUM
alkej-976	289	44	)	)	PUNCT
alkej-976	289	45	,	,	PUNCT
alkej-976	289	46	vol	vol	NOUN
alkej-976	289	47	.	.	PROPN
alkej-976	289	48	11,no	11,no	NUM
alkej-976	289	49	.	.	NOUN
alkej-976	289	50	1	1	NUM
alkej-976	289	51	,	,	PUNCT
alkej-976	289	52	2021	2021	NUM
alkej-976	289	53	.	.	PUNCT
alkej-976	290	1	[	[	X
alkej-976	290	2	7	7	NUM
alkej-976	290	3	]	]	X
alkej-976	290	4	i.	i.	PROPN
alkej-976	290	5	khan	khan	PROPN
alkej-976	290	6	,	,	PUNCT
alkej-976	290	7	“	"	PUNCT
alkej-976	290	8	combined	combined	ADJ
alkej-976	290	9	lateral	lateral	ADJ
alkej-976	290	10	and	and	CCONJ
alkej-976	290	11	longitudinal	longitudinal	ADJ
alkej-976	290	12	control	control	NOUN
alkej-976	290	13	for	for	ADP
alkej-976	290	14	autonomous	autonomous	ADJ
alkej-976	290	15	driving	driving	NOUN
alkej-976	290	16	based	base	VERB
alkej-976	290	17	on	on	ADP
alkej-976	290	18	model	model	NOUN
alkej-976	290	19	predictive	predictive	PROPN
alkej-976	290	20	control	control	NOUN
alkej-976	290	21	,	,	PUNCT
alkej-976	290	22	”	"	PUNCT
alkej-976	290	23	2019	2019	NUM
alkej-976	290	24	.	.	PUNCT
alkej-976	291	1	[	[	X
alkej-976	291	2	8	8	NUM
alkej-976	291	3	]	]	X
alkej-976	291	4	a.h	a.h	PROPN
alkej-976	291	5	.	.	PROPN
alkej-976	291	6	miry	miry	PROPN
alkej-976	291	7	,	,	PUNCT
alkej-976	291	8	a.h	a.h	PROPN
alkej-976	291	9	.	.	PROPN
alkej-976	291	10	mary	mary	PROPN
alkej-976	291	11	,	,	PUNCT
alkej-976	291	12	and	and	CCONJ
alkej-976	291	13	m.h	m.h	PROPN
alkej-976	291	14	.	.	PROPN
alkej-976	291	15	miry	miry	PROPN
alkej-976	291	16	,	,	PUNCT
alkej-976	291	17	"	"	PUNCT
alkej-976	291	18	mixed	mixed	ADJ
alkej-976	291	19	robust	robust	ADJ
alkej-976	291	20	controller	controller	NOUN
alkej-976	291	21	with	with	ADP
alkej-976	291	22	optimized	optimize	VERB
alkej-976	291	23	weighted	weight	VERB
alkej-976	291	24	selection	selection	NOUN
alkej-976	291	25	for	for	ADP
alkej-976	291	26	a	a	DET
alkej-976	291	27	dc	dc	PROPN
alkej-976	291	28	servo	servo	NOUN
alkej-976	291	29	motor	motor	NOUN
alkej-976	291	30	"	"	PUNCT
alkej-976	291	31	.	.	PUNCT
alkej-976	292	1	in	in	ADP
alkej-976	292	2	proceedings	proceeding	NOUN
alkej-976	292	3	of	of	ADP
alkej-976	292	4	the	the	DET
alkej-976	292	5	international	international	ADJ
alkej-976	292	6	conference	conference	NOUN
alkej-976	292	7	on	on	ADP
alkej-976	292	8	information	information	NOUN
alkej-976	292	9	and	and	CCONJ
alkej-976	292	10	communication	communication	NOUN
alkej-976	292	11	technology	technology	NOUN
alkej-976	292	12	(	(	PUNCT
alkej-976	292	13	pp	pp	ADJ
alkej-976	292	14	.	.	PUNCT
alkej-976	292	15	178	178	NUM
alkej-976	292	16	-	-	SYM
alkej-976	292	17	183).2019	183).2019	NUM
alkej-976	292	18	[	[	X
alkej-976	292	19	9	9	NUM
alkej-976	292	20	]	]	PUNCT
alkej-976	292	21	h.	h.	PROPN
alkej-976	292	22	gao	gao	PROPN
alkej-976	292	23	,	,	PUNCT
alkej-976	292	24	t.	t.	PROPN
alkej-976	292	25	chen	chen	PROPN
alkej-976	292	26	,	,	PUNCT
alkej-976	292	27	and	and	CCONJ
alkej-976	292	28	j.	j.	PROPN
alkej-976	292	29	lam	lam	PROPN
alkej-976	292	30	,	,	PUNCT
alkej-976	292	31	“	"	PUNCT
alkej-976	292	32	a	a	DET
alkej-976	292	33	new	new	ADJ
alkej-976	292	34	delay	delay	NOUN
alkej-976	292	35	system	system	NOUN
alkej-976	292	36	approach	approach	NOUN
alkej-976	292	37	to	to	ADP
alkej-976	292	38	network	network	NOUN
alkej-976	292	39	-	-	PUNCT
alkej-976	292	40	based	base	VERB
alkej-976	292	41	control	control	NOUN
alkej-976	292	42	,	,	PUNCT
alkej-976	292	43	”	"	PUNCT
alkej-976	292	44	automatica	automatica	PROPN
alkej-976	292	45	,	,	PUNCT
alkej-976	292	46	vol	vol	NOUN
alkej-976	292	47	.	.	PROPN
alkej-976	292	48	44	44	NUM
alkej-976	292	49	,	,	PUNCT
alkej-976	292	50	no	no	INTJ
alkej-976	292	51	.	.	NOUN
alkej-976	292	52	1	1	NUM
alkej-976	292	53	,	,	PUNCT
alkej-976	292	54	pp	pp	ADJ
alkej-976	292	55	.	.	PUNCT
alkej-976	292	56	39–52	39–52	NUM
alkej-976	292	57	,	,	PUNCT
alkej-976	292	58	2008	2008	NUM
alkej-976	292	59	,	,	PUNCT
alkej-976	292	60	doi	doi	NOUN
alkej-976	292	61	:	:	PUNCT
alkej-976	292	62	10.1016	10.1016	NUM
alkej-976	292	63	/	/	SYM
alkej-976	292	64	j.automatica.2007.04.020	j.automatica.2007.04.020	X
alkej-976	292	65	.	.	PUNCT
alkej-976	293	1	[	[	X
alkej-976	293	2	10	10	NUM
alkej-976	293	3	]	]	X
alkej-976	293	4	a.h	a.h	PROPN
alkej-976	293	5	.	.	PROPN
alkej-976	293	6	mary	mary	PROPN
alkej-976	293	7	,	,	PUNCT
alkej-976	293	8	a.h	a.h	PROPN
alkej-976	293	9	.	.	PROPN
alkej-976	293	10	,	,	PUNCT
alkej-976	293	11	miry	miry	NOUN
alkej-976	293	12	,	,	PUNCT
alkej-976	293	13	and	and	CCONJ
alkej-976	293	14	m.h	m.h	PROPN
alkej-976	293	15	.	.	PROPN
alkej-976	293	16	miry	miry	PROPN
alkej-976	293	17	,	,	PUNCT
alkej-976	293	18	"	"	PUNCT
alkej-976	293	19	anfis	anfis	PROPN
alkej-976	293	20	based	base	VERB
alkej-976	293	21	reinforcement	reinforcement	NOUN
alkej-976	293	22	learning	learning	NOUN
alkej-976	293	23	strategy	strategy	NOUN
alkej-976	293	24	for	for	ADP
alkej-976	293	25	control	control	NOUN
alkej-976	293	26	a	a	DET
alkej-976	293	27	nonlinear	nonlinear	ADJ
alkej-976	293	28	coupled	couple	VERB
alkej-976	293	29	tanks	tank	NOUN
alkej-976	293	30	system	system	NOUN
alkej-976	293	31	,	,	PUNCT
alkej-976	293	32	"	"	PUNCT
alkej-976	293	33	journal	journal	NOUN
alkej-976	293	34	of	of	ADP
alkej-976	293	35	electrical	electrical	ADJ
alkej-976	293	36	engineering	engineering	NOUN
alkej-976	293	37	&	&	CCONJ
alkej-976	293	38	technology	technology	PROPN
alkej-976	293	39	,	,	PUNCT
alkej-976	293	40	17(3	17(3	NUM
alkej-976	293	41	)	)	PUNCT
alkej-976	293	42	,	,	PUNCT
alkej-976	293	43	pp.1921	pp.1921	PROPN
alkej-976	293	44	-	-	PROPN
alkej-976	293	45	1929.2022	1929.2022	NOUN
alkej-976	293	46	.	.	PUNCT
alkej-976	294	1	[	[	X
alkej-976	294	2	11	11	NUM
alkej-976	294	3	]	]	PUNCT
alkej-976	294	4	s.	s.	PROPN
alkej-976	294	5	joe	joe	PROPN
alkej-976	294	6	qin	qin	PROPN
alkej-976	294	7	and	and	CCONJ
alkej-976	294	8	badgwell	badgwell	PROPN
alkej-976	294	9	thomas	thomas	PROPN
alkej-976	294	10	a	a	PROPN
alkej-976	294	11	,	,	PUNCT
alkej-976	294	12	“	"	PUNCT
alkej-976	294	13	a	a	DET
alkej-976	294	14	survey	survey	NOUN
alkej-976	294	15	of	of	ADP
alkej-976	294	16	industrial	industrial	ADJ
alkej-976	294	17	model	model	NOUN
alkej-976	294	18	predictive	predictive	PROPN
alkej-976	294	19	control	control	PROPN
alkej-976	294	20	technology	technology	NOUN
alkej-976	294	21	,	,	PUNCT
alkej-976	294	22	”	"	PUNCT
alkej-976	294	23	control	control	PROPN
alkej-976	294	24	eng	eng	PROPN
alkej-976	294	25	.	.	PROPN
alkej-976	294	26	pract	pract	PROPN
alkej-976	294	27	.	.	PROPN
alkej-976	294	28	,	,	PUNCT
alkej-976	294	29	vol	vol	NOUN
alkej-976	294	30	.	.	PROPN
alkej-976	294	31	11	11	NUM
alkej-976	294	32	,	,	PUNCT
alkej-976	294	33	pp	pp	ADJ
alkej-976	294	34	.	.	PUNCT
alkej-976	295	1	733–764	733–764	NUM
alkej-976	295	2	,	,	PUNCT
alkej-976	295	3	2003	2003	NUM
alkej-976	295	4	.	.	PUNCT
alkej-976	296	1	[	[	X
alkej-976	296	2	12	12	NUM
alkej-976	296	3	]	]	PUNCT
alkej-976	296	4	m.	m.	PROPN
alkej-976	296	5	ali	ali	PROPN
alkej-976	296	6	,	,	PUNCT
alkej-976	296	7	f.	f.	PROPN
alkej-976	296	8	hunaini	hunaini	PROPN
alkej-976	296	9	,	,	PUNCT
alkej-976	296	10	i.	i.	PROPN
alkej-976	296	11	robandi	robandi	PROPN
alkej-976	296	12	,	,	PUNCT
alkej-976	296	13	and	and	CCONJ
alkej-976	296	14	n.	n.	PROPN
alkej-976	296	15	sutantra	sutantra	PROPN
alkej-976	296	16	,	,	PUNCT
alkej-976	296	17	“	"	PUNCT
alkej-976	296	18	optimization	optimization	NOUN
alkej-976	296	19	of	of	ADP
alkej-976	296	20	active	active	ADJ
alkej-976	296	21	steering	steering	NOUN
alkej-976	296	22	control	control	NOUN
alkej-976	296	23	on	on	ADP
alkej-976	296	24	vehicle	vehicle	NOUN
alkej-976	296	25	with	with	ADP
alkej-976	296	26	steer	steer	NOUN
alkej-976	296	27	by	by	ADP
alkej-976	296	28	wire	wire	NOUN
alkej-976	296	29	system	system	NOUN
alkej-976	296	30	using	use	VERB
alkej-976	296	31	imperialist	imperialist	ADJ
alkej-976	296	32	competitive	competitive	ADJ
alkej-976	296	33	algorithm	algorithm	NOUN
alkej-976	296	34	(	(	PUNCT
alkej-976	296	35	ica	ica	PROPN
alkej-976	296	36	)	)	PUNCT
alkej-976	296	37	,	,	PUNCT
alkej-976	296	38	”	"	PUNCT
alkej-976	296	39	2015	2015	NUM
alkej-976	296	40	3rd	3rd	ADJ
alkej-976	296	41	int	int	NOUN
alkej-976	296	42	.	.	PUNCT
alkej-976	297	1	conf	conf	PROPN
alkej-976	297	2	.	.	PUNCT
alkej-976	297	3	inf	inf	PROPN
alkej-976	297	4	.	.	PUNCT
alkej-976	298	1	commun	commun	PROPN
alkej-976	298	2	.	.	PUNCT
alkej-976	299	1	technol	technol	PROPN
alkej-976	299	2	.	.	PUNCT
alkej-976	300	1	icoict	icoict	PROPN
alkej-976	300	2	2015	2015	NUM
alkej-976	300	3	,	,	PUNCT
alkej-976	300	4	pp	pp	ADP
alkej-976	300	5	.	.	PUNCT
alkej-976	301	1	500–503	500–503	NUM
alkej-976	301	2	,	,	PUNCT
alkej-976	301	3	2015	2015	NUM
alkej-976	301	4	,	,	PUNCT
alkej-976	301	5	doi	doi	NOUN
alkej-976	301	6	:	:	PUNCT
alkej-976	301	7	10.1109	10.1109	NUM
alkej-976	301	8	/	/	SYM
alkej-976	301	9	icoict.2015.7231475	icoict.2015.7231475	PROPN
alkej-976	301	10	.	.	PUNCT
alkej-976	302	1	[	[	X
alkej-976	302	2	13	13	NUM
alkej-976	302	3	]	]	PUNCT
alkej-976	302	4	d.	d.	PROPN
alkej-976	302	5	q.	q.	PROPN
alkej-976	302	6	mayne	mayne	PROPN
alkej-976	302	7	,	,	PUNCT
alkej-976	302	8	j.	j.	PROPN
alkej-976	302	9	b.	b.	PROPN
alkej-976	302	10	rawlings	rawlings	PROPN
alkej-976	302	11	,	,	PUNCT
alkej-976	302	12	c.	c.	PROPN
alkej-976	302	13	v.	v.	PROPN
alkej-976	302	14	rao	rao	PROPN
alkej-976	302	15	,	,	PUNCT
alkej-976	302	16	and	and	CCONJ
alkej-976	302	17	p.	p.	PROPN
alkej-976	302	18	o.	o.	PROPN
alkej-976	302	19	m.	m.	PROPN
alkej-976	302	20	scokaert	scokaert	PROPN
alkej-976	302	21	,	,	PUNCT
alkej-976	302	22	“	"	PUNCT
alkej-976	302	23	constrained	constrained	ADJ
alkej-976	302	24	model	model	NOUN
alkej-976	302	25	predictive	predictive	PROPN
alkej-976	302	26	control	control	NOUN
alkej-976	302	27	:	:	PUNCT
alkej-976	302	28	stability	stability	NOUN
alkej-976	302	29	and	and	CCONJ
alkej-976	302	30	optimality	optimality	NOUN
alkej-976	302	31	,	,	PUNCT
alkej-976	302	32	”	"	PUNCT
alkej-976	302	33	automatica	automatica	PROPN
alkej-976	302	34	,	,	PUNCT
alkej-976	302	35	vol	vol	NOUN
alkej-976	302	36	.	.	PROPN
alkej-976	303	1	36	36	NUM
alkej-976	303	2	,	,	PUNCT
alkej-976	303	3	no	no	INTJ
alkej-976	303	4	.	.	NOUN
alkej-976	303	5	6	6	NUM
alkej-976	303	6	,	,	PUNCT
alkej-976	303	7	pp	pp	ADJ
alkej-976	303	8	.	.	PUNCT
alkej-976	304	1	789–814	789–814	NUM
alkej-976	304	2	,	,	PUNCT
alkej-976	304	3	2000	2000	NUM
alkej-976	304	4	,	,	PUNCT
alkej-976	304	5	doi	doi	NOUN
alkej-976	304	6	:	:	PUNCT
alkej-976	304	7	10.1016	10.1016	NUM
alkej-976	304	8	/	/	SYM
alkej-976	304	9	s00051098(99)00214	s00051098(99)00214	VERB
alkej-976	304	10	-	-	PUNCT
alkej-976	304	11	9	9	NUM
alkej-976	304	12	.	.	PUNCT
alkej-976	305	1	[	[	X
alkej-976	305	2	14	14	NUM
alkej-976	305	3	]	]	X
alkej-976	305	4	[	[	X
alkej-976	305	5	m.-n	m.-n	PROPN
alkej-976	305	6	.	.	PUNCT
alkej-976	306	1	nguyen	nguyen	PROPN
alkej-976	306	2	et	et	PROPN
alkej-976	306	3	al	al	PROPN
alkej-976	306	4	.	.	PROPN
alkej-976	306	5	,	,	PUNCT
alkej-976	306	6	“	"	PUNCT
alkej-976	306	7	model	model	ADJ
alkej-976	306	8	-	-	PUNCT
alkej-976	306	9	free	free	ADJ
alkej-976	306	10	safety	safety	NOUN
alkej-976	306	11	critical	critical	ADJ
alkej-976	306	12	model	model	NOUN
alkej-976	306	13	predictive	predictive	ADJ
alkej-976	306	14	control	control	NOUN
alkej-976	306	15	for	for	ADP
alkej-976	306	16	mobile	mobile	ADJ
alkej-976	306	17	robot	robot	NOUN
alkej-976	306	18	in	in	ADP
alkej-976	306	19	dynamic	dynamic	ADJ
alkej-976	306	20	environments	environment	NOUN
alkej-976	306	21	,	,	PUNCT
alkej-976	306	22	”	"	PUNCT
alkej-976	306	23	ieee	ieee	NOUN
alkej-976	306	24	trans	trans	PROPN
alkej-976	306	25	.	.	PUNCT
alkej-976	307	1	intell	intell	PROPN
alkej-976	307	2	.	.	PUNCT
alkej-976	308	1	veh	veh	PROPN
alkej-976	308	2	.	.	PROPN
alkej-976	308	3	,	,	PUNCT
alkej-976	308	4	2024	2024	NUM
alkej-976	308	5	.	.	PUNCT
alkej-976	309	1	[	[	X
alkej-976	309	2	15	15	NUM
alkej-976	309	3	]	]	X
alkej-976	309	4	c.	c.	PROPN
alkej-976	309	5	ates	ates	PROPN
alkej-976	309	6	,	,	PUNCT
alkej-976	309	7	d.	d.	PROPN
alkej-976	309	8	bicat	bicat	PROPN
alkej-976	309	9	,	,	PUNCT
alkej-976	309	10	r.	r.	PROPN
alkej-976	309	11	yankov	yankov	PROPN
alkej-976	309	12	,	,	PUNCT
alkej-976	309	13	j.	j.	PROPN
alkej-976	309	14	arweiler	arweiler	PROPN
alkej-976	309	15	,	,	PUNCT
alkej-976	309	16	r.	r.	PROPN
alkej-976	309	17	koch	koch	PROPN
alkej-976	309	18	,	,	PUNCT
alkej-976	309	19	and	and	CCONJ
alkej-976	309	20	h.-j	h.-j	PROPN
alkej-976	309	21	.	.	PUNCT
alkej-976	310	1	bauer	bauer	PROPN
alkej-976	310	2	,	,	PUNCT
alkej-976	310	3	“	"	PUNCT
alkej-976	310	4	model	model	NOUN
alkej-976	310	5	predictive	predictive	ADJ
alkej-976	310	6	evolutionary	evolutionary	ADJ
alkej-976	310	7	temperature	temperature	NOUN
alkej-976	310	8	control	control	NOUN
alkej-976	310	9	via	via	ADP
alkej-976	310	10	neural	neural	ADJ
alkej-976	310	11	-	-	PUNCT
alkej-976	310	12	network	network	NOUN
alkej-976	310	13	-	-	PUNCT
alkej-976	310	14	based	base	VERB
alkej-976	310	15	taher	taher	PROPN
alkej-976	310	16	sachit	sachit	VERB
alkej-976	310	17	taher	taher	PROPN
alkej-976	310	18	al	al	PROPN
alkej-976	310	19	-	-	PUNCT
alkej-976	310	20	khwarizmi	khwarizmi	PROPN
alkej-976	310	21	engineering	engineering	NOUN
alkej-976	310	22	journal	journal	PROPN
alkej-976	310	23	,	,	PUNCT
alkej-976	310	24	vol	vol	NOUN
alkej-976	310	25	.	.	PROPN
alkej-976	310	26	21	21	NUM
alkej-976	310	27	,	,	PUNCT
alkej-976	310	28	no.1	no.1	NUM
alkej-976	310	29	,	,	PUNCT
alkej-976	310	30	pp	pp	ADJ
alkej-976	310	31	.	.	PUNCT
alkej-976	311	1	6172	6172	NUM
alkej-976	311	2	(	(	PUNCT
alkej-976	311	3	2025	2025	NUM
alkej-976	311	4	)	)	PUNCT
alkej-976	311	5	71	71	NUM
alkej-976	311	6	digital	digital	ADJ
alkej-976	311	7	twins	twin	NOUN
alkej-976	311	8	,	,	PUNCT
alkej-976	311	9	”	"	PUNCT
alkej-976	311	10	algorithms	algorithm	NOUN
alkej-976	311	11	,	,	PUNCT
alkej-976	311	12	vol	vol	NOUN
alkej-976	311	13	.	.	PROPN
alkej-976	311	14	16	16	NUM
alkej-976	311	15	,	,	PUNCT
alkej-976	311	16	no	no	INTJ
alkej-976	311	17	.	.	NOUN
alkej-976	311	18	8	8	NUM
alkej-976	311	19	,	,	PUNCT
alkej-976	311	20	p.	p.	NOUN
alkej-976	311	21	387	387	NUM
alkej-976	311	22	,	,	PUNCT
alkej-976	311	23	2023	2023	NUM
alkej-976	311	24	.	.	PUNCT
alkej-976	312	1	[	[	X
alkej-976	312	2	16	16	NUM
alkej-976	312	3	]	]	X
alkej-976	312	4	n.	n.	NOUN
alkej-976	312	5	ye	ye	PROPN
alkej-976	312	6	,	,	PUNCT
alkej-976	312	7	d.	d.	PROPN
alkej-976	312	8	wang	wang	PROPN
alkej-976	312	9	,	,	PUNCT
alkej-976	312	10	and	and	CCONJ
alkej-976	312	11	y.	y.	PROPN
alkej-976	312	12	dai	dai	PROPN
alkej-976	312	13	,	,	PUNCT
alkej-976	312	14	“	"	PUNCT
alkej-976	312	15	enhancing	enhance	VERB
alkej-976	312	16	autonomous	autonomous	ADJ
alkej-976	312	17	vehicle	vehicle	NOUN
alkej-976	312	18	lateral	lateral	ADJ
alkej-976	312	19	control	control	NOUN
alkej-976	312	20	:	:	PUNCT
alkej-976	312	21	a	a	DET
alkej-976	312	22	linear	linear	ADJ
alkej-976	312	23	complementarity	complementarity	NOUN
alkej-976	312	24	model	model	NOUN
alkej-976	312	25	-	-	PUNCT
alkej-976	312	26	predictive	predictive	ADJ
alkej-976	312	27	control	control	NOUN
alkej-976	312	28	approach	approach	NOUN
alkej-976	312	29	,	,	PUNCT
alkej-976	312	30	”	"	PUNCT
alkej-976	312	31	appl	appl	NOUN
alkej-976	312	32	.	.	PUNCT
alkej-976	313	1	sci	sci	PROPN
alkej-976	313	2	.	.	PROPN
alkej-976	313	3	,	,	PUNCT
alkej-976	313	4	vol	vol	NOUN
alkej-976	313	5	.	.	PROPN
alkej-976	313	6	13	13	NUM
alkej-976	313	7	,	,	PUNCT
alkej-976	313	8	no	no	INTJ
alkej-976	313	9	.	.	NOUN
alkej-976	313	10	19	19	NUM
alkej-976	313	11	,	,	PUNCT
alkej-976	313	12	p.	p.	NOUN
alkej-976	313	13	10809	10809	NUM
alkej-976	313	14	,	,	PUNCT
alkej-976	313	15	2023	2023	NUM
alkej-976	313	16	.	.	PUNCT
alkej-976	314	1	[	[	X
alkej-976	314	2	17	17	NUM
alkej-976	314	3	]	]	X
alkej-976	314	4	i.	i.	PROPN
alkej-976	314	5	c.	c.	PROPN
alkej-976	314	6	trelea	trelea	PROPN
alkej-976	314	7	,	,	PUNCT
alkej-976	314	8	“	"	PUNCT
alkej-976	314	9	the	the	DET
alkej-976	314	10	particle	particle	NOUN
alkej-976	314	11	swarm	swarm	NOUN
alkej-976	314	12	optimization	optimization	NOUN
alkej-976	314	13	algorithm	algorithm	NOUN
alkej-976	314	14	:	:	PUNCT
alkej-976	315	1	convergence	convergence	NOUN
alkej-976	315	2	analysis	analysis	NOUN
alkej-976	315	3	and	and	CCONJ
alkej-976	315	4	parameter	parameter	NOUN
alkej-976	315	5	selection	selection	NOUN
alkej-976	315	6	,	,	PUNCT
alkej-976	315	7	”	"	PUNCT
alkej-976	315	8	inf	inf	NOUN
alkej-976	315	9	.	.	PUNCT
alkej-976	315	10	process	process	NOUN
alkej-976	315	11	.	.	PUNCT
alkej-976	316	1	lett	lett	PROPN
alkej-976	316	2	.	.	PROPN
alkej-976	316	3	,	,	PUNCT
alkej-976	316	4	vol	vol	NOUN
alkej-976	316	5	.	.	PROPN
alkej-976	316	6	85	85	NUM
alkej-976	316	7	,	,	PUNCT
alkej-976	316	8	no	no	INTJ
alkej-976	316	9	.	.	NOUN
alkej-976	316	10	6	6	NUM
alkej-976	316	11	,	,	PUNCT
alkej-976	316	12	pp	pp	ADJ
alkej-976	316	13	.	.	PUNCT
alkej-976	317	1	317–325	317–325	NUM
alkej-976	317	2	,	,	PUNCT
alkej-976	317	3	2003	2003	NUM
alkej-976	317	4	,	,	PUNCT
alkej-976	317	5	doi	doi	NOUN
alkej-976	317	6	:	:	PUNCT
alkej-976	317	7	10.1016	10.1016	NUM
alkej-976	317	8	/	/	SYM
alkej-976	317	9	s00200190(02)00447	s00200190(02)00447	PROPN
alkej-976	317	10	-	-	PUNCT
alkej-976	317	11	7	7	NUM
alkej-976	317	12	.	.	PUNCT
alkej-976	318	1	[	[	X
alkej-976	318	2	18	18	NUM
alkej-976	318	3	]	]	X
alkej-976	318	4	v.	v.	ADP
alkej-976	318	5	t	t	PROPN
alkej-976	318	6	and	and	CCONJ
alkej-976	318	7	v.	v.	ADP
alkej-976	318	8	r	r	NOUN
alkej-976	318	9	,	,	PUNCT
alkej-976	318	10	“	"	PUNCT
alkej-976	318	11	efficient	efficient	ADJ
alkej-976	318	12	energy	energy	NOUN
alkej-976	318	13	load	load	NOUN
alkej-976	318	14	distribution	distribution	NOUN
alkej-976	318	15	model	model	NOUN
alkej-976	318	16	using	use	VERB
alkej-976	318	17	modified	modify	VERB
alkej-976	318	18	particle	particle	NOUN
alkej-976	318	19	swarm	swarm	NOUN
alkej-976	318	20	optimization	optimization	NOUN
alkej-976	318	21	algorithm	algorithm	NOUN
alkej-976	318	22	,	,	PUNCT
alkej-976	318	23	”	"	PUNCT
alkej-976	318	24	j.	j.	PROPN
alkej-976	318	25	artif	artif	PROPN
alkej-976	318	26	.	.	PUNCT
alkej-976	319	1	intell	intell	PROPN
alkej-976	319	2	.	.	PUNCT
alkej-976	320	1	capsul	capsul	PROPN
alkej-976	320	2	.	.	PUNCT
alkej-976	321	1	networks	network	NOUN
alkej-976	321	2	,	,	PUNCT
alkej-976	321	3	vol	vol	NOUN
alkej-976	321	4	.	.	PROPN
alkej-976	321	5	2	2	NUM
alkej-976	321	6	,	,	PUNCT
alkej-976	321	7	no	no	INTJ
alkej-976	321	8	.	.	NOUN
alkej-976	321	9	4	4	NUM
alkej-976	321	10	,	,	PUNCT
alkej-976	321	11	pp	pp	ADJ
alkej-976	321	12	.	.	PUNCT
alkej-976	322	1	226–231	226–231	NUM
alkej-976	322	2	,	,	PUNCT
alkej-976	322	3	2021	2021	NUM
alkej-976	322	4	,	,	PUNCT
alkej-976	322	5	doi	doi	NOUN
alkej-976	322	6	:	:	PUNCT
alkej-976	322	7	10.36548	10.36548	NUM
alkej-976	322	8	/	/	SYM
alkej-976	322	9	jaicn.2020.4.005	jaicn.2020.4.005	NOUN
alkej-976	322	10	.	.	PUNCT
alkej-976	323	1	[	[	X
alkej-976	323	2	19	19	NUM
alkej-976	323	3	]	]	X
alkej-976	323	4	v.	v.	CCONJ
alkej-976	323	5	kumar	kumar	PROPN
alkej-976	323	6	and	and	CCONJ
alkej-976	323	7	v.	v.	ADP
alkej-976	323	8	sharma	sharma	PROPN
alkej-976	323	9	,	,	PUNCT
alkej-976	323	10	“	"	PUNCT
alkej-976	323	11	automatic	automatic	ADJ
alkej-976	323	12	voltage	voltage	NOUN
alkej-976	323	13	regulator	regulator	NOUN
alkej-976	323	14	with	with	ADP
alkej-976	323	15	particle	particle	NOUN
alkej-976	323	16	swarm	swarm	NOUN
alkej-976	323	17	optimized	optimize	VERB
alkej-976	323	18	model	model	NOUN
alkej-976	323	19	predictive	predictive	PROPN
alkej-976	323	20	control	control	PROPN
alkej-976	323	21	strategy	strategy	NOUN
alkej-976	323	22	,	,	PUNCT
alkej-976	323	23	”	"	PUNCT
alkej-976	323	24	2020	2020	NUM
alkej-976	323	25	1st	1st	ADJ
alkej-976	323	26	ieee	ieee	PROPN
alkej-976	323	27	int	int	NOUN
alkej-976	323	28	.	.	PUNCT
alkej-976	323	29	conf	conf	PROPN
alkej-976	323	30	.	.	PUNCT
alkej-976	324	1	meas	meas	PROPN
alkej-976	324	2	.	.	PUNCT
alkej-976	325	1	instrumentation	instrumentation	NOUN
alkej-976	325	2	,	,	PUNCT
alkej-976	325	3	control	control	PROPN
alkej-976	325	4	autom	autom	PROPN
alkej-976	325	5	.	.	PUNCT
alkej-976	326	1	icmica	icmica	PROPN
alkej-976	326	2	2020	2020	NUM
alkej-976	326	3	,	,	PUNCT
alkej-976	326	4	pp	pp	ADV
alkej-976	326	5	.	.	PUNCT
alkej-976	327	1	0–4	0–4	X
alkej-976	327	2	,	,	PUNCT
alkej-976	327	3	2020	2020	NUM
alkej-976	327	4	,	,	PUNCT
alkej-976	327	5	doi	doi	NOUN
alkej-976	327	6	:	:	PUNCT
alkej-976	327	7	10.1109	10.1109	NUM
alkej-976	327	8	/	/	SYM
alkej-976	327	9	icmica48462.2020.9242772	icmica48462.2020.9242772	NOUN
alkej-976	327	10	.	.	PUNCT
alkej-976	328	1	[	[	X
alkej-976	328	2	20	20	NUM
alkej-976	328	3	]	]	PUNCT
alkej-976	328	4	s.	s.	PROPN
alkej-976	328	5	s.	s.	PROPN
alkej-976	328	6	oyelere	oyelere	PROPN
alkej-976	328	7	,	,	PUNCT
alkej-976	328	8	“	"	PUNCT
alkej-976	328	9	the	the	DET
alkej-976	328	10	application	application	NOUN
alkej-976	328	11	of	of	ADP
alkej-976	328	12	model	model	NOUN
alkej-976	328	13	predictive	predictive	PROPN
alkej-976	328	14	control	control	PROPN
alkej-976	328	15	(	(	PUNCT
alkej-976	328	16	mpc	mpc	NOUN
alkej-976	328	17	)	)	PUNCT
alkej-976	328	18	to	to	ADP
alkej-976	328	19	fast	fast	ADJ
alkej-976	328	20	systems	system	NOUN
alkej-976	328	21	such	such	ADJ
alkej-976	328	22	as	as	ADP
alkej-976	328	23	autonomous	autonomous	ADJ
alkej-976	328	24	ground	ground	NOUN
alkej-976	328	25	vehicles	vehicle	NOUN
alkej-976	328	26	(	(	PUNCT
alkej-976	328	27	agv	agv	NOUN
alkej-976	328	28	)	)	PUNCT
alkej-976	328	29	,	,	PUNCT
alkej-976	328	30	”	"	PUNCT
alkej-976	328	31	iosr	iosr	PROPN
alkej-976	328	32	j.	j.	PROPN
alkej-976	328	33	comput	comput	PROPN
alkej-976	328	34	.	.	PUNCT
alkej-976	329	1	eng	eng	PROPN
alkej-976	329	2	.	.	PROPN
alkej-976	329	3	,	,	PUNCT
alkej-976	329	4	vol	vol	NOUN
alkej-976	329	5	.	.	PROPN
alkej-976	330	1	16	16	NUM
alkej-976	330	2	,	,	PUNCT
alkej-976	330	3	no	no	INTJ
alkej-976	330	4	.	.	NOUN
alkej-976	330	5	3	3	NUM
alkej-976	330	6	,	,	PUNCT
alkej-976	330	7	pp	pp	ADJ
alkej-976	330	8	.	.	PUNCT
alkej-976	331	1	27–37	27–37	NUM
alkej-976	331	2	,	,	PUNCT
alkej-976	331	3	2014	2014	NUM
alkej-976	331	4	,	,	PUNCT
alkej-976	331	5	doi	doi	NOUN
alkej-976	331	6	:	:	PUNCT
alkej-976	331	7	10.9790/0661	10.9790/0661	NUM
alkej-976	331	8	-	-	SYM
alkej-976	331	9	16342737	16342737	NUM
alkej-976	331	10	.	.	PUNCT
alkej-976	332	1	[	[	X
alkej-976	332	2	21	21	NUM
alkej-976	332	3	]	]	PUNCT
alkej-976	332	4	m.	m.	NOUN
alkej-976	332	5	z.	z.	PROPN
alkej-976	332	6	mohd	mohd	PROPN
alkej-976	332	7	tumari	tumari	PROPN
alkej-976	332	8	,	,	PUNCT
alkej-976	332	9	m.	m.	NOUN
alkej-976	332	10	s.	s.	PROPN
alkej-976	332	11	saealal	saealal	PROPN
alkej-976	332	12	,	,	PUNCT
alkej-976	332	13	w.	w.	PROPN
alkej-976	332	14	n.	n.	PROPN
alkej-976	332	15	abd	abd	PROPN
alkej-976	332	16	rashid	rashid	PROPN
alkej-976	332	17	,	,	PUNCT
alkej-976	332	18	s.	s.	PROPN
alkej-976	332	19	saat	saat	PROPN
alkej-976	332	20	,	,	PUNCT
alkej-976	332	21	and	and	CCONJ
alkej-976	332	22	m.	m.	NOUN
alkej-976	332	23	a.	a.	PROPN
alkej-976	332	24	mohd	mohd	PROPN
alkej-976	332	25	nasir	nasir	PROPN
alkej-976	332	26	,	,	PUNCT
alkej-976	332	27	“	"	PUNCT
alkej-976	332	28	the	the	DET
alkej-976	332	29	vehicle	vehicle	NOUN
alkej-976	332	30	steer	steer	NOUN
alkej-976	332	31	by	by	ADP
alkej-976	332	32	wire	wire	NOUN
alkej-976	332	33	control	control	NOUN
alkej-976	332	34	system	system	NOUN
alkej-976	332	35	by	by	ADP
alkej-976	332	36	implementing	implement	VERB
alkej-976	332	37	pid	pid	NOUN
alkej-976	332	38	controller	controller	NOUN
alkej-976	332	39	,	,	PUNCT
alkej-976	332	40	”	"	PUNCT
alkej-976	332	41	j.	j.	PROPN
alkej-976	332	42	telecommun	telecommun	PROPN
alkej-976	332	43	.	.	PUNCT
alkej-976	332	44	electron	electron	PROPN
alkej-976	332	45	.	.	PUNCT
alkej-976	333	1	comput	comput	NOUN
alkej-976	333	2	.	.	PUNCT
alkej-976	334	1	eng	eng	PROPN
alkej-976	334	2	.	.	PROPN
alkej-976	334	3	,	,	PUNCT
alkej-976	334	4	vol	vol	NOUN
alkej-976	334	5	.	.	PROPN
alkej-976	334	6	9	9	NUM
alkej-976	334	7	,	,	PUNCT
alkej-976	334	8	no	no	INTJ
alkej-976	334	9	.	.	PUNCT
alkej-976	335	1	3–2	3–2	NUM
alkej-976	335	2	,	,	PUNCT
alkej-976	335	3	pp	pp	ADJ
alkej-976	335	4	.	.	PUNCT
alkej-976	336	1	43–47	43–47	NUM
alkej-976	336	2	,	,	PUNCT
alkej-976	336	3	2017	2017	NUM
alkej-976	336	4	.	.	PUNCT
alkej-976	337	1	[	[	X
alkej-976	337	2	22	22	NUM
alkej-976	337	3	]	]	X
alkej-976	337	4	g.	g.	PROPN
alkej-976	337	5	huang	huang	PROPN
alkej-976	337	6	,	,	PUNCT
alkej-976	337	7	x.	x.	PROPN
alkej-976	337	8	yuan	yuan	PROPN
alkej-976	337	9	,	,	PUNCT
alkej-976	337	10	k.	k.	PROPN
alkej-976	337	11	shi	shi	PROPN
alkej-976	337	12	,	,	PUNCT
alkej-976	337	13	z.	z.	PROPN
alkej-976	337	14	liu	liu	PROPN
alkej-976	337	15	,	,	PUNCT
alkej-976	337	16	and	and	CCONJ
alkej-976	337	17	x.	x.	PROPN
alkej-976	337	18	wu	wu	PROPN
alkej-976	337	19	,	,	PUNCT
alkej-976	337	20	“	"	PUNCT
alkej-976	337	21	adaptivity	adaptivity	NOUN
alkej-976	337	22	-	-	PUNCT
alkej-976	337	23	enhanced	enhance	VERB
alkej-976	337	24	path	path	NOUN
alkej-976	337	25	tracking	tracking	NOUN
alkej-976	337	26	system	system	NOUN
alkej-976	337	27	for	for	ADP
alkej-976	337	28	autonomous	autonomous	ADJ
alkej-976	337	29	vehicles	vehicle	NOUN
alkej-976	337	30	at	at	ADP
alkej-976	337	31	high	high	ADJ
alkej-976	337	32	speeds	speed	NOUN
alkej-976	337	33	,	,	PUNCT
alkej-976	337	34	”	"	PUNCT
alkej-976	337	35	ieee	ieee	NOUN
alkej-976	337	36	trans	trans	PROPN
alkej-976	337	37	.	.	PUNCT
alkej-976	338	1	intell	intell	PROPN
alkej-976	338	2	.	.	PUNCT
alkej-976	339	1	veh	veh	PROPN
alkej-976	339	2	.	.	PROPN
alkej-976	339	3	,	,	PUNCT
alkej-976	339	4	vol	vol	NOUN
alkej-976	339	5	.	.	PROPN
alkej-976	340	1	5	5	NUM
alkej-976	340	2	,	,	PUNCT
alkej-976	340	3	no	no	INTJ
alkej-976	340	4	.	.	NOUN
alkej-976	340	5	4	4	NUM
alkej-976	340	6	,	,	PUNCT
alkej-976	340	7	pp	pp	ADJ
alkej-976	340	8	.	.	PUNCT
alkej-976	341	1	626–634	626–634	NUM
alkej-976	341	2	,	,	PUNCT
alkej-976	341	3	2020	2020	NUM
alkej-976	341	4	,	,	PUNCT
alkej-976	341	5	doi	doi	NOUN
alkej-976	341	6	:	:	PUNCT
alkej-976	341	7	10.1109	10.1109	NUM
alkej-976	341	8	/	/	SYM
alkej-976	341	9	tiv.2020.3014776	tiv.2020.3014776	NOUN
alkej-976	341	10	.	.	PUNCT
alkej-976	342	1	[	[	X
alkej-976	342	2	23	23	NUM
alkej-976	342	3	]	]	PUNCT
alkej-976	342	4	m.	m.	PROPN
alkej-976	342	5	yan	yan	PROPN
alkej-976	342	6	,	,	PUNCT
alkej-976	342	7	w.	w.	PROPN
alkej-976	342	8	chen	chen	PROPN
alkej-976	342	9	,	,	PUNCT
alkej-976	342	10	q.	q.	PROPN
alkej-976	342	11	wang	wang	PROPN
alkej-976	342	12	,	,	PUNCT
alkej-976	342	13	l.	l.	PROPN
alkej-976	342	14	zhao	zhao	PROPN
alkej-976	342	15	,	,	PUNCT
alkej-976	342	16	x.	x.	PROPN
alkej-976	342	17	liang	liang	PROPN
alkej-976	342	18	,	,	PUNCT
alkej-976	342	19	and	and	CCONJ
alkej-976	342	20	b.	b.	PROPN
alkej-976	342	21	cai	cai	PROPN
alkej-976	342	22	,	,	PUNCT
alkej-976	342	23	“	"	PUNCT
alkej-976	342	24	human	human	ADJ
alkej-976	342	25	–	–	PUNCT
alkej-976	342	26	machine	machine	NOUN
alkej-976	342	27	cooperative	cooperative	ADJ
alkej-976	342	28	control	control	NOUN
alkej-976	342	29	of	of	ADP
alkej-976	342	30	intelligent	intelligent	ADJ
alkej-976	342	31	vehicles	vehicle	NOUN
alkej-976	342	32	for	for	ADP
alkej-976	342	33	lane	lane	NOUN
alkej-976	342	34	keeping	keeping	NOUN
alkej-976	342	35	—	—	PUNCT
alkej-976	342	36	considering	consider	VERB
alkej-976	342	37	safety	safety	NOUN
alkej-976	342	38	of	of	ADP
alkej-976	342	39	the	the	DET
alkej-976	342	40	intended	intend	VERB
alkej-976	342	41	functionality	functionality	NOUN
alkej-976	342	42	,	,	PUNCT
alkej-976	342	43	”	"	PUNCT
alkej-976	342	44	actuators	actuator	NOUN
alkej-976	342	45	,	,	PUNCT
alkej-976	342	46	vol	vol	NOUN
alkej-976	342	47	.	.	PROPN
alkej-976	342	48	10	10	NUM
alkej-976	342	49	,	,	PUNCT
alkej-976	342	50	no	no	INTJ
alkej-976	342	51	.	.	NOUN
alkej-976	342	52	9	9	NUM
alkej-976	342	53	,	,	PUNCT
alkej-976	342	54	2021	2021	NUM
alkej-976	342	55	,	,	PUNCT
alkej-976	342	56	doi	doi	NOUN
alkej-976	342	57	:	:	PUNCT
alkej-976	342	58	10.3390	10.3390	NUM
alkej-976	342	59	/	/	SYM
alkej-976	342	60	act10090210	act10090210	NOUN
alkej-976	342	61	.	.	PUNCT
alkej-976	343	1	[	[	X
alkej-976	343	2	24	24	NUM
alkej-976	343	3	]	]	X
alkej-976	343	4	v.	v.	CCONJ
alkej-976	343	5	tavoosi	tavoosi	PROPN
alkej-976	343	6	,	,	PUNCT
alkej-976	343	7	r.	r.	PROPN
alkej-976	343	8	kazemi	kazemi	PROPN
alkej-976	343	9	,	,	PUNCT
alkej-976	343	10	and	and	CCONJ
alkej-976	343	11	s.	s.	PROPN
alkej-976	343	12	m.	m.	PROPN
alkej-976	343	13	hosseini	hosseini	PROPN
alkej-976	343	14	,	,	PUNCT
alkej-976	343	15	“	"	PUNCT
alkej-976	343	16	vehicle	vehicle	NOUN
alkej-976	343	17	handling	handling	NOUN
alkej-976	343	18	improvement	improvement	NOUN
alkej-976	343	19	with	with	ADP
alkej-976	343	20	steer	steer	NOUN
alkej-976	343	21	-	-	PUNCT
alkej-976	343	22	by	by	ADP
alkej-976	343	23	-	-	PUNCT
alkej-976	343	24	wire	wire	NOUN
alkej-976	343	25	system	system	NOUN
alkej-976	343	26	using	use	VERB
alkej-976	343	27	hardware	hardware	NOUN
alkej-976	343	28	in	in	ADP
alkej-976	343	29	the	the	DET
alkej-976	343	30	loop	loop	NOUN
alkej-976	343	31	method	method	NOUN
alkej-976	343	32	,	,	PUNCT
alkej-976	343	33	”	"	PUNCT
alkej-976	343	34	j.	j.	PROPN
alkej-976	343	35	appl	appl	PROPN
alkej-976	343	36	.	.	PUNCT
alkej-976	344	1	res	res	PROPN
alkej-976	344	2	.	.	PROPN
alkej-976	345	1	technol	technol	PROPN
alkej-976	345	2	.	.	PROPN
alkej-976	345	3	,	,	PUNCT
alkej-976	345	4	vol	vol	NOUN
alkej-976	345	5	.	.	PROPN
alkej-976	346	1	12	12	NUM
alkej-976	346	2	,	,	PUNCT
alkej-976	346	3	no	no	INTJ
alkej-976	346	4	.	.	NOUN
alkej-976	346	5	4	4	NUM
alkej-976	346	6	,	,	PUNCT
alkej-976	346	7	pp	pp	ADJ
alkej-976	346	8	.	.	PUNCT
alkej-976	347	1	769–781	769–781	NUM
alkej-976	347	2	,	,	PUNCT
alkej-976	347	3	2014	2014	NUM
alkej-976	347	4	,	,	PUNCT
alkej-976	347	5	doi	doi	NOUN
alkej-976	347	6	:	:	PUNCT
alkej-976	347	7	10.1016	10.1016	NUM
alkej-976	347	8	/	/	SYM
alkej-976	347	9	s1665	s1665	VERB
alkej-976	347	10	-	-	PUNCT
alkej-976	347	11	6423(14)70093	6423(14)70093	NUM
alkej-976	347	12	-	-	SYM
alkej-976	347	13	8	8	NUM
alkej-976	347	14	.	.	PUNCT
alkej-976	348	1	[	[	X
alkej-976	348	2	25	25	NUM
alkej-976	348	3	]	]	X
alkej-976	348	4	r.	r.	PROPN
alkej-976	348	5	kazemi	kazemi	PROPN
alkej-976	348	6	,	,	PUNCT
alkej-976	348	7	i.	i.	PROPN
alkej-976	348	8	mousavinejad	mousavinejad	PROPN
alkej-976	348	9	,	,	PUNCT
alkej-976	348	10	m.	m.	NOUN
alkej-976	348	11	raf’at	raf’at	PROPN
alkej-976	348	12	,	,	PUNCT
alkej-976	348	13	and	and	CCONJ
alkej-976	348	14	m.	m.	PROPN
alkej-976	348	15	b.	b.	PROPN
alkej-976	348	16	kh	kh	PROPN
alkej-976	348	17	,	,	PUNCT
alkej-976	348	18	“	"	PUNCT
alkej-976	348	19	yaw	yaw	ADJ
alkej-976	348	20	moment	moment	NOUN
alkej-976	348	21	control	control	NOUN
alkej-976	348	22	of	of	ADP
alkej-976	348	23	the	the	DET
alkej-976	348	24	passenger	passenger	NOUN
alkej-976	348	25	car	car	NOUN
alkej-976	348	26	via	via	ADP
alkej-976	348	27	steer	steer	NOUN
alkej-976	348	28	by	by	ADP
alkej-976	348	29	wire	wire	NOUN
alkej-976	348	30	system	system	NOUN
alkej-976	348	31	,	,	PUNCT
alkej-976	348	32	”	"	PUNCT
alkej-976	348	33	in	in	ADP
alkej-976	348	34	asme	asme	PROPN
alkej-976	348	35	-	-	PUNCT
alkej-976	348	36	international	international	ADJ
alkej-976	348	37	mechanical	mechanical	ADJ
alkej-976	348	38	engneering	engneere	VERB
alkej-976	348	39	congress	congress	PROPN
alkej-976	348	40	&	&	CCONJ
alkej-976	348	41	exposition	exposition	PROPN
alkej-976	348	42	,	,	PUNCT
alkej-976	348	43	denver	denver	PROPN
alkej-976	348	44	,	,	PUNCT
alkej-976	348	45	colorado	colorado	PROPN
alkej-976	348	46	usa	usa	PROPN
alkej-976	348	47	,	,	PUNCT
alkej-976	348	48	2011	2011	NUM
alkej-976	348	49	,	,	PUNCT
alkej-976	348	50	pp	pp	ADJ
alkej-976	348	51	.	.	PUNCT
alkej-976	349	1	13–15	13–15	NUM
alkej-976	349	2	.	.	PUNCT
alkej-976	350	1	[	[	X
alkej-976	350	2	26	26	NUM
alkej-976	350	3	]	]	X
alkej-976	350	4	e.	e.	PROPN
alkej-976	350	5	s.	s.	PROPN
alkej-976	350	6	mohamed	mohamed	PROPN
alkej-976	350	7	and	and	CCONJ
alkej-976	350	8	s.	s.	PROPN
alkej-976	350	9	a.	a.	PROPN
alkej-976	350	10	albatlan	albatlan	PROPN
alkej-976	350	11	,	,	PUNCT
alkej-976	350	12	“	"	PUNCT
alkej-976	350	13	modeling	modeling	NOUN
alkej-976	350	14	and	and	CCONJ
alkej-976	350	15	experimental	experimental	ADJ
alkej-976	350	16	design	design	NOUN
alkej-976	350	17	approach	approach	NOUN
alkej-976	350	18	for	for	ADP
alkej-976	350	19	integration	integration	NOUN
alkej-976	350	20	of	of	ADP
alkej-976	350	21	conventional	conventional	ADJ
alkej-976	350	22	power	power	NOUN
alkej-976	350	23	steering	steering	NOUN
alkej-976	350	24	and	and	CCONJ
alkej-976	350	25	a	a	DET
alkej-976	350	26	steer	steer	NOUN
alkej-976	350	27	-	-	PUNCT
alkej-976	350	28	by	by	ADP
alkej-976	350	29	-	-	PUNCT
alkej-976	350	30	wire	wire	NOUN
alkej-976	350	31	system	system	NOUN
alkej-976	350	32	based	base	VERB
alkej-976	350	33	on	on	ADP
alkej-976	350	34	active	active	ADJ
alkej-976	350	35	steering	steering	NOUN
alkej-976	350	36	angle	angle	NOUN
alkej-976	350	37	control	control	NOUN
alkej-976	350	38	,	,	PUNCT
alkej-976	350	39	”	"	PUNCT
alkej-976	350	40	am	be	AUX
alkej-976	350	41	.	.	PUNCT
alkej-976	351	1	j.	j.	PROPN
alkej-976	351	2	veh	veh	PROPN
alkej-976	351	3	.	.	PUNCT
alkej-976	352	1	des	des	PROPN
alkej-976	352	2	.	.	PROPN
alkej-976	352	3	,	,	PUNCT
alkej-976	352	4	vol	vol	NOUN
alkej-976	352	5	.	.	PROPN
alkej-976	352	6	2	2	NUM
alkej-976	352	7	,	,	PUNCT
alkej-976	352	8	no	no	INTJ
alkej-976	352	9	.	.	NOUN
alkej-976	352	10	1	1	NUM
alkej-976	352	11	,	,	PUNCT
alkej-976	352	12	pp	pp	ADJ
alkej-976	352	13	.	.	PUNCT
alkej-976	353	1	32–42	32–42	NUM
alkej-976	353	2	,	,	PUNCT
alkej-976	353	3	2014	2014	NUM
alkej-976	353	4	,	,	PUNCT
alkej-976	353	5	doi	doi	NOUN
alkej-976	353	6	:	:	PUNCT
alkej-976	353	7	10.12691	10.12691	NUM
alkej-976	353	8	/	/	SYM
alkej-976	353	9	ajvd-2	ajvd-2	NUM
alkej-976	353	10	-	-	PUNCT
alkej-976	353	11	1	1	NUM
alkej-976	353	12	-	-	SYM
alkej-976	353	13	5	5	NUM
alkej-976	353	14	.	.	PUNCT
alkej-976	354	1	[	[	X
alkej-976	354	2	27	27	NUM
alkej-976	354	3	]	]	X
alkej-976	354	4	s.	s.	PROPN
alkej-976	354	5	m.	m.	PROPN
alkej-976	354	6	h.	h.	PROPN
alkej-976	354	7	fahami	fahami	PROPN
alkej-976	354	8	,	,	PUNCT
alkej-976	354	9	h.	h.	PROPN
alkej-976	354	10	zamzuri	zamzuri	PROPN
alkej-976	354	11	,	,	PUNCT
alkej-976	354	12	s.	s.	PROPN
alkej-976	354	13	a.	a.	PROPN
alkej-976	354	14	mazlan	mazlan	PROPN
alkej-976	354	15	,	,	PUNCT
alkej-976	354	16	and	and	CCONJ
alkej-976	354	17	m.	m.	NOUN
alkej-976	354	18	a.	a.	PROPN
alkej-976	354	19	zakaria	zakaria	PROPN
alkej-976	354	20	,	,	PUNCT
alkej-976	354	21	“	"	PUNCT
alkej-976	354	22	modeling	modeling	NOUN
alkej-976	354	23	and	and	CCONJ
alkej-976	354	24	simulation	simulation	NOUN
alkej-976	354	25	of	of	ADP
alkej-976	354	26	vehicle	vehicle	NOUN
alkej-976	354	27	steer	steer	NOUN
alkej-976	354	28	by	by	ADP
alkej-976	354	29	wire	wire	NOUN
alkej-976	354	30	system	system	NOUN
alkej-976	354	31	,	,	PUNCT
alkej-976	354	32	”	"	PUNCT
alkej-976	354	33	shuser	shus	ADJ
alkej-976	354	34	2012	2012	NUM
alkej-976	354	35	2012	2012	NUM
alkej-976	354	36	ieee	ieee	NOUN
alkej-976	354	37	symp	symp	NOUN
alkej-976	354	38	.	.	PUNCT
alkej-976	355	1	humanit	humanit	PROPN
alkej-976	355	2	.	.	PUNCT
alkej-976	356	1	sci	sci	PROPN
alkej-976	356	2	.	.	PUNCT
alkej-976	357	1	eng	eng	PROPN
alkej-976	357	2	.	.	PUNCT
alkej-976	358	1	res	res	PROPN
alkej-976	358	2	.	.	PROPN
alkej-976	358	3	,	,	PUNCT
alkej-976	358	4	no	no	INTJ
alkej-976	359	1	.	.	NOUN
alkej-976	359	2	1	1	NUM
alkej-976	359	3	,	,	PUNCT
alkej-976	359	4	pp	pp	ADJ
alkej-976	359	5	.	.	PUNCT
alkej-976	360	1	765–770	765–770	NUM
alkej-976	360	2	,	,	PUNCT
alkej-976	360	3	2012	2012	NUM
alkej-976	360	4	,	,	PUNCT
alkej-976	360	5	doi	doi	NOUN
alkej-976	360	6	:	:	PUNCT
alkej-976	360	7	10.1109	10.1109	NUM
alkej-976	360	8	/	/	SYM
alkej-976	360	9	shuser.2012.6268992	shuser.2012.6268992	NOUN
alkej-976	360	10	.	.	PUNCT
alkej-976	361	1	[	[	X
alkej-976	361	2	28	28	NUM
alkej-976	361	3	]	]	X
alkej-976	361	4	j.	j.	PROPN
alkej-976	361	5	seo	seo	PROPN
alkej-976	361	6	and	and	CCONJ
alkej-976	361	7	k.	k.	NOUN
alkej-976	361	8	oh	oh	INTJ
alkej-976	361	9	,	,	PUNCT
alkej-976	361	10	“	"	PUNCT
alkej-976	361	11	model	model	NOUN
alkej-976	361	12	predictive	predictive	ADJ
alkej-976	361	13	control	control	NOUN
alkej-976	361	14	–	–	PUNCT
alkej-976	361	15	based	base	VERB
alkej-976	361	16	steering	steering	NOUN
alkej-976	361	17	control	control	NOUN
alkej-976	361	18	algorithm	algorithm	NOUN
alkej-976	361	19	for	for	ADP
alkej-976	361	20	steering	steering	NOUN
alkej-976	361	21	efficiency	efficiency	NOUN
alkej-976	361	22	of	of	ADP
alkej-976	361	23	a	a	DET
alkej-976	361	24	human	human	ADJ
alkej-976	361	25	driver	driver	NOUN
alkej-976	361	26	in	in	ADP
alkej-976	361	27	all	all	DET
alkej-976	361	28	-	-	PUNCT
alkej-976	361	29	terrain	terrain	NOUN
alkej-976	361	30	cranes	crane	NOUN
alkej-976	361	31	,	,	PUNCT
alkej-976	361	32	”	"	PUNCT
alkej-976	361	33	vol	vol	NOUN
alkej-976	361	34	.	.	PROPN
alkej-976	361	35	11	11	NUM
alkej-976	361	36	,	,	PUNCT
alkej-976	361	37	no	no	INTJ
alkej-976	361	38	.	.	NOUN
alkej-976	361	39	6	6	NUM
alkej-976	361	40	,	,	PUNCT
alkej-976	361	41	pp	pp	PROPN
alkej-976	361	42	.	.	PUNCT
alkej-976	362	1	1–16	1–16	NOUN
alkej-976	362	2	,	,	PUNCT
alkej-976	362	3	2019	2019	NUM
alkej-976	362	4	,	,	PUNCT
alkej-976	362	5	doi	doi	NOUN
alkej-976	362	6	:	:	PUNCT
alkej-976	362	7	10.1177/1687814019859783	10.1177/1687814019859783	NUM
alkej-976	362	8	.	.	PUNCT
alkej-976	363	1	[	[	X
alkej-976	363	2	29	29	NUM
alkej-976	363	3	]	]	X
alkej-976	363	4	m.	m.	NOUN
alkej-976	363	5	schwenzer	schwenzer	NOUN
alkej-976	363	6	,	,	PUNCT
alkej-976	363	7	m.	m.	NOUN
alkej-976	363	8	ay	ay	PROPN
alkej-976	363	9	,	,	PUNCT
alkej-976	363	10	t.	t.	NOUN
alkej-976	363	11	bergs	berg	NOUN
alkej-976	363	12	,	,	PUNCT
alkej-976	363	13	and	and	CCONJ
alkej-976	363	14	d.	d.	PROPN
alkej-976	363	15	abel	abel	PROPN
alkej-976	363	16	,	,	PUNCT
alkej-976	363	17	“	"	PUNCT
alkej-976	363	18	review	review	NOUN
alkej-976	363	19	on	on	ADP
alkej-976	363	20	model	model	NOUN
alkej-976	363	21	predictive	predictive	PROPN
alkej-976	363	22	control	control	PROPN
alkej-976	363	23	 	 	SPACE
alkej-976	363	24	:	:	PUNCT
alkej-976	363	25	an	an	DET
alkej-976	363	26	engineering	engineering	NOUN
alkej-976	363	27	perspective	perspective	NOUN
alkej-976	363	28	,	,	PUNCT
alkej-976	363	29	”	"	PUNCT
alkej-976	363	30	pp	pp	ADV
alkej-976	363	31	.	.	PUNCT
alkej-976	364	1	1327–1349	1327–1349	NUM
alkej-976	364	2	,	,	PUNCT
alkej-976	364	3	2021	2021	NUM
alkej-976	364	4	.	.	PUNCT
alkej-976	365	1	[	[	X
alkej-976	365	2	30	30	NUM
alkej-976	365	3	]	]	PUNCT
alkej-976	365	4	j.	j.	PROPN
alkej-976	365	5	zhang	zhang	PROPN
alkej-976	365	6	et	et	PROPN
alkej-976	365	7	al	al	PROPN
alkej-976	365	8	.	.	PROPN
alkej-976	365	9	,	,	PUNCT
alkej-976	365	10	“	"	PUNCT
alkej-976	365	11	adaptive	adaptive	ADJ
alkej-976	365	12	sliding	slide	VERB
alkej-976	365	13	mode	mode	NOUN
alkej-976	365	14	-	-	PUNCT
alkej-976	365	15	based	base	VERB
alkej-976	365	16	lateral	lateral	ADJ
alkej-976	365	17	stability	stability	NOUN
alkej-976	365	18	control	control	NOUN
alkej-976	365	19	of	of	ADP
alkej-976	365	20	steer	steer	NOUN
alkej-976	365	21	-	-	PUNCT
alkej-976	365	22	by	by	ADP
alkej-976	365	23	-	-	PUNCT
alkej-976	365	24	wire	wire	NOUN
alkej-976	365	25	vehicles	vehicle	NOUN
alkej-976	365	26	with	with	ADP
alkej-976	365	27	experimental	experimental	ADJ
alkej-976	365	28	validations	validation	NOUN
alkej-976	365	29	,	,	PUNCT
alkej-976	365	30	”	"	PUNCT
alkej-976	365	31	ieee	ieee	NOUN
alkej-976	365	32	trans	tran	NOUN
alkej-976	365	33	.	.	PUNCT
alkej-976	366	1	veh	veh	PROPN
alkej-976	366	2	.	.	PROPN
alkej-976	366	3	technol	technol	PROPN
alkej-976	366	4	.	.	PROPN
alkej-976	366	5	,	,	PUNCT
alkej-976	366	6	vol	vol	NOUN
alkej-976	366	7	.	.	PROPN
alkej-976	367	1	69	69	NUM
alkej-976	367	2	,	,	PUNCT
alkej-976	367	3	no	no	INTJ
alkej-976	367	4	.	.	NOUN
alkej-976	367	5	9	9	NUM
alkej-976	367	6	,	,	PUNCT
alkej-976	367	7	pp	pp	ADJ
alkej-976	367	8	.	.	PUNCT
alkej-976	368	1	9589–9600	9589–9600	NUM
alkej-976	368	2	,	,	PUNCT
alkej-976	368	3	2020	2020	NUM
alkej-976	368	4	,	,	PUNCT
alkej-976	368	5	doi	doi	NOUN
alkej-976	368	6	:	:	PUNCT
alkej-976	368	7	10.1109	10.1109	NUM
alkej-976	368	8	/	/	SYM
alkej-976	368	9	tvt.2020.3003326	tvt.2020.3003326	NOUN
alkej-976	368	10	.	.	PUNCT
alkej-976	369	1	[	[	X
alkej-976	369	2	31	31	NUM
alkej-976	369	3	]	]	PUNCT
alkej-976	369	4	m.	m.	NOUN
alkej-976	369	5	i.	i.	PROPN
alkej-976	369	6	solihin	solihin	PROPN
alkej-976	369	7	,	,	PUNCT
alkej-976	369	8	l.	l.	PROPN
alkej-976	369	9	f.	f.	PROPN
alkej-976	369	10	tack	tack	PROPN
alkej-976	369	11	,	,	PUNCT
alkej-976	369	12	and	and	CCONJ
alkej-976	369	13	m.	m.	PROPN
alkej-976	369	14	l.	l.	PROPN
alkej-976	369	15	kean	kean	PROPN
alkej-976	369	16	,	,	PUNCT
alkej-976	369	17	“	"	PUNCT
alkej-976	369	18	tuning	tune	VERB
alkej-976	369	19	of	of	ADP
alkej-976	369	20	pid	pid	NOUN
alkej-976	369	21	controller	controller	NOUN
alkej-976	369	22	using	use	VERB
alkej-976	369	23	particle	particle	NOUN
alkej-976	369	24	swarm	swarm	NOUN
alkej-976	369	25	optimization	optimization	NOUN
alkej-976	369	26	(	(	PUNCT
alkej-976	369	27	pso	pso	NOUN
alkej-976	369	28	)	)	PUNCT
alkej-976	369	29	,	,	PUNCT
alkej-976	369	30	”	"	PUNCT
alkej-976	369	31	int	int	NOUN
alkej-976	369	32	.	.	PUNCT
alkej-976	370	1	j.	j.	PROPN
alkej-976	370	2	adv	adv	PROPN
alkej-976	370	3	.	.	PUNCT
alkej-976	371	1	sci	sci	PROPN
alkej-976	371	2	.	.	PUNCT
alkej-976	372	1	eng	eng	PROPN
alkej-976	372	2	.	.	PROPN
alkej-976	372	3	inf	inf	PROPN
alkej-976	372	4	.	.	PUNCT
alkej-976	372	5	technol	technol	PROPN
alkej-976	372	6	.	.	PROPN
alkej-976	372	7	,	,	PUNCT
alkej-976	372	8	vol	vol	NOUN
alkej-976	372	9	.	.	PROPN
alkej-976	373	1	1	1	NUM
alkej-976	373	2	,	,	PUNCT
alkej-976	373	3	no	no	INTJ
alkej-976	373	4	.	.	NOUN
alkej-976	373	5	4	4	NUM
alkej-976	373	6	,	,	PUNCT
alkej-976	373	7	p.	p.	NOUN
alkej-976	373	8	458	458	NUM
alkej-976	373	9	,	,	PUNCT
alkej-976	373	10	2011	2011	NUM
alkej-976	373	11	,	,	PUNCT
alkej-976	373	12	doi	doi	NOUN
alkej-976	373	13	:	:	PUNCT
alkej-976	373	14	10.18517	10.18517	NUM
alkej-976	373	15	/	/	SYM
alkej-976	373	16	ijaseit.1.4.93	ijaseit.1.4.93	NOUN
alkej-976	373	17	.	.	PUNCT
alkej-976	374	1	[	[	X
alkej-976	374	2	32	32	NUM
alkej-976	374	3	]	]	PUNCT
alkej-976	374	4	s.	s.	PROPN
alkej-976	374	5	charkoutsis	charkoutsis	PROPN
alkej-976	374	6	and	and	CCONJ
alkej-976	374	7	m.	m.	PROPN
alkej-976	374	8	kara	kara	PROPN
alkej-976	374	9	-	-	PUNCT
alkej-976	374	10	mohamed	mohame	VERB
alkej-976	374	11	,	,	PUNCT
alkej-976	374	12	“	"	PUNCT
alkej-976	374	13	a	a	DET
alkej-976	374	14	particle	particle	NOUN
alkej-976	374	15	swarm	swarm	NOUN
alkej-976	374	16	optimization	optimization	NOUN
alkej-976	374	17	tuned	tune	VERB
alkej-976	374	18	nonlinear	nonlinear	ADJ
alkej-976	374	19	pid	pid	NOUN
alkej-976	374	20	controller	controller	NOUN
alkej-976	374	21	with	with	ADP
alkej-976	374	22	improved	improved	ADJ
alkej-976	374	23	performance	performance	NOUN
alkej-976	374	24	and	and	CCONJ
alkej-976	374	25	robustness	robustness	NOUN
alkej-976	374	26	for	for	ADP
alkej-976	374	27	first	first	ADJ
alkej-976	374	28	order	order	NOUN
alkej-976	374	29	plus	plus	CCONJ
alkej-976	374	30	time	time	NOUN
alkej-976	374	31	delay	delay	NOUN
alkej-976	374	32	systems	system	NOUN
alkej-976	374	33	,	,	PUNCT
alkej-976	374	34	”	"	PUNCT
alkej-976	374	35	results	result	NOUN
alkej-976	374	36	control	control	PROPN
alkej-976	374	37	optim	optim	PROPN
alkej-976	374	38	.	.	PUNCT
alkej-976	374	39	,	,	PUNCT
alkej-976	374	40	vol	vol	NOUN
alkej-976	374	41	.	.	PROPN
alkej-976	374	42	12	12	NUM
alkej-976	374	43	,	,	PUNCT
alkej-976	374	44	p.	p.	NOUN
alkej-976	374	45	100289	100289	NUM
alkej-976	374	46	,	,	PUNCT
alkej-976	374	47	2023	2023	NUM
alkej-976	374	48	,	,	PUNCT
alkej-976	374	49	doi	doi	NOUN
alkej-976	374	50	:	:	PUNCT
alkej-976	374	51	10.1016	10.1016	NUM
alkej-976	374	52	/	/	SYM
alkej-976	374	53	j.rico.2023.100289	j.rico.2023.100289	PROPN
alkej-976	374	54	.	.	PUNCT
alkej-976	375	1	[	[	X
alkej-976	375	2	33	33	NUM
alkej-976	375	3	]	]	PUNCT
alkej-976	375	4	chapter	chapter	NOUN
alkej-976	375	5	1	1	NUM
alkej-976	375	6	introduction	introduction	NOUN
alkej-976	375	7	to	to	PART
alkej-976	375	8	model	model	VERB
alkej-976	375	9	predictive	predictive	ADJ
alkej-976	375	10	control	control	NOUN
alkej-976	375	11	,	,	PUNCT
alkej-976	375	12	no	no	INTJ
alkej-976	375	13	.	.	PUNCT
alkej-976	375	14	november	november	PROPN
alkej-976	375	15	.	.	PUNCT
alkej-976	376	1	2023	2023	NUM
alkej-976	376	2	.	.	PUNCT
alkej-976	377	1	doi	doi	NOUN
alkej-976	377	2	:	:	PUNCT
alkej-976	377	3	10.1007/978	10.1007/978	NUM
alkej-976	377	4	-	-	SYM
alkej-976	377	5	3030	3030	NUM
alkej-976	377	6	-	-	PUNCT
alkej-976	377	7	83815	83815	NUM
alkej-976	377	8	-	-	SYM
alkej-976	377	9	7	7	NUM
alkej-976	377	10	.	.	PUNCT
alkej-976	378	1	[	[	X
alkej-976	378	2	34	34	NUM
alkej-976	378	3	]	]	X
alkej-976	378	4	c.	c.	PROPN
alkej-976	378	5	huang	huang	PROPN
alkej-976	378	6	,	,	PUNCT
alkej-976	378	7	f.	f.	PROPN
alkej-976	378	8	naghdy	naghdy	PROPN
alkej-976	378	9	,	,	PUNCT
alkej-976	378	10	h.	h.	PROPN
alkej-976	378	11	du	du	PROPN
alkej-976	378	12	,	,	PUNCT
alkej-976	378	13	and	and	CCONJ
alkej-976	378	14	s.	s.	PROPN
alkej-976	378	15	member	member	PROPN
alkej-976	378	16	,	,	PUNCT
alkej-976	378	17	“	"	PUNCT
alkej-976	378	18	for	for	ADP
alkej-976	378	19	uncertain	uncertain	ADJ
alkej-976	378	20	steer	steer	NOUN
alkej-976	378	21	-	-	PUNCT
alkej-976	378	22	by	by	ADP
alkej-976	378	23	-	-	PUNCT
alkej-976	378	24	wire	wire	NOUN
alkej-976	378	25	system	system	NOUN
alkej-976	378	26	,	,	PUNCT
alkej-976	378	27	”	"	PUNCT
alkej-976	378	28	pp	pp	ADV
alkej-976	378	29	.	.	PUNCT
alkej-976	378	30	1–12	1–12	NOUN
alkej-976	378	31	,	,	PUNCT
alkej-976	378	32	2017	2017	NUM
alkej-976	378	33	.	.	PUNCT
alkej-976	379	1	[	[	X
alkej-976	379	2	35	35	NUM
alkej-976	379	3	]	]	PUNCT
alkej-976	379	4	x.	x.	NOUN
alkej-976	379	5	wu	wu	PROPN
alkej-976	379	6	,	,	PUNCT
alkej-976	379	7	j.	j.	PROPN
alkej-976	379	8	shen	shen	PROPN
alkej-976	379	9	,	,	PUNCT
alkej-976	379	10	m.	m.	PROPN
alkej-976	379	11	wang	wang	PROPN
alkej-976	379	12	,	,	PUNCT
alkej-976	379	13	and	and	CCONJ
alkej-976	379	14	k.	k.	PROPN
alkej-976	379	15	y.	y.	PROPN
alkej-976	379	16	lee	lee	PROPN
alkej-976	379	17	,	,	PUNCT
alkej-976	379	18	“	"	PUNCT
alkej-976	379	19	intelligent	intelligent	ADJ
alkej-976	379	20	predictive	predictive	ADJ
alkej-976	379	21	control	control	NOUN
alkej-976	379	22	of	of	ADP
alkej-976	379	23	large	large	ADJ
alkej-976	379	24	-	-	PUNCT
alkej-976	379	25	scale	scale	NOUN
alkej-976	379	26	solvent	solvent	NOUN
alkej-976	379	27	-	-	PUNCT
alkej-976	379	28	based	base	VERB
alkej-976	379	29	co2	co2	NOUN
alkej-976	379	30	capture	capture	NOUN
alkej-976	379	31	plant	plant	NOUN
alkej-976	379	32	using	use	VERB
alkej-976	379	33	artificial	artificial	ADJ
alkej-976	379	34	neural	neural	ADJ
alkej-976	379	35	network	network	NOUN
alkej-976	379	36	and	and	CCONJ
alkej-976	379	37	particle	particle	NOUN
alkej-976	379	38	swarm	swarm	NOUN
alkej-976	379	39	optimization	optimization	NOUN
alkej-976	379	40	,	,	PUNCT
alkej-976	379	41	”	"	PUNCT
alkej-976	379	42	energy	energy	NOUN
alkej-976	379	43	,	,	PUNCT
alkej-976	379	44	vol	vol	NOUN
alkej-976	379	45	.	.	PROPN
alkej-976	379	46	196	196	NUM
alkej-976	379	47	,	,	PUNCT
alkej-976	379	48	p.	p.	NOUN
alkej-976	379	49	117070	117070	NUM
alkej-976	379	50	,	,	PUNCT
alkej-976	379	51	2020	2020	NUM
alkej-976	379	52	,	,	PUNCT
alkej-976	379	53	doi	doi	NOUN
alkej-976	379	54	:	:	PUNCT
alkej-976	379	55	10.1016	10.1016	NUM
alkej-976	379	56	/	/	SYM
alkej-976	379	57	j.energy.2020.117070	j.energy.2020.117070	PROPN
alkej-976	379	58	.	.	PUNCT
alkej-976	380	1	[	[	X
alkej-976	380	2	36	36	NUM
alkej-976	380	3	]	]	X
alkej-976	380	4	c.	c.	PROPN
alkej-976	380	5	huang	huang	PROPN
alkej-976	380	6	,	,	PUNCT
alkej-976	380	7	“	"	PUNCT
alkej-976	380	8	fault	fault	VERB
alkej-976	380	9	tolerant	tolerant	ADJ
alkej-976	380	10	steer	steer	NOUN
alkej-976	380	11	-	-	PUNCT
alkej-976	380	12	by	by	ADP
alkej-976	380	13	-	-	PUNCT
alkej-976	380	14	wire	wire	NOUN
alkej-976	380	15	systems	system	NOUN
alkej-976	380	16	 	 	SPACE
alkej-976	380	17	:	:	PUNCT
alkej-976	380	18	impact	impact	NOUN
alkej-976	380	19	on	on	ADP
alkej-976	380	20	vehicle	vehicle	NOUN
alkej-976	380	21	safety	safety	NOUN
alkej-976	380	22	fault	fault	VERB
alkej-976	380	23	tolerant	tolerant	ADJ
alkej-976	380	24	steer	steer	NOUN
alkej-976	380	25	-	-	PUNCT
alkej-976	380	26	bywire	bywire	NOUN
alkej-976	380	27	systems	system	NOUN
alkej-976	380	28	 	 	SPACE
alkej-976	380	29	:	:	PUNCT
alkej-976	380	30	impact	impact	NOUN
alkej-976	380	31	on	on	ADP
alkej-976	380	32	vehicle	vehicle	NOUN
alkej-976	380	33	safety	safety	NOUN
alkej-976	380	34	,	,	PUNCT
alkej-976	380	35	”	"	PUNCT
alkej-976	380	36	2018	2018	NUM
alkej-976	380	37	.	.	PUNCT
alkej-976	381	1	[	[	X
alkej-976	381	2	37	37	NUM
alkej-976	381	3	]	]	PUNCT
alkej-976	381	4	t.	t.	PROPN
alkej-976	381	5	zhang	zhang	PROPN
alkej-976	381	6	and	and	CCONJ
alkej-976	381	7	x.	x.	PROPN
alkej-976	381	8	zhang	zhang	PROPN
alkej-976	381	9	,	,	PUNCT
alkej-976	381	10	“	"	PUNCT
alkej-976	381	11	distributed	distribute	VERB
alkej-976	381	12	model	model	NOUN
alkej-976	381	13	predictive	predictive	ADJ
alkej-976	381	14	control	control	NOUN
alkej-976	381	15	with	with	ADP
alkej-976	381	16	particle	particle	NOUN
alkej-976	381	17	swarm	swarm	NOUN
alkej-976	381	18	optimizer	optimizer	NOUN
alkej-976	381	19	for	for	ADP
alkej-976	381	20	collision	collision	NOUN
alkej-976	381	21	-	-	PUNCT
alkej-976	381	22	free	free	ADJ
alkej-976	381	23	trajectory	trajectory	NOUN
alkej-976	381	24	tracking	tracking	NOUN
alkej-976	381	25	of	of	ADP
alkej-976	381	26	mwmr	mwmr	ADJ
alkej-976	381	27	formation	formation	NOUN
alkej-976	381	28	,	,	PUNCT
alkej-976	381	29	”	"	PUNCT
alkej-976	381	30	actuators	actuator	NOUN
alkej-976	381	31	,	,	PUNCT
alkej-976	381	32	vol	vol	NOUN
alkej-976	381	33	.	.	PROPN
alkej-976	381	34	12	12	NUM
alkej-976	381	35	,	,	PUNCT
alkej-976	381	36	no	no	INTJ
alkej-976	381	37	.	.	NOUN
alkej-976	381	38	3	3	NUM
alkej-976	381	39	,	,	PUNCT
alkej-976	381	40	2023	2023	NUM
alkej-976	381	41	,	,	PUNCT
alkej-976	381	42	doi	doi	NOUN
alkej-976	381	43	:	:	PUNCT
alkej-976	381	44	10.3390	10.3390	NUM
alkej-976	381	45	/	/	SYM
alkej-976	381	46	act12030127	act12030127	NOUN
alkej-976	381	47	.	.	PUNCT
alkej-976	382	1	[	[	X
alkej-976	382	2	38	38	NUM
alkej-976	382	3	]	]	PUNCT
alkej-976	382	4	m.	m.	NOUN
alkej-976	382	5	a.	a.	PROPN
alkej-976	382	6	mohamed	mohamed	PROPN
alkej-976	382	7	,	,	PUNCT
alkej-976	382	8	a.	a.	PROPN
alkej-976	382	9	m.	m.	PROPN
alkej-976	382	10	eltamaly	eltamaly	PROPN
alkej-976	382	11	,	,	PUNCT
alkej-976	382	12	and	and	CCONJ
alkej-976	382	13	a.	a.	PROPN
alkej-976	382	14	i.	i.	PROPN
alkej-976	382	15	alolah	alolah	PROPN
alkej-976	382	16	,	,	PUNCT
alkej-976	382	17	“	"	PUNCT
alkej-976	382	18	pso	pso	NOUN
alkej-976	382	19	-	-	PUNCT
alkej-976	382	20	based	base	VERB
alkej-976	382	21	smart	smart	ADJ
alkej-976	382	22	grid	grid	NOUN
alkej-976	382	23	application	application	NOUN
alkej-976	382	24	for	for	ADP
alkej-976	382	25	sizing	sizing	NOUN
alkej-976	382	26	and	and	CCONJ
alkej-976	382	27	optimization	optimization	NOUN
alkej-976	382	28	of	of	ADP
alkej-976	382	29	hybrid	hybrid	ADJ
alkej-976	382	30	renewable	renewable	ADJ
alkej-976	382	31	energy	energy	NOUN
alkej-976	382	32	systems	system	NOUN
alkej-976	382	33	,	,	PUNCT
alkej-976	382	34	”	"	PUNCT
alkej-976	382	35	plos	plos	PROPN
alkej-976	382	36	one	one	NUM
alkej-976	382	37	,	,	PUNCT
alkej-976	382	38	vol	vol	NOUN
alkej-976	382	39	.	.	PROPN
alkej-976	382	40	11	11	NUM
alkej-976	382	41	,	,	PUNCT
alkej-976	382	42	no	no	INTJ
alkej-976	382	43	.	.	NOUN
alkej-976	382	44	8	8	NUM
alkej-976	382	45	,	,	PUNCT
alkej-976	382	46	pp	pp	ADJ
alkej-976	382	47	.	.	PUNCT
alkej-976	383	1	1–22	1–22	PROPN
alkej-976	383	2	,	,	PUNCT
alkej-976	383	3	2016	2016	NUM
alkej-976	383	4	,	,	PUNCT
alkej-976	383	5	doi	doi	NOUN
alkej-976	383	6	:	:	PUNCT
alkej-976	383	7	10.1371	10.1371	NUM
alkej-976	383	8	/	/	SYM
alkej-976	383	9	journal.pone.0159702	journal.pone.0159702	PROPN
alkej-976	383	10	.	.	PROPN
alkej-976	383	11	(	(	PUNCT
alkej-976	383	12	2025	2025	NUM
alkej-976	383	13	)	)	PUNCT
alkej-976	383	14	72	72	NUM
alkej-976	383	15	-61	-61	NUM
alkej-976	383	16	،	،	NOUN
alkej-976	383	17	صفحة	صفحة	PROPN
alkej-976	383	18	1	1	NUM
alkej-976	383	19	،	،	NOUN
alkej-976	383	20	العدد21مجلة	العدد21مجلة	PROPN
alkej-976	383	21	الخوارزمي	الخوارزمي	PROPN
alkej-976	383	22	الهندسية	الهندسية	PROPN
alkej-976	384	1	المجلد	المجلد	PROPN
alkej-976	384	2	طاهر	طاهر	VERB
alkej-976	384	3	ساجت	ساجت	ADV
alkej-976	384	4	طاهر	طاهر	VERB
alkej-976	384	5	72	72	NUM
alkej-976	384	6	وحدة	وحدة	NOUN
alkej-976	384	7	التحكم	التحكم	NOUN
alkej-976	384	8	التنبؤية	التنبؤية	PROPN
alkej-976	384	9	تحسين	تحسين	PROPN
alkej-976	384	10	أداء	أداء	PROPN
alkej-976	384	11	التوجيه	التوجيه	PROPN
alkej-976	384	12	عن	عن	PROPN
alkej-976	384	13	طريق	طريق	PROPN
alkej-976	384	14	األسالك	األسالك	PROPN
alkej-976	384	15	باستخدام	باستخدام	PROPN
alkej-976	384	16	psoالمعززة	psoالمعززة	NOUN
alkej-976	384	17	بخوارزمية	بخوارزمية	ADJ
alkej-976	384	18	تحسين	تحسين	PROPN
alkej-976	384	19	سرب	سرب	PROPN
alkej-976	384	20	الجسيمات	الجسيمات	VERB
alkej-976	384	21	mpcللنموذج	mpcللنموذج	PROPN
alkej-976	384	22	،	،	PROPN
alkej-976	384	23	3فرات	3فرات	PROPN
alkej-976	384	24	ابراهيم	ابراهيم	PROPN
alkej-976	384	25	حسين	حسين	PROPN
alkej-976	384	26	،	،	PROPN
alkej-976	384	27	2*علي	2*علي	PROPN
alkej-976	384	28	حسين	حسين	VERB
alkej-976	384	29	مري	مري	PROPN
alkej-976	384	30	،	،	X
alkej-976	385	1	1طاهر	1طاهر	NUM
alkej-976	385	2	ساجت	ساجت	PRON
alkej-976	385	3	طاهر	طاهر	X
alkej-976	385	4	5محمد	5محمد	NUM
alkej-976	385	5	عمر	عمر	NOUN
alkej-976	385	6	فريد	فريد	ADJ
alkej-976	385	7	،	،	X
alkej-976	385	8	4محمد	4محمد	NUM
alkej-976	385	9	غفران	غفران	NOUN
alkej-976	385	10	خضر	خضر	ADJ
alkej-976	385	11	عبوش	عبوش	NOUN
alkej-976	385	12	،	،	NOUN
alkej-976	385	13	بغداد	بغداد	PROPN
alkej-976	385	14	،	،	PROPN
alkej-976	385	15	العراقجامعة	العراقجامعة	PROPN
alkej-976	385	16	بغداد	بغداد	PROPN
alkej-976	385	17	،	،	PROPN
alkej-976	385	18	كلية	كلية	PROPN
alkej-976	385	19	الهندسة	الهندسة	PROPN
alkej-976	385	20	الخوارزمي	الخوارزمي	PROPN
alkej-976	385	21	،	،	PROPN
alkej-976	385	22	قسم	قسم	PROPN
alkej-976	385	23	هندسة	هندسة	PROPN
alkej-976	385	24	الميكاترونيكس	الميكاترونيكس	VERB
alkej-976	385	25	1،2،3	1،2،3	NUM
alkej-976	385	26	المجر	المجر	PROPN
alkej-976	385	27	،	،	PROPN
alkej-976	385	28	جامعة	جامعة	X
alkej-976	385	29	ديبريسين	ديبريسين	PROPN
alkej-976	385	30	،	،	PROPN
alkej-976	385	31	قسم	قسم	PROPN
alkej-976	386	1	علوم	علوم	PROPN
alkej-976	386	2	البيانات	البيانات	PROPN
alkej-976	386	3	والتصور	والتصور	PROPN
alkej-976	386	4	4	4	NUM
alkej-976	386	5	انجلترا	انجلترا	NOUN
alkej-976	386	6	،	،	NOUN
alkej-976	386	7	ويكفيلد	ويكفيلد	PROPN
alkej-976	386	8	،	،	NOUN
alkej-976	386	9	كلية	كلية	NOUN
alkej-976	386	10	ويكفيلد	ويكفيلد	NOUN
alkej-976	386	11	5	5	NUM
alkej-976	386	12	alimary76@kecbu.uobaghdad.edu.iqالبريد	alimary76@kecbu.uobaghdad.edu.iqالبريد	PROPN
alkej-976	386	13	االلكتروني	االلكتروني	NOUN
alkej-976	386	14	:	:	PUNCT
alkej-976	386	15	*	*	PUNCT
alkej-976	386	16	المستخلص	المستخلص	NOUN
alkej-976	386	17	في	في	SCONJ
alkej-976	386	18	المركبات	المركبات	PROPN
alkej-976	386	19	ذات	ذات	VERB
alkej-976	386	20	التوجيه	التوجيه	PROPN
alkej-976	386	21	ترجع	ترجع	NOUN
alkej-976	386	22	إلى	إلى	NOUN
alkej-976	386	23	غياب	غياب	PROPN
alkej-976	386	24	الرابط	الرابط	PROPN
alkej-976	386	25	الميكانيكي	الميكانيكي	NOUN
alkej-976	386	26	المباشر	المباشر	PROPN
alkej-976	386	27	بين	بين	ADV
alkej-976	386	28	عجلة	عجلة	VERB
alkej-976	386	29	القيادة	القيادة	ADV
alkej-976	386	30	والعجالت	والعجالت	ADJ
alkej-976	386	31	)	)	PUNCT
alkej-976	386	32	sbw	sbw	PROPN
alkej-976	386	33	(	(	PUNCT
alkej-976	386	34	إن	إن	PART
alkej-976	386	35	التحديات	التحديات	PROPN
alkej-976	386	36	التي	التي	PROPN
alkej-976	386	37	تواجه	تواجه	VERB
alkej-976	386	38	أنظمة	أنظمة	PROPN
alkej-976	386	39	التوجيه	التوجيه	PROPN
alkej-976	387	1	باألسالك	باألسالك	PROPN
alkej-976	387	2	مة	مة	PROPN
alkej-976	387	3	،	،	PROPN
alkej-976	387	4	تقع	تقع	NOUN
alkej-976	387	5	المسؤولية	المسؤولية	NOUN
alkej-976	387	6	على	على	NOUN
alkej-976	387	7	الطريق	الطريق	ADJ
alkej-976	387	8	.	.	PUNCT
alkej-976	388	1	هذا	هذا	NOUN
alkej-976	388	2	االمر	االمر	PROPN
alkej-976	388	3	يفرض	يفرض	PROPN
alkej-976	388	4	ضرورة	ضرورة	PROPN
alkej-976	388	5	استخدام	استخدام	PROPN
alkej-976	388	6	أنظمة	أنظمة	PROPN
alkej-976	388	7	تحكم	تحكم	PROPN
alkej-976	388	8	متطورة	متطورة	PROPN
alkej-976	388	9	لتحقيق	لتحقيق	PROPN
alkej-976	388	10	أعلى	أعلى	PROPN
alkej-976	388	11	درجات	درجات	NOUN
alkej-976	388	12	الدقة	الدقة	PROPN
alkej-976	388	13	واالستقرار	واالستقرار	PROPN
alkej-976	388	14	أثناء	أثناء	PROPN
alkej-976	388	15	التوجيه	التوجيه	PROPN
alkej-976	388	16	.	.	PUNCT
alkej-976	389	1	في	في	PRON
alkej-976	389	2	مثل	مثل	NOUN
alkej-976	389	3	هذه	هذه	PROPN
alkej-976	389	4	األنظ	األنظ	NOUN
alkej-976	389	5	المستخدمة	المستخدمة	VERB
alkej-976	389	6	لتغيير	لتغيير	NOUN
alkej-976	389	7	زاوية	زاوية	PROPN
alkej-976	389	8	العجلة	العجلة	VERB
alkej-976	389	9	على	على	PROPN
alkej-976	389	10	الطريق	الطريق	PROPN
alkej-976	389	11	بسرعة	بسرعة	VERB
alkej-976	389	12	ودقة	ودقة	PROPN
alkej-976	389	13	استجابة	استجابة	PROPN
alkej-976	389	14	لتغييرات	لتغييرات	PROPN
alkej-976	389	15	عجلة	عجلة	VERB
alkej-976	389	16	القيادة	القيادة	PROPN
alkej-976	390	1	من	من	PROPN
alkej-976	390	2	قبل	قبل	PROPN
alkej-976	390	3	السائق	السائق	PROPN
alkej-976	390	4	.	.	PUNCT
alkej-976	391	1	ومع	ومع	PROPN
alkej-976	391	2	ذلك	ذلك	PROPN
alkej-976	391	3	،	،	PROPN
alkej-976	391	4	تعاني	تعاني	PROPN
alkej-976	391	5	أنظمة	أنظمة	PROPN
alkej-976	391	6	بالكامل	بالكامل	PROPN
alkej-976	391	7	على	على	NOUN
alkej-976	391	8	وحدة	وحدة	ADJ
alkej-976	391	9	التحكم	التحكم	NOUN
alkej-976	391	10	نموذج	نموذج	NOUN
alkej-976	391	11	يدمج	يدمج	PROPN
alkej-976	391	12	ة	ة	ADP
alkej-976	391	13	ابتكاًرا	ابتكاًرا	PROPN
alkej-976	391	14	لالتحكم	لالتحكم	NOUN
alkej-976	391	15	التقليدية	التقليدية	VERB
alkej-976	391	16	من	من	NUM
alkej-976	391	17	بطء	بطء	VERB
alkej-976	391	18	شديد	شديد	ADJ
alkej-976	391	19	في	في	SCONJ
alkej-976	391	20	االستجابة	االستجابة	PROPN
alkej-976	391	21	للتعليمات	للتعليمات	VERB
alkej-976	391	22	مصحوبة	مصحوبة	PROPN
alkej-976	391	23	ببعض	ببعض	NOUN
alkej-976	391	24	األخطاء	األخطاء	NOUN
alkej-976	391	25	الثابتة	الثابتة	VERB
alkej-976	391	26	في	في	ADP
alkej-976	391	27	مرحلة	مرحلة	PROPN
alkej-976	391	28	الحالة	الحالة	PROPN
alkej-976	391	29	المستقرة	المستقرة	PROPN
alkej-976	391	30	.	.	PUNCT
alkej-976	392	1	تقدم	تقدم	PROPN
alkej-976	392	2	الدراسة	الدراسة	PROPN
alkej-976	392	3	الحالي	الحالي	ADV
alkej-976	392	4	(	(	PUNCT
alkej-976	392	5	mpc)لتحسين	mpc)لتحسين	PROPN
alkej-976	392	6	أداء	أداء	NOUN
alkej-976	392	7	أنظمة	أنظمة	PROPN
alkej-976	392	8	التوجيه	التوجيه	PROPN
alkej-976	392	9	باألسالك	باألسالك	PROPN
alkej-976	392	10	.	.	PUNCT
alkej-976	393	1	يتم	يتم	PROPN
alkej-976	393	2	استخدام	استخدام	PROPN
alkej-976	393	3	إجراء	إجراء	PROPN
alkej-976	393	4	وحدة	وحدة	PROPN
alkej-976	393	5	التحكم	التحكم	VERB
alkej-976	393	6	التنبؤية	التنبؤية	NOUN
alkej-976	393	7	بالنموذج	بالنموذج	NOUN
alkej-976	393	8	(	(	PUNCT
alkej-976	393	9	pso)التحكم	pso)التحكم	PROPN
alkej-976	393	10	التنبئي	التنبئي	PROPN
alkej-976	393	11	بالنموذج	بالنموذج	PROPN
alkej-976	393	12	مع	مع	PROPN
alkej-976	393	13	تحسين	تحسين	PROPN
alkej-976	393	14	سرب	سرب	PROPN
alkej-976	393	15	الجسيمات	الجسيمات	VERB
alkej-976	393	16	استخدام	استخدام	PROPN
alkej-976	393	17	خوارزمية	خوارزمية	PROPN
alkej-976	393	18	عادةً	عادةً	PROPN
alkej-976	393	19	للتحكم	للتحكم	VERB
alkej-976	393	20	في	في	SCONJ
alkej-976	393	21	استجابات	استجابات	PROPN
alkej-976	393	22	النظام	النظام	PROPN
alkej-976	393	23	على	على	PROPN
alkej-976	393	24	مدى	مدى	PROPN
alkej-976	393	25	فترة	فترة	NOUN
alkej-976	393	26	زمنية	زمنية	NOUN
alkej-976	393	27	والقضاء	والقضاء	VERB
alkej-976	393	28	على	على	PROPN
alkej-976	393	29	اإلجراءات	اإلجراءات	PROPN
alkej-976	393	30	غير	غير	NOUN
alkej-976	393	31	الضرورية	الضرورية	VERB
alkej-976	393	32	وغير	وغير	ADV
alkej-976	393	33	الفعالة	الفعالة	PROPN
alkej-976	393	34	وفقًا	وفقًا	PROPN
alkej-976	393	35	لألهداف	لألهداف	NOUN
alkej-976	393	36	المحددة	المحددة	VERB
alkej-976	393	37	.	.	PUNCT
alkej-976	394	1	تم	تم	PROPN
alkej-976	394	2	pso	pso	PROPN
alkej-976	394	3	إلدارة	إلدارة	PROPN
alkej-976	394	4	المعلمات	المعلمات	VERB
alkej-976	394	5	غير	غير	AUX
alkej-976	394	6	الفعالة	الفعالة	VERB
alkej-976	394	7	داخلmpcوتعزيز	داخلmpcوتعزيز	VERB
alkej-976	394	8	استقرار	استقرار	PROPN
alkej-976	394	9	العربة	العربة	PROPN
alkej-976	394	10	،	،	PROPN
alkej-976	394	11	.	.	PUNCT
alkej-976	395	1	كشفت	كشفت	PROPN
alkej-976	395	2	النتائج	النتائج	PROPN
alkej-976	395	3	أن	أن	SCONJ
alkej-976	395	4	النهج	النهج	PROPN
alkej-976	395	5	المقترح	المقترح	NOUN
alkej-976	395	6	نجح	نجح	NOUN
alkej-976	395	7	بشكل	بشكل	NOUN
alkej-976	395	8	كبير	كبير	INTJ
alkej-976	396	1	وفعال	وفعال	INTJ
alkej-976	397	1	في	في	INTJ
alkej-976	397	2	تقصير	تقصير	PUNCT
alkej-976	397	3	وقت	وقت	PROPN
alkej-976	397	4	االستجابة	االستجابة	PROPN
alkej-976	397	5	،	،	PROPN
alkej-976	397	6	مع	مع	PROPN
alkej-976	398	1	األداء	األداء	PROPN
alkej-976	398	2	العام	العام	PROPN
alkej-976	398	3	للنظام	للنظام	PROPN
alkej-976	398	4	إلى	إلى	PROPN
alkej-976	398	5	تحسين	تحسين	PROPN
alkej-976	398	6	ضبط	ضبط	PROPN
alkej-976	398	7	وقت	وقت	PROPN
alkej-976	398	8	االستجابة	االستجابة	PROPN
alkej-976	398	9	،	،	PROPN
alkej-976	398	10	وبالتالي	وبالتالي	PROPN
alkej-976	398	11	زيادة	زيادة	PROPN
alkej-976	398	12	كفاءة	كفاءة	PROPN
alkej-976	398	13	psoوخفض	psoوخفض	PROPN
alkej-976	398	14	خطأ	خطأ	PROPN
alkej-976	398	15	االستقرار	االستقرار	NOUN
alkej-976	398	16	إلى	إلى	NOUN
alkej-976	398	17	الصفر	الصفر	PROPN
alkej-976	398	18	تقريبًا	تقريبًا	PROPN
alkej-976	398	19	.	.	PROPN
alkej-976	399	1	باإلضافة	باإلضافة	PROPN
alkej-976	399	2	إلى	إلى	PROPN
alkej-976	399	3	ذلك	ذلك	PROPN
alkej-976	399	4	،	،	PROPN
alkej-976	399	5	أدى	أدى	PROPN
alkej-976	399	6	دمج	دمج	PROPN
alkej-976	399	7	ذات	ذات	NOUN
alkej-976	399	8	األهداف	األهداف	NOUN
alkej-976	399	9	التشغيلية	التشغيلية	VERB
alkej-976	399	10	العالية	العالية	NOUN
alkej-976	399	11	.	.	PUNCT
alkej-976	400	1	sbwن	sbwن	PROPN
alkej-976	400	2	كفاءة	كفاءة	NOUN
alkej-976	400	3	أنظمة	أنظمة	PROPN
alkej-976	400	4	النظام	النظام	PROPN
alkej-976	400	5	واستجابته	واستجابته	PROPN
alkej-976	400	6	.	.	PUNCT
alkej-976	401	1	دعمت	دعمت	PROPN
alkej-976	401	2	نتائج	نتائج	PROPN
alkej-976	401	3	الدراسة	الدراسة	PROPN
alkej-976	401	4	االقتراح	االقتراح	PROPN
alkej-976	401	5	المستند	المستند	PROPN
alkej-976	401	6	على	على	NOUN
alkej-976	401	7	أن	أن	AUX
alkej-976	401	8	استراتيجية	استراتيجية	VERB
alkej-976	401	9	التحكم	التحكم	NOUN
alkej-976	401	10	يمكن	يمكن	PROPN
alkej-976	402	1	أن	أن	PRON
alkej-976	402	2	تحس	تحس	NOUN
alkej-976	402	3	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-976	402	4	improving	improve	VERB
alkej-976	402	5	the	the	DET
alkej-976	402	6	performance	performance	NOUN
alkej-976	402	7	of	of	ADP
alkej-976	402	8	steering	steering	NOUN
alkej-976	402	9	by	by	ADP
alkej-976	402	10	wire	wire	NOUN
alkej-976	402	11	using	use	VERB
alkej-976	402	12	a	a	DET
alkej-976	402	13	model	model	ADJ
alkej-976	402	14	predictive	predictive	ADJ
alkej-976	402	15	controller	controller	NOUN
alkej-976	402	16	enhanced	enhance	VERB
alkej-976	402	17	with	with	ADP
alkej-976	402	18	particle	particle	NOUN
alkej-976	402	19	swarm	swarm	NOUN
alkej-976	402	20	optimisation	optimisation	NOUN
alkej-976	402	21	taher	taher	PROPN
alkej-976	402	22	sachit	sachit	VERB
alkej-976	402	23	taher1	taher1	PROPN
alkej-976	402	24	,	,	PUNCT
alkej-976	402	25	ali	ali	PROPN
alkej-976	402	26	hussien	hussien	PROPN
alkej-976	402	27	mary2	mary2	PROPN
alkej-976	402	28	*	*	PROPN
alkej-976	402	29	,	,	PUNCT
alkej-976	402	30	furat	furat	PROPN
alkej-976	402	31	ibrahim	ibrahim	PROPN
alkej-976	402	32	hussein3	hussein3	PROPN
alkej-976	402	33	,	,	PUNCT
alkej-976	402	34	mohammed	mohammed	PROPN
alkej-976	402	35	ghufran	ghufran	PROPN
alkej-976	402	36	khidhir	khidhir	PROPN
alkej-976	402	37	abboosh4	abboosh4	PROPN
alkej-976	402	38	and	and	CCONJ
alkej-976	402	39	muhammad	muhammad	PROPN
alkej-976	402	40	umar	umar	PROPN
alkej-976	402	41	fareed5	fareed5	PROPN
alkej-976	402	42	1,2,3	1,2,3	NUM
alkej-976	402	43	department	department	NOUN
alkej-976	402	44	of	of	ADP
alkej-976	402	45	mechatronics	mechatronic	NOUN
alkej-976	402	46	engineering	engineering	PROPN
alkej-976	402	47	,	,	PUNCT
alkej-976	402	48	al	al	PROPN
alkej-976	402	49	-	-	PUNCT
alkej-976	402	50	khwarizmi	khwarizmi	PROPN
alkej-976	402	51	college	college	PROPN
alkej-976	402	52	of	of	ADP
alkej-976	402	53	engineering	engineering	PROPN
alkej-976	402	54	,	,	PUNCT
alkej-976	402	55	university	university	NOUN
alkej-976	402	56	of	of	ADP
alkej-976	402	57	baghdad	baghdad	PROPN
alkej-976	402	58	,	,	PUNCT
alkej-976	402	59	baghdad	baghdad	PROPN
alkej-976	402	60	,	,	PUNCT
alkej-976	402	61	iraq	iraq	PROPN
alkej-976	402	62	4	4	NUM
alkej-976	402	63	department	department	NOUN
alkej-976	402	64	of	of	ADP
alkej-976	402	65	data	datum	NOUN
alkej-976	402	66	science	science	NOUN
alkej-976	402	67	and	and	CCONJ
alkej-976	402	68	visualization	visualization	NOUN
alkej-976	402	69	,	,	PUNCT
alkej-976	402	70	university	university	NOUN
alkej-976	402	71	of	of	ADP
alkej-976	402	72	debrecen	debrecen	PROPN
alkej-976	402	73	,	,	PUNCT
alkej-976	402	74	hungary	hungary	PROPN
alkej-976	402	75	5	5	NUM
alkej-976	402	76	wakefield	wakefield	PROPN
alkej-976	402	77	college	college	PROPN
alkej-976	402	78	,	,	PUNCT
alkej-976	402	79	wakefield	wakefield	PROPN
alkej-976	402	80	,	,	PUNCT
alkej-976	402	81	england	england	PROPN
alkej-976	402	82	*	*	PUNCT
alkej-976	402	83	corresponding	correspond	VERB
alkej-976	402	84	author	author	NOUN
alkej-976	402	85	’s	’s	PART
alkej-976	402	86	email	email	NOUN
alkej-976	402	87	:	:	PUNCT
alkej-976	402	88	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-976	402	89	https://doi.org/10.22153/kej.2025.01.002	https://doi.org/10.22153/kej.2025.01.002	NOUN
alkej-976	402	90	abstract	abstract	NOUN
alkej-976	402	91	the	the	DET
alkej-976	402	92	challenges	challenge	NOUN
alkej-976	402	93	of	of	ADP
alkej-976	402	94	steering	steering	NOUN
alkej-976	402	95	-	-	PUNCT
alkej-976	402	96	by	by	ADP
alkej-976	402	97	-	-	PUNCT
alkej-976	402	98	wire	wire	NOUN
alkej-976	402	99	(	(	PUNCT
alkej-976	402	100	sbw	sbw	PROPN
alkej-976	402	101	)	)	PUNCT
alkej-976	402	102	systems	system	NOUN
alkej-976	402	103	in	in	ADP
alkej-976	402	104	vehicles	vehicle	NOUN
alkej-976	402	105	are	be	AUX
alkej-976	402	106	due	due	ADJ
alkej-976	402	107	to	to	ADP
alkej-976	402	108	the	the	DET
alkej-976	402	109	absence	absence	NOUN
alkej-976	402	110	of	of	ADP
alkej-976	402	111	a	a	DET
alkej-976	402	112	direct	direct	ADJ
alkej-976	402	113	mechanical	mechanical	ADJ
alkej-976	402	114	link	link	NOUN
alkej-976	402	115	between	between	ADP
alkej-976	402	116	the	the	DET
alkej-976	402	117	steering	steering	NOUN
alkej-976	402	118	wheel	wheel	NOUN
alkej-976	402	119	and	and	CCONJ
alkej-976	402	120	the	the	DET
alkej-976	402	121	wheels	wheel	NOUN
alkej-976	402	122	on	on	ADP
alkej-976	402	123	the	the	DET
alkej-976	402	124	road	road	NOUN
alkej-976	402	125	.	.	PUNCT
alkej-976	403	1	this	this	DET
alkej-976	403	2	limitation	limitation	NOUN
alkej-976	403	3	imposes	impose	VERB
alkej-976	403	4	the	the	DET
alkej-976	403	5	necessity	necessity	NOUN
alkej-976	403	6	of	of	ADP
alkej-976	403	7	employing	employ	VERB
alkej-976	403	8	sophisticated	sophisticated	ADJ
alkej-976	403	9	control	control	NOUN
alkej-976	403	10	systems	system	NOUN
alkej-976	403	11	to	to	PART
alkej-976	403	12	...	...	PUNCT
alkej-976	403	13	keywords	keyword	NOUN
alkej-976	403	14	:	:	PUNCT
alkej-976	403	15	steering	steer	VERB
alkej-976	403	16	by	by	ADP
alkej-976	403	17	wire	wire	NOUN
alkej-976	403	18	;	;	PUNCT
alkej-976	403	19	vehicle	vehicle	NOUN
alkej-976	403	20	;	;	PUNCT
alkej-976	403	21	model	model	NOUN
alkej-976	403	22	predictive	predictive	ADJ
alkej-976	403	23	controller	controller	NOUN
alkej-976	403	24	;	;	PUNCT
alkej-976	403	25	particle	particle	NOUN
alkej-976	403	26	swarm	swarm	NOUN
alkej-976	403	27	optimisation	optimisation	NOUN
alkej-976	403	28	;	;	PUNCT
alkej-976	403	29	controller	controller	NOUN
alkej-976	403	30	.	.	PUNCT
alkej-976	404	1	1	1	NUM
alkej-976	404	2	.	.	X
alkej-976	404	3	introduction	introduction	NOUN
alkej-976	404	4	steering	steering	NOUN
alkej-976	404	5	-	-	PUNCT
alkej-976	404	6	by	by	ADP
alkej-976	404	7	-	-	PUNCT
alkej-976	404	8	wire	wire	NOUN
alkej-976	404	9	(	(	PUNCT
alkej-976	404	10	sbw	sbw	PROPN
alkej-976	404	11	)	)	PUNCT
alkej-976	404	12	systems	system	NOUN
alkej-976	404	13	are	be	AUX
alkej-976	404	14	a	a	DET
alkej-976	404	15	promising	promising	ADJ
alkej-976	404	16	steering	steering	NOUN
alkej-976	404	17	system	system	NOUN
alkej-976	404	18	technology	technology	NOUN
alkej-976	404	19	in	in	ADP
alkej-976	404	20	the	the	DET
alkej-976	404	21	field	field	NOUN
alkej-976	404	22	of	of	ADP
alkej-976	404	23	automotive	automotive	ADJ
alkej-976	404	24	and	and	CCONJ
alkej-976	404	25	transportation	transportation	NOUN
alkej-976	404	26	industry	industry	NOUN
alkej-976	404	27	.	.	PUNCT
alkej-976	405	1	such	such	ADJ
alkej-976	405	2	systems	system	NOUN
alkej-976	405	3	found	find	VERB
alkej-976	405	4	their	their	PRON
alkej-976	405	5	way	way	NOUN
alkej-976	405	6	largely	largely	ADV
alkej-976	405	7	into	into	ADP
alkej-976	405	8	automatic	automatic	ADJ
alkej-976	405	9	guided	guide	VERB
alkej-976	405	10	vehicle	vehicle	NOUN
alkej-976	405	11	(	(	PUNCT
alkej-976	405	12	agv	agv	NOUN
alkej-976	405	13	)	)	PUNCT
alkej-976	405	14	systems	system	NOUN
alkej-976	405	15	,	,	PUNCT
alkej-976	405	16	fork	fork	NOUN
alkej-976	405	17	lifters	lifter	NOUN
alkej-976	405	18	and	and	CCONJ
alkej-976	405	19	many	many	ADJ
alkej-976	405	20	material	material	NOUN
alkej-976	405	21	handling	handling	NOUN
alkej-976	405	22	...	...	PUNCT
alkej-976	406	1	early	early	ADJ
alkej-976	406	2	sbw	sbw	PROPN
alkej-976	406	3	systems	system	NOUN
alkej-976	406	4	used	use	VERB
alkej-976	406	5	classic	classic	ADJ
alkej-976	406	6	proportional	proportional	ADJ
alkej-976	406	7	integral	integral	ADJ
alkej-976	406	8	derivative	derivative	ADJ
alkej-976	406	9	(	(	PUNCT
alkej-976	406	10	pid	pid	NOUN
alkej-976	406	11	)	)	PUNCT
alkej-976	406	12	controllers	controller	NOUN
alkej-976	406	13	,	,	PUNCT
alkej-976	406	14	which	which	PRON
alkej-976	406	15	provide	provide	VERB
alkej-976	406	16	acceptable	acceptable	ADJ
alkej-976	406	17	performance	performance	NOUN
alkej-976	406	18	for	for	ADP
alkej-976	406	19	numerous	numerous	ADJ
alkej-976	406	20	linear	linear	ADJ
alkej-976	406	21	systems	system	NOUN
alkej-976	406	22	.	.	PUNCT
alkej-976	407	1	when	when	SCONJ
alkej-976	407	2	they	they	PRON
alkej-976	407	3	are	be	AUX
alkej-976	407	4	integrated	integrate	VERB
alkej-976	407	5	with	with	ADP
alkej-976	407	6	nonlinearities	nonlinearitie	NOUN
alkej-976	407	7	and	and	CCONJ
alkej-976	407	8	time	time	NOUN
alkej-976	407	9	delays	delay	NOUN
alkej-976	407	10	or	or	CCONJ
alkej-976	407	11	applied	apply	VERB
alkej-976	407	12	in	in	ADP
alkej-976	407	13	changing	change	VERB
alkej-976	407	14	operating	operate	VERB
alkej-976	407	15	conditio	conditio	NOUN
alkej-976	407	16	...	...	PUNCT
alkej-976	408	1	fuzzy	fuzzy	ADJ
alkej-976	408	2	logic	logic	NOUN
alkej-976	408	3	controllers	controller	NOUN
alkej-976	408	4	are	be	AUX
alkej-976	408	5	more	more	ADV
alkej-976	408	6	suitable	suitable	ADJ
alkej-976	408	7	for	for	ADP
alkej-976	408	8	complex	complex	ADJ
alkej-976	408	9	and	and	CCONJ
alkej-976	408	10	nonlinear	nonlinear	ADJ
alkej-976	408	11	systems	system	NOUN
alkej-976	408	12	because	because	SCONJ
alkej-976	408	13	of	of	ADP
alkej-976	408	14	their	their	PRON
alkej-976	408	15	ability	ability	NOUN
alkej-976	408	16	to	to	PART
alkej-976	408	17	tolerate	tolerate	VERB
alkej-976	408	18	instability	instability	NOUN
alkej-976	408	19	and	and	CCONJ
alkej-976	408	20	loss	loss	NOUN
alkej-976	408	21	choices	choice	NOUN
alkej-976	408	22	.	.	PUNCT
alkej-976	409	1	mitra	mitra	PROPN
alkej-976	409	2	and	and	CCONJ
alkej-976	409	3	kumar	kumar	PROPN
alkej-976	410	1	[	[	X
alkej-976	410	2	4	4	NUM
alkej-976	410	3	]	]	PUNCT
alkej-976	410	4	improved	improve	VERB
alkej-976	410	5	the	the	DET
alkej-976	410	6	flexibility	flexibility	NOUN
alkej-976	410	7	and	and	CCONJ
alkej-976	410	8	robustness	robustness	NOUN
alkej-976	410	9	of	of	ADP
alkej-976	410	10	fuzzy	fuzzy	ADJ
alkej-976	410	11	logic	logic	NOUN
alkej-976	410	12	controllers	controller	NOUN
alkej-976	410	13	in	in	ADP
alkej-976	410	14	sbw	sbw	PROPN
alkej-976	410	15	systems	systems	PROPN
alkej-976	410	16	,	,	PUNCT
alkej-976	410	17	espec	espec	PROPN
alkej-976	410	18	...	...	PUNCT
alkej-976	410	19	flexible	flexible	ADJ
alkej-976	410	20	control	control	NOUN
alkej-976	410	21	strategies	strategy	NOUN
alkej-976	410	22	are	be	AUX
alkej-976	410	23	created	create	VERB
alkej-976	410	24	as	as	ADP
alkej-976	410	25	a	a	DET
alkej-976	410	26	response	response	NOUN
alkej-976	410	27	to	to	ADP
alkej-976	410	28	the	the	DET
alkej-976	410	29	shortcomings	shortcoming	NOUN
alkej-976	410	30	of	of	ADP
alkej-976	410	31	traditional	traditional	ADJ
alkej-976	410	32	control	control	NOUN
alkej-976	410	33	procedures	procedure	NOUN
alkej-976	410	34	.	.	PUNCT
alkej-976	411	1	adaptive	adaptive	ADJ
alkej-976	411	2	control	control	NOUN
alkej-976	411	3	frameworks	framework	NOUN
alkej-976	411	4	robustly	robustly	ADV
alkej-976	411	5	change	change	VERB
alkej-976	411	6	their	their	PRON
alkej-976	411	7	parameters	parameter	NOUN
alkej-976	411	8	to	to	PART
alkej-976	411	9	adapt	adapt	VERB
alkej-976	411	10	to	to	ADP
alkej-976	411	11	modifications	modification	NOUN
alkej-976	411	12	in	in	ADP
alkej-976	411	13	dynamic	dynamic	ADJ
alkej-976	411	14	systems	system	NOUN
alkej-976	411	15	[	[	X
alkej-976	411	16	6	6	NUM
alkej-976	411	17	]	]	PUNCT
alkej-976	411	18	.	.	PUNCT
alkej-976	412	1	the	the	DET
alkej-976	412	2	use	use	NOUN
alkej-976	412	3	of	of	ADP
alkej-976	412	4	adaptive	adaptive	ADJ
alkej-976	412	5	control	control	NOUN
alkej-976	412	6	in	in	ADP
alkej-976	412	7	...	...	PUNCT
alkej-976	412	8	the	the	DET
alkej-976	412	9	most	most	ADV
alkej-976	412	10	prominent	prominent	ADJ
alkej-976	412	11	advanced	advanced	ADJ
alkej-976	412	12	control	control	NOUN
alkej-976	412	13	technology	technology	NOUN
alkej-976	412	14	used	use	VERB
alkej-976	412	15	to	to	PART
alkej-976	412	16	improve	improve	VERB
alkej-976	412	17	the	the	DET
alkej-976	412	18	performance	performance	NOUN
alkej-976	412	19	of	of	ADP
alkej-976	412	20	transmission	transmission	NOUN
alkej-976	412	21	lines	line	NOUN
alkej-976	412	22	is	be	AUX
alkej-976	412	23	model	model	ADJ
alkej-976	412	24	predictive	predictive	ADJ
alkej-976	412	25	control	control	NOUN
alkej-976	412	26	(	(	PUNCT
alkej-976	412	27	mpc	mpc	NOUN
alkej-976	412	28	)	)	PUNCT
alkej-976	412	29	.	.	PUNCT
alkej-976	413	1	it	it	PRON
alkej-976	413	2	represents	represent	VERB
alkej-976	413	3	a	a	DET
alkej-976	413	4	control	control	NOUN
alkej-976	413	5	strategy	strategy	NOUN
alkej-976	413	6	that	that	PRON
alkej-976	413	7	can	can	AUX
alkej-976	413	8	deal	deal	VERB
alkej-976	413	9	with	with	ADP
alkej-976	413	10	a	a	DET
alkej-976	413	11	wide	wide	ADJ
alkej-976	413	12	range	range	NOUN
alkej-976	413	13	of	of	ADP
alkej-976	413	14	constraints	constraint	NOUN
alkej-976	413	15	and	and	CCONJ
alkej-976	413	16	achieve	achieve	VERB
alkej-976	413	17	the	the	DET
alkej-976	413	18	optimal	optimal	ADJ
alkej-976	413	19	performance	performance	NOUN
alkej-976	413	20	...	...	PUNCT
alkej-976	413	21	ates	ates	PROPN
alkej-976	413	22	et	et	PROPN
alkej-976	413	23	al	al	PROPN
alkej-976	413	24	.	.	PUNCT
alkej-976	414	1	[	[	X
alkej-976	414	2	15	15	NUM
alkej-976	414	3	]	]	PUNCT
alkej-976	414	4	tested	test	VERB
alkej-976	414	5	the	the	DET
alkej-976	414	6	usage	usage	NOUN
alkej-976	414	7	of	of	ADP
alkej-976	414	8	mpc	mpc	NOUN
alkej-976	414	9	in	in	ADP
alkej-976	414	10	thermal	thermal	ADJ
alkej-976	414	11	control	control	NOUN
alkej-976	414	12	structures	structure	NOUN
alkej-976	414	13	,	,	PUNCT
alkej-976	414	14	which	which	PRON
alkej-976	414	15	showed	show	VERB
alkej-976	414	16	high	high	ADJ
alkej-976	414	17	adaptability	adaptability	NOUN
alkej-976	414	18	to	to	ADP
alkej-976	414	19	surprising	surprising	ADJ
alkej-976	414	20	environmental	environmental	ADJ
alkej-976	414	21	adjustments	adjustment	NOUN
alkej-976	414	22	,	,	PUNCT
alkej-976	414	23	improving	improve	VERB
alkej-976	414	24	gadget	gadget	NOUN
alkej-976	414	25	stability	stability	NOUN
alkej-976	414	26	and	and	CCONJ
alkej-976	414	27	reducing	reduce	VERB
alkej-976	414	28	energy	energy	NOUN
alkej-976	414	29	intake	intake	NOUN
alkej-976	414	30	.	.	PUNCT
alkej-976	415	1	similarly	similarly	ADV
alkej-976	415	2	,	,	PUNCT
alkej-976	415	3	ye	ye	PRON
alkej-976	415	4	et	et	NOUN
alkej-976	415	5	al	al	PROPN
alkej-976	415	6	.	.	PUNCT
alkej-976	416	1	[	[	X
alkej-976	416	2	16	16	NUM
alkej-976	416	3	]	]	PUNCT
alkej-976	416	4	showed	show	VERB
alkej-976	416	5	that	that	SCONJ
alkej-976	416	6	mpc	mpc	PROPN
alkej-976	416	7	can	can	AUX
alkej-976	416	8	enhanc	enhanc	VERB
alkej-976	416	9	...	...	PUNCT
alkej-976	416	10	particle	particle	NOUN
alkej-976	416	11	swarm	swarm	NOUN
alkej-976	416	12	optimisation	optimisation	NOUN
alkej-976	416	13	(	(	PUNCT
alkej-976	416	14	pso	pso	NOUN
alkej-976	416	15	)	)	PUNCT
alkej-976	416	16	is	be	AUX
alkej-976	416	17	a	a	DET
alkej-976	416	18	popular	popular	ADJ
alkej-976	416	19	algorithm	algorithm	NOUN
alkej-976	416	20	specifically	specifically	ADV
alkej-976	416	21	designed	design	VERB
alkej-976	416	22	for	for	ADP
alkej-976	416	23	the	the	DET
alkej-976	416	24	social	social	ADJ
alkej-976	416	25	behaviour	behaviour	NOUN
alkej-976	416	26	of	of	ADP
alkej-976	416	27	birds	bird	NOUN
alkej-976	416	28	and	and	CCONJ
alkej-976	416	29	fish	fish	NOUN
alkej-976	416	30	.	.	PUNCT
alkej-976	417	1	it	it	PRON
alkej-976	417	2	enhances	enhance	VERB
alkej-976	417	3	problem	problem	NOUN
alkej-976	417	4	solving	solve	VERB
alkej-976	417	5	by	by	ADP
alkej-976	417	6	allowing	allow	VERB
alkej-976	417	7	proposed	propose	VERB
alkej-976	417	8	solutions	solution	NOUN
alkej-976	417	9	,	,	PUNCT
alkej-976	417	10	known	know	VERB
alkej-976	417	11	as	as	ADP
alkej-976	417	12	particles	particle	NOUN
alkej-976	417	13	,	,	PUNCT
alkej-976	417	14	to	to	PART
alkej-976	417	15	move	move	VERB
alkej-976	417	16	in	in	ADP
alkej-976	417	17	the	the	DET
alkej-976	417	18	search	search	NOUN
alkej-976	417	19	space	space	NOUN
alkej-976	417	20	in	in	ADP
alkej-976	417	21	line	line	NOUN
alkej-976	417	22	with	with	ADP
alkej-976	417	23	simple	simple	ADJ
alkej-976	417	24	...	...	PUNCT
alkej-976	417	25	kumar	kumar	PROPN
alkej-976	417	26	and	and	CCONJ
alkej-976	417	27	sharma	sharma	PROPN
alkej-976	418	1	[	[	X
alkej-976	418	2	20	20	NUM
alkej-976	418	3	]	]	PUNCT
alkej-976	418	4	tried	try	VERB
alkej-976	418	5	optimising	optimise	VERB
alkej-976	418	6	the	the	DET
alkej-976	418	7	mpc	mpc	NOUN
alkej-976	418	8	parameters	parameter	NOUN
alkej-976	418	9	using	use	VERB
alkej-976	418	10	pso	pso	NOUN
alkej-976	418	11	,	,	PUNCT
alkej-976	418	12	thereby	thereby	ADV
alkej-976	418	13	improving	improve	VERB
alkej-976	418	14	overall	overall	ADJ
alkej-976	418	15	implementation	implementation	NOUN
alkej-976	418	16	at	at	ADP
alkej-976	418	17	scale	scale	NOUN
alkej-976	418	18	and	and	CCONJ
alkej-976	418	19	reaching	reach	VERB
alkej-976	418	20	faster	fast	ADJ
alkej-976	418	21	response	response	NOUN
alkej-976	418	22	states	state	NOUN
alkej-976	418	23	and	and	CCONJ
alkej-976	418	24	better	well	ADJ
alkej-976	418	25	tuning	tune	VERB
alkej-976	418	26	in	in	ADP
alkej-976	418	27	active	active	ADJ
alkej-976	418	28	situations	situation	NOUN
alkej-976	418	29	.	.	PUNCT
alkej-976	419	1	based	base	VERB
alkej-976	419	2	on	on	ADP
alkej-976	419	3	these	these	DET
alkej-976	419	4	effects	effect	NOUN
alkej-976	419	5	,	,	PUNCT
alkej-976	419	6	this	this	DET
alkej-976	419	7	consideration	consideration	NOUN
alkej-976	419	8	suggests	suggest	VERB
alkej-976	419	9	comb	comb	NOUN
alkej-976	419	10	...	...	PUNCT
alkej-976	420	1	the	the	DET
alkej-976	420	2	effectiveness	effectiveness	NOUN
alkej-976	420	3	of	of	ADP
alkej-976	420	4	mixing	mix	VERB
alkej-976	420	5	mpc	mpc	NOUN
alkej-976	420	6	and	and	CCONJ
alkej-976	420	7	pso	pso	NOUN
alkej-976	420	8	has	have	AUX
alkej-976	420	9	been	be	AUX
alkej-976	420	10	explored	explore	VERB
alkej-976	420	11	in	in	ADP
alkej-976	420	12	many	many	ADJ
alkej-976	420	13	research	research	NOUN
alkej-976	420	14	.	.	PUNCT
alkej-976	421	1	huang	huang	PROPN
alkej-976	421	2	et	et	PROPN
alkej-976	421	3	al	al	PROPN
alkej-976	421	4	.	.	PUNCT
alkej-976	422	1	[	[	X
alkej-976	422	2	22	22	NUM
alkej-976	422	3	]	]	PUNCT
alkej-976	422	4	conducted	conduct	VERB
alkej-976	422	5	a	a	DET
alkej-976	422	6	comparative	comparative	ADJ
alkej-976	422	7	assessment	assessment	NOUN
alkej-976	422	8	of	of	ADP
alkej-976	422	9	assembled	assemble	VERB
alkej-976	422	10	optimisation	optimisation	NOUN
alkej-976	422	11	calculations	calculation	NOUN
alkej-976	422	12	comprising	comprise	VERB
alkej-976	422	13	pso	pso	NOUN
alkej-976	422	14	in	in	ADP
alkej-976	422	15	tuning	tune	VERB
alkej-976	422	16	mpc	mpc	NOUN
alkej-976	422	17	parameters	parameter	NOUN
alkej-976	422	18	for	for	ADP
alkej-976	422	19	chemical	chemical	NOUN
alkej-976	422	20	system	system	NOUN
alkej-976	422	21	organisation	organisation	NOUN
alkej-976	422	22	,	,	PUNCT
alkej-976	422	23	thus	thus	ADV
alkej-976	422	24	dete	dete	ADJ
alkej-976	422	25	...	...	PUNCT
alkej-976	422	26	the	the	DET
alkej-976	422	27	present	present	ADJ
alkej-976	422	28	study	study	NOUN
alkej-976	422	29	aims	aim	VERB
alkej-976	422	30	to	to	PART
alkej-976	422	31	develop	develop	VERB
alkej-976	422	32	and	and	CCONJ
alkej-976	422	33	evaluate	evaluate	VERB
alkej-976	422	34	a	a	DET
alkej-976	422	35	mathematical	mathematical	ADJ
alkej-976	422	36	model	model	NOUN
alkej-976	422	37	concentrating	concentrate	VERB
alkej-976	422	38	on	on	ADP
alkej-976	422	39	applying	apply	VERB
alkej-976	422	40	mpc	mpc	NOUN
alkej-976	422	41	-	-	NOUN
alkej-976	422	42	pso	pso	NOUN
alkej-976	422	43	in	in	ADP
alkej-976	422	44	sbw	sbw	PROPN
alkej-976	422	45	systems	system	NOUN
alkej-976	422	46	.	.	PUNCT
alkej-976	423	1	the	the	DET
alkej-976	423	2	objective	objective	NOUN
alkej-976	423	3	is	be	AUX
alkej-976	423	4	to	to	PART
alkej-976	423	5	expect	expect	VERB
alkej-976	423	6	and	and	CCONJ
alkej-976	423	7	control	control	NOUN
alkej-976	423	8	system	system	NOUN
alkej-976	423	9	conduct	conduct	NOUN
alkej-976	423	10	,	,	PUNCT
alkej-976	423	11	using	use	VERB
alkej-976	423	12	pso	pso	NOUN
alkej-976	423	13	to	to	PART
alkej-976	423	14	optimise	optimise	VERB
alkej-976	423	15	mpc	mpc	NOUN
alkej-976	423	16	management	management	NOUN
alkej-976	423	17	parameters	parameter	NOUN
alkej-976	423	18	and	and	CCONJ
alkej-976	423	19	comparing	compare	VERB
alkej-976	423	20	the	the	DET
alkej-976	423	21	performance	performance	NOUN
alkej-976	423	22	...	...	PUNCT
alkej-976	424	1	2	2	X
alkej-976	424	2	.	.	X
alkej-976	424	3	modelling	modelling	NOUN
alkej-976	424	4	of	of	ADP
alkej-976	424	5	sbw	sbw	PROPN
alkej-976	424	6	systems	system	NOUN
alkej-976	424	7	the	the	DET
alkej-976	424	8	hardware	hardware	NOUN
alkej-976	424	9	of	of	ADP
alkej-976	424	10	sbw	sbw	PROPN
alkej-976	424	11	systems	system	NOUN
alkej-976	424	12	has	have	VERB
alkej-976	424	13	three	three	NUM
alkej-976	424	14	fundamental	fundamental	ADJ
alkej-976	424	15	subsystems	subsystem	NOUN
alkej-976	424	16	,	,	PUNCT
alkej-976	424	17	each	each	PRON
alkej-976	424	18	containing	contain	VERB
alkej-976	424	19	many	many	ADJ
alkej-976	424	20	sensors	sensor	NOUN
alkej-976	424	21	or	or	CCONJ
alkej-976	424	22	actuators	actuator	NOUN
alkej-976	424	23	,	,	PUNCT
alkej-976	424	24	as	as	SCONJ
alkej-976	424	25	shown	show	VERB
alkej-976	424	26	in	in	ADP
alkej-976	424	27	figure	figure	NOUN
alkej-976	424	28	1	1	NUM
alkej-976	424	29	.	.	PUNCT
alkej-976	425	1	the	the	DET
alkej-976	425	2	assembly	assembly	NOUN
alkej-976	425	3	of	of	ADP
alkej-976	425	4	the	the	DET
alkej-976	425	5	steering	steering	NOUN
alkej-976	425	6	wheel	wheel	NOUN
alkej-976	425	7	,	,	PUNCT
alkej-976	425	8	the	the	DET
alkej-976	425	9	front	front	ADJ
alkej-976	425	10	wheel	wheel	NOUN
alkej-976	425	11	subsystem	subsystem	NOUN
alkej-976	425	12	and	and	CCONJ
alkej-976	425	13	some	some	DET
alkej-976	425	14	additional	additional	ADJ
alkej-976	425	15	mechanical	mechanical	ADJ
alkej-976	425	16	hardware	hardware	NOUN
alkej-976	425	17	.	.	PUNCT
alkej-976	426	1	the	the	DET
alkej-976	426	2	guidance	guidance	NOUN
alkej-976	426	3	wheel	wheel	NOUN
alkej-976	426	4	in	in	ADP
alkej-976	426	5	...	...	PUNCT
alkej-976	426	6	fig	fig	NOUN
alkej-976	426	7	.	.	PUNCT
alkej-976	427	1	1	1	X
alkej-976	427	2	.	.	X
alkej-976	427	3	steering	steering	NOUN
alkej-976	427	4	-	-	PUNCT
alkej-976	427	5	by	by	ADP
alkej-976	427	6	-	-	PUNCT
alkej-976	427	7	wire	wire	NOUN
alkej-976	427	8	system	system	NOUN
alkej-976	427	9	[	[	X
alkej-976	427	10	2	2	X
alkej-976	427	11	]	]	PUNCT
alkej-976	427	12	2.1	2.1	NUM
alkej-976	427	13	modelling	modelling	NOUN
alkej-976	427	14	of	of	ADP
alkej-976	427	15	the	the	DET
alkej-976	427	16	steering	steering	NOUN
alkej-976	427	17	wheel	wheel	NOUN
alkej-976	427	18	,	,	PUNCT
alkej-976	427	19	ӫ-𝑠.=	ӫ-𝑠.=	NOUN
alkej-976	427	20	1/,𝐽-𝑠.(,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟.−,𝑇-𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.−,𝑏-𝑠𝑐.∗,,ө.-𝑠.−,𝑘-𝑠.∗,ө-𝑠.+,𝑏-𝑠𝑐.∗,,ө.-,𝑚1	1/,𝐽-𝑠.(,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟.−,𝑇-𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.−,𝑏-𝑠𝑐.∗,,ө.-𝑠.−,𝑘-𝑠.∗,ө-𝑠.+,𝑏-𝑠𝑐.∗,,ө.-,𝑚1	NUM
alkej-976	427	21	..	..	PUNCT
alkej-976	427	22	+,𝑘-𝑠.∗,ө-,𝑚1	+,𝑘-𝑠.∗,ө-,𝑚1	PROPN
alkej-976	427	23	..	..	PUNCT
alkej-976	427	24	)	)	PUNCT
alkej-976	427	25	,	,	PUNCT
alkej-976	427	26	…	…	PUNCT
alkej-976	427	27	(	(	PUNCT
alkej-976	427	28	1	1	NUM
alkej-976	427	29	)	)	PUNCT
alkej-976	427	30	,	,	PUNCT
alkej-976	427	31	ӫ-𝑠.=	ӫ-𝑠.=	NOUN
alkej-976	427	32	1/,𝐽-𝑠.(,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟.−,𝑇-𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.−,𝑏-𝑠𝑐.∗,,ө.-𝑠.−,𝑘-𝑠.∗,ө-𝑠.+,𝑏-𝑠𝑐.∗,,ө.-,𝑚1	1/,𝐽-𝑠.(,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟.−,𝑇-𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.−,𝑏-𝑠𝑐.∗,,ө.-𝑠.−,𝑘-𝑠.∗,ө-𝑠.+,𝑏-𝑠𝑐.∗,,ө.-,𝑚1	NUM
alkej-976	427	33	..	..	PUNCT
alkej-976	427	34	+,𝑘-𝑠.∗,ө-,𝑚1	+,𝑘-𝑠.∗,ө-,𝑚1	X
alkej-976	427	35	..	..	PUNCT
alkej-976	427	36	)	)	PUNCT
alkej-976	427	37	,	,	PUNCT
alkej-976	427	38	…	…	PUNCT
alkej-976	427	39	(	(	PUNCT
alkej-976	427	40	2	2	NUM
alkej-976	427	41	)	)	PUNCT
alkej-976	427	42	,	,	PUNCT
alkej-976	427	43	𝑑,𝑖-1.-,𝑑𝑡	𝑑,𝑖-1.-,𝑑𝑡	VERB
alkej-976	427	44	..	..	SYM
alkej-976	427	45	=1/,𝐿-1.(−,𝑅-1.∗,𝑖-1.−,𝐾-𝑏1.∗,,ө.-𝑚1.+,𝑉-𝑠1	=1/,𝐿-1.(−,𝑅-1.∗,𝑖-1.−,𝐾-𝑏1.∗,,ө.-𝑚1.+,𝑉-𝑠1	NUM
alkej-976	427	46	.	.	PUNCT
alkej-976	427	47	)	)	PUNCT
alkej-976	427	48	,	,	PUNCT
alkej-976	427	49	…	…	PUNCT
alkej-976	427	50	(	(	PUNCT
alkej-976	427	51	3	3	X
alkej-976	427	52	)	)	PUNCT
alkej-976	427	53	fig	fig	NOUN
alkej-976	427	54	.	.	PUNCT
alkej-976	428	1	2	2	X
alkej-976	428	2	.	.	X
alkej-976	428	3	steering	steering	NOUN
alkej-976	428	4	wheel	wheel	NOUN
alkej-976	428	5	subsystem	subsystem	NOUN
alkej-976	428	6	diagram	diagram	NOUN
alkej-976	428	7	[	[	X
alkej-976	428	8	25	25	NUM
alkej-976	428	9	]	]	PUNCT
alkej-976	428	10	torque	torque	NOUN
alkej-976	428	11	of	of	ADP
alkej-976	428	12	steering	steering	NOUN
alkej-976	428	13	motor	motor	NOUN
alkej-976	428	14	[	[	X
alkej-976	428	15	26	26	NUM
alkej-976	428	16	]	]	PUNCT
alkej-976	428	17	,	,	PUNCT
alkej-976	428	18	𝑇-,𝑚1	𝑇-,𝑚1	PROPN
alkej-976	428	19	..	..	PUNCT
alkej-976	428	20	=,𝐾-𝑡.∗,𝑖-1	=,𝐾-𝑡.∗,𝑖-1	X
alkej-976	428	21	..	..	PUNCT
alkej-976	428	22	…	…	PUNCT
alkej-976	428	23	(	(	PUNCT
alkej-976	428	24	4	4	X
alkej-976	428	25	)	)	PUNCT
alkej-976	428	26	accordingly	accordingly	ADV
alkej-976	428	27	,	,	PUNCT
alkej-976	428	28	the	the	DET
alkej-976	428	29	state	state	NOUN
alkej-976	428	30	space	space	NOUN
alkej-976	428	31	representation	representation	NOUN
alkej-976	428	32	of	of	ADP
alkej-976	428	33	the	the	DET
alkej-976	428	34	steering	steering	NOUN
alkej-976	428	35	wheel	wheel	NOUN
alkej-976	428	36	system	system	NOUN
alkej-976	428	37	can	can	AUX
alkej-976	428	38	be	be	AUX
alkej-976	428	39	expressed	express	VERB
alkej-976	428	40	as	as	SCONJ
alkej-976	428	41	follows	follow	VERB
alkej-976	428	42	:	:	PUNCT
alkej-976	428	43	,	,	PUNCT
alkej-976	428	44	𝑋.,𝑡.=,𝐴-,𝑠	𝑋.,𝑡.=,𝐴-,𝑠	PROPN
alkej-976	428	45	..	..	PUNCT
alkej-976	428	46	𝑋,𝑡.+,𝐵-,𝑠	𝑋,𝑡.+,𝐵-,𝑠	NOUN
alkej-976	428	47	..	..	PUNCT
alkej-976	428	48	𝑈,𝑡.	𝑈,𝑡.	PROPN
alkej-976	428	49	,	,	PUNCT
alkej-976	428	50	…	…	PUNCT
alkej-976	428	51	(	(	PUNCT
alkej-976	428	52	5	5	X
alkej-976	428	53	)	)	PUNCT
alkej-976	428	54	output	output	NOUN
alkej-976	428	55	𝑦,𝑡.=,𝐶-,𝑠	𝑦,𝑡.=,𝐶-,𝑠	PROPN
alkej-976	428	56	..	..	PUNCT
alkej-976	428	57	𝑋,𝑡.+,𝐷-,𝑠	𝑋,𝑡.+,𝐷-,𝑠	PROPN
alkej-976	428	58	..	..	PUNCT
alkej-976	428	59	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	428	60	)	)	PUNCT
alkej-976	428	61	,	,	PUNCT
alkej-976	428	62	…	…	PUNCT
alkej-976	428	63	(	(	PUNCT
alkej-976	428	64	6	6	X
alkej-976	428	65	)	)	PUNCT
alkej-976	428	66	state	state	NOUN
alkej-976	428	67	𝑋,𝑡.=,,,,ө-𝑠.	𝑋,𝑡.=,,,,ө-𝑠.	NOUN
alkej-976	428	68	,	,	PUNCT
alkej-976	428	69	,	,	PUNCT
alkej-976	428	70	ө.-𝑠.	ө.-𝑠.	PROPN
alkej-976	428	71	,	,	PUNCT
alkej-976	428	72	ө-𝑚1	ө-𝑚1	PROPN
alkej-976	428	73	.	.	PROPN
alkej-976	428	74	,	,	PUNCT
alkej-976	428	75	,	,	PUNCT
alkej-976	428	76	ө.-𝑚1	ө.-𝑚1	PROPN
alkej-976	428	77	.	.	PUNCT
alkej-976	428	78	,	,	PUNCT
alkej-976	428	79	𝑖-1	𝑖-1	PROPN
alkej-976	428	80	.	.	PUNCT
alkej-976	429	1	..	..	PUNCT
alkej-976	429	2	-𝑇	-𝑇	NOUN
alkej-976	429	3	..	..	PUNCT
alkej-976	429	4	…	…	PUNCT
alkej-976	429	5	(	(	PUNCT
alkej-976	429	6	7	7	X
alkej-976	429	7	)	)	PUNCT
alkej-976	429	8	the	the	DET
alkej-976	429	9	inputs	input	NOUN
alkej-976	429	10	include	include	VERB
alkej-976	429	11	the	the	DET
alkej-976	429	12	driver	driver	NOUN
alkej-976	429	13	torque	torque	NOUN
alkej-976	429	14	(	(	PUNCT
alkej-976	429	15	,	,	PUNCT
alkej-976	429	16	𝑇-,𝑑𝑟𝑖𝑣𝑒𝑟	𝑇-,𝑑𝑟𝑖𝑣𝑒𝑟	PROPN
alkej-976	429	17	..	..	PUNCT
alkej-976	429	18	)	)	PUNCT
alkej-976	429	19	,	,	PUNCT
alkej-976	429	20	friction	friction	NOUN
alkej-976	429	21	torque	torque	NOUN
alkej-976	429	22	(	(	PUNCT
alkej-976	429	23	,	,	PUNCT
alkej-976	429	24	𝑇-,𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇-,𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	429	25	..	..	PUNCT
alkej-976	429	26	)	)	PUNCT
alkej-976	429	27	and	and	CCONJ
alkej-976	429	28	motor	motor	NOUN
alkej-976	429	29	voltage	voltage	NOUN
alkej-976	429	30	(	(	PUNCT
alkej-976	429	31	,	,	PUNCT
alkej-976	429	32	𝑉-,𝑠1	𝑉-,𝑠1	PROPN
alkej-976	429	33	..	..	PUNCT
alkej-976	429	34	):	):	PUNCT
alkej-976	429	35	𝑈,𝑡.=,[,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟	𝑈,𝑡.=,[,𝑇-𝑑𝑟𝑖𝑣𝑒𝑟	PROPN
alkej-976	429	36	.	.	PUNCT
alkej-976	429	37	,	,	PUNCT
alkej-976	429	38	𝑇-,𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	𝑇-,𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛	PROPN
alkej-976	429	39	..	..	PUNCT
alkej-976	429	40	,	,	PUNCT
alkej-976	429	41	𝑉-𝑠1	𝑉-𝑠1	NOUN
alkej-976	429	42	.	.	PUNCT
alkej-976	430	1	]	]	X
alkej-976	430	2	-𝑇.	-𝑇.	X
alkej-976	430	3	,	,	PUNCT
alkej-976	430	4	…	…	PUNCT
alkej-976	430	5	(	(	PUNCT
alkej-976	430	6	8)	8)	NUM
alkej-976	430	7	,	,	PUNCT
alkej-976	430	8	𝐴-𝑠.=,,1	𝐴-𝑠.=,,1	NOUN
alkej-976	430	9	-	-	PUNCT
alkej-976	430	10	0	0	NUM
alkej-976	430	11	-	-	PUNCT
alkej-976	430	12	0	0	NUM
alkej-976	430	13	-	-	PUNCT
alkej-976	430	14	0	0	NUM
alkej-976	430	15	-	-	PUNCT
alkej-976	430	16	0-,−,𝐾𝑠-𝐽𝑠	0-,−,𝐾𝑠-𝐽𝑠	NOUN
alkej-976	430	17	..	..	PUNCT
alkej-976	430	18	-,−,𝑏𝑠𝑐-𝐽𝑠	-,−,𝑏𝑠𝑐-𝐽𝑠	PROPN
alkej-976	430	19	..	..	PUNCT
alkej-976	430	20	-,,𝐾𝑠-𝐽𝑠	-,,𝐾𝑠-𝐽𝑠	PROPN
alkej-976	430	21	..	..	PUNCT
alkej-976	431	1	-,,𝑏𝑠𝑐-𝐽𝑠	-,,𝑏𝑠𝑐-𝐽𝑠	PROPN
alkej-976	431	2	..	..	PUNCT
alkej-976	431	3	-0	-0	ADJ
alkej-976	431	4	-	-	SYM
alkej-976	431	5	0	0	NUM
alkej-976	431	6	-	-	PUNCT
alkej-976	431	7	0	0	NUM
alkej-976	431	8	-	-	PUNCT
alkej-976	431	9	0	0	NUM
alkej-976	431	10	-	-	PUNCT
alkej-976	431	11	1	1	NUM
alkej-976	431	12	-	-	PUNCT
alkej-976	431	13	0-,,𝐾𝑠-𝐽𝑚1	0-,,𝐾𝑠-𝐽𝑚1	NUM
alkej-976	431	14	..	..	PUNCT
alkej-976	431	15	-,−,𝑏𝑠𝑐-𝐽𝑚1	-,−,𝑏𝑠𝑐-𝐽𝑚1	NUM
alkej-976	431	16	..	..	PUNCT
alkej-976	431	17	-,−,𝐾𝑠-𝐽𝑚1	-,−,𝐾𝑠-𝐽𝑚1	NOUN
alkej-976	431	18	..	..	PUNCT
alkej-976	431	19	-,−,,𝑏𝑚1+𝑏𝑠𝑐.-𝐽𝑚1	-,−,,𝑏𝑚1+𝑏𝑠𝑐.-𝐽𝑚1	PROPN
alkej-976	431	20	..	..	SYM
alkej-976	431	21	-0	-0	ADJ
alkej-976	431	22	-	-	PUNCT
alkej-976	431	23	0	0	NUM
alkej-976	431	24	-	-	PUNCT
alkej-976	431	25	0	0	NUM
alkej-976	431	26	-	-	PUNCT
alkej-976	431	27	0-,,−𝐾𝑏1-,𝐿1	0-,,−𝐾𝑏1-,𝐿1	NUM
alkej-976	431	28	...	...	PUNCT
alkej-976	431	29	-,,−𝑅1-,𝐿1	-,,−𝑅1-,𝐿1	NOUN
alkej-976	431	30	.....	.....	PUNCT
alkej-976	431	31	,	,	PUNCT
alkej-976	431	32	…	…	PUNCT
alkej-976	431	33	(	(	PUNCT
alkej-976	431	34	9	9	NUM
alkej-976	431	35	)	)	PUNCT
alkej-976	431	36	,	,	PUNCT
alkej-976	431	37	𝐵-𝑠.=,,0	𝐵-𝑠.=,,0	PROPN
alkej-976	431	38	-	-	SYM
alkej-976	431	39	0-,,,𝑇𝑑𝑟𝑖𝑣𝑒𝑟−𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.-𝐽𝑠	0-,,,𝑇𝑑𝑟𝑖𝑣𝑒𝑟−𝑇𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛.-𝐽𝑠	PROPN
alkej-976	431	40	..	..	PUNCT
alkej-976	431	41	-0	-0	PUNCT
alkej-976	431	42	-	-	SYM
alkej-976	431	43	0	0	NUM
alkej-976	431	44	-	-	PUNCT
alkej-976	431	45	0	0	NUM
alkej-976	431	46	-	-	PUNCT
alkej-976	431	47	0	0	NUM
alkej-976	431	48	-	-	PUNCT
alkej-976	431	49	0	0	NUM
alkej-976	431	50	-	-	PUNCT
alkej-976	431	51	0-,,1-,𝐿1	0-,,1-,𝐿1	NUM
alkej-976	431	52	.....	.....	PUNCT
alkej-976	431	53	…	…	PUNCT
alkej-976	431	54	(	(	PUNCT
alkej-976	431	55	10	10	NUM
alkej-976	431	56	)	)	PUNCT
alkej-976	431	57	the	the	DET
alkej-976	431	58	angle	angle	NOUN
alkej-976	431	59	and	and	CCONJ
alkej-976	431	60	current	current	NOUN
alkej-976	431	61	of	of	ADP
alkej-976	431	62	the	the	DET
alkej-976	431	63	steering	steering	NOUN
alkej-976	431	64	motor	motor	NOUN
alkej-976	431	65	are	be	AUX
alkej-976	431	66	the	the	DET
alkej-976	431	67	outputs	output	NOUN
alkej-976	431	68	of	of	ADP
alkej-976	431	69	the	the	DET
alkej-976	431	70	system	system	NOUN
alkej-976	431	71	.	.	PUNCT
alkej-976	432	1	,	,	PUNCT
alkej-976	432	2	𝐶-𝑠.=,,0	𝐶-𝑠.=,,0	PROPN
alkej-976	432	3	-	-	PUNCT
alkej-976	432	4	0	0	NUM
alkej-976	432	5	-	-	PUNCT
alkej-976	432	6	1	1	NUM
alkej-976	432	7	-	-	PUNCT
alkej-976	432	8	0	0	NUM
alkej-976	432	9	-	-	PUNCT
alkej-976	432	10	0	0	NUM
alkej-976	432	11	-0	-0	PROPN
alkej-976	432	12	-	-	SYM
alkej-976	432	13	0	0	NUM
alkej-976	432	14	-0	-0	PUNCT
alkej-976	432	15	-0	-0	X
alkej-976	432	16	1	1	NUM
alkej-976	432	17	..	..	PUNCT
alkej-976	432	18	…	…	PUNCT
alkej-976	432	19	(	(	PUNCT
alkej-976	432	20	11	11	NUM
alkej-976	432	21	)	)	PUNCT
alkej-976	432	22	,	,	PUNCT
alkej-976	432	23	𝐷-,𝑠	𝐷-,𝑠	X
alkej-976	432	24	..	..	PUNCT
alkej-976	432	25	=0	=0	NOUN
alkej-976	432	26	where	where	SCONJ
alkej-976	432	27	,	,	PUNCT
alkej-976	432	28	ө-,𝑠	ө-,𝑠	PROPN
alkej-976	432	29	..	..	PUNCT
alkej-976	432	30	(	(	PUNCT
alkej-976	432	31	degree	degree	NOUN
alkej-976	432	32	)	)	PUNCT
alkej-976	432	33	is	be	AUX
alkej-976	432	34	the	the	DET
alkej-976	432	35	angular	angular	ADJ
alkej-976	432	36	displacement	displacement	NOUN
alkej-976	432	37	of	of	ADP
alkej-976	432	38	the	the	DET
alkej-976	432	39	steering	steering	NOUN
alkej-976	432	40	wheel	wheel	NOUN
alkej-976	432	41	,	,	PUNCT
alkej-976	432	42	,	,	PUNCT
alkej-976	432	43	ө-,𝑚1	ө-,𝑚1	PROPN
alkej-976	432	44	..	..	PUNCT
alkej-976	432	45	(	(	PUNCT
alkej-976	432	46	degree	degree	NOUN
alkej-976	432	47	)	)	PUNCT
alkej-976	432	48	is	be	AUX
alkej-976	432	49	the	the	DET
alkej-976	432	50	angular	angular	ADJ
alkej-976	432	51	displacement	displacement	NOUN
alkej-976	432	52	of	of	ADP
alkej-976	432	53	the	the	DET
alkej-976	432	54	front	front	ADJ
alkej-976	432	55	wheel	wheel	NOUN
alkej-976	432	56	motor	motor	NOUN
alkej-976	432	57	,	,	PUNCT
alkej-976	432	58	,	,	PUNCT
alkej-976	432	59	𝑖-1.(a	𝑖-1.(a	PRON
alkej-976	432	60	)	)	PUNCT
alkej-976	432	61	is	be	AUX
alkej-976	432	62	current	current	ADJ
alkej-976	432	63	of	of	ADP
alkej-976	432	64	steering	steering	NOUN
alkej-976	432	65	motor	motor	NOUN
alkej-976	432	66	,	,	PUNCT
alkej-976	432	67	ks	ks	PROPN
alkej-976	432	68	(	(	PUNCT
alkej-976	432	69	n.m	n.m	PROPN
alkej-976	432	70	/	/	SYM
alkej-976	432	71	rad	rad	NOUN
alkej-976	432	72	)	)	PUNCT
alkej-976	432	73	is	be	AUX
alkej-976	432	74	lumped	lump	VERB
alkej-976	432	75	torque	torque	NOUN
alkej-976	432	76	stiffness	stiffness	NOUN
alkej-976	432	77	,	,	PUNCT
alkej-976	432	78	bsc	bsc	PROPN
alkej-976	432	79	(	(	PUNCT
alkej-976	432	80	n.ms/rad	n.ms/rad	PROPN
alkej-976	432	81	)	)	PUNCT
alkej-976	432	82	...	...	PUNCT
alkej-976	432	83	as	as	SCONJ
alkej-976	432	84	shown	show	VERB
alkej-976	432	85	in	in	ADP
alkej-976	432	86	figure	figure	NOUN
alkej-976	432	87	3	3	NUM
alkej-976	432	88	,	,	PUNCT
alkej-976	432	89	the	the	DET
alkej-976	432	90	yaw	yaw	NOUN
alkej-976	432	91	angle	angle	NOUN
alkej-976	432	92	(	(	PUNCT
alkej-976	432	93	,	,	PUNCT
alkej-976	432	94	𝛾-,𝑟𝑎𝑐𝑘	𝛾-,𝑟𝑎𝑐𝑘	PROPN
alkej-976	432	95	..	..	PUNCT
alkej-976	432	96	)	)	PUNCT
alkej-976	432	97	,	,	PUNCT
alkej-976	432	98	front	front	ADJ
alkej-976	432	99	wheel	wheel	NOUN
alkej-976	432	100	angle	angle	NOUN
alkej-976	432	101	(	(	PUNCT
alkej-976	432	102	,	,	PUNCT
alkej-976	432	103	𝛿-,𝑓	𝛿-,𝑓	PROPN
alkej-976	432	104	..	..	PUNCT
alkej-976	432	105	)	)	PUNCT
alkej-976	432	106	and	and	CCONJ
alkej-976	432	107	front	front	ADJ
alkej-976	432	108	motor	motor	NOUN
alkej-976	432	109	angle	angle	NOUN
alkej-976	432	110	(	(	PUNCT
alkej-976	432	111	,	,	PUNCT
alkej-976	432	112	ө-,𝑚2	ө-,𝑚2	PROPN
alkej-976	432	113	..	..	PUNCT
alkej-976	432	114	)	)	PUNCT
alkej-976	432	115	are	be	AUX
alkej-976	432	116	the	the	DET
alkej-976	432	117	key	key	ADJ
alkej-976	432	118	variables	variable	NOUN
alkej-976	432	119	in	in	ADP
alkej-976	432	120	representing	represent	VERB
alkej-976	432	121	the	the	DET
alkej-976	432	122	front	front	ADJ
alkej-976	432	123	wheel	wheel	NOUN
alkej-976	432	124	subsystem	subsystem	NOUN
alkej-976	432	125	.	.	PUNCT
alkej-976	433	1	the	the	DET
alkej-976	433	2	force	force	NOUN
alkej-976	433	3	of	of	ADP
alkej-976	433	4	the	the	DET
alkej-976	433	5	rack	rack	NOUN
alkej-976	433	6	and	and	CCONJ
alkej-976	433	7	the	the	DET
alkej-976	433	8	angle	angle	NOUN
alkej-976	433	9	of	of	ADP
alkej-976	433	10	the	the	DET
alkej-976	433	11	front	front	ADJ
alkej-976	433	12	tire	tire	NOUN
alkej-976	433	13	can	can	AUX
alkej-976	433	14	...	...	PUNCT
alkej-976	433	15	,	,	PUNCT
alkej-976	433	16	,	,	PUNCT
alkej-976	433	17	𝛾.-𝑟𝑎𝑐𝑘.=	𝛾.-𝑟𝑎𝑐𝑘.=	PROPN
alkej-976	433	18	−,𝑏𝑟-𝑚𝑟.	−,𝑏𝑟-𝑚𝑟.	VERB
alkej-976	433	19	,	,	PUNCT
alkej-976	433	20	𝛾-,𝑟𝑎𝑐𝑘	𝛾-,𝑟𝑎𝑐𝑘	PROPN
alkej-976	433	21	..	..	PUNCT
alkej-976	433	22	−,,ө-𝑚2.-,,𝐶-𝑚2.∗,𝑔-,𝑚	−,,ө-𝑚2.-,,𝐶-𝑚2.∗,𝑔-,𝑚	X
alkej-976	433	23	..	..	PUNCT
alkej-976	433	24	..	..	PUNCT
alkej-976	434	1	−	−	NOUN
alkej-976	434	2	,	,	PUNCT
alkej-976	434	3	,	,	PUNCT
alkej-976	434	4	𝑔-𝑟.-,𝑐-𝑡	𝑔-𝑟.-,𝑐-𝑡	PROPN
alkej-976	434	5	..	..	PUNCT
alkej-976	434	6	,𝑣-𝑡.	,𝑣-𝑡.	PUNCT
alkej-976	434	7	…	…	PUNCT
alkej-976	434	8	(	(	PUNCT
alkej-976	434	9	12	12	NUM
alkej-976	434	10	)	)	PUNCT
alkej-976	434	11	,	,	PUNCT
alkej-976	434	12	,	,	PUNCT
alkej-976	434	13	𝛿.-𝑓.=	𝛿.-𝑓.=	NOUN
alkej-976	434	14	−,,𝐵-𝑡.-,,𝐽-𝑡	−,,𝐵-𝑡.-,,𝐽-𝑡	NOUN
alkej-976	434	15	...	...	PUNCT
alkej-976	434	16	,𝛿-𝑓.+,,𝑣-𝑡.-,,,𝑐-𝑡	,𝛿-𝑓.+,,𝑣-𝑡.-,,,𝑐-𝑡	PUNCT
alkej-976	434	17	....	....	PUNCT
alkej-976	435	1	…	…	PUNCT
alkej-976	435	2	(	(	PUNCT
alkej-976	435	3	13	13	NUM
alkej-976	435	4	)	)	PUNCT
alkej-976	435	5	fig	fig	NOUN
alkej-976	435	6	.	.	PUNCT
alkej-976	436	1	3	3	X
alkej-976	436	2	.	.	X
alkej-976	436	3	the	the	DET
alkej-976	436	4	front	front	ADJ
alkej-976	436	5	wheel	wheel	NOUN
alkej-976	436	6	subsystem	subsystem	NOUN
alkej-976	436	7	diagram	diagram	NOUN
alkej-976	436	8	[	[	X
alkej-976	436	9	25	25	NUM
alkej-976	436	10	]	]	PUNCT
alkej-976	436	11	.	.	PUNCT
alkej-976	437	1	the	the	DET
alkej-976	437	2	current	current	ADJ
alkej-976	437	3	,	,	PUNCT
alkej-976	437	4	torque	torque	NOUN
alkej-976	437	5	,	,	PUNCT
alkej-976	437	6	angular	angular	ADJ
alkej-976	437	7	displacement	displacement	NOUN
alkej-976	437	8	of	of	ADP
alkej-976	437	9	the	the	DET
alkej-976	437	10	front	front	ADJ
alkej-976	437	11	motor	motor	NOUN
alkej-976	437	12	and	and	CCONJ
alkej-976	437	13	velocity	velocity	NOUN
alkej-976	437	14	of	of	ADP
alkej-976	437	15	the	the	DET
alkej-976	437	16	tire	tire	NOUN
alkej-976	437	17	rod	rod	NOUN
alkej-976	437	18	are	be	AUX
alkej-976	437	19	stated	state	VERB
alkej-976	437	20	as	as	ADP
alkej-976	437	21	[	[	X
alkej-976	437	22	27	27	NUM
alkej-976	437	23	]	]	NUM
alkej-976	437	24	:	:	PUNCT
alkej-976	437	25	,	,	PUNCT
alkej-976	437	26	𝑑,𝑖-2.-𝑑𝑡.=1/,𝐿-2.(−,𝑅-2.∗,𝑖-2.)−,,𝐾-𝑏2.-,𝐽-,𝑚2	𝑑,𝑖-2.-𝑑𝑡.=1/,𝐿-2.(−,𝑅-2.∗,𝑖-2.)−,,𝐾-𝑏2.-,𝐽-,𝑚2	NOUN
alkej-976	437	27	...	...	PUNCT
alkej-976	437	28	∗,t-𝑚2.+,𝑉-𝑠2	∗,t-𝑚2.+,𝑉-𝑠2	X
alkej-976	437	29	.	.	PUNCT
alkej-976	438	1	…	…	PUNCT
alkej-976	438	2	(	(	PUNCT
alkej-976	438	3	14	14	NUM
alkej-976	438	4	)	)	PUNCT
alkej-976	438	5	,	,	PUNCT
alkej-976	438	6	,	,	PUNCT
alkej-976	438	7	𝑇.-𝑚2.=	𝑇.-𝑚2.=	PROPN
alkej-976	438	8	,	,	PUNCT
alkej-976	438	9	,	,	PUNCT
alkej-976	438	10	𝑘-𝑏2.-,,𝐿-2	𝑘-𝑏2.-,,𝐿-2	PROPN
alkej-976	438	11	...	...	PUNCT
alkej-976	438	12	∗,𝑖-2.−,,𝑏-𝑚2.-,,𝐽-,𝑚2	∗,𝑖-2.−,,𝑏-𝑚2.-,,𝐽-,𝑚2	NOUN
alkej-976	438	13	....	....	PUNCT
alkej-976	438	14	∗,t-𝑚2.−,,ө-𝑚2.-,𝐶-,𝑚2	∗,t-𝑚2.−,,ө-𝑚2.-,𝐶-,𝑚2	NOUN
alkej-976	438	15	...	...	PUNCT
alkej-976	438	16	…	…	PUNCT
alkej-976	438	17	(	(	PUNCT
alkej-976	438	18	15	15	NUM
alkej-976	438	19	)	)	PUNCT
alkej-976	438	20	,	,	PUNCT
alkej-976	438	21	,	,	PUNCT
alkej-976	438	22	ө.-𝑚2.=	ө.-𝑚2.=	X
alkej-976	438	23	,	,	PUNCT
alkej-976	438	24	,	,	PUNCT
alkej-976	438	25	𝑇-𝑚2.-,𝐽-,𝑚2	𝑇-𝑚2.-,𝐽-,𝑚2	PROPN
alkej-976	438	26	...	...	PUNCT
alkej-976	438	27	+	+	CCONJ
alkej-976	438	28	,	,	PUNCT
alkej-976	438	29	,	,	PUNCT
alkej-976	438	30	𝛾-𝑟𝑎𝑐𝑘.-,𝑚-𝑟.∗,𝑔-𝑚	𝛾-𝑟𝑎𝑐𝑘.-,𝑚-𝑟.∗,𝑔-𝑚	PROPN
alkej-976	438	31	..	..	PUNCT
alkej-976	438	32	…	…	PUNCT
alkej-976	438	33	(	(	PUNCT
alkej-976	438	34	16	16	NUM
alkej-976	438	35	)	)	PUNCT
alkej-976	438	36	,	,	PUNCT
alkej-976	438	37	,	,	PUNCT
alkej-976	438	38	𝑣.-𝑡.=	𝑣.-𝑡.=	INTJ
alkej-976	438	39	,	,	PUNCT
alkej-976	438	40	,	,	PUNCT
alkej-976	438	41	𝛾-𝑟𝑎𝑐𝑘.-,𝑚-𝑟.∗,𝑔-,𝑟	𝛾-𝑟𝑎𝑐𝑘.-,𝑚-𝑟.∗,𝑔-,𝑟	NOUN
alkej-976	438	42	...	...	PUNCT
alkej-976	438	43	−,,𝑣-𝑡.-,𝑗-,𝑡	−,,𝑣-𝑡.-,𝑗-,𝑡	NOUN
alkej-976	438	44	...	...	PUNCT
alkej-976	438	45	…	…	PUNCT
alkej-976	438	46	(	(	PUNCT
alkej-976	438	47	17	17	NUM
alkej-976	438	48	)	)	PUNCT
alkej-976	438	49	the	the	DET
alkej-976	438	50	state	state	NOUN
alkej-976	438	51	space	space	NOUN
alkej-976	438	52	model	model	NOUN
alkej-976	438	53	of	of	ADP
alkej-976	438	54	the	the	DET
alkej-976	438	55	front	front	ADJ
alkej-976	438	56	wheel	wheel	NOUN
alkej-976	438	57	subsystem	subsystem	NOUN
alkej-976	438	58	is	be	AUX
alkej-976	438	59	,	,	PUNCT
alkej-976	438	60	𝑋.,𝑡.=,𝐴-,𝑓	𝑋.,𝑡.=,𝐴-,𝑓	PROPN
alkej-976	438	61	..	..	SYM
alkej-976	438	62	𝑋,𝑡.+,𝐵-𝑓.𝑈(𝑡	𝑋,𝑡.+,𝐵-𝑓.𝑈(𝑡	NOUN
alkej-976	438	63	)	)	PUNCT
alkej-976	438	64	.	.	PUNCT
alkej-976	439	1	…	…	PUNCT
alkej-976	439	2	(	(	PUNCT
alkej-976	439	3	18	18	NUM
alkej-976	439	4	)	)	PUNCT
alkej-976	439	5	the	the	DET
alkej-976	439	6	output	output	NOUN
alkej-976	439	7	angle	angle	NOUN
alkej-976	439	8	of	of	ADP
alkej-976	439	9	the	the	DET
alkej-976	439	10	steering	steering	NOUN
alkej-976	439	11	motor	motor	NOUN
alkej-976	439	12	represents	represent	VERB
alkej-976	439	13	the	the	DET
alkej-976	439	14	input	input	NOUN
alkej-976	439	15	to	to	ADP
alkej-976	439	16	the	the	DET
alkej-976	439	17	front	front	ADJ
alkej-976	439	18	wheel	wheel	NOUN
alkej-976	439	19	subsystem	subsystem	NOUN
alkej-976	439	20	:	:	PUNCT
alkej-976	439	21	𝑈,𝑡.=	𝑈,𝑡.=	PROPN
alkej-976	439	22	,	,	PUNCT
alkej-976	439	23	[	[	PUNCT
alkej-976	439	24	,	,	PUNCT
alkej-976	439	25	ө-,𝑚1	ө-,𝑚1	PROPN
alkej-976	439	26	..	..	PUNCT
alkej-976	439	27	]	]	X
alkej-976	439	28	-𝑇	-𝑇	NOUN
alkej-976	439	29	..	..	PUNCT
alkej-976	439	30	the	the	DET
alkej-976	439	31	output	output	NOUN
alkej-976	439	32	and	and	CCONJ
alkej-976	439	33	state	state	NOUN
alkej-976	439	34	of	of	ADP
alkej-976	439	35	the	the	DET
alkej-976	439	36	front	front	ADJ
alkej-976	439	37	wheel	wheel	NOUN
alkej-976	439	38	subsystem	subsystem	NOUN
alkej-976	439	39	:	:	PUNCT
alkej-976	439	40	𝑦,𝑡.=,𝐶-𝑓.𝑋,𝑡.+,𝐷-,𝑓	𝑦,𝑡.=,𝐶-𝑓.𝑋,𝑡.+,𝐷-,𝑓	NOUN
alkej-976	439	41	..	..	PUNCT
alkej-976	439	42	𝑈(𝑡	𝑈(𝑡	NUM
alkej-976	439	43	)	)	PUNCT
alkej-976	439	44	…	…	PUNCT
alkej-976	439	45	(	(	PUNCT
alkej-976	439	46	19	19	NUM
alkej-976	439	47	)	)	PUNCT
alkej-976	439	48	𝑋,𝑡.=,[,𝑖-2	𝑋,𝑡.=,[,𝑖-2	NOUN
alkej-976	439	49	.	.	PROPN
alkej-976	439	50	,	,	PUNCT
alkej-976	439	51	𝑇-𝑚2	𝑇-𝑚2	PROPN
alkej-976	439	52	.	.	PUNCT
alkej-976	439	53	,	,	PUNCT
alkej-976	439	54	𝛾-𝑟𝑎𝑐𝑘.	𝛾-𝑟𝑎𝑐𝑘.	NOUN
alkej-976	439	55	,	,	PUNCT
alkej-976	439	56	𝛿-,𝑓	𝛿-,𝑓	PROPN
alkej-976	439	57	..	..	PUNCT
alkej-976	439	58	,	,	PUNCT
alkej-976	439	59	ө-𝑚2	ө-𝑚2	PROPN
alkej-976	439	60	.	.	PUNCT
alkej-976	439	61	,	,	PUNCT
alkej-976	439	62	𝑣-,𝑡	𝑣-,𝑡	NOUN
alkej-976	439	63	..	..	X
alkej-976	439	64	]-𝑇.	]-𝑇.	X
alkej-976	439	65	…	…	PUNCT
alkej-976	439	66	(	(	PUNCT
alkej-976	439	67	20	20	NUM
alkej-976	439	68	)	)	PUNCT
alkej-976	439	69	the	the	DET
alkej-976	439	70	outputs	output	NOUN
alkej-976	439	71	of	of	ADP
alkej-976	439	72	the	the	DET
alkej-976	439	73	front	front	ADJ
alkej-976	439	74	wheel	wheel	NOUN
alkej-976	439	75	system	system	NOUN
alkej-976	439	76	are	be	AUX
alkej-976	439	77	the	the	DET
alkej-976	439	78	front	front	ADJ
alkej-976	439	79	motor	motor	NOUN
alkej-976	439	80	angle	angle	NOUN
alkej-976	439	81	and	and	CCONJ
alkej-976	439	82	the	the	DET
alkej-976	439	83	wheel	wheel	NOUN
alkej-976	439	84	angle	angle	NOUN
alkej-976	439	85	:	:	PUNCT
alkej-976	439	86	,	,	PUNCT
alkej-976	439	87	𝐴-𝑓.=,,,−,𝑅2-𝐿2	𝐴-𝑓.=,,,−,𝑅2-𝐿2	PROPN
alkej-976	439	88	..	..	PUNCT
alkej-976	439	89	-,−,𝐾𝑏2-𝐽𝑚2	-,−,𝐾𝑏2-𝐽𝑚2	PROPN
alkej-976	439	90	..	..	PUNCT
alkej-976	439	91	-0	-0	PROPN
alkej-976	439	92	-	-	PUNCT
alkej-976	439	93	0	0	NUM
alkej-976	439	94	-	-	PUNCT
alkej-976	439	95	0	0	NUM
alkej-976	439	96	-	-	PUNCT
alkej-976	439	97	0-,,𝐾𝑏2-𝐿2	0-,,𝐾𝑏2-𝐿2	NUM
alkej-976	439	98	..	..	PUNCT
alkej-976	439	99	-,−,𝑏𝑚2-𝐽𝑚2	-,−,𝑏𝑚2-𝐽𝑚2	X
alkej-976	439	100	..	..	PUNCT
alkej-976	439	101	-0	-0	PROPN
alkej-976	439	102	-	-	PUNCT
alkej-976	439	103	0-,−,1-𝐶𝑚2	0-,−,1-𝐶𝑚2	PROPN
alkej-976	439	104	..	..	PUNCT
alkej-976	439	105	-0	-0	ADJ
alkej-976	439	106	-	-	PUNCT
alkej-976	439	107	0	0	NUM
alkej-976	439	108	-	-	PUNCT
alkej-976	439	109	0	0	NUM
alkej-976	439	110	-	-	PUNCT
alkej-976	439	111	0-,−,𝐵𝑡-𝐽𝑡	0-,−,𝐵𝑡-𝐽𝑡	NOUN
alkej-976	439	112	..	..	PUNCT
alkej-976	439	113	-0-,,1-𝐶𝑡	-0-,,1-𝐶𝑡	ADJ
alkej-976	439	114	..	..	PUNCT
alkej-976	439	115	-0-,,1-𝐽𝑚2	-0-,,1-𝐽𝑚2	PROPN
alkej-976	439	116	..	..	SYM
alkej-976	439	117	-,−,1-𝑔𝑚+𝑚𝑟	-,−,1-𝑔𝑚+𝑚𝑟	X
alkej-976	439	118	..	..	PUNCT
alkej-976	439	119	-0	-0	ADJ
alkej-976	439	120	-	-	SYM
alkej-976	439	121	0	0	NUM
alkej-976	439	122	-	-	PUNCT
alkej-976	439	123	0	0	NUM
alkej-976	439	124	-	-	PUNCT
alkej-976	439	125	0	0	NUM
alkej-976	439	126	-	-	PUNCT
alkej-976	439	127	0-,,1-,𝑔𝑟+𝑚𝑟	0-,,1-,𝑔𝑟+𝑚𝑟	NUM
alkej-976	439	128	...	...	PUNCT
alkej-976	439	129	-,−,1-𝐽𝑡	-,−,1-𝐽𝑡	NUM
alkej-976	439	130	..	..	PUNCT
alkej-976	439	131	-0	-0	ADJ
alkej-976	439	132	-	-	PUNCT
alkej-976	439	133	0	0	NUM
alkej-976	439	134	..	..	PUNCT
alkej-976	439	135	,	,	PUNCT
alkej-976	439	136	…	…	PUNCT
alkej-976	439	137	(	(	PUNCT
alkej-976	439	138	21	21	NUM
alkej-976	439	139	)	)	PUNCT
alkej-976	439	140	,	,	PUNCT
alkej-976	439	141	𝐵-𝑓.=,,1	𝐵-𝑓.=,,1	PROPN
alkej-976	439	142	-	-	PUNCT
alkej-976	439	143	0	0	NUM
alkej-976	439	144	-	-	PUNCT
alkej-976	439	145	0	0	NUM
alkej-976	439	146	-	-	PUNCT
alkej-976	439	147	0	0	NUM
alkej-976	439	148	-	-	PUNCT
alkej-976	439	149	0	0	NUM
alkej-976	439	150	..	..	PUNCT
alkej-976	439	151	,	,	PUNCT
alkej-976	439	152	…	…	PUNCT
alkej-976	439	153	(	(	PUNCT
alkej-976	439	154	22	22	NUM
alkej-976	439	155	)	)	PUNCT
alkej-976	439	156	,	,	PUNCT
alkej-976	439	157	𝐶-𝑓.=,,0	𝐶-𝑓.=,,0	NOUN
alkej-976	439	158	-	-	PUNCT
alkej-976	439	159	0	0	NUM
alkej-976	439	160	-	-	PUNCT
alkej-976	439	161	0	0	NUM
alkej-976	439	162	-	-	PUNCT
alkej-976	439	163	1	1	NUM
alkej-976	439	164	-	-	PUNCT
alkej-976	439	165	0	0	NUM
alkej-976	439	166	-	-	PUNCT
alkej-976	439	167	0	0	NUM
alkej-976	439	168	-	-	PUNCT
alkej-976	439	169	0	0	NUM
alkej-976	439	170	-	-	PUNCT
alkej-976	439	171	0	0	NUM
alkej-976	439	172	-	-	PUNCT
alkej-976	439	173	0	0	NUM
alkej-976	439	174	-	-	PUNCT
alkej-976	439	175	0	0	NUM
alkej-976	439	176	-	-	PUNCT
alkej-976	439	177	1	1	NUM
alkej-976	439	178	-	-	PUNCT
alkej-976	439	179	0	0	NUM
alkej-976	439	180	..	..	PUNCT
alkej-976	439	181	,	,	PUNCT
alkej-976	439	182	…	…	PUNCT
alkej-976	439	183	(	(	PUNCT
alkej-976	439	184	23	23	NUM
alkej-976	439	185	)	)	PUNCT
alkej-976	439	186	,	,	PUNCT
alkej-976	439	187	𝐷-,𝑓	𝐷-,𝑓	PROPN
alkej-976	439	188	..	..	SYM
alkej-976	439	189	=0	=0	NOUN
alkej-976	439	190	,	,	PUNCT
alkej-976	439	191	where	where	SCONJ
alkej-976	439	192	br	br	PROPN
alkej-976	439	193	(	(	PUNCT
alkej-976	439	194	n.m	n.m	PROPN
alkej-976	439	195	/	/	SYM
alkej-976	439	196	rad	rad	NOUN
alkej-976	439	197	)	)	PUNCT
alkej-976	439	198	is	be	AUX
alkej-976	439	199	the	the	DET
alkej-976	439	200	resistance	resistance	NOUN
alkej-976	439	201	rack	rack	NOUN
alkej-976	439	202	,	,	PUNCT
alkej-976	439	203	mr	mr	PROPN
alkej-976	439	204	(	(	PUNCT
alkej-976	439	205	kg	kg	PROPN
alkej-976	439	206	)	)	PUNCT
alkej-976	439	207	is	be	AUX
alkej-976	439	208	the	the	DET
alkej-976	439	209	mass	mass	NOUN
alkej-976	439	210	rack	rack	NOUN
alkej-976	439	211	,	,	PUNCT
alkej-976	439	212	cm2	cm2	PROPN
alkej-976	439	213	(	(	PUNCT
alkej-976	439	214	n.m	n.m	PROPN
alkej-976	439	215	/	/	SYM
alkej-976	439	216	s	s	PART
alkej-976	439	217	)	)	PUNCT
alkej-976	439	218	is	be	AUX
alkej-976	439	219	the	the	DET
alkej-976	439	220	front	front	ADJ
alkej-976	439	221	motor	motor	NOUN
alkej-976	439	222	shaft	shaft	NOUN
alkej-976	439	223	compliance	compliance	NOUN
alkej-976	439	224	,	,	PUNCT
alkej-976	439	225	gm	gm	PROPN
alkej-976	439	226	(	(	PUNCT
alkej-976	439	227	m	m	NOUN
alkej-976	439	228	)	)	PUNCT
alkej-976	439	229	is	be	AUX
alkej-976	439	230	the	the	DET
alkej-976	439	231	column	column	NOUN
alkej-976	439	232	pinion	pinion	NOUN
alkej-976	439	233	radius	radius	NOUN
alkej-976	439	234	,	,	PUNCT
alkej-976	439	235	gr	gr	PROPN
alkej-976	439	236	(	(	PUNCT
alkej-976	439	237	m	m	NOUN
alkej-976	439	238	)	)	PUNCT
alkej-976	439	239	is	be	AUX
alkej-976	439	240	the	the	DET
alkej-976	439	241	length	length	NOUN
alkej-976	439	242	ratio	ratio	NOUN
alkej-976	439	243	steering	steering	NOUN
alkej-976	439	244	arm	arm	NOUN
alkej-976	439	245	,	,	PUNCT
alkej-976	439	246	ct	ct	PROPN
alkej-976	439	247	(	(	PUNCT
alkej-976	439	248	rad	rad	PROPN
alkej-976	439	249	/	/	SYM
alkej-976	439	250	n.m	n.m	NOUN
alkej-976	439	251	)	)	PUNCT
alkej-976	439	252	is	be	AUX
alkej-976	439	253	the	the	DET
alkej-976	439	254	compliance	compliance	NOUN
alkej-976	439	255	of	of	ADP
alkej-976	439	256	the	the	DET
alkej-976	439	257	tire	tire	NOUN
alkej-976	439	258	rod	rod	NOUN
alkej-976	439	259	,	,	PUNCT
alkej-976	439	260	bt	bt	PROPN
alkej-976	439	261	(	(	PUNCT
alkej-976	439	262	n.m	n.m	PROPN
alkej-976	439	263	....	....	PROPN
alkej-976	439	264	3	3	NUM
alkej-976	439	265	.	.	NOUN
alkej-976	439	266	controller	controller	NOUN
alkej-976	439	267	design	design	VERB
alkej-976	439	268	one	one	NUM
alkej-976	439	269	effective	effective	ADJ
alkej-976	439	270	and	and	CCONJ
alkej-976	439	271	adaptable	adaptable	ADJ
alkej-976	439	272	control	control	NOUN
alkej-976	439	273	method	method	NOUN
alkej-976	439	274	that	that	PRON
alkej-976	439	275	is	be	AUX
alkej-976	439	276	frequently	frequently	ADV
alkej-976	439	277	applied	apply	VERB
alkej-976	439	278	to	to	ADP
alkej-976	439	279	dynamic	dynamic	ADJ
alkej-976	439	280	systems	system	NOUN
alkej-976	439	281	is	be	AUX
alkej-976	439	282	mpc	mpc	PROPN
alkej-976	439	283	.	.	PUNCT
alkej-976	440	1	it	it	PRON
alkej-976	440	2	works	work	VERB
alkej-976	440	3	especially	especially	ADV
alkej-976	440	4	well	well	ADV
alkej-976	440	5	in	in	ADP
alkej-976	440	6	situations	situation	NOUN
alkej-976	440	7	such	such	ADJ
alkej-976	440	8	as	as	ADP
alkej-976	440	9	sbw	sbw	PROPN
alkej-976	440	10	systems	system	NOUN
alkej-976	440	11	where	where	SCONJ
alkej-976	440	12	managing	managing	NOUN
alkej-976	440	13	restrictions	restriction	NOUN
alkej-976	440	14	is	be	AUX
alkej-976	440	15	essential	essential	ADJ
alkej-976	440	16	.	.	PUNCT
alkej-976	441	1	using	use	VERB
alkej-976	441	2	a	a	DET
alkej-976	441	3	mathematical	mathematical	ADJ
alkej-976	441	4	model	model	NOUN
alkej-976	441	5	,	,	PUNCT
alkej-976	441	6	mpc	mpc	PROPN
alkej-976	441	7	forecasts	forecast	VERB
alkej-976	441	8	a	a	DET
alkej-976	441	9	system	system	NOUN
alkej-976	441	10	’s	’s	ADV
alkej-976	441	11	...	...	PUNCT
alkej-976	441	12	to	to	PART
alkej-976	441	13	minimise	minimise	VERB
alkej-976	441	14	a	a	DET
alkej-976	441	15	cost	cost	NOUN
alkej-976	441	16	function	function	NOUN
alkej-976	441	17	,	,	PUNCT
alkej-976	441	18	which	which	PRON
alkej-976	441	19	usually	usually	ADV
alkej-976	441	20	represents	represent	VERB
alkej-976	441	21	the	the	DET
alkej-976	441	22	departure	departure	NOUN
alkej-976	441	23	from	from	ADP
alkej-976	441	24	the	the	DET
alkej-976	441	25	intended	intend	VERB
alkej-976	441	26	system	system	NOUN
alkej-976	441	27	trajectory	trajectory	NOUN
alkej-976	441	28	whilst	whilst	SCONJ
alkej-976	441	29	considering	consider	VERB
alkej-976	441	30	system	system	NOUN
alkej-976	441	31	restrictions	restriction	NOUN
alkej-976	441	32	,	,	PUNCT
alkej-976	441	33	mpc	mpc	PROPN
alkej-976	441	34	solves	solve	VERB
alkej-976	441	35	an	an	DET
alkej-976	441	36	optimisation	optimisation	NOUN
alkej-976	441	37	problem	problem	NOUN
alkej-976	441	38	at	at	ADP
alkej-976	441	39	each	each	DET
alkej-976	441	40	time	time	NOUN
alkej-976	441	41	step	step	NOUN
alkej-976	441	42	.	.	PUNCT
alkej-976	442	1	this	this	DET
alkej-976	442	2	control	control	NOUN
alkej-976	442	3	strategy	strategy	NOUN
alkej-976	442	4	is	be	AUX
alkej-976	442	5	based	base	VERB
alkej-976	442	6	on	on	ADP
alkej-976	442	7	the	the	DET
alkej-976	442	8	representation	representation	NOUN
alkej-976	442	9	of	of	ADP
alkej-976	442	10	system	system	NOUN
alkej-976	442	11	dynamics	dynamic	NOUN
alkej-976	442	12	using	use	VERB
alkej-976	442	13	a	a	DET
alkej-976	442	14	state	state	NOUN
alkej-976	442	15	space	space	NOUN
alkej-976	442	16	model	model	NOUN
alkej-976	442	17	.	.	PUNCT
alkej-976	443	1	the	the	DET
alkej-976	443	2	basic	basic	ADJ
alkej-976	443	3	model	model	NOUN
alkej-976	443	4	utilised	utilise	VERB
alkej-976	443	5	in	in	ADP
alkej-976	443	6	mpc	mpc	PROPN
alkej-976	443	7	,	,	PUNCT
alkej-976	443	8	which	which	PRON
alkej-976	443	9	is	be	AUX
alkej-976	443	10	typically	typically	ADV
alkej-976	443	11	described	describe	VERB
alkej-976	443	12	in	in	ADP
alkej-976	443	13	the	the	DET
alkej-976	443	14	state	state	NOUN
alkej-976	443	15	space	space	NOUN
alkej-976	443	16	form	form	NOUN
alkej-976	443	17	,	,	PUNCT
alkej-976	443	18	must	must	AUX
alkej-976	443	19	be	be	AUX
alkej-976	443	20	presented	present	VERB
alkej-976	443	21	before	before	ADP
alkej-976	443	22	going	go	VERB
alkej-976	443	23	into	into	ADP
alkej-976	443	24	the	the	DET
alkej-976	443	25	specific	specific	ADJ
alkej-976	443	26	mathematical	mathematical	ADJ
alkej-976	443	27	formulation	formulation	NOUN
alkej-976	443	28	.	.	PUNCT
alkej-976	444	1	the	the	DET
alkej-976	444	2	system	system	NOUN
alkej-976	444	3	dynamics	dynamic	NOUN
alkej-976	444	4	in	in	ADP
alkej-976	444	5	mpc	mpc	PROPN
alkej-976	444	6	consists	consist	NOUN
alkej-976	444	7	of	of	ADP
alkej-976	444	8	system	system	NOUN
alkej-976	444	9	matrices	matrice	VERB
alkej-976	444	10	a	a	DET
alkej-976	444	11	,	,	PUNCT
alkej-976	444	12	b	b	NOUN
alkej-976	444	13	,	,	PUNCT
alkej-976	444	14	and	and	CCONJ
alkej-976	444	15	c[7][8][11][15	c[7][8][11][15	VERB
alkej-976	444	16	]	]	X
alkej-976	444	17	:	:	PUNCT
alkej-976	444	18	,	,	PUNCT
alkej-976	444	19	𝑍-𝑘+v|𝑘.=𝐶,𝐴-𝑣.,𝑋-𝑘.+,c,𝐴-𝑣−1	𝑍-𝑘+v|𝑘.=𝐶,𝐴-𝑣.,𝑋-𝑘.+,c,𝐴-𝑣−1	NUM
alkej-976	444	20	.	.	PUNCT
alkej-976	445	1	𝐶,𝐴-𝑣−2.𝐵	𝐶,𝐴-𝑣−2.𝐵	PROPN
alkej-976	445	2	…	…	PUNCT
alkej-976	445	3	𝐶𝐴𝐵	𝐶𝐴𝐵	PROPN
alkej-976	445	4	𝐶𝐵.	𝐶𝐵.	NOUN
alkej-976	445	5	,	,	PUNCT
alkej-976	445	6	,	,	PUNCT
alkej-976	445	7	,	,	PUNCT
alkej-976	445	8	,	,	PUNCT
alkej-976	445	9	𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-𝑘+𝑣−1|𝑘	𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-𝑘+𝑣−1|𝑘	PROPN
alkej-976	445	10	....	....	PUNCT
alkej-976	445	11	,	,	PUNCT
alkej-976	445	12	…	…	PUNCT
alkej-976	445	13	(	(	PUNCT
alkej-976	445	14	24	24	NUM
alkej-976	445	15	)	)	PUNCT
alkej-976	446	1	[	[	X
alkej-976	446	2	16	16	NUM
alkej-976	446	3	]	]	PUNCT
alkej-976	446	4	where	where	SCONJ
alkej-976	446	5	,	,	PUNCT
alkej-976	446	6	𝑍-𝑘.	𝑍-𝑘.	PRON
alkej-976	446	7	∈,ℝ-𝑟.	∈,ℝ-𝑟.	ADV
alkej-976	446	8	is	be	AUX
alkej-976	446	9	the	the	DET
alkej-976	446	10	output	output	NOUN
alkej-976	446	11	that	that	PRON
alkej-976	446	12	needs	need	VERB
alkej-976	446	13	to	to	PART
alkej-976	446	14	be	be	AUX
alkej-976	446	15	controlled	control	VERB
alkej-976	446	16	,	,	PUNCT
alkej-976	446	17	and	and	CCONJ
alkej-976	446	18	𝑣	𝑣	PRON
alkej-976	446	19	is	be	AUX
alkej-976	446	20	the	the	DET
alkej-976	446	21	control	control	NOUN
alkej-976	446	22	horizon	horizon	NOUN
alkej-976	446	23	.	.	PUNCT
alkej-976	447	1	the	the	DET
alkej-976	447	2	predictive	predictive	NOUN
alkej-976	447	3	for	for	ADP
alkej-976	447	4	the	the	DET
alkej-976	447	5	final	final	ADJ
alkej-976	447	6	step	step	NOUN
alkej-976	447	7	(	(	PUNCT
alkej-976	447	8	k+f	k+f	NUM
alkej-976	447	9	)	)	PUNCT
alkej-976	447	10	can	can	AUX
alkej-976	447	11	be	be	AUX
alkej-976	447	12	obtained	obtain	VERB
alkej-976	447	13	by	by	ADP
alkej-976	447	14	,	,	PUNCT
alkej-976	447	15	𝑍-𝑘+f|𝑘.=𝐶,𝐴-𝑓.,𝑋-𝑘.+,c,𝐴-𝑓−1	𝑍-𝑘+f|𝑘.=𝐶,𝐴-𝑓.,𝑋-𝑘.+,c,𝐴-𝑓−1	PROPN
alkej-976	447	16	.	.	PUNCT
alkej-976	447	17	𝐶,𝐴-𝑓−2.𝐵	𝐶,𝐴-𝑓−2.𝐵	PROPN
alkej-976	447	18	…	…	PROPN
alkej-976	447	19	𝐶,𝐴-𝑓−𝑣+1.𝐵	𝐶,𝐴-𝑓−𝑣+1.𝐵	PROPN
alkej-976	447	20	𝐶,,𝐴.-𝑓,𝑣.𝐵.,,,𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-,𝑘+𝑣−1|𝑘	𝐶,,𝐴.-𝑓,𝑣.𝐵.,,,𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-,𝑘+𝑣−1|𝑘	PROPN
alkej-976	447	21	....	....	PROPN
alkej-976	447	22	,	,	PUNCT
alkej-976	447	23	…	…	PUNCT
alkej-976	447	24	(	(	PUNCT
alkej-976	447	25	25)[16	25)[16	NOUN
alkej-976	447	26	]	]	X
alkej-976	447	27	𝑍=𝑂,𝑋-,𝑘	𝑍=𝑂,𝑋-,𝑘	NOUN
alkej-976	447	28	..	..	PUNCT
alkej-976	448	1	+𝑀𝑈	+𝑀𝑈	ADV
alkej-976	448	2	,	,	PUNCT
alkej-976	448	3	…	…	PUNCT
alkej-976	448	4	(	(	PUNCT
alkej-976	448	5	26)[16][19	26)[16][19	NUM
alkej-976	448	6	]	]	X
alkej-976	448	7	𝑍=,,,𝑍-𝑘+1|𝑘.-,𝑍-𝑘+2|𝑘.-,𝑍-𝑘+3|𝑘.-.-.-,𝑍-𝑘+𝑣|𝑘.-,𝑍-𝑘+𝑣+1|𝑘.-.-.-,𝑍-,𝑘+𝑓|𝑘	𝑍=,,,𝑍-𝑘+1|𝑘.-,𝑍-𝑘+2|𝑘.-,𝑍-𝑘+3|𝑘.-.-.-,𝑍-𝑘+𝑣|𝑘.-,𝑍-𝑘+𝑣+1|𝑘.-.-.-,𝑍-,𝑘+𝑓|𝑘	PROPN
alkej-976	448	8	....	....	PUNCT
alkej-976	448	9	,	,	PUNCT
alkej-976	448	10	𝑈=,,,𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-𝑘+𝑣−1|𝑘	𝑈=,,,𝑈-𝑘|𝑘.-,𝑈-𝑘+1|𝑘.-,𝑈-𝑘+2|𝑘.-.-.-.-,𝑈-𝑘+𝑣−2|𝑘.-,𝑈-𝑘+𝑣−1|𝑘	NOUN
alkej-976	448	11	...	...	PUNCT
alkej-976	448	12	,	,	PUNCT
alkej-976	448	13	𝑂=,,𝐶𝐴-𝐶,𝐴-2.-𝐶,𝐴-3.-.-.-𝐶,𝐴-𝑣.-𝐶,𝐴-𝑣+1.-.-.-𝐶	𝑂=,,𝐶𝐴-𝐶,𝐴-2.-𝐶,𝐴-3.-.-.-𝐶,𝐴-𝑣.-𝐶,𝐴-𝑣+1.-.-.-𝐶	X
alkej-976	448	14	...	...	PUNCT
alkej-976	448	15	…	…	PUNCT
alkej-976	448	16	(	(	PUNCT
alkej-976	448	17	27)[20	27)[20	ADV
alkej-976	448	18	]	]	X
alkej-976	448	19	m=	m=	X
alkej-976	448	20	,	,	PUNCT
alkej-976	448	21	,	,	PUNCT
alkej-976	448	22	𝐶𝐵-0	𝐶𝐵-0	NOUN
alkej-976	448	23	-	-	SYM
alkej-976	448	24	0	0	NUM
alkej-976	448	25	-	-	PUNCT
alkej-976	448	26	0-	0-	NOUN
alkej-976	448	27	…	…	SYM
alkej-976	448	28	-0-𝐶𝐴𝐵-𝐶𝐵-0	-0-𝐶𝐴𝐵-𝐶𝐵-0	NOUN
alkej-976	448	29	-	-	PUNCT
alkej-976	448	30	0-	0-	NOUN
alkej-976	448	31	…	…	PUNCT
alkej-976	448	32	-0-𝐶,𝐴-2.𝐵-𝐶𝐴𝐵-𝐶𝐵-0-	-0-𝐶,𝐴-2.𝐵-𝐶𝐴𝐵-𝐶𝐵-0-	PRON
alkej-976	448	33	…	…	SYM
alkej-976	448	34	-0-,.-.-	-0-,.-.-	PROPN
alkej-976	448	35	..	..	PUNCT
alkej-976	448	36	-,.-.-	-,.-.-	PROPN
alkej-976	448	37	..	..	PUNCT
alkej-976	448	38	-,.-.-	-,.-.-	PROPN
alkej-976	448	39	..	..	PROPN
alkej-976	448	40	-	-	PUNCT
alkej-976	448	41	…	…	PUNCT
alkej-976	448	42	-	-	PUNCT
alkej-976	448	43	…	…	SYM
alkej-976	448	44	-,.-.-	-,.-.-	ADJ
alkej-976	448	45	..	..	PUNCT
alkej-976	448	46	-𝐶,𝐴-𝑣−1.𝐵-𝐶,𝐴-𝑣−2.𝐵-𝐶,𝐴-𝑣−3.𝐵-	-𝐶,𝐴-𝑣−1.𝐵-𝐶,𝐴-𝑣−2.𝐵-𝐶,𝐴-𝑣−3.𝐵-	PROPN
alkej-976	448	47	…	…	PUNCT
alkej-976	448	48	-𝐶𝐴𝐵-𝐶𝐵-𝐶,𝐴-𝑣.𝐵-𝐶,𝐴-𝑣−1.𝐵-𝐶,𝐴-𝑣−2.𝐵-	-𝐶𝐴𝐵-𝐶𝐵-𝐶,𝐴-𝑣.𝐵-𝐶,𝐴-𝑣−1.𝐵-𝐶,𝐴-𝑣−2.𝐵-	PROPN
alkej-976	448	49	…	…	SYM
alkej-976	448	50	-𝐶,𝐴-2.𝐵-𝐶,,𝐴.-1,𝑣.𝐵-,.-.-	-𝐶,𝐴-2.𝐵-𝐶,,𝐴.-1,𝑣.𝐵-,.-.-	PROPN
alkej-976	448	51	..	..	PUNCT
alkej-976	448	52	-,.-.-	-,.-.-	PROPN
alkej-976	448	53	..	..	PUNCT
alkej-976	448	54	-,.-.-	-,.-.-	PROPN
alkej-976	448	55	...	...	PUNCT
alkej-976	448	56	…	…	PUNCT
alkej-976	448	57	(	(	PUNCT
alkej-976	448	58	28)[22	28)[22	NOUN
alkej-976	448	59	]	]	X
alkej-976	448	60	where	where	SCONJ
alkej-976	448	61	m	m	NOUN
alkej-976	448	62	is	be	AUX
alkej-976	448	63	a	a	DET
alkej-976	448	64	state	state	NOUN
alkej-976	448	65	prediction	prediction	NOUN
alkej-976	448	66	matrix	matrix	NOUN
alkej-976	448	67	.	.	PUNCT
alkej-976	449	1	let	let	VERB
alkej-976	449	2	these	these	DET
alkej-976	449	3	desired	desire	VERB
alkej-976	449	4	outputs	output	NOUN
alkej-976	449	5	be	be	AUX
alkej-976	449	6	denoted	denote	VERB
alkej-976	449	7	by	by	ADP
alkej-976	449	8	,	,	PUNCT
alkej-976	449	9	,	,	PUNCT
alkej-976	449	10	𝑍-𝑑.-𝑘+1	𝑍-𝑑.-𝑘+1	PROPN
alkej-976	449	11	.	.	NOUN
alkej-976	449	12	,	,	PUNCT
alkej-976	449	13	,	,	PUNCT
alkej-976	449	14	,	,	PUNCT
alkej-976	449	15	𝑍-𝑑.-𝑘+2.,,,𝑍-𝑑.-𝑘+3	𝑍-𝑑.-𝑘+2.,,,𝑍-𝑑.-𝑘+3	X
alkej-976	449	16	.	.	NOUN
alkej-976	449	17	,	,	PUNCT
alkej-976	449	18	…	…	PUNCT
alkej-976	449	19	……	……	NOUN
alkej-976	449	20	.	.	PUNCT
alkej-976	449	21	,	,	PUNCT
alkej-976	449	22	,	,	PUNCT
alkej-976	449	23	,	,	PUNCT
alkej-976	449	24	𝑍-𝑑.-,𝑘+𝑓	𝑍-𝑑.-,𝑘+𝑓	PROPN
alkej-976	449	25	..	..	PUNCT
alkej-976	449	26	,	,	PUNCT
alkej-976	449	27	…	…	PUNCT
alkej-976	449	28	(	(	PUNCT
alkej-976	449	29	29)[23	29)[23	NUM
alkej-976	449	30	]	]	PUNCT
alkej-976	449	31	,	,	PUNCT
alkej-976	449	32	𝑍-𝑑.=,,,,𝑍-𝑑.-𝑘+1.-,,𝑍-𝑑.-𝑘+2.-,,𝑍-𝑑.-𝑘+3.-.-.-.-.-,,𝑍-𝑑.-,𝑘+f	𝑍-𝑑.=,,,,𝑍-𝑑.-𝑘+1.-,,𝑍-𝑑.-𝑘+2.-,,𝑍-𝑑.-𝑘+3.-.-.-.-.-,,𝑍-𝑑.-,𝑘+f	PROPN
alkej-976	449	33	....	....	PUNCT
alkej-976	449	34	.	.	PUNCT
alkej-976	450	1	…	…	PUNCT
alkej-976	450	2	(	(	PUNCT
alkej-976	450	3	30)[28	30)[28	NOUN
alkej-976	450	4	]	]	X
alkej-976	450	5	the	the	DET
alkej-976	450	6	cost	cost	NOUN
alkej-976	450	7	function	function	NOUN
alkej-976	450	8	can	can	AUX
alkej-976	450	9	be	be	AUX
alkej-976	450	10	expressed	express	VERB
alkej-976	450	11	as	as	ADP
alkej-976	450	12	[	[	X
alkej-976	450	13	29	29	NUM
alkej-976	450	14	]	]	PUNCT
alkej-976	450	15	,	,	PUNCT
alkej-976	450	16	𝑚𝑖𝑛-,𝑈	𝑚𝑖𝑛-,𝑈	PROPN
alkej-976	450	17	..	..	PUNCT
alkej-976	450	18	,,,,𝑍-𝑑.−𝑍	,,,,𝑍-𝑑.−𝑍	NOUN
alkej-976	450	19	..	..	PUNCT
alkej-976	450	20	-2.=	-2.=	PUNCT
alkej-976	450	21	,	,	PUNCT
alkej-976	450	22	𝑚𝑖𝑛-𝑈.	𝑚𝑖𝑛-𝑈.	NOUN
alkej-976	450	23	,	,	PUNCT
alkej-976	450	24	,	,	PUNCT
alkej-976	450	25	,	,	PUNCT
alkej-976	450	26	𝑍-𝑑.−𝑍.-𝑇.(,𝑍-𝑑.−𝑍	𝑍-𝑑.−𝑍.-𝑇.(,𝑍-𝑑.−𝑍	PROPN
alkej-976	450	27	)	)	PUNCT
alkej-976	450	28	.	.	PUNCT
alkej-976	451	1	…	…	PUNCT
alkej-976	451	2	(	(	PUNCT
alkej-976	451	3	31	31	NUM
alkej-976	451	4	)	)	PUNCT
alkej-976	451	5	by	by	ADP
alkej-976	451	6	substituting	substitute	VERB
alkej-976	451	7	,	,	PUNCT
alkej-976	451	8	𝑍-𝑑.and	𝑍-𝑑.and	PROPN
alkej-976	451	9	𝑍	𝑍	PROPN
alkej-976	451	10	,	,	PUNCT
alkej-976	451	11	the	the	DET
alkej-976	451	12	final	final	ADJ
alkej-976	451	13	form	form	NOUN
alkej-976	451	14	of	of	ADP
alkej-976	451	15	the	the	DET
alkej-976	451	16	cost	cost	NOUN
alkej-976	451	17	function	function	NOUN
alkej-976	451	18	that	that	PRON
alkej-976	451	19	will	will	AUX
alkej-976	451	20	penalise	penalise	VERB
alkej-976	451	21	the	the	DET
alkej-976	451	22	inputs	input	NOUN
alkej-976	451	23	becomes	become	VERB
alkej-976	451	24	clear	clear	ADJ
alkej-976	451	25	as	as	SCONJ
alkej-976	451	26	shown	show	VERB
alkej-976	451	27	in	in	ADP
alkej-976	451	28	the	the	DET
alkej-976	451	29	following	follow	VERB
alkej-976	451	30	equation	equation	NOUN
alkej-976	451	31	:	:	PUNCT
alkej-976	451	32	,	,	PUNCT
alkej-976	451	33	𝐽-,𝑈	𝐽-,𝑈	PROPN
alkej-976	451	34	..	..	PUNCT
alkej-976	451	35	=	=	SYM
alkej-976	451	36	,	,	PUNCT
alkej-976	451	37	𝑈-𝑇.,𝑊-3.𝑈	𝑈-𝑇.,𝑊-3.𝑈	PROPN
alkej-976	451	38	,	,	PUNCT
alkej-976	451	39	…	…	PUNCT
alkej-976	451	40	(	(	PUNCT
alkej-976	451	41	32	32	NUM
alkej-976	451	42	)	)	PUNCT
alkej-976	451	43	where	where	SCONJ
alkej-976	451	44	ju	ju	PROPN
alkej-976	451	45	is	be	AUX
alkej-976	451	46	a	a	DET
alkej-976	451	47	cost	cost	NOUN
alkej-976	451	48	function	function	NOUN
alkej-976	451	49	for	for	ADP
alkej-976	451	50	control	control	NOUN
alkej-976	451	51	input	input	NOUN
alkej-976	451	52	,	,	PUNCT
alkej-976	451	53	u	u	NOUN
alkej-976	451	54	is	be	AUX
alkej-976	451	55	an	an	DET
alkej-976	451	56	input	input	NOUN
alkej-976	451	57	vector	vector	NOUN
alkej-976	451	58	control	control	NOUN
alkej-976	451	59	,	,	PUNCT
alkej-976	451	60	and	and	CCONJ
alkej-976	451	61	w3	w3	PROPN
alkej-976	451	62	is	be	AUX
alkej-976	451	63	a	a	DET
alkej-976	451	64	final	final	ADJ
alkej-976	451	65	weighting	weighting	NOUN
alkej-976	451	66	matrix	matrix	NOUN
alkej-976	451	67	.	.	PUNCT
alkej-976	452	1	,	,	PUNCT
alkej-976	452	2	𝑊-,3	𝑊-,3	PROPN
alkej-976	452	3	..	..	PUNCT
alkej-976	452	4	=,,𝑊-𝑇.-1.,𝑊-2.,𝑊-,1	=,,𝑊-𝑇.-1.,𝑊-2.,𝑊-,1	X
alkej-976	452	5	..	..	PUNCT
alkej-976	452	6	…	…	PUNCT
alkej-976	452	7	(	(	PUNCT
alkej-976	452	8	33)[30][7	33)[30][7	NUM
alkej-976	452	9	]	]	PUNCT
alkej-976	452	10	,	,	PUNCT
alkej-976	452	11	𝑊-2.=,,,𝑄-0.-0	𝑊-2.=,,,𝑄-0.-0	NOUN
alkej-976	452	12	-	-	PUNCT
alkej-976	452	13	0-	0-	PROPN
alkej-976	452	14	..	..	PUNCT
alkej-976	452	15	-	-	PUNCT
alkej-976	452	16	..	..	PUNCT
alkej-976	452	17	-0	-0	PROPN
alkej-976	452	18	-	-	PUNCT
alkej-976	452	19	0-,𝑄-1.-0-	0-,𝑄-1.-0-	PROPN
alkej-976	452	20	..	..	PUNCT
alkej-976	452	21	-	-	PUNCT
alkej-976	452	22	..	..	PUNCT
alkej-976	452	23	-0	-0	INTJ
alkej-976	452	24	-	-	PUNCT
alkej-976	452	25	0-	0-	PROPN
alkej-976	452	26	..	..	ADJ
alkej-976	452	27	-.-	-.-	PROPN
alkej-976	452	28	..	..	PUNCT
alkej-976	452	29	-	-	PUNCT
alkej-976	452	30	..	..	PUNCT
alkej-976	452	31	-0-.-	-0-.-	PROPN
alkej-976	452	32	..	..	PROPN
alkej-976	452	33	-	-	PROPN
alkej-976	452	34	..	..	PUNCT
alkej-976	452	35	-.-	-.-	PROPN
alkej-976	452	36	..	..	PUNCT
alkej-976	452	37	-.-.-	-.-.-	PROPN
alkej-976	452	38	..	..	PUNCT
alkej-976	452	39	-	-	PUNCT
alkej-976	452	40	..	..	PUNCT
alkej-976	452	41	-	-	PUNCT
alkej-976	452	42	..	..	SYM
alkej-976	452	43	-.-.-0	-.-.-0	NUM
alkej-976	452	44	-	-	PUNCT
alkej-976	452	45	0	0	NUM
alkej-976	452	46	-	-	PUNCT
alkej-976	452	47	0-	0-	PROPN
alkej-976	452	48	..	..	PUNCT
alkej-976	452	49	-	-	PUNCT
alkej-976	452	50	..	..	PUNCT
alkej-976	452	51	-,𝑄-,𝑣−1	-,𝑄-,𝑣−1	PROPN
alkej-976	452	52	....	....	PUNCT
alkej-976	453	1	…	…	PUNCT
alkej-976	453	2	(	(	PUNCT
alkej-976	453	3	34	34	NUM
alkej-976	453	4	)	)	PUNCT
alkej-976	453	5	matrix	matrix	NOUN
alkej-976	453	6	dimensions	dimension	NOUN
alkej-976	453	7	are	be	AUX
alkej-976	453	8	,	,	PUNCT
alkej-976	453	9	𝑊-,2	𝑊-,2	PROPN
alkej-976	453	10	..	..	PUNCT
alkej-976	454	1	=[𝑚∗𝑛,𝑚∗𝑛	=[𝑚∗𝑛,𝑚∗𝑛	NOUN
alkej-976	454	2	]	]	X
alkej-976	454	3	,	,	PUNCT
alkej-976	454	4	where	where	SCONJ
alkej-976	454	5	w1	w1	NOUN
alkej-976	454	6	,	,	PUNCT
alkej-976	454	7	w2	w2	NOUN
alkej-976	454	8	,	,	PUNCT
alkej-976	454	9	m	m	PROPN
alkej-976	454	10	and	and	CCONJ
alkej-976	454	11	n	n	PROPN
alkej-976	454	12	are	be	AUX
alkej-976	454	13	the	the	DET
alkej-976	454	14	state	state	NOUN
alkej-976	454	15	prediction	prediction	NOUN
alkej-976	454	16	matrix	matrix	NOUN
alkej-976	454	17	,	,	PUNCT
alkej-976	454	18	input	input	NOUN
alkej-976	454	19	weight	weight	NOUN
alkej-976	454	20	matrix	matrix	NOUN
alkej-976	454	21	,	,	PUNCT
alkej-976	454	22	number	number	NOUN
alkej-976	454	23	of	of	ADP
alkej-976	454	24	outputs	output	NOUN
alkej-976	454	25	and	and	CCONJ
alkej-976	454	26	number	number	NOUN
alkej-976	454	27	of	of	ADP
alkej-976	454	28	inputs	input	NOUN
alkej-976	454	29	,	,	PUNCT
alkej-976	454	30	respectively	respectively	ADV
alkej-976	454	31	.	.	PUNCT
alkej-976	455	1	the	the	DET
alkej-976	455	2	cost	cost	NOUN
alkej-976	455	3	function	function	NOUN
alkej-976	455	4	that	that	PRON
alkej-976	455	5	corresponds	correspond	VERB
alkej-976	455	6	to	to	ADP
alkej-976	455	7	the	the	DET
alkej-976	455	8	tracking	tracking	NOUN
alkej-976	455	9	error	error	NOUN
alkej-976	455	10	is	be	AUX
alkej-976	455	11	,	,	PUNCT
alkej-976	455	12	𝐽-,𝑧	𝐽-,𝑧	VERB
alkej-976	455	13	..	..	PUNCT
alkej-976	455	14	=	=	SYM
alkej-976	455	15	,	,	PUNCT
alkej-976	455	16	,	,	PUNCT
alkej-976	455	17	𝑆−𝑀𝑈.-𝑇.,𝑊-4	𝑆−𝑀𝑈.-𝑇.,𝑊-4	PROPN
alkej-976	455	18	.	.	PROPN
alkej-976	455	19	(	(	PUNCT
alkej-976	455	20	𝑆−𝑀𝑈	𝑆−𝑀𝑈	PROPN
alkej-976	455	21	)	)	PUNCT
alkej-976	455	22	,	,	PUNCT
alkej-976	455	23	…	…	PUNCT
alkej-976	455	24	(	(	PUNCT
alkej-976	455	25	35)[7	35)[7	NUM
alkej-976	455	26	]	]	PUNCT
alkej-976	455	27	where	where	SCONJ
alkej-976	455	28	(	(	PUNCT
alkej-976	455	29	𝑆=,𝑍-𝑑.−𝑂,𝑋-,𝑘	𝑆=,𝑍-𝑑.−𝑂,𝑋-,𝑘	PROPN
alkej-976	455	30	..	..	PUNCT
alkej-976	455	31	)	)	PUNCT
alkej-976	455	32	.	.	PUNCT
alkej-976	456	1	the	the	DET
alkej-976	456	2	cost	cost	NOUN
alkej-976	456	3	function	function	NOUN
alkej-976	456	4	penalises	penalise	VERB
alkej-976	456	5	the	the	DET
alkej-976	456	6	difference	difference	NOUN
alkej-976	456	7	between	between	ADP
alkej-976	456	8	the	the	DET
alkej-976	456	9	desired	desire	VERB
alkej-976	456	10	and	and	CCONJ
alkej-976	456	11	controlled	control	VERB
alkej-976	456	12	trajectory	trajectory	NOUN
alkej-976	456	13	as	as	SCONJ
alkej-976	456	14	shown	show	VERB
alkej-976	456	15	in	in	ADP
alkej-976	456	16	the	the	DET
alkej-976	456	17	following	follow	VERB
alkej-976	456	18	equation	equation	NOUN
alkej-976	456	19	[	[	X
alkej-976	456	20	7	7	NUM
alkej-976	456	21	]	]	NUM
alkej-976	456	22	:	:	PUNCT
alkej-976	456	23	,	,	PUNCT
alkej-976	456	24	𝑚𝑖𝑛-𝑈.	𝑚𝑖𝑛-𝑈.	PROPN
alkej-976	456	25	,	,	PUNCT
alkej-976	456	26	𝐽-,𝑧	𝐽-,𝑧	NOUN
alkej-976	456	27	..	..	SYM
alkej-976	456	28	+,𝐽-,𝑈	+,𝐽-,𝑈	NOUN
alkej-976	456	29	..	..	PUNCT
alkej-976	456	30	.	.	PUNCT
alkej-976	457	1	…	…	PUNCT
alkej-976	457	2	(	(	PUNCT
alkej-976	457	3	36	36	NUM
alkej-976	457	4	)	)	PUNCT
alkej-976	457	5	by	by	ADP
alkej-976	457	6	partial	partial	ADJ
alkej-976	457	7	derivative	derivative	NOUN
alkej-976	457	8	of	of	ADP
alkej-976	457	9	the	the	DET
alkej-976	457	10	cost	cost	NOUN
alkej-976	457	11	function	function	NOUN
alkej-976	457	12	for	for	ADP
alkej-976	457	13	u	u	NOUN
alkej-976	457	14	,	,	PUNCT
alkej-976	457	15	,	,	PUNCT
alkej-976	457	16	𝜕𝐽-,𝜕𝑈	𝜕𝐽-,𝜕𝑈	NOUN
alkej-976	457	17	..	..	PUNCT
alkej-976	457	18	=	=	SYM
alkej-976	457	19	−2,𝑀-𝑇.,𝑊-4.+2,𝑀-𝑇.,𝑊-4.𝑀𝑈+2,𝑊-3.𝑈	−2,𝑀-𝑇.,𝑊-4.+2,𝑀-𝑇.,𝑊-4.𝑀𝑈+2,𝑊-3.𝑈	NOUN
alkej-976	457	20	.	.	PUNCT
alkej-976	458	1	…	…	PUNCT
alkej-976	458	2	(	(	PUNCT
alkej-976	458	3	37	37	NUM
alkej-976	458	4	)	)	PUNCT
alkej-976	458	5	to	to	PART
alkej-976	458	6	find	find	VERB
alkej-976	458	7	the	the	DET
alkej-976	458	8	minimum	minimum	NOUN
alkej-976	458	9	of	of	ADP
alkej-976	458	10	the	the	DET
alkej-976	458	11	cost	cost	NOUN
alkej-976	458	12	function	function	NOUN
alkej-976	458	13	for	for	ADP
alkej-976	458	14	u	u	NOUN
alkej-976	458	15	,	,	PUNCT
alkej-976	458	16	,	,	PUNCT
alkej-976	458	17	𝜕𝐽-,𝜕𝑈	𝜕𝐽-,𝜕𝑈	NOUN
alkej-976	458	18	..	..	SYM
alkej-976	458	19	=0	=0	X
alkej-976	458	20	.	.	PUNCT
alkej-976	459	1	…	…	PUNCT
alkej-976	459	2	(	(	PUNCT
alkej-976	459	3	38	38	NUM
alkej-976	459	4	)	)	PUNCT
alkej-976	459	5	,	,	PUNCT
alkej-976	459	6	𝜕𝐽-,𝜕𝑈	𝜕𝐽-,𝜕𝑈	NOUN
alkej-976	459	7	..	..	PUNCT
alkej-976	459	8	=	=	SYM
alkej-976	460	1	−2,𝑀-𝑇.,𝑊-4.+2,𝑀-𝑇.,𝑊-4.𝑀𝑈+2,𝑊-3.𝑈=0	−2,𝑀-𝑇.,𝑊-4.+2,𝑀-𝑇.,𝑊-4.𝑀𝑈+2,𝑊-3.𝑈=0	NOUN
alkej-976	460	2	.	.	NOUN
alkej-976	460	3	…	…	PUNCT
alkej-976	460	4	(	(	PUNCT
alkej-976	460	5	39	39	NUM
alkej-976	460	6	)	)	PUNCT
alkej-976	460	7	from	from	ADP
alkej-976	460	8	equation	equation	NOUN
alkej-976	460	9	(	(	PUNCT
alkej-976	460	10	39	39	NUM
alkej-976	460	11	)	)	PUNCT
alkej-976	460	12	,	,	PUNCT
alkej-976	460	13	the	the	DET
alkej-976	460	14	solution	solution	NOUN
alkej-976	460	15	of	of	ADP
alkej-976	460	16	the	the	DET
alkej-976	460	17	mpc	mpc	PROPN
alkej-976	460	18	is	be	AUX
alkej-976	460	19	,	,	PUNCT
alkej-976	460	20	𝑈.=(,𝑀-𝑇.,𝑊-,4	𝑈.=(,𝑀-𝑇.,𝑊-,4	PROPN
alkej-976	460	21	..	..	PUNCT
alkej-976	460	22	𝑀+,𝑊-3.),𝑀-𝑇.,𝑊-,4	𝑀+,𝑊-3.),𝑀-𝑇.,𝑊-,4	PROPN
alkej-976	460	23	..	..	PUNCT
alkej-976	460	24	𝑆.	𝑆.	PROPN
alkej-976	460	25	…	…	PUNCT
alkej-976	460	26	(	(	PUNCT
alkej-976	460	27	40	40	NUM
alkej-976	460	28	)	)	PUNCT
alkej-976	460	29	the	the	DET
alkej-976	460	30	initial	initial	ADJ
alkej-976	460	31	parameters	parameter	NOUN
alkej-976	460	32	of	of	ADP
alkej-976	460	33	the	the	DET
alkej-976	460	34	mpc	mpc	NOUN
alkej-976	460	35	were	be	AUX
alkej-976	460	36	selected	select	VERB
alkej-976	460	37	on	on	ADP
alkej-976	460	38	the	the	DET
alkej-976	460	39	basis	basis	NOUN
alkej-976	460	40	of	of	ADP
alkej-976	460	41	theoretical	theoretical	ADJ
alkej-976	460	42	practices	practice	NOUN
alkej-976	460	43	that	that	PRON
alkej-976	460	44	fit	fit	VERB
alkej-976	460	45	the	the	DET
alkej-976	460	46	system	system	NOUN
alkej-976	460	47	parameters	parameter	NOUN
alkej-976	460	48	and	and	CCONJ
alkej-976	460	49	through	through	ADP
alkej-976	460	50	manual	manual	ADJ
alkej-976	460	51	tuning	tuning	NOUN
alkej-976	460	52	in	in	ADP
alkej-976	460	53	the	the	DET
alkej-976	460	54	early	early	ADJ
alkej-976	460	55	simulation	simulation	NOUN
alkej-976	460	56	stages	stage	NOUN
alkej-976	460	57	.	.	PUNCT
alkej-976	461	1	however	however	ADV
alkej-976	461	2	,	,	PUNCT
alkej-976	461	3	pso	pso	PROPN
alkej-976	461	4	was	be	AUX
alkej-976	461	5	later	later	ADV
alkej-976	461	6	applied	apply	VERB
alkej-976	461	7	to	to	PART
alkej-976	461	8	tune	tune	NOUN
alkej-976	461	9	these	these	DET
alkej-976	461	10	parameters	parameter	NOUN
alkej-976	461	11	automatically	automatically	ADV
alkej-976	461	12	to	to	PART
alkej-976	461	13	imp	imp	VERB
alkej-976	461	14	...	...	PUNCT
alkej-976	461	15	3.2	3.2	NUM
alkej-976	461	16	pso	pso	NOUN
alkej-976	461	17	algorithm	algorithm	NOUN
alkej-976	461	18	the	the	DET
alkej-976	461	19	pso	pso	NOUN
alkej-976	461	20	algorithm	algorithm	NOUN
alkej-976	461	21	can	can	AUX
alkej-976	461	22	be	be	AUX
alkej-976	461	23	utilised	utilise	VERB
alkej-976	461	24	to	to	PART
alkej-976	461	25	find	find	VERB
alkej-976	461	26	optimal	optimal	ADJ
alkej-976	461	27	values	value	NOUN
alkej-976	461	28	in	in	ADP
alkej-976	461	29	various	various	ADJ
alkej-976	461	30	applications	application	NOUN
alkej-976	461	31	,	,	PUNCT
alkej-976	461	32	most	most	ADV
alkej-976	461	33	notably	notably	ADV
alkej-976	461	34	in	in	ADP
alkej-976	461	35	pid	pid	NOUN
alkej-976	461	36	controllers	controller	NOUN
alkej-976	461	37	[	[	X
alkej-976	461	38	31	31	NUM
alkej-976	461	39	]	]	PUNCT
alkej-976	462	1	[	[	X
alkej-976	462	2	32	32	NUM
alkej-976	462	3	]	]	PUNCT
alkej-976	462	4	.	.	PUNCT
alkej-976	463	1	however	however	ADV
alkej-976	463	2	,	,	PUNCT
alkej-976	463	3	it	it	PRON
alkej-976	463	4	is	be	AUX
alkej-976	463	5	rarely	rarely	ADV
alkej-976	463	6	used	use	VERB
alkej-976	463	7	in	in	ADP
alkej-976	463	8	the	the	DET
alkej-976	463	9	mpc	mpc	NOUN
alkej-976	463	10	approach	approach	NOUN
alkej-976	463	11	.	.	PUNCT
alkej-976	464	1	pso	pso	NOUN
alkej-976	464	2	calculation	calculation	NOUN
alkej-976	464	3	is	be	AUX
alkej-976	464	4	used	use	VERB
alkej-976	464	5	in	in	ADP
alkej-976	464	6	finding	find	VERB
alkej-976	464	7	the	the	DET
alkej-976	464	8	optimal	optimal	ADJ
alkej-976	464	9	values	value	NOUN
alkej-976	464	10	​​of	​​of	ADP
alkej-976	464	11	the	the	DET
alkej-976	464	12	weight	weight	NOUN
alkej-976	464	13	matrix	matrix	NOUN
alkej-976	464	14	w	w	NOUN
alkej-976	464	15	...	...	PUNCT
alkej-976	464	16	as	as	SCONJ
alkej-976	464	17	depicted	depict	VERB
alkej-976	464	18	in	in	ADP
alkej-976	464	19	figure	figure	NOUN
alkej-976	464	20	4	4	NUM
alkej-976	464	21	,	,	PUNCT
alkej-976	464	22	the	the	DET
alkej-976	464	23	pso	pso	NOUN
alkej-976	464	24	process	process	NOUN
alkej-976	464	25	iteratively	iteratively	ADV
alkej-976	464	26	updates	update	VERB
alkej-976	464	27	the	the	DET
alkej-976	464	28	position	position	NOUN
alkej-976	464	29	and	and	CCONJ
alkej-976	464	30	velocity	velocity	NOUN
alkej-976	464	31	of	of	ADP
alkej-976	464	32	each	each	DET
alkej-976	464	33	particle	particle	NOUN
alkej-976	464	34	.	.	PUNCT
alkej-976	465	1	each	each	DET
alkej-976	465	2	particle	particle	NOUN
alkej-976	465	3	tracks	track	VERB
alkej-976	465	4	two	two	NUM
alkej-976	465	5	key	key	ADJ
alkej-976	465	6	metrics	metric	NOUN
alkej-976	465	7	:	:	PUNCT
alkej-976	465	8	,	,	PUNCT
alkej-976	465	9	𝑃-,𝑏𝑒𝑠𝑡	𝑃-,𝑏𝑒𝑠𝑡	PROPN
alkej-976	465	10	..	..	PUNCT
alkej-976	465	11	:	:	PUNCT
alkej-976	465	12	the	the	DET
alkej-976	465	13	particle	particle	NOUN
alkej-976	465	14	’s	’s	PART
alkej-976	465	15	best	well	ADV
alkej-976	465	16	-	-	PUNCT
alkej-976	465	17	known	know	VERB
alkej-976	465	18	position	position	NOUN
alkej-976	465	19	based	base	VERB
alkej-976	465	20	on	on	ADP
alkej-976	465	21	its	its	PRON
alkej-976	465	22	objective	objective	ADJ
alkej-976	465	23	function	function	NOUN
alkej-976	465	24	,	,	PUNCT
alkej-976	465	25	𝑔-,𝑏𝑒𝑠𝑡	𝑔-,𝑏𝑒𝑠𝑡	PROPN
alkej-976	465	26	..	..	PUNCT
alkej-976	465	27	:	:	PUNCT
alkej-976	465	28	the	the	DET
alkej-976	465	29	best	good	ADJ
alkej-976	465	30	position	position	NOUN
alkej-976	465	31	discovered	discover	VERB
alkej-976	465	32	by	by	ADP
alkej-976	465	33	the	the	DET
alkej-976	465	34	entire	entire	ADJ
alkej-976	465	35	swarm	swarm	NOUN
alkej-976	465	36	these	these	DET
alkej-976	465	37	metrics	metric	NOUN
alkej-976	465	38	are	be	AUX
alkej-976	465	39	critical	critical	ADJ
alkej-976	465	40	in	in	ADP
alkej-976	465	41	guiding	guide	VERB
alkej-976	465	42	particles	particle	NOUN
alkej-976	465	43	towards	towards	ADP
alkej-976	465	44	the	the	DET
alkej-976	465	45	global	global	ADJ
alkej-976	465	46	optimum	optimum	NOUN
alkej-976	465	47	.	.	PUNCT
alkej-976	466	1	the	the	DET
alkej-976	466	2	inertia	inertia	NOUN
alkej-976	466	3	weight	weight	NOUN
alkej-976	466	4	,	,	PUNCT
alkej-976	466	5	also	also	ADV
alkej-976	466	6	shown	show	VERB
alkej-976	466	7	in	in	ADP
alkej-976	466	8	figure	figure	NOUN
alkej-976	466	9	4	4	NUM
alkej-976	466	10	,	,	PUNCT
alkej-976	466	11	controls	control	VERB
alkej-976	466	12	the	the	DET
alkej-976	466	13	balance	balance	NOUN
alkej-976	466	14	between	between	ADP
alkej-976	466	15	exploration	exploration	NOUN
alkej-976	466	16	and	and	CCONJ
alkej-976	466	17	exploitation	exploitation	NOUN
alkej-976	466	18	.	.	PUNCT
alkej-976	467	1	the	the	DET
alkej-976	467	2	inertia	inertia	NOUN
alkej-976	467	3	weight	weight	NOUN
alkej-976	467	4	is	be	AUX
alkej-976	467	5	∅=	∅=	ADP
alkej-976	467	6	,	,	PUNCT
alkej-976	467	7	∅-𝑚𝑎𝑥.−,,,∅-𝑚𝑎𝑥.−,∅-𝑚𝑖𝑛.-,𝑇-,𝑚𝑎𝑥	∅-𝑚𝑎𝑥.−,,,∅-𝑚𝑎𝑥.−,∅-𝑚𝑖𝑛.-,𝑇-,𝑚𝑎𝑥	PROPN
alkej-976	467	8	.....	.....	PUNCT
alkej-976	467	9	…	…	PUNCT
alkej-976	467	10	(	(	PUNCT
alkej-976	467	11	41)[35	41)[35	X
alkej-976	467	12	]	]	X
alkej-976	467	13	let	let	VERB
alkej-976	467	14	x	x	PRON
alkej-976	467	15	and	and	CCONJ
alkej-976	467	16	v	v	AUX
alkej-976	467	17	be	be	AUX
alkej-976	467	18	the	the	DET
alkej-976	467	19	position	position	NOUN
alkej-976	467	20	and	and	CCONJ
alkej-976	467	21	velocity	velocity	NOUN
alkej-976	467	22	respectively	respectively	ADV
alkej-976	467	23	.	.	PUNCT
alkej-976	468	1	the	the	DET
alkej-976	468	2	equations	equation	NOUN
alkej-976	468	3	for	for	ADP
alkej-976	468	4	updating	update	VERB
alkej-976	468	5	the	the	DET
alkej-976	468	6	velocity	velocity	NOUN
alkej-976	468	7	and	and	CCONJ
alkej-976	468	8	position	position	NOUN
alkej-976	468	9	are	be	AUX
alkej-976	468	10	as	as	SCONJ
alkej-976	468	11	follows	follow	VERB
alkej-976	468	12	:	:	PUNCT
alkej-976	468	13	,	,	PUNCT
alkej-976	468	14	𝑣-,𝑖,𝑙	𝑣-,𝑖,𝑙	PROPN
alkej-976	468	15	..	..	PUNCT
alkej-976	468	16	,𝑡.=∅,𝑣-,𝑖,𝑙	,𝑡.=∅,𝑣-,𝑖,𝑙	PROPN
alkej-976	468	17	..	..	PUNCT
alkej-976	468	18	,𝑡−1.+	,𝑡−1.+	PUNCT
alkej-976	468	19	,	,	PUNCT
alkej-976	468	20	𝑐-1.,𝑟-1.,,𝑃-𝑏𝑒𝑠𝑡.	𝑐-1.,𝑟-1.,,𝑃-𝑏𝑒𝑠𝑡.	PROPN
alkej-976	468	21	−,𝑥-,𝑖,𝑙	−,𝑥-,𝑖,𝑙	PROPN
alkej-976	468	22	..	..	PUNCT
alkej-976	468	23	,𝑡−1	,𝑡−1	PUNCT
alkej-976	468	24	..	..	PUNCT
alkej-976	468	25	+	+	NUM
alkej-976	468	26	,	,	PUNCT
alkej-976	468	27	𝑐-2.,𝑟-2.,,𝑔-𝑏𝑒𝑠𝑡.−,𝑥-,𝑖,𝑙	𝑐-2.,𝑟-2.,,𝑔-𝑏𝑒𝑠𝑡.−,𝑥-,𝑖,𝑙	NOUN
alkej-976	468	28	..	..	PUNCT
alkej-976	468	29	,𝑡−1	,𝑡−1	PROPN
alkej-976	468	30	..	..	PUNCT
alkej-976	468	31	,	,	PUNCT
alkej-976	468	32	…	…	PUNCT
alkej-976	468	33	(	(	PUNCT
alkej-976	468	34	42)[36	42)[36	NOUN
alkej-976	468	35	]	]	X
alkej-976	468	36	,	,	PUNCT
alkej-976	468	37	𝑥-(𝑖,𝑙).(𝑡)=,𝑥-(𝑖,𝑙).,𝑡−1.+,𝑣-(𝑖,𝑙).(𝑡	𝑥-(𝑖,𝑙).(𝑡)=,𝑥-(𝑖,𝑙).,𝑡−1.+,𝑣-(𝑖,𝑙).(𝑡	PROPN
alkej-976	468	38	)	)	PUNCT
alkej-976	468	39	,	,	PUNCT
alkej-976	468	40	…	…	PUNCT
alkej-976	468	41	(	(	PUNCT
alkej-976	468	42	43)[36	43)[36	NOUN
alkej-976	468	43	]	]	X
alkej-976	469	1	where	where	SCONJ
alkej-976	469	2	,	,	PUNCT
alkej-976	469	3	𝑐-1	𝑐-1	ADV
alkej-976	469	4	.	.	PUNCT
alkej-976	470	1	,	,	PUNCT
alkej-976	470	2	,	,	PUNCT
alkej-976	470	3	𝑐-2	𝑐-2	NOUN
alkej-976	470	4	,	,	PUNCT
alkej-976	470	5	.𝑖	.𝑖	PROPN
alkej-976	470	6	,	,	PUNCT
alkej-976	470	7	𝑙	𝑙	NUM
alkej-976	470	8	are	be	AUX
alkej-976	470	9	the	the	DET
alkej-976	470	10	individual	individual	ADJ
alkej-976	470	11	and	and	CCONJ
alkej-976	470	12	social	social	ADJ
alkej-976	470	13	cognitive	cognitive	NOUN
alkej-976	470	14	,	,	PUNCT
alkej-976	470	15	number	number	NOUN
alkej-976	470	16	of	of	ADP
alkej-976	470	17	particles	particle	NOUN
alkej-976	470	18	and	and	CCONJ
alkej-976	470	19	number	number	NOUN
alkej-976	470	20	of	of	ADP
alkej-976	470	21	variations	variation	NOUN
alkej-976	470	22	,	,	PUNCT
alkej-976	470	23	respectively	respectively	ADV
alkej-976	470	24	,	,	PUNCT
alkej-976	470	25	and	and	CCONJ
alkej-976	470	26	,	,	PUNCT
alkej-976	470	27	𝑟-1	𝑟-1	NUM
alkej-976	470	28	.	.	PUNCT
alkej-976	471	1	,	,	PUNCT
alkej-976	471	2	,	,	PUNCT
alkej-976	471	3	𝑟-,2	𝑟-,2	PROPN
alkej-976	471	4	..	..	PUNCT
alkej-976	471	5	are	be	AUX
alkej-976	471	6	uniformly	uniformly	ADV
alkej-976	471	7	distributed	distribute	VERB
alkej-976	471	8	randomly	randomly	ADV
alkej-976	471	9	.	.	PUNCT
alkej-976	472	1	,	,	PUNCT
alkej-976	472	2	𝑄-,0	𝑄-,0	PROPN
alkej-976	472	3	..	..	PUNCT
alkej-976	472	4	,	,	PUNCT
alkej-976	472	5	…	…	PUNCT
alkej-976	472	6	,	,	PUNCT
alkej-976	472	7	,	,	PUNCT
alkej-976	472	8	𝑄-𝑣−1	𝑄-𝑣−1	PROPN
alkej-976	472	9	.	.	PROPN
alkej-976	473	1	are	be	AUX
alkej-976	473	2	values	value	NOUN
alkej-976	473	3	of	of	ADP
alkej-976	473	4	the	the	DET
alkej-976	473	5	weight	weight	NOUN
alkej-976	473	6	matrix	matrix	NOUN
alkej-976	473	7	,	,	PUNCT
alkej-976	473	8	up	up	ADP
alkej-976	473	9	...	...	PUNCT
alkej-976	473	10	,	,	PUNCT
alkej-976	473	11	𝑄-0	𝑄-0	NOUN
alkej-976	473	12	.	.	PUNCT
alkej-976	474	1	=	=	PRON
alkej-976	474	2	,	,	PUNCT
alkej-976	474	3	𝑥-(𝑖,1	𝑥-(𝑖,1	PROPN
alkej-976	474	4	)	)	PUNCT
alkej-976	474	5	.	.	PUNCT
alkej-976	475	1	,	,	PUNCT
alkej-976	475	2	,	,	PUNCT
alkej-976	475	3	𝑄-𝑣−1.=	𝑄-𝑣−1.=	PROPN
alkej-976	475	4	,	,	PUNCT
alkej-976	475	5	𝑥-,,𝑖,𝑚∗𝑛	𝑥-,,𝑖,𝑚∗𝑛	PROPN
alkej-976	475	6	...	...	PUNCT
alkej-976	475	7	fig	fig	NOUN
alkej-976	475	8	.	.	PUNCT
alkej-976	476	1	4	4	X
alkej-976	476	2	.	.	X
alkej-976	476	3	flowchart	flowchart	NOUN
alkej-976	476	4	of	of	ADP
alkej-976	476	5	pso	pso	PROPN
alkej-976	476	6	table	table	NOUN
alkej-976	476	7	1	1	NUM
alkej-976	476	8	,	,	PUNCT
alkej-976	476	9	parameters	parameter	NOUN
alkej-976	476	10	of	of	ADP
alkej-976	476	11	pso	pso	PROPN
alkej-976	476	12	4	4	NUM
alkej-976	476	13	.	.	PUNCT
alkej-976	476	14	results	result	NOUN
alkej-976	476	15	and	and	CCONJ
alkej-976	476	16	discussion	discussion	NOUN
alkej-976	476	17	the	the	DET
alkej-976	476	18	simulation	simulation	NOUN
alkej-976	476	19	was	be	AUX
alkej-976	476	20	conducted	conduct	VERB
alkej-976	476	21	on	on	ADP
alkej-976	476	22	a	a	DET
alkej-976	476	23	windows	window	NOUN
alkej-976	476	24	10	10	NUM
alkej-976	476	25	pc	pc	NOUN
alkej-976	476	26	,	,	PUNCT
alkej-976	476	27	offering	offer	VERB
alkej-976	476	28	a	a	DET
alkej-976	476	29	reliable	reliable	ADJ
alkej-976	476	30	environment	environment	NOUN
alkej-976	476	31	suitable	suitable	ADJ
alkej-976	476	32	for	for	ADP
alkej-976	476	33	operating	operate	VERB
alkej-976	476	34	the	the	DET
alkej-976	476	35	python	python	NOUN
alkej-976	476	36	2022	2022	NUM
alkej-976	476	37	programming	programming	NOUN
alkej-976	476	38	environment	environment	NOUN
alkej-976	476	39	.	.	PUNCT
alkej-976	477	1	the	the	DET
alkej-976	477	2	values	value	NOUN
alkej-976	477	3	​​mentioned	​​mentione	VERB
alkej-976	477	4	in	in	ADP
alkej-976	477	5	table	table	NOUN
alkej-976	477	6	3[27	3[27	PROPN
alkej-976	477	7	]	]	PUNCT
alkej-976	477	8	were	be	AUX
alkej-976	477	9	adopted	adopt	VERB
alkej-976	477	10	as	as	ADP
alkej-976	477	11	a	a	DET
alkej-976	477	12	basis	basis	NOUN
alkej-976	477	13	for	for	ADP
alkej-976	477	14	simulating	simulate	VERB
alkej-976	477	15	the	the	DET
alkej-976	477	16	system	system	NOUN
alkej-976	477	17	in	in	ADP
alkej-976	477	18	the	the	DET
alkej-976	477	19	absence	absence	NOUN
alkej-976	477	20	of	of	ADP
alkej-976	477	21	the	the	DET
alkej-976	477	22	pso	pso	NOUN
alkej-976	477	23	algorithm	algorithm	NOUN
alkej-976	477	24	for	for	ADP
alkej-976	477	25	the	the	DET
alkej-976	477	26	steering	steering	NOUN
alkej-976	477	27	wheel	wheel	NOUN
alkej-976	477	28	system	system	NOUN
alkej-976	477	29	.	.	PUNCT
alkej-976	478	1	the	the	DET
alkej-976	478	2	initial	initial	ADJ
alkej-976	478	3	values	value	NOUN
alkej-976	478	4	of	of	ADP
alkej-976	478	5	qo	qo	NOUN
alkej-976	478	6	and	and	CCONJ
alkej-976	478	7	q1,v−1	q1,v−1	NOUN
alkej-976	478	8	equal	equal	ADJ
alkej-976	478	9	to	to	ADP
alkej-976	478	10	10−10	10−10	NUM
alkej-976	478	11	and	and	CCONJ
alkej-976	478	12	10−9	10−9	NUM
alkej-976	478	13	respectively	respectively	ADV
alkej-976	478	14	were	be	AUX
alkej-976	478	15	chosen	choose	VERB
alkej-976	478	16	on	on	ADP
alkej-976	478	17	the	the	DET
alkej-976	478	18	basi	basi	NOUN
alkej-976	478	19	...	...	PUNCT
alkej-976	479	1	4.1.1	4.1.1	NUM
alkej-976	479	2	cases	case	NOUN
alkej-976	479	3	of	of	ADP
alkej-976	479	4	step	step	NOUN
alkej-976	479	5	and	and	CCONJ
alkej-976	479	6	square	square	ADJ
alkej-976	479	7	response	response	NOUN
alkej-976	479	8	figure	figure	NOUN
alkej-976	479	9	5	5	NUM
alkej-976	479	10	graphs	graph	NOUN
alkej-976	479	11	the	the	DET
alkej-976	479	12	step	step	NOUN
alkej-976	479	13	response	response	NOUN
alkej-976	479	14	for	for	ADP
alkej-976	479	15	the	the	DET
alkej-976	479	16	angle	angle	NOUN
alkej-976	479	17	of	of	ADP
alkej-976	479	18	steering	steering	NOUN
alkej-976	479	19	motor	motor	NOUN
alkej-976	479	20	qm1	qm1	PROPN
alkej-976	479	21	.	.	PUNCT
alkej-976	480	1	the	the	DET
alkej-976	480	2	use	use	NOUN
alkej-976	480	3	of	of	ADP
alkej-976	480	4	pso	pso	NOUN
alkej-976	480	5	with	with	ADP
alkej-976	480	6	mpc	mpc	PROPN
alkej-976	480	7	has	have	AUX
alkej-976	480	8	remarkably	remarkably	ADV
alkej-976	480	9	improved	improve	VERB
alkej-976	480	10	the	the	DET
alkej-976	480	11	angle	angle	NOUN
alkej-976	480	12	in	in	ADP
alkej-976	480	13	terms	term	NOUN
alkej-976	480	14	of	of	ADP
alkej-976	480	15	the	the	DET
alkej-976	480	16	settling	settling	NOUN
alkej-976	480	17	time	time	NOUN
alkej-976	480	18	,	,	PUNCT
alkej-976	480	19	which	which	PRON
alkej-976	480	20	decreased	decrease	VERB
alkej-976	480	21	from	from	ADP
alkej-976	480	22	2.096	2.096	NUM
alkej-976	480	23	seconds	second	NOUN
alkej-976	480	24	to	to	ADP
alkej-976	480	25	0.268	0.268	NUM
alkej-976	480	26	seconds	second	NOUN
alkej-976	480	27	,	,	PUNCT
alkej-976	480	28	and	and	CCONJ
alkej-976	480	29	overshoot	overshoot	NOUN
alkej-976	480	30	decreased	decrease	VERB
alkej-976	480	31	from	from	ADP
alkej-976	480	32	6.524	6.524	NUM
alkej-976	480	33	%	%	NOUN
alkej-976	480	34	to	to	ADP
alkej-976	480	35	...	...	PUNCT
alkej-976	480	36	fig	fig	NOUN
alkej-976	480	37	.	.	PUNCT
alkej-976	481	1	5	5	NUM
alkej-976	481	2	.	.	NOUN
alkej-976	481	3	step	step	NOUN
alkej-976	481	4	response	response	NOUN
alkej-976	481	5	for	for	ADP
alkej-976	481	6	the	the	DET
alkej-976	481	7	angle	angle	NOUN
alkej-976	481	8	of	of	ADP
alkej-976	481	9	a	a	DET
alkej-976	481	10	steering	steering	NOUN
alkej-976	481	11	motor	motor	NOUN
alkej-976	481	12	,	,	PUNCT
alkej-976	481	13	ө-,𝒎𝟏	ө-,𝒎𝟏	PROPN
alkej-976	481	14	..	..	PROPN
alkej-976	481	15	fig	fig	NOUN
alkej-976	481	16	.	.	PUNCT
alkej-976	482	1	6	6	NUM
alkej-976	482	2	.	.	PUNCT
alkej-976	482	3	square	square	ADJ
alkej-976	482	4	response	response	NOUN
alkej-976	482	5	for	for	ADP
alkej-976	482	6	the	the	DET
alkej-976	482	7	angle	angle	NOUN
alkej-976	482	8	of	of	ADP
alkej-976	482	9	a	a	DET
alkej-976	482	10	steering	steering	NOUN
alkej-976	482	11	motor	motor	NOUN
alkej-976	482	12	,	,	PUNCT
alkej-976	482	13	ө-,𝒎𝟏	ө-,𝒎𝟏	PROPN
alkej-976	482	14	..	..	PROPN
alkej-976	482	15	4.2	4.2	NUM
alkej-976	482	16	front	front	ADJ
alkej-976	482	17	wheel	wheel	NOUN
alkej-976	482	18	simulation	simulation	NOUN
alkej-976	482	19	in	in	ADP
alkej-976	482	20	the	the	DET
alkej-976	482	21	front	front	ADJ
alkej-976	482	22	wheel	wheel	NOUN
alkej-976	482	23	system	system	NOUN
alkej-976	482	24	,	,	PUNCT
alkej-976	482	25	the	the	DET
alkej-976	482	26	values	value	NOUN
alkej-976	482	27	for	for	ADP
alkej-976	482	28	the	the	DET
alkej-976	482	29	weight	weight	NOUN
alkej-976	482	30	matrix	matrix	NOUN
alkej-976	482	31	qo	qo	NOUN
alkej-976	482	32	and	and	CCONJ
alkej-976	482	33	q1,v−1	q1,v−1	NOUN
alkej-976	482	34	equal	equal	ADJ
alkej-976	482	35	to	to	ADP
alkej-976	482	36	10−6	10−6	NUM
alkej-976	482	37	and	and	CCONJ
alkej-976	482	38	10−3	10−3	NUM
alkej-976	482	39	respectively	respectively	ADV
alkej-976	482	40	were	be	AUX
alkej-976	482	41	employed	employ	VERB
alkej-976	482	42	,	,	PUNCT
alkej-976	482	43	with	with	ADP
alkej-976	482	44	constraints	constraint	NOUN
alkej-976	482	45	between	between	ADP
alkej-976	482	46	a	a	DET
alkej-976	482	47	maximum	maximum	NOUN
alkej-976	482	48	of	of	ADP
alkej-976	482	49	10−20	10−20	PROPN
alkej-976	482	50	,	,	PUNCT
alkej-976	482	51	10−10	10−10	NUM
alkej-976	482	52	and	and	CCONJ
alkej-976	482	53	a	a	DET
alkej-976	482	54	minimum	minimum	NOUN
alkej-976	482	55	of	of	ADP
alkej-976	482	56	10−25	10−25	NOUN
alkej-976	482	57	,	,	PUNCT
alkej-976	482	58	10−15	10−15	PROPN
alkej-976	482	59	.	.	PUNCT
alkej-976	483	1	the	the	DET
alkej-976	483	2	obtained	obtain	VERB
alkej-976	483	3	result	result	NOUN
alkej-976	483	4	of	of	ADP
alkej-976	483	5	pso	pso	NOUN
alkej-976	483	6	for	for	ADP
alkej-976	483	7	the	the	DET
alkej-976	483	8	weight	weight	PROPN
alkej-976	483	9	va	va	PROPN
alkej-976	483	10	...	...	PUNCT
alkej-976	483	11	fig	fig	NOUN
alkej-976	483	12	.	.	PUNCT
alkej-976	484	1	8	8	NUM
alkej-976	484	2	.	.	X
alkej-976	484	3	step	step	NOUN
alkej-976	484	4	response	response	NOUN
alkej-976	484	5	for	for	ADP
alkej-976	484	6	the	the	DET
alkej-976	484	7	angle	angle	NOUN
alkej-976	484	8	of	of	ADP
alkej-976	484	9	the	the	DET
alkej-976	484	10	front	front	ADJ
alkej-976	484	11	tire	tire	NOUN
alkej-976	484	12	,	,	PUNCT
alkej-976	484	13	𝜹-𝒇.	𝜹-𝒇.	PROPN
alkej-976	484	14	fig	fig	NOUN
alkej-976	484	15	.	.	PUNCT
alkej-976	485	1	9	9	X
alkej-976	485	2	.	.	PUNCT
alkej-976	485	3	square	square	ADJ
alkej-976	485	4	response	response	NOUN
alkej-976	485	5	for	for	ADP
alkej-976	485	6	the	the	DET
alkej-976	485	7	angle	angle	NOUN
alkej-976	485	8	of	of	ADP
alkej-976	485	9	the	the	DET
alkej-976	485	10	front	front	ADJ
alkej-976	485	11	wheel	wheel	NOUN
alkej-976	485	12	motor	motor	NOUN
alkej-976	485	13	,	,	PUNCT
alkej-976	485	14	ө-,,𝒎𝟐	ө-,,𝒎𝟐	PROPN
alkej-976	485	15	...	...	PUNCT
alkej-976	485	16	fig	fig	NOUN
alkej-976	485	17	.	.	PUNCT
alkej-976	486	1	10	10	NUM
alkej-976	486	2	.	.	PUNCT
alkej-976	487	1	square	square	ADJ
alkej-976	487	2	response	response	NOUN
alkej-976	487	3	for	for	ADP
alkej-976	487	4	the	the	DET
alkej-976	487	5	angle	angle	NOUN
alkej-976	487	6	of	of	ADP
alkej-976	487	7	the	the	DET
alkej-976	487	8	front	front	ADJ
alkej-976	487	9	tire	tire	NOUN
alkej-976	487	10	,	,	PUNCT
alkej-976	487	11	𝜹-𝒇	𝜹-𝒇	NOUN
alkej-976	487	12	..	..	PROPN
alkej-976	487	13	5	5	X
alkej-976	487	14	.	.	X
alkej-976	487	15	conclusion	conclusion	NOUN
alkej-976	487	16	6	6	NUM
alkej-976	487	17	.	.	PUNCT
alkej-976	488	1	future	future	ADJ
alkej-976	488	2	development	development	NOUN
alkej-976	488	3	proposal	proposal	NOUN
alkej-976	488	4	one	one	NUM
alkej-976	488	5	suitable	suitable	ADJ
alkej-976	488	6	proposal	proposal	NOUN
alkej-976	488	7	for	for	ADP
alkej-976	488	8	future	future	ADJ
alkej-976	488	9	development	development	NOUN
alkej-976	488	10	of	of	ADP
alkej-976	488	11	the	the	DET
alkej-976	488	12	research	research	NOUN
alkej-976	488	13	topic	topic	NOUN
alkej-976	488	14	is	be	AUX
alkej-976	488	15	to	to	PART
alkej-976	488	16	integrate	integrate	VERB
alkej-976	488	17	adaptive	adaptive	ADJ
alkej-976	488	18	or	or	CCONJ
alkej-976	488	19	machine	machine	NOUN
alkej-976	488	20	learning	learn	VERB
alkej-976	488	21	algorithms	algorithm	NOUN
alkej-976	488	22	with	with	ADP
alkej-976	488	23	pso	pso	NOUN
alkej-976	488	24	to	to	PART
alkej-976	488	25	adjust	adjust	VERB
alkej-976	488	26	parameters	parameter	NOUN
alkej-976	488	27	in	in	ADP
alkej-976	488	28	real	real	ADJ
alkej-976	488	29	time	time	NOUN
alkej-976	488	30	,	,	PUNCT
alkej-976	488	31	which	which	PRON
alkej-976	488	32	helps	help	VERB
alkej-976	488	33	enhance	enhance	VERB
alkej-976	488	34	control	control	NOUN
alkej-976	488	35	over	over	ADP
alkej-976	488	36	disturbances	disturbance	NOUN
alkej-976	488	37	and	and	CCONJ
alkej-976	488	38	changing	change	VERB
alkej-976	488	39	conditions	condition	NOUN
alkej-976	488	40	and	and	CCONJ
alkej-976	488	41	achieve	achieve	VERB
alkej-976	488	42	...	...	PUNCT
alkej-976	488	43	table	table	NOUN
alkej-976	488	44	2	2	NUM
alkej-976	488	45	,	,	PUNCT
alkej-976	488	46	performance	performance	NOUN
alkej-976	488	47	indexes	index	NOUN
alkej-976	488	48	table	table	NOUN
alkej-976	488	49	3	3	NUM
alkej-976	488	50	,	,	PUNCT
alkej-976	488	51	steering	steering	NOUN
alkej-976	488	52	-	-	PUNCT
alkej-976	488	53	by	by	ADP
alkej-976	488	54	-	-	PUNCT
alkej-976	488	55	wire	wire	NOUN
alkej-976	488	56	system	system	NOUN
alkej-976	488	57	parameters	parameter	NOUN
alkej-976	488	58	references	reference	NOUN
alkej-976	488	59	[	[	X
alkej-976	488	60	1	1	X
alkej-976	488	61	]	]	PUNCT
alkej-976	488	62	s.	s.	PROPN
alkej-976	488	63	a.	a.	PROPN
alkej-976	488	64	mortazavizadeh	mortazavizadeh	PROPN
alkej-976	488	65	,	,	PUNCT
alkej-976	488	66	a.	a.	NOUN
alkej-976	488	67	ghaderi	ghaderi	PROPN
alkej-976	488	68	,	,	PUNCT
alkej-976	488	69	m.	m.	NOUN
alkej-976	488	70	ebrahimi	ebrahimi	PROPN
alkej-976	488	71	,	,	PUNCT
alkej-976	488	72	and	and	CCONJ
alkej-976	488	73	m.	m.	PROPN
alkej-976	488	74	hajian	hajian	PROPN
alkej-976	488	75	,	,	PUNCT
alkej-976	488	76	“	"	PUNCT
alkej-976	488	77	recent	recent	ADJ
alkej-976	488	78	developments	development	NOUN
alkej-976	488	79	in	in	ADP
alkej-976	488	80	the	the	DET
alkej-976	488	81	vehicle	vehicle	NOUN
alkej-976	488	82	steer	steer	NOUN
alkej-976	488	83	-	-	PUNCT
alkej-976	488	84	by	by	ADP
alkej-976	488	85	-	-	PUNCT
alkej-976	488	86	wire	wire	NOUN
alkej-976	488	87	system	system	NOUN
alkej-976	488	88	,	,	PUNCT
alkej-976	488	89	”	"	PUNCT
alkej-976	488	90	ieee	ieee	NOUN
alkej-976	488	91	trans	trans	PROPN
alkej-976	488	92	.	.	PUNCT
alkej-976	489	1	transp	transp	PROPN
alkej-976	489	2	.	.	PUNCT
alkej-976	490	1	electrif	electrif	PROPN
alkej-976	490	2	.	.	PUNCT
alkej-976	491	1	,	,	PUNCT
alkej-976	491	2	vol	vol	NOUN
alkej-976	491	3	.	.	PROPN
alkej-976	492	1	6	6	NUM
alkej-976	492	2	,	,	PUNCT
alkej-976	492	3	no	no	INTJ
alkej-976	492	4	.	.	NOUN
alkej-976	492	5	3	3	NUM
alkej-976	492	6	,	,	PUNCT
alkej-976	492	7	pp	pp	ADJ
alkej-976	492	8	.	.	PUNCT
alkej-976	493	1	1226–1235	1226–1235	NUM
alkej-976	493	2	,	,	PUNCT
alkej-976	493	3	2020	2020	NUM
alkej-976	493	4	.	.	PUNCT
alkej-976	494	1	[	[	X
alkej-976	494	2	2	2	NUM
alkej-976	494	3	]	]	PUNCT
alkej-976	494	4	k.	k.	PROPN
alkej-976	494	5	j.	j.	PROPN
alkej-976	494	6	åström	åström	PROPN
alkej-976	494	7	and	and	CCONJ
alkej-976	494	8	t.	t.	PROPN
alkej-976	494	9	hägglund	hägglund	NOUN
alkej-976	494	10	,	,	PUNCT
alkej-976	494	11	“	"	PUNCT
alkej-976	494	12	pid	pid	NOUN
alkej-976	494	13	controllers	controller	NOUN
alkej-976	494	14	:	:	PUNCT
alkej-976	494	15	theory	theory	NOUN
alkej-976	494	16	,	,	PUNCT
alkej-976	494	17	design	design	NOUN
alkej-976	494	18	,	,	PUNCT
alkej-976	494	19	and	and	CCONJ
alkej-976	494	20	tuning	tuning	NOUN
alkej-976	494	21	,	,	PUNCT
alkej-976	494	22	”	"	PUNCT
alkej-976	494	23	vol	vol	NOUN
alkej-976	494	24	.	.	PROPN
alkej-976	495	1	2	2	NUM
alkej-976	495	2	.	.	NUM
alkej-976	495	3	1995	1995	NUM
alkej-976	495	4	.	.	PUNCT
alkej-976	496	1	[	[	X
alkej-976	496	2	3	3	NUM
alkej-976	496	3	]	]	PUNCT
alkej-976	496	4	a.	a.	PROPN
alkej-976	496	5	h.	h.	PROPN
alkej-976	496	6	mary	mary	PROPN
alkej-976	496	7	,	,	PUNCT
alkej-976	496	8	a.	a.	PROPN
alkej-976	496	9	h.	h.	PROPN
alkej-976	496	10	miry	miry	PROPN
alkej-976	496	11	,	,	PUNCT
alkej-976	496	12	m.	m.	NOUN
alkej-976	496	13	h.	h.	PROPN
alkej-976	496	14	miry	miry	PROPN
alkej-976	496	15	,	,	PUNCT
alkej-976	496	16	and	and	CCONJ
alkej-976	496	17	a.	a.	PROPN
alkej-976	496	18	h.	h.	PROPN
alkej-976	496	19	mary	mary	PROPN
alkej-976	496	20	,	,	PUNCT
alkej-976	496	21	“	"	PUNCT
alkej-976	496	22	design	design	VERB
alkej-976	496	23	robust	robust	ADJ
alkej-976	496	24	h	h	NOUN
alkej-976	496	25	∞	∞	PROPN
alkej-976	496	26	-pid	-pid	PUNCT
alkej-976	496	27	controller	controller	NOUN
alkej-976	496	28	for	for	ADP
alkej-976	496	29	a	a	DET
alkej-976	496	30	helicopter	helicopter	NOUN
alkej-976	496	31	system	system	NOUN
alkej-976	496	32	using	use	VERB
alkej-976	496	33	sequential	sequential	ADJ
alkej-976	496	34	quadratic	quadratic	ADJ
alkej-976	496	35	programming	programming	NOUN
alkej-976	496	36	algorithm	algorithm	NOUN
alkej-976	496	37	programming	programming	NOUN
alkej-976	496	38	algorithm	algorithm	NOUN
alkej-976	496	39	,	,	PUNCT
alkej-976	496	40	”	"	PUNCT
alkej-976	496	41	j.	j.	PROPN
alkej-976	496	42	chinese	chinese	PROPN
alkej-976	496	43	inst	inst	PROPN
alkej-976	496	44	.	.	PUNCT
alkej-976	497	1	eng	eng	PROPN
alkej-976	497	2	.	.	PROPN
alkej-976	497	3	,	,	PUNCT
alkej-976	497	4	vol	vol	NOUN
alkej-976	497	5	.	.	PROPN
alkej-976	498	1	45	45	NUM
alkej-976	498	2	,	,	PUNCT
alkej-976	498	3	no	no	INTJ
alkej-976	498	4	.	.	NOUN
alkej-976	498	5	8	8	NUM
alkej-976	498	6	,	,	PUNCT
alkej-976	498	7	pp	pp	ADJ
alkej-976	498	8	.	.	PUNCT
alkej-976	499	1	688–696	688–696	NUM
alkej-976	499	2	,	,	PUNCT
alkej-976	499	3	2022	2022	NUM
alkej-976	499	4	,	,	PUNCT
alkej-976	499	5	doi	doi	NOUN
alkej-976	499	6	:	:	PUNCT
alkej-976	499	7	...	...	PUNCT
alkej-976	500	1	[	[	X
alkej-976	500	2	4	4	X
alkej-976	500	3	]	]	PUNCT
alkej-976	500	4	s.	s.	PROPN
alkej-976	500	5	chopra	chopra	PROPN
alkej-976	500	6	,	,	PUNCT
alkej-976	500	7	r.	r.	PROPN
alkej-976	500	8	mitra	mitra	PROPN
alkej-976	500	9	,	,	PUNCT
alkej-976	500	10	and	and	CCONJ
alkej-976	500	11	v.	v.	ADP
alkej-976	500	12	kumar	kumar	PROPN
alkej-976	500	13	,	,	PUNCT
alkej-976	500	14	“	"	PUNCT
alkej-976	500	15	a	a	DET
alkej-976	500	16	neurofuzzy	neurofuzzy	ADJ
alkej-976	500	17	learning	learning	NOUN
alkej-976	500	18	and	and	CCONJ
alkej-976	500	19	its	its	PRON
alkej-976	500	20	application	application	NOUN
alkej-976	500	21	to	to	PART
alkej-976	500	22	control	control	NOUN
alkej-976	500	23	system	system	NOUN
alkej-976	500	24	,	,	PUNCT
alkej-976	500	25	”	"	PUNCT
alkej-976	500	26	vol	vol	NOUN
alkej-976	500	27	.	.	PROPN
alkej-976	500	28	3	3	NUM
alkej-976	500	29	,	,	PUNCT
alkej-976	500	30	no	no	INTJ
alkej-976	500	31	.	.	NOUN
alkej-976	500	32	1	1	NUM
alkej-976	500	33	,	,	PUNCT
alkej-976	500	34	pp	pp	ADJ
alkej-976	500	35	.	.	PUNCT
alkej-976	501	1	72–78	72–78	NUM
alkej-976	501	2	,	,	PUNCT
alkej-976	501	3	2005	2005	NUM
alkej-976	501	4	.	.	PUNCT
alkej-976	502	1	[	[	X
alkej-976	502	2	5	5	X
alkej-976	502	3	]	]	X
alkej-976	502	4	a.h	a.h	PROPN
alkej-976	502	5	.	.	PROPN
alkej-976	502	6	mary	mary	PROPN
alkej-976	502	7	,	,	PUNCT
alkej-976	502	8	t.	t.	PROPN
alkej-976	502	9	kara	kara	PROPN
alkej-976	502	10	,	,	PUNCT
alkej-976	502	11	and	and	CCONJ
alkej-976	502	12	a.h	a.h	PROPN
alkej-976	502	13	.	.	PROPN
alkej-976	502	14	miry	miry	NOUN
alkej-976	502	15	,	,	PUNCT
alkej-976	502	16	"	"	PUNCT
alkej-976	502	17	inverse	inverse	ADJ
alkej-976	502	18	kinematics	kinematic	NOUN
alkej-976	502	19	solution	solution	NOUN
alkej-976	502	20	for	for	ADP
alkej-976	502	21	robotic	robotic	ADJ
alkej-976	502	22	manipulators	manipulator	NOUN
alkej-976	502	23	based	base	VERB
alkej-976	502	24	on	on	ADP
alkej-976	502	25	fuzzy	fuzzy	ADJ
alkej-976	502	26	logic	logic	NOUN
alkej-976	502	27	and	and	CCONJ
alkej-976	502	28	pd	pd	PROPN
alkej-976	502	29	control	control	NOUN
alkej-976	502	30	"	"	PUNCT
alkej-976	502	31	.	.	PUNCT
alkej-976	503	1	in	in	ADP
alkej-976	503	2	2016	2016	NUM
alkej-976	503	3	al	al	PROPN
alkej-976	503	4	-	-	PUNCT
alkej-976	503	5	sadeq	sadeq	ADJ
alkej-976	503	6	international	international	ADJ
alkej-976	503	7	conference	conference	NOUN
alkej-976	503	8	on	on	ADP
alkej-976	503	9	multidisciplinary	multidisciplinary	NOUN
alkej-976	503	10	in	in	ADP
alkej-976	503	11	it	it	PRON
alkej-976	503	12	and	and	CCONJ
alkej-976	503	13	communication	communication	NOUN
alkej-976	503	14	science	science	NOUN
alkej-976	503	15	and	and	CCONJ
alkej-976	503	16	applications	application	NOUN
alkej-976	503	17	(	(	PUNCT
alkej-976	503	18	aic	aic	PROPN
alkej-976	503	19	-	-	PUNCT
alkej-976	503	20	mit	mit	PROPN
alkej-976	503	21	...	...	PUNCT
alkej-976	504	1	[	[	X
alkej-976	504	2	6	6	NUM
alkej-976	504	3	]	]	PUNCT
alkej-976	504	4	a.	a.	PROPN
alkej-976	504	5	h.	h.	PROPN
alkej-976	504	6	mary	mary	PROPN
alkej-976	504	7	,	,	PUNCT
alkej-976	504	8	a.h	a.h	PROPN
alkej-976	504	9	.	.	PROPN
alkej-976	504	10	miry	miry	PROPN
alkej-976	504	11	,	,	PUNCT
alkej-976	504	12	and	and	CCONJ
alkej-976	504	13	m.h	m.h	PROPN
alkej-976	504	14	.	.	PROPN
alkej-976	504	15	miry	miry	PROPN
alkej-976	504	16	,	,	PUNCT
alkej-976	504	17	"	"	PUNCT
alkej-976	504	18	system	system	NOUN
alkej-976	504	19	uncertainties	uncertainty	NOUN
alkej-976	504	20	estimation	estimation	NOUN
alkej-976	504	21	based	base	VERB
alkej-976	504	22	adaptive	adaptive	ADJ
alkej-976	504	23	robust	robust	ADJ
alkej-976	504	24	backstepping	backstepping	NOUN
alkej-976	504	25	control	control	NOUN
alkej-976	504	26	for	for	ADP
alkej-976	504	27	dc	dc	PROPN
alkej-976	504	28	dc	dc	PROPN
alkej-976	504	29	buck	buck	PROPN
alkej-976	504	30	converter	converter	NOUN
alkej-976	504	31	,	,	PUNCT
alkej-976	504	32	"	"	PUNCT
alkej-976	504	33	international	international	ADJ
alkej-976	504	34	journal	journal	NOUN
alkej-976	504	35	of	of	ADP
alkej-976	504	36	electrical	electrical	ADJ
alkej-976	504	37	&	&	CCONJ
alkej-976	504	38	computer	computer	PROPN
alkej-976	504	39	engineering	engineering	NOUN
alkej-976	504	40	(	(	PUNCT
alkej-976	504	41	2088	2088	NUM
alkej-976	504	42	-	-	SYM
alkej-976	504	43	8708	8708	NUM
alkej-976	504	44	)	)	PUNCT
alkej-976	504	45	,	,	PUNCT
alkej-976	504	46	vol	vol	NOUN
alkej-976	504	47	.	.	PROPN
alkej-976	504	48	11,no	11,no	NUM
alkej-976	504	49	.	.	NOUN
alkej-976	504	50	1	1	NUM
alkej-976	504	51	,	,	PUNCT
alkej-976	504	52	2021	2021	NUM
alkej-976	504	53	.	.	PUNCT
alkej-976	505	1	[	[	X
alkej-976	505	2	7	7	NUM
alkej-976	505	3	]	]	X
alkej-976	505	4	i.	i.	PROPN
alkej-976	505	5	khan	khan	PROPN
alkej-976	505	6	,	,	PUNCT
alkej-976	505	7	“	"	PUNCT
alkej-976	505	8	combined	combined	ADJ
alkej-976	505	9	lateral	lateral	ADJ
alkej-976	505	10	and	and	CCONJ
alkej-976	505	11	longitudinal	longitudinal	ADJ
alkej-976	505	12	control	control	NOUN
alkej-976	505	13	for	for	ADP
alkej-976	505	14	autonomous	autonomous	ADJ
alkej-976	505	15	driving	driving	NOUN
alkej-976	505	16	based	base	VERB
alkej-976	505	17	on	on	ADP
alkej-976	505	18	model	model	NOUN
alkej-976	505	19	predictive	predictive	PROPN
alkej-976	505	20	control	control	NOUN
alkej-976	505	21	,	,	PUNCT
alkej-976	505	22	”	"	PUNCT
alkej-976	505	23	2019	2019	NUM
alkej-976	505	24	.	.	PUNCT
alkej-976	506	1	[	[	X
alkej-976	506	2	8	8	NUM
alkej-976	506	3	]	]	X
alkej-976	506	4	a.h	a.h	PROPN
alkej-976	506	5	.	.	PROPN
alkej-976	506	6	miry	miry	PROPN
alkej-976	506	7	,	,	PUNCT
alkej-976	506	8	a.h	a.h	PROPN
alkej-976	506	9	.	.	PROPN
alkej-976	506	10	mary	mary	PROPN
alkej-976	506	11	,	,	PUNCT
alkej-976	506	12	and	and	CCONJ
alkej-976	506	13	m.h	m.h	PROPN
alkej-976	506	14	.	.	PROPN
alkej-976	506	15	miry	miry	PROPN
alkej-976	506	16	,	,	PUNCT
alkej-976	506	17	"	"	PUNCT
alkej-976	506	18	mixed	mixed	ADJ
alkej-976	506	19	robust	robust	ADJ
alkej-976	506	20	controller	controller	NOUN
alkej-976	506	21	with	with	ADP
alkej-976	506	22	optimized	optimize	VERB
alkej-976	506	23	weighted	weight	VERB
alkej-976	506	24	selection	selection	NOUN
alkej-976	506	25	for	for	ADP
alkej-976	506	26	a	a	DET
alkej-976	506	27	dc	dc	PROPN
alkej-976	506	28	servo	servo	NOUN
alkej-976	506	29	motor	motor	NOUN
alkej-976	506	30	"	"	PUNCT
alkej-976	506	31	.	.	PUNCT
alkej-976	507	1	in	in	ADP
alkej-976	507	2	proceedings	proceeding	NOUN
alkej-976	507	3	of	of	ADP
alkej-976	507	4	the	the	DET
alkej-976	507	5	international	international	ADJ
alkej-976	507	6	conference	conference	NOUN
alkej-976	507	7	on	on	ADP
alkej-976	507	8	information	information	NOUN
alkej-976	507	9	and	and	CCONJ
alkej-976	507	10	communication	communication	NOUN
alkej-976	507	11	technology	technology	NOUN
alkej-976	507	12	(	(	PUNCT
alkej-976	507	13	pp	pp	ADJ
alkej-976	507	14	.	.	PUNCT
alkej-976	507	15	178	178	NUM
alkej-976	507	16	-	-	SYM
alkej-976	507	17	183).2019	183).2019	NUM
alkej-976	507	18	[	[	X
alkej-976	507	19	9	9	NUM
alkej-976	507	20	]	]	PUNCT
alkej-976	507	21	h.	h.	PROPN
alkej-976	507	22	gao	gao	PROPN
alkej-976	507	23	,	,	PUNCT
alkej-976	507	24	t.	t.	PROPN
alkej-976	507	25	chen	chen	PROPN
alkej-976	507	26	,	,	PUNCT
alkej-976	507	27	and	and	CCONJ
alkej-976	507	28	j.	j.	PROPN
alkej-976	507	29	lam	lam	PROPN
alkej-976	507	30	,	,	PUNCT
alkej-976	507	31	“	"	PUNCT
alkej-976	507	32	a	a	DET
alkej-976	507	33	new	new	ADJ
alkej-976	507	34	delay	delay	NOUN
alkej-976	507	35	system	system	NOUN
alkej-976	507	36	approach	approach	NOUN
alkej-976	507	37	to	to	ADP
alkej-976	507	38	network	network	NOUN
alkej-976	507	39	-	-	PUNCT
alkej-976	507	40	based	base	VERB
alkej-976	507	41	control	control	NOUN
alkej-976	507	42	,	,	PUNCT
alkej-976	507	43	”	"	PUNCT
alkej-976	507	44	automatica	automatica	PROPN
alkej-976	507	45	,	,	PUNCT
alkej-976	507	46	vol	vol	NOUN
alkej-976	507	47	.	.	PROPN
alkej-976	507	48	44	44	NUM
alkej-976	507	49	,	,	PUNCT
alkej-976	507	50	no	no	INTJ
alkej-976	507	51	.	.	NOUN
alkej-976	507	52	1	1	NUM
alkej-976	507	53	,	,	PUNCT
alkej-976	507	54	pp	pp	ADJ
alkej-976	507	55	.	.	PUNCT
alkej-976	507	56	39–52	39–52	NUM
alkej-976	507	57	,	,	PUNCT
alkej-976	507	58	2008	2008	NUM
alkej-976	507	59	,	,	PUNCT
alkej-976	507	60	doi	doi	NOUN
alkej-976	507	61	:	:	PUNCT
alkej-976	507	62	10.1016	10.1016	NUM
alkej-976	507	63	/	/	SYM
alkej-976	507	64	j.automatica.2007.04.020	j.automatica.2007.04.020	X
alkej-976	507	65	.	.	PUNCT
alkej-976	508	1	[	[	X
alkej-976	508	2	10	10	NUM
alkej-976	508	3	]	]	X
alkej-976	508	4	a.h	a.h	PROPN
alkej-976	508	5	.	.	PROPN
alkej-976	508	6	mary	mary	PROPN
alkej-976	508	7	,	,	PUNCT
alkej-976	508	8	a.h	a.h	PROPN
alkej-976	508	9	.	.	PROPN
alkej-976	508	10	,	,	PUNCT
alkej-976	508	11	miry	miry	NOUN
alkej-976	508	12	,	,	PUNCT
alkej-976	508	13	and	and	CCONJ
alkej-976	508	14	m.h	m.h	PROPN
alkej-976	508	15	.	.	PROPN
alkej-976	508	16	miry	miry	PROPN
alkej-976	508	17	,	,	PUNCT
alkej-976	508	18	"	"	PUNCT
alkej-976	508	19	anfis	anfis	PROPN
alkej-976	508	20	based	base	VERB
alkej-976	508	21	reinforcement	reinforcement	NOUN
alkej-976	508	22	learning	learning	NOUN
alkej-976	508	23	strategy	strategy	NOUN
alkej-976	508	24	for	for	ADP
alkej-976	508	25	control	control	NOUN
alkej-976	508	26	a	a	DET
alkej-976	508	27	nonlinear	nonlinear	ADJ
alkej-976	508	28	coupled	couple	VERB
alkej-976	508	29	tanks	tank	NOUN
alkej-976	508	30	system	system	NOUN
alkej-976	508	31	,	,	PUNCT
alkej-976	508	32	"	"	PUNCT
alkej-976	508	33	journal	journal	NOUN
alkej-976	508	34	of	of	ADP
alkej-976	508	35	electrical	electrical	ADJ
alkej-976	508	36	engineering	engineering	NOUN
alkej-976	508	37	&	&	CCONJ
alkej-976	508	38	technology	technology	PROPN
alkej-976	508	39	,	,	PUNCT
alkej-976	508	40	17(3	17(3	NUM
alkej-976	508	41	)	)	PUNCT
alkej-976	508	42	,	,	PUNCT
alkej-976	508	43	pp.1921	pp.1921	PROPN
alkej-976	508	44	-	-	PROPN
alkej-976	508	45	1929.2022	1929.2022	NOUN
alkej-976	508	46	.	.	PUNCT
alkej-976	509	1	[	[	X
alkej-976	509	2	11	11	NUM
alkej-976	509	3	]	]	PUNCT
alkej-976	509	4	s.	s.	PROPN
alkej-976	509	5	joe	joe	PROPN
alkej-976	509	6	qin	qin	PROPN
alkej-976	509	7	and	and	CCONJ
alkej-976	509	8	badgwell	badgwell	PROPN
alkej-976	509	9	thomas	thomas	PROPN
alkej-976	509	10	a	a	PROPN
alkej-976	509	11	,	,	PUNCT
alkej-976	509	12	“	"	PUNCT
alkej-976	509	13	a	a	DET
alkej-976	509	14	survey	survey	NOUN
alkej-976	509	15	of	of	ADP
alkej-976	509	16	industrial	industrial	ADJ
alkej-976	509	17	model	model	NOUN
alkej-976	509	18	predictive	predictive	PROPN
alkej-976	509	19	control	control	PROPN
alkej-976	509	20	technology	technology	NOUN
alkej-976	509	21	,	,	PUNCT
alkej-976	509	22	”	"	PUNCT
alkej-976	509	23	control	control	PROPN
alkej-976	509	24	eng	eng	PROPN
alkej-976	509	25	.	.	PROPN
alkej-976	509	26	pract	pract	PROPN
alkej-976	509	27	.	.	PROPN
alkej-976	509	28	,	,	PUNCT
alkej-976	509	29	vol	vol	NOUN
alkej-976	509	30	.	.	PROPN
alkej-976	509	31	11	11	NUM
alkej-976	509	32	,	,	PUNCT
alkej-976	509	33	pp	pp	ADJ
alkej-976	509	34	.	.	PUNCT
alkej-976	510	1	733–764	733–764	NUM
alkej-976	510	2	,	,	PUNCT
alkej-976	510	3	2003	2003	NUM
alkej-976	510	4	.	.	PUNCT
alkej-976	511	1	[	[	X
alkej-976	511	2	12	12	NUM
alkej-976	511	3	]	]	PUNCT
alkej-976	511	4	m.	m.	PROPN
alkej-976	511	5	ali	ali	PROPN
alkej-976	511	6	,	,	PUNCT
alkej-976	511	7	f.	f.	PROPN
alkej-976	511	8	hunaini	hunaini	PROPN
alkej-976	511	9	,	,	PUNCT
alkej-976	511	10	i.	i.	PROPN
alkej-976	511	11	robandi	robandi	PROPN
alkej-976	511	12	,	,	PUNCT
alkej-976	511	13	and	and	CCONJ
alkej-976	511	14	n.	n.	PROPN
alkej-976	511	15	sutantra	sutantra	PROPN
alkej-976	511	16	,	,	PUNCT
alkej-976	511	17	“	"	PUNCT
alkej-976	511	18	optimization	optimization	NOUN
alkej-976	511	19	of	of	ADP
alkej-976	511	20	active	active	ADJ
alkej-976	511	21	steering	steering	NOUN
alkej-976	511	22	control	control	NOUN
alkej-976	511	23	on	on	ADP
alkej-976	511	24	vehicle	vehicle	NOUN
alkej-976	511	25	with	with	ADP
alkej-976	511	26	steer	steer	NOUN
alkej-976	511	27	by	by	ADP
alkej-976	511	28	wire	wire	NOUN
alkej-976	511	29	system	system	NOUN
alkej-976	511	30	using	use	VERB
alkej-976	511	31	imperialist	imperialist	ADJ
alkej-976	511	32	competitive	competitive	ADJ
alkej-976	511	33	algorithm	algorithm	NOUN
alkej-976	511	34	(	(	PUNCT
alkej-976	511	35	ica	ica	PROPN
alkej-976	511	36	)	)	PUNCT
alkej-976	511	37	,	,	PUNCT
alkej-976	511	38	”	"	PUNCT
alkej-976	511	39	2015	2015	NUM
alkej-976	511	40	3rd	3rd	ADJ
alkej-976	511	41	int	int	NOUN
alkej-976	511	42	.	.	PUNCT
alkej-976	512	1	conf	conf	PROPN
alkej-976	512	2	.	.	PUNCT
alkej-976	512	3	inf	inf	PROPN
alkej-976	512	4	.	.	PUNCT
alkej-976	513	1	commun	commun	PROPN
alkej-976	513	2	.	.	PUNCT
alkej-976	514	1	technol	technol	PROPN
alkej-976	514	2	.	.	PUNCT
alkej-976	515	1	icoict	icoict	PROPN
alkej-976	515	2	2015	2015	NUM
alkej-976	515	3	,	,	PUNCT
alkej-976	515	4	pp	pp	ADP
alkej-976	515	5	.	.	PUNCT
alkej-976	516	1	500–503	500–503	NUM
alkej-976	516	2	,	,	PUNCT
alkej-976	516	3	201	201	NUM
alkej-976	516	4	...	...	PUNCT
alkej-976	517	1	[	[	X
alkej-976	517	2	13	13	NUM
alkej-976	517	3	]	]	PUNCT
alkej-976	517	4	d.	d.	PROPN
alkej-976	517	5	q.	q.	PROPN
alkej-976	517	6	mayne	mayne	PROPN
alkej-976	517	7	,	,	PUNCT
alkej-976	517	8	j.	j.	PROPN
alkej-976	517	9	b.	b.	PROPN
alkej-976	517	10	rawlings	rawlings	PROPN
alkej-976	517	11	,	,	PUNCT
alkej-976	517	12	c.	c.	PROPN
alkej-976	517	13	v.	v.	PROPN
alkej-976	517	14	rao	rao	PROPN
alkej-976	517	15	,	,	PUNCT
alkej-976	517	16	and	and	CCONJ
alkej-976	517	17	p.	p.	PROPN
alkej-976	517	18	o.	o.	PROPN
alkej-976	517	19	m.	m.	PROPN
alkej-976	517	20	scokaert	scokaert	PROPN
alkej-976	517	21	,	,	PUNCT
alkej-976	517	22	“	"	PUNCT
alkej-976	517	23	constrained	constrained	ADJ
alkej-976	517	24	model	model	NOUN
alkej-976	517	25	predictive	predictive	PROPN
alkej-976	517	26	control	control	NOUN
alkej-976	517	27	:	:	PUNCT
alkej-976	517	28	stability	stability	NOUN
alkej-976	517	29	and	and	CCONJ
alkej-976	517	30	optimality	optimality	NOUN
alkej-976	517	31	,	,	PUNCT
alkej-976	517	32	”	"	PUNCT
alkej-976	517	33	automatica	automatica	PROPN
alkej-976	517	34	,	,	PUNCT
alkej-976	517	35	vol	vol	NOUN
alkej-976	517	36	.	.	PROPN
alkej-976	517	37	36	36	NUM
alkej-976	517	38	,	,	PUNCT
alkej-976	517	39	no	no	INTJ
alkej-976	517	40	.	.	NOUN
alkej-976	517	41	6	6	NUM
alkej-976	517	42	,	,	PUNCT
alkej-976	517	43	pp	pp	ADJ
alkej-976	517	44	.	.	PUNCT
alkej-976	518	1	789–814	789–814	NUM
alkej-976	518	2	,	,	PUNCT
alkej-976	518	3	2000	2000	NUM
alkej-976	518	4	,	,	PUNCT
alkej-976	518	5	doi	doi	NOUN
alkej-976	518	6	:	:	PUNCT
alkej-976	518	7	10.1016	10.1016	NUM
alkej-976	518	8	/	/	SYM
alkej-976	518	9	s0005	s0005	NOUN
alkej-976	518	10	-	-	NOUN
alkej-976	518	11	1098(99)00214	1098(99)00214	NUM
alkej-976	518	12	-	-	SYM
alkej-976	518	13	9	9	NUM
alkej-976	518	14	.	.	PUNCT
alkej-976	519	1	[	[	X
alkej-976	519	2	14	14	NUM
alkej-976	519	3	]	]	X
alkej-976	519	4	[	[	X
alkej-976	519	5	m.-n	m.-n	PROPN
alkej-976	519	6	.	.	PUNCT
alkej-976	520	1	nguyen	nguyen	PROPN
alkej-976	520	2	et	et	PROPN
alkej-976	520	3	al	al	PROPN
alkej-976	520	4	.	.	PROPN
alkej-976	520	5	,	,	PUNCT
alkej-976	520	6	“	"	PUNCT
alkej-976	520	7	model	model	ADJ
alkej-976	520	8	-	-	PUNCT
alkej-976	520	9	free	free	ADJ
alkej-976	520	10	safety	safety	NOUN
alkej-976	520	11	critical	critical	ADJ
alkej-976	520	12	model	model	NOUN
alkej-976	520	13	predictive	predictive	ADJ
alkej-976	520	14	control	control	NOUN
alkej-976	520	15	for	for	ADP
alkej-976	520	16	mobile	mobile	ADJ
alkej-976	520	17	robot	robot	NOUN
alkej-976	520	18	in	in	ADP
alkej-976	520	19	dynamic	dynamic	ADJ
alkej-976	520	20	environments	environment	NOUN
alkej-976	520	21	,	,	PUNCT
alkej-976	520	22	”	"	PUNCT
alkej-976	520	23	ieee	ieee	NOUN
alkej-976	520	24	trans	trans	PROPN
alkej-976	520	25	.	.	PUNCT
alkej-976	521	1	intell	intell	PROPN
alkej-976	521	2	.	.	PUNCT
alkej-976	522	1	veh	veh	PROPN
alkej-976	522	2	.	.	PROPN
alkej-976	522	3	,	,	PUNCT
alkej-976	522	4	2024	2024	NUM
alkej-976	522	5	.	.	PUNCT
alkej-976	523	1	[	[	X
alkej-976	523	2	15	15	NUM
alkej-976	523	3	]	]	X
alkej-976	523	4	c.	c.	PROPN
alkej-976	523	5	ates	ates	PROPN
alkej-976	523	6	,	,	PUNCT
alkej-976	523	7	d.	d.	PROPN
alkej-976	523	8	bicat	bicat	PROPN
alkej-976	523	9	,	,	PUNCT
alkej-976	523	10	r.	r.	PROPN
alkej-976	523	11	yankov	yankov	PROPN
alkej-976	523	12	,	,	PUNCT
alkej-976	523	13	j.	j.	PROPN
alkej-976	523	14	arweiler	arweiler	PROPN
alkej-976	523	15	,	,	PUNCT
alkej-976	523	16	r.	r.	PROPN
alkej-976	523	17	koch	koch	PROPN
alkej-976	523	18	,	,	PUNCT
alkej-976	523	19	and	and	CCONJ
alkej-976	523	20	h.-j	h.-j	PROPN
alkej-976	523	21	.	.	PUNCT
alkej-976	524	1	bauer	bauer	PROPN
alkej-976	524	2	,	,	PUNCT
alkej-976	524	3	“	"	PUNCT
alkej-976	524	4	model	model	NOUN
alkej-976	524	5	predictive	predictive	ADJ
alkej-976	524	6	evolutionary	evolutionary	ADJ
alkej-976	524	7	temperature	temperature	NOUN
alkej-976	524	8	control	control	NOUN
alkej-976	524	9	via	via	ADP
alkej-976	524	10	neural	neural	ADJ
alkej-976	524	11	-	-	PUNCT
alkej-976	524	12	network	network	NOUN
alkej-976	524	13	-	-	PUNCT
alkej-976	524	14	based	base	VERB
alkej-976	524	15	digital	digital	ADJ
alkej-976	524	16	twins	twin	NOUN
alkej-976	524	17	,	,	PUNCT
alkej-976	524	18	”	"	PUNCT
alkej-976	524	19	algorithms	algorithm	NOUN
alkej-976	524	20	,	,	PUNCT
alkej-976	524	21	vol	vol	NOUN
alkej-976	524	22	.	.	PROPN
alkej-976	524	23	16	16	NUM
alkej-976	524	24	,	,	PUNCT
alkej-976	524	25	no	no	INTJ
alkej-976	524	26	.	.	NOUN
alkej-976	524	27	8	8	NUM
alkej-976	524	28	,	,	PUNCT
alkej-976	524	29	p.	p.	NOUN
alkej-976	524	30	387	387	NUM
alkej-976	524	31	,	,	PUNCT
alkej-976	524	32	2023	2023	NUM
alkej-976	524	33	.	.	PUNCT
alkej-976	525	1	[	[	X
alkej-976	525	2	16	16	NUM
alkej-976	525	3	]	]	X
alkej-976	525	4	n.	n.	NOUN
alkej-976	525	5	ye	ye	PROPN
alkej-976	525	6	,	,	PUNCT
alkej-976	525	7	d.	d.	PROPN
alkej-976	525	8	wang	wang	PROPN
alkej-976	525	9	,	,	PUNCT
alkej-976	525	10	and	and	CCONJ
alkej-976	525	11	y.	y.	PROPN
alkej-976	525	12	dai	dai	PROPN
alkej-976	525	13	,	,	PUNCT
alkej-976	525	14	“	"	PUNCT
alkej-976	525	15	enhancing	enhance	VERB
alkej-976	525	16	autonomous	autonomous	ADJ
alkej-976	525	17	vehicle	vehicle	NOUN
alkej-976	525	18	lateral	lateral	ADJ
alkej-976	525	19	control	control	NOUN
alkej-976	525	20	:	:	PUNCT
alkej-976	525	21	a	a	DET
alkej-976	525	22	linear	linear	ADJ
alkej-976	525	23	complementarity	complementarity	NOUN
alkej-976	525	24	model	model	NOUN
alkej-976	525	25	-	-	PUNCT
alkej-976	525	26	predictive	predictive	ADJ
alkej-976	525	27	control	control	NOUN
alkej-976	525	28	approach	approach	NOUN
alkej-976	525	29	,	,	PUNCT
alkej-976	525	30	”	"	PUNCT
alkej-976	525	31	appl	appl	NOUN
alkej-976	525	32	.	.	PUNCT
alkej-976	526	1	sci	sci	PROPN
alkej-976	526	2	.	.	PROPN
alkej-976	526	3	,	,	PUNCT
alkej-976	526	4	vol	vol	NOUN
alkej-976	526	5	.	.	PROPN
alkej-976	526	6	13	13	NUM
alkej-976	526	7	,	,	PUNCT
alkej-976	526	8	no	no	INTJ
alkej-976	526	9	.	.	NOUN
alkej-976	526	10	19	19	NUM
alkej-976	526	11	,	,	PUNCT
alkej-976	526	12	p.	p.	NOUN
alkej-976	526	13	10809	10809	NUM
alkej-976	526	14	,	,	PUNCT
alkej-976	526	15	2023	2023	NUM
alkej-976	526	16	.	.	PUNCT
alkej-976	527	1	[	[	X
alkej-976	527	2	17	17	NUM
alkej-976	527	3	]	]	X
alkej-976	527	4	i.	i.	PROPN
alkej-976	527	5	c.	c.	PROPN
alkej-976	527	6	trelea	trelea	PROPN
alkej-976	527	7	,	,	PUNCT
alkej-976	527	8	“	"	PUNCT
alkej-976	527	9	the	the	DET
alkej-976	527	10	particle	particle	NOUN
alkej-976	527	11	swarm	swarm	NOUN
alkej-976	527	12	optimization	optimization	NOUN
alkej-976	527	13	algorithm	algorithm	NOUN
alkej-976	527	14	:	:	PUNCT
alkej-976	528	1	convergence	convergence	NOUN
alkej-976	528	2	analysis	analysis	NOUN
alkej-976	528	3	and	and	CCONJ
alkej-976	528	4	parameter	parameter	NOUN
alkej-976	528	5	selection	selection	NOUN
alkej-976	528	6	,	,	PUNCT
alkej-976	528	7	”	"	PUNCT
alkej-976	528	8	inf	inf	NOUN
alkej-976	528	9	.	.	PUNCT
alkej-976	528	10	process	process	NOUN
alkej-976	528	11	.	.	PUNCT
alkej-976	529	1	lett	lett	PROPN
alkej-976	529	2	.	.	PROPN
alkej-976	529	3	,	,	PUNCT
alkej-976	529	4	vol	vol	NOUN
alkej-976	529	5	.	.	PROPN
alkej-976	529	6	85	85	NUM
alkej-976	529	7	,	,	PUNCT
alkej-976	529	8	no	no	INTJ
alkej-976	529	9	.	.	NOUN
alkej-976	529	10	6	6	NUM
alkej-976	529	11	,	,	PUNCT
alkej-976	529	12	pp	pp	ADJ
alkej-976	529	13	.	.	PUNCT
alkej-976	530	1	317–325	317–325	NUM
alkej-976	530	2	,	,	PUNCT
alkej-976	530	3	2003	2003	NUM
alkej-976	530	4	,	,	PUNCT
alkej-976	530	5	doi	doi	NOUN
alkej-976	530	6	:	:	PUNCT
alkej-976	530	7	10.1016	10.1016	NUM
alkej-976	530	8	/	/	SYM
alkej-976	530	9	s0020	s0020	ADP
alkej-976	530	10	-	-	PUNCT
alkej-976	530	11	0190(02)00447	0190(02)00447	NUM
alkej-976	530	12	-	-	PUNCT
alkej-976	530	13	7	7	NUM
alkej-976	530	14	.	.	PUNCT
alkej-976	531	1	[	[	X
alkej-976	531	2	18	18	NUM
alkej-976	531	3	]	]	X
alkej-976	531	4	v.	v.	ADP
alkej-976	531	5	t	t	PROPN
alkej-976	531	6	and	and	CCONJ
alkej-976	531	7	v.	v.	ADP
alkej-976	531	8	r	r	NOUN
alkej-976	531	9	,	,	PUNCT
alkej-976	531	10	“	"	PUNCT
alkej-976	531	11	efficient	efficient	ADJ
alkej-976	531	12	energy	energy	NOUN
alkej-976	531	13	load	load	NOUN
alkej-976	531	14	distribution	distribution	NOUN
alkej-976	531	15	model	model	NOUN
alkej-976	531	16	using	use	VERB
alkej-976	531	17	modified	modify	VERB
alkej-976	531	18	particle	particle	NOUN
alkej-976	531	19	swarm	swarm	NOUN
alkej-976	531	20	optimization	optimization	NOUN
alkej-976	531	21	algorithm	algorithm	NOUN
alkej-976	531	22	,	,	PUNCT
alkej-976	531	23	”	"	PUNCT
alkej-976	531	24	j.	j.	PROPN
alkej-976	531	25	artif	artif	PROPN
alkej-976	531	26	.	.	PUNCT
alkej-976	532	1	intell	intell	PROPN
alkej-976	532	2	.	.	PUNCT
alkej-976	533	1	capsul	capsul	PROPN
alkej-976	533	2	.	.	PUNCT
alkej-976	534	1	networks	network	NOUN
alkej-976	534	2	,	,	PUNCT
alkej-976	534	3	vol	vol	NOUN
alkej-976	534	4	.	.	PROPN
alkej-976	534	5	2	2	NUM
alkej-976	534	6	,	,	PUNCT
alkej-976	534	7	no	no	INTJ
alkej-976	534	8	.	.	NOUN
alkej-976	534	9	4	4	NUM
alkej-976	534	10	,	,	PUNCT
alkej-976	534	11	pp	pp	ADJ
alkej-976	534	12	.	.	PUNCT
alkej-976	535	1	226–231	226–231	NUM
alkej-976	535	2	,	,	PUNCT
alkej-976	535	3	2021	2021	NUM
alkej-976	535	4	,	,	PUNCT
alkej-976	535	5	doi	doi	NOUN
alkej-976	535	6	:	:	PUNCT
alkej-976	535	7	10.36548	10.36548	NUM
alkej-976	535	8	/	/	SYM
alkej-976	535	9	jaicn.2020.4.005	jaicn.2020.4.005	NOUN
alkej-976	535	10	.	.	PUNCT
alkej-976	536	1	[	[	X
alkej-976	536	2	19	19	NUM
alkej-976	536	3	]	]	X
alkej-976	536	4	v.	v.	CCONJ
alkej-976	536	5	kumar	kumar	PROPN
alkej-976	536	6	and	and	CCONJ
alkej-976	536	7	v.	v.	ADP
alkej-976	536	8	sharma	sharma	PROPN
alkej-976	536	9	,	,	PUNCT
alkej-976	536	10	“	"	PUNCT
alkej-976	536	11	automatic	automatic	ADJ
alkej-976	536	12	voltage	voltage	NOUN
alkej-976	536	13	regulator	regulator	NOUN
alkej-976	536	14	with	with	ADP
alkej-976	536	15	particle	particle	NOUN
alkej-976	536	16	swarm	swarm	NOUN
alkej-976	536	17	optimized	optimize	VERB
alkej-976	536	18	model	model	NOUN
alkej-976	536	19	predictive	predictive	PROPN
alkej-976	536	20	control	control	PROPN
alkej-976	536	21	strategy	strategy	NOUN
alkej-976	536	22	,	,	PUNCT
alkej-976	536	23	”	"	PUNCT
alkej-976	536	24	2020	2020	NUM
alkej-976	536	25	1st	1st	ADJ
alkej-976	536	26	ieee	ieee	PROPN
alkej-976	536	27	int	int	NOUN
alkej-976	536	28	.	.	PUNCT
alkej-976	536	29	conf	conf	PROPN
alkej-976	536	30	.	.	PUNCT
alkej-976	537	1	meas	meas	PROPN
alkej-976	537	2	.	.	PUNCT
alkej-976	538	1	instrumentation	instrumentation	NOUN
alkej-976	538	2	,	,	PUNCT
alkej-976	538	3	control	control	PROPN
alkej-976	538	4	autom	autom	PROPN
alkej-976	538	5	.	.	PUNCT
alkej-976	539	1	icmica	icmica	PROPN
alkej-976	539	2	2020	2020	NUM
alkej-976	539	3	,	,	PUNCT
alkej-976	539	4	pp	pp	ADV
alkej-976	539	5	.	.	PUNCT
alkej-976	540	1	0–4	0–4	X
alkej-976	540	2	,	,	PUNCT
alkej-976	540	3	2020	2020	NUM
alkej-976	540	4	,	,	PUNCT
alkej-976	540	5	doi	doi	NOUN
alkej-976	540	6	:	:	PUNCT
alkej-976	540	7	10.1109	10.1109	NUM
alkej-976	540	8	/	/	SYM
alkej-976	540	9	icmica48462.2020.9242772	icmica48462.2020.9242772	NOUN
alkej-976	540	10	.	.	PUNCT
alkej-976	541	1	[	[	X
alkej-976	541	2	20	20	NUM
alkej-976	541	3	]	]	PUNCT
alkej-976	541	4	s.	s.	PROPN
alkej-976	541	5	s.	s.	PROPN
alkej-976	541	6	oyelere	oyelere	PROPN
alkej-976	541	7	,	,	PUNCT
alkej-976	541	8	“	"	PUNCT
alkej-976	541	9	the	the	DET
alkej-976	541	10	application	application	NOUN
alkej-976	541	11	of	of	ADP
alkej-976	541	12	model	model	NOUN
alkej-976	541	13	predictive	predictive	PROPN
alkej-976	541	14	control	control	PROPN
alkej-976	541	15	(	(	PUNCT
alkej-976	541	16	mpc	mpc	NOUN
alkej-976	541	17	)	)	PUNCT
alkej-976	541	18	to	to	ADP
alkej-976	541	19	fast	fast	ADJ
alkej-976	541	20	systems	system	NOUN
alkej-976	541	21	such	such	ADJ
alkej-976	541	22	as	as	ADP
alkej-976	541	23	autonomous	autonomous	ADJ
alkej-976	541	24	ground	ground	NOUN
alkej-976	541	25	vehicles	vehicle	NOUN
alkej-976	541	26	(	(	PUNCT
alkej-976	541	27	agv	agv	NOUN
alkej-976	541	28	)	)	PUNCT
alkej-976	541	29	,	,	PUNCT
alkej-976	541	30	”	"	PUNCT
alkej-976	541	31	iosr	iosr	PROPN
alkej-976	541	32	j.	j.	PROPN
alkej-976	541	33	comput	comput	PROPN
alkej-976	541	34	.	.	PUNCT
alkej-976	542	1	eng	eng	PROPN
alkej-976	542	2	.	.	PROPN
alkej-976	542	3	,	,	PUNCT
alkej-976	542	4	vol	vol	NOUN
alkej-976	542	5	.	.	PROPN
alkej-976	543	1	16	16	NUM
alkej-976	543	2	,	,	PUNCT
alkej-976	543	3	no	no	INTJ
alkej-976	543	4	.	.	NOUN
alkej-976	543	5	3	3	NUM
alkej-976	543	6	,	,	PUNCT
alkej-976	543	7	pp	pp	ADJ
alkej-976	543	8	.	.	PUNCT
alkej-976	544	1	27–37	27–37	NUM
alkej-976	544	2	,	,	PUNCT
alkej-976	544	3	2014	2014	NUM
alkej-976	544	4	,	,	PUNCT
alkej-976	544	5	doi	doi	NOUN
alkej-976	544	6	:	:	PUNCT
alkej-976	544	7	10.9790/0661	10.9790/0661	NUM
alkej-976	544	8	-	-	SYM
alkej-976	544	9	16342737	16342737	NUM
alkej-976	544	10	.	.	PUNCT
alkej-976	545	1	[	[	X
alkej-976	545	2	21	21	NUM
alkej-976	545	3	]	]	PUNCT
alkej-976	545	4	m.	m.	NOUN
alkej-976	545	5	z.	z.	PROPN
alkej-976	545	6	mohd	mohd	PROPN
alkej-976	545	7	tumari	tumari	PROPN
alkej-976	545	8	,	,	PUNCT
alkej-976	545	9	m.	m.	NOUN
alkej-976	545	10	s.	s.	PROPN
alkej-976	545	11	saealal	saealal	PROPN
alkej-976	545	12	,	,	PUNCT
alkej-976	545	13	w.	w.	PROPN
alkej-976	545	14	n.	n.	PROPN
alkej-976	545	15	abd	abd	PROPN
alkej-976	545	16	rashid	rashid	PROPN
alkej-976	545	17	,	,	PUNCT
alkej-976	545	18	s.	s.	PROPN
alkej-976	545	19	saat	saat	PROPN
alkej-976	545	20	,	,	PUNCT
alkej-976	545	21	and	and	CCONJ
alkej-976	545	22	m.	m.	NOUN
alkej-976	545	23	a.	a.	PROPN
alkej-976	545	24	mohd	mohd	PROPN
alkej-976	545	25	nasir	nasir	PROPN
alkej-976	545	26	,	,	PUNCT
alkej-976	545	27	“	"	PUNCT
alkej-976	545	28	the	the	DET
alkej-976	545	29	vehicle	vehicle	NOUN
alkej-976	545	30	steer	steer	NOUN
alkej-976	545	31	by	by	ADP
alkej-976	545	32	wire	wire	NOUN
alkej-976	545	33	control	control	NOUN
alkej-976	545	34	system	system	NOUN
alkej-976	545	35	by	by	ADP
alkej-976	545	36	implementing	implement	VERB
alkej-976	545	37	pid	pid	NOUN
alkej-976	545	38	controller	controller	NOUN
alkej-976	545	39	,	,	PUNCT
alkej-976	545	40	”	"	PUNCT
alkej-976	545	41	j.	j.	PROPN
alkej-976	545	42	telecommun	telecommun	PROPN
alkej-976	545	43	.	.	PUNCT
alkej-976	545	44	electron	electron	PROPN
alkej-976	545	45	.	.	PUNCT
alkej-976	546	1	comput	comput	NOUN
alkej-976	546	2	.	.	PUNCT
alkej-976	547	1	eng	eng	PROPN
alkej-976	547	2	.	.	PROPN
alkej-976	547	3	,	,	PUNCT
alkej-976	547	4	vol	vol	NOUN
alkej-976	547	5	.	.	PROPN
alkej-976	547	6	9	9	NUM
alkej-976	547	7	,	,	PUNCT
alkej-976	547	8	no	no	INTJ
alkej-976	547	9	.	.	PUNCT
alkej-976	548	1	3–2	3–2	NUM
alkej-976	548	2	,	,	PUNCT
alkej-976	548	3	pp	pp	ADJ
alkej-976	548	4	.	.	PUNCT
alkej-976	549	1	43–47	43–47	NUM
alkej-976	549	2	,	,	PUNCT
alkej-976	549	3	2017	2017	NUM
alkej-976	549	4	.	.	PUNCT
alkej-976	550	1	[	[	X
alkej-976	550	2	22	22	NUM
alkej-976	550	3	]	]	X
alkej-976	550	4	g.	g.	PROPN
alkej-976	550	5	huang	huang	PROPN
alkej-976	550	6	,	,	PUNCT
alkej-976	550	7	x.	x.	PROPN
alkej-976	550	8	yuan	yuan	PROPN
alkej-976	550	9	,	,	PUNCT
alkej-976	550	10	k.	k.	PROPN
alkej-976	550	11	shi	shi	PROPN
alkej-976	550	12	,	,	PUNCT
alkej-976	550	13	z.	z.	PROPN
alkej-976	550	14	liu	liu	PROPN
alkej-976	550	15	,	,	PUNCT
alkej-976	550	16	and	and	CCONJ
alkej-976	550	17	x.	x.	PROPN
alkej-976	550	18	wu	wu	PROPN
alkej-976	550	19	,	,	PUNCT
alkej-976	550	20	“	"	PUNCT
alkej-976	550	21	adaptivity	adaptivity	NOUN
alkej-976	550	22	-	-	PUNCT
alkej-976	550	23	enhanced	enhance	VERB
alkej-976	550	24	path	path	NOUN
alkej-976	550	25	tracking	tracking	NOUN
alkej-976	550	26	system	system	NOUN
alkej-976	550	27	for	for	ADP
alkej-976	550	28	autonomous	autonomous	ADJ
alkej-976	550	29	vehicles	vehicle	NOUN
alkej-976	550	30	at	at	ADP
alkej-976	550	31	high	high	ADJ
alkej-976	550	32	speeds	speed	NOUN
alkej-976	550	33	,	,	PUNCT
alkej-976	550	34	”	"	PUNCT
alkej-976	550	35	ieee	ieee	NOUN
alkej-976	550	36	trans	trans	PROPN
alkej-976	550	37	.	.	PUNCT
alkej-976	551	1	intell	intell	PROPN
alkej-976	551	2	.	.	PUNCT
alkej-976	552	1	veh	veh	PROPN
alkej-976	552	2	.	.	PROPN
alkej-976	552	3	,	,	PUNCT
alkej-976	552	4	vol	vol	NOUN
alkej-976	552	5	.	.	PROPN
alkej-976	553	1	5	5	NUM
alkej-976	553	2	,	,	PUNCT
alkej-976	553	3	no	no	INTJ
alkej-976	553	4	.	.	NOUN
alkej-976	553	5	4	4	NUM
alkej-976	553	6	,	,	PUNCT
alkej-976	553	7	pp	pp	ADJ
alkej-976	553	8	.	.	PUNCT
alkej-976	554	1	626–634	626–634	NUM
alkej-976	554	2	,	,	PUNCT
alkej-976	554	3	2020	2020	NUM
alkej-976	554	4	,	,	PUNCT
alkej-976	554	5	doi	doi	NOUN
alkej-976	554	6	:	:	PUNCT
alkej-976	554	7	10.1109	10.1109	NUM
alkej-976	554	8	/	/	SYM
alkej-976	554	9	tiv.2020.3014776	tiv.2020.3014776	NOUN
alkej-976	554	10	.	.	PUNCT
alkej-976	555	1	[	[	X
alkej-976	555	2	23	23	NUM
alkej-976	555	3	]	]	PUNCT
alkej-976	555	4	m.	m.	PROPN
alkej-976	555	5	yan	yan	PROPN
alkej-976	555	6	,	,	PUNCT
alkej-976	555	7	w.	w.	PROPN
alkej-976	555	8	chen	chen	PROPN
alkej-976	555	9	,	,	PUNCT
alkej-976	555	10	q.	q.	PROPN
alkej-976	555	11	wang	wang	PROPN
alkej-976	555	12	,	,	PUNCT
alkej-976	555	13	l.	l.	PROPN
alkej-976	555	14	zhao	zhao	PROPN
alkej-976	555	15	,	,	PUNCT
alkej-976	555	16	x.	x.	PROPN
alkej-976	555	17	liang	liang	PROPN
alkej-976	555	18	,	,	PUNCT
alkej-976	555	19	and	and	CCONJ
alkej-976	555	20	b.	b.	PROPN
alkej-976	555	21	cai	cai	PROPN
alkej-976	555	22	,	,	PUNCT
alkej-976	555	23	“	"	PUNCT
alkej-976	555	24	human	human	ADJ
alkej-976	555	25	–	–	PUNCT
alkej-976	555	26	machine	machine	NOUN
alkej-976	555	27	cooperative	cooperative	ADJ
alkej-976	555	28	control	control	NOUN
alkej-976	555	29	of	of	ADP
alkej-976	555	30	intelligent	intelligent	ADJ
alkej-976	555	31	vehicles	vehicle	NOUN
alkej-976	555	32	for	for	ADP
alkej-976	555	33	lane	lane	NOUN
alkej-976	555	34	keeping	keeping	NOUN
alkej-976	555	35	—	—	PUNCT
alkej-976	555	36	considering	consider	VERB
alkej-976	555	37	safety	safety	NOUN
alkej-976	555	38	of	of	ADP
alkej-976	555	39	the	the	DET
alkej-976	555	40	intended	intend	VERB
alkej-976	555	41	functionality	functionality	NOUN
alkej-976	555	42	,	,	PUNCT
alkej-976	555	43	”	"	PUNCT
alkej-976	555	44	actuators	actuator	NOUN
alkej-976	555	45	,	,	PUNCT
alkej-976	555	46	vol	vol	NOUN
alkej-976	555	47	.	.	PROPN
alkej-976	555	48	10	10	NUM
alkej-976	555	49	,	,	PUNCT
alkej-976	555	50	no	no	INTJ
alkej-976	555	51	.	.	NOUN
alkej-976	555	52	9	9	NUM
alkej-976	555	53	,	,	PUNCT
alkej-976	555	54	2021	2021	NUM
alkej-976	555	55	,	,	PUNCT
alkej-976	555	56	doi	doi	NOUN
alkej-976	555	57	:	:	PUNCT
alkej-976	555	58	10.3390	10.3390	NUM
alkej-976	555	59	/	/	SYM
alkej-976	555	60	act10090210	act10090210	NOUN
alkej-976	555	61	.	.	PUNCT
alkej-976	556	1	[	[	X
alkej-976	556	2	24	24	NUM
alkej-976	556	3	]	]	X
alkej-976	556	4	v.	v.	CCONJ
alkej-976	556	5	tavoosi	tavoosi	PROPN
alkej-976	556	6	,	,	PUNCT
alkej-976	556	7	r.	r.	PROPN
alkej-976	556	8	kazemi	kazemi	PROPN
alkej-976	556	9	,	,	PUNCT
alkej-976	556	10	and	and	CCONJ
alkej-976	556	11	s.	s.	PROPN
alkej-976	556	12	m.	m.	PROPN
alkej-976	556	13	hosseini	hosseini	PROPN
alkej-976	556	14	,	,	PUNCT
alkej-976	556	15	“	"	PUNCT
alkej-976	556	16	vehicle	vehicle	NOUN
alkej-976	556	17	handling	handling	NOUN
alkej-976	556	18	improvement	improvement	NOUN
alkej-976	556	19	with	with	ADP
alkej-976	556	20	steer	steer	NOUN
alkej-976	556	21	-	-	PUNCT
alkej-976	556	22	by	by	ADP
alkej-976	556	23	-	-	PUNCT
alkej-976	556	24	wire	wire	NOUN
alkej-976	556	25	system	system	NOUN
alkej-976	556	26	using	use	VERB
alkej-976	556	27	hardware	hardware	NOUN
alkej-976	556	28	in	in	ADP
alkej-976	556	29	the	the	DET
alkej-976	556	30	loop	loop	NOUN
alkej-976	556	31	method	method	NOUN
alkej-976	556	32	,	,	PUNCT
alkej-976	556	33	”	"	PUNCT
alkej-976	556	34	j.	j.	PROPN
alkej-976	556	35	appl	appl	PROPN
alkej-976	556	36	.	.	PUNCT
alkej-976	557	1	res	res	PROPN
alkej-976	557	2	.	.	PROPN
alkej-976	558	1	technol	technol	PROPN
alkej-976	558	2	.	.	PROPN
alkej-976	558	3	,	,	PUNCT
alkej-976	558	4	vol	vol	NOUN
alkej-976	558	5	.	.	PROPN
alkej-976	559	1	12	12	NUM
alkej-976	559	2	,	,	PUNCT
alkej-976	559	3	no	no	INTJ
alkej-976	559	4	.	.	NOUN
alkej-976	559	5	4	4	NUM
alkej-976	559	6	,	,	PUNCT
alkej-976	559	7	pp	pp	ADJ
alkej-976	559	8	.	.	PUNCT
alkej-976	560	1	769–781	769–781	NUM
alkej-976	560	2	,	,	PUNCT
alkej-976	560	3	2014	2014	NUM
alkej-976	560	4	,	,	PUNCT
alkej-976	560	5	doi	doi	NOUN
alkej-976	560	6	:	:	PUNCT
alkej-976	560	7	10.1016	10.1016	NUM
alkej-976	560	8	/	/	SYM
alkej-976	560	9	s1665	s1665	VERB
alkej-976	560	10	-	-	PUNCT
alkej-976	560	11	6423(14)70093	6423(14)70093	NUM
alkej-976	560	12	-	-	SYM
alkej-976	560	13	8	8	NUM
alkej-976	560	14	.	.	PUNCT
alkej-976	561	1	[	[	X
alkej-976	561	2	25	25	NUM
alkej-976	561	3	]	]	X
alkej-976	561	4	r.	r.	PROPN
alkej-976	561	5	kazemi	kazemi	PROPN
alkej-976	561	6	,	,	PUNCT
alkej-976	561	7	i.	i.	PROPN
alkej-976	561	8	mousavinejad	mousavinejad	PROPN
alkej-976	561	9	,	,	PUNCT
alkej-976	561	10	m.	m.	NOUN
alkej-976	561	11	raf’at	raf’at	PROPN
alkej-976	561	12	,	,	PUNCT
alkej-976	561	13	and	and	CCONJ
alkej-976	561	14	m.	m.	PROPN
alkej-976	561	15	b.	b.	PROPN
alkej-976	561	16	kh	kh	PROPN
alkej-976	561	17	,	,	PUNCT
alkej-976	561	18	“	"	PUNCT
alkej-976	561	19	yaw	yaw	ADJ
alkej-976	561	20	moment	moment	NOUN
alkej-976	561	21	control	control	NOUN
alkej-976	561	22	of	of	ADP
alkej-976	561	23	the	the	DET
alkej-976	561	24	passenger	passenger	NOUN
alkej-976	561	25	car	car	NOUN
alkej-976	561	26	via	via	ADP
alkej-976	561	27	steer	steer	NOUN
alkej-976	561	28	by	by	ADP
alkej-976	561	29	wire	wire	NOUN
alkej-976	561	30	system	system	NOUN
alkej-976	561	31	,	,	PUNCT
alkej-976	561	32	”	"	PUNCT
alkej-976	561	33	in	in	ADP
alkej-976	561	34	asme	asme	PROPN
alkej-976	561	35	-	-	PUNCT
alkej-976	561	36	international	international	ADJ
alkej-976	561	37	mechanical	mechanical	ADJ
alkej-976	561	38	engneering	engneere	VERB
alkej-976	561	39	congress	congress	PROPN
alkej-976	561	40	&	&	CCONJ
alkej-976	561	41	exposition	exposition	PROPN
alkej-976	561	42	,	,	PUNCT
alkej-976	561	43	denver	denver	PROPN
alkej-976	561	44	,	,	PUNCT
alkej-976	561	45	colorado	colorado	PROPN
alkej-976	561	46	usa	usa	PROPN
alkej-976	561	47	,	,	PUNCT
alkej-976	561	48	2011	2011	NUM
alkej-976	561	49	,	,	PUNCT
alkej-976	561	50	pp	pp	ADJ
alkej-976	561	51	.	.	PUNCT
alkej-976	562	1	13–15	13–15	NUM
alkej-976	562	2	.	.	PUNCT
alkej-976	563	1	[	[	X
alkej-976	563	2	26	26	NUM
alkej-976	563	3	]	]	X
alkej-976	563	4	e.	e.	PROPN
alkej-976	563	5	s.	s.	PROPN
alkej-976	563	6	mohamed	mohamed	PROPN
alkej-976	563	7	and	and	CCONJ
alkej-976	563	8	s.	s.	PROPN
alkej-976	563	9	a.	a.	PROPN
alkej-976	563	10	albatlan	albatlan	PROPN
alkej-976	563	11	,	,	PUNCT
alkej-976	563	12	“	"	PUNCT
alkej-976	563	13	modeling	modeling	NOUN
alkej-976	563	14	and	and	CCONJ
alkej-976	563	15	experimental	experimental	ADJ
alkej-976	563	16	design	design	NOUN
alkej-976	563	17	approach	approach	NOUN
alkej-976	563	18	for	for	ADP
alkej-976	563	19	integration	integration	NOUN
alkej-976	563	20	of	of	ADP
alkej-976	563	21	conventional	conventional	ADJ
alkej-976	563	22	power	power	NOUN
alkej-976	563	23	steering	steering	NOUN
alkej-976	563	24	and	and	CCONJ
alkej-976	563	25	a	a	DET
alkej-976	563	26	steer	steer	NOUN
alkej-976	563	27	-	-	PUNCT
alkej-976	563	28	by	by	ADP
alkej-976	563	29	-	-	PUNCT
alkej-976	563	30	wire	wire	NOUN
alkej-976	563	31	system	system	NOUN
alkej-976	563	32	based	base	VERB
alkej-976	563	33	on	on	ADP
alkej-976	563	34	active	active	ADJ
alkej-976	563	35	steering	steering	NOUN
alkej-976	563	36	angle	angle	NOUN
alkej-976	563	37	control	control	NOUN
alkej-976	563	38	,	,	PUNCT
alkej-976	563	39	”	"	PUNCT
alkej-976	563	40	am	be	AUX
alkej-976	563	41	.	.	PUNCT
alkej-976	564	1	j.	j.	PROPN
alkej-976	564	2	veh	veh	PROPN
alkej-976	564	3	.	.	PUNCT
alkej-976	565	1	des	des	PROPN
alkej-976	565	2	.	.	PROPN
alkej-976	565	3	,	,	PUNCT
alkej-976	565	4	vol	vol	NOUN
alkej-976	565	5	.	.	PROPN
alkej-976	565	6	2	2	NUM
alkej-976	565	7	,	,	PUNCT
alkej-976	565	8	no	no	INTJ
alkej-976	565	9	.	.	NOUN
alkej-976	565	10	1	1	NUM
alkej-976	565	11	,	,	PUNCT
alkej-976	565	12	pp	pp	ADJ
alkej-976	565	13	.	.	PUNCT
alkej-976	566	1	32–42	32–42	NUM
alkej-976	566	2	,	,	PUNCT
alkej-976	566	3	2014	2014	NUM
alkej-976	566	4	,	,	PUNCT
alkej-976	566	5	doi	doi	NOUN
alkej-976	566	6	:	:	PUNCT
alkej-976	566	7	...	...	PUNCT
alkej-976	567	1	[	[	X
alkej-976	567	2	27	27	NUM
alkej-976	567	3	]	]	X
alkej-976	567	4	s.	s.	PROPN
alkej-976	567	5	m.	m.	PROPN
alkej-976	567	6	h.	h.	PROPN
alkej-976	567	7	fahami	fahami	PROPN
alkej-976	567	8	,	,	PUNCT
alkej-976	567	9	h.	h.	PROPN
alkej-976	567	10	zamzuri	zamzuri	PROPN
alkej-976	567	11	,	,	PUNCT
alkej-976	567	12	s.	s.	PROPN
alkej-976	567	13	a.	a.	PROPN
alkej-976	567	14	mazlan	mazlan	PROPN
alkej-976	567	15	,	,	PUNCT
alkej-976	567	16	and	and	CCONJ
alkej-976	567	17	m.	m.	NOUN
alkej-976	567	18	a.	a.	PROPN
alkej-976	567	19	zakaria	zakaria	PROPN
alkej-976	567	20	,	,	PUNCT
alkej-976	567	21	“	"	PUNCT
alkej-976	567	22	modeling	modeling	NOUN
alkej-976	567	23	and	and	CCONJ
alkej-976	567	24	simulation	simulation	NOUN
alkej-976	567	25	of	of	ADP
alkej-976	567	26	vehicle	vehicle	NOUN
alkej-976	567	27	steer	steer	NOUN
alkej-976	567	28	by	by	ADP
alkej-976	567	29	wire	wire	NOUN
alkej-976	567	30	system	system	NOUN
alkej-976	567	31	,	,	PUNCT
alkej-976	567	32	”	"	PUNCT
alkej-976	567	33	shuser	shus	ADJ
alkej-976	567	34	2012	2012	NUM
alkej-976	567	35	2012	2012	NUM
alkej-976	567	36	ieee	ieee	NOUN
alkej-976	567	37	symp	symp	NOUN
alkej-976	567	38	.	.	PUNCT
alkej-976	568	1	humanit	humanit	PROPN
alkej-976	568	2	.	.	PUNCT
alkej-976	569	1	sci	sci	PROPN
alkej-976	569	2	.	.	PUNCT
alkej-976	570	1	eng	eng	PROPN
alkej-976	570	2	.	.	PUNCT
alkej-976	571	1	res	res	PROPN
alkej-976	571	2	.	.	PROPN
alkej-976	571	3	,	,	PUNCT
alkej-976	571	4	no	no	INTJ
alkej-976	572	1	.	.	NOUN
alkej-976	572	2	1	1	NUM
alkej-976	572	3	,	,	PUNCT
alkej-976	572	4	pp	pp	ADJ
alkej-976	572	5	.	.	PUNCT
alkej-976	573	1	765–770	765–770	NUM
alkej-976	573	2	,	,	PUNCT
alkej-976	573	3	2012	2012	NUM
alkej-976	573	4	,	,	PUNCT
alkej-976	573	5	doi	doi	NOUN
alkej-976	573	6	:	:	PUNCT
alkej-976	573	7	10.1109	10.1109	NUM
alkej-976	573	8	/	/	SYM
alkej-976	573	9	shuser.2012.6268992	shuser.2012.6268992	NOUN
alkej-976	573	10	.	.	PUNCT
alkej-976	574	1	[	[	X
alkej-976	574	2	28	28	NUM
alkej-976	574	3	]	]	X
alkej-976	574	4	j.	j.	PROPN
alkej-976	574	5	seo	seo	PROPN
alkej-976	574	6	and	and	CCONJ
alkej-976	574	7	k.	k.	NOUN
alkej-976	574	8	oh	oh	INTJ
alkej-976	574	9	,	,	PUNCT
alkej-976	574	10	“	"	PUNCT
alkej-976	574	11	model	model	NOUN
alkej-976	574	12	predictive	predictive	ADJ
alkej-976	574	13	control	control	NOUN
alkej-976	574	14	–	–	PUNCT
alkej-976	574	15	based	base	VERB
alkej-976	574	16	steering	steering	NOUN
alkej-976	574	17	control	control	NOUN
alkej-976	574	18	algorithm	algorithm	NOUN
alkej-976	574	19	for	for	ADP
alkej-976	574	20	steering	steering	NOUN
alkej-976	574	21	efficiency	efficiency	NOUN
alkej-976	574	22	of	of	ADP
alkej-976	574	23	a	a	DET
alkej-976	574	24	human	human	ADJ
alkej-976	574	25	driver	driver	NOUN
alkej-976	574	26	in	in	ADP
alkej-976	574	27	all	all	DET
alkej-976	574	28	-	-	PUNCT
alkej-976	574	29	terrain	terrain	NOUN
alkej-976	574	30	cranes	crane	NOUN
alkej-976	574	31	,	,	PUNCT
alkej-976	574	32	”	"	PUNCT
alkej-976	574	33	vol	vol	NOUN
alkej-976	574	34	.	.	PROPN
alkej-976	574	35	11	11	NUM
alkej-976	574	36	,	,	PUNCT
alkej-976	574	37	no	no	INTJ
alkej-976	574	38	.	.	NOUN
alkej-976	574	39	6	6	NUM
alkej-976	574	40	,	,	PUNCT
alkej-976	574	41	pp	pp	PROPN
alkej-976	574	42	.	.	PUNCT
alkej-976	575	1	1–16	1–16	NOUN
alkej-976	575	2	,	,	PUNCT
alkej-976	575	3	2019	2019	NUM
alkej-976	575	4	,	,	PUNCT
alkej-976	575	5	doi	doi	NOUN
alkej-976	575	6	:	:	PUNCT
alkej-976	575	7	10.1177/1687814019859783	10.1177/1687814019859783	NUM
alkej-976	575	8	.	.	PUNCT
alkej-976	576	1	[	[	X
alkej-976	576	2	29	29	NUM
alkej-976	576	3	]	]	X
alkej-976	576	4	m.	m.	NOUN
alkej-976	576	5	schwenzer	schwenzer	NOUN
alkej-976	576	6	,	,	PUNCT
alkej-976	576	7	m.	m.	NOUN
alkej-976	576	8	ay	ay	PROPN
alkej-976	576	9	,	,	PUNCT
alkej-976	576	10	t.	t.	NOUN
alkej-976	576	11	bergs	berg	NOUN
alkej-976	576	12	,	,	PUNCT
alkej-976	576	13	and	and	CCONJ
alkej-976	576	14	d.	d.	PROPN
alkej-976	576	15	abel	abel	PROPN
alkej-976	576	16	,	,	PUNCT
alkej-976	576	17	“	"	PUNCT
alkej-976	576	18	review	review	NOUN
alkej-976	576	19	on	on	ADP
alkej-976	576	20	model	model	NOUN
alkej-976	576	21	predictive	predictive	PROPN
alkej-976	576	22	control	control	PROPN
alkej-976	576	23	 	 	SPACE
alkej-976	576	24	:	:	PUNCT
alkej-976	576	25	an	an	DET
alkej-976	576	26	engineering	engineering	NOUN
alkej-976	576	27	perspective	perspective	NOUN
alkej-976	576	28	,	,	PUNCT
alkej-976	576	29	”	"	PUNCT
alkej-976	576	30	pp	pp	ADV
alkej-976	576	31	.	.	PUNCT
alkej-976	577	1	1327–1349	1327–1349	NUM
alkej-976	577	2	,	,	PUNCT
alkej-976	577	3	2021	2021	NUM
alkej-976	577	4	.	.	PUNCT
alkej-976	578	1	[	[	X
alkej-976	578	2	30	30	NUM
alkej-976	578	3	]	]	PUNCT
alkej-976	578	4	j.	j.	PROPN
alkej-976	578	5	zhang	zhang	PROPN
alkej-976	578	6	et	et	PROPN
alkej-976	578	7	al	al	PROPN
alkej-976	578	8	.	.	PROPN
alkej-976	578	9	,	,	PUNCT
alkej-976	578	10	“	"	PUNCT
alkej-976	578	11	adaptive	adaptive	ADJ
alkej-976	578	12	sliding	slide	VERB
alkej-976	578	13	mode	mode	NOUN
alkej-976	578	14	-	-	PUNCT
alkej-976	578	15	based	base	VERB
alkej-976	578	16	lateral	lateral	ADJ
alkej-976	578	17	stability	stability	NOUN
alkej-976	578	18	control	control	NOUN
alkej-976	578	19	of	of	ADP
alkej-976	578	20	steer	steer	NOUN
alkej-976	578	21	-	-	PUNCT
alkej-976	578	22	by	by	ADP
alkej-976	578	23	-	-	PUNCT
alkej-976	578	24	wire	wire	NOUN
alkej-976	578	25	vehicles	vehicle	NOUN
alkej-976	578	26	with	with	ADP
alkej-976	578	27	experimental	experimental	ADJ
alkej-976	578	28	validations	validation	NOUN
alkej-976	578	29	,	,	PUNCT
alkej-976	578	30	”	"	PUNCT
alkej-976	578	31	ieee	ieee	NOUN
alkej-976	578	32	trans	tran	NOUN
alkej-976	578	33	.	.	PUNCT
alkej-976	579	1	veh	veh	PROPN
alkej-976	579	2	.	.	PROPN
alkej-976	579	3	technol	technol	PROPN
alkej-976	579	4	.	.	PROPN
alkej-976	579	5	,	,	PUNCT
alkej-976	579	6	vol	vol	NOUN
alkej-976	579	7	.	.	PROPN
alkej-976	580	1	69	69	NUM
alkej-976	580	2	,	,	PUNCT
alkej-976	580	3	no	no	INTJ
alkej-976	580	4	.	.	NOUN
alkej-976	580	5	9	9	NUM
alkej-976	580	6	,	,	PUNCT
alkej-976	580	7	pp	pp	ADJ
alkej-976	580	8	.	.	PUNCT
alkej-976	581	1	9589–9600	9589–9600	NUM
alkej-976	581	2	,	,	PUNCT
alkej-976	581	3	2020	2020	NUM
alkej-976	581	4	,	,	PUNCT
alkej-976	581	5	doi	doi	NOUN
alkej-976	581	6	:	:	PUNCT
alkej-976	581	7	10.1109	10.1109	NUM
alkej-976	581	8	/	/	SYM
alkej-976	581	9	tvt.2020.3003326	tvt.2020.3003326	NOUN
alkej-976	581	10	.	.	PUNCT
alkej-976	582	1	[	[	X
alkej-976	582	2	31	31	NUM
alkej-976	582	3	]	]	PUNCT
alkej-976	582	4	m.	m.	NOUN
alkej-976	582	5	i.	i.	PROPN
alkej-976	582	6	solihin	solihin	PROPN
alkej-976	582	7	,	,	PUNCT
alkej-976	582	8	l.	l.	PROPN
alkej-976	582	9	f.	f.	PROPN
alkej-976	582	10	tack	tack	PROPN
alkej-976	582	11	,	,	PUNCT
alkej-976	582	12	and	and	CCONJ
alkej-976	582	13	m.	m.	PROPN
alkej-976	582	14	l.	l.	PROPN
alkej-976	582	15	kean	kean	PROPN
alkej-976	582	16	,	,	PUNCT
alkej-976	582	17	“	"	PUNCT
alkej-976	582	18	tuning	tune	VERB
alkej-976	582	19	of	of	ADP
alkej-976	582	20	pid	pid	NOUN
alkej-976	582	21	controller	controller	NOUN
alkej-976	582	22	using	use	VERB
alkej-976	582	23	particle	particle	NOUN
alkej-976	582	24	swarm	swarm	NOUN
alkej-976	582	25	optimization	optimization	NOUN
alkej-976	582	26	(	(	PUNCT
alkej-976	582	27	pso	pso	NOUN
alkej-976	582	28	)	)	PUNCT
alkej-976	582	29	,	,	PUNCT
alkej-976	582	30	”	"	PUNCT
alkej-976	582	31	int	int	NOUN
alkej-976	582	32	.	.	PUNCT
alkej-976	583	1	j.	j.	PROPN
alkej-976	583	2	adv	adv	PROPN
alkej-976	583	3	.	.	PUNCT
alkej-976	584	1	sci	sci	PROPN
alkej-976	584	2	.	.	PUNCT
alkej-976	585	1	eng	eng	PROPN
alkej-976	585	2	.	.	PROPN
alkej-976	585	3	inf	inf	PROPN
alkej-976	585	4	.	.	PUNCT
alkej-976	585	5	technol	technol	PROPN
alkej-976	585	6	.	.	PROPN
alkej-976	585	7	,	,	PUNCT
alkej-976	585	8	vol	vol	NOUN
alkej-976	585	9	.	.	PROPN
alkej-976	586	1	1	1	NUM
alkej-976	586	2	,	,	PUNCT
alkej-976	586	3	no	no	INTJ
alkej-976	586	4	.	.	NOUN
alkej-976	586	5	4	4	NUM
alkej-976	586	6	,	,	PUNCT
alkej-976	586	7	p.	p.	NOUN
alkej-976	586	8	458	458	NUM
alkej-976	586	9	,	,	PUNCT
alkej-976	586	10	2011	2011	NUM
alkej-976	586	11	,	,	PUNCT
alkej-976	586	12	doi	doi	NOUN
alkej-976	586	13	:	:	PUNCT
alkej-976	586	14	10.18517	10.18517	NUM
alkej-976	586	15	/	/	SYM
alkej-976	586	16	ijaseit.1.4.93	ijaseit.1.4.93	NOUN
alkej-976	586	17	.	.	PUNCT
alkej-976	587	1	[	[	X
alkej-976	587	2	32	32	NUM
alkej-976	587	3	]	]	PUNCT
alkej-976	587	4	s.	s.	PROPN
alkej-976	587	5	charkoutsis	charkoutsis	PROPN
alkej-976	587	6	and	and	CCONJ
alkej-976	587	7	m.	m.	PROPN
alkej-976	587	8	kara	kara	PROPN
alkej-976	587	9	-	-	PUNCT
alkej-976	587	10	mohamed	mohame	VERB
alkej-976	587	11	,	,	PUNCT
alkej-976	587	12	“	"	PUNCT
alkej-976	587	13	a	a	DET
alkej-976	587	14	particle	particle	NOUN
alkej-976	587	15	swarm	swarm	NOUN
alkej-976	587	16	optimization	optimization	NOUN
alkej-976	587	17	tuned	tune	VERB
alkej-976	587	18	nonlinear	nonlinear	ADJ
alkej-976	587	19	pid	pid	NOUN
alkej-976	587	20	controller	controller	NOUN
alkej-976	587	21	with	with	ADP
alkej-976	587	22	improved	improved	ADJ
alkej-976	587	23	performance	performance	NOUN
alkej-976	587	24	and	and	CCONJ
alkej-976	587	25	robustness	robustness	NOUN
alkej-976	587	26	for	for	ADP
alkej-976	587	27	first	first	ADJ
alkej-976	587	28	order	order	NOUN
alkej-976	587	29	plus	plus	CCONJ
alkej-976	587	30	time	time	NOUN
alkej-976	587	31	delay	delay	NOUN
alkej-976	587	32	systems	system	NOUN
alkej-976	587	33	,	,	PUNCT
alkej-976	587	34	”	"	PUNCT
alkej-976	587	35	results	result	NOUN
alkej-976	587	36	control	control	PROPN
alkej-976	587	37	optim	optim	PROPN
alkej-976	587	38	.	.	PUNCT
alkej-976	587	39	,	,	PUNCT
alkej-976	587	40	vol	vol	NOUN
alkej-976	587	41	.	.	PROPN
alkej-976	587	42	12	12	NUM
alkej-976	587	43	,	,	PUNCT
alkej-976	587	44	p.	p.	NOUN
alkej-976	587	45	100289	100289	NUM
alkej-976	587	46	,	,	PUNCT
alkej-976	587	47	2023	2023	NUM
alkej-976	587	48	,	,	PUNCT
alkej-976	587	49	doi	doi	NOUN
alkej-976	587	50	:	:	PUNCT
alkej-976	587	51	10.1016	10.1016	NUM
alkej-976	587	52	/	/	SYM
alkej-976	587	53	j	j	PROPN
alkej-976	587	54	....	....	PUNCT
alkej-976	588	1	[	[	X
alkej-976	588	2	33	33	NUM
alkej-976	588	3	]	]	PUNCT
alkej-976	588	4	chapter	chapter	NOUN
alkej-976	588	5	1	1	NUM
alkej-976	588	6	introduction	introduction	NOUN
alkej-976	588	7	to	to	PART
alkej-976	588	8	model	model	VERB
alkej-976	588	9	predictive	predictive	ADJ
alkej-976	588	10	control	control	NOUN
alkej-976	588	11	,	,	PUNCT
alkej-976	588	12	no	no	INTJ
alkej-976	588	13	.	.	PUNCT
alkej-976	588	14	november	november	PROPN
alkej-976	588	15	.	.	PUNCT
alkej-976	589	1	2023	2023	NUM
alkej-976	589	2	.	.	PUNCT
alkej-976	590	1	doi	doi	NOUN
alkej-976	590	2	:	:	PUNCT
alkej-976	590	3	10.1007/978	10.1007/978	NUM
alkej-976	590	4	-	-	SYM
alkej-976	590	5	3	3	NUM
alkej-976	590	6	-	-	PUNCT
alkej-976	590	7	030	030	NUM
alkej-976	590	8	-	-	PUNCT
alkej-976	590	9	83815	83815	NUM
alkej-976	590	10	-	-	SYM
alkej-976	590	11	7	7	NUM
alkej-976	590	12	.	.	PUNCT
alkej-976	591	1	[	[	X
alkej-976	591	2	34	34	NUM
alkej-976	591	3	]	]	X
alkej-976	591	4	c.	c.	PROPN
alkej-976	591	5	huang	huang	PROPN
alkej-976	591	6	,	,	PUNCT
alkej-976	591	7	f.	f.	PROPN
alkej-976	591	8	naghdy	naghdy	PROPN
alkej-976	591	9	,	,	PUNCT
alkej-976	591	10	h.	h.	PROPN
alkej-976	591	11	du	du	PROPN
alkej-976	591	12	,	,	PUNCT
alkej-976	591	13	and	and	CCONJ
alkej-976	591	14	s.	s.	PROPN
alkej-976	591	15	member	member	PROPN
alkej-976	591	16	,	,	PUNCT
alkej-976	591	17	“	"	PUNCT
alkej-976	591	18	for	for	ADP
alkej-976	591	19	uncertain	uncertain	ADJ
alkej-976	591	20	steer	steer	NOUN
alkej-976	591	21	-	-	PUNCT
alkej-976	591	22	by	by	ADP
alkej-976	591	23	-	-	PUNCT
alkej-976	591	24	wire	wire	NOUN
alkej-976	591	25	system	system	NOUN
alkej-976	591	26	,	,	PUNCT
alkej-976	591	27	”	"	PUNCT
alkej-976	591	28	pp	pp	ADV
alkej-976	591	29	.	.	PUNCT
alkej-976	591	30	1–12	1–12	NOUN
alkej-976	591	31	,	,	PUNCT
alkej-976	591	32	2017	2017	NUM
alkej-976	591	33	.	.	PUNCT
alkej-976	592	1	[	[	X
alkej-976	592	2	35	35	NUM
alkej-976	592	3	]	]	PUNCT
alkej-976	592	4	x.	x.	NOUN
alkej-976	592	5	wu	wu	PROPN
alkej-976	592	6	,	,	PUNCT
alkej-976	592	7	j.	j.	PROPN
alkej-976	592	8	shen	shen	PROPN
alkej-976	592	9	,	,	PUNCT
alkej-976	592	10	m.	m.	PROPN
alkej-976	592	11	wang	wang	PROPN
alkej-976	592	12	,	,	PUNCT
alkej-976	592	13	and	and	CCONJ
alkej-976	592	14	k.	k.	PROPN
alkej-976	592	15	y.	y.	PROPN
alkej-976	592	16	lee	lee	PROPN
alkej-976	592	17	,	,	PUNCT
alkej-976	592	18	“	"	PUNCT
alkej-976	592	19	intelligent	intelligent	ADJ
alkej-976	592	20	predictive	predictive	ADJ
alkej-976	592	21	control	control	NOUN
alkej-976	592	22	of	of	ADP
alkej-976	592	23	large	large	ADJ
alkej-976	592	24	-	-	PUNCT
alkej-976	592	25	scale	scale	NOUN
alkej-976	592	26	solvent	solvent	NOUN
alkej-976	592	27	-	-	PUNCT
alkej-976	592	28	based	base	VERB
alkej-976	592	29	co2	co2	NOUN
alkej-976	592	30	capture	capture	NOUN
alkej-976	592	31	plant	plant	NOUN
alkej-976	592	32	using	use	VERB
alkej-976	592	33	artificial	artificial	ADJ
alkej-976	592	34	neural	neural	ADJ
alkej-976	592	35	network	network	NOUN
alkej-976	592	36	and	and	CCONJ
alkej-976	592	37	particle	particle	NOUN
alkej-976	592	38	swarm	swarm	NOUN
alkej-976	592	39	optimization	optimization	NOUN
alkej-976	592	40	,	,	PUNCT
alkej-976	592	41	”	"	PUNCT
alkej-976	592	42	energy	energy	NOUN
alkej-976	592	43	,	,	PUNCT
alkej-976	592	44	vol	vol	NOUN
alkej-976	592	45	.	.	PROPN
alkej-976	592	46	196	196	NUM
alkej-976	592	47	,	,	PUNCT
alkej-976	592	48	p.	p.	NOUN
alkej-976	592	49	117070	117070	NUM
alkej-976	592	50	,	,	PUNCT
alkej-976	592	51	2020	2020	NUM
alkej-976	592	52	,	,	PUNCT
alkej-976	592	53	doi	doi	NOUN
alkej-976	592	54	:	:	PUNCT
alkej-976	592	55	10.1016	10.1016	NUM
alkej-976	592	56	/	/	SYM
alkej-976	592	57	j.energy.2020	j.energy.2020	PROPN
alkej-976	592	58	...	...	PUNCT
alkej-976	593	1	[	[	X
alkej-976	593	2	36	36	NUM
alkej-976	593	3	]	]	X
alkej-976	593	4	c.	c.	PROPN
alkej-976	593	5	huang	huang	PROPN
alkej-976	593	6	,	,	PUNCT
alkej-976	593	7	“	"	PUNCT
alkej-976	593	8	fault	fault	VERB
alkej-976	593	9	tolerant	tolerant	ADJ
alkej-976	593	10	steer	steer	NOUN
alkej-976	593	11	-	-	PUNCT
alkej-976	593	12	by	by	ADP
alkej-976	593	13	-	-	PUNCT
alkej-976	593	14	wire	wire	NOUN
alkej-976	593	15	systems	system	NOUN
alkej-976	593	16	 	 	SPACE
alkej-976	593	17	:	:	PUNCT
alkej-976	593	18	impact	impact	NOUN
alkej-976	593	19	on	on	ADP
alkej-976	593	20	vehicle	vehicle	NOUN
alkej-976	593	21	safety	safety	NOUN
alkej-976	593	22	fault	fault	VERB
alkej-976	593	23	tolerant	tolerant	ADJ
alkej-976	593	24	steer	steer	NOUN
alkej-976	593	25	-	-	PUNCT
alkej-976	593	26	by	by	ADP
alkej-976	593	27	-	-	PUNCT
alkej-976	593	28	wire	wire	NOUN
alkej-976	593	29	systems	system	NOUN
alkej-976	593	30	 	 	SPACE
alkej-976	593	31	:	:	PUNCT
alkej-976	593	32	impact	impact	NOUN
alkej-976	593	33	on	on	ADP
alkej-976	593	34	vehicle	vehicle	NOUN
alkej-976	593	35	safety	safety	NOUN
alkej-976	593	36	,	,	PUNCT
alkej-976	593	37	”	"	PUNCT
alkej-976	593	38	2018	2018	NUM
alkej-976	593	39	.	.	PUNCT
alkej-976	594	1	[	[	X
alkej-976	594	2	37	37	NUM
alkej-976	594	3	]	]	PUNCT
alkej-976	594	4	t.	t.	PROPN
alkej-976	594	5	zhang	zhang	PROPN
alkej-976	594	6	and	and	CCONJ
alkej-976	594	7	x.	x.	PROPN
alkej-976	594	8	zhang	zhang	PROPN
alkej-976	594	9	,	,	PUNCT
alkej-976	594	10	“	"	PUNCT
alkej-976	594	11	distributed	distribute	VERB
alkej-976	594	12	model	model	NOUN
alkej-976	594	13	predictive	predictive	ADJ
alkej-976	594	14	control	control	NOUN
alkej-976	594	15	with	with	ADP
alkej-976	594	16	particle	particle	NOUN
alkej-976	594	17	swarm	swarm	NOUN
alkej-976	594	18	optimizer	optimizer	NOUN
alkej-976	594	19	for	for	ADP
alkej-976	594	20	collision	collision	NOUN
alkej-976	594	21	-	-	PUNCT
alkej-976	594	22	free	free	ADJ
alkej-976	594	23	trajectory	trajectory	NOUN
alkej-976	594	24	tracking	tracking	NOUN
alkej-976	594	25	of	of	ADP
alkej-976	594	26	mwmr	mwmr	ADJ
alkej-976	594	27	formation	formation	NOUN
alkej-976	594	28	,	,	PUNCT
alkej-976	594	29	”	"	PUNCT
alkej-976	594	30	actuators	actuator	NOUN
alkej-976	594	31	,	,	PUNCT
alkej-976	594	32	vol	vol	NOUN
alkej-976	594	33	.	.	PROPN
alkej-976	594	34	12	12	NUM
alkej-976	594	35	,	,	PUNCT
alkej-976	594	36	no	no	INTJ
alkej-976	594	37	.	.	NOUN
alkej-976	594	38	3	3	NUM
alkej-976	594	39	,	,	PUNCT
alkej-976	594	40	2023	2023	NUM
alkej-976	594	41	,	,	PUNCT
alkej-976	594	42	doi	doi	NOUN
alkej-976	594	43	:	:	PUNCT
alkej-976	594	44	10.3390	10.3390	NUM
alkej-976	594	45	/	/	SYM
alkej-976	594	46	act12030127	act12030127	NOUN
alkej-976	594	47	.	.	PUNCT
alkej-976	595	1	[	[	X
alkej-976	595	2	38	38	NUM
alkej-976	595	3	]	]	PUNCT
alkej-976	595	4	m.	m.	NOUN
alkej-976	595	5	a.	a.	PROPN
alkej-976	595	6	mohamed	mohamed	PROPN
alkej-976	595	7	,	,	PUNCT
alkej-976	595	8	a.	a.	PROPN
alkej-976	595	9	m.	m.	PROPN
alkej-976	595	10	eltamaly	eltamaly	PROPN
alkej-976	595	11	,	,	PUNCT
alkej-976	595	12	and	and	CCONJ
alkej-976	595	13	a.	a.	PROPN
alkej-976	595	14	i.	i.	PROPN
alkej-976	595	15	alolah	alolah	PROPN
alkej-976	595	16	,	,	PUNCT
alkej-976	595	17	“	"	PUNCT
alkej-976	595	18	pso	pso	NOUN
alkej-976	595	19	-	-	PUNCT
alkej-976	595	20	based	base	VERB
alkej-976	595	21	smart	smart	ADJ
alkej-976	595	22	grid	grid	NOUN
alkej-976	595	23	application	application	NOUN
alkej-976	595	24	for	for	ADP
alkej-976	595	25	sizing	sizing	NOUN
alkej-976	595	26	and	and	CCONJ
alkej-976	595	27	optimization	optimization	NOUN
alkej-976	595	28	of	of	ADP
alkej-976	595	29	hybrid	hybrid	ADJ
alkej-976	595	30	renewable	renewable	ADJ
alkej-976	595	31	energy	energy	NOUN
alkej-976	595	32	systems	system	NOUN
alkej-976	595	33	,	,	PUNCT
alkej-976	595	34	”	"	PUNCT
alkej-976	595	35	plos	plos	PROPN
alkej-976	595	36	one	one	NUM
alkej-976	595	37	,	,	PUNCT
alkej-976	595	38	vol	vol	NOUN
alkej-976	595	39	.	.	PROPN
alkej-976	595	40	11	11	NUM
alkej-976	595	41	,	,	PUNCT
alkej-976	595	42	no	no	INTJ
alkej-976	595	43	.	.	NOUN
alkej-976	595	44	8	8	NUM
alkej-976	595	45	,	,	PUNCT
alkej-976	595	46	pp	pp	ADJ
alkej-976	595	47	.	.	PUNCT
alkej-976	596	1	1–22	1–22	PROPN
alkej-976	596	2	,	,	PUNCT
alkej-976	596	3	2016	2016	NUM
alkej-976	596	4	,	,	PUNCT
alkej-976	596	5	doi	doi	NOUN
alkej-976	596	6	:	:	PUNCT
alkej-976	596	7	10.1371	10.1371	NUM
alkej-976	596	8	/	/	SYM
alkej-976	596	9	journal.pone.0159702	journal.pone.0159702	PROPN
alkej-976	596	10	.	.	PROPN
alkej-976	596	11	تحسين	تحسين	PROPN
alkej-976	596	12	أداء	أداء	PROPN
alkej-976	596	13	التوجيه	التوجيه	PROPN
alkej-976	596	14	عن	عن	PROPN
alkej-976	596	15	طريق	طريق	PROPN
alkej-976	596	16	الأسلاك	الأسلاك	PROPN
alkej-976	596	17	باستخدام	باستخدام	NOUN
alkej-976	596	18	وحدة	وحدة	NOUN
alkej-976	596	19	التحكم	التحكم	NOUN
alkej-976	596	20	التنبؤية	التنبؤية	PROPN
alkej-976	596	21	للنموذج	للنموذج	PROPN
alkej-976	596	22	mpc	mpc	PROPN
alkej-976	596	23	المعززة	المعززة	PROPN
alkej-976	596	24	بخوارزمية	بخوارزمية	ADJ
alkej-976	596	25	تحسين	تحسين	PROPN
alkej-976	596	26	سرب	سرب	PROPN
alkej-976	596	27	الجسيمات	الجسيمات	VERB
alkej-976	596	28	pso	pso	NOUN
alkej-976	596	29	طاهر	طاهر	NOUN
alkej-976	596	30	ساجت	ساجت	DET
alkej-976	596	31	طاهر1	طاهر1	X
alkej-976	596	32	،	،	X
alkej-976	596	33	علي	علي	PROPN
alkej-976	596	34	حسين	حسين	PROPN
alkej-976	596	35	مري*2	مري*2	PROPN
alkej-976	596	36	،	،	PROPN
alkej-976	596	37	فرات	فرات	PROPN
alkej-976	596	38	ابراهيم	ابراهيم	NOUN
alkej-976	596	39	حسين3	حسين3	PROPN
alkej-976	596	40	،	،	X
alkej-976	596	41	محمد	محمد	PROPN
alkej-976	596	42	غفران	غفران	NUM
alkej-976	596	43	خضر	خضر	ADJ
alkej-976	596	44	عبوش4	عبوش4	PROPN
alkej-976	596	45	،	،	X
alkej-976	596	46	محمد	محمد	PROPN
alkej-976	596	47	عمر	عمر	NOUN
alkej-976	596	48	فريد5	فريد5	PROPN
alkej-976	596	49	3،2،1	3،2،1	NUM
alkej-976	597	1	قسم	قسم	PROPN
alkej-976	597	2	هندسة	هندسة	NOUN
alkej-976	597	3	الميكاترونيكس	الميكاترونيكس	PROPN
alkej-976	597	4	،	،	PROPN
alkej-976	597	5	كلية	كلية	PROPN
alkej-976	598	1	الهندسة	الهندسة	PROPN
alkej-976	598	2	الخوارزمي	الخوارزمي	PROPN
alkej-976	598	3	،	،	PROPN
alkej-976	598	4	جامعة	جامعة	PROPN
alkej-976	598	5	بغداد	بغداد	PROPN
alkej-976	598	6	،	،	PROPN
alkej-976	598	7	بغداد	بغداد	PROPN
alkej-976	598	8	،	،	PROPN
alkej-976	598	9	العراق	العراق	PROPN
alkej-976	598	10	4	4	NUM
alkej-976	598	11	قسم	قسم	PROPN
alkej-976	598	12	علوم	علوم	PROPN
alkej-976	598	13	البيانات	البيانات	PROPN
alkej-976	598	14	والتصور	والتصور	PROPN
alkej-976	598	15	،	،	PROPN
alkej-976	598	16	جامعة	جامعة	PROPN
alkej-976	598	17	ديبريسين	ديبريسين	PROPN
alkej-976	598	18	،	،	PROPN
alkej-976	598	19	المجر	المجر	PROPN
alkej-976	598	20	5	5	NUM
alkej-976	598	21	كلية	كلية	NOUN
alkej-976	598	22	ويكفيلد	ويكفيلد	PROPN
alkej-976	598	23	،	،	NOUN
alkej-976	598	24	ويكفيلد	ويكفيلد	PROPN
alkej-976	598	25	،	،	NOUN
alkej-976	598	26	انجلترا	انجلترا	NOUN
alkej-976	598	27	*	*	PUNCT
alkej-976	598	28	البريد	البريد	PROPN
alkej-976	598	29	الالكتروني	الالكتروني	NOUN
alkej-976	598	30	:	:	PUNCT
alkej-976	598	31	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-976	598	32	المستخلص	المستخلص	ADJ
alkej-976	598	33	إن	إن	PART
alkej-976	598	34	التحديات	التحديات	VERB
alkej-976	598	35	التي	التي	PROPN
alkej-976	598	36	تواجه	تواجه	VERB
alkej-976	599	1	أنظمة	أنظمة	PROPN
alkej-976	599	2	التوجيه	التوجيه	PROPN
alkej-976	599	3	بالأسلاك	بالأسلاك	PROPN
alkej-976	599	4	(	(	PUNCT
alkej-976	599	5	sbw	sbw	PROPN
alkej-976	599	6	)	)	PUNCT
alkej-976	599	7	في	في	ADP
alkej-976	600	1	المركبات	المركبات	PROPN
alkej-976	600	2	ذات	ذات	VERB
alkej-976	600	3	التوجيه	التوجيه	PROPN
alkej-976	600	4	ترجع	ترجع	NOUN
alkej-976	600	5	إلى	إلى	NOUN
alkej-976	600	6	غياب	غياب	PROPN
alkej-976	600	7	الرابط	الرابط	PROPN
alkej-976	600	8	الميكانيكي	الميكانيكي	NOUN
alkej-976	600	9	المباشر	المباشر	PROPN
alkej-976	600	10	بين	بين	ADV
alkej-976	600	11	عجلة	عجلة	VERB
alkej-976	600	12	القيادة	القيادة	PROPN
alkej-976	600	13	والعجلات	والعجلات	PROPN
alkej-976	600	14	على	على	NOUN
alkej-976	600	15	الطريق	الطريق	ADJ
alkej-976	600	16	.	.	PUNCT
alkej-976	601	1	هذا	هذا	NOUN
alkej-976	601	2	الامر	الامر	NOUN
alkej-976	601	3	يفرض	يفرض	PROPN
alkej-976	601	4	ضرورة	ضرورة	PROPN
alkej-976	601	5	استخدام	استخدام	PROPN
alkej-976	601	6	أنظمة	أنظمة	PROPN
alkej-976	601	7	تحكم	تحكم	PROPN
alkej-976	601	8	متطورة	متطورة	PROPN
alkej-976	601	9	لتحقيق	لتحقيق	PROPN
alkej-976	601	10	أعلى	أعلى	PROPN
alkej-976	601	11	درجات	درجات	NOUN
alkej-976	601	12	الدقة	الدقة	PROPN
alkej-976	601	13	والاستقرار	والاستقرار	PROPN
alkej-976	601	14	أثناء	أثناء	PROPN
alkej-976	601	15	التوجيه	التوجيه	PROPN
alkej-976	601	16	....	....	PUNCT