id	sid	tid	token	lemma	pos
alkej-989	1	1	this	this	PRON
alkej-989	1	2	is	be	AUX
alkej-989	1	3	an	an	DET
alkej-989	1	4	open	open	ADJ
alkej-989	1	5	access	access	NOUN
alkej-989	1	6	article	article	NOUN
alkej-989	1	7	under	under	ADP
alkej-989	1	8	the	the	DET
alkej-989	1	9	cc	cc	NOUN
alkej-989	1	10	by	by	ADP
alkej-989	1	11	license	license	NOUN
alkej-989	1	12	:	:	PUNCT
alkej-989	1	13	al	al	PROPN
alkej-989	1	14	-	-	PUNCT
alkej-989	1	15	khwarizmi	khwarizmi	PROPN
alkej-989	1	16	engineering	engineering	PROPN
alkej-989	1	17	journal	journal	PROPN
alkej-989	1	18	al	al	PROPN
alkej-989	1	19	-	-	PUNCT
alkej-989	1	20	khwarizmi	khwarizmi	PROPN
alkej-989	1	21	engineering	engineering	PROPN
alkej-989	1	22	journal	journal	PROPN
alkej-989	1	23	issn	issn	PROPN
alkej-989	1	24	(	(	PUNCT
alkej-989	1	25	printed	print	VERB
alkej-989	1	26	):	):	PUNCT
alkej-989	1	27	1818	1818	NUM
alkej-989	1	28	–	–	PUNCT
alkej-989	1	29	1171	1171	NUM
alkej-989	1	30	,	,	PUNCT
alkej-989	1	31	issn	issn	PROPN
alkej-989	1	32	(	(	PUNCT
alkej-989	1	33	online	online	ADJ
alkej-989	1	34	):	):	PUNCT
alkej-989	1	35	2312	2312	NUM
alkej-989	1	36	–	–	PUNCT
alkej-989	1	37	0789	0789	NUM
alkej-989	1	38	vol	vol	NOUN
alkej-989	1	39	.	.	PROPN
alkej-989	1	40	21	21	NUM
alkej-989	1	41	,	,	PUNCT
alkej-989	1	42	no	no	INTJ
alkej-989	1	43	.	.	NOUN
alkej-989	1	44	3	3	NUM
alkej-989	1	45	,	,	PUNCT
alkej-989	1	46	september	september	PROPN
alkej-989	1	47	,	,	PUNCT
alkej-989	1	48	(	(	PUNCT
alkej-989	1	49	2025	2025	NUM
alkej-989	1	50	)	)	PUNCT
alkej-989	1	51	,	,	PUNCT
alkej-989	1	52	pp	pp	PROPN
alkej-989	1	53	.	.	PUNCT
alkej-989	2	1	48–54	48–54	NUM
alkej-989	2	2	autonomous	autonomous	ADJ
alkej-989	2	3	vehicle	vehicle	NOUN
alkej-989	2	4	steering	steering	NOUN
alkej-989	2	5	-	-	PUNCT
alkej-989	2	6	based	base	VERB
alkej-989	2	7	feedback	feedback	NOUN
alkej-989	2	8	linearization	linearization	NOUN
alkej-989	2	9	and	and	CCONJ
alkej-989	2	10	sliding	slide	VERB
alkej-989	2	11	mode	mode	NOUN
alkej-989	2	12	control	control	NOUN
alkej-989	2	13	anssam	anssam	PROPN
alkej-989	2	14	yahya	yahya	PROPN
alkej-989	2	15	kames1	kames1	PROPN
alkej-989	2	16	,	,	PUNCT
alkej-989	2	17	ali	ali	PROPN
alkej-989	2	18	hussien	hussien	PROPN
alkej-989	2	19	mary2	mary2	PROPN
alkej-989	2	20	*	*	PROPN
alkej-989	2	21	,	,	PUNCT
alkej-989	2	22	laith	laith	PROPN
alkej-989	2	23	awda	awda	ADJ
alkej-989	2	24	kadhim	kadhim	PROPN
alkej-989	2	25	mayyahi3	mayyahi3	PROPN
alkej-989	2	26	,	,	PUNCT
alkej-989	2	27	and	and	CCONJ
alkej-989	2	28	oday	oday	PROPN
alkej-989	2	29	al	al	PROPN
alkej-989	2	30	-	-	PUNCT
alkej-989	2	31	jerew4	jerew4	PROPN
alkej-989	2	32	1,2	1,2	NUM
alkej-989	2	33	department	department	NOUN
alkej-989	2	34	of	of	ADP
alkej-989	2	35	mechatronics	mechatronic	NOUN
alkej-989	2	36	engineering	engineering	PROPN
alkej-989	2	37	,	,	PUNCT
alkej-989	2	38	al	al	PROPN
alkej-989	2	39	-	-	PUNCT
alkej-989	2	40	khwarizmi	khwarizmi	PROPN
alkej-989	2	41	college	college	PROPN
alkej-989	2	42	of	of	ADP
alkej-989	2	43	engineering	engineering	PROPN
alkej-989	2	44	,	,	PUNCT
alkej-989	2	45	university	university	NOUN
alkej-989	2	46	of	of	ADP
alkej-989	2	47	baghdad	baghdad	PROPN
alkej-989	2	48	,	,	PUNCT
alkej-989	2	49	baghdad	baghdad	PROPN
alkej-989	2	50	,	,	PUNCT
alkej-989	2	51	iraq	iraq	PROPN
alkej-989	2	52	3carleton	3carleton	NUM
alkej-989	2	53	university	university	NOUN
alkej-989	2	54	,	,	PUNCT
alkej-989	2	55	faculty	faculty	NOUN
alkej-989	2	56	of	of	ADP
alkej-989	2	57	engineering	engineering	NOUN
alkej-989	2	58	and	and	CCONJ
alkej-989	2	59	design	design	NOUN
alkej-989	2	60	,	,	PUNCT
alkej-989	2	61	ottawa	ottawa	PROPN
alkej-989	2	62	,	,	PUNCT
alkej-989	2	63	canada	canada	PROPN
alkej-989	2	64	4asia	4asia	NUM
alkej-989	2	65	pacific	pacific	PROPN
alkej-989	2	66	international	international	PROPN
alkej-989	2	67	college	college	PROPN
alkej-989	2	68	,	,	PUNCT
alkej-989	2	69	sydney	sydney	PROPN
alkej-989	2	70	,	,	PUNCT
alkej-989	2	71	nsw	nsw	PROPN
alkej-989	2	72	2150	2150	NUM
alkej-989	2	73	,	,	PUNCT
alkej-989	2	74	australia	australia	PROPN
alkej-989	2	75	*	*	PUNCT
alkej-989	2	76	corresponding	correspond	VERB
alkej-989	2	77	author	author	NOUN
alkej-989	2	78	’s	’s	PART
alkej-989	2	79	email	email	NOUN
alkej-989	2	80	:	:	PUNCT
alkej-989	2	81	alimary76@kecbu.uobaghdad.edu.iq	alimary76@kecbu.uobaghdad.edu.iq	NOUN
alkej-989	2	82	(	(	PUNCT
alkej-989	2	83	received	receive	VERB
alkej-989	2	84	16	16	NUM
alkej-989	2	85	september	september	PROPN
alkej-989	2	86	2024	2024	NUM
alkej-989	2	87	;	;	PUNCT
alkej-989	2	88	revised	revise	VERB
alkej-989	2	89	8	8	NUM
alkej-989	2	90	january	january	NOUN
alkej-989	2	91	2025	2025	NUM
alkej-989	2	92	;	;	PUNCT
alkej-989	2	93	accepted	accept	VERB
alkej-989	2	94	26	26	NUM
alkej-989	2	95	may	may	PROPN
alkej-989	2	96	2025	2025	NUM
alkej-989	2	97	;	;	PUNCT
alkej-989	2	98	published	publish	VERB
alkej-989	2	99	1	1	NUM
alkej-989	2	100	september	september	PROPN
alkej-989	2	101	2025	2025	NUM
alkej-989	2	102	)	)	PUNCT
alkej-989	3	1	https://doi.org/10.22153/kej.2025.05.002	https://doi.org/10.22153/kej.2025.05.002	PRON
alkej-989	3	2	abstract	abstract	NOUN
alkej-989	3	3	this	this	DET
alkej-989	3	4	study	study	NOUN
alkej-989	3	5	proposes	propose	VERB
alkej-989	3	6	a	a	DET
alkej-989	3	7	robust	robust	ADJ
alkej-989	3	8	control	control	NOUN
alkej-989	3	9	approach	approach	NOUN
alkej-989	3	10	for	for	ADP
alkej-989	3	11	vehicular	vehicular	ADJ
alkej-989	3	12	dynamic	dynamic	ADJ
alkej-989	3	13	system	system	NOUN
alkej-989	3	14	speed	speed	NOUN
alkej-989	3	15	control	control	NOUN
alkej-989	3	16	.	.	PUNCT
alkej-989	4	1	the	the	DET
alkej-989	4	2	proposed	propose	VERB
alkej-989	4	3	method	method	NOUN
alkej-989	4	4	combines	combine	VERB
alkej-989	4	5	a	a	DET
alkej-989	4	6	sliding	slide	VERB
alkej-989	4	7	mode	mode	NOUN
alkej-989	4	8	controller	controller	NOUN
alkej-989	4	9	with	with	ADP
alkej-989	4	10	a	a	DET
alkej-989	4	11	feedback	feedback	NOUN
alkej-989	4	12	linearization	linearization	NOUN
alkej-989	4	13	technique	technique	NOUN
alkej-989	4	14	.	.	PUNCT
alkej-989	5	1	considering	consider	VERB
alkej-989	5	2	the	the	DET
alkej-989	5	3	high	high	ADJ
alkej-989	5	4	nonlinearity	nonlinearity	NOUN
alkej-989	5	5	of	of	ADP
alkej-989	5	6	the	the	DET
alkej-989	5	7	vehicle	vehicle	NOUN
alkej-989	5	8	dynamic	dynamic	ADJ
alkej-989	5	9	system	system	NOUN
alkej-989	5	10	model	model	NOUN
alkej-989	5	11	,	,	PUNCT
alkej-989	5	12	feedback	feedback	NOUN
alkej-989	5	13	linearization	linearization	NOUN
alkej-989	5	14	is	be	AUX
alkej-989	5	15	used	use	VERB
alkej-989	5	16	to	to	PART
alkej-989	5	17	transform	transform	VERB
alkej-989	5	18	the	the	DET
alkej-989	5	19	vehicle	vehicle	NOUN
alkej-989	5	20	dynamic	dynamic	ADJ
alkej-989	5	21	system	system	NOUN
alkej-989	5	22	into	into	ADP
alkej-989	5	23	a	a	DET
alkej-989	5	24	linear	linear	ADJ
alkej-989	5	25	system	system	NOUN
alkej-989	5	26	.	.	PUNCT
alkej-989	6	1	a	a	DET
alkej-989	6	2	lyapunov	lyapunov	NOUN
alkej-989	6	3	theorem	theorem	NOUN
alkej-989	6	4	is	be	AUX
alkej-989	6	5	used	use	VERB
alkej-989	6	6	to	to	PART
alkej-989	6	7	approve	approve	VERB
alkej-989	6	8	the	the	DET
alkej-989	6	9	stability	stability	NOUN
alkej-989	6	10	of	of	ADP
alkej-989	6	11	the	the	DET
alkej-989	6	12	proposed	propose	VERB
alkej-989	6	13	controller	controller	NOUN
alkej-989	6	14	.	.	PUNCT
alkej-989	7	1	moreover	moreover	ADV
alkej-989	7	2	,	,	PUNCT
alkej-989	7	3	a	a	DET
alkej-989	7	4	proportional	proportional	ADJ
alkej-989	7	5	integral	integral	ADJ
alkej-989	7	6	derivative	derivative	ADJ
alkej-989	7	7	(	(	PUNCT
alkej-989	7	8	pid	pid	NOUN
alkej-989	7	9	)	)	PUNCT
alkej-989	7	10	controller	controller	NOUN
alkej-989	7	11	with	with	ADP
alkej-989	7	12	genetic	genetic	ADJ
alkej-989	7	13	algorithms	algorithms	NOUN
alkej-989	7	14	is	be	AUX
alkej-989	7	15	used	use	VERB
alkej-989	7	16	for	for	ADP
alkej-989	7	17	comparison	comparison	NOUN
alkej-989	7	18	.	.	PUNCT
alkej-989	8	1	the	the	DET
alkej-989	8	2	integral	integral	ADJ
alkej-989	8	3	absolute	absolute	ADJ
alkej-989	8	4	error	error	NOUN
alkej-989	8	5	(	(	PUNCT
alkej-989	8	6	iae	iae	NOUN
alkej-989	8	7	)	)	PUNCT
alkej-989	8	8	is	be	AUX
alkej-989	8	9	used	use	VERB
alkej-989	8	10	as	as	ADP
alkej-989	8	11	the	the	DET
alkej-989	8	12	performance	performance	NOUN
alkej-989	8	13	comparison	comparison	NOUN
alkej-989	8	14	index	index	NOUN
alkej-989	8	15	between	between	ADP
alkej-989	8	16	controllers	controller	NOUN
alkej-989	8	17	.	.	PUNCT
alkej-989	9	1	simulation	simulation	NOUN
alkej-989	9	2	results	result	NOUN
alkej-989	9	3	show	show	VERB
alkej-989	9	4	that	that	SCONJ
alkej-989	9	5	the	the	DET
alkej-989	9	6	proposed	propose	VERB
alkej-989	9	7	method	method	NOUN
alkej-989	9	8	can	can	AUX
alkej-989	9	9	achieve	achieve	VERB
alkej-989	9	10	excellent	excellent	ADJ
alkej-989	9	11	performance	performance	NOUN
alkej-989	9	12	with	with	ADP
alkej-989	9	13	high	high	ADJ
alkej-989	9	14	robustness	robustness	NOUN
alkej-989	9	15	against	against	ADP
alkej-989	9	16	external	external	ADJ
alkej-989	9	17	disturbance	disturbance	NOUN
alkej-989	9	18	and	and	CCONJ
alkej-989	9	19	system	system	NOUN
alkej-989	9	20	uncertainty	uncertainty	NOUN
alkej-989	9	21	.	.	PUNCT
alkej-989	10	1	in	in	ADP
alkej-989	10	2	the	the	DET
alkej-989	10	3	tracking	tracking	NOUN
alkej-989	10	4	case	case	NOUN
alkej-989	10	5	,	,	PUNCT
alkej-989	10	6	the	the	DET
alkej-989	10	7	iae	iae	NOUN
alkej-989	10	8	value	value	NOUN
alkej-989	10	9	of	of	ADP
alkej-989	10	10	the	the	DET
alkej-989	10	11	proposed	propose	VERB
alkej-989	10	12	controller	controller	NOUN
alkej-989	10	13	is	be	AUX
alkej-989	10	14	2.3	2.3	NUM
alkej-989	10	15	,	,	PUNCT
alkej-989	10	16	whilst	whilst	SCONJ
alkej-989	10	17	that	that	PRON
alkej-989	10	18	of	of	ADP
alkej-989	10	19	the	the	DET
alkej-989	10	20	pid	pid	NOUN
alkej-989	10	21	is	be	AUX
alkej-989	10	22	15.2	15.2	NUM
alkej-989	10	23	.	.	PUNCT
alkej-989	11	1	under	under	ADP
alkej-989	11	2	external	external	ADJ
alkej-989	11	3	disturbance	disturbance	NOUN
alkej-989	11	4	,	,	PUNCT
alkej-989	11	5	the	the	DET
alkej-989	11	6	iae	iae	NOUN
alkej-989	11	7	values	value	NOUN
alkej-989	11	8	are	be	AUX
alkej-989	11	9	3.1	3.1	NUM
alkej-989	11	10	and	and	CCONJ
alkej-989	11	11	19.1	19.1	NUM
alkej-989	11	12	for	for	ADP
alkej-989	11	13	the	the	DET
alkej-989	11	14	proposed	propose	VERB
alkej-989	11	15	controller	controller	NOUN
alkej-989	11	16	and	and	CCONJ
alkej-989	11	17	pid	pid	NOUN
alkej-989	11	18	,	,	PUNCT
alkej-989	11	19	respectively	respectively	ADV
alkej-989	11	20	.	.	PUNCT
alkej-989	12	1	keywords	keyword	NOUN
alkej-989	12	2	:	:	PUNCT
alkej-989	12	3	feedback	feedback	NOUN
alkej-989	12	4	linearization	linearization	NOUN
alkej-989	12	5	;	;	PUNCT
alkej-989	12	6	robust	robust	ADJ
alkej-989	12	7	control	control	NOUN
alkej-989	12	8	;	;	PUNCT
alkej-989	12	9	smc	smc	PROPN
alkej-989	12	10	.	.	PROPN
alkej-989	12	11	1	1	X
alkej-989	12	12	.	.	X
alkej-989	12	13	introduction	introduction	NOUN
alkej-989	12	14	in	in	ADP
alkej-989	12	15	recent	recent	ADJ
alkej-989	12	16	years	year	NOUN
alkej-989	12	17	,	,	PUNCT
alkej-989	12	18	automotive	automotive	ADJ
alkej-989	12	19	and	and	CCONJ
alkej-989	12	20	road	road	NOUN
alkej-989	12	21	safety	safety	NOUN
alkej-989	12	22	has	have	AUX
alkej-989	12	23	become	become	VERB
alkej-989	12	24	a	a	DET
alkej-989	12	25	crucial	crucial	ADJ
alkej-989	12	26	focus	focus	NOUN
alkej-989	12	27	in	in	ADP
alkej-989	12	28	the	the	DET
alkej-989	12	29	development	development	NOUN
alkej-989	12	30	of	of	ADP
alkej-989	12	31	vehicle	vehicle	NOUN
alkej-989	12	32	control	control	NOUN
alkej-989	12	33	,	,	PUNCT
alkej-989	12	34	monitoring	monitor	VERB
alkej-989	12	35	systems	system	NOUN
alkej-989	12	36	and	and	CCONJ
alkej-989	12	37	driving	drive	VERB
alkej-989	12	38	assistance	assistance	NOUN
alkej-989	12	39	technologies	technology	NOUN
alkej-989	12	40	.	.	PUNCT
alkej-989	13	1	all	all	DET
alkej-989	13	2	advanced	advanced	ADJ
alkej-989	13	3	driver	driver	NOUN
alkej-989	13	4	assistance	assistance	NOUN
alkej-989	13	5	systems	system	NOUN
alkej-989	13	6	(	(	PUNCT
alkej-989	13	7	adass	adass	NOUN
alkej-989	13	8	)	)	PUNCT
alkej-989	13	9	aim	aim	VERB
alkej-989	13	10	to	to	PART
alkej-989	13	11	improve	improve	VERB
alkej-989	13	12	driving	drive	VERB
alkej-989	13	13	safety	safety	NOUN
alkej-989	13	14	and	and	CCONJ
alkej-989	13	15	vehicle	vehicle	NOUN
alkej-989	13	16	control	control	NOUN
alkej-989	13	17	by	by	ADP
alkej-989	13	18	facilitating	facilitate	VERB
alkej-989	13	19	human	human	ADJ
alkej-989	13	20	–	–	PUNCT
alkej-989	13	21	machine	machine	NOUN
alkej-989	13	22	interaction	interaction	NOUN
alkej-989	14	1	[	[	X
alkej-989	14	2	1	1	NUM
alkej-989	14	3	,	,	PUNCT
alkej-989	14	4	2	2	NUM
alkej-989	14	5	]	]	PUNCT
alkej-989	14	6	.	.	PUNCT
alkej-989	15	1	adas	adas	PROPN
alkej-989	15	2	includes	include	VERB
alkej-989	15	3	various	various	ADJ
alkej-989	15	4	types	type	NOUN
alkej-989	15	5	,	,	PUNCT
alkej-989	15	6	including	include	VERB
alkej-989	15	7	adaptive	adaptive	ADJ
alkej-989	15	8	cruise	cruise	NOUN
alkej-989	15	9	control	control	NOUN
alkej-989	15	10	(	(	PUNCT
alkej-989	15	11	acc	acc	PROPN
alkej-989	15	12	)	)	PUNCT
alkej-989	15	13	,	,	PUNCT
alkej-989	15	14	blind	blind	ADJ
alkej-989	15	15	spot	spot	NOUN
alkej-989	15	16	detection	detection	NOUN
alkej-989	15	17	,	,	PUNCT
alkej-989	15	18	automated	automate	VERB
alkej-989	15	19	parking	parking	NOUN
alkej-989	15	20	,	,	PUNCT
alkej-989	15	21	pedestrian	pedestrian	NOUN
alkej-989	15	22	safety	safety	NOUN
alkej-989	15	23	systems	system	NOUN
alkej-989	15	24	,	,	PUNCT
alkej-989	15	25	and	and	CCONJ
alkej-989	15	26	anti	anti	ADJ
alkej-989	15	27	-	-	ADJ
alkej-989	15	28	lock	lock	ADJ
alkej-989	15	29	brakes	brake	NOUN
alkej-989	15	30	[	[	X
alkej-989	15	31	3	3	NUM
alkej-989	15	32	,	,	PUNCT
alkej-989	15	33	4	4	NUM
alkej-989	15	34	]	]	PUNCT
alkej-989	15	35	.	.	PUNCT
alkej-989	16	1	acc	acc	PROPN
alkej-989	16	2	is	be	AUX
alkej-989	16	3	one	one	NUM
alkej-989	16	4	of	of	ADP
alkej-989	16	5	the	the	DET
alkej-989	16	6	important	important	ADJ
alkej-989	16	7	assistance	assistance	NOUN
alkej-989	16	8	systems	system	NOUN
alkej-989	16	9	,	,	PUNCT
alkej-989	16	10	as	as	SCONJ
alkej-989	16	11	it	it	PRON
alkej-989	16	12	enhances	enhance	VERB
alkej-989	16	13	driver	driver	NOUN
alkej-989	16	14	and	and	CCONJ
alkej-989	16	15	passenger	passenger	NOUN
alkej-989	16	16	comfort	comfort	NOUN
alkej-989	16	17	by	by	ADP
alkej-989	16	18	reducing	reduce	VERB
alkej-989	16	19	driver	driver	NOUN
alkej-989	16	20	fatigue	fatigue	NOUN
alkej-989	16	21	.	.	PUNCT
alkej-989	17	1	moreover	moreover	ADV
alkej-989	17	2	,	,	PUNCT
alkej-989	17	3	acc	acc	PROPN
alkej-989	17	4	enhances	enhance	VERB
alkej-989	17	5	safety	safety	NOUN
alkej-989	17	6	by	by	ADP
alkej-989	17	7	using	use	VERB
alkej-989	17	8	sensors	sensor	NOUN
alkej-989	17	9	for	for	ADP
alkej-989	17	10	monitoring	monitor	VERB
alkej-989	17	11	[	[	X
alkej-989	17	12	5	5	NUM
alkej-989	17	13	]	]	PUNCT
alkej-989	17	14	.	.	PUNCT
alkej-989	18	1	acc	acc	PROPN
alkej-989	18	2	maintains	maintain	VERB
alkej-989	18	3	the	the	DET
alkej-989	18	4	vehicle	vehicle	NOUN
alkej-989	18	5	speed	speed	NOUN
alkej-989	18	6	as	as	SCONJ
alkej-989	18	7	set	set	VERB
alkej-989	18	8	by	by	ADP
alkej-989	18	9	the	the	DET
alkej-989	18	10	driver	driver	NOUN
alkej-989	18	11	without	without	ADP
alkej-989	18	12	requiring	require	VERB
alkej-989	18	13	throttle	throttle	NOUN
alkej-989	18	14	input	input	NOUN
alkej-989	18	15	whilst	whilst	SCONJ
alkej-989	18	16	also	also	ADV
alkej-989	18	17	ensuring	ensure	VERB
alkej-989	18	18	a	a	DET
alkej-989	18	19	safe	safe	ADJ
alkej-989	18	20	distance	distance	NOUN
alkej-989	18	21	from	from	ADP
alkej-989	18	22	other	other	ADJ
alkej-989	18	23	vehicles	vehicle	NOUN
alkej-989	18	24	or	or	CCONJ
alkej-989	18	25	obstacles	obstacle	NOUN
alkej-989	18	26	.	.	PUNCT
alkej-989	19	1	the	the	DET
alkej-989	19	2	acc	acc	PROPN
alkej-989	19	3	system	system	NOUN
alkej-989	19	4	consists	consist	VERB
alkej-989	19	5	of	of	ADP
alkej-989	19	6	two	two	NUM
alkej-989	19	7	-	-	PUNCT
alkej-989	19	8	sub	sub	NOUN
alkej-989	19	9	control	control	NOUN
alkej-989	19	10	systems	system	NOUN
alkej-989	19	11	:	:	PUNCT
alkej-989	19	12	speed	speed	NOUN
alkej-989	19	13	control	control	NOUN
alkej-989	19	14	and	and	CCONJ
alkej-989	19	15	distance	distance	NOUN
alkej-989	19	16	control	control	NOUN
alkej-989	19	17	.	.	PUNCT
alkej-989	20	1	the	the	DET
alkej-989	20	2	transition	transition	NOUN
alkej-989	20	3	between	between	ADP
alkej-989	20	4	these	these	DET
alkej-989	20	5	two	two	NUM
alkej-989	20	6	sub	sub	NOUN
alkej-989	20	7	system	system	NOUN
alkej-989	20	8	must	must	AUX
alkej-989	20	9	be	be	AUX
alkej-989	20	10	smooth	smooth	ADJ
alkej-989	20	11	and	and	CCONJ
alkej-989	20	12	comfortable	comfortable	ADJ
alkej-989	20	13	[	[	X
alkej-989	20	14	6	6	NUM
alkej-989	20	15	]	]	PUNCT
alkej-989	20	16	.	.	PUNCT
alkej-989	21	1	pid	pid	PROPN
alkej-989	21	2	control	control	NOUN
alkej-989	21	3	is	be	AUX
alkej-989	21	4	widely	widely	ADV
alkej-989	21	5	used	use	VERB
alkej-989	21	6	in	in	ADP
alkej-989	21	7	various	various	ADJ
alkej-989	21	8	control	control	NOUN
alkej-989	21	9	systems	system	NOUN
alkej-989	21	10	[	[	X
alkej-989	21	11	7	7	NUM
alkej-989	21	12	]	]	PUNCT
alkej-989	21	13	.	.	PUNCT
alkej-989	22	1	a	a	DET
alkej-989	22	2	pid	pid	NOUN
alkej-989	22	3	controller	controller	NOUN
alkej-989	22	4	adjusts	adjust	VERB
alkej-989	22	5	the	the	DET
alkej-989	22	6	control	control	NOUN
alkej-989	22	7	inputs	input	NOUN
alkej-989	22	8	based	base	VERB
alkej-989	22	9	on	on	ADP
alkej-989	22	10	the	the	DET
alkej-989	22	11	proportional	proportional	ADJ
alkej-989	22	12	,	,	PUNCT
alkej-989	22	13	integral	integral	ADJ
alkej-989	22	14	and	and	CCONJ
alkej-989	22	15	derivative	derivative	ADJ
alkej-989	22	16	components	component	NOUN
alkej-989	22	17	of	of	ADP
alkej-989	22	18	the	the	DET
alkej-989	22	19	error	error	NOUN
alkej-989	22	20	signal	signal	NOUN
alkej-989	22	21	to	to	PART
alkej-989	22	22	maintain	maintain	VERB
alkej-989	22	23	a	a	DET
alkej-989	22	24	constant	constant	ADJ
alkej-989	22	25	vehicle	vehicle	NOUN
alkej-989	22	26	speed	speed	NOUN
alkej-989	22	27	or	or	CCONJ
alkej-989	22	28	following	follow	VERB
alkej-989	22	29	distance	distance	NOUN
alkej-989	22	30	,	,	PUNCT
alkej-989	22	31	regardless	regardless	ADV
alkej-989	22	32	of	of	ADP
alkej-989	22	33	uncertainties	uncertainty	NOUN
alkej-989	22	34	in	in	ADP
alkej-989	22	35	the	the	DET
alkej-989	22	36	system	system	NOUN
alkej-989	22	37	dynamics	dynamic	NOUN
alkej-989	22	38	[	[	X
alkej-989	22	39	8	8	NUM
alkej-989	22	40	]	]	PUNCT
alkej-989	22	41	.	.	PUNCT
alkej-989	23	1	given	give	VERB
alkej-989	23	2	the	the	DET
alkej-989	23	3	ability	ability	NOUN
alkej-989	23	4	of	of	ADP
alkej-989	23	5	model	model	NOUN
alkej-989	23	6	predictive	predictive	PROPN
alkej-989	23	7	control	control	PROPN
alkej-989	23	8	(	(	PUNCT
alkej-989	23	9	mpc	mpc	NOUN
alkej-989	23	10	)	)	PUNCT
alkej-989	23	11	in	in	ADP
alkej-989	23	12	handling	handle	VERB
alkej-989	23	13	complex	complex	ADJ
alkej-989	23	14	constraints	constraint	NOUN
alkej-989	23	15	and	and	CCONJ
alkej-989	23	16	predict	predict	VERB
alkej-989	23	17	future	future	ADJ
alkej-989	23	18	vehicle	vehicle	NOUN
alkej-989	23	19	states	state	NOUN
alkej-989	23	20	,	,	PUNCT
alkej-989	23	21	it	it	PRON
alkej-989	23	22	is	be	AUX
alkej-989	23	23	used	use	VERB
alkej-989	23	24	to	to	PART
alkej-989	23	25	maintain	maintain	VERB
alkej-989	23	26	the	the	DET
alkej-989	23	27	mailto:alimary76@kecbu.uobaghdad.edu.iq	mailto:alimary76@kecbu.uobaghdad.edu.iq	PROPN
alkej-989	23	28	https://doi.org/10.22153/kej.2025.05.002	https://doi.org/10.22153/kej.2025.05.002	PROPN
alkej-989	23	29	anssam	anssam	NOUN
alkej-989	23	30	yahya	yahya	PROPN
alkej-989	23	31	kames	kames	PROPN
alkej-989	23	32	al	al	PROPN
alkej-989	23	33	-	-	PUNCT
alkej-989	23	34	khwarizmi	khwarizmi	PROPN
alkej-989	23	35	engineering	engineering	NOUN
alkej-989	23	36	journal	journal	PROPN
alkej-989	23	37	,	,	PUNCT
alkej-989	23	38	vol	vol	NOUN
alkej-989	23	39	.	.	PROPN
alkej-989	23	40	21	21	NUM
alkej-989	23	41	,	,	PUNCT
alkej-989	23	42	no.3	no.3	VERB
alkej-989	23	43	,	,	PUNCT
alkej-989	23	44	pp	pp	X
alkej-989	23	45	.	.	PUNCT
alkej-989	24	1	4854	4854	NUM
alkej-989	24	2	(	(	PUNCT
alkej-989	24	3	2025	2025	NUM
alkej-989	24	4	)	)	PUNCT
alkej-989	24	5	49	49	NUM
alkej-989	24	6	desired	desire	VERB
alkej-989	24	7	speed	speed	NOUN
alkej-989	24	8	and	and	CCONJ
alkej-989	24	9	safe	safe	ADJ
alkej-989	24	10	distances	distance	NOUN
alkej-989	24	11	from	from	ADP
alkej-989	24	12	obstacles	obstacle	NOUN
alkej-989	24	13	,	,	PUNCT
alkej-989	24	14	ensuring	ensure	VERB
alkej-989	24	15	comfort	comfort	NOUN
alkej-989	24	16	and	and	CCONJ
alkej-989	24	17	safety	safety	NOUN
alkej-989	24	18	[	[	X
alkej-989	24	19	9	9	NUM
alkej-989	24	20	]	]	PUNCT
alkej-989	24	21	.	.	PUNCT
alkej-989	25	1	fuzzy	fuzzy	ADJ
alkej-989	25	2	logic	logic	NOUN
alkej-989	25	3	control	control	NOUN
alkej-989	25	4	can	can	AUX
alkej-989	25	5	approximate	approximate	VERB
alkej-989	25	6	complex	complex	ADJ
alkej-989	25	7	systems	system	NOUN
alkej-989	25	8	using	use	VERB
alkej-989	25	9	fuzzy	fuzzy	ADJ
alkej-989	25	10	rules	rule	NOUN
alkej-989	25	11	[	[	X
alkej-989	25	12	10	10	NUM
alkej-989	25	13	]	]	PUNCT
alkej-989	25	14	,	,	PUNCT
alkej-989	25	15	which	which	PRON
alkej-989	25	16	has	have	AUX
alkej-989	25	17	motivated	motivate	VERB
alkej-989	25	18	a	a	DET
alkej-989	25	19	number	number	NOUN
alkej-989	25	20	of	of	ADP
alkej-989	25	21	researchers	researcher	NOUN
alkej-989	25	22	to	to	PART
alkej-989	25	23	use	use	VERB
alkej-989	25	24	it	it	PRON
alkej-989	25	25	in	in	ADP
alkej-989	25	26	designing	design	VERB
alkej-989	25	27	acc	acc	PROPN
alkej-989	25	28	systems	system	NOUN
alkej-989	25	29	that	that	PRON
alkej-989	25	30	adapt	adapt	VERB
alkej-989	25	31	to	to	ADP
alkej-989	25	32	various	various	ADJ
alkej-989	25	33	driving	driving	NOUN
alkej-989	25	34	conditions	condition	NOUN
alkej-989	25	35	through	through	ADP
alkej-989	25	36	flexible	flexible	ADJ
alkej-989	25	37	control	control	NOUN
alkej-989	25	38	strategies	strategy	NOUN
alkej-989	25	39	[	[	X
alkej-989	25	40	11	11	NUM
alkej-989	25	41	]	]	PUNCT
alkej-989	25	42	.	.	PUNCT
alkej-989	26	1	artificial	artificial	ADJ
alkej-989	26	2	neural	neural	ADJ
alkej-989	26	3	networks	network	NOUN
alkej-989	26	4	have	have	AUX
alkej-989	26	5	been	be	AUX
alkej-989	26	6	used	use	VERB
alkej-989	26	7	to	to	PART
alkej-989	26	8	model	model	VERB
alkej-989	26	9	the	the	DET
alkej-989	26	10	dynamics	dynamic	NOUN
alkej-989	26	11	of	of	ADP
alkej-989	26	12	complex	complex	ADJ
alkej-989	26	13	vehicles	vehicle	NOUN
alkej-989	26	14	using	use	VERB
alkej-989	26	15	real	real	ADJ
alkej-989	26	16	-	-	PUNCT
alkej-989	26	17	time	time	NOUN
alkej-989	26	18	data	datum	NOUN
alkej-989	26	19	[	[	X
alkej-989	26	20	12	12	NUM
alkej-989	26	21	]	]	PUNCT
alkej-989	26	22	.	.	PUNCT
alkej-989	27	1	this	this	DET
alkej-989	27	2	adaptive	adaptive	ADJ
alkej-989	27	3	neural	neural	ADJ
alkej-989	27	4	network	network	NOUN
alkej-989	27	5	can	can	AUX
alkej-989	27	6	enhance	enhance	VERB
alkej-989	27	7	the	the	DET
alkej-989	27	8	performance	performance	NOUN
alkej-989	27	9	of	of	ADP
alkej-989	27	10	the	the	DET
alkej-989	27	11	acc	acc	PROPN
alkej-989	27	12	system	system	NOUN
alkej-989	27	13	by	by	ADP
alkej-989	27	14	effectively	effectively	ADV
alkej-989	27	15	responding	respond	VERB
alkej-989	27	16	to	to	ADP
alkej-989	27	17	various	various	ADJ
alkej-989	27	18	cases	case	NOUN
alkej-989	27	19	,	,	PUNCT
alkej-989	27	20	such	such	ADJ
alkej-989	27	21	as	as	ADP
alkej-989	27	22	changing	change	VERB
alkej-989	27	23	traffic	traffic	NOUN
alkej-989	27	24	conditions	condition	NOUN
alkej-989	27	25	and	and	CCONJ
alkej-989	27	26	diverse	diverse	ADJ
alkej-989	27	27	driving	driving	NOUN
alkej-989	27	28	environments	environment	NOUN
alkej-989	27	29	[	[	X
alkej-989	27	30	13	13	NUM
alkej-989	27	31	]	]	PUNCT
alkej-989	27	32	.	.	PUNCT
alkej-989	28	1	this	this	DET
alkej-989	28	2	adaption	adaption	NOUN
alkej-989	28	3	makes	make	VERB
alkej-989	28	4	the	the	DET
alkej-989	28	5	acc	acc	PROPN
alkej-989	28	6	system	system	NOUN
alkej-989	28	7	highly	highly	ADV
alkej-989	28	8	robust	robust	ADJ
alkej-989	28	9	against	against	ADP
alkej-989	28	10	varying	vary	VERB
alkej-989	28	11	conditions	condition	NOUN
alkej-989	28	12	and	and	CCONJ
alkej-989	28	13	disturbances	disturbance	NOUN
alkej-989	28	14	[	[	X
alkej-989	28	15	14	14	NUM
alkej-989	28	16	]	]	PUNCT
alkej-989	28	17	.	.	PUNCT
alkej-989	29	1	pratama	pratama	NOUN
alkej-989	29	2	mahadika	mahadika	X
alkej-989	29	3	et	et	PROPN
alkej-989	29	4	al	al	PROPN
alkej-989	29	5	.	.	PUNCT
alkej-989	30	1	[	[	X
alkej-989	30	2	15	15	NUM
alkej-989	30	3	]	]	AUX
alkej-989	30	4	used	use	VERB
alkej-989	30	5	an	an	DET
alkej-989	30	6	ann	ann	PROPN
alkej-989	30	7	in	in	ADP
alkej-989	30	8	the	the	DET
alkej-989	30	9	inner	inner	ADJ
alkej-989	30	10	loop	loop	NOUN
alkej-989	30	11	of	of	ADP
alkej-989	30	12	an	an	DET
alkej-989	30	13	acc	acc	NOUN
alkej-989	30	14	system	system	NOUN
alkej-989	30	15	using	use	VERB
alkej-989	30	16	model	model	NOUN
alkej-989	30	17	predictive	predictive	ADJ
alkej-989	30	18	control	control	NOUN
alkej-989	30	19	.	.	PUNCT
alkej-989	31	1	the	the	DET
alkej-989	31	2	ann	ann	PROPN
alkej-989	31	3	is	be	AUX
alkej-989	31	4	used	use	VERB
alkej-989	31	5	to	to	PART
alkej-989	31	6	model	model	VERB
alkej-989	31	7	the	the	DET
alkej-989	31	8	vehicle	vehicle	NOUN
alkej-989	31	9	dynamics	dynamic	NOUN
alkej-989	31	10	,	,	PUNCT
alkej-989	31	11	whilst	whilst	SCONJ
alkej-989	31	12	the	the	DET
alkej-989	31	13	mpc	mpc	NOUN
alkej-989	31	14	minimises	minimise	NOUN
alkej-989	31	15	the	the	DET
alkej-989	31	16	errors	error	NOUN
alkej-989	31	17	between	between	ADP
alkej-989	31	18	the	the	DET
alkej-989	31	19	estimated	estimate	VERB
alkej-989	31	20	outputs	output	NOUN
alkej-989	31	21	and	and	CCONJ
alkej-989	31	22	the	the	DET
alkej-989	31	23	future	future	ADJ
alkej-989	31	24	reference	reference	NOUN
alkej-989	31	25	trajectories	trajectory	NOUN
alkej-989	31	26	.	.	PUNCT
alkej-989	32	1	victoria	victoria	PROPN
alkej-989	32	2	oguntosin	oguntosin	PROPN
alkej-989	32	3	and	and	CCONJ
alkej-989	32	4	jamiu	jamiu	PROPN
alkej-989	32	5	olasina	olasina	PROPN
alkej-989	33	1	[	[	X
alkej-989	33	2	16	16	NUM
alkej-989	33	3	]	]	X
alkej-989	33	4	utilised	utilise	VERB
alkej-989	33	5	root	root	NOUN
alkej-989	33	6	locus	locus	NOUN
alkej-989	33	7	and	and	CCONJ
alkej-989	33	8	frequency	frequency	NOUN
alkej-989	33	9	domain	domain	NOUN
alkej-989	33	10	methods	method	NOUN
alkej-989	33	11	to	to	PART
alkej-989	33	12	analyse	analyse	VERB
alkej-989	33	13	the	the	DET
alkej-989	33	14	proposed	propose	VERB
alkej-989	33	15	linear	linear	PROPN
alkej-989	33	16	cruise	cruise	PROPN
alkej-989	33	17	control	control	NOUN
alkej-989	33	18	system	system	NOUN
alkej-989	33	19	.	.	PUNCT
alkej-989	34	1	the	the	DET
alkej-989	34	2	proposed	propose	VERB
alkej-989	34	3	control	control	NOUN
alkej-989	34	4	method	method	NOUN
alkej-989	34	5	was	be	AUX
alkej-989	34	6	designed	design	VERB
alkej-989	34	7	to	to	PART
alkej-989	34	8	meet	meet	VERB
alkej-989	34	9	the	the	DET
alkej-989	34	10	following	following	ADJ
alkej-989	34	11	specifications	specification	NOUN
alkej-989	34	12	:	:	PUNCT
alkej-989	34	13	a	a	DET
alkej-989	34	14	steady	steady	ADJ
alkej-989	34	15	-	-	PUNCT
alkej-989	34	16	state	state	NOUN
alkej-989	34	17	error	error	NOUN
alkej-989	34	18	of	of	ADP
alkej-989	34	19	less	less	ADJ
alkej-989	34	20	than	than	ADP
alkej-989	34	21	1	1	NUM
alkej-989	34	22	%	%	NOUN
alkej-989	34	23	,	,	PUNCT
alkej-989	34	24	an	an	DET
alkej-989	34	25	overshoot	overshoot	NOUN
alkej-989	34	26	of	of	ADP
alkej-989	34	27	less	less	ADJ
alkej-989	34	28	than	than	ADP
alkej-989	34	29	5	5	NUM
alkej-989	34	30	%	%	NOUN
alkej-989	34	31	and	and	CCONJ
alkej-989	34	32	a	a	DET
alkej-989	34	33	rise	rise	NOUN
alkej-989	34	34	time	time	NOUN
alkej-989	34	35	of	of	ADP
alkej-989	34	36	less	less	ADJ
alkej-989	34	37	than	than	ADP
alkej-989	34	38	1.5	1.5	NUM
alkej-989	34	39	s.	s.	NOUN
alkej-989	34	40	the	the	DET
alkej-989	34	41	results	result	NOUN
alkej-989	34	42	showed	show	VERB
alkej-989	34	43	that	that	SCONJ
alkej-989	34	44	the	the	DET
alkej-989	34	45	proposed	propose	VERB
alkej-989	34	46	control	control	NOUN
alkej-989	34	47	method	method	NOUN
alkej-989	34	48	successfully	successfully	ADV
alkej-989	34	49	satisfied	satisfy	VERB
alkej-989	34	50	these	these	DET
alkej-989	34	51	criteria	criterion	NOUN
alkej-989	34	52	.	.	PUNCT
alkej-989	35	1	trieu	trieu	PROPN
alkej-989	35	2	minh	minh	PROPN
alkej-989	35	3	vu	vu	X
alkej-989	35	4	et	et	PROPN
alkej-989	35	5	al	al	PROPN
alkej-989	35	6	.	.	PUNCT
alkej-989	36	1	[	[	X
alkej-989	36	2	17	17	NUM
alkej-989	36	3	]	]	PUNCT
alkej-989	36	4	proposed	propose	VERB
alkej-989	36	5	a	a	DET
alkej-989	36	6	control	control	NOUN
alkej-989	36	7	method	method	NOUN
alkej-989	36	8	that	that	PRON
alkej-989	36	9	integrates	integrate	VERB
alkej-989	36	10	neural	neural	ADJ
alkej-989	36	11	networks	network	NOUN
alkej-989	36	12	with	with	ADP
alkej-989	36	13	the	the	DET
alkej-989	36	14	mpc	mpc	NOUN
alkej-989	36	15	,	,	PUNCT
alkej-989	36	16	taking	take	VERB
alkej-989	36	17	into	into	ADP
alkej-989	36	18	account	account	NOUN
alkej-989	36	19	the	the	DET
alkej-989	36	20	hard	hard	ADJ
alkej-989	36	21	and	and	CCONJ
alkej-989	36	22	soft	soft	ADJ
alkej-989	36	23	constraints	constraint	NOUN
alkej-989	36	24	to	to	PART
alkej-989	36	25	determine	determine	VERB
alkej-989	36	26	control	control	NOUN
alkej-989	36	27	actions	action	NOUN
alkej-989	36	28	whilst	whilst	SCONJ
alkej-989	36	29	ensuring	ensure	VERB
alkej-989	36	30	system	system	NOUN
alkej-989	36	31	stability	stability	NOUN
alkej-989	36	32	.	.	PUNCT
alkej-989	37	1	the	the	DET
alkej-989	37	2	simulation	simulation	NOUN
alkej-989	37	3	results	result	NOUN
alkej-989	37	4	demonstrated	demonstrate	VERB
alkej-989	37	5	the	the	DET
alkej-989	37	6	excellent	excellent	ADJ
alkej-989	37	7	performance	performance	NOUN
alkej-989	37	8	of	of	ADP
alkej-989	37	9	the	the	DET
alkej-989	37	10	proposed	propose	VERB
alkej-989	37	11	control	control	NOUN
alkej-989	37	12	method	method	NOUN
alkej-989	37	13	across	across	ADP
alkej-989	37	14	various	various	ADJ
alkej-989	37	15	trajectories	trajectory	NOUN
alkej-989	37	16	.	.	PUNCT
alkej-989	38	1	this	this	DET
alkej-989	38	2	study	study	NOUN
alkej-989	38	3	aims	aim	VERB
alkej-989	38	4	to	to	PART
alkej-989	38	5	present	present	VERB
alkej-989	38	6	a	a	DET
alkej-989	38	7	reliable	reliable	ADJ
alkej-989	38	8	control	control	NOUN
alkej-989	38	9	system	system	NOUN
alkej-989	38	10	for	for	ADP
alkej-989	38	11	regulating	regulate	VERB
alkej-989	38	12	vehicle	vehicle	NOUN
alkej-989	38	13	speed	speed	NOUN
alkej-989	38	14	.	.	PUNCT
alkej-989	39	1	the	the	DET
alkej-989	39	2	proposed	propose	VERB
alkej-989	39	3	control	control	NOUN
alkej-989	39	4	method	method	NOUN
alkej-989	39	5	combines	combine	VERB
alkej-989	39	6	feedback	feedback	NOUN
alkej-989	39	7	linearization	linearization	NOUN
alkej-989	39	8	and	and	CCONJ
alkej-989	39	9	smc	smc	PROPN
alkej-989	39	10	to	to	PART
alkej-989	39	11	simplify	simplify	VERB
alkej-989	39	12	the	the	DET
alkej-989	39	13	control	control	NOUN
alkej-989	39	14	of	of	ADP
alkej-989	39	15	the	the	DET
alkej-989	39	16	vehicle	vehicle	NOUN
alkej-989	39	17	’s	’s	PART
alkej-989	39	18	nonlinear	nonlinear	ADJ
alkej-989	39	19	dynamics	dynamic	NOUN
alkej-989	39	20	.	.	PUNCT
alkej-989	40	1	feedback	feedback	NOUN
alkej-989	40	2	linearization	linearization	NOUN
alkej-989	40	3	is	be	AUX
alkej-989	40	4	used	use	VERB
alkej-989	40	5	to	to	PART
alkej-989	40	6	obtain	obtain	VERB
alkej-989	40	7	a	a	DET
alkej-989	40	8	linear	linear	ADJ
alkej-989	40	9	dynamic	dynamic	ADJ
alkej-989	40	10	system	system	NOUN
alkej-989	40	11	.	.	PUNCT
alkej-989	41	1	thereafter	thereafter	ADV
alkej-989	41	2	,	,	PUNCT
alkej-989	41	3	smc	smc	PROPN
alkej-989	41	4	is	be	AUX
alkej-989	41	5	applied	apply	VERB
alkej-989	41	6	to	to	PART
alkej-989	41	7	control	control	VERB
alkej-989	41	8	the	the	DET
alkej-989	41	9	linear	linear	ADJ
alkej-989	41	10	system	system	NOUN
alkej-989	41	11	.	.	PUNCT
alkej-989	42	1	the	the	DET
alkej-989	42	2	stability	stability	NOUN
alkej-989	42	3	of	of	ADP
alkej-989	42	4	the	the	DET
alkej-989	42	5	proposed	propose	VERB
alkej-989	42	6	control	control	NOUN
alkej-989	42	7	method	method	NOUN
alkej-989	42	8	is	be	AUX
alkej-989	42	9	verified	verify	VERB
alkej-989	42	10	using	use	VERB
alkej-989	42	11	lyapunov	lyapunov	PROPN
alkej-989	42	12	’s	’s	PART
alkej-989	42	13	second	second	ADJ
alkej-989	42	14	method	method	NOUN
alkej-989	42	15	.	.	PUNCT
alkej-989	43	1	finally	finally	ADV
alkej-989	43	2	,	,	PUNCT
alkej-989	43	3	the	the	DET
alkej-989	43	4	performance	performance	NOUN
alkej-989	43	5	of	of	ADP
alkej-989	43	6	the	the	DET
alkej-989	43	7	proposed	propose	VERB
alkej-989	43	8	control	control	NOUN
alkej-989	43	9	method	method	NOUN
alkej-989	43	10	is	be	AUX
alkej-989	43	11	evaluated	evaluate	VERB
alkej-989	43	12	and	and	CCONJ
alkej-989	43	13	compared	compare	VERB
alkej-989	43	14	with	with	ADP
alkej-989	43	15	that	that	PRON
alkej-989	43	16	of	of	ADP
alkej-989	43	17	a	a	DET
alkej-989	43	18	pid	pid	NOUN
alkej-989	43	19	controller	controller	NOUN
alkej-989	43	20	using	use	VERB
alkej-989	43	21	matlab	matlab	PROPN
alkej-989	43	22	/	/	SYM
alkej-989	43	23	simulink	simulink	PROPN
alkej-989	43	24	software	software	NOUN
alkej-989	43	25	.	.	PUNCT
alkej-989	44	1	2	2	X
alkej-989	44	2	.	.	X
alkej-989	44	3	dynamic	dynamic	ADJ
alkej-989	44	4	model	model	PROPN
alkej-989	44	5	newton	newton	PROPN
alkej-989	44	6	’s	’s	PART
alkej-989	44	7	second	second	ADJ
alkej-989	44	8	law	law	NOUN
alkej-989	44	9	is	be	AUX
alkej-989	44	10	used	use	VERB
alkej-989	44	11	to	to	PART
alkej-989	44	12	model	model	VERB
alkej-989	44	13	the	the	DET
alkej-989	44	14	longitudinal	longitudinal	ADJ
alkej-989	44	15	dynamics	dynamic	NOUN
alkej-989	44	16	of	of	ADP
alkej-989	44	17	the	the	DET
alkej-989	44	18	vehicle	vehicle	NOUN
alkej-989	44	19	,	,	PUNCT
alkej-989	44	20	where	where	SCONJ
alkej-989	44	21	the	the	DET
alkej-989	44	22	net	net	ADJ
alkej-989	44	23	tractive	tractive	ADJ
alkej-989	44	24	force	force	NOUN
alkej-989	44	25	,	,	PUNCT
alkej-989	44	26	aerodynamic	aerodynamic	ADJ
alkej-989	44	27	drag	drag	NOUN
alkej-989	44	28	,	,	PUNCT
alkej-989	44	29	rolling	roll	VERB
alkej-989	44	30	resistance	resistance	NOUN
alkej-989	44	31	and	and	CCONJ
alkej-989	44	32	road	road	NOUN
alkej-989	44	33	grade	grade	NOUN
alkej-989	44	34	determine	determine	VERB
alkej-989	44	35	the	the	DET
alkej-989	44	36	vehicle	vehicle	NOUN
alkej-989	44	37	’s	’s	PART
alkej-989	44	38	acceleration	acceleration	NOUN
alkej-989	44	39	.	.	PUNCT
alkej-989	45	1	the	the	DET
alkej-989	45	2	vehicle	vehicle	NOUN
alkej-989	45	3	’s	’s	PART
alkej-989	45	4	dynamic	dynamic	ADJ
alkej-989	45	5	system	system	NOUN
alkej-989	45	6	can	can	AUX
alkej-989	45	7	be	be	AUX
alkej-989	45	8	modelled	model	VERB
alkej-989	45	9	using	use	VERB
alkej-989	45	10	newton	newton	PROPN
alkej-989	45	11	’s	’s	PART
alkej-989	45	12	second	second	ADJ
alkej-989	45	13	law	law	NOUN
alkej-989	45	14	,	,	PUNCT
alkej-989	45	15	which	which	PRON
alkej-989	45	16	relates	relate	VERB
alkej-989	45	17	the	the	DET
alkej-989	45	18	vehicle	vehicle	NOUN
alkej-989	45	19	’s	’s	PART
alkej-989	45	20	acceleration	acceleration	NOUN
alkej-989	45	21	to	to	ADP
alkej-989	45	22	the	the	DET
alkej-989	45	23	net	net	ADJ
alkej-989	45	24	force	force	NOUN
alkej-989	45	25	acting	act	VERB
alkej-989	45	26	on	on	ADP
alkej-989	45	27	it	it	PRON
alkej-989	45	28	(	(	PUNCT
alkej-989	45	29	fig	fig	NOUN
alkej-989	45	30	.	.	NOUN
alkej-989	46	1	1	1	NUM
alkej-989	46	2	)	)	PUNCT
alkej-989	47	1	[	[	X
alkej-989	47	2	18	18	NUM
alkej-989	47	3	]	]	PUNCT
alkej-989	47	4	.	.	PUNCT
alkej-989	48	1	fig	fig	NOUN
alkej-989	48	2	.	.	PUNCT
alkej-989	49	1	1	1	X
alkej-989	49	2	.	.	X
alkej-989	49	3	gravitational	gravitational	ADJ
alkej-989	49	4	forces	force	NOUN
alkej-989	49	5	𝑚	𝑚	NOUN
alkej-989	49	6	𝑑𝑣(𝑡	𝑑𝑣(𝑡	NOUN
alkej-989	49	7	)	)	PUNCT
alkej-989	49	8	𝑑𝑡	𝑑𝑡	ADP
alkej-989	49	9	=	=	PUNCT
alkej-989	49	10	𝐹𝑡𝑟(𝑡	𝐹𝑡𝑟(𝑡	PROPN
alkej-989	49	11	)	)	PUNCT
alkej-989	50	1	−	−	PROPN
alkej-989	50	2	𝐹𝑟(𝑡	𝐹𝑟(𝑡	PROPN
alkej-989	50	3	)	)	PUNCT
alkej-989	50	4	,	,	PUNCT
alkej-989	50	5	…	…	PUNCT
alkej-989	50	6	(	(	PUNCT
alkej-989	50	7	1	1	NUM
alkej-989	50	8	)	)	PUNCT
alkej-989	50	9	where	where	SCONJ
alkej-989	50	10	𝑚	𝑚	PROPN
alkej-989	50	11	is	be	AUX
alkej-989	50	12	the	the	DET
alkej-989	50	13	vehicle	vehicle	NOUN
alkej-989	50	14	mass	mass	NOUN
alkej-989	50	15	(	(	PUNCT
alkej-989	50	16	kg	kg	NOUN
alkej-989	50	17	)	)	PUNCT
alkej-989	50	18	,	,	PUNCT
alkej-989	50	19	𝑣(𝑡	𝑣(𝑡	NOUN
alkej-989	50	20	)	)	PUNCT
alkej-989	50	21	the	the	DET
alkej-989	50	22	vehicle	vehicle	NOUN
alkej-989	50	23	speed	speed	NOUN
alkej-989	50	24	(	(	PUNCT
alkej-989	50	25	m	m	NOUN
alkej-989	50	26	/	/	SYM
alkej-989	50	27	s	s	PART
alkej-989	50	28	)	)	PUNCT
alkej-989	50	29	,	,	PUNCT
alkej-989	50	30	𝑑𝑣(𝑡	𝑑𝑣(𝑡	PUNCT
alkej-989	50	31	)	)	PUNCT
alkej-989	50	32	𝑑𝑡	𝑑𝑡	CCONJ
alkej-989	50	33	is	be	AUX
alkej-989	50	34	the	the	DET
alkej-989	50	35	vehicle	vehicle	NOUN
alkej-989	50	36	acceleration	acceleration	NOUN
alkej-989	50	37	(	(	PUNCT
alkej-989	50	38	m	m	NOUN
alkej-989	50	39	/	/	SYM
alkej-989	50	40	s2	s2	PROPN
alkej-989	50	41	)	)	PUNCT
alkej-989	50	42	,	,	PUNCT
alkej-989	50	43	𝐹𝑡𝑟(𝑡	𝐹𝑡𝑟(𝑡	PROPN
alkej-989	50	44	)	)	PUNCT
alkej-989	50	45	is	be	AUX
alkej-989	50	46	tractive	tractive	ADJ
alkej-989	50	47	force	force	NOUN
alkej-989	50	48	(	(	PUNCT
alkej-989	50	49	n	n	CCONJ
alkej-989	50	50	)	)	PUNCT
alkej-989	50	51	,	,	PUNCT
alkej-989	50	52	and	and	CCONJ
alkej-989	50	53	𝐹𝑟(𝑡	𝐹𝑟(𝑡	NUM
alkej-989	50	54	)	)	PUNCT
alkej-989	50	55	is	be	AUX
alkej-989	50	56	the	the	DET
alkej-989	50	57	resistive	resistive	ADJ
alkej-989	50	58	force	force	NOUN
alkej-989	50	59	(	(	PUNCT
alkej-989	50	60	n	n	CCONJ
alkej-989	50	61	)	)	PUNCT
alkej-989	50	62	.	.	PUNCT
alkej-989	51	1	the	the	DET
alkej-989	51	2	resistive	resistive	ADJ
alkej-989	51	3	force	force	NOUN
alkej-989	51	4	𝐹𝑟(𝑡	𝐹𝑟(𝑡	PROPN
alkej-989	51	5	)	)	PUNCT
alkej-989	51	6	consists	consist	VERB
alkej-989	51	7	of	of	ADP
alkej-989	51	8	three	three	NUM
alkej-989	51	9	main	main	ADJ
alkej-989	51	10	components	component	NOUN
alkej-989	51	11	[	[	X
alkej-989	51	12	18	18	NUM
alkej-989	51	13	]	]	PUNCT
alkej-989	51	14	:	:	PUNCT
alkej-989	51	15	𝐹𝑟(𝑡	𝐹𝑟(𝑡	X
alkej-989	51	16	)	)	PUNCT
alkej-989	52	1	=	=	SYM
alkej-989	52	2	𝐹drag	𝐹drag	PROPN
alkej-989	52	3	(	(	PUNCT
alkej-989	52	4	𝑡	𝑡	NOUN
alkej-989	52	5	)	)	PUNCT
alkej-989	52	6	+	+	CCONJ
alkej-989	52	7	𝐹roll	𝐹roll	PROPN
alkej-989	52	8	(	(	PUNCT
alkej-989	52	9	𝑡	𝑡	NOUN
alkej-989	52	10	)	)	PUNCT
alkej-989	52	11	+	+	CCONJ
alkej-989	52	12	𝐹grade	𝐹grade	PROPN
alkej-989	52	13	(	(	PUNCT
alkej-989	52	14	𝑡	𝑡	NOUN
alkej-989	52	15	)	)	PUNCT
alkej-989	52	16	,	,	PUNCT
alkej-989	52	17	…	…	PUNCT
alkej-989	52	18	(	(	PUNCT
alkej-989	52	19	2	2	NUM
alkej-989	52	20	)	)	PUNCT
alkej-989	52	21	where	where	SCONJ
alkej-989	52	22	:	:	PUNCT
alkej-989	52	23	𝐹𝑑𝑟𝑎𝑔(𝑡	𝐹𝑑𝑟𝑎𝑔(𝑡	NOUN
alkej-989	52	24	)	)	PUNCT
alkej-989	52	25	=	=	SYM
alkej-989	52	26	1	1	NUM
alkej-989	52	27	2	2	NUM
alkej-989	52	28	𝜌𝐶𝑑𝐴𝑓𝑣	𝜌𝐶𝑑𝐴𝑓𝑣	NOUN
alkej-989	52	29	2(𝑡	2(𝑡	NUM
alkej-989	52	30	)	)	PUNCT
alkej-989	52	31	,	,	PUNCT
alkej-989	52	32	…	…	PUNCT
alkej-989	52	33	(	(	PUNCT
alkej-989	52	34	3	3	X
alkej-989	52	35	)	)	PUNCT
alkej-989	52	36	𝐹roll	𝐹roll	PROPN
alkej-989	52	37	(	(	PUNCT
alkej-989	52	38	𝑡	𝑡	NOUN
alkej-989	52	39	)	)	PUNCT
alkej-989	52	40	=	=	SYM
alkej-989	52	41	𝐶𝑟𝑟𝑚𝑔	𝐶𝑟𝑟𝑚𝑔	PROPN
alkej-989	52	42	,	,	PUNCT
alkej-989	52	43	…	…	PUNCT
alkej-989	52	44	(	(	PUNCT
alkej-989	52	45	4	4	X
alkej-989	52	46	)	)	PUNCT
alkej-989	52	47	𝐹grade	𝐹grade	PROPN
alkej-989	52	48	(	(	PUNCT
alkej-989	52	49	𝑡	𝑡	NOUN
alkej-989	52	50	)	)	PUNCT
alkej-989	52	51	=	=	SYM
alkej-989	52	52	𝑚𝑞sin⁡(𝜃	𝑚𝑞sin⁡(𝜃	NOUN
alkej-989	52	53	)	)	PUNCT
alkej-989	52	54	.	.	PUNCT
alkej-989	53	1	…	…	PUNCT
alkej-989	53	2	(	(	PUNCT
alkej-989	53	3	5	5	X
alkej-989	53	4	)	)	PUNCT
alkej-989	53	5	𝐹𝑑𝑟𝑎𝑔(𝑡	𝐹𝑑𝑟𝑎𝑔(𝑡	NOUN
alkej-989	53	6	)	)	PUNCT
alkej-989	53	7	is	be	AUX
alkej-989	53	8	the	the	DET
alkej-989	53	9	aerodynamic	aerodynamic	ADJ
alkej-989	53	10	drag	drag	NOUN
alkej-989	53	11	force	force	NOUN
alkej-989	53	12	,	,	PUNCT
alkej-989	53	13	𝜌	𝜌	X
alkej-989	53	14	is	be	AUX
alkej-989	53	15	the	the	DET
alkej-989	53	16	air	air	NOUN
alkej-989	53	17	density	density	NOUN
alkej-989	53	18	(	(	PUNCT
alkej-989	53	19	kg	kg	NOUN
alkej-989	53	20	/	/	SYM
alkej-989	53	21	m3	m3	PROPN
alkej-989	53	22	)	)	PUNCT
alkej-989	53	23	,	,	PUNCT
alkej-989	53	24	𝐶𝑑	𝐶𝑑	PROPN
alkej-989	53	25	is	be	AUX
alkej-989	53	26	the	the	DET
alkej-989	53	27	drag	drag	NOUN
alkej-989	53	28	coefficient	coefficient	NOUN
alkej-989	53	29	,	,	PUNCT
alkej-989	53	30	and	and	CCONJ
alkej-989	53	31	𝐴𝑓	𝐴𝑓	PROPN
alkej-989	53	32	is	be	AUX
alkej-989	53	33	the	the	DET
alkej-989	53	34	frontal	frontal	ADJ
alkej-989	53	35	area	area	NOUN
alkej-989	53	36	of	of	ADP
alkej-989	53	37	the	the	DET
alkej-989	53	38	vehicle	vehicle	NOUN
alkej-989	53	39	(	(	PUNCT
alkej-989	53	40	m2	m2	PROPN
alkej-989	53	41	)	)	PUNCT
alkej-989	53	42	.	.	PUNCT
alkej-989	54	1	𝐹roll	𝐹roll	PROPN
alkej-989	54	2	(	(	PUNCT
alkej-989	54	3	𝑡	𝑡	NOUN
alkej-989	54	4	)	)	PUNCT
alkej-989	54	5	is	be	AUX
alkej-989	54	6	the	the	DET
alkej-989	54	7	rolling	rolling	ADJ
alkej-989	54	8	resistance	resistance	NOUN
alkej-989	54	9	force	force	NOUN
alkej-989	54	10	,	,	PUNCT
alkej-989	54	11	𝐶𝑟𝑟	𝐶𝑟𝑟	PROPN
alkej-989	54	12	is	be	AUX
alkej-989	54	13	the	the	DET
alkej-989	54	14	rolling	rolling	ADJ
alkej-989	54	15	resistance	resistance	NOUN
alkej-989	54	16	coefficient	coefficient	NOUN
alkej-989	54	17	,	,	PUNCT
alkej-989	54	18	and	and	CCONJ
alkej-989	54	19	𝑔	𝑔	PROPN
alkej-989	54	20	is	be	AUX
alkej-989	54	21	the	the	DET
alkej-989	54	22	gravitational	gravitational	ADJ
alkej-989	54	23	acceleration	acceleration	NOUN
alkej-989	54	24	(	(	PUNCT
alkej-989	54	25	9.8	9.8	NUM
alkej-989	54	26	↓1/𝑠	↓1/𝑠	NOUN
alkej-989	54	27	2	2	NUM
alkej-989	54	28	)	)	PUNCT
alkej-989	54	29	.	.	PUNCT
alkej-989	55	1	𝐹grade	𝐹grade	PROPN
alkej-989	55	2	(	(	PUNCT
alkej-989	55	3	𝑡	𝑡	NOUN
alkej-989	55	4	)	)	PUNCT
alkej-989	55	5	is	be	AUX
alkej-989	55	6	the	the	DET
alkej-989	55	7	grade	grade	NOUN
alkej-989	55	8	resistance	resistance	NOUN
alkej-989	55	9	force	force	NOUN
alkej-989	55	10	,	,	PUNCT
alkej-989	55	11	and	and	CCONJ
alkej-989	55	12	𝜃	𝜃	X
alkej-989	55	13	is	be	AUX
alkej-989	55	14	the	the	DET
alkej-989	55	15	road	road	NOUN
alkej-989	55	16	grade	grade	NOUN
alkej-989	55	17	angle	angle	NOUN
alkej-989	55	18	(	(	PUNCT
alkej-989	55	19	radians	radian	NOUN
alkej-989	55	20	)	)	PUNCT
alkej-989	55	21	.	.	PUNCT
alkej-989	56	1	𝑢(𝑡	𝑢(𝑡	NOUN
alkej-989	56	2	)	)	PUNCT
alkej-989	56	3	represents	represent	VERB
alkej-989	56	4	the	the	DET
alkej-989	56	5	acc	acc	PROPN
alkej-989	56	6	system	system	PROPN
alkej-989	56	7	’s	’s	PART
alkej-989	56	8	control	control	NOUN
alkej-989	56	9	input	input	NOUN
alkej-989	56	10	,	,	PUNCT
alkej-989	56	11	representing	represent	VERB
alkej-989	56	12	the	the	DET
alkej-989	56	13	combined	combined	ADJ
alkej-989	56	14	throttle	throttle	NOUN
alkej-989	56	15	and	and	CCONJ
alkej-989	56	16	brake	brake	NOUN
alkej-989	56	17	commands	command	NOUN
alkej-989	56	18	.	.	PUNCT
alkej-989	57	1	3	3	X
alkej-989	57	2	.	.	NUM
alkej-989	57	3	proposed	propose	VERB
alkej-989	57	4	control	control	NOUN
alkej-989	57	5	method	method	VERB
alkej-989	57	6	the	the	DET
alkej-989	57	7	nonlinear	nonlinear	ADJ
alkej-989	57	8	dynamic	dynamic	ADJ
alkej-989	57	9	model	model	NOUN
alkej-989	57	10	of	of	ADP
alkej-989	57	11	a	a	DET
alkej-989	57	12	vehicle	vehicle	NOUN
alkej-989	57	13	can	can	AUX
alkej-989	57	14	be	be	AUX
alkej-989	57	15	transformed	transform	VERB
alkej-989	57	16	into	into	ADP
alkej-989	57	17	a	a	DET
alkej-989	57	18	linear	linear	ADJ
alkej-989	57	19	system	system	NOUN
alkej-989	57	20	through	through	ADP
alkej-989	57	21	feedback	feedback	NOUN
alkej-989	57	22	linearization	linearization	NOUN
alkej-989	57	23	,	,	PUNCT
alkej-989	57	24	without	without	ADP
alkej-989	57	25	compromising	compromise	VERB
alkej-989	57	26	the	the	DET
alkej-989	57	27	accuracy	accuracy	NOUN
alkej-989	57	28	or	or	CCONJ
alkej-989	57	29	generality	generality	NOUN
alkej-989	57	30	of	of	ADP
alkej-989	57	31	the	the	DET
alkej-989	57	32	system	system	NOUN
alkej-989	57	33	[	[	X
alkej-989	57	34	19	19	NUM
alkej-989	57	35	]	]	PUNCT
alkej-989	57	36	.	.	PUNCT
alkej-989	58	1	the	the	DET
alkej-989	58	2	control	control	NOUN
alkej-989	58	3	signal	signal	NOUN
alkej-989	58	4	is	be	AUX
alkej-989	58	5	selected	select	VERB
alkej-989	58	6	as	as	SCONJ
alkej-989	58	7	follows	follow	VERB
alkej-989	58	8	(	(	PUNCT
alkej-989	58	9	fig	fig	NOUN
alkej-989	58	10	.	.	PUNCT
alkej-989	59	1	2	2	NUM
alkej-989	59	2	):	):	PUNCT
alkej-989	59	3	anssam	anssam	NOUN
alkej-989	59	4	yahya	yahya	PROPN
alkej-989	59	5	kames	kames	PROPN
alkej-989	59	6	al	al	PROPN
alkej-989	59	7	-	-	PUNCT
alkej-989	59	8	khwarizmi	khwarizmi	PROPN
alkej-989	59	9	engineering	engineering	NOUN
alkej-989	59	10	journal	journal	PROPN
alkej-989	59	11	,	,	PUNCT
alkej-989	59	12	vol	vol	NOUN
alkej-989	59	13	.	.	PROPN
alkej-989	59	14	21	21	NUM
alkej-989	59	15	,	,	PUNCT
alkej-989	59	16	no.3	no.3	VERB
alkej-989	59	17	,	,	PUNCT
alkej-989	59	18	pp	pp	X
alkej-989	59	19	.	.	PUNCT
alkej-989	60	1	4854	4854	NUM
alkej-989	60	2	(	(	PUNCT
alkej-989	60	3	2025	2025	NUM
alkej-989	60	4	)	)	PUNCT
alkej-989	60	5	50	50	NUM
alkej-989	60	6	𝑢(𝑡	𝑢(𝑡	NOUN
alkej-989	60	7	)	)	PUNCT
alkej-989	60	8	=	=	SYM
alkej-989	60	9	1	1	NUM
alkej-989	60	10	𝛼𝑇	𝛼𝑇	PROPN
alkej-989	60	11	(	(	PUNCT
alkej-989	60	12	�	�	NOUN
alkej-989	60	13	̅	̅	NOUN
alkej-989	60	14	�	�	NOUN
alkej-989	60	15	+	+	CCONJ
alkej-989	60	16	1	1	NUM
alkej-989	60	17	2	2	NUM
alkej-989	60	18	𝜌𝐶𝑑𝐴𝑓𝑣	𝜌𝐶𝑑𝐴𝑓𝑣	NOUN
alkej-989	60	19	2(𝑡	2(𝑡	NUM
alkej-989	60	20	)	)	PUNCT
alkej-989	60	21	+	+	CCONJ
alkej-989	61	1	𝐶𝑟𝑟𝑚𝑔	𝐶𝑟𝑟𝑚𝑔	PROPN
alkej-989	61	2	+	+	CCONJ
alkej-989	61	3	𝑘⁡𝑠𝑔𝑛(𝑒	𝑘⁡𝑠𝑔𝑛(𝑒	PROPN
alkej-989	61	4	)	)	PUNCT
alkej-989	61	5	)	)	PUNCT
alkej-989	61	6	,	,	PUNCT
alkej-989	61	7	…	…	PUNCT
alkej-989	61	8	(	(	PUNCT
alkej-989	61	9	6	6	NUM
alkej-989	61	10	)	)	PUNCT
alkej-989	61	11	where	where	SCONJ
alkej-989	61	12	�	�	PROPN
alkej-989	61	13	̅̅	̅̅	PROPN
alkej-989	61	14	�	�	PROPN
alkej-989	61	15	represents	represent	VERB
alkej-989	61	16	an	an	DET
alkej-989	61	17	auxiliary	auxiliary	ADJ
alkej-989	61	18	controller	controller	NOUN
alkej-989	61	19	.	.	PUNCT
alkej-989	62	1	the	the	DET
alkej-989	62	2	dynamic	dynamic	ADJ
alkej-989	62	3	model	model	NOUN
alkej-989	62	4	of	of	ADP
alkej-989	62	5	the	the	DET
alkej-989	62	6	vehicle	vehicle	NOUN
alkej-989	62	7	system	system	NOUN
alkej-989	62	8	can	can	AUX
alkej-989	62	9	be	be	AUX
alkej-989	62	10	expressed	express	VERB
alkej-989	62	11	as	as	SCONJ
alkej-989	62	12	follows	follow	VERB
alkej-989	62	13	:	:	PUNCT
alkej-989	62	14	𝑚	𝑚	NOUN
alkej-989	62	15	𝑑𝑣(𝑡	𝑑𝑣(𝑡	NOUN
alkej-989	62	16	)	)	PUNCT
alkej-989	62	17	𝑑𝑡	𝑑𝑡	ADP
alkej-989	62	18	=	=	PUNCT
alkej-989	62	19	�	�	PROPN
alkej-989	62	20	̅	̅	NOUN
alkej-989	62	21	�	�	NOUN
alkej-989	62	22	+	+	CCONJ
alkej-989	62	23	𝑘⁡𝑠𝑔𝑛(𝑒	𝑘⁡𝑠𝑔𝑛(𝑒	PROPN
alkej-989	62	24	)	)	PUNCT
alkej-989	63	1	+	+	CCONJ
alkej-989	63	2	𝑑	𝑑	NOUN
alkej-989	63	3	,	,	PUNCT
alkej-989	63	4	…	…	PUNCT
alkej-989	63	5	(	(	PUNCT
alkej-989	63	6	7	7	NUM
alkej-989	63	7	)	)	PUNCT
alkej-989	63	8	where	where	SCONJ
alkej-989	63	9	𝑑	𝑑	PROPN
alkej-989	63	10	=	=	SYM
alkej-989	63	11	−𝑚𝑔sin⁡(𝜃	−𝑚𝑔sin⁡(𝜃	NOUN
alkej-989	63	12	)	)	PUNCT
alkej-989	63	13	can	can	AUX
alkej-989	63	14	represent	represent	VERB
alkej-989	63	15	the	the	DET
alkej-989	63	16	disturbance	disturbance	NOUN
alkej-989	63	17	signal	signal	NOUN
alkej-989	63	18	.	.	PUNCT
alkej-989	64	1	lyapunov	lyapunov	PROPN
alkej-989	64	2	function	function	NOUN
alkej-989	64	3	can	can	AUX
alkej-989	64	4	be	be	AUX
alkej-989	64	5	selected	select	VERB
alkej-989	64	6	as	as	SCONJ
alkej-989	64	7	follows	follow	VERB
alkej-989	64	8	:	:	PUNCT
alkej-989	64	9	𝑉	𝑉	PROPN
alkej-989	64	10	=	=	NOUN
alkej-989	64	11	1	1	NUM
alkej-989	64	12	2	2	NUM
alkej-989	64	13	𝑒2	𝑒2	NOUN
alkej-989	64	14	,	,	PUNCT
alkej-989	64	15	…	…	PUNCT
alkej-989	64	16	(	(	PUNCT
alkej-989	64	17	8)	8)	NUM
alkej-989	64	18	𝑒	𝑒	NOUN
alkej-989	64	19	=	=	SYM
alkej-989	64	20	�	�	PROPN
alkej-989	64	21	̇	̇	PROPN
alkej-989	64	22	�	�	PROPN
alkej-989	64	23	𝑑	𝑑	PROPN
alkej-989	64	24	−	−	PROPN
alkej-989	64	25	𝑣	𝑣	NOUN
alkej-989	64	26	,	,	PUNCT
alkej-989	64	27	…	…	PUNCT
alkej-989	64	28	(	(	PUNCT
alkej-989	64	29	9	9	X
alkej-989	64	30	)	)	PUNCT
alkej-989	64	31	�	�	PROPN
alkej-989	64	32	̇	̇	VERB
alkej-989	64	33	�	�	PROPN
alkej-989	64	34	=	=	SYM
alkej-989	64	35	𝑒	𝑒	PROPN
alkej-989	64	36	�	�	PROPN
alkej-989	64	37	̇	̇	NOUN
alkej-989	64	38	�	�	PROPN
alkej-989	64	39	=	=	SYM
alkej-989	64	40	𝑒(	𝑒(	PROPN
alkej-989	64	41	�	�	PROPN
alkej-989	64	42	̇	̇	PROPN
alkej-989	64	43	�	�	PROPN
alkej-989	64	44	𝑑	𝑑	PART
alkej-989	64	45	−	−	PROPN
alkej-989	64	46	�	�	PROPN
alkej-989	64	47	̇	̇	PROPN
alkej-989	64	48	�	�	PROPN
alkej-989	64	49	)	)	PUNCT
alkej-989	64	50	=	=	SYM
alkej-989	64	51	𝑒	𝑒	PROPN
alkej-989	64	52	(	(	PUNCT
alkej-989	64	53	�	�	PROPN
alkej-989	64	54	̇	̇	PROPN
alkej-989	64	55	�	�	PROPN
alkej-989	64	56	𝑑	𝑑	PART
alkej-989	64	57	−	−	NUM
alkej-989	64	58	1	1	NUM
alkej-989	64	59	𝑚	𝑚	PROPN
alkej-989	64	60	(	(	PUNCT
alkej-989	64	61	�	�	NOUN
alkej-989	64	62	̅	̅	NOUN
alkej-989	64	63	�	�	NOUN
alkej-989	64	64	+	+	CCONJ
alkej-989	64	65	𝑘⁡𝑠𝑔𝑛(𝑒	𝑘⁡𝑠𝑔𝑛(𝑒	PROPN
alkej-989	64	66	)	)	PUNCT
alkej-989	65	1	+	+	CCONJ
alkej-989	65	2	𝑑	𝑑	NOUN
alkej-989	65	3	)	)	PUNCT
alkej-989	65	4	)	)	PUNCT
alkej-989	65	5	.	.	PUNCT
alkej-989	66	1	…	…	PUNCT
alkej-989	66	2	(	(	PUNCT
alkej-989	66	3	10	10	NUM
alkej-989	66	4	)	)	PUNCT
alkej-989	66	5	if	if	SCONJ
alkej-989	66	6	the	the	DET
alkej-989	66	7	auxiliary	auxiliary	ADJ
alkej-989	66	8	controller	controller	NOUN
alkej-989	66	9	�	�	PROPN
alkej-989	66	10	̅	̅	NOUN
alkej-989	66	11	�	�	NOUN
alkej-989	66	12	is	be	AUX
alkej-989	66	13	selected	select	VERB
alkej-989	66	14	as	as	SCONJ
alkej-989	66	15	follows	follow	VERB
alkej-989	66	16	:	:	PUNCT
alkej-989	66	17	�	�	NOUN
alkej-989	66	18	̅	̅	NOUN
alkej-989	66	19	�	�	PROPN
alkej-989	66	20	=	=	SYM
alkej-989	66	21	𝑚	𝑚	PROPN
alkej-989	66	22	�	�	PROPN
alkej-989	66	23	̇	̇	PROPN
alkej-989	66	24	�	�	PROPN
alkej-989	66	25	𝑑	𝑑	NOUN
alkej-989	66	26	,	,	PUNCT
alkej-989	66	27	…	…	PUNCT
alkej-989	66	28	.(11	.(11	NUM
alkej-989	66	29	)	)	PUNCT
alkej-989	66	30	then	then	ADV
alkej-989	66	31	,	,	PUNCT
alkej-989	66	32	�	�	PROPN
alkej-989	66	33	̇	̇	PROPN
alkej-989	66	34	�	�	PROPN
alkej-989	66	35	=	=	SYM
alkej-989	66	36	𝑒	𝑒	PROPN
alkej-989	66	37	(	(	PUNCT
alkej-989	66	38	−	−	PROPN
alkej-989	66	39	𝑘	𝑘	ADP
alkej-989	66	40	𝑚	𝑚	NOUN
alkej-989	66	41	⁡𝑠𝑔𝑛(𝑒	⁡𝑠𝑔𝑛(𝑒	X
alkej-989	66	42	)	)	PUNCT
alkej-989	66	43	−	−	PROPN
alkej-989	66	44	𝑑	𝑑	NOUN
alkej-989	66	45	𝑚	𝑚	NOUN
alkej-989	66	46	)	)	PUNCT
alkej-989	66	47	=	=	PUNCT
alkej-989	67	1	−	−	PROPN
alkej-989	67	2	𝑘	𝑘	DET
alkej-989	67	3	𝑚	𝑚	ADP
alkej-989	67	4	|𝑒|	|𝑒|	NUM
alkej-989	67	5	−	−	PROPN
alkej-989	67	6	𝑑	𝑑	PROPN
alkej-989	67	7	𝑚	𝑚	PROPN
alkej-989	67	8	𝑒	𝑒	X
alkej-989	67	9	,	,	PUNCT
alkej-989	67	10	…	…	PUNCT
alkej-989	67	11	(	(	PUNCT
alkej-989	67	12	12	12	NUM
alkej-989	67	13	)	)	PUNCT
alkej-989	67	14	�	�	PROPN
alkej-989	67	15	̇	̇	VERB
alkej-989	67	16	�	�	PROPN
alkej-989	67	17	≤	≤	PROPN
alkej-989	67	18	(	(	PUNCT
alkej-989	67	19	𝐷	𝐷	PROPN
alkej-989	67	20	−	−	PROPN
alkej-989	67	21	𝑘)|𝑒|	𝑘)|𝑒|	PROPN
alkej-989	67	22	.	.	PUNCT
alkej-989	68	1	…	…	PUNCT
alkej-989	68	2	(	(	PUNCT
alkej-989	68	3	13	13	NUM
alkej-989	68	4	)	)	PUNCT
alkej-989	68	5	if	if	SCONJ
alkej-989	68	6	we	we	PRON
alkej-989	68	7	select	select	VERB
alkej-989	68	8	𝑘	𝑘	DET
alkej-989	68	9	≥	≥	NOUN
alkej-989	68	10	𝐷	𝐷	NOUN
alkej-989	68	11	,	,	PUNCT
alkej-989	68	12	then	then	ADV
alkej-989	68	13	�	�	PROPN
alkej-989	68	14	̇	̇	PROPN
alkej-989	68	15	�	�	PROPN
alkej-989	68	16	≤	≤	PROPN
alkej-989	68	17	0	0	NUM
alkej-989	68	18	.	.	PUNCT
alkej-989	69	1	…	…	PUNCT
alkej-989	69	2	(	(	PUNCT
alkej-989	69	3	14	14	NUM
alkej-989	69	4	)	)	PUNCT
alkej-989	69	5	thereafter	thereafter	ADV
alkej-989	69	6	,	,	PUNCT
alkej-989	69	7	the	the	DET
alkej-989	69	8	final	final	ADJ
alkej-989	69	9	control	control	NOUN
alkej-989	69	10	law	law	NOUN
alkej-989	69	11	will	will	AUX
alkej-989	69	12	be	be	AUX
alkej-989	69	13	:	:	PUNCT
alkej-989	69	14	𝑢(𝑡	𝑢(𝑡	X
alkej-989	69	15	)	)	PUNCT
alkej-989	69	16	=	=	SYM
alkej-989	69	17	1	1	NUM
alkej-989	69	18	𝛼𝑇	𝛼𝑇	PROPN
alkej-989	69	19	(	(	PUNCT
alkej-989	69	20	𝑚	𝑚	PROPN
alkej-989	69	21	�	�	PROPN
alkej-989	69	22	̇	̇	NOUN
alkej-989	69	23	�	�	PROPN
alkej-989	69	24	𝑑	𝑑	PROPN
alkej-989	69	25	+	+	ADJ
alkej-989	69	26	1	1	NUM
alkej-989	69	27	2	2	NUM
alkej-989	69	28	𝜌𝐶𝑑𝐴𝑓𝑣	𝜌𝐶𝑑𝐴𝑓𝑣	NOUN
alkej-989	69	29	2(𝑡	2(𝑡	NUM
alkej-989	69	30	)	)	PUNCT
alkej-989	70	1	+	+	CCONJ
alkej-989	71	1	𝐶𝑟𝑟𝑚𝑔	𝐶𝑟𝑟𝑚𝑔	PROPN
alkej-989	71	2	+	+	CCONJ
alkej-989	71	3	𝑘⁡𝑠𝑔𝑛(𝑒	𝑘⁡𝑠𝑔𝑛(𝑒	PROPN
alkej-989	71	4	)	)	PUNCT
alkej-989	71	5	)	)	PUNCT
alkej-989	71	6	.	.	PUNCT
alkej-989	72	1	…	…	PUNCT
alkej-989	72	2	(	(	PUNCT
alkej-989	72	3	15	15	NUM
alkej-989	72	4	)	)	PUNCT
alkej-989	72	5	fig	fig	NOUN
alkej-989	72	6	.	.	PUNCT
alkej-989	73	1	2	2	NUM
alkej-989	73	2	.	.	NUM
alkej-989	73	3	proposed	propose	VERB
alkej-989	73	4	control	control	NOUN
alkej-989	73	5	method	method	PROPN
alkej-989	73	6	4	4	NUM
alkej-989	73	7	.	.	PUNCT
alkej-989	74	1	simulation	simulation	NOUN
alkej-989	74	2	results	result	VERB
alkej-989	74	3	matlab	matlab	PROPN
alkej-989	74	4	2023	2023	NUM
alkej-989	74	5	was	be	AUX
alkej-989	74	6	used	use	VERB
alkej-989	74	7	to	to	PART
alkej-989	74	8	simulate	simulate	VERB
alkej-989	74	9	the	the	DET
alkej-989	74	10	dynamic	dynamic	ADJ
alkej-989	74	11	model	model	NOUN
alkej-989	74	12	of	of	ADP
alkej-989	74	13	the	the	DET
alkej-989	74	14	vehicle	vehicle	NOUN
alkej-989	74	15	system	system	NOUN
alkej-989	74	16	and	and	CCONJ
alkej-989	74	17	demonstrate	demonstrate	VERB
alkej-989	74	18	the	the	DET
alkej-989	74	19	effectiveness	effectiveness	NOUN
alkej-989	74	20	and	and	CCONJ
alkej-989	74	21	robustness	robustness	NOUN
alkej-989	74	22	of	of	ADP
alkej-989	74	23	the	the	DET
alkej-989	74	24	proposed	propose	VERB
alkej-989	74	25	controller	controller	NOUN
alkej-989	74	26	in	in	ADP
alkej-989	74	27	terms	term	NOUN
alkej-989	74	28	of	of	ADP
alkej-989	74	29	speed	speed	NOUN
alkej-989	74	30	control	control	NOUN
alkej-989	74	31	.	.	PUNCT
alkej-989	75	1	in	in	ADP
alkej-989	75	2	addition	addition	NOUN
alkej-989	75	3	,	,	PUNCT
alkej-989	75	4	the	the	DET
alkej-989	75	5	pid	pid	NOUN
alkej-989	75	6	controller	controller	NOUN
alkej-989	75	7	,	,	PUNCT
alkej-989	75	8	tuned	tune	VERB
alkej-989	75	9	using	use	VERB
alkej-989	75	10	a	a	DET
alkej-989	75	11	ga	ga	NOUN
alkej-989	75	12	,	,	PUNCT
alkej-989	75	13	is	be	AUX
alkej-989	75	14	simulated	simulate	VERB
alkej-989	75	15	to	to	PART
alkej-989	75	16	enable	enable	VERB
alkej-989	75	17	a	a	DET
alkej-989	75	18	comparison	comparison	NOUN
alkej-989	75	19	with	with	ADP
alkej-989	75	20	the	the	DET
alkej-989	75	21	proposed	propose	VERB
alkej-989	75	22	controller	controller	NOUN
alkej-989	75	23	in	in	ADP
alkej-989	75	24	terms	term	NOUN
alkej-989	75	25	of	of	ADP
alkej-989	75	26	transient	transient	ADJ
alkej-989	75	27	specification	specification	NOUN
alkej-989	75	28	and	and	CCONJ
alkej-989	75	29	steady	steady	ADJ
alkej-989	75	30	-	-	PUNCT
alkej-989	75	31	state	state	NOUN
alkej-989	75	32	error	error	NOUN
alkej-989	75	33	(	(	PUNCT
alkej-989	75	34	fig	fig	NOUN
alkej-989	75	35	.	.	PUNCT
alkej-989	76	1	3	3	NUM
alkej-989	76	2	)	)	PUNCT
alkej-989	76	3	.	.	PUNCT
alkej-989	77	1	the	the	DET
alkej-989	77	2	ga	ga	PROPN
alkej-989	77	3	parameters	parameter	NOUN
alkej-989	77	4	used	use	VERB
alkej-989	77	5	for	for	ADP
alkej-989	77	6	tuning	tuning	NOUN
alkej-989	77	7	are	be	AUX
alkej-989	77	8	the	the	DET
alkej-989	77	9	values	value	NOUN
alkej-989	77	10	of	of	ADP
alkej-989	77	11	gains	gain	NOUN
alkej-989	77	12	of	of	ADP
alkej-989	77	13	the	the	DET
alkej-989	77	14	pid	pid	NOUN
alkej-989	77	15	controller	controller	NOUN
alkej-989	77	16	obtained	obtain	VERB
alkej-989	77	17	through	through	ADP
alkej-989	77	18	ga	ga	PROPN
alkej-989	77	19	:	:	PUNCT
alkej-989	77	20	roulette	roulette	NOUN
alkej-989	77	21	wheel	wheel	NOUN
alkej-989	77	22	selection	selection	NOUN
alkej-989	77	23	crossover	crossover	ADP
alkej-989	77	24	probability=0.7	probability=0.7	ADJ
alkej-989	77	25	and	and	CCONJ
alkej-989	77	26	mutation	mutation	NOUN
alkej-989	77	27	rate=0.06	rate=0.06	NOUN
alkej-989	77	28	.	.	PUNCT
alkej-989	78	1	fig	fig	NOUN
alkej-989	78	2	.	.	PUNCT
alkej-989	79	1	3	3	X
alkej-989	79	2	.	.	X
alkej-989	79	3	pid	pid	NOUN
alkej-989	79	4	tuning	tune	VERB
alkej-989	79	5	𝐾𝑝	𝐾𝑝	PROPN
alkej-989	79	6	=	=	NOUN
alkej-989	79	7	1.1	1.1	NUM
alkej-989	79	8	,	,	PUNCT
alkej-989	80	1	𝐾𝑖	𝐾𝑖	PROPN
alkej-989	80	2	=	=	SYM
alkej-989	80	3	0.002,𝐾𝑑	0.002,𝐾𝑑	NUM
alkej-989	81	1	=	=	SYM
alkej-989	81	2	−0.51⁡	−0.51⁡	NOUN
alkej-989	81	3	the	the	DET
alkej-989	81	4	gains	gain	NOUN
alkej-989	81	5	of	of	ADP
alkej-989	81	6	the	the	DET
alkej-989	81	7	proposed	propose	VERB
alkej-989	81	8	controller	controller	NOUN
alkej-989	81	9	are	be	AUX
alkej-989	81	10	selected	select	VERB
alkej-989	81	11	as	as	SCONJ
alkej-989	81	12	follows	follow	VERB
alkej-989	81	13	:	:	PUNCT
alkej-989	81	14	k=10	k=10	PROPN
alkej-989	81	15	.	.	PUNCT
alkej-989	82	1	the	the	DET
alkej-989	82	2	vehicle	vehicle	NOUN
alkej-989	82	3	dynamic	dynamic	ADJ
alkej-989	82	4	parameters	parameter	NOUN
alkej-989	82	5	are	be	AUX
alkej-989	82	6	listed	list	VERB
alkej-989	82	7	in	in	ADP
alkej-989	82	8	table	table	NOUN
alkej-989	82	9	1	1	NUM
alkej-989	82	10	:	:	PUNCT
alkej-989	82	11	anssam	anssam	PROPN
alkej-989	82	12	yahya	yahya	PROPN
alkej-989	82	13	kames	kames	PROPN
alkej-989	82	14	al	al	PROPN
alkej-989	82	15	-	-	PUNCT
alkej-989	82	16	khwarizmi	khwarizmi	PROPN
alkej-989	82	17	engineering	engineering	NOUN
alkej-989	82	18	journal	journal	PROPN
alkej-989	82	19	,	,	PUNCT
alkej-989	82	20	vol	vol	NOUN
alkej-989	82	21	.	.	PROPN
alkej-989	82	22	21	21	NUM
alkej-989	82	23	,	,	PUNCT
alkej-989	82	24	no.3	no.3	VERB
alkej-989	82	25	,	,	PUNCT
alkej-989	82	26	pp	pp	X
alkej-989	82	27	.	.	PUNCT
alkej-989	83	1	4854	4854	NUM
alkej-989	83	2	(	(	PUNCT
alkej-989	83	3	2025	2025	NUM
alkej-989	83	4	)	)	PUNCT
alkej-989	83	5	51	51	NUM
alkej-989	83	6	table	table	NOUN
alkej-989	83	7	1	1	NUM
alkej-989	83	8	,	,	PUNCT
alkej-989	83	9	parameter	parameter	NOUN
alkej-989	83	10	values	value	NOUN
alkej-989	83	11	[	[	X
alkej-989	83	12	19	19	NUM
alkej-989	83	13	]	]	PUNCT
alkej-989	83	14	parameter	parameter	NOUN
alkej-989	84	1	𝑽𝒂𝒍𝒖𝒆	𝑽𝒂𝒍𝒖𝒆	PROPN
alkej-989	84	2	𝑚	𝑚	PROPN
alkej-989	84	3	1600	1600	NUM
alkej-989	84	4	kg	kg	NOUN
alkej-989	85	1	𝐶𝑟𝑟	𝐶𝑟𝑟	PROPN
alkej-989	85	2	0.01	0.01	NUM
alkej-989	85	3	𝑔	𝑔	PROPN
alkej-989	85	4	9.8m/𝑠2	9.8m/𝑠2	NUM
alkej-989	86	1	𝐶𝑑	𝐶𝑑	PROPN
alkej-989	86	2	0.32	0.32	NUM
alkej-989	86	3	𝜌	𝜌	ADP
alkej-989	86	4	1.3kg	1.3kg	NUM
alkej-989	86	5	/	/	SYM
alkej-989	86	6	m3	m3	PROPN
alkej-989	86	7	𝐴𝑓	𝐴𝑓	PROPN
alkej-989	86	8	2.4m2	2.4m2	NUM
alkej-989	86	9	𝑣	𝑣	DET
alkej-989	86	10	30	30	NUM
alkej-989	86	11	m/s	m/s	NOUN
alkej-989	86	12	𝑘	𝑘	PRON
alkej-989	86	13	10	10	NUM
alkej-989	86	14	4.1	4.1	NUM
alkej-989	86	15	.	.	PUNCT
alkej-989	87	1	reference	reference	NOUN
alkej-989	87	2	tracking	tracking	NOUN
alkej-989	87	3	in	in	ADP
alkej-989	87	4	this	this	DET
alkej-989	87	5	test	test	NOUN
alkej-989	87	6	,	,	PUNCT
alkej-989	87	7	a	a	DET
alkej-989	87	8	step	step	NOUN
alkej-989	87	9	input	input	NOUN
alkej-989	87	10	was	be	AUX
alkej-989	87	11	used	use	VERB
alkej-989	87	12	as	as	ADP
alkej-989	87	13	a	a	DET
alkej-989	87	14	reference	reference	NOUN
alkej-989	87	15	speed	speed	NOUN
alkej-989	87	16	to	to	PART
alkej-989	87	17	compare	compare	VERB
alkej-989	87	18	the	the	DET
alkej-989	87	19	performance	performance	NOUN
alkej-989	87	20	of	of	ADP
alkej-989	87	21	the	the	DET
alkej-989	87	22	proposed	propose	VERB
alkej-989	87	23	controller	controller	NOUN
alkej-989	87	24	with	with	ADP
alkej-989	87	25	that	that	PRON
alkej-989	87	26	of	of	ADP
alkej-989	87	27	the	the	DET
alkej-989	87	28	pid	pid	NOUN
alkej-989	87	29	controller	controller	NOUN
alkej-989	87	30	.	.	PUNCT
alkej-989	88	1	the	the	DET
alkej-989	88	2	simulation	simulation	NOUN
alkej-989	88	3	results	result	NOUN
alkej-989	88	4	are	be	AUX
alkej-989	88	5	shown	show	VERB
alkej-989	88	6	in	in	ADP
alkej-989	88	7	figs	fig	NOUN
alkej-989	88	8	.	.	PUNCT
alkej-989	89	1	4	4	NUM
alkej-989	89	2	and	and	CCONJ
alkej-989	89	3	5	5	NUM
alkej-989	89	4	.	.	PUNCT
alkej-989	90	1	this	this	DET
alkej-989	90	2	figure	figure	NOUN
alkej-989	90	3	highlights	highlight	VERB
alkej-989	90	4	the	the	DET
alkej-989	90	5	superior	superior	ADJ
alkej-989	90	6	performance	performance	NOUN
alkej-989	90	7	of	of	ADP
alkej-989	90	8	the	the	DET
alkej-989	90	9	proposed	propose	VERB
alkej-989	90	10	controller	controller	NOUN
alkej-989	90	11	over	over	ADP
alkej-989	90	12	the	the	DET
alkej-989	90	13	pid	pid	NOUN
alkej-989	90	14	controller	controller	NOUN
alkej-989	90	15	.	.	PUNCT
alkej-989	91	1	table	table	NOUN
alkej-989	91	2	2	2	NUM
alkej-989	91	3	lists	list	VERB
alkej-989	91	4	the	the	DET
alkej-989	91	5	transient	transient	ADJ
alkej-989	91	6	specifications	specification	NOUN
alkej-989	91	7	,	,	PUNCT
alkej-989	91	8	including	include	VERB
alkej-989	91	9	rise	rise	NOUN
alkej-989	91	10	time	time	NOUN
alkej-989	91	11	,	,	PUNCT
alkej-989	91	12	settling	settle	VERB
alkej-989	91	13	time	time	NOUN
alkej-989	91	14	and	and	CCONJ
alkej-989	91	15	overshoot	overshoot	NOUN
alkej-989	91	16	.	.	PUNCT
alkej-989	92	1	the	the	DET
alkej-989	92	2	proposed	propose	VERB
alkej-989	92	3	controller	controller	NOUN
alkej-989	92	4	achieved	achieve	VERB
alkej-989	92	5	the	the	DET
alkej-989	92	6	shortest	short	ADJ
alkej-989	92	7	rise	rise	NOUN
alkej-989	92	8	and	and	CCONJ
alkej-989	92	9	settling	settling	NOUN
alkej-989	92	10	times	time	NOUN
alkej-989	92	11	with	with	ADP
alkej-989	92	12	zero	zero	NUM
alkej-989	92	13	overshoot	overshoot	NOUN
alkej-989	92	14	.	.	PUNCT
alkej-989	93	1	moreover	moreover	ADV
alkej-989	93	2	,	,	PUNCT
alkej-989	93	3	the	the	DET
alkej-989	93	4	integral	integral	ADJ
alkej-989	93	5	absolute	absolute	ADJ
alkej-989	93	6	error	error	NOUN
alkej-989	93	7	(	(	PUNCT
alkej-989	93	8	iae	iae	NOUN
alkej-989	93	9	)	)	PUNCT
alkej-989	93	10	is	be	AUX
alkej-989	93	11	used	use	VERB
alkej-989	93	12	as	as	ADP
alkej-989	93	13	a	a	DET
alkej-989	93	14	performance	performance	NOUN
alkej-989	93	15	metric	metric	ADJ
alkej-989	93	16	and	and	CCONJ
alkej-989	93	17	is	be	AUX
alkej-989	93	18	be	be	AUX
alkej-989	93	19	expressed	express	VERB
alkej-989	93	20	as	as	SCONJ
alkej-989	93	21	follows	follow	VERB
alkej-989	93	22	:	:	PUNCT
alkej-989	94	1	𝐼𝐴𝐸	𝐼𝐴𝐸	PROPN
alkej-989	94	2	=	=	SYM
alkej-989	94	3	∫	∫	PROPN
alkej-989	94	4	|𝑒(𝑡)|	|𝑒(𝑡)|	PROPN
alkej-989	94	5	𝑡	𝑡	PROPN
alkej-989	94	6	0	0	NUM
alkej-989	94	7	𝑑𝑡.	𝑑𝑡.	NOUN
alkej-989	94	8	…	…	PUNCT
alkej-989	94	9	(	(	PUNCT
alkej-989	94	10	16	16	NUM
alkej-989	94	11	)	)	PUNCT
alkej-989	94	12	the	the	DET
alkej-989	94	13	iae	iae	NOUN
alkej-989	94	14	values	value	NOUN
alkej-989	94	15	for	for	ADP
alkej-989	94	16	the	the	DET
alkej-989	94	17	two	two	NUM
alkej-989	94	18	controllers	controller	NOUN
alkej-989	94	19	are	be	AUX
alkej-989	94	20	shown	show	VERB
alkej-989	94	21	in	in	ADP
alkej-989	94	22	fig	fig	NOUN
alkej-989	94	23	.	.	PUNCT
alkej-989	95	1	5	5	X
alkej-989	95	2	.	.	X
alkej-989	95	3	in	in	ADP
alkej-989	95	4	particular	particular	ADJ
alkej-989	95	5	,	,	PUNCT
alkej-989	95	6	the	the	DET
alkej-989	95	7	iae	iae	NOUN
alkej-989	95	8	values	value	NOUN
alkej-989	95	9	demonstrate	demonstrate	VERB
alkej-989	95	10	the	the	DET
alkej-989	95	11	superior	superior	ADJ
alkej-989	95	12	performance	performance	NOUN
alkej-989	95	13	of	of	ADP
alkej-989	95	14	the	the	DET
alkej-989	95	15	proposed	propose	VERB
alkej-989	95	16	controller	controller	NOUN
alkej-989	95	17	compared	compare	VERB
alkej-989	95	18	with	with	ADP
alkej-989	95	19	the	the	DET
alkej-989	95	20	pid	pid	NOUN
alkej-989	95	21	controller	controller	NOUN
alkej-989	95	22	.	.	PUNCT
alkej-989	96	1	fig	fig	NOUN
alkej-989	96	2	.	.	PUNCT
alkej-989	97	1	4	4	X
alkej-989	97	2	.	.	NOUN
alkej-989	97	3	step	step	NOUN
alkej-989	97	4	response	response	NOUN
alkej-989	97	5	a	a	DET
alkej-989	97	6	ramp	ramp	NOUN
alkej-989	97	7	function	function	NOUN
alkej-989	97	8	is	be	AUX
alkej-989	97	9	used	use	VERB
alkej-989	97	10	in	in	ADP
alkej-989	97	11	this	this	DET
alkej-989	97	12	comparison	comparison	NOUN
alkej-989	97	13	to	to	PART
alkej-989	97	14	evaluate	evaluate	VERB
alkej-989	97	15	the	the	DET
alkej-989	97	16	performance	performance	NOUN
alkej-989	97	17	of	of	ADP
alkej-989	97	18	the	the	DET
alkej-989	97	19	controllers	controller	NOUN
alkej-989	97	20	against	against	ADP
alkej-989	97	21	another	another	DET
alkej-989	97	22	reference	reference	NOUN
alkej-989	97	23	.	.	PUNCT
alkej-989	98	1	the	the	DET
alkej-989	98	2	simulation	simulation	NOUN
alkej-989	98	3	results	result	NOUN
alkej-989	98	4	are	be	AUX
alkej-989	98	5	shown	show	VERB
alkej-989	98	6	in	in	ADP
alkej-989	98	7	fig	fig	NOUN
alkej-989	98	8	.	.	PUNCT
alkej-989	99	1	6	6	NUM
alkej-989	99	2	,	,	PUNCT
alkej-989	99	3	demonstrating	demonstrate	VERB
alkej-989	99	4	the	the	DET
alkej-989	99	5	excellent	excellent	ADJ
alkej-989	99	6	performance	performance	NOUN
alkej-989	99	7	of	of	ADP
alkej-989	99	8	the	the	DET
alkej-989	99	9	proposed	propose	VERB
alkej-989	99	10	controller	controller	NOUN
alkej-989	99	11	.	.	PUNCT
alkej-989	100	1	fig	fig	NOUN
alkej-989	100	2	.	.	PUNCT
alkej-989	101	1	5	5	X
alkej-989	101	2	.	.	X
alkej-989	101	3	iae	iae	NOUN
alkej-989	101	4	for	for	ADP
alkej-989	101	5	step	step	NOUN
alkej-989	101	6	tracking	tracking	NOUN
alkej-989	101	7	table	table	NOUN
alkej-989	101	8	2	2	NUM
alkej-989	101	9	,	,	PUNCT
alkej-989	101	10	transient	transient	ADJ
alkej-989	101	11	specifications	specification	NOUN
alkej-989	101	12	method	method	NOUN
alkej-989	101	13	m_p	m_p	PUNCT
alkej-989	102	1	t_r	t_r	PROPN
alkej-989	102	2	(	(	PUNCT
alkej-989	102	3	sec	sec	PROPN
alkej-989	102	4	)	)	PUNCT
alkej-989	102	5	t_s	t_s	PART
alkej-989	102	6	(	(	PUNCT
alkej-989	102	7	sec	sec	PROPN
alkej-989	102	8	)	)	PUNCT
alkej-989	102	9	proposed	propose	VERB
alkej-989	102	10	0	0	NUM
alkej-989	103	1	0.2104	0.2104	NUM
alkej-989	103	2	0.3751	0.3751	NUM
alkej-989	103	3	pid_ga	pid_ga	PROPN
alkej-989	104	1	4.8949	4.8949	NUM
alkej-989	104	2	1.3823	1.3823	NUM
alkej-989	104	3	3.9354	3.9354	NUM
alkej-989	104	4	fig	fig	NOUN
alkej-989	104	5	.	.	PUNCT
alkej-989	105	1	6	6	NUM
alkej-989	105	2	.	.	X
alkej-989	105	3	ramp	ramp	NOUN
alkej-989	105	4	response	response	NOUN
alkej-989	105	5	4.2	4.2	NUM
alkej-989	105	6	.	.	PUNCT
alkej-989	106	1	robustness	robustness	VERB
alkej-989	106	2	this	this	DET
alkej-989	106	3	study	study	NOUN
alkej-989	106	4	examines	examine	VERB
alkej-989	106	5	the	the	DET
alkej-989	106	6	robustness	robustness	NOUN
alkej-989	106	7	of	of	ADP
alkej-989	106	8	the	the	DET
alkej-989	106	9	proposed	propose	VERB
alkej-989	106	10	controller	controller	NOUN
alkej-989	106	11	by	by	ADP
alkej-989	106	12	applying	apply	VERB
alkej-989	106	13	a	a	DET
alkej-989	106	14	disturbance	disturbance	NOUN
alkej-989	106	15	signal	signal	NOUN
alkej-989	106	16	lasting	last	VERB
alkej-989	106	17	1	1	NUM
alkej-989	106	18	s	s	NOUN
alkej-989	106	19	,	,	PUNCT
alkej-989	106	20	beginning	begin	VERB
alkej-989	106	21	at	at	ADP
alkej-989	106	22	8	8	NUM
alkej-989	106	23	s.	s.	PROPN
alkej-989	106	24	fig	fig	PROPN
alkej-989	106	25	.	.	PUNCT
alkej-989	107	1	7	7	NUM
alkej-989	107	2	shows	show	VERB
alkej-989	107	3	the	the	DET
alkej-989	107	4	response	response	NOUN
alkej-989	107	5	of	of	ADP
alkej-989	107	6	the	the	DET
alkej-989	107	7	proposed	propose	VERB
alkej-989	107	8	and	and	CCONJ
alkej-989	107	9	pid	pid	NOUN
alkej-989	107	10	controllers	controller	NOUN
alkej-989	107	11	within	within	ADP
alkej-989	107	12	a	a	DET
alkej-989	107	13	closed	closed	ADJ
alkej-989	107	14	loop	loop	NOUN
alkej-989	107	15	system	system	NOUN
alkej-989	107	16	.	.	PUNCT
alkej-989	108	1	this	this	DET
alkej-989	108	2	figure	figure	NOUN
alkej-989	108	3	demonstrates	demonstrate	VERB
alkej-989	108	4	the	the	DET
alkej-989	108	5	superior	superior	ADJ
alkej-989	108	6	robustness	robustness	NOUN
alkej-989	108	7	of	of	ADP
alkej-989	108	8	the	the	DET
alkej-989	108	9	proposed	propose	VERB
alkej-989	108	10	controller	controller	NOUN
alkej-989	108	11	in	in	ADP
alkej-989	108	12	the	the	DET
alkej-989	108	13	presence	presence	NOUN
alkej-989	108	14	of	of	ADP
alkej-989	108	15	external	external	ADJ
alkej-989	108	16	disturbances	disturbance	NOUN
alkej-989	108	17	.	.	PUNCT
alkej-989	109	1	moreover	moreover	ADV
alkej-989	109	2	,	,	PUNCT
alkej-989	109	3	the	the	DET
alkej-989	109	4	proposed	propose	VERB
alkej-989	109	5	controller	controller	NOUN
alkej-989	109	6	is	be	AUX
alkej-989	109	7	the	the	DET
alkej-989	109	8	least	least	ADV
alkej-989	109	9	affected	affect	VERB
alkej-989	109	10	by	by	ADP
alkej-989	109	11	the	the	DET
alkej-989	109	12	disturbance	disturbance	NOUN
alkej-989	109	13	and	and	CCONJ
alkej-989	109	14	requires	require	VERB
alkej-989	109	15	only	only	ADV
alkej-989	109	16	a	a	DET
alkej-989	109	17	short	short	ADJ
alkej-989	109	18	duration	duration	NOUN
alkej-989	109	19	to	to	PART
alkej-989	109	20	return	return	VERB
alkej-989	109	21	to	to	ADP
alkej-989	109	22	steady	steady	ADJ
alkej-989	109	23	state	state	NOUN
alkej-989	109	24	0	0	NUM
alkej-989	109	25	2	2	NUM
alkej-989	109	26	4	4	NUM
alkej-989	109	27	6	6	NUM
alkej-989	109	28	8	8	NUM
alkej-989	109	29	-10	-10	SYM
alkej-989	109	30	0	0	NUM
alkej-989	109	31	10	10	NUM
alkej-989	109	32	20	20	NUM
alkej-989	109	33	30	30	NUM
alkej-989	109	34	40	40	NUM
alkej-989	109	35	time(s	time(s	NOUN
alkej-989	109	36	)	)	PUNCT
alkej-989	109	37	s	s	PART
alkej-989	110	1	p	p	X
alkej-989	110	2	e	e	X
alkej-989	110	3	e	e	X
alkej-989	110	4	d	d	X
alkej-989	110	5	(	(	PUNCT
alkej-989	110	6	m	m	PROPN
alkej-989	110	7	/s	/s	NOUN
alkej-989	110	8	)	)	PUNCT
alkej-989	110	9	ideal	ideal	ADJ
alkej-989	110	10	position	position	NOUN
alkej-989	110	11	propsed	propse	VERB
alkej-989	110	12	pid	pid	NOUN
alkej-989	110	13	0	0	NUM
alkej-989	110	14	2	2	NUM
alkej-989	110	15	4	4	NUM
alkej-989	110	16	6	6	NUM
alkej-989	110	17	8	8	NUM
alkej-989	110	18	0	0	NUM
alkej-989	110	19	50	50	NUM
alkej-989	110	20	100	100	NUM
alkej-989	110	21	150	150	NUM
alkej-989	110	22	200	200	NUM
alkej-989	110	23	time(s	time(s	NUM
alkej-989	110	24	)	)	PUNCT
alkej-989	110	25	s	s	PART
alkej-989	110	26	p	p	X
alkej-989	110	27	e	e	X
alkej-989	110	28	e	e	X
alkej-989	110	29	d	d	X
alkej-989	110	30	(	(	PUNCT
alkej-989	110	31	m	m	PROPN
alkej-989	110	32	/s	/s	NOUN
alkej-989	110	33	)	)	PUNCT
alkej-989	110	34	ideal	ideal	ADJ
alkej-989	110	35	position	position	NOUN
alkej-989	110	36	proposed	propose	VERB
alkej-989	111	1	pid	pid	NOUN
alkej-989	111	2	anssam	anssam	NOUN
alkej-989	111	3	yahya	yahya	PROPN
alkej-989	111	4	kames	kames	PROPN
alkej-989	111	5	al	al	PROPN
alkej-989	111	6	-	-	PUNCT
alkej-989	111	7	khwarizmi	khwarizmi	PROPN
alkej-989	111	8	engineering	engineering	NOUN
alkej-989	111	9	journal	journal	PROPN
alkej-989	111	10	,	,	PUNCT
alkej-989	111	11	vol	vol	NOUN
alkej-989	111	12	.	.	PROPN
alkej-989	111	13	21	21	NUM
alkej-989	111	14	,	,	PUNCT
alkej-989	111	15	no.3	no.3	VERB
alkej-989	111	16	,	,	PUNCT
alkej-989	111	17	pp	pp	X
alkej-989	111	18	.	.	PUNCT
alkej-989	112	1	4854	4854	NUM
alkej-989	112	2	(	(	PUNCT
alkej-989	112	3	2025	2025	NUM
alkej-989	112	4	)	)	PUNCT
alkej-989	112	5	52	52	NUM
alkej-989	112	6	compared	compare	VERB
alkej-989	112	7	with	with	ADP
alkej-989	112	8	the	the	DET
alkej-989	112	9	pid	pid	NOUN
alkej-989	112	10	controller	controller	NOUN
alkej-989	112	11	.	.	PUNCT
alkej-989	113	1	fig	fig	NOUN
alkej-989	113	2	.	.	PUNCT
alkej-989	114	1	8	8	NUM
alkej-989	114	2	shows	show	VERB
alkej-989	114	3	the	the	DET
alkej-989	114	4	iae	iae	NOUN
alkej-989	114	5	for	for	ADP
alkej-989	114	6	the	the	DET
alkej-989	114	7	two	two	NUM
alkej-989	114	8	controllers	controller	NOUN
alkej-989	114	9	.	.	PUNCT
alkej-989	115	1	the	the	DET
alkej-989	115	2	proposed	propose	VERB
alkej-989	115	3	controller	controller	NOUN
alkej-989	115	4	achieves	achieve	VERB
alkej-989	115	5	the	the	DET
alkej-989	115	6	lowest	low	ADJ
alkej-989	115	7	iae	iae	NOUN
alkej-989	115	8	value	value	NOUN
alkej-989	115	9	,	,	PUNCT
alkej-989	115	10	indicating	indicate	VERB
alkej-989	115	11	its	its	PRON
alkej-989	115	12	superior	superior	ADJ
alkej-989	115	13	performance	performance	NOUN
alkej-989	115	14	.	.	PUNCT
alkej-989	116	1	fig	fig	NOUN
alkej-989	116	2	.	.	PUNCT
alkej-989	117	1	7	7	X
alkej-989	117	2	.	.	X
alkej-989	117	3	robustness	robustness	NOUN
alkej-989	117	4	against	against	ADP
alkej-989	117	5	disturbance	disturbance	NOUN
alkej-989	117	6	fig	fig	NOUN
alkej-989	117	7	.	.	PUNCT
alkej-989	118	1	8	8	X
alkej-989	118	2	.	.	X
alkej-989	118	3	iae	iae	NOUN
alkej-989	118	4	for	for	ADP
alkej-989	118	5	external	external	ADJ
alkej-989	118	6	disturbance	disturbance	NOUN
alkej-989	118	7	5	5	NUM
alkej-989	118	8	.	.	PUNCT
alkej-989	119	1	conclusions	conclusion	NOUN
alkej-989	119	2	this	this	DET
alkej-989	119	3	study	study	NOUN
alkej-989	119	4	proposed	propose	VERB
alkej-989	119	5	a	a	DET
alkej-989	119	6	robust	robust	ADJ
alkej-989	119	7	control	control	NOUN
alkej-989	119	8	method	method	NOUN
alkej-989	119	9	based	base	VERB
alkej-989	119	10	on	on	ADP
alkej-989	119	11	smc	smc	PROPN
alkej-989	119	12	for	for	ADP
alkej-989	119	13	the	the	DET
alkej-989	119	14	speed	speed	NOUN
alkej-989	119	15	control	control	NOUN
alkej-989	119	16	of	of	ADP
alkej-989	119	17	vehicle	vehicle	NOUN
alkej-989	119	18	dynamic	dynamic	ADJ
alkej-989	119	19	systems	system	NOUN
alkej-989	119	20	.	.	PUNCT
alkej-989	120	1	first	first	ADV
alkej-989	120	2	,	,	PUNCT
alkej-989	120	3	a	a	DET
alkej-989	120	4	feedback	feedback	NOUN
alkej-989	120	5	linearization	linearization	NOUN
alkej-989	120	6	technique	technique	NOUN
alkej-989	120	7	is	be	AUX
alkej-989	120	8	used	use	VERB
alkej-989	120	9	to	to	PART
alkej-989	120	10	transform	transform	VERB
alkej-989	120	11	the	the	DET
alkej-989	120	12	nonlinear	nonlinear	ADJ
alkej-989	120	13	dynamics	dynamic	NOUN
alkej-989	120	14	of	of	ADP
alkej-989	120	15	the	the	DET
alkej-989	120	16	vehicle	vehicle	NOUN
alkej-989	120	17	system	system	NOUN
alkej-989	120	18	into	into	ADP
alkej-989	120	19	a	a	DET
alkej-989	120	20	linear	linear	ADJ
alkej-989	120	21	system	system	NOUN
alkej-989	120	22	.	.	PUNCT
alkej-989	121	1	thereafter	thereafter	ADV
alkej-989	121	2	,	,	PUNCT
alkej-989	121	3	lyapunov	lyapunov	ADJ
alkej-989	121	4	stability	stability	NOUN
alkej-989	121	5	is	be	AUX
alkej-989	121	6	used	use	VERB
alkej-989	121	7	to	to	PART
alkej-989	121	8	verify	verify	VERB
alkej-989	121	9	the	the	DET
alkej-989	121	10	stability	stability	NOUN
alkej-989	121	11	of	of	ADP
alkej-989	121	12	the	the	DET
alkej-989	121	13	proposed	propose	VERB
alkej-989	121	14	controller	controller	NOUN
alkej-989	121	15	.	.	PUNCT
alkej-989	122	1	thereafter	thereafter	ADV
alkej-989	122	2	,	,	PUNCT
alkej-989	122	3	the	the	DET
alkej-989	122	4	performance	performance	NOUN
alkej-989	122	5	of	of	ADP
alkej-989	122	6	the	the	DET
alkej-989	122	7	proposed	propose	VERB
alkej-989	122	8	controller	controller	NOUN
alkej-989	122	9	is	be	AUX
alkej-989	122	10	compared	compare	VERB
alkej-989	122	11	with	with	ADP
alkej-989	122	12	that	that	PRON
alkej-989	122	13	of	of	ADP
alkej-989	122	14	the	the	DET
alkej-989	122	15	pid	pid	NOUN
alkej-989	122	16	controller	controller	NOUN
alkej-989	122	17	,	,	PUNCT
alkej-989	122	18	whose	whose	DET
alkej-989	122	19	gains	gain	NOUN
alkej-989	122	20	are	be	AUX
alkej-989	122	21	tuned	tune	VERB
alkej-989	122	22	with	with	ADP
alkej-989	122	23	ga	ga	PROPN
alkej-989	122	24	.	.	PROPN
alkej-989	122	25	two	two	NUM
alkej-989	122	26	cases	case	NOUN
alkej-989	122	27	are	be	AUX
alkej-989	122	28	discussed	discuss	VERB
alkej-989	122	29	to	to	PART
alkej-989	122	30	demonstrate	demonstrate	VERB
alkej-989	122	31	the	the	DET
alkej-989	122	32	effectiveness	effectiveness	NOUN
alkej-989	122	33	of	of	ADP
alkej-989	122	34	the	the	DET
alkej-989	122	35	proposed	propose	VERB
alkej-989	122	36	controller	controller	NOUN
alkej-989	122	37	.	.	PUNCT
alkej-989	123	1	the	the	DET
alkej-989	123	2	first	first	ADJ
alkej-989	123	3	case	case	NOUN
alkej-989	123	4	involves	involve	VERB
alkej-989	123	5	tracking	track	VERB
alkej-989	123	6	step	step	NOUN
alkej-989	123	7	and	and	CCONJ
alkej-989	123	8	ramp	ramp	NOUN
alkej-989	123	9	reference	reference	NOUN
alkej-989	123	10	inputs	input	NOUN
alkej-989	123	11	using	use	VERB
alkej-989	123	12	the	the	DET
alkej-989	123	13	nominal	nominal	ADJ
alkej-989	123	14	model	model	NOUN
alkej-989	123	15	.	.	PUNCT
alkej-989	124	1	meanwhile	meanwhile	ADV
alkej-989	124	2	,	,	PUNCT
alkej-989	124	3	the	the	DET
alkej-989	124	4	second	second	ADJ
alkej-989	124	5	case	case	NOUN
alkej-989	124	6	evaluates	evaluate	VERB
alkej-989	124	7	the	the	DET
alkej-989	124	8	robustness	robustness	NOUN
alkej-989	124	9	of	of	ADP
alkej-989	124	10	the	the	DET
alkej-989	124	11	proposed	propose	VERB
alkej-989	124	12	controller	controller	NOUN
alkej-989	124	13	by	by	ADP
alkej-989	124	14	introducing	introduce	VERB
alkej-989	124	15	an	an	DET
alkej-989	124	16	external	external	ADJ
alkej-989	124	17	disturbance	disturbance	NOUN
alkej-989	124	18	.	.	PUNCT
alkej-989	125	1	the	the	DET
alkej-989	125	2	simulation	simulation	NOUN
alkej-989	125	3	results	result	NOUN
alkej-989	125	4	indicate	indicate	VERB
alkej-989	125	5	that	that	SCONJ
alkej-989	125	6	the	the	DET
alkej-989	125	7	proposed	propose	VERB
alkej-989	125	8	controller	controller	NOUN
alkej-989	125	9	efficiently	efficiently	ADV
alkej-989	125	10	performs	perform	VERB
alkej-989	125	11	in	in	ADP
alkej-989	125	12	tracking	track	VERB
alkej-989	125	13	step	step	NOUN
alkej-989	125	14	and	and	CCONJ
alkej-989	125	15	ramp	ramp	NOUN
alkej-989	125	16	reference	reference	NOUN
alkej-989	125	17	inputs	input	NOUN
alkej-989	125	18	.	.	PUNCT
alkej-989	126	1	moreover	moreover	ADV
alkej-989	126	2	,	,	PUNCT
alkej-989	126	3	the	the	DET
alkej-989	126	4	robustness	robustness	NOUN
alkej-989	126	5	of	of	ADP
alkej-989	126	6	the	the	DET
alkej-989	126	7	proposed	propose	VERB
alkej-989	126	8	controller	controller	NOUN
alkej-989	126	9	is	be	AUX
alkej-989	126	10	evident	evident	ADJ
alkej-989	126	11	in	in	ADP
alkej-989	126	12	the	the	DET
alkej-989	126	13	second	second	ADJ
alkej-989	126	14	case	case	NOUN
alkej-989	126	15	,	,	PUNCT
alkej-989	126	16	where	where	SCONJ
alkej-989	126	17	it	it	PRON
alkej-989	126	18	rejects	reject	VERB
alkej-989	126	19	external	external	ADJ
alkej-989	126	20	disturbance	disturbance	NOUN
alkej-989	126	21	faster	fast	ADV
alkej-989	126	22	than	than	ADP
alkej-989	126	23	the	the	DET
alkej-989	126	24	pid	pid	NOUN
alkej-989	126	25	controller	controller	NOUN
alkej-989	126	26	.	.	PUNCT
alkej-989	127	1	in	in	ADP
alkej-989	127	2	future	future	ADJ
alkej-989	127	3	work	work	NOUN
alkej-989	127	4	,	,	PUNCT
alkej-989	127	5	the	the	DET
alkej-989	127	6	proposed	propose	VERB
alkej-989	127	7	controller	controller	NOUN
alkej-989	127	8	can	can	AUX
alkej-989	127	9	be	be	AUX
alkej-989	127	10	improved	improve	VERB
alkej-989	127	11	by	by	ADP
alkej-989	127	12	using	use	VERB
alkej-989	127	13	reinforcement	reinforcement	NOUN
alkej-989	127	14	learning	learning	NOUN
alkej-989	127	15	to	to	PART
alkej-989	127	16	estimate	estimate	VERB
alkej-989	127	17	the	the	DET
alkej-989	127	18	dynamic	dynamic	ADJ
alkej-989	127	19	model	model	NOUN
alkej-989	127	20	of	of	ADP
alkej-989	127	21	the	the	DET
alkej-989	127	22	controlled	control	VERB
alkej-989	127	23	system	system	NOUN
alkej-989	127	24	.	.	PUNCT
alkej-989	128	1	references	reference	NOUN
alkej-989	128	2	[	[	X
alkej-989	128	3	1	1	NUM
alkej-989	128	4	]	]	PUNCT
alkej-989	128	5	m.	m.	NOUN
alkej-989	128	6	levantaci	levantaci	PROPN
alkej-989	128	7	,	,	PUNCT
alkej-989	128	8	e.	e.	PROPN
alkej-989	128	9	sabbioni	sabbioni	PROPN
alkej-989	128	10	,	,	PUNCT
alkej-989	128	11	and	and	CCONJ
alkej-989	128	12	m.	m.	NOUN
alkej-989	128	13	asperti	asperti	PROPN
alkej-989	128	14	,	,	PUNCT
alkej-989	128	15	“	"	PUNCT
alkej-989	128	16	modelling	modelling	NOUN
alkej-989	128	17	and	and	CCONJ
alkej-989	128	18	validation	validation	NOUN
alkej-989	128	19	of	of	ADP
alkej-989	128	20	an	an	DET
alkej-989	128	21	adaptive	adaptive	ADJ
alkej-989	128	22	cruise	cruise	NOUN
alkej-989	128	23	control	control	NOUN
alkej-989	128	24	using	use	VERB
alkej-989	128	25	a	a	DET
alkej-989	128	26	high	high	ADJ
alkej-989	128	27	fidelity	fidelity	NOUN
alkej-989	128	28	dynamic	dynamic	ADJ
alkej-989	128	29	driving	driving	NOUN
alkej-989	128	30	simulator	simulator	NOUN
alkej-989	128	31	”	"	PUNCT
alkej-989	128	32	tesi	tesi	PROPN
alkej-989	128	33	di	di	X
alkej-989	128	34	laureamagistrale	laureamagistrale	PROPN
alkej-989	128	35	in	in	ADP
alkej-989	128	36	mechanical	mechanical	ADJ
alkej-989	128	37	engineering	engineering	NOUN
alkej-989	128	38	ingegneriameccanica	ingegneriameccanica	PROPN
alkej-989	128	39	2021	2021	NUM
alkej-989	128	40	.	.	PUNCT
alkej-989	129	1	[	[	X
alkej-989	129	2	2	2	X
alkej-989	129	3	]	]	PUNCT
alkej-989	129	4	s.	s.	PROPN
alkej-989	129	5	shladover	shladover	PROPN
alkej-989	129	6	,	,	PUNCT
alkej-989	129	7	“	"	PUNCT
alkej-989	129	8	connected	connected	ADJ
alkej-989	129	9	and	and	CCONJ
alkej-989	129	10	automated	automate	VERB
alkej-989	129	11	vehicle	vehicle	NOUN
alkej-989	129	12	systems	system	NOUN
alkej-989	129	13	:	:	PUNCT
alkej-989	129	14	introduction	introduction	NOUN
alkej-989	129	15	and	and	CCONJ
alkej-989	129	16	overview	overview	NOUN
alkej-989	129	17	,	,	PUNCT
alkej-989	129	18	”	"	PUNCT
alkej-989	129	19	journal	journal	NOUN
alkej-989	129	20	of	of	ADP
alkej-989	129	21	intelligent	intelligent	ADJ
alkej-989	129	22	transportation	transportation	NOUN
alkej-989	129	23	systems	system	NOUN
alkej-989	129	24	,	,	PUNCT
alkej-989	129	25	vol	vol	NOUN
alkej-989	129	26	.	.	PROPN
alkej-989	129	27	22	22	NUM
alkej-989	129	28	,	,	PUNCT
alkej-989	129	29	pp	pp	ADJ
alkej-989	129	30	.	.	PUNCT
alkej-989	130	1	00–00	00–00	NOUN
alkej-989	130	2	,	,	PUNCT
alkej-989	130	3	may	may	PROPN
alkej-989	130	4	2017	2017	NUM
alkej-989	130	5	,	,	PUNCT
alkej-989	130	6	doi	doi	NOUN
alkej-989	130	7	:	:	PUNCT
alkej-989	130	8	10.1080/15472450.2017.1336053	10.1080/15472450.2017.1336053	NUM
alkej-989	130	9	[	[	X
alkej-989	130	10	3	3	NUM
alkej-989	130	11	]	]	PUNCT
alkej-989	130	12	d.	d.	PROPN
alkej-989	130	13	palac	palac	PROPN
alkej-989	130	14	,	,	PUNCT
alkej-989	130	15	i.	i.	PROPN
alkej-989	130	16	d.	d.	PROPN
alkej-989	130	17	scully	scully	PROPN
alkej-989	130	18	,	,	PUNCT
alkej-989	130	19	r.	r.	PROPN
alkej-989	130	20	k.	k.	PROPN
alkej-989	130	21	jonas	jonas	PROPN
alkej-989	130	22	,	,	PUNCT
alkej-989	130	23	j.	j.	PROPN
alkej-989	130	24	l.	l.	PROPN
alkej-989	130	25	campbell	campbell	PROPN
alkej-989	130	26	,	,	PUNCT
alkej-989	130	27	d.	d.	PROPN
alkej-989	130	28	young	young	PROPN
alkej-989	130	29	,	,	PUNCT
alkej-989	130	30	and	and	CCONJ
alkej-989	130	31	d.	d.	PROPN
alkej-989	130	32	m.	m.	PROPN
alkej-989	130	33	cades	cades	PROPN
alkej-989	130	34	,	,	PUNCT
alkej-989	130	35	"	"	PUNCT
alkej-989	130	36	advanced	advanced	ADJ
alkej-989	130	37	driver	driver	NOUN
alkej-989	130	38	assistance	assistance	NOUN
alkej-989	130	39	systems	system	NOUN
alkej-989	130	40	(	(	PUNCT
alkej-989	130	41	adas	adas	PROPN
alkej-989	130	42	):	):	PUNCT
alkej-989	130	43	who	who	PRON
alkej-989	130	44	’s	’s	AUX
alkej-989	130	45	driving	drive	VERB
alkej-989	130	46	what	what	PRON
alkej-989	130	47	and	and	CCONJ
alkej-989	130	48	what	what	PRON
alkej-989	130	49	’s	’s	AUX
alkej-989	130	50	driving	drive	VERB
alkej-989	130	51	use	use	NOUN
alkej-989	130	52	?	?	PUNCT
alkej-989	130	53	,	,	PUNCT
alkej-989	130	54	"	"	PUNCT
alkej-989	130	55	*	*	PUNCT
alkej-989	130	56	proceedings	proceeding	NOUN
alkej-989	130	57	of	of	ADP
alkej-989	130	58	the	the	DET
alkej-989	130	59	human	human	ADJ
alkej-989	130	60	factors	factor	NOUN
alkej-989	130	61	and	and	CCONJ
alkej-989	130	62	ergonomics	ergonomic	NOUN
alkej-989	130	63	society	society	NOUN
alkej-989	130	64	annual	annual	ADJ
alkej-989	130	65	meeting	meeting	NOUN
alkej-989	130	66	*	*	SYM
alkej-989	130	67	,	,	PUNCT
alkej-989	130	68	vol	vol	NOUN
alkej-989	130	69	.	.	PROPN
alkej-989	130	70	65	65	NUM
alkej-989	130	71	,	,	PUNCT
alkej-989	130	72	no	no	INTJ
alkej-989	130	73	.	.	NOUN
alkej-989	130	74	1	1	NUM
alkej-989	130	75	,	,	PUNCT
alkej-989	130	76	pp	pp	ADJ
alkej-989	130	77	.	.	PUNCT
alkej-989	131	1	1220–1224	1220–1224	NUM
alkej-989	131	2	,	,	PUNCT
alkej-989	131	3	sep	sep	PROPN
alkej-989	131	4	.	.	PROPN
alkej-989	131	5	2021	2021	NUM
alkej-989	131	6	,	,	PUNCT
alkej-989	131	7	doi	doi	NOUN
alkej-989	131	8	:	:	PUNCT
alkej-989	131	9	10.1177/1071181321651234	10.1177/1071181321651234	NUM
alkej-989	131	10	..	..	PUNCT
alkej-989	132	1	[	[	X
alkej-989	132	2	4	4	X
alkej-989	132	3	]	]	PUNCT
alkej-989	132	4	s.	s.	PROPN
alkej-989	132	5	k.	k.	PROPN
alkej-989	132	6	rao	rao	PROPN
alkej-989	132	7	and	and	CCONJ
alkej-989	132	8	t.	t.	PROPN
alkej-989	132	9	n.	n.	PROPN
alkej-989	132	10	kesavamurthy	kesavamurthy	PROPN
alkej-989	132	11	,	,	PUNCT
alkej-989	132	12	"	"	PUNCT
alkej-989	132	13	a	a	DET
alkej-989	132	14	study	study	NOUN
alkej-989	132	15	on	on	ADP
alkej-989	132	16	advanced	advanced	ADJ
alkej-989	132	17	driver	driver	NOUN
alkej-989	132	18	assistance	assistance	NOUN
alkej-989	132	19	systems	system	NOUN
alkej-989	132	20	(	(	PUNCT
alkej-989	132	21	adas	adas	PROPN
alkej-989	132	22	)	)	PUNCT
alkej-989	132	23	,	,	PUNCT
alkej-989	132	24	"	"	PUNCT
alkej-989	132	25	*	*	PUNCT
alkej-989	132	26	international	international	ADJ
alkej-989	132	27	journal	journal	NOUN
alkej-989	132	28	of	of	ADP
alkej-989	132	29	vehicle	vehicle	NOUN
alkej-989	132	30	structures	structure	NOUN
alkej-989	132	31	&	&	CCONJ
alkej-989	132	32	systems	system	NOUN
alkej-989	132	33	*	*	PUNCT
alkej-989	132	34	,	,	PUNCT
alkej-989	132	35	vol	vol	NOUN
alkej-989	132	36	.	.	NOUN
alkej-989	132	37	9	9	NUM
alkej-989	132	38	,	,	PUNCT
alkej-989	132	39	no	no	INTJ
alkej-989	132	40	.	.	NOUN
alkej-989	132	41	4	4	NUM
alkej-989	132	42	,	,	PUNCT
alkej-989	132	43	pp	pp	ADJ
alkej-989	132	44	.	.	PUNCT
alkej-989	132	45	190195	190195	NUM
alkej-989	132	46	,	,	PUNCT
alkej-989	132	47	2017	2017	NUM
alkej-989	132	48	,	,	PUNCT
alkej-989	132	49	doi	doi	NOUN
alkej-989	132	50	:	:	PUNCT
alkej-989	132	51	10.4273	10.4273	NUM
alkej-989	132	52	/	/	SYM
alkej-989	132	53	ijvss.9.4.07	ijvss.9.4.07	NOUN
alkej-989	132	54	.	.	PUNCT
alkej-989	133	1	[	[	X
alkej-989	133	2	5	5	X
alkej-989	133	3	]	]	PUNCT
alkej-989	133	4	d.	d.	PROPN
alkej-989	133	5	wu	wu	PROPN
alkej-989	133	6	et	et	PROPN
alkej-989	133	7	al	al	PROPN
alkej-989	133	8	.	.	PROPN
alkej-989	133	9	,	,	PUNCT
alkej-989	133	10	"	"	PUNCT
alkej-989	133	11	multi	multi	ADJ
alkej-989	133	12	-	-	ADJ
alkej-989	133	13	objective	objective	ADJ
alkej-989	133	14	dynamic	dynamic	ADJ
alkej-989	133	15	coordinated	coordinate	VERB
alkej-989	133	16	adaptive	adaptive	ADJ
alkej-989	133	17	cruise	cruise	NOUN
alkej-989	133	18	control	control	NOUN
alkej-989	133	19	for	for	ADP
alkej-989	133	20	intelligent	intelligent	ADJ
alkej-989	133	21	electric	electric	ADJ
alkej-989	133	22	vehicle	vehicle	NOUN
alkej-989	133	23	with	with	ADP
alkej-989	133	24	sensors	sensor	NOUN
alkej-989	133	25	fusion	fusion	NOUN
alkej-989	133	26	,	,	PUNCT
alkej-989	133	27	"	"	PUNCT
alkej-989	133	28	*	*	PUNCT
alkej-989	133	29	mechanical	mechanical	ADJ
alkej-989	133	30	systems	system	NOUN
alkej-989	133	31	and	and	CCONJ
alkej-989	133	32	signal	signal	NOUN
alkej-989	133	33	processing	processing	NOUN
alkej-989	133	34	*	*	NOUN
alkej-989	133	35	,	,	PUNCT
alkej-989	133	36	vol	vol	NOUN
alkej-989	133	37	.	.	PUNCT
alkej-989	133	38	209	209	NUM
alkej-989	133	39	,	,	PUNCT
alkej-989	133	40	p.	p.	NOUN
alkej-989	133	41	111125	111125	NUM
alkej-989	133	42	,	,	PUNCT
alkej-989	133	43	mar	mar	PROPN
alkej-989	133	44	.	.	PROPN
alkej-989	133	45	2024	2024	NUM
alkej-989	133	46	,	,	PUNCT
alkej-989	133	47	doi	doi	NOUN
alkej-989	133	48	:	:	PUNCT
alkej-989	133	49	10.1016	10.1016	NUM
alkej-989	133	50	/	/	SYM
alkej-989	133	51	j.ymssp.2024.111125	j.ymssp.2024.111125	NOUN
alkej-989	133	52	.	.	PUNCT
alkej-989	134	1	[	[	X
alkej-989	134	2	6	6	NUM
alkej-989	134	3	]	]	X
alkej-989	134	4	d.	d.	PROPN
alkej-989	134	5	mohammed	mohammed	PROPN
alkej-989	134	6	and	and	CCONJ
alkej-989	134	7	b.	b.	PROPN
alkej-989	134	8	horváth	horváth	PROPN
alkej-989	134	9	,	,	PUNCT
alkej-989	134	10	“	"	PUNCT
alkej-989	134	11	comparative	comparative	ADJ
alkej-989	134	12	analysis	analysis	NOUN
alkej-989	134	13	of	of	ADP
alkej-989	134	14	following	follow	VERB
alkej-989	134	15	distances	distance	NOUN
alkej-989	134	16	in	in	ADP
alkej-989	134	17	different	different	ADJ
alkej-989	134	18	adaptive	adaptive	ADJ
alkej-989	134	19	cruise	cruise	NOUN
alkej-989	134	20	control	control	NOUN
alkej-989	134	21	systems	system	NOUN
alkej-989	134	22	at	at	ADP
alkej-989	134	23	steady	steady	ADJ
alkej-989	134	24	speeds	speed	NOUN
alkej-989	134	25	,	,	PUNCT
alkej-989	134	26	”	"	PUNCT
alkej-989	134	27	world	world	NOUN
alkej-989	134	28	electric	electric	PROPN
alkej-989	134	29	vehicle	vehicle	NOUN
alkej-989	134	30	journal	journal	PROPN
alkej-989	134	31	,	,	PUNCT
alkej-989	134	32	vol	vol	NOUN
alkej-989	134	33	.	.	PROPN
alkej-989	134	34	15	15	NUM
alkej-989	134	35	,	,	PUNCT
alkej-989	134	36	no	no	INTJ
alkej-989	134	37	.	.	NOUN
alkej-989	134	38	3	3	NUM
alkej-989	134	39	,	,	PUNCT
alkej-989	134	40	art	art	NOUN
alkej-989	134	41	.	.	PUNCT
alkej-989	135	1	no	no	INTJ
alkej-989	135	2	.	.	NOUN
alkej-989	136	1	3	3	NUM
alkej-989	136	2	,	,	PUNCT
alkej-989	136	3	mar	mar	PROPN
alkej-989	136	4	.	.	PROPN
alkej-989	136	5	2024	2024	NUM
alkej-989	136	6	,	,	PUNCT
alkej-989	136	7	doi	doi	NOUN
alkej-989	136	8	:	:	PUNCT
alkej-989	136	9	10.3390	10.3390	NUM
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alkej-989	137	1	[	[	X
alkej-989	137	2	7	7	NUM
alkej-989	137	3	]	]	PUNCT
alkej-989	137	4	a.	a.	NOUN
alkej-989	137	5	h.	h.	PROPN
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alkej-989	137	7	,	,	PUNCT
alkej-989	137	8	a.	a.	PROPN
alkej-989	137	9	h.	h.	PROPN
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alkej-989	137	11	,	,	PUNCT
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alkej-989	137	13	m.	m.	PROPN
alkej-989	137	14	h.	h.	PROPN
alkej-989	137	15	miry	miry	PROPN
alkej-989	137	16	,	,	PUNCT
alkej-989	137	17	"	"	PUNCT
alkej-989	137	18	design	design	VERB
alkej-989	137	19	robust	robust	ADJ
alkej-989	137	20	h∞-pid	h∞-pid	PROPN
alkej-989	137	21	controller	controller	NOUN
alkej-989	137	22	for	for	ADP
alkej-989	137	23	a	a	DET
alkej-989	137	24	helicopter	helicopter	NOUN
alkej-989	137	25	system	system	NOUN
alkej-989	137	26	using	use	VERB
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alkej-989	137	28	quadratic	quadratic	ADJ
alkej-989	137	29	programming	programming	NOUN
alkej-989	137	30	algorithm	algorithm	NOUN
alkej-989	137	31	,	,	PUNCT
alkej-989	137	32	"	"	PUNCT
alkej-989	137	33	*	*	ADJ
alkej-989	137	34	journal	journal	NOUN
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alkej-989	137	38	2	2	NUM
alkej-989	137	39	4	4	NUM
alkej-989	137	40	6	6	NUM
alkej-989	137	41	8	8	NUM
alkej-989	137	42	10	10	NUM
alkej-989	137	43	-10	-10	SYM
alkej-989	137	44	0	0	NUM
alkej-989	137	45	10	10	NUM
alkej-989	137	46	20	20	NUM
alkej-989	137	47	30	30	NUM
alkej-989	137	48	40	40	NUM
alkej-989	137	49	time(s	time(s	NOUN
alkej-989	137	50	)	)	PUNCT
alkej-989	137	51	s	s	PART
alkej-989	137	52	p	p	X
alkej-989	137	53	e	e	X
alkej-989	137	54	e	e	X
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alkej-989	137	58	/s	/s	NOUN
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alkej-989	137	60	ideal	ideal	ADJ
alkej-989	137	61	position	position	NOUN
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alkej-989	138	1	pid	pid	NOUN
alkej-989	138	2	anssam	anssam	NOUN
alkej-989	138	3	yahya	yahya	PROPN
alkej-989	138	4	kames	kames	PROPN
alkej-989	138	5	al	al	PROPN
alkej-989	138	6	-	-	PUNCT
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alkej-989	139	1	4854	4854	NUM
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alkej-989	139	3	2025	2025	NUM
alkej-989	139	4	)	)	PUNCT
alkej-989	139	5	53	53	NUM
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alkej-989	139	7	institute	institute	PROPN
alkej-989	139	8	of	of	ADP
alkej-989	139	9	engineers	engineer	NOUN
alkej-989	139	10	*	*	PUNCT
alkej-989	139	11	,	,	PUNCT
alkej-989	139	12	vol	vol	NOUN
alkej-989	139	13	.	.	PROPN
alkej-989	140	1	45	45	NUM
alkej-989	140	2	,	,	PUNCT
alkej-989	140	3	no	no	INTJ
alkej-989	140	4	.	.	NOUN
alkej-989	140	5	8	8	NUM
alkej-989	140	6	,	,	PUNCT
alkej-989	140	7	pp	pp	ADJ
alkej-989	140	8	.	.	PUNCT
alkej-989	141	1	688	688	NUM
alkej-989	141	2	-	-	SYM
alkej-989	141	3	696	696	NUM
alkej-989	141	4	,	,	PUNCT
alkej-989	141	5	2022	2022	NUM
alkej-989	141	6	.	.	PUNCT
alkej-989	142	1	[	[	X
alkej-989	142	2	8	8	NUM
alkej-989	142	3	]	]	PUNCT
alkej-989	142	4	a.	a.	NOUN
alkej-989	142	5	ghaffari	ghaffari	PROPN
alkej-989	142	6	,	,	PUNCT
alkej-989	142	7	n.	n.	NOUN
alkej-989	142	8	ghadimi	ghadimi	PROPN
alkej-989	142	9	,	,	PUNCT
alkej-989	142	10	and	and	CCONJ
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alkej-989	142	13	,	,	PUNCT
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alkej-989	142	17	control	control	NOUN
alkej-989	142	18	with	with	ADP
alkej-989	142	19	pid	pid	NOUN
alkej-989	142	20	and	and	CCONJ
alkej-989	142	21	mpc	mpc	NOUN
alkej-989	142	22	for	for	ADP
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alkej-989	142	31	"	"	PUNCT
alkej-989	142	32	ifac	ifac	NOUN
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alkej-989	142	34	papersonline	papersonline	NOUN
alkej-989	142	35	,	,	PUNCT
alkej-989	142	36	vol	vol	NOUN
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alkej-989	142	38	48	48	NUM
alkej-989	142	39	,	,	PUNCT
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alkej-989	142	45	.	.	PUNCT
alkej-989	143	1	64	64	NUM
alkej-989	143	2	-	-	SYM
alkej-989	143	3	69	69	NUM
alkej-989	143	4	,	,	PUNCT
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alkej-989	144	3	]	]	PUNCT
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alkej-989	144	9	,	,	PUNCT
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alkej-989	144	11	a	a	DET
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alkej-989	144	22	assistance	assistance	NOUN
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alkej-989	144	33	,	,	PUNCT
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alkej-989	144	35	.	.	PROPN
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alkej-989	144	37	,	,	PUNCT
alkej-989	144	38	doi	doi	NOUN
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alkej-989	144	41	/	/	SYM
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alkej-989	144	43	.	.	PUNCT
alkej-989	145	1	[	[	X
alkej-989	145	2	10	10	NUM
alkej-989	145	3	]	]	PUNCT
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alkej-989	145	21	control	control	NOUN
alkej-989	145	22	for	for	ADP
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alkej-989	145	24	robotic	robotic	ADJ
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alkej-989	145	26	,	,	PUNCT
alkej-989	145	27	"	"	PUNCT
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alkej-989	146	2	.	.	X
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alkej-989	147	1	22	22	NUM
alkej-989	147	2	-	-	SYM
alkej-989	147	3	28	28	NUM
alkej-989	147	4	,	,	PUNCT
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alkej-989	147	6	.	.	PUNCT
alkej-989	148	1	[	[	X
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alkej-989	148	23	system	system	NOUN
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alkej-989	148	27	,	,	PUNCT
alkej-989	148	28	"	"	PUNCT
alkej-989	148	29	proceedings	proceeding	NOUN
alkej-989	148	30	of	of	ADP
alkej-989	148	31	the	the	DET
alkej-989	148	32	ieee	ieee	NOUN
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alkej-989	148	35	on	on	ADP
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alkej-989	148	37	and	and	CCONJ
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alkej-989	148	39	,	,	PUNCT
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alkej-989	148	41	.	.	PUNCT
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alkej-989	149	2	-	-	SYM
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alkej-989	149	4	,	,	PUNCT
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alkej-989	149	6	,	,	PUNCT
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alkej-989	150	1	[	[	X
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alkej-989	150	9	c.	c.	PROPN
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alkej-989	151	2	,	,	PUNCT
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alkej-989	151	4	adapting	adapt	VERB
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alkej-989	151	8	to	to	ADP
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alkej-989	151	13	detection	detection	NOUN
alkej-989	151	14	and	and	CCONJ
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alkej-989	151	17	drowsiness	drowsiness	NOUN
alkej-989	151	18	,	,	PUNCT
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alkej-989	151	24	,	,	PUNCT
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alkej-989	151	30	.	.	PUNCT
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alkej-989	152	2	,	,	PUNCT
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alkej-989	152	10	/	/	SYM
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alkej-989	153	39	.	.	PUNCT
alkej-989	154	1	[	[	X
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alkej-989	155	2	-	-	SYM
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alkej-989	155	4	,	,	PUNCT
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alkej-989	155	6	,	,	PUNCT
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alkej-989	155	10	.	.	PUNCT
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alkej-989	156	38	,	,	PUNCT
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alkej-989	157	25	engineering	engineering	NOUN
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alkej-989	157	29	,	,	PUNCT
alkej-989	157	30	vol	vol	NOUN
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alkej-989	159	74	dynamics	dynamic	NOUN
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alkej-989	159	78	vehicle	vehicle	NOUN
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alkej-989	159	80	"	"	PUNCT
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alkej-989	159	86	,	,	PUNCT
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alkej-989	159	92	.	.	PUNCT
alkej-989	160	1	[	[	X
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alkej-989	160	16	an	an	DET
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alkej-989	160	20	and	and	CCONJ
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alkej-989	160	24	2nd	2nd	ADJ
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alkej-989	160	28	princeton	princeton	PROPN
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alkej-989	160	35	,	,	PUNCT
alkej-989	160	36	2010	2010	NUM
alkej-989	160	37	,	,	PUNCT
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alkej-989	161	4	48	48	NUM
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alkej-989	161	13	الهندسية	الهندسية	PROPN
alkej-989	161	14	المجلد	المجلد	PROPN
alkej-989	161	15	انسام	انسام	PROPN
alkej-989	161	16	يحيى	يحيى	PROPN
alkej-989	162	1	خميس	خميس	PROPN
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alkej-989	162	4	في	في	DET
alkej-989	162	5	وضع	وضع	NOUN
alkej-989	162	6	االنزالق	االنزالق	NOUN
alkej-989	162	7	التوجيه	التوجيه	PROPN
alkej-989	162	8	المستقل	المستقل	PROPN
alkej-989	162	9	للمركبة	للمركبة	PROPN
alkej-989	162	10	على	على	PROPN
alkej-989	162	11	أساس	أساس	PROPN
alkej-989	162	12	ردود	ردود	PROPN
alkej-989	162	13	الفعل	الفعل	PROPN
alkej-989	162	14	الخطية	الخطية	PROPN
alkej-989	162	15	انسام	انسام	VERB
alkej-989	162	16	يحيى	يحيى	ADJ
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alkej-989	162	19	علي	علي	PROPN
alkej-989	162	20	حسين	حسين	PROPN
alkej-989	163	1	مري2	مري2	PROPN
alkej-989	163	2	*	*	PROPN
alkej-989	163	3	،	،	PROPN
alkej-989	163	4	ليث	ليث	PROPN
alkej-989	163	5	عودة	عودة	PROPN
alkej-989	163	6	كاظم3	كاظم3	PROPN
alkej-989	163	7	،	،	X
alkej-989	163	8	عدي	عدي	PROPN
alkej-989	163	9	داخل	داخل	PROPN
alkej-989	163	10	حسن4	حسن4	PROPN
alkej-989	163	11	2،1	2،1	NUM
alkej-989	164	1	قسم	قسم	PROPN
alkej-989	164	2	هندسة	هندسة	PROPN
alkej-989	164	3	الميكاترونكس	الميكاترونكس	PROPN
alkej-989	164	4	،	،	PROPN
alkej-989	164	5	كلية	كلية	PROPN
alkej-989	164	6	الهندسة	الهندسة	PROPN
alkej-989	164	7	الخوارزمي	الخوارزمي	PROPN
alkej-989	164	8	،	،	PROPN
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alkej-989	164	11	،	،	PROPN
alkej-989	164	12	بغداد	بغداد	PROPN
alkej-989	164	13	،	،	PROPN
alkej-989	164	14	العراق	العراق	PROPN
alkej-989	164	15	3	3	NUM
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alkej-989	164	17	كارلتون	كارلتون	PROPN
alkej-989	164	18	،	،	PROPN
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alkej-989	164	24	اسيا	اسيا	NOUN
alkej-989	164	25	الدولية	الدولية	PROPN
alkej-989	164	26	،	،	PROPN
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alkej-989	164	42	في	في	ADP
alkej-989	164	43	سرعة	سرعة	VERB
alkej-989	164	44	النظام	النظام	PROPN
alkej-989	164	45	الديناميكي	الديناميكي	PROPN
alkej-989	164	46	للمركبات	للمركبات	PROPN
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alkej-989	165	1	تجمُع	تجمُع	NOUN
alkej-989	165	2	الطريقة	الطريقة	NOUN
alkej-989	165	3	المقترحة	المقترحة	NOUN
alkej-989	165	4	بين	بين	NOUN
alkej-989	165	5	متحكم	متحكم	NOUN
alkej-989	165	6	الوضع	الوضع	PROPN
alkej-989	165	7	المنزلق	المنزلق	PROPN
alkej-989	165	8	،	،	PROPN
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alkej-989	165	10	خطية	خطية	VERB
alkej-989	165	11	الت	الت	ADV
alkej-989	165	12	نظام	نظام	ADJ
alkej-989	165	13	خطي	خطي	PROPN
alkej-989	165	14	تم	تم	NOUN
alkej-989	165	15	فيه	فيه	PROPN
alkej-989	165	16	استخدام	استخدام	PROPN
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alkej-989	165	18	الخطية	الخطية	PROPN
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alkej-989	165	21	الديناميكي	الديناميكي	PROPN
alkej-989	165	22	لنظام	لنظام	PRON
alkej-989	165	23	السيارة	السيارة	PROPN
alkej-989	165	24	،	،	PROPN
alkej-989	165	25	فيتم	فيتم	NOUN
alkej-989	165	26	استخدام	استخدام	PROPN
alkej-989	165	27	خطية	خطية	PROPN
alkej-989	165	28	التغذية	التغذية	PROPN
alkej-989	165	29	المرتدة	المرتدة	PROPN
alkej-989	165	30	لتحويل	لتحويل	PROPN
alkej-989	165	31	النظام	النظام	PROPN
alkej-989	165	32	الديناميكي	الديناميكي	PROPN
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alkej-989	165	35	الجينيةمع	الجينيةمع	ADJ
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alkej-989	165	43	على	على	PROPN
alkej-989	165	44	استقرار	استقرار	PROPN
alkej-989	165	45	المتحكم	المتحكم	PROPN
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alkej-989	166	18	(	(	PUNCT
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alkej-989	166	23	للمقارنة	للمقارنة	NOUN
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alkej-989	166	25	أداء	أداء	X
alkej-989	166	26	وحدات	وحدات	ADJ
alkej-989	166	27	التحكم	التحكم	PROPN
alkej-989	166	28	،	،	PROPN
alkej-989	166	29	فيما	فيما	PROPN
alkej-989	166	30	تشير	تشير	PROPN
alkej-989	166	31	نتائج	نتائج	PROPN
alkej-989	166	32	المحاكاة	المحاكاة	PROPN
alkej-989	166	33	بوضوح	بوضوح	PROPN
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alkej-989	166	35	أن	أن	ADP
alkej-989	166	36	الطريقة	الطريقة	NOUN
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alkej-989	167	11	بمتانة	بمتانة	PROPN
alkej-989	167	12	عالية	عالية	PROPN
alkej-989	167	13	ضد	ضد	PROPN
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alkej-989	168	2	،	،	PROPN
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alkej-989	168	6	النظام	النظام	PROPN
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alkej-989	170	1	التوالي	التوالي	VERB
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